+ python -m lidar_slam --no-model /working/79aa1111-e3d9-4bb0-ac7b-251745de0001 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/79aa1111-e3d9-4bb0-ac7b-251745de0001 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 0.020714057 Adjusted end_distance from 9.223372036854776e+18 to 920.790714057 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.020714057 meters Centerline goodness [0,1] 0.6939523518631643 Centerline is valid? [0, False] SLAMing on 0.050714057 meters Centerline goodness [0,1] 0.6861062656168969 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999856e-01 -4.08033339e-04 -3.49996628e-04 9.97873759e-04] [ 4.07858883e-04 9.99999793e-01 -4.98377823e-04 1.83316239e-03] [ 3.50199910e-04 4.98235001e-04 9.99999815e-01 -2.18667156e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.080714057 meters Centerline goodness [0,1] 0.5940493605776037 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999405e-01 -8.40709628e-04 -6.94910135e-04 3.44974862e-03] [ 8.40157744e-04 9.99999332e-01 -7.94090281e-04 4.86352171e-03] [ 6.95577270e-04 7.93505975e-04 9.99999443e-01 -1.98507353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.110714057 meters Centerline goodness [0,1] 0.6511517903599641 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 0.99999882 -0.00111316 -0.00106183 0.00467055] [ 0.00111207 0.99999885 -0.00103115 0.00630431] [ 0.00106297 0.00102997 0.9999989 -0.00240803] [ 0. 0. 0. 1. ]] SLAMing on 0.140714057 meters Centerline goodness [0,1] 0.6073458368854788 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999687 -0.00214803 -0.00128206 0.00589193] [ 0.00214599 0.99999643 -0.00159272 0.00912408] [ 0.00128548 0.00158997 0.99999791 -0.00301249] [ 0. 0. 0. 1. ]] SLAMing on 0.170714057 meters Centerline goodness [0,1] 0.5841800918544606 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999533 -0.00272021 -0.00139045 0.00622121] [ 0.00271739 0.99999426 -0.00202499 0.01041576] [ 0.00139595 0.0020212 0.99999698 -0.00297087] [ 0. 0. 0. 1. ]] SLAMing on 0.200714057 meters Centerline goodness [0,1] 0.5761201143946616 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999206 -0.00360123 -0.00170611 0.00802916] [ 0.00359706 0.99999056 -0.00243644 0.0130398 ] [ 0.00171487 0.00243028 0.99999558 -0.00382923] [ 0. 0. 0. 1. ]] SLAMing on 0.230714057 meters Centerline goodness [0,1] 0.561030235162374 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999062 -0.00387482 -0.00193498 0.00935 ] [ 0.00386977 0.99998911 -0.00260828 0.01455754] [ 0.00194507 0.00260077 0.99999473 -0.00448671] [ 0. 0. 0. 1. ]] SLAMing on 0.260714057 meters Centerline goodness [0,1] 0.5788995432698056 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 0.99998642 -0.00466281 -0.00232686 0.01172343] [ 0.00465576 0.99998459 -0.00302385 0.01779098] [ 0.00234092 0.00301297 0.99999272 -0.00559635] [ 0. 0. 0. 1. ]] SLAMing on 0.290714057 meters Centerline goodness [0,1] 0.5497623505689183 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 0.99998417 -0.00500445 -0.00257085 0.01312189] [ 0.00499626 0.99998245 -0.00318327 0.01933565] [ 0.00258674 0.00317037 0.99999163 -0.00630574] [ 0. 0. 0. 1. ]] SLAMing on 0.320714057 meters Centerline goodness [0,1] 0.5472260982533801 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 0.99998046 -0.00558218 -0.00281321 0.01420148] [ 0.00557284 0.99997897 -0.00331843 0.02042072] [ 0.00283167 0.00330269 0.99999054 -0.00665962] [ 0. 0. 0. 1. ]] SLAMing on 0.35071405699999997 meters Centerline goodness [0,1] 0.5424494306443088 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 0.99996927 -0.00720211 -0.00309554 0.01648089] [ 0.00719 0.99996653 -0.00390383 0.02249727] [ 0.00312355 0.00388145 0.99998759 -0.00769439] [ 0. 0. 0. 1. ]] SLAMing on 0.380714057 meters Centerline goodness [0,1] 0.5405673141973519 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 0.99996596 -0.00761147 -0.00318444 0.01762048] [ 0.00759909 0.9999636 -0.00388081 0.02249335] [ 0.00321386 0.00385648 0.9999874 -0.00839647] [ 0. 0. 0. 1. ]] SLAMing on 0.410714057 meters Centerline goodness [0,1] 0.5310298233761219 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 0.99995316 -0.00905826 -0.00340844 0.01940576] [ 0.00904348 0.99994974 -0.00432796 0.02424817] [ 0.00344748 0.00429693 0.99998483 -0.0089875 ] [ 0. 0. 0. 1. ]] SLAMing on 0.440714057 meters Centerline goodness [0,1] 0.523909781714341 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 0.99995117 -0.00917974 -0.00366046 0.02102886] [ 0.00916397 0.99994875 -0.0043025 0.02488567] [ 0.00369977 0.00426874 0.99998404 -0.00978252] [ 0. 0. 0. 1. ]] SLAMing on 0.47071405699999996 meters Centerline goodness [0,1] 0.5781242410996164 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.9999462 -0.00944274 -0.00429315 0.02454705] [ 0.00942528 0.9999473 -0.00406843 0.02584224] [ 0.00433135 0.00402775 0.99998251 -0.01122523] [ 0. 0. 0. 1. ]] SLAMing on 0.5007140569999999 meters Centerline goodness [0,1] 0.5210775391336002 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99994389 -0.00957354 -0.00453403 0.02614056] [ 0.0095559 0.99994676 -0.00389461 0.02591396] [ 0.00457107 0.00385107 0.99998214 -0.01204395] [ 0. 0. 0. 1. ]] SLAMing on 0.530714057 meters Centerline goodness [0,1] 0.6046087210434106 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99994215 -0.00960797 -0.00483577 0.0278265 ] [ 0.0095905 0.99994745 -0.00362309 0.02539768] [ 0.00487033 0.0035765 0.99998174 -0.01274689] [ 0. 0. 0. 1. ]] SLAMing on 0.560714057 meters Centerline goodness [0,1] 0.6109524040091028 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.01 [[ 0.99993407 -0.0102039 -0.00526673 0.03114698] [ 0.01018603 0.99994231 -0.00340889 0.02488081] [ 0.00530121 0.00335502 0.99998032 -0.01420525] [ 0. 0. 0. 1. ]] SLAMing on 0.5907140569999999 meters Centerline goodness [0,1] 0.6133549778305429 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 0.99992742 -0.01051592 -0.00587922 0.03458937] [ 0.01049745 0.9999399 -0.00316262 0.02578509] [ 0.00591212 0.00310068 0.99997772 -0.01523589] [ 0. 0. 0. 1. ]] SLAMing on 0.6207140569999999 meters Centerline goodness [0,1] 0.6488451252127401 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 0.99992619 -0.01045988 -0.00618059 0.03657301] [ 0.01044098 0.99994074 -0.00308166 0.02681968] [ 0.00621245 0.0030169 0.99997615 -0.01614571] [ 0. 0. 0. 1. ]] SLAMing on 0.650714057 meters Centerline goodness [0,1] 0.6451463865382745 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 0.99992372 -0.01043004 -0.00661626 0.03866492] [ 0.01040902 0.99994069 -0.00320447 0.02824218] [ 0.00664929 0.00313536 0.99997298 -0.0166957 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6807140569999999 meters Centerline goodness [0,1] 0.6769519263552677 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 0.99991466 -0.01088849 -0.00721908 0.04213214] [ 0.01086585 0.99993595 -0.00316762 0.02985496] [ 0.00725311 0.00308891 0.99996893 -0.01747853] [ 0. 0. 0. 1. ]] SLAMing on 0.7107140569999999 meters Centerline goodness [0,1] 0.6585662506993603 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 0.9999113 -0.01111213 -0.00734196 0.04388862] [ 0.01108945 0.99993363 -0.00312303 0.03014117] [ 0.00737617 0.00304133 0.99996817 -0.01833923] [ 0. 0. 0. 1. ]] SLAMing on 0.7407140569999999 meters Centerline goodness [0,1] 0.6973725939840453 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 0.99990215 -0.01167216 -0.00771002 0.04719121] [ 0.01164775 0.99992703 -0.00320319 0.03112066] [ 0.00774684 0.00311308 0.99996515 -0.01932194] [ 0. 0. 0. 1. ]] SLAMing on 0.770714057 meters Centerline goodness [0,1] 0.7067498165810712 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 0.99990178 -0.011531 -0.00796676 0.04942096] [ 0.0115081 0.99992953 -0.00291489 0.03175686] [ 0.00799981 0.00282292 0.99996402 -0.02049584] [ 0. 0. 0. 1. ]] SLAMing on 0.800714057 meters Centerline goodness [0,1] 0.7251764359929426 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 0.99989708 -0.01153777 -0.00852655 0.05396236] [ 0.01151572 0.99993023 -0.00263063 0.03408156] [ 0.00855631 0.00253217 0.99996019 -0.02246433] [ 0. 0. 0. 1. ]] SLAMing on 0.8307140569999999 meters Centerline goodness [0,1] 0.7420026964088736 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.02 [[ 0.99989502 -0.01128073 -0.00909377 0.05683959] [ 0.01125896 0.99993363 -0.002442 0.03534181] [ 0.00912071 0.00233936 0.99995567 -0.02355835] [ 0. 0. 0. 1. ]] SLAMing on 0.8607140569999999 meters Centerline goodness [0,1] 0.7577555643096316 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.03 [[ 0.99988992 -0.01130323 -0.00961131 0.06107868] [ 0.01128258 0.99993393 -0.0021998 0.03833745] [ 0.00963554 0.00209112 0.99995139 -0.02522123] [ 0. 0. 0. 1. ]] SLAMing on 0.890714057 meters Centerline goodness [0,1] 0.7577555643096316 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.03 [[ 0.99988992 -0.01130323 -0.00961131 0.06107868] [ 0.01128258 0.99993393 -0.0021998 0.03833745] [ 0.00963554 0.00209112 0.99995139 -0.02522123] [ 0. 0. 0. 1. ]] SLAMing on 0.9207140569999999 meters Centerline goodness [0,1] 0.7914433243176788 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.03 [[ 0.99988677 -0.0111415 -0.01011545 0.0637759 ] [ 0.01112197 0.99993618 -0.00198485 0.03990351] [ 0.01013692 0.00187213 0.99994687 -0.02617478] [ 0. 0. 0. 1. ]] SLAMing on 0.9507140569999999 meters Centerline goodness [0,1] 0.7752531489256607 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.03 [[ 0.99988452 -0.01103003 -0.0104537 0.06609724] [ 0.01101176 0.99993774 -0.00180342 0.04130483] [ 0.01047294 0.0016881 0.99994373 -0.02709804] [ 0. 0. 0. 1. ]] SLAMing on 0.9807140569999999 meters Centerline goodness [0,1] 0.8245075720083144 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.03 [[ 0.99987463 -0.01151969 -0.01086365 0.0701902 ] [ 0.01150047 0.99993219 -0.00183002 0.04440903] [ 0.010884 0.00170485 0.99993931 -0.02863671] [ 0. 0. 0. 1. ]] SLAMing on 1.010714057 meters Centerline goodness [0,1] 0.8197192878043942 Centerline is valid? [False, False] Translation: X:0.07, Y:0.05, Z:-0.03 [[ 0.99986898 -0.01157845 -0.01131234 0.07259649] [ 0.01155906 0.99993161 -0.00177868 0.04573222] [ 0.01133216 0.00164769 0.99993443 -0.02948968] [ 0. 0. 0. 1. ]] SLAMing on 1.040714057 meters Centerline goodness [0,1] 0.8273790312569825 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 0.99985772 -0.01203115 -0.01182355 0.07676318] [ 0.01200869 0.99992596 -0.0019686 0.04919625] [ 0.01184636 0.00182634 0.99992816 -0.03087693] [ 0. 0. 0. 1. ]] SLAMing on 1.070714057 meters Centerline goodness [0,1] 0.8235514298547687 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 0.99985119 -0.01198054 -0.01241254 0.07931463] [ 0.01195888 0.99992684 -0.00181826 0.05083463] [ 0.01243342 0.00166955 0.99992131 -0.03168058] [ 0. 0. 0. 1. ]] SLAMing on 1.100714057 meters Centerline goodness [0,1] 0.8343093093093092 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 0.99984637 -0.01191781 -0.01285273 0.08178471] [ 0.01189633 0.99992771 -0.00174587 0.05261814] [ 0.01287261 0.0015927 0.99991588 -0.03266891] [ 0. 0. 0. 1. ]] SLAMing on 1.1307140569999998 meters Centerline goodness [0,1] 0.8346549857765022 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.03 [[ 0.99983532 -0.01224428 -0.01339439 0.08577983] [ 0.01222263 0.99992386 -0.00169675 0.05576534] [ 0.01341415 0.00153276 0.99990885 -0.03420346] [ 0. 0. 0. 1. ]] SLAMing on 1.1607140569999999 meters Centerline goodness [0,1] 0.8234348306702843 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.04 [[ 0.99982759 -0.01217679 -0.01401875 0.08840708] [ 0.01215414 0.99992469 -0.00169983 0.05712206] [ 0.01403839 0.00152915 0.99990029 -0.0351598 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1907140569999999 meters Centerline goodness [0,1] 0.8355950158906321 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.04 [[ 9.99839272e-01 -1.06564247e-02 -1.44176985e-02 9.30552032e-02] [ 1.06500090e-02 9.99943151e-01 -5.21695619e-04 6.03951695e-02] [ 1.44224382e-02 3.68063150e-04 9.99895923e-01 -3.74581121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.220714057 meters Centerline goodness [0,1] 0.8510810879318649 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-0.04 [[ 9.99833199e-01 -1.04933940e-02 -1.49486723e-02 9.50357797e-02] [ 1.04859457e-02 9.99944855e-01 -5.76556499e-04 6.23312897e-02] [ 1.49538980e-02 4.19709362e-04 9.99888096e-01 -3.78412233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.250714057 meters Centerline goodness [0,1] 0.8594301979820571 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-0.04 [[ 9.99828905e-01 -1.03748586e-02 -1.53141306e-02 9.85861846e-02] [ 1.03702284e-02 9.99946155e-01 -3.81730555e-04 6.48273199e-02] [ 1.53172665e-02 2.22854211e-04 9.99882659e-01 -3.90287978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.280714057 meters Centerline goodness [0,1] 0.863965526033964 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:-0.04 [[ 9.99819834e-01 -1.04020935e-02 -1.58775156e-02 1.00643923e-01] [ 1.03951623e-02 9.99945834e-01 -5.19015527e-04 6.57293770e-02] [ 1.58820544e-02 3.53872667e-04 9.99873810e-01 -3.95962346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.310714057 meters Centerline goodness [0,1] 0.8626836784068047 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:-0.04 [[ 9.99808654e-01 -1.04439589e-02 -1.65402458e-02 1.02873245e-01] [ 1.04360169e-02 9.99945383e-01 -5.66403295e-04 6.64218567e-02] [ 1.65452579e-02 3.93680630e-04 9.99863040e-01 -4.02227314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3407140569999998 meters Centerline goodness [0,1] 0.8623993476709816 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.04 [[ 9.99799568e-01 -1.08831018e-02 -1.68042087e-02 1.05948745e-01] [ 1.08777989e-02 9.99940752e-01 -4.06943713e-04 6.72317459e-02] [ 1.68076419e-02 2.24069345e-04 9.99858717e-01 -4.15090504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3707140569999998 meters Centerline goodness [0,1] 0.8661475430694455 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.04 [[ 9.99788867e-01 -1.04399852e-02 -1.76982562e-02 1.08972716e-01] [ 1.04386878e-02 9.99945502e-01 -1.65690338e-04 6.77619770e-02] [ 1.76990215e-02 -1.90912165e-05 9.99843360e-01 -4.24850016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4007140569999998 meters Centerline goodness [0,1] 0.8713724690161677 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.04 [[ 9.99779956e-01 -1.03377275e-02 -1.82529733e-02 1.12154464e-01] [ 1.03426978e-02 9.99946497e-01 1.77921829e-04 6.90077813e-02] [ 1.82501574e-02 -3.66667666e-04 9.99833385e-01 -4.32359182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4307140569999999 meters Centerline goodness [0,1] 0.8745697896749522 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.04 [[ 9.99767278e-01 -1.04445989e-02 -1.88759246e-02 1.14037210e-01] [ 1.04484498e-02 9.99945408e-01 1.05399863e-04 6.93993297e-02] [ 1.88737933e-02 -3.02599485e-04 9.99821828e-01 -4.36660798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.460714057 meters Centerline goodness [0,1] 0.8727980857346502 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.04 [[ 9.99752072e-01 -1.04305038e-02 -1.96722913e-02 1.16466524e-01] [ 1.04362088e-02 9.99945524e-01 1.87359109e-04 6.93159593e-02] [ 1.96692654e-02 -3.92616797e-04 9.99806464e-01 -4.43703684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.490714057 meters Centerline goodness [0,1] 0.8511117294412263 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.05 [[ 9.99742762e-01 -1.08114465e-02 -1.99379865e-02 1.20079123e-01] [ 1.08185796e-02 9.99941446e-01 2.49937536e-04 6.86507166e-02] [ 1.99341169e-02 -4.65573937e-04 9.99801187e-01 -4.62506249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.520714057 meters Centerline goodness [0,1] 0.8546535257061573 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.05 [[ 9.99729230e-01 -1.09732679e-02 -2.05195910e-02 1.21687318e-01] [ 1.09796365e-02 9.99939702e-01 1.97730325e-04 6.86108223e-02] [ 2.05161839e-02 -4.22974437e-04 9.99789431e-01 -4.64097033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.550714057 meters Centerline goodness [0,1] 0.8441334112327584 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.05 [[ 9.99717416e-01 -1.13781459e-02 -2.08716378e-02 1.23805201e-01] [ 1.13854663e-02 9.99935157e-01 2.31932520e-04 6.88972579e-02] [ 2.08676455e-02 -4.69500308e-04 9.99782137e-01 -4.65993363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.580714057 meters Centerline goodness [0,1] 0.8442495869869107 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 9.99703371e-01 -1.04995972e-02 -2.19756526e-02 1.26751146e-01] [ 1.05137604e-02 9.99944589e-01 5.29055032e-04 6.95147132e-02] [ 2.19688800e-02 -7.59944846e-04 9.99758366e-01 -4.69994117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6107140569999998 meters Centerline goodness [0,1] 0.8851087704980745 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 9.99685828e-01 -9.86868576e-03 -2.30402631e-02 1.29168612e-01] [ 9.88638669e-03 9.99950914e-01 6.54477034e-04 7.01051619e-02] [ 2.30326733e-02 -8.82056367e-04 9.99734324e-01 -4.69755744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6407140569999998 meters Centerline goodness [0,1] 0.88665000255063 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 0.99969 -0.00893434 -0.02323981 0.13135431] [ 0.00896487 0.99995908 0.0012099 0.07096804] [ 0.02322805 -0.00141787 0.99972919 -0.0470142 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6707140569999999 meters Centerline goodness [0,1] 0.8961012399335293 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 0.99968664 -0.00823192 -0.02364036 0.13427452] [ 0.00828267 0.9999636 0.0020496 0.07005608] [ 0.02362263 -0.00224476 0.99971843 -0.04830907] [ 0. 0. 0. 1. ]] SLAMing on 1.700714057 meters Centerline goodness [0,1] 0.8970453387671931 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.9996707 -0.00784068 -0.02443378 0.13670981] [ 0.00789981 0.99996609 0.00232466 0.06962308] [ 0.02441472 -0.00251691 0.99969875 -0.04919144] [ 0. 0. 0. 1. ]] SLAMing on 1.730714057 meters Centerline goodness [0,1] 0.9005643369679017 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.99965313 -0.00778433 -0.02515995 0.13855564] [ 0.00784561 0.99996649 0.00233756 0.06943903] [ 0.02514092 -0.00253414 0.99968071 -0.04962217] [ 0. 0. 0. 1. ]] SLAMing on 1.760714057 meters Centerline goodness [0,1] 0.8969936305732484 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.99964528 -0.00846354 -0.02525238 0.13966606] [ 0.00852412 0.99996104 0.00229243 0.06877632] [ 0.025232 -0.00250687 0.99967848 -0.04949496] [ 0. 0. 0. 1. ]] SLAMing on 1.790714057 meters Centerline goodness [0,1] 0.8952902240325865 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.99962465 -0.00905218 -0.02585744 0.14041745] [ 0.00910349 0.99995682 0.00186722 0.06854938] [ 0.02583942 -0.00210191 0.9996639 -0.04892812] [ 0. 0. 0. 1. ]] SLAMing on 1.8207140569999998 meters Centerline goodness [0,1] 0.8630091901060786 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.9995737 -0.01323877 -0.02602229 0.14167621] [ 0.01319228 0.99991106 -0.00195775 0.06812742] [ 0.02604589 0.00161363 0.99965945 -0.04804673] [ 0. 0. 0. 1. ]] SLAMing on 1.8507140569999998 meters Centerline goodness [0,1] 0.9018775427690597 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.99954797 -0.01393155 -0.02664164 0.14279846] [ 0.01388259 0.99990159 -0.00202172 0.06685439] [ 0.02666718 0.00165095 0.999643 -0.04820065] [ 0. 0. 0. 1. ]] SLAMing on 1.8807140569999998 meters Centerline goodness [0,1] 0.8998130179907015 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.99952443 -0.01473564 -0.02708845 0.14348008] [ 0.01468434 0.99988999 -0.00209178 0.06542826] [ 0.02711629 0.00169301 0.99963085 -0.0481822 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9107140569999999 meters Centerline goodness [0,1] 0.8389356448117724 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.99943862 -0.01929159 -0.02739109 0.14500774] [ 0.01913968 0.99980001 -0.00579755 0.06422517] [ 0.02749746 0.00527004 0.99960798 -0.04801768] [ 0. 0. 0. 1. ]] SLAMing on 1.9407140569999999 meters Centerline goodness [0,1] 0.8137481764676291 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.9994045 -0.01991891 -0.0281761 0.14639471] [ 0.01976436 0.99978812 -0.00575282 0.0628823 ] [ 0.02828472 0.00519251 0.99958642 -0.04810002] [ 0. 0. 0. 1. ]] SLAMing on 1.970714057 meters Centerline goodness [0,1] 0.8233714070540982 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.99929537 -0.02433131 -0.0285789 0.14794994] [ 0.0240683 0.99966507 -0.00951125 0.06173751] [ 0.02880075 0.0088167 0.99954629 -0.04765938] [ 0. 0. 0. 1. ]] SLAMing on 2.000714057 meters Centerline goodness [0,1] 0.7360933704009818 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.99926543 -0.02499868 -0.02904591 0.14890036] [ 0.02473293 0.99964921 -0.00947277 0.06055922] [ 0.02927253 0.00874743 0.99953319 -0.04790886] [ 0. 0. 0. 1. ]] SLAMing on 2.030714057 meters Centerline goodness [0,1] 0.811040764745627 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.99923684 -0.02548453 -0.02960191 0.14990571] [ 0.02521459 0.99963733 -0.00945707 0.05944628] [ 0.02983219 0.00870345 0.99951703 -0.04792602] [ 0. 0. 0. 1. ]] SLAMing on 2.060714057 meters Centerline goodness [0,1] 0.7970246280785098 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.99919751 -0.02666845 -0.02988539 0.15086753] [ 0.02639777 0.99960718 -0.00941547 0.05795717] [ 0.03012475 0.008619 0.99950899 -0.04835315] [ 0. 0. 0. 1. ]] SLAMing on 2.090714057 meters Centerline goodness [0,1] 0.7918812028953063 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.99917686 -0.02668253 -0.03055576 0.15260549] [ 0.02641632 0.99960976 -0.00908322 0.05709496] [ 0.0307862 0.00826857 0.99949179 -0.04898251] [ 0. 0. 0. 1. ]] SLAMing on 2.1207140570000003 meters Centerline goodness [0,1] 0.7996952590298246 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.9991644 -0.02728964 -0.03042668 0.15287203] [ 0.02702755 0.99959425 -0.00899197 0.05619356] [ 0.03065972 0.00816209 0.99949655 -0.04922179] [ 0. 0. 0. 1. ]] SLAMing on 2.150714057 meters Centerline goodness [0,1] 0.7761505755985977 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.05 [[ 0.99914863 -0.02705731 -0.03114352 0.1543729 ] [ 0.02679206 0.99960138 -0.00890303 0.05620786] [ 0.031372 0.00806106 0.99947527 -0.04918053] [ 0. 0. 0. 1. ]] SLAMing on 2.1807140570000003 meters Centerline goodness [0,1] 0.805605336519315 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 0.99924382 -0.0228778 -0.03143876 0.15520164] [ 0.02273736 0.99972987 -0.00481714 0.05642371] [ 0.03154047 0.00409867 0.99949407 -0.04919227] [ 0. 0. 0. 1. ]] SLAMing on 2.210714057 meters Centerline goodness [0,1] 0.8072984314117294 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 9.99311982e-01 -1.93302355e-02 -3.16528784e-02 1.55396226e-01] [ 1.93095066e-02 9.99813093e-01 -9.60455055e-04 5.59342912e-02] [ 3.16655281e-02 3.48592778e-04 9.99498461e-01 -4.94095868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.240714057 meters Centerline goodness [0,1] 0.8158499425545731 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 9.99294358e-01 -1.86479599e-02 -3.26042798e-02 1.57496786e-01] [ 1.86305242e-02 9.99826085e-01 -8.38509278e-04 5.68700073e-02] [ 3.26142459e-02 2.30482766e-04 9.99467987e-01 -4.94285977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.270714057 meters Centerline goodness [0,1] 0.862057781547827 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 9.99290786e-01 -1.72067461e-02 -3.34940679e-02 1.60625441e-01] [ 1.72114294e-02 9.99851861e-01 -1.48512661e-04 5.80068506e-02] [ 3.34916616e-02 -4.28073451e-04 9.99438905e-01 -5.04959281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.300714057 meters Centerline goodness [0,1] 0.8661093087097579 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 9.99282157e-01 -1.64121765e-02 -3.41439718e-02 1.62610588e-01] [ 1.64164136e-02 9.99865229e-01 -1.56262733e-04 5.98748146e-02] [ 3.41419348e-02 -4.04371002e-04 9.99416912e-01 -5.07342433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3307140570000002 meters Centerline goodness [0,1] 0.8656802219500612 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 9.99260571e-01 -1.58625035e-02 -3.50241803e-02 1.64302975e-01] [ 1.58646465e-02 9.99874125e-01 -2.16737116e-04 6.12876999e-02] [ 3.50232097e-02 -3.39069387e-04 9.99386442e-01 -5.04075402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.360714057 meters Centerline goodness [0,1] 0.8694998496542047 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:-0.05 [[ 9.99238713e-01 -1.52245732e-02 -3.59194530e-02 1.66203484e-01] [ 1.52240870e-02 9.99884066e-01 -2.87059099e-04 6.28952419e-02] [ 3.59196590e-02 -2.60000313e-04 9.99354647e-01 -5.01913258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3907140570000003 meters Centerline goodness [0,1] 0.8735289661093995 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:-0.05 [[ 0.99928894 -0.01172253 -0.03583572 0.16602889] [ 0.01183737 0.99992545 0.00299418 0.06434009] [ 0.03579795 -0.00341625 0.99935321 -0.0499498 ] [ 0. 0. 0. 1. ]] SLAMing on 2.420714057 meters Centerline goodness [0,1] 0.8900106269925611 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.05 [[ 0.99926623 -0.01118474 -0.03663204 0.16765782] [ 0.01127848 0.99993363 0.00235346 0.06682608] [ 0.03660329 -0.00276489 0.99932605 -0.04884924] [ 0. 0. 0. 1. ]] SLAMing on 2.450714057 meters Centerline goodness [0,1] 0.8805973946672094 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.05 [[ 0.99924351 -0.01120691 -0.03724006 0.16827824] [ 0.0112775 0.99993499 0.00168588 0.06872626] [ 0.03721875 -0.00210458 0.99930493 -0.0477563 ] [ 0. 0. 0. 1. ]] SLAMing on 2.480714057 meters Centerline goodness [0,1] 0.901480840669686 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.05 [[ 0.99920989 -0.01090116 -0.03822001 0.16979325] [ 0.01095704 0.99993918 0.00125293 0.07040618] [ 0.03820402 -0.00167072 0.99926856 -0.04680482] [ 0. 0. 0. 1. ]] SLAMing on 2.510714057 meters Centerline goodness [0,1] 0.8981669016792719 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.05 [[ 9.99170237e-01 -1.05677275e-02 -3.93339671e-02 1.71513523e-01] [ 1.05957549e-02 9.99943736e-01 5.04145095e-04 7.40908109e-02] [ 3.93264263e-02 -9.20499848e-04 9.99225993e-01 -4.55214401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.540714057 meters Centerline goodness [0,1] 0.8869697281713345 Centerline is valid? [False, False] Translation: X:0.17, Y:0.08, Z:-0.05 [[ 9.99149116e-01 -1.03389047e-02 -3.99268312e-02 1.72722803e-01] [ 1.03601918e-02 9.99946279e-01 3.26277171e-04 7.53084930e-02] [ 3.99213129e-02 -7.39649177e-04 9.99202553e-01 -4.52979810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.570714057 meters Centerline goodness [0,1] 0.8714259932451595 Centerline is valid? [False, False] Translation: X:0.17, Y:0.08, Z:-0.04 [[ 9.99124292e-01 -1.03218237e-02 -4.05476066e-02 1.74034206e-01] [ 1.03200746e-02 9.99946715e-01 -2.52457353e-04 7.76464113e-02] [ 4.05480518e-02 -1.66218049e-04 9.99177576e-01 -4.47883657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6007140570000002 meters Centerline goodness [0,1] 0.8557821373257615 Centerline is valid? [False, False] Translation: X:0.17, Y:0.08, Z:-0.04 [[ 9.99103824e-01 -1.03641782e-02 -4.10381834e-02 1.74705803e-01] [ 1.03405960e-02 9.99946225e-01 -7.86872215e-04 7.92578675e-02] [ 4.10441319e-02 3.61807764e-04 9.99157269e-01 -4.40740919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.630714057 meters Centerline goodness [0,1] 0.8453345802161263 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:-0.04 [[ 0.99907416 -0.01061847 -0.04169019 0.17500776] [ 0.01053712 0.99994213 -0.00217035 0.08313809] [ 0.04171082 0.00172905 0.99912823 -0.04194933] [ 0. 0. 0. 1. ]] SLAMing on 2.660714057 meters Centerline goodness [0,1] 0.822307912769339 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:-0.04 [[ 0.99904389 -0.01060546 -0.04241264 0.17580429] [ 0.01050031 0.99994122 -0.00270126 0.08469481] [ 0.0424388 0.00225333 0.99909653 -0.04086315] [ 0. 0. 0. 1. ]] SLAMing on 2.690714057 meters Centerline goodness [0,1] 0.8316482482953209 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.04 [[ 0.99902535 -0.01064159 -0.04283803 0.1763463 ] [ 0.01051505 0.99993966 -0.00317809 0.08621551] [ 0.04286927 0.00272455 0.99907698 -0.04015508] [ 0. 0. 0. 1. ]] SLAMing on 2.720714057 meters Centerline goodness [0,1] 0.8137968979249633 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.04 [[ 0.99899397 -0.01074554 -0.04353825 0.17724765] [ 0.01057837 0.99993577 -0.00406821 0.08897747] [ 0.04357917 0.00360355 0.99904348 -0.03883046] [ 0. 0. 0. 1. ]] SLAMing on 2.750714057 meters Centerline goodness [0,1] 0.8130055760622006 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.04 [[ 0.99896664 -0.01059988 -0.04419608 0.1786182 ] [ 0.01042033 0.9999365 -0.00429117 0.09025568] [ 0.04423876 0.0038262 0.99901366 -0.03865197] [ 0. 0. 0. 1. ]] SLAMing on 2.780714057 meters Centerline goodness [0,1] 0.7965067117640842 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.04 [[ 9.99008051e-01 -7.83599870e-03 -4.38350554e-02 1.78432639e-01] [ 7.79759611e-03 9.99969050e-01 -1.04699052e-03 9.18118512e-02] [ 4.38419029e-02 7.04143897e-04 9.99038233e-01 -3.97416822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.810714057 meters Centerline goodness [0,1] 0.7780518860416998 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.04 [[ 9.98993494e-01 -7.67809211e-03 -4.41932833e-02 1.79351093e-01] [ 7.63539734e-03 9.99970206e-01 -1.13481229e-03 9.29640212e-02] [ 4.42006798e-02 7.96236816e-04 9.99022355e-01 -3.98472321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.840714057 meters Centerline goodness [0,1] 0.7780518860416998 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.04 [[ 9.98993494e-01 -7.67809211e-03 -4.41932833e-02 1.79351093e-01] [ 7.63539734e-03 9.99970206e-01 -1.13481229e-03 9.29640212e-02] [ 4.42006798e-02 7.96236816e-04 9.99022355e-01 -3.98472321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8707140570000003 meters Centerline goodness [0,1] 0.774472831571679 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.04 [[ 9.98971905e-01 -7.45955537e-03 -4.47156264e-02 1.80551217e-01] [ 7.40911581e-03 9.99971715e-01 -1.29363815e-03 9.41071949e-02] [ 4.47240116e-02 9.61004917e-04 9.98998919e-01 -3.97686870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.900714057 meters Centerline goodness [0,1] 0.763380582472438 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.04 [[ 0.99899638 -0.0041322 -0.04459987 0.18011534] [ 0.00422047 0.99998932 0.00188524 0.09581473] [ 0.0445916 -0.00207158 0.99900315 -0.03953387] [ 0. 0. 0. 1. ]] SLAMing on 2.930714057 meters Centerline goodness [0,1] 0.7584717340559685 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.04 [[ 0.99896994 -0.00386284 -0.04521214 0.18101472] [ 0.0039284 0.99999136 0.0013612 0.09788022] [ 0.04520649 -0.00153741 0.99897648 -0.03863943] [ 0. 0. 0. 1. ]] SLAMing on 2.960714057 meters Centerline goodness [0,1] 0.7779749421949776 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.04 [[ 0.99893757 -0.00283857 -0.04599639 0.18309646] [ 0.00288885 0.9999953 0.00102672 0.1009504 ] [ 0.04599326 -0.00115851 0.99894108 -0.03812296] [ 0. 0. 0. 1. ]] SLAMing on 2.990714057 meters Centerline goodness [0,1] 0.7727847590345236 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.04 [[ 0.99892835 -0.0025894 -0.04621089 0.18382778] [ 0.00264021 0.99999598 0.00103842 0.10140419] [ 0.04620802 -0.00115931 0.99893117 -0.03825016] [ 0. 0. 0. 1. ]] SLAMing on 3.020714057 meters Centerline goodness [0,1] 0.7811480492868506 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:-0.04 [[ 0.99891623 -0.00223198 -0.04649077 0.18487452] [ 0.00228954 0.99999668 0.00118504 0.10155321] [ 0.04648797 -0.0012902 0.99891802 -0.03855544] [ 0. 0. 0. 1. ]] SLAMing on 3.050714057 meters Centerline goodness [0,1] 0.774617067833698 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.04 [[ 0.99890274 -0.00187388 -0.04679527 0.18532533] [ 0.00192567 0.99999758 0.00106184 0.10221105] [ 0.04679316 -0.00115079 0.99890394 -0.03779518] [ 0. 0. 0. 1. ]] SLAMing on 3.0807140570000002 meters Centerline goodness [0,1] 0.9106945082255058 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.04 [[ 9.98891732e-01 -1.57625771e-03 -4.70406553e-02 1.85660645e-01] [ 1.62163826e-03 9.99998256e-01 9.26562023e-04 1.02141861e-01] [ 4.70391127e-02 -1.00181807e-03 9.98892546e-01 -3.68684173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.110714057 meters Centerline goodness [0,1] 0.8575970684126856 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.04 [[ 0.99888537 -0.00136937 -0.04718209 0.18607744] [ 0.00142597 0.9999983 0.00116612 0.10133693] [ 0.04718042 -0.0012321 0.99888562 -0.03684313] [ 0. 0. 0. 1. ]] SLAMing on 3.1407140570000003 meters Centerline goodness [0,1] 0.9042699538747876 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.04 [[ 0.99888884 -0.00129284 -0.04711065 0.18609686] [ 0.00136269 0.99999802 0.00145065 0.10026138] [ 0.04710868 -0.00151323 0.99888862 -0.03697888] [ 0. 0. 0. 1. ]] SLAMing on 3.170714057 meters Centerline goodness [0,1] 0.8942836449475576 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.04 [[ 9.98882566e-01 -8.31550970e-04 -4.72538580e-02 1.86938059e-01] [ 9.34252325e-04 9.99997249e-01 2.15135191e-03 9.73883255e-02] [ 4.72519390e-02 -2.19309494e-03 9.98880596e-01 -3.72924378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.200714057 meters Centerline goodness [0,1] 0.8913008479124181 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.04 [[ 9.98887340e-01 -7.84952777e-04 -4.71536386e-02 1.86932685e-01] [ 9.03454790e-04 9.99996487e-01 2.49184445e-03 9.59404443e-02] [ 4.71515170e-02 -2.53167306e-03 9.98884540e-01 -3.75197944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.230714057 meters Centerline goodness [0,1] 0.8828329854979398 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.04 [[ 9.98887601e-01 -4.12881120e-04 -4.71528419e-02 1.87748203e-01] [ 5.74359848e-04 9.99994017e-01 3.41108349e-03 9.22438793e-02] [ 4.71511514e-02 -3.43437170e-03 9.98881862e-01 -3.84012786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.260714057 meters Centerline goodness [0,1] 0.8690926527785178 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.04 [[ 9.98875008e-01 -9.54922632e-05 -4.74205665e-02 1.88706359e-01] [ 2.81488361e-04 9.99992294e-01 3.91560404e-03 9.01553174e-02] [ 4.74198272e-02 -3.92454735e-03 9.98867337e-01 -3.87628436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.290714057 meters Centerline goodness [0,1] 0.8637318792392605 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.04 [[ 9.98870767e-01 -5.67062543e-05 -4.75098751e-02 1.88646481e-01] [ 2.52696586e-04 9.99991484e-01 4.11925860e-03 8.86188600e-02] [ 4.75092369e-02 -4.12661258e-03 9.98862275e-01 -3.84153452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.320714057 meters Centerline goodness [0,1] 0.802442966535068 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.04 [[ 9.98859414e-01 -4.34745395e-05 -4.77479763e-02 1.88089736e-01] [ 2.31362162e-04 9.99992253e-01 3.92946644e-03 8.60534683e-02] [ 4.77474356e-02 -3.93603162e-03 9.98851686e-01 -3.65569099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3507140570000002 meters Centerline goodness [0,1] 0.8592598462635708 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:-0.04 [[ 9.98862919e-01 3.20447534e-05 -4.76746133e-02 1.87584009e-01] [ 1.72990855e-04 9.99990755e-01 4.29659715e-03 8.26189661e-02] [ 4.76743102e-02 -4.29995884e-03 9.98853678e-01 -3.58540364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.380714057 meters Centerline goodness [0,1] 0.8547702528141723 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:-0.04 [[ 9.98867797e-01 1.17711094e-04 -4.75721484e-02 1.87577387e-01] [ 1.05718340e-04 9.99988977e-01 4.69410043e-03 8.05471125e-02] [ 4.75721765e-02 -4.69381501e-03 9.98856775e-01 -3.60380039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.410714057 meters Centerline goodness [0,1] 0.853787958390249 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:-0.04 [[ 9.98861278e-01 4.96688995e-04 -4.77063994e-02 1.88253684e-01] [-2.41589259e-04 9.99985644e-01 5.35290258e-03 7.81586656e-02] [ 4.77083733e-02 -5.33528176e-03 9.98847058e-01 -3.64677790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.440714057 meters Centerline goodness [0,1] 0.8405713687735454 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.04 [[ 9.98864555e-01 6.79054985e-04 -4.76354846e-02 1.88393381e-01] [-3.89733048e-04 9.99981424e-01 6.08268910e-03 7.42522611e-02] [ 4.76387302e-02 -6.05721742e-03 9.98846265e-01 -3.67903024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.470714057 meters Centerline goodness [0,1] 0.8323026744944553 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.04 [[ 9.98860834e-01 7.61405257e-04 -4.77122028e-02 1.88423653e-01] [-4.60778712e-04 9.99979976e-01 6.31151329e-03 7.23906246e-02] [ 4.77160530e-02 -6.28233866e-03 9.98841184e-01 -3.65181178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.500714057 meters Centerline goodness [0,1] 0.8231952478534927 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.04 [[ 9.98866706e-01 7.16476203e-04 -4.75898167e-02 1.87578629e-01] [-4.05839142e-04 9.99978553e-01 6.53672681e-03 6.87533762e-02] [ 4.75934794e-02 -6.51000496e-03 9.98845574e-01 -3.54838416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.530714057 meters Centerline goodness [0,1] 0.8305549094104572 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.03 [[ 9.98868880e-01 5.63199528e-04 -4.75462329e-02 1.87033217e-01] [-2.51869061e-04 9.99978493e-01 6.55368952e-03 6.70246465e-02] [ 4.75489013e-02 -6.53430108e-03 9.98847538e-01 -3.48098613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.560714057 meters Centerline goodness [0,1] 0.816420141215276 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.03 [[ 9.98873957e-01 4.24519190e-04 -4.74408872e-02 1.86350681e-01] [-1.12823501e-04 9.99978393e-01 6.57267559e-03 6.54551665e-02] [ 4.74426524e-02 -6.55992203e-03 9.98852423e-01 -3.41073205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.590714057 meters Centerline goodness [0,1] 0.8153515284960827 Centerline is valid? [False, False] Translation: X:0.19, Y:0.06, Z:-0.03 [[ 9.98872759e-01 3.91885578e-04 -4.74663811e-02 1.85986762e-01] [-7.62619892e-05 9.99977879e-01 6.65104182e-03 6.37686279e-02] [ 4.74679375e-02 -6.63992461e-03 9.98850693e-01 -3.33958078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.620714057 meters Centerline goodness [0,1] 0.8090828138913624 Centerline is valid? [False, False] Translation: X:0.19, Y:0.06, Z:-0.03 [[ 9.98879754e-01 2.48098839e-04 -4.73199320e-02 1.85140464e-01] [ 7.61433125e-05 9.99976534e-01 6.85020067e-03 6.04387905e-02] [ 4.73205212e-02 -6.84612986e-03 9.98856295e-01 -3.25376442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.650714057 meters Centerline goodness [0,1] 0.7951092716903043 Centerline is valid? [False, False] Translation: X:0.19, Y:0.06, Z:-0.03 [[ 0.99883999 -0.00261753 -0.04808135 0.18686187] [ 0.00278254 0.99999047 0.00336529 0.05996529] [ 0.04807209 -0.00349518 0.99883775 -0.03195614] [ 0. 0. 0. 1. ]] SLAMing on 3.680714057 meters Centerline goodness [0,1] 0.9721151666288823 Centerline is valid? [False, True] Translation: X:0.19, Y:0.06, Z:-0.03 [[ 0.99884859 -0.00255968 -0.04790553 0.18648003] [ 0.00275075 0.99998852 0.00392297 0.05663451] [ 0.04789494 -0.00405023 0.99884417 -0.03191387] [ 0. 0. 0. 1. ]] SLAMing on 3.710714057 meters Centerline goodness [0,1] 0.7720411233701103 Centerline is valid? [True, False] Translation: X:0.19, Y:0.05, Z:-0.03 [[ 0.99883955 -0.00230252 -0.04810676 0.18693012] [ 0.0025129 0.99998754 0.00431321 0.05495016] [ 0.04809623 -0.00442909 0.99883289 -0.03189488] [ 0. 0. 0. 1. ]] SLAMing on 3.740714057 meters Centerline goodness [0,1] 0.9656862745098039 Centerline is valid? [False, True] Translation: X:0.19, Y:0.05, Z:-0.03 [[ 0.99883673 -0.00231284 -0.04816471 0.18690371] [ 0.0025288 0.99998702 0.00442327 0.05378568] [ 0.04815385 -0.00453993 0.99882961 -0.03166853] [ 0. 0. 0. 1. ]] SLAMing on 3.770714057 meters Centerline goodness [0,1] 0.9844595774401955 Centerline is valid? [True, True] Translation: X:0.22, Y:0.06, Z:-0.03 [[ 0.99884586 -0.001689 -0.04800092 0.21624042] [ 0.00187493 0.99999091 0.00382877 0.05576518] [ 0.04799401 -0.00391435 0.99883995 -0.02755839] [ 0. 0. 0. 1. ]] SLAMing on 3.800714057 meters Centerline goodness [0,1] 0.9855887696941036 Centerline is valid? [True, True] Translation: X:0.24, Y:0.06, Z:-0.03 [[ 0.99885806 -0.00143568 -0.04775469 0.24469372] [ 0.00161893 0.99999147 0.00379886 0.05536252] [ 0.04774882 -0.00387184 0.99885187 -0.02575424] [ 0. 0. 0. 1. ]] SLAMing on 3.8307140570000002 meters Centerline goodness [0,1] 0.985497905252981 Centerline is valid? [True, True] Translation: X:0.27, Y:0.05, Z:-0.03 [[ 0.99889523 -0.00153227 -0.04696779 0.27206707] [ 0.00170926 0.99999159 0.00372853 0.04832785] [ 0.04696168 -0.00380469 0.99888945 -0.02552806] [ 0. 0. 0. 1. ]] SLAMing on 3.860714057 meters Centerline goodness [0,1] 0.9851743682399822 Centerline is valid? [True, True] Translation: X:0.30, Y:0.04, Z:-0.02 [[ 0.9989052 -0.0018804 -0.04674244 0.29984134] [ 0.00205557 0.99999104 0.00369964 0.04416686] [ 0.04673507 -0.00379167 0.99890012 -0.02415252] [ 0. 0. 0. 1. ]] SLAMing on 3.890714057 meters Centerline goodness [0,1] 0.9838614300497709 Centerline is valid? [True, True] Translation: X:0.33, Y:0.04, Z:-0.02 [[ 0.9989422 -0.00267697 -0.04590558 0.32660672] [ 0.00284642 0.99998937 0.00362627 0.03657536] [ 0.04589539 -0.0037531 0.9989392 -0.02361231] [ 0. 0. 0. 1. ]] SLAMing on 3.920714057 meters Centerline goodness [0,1] 0.9847232472324723 Centerline is valid? [True, True] Translation: X:0.36, Y:0.03, Z:-0.02 [[ 0.99894231 -0.00338401 -0.04585648 0.35536668] [ 0.00355341 0.99998716 0.00361312 0.03452889] [ 0.04584366 -0.00377225 0.9989415 -0.02154136] [ 0. 0. 0. 1. ]] SLAMing on 3.950714057 meters Centerline goodness [0,1] 0.9813818681993467 Centerline is valid? [True, True] Translation: X:0.38, Y:0.03, Z:-0.02 [[ 0.9989562 -0.00361701 -0.04553481 0.38191563] [ 0.00378395 0.99998643 0.00358059 0.02780893] [ 0.04552124 -0.00374916 0.99895634 -0.0216321 ] [ 0. 0. 0. 1. ]] SLAMing on 3.980714057 meters Centerline goodness [0,1] 0.9850617920935604 Centerline is valid? [True, True] Translation: X:0.41, Y:0.03, Z:-0.02 [[ 0.99898058 -0.00385519 -0.04497699 0.41079994] [ 0.00401787 0.99998571 0.00352718 0.03244387] [ 0.04496275 -0.00370429 0.9989818 -0.01739039] [ 0. 0. 0. 1. ]] SLAMing on 4.0107140569999995 meters Centerline goodness [0,1] 0.9789599726308587 Centerline is valid? [True, True] Translation: X:0.44, Y:0.02, Z:-0.02 [[ 0.99903767 -0.00504478 -0.04356933 0.43782888] [ 0.00519829 0.99998067 0.00341071 0.01667504] [ 0.04355128 -0.00363391 0.99904458 -0.01902541] [ 0. 0. 0. 1. ]] SLAMing on 4.040714057 meters Centerline goodness [0,1] 0.9840025400547089 Centerline is valid? [True, True] Translation: X:0.47, Y:0.02, Z:-0.01 [[ 0.99907114 -0.00607811 -0.0426604 0.4668888 ] [ 0.00622585 0.99997507 0.00333111 0.022215 ] [ 0.04263909 -0.00359361 0.99908408 -0.01485988] [ 0. 0. 0. 1. ]] SLAMing on 4.070714057 meters Centerline goodness [0,1] 0.9780310779872375 Centerline is valid? [True, True] Translation: X:0.49, Y:0.01, Z:-0.02 [[ 0.99909653 -0.0072518 -0.04187528 0.49334529] [ 0.00739492 0.99996733 0.0032639 0.00752054] [ 0.04185024 -0.00357062 0.99911751 -0.01750631] [ 0. 0. 0. 1. ]] SLAMing on 4.100714057 meters Centerline goodness [0,1] 0.9773926514014619 Centerline is valid? [True, True] Translation: X:0.52, Y:0.00, Z:-0.02 [[ 0.99909793 -0.00762615 -0.04177529 0.52117357] [ 0.00776855 0.99996455 0.0032473 0.00430868] [ 0.04174904 -0.00356891 0.99912175 -0.01677055] [ 0. 0. 0. 1. ]] SLAMing on 4.130714057 meters Centerline goodness [0,1] 0.9836394878869286 Centerline is valid? [True, True] Translation: X:0.55, Y:0.01, Z:-0.01 [[ 0.99912291 -0.00803245 -0.04109613 0.5492338 ] [ 0.00817012 0.99996156 0.00318302 0.01038162] [ 0.04106898 -0.00351598 0.99915013 -0.01289327] [ 0. 0. 0. 1. ]] SLAMing on 4.160714057 meters Centerline goodness [0,1] 0.9839721085635426 Centerline is valid? [True, True] Translation: X:0.58, Y:0.01, Z:-0.01 [[ 0.99915803 -0.00778173 -0.04028236 0.57793564] [ 0.00791337 0.99996385 0.00310952 0.00581011] [ 0.0402567 -0.00342567 0.9991835 -0.01112718] [ 0. 0. 0. 1. ]] SLAMing on 4.190714057 meters Centerline goodness [0,1] 0.9791361199913468 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.00, Z:-0.01 [[ 0.99915904 -0.00780271 -0.04025321 0.60485285] [ 0.00793394 0.99996372 0.0031015 -0.0043898 ] [ 0.04022755 -0.00341825 0.9991847 -0.01237111] [ 0. 0. 0. 1. ]] SLAMing on 4.220714057 meters Centerline goodness [0,1] 0.9843640324337408 Centerline is valid? [True, True] Translation: X:0.63, Y:0.00, Z:-0.01 [[ 0.99918402 -0.00740621 -0.03970447 0.63423687] [ 0.00753326 0.99996697 0.00305145 0.00398451] [ 0.03968056 -0.00334807 0.99920681 -0.00716979] [ 0. 0. 0. 1. ]] SLAMing on 4.250714057 meters Centerline goodness [0,1] 0.9849331301845269 Centerline is valid? [True, True] Translation: X:0.66, Y:0.00, Z:-0.01 [[ 0.99926357 -0.00666922 -0.03778679 0.66298169] [ 0.00678358 0.99997279 0.002899 0.00144556] [ 0.03776643 -0.00315319 0.99928162 -0.00531848] [ 0. 0. 0. 1. ]] SLAMing on 4.280714057 meters Centerline goodness [0,1] 0.984444712408055 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.00, Z:-0.01 [[ 0.99926397 -0.00659085 -0.03778993 0.69021236] [ 0.00670505 0.99997333 0.00289607 -0.0017729 ] [ 0.03776984 -0.00314733 0.99928151 -0.00521008] [ 0. 0. 0. 1. ]] SLAMing on 4.310714057 meters Centerline goodness [0,1] 0.9850843373493976 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.00, Z:-0.00 [[ 0.9993036 -0.00592737 -0.0368399 0.71872386] [ 0.00603534 0.99997781 0.00282038 -0.00435038] [ 0.03682237 -0.00304076 0.9993172 -0.00433489] [ 0. 0. 0. 1. ]] SLAMing on 4.3407140570000005 meters Centerline goodness [0,1] 0.9846383511509198 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.01, Z:-0.00 [[ 0.99931374 -0.00578006 -0.03658754 0.74752248] [ 0.00588621 0.99997877 0.00279433 -0.00705455] [ 0.03657062 -0.00300777 0.99932654 -0.00398469] [ 0. 0. 0. 1. ]] SLAMing on 4.370714057 meters Centerline goodness [0,1] 0.9858090985881501 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.01, Z:-0.00 [[ 0.99930447 -0.00598369 -0.03680724 0.77559251] [ 0.00609088 0.99997753 0.00280088 -0.00699457] [ 0.03678965 -0.00302312 0.99931846 -0.00284685] [ 0. 0. 0. 1. ]] SLAMing on 4.400714057 meters Centerline goodness [0,1] 0.9852877437996629 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.01, Z:-0.00 [[ 0.99931559 -0.00329821 -0.03684399 0.80455587] [ 0.00340362 0.99999029 0.00279879 -0.01002712] [ 0.03683441 -0.00292228 0.99931711 -0.00269256] [ 0. 0. 0. 1. ]] SLAMing on 4.430714057 meters Centerline goodness [0,1] 0.9853699686671487 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.01, Z:-0.00 [[ 9.99315595e-01 -6.85447830e-04 -3.69847370e-02 8.34086903e-01] [ 7.89844536e-04 9.99995745e-01 2.80815973e-03 -1.06265556e-02] [ 3.69826548e-02 -2.83545001e-03 9.99311885e-01 -2.53228938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.460714057 meters Centerline goodness [0,1] 0.9854929033503911 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.01, Z:-0.00 [[ 0.99930113 0.00166855 -0.0373425 0.86458539] [-0.00156379 0.99999476 0.0028344 -0.00775768] [ 0.03734704 -0.00277403 0.99929851 -0.00102541] [ 0. 0. 0. 1. ]] SLAMing on 4.490714057 meters Centerline goodness [0,1] 0.9864995645020808 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.01, Z:0.00 [[ 0.99931197 0.00482025 -0.03677437 0.89463415] [-0.00472079 0.99998496 0.00279091 -0.00730636] [ 0.03678727 -0.00261539 0.9993197 0.00163996] [ 0. 0. 0. 1. ]] SLAMing on 4.520714057 meters Centerline goodness [0,1] 0.9877595628415301 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.01, Z:0.00 [[ 0.99933743 0.00539783 -0.03599405 0.92348951] [-0.00530298 0.99998221 0.00273002 -0.00738007] [ 0.03600815 -0.00253733 0.99934828 0.00333452] [ 0. 0. 0. 1. ]] SLAMing on 4.550714057 meters Centerline goodness [0,1] 0.986333236405932 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.01, Z:0.00 [[ 0.99936431 0.00444685 -0.03537219 0.9505247 ] [-0.00435481 0.99998693 0.00267862 -0.01067304] [ 0.03538364 -0.00252288 0.99937062 0.00411735] [ 0. 0. 0. 1. ]] SLAMing on 4.580714057 meters Centerline goodness [0,1] 0.9865054074932407 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.01, Z:0.00 [[ 0.99937724 0.00401592 -0.03505717 0.97932078] [-0.00392538 0.99998878 0.00265118 -0.01256962] [ 0.03506742 -0.00251191 0.99938179 0.00459706] [ 0. 0. 0. 1. ]] SLAMing on 4.610714057 meters Centerline goodness [0,1] 0.9867238512878587 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.01, Z:0.01 [[ 0.99939975 0.00387161 -0.03442598 1.00811362] [-0.0037843 0.99998946 0.00260099 -0.01406353] [ 0.03443569 -0.00246915 0.99940387 0.00500847] [ 0. 0. 0. 1. ]] SLAMing on 4.640714057 meters Centerline goodness [0,1] 0.9877112506035731 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.02, Z:0.00 [[ 0.99939768 0.003658 -0.03450939 1.0367442 ] [-0.00357022 0.99999023 0.00260482 -0.01532755] [ 0.03451858 -0.00248004 0.99940098 0.00497107] [ 0. 0. 0. 1. ]] SLAMing on 4.670714057 meters Centerline goodness [0,1] 0.9879509344666055 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.02, Z:0.01 [[ 0.99940051 0.00352093 -0.03444169 1.06511838] [-0.0034335 0.99999073 0.00259724 -0.01621894] [ 0.03445051 -0.00247743 0.99940333 0.00573815] [ 0. 0. 0. 1. ]] SLAMing on 4.700714057 meters Centerline goodness [0,1] 0.9879509344666055 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.02, Z:0.01 [[ 0.99940087 0.00341276 -0.03444193 1.09256753] [-0.00332538 0.99999111 0.00259402 -0.01819558] [ 0.03445048 -0.00247794 0.99940333 0.00612102] [ 0. 0. 0. 1. ]] SLAMing on 4.730714057 meters Centerline goodness [0,1] 0.9881175126965227 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.02, Z:0.01 [[ 0.99941325 0.00436017 -0.03397276 1.11994738] [-0.00427581 0.99998759 0.00255539 -0.01999943] [ 0.03398348 -0.00240863 0.99941949 0.00709636] [ 0. 0. 0. 1. ]] SLAMing on 4.760714057 meters Centerline goodness [0,1] 0.9893189946716625 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.02, Z:0.01 [[ 0.99940674 0.00441132 -0.03415714 1.1488809 ] [-0.00432616 0.99998735 0.00256654 -0.01703511] [ 0.03416803 -0.00241725 0.99941318 0.0091617 ] [ 0. 0. 0. 1. ]] SLAMing on 4.790714057 meters Centerline goodness [0,1] 0.9889910036615824 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.02, Z:0.01 [[ 0.99941102 0.00418277 -0.03406047 1.17718666] [-0.00409805 0.99998833 0.00255684 -0.01897476] [ 0.03407077 -0.00241575 0.9994165 0.00961024] [ 0. 0. 0. 1. ]] SLAMing on 4.820714057 meters Centerline goodness [0,1] 0.9895210308777048 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.02, Z:0.01 [[ 0.99942544 0.00352498 -0.03371013 1.20513525] [-0.00344171 0.99999088 0.0025278 -0.02305605] [ 0.03371874 -0.00241033 0.99942846 0.00963978] [ 0. 0. 0. 1. ]] SLAMing on 4.850714057 meters Centerline goodness [0,1] 0.9903069072441829 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.02, Z:0.01 [[ 0.99942598 0.00365863 -0.03367967 1.23384406] [-0.00357568 0.99999042 0.00252288 -0.02257447] [ 0.03368857 -0.00240101 0.99942949 0.01004565] [ 0. 0. 0. 1. ]] SLAMing on 4.880714057 meters Centerline goodness [0,1] 0.9896150752053826 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.02, Z:0.01 [[ 0.99943426 0.00420879 -0.03336845 1.262532 ] [-0.00412775 0.99998836 0.00249723 -0.02409359] [ 0.03337857 -0.00235808 0.99944 0.00963243] [ 0. 0. 0. 1. ]] SLAMing on 4.910714057 meters Centerline goodness [0,1] 0.9905943025540275 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.02, Z:0.01 [[ 0.99944589 0.0045503 -0.03297282 1.29134803] [-0.00447143 0.99998696 0.00246526 -0.01876131] [ 0.03298361 -0.00231646 0.99945321 0.01183844] [ 0. 0. 0. 1. ]] SLAMing on 4.940714057 meters Centerline goodness [0,1] 0.9910498129264177 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.02, Z:0.01 [[ 0.99947115 0.00516813 -0.03210466 1.31905085] [-0.00509376 0.99998415 0.00239772 -0.02125637] [ 0.03211654 -0.00223292 0.99948164 0.01228522] [ 0. 0. 0. 1. ]] SLAMing on 4.970714057 meters Centerline goodness [0,1] 0.990874655647383 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.02, Z:0.01 [[ 0.9994968 0.00591396 -0.03116379 1.34788849] [-0.00584433 0.99998022 0.00232498 -0.01989761] [ 0.03117692 -0.00214168 0.99951159 0.01399175] [ 0. 0. 0. 1. ]] SLAMing on 5.000714057 meters Centerline goodness [0,1] 0.9921420829638388 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.02, Z:0.01 [[ 0.99950034 0.00592573 -0.03104756 1.37673806] [-0.00585669 0.99998017 0.00231406 -0.02029384] [ 0.03106065 -0.00213106 0.99951523 0.01480866] [ 0. 0. 0. 1. ]] SLAMing on 5.030714057 meters Centerline goodness [0,1] 0.9913935537964539 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.03, Z:0.01 [[ 0.999512 0.00544961 -0.03075809 1.40414829] [-0.00538173 0.9999829 0.00228924 -0.02869585] [ 0.03077004 -0.00212259 0.99952424 0.01383899] [ 0. 0. 0. 1. ]] SLAMing on 5.060714057 meters Centerline goodness [0,1] 0.9909470924336491 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.03, Z:0.01 [[ 0.99950982 0.00413987 -0.031032 1.43364559] [-0.00407025 0.99998906 0.00230652 -0.02575591] [ 0.03104121 -0.00217908 0.99951573 0.0138004 ] [ 0. 0. 0. 1. ]] SLAMing on 5.090714057 meters Centerline goodness [0,1] 0.9902205936966156 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.03, Z:0.01 [[ 0.99949186 0.00323073 -0.03171099 1.46113172] [-0.00315765 0.99999224 0.00235436 -0.03026817] [ 0.03171835 -0.00225303 0.99949431 0.01267228] [ 0. 0. 0. 1. ]] SLAMing on 5.120714057 meters Centerline goodness [0,1] 0.9914328284082443 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.03, Z:0.01 [[ 9.99441283e-01 1.21165898e-03 -3.34014103e-02 1.49224428e+00] [-1.12949817e-03 9.99996290e-01 2.47855978e-03 -2.59421141e-02] [ 3.34042896e-02 -2.43944813e-03 9.99438944e-01 1.35507467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.150714057 meters Centerline goodness [0,1] 0.9899521292510223 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.03, Z:0.01 [[ 9.99445280e-01 4.99548253e-04 -3.32998896e-02 1.51951734e+00] [-4.17552669e-04 9.99996864e-01 2.46924669e-03 -3.42851645e-02] [ 3.33010187e-02 -2.45397249e-03 9.99442355e-01 1.25628652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.180714057 meters Centerline goodness [0,1] 0.9912260967379077 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.03, Z:0.02 [[ 9.99460151e-01 -1.49365361e-04 -3.28539773e-02 1.54832080e+00] [ 2.29439650e-04 9.99997013e-01 2.43352187e-03 -2.91038385e-02] [ 3.28535157e-02 -2.43974615e-03 9.99457200e-01 1.57840456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.210714057 meters Centerline goodness [0,1] 0.9913015222336091 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.04, Z:0.01 [[ 9.99483790e-01 -9.49369411e-04 -3.21131067e-02 1.57575594e+00] [ 1.02619544e-03 9.99996651e-01 2.37596060e-03 -3.86033877e-02] [ 3.21107435e-02 -2.40768843e-03 9.99481417e-01 1.48316918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.240714057 meters Centerline goodness [0,1] 0.9913948369021413 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.03, Z:0.02 [[ 0.99954519 -0.00166909 -0.03011041 1.60457588] [ 0.00173688 0.99999602 0.0022254 -0.03266439] [ 0.03010657 -0.00227669 0.9995441 0.01801594] [ 0. 0. 0. 1. ]] SLAMing on 5.270714057 meters Centerline goodness [0,1] 0.9911075384963199 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.04, Z:0.02 [[ 0.99957075 -0.00212663 -0.02921984 1.63088692] [ 0.00219054 0.99999528 0.00215554 -0.03607291] [ 0.02921512 -0.00221862 0.99957069 0.01784102] [ 0. 0. 0. 1. ]] SLAMing on 5.3007140569999995 meters Centerline goodness [0,1] 0.9905956112852664 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.04, Z:0.02 [[ 0.99961944 -0.00180678 -0.0275266 1.65840654] [ 0.00186328 0.99999621 0.0020268 -0.03741119] [ 0.02752283 -0.00207732 0.99961902 0.01780402] [ 0. 0. 0. 1. ]] SLAMing on 5.330714057 meters Centerline goodness [0,1] 0.9912030852216873 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.04, Z:0.02 [[ 0.99963521 -0.0017041 -0.02695429 1.68731603] [ 0.00175811 0.99999649 0.00198018 -0.03966648] [ 0.02695083 -0.00202685 0.99963471 0.01848051] [ 0. 0. 0. 1. ]] SLAMing on 5.360714057 meters Centerline goodness [0,1] 0.9915292693994857 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.04, Z:0.02 [[ 9.99664776e-01 -1.42145607e-03 -2.58517961e-02 1.71605679e+00] [ 1.47087727e-03 9.99997127e-01 1.89279725e-03 -3.59618762e-02] [ 2.58490313e-02 -1.93018756e-03 9.99663995e-01 2.06703592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.390714057 meters Centerline goodness [0,1] 0.9923216811477066 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.04, Z:0.02 [[ 9.99671580e-01 -1.30336672e-03 -2.55936235e-02 1.74406162e+00] [ 1.35164951e-03 9.99997339e-01 1.86930733e-03 -3.79217892e-02] [ 2.55911190e-02 -1.90328702e-03 9.99670682e-01 2.12543291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.420714057 meters Centerline goodness [0,1] 0.9915964259498317 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.04, Z:0.02 [[ 9.99670411e-01 -1.33689675e-03 -2.56375183e-02 1.77253473e+00] [ 1.38524758e-03 9.99997295e-01 1.86827280e-03 -3.89373470e-02] [ 2.56349513e-02 -1.90317135e-03 9.99669559e-01 2.18746848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.450714057 meters Centerline goodness [0,1] 0.9919531448943214 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.04, Z:0.02 [[ 9.99672294e-01 -1.30151419e-03 -2.55658116e-02 1.80018371e+00] [ 1.34946734e-03 9.99997362e-01 1.85851130e-03 -4.00661849e-02] [ 2.55633253e-02 -1.89240249e-03 9.99671414e-01 2.13695884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.480714057 meters Centerline goodness [0,1] 0.992988986334897 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.04, Z:0.02 [[ 9.99685898e-01 -1.55959347e-03 -2.50134599e-02 1.82839933e+00] [ 1.60546371e-03 9.99997066e-01 1.81384505e-03 -3.59741715e-02] [ 2.50105577e-02 -1.85343352e-03 9.99685469e-01 2.17646315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.510714057 meters Centerline goodness [0,1] 0.9925203584101294 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.04, Z:0.02 [[ 9.99712520e-01 -1.80601039e-03 -2.39084723e-02 1.85573254e+00] [ 1.84786152e-03 9.99996799e-01 1.72849551e-03 -3.75159106e-02] [ 2.39052741e-02 -1.77217815e-03 9.99712657e-01 1.99654216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.540714057 meters Centerline goodness [0,1] 0.9855469149698148 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.05, Z:0.02 [[ 9.99718029e-01 -1.67605809e-03 -2.36865596e-02 1.88292211e+00] [ 1.71703620e-03 9.99997064e-01 1.70978294e-03 -5.32547000e-02] [ 2.36836244e-02 -1.74997152e-03 9.99717972e-01 1.76496296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.570714057 meters Centerline goodness [0,1] 0.9908299180327869 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.05, Z:0.02 [[ 9.99722585e-01 -1.93109064e-03 -2.34738892e-02 1.91168762e+00] [ 1.97131359e-03 9.99996628e-01 1.69049881e-03 -4.62554993e-02] [ 2.34705455e-02 -1.73630424e-03 9.99723021e-01 1.91950064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.600714057 meters Centerline goodness [0,1] 0.9909674108288427 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.04, Z:0.02 [[ 9.99715871e-01 -2.45083017e-03 -2.37101186e-02 1.94083278e+00] [ 2.49186133e-03 9.99995448e-01 1.70114329e-03 -4.29033492e-02] [ 2.37058414e-02 -1.75974227e-03 9.99717428e-01 2.10801513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.630714057 meters Centerline goodness [0,1] 0.9885380901980019 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.05, Z:0.02 [[ 9.99725216e-01 -3.74174450e-03 -2.31406854e-02 1.96915609e+00] [ 3.78108189e-03 9.99991480e-01 1.65640232e-03 -4.99849359e-02] [ 2.31342904e-02 -1.74344399e-03 9.99730846e-01 2.23584359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.660714057 meters Centerline goodness [0,1] 0.9913453565505804 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.04, Z:0.02 [[ 9.99734222e-01 -4.56417619e-03 -2.25976274e-02 1.99794562e+00] [ 4.60185356e-03 9.99988106e-01 1.61559367e-03 -4.44912767e-02] [ 2.25899847e-02 -1.71915525e-03 9.99743336e-01 2.40280149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.690714057 meters Centerline goodness [0,1] 0.990582924741225 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.05, Z:0.02 [[ 9.99742039e-01 -6.25668575e-03 -2.18336865e-02 2.02698048e+00] [ 6.29220923e-03 9.99978989e-01 1.55868317e-03 -4.64582221e-02] [ 2.18234756e-02 -1.69566321e-03 9.99760402e-01 2.40534103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.720714057 meters Centerline goodness [0,1] 0.9914981855883878 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.05, Z:0.02 [[ 9.99733480e-01 -7.29203826e-03 -2.19042092e-02 2.05692982e+00] [ 7.32801561e-03 9.99971929e-01 1.56266721e-03 -4.50889938e-02] [ 2.18921993e-02 -1.72276511e-03 9.99758853e-01 2.37001536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.750714057 meters Centerline goodness [0,1] 0.9893799335272123 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.05, Z:0.02 [[ 9.99733376e-01 -7.97144520e-03 -2.16709970e-02 2.08543688e+00] [ 8.00680177e-03 9.99966751e-01 1.54523582e-03 -5.23430576e-02] [ 2.16579587e-02 -1.71833920e-03 9.99763962e-01 2.19392271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.780714057 meters Centerline goodness [0,1] 0.9871988343654057 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.06, Z:0.02 [[ 9.99706259e-01 -9.17190272e-03 -2.24337064e-02 2.11482832e+00] [ 9.21007813e-03 9.99956308e-01 1.59896815e-03 -5.58694073e-02] [ 2.24180606e-02 -1.80511466e-03 9.99747054e-01 1.96488038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.810714057 meters Centerline goodness [0,1] 0.9857005433793515 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.06, Z:0.02 [[ 9.99699137e-01 -9.35017127e-03 -2.26761895e-02 2.14565874e+00] [ 9.38921752e-03 9.99954614e-01 1.61604511e-03 -5.76522439e-02] [ 2.26600500e-02 -1.82847058e-03 9.99741556e-01 1.97315432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.840714057 meters Centerline goodness [0,1] 0.9911655219420122 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.05, Z:0.02 [[ 9.99712884e-01 -8.06118074e-03 -2.25647086e-02 2.17674141e+00] [ 8.09951770e-03 9.99965905e-01 1.60810029e-03 -4.85859322e-02] [ 2.25509760e-02 -1.79040184e-03 9.99744091e-01 2.18308826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.870714057 meters Centerline goodness [0,1] 0.9904714666109747 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.05, Z:0.02 [[ 9.99732880e-01 -7.04499191e-03 -2.20121908e-02 2.20695670e+00] [ 7.08122585e-03 9.99973698e-01 1.56857182e-03 -4.93309015e-02] [ 2.20005613e-02 -1.72402612e-03 9.99756472e-01 2.23627581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.900714057 meters Centerline goodness [0,1] 0.9902542262169153 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.05, Z:0.02 [[ 9.99750482e-01 -5.34800325e-03 -2.16880783e-02 2.23592589e+00] [ 5.38276905e-03 9.99984319e-01 1.54493002e-03 -5.13492914e-02] [ 2.16794759e-02 -1.66128645e-03 9.99763592e-01 2.25948920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.930714057 meters Centerline goodness [0,1] 0.9915307732772225 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.05, Z:0.02 [[ 9.99775708e-01 -1.57978371e-03 -2.11196026e-02 2.26681239e+00] [ 1.61190333e-03 9.99997570e-01 1.50390722e-03 -4.77816875e-02] [ 2.11171754e-02 -1.53761266e-03 9.99775825e-01 2.16599371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.960714057 meters Centerline goodness [0,1] 0.9914660485697729 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.05, Z:0.02 [[ 9.99773189e-01 2.53782728e-04 -2.12956961e-02 2.29533695e+00] [-2.21548836e-04 9.99998826e-01 1.51597975e-03 -4.90296583e-02] [ 2.12960558e-02 -1.51091787e-03 9.99772072e-01 2.06379163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.990714057 meters Centerline goodness [0,1] 0.9916671075604465 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.05, Z:0.02 [[ 9.99765187e-01 3.50704711e-03 -2.13839165e-02 2.32516393e+00] [-3.47530841e-03 9.99992804e-01 1.52121418e-03 -4.80797930e-02] [ 2.13890976e-02 -1.44654127e-03 9.99770181e-01 1.90490234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.020714057 meters Centerline goodness [0,1] 0.9925920046564543 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.05, Z:0.02 [[ 9.99752561e-01 5.07903019e-03 -2.16568574e-02 2.35436045e+00] [-5.04686654e-03 9.99986079e-01 1.53954613e-03 -4.66094402e-02] [ 2.16643754e-02 -1.42986592e-03 9.99764277e-01 1.93015642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0507140569999995 meters Centerline goodness [0,1] 0.992329057003042 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.05, Z:0.02 [[ 9.99756297e-01 6.22132558e-03 -2.11811531e-02 2.38361446e+00] [-6.19084471e-03 9.99979705e-01 1.50432478e-03 -4.79510769e-02] [ 2.11900821e-02 -1.37282895e-03 9.99774522e-01 1.98420438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.080714057 meters Centerline goodness [0,1] 0.991981733220051 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.05, Z:0.02 [[ 9.99755359e-01 7.92842463e-03 -2.06485437e-02 2.41159155e+00] [-7.89984825e-03 9.99967722e-01 1.46514446e-03 -4.77034864e-02] [ 2.06594935e-02 -1.30166567e-03 9.99785723e-01 1.99891201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.110714057 meters Centerline goodness [0,1] 0.9921247272920768 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.05, Z:0.02 [[ 9.99748494e-01 8.53207809e-03 -2.07401077e-02 2.44084049e+00] [-8.50340824e-03 9.99962765e-01 1.47013763e-03 -4.97348582e-02] [ 2.07518787e-02 -1.29340628e-03 9.99783820e-01 1.92701369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.140714057 meters Centerline goodness [0,1] 0.9916383520917392 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.05, Z:0.02 [[ 9.99743380e-01 9.01021757e-03 -2.07843749e-02 2.47017327e+00] [-8.98154634e-03 9.99958581e-01 1.47239833e-03 -5.07242885e-02] [ 2.07967807e-02 -1.28534466e-03 9.99782897e-01 1.74547262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.170714057 meters Centerline goodness [0,1] 0.9908496036601585 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.05, Z:0.02 [[ 9.99730688e-01 9.59288327e-03 -2.11312076e-02 2.49805239e+00] [-9.56341237e-03 9.99953152e-01 1.49527771e-03 -5.35287777e-02] [ 2.11445617e-02 -1.29278856e-03 9.99775593e-01 1.67707145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.200714057 meters Centerline goodness [0,1] 0.9911792138574284 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.05, Z:0.02 [[ 9.99730578e-01 1.01315989e-02 -2.08835265e-02 2.52658528e+00] [-1.01029790e-02 9.99947875e-01 1.47550767e-03 -5.45670536e-02] [ 2.08973872e-02 -1.26412431e-03 9.99780827e-01 1.64868898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.230714057 meters Centerline goodness [0,1] 0.9909047263416195 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.06, Z:0.02 [[ 9.99711193e-01 1.14594708e-02 -2.11237020e-02 2.55432920e+00] [-1.14305233e-02 9.99933558e-01 1.49061512e-03 -5.55245041e-02] [ 2.11393802e-02 -1.24872965e-03 9.99775758e-01 1.57841240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.260714057 meters Centerline goodness [0,1] 0.9926133333333333 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.05, Z:0.02 [[ 9.99706216e-01 1.22795993e-02 -2.08972098e-02 2.58331372e+00] [-1.22514928e-02 9.99923863e-01 1.47248471e-03 -5.18911164e-02] [ 2.09137003e-02 -1.21603010e-03 9.99780545e-01 1.71994493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.290714057 meters Centerline goodness [0,1] 0.9916682294317786 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.05, Z:0.02 [[ 9.99685542e-01 1.42719553e-02 -2.06186234e-02 2.61105521e+00] [-1.42450491e-02 9.99897481e-01 1.45124148e-03 -5.36462535e-02] [ 2.06372216e-02 -1.15707182e-03 9.99786360e-01 1.71732081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.320714057 meters Centerline goodness [0,1] 0.9913308717290095 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.06, Z:0.02 [[ 9.99685651e-01 1.47843961e-02 -2.02489702e-02 2.63970886e+00] [-1.47585851e-02 9.99890073e-01 1.42353339e-03 -5.52757631e-02] [ 2.02677904e-02 -1.12423975e-03 9.99793955e-01 1.67856942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.350714057 meters Centerline goodness [0,1] 0.9916919036260821 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.06, Z:0.02 [[ 9.99668988e-01 1.51905682e-02 -2.07644036e-02 2.66705633e+00] [-1.51635473e-02 9.99883964e-01 1.45814384e-03 -5.87820671e-02] [ 2.07841442e-02 -1.14279916e-03 9.99783333e-01 1.59366166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.380714057 meters Centerline goodness [0,1] 0.992283371737849 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.06, Z:0.02 [[ 9.99663532e-01 1.54836111e-02 -2.08105723e-02 2.69581081e+00] [-1.54565692e-02 9.99879475e-01 1.45966064e-03 -5.80887201e-02] [ 2.08306649e-02 -1.13750946e-03 9.99782371e-01 1.53315091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.410714057 meters Centerline goodness [0,1] 0.9930041705906094 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.06, Z:0.01 [[ 9.99635424e-01 1.65079129e-02 -2.13660393e-02 2.72480700e+00] [-1.64796746e-02 9.99863080e-01 1.49705585e-03 -5.68202373e-02] [ 2.13878271e-02 -1.14440468e-03 9.99770599e-01 1.47155456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.440714057 meters Centerline goodness [0,1] 0.9925237150972721 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.06, Z:0.01 [[ 9.99609350e-01 1.75359857e-02 -2.17631888e-02 2.75259323e+00] [-1.75069688e-02 9.99845581e-01 1.52312629e-03 -5.92837886e-02] [ 2.17865377e-02 -1.14152381e-03 9.99761994e-01 1.46137372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.470714057 meters Centerline goodness [0,1] 0.992836253387352 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.06, Z:0.01 [[ 9.99578154e-01 1.90067816e-02 -2.19603389e-02 2.78006443e+00] [-1.89776403e-02 9.99818731e-01 1.53465814e-03 -6.06349976e-02] [ 2.19855270e-02 -1.11725534e-03 9.99757665e-01 1.39838087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.500714057 meters Centerline goodness [0,1] 0.9927011231113146 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.06, Z:0.01 [[ 9.99575528e-01 1.96824562e-02 -2.14794069e-02 2.80904665e+00] [-1.96547804e-02 9.99805703e-01 1.49885062e-03 -6.16593275e-02] [ 2.15047346e-02 -1.07604138e-03 9.99768167e-01 1.40159614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.530714057 meters Centerline goodness [0,1] 0.9929513048157116 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.06, Z:0.01 [[ 9.99566980e-01 2.00512196e-02 -2.15360267e-02 2.83811651e+00] [-2.00235163e-02 9.99798382e-01 1.50126246e-03 -6.26831003e-02] [ 2.15617868e-02 -1.06938541e-03 9.99766946e-01 1.45029447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.560714057 meters Centerline goodness [0,1] 0.9920778205922772 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.07, Z:0.01 [[ 9.99575523e-01 1.96413121e-02 -2.15172862e-02 2.86568606e+00] [-1.96135984e-02 9.99806512e-01 1.49827989e-03 -7.07981621e-02] [ 2.15425510e-02 -1.07561250e-03 9.99767354e-01 1.32122686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.590714057 meters Centerline goodness [0,1] 0.9924828121238062 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.07, Z:0.01 [[ 9.99585544e-01 1.91185207e-02 -2.15225972e-02 2.89468753e+00] [-1.90907107e-02 9.99816635e-01 1.49687018e-03 -6.96035348e-02] [ 2.15472687e-02 -1.08536811e-03 9.99767242e-01 1.37848069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.620714057 meters Centerline goodness [0,1] 0.9924828121238062 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.07, Z:0.01 [[ 9.99587552e-01 1.90131352e-02 -2.15227211e-02 2.92210123e+00] [-1.89853391e-02 9.99818644e-01 1.49508711e-03 -7.14031290e-02] [ 2.15472441e-02 -1.08585431e-03 9.99767242e-01 1.41670857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.650714057 meters Centerline goodness [0,1] 0.992658527402786 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.08, Z:0.01 [[ 9.99632454e-01 1.77475934e-02 -2.04934027e-02 2.95069190e+00] [-1.77221661e-02 9.99841939e-01 1.42171699e-03 -7.55017723e-02] [ 2.05153955e-02 -1.05800695e-03 9.99788977e-01 1.36629054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.680714057 meters Centerline goodness [0,1] 0.9922710740265297 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.08, Z:0.01 [[ 9.99639461e-01 1.70386485e-02 -2.07516787e-02 2.97977609e+00] [-1.70124546e-02 9.99854243e-01 1.43815228e-03 -7.82946931e-02] [ 2.07731581e-02 -1.08459678e-03 9.99783626e-01 1.36180146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.710714057 meters Centerline goodness [0,1] 0.9916300032192296 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.08, Z:0.01 [[ 9.99662704e-01 1.52682673e-02 -2.10085302e-02 3.00800686e+00] [-1.52410597e-02 9.99882790e-01 1.45458448e-03 -8.38290036e-02] [ 2.10282768e-02 -1.13390159e-03 9.99778238e-01 1.26383971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.740714057 meters Centerline goodness [0,1] 0.9915750621840649 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.09, Z:0.01 [[ 9.99676107e-01 1.38086658e-02 -2.13775842e-02 3.03688449e+00] [-1.37801880e-02 9.99903955e-01 1.47887561e-03 -8.73952432e-02] [ 2.13959523e-02 -1.18380948e-03 9.99770380e-01 1.27485337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.770714057 meters Centerline goodness [0,1] 0.9905607401663235 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.09, Z:0.01 [[ 9.99695895e-01 1.22715721e-02 -2.13898497e-02 3.06611469e+00] [-1.22427372e-02 9.99923962e-01 1.47849881e-03 -9.01670990e-02] [ 2.14063667e-02 -1.21617888e-03 9.99770118e-01 1.30461413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8007140569999995 meters Centerline goodness [0,1] 0.9914821124361158 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.09, Z:0.01 [[ 9.99749171e-01 8.53145674e-03 -2.07076910e-02 3.09572716e+00] [-8.50364493e-03 9.99962820e-01 1.43075209e-03 -9.32206044e-02] [ 2.07191275e-02 -1.25430237e-03 9.99784549e-01 1.43884527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.830714057 meters Centerline goodness [0,1] 0.9907471233893632 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.10, Z:0.01 [[ 9.99781678e-01 6.58780909e-03 -1.98291795e-02 3.12460542e+00] [-6.56193791e-03 9.99977532e-01 1.36948571e-03 -9.72164137e-02] [ 1.98377559e-02 -1.23906887e-03 9.99802445e-01 1.44888364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.860714057 meters Centerline goodness [0,1] 0.9887842081650965 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.11, Z:0.01 [[ 9.99838768e-01 3.26546124e-03 -1.76571693e-02 3.15293995e+00] [-3.24444657e-03 9.99993994e-01 1.21866484e-03 -1.09225763e-01] [ 1.76610428e-02 -1.16118061e-03 9.99843357e-01 1.47837523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.890714057 meters Centerline goodness [0,1] 0.9866374415718171 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.11, Z:0.01 [[ 9.99853448e-01 1.59260259e-03 -1.70454345e-02 3.18218886e+00] [-1.57278717e-03 9.99998072e-01 1.17584823e-03 -1.14255534e-01] [ 1.70472743e-02 -1.14886706e-03 9.99854025e-01 1.48712753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.920714057 meters Centerline goodness [0,1] 0.9868407200757975 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.12, Z:0.01 [[ 9.99854616e-01 1.25985325e-03 -1.70046726e-02 3.21026686e+00] [-1.24009834e-03 9.99998544e-01 1.17222867e-03 -1.18274333e-01] [ 1.70061247e-02 -1.15097078e-03 9.99854723e-01 1.47592817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.950714057 meters Centerline goodness [0,1] 0.9852832771693345 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.12, Z:0.01 [[ 9.99850251e-01 2.64705475e-04 -1.73033166e-02 3.23762707e+00] [-2.44132373e-04 9.99999261e-01 1.19107021e-03 -1.24247906e-01] [ 1.73036191e-02 -1.18666755e-03 9.99849577e-01 1.45710508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.980714057 meters Centerline goodness [0,1] 0.988973103847571 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.12, Z:0.02 [[ 9.99848144e-01 -3.46548446e-04 -1.74232415e-02 3.26645141e+00] [ 3.67473293e-04 9.99999215e-01 1.19778606e-03 -1.17277466e-01] [ 1.74228128e-02 -1.20400674e-03 9.99847486e-01 1.55776798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0107140569999995 meters Centerline goodness [0,1] 0.9872960159258192 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.13, Z:0.01 [[ 9.99843828e-01 -1.15754797e-03 -1.76346382e-02 3.29378144e+00] [ 1.17908027e-03 9.99998572e-01 1.21067477e-03 -1.27785131e-01] [ 1.76332116e-02 -1.23127835e-03 9.99843765e-01 1.46641108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.040714057 meters Centerline goodness [0,1] 0.9883912895364377 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.13, Z:0.01 [[ 9.99838315e-01 -1.58332080e-03 -1.79119370e-02 3.32213999e+00] [ 1.60557409e-03 9.99997957e-01 1.22806008e-03 -1.28301134e-01] [ 1.79099560e-02 -1.25662046e-03 9.99838814e-01 1.37983561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.070714057 meters Centerline goodness [0,1] 0.9893906135674715 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.13, Z:0.01 [[ 9.99832483e-01 -1.98652353e-03 -1.81950359e-02 3.35065480e+00] [ 2.00950865e-03 9.99997206e-01 1.24506766e-03 -1.27671096e-01] [ 1.81925117e-02 -1.28142217e-03 9.99833681e-01 1.32376353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.100714057 meters Centerline goodness [0,1] 0.9898821320538229 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.13, Z:0.01 [[ 9.99837046e-01 -1.02496326e-03 -1.80230474e-02 3.37955757e+00] [ 1.04727782e-03 9.99998697e-01 1.22871761e-03 -1.30845223e-01] [ 1.80217645e-02 -1.24739253e-03 9.99836817e-01 1.32432855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.130714057 meters Centerline goodness [0,1] 0.9888894684679985 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.13, Z:0.01 [[ 9.99846692e-01 -2.63377915e-04 -1.75078004e-02 3.40694755e+00] [ 2.84253304e-04 9.99999252e-01 1.18987004e-03 -1.33958694e-01] [ 1.75074739e-02 -1.19466427e-03 9.99846019e-01 1.41173955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.160714057 meters Centerline goodness [0,1] 0.9888399259471722 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.14, Z:0.02 [[ 9.99862125e-01 1.87902548e-03 -1.64984675e-02 3.43553018e+00] [-1.86080974e-03 9.99997642e-01 1.11936859e-03 -1.37399887e-01] [ 1.65005319e-02 -1.08851374e-03 9.99863264e-01 1.65362110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.190714057 meters Centerline goodness [0,1] 0.9899783385964455 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.14, Z:0.02 [[ 9.99869392e-01 3.10697500e-03 -1.58602115e-02 3.46456785e+00] [-3.09030913e-03 9.99994647e-01 1.07519723e-03 -1.35938872e-01] [ 1.58634672e-02 -1.02604385e-03 9.99873641e-01 1.75932265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2207140569999995 meters Centerline goodness [0,1] 0.9891560584629892 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.14, Z:0.02 [[ 9.99877255e-01 4.25448301e-03 -1.50789043e-02 3.49314475e+00] [-4.23956441e-03 9.99990492e-01 1.02119676e-03 -1.38468447e-01] [ 1.50831055e-02 -9.57143430e-04 9.99885785e-01 1.84839024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.250714057 meters Centerline goodness [0,1] 0.9893934632306726 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.14, Z:0.02 [[ 9.99886500e-01 4.88551450e-03 -1.42519749e-02 3.52217657e+00] [-4.87226494e-03 9.99987666e-01 9.64237976e-04 -1.39268439e-01] [ 1.42565099e-02 -8.94689137e-04 9.99897971e-01 1.90386992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.280714057 meters Centerline goodness [0,1] 0.9881673806289833 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.14, Z:0.02 [[ 9.99893116e-01 5.95769203e-03 -1.33515281e-02 3.54964979e+00] [-5.94617083e-03 9.99981914e-01 9.02443904e-04 -1.42373600e-01] [ 1.33566631e-02 -8.22956980e-04 9.99910457e-01 1.95816149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.310714057 meters Centerline goodness [0,1] 0.9898616070265057 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.14, Z:0.02 [[ 9.99895564e-01 5.79495427e-03 -1.32393081e-02 3.57837277e+00] [-5.78363071e-03 9.99982876e-01 8.93426591e-04 -1.42196112e-01] [ 1.32442588e-02 -8.16762016e-04 9.99911957e-01 1.97737003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.340714057 meters Centerline goodness [0,1] 0.9884405157308366 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.15, Z:0.02 [[ 9.99890141e-01 6.10728323e-03 -1.35058202e-02 3.60586554e+00] [-6.09554067e-03 9.99981008e-01 9.10438128e-04 -1.48322542e-01] [ 1.35111240e-02 -8.28012832e-04 9.99908378e-01 1.96751379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.370714057 meters Centerline goodness [0,1] 0.9891794644486741 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.15, Z:0.02 [[ 9.99887022e-01 6.71260175e-03 -1.34492999e-02 3.63428159e+00] [-6.70103004e-03 9.99977138e-01 9.05274883e-04 -1.48601047e-01] [ 1.34550692e-02 -8.15048444e-04 9.99909144e-01 1.99635298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.400714057 meters Centerline goodness [0,1] 0.9889030711922686 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.15, Z:0.02 [[ 9.99876933e-01 6.58156831e-03 -1.42408779e-02 3.66096451e+00] [-6.56859620e-03 9.99977968e-01 9.57488816e-04 -1.52252448e-01] [ 1.42468659e-02 -8.63828404e-04 9.99898135e-01 1.98950670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.430714057 meters Centerline goodness [0,1] 0.9916948711273106 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.15, Z:0.02 [[ 9.99865763e-01 6.39526366e-03 -1.50849974e-02 3.68980307e+00] [-6.38071540e-03 9.99979131e-01 1.01235169e-03 -1.45137403e-01] [ 1.50911568e-02 -9.15962715e-04 9.99885702e-01 1.95732010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.460714057 meters Centerline goodness [0,1] 0.9914391606201388 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.15, Z:0.02 [[ 9.99859908e-01 6.17875578e-03 -1.55559347e-02 3.71714059e+00] [-6.16328195e-03 9.99980463e-01 1.04246643e-03 -1.48399138e-01] [ 1.55620719e-02 -9.46444775e-04 9.99878456e-01 1.96641897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.490714057 meters Centerline goodness [0,1] 0.9908044782710341 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.15, Z:0.02 [[ 9.99871986e-01 6.03653608e-03 -1.48179464e-02 3.74416203e+00] [-6.02250005e-03 9.99981373e-01 9.91673034e-04 -1.52320870e-01] [ 1.48236566e-02 -9.02305004e-04 9.99889716e-01 2.02493830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.520714057 meters Centerline goodness [0,1] 0.9910470291231814 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.15, Z:0.02 [[ 9.99881476e-01 6.13768965e-03 -1.41196150e-02 3.77254351e+00] [-6.12497945e-03 9.99980797e-01 9.43247984e-04 -1.54640145e-01] [ 1.41251332e-02 -8.56653835e-04 9.99899868e-01 2.06124251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5507140569999995 meters Centerline goodness [0,1] 0.9910839251464414 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.16, Z:0.02 [[ 9.99868798e-01 9.23575385e-03 -1.33074284e-02 3.80283388e+00] [-9.22474954e-03 9.99957057e-01 8.88075234e-04 -1.55962041e-01] [ 1.33150590e-02 -7.65201023e-04 9.99911058e-01 2.19813117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.580714057 meters Centerline goodness [0,1] 0.991138978132449 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.16, Z:0.02 [[ 9.99853015e-01 1.05097030e-02 -1.35460374e-02 3.83115559e+00] [-1.04984247e-02 9.99944482e-01 9.03430448e-04 -1.56906555e-01] [ 1.35547801e-02 -7.61085603e-04 9.99907840e-01 2.25228096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.610714057 meters Centerline goodness [0,1] 0.9920085381091212 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.16, Z:0.02 [[ 9.99838391e-01 1.15448065e-02 -1.37807312e-02 3.85975490e+00] [-1.15332457e-02 9.99933068e-01 9.18090225e-04 -1.56245387e-01] [ 1.37904080e-02 -7.59005295e-04 9.99904620e-01 2.26461325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.640714057 meters Centerline goodness [0,1] 0.9925596399490101 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.16, Z:0.02 [[ 9.99804879e-01 1.33392801e-02 -1.45693863e-02 3.88847293e+00] [-1.33265641e-02 9.99910727e-01 9.69527779e-04 -1.55075543e-01] [ 1.45810184e-02 -7.75178743e-04 9.99893391e-01 2.24249981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.670714057 meters Centerline goodness [0,1] 0.9928173632436371 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.16, Z:0.02 [[ 9.99792973e-01 1.38715165e-02 -1.48860014e-02 3.91749361e+00] [-1.38583173e-02 9.99903479e-01 9.89476801e-04 -1.57568055e-01] [ 1.48982902e-02 -7.82977022e-04 9.99888708e-01 2.28090429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.700714057 meters Centerline goodness [0,1] 0.9931133056133056 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.16, Z:0.02 [[ 9.99775790e-01 1.48638048e-02 -1.50810276e-02 3.94662299e+00] [-1.48503865e-02 9.99889226e-01 1.00134851e-03 -1.59631761e-01] [ 1.50942408e-02 -7.77164905e-04 9.99885773e-01 2.26312427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.730714057 meters Centerline goodness [0,1] 0.9919150038870174 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.16, Z:0.02 [[ 9.99766147e-01 1.53876112e-02 -1.51945053e-02 3.97429225e+00] [-1.53740648e-02 9.99881304e-01 1.00794672e-03 -1.64063643e-01] [ 1.52082116e-02 -7.74109704e-04 9.99884049e-01 2.27084080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7607140569999995 meters Centerline goodness [0,1] 0.9921070337974225 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.17, Z:0.02 [[ 9.99765225e-01 1.52290427e-02 -1.54133308e-02 4.00056787e+00] [-1.52151164e-02 9.99883723e-01 1.02039063e-03 -1.67117175e-01] [ 1.54270782e-02 -7.85635441e-04 9.99880687e-01 2.28298619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.790714057 meters Centerline goodness [0,1] 0.9921779895879199 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.17, Z:0.02 [[ 9.99757188e-01 1.53383569e-02 -1.58208605e-02 4.02902809e+00] [-1.53237315e-02 9.99882038e-01 1.04525500e-03 -1.69485728e-01] [ 1.58350267e-02 -8.02566579e-04 9.99874296e-01 2.32198364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.820714057 meters Centerline goodness [0,1] 0.9914792532727413 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.17, Z:0.02 [[ 9.99755478e-01 1.52292810e-02 -1.60328832e-02 4.05738889e+00] [-1.52142650e-02 9.99883696e-01 1.05813707e-03 -1.72560654e-01] [ 1.60471332e-02 -8.13949796e-04 9.99870905e-01 2.28426182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.850714057 meters Centerline goodness [0,1] 0.992380804793636 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.17, Z:0.02 [[ 9.99766571e-01 1.43960732e-02 -1.61107655e-02 4.08642624e+00] [-1.43808214e-02 9.99896027e-01 1.06214128e-03 -1.71525852e-01] [ 1.61243810e-02 -8.30207304e-04 9.99869649e-01 2.32863662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.880714057 meters Centerline goodness [0,1] 0.991613716461297 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.18, Z:0.02 [[ 9.99787882e-01 1.22826403e-02 -1.65326387e-02 4.11437669e+00] [-1.22663115e-02 9.99924173e-01 1.08871618e-03 -1.78295064e-01] [ 1.65447574e-02 -8.85690749e-04 9.99862734e-01 2.33841326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.910714057 meters Centerline goodness [0,1] 0.9916794674859191 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.18, Z:0.02 [[ 9.99802154e-01 1.09688754e-02 -1.65932551e-02 4.14320843e+00] [-1.09522664e-02 9.99939426e-01 1.09149464e-03 -1.80953084e-01] [ 1.66042224e-02 -9.09544946e-04 9.99861727e-01 2.36293032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.940714057 meters Centerline goodness [0,1] 0.9914436044135676 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.18, Z:0.02 [[ 9.99806535e-01 9.43424477e-03 -1.72593924e-02 4.17168761e+00] [-9.41606953e-03 9.99955025e-01 1.13402671e-03 -1.84842094e-01] [ 1.72693148e-02 -9.71291674e-04 9.99850402e-01 2.41998078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9707140569999995 meters Centerline goodness [0,1] 0.9907270596627096 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.19, Z:0.02 [[ 9.99814743e-01 5.62757023e-03 -1.84067826e-02 4.20123891e+00] [-5.60627578e-03 9.99983555e-01 1.20827766e-03 -1.90823646e-01] [ 1.84132796e-02 -1.10486032e-03 9.99829851e-01 2.43281393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.000714057 meters Centerline goodness [0,1] 0.9914429786583813 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.19, Z:0.02 [[ 9.99815599e-01 4.30806622e-03 -1.87138657e-02 4.22944304e+00] [-4.28583797e-03 9.99990062e-01 1.22773942e-03 -1.92980953e-01] [ 1.87189689e-02 -1.14730843e-03 9.99824126e-01 2.44828863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.030714056999999 meters Centerline goodness [0,1] 0.9885778104931847 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.20, Z:0.02 [[ 9.99795408e-01 1.06337029e-03 -2.01993006e-02 4.25806725e+00] [-1.03684513e-03 9.99998587e-01 1.32359976e-03 -2.01643518e-01] [ 2.02006795e-02 -1.30238541e-03 9.99795097e-01 2.35595669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.060714056999998 meters Centerline goodness [0,1] 0.988386540558359 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.20, Z:0.02 [[ 9.99790336e-01 -4.79488691e-04 -2.04708233e-02 4.28728541e+00] [ 5.07036340e-04 9.99998973e-01 1.34053402e-03 -2.04360174e-01] [ 2.04701595e-02 -1.35063241e-03 9.99789552e-01 2.39534199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.090714057 meters Centerline goodness [0,1] 0.9894339431409315 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.20, Z:0.02 [[ 9.99780237e-01 -1.64816231e-03 -2.08988164e-02 4.31562656e+00] [ 1.67709909e-03 9.99997659e-01 1.36716257e-03 -2.03351481e-01] [ 2.08965142e-02 -1.40191150e-03 9.99780661e-01 2.48964248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.120714056999999 meters Centerline goodness [0,1] 0.987933520528193 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.21, Z:0.03 [[ 9.99782183e-01 -3.81739752e-03 -2.05186241e-02 4.34393564e+00] [ 3.84571494e-03 9.99991706e-01 1.34080238e-03 -2.11000306e-01] [ 2.05133355e-02 -1.41941911e-03 9.99788572e-01 2.52339853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.150714056999998 meters Centerline goodness [0,1] 0.9879636638909917 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.21, Z:0.03 [[ 9.99773996e-01 -5.04201740e-03 -2.06527441e-02 4.37271852e+00] [ 5.07094552e-03 9.99986233e-01 1.34856088e-03 -2.12722595e-01] [ 2.06456603e-02 -1.45298504e-03 9.99785800e-01 2.57852090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.180714057 meters Centerline goodness [0,1] 0.9882970137207425 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.21, Z:0.03 [[ 9.99773109e-01 -6.10443103e-03 -2.04075229e-02 4.40167699e+00] [ 6.13284144e-03 9.99980310e-01 1.32985832e-03 -2.13890515e-01] [ 2.03990030e-02 -1.45471269e-03 9.99790860e-01 2.75690245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.210714056999999 meters Centerline goodness [0,1] 0.9887269242408958 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.22, Z:0.03 [[ 9.99769036e-01 -6.34139770e-03 -2.05344168e-02 4.43018294e+00] [ 6.37010354e-03 9.99978822e-01 1.33282916e-03 -2.15967638e-01] [ 2.05255300e-02 -1.46332768e-03 9.99788258e-01 2.86050208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.240714056999998 meters Centerline goodness [0,1] 0.9887524011727833 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.22, Z:0.03 [[ 9.99752852e-01 -6.56323322e-03 -2.12405125e-02 4.46004910e+00] [ 6.59391401e-03 9.99977315e-01 1.37473177e-03 -2.16489093e-01] [ 2.12310080e-02 -1.51445012e-03 9.99773450e-01 2.90228885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.270714057 meters Centerline goodness [0,1] 0.9886103638146482 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.22, Z:0.03 [[ 9.99723727e-01 -6.73604171e-03 -2.25187762e-02 4.48893014e+00] [ 6.77054459e-03 9.99976019e-01 1.45629163e-03 -2.20648535e-01] [ 2.25084265e-02 -1.60835368e-03 9.99745360e-01 2.72066028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.300714056999999 meters Centerline goodness [0,1] 0.9877610514940565 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.22, Z:0.03 [[ 9.99714425e-01 -7.24009332e-03 -2.27738578e-02 4.51715665e+00] [ 7.27543814e-03 9.99972454e-01 1.46951725e-03 -2.24838026e-01] [ 2.27625910e-02 -1.63478739e-03 9.99739562e-01 2.65484025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.330714057 meters Centerline goodness [0,1] 0.8852401868507286 Centerline is valid? [True, False] Translation: X:4.56, Y:-0.23, Z:0.03 [[ 0.99971287 -0.00777473 -0.02266553 4.55558358] [ 0.00762508 0.9999486 -0.00668182 -0.22608536] [ 0.02271631 0.00650707 0.99972077 0.03026184] [ 0. 0. 0. 1. ]] SLAMing on 8.360714057 meters Centerline goodness [0,1] 0.9882819361152234 Centerline is valid? [False, True] Translation: X:4.50, Y:-0.22, Z:0.03 [[ 0.99970719 -0.00475323 -0.02372645 4.50493717] [ 0.00462831 0.99997515 -0.00531687 -0.22451697] [ 0.02375114 0.0052055 0.99970435 0.02908838] [ 0. 0. 0. 1. ]] SLAMing on 8.390714056999999 meters Centerline goodness [0,1] 0.9875942958823087 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.23, Z:0.03 [[ 9.99725420e-01 -4.67419262e-03 -2.29616439e-02 4.53193500e+00] [ 4.71098554e-03 9.99987704e-01 1.54853261e-03 -2.32311688e-01] [ 2.29541234e-02 -1.65627939e-03 9.99735147e-01 2.56460593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.420714057 meters Centerline goodness [0,1] 0.9875519711466213 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.23, Z:0.03 [[ 9.99721120e-01 -5.30439456e-03 -2.30118433e-02 4.56076949e+00] [ 5.34142955e-03 9.99984536e-01 1.54822021e-03 -2.34727799e-01] [ 2.30032751e-02 -1.67070458e-03 9.99733994e-01 2.62859213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.450714056999999 meters Centerline goodness [0,1] 0.987988063294631 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.23, Z:0.03 [[ 9.99723124e-01 -5.68866954e-03 -2.28323289e-02 4.58904788e+00] [ 5.72508925e-03 9.99982441e-01 1.53004348e-03 -2.34986748e-01] [ 2.28232240e-02 -1.66033697e-03 9.99738138e-01 2.76236607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.480714056999998 meters Centerline goodness [0,1] 0.9858947473537049 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.24, Z:0.03 [[ 9.99731024e-01 -5.49091708e-03 -2.25328386e-02 4.61649852e+00] [ 5.52623354e-03 9.99983597e-01 1.50536288e-03 -2.41560607e-01] [ 2.25242032e-02 -1.62947970e-03 9.99744970e-01 2.75110262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.510714057 meters Centerline goodness [0,1] 0.9858947473537049 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.24, Z:0.03 [[ 9.99729644e-01 -5.73576727e-03 -2.25330705e-02 4.64471726e+00] [ 5.77106758e-03 9.99982219e-01 1.50188412e-03 -2.43373000e-01] [ 2.25240554e-02 -1.63151795e-03 9.99744970e-01 2.78826402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.540714056999999 meters Centerline goodness [0,1] 0.9878713614084226 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.24, Z:0.03 [[ 9.99717555e-01 -6.17357790e-03 -2.29498643e-02 4.67358996e+00] [ 6.21017800e-03 9.99979556e-01 1.52385587e-03 -2.39067773e-01] [ 2.29399874e-02 -1.66594821e-03 9.99735456e-01 2.98314498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.570714056999998 meters Centerline goodness [0,1] 0.9876589660621566 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.24, Z:0.03 [[ 9.99692587e-01 -6.20710155e-03 -2.40042289e-02 4.70202841e+00] [ 6.24700071e-03 9.99979227e-01 1.58754061e-03 -2.39137915e-01] [ 2.39938763e-02 -1.73700702e-03 9.99710596e-01 2.99675562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.600714057 meters Centerline goodness [0,1] 0.9879909932449337 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.24, Z:0.03 [[ 9.99677642e-01 -6.97906473e-03 -2.44111721e-02 4.73009405e+00] [ 7.02044855e-03 9.99974060e-01 1.60999029e-03 -2.42018850e-01] [ 2.43993027e-02 -1.78084868e-03 9.99700707e-01 3.00981357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.630714056999999 meters Centerline goodness [0,1] 0.9881284039856436 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.25, Z:0.03 [[ 9.99631404e-01 -8.62696698e-03 -2.57416184e-02 4.75965436e+00] [ 8.67348525e-03 9.99960946e-01 1.69601531e-03 -2.45006549e-01] [ 2.57259816e-02 -1.91865971e-03 9.99667191e-01 2.98839906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.660714057 meters Centerline goodness [0,1] 0.9856014047410009 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.26, Z:0.03 [[ 9.99634882e-01 -8.57648378e-03 -2.56231801e-02 4.78801884e+00] [ 8.62252870e-03 9.99961402e-01 1.68705515e-03 -2.55127224e-01] [ 2.56077221e-02 -1.90737578e-03 9.99670249e-01 2.87226757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.690714057 meters Centerline goodness [0,1] 0.9874276841393473 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.25, Z:0.03 [[ 9.99636118e-01 -8.91823502e-03 -2.54577404e-02 4.81747957e+00] [ 8.96369910e-03 9.99958427e-01 1.67230532e-03 -2.50039053e-01] [ 2.54417680e-02 -1.89989232e-03 9.99674500e-01 3.04183412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.720714056999999 meters Centerline goodness [0,1] 0.9867453244634116 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.25, Z:0.03 [[ 9.99619079e-01 -9.54061278e-03 -2.58973825e-02 4.84676901e+00] [ 9.58776901e-03 9.99952596e-01 1.69732613e-03 -2.51701492e-01] [ 2.58799613e-02 -1.94497771e-03 9.99663166e-01 3.09675209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.750714057 meters Centerline goodness [0,1] 0.9849996231061082 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.26, Z:0.03 [[ 9.99586450e-01 -1.20542062e-02 -2.61079507e-02 4.87633543e+00] [ 1.21029661e-02 9.99925294e-01 1.71040799e-03 -2.55464117e-01] [ 2.60853827e-02 -2.02568429e-03 9.99657666e-01 3.25642776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.780714056999999 meters Centerline goodness [0,1] 0.983264436928473 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.26, Z:0.03 [[ 9.99580874e-01 -1.32379038e-02 -2.57455707e-02 4.90536568e+00] [ 1.32856972e-02 9.99910319e-01 1.68620078e-03 -2.62914571e-01] [ 2.57209400e-02 -2.02754190e-03 9.99667106e-01 3.29743470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.810714056999998 meters Centerline goodness [0,1] 0.982605421686747 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.27, Z:0.03 [[ 9.99598535e-01 -1.35311176e-02 -2.48933393e-02 4.93608877e+00] [ 1.35758829e-02 9.99906515e-01 1.63015347e-03 -2.67269018e-01] [ 2.48689543e-02 -1.96744808e-03 9.99688784e-01 3.36272237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.840714057 meters Centerline goodness [0,1] 0.9847544895140022 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.27, Z:0.03 [[ 9.99594749e-01 -1.40948392e-02 -2.47320305e-02 4.96784351e+00] [ 1.41392079e-02 9.99898724e-01 1.62001748e-03 -2.66970978e-01] [ 2.47066919e-02 -1.96905229e-03 9.99692804e-01 3.47647882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.870714056999999 meters Centerline goodness [0,1] 0.984160108616398 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.27, Z:0.03 [[ 9.99577955e-01 -1.45656702e-02 -2.51347153e-02 4.99938836e+00] [ 1.46116674e-02 9.99891887e-01 1.64732791e-03 -2.68819122e-01] [ 2.51080034e-02 -2.01389276e-03 9.99682716e-01 3.46994193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.900714056999998 meters Centerline goodness [0,1] 0.9823871796810039 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.28, Z:0.03 [[ 9.99560348e-01 -1.46823971e-02 -2.57592261e-02 5.02996437e+00] [ 1.47307784e-02 9.99890069e-01 1.68944889e-03 -2.76260755e-01] [ 2.57315892e-02 -2.06815958e-03 9.99666748e-01 3.40238552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.930714057 meters Centerline goodness [0,1] 0.984746489171268 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.27, Z:0.04 [[ 9.99549699e-01 -1.46131766e-02 -2.62079194e-02 5.06190468e+00] [ 1.46632667e-02 9.99891009e-01 1.72008799e-03 -2.73746510e-01] [ 2.61799271e-02 -2.10360714e-03 9.99655034e-01 3.54123788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.960714056999999 meters Centerline goodness [0,1] 0.9856080534196682 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.28, Z:0.04 [[ 9.99540658e-01 -1.44781001e-02 -2.66243974e-02 5.09312387e+00] [ 1.45297738e-02 9.99892909e-01 1.74839994e-03 -2.77154973e-01] [ 2.65962327e-02 -2.13444330e-03 9.99643979e-01 3.56586267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.990714056999998 meters Centerline goodness [0,1] 0.9829961961861098 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.28, Z:0.04 [[ 9.99523193e-01 -1.52821455e-02 -2.68298945e-02 5.12444148e+00] [ 1.53349342e-02 9.99880859e-01 1.76287135e-03 -2.80806489e-01] [ 2.67997575e-02 -2.17346547e-03 9.99638459e-01 3.59880517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.020714057 meters Centerline goodness [0,1] 0.9815594964809162 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.29, Z:0.04 [[ 9.99511442e-01 -1.62765890e-02 -2.66824034e-02 5.15436294e+00] [ 1.63291697e-02 9.99865132e-01 1.75389743e-03 -2.86302581e-01] [ 2.66502574e-02 -2.18874204e-03 9.99642423e-01 3.60546041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.050714056999999 meters Centerline goodness [0,1] 0.9817636835344198 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.29, Z:0.04 [[ 9.99511915e-01 -1.72234573e-02 -2.60630833e-02 5.18491469e+00] [ 1.72739660e-02 9.99849325e-01 1.71402299e-03 -2.90759366e-01] [ 2.60296348e-02 -2.16339921e-03 9.99658831e-01 3.70004310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.080714057 meters Centerline goodness [0,1] 0.9803265490955747 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.30, Z:0.04 [[ 9.99475775e-01 -2.00405225e-02 -2.54274048e-02 5.21463274e+00] [ 2.00895191e-02 9.99796786e-01 1.67290784e-03 -2.98481673e-01] [ 2.53887116e-02 -2.18285519e-03 9.99675272e-01 3.82248606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.110714057 meters Centerline goodness [0,1] 0.9814437655578185 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.30, Z:0.04 [[ 9.99450495e-01 -2.11280204e-02 -2.55404573e-02 5.24714764e+00] [ 2.11778320e-02 9.99774311e-01 1.68135786e-03 -2.97620788e-01] [ 2.54991694e-02 -2.22132546e-03 9.99672375e-01 3.94430421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.140714056999999 meters Centerline goodness [0,1] 0.9821266968325791 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.30, Z:0.04 [[ 9.99455572e-01 -2.11528088e-02 -2.53203164e-02 5.27848738e+00] [ 2.12018140e-02 9.99773824e-01 1.66848696e-03 -3.03023323e-01] [ 2.52792964e-02 -2.20441523e-03 9.99677997e-01 3.91887927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.170714057 meters Centerline goodness [0,1] 0.98062473299324 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.31, Z:0.04 [[ 9.99444880e-01 -2.16563107e-02 -2.53167287e-02 5.31014666e+00] [ 2.17054973e-02 9.99763014e-01 1.66963602e-03 -3.05844483e-01] [ 2.52745709e-02 -2.21822136e-03 9.99678086e-01 3.91494595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.200714056999999 meters Centerline goodness [0,1] 0.9820510892181193 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.31, Z:0.04 [[ 9.99461056e-01 -2.14160100e-02 -2.48787420e-02 5.34207392e+00] [ 2.14634742e-02 9.99768284e-01 1.64232347e-03 -3.05688024e-01] [ 2.48378052e-02 -2.17542258e-03 9.99689127e-01 4.11161004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.230714056999998 meters Centerline goodness [0,1] 0.9826078189196683 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.31, Z:0.04 [[ 9.99482273e-01 -2.06693406e-02 -2.46569227e-02 5.37356716e+00] [ 2.07157808e-02 9.99784077e-01 1.62948189e-03 -3.09959473e-01] [ 2.46179184e-02 -2.13942567e-03 9.99694644e-01 4.28340624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.260714057 meters Centerline goodness [0,1] 0.9836250847627898 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.31, Z:0.04 [[ 9.99512890e-01 -1.89115777e-02 -2.48260976e-02 5.40573409e+00] [ 1.89581591e-02 9.99818929e-01 1.64226658e-03 -3.08966646e-01] [ 2.47905444e-02 -2.11212372e-03 9.99690436e-01 4.48393045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.290714056999999 meters Centerline goodness [0,1] 0.9834315354786725 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.31, Z:0.05 [[ 9.99522824e-01 -1.85661952e-02 -2.46864436e-02 5.43779654e+00] [ 1.86121880e-02 9.99825442e-01 1.63459614e-03 -3.09090771e-01] [ 2.46517862e-02 -2.09328488e-03 9.99693907e-01 4.55923399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.320714056999998 meters Centerline goodness [0,1] 0.9856189137636784 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.31, Z:0.05 [[ 9.99546998e-01 -1.77809048e-02 -2.42824636e-02 5.46923225e+00] [ 1.78252070e-02 9.99839823e-01 1.60920393e-03 -3.11440321e-01] [ 2.42499610e-02 -2.04131490e-03 9.99703842e-01 4.56769451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.350714057 meters Centerline goodness [0,1] 0.9861609946000252 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.32, Z:0.05 [[ 9.99543170e-01 -1.74643859e-02 -2.46667057e-02 5.50004497e+00] [ 1.75100335e-02 9.99845350e-01 1.63578334e-03 -3.18393253e-01] [ 2.46343230e-02 -2.06695090e-03 9.99694392e-01 4.53587900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.380714056999999 meters Centerline goodness [0,1] 0.9873487903225806 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.32, Z:0.05 [[ 9.99543896e-01 -1.64556041e-02 -2.53221963e-02 5.53163805e+00] [ 1.65034190e-02 9.99862397e-01 1.68042264e-03 -3.19414189e-01] [ 2.52910595e-02 -2.09755901e-03 9.99677929e-01 4.53072548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.410714056999998 meters Centerline goodness [0,1] 0.9855436832181018 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.32, Z:0.04 [[ 9.99544362e-01 -1.58056239e-02 -2.57148108e-02 5.56212460e+00] [ 1.58547380e-02 9.99872848e-01 1.70717778e-03 -3.22952480e-01] [ 2.56845581e-02 -2.11410151e-03 9.99667862e-01 4.47545708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.440714057 meters Centerline goodness [0,1] 0.9879366675043981 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.32, Z:0.05 [[ 9.99598207e-01 -1.31217034e-02 -2.51246009e-02 5.59326867e+00] [ 1.31677569e-02 9.99911909e-01 1.66843393e-03 -3.22519701e-01] [ 2.51004950e-02 -1.99859820e-03 9.99682935e-01 4.70206871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.470714056999999 meters Centerline goodness [0,1] 0.9886783908219489 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.32, Z:0.05 [[ 9.99633307e-01 -1.17205707e-02 -2.44106661e-02 5.62458807e+00] [ 1.17636339e-02 9.99929492e-01 1.62125425e-03 -3.19496701e-01] [ 2.43899429e-02 -1.90781788e-03 9.99700701e-01 4.86674628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.500714057 meters Centerline goodness [0,1] 0.988302625633817 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.32, Z:0.05 [[ 9.99684828e-01 -8.91003751e-03 -2.34703024e-02 5.65405215e+00] [ 8.94907466e-03 9.99958741e-01 1.55874753e-03 -3.21710895e-01] [ 2.34554456e-02 -1.76829375e-03 9.99723319e-01 4.90337902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.530714056999999 meters Centerline goodness [0,1] 0.9895068994014675 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.32, Z:0.05 [[ 9.99702118e-01 -7.44452916e-03 -2.32433825e-02 5.68362145e+00] [ 7.48241074e-03 9.99970816e-01 1.54323350e-03 -3.18769590e-01] [ 2.32312155e-02 -1.71669034e-03 9.99728645e-01 4.99655778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.560714056999998 meters Centerline goodness [0,1] 0.989631712399267 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.32, Z:0.05 [[ 9.99717466e-01 -6.14428225e-03 -2.29616177e-02 5.71320439e+00] [ 6.18089049e-03 9.99979737e-01 1.52369165e-03 -3.20443503e-01] [ 2.29517905e-02 -1.66518440e-03 9.99735186e-01 4.98372539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.590714057 meters Centerline goodness [0,1] 0.9876441720847968 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.32, Z:0.05 [[ 9.99725183e-01 -3.24831843e-03 -2.32165246e-02 5.74171531e+00] [ 3.28494328e-03 9.99993419e-01 1.53957022e-03 -3.22658600e-01] [ 2.32113709e-02 -1.61541208e-03 9.99729275e-01 4.95331172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.620714056999999 meters Centerline goodness [0,1] 0.9884406108171812 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.32, Z:0.05 [[ 9.99723860e-01 -2.12463079e-03 -2.34027695e-02 5.77053262e+00] [ 2.16150506e-03 9.99996462e-01 1.55045336e-03 -3.21211446e-01] [ 2.33993926e-02 -1.60061042e-03 9.99724915e-01 5.03035015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.650714056999998 meters Centerline goodness [0,1] 0.9877898959508588 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.33, Z:0.05 [[ 9.99717700e-01 -1.47717144e-03 -2.37136795e-02 5.79831779e+00] [ 1.51476442e-03 9.99997624e-01 1.56740190e-03 -3.27902382e-01] [ 2.37113079e-02 -1.60288006e-03 9.99717562e-01 4.95156256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.680714057 meters Centerline goodness [0,1] 0.9869051182280755 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.33, Z:0.05 [[ 9.99703780e-01 -1.49008338e-04 -2.43378242e-02 5.82580165e+00] [ 1.88109173e-04 9.99998695e-01 1.60430561e-03 -3.29924189e-01] [ 2.43375533e-02 -1.60840855e-03 9.99702504e-01 4.88797338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.710714056999999 meters Centerline goodness [0,1] 0.9876928453742074 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.33, Z:0.05 [[ 9.99696410e-01 -1.50175676e-05 -2.46391283e-02 5.85440396e+00] [ 5.49544926e-05 9.99998686e-01 1.62019779e-03 -3.25581318e-01] [ 2.46390716e-02 -1.62105994e-03 9.99695098e-01 4.94294536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.740714056999998 meters Centerline goodness [0,1] 0.9859179415855355 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.33, Z:0.05 [[ 9.99690755e-01 4.72427516e-04 -2.48630569e-02 5.88339104e+00] [-4.32064488e-04 9.99998580e-01 1.62876073e-03 -3.26362371e-01] [ 2.48637911e-02 -1.61751460e-03 9.99689540e-01 4.90997978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.770714057 meters Centerline goodness [0,1] 0.9870672502984481 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.32, Z:0.05 [[ 9.99693245e-01 7.61977824e-04 -2.47554903e-02 5.91241454e+00] [-7.22152216e-04 9.99998431e-01 1.61765877e-03 -3.24878912e-01] [ 2.47566841e-02 -1.59928531e-03 9.99692227e-01 5.01164186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.800714056999999 meters Centerline goodness [0,1] 0.9861186987832133 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.33, Z:0.05 [[ 9.99696980e-01 6.69627758e-04 -2.46068923e-02 5.93925297e+00] [-6.30309980e-04 9.99998512e-01 1.60555740e-03 -3.32055728e-01] [ 2.46079309e-02 -1.58956092e-03 9.99695915e-01 5.01840978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.830714057 meters Centerline goodness [0,1] 0.9880869823657619 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.33, Z:0.05 [[ 9.99706571e-01 -2.68703832e-04 -2.42219010e-02 5.96772654e+00] [ 3.07010963e-04 9.99998708e-01 1.57780317e-03 -3.29489496e-01] [ 2.42214457e-02 -1.58477658e-03 9.99705362e-01 5.29758913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.860714057 meters Centerline goodness [0,1] 0.9882857001337362 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.33, Z:0.05 [[ 9.99696347e-01 -1.35915646e-03 -2.46041892e-02 5.99681164e+00] [ 1.39896101e-03 9.99997740e-01 1.60065513e-03 -3.30347540e-01] [ 2.46019580e-02 -1.63458939e-03 9.99695990e-01 5.37652104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.890714056999999 meters Centerline goodness [0,1] 0.9888558692421991 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.33, Z:0.05 [[ 9.99692746e-01 -2.09377845e-03 -2.46987637e-02 6.02504169e+00] [ 2.13406293e-03 9.99996435e-01 1.60478658e-03 -3.32979513e-01] [ 2.46953156e-02 -1.65700222e-03 9.99693651e-01 5.43303155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.920714057 meters Centerline goodness [0,1] 0.9877882975304675 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.34, Z:0.05 [[ 9.99685218e-01 -2.25337852e-03 -2.49877556e-02 6.05292610e+00] [ 2.29460408e-03 9.99996053e-01 1.62127995e-03 -3.37729143e-01] [ 2.49840036e-02 -1.67810660e-03 9.99686443e-01 5.42343834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.950714056999999 meters Centerline goodness [0,1] 0.9888897173961674 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.34, Z:0.06 [[ 9.99673739e-01 -2.87364212e-03 -2.53802585e-02 6.08152378e+00] [ 2.91631899e-03 9.99994395e-01 1.64464421e-03 -3.36850803e-01] [ 2.53753901e-02 -1.71812456e-03 9.99676516e-01 5.51330825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.980714056999998 meters Centerline goodness [0,1] 0.9883951596905376 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.34, Z:0.05 [[ 9.99669500e-01 -3.50133652e-03 -2.54682237e-02 6.11056055e+00] [ 3.54440793e-03 9.99992364e-01 1.64623660e-03 -3.39216059e-01] [ 2.54622652e-02 -1.73596229e-03 9.99674277e-01 5.47325572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.010714057 meters Centerline goodness [0,1] 0.9878069979388612 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.34, Z:0.05 [[ 9.99656355e-01 -4.46744313e-03 -2.58304979e-02 6.13926724e+00] [ 4.51195852e-03 9.99988434e-01 1.66533908e-03 -3.40654998e-01] [ 2.58227593e-02 -1.78131293e-03 9.99664950e-01 5.44218718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.040714056999999 meters Centerline goodness [0,1] 0.9880223186608803 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.34, Z:0.05 [[ 9.99652234e-01 -5.44863338e-03 -2.58015990e-02 6.16636189e+00] [ 5.49329714e-03 9.99983533e-01 1.66048271e-03 -3.44559954e-01] [ 2.57921268e-02 -1.80164111e-03 9.99665704e-01 5.42755761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.070714056999998 meters Centerline goodness [0,1] 0.987240908526747 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.35, Z:0.05 [[ 9.99643953e-01 -6.45070127e-03 -2.58912358e-02 6.19409874e+00] [ 6.49592630e-03 9.99977518e-01 1.66300302e-03 -3.48186286e-01] [ 2.58799262e-02 -1.83059847e-03 9.99663383e-01 5.42594267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.100714057 meters Centerline goodness [0,1] 0.9882793017456359 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.35, Z:0.06 [[ 9.99645190e-01 -6.96391888e-03 -2.57098878e-02 6.22271326e+00] [ 7.00856928e-03 9.99974083e-01 1.64699942e-03 -3.48527264e-01] [ 2.56977520e-02 -1.82660458e-03 9.99668089e-01 5.58487293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.130714056999999 meters Centerline goodness [0,1] 0.9882505227521657 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.35, Z:0.06 [[ 9.99637288e-01 -7.57414240e-03 -2.58442441e-02 6.25111914e+00] [ 7.61929449e-03 9.99969613e-01 1.64905701e-03 -3.49399223e-01] [ 2.58309686e-02 -1.84537379e-03 9.99664622e-01 5.65794375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.160714056999998 meters Centerline goodness [0,1] 0.9867628763373973 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.35, Z:0.06 [[ 9.99635242e-01 -8.29801995e-03 -2.57007156e-02 6.28010051e+00] [ 8.34274340e-03 9.99963865e-01 1.63342596e-03 -3.50465400e-01] [ 2.56862327e-02 -1.84724463e-03 9.99668348e-01 5.61590069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.190714057 meters Centerline goodness [0,1] 0.9871189994757732 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.36, Z:0.06 [[ 9.99621006e-01 -8.94816142e-03 -2.60340912e-02 6.30872984e+00] [ 8.99416707e-03 9.99958189e-01 1.65056834e-03 -3.55164479e-01] [ 2.60182331e-02 -1.88409775e-03 9.99659693e-01 5.55381419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.220714056999999 meters Centerline goodness [0,1] 0.9860172859129743 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.36, Z:0.05 [[ 9.99600101e-01 -9.88919500e-03 -2.64922866e-02 6.33767161e+00] [ 9.93712590e-03 9.99949217e-01 1.67819641e-03 -3.58372798e-01] [ 2.64743453e-02 -1.94078249e-03 9.99647609e-01 5.49315233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.250714057 meters Centerline goodness [0,1] 0.9868078458600937 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.36, Z:0.06 [[ 9.99584839e-01 -1.21884998e-02 -2.61072665e-02 6.36753820e+00] [ 1.22357971e-02 9.99923774e-01 1.65266496e-03 -3.56055979e-01] [ 2.60851330e-02 -1.97142205e-03 9.99657781e-01 5.57234773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.280714056999999 meters Centerline goodness [0,1] 0.9854433826805962 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.36, Z:0.06 [[ 9.99600086e-01 -1.25545782e-02 -2.53387244e-02 6.39688333e+00] [ 1.25992307e-02 9.99919341e-01 1.60333801e-03 -3.64698824e-01] [ 2.53165514e-02 -1.92194525e-03 9.99677637e-01 5.51193174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.310714056999998 meters Centerline goodness [0,1] 0.9861723744858006 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.36, Z:0.06 [[ 9.99591448e-01 -1.38130110e-02 -2.50227541e-02 6.42749262e+00] [ 1.38569425e-02 9.99902735e-01 1.58310991e-03 -3.60719233e-01] [ 2.49984528e-02 -1.92920199e-03 9.99685628e-01 5.59992614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.340714057 meters Centerline goodness [0,1] 0.9857086243622133 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.37, Z:0.06 [[ 9.99589417e-01 -1.45892754e-02 -2.46606998e-02 6.45728176e+00] [ 1.46321844e-02 9.99891726e-01 1.56041217e-03 -3.65570908e-01] [ 2.46352644e-02 -1.92061139e-03 9.99694661e-01 5.55518884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.370714056999999 meters Centerline goodness [0,1] 0.9821800853767497 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.38, Z:0.06 [[ 9.99578312e-01 -1.51525680e-02 -2.47709051e-02 6.48820045e+00] [ 1.51960547e-02 9.99883303e-01 1.56824794e-03 -3.76381111e-01] [ 2.47442514e-02 -1.94400666e-03 9.99691924e-01 5.55048503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.400714056999998 meters Centerline goodness [0,1] 0.9849499156996926 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.37, Z:0.06 [[ 9.99564391e-01 -1.57268779e-02 -2.49738654e-02 6.52029620e+00] [ 1.57712867e-02 9.99874374e-01 1.58222993e-03 -3.70654841e-01] [ 2.49458444e-02 -1.97541068e-03 9.99686852e-01 5.73665067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.430714057 meters Centerline goodness [0,1] 0.9849499156996926 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.37, Z:0.06 [[ 9.99565511e-01 -1.56556729e-02 -2.49737821e-02 6.55203110e+00] [ 1.57000922e-02 9.99875492e-01 1.58354276e-03 -3.72732572e-01] [ 2.49458813e-02 -1.97494541e-03 9.99686852e-01 5.77836269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.460714056999999 meters Centerline goodness [0,1] 0.9803117309269893 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.38, Z:0.06 [[ 9.99566289e-01 -1.54665453e-02 -2.50603402e-02 6.58257672e+00] [ 1.55112536e-02 9.99878428e-01 1.59060855e-03 -3.83953647e-01] [ 2.50326923e-02 -1.97863597e-03 9.99684675e-01 5.73093917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.490714056999998 meters Centerline goodness [0,1] 0.9814147638333292 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.38, Z:0.06 [[ 9.99587497e-01 -1.45570722e-02 -2.47573645e-02 6.61442088e+00] [ 1.46004600e-02 9.99892171e-01 1.57265222e-03 -3.84973640e-01] [ 2.47318017e-02 -1.93347241e-03 9.99692252e-01 5.73759863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.520714057 meters Centerline goodness [0,1] 0.9819687258398384 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.39, Z:0.06 [[ 9.99617328e-01 -1.23371405e-02 -2.47586720e-02 6.64452046e+00] [ 1.23798723e-02 9.99922129e-01 1.57339152e-03 -3.85844543e-01] [ 2.47373329e-02 -1.87929863e-03 9.99692219e-01 5.70679869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.550714056999999 meters Centerline goodness [0,1] 0.9872961416070007 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.38, Z:0.06 [[ 9.99640188e-01 -1.05816405e-02 -2.46479883e-02 6.67605976e+00] [ 1.06234611e-02 9.99942343e-01 1.56638936e-03 -3.78352628e-01] [ 2.46299922e-02 -1.82767270e-03 9.99694965e-01 5.78619462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.580714056999998 meters Centerline goodness [0,1] 0.9896008219109429 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.37, Z:0.06 [[ 9.99660633e-01 -7.99445644e-03 -2.47932810e-02 6.70655248e+00] [ 8.03597613e-03 9.99966470e-01 1.57545099e-03 -3.71252606e-01] [ 2.47798548e-02 -1.77415454e-03 9.99691358e-01 5.90128313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.610714057 meters Centerline goodness [0,1] 0.9885509570097204 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.37, Z:0.06 [[ 9.99668361e-01 -6.43222929e-03 -2.49358088e-02 6.73486596e+00] [ 6.47372285e-03 9.99977791e-01 1.58364503e-03 -3.72631688e-01] [ 2.49250686e-02 -1.74454734e-03 9.99687800e-01 5.97486346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.640714056999999 meters Centerline goodness [0,1] 0.9900431380417335 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.37, Z:0.06 [[ 9.99710567e-01 -2.40698114e-03 -2.39371745e-02 6.76522298e+00] [ 2.44405157e-03 9.99995859e-01 1.51952000e-03 -3.70653348e-01] [ 2.39334179e-02 -1.57758389e-03 9.99712310e-01 6.20230734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.670714057 meters Centerline goodness [0,1] 0.9905178517244867 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.37, Z:0.06 [[ 9.99709568e-01 -1.75575866e-03 -2.40353226e-02 6.79409152e+00] [ 1.79288089e-03 9.99997233e-01 1.52302442e-03 -3.70194684e-01] [ 2.40325820e-02 -1.56567456e-03 9.99709950e-01 6.30642015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.700714056999999 meters Centerline goodness [0,1] 0.9902457466918715 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.37, Z:0.06 [[ 9.99727090e-01 -5.54796758e-04 -2.33546000e-02 6.82264276e+00] [ 5.89429612e-04 9.99998737e-01 1.47605580e-03 -3.71702678e-01] [ 2.33537516e-02 -1.48941887e-03 9.99726154e-01 6.38213067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.730714056999998 meters Centerline goodness [0,1] 0.9915765050061789 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.37, Z:0.06 [[ 9.99730753e-01 2.66095487e-03 -2.30508342e-02 6.85297667e+00] [-2.62809351e-03 9.99995487e-01 1.45578069e-03 -3.68948640e-01] [ 2.30546040e-02 -1.39480898e-03 9.99733234e-01 6.32939544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.760714057 meters Centerline goodness [0,1] 0.9918424043439829 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.37, Z:0.06 [[ 9.99722163e-01 4.21472829e-03 -2.31912041e-02 6.88162544e+00] [-4.18190431e-03 9.99990185e-01 1.46367974e-03 -3.66694272e-01] [ 2.31971455e-02 -1.36628968e-03 9.99729976e-01 6.33153058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.790714056999999 meters Centerline goodness [0,1] 0.9928246589186458 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.37, Z:0.06 [[ 9.99716180e-01 7.52175575e-03 -2.26049196e-02 6.91200144e+00] [-7.49143808e-03 9.99970923e-01 1.42558216e-03 -3.65665504e-01] [ 2.26149852e-02 -1.25583420e-03 9.99743460e-01 6.36588618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.820714056999998 meters Centerline goodness [0,1] 0.9922384588157961 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.37, Z:0.06 [[ 9.99708508e-01 9.44578202e-03 -2.22188120e-02 6.93949616e+00] [-9.41698819e-03 9.99954679e-01 1.40019691e-03 -3.68569142e-01] [ 2.22310310e-02 -1.19055447e-03 9.99752151e-01 6.41638829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.850714057 meters Centerline goodness [0,1] 0.9929506291373995 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.37, Z:0.06 [[ 9.99695449e-01 1.12896332e-02 -2.19443444e-02 6.96851490e+00] [-1.12620280e-02 9.99935628e-01 1.38114640e-03 -3.68776056e-01] [ 2.19585245e-02 -1.13358795e-03 9.99758240e-01 6.48103758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.880714056999999 meters Centerline goodness [0,1] 0.9928400954653938 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.37, Z:0.06 [[ 9.99668968e-01 1.32494445e-02 -2.20546468e-02 6.99718403e+00] [-1.32220704e-02 9.99911623e-01 1.38655821e-03 -3.69048910e-01] [ 2.20710688e-02 -1.09449112e-03 9.99755805e-01 6.48376173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.910714056999998 meters Centerline goodness [0,1] 0.993416704793859 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.37, Z:0.06 [[ 9.99618464e-01 1.63361639e-02 -2.22723054e-02 7.02738771e+00] [-1.63090408e-02 9.99866020e-01 1.39890577e-03 -3.66138930e-01] [ 2.22921741e-02 -1.03513210e-03 9.99750963e-01 6.45750416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.940714057 meters Centerline goodness [0,1] 0.9927768452108449 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.37, Z:0.06 [[ 9.99600436e-01 1.76226279e-02 -2.21000170e-02 7.05528925e+00] [-1.75962672e-02 9.99844212e-01 1.38669920e-03 -3.68460309e-01] [ 2.21210114e-02 -9.97267320e-04 9.99754803e-01 6.43557214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.970714056999999 meters Centerline goodness [0,1] 0.9928200427742132 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.37, Z:0.06 [[ 9.99549864e-01 2.06327388e-02 -2.17798128e-02 7.08425534e+00] [-2.06078809e-02 9.99786703e-01 1.36517877e-03 -3.69396402e-01] [ 2.18033346e-02 -9.15728469e-04 9.99761860e-01 6.39707353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.000714057 meters Centerline goodness [0,1] 0.9931162365372892 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.37, Z:0.06 [[ 9.99527750e-01 2.20259479e-02 -2.14274329e-02 7.11328796e+00] [-2.20022295e-02 9.99757021e-01 1.34206967e-03 -3.69206744e-01] [ 2.14517868e-02 -8.69984583e-04 9.99769505e-01 6.44194231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.030714056999999 meters Centerline goodness [0,1] 0.9934637198301076 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.37, Z:0.06 [[ 9.99492551e-01 2.37233894e-02 -2.12565489e-02 7.14109016e+00] [-2.37004651e-02 9.99718220e-01 1.32976773e-03 -3.70552579e-01] [ 2.12821058e-02 -8.25302844e-04 9.99773170e-01 6.45552010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.060714056999998 meters Centerline goodness [0,1] 0.9935410044500954 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.37, Z:0.07 [[ 9.99460491e-01 2.50977941e-02 -2.11855721e-02 7.17045871e+00] [-2.50753945e-02 9.99684688e-01 1.32233132e-03 -3.68135409e-01] [ 2.12120796e-02 -7.90381329e-04 9.99774686e-01 6.55094747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.090714057 meters Centerline goodness [0,1] 0.9951174855050351 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.37, Z:0.07 [[ 9.99391159e-01 2.85310978e-02 -2.00820234e-02 7.20046188e+00] [-2.85117238e-02 9.99592676e-01 1.25045326e-03 -3.68490584e-01] [ 2.01095203e-02 -6.77118824e-04 9.99797554e-01 6.60653115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.120714056999999 meters Centerline goodness [0,1] 0.9944532084881177 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.37, Z:0.07 [[ 9.99325298e-01 3.07181678e-02 -2.01331470e-02 7.22958973e+00] [-3.06991609e-02 9.99527885e-01 1.25251939e-03 -3.70289192e-01] [ 2.01621169e-02 -6.33603592e-04 9.99796523e-01 6.62664019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.150714056999998 meters Centerline goodness [0,1] 0.9943465584991761 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.37, Z:0.07 [[ 9.99293804e-01 3.16912947e-02 -2.01879771e-02 7.25724598e+00] [-3.16724286e-02 9.99497517e-01 1.25365372e-03 -3.72572698e-01] [ 2.02175628e-02 -6.13366132e-04 9.99795416e-01 6.67555890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.180714057 meters Centerline goodness [0,1] 0.9946213370544209 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.38, Z:0.07 [[ 9.99263702e-01 3.23741792e-02 -2.05904655e-02 7.28488080e+00] [-3.23547359e-02 9.99475633e-01 1.27680533e-03 -3.75305046e-01] [ 2.06210040e-02 -6.09666142e-04 9.99787179e-01 6.69209867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.210714056999999 meters Centerline goodness [0,1] 0.994036895125479 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.38, Z:0.07 [[ 9.99239448e-01 3.27939965e-02 -2.10969034e-02 7.31285833e+00] [-3.27737253e-02 9.99461944e-01 1.30598690e-03 -3.79332146e-01] [ 2.11283806e-02 -6.13569517e-04 9.99776583e-01 6.63377805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.240714056999998 meters Centerline goodness [0,1] 0.9941600650010156 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.38, Z:0.07 [[ 9.99182613e-01 3.42062526e-02 -2.15415612e-02 7.34184612e+00] [-3.41855240e-02 9.99414619e-01 1.32988005e-03 -3.82382372e-01] [ 2.15744414e-02 -5.92383463e-04 9.99767069e-01 6.64075475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.270714057 meters Centerline goodness [0,1] 0.9955059032626634 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.38, Z:0.07 [[ 9.99166702e-01 3.46878993e-02 -2.15093428e-02 7.37027749e+00] [-3.46674529e-02 9.99398028e-01 1.32284497e-03 -3.82713244e-01] [ 2.15422815e-02 -5.76068520e-04 9.99767772e-01 6.71470766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.300714056999999 meters Centerline goodness [0,1] 0.9949170544203925 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.39, Z:0.07 [[ 9.99120994e-01 3.58039684e-02 -2.18017349e-02 7.39743550e+00] [-3.57833179e-02 9.99358678e-01 1.33669684e-03 -3.87526643e-01] [ 2.18356120e-02 -5.55383462e-04 9.99761420e-01 6.71144388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.330714056999998 meters Centerline goodness [0,1] 0.9948473137834356 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.39, Z:0.07 [[ 9.99125197e-01 3.57254977e-02 -2.17377337e-02 7.42394907e+00] [-3.57049984e-02 9.99361488e-01 1.33054090e-03 -3.91479248e-01] [ 2.17713881e-02 -5.53231196e-04 9.99762822e-01 6.70423798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.360714057 meters Centerline goodness [0,1] 0.9938542138935066 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.40, Z:0.07 [[ 9.99129491e-01 3.57028088e-02 -2.15770442e-02 7.45122252e+00] [-3.56826922e-02 9.99362303e-01 1.31672984e-03 -3.96668569e-01] [ 2.16102955e-02 -5.45656587e-04 9.99766321e-01 6.68072864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.390714056999999 meters Centerline goodness [0,1] 0.9942389937106918 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.40, Z:0.07 [[ 9.99120117e-01 3.59091813e-02 -2.16684698e-02 7.47925985e+00] [-3.58890384e-02 9.99354912e-01 1.31788423e-03 -4.00721387e-01] [ 2.17018159e-02 -5.39064099e-04 9.99764343e-01 6.65734160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.420714057 meters Centerline goodness [0,1] 0.993027513731785 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.40, Z:0.07 [[ 9.99114778e-01 3.59596187e-02 -2.18303908e-02 7.50702269e+00] [-3.59392632e-02 9.99353099e-01 1.32417951e-03 -4.04239468e-01] [ 2.18638857e-02 -5.38439155e-04 9.99760812e-01 6.62649051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.450714056999999 meters Centerline goodness [0,1] 0.9930796712219252 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.41, Z:0.07 [[ 9.99080572e-01 3.69510272e-02 -2.17400923e-02 7.53471587e+00] [-3.69311765e-02 9.99316948e-01 1.31401183e-03 -4.09482502e-01] [ 2.17737968e-02 -5.09916503e-04 9.99762793e-01 6.64350695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.480714056999998 meters Centerline goodness [0,1] 0.9927557953637091 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.41, Z:0.07 [[ 9.99072872e-01 3.71073168e-02 -2.18275842e-02 7.56277565e+00] [-3.70874312e-02 9.99311159e-01 1.31527617e-03 -4.12494500e-01] [ 2.18613548e-02 -5.04527710e-04 9.99760885e-01 6.64918444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.510714057 meters Centerline goodness [0,1] 0.9934695701834976 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.42, Z:0.07 [[ 9.99051785e-01 3.74908391e-02 -2.21352151e-02 7.59076982e+00] [-3.74705794e-02 9.99296847e-01 1.32946970e-03 -4.17575375e-01] [ 2.21694936e-02 -4.98789742e-04 9.99754102e-01 6.66915063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.540714056999999 meters Centerline goodness [0,1] 0.9938088162456662 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.42, Z:0.07 [[ 9.99051872e-01 3.76919008e-02 -2.17871048e-02 7.61918346e+00] [-3.76723890e-02 9.99289291e-01 1.30545504e-03 -4.21032530e-01] [ 2.18208256e-02 -4.83445017e-04 9.99761781e-01 6.68131184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.570714056999998 meters Centerline goodness [0,1] 0.9931657250006168 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.42, Z:0.07 [[ 9.99057763e-01 3.74245731e-02 -2.19769582e-02 7.64720969e+00] [-3.74047748e-02 9.99299336e-01 1.31139183e-03 -4.24891137e-01] [ 2.20106380e-02 -4.88113016e-04 9.99757617e-01 6.72469288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.600714057 meters Centerline goodness [0,1] 0.9929286977018268 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.43, Z:0.07 [[ 9.99071571e-01 3.66933434e-02 -2.25741814e-02 7.67434136e+00] [-3.66723659e-02 9.99326441e-01 1.34268418e-03 -4.31094083e-01] [ 2.26082439e-02 -5.13588953e-04 9.99744269e-01 6.68535994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.630714056999999 meters Centerline goodness [0,1] 0.9924850680505238 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.44, Z:0.07 [[ 9.99080995e-01 3.60323833e-02 -2.32127720e-02 7.70242856e+00] [-3.60100780e-02 9.99350476e-01 1.37832809e-03 -4.35311639e-01] [ 2.32473592e-02 -5.41167667e-04 9.99729597e-01 6.65323653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.660714056999998 meters Centerline goodness [0,1] 0.9910208054507847 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.44, Z:0.07 [[ 9.99155278e-01 3.32166078e-02 -2.41947660e-02 7.73071085e+00] [-3.31916034e-02 9.99447978e-01 1.43443436e-03 -4.43339727e-01] [ 2.42290570e-02 -6.30159589e-04 9.99706235e-01 6.55470766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.690714057 meters Centerline goodness [0,1] 0.9910499306856045 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.45, Z:0.07 [[ 9.99213154e-01 3.13332869e-02 -2.43166315e-02 7.75966807e+00] [-3.13075533e-02 9.99508763e-01 1.43834777e-03 -4.45627391e-01] [ 2.43497544e-02 -6.75921780e-04 9.99703272e-01 6.68795845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.720714056999999 meters Centerline goodness [0,1] 0.9895762793847345 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.45, Z:0.07 [[ 9.99278876e-01 2.92303498e-02 -2.42345754e-02 7.78650122e+00] [-2.92042746e-02 9.99572442e-01 1.42925665e-03 -4.54469668e-01] [ 2.42659914e-02 -7.20472788e-04 9.99705278e-01 6.55668797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.750714057 meters Centerline goodness [0,1] 0.9890080879352965 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.46, Z:0.07 [[ 9.99385170e-01 2.51443003e-02 -2.44345480e-02 7.81525643e+00] [-2.51166195e-02 9.99683492e-01 1.43914611e-03 -4.60404616e-01] [ 2.44630006e-02 -8.24548039e-04 9.99700396e-01 6.67492457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.780714056999999 meters Centerline goodness [0,1] 0.9862755843598847 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.47, Z:0.07 [[ 9.99446235e-01 2.28709476e-02 -2.41690510e-02 7.84283407e+00] [-2.28432394e-02 9.99738048e-01 1.42194052e-03 -4.70264373e-01] [ 2.41952410e-02 -8.69053677e-04 9.99706875e-01 6.53159042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.810714056999998 meters Centerline goodness [0,1] 0.9867815273624757 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.47, Z:0.07 [[ 9.99486171e-01 1.97488793e-02 -2.52463090e-02 7.87195948e+00] [-1.97176956e-02 9.99804487e-01 1.48354562e-03 -4.69311810e-01] [ 2.52706713e-02 -9.84984299e-04 9.99680160e-01 6.73187153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.840714057 meters Centerline goodness [0,1] 0.9863349932737013 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.48, Z:0.07 [[ 9.99502133e-01 1.80834753e-02 -2.58548501e-02 7.89896322e+00] [-1.80502661e-02 9.99835929e-01 1.51727269e-03 -4.75181006e-01] [ 2.58780456e-02 -1.04983037e-03 9.99664556e-01 6.64320003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.870714056999999 meters Centerline goodness [0,1] 0.9831440779999527 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.49, Z:0.06 [[ 9.99535614e-01 1.63831662e-02 -2.56933308e-02 7.92637209e+00] [-1.63498721e-02 9.99865199e-01 1.50537927e-03 -4.87806008e-01] [ 2.57145302e-02 -1.08459752e-03 9.99668738e-01 6.39285761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.900714056999998 meters Centerline goodness [0,1] 0.9850151255774687 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.48, Z:0.07 [[ 9.99577573e-01 1.29069568e-02 -2.60401034e-02 7.95599408e+00] [-1.28716277e-02 9.99915996e-01 1.52388804e-03 -4.83174973e-01] [ 2.60575847e-02 -1.18806580e-03 9.99659738e-01 6.74509515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.930714057 meters Centerline goodness [0,1] 0.9854499520456619 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.49, Z:0.07 [[ 9.99589471e-01 1.07453373e-02 -2.65598812e-02 7.98541757e+00] [-1.07078540e-02 9.99941463e-01 1.55310010e-03 -4.86038813e-01] [ 2.65750150e-02 -1.26806318e-03 9.99646018e-01 6.81018900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.960714056999999 meters Centerline goodness [0,1] 0.9848879382497907 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.49, Z:0.07 [[ 9.99626094e-01 6.15200726e-03 -2.66425298e-02 8.01438233e+00] [-6.11268899e-03 9.99980105e-01 1.55696360e-03 -4.94905999e-01] [ 2.66515782e-02 -1.39352395e-03 9.99643812e-01 6.83239732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.990714056999998 meters Centerline goodness [0,1] 0.9831638915263657 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.50, Z:0.07 [[ 9.99624682e-01 4.05443171e-03 -2.70934638e-02 8.04290013e+00] [-4.01303595e-03 9.99990696e-01 1.58208635e-03 -5.00321200e-01] [ 2.70996262e-02 -1.47276552e-03 9.99631653e-01 6.87433655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.020714057 meters Centerline goodness [0,1] 0.9831576508745511 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.50, Z:0.07 [[ 9.99623071e-01 1.78267248e-03 -2.73959335e-02 8.07215775e+00] [-1.73953738e-03 9.99997210e-01 1.59825947e-03 -5.02349603e-01] [ 2.73987063e-02 -1.55000079e-03 9.99623383e-01 6.96331936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.050714056999999 meters Centerline goodness [0,1] 0.9816099370866269 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.51, Z:0.07 [[ 9.99597122e-01 -1.83990713e-03 -2.83232920e-02 8.10034342e+00] [ 1.88743330e-03 9.99996855e-01 1.65134605e-03 -5.13271730e-01] [ 2.83201646e-02 -1.70413908e-03 9.99597451e-01 6.73296545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.080714056999998 meters Centerline goodness [0,1] 0.9830438092601564 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.51, Z:0.07 [[ 9.99570453e-01 -3.84953714e-03 -2.90532469e-02 8.12956281e+00] [ 3.90035903e-03 9.99990961e-01 1.69279866e-03 -5.14710216e-01] [ 2.90464678e-02 -1.80538962e-03 9.99576432e-01 6.77320987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.110714057 meters Centerline goodness [0,1] 0.9819631450760535 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.52, Z:0.07 [[ 9.99555044e-01 -6.98934997e-03 -2.89976512e-02 8.15930973e+00] [ 7.04126204e-03 9.99973784e-01 1.68849020e-03 -5.21192999e-01] [ 2.89850895e-02 -1.89191896e-03 9.99578054e-01 6.79220453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.140714056999999 meters Centerline goodness [0,1] 0.9834001013031266 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.52, Z:0.07 [[ 9.99549976e-01 -8.55870493e-03 -2.87505544e-02 8.18824901e+00] [ 8.61025799e-03 9.99961537e-01 1.66979132e-03 -5.21660869e-01] [ 2.87351573e-02 -1.91658956e-03 9.99585223e-01 6.93529328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.170714057 meters Centerline goodness [0,1] 0.9822858585163259 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.53, Z:0.07 [[ 9.99548679e-01 -9.22565446e-03 -2.85889036e-02 8.21575912e+00] [ 9.27674567e-03 9.99955601e-01 1.65497886e-03 -5.25170440e-01] [ 2.85723660e-02 -1.91944392e-03 9.99589884e-01 7.01402641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.200714056999999 meters Centerline goodness [0,1] 0.9832310088884816 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.53, Z:0.07 [[ 9.99548327e-01 -1.03299822e-02 -2.82211700e-02 8.24466217e+00] [ 1.03800465e-02 9.99944800e-01 1.62807139e-03 -5.26634808e-01] [ 2.82027943e-02 -1.92027309e-03 9.99600378e-01 7.08368875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.230714056999998 meters Centerline goodness [0,1] 0.9825639853747715 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.53, Z:0.07 [[ 9.99561485e-01 -1.05927146e-02 -2.76519717e-02 8.27204255e+00] [ 1.06407513e-02 9.99942121e-01 1.59061615e-03 -5.30894026e-01] [ 2.76335223e-02 -1.88415639e-03 9.99616346e-01 7.05809371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.260714057 meters Centerline goodness [0,1] 0.9830113181662284 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.53, Z:0.07 [[ 9.99573373e-01 -1.00512199e-02 -2.74234247e-02 8.30062774e+00] [ 1.00981323e-02 9.99947776e-01 1.57271073e-03 -5.32612993e-01] [ 2.74061848e-02 -1.84896514e-03 9.99622670e-01 7.05180914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.290714056999999 meters Centerline goodness [0,1] 0.9825110877417584 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.53, Z:0.07 [[ 9.99565625e-01 -9.60701486e-03 -2.78615586e-02 8.32979690e+00] [ 9.65507083e-03 9.99952123e-01 1.59079394e-03 -5.32513884e-01] [ 2.78449419e-02 -1.85910826e-03 9.99610526e-01 7.08954755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.320714056999998 meters Centerline goodness [0,1] 0.9825110877417584 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.53, Z:0.07 [[ 9.99563173e-01 -9.85774804e-03 -2.78619566e-02 8.35803305e+00] [ 9.90570693e-03 9.99949683e-01 1.58380171e-03 -5.34080312e-01] [ 2.78449419e-02 -1.85910224e-03 9.99610526e-01 7.12679240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.350714057 meters Centerline goodness [0,1] 0.984110266507922 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.53, Z:0.07 [[ 9.99559955e-01 -9.23925543e-03 -2.81874372e-02 8.38701371e+00] [ 9.28789472e-03 9.99955594e-01 1.59512449e-03 -5.32765981e-01] [ 2.81714478e-02 -1.85622452e-03 9.99601383e-01 7.14505492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.380714056999999 meters Centerline goodness [0,1] 0.9842874459666537 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.53, Z:0.07 [[ 9.99590801e-01 -6.15957753e-03 -2.79336917e-02 8.41630146e+00] [ 6.20604001e-03 9.99979499e-01 1.57692187e-03 -5.33657096e-01] [ 2.79234058e-02 -1.74963420e-03 9.99608534e-01 7.10342587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.410714056999998 meters Centerline goodness [0,1] 0.9843453184720664 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.53, Z:0.07 [[ 9.99603166e-01 -4.16214884e-03 -2.78601506e-02 8.44615878e+00] [ 4.20756619e-03 9.99989913e-01 1.57176558e-03 -5.32032353e-01] [ 2.78533276e-02 -1.68836528e-03 9.99610595e-01 7.13469302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.440714057 meters Centerline goodness [0,1] 0.985145778637557 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.53, Z:0.07 [[ 9.99614850e-01 -4.81269383e-04 -2.77474428e-02 8.47679102e+00] [ 5.24886459e-04 9.99998638e-01 1.56466926e-03 -5.28912103e-01] [ 2.77466520e-02 -1.57863088e-03 9.99613741e-01 7.23513137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.470714056999999 meters Centerline goodness [0,1] 0.985928813637517 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.53, Z:0.07 [[ 9.99614875e-01 1.41116522e-03 -2.77147851e-02 8.50432336e+00] [-1.36841878e-03 9.99997845e-01 1.56127549e-03 -5.29951497e-01] [ 2.77169286e-02 -1.52274877e-03 9.99614652e-01 7.22491095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.500714057 meters Centerline goodness [0,1] 0.987060484711002 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.53, Z:0.07 [[ 9.99605828e-01 5.07640576e-03 -2.76119190e-02 8.53493476e+00] [-5.03540993e-03 9.99986115e-01 1.55404469e-03 -5.25959077e-01] [ 2.76194245e-02 -1.41439480e-03 9.99617510e-01 7.26331062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.530714056999999 meters Centerline goodness [0,1] 0.986439114391144 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.53, Z:0.07 [[ 9.99621648e-01 6.93961925e-03 -2.66158346e-02 8.56326575e+00] [-6.90221942e-03 9.99975059e-01 1.49678642e-03 -5.28223826e-01] [ 2.66255579e-02 -1.31251178e-03 9.99644615e-01 7.21649776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.560714056999998 meters Centerline goodness [0,1] 0.9878366435648169 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.53, Z:0.07 [[ 9.99607436e-01 8.01927343e-03 -2.68451956e-02 8.59214366e+00] [-7.98166633e-03 9.99967009e-01 1.50775029e-03 -5.25603849e-01] [ 2.68564010e-02 -1.29288901e-03 9.99638466e-01 7.29807804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.590714057 meters Centerline goodness [0,1] 0.9879812162916124 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.52, Z:0.07 [[ 9.99601615e-01 9.33951135e-03 -2.66342797e-02 8.62072760e+00] [-9.30301144e-03 9.99955610e-01 1.49399587e-03 -5.24079399e-01] [ 2.66470505e-02 -1.24562167e-03 9.99644128e-01 7.27140427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.620714056999999 meters Centerline goodness [0,1] 0.9883609953676762 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.52, Z:0.07 [[ 9.99590361e-01 9.69055000e-03 -2.69296019e-02 8.64991446e+00] [-9.65341555e-03 9.99952267e-01 1.50861157e-03 -5.24384992e-01] [ 2.69429357e-02 -1.24803095e-03 9.99636194e-01 7.27016748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.650714056999998 meters Centerline goodness [0,1] 0.9812676642639616 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.55, Z:0.07 [[ 9.99661870e-01 1.25702645e-02 -2.27625399e-02 8.67799107e+00] [-1.25445067e-02 9.99920503e-01 1.27402813e-03 -5.48713422e-01] [ 2.27767452e-02 -9.88052504e-04 9.99740088e-01 6.89431196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.680714057 meters Centerline goodness [0,1] 0.9885612904731891 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.53, Z:0.07 [[ 9.99620877e-01 8.25032972e-03 -2.62684903e-02 8.70889655e+00] [-8.21455576e-03 9.99965180e-01 1.46947953e-03 -5.26001367e-01] [ 2.62796993e-02 -1.25313843e-03 9.99653844e-01 7.33571730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.710714056999999 meters Centerline goodness [0,1] 0.9868129303302602 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.53, Z:0.07 [[ 9.99649238e-01 6.89829204e-03 -2.55697917e-02 8.73647910e+00] [-6.86398975e-03 9.99975421e-01 1.42904451e-03 -5.29509913e-01] [ 2.55790212e-02 -1.25303247e-03 9.99672018e-01 7.35697768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.740714056999998 meters Centerline goodness [0,1] 0.9869969473120034 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.53, Z:0.07 [[ 9.99679025e-01 4.06964966e-03 -2.50057149e-02 8.76599943e+00] [-4.03600136e-03 9.99990881e-01 1.39594676e-03 -5.31399042e-01] [ 2.50111679e-02 -1.29457559e-03 9.99686334e-01 7.43275627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.770714057 meters Centerline goodness [0,1] 0.9867452135493373 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.53, Z:0.07 [[ 9.99675156e-01 2.79597125e-03 -2.53330728e-02 8.79447736e+00] [-2.76106242e-03 9.99995190e-01 1.41286807e-03 -5.31940791e-01] [ 2.53369012e-02 -1.34246291e-03 9.99678068e-01 7.48137538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.800714056999999 meters Centerline goodness [0,1] 0.986096807415036 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.54, Z:0.07 [[ 9.99676311e-01 2.60256847e-04 -2.54402207e-02 8.82300346e+00] [-2.24274423e-04 9.99998971e-01 1.41723422e-03 -5.36497222e-01] [ 2.54405634e-02 -1.41106989e-03 9.99675341e-01 7.37684531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.830714056999998 meters Centerline goodness [0,1] 0.9864464210080475 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.54, Z:0.07 [[ 9.99666807e-01 -1.29775650e-03 -2.57796507e-02 8.85310806e+00] [ 1.33519206e-03 9.99998079e-01 1.43497581e-03 -5.35450654e-01] [ 2.57777389e-02 -1.46891847e-03 9.99666620e-01 7.41384111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.860714057 meters Centerline goodness [0,1] 0.9859151628779002 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.54, Z:0.07 [[ 9.99675777e-01 -2.54431978e-03 -2.53351165e-02 8.88112524e+00] [ 2.58083459e-03 9.99995677e-01 1.40867884e-03 -5.38081384e-01] [ 2.53314229e-02 -1.47360786e-03 9.99678022e-01 7.36929936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.890714056999999 meters Centerline goodness [0,1] 0.9855917264073334 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.54, Z:0.07 [[ 9.99665248e-01 -5.65736979e-03 -2.52465164e-02 8.91131575e+00] [ 5.69458378e-03 9.99982802e-01 1.40237215e-03 -5.39326155e-01] [ 2.52381485e-02 -1.54567111e-03 9.99680272e-01 7.40832720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.920714057 meters Centerline goodness [0,1] 0.9862846119462677 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.54, Z:0.07 [[ 9.99654013e-01 -7.14769447e-03 -2.53133356e-02 8.93977990e+00] [ 7.18549756e-03 9.99973200e-01 1.40276119e-03 -5.39219676e-01] [ 2.53026307e-02 -1.58416476e-03 9.99678582e-01 7.47226923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.950714056999999 meters Centerline goodness [0,1] 0.9857605025149361 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.54, Z:0.08 [[ 9.99651914e-01 -8.89754033e-03 -2.48371449e-02 8.96879286e+00] [ 8.93431773e-03 9.99959149e-01 1.37016386e-03 -5.40537733e-01] [ 2.48239393e-02 -1.59158988e-03 9.99690572e-01 7.55152128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.980714056999998 meters Centerline goodness [0,1] 0.9849354206512243 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.54, Z:0.08 [[ 9.99656718e-01 -1.20419655e-02 -2.32688073e-02 8.99924697e+00] [ 1.20750198e-02 9.99926274e-01 1.28055096e-03 -5.43069238e-01] [ 2.32516714e-02 -1.56108268e-03 9.99728425e-01 7.65410117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.010714057 meters Centerline goodness [0,1] 0.9845805630216438 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.55, Z:0.08 [[ 9.99649984e-01 -1.40029852e-02 -2.24460517e-02 9.02933392e+00] [ 1.40342309e-02 9.99900753e-01 1.23510416e-03 -5.46049522e-01] [ 2.24265289e-02 -1.54968492e-03 9.99747293e-01 7.66481820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.040714056999999 meters Centerline goodness [0,1] 0.9825420481158186 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.55, Z:0.08 [[ 9.99570134e-01 -1.82835626e-02 -2.29185373e-02 9.05829085e+00] [ 1.83172537e-02 9.99831430e-01 1.26095152e-03 -5.51240288e-01] [ 2.28916192e-02 -1.68021414e-03 9.99736541e-01 7.55004516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.070714056999998 meters Centerline goodness [0,1] 0.9836986139083047 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.55, Z:0.08 [[ 9.99510499e-01 -2.05407386e-02 -2.35974861e-02 9.08969048e+00] [ 2.05770934e-02 9.99787426e-01 1.29881188e-03 -5.49974674e-01] [ 2.35657913e-02 -1.78374378e-03 9.99720697e-01 7.59631643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.100714057 meters Centerline goodness [0,1] 0.9833986681150522 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.56, Z:0.08 [[ 9.99445345e-01 -2.26218522e-02 -2.44387732e-02 9.11959005e+00] [ 2.26614767e-02 9.99742290e-01 1.34561115e-03 -5.55471756e-01] [ 2.44020349e-02 -1.89868350e-03 9.99700423e-01 7.51203340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.130714056999999 meters Centerline goodness [0,1] 0.9808166556008726 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.56, Z:0.07 [[ 9.99333274e-01 -2.62050580e-02 -2.54224810e-02 9.14909766e+00] [ 2.62490930e-02 9.99654453e-01 1.39990876e-03 -5.61008015e-01] [ 2.53770116e-02 -2.06629247e-03 9.99675816e-01 7.43102422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.160714056999998 meters Centerline goodness [0,1] 0.9824108095294536 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.56, Z:0.07 [[ 9.99272169e-01 -2.81370084e-02 -2.57573587e-02 9.18021551e+00] [ 2.81828585e-02 9.99601778e-01 1.41872498e-03 -5.58855444e-01] [ 2.57071829e-02 -2.14360839e-03 9.99667217e-01 7.47769590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.190714057 meters Centerline goodness [0,1] 0.9751391026399905 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.57, Z:0.07 [[ 9.99201172e-01 -3.11512022e-02 -2.50323953e-02 9.20931834e+00] [ 3.11954474e-02 9.99512353e-01 1.37886133e-03 -5.71862623e-01] [ 2.49772352e-02 -2.15865663e-03 9.99685690e-01 7.36963771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.220714056999999 meters Centerline goodness [0,1] 0.9805398469799933 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.56, Z:0.08 [[ 9.99171282e-01 -3.22766335e-02 -2.47985381e-02 9.24151504e+00] [ 3.23204111e-02 9.99476625e-01 1.36645006e-03 -5.63105908e-01] [ 2.47414547e-02 -2.16681660e-03 9.99691535e-01 7.55955536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.250714056999998 meters Centerline goodness [0,1] 0.9796686390532544 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.57, Z:0.08 [[ 9.99154019e-01 -3.35890099e-02 -2.37281572e-02 9.27212632e+00] [ 3.36294817e-02 9.99433512e-01 1.30855833e-03 -5.65147040e-01] [ 2.36707623e-02 -2.10541695e-03 9.99717591e-01 7.64443525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.280714056999999 meters Centerline goodness [0,1] 0.9799438523030072 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.56, Z:0.08 [[ 9.99129879e-01 -3.39723177e-02 -2.41943644e-02 9.30423323e+00] [ 3.40145393e-02 9.99420446e-01 1.33558325e-03 -5.63893241e-01] [ 2.41349695e-02 -2.15738129e-03 9.99706381e-01 7.68721932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.310714056999998 meters Centerline goodness [0,1] 0.9716193656093489 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.58, Z:0.08 [[ 9.99136301e-01 -3.38157576e-02 -2.41484147e-02 9.33510362e+00] [ 3.38578115e-02 9.99425769e-01 1.33462250e-03 -5.75396372e-01] [ 2.40894166e-02 -2.15108226e-03 9.99707494e-01 7.55786523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.340714057 meters Centerline goodness [0,1] 0.9800612762698071 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.57, Z:0.08 [[ 9.99158099e-01 -3.34064921e-02 -2.38138565e-02 9.36829177e+00] [ 3.34473132e-02 9.99439613e-01 1.31781766e-03 -5.66684709e-01] [ 2.37564879e-02 -2.11321770e-03 9.99715541e-01 7.70049176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.370714056999999 meters Centerline goodness [0,1] 0.9811048608106159 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.57, Z:0.08 [[ 9.99171563e-01 -3.30793860e-02 -2.37053115e-02 9.40028656e+00] [ 3.31197910e-02 9.99450526e-01 1.31378185e-03 -5.65284197e-01] [ 2.36488270e-02 -2.09780843e-03 9.99718126e-01 7.82357461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.400714056999998 meters Centerline goodness [0,1] 0.9813598609233146 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.56, Z:0.08 [[ 9.99197355e-01 -3.27979945e-02 -2.29986454e-02 9.43252274e+00] [ 3.28359903e-02 9.99459939e-01 1.27629345e-03 -5.62922394e-01] [ 2.29443648e-02 -2.03045233e-03 9.99734681e-01 7.98885244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.430714057 meters Centerline goodness [0,1] 0.9810369369586721 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.57, Z:0.08 [[ 9.99202938e-01 -3.26427096e-02 -2.29769987e-02 9.46410136e+00] [ 3.26806557e-02 9.99465028e-01 1.27782559e-03 -5.66470294e-01] [ 2.29229950e-02 -2.02771047e-03 9.99735177e-01 8.04053644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.460714056999999 meters Centerline goodness [0,1] 0.9806999298619005 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.57, Z:0.08 [[ 9.99190017e-01 -3.28121076e-02 -2.32953792e-02 9.49606563e+00] [ 3.28512312e-02 9.99459409e-01 1.29865202e-03 -5.65523310e-01] [ 2.32401744e-02 -2.06288203e-03 9.99727782e-01 7.95605304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.490714056999998 meters Centerline goodness [0,1] 0.9802816219878061 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.57, Z:0.08 [[ 9.99178760e-01 -3.29977929e-02 -2.35149077e-02 9.52829231e+00] [ 3.30377497e-02 9.99453243e-01 1.31264105e-03 -5.68102226e-01] [ 2.34587365e-02 -2.08844269e-03 9.99722625e-01 7.91383064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.520714057 meters Centerline goodness [0,1] 0.9812093880321986 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.57, Z:0.08 [[ 9.99161582e-01 -3.31314015e-02 -2.40508299e-02 9.56047222e+00] [ 3.31732826e-02 9.99448711e-01 1.34436299e-03 -5.68795671e-01] [ 2.39930303e-02 -2.14108083e-03 9.99709833e-01 7.88466535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.550714056999999 meters Centerline goodness [0,1] 0.9780637967810742 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.57, Z:0.08 [[ 9.99151204e-01 -3.34119991e-02 -2.40937877e-02 9.59168816e+00] [ 3.34541490e-02 9.99439344e-01 1.34834405e-03 -5.74402517e-01] [ 2.40352285e-02 -2.15323674e-03 9.99708793e-01 7.90278590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.580714056999998 meters Centerline goodness [0,1] 0.979533370560101 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.57, Z:0.08 [[ 9.99130773e-01 -3.39405481e-02 -2.42020228e-02 9.62425322e+00] [ 3.39832686e-02 9.99421482e-01 1.35594323e-03 -5.72171423e-01] [ 2.41420001e-02 -2.17722845e-03 9.99706169e-01 8.00169186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.610714057 meters Centerline goodness [0,1] 0.9806324782176055 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.57, Z:0.08 [[ 9.99104115e-01 -3.48003885e-02 -2.40811073e-02 9.65651480e+00] [ 3.48429734e-02 9.99391886e-01 1.35094392e-03 -5.72628760e-01] [ 2.40194498e-02 -2.18879101e-03 9.99709095e-01 8.16048219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.640714056999999 meters Centerline goodness [0,1] 0.9778231689524365 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.58, Z:0.08 [[ 9.99074999e-01 -3.56262207e-02 -2.40815226e-02 9.68861450e+00] [ 3.56690877e-02 9.99362740e-01 1.35274620e-03 -5.76159521e-01] [ 2.40179831e-02 -2.21046084e-03 9.99709083e-01 8.17536885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.670714057 meters Centerline goodness [0,1] 0.980313525337222 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.58, Z:0.08 [[ 9.99068307e-01 -3.60048376e-02 -2.37942996e-02 9.72100099e+00] [ 3.60468360e-02 9.99349205e-01 1.33836968e-03 -5.75175124e-01] [ 2.37306266e-02 -2.19483195e-03 9.99715980e-01 8.18458161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.700714056999999 meters Centerline goodness [0,1] 0.9795938198425809 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.58, Z:0.08 [[ 9.99075130e-01 -3.58156867e-02 -2.37933176e-02 9.75189434e+00] [ 3.58576663e-02 9.99356009e-01 1.33990741e-03 -5.77047221e-01] [ 2.37300052e-02 -2.19184101e-03 9.99716001e-01 8.11563764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.730714056999998 meters Centerline goodness [0,1] 0.9791311547265378 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.58, Z:0.08 [[ 9.99081735e-01 -3.54623573e-02 -2.40438792e-02 9.78294744e+00] [ 3.55051571e-02 9.99368574e-01 1.35537353e-03 -5.80356179e-01] [ 2.39806325e-02 -2.20781065e-03 9.99709985e-01 8.08366248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.760714057 meters Centerline goodness [0,1] 0.9805623978733263 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.58, Z:0.08 [[ 9.99074257e-01 -3.52527477e-02 -2.46550656e-02 9.81613699e+00] [ 3.52977385e-02 9.99375871e-01 1.39186155e-03 -5.78549464e-01] [ 2.45906108e-02 -2.26084110e-03 9.99695049e-01 8.09640522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.790714056999999 meters Centerline goodness [0,1] 0.9798100632308782 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.58, Z:0.08 [[ 9.99063388e-01 -3.54680745e-02 -2.47863269e-02 9.84805987e+00] [ 3.55136693e-02 9.99368208e-01 1.40160893e-03 -5.79216776e-01] [ 2.47209548e-02 -2.28054958e-03 9.99691789e-01 8.18643779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.820714056999998 meters Centerline goodness [0,1] 0.9788465766139867 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.58, Z:0.08 [[ 9.99049022e-01 -3.60511595e-02 -2.45227409e-02 9.88054039e+00] [ 3.60960080e-02 9.99347362e-01 1.38852124e-03 -5.80505997e-01] [ 2.44566787e-02 -2.27237384e-03 9.99698308e-01 8.28187185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.850714057 meters Centerline goodness [0,1] 0.9789977532480219 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.58, Z:0.08 [[ 9.99047079e-01 -3.65697342e-02 -2.38241271e-02 9.91250001e+00] [ 3.66122507e-02 9.99328634e-01 1.35071628e-03 -5.83237936e-01] [ 2.37587371e-02 -2.22168407e-03 9.99715253e-01 8.38351640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.880714056999999 meters Centerline goodness [0,1] 0.9766644628908642 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.59, Z:0.08 [[ 9.99037368e-01 -3.69565462e-02 -2.36336777e-02 9.94388448e+00] [ 3.69985294e-02 9.99314420e-01 1.34147335e-03 -5.87042456e-01] [ 2.35678987e-02 -2.21459332e-03 9.99719786e-01 8.42992234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.910714056999998 meters Centerline goodness [0,1] 0.9803205568081561 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.59, Z:0.08 [[ 9.99053610e-01 -3.65900300e-02 -2.35170879e-02 9.97601962e+00] [ 3.66315345e-02 9.99327947e-01 1.33635707e-03 -5.85503026e-01] [ 2.34523858e-02 -2.19655937e-03 9.99722542e-01 8.45701015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.940714057 meters Centerline goodness [0,1] 0.9806548350621896 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.58, Z:0.08 [[ 9.99064971e-01 -3.60313995e-02 -2.38939550e-02 1.00083583e+01] [ 3.60741300e-02 9.99348192e-01 1.35957740e-03 -5.84104415e-01] [ 2.38293932e-02 -2.22025979e-03 9.99713574e-01 8.40844023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.970714056999999 meters Centerline goodness [0,1] 0.9804489856069165 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.59, Z:0.08 [[ 9.99106911e-01 -3.46098249e-02 -2.42392176e-02 1.00387424e+01] [ 3.46534141e-02 9.99398437e-01 1.38043260e-03 -5.86086261e-01] [ 2.41768596e-02 -2.21917140e-03 9.99705234e-01 8.39579672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.000714056999998 meters Centerline goodness [0,1] 0.9806839459938899 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.59, Z:0.08 [[ 9.99157739e-01 -3.29299387e-02 -2.44832901e-02 1.00702129e+01] [ 3.29739267e-02 9.99455239e-01 1.39500532e-03 -5.86478132e-01] [ 2.44240152e-02 -2.20114058e-03 9.99699266e-01 8.39484608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.030714056999999 meters Centerline goodness [0,1] 0.9845693513687283 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.58, Z:0.09 [[ 9.99279333e-01 -2.88203930e-02 -2.47022118e-02 1.01007671e+01] [ 2.88639375e-02 9.99582358e-01 1.40796546e-03 -5.80595831e-01] [ 2.46513170e-02 -2.11995389e-03 9.99693862e-01 8.55488286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.060714056999998 meters Centerline goodness [0,1] 0.9858745119494665 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.58, Z:0.09 [[ 9.99371524e-01 -2.49405739e-02 -2.51897934e-02 1.01319794e+01] [ 2.49846369e-02 9.99686804e-01 1.43598006e-03 -5.78249554e-01] [ 2.51460899e-02 -2.06443543e-03 9.99681655e-01 8.69385537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.090714057 meters Centerline goodness [0,1] 0.9860756037628137 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.58, Z:0.09 [[ 9.99423676e-01 -2.26180812e-02 -2.53127903e-02 1.01621542e+01] [ 2.26618420e-02 9.99742146e-01 1.44324157e-03 -5.79525575e-01] [ 2.52736200e-02 -2.01604426e-03 9.99678538e-01 8.78292749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.120714056999999 meters Centerline goodness [0,1] 0.9889834752128193 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.58, Z:0.09 [[ 9.99459010e-01 -2.06211009e-02 -2.56214408e-02 1.01943072e+01] [ 2.06653042e-02 9.99785381e-01 1.46163894e-03 -5.75672119e-01] [ 2.55858014e-02 -1.99032308e-03 9.99670648e-01 8.83049600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.150714056999998 meters Centerline goodness [0,1] 0.9893212624418547 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.57, Z:0.09 [[ 9.99510630e-01 -1.82596609e-02 -2.53985421e-02 1.02251622e+01] [ 1.83023671e-02 9.99831446e-01 1.44997950e-03 -5.73797250e-01] [ 2.53677850e-02 -1.91412337e-03 9.99676353e-01 8.89071846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.180714057 meters Centerline goodness [0,1] 0.9893601041458041 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.57, Z:0.09 [[ 9.99575922e-01 -1.36963991e-02 -2.56979534e-02 1.02546979e+01] [ 1.37386190e-02 9.99904544e-01 1.46708241e-03 -5.72541798e-01] [ 2.56754067e-02 -1.81951465e-03 9.99668677e-01 8.80179507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.210714056999999 meters Centerline goodness [0,1] 0.9900188560653677 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.57, Z:0.09 [[ 9.99599621e-01 -1.14953435e-02 -2.58544985e-02 1.02855978e+01] [ 1.15373466e-02 9.99932353e-01 1.47600393e-03 -5.71867091e-01] [ 2.58357824e-02 -1.77370528e-03 9.99664627e-01 8.84669813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.240714056999998 meters Centerline goodness [0,1] 0.9900188560653677 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.57, Z:0.09 [[ 9.99599207e-01 -1.15312860e-02 -2.58545112e-02 1.03147682e+01] [ 1.15732952e-02 9.99931938e-01 1.47578147e-03 -5.73500524e-01] [ 2.58357339e-02 -1.77441188e-03 9.99664627e-01 8.88502590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.270714057 meters Centerline goodness [0,1] 0.9913856444298057 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.57, Z:0.09 [[ 9.99650311e-01 -6.34258622e-03 -2.56715082e-02 1.03455715e+01] [ 6.38228635e-03 9.99978560e-01 1.46482625e-03 -5.68332722e-01] [ 2.56616670e-02 -1.62815693e-03 9.99669359e-01 9.07038435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.300714056999999 meters Centerline goodness [0,1] 0.9917924480357778 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.57, Z:0.09 [[ 9.99661378e-01 -4.03331949e-03 -2.57072335e-02 1.03749587e+01] [ 4.07235690e-03 9.99990633e-01 1.46636545e-03 -5.68273003e-01] [ 2.57010784e-02 -1.57055793e-03 9.99668439e-01 9.11272642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.330714056999998 meters Centerline goodness [0,1] 0.9922804514534661 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.56, Z:0.09 [[ 9.99656564e-01 1.36950625e-04 -2.62056473e-02 1.04051558e+01] [-9.78337273e-05 9.99998879e-01 1.49396592e-03 -5.63019318e-01] [ 2.62058225e-02 -1.49088905e-03 9.99655457e-01 9.12465976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.360714057 meters Centerline goodness [0,1] 0.9921088921803973 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.57, Z:0.09 [[ 9.99661720e-01 1.23101368e-03 -2.59794082e-02 1.04326107e+01] [-1.19297662e-03 9.99998194e-01 1.47957188e-03 -5.69224543e-01] [ 2.59811826e-02 -1.44807855e-03 9.99661383e-01 9.00677370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.390714056999999 meters Centerline goodness [0,1] 0.9936804400665217 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.56, Z:0.09 [[ 9.99664864e-01 2.87497602e-03 -2.57272884e-02 1.04614669e+01] [-2.83827009e-03 9.99994902e-01 1.46313462e-03 -5.63549989e-01] [ 2.57313637e-02 -1.38962328e-03 9.99667928e-01 9.11823656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.420714056999998 meters Centerline goodness [0,1] 0.9926833636061296 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.57, Z:0.09 [[ 9.99663916e-01 3.00900754e-03 -2.57488147e-02 1.04904893e+01] [-2.97233237e-03 9.99994513e-01 1.46249887e-03 -5.65117025e-01] [ 2.57530741e-02 -1.38547331e-03 9.99667374e-01 9.08008792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.450714056999999 meters Centerline goodness [0,1] 0.9931786126426465 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.57, Z:0.09 [[ 9.99670027e-01 2.80322334e-03 -2.55338752e-02 1.05188212e+01] [-2.76714932e-03 9.99995123e-01 1.44801511e-03 -5.66598912e-01] [ 2.55378098e-02 -1.37688126e-03 9.99672909e-01 9.15891039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.480714056999998 meters Centerline goodness [0,1] 0.9926319572807558 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.57, Z:0.09 [[ 9.99698496e-01 2.23901029e-03 -2.44520622e-02 1.05473228e+01] [-2.20581406e-03 9.99996609e-01 1.38449259e-03 -5.67137122e-01] [ 2.44550792e-02 -1.33013846e-03 9.99700045e-01 9.27567614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.510714057 meters Centerline goodness [0,1] 0.9923907455012854 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.57, Z:0.09 [[ 9.99709924e-01 1.16404514e-03 -2.40564421e-02 1.05755332e+01] [-1.13165071e-03 9.99998435e-01 1.36017114e-03 -5.68230023e-01] [ 2.40579877e-02 -1.33255310e-03 9.99709677e-01 9.28450056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.540714056999999 meters Centerline goodness [0,1] 0.9922944545758097 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.57, Z:0.09 [[ 9.99743616e-01 -1.25584303e-03 -2.26080895e-02 1.06044357e+01] [ 1.28503315e-03 9.99998359e-01 1.27665431e-03 -5.72768489e-01] [ 2.26064491e-02 -1.30537914e-03 9.99743589e-01 9.30329372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.570714056999998 meters Centerline goodness [0,1] 0.9908997692899256 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.58, Z:0.09 [[ 9.99746504e-01 -3.19083364e-03 -2.22878069e-02 1.06332170e+01] [ 3.21965493e-03 9.99994026e-01 1.25737732e-03 -5.76959629e-01] [ 2.22836617e-02 -1.32881762e-03 9.99750805e-01 9.33759422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.600714057 meters Centerline goodness [0,1] 0.991299007063159 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.58, Z:0.09 [[ 9.99750186e-01 -4.92333753e-03 -2.18019657e-02 1.06630909e+01] [ 4.95130416e-03 9.99986987e-01 1.22896221e-03 -5.79598655e-01] [ 2.17956314e-02 -1.33660336e-03 9.99761554e-01 9.32775375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.630714056999999 meters Centerline goodness [0,1] 0.9894120354978133 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.59, Z:0.09 [[ 9.99689229e-01 -9.45657691e-03 -2.30655360e-02 1.06919494e+01] [ 9.48906567e-03 9.99954133e-01 1.29949598e-03 -5.88311379e-01] [ 2.30521892e-02 -1.51796252e-03 9.99733111e-01 9.13349137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.660714056999998 meters Centerline goodness [0,1] 0.9890919285368402 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.59, Z:0.09 [[ 9.99651867e-01 -1.15171063e-02 -2.37381609e-02 1.07213379e+01] [ 1.15520813e-02 9.99932379e-01 1.33675459e-03 -5.91260133e-01] [ 2.37211602e-02 -1.61051438e-03 9.99717316e-01 9.08313908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.690714057 meters Centerline goodness [0,1] 0.9882532030952683 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.59, Z:0.09 [[ 9.99593867e-01 -1.54417685e-02 -2.39510658e-02 1.07511558e+01] [ 1.54784825e-02 9.99879292e-01 1.34823532e-03 -5.94159051e-01] [ 2.39273556e-02 -1.71841391e-03 9.99712223e-01 9.06989028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.720714056999999 meters Centerline goodness [0,1] 0.9889258591348963 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.60, Z:0.09 [[ 9.99571229e-01 -1.70317035e-02 -2.38176139e-02 1.07823337e+01] [ 1.70684667e-02 9.99853424e-01 1.34107429e-03 -5.95690885e-01] [ 2.37912820e-02 -1.74702943e-03 9.99715421e-01 9.17065692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.750714056999998 meters Centerline goodness [0,1] 0.9871749288906948 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.60, Z:0.09 [[ 9.99560696e-01 -1.85112929e-02 -2.31462264e-02 1.08139698e+01] [ 1.85464304e-02 9.99827149e-01 1.30430000e-03 -5.99059902e-01] [ 2.31180813e-02 -1.73300690e-03 9.99731239e-01 9.22297597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.780714056999999 meters Centerline goodness [0,1] 0.9878021004681766 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.60, Z:0.09 [[ 9.99553578e-01 -2.06579115e-02 -2.15846034e-02 1.08446559e+01] [ 2.06889821e-02 9.99785219e-01 1.21713902e-03 -6.02261329e-01] [ 2.15548239e-02 -1.66315914e-03 9.99766284e-01 9.33829140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.810714056999998 meters Centerline goodness [0,1] 0.9862308972613103 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.60, Z:0.09 [[ 9.99540262e-01 -2.17154969e-02 -2.11589667e-02 1.08766861e+01] [ 2.17456072e-02 9.99762823e-01 1.19398136e-03 -6.04743425e-01] [ 2.11280204e-02 -1.65354702e-03 9.99775411e-01 9.38144196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.840714057 meters Centerline goodness [0,1] 0.985383064516129 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.61, Z:0.09 [[ 9.99523683e-01 -2.34362882e-02 -2.00785388e-02 1.09068574e+01] [ 2.34637677e-02 9.99724045e-01 1.13407725e-03 -6.10397501e-01] [ 2.00464195e-02 -1.60465524e-03 9.99797763e-01 9.44063742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.870714056999999 meters Centerline goodness [0,1] 0.9849684741488021 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.61, Z:0.09 [[ 9.99502553e-01 -2.44018184e-02 -1.99799583e-02 1.09383410e+01] [ 2.44292327e-02 9.99700924e-01 1.12913472e-03 -6.13511942e-01] [ 1.99464298e-02 -1.61666809e-03 9.99799743e-01 9.49435587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.900714056999998 meters Centerline goodness [0,1] 0.9817939161966156 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.62, Z:0.09 [[ 9.99470426e-01 -2.52859007e-02 -2.04814574e-02 1.09691820e+01] [ 2.53149260e-02 9.99678854e-01 1.15907876e-03 -6.22181774e-01] [ 2.04455716e-02 -1.67695152e-03 9.99789561e-01 9.43653135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.930714057 meters Centerline goodness [0,1] 0.9830871064354567 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.62, Z:0.09 [[ 9.99399663e-01 -2.71179858e-02 -2.15621800e-02 1.10001271e+01] [ 2.71506169e-02 9.99630607e-01 1.22199216e-03 -6.22133947e-01] [ 2.15210771e-02 -1.80668505e-03 9.99766762e-01 9.49693339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.960714056999999 meters Centerline goodness [0,1] 0.9826198500930631 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.63, Z:0.09 [[ 9.99360944e-01 -2.80528037e-02 -2.21527419e-02 1.10325224e+01] [ 2.80874952e-02 9.99604679e-01 1.25636218e-03 -6.26113741e-01] [ 2.21087399e-02 -1.87777432e-03 9.99753808e-01 9.48928382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.990714056999998 meters Centerline goodness [0,1] 0.9819146795452258 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.63, Z:0.09 [[ 9.99288230e-01 -2.98399124e-02 -2.30783955e-02 1.10636156e+01] [ 2.98780687e-02 9.99552692e-01 1.31020967e-03 -6.30116855e-01] [ 2.30289758e-02 -1.99881498e-03 9.99732800e-01 9.33254890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.020714057 meters Centerline goodness [0,1] 0.9811813117880263 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.63, Z:0.09 [[ 9.99276579e-01 -3.03551714e-02 -2.29103023e-02 1.10946897e+01] [ 3.03929443e-02 9.99537179e-01 1.30225438e-03 -6.34341501e-01] [ 2.28601688e-02 -1.99762384e-03 9.99736676e-01 9.28502290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.050714056999999 meters Centerline goodness [0,1] 0.9774921222427849 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.64, Z:0.09 [[ 9.99210474e-01 -3.24343392e-02 -2.29443355e-02 1.11254089e+01] [ 3.24728064e-02 9.99471766e-01 1.30585871e-03 -6.39556177e-01] [ 2.28898609e-02 -2.04989467e-03 9.99735891e-01 9.38578403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.080714056999998 meters Centerline goodness [0,1] 0.9756103649707923 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.64, Z:0.09 [[ 9.99217688e-01 -3.26431147e-02 -2.23257542e-02 1.11566423e+01] [ 3.26796031e-02 9.99465070e-01 1.27138135e-03 -6.43868285e-01] [ 2.22723096e-02 -1.99998351e-03 9.99749941e-01 9.47388781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.110714057 meters Centerline goodness [0,1] 0.9694548170276326 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.65, Z:0.10 [[ 9.99151380e-01 -3.43170465e-02 -2.27785054e-02 1.11874552e+01] [ 3.43554820e-02 9.99408833e-01 1.29805913e-03 -6.47863148e-01] [ 2.27204939e-02 -2.07952411e-03 9.99739693e-01 9.57270529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.140714056999999 meters Centerline goodness [0,1] 0.9787419845804536 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.65, Z:0.10 [[ 9.99120952e-01 -3.50358049e-02 -2.30177350e-02 1.12201675e+01] [ 3.50752635e-02 9.99383812e-01 1.31265608e-03 -6.45787043e-01] [ 2.29575617e-02 -2.11885531e-03 9.99734195e-01 9.67784512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.170714056999998 meters Centerline goodness [0,1] 0.9617567971317598 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.66, Z:0.10 [[ 9.99135845e-01 -3.49908343e-02 -2.24322222e-02 1.12514195e+01] [ 3.50283394e-02 9.99385498e-01 1.28106224e-03 -6.55400693e-01] [ 2.23736122e-02 -2.06571870e-03 9.99747545e-01 9.66498911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.200714056999999 meters Centerline goodness [0,1] 0.9804408877401397 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.65, Z:0.10 [[ 9.99123484e-01 -3.50631756e-02 -2.28656235e-02 1.12844584e+01] [ 3.51022076e-02 9.99382872e-01 1.30776312e-03 -6.47862904e-01] [ 2.28056581e-02 -2.10925071e-03 9.99737692e-01 9.85225815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.230714056999998 meters Centerline goodness [0,1] 0.9750509418020973 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.65, Z:0.10 [[ 9.99144978e-01 -3.45502108e-02 -2.27067532e-02 1.13153186e+01] [ 3.45886046e-02 9.99400789e-01 1.30016939e-03 -6.53763939e-01] [ 2.26482260e-02 -2.08445263e-03 9.99741323e-01 9.90788566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.260714057 meters Centerline goodness [0,1] 0.9819010157339175 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.65, Z:0.10 [[ 9.99187837e-01 -3.28212684e-02 -2.33758499e-02 1.13469996e+01] [ 3.28615160e-02 9.99459017e-01 1.33960794e-03 -6.49221208e-01] [ 2.33192363e-02 -2.10668582e-03 9.99725850e-01 1.00573518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.290714056999999 meters Centerline goodness [0,1] 0.9828736433336652 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.65, Z:0.10 [[ 9.99217197e-01 -3.17225472e-02 -2.36362560e-02 1.13784202e+01] [ 3.17634130e-02 9.99494496e-01 1.35542345e-03 -6.46993198e-01] [ 2.35813103e-02 -2.10513059e-03 9.99719706e-01 1.00741561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.320714056999998 meters Centerline goodness [0,1] 0.9828874607681961 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.65, Z:0.10 [[ 9.99248365e-01 -3.05044719e-02 -2.39203385e-02 1.14090230e+01] [ 3.05460016e-02 9.99532420e-01 1.37262026e-03 -6.49688641e-01] [ 2.38672827e-02 -2.10225925e-03 9.99712925e-01 1.00636864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.350714057 meters Centerline goodness [0,1] 0.9795248165194675 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.66, Z:0.10 [[ 9.99357097e-01 -2.69853028e-02 -2.36047763e-02 1.14387038e+01] [ 2.70247762e-02 9.99633846e-01 1.35480809e-03 -6.55277320e-01] [ 2.35595734e-02 -1.99185088e-03 9.99720450e-01 9.99139010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.380714056999999 meters Centerline goodness [0,1] 0.9805563864792103 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.66, Z:0.10 [[ 9.99422818e-01 -2.46998136e-02 -2.33227351e-02 1.14692625e+01] [ 2.47377258e-02 9.99693080e-01 1.33838991e-03 -6.55923194e-01] [ 2.32825189e-02 -1.91456884e-03 9.99727092e-01 1.00688025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.410714056999998 meters Centerline goodness [0,1] 0.9853394481617923 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.64, Z:0.10 [[ 9.99556149e-01 -1.92000349e-02 -2.27785829e-02 1.15005862e+01] [ 1.92347787e-02 9.99814140e-01 1.30714585e-03 -6.43668327e-01] [ 2.27492521e-02 -1.74470668e-03 9.99739680e-01 1.03651244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.440714057 meters Centerline goodness [0,1] 0.9864942744744293 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.64, Z:0.10 [[ 9.99601673e-01 -1.63391514e-02 -2.30114848e-02 1.15317377e+01] [ 1.63738594e-02 9.99865067e-01 1.32067031e-03 -6.43742906e-01] [ 2.29868011e-02 -1.69693106e-03 9.99734328e-01 1.04515243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.470714056999999 meters Centerline goodness [0,1] 0.9884779265310238 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.64, Z:0.11 [[ 9.99653073e-01 -1.32476008e-02 -2.27647846e-02 1.15630885e+01] [ 1.32807813e-02 9.99910952e-01 1.30696194e-03 -6.42224017e-01] [ 2.27454433e-02 -1.60884264e-03 9.99739994e-01 1.05134101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.500714056999998 meters Centerline goodness [0,1] 0.9897626336126863 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.64, Z:0.11 [[ 9.99730603e-01 -7.54428507e-03 -2.19500429e-02 1.15930019e+01] [ 7.57377113e-03 9.99970524e-01 1.26050227e-03 -6.41690515e-01] [ 2.19398863e-02 -1.42640729e-03 9.99758274e-01 1.05883504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.530714056999999 meters Centerline goodness [0,1] 0.9899533005174808 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.64, Z:0.11 [[ 9.99750233e-01 -5.55362581e-03 -2.16478386e-02 1.16229764e+01] [ 5.58183858e-03 9.99983649e-01 1.24305316e-03 -6.40784034e-01] [ 2.16405812e-02 -1.36357743e-03 9.99764885e-01 1.06734938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.560714056999998 meters Centerline goodness [0,1] 0.991787904901911 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.64, Z:0.11 [[ 9.99757232e-01 -1.91692961e-03 -2.19500023e-02 1.16534078e+01] [ 1.94505373e-03 9.99997315e-01 1.26000293e-03 -6.37356961e-01] [ 2.19475280e-02 -1.30239098e-03 9.99758276e-01 1.08455872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.590714057 meters Centerline goodness [0,1] 0.9922453026874476 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.64, Z:0.11 [[ 9.99764451e-01 -8.01339477e-04 -2.16887171e-02 1.16825762e+01] [ 8.28486999e-04 9.99998885e-01 1.24273218e-03 -6.36662907e-01] [ 2.16876971e-02 -1.26040827e-03 9.99764000e-01 1.09344091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.620714056999999 meters Centerline goodness [0,1] 0.9924781459646269 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.64, Z:0.11 [[ 9.99764928e-01 7.41012701e-04 -2.16688609e-02 1.17105355e+01] [-7.14359970e-04 9.99998979e-01 1.23771621e-03 -6.39302463e-01] [ 2.16697560e-02 -1.22194589e-03 9.99764437e-01 1.10055081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.650714056999998 meters Centerline goodness [0,1] 0.9933874591503268 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.64, Z:0.11 [[ 9.99770587e-01 8.50727876e-04 -2.14020803e-02 1.17391120e+01] [-8.24790174e-04 9.99998915e-01 1.22072228e-03 -6.41167001e-01] [ 2.14030956e-02 -1.20279001e-03 9.99770204e-01 1.10670872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.680714057 meters Centerline goodness [0,1] 0.9937978560490046 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.64, Z:0.11 [[ 9.99777529e-01 1.03397647e-03 -2.10671210e-02 1.17684533e+01] [-1.00891326e-03 9.99998771e-01 1.20027789e-03 -6.40911126e-01] [ 2.10683362e-02 -1.17875596e-03 9.99777343e-01 1.11828153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.710714056999999 meters Centerline goodness [0,1] 0.993717758823229 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.64, Z:0.11 [[ 9.99772472e-01 9.12618381e-04 -2.13113052e-02 1.17970507e+01] [-8.86970893e-04 9.99998871e-01 1.21289000e-03 -6.42802569e-01] [ 2.13123881e-02 -1.19371152e-03 9.99772153e-01 1.12581341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.740714056999998 meters Centerline goodness [0,1] 0.9930027069819705 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.64, Z:0.11 [[ 9.99764216e-01 9.83891428e-04 -2.16920396e-02 1.18259339e+01] [-9.57370126e-04 9.99998782e-01 1.23297930e-03 -6.41308403e-01] [ 2.16932262e-02 -1.21192127e-03 9.99763940e-01 1.13073328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.770714057 meters Centerline goodness [0,1] 0.9943016302959063 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.65, Z:0.11 [[ 9.99769042e-01 1.40071813e-03 -2.14452799e-02 1.18539192e+01] [-1.37495830e-03 9.99998316e-01 1.21588670e-03 -6.45634412e-01] [ 2.14469469e-02 -1.18611952e-03 9.99769284e-01 1.13621731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.800714056999999 meters Centerline goodness [0,1] 0.9945304912334509 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.65, Z:0.11 [[ 9.99771594e-01 2.15852944e-03 -2.12626734e-02 1.18822409e+01] [-2.13349139e-03 9.99997004e-01 1.20017300e-03 -6.45979965e-01] [ 2.12652003e-02 -1.15453514e-03 9.99773203e-01 1.14178690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.830714056999998 meters Centerline goodness [0,1] 0.9948398303785827 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.65, Z:0.11 [[ 9.99766859e-01 3.23573406e-03 -2.13484872e-02 1.19101731e+01] [-3.21082489e-03 9.99994124e-01 1.20096263e-03 -6.48232396e-01] [ 2.13522477e-02 -1.13213639e-03 9.99771374e-01 1.14463993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.860714057 meters Centerline goodness [0,1] 0.9944916991186719 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.64, Z:0.12 [[ 9.99760019e-01 6.71805583e-03 -2.08511848e-02 1.19405975e+01] [-6.69507592e-03 9.99976901e-01 1.17170450e-03 -6.44561308e-01] [ 2.08585747e-02 -1.03182305e-03 9.99781904e-01 1.15769620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.890714056999999 meters Centerline goodness [0,1] 0.9948247591719614 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.64, Z:0.12 [[ 9.99754108e-01 8.71142951e-03 -2.03920071e-02 1.19690975e+01] [-8.68987992e-03 9.99961587e-01 1.14514087e-03 -6.44731805e-01] [ 2.04011996e-02 -9.67655199e-04 9.99791406e-01 1.16253030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.920714056999998 meters Centerline goodness [0,1] 0.9938413574568128 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.65, Z:0.12 [[ 9.99725058e-01 1.21491808e-02 -2.00550632e-02 1.19975874e+01] [-1.21290514e-02 9.99925807e-01 1.12503981e-03 -6.45092069e-01] [ 2.00672436e-02 -8.81481598e-04 9.99798244e-01 1.15980153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.950714056999999 meters Centerline goodness [0,1] 0.9951984471573786 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.64, Z:0.12 [[ 9.99705525e-01 1.36459814e-02 -2.00661391e-02 1.20270510e+01] [-1.36261477e-02 9.99906527e-01 1.12481816e-03 -6.44657678e-01] [ 2.00796127e-02 -8.51062752e-04 9.99798022e-01 1.16290318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.980714056999998 meters Centerline goodness [0,1] 0.9950341720633783 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.65, Z:0.12 [[ 9.99678893e-01 1.48545360e-02 -2.05293120e-02 1.20556247e+01] [-1.48340561e-02 9.99889309e-01 1.14952389e-03 -6.46280184e-01] [ 2.05441152e-02 -8.44621807e-04 9.99788591e-01 1.15930598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.010714057 meters Centerline goodness [0,1] 0.9953723825837957 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.65, Z:0.12 [[ 9.99618376e-01 1.78574757e-02 -2.10763512e-02 1.20841811e+01] [-1.78365882e-02 9.99840221e-01 1.17862893e-03 -6.46712587e-01] [ 2.10940310e-02 -8.02248940e-04 9.99777174e-01 1.16272642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.040714057 meters Centerline goodness [0,1] 0.9954441913439636 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.65, Z:0.12 [[ 9.99568723e-01 1.98873623e-02 -2.16069747e-02 1.21120921e+01] [-1.98659199e-02 9.99801925e-01 1.20659793e-03 -6.47567666e-01] [ 2.16266910e-02 -7.76835122e-04 9.99765814e-01 1.16601640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.070714057 meters Centerline goodness [0,1] 0.9963681935599376 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.65, Z:0.12 [[ 9.99435548e-01 2.50973223e-02 -2.23318074e-02 1.21417522e+01] [-2.50757499e-02 9.99684778e-01 1.24554322e-03 -6.46342107e-01] [ 2.23560277e-02 -6.84853352e-04 9.99749838e-01 1.16143679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.100714056999998 meters Centerline goodness [0,1] 0.9959751375585898 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.65, Z:0.12 [[ 9.99343905e-01 2.82116601e-02 -2.27125837e-02 1.21700737e+01] [-2.81901754e-02 9.99601777e-01 1.26562619e-03 -6.47626673e-01] [ 2.27392444e-02 -6.24524103e-04 9.99741235e-01 1.16095700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.130714057 meters Centerline goodness [0,1] 0.9959751375585898 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.65, Z:0.12 [[ 9.99351801e-01 2.79304141e-02 -2.27127853e-02 1.21973845e+01] [-2.79089392e-02 9.99609673e-01 1.26199825e-03 -6.49076721e-01] [ 2.27391681e-02 -6.27290483e-04 9.99741235e-01 1.16455065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.160714057 meters Centerline goodness [0,1] 0.9967234935749757 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.65, Z:0.12 [[ 9.99256217e-01 3.10042773e-02 -2.29291712e-02 1.22261697e+01] [-3.09833014e-02 9.99519096e-01 1.26959308e-03 -6.49465579e-01] [ 2.29575073e-02 -5.58227355e-04 9.99736286e-01 1.16161171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.190714056999997 meters Centerline goodness [0,1] 0.9964080093748408 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.65, Z:0.12 [[ 9.98993747e-01 3.86941808e-02 -2.26771460e-02 1.22561072e+01] [-3.86756678e-02 9.99251029e-01 1.25455110e-03 -6.48929387e-01] [ 2.27087053e-02 -3.76234942e-04 9.99742053e-01 1.16349722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.220714057 meters Centerline goodness [0,1] 0.9975734974841001 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.65, Z:0.12 [[ 9.98856789e-01 4.20989358e-02 -2.26449555e-02 1.22835138e+01] [-4.20813743e-02 9.99113403e-01 1.25169340e-03 -6.49685414e-01] [ 2.26775735e-02 -2.97331597e-04 9.99742787e-01 1.17334896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.250714057 meters Centerline goodness [0,1] 0.9979162431388494 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.65, Z:0.12 [[ 9.98523943e-01 4.94463268e-02 -2.24721019e-02 1.23125697e+01] [-4.94309704e-02 9.98776774e-01 1.23866151e-03 -6.49536233e-01] [ 2.25058607e-02 -1.26015365e-04 9.99746703e-01 1.18191968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.280714056999997 meters Centerline goodness [0,1] 0.9979102956167176 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.65, Z:0.12 [[ 9.98352558e-01 5.26401200e-02 -2.28295360e-02 1.23403799e+01] [-5.26252457e-02 9.98613547e-01 1.25225052e-03 -6.50986465e-01] [ 2.28638025e-02 -4.87775722e-05 9.99738588e-01 1.18239256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.310714057 meters Centerline goodness [0,1] 0.9986286410848972 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.65, Z:0.12 [[ 9.98209686e-01 5.53965860e-02 -2.25530709e-02 1.23672533e+01] [-5.53828841e-02 9.98464430e-01 1.23217511e-03 -6.53094755e-01] [ 2.25866974e-02 1.90849861e-05 9.99744888e-01 1.17744034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.340714057 meters Centerline goodness [0,1] 0.9981235419413733 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.66, Z:0.12 [[ 9.97996601e-01 5.90560997e-02 -2.26971667e-02 1.23957496e+01] [-5.90432603e-02 9.98254660e-01 1.23599727e-03 -6.57002596e-01] [ 2.27305456e-02 1.06593653e-04 9.99741622e-01 1.17543233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.370714056999997 meters Centerline goodness [0,1] 0.9978234460417088 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.66, Z:0.12 [[ 9.97943746e-01 5.99198042e-02 -2.27573611e-02 1.24239095e+01] [-5.99072590e-02 9.98203185e-01 1.23322686e-03 -6.60182281e-01] [ 2.27903650e-02 1.32640089e-04 9.99740257e-01 1.17635916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.400714057 meters Centerline goodness [0,1] 0.9981124477777219 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.66, Z:0.12 [[ 9.97934474e-01 6.01454011e-02 -2.25680493e-02 1.24509961e+01] [-6.01332465e-02 9.98189617e-01 1.21743338e-03 -6.63680856e-01] [ 2.26004155e-02 1.42171335e-04 9.99744568e-01 1.17727131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.430714057 meters Centerline goodness [0,1] 0.9980984787830264 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.67, Z:0.12 [[ 9.98023846e-01 5.82861922e-02 -2.34759926e-02 1.24785353e+01] [-5.82726579e-02 9.98299909e-01 1.26078469e-03 -6.71782297e-01] [ 2.35095676e-02 1.09715296e-04 9.99723606e-01 1.17227880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.460714056999997 meters Centerline goodness [0,1] 0.9977116704805492 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.68, Z:0.12 [[ 9.98121947e-01 5.64220778e-02 -2.38564066e-02 1.25053889e+01] [-5.64076927e-02 9.98407003e-01 1.27603269e-03 -6.76881236e-01] [ 2.38903998e-02 7.20486199e-05 9.99714581e-01 1.16222598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.490714056999998 meters Centerline goodness [0,1] 0.9967335510965936 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.69, Z:0.12 [[ 9.98448147e-01 5.00795065e-02 -2.43586049e-02 1.25324930e+01] [-5.00627404e-02 9.98745231e-01 1.29802091e-03 -6.87567464e-01] [ 2.43930447e-02 -7.65480546e-05 9.99702442e-01 1.15175029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.520714057 meters Centerline goodness [0,1] 0.9960127201565557 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.69, Z:0.12 [[ 9.98646170e-01 4.58409295e-02 -2.45852796e-02 1.25612791e+01] [-4.58227284e-02 9.98948737e-01 1.30347790e-03 -6.94437886e-01] [ 2.46191867e-02 -1.75148620e-04 9.99696887e-01 1.15245544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.550714057 meters Centerline goodness [0,1] 0.9945683802133851 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.71, Z:0.11 [[ 9.99034921e-01 3.66387950e-02 -2.42244719e-02 1.25900737e+01] [-3.66185064e-02 9.99328497e-01 1.28073986e-03 -7.08315224e-01] [ 2.42551299e-02 -3.92439869e-04 9.99705724e-01 1.14660902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.580714056999998 meters Centerline goodness [0,1] 0.9930332004035939 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.72, Z:0.11 [[ 9.99203803e-01 3.15717696e-02 -2.43922989e-02 1.26195253e+01] [-3.15497107e-02 9.99501353e-01 1.28874875e-03 -7.16289142e-01] [ 2.44208239e-02 -5.18152673e-04 9.99701633e-01 1.14225378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.610714057 meters Centerline goodness [0,1] 0.9918044537895441 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.72, Z:0.11 [[ 9.99358560e-01 2.65126697e-02 -2.40737706e-02 1.26490117e+01] [-2.64897367e-02 9.99648277e-01 1.27107124e-03 -7.23673760e-01] [ 2.40990028e-02 -6.32548086e-04 9.99709377e-01 1.14426889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.640714057 meters Centerline goodness [0,1] 0.9894866161079217 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.74, Z:0.11 [[ 9.99569570e-01 1.67653447e-02 -2.40748319e-02 1.26777232e+01] [-1.67396012e-02 9.99859076e-01 1.27045695e-03 -7.38414220e-01] [ 2.40927389e-02 -8.66907022e-04 9.99709352e-01 1.13250209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.670714056999998 meters Centerline goodness [0,1] 0.9873732049570126 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.75, Z:0.11 [[ 9.99637221e-01 1.26836773e-02 -2.37602693e-02 1.27065007e+01] [-1.26574764e-02 9.99919106e-01 1.25279613e-03 -7.45388262e-01] [ 2.37742373e-02 -9.51596594e-04 9.99716900e-01 1.12899376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.700714057 meters Centerline goodness [0,1] 0.9836906301977454 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.76, Z:0.11 [[ 9.99724691e-01 5.57174910e-03 -2.27925142e-02 1.27362045e+01] [-5.54581718e-03 9.99983901e-01 1.20079030e-03 -7.57466546e-01] [ 2.27988378e-02 -1.07405659e-03 9.99739496e-01 1.12321065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.730714057 meters Centerline goodness [0,1] 0.9841611172770995 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.76, Z:0.11 [[ 9.99753124e-01 2.52579831e-03 -2.20751082e-02 1.27650847e+01] [-2.50074372e-03 9.99996197e-01 1.16250183e-03 -7.63247051e-01] [ 2.20779605e-02 -1.10701065e-03 9.99755639e-01 1.12238689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.760714056999998 meters Centerline goodness [0,1] 0.9835490643962991 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.77, Z:0.11 [[ 9.99759241e-01 -1.51398981e-04 -2.19416689e-02 1.27938397e+01] [ 1.76768712e-04 9.99999318e-01 1.15430033e-03 -7.69242061e-01] [ 2.19414792e-02 -1.15790102e-03 9.99758586e-01 1.12023638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.790714057 meters Centerline goodness [0,1] 0.9818632627760687 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.78, Z:0.11 [[ 9.99752959e-01 -4.31188817e-03 -2.18043405e-02 1.28234796e+01] [ 4.33790902e-03 9.99989934e-01 1.14622200e-03 -7.78427741e-01] [ 2.17991786e-02 -1.24052408e-03 9.99761600e-01 1.10759562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.820714057 meters Centerline goodness [0,1] 0.9812229176697159 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.78, Z:0.11 [[ 9.99741276e-01 -5.84030246e-03 -2.19834504e-02 1.28527466e+01] [ 5.86710872e-03 9.99982121e-01 1.15508309e-03 -7.82016087e-01] [ 2.19763113e-02 -1.28376353e-03 9.99757667e-01 1.10984867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.850714056999998 meters Centerline goodness [0,1] 0.9809808667062423 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.79, Z:0.11 [[ 9.99737833e-01 -7.89734542e-03 -2.14918120e-02 1.28819325e+01] [ 7.92342306e-03 9.99967972e-01 1.12849073e-03 -7.87716997e-01] [ 2.14822116e-02 -1.29848360e-03 9.99768387e-01 1.11048088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.880714057 meters Centerline goodness [0,1] 0.9800657624332101 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.79, Z:0.11 [[ 9.99741579e-01 -8.31790328e-03 -2.11562806e-02 1.29104189e+01] [ 8.34321388e-03 9.99964581e-01 1.10837781e-03 -7.89869717e-01] [ 2.11463119e-02 -1.28460276e-03 9.99775566e-01 1.10979100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.910714057 meters Centerline goodness [0,1] 0.9801344116641987 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.79, Z:0.11 [[ 9.99743451e-01 -8.44215463e-03 -2.10181635e-02 1.29388182e+01] [ 8.46708514e-03 9.99963551e-01 1.09743113e-03 -7.93264081e-01] [ 2.10081328e-02 -1.27511217e-03 9.99778492e-01 1.11092264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.940714056999997 meters Centerline goodness [0,1] 0.9800273597811218 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.80, Z:0.11 [[ 9.99735122e-01 -8.75981471e-03 -2.12826380e-02 1.29672991e+01] [ 8.78538965e-03 9.99960793e-01 1.10847779e-03 -7.95445065e-01] [ 2.12720935e-02 -1.29516045e-03 9.99772885e-01 1.09743356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.970714057 meters Centerline goodness [0,1] 0.9799315849486887 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.80, Z:0.11 [[ 9.99718646e-01 -8.99428532e-03 -2.19483848e-02 1.29954564e+01] [ 9.02145731e-03 9.99958657e-01 1.13929206e-03 -7.98592776e-01] [ 2.19372302e-02 -1.33697793e-03 9.99758456e-01 1.09288687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.000714057 meters Centerline goodness [0,1] 0.9801239678872853 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.80, Z:0.11 [[ 9.99696085e-01 -1.01514803e-02 -2.24651762e-02 1.30245198e+01] [ 1.01801693e-02 9.99947504e-01 1.16304607e-03 -7.97645768e-01] [ 2.24521902e-02 -1.39139190e-03 9.99746950e-01 1.09795557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.030714056999997 meters Centerline goodness [0,1] 0.9797249687464484 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.80, Z:0.11 [[ 9.99706952e-01 -1.08310469e-02 -2.16494484e-02 1.30543359e+01] [ 1.08577731e-02 9.99940428e-01 1.11732998e-03 -7.99401675e-01] [ 2.16360568e-02 -1.35206734e-03 9.99764999e-01 1.10127539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.060714057 meters Centerline goodness [0,1] 0.9798946645294252 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.80, Z:0.11 [[ 9.99706012e-01 -1.17229315e-02 -2.12240823e-02 1.30842773e+01] [ 1.17488071e-02 9.99930381e-01 1.09487418e-03 -7.99762965e-01] [ 2.12097695e-02 -1.34390995e-03 9.99774144e-01 1.10868990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.090714057 meters Centerline goodness [0,1] 0.9803121633700809 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.80, Z:0.11 [[ 9.99721442e-01 -1.27841965e-02 -1.98394195e-02 1.31135930e+01] [ 1.28070072e-02 9.99917463e-01 1.02313609e-03 -8.01270768e-01] [ 1.98247020e-02 -1.27693468e-03 9.99802656e-01 1.10867664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.120714056999997 meters Centerline goodness [0,1] 0.9802082377763508 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.80, Z:0.11 [[ 9.99733371e-01 -1.31423481e-02 -1.89859560e-02 1.31432825e+01] [ 1.31632938e-02 9.99912881e-01 9.78668498e-04 -8.04570419e-01] [ 1.89714400e-02 -1.22832527e-03 9.99819272e-01 1.11576789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.150714057 meters Centerline goodness [0,1] 0.9787633731185998 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.81, Z:0.11 [[ 9.99720066e-01 -1.49278893e-02 -1.83561216e-02 1.31736310e+01] [ 1.49477715e-02 9.99887828e-01 9.46406447e-04 -8.06973949e-01] [ 1.83399347e-02 -1.22052463e-03 9.99831064e-01 1.11692510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.180714057 meters Centerline goodness [0,1] 0.9784714747039828 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.81, Z:0.11 [[ 9.99696178e-01 -1.62966875e-02 -1.84924081e-02 1.32047574e+01] [ 1.63171122e-02 9.99866412e-01 9.54136089e-04 -8.08491933e-01] [ 1.84743885e-02 -1.25558890e-03 9.99828546e-01 1.11660761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.210714056999997 meters Centerline goodness [0,1] 0.9794311425357545 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.81, Z:0.11 [[ 9.99632054e-01 -1.92872596e-02 -1.90724638e-02 1.32355789e+01] [ 1.93095387e-02 9.99813069e-01 9.84648989e-04 -8.09905492e-01] [ 1.90499073e-02 -1.35256717e-03 9.99817619e-01 1.09810834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.240714056999998 meters Centerline goodness [0,1] 0.9790589096901177 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.81, Z:0.11 [[ 9.99608215e-01 -2.04701301e-02 -1.90890199e-02 1.32665152e+01] [ 2.04926732e-02 9.99789517e-01 9.86062543e-04 -8.12725721e-01] [ 1.90648172e-02 -1.37686127e-03 9.99817302e-01 1.09835083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.270714057 meters Centerline goodness [0,1] 0.8913289369784664 Centerline is valid? [True, False] Translation: X:13.31, Y:-0.81, Z:0.11 [[ 9.99508283e-01 -2.41607517e-02 -1.99862665e-02 1.33107514e+01] [ 2.41744987e-02 9.99707654e-01 4.46467906e-04 -8.12524520e-01] [ 1.99696366e-02 -9.29406343e-04 9.99800155e-01 1.12301987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.300714057 meters Centerline goodness [0,1] 0.9800013776318508 Centerline is valid? [False, True] Translation: X:13.26, Y:-0.81, Z:0.11 [[ 9.99446700e-01 -2.53369133e-02 -2.15484139e-02 1.32554066e+01] [ 2.53283083e-02 9.99678961e-01 -6.72205924e-04 -8.07873493e-01] [ 2.15585277e-02 1.26049121e-04 9.99767580e-01 1.13058651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.330714056999998 meters Centerline goodness [0,1] 0.9793152639087018 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.81, Z:0.11 [[ 9.99420335e-01 -2.62027103e-02 -2.17350271e-02 1.32866475e+01] [ 2.62326439e-02 9.99655267e-01 1.09318285e-03 -8.10691324e-01] [ 2.16988899e-02 -1.66271639e-03 9.99763169e-01 1.12956418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.360714057 meters Centerline goodness [0,1] 0.9768038286276934 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.82, Z:0.11 [[ 9.99410001e-01 -2.68153856e-02 -2.14612618e-02 1.33173643e+01] [ 2.68447346e-02 9.99639031e-01 1.08055567e-03 -8.18463270e-01] [ 2.14245394e-02 -1.65604002e-03 9.99769097e-01 1.11806942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.390714057 meters Centerline goodness [0,1] 0.9788175636740809 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.81, Z:0.11 [[ 9.99392919e-01 -2.71950971e-02 -2.17766172e-02 1.33503576e+01] [ 2.72254328e-02 9.99628716e-01 1.09772553e-03 -8.12330684e-01] [ 2.17386791e-02 -1.68993695e-03 9.99762259e-01 1.12154447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.420714056999998 meters Centerline goodness [0,1] 0.9795583683651314 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.81, Z:0.11 [[ 9.99393423e-01 -2.70933899e-02 -2.18799991e-02 1.33827581e+01] [ 2.71240247e-02 9.99631466e-01 1.10451779e-03 -8.10720147e-01] [ 2.18420104e-02 -1.69732145e-03 9.99759994e-01 1.12556221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.450714057 meters Centerline goodness [0,1] 0.9798603403625601 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.81, Z:0.11 [[ 9.99425124e-01 -2.61371437e-02 -2.15932978e-02 1.34136879e+01] [ 2.61667900e-02 9.99656995e-01 1.09148629e-03 -8.11508094e-01] [ 2.15573628e-02 -1.65588611e-03 9.99766242e-01 1.12987021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.480714057 meters Centerline goodness [0,1] 0.9768040042637994 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.82, Z:0.11 [[ 9.99444744e-01 -2.53071278e-02 -2.16737808e-02 1.34447677e+01] [ 2.53368268e-02 9.99678369e-01 1.09672330e-03 -8.17716567e-01] [ 2.16390549e-02 -1.64525917e-03 9.99764494e-01 1.13225820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.510714056999998 meters Centerline goodness [0,1] 0.9803411256216015 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.81, Z:0.11 [[ 9.99500930e-01 -2.33527832e-02 -2.12729519e-02 1.34765581e+01] [ 2.33809750e-02 9.99726047e-01 1.07745305e-03 -8.06257918e-01] [ 2.12419626e-02 -1.57429768e-03 9.99773125e-01 1.13798099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.540714057 meters Centerline goodness [0,1] 0.9815532620370803 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.81, Z:0.11 [[ 9.99522054e-01 -2.23187257e-02 -2.13901458e-02 1.35090987e+01] [ 2.23470149e-02 9.99749686e-01 1.08438678e-03 -8.06376237e-01] [ 2.13605894e-02 -1.56187440e-03 9.99770617e-01 1.14037184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.570714057 meters Centerline goodness [0,1] 0.9822988128965792 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.80, Z:0.11 [[ 9.99543669e-01 -2.12439403e-02 -2.14743597e-02 1.35410418e+01] [ 2.12722373e-02 9.99773126e-01 1.09011296e-03 -8.02991988e-01] [ 2.14463294e-02 -1.54642318e-03 9.99768805e-01 1.14480470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.600714056999998 meters Centerline goodness [0,1] 0.9821474652215731 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.80, Z:0.12 [[ 9.99607320e-01 -1.85344703e-02 -2.10161515e-02 1.35710297e+01] [ 1.85609941e-02 9.99827160e-01 1.06768806e-03 -8.01805069e-01] [ 2.09927300e-02 -1.45734946e-03 9.99778566e-01 1.15101410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.630714057 meters Centerline goodness [0,1] 0.9819427441378661 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.80, Z:0.12 [[ 9.99633510e-01 -1.70569200e-02 -2.10215937e-02 1.36021471e+01] [ 1.70831366e-02 9.99853502e-01 1.06816870e-03 -8.01586512e-01] [ 2.10002944e-02 -1.42689199e-03 9.99778451e-01 1.15458502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.660714057 meters Centerline goodness [0,1] 0.9833887043189369 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.80, Z:0.12 [[ 9.99677945e-01 -1.31748974e-02 -2.16893810e-02 1.36330822e+01] [ 1.32019107e-02 9.99912243e-01 1.10273784e-03 -7.97481286e-01] [ 2.16729491e-02 -1.38872396e-03 9.99764150e-01 1.15038994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.690714056999997 meters Centerline goodness [0,1] 0.9833207154348443 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.80, Z:0.11 [[ 9.99700560e-01 -1.07245579e-02 -2.19948812e-02 1.36638089e+01] [ 1.07517504e-02 9.99941573e-01 1.11842488e-03 -7.96687267e-01] [ 2.19816015e-02 -1.35457345e-03 9.99757458e-01 1.14710667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.720714057 meters Centerline goodness [0,1] 0.9832215560347892 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.80, Z:0.12 [[ 9.99717548e-01 -8.05480840e-03 -2.23594412e-02 1.36930647e+01] [ 8.08223928e-03 9.99966692e-01 1.13671554e-03 -7.96169632e-01] [ 2.23495404e-02 -1.31710883e-03 9.99749350e-01 1.15091678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.750714057 meters Centerline goodness [0,1] 0.9858795468097794 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.79, Z:0.12 [[ 9.99749995e-01 -2.28579367e-03 -2.22423771e-02 1.37227902e+01] [ 2.31149973e-03 9.99996690e-01 1.13008300e-03 -7.91398546e-01] [ 2.22397204e-02 -1.18121372e-03 9.99751969e-01 1.15787573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.780714056999997 meters Centerline goodness [0,1] 0.9865738081562321 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.79, Z:0.12 [[ 9.99757394e-01 5.07705649e-04 -2.20203265e-02 1.37529328e+01] [-4.83199851e-04 9.99999258e-01 1.11817815e-03 -7.86489260e-01] [ 2.20208778e-02 -1.10726665e-03 9.99756898e-01 1.16826464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.810714057 meters Centerline goodness [0,1] 0.9885759638278939 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.78, Z:0.12 [[ 9.99760427e-01 4.40409575e-03 -2.14404624e-02 1.37832777e+01] [-4.38177511e-03 9.99989808e-01 1.08792001e-03 -7.82472125e-01] [ 2.14450352e-02 -9.93712094e-04 9.99769535e-01 1.17155572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.840714057 meters Centerline goodness [0,1] 0.9892574126261532 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.78, Z:0.12 [[ 9.99762679e-01 5.61491928e-03 -2.10489547e-02 1.38122088e+01] [-5.59368857e-03 9.99983786e-01 1.06737693e-03 -7.81200471e-01] [ 2.10546066e-02 -9.49382321e-04 9.99777876e-01 1.17520903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.870714056999997 meters Centerline goodness [0,1] 0.9893609321849895 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.78, Z:0.12 [[ 9.99769065e-01 6.49988964e-03 -2.04833631e-02 1.38397440e+01] [-6.48000168e-03 9.99978467e-01 1.03715671e-03 -7.82328647e-01] [ 2.04896634e-02 -9.04184972e-04 9.99789656e-01 1.17698168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.900714057 meters Centerline goodness [0,1] 0.9900205885914981 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.78, Z:0.12 [[ 9.99776759e-01 6.37567772e-03 -2.01440657e-02 1.38678267e+01] [-6.35645577e-03 9.99979279e-01 1.01810916e-03 -7.81095078e-01] [ 2.01501394e-02 -8.89837010e-04 9.99796569e-01 1.18990772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.930714057 meters Centerline goodness [0,1] 0.9905004240882104 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.78, Z:0.12 [[ 9.99772906e-01 5.59982220e-03 -2.05615893e-02 1.38969930e+01] [-5.57967328e-03 9.99983896e-01 1.03716948e-03 -7.81395259e-01] [ 2.05670661e-02 -9.22206995e-04 9.99788050e-01 1.19301690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.960714056999997 meters Centerline goodness [0,1] 0.9895365492461946 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.78, Z:0.12 [[ 9.99788212e-01 3.16457391e-03 -2.03351285e-02 1.39254648e+01] [-3.14439133e-03 9.99994532e-01 1.02439581e-03 -7.84166218e-01] [ 2.03382591e-02 -9.60237256e-04 9.99792695e-01 1.19049154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.990714056999998 meters Centerline goodness [0,1] 0.9893790253979827 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.79, Z:0.12 [[ 9.99788198e-01 1.34540753e-03 -2.05365238e-02 1.39549304e+01] [-1.32446102e-03 9.99998589e-01 1.03353063e-03 -7.85695861e-01] [ 2.05378853e-02 -1.00611191e-03 9.99788569e-01 1.18803332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.020714057 meters Centerline goodness [0,1] 0.9891016772251754 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.79, Z:0.12 [[ 9.99784679e-01 -2.44177232e-03 -2.06066199e-02 1.39834300e+01] [ 2.46365163e-03 9.99996428e-01 1.03644135e-03 -7.91753787e-01] [ 2.06040156e-02 -1.08698572e-03 9.99787124e-01 1.18605700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.050714056999997 meters Centerline goodness [0,1] 0.9891016772251754 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.79, Z:0.12 [[ 9.99783966e-01 -2.71755254e-03 -2.06067029e-02 1.40107920e+01] [ 2.73945628e-03 9.99995712e-01 1.03478831e-03 -7.93047834e-01] [ 2.06038024e-02 -1.09101593e-03 9.99787124e-01 1.19027706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.080714056999998 meters Centerline goodness [0,1] 0.9884359360575288 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.79, Z:0.12 [[ 9.99774997e-01 -4.56479350e-03 -2.07151410e-02 1.40398539e+01] [ 4.58722935e-03 9.99988942e-01 1.03567680e-03 -7.93434429e-01] [ 2.07101843e-02 -1.13046887e-03 9.99784882e-01 1.19535417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.110714057 meters Centerline goodness [0,1] 0.9862841079823583 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.80, Z:0.12 [[ 9.99758857e-01 -7.46120734e-03 -2.06532975e-02 1.40703805e+01] [ 7.48410874e-03 9.99971461e-01 1.03177674e-03 -7.96074037e-01] [ 2.06450098e-02 -1.18609946e-03 9.99786166e-01 1.19523305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.140714057 meters Centerline goodness [0,1] 0.9875919675594299 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.80, Z:0.12 [[ 9.99745175e-01 -8.98489776e-03 -2.07088763e-02 1.40992962e+01] [ 9.00822088e-03 9.99958891e-01 1.03322584e-03 -7.96489345e-01] [ 2.06987416e-02 -1.21951268e-03 9.99785014e-01 1.19741666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.170714056999998 meters Centerline goodness [0,1] 0.9871480284735551 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.80, Z:0.12 [[ 9.99734835e-01 -1.02570996e-02 -2.06167732e-02 1.41286402e+01] [ 1.02804028e-02 9.99946630e-01 1.02462989e-03 -7.97887968e-01] [ 2.06051632e-02 -1.23630693e-03 9.99786927e-01 1.20217600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.200714057 meters Centerline goodness [0,1] 0.9871166537267081 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.80, Z:0.12 [[ 9.99715985e-01 -1.22495501e-02 -2.04425650e-02 1.41583906e+01] [ 1.22728631e-02 9.99924170e-01 1.01534281e-03 -8.01056074e-01] [ 2.04285773e-02 -1.26594324e-03 9.99790513e-01 1.20001115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.230714057 meters Centerline goodness [0,1] 0.9867229787130756 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.80, Z:0.12 [[ 9.99703679e-01 -1.31805062e-02 -2.04652886e-02 1.41892801e+01] [ 1.32040616e-02 9.99912306e-01 1.01629099e-03 -8.01382512e-01] [ 2.04500987e-02 -1.28621478e-03 9.99790048e-01 1.19672085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.260714056999998 meters Centerline goodness [0,1] 0.9861960213488598 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.80, Z:0.12 [[ 9.99664880e-01 -1.55225287e-02 -2.07166413e-02 1.42199174e+01] [ 1.55471770e-02 9.99878606e-01 1.02924281e-03 -8.03599116e-01] [ 2.06981500e-02 -1.35098318e-03 9.99784858e-01 1.20043673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.290714057 meters Centerline goodness [0,1] 0.9870009961853391 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.80, Z:0.12 [[ 9.99644306e-01 -1.63599453e-02 -2.10621288e-02 1.42519773e+01] [ 1.63856283e-02 9.99865198e-01 1.04737938e-03 -8.04526488e-01] [ 2.10421545e-02 -1.39212305e-03 9.99777620e-01 1.20703788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.320714057 meters Centerline goodness [0,1] 0.9862687437723284 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.81, Z:0.12 [[ 9.99632698e-01 -1.71161019e-02 -2.10120777e-02 1.42842390e+01] [ 1.71418611e-02 9.99852520e-01 1.04640926e-03 -8.07087482e-01] [ 2.09910683e-02 -1.40621103e-03 9.99778674e-01 1.20954607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.350714056999998 meters Centerline goodness [0,1] 0.9856403527953933 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.81, Z:0.12 [[ 9.99607895e-01 -1.82266216e-02 -2.12566963e-02 1.43158914e+01] [ 1.82532648e-02 9.99832833e-01 1.06003355e-03 -8.08663261e-01] [ 2.12338221e-02 -1.44762201e-03 9.99773489e-01 1.21124871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.380714057 meters Centerline goodness [0,1] 0.9856875561927442 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.81, Z:0.12 [[ 9.99587089e-01 -1.94624111e-02 -2.11392271e-02 1.43475074e+01] [ 1.94890597e-02 9.99809513e-01 1.05531981e-03 -8.11018723e-01] [ 2.11146613e-02 -1.46686772e-03 9.99775985e-01 1.20647838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.410714057 meters Centerline goodness [0,1] 0.9855685131195335 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.81, Z:0.12 [[ 9.99569088e-01 -2.04365558e-02 -2.10709565e-02 1.43794799e+01] [ 2.04632740e-02 9.99790051e-01 1.05315550e-03 -8.11415357e-01] [ 2.10450098e-02 -1.48388244e-03 9.99777428e-01 1.20906799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.440714056999997 meters Centerline goodness [0,1] 0.981609530048281 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.82, Z:0.12 [[ 9.99578339e-01 -2.04141709e-02 -2.06495770e-02 1.44103454e+01] [ 2.04398545e-02 9.99790550e-01 1.03347079e-03 -8.22385138e-01] [ 2.06241545e-02 -1.45510936e-03 9.99786241e-01 1.20877636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.470714057 meters Centerline goodness [0,1] 0.9849221789883269 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.82, Z:0.12 [[ 9.99565541e-01 -2.07579367e-02 -2.09245504e-02 1.44427842e+01] [ 2.07844099e-02 9.99783431e-01 1.04846735e-03 -8.16678905e-01] [ 2.08982547e-02 -1.48291626e-03 9.99780508e-01 1.22123851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.500714057 meters Centerline goodness [0,1] 0.9842971389678894 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.82, Z:0.12 [[ 9.99580460e-01 -2.10330503e-02 -1.99126630e-02 1.44749484e+01] [ 2.10571059e-02 9.99777775e-01 9.99130030e-04 -8.18773315e-01] [ 1.98872232e-02 -1.41801391e-03 9.99801224e-01 1.22967530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.530714056999997 meters Centerline goodness [0,1] 0.9853448694891362 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.82, Z:0.12 [[ 9.99582221e-01 -2.12556775e-02 -1.95851749e-02 1.45072953e+01] [ 2.12790177e-02 9.99773092e-01 9.84079341e-04 -8.17441214e-01] [ 1.95598136e-02 -1.40042150e-03 9.99807708e-01 1.24050543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.560714057 meters Centerline goodness [0,1] 0.9843901964598327 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.82, Z:0.12 [[ 9.99541137e-01 -2.24435898e-02 -2.03421059e-02 1.45382604e+01] [ 2.24690431e-02 9.99747015e-01 1.02354055e-03 -8.23199749e-01] [ 2.03139877e-02 -1.48013854e-03 9.99792554e-01 1.23376191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.590714057 meters Centerline goodness [0,1] 0.9839164922867293 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.83, Z:0.12 [[ 9.99517347e-01 -2.27473146e-02 -2.11573300e-02 1.45689536e+01] [ 2.27749484e-02 9.99740049e-01 1.06603886e-03 -8.26578852e-01] [ 2.11275806e-02 -1.54738143e-03 9.99775590e-01 1.23070716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.620714056999997 meters Centerline goodness [0,1] 0.9836671203577678 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.83, Z:0.12 [[ 9.99500826e-01 -2.32387858e-02 -2.14022696e-02 1.46011796e+01] [ 2.32672197e-02 9.99728698e-01 1.08045924e-03 -8.28827448e-01] [ 2.13713546e-02 -1.57789121e-03 9.99770361e-01 1.22752138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.650714057 meters Centerline goodness [0,1] 0.9828866880279639 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.83, Z:0.12 [[ 9.99458471e-01 -2.46628366e-02 -2.17832395e-02 1.46319386e+01] [ 2.46926566e-02 9.99694484e-01 1.10098848e-03 -8.32561987e-01] [ 2.17494308e-02 -1.63827831e-03 9.99762111e-01 1.22229876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.680714057 meters Centerline goodness [0,1] 0.9832735382526908 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.83, Z:0.12 [[ 9.99438145e-01 -2.53112275e-02 -2.19712541e-02 1.46638682e+01] [ 2.53417395e-02 9.99678229e-01 1.11136272e-03 -8.29972967e-01] [ 2.19360544e-02 -1.66752809e-03 9.99757985e-01 1.23548207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.710714056999997 meters Centerline goodness [0,1] 0.9841126952459734 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.83, Z:0.12 [[ 9.99443059e-01 -2.53038243e-02 -2.17551766e-02 1.46956506e+01] [ 2.53337645e-02 9.99678442e-01 1.10169016e-03 -8.31681399e-01] [ 2.17203041e-02 -1.65221710e-03 9.99762721e-01 1.24014513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.740714056999998 meters Centerline goodness [0,1] 0.9851247717589775 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.83, Z:0.12 [[ 9.99461304e-01 -2.45702220e-02 -2.17579076e-02 1.47285284e+01] [ 2.46000350e-02 9.99696764e-01 1.10358255e-03 -8.28462350e-01] [ 2.17241945e-02 -1.63823334e-03 9.99762660e-01 1.24625681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.770714057 meters Centerline goodness [0,1] 0.9865187131941403 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.83, Z:0.13 [[ 9.99491840e-01 -2.39015603e-02 -2.10897559e-02 1.47604380e+01] [ 2.39294637e-02 9.99713075e-01 1.07167136e-03 -8.29172887e-01] [ 2.10580901e-02 -1.57579332e-03 9.99777012e-01 1.25154279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.800714056999997 meters Centerline goodness [0,1] 0.9868734503378871 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.83, Z:0.13 [[ 9.99530572e-01 -2.24478855e-02 -2.08501539e-02 1.47918161e+01] [ 2.24748712e-02 9.99746845e-01 1.06081275e-03 -8.28519872e-01] [ 2.08210626e-02 -1.52891930e-03 9.99782049e-01 1.25656481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.830714056999998 meters Centerline goodness [0,1] 0.9873124878238847 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.83, Z:0.13 [[ 9.99565573e-01 -2.06874519e-02 -2.09927393e-02 1.48223932e+01] [ 2.07144466e-02 9.99784861e-01 1.06925007e-03 -8.29265351e-01] [ 2.09661029e-02 -1.50363854e-03 9.99779056e-01 1.26510898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.860714057 meters Centerline goodness [0,1] 0.9886380224806579 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.83, Z:0.13 [[ 9.99582748e-01 -2.00974427e-02 -2.07466176e-02 1.48546240e+01] [ 2.01237239e-02 9.99796937e-01 1.05875547e-03 -8.30146493e-01] [ 2.07211264e-02 -1.47581290e-03 9.99784205e-01 1.27351740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.890714057 meters Centerline goodness [0,1] 0.9877773735903965 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.83, Z:0.13 [[ 9.99607191e-01 -1.92444981e-02 -2.03743439e-02 1.48870121e+01] [ 1.92696977e-02 9.99813780e-01 1.04121095e-03 -8.31865400e-01] [ 2.03505122e-02 -1.43340940e-03 9.99791879e-01 1.28163228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.920714056999998 meters Centerline goodness [0,1] 0.9894150282265914 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.83, Z:0.13 [[ 9.99621448e-01 -1.88125984e-02 -2.00760114e-02 1.49188763e+01] [ 1.88370073e-02 9.99822040e-01 1.02739596e-03 -8.33402264e-01] [ 2.00531107e-02 -1.40517901e-03 9.99797929e-01 1.29119962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.950714057 meters Centerline goodness [0,1] 0.9887440613960288 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.84, Z:0.13 [[ 9.99632039e-01 -1.84756880e-02 -1.98603823e-02 1.49510207e+01] [ 1.84995374e-02 9.99828351e-01 1.01778419e-03 -8.35519652e-01] [ 1.98381690e-02 -1.38481757e-03 9.99802245e-01 1.29665975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.980714057 meters Centerline goodness [0,1] 0.9879653089066459 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.84, Z:0.13 [[ 9.99648524e-01 -1.77661963e-02 -1.96771681e-02 1.49830466e+01] [ 1.77894985e-02 9.99841244e-01 1.00980821e-03 -8.35803403e-01] [ 1.96561038e-02 -1.35950024e-03 9.99805876e-01 1.30237573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.010714056999998 meters Centerline goodness [0,1] 0.9878437964384029 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.84, Z:0.13 [[ 9.99646259e-01 -1.76074838e-02 -1.99332397e-02 1.50142749e+01] [ 1.76313928e-02 9.99844030e-01 1.02433542e-03 -8.38007699e-01] [ 1.99120947e-02 -1.37542385e-03 9.99800789e-01 1.30147446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.040714057 meters Centerline goodness [0,1] 0.988380324667399 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.84, Z:0.13 [[ 9.99661803e-01 -1.67226854e-02 -1.99156289e-02 1.50447662e+01] [ 1.67463958e-02 9.99859245e-01 1.02435098e-03 -8.40157106e-01] [ 1.98956957e-02 -1.35751955e-03 9.99801139e-01 1.30704044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.070714057 meters Centerline goodness [0,1] 0.9890441641914594 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.84, Z:0.13 [[ 9.99675302e-01 -1.53965261e-02 -2.03036497e-02 1.50759561e+01] [ 1.54209066e-02 9.99880545e-01 1.04476595e-03 -8.40360348e-01] [ 2.02851385e-02 -1.35752740e-03 9.99793314e-01 1.31197028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.100714056999998 meters Centerline goodness [0,1] 0.989634027642593 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.84, Z:0.13 [[ 9.99684541e-01 -1.45170528e-02 -2.04956923e-02 1.51073444e+01] [ 1.45417280e-02 9.99893706e-01 1.05539242e-03 -8.38038318e-01] [ 2.04781926e-02 -1.35310227e-03 9.99789384e-01 1.32043536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.130714057 meters Centerline goodness [0,1] 0.9901270772238514 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.84, Z:0.13 [[ 9.99691211e-01 -1.28976703e-02 -2.12399025e-02 1.51376334e+01] [ 1.29238212e-02 9.99915885e-01 1.09440427e-03 -8.40284677e-01] [ 2.12240006e-02 -1.36856703e-03 9.99773809e-01 1.31525345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.160714057 meters Centerline goodness [0,1] 0.9906293467385734 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.84, Z:0.13 [[ 9.99704794e-01 -1.15828571e-02 -2.13579550e-02 1.51687864e+01] [ 1.16090091e-02 9.99932007e-01 1.10087610e-03 -8.39968258e-01] [ 2.13437515e-02 -1.34849580e-03 9.99771287e-01 1.31820167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.190714056999997 meters Centerline goodness [0,1] 0.9913568727594166 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.84, Z:0.13 [[ 9.99699547e-01 -1.04950360e-02 -2.21510814e-02 1.51990469e+01] [ 1.05229072e-02 9.99943981e-01 1.14204382e-03 -8.38938073e-01] [ 2.21378547e-02 -1.37479447e-03 9.99753982e-01 1.31882415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.220714057 meters Centerline goodness [0,1] 0.9890809381579592 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.85, Z:0.13 [[ 9.99699874e-01 -9.69587354e-03 -2.24978416e-02 1.52273656e+01] [ 9.72441712e-03 9.99952044e-01 1.15966662e-03 -8.45364434e-01] [ 2.24855187e-02 -1.37809697e-03 9.99746219e-01 1.31396121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.250714057 meters Centerline goodness [0,1] 0.9916525496550539 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.84, Z:0.13 [[ 9.99720590e-01 -7.13483079e-03 -2.25352308e-02 1.52572180e+01] [ 7.16280280e-03 9.99973673e-01 1.16078194e-03 -8.39229992e-01] [ 2.25263555e-02 -1.32187302e-03 9.99745376e-01 1.32148682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.280714056999997 meters Centerline goodness [0,1] 0.992347817528665 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.84, Z:0.13 [[ 9.99732917e-01 -5.58679685e-03 -2.24250578e-02 1.52857972e+01] [ 5.61408396e-03 9.99983575e-01 1.15404143e-03 -8.37658904e-01] [ 2.24182420e-02 -1.27962936e-03 9.99747861e-01 1.33337102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.310714057 meters Centerline goodness [0,1] 0.9911423861427552 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.84, Z:0.13 [[ 9.99761642e-01 -2.07572950e-03 -2.17336268e-02 1.53145668e+01] [ 2.10050411e-03 9.99997170e-01 1.11715390e-03 -8.39644504e-01] [ 2.17312464e-02 -1.16253919e-03 9.99763173e-01 1.34024942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.340714057 meters Centerline goodness [0,1] 0.9921084531083789 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.84, Z:0.13 [[ 9.99765207e-01 2.00943784e-04 -2.16677196e-02 1.53443777e+01] [-1.76869096e-04 9.99999365e-01 1.11299613e-03 -8.35466918e-01] [ 2.16679295e-02 -1.10890245e-03 9.99764608e-01 1.34563664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.370714056999997 meters Centerline goodness [0,1] 0.9919045483983461 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.83, Z:0.13 [[ 9.99741313e-01 5.14525694e-03 -2.21547638e-02 1.53737219e+01] [-5.12131443e-03 9.99986239e-01 1.13729572e-03 -8.33717088e-01] [ 2.21603106e-02 -1.02354000e-03 9.99753906e-01 1.34512310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.400714057 meters Centerline goodness [0,1] 0.9930342296457194 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.83, Z:0.13 [[ 9.99718503e-01 7.25503906e-03 -2.25893397e-02 1.54029945e+01] [-7.23073051e-03 9.99973188e-01 1.15760147e-03 -8.33178860e-01] [ 2.25971324e-02 -9.93938179e-04 9.99744158e-01 1.34626176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.430714057 meters Centerline goodness [0,1] 0.9932768488665616 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.83, Z:0.14 [[ 9.99679071e-01 9.48495886e-03 -2.34902141e-02 1.54315723e+01] [-9.45938548e-03 9.99954540e-01 1.19956244e-03 -8.31726377e-01] [ 2.35005241e-02 -9.76974476e-04 9.99723347e-01 1.35047624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.460714056999997 meters Centerline goodness [0,1] 0.9941250313833794 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.83, Z:0.14 [[ 9.99627951e-01 1.34637729e-02 -2.37209956e-02 1.54600873e+01] [-1.34388455e-02 9.99908963e-01 1.20996663e-03 -8.31125849e-01] [ 2.37351268e-02 -8.90733672e-04 9.99717885e-01 1.35260322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.490714056999998 meters Centerline goodness [0,1] 0.9941914556564158 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.83, Z:0.14 [[ 9.99614108e-01 1.50784503e-02 -2.33297188e-02 1.54890557e+01] [-1.50548030e-02 9.99885963e-01 1.18892734e-03 -8.30520036e-01] [ 2.33449855e-02 -8.37244222e-04 9.99727118e-01 1.36152492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.520714057 meters Centerline goodness [0,1] 0.9958560743885183 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.83, Z:0.14 [[ 9.99556080e-01 1.81296634e-02 -2.36422877e-02 1.55178635e+01] [-1.81062702e-02 9.99835344e-01 1.20317580e-03 -8.28890280e-01] [ 2.36602080e-02 -7.74568038e-04 9.99719758e-01 1.36803076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.550714056999997 meters Centerline goodness [0,1] 0.9949747474747475 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.83, Z:0.14 [[ 9.99522572e-01 1.93618600e-02 -2.40779102e-02 1.55463633e+01] [-1.93380330e-02 9.99812256e-01 1.22205014e-03 -8.29451137e-01] [ 2.40970508e-02 -7.55847279e-04 9.99709338e-01 1.37151184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.580714056999998 meters Centerline goodness [0,1] 0.996003844402853 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.83, Z:0.14 [[ 9.99500194e-01 2.04444213e-02 -2.41119819e-02 1.55752739e+01] [-2.04209496e-02 9.99790727e-01 1.21929937e-03 -8.30269181e-01] [ 2.41318638e-02 -7.26300394e-04 9.99708520e-01 1.37711243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.610714057 meters Centerline goodness [0,1] 0.9948724393615684 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.83, Z:0.14 [[ 9.99453490e-01 2.19853930e-02 -2.46852763e-02 1.56025891e+01] [-2.19613092e-02 9.99758044e-01 1.24634268e-03 -8.33497649e-01] [ 2.47067049e-02 -7.03540557e-04 9.99694495e-01 1.38068413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.640714057 meters Centerline goodness [0,1] 0.9947703215749377 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.84, Z:0.14 [[ 9.99453993e-01 2.17029013e-02 -2.49138668e-02 1.56304975e+01] [-2.16783817e-02 9.99764210e-01 1.25387139e-03 -8.36108322e-01] [ 2.49352050e-02 -7.13094452e-04 9.99688815e-01 1.37995498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.670714056999998 meters Centerline goodness [0,1] 0.9941860465116279 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.84, Z:0.14 [[ 9.99466856e-01 2.05788166e-02 -2.53479090e-02 1.56594094e+01] [-2.05532456e-02 9.99787954e-01 1.26895106e-03 -8.39665034e-01] [ 2.53686476e-02 -7.47292732e-04 9.99677885e-01 1.39095427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.700714057 meters Centerline goodness [0,1] 0.9950215150605424 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.84, Z:0.14 [[ 9.99485964e-01 1.92677665e-02 -2.56234298e-02 1.56872091e+01] [-1.92413257e-02 9.99814052e-01 1.27807549e-03 -8.44034443e-01] [ 2.56432909e-02 -7.84389753e-04 9.99670849e-01 1.39129945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.730714057 meters Centerline goodness [0,1] 0.993108442158356 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.85, Z:0.14 [[ 9.99512852e-01 1.75552956e-02 -2.58044702e-02 1.57146599e+01] [-1.75279783e-02 9.99845548e-01 1.28444923e-03 -8.48948928e-01] [ 2.58230335e-02 -8.31523322e-04 9.99666184e-01 1.38876770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.760714056999998 meters Centerline goodness [0,1] 0.9922556853103872 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.86, Z:0.14 [[ 9.99573346e-01 1.39397694e-02 -2.56672526e-02 1.57441190e+01] [-1.39116104e-02 9.99902416e-01 1.27532548e-03 -8.56289931e-01] [ 2.56825256e-02 -9.17708542e-04 9.99669728e-01 1.38387360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.790714057 meters Centerline goodness [0,1] 0.9933545789174634 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.86, Z:0.14 [[ 9.99597406e-01 1.13858133e-02 -2.59882448e-02 1.57735719e+01] [-1.13561071e-02 9.99934685e-01 1.29037119e-03 -8.55959055e-01] [ 2.60012393e-02 -9.94726408e-04 9.99661416e-01 1.39764190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.820714057 meters Centerline goodness [0,1] 0.9921901861584557 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.86, Z:0.14 [[ 9.99634336e-01 7.45282016e-03 -2.59932469e-02 1.58024763e+01] [-7.42180435e-03 9.99971627e-01 1.28949764e-03 -8.63305141e-01] [ 2.60021197e-02 -1.09610933e-03 9.99661287e-01 1.39727606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.850714056999998 meters Centerline goodness [0,1] 0.9899302677134637 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.87, Z:0.14 [[ 9.99630525e-01 5.62433779e-03 -2.65928721e-02 1.58294793e+01] [-5.59128245e-03 9.99983501e-01 1.31720966e-03 -8.70495441e-01] [ 2.65998418e-02 -1.16803473e-03 9.99645479e-01 1.39155238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.880714057 meters Centerline goodness [0,1] 0.9902056567827658 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.87, Z:0.14 [[ 9.99639637e-01 3.73972781e-03 -2.65821363e-02 1.58588274e+01] [-3.70608825e-03 9.99992268e-01 1.31464922e-03 -8.72389730e-01] [ 2.65868472e-02 -1.21565972e-03 9.99645768e-01 1.39865442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.910714057 meters Centerline goodness [0,1] 0.9900990099009901 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.88, Z:0.14 [[ 9.99623443e-01 4.35750786e-05 -2.74403120e-02 1.58886789e+01] [-6.35974300e-06 9.99999080e-01 1.35631440e-03 -8.76874117e-01] [ 2.74403459e-02 -1.35562916e-03 9.99622524e-01 1.40563173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.940714056999997 meters Centerline goodness [0,1] 0.9900990099009901 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.88, Z:0.14 [[ 9.99623440e-01 -6.42896167e-05 -2.74403899e-02 1.59161258e+01] [ 1.01502285e-04 9.99999077e-01 1.35473679e-03 -8.78143247e-01] [ 2.74402775e-02 -1.35701192e-03 9.99622524e-01 1.40986500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.970714057 meters Centerline goodness [0,1] 0.9886286654408206 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.88, Z:0.14 [[ 9.99621898e-01 -1.74536359e-03 -2.74410970e-02 1.59439964e+01] [ 1.78313461e-03 9.99997496e-01 1.35202974e-03 -8.84586771e-01] [ 2.74386685e-02 -1.40044970e-03 9.99622508e-01 1.40977711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.000714057 meters Centerline goodness [0,1] 0.9882069795427196 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.89, Z:0.14 [[ 9.99624348e-01 -3.42710781e-03 -2.71922229e-02 1.59725590e+01] [ 3.46475761e-03 9.99993103e-01 1.33758453e-03 -8.88434245e-01] [ 2.71874513e-02 -1.43129652e-03 9.99629328e-01 1.41357002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.030714056999997 meters Centerline goodness [0,1] 0.9875628473141043 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.89, Z:0.14 [[ 9.99594233e-01 -5.81358195e-03 -2.78849729e-02 1.60017034e+01] [ 5.85405186e-03 9.99981927e-01 1.36989932e-03 -8.92419457e-01] [ 2.78765049e-02 -1.53258354e-03 9.99610200e-01 1.42270408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.060714057 meters Centerline goodness [0,1] 0.9875869037022782 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.89, Z:0.14 [[ 9.99583691e-01 -6.84604358e-03 -2.80281493e-02 1.60300986e+01] [ 6.88722253e-03 9.99975340e-01 1.37292521e-03 -8.94092936e-01] [ 2.80180590e-02 -1.56538974e-03 9.99606191e-01 1.42434495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.090714057 meters Centerline goodness [0,1] 0.9860435001558716 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.91, Z:0.14 [[ 9.99559462e-01 -8.10907753e-03 -2.85503820e-02 1.60567831e+01] [ 8.15216661e-03 9.99965800e-01 1.39315369e-03 -9.08751625e-01] [ 2.85381084e-02 -1.62528743e-03 9.99591384e-01 1.40048632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.120714056999997 meters Centerline goodness [0,1] 0.9855079395446719 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.91, Z:0.14 [[ 9.99545904e-01 -8.58530859e-03 -2.88838639e-02 1.60851065e+01] [ 8.62947297e-03 9.99961779e-01 1.40472602e-03 -9.11277068e-01] [ 2.88706999e-02 -1.65334066e-03 9.99581787e-01 1.39335146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.150714057 meters Centerline goodness [0,1] 0.9873181022702755 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.90, Z:0.14 [[ 9.99526953e-01 -9.06994651e-03 -2.93871757e-02 1.61147066e+01] [ 9.11566644e-03 9.99957440e-01 1.42217874e-03 -9.00998936e-01] [ 2.93730259e-02 -1.68938967e-03 9.99567092e-01 1.42014900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.180714057 meters Centerline goodness [0,1] 0.9865120172187014 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.90, Z:0.14 [[ 9.99513692e-01 -9.34910895e-03 -2.97484930e-02 1.61423735e+01] [ 9.39593008e-03 9.99954828e-01 1.43449746e-03 -9.04945520e-01] [ 2.97337380e-02 -1.71331462e-03 9.99556386e-01 1.41286674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.210714056999997 meters Centerline goodness [0,1] 0.9861425811529563 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.91, Z:0.14 [[ 9.99516235e-01 -9.52758254e-03 -2.96060884e-02 1.61699823e+01] [ 9.57387684e-03 9.99953158e-01 1.42231169e-03 -9.07107631e-01] [ 2.95911504e-02 -1.70506867e-03 9.99560632e-01 1.42068694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.240714056999998 meters Centerline goodness [0,1] 0.987397469928498 Centerline is valid? [True, True] Translation: X:16.20, Y:-0.91, Z:0.14 [[ 9.99524303e-01 -9.32694330e-03 -2.93968823e-02 1.61986327e+01] [ 9.37227293e-03 9.99955093e-01 1.40457432e-03 -9.07638997e-01] [ 2.93824617e-02 -1.67942177e-03 9.99566831e-01 1.42346563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.270714057 meters Centerline goodness [0,1] 0.9871599771732927 Centerline is valid? [True, True] Translation: X:16.23, Y:-0.91, Z:0.14 [[ 9.99522195e-01 -9.17297865e-03 -2.95167495e-02 1.62274500e+01] [ 9.21839891e-03 9.99956525e-01 1.40308316e-03 -9.08398485e-01] [ 2.95025959e-02 -1.67450993e-03 9.99563301e-01 1.42915848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.300714056999997 meters Centerline goodness [0,1] 0.987884146632892 Centerline is valid? [True, True] Translation: X:16.26, Y:-0.91, Z:0.14 [[ 9.99522469e-01 -8.48025980e-03 -2.97139443e-02 1.62567264e+01] [ 8.52577365e-03 9.99962667e-01 1.40537119e-03 -9.06530417e-01] [ 2.97009171e-02 -1.65803444e-03 9.99557455e-01 1.43441877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.330714056999998 meters Centerline goodness [0,1] 0.9893706360822516 Centerline is valid? [True, True] Translation: X:16.29, Y:-0.91, Z:0.14 [[ 9.99536171e-01 -5.37796897e-03 -2.99753346e-02 1.62853165e+01] [ 5.42276600e-03 9.99984298e-01 1.41336990e-03 -9.06105693e-01] [ 2.99672629e-02 -1.57526356e-03 9.99549639e-01 1.44012998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.360714057 meters Centerline goodness [0,1] 0.9891667267180707 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.90, Z:0.14 [[ 9.99531711e-01 -3.07182172e-03 -3.04453916e-02 1.63141807e+01] [ 3.11691077e-03 9.99994115e-01 1.43363298e-03 -9.03952318e-01] [ 3.04408086e-02 -1.52785719e-03 9.99535403e-01 1.44794750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.390714057 meters Centerline goodness [0,1] 0.989941870281483 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.90, Z:0.14 [[ 9.99536685e-01 2.78462739e-03 -3.03094354e-02 1.63438848e+01] [-2.74266909e-03 9.99995222e-01 1.42581730e-03 -9.04759398e-01] [ 3.03132610e-02 -1.34202794e-03 9.99539547e-01 1.43813961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.420714056999998 meters Centerline goodness [0,1] 0.9906091923421352 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.90, Z:0.15 [[ 9.99534365e-01 6.14006649e-03 -2.98890033e-02 1.63735228e+01] [-6.10078688e-03 9.99980403e-01 1.40519981e-03 -9.01059034e-01] [ 2.98970456e-02 -1.22219906e-03 9.99552236e-01 1.45466335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.450714057 meters Centerline goodness [0,1] 0.9908459671800293 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.90, Z:0.15 [[ 9.99544012e-01 8.78251365e-03 -2.88900621e-02 1.64036372e+01] [-8.74695372e-03 9.99960824e-01 1.35701943e-03 -9.00273542e-01] [ 2.89008484e-02 -1.10370061e-03 9.99581674e-01 1.46407206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.480714057 meters Centerline goodness [0,1] 0.9908604224944536 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.90, Z:0.15 [[ 9.99508380e-01 1.38039435e-02 -2.81504929e-02 1.64330107e+01] [-1.37722042e-02 9.99904286e-01 1.32106786e-03 -8.98580016e-01] [ 2.81660345e-02 -9.32724055e-04 9.99602823e-01 1.47330259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.510714056999998 meters Centerline goodness [0,1] 0.9919256773189358 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.90, Z:0.15 [[ 9.99487919e-01 1.53517356e-02 -2.80753298e-02 1.64624226e+01] [-1.53208367e-02 9.99881764e-01 1.31536389e-03 -8.97225643e-01] [ 2.80922034e-02 -8.84552778e-04 9.99604945e-01 1.49106267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.540714057 meters Centerline goodness [0,1] 0.9918339735691334 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.90, Z:0.15 [[ 9.99500292e-01 1.63026001e-02 -2.70812038e-02 1.64899397e+01] [-1.62742800e-02 9.99866764e-01 1.26583495e-03 -8.98879339e-01] [ 2.70982320e-02 -8.24475309e-04 9.99632435e-01 1.49380786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.570714057 meters Centerline goodness [0,1] 0.9921183460652359 Centerline is valid? [True, True] Translation: X:16.52, Y:-0.90, Z:0.15 [[ 9.99524751e-01 1.64010662e-02 -2.61012841e-02 1.65188463e+01] [-1.63748466e-02 9.99865181e-01 1.21797106e-03 -9.01010605e-01] [ 2.61177412e-02 -7.89987700e-04 9.99658561e-01 1.50594897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.600714056999998 meters Centerline goodness [0,1] 0.9925129025223522 Centerline is valid? [True, True] Translation: X:16.55, Y:-0.90, Z:0.15 [[ 9.99550162e-01 1.55691549e-02 -2.56334947e-02 1.65479885e+01] [-1.55436392e-02 9.99878477e-01 1.19436641e-03 -9.03165274e-01] [ 2.56489749e-02 -7.95391347e-04 9.99670694e-01 1.51537740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.630714057 meters Centerline goodness [0,1] 0.9911706204822199 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.91, Z:0.15 [[ 9.99600212e-01 1.28263173e-02 -2.51972621e-02 1.65758465e+01] [-1.28008405e-02 9.99917379e-01 1.17213636e-03 -9.07279032e-01] [ 2.52102145e-02 -8.49121620e-04 9.99681811e-01 1.52576283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.660714057 meters Centerline goodness [0,1] 0.990869669959046 Centerline is valid? [True, True] Translation: X:16.60, Y:-0.91, Z:0.15 [[ 9.99621726e-01 1.10509607e-02 -2.51849330e-02 1.66040448e+01] [-1.10250007e-02 9.99938539e-01 1.16939801e-03 -9.10535361e-01] [ 2.51963080e-02 -8.91291753e-04 9.99682125e-01 1.53033767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.690714056999997 meters Centerline goodness [0,1] 0.9903945939423193 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.91, Z:0.15 [[ 9.99636702e-01 8.75277170e-03 -2.54922143e-02 1.66338778e+01] [-8.72547120e-03 9.99961234e-01 1.18197412e-03 -9.12484019e-01] [ 2.55015716e-02 -9.59113127e-04 9.99674322e-01 1.52930942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.720714057 meters Centerline goodness [0,1] 0.9913478177273601 Centerline is valid? [True, True] Translation: X:16.66, Y:-0.92, Z:0.15 [[ 9.99651174e-01 5.88109415e-03 -2.57476624e-02 1.66628157e+01] [-5.85232708e-03 9.99982164e-01 1.19248168e-03 -9.16631398e-01] [ 2.57542163e-02 -1.04138197e-03 9.99667763e-01 1.52565712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.750714057 meters Centerline goodness [0,1] 0.990639400921659 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.92, Z:0.15 [[ 9.99635804e-01 5.42941066e-03 -2.64344745e-02 1.66918855e+01] [-5.39898280e-03 9.99984678e-01 1.22230400e-03 -9.19109253e-01] [ 2.64407059e-02 -1.07913957e-03 9.99649801e-01 1.52588414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.780714056999997 meters Centerline goodness [0,1] 0.9896030472174976 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.92, Z:0.15 [[ 9.99605080e-01 6.31468198e-03 -2.73826244e-02 1.67196316e+01] [-6.28243695e-03 9.99979467e-01 1.26344465e-03 -9.23929270e-01] [ 2.73900404e-02 -1.09091608e-03 9.99624227e-01 1.52190068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.810714057 meters Centerline goodness [0,1] 0.9904709459621233 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.92, Z:0.15 [[ 9.99589708e-01 7.70586522e-03 -2.75868814e-02 1.67483459e+01] [-7.67374547e-03 9.99969750e-01 1.26999231e-03 -9.23802240e-01] [ 2.75958333e-02 -1.05777653e-03 9.99618603e-01 1.53242713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.840714057 meters Centerline goodness [0,1] 0.9902553201652774 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.92, Z:0.15 [[ 9.99592333e-01 9.05868505e-03 -2.70759769e-02 1.67767629e+01] [-9.02829040e-03 9.99958470e-01 1.24460790e-03 -9.24889545e-01] [ 2.70861269e-02 -9.99650735e-04 9.99632604e-01 1.53892461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.870714056999997 meters Centerline goodness [0,1] 0.9908379461729337 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.92, Z:0.16 [[ 9.99552152e-01 1.42575557e-02 -2.63100330e-02 1.68070428e+01] [-1.42306878e-02 9.99898009e-01 1.20816861e-03 -9.23798519e-01] [ 2.63245752e-02 -8.33217664e-04 9.99653101e-01 1.56194983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.900714057 meters Centerline goodness [0,1] 0.9920812860754663 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.92, Z:0.16 [[ 9.99492440e-01 1.96819917e-02 -2.50495948e-02 1.68371130e+01] [-1.96593497e-02 9.99806075e-01 1.14985587e-03 -9.23117436e-01] [ 2.50673685e-02 -6.56813501e-04 9.99685548e-01 1.57578906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.930714057 meters Centerline goodness [0,1] 0.9931301702006275 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.92, Z:0.16 [[ 9.99441493e-01 2.26453400e-02 -2.45741948e-02 1.68645151e+01] [-2.26244788e-02 9.99743399e-01 1.12664481e-03 -9.24664008e-01] [ 2.45934022e-02 -5.70037227e-04 9.99697374e-01 1.58246400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.960714056999997 meters Centerline goodness [0,1] 0.9915400838882438 Centerline is valid? [True, True] Translation: X:16.89, Y:-0.93, Z:0.16 [[ 9.99391973e-01 2.49523964e-02 -2.43528854e-02 1.68926786e+01] [-2.49326929e-02 9.99688513e-01 1.11243445e-03 -9.27220323e-01] [ 2.43730577e-02 -5.04575045e-04 9.99702806e-01 1.57709419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.990714056999998 meters Centerline goodness [0,1] 0.9926587254600138 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.93, Z:0.16 [[ 9.99284300e-01 2.91189337e-02 -2.41448725e-02 1.69219787e+01] [-2.91008963e-02 9.99575876e-01 1.09815514e-03 -9.27590291e-01] [ 2.41666092e-02 -3.94731759e-04 9.99707867e-01 1.58456677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.020714057 meters Centerline goodness [0,1] 0.9924913543985977 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.93, Z:0.16 [[ 9.99231103e-01 3.04756228e-02 -2.46665602e-02 1.69496006e+01] [-3.04572756e-02 9.99535443e-01 1.11925204e-03 -9.30961338e-01] [ 2.46892111e-02 -3.67115227e-04 9.99695108e-01 1.57045777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.050714056999997 meters Centerline goodness [0,1] 0.9916925043194244 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.93, Z:0.16 [[ 9.99197851e-01 3.15942565e-02 -2.46060367e-02 1.69782077e+01] [-3.15764233e-02 9.99500721e-01 1.11305245e-03 -9.33576417e-01] [ 2.46289175e-02 -3.35188980e-04 9.99696606e-01 1.56512143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.080714056999998 meters Centerline goodness [0,1] 0.9933807594459625 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.94, Z:0.16 [[ 9.99121755e-01 3.37363959e-02 -2.48510476e-02 1.70064888e+01] [-3.37190166e-02 9.99430727e-01 1.11817066e-03 -9.35944001e-01] [ 2.48746236e-02 -2.79235747e-04 9.99690540e-01 1.57540940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.110714057 meters Centerline goodness [0,1] 0.9929704524685428 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.94, Z:0.16 [[ 9.99084917e-01 3.50601973e-02 -2.44971720e-02 1.70345220e+01] [-3.50438206e-02 9.99385174e-01 1.09762963e-03 -9.39544801e-01] [ 2.45205936e-02 -2.38150708e-04 9.99699297e-01 1.57482667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.140714056999997 meters Centerline goodness [0,1] 0.9927946474523932 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.94, Z:0.16 [[ 9.99092389e-01 3.52716345e-02 -2.38811618e-02 1.70622906e+01] [-3.52562211e-02 9.99377737e-01 1.06628546e-03 -9.42575467e-01] [ 2.39039111e-02 -2.23358162e-04 9.99714236e-01 1.58447859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.170714056999998 meters Centerline goodness [0,1] 0.9932416686087159 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.95, Z:0.16 [[ 9.99113080e-01 3.50324670e-02 -2.33619148e-02 1.70897871e+01] [-3.50178041e-02 9.99386151e-01 1.03656839e-03 -9.49591356e-01] [ 2.33838877e-02 -2.17566075e-04 9.99726536e-01 1.58200187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.200714057 meters Centerline goodness [0,1] 0.9922363144642358 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.95, Z:0.16 [[ 9.99166455e-01 3.36201642e-02 -2.31534163e-02 1.71178716e+01] [-3.36055081e-02 9.99434653e-01 1.02191193e-03 -9.54357514e-01] [ 2.31746834e-02 -2.42977801e-04 9.99731401e-01 1.58342563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.230714057 meters Centerline goodness [0,1] 0.9910549612689045 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.97, Z:0.16 [[ 9.99285749e-01 3.01289206e-02 -2.28087781e-02 1.71446451e+01] [-3.01138542e-02 9.99545971e-01 1.00381770e-03 -9.66098506e-01] [ 2.28286662e-02 -3.16240509e-04 9.99739342e-01 1.57284414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.260714056999998 meters Centerline goodness [0,1] 0.9891066029679891 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.97, Z:0.16 [[ 9.99372065e-01 2.71716755e-02 -2.27415133e-02 1.71726562e+01] [-2.71559849e-02 9.99630710e-01 9.98551049e-04 -9.72273580e-01] [ 2.27602474e-02 -3.80355831e-04 9.99740880e-01 1.57448327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.290714057 meters Centerline goodness [0,1] 0.990145073682763 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.98, Z:0.16 [[ 9.99467007e-01 2.41002956e-02 -2.20199467e-02 1.72013748e+01] [-2.40849051e-02 9.99709452e-01 9.63910161e-04 -9.77993833e-01] [ 2.20367794e-02 -4.33048075e-04 9.99757067e-01 1.58066883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.320714057 meters Centerline goodness [0,1] 0.9880984827836831 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.99, Z:0.16 [[ 9.99627111e-01 1.73739879e-02 -2.10661875e-02 1.72289926e+01] [-1.73584971e-02 9.99848909e-01 9.17992738e-04 -9.90924886e-01] [ 2.10789538e-02 -5.51973074e-04 9.99777662e-01 1.58418002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.350714056999998 meters Centerline goodness [0,1] 0.9858914065840103 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.00, Z:0.16 [[ 9.99694090e-01 1.41705107e-02 -2.02712590e-02 1.72586750e+01] [-1.41555379e-02 9.99899416e-01 8.81929323e-04 -9.97119390e-01] [ 2.02817174e-02 -5.94708958e-04 9.99794128e-01 1.58878980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.380714057 meters Centerline goodness [0,1] 0.9864534505573374 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.01, Z:0.16 [[ 9.99770926e-01 7.87156133e-03 -1.99031255e-02 1.72869185e+01] [-7.85589274e-03 9.99968768e-01 8.65307505e-04 -1.00915767e+00] [ 1.99093152e-02 -7.08752466e-04 9.99801539e-01 1.60293057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.410714057 meters Centerline goodness [0,1] 0.9857853907896507 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.01, Z:0.16 [[ 9.99780212e-01 5.15655714e-03 -2.03208723e-02 1.73161615e+01] [-5.13967223e-03 9.99986402e-01 8.83054144e-04 -1.01331459e+00] [ 2.03251494e-02 -7.78417436e-04 9.99793120e-01 1.60708722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.440714056999997 meters Centerline goodness [0,1] 0.9845516623754618 Centerline is valid? [True, True] Translation: X:17.34, Y:-1.02, Z:0.16 [[ 9.99798438e-01 1.01141651e-03 -2.00514402e-02 1.73439228e+01] [-9.94161853e-04 9.99999127e-01 8.70469029e-04 -1.02366977e+00] [ 2.00523031e-02 -8.50359199e-04 9.99798571e-01 1.59998138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.470714057 meters Centerline goodness [0,1] 0.9853872925218633 Centerline is valid? [True, True] Translation: X:17.37, Y:-1.03, Z:0.16 [[ 9.99799351e-01 -4.41716141e-04 -2.00265305e-02 1.73721097e+01] [ 4.59188739e-04 9.99999518e-01 8.67882485e-04 -1.02772417e+00] [ 2.00261375e-02 -8.76904303e-04 9.99799072e-01 1.60353915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.500714057 meters Centerline goodness [0,1] 0.9841559888579388 Centerline is valid? [True, True] Translation: X:17.40, Y:-1.03, Z:0.16 [[ 9.99798450e-01 -1.76300250e-03 -1.99988017e-02 1.73992379e+01] [ 1.78065303e-03 9.99998041e-01 8.64806195e-04 -1.03368111e+00] [ 1.99972379e-02 -9.00242820e-04 9.99799630e-01 1.60363986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.530714056999997 meters Centerline goodness [0,1] 0.9822033335546849 Centerline is valid? [True, True] Translation: X:17.43, Y:-1.04, Z:0.16 [[ 9.99795824e-01 -3.46580294e-03 -1.99072582e-02 1.74266944e+01] [ 3.48358848e-03 9.99993564e-01 8.58811441e-04 -1.04234405e+00] [ 1.99041536e-02 -9.27984787e-04 9.99801462e-01 1.59545135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.560714057 meters Centerline goodness [0,1] 0.9845151857513126 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.04, Z:0.16 [[ 9.99786423e-01 -3.93087734e-03 -2.02893189e-02 1.74558610e+01] [ 3.94939510e-03 9.99991820e-01 8.72696459e-04 -1.04292740e+00] [ 2.02857225e-02 -9.52640608e-04 9.99793770e-01 1.60153867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.590714057 meters Centerline goodness [0,1] 0.9842816028337392 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.05, Z:0.16 [[ 9.99785162e-01 -4.70273173e-03 -2.01869746e-02 1.74840861e+01] [ 4.72113422e-03 9.99988482e-01 8.64041304e-04 -1.04609709e+00] [ 2.01826788e-02 -9.59161092e-04 9.99795849e-01 1.59778407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.620714056999997 meters Centerline goodness [0,1] 0.9844501301336627 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.05, Z:0.16 [[ 9.99786873e-01 -5.29451773e-03 -1.99543606e-02 1.75112384e+01] [ 5.31257591e-03 9.99985525e-01 8.52072332e-04 -1.05273731e+00] [ 1.99495604e-02 -9.57899788e-04 9.99800529e-01 1.59219923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.650714057 meters Centerline goodness [0,1] 0.9843370836090889 Centerline is valid? [True, True] Translation: X:17.54, Y:-1.06, Z:0.16 [[ 9.99783385e-01 -6.26162023e-03 -1.98488251e-02 1.75399709e+01] [ 6.27961428e-03 9.99979927e-01 8.44356781e-04 -1.05536065e+00] [ 1.98431396e-02 -9.68816846e-04 9.99802636e-01 1.59572672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.680714057 meters Centerline goodness [0,1] 0.9838263086186437 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.06, Z:0.16 [[ 9.99773987e-01 -7.77734558e-03 -1.97860533e-02 1.75687584e+01] [ 7.79542455e-03 9.99969265e-01 8.36757978e-04 -1.05951609e+00] [ 1.97789374e-02 -9.90809546e-04 9.99803887e-01 1.59394340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.710714056999997 meters Centerline goodness [0,1] 0.9840948588776206 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.06, Z:0.16 [[ 9.99761909e-01 -7.79448809e-03 -2.03806621e-02 1.75964907e+01] [ 7.81356349e-03 9.99969107e-01 8.56490851e-04 -1.06167688e+00] [ 2.03733565e-02 -1.01553252e-03 9.99791926e-01 1.59755962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.740714056999998 meters Centerline goodness [0,1] 0.9833954442214823 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.06, Z:0.16 [[ 9.99759736e-01 -5.16304643e-03 -2.13028848e-02 1.76253744e+01] [ 5.18318880e-03 9.99986171e-01 8.90415998e-04 -1.06402074e+00] [ 2.12979929e-02 -1.00061894e-03 9.99772671e-01 1.59080973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.770714057 meters Centerline goodness [0,1] 0.9846425419240953 Centerline is valid? [True, True] Translation: X:17.65, Y:-1.06, Z:0.16 [[ 9.99743611e-01 -3.22262197e-03 -2.24126586e-02 1.76546837e+01] [ 3.24438052e-03 9.99994300e-01 9.34520837e-04 -1.06041683e+00] [ 2.24095193e-02 -1.00699643e-03 9.99748368e-01 1.59306589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.800714056999997 meters Centerline goodness [0,1] 0.9845405285856463 Centerline is valid? [True, True] Translation: X:17.68, Y:-1.06, Z:0.16 [[ 9.99739488e-01 -1.77162102e-04 -2.28237804e-02 1.76830174e+01] [ 1.98840375e-04 9.99999531e-01 9.47544841e-04 -1.06298915e+00] [ 2.28236018e-02 -9.51836283e-04 9.99739055e-01 1.59172576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.830714056999998 meters Centerline goodness [0,1] 0.9833727640568687 Centerline is valid? [True, True] Translation: X:17.71, Y:-1.06, Z:0.16 [[ 9.99731126e-01 3.63199255e-03 -2.29016187e-02 1.77127632e+01] [-3.61118502e-03 9.99993029e-01 9.49852419e-04 -1.06312643e+00] [ 2.29049089e-02 -8.66895045e-04 9.99737272e-01 1.59047770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.860714057 meters Centerline goodness [0,1] 0.9833727640568687 Centerline is valid? [True, True] Translation: X:17.74, Y:-1.06, Z:0.16 [[ 9.99731513e-01 3.52338943e-03 -2.29016756e-02 1.77402157e+01] [-3.50258488e-03 9.99993416e-01 9.48478797e-04 -1.06417831e+00] [ 2.29048667e-02 -8.68009081e-04 9.99737272e-01 1.59471115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.890714056999997 meters Centerline goodness [0,1] 0.9795361811974352 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.07, Z:0.16 [[ 9.99646876e-01 1.52718749e-02 -2.17461275e-02 1.77690515e+01] [-1.52559322e-02 9.99883217e-01 8.98849896e-04 -1.07330233e+00] [ 2.17573151e-02 -5.66775043e-04 9.99763121e-01 1.57814506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.920714056999998 meters Centerline goodness [0,1] 0.9835930726306663 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.06, Z:0.16 [[ 9.99566362e-01 1.93623658e-02 -2.21852706e-02 1.77988287e+01] [-1.93468249e-02 9.99812414e-01 9.14949456e-04 -1.06026553e+00] [ 2.21988245e-02 -4.85338155e-04 9.99753458e-01 1.60828767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.950714057 meters Centerline goodness [0,1] 0.9849196979484552 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.06, Z:0.16 [[ 9.99481701e-01 2.36961870e-02 -2.17903686e-02 1.78264190e+01] [-2.36823140e-02 9.99719134e-01 8.94525069e-04 -1.06035769e+00] [ 2.18054453e-02 -3.78015086e-04 9.99762162e-01 1.61293532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.980714057 meters Centerline goodness [0,1] 0.9857585415320155 Centerline is valid? [True, True] Translation: X:17.85, Y:-1.06, Z:0.16 [[ 9.99392448e-01 2.77733901e-02 -2.10564359e-02 1.78541845e+01] [-2.77613842e-02 9.99614207e-01 8.62328110e-04 -1.06061416e+00] [ 2.10722622e-02 -2.77248395e-04 9.99777917e-01 1.61632679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.010714056999998 meters Centerline goodness [0,1] 0.985561353004678 Centerline is valid? [True, True] Translation: X:17.88, Y:-1.06, Z:0.16 [[ 9.99305756e-01 3.08086263e-02 -2.09483861e-02 1.78834661e+01] [-3.07974786e-02 9.99525280e-01 8.54635254e-04 -1.06099447e+00] [ 2.09647716e-02 -2.08884455e-04 9.99780193e-01 1.62108934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.040714057 meters Centerline goodness [0,1] 0.9857136449268862 Centerline is valid? [True, True] Translation: X:17.91, Y:-1.06, Z:0.16 [[ 9.99140283e-01 3.64997955e-02 -1.96585743e-02 1.79118440e+01] [-3.64911662e-02 9.99333657e-01 7.97616057e-04 -1.06293886e+00] [ 1.96745878e-02 -7.95660300e-05 9.99806433e-01 1.63006208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.070714057 meters Centerline goodness [0,1] 0.9856948380905621 Centerline is valid? [True, True] Translation: X:17.94, Y:-1.07, Z:0.16 [[ 9.99090371e-01 3.82497006e-02 -1.88518051e-02 1.79391441e+01] [-3.82421639e-02 9.99268212e-01 7.60252970e-04 -1.06525200e+00] [ 1.88670890e-02 -3.86276008e-05 9.99822000e-01 1.63557588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.100714056999998 meters Centerline goodness [0,1] 0.9869203595224254 Centerline is valid? [True, True] Translation: X:17.97, Y:-1.07, Z:0.16 [[ 9.99080677e-01 3.88043771e-02 -1.82214727e-02 1.79670032e+01] [-3.87975188e-02 9.99246826e-01 7.29871943e-04 -1.06819535e+00] [ 1.82360710e-02 -2.22530267e-05 9.99833709e-01 1.63628760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.130714057 meters Centerline goodness [0,1] 0.9865051748750893 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.07, Z:0.16 [[ 9.99075144e-01 3.92813261e-02 -1.74881190e-02 1.79948543e+01] [-3.92751572e-02 9.99228191e-01 6.96190959e-04 -1.07161892e+00] [ 1.75019688e-02 -8.69845896e-06 9.99846829e-01 1.63688773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.160714057 meters Centerline goodness [0,1] 0.9858771557975057 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.08, Z:0.16 [[ 9.99060188e-01 3.93689189e-02 -1.81336525e-02 1.80229766e+01] [-3.93623449e-02 9.99224744e-01 7.19452190e-04 -1.07821196e+00] [ 1.81479184e-02 -4.99295533e-06 9.99835313e-01 1.63363354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.190714056999997 meters Centerline goodness [0,1] 0.9863372221975779 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.08, Z:0.16 [[ 9.99063463e-01 3.90497222e-02 -1.86363966e-02 1.80496278e+01] [-3.90428162e-02 9.99237269e-01 7.34402846e-04 -1.08192240e+00] [ 1.86508602e-02 -6.09764519e-06 9.99826058e-01 1.62531238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.220714057 meters Centerline goodness [0,1] 0.9879986811737553 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.09, Z:0.16 [[ 9.99041998e-01 3.90004425e-02 -1.98507503e-02 1.80769770e+01] [-3.89926634e-02 9.99239193e-01 7.78932677e-04 -1.08976396e+00] [ 1.98660264e-02 -4.15283343e-06 9.99802651e-01 1.61024136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.250714057 meters Centerline goodness [0,1] 0.9878094317657654 Centerline is valid? [True, True] Translation: X:18.10, Y:-1.09, Z:0.16 [[ 9.99005413e-01 3.97323777e-02 -2.02366855e-02 1.81047398e+01] [-3.97245619e-02 9.99210357e-01 7.88222175e-04 -1.09471050e+00] [ 2.02520236e-02 1.64552439e-05 9.99794907e-01 1.60532235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.280714056999997 meters Centerline goodness [0,1] 0.9888506145410815 Centerline is valid? [True, True] Translation: X:18.13, Y:-1.10, Z:0.16 [[ 9.98846622e-01 4.40939471e-02 -1.90039161e-02 1.81328035e+01] [-4.40879295e-02 9.99027384e-01 7.35699306e-04 -1.09551098e+00] [ 1.90178724e-02 1.02992545e-04 9.99819139e-01 1.58893656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.310714057 meters Centerline goodness [0,1] 0.9888576962416488 Centerline is valid? [True, True] Translation: X:18.16, Y:-1.11, Z:0.16 [[ 9.98932261e-01 4.14474243e-02 -2.04070795e-02 1.81599442e+01] [-4.14399929e-02 9.99140685e-01 7.87083400e-04 -1.10732293e+00] [ 2.04221659e-02 5.94262292e-05 9.99791444e-01 1.59357853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.340714057 meters Centerline goodness [0,1] 0.9878895737477211 Centerline is valid? [True, True] Translation: X:18.19, Y:-1.11, Z:0.16 [[ 9.98901290e-01 4.21527672e-02 -2.04781864e-02 1.81879694e+01] [-4.21455334e-02 9.99111174e-01 7.84885556e-04 -1.11163321e+00] [ 2.04930699e-02 7.90408930e-05 9.99789992e-01 1.59860050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.370714056999997 meters Centerline goodness [0,1] 0.9893031917197176 Centerline is valid? [True, True] Translation: X:18.22, Y:-1.12, Z:0.16 [[ 9.98857331e-01 4.35613527e-02 -1.96580802e-02 1.82157063e+01] [-4.35550098e-02 9.99050748e-01 7.50892654e-04 -1.12059424e+00] [ 1.96721296e-02 1.06173242e-04 9.99806479e-01 1.59982096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.400714057 meters Centerline goodness [0,1] 0.9895512420018527 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.13, Z:0.16 [[ 9.98839344e-01 4.41431157e-02 -1.92704456e-02 1.82426438e+01] [-4.41372222e-02 9.99025210e-01 7.31241807e-04 -1.12539316e+00] [ 1.92839403e-02 1.20150853e-04 9.99814040e-01 1.59983170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.430714057 meters Centerline goodness [0,1] 0.9898584044176103 Centerline is valid? [True, True] Translation: X:18.27, Y:-1.14, Z:0.16 [[ 9.98817307e-01 4.50329517e-02 -1.83308835e-02 1.82700076e+01] [-4.50278177e-02 9.98985493e-01 6.92918251e-04 -1.13579595e+00] [ 1.83434909e-02 1.33300941e-04 9.99831735e-01 1.60242335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.460714056999997 meters Centerline goodness [0,1] 0.9903587492198764 Centerline is valid? [True, True] Translation: X:18.30, Y:-1.14, Z:0.16 [[ 9.98799578e-01 4.53283605e-02 -1.85672676e-02 1.82991090e+01] [-4.53232313e-02 9.98972131e-01 6.97174119e-04 -1.14170470e+00] [ 1.85797846e-02 1.45191349e-04 9.99827370e-01 1.60176671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.490714056999998 meters Centerline goodness [0,1] 0.9904567874758738 Centerline is valid? [True, True] Translation: X:18.33, Y:-1.15, Z:0.16 [[ 9.98750198e-01 4.60800265e-02 -1.93564844e-02 1.83266852e+01] [-4.60746220e-02 9.98937737e-01 7.25317502e-04 -1.14755881e+00] [ 1.93693454e-02 1.67431703e-04 9.99812383e-01 1.59700205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.520714057 meters Centerline goodness [0,1] 0.9906763894532001 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.16, Z:0.16 [[ 9.98720322e-01 4.62502931e-02 -2.04604314e-02 1.83536038e+01] [-4.62443343e-02 9.98929866e-01 7.64530373e-04 -1.15858826e+00] [ 2.04738958e-02 1.82627010e-04 9.99790371e-01 1.58706194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.550714056999997 meters Centerline goodness [0,1] 0.9913340448239061 Centerline is valid? [True, True] Translation: X:18.38, Y:-1.16, Z:0.16 [[ 9.98716111e-01 4.64833724e-02 -2.01351860e-02 1.83808737e+01] [-4.64777022e-02 9.98919046e-01 7.49733710e-04 -1.16456691e+00] [ 2.01482710e-02 1.87066045e-04 9.99796985e-01 1.58735875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.580714056999998 meters Centerline goodness [0,1] 0.9901403672448157 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.18, Z:0.16 [[ 9.98720252e-01 4.67299339e-02 -1.93435105e-02 1.84086411e+01] [-4.67247851e-02 9.98907543e-01 7.18292959e-04 -1.17592061e+00] [ 1.93559443e-02 1.86447643e-04 9.99812639e-01 1.59753728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.610714057 meters Centerline goodness [0,1] 0.990743290474274 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.18, Z:0.16 [[ 9.98695083e-01 4.70299219e-02 -1.99077265e-02 1.84365623e+01] [-4.70245695e-02 9.98893461e-01 7.37158724e-04 -1.18128016e+00] [ 1.99203663e-02 1.99955474e-04 9.99801550e-01 1.60366661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.640714056999997 meters Centerline goodness [0,1] 0.9897865821222631 Centerline is valid? [True, True] Translation: X:18.46, Y:-1.19, Z:0.16 [[ 9.98690586e-01 4.70540825e-02 -2.00755239e-02 1.84639632e+01] [-4.70486821e-02 9.98892322e-01 7.41489709e-04 -1.18877785e+00] [ 2.00881768e-02 2.04008149e-04 9.99798191e-01 1.61074426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.670714056999998 meters Centerline goodness [0,1] 0.9905262709699395 Centerline is valid? [True, True] Translation: X:18.49, Y:-1.20, Z:0.16 [[ 9.98668071e-01 4.69150701e-02 -2.14723044e-02 1.84914469e+01] [-4.69089169e-02 9.98898858e-01 7.90430915e-04 -1.19908638e+00] [ 2.14857435e-02 2.17864424e-04 9.99769131e-01 1.60390404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.700714057 meters Centerline goodness [0,1] 0.9902407011452886 Centerline is valid? [True, True] Translation: X:18.52, Y:-1.20, Z:0.16 [[ 9.98663804e-01 4.69917864e-02 -2.15029963e-02 1.85191112e+01] [-4.69856932e-02 9.98895251e-01 7.88783260e-04 -1.20497876e+00] [ 2.15163072e-02 2.22603894e-04 9.99768473e-01 1.60683243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.730714057 meters Centerline goodness [0,1] 0.9895680936327206 Centerline is valid? [True, True] Translation: X:18.55, Y:-1.22, Z:0.16 [[ 9.98672392e-01 4.66279687e-02 -2.18926159e-02 1.85470636e+01] [-4.66216174e-02 9.98912300e-01 8.00695280e-04 -1.21563744e+00] [ 2.19061381e-02 2.21036892e-04 9.99760007e-01 1.61677915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.760714056999998 meters Centerline goodness [0,1] 0.9896257248286768 Centerline is valid? [True, True] Translation: X:18.58, Y:-1.22, Z:0.16 [[ 9.98711760e-01 4.59725983e-02 -2.14788485e-02 1.85752693e+01] [-4.59663774e-02 9.98942680e-01 7.83508025e-04 -1.22146430e+00] [ 2.14921584e-02 2.04806176e-04 9.99768996e-01 1.62675176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.790714057 meters Centerline goodness [0,1] 0.9893800109138228 Centerline is valid? [True, True] Translation: X:18.60, Y:-1.23, Z:0.16 [[ 9.98737511e-01 4.54649776e-02 -2.13616234e-02 1.86020545e+01] [-4.54587481e-02 9.98965914e-01 7.77377440e-04 -1.22703082e+00] [ 2.13748771e-02 1.94676647e-04 9.99771512e-01 1.63630376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.820714057 meters Centerline goodness [0,1] 0.9886215179737874 Centerline is valid? [True, True] Translation: X:18.63, Y:-1.24, Z:0.17 [[ 9.98874580e-01 4.24870608e-02 -2.10813442e-02 1.86301677e+01] [-4.24803791e-02 9.99097008e-01 7.64868246e-04 -1.23949632e+00] [ 2.10948049e-02 1.31536045e-04 9.99777471e-01 1.65449785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.850714056999998 meters Centerline goodness [0,1] 0.9865656290014484 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.25, Z:0.17 [[ 9.98966928e-01 4.03237332e-02 -2.09540816e-02 1.86572545e+01] [-4.03166946e-02 9.99186664e-01 7.58414864e-04 -1.24606474e+00] [ 2.09676210e-02 8.71679419e-05 9.99780151e-01 1.66258980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.880714057 meters Centerline goodness [0,1] 0.9868036415267686 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.25, Z:0.17 [[ 9.99067661e-01 3.78103056e-02 -2.08372239e-02 1.86854429e+01] [-3.78028492e-02 9.99284934e-01 7.51763144e-04 -1.25314735e+00] [ 2.08507483e-02 3.66441873e-05 9.99782599e-01 1.67205342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.910714057 meters Centerline goodness [0,1] 0.9838256272551816 Centerline is valid? [True, True] Translation: X:18.71, Y:-1.27, Z:0.17 [[ 9.99223013e-01 3.26216612e-02 -2.21177962e-02 1.87139233e+01] [-3.26120246e-02 9.99467769e-01 7.96347775e-04 -1.26695584e+00] [ 2.21320026e-02 -7.44229121e-05 9.99755054e-01 1.70044311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.940714056999997 meters Centerline goodness [0,1] 0.98370404373409 Centerline is valid? [True, True] Translation: X:18.74, Y:-1.27, Z:0.17 [[ 9.99379239e-01 2.76924286e-02 -2.17776635e-02 1.87423955e+01] [-2.76819491e-02 9.99616475e-01 7.82575231e-04 -1.27300128e+00] [ 2.17909826e-02 -1.79241268e-04 9.99762532e-01 1.69055025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.970714057 meters Centerline goodness [0,1] 0.9828731139410751 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.28, Z:0.17 [[ 9.99532457e-01 2.01084817e-02 -2.30329406e-02 1.87710216e+01] [-2.00947817e-02 9.99797738e-01 8.26119187e-04 -1.28477898e+00] [ 2.30448939e-02 -3.62891028e-04 9.99734365e-01 1.70726463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.000714057 meters Centerline goodness [0,1] 0.9815288493794029 Centerline is valid? [True, True] Translation: X:18.80, Y:-1.29, Z:0.17 [[ 9.99590531e-01 1.65261333e-02 -2.33593033e-02 1.87982361e+01] [-1.65111041e-02 9.99863333e-01 8.36128380e-04 -1.29106185e+00] [ 2.33699288e-02 -4.50098123e-04 9.99726785e-01 1.71066845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.030714056999997 meters Centerline goodness [0,1] 0.9824149074579259 Centerline is valid? [True, True] Translation: X:18.83, Y:-1.30, Z:0.17 [[ 9.99617407e-01 1.36156620e-02 -2.40759885e-02 1.88269187e+01] [-1.35989084e-02 9.99907161e-01 8.59461149e-04 -1.29636826e+00] [ 2.40854554e-02 -5.31725164e-04 9.99709762e-01 1.72376153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.060714057 meters Centerline goodness [0,1] 0.9806531140964837 Centerline is valid? [True, True] Translation: X:18.86, Y:-1.31, Z:0.17 [[ 9.99637986e-01 9.25154301e-03 -2.52647222e-02 1.88551506e+01] [-9.23174853e-03 9.99956981e-01 9.00010733e-04 -1.30624320e+00] [ 2.52719619e-02 -6.66447354e-04 9.99680391e-01 1.72165711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.090714057 meters Centerline goodness [0,1] 0.9805406762638098 Centerline is valid? [True, True] Translation: X:18.88, Y:-1.31, Z:0.17 [[ 9.99627600e-01 7.67528311e-03 -2.61868400e-02 1.88841552e+01] [-7.65352720e-03 9.99970278e-01 9.30924121e-04 -1.31043351e+00] [ 2.61932068e-02 -7.30155753e-04 9.99656632e-01 1.72513501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.120714056999997 meters Centerline goodness [0,1] 0.9810681337991339 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.31, Z:0.17 [[ 9.99585427e-01 6.70179575e-03 -2.80010894e-02 1.89125631e+01] [-6.67659461e-03 9.99977218e-01 9.93404208e-04 -1.31471086e+00] [ 2.80071090e-02 -8.06040446e-04 9.99607399e-01 1.72694094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.150714057 meters Centerline goodness [0,1] 0.9811206734876743 Centerline is valid? [True, True] Translation: X:18.94, Y:-1.32, Z:0.17 [[ 9.99589567e-01 6.76700046e-03 -2.78371179e-02 1.89402479e+01] [-6.74217843e-03 9.99976786e-01 9.85452223e-04 -1.31722437e+00] [ 2.78431402e-02 -7.97364945e-04 9.99611987e-01 1.73803414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.180714057 meters Centerline goodness [0,1] 0.9816402492576638 Centerline is valid? [True, True] Translation: X:18.97, Y:-1.32, Z:0.18 [[ 9.99564237e-01 7.49102171e-03 -2.85520630e-02 1.89692154e+01] [-7.46526908e-03 9.99971626e-01 1.00844412e-03 -1.31644237e+00] [ 2.85588071e-02 -7.94855850e-04 9.99591798e-01 1.77181568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.210714056999997 meters Centerline goodness [0,1] 0.9813448478242642 Centerline is valid? [True, True] Translation: X:19.00, Y:-1.32, Z:0.18 [[ 9.99586052e-01 6.45401496e-03 -2.80369360e-02 1.89983146e+01] [-6.42883269e-03 9.99978847e-01 9.88230339e-04 -1.31817253e+00] [ 2.80427210e-02 -8.07576493e-04 9.99606399e-01 1.77017375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.240714056999998 meters Centerline goodness [0,1] 0.9802910219314799 Centerline is valid? [True, True] Translation: X:19.03, Y:-1.32, Z:0.18 [[ 9.99597198e-01 5.98898086e-03 -2.77411860e-02 1.90267005e+01] [-5.96420415e-03 9.99981738e-01 9.75795670e-04 -1.31946894e+00] [ 2.77465234e-02 -8.09948521e-04 9.99614663e-01 1.77648757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.270714057 meters Centerline goodness [0,1] 0.980149765729585 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.32, Z:0.18 [[ 9.99611963e-01 4.99985439e-03 -2.74030132e-02 1.90540115e+01] [-4.97536735e-03 9.99987160e-01 9.61699599e-04 -1.32181760e+00] [ 2.74074698e-02 -8.24986366e-04 9.99624004e-01 1.77676108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.300714056999997 meters Centerline goodness [0,1] 0.9801843027771364 Centerline is valid? [True, True] Translation: X:19.08, Y:-1.32, Z:0.18 [[ 9.99599914e-01 4.68672423e-03 -2.78934826e-02 1.90823726e+01] [-4.66129587e-03 9.99988659e-01 9.76576851e-04 -1.32190099e+00] [ 2.78977432e-02 -8.46166362e-04 9.99610424e-01 1.78364145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.330714056999998 meters Centerline goodness [0,1] 0.9808721943435447 Centerline is valid? [True, True] Translation: X:19.11, Y:-1.32, Z:0.18 [[ 9.99606689e-01 4.31461774e-03 -2.77101287e-02 1.91101377e+01] [-4.28944194e-03 9.99990332e-01 9.67919360e-04 -1.32345922e+00] [ 2.77140370e-02 -8.48677679e-04 9.99615532e-01 1.78180689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.360714057 meters Centerline goodness [0,1] 0.980050757197537 Centerline is valid? [True, True] Translation: X:19.14, Y:-1.32, Z:0.18 [[ 9.99585794e-01 6.13864916e-03 -2.81168473e-02 1.91382621e+01] [-6.11352115e-03 9.99980832e-01 9.79576444e-04 -1.32472672e+00] [ 2.81223216e-02 -8.07277758e-04 9.99604163e-01 1.79802533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.390714056999997 meters Centerline goodness [0,1] 0.9820994382493502 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.32, Z:0.18 [[ 9.99600778e-01 5.39151547e-03 -2.77347489e-02 1.91672272e+01] [-5.36684040e-03 9.99985134e-01 9.64042684e-04 -1.32392815e+00] [ 2.77395342e-02 -8.14809846e-04 9.99614853e-01 1.78443861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.420714056999998 meters Centerline goodness [0,1] 0.9810057507450782 Centerline is valid? [True, True] Translation: X:19.20, Y:-1.32, Z:0.18 [[ 9.99603996e-01 5.39157120e-03 -2.76184999e-02 1.91964457e+01] [-5.36715647e-03 9.99985138e-01 9.58054111e-04 -1.32407749e+00] [ 2.76232549e-02 -8.09441908e-04 9.99618077e-01 1.78307410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.450714057 meters Centerline goodness [0,1] 0.9812223317877599 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.32, Z:0.18 [[ 9.99602855e-01 5.47847963e-03 -2.76427011e-02 1.92257478e+01] [-5.45410966e-03 9.99984668e-01 9.56927389e-04 -1.32332700e+00] [ 2.76475198e-02 -8.05781027e-04 9.99617409e-01 1.78577478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.480714057 meters Centerline goodness [0,1] 0.9813011705090353 Centerline is valid? [True, True] Translation: X:19.25, Y:-1.32, Z:0.18 [[ 9.99622462e-01 5.11559698e-03 -2.69956248e-02 1.92537861e+01] [-5.09228616e-03 9.99986600e-01 9.32180732e-04 -1.32187517e+00] [ 2.70000317e-02 -7.94359352e-04 9.99635117e-01 1.80012255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.510714056999998 meters Centerline goodness [0,1] 0.98246310772961 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.32, Z:0.18 [[ 9.99658816e-01 4.29786115e-03 -2.57639122e-02 1.92810837e+01] [-4.27642886e-03 9.99990463e-01 8.86913057e-04 -1.32218546e+00] [ 2.57674783e-02 -7.76432919e-04 9.99667662e-01 1.81008627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.540714057 meters Centerline goodness [0,1] 0.9819832954947825 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.32, Z:0.18 [[ 9.99660397e-01 4.44471960e-03 -2.56775030e-02 1.93085018e+01] [-4.42354581e-03 9.99989828e-01 8.81348366e-04 -1.32356919e+00] [ 2.56811592e-02 -7.67463447e-04 9.99669890e-01 1.82172550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.570714057 meters Centerline goodness [0,1] 0.981877333110884 Centerline is valid? [True, True] Translation: X:19.34, Y:-1.32, Z:0.18 [[ 9.99681359e-01 2.95017764e-03 -2.50694494e-02 1.93371271e+01] [-2.92957710e-03 9.99995340e-01 8.58426488e-04 -1.32303936e+00] [ 2.50718651e-02 -7.84710073e-04 9.99685343e-01 1.82451337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.600714056999998 meters Centerline goodness [0,1] 0.981721040785848 Centerline is valid? [True, True] Translation: X:19.36, Y:-1.33, Z:0.18 [[ 9.99685300e-01 1.39182424e-03 -2.50472141e-02 1.93643123e+01] [-1.37082587e-03 9.99998694e-01 8.55502272e-04 -1.32565466e+00] [ 2.50483721e-02 -8.20897677e-04 9.99685903e-01 1.82139814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.630714057 meters Centerline goodness [0,1] 0.9815150946151759 Centerline is valid? [True, True] Translation: X:19.39, Y:-1.33, Z:0.18 [[ 9.99683019e-01 1.57292672e-03 -2.51274318e-02 1.93927298e+01] [-1.55191004e-03 9.99998430e-01 8.55882806e-04 -1.32557271e+00] [ 2.51287386e-02 -8.16615994e-04 9.99683890e-01 1.81791348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.660714057 meters Centerline goodness [0,1] 0.9823607232103484 Centerline is valid? [True, True] Translation: X:19.42, Y:-1.32, Z:0.18 [[ 9.99679411e-01 3.12118189e-03 -2.51263435e-02 1.94216134e+01] [-3.10074574e-03 9.99994830e-01 8.52255849e-04 -1.32189631e+00] [ 2.51288737e-02 -7.74072223e-04 9.99683920e-01 1.82515788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.690714056999997 meters Centerline goodness [0,1] 0.9815152086080932 Centerline is valid? [True, True] Translation: X:19.45, Y:-1.32, Z:0.18 [[ 9.99680081e-01 5.47748605e-03 -2.46927724e-02 1.94491530e+01] [-5.45858426e-03 9.99984755e-01 8.32818096e-04 -1.32394100e+00] [ 2.46969577e-02 -6.97764083e-04 9.99694740e-01 1.82392690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.720714057 meters Centerline goodness [0,1] 0.9823508425846257 Centerline is valid? [True, True] Translation: X:19.48, Y:-1.32, Z:0.18 [[ 9.99688622e-01 7.94138829e-03 -2.36557375e-02 1.94785442e+01] [-7.92480871e-03 9.99968283e-01 7.94534982e-04 -1.31989524e+00] [ 2.36612969e-02 -6.06820387e-04 9.99719848e-01 1.83781234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.750714057 meters Centerline goodness [0,1] 0.9823508425846257 Centerline is valid? [True, True] Translation: X:19.51, Y:-1.32, Z:0.18 [[ 9.99689483e-01 7.83177303e-03 -2.36558901e-02 1.95060144e+01] [-7.81527076e-03 9.99969148e-01 7.89969253e-04 -1.32072867e+00] [ 2.36613471e-02 -6.04846768e-04 9.99719848e-01 1.84205151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.780714056999997 meters Centerline goodness [0,1] 0.983089866476916 Centerline is valid? [True, True] Translation: X:19.54, Y:-1.32, Z:0.18 [[ 9.99611097e-01 1.58295732e-02 -2.29582098e-02 1.95350139e+01] [-1.58161821e-02 9.99874624e-01 7.64757597e-04 -1.31875345e+00] [ 2.29674371e-02 -4.01348955e-04 9.99736133e-01 1.84083974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.810714057 meters Centerline goodness [0,1] 0.9835251541229196 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.31, Z:0.19 [[ 9.99542351e-01 2.00231329e-02 -2.26751683e-02 1.95641468e+01] [-2.00111731e-02 9.99799472e-01 7.54246540e-04 -1.31481773e+00] [ 2.26857237e-02 -3.00144639e-04 9.99742601e-01 1.85345959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.840714057 meters Centerline goodness [0,1] 0.9858843823628408 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.31, Z:0.19 [[ 9.99247217e-01 3.14663701e-02 -2.26906665e-02 1.95917649e+01] [-3.14573833e-02 9.99504810e-01 7.52978290e-04 -1.31055359e+00] [ 2.27031239e-02 -3.86224667e-05 9.99742250e-01 1.85137884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.870714056999997 meters Centerline goodness [0,1] 0.9860018048647401 Centerline is valid? [True, True] Translation: X:19.62, Y:-1.31, Z:0.18 [[ 9.99149030e-01 3.49685662e-02 -2.18727003e-02 1.96208202e+01] [-3.49610942e-02 9.99388412e-01 7.24029586e-04 -1.30834501e+00] [ 2.18846415e-02 4.12800769e-05 9.99760502e-01 1.84054709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.900714057 meters Centerline goodness [0,1] 0.9856989405842583 Centerline is valid? [True, True] Translation: X:19.65, Y:-1.31, Z:0.18 [[ 9.98985004e-01 3.96524898e-02 -2.13691564e-02 1.96493036e+01] [-3.96464850e-02 9.99213521e-01 7.04749192e-04 -1.30792821e+00] [ 2.13802950e-02 1.43178063e-04 9.99771405e-01 1.84367369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.930714057 meters Centerline goodness [0,1] 0.9880954884845935 Centerline is valid? [True, True] Translation: X:19.68, Y:-1.31, Z:0.18 [[ 9.98602465e-01 4.84291384e-02 -2.11597821e-02 1.96789159e+01] [-4.84253072e-02 9.98826566e-01 6.93715042e-04 -1.30768246e+00] [ 2.11685485e-02 3.31923396e-04 9.99775866e-01 1.83650467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.960714056999997 meters Centerline goodness [0,1] 0.9895887776221437 Centerline is valid? [True, True] Translation: X:19.71, Y:-1.31, Z:0.18 [[ 9.98408472e-01 5.22346322e-02 -2.12618460e-02 1.97061749e+01] [-5.22316518e-02 9.98634753e-01 6.95862037e-04 -1.30807004e+00] [ 2.12691665e-02 4.15786786e-04 9.99773699e-01 1.83289598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.990714056999998 meters Centerline goodness [0,1] 0.9901956685341584 Centerline is valid? [True, True] Translation: X:19.73, Y:-1.31, Z:0.18 [[ 9.98223997e-01 5.54968428e-02 -2.16552826e-02 1.97340759e+01] [-5.54945670e-02 9.98458739e-01 7.06485920e-04 -1.30796899e+00] [ 2.16611139e-02 4.96519333e-04 9.99765247e-01 1.82823289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.020714057 meters Centerline goodness [0,1] 0.9909054630232509 Centerline is valid? [True, True] Translation: X:19.76, Y:-1.31, Z:0.18 [[ 9.97936795e-01 6.07931012e-02 -2.06482785e-02 1.97631384e+01] [-6.07921972e-02 9.98150218e-01 6.72051097e-04 -1.31385963e+00] [ 2.06509398e-02 5.84589703e-04 9.99786576e-01 1.83422340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.050714056999997 meters Centerline goodness [0,1] 0.9905324452264254 Centerline is valid? [True, True] Translation: X:19.79, Y:-1.32, Z:0.18 [[ 9.97790555e-01 6.33965172e-02 -1.98718287e-02 1.97913481e+01] [-6.33962193e-02 9.97988228e-01 6.45590886e-04 -1.31720421e+00] [ 1.98727793e-02 6.15634319e-04 9.99802327e-01 1.83705026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.080714056999998 meters Centerline goodness [0,1] 0.9918623043623044 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.32, Z:0.19 [[ 9.97424105e-01 6.94764265e-02 -1.78376303e-02 1.98204319e+01] [-6.94771803e-02 9.97583374e-01 5.78188749e-04 -1.32331160e+00] [ 1.78346939e-02 6.62608860e-04 9.99840730e-01 1.85673249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.110714057 meters Centerline goodness [0,1] 0.9926884489957003 Centerline is valid? [True, True] Translation: X:19.85, Y:-1.33, Z:0.19 [[ 9.97262664e-01 7.20803538e-02 -1.64803143e-02 1.98488450e+01] [-7.20813613e-02 9.97398613e-01 5.33634510e-04 -1.32664176e+00] [ 1.64759072e-02 6.55749719e-04 9.99864048e-01 1.87214744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.140714056999997 meters Centerline goodness [0,1] 0.9928703568978777 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.33, Z:0.19 [[ 9.97115052e-01 7.44247008e-02 -1.49176770e-02 1.98783219e+01] [-7.44257986e-02 9.97226438e-01 4.82327200e-04 -1.33284550e+00] [ 1.49121990e-02 6.29324315e-04 9.99888609e-01 1.88333649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.170714056999998 meters Centerline goodness [0,1] 0.9926406021325528 Centerline is valid? [True, True] Translation: X:19.91, Y:-1.34, Z:0.19 [[ 9.96898962e-01 7.75093365e-02 -1.35926961e-02 1.99079431e+01] [-7.75105398e-02 9.96991436e-01 4.39062013e-04 -1.34021728e+00] [ 1.35858330e-02 6.15876747e-04 9.99907519e-01 1.90086934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.200714057 meters Centerline goodness [0,1] 0.9948340409512058 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.35, Z:0.19 [[ 9.96660810e-01 8.07443988e-02 -1.21479179e-02 1.99357158e+01] [-8.07456027e-02 9.96734666e-01 3.92133570e-04 -1.35076015e+00] [ 1.21399135e-02 5.90066794e-04 9.99926134e-01 1.90204558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.230714057 meters Centerline goodness [0,1] 0.9957050973162096 Centerline is valid? [True, True] Translation: X:19.96, Y:-1.37, Z:0.19 [[ 9.96549004e-01 8.21805751e-02 -1.16805330e-02 1.99642786e+01] [-8.21817954e-02 9.96617284e-01 3.76285517e-04 -1.36622783e+00] [ 1.16719445e-02 5.84940220e-04 9.99931709e-01 1.90691437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.260714056999998 meters Centerline goodness [0,1] 0.9960948104834499 Centerline is valid? [True, True] Translation: X:19.99, Y:-1.37, Z:0.19 [[ 9.96570068e-01 8.19209296e-02 -1.17072720e-02 1.99921178e+01] [-8.19221465e-02 9.96638661e-01 3.76378040e-04 -1.37072191e+00] [ 1.16987531e-02 5.83997763e-04 9.99931397e-01 1.91207063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.290714057 meters Centerline goodness [0,1] 0.9974465235045419 Centerline is valid? [True, True] Translation: X:20.02, Y:-1.38, Z:0.19 [[ 9.96597962e-01 8.15673126e-02 -1.18015399e-02 2.00210147e+01] [-8.15685374e-02 9.96667663e-01 3.78310727e-04 -1.38163317e+00] [ 1.17930710e-02 5.85610649e-04 9.99930288e-01 1.91794161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.320714057 meters Centerline goodness [0,1] 0.9971753185612956 Centerline is valid? [True, True] Translation: X:20.05, Y:-1.40, Z:0.19 [[ 9.96681496e-01 8.04547218e-02 -1.23706797e-02 2.00490384e+01] [-8.04559936e-02 9.96758083e-01 3.95633436e-04 -1.39869427e+00] [ 1.23624056e-02 6.00974805e-04 9.99923402e-01 1.92109072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.350714056999998 meters Centerline goodness [0,1] 0.9975417690929544 Centerline is valid? [True, True] Translation: X:20.08, Y:-1.40, Z:0.19 [[ 9.96757752e-01 7.95511984e-02 -1.20660562e-02 2.00767499e+01] [-7.95523516e-02 9.96830615e-01 3.85120427e-04 -1.40309422e+00] [ 1.20584510e-02 5.76011374e-04 9.99927128e-01 1.93290900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.380714057 meters Centerline goodness [0,1] 0.9983740854230505 Centerline is valid? [True, True] Translation: X:20.10, Y:-1.42, Z:0.19 [[ 9.96907048e-01 7.78139100e-02 -1.10150928e-02 2.01048789e+01] [-7.78147753e-02 9.96967772e-01 3.50651689e-04 -1.42282549e+00] [ 1.10089781e-02 5.07569831e-04 9.99939271e-01 1.94958630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.410714057 meters Centerline goodness [0,1] 0.9982186872139025 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.43, Z:0.20 [[ 9.96953581e-01 7.72689888e-02 -1.06330176e-02 2.01336879e+01] [-7.72697726e-02 9.97010165e-01 3.37692805e-04 -1.42845051e+00] [ 1.06273198e-02 4.84946801e-04 9.99943411e-01 1.96364624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.440714056999997 meters Centerline goodness [0,1] 0.9987903814469541 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.44, Z:0.20 [[ 9.97101545e-01 7.55405131e-02 -9.06309605e-03 2.01616864e+01] [-7.55410145e-02 9.97142654e-01 2.87471445e-04 -1.44120757e+00] [ 9.05891539e-03 3.97997249e-04 9.99958888e-01 1.98208355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.470714057 meters Centerline goodness [0,1] 0.9992497030074404 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.45, Z:0.20 [[ 9.97163868e-01 7.47482556e-02 -8.77036815e-03 2.01893503e+01] [-7.47486964e-02 9.97202364e-01 2.77977595e-04 -1.44522456e+00] [ 8.76661019e-03 3.78384372e-04 9.99961501e-01 1.98787679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.500714057 meters Centerline goodness [0,1] 0.9992927128622247 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.47, Z:0.20 [[ 9.97445929e-01 7.09487675e-02 -8.23957754e-03 2.02184579e+01] [-7.09490356e-02 9.97479908e-01 2.60121735e-04 -1.46580801e+00] [ 8.23726836e-03 3.25132715e-04 9.99966020e-01 1.99367029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.530714056999997 meters Centerline goodness [0,1] 0.9991080688653806 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.47, Z:0.20 [[ 9.97612464e-01 6.85730029e-02 -8.19235174e-03 2.02470434e+01] [-6.85731884e-02 9.97646055e-01 2.58586203e-04 -1.47341622e+00] [ 8.19079943e-03 3.03806861e-04 9.99966409e-01 1.99092517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.560714057 meters Centerline goodness [0,1] 0.9995828814549095 Centerline is valid? [True, True] Translation: X:20.28, Y:-1.48, Z:0.20 [[ 9.97813434e-01 6.56093801e-02 -7.98504304e-03 2.02755842e+01] [-6.56094658e-02 9.97845346e-01 2.51506702e-04 -1.48206532e+00] [ 7.98433923e-03 2.72937643e-04 9.99968087e-01 1.99517566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.590714057 meters Centerline goodness [0,1] 0.9998126054094572 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.50, Z:0.20 [[ 9.98316559e-01 5.74730460e-02 -7.80365409e-03 2.03055513e+01] [-5.74728875e-02 9.98347038e-01 2.44752593e-04 -1.49850084e+00] [ 7.80482162e-03 2.04157968e-04 9.99969521e-01 2.00545691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.620714056999997 meters Centerline goodness [0,1] 0.999583342013708 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.51, Z:0.20 [[ 9.98568230e-01 5.28159997e-02 -8.48299470e-03 2.03353371e+01] [-5.28156440e-02 9.98604244e-01 2.66111764e-04 -1.50680833e+00] [ 8.48520947e-03 1.82304075e-04 9.99963983e-01 1.98959459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.650714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.36, Y:-1.52, Z:0.20 [[ 9.99106238e-01 4.14009598e-02 -8.52558587e-03 2.03638162e+01] [-4.14001850e-02 9.99142609e-01 2.67415010e-04 -1.52395377e+00] [ 8.52934735e-03 8.57848282e-05 9.99963621e-01 2.00807259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.680714057 meters Centerline goodness [0,1] 0.9997723132969034 Centerline is valid? [True, True] Translation: X:20.39, Y:-1.53, Z:0.20 [[ 9.99335159e-01 3.53450920e-02 -8.94233345e-03 2.03936896e+01] [-3.53440011e-02 9.99375166e-01 2.80035094e-04 -1.53243327e+00] [ 8.94664385e-03 3.62089288e-05 9.99959977e-01 1.99057714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.710714056999997 meters Centerline goodness [0,1] 0.9999582837953404 Centerline is valid? [True, True] Translation: X:20.42, Y:-1.54, Z:0.20 [[ 9.99536423e-01 2.93958602e-02 -7.92604272e-03 2.04224491e+01] [-2.93948189e-02 9.99567848e-01 2.47864253e-04 -1.54108738e+00] [ 7.92990365e-03 -1.47647584e-05 9.99968558e-01 2.01249956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.740714056999998 meters Centerline goodness [0,1] 0.9998750962799509 Centerline is valid? [True, True] Translation: X:20.45, Y:-1.55, Z:0.20 [[ 9.99689103e-01 2.35439432e-02 -8.20858265e-03 2.04518782e+01] [-2.35426250e-02 9.99722801e-01 2.57186435e-04 -1.54846122e+00] [ 8.21236243e-03 -6.38548928e-05 9.99966276e-01 2.00067868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.770714057 meters Centerline goodness [0,1] 0.9999169900595596 Centerline is valid? [True, True] Translation: X:20.48, Y:-1.56, Z:0.20 [[ 9.99881935e-01 1.28655124e-02 -8.40205798e-03 2.04807369e+01] [-1.28637605e-02 9.99917224e-01 2.62521338e-04 -1.56119089e+00] [ 8.40473997e-03 -1.54408282e-04 9.99964668e-01 2.01399800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.800714056999997 meters Centerline goodness [0,1] 0.9998758303843049 Centerline is valid? [True, True] Translation: X:20.51, Y:-1.57, Z:0.20 [[ 9.99926673e-01 8.61294590e-03 -8.51265088e-03 2.05088001e+01] [-8.61098615e-03 9.99962889e-01 2.66841553e-04 -1.56795669e+00] [ 8.51463326e-03 -1.93519667e-04 9.99963731e-01 2.01835909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.830714056999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.54, Y:-1.58, Z:0.21 [[ 9.99969497e-01 2.42442945e-03 -7.42475992e-03 2.05373706e+01] [-2.42277295e-03 9.99997038e-01 2.32090301e-04 -1.57731237e+00] [ 7.42530062e-03 -2.14094714e-04 9.99972409e-01 2.05451015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.860714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.57, Y:-1.58, Z:0.20 [[ 9.99976710e-01 6.25981137e-04 -6.79617923e-03 2.05666758e+01] [-6.24550681e-04 9.99999782e-01 2.12599684e-04 -1.57507459e+00] [ 6.79631083e-03 -2.08350174e-04 9.99976883e-01 2.04826031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.890714056999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.59, Y:-1.58, Z:0.21 [[ 9.99981025e-01 -1.17766720e-03 -6.04668197e-03 2.05941940e+01] [ 1.17883056e-03 9.99999287e-01 1.88836799e-04 -1.58094285e+00] [ 6.04645527e-03 -1.95961230e-04 9.99981701e-01 2.07510753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.920714056999998 meters Centerline goodness [0,1] 0.9998327933953391 Centerline is valid? [True, True] Translation: X:20.62, Y:-1.59, Z:0.21 [[ 9.99980756e-01 -1.53802845e-03 -6.01022661e-03 2.06231932e+01] [ 1.53919463e-03 9.99998798e-01 1.89411411e-04 -1.58772832e+00] [ 6.00992806e-03 -1.98658674e-04 9.99981920e-01 2.07815103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.950714057 meters Centerline goodness [0,1] 0.9998331003692654 Centerline is valid? [True, True] Translation: X:20.65, Y:-1.58, Z:0.20 [[ 9.99981650e-01 -1.08421239e-03 -5.96028149e-03 2.06527890e+01] [ 1.08534224e-03 9.99999394e-01 1.86331361e-04 -1.57516687e+00] [ 5.96007585e-03 -1.92796887e-04 9.99982220e-01 2.04320136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.980714057 meters Centerline goodness [0,1] 0.9998331699789377 Centerline is valid? [True, True] Translation: X:20.68, Y:-1.57, Z:0.20 [[ 9.99981275e-01 6.48166108e-04 -6.08518747e-03 2.06814906e+01] [-6.47037234e-04 9.99999773e-01 1.87478694e-04 -1.57274476e+00] [ 6.08530761e-03 -1.83537840e-04 9.99981468e-01 2.04773141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.010714056999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.71, Y:-1.57, Z:0.21 [[ 9.99976774e-01 1.94748932e-03 -6.53143124e-03 2.07103274e+01] [-1.94622922e-03 9.99998086e-01 1.99277716e-04 -1.57071095e+00] [ 6.53180683e-03 -1.86561425e-04 9.99978650e-01 2.07466340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.040714057 meters Centerline goodness [0,1] 0.9998755961020112 Centerline is valid? [True, True] Translation: X:20.74, Y:-1.57, Z:0.21 [[ 9.99954943e-01 4.36372410e-03 -8.43029501e-03 2.07393456e+01] [-4.36175074e-03 9.99990456e-01 2.52451129e-04 -1.56909076e+00] [ 8.43131617e-03 -2.15668909e-04 9.99964433e-01 2.05280093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.070714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.77, Y:-1.56, Z:0.21 [[ 9.99946852e-01 5.37221088e-03 -8.79956670e-03 2.07681924e+01] [-5.37010343e-03 9.99985546e-01 2.63105111e-04 -1.56454545e+00] [ 8.80085297e-03 -2.15836544e-04 9.99961248e-01 2.06888480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.100714056999998 meters Centerline goodness [0,1] 0.9998958181401454 Centerline is valid? [True, True] Translation: X:20.80, Y:-1.56, Z:0.21 [[ 9.99938022e-01 6.56172742e-03 -8.99417926e-03 2.07970981e+01] [-6.55957984e-03 9.99978450e-01 2.68252693e-04 -1.56237140e+00] [ 8.99574563e-03 -2.09238031e-04 9.99959516e-01 2.07040935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.130714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.83, Y:-1.56, Z:0.21 [[ 9.99913931e-01 8.71938740e-03 -9.80323832e-03 2.08259397e+01] [-8.71693777e-03 9.99961964e-01 2.92580297e-04 -1.55651100e+00] [ 9.80541656e-03 -2.07100897e-04 9.99951904e-01 2.07053410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.160714057 meters Centerline goodness [0,1] 0.9998959157333778 Centerline is valid? [True, True] Translation: X:20.85, Y:-1.55, Z:0.21 [[ 9.99899814e-01 9.81458596e-03 -1.01997758e-02 2.08543635e+01] [-9.81202782e-03 9.99951816e-01 3.00815736e-04 -1.55437558e+00] [ 1.02022367e-02 -2.00705115e-04 9.99947936e-01 2.05132784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.190714056999997 meters Centerline goodness [0,1] 0.9998331873722841 Centerline is valid? [True, True] Translation: X:20.88, Y:-1.55, Z:0.20 [[ 9.99871871e-01 1.12701037e-02 -1.13677516e-02 2.08835493e+01] [-1.12670305e-02 9.99936469e-01 3.34351160e-04 -1.54591986e+00] [ 1.13707976e-02 -2.06227516e-04 9.99935329e-01 2.03736605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.220714057 meters Centerline goodness [0,1] 0.9998551774076756 Centerline is valid? [True, True] Translation: X:20.91, Y:-1.54, Z:0.21 [[ 9.99861555e-01 1.16989334e-02 -1.18323735e-02 2.09113769e+01] [-1.16956440e-02 9.99931543e-01 3.47163685e-04 -1.54402128e+00] [ 1.18356249e-02 -2.08728394e-04 9.99929935e-01 2.06096222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.250714057 meters Centerline goodness [0,1] 0.9996885899352267 Centerline is valid? [True, True] Translation: X:20.94, Y:-1.54, Z:0.20 [[ 9.99844688e-01 1.21666737e-02 -1.27503609e-02 2.09390494e+01] [-1.21629082e-02 9.99925960e-01 3.72830644e-04 -1.53772350e+00] [ 1.27539530e-02 -2.17691270e-04 9.99918641e-01 2.03607355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.280714056999997 meters Centerline goodness [0,1] 0.9999376013977287 Centerline is valid? [True, True] Translation: X:20.97, Y:-1.54, Z:0.21 [[ 9.99844895e-01 1.15265563e-02 -1.33163220e-02 2.09675625e+01] [-1.15224091e-02 9.99933540e-01 3.88117358e-04 -1.53516722e+00] [ 1.33199107e-02 -2.34621048e-04 9.99911259e-01 2.05884296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.310714057 meters Centerline goodness [0,1] 0.9998746500647642 Centerline is valid? [True, True] Translation: X:21.00, Y:-1.53, Z:0.20 [[ 9.99846033e-01 1.07181694e-02 -1.38935773e-02 2.09969902e+01] [-1.07135912e-02 9.99942526e-01 4.03906372e-04 -1.53241952e+00] [ 1.38971079e-02 -2.54994076e-04 9.99903398e-01 2.03688467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.340714057 meters Centerline goodness [0,1] 0.999791948403204 Centerline is valid? [True, True] Translation: X:21.03, Y:-1.53, Z:0.21 [[ 9.99871972e-01 8.40756111e-03 -1.36144552e-02 2.10251431e+01] [-8.40296366e-03 9.99964617e-01 3.94858443e-04 -1.52885028e+00] [ 1.36172932e-02 -2.80406118e-04 9.99907241e-01 2.06918508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.370714056999997 meters Centerline goodness [0,1] 0.9996488909083399 Centerline is valid? [True, True] Translation: X:21.05, Y:-1.53, Z:0.20 [[ 9.99882034e-01 7.07751794e-03 -1.36317989e-02 2.10526268e+01] [-7.07280208e-03 9.99974910e-01 3.94124481e-04 -1.52823242e+00] [ 1.36342463e-02 -2.97662972e-04 9.99907005e-01 2.04679822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.400714057 meters Centerline goodness [0,1] 0.9995447679351087 Centerline is valid? [True, True] Translation: X:21.08, Y:-1.53, Z:0.21 [[ 9.99896000e-01 4.81336932e-03 -1.35948844e-02 2.10816743e+01] [-4.80848665e-03 9.99988362e-01 3.91819168e-04 -1.52588890e+00] [ 1.35966121e-02 -3.26407599e-04 9.99907509e-01 2.07740522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.430714057 meters Centerline goodness [0,1] 0.9991511914373848 Centerline is valid? [True, True] Translation: X:21.11, Y:-1.52, Z:0.21 [[ 9.99883672e-01 6.02032039e-04 -1.52407141e-02 2.11115065e+01] [-5.95425369e-04 9.99999727e-01 4.38022099e-04 -1.52237527e+00] [ 1.52409736e-02 -4.28896438e-04 9.99883758e-01 2.05171956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.460714056999997 meters Centerline goodness [0,1] 0.998963128862345 Centerline is valid? [True, True] Translation: X:21.14, Y:-1.52, Z:0.21 [[ 9.99880483e-01 -2.40396855e-03 -1.52722457e-02 2.11408256e+01] [ 2.41094459e-03 9.99996998e-01 4.38384420e-04 -1.52192053e+00] [ 1.52711460e-02 -4.75152564e-04 9.99883276e-01 2.05648154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.490714056999998 meters Centerline goodness [0,1] 0.9984119023737881 Centerline is valid? [True, True] Translation: X:21.17, Y:-1.52, Z:0.21 [[ 9.99849673e-01 -8.18555178e-03 -1.52848701e-02 2.11712558e+01] [ 8.19320160e-03 9.99966339e-01 4.37929363e-04 -1.51979033e+00] [ 1.52807709e-02 -5.63095552e-04 9.99883084e-01 2.06271953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.520714057 meters Centerline goodness [0,1] 0.9982460169969305 Centerline is valid? [True, True] Translation: X:21.20, Y:-1.52, Z:0.21 [[ 9.99816209e-01 -1.18902891e-02 -1.50389118e-02 2.12010723e+01] [ 1.18981092e-02 9.99929122e-01 4.30623325e-04 -1.51910268e+00] [ 1.50327257e-02 -6.09478795e-04 9.99886816e-01 2.09021268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.550714056999997 meters Centerline goodness [0,1] 0.9974317019117251 Centerline is valid? [True, True] Translation: X:21.23, Y:-1.52, Z:0.21 [[ 9.99745929e-01 -1.62238315e-02 -1.56481841e-02 2.12302113e+01] [ 1.62328190e-02 9.99868139e-01 4.47490687e-04 -1.51659731e+00] [ 1.56388607e-02 -7.01391131e-04 9.99877460e-01 2.07728761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.580714056999998 meters Centerline goodness [0,1] 0.997391159160162 Centerline is valid? [True, True] Translation: X:21.26, Y:-1.51, Z:0.21 [[ 9.99691671e-01 -1.92810611e-02 -1.56462057e-02 2.12602511e+01] [ 1.92904175e-02 9.99813823e-01 4.47282540e-04 -1.51023960e+00] [ 1.56346686e-02 -7.48966469e-04 9.99877491e-01 2.10152879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.610714057 meters Centerline goodness [0,1] 0.9970967270296802 Centerline is valid? [True, True] Translation: X:21.29, Y:-1.51, Z:0.21 [[ 9.99655770e-01 -2.04886496e-02 -1.63876742e-02 2.12879238e+01] [ 2.04990639e-02 9.99789763e-01 4.67751215e-04 -1.50982460e+00] [ 1.63746453e-02 -8.03522181e-04 9.99865604e-01 2.08889523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.640714056999997 meters Centerline goodness [0,1] 0.9967642269633836 Centerline is valid? [True, True] Translation: X:21.32, Y:-1.50, Z:0.21 [[ 9.99590890e-01 -2.33920651e-02 -1.64579733e-02 2.13181611e+01] [ 2.34029257e-02 9.99726005e-01 4.67584698e-04 -1.49960552e+00] [ 1.64425261e-02 -8.52558130e-04 9.99864449e-01 2.09340564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.670714056999998 meters Centerline goodness [0,1] 0.9967642269633836 Centerline is valid? [True, True] Translation: X:21.35, Y:-1.50, Z:0.21 [[ 9.99583849e-01 -2.36910027e-02 -1.64579986e-02 2.13456560e+01] [ 2.37018891e-02 9.99718962e-01 4.66692761e-04 -1.50032838e+00] [ 1.64423168e-02 -8.56584202e-04 9.99864449e-01 2.09764219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.700714057 meters Centerline goodness [0,1] 0.9960913135681317 Centerline is valid? [True, True] Translation: X:21.37, Y:-1.50, Z:0.21 [[ 9.99556715e-01 -2.46321820e-02 -1.67221009e-02 2.13740798e+01] [ 2.46434716e-02 9.99696193e-01 4.69375603e-04 -1.49661654e+00] [ 1.67054589e-02 -8.81258155e-04 9.99860066e-01 2.09917927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.730714056999997 meters Centerline goodness [0,1] 0.9957646567911538 Centerline is valid? [True, True] Translation: X:21.40, Y:-1.49, Z:0.21 [[ 9.99532056e-01 -2.57058076e-02 -1.65795218e-02 2.14030566e+01] [ 2.57170239e-02 9.99669155e-01 4.63633368e-04 -1.49318201e+00] [ 1.65621185e-02 -8.89792372e-04 9.99862443e-01 2.10368012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.760714056999998 meters Centerline goodness [0,1] 0.9944188963210703 Centerline is valid? [True, True] Translation: X:21.43, Y:-1.48, Z:0.21 [[ 9.99523129e-01 -2.62315207e-02 -1.62917998e-02 2.14306519e+01] [ 2.62423547e-02 9.99655508e-01 4.51532997e-04 -1.48489299e+00] [ 1.62743431e-02 -8.78852864e-04 9.99867178e-01 2.10805534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.790714057 meters Centerline goodness [0,1] 0.9938154238315121 Centerline is valid? [True, True] Translation: X:21.46, Y:-1.48, Z:0.21 [[ 9.99514332e-01 -2.64880349e-02 -1.64159906e-02 2.14585502e+01] [ 2.64990359e-02 9.99648736e-01 4.52947602e-04 -1.47783459e+00] [ 1.63982265e-02 -8.87735544e-04 9.99865146e-01 2.11092105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.820714057 meters Centerline goodness [0,1] 0.9920329555434737 Centerline is valid? [True, True] Translation: X:21.49, Y:-1.47, Z:0.21 [[ 9.99527671e-01 -2.60913854e-02 -1.62380722e-02 2.14866983e+01] [ 2.61020218e-02 9.99659186e-01 4.43397251e-04 -1.46897477e+00] [ 1.62209692e-02 -8.67034336e-04 9.99868055e-01 2.10038572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.850714056999998 meters Centerline goodness [0,1] 0.9901585908606532 Centerline is valid? [True, True] Translation: X:21.52, Y:-1.47, Z:0.21 [[ 9.99540879e-01 -2.50719198e-02 -1.70126636e-02 2.15156502e+01] [ 2.50834157e-02 9.99685255e-01 4.62642989e-04 -1.46561916e+00] [ 1.69957096e-02 -8.89166291e-04 9.99855167e-01 2.09752696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.880714057 meters Centerline goodness [0,1] 0.9900524544941589 Centerline is valid? [True, True] Translation: X:21.54, Y:-1.46, Z:0.21 [[ 9.99522699e-01 -2.54963573e-02 -1.74444935e-02 2.15445883e+01] [ 2.55084296e-02 9.99674497e-01 4.69846878e-04 -1.45966355e+00] [ 1.74268359e-02 -9.14604254e-04 9.99847723e-01 2.09306196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.910714057 meters Centerline goodness [0,1] 0.9883154616333271 Centerline is valid? [True, True] Translation: X:21.57, Y:-1.45, Z:0.21 [[ 9.99472858e-01 -2.73712757e-02 -1.74590713e-02 2.15730969e+01] [ 2.73835813e-02 9.99624891e-01 4.66107172e-04 -1.45106596e+00] [ 1.74397643e-02 -9.43953367e-04 9.99847470e-01 2.08433539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.940714056999997 meters Centerline goodness [0,1] 0.986060897368916 Centerline is valid? [True, True] Translation: X:21.60, Y:-1.45, Z:0.21 [[ 9.99430811e-01 -2.89152787e-02 -1.73770355e-02 2.16019511e+01] [ 2.89276734e-02 9.99581400e-01 4.62294186e-04 -1.44694823e+00] [ 1.73563941e-02 -9.64708261e-04 9.99848901e-01 2.08112869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.970714057 meters Centerline goodness [0,1] 0.9833905112542883 Centerline is valid? [True, True] Translation: X:21.63, Y:-1.44, Z:0.21 [[ 9.99303981e-01 -3.22954341e-02 -1.86697274e-02 2.16321608e+01] [ 3.23102502e-02 9.99477766e-01 4.92418328e-04 -1.43889333e+00] [ 1.86440746e-02 -1.09529916e-03 9.99825584e-01 2.07062557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.000714057 meters Centerline goodness [0,1] 0.9820158929318277 Centerline is valid? [True, True] Translation: X:21.66, Y:-1.44, Z:0.21 [[ 9.99225790e-01 -3.42702835e-02 -1.93227401e-02 2.16611310e+01] [ 3.42865126e-02 9.99411915e-01 5.09141815e-04 -1.43674471e+00] [ 1.92939282e-02 -1.17125700e-03 9.99813169e-01 2.06399815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.030714056999997 meters Centerline goodness [0,1] 0.9791226492061168 Centerline is valid? [True, True] Translation: X:21.69, Y:-1.43, Z:0.20 [[ 9.99047284e-01 -3.83342567e-02 -2.08568692e-02 2.16917653e+01] [ 3.83540285e-02 9.99264063e-01 5.48639554e-04 -1.43052117e+00] [ 2.08204881e-02 -1.34806181e-03 9.99782321e-01 2.03825472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.060714057 meters Centerline goodness [0,1] 0.9786400854396582 Centerline is valid? [True, True] Translation: X:21.72, Y:-1.43, Z:0.20 [[ 9.98954978e-01 -4.04015444e-02 -2.13697818e-02 2.17214468e+01] [ 4.04227653e-02 9.99182508e-01 5.61832324e-04 -1.42813321e+00] [ 2.13296133e-02 -1.42507087e-03 9.99771482e-01 2.03206134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.090714057 meters Centerline goodness [0,1] 0.9776772626376848 Centerline is valid? [True, True] Translation: X:21.75, Y:-1.42, Z:0.20 [[ 9.98905640e-01 -4.13863679e-02 -2.17874051e-02 2.17506907e+01] [ 4.14086132e-02 9.99142133e-01 5.70665301e-04 -1.42494054e+00] [ 2.17450967e-02 -1.47222702e-03 9.99762463e-01 2.03466303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.120714056999997 meters Centerline goodness [0,1] 0.9772160911356355 Centerline is valid? [True, True] Translation: X:21.78, Y:-1.42, Z:0.20 [[ 9.98828468e-01 -4.30031573e-02 -2.21905192e-02 2.17803967e+01] [ 4.30265389e-02 9.99073763e-01 5.77083866e-04 -1.42140571e+00] [ 2.21451490e-02 -1.53118903e-03 9.99753594e-01 2.03898367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.150714057 meters Centerline goodness [0,1] 0.9746048361771171 Centerline is valid? [True, True] Translation: X:21.81, Y:-1.41, Z:0.20 [[ 9.98727052e-01 -4.53937376e-02 -2.19928125e-02 2.18106771e+01] [ 4.54172639e-02 9.98967940e-01 5.71166780e-04 -1.40797435e+00] [ 2.19441872e-02 -1.56929308e-03 9.99757966e-01 2.04192711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.180714057 meters Centerline goodness [0,1] 0.9741404581431383 Centerline is valid? [True, True] Translation: X:21.84, Y:-1.40, Z:0.20 [[ 9.98657489e-01 -4.69631964e-02 -2.18558419e-02 2.18408518e+01] [ 4.69867898e-02 9.98895350e-01 5.66944160e-04 -1.40373567e+00] [ 2.18050733e-02 -1.59311888e-03 9.99760972e-01 2.03811657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.210714056999997 meters Centerline goodness [0,1] 0.9738762160348876 Centerline is valid? [True, True] Translation: X:21.87, Y:-1.40, Z:0.20 [[ 9.98674684e-01 -4.70730797e-02 -2.08086922e-02 2.18706153e+01] [ 4.70944820e-02 9.98890294e-01 5.39415807e-04 -1.39610958e+00] [ 2.07602087e-02 -1.51867549e-03 9.99783330e-01 2.04548494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.240714056999998 meters Centerline goodness [0,1] 0.9742912263043113 Centerline is valid? [True, True] Translation: X:21.90, Y:-1.39, Z:0.21 [[ 9.98720866e-01 -4.64744077e-02 -1.99188451e-02 2.19013957e+01] [ 4.64938945e-02 9.98918441e-01 5.16082268e-04 -1.39236415e+00] [ 1.98733171e-02 -1.44152681e-03 9.99801467e-01 2.05264790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.270714057 meters Centerline goodness [0,1] 0.9722233824819347 Centerline is valid? [True, True] Translation: X:21.93, Y:-1.39, Z:0.21 [[ 9.98766238e-01 -4.57300755e-02 -1.93587686e-02 2.19314880e+01] [ 4.57483439e-02 9.98952870e-01 5.01641438e-04 -1.39117510e+00] [ 1.93155574e-02 -1.38665414e-03 9.99812476e-01 2.05662494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.300714056999997 meters Centerline goodness [0,1] 0.9736681983172825 Centerline is valid? [True, True] Translation: X:21.96, Y:-1.38, Z:0.21 [[ 9.98875011e-01 -4.37668552e-02 -1.82530800e-02 2.19624683e+01] [ 4.37827745e-02 9.99040962e-01 4.73247440e-04 -1.37903778e+00] [ 1.82148621e-02 -1.27188553e-03 9.99833287e-01 2.06673547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.330714056999998 meters Centerline goodness [0,1] 0.9751860002095777 Centerline is valid? [True, True] Translation: X:21.99, Y:-1.37, Z:0.21 [[ 9.98950169e-01 -4.21746310e-02 -1.78846478e-02 2.19944401e+01] [ 4.21896625e-02 9.99109512e-01 4.63834775e-04 -1.36724861e+00] [ 1.78491597e-02 -1.21789508e-03 9.99839949e-01 2.06902380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.360714057 meters Centerline goodness [0,1] 0.975291796120581 Centerline is valid? [True, True] Translation: X:22.02, Y:-1.36, Z:0.21 [[ 9.99121009e-01 -3.79222397e-02 -1.78637457e-02 2.20242520e+01] [ 3.79365740e-02 9.99280041e-01 4.64118240e-04 -1.35796887e+00] [ 1.78332842e-02 -1.14139960e-03 9.99840323e-01 2.06125020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.390714056999997 meters Centerline goodness [0,1] 0.9772000673060743 Centerline is valid? [True, True] Translation: X:22.05, Y:-1.36, Z:0.21 [[ 9.99220064e-01 -3.49794389e-02 -1.83222101e-02 2.20538044e+01] [ 3.49940251e-02 9.99387408e-01 4.75989180e-04 -1.35530878e+00] [ 1.82943362e-02 -1.11678582e-03 9.99832021e-01 2.05801317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.420714056999998 meters Centerline goodness [0,1] 0.9782910221923335 Centerline is valid? [True, True] Translation: X:22.08, Y:-1.34, Z:0.21 [[ 9.99297105e-01 -3.23618626e-02 -1.89210648e-02 2.20845747e+01] [ 3.23769708e-02 9.99475607e-01 4.92620911e-04 -1.34471636e+00] [ 1.88952006e-02 -1.10488141e-03 9.99820859e-01 2.06395613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.450714057 meters Centerline goodness [0,1] 0.9792835745327202 Centerline is valid? [True, True] Translation: X:22.11, Y:-1.34, Z:0.21 [[ 9.99459144e-01 -2.69191599e-02 -1.88885705e-02 2.21141561e+01] [ 2.69332460e-02 9.99637113e-01 4.91713818e-04 -1.33545948e+00] [ 1.88684796e-02 -1.00017839e-03 9.99821474e-01 2.06795099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.480714056999997 meters Centerline goodness [0,1] 0.9783040392090586 Centerline is valid? [True, True] Translation: X:22.14, Y:-1.34, Z:0.21 [[ 9.99534748e-01 -2.44015874e-02 -1.82988962e-02 2.21436452e+01] [ 2.44143812e-02 9.99701811e-01 4.76049760e-04 -1.33819482e+00] [ 1.82818233e-02 -9.22584503e-04 9.99832448e-01 2.06583945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.510714056999998 meters Centerline goodness [0,1] 0.9794949686728688 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.33, Z:0.21 [[ 9.99604611e-01 -2.13923667e-02 -1.82479834e-02 2.21742503e+01] [ 2.14045840e-02 9.99770783e-01 4.74446864e-04 -1.33375441e+00] [ 1.82336511e-02 -8.64849766e-04 9.99833379e-01 2.07062801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.540714057 meters Centerline goodness [0,1] 0.9800686266203508 Centerline is valid? [True, True] Translation: X:22.20, Y:-1.33, Z:0.21 [[ 9.99702264e-01 -1.58990300e-02 -1.85095940e-02 2.22040046e+01] [ 1.59106594e-02 9.99873302e-01 4.81186315e-04 -1.32507258e+00] [ 1.84995984e-02 -7.75542893e-04 9.99828567e-01 2.07419520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.570714057 meters Centerline goodness [0,1] 0.9828728696940828 Centerline is valid? [True, True] Translation: X:22.23, Y:-1.31, Z:0.21 [[ 9.99730860e-01 -1.34102081e-02 -1.89307786e-02 2.22339935e+01] [ 1.34219190e-02 9.99909801e-01 4.91692253e-04 -1.31350719e+00] [ 1.89224774e-02 -7.45647295e-04 9.99820676e-01 2.08134211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.600714056999998 meters Centerline goodness [0,1] 0.9842887473460722 Centerline is valid? [True, True] Translation: X:22.26, Y:-1.31, Z:0.21 [[ 9.99760194e-01 -1.09902871e-02 -1.89411971e-02 2.22634177e+01] [ 1.10015509e-02 9.99939361e-01 4.90571837e-04 -1.31050026e+00] [ 1.89346570e-02 -6.98836739e-04 9.99820479e-01 2.08275523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.630714057 meters Centerline goodness [0,1] 0.9831543437880308 Centerline is valid? [True, True] Translation: X:22.29, Y:-1.31, Z:0.21 [[ 9.99794544e-01 -7.79089749e-03 -1.87128654e-02 2.22916779e+01] [ 7.80126032e-03 9.99969454e-01 4.80845183e-04 -1.30669094e+00] [ 1.87085476e-02 -6.26730325e-04 9.99824783e-01 2.08039381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.660714057 meters Centerline goodness [0,1] 0.9834078807241746 Centerline is valid? [True, True] Translation: X:22.32, Y:-1.30, Z:0.21 [[ 9.99811537e-01 -6.57083110e-03 -1.82678783e-02 2.23205932e+01] [ 6.58047065e-03 9.99978239e-01 4.67616463e-04 -1.30349307e+00] [ 1.82644081e-02 -5.87739571e-04 9.99833019e-01 2.08701227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.690714056999997 meters Centerline goodness [0,1] 0.9844806326799609 Centerline is valid? [True, True] Translation: X:22.35, Y:-1.30, Z:0.21 [[ 9.99840318e-01 -5.00576767e-03 -1.71545918e-02 2.23481377e+01] [ 5.01397133e-03 9.99987335e-01 4.35243419e-04 -1.30184045e+00] [ 1.71521958e-02 -5.21186550e-04 9.99852754e-01 2.08831847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.720714057 meters Centerline goodness [0,1] 0.9806540214557252 Centerline is valid? [True, True] Translation: X:22.38, Y:-1.32, Z:0.21 [[ 9.99842836e-01 -1.73332226e-03 -1.76436768e-02 2.23760794e+01] [ 1.74145281e-03 9.99998384e-01 4.45465939e-04 -1.31500199e+00] [ 1.76428762e-02 -4.76121559e-04 9.99844239e-01 2.08117683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.750714057 meters Centerline goodness [0,1] 0.9837615797693674 Centerline is valid? [True, True] Translation: X:22.41, Y:-1.30, Z:0.21 [[ 9.99827480e-01 -6.48677919e-03 -1.74049641e-02 2.24058338e+01] [ 6.49539039e-03 9.99978809e-01 4.38270424e-04 -1.30132689e+00] [ 1.74017523e-02 -5.51246850e-04 9.99848426e-01 2.09063578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.780714056999997 meters Centerline goodness [0,1] 0.9825534274623555 Centerline is valid? [True, True] Translation: X:22.43, Y:-1.30, Z:0.21 [[ 9.99825465e-01 -7.12113225e-03 -1.72722151e-02 2.24348217e+01] [ 7.12968530e-03 9.99974489e-01 4.33663519e-04 -1.30207166e+00] [ 1.72686863e-02 -5.56733287e-04 9.99850730e-01 2.08972092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.810714057 meters Centerline goodness [0,1] 0.9823486878482413 Centerline is valid? [True, True] Translation: X:22.46, Y:-1.30, Z:0.21 [[ 9.99808330e-01 -8.37091537e-03 -1.76983434e-02 2.24626063e+01] [ 8.38001932e-03 9.99964790e-01 4.40294572e-04 -1.30384937e+00] [ 1.76940345e-02 -5.88522640e-04 9.99843275e-01 2.08654629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.840714057 meters Centerline goodness [0,1] 0.9801065263428095 Centerline is valid? [True, True] Translation: X:22.49, Y:-1.31, Z:0.21 [[ 9.99787149e-01 -1.17129149e-02 -1.69842273e-02 2.24917243e+01] [ 1.17217574e-02 9.99931209e-01 4.21165620e-04 -1.30577252e+00] [ 1.69781259e-02 -6.20160966e-04 9.99855669e-01 2.09166580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.870714056999997 meters Centerline goodness [0,1] 0.9794116389447128 Centerline is valid? [True, True] Translation: X:22.52, Y:-1.31, Z:0.21 [[ 9.99754942e-01 -1.53346336e-02 -1.59657131e-02 2.25211046e+01] [ 1.53428959e-02 9.99882213e-01 3.95135301e-04 -1.30869511e+00] [ 1.59577733e-02 -6.39998744e-04 9.99872462e-01 2.09980735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.900714057 meters Centerline goodness [0,1] 0.979123307657648 Centerline is valid? [True, True] Translation: X:22.55, Y:-1.31, Z:0.21 [[ 9.99731649e-01 -1.70188262e-02 -1.57159304e-02 2.25505192e+01] [ 1.70270274e-02 9.99854954e-01 3.88168892e-04 -1.31093954e+00] [ 1.57070447e-02 -6.55660304e-04 9.99876422e-01 2.10920581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.930714057 meters Centerline goodness [0,1] 0.9795096884701852 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.31, Z:0.21 [[ 9.99705980e-01 -1.87981145e-02 -1.53161427e-02 2.25812612e+01] [ 1.88061043e-02 9.99823078e-01 3.77786320e-04 -1.30845832e+00] [ 1.53063312e-02 -6.65712221e-04 9.99882630e-01 2.11007593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.960714056999997 meters Centerline goodness [0,1] 0.979920022239805 Centerline is valid? [True, True] Translation: X:22.61, Y:-1.31, Z:0.21 [[ 9.99619223e-01 -2.30676439e-02 -1.51424452e-02 2.26123107e+01] [ 2.30759422e-02 9.99733645e-01 3.73497264e-04 -1.30938270e+00] [ 1.51297962e-02 -7.22781235e-04 9.99885277e-01 2.10962026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.990714056999998 meters Centerline goodness [0,1] 0.97886795687863 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.31, Z:0.21 [[ 9.99558407e-01 -2.54701782e-02 -1.53056106e-02 2.26423005e+01] [ 2.54789416e-02 9.99675288e-01 3.77804481e-04 -1.31475335e+00] [ 1.52910179e-02 -7.67608404e-04 9.99882791e-01 2.11168057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.020714057 meters Centerline goodness [0,1] 0.9766446171301351 Centerline is valid? [True, True] Translation: X:22.67, Y:-1.32, Z:0.21 [[ 9.99433728e-01 -3.00432473e-02 -1.51534574e-02 2.26719822e+01] [ 3.00523694e-02 9.99548255e-01 3.74573892e-04 -1.31923825e+00] [ 1.51353585e-02 -8.29759081e-04 9.99885110e-01 2.11021309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.050714056999997 meters Centerline goodness [0,1] 0.9779386566141193 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.32, Z:0.21 [[ 9.99391056e-01 -3.15636120e-02 -1.48746786e-02 2.27041889e+01] [ 3.15725749e-02 9.99501394e-01 3.68061559e-04 -1.32140932e+00] [ 1.48556446e-02 -8.37469335e-04 9.99889298e-01 2.11579862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.080714056999998 meters Centerline goodness [0,1] 0.9784160325795734 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.32, Z:0.21 [[ 9.99325163e-01 -3.35990632e-02 -1.48432325e-02 2.27355903e+01] [ 3.36082277e-02 9.99435016e-01 3.68339906e-04 -1.31556409e+00] [ 1.48224704e-02 -8.66946073e-04 9.99889765e-01 2.11741309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.110714057 meters Centerline goodness [0,1] 0.9772500159462505 Centerline is valid? [True, True] Translation: X:22.77, Y:-1.32, Z:0.21 [[ 9.99323797e-01 -3.35881626e-02 -1.49594089e-02 2.27665886e+01] [ 3.35974782e-02 9.99435376e-01 3.71780405e-04 -1.32459340e+00] [ 1.49384750e-02 -8.74127419e-04 9.99888033e-01 2.11807722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.140714056999997 meters Centerline goodness [0,1] 0.9782613351609518 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.32, Z:0.21 [[ 9.99317219e-01 -3.37385216e-02 -1.50601388e-02 2.27988229e+01] [ 3.37479929e-02 9.99430304e-01 3.75127903e-04 -1.31746443e+00] [ 1.50389029e-02 -8.83121230e-04 9.99886519e-01 2.11660101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.170714056999998 meters Centerline goodness [0,1] 0.979894225210372 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.32, Z:0.21 [[ 9.99383448e-01 -3.21210023e-02 -1.41761858e-02 2.28299010e+01] [ 3.21292466e-02 9.99483660e-01 3.54138211e-04 -1.31529901e+00] [ 1.41574907e-02 -8.09390034e-04 9.99899450e-01 2.12253683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.200714057 meters Centerline goodness [0,1] 0.9801205591894319 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.31, Z:0.21 [[ 9.99435143e-01 -3.06623619e-02 -1.37555191e-02 2.28626793e+01] [ 3.06699920e-02 9.99529506e-01 3.44030031e-04 -1.31270794e+00] [ 1.37384984e-02 -7.65717362e-04 9.99905329e-01 2.12544125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.230714056999997 meters Centerline goodness [0,1] 0.9791787408504519 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.31, Z:0.21 [[ 9.99477357e-01 -2.92714442e-02 -1.37184669e-02 2.28940479e+01] [ 2.92789209e-02 9.99571221e-01 3.44440794e-04 -1.31341180e+00] [ 1.37025024e-02 -7.45922680e-04 9.99905838e-01 2.13142469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.260714056999998 meters Centerline goodness [0,1] 0.9801668131821009 Centerline is valid? [True, True] Translation: X:22.93, Y:-1.31, Z:0.21 [[ 9.99569064e-01 -2.62338994e-02 -1.31707780e-02 2.29257589e+01] [ 2.62405372e-02 9.99655603e-01 3.31388612e-04 -1.31035471e+00] [ 1.31575484e-02 -6.76854095e-04 9.99913207e-01 2.13021146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.290714057 meters Centerline goodness [0,1] 0.9798656282095173 Centerline is valid? [True, True] Translation: X:22.96, Y:-1.31, Z:0.21 [[ 9.99604563e-01 -2.49955842e-02 -1.28817077e-02 2.29569136e+01] [ 2.50018401e-02 9.99687352e-01 3.24805486e-04 -1.31112467e+00] [ 1.28695616e-02 -6.46743443e-04 9.99916975e-01 2.12741652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.320714057 meters Centerline goodness [0,1] 0.9814604453779712 Centerline is valid? [True, True] Translation: X:22.99, Y:-1.31, Z:0.21 [[ 9.99620959e-01 -2.42079758e-02 -1.31115434e-02 2.29892874e+01] [ 2.42143983e-02 9.99706734e-01 3.31285449e-04 -1.30784233e+00] [ 1.30996785e-02 -6.48648013e-04 9.99913985e-01 2.12474683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.350714056999998 meters Centerline goodness [0,1] 0.9806037719655846 Centerline is valid? [True, True] Translation: X:23.02, Y:-1.31, Z:0.21 [[ 9.99645775e-01 -2.33007945e-02 -1.28606907e-02 2.30206474e+01] [ 2.33069113e-02 9.99728304e-01 3.25925113e-04 -1.30812265e+00] [ 1.28496022e-02 -6.25552640e-04 9.99917245e-01 2.12778990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.380714057 meters Centerline goodness [0,1] 0.9804921968787516 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.31, Z:0.21 [[ 9.99666565e-01 -2.20872806e-02 -1.33757628e-02 2.30510486e+01] [ 2.20938001e-02 9.99755844e-01 3.39824576e-04 -1.30811523e+00] [ 1.33649912e-02 -6.35232696e-04 9.99910483e-01 2.12399723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.410714057 meters Centerline goodness [0,1] 0.9810294621445701 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.31, Z:0.21 [[ 9.99664218e-01 -2.20632478e-02 -1.35891494e-02 2.30835314e+01] [ 2.20699768e-02 9.99756369e-01 3.45397138e-04 -1.30654787e+00] [ 1.35782181e-02 -6.45193371e-04 9.99907604e-01 2.11226332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.440714056999997 meters Centerline goodness [0,1] 0.9802732379979571 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.31, Z:0.21 [[ 9.99658892e-01 -2.21063329e-02 -1.39071561e-02 2.31142278e+01] [ 2.21133996e-02 9.99755406e-01 3.54544425e-04 -1.30760656e+00] [ 1.38959168e-02 -6.61957986e-04 9.99903228e-01 2.11492873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.470714057 meters Centerline goodness [0,1] 0.9809727418492784 Centerline is valid? [True, True] Translation: X:23.15, Y:-1.31, Z:0.21 [[ 9.99653878e-01 -2.23582159e-02 -1.38648515e-02 2.31461745e+01] [ 2.23652738e-02 9.99749803e-01 3.54186794e-04 -1.30781978e+00] [ 1.38534636e-02 -6.64155402e-04 9.99903816e-01 2.12725745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.500714057 meters Centerline goodness [0,1] 0.9811126594490299 Centerline is valid? [True, True] Translation: X:23.18, Y:-1.30, Z:0.21 [[ 9.99655379e-01 -2.22408365e-02 -1.39451654e-02 2.31784131e+01] [ 2.22479790e-02 9.99752419e-01 3.57245177e-04 -1.30385009e+00] [ 1.39337674e-02 -6.67373809e-04 9.99902698e-01 2.13863534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.530714056999997 meters Centerline goodness [0,1] 0.9789554400613445 Centerline is valid? [True, True] Translation: X:23.21, Y:-1.31, Z:0.21 [[ 9.99674987e-01 -2.13152686e-02 -1.39850120e-02 2.32090752e+01] [ 2.13223769e-02 9.99772588e-01 3.59357211e-04 -1.30995033e+00] [ 1.39741718e-02 -6.57434111e-04 9.99902140e-01 2.14390057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.560714057 meters Centerline goodness [0,1] 0.9789554400613445 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.31, Z:0.21 [[ 9.99676445e-01 -2.12467721e-02 -1.39850000e-02 2.32407848e+01] [ 2.12538803e-02 9.99774046e-01 3.59822944e-04 -1.31082961e+00] [ 1.39741950e-02 -6.56942037e-04 9.99902140e-01 2.14878488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.590714057 meters Centerline goodness [0,1] 0.9795800299978573 Centerline is valid? [True, True] Translation: X:23.27, Y:-1.30, Z:0.22 [[ 9.99685266e-01 -2.07778123e-02 -1.40588538e-02 2.32727237e+01] [ 2.07849637e-02 9.99783904e-01 3.62735581e-04 -1.30423956e+00] [ 1.40482789e-02 -6.54834182e-04 9.99901104e-01 2.15179808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.620714056999997 meters Centerline goodness [0,1] 0.9816187497322079 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.30, Z:0.22 [[ 9.99697330e-01 -2.01952488e-02 -1.40499045e-02 2.33040448e+01] [ 2.02023408e-02 9.99795846e-01 3.63015732e-04 -1.30271305e+00] [ 1.40397050e-02 -6.46746817e-04 9.99901229e-01 2.15412572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.650714057 meters Centerline goodness [0,1] 0.9823098035852131 Centerline is valid? [True, True] Translation: X:23.34, Y:-1.30, Z:0.22 [[ 9.99707903e-01 -1.90921752e-02 -1.48188315e-02 2.33358600e+01] [ 1.90999523e-02 9.99817506e-01 3.83452231e-04 -1.30109103e+00] [ 1.48088062e-02 -6.66379199e-04 9.99890122e-01 2.15308927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.680714057 meters Centerline goodness [0,1] 0.9819341353126866 Centerline is valid? [True, True] Translation: X:23.37, Y:-1.30, Z:0.22 [[ 9.99717727e-01 -1.85723531e-02 -1.48166533e-02 2.33672172e+01] [ 1.85800832e-02 9.99827302e-01 3.84220301e-04 -1.30184590e+00] [ 1.48069586e-02 -6.59406497e-04 9.99890154e-01 2.15901846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.710714056999997 meters Centerline goodness [0,1] 0.9812423716836899 Centerline is valid? [True, True] Translation: X:23.40, Y:-1.30, Z:0.22 [[ 9.99713409e-01 -1.87035370e-02 -1.49424873e-02 2.33975698e+01] [ 1.87114263e-02 9.99824851e-01 3.88336682e-04 -1.30463724e+00] [ 1.49326068e-02 -6.67820637e-04 9.99888279e-01 2.16490809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.740714056999998 meters Centerline goodness [0,1] 0.9807222198396021 Centerline is valid? [True, True] Translation: X:23.43, Y:-1.31, Z:0.22 [[ 9.99701576e-01 -1.96479039e-02 -1.45161261e-02 2.34286828e+01] [ 1.96554522e-02 9.99806742e-01 3.77496763e-04 -1.30576323e+00] [ 1.45059038e-02 -6.62705132e-04 9.99894564e-01 2.18234106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.770714057 meters Centerline goodness [0,1] 0.9806075167324524 Centerline is valid? [True, True] Translation: X:23.46, Y:-1.31, Z:0.22 [[ 9.99675176e-01 -2.09848025e-02 -1.44630806e-02 2.34596435e+01] [ 2.09924427e-02 9.99779563e-01 3.76622927e-04 -1.30697382e+00] [ 1.44519890e-02 -6.80115981e-04 9.99895333e-01 2.19155907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.800714056999997 meters Centerline goodness [0,1] 0.979938403627342 Centerline is valid? [True, True] Translation: X:23.49, Y:-1.31, Z:0.22 [[ 9.99648745e-01 -2.20784315e-02 -1.46605048e-02 2.34899339e+01] [ 2.20864065e-02 9.99755992e-01 3.82274482e-04 -1.30914320e+00] [ 1.46484875e-02 -7.05938076e-04 9.99892456e-01 2.19429405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.830714056999998 meters Centerline goodness [0,1] 0.9808675112733519 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.31, Z:0.22 [[ 9.99524057e-01 -2.66846154e-02 -1.54787434e-02 2.35214874e+01] [ 2.66940684e-02 9.99643568e-01 4.04387009e-04 -1.30633034e+00] [ 1.54624354e-02 -8.17385180e-04 9.99880115e-01 2.18918369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.860714057 meters Centerline goodness [0,1] 0.9796554094697946 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.32, Z:0.22 [[ 9.99447562e-01 -2.91862028e-02 -1.58977021e-02 2.35514791e+01] [ 2.91964992e-02 9.99573605e-01 4.15912153e-04 -1.31516462e+00] [ 1.58787845e-02 -8.79839635e-04 9.99873537e-01 2.19222917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.890714056999997 meters Centerline goodness [0,1] 0.9779977290742764 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.32, Z:0.22 [[ 9.99299064e-01 -3.36225534e-02 -1.64591643e-02 2.35810076e+01] [ 3.36341942e-02 9.99434118e-01 4.30876219e-04 -1.31897818e+00] [ 1.64353632e-02 -9.84164931e-04 9.99864446e-01 2.18515817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.920714056999998 meters Centerline goodness [0,1] 0.9790735647989 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.31, Z:0.22 [[ 9.99200909e-01 -3.59260537e-02 -1.75174638e-02 2.36128600e+01] [ 3.59395900e-02 9.99353859e-01 4.58428535e-04 -1.31114658e+00] [ 1.74896755e-02 -1.08763267e-03 9.99846452e-01 2.18217610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.950714057 meters Centerline goodness [0,1] 0.979626886498787 Centerline is valid? [True, True] Translation: X:23.64, Y:-1.31, Z:0.22 [[ 9.99156978e-01 -3.68198194e-02 -1.81558116e-02 2.36449977e+01] [ 3.68345216e-02 9.99321265e-01 4.75922993e-04 -1.31325589e+00] [ 1.81259652e-02 -1.14428241e-03 9.99835056e-01 2.17932565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.980714056999997 meters Centerline goodness [0,1] 0.9776907939767283 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.33, Z:0.22 [[ 9.99057883e-01 -3.90087166e-02 -1.90175282e-02 2.36747055e+01] [ 3.90252711e-02 9.99238099e-01 5.00008696e-04 -1.32626243e+00] [ 1.89835340e-02 -1.24170182e-03 9.99819025e-01 2.16226507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.010714056999998 meters Centerline goodness [0,1] 0.9795141055712164 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.32, Z:0.22 [[ 9.98992146e-01 -4.04816050e-02 -1.93889637e-02 2.37072477e+01] [ 4.04991207e-02 9.99179443e-01 5.11422111e-04 -1.31793388e+00] [ 1.93523508e-02 -1.29614265e-03 9.99811886e-01 2.17103237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.040714057 meters Centerline goodness [0,1] 0.9798786261513299 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.31, Z:0.22 [[ 9.98876647e-01 -4.33964903e-02 -1.90312606e-02 2.37382306e+01] [ 4.34139136e-02 9.99057045e-01 5.03125264e-04 -1.31455621e+00] [ 1.89914811e-02 -1.32878158e-03 9.99818763e-01 2.18227519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.070714057 meters Centerline goodness [0,1] 0.978610662358643 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.32, Z:0.22 [[ 9.98806542e-01 -4.49959474e-02 -1.89962015e-02 2.37694854e+01] [ 4.50136033e-02 9.98986248e-01 5.02668861e-04 -1.31994436e+00] [ 1.89543260e-02 -1.35715643e-03 9.99819430e-01 2.18309290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.100714056999998 meters Centerline goodness [0,1] 0.9794680253896973 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.31, Z:0.22 [[ 9.98667023e-01 -4.81288989e-02 -1.86490175e-02 2.38001419e+01] [ 4.81464745e-02 9.98840164e-01 4.94346721e-04 -1.31456039e+00] [ 1.86035954e-02 -1.39157221e-03 9.99825970e-01 2.19276283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.130714057 meters Centerline goodness [0,1] 0.9794587122275742 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.32, Z:0.22 [[ 9.98591329e-01 -4.98087042e-02 -1.82879969e-02 2.38314337e+01] [ 4.98258925e-02 9.98757801e-01 4.85146079e-04 -1.31543361e+00] [ 1.82411151e-02 -1.39567844e-03 9.99832643e-01 2.20024020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.160714057 meters Centerline goodness [0,1] 0.9785484601937976 Centerline is valid? [True, True] Translation: X:23.86, Y:-1.32, Z:0.22 [[ 9.98533686e-01 -5.11730029e-02 -1.76578975e-02 2.38621445e+01] [ 5.11892498e-02 9.98688861e-01 4.69047623e-04 -1.31644687e+00] [ 1.76107430e-02 -1.37225438e-03 9.99843977e-01 2.21002755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.190714056999997 meters Centerline goodness [0,1] 0.9532225589294068 Centerline is valid? [True, True] Translation: X:23.89, Y:-1.34, Z:0.22 [[ 9.98701090e-01 -4.88979884e-02 -1.43220083e-02 2.38908630e+01] [ 4.89084486e-02 9.98803193e-01 3.80812469e-04 -1.33725086e+00] [ 1.42862466e-02 -1.08078503e-03 9.99897362e-01 2.23274610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.220714057 meters Centerline goodness [0,1] 0.9788100883811166 Centerline is valid? [True, True] Translation: X:23.92, Y:-1.31, Z:0.22 [[ 9.98430125e-01 -5.34004094e-02 -1.69021508e-02 2.39229132e+01] [ 5.34156415e-02 9.98572264e-01 4.50702042e-04 -1.31420247e+00] [ 1.68539513e-02 -1.35283372e-03 9.99857047e-01 2.22640096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.250714057 meters Centerline goodness [0,1] 0.9785965745880219 Centerline is valid? [True, True] Translation: X:23.95, Y:-1.32, Z:0.22 [[ 9.98408113e-01 -5.37469509e-02 -1.71027738e-02 2.39541167e+01] [ 5.37626058e-02 9.98553641e-01 4.56555099e-04 -1.31518609e+00] [ 1.70534986e-02 -1.37531800e-03 9.99853633e-01 2.22718699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.280714056999997 meters Centerline goodness [0,1] 0.9794044880420157 Centerline is valid? [True, True] Translation: X:23.99, Y:-1.31, Z:0.22 [[ 9.98303174e-01 -5.52740621e-02 -1.83180306e-02 2.39854202e+01] [ 5.52922945e-02 9.98470091e-01 4.89973629e-04 -1.31418802e+00] [ 1.82629229e-02 -1.50198817e-03 9.99832091e-01 2.21913768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.310714057 meters Centerline goodness [0,1] 0.9792433227998788 Centerline is valid? [True, True] Translation: X:24.02, Y:-1.31, Z:0.22 [[ 9.98284828e-01 -5.54944992e-02 -1.86483785e-02 2.40177315e+01] [ 5.55134479e-02 9.98457815e-01 4.99585843e-04 -1.31079901e+00] [ 1.85918950e-02 -1.53396476e-03 9.99825979e-01 2.21748497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.340714057 meters Centerline goodness [0,1] 0.9807277716077611 Centerline is valid? [True, True] Translation: X:24.05, Y:-1.30, Z:0.22 [[ 9.98179516e-01 -5.69233753e-02 -1.99344860e-02 2.40490431e+01] [ 5.69453363e-02 9.98377154e-01 5.35292787e-04 -1.30377160e+00] [ 1.98716647e-02 -1.66949430e-03 9.99801145e-01 2.21314603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.370714056999997 meters Centerline goodness [0,1] 0.9807788480354852 Centerline is valid? [True, True] Translation: X:24.08, Y:-1.30, Z:0.22 [[ 9.98157001e-01 -5.72752620e-02 -2.00535653e-02 2.40802028e+01] [ 5.72975674e-02 9.98356999e-01 5.39026816e-04 -1.30470338e+00] [ 1.99897444e-02 -1.68705390e-03 9.99798762e-01 2.21239617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.400714057 meters Centerline goodness [0,1] 0.9809165288536862 Centerline is valid? [True, True] Translation: X:24.11, Y:-1.30, Z:0.22 [[ 9.98167201e-01 -5.69295409e-02 -2.05247511e-02 2.41116423e+01] [ 5.69528579e-02 9.98376716e-01 5.52827295e-04 -1.30271152e+00] [ 2.04599614e-02 -1.72075731e-03 9.99789192e-01 2.20346801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.430714057 meters Centerline goodness [0,1] 0.9822950819672132 Centerline is valid? [True, True] Translation: X:24.14, Y:-1.29, Z:0.22 [[ 9.98143350e-01 -5.70438653e-02 -2.13506570e-02 2.41436402e+01] [ 5.70691509e-02 9.98370062e-01 5.76382447e-04 -1.29428533e+00] [ 2.12829777e-02 -1.79377617e-03 9.99771883e-01 2.20653021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.460714056999997 meters Centerline goodness [0,1] 0.9805108261050056 Centerline is valid? [True, True] Translation: X:24.18, Y:-1.30, Z:0.22 [[ 9.98195453e-01 -5.60597255e-02 -2.15208142e-02 2.41751288e+01] [ 5.60852235e-02 9.98425815e-01 5.82595891e-04 -1.29938835e+00] [ 2.14542763e-02 -1.78854424e-03 9.99768231e-01 2.20511422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.490714056999998 meters Centerline goodness [0,1] 0.9826083137530468 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.29, Z:0.22 [[ 9.98252113e-01 -5.49917868e-02 -2.16476867e-02 2.42076760e+01] [ 5.50173719e-02 9.98485224e-01 5.87647374e-04 -1.28931816e+00] [ 2.15825795e-02 -1.77761906e-03 9.99765489e-01 2.21800128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.520714057 meters Centerline goodness [0,1] 0.9820390798043817 Centerline is valid? [True, True] Translation: X:24.24, Y:-1.29, Z:0.22 [[ 9.98288889e-01 -5.42945844e-02 -2.17115783e-02 2.42387060e+01] [ 5.43202022e-02 9.98523393e-01 5.91465706e-04 -1.29261348e+00] [ 2.16474054e-02 -1.76983096e-03 9.99764101e-01 2.22346648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.550714056999997 meters Centerline goodness [0,1] 0.9813578674630011 Centerline is valid? [True, True] Translation: X:24.27, Y:-1.29, Z:0.22 [[ 9.98307801e-01 -5.36652531e-02 -2.23958839e-02 2.42712566e+01] [ 5.36924183e-02 9.98557334e-01 6.12966256e-04 -1.28837912e+00] [ 2.23306791e-02 -1.81441816e-03 9.99748993e-01 2.22356765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.580714056999998 meters Centerline goodness [0,1] 0.9818405934273954 Centerline is valid? [True, True] Translation: X:24.30, Y:-1.28, Z:0.22 [[ 9.98314952e-01 -5.31277363e-02 -2.33387992e-02 2.43040914e+01] [ 5.31571360e-02 9.98585954e-01 6.40668838e-04 -1.28450159e+00] [ 2.32717598e-02 -1.88021300e-03 9.99727408e-01 2.22245053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.610714057 meters Centerline goodness [0,1] 0.9774330042313117 Centerline is valid? [True, True] Translation: X:24.34, Y:-1.30, Z:0.22 [[ 9.98331515e-01 -5.29856703e-02 -2.29500454e-02 2.43352813e+01] [ 5.30141022e-02 9.98593564e-01 6.31789758e-04 -1.29650003e+00] [ 2.28842918e-02 -1.84741168e-03 9.99736413e-01 2.20576761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.640714056999997 meters Centerline goodness [0,1] 0.9809843895104586 Centerline is valid? [True, True] Translation: X:24.37, Y:-1.29, Z:0.22 [[ 9.98287730e-01 -5.34610631e-02 -2.37386461e-02 2.43677699e+01] [ 5.34916513e-02 9.98568082e-01 6.54961210e-04 -1.28542919e+00] [ 2.36696394e-02 -1.92365912e-03 9.99717984e-01 2.21269825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.670714056999998 meters Centerline goodness [0,1] 0.9815869651609485 Centerline is valid? [True, True] Translation: X:24.40, Y:-1.29, Z:0.22 [[ 9.98296968e-01 -5.34211155e-02 -2.34381667e-02 2.44012534e+01] [ 5.34509684e-02 9.98570265e-01 6.48614010e-04 -1.28533606e+00] [ 2.33700066e-02 -1.90030211e-03 9.99725078e-01 2.21801602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.700714057 meters Centerline goodness [0,1] 0.9815808653017956 Centerline is valid? [True, True] Translation: X:24.43, Y:-1.28, Z:0.22 [[ 9.98303295e-01 -5.32156570e-02 -2.36352576e-02 2.44334030e+01] [ 5.32460099e-02 9.98581209e-01 6.56309685e-04 -1.28411199e+00] [ 2.35667982e-02 -1.91367928e-03 9.99720433e-01 2.22568270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.730714056999997 meters Centerline goodness [0,1] 0.9819149872392854 Centerline is valid? [True, True] Translation: X:24.46, Y:-1.28, Z:0.22 [[ 9.98368721e-01 -5.21181967e-02 -2.33150368e-02 2.44642080e+01] [ 5.21474667e-02 9.98639184e-01 6.48773196e-04 -1.28237122e+00] [ 2.32494965e-02 -1.86353497e-03 9.99727957e-01 2.23309464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.760714056999998 meters Centerline goodness [0,1] 0.9828963130573672 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.27, Z:0.22 [[ 9.98381289e-01 -5.17321455e-02 -2.36344472e-02 2.44961878e+01] [ 5.17621428e-02 9.98659224e-01 6.58805727e-04 -1.27467028e+00] [ 2.35686772e-02 -1.88110894e-03 9.99720450e-01 2.23875349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.790714057 meters Centerline goodness [0,1] 0.984009429766035 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.27, Z:0.22 [[ 9.98406382e-01 -5.12211570e-02 -2.36873470e-02 2.45290523e+01] [ 5.12511902e-02 9.98685575e-01 6.62157344e-04 -1.26989003e+00] [ 2.36222953e-02 -1.87510685e-03 9.99719196e-01 2.24490115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.820714056999996 meters Centerline goodness [0,1] 0.981084265042566 Centerline is valid? [True, True] Translation: X:24.56, Y:-1.28, Z:0.22 [[ 9.98412556e-01 -5.11231145e-02 -2.36388378e-02 2.45612697e+01] [ 5.11530488e-02 9.98690606e-01 6.62977761e-04 -1.28131922e+00] [ 2.35739918e-02 -1.87112395e-03 9.99720344e-01 2.23578792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.850714056999998 meters Centerline goodness [0,1] 0.9801779755283648 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.28, Z:0.22 [[ 9.98481816e-01 -4.99165146e-02 -2.32895657e-02 2.45917787e+01] [ 4.99452799e-02 9.98751741e-01 6.54710786e-04 -1.27873282e+00] [ 2.32278134e-02 -1.81692069e-03 9.99728547e-01 2.23727891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.880714057 meters Centerline goodness [0,1] 0.9835356838851306 Centerline is valid? [True, True] Translation: X:24.62, Y:-1.26, Z:0.23 [[ 9.98622709e-01 -4.71650624e-02 -2.29813263e-02 2.46230706e+01] [ 4.71923568e-02 9.98885611e-01 6.46482896e-04 -1.26060763e+00] [ 2.29252247e-02 -1.73013545e-03 9.99735685e-01 2.26251669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.910714057 meters Centerline goodness [0,1] 0.9807092707655728 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.27, Z:0.23 [[ 9.98692524e-01 -4.57239452e-02 -2.28596467e-02 2.46535153e+01] [ 4.57505904e-02 9.98952686e-01 6.43698042e-04 -1.27215935e+00] [ 2.28062730e-02 -1.68869875e-03 9.99738477e-01 2.25571844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.940714056999997 meters Centerline goodness [0,1] 0.9827156614065411 Centerline is valid? [True, True] Translation: X:24.69, Y:-1.26, Z:0.23 [[ 9.98783627e-01 -4.40097549e-02 -2.22352778e-02 2.46854662e+01] [ 4.40345617e-02 9.99029811e-01 6.27024605e-04 -1.25939139e+00] [ 2.21861102e-02 -1.60538262e-03 9.99752569e-01 2.27634612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.970714057 meters Centerline goodness [0,1] 0.9833984813766455 Centerline is valid? [True, True] Translation: X:24.72, Y:-1.26, Z:0.23 [[ 9.98840339e-01 -4.27724021e-02 -2.21019896e-02 2.47181983e+01] [ 4.27966421e-02 9.99083609e-01 6.24679461e-04 -1.25597470e+00] [ 2.20550165e-02 -1.56984599e-03 9.99755526e-01 2.28276015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.000714057 meters Centerline goodness [0,1] 0.9838245219347581 Centerline is valid? [True, True] Translation: X:24.75, Y:-1.25, Z:0.23 [[ 9.98923734e-01 -4.08804158e-02 -2.19126693e-02 2.47500845e+01] [ 4.09038267e-02 9.99162895e-01 6.21039554e-04 -1.25287146e+00] [ 2.18689378e-02 -1.51668318e-03 9.99759696e-01 2.28077280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.030714056999997 meters Centerline goodness [0,1] 0.9839833968733787 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.25, Z:0.23 [[ 9.98948949e-01 -3.99967027e-02 -2.23888810e-02 2.47826871e+01] [ 4.00209519e-02 9.99198638e-01 6.35891401e-04 -1.25015652e+00] [ 2.23455059e-02 -1.53124738e-03 9.99749135e-01 2.28167144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.060714057 meters Centerline goodness [0,1] 0.9848139025106777 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.25, Z:0.23 [[ 9.98994521e-01 -3.84708996e-02 -2.30203744e-02 2.48145748e+01] [ 3.84961691e-02 9.99258533e-01 6.55388694e-04 -1.24902902e+00] [ 2.29780922e-02 -1.54092594e-03 9.99734781e-01 2.28103932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.090714057 meters Centerline goodness [0,1] 0.9857515007362102 Centerline is valid? [True, True] Translation: X:24.84, Y:-1.24, Z:0.23 [[ 9.99119726e-01 -3.43815167e-02 -2.40350687e-02 2.48446532e+01] [ 3.44079040e-02 9.99407638e-01 6.85046894e-04 -1.24387337e+00] [ 2.39972782e-02 -1.51144020e-03 9.99710881e-01 2.27460573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.120714056999997 meters Centerline goodness [0,1] 0.9846752006548283 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.24, Z:0.23 [[ 9.99186280e-01 -3.16864343e-02 -2.49549046e-02 2.48766062e+01] [ 3.17140516e-02 9.99496730e-01 7.11594753e-04 -1.24012698e+00] [ 2.49197976e-02 -1.50243685e-03 9.99688325e-01 2.27495044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.150714057 meters Centerline goodness [0,1] 0.9871385569643346 Centerline is valid? [True, True] Translation: X:24.91, Y:-1.23, Z:0.23 [[ 9.99378369e-01 -2.48270624e-02 -2.50298220e-02 2.49060546e+01] [ 2.48527176e-02 9.99690868e-01 7.14379305e-04 -1.23389650e+00] [ 2.50043485e-02 -1.33599432e-03 9.99686450e-01 2.27685878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.180714057 meters Centerline goodness [0,1] 0.9862528830124911 Centerline is valid? [True, True] Translation: X:24.94, Y:-1.23, Z:0.23 [[ 9.99461150e-01 -2.11359315e-02 -2.51133781e-02 2.49374589e+01] [ 2.11605921e-02 9.99775833e-01 7.16598486e-04 -1.23068923e+00] [ 2.50926025e-02 -1.24762630e-03 9.99684353e-01 2.27751242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.210714056999997 meters Centerline goodness [0,1] 0.9879432298364872 Centerline is valid? [True, True] Translation: X:24.97, Y:-1.22, Z:0.23 [[ 9.99599216e-01 -1.33058609e-02 -2.49872160e-02 2.49680626e+01] [ 1.33278377e-02 9.99910926e-01 7.13181737e-04 -1.22225534e+00] [ 2.49755008e-02 -1.04592147e-03 9.99687516e-01 2.28625006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.240714056999998 meters Centerline goodness [0,1] 0.9886259611863786 Centerline is valid? [True, True] Translation: X:25.00, Y:-1.22, Z:0.23 [[ 9.99646780e-01 -9.67031685e-03 -2.47548202e-02 2.49975213e+01] [ 9.69076481e-03 9.99952794e-01 7.06184862e-04 -1.21970562e+00] [ 2.47468226e-02 -9.45828563e-04 9.99693303e-01 2.29168845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.270714057 meters Centerline goodness [0,1] 0.9890823184017982 Centerline is valid? [True, True] Translation: X:25.03, Y:-1.22, Z:0.23 [[ 9.99671044e-01 -6.84676261e-03 -2.47169173e-02 2.50262669e+01] [ 6.86625636e-03 9.99976179e-01 7.03896461e-04 -1.21795151e+00] [ 2.47115091e-02 -8.73377601e-04 9.99694243e-01 2.29949553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.300714056999997 meters Centerline goodness [0,1] 0.9892359354156125 Centerline is valid? [True, True] Translation: X:25.05, Y:-1.22, Z:0.23 [[ 9.99704130e-01 -3.16989979e-03 -2.41164775e-02 2.50547554e+01] [ 3.18735431e-03 9.99994686e-01 6.85354079e-04 -1.21644941e+00] [ 2.41141768e-02 -7.62019062e-04 9.99708921e-01 2.30517973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.330714056999998 meters Centerline goodness [0,1] 0.9895066273932254 Centerline is valid? [True, True] Translation: X:25.08, Y:-1.22, Z:0.23 [[ 9.99716434e-01 -2.72441071e-03 -2.36564729e-02 2.50823927e+01] [ 2.74104848e-03 9.99996018e-01 6.70909203e-04 -1.21733413e+00] [ 2.36545509e-02 -7.35562495e-04 9.99719921e-01 2.30635155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.360714057 meters Centerline goodness [0,1] 0.9896100329549615 Centerline is valid? [True, True] Translation: X:25.11, Y:-1.22, Z:0.23 [[ 9.99719779e-01 -2.17024525e-03 -2.35722863e-02 2.51106576e+01] [ 2.18653281e-03 9.99997388e-01 6.65210083e-04 -1.21835495e+00] [ 2.35707810e-02 -7.16565254e-04 9.99721914e-01 2.30790141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.390714056999997 meters Centerline goodness [0,1] 0.989785824380593 Centerline is valid? [True, True] Translation: X:25.14, Y:-1.22, Z:0.23 [[ 9.99694646e-01 -2.57581571e-03 -2.45760005e-02 2.51389233e+01] [ 2.59352762e-03 9.99996400e-01 6.88852825e-04 -1.22018774e+00] [ 2.45741376e-02 -7.52381017e-04 9.99697727e-01 2.30121479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.420714056999998 meters Centerline goodness [0,1] 0.9891748084950232 Centerline is valid? [True, True] Translation: X:25.17, Y:-1.22, Z:0.23 [[ 9.99694205e-01 -2.61740961e-03 -2.45895552e-02 2.51668744e+01] [ 2.63505763e-03 9.99996293e-01 6.85328753e-04 -1.22162781e+00] [ 2.45876703e-02 -7.49914078e-04 9.99697396e-01 2.30485370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.450714057 meters Centerline goodness [0,1] 0.9902475963193281 Centerline is valid? [True, True] Translation: X:25.20, Y:-1.22, Z:0.23 [[ 9.99692954e-01 -3.17471154e-03 -2.45747682e-02 2.51954193e+01] [ 3.19234389e-03 9.99994674e-01 6.78299444e-04 -1.22290626e+00] [ 2.45724839e-02 -7.56542286e-04 9.99697765e-01 2.31294470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.480714056999997 meters Centerline goodness [0,1] 0.9902475963193281 Centerline is valid? [True, True] Translation: X:25.22, Y:-1.22, Z:0.23 [[ 9.99691990e-01 -3.46362107e-03 -2.45749473e-02 2.52227827e+01] [ 3.48117999e-03 9.99993715e-01 6.71759323e-04 -1.22359450e+00] [ 2.45724661e-02 -7.57102229e-04 9.99697765e-01 2.31717712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.510714056999998 meters Centerline goodness [0,1] 0.9886819254473389 Centerline is valid? [True, True] Translation: X:25.25, Y:-1.23, Z:0.23 [[ 9.99690474e-01 -3.86325171e-03 -2.45770489e-02 2.52503247e+01] [ 3.88080465e-03 9.99992248e-01 6.66543803e-04 -1.22823608e+00] [ 2.45742834e-02 -7.61716216e-04 9.99697717e-01 2.31433948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.540714057 meters Centerline goodness [0,1] 0.9871224056442222 Centerline is valid? [True, True] Translation: X:25.28, Y:-1.23, Z:0.23 [[ 9.99704682e-01 -4.46816105e-03 -2.38868976e-02 2.52783132e+01] [ 4.48486484e-03 9.99989734e-01 6.45759773e-04 -1.23402378e+00] [ 2.38837670e-02 -7.52698576e-04 9.99714459e-01 2.31339313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.570714056999996 meters Centerline goodness [0,1] 0.9864265801380193 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.24, Z:0.23 [[ 9.99694193e-01 -7.72049313e-03 -2.34928500e-02 2.53077219e+01] [ 7.73751025e-03 9.99969864e-01 6.33537148e-04 -1.24010523e+00] [ 2.34872508e-02 -8.15119576e-04 9.99723804e-01 2.31969039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.600714056999998 meters Centerline goodness [0,1] 0.9866833314396092 Centerline is valid? [True, True] Translation: X:25.34, Y:-1.25, Z:0.23 [[ 9.99647801e-01 -1.20458912e-02 -2.36468052e-02 2.53373034e+01] [ 1.20643214e-02 9.99927021e-01 6.36880227e-04 -1.24537876e+00] [ 2.36374077e-02 -9.21938576e-04 9.99720172e-01 2.32535963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.630714057 meters Centerline goodness [0,1] 0.9863507538827797 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.26, Z:0.23 [[ 9.99611195e-01 -1.50426029e-02 -2.34772163e-02 2.53655698e+01] [ 1.50615719e-02 9.99886369e-01 6.31351550e-04 -1.25674673e+00] [ 2.34650514e-02 -9.84709859e-04 9.99724173e-01 2.31136010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.660714057 meters Centerline goodness [0,1] 0.9856793256593854 Centerline is valid? [True, True] Translation: X:25.40, Y:-1.26, Z:0.23 [[ 9.99558620e-01 -1.79214102e-02 -2.36936516e-02 2.53950992e+01] [ 1.79415115e-02 9.99838836e-01 6.36058907e-04 -1.25662124e+00] [ 2.36784339e-02 -1.06087809e-03 9.99719064e-01 2.32342089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.690714056999997 meters Centerline goodness [0,1] 0.9862877538572752 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.26, Z:0.23 [[ 9.99400651e-01 -2.43010275e-02 -2.46535812e-02 2.54251305e+01] [ 2.43247132e-02 9.99703892e-01 6.61263145e-04 -1.26417043e+00] [ 2.46302117e-02 -1.26055811e-03 9.99695836e-01 2.32638231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.720714057 meters Centerline goodness [0,1] 0.9849773306566215 Centerline is valid? [True, True] Translation: X:25.46, Y:-1.27, Z:0.23 [[ 9.99318486e-01 -2.72856910e-02 -2.48606898e-02 2.54551224e+01] [ 2.73107114e-02 9.99626770e-01 6.67383546e-04 -1.26999497e+00] [ 2.48332010e-02 -1.34589184e-03 9.99690703e-01 2.32471928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.750714057 meters Centerline goodness [0,1] 0.9853506190037522 Centerline is valid? [True, True] Translation: X:25.48, Y:-1.28, Z:0.23 [[ 9.99139383e-01 -3.31805938e-02 -2.48905780e-02 2.54848892e+01] [ 3.32075166e-02 9.99448254e-01 6.68970403e-04 -1.27990183e+00] [ 2.48546479e-02 -1.49494896e-03 9.99689958e-01 2.32476422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.780714056999997 meters Centerline goodness [0,1] 0.9847205108099025 Centerline is valid? [True, True] Translation: X:25.51, Y:-1.29, Z:0.23 [[ 9.99064474e-01 -3.56522446e-02 -2.44764014e-02 2.55149187e+01] [ 3.56790214e-02 9.99363084e-01 6.58004307e-04 -1.28793628e+00] [ 2.44373527e-02 -1.53068278e-03 9.99700191e-01 2.32673689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.810714057 meters Centerline goodness [0,1] 0.984278482706331 Centerline is valid? [True, True] Translation: X:25.55, Y:-1.29, Z:0.23 [[ 9.98967537e-01 -3.82250577e-02 -2.45500508e-02 2.55459091e+01] [ 3.82527898e-02 9.99267876e-01 6.60812273e-04 -1.28833156e+00] [ 2.45068175e-02 -1.59923794e-03 9.99698384e-01 2.34176666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.840714057 meters Centerline goodness [0,1] 0.9823259338504057 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.30, Z:0.23 [[ 9.98822819e-01 -4.23582292e-02 -2.36380487e-02 2.55748003e+01] [ 4.23850999e-02 9.99101145e-01 6.36668649e-04 -1.30209738e+00] [ 2.35898333e-02 -1.63782023e-03 9.99720380e-01 2.34139610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.870714056999997 meters Centerline goodness [0,1] 0.9827505723875787 Centerline is valid? [True, True] Translation: X:25.61, Y:-1.30, Z:0.24 [[ 9.98773520e-01 -4.36912735e-02 -2.32922287e-02 2.56067199e+01] [ 4.37177429e-02 9.99043725e-01 6.28162169e-04 -1.30298346e+00] [ 2.32425097e-02 -1.64567541e-03 9.99728502e-01 2.35249177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.900714057 meters Centerline goodness [0,1] 0.9844668811716409 Centerline is valid? [True, True] Translation: X:25.64, Y:-1.30, Z:0.24 [[ 9.98672738e-01 -4.61722296e-02 -2.28229693e-02 2.56377045e+01] [ 4.61983141e-02 9.98932098e-01 6.16686868e-04 -1.30193089e+00] [ 2.27701228e-02 -1.67025107e-03 9.99739332e-01 2.36565573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.930714057 meters Centerline goodness [0,1] 0.9830086844501699 Centerline is valid? [True, True] Translation: X:25.67, Y:-1.31, Z:0.24 [[ 9.98633478e-01 -4.70284100e-02 -2.27926726e-02 2.56681565e+01] [ 4.70546595e-02 9.98892126e-01 6.16417620e-04 -1.31228193e+00] [ 2.27384320e-02 -1.68807672e-03 9.99740023e-01 2.36102846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.960714056999997 meters Centerline goodness [0,1] 0.9834842834310069 Centerline is valid? [True, True] Translation: X:25.70, Y:-1.31, Z:0.24 [[ 9.98603121e-01 -4.77449005e-02 -2.26325048e-02 2.57000527e+01] [ 4.77709895e-02 9.98858126e-01 6.13163349e-04 -1.31029028e+00] [ 2.25773859e-02 -1.69348399e-03 9.99743664e-01 2.36728468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.990714056999998 meters Centerline goodness [0,1] 0.9837682441397612 Centerline is valid? [True, True] Translation: X:25.73, Y:-1.31, Z:0.24 [[ 9.98532216e-01 -4.90674026e-02 -2.29303885e-02 2.57321248e+01] [ 4.90945679e-02 9.98793940e-01 6.22897796e-04 -1.31442300e+00] [ 2.28721691e-02 -1.74774103e-03 9.99736870e-01 2.37431571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.020714057 meters Centerline goodness [0,1] 0.9841248754566589 Centerline is valid? [True, True] Translation: X:25.76, Y:-1.32, Z:0.24 [[ 9.98482315e-01 -4.99303369e-02 -2.32385168e-02 2.57636654e+01] [ 4.99585055e-02 9.98751094e-01 6.32810865e-04 -1.31764490e+00] [ 2.31778976e-02 -1.79281203e-03 9.99729749e-01 2.37638034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.050714056999997 meters Centerline goodness [0,1] 0.9831611090213086 Centerline is valid? [True, True] Translation: X:25.79, Y:-1.32, Z:0.24 [[ 9.98402578e-01 -5.13989545e-02 -2.34614696e-02 2.57947585e+01] [ 5.14280955e-02 9.98676495e-01 6.40004583e-04 -1.32177198e+00] [ 2.33975227e-02 -1.84556093e-03 9.99724537e-01 2.36639645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.080714056999998 meters Centerline goodness [0,1] 0.9787807789222404 Centerline is valid? [True, True] Translation: X:25.83, Y:-1.33, Z:0.23 [[ 9.98340541e-01 -5.22801609e-02 -2.41443342e-02 2.58259466e+01] [ 5.23113171e-02 9.98630608e-01 6.60186208e-04 -1.33436926e+00] [ 2.40767565e-02 -1.92211258e-03 9.99708265e-01 2.34922599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.110714057 meters Centerline goodness [0,1] 0.9831055680863297 Centerline is valid? [True, True] Translation: X:25.86, Y:-1.33, Z:0.24 [[ 9.98281263e-01 -5.31642163e-02 -2.46594015e-02 2.58585370e+01] [ 5.31970443e-02 9.98583805e-01 6.76703212e-04 -1.32859902e+00] [ 2.45885026e-02 -1.98734741e-03 9.99695682e-01 2.35709767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.140714056999997 meters Centerline goodness [0,1] 0.9829652437808741 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.33, Z:0.24 [[ 9.98194441e-01 -5.44553694e-02 -2.53470075e-02 2.58908839e+01] [ 5.44905139e-02 9.98514045e-01 6.97394927e-04 -1.33094457e+00] [ 2.52713661e-02 -2.07730720e-03 9.99678470e-01 2.35501649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.170714056999998 meters Centerline goodness [0,1] 0.9830598434251847 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.34, Z:0.24 [[ 9.98065973e-01 -5.64612243e-02 -2.60085331e-02 2.59218081e+01] [ 5.64989447e-02 9.98402401e-01 7.17159658e-04 -1.33513402e+00] [ 2.59264902e-02 -2.18522733e-03 9.99661464e-01 2.35222611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.200714057 meters Centerline goodness [0,1] 0.9823651452282157 Centerline is valid? [True, True] Translation: X:25.95, Y:-1.34, Z:0.24 [[ 9.98007118e-01 -5.73579191e-02 -2.63032443e-02 2.59534755e+01] [ 5.73968595e-02 9.98351177e-01 7.27226008e-04 -1.33822748e+00] [ 2.62181627e-02 -2.23550035e-03 9.99653745e-01 2.35637932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.230714056999997 meters Centerline goodness [0,1] 0.9806724913952872 Centerline is valid? [True, True] Translation: X:25.98, Y:-1.34, Z:0.24 [[ 9.97921681e-01 -5.90807965e-02 -2.57250356e-02 2.59846379e+01] [ 5.91186656e-02 9.98250707e-01 7.13363638e-04 -1.34172046e+00] [ 2.56378889e-02 -2.23271082e-03 9.99668802e-01 2.36614471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.260714056999998 meters Centerline goodness [0,1] 0.9802547489973115 Centerline is valid? [True, True] Translation: X:26.02, Y:-1.34, Z:0.24 [[ 9.97931366e-01 -5.92523844e-02 -2.49428071e-02 2.60167665e+01] [ 5.92880675e-02 9.98240675e-01 6.92864547e-04 -1.34364450e+00] [ 2.48578708e-02 -2.17024210e-03 9.99688640e-01 2.37800386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.290714057 meters Centerline goodness [0,1] 0.9790779280969301 Centerline is valid? [True, True] Translation: X:26.05, Y:-1.35, Z:0.24 [[ 9.97912627e-01 -5.96995271e-02 -2.46242940e-02 2.60476339e+01] [ 5.97344774e-02 9.98214066e-01 6.85564198e-04 -1.34719357e+00] [ 2.45393888e-02 -2.15505250e-03 9.99696541e-01 2.38560969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.320714056999996 meters Centerline goodness [0,1] 0.97729829902707 Centerline is valid? [True, True] Translation: X:26.08, Y:-1.35, Z:0.24 [[ 9.97817040e-01 -6.15563740e-02 -2.39158447e-02 2.60788123e+01] [ 6.15898961e-02 9.98101317e-01 6.66914407e-04 -1.35035009e+00] [ 2.38293833e-02 -2.13843295e-03 9.99713753e-01 2.38632435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.350714056999998 meters Centerline goodness [0,1] 0.97542341069181 Centerline is valid? [True, True] Translation: X:26.11, Y:-1.35, Z:0.24 [[ 9.97763310e-01 -6.24941940e-02 -2.37245059e-02 2.61105564e+01] [ 6.25274672e-02 9.98043024e-01 6.62533497e-04 -1.35385671e+00] [ 2.36366731e-02 -2.14448488e-03 9.99718315e-01 2.38566758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.380714057 meters Centerline goodness [0,1] 0.9769139700078927 Centerline is valid? [True, True] Translation: X:26.14, Y:-1.35, Z:0.24 [[ 9.97581840e-01 -6.51272149e-02 -2.42676336e-02 2.61408468e+01] [ 6.51628222e-02 9.97874414e-01 6.78546334e-04 -1.35331603e+00] [ 2.41718589e-02 -2.25825300e-03 9.99705267e-01 2.37877908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.410714057 meters Centerline goodness [0,1] 0.9813399876336013 Centerline is valid? [True, True] Translation: X:26.17, Y:-1.35, Z:0.24 [[ 9.97427623e-01 -6.72435350e-02 -2.48282843e-02 2.61724099e+01] [ 6.72814668e-02 9.97733793e-01 6.94622884e-04 -1.35021282e+00] [ 2.47253094e-02 -2.36331944e-03 9.99691489e-01 2.38367994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.440714056999997 meters Centerline goodness [0,1] 0.9805386235176771 Centerline is valid? [True, True] Translation: X:26.20, Y:-1.35, Z:0.24 [[ 9.97192988e-01 -7.05926617e-02 -2.49563639e-02 2.62028523e+01] [ 7.06320386e-02 9.97502194e-01 6.98767922e-04 -1.35327136e+00] [ 2.48446999e-02 -2.45952533e-03 9.99688297e-01 2.38726113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.470714057 meters Centerline goodness [0,1] 0.9812859567527057 Centerline is valid? [True, True] Translation: X:26.23, Y:-1.35, Z:0.24 [[ 9.97125995e-01 -7.17245047e-02 -2.43997138e-02 2.62344762e+01] [ 7.17625052e-02 9.97421513e-01 6.84248336e-04 -1.35194078e+00] [ 2.42877220e-02 -2.43326639e-03 9.99702048e-01 2.39501001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.500714057 meters Centerline goodness [0,1] 0.9838941616335922 Centerline is valid? [True, True] Translation: X:26.27, Y:-1.35, Z:0.24 [[ 9.97018673e-01 -7.33558199e-02 -2.39309308e-02 2.62659326e+01] [ 7.33928888e-02 9.97302878e-01 6.73199180e-04 -1.34756745e+00] [ 2.38170031e-02 -2.42755230e-03 9.99713388e-01 2.40741430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.530714056999997 meters Centerline goodness [0,1] 0.9804402057531404 Centerline is valid? [True, True] Translation: X:26.30, Y:-1.35, Z:0.24 [[ 9.96852772e-01 -7.55278775e-02 -2.40850540e-02 2.62957920e+01] [ 7.55660802e-02 9.97140565e-01 6.78679252e-04 -1.35422096e+00] [ 2.39649252e-02 -2.49655641e-03 9.99709683e-01 2.41163452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.560714057 meters Centerline goodness [0,1] 0.9826790093453814 Centerline is valid? [True, True] Translation: X:26.33, Y:-1.35, Z:0.24 [[ 9.96786993e-01 -7.62839184e-02 -2.44224290e-02 2.63281347e+01] [ 7.63234644e-02 9.97082872e-01 6.89865547e-04 -1.35166646e+00] [ 2.42985600e-02 -2.55165339e-03 9.99701490e-01 2.41994280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.590714057 meters Centerline goodness [0,1] 0.9808525692049173 Centerline is valid? [True, True] Translation: X:26.36, Y:-1.35, Z:0.24 [[ 9.96798065e-01 -7.60306425e-02 -2.47580144e-02 2.63602962e+01] [ 7.60712772e-02 9.97102135e-01 7.02235235e-04 -1.35244814e+00] [ 2.46328777e-02 -2.58336050e-03 9.99693227e-01 2.42155430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.620714056999997 meters Centerline goodness [0,1] 0.98 Centerline is valid? [True, True] Translation: X:26.39, Y:-1.35, Z:0.24 [[ 9.96947291e-01 -7.43317358e-02 -2.38933483e-02 2.63897458e+01] [ 7.43691596e-02 9.97230548e-01 6.80297449e-04 -1.35281065e+00] [ 2.37766092e-02 -2.45514894e-03 9.99714282e-01 2.43222968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.650714057 meters Centerline goodness [0,1] 0.98 Centerline is valid? [True, True] Translation: X:26.42, Y:-1.35, Z:0.24 [[ 9.96955397e-01 -7.42229425e-02 -2.38933299e-02 2.64224428e+01] [ 7.42603507e-02 9.97238656e-01 6.80944711e-04 -1.35383349e+00] [ 2.37768104e-02 -2.45319856e-03 9.99714282e-01 2.43726915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.680714057 meters Centerline goodness [0,1] 0.9834946939318077 Centerline is valid? [True, True] Translation: X:26.45, Y:-1.35, Z:0.24 [[ 9.97222803e-01 -7.07730561e-02 -2.31917268e-02 2.64527081e+01] [ 7.08074130e-02 9.97489785e-01 6.62576028e-04 -1.34936505e+00] [ 2.30866181e-02 -2.30288210e-03 9.99730816e-01 2.44127328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.710714056999997 meters Centerline goodness [0,1] 0.979550646527824 Centerline is valid? [True, True] Translation: X:26.48, Y:-1.35, Z:0.24 [[ 9.97361205e-01 -6.89237705e-02 -2.28065870e-02 2.64825256e+01] [ 6.89565163e-02 9.97619454e-01 6.51562519e-04 -1.35176151e+00] [ 2.27073867e-02 -2.22250596e-03 9.99739684e-01 2.44488405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.740714056999998 meters Centerline goodness [0,1] 0.9838232044198895 Centerline is valid? [True, True] Translation: X:26.51, Y:-1.35, Z:0.25 [[ 9.97531093e-01 -6.63500285e-02 -2.30085301e-02 2.65139292e+01] [ 6.63826813e-02 9.97794021e-01 6.57451136e-04 -1.34669481e+00] [ 2.29141518e-02 -2.18319587e-03 9.99735053e-01 2.45340467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.770714057 meters Centerline goodness [0,1] 0.9851907853775682 Centerline is valid? [True, True] Translation: X:26.54, Y:-1.34, Z:0.25 [[ 9.97868724e-01 -6.09521271e-02 -2.32990823e-02 2.65445611e+01] [ 6.09841594e-02 9.98138512e-01 6.66113367e-04 -1.33845874e+00] [ 2.32151104e-02 -2.08556865e-03 9.99728318e-01 2.46919537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.800714056999997 meters Centerline goodness [0,1] 0.9855727677681005 Centerline is valid? [True, True] Translation: X:26.57, Y:-1.34, Z:0.25 [[ 9.98040786e-01 -5.77991999e-02 -2.39549998e-02 2.65740328e+01] [ 5.78321630e-02 9.98326085e-01 6.84971168e-04 -1.33714528e+00] [ 2.38753104e-02 -2.06899862e-03 9.99712803e-01 2.47765224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.830714056999998 meters Centerline goodness [0,1] 0.9859534303904546 Centerline is valid? [True, True] Translation: X:26.60, Y:-1.33, Z:0.25 [[ 9.98208772e-01 -5.45697548e-02 -2.45232609e-02 2.66042214e+01] [ 5.46033285e-02 9.98507879e-01 7.01023030e-04 -1.33485165e+00] [ 2.44484146e-02 -2.03881901e-03 9.99699014e-01 2.47944348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.860714057 meters Centerline goodness [0,1] 0.985448702211708 Centerline is valid? [True, True] Translation: X:26.63, Y:-1.33, Z:0.25 [[ 9.98497333e-01 -4.83592819e-02 -2.57770487e-02 2.66348537e+01] [ 4.83943267e-02 9.98828036e-01 7.37071741e-04 -1.32827385e+00] [ 2.57111946e-02 -1.98342708e-03 9.99667445e-01 2.47513640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.890714056999997 meters Centerline goodness [0,1] 0.9861117353588925 Centerline is valid? [True, True] Translation: X:26.67, Y:-1.32, Z:0.25 [[ 9.98704378e-01 -4.30388784e-02 -2.71517916e-02 2.66653670e+01] [ 4.30758128e-02 9.99071505e-01 7.76593074e-04 -1.32269723e+00] [ 2.70931576e-02 -1.94517240e-03 9.99631020e-01 2.47186661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.920714056999998 meters Centerline goodness [0,1] 0.9865227903644668 Centerline is valid? [True, True] Translation: X:26.70, Y:-1.32, Z:0.25 [[ 9.98797166e-01 -4.06573609e-02 -2.74080348e-02 2.66967378e+01] [ 4.06941150e-02 9.99171344e-01 7.84324124e-04 -1.32012942e+00] [ 2.73534344e-02 -1.89872643e-03 9.99624022e-01 2.47649782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.950714057 meters Centerline goodness [0,1] 0.98686927635123 Centerline is valid? [True, True] Translation: X:26.73, Y:-1.32, Z:0.25 [[ 9.98884618e-01 -3.83820724e-02 -2.75015567e-02 2.67272176e+01] [ 3.84182404e-02 9.99261436e-01 7.87758915e-04 -1.31946147e+00] [ 2.74510092e-02 -1.84344168e-03 9.99621450e-01 2.48375347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.980714056999997 meters Centerline goodness [0,1] 0.986298596112311 Centerline is valid? [True, True] Translation: X:26.76, Y:-1.32, Z:0.25 [[ 9.99048641e-01 -3.45734723e-02 -2.65798478e-02 2.67578084e+01] [ 3.46059228e-02 9.99400745e-01 7.61709436e-04 -1.31605400e+00] [ 2.65375848e-02 -1.68080494e-03 9.99646403e-01 2.49048649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.010714056999998 meters Centerline goodness [0,1] 0.9860751805277485 Centerline is valid? [True, True] Translation: X:26.79, Y:-1.32, Z:0.25 [[ 9.99144814e-01 -3.23751651e-02 -2.57194482e-02 2.67888579e+01] [ 3.24048347e-02 9.99474553e-01 7.37526447e-04 -1.31541834e+00] [ 2.56820564e-02 -1.57033019e-03 9.99668928e-01 2.48894326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.040714057 meters Centerline goodness [0,1] 0.9863899743969815 Centerline is valid? [True, True] Translation: X:26.82, Y:-1.32, Z:0.25 [[ 9.99183914e-01 -3.15487107e-02 -2.52226953e-02 2.68207380e+01] [ 3.15770085e-02 9.99501059e-01 7.24314944e-04 -1.31621924e+00] [ 2.51872594e-02 -1.52018110e-03 9.99681595e-01 2.49324480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.070714056999996 meters Centerline goodness [0,1] 0.9859554355165429 Centerline is valid? [True, True] Translation: X:26.85, Y:-1.32, Z:0.25 [[ 9.99215767e-01 -3.10074717e-02 -2.46249203e-02 2.68523769e+01] [ 3.10343067e-02 9.99518069e-01 7.08239772e-04 -1.31661515e+00] [ 2.45910920e-02 -1.47190168e-03 9.99696510e-01 2.49621352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.100714056999998 meters Centerline goodness [0,1] 0.9859532224298224 Centerline is valid? [True, True] Translation: X:26.88, Y:-1.32, Z:0.25 [[ 9.99215133e-01 -3.06370617e-02 -2.51095477e-02 2.68836407e+01] [ 3.06648891e-02 9.99529460e-01 7.23849207e-04 -1.31808216e+00] [ 2.50755560e-02 -1.49326258e-03 9.99684444e-01 2.49807816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.130714057 meters Centerline goodness [0,1] 0.985260924521488 Centerline is valid? [True, True] Translation: X:26.92, Y:-1.32, Z:0.25 [[ 9.99222662e-01 -3.05120946e-02 -2.49616384e-02 2.69154913e+01] [ 3.05396169e-02 9.99533296e-01 7.22018214e-04 -1.31781690e+00] [ 2.49279584e-02 -1.48377583e-03 9.99688149e-01 2.50289586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.160714057 meters Centerline goodness [0,1] 0.9856337964937485 Centerline is valid? [True, True] Translation: X:26.95, Y:-1.32, Z:0.25 [[ 9.99227286e-01 -3.08004539e-02 -2.44164576e-02 2.69474863e+01] [ 3.08269124e-02 9.99524487e-01 7.07886709e-04 -1.31668281e+00] [ 2.43830440e-02 -1.46002371e-03 9.99701623e-01 2.51114323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.190714056999997 meters Centerline goodness [0,1] 0.9870261732851986 Centerline is valid? [True, True] Translation: X:26.98, Y:-1.31, Z:0.25 [[ 9.99256858e-01 -3.07947426e-02 -2.31822102e-02 2.69803013e+01] [ 3.08186277e-02 9.99524766e-01 6.73671945e-04 -1.31226314e+00] [ 2.31504477e-02 -1.38761522e-03 9.99731029e-01 2.52140980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.220714057 meters Centerline goodness [0,1] 0.9859094598250518 Centerline is valid? [True, True] Translation: X:27.01, Y:-1.31, Z:0.25 [[ 9.99263522e-01 -3.11249130e-02 -2.24422158e-02 2.70110398e+01] [ 3.11474128e-02 9.99514588e-01 6.53630680e-04 -1.31473202e+00] [ 2.24109778e-02 -1.35216626e-03 9.99747928e-01 2.51970349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.250714057 meters Centerline goodness [0,1] 0.9848505342891924 Centerline is valid? [True, True] Translation: X:27.04, Y:-1.32, Z:0.25 [[ 9.99257034e-01 -3.14213337e-02 -2.23176808e-02 2.70418343e+01] [ 3.14436849e-02 9.99505313e-01 6.51202779e-04 -1.32365636e+00] [ 2.22861789e-02 -1.35246908e-03 9.99750717e-01 2.51543406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.280714056999997 meters Centerline goodness [0,1] 0.9860920136149494 Centerline is valid? [True, True] Translation: X:27.07, Y:-1.32, Z:0.25 [[ 9.99239098e-01 -3.18596162e-02 -2.24986826e-02 2.70746242e+01] [ 3.18824724e-02 9.99491408e-01 6.57828619e-04 -1.31688455e+00] [ 2.24662818e-02 -1.37464170e-03 9.99746656e-01 2.52737835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.310714057 meters Centerline goodness [0,1] 0.9848426923336406 Centerline is valid? [True, True] Translation: X:27.11, Y:-1.33, Z:0.25 [[ 9.99236109e-01 -3.19823274e-02 -2.24572868e-02 2.71057172e+01] [ 3.20051727e-02 9.99487486e-01 6.58506322e-04 -1.33146924e+00] [ 2.24247166e-02 -1.37675264e-03 9.99747586e-01 2.51290146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.340714057 meters Centerline goodness [0,1] 0.9857306577380284 Centerline is valid? [True, True] Translation: X:27.14, Y:-1.32, Z:0.25 [[ 9.99207946e-01 -3.26435927e-02 -2.27569038e-02 2.71381189e+01] [ 3.26672735e-02 9.99466058e-01 6.69526656e-04 -1.32264499e+00] [ 2.27228972e-02 -1.41240236e-03 9.99740804e-01 2.52048912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.370714056999997 meters Centerline goodness [0,1] 0.9857306577380284 Centerline is valid? [True, True] Translation: X:27.17, Y:-1.32, Z:0.25 [[ 9.99210243e-01 -3.25732477e-02 -2.27568566e-02 2.71698592e+01] [ 3.25969467e-02 9.99468353e-01 6.71127895e-04 -1.32364208e+00] [ 2.27228972e-02 -1.41240191e-03 9.99740804e-01 2.52537615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.400714057 meters Centerline goodness [0,1] 0.9868370893597938 Centerline is valid? [True, True] Translation: X:27.20, Y:-1.32, Z:0.25 [[ 9.99203640e-01 -3.31239488e-02 -2.22461045e-02 2.72018974e+01] [ 3.31467661e-02 9.99450279e-01 6.57619495e-04 -1.32257303e+00] [ 2.22120924e-02 -1.39448222e-03 9.99752309e-01 2.53167928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.430714057 meters Centerline goodness [0,1] 0.9846811382296704 Centerline is valid? [True, True] Translation: X:27.23, Y:-1.34, Z:0.25 [[ 9.99184593e-01 -3.37326458e-02 -2.21868894e-02 2.72322576e+01] [ 3.37555238e-02 9.99429904e-01 6.57341577e-04 -1.34029659e+00] [ 2.21520669e-02 -1.40573565e-03 9.99753625e-01 2.52153274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.460714056999997 meters Centerline goodness [0,1] 0.9856354087175113 Centerline is valid? [True, True] Translation: X:27.26, Y:-1.33, Z:0.25 [[ 9.99099213e-01 -3.62954627e-02 -2.19863980e-02 2.72641750e+01] [ 3.63185700e-02 9.99340050e-01 6.52455909e-04 -1.32851387e+00] [ 2.19482069e-02 -1.45038272e-03 9.99758057e-01 2.54390723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.490714056999998 meters Centerline goodness [0,1] 0.9852296123892221 Centerline is valid? [True, True] Translation: X:27.30, Y:-1.33, Z:0.26 [[ 9.99018709e-01 -3.88859979e-02 -2.12013642e-02 2.72955115e+01] [ 3.89080802e-02 9.99242595e-01 6.29892642e-04 -1.33268928e+00] [ 2.11608122e-02 -1.45417891e-03 9.99775027e-01 2.55230938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.520714057 meters Centerline goodness [0,1] 0.984230304657093 Centerline is valid? [True, True] Translation: X:27.33, Y:-1.34, Z:0.26 [[ 9.98953246e-01 -4.05429002e-02 -2.11822180e-02 2.73261443e+01] [ 4.05653311e-02 9.99176689e-01 6.30169392e-04 -1.33592629e+00] [ 2.11392296e-02 -1.48877345e-03 9.99775433e-01 2.55917850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.550714056999997 meters Centerline goodness [0,1] 0.9828857410965638 Centerline is valid? [True, True] Translation: X:27.36, Y:-1.34, Z:0.26 [[ 9.98901996e-01 -4.21528502e-02 -2.04435543e-02 2.73563978e+01] [ 4.21740984e-02 9.99110091e-01 6.09143453e-04 -1.34487031e+00] [ 2.03996843e-02 -1.47066308e-03 9.99790823e-01 2.55922580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.580714056999998 meters Centerline goodness [0,1] 0.9840809127241064 Centerline is valid? [True, True] Translation: X:27.39, Y:-1.34, Z:0.26 [[ 9.98798143e-01 -4.46347543e-02 -2.02486737e-02 2.73871187e+01] [ 4.46561187e-02 9.99002235e-01 6.03945684e-04 -1.34301106e+00] [ 2.02015133e-02 -1.50744700e-03 9.99794792e-01 2.56608718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.610714057 meters Centerline goodness [0,1] 0.9824037110551083 Centerline is valid? [True, True] Translation: X:27.42, Y:-1.35, Z:0.26 [[ 9.98763745e-01 -4.52903290e-02 -2.04882549e-02 2.74195266e+01] [ 4.53123521e-02 9.98972681e-01 6.11717014e-04 -1.34563951e+00] [ 2.04395020e-02 -1.53933179e-03 9.99789907e-01 2.56728562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.640714056999997 meters Centerline goodness [0,1] 0.9820789332378737 Centerline is valid? [True, True] Translation: X:27.45, Y:-1.35, Z:0.26 [[ 9.98694494e-01 -4.65760781e-02 -2.09756398e-02 2.74499833e+01] [ 4.65994705e-02 9.98913457e-01 6.27558097e-04 -1.34957657e+00] [ 2.09236196e-02 -1.60419252e-03 9.99779790e-01 2.57494358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.670714056999998 meters Centerline goodness [0,1] 0.9823607100485752 Centerline is valid? [True, True] Translation: X:27.48, Y:-1.35, Z:0.26 [[ 9.98594531e-01 -4.88271605e-02 -2.06124112e-02 2.74806832e+01] [ 4.88502413e-02 9.98805923e-01 6.17427430e-04 -1.35288627e+00] [ 2.05576512e-02 -1.62348092e-03 9.99787351e-01 2.58218664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.700714057 meters Centerline goodness [0,1] 0.9837314569981626 Centerline is valid? [True, True] Translation: X:27.51, Y:-1.35, Z:0.26 [[ 9.98541495e-01 -5.00270505e-02 -2.03021208e-02 2.75127435e+01] [ 5.00497075e-02 9.98746542e-01 6.09101027e-04 -1.34861403e+00] [ 2.02462014e-02 -1.62432786e-03 9.99793705e-01 2.59003976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.730714056999997 meters Centerline goodness [0,1] 0.9826416778224007 Centerline is valid? [True, True] Translation: X:27.54, Y:-1.35, Z:0.26 [[ 9.98409616e-01 -5.25143646e-02 -2.05056095e-02 2.75440322e+01] [ 5.25380257e-02 9.98618734e-01 6.16506531e-04 -1.35302745e+00] [ 2.04449104e-02 -1.69285029e-03 9.99789548e-01 2.58840806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.760714056999998 meters Centerline goodness [0,1] 0.9831692671711422 Centerline is valid? [True, True] Translation: X:27.58, Y:-1.36, Z:0.26 [[ 9.98373886e-01 -5.32992601e-02 -2.02181265e-02 2.75754747e+01] [ 5.33224382e-02 9.98577161e-01 6.08663620e-04 -1.35828319e+00] [ 2.01569180e-02 -1.68575366e-03 9.99795408e-01 2.58755923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.790714057 meters Centerline goodness [0,1] 0.9824346859366314 Centerline is valid? [True, True] Translation: X:27.61, Y:-1.36, Z:0.26 [[ 9.98345359e-01 -5.38188491e-02 -2.02503060e-02 2.76072379e+01] [ 5.38422309e-02 9.98549268e-01 6.10800091e-04 -1.36048608e+00] [ 2.01880556e-02 -1.70011109e-03 9.99794755e-01 2.58864685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.820714056999996 meters Centerline goodness [0,1] 0.9826706760218287 Centerline is valid? [True, True] Translation: X:27.64, Y:-1.36, Z:0.26 [[ 9.98300452e-01 -5.45381899e-02 -2.05376185e-02 2.76396202e+01] [ 5.45624212e-02 9.98510169e-01 6.20936145e-04 -1.36068040e+00] [ 2.04731562e-02 -1.74046303e-03 9.99788888e-01 2.59287231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.850714056999998 meters Centerline goodness [0,1] 0.982364380071079 Centerline is valid? [True, True] Translation: X:27.67, Y:-1.36, Z:0.26 [[ 9.98254357e-01 -5.52283234e-02 -2.09301593e-02 2.76710517e+01] [ 5.52536702e-02 9.98472148e-01 6.34218682e-04 -1.36498312e+00] [ 2.08631543e-02 -1.78957968e-03 9.99780739e-01 2.59360888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.880714057 meters Centerline goodness [0,1] 0.9825473698306069 Centerline is valid? [True, True] Translation: X:27.70, Y:-1.37, Z:0.26 [[ 9.98293524e-01 -5.44345716e-02 -2.11404430e-02 2.77026623e+01] [ 5.44602796e-02 9.98515731e-01 6.41821066e-04 -1.36813316e+00] [ 2.10741276e-02 -1.79204025e-03 9.99776310e-01 2.59755909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.910714057 meters Centerline goodness [0,1] 0.9821847163619315 Centerline is valid? [True, True] Translation: X:27.73, Y:-1.37, Z:0.26 [[ 9.98333503e-01 -5.38609320e-02 -2.07175509e-02 2.77345515e+01] [ 5.38855284e-02 9.98546920e-01 6.30412161e-04 -1.37032183e+00] [ 2.06534921e-02 -1.74573776e-03 9.99785170e-01 2.59767154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.940714056999997 meters Centerline goodness [0,1] 0.9824842536333489 Centerline is valid? [True, True] Translation: X:27.77, Y:-1.37, Z:0.26 [[ 9.98389257e-01 -5.31015324e-02 -1.99779727e-02 2.77671861e+01] [ 5.31242814e-02 9.98587722e-01 6.09344808e-04 -1.37134672e+00] [ 1.99174011e-02 -1.66967875e-03 9.99800235e-01 2.60306052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.970714057 meters Centerline goodness [0,1] 0.9823683742440412 Centerline is valid? [True, True] Translation: X:27.80, Y:-1.38, Z:0.26 [[ 9.98423880e-01 -5.24327078e-02 -2.00141827e-02 2.77980988e+01] [ 5.24554376e-02 9.98623078e-01 6.12040400e-04 -1.37504852e+00] [ 1.99545338e-02 -1.66092846e-03 9.99799509e-01 2.60680702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.000714057 meters Centerline goodness [0,1] 0.9818897812979732 Centerline is valid? [True, True] Translation: X:27.83, Y:-1.38, Z:0.26 [[ 9.98526246e-01 -5.04317473e-02 -2.00493025e-02 2.78276680e+01] [ 5.04541725e-02 9.98726188e-01 6.13920509e-04 -1.37845329e+00] [ 1.99928024e-02 -1.62458671e-03 9.99798804e-01 2.60585326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.030714057 meters Centerline goodness [0,1] 0.9835106146245939 Centerline is valid? [True, True] Translation: X:27.86, Y:-1.37, Z:0.26 [[ 9.98583255e-01 -4.91955791e-02 -2.02800089e-02 2.78591174e+01] [ 4.92182737e-02 9.98787853e-01 6.21159459e-04 -1.37236062e+00] [ 2.02248682e-02 -1.61842646e-03 9.99794147e-01 2.61201196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.060714057 meters Centerline goodness [0,1] 0.982039526395442 Centerline is valid? [True, True] Translation: X:27.89, Y:-1.38, Z:0.26 [[ 9.98643822e-01 -4.74234914e-02 -2.14832203e-02 2.78897496e+01] [ 4.74485692e-02 9.98873465e-01 6.58810518e-04 -1.38166411e+00] [ 2.14277757e-02 -1.67726512e-03 9.99768992e-01 2.60278819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.090714057 meters Centerline goodness [0,1] 0.9821830248769515 Centerline is valid? [True, True] Translation: X:27.92, Y:-1.38, Z:0.26 [[ 9.98647710e-01 -4.73562101e-02 -2.14508781e-02 2.79220344e+01] [ 4.73812173e-02 9.98876662e-01 6.58765982e-04 -1.38332053e+00] [ 2.13955849e-02 -1.67424386e-03 9.99769686e-01 2.60327027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.120714057 meters Centerline goodness [0,1] 0.9805470854014111 Centerline is valid? [True, True] Translation: X:27.95, Y:-1.39, Z:0.26 [[ 9.98642587e-01 -4.74097392e-02 -2.15708240e-02 2.79529693e+01] [ 4.74350683e-02 9.98874103e-01 6.63790654e-04 -1.38614365e+00] [ 2.15150673e-02 -1.68610312e-03 9.99767102e-01 2.60867318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.150714056999995 meters Centerline goodness [0,1] 0.9831995932533103 Centerline is valid? [True, True] Translation: X:27.99, Y:-1.38, Z:0.26 [[ 9.98669728e-01 -4.76744334e-02 -1.96448994e-02 2.79856242e+01] [ 4.76955108e-02 9.98861738e-01 6.05519753e-04 -1.38039572e+00] [ 1.95936706e-02 -1.54168776e-03 9.99806837e-01 2.63808713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.180714056999996 meters Centerline goodness [0,1] 0.9842833007291482 Centerline is valid? [True, True] Translation: X:28.02, Y:-1.38, Z:0.27 [[ 9.98681487e-01 -4.79733091e-02 -1.82715416e-02 2.80177857e+01] [ 4.79916135e-02 9.98847579e-01 5.64390799e-04 -1.37916484e+00] [ 1.82234094e-02 -1.44052740e-03 9.99832902e-01 2.66165197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.210714057 meters Centerline goodness [0,1] 0.9839403753160907 Centerline is valid? [True, True] Translation: X:28.05, Y:-1.38, Z:0.27 [[ 9.98710537e-01 -4.80466080e-02 -1.63947325e-02 2.80495420e+01] [ 4.80613717e-02 9.98844256e-01 5.07472689e-04 -1.37989467e+00] [ 1.63514021e-02 -1.29477166e-03 9.99865469e-01 2.67918726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.240714057 meters Centerline goodness [0,1] 0.9835461307871656 Centerline is valid? [True, True] Translation: X:28.08, Y:-1.39, Z:0.27 [[ 9.98717547e-01 -4.78120196e-02 -1.66514609e-02 2.80811375e+01] [ 4.78272393e-02 9.98855489e-01 5.16767185e-04 -1.38537559e+00] [ 1.66076955e-02 -1.31249786e-03 9.99861221e-01 2.67849443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.270714057 meters Centerline goodness [0,1] 0.9845669431016897 Centerline is valid? [True, True] Translation: X:28.11, Y:-1.38, Z:0.27 [[ 9.98729632e-01 -4.74196118e-02 -1.70441235e-02 2.81137160e+01] [ 4.74355510e-02 9.98874159e-01 5.31886772e-04 -1.38113224e+00] [ 1.69997126e-02 -1.33970847e-03 9.99854597e-01 2.67788237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.300714057 meters Centerline goodness [0,1] 0.985009563631511 Centerline is valid? [True, True] Translation: X:28.15, Y:-1.38, Z:0.27 [[ 9.98740574e-01 -4.68080360e-02 -1.80630245e-02 2.81464282e+01] [ 4.68258645e-02 9.98902908e-01 5.65107789e-04 -1.38205877e+00] [ 1.80167561e-02 -1.41021281e-03 9.99836691e-01 2.66760320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.330714057 meters Centerline goodness [0,1] 0.985707310577478 Centerline is valid? [True, True] Translation: X:28.18, Y:-1.38, Z:0.27 [[ 9.98775788e-01 -4.56795055e-02 -1.89817804e-02 2.81786491e+01] [ 4.56990244e-02 9.98955076e-01 5.95582451e-04 -1.38165642e+00] [ 1.89347400e-02 -1.46230218e-03 9.99819652e-01 2.67197056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.360714056999996 meters Centerline goodness [0,1] 0.985302619291146 Centerline is valid? [True, True] Translation: X:28.21, Y:-1.38, Z:0.27 [[ 9.98778675e-01 -4.54693609e-02 -1.93312028e-02 2.82107253e+01] [ 4.54895938e-02 9.98964628e-01 6.07981659e-04 -1.38130997e+00] [ 1.92835433e-02 -1.48660768e-03 9.99812950e-01 2.67447826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.390714057 meters Centerline goodness [0,1] 0.9850527809811053 Centerline is valid? [True, True] Translation: X:28.24, Y:-1.38, Z:0.27 [[ 9.98806408e-01 -4.46513677e-02 -1.97993601e-02 2.82418620e+01] [ 4.46724606e-02 9.99001492e-01 6.24106060e-04 -1.38271919e+00] [ 1.97517231e-02 -1.50784727e-03 9.99803779e-01 2.67879740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.420714057 meters Centerline goodness [0,1] 0.9846721986162711 Centerline is valid? [True, True] Translation: X:28.27, Y:-1.39, Z:0.27 [[ 9.98796648e-01 -4.47146625e-02 -2.01458495e-02 2.82726446e+01] [ 4.47365355e-02 9.98998617e-01 6.36145584e-04 -1.38587759e+00] [ 2.00972308e-02 -1.53663559e-03 9.99796849e-01 2.67744183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.450714057 meters Centerline goodness [0,1] 0.9849222763359797 Centerline is valid? [True, True] Translation: X:28.30, Y:-1.39, Z:0.27 [[ 9.98819002e-01 -4.41118310e-02 -2.03653533e-02 2.83045116e+01] [ 4.41340832e-02 9.99025409e-01 6.44277902e-04 -1.38578837e+00] [ 2.03170851e-02 -1.54232321e-03 9.99792397e-01 2.67435933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.480714057 meters Centerline goodness [0,1] 0.9863211743772242 Centerline is valid? [True, True] Translation: X:28.34, Y:-1.39, Z:0.27 [[ 9.98790338e-01 -4.43326070e-02 -2.12716016e-02 2.83370883e+01] [ 4.43569675e-02 9.99015518e-01 6.74526117e-04 -1.38682053e+00] [ 2.12207566e-02 -1.61725391e-03 9.99773506e-01 2.67150820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.510714057 meters Centerline goodness [0,1] 0.9849857219346778 Centerline is valid? [True, True] Translation: X:28.37, Y:-1.39, Z:0.27 [[ 9.98760325e-01 -4.47944601e-02 -2.17087368e-02 2.83682019e+01] [ 4.48199726e-02 9.98994842e-01 6.89853547e-04 -1.39283863e+00] [ 2.16560145e-02 -1.66198334e-03 9.99764100e-01 2.66666417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.540714056999995 meters Centerline goodness [0,1] 0.9849015608371763 Centerline is valid? [True, True] Translation: X:28.40, Y:-1.39, Z:0.27 [[ 9.98743356e-01 -4.48350821e-02 -2.23947519e-02 2.84005343e+01] [ 4.48622730e-02 9.98992927e-01 7.12987545e-04 -1.39337246e+00] [ 2.23402319e-02 -1.71677105e-03 9.99748952e-01 2.66820135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.570714056999996 meters Centerline goodness [0,1] 0.9869246045027557 Centerline is valid? [True, True] Translation: X:28.43, Y:-1.39, Z:0.27 [[ 9.98689181e-01 -4.53985834e-02 -2.36408165e-02 2.84325192e+01] [ 4.54290795e-02 9.98967282e-01 7.54235829e-04 -1.38501562e+00] [ 2.35821610e-02 -1.82722770e-03 9.99720232e-01 2.67516252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.600714057 meters Centerline goodness [0,1] 0.9868559293617972 Centerline is valid? [True, True] Translation: X:28.46, Y:-1.39, Z:0.27 [[ 9.98665047e-01 -4.56729664e-02 -2.41268530e-02 2.84644922e+01] [ 4.57048456e-02 9.98954690e-01 7.71247572e-04 -1.38597448e+00] [ 2.40664078e-02 -1.87293208e-03 9.99708608e-01 2.67706631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.630714057 meters Centerline goodness [0,1] 0.9873030065943892 Centerline is valid? [True, True] Translation: X:28.50, Y:-1.38, Z:0.27 [[ 9.98602281e-01 -4.68119696e-02 -2.45381924e-02 2.84968182e+01] [ 4.68453319e-02 9.98901845e-01 7.86223049e-04 -1.38450764e+00] [ 2.44744410e-02 -1.93462390e-03 9.99698584e-01 2.68959281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.660714057 meters Centerline goodness [0,1] 0.9865630998616133 Centerline is valid? [True, True] Translation: X:28.53, Y:-1.39, Z:0.27 [[ 9.98584889e-01 -4.71001635e-02 -2.46939980e-02 2.85279971e+01] [ 4.71340795e-02 9.98888257e-01 7.92879824e-04 -1.38755242e+00] [ 2.46291999e-02 -1.95568668e-03 9.99694742e-01 2.69224813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.690714057 meters Centerline goodness [0,1] 0.9856151896482724 Centerline is valid? [True, True] Translation: X:28.56, Y:-1.39, Z:0.27 [[ 9.98571739e-01 -4.76253174e-02 -2.42138512e-02 2.85587015e+01] [ 4.76581274e-02 9.98863402e-01 7.79417061e-04 -1.39163386e+00] [ 2.41492098e-02 -1.93229066e-03 9.99706498e-01 2.69465200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.720714056999995 meters Centerline goodness [0,1] 0.9867045048265999 Centerline is valid? [True, True] Translation: X:28.59, Y:-1.39, Z:0.27 [[ 9.98490254e-01 -4.88940711e-02 -2.50316242e-02 2.85910529e+01] [ 4.89295993e-02 9.98801903e-01 8.08451615e-04 -1.39049220e+00] [ 2.49621053e-02 -2.03201840e-03 9.99686333e-01 2.69980634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.750714056999996 meters Centerline goodness [0,1] 0.985389719187722 Centerline is valid? [True, True] Translation: X:28.62, Y:-1.39, Z:0.27 [[ 9.98459405e-01 -4.94066241e-02 -2.52547605e-02 2.86222028e+01] [ 4.94429932e-02 9.98776613e-01 8.17305866e-04 -1.39268768e+00] [ 2.51834838e-02 -2.06471768e-03 9.99680714e-01 2.70045603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.780714057 meters Centerline goodness [0,1] 0.9849029635750497 Centerline is valid? [True, True] Translation: X:28.65, Y:-1.39, Z:0.27 [[ 9.98416908e-01 -4.99590212e-02 -2.58413358e-02 2.86529688e+01] [ 4.99973153e-02 9.98749001e-01 8.37510387e-04 -1.39428837e+00] [ 2.57671671e-02 -2.12818195e-03 9.99665706e-01 2.70082017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.810714057 meters Centerline goodness [0,1] 0.9851782405857273 Centerline is valid? [True, True] Translation: X:28.69, Y:-1.39, Z:0.27 [[ 9.98421961e-01 -4.96674299e-02 -2.62056175e-02 2.86852127e+01] [ 4.97067467e-02 9.98763493e-01 8.50643916e-04 -1.39277222e+00] [ 2.61309648e-02 -2.15189756e-03 9.99656212e-01 2.71161706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.840714057 meters Centerline goodness [0,1] 0.9843033785747826 Centerline is valid? [True, True] Translation: X:28.72, Y:-1.40, Z:0.27 [[ 9.98443536e-01 -4.95462045e-02 -2.56062161e-02 2.87166894e+01] [ 4.95837442e-02 9.98769622e-01 8.32802745e-04 -1.39507383e+00] [ 2.55334485e-02 -2.10115858e-03 9.99671760e-01 2.71318917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.870714057 meters Centerline goodness [0,1] 0.9854832576554007 Centerline is valid? [True, True] Translation: X:28.75, Y:-1.39, Z:0.27 [[ 9.98439113e-01 -4.95519460e-02 -2.57670729e-02 2.87494590e+01] [ 4.95900017e-02 9.98769306e-01 8.39623122e-04 -1.38673409e+00] [ 2.56937565e-02 -2.11610175e-03 9.99667621e-01 2.73861792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.900714056999995 meters Centerline goodness [0,1] 0.9854718292491537 Centerline is valid? [True, True] Translation: X:28.78, Y:-1.39, Z:0.27 [[ 9.98472428e-01 -4.90822175e-02 -2.53721676e-02 2.87819566e+01] [ 4.91190115e-02 9.98792589e-01 8.28605271e-04 -1.38716053e+00] [ 2.53008632e-02 -2.07359531e-03 9.99677731e-01 2.74418743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.930714056999996 meters Centerline goodness [0,1] 0.9851492922359064 Centerline is valid? [True, True] Translation: X:28.81, Y:-1.39, Z:0.27 [[ 9.98486941e-01 -4.85391258e-02 -2.58414840e-02 2.88137486e+01] [ 4.85771628e-02 9.98819075e-01 8.45846396e-04 -1.38763838e+00] [ 2.57699105e-02 -2.09987256e-03 9.99665695e-01 2.74667846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.960714057 meters Centerline goodness [0,1] 0.984810466887714 Centerline is valid? [True, True] Translation: X:28.84, Y:-1.39, Z:0.27 [[ 9.98551245e-01 -4.71525868e-02 -2.59238204e-02 2.88438319e+01] [ 4.71904366e-02 9.98885549e-01 8.49860947e-04 -1.38968103e+00] [ 2.58548564e-02 -2.07198611e-03 9.99663560e-01 2.74553881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.990714057 meters Centerline goodness [0,1] 0.9847910451109266 Centerline is valid? [True, True] Translation: X:28.88, Y:-1.39, Z:0.27 [[ 9.98572187e-01 -4.66471466e-02 -2.60313574e-02 2.88764508e+01] [ 4.66851676e-02 9.98909288e-01 8.54430813e-04 -1.38826801e+00] [ 2.59631079e-02 -2.06848913e-03 9.99660762e-01 2.74867432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.020714057 meters Centerline goodness [0,1] 0.984645474573985 Centerline is valid? [True, True] Translation: X:28.91, Y:-1.39, Z:0.27 [[ 9.98533054e-01 -4.70133038e-02 -2.68605661e-02 2.89080198e+01] [ 4.70539653e-02 9.98891958e-01 8.83397239e-04 -1.38916811e+00] [ 2.67892720e-02 -2.14599749e-03 9.99638800e-01 2.74433901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.050714057 meters Centerline goodness [0,1] 0.9850154352283738 Centerline is valid? [True, True] Translation: X:28.94, Y:-1.39, Z:0.27 [[ 9.98524538e-01 -4.71542481e-02 -2.69299652e-02 2.89401707e+01] [ 4.71952150e-02 9.98885291e-01 8.87317856e-04 -1.39100975e+00] [ 2.68581053e-02 -2.15697415e-03 9.99636929e-01 2.74484112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.080714057 meters Centerline goodness [0,1] 0.9835091903079934 Centerline is valid? [True, True] Translation: X:28.97, Y:-1.39, Z:0.27 [[ 9.98536875e-01 -4.70721421e-02 -2.66143450e-02 2.89711951e+01] [ 4.71121692e-02 9.98889219e-01 8.78583481e-04 -1.39298651e+00] [ 2.65434254e-02 -2.13115753e-03 9.99645389e-01 2.74433731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.110714056999996 meters Centerline goodness [0,1] 0.9833157906523637 Centerline is valid? [True, True] Translation: X:29.00, Y:-1.39, Z:0.27 [[ 9.98556611e-01 -4.71269221e-02 -2.57632851e-02 2.90020870e+01] [ 4.71644814e-02 9.98886773e-01 8.51815131e-04 -1.39478174e+00] [ 2.56944613e-02 -2.06569761e-03 9.99667709e-01 2.74794030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.140714057 meters Centerline goodness [0,1] 0.9841013203988144 Centerline is valid? [True, True] Translation: X:29.03, Y:-1.39, Z:0.28 [[ 9.98560872e-01 -4.70321581e-02 -2.57713077e-02 2.90341568e+01] [ 4.70697486e-02 9.98891240e-01 8.53602912e-04 -1.39488156e+00] [ 2.57025867e-02 -2.06542344e-03 9.99667500e-01 2.75775653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.170714057 meters Centerline goodness [0,1] 0.9837936390033089 Centerline is valid? [True, True] Translation: X:29.07, Y:-1.40, Z:0.28 [[ 9.98558631e-01 -4.69605870e-02 -2.59877783e-02 2.90661380e+01] [ 4.69988346e-02 9.98894572e-01 8.62576739e-04 -1.39558201e+00] [ 2.59185436e-02 -2.08272874e-03 9.99661889e-01 2.75869902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.200714057 meters Centerline goodness [0,1] 0.9845863054386715 Centerline is valid? [True, True] Translation: X:29.10, Y:-1.39, Z:0.28 [[ 9.98564906e-01 -4.68328232e-02 -2.59772144e-02 2.90996438e+01] [ 4.68710541e-02 9.98900574e-01 8.64436743e-04 -1.38807876e+00] [ 2.59081704e-02 -2.08077562e-03 9.99662161e-01 2.77225436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.230714057 meters Centerline goodness [0,1] 0.9850227816123066 Centerline is valid? [True, True] Translation: X:29.13, Y:-1.39, Z:0.28 [[ 9.98555037e-01 -4.68019681e-02 -2.64085833e-02 2.91312034e+01] [ 4.68415295e-02 9.98901945e-01 8.81087540e-04 -1.39133963e+00] [ 2.63383486e-02 -2.11683284e-03 9.99650844e-01 2.77176867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.260714057 meters Centerline goodness [0,1] 0.9834639992790845 Centerline is valid? [True, True] Translation: X:29.16, Y:-1.40, Z:0.28 [[ 9.98538091e-01 -4.70172276e-02 -2.66657439e-02 2.91621672e+01] [ 4.70576780e-02 9.98891776e-01 8.91103521e-04 -1.40066776e+00] [ 2.65942951e-02 -2.14462880e-03 9.99644009e-01 2.76680994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.290714056999995 meters Centerline goodness [0,1] 0.9834639992790845 Centerline is valid? [True, True] Translation: X:29.19, Y:-1.40, Z:0.28 [[ 9.98541246e-01 -4.69501976e-02 -2.66656913e-02 2.91939441e+01] [ 4.69906660e-02 9.98894930e-01 8.92675929e-04 -1.40179741e+00] [ 2.65943125e-02 -2.14441233e-03 9.99644009e-01 2.77170439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.320714056999996 meters Centerline goodness [0,1] 0.9827216261998871 Centerline is valid? [True, True] Translation: X:29.23, Y:-1.40, Z:0.28 [[ 9.98531334e-01 -4.72062150e-02 -2.65847225e-02 2.92262196e+01] [ 4.72465752e-02 9.98882859e-01 8.91743852e-04 -1.40411599e+00] [ 2.65129278e-02 -2.14647127e-03 9.99646166e-01 2.77495395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.350714057 meters Centerline goodness [0,1] 0.9840418338367218 Centerline is valid? [True, True] Translation: X:29.26, Y:-1.40, Z:0.28 [[ 9.98538761e-01 -4.69891128e-02 -2.66902051e-02 2.92579786e+01] [ 4.70297647e-02 9.98893086e-01 8.97075194e-04 -1.40488370e+00] [ 2.66185086e-02 -2.15099842e-03 9.99643351e-01 2.77714004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.380714057 meters Centerline goodness [0,1] 0.9857129959824854 Centerline is valid? [True, True] Translation: X:29.29, Y:-1.40, Z:0.28 [[ 9.98535033e-01 -4.64542872e-02 -2.77450281e-02 2.92905479e+01] [ 4.64980666e-02 9.98917943e-01 9.34489800e-04 -1.39691674e+00] [ 2.76715953e-02 -2.22321097e-03 9.99614596e-01 2.78198399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.410714057 meters Centerline goodness [0,1] 0.9846672244962573 Centerline is valid? [True, True] Translation: X:29.32, Y:-1.40, Z:0.28 [[ 9.98553765e-01 -4.59634650e-02 -2.78879500e-02 2.93218417e+01] [ 4.60075559e-02 9.98940648e-01 9.41072128e-04 -1.40003256e+00] [ 2.78151519e-02 -2.22276753e-03 9.99610613e-01 2.78249884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.440714057 meters Centerline goodness [0,1] 0.9843443344086265 Centerline is valid? [True, True] Translation: X:29.35, Y:-1.40, Z:0.28 [[ 9.98589771e-01 -4.49142273e-02 -2.83051508e-02 2.93526533e+01] [ 4.49593032e-02 9.98988360e-01 9.57778358e-04 -1.40157699e+00] [ 2.82334983e-02 -2.22900753e-03 9.99598870e-01 2.78894996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.470714056999995 meters Centerline goodness [0,1] 0.9850409512420749 Centerline is valid? [True, True] Translation: X:29.38, Y:-1.40, Z:0.28 [[ 9.98632618e-01 -4.38918303e-02 -2.83972030e-02 2.93844305e+01] [ 4.39368757e-02 9.99033844e-01 9.63942589e-04 -1.40348788e+00] [ 2.83274577e-02 -2.21030889e-03 9.99596253e-01 2.79559067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.500714056999996 meters Centerline goodness [0,1] 0.9860460929060136 Centerline is valid? [True, True] Translation: X:29.42, Y:-1.40, Z:0.28 [[ 9.98687958e-01 -4.27725264e-02 -2.81580186e-02 2.94165285e+01] [ 4.28164292e-02 9.99082497e-01 9.57799348e-04 -1.39569557e+00] [ 2.80912160e-02 -2.16216848e-03 9.99603026e-01 2.81652807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.530714057 meters Centerline goodness [0,1] 0.9860413805524911 Centerline is valid? [True, True] Translation: X:29.45, Y:-1.40, Z:0.28 [[ 9.98780652e-01 -4.05579736e-02 -2.81471220e-02 2.94463957e+01] [ 4.06009994e-02 9.99174980e-01 9.58541601e-04 -1.39780740e+00] [ 2.80850235e-02 -2.10017409e-03 9.99603332e-01 2.82423587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.560714057 meters Centerline goodness [0,1] 0.9837949919989182 Centerline is valid? [True, True] Translation: X:29.48, Y:-1.41, Z:0.28 [[ 9.98834488e-01 -3.93608910e-02 -2.79353896e-02 2.94764536e+01] [ 3.94028122e-02 9.99222955e-01 9.51553230e-04 -1.40712078e+00] [ 2.78762286e-02 -2.05117709e-03 9.99609278e-01 2.82005668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.590714057 meters Centerline goodness [0,1] 0.9866919722542308 Centerline is valid? [True, True] Translation: X:29.51, Y:-1.40, Z:0.29 [[ 9.98903885e-01 -3.77749995e-02 -2.76419573e-02 2.95079973e+01] [ 3.78154602e-02 9.99284295e-01 9.42275353e-04 -1.39527292e+00] [ 2.75865794e-02 -1.98653585e-03 9.99617444e-01 2.85050906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.620714057 meters Centerline goodness [0,1] 0.9850382506262271 Centerline is valid? [True, True] Translation: X:29.54, Y:-1.40, Z:0.28 [[ 9.98958440e-01 -3.65732255e-02 -2.72843060e-02 2.95387121e+01] [ 3.66122264e-02 9.99329114e-01 9.31069352e-04 -1.40147363e+00] [ 2.72319492e-02 -1.92903878e-03 9.99627280e-01 2.84483297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.650714056999995 meters Centerline goodness [0,1] 0.9862973563814202 Centerline is valid? [True, True] Translation: X:29.57, Y:-1.40, Z:0.29 [[ 9.99008564e-01 -3.52625213e-02 -2.71743295e-02 2.95706810e+01] [ 3.53007582e-02 9.99376303e-01 9.28509455e-04 -1.39812801e+00] [ 2.71246393e-02 -1.88686333e-03 9.99630278e-01 2.85471699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.680714056999996 meters Centerline goodness [0,1] 0.9873060966810967 Centerline is valid? [True, True] Translation: X:29.60, Y:-1.40, Z:0.29 [[ 9.99045784e-01 -3.30893693e-02 -2.85064143e-02 2.96016878e+01] [ 3.31306065e-02 9.99450555e-01 9.75368233e-04 -1.39909289e+00] [ 2.84584773e-02 -1.91887232e-03 9.99593134e-01 2.85161240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.710714057 meters Centerline goodness [0,1] 0.9870875179340028 Centerline is valid? [True, True] Translation: X:29.63, Y:-1.40, Z:0.29 [[ 9.99079431e-01 -3.20243943e-02 -2.85434607e-02 2.96322620e+01] [ 3.20653285e-02 9.99485297e-01 9.77418118e-04 -1.40093165e+00] [ 2.84974681e-02 -1.89177378e-03 9.99592075e-01 2.85589025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.740714057 meters Centerline goodness [0,1] 0.9870039347948285 Centerline is valid? [True, True] Translation: X:29.66, Y:-1.40, Z:0.29 [[ 9.99102484e-01 -3.04631155e-02 -2.94317127e-02 2.96633384e+01] [ 3.05059866e-02 9.99534075e-01 1.00860403e-03 -1.40201178e+00] [ 2.93872745e-02 -1.90554222e-03 9.99566284e-01 2.85431484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.770714057 meters Centerline goodness [0,1] 0.9864638886378017 Centerline is valid? [True, True] Translation: X:29.69, Y:-1.40, Z:0.29 [[ 9.99140429e-01 -2.95640349e-02 -2.90580551e-02 2.96949555e+01] [ 2.96054747e-02 9.99561165e-01 9.96814756e-04 -1.40028089e+00] [ 2.90158336e-02 -1.85623544e-03 9.99577229e-01 2.86791246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.800714057 meters Centerline goodness [0,1] 0.9871094013632989 Centerline is valid? [True, True] Translation: X:29.73, Y:-1.40, Z:0.29 [[ 9.99188409e-01 -2.89158182e-02 -2.80427956e-02 2.97264806e+01] [ 2.89541848e-02 9.99580276e-01 9.62966619e-04 -1.39982246e+00] [ 2.80031804e-02 -1.77414137e-03 9.99606260e-01 2.88145046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.830714057 meters Centerline goodness [0,1] 0.9867652695420829 Centerline is valid? [True, True] Translation: X:29.76, Y:-1.40, Z:0.29 [[ 9.99223673e-01 -2.80741943e-02 -2.76385740e-02 2.97570019e+01] [ 2.81111805e-02 9.99604351e-01 9.50492917e-04 -1.40276435e+00] [ 2.76009545e-02 -1.72670797e-03 9.99617530e-01 2.88696842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.860714056999996 meters Centerline goodness [0,1] 0.9875081444202296 Centerline is valid? [True, True] Translation: X:29.79, Y:-1.40, Z:0.29 [[ 9.99231186e-01 -2.80051211e-02 -2.74362752e-02 2.97883315e+01] [ 2.80415828e-02 9.99606311e-01 9.45036636e-04 -1.40435902e+00] [ 2.73990080e-02 -1.71366666e-03 9.99623108e-01 2.88928688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.890714057 meters Centerline goodness [0,1] 0.986186849339763 Centerline is valid? [True, True] Translation: X:29.82, Y:-1.41, Z:0.29 [[ 9.99181517e-01 -2.93157843e-02 -2.78725730e-02 2.98195987e+01] [ 2.93539509e-02 9.99568618e-01 9.61057027e-04 -1.40676647e+00] [ 2.78323751e-02 -1.77844056e-03 9.99611022e-01 2.88639630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.920714057 meters Centerline goodness [0,1] 0.9867817520392255 Centerline is valid? [True, True] Translation: X:29.85, Y:-1.41, Z:0.29 [[ 9.99152543e-01 -3.02778360e-02 -2.78827582e-02 2.98505526e+01] [ 3.03164308e-02 9.99539888e-01 9.62394160e-04 -1.41030824e+00] [ 2.78407898e-02 -1.80688428e-03 9.99610737e-01 2.88409919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.950714057 meters Centerline goodness [0,1] 0.985722971603576 Centerline is valid? [True, True] Translation: X:29.88, Y:-1.41, Z:0.29 [[ 9.99039715e-01 -3.27183053e-02 -2.91403437e-02 2.98813147e+01] [ 3.27615189e-02 9.99462690e-01 1.00661351e-03 -1.41260996e+00] [ 2.90917517e-02 -1.96032880e-03 9.99574823e-01 2.87621671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.980714057 meters Centerline goodness [0,1] 0.9855506290652922 Centerline is valid? [True, True] Translation: X:29.91, Y:-1.42, Z:0.29 [[ 9.98991124e-01 -3.37616559e-02 -2.96122298e-02 2.99108878e+01] [ 3.38067828e-02 9.99427862e-01 1.02445429e-03 -1.42019826e+00] [ 2.95607002e-02 -2.02451497e-03 9.99560937e-01 2.86283830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.010714057 meters Centerline goodness [0,1] 0.9860595004842015 Centerline is valid? [True, True] Translation: X:29.94, Y:-1.42, Z:0.29 [[ 9.98925064e-01 -3.51544946e-02 -3.02138747e-02 2.99419225e+01] [ 3.52021660e-02 9.99379663e-01 1.04716521e-03 -1.42298178e+00] [ 3.01583193e-02 -2.10963340e-03 9.99542908e-01 2.86328010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.040714056999995 meters Centerline goodness [0,1] 0.9852838437788746 Centerline is valid? [True, True] Translation: X:29.97, Y:-1.42, Z:0.29 [[ 9.98873288e-01 -3.62856909e-02 -3.05859891e-02 2.99733482e+01] [ 3.63351040e-02 9.99339099e-01 1.06111239e-03 -1.42467488e+00] [ 3.05272716e-02 -2.17126191e-03 9.99531576e-01 2.86541083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.070714056999996 meters Centerline goodness [0,1] 0.9858516111562415 Centerline is valid? [True, True] Translation: X:30.00, Y:-1.42, Z:0.29 [[ 9.98773241e-01 -3.86249006e-02 -3.09859654e-02 3.00049443e+01] [ 3.86767682e-02 9.99251194e-01 1.07607087e-03 -1.42410188e+00] [ 3.09211998e-02 -2.27318779e-03 9.99519240e-01 2.87880085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.100714057 meters Centerline goodness [0,1] 0.9852082346839839 Centerline is valid? [True, True] Translation: X:30.04, Y:-1.43, Z:0.29 [[ 9.98678681e-01 -4.11715043e-02 -3.07538414e-02 3.00363303e+01] [ 4.12238308e-02 9.99149365e-01 1.06908988e-03 -1.42658832e+00] [ 3.06836650e-02 -2.33546842e-03 9.99526417e-01 2.88501496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.130714057 meters Centerline goodness [0,1] 0.9833785085459555 Centerline is valid? [True, True] Translation: X:30.07, Y:-1.43, Z:0.29 [[ 9.98658181e-01 -4.19832793e-02 -3.03189981e-02 3.00668017e+01] [ 4.20345792e-02 9.99115598e-01 1.05634049e-03 -1.43213816e+00] [ 3.02478353e-02 -2.32936940e-03 9.99539715e-01 2.88482244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.160714057 meters Centerline goodness [0,1] 0.7627822640156866 Centerline is valid? [True, False] Translation: X:30.11, Y:-1.43, Z:0.29 [[ 9.98523600e-01 -4.51299970e-02 -3.02308322e-02 3.01120501e+01] [ 4.51740479e-02 9.98978831e-01 7.75409490e-04 -1.43268423e+00] [ 3.01649672e-02 -2.13991374e-03 9.99542643e-01 2.90708835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.190714057 meters Centerline goodness [0,1] 0.9832233656855901 Centerline is valid? [False, True] Translation: X:30.03, Y:-1.43, Z:0.29 [[ 9.98552358e-01 -4.55336616e-02 -2.86334458e-02 3.00331604e+01] [ 4.55176048e-02 9.98962801e-01 -1.21265686e-03 -1.43203294e+00] [ 2.86589639e-02 -9.24245052e-05 9.99589243e-01 2.89479052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.220714056999995 meters Centerline goodness [0,1] 0.9825292117882792 Centerline is valid? [True, True] Translation: X:30.06, Y:-1.43, Z:0.29 [[ 9.98506384e-01 -4.68324705e-02 -2.81375407e-02 3.00648262e+01] [ 4.68788794e-02 9.98900089e-01 9.91606928e-04 -1.43205260e+00] [ 2.80601525e-02 -2.30918223e-03 9.99603569e-01 2.89650861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.250714056999996 meters Centerline goodness [0,1] 0.9804585079443336 Centerline is valid? [True, True] Translation: X:30.10, Y:-1.44, Z:0.29 [[ 9.98448140e-01 -4.80339396e-02 -2.81789235e-02 3.00959467e+01] [ 4.80810023e-02 9.98842945e-01 9.94562134e-04 -1.43942627e+00] [ 2.80985462e-02 -2.34788960e-03 9.99602401e-01 2.89586773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.280714057 meters Centerline goodness [0,1] 0.9817387232714219 Centerline is valid? [True, True] Translation: X:30.13, Y:-1.44, Z:0.29 [[ 9.98332601e-01 -5.10487580e-02 -2.69451839e-02 3.01269907e+01] [ 5.10929023e-02 9.98693451e-01 9.51921724e-04 -1.43722688e+00] [ 2.68613843e-02 -2.32704214e-03 9.99636459e-01 2.91183782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.310714057 meters Centerline goodness [0,1] 0.9794552738177831 Centerline is valid? [True, True] Translation: X:30.16, Y:-1.44, Z:0.29 [[ 9.98241901e-01 -5.28161066e-02 -2.68991675e-02 3.01569298e+01] [ 5.28607415e-02 9.98601441e-01 9.50471164e-04 -1.44413400e+00] [ 2.68113472e-02 -2.37071008e-03 9.99637700e-01 2.91289973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.340714057 meters Centerline goodness [0,1] 0.9817819208533142 Centerline is valid? [True, True] Translation: X:30.19, Y:-1.44, Z:0.29 [[ 9.98172869e-01 -5.41025809e-02 -2.69041725e-02 3.01886311e+01] [ 5.41477127e-02 9.98532483e-01 9.51274109e-04 -1.44090887e+00] [ 2.68132238e-02 -2.40633541e-03 9.99637565e-01 2.92544797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.370714057 meters Centerline goodness [0,1] 0.9322209229108572 Centerline is valid? [True, False] Translation: X:30.19, Y:-1.44, Z:0.29 [[ 9.98155093e-01 -5.44989045e-02 -2.67633994e-02 3.01886041e+01] [ 5.45560476e-02 9.98509716e-01 1.40905881e-03 -1.44290141e+00] [ 2.66467221e-02 -2.86656452e-03 9.99640803e-01 2.91975697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.400714056999995 meters Centerline goodness [0,1] 0.9352229442079318 Centerline is valid? [False, False] Translation: X:30.19, Y:-1.44, Z:0.29 [[ 9.98163749e-01 -5.42754706e-02 -2.68943186e-02 3.01893768e+01] [ 5.43519633e-02 9.98519587e-01 2.12085235e-03 -1.44441759e+00] [ 2.67393937e-02 -3.57871695e-03 9.99636033e-01 2.91182028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.430714056999996 meters Centerline goodness [0,1] 0.9747068188443169 Centerline is valid? [False, True] Translation: X:30.19, Y:-1.45, Z:0.29 [[ 9.98151468e-01 -5.45711182e-02 -2.67514330e-02 3.01895279e+01] [ 5.46655010e-02 9.98500772e-01 2.80906321e-03 -1.44678846e+00] [ 2.65580328e-02 -4.26625106e-03 9.99638170e-01 2.90303417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.460714057 meters Centerline goodness [0,1] 0.9766921165170275 Centerline is valid? [True, True] Translation: X:30.22, Y:-1.45, Z:0.29 [[ 9.98076753e-01 -5.57771552e-02 -2.70500389e-02 3.02210928e+01] [ 5.58289965e-02 9.98439666e-01 1.16448106e-03 -1.44799624e+00] [ 2.69428804e-02 -2.67241800e-03 9.99633402e-01 2.91060350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.490714057 meters Centerline goodness [0,1] 0.9733684257483161 Centerline is valid? [True, True] Translation: X:30.25, Y:-1.45, Z:0.29 [[ 9.98017406e-01 -5.67193558e-02 -2.72795115e-02 3.02526605e+01] [ 5.67724623e-02 9.98386451e-01 1.17557716e-03 -1.45151691e+00] [ 2.71688167e-02 -2.72197151e-03 9.99627154e-01 2.91073869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.520714057 meters Centerline goodness [0,1] 0.9784257995210707 Centerline is valid? [True, True] Translation: X:30.28, Y:-1.45, Z:0.29 [[ 9.97930478e-01 -5.81227343e-02 -2.75047088e-02 3.02839227e+01] [ 5.81772829e-02 9.98305562e-01 1.18651496e-03 -1.45208879e+00] [ 2.73891403e-02 -2.78420867e-03 9.99620970e-01 2.91907853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.550714057 meters Centerline goodness [0,1] 0.9760709804624484 Centerline is valid? [True, True] Translation: X:30.32, Y:-1.45, Z:0.29 [[ 9.97947678e-01 -5.79731884e-02 -2.71945260e-02 3.03160405e+01] [ 5.80264977e-02 9.98314352e-01 1.17459485e-03 -1.45446571e+00] [ 2.70805906e-02 -2.75018730e-03 9.99629470e-01 2.92443357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.580714057 meters Centerline goodness [0,1] 0.9247824928977273 Centerline is valid? [True, False] Translation: X:30.32, Y:-1.45, Z:0.29 [[ 9.97960276e-01 -5.76901794e-02 -2.73336832e-02 3.03162594e+01] [ 5.77458291e-02 9.98330534e-01 1.25032271e-03 -1.45413304e+00] [ 2.72159192e-02 -2.82617860e-03 9.99625583e-01 2.92720297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.610714056999996 meters Centerline goodness [0,1] 0.9716177227080585 Centerline is valid? [False, True] Translation: X:30.32, Y:-1.45, Z:0.29 [[ 9.97974102e-01 -5.73897922e-02 -2.74609280e-02 3.03164262e+01] [ 5.74486244e-02 9.98347541e-01 1.35761895e-03 -1.45379018e+00] [ 2.73376365e-02 -2.93246109e-03 9.99621956e-01 2.92936450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.640714057 meters Centerline goodness [0,1] 0.9757452240711294 Centerline is valid? [True, True] Translation: X:30.35, Y:-1.45, Z:0.29 [[ 9.98049373e-01 -5.62620812e-02 -2.70560112e-02 3.03477424e+01] [ 5.63137532e-02 9.98412458e-01 1.15106628e-03 -1.45277440e+00] [ 2.69482972e-02 -2.67244651e-03 9.99633256e-01 2.94234388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.670714057 meters Centerline goodness [0,1] 0.9711696139697735 Centerline is valid? [True, True] Translation: X:30.38, Y:-1.46, Z:0.29 [[ 9.98211847e-01 -5.34893199e-02 -2.66833522e-02 3.03775427e+01] [ 5.35386058e-02 9.98565135e-01 1.13556537e-03 -1.45616138e+00] [ 2.65843246e-02 -2.56212428e-03 9.99643291e-01 2.94621114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.700714057 meters Centerline goodness [0,1] 0.9752508511019531 Centerline is valid? [True, True] Translation: X:30.41, Y:-1.45, Z:0.29 [[ 9.98240751e-01 -5.27187178e-02 -2.71319069e-02 3.04100620e+01] [ 5.27694099e-02 9.98606056e-01 1.15526304e-03 -1.45429553e+00] [ 2.70331825e-02 -2.58496536e-03 9.99631194e-01 2.94789836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.730714057 meters Centerline goodness [0,1] 0.9825814396059555 Centerline is valid? [True, True] Translation: X:30.44, Y:-1.45, Z:0.30 [[ 9.98371803e-01 -4.99298290e-02 -2.75818007e-02 3.04410172e+01] [ 4.99811959e-02 9.98749467e-01 1.17565041e-03 -1.44509045e+00] [ 2.74886088e-02 -2.55230761e-03 9.99618858e-01 2.95866126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.760714057 meters Centerline goodness [0,1] 0.9830557859111998 Centerline is valid? [True, True] Translation: X:30.47, Y:-1.44, Z:0.30 [[ 9.98431141e-01 -4.84204284e-02 -2.81197384e-02 3.04725387e+01] [ 4.84732445e-02 9.98823761e-01 1.19924347e-03 -1.44481433e+00] [ 2.80285950e-02 -2.56041699e-03 9.99603843e-01 2.95759581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.790714056999995 meters Centerline goodness [0,1] 0.9827857078732382 Centerline is valid? [True, True] Translation: X:30.50, Y:-1.45, Z:0.30 [[ 9.98474294e-01 -4.71123240e-02 -2.88012568e-02 3.05030243e+01] [ 4.71672523e-02 9.98886248e-01 1.23037953e-03 -1.44666924e+00] [ 2.87112133e-02 -2.58697848e-03 9.99584401e-01 2.95426701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.820714056999996 meters Centerline goodness [0,1] 0.9769674993284985 Centerline is valid? [True, True] Translation: X:30.53, Y:-1.46, Z:0.29 [[ 9.98534704e-01 -4.55560621e-02 -2.92077020e-02 3.05328829e+01] [ 4.56119485e-02 9.98958452e-01 1.24967648e-03 -1.45605715e+00] [ 2.91203504e-02 -2.58006553e-03 9.99572583e-01 2.93549041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.850714057 meters Centerline goodness [0,1] 0.9830474268415742 Centerline is valid? [True, True] Translation: X:30.56, Y:-1.45, Z:0.30 [[ 9.98661637e-01 -4.25167021e-02 -2.94493768e-02 3.05636695e+01] [ 4.25722176e-02 9.99092597e-01 1.26040730e-03 -1.44614570e+00] [ 2.93690660e-02 -2.51244570e-03 9.99565478e-01 2.95362316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.880714057 meters Centerline goodness [0,1] 0.9826531298325826 Centerline is valid? [True, True] Translation: X:30.59, Y:-1.45, Z:0.30 [[ 9.98742268e-01 -4.07286397e-02 -2.92414242e-02 3.05944616e+01] [ 4.07826311e-02 9.99167258e-01 1.25213583e-03 -1.44896221e+00] [ 2.91660758e-02 -2.44310319e-03 9.99571594e-01 2.95470086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.910714057 meters Centerline goodness [0,1] 0.9829772956045185 Centerline is valid? [True, True] Translation: X:30.63, Y:-1.45, Z:0.30 [[ 9.98877065e-01 -3.73114652e-02 -2.91969943e-02 3.06251389e+01] [ 3.73638612e-02 9.99300944e-01 1.25086685e-03 -1.44535708e+00] [ 2.91299123e-02 -2.34037465e-03 9.99572894e-01 2.97263187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.940714057 meters Centerline goodness [0,1] 0.9837592226021235 Centerline is valid? [True, True] Translation: X:30.66, Y:-1.45, Z:0.30 [[ 9.98900513e-01 -3.65089208e-02 -2.94085551e-02 3.06569732e+01] [ 3.65617668e-02 9.99330599e-01 1.26105980e-03 -1.44502547e+00] [ 2.93428291e-02 -2.33490201e-03 9.99566679e-01 2.98232875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.970714056999995 meters Centerline goodness [0,1] 0.9822393649227458 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.45, Z:0.30 [[ 9.98937207e-01 -3.56024248e-02 -2.92732724e-02 3.06881938e+01] [ 3.56544525e-02 9.99363387e-01 1.25709945e-03 -1.44725613e+00] [ 2.92098809e-02 -2.29948592e-03 9.99570655e-01 2.98296195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.000714056999996 meters Centerline goodness [0,1] 0.9818226755943019 Centerline is valid? [True, True] Translation: X:30.72, Y:-1.45, Z:0.30 [[ 9.98955150e-01 -3.56294896e-02 -2.86207513e-02 3.07190942e+01] [ 3.56792768e-02 9.99362534e-01 1.23058351e-03 -1.45017206e+00] [ 2.85586615e-02 -2.25046544e-03 9.99589585e-01 2.98684401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.030714057 meters Centerline goodness [0,1] 0.9811545908947629 Centerline is valid? [True, True] Translation: X:30.75, Y:-1.45, Z:0.30 [[ 9.98963294e-01 -3.55191833e-02 -2.84732144e-02 3.07516701e+01] [ 3.55684636e-02 9.99366490e-01 1.22599550e-03 -1.45250208e+00] [ 2.84116299e-02 -2.23747299e-03 9.99593804e-01 2.98731022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.060714057 meters Centerline goodness [0,1] 0.9813119841680347 Centerline is valid? [True, True] Translation: X:30.78, Y:-1.45, Z:0.30 [[ 9.98932252e-01 -3.60752148e-02 -2.88606153e-02 3.07839982e+01] [ 3.61261359e-02 9.99346463e-01 1.24473969e-03 -1.45461110e+00] [ 2.87968495e-02 -2.28603313e-03 9.99582671e-01 2.98773168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.090714057 meters Centerline goodness [0,1] 0.9788246918015854 Centerline is valid? [True, True] Translation: X:30.81, Y:-1.46, Z:0.30 [[ 9.98883120e-01 -3.70988976e-02 -2.92606171e-02 3.08149596e+01] [ 3.71517306e-02 9.99308837e-01 1.26382783e-03 -1.46247558e+00] [ 2.91935066e-02 -2.34949885e-03 9.99571018e-01 2.98086132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.120714057 meters Centerline goodness [0,1] 0.9796780865030124 Centerline is valid? [True, True] Translation: X:30.85, Y:-1.46, Z:0.30 [[ 9.98851376e-01 -3.79150129e-02 -2.92981458e-02 3.08462116e+01] [ 3.79683680e-02 9.99278139e-01 1.26673862e-03 -1.46397764e+00] [ 2.92289682e-02 -2.37768639e-03 9.99569915e-01 2.98696862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.150714056999995 meters Centerline goodness [0,1] 0.9752884507673351 Centerline is valid? [True, True] Translation: X:30.88, Y:-1.47, Z:0.30 [[ 9.98818098e-01 -3.91248316e-02 -2.88384357e-02 3.08757229e+01] [ 3.91770740e-02 9.99231504e-01 1.24854828e-03 -1.46978084e+00] [ 2.87674242e-02 -2.37687815e-03 9.99583306e-01 2.99195324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.180714056999996 meters Centerline goodness [0,1] 0.9752884507673351 Centerline is valid? [True, True] Translation: X:30.91, Y:-1.47, Z:0.30 [[ 9.98820740e-01 -3.90573926e-02 -2.88383396e-02 3.09074927e+01] [ 3.91096706e-02 9.99234141e-01 1.25076379e-03 -1.47122448e+00] [ 2.87674020e-02 -2.37714678e-03 9.99583306e-01 2.99676248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.210714057 meters Centerline goodness [0,1] 0.9802138076629385 Centerline is valid? [True, True] Translation: X:30.94, Y:-1.47, Z:0.30 [[ 9.98780688e-01 -3.99590657e-02 -2.89898291e-02 3.09395422e+01] [ 4.00123230e-02 9.99198393e-01 1.25910608e-03 -1.46510572e+00] [ 2.89162780e-02 -2.41752125e-03 9.99578914e-01 3.01714180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.240714057 meters Centerline goodness [0,1] 0.9789646192528736 Centerline is valid? [True, True] Translation: X:30.97, Y:-1.47, Z:0.30 [[ 9.98747445e-01 -4.11039090e-02 -2.85308482e-02 3.09719226e+01] [ 4.11560061e-02 9.99151962e-01 1.24092289e-03 -1.46969558e+00] [ 2.84556461e-02 -2.41358433e-03 9.99592142e-01 3.01936313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.270714057 meters Centerline goodness [0,1] 0.9781740690892777 Centerline is valid? [True, True] Translation: X:31.00, Y:-1.47, Z:0.30 [[ 9.98736836e-01 -4.14943219e-02 -2.83364257e-02 3.10038870e+01] [ 4.15459238e-02 9.99135833e-01 1.23447597e-03 -1.47146542e+00] [ 2.82607145e-02 -2.41017961e-03 9.99597681e-01 3.02630205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.300714057 meters Centerline goodness [0,1] 0.9787128935195581 Centerline is valid? [True, True] Translation: X:31.04, Y:-1.47, Z:0.30 [[ 9.98734317e-01 -4.16847284e-02 -2.81451256e-02 3.10361988e+01] [ 4.17357670e-02 9.99127928e-01 1.22814999e-03 -1.47221860e+00] [ 2.80693860e-02 -2.40125394e-03 9.99603093e-01 3.04159155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.330714056999994 meters Centerline goodness [0,1] 0.9749328359865894 Centerline is valid? [True, True] Translation: X:31.07, Y:-1.48, Z:0.30 [[ 9.98774594e-01 -4.12856298e-02 -2.72911668e-02 3.10672587e+01] [ 4.13335156e-02 9.99144693e-01 1.19259472e-03 -1.48216854e+00] [ 2.72185875e-02 -2.31917318e-03 9.99626815e-01 3.03828427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.360714056999996 meters Centerline goodness [0,1] 0.9750601765177855 Centerline is valid? [True, True] Translation: X:31.10, Y:-1.48, Z:0.30 [[ 9.98742468e-01 -4.19936754e-02 -2.73863888e-02 3.10997134e+01] [ 4.20422058e-02 9.99115117e-01 1.19842330e-03 -1.48365025e+00] [ 2.73118289e-02 -2.34830044e-03 9.99624204e-01 3.04292082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.390714057 meters Centerline goodness [0,1] 0.9777917217578379 Centerline is valid? [True, True] Translation: X:31.13, Y:-1.48, Z:0.30 [[ 9.98724227e-01 -4.26223217e-02 -2.70786857e-02 3.11317965e+01] [ 4.26700474e-02 9.99088514e-01 1.18684038e-03 -1.48464235e+00] [ 2.70034180e-02 -2.34077504e-03 9.99632601e-01 3.04776372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.420714057 meters Centerline goodness [0,1] 0.9790274101655376 Centerline is valid? [True, True] Translation: X:31.16, Y:-1.49, Z:0.30 [[ 9.98717332e-01 -4.29627985e-02 -2.67934618e-02 3.11637173e+01] [ 4.30096955e-02 9.99073963e-01 1.17621939e-03 -1.48738702e+00] [ 2.67181164e-02 -2.32708932e-03 9.99640299e-01 3.04934257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.450714057 meters Centerline goodness [0,1] 0.9801633605600933 Centerline is valid? [True, True] Translation: X:31.20, Y:-1.49, Z:0.31 [[ 9.98691700e-01 -4.31456240e-02 -2.74471156e-02 3.11963655e+01] [ 4.31949608e-02 9.99065933e-01 1.20689489e-03 -1.48737212e+00] [ 2.73694059e-02 -2.39089299e-03 9.99622528e-01 3.05432925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.480714057 meters Centerline goodness [0,1] 0.9807193343473204 Centerline is valid? [True, True] Translation: X:31.23, Y:-1.49, Z:0.31 [[ 9.98678526e-01 -4.30373291e-02 -2.80889551e-02 3.12281677e+01] [ 4.30890162e-02 9.99070471e-01 1.23715735e-03 -1.48905478e+00] [ 2.80096017e-02 -2.44584792e-03 9.99604662e-01 3.06488349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.510714057 meters Centerline goodness [0,1] 0.9817594399946153 Centerline is valid? [True, True] Translation: X:31.26, Y:-1.49, Z:0.31 [[ 9.98664819e-01 -4.31052558e-02 -2.84695790e-02 3.12607651e+01] [ 4.31584400e-02 9.99067451e-01 1.25599630e-03 -1.48761782e+00] [ 2.83888896e-02 -2.48302194e-03 9.99593870e-01 3.06925134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.540714056999995 meters Centerline goodness [0,1] 0.9776681614349776 Centerline is valid? [True, True] Translation: X:31.29, Y:-1.50, Z:0.31 [[ 9.98669997e-01 -4.30399841e-02 -2.83865552e-02 3.12912617e+01] [ 4.30928839e-02 9.99070283e-01 1.25415586e-03 -1.49874822e+00] [ 2.83061849e-02 -2.47574636e-03 9.99596234e-01 3.05750161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.570714056999996 meters Centerline goodness [0,1] 0.9815864339956543 Centerline is valid? [True, True] Translation: X:31.32, Y:-1.50, Z:0.31 [[ 9.98641102e-01 -4.37983025e-02 -2.82428450e-02 3.13231675e+01] [ 4.38510117e-02 9.99037301e-01 1.24933116e-03 -1.49537698e+00] [ 2.81609371e-02 -2.48611078e-03 9.99600311e-01 3.06740467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.600714057 meters Centerline goodness [0,1] 0.9724746065409086 Centerline is valid? [True, True] Translation: X:31.35, Y:-1.51, Z:0.31 [[ 9.98643578e-01 -4.37877333e-02 -2.81715901e-02 3.13538881e+01] [ 4.38402149e-02 9.99037776e-01 1.24768939e-03 -1.50650274e+00] [ 2.80898492e-02 -2.48104556e-03 9.99602323e-01 3.06028460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.630714057 meters Centerline goodness [0,1] 0.9834239372604937 Centerline is valid? [True, True] Translation: X:31.39, Y:-1.50, Z:0.31 [[ 9.98629617e-01 -4.41094795e-02 -2.81645350e-02 3.13861102e+01] [ 4.41621109e-02 9.99023597e-01 1.24912712e-03 -1.49805145e+00] [ 2.80819367e-02 -2.49122065e-03 9.99602520e-01 3.08271637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.660714057 meters Centerline goodness [0,1] 0.9832519346134119 Centerline is valid? [True, True] Translation: X:31.42, Y:-1.50, Z:0.31 [[ 9.98577032e-01 -4.52773235e-02 -2.81757883e-02 3.14180177e+01] [ 4.53305146e-02 9.98971260e-01 1.25163733e-03 -1.50223636e+00] [ 2.80901319e-02 -2.52707928e-03 9.99602200e-01 3.07964983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.690714057 meters Centerline goodness [0,1] 0.9833225424750508 Centerline is valid? [True, True] Translation: X:31.45, Y:-1.51, Z:0.31 [[ 9.98559930e-01 -4.55914239e-02 -2.82752128e-02 3.14493702e+01] [ 4.56451662e-02 9.98956924e-01 1.25782956e-03 -1.50585156e+00] [ 2.81883733e-02 -2.54664498e-03 9.99599385e-01 3.07978173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.720714056999995 meters Centerline goodness [0,1] 0.9836032882054464 Centerline is valid? [True, True] Translation: X:31.48, Y:-1.51, Z:0.31 [[ 9.98537840e-01 -4.63934731e-02 -2.77457764e-02 3.14814471e+01] [ 4.64455752e-02 9.98920057e-01 1.23598851e-03 -1.50717074e+00] [ 2.76584707e-02 -2.52284984e-03 9.99614248e-01 3.08414689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.750714056999996 meters Centerline goodness [0,1] 0.9842593418353697 Centerline is valid? [True, True] Translation: X:31.51, Y:-1.51, Z:0.31 [[ 9.98488166e-01 -4.71118908e-02 -2.83169983e-02 3.15121147e+01] [ 4.71665260e-02 9.98886240e-01 1.26420809e-03 -1.51051101e+00] [ 2.82259007e-02 -2.59791126e-03 9.99598194e-01 3.09166215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.780714057 meters Centerline goodness [0,1] 0.9849837119014682 Centerline is valid? [True, True] Translation: X:31.54, Y:-1.51, Z:0.31 [[ 9.98477067e-01 -4.73201753e-02 -2.83610107e-02 3.15438036e+01] [ 4.73751379e-02 9.98876362e-01 1.26879305e-03 -1.51111223e+00] [ 2.82691036e-02 -2.61046756e-03 9.99596940e-01 3.10091260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.810714057 meters Centerline goodness [0,1] 0.9834358837167826 Centerline is valid? [True, True] Translation: X:31.58, Y:-1.51, Z:0.31 [[ 9.98462675e-01 -4.74254076e-02 -2.86900309e-02 3.15763192e+01] [ 4.74817482e-02 9.98871279e-01 1.28531624e-03 -1.51363663e+00] [ 2.85966912e-02 -2.64559312e-03 9.99587530e-01 3.10705440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.840714057 meters Centerline goodness [0,1] 0.9802342606149341 Centerline is valid? [True, True] Translation: X:31.61, Y:-1.52, Z:0.31 [[ 9.98477343e-01 -4.72548786e-02 -2.84600046e-02 3.16072065e+01] [ 4.73103011e-02 9.98879425e-01 1.27680072e-03 -1.51887629e+00] [ 2.83677780e-02 -2.62130798e-03 9.99594117e-01 3.11019482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.870714057 meters Centerline goodness [0,1] 0.9818494206793251 Centerline is valid? [True, True] Translation: X:31.64, Y:-1.52, Z:0.31 [[ 9.98502326e-01 -4.72394604e-02 -2.75959875e-02 3.16395932e+01] [ 4.72916073e-02 9.98880357e-01 1.23970430e-03 -1.51973189e+00] [ 2.75065268e-02 -2.54290623e-03 9.99618389e-01 3.11804733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.900714056999995 meters Centerline goodness [0,1] 0.9841322680869952 Centerline is valid? [True, True] Translation: X:31.67, Y:-1.52, Z:0.31 [[ 9.98492743e-01 -4.72620727e-02 -2.79022906e-02 3.16720549e+01] [ 4.73154489e-02 9.98879208e-01 1.25547430e-03 -1.51789455e+00] [ 2.78116816e-02 -2.57379138e-03 9.99609867e-01 3.12521885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.930714056999996 meters Centerline goodness [0,1] 0.9842270590594159 Centerline is valid? [True, True] Translation: X:31.70, Y:-1.52, Z:0.31 [[ 9.98508154e-01 -4.68935950e-02 -2.79724435e-02 3.17045622e+01] [ 4.69471538e-02 9.98896579e-01 1.26067529e-03 -1.51844066e+00] [ 2.78824605e-02 -2.57202116e-03 9.99607900e-01 3.12084312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.960714057 meters Centerline goodness [0,1] 0.985189639428966 Centerline is valid? [True, True] Translation: X:31.74, Y:-1.52, Z:0.31 [[ 9.98517534e-01 -4.62935902e-02 -2.86293026e-02 3.17365957e+01] [ 4.63495113e-02 9.98924448e-01 1.29240845e-03 -1.51824076e+00] [ 2.85386801e-02 -2.61744668e-03 9.99589262e-01 3.12633774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.990714057 meters Centerline goodness [0,1] 0.9839224705803542 Centerline is valid? [True, True] Translation: X:31.77, Y:-1.52, Z:0.31 [[ 9.98547146e-01 -4.53631761e-02 -2.90822969e-02 3.17681917e+01] [ 4.54205528e-02 9.98967089e-01 1.31500649e-03 -1.52194602e+00] [ 2.89926046e-02 -2.63402998e-03 9.99576156e-01 3.12406084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.020714057 meters Centerline goodness [0,1] 0.9839487431352413 Centerline is valid? [True, True] Translation: X:31.80, Y:-1.52, Z:0.31 [[ 9.98645601e-01 -4.32451338e-02 -2.89278810e-02 3.17975245e+01] [ 4.33010457e-02 9.99061212e-01 1.30887372e-03 -1.52318621e+00] [ 2.88441214e-02 -2.55970848e-03 9.99580644e-01 3.12779948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.050714057 meters Centerline goodness [0,1] 0.9853544360231833 Centerline is valid? [True, True] Translation: X:31.83, Y:-1.52, Z:0.31 [[ 9.98704493e-01 -4.20279855e-02 -2.86876902e-02 3.18293074e+01] [ 4.20824875e-02 9.99113296e-01 1.29847219e-03 -1.52212329e+00] [ 2.86076806e-02 -2.50403937e-03 9.99587580e-01 3.13661763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.080714056999994 meters Centerline goodness [0,1] 0.98545162441985 Centerline is valid? [True, True] Translation: X:31.86, Y:-1.52, Z:0.31 [[ 9.98755539e-01 -4.08995099e-02 -2.85412578e-02 3.18610193e+01] [ 4.09530445e-02 9.99160235e-01 1.29342779e-03 -1.52267274e+00] [ 2.84643893e-02 -2.46066957e-03 9.99591779e-01 3.14084001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.110714056999996 meters Centerline goodness [0,1] 0.9844658895896945 Centerline is valid? [True, True] Translation: X:31.89, Y:-1.53, Z:0.31 [[ 9.98821521e-01 -3.94892315e-02 -2.82164945e-02 3.18916241e+01] [ 3.95410329e-02 9.99217128e-01 1.28003527e-03 -1.52508341e+00] [ 2.81438570e-02 -2.39423611e-03 9.99601016e-01 3.13704880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.140714057 meters Centerline goodness [0,1] 0.9845380319918129 Centerline is valid? [True, True] Translation: X:31.92, Y:-1.53, Z:0.31 [[ 9.98846674e-01 -3.88640802e-02 -2.81940582e-02 3.19236638e+01] [ 3.89155932e-02 9.99241681e-01 1.28048400e-03 -1.52714361e+00] [ 2.81229133e-02 -2.37619568e-03 9.99601648e-01 3.13933089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.170714057 meters Centerline goodness [0,1] 0.9848847349238646 Centerline is valid? [True, True] Translation: X:31.96, Y:-1.53, Z:0.32 [[ 9.98927260e-01 -3.72360161e-02 -2.75283063e-02 3.19554535e+01] [ 3.72845570e-02 9.99303905e-01 1.25195213e-03 -1.52673684e+00] [ 2.74625263e-02 -2.27698981e-03 9.99620240e-01 3.15026595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.200714057 meters Centerline goodness [0,1] 0.9834883617428457 Centerline is valid? [True, True] Translation: X:31.99, Y:-1.53, Z:0.31 [[ 9.98987485e-01 -3.61967299e-02 -2.67170626e-02 3.19859127e+01] [ 3.62421080e-02 9.99342299e-01 1.21604074e-03 -1.53044316e+00] [ 2.66554740e-02 -2.18309214e-03 9.99642296e-01 3.14837176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.230714057 meters Centerline goodness [0,1] 0.9841883109632177 Centerline is valid? [True, True] Translation: X:32.02, Y:-1.53, Z:0.32 [[ 9.99012595e-01 -3.54425865e-02 -2.67891257e-02 3.20177738e+01] [ 3.54879641e-02 9.99369359e-01 1.22020197e-03 -1.52840784e+00] [ 2.67289842e-02 -2.16968867e-03 9.99640362e-01 3.15652441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.260714057 meters Centerline goodness [0,1] 0.9831487076200067 Centerline is valid? [True, True] Translation: X:32.05, Y:-1.53, Z:0.32 [[ 9.99054526e-01 -3.42180709e-02 -2.68174914e-02 3.20478500e+01] [ 3.42631333e-02 9.99412099e-01 1.22249589e-03 -1.53053280e+00] [ 2.67598939e-02 -2.14019134e-03 9.99639599e-01 3.15385310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.290714056999995 meters Centerline goodness [0,1] 0.9840656148035578 Centerline is valid? [True, True] Translation: X:32.08, Y:-1.53, Z:0.32 [[ 9.99095520e-01 -3.31447248e-02 -2.66377251e-02 3.20789314e+01] [ 3.31888235e-02 9.99448361e-01 1.21496693e-03 -1.53045269e+00] [ 2.65827609e-02 -2.09794277e-03 9.99644415e-01 3.15578844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.320714056999996 meters Centerline goodness [0,1] 0.9844662801889115 Centerline is valid? [True, True] Translation: X:32.11, Y:-1.53, Z:0.32 [[ 9.99172967e-01 -3.06060694e-02 -2.67703360e-02 3.21099689e+01] [ 3.06497224e-02 9.99529440e-01 1.22175272e-03 -1.52947184e+00] [ 2.67203459e-02 -2.04124566e-03 9.99640864e-01 3.15929104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.350714057 meters Centerline goodness [0,1] 0.9827189197648163 Centerline is valid? [True, True] Translation: X:32.14, Y:-1.53, Z:0.32 [[ 9.99201410e-01 -2.98480334e-02 -2.65638327e-02 3.21397879e+01] [ 2.98907612e-02 9.99552436e-01 1.21278782e-03 -1.53350748e+00] [ 2.65157443e-02 -2.00583248e-03 9.99646383e-01 3.16073909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.380714057 meters Centerline goodness [0,1] 0.983993543614231 Centerline is valid? [True, True] Translation: X:32.17, Y:-1.53, Z:0.32 [[ 9.99291727e-01 -2.76545978e-02 -2.55199419e-02 3.21711456e+01] [ 2.76933320e-02 9.99615787e-01 1.16555680e-03 -1.53203755e+00] [ 2.54779038e-02 -1.87146349e-03 9.99673634e-01 3.17790122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.410714057 meters Centerline goodness [0,1] 0.9816398728225337 Centerline is valid? [True, True] Translation: X:32.20, Y:-1.54, Z:0.32 [[ 9.99321512e-01 -2.71207543e-02 -2.49194719e-02 3.22010748e+01] [ 2.71575318e-02 9.99630518e-01 1.13854923e-03 -1.53641484e+00] [ 2.48793863e-02 -1.81452809e-03 9.99688813e-01 3.17923026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.440714057 meters Centerline goodness [0,1] 0.983908764255585 Centerline is valid? [True, True] Translation: X:32.23, Y:-1.53, Z:0.32 [[ 9.99353777e-01 -2.61882597e-02 -2.46211884e-02 3.22333235e+01] [ 2.62238975e-02 9.99655461e-01 1.12562592e-03 -1.52648779e+00] [ 2.45832272e-02 -1.77056204e-03 9.99696219e-01 3.19770223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.470714056999995 meters Centerline goodness [0,1] 0.9847765738336169 Centerline is valid? [True, True] Translation: X:32.26, Y:-1.53, Z:0.32 [[ 9.99373447e-01 -2.54287237e-02 -2.46189465e-02 3.22636094e+01] [ 2.54641477e-02 9.99675101e-01 1.12641339e-03 -1.52908589e+00] [ 2.45823046e-02 -1.75260812e-03 9.99696273e-01 3.19736371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.500714056999996 meters Centerline goodness [0,1] 0.9853395407135503 Centerline is valid? [True, True] Translation: X:32.30, Y:-1.53, Z:0.32 [[ 9.99394313e-01 -2.47303761e-02 -2.44829585e-02 3.22953575e+01] [ 2.47652160e-02 9.99692667e-01 1.12079559e-03 -1.52918232e+00] [ 2.44477163e-02 -1.72644250e-03 9.99699619e-01 3.20521228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.530714057 meters Centerline goodness [0,1] 0.9842198462331607 Centerline is valid? [True, True] Translation: X:32.33, Y:-1.53, Z:0.32 [[ 9.99395253e-01 -2.43133319e-02 -2.48594052e-02 3.23264271e+01] [ 2.43491458e-02 9.99702867e-01 1.13892983e-03 -1.52957305e+00] [ 2.48243274e-02 -1.74354635e-03 9.99690308e-01 3.20964115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.560714057 meters Centerline goodness [0,1] 0.9839905327557719 Centerline is valid? [True, True] Translation: X:32.36, Y:-1.53, Z:0.32 [[ 9.99439245e-01 -2.28570277e-02 -2.44693949e-02 3.23557600e+01] [ 2.28913010e-02 9.99737331e-01 1.12142999e-03 -1.53147358e+00] [ 2.44373349e-02 -1.68093742e-03 9.99699951e-01 3.21326451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.590714057 meters Centerline goodness [0,1] 0.9837691412196651 Centerline is valid? [True, True] Translation: X:32.39, Y:-1.54, Z:0.32 [[ 9.99453866e-01 -2.24394356e-02 -2.42578170e-02 3.23853666e+01] [ 2.24729858e-02 9.99746833e-01 1.11130477e-03 -1.53507546e+00] [ 2.42267386e-02 -1.65584342e-03 9.99705118e-01 3.21571510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.620714057 meters Centerline goodness [0,1] 0.9841003622702268 Centerline is valid? [True, True] Translation: X:32.42, Y:-1.53, Z:0.32 [[ 9.99476303e-01 -2.16428836e-02 -2.40562940e-02 3.24158133e+01] [ 2.16756425e-02 9.99764449e-01 1.10180821e-03 -1.53438934e+00] [ 2.40267812e-02 -1.62266683e-03 9.99709998e-01 3.22526060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.650714056999995 meters Centerline goodness [0,1] 0.9845147121439617 Centerline is valid? [True, True] Translation: X:32.45, Y:-1.54, Z:0.32 [[ 9.99513944e-01 -2.00499104e-02 -2.38721024e-02 3.24458639e+01] [ 2.00817171e-02 9.99797744e-01 1.09337201e-03 -1.53772926e+00] [ 2.38453521e-02 -1.57223337e-03 9.99714423e-01 3.22409250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.680714056999996 meters Centerline goodness [0,1] 0.9848906025824964 Centerline is valid? [True, True] Translation: X:32.48, Y:-1.54, Z:0.32 [[ 9.99521139e-01 -1.93602248e-02 -2.41386380e-02 3.24757830e+01] [ 1.93925381e-02 9.99811336e-01 1.10526416e-03 -1.53961915e+00] [ 2.41126857e-02 -1.57284435e-03 9.99708010e-01 3.22691489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.710714057 meters Centerline goodness [0,1] 0.9842443801967772 Centerline is valid? [True, True] Translation: X:32.50, Y:-1.54, Z:0.32 [[ 9.99524510e-01 -1.87060795e-02 -2.45119826e-02 3.25041192e+01] [ 1.87391771e-02 9.99823778e-01 1.12123976e-03 -1.54262267e+00] [ 2.44866890e-02 -1.58004100e-03 9.99698907e-01 3.22500385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.740714057 meters Centerline goodness [0,1] 0.9842161583734618 Centerline is valid? [True, True] Translation: X:32.53, Y:-1.54, Z:0.32 [[ 9.99542081e-01 -1.75318726e-02 -2.46629724e-02 3.25333685e+01] [ 1.75649714e-02 9.99845090e-01 1.12603249e-03 -1.54442380e+00] [ 2.46394104e-02 -1.55872126e-03 9.99695188e-01 3.22716917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.770714057 meters Centerline goodness [0,1] 0.9840473003123605 Centerline is valid? [True, True] Translation: X:32.56, Y:-1.55, Z:0.32 [[ 9.99560197e-01 -1.61588034e-02 -2.48657530e-02 3.25626618e+01] [ 1.61919250e-02 9.99868262e-01 1.13123810e-03 -1.54574556e+00] [ 2.48441978e-02 -1.53336498e-03 9.99690159e-01 3.22535486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.800714057 meters Centerline goodness [0,1] 0.9842651489789086 Centerline is valid? [True, True] Translation: X:32.59, Y:-1.54, Z:0.32 [[ 9.99563598e-01 -1.55840690e-02 -2.50948352e-02 3.25911996e+01] [ 1.56174752e-02 9.99877395e-01 1.13574960e-03 -1.54335355e+00] [ 2.50740589e-02 -1.52717192e-03 9.99684430e-01 3.22707733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.830714056999994 meters Centerline goodness [0,1] 0.9847935954201887 Centerline is valid? [True, True] Translation: X:32.62, Y:-1.55, Z:0.32 [[ 9.99563071e-01 -1.51078418e-02 -2.54051345e-02 3.26186949e+01] [ 1.51417947e-02 9.99884701e-01 1.14460523e-03 -1.54680464e+00] [ 2.53849129e-02 -1.52878445e-03 9.99676582e-01 3.22210925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.860714056999996 meters Centerline goodness [0,1] 0.9855561012635621 Centerline is valid? [True, True] Translation: X:32.65, Y:-1.55, Z:0.32 [[ 9.99570877e-01 -1.35255967e-02 -2.59830808e-02 3.26475110e+01] [ 1.35605067e-02 9.99907370e-01 1.16782521e-03 -1.54837426e+00] [ 2.59648785e-02 -1.51966781e-03 9.99661701e-01 3.21760210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.890714057 meters Centerline goodness [0,1] 0.9854393827903761 Centerline is valid? [True, True] Translation: X:32.68, Y:-1.55, Z:0.32 [[ 9.99567697e-01 -1.29995487e-02 -2.63710249e-02 3.26758039e+01] [ 1.30352246e-02 9.99914340e-01 1.18138235e-03 -1.55067226e+00] [ 2.63534086e-02 -1.52462387e-03 9.99651526e-01 3.21752051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.920714057 meters Centerline goodness [0,1] 0.9865093876822905 Centerline is valid? [True, True] Translation: X:32.70, Y:-1.55, Z:0.32 [[ 9.99558902e-01 -1.28923022e-02 -2.67542589e-02 3.27047926e+01] [ 1.29288061e-02 9.99915709e-01 1.19187735e-03 -1.55374546e+00] [ 2.67366377e-02 -1.53725224e-03 9.99641330e-01 3.22705710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.950714057 meters Centerline goodness [0,1] 0.9854801769950859 Centerline is valid? [True, True] Translation: X:32.73, Y:-1.56, Z:0.32 [[ 9.99539654e-01 -1.36385113e-02 -2.71011281e-02 3.27322815e+01] [ 1.36761109e-02 9.99905755e-01 1.20250222e-03 -1.55694938e+00] [ 2.70821736e-02 -1.57258669e-03 9.99631974e-01 3.22543690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.980714057 meters Centerline goodness [0,1] 0.9854666666666667 Centerline is valid? [True, True] Translation: X:32.76, Y:-1.56, Z:0.32 [[ 9.99517856e-01 -1.45412057e-02 -2.74337349e-02 3.27608379e+01] [ 1.45799534e-02 9.99892971e-01 1.21289905e-03 -1.55874031e+00] [ 2.74131617e-02 -1.61229684e-03 9.99622888e-01 3.22841143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.010714057 meters Centerline goodness [0,1] 0.9864711510647293 Centerline is valid? [True, True] Translation: X:32.79, Y:-1.56, Z:0.32 [[ 9.99485844e-01 -1.68368150e-02 -2.72867945e-02 3.27905871e+01] [ 1.68758882e-02 9.99856869e-01 1.20227370e-03 -1.56175789e+00] [ 2.72626465e-02 -1.66214443e-03 9.99626923e-01 3.23080981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.040714056999995 meters Centerline goodness [0,1] 0.9848935886613054 Centerline is valid? [True, True] Translation: X:32.82, Y:-1.57, Z:0.32 [[ 9.99460715e-01 -1.86778788e-02 -2.70076998e-02 3.28187048e+01] [ 1.87167871e-02 9.99824119e-01 1.18853883e-03 -1.56954165e+00] [ 2.69807502e-02 -1.69339523e-03 9.99634519e-01 3.22613716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.070714056999996 meters Centerline goodness [0,1] 0.9859520639147803 Centerline is valid? [True, True] Translation: X:32.85, Y:-1.57, Z:0.32 [[ 9.99447513e-01 -2.04517697e-02 -2.61991347e-02 3.28481411e+01] [ 2.04889501e-02 9.99789416e-01 1.15146238e-03 -1.57381322e+00] [ 2.61700681e-02 -1.68761897e-03 9.99656081e-01 3.23541216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.100714057 meters Centerline goodness [0,1] 0.9859520639147803 Centerline is valid? [True, True] Translation: X:32.88, Y:-1.58, Z:0.32 [[ 9.99442543e-01 -2.06930117e-02 -2.61992747e-02 3.28764094e+01] [ 2.07301912e-02 9.99784447e-01 1.14826785e-03 -1.57500033e+00] [ 2.61698663e-02 -1.69074372e-03 9.99656081e-01 3.23969660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.130714057 meters Centerline goodness [0,1] 0.9855663703079618 Centerline is valid? [True, True] Translation: X:32.91, Y:-1.58, Z:0.32 [[ 9.99343332e-01 -2.53014439e-02 -2.59372809e-02 3.29069502e+01] [ 2.53393342e-02 9.99678265e-01 1.13315861e-03 -1.57828908e+00] [ 2.59002654e-02 -1.78964793e-03 9.99662930e-01 3.24902196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.160714057 meters Centerline goodness [0,1] 0.9852360895588561 Centerline is valid? [True, True] Translation: X:32.94, Y:-1.58, Z:0.33 [[ 9.99289504e-01 -2.72506538e-02 -2.60363093e-02 3.29372366e+01] [ 2.72894920e-02 9.99626925e-01 1.13747498e-03 -1.58301388e+00] [ 2.59955988e-02 -1.84718447e-03 9.99660351e-01 3.25130924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.190714057 meters Centerline goodness [0,1] 0.9826581914021838 Centerline is valid? [True, True] Translation: X:32.97, Y:-1.59, Z:0.32 [[ 9.99232384e-01 -2.93400064e-02 -2.59577764e-02 3.29664566e+01] [ 2.93793068e-02 9.99567692e-01 1.13385519e-03 -1.59280504e+00] [ 2.59132873e-02 -1.89560630e-03 9.99662397e-01 3.24849750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.220714056999995 meters Centerline goodness [0,1] 0.983839145181671 Centerline is valid? [True, True] Translation: X:33.00, Y:-1.59, Z:0.33 [[ 9.99108508e-01 -3.34251336e-02 -2.57866119e-02 3.29966200e+01] [ 3.34652635e-02 9.99439247e-01 1.12613259e-03 -1.59473991e+00] [ 2.57345109e-02 -1.98808441e-03 9.99666836e-01 3.25655343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.250714056999996 meters Centerline goodness [0,1] 0.9841375337852807 Centerline is valid? [True, True] Translation: X:33.03, Y:-1.59, Z:0.33 [[ 9.99049254e-01 -3.50864253e-02 -2.58752779e-02 3.30280248e+01] [ 3.51273960e-02 9.99382203e-01 1.13041003e-03 -1.59410505e+00] [ 2.58196302e-02 -2.03826643e-03 9.99664540e-01 3.26719312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.280714057 meters Centerline goodness [0,1] 0.9759110426070682 Centerline is valid? [True, True] Translation: X:33.06, Y:-1.61, Z:0.33 [[ 9.98968157e-01 -3.74966858e-02 -2.56246005e-02 3.30570370e+01] [ 3.75376674e-02 9.99294586e-01 1.11999183e-03 -1.60720887e+00] [ 2.55645286e-02 -2.08072391e-03 9.99671009e-01 3.26219769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.310714057 meters Centerline goodness [0,1] 0.9830703775926254 Centerline is valid? [True, True] Translation: X:33.09, Y:-1.60, Z:0.33 [[ 9.98930819e-01 -3.85328549e-02 -2.55428815e-02 3.30890475e+01] [ 3.85739259e-02 9.99255125e-01 1.11697115e-03 -1.60249528e+00] [ 2.54808151e-02 -2.10106612e-03 9.99673103e-01 3.27947598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.340714057 meters Centerline goodness [0,1] 0.980266796451563 Centerline is valid? [True, True] Translation: X:33.12, Y:-1.61, Z:0.33 [[ 9.98886520e-01 -3.95650137e-02 -2.56968690e-02 3.31198447e+01] [ 3.96069556e-02 9.99214703e-01 1.12506384e-03 -1.60653682e+00] [ 2.56321761e-02 -2.14158586e-03 9.99669148e-01 3.28047677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.370714057 meters Centerline goodness [0,1] 0.9787883479684147 Centerline is valid? [True, True] Translation: X:33.15, Y:-1.61, Z:0.33 [[ 9.98856024e-01 -4.02206192e-02 -2.58639887e-02 3.31513169e+01] [ 4.02633569e-02 9.99188459e-01 1.13354947e-03 -1.60981099e+00] [ 2.57974069e-02 -2.17362373e-03 9.99664828e-01 3.28021909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.400714056999995 meters Centerline goodness [0,1] 0.9768415920574417 Centerline is valid? [True, True] Translation: X:33.18, Y:-1.61, Z:0.33 [[ 9.98822229e-01 -4.09962095e-02 -2.59512280e-02 3.31820862e+01] [ 4.10395241e-02 9.99156875e-01 1.13845491e-03 -1.61347570e+00] [ 2.58826756e-02 -2.20214012e-03 9.99662562e-01 3.27801732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.430714056999996 meters Centerline goodness [0,1] 0.9828048483236943 Centerline is valid? [True, True] Translation: X:33.21, Y:-1.61, Z:0.33 [[ 9.98824392e-01 -4.08501530e-02 -2.60978863e-02 3.32148326e+01] [ 4.08939500e-02 9.99162835e-01 1.14645651e-03 -1.60805295e+00] [ 2.60292052e-02 -2.21235439e-03 9.99658735e-01 3.29000542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.460714057 meters Centerline goodness [0,1] 0.9824852385059377 Centerline is valid? [True, True] Translation: X:33.25, Y:-1.61, Z:0.33 [[ 9.98827948e-01 -4.04003686e-02 -2.66559588e-02 3.32472629e+01] [ 4.04459516e-02 9.99181039e-01 1.17289249e-03 -1.60988240e+00] [ 2.65867433e-02 -2.24964342e-03 9.99643979e-01 3.28785953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.490714057 meters Centerline goodness [0,1] 0.9831428318270423 Centerline is valid? [True, True] Translation: X:33.28, Y:-1.61, Z:0.33 [[ 9.98822258e-01 -3.92576554e-02 -2.85119955e-02 3.32788015e+01] [ 3.93093943e-02 9.99226297e-01 1.25618425e-03 -1.60763722e+00] [ 2.84406208e-02 -2.37549406e-03 9.99592661e-01 3.28508565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.520714057 meters Centerline goodness [0,1] 0.9825356619117451 Centerline is valid? [True, True] Translation: X:33.31, Y:-1.61, Z:0.33 [[ 9.98821431e-01 -3.89339274e-02 -2.89809975e-02 3.33097981e+01] [ 3.89872852e-02 9.99238889e-01 1.27813254e-03 -1.61108456e+00] [ 2.89091770e-02 -2.40651658e-03 9.99579146e-01 3.28031972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.550714057 meters Centerline goodness [0,1] 0.9822566676289667 Centerline is valid? [True, True] Translation: X:33.34, Y:-1.61, Z:0.33 [[ 9.98836095e-01 -3.84279528e-02 -2.91504426e-02 3.33410158e+01] [ 3.84817604e-02 9.99258474e-01 1.28690307e-03 -1.61152786e+00] [ 2.90793738e-02 -2.40716558e-03 9.99574207e-01 3.27637352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.580714056999994 meters Centerline goodness [0,1] 0.9841237986933351 Centerline is valid? [True, True] Translation: X:33.37, Y:-1.61, Z:0.33 [[ 9.98895235e-01 -3.69072877e-02 -2.90888645e-02 3.33721122e+01] [ 3.69602502e-02 9.99315910e-01 1.28495551e-03 -1.60968800e+00] [ 2.90215408e-02 -2.35866764e-03 9.99576004e-01 3.28661037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.610714056999996 meters Centerline goodness [0,1] 0.9837454569778591 Centerline is valid? [True, True] Translation: X:33.40, Y:-1.61, Z:0.33 [[ 9.98949690e-01 -3.59207167e-02 -2.84467851e-02 3.34037986e+01] [ 3.59709893e-02 9.99352044e-01 1.25732979e-03 -1.60788227e+00] [ 2.83831886e-02 -2.27926821e-03 9.99594518e-01 3.30177410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.640714057 meters Centerline goodness [0,1] 0.9845722300140253 Centerline is valid? [True, True] Translation: X:33.43, Y:-1.61, Z:0.33 [[ 9.98977070e-01 -3.56043866e-02 -2.78772435e-02 3.34349044e+01] [ 3.56525705e-02 9.99363484e-01 1.23313802e-03 -1.60869780e+00] [ 2.78155940e-02 -2.22577199e-03 9.99610594e-01 3.31183317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.670714057 meters Centerline goodness [0,1] 0.9807220860262982 Centerline is valid? [True, True] Translation: X:33.46, Y:-1.61, Z:0.33 [[ 9.99010972e-01 -3.51144299e-02 -2.72773607e-02 3.34646124e+01] [ 3.51604000e-02 9.99380953e-01 1.20733892e-03 -1.61471793e+00] [ 2.72180797e-02 -2.16522774e-03 9.99627174e-01 3.31546009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.700714057 meters Centerline goodness [0,1] 0.9842617980784235 Centerline is valid? [True, True] Translation: X:33.50, Y:-1.61, Z:0.33 [[ 9.99000651e-01 -3.52996732e-02 -2.74158988e-02 3.34959274e+01] [ 3.53462001e-02 9.99374390e-01 1.21417032e-03 -1.61004015e+00] [ 2.73558873e-02 -2.18200478e-03 9.99623376e-01 3.32739440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.730714057 meters Centerline goodness [0,1] 0.9813377926421405 Centerline is valid? [True, True] Translation: X:33.53, Y:-1.62, Z:0.33 [[ 9.98967969e-01 -3.58824919e-02 -2.78467847e-02 3.35260181e+01] [ 3.59307396e-02 9.99353521e-01 1.23401520e-03 -1.61601190e+00] [ 2.77845028e-02 -2.23329723e-03 9.99611441e-01 3.31216400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.760714057 meters Centerline goodness [0,1] 0.9853652017018243 Centerline is valid? [True, True] Translation: X:33.56, Y:-1.61, Z:0.33 [[ 9.98940174e-01 -3.64292691e-02 -2.81324791e-02 3.35579180e+01] [ 3.64787483e-02 9.99333650e-01 1.24741074e-03 -1.60960244e+00] [ 2.80682908e-02 -2.27232633e-03 9.99603425e-01 3.32535474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.790714056999995 meters Centerline goodness [0,1] 0.985025069637883 Centerline is valid? [True, True] Translation: X:33.59, Y:-1.61, Z:0.33 [[ 9.98933116e-01 -3.69440612e-02 -2.77086080e-02 3.35895896e+01] [ 3.69922841e-02 9.99314795e-01 1.22960590e-03 -1.61106332e+00] [ 2.76441952e-02 -2.25329875e-03 9.99615287e-01 3.32625721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.820714056999996 meters Centerline goodness [0,1] 0.9717766947275144 Centerline is valid? [True, True] Translation: X:33.62, Y:-1.63, Z:0.33 [[ 9.98910650e-01 -3.73809666e-02 -2.79316421e-02 3.36198170e+01] [ 3.74301735e-02 9.99298475e-01 1.24074344e-03 -1.62607379e+00] [ 2.78656671e-02 -2.28487805e-03 9.99609066e-01 3.31002235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.850714057 meters Centerline goodness [0,1] 0.984762327854287 Centerline is valid? [True, True] Translation: X:33.65, Y:-1.62, Z:0.33 [[ 9.98844185e-01 -3.93241607e-02 -2.76388234e-02 3.36511923e+01] [ 3.93731078e-02 9.99223823e-01 1.22876580e-03 -1.61628620e+00] [ 2.75690506e-02 -2.31557195e-03 9.99617220e-01 3.33187027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.880714057 meters Centerline goodness [0,1] 0.9828389311105663 Centerline is valid? [True, True] Translation: X:33.68, Y:-1.62, Z:0.33 [[ 9.98805298e-01 -4.00074480e-02 -2.80602899e-02 3.36828168e+01] [ 4.00581883e-02 9.99196569e-01 1.24823601e-03 -1.61860747e+00] [ 2.79878067e-02 -2.37078912e-03 9.99605453e-01 3.33488912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.910714057 meters Centerline goodness [0,1] 0.9831469417702381 Centerline is valid? [True, True] Translation: X:33.71, Y:-1.62, Z:0.33 [[ 9.98733104e-01 -4.18936124e-02 -2.78767324e-02 3.37139234e+01] [ 4.19444410e-02 9.99119174e-01 1.24082994e-03 -1.62088914e+00] [ 2.78001950e-02 -2.40853190e-03 9.99610598e-01 3.34423400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.940714057 meters Centerline goodness [0,1] 0.9822236013831014 Centerline is valid? [True, True] Translation: X:33.74, Y:-1.62, Z:0.33 [[ 9.98728195e-01 -4.25010046e-02 -2.71229826e-02 3.37447453e+01] [ 4.25493670e-02 9.99093635e-01 1.20817554e-03 -1.62469911e+00] [ 2.70470506e-02 -2.36070472e-03 9.99631374e-01 3.34924109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.970714056999995 meters Centerline goodness [0,1] 0.982854607962737 Centerline is valid? [True, True] Translation: X:33.78, Y:-1.62, Z:0.34 [[ 9.98724916e-01 -4.29351749e-02 -2.65539573e-02 3.37767462e+01] [ 4.29817231e-02 9.99075157e-01 1.18442613e-03 -1.62373975e+00] [ 2.64785455e-02 -2.32425073e-03 9.99646680e-01 3.35988503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.000714056999996 meters Centerline goodness [0,1] 0.9806480248557479 Centerline is valid? [True, True] Translation: X:33.81, Y:-1.63, Z:0.34 [[ 9.98724164e-01 -4.34317191e-02 -2.57629432e-02 3.38078836e+01] [ 4.34757396e-02 9.99053820e-01 1.15075224e-03 -1.62955051e+00] [ 2.56885877e-02 -2.26934708e-03 9.99667418e-01 3.37117040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.030714057 meters Centerline goodness [0,1] 0.9784631097493284 Centerline is valid? [True, True] Translation: X:33.84, Y:-1.63, Z:0.34 [[ 9.98718617e-01 -4.34602276e-02 -2.59293782e-02 3.38404379e+01] [ 4.35048686e-02 9.99052542e-01 1.15973920e-03 -1.63162973e+00] [ 2.58544087e-02 -2.28630732e-03 9.99663104e-01 3.37606918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.060714057 meters Centerline goodness [0,1] 0.9833163242667613 Centerline is valid? [True, True] Translation: X:33.87, Y:-1.63, Z:0.34 [[ 9.98717023e-01 -4.33788166e-02 -2.61263649e-02 3.38725363e+01] [ 4.34241591e-02 9.99056041e-01 1.17039038e-03 -1.62692072e+00] [ 2.60509325e-02 -2.30340422e-03 9.99657963e-01 3.38785704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.090714057 meters Centerline goodness [0,1] 0.9743435958949753 Centerline is valid? [True, True] Translation: X:33.90, Y:-1.64, Z:0.34 [[ 9.98740679e-01 -4.24202169e-02 -2.67877157e-02 3.39034698e+01] [ 4.24675891e-02 9.99097122e-01 1.20175051e-03 -1.63689899e+00] [ 2.67125512e-02 -2.33784682e-03 9.99640422e-01 3.36967049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.120714057 meters Centerline goodness [0,1] 0.9824090505767524 Centerline is valid? [True, True] Translation: X:33.94, Y:-1.63, Z:0.34 [[ 9.98777126e-01 -4.15155505e-02 -2.68460774e-02 3.39358242e+01] [ 4.15628493e-02 9.99135164e-01 1.20601662e-03 -1.62900236e+00] [ 2.67727915e-02 -2.32034129e-03 9.99638852e-01 3.38375953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.150714056999995 meters Centerline goodness [0,1] 0.9835230810281953 Centerline is valid? [True, True] Translation: X:33.97, Y:-1.63, Z:0.34 [[ 9.98864583e-01 -3.92198869e-02 -2.70433887e-02 3.39662799e+01] [ 3.92670780e-02 9.99228011e-01 1.21597070e-03 -1.62673957e+00] [ 2.69748213e-02 -2.27650492e-03 9.99633521e-01 3.38431702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.180714056999996 meters Centerline goodness [0,1] 0.9831317774108617 Centerline is valid? [True, True] Translation: X:34.00, Y:-1.63, Z:0.34 [[ 9.98920507e-01 -3.76595238e-02 -2.71952512e-02 3.39971581e+01] [ 3.77066842e-02 9.99288101e-01 1.22323093e-03 -1.62815274e+00] [ 2.71298246e-02 -2.24735321e-03 9.99629392e-01 3.38691639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.210714057 meters Centerline goodness [0,1] 0.9684006591546787 Centerline is valid? [True, True] Translation: X:34.03, Y:-1.64, Z:0.34 [[ 9.98975215e-01 -3.57083716e-02 -2.78106340e-02 3.40269519e+01] [ 3.57569614e-02 9.99359732e-01 1.25166090e-03 -1.64096853e+00] [ 2.77481330e-02 -2.24480198e-03 9.99612426e-01 3.36833186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.240714057 meters Centerline goodness [0,1] 0.9702776168619937 Centerline is valid? [True, True] Translation: X:34.06, Y:-1.64, Z:0.34 [[ 9.99051013e-01 -3.34295975e-02 -2.79201537e-02 3.40581462e+01] [ 3.34776991e-02 9.99438674e-01 1.25703338e-03 -1.64093267e+00] [ 2.78624593e-02 -2.19054298e-03 9.99609366e-01 3.36805692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.270714057 meters Centerline goodness [0,1] 0.9832240049640989 Centerline is valid? [True, True] Translation: X:34.09, Y:-1.63, Z:0.34 [[ 9.99231644e-01 -2.79670320e-02 -2.74584481e-02 3.40897076e+01] [ 2.80115163e-02 9.99606836e-01 1.23667119e-03 -1.62716608e+00] [ 2.74130664e-02 -2.00487375e-03 9.99622181e-01 3.39415067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.300714057 meters Centerline goodness [0,1] 0.9839481710710867 Centerline is valid? [True, True] Translation: X:34.12, Y:-1.63, Z:0.34 [[ 9.99299203e-01 -2.55040419e-02 -2.73979249e-02 3.41198116e+01] [ 2.55474097e-02 9.99672850e-01 1.23395757e-03 -1.62526113e+00] [ 2.73574907e-02 -1.93303883e-03 9.99623845e-01 3.40444908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.330714056999994 meters Centerline goodness [0,1] 0.9838307349665925 Centerline is valid? [True, True] Translation: X:34.15, Y:-1.62, Z:0.34 [[ 9.99367866e-01 -2.29106427e-02 -2.71840279e-02 3.41495245e+01] [ 2.29523624e-02 9.99735811e-01 1.22363872e-03 -1.62159767e+00] [ 2.71488118e-02 -1.84680287e-03 9.99629697e-01 3.41852444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.360714056999996 meters Centerline goodness [0,1] 0.9845754906782314 Centerline is valid? [True, True] Translation: X:34.18, Y:-1.62, Z:0.34 [[ 9.99489748e-01 -1.78941017e-02 -2.64583568e-02 3.41803495e+01] [ 1.79318594e-02 9.99838503e-01 1.19046572e-03 -1.61632005e+00] [ 2.64327816e-02 -1.66430581e-03 9.99649208e-01 3.43360339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.390714057 meters Centerline goodness [0,1] 0.9854787103125769 Centerline is valid? [True, True] Translation: X:34.21, Y:-1.61, Z:0.34 [[ 9.99521407e-01 -1.62639125e-02 -2.63142953e-02 3.42096082e+01] [ 1.63006280e-02 9.99866438e-01 1.18134916e-03 -1.61414733e+00] [ 2.62915674e-02 -1.60972332e-03 9.99653021e-01 3.44542098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.420714057 meters Centerline goodness [0,1] 0.9849852533738493 Centerline is valid? [True, True] Translation: X:34.24, Y:-1.62, Z:0.34 [[ 9.99579152e-01 -1.33829089e-02 -2.57374697e-02 3.42385864e+01] [ 1.34169804e-02 9.99909325e-01 1.15157294e-03 -1.61574590e+00] [ 2.57197246e-02 -1.49640743e-03 9.99668073e-01 3.44562266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.450714057 meters Centerline goodness [0,1] 0.9863007575926878 Centerline is valid? [True, True] Translation: X:34.27, Y:-1.61, Z:0.35 [[ 9.99600897e-01 -1.26137267e-02 -2.52772812e-02 3.42670670e+01] [ 1.26462656e-02 9.99919397e-01 1.12782804e-03 -1.61252332e+00] [ 2.52610176e-02 -1.44704113e-03 9.99679842e-01 3.45879152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.480714057 meters Centerline goodness [0,1] 0.9865779306340309 Centerline is valid? [True, True] Translation: X:34.30, Y:-1.61, Z:0.35 [[ 9.99596616e-01 -1.25001198e-02 -2.55020072e-02 3.42960247e+01] [ 1.25330341e-02 9.99920819e-01 1.13122108e-03 -1.61290655e+00] [ 2.54858475e-02 -1.45038229e-03 9.99674131e-01 3.46655576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.510714057 meters Centerline goodness [0,1] 0.9851589001963935 Centerline is valid? [True, True] Translation: X:34.32, Y:-1.62, Z:0.35 [[ 9.99601919e-01 -1.26820692e-02 -2.52025406e-02 3.43224110e+01] [ 1.27141417e-02 9.99918553e-01 1.11275226e-03 -1.61871217e+00] [ 2.51863759e-02 -1.43273796e-03 9.99681746e-01 3.46212460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.540714056999995 meters Centerline goodness [0,1] 0.9861200990783925 Centerline is valid? [True, True] Translation: X:34.35, Y:-1.62, Z:0.35 [[ 9.99593298e-01 -1.33874819e-02 -2.51796251e-02 3.43512777e+01] [ 1.34196052e-02 9.99909340e-01 1.10721366e-03 -1.61745482e+00] [ 2.51625196e-02 -1.44466398e-03 9.99682330e-01 3.47405667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.570714056999996 meters Centerline goodness [0,1] 0.984670914843367 Centerline is valid? [True, True] Translation: X:34.38, Y:-1.62, Z:0.35 [[ 9.99601584e-01 -1.38887127e-02 -2.45718701e-02 3.43792177e+01] [ 1.39193405e-02 9.99902543e-01 1.07585191e-03 -1.62476988e+00] [ 2.45545332e-02 -1.41744750e-03 9.99697487e-01 3.47240923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.600714057 meters Centerline goodness [0,1] 0.9855275755349231 Centerline is valid? [True, True] Translation: X:34.41, Y:-1.62, Z:0.35 [[ 9.99600512e-01 -1.57555914e-02 -2.34644000e-02 3.44079618e+01] [ 1.57839522e-02 9.99874901e-01 1.02394445e-03 -1.62351234e+00] [ 2.34453318e-02 -1.39389637e-03 9.99724149e-01 3.49357618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.630714057 meters Centerline goodness [0,1] 0.9851290372774357 Centerline is valid? [True, True] Translation: X:34.44, Y:-1.63, Z:0.35 [[ 9.99603218e-01 -1.63422588e-02 -2.29420231e-02 3.44364551e+01] [ 1.63693936e-02 9.99865517e-01 9.95443755e-04 -1.62634104e+00] [ 2.29226700e-02 -1.37059579e-03 9.99736302e-01 3.49856142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.660714057 meters Centerline goodness [0,1] 0.9846614208134766 Centerline is valid? [True, True] Translation: X:34.46, Y:-1.63, Z:0.35 [[ 9.99590008e-01 -1.74418693e-02 -2.27067695e-02 3.44644145e+01] [ 1.74686353e-02 9.99846931e-01 9.80933363e-04 -1.63025816e+00] [ 2.26861844e-02 -1.37718746e-03 9.99741687e-01 3.50100643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.690714057 meters Centerline goodness [0,1] 0.9846419403381429 Centerline is valid? [True, True] Translation: X:34.49, Y:-1.63, Z:0.35 [[ 9.99569344e-01 -1.81965262e-02 -2.30220219e-02 3.44927815e+01] [ 1.82241700e-02 9.99833434e-01 9.91499246e-04 -1.63211305e+00] [ 2.30001453e-02 -1.41062949e-03 9.99734466e-01 3.50564279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.720714056999995 meters Centerline goodness [0,1] 0.984019586022702 Centerline is valid? [True, True] Translation: X:34.52, Y:-1.63, Z:0.35 [[ 9.99574162e-01 -1.83319001e-02 -2.27031985e-02 3.45225546e+01] [ 1.83587280e-02 9.99830990e-01 9.73798396e-04 -1.63337504e+00] [ 2.26815098e-02 -1.39018556e-03 9.99741775e-01 3.50705207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.750714056999996 meters Centerline goodness [0,1] 0.984366300692604 Centerline is valid? [True, True] Translation: X:34.55, Y:-1.63, Z:0.35 [[ 9.99588448e-01 -1.76900682e-02 -2.25830962e-02 3.45518796e+01] [ 1.77164315e-02 9.99842583e-01 9.67837609e-04 -1.63284767e+00] [ 2.25624201e-02 -1.36753117e-03 9.99744501e-01 3.50905079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.780714057 meters Centerline goodness [0,1] 0.9846541609974795 Centerline is valid? [True, True] Translation: X:34.58, Y:-1.64, Z:0.35 [[ 9.99596845e-01 -1.69173465e-02 -2.28024163e-02 3.45808142e+01] [ 1.69440051e-02 9.99855963e-01 9.76400630e-04 -1.63787442e+00] [ 2.27826138e-02 -1.36237125e-03 9.99739514e-01 3.50447032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.810714057 meters Centerline goodness [0,1] 0.9859731932136973 Centerline is valid? [True, True] Translation: X:34.61, Y:-1.63, Z:0.35 [[ 9.99602800e-01 -1.62728824e-02 -2.30094682e-02 3.46092969e+01] [ 1.62997983e-02 9.99866667e-01 9.82695629e-04 -1.63422866e+00] [ 2.29904089e-02 -1.35735499e-03 9.99734764e-01 3.51725084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.840714057 meters Centerline goodness [0,1] 0.982999176661697 Centerline is valid? [True, True] Translation: X:34.64, Y:-1.64, Z:0.35 [[ 9.99632709e-01 -1.45117310e-02 -2.28879225e-02 3.46376268e+01] [ 1.45378054e-02 9.99893847e-01 9.73234391e-04 -1.64070314e+00] [ 2.28713695e-02 -1.30561709e-03 9.99737563e-01 3.51339715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.870714057 meters Centerline goodness [0,1] 0.9854261838440111 Centerline is valid? [True, True] Translation: X:34.67, Y:-1.64, Z:0.35 [[ 9.99691309e-01 -1.04589602e-02 -2.25365460e-02 3.46681831e+01] [ 1.04831923e-02 9.99944592e-01 9.57358323e-04 -1.63606361e+00] [ 2.25252843e-02 -1.19331774e-03 9.99745561e-01 3.52757060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.900714056999995 meters Centerline goodness [0,1] 0.9856043075827696 Centerline is valid? [True, True] Translation: X:34.70, Y:-1.63, Z:0.35 [[ 9.99706690e-01 -8.27313299e-03 -2.27615772e-02 3.46977061e+01] [ 8.29723936e-03 9.99965112e-01 9.64842760e-04 -1.63296355e+00] [ 2.27528008e-02 -1.15341802e-03 9.99740456e-01 3.53399923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.930714056999996 meters Centerline goodness [0,1] 0.9864575431707644 Centerline is valid? [True, True] Translation: X:34.73, Y:-1.64, Z:0.35 [[ 9.99743108e-01 -4.00001928e-03 -2.23095717e-02 3.47262161e+01] [ 4.02202894e-03 9.99991468e-01 9.41773657e-04 -1.63671440e+00] [ 2.23056143e-02 -1.03126147e-03 9.99750667e-01 3.52985098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.960714057 meters Centerline goodness [0,1] 0.9866512414345466 Centerline is valid? [True, True] Translation: X:34.75, Y:-1.64, Z:0.35 [[ 9.99749797e-01 -2.08671701e-03 -2.22708009e-02 3.47539103e+01] [ 2.10814452e-03 9.99997337e-01 9.38699968e-04 -1.63785377e+00] [ 2.22687828e-02 -9.85415170e-04 9.99751534e-01 3.53007267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.990714057 meters Centerline goodness [0,1] 0.9866512414345466 Centerline is valid? [True, True] Translation: X:34.78, Y:-1.64, Z:0.35 [[ 9.99749180e-01 -2.36258159e-03 -2.22709386e-02 3.47812972e+01] [ 2.38400456e-03 9.99996721e-01 9.35423439e-04 -1.63892287e+00] [ 2.22686555e-02 -9.88282835e-04 9.99751534e-01 3.53422602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.020714057 meters Centerline goodness [0,1] 0.9872029250457038 Centerline is valid? [True, True] Translation: X:34.81, Y:-1.64, Z:0.35 [[ 9.99744701e-01 -2.94526489e-04 -2.25930591e-02 3.48099139e+01] [ 3.15939336e-04 9.99999504e-01 9.44198572e-04 -1.63902814e+00] [ 2.25927698e-02 -9.51095555e-04 9.99744298e-01 3.53950924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.050714057 meters Centerline goodness [0,1] 0.9882426432858131 Centerline is valid? [True, True] Translation: X:34.84, Y:-1.64, Z:0.35 [[ 9.99732398e-01 3.02690013e-03 -2.29340567e-02 3.48397055e+01] [-3.00573894e-03 9.99995025e-01 9.57112369e-04 -1.63539005e+00] [ 2.29368397e-02 -8.87922456e-04 9.99736522e-01 3.54900816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.080714056999994 meters Centerline goodness [0,1] 0.9884565672772653 Centerline is valid? [True, True] Translation: X:34.87, Y:-1.64, Z:0.36 [[ 9.99729174e-01 5.37350419e-03 -2.26429669e-02 3.48686710e+01] [-5.35350214e-03 9.99985224e-01 9.43892448e-04 -1.63635119e+00] [ 2.26477044e-02 -8.22417646e-04 9.99743170e-01 3.55113317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.110714056999996 meters Centerline goodness [0,1] 0.9884565672772653 Centerline is valid? [True, True] Translation: X:34.90, Y:-1.64, Z:0.36 [[ 9.99729742e-01 5.26652096e-03 -2.26430453e-02 3.48961218e+01] [-5.24653411e-03 9.99985793e-01 9.42009036e-04 -1.63740617e+00] [ 2.26476847e-02 -8.22956941e-04 9.99743170e-01 3.55529535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.140714057 meters Centerline goodness [0,1] 0.9887868384680547 Centerline is valid? [True, True] Translation: X:34.92, Y:-1.64, Z:0.36 [[ 9.99740637e-01 6.58665317e-03 -2.18007780e-02 3.49248752e+01] [-6.56850960e-03 9.99978019e-01 9.03747872e-04 -1.64004139e+00] [ 2.18062515e-02 -7.60314853e-04 9.99761926e-01 3.56254452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.170714057 meters Centerline goodness [0,1] 0.9889056872248655 Centerline is valid? [True, True] Translation: X:34.95, Y:-1.64, Z:0.36 [[ 9.99738262e-01 7.37266301e-03 -2.16575793e-02 3.49534305e+01] [-7.35503237e-03 9.99972552e-01 8.93607230e-04 -1.64072801e+00] [ 2.16635731e-02 -7.34081143e-04 9.99765048e-01 3.56766822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.200714057 meters Centerline goodness [0,1] 0.9885561616386508 Centerline is valid? [True, True] Translation: X:34.98, Y:-1.64, Z:0.36 [[ 9.99740889e-01 7.76843163e-03 -2.13964266e-02 3.49813556e+01] [-7.75134922e-03 9.99969570e-01 8.81197427e-04 -1.64403577e+00] [ 2.14026210e-02 -7.15117924e-04 9.99770682e-01 3.56717778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.230714057 meters Centerline goodness [0,1] 0.9891896701292346 Centerline is valid? [True, True] Translation: X:35.01, Y:-1.65, Z:0.36 [[ 9.99743871e-01 7.70548468e-03 -2.12795273e-02 3.50097219e+01] [-7.68861692e-03 9.99970060e-01 8.74377362e-04 -1.64526441e+00] [ 2.12856277e-02 -7.10543275e-04 9.99773183e-01 3.57241473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.260714057 meters Centerline goodness [0,1] 0.9897262558651515 Centerline is valid? [True, True] Translation: X:35.04, Y:-1.65, Z:0.36 [[ 9.99748690e-01 7.52130108e-03 -2.11183817e-02 3.50387174e+01] [-7.50469025e-03 9.99971465e-01 8.65701587e-04 -1.64717194e+00] [ 2.11242903e-02 -7.06997114e-04 9.99776607e-01 3.57412761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.290714056999995 meters Centerline goodness [0,1] 0.9876526848231838 Centerline is valid? [True, True] Translation: X:35.07, Y:-1.65, Z:0.36 [[ 9.99752132e-01 6.79210721e-03 -2.12023816e-02 3.50664804e+01] [-6.77523514e-03 9.99976672e-01 8.67496303e-04 -1.65318284e+00] [ 2.12077791e-02 -7.23630157e-04 9.99774828e-01 3.57008811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.320714056999996 meters Centerline goodness [0,1] 0.9886363636363636 Centerline is valid? [True, True] Translation: X:35.10, Y:-1.66, Z:0.36 [[ 9.99752048e-01 4.02687308e-03 -2.19003857e-02 3.50961133e+01] [-4.00824497e-03 9.99991567e-01 8.94413502e-04 -1.65819299e+00] [ 2.19038027e-02 -8.06409619e-04 9.99759758e-01 3.56726152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.350714057 meters Centerline goodness [0,1] 0.9889295618413755 Centerline is valid? [True, True] Translation: X:35.12, Y:-1.66, Z:0.36 [[ 9.99761609e-01 1.92642808e-03 -2.17488973e-02 3.51246769e+01] [-1.90758216e-03 9.99997787e-01 8.87235926e-04 -1.66257536e+00] [ 2.17505584e-02 -8.45536608e-04 9.99763071e-01 3.56754613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.380714057 meters Centerline goodness [0,1] 0.9862728601160164 Centerline is valid? [True, True] Translation: X:35.15, Y:-1.67, Z:0.36 [[ 9.99770507e-01 -2.35374720e-03 -2.12930552e-02 3.51537582e+01] [ 2.37275554e-03 9.99996809e-01 8.67481095e-04 -1.67371871e+00] [ 2.12909454e-02 -9.17805228e-04 9.99772901e-01 3.57491100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.410714057 meters Centerline goodness [0,1] 0.9879151413575619 Centerline is valid? [True, True] Translation: X:35.18, Y:-1.67, Z:0.36 [[ 9.99773566e-01 -4.74643414e-03 -2.07434023e-02 3.51829816e+01] [ 4.76497531e-03 9.99988291e-01 8.44499444e-04 -1.67425017e+00] [ 2.07391510e-02 -9.43150020e-04 9.99784476e-01 3.59184275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.440714057 meters Centerline goodness [0,1] 0.9881144016406095 Centerline is valid? [True, True] Translation: X:35.21, Y:-1.68, Z:0.36 [[ 9.99765294e-01 -7.33867645e-03 -2.03838264e-02 3.52125280e+01] [ 7.35709829e-03 9.99972593e-01 8.28903477e-04 -1.67598668e+00] [ 2.03771846e-02 -9.78674743e-04 9.99791885e-01 3.59961987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.470714056999995 meters Centerline goodness [0,1] 0.9874097957930293 Centerline is valid? [True, True] Translation: X:35.24, Y:-1.68, Z:0.36 [[ 9.99740634e-01 -1.12917778e-02 -1.97777937e-02 3.52419547e+01] [ 1.13098798e-02 9.99935718e-01 8.03654083e-04 -1.68455673e+00] [ 1.97674477e-02 -1.02713011e-03 9.99804077e-01 3.59268745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.500714056999996 meters Centerline goodness [0,1] 0.9869084028251447 Centerline is valid? [True, True] Translation: X:35.27, Y:-1.69, Z:0.36 [[ 9.99713074e-01 -1.31033736e-02 -2.00517007e-02 3.52709001e+01] [ 1.31223307e-02 9.99913567e-01 8.14125411e-04 -1.68916073e+00] [ 2.00392998e-02 -1.07701687e-03 9.99798613e-01 3.59503047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.530714057 meters Centerline goodness [0,1] 0.9877273627026195 Centerline is valid? [True, True] Translation: X:35.30, Y:-1.69, Z:0.36 [[ 9.99670234e-01 -1.54059201e-02 -2.05445938e-02 3.53007158e+01] [ 1.54262767e-02 9.99880661e-01 8.32728459e-04 -1.69164148e+00] [ 2.05293131e-02 -1.14938044e-03 9.99788591e-01 3.60256532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.560714057 meters Centerline goodness [0,1] 0.9876827822421288 Centerline is valid? [True, True] Translation: X:35.33, Y:-1.69, Z:0.36 [[ 9.99656785e-01 -1.64775504e-02 -2.03666953e-02 3.53289927e+01] [ 1.64977607e-02 9.99863563e-01 8.24686614e-04 -1.69459494e+00] [ 2.03503277e-02 -1.16040843e-03 9.99792237e-01 3.61142948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.590714057 meters Centerline goodness [0,1] 0.9874104671090214 Centerline is valid? [True, True] Translation: X:35.36, Y:-1.70, Z:0.36 [[ 9.99658877e-01 -1.69981992e-02 -1.98290397e-02 3.53575423e+01] [ 1.70174186e-02 9.99854872e-01 8.00910156e-04 -1.69578706e+00] [ 1.98125480e-02 -1.13807602e-03 9.99803064e-01 3.62310462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.620714057 meters Centerline goodness [0,1] 0.9868033902771068 Centerline is valid? [True, True] Translation: X:35.39, Y:-1.70, Z:0.36 [[ 9.99659124e-01 -1.74477585e-02 -1.94219192e-02 3.53862141e+01] [ 1.74662015e-02 9.99847150e-01 7.80355562e-04 -1.69929270e+00] [ 1.94053351e-02 -1.11931671e-03 9.99811072e-01 3.63036716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.650714056999995 meters Centerline goodness [0,1] 0.9864154250657318 Centerline is valid? [True, True] Translation: X:35.42, Y:-1.70, Z:0.36 [[ 9.99683954e-01 -1.66496639e-02 -1.88356329e-02 3.54160509e+01] [ 1.66668461e-02 9.99860813e-01 7.55594022e-04 -1.70221546e+00] [ 1.88204308e-02 -1.06928581e-03 9.99822308e-01 3.63637781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.680714056999996 meters Centerline goodness [0,1] 0.9859559177950133 Centerline is valid? [True, True] Translation: X:35.44, Y:-1.71, Z:0.36 [[ 9.99693327e-01 -1.62470628e-02 -1.86891836e-02 3.54443118e+01] [ 1.62638948e-02 9.99867454e-01 7.48976038e-04 -1.70767905e+00] [ 1.86745378e-02 -1.05270526e-03 9.99825061e-01 3.63162467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.710714057 meters Centerline goodness [0,1] 0.9852506729106943 Centerline is valid? [True, True] Translation: X:35.47, Y:-1.71, Z:0.36 [[ 9.99695101e-01 -1.55306073e-02 -1.91964870e-02 3.54743101e+01] [ 1.55482150e-02 9.99878824e-01 7.68317276e-04 -1.70930980e+00] [ 1.91822284e-02 -1.06655412e-03 9.99815435e-01 3.63319187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.740714057 meters Centerline goodness [0,1] 0.9851683328593617 Centerline is valid? [True, True] Translation: X:35.50, Y:-1.71, Z:0.36 [[ 9.99706164e-01 -1.39450019e-02 -1.98273176e-02 3.55031048e+01] [ 1.39634598e-02 9.99902192e-01 7.92787038e-04 -1.71139884e+00] [ 1.98143230e-02 -1.06941204e-03 9.99803105e-01 3.62975764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.770714057 meters Centerline goodness [0,1] 0.9844981607987389 Centerline is valid? [True, True] Translation: X:35.53, Y:-1.71, Z:0.36 [[ 9.99716239e-01 -1.30180570e-02 -1.99492235e-02 3.55310273e+01] [ 1.30365355e-02 9.99914704e-01 7.96503360e-04 -1.71365494e+00] [ 1.99371530e-02 -1.05634610e-03 9.99800677e-01 3.62878075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.800714057 meters Centerline goodness [0,1] 0.9857027127624636 Centerline is valid? [True, True] Translation: X:35.56, Y:-1.71, Z:0.36 [[ 9.99718914e-01 -1.21171662e-02 -2.03781030e-02 3.55601536e+01] [ 1.21362065e-02 9.99926025e-01 8.10935845e-04 -1.71038961e+00] [ 2.03667693e-02 -1.05802077e-03 9.99792016e-01 3.62798474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.830714056999994 meters Centerline goodness [0,1] 0.9853734145436287 Centerline is valid? [True, True] Translation: X:35.59, Y:-1.71, Z:0.36 [[ 9.99735814e-01 -1.14199043e-02 -1.99471360e-02 3.55875626e+01] [ 1.14379204e-02 9.99934273e-01 7.89332637e-04 -1.71376278e+00] [ 1.99368108e-02 -1.01727786e-03 9.99800725e-01 3.62693496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.860714056999996 meters Centerline goodness [0,1] 0.9854920697253311 Centerline is valid? [True, True] Translation: X:35.62, Y:-1.72, Z:0.36 [[ 9.99745018e-01 -1.06144867e-02 -1.99306838e-02 3.56163193e+01] [ 1.06322492e-02 9.99943168e-01 7.85457378e-04 -1.71542137e+00] [ 1.99212139e-02 -9.97165097e-04 9.99801056e-01 3.63067381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.890714057 meters Centerline goodness [0,1] 0.9856928202783041 Centerline is valid? [True, True] Translation: X:35.65, Y:-1.72, Z:0.36 [[ 9.99760354e-01 -9.71847927e-03 -1.96159368e-02 3.56455937e+01] [ 9.73541847e-03 9.99952315e-01 7.68231640e-04 -1.71658351e+00] [ 1.96075353e-02 -9.59016889e-04 9.99807294e-01 3.63773002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.920714057 meters Centerline goodness [0,1] 0.986340950879958 Centerline is valid? [True, True] Translation: X:35.67, Y:-1.72, Z:0.36 [[ 9.99773196e-01 -7.95445029e-03 -1.97555716e-02 3.56744891e+01] [ 7.97121100e-03 9.99967933e-01 7.69802093e-04 -1.71666107e+00] [ 1.97488147e-02 -9.27103329e-04 9.99804543e-01 3.64225601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.950714057 meters Centerline goodness [0,1] 0.9862097602552615 Centerline is valid? [True, True] Translation: X:35.70, Y:-1.72, Z:0.36 [[ 9.99776793e-01 -7.21968308e-03 -1.98554805e-02 3.57037099e+01] [ 7.23642507e-03 9.99973519e-01 7.71472087e-04 -1.71556232e+00] [ 1.98493850e-02 -9.14982587e-04 9.99802563e-01 3.64809173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.980714057 meters Centerline goodness [0,1] 0.9867098723534692 Centerline is valid? [True, True] Translation: X:35.73, Y:-1.72, Z:0.36 [[ 9.99792506e-01 -6.03697726e-03 -1.94550931e-02 3.57314153e+01] [ 6.05275053e-03 9.99981399e-01 7.51970042e-04 -1.72087698e+00] [ 1.94501916e-02 -8.69570837e-04 9.99810449e-01 3.64320573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.010714057 meters Centerline goodness [0,1] 0.9861590184691962 Centerline is valid? [True, True] Translation: X:35.76, Y:-1.72, Z:0.36 [[ 9.99794743e-01 -6.45365547e-03 -1.92047224e-02 3.57591673e+01] [ 6.46905366e-03 9.99978802e-01 7.39775392e-04 -1.72378037e+00] [ 1.91995410e-02 -8.63859927e-04 9.99815299e-01 3.63985677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.040714056999995 meters Centerline goodness [0,1] 0.9858874496761771 Centerline is valid? [True, True] Translation: X:35.79, Y:-1.73, Z:0.36 [[ 9.99785944e-01 -7.01192392e-03 -1.94653124e-02 3.57875502e+01] [ 7.02774358e-03 9.99975028e-01 7.44423558e-04 -1.72667932e+00] [ 1.94596065e-02 -8.81061434e-04 9.99810256e-01 3.63952976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.070714056999996 meters Centerline goodness [0,1] 0.986807963193127 Centerline is valid? [True, True] Translation: X:35.82, Y:-1.73, Z:0.36 [[ 9.99772601e-01 -7.91342865e-03 -1.98021170e-02 3.58158150e+01] [ 7.92989398e-03 9.99968274e-01 7.53108644e-04 -1.72714340e+00] [ 1.97955291e-02 -9.09966076e-04 9.99803635e-01 3.64741491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.100714057 meters Centerline goodness [0,1] 0.9865251479613008 Centerline is valid? [True, True] Translation: X:35.84, Y:-1.73, Z:0.37 [[ 9.99766837e-01 -8.67821484e-03 -1.97726941e-02 3.58449009e+01] [ 8.69473039e-03 9.99961919e-01 7.49454512e-04 -1.72872200e+00] [ 1.97654372e-02 -9.21198011e-04 9.99804220e-01 3.65279417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.130714057 meters Centerline goodness [0,1] 0.9850031560847137 Centerline is valid? [True, True] Translation: X:35.87, Y:-1.73, Z:0.37 [[ 9.99766306e-01 -9.85335727e-03 -1.92417593e-02 3.58737144e+01] [ 9.86912301e-03 9.99951037e-01 7.24561633e-04 -1.73257118e+00] [ 1.92336778e-02 -9.14291597e-04 9.99814598e-01 3.65441336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.160714057 meters Centerline goodness [0,1] 0.9848705836254 Centerline is valid? [True, True] Translation: X:35.90, Y:-1.74, Z:0.37 [[ 9.99757008e-01 -1.05030758e-02 -1.93806586e-02 3.59012281e+01] [ 1.05191060e-02 9.99944410e-01 7.25361090e-04 -1.73626456e+00] [ 1.93719627e-02 -9.29052035e-04 9.99811914e-01 3.65694875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.190714057 meters Centerline goodness [0,1] 0.9850169373751412 Centerline is valid? [True, True] Translation: X:35.93, Y:-1.74, Z:0.37 [[ 9.99751014e-01 -1.11031153e-02 -1.93554023e-02 3.59297675e+01] [ 1.11191552e-02 9.99937920e-01 7.21279795e-04 -1.73623088e+00] [ 1.93461923e-02 -9.36315928e-04 9.99812406e-01 3.65791031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.220714056999995 meters Centerline goodness [0,1] 0.984264785675529 Centerline is valid? [True, True] Translation: X:35.96, Y:-1.74, Z:0.37 [[ 9.99751239e-01 -1.12717017e-02 -1.92460105e-02 3.59568241e+01] [ 1.12875013e-02 9.99936040e-01 7.12491055e-04 -1.74217169e+00] [ 1.92367486e-02 -9.29553183e-04 9.99814525e-01 3.65394850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.250714056999996 meters Centerline goodness [0,1] 0.9856636282550525 Centerline is valid? [True, True] Translation: X:35.98, Y:-1.75, Z:0.36 [[ 9.99740882e-01 -1.06694161e-02 -2.01080112e-02 3.59845905e+01] [ 1.06864620e-02 9.99942624e-01 7.40448516e-04 -1.74523829e+00] [ 2.00989574e-02 -9.55140150e-04 9.99797539e-01 3.64923246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.280714057 meters Centerline goodness [0,1] 0.9859645305189859 Centerline is valid? [True, True] Translation: X:36.01, Y:-1.74, Z:0.37 [[ 9.99740840e-01 -9.99393721e-03 -2.04541808e-02 3.60139518e+01] [ 1.00113673e-02 9.99949604e-01 7.49929961e-04 -1.74097701e+00] [ 2.04456553e-02 -9.54509926e-04 9.99790510e-01 3.65707389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.310714057 meters Centerline goodness [0,1] 0.9858801995947094 Centerline is valid? [True, True] Translation: X:36.04, Y:-1.74, Z:0.37 [[ 9.99745614e-01 -8.86771460e-03 -2.07381461e-02 3.60431415e+01] [ 8.88528726e-03 9.99960240e-01 7.55368682e-04 -1.74151763e+00] [ 2.07306231e-02 -9.39440912e-04 9.99784656e-01 3.66069710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.340714057 meters Centerline goodness [0,1] 0.9858971577348665 Centerline is valid? [True, True] Translation: X:36.07, Y:-1.74, Z:0.37 [[ 9.99770303e-01 -6.95918366e-03 -2.02709238e-02 3.60714726e+01] [ 6.97550307e-03 9.99975401e-01 7.34467837e-04 -1.74403811e+00] [ 2.02653139e-02 -8.75699023e-04 9.99794254e-01 3.65981257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.370714057 meters Centerline goodness [0,1] 0.9861183524504692 Centerline is valid? [True, True] Translation: X:36.10, Y:-1.74, Z:0.37 [[ 9.99797143e-01 -2.31649096e-03 -2.00076686e-02 3.61009334e+01] [ 2.33143611e-03 9.99997020e-01 7.23677507e-04 -1.74448340e+00] [ 2.00059326e-02 -7.70177304e-04 9.99799565e-01 3.66266929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.400714056999995 meters Centerline goodness [0,1] 0.9861336799913335 Centerline is valid? [True, True] Translation: X:36.13, Y:-1.75, Z:0.37 [[ 9.99811289e-01 2.79662991e-04 -1.94244413e-02 3.61291285e+01] [-2.66081730e-04 9.99999718e-01 7.01765106e-04 -1.74533634e+00] [ 1.94246321e-02 -6.96464186e-04 9.99811081e-01 3.66655896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.430714056999996 meters Centerline goodness [0,1] 0.988613936541673 Centerline is valid? [True, True] Translation: X:36.16, Y:-1.74, Z:0.37 [[ 9.99804548e-01 6.11247267e-03 -1.88017119e-02 3.61593414e+01] [-6.10079901e-03 9.99981160e-01 6.78178469e-04 -1.74221127e+00] [ 1.88055030e-02 -5.63340452e-04 9.99823002e-01 3.68075338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.460714057 meters Centerline goodness [0,1] 0.9891351492019431 Centerline is valid? [True, True] Translation: X:36.19, Y:-1.74, Z:0.37 [[ 9.99798794e-01 7.71474065e-03 -1.85163113e-02 3.61880097e+01] [-7.70370290e-03 9.99970103e-01 6.67365046e-04 -1.74283700e+00] [ 1.85209062e-02 -5.24586608e-04 9.99828336e-01 3.68565863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.490714057 meters Centerline goodness [0,1] 0.9895282305948396 Centerline is valid? [True, True] Translation: X:36.22, Y:-1.75, Z:0.37 [[ 9.99770836e-01 1.12586229e-02 -1.82076346e-02 3.62154731e+01] [-1.12485621e-02 9.99936518e-01 6.54879917e-04 -1.74582020e+00] [ 1.82138518e-02 -4.49920134e-04 9.99834013e-01 3.68559116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.520714057 meters Centerline goodness [0,1] 0.9891855721285643 Centerline is valid? [True, True] Translation: X:36.24, Y:-1.75, Z:0.37 [[ 9.99751627e-01 1.23537159e-02 -1.85491297e-02 3.62442336e+01] [-1.23434928e-02 9.99923595e-01 6.65530411e-04 -1.74664800e+00] [ 1.85559342e-02 -4.36404064e-04 9.99827729e-01 3.68402046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.550714057 meters Centerline goodness [0,1] 0.9898338009928772 Centerline is valid? [True, True] Translation: X:36.27, Y:-1.75, Z:0.37 [[ 9.99736813e-01 1.30827067e-02 -1.88453385e-02 3.62734639e+01] [-1.30723209e-02 9.99914326e-01 6.74197168e-04 -1.74820797e+00] [ 1.88525442e-02 -4.27667417e-04 9.99822184e-01 3.68300480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.580714056999994 meters Centerline goodness [0,1] 0.9892930383162439 Centerline is valid? [True, True] Translation: X:36.30, Y:-1.75, Z:0.37 [[ 9.99730555e-01 1.37334338e-02 -1.87139022e-02 3.63026384e+01] [-1.37233769e-02 9.99905608e-01 6.65722061e-04 -1.74986182e+00] [ 1.87212785e-02 -4.08724752e-04 9.99824658e-01 3.68337873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.610714056999996 meters Centerline goodness [0,1] 0.9887354337505395 Centerline is valid? [True, True] Translation: X:36.33, Y:-1.75, Z:0.37 [[ 9.99729838e-01 1.46341654e-02 -1.80580464e-02 3.63305475e+01] [-1.46249720e-02 9.99892844e-01 6.41067132e-04 -1.75400670e+00] [ 1.80654928e-02 -3.76795518e-04 9.99836735e-01 3.68046342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.640714057 meters Centerline goodness [0,1] 0.9882082069158437 Centerline is valid? [True, True] Translation: X:36.36, Y:-1.76, Z:0.37 [[ 9.99738768e-01 1.43358208e-02 -1.78011281e-02 3.63572415e+01] [-1.43268697e-02 9.99897166e-01 6.30271101e-04 -1.75684123e+00] [ 1.78083330e-02 -3.75072012e-04 9.99841349e-01 3.68097916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.670714057 meters Centerline goodness [0,1] 0.9885433715220949 Centerline is valid? [True, True] Translation: X:36.39, Y:-1.76, Z:0.37 [[ 9.99772538e-01 1.30230484e-02 -1.68900249e-02 3.63861715e+01] [-1.30148354e-02 9.99915126e-01 5.96099295e-04 -1.76221600e+00] [ 1.68963544e-02 -3.76142812e-04 9.99857176e-01 3.69164023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.700714057 meters Centerline goodness [0,1] 0.9873322597960279 Centerline is valid? [True, True] Translation: X:36.41, Y:-1.77, Z:0.37 [[ 9.99799112e-01 1.14813559e-02 -1.64290427e-02 3.64140245e+01] [-1.14733961e-02 9.99934011e-01 5.78666751e-04 -1.76741411e+00] [ 1.64346025e-02 -3.90053589e-04 9.99864867e-01 3.69411894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.730714057 meters Centerline goodness [0,1] 0.9878941381012686 Centerline is valid? [True, True] Translation: X:36.44, Y:-1.77, Z:0.37 [[ 9.99821259e-01 1.00658629e-02 -1.60040190e-02 3.64424290e+01] [-1.00581504e-02 9.99949257e-01 5.62331747e-04 -1.76993594e+00] [ 1.60088673e-02 -4.01260404e-04 9.99871769e-01 3.69751297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.760714057 meters Centerline goodness [0,1] 0.9867132417547093 Centerline is valid? [True, True] Translation: X:36.47, Y:-1.78, Z:0.37 [[ 9.99846273e-01 6.82025835e-03 -1.61528462e-02 3.64716984e+01] [-6.81199640e-03 9.99976638e-01 5.66451275e-04 -1.77677131e+00] [ 1.61563321e-02 -4.56331066e-04 9.99869374e-01 3.69704391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.790714056999995 meters Centerline goodness [0,1] 0.9873729794623333 Centerline is valid? [True, True] Translation: X:36.50, Y:-1.78, Z:0.37 [[ 9.99848268e-01 5.49960454e-03 -1.65285927e-02 3.65007294e+01] [-5.49078408e-03 9.99984758e-01 5.78982108e-04 -1.77911263e+00] [ 1.65315249e-02 -4.88139325e-04 9.99863226e-01 3.69742274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.820714056999996 meters Centerline goodness [0,1] 0.9858877443947148 Centerline is valid? [True, True] Translation: X:36.53, Y:-1.79, Z:0.37 [[ 9.99850597e-01 4.47819671e-03 -1.66952117e-02 3.65284457e+01] [-4.46907706e-03 9.99989843e-01 5.83512343e-04 -1.78819581e+00] [ 1.66976553e-02 -5.08812976e-04 9.99860455e-01 3.69449757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.850714057 meters Centerline goodness [0,1] 0.9851831322218906 Centerline is valid? [True, True] Translation: X:36.56, Y:-1.79, Z:0.37 [[ 9.99856249e-01 2.79997501e-03 -1.67224929e-02 3.65569670e+01] [-2.79062504e-03 9.99995937e-01 5.82433770e-04 -1.79099488e+00] [ 1.67240557e-02 -5.35683837e-04 9.99860000e-01 3.69003308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.880714057 meters Centerline goodness [0,1] 0.985125980381681 Centerline is valid? [True, True] Translation: X:36.59, Y:-1.79, Z:0.37 [[ 9.99855438e-01 2.01388273e-03 -1.68833506e-02 3.65858479e+01] [-2.00426008e-03 9.99997819e-01 5.86849819e-04 -1.79443765e+00] [ 1.68844956e-02 -5.52926357e-04 9.99857294e-01 3.69271101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.910714057 meters Centerline goodness [0,1] 0.985125980381681 Centerline is valid? [True, True] Translation: X:36.61, Y:-1.80, Z:0.37 [[ 9.99855642e-01 1.90945866e-03 -1.68833935e-02 3.66133122e+01] [-1.89984200e-03 9.99998024e-01 5.85613233e-04 -1.79529935e+00] [ 1.68844783e-02 -5.53452915e-04 9.99857294e-01 3.69687311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.940714057 meters Centerline goodness [0,1] 0.9861330375048001 Centerline is valid? [True, True] Translation: X:36.64, Y:-1.80, Z:0.37 [[ 9.99865511e-01 1.21359910e-03 -1.63550289e-02 3.66422037e+01] [-1.20450850e-03 9.99999115e-01 5.65667658e-04 -1.79924841e+00] [ 1.63557010e-02 -5.45891811e-04 9.99866088e-01 3.69869776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.970714056999995 meters Centerline goodness [0,1] 0.9853107585882955 Centerline is valid? [True, True] Translation: X:36.67, Y:-1.80, Z:0.37 [[ 9.99863804e-01 1.55186910e-03 -1.64306064e-02 3.66711131e+01] [-1.54275908e-03 9.99998649e-01 5.67114811e-04 -1.80148092e+00] [ 1.64314643e-02 -5.41689105e-04 9.99864848e-01 3.70152946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.000714056999996 meters Centerline goodness [0,1] 0.9842335144348567 Centerline is valid? [True, True] Translation: X:36.70, Y:-1.81, Z:0.37 [[ 9.99868143e-01 1.92095804e-04 -1.62375880e-02 3.66981678e+01] [-1.83038587e-04 9.99999827e-01 5.59277529e-04 -1.80761463e+00] [ 1.62376926e-02 -5.56231679e-04 9.99868005e-01 3.70036785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.030714057 meters Centerline goodness [0,1] 0.9832229768570759 Centerline is valid? [True, True] Translation: X:36.73, Y:-1.81, Z:0.37 [[ 9.99870361e-01 -1.27984530e-03 -1.60506416e-02 3.67266346e+01] [ 1.28886084e-03 9.99999017e-01 5.51361617e-04 -1.81205135e+00] [ 1.60499202e-02 -5.71977182e-04 9.99871028e-01 3.69982705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.060714057 meters Centerline goodness [0,1] 0.9851607408984459 Centerline is valid? [True, True] Translation: X:36.76, Y:-1.81, Z:0.37 [[ 9.99870294e-01 -2.19507566e-03 -1.59554446e-02 3.67558894e+01] [ 2.20408388e-03 9.99997421e-01 5.47023109e-04 -1.81144267e+00] [ 1.59542027e-02 -5.82119295e-04 9.99872554e-01 3.70853479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.090714057 meters Centerline goodness [0,1] 0.9844216179353849 Centerline is valid? [True, True] Translation: X:36.78, Y:-1.81, Z:0.37 [[ 9.99874111e-01 -3.22113552e-03 -1.55365895e-02 3.67849321e+01] [ 3.22978408e-03 9.99994643e-01 5.31597884e-04 -1.81366260e+00] [ 1.55347939e-02 -5.81710792e-04 9.99879159e-01 3.71226587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.120714057 meters Centerline goodness [0,1] 0.983839979506447 Centerline is valid? [True, True] Translation: X:36.81, Y:-1.82, Z:0.37 [[ 9.99871352e-01 -5.37312286e-03 -1.51132250e-02 3.68125367e+01] [ 5.38153615e-03 9.99985386e-01 5.16070509e-04 -1.81941254e+00] [ 1.51102312e-02 -5.97336484e-04 9.99885656e-01 3.70978143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.150714056999995 meters Centerline goodness [0,1] 0.9834677247322838 Centerline is valid? [True, True] Translation: X:36.84, Y:-1.82, Z:0.37 [[ 9.99864167e-01 -6.97193946e-03 -1.49345063e-02 3.68410511e+01] [ 6.98031407e-03 9.99975508e-01 5.08701857e-04 -1.82256064e+00] [ 1.49305939e-02 -6.12880302e-04 9.99888345e-01 3.71135072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.180714056999996 meters Centerline goodness [0,1] 0.983254862694135 Centerline is valid? [True, True] Translation: X:36.87, Y:-1.83, Z:0.37 [[ 9.99853814e-01 -8.17896714e-03 -1.50151583e-02 3.68699312e+01] [ 8.18751327e-03 9.99966353e-01 5.07781934e-04 -1.82536430e+00] [ 1.50104999e-02 -6.30644511e-04 9.99887137e-01 3.71777276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.210714057 meters Centerline goodness [0,1] 0.9827454150887196 Centerline is valid? [True, True] Translation: X:36.90, Y:-1.83, Z:0.37 [[ 9.99837325e-01 -1.06776322e-02 -1.45365672e-02 3.68991169e+01] [ 1.06858547e-02 9.99942786e-01 4.88089008e-04 -1.82994263e+00] [ 1.45305239e-02 -6.43345254e-04 9.99894219e-01 3.72582120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.240714057 meters Centerline goodness [0,1] 0.9825801780314324 Centerline is valid? [True, True] Translation: X:36.93, Y:-1.83, Z:0.37 [[ 9.99814212e-01 -1.21932983e-02 -1.49286620e-02 3.69272235e+01] [ 1.22021273e-02 9.99925426e-01 5.00468958e-04 -1.83345965e+00] [ 1.49214463e-02 -6.82537412e-04 9.99888436e-01 3.73309148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.270714057 meters Centerline goodness [0,1] 0.9817725503541272 Centerline is valid? [True, True] Translation: X:36.96, Y:-1.84, Z:0.37 [[ 9.99785666e-01 -1.42011887e-02 -1.50648072e-02 3.69562089e+01] [ 1.42103928e-02 9.99898900e-01 5.04094920e-04 -1.83537641e+00] [ 1.50561254e-02 -7.18063704e-04 9.99886392e-01 3.72728975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.300714057 meters Centerline goodness [0,1] 0.9814668685619229 Centerline is valid? [True, True] Translation: X:36.99, Y:-1.84, Z:0.37 [[ 9.99713630e-01 -1.84889904e-02 -1.51926136e-02 3.69865090e+01] [ 1.84987900e-02 9.99828755e-01 5.04734031e-04 -1.84014470e+00] [ 1.51806799e-02 -7.85634459e-04 9.99884458e-01 3.72425636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.330714056999994 meters Centerline goodness [0,1] 0.9816365224430669 Centerline is valid? [True, True] Translation: X:37.02, Y:-1.84, Z:0.37 [[ 9.99684637e-01 -2.02696531e-02 -1.48245614e-02 3.70165851e+01] [ 2.02791752e-02 9.99794235e-01 4.92261140e-04 -1.83924019e+00] [ 1.48115331e-02 -7.92735778e-04 9.99889989e-01 3.72833789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.360714056999996 meters Centerline goodness [0,1] 0.9820542841937201 Centerline is valid? [True, True] Translation: X:37.05, Y:-1.84, Z:0.37 [[ 9.99639570e-01 -2.23971187e-02 -1.48020079e-02 3.70471982e+01] [ 2.24068404e-02 9.99748815e-01 4.91246586e-04 -1.83990735e+00] [ 1.47872874e-02 -8.22735754e-04 9.99890324e-01 3.72938829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.390714057 meters Centerline goodness [0,1] 0.9817914956074111 Centerline is valid? [True, True] Translation: X:37.08, Y:-1.84, Z:0.37 [[ 9.99585334e-01 -2.50071856e-02 -1.42758451e-02 3.70769955e+01] [ 2.50164939e-02 9.99686926e-01 4.73799718e-04 -1.83989338e+00] [ 1.42595273e-02 -8.30734843e-04 9.99897983e-01 3.73385087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.420714057 meters Centerline goodness [0,1] 0.9811384876805438 Centerline is valid? [True, True] Translation: X:37.11, Y:-1.84, Z:0.37 [[ 9.99593145e-01 -2.47695784e-02 -1.41426104e-02 3.71079251e+01] [ 2.47786857e-02 9.99692851e-01 4.69072374e-04 -1.84152147e+00] [ 1.41266478e-02 -8.19316828e-04 9.99899878e-01 3.74741355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.450714057 meters Centerline goodness [0,1] 0.9819450669056918 Centerline is valid? [True, True] Translation: X:37.14, Y:-1.84, Z:0.38 [[ 9.99574235e-01 -2.61295004e-02 -1.29845499e-02 3.71387791e+01] [ 2.61372968e-02 9.99658270e-01 4.31069916e-04 -1.84168869e+00] [ 1.29688491e-02 -7.70267416e-04 9.99915604e-01 3.76025545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.480714057 meters Centerline goodness [0,1] 0.9824617619413826 Centerline is valid? [True, True] Translation: X:37.17, Y:-1.84, Z:0.38 [[ 9.99577663e-01 -2.60768457e-02 -1.28255398e-02 3.71710539e+01] [ 2.60844539e-02 9.99659652e-01 4.26258615e-04 -1.83951489e+00] [ 1.28100592e-02 -7.60625792e-04 9.99917659e-01 3.76548560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.510714057 meters Centerline goodness [0,1] 0.9812554582827444 Centerline is valid? [True, True] Translation: X:37.20, Y:-1.84, Z:0.38 [[ 9.99605654e-01 -2.52051109e-02 -1.23789738e-02 3.72010180e+01] [ 2.52121444e-02 9.99682038e-01 4.12430171e-04 -1.84085336e+00] [ 1.23646424e-02 -7.24368004e-04 9.99923293e-01 3.77207734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.540714056999995 meters Centerline goodness [0,1] 0.9817724433453429 Centerline is valid? [True, True] Translation: X:37.23, Y:-1.84, Z:0.38 [[ 9.99675941e-01 -2.26176599e-02 -1.16813431e-02 3.72326513e+01] [ 2.26237483e-02 9.99743974e-01 3.89317031e-04 -1.83571211e+00] [ 1.16695470e-02 -6.53466637e-04 9.99931695e-01 3.78182018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.570714056999996 meters Centerline goodness [0,1] 0.9810696602356155 Centerline is valid? [True, True] Translation: X:37.26, Y:-1.84, Z:0.38 [[ 9.99709175e-01 -2.13438108e-02 -1.12253297e-02 3.72634916e+01] [ 2.13493576e-02 9.99772006e-01 3.74513454e-04 -1.83580916e+00] [ 1.12147768e-02 -6.14058113e-04 9.99936924e-01 3.78849989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.600714057 meters Centerline goodness [0,1] 0.9744734272562422 Centerline is valid? [True, True] Translation: X:37.29, Y:-1.86, Z:0.38 [[ 9.99817826e-01 -1.59983286e-02 -1.04099632e-02 3.72925404e+01] [ 1.60028158e-02 9.99871886e-01 3.47889352e-04 -1.85576284e+00] [ 1.04030639e-02 -5.14414700e-04 9.99945754e-01 3.82564260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.630714057 meters Centerline goodness [0,1] 0.9830258144612355 Centerline is valid? [True, True] Translation: X:37.32, Y:-1.83, Z:0.38 [[ 9.99794655e-01 -1.73621938e-02 -1.04500181e-02 3.73243447e+01] [ 1.73667866e-02 9.99849125e-01 3.48912133e-04 -1.83076243e+00] [ 1.04423836e-02 -5.30323720e-04 9.99945336e-01 3.79688980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.660714057 meters Centerline goodness [0,1] 0.9828113962797269 Centerline is valid? [True, True] Translation: X:37.36, Y:-1.83, Z:0.38 [[ 9.99805487e-01 -1.64661286e-02 -1.08560658e-02 3.73551845e+01] [ 1.64710341e-02 9.99864278e-01 3.62601762e-04 -1.83191882e+00] [ 1.08486218e-02 -5.41341861e-04 9.99941005e-01 3.79384202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.690714057 meters Centerline goodness [0,1] 0.9825634881581481 Centerline is valid? [True, True] Translation: X:37.39, Y:-1.83, Z:0.38 [[ 9.99819436e-01 -1.54093986e-02 -1.11196501e-02 3.73861143e+01] [ 1.54144854e-02 9.99881121e-01 3.71895290e-04 -1.83235424e+00] [ 1.11125975e-02 -5.43231822e-04 9.99938106e-01 3.79097825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.720714056999995 meters Centerline goodness [0,1] 0.9841320896322504 Centerline is valid? [True, True] Translation: X:37.42, Y:-1.83, Z:0.38 [[ 9.99816199e-01 -1.48150343e-02 -1.21689083e-02 3.74167522e+01] [ 1.48210861e-02 9.99890079e-01 4.07281112e-04 -1.82737849e+00] [ 1.21615368e-02 -5.87562691e-04 9.99925873e-01 3.77676809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.750714056999996 meters Centerline goodness [0,1] 0.9839864879310714 Centerline is valid? [True, True] Translation: X:37.45, Y:-1.83, Z:0.38 [[ 9.99807740e-01 -1.50169407e-02 -1.26084747e-02 3.74472454e+01] [ 1.50234536e-02 9.99887053e-01 4.21992960e-04 -1.82626465e+00] [ 1.26007136e-02 -6.11334663e-04 9.99920421e-01 3.77360774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.780714057 meters Centerline goodness [0,1] 0.9843599150415138 Centerline is valid? [True, True] Translation: X:37.48, Y:-1.83, Z:0.38 [[ 9.99767541e-01 -1.59893307e-02 -1.44638997e-02 3.74768357e+01] [ 1.59980035e-02 9.99871907e-01 4.84104388e-04 -1.82625131e+00] [ 1.44543065e-02 -7.15385371e-04 9.99895275e-01 3.76901795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.810714057 meters Centerline goodness [0,1] 0.9826486567741104 Centerline is valid? [True, True] Translation: X:37.51, Y:-1.83, Z:0.38 [[ 9.99748679e-01 -1.66815649e-02 -1.49768004e-02 3.75063440e+01] [ 1.66909370e-02 9.99860571e-01 5.00984895e-04 -1.83097635e+00] [ 1.49663550e-02 -7.50835818e-04 9.99887716e-01 3.76382716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.840714057 meters Centerline goodness [0,1] 0.9840024017841825 Centerline is valid? [True, True] Translation: X:37.54, Y:-1.83, Z:0.38 [[ 9.99729711e-01 -1.75421982e-02 -1.52569790e-02 3.75365229e+01] [ 1.75520198e-02 9.99845821e-01 5.10069773e-04 -1.82810390e+00] [ 1.52456789e-02 -7.77722705e-04 9.99883475e-01 3.76750156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.870714057 meters Centerline goodness [0,1] 0.9831088350475534 Centerline is valid? [True, True] Translation: X:37.57, Y:-1.83, Z:0.38 [[ 9.99712263e-01 -1.83815654e-02 -1.54113178e-02 3.75658973e+01] [ 1.83916775e-02 9.99830726e-01 5.14668615e-04 -1.83044489e+00] [ 1.53992486e-02 -7.97960513e-04 9.99881106e-01 3.76949511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.900714056999995 meters Centerline goodness [0,1] 0.9822435538719814 Centerline is valid? [True, True] Translation: X:37.60, Y:-1.83, Z:0.38 [[ 9.99673906e-01 -1.94796722e-02 -1.65113210e-02 3.75956612e+01] [ 1.94914240e-02 9.99809872e-01 5.51098576e-04 -1.83322112e+00] [ 1.64974465e-02 -8.72748025e-04 9.99863527e-01 3.77003898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.930714056999996 meters Centerline goodness [0,1] 0.9827801186688452 Centerline is valid? [True, True] Translation: X:37.63, Y:-1.83, Z:0.38 [[ 9.99648158e-01 -2.14386311e-02 -1.56187359e-02 3.76257835e+01] [ 2.14493826e-02 9.99769800e-01 5.21164371e-04 -1.83378442e+00] [ 1.56039674e-02 -8.55993247e-04 9.99877884e-01 3.76691956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.960714057 meters Centerline goodness [0,1] 0.9825734374326015 Centerline is valid? [True, True] Translation: X:37.66, Y:-1.84, Z:0.38 [[ 9.99571333e-01 -2.41056690e-02 -1.66152780e-02 3.76550835e+01] [ 2.41181986e-02 9.99708960e-01 5.54107164e-04 -1.83556363e+00] [ 1.65970852e-02 -9.54600211e-04 9.99861803e-01 3.76662489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.990714057 meters Centerline goodness [0,1] 0.9832920658843793 Centerline is valid? [True, True] Translation: X:37.69, Y:-1.84, Z:0.38 [[ 9.99521480e-01 -2.58786944e-02 -1.69441682e-02 3.76857707e+01] [ 2.58919749e-02 9.99664587e-01 5.64837140e-04 -1.83644207e+00] [ 1.69238677e-02 -1.00328483e-03 9.99856278e-01 3.77160576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.020714057 meters Centerline goodness [0,1] 0.9824012092420643 Centerline is valid? [True, True] Translation: X:37.72, Y:-1.84, Z:0.38 [[ 9.99464737e-01 -2.76456537e-02 -1.74916258e-02 3.77171254e+01] [ 2.76600821e-02 9.99617216e-01 5.83441063e-04 -1.83675405e+00] [ 1.74688007e-02 -1.06694857e-03 9.99846840e-01 3.77713374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.050714057 meters Centerline goodness [0,1] 0.9802439814315017 Centerline is valid? [True, True] Translation: X:37.75, Y:-1.84, Z:0.38 [[ 9.99341119e-01 -3.17308225e-02 -1.76205245e-02 3.77469703e+01] [ 3.17461055e-02 9.99495792e-01 5.88237069e-04 -1.84098595e+00] [ 1.75929749e-02 -1.14723252e-03 9.99844573e-01 3.77947214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.080714056999994 meters Centerline goodness [0,1] 0.9824478075951554 Centerline is valid? [True, True] Translation: X:37.78, Y:-1.83, Z:0.38 [[ 9.99282904e-01 -3.35550400e-02 -1.75424416e-02 3.77784199e+01] [ 3.35704654e-02 9.99436182e-01 5.85501938e-04 -1.83479497e+00] [ 1.75129043e-02 -1.17399001e-03 9.99845948e-01 3.79062384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.110714056999996 meters Centerline goodness [0,1] 0.9825130935376358 Centerline is valid? [True, True] Translation: X:37.81, Y:-1.83, Z:0.38 [[ 9.99129774e-01 -3.81758389e-02 -1.68018055e-02 3.78094088e+01] [ 3.81906480e-02 9.99270313e-01 5.61309257e-04 -1.83167805e+00] [ 1.67681169e-02 -1.20249263e-03 9.99858682e-01 3.80249871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.140714057 meters Centerline goodness [0,1] 0.9824675606474851 Centerline is valid? [True, True] Translation: X:37.84, Y:-1.83, Z:0.38 [[ 9.99055252e-01 -4.00624318e-02 -1.68405937e-02 3.78393590e+01] [ 4.00775793e-02 9.99196413e-01 5.62803951e-04 -1.83360696e+00] [ 1.68045135e-02 -1.23720247e-03 9.99858029e-01 3.81070467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.170714057 meters Centerline goodness [0,1] 0.9810918028545557 Centerline is valid? [True, True] Translation: X:37.87, Y:-1.84, Z:0.38 [[ 9.99006854e-01 -4.12805819e-02 -1.67696001e-02 3.78703728e+01] [ 4.12957978e-02 9.99146807e-01 5.61940707e-04 -1.83743938e+00] [ 1.67320951e-02 -1.25389663e-03 9.99859222e-01 3.81540029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.200714057 meters Centerline goodness [0,1] 0.9827043683947831 Centerline is valid? [True, True] Translation: X:37.90, Y:-1.83, Z:0.38 [[ 9.98870844e-01 -4.38909579e-02 -1.81829625e-02 3.79013684e+01] [ 4.39093075e-02 9.99035334e-01 6.10968204e-04 -1.83270912e+00] [ 1.81386060e-02 -1.40867961e-03 9.99834490e-01 3.81151563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.230714057 meters Centerline goodness [0,1] 0.9820755744310138 Centerline is valid? [True, True] Translation: X:37.93, Y:-1.83, Z:0.38 [[ 9.98824944e-01 -4.43310105e-02 -1.95829660e-02 3.79327914e+01] [ 4.43523963e-02 9.99015731e-01 6.58882720e-04 -1.83322230e+00] [ 1.95344821e-02 -1.52665996e-03 9.99808018e-01 3.80691119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.260714056999994 meters Centerline goodness [0,1] 0.9828722290102985 Centerline is valid? [True, True] Translation: X:37.96, Y:-1.83, Z:0.38 [[ 9.98823406e-01 -4.38289065e-02 -2.07564768e-02 3.79647362e+01] [ 4.38528512e-02 9.99037756e-01 6.99626511e-04 -1.83007728e+00] [ 2.07058402e-02 -1.60903402e-03 9.99784316e-01 3.79985303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.290714056999995 meters Centerline goodness [0,1] 0.9826356996019769 Centerline is valid? [True, True] Translation: X:38.00, Y:-1.83, Z:0.38 [[ 9.98867117e-01 -4.28812283e-02 -2.06321035e-02 3.79969408e+01] [ 4.29047158e-02 9.99078926e-01 6.96887462e-04 -1.82829300e+00] [ 2.05832165e-02 -1.58131251e-03 9.99786893e-01 3.80846553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.320714056999996 meters Centerline goodness [0,1] 0.9836577745734199 Centerline is valid? [True, True] Translation: X:38.03, Y:-1.83, Z:0.38 [[ 9.98935015e-01 -4.12730504e-02 -2.06245133e-02 3.80290435e+01] [ 4.12962082e-02 9.99146704e-01 6.98008476e-04 -1.82537415e+00] [ 2.05781055e-02 -1.54897930e-03 9.99787048e-01 3.82427040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.350714057 meters Centerline goodness [0,1] 0.9842604146143911 Centerline is valid? [True, True] Translation: X:38.06, Y:-1.82, Z:0.38 [[ 9.99020641e-01 -3.93316417e-02 -2.02677240e-02 3.80605710e+01] [ 3.93536285e-02 9.99225110e-01 6.86962947e-04 -1.81793664e+00] [ 2.02249994e-02 -1.48389865e-03 9.99794353e-01 3.84158204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.380714057 meters Centerline goodness [0,1] 0.9848171456233772 Centerline is valid? [True, True] Translation: X:38.09, Y:-1.81, Z:0.39 [[ 9.99203421e-01 -3.51116841e-02 -1.89655547e-02 3.80906487e+01] [ 3.51301879e-02 9.99382537e-01 6.43271441e-04 -1.81103323e+00] [ 1.89312578e-02 -1.30902252e-03 9.99819931e-01 3.86561891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.410714057 meters Centerline goodness [0,1] 0.9856551966910146 Centerline is valid? [True, True] Translation: X:38.12, Y:-1.80, Z:0.39 [[ 9.99281943e-01 -3.29827976e-02 -1.86476036e-02 3.81221140e+01] [ 3.30003146e-02 9.99455141e-01 6.32354023e-04 -1.80457005e+00] [ 1.86165865e-02 -1.24727674e-03 9.99825918e-01 3.87890364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.440714057 meters Centerline goodness [0,1] 0.9864486702069056 Centerline is valid? [True, True] Translation: X:38.15, Y:-1.80, Z:0.39 [[ 9.99407066e-01 -2.87318558e-02 -1.89736071e-02 3.81531170e+01] [ 2.87492389e-02 9.99586448e-01 6.43990002e-04 -1.79727654e+00] [ 1.89472575e-02 -1.18908492e-03 9.99819778e-01 3.87729174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.470714056999995 meters Centerline goodness [0,1] 0.985868146935887 Centerline is valid? [True, True] Translation: X:38.18, Y:-1.80, Z:0.39 [[ 9.99453335e-01 -2.65329516e-02 -1.97239299e-02 3.81837101e+01] [ 2.65513151e-02 9.99647227e-01 6.69691271e-04 -1.79968092e+00] [ 1.96992030e-02 -1.19302145e-03 9.99805240e-01 3.86708970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.500714056999996 meters Centerline goodness [0,1] 0.9875405924845915 Centerline is valid? [True, True] Translation: X:38.21, Y:-1.79, Z:0.39 [[ 9.99473269e-01 -2.45634528e-02 -2.12089939e-02 3.82148617e+01] [ 2.45842595e-02 9.99697502e-01 7.20814736e-04 -1.79222467e+00] [ 2.11848725e-02 -1.24184247e-03 9.99774804e-01 3.86552053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.530714057 meters Centerline goodness [0,1] 0.9874199857752489 Centerline is valid? [True, True] Translation: X:38.24, Y:-1.79, Z:0.39 [[ 9.99485756e-01 -2.26616296e-02 -2.26864365e-02 3.82445419e+01] [ 2.26849522e-02 9.99742366e-01 7.71183726e-04 -1.78996956e+00] [ 2.26631154e-02 -1.28542788e-03 9.99742332e-01 3.85853525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.560714057 meters Centerline goodness [0,1] 0.9876452517697342 Centerline is valid? [True, True] Translation: X:38.27, Y:-1.79, Z:0.38 [[ 9.99519692e-01 -1.89805941e-02 -2.44973975e-02 3.82734564e+01] [ 1.90066727e-02 9.99819011e-01 8.32123115e-04 -1.78752657e+00] [ 2.44771696e-02 -1.29733746e-03 9.99699547e-01 3.84638976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.590714057 meters Centerline goodness [0,1] 0.9887372849288847 Centerline is valid? [True, True] Translation: X:38.30, Y:-1.78, Z:0.39 [[ 9.99543282e-01 -1.74066508e-02 -2.47029467e-02 3.83022877e+01] [ 1.74326596e-02 9.99847689e-01 8.37881163e-04 -1.77923492e+00] [ 2.46845994e-02 -1.26813655e-03 9.99694485e-01 3.86091845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.620714057 meters Centerline goodness [0,1] 0.9894948143191703 Centerline is valid? [True, True] Translation: X:38.33, Y:-1.78, Z:0.39 [[ 9.99583129e-01 -1.54831902e-02 -2.43687980e-02 3.83302132e+01] [ 1.55078836e-02 9.99879405e-01 8.24655728e-04 -1.77966734e+00] [ 2.43530909e-02 -1.20222044e-03 9.99702697e-01 3.86439127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.650714056999995 meters Centerline goodness [0,1] 0.9891253377397673 Centerline is valid? [True, True] Translation: X:38.36, Y:-1.77, Z:0.39 [[ 9.99639598e-01 -1.22062791e-02 -2.39098623e-02 3.83601462e+01] [ 1.22290768e-02 9.99924896e-01 8.07496274e-04 -1.77331638e+00] [ 2.38982100e-02 -1.09960079e-03 9.99713792e-01 3.87144462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.680714056999996 meters Centerline goodness [0,1] 0.9899204838167768 Centerline is valid? [True, True] Translation: X:38.39, Y:-1.77, Z:0.39 [[ 9.99649249e-01 -1.09004478e-02 -2.41362488e-02 3.83891032e+01] [ 1.09232314e-02 9.99940010e-01 8.12310233e-04 -1.76878316e+00] [ 2.41259463e-02 -1.07567114e-03 9.99708348e-01 3.88088979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.710714057 meters Centerline goodness [0,1] 0.9898160610139076 Centerline is valid? [True, True] Translation: X:38.42, Y:-1.77, Z:0.39 [[ 9.99684551e-01 -7.28187696e-03 -2.40369109e-02 3.84182359e+01] [ 7.30332942e-03 9.99973006e-01 8.04811705e-04 -1.76526535e+00] [ 2.40304015e-02 -9.80107306e-04 9.99710748e-01 3.88263054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.740714057 meters Centerline goodness [0,1] 0.9895623348116293 Centerline is valid? [True, True] Translation: X:38.45, Y:-1.77, Z:0.39 [[ 9.99715633e-01 -5.11411243e-03 -2.32916100e-02 3.84465605e+01] [ 5.13364162e-03 9.99986520e-01 7.78747586e-04 -1.76623692e+00] [ 2.32873135e-02 -8.98096914e-04 9.99728410e-01 3.88249895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.770714057 meters Centerline goodness [0,1] 0.9902533237513474 Centerline is valid? [True, True] Translation: X:38.48, Y:-1.76, Z:0.39 [[ 9.99733556e-01 -3.59428670e-03 -2.28012832e-02 3.84760057e+01] [ 3.61254269e-03 9.99993186e-01 7.59516008e-04 -1.76295751e+00] [ 2.27983979e-02 -8.41684248e-04 9.99739728e-01 3.89167035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.800714057 meters Centerline goodness [0,1] 0.9902533237513474 Centerline is valid? [True, True] Translation: X:38.50, Y:-1.76, Z:0.39 [[ 9.99732485e-01 -3.87950572e-03 -2.28014717e-02 3.85033873e+01] [ 3.89770605e-03 9.99992120e-01 7.53820282e-04 -1.76379598e+00] [ 2.27983676e-02 -8.42492059e-04 9.99739728e-01 3.89582990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.830714056999994 meters Centerline goodness [0,1] 0.990076781464685 Centerline is valid? [True, True] Translation: X:38.53, Y:-1.76, Z:0.39 [[ 9.99752072e-01 -4.35829091e-04 -2.22621748e-02 3.85326506e+01] [ 4.52226320e-04 9.99999630e-01 7.31521982e-04 -1.76182148e+00] [ 2.22618478e-02 -7.41408159e-04 9.99751899e-01 3.90244070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.860714056999996 meters Centerline goodness [0,1] 0.9906594516918518 Centerline is valid? [True, True] Translation: X:38.56, Y:-1.76, Z:0.39 [[ 9.99753367e-01 6.98022631e-04 -2.21972676e-02 3.85615014e+01] [-6.82050407e-04 9.99999503e-01 7.27120743e-04 -1.76162280e+00] [ 2.21977641e-02 -7.11801755e-04 9.99753346e-01 3.90504347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.890714057 meters Centerline goodness [0,1] 0.9905312401601367 Centerline is valid? [True, True] Translation: X:38.59, Y:-1.76, Z:0.39 [[ 9.99746693e-01 1.32521112e-03 -2.24676179e-02 3.85895387e+01] [-1.30910436e-03 9.99998876e-01 7.31580889e-04 -1.76205238e+00] [ 2.24685621e-02 -7.01983118e-04 9.99747304e-01 3.90659212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.920714057 meters Centerline goodness [0,1] 0.9908516711996224 Centerline is valid? [True, True] Translation: X:38.62, Y:-1.76, Z:0.39 [[ 9.99736306e-01 1.69518365e-03 -2.29007463e-02 3.86184041e+01] [-1.67858972e-03 9.99998315e-01 7.43805930e-04 -1.76230171e+00] [ 2.29019686e-02 -7.05168836e-04 9.99737467e-01 3.90271228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.950714057 meters Centerline goodness [0,1] 0.990918287063055 Centerline is valid? [True, True] Translation: X:38.65, Y:-1.76, Z:0.39 [[ 9.99729291e-01 1.49355141e-03 -2.32188397e-02 3.86469695e+01] [-1.47647656e-03 9.99998627e-01 7.52513992e-04 -1.76369100e+00] [ 2.32199317e-02 -7.18028207e-04 9.99730123e-01 3.89933642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.980714057 meters Centerline goodness [0,1] 0.9900134952766532 Centerline is valid? [True, True] Translation: X:38.67, Y:-1.77, Z:0.39 [[ 9.99723255e-01 7.41740190e-04 -2.35130287e-02 3.86742428e+01] [-7.24072222e-04 9.99999449e-01 7.59916641e-04 -1.76911270e+00] [ 2.35135794e-02 -7.42681207e-04 9.99723242e-01 3.88270414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.010714056999994 meters Centerline goodness [0,1] 0.9911794917600821 Centerline is valid? [True, True] Translation: X:38.70, Y:-1.77, Z:0.39 [[ 9.99735326e-01 9.84651114e-04 -2.29849818e-02 3.87028753e+01] [-9.67888370e-04 9.99999257e-01 7.40404667e-04 -1.76583136e+00] [ 2.29856938e-02 -7.17961804e-04 9.99735536e-01 3.89817120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.040714056999995 meters Centerline goodness [0,1] 0.9911720552978871 Centerline is valid? [True, True] Translation: X:38.73, Y:-1.77, Z:0.39 [[ 9.99739565e-01 6.05408794e-04 -2.28130516e-02 3.87315919e+01] [-5.88833804e-04 9.99999558e-01 7.33267747e-04 -1.76658753e+00] [ 2.28134855e-02 -7.19643682e-04 9.99739480e-01 3.90567730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.070714056999996 meters Centerline goodness [0,1] 0.9904721433204356 Centerline is valid? [True, True] Translation: X:38.76, Y:-1.77, Z:0.39 [[ 9.99762110e-01 1.75502176e-04 -2.18103752e-02 3.87583524e+01] [-1.60290553e-04 9.99999743e-01 6.99195174e-04 -1.76840738e+00] [ 2.18104923e-02 -6.95532845e-04 9.99761881e-01 3.91643194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.100714057 meters Centerline goodness [0,1] 0.9900158584798195 Centerline is valid? [True, True] Translation: X:38.79, Y:-1.77, Z:0.39 [[ 9.99779244e-01 -3.14527332e-04 -2.10086907e-02 3.87868640e+01] [ 3.28702689e-04 9.99999721e-01 6.71288008e-04 -1.76900752e+00] [ 2.10084736e-02 -6.78045430e-04 9.99779068e-01 3.93007782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.130714057 meters Centerline goodness [0,1] 0.9909054253841674 Centerline is valid? [True, True] Translation: X:38.82, Y:-1.77, Z:0.39 [[ 9.99800316e-01 -8.13333650e-04 -1.99666398e-02 3.88159002e+01] [ 8.26209460e-04 9.99999456e-01 6.36625485e-04 -1.77063439e+00] [ 1.99661112e-02 -6.52994987e-04 9.99800444e-01 3.93676350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.160714057 meters Centerline goodness [0,1] 0.9899423360600778 Centerline is valid? [True, True] Translation: X:38.84, Y:-1.78, Z:0.39 [[ 9.99810050e-01 -2.49835293e-03 -1.93293102e-02 3.88432768e+01] [ 2.51070394e-03 9.99996659e-01 6.14737373e-04 -1.77726236e+00] [ 1.93277098e-02 -6.63150779e-04 9.99812982e-01 3.93420968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.190714057 meters Centerline goodness [0,1] 0.990100555171568 Centerline is valid? [True, True] Translation: X:38.87, Y:-1.78, Z:0.39 [[ 9.99798042e-01 -3.73001360e-03 -1.97474363e-02 3.88722428e+01] [ 3.74310048e-03 9.99992799e-01 6.25792241e-04 -1.77804951e+00] [ 1.97449599e-02 -6.99582496e-04 9.99804805e-01 3.93970917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.220714056999995 meters Centerline goodness [0,1] 0.9910080348995081 Centerline is valid? [True, True] Translation: X:38.90, Y:-1.78, Z:0.39 [[ 9.99785135e-01 -5.03069223e-03 -2.01090842e-02 3.89004922e+01] [ 5.04449507e-03 9.99987074e-01 6.35731635e-04 -1.77989592e+00] [ 2.01056261e-02 -7.37035215e-04 9.99797590e-01 3.94091409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.250714056999996 meters Centerline goodness [0,1] 0.9901473440181895 Centerline is valid? [True, True] Translation: X:38.93, Y:-1.78, Z:0.39 [[ 9.99731982e-01 -8.89890622e-03 -2.13722445e-02 3.89296287e+01] [ 8.91534277e-03 9.99960030e-01 6.73900465e-04 -1.78437034e+00] [ 2.13653933e-02 -8.64260733e-04 9.99771360e-01 3.93172880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.280714057 meters Centerline goodness [0,1] 0.9903929741657936 Centerline is valid? [True, True] Translation: X:38.96, Y:-1.79, Z:0.39 [[ 9.99703533e-01 -1.11477637e-02 -2.16465646e-02 3.89583169e+01] [ 1.11650981e-02 9.99937437e-01 6.80097761e-04 -1.78732750e+00] [ 2.16376287e-02 -9.21582152e-04 9.99765454e-01 3.93241070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.310714057 meters Centerline goodness [0,1] 0.9906217281860507 Centerline is valid? [True, True] Translation: X:38.99, Y:-1.79, Z:0.39 [[ 9.99626526e-01 -1.59131230e-02 -2.22166999e-02 3.89886465e+01] [ 1.59324708e-02 9.99872829e-01 6.94124170e-04 -1.79300730e+00] [ 2.22028289e-02 -1.04783186e-03 9.99752938e-01 3.92919144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.340714057 meters Centerline goodness [0,1] 0.9903651454128747 Centerline is valid? [True, True] Translation: X:39.02, Y:-1.80, Z:0.39 [[ 9.99577903e-01 -1.84570097e-02 -2.24355706e-02 3.90179578e+01] [ 1.84773740e-02 9.99829033e-01 7.00701269e-04 -1.79675421e+00] [ 2.24188020e-02 -1.11495593e-03 9.99748045e-01 3.93202276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.370714057 meters Centerline goodness [0,1] 0.9899824526332156 Centerline is valid? [True, True] Translation: X:39.05, Y:-1.80, Z:0.39 [[ 9.99529564e-01 -2.07649694e-02 -2.25713727e-02 3.90460875e+01] [ 2.07861437e-02 9.99783697e-01 7.03870144e-04 -1.80148564e+00] [ 2.25518746e-02 -1.17271081e-03 9.99744986e-01 3.93003532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.400714056999995 meters Centerline goodness [0,1] 0.9900738894329209 Centerline is valid? [True, True] Translation: X:39.08, Y:-1.80, Z:0.39 [[ 9.99485232e-01 -2.29553168e-02 -2.24125940e-02 3.90754652e+01] [ 2.29767136e-02 9.99735757e-01 6.97595857e-04 -1.80449895e+00] [ 2.23906581e-02 -1.21220451e-03 9.99748563e-01 3.93168031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.430714056999996 meters Centerline goodness [0,1] 0.9895333333333334 Centerline is valid? [True, True] Translation: X:39.11, Y:-1.81, Z:0.39 [[ 9.99364385e-01 -2.69771815e-02 -2.33035901e-02 3.91051796e+01] [ 2.70013874e-02 9.99635133e-01 7.24629361e-04 -1.80742973e+00] [ 2.32755389e-02 -1.35339804e-03 9.99728172e-01 3.93652649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.460714057 meters Centerline goodness [0,1] 0.9895731436193864 Centerline is valid? [True, True] Translation: X:39.14, Y:-1.81, Z:0.39 [[ 9.99323228e-01 -2.84673631e-02 -2.32958098e-02 3.91355735e+01] [ 2.84919534e-02 9.99593760e-01 7.24262477e-04 -1.81225228e+00] [ 2.32657282e-02 -1.38751544e-03 9.99728353e-01 3.94029305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.490714057 meters Centerline goodness [0,1] 0.9893141592920354 Centerline is valid? [True, True] Translation: X:39.17, Y:-1.81, Z:0.40 [[ 9.99253007e-01 -3.10387256e-02 -2.30222873e-02 3.91671821e+01] [ 3.10634341e-02 9.99517158e-01 7.16307295e-04 -1.81168064e+00] [ 2.29889379e-02 -1.43092352e-03 9.99734695e-01 3.95507627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.520714057 meters Centerline goodness [0,1] 0.9894414622243911 Centerline is valid? [True, True] Translation: X:39.20, Y:-1.81, Z:0.40 [[ 9.99252409e-01 -3.19266252e-02 -2.18017034e-02 3.91988231e+01] [ 3.19490121e-02 9.99489269e-01 6.79210997e-04 -1.81282143e+00] [ 2.17688837e-02 -1.37524611e-03 9.99762084e-01 3.96454692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.550714057 meters Centerline goodness [0,1] 0.9890648567119156 Centerline is valid? [True, True] Translation: X:39.23, Y:-1.82, Z:0.40 [[ 9.99208872e-01 -3.32272624e-02 -2.18535998e-02 3.92289756e+01] [ 3.32500865e-02 9.99446830e-01 6.81778889e-04 -1.81746203e+00] [ 2.18188574e-02 -1.40787360e-03 9.99760949e-01 3.96965747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.580714056999994 meters Centerline goodness [0,1] 0.988893084834618 Centerline is valid? [True, True] Translation: X:39.26, Y:-1.82, Z:0.40 [[ 9.99125429e-01 -3.58887258e-02 -2.14563760e-02 3.92596433e+01] [ 3.59113466e-02 9.99354755e-01 6.69769137e-04 -1.81743256e+00] [ 2.14184942e-02 -1.43971073e-03 9.99769561e-01 3.97516487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.610714056999996 meters Centerline goodness [0,1] 0.9892260967877807 Centerline is valid? [True, True] Translation: X:39.29, Y:-1.82, Z:0.40 [[ 9.99078324e-01 -3.70118905e-02 -2.17398639e-02 3.92909309e+01] [ 3.70353917e-02 9.99313724e-01 6.79256055e-04 -1.82001948e+00] [ 2.16998038e-02 -1.48377438e-03 9.99763430e-01 3.97604985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.640714057 meters Centerline goodness [0,1] 0.9890937361172812 Centerline is valid? [True, True] Translation: X:39.32, Y:-1.82, Z:0.40 [[ 9.99043461e-01 -3.79984729e-02 -2.16397719e-02 3.93232583e+01] [ 3.80220163e-02 9.99276672e-01 6.77419909e-04 -1.82039220e+00] [ 2.15983784e-02 -1.49955969e-03 9.99765603e-01 3.97906829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.670714057 meters Centerline goodness [0,1] 0.9880994592677954 Centerline is valid? [True, True] Translation: X:39.35, Y:-1.82, Z:0.40 [[ 9.98964872e-01 -3.99162939e-02 -2.18145296e-02 3.93537933e+01] [ 3.99407009e-02 9.99201818e-01 6.84119478e-04 -1.82350569e+00] [ 2.17698101e-02 -1.55469893e-03 9.99761801e-01 3.97956250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.700714057 meters Centerline goodness [0,1] 0.9865435004663143 Centerline is valid? [True, True] Translation: X:39.38, Y:-1.83, Z:0.40 [[ 9.98938298e-01 -4.05009185e-02 -2.19534067e-02 3.93849405e+01] [ 4.05257918e-02 9.99178255e-01 6.89112909e-04 -1.82809999e+00] [ 2.19074569e-02 -1.57806046e-03 9.99758757e-01 3.97879524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.730714057 meters Centerline goodness [0,1] 0.9873121869782971 Centerline is valid? [True, True] Translation: X:39.42, Y:-1.83, Z:0.40 [[ 9.98893927e-01 -4.18524624e-02 -2.14311514e-02 3.94172506e+01] [ 4.18765017e-02 9.99122567e-01 6.73950343e-04 -1.82738215e+00] [ 2.13841405e-02 -1.57066655e-03 9.99770099e-01 3.99049335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.760714056999994 meters Centerline goodness [0,1] 0.9864600471341545 Centerline is valid? [True, True] Translation: X:39.45, Y:-1.83, Z:0.40 [[ 9.98878238e-01 -4.21543560e-02 -2.15702755e-02 3.94489231e+01] [ 4.21788089e-02 9.99109847e-01 6.79734768e-04 -1.82798566e+00] [ 2.15224209e-02 -1.58878079e-03 9.99767103e-01 3.99391210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.790714056999995 meters Centerline goodness [0,1] 0.9880010665718603 Centerline is valid? [True, True] Translation: X:39.48, Y:-1.82, Z:0.40 [[ 9.98880000e-01 -4.22595012e-02 -2.12809756e-02 3.94811244e+01] [ 4.22833521e-02 9.99105433e-01 6.71847683e-04 -1.82476289e+00] [ 2.12335464e-02 -1.57092620e-03 9.99773309e-01 4.00335730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.820714056999996 meters Centerline goodness [0,1] 0.9859761239071584 Centerline is valid? [True, True] Translation: X:39.51, Y:-1.83, Z:0.40 [[ 9.98864473e-01 -4.24346773e-02 -2.16578594e-02 3.95121221e+01] [ 4.24594532e-02 9.99097956e-01 6.85200472e-04 -1.83040931e+00] [ 2.16092468e-02 -1.60400328e-03 9.99765206e-01 4.00308014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.850714057 meters Centerline goodness [0,1] 0.9877356600707815 Centerline is valid? [True, True] Translation: X:39.54, Y:-1.82, Z:0.40 [[ 9.98797666e-01 -4.36428880e-02 -2.23275771e-02 3.95440755e+01] [ 4.36695476e-02 9.99045780e-01 7.07610335e-04 -1.82460685e+00] [ 2.22753895e-02 -1.68179474e-03 9.99750458e-01 4.01431130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.880714057 meters Centerline goodness [0,1] 0.9865983971504898 Centerline is valid? [True, True] Translation: X:39.58, Y:-1.82, Z:0.40 [[ 9.98753670e-01 -4.44204555e-02 -2.27580864e-02 3.95758273e+01] [ 4.44483825e-02 9.99011421e-01 7.22502456e-04 -1.82348545e+00] [ 2.27034943e-02 -1.73316211e-03 9.99740740e-01 4.02369156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.910714057 meters Centerline goodness [0,1] 0.9873488330581462 Centerline is valid? [True, True] Translation: X:39.61, Y:-1.82, Z:0.40 [[ 9.98632833e-01 -4.68574633e-02 -2.31698861e-02 3.96071671e+01] [ 4.68870884e-02 9.98899924e-01 7.36704590e-04 -1.82498129e+00] [ 2.31098773e-02 -1.82206589e-03 9.99731271e-01 4.02412867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.940714057 meters Centerline goodness [0,1] 0.9833742468199063 Centerline is valid? [True, True] Translation: X:39.64, Y:-1.84, Z:0.40 [[ 9.98579050e-01 -4.80130833e-02 -2.31219542e-02 3.96375826e+01] [ 4.80429293e-02 9.98845000e-01 7.36723781e-04 -1.83650644e+00] [ 2.30598760e-02 -1.84652335e-03 9.99732380e-01 4.01748639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.970714056999995 meters Centerline goodness [0,1] 0.9850702903247436 Centerline is valid? [True, True] Translation: X:39.67, Y:-1.83, Z:0.40 [[ 9.98511782e-01 -4.94454619e-02 -2.30079742e-02 3.96694388e+01] [ 4.94754416e-02 9.98775070e-01 7.35254931e-04 -1.82830594e+00] [ 2.29434360e-02 -1.87249040e-03 9.99735011e-01 4.02855485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.000714056999996 meters Centerline goodness [0,1] 0.9852239908657399 Centerline is valid? [True, True] Translation: X:39.70, Y:-1.83, Z:0.40 [[ 9.98502490e-01 -4.96010417e-02 -2.30762578e-02 3.97012744e+01] [ 4.96312661e-02 9.98767336e-01 7.38528134e-04 -1.82810822e+00] [ 2.30111808e-02 -1.88272607e-03 9.99733435e-01 4.03444799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.030714057 meters Centerline goodness [0,1] 0.9844683660452521 Centerline is valid? [True, True] Translation: X:39.73, Y:-1.83, Z:0.40 [[ 9.98502029e-01 -4.93611283e-02 -2.36046119e-02 3.97335341e+01] [ 4.93927260e-02 9.98779147e-01 7.57117093e-04 -1.82800449e+00] [ 2.35384220e-02 -1.92187908e-03 9.99721086e-01 4.03557424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.060714057 meters Centerline goodness [0,1] 0.9855374680478945 Centerline is valid? [True, True] Translation: X:39.77, Y:-1.82, Z:0.40 [[ 9.98579898e-01 -4.77704391e-02 -2.35833146e-02 3.97650825e+01] [ 4.78015710e-02 9.98856564e-01 7.57790625e-04 -1.82427721e+00] [ 2.35201486e-02 -1.88403397e-03 9.99721588e-01 4.03944523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.090714057 meters Centerline goodness [0,1] 0.9844552581778859 Centerline is valid? [True, True] Translation: X:39.80, Y:-1.83, Z:0.40 [[ 9.98617511e-01 -4.70579431e-02 -2.34225612e-02 3.97962381e+01] [ 4.70884799e-02 9.98890438e-01 7.53596281e-04 -1.82746703e+00] [ 2.33611098e-02 -1.85548725e-03 9.99725370e-01 4.04602932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.120714057 meters Centerline goodness [0,1] 0.984342661747503 Centerline is valid? [True, True] Translation: X:39.83, Y:-1.83, Z:0.41 [[ 9.98682512e-01 -4.59436568e-02 -2.28565186e-02 3.98270391e+01] [ 4.59724689e-02 9.98942436e-01 7.36431350e-04 -1.82654907e+00] [ 2.27985120e-02 -1.78623170e-03 9.99738484e-01 4.05980523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.150714056999995 meters Centerline goodness [0,1] 0.9854482479420629 Centerline is valid? [True, True] Translation: X:39.86, Y:-1.82, Z:0.41 [[ 9.98816354e-01 -4.36398948e-02 -2.14813781e-02 3.98576973e+01] [ 4.36648242e-02 9.99045997e-01 6.92615442e-04 -1.81675868e+00] [ 2.14306592e-02 -1.62977623e-03 9.99769009e-01 4.08445999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.180714056999996 meters Centerline goodness [0,1] 0.9845395625168782 Centerline is valid? [True, True] Translation: X:39.89, Y:-1.82, Z:0.41 [[ 9.98882497e-01 -4.21188390e-02 -2.14420366e-02 3.98880338e+01] [ 4.21433311e-02 9.99111336e-01 6.91460443e-04 -1.82332863e+00] [ 2.13938583e-02 -1.59432658e-03 9.99769854e-01 4.08874898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.210714057 meters Centerline goodness [0,1] 0.9875053758573078 Centerline is valid? [True, True] Translation: X:39.92, Y:-1.81, Z:0.41 [[ 9.99014346e-01 -3.82781185e-02 -2.24749180e-02 3.99190438e+01] [ 3.83040678e-02 9.99265867e-01 7.25078006e-04 -1.80870107e+00] [ 2.24306638e-02 -1.58524411e-03 9.99747144e-01 4.09528785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.240714057 meters Centerline goodness [0,1] 0.9869303176000541 Centerline is valid? [True, True] Translation: X:39.95, Y:-1.80, Z:0.41 [[ 9.99084582e-01 -3.57876100e-02 -2.34359783e-02 3.99507728e+01] [ 3.58151568e-02 9.99358145e-01 7.56587750e-04 -1.80469318e+00] [ 2.33938594e-02 -1.59525839e-03 9.99725053e-01 4.09477828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.270714057 meters Centerline goodness [0,1] 0.9869220518148759 Centerline is valid? [True, True] Translation: X:39.98, Y:-1.81, Z:0.41 [[ 9.99162585e-01 -3.29128263e-02 -2.43079175e-02 3.99803603e+01] [ 3.29416314e-02 9.99456969e-01 7.85424427e-04 -1.80585831e+00] [ 2.42688670e-02 -1.58550916e-03 9.99704210e-01 4.08571428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.300714057 meters Centerline goodness [0,1] 0.9878021182221418 Centerline is valid? [True, True] Translation: X:40.01, Y:-1.80, Z:0.41 [[ 9.99346407e-01 -2.60815803e-02 -2.50301787e-02 4.00097927e+01] [ 2.61099770e-02 9.99658750e-01 8.08293252e-04 -1.80294526e+00] [ 2.50005556e-02 -1.46130235e-03 9.99686369e-01 4.07664492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.330714056999994 meters Centerline goodness [0,1] 0.9887632797602833 Centerline is valid? [True, True] Translation: X:40.04, Y:-1.79, Z:0.41 [[ 9.99422466e-01 -2.26833168e-02 -2.53022137e-02 4.00412844e+01] [ 2.27112461e-02 9.99741733e-01 8.16972330e-04 -1.79254031e+00] [ 2.52771473e-02 -1.39114530e-03 9.99679514e-01 4.09728274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.360714056999996 meters Centerline goodness [0,1] 0.9882315449227197 Centerline is valid? [True, True] Translation: X:40.07, Y:-1.79, Z:0.41 [[ 9.99557566e-01 -1.60199822e-02 -2.50605884e-02 4.00707413e+01] [ 1.60452935e-02 9.99870939e-01 8.09233539e-04 -1.78897435e+00] [ 2.50443901e-02 -1.21098000e-03 9.99685607e-01 4.10299368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.390714057 meters Centerline goodness [0,1] 0.9888810408074916 Centerline is valid? [True, True] Translation: X:40.10, Y:-1.78, Z:0.41 [[ 9.99609475e-01 -1.33739485e-02 -2.45363871e-02 4.01007071e+01] [ 1.33974004e-02 9.99909937e-01 7.91657953e-04 -1.78472401e+00] [ 2.45235897e-02 -1.12007259e-03 9.99698624e-01 4.11746165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.420714057 meters Centerline goodness [0,1] 0.9889859821591116 Centerline is valid? [True, True] Translation: X:40.13, Y:-1.78, Z:0.41 [[ 9.99648692e-01 -1.06445185e-02 -2.42731584e-02 4.01304062e+01] [ 1.06666458e-02 9.99942804e-01 7.82300355e-04 -1.78345877e+00] [ 2.42634428e-02 -1.04093871e-03 9.99705057e-01 4.12344717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.450714057 meters Centerline goodness [0,1] 0.9892080585913436 Centerline is valid? [True, True] Translation: X:40.16, Y:-1.78, Z:0.41 [[ 9.99680300e-01 -8.37805112e-03 -2.38559496e-02 4.01591787e+01] [ 8.39875237e-03 9.99964435e-01 7.67696510e-04 -1.78108146e+00] [ 2.38486693e-02 -9.67811290e-04 9.99715112e-01 4.13491657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.480714057 meters Centerline goodness [0,1] 0.9896732922092758 Centerline is valid? [True, True] Translation: X:40.19, Y:-1.78, Z:0.41 [[ 9.99697114e-01 -4.04876138e-03 -2.42752446e-02 4.01895808e+01] [ 4.06889178e-03 9.99991418e-01 7.79919597e-04 -1.77794626e+00] [ 2.42718786e-02 -8.78456713e-04 9.99705009e-01 4.14637632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.510714056999994 meters Centerline goodness [0,1] 0.9901336073997945 Centerline is valid? [True, True] Translation: X:40.22, Y:-1.78, Z:0.41 [[ 9.99705037e-01 -2.18476895e-03 -2.41881249e-02 4.02178376e+01] [ 2.20415008e-03 9.99997271e-01 7.74634346e-04 -1.77894329e+00] [ 2.41863665e-02 -8.27720115e-04 9.99707124e-01 4.14988292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.540714056999995 meters Centerline goodness [0,1] 0.990485991995426 Centerline is valid? [True, True] Translation: X:40.25, Y:-1.78, Z:0.42 [[ 9.99707900e-01 -6.81000811e-04 -2.41588813e-02 4.02463484e+01] [ 6.99752018e-04 9.99999460e-01 7.67716700e-04 -1.77644823e+00] [ 2.41583454e-02 -7.84397676e-04 9.99707837e-01 4.15925249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.570714056999996 meters Centerline goodness [0,1] 0.9913323880528747 Centerline is valid? [True, True] Translation: X:40.28, Y:-1.77, Z:0.42 [[ 9.99711497e-01 3.53845897e-03 -2.37571547e-02 4.02763825e+01] [-3.52160971e-03 9.99993517e-01 7.51029065e-04 -1.77489534e+00] [ 2.37596581e-02 -6.67148964e-04 9.99717477e-01 4.17098657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.600714057 meters Centerline goodness [0,1] 0.991451228456179 Centerline is valid? [True, True] Translation: X:40.30, Y:-1.78, Z:0.42 [[ 9.99716337e-01 5.40102748e-03 -2.31964184e-02 4.03043638e+01] [-5.38548845e-03 9.99985230e-01 7.32307788e-04 -1.77556613e+00] [ 2.32000310e-02 -6.07176016e-04 9.99730659e-01 4.17496622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.630714057 meters Centerline goodness [0,1] 0.9918079809082356 Centerline is valid? [True, True] Translation: X:40.33, Y:-1.78, Z:0.42 [[ 9.99689992e-01 9.59009438e-03 -2.29771611e-02 4.03334390e+01] [-9.57599726e-03 9.99953887e-01 7.23480807e-04 -1.77563033e+00] [ 2.29830398e-02 -5.03227291e-04 9.99735728e-01 4.17877960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.660714057 meters Centerline goodness [0,1] 0.9926325453293551 Centerline is valid? [True, True] Translation: X:40.36, Y:-1.78, Z:0.42 [[ 9.99660798e-01 1.14339320e-02 -2.33998722e-02 4.03625304e+01] [-1.14198896e-02 9.99934522e-01 7.33651179e-04 -1.77631633e+00] [ 2.34067285e-02 -4.66178366e-04 9.99725916e-01 4.17907708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.690714057 meters Centerline goodness [0,1] 0.9925108215193642 Centerline is valid? [True, True] Translation: X:40.39, Y:-1.78, Z:0.42 [[ 9.99634629e-01 1.32799280e-02 -2.35425454e-02 4.03911605e+01] [-1.32663630e-02 9.99911730e-01 7.32288281e-04 -1.77730329e+00] [ 2.35501920e-02 -4.19696772e-04 9.99722568e-01 4.17831117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.720714056999995 meters Centerline goodness [0,1] 0.9925108215193642 Centerline is valid? [True, True] Translation: X:40.42, Y:-1.78, Z:0.42 [[ 9.99638315e-01 1.29991753e-02 -2.35427332e-02 4.04185187e+01] [-1.29856756e-02 9.99915419e-01 7.26207608e-04 -1.77807974e+00] [ 2.35501820e-02 -4.20226653e-04 9.99722568e-01 4.18246939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.750714056999996 meters Centerline goodness [0,1] 0.9930732356246703 Centerline is valid? [True, True] Translation: X:40.45, Y:-1.78, Z:0.42 [[ 9.99578762e-01 1.62339838e-02 -2.40573472e-02 4.04461127e+01] [-1.62209471e-02 9.99868160e-01 7.36960256e-04 -1.78042417e+00] [ 2.40661393e-02 -3.46416863e-04 9.99710309e-01 4.16960781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.780714057 meters Centerline goodness [0,1] 0.9931249427078559 Centerline is valid? [True, True] Translation: X:40.48, Y:-1.78, Z:0.42 [[ 9.99560888e-01 1.75175168e-02 -2.38991294e-02 4.04752515e+01] [-1.75051001e-02 9.99846508e-01 7.28674536e-04 -1.78167756e+00] [ 2.39082257e-02 -3.09997914e-04 9.99714109e-01 4.17115552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.810714057 meters Centerline goodness [0,1] 0.9931751557347014 Centerline is valid? [True, True] Translation: X:40.50, Y:-1.78, Z:0.42 [[ 9.99548710e-01 1.87229828e-02 -2.34910029e-02 4.05043864e+01] [-1.87114531e-02 9.99824673e-01 7.10541788e-04 -1.78308411e+00] [ 2.35001878e-02 -2.70670329e-04 9.99723796e-01 4.17649424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.840714057 meters Centerline goodness [0,1] 0.9929147715585217 Centerline is valid? [True, True] Translation: X:40.53, Y:-1.79, Z:0.42 [[ 9.99528379e-01 2.00955050e-02 -2.32204763e-02 4.05323881e+01] [-2.00847124e-02 9.99798038e-01 6.97937212e-04 -1.78752367e+00] [ 2.32298120e-02 -2.31231462e-04 9.99730125e-01 4.17337690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.870714057 meters Centerline goodness [0,1] 0.9922007227482732 Centerline is valid? [True, True] Translation: X:40.56, Y:-1.79, Z:0.42 [[ 9.99543477e-01 1.97366808e-02 -2.28757534e-02 4.05600720e+01] [-1.97261921e-02 9.99805186e-01 6.84097211e-04 -1.78959701e+00] [ 2.28847987e-02 -2.32533400e-04 9.99738082e-01 4.18224873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.900714056999995 meters Centerline goodness [0,1] 0.9924009737674334 Centerline is valid? [True, True] Translation: X:40.59, Y:-1.80, Z:0.42 [[ 9.99564585e-01 1.89703663e-02 -2.26001116e-02 4.05880217e+01] [-1.89600424e-02 9.99820017e-01 6.71019769e-04 -1.79661570e+00] [ 2.26087735e-02 -2.42228523e-04 9.99744360e-01 4.17768218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.930714056999996 meters Centerline goodness [0,1] 0.9921516296112003 Centerline is valid? [True, True] Translation: X:40.62, Y:-1.80, Z:0.42 [[ 9.99592908e-01 1.78872650e-02 -2.22275676e-02 4.06168589e+01] [-1.78770505e-02 9.99839976e-01 6.58179348e-04 -1.80095349e+00] [ 2.22357837e-02 -2.60548060e-04 9.99752720e-01 4.17654410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.960714057 meters Centerline goodness [0,1] 0.9923707325907815 Centerline is valid? [True, True] Translation: X:40.64, Y:-1.81, Z:0.42 [[ 9.99616597e-01 1.65095434e-02 -2.22282197e-02 4.06445280e+01] [-1.64990312e-02 9.99863666e-01 6.56243782e-04 -1.80588014e+00] [ 2.22360235e-02 -2.89248087e-04 9.99752707e-01 4.17486453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.990714057 meters Centerline goodness [0,1] 0.9926819352215748 Centerline is valid? [True, True] Translation: X:40.67, Y:-1.81, Z:0.42 [[ 9.99634929e-01 1.47709889e-02 -2.26235873e-02 4.06734341e+01] [-1.47597111e-02 9.99890848e-01 6.65406048e-04 -1.80946842e+00] [ 2.26309466e-02 -3.31245515e-04 9.99743832e-01 4.18389305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.020714057 meters Centerline goodness [0,1] 0.9912174030536414 Centerline is valid? [True, True] Translation: X:40.70, Y:-1.82, Z:0.42 [[ 9.99695535e-01 1.14162287e-02 -2.18747982e-02 4.07012489e+01] [-1.14049183e-02 9.99934756e-01 6.41741003e-04 -1.81994180e+00] [ 2.18806973e-02 -3.92065330e-04 9.99760512e-01 4.17946426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.050714057 meters Centerline goodness [0,1] 0.9914907028049165 Centerline is valid? [True, True] Translation: X:40.73, Y:-1.83, Z:0.42 [[ 9.99715448e-01 9.81232100e-03 -2.17426359e-02 4.07293607e+01] [-9.80080866e-03 9.99951769e-01 6.35981894e-04 -1.82509207e+00] [ 2.17478276e-02 -4.22705510e-04 9.99763399e-01 4.18724184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.080714056999994 meters Centerline goodness [0,1] 0.9906025552099882 Centerline is valid? [True, True] Translation: X:40.76, Y:-1.84, Z:0.42 [[ 9.99744334e-01 5.85948052e-03 -2.18388023e-02 4.07586665e+01] [-5.84695595e-03 9.99982703e-01 6.37309847e-04 -1.83522800e+00] [ 2.18421589e-02 -5.09456393e-04 9.99761302e-01 4.17755115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.110714056999996 meters Centerline goodness [0,1] 0.9904595929128405 Centerline is valid? [True, True] Translation: X:40.79, Y:-1.84, Z:0.42 [[ 9.99742658e-01 3.71288373e-03 -2.23792692e-02 4.07861967e+01] [-3.69922544e-03 9.99992945e-01 6.51677637e-04 -1.84176153e+00] [ 2.23815310e-02 -5.68723972e-04 9.99749340e-01 4.16912513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.140714057 meters Centerline goodness [0,1] 0.99033256855189 Centerline is valid? [True, True] Translation: X:40.81, Y:-1.85, Z:0.42 [[ 9.99738951e-01 1.77031210e-03 -2.27792706e-02 4.08137344e+01] [-1.75571448e-03 9.99998240e-01 6.60812835e-04 -1.84777033e+00] [ 2.27804003e-02 -6.20646435e-04 9.99740300e-01 4.16385099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.170714057 meters Centerline goodness [0,1] 0.9886494891159485 Centerline is valid? [True, True] Translation: X:40.84, Y:-1.86, Z:0.42 [[ 9.99723512e-01 -2.52945844e-03 -2.33773813e-02 4.08431368e+01] [ 2.54597161e-03 9.99996530e-01 6.76637424e-04 -1.85777431e+00] [ 2.33755886e-02 -7.35968491e-04 9.99726483e-01 4.15256332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.200714057 meters Centerline goodness [0,1] 0.9899418269017274 Centerline is valid? [True, True] Translation: X:40.87, Y:-1.86, Z:0.42 [[ 9.99713247e-01 -4.80313900e-03 -2.34596164e-02 4.08713870e+01] [ 4.82035902e-03 9.99988152e-01 6.77533300e-04 -1.86222343e+00] [ 2.34560842e-02 -7.90422789e-04 9.99724556e-01 4.15598408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.230714057 meters Centerline goodness [0,1] 0.9896562416939843 Centerline is valid? [True, True] Translation: X:40.90, Y:-1.86, Z:0.42 [[ 9.99688043e-01 -9.29976128e-03 -2.31804126e-02 4.09011835e+01] [ 9.31773266e-03 9.99956366e-01 6.67392274e-04 -1.86344871e+00] [ 2.31731946e-02 -8.83172964e-04 9.99731075e-01 4.17403982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.260714056999994 meters Centerline goodness [0,1] 0.9874703916056051 Centerline is valid? [True, True] Translation: X:40.93, Y:-1.88, Z:0.42 [[ 9.99675752e-01 -1.14703598e-02 -2.27336927e-02 4.09287710e+01] [ 1.14881776e-02 9.99933795e-01 6.53312900e-04 -1.87850337e+00] [ 2.27246939e-02 -9.14269765e-04 9.99741343e-01 4.15645419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.290714056999995 meters Centerline goodness [0,1] 0.9893374626700586 Centerline is valid? [True, True] Translation: X:40.96, Y:-1.87, Z:0.42 [[ 9.99650216e-01 -1.37394736e-02 -2.25980607e-02 4.09580359e+01] [ 1.37576185e-02 9.99905150e-01 6.47660372e-04 -1.87241090e+00] [ 2.25870188e-02 -9.58329329e-04 9.99744421e-01 4.18071368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.320714056999996 meters Centerline goodness [0,1] 0.9880400723774218 Centerline is valid? [True, True] Translation: X:40.99, Y:-1.88, Z:0.42 [[ 9.99621541e-01 -1.71609184e-02 -2.15006544e-02 4.09869807e+01] [ 1.71781088e-02 9.99852256e-01 6.15079923e-04 -1.87947373e+00] [ 2.14869225e-02 -9.84187721e-04 9.99768645e-01 4.18871785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.350714057 meters Centerline goodness [0,1] 0.9885974914481186 Centerline is valid? [True, True] Translation: X:41.01, Y:-1.88, Z:0.42 [[ 9.99606219e-01 -1.83854223e-02 -2.11986787e-02 4.10149401e+01] [ 1.84023815e-02 9.99830479e-01 6.05197260e-04 -1.88318235e+00] [ 2.11839583e-02 -9.95065117e-04 9.99775100e-01 4.19481297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.380714057 meters Centerline goodness [0,1] 0.9877831341213762 Centerline is valid? [True, True] Translation: X:41.04, Y:-1.89, Z:0.42 [[ 9.99548093e-01 -2.13671237e-02 -2.11437125e-02 4.10441138e+01] [ 2.13846307e-02 9.99771141e-01 6.02222396e-04 -1.88841112e+00] [ 2.11260058e-02 -1.05410073e-03 9.99776265e-01 4.19000943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.410714057 meters Centerline goodness [0,1] 0.9879029592578719 Centerline is valid? [True, True] Translation: X:41.07, Y:-1.89, Z:0.42 [[ 9.99515845e-01 -2.25771705e-02 -2.14090587e-02 4.10732094e+01] [ 2.25953718e-02 9.99744507e-01 6.08617322e-04 -1.89023880e+00] [ 2.13898479e-02 -1.09206830e-03 9.99770615e-01 4.18890994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.440714057 meters Centerline goodness [0,1] 0.9881552585808326 Centerline is valid? [True, True] Translation: X:41.10, Y:-1.90, Z:0.42 [[ 9.99485019e-01 -2.38631484e-02 -2.14533563e-02 4.11026590e+01] [ 2.38817013e-02 9.99714606e-01 6.08977818e-04 -1.89597795e+00] [ 2.14327015e-02 -1.12100685e-03 9.99769665e-01 4.17894191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.470714056999995 meters Centerline goodness [0,1] 0.9873823969049503 Centerline is valid? [True, True] Translation: X:41.13, Y:-1.90, Z:0.42 [[ 9.99440158e-01 -2.52529122e-02 -2.19467918e-02 4.11319162e+01] [ 2.52726534e-02 9.99680402e-01 6.22562163e-04 -1.89928090e+00] [ 2.19240561e-02 -1.17686729e-03 9.99758946e-01 4.17674485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.500714056999996 meters Centerline goodness [0,1] 0.9871013184829742 Centerline is valid? [True, True] Translation: X:41.16, Y:-1.90, Z:0.42 [[ 9.99364672e-01 -2.76324558e-02 -2.25099965e-02 4.11620305e+01] [ 2.76538098e-02 9.99617357e-01 6.37857352e-04 -1.89792353e+00] [ 2.24837576e-02 -1.25993927e-03 9.99746414e-01 4.18055155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.530714057 meters Centerline goodness [0,1] 0.9868513787331513 Centerline is valid? [True, True] Translation: X:41.19, Y:-1.90, Z:0.42 [[ 9.99333142e-01 -2.88005863e-02 -2.24454139e-02 4.11916887e+01] [ 2.88221040e-02 9.99584355e-01 6.35686420e-04 -1.90367398e+00] [ 2.24177764e-02 -1.28218656e-03 9.99747868e-01 4.17941686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.560714057 meters Centerline goodness [0,1] 0.9865390105184567 Centerline is valid? [True, True] Translation: X:41.22, Y:-1.90, Z:0.42 [[ 9.99314003e-01 -2.94776573e-02 -2.24185537e-02 4.12223865e+01] [ 2.94992904e-02 9.99564600e-01 6.34795747e-04 -1.90165763e+00] [ 2.23900804e-02 -1.29569170e-03 9.99748471e-01 4.18809470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.590714057 meters Centerline goodness [0,1] 0.9861992038843446 Centerline is valid? [True, True] Translation: X:41.25, Y:-1.90, Z:0.42 [[ 9.99312277e-01 -3.02779739e-02 -2.14060047e-02 4.12526853e+01] [ 3.02978818e-02 9.99540730e-01 6.06238642e-04 -1.90426621e+00] [ 2.13778178e-02 -1.25437832e-03 9.99770681e-01 4.19645541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.620714057 meters Centerline goodness [0,1] 0.9875046747475636 Centerline is valid? [True, True] Translation: X:41.28, Y:-1.90, Z:0.42 [[ 9.99303563e-01 -3.07689607e-02 -2.11106474e-02 4.12840657e+01] [ 3.07884425e-02 9.99525744e-01 5.98366172e-04 -1.90244182e+00] [ 2.10822244e-02 -1.24791340e-03 9.99776966e-01 4.20468604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.650714056999995 meters Centerline goodness [0,1] 0.9871120983527238 Centerline is valid? [True, True] Translation: X:41.31, Y:-1.91, Z:0.42 [[ 9.99317205e-01 -3.04904778e-02 -2.08675254e-02 4.13143516e+01] [ 3.05094665e-02 9.99534302e-01 5.92134720e-04 -1.90607194e+00] [ 2.08397530e-02 -1.22838748e-03 9.99782074e-01 4.19842665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.680714056999996 meters Centerline goodness [0,1] 0.9863623407660769 Centerline is valid? [True, True] Translation: X:41.35, Y:-1.91, Z:0.42 [[ 9.99316699e-01 -3.01134569e-02 -2.14316474e-02 4.13454476e+01] [ 3.01334110e-02 9.99545700e-01 6.08655223e-04 -1.90589228e+00] [ 2.14035823e-02 -1.25404797e-03 9.99770131e-01 4.19672171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.710714057 meters Centerline goodness [0,1] 0.9870513102840784 Centerline is valid? [True, True] Translation: X:41.38, Y:-1.91, Z:0.42 [[ 9.99319743e-01 -2.95096322e-02 -2.21185888e-02 4.13752623e+01] [ 2.95307543e-02 9.99563674e-01 6.28852802e-04 -1.90962149e+00] [ 2.20903807e-02 -1.28160363e-03 9.99755156e-01 4.19265414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.740714057 meters Centerline goodness [0,1] 0.987024411700022 Centerline is valid? [True, True] Translation: X:41.41, Y:-1.91, Z:0.42 [[ 9.99325184e-01 -2.90558441e-02 -2.24707483e-02 4.14063361e+01] [ 2.90775418e-02 9.99576954e-01 6.39396664e-04 -1.90912939e+00] [ 2.24426640e-02 -1.29235931e-03 9.99747296e-01 4.19432232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.770714057 meters Centerline goodness [0,1] 0.9883326729185928 Centerline is valid? [True, True] Translation: X:41.44, Y:-1.91, Z:0.42 [[ 9.99373683e-01 -2.76548282e-02 -2.20783368e-02 4.14355210e+01] [ 2.76754426e-02 9.99616764e-01 6.28629634e-04 -1.90850673e+00] [ 2.20524909e-02 -1.23926365e-03 9.99756046e-01 4.19538428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.800714057 meters Centerline goodness [0,1] 0.9884362565128498 Centerline is valid? [True, True] Translation: X:41.47, Y:-1.90, Z:0.42 [[ 9.99396432e-01 -2.70859040e-02 -2.17514606e-02 4.14657819e+01] [ 2.71057724e-02 9.99632379e-01 6.19063969e-04 -1.90378701e+00] [ 2.17266964e-02 -1.20828046e-03 9.99763217e-01 4.20917602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.830714056999994 meters Centerline goodness [0,1] 0.9893188274935583 Centerline is valid? [True, True] Translation: X:41.50, Y:-1.90, Z:0.42 [[ 9.99419265e-01 -2.66581769e-02 -2.12243992e-02 4.14963048e+01] [ 2.66769977e-02 9.99643923e-01 6.04063380e-04 -1.90260682e+00] [ 2.12007385e-02 -1.16991583e-03 9.99774555e-01 4.21972296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.860714056999996 meters Centerline goodness [0,1] 0.988330281705676 Centerline is valid? [True, True] Translation: X:41.53, Y:-1.90, Z:0.42 [[ 9.99460031e-01 -2.59774275e-02 -2.01201320e-02 4.15262019e+01] [ 2.59942047e-02 9.99661930e-01 5.72724861e-04 -1.90369051e+00] [ 2.00984521e-02 -1.09542244e-03 9.99797406e-01 4.23243052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.890714057 meters Centerline goodness [0,1] 0.9877621221141761 Centerline is valid? [True, True] Translation: X:41.56, Y:-1.91, Z:0.42 [[ 9.99476581e-01 -2.54952958e-02 -1.99136813e-02 4.15566647e+01] [ 2.55116419e-02 9.99674364e-01 5.67201379e-04 -1.90675671e+00] [ 1.98927358e-02 -1.07493520e-03 9.99801542e-01 4.23223395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.920714057 meters Centerline goodness [0,1] 0.9891887121329126 Centerline is valid? [True, True] Translation: X:41.59, Y:-1.90, Z:0.42 [[ 9.99514147e-01 -2.39221710e-02 -1.99799683e-02 4.15881148e+01] [ 2.39383216e-02 9.99713275e-01 5.69530571e-04 -1.89848946e+00] [ 1.99606151e-02 -1.04754077e-03 9.99800218e-01 4.23872176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.950714057 meters Centerline goodness [0,1] 0.988427050664782 Centerline is valid? [True, True] Translation: X:41.62, Y:-1.90, Z:0.42 [[ 9.99558080e-01 -2.22859265e-02 -1.96718552e-02 4.16179486e+01] [ 2.23012773e-02 9.99751138e-01 5.61286204e-04 -1.90398688e+00] [ 1.96544508e-02 -9.99745658e-04 9.99806333e-01 4.23503816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.980714057 meters Centerline goodness [0,1] 0.9890905878715605 Centerline is valid? [True, True] Translation: X:41.65, Y:-1.90, Z:0.42 [[ 9.99594318e-01 -2.05694906e-02 -1.97001241e-02 4.16485003e+01] [ 2.05845531e-02 9.99787958e-01 5.62092786e-04 -1.89705491e+00] [ 1.96843849e-02 -9.67383006e-04 9.99805776e-01 4.23946132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.010714056999994 meters Centerline goodness [0,1] 0.9904482484778964 Centerline is valid? [True, True] Translation: X:41.68, Y:-1.89, Z:0.42 [[ 9.99691083e-01 -1.55260817e-02 -1.94082333e-02 4.16794031e+01] [ 1.55397520e-02 9.99879097e-01 5.53731327e-04 -1.89127462e+00] [ 1.93972896e-02 -8.55159403e-04 9.99811489e-01 4.24631681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.040714056999995 meters Centerline goodness [0,1] 0.9901778603663393 Centerline is valid? [True, True] Translation: X:41.71, Y:-1.89, Z:0.43 [[ 9.99749805e-01 -1.22691774e-02 -1.87028121e-02 4.17092147e+01] [ 1.22812985e-02 9.99924440e-01 5.33364519e-04 -1.88974692e+00] [ 1.86948550e-02 -7.62925892e-04 9.99824945e-01 4.25252616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.070714056999996 meters Centerline goodness [0,1] 0.9905077995353468 Centerline is valid? [True, True] Translation: X:41.74, Y:-1.89, Z:0.43 [[ 9.99797790e-01 -9.07125940e-03 -1.79469238e-02 4.17380700e+01] [ 9.08189392e-03 9.99958628e-01 5.11138454e-04 -1.88748646e+00] [ 1.79415446e-02 -6.74027155e-04 9.99838810e-01 4.26237326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.100714057 meters Centerline goodness [0,1] 0.9911641605952566 Centerline is valid? [True, True] Translation: X:41.77, Y:-1.88, Z:0.43 [[ 9.99862926e-01 -1.78193389e-03 -1.64606900e-02 4.17671659e+01] [ 1.78988045e-03 9.99998289e-01 4.68040074e-04 -1.88263659e+00] [ 1.64598278e-02 -4.97438585e-04 9.99864404e-01 4.27007305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.130714057 meters Centerline goodness [0,1] 0.9913068547224625 Centerline is valid? [True, True] Translation: X:41.80, Y:-1.88, Z:0.43 [[ 9.99873558e-01 1.68881741e-03 -1.58119198e-02 4.17962797e+01] [-1.68192610e-03 9.99998485e-01 4.49118042e-04 -1.87982952e+00] [ 1.58126543e-02 -4.22466774e-04 9.99874883e-01 4.27703662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.160714057 meters Centerline goodness [0,1] 0.9924584547618518 Centerline is valid? [True, True] Translation: X:41.83, Y:-1.88, Z:0.43 [[ 9.99861030e-01 8.27983872e-03 -1.44694153e-02 4.18259804e+01] [-8.27480386e-03 9.99965680e-01 4.07800880e-04 -1.87542859e+00] [ 1.44722953e-02 -2.88012634e-04 9.99895229e-01 4.28130686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.190714057 meters Centerline goodness [0,1] 0.9919605578751 Centerline is valid? [True, True] Translation: X:41.85, Y:-1.87, Z:0.43 [[ 9.99830370e-01 1.14857674e-02 -1.43981995e-02 4.18540100e+01] [-1.14811208e-02 9.99934008e-01 4.05344249e-04 -1.87472946e+00] [ 1.44019050e-02 -2.39968023e-04 9.99896258e-01 4.28424528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.220714056999995 meters Centerline goodness [0,1] 0.9928828788754949 Centerline is valid? [True, True] Translation: X:41.88, Y:-1.87, Z:0.43 [[ 9.99783737e-01 1.50029500e-02 -1.44010538e-02 4.18829493e+01] [-1.49986922e-02 9.99887432e-01 4.03621605e-04 -1.87348761e+00] [ 1.44054882e-02 -1.87537343e-04 9.99896218e-01 4.28076923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.250714056999996 meters Centerline goodness [0,1] 0.9934169557868517 Centerline is valid? [True, True] Translation: X:41.91, Y:-1.87, Z:0.43 [[ 9.99643319e-01 2.20001366e-02 -1.51402943e-02 4.19106008e+01] [-2.19962937e-02 9.99757964e-01 4.20320036e-04 -1.87166583e+00] [ 1.51458769e-02 -8.71397560e-05 9.99885291e-01 4.26835781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.280714057 meters Centerline goodness [0,1] 0.9931487042598154 Centerline is valid? [True, True] Translation: X:41.94, Y:-1.87, Z:0.43 [[ 9.99557251e-01 2.52703625e-02 -1.57070319e-02 4.19397964e+01] [-2.52666648e-02 9.99680653e-01 4.33854528e-04 -1.87164325e+00] [ 1.57129795e-02 -3.67981303e-05 9.99876543e-01 4.26500664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.310714057 meters Centerline goodness [0,1] 0.9942006443728475 Centerline is valid? [True, True] Translation: X:41.97, Y:-1.87, Z:0.43 [[ 9.99455467e-01 2.88080495e-02 -1.60892840e-02 4.19667331e+01] [-2.88046919e-02 9.99584962e-01 4.40437539e-04 -1.87188673e+00] [ 1.60952945e-02 2.32491631e-05 9.99870462e-01 4.26230248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.340714057 meters Centerline goodness [0,1] 0.9949503937358188 Centerline is valid? [True, True] Translation: X:42.00, Y:-1.87, Z:0.43 [[ 9.99249837e-01 3.48370955e-02 -1.69156929e-02 4.19959076e+01] [-3.48342883e-02 9.99392996e-01 4.60660514e-04 -1.87291873e+00] [ 1.69214731e-02 1.28931180e-04 9.99856813e-01 4.25221873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.370714057 meters Centerline goodness [0,1] 0.9950146237702738 Centerline is valid? [True, True] Translation: X:42.02, Y:-1.87, Z:0.43 [[ 9.99149205e-01 3.75525423e-02 -1.70491297e-02 4.20236955e+01] [-3.75501530e-02 9.99294638e-01 4.60355101e-04 -1.87427137e+00] [ 1.70543914e-02 1.80233995e-04 9.99854547e-01 4.25505900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.400714056999995 meters Centerline goodness [0,1] 0.9957230864689979 Centerline is valid? [True, True] Translation: X:42.05, Y:-1.88, Z:0.43 [[ 9.99017653e-01 4.08824911e-02 -1.70982749e-02 4.20522032e+01] [-4.08806067e-02 9.99163933e-01 4.59863205e-04 -1.87965025e+00] [ 1.71027799e-02 2.39576390e-04 9.99853708e-01 4.25323970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.430714056999996 meters Centerline goodness [0,1] 0.995403822782013 Centerline is valid? [True, True] Translation: X:42.08, Y:-1.88, Z:0.43 [[ 9.98980393e-01 4.18499619e-02 -1.69338290e-02 4.20801180e+01] [-4.18483200e-02 9.99123873e-01 4.51456470e-04 -1.88232934e+00] [ 1.69378863e-02 2.57656133e-04 9.99856511e-01 4.25717494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.460714057 meters Centerline goodness [0,1] 0.9958333333333333 Centerline is valid? [True, True] Translation: X:42.11, Y:-1.89, Z:0.43 [[ 9.98954871e-01 4.26743976e-02 -1.63725829e-02 4.21086477e+01] [-4.26730099e-02 9.99088998e-01 4.34260908e-04 -1.88601585e+00] [ 1.63761993e-02 2.64860345e-04 9.99865866e-01 4.25968232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.490714057 meters Centerline goodness [0,1] 0.9957164937072202 Centerline is valid? [True, True] Translation: X:42.14, Y:-1.89, Z:0.43 [[ 9.98959373e-01 4.28054223e-02 -1.57438195e-02 4.21360969e+01] [-4.28042133e-02 9.99083394e-01 4.13912365e-04 -1.89060943e+00] [ 1.57471063e-02 2.60420169e-04 9.99875973e-01 4.26150276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.520714057 meters Centerline goodness [0,1] 0.996050206267006 Centerline is valid? [True, True] Translation: X:42.16, Y:-1.90, Z:0.43 [[ 9.99001268e-01 4.22202656e-02 -1.46258304e-02 4.21639474e+01] [-4.22192140e-02 9.99108299e-01 3.80790686e-04 -1.90227040e+00] [ 1.46288656e-02 2.37080683e-04 9.99892964e-01 4.26083391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.550714057 meters Centerline goodness [0,1] 0.9953820227178218 Centerline is valid? [True, True] Translation: X:42.19, Y:-1.91, Z:0.43 [[ 9.99055035e-01 4.12348538e-02 -1.37377009e-02 4.21921360e+01] [-4.12338883e-02 9.99149459e-01 3.53643066e-04 -1.90837517e+00] [ 1.37405989e-02 2.13149939e-04 9.99905571e-01 4.26297932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.580714056999994 meters Centerline goodness [0,1] 0.9952141660684374 Centerline is valid? [True, True] Translation: X:42.22, Y:-1.92, Z:0.43 [[ 9.99196579e-01 3.79355623e-02 -1.29263172e-02 4.22198055e+01] [-3.79344421e-02 9.99280175e-01 3.31922148e-04 -1.92076320e+00] [ 1.29296042e-02 1.58697157e-04 9.99916397e-01 4.26662852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.610714056999996 meters Centerline goodness [0,1] 0.9952141660684374 Centerline is valid? [True, True] Translation: X:42.25, Y:-1.92, Z:0.43 [[ 9.99207414e-01 3.76490886e-02 -1.29263359e-02 4.22471879e+01] [-3.76479538e-02 9.99291010e-01 3.31193809e-04 -1.92140713e+00] [ 1.29296404e-02 1.55718789e-04 9.99916397e-01 4.27077883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.640714057 meters Centerline goodness [0,1] 0.9946591402518454 Centerline is valid? [True, True] Translation: X:42.28, Y:-1.93, Z:0.43 [[ 9.99298866e-01 3.51971649e-02 -1.27646740e-02 4.22754811e+01] [-3.51959110e-02 9.99380380e-01 3.22935819e-04 -1.92906007e+00] [ 1.27681312e-02 1.26554931e-04 9.99918476e-01 4.27627667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.670714057 meters Centerline goodness [0,1] 0.9938861788617886 Centerline is valid? [True, True] Translation: X:42.30, Y:-1.94, Z:0.43 [[ 9.99395724e-01 3.23537220e-02 -1.27052398e-02 4.23028659e+01] [-3.23522610e-02 9.99476477e-01 3.20562276e-04 -1.93616825e+00] [ 1.27089597e-02 9.06746675e-05 9.99919234e-01 4.27875962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.700714057 meters Centerline goodness [0,1] 0.9931215904435389 Centerline is valid? [True, True] Translation: X:42.33, Y:-1.95, Z:0.43 [[ 9.99576619e-01 2.60623761e-02 -1.29358357e-02 4.23313450e+01] [-2.60603505e-02 9.99660319e-01 3.25161786e-04 -1.95186570e+00] [ 1.29399161e-02 1.20882930e-05 9.99916276e-01 4.27736319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.730714057 meters Centerline goodness [0,1] 0.9926057316265253 Centerline is valid? [True, True] Translation: X:42.36, Y:-1.96, Z:0.43 [[ 9.99647846e-01 2.30022538e-02 -1.32318228e-02 4.23587257e+01] [-2.29998784e-02 9.99735413e-01 3.31688908e-04 -1.95934178e+00] [ 1.32359515e-02 -2.72417868e-05 9.99912401e-01 4.27641998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.760714056999994 meters Centerline goodness [0,1] 0.9921781244642551 Centerline is valid? [True, True] Translation: X:42.39, Y:-1.97, Z:0.43 [[ 9.99708509e-01 1.98946947e-02 -1.36783608e-02 4.23872961e+01] [-1.98918870e-02 9.99802079e-01 3.41302409e-04 -1.96742907e+00] [ 1.36824436e-02 -6.91145166e-05 9.99906389e-01 4.27786592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.790714056999995 meters Centerline goodness [0,1] 0.9910077718543259 Centerline is valid? [True, True] Translation: X:42.42, Y:-1.98, Z:0.43 [[ 9.99750875e-01 1.72880682e-02 -1.41177161e-02 4.24163772e+01] [-1.72848320e-02 9.99850544e-01 3.51223093e-04 -1.97512874e+00] [ 1.41216781e-02 -1.07113242e-04 9.99900278e-01 4.28151741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.820714056999996 meters Centerline goodness [0,1] 0.9896302302259585 Centerline is valid? [True, True] Translation: X:42.44, Y:-1.99, Z:0.43 [[ 9.99820829e-01 1.28903060e-02 -1.38617914e-02 4.24448574e+01] [-1.28867768e-02 9.99916903e-01 3.43890794e-04 -1.98869597e+00] [ 1.38650724e-02 -1.65195367e-04 9.99903862e-01 4.28522412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.850714057 meters Centerline goodness [0,1] 0.9892159782192539 Centerline is valid? [True, True] Translation: X:42.47, Y:-2.00, Z:0.43 [[ 9.99843743e-01 1.10716642e-02 -1.37806800e-02 4.24728805e+01] [-1.10680166e-02 9.99938690e-01 3.40927612e-04 -1.99520670e+00] [ 1.37836098e-02 -1.88349544e-04 9.99904984e-01 4.28438918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.880714057 meters Centerline goodness [0,1] 0.9883819359207686 Centerline is valid? [True, True] Translation: X:42.50, Y:-2.01, Z:0.43 [[ 9.99856368e-01 9.57099515e-03 -1.39871025e-02 4.25016653e+01] [-9.56710855e-03 9.99954175e-01 3.44756918e-04 -2.00650048e+00] [ 1.39897612e-02 -2.10891273e-04 9.99902116e-01 4.29320166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.910714057 meters Centerline goodness [0,1] 0.9880474704371272 Centerline is valid? [True, True] Translation: X:42.53, Y:-2.01, Z:0.43 [[ 9.99864184e-01 8.67495236e-03 -1.40128329e-02 4.25302820e+01] [-8.67097727e-03 9.99962347e-01 3.44406854e-04 -2.01097378e+00] [ 1.40152930e-02 -2.22855122e-04 9.99901756e-01 4.29159056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.940714057 meters Centerline goodness [0,1] 0.9867597445309682 Centerline is valid? [True, True] Translation: X:42.56, Y:-2.02, Z:0.43 [[ 9.99847606e-01 9.53793473e-03 -1.46216737e-02 4.25592193e+01] [-9.53371524e-03 9.99954489e-01 3.58255449e-04 -2.01697060e+00] [ 1.46244253e-02 -2.18801979e-04 9.99893033e-01 4.30728206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.970714056999995 meters Centerline goodness [0,1] 0.9857973701955496 Centerline is valid? [True, True] Translation: X:42.59, Y:-2.03, Z:0.43 [[ 9.99874494e-01 8.62356904e-03 -1.32902171e-02 4.25862633e+01] [-8.62001298e-03 9.99962794e-01 3.24831404e-04 -2.02688968e+00] [ 1.32925238e-02 -2.10228792e-04 9.99911628e-01 4.31357001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.000714056999996 meters Centerline goodness [0,1] 0.9865233672541096 Centerline is valid? [True, True] Translation: X:42.61, Y:-2.03, Z:0.43 [[ 9.99872433e-01 8.32870943e-03 -1.36290510e-02 4.26143058e+01] [-8.32496300e-03 9.99965292e-01 3.31597359e-04 -2.03051150e+00] [ 1.36313397e-02 -2.18093713e-04 9.99907065e-01 4.31790112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.030714057 meters Centerline goodness [0,1] 0.9862570564729264 Centerline is valid? [True, True] Translation: X:42.64, Y:-2.04, Z:0.43 [[ 9.99856903e-01 8.52965326e-03 -1.46088711e-02 4.26434197e+01] [-8.52539541e-03 9.99963596e-01 3.53709332e-04 -2.03932002e+00] [ 1.46113563e-02 -2.29112315e-04 9.99893222e-01 4.31968763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.060714057 meters Centerline goodness [0,1] 0.9852139749060032 Centerline is valid? [True, True] Translation: X:42.67, Y:-2.04, Z:0.43 [[ 9.99846970e-01 8.44442287e-03 -1.53208182e-02 4.26708818e+01] [-8.43974329e-03 9.99964316e-01 3.70070122e-04 -2.04361662e+00] [ 1.53233966e-02 -2.40709718e-04 9.99882561e-01 4.31616309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.090714057 meters Centerline goodness [0,1] 0.985567881669308 Centerline is valid? [True, True] Translation: X:42.70, Y:-2.05, Z:0.43 [[ 9.99836967e-01 9.29447296e-03 -1.54807097e-02 4.26992844e+01] [-9.28982299e-03 9.99956779e-01 3.72257468e-04 -2.05174543e+00] [ 1.54835005e-02 -2.28383726e-04 9.99880097e-01 4.32837060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.120714057 meters Centerline goodness [0,1] 0.984363774669315 Centerline is valid? [True, True] Translation: X:42.73, Y:-2.06, Z:0.43 [[ 9.99836195e-01 9.54725940e-03 -1.53763939e-02 4.27278957e+01] [-9.54271863e-03 9.99954399e-01 3.68652899e-04 -2.05558296e+00] [ 1.53792123e-02 -2.21859911e-04 9.99881708e-01 4.33082647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.150714056999995 meters Centerline goodness [0,1] 0.9843918533088002 Centerline is valid? [True, True] Translation: X:42.76, Y:-2.06, Z:0.43 [[ 9.99822373e-01 1.00898869e-02 -1.59190362e-02 4.27554203e+01] [-1.00851077e-02 9.99949072e-01 3.80470674e-04 -2.05935171e+00] [ 1.59220644e-02 -2.19857897e-04 9.99873212e-01 4.33646039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.180714056999996 meters Centerline goodness [0,1] 0.9852608906814199 Centerline is valid? [True, True] Translation: X:42.78, Y:-2.07, Z:0.43 [[ 9.99797951e-01 1.02085789e-02 -1.73159632e-02 4.27833343e+01] [-1.02029713e-02 9.99947863e-01 4.12159457e-04 -2.06526941e+00] [ 1.73192679e-02 -2.35401906e-04 9.99849983e-01 4.33183012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.210714057 meters Centerline goodness [0,1] 0.9849628830657953 Centerline is valid? [True, True] Translation: X:42.81, Y:-2.07, Z:0.43 [[ 9.99754588e-01 1.10918388e-02 -1.91763972e-02 4.28108991e+01] [-1.10851653e-02 9.99938454e-01 4.54273414e-04 -2.06997371e+00] [ 1.91802557e-02 -2.41588398e-04 9.99816013e-01 4.34437422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.240714057 meters Centerline goodness [0,1] 0.9831217389467458 Centerline is valid? [True, True] Translation: X:42.84, Y:-2.07, Z:0.43 [[ 9.99750045e-01 1.04876009e-02 -1.97448375e-02 4.28400005e+01] [-1.04804419e-02 9.99944970e-01 4.66020103e-04 -2.07411141e+00] [ 1.97486383e-02 -2.58968996e-04 9.99804943e-01 4.34805936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.270714057 meters Centerline goodness [0,1] 0.9843204842574299 Centerline is valid? [True, True] Translation: X:42.87, Y:-2.08, Z:0.43 [[ 9.99775561e-01 8.66817290e-03 -1.93310689e-02 4.28682957e+01] [-8.66099711e-03 9.99962389e-01 4.54896703e-04 -2.07853538e+00] [ 1.93342850e-02 -2.87368275e-04 9.99813034e-01 4.33892534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.300714057 meters Centerline goodness [0,1] 0.9830111430018572 Centerline is valid? [True, True] Translation: X:42.90, Y:-2.09, Z:0.44 [[ 9.99770126e-01 7.26553970e-03 -2.01719526e-02 4.28960293e+01] [-7.25747213e-03 9.99973552e-01 4.73118272e-04 -2.08803381e+00] [ 2.01748566e-02 -3.26612131e-04 9.99796414e-01 4.35731910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.330714056999994 meters Centerline goodness [0,1] 0.9828171449052308 Centerline is valid? [True, True] Translation: X:42.92, Y:-2.09, Z:0.44 [[ 9.99797329e-01 5.30913443e-03 -1.94194292e-02 4.29244291e+01] [-5.30131947e-03 9.99985845e-01 4.53887485e-04 -2.09175980e+00] [ 1.94215640e-02 -3.50846897e-04 9.99811322e-01 4.35957083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.360714056999996 meters Centerline goodness [0,1] 0.982804898506962 Centerline is valid? [True, True] Translation: X:42.95, Y:-2.10, Z:0.44 [[ 9.99814590e-01 2.66227240e-03 -1.90708568e-02 4.29533924e+01] [-2.65427928e-03 9.99996379e-01 4.44426876e-04 -2.09804498e+00] [ 1.90719709e-02 -3.93725095e-04 9.99818036e-01 4.37976608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.390714057 meters Centerline goodness [0,1] 0.9828715895923312 Centerline is valid? [True, True] Translation: X:42.98, Y:-2.10, Z:0.44 [[ 9.99802917e-01 1.37793046e-03 -1.98047662e-02 4.29807320e+01] [-1.36908905e-03 9.99998957e-01 4.59979859e-04 -2.10379122e+00] [ 1.98053793e-02 -4.32774716e-04 9.99803761e-01 4.39757966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.420714057 meters Centerline goodness [0,1] 0.9829144458255209 Centerline is valid? [True, True] Translation: X:43.01, Y:-2.11, Z:0.44 [[ 9.99799343e-01 -1.63807504e-03 -1.99647151e-02 4.30093115e+01] [ 1.64762666e-03 9.99998536e-01 4.61985531e-04 -2.10806022e+00] [ 1.99639291e-02 -4.94787228e-04 9.99800578e-01 4.39791989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.450714057 meters Centerline goodness [0,1] 0.9815575488305809 Centerline is valid? [True, True] Translation: X:43.04, Y:-2.12, Z:0.44 [[ 9.99753774e-01 -6.56445544e-03 -2.11966982e-02 4.30387833e+01] [ 6.57629986e-03 9.99978256e-01 4.89128008e-04 -2.11816154e+00] [ 2.11930264e-02 -6.28403415e-04 9.99775205e-01 4.41189710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.480714057 meters Centerline goodness [0,1] 0.9816078877512324 Centerline is valid? [True, True] Translation: X:43.07, Y:-2.12, Z:0.44 [[ 9.99715624e-01 -1.11109798e-02 -2.11001555e-02 4.30684106e+01] [ 1.11237122e-02 9.99938011e-01 4.86151572e-04 -2.12322026e+00] [ 2.10934460e-02 -7.20725380e-04 9.99777249e-01 4.40374739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.510714056999994 meters Centerline goodness [0,1] 0.9818951427014794 Centerline is valid? [True, True] Translation: X:43.10, Y:-2.13, Z:0.44 [[ 9.99665807e-01 -1.44048199e-02 -2.14656965e-02 4.30975180e+01] [ 1.44187367e-02 9.99895923e-01 4.93690018e-04 -2.12849485e+00] [ 2.14563509e-02 -8.03033256e-04 9.99769463e-01 4.40891648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.540714056999995 meters Centerline goodness [0,1] 0.981730308522384 Centerline is valid? [True, True] Translation: X:43.13, Y:-2.14, Z:0.44 [[ 9.99525663e-01 -2.06798514e-02 -2.28208981e-02 4.31265771e+01] [ 2.06971905e-02 9.99785653e-01 5.23833112e-04 -2.13805058e+00] [ 2.28051737e-02 -9.95913114e-04 9.99739432e-01 4.42868583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.570714056999996 meters Centerline goodness [0,1] 0.9817688619732526 Centerline is valid? [True, True] Translation: X:43.16, Y:-2.14, Z:0.44 [[ 9.99408137e-01 -2.56084497e-02 -2.29691633e-02 4.31556224e+01] [ 2.56272995e-02 9.99671428e-01 5.26624963e-04 -2.14343461e+00] [ 2.29481302e-02 -1.11495090e-03 9.99736035e-01 4.43033748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.600714057 meters Centerline goodness [0,1] 0.9813497807707638 Centerline is valid? [True, True] Translation: X:43.19, Y:-2.14, Z:0.45 [[ 9.99216318e-01 -3.17258074e-02 -2.36690386e-02 4.31862107e+01] [ 3.17475210e-02 9.99495773e-01 5.42086759e-04 -2.14393468e+00] [ 2.36399059e-02 -1.29309524e-03 9.99719702e-01 4.46436558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.630714057 meters Centerline goodness [0,1] 0.9817318998824123 Centerline is valid? [True, True] Translation: X:43.21, Y:-2.15, Z:0.45 [[ 9.99122357e-01 -3.46861906e-02 -2.34815785e-02 4.32148386e+01] [ 3.47083638e-02 9.99397339e-01 5.37260146e-04 -2.14962643e+00] [ 2.34487915e-02 -1.35179579e-03 9.99724125e-01 4.46778143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.660714057 meters Centerline goodness [0,1] 0.9820829137294395 Centerline is valid? [True, True] Translation: X:43.24, Y:-2.15, Z:0.45 [[ 9.99019373e-01 -3.74084948e-02 -2.36832490e-02 4.32442296e+01] [ 3.74317814e-02 9.99299039e-01 5.40545950e-04 -2.14851136e+00] [ 2.36464270e-02 -1.42652208e-03 9.99719366e-01 4.47973580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.690714057 meters Centerline goodness [0,1] 0.9817381276863403 Centerline is valid? [True, True] Translation: X:43.27, Y:-2.15, Z:0.45 [[ 9.98852548e-01 -4.21733914e-02 -2.26934240e-02 4.32746433e+01] [ 4.21959766e-02 9.99109219e-01 5.17095112e-04 -2.15070744e+00] [ 2.26514015e-02 -1.47407296e-03 9.99742337e-01 4.47920954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.720714056999995 meters Centerline goodness [0,1] 0.9814110777374025 Centerline is valid? [True, True] Translation: X:43.30, Y:-2.15, Z:0.45 [[ 9.98812826e-01 -4.27674731e-02 -2.33212839e-02 4.33029508e+01] [ 4.27914672e-02 9.99083885e-01 5.30551538e-04 -2.15264912e+00] [ 2.32772286e-02 -1.52787364e-03 9.99727881e-01 4.49345552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.750714056999996 meters Centerline goodness [0,1] 0.9812388638507494 Centerline is valid? [True, True] Translation: X:43.33, Y:-2.15, Z:0.45 [[ 9.98752124e-01 -4.43236205e-02 -2.30132781e-02 4.33324887e+01] [ 4.43473575e-02 9.99016036e-01 5.21866973e-04 -2.15333628e+00] [ 2.29675028e-02 -1.54179382e-03 9.99735023e-01 4.49664779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.780714057 meters Centerline goodness [0,1] 0.9816681365755323 Centerline is valid? [True, True] Translation: X:43.36, Y:-2.15, Z:0.45 [[ 9.98672250e-01 -4.66905985e-02 -2.17652116e-02 4.33623585e+01] [ 4.67123726e-02 9.98908260e-01 4.92790269e-04 -2.14998299e+00] [ 2.17184409e-02 -1.50884064e-03 9.99762988e-01 4.50591286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.810714057 meters Centerline goodness [0,1] 0.9808938570919234 Centerline is valid? [True, True] Translation: X:43.39, Y:-2.15, Z:0.45 [[ 9.98612332e-01 -4.82742966e-02 -2.10476230e-02 4.33913145e+01] [ 4.82949898e-02 9.98833003e-01 4.75671719e-04 -2.14950651e+00] [ 2.10000977e-02 -1.49150638e-03 9.99778361e-01 4.50544467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.840714057 meters Centerline goodness [0,1] 0.98027336380026 Centerline is valid? [True, True] Translation: X:43.42, Y:-2.14, Z:0.45 [[ 9.98549419e-01 -4.98009553e-02 -2.04676027e-02 4.34204455e+01] [ 4.98207973e-02 9.98758067e-01 4.60355275e-04 -2.14492087e+00] [ 2.04192571e-02 -1.47939978e-03 9.99790411e-01 4.51647658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.870714057 meters Centerline goodness [0,1] 0.9797559797559797 Centerline is valid? [True, True] Translation: X:43.45, Y:-2.14, Z:0.45 [[ 9.98526320e-01 -5.03571387e-02 -2.02323285e-02 4.34495907e+01] [ 5.03765560e-02 9.98730193e-01 4.50872721e-04 -2.14369684e+00] [ 2.01839327e-02 -1.46944331e-03 9.99795204e-01 4.52235596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.900714056999995 meters Centerline goodness [0,1] 0.9779917757636791 Centerline is valid? [True, True] Translation: X:43.48, Y:-2.14, Z:0.45 [[ 9.98512155e-01 -5.05392503e-02 -2.04758480e-02 4.34786444e+01] [ 5.05591304e-02 9.98720966e-01 4.54065848e-04 -2.14333899e+00] [ 2.04267106e-02 -1.48863134e-03 9.99790245e-01 4.53066796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.930714056999996 meters Centerline goodness [0,1] 0.9779093696190836 Centerline is valid? [True, True] Translation: X:43.51, Y:-2.14, Z:0.45 [[ 9.98427104e-01 -5.24526282e-02 -1.98000019e-02 4.35066983e+01] [ 5.24715100e-02 9.98622327e-01 4.34958529e-04 -2.14258413e+00] [ 1.97499092e-02 -1.47321038e-03 9.99803866e-01 4.51669990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.960714057 meters Centerline goodness [0,1] 0.9780621572212066 Centerline is valid? [True, True] Translation: X:43.54, Y:-2.14, Z:0.45 [[ 9.98305683e-01 -5.44845892e-02 -2.04252948e-02 4.35365744e+01] [ 5.45050784e-02 9.98513393e-01 4.47360983e-04 -2.13877187e+00] [ 2.03705561e-02 -1.55988530e-03 9.99791282e-01 4.50562806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.990714057 meters Centerline goodness [0,1] 0.976797851808341 Centerline is valid? [True, True] Translation: X:43.57, Y:-2.14, Z:0.45 [[ 9.98228987e-01 -5.56259827e-02 -2.10864873e-02 4.35664042e+01] [ 5.56480570e-02 9.98450340e-01 4.61061414e-04 -2.13681968e+00] [ 2.10281634e-02 -1.63366692e-03 9.99777549e-01 4.50015268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.020714057 meters Centerline goodness [0,1] 0.975839828567827 Centerline is valid? [True, True] Translation: X:43.60, Y:-2.13, Z:0.45 [[ 9.98100130e-01 -5.77563913e-02 -2.14552948e-02 4.35958042e+01] [ 5.77797169e-02 9.98329247e-01 4.68341677e-04 -2.13374061e+00] [ 2.13923985e-02 -1.70713275e-03 9.99769699e-01 4.49265075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.050714057 meters Centerline goodness [0,1] 0.9755676676697742 Centerline is valid? [True, True] Translation: X:43.62, Y:-2.13, Z:0.45 [[ 9.98031857e-01 -5.88731367e-02 -2.15954904e-02 4.36247382e+01] [ 5.88970089e-02 9.98263954e-01 4.70510758e-04 -2.13284403e+00] [ 2.15302992e-02 -1.74149452e-03 9.99766679e-01 4.48962415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.080714056999994 meters Centerline goodness [0,1] 0.9774195584923925 Centerline is valid? [True, True] Translation: X:43.66, Y:-2.12, Z:0.45 [[ 9.97951221e-01 -6.01653329e-02 -2.17599202e-02 4.36555188e+01] [ 6.01898575e-02 9.98186835e-01 4.73281260e-04 -2.12254803e+00] [ 2.16919907e-02 -1.78203811e-03 9.99763113e-01 4.49912462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.110714056999996 meters Centerline goodness [0,1] 0.9745009685841826 Centerline is valid? [True, True] Translation: X:43.68, Y:-2.13, Z:0.45 [[ 9.97811599e-01 -6.20564618e-02 -2.28255915e-02 4.36843343e+01] [ 6.20839373e-02 9.98070808e-01 4.96366261e-04 -2.12633044e+00] [ 2.27507538e-02 -1.91238261e-03 9.99739339e-01 4.48528872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.140714057 meters Centerline goodness [0,1] 0.9731714502146284 Centerline is valid? [True, True] Translation: X:43.71, Y:-2.12, Z:0.45 [[ 9.97749615e-01 -6.29365039e-02 -2.31236171e-02 4.37136726e+01] [ 6.29649225e-02 9.98015614e-01 5.02240325e-04 -2.12281165e+00] [ 2.30461216e-02 -1.95708685e-03 9.99732487e-01 4.48962435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.170714057 meters Centerline goodness [0,1] 0.9737608714008275 Centerline is valid? [True, True] Translation: X:43.74, Y:-2.12, Z:0.45 [[ 9.97679708e-01 -6.38046067e-02 -2.37523169e-02 4.37435224e+01] [ 6.38348100e-02 9.97960346e-01 5.14777624e-04 -2.12091917e+00] [ 2.36710252e-02 -2.02980783e-03 9.99717741e-01 4.49068521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.200714057 meters Centerline goodness [0,1] 0.9737247211151178 Centerline is valid? [True, True] Translation: X:43.77, Y:-2.11, Z:0.45 [[ 9.97568390e-01 -6.55325726e-02 -2.37231655e-02 4.37742220e+01] [ 6.55631742e-02 9.97848288e-01 5.13619726e-04 -2.10974939e+00] [ 2.36384613e-02 -2.06773683e-03 9.99718434e-01 4.50459043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.230714057 meters Centerline goodness [0,1] 0.9713706184368992 Centerline is valid? [True, True] Translation: X:43.80, Y:-2.11, Z:0.45 [[ 9.97556284e-01 -6.57956940e-02 -2.35029029e-02 4.38032705e+01] [ 6.58257987e-02 9.97831000e-01 5.08701147e-04 -2.11423927e+00] [ 2.34184547e-02 -2.05455538e-03 9.99723639e-01 4.50629821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.260714056999994 meters Centerline goodness [0,1] 0.7883543705570761 Centerline is valid? [True, False] Translation: X:43.87, Y:-2.11, Z:0.45 [[ 9.97637454e-01 -6.53562315e-02 -2.11677252e-02 4.38717017e+01] [ 6.53735719e-02 9.97860852e-01 1.27506873e-04 -2.10598084e+00] [ 2.11141109e-02 -1.51101544e-03 9.99775930e-01 4.49195624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.290714056999995 meters Centerline goodness [0,1] 0.9754857492457965 Centerline is valid? [False, True] Translation: X:43.80, Y:-2.10, Z:0.45 [[ 9.97874997e-01 -6.13922153e-02 -2.18285537e-02 4.38034172e+01] [ 6.14519744e-02 9.98107881e-01 2.07685908e-03 -2.10184748e+00] [ 2.16597485e-02 -3.41385347e-03 9.99759572e-01 4.48264701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.320714056999996 meters Centerline goodness [0,1] 0.9756346039561932 Centerline is valid? [True, True] Translation: X:43.83, Y:-2.09, Z:0.45 [[ 9.98119748e-01 -5.75410998e-02 -2.11184669e-02 4.38343552e+01] [ 5.75642139e-02 9.98341687e-01 4.87730629e-04 -2.08939354e+00] [ 2.10553813e-02 -1.70248152e-03 9.99776861e-01 4.49805833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.350714057 meters Centerline goodness [0,1] 0.9776777180723404 Centerline is valid? [True, True] Translation: X:43.87, Y:-2.08, Z:0.45 [[ 9.98284596e-01 -5.48580337e-02 -2.04563464e-02 4.38656864e+01] [ 5.48791636e-02 9.98492891e-01 4.72566542e-04 -2.08125745e+00] [ 2.03995924e-02 -1.59438308e-03 9.99790635e-01 4.51290697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.380714057 meters Centerline goodness [0,1] 0.9790082012493094 Centerline is valid? [True, True] Translation: X:43.90, Y:-2.07, Z:0.45 [[ 9.98463421e-01 -5.18363868e-02 -1.95904426e-02 4.38963626e+01] [ 5.18551915e-02 9.98654512e-01 4.52794146e-04 -2.07333190e+00] [ 1.95406127e-02 -1.46796455e-03 9.99807986e-01 4.52274144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.410714057 meters Centerline goodness [0,1] 0.979433408481858 Centerline is valid? [True, True] Translation: X:43.93, Y:-2.07, Z:0.45 [[ 9.98639199e-01 -4.85512962e-02 -1.90400150e-02 4.39260323e+01] [ 4.85684649e-02 9.98819759e-01 4.40069836e-04 -2.06959583e+00] [ 1.89961772e-02 -1.36421529e-03 9.99818626e-01 4.53221463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.440714057 meters Centerline goodness [0,1] 0.9820090914911326 Centerline is valid? [True, True] Translation: X:43.96, Y:-2.06, Z:0.45 [[ 9.98983915e-01 -4.11740616e-02 -1.83258023e-02 4.39572676e+01] [ 4.11887317e-02 9.99151294e-01 4.23641150e-04 -2.05639150e+00] [ 1.82928060e-02 -1.17802725e-03 9.99831979e-01 4.54856201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.470714056999995 meters Centerline goodness [0,1] 0.9829435217363495 Centerline is valid? [True, True] Translation: X:43.99, Y:-2.04, Z:0.45 [[ 9.99281378e-01 -3.30507650e-02 -1.85573443e-02 4.39884791e+01] [ 3.30644181e-02 9.99453130e-01 4.29303891e-04 -2.04454984e+00] [ 1.85330071e-02 -1.04258318e-03 9.99827705e-01 4.54729025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.500714056999996 meters Centerline goodness [0,1] 0.9840848806366048 Centerline is valid? [True, True] Translation: X:44.02, Y:-2.04, Z:0.46 [[ 9.99431645e-01 -2.76227475e-02 -1.93228284e-02 4.40189435e+01] [ 2.76365435e-02 9.99617938e-01 4.47254743e-04 -2.03943848e+00] [ 1.93030915e-02 -9.81016731e-04 9.99813197e-01 4.55222954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.530714057 meters Centerline goodness [0,1] 0.9840848806366048 Centerline is valid? [True, True] Translation: X:44.05, Y:-2.04, Z:0.46 [[ 9.99431645e-01 -2.76227472e-02 -1.93228277e-02 4.40489721e+01] [ 2.76365437e-02 9.99617938e-01 4.47282829e-04 -2.04013359e+00] [ 1.93030900e-02 -9.81044787e-04 9.99813197e-01 4.55621301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.560714057 meters Centerline goodness [0,1] 0.985550124346111 Centerline is valid? [True, True] Translation: X:44.08, Y:-2.03, Z:0.46 [[ 9.99498233e-01 -2.51620938e-02 -1.92392981e-02 4.40795286e+01] [ 2.51753166e-02 9.99682952e-01 4.45349293e-04 -2.03485681e+00] [ 1.92219924e-02 -9.29481251e-04 9.99814808e-01 4.55162386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.590714057 meters Centerline goodness [0,1] 0.986050903472252 Centerline is valid? [True, True] Translation: X:44.11, Y:-2.03, Z:0.46 [[ 9.99580817e-01 -2.13708725e-02 -1.95314036e-02 4.41091767e+01] [ 2.13837733e-02 9.99771239e-01 4.51879500e-04 -2.02883924e+00] [ 1.95172785e-02 -8.69345186e-04 9.99809142e-01 4.55282002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.620714057 meters Centerline goodness [0,1] 0.9869856088799019 Centerline is valid? [True, True] Translation: X:44.14, Y:-2.02, Z:0.46 [[ 9.99702630e-01 -1.40288149e-02 -1.99460063e-02 4.41384864e+01] [ 1.40407975e-02 9.99901317e-01 4.60826828e-04 -2.02355458e+00] [ 1.99375732e-02 -7.40747627e-04 9.99800952e-01 4.55247603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.650714056999995 meters Centerline goodness [0,1] 0.9875204406575436 Centerline is valid? [True, True] Translation: X:44.17, Y:-2.02, Z:0.46 [[ 9.99764951e-01 -9.47412112e-03 -1.95008871e-02 4.41683696e+01] [ 9.48469956e-03 9.99954918e-01 4.50040185e-04 -2.01955518e+00] [ 1.94957442e-02 -6.34894458e-04 9.99809738e-01 4.56013298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.680714056999996 meters Centerline goodness [0,1] 0.9886058260776094 Centerline is valid? [True, True] Translation: X:44.20, Y:-2.01, Z:0.46 [[ 9.99792110e-01 -7.04702794e-03 -1.91331329e-02 4.41972090e+01] [ 7.05675026e-03 9.99975004e-01 4.40672401e-04 -2.01489262e+00] [ 1.91295492e-02 -5.75598530e-04 9.99816848e-01 4.57284159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.710714057 meters Centerline goodness [0,1] 0.9900021500752526 Centerline is valid? [True, True] Translation: X:44.23, Y:-2.01, Z:0.46 [[ 9.99832637e-01 -8.40427119e-04 -1.82754572e-02 4.42264840e+01] [ 8.48241344e-04 9.99999552e-01 4.19832811e-04 -2.00832994e+00] [ 1.82750962e-02 -4.35264545e-04 9.99832902e-01 4.58848928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.740714057 meters Centerline goodness [0,1] 0.9909398796298293 Centerline is valid? [True, True] Translation: X:44.26, Y:-2.01, Z:0.46 [[ 9.99830834e-01 1.36250552e-03 -1.83424769e-02 4.42550144e+01] [-1.35503602e-03 9.99998994e-01 4.19646380e-04 -2.00561861e+00] [ 1.83430302e-02 -3.94720673e-04 9.99831675e-01 4.59427763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.770714057 meters Centerline goodness [0,1] 0.9911427767070187 Centerline is valid? [True, True] Translation: X:44.28, Y:-2.00, Z:0.46 [[ 9.99819995e-01 6.16700237e-03 -1.79428591e-02 4.42835425e+01] [-6.16069139e-03 9.99980940e-01 4.06980867e-04 -2.00292185e+00] [ 1.79450270e-02 -2.96367190e-04 9.99838931e-01 4.59241146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.800714057 meters Centerline goodness [0,1] 0.9918837826753297 Centerline is valid? [True, True] Translation: X:44.31, Y:-2.00, Z:0.46 [[ 9.99810971e-01 8.14062169e-03 -1.76565305e-02 4.43123111e+01] [-8.13485383e-03 9.99966832e-01 3.98469313e-04 -2.00140365e+00] [ 1.76591887e-02 -2.54760696e-04 9.99844032e-01 4.59692451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.830714056999994 meters Centerline goodness [0,1] 0.9922224382656037 Centerline is valid? [True, True] Translation: X:44.34, Y:-2.00, Z:0.46 [[ 9.99799034e-01 1.00525052e-02 -1.73446916e-02 4.43413996e+01] [-1.00472889e-02 9.99949449e-01 3.87857133e-04 -2.00086414e+00] [ 1.73477138e-02 -2.13512059e-04 9.99849494e-01 4.59826013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.860714056999996 meters Centerline goodness [0,1] 0.992801712025248 Centerline is valid? [True, True] Translation: X:44.37, Y:-2.00, Z:0.46 [[ 9.99735593e-01 1.42947785e-02 -1.80112209e-02 4.43690588e+01] [-1.42898709e-02 9.99897814e-01 4.01153667e-04 -2.00025011e+00] [ 1.80151148e-02 -1.43669578e-04 9.99837704e-01 4.59645766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.890714057 meters Centerline goodness [0,1] 0.9927956687733224 Centerline is valid? [True, True] Translation: X:44.40, Y:-2.00, Z:0.46 [[ 9.99672532e-01 1.72504918e-02 -1.89010430e-02 4.43982899e+01] [-1.72456574e-02 9.99851195e-01 4.18751995e-04 -2.00109901e+00] [ 1.89054541e-02 -9.26539552e-05 9.99821272e-01 4.59522707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.920714057 meters Centerline goodness [0,1] 0.992846094354215 Centerline is valid? [True, True] Translation: X:44.43, Y:-2.00, Z:0.46 [[ 9.99627099e-01 1.99851634e-02 -1.86079541e-02 4.44258300e+01] [-1.99809773e-02 9.99800276e-01 4.10874479e-04 -2.00161972e+00] [ 1.86124490e-02 -3.89161552e-05 9.99826773e-01 4.59136975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.950714057 meters Centerline goodness [0,1] 0.9933137779311535 Centerline is valid? [True, True] Translation: X:44.45, Y:-2.00, Z:0.46 [[ 9.99600347e-01 2.12573542e-02 -1.86352196e-02 4.44532784e+01] [-2.12534089e-02 9.99774037e-01 4.09756415e-04 -2.00341244e+00] [ 1.86397191e-02 -1.35307112e-05 9.99826265e-01 4.59506981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.980714057 meters Centerline goodness [0,1] 0.9937845452394778 Centerline is valid? [True, True] Translation: X:44.48, Y:-2.01, Z:0.46 [[ 9.99577475e-01 2.25040174e-02 -1.83967581e-02 4.44813424e+01] [-2.25004188e-02 9.99746752e-01 4.02601027e-04 -2.00536118e+00] [ 1.84011593e-02 1.15038428e-05 9.99830684e-01 4.59575646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.010714056999994 meters Centerline goodness [0,1] 0.9934983853606028 Centerline is valid? [True, True] Translation: X:44.51, Y:-2.01, Z:0.46 [[ 9.99558554e-01 2.37044826e-02 -1.79107532e-02 4.45089503e+01] [-2.37013132e-02 9.99719009e-01 3.89235153e-04 -2.01032458e+00] [ 1.79149471e-02 3.54450441e-05 9.99839514e-01 4.59749641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.040714056999995 meters Centerline goodness [0,1] 0.9937877517680187 Centerline is valid? [True, True] Translation: X:44.54, Y:-2.01, Z:0.46 [[ 9.99540185e-01 2.43974793e-02 -1.80050507e-02 4.45367452e+01] [-2.43944687e-02 9.99702336e-01 3.86853260e-04 -2.01297104e+00] [ 1.80091295e-02 5.25482673e-05 9.99837821e-01 4.60149184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.070714056999996 meters Centerline goodness [0,1] 0.9937346305998076 Centerline is valid? [True, True] Translation: X:44.57, Y:-2.02, Z:0.46 [[ 9.99512457e-01 2.54403325e-02 -1.81007781e-02 4.45654610e+01] [-2.54374935e-02 9.99676340e-01 3.87097987e-04 -2.01587337e+00] [ 1.81047675e-02 7.35291673e-05 9.99836093e-01 4.60684252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.100714057 meters Centerline goodness [0,1] 0.9932871512213953 Centerline is valid? [True, True] Translation: X:44.59, Y:-2.02, Z:0.46 [[ 9.99521865e-01 2.57925871e-02 -1.70523564e-02 4.45935354e+01] [-2.57901413e-02 9.99667313e-01 3.63352973e-04 -2.02200186e+00] [ 1.70560551e-02 7.66034393e-05 9.99854532e-01 4.60147503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.130714057 meters Centerline goodness [0,1] 0.9934728642355761 Centerline is valid? [True, True] Translation: X:44.62, Y:-2.03, Z:0.46 [[ 9.99530628e-01 2.57754633e-02 -1.65574592e-02 4.46208520e+01] [-2.57731891e-02 9.99667755e-01 3.50758258e-04 -2.02602090e+00] [ 1.65609990e-02 7.61449059e-05 9.99862854e-01 4.60175555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.160714057 meters Centerline goodness [0,1] 0.9928303175145101 Centerline is valid? [True, True] Translation: X:44.65, Y:-2.03, Z:0.46 [[ 9.99556359e-01 2.53027933e-02 -1.57115581e-02 4.46494459e+01] [-2.53007288e-02 9.99679831e-01 3.30181194e-04 -2.03458016e+00] [ 1.57148822e-02 6.74791582e-05 9.99876511e-01 4.59989975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.190714057 meters Centerline goodness [0,1] 0.9917890820450318 Centerline is valid? [True, True] Translation: X:44.68, Y:-2.04, Z:0.46 [[ 9.99575915e-01 2.45709008e-02 -1.56288803e-02 4.46777949e+01] [-2.45687873e-02 9.99698088e-01 3.27245294e-04 -2.03944351e+00] [ 1.56322025e-02 5.68761217e-05 9.99877808e-01 4.60720682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.220714056999995 meters Centerline goodness [0,1] 0.9912522824748397 Centerline is valid? [True, True] Translation: X:44.70, Y:-2.04, Z:0.46 [[ 9.99599491e-01 2.37242511e-02 -1.54278456e-02 4.47046239e+01] [-2.37221170e-02 9.99718539e-01 3.21343142e-04 -2.04373524e+00] [ 1.54311269e-02 4.47667168e-05 9.99880932e-01 4.60809651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.250714056999996 meters Centerline goodness [0,1] 0.9916285014378529 Centerline is valid? [True, True] Translation: X:44.73, Y:-2.05, Z:0.46 [[ 9.99649693e-01 2.17139507e-02 -1.51326186e-02 4.47323812e+01] [-2.17116944e-02 9.99764224e-01 3.13396179e-04 -2.05380345e+00] [ 1.51358558e-02 1.52683965e-05 9.99885446e-01 4.61475399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.280714057 meters Centerline goodness [0,1] 0.991093444434997 Centerline is valid? [True, True] Translation: X:44.76, Y:-2.06, Z:0.46 [[ 9.99688592e-01 2.02058986e-02 -1.46438026e-02 4.47606835e+01] [-2.02036425e-02 9.99795840e-01 3.01999607e-04 -2.05916873e+00] [ 1.46469151e-02 -6.04740895e-06 9.99892728e-01 4.61724110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.310714057 meters Centerline goodness [0,1] 0.9890995461678754 Centerline is valid? [True, True] Translation: X:44.79, Y:-2.07, Z:0.46 [[ 9.99724905e-01 1.78529451e-02 -1.52114146e-02 4.47886861e+01] [-1.78502639e-02 9.99840623e-01 3.12027226e-04 -2.06953250e+00] [ 1.52145609e-02 -4.04136233e-05 9.99884251e-01 4.61223835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.340714057 meters Centerline goodness [0,1] 0.9890380693405847 Centerline is valid? [True, True] Translation: X:44.82, Y:-2.07, Z:0.46 [[ 9.99745753e-01 1.67083944e-02 -1.51412706e-02 4.48151854e+01] [-1.67056282e-02 9.99860403e-01 3.09165509e-04 -2.07488024e+00] [ 1.51443226e-02 -5.61424672e-05 9.99885317e-01 4.61199278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.370714057 meters Centerline goodness [0,1] 0.988706430765971 Centerline is valid? [True, True] Translation: X:44.84, Y:-2.08, Z:0.46 [[ 9.99763203e-01 1.58751568e-02 -1.48834255e-02 4.48442072e+01] [-1.58724174e-02 9.99873980e-01 3.02173436e-04 -2.07950265e+00] [ 1.48863469e-02 -6.58659412e-05 9.99889190e-01 4.61664504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.400714056999995 meters Centerline goodness [0,1] 0.987627165246082 Centerline is valid? [True, True] Translation: X:44.87, Y:-2.09, Z:0.46 [[ 9.99792571e-01 1.41867056e-02 -1.46134416e-02 4.48727776e+01] [-1.41838993e-02 9.99899360e-01 2.95661736e-04 -2.08751884e+00] [ 1.46161653e-02 -8.83248233e-05 9.99893174e-01 4.61706321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.430714056999996 meters Centerline goodness [0,1] 0.9861190100052659 Centerline is valid? [True, True] Translation: X:44.90, Y:-2.09, Z:0.46 [[ 9.99779094e-01 1.40082523e-02 -1.56694582e-02 4.49011337e+01] [-1.40050241e-02 9.99901875e-01 3.15738775e-04 -2.09213755e+00] [ 1.56723436e-02 -9.62178871e-05 9.99877177e-01 4.62074197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.460714057 meters Centerline goodness [0,1] 0.9865611814345991 Centerline is valid? [True, True] Translation: X:44.93, Y:-2.10, Z:0.46 [[ 9.99794051e-01 1.24012466e-02 -1.60644208e-02 4.49299594e+01] [-1.23976730e-02 9.99923094e-01 3.22028604e-04 -2.09643982e+00] [ 1.60671789e-02 -1.22800847e-04 9.99870907e-01 4.61774262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.490714057 meters Centerline goodness [0,1] 0.9857874032401337 Centerline is valid? [True, True] Translation: X:44.96, Y:-2.11, Z:0.46 [[ 9.99822125e-01 8.85279491e-03 -1.66537419e-02 4.49576679e+01] [-8.84848573e-03 9.99960796e-01 3.32420744e-04 -2.10591487e+00] [ 1.66560319e-02 -1.85001217e-04 9.99861262e-01 4.61713670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.520714057 meters Centerline goodness [0,1] 0.9842177444878152 Centerline is valid? [True, True] Translation: X:44.99, Y:-2.11, Z:0.46 [[ 9.99840807e-01 6.20710109e-03 -1.67282045e-02 4.49851781e+01] [-6.20241640e-03 9.99980710e-01 3.31914261e-04 -2.11168751e+00] [ 1.67299420e-02 -2.28106133e-04 9.99860019e-01 4.61909903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.550714057 meters Centerline goodness [0,1] 0.9838611257233035 Centerline is valid? [True, True] Translation: X:45.01, Y:-2.12, Z:0.46 [[ 9.99874162e-01 4.38900386e-04 -1.58577177e-02 4.50141878e+01] [-4.33985192e-04 9.99999857e-01 3.13395806e-04 -2.12190840e+00] [ 1.58578530e-02 -3.06474355e-04 9.99874209e-01 4.63883098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.580714056999994 meters Centerline goodness [0,1] 0.9816385067939618 Centerline is valid? [True, True] Translation: X:45.04, Y:-2.13, Z:0.47 [[ 9.99878252e-01 -3.05344257e-03 -1.53022307e-02 4.50424397e+01] [ 3.05841517e-03 9.99995278e-01 3.01568120e-04 -2.12728972e+00] [ 1.53012376e-02 -3.48331979e-04 9.99882869e-01 4.65069281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.610714056999996 meters Centerline goodness [0,1] 0.9814658803706824 Centerline is valid? [True, True] Translation: X:45.07, Y:-2.13, Z:0.47 [[ 9.99866020e-01 -7.04489296e-03 -1.47753690e-02 4.50716771e+01] [ 7.04994670e-03 9.99975107e-01 2.89979934e-04 -2.13258089e+00] [ 1.47729583e-02 -3.94106646e-04 9.99890796e-01 4.66218391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.640714057 meters Centerline goodness [0,1] 0.9817897913105864 Centerline is valid? [True, True] Translation: X:45.10, Y:-2.14, Z:0.47 [[ 9.99835624e-01 -1.11035359e-02 -1.43330878e-02 4.51015320e+01] [ 1.11086979e-02 9.99938257e-01 2.80577933e-04 -2.13646578e+00] [ 1.43290875e-02 -4.39753755e-04 9.99897237e-01 4.66697184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.670714057 meters Centerline goodness [0,1] 0.9806365879896223 Centerline is valid? [True, True] Translation: X:45.13, Y:-2.15, Z:0.47 [[ 9.99713791e-01 -1.84240042e-02 -1.52607843e-02 4.51313850e+01] [ 1.84306997e-02 9.99830096e-01 2.98200885e-04 -2.14666788e+00] [ 1.52526974e-02 -5.79382470e-04 9.99883503e-01 4.68662657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.700714057 meters Centerline goodness [0,1] 0.9803632068507309 Centerline is valid? [True, True] Translation: X:45.16, Y:-2.15, Z:0.47 [[ 9.99610074e-01 -2.34826623e-02 -1.51084431e-02 4.51607204e+01] [ 2.34897988e-02 9.99724033e-01 2.95043976e-04 -2.15228046e+00] [ 1.50973453e-02 -6.49823220e-04 9.99885817e-01 4.67751030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.730714057 meters Centerline goodness [0,1] 0.9804726132609474 Centerline is valid? [True, True] Translation: X:45.19, Y:-2.16, Z:0.47 [[ 9.99381550e-01 -3.13268916e-02 -1.59732261e-02 4.51900352e+01] [ 3.13358644e-02 9.99508863e-01 3.11708505e-04 -2.16253065e+00] [ 1.59556162e-02 -8.12050578e-04 9.99872371e-01 4.67695041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.760714056999994 meters Centerline goodness [0,1] 0.9806562604900974 Centerline is valid? [True, True] Translation: X:45.22, Y:-2.17, Z:0.47 [[ 9.99269073e-01 -3.46008144e-02 -1.62512568e-02 4.52198415e+01] [ 3.46105317e-02 9.99400826e-01 3.16989776e-04 -2.16589657e+00] [ 1.62305513e-02 -8.79222718e-04 9.99867889e-01 4.68323207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.790714056999995 meters Centerline goodness [0,1] 0.9792164257280537 Centerline is valid? [True, True] Translation: X:45.25, Y:-2.17, Z:0.47 [[ 9.99057634e-01 -3.99770609e-02 -1.69020160e-02 4.52503069e+01] [ 3.99883340e-02 9.99200092e-01 3.29394853e-04 -2.16892977e+00] [ 1.68753277e-02 -1.00496790e-03 9.99857096e-01 4.69015881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.820714056999996 meters Centerline goodness [0,1] 0.9789622204439203 Centerline is valid? [True, True] Translation: X:45.28, Y:-2.18, Z:0.47 [[ 9.99009774e-01 -4.11164654e-02 -1.69972682e-02 4.52786357e+01] [ 4.11280257e-02 9.99153830e-01 3.30984998e-04 -2.17556464e+00] [ 1.69692767e-02 -1.02972133e-03 9.99855481e-01 4.70501331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.850714057 meters Centerline goodness [0,1] 0.977960387694901 Centerline is valid? [True, True] Translation: X:45.31, Y:-2.18, Z:0.47 [[ 9.98916806e-01 -4.36113837e-02 -1.62253679e-02 4.53077202e+01] [ 4.36222319e-02 9.99048048e-01 3.15113129e-04 -2.17725870e+00] [ 1.61961796e-02 -1.02255856e-03 9.99868310e-01 4.70150900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.880714057 meters Centerline goodness [0,1] 0.9780129607810133 Centerline is valid? [True, True] Translation: X:45.34, Y:-2.17, Z:0.47 [[ 9.98799783e-01 -4.61125882e-02 -1.65112727e-02 4.53380328e+01] [ 4.61241497e-02 9.98935664e-01 3.19891137e-04 -2.17472028e+00] [ 1.64789481e-02 -1.08107561e-03 9.99863628e-01 4.70173564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.910714057 meters Centerline goodness [0,1] 0.9779206904497559 Centerline is valid? [True, True] Translation: X:45.37, Y:-2.18, Z:0.47 [[ 9.98770411e-01 -4.67034579e-02 -1.66269086e-02 4.53686336e+01] [ 4.67152586e-02 9.98908194e-01 3.21839956e-04 -2.17502372e+00] [ 1.65937243e-02 -1.09817456e-03 9.99861712e-01 4.70570979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.940714057 meters Centerline goodness [0,1] 0.9774085960606632 Centerline is valid? [True, True] Translation: X:45.40, Y:-2.18, Z:0.47 [[ 9.98658135e-01 -4.87951846e-02 -1.73481730e-02 4.53978076e+01] [ 4.88083431e-02 9.98808106e-01 3.35656694e-04 -2.17570816e+00] [ 1.73111174e-02 -1.18194187e-03 9.99849453e-01 4.69271146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.970714056999995 meters Centerline goodness [0,1] 0.9763177837655777 Centerline is valid? [True, True] Translation: X:45.43, Y:-2.18, Z:0.47 [[ 9.98604558e-01 -4.97424612e-02 -1.77376793e-02 4.54283888e+01] [ 4.97563576e-02 9.98761327e-01 3.42714084e-04 -2.17610810e+00] [ 1.76986606e-02 -1.22479816e-03 9.99842616e-01 4.69368294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.000714056999996 meters Centerline goodness [0,1] 0.9763920478476961 Centerline is valid? [True, True] Translation: X:45.46, Y:-2.18, Z:0.47 [[ 9.98542999e-01 -5.09032950e-02 -1.79090219e-02 4.54590454e+01] [ 5.09176470e-02 9.98702795e-01 3.46024637e-04 -2.17524214e+00] [ 1.78681764e-02 -1.25740573e-03 9.99839561e-01 4.69840365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.030714057 meters Centerline goodness [0,1] 0.9757858607843958 Centerline is valid? [True, True] Translation: X:45.49, Y:-2.17, Z:0.47 [[ 9.98498260e-01 -5.17707996e-02 -1.79167025e-02 4.54890654e+01] [ 5.17853014e-02 9.98658181e-01 3.46090940e-04 -2.17332115e+00] [ 1.78747441e-02 -1.27339304e-03 9.99839423e-01 4.70217418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.060714057 meters Centerline goodness [0,1] 0.9758573388203018 Centerline is valid? [True, True] Translation: X:45.52, Y:-2.17, Z:0.47 [[ 9.98320856e-01 -5.50063287e-02 -1.81596375e-02 4.55197897e+01] [ 5.50217540e-02 9.98485094e-01 3.50520265e-04 -2.16586561e+00] [ 1.81128465e-02 -1.34910680e-03 9.99835039e-01 4.70758057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.090714057 meters Centerline goodness [0,1] 0.9737680028678067 Centerline is valid? [True, True] Translation: X:45.55, Y:-2.17, Z:0.47 [[ 9.98245689e-01 -5.62616041e-02 -1.84438749e-02 4.55494341e+01] [ 5.62777262e-02 9.98415089e-01 3.55839863e-04 -2.17290836e+00] [ 1.83946229e-02 -1.39319495e-03 9.99829834e-01 4.70896719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.120714057 meters Centerline goodness [0,1] 0.9735970136733495 Centerline is valid? [True, True] Translation: X:45.58, Y:-2.17, Z:0.47 [[ 9.98079746e-01 -5.93091589e-02 -1.78674204e-02 4.55785348e+01] [ 5.93247693e-02 9.98238675e-01 3.44450858e-04 -2.17261155e+00] [ 1.78155210e-02 -1.40377002e-03 9.99840306e-01 4.71413710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.150714056999995 meters Centerline goodness [0,1] 0.9741417462224189 Centerline is valid? [True, True] Translation: X:45.61, Y:-2.16, Z:0.47 [[ 9.97971436e-01 -6.12211320e-02 -1.74638227e-02 4.56095811e+01] [ 6.12363354e-02 9.98123238e-01 3.36648263e-04 -2.16147521e+00] [ 1.74104373e-02 -1.40538586e-03 9.99847439e-01 4.72170192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.180714056999996 meters Centerline goodness [0,1] 0.9741674053438014 Centerline is valid? [True, True] Translation: X:45.64, Y:-2.16, Z:0.47 [[ 9.97927916e-01 -6.17127637e-02 -1.82046666e-02 4.56410548e+01] [ 6.17293737e-02 9.98092862e-01 3.51358593e-04 -2.15888969e+00] [ 1.81482645e-02 -1.47439322e-03 9.99834220e-01 4.73973250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.210714057 meters Centerline goodness [0,1] 0.9730020459387062 Centerline is valid? [True, True] Translation: X:45.67, Y:-2.16, Z:0.47 [[ 9.97797277e-01 -6.37032797e-02 -1.85064045e-02 4.56714413e+01] [ 6.37207959e-02 9.97967701e-01 3.57766942e-04 -2.15845297e+00] [ 1.84460030e-02 -1.53622170e-03 9.99828678e-01 4.74367786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.240714057 meters Centerline goodness [0,1] 0.9761386452499208 Centerline is valid? [True, True] Translation: X:45.70, Y:-2.15, Z:0.47 [[ 9.97675625e-01 -6.59333645e-02 -1.72087052e-02 4.57027366e+01] [ 6.59488441e-02 9.97822950e-01 3.32973857e-04 -2.15007749e+00] [ 1.71492869e-02 -1.46709412e-03 9.99851864e-01 4.73628765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.270714057 meters Centerline goodness [0,1] 0.9756803583502367 Centerline is valid? [True, True] Translation: X:45.73, Y:-2.14, Z:0.47 [[ 9.97656440e-01 -6.62856067e-02 -1.69660062e-02 4.57349802e+01] [ 6.63007120e-02 9.97799633e-01 3.28791601e-04 -2.13990766e+00] [ 1.69068806e-02 -1.45287935e-03 9.99856013e-01 4.74380933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.300714057 meters Centerline goodness [0,1] 0.9762728308094656 Centerline is valid? [True, True] Translation: X:45.77, Y:-2.14, Z:0.47 [[ 9.97676818e-01 -6.60138975e-02 -1.68265191e-02 4.57660394e+01] [ 6.60287368e-02 9.97817668e-01 3.27267483e-04 -2.13875791e+00] [ 1.67681938e-02 -1.43754098e-03 9.99858371e-01 4.74999356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.330714056999994 meters Centerline goodness [0,1] 0.9760209578940697 Centerline is valid? [True, True] Translation: X:45.80, Y:-2.14, Z:0.48 [[ 9.97717646e-01 -6.53718764e-02 -1.69120153e-02 4.57978422e+01] [ 6.53867923e-02 9.97859939e-01 3.29936001e-04 -2.13610370e+00] [ 1.68542540e-02 -1.43500540e-03 9.99856927e-01 4.75443773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.360714056999996 meters Centerline goodness [0,1] 0.9770691736009655 Centerline is valid? [True, True] Translation: X:45.83, Y:-2.13, Z:0.48 [[ 9.97804230e-01 -6.38346139e-02 -1.76595688e-02 4.58300043e+01] [ 6.38506607e-02 9.97959405e-01 3.45763453e-04 -2.12712167e+00] [ 1.76014611e-02 -1.47257937e-03 9.99843998e-01 4.75685282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.390714057 meters Centerline goodness [0,1] 0.9755684464580598 Centerline is valid? [True, True] Translation: X:45.86, Y:-2.13, Z:0.48 [[ 9.97865317e-01 -6.27708949e-02 -1.80173023e-02 4.58603801e+01] [ 6.27874411e-02 9.98026859e-01 3.53586863e-04 -2.12630713e+00] [ 1.79595566e-02 -1.48409237e-03 9.99837613e-01 4.75503758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.420714057 meters Centerline goodness [0,1] 0.9755684464580598 Centerline is valid? [True, True] Translation: X:45.89, Y:-2.13, Z:0.48 [[ 9.97869744e-01 -6.27004948e-02 -1.80172910e-02 4.58921636e+01] [ 6.27170398e-02 9.98031286e-01 3.54159297e-04 -2.12699456e+00] [ 1.79596141e-02 -1.48339600e-03 9.99837613e-01 4.75925329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.450714057 meters Centerline goodness [0,1] 0.978680073824222 Centerline is valid? [True, True] Translation: X:45.92, Y:-2.12, Z:0.48 [[ 9.97916491e-01 -6.17548364e-02 -1.86820044e-02 4.59247855e+01] [ 6.17724856e-02 9.98090188e-01 3.68581105e-04 -2.12117248e+00] [ 1.86235636e-02 -1.52184701e-03 9.99825408e-01 4.76071998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.480714057 meters Centerline goodness [0,1] 0.980288645749074 Centerline is valid? [True, True] Translation: X:45.96, Y:-2.11, Z:0.48 [[ 9.98078819e-01 -5.86724782e-02 -1.99050829e-02 4.59558327e+01] [ 5.86919279e-02 9.98276065e-01 3.93835519e-04 -2.10805879e+00] [ 1.98476605e-02 -1.56134658e-03 9.99801797e-01 4.76261564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.510714056999994 meters Centerline goodness [0,1] 0.9806808510638297 Centerline is valid? [True, True] Translation: X:45.99, Y:-2.11, Z:0.48 [[ 9.98143751e-01 -5.74285507e-02 -2.02734954e-02 4.59864517e+01] [ 5.74484904e-02 9.98348391e-01 4.02023884e-04 -2.10955530e+00] [ 2.02169238e-02 -1.56595933e-03 9.99794391e-01 4.76045952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.540714056999995 meters Centerline goodness [0,1] 0.9817421721696101 Centerline is valid? [True, True] Translation: X:46.02, Y:-2.10, Z:0.48 [[ 9.98300697e-01 -5.43934498e-02 -2.09062252e-02 4.60175688e+01] [ 5.44140215e-02 9.98518373e-01 4.15980554e-04 -2.10020418e+00] [ 2.08526234e-02 -1.55286547e-03 9.99781354e-01 4.76724737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.570714056999996 meters Centerline goodness [0,1] 0.9824602682295566 Centerline is valid? [True, True] Translation: X:46.05, Y:-2.10, Z:0.48 [[ 9.98393377e-01 -5.26567797e-02 -2.09267180e-02 4.60493056e+01] [ 5.26770253e-02 9.98611515e-01 4.17014594e-04 -2.09571959e+00] [ 2.08757029e-02 -1.51870187e-03 9.99780925e-01 4.77677898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.600714057 meters Centerline goodness [0,1] 0.9846008866805166 Centerline is valid? [True, True] Translation: X:46.08, Y:-2.08, Z:0.48 [[ 9.98546957e-01 -4.95568504e-02 -2.11682039e-02 4.60807688e+01] [ 4.95768907e-02 9.98770220e-01 4.22661724e-04 -2.08072785e+00] [ 2.11212259e-02 -1.47150131e-03 9.99775839e-01 4.79997384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.630714057 meters Centerline goodness [0,1] 0.9846417478847596 Centerline is valid? [True, True] Translation: X:46.11, Y:-2.08, Z:0.48 [[ 9.98586508e-01 -4.86229889e-02 -2.14660269e-02 4.61122349e+01] [ 4.86433939e-02 9.98816117e-01 4.29138781e-04 -2.07664526e+00] [ 2.14197476e-02 -1.47271260e-03 9.99769486e-01 4.81034669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.660714057 meters Centerline goodness [0,1] 0.9857152049417669 Centerline is valid? [True, True] Translation: X:46.14, Y:-2.07, Z:0.48 [[ 9.98633297e-01 -4.76842209e-02 -2.13951837e-02 4.61442860e+01] [ 4.77042949e-02 9.98861410e-01 4.28561632e-04 -2.07013234e+00] [ 2.13503878e-02 -1.44861807e-03 9.99771005e-01 4.81935944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.690714056999994 meters Centerline goodness [0,1] 0.9850832760989011 Centerline is valid? [True, True] Translation: X:46.18, Y:-2.07, Z:0.48 [[ 9.98640905e-01 -4.74122702e-02 -2.16430025e-02 4.61757513e+01] [ 4.74327840e-02 9.98874337e-01 4.35167350e-04 -2.06594270e+00] [ 2.15980075e-02 -1.46116378e-03 9.99765668e-01 4.82353147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.720714056999995 meters Centerline goodness [0,1] 0.9850652989095298 Centerline is valid? [True, True] Translation: X:46.21, Y:-2.06, Z:0.48 [[ 9.98639411e-01 -4.75102379e-02 -2.14966076e-02 4.62078816e+01] [ 4.75305450e-02 9.98869690e-01 4.34435956e-04 -2.06342163e+00] [ 2.14516696e-02 -1.45559034e-03 9.99768827e-01 4.83067750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.750714056999996 meters Centerline goodness [0,1] 0.9857677416563926 Centerline is valid? [True, True] Translation: X:46.24, Y:-2.06, Z:0.48 [[ 9.98558486e-01 -4.90634613e-02 -2.17652786e-02 4.62393285e+01] [ 4.90846741e-02 9.98794524e-01 4.41131777e-04 -2.05844503e+00] [ 2.17173976e-02 -1.50883749e-03 9.99763011e-01 4.84507605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.780714057 meters Centerline goodness [0,1] 0.9855530767398037 Centerline is valid? [True, True] Translation: X:46.27, Y:-2.06, Z:0.48 [[ 9.98478322e-01 -5.03213748e-02 -2.25565787e-02 4.62709794e+01] [ 5.03445001e-02 9.98731807e-01 4.58156533e-04 -2.05697771e+00] [ 2.25049175e-02 -1.59305904e-03 9.99745463e-01 4.84807566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.810714057 meters Centerline goodness [0,1] 0.9857800356041857 Centerline is valid? [True, True] Translation: X:46.30, Y:-2.06, Z:0.48 [[ 9.98408222e-01 -5.12279294e-02 -2.35949455e-02 4.63025136e+01] [ 5.12535158e-02 9.98685559e-01 4.80537419e-04 -2.05699110e+00] [ 2.35393144e-02 -1.68909642e-03 9.99721485e-01 4.84717500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.840714057 meters Centerline goodness [0,1] 0.9858674042700319 Centerline is valid? [True, True] Translation: X:46.33, Y:-2.06, Z:0.49 [[ 9.98344277e-01 -5.24016096e-02 -2.37229128e-02 4.63346064e+01] [ 5.24278381e-02 9.98624598e-01 4.84587334e-04 -2.05582058e+00] [ 2.36648911e-02 -1.72752602e-03 9.99718455e-01 4.85019452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.870714057 meters Centerline goodness [0,1] 0.9856737897950284 Centerline is valid? [True, True] Translation: X:46.37, Y:-2.05, Z:0.49 [[ 9.98217394e-01 -5.45692540e-02 -2.41708538e-02 4.63655909e+01] [ 5.45971421e-02 9.98508341e-01 4.94880425e-04 -2.05097110e+00] [ 2.41077939e-02 -1.81365779e-03 9.99707720e-01 4.86718286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.900714056999995 meters Centerline goodness [0,1] 0.9857373755023588 Centerline is valid? [True, True] Translation: X:46.40, Y:-2.05, Z:0.49 [[ 9.98165768e-01 -5.54530347e-02 -2.42911729e-02 4.63962632e+01] [ 5.54814766e-02 9.98459592e-01 4.97966912e-04 -2.05168169e+00] [ 2.42261408e-02 -1.84476366e-03 9.99704802e-01 4.87942688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.930714056999996 meters Centerline goodness [0,1] 0.9864383052256273 Centerline is valid? [True, True] Translation: X:46.43, Y:-2.04, Z:0.49 [[ 9.98144800e-01 -5.57229123e-02 -2.45339440e-02 4.64287261e+01] [ 5.57520381e-02 9.98444518e-01 5.04228190e-04 -2.03971342e+00] [ 2.44676848e-02 -1.87111013e-03 9.99698870e-01 4.90422555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.960714057 meters Centerline goodness [0,1] 0.9869549991244966 Centerline is valid? [True, True] Translation: X:46.46, Y:-2.04, Z:0.49 [[ 9.98165047e-01 -5.52518493e-02 -2.47744270e-02 4.64611785e+01] [ 5.52814491e-02 9.98470681e-01 5.10959409e-04 -2.03810765e+00] [ 2.47083075e-02 -1.87958805e-03 9.99692936e-01 4.91172502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.990714057 meters Centerline goodness [0,1] 0.9862585063784163 Centerline is valid? [True, True] Translation: X:46.49, Y:-2.04, Z:0.49 [[ 9.98204735e-01 -5.44391000e-02 -2.49738316e-02 4.64920312e+01] [ 5.44689649e-02 9.98515330e-01 5.16651862e-04 -2.04272106e+00] [ 2.49086277e-02 -1.87602309e-03 9.99687972e-01 4.90590809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.020714057 meters Centerline goodness [0,1] 0.987354299538157 Centerline is valid? [True, True] Translation: X:46.52, Y:-2.03, Z:0.49 [[ 9.98256367e-01 -5.31355699e-02 -2.57067639e-02 4.65240569e+01] [ 5.31668202e-02 9.98585502e-01 5.33207122e-04 -2.03021957e+00] [ 2.56420694e-02 -1.89902430e-03 9.99669384e-01 4.91270642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.050714057 meters Centerline goodness [0,1] 0.9884936087826987 Centerline is valid? [True, True] Translation: X:46.56, Y:-2.03, Z:0.49 [[ 9.98318409e-01 -5.22022711e-02 -2.52046989e-02 4.65566923e+01] [ 5.22320555e-02 9.98634837e-01 5.24349760e-04 -2.02602473e+00] [ 2.51429181e-02 -1.83996125e-03 9.99682174e-01 4.91983500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.080714056999994 meters Centerline goodness [0,1] 0.9874099924901709 Centerline is valid? [True, True] Translation: X:46.59, Y:-2.02, Z:0.49 [[ 9.98413385e-01 -5.04907150e-02 -2.49278956e-02 4.65873408e+01] [ 5.05193466e-02 9.98722947e-01 5.19748437e-04 -2.02148062e+00] [ 2.48698189e-02 -1.77826480e-03 9.99689117e-01 4.92666646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.110714056999996 meters Centerline goodness [0,1] 0.9879350655079624 Centerline is valid? [True, True] Translation: X:46.62, Y:-2.02, Z:0.49 [[ 9.98465614e-01 -4.95902338e-02 -2.46419545e-02 4.66200284e+01] [ 4.96179699e-02 9.98768137e-01 5.15030154e-04 -2.01965603e+00] [ 2.45860586e-02 -1.73692366e-03 9.99696208e-01 4.92884446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.140714057 meters Centerline goodness [0,1] 0.988051511262557 Centerline is valid? [True, True] Translation: X:46.65, Y:-2.02, Z:0.49 [[ 9.98500095e-01 -4.87271411e-02 -2.49644991e-02 4.66527665e+01] [ 4.87553952e-02 9.98810611e-01 5.23989901e-04 -2.01752495e+00] [ 2.49092741e-02 -1.74035799e-03 9.99688201e-01 4.93545736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.170714057 meters Centerline goodness [0,1] 0.9878758271528179 Centerline is valid? [True, True] Translation: X:46.69, Y:-2.01, Z:0.49 [[ 9.98538812e-01 -4.76215953e-02 -2.55425944e-02 4.66856101e+01] [ 4.76508715e-02 9.98863907e-01 5.38391387e-04 -2.01348706e+00] [ 2.54879366e-02 -1.75473158e-03 9.99673590e-01 4.93651798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.200714057 meters Centerline goodness [0,1] 0.9881971868482939 Centerline is valid? [True, True] Translation: X:46.72, Y:-2.01, Z:0.49 [[ 9.98545106e-01 -4.73668640e-02 -2.57692057e-02 4.67164488e+01] [ 4.73966247e-02 9.98876000e-01 5.44989239e-04 -2.01251507e+00] [ 2.57144267e-02 -1.76556971e-03 9.99667770e-01 4.93840633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.230714057 meters Centerline goodness [0,1] 0.9875266335227273 Centerline is valid? [True, True] Translation: X:46.75, Y:-2.01, Z:0.49 [[ 9.98551179e-01 -4.71530603e-02 -2.59255139e-02 4.67487292e+01] [ 4.71831522e-02 9.98886104e-01 5.49864346e-04 -2.01171897e+00] [ 2.58707078e-02 -1.77231516e-03 9.99663726e-01 4.94010944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.260714056999994 meters Centerline goodness [0,1] 0.986507848157631 Centerline is valid? [True, True] Translation: X:46.78, Y:-2.01, Z:0.49 [[ 9.98529708e-01 -4.72511453e-02 -2.65659922e-02 4.67795355e+01] [ 4.72828446e-02 9.98881380e-01 5.65977690e-04 -2.00886096e+00] [ 2.65095319e-02 -1.82126122e-03 9.99646902e-01 4.93548053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.290714056999995 meters Centerline goodness [0,1] 0.9863666740922254 Centerline is valid? [True, True] Translation: X:46.81, Y:-2.01, Z:0.49 [[ 9.98508832e-01 -4.75757242e-02 -2.67705594e-02 4.68121564e+01] [ 4.76080971e-02 9.98865927e-01 5.72852815e-04 -2.00890505e+00] [ 2.67129458e-02 -1.84649399e-03 9.99641440e-01 4.93073021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.320714056999996 meters Centerline goodness [0,1] 0.9869266464394074 Centerline is valid? [True, True] Translation: X:46.84, Y:-2.01, Z:0.49 [[ 9.98443596e-01 -4.85168098e-02 -2.75046151e-02 4.68431960e+01] [ 4.85514013e-02 9.98820511e-01 5.90843347e-04 -2.00837444e+00] [ 2.74435078e-02 -1.92531136e-03 9.99621502e-01 4.91181628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.350714057 meters Centerline goodness [0,1] 0.9867560022333892 Centerline is valid? [True, True] Translation: X:46.88, Y:-2.00, Z:0.49 [[ 9.98422689e-01 -4.88878820e-02 -2.76063168e-02 4.68755702e+01] [ 4.89229342e-02 9.98802379e-01 5.95320855e-04 -2.00017675e+00] [ 2.75441509e-02 -1.94496387e-03 9.99618696e-01 4.92772809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.380714057 meters Centerline goodness [0,1] 0.9853528034778731 Centerline is valid? [True, True] Translation: X:46.91, Y:-2.01, Z:0.49 [[ 9.98402448e-01 -4.94584867e-02 -2.73205208e-02 4.69063828e+01] [ 4.94930750e-02 9.98774292e-01 5.90844308e-04 -2.00768523e+00] [ 2.72578116e-02 -1.94207699e-03 9.99626550e-01 4.91564688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.410714057 meters Centerline goodness [0,1] 0.9866657702478598 Centerline is valid? [True, True] Translation: X:46.94, Y:-2.00, Z:0.49 [[ 9.98323834e-01 -5.11938239e-02 -2.69947098e-02 4.69380093e+01] [ 5.12282549e-02 9.98686800e-01 5.84992948e-04 -1.99589844e+00] [ 2.69293123e-02 -1.96690428e-03 9.99635405e-01 4.94547062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.440714056999994 meters Centerline goodness [0,1] 0.9866110280498962 Centerline is valid? [True, True] Translation: X:46.97, Y:-2.00, Z:0.49 [[ 9.98298666e-01 -5.17125991e-02 -2.69365939e-02 4.69698024e+01] [ 5.17471091e-02 9.98660049e-01 5.85197543e-04 -1.99635664e+00] [ 2.68702381e-02 -1.97809279e-03 9.99636973e-01 4.94762174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.470714056999995 meters Centerline goodness [0,1] 0.9851378150137036 Centerline is valid? [True, True] Translation: X:47.00, Y:-2.00, Z:0.49 [[ 9.98235863e-01 -5.29839559e-02 -2.67929413e-02 4.70012330e+01] [ 5.30185988e-02 9.98593354e-01 5.83754277e-04 -1.99861783e+00] [ 2.67243235e-02 -2.00324866e-03 9.99640834e-01 4.93920665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.500714056999996 meters Centerline goodness [0,1] 0.9859429647565241 Centerline is valid? [True, True] Translation: X:47.03, Y:-2.00, Z:0.49 [[ 9.98187744e-01 -5.38750242e-02 -2.68087689e-02 4.70336818e+01] [ 5.39100722e-02 9.98545623e-01 5.85769143e-04 -1.99775341e+00] [ 2.67382205e-02 -2.02997024e-03 9.99640409e-01 4.94453018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.530714057 meters Centerline goodness [0,1] 0.9859072752569453 Centerline is valid? [True, True] Translation: X:47.07, Y:-2.00, Z:0.49 [[ 9.98158934e-01 -5.45150653e-02 -2.65866556e-02 4.70656118e+01] [ 5.45498101e-02 9.98510881e-01 5.82791838e-04 -1.99752055e+00] [ 2.65152940e-02 -2.03201590e-03 9.99646343e-01 4.94824899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.560714057 meters Centerline goodness [0,1] 0.9856898953138339 Centerline is valid? [True, True] Translation: X:47.10, Y:-2.00, Z:0.50 [[ 9.98141959e-01 -5.52612185e-02 -2.56676461e-02 4.70971952e+01] [ 5.52939079e-02 9.98469962e-01 5.65020322e-04 -1.99594871e+00] [ 2.55971499e-02 -1.98323495e-03 9.99670372e-01 4.95587008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.590714057 meters Centerline goodness [0,1] 0.9858895429829686 Centerline is valid? [True, True] Translation: X:47.13, Y:-2.00, Z:0.50 [[ 9.98156404e-01 -5.52185696e-02 -2.51933002e-02 4.71293885e+01] [ 5.52501074e-02 9.98472391e-01 5.56948205e-04 -1.99578664e+00] [ 2.51240608e-02 -1.94785396e-03 9.99682443e-01 4.96212915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.620714057 meters Centerline goodness [0,1] 0.9852353538774128 Centerline is valid? [True, True] Translation: X:47.16, Y:-1.99, Z:0.50 [[ 9.98213523e-01 -5.42063300e-02 -2.51283861e-02 4.71614366e+01] [ 5.42374309e-02 9.98527912e-01 5.57278202e-04 -1.99042221e+00] [ 2.50611869e-02 -1.91918174e-03 9.99684077e-01 4.97638528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.650714056999995 meters Centerline goodness [0,1] 0.9841051229369397 Centerline is valid? [True, True] Translation: X:47.19, Y:-1.99, Z:0.50 [[ 9.98264686e-01 -5.33445001e-02 -2.49395394e-02 4.71936629e+01] [ 5.33749114e-02 9.98574389e-01 5.54845805e-04 -1.98936258e+00] [ 2.48743874e-02 -1.88502868e-03 9.99688807e-01 4.98323301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.680714056999996 meters Centerline goodness [0,1] 0.9851714550509731 Centerline is valid? [True, True] Translation: X:47.23, Y:-1.98, Z:0.50 [[ 9.98328553e-01 -5.25020182e-02 -2.41586152e-02 4.72255973e+01] [ 5.25303497e-02 9.98619183e-01 5.39164749e-04 -1.98494043e+00] [ 2.40969494e-02 -1.80732407e-03 9.99707993e-01 4.99517636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.710714057 meters Centerline goodness [0,1] 0.9845335144927536 Centerline is valid? [True, True] Translation: X:47.26, Y:-1.98, Z:0.50 [[ 9.98402769e-01 -5.11000020e-02 -2.40977424e-02 4.72575876e+01] [ 5.11278218e-02 9.98691972e-01 5.39344727e-04 -1.98206183e+00] [ 2.40386613e-02 -1.77054835e-03 9.99709462e-01 4.99908951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.740714057 meters Centerline goodness [0,1] 0.9844195196960789 Centerline is valid? [True, True] Translation: X:47.29, Y:-1.98, Z:0.50 [[ 9.98449681e-01 -5.01585036e-02 -2.41320976e-02 4.72903497e+01] [ 5.01861700e-02 9.98739733e-01 5.41809263e-04 -1.98036452e+00] [ 2.40745083e-02 -1.75206684e-03 9.99708632e-01 4.99954807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.770714057 meters Centerline goodness [0,1] 0.9840907033583779 Centerline is valid? [True, True] Translation: X:47.32, Y:-1.98, Z:0.50 [[ 9.98505007e-01 -4.87463500e-02 -2.47294401e-02 4.73211834e+01] [ 4.87750132e-02 9.98809636e-01 5.56856666e-04 -1.98174020e+00] [ 2.46728584e-02 -1.76220294e-03 9.99694026e-01 4.98926013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.800714057 meters Centerline goodness [0,1] 0.9842691520800182 Centerline is valid? [True, True] Translation: X:47.35, Y:-1.98, Z:0.50 [[ 9.98530685e-01 -4.81351874e-02 -2.48892450e-02 4.73540271e+01] [ 4.81640710e-02 9.98839280e-01 5.61968223e-04 -1.97776012e+00] [ 2.48333051e-02 -1.75990988e-03 9.99690057e-01 4.99190926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.830714056999994 meters Centerline goodness [0,1] 0.9852379219361296 Centerline is valid? [True, True] Translation: X:47.39, Y:-1.97, Z:0.50 [[ 9.98579171e-01 -4.73066348e-02 -2.45300158e-02 4.73862133e+01] [ 4.73344900e-02 9.98878940e-01 5.55831698e-04 -1.97484849e+00] [ 2.44762217e-02 -1.71615774e-03 9.99698939e-01 5.00161466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.860714056999996 meters Centerline goodness [0,1] 0.9850582590815627 Centerline is valid? [True, True] Translation: X:47.42, Y:-1.97, Z:0.50 [[ 9.98689489e-01 -4.50874465e-02 -2.42162299e-02 4.74176551e+01] [ 4.51139764e-02 9.98981695e-01 5.50060719e-04 -1.97178043e+00] [ 2.41667696e-02 -1.64183028e-03 9.99706593e-01 5.00060944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.890714057 meters Centerline goodness [0,1] 0.9850477924442421 Centerline is valid? [True, True] Translation: X:47.45, Y:-1.97, Z:0.50 [[ 9.98754577e-01 -4.37295676e-02 -2.40212289e-02 4.74484951e+01] [ 4.37553015e-02 9.99042129e-01 5.46489403e-04 -1.97157842e+00] [ 2.39743220e-02 -1.59686491e-03 9.99711299e-01 5.00454081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.920714057 meters Centerline goodness [0,1] 0.9850217242167848 Centerline is valid? [True, True] Translation: X:47.48, Y:-1.97, Z:0.50 [[ 9.98806522e-01 -4.22580165e-02 -2.44906324e-02 4.74786940e+01] [ 4.22843657e-02 9.99105460e-01 5.58795467e-04 -1.97123550e+00] [ 2.44451109e-02 -1.59369941e-03 9.99699903e-01 4.99759720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.950714057 meters Centerline goodness [0,1] 0.9848824444241149 Centerline is valid? [True, True] Translation: X:47.51, Y:-1.97, Z:0.50 [[ 9.98833199e-01 -4.17096853e-02 -2.43422177e-02 4.75113749e+01] [ 4.17356098e-02 9.99128534e-01 5.57707977e-04 -1.97077050e+00] [ 2.42977425e-02 -1.57299454e-03 9.99703529e-01 5.00024474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.980714057 meters Centerline goodness [0,1] 0.9857067595116477 Centerline is valid? [True, True] Translation: X:47.54, Y:-1.97, Z:0.50 [[ 9.98838068e-01 -4.15352840e-02 -2.44404163e-02 4.75442264e+01] [ 4.15614235e-02 9.99135793e-01 5.62308996e-04 -1.96501695e+00] [ 2.43959391e-02 -1.57743413e-03 9.99701130e-01 5.00926209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.010714056999994 meters Centerline goodness [0,1] 0.985258717531351 Centerline is valid? [True, True] Translation: X:47.58, Y:-1.97, Z:0.50 [[ 9.98831708e-01 -4.18456024e-02 -2.41695141e-02 4.75761495e+01] [ 4.18713087e-02 9.99122856e-01 5.58264632e-04 -1.96508238e+00] [ 2.41249530e-02 -1.56962160e-03 9.99707719e-01 5.01022396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.040714056999995 meters Centerline goodness [0,1] 0.9855325804448329 Centerline is valid? [True, True] Translation: X:47.61, Y:-1.97, Z:0.50 [[ 9.98806286e-01 -4.23853613e-02 -2.42792752e-02 4.76081214e+01] [ 4.24115024e-02 9.99100069e-01 5.62532271e-04 -1.96592120e+00] [ 2.42335824e-02 -1.59158131e-03 9.99705057e-01 5.01492606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.070714056999996 meters Centerline goodness [0,1] 0.9854607899255867 Centerline is valid? [True, True] Translation: X:47.64, Y:-1.97, Z:0.50 [[ 9.98780290e-01 -4.29215341e-02 -2.44064426e-02 4.76395350e+01] [ 4.29481467e-02 9.99077142e-01 5.67014384e-04 -1.97065243e+00] [ 2.43595817e-02 -1.61453427e-03 9.99701958e-01 5.01290672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.100714057 meters Centerline goodness [0,1] 0.9859310598908564 Centerline is valid? [True, True] Translation: X:47.67, Y:-1.96, Z:0.50 [[ 9.98696059e-01 -4.46593288e-02 -2.47331119e-02 4.76705547e+01] [ 4.46872214e-02 9.99000861e-01 5.75907235e-04 -1.96408721e+00] [ 2.46826805e-02 -1.68041033e-03 9.99693924e-01 5.02206772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.130714057 meters Centerline goodness [0,1] 0.9853881489346968 Centerline is valid? [True, True] Translation: X:47.70, Y:-1.97, Z:0.50 [[ 9.98595589e-01 -4.66845246e-02 -2.50480568e-02 4.77003047e+01] [ 4.67137836e-02 9.98908145e-01 5.83934077e-04 -1.96889230e+00] [ 2.49934473e-02 -1.75320350e-03 9.99686078e-01 5.01038190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.160714057 meters Centerline goodness [0,1] 0.9854443957463496 Centerline is valid? [True, True] Translation: X:47.73, Y:-1.97, Z:0.50 [[ 9.98565531e-01 -4.74567096e-02 -2.47939720e-02 4.77319986e+01] [ 4.74856294e-02 9.98871754e-01 5.78608349e-04 -1.97043002e+00] [ 2.47385394e-02 -1.75513572e-03 9.99692415e-01 5.01135552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.190714056999994 meters Centerline goodness [0,1] 0.9863407455101525 Centerline is valid? [True, True] Translation: X:47.76, Y:-1.97, Z:0.50 [[ 9.98548495e-01 -4.81122523e-02 -2.42098153e-02 4.77639706e+01] [ 4.81400518e-02 9.98840435e-01 5.66432789e-04 -1.96628301e+00] [ 2.41544901e-02 -1.73107237e-03 9.99706739e-01 5.02481508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.220714056999995 meters Centerline goodness [0,1] 0.9866407353383807 Centerline is valid? [True, True] Translation: X:47.80, Y:-1.96, Z:0.50 [[ 9.98510273e-01 -4.88559799e-02 -2.42966550e-02 4.77963754e+01] [ 4.88842412e-02 9.98804288e-01 5.70235401e-04 -1.96323279e+00] [ 2.42397438e-02 -1.75710945e-03 9.99704630e-01 5.03341241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.250714056999996 meters Centerline goodness [0,1] 0.9837977965003241 Centerline is valid? [True, True] Translation: X:47.83, Y:-1.97, Z:0.50 [[ 9.98514591e-01 -4.89556714e-02 -2.39155417e-02 4.78271535e+01] [ 4.89831401e-02 9.98799446e-01 5.63759900e-04 -1.97489332e+00] [ 2.38592306e-02 -1.73438081e-03 9.99713824e-01 5.02474624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.280714057 meters Centerline goodness [0,1] 0.986873536028201 Centerline is valid? [True, True] Translation: X:47.86, Y:-1.96, Z:0.50 [[ 9.98535181e-01 -4.81548440e-02 -2.46699033e-02 4.78601314e+01] [ 4.81839036e-02 9.98838310e-01 5.84513105e-04 -1.96308140e+00] [ 2.46130974e-02 -1.77234914e-03 9.99695481e-01 5.04447867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.310714057 meters Centerline goodness [0,1] 0.9846652768126013 Centerline is valid? [True, True] Translation: X:47.89, Y:-1.97, Z:0.50 [[ 9.98561316e-01 -4.77040555e-02 -2.44871498e-02 4.78911222e+01] [ 4.77325953e-02 9.98859980e-01 5.81990101e-04 -1.96693675e+00] [ 2.44314706e-02 -1.74998801e-03 9.99699975e-01 5.03755077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.340714057 meters Centerline goodness [0,1] 0.9846652768126013 Centerline is valid? [True, True] Translation: X:47.92, Y:-1.97, Z:0.50 [[ 9.98566357e-01 -4.75984420e-02 -2.44871044e-02 4.79237434e+01] [ 4.76269967e-02 9.98865020e-01 5.83894807e-04 -1.96780614e+00] [ 2.44315195e-02 -1.74930495e-03 9.99699975e-01 5.04187568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.370714057 meters Centerline goodness [0,1] 0.9856418332136819 Centerline is valid? [True, True] Translation: X:47.96, Y:-1.97, Z:0.50 [[ 9.98611250e-01 -4.67422398e-02 -2.43050126e-02 4.79560444e+01] [ 4.67701718e-02 9.98905507e-01 5.81733707e-04 -1.96588748e+00] [ 2.42512194e-02 -1.71767544e-03 9.99704420e-01 5.04971301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.400714056999995 meters Centerline goodness [0,1] 0.9860018107110523 Centerline is valid? [True, True] Translation: X:47.99, Y:-1.96, Z:0.51 [[ 9.98662262e-01 -4.58765251e-02 -2.38543605e-02 4.79885448e+01] [ 4.59032252e-02 9.98945727e-01 5.72639397e-04 -1.96415506e+00] [ 2.38029408e-02 -1.66686544e-03 9.99715280e-01 5.05795448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.430714056999996 meters Centerline goodness [0,1] 0.9849156436378826 Centerline is valid? [True, True] Translation: X:48.02, Y:-1.96, Z:0.51 [[ 9.98806853e-01 -4.34588831e-02 -2.22754683e-02 4.80180864e+01] [ 4.34815824e-02 9.99054085e-01 5.35468606e-04 -1.96409470e+00] [ 2.22311267e-02 -1.50340232e-03 9.99751728e-01 5.07191631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.460714057 meters Centerline goodness [0,1] 0.9872164373373001 Centerline is valid? [True, True] Translation: X:48.05, Y:-1.96, Z:0.51 [[ 9.98887909e-01 -4.20417775e-02 -2.13409160e-02 4.80496450e+01] [ 4.20622911e-02 9.99114858e-01 5.13073025e-04 -1.95951510e+00] [ 2.13004558e-02 -1.41015026e-03 9.99772125e-01 5.08679028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.490714057 meters Centerline goodness [0,1] 0.9863906013725718 Centerline is valid? [True, True] Translation: X:48.08, Y:-1.96, Z:0.51 [[ 9.99013711e-01 -3.93314801e-02 -2.06067762e-02 4.80798236e+01] [ 3.93500417e-02 9.99225364e-01 4.95889720e-04 -1.95870079e+00] [ 2.05713094e-02 -1.30627813e-03 9.99787535e-01 5.09806761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.520714057 meters Centerline goodness [0,1] 0.9862406716417911 Centerline is valid? [True, True] Translation: X:48.11, Y:-1.96, Z:0.51 [[ 9.99044226e-01 -3.86127553e-02 -2.04863143e-02 4.81125760e+01] [ 3.86309660e-02 9.99253424e-01 4.93774213e-04 -1.95654413e+00] [ 2.04519538e-02 -1.28470839e-03 9.99790012e-01 5.10132723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.550714057 meters Centerline goodness [0,1] 0.9861631997018333 Centerline is valid? [True, True] Translation: X:48.14, Y:-1.96, Z:0.51 [[ 9.99066060e-01 -3.78400149e-02 -2.08600191e-02 4.81442383e+01] [ 3.78587702e-02 9.99282972e-01 5.04784413e-04 -1.95884273e+00] [ 2.08259608e-02 -1.29404764e-03 9.99782279e-01 5.09960008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.580714056999994 meters Centerline goodness [0,1] 0.9863093708384927 Centerline is valid? [True, True] Translation: X:48.18, Y:-1.96, Z:0.51 [[ 9.99042018e-01 -3.74244255e-02 -2.26816941e-02 4.81768546e+01] [ 3.74465327e-02 9.99298481e-01 5.50573529e-04 -1.95620864e+00] [ 2.26451775e-02 -1.39939689e-03 9.99742586e-01 5.08592564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.610714056999996 meters Centerline goodness [0,1] 0.9854916459961623 Centerline is valid? [True, True] Translation: X:48.21, Y:-1.96, Z:0.51 [[ 9.98986093e-01 -3.75330465e-02 -2.48607377e-02 4.82074947e+01] [ 3.75597030e-02 9.99294202e-01 6.05985405e-04 -1.95941938e+00] [ 2.48204466e-02 -1.53913292e-03 9.99690740e-01 5.06215784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.640714057 meters Centerline goodness [0,1] 0.9864309402587697 Centerline is valid? [True, True] Translation: X:48.24, Y:-1.96, Z:0.51 [[ 9.98950499e-01 -3.77896377e-02 -2.58813384e-02 4.82395274e+01] [ 3.78186829e-02 9.99284417e-01 6.33510040e-04 -1.95772574e+00] [ 2.58388781e-02 -1.61164330e-03 9.99664821e-01 5.06263844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.670714057 meters Centerline goodness [0,1] 0.9860981308411215 Centerline is valid? [True, True] Translation: X:48.27, Y:-1.96, Z:0.51 [[ 9.98923750e-01 -3.80467545e-02 -2.65289535e-02 4.82713624e+01] [ 3.80774131e-02 9.99274580e-01 6.51275297e-04 -1.95910564e+00] [ 2.64849300e-02 -1.66072829e-03 9.99647833e-01 5.05604094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.700714057 meters Centerline goodness [0,1] 0.9866377501049391 Centerline is valid? [True, True] Translation: X:48.30, Y:-1.96, Z:0.51 [[ 9.98906236e-01 -3.83896190e-02 -2.66939901e-02 4.83036967e+01] [ 3.84208330e-02 9.99261431e-01 6.57231437e-04 -1.95885510e+00] [ 2.66490439e-02 -1.68211792e-03 9.99643436e-01 5.05871293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.730714057 meters Centerline goodness [0,1] 0.9856712091816461 Centerline is valid? [True, True] Translation: X:48.34, Y:-1.96, Z:0.51 [[ 9.98899536e-01 -3.94521381e-02 -2.53622900e-02 4.83356467e+01] [ 3.94806999e-02 9.99220137e-01 6.26203536e-04 -1.95955236e+00] [ 2.53178059e-02 -1.62683538e-03 9.99678129e-01 5.07038581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.760714056999994 meters Centerline goodness [0,1] 0.9860495650746759 Centerline is valid? [True, True] Translation: X:48.37, Y:-1.96, Z:0.51 [[ 9.98915394e-01 -3.98581256e-02 -2.40700296e-02 4.83681000e+01] [ 3.98840072e-02 9.99204139e-01 5.95954825e-04 -1.96110949e+00] [ 2.40271196e-02 -1.55531768e-03 9.99710097e-01 5.08074334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.790714056999995 meters Centerline goodness [0,1] 0.9845084223787971 Centerline is valid? [True, True] Translation: X:48.40, Y:-1.97, Z:0.51 [[ 9.98876372e-01 -4.15841487e-02 -2.27322022e-02 4.83988674e+01] [ 4.16077049e-02 9.99133865e-01 5.64050320e-04 -1.96533357e+00] [ 2.26890575e-02 -1.50925130e-03 9.99741431e-01 5.09037616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.820714056999996 meters Centerline goodness [0,1] 0.9841481689613187 Centerline is valid? [True, True] Translation: X:48.43, Y:-1.97, Z:0.51 [[ 9.98833310e-01 -4.28846518e-02 -2.22019371e-02 4.84310483e+01] [ 4.29074695e-02 9.99078898e-01 5.52165089e-04 -1.96845372e+00] [ 2.21578075e-02 -1.50414982e-03 9.99753354e-01 5.09520262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.850714057 meters Centerline goodness [0,1] 0.985283795798044 Centerline is valid? [True, True] Translation: X:48.46, Y:-1.97, Z:0.51 [[ 9.98706097e-01 -4.57080043e-02 -2.22914932e-02 4.84623720e+01] [ 4.57317405e-02 9.98953602e-01 5.55931074e-04 -1.96656103e+00] [ 2.22427569e-02 -1.57464053e-03 9.99751359e-01 5.10908822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.880714057 meters Centerline goodness [0,1] 0.9851718241233105 Centerline is valid? [True, True] Translation: X:48.49, Y:-1.96, Z:0.51 [[ 9.98617749e-01 -4.73332646e-02 -2.28506571e-02 4.84933636e+01] [ 4.73586454e-02 9.98877787e-01 5.70543578e-04 -1.96415927e+00] [ 2.27980081e-02 -1.65193111e-03 9.99738727e-01 5.11335719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.910714057 meters Centerline goodness [0,1] 0.9840373165815011 Centerline is valid? [True, True] Translation: X:48.52, Y:-1.97, Z:0.51 [[ 9.98569947e-01 -4.80736298e-02 -2.33877723e-02 4.85246937e+01] [ 4.81004560e-02 9.98842332e-01 5.85491118e-04 -1.97318226e+00] [ 2.33325503e-02 -1.70961635e-03 9.99726297e-01 5.10062422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.940714056999994 meters Centerline goodness [0,1] 0.9852827988338192 Centerline is valid? [True, True] Translation: X:48.56, Y:-1.98, Z:0.51 [[ 9.98566368e-01 -4.72127210e-02 -2.52223701e-02 4.85571007e+01] [ 4.72437158e-02 9.98883191e-01 6.34050248e-04 -1.97552415e+00] [ 2.51642663e-02 -1.82473974e-03 9.99681664e-01 5.07198529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.970714056999995 meters Centerline goodness [0,1] 0.9850043144662889 Centerline is valid? [True, True] Translation: X:48.59, Y:-1.98, Z:0.51 [[ 9.98598704e-01 -4.59843664e-02 -2.61928766e-02 4.85882948e+01] [ 4.60174437e-02 9.98940418e-01 6.61154770e-04 -1.97679010e+00] [ 2.61347203e-02 -1.86555752e-03 9.99656689e-01 5.05657654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.000714056999996 meters Centerline goodness [0,1] 0.9866952990056487 Centerline is valid? [True, True] Translation: X:48.62, Y:-1.97, Z:0.51 [[ 9.98636710e-01 -4.49575084e-02 -2.65243957e-02 4.86208485e+01] [ 4.49911422e-02 9.98987160e-01 6.72309344e-04 -1.96838360e+00] [ 2.64673053e-02 -1.86475565e-03 9.99647940e-01 5.07420688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.030714057 meters Centerline goodness [0,1] 0.9855517047583364 Centerline is valid? [True, True] Translation: X:48.65, Y:-1.97, Z:0.51 [[ 9.98758508e-01 -4.26002866e-02 -2.58197094e-02 4.86504392e+01] [ 4.26313963e-02 9.99090654e-01 6.55373657e-04 -1.97462845e+00] [ 2.57683112e-02 -1.75529028e-03 9.99666401e-01 5.08035572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.060714057 meters Centerline goodness [0,1] 0.9858923113096638 Centerline is valid? [True, True] Translation: X:48.68, Y:-1.98, Z:0.51 [[ 9.98828431e-01 -4.12058824e-02 -2.53740227e-02 4.86814975e+01] [ 4.12354892e-02 9.99149248e-01 6.44462844e-04 -1.97513541e+00] [ 2.53258800e-02 -1.69001805e-03 9.99677820e-01 5.09277850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.090714057 meters Centerline goodness [0,1] 0.9876136203080111 Centerline is valid? [True, True] Translation: X:48.71, Y:-1.96, Z:0.51 [[ 9.98994566e-01 -3.78852323e-02 -2.39700980e-02 4.87123344e+01] [ 3.79107151e-02 9.99280945e-01 6.09412317e-04 -1.96270586e+00] [ 2.39297744e-02 -1.51752315e-03 9.99712490e-01 5.14126099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.120714057 meters Centerline goodness [0,1] 0.9873664894367854 Centerline is valid? [True, True] Translation: X:48.74, Y:-1.96, Z:0.52 [[ 9.99076761e-01 -3.61412902e-02 -2.32256757e-02 4.87440245e+01] [ 3.61647665e-02 9.99345666e-01 5.91418911e-04 -1.96267490e+00] [ 2.31891037e-02 -1.43082403e-03 9.99730073e-01 5.15467375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.150714056999995 meters Centerline goodness [0,1] 0.987357268981754 Centerline is valid? [True, True] Translation: X:48.77, Y:-1.96, Z:0.52 [[ 9.99135272e-01 -3.47267110e-02 -2.28640243e-02 4.87740835e+01] [ 3.47491175e-02 9.99395897e-01 5.83297466e-04 -1.96394757e+00] [ 2.28299560e-02 -1.37729774e-03 9.99738414e-01 5.16100122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.180714056999996 meters Centerline goodness [0,1] 0.9869657116016909 Centerline is valid? [True, True] Translation: X:48.81, Y:-1.96, Z:0.52 [[ 9.99225616e-01 -3.26485527e-02 -2.19599878e-02 4.88052934e+01] [ 3.26687335e-02 9.99466077e-01 5.60768595e-04 -1.96050532e+00] [ 2.19299546e-02 -1.27773933e-03 9.99758693e-01 5.18252858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.210714057 meters Centerline goodness [0,1] 0.9883906749388983 Centerline is valid? [True, True] Translation: X:48.84, Y:-1.96, Z:0.52 [[ 9.99263606e-01 -3.17251505e-02 -2.15814738e-02 4.88375260e+01] [ 3.17444496e-02 9.99495865e-01 5.52161385e-04 -1.96077339e+00] [ 2.15530764e-02 -1.23684678e-03 9.99766940e-01 5.18707156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.240714057 meters Centerline goodness [0,1] 0.9881768294119032 Centerline is valid? [True, True] Translation: X:48.87, Y:-1.96, Z:0.52 [[ 9.99306786e-01 -2.95594970e-02 -2.26314869e-02 4.88683693e+01] [ 2.95801965e-02 9.99562242e-01 5.80343779e-04 -1.96431625e+00] [ 2.26044251e-02 -1.24938531e-03 9.99743707e-01 5.17289548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.270714057 meters Centerline goodness [0,1] 0.9881445238991343 Centerline is valid? [True, True] Translation: X:48.90, Y:-1.96, Z:0.52 [[ 9.99308477e-01 -2.86217484e-02 -2.37352691e-02 4.89004549e+01] [ 2.86442826e-02 9.99589482e-01 6.09884811e-04 -1.96005918e+00] [ 2.37080694e-02 -1.28934282e-03 9.99718093e-01 5.17520417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.300714057 meters Centerline goodness [0,1] 0.9880097053072955 Centerline is valid? [True, True] Translation: X:48.93, Y:-1.96, Z:0.52 [[ 9.99335156e-01 -2.69289053e-02 -2.45780542e-02 4.89308034e+01] [ 2.69526081e-02 9.99636512e-01 6.33566448e-04 -1.96148918e+00] [ 2.45520591e-02 -1.29558789e-03 9.99697713e-01 5.16843691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.330714056999994 meters Centerline goodness [0,1] 0.9882330747282289 Centerline is valid? [True, True] Translation: X:48.96, Y:-1.96, Z:0.52 [[ 9.99384726e-01 -2.36830065e-02 -2.58705374e-02 4.89618706e+01] [ 2.37082233e-02 9.99718697e-01 6.68397087e-04 -1.96100754e+00] [ 2.58474303e-02 -1.28133032e-03 9.99665078e-01 5.16278891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.360714056999996 meters Centerline goodness [0,1] 0.9881429446985055 Centerline is valid? [True, True] Translation: X:48.99, Y:-1.97, Z:0.52 [[ 9.99422610e-01 -2.18943491e-02 -2.59823967e-02 4.89914224e+01] [ 2.19191944e-02 9.99759520e-01 6.71783529e-04 -1.96880676e+00] [ 2.59614401e-02 -1.24090885e-03 9.99662175e-01 5.15001183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.390714057 meters Centerline goodness [0,1] 0.9882911168291589 Centerline is valid? [True, True] Translation: X:49.02, Y:-1.96, Z:0.52 [[ 9.99500562e-01 -1.85306954e-02 -2.55976700e-02 4.90219273e+01] [ 1.85537111e-02 9.99827646e-01 6.61898951e-04 -1.96171537e+00] [ 2.55809927e-02 -1.13650015e-03 9.99672107e-01 5.18392103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.420714057 meters Centerline goodness [0,1] 0.9879492450556462 Centerline is valid? [True, True] Translation: X:49.05, Y:-1.96, Z:0.52 [[ 9.99547434e-01 -1.70088556e-02 -2.48118206e-02 4.90507600e+01] [ 1.70299870e-02 9.99854774e-01 6.40594541e-04 -1.96207188e+00] [ 2.47973215e-02 -1.06284961e-03 9.99691934e-01 5.19377407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.450714057 meters Centerline goodness [0,1] 0.9876455887207054 Centerline is valid? [True, True] Translation: X:49.08, Y:-1.96, Z:0.52 [[ 9.99603393e-01 -1.57474096e-02 -2.33468506e-02 4.90800723e+01] [ 1.57657047e-02 9.99875534e-01 5.99754148e-04 -1.96228807e+00] [ 2.33345001e-02 -9.67595833e-04 9.99727245e-01 5.20780638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.480714057 meters Centerline goodness [0,1] 0.9891424668503733 Centerline is valid? [True, True] Translation: X:49.11, Y:-1.96, Z:0.52 [[ 9.99681736e-01 -1.36125124e-02 -2.12397126e-02 4.91085671e+01] [ 1.36271051e-02 9.99907000e-01 5.42461686e-04 -1.96116574e+00] [ 2.12303530e-02 -8.31724837e-04 9.99774265e-01 5.23144254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.510714056999994 meters Centerline goodness [0,1] 0.9900503363597873 Centerline is valid? [True, True] Translation: X:49.14, Y:-1.96, Z:0.52 [[ 9.99705072e-01 -1.29797686e-02 -2.05254822e-02 4.91373055e+01] [ 1.29932079e-02 9.99915449e-01 5.21530122e-04 -1.95951345e+00] [ 2.05169774e-02 -7.88068164e-04 9.99789194e-01 5.24399966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.540714056999995 meters Centerline goodness [0,1] 0.9890363259928477 Centerline is valid? [True, True] Translation: X:49.17, Y:-1.96, Z:0.52 [[ 9.99722400e-01 -1.19628180e-02 -2.02981467e-02 4.91660178e+01] [ 1.19756779e-02 9.99928158e-01 5.12111562e-04 -1.96436793e+00] [ 2.02905622e-02 -7.55053467e-04 9.99793840e-01 5.24534501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.570714056999996 meters Centerline goodness [0,1] 0.9901751087084264 Centerline is valid? [True, True] Translation: X:49.19, Y:-1.96, Z:0.53 [[ 9.99715156e-01 -1.20729409e-02 -2.05876558e-02 4.91945752e+01] [ 1.20861417e-02 9.99926826e-01 5.16892479e-04 -1.96220972e+00] [ 2.05799089e-02 -7.65570570e-04 9.99787918e-01 5.25184663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.600714057 meters Centerline goodness [0,1] 0.9899478603973884 Centerline is valid? [True, True] Translation: X:49.22, Y:-1.96, Z:0.52 [[ 9.99703850e-01 -1.21444384e-02 -2.10885136e-02 4.92236499e+01] [ 1.21581939e-02 9.99925949e-01 5.24179938e-04 -1.96397435e+00] [ 2.10805861e-02 -7.80422939e-04 9.99777475e-01 5.24931049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.630714057 meters Centerline goodness [0,1] 0.9895329734804037 Centerline is valid? [True, True] Translation: X:49.25, Y:-1.97, Z:0.52 [[ 9.99684064e-01 -1.26314843e-02 -2.17305782e-02 4.92523323e+01] [ 1.26460866e-02 9.99919892e-01 5.34677354e-04 -1.96736622e+00] [ 2.17220836e-02 -8.09315203e-04 9.99763720e-01 5.24153518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.660714057 meters Centerline goodness [0,1] 0.9897092453446587 Centerline is valid? [True, True] Translation: X:49.28, Y:-1.97, Z:0.52 [[ 9.99684001e-01 -1.27146141e-02 -2.16849364e-02 4.92802935e+01] [ 1.27290524e-02 9.99918843e-01 5.27917024e-04 -1.96974752e+00] [ 2.16764643e-02 -8.03778895e-04 9.99764715e-01 5.24301712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.690714056999994 meters Centerline goodness [0,1] 0.9913483512895854 Centerline is valid? [True, True] Translation: X:49.31, Y:-1.98, Z:0.52 [[ 9.99676763e-01 -1.36094010e-02 -2.14744769e-02 4.93076582e+01] [ 1.36236717e-02 9.99907059e-01 5.18377461e-04 -1.97516506e+00] [ 2.14654262e-02 -8.10771125e-04 9.99769262e-01 5.24102603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.720714056999995 meters Centerline goodness [0,1] 0.990890076690681 Centerline is valid? [True, True] Translation: X:49.34, Y:-1.98, Z:0.52 [[ 9.99677164e-01 -1.43242450e-02 -2.09853279e-02 4.93362191e+01] [ 1.43379657e-02 9.99897079e-01 5.03500184e-04 -1.97550241e+00] [ 2.09759558e-02 -8.04224547e-04 9.99779657e-01 5.24616179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.750714056999996 meters Centerline goodness [0,1] 0.9905176832393644 Centerline is valid? [True, True] Translation: X:49.36, Y:-1.98, Z:0.53 [[ 9.99672426e-01 -1.50607286e-02 -2.06933575e-02 4.93646597e+01] [ 1.50741212e-02 9.99886258e-01 4.91350483e-04 -1.97828438e+00] [ 2.06836037e-02 -8.03123707e-04 9.99785749e-01 5.25001707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.780714057 meters Centerline goodness [0,1] 0.9898271307410669 Centerline is valid? [True, True] Translation: X:49.39, Y:-1.98, Z:0.53 [[ 9.99688166e-01 -1.54734259e-02 -1.95995685e-02 4.93935746e+01] [ 1.54854507e-02 9.99879987e-01 4.61893755e-04 -1.98403281e+00] [ 1.95900692e-02 -7.65257872e-04 9.99807803e-01 5.25809961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.810714057 meters Centerline goodness [0,1] 0.989926124916051 Centerline is valid? [True, True] Translation: X:49.42, Y:-1.99, Z:0.53 [[ 9.99697535e-01 -1.55479120e-02 -1.90551913e-02 4.94233210e+01] [ 1.55592745e-02 9.99878847e-01 4.48173241e-04 -1.98570580e+00] [ 1.90459146e-02 -7.44522637e-04 9.99818333e-01 5.26847405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.840714057 meters Centerline goodness [0,1] 0.990101294446111 Centerline is valid? [True, True] Translation: X:49.45, Y:-1.99, Z:0.53 [[ 9.99714761e-01 -1.51727949e-02 -1.84440733e-02 4.94531746e+01] [ 1.51833646e-02 9.99884632e-01 4.33161833e-04 -1.98793594e+00] [ 1.84353732e-02 -7.13081368e-04 9.99829800e-01 5.27840021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.870714057 meters Centerline goodness [0,1] 0.9902986450364089 Centerline is valid? [True, True] Translation: X:49.48, Y:-1.99, Z:0.53 [[ 9.99718583e-01 -1.50880510e-02 -1.83058614e-02 4.94829303e+01] [ 1.50984367e-02 9.99885920e-01 4.29262538e-04 -1.99013108e+00] [ 1.82972963e-02 -7.05531626e-04 9.99832342e-01 5.28102032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.900714056999995 meters Centerline goodness [0,1] 0.9905540836309181 Centerline is valid? [True, True] Translation: X:49.51, Y:-1.99, Z:0.53 [[ 9.99699814e-01 -1.53163597e-02 -1.91230425e-02 4.95126917e+01] [ 1.53277237e-02 9.99882423e-01 4.47820331e-04 -1.99340221e+00] [ 1.91139351e-02 -7.40798614e-04 9.99817038e-01 5.27862287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.930714056999996 meters Centerline goodness [0,1] 0.9900126277120882 Centerline is valid? [True, True] Translation: X:49.54, Y:-2.00, Z:0.53 [[ 9.99679554e-01 -1.54639528e-02 -2.00413574e-02 4.95423847e+01] [ 1.54764569e-02 9.99880122e-01 4.68956640e-04 -1.99872732e+00] [ 2.00317029e-02 -7.78975570e-04 9.99799042e-01 5.26704213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.960714057 meters Centerline goodness [0,1] 0.9909808858876045 Centerline is valid? [True, True] Translation: X:49.57, Y:-2.00, Z:0.53 [[ 9.99670314e-01 -1.55260791e-02 -2.04500385e-02 4.95721750e+01] [ 1.55391015e-02 9.99879147e-01 4.78027350e-04 -2.00199156e+00] [ 2.04401452e-02 -7.95644975e-04 9.99790762e-01 5.26151331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.990714057 meters Centerline goodness [0,1] 0.9903057248934317 Centerline is valid? [True, True] Translation: X:49.60, Y:-2.01, Z:0.53 [[ 9.99639843e-01 -1.60137527e-02 -2.15346933e-02 4.96010126e+01] [ 1.60282895e-02 9.99871412e-01 5.02598762e-04 -2.00814035e+00] [ 2.15238757e-02 -8.47582047e-04 9.99767975e-01 5.25104310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.020714057 meters Centerline goodness [0,1] 0.990611618694328 Centerline is valid? [True, True] Translation: X:49.63, Y:-2.01, Z:0.52 [[ 9.99628618e-01 -1.66329882e-02 -2.15863145e-02 4.96296954e+01] [ 1.66476854e-02 9.99861292e-01 5.01322690e-04 -2.01114608e+00] [ 2.15749818e-02 -8.60498681e-04 9.99766863e-01 5.24998594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.050714057 meters Centerline goodness [0,1] 0.9903581580443434 Centerline is valid? [True, True] Translation: X:49.66, Y:-2.02, Z:0.52 [[ 9.99611534e-01 -1.70595767e-02 -2.20397846e-02 4.96584998e+01] [ 1.70749195e-02 9.99854084e-01 5.08130800e-04 -2.02211040e+00] [ 2.20279002e-02 -8.84260957e-04 9.99756965e-01 5.23342311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.080714056999994 meters Centerline goodness [0,1] 0.9909016281297031 Centerline is valid? [True, True] Translation: X:49.69, Y:-2.02, Z:0.53 [[ 9.99591176e-01 -1.77169702e-02 -2.24408043e-02 4.96877872e+01] [ 1.77329757e-02 9.99842626e-01 5.14422528e-04 -2.01633385e+00] [ 2.24281587e-02 -9.12154457e-04 9.99748041e-01 5.25474189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.110714056999996 meters Centerline goodness [0,1] 0.9909336726578655 Centerline is valid? [True, True] Translation: X:49.72, Y:-2.02, Z:0.53 [[ 9.99606730e-01 -1.76821219e-02 -2.17652964e-02 4.97178289e+01] [ 1.76970945e-02 9.99843271e-01 4.95472298e-04 -2.01866021e+00] [ 2.17531241e-02 -8.80459950e-04 9.99762985e-01 5.26197711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.140714057 meters Centerline goodness [0,1] 0.9907957988745358 Centerline is valid? [True, True] Translation: X:49.75, Y:-2.02, Z:0.53 [[ 9.99605376e-01 -1.81770860e-02 -2.14169733e-02 4.97464344e+01] [ 1.81916774e-02 9.99834399e-01 4.86657477e-04 -2.02249635e+00] [ 2.14045807e-02 -8.76076101e-04 9.99770512e-01 5.27340524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.170714057 meters Centerline goodness [0,1] 0.9901499124183899 Centerline is valid? [True, True] Translation: X:49.78, Y:-2.02, Z:0.53 [[ 9.99626653e-01 -1.90119030e-02 -1.96240271e-02 4.97760789e+01] [ 1.90242968e-02 9.99818923e-01 4.45054699e-04 -2.02421353e+00] [ 1.96120123e-02 -8.18221856e-04 9.99807331e-01 5.29317366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.200714057 meters Centerline goodness [0,1] 0.9904448479346346 Centerline is valid? [True, True] Translation: X:49.81, Y:-2.03, Z:0.53 [[ 9.99620462e-01 -2.01527705e-02 -1.87829269e-02 4.98057607e+01] [ 2.01643170e-02 9.99796589e-01 4.25527357e-04 -2.03168329e+00] [ 1.87705307e-02 -8.04110746e-04 9.99823495e-01 5.30035586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.230714057 meters Centerline goodness [0,1] 0.9904448479346346 Centerline is valid? [True, True] Translation: X:49.84, Y:-2.03, Z:0.53 [[ 9.99621151e-01 -2.01185763e-02 -1.87829227e-02 4.98366269e+01] [ 2.01301203e-02 9.99797278e-01 4.25716366e-04 -2.03241372e+00] [ 1.87705501e-02 -8.03657576e-04 9.99823495e-01 5.30445055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.260714056999994 meters Centerline goodness [0,1] 0.9902076344183516 Centerline is valid? [True, True] Translation: X:49.87, Y:-2.03, Z:0.53 [[ 9.99602237e-01 -2.09635455e-02 -1.88652551e-02 4.98674553e+01] [ 2.09753516e-02 9.99779901e-01 4.28137794e-04 -2.03272433e+00] [ 1.88521276e-02 -8.23672856e-04 9.99821944e-01 5.30893827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.290714056999995 meters Centerline goodness [0,1] 0.9889703394609225 Centerline is valid? [True, True] Translation: X:49.90, Y:-2.04, Z:0.53 [[ 9.99576142e-01 -2.19107819e-02 -1.91690825e-02 4.98980298e+01] [ 2.19231538e-02 9.99759564e-01 4.35482736e-04 -2.04253277e+00] [ 1.91549318e-02 -8.55544898e-04 9.99816161e-01 5.29626145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.320714056999996 meters Centerline goodness [0,1] 0.9894891500904159 Centerline is valid? [True, True] Translation: X:49.93, Y:-2.04, Z:0.53 [[ 9.99539510e-01 -2.33219501e-02 -1.94127664e-02 4.99289776e+01] [ 2.33349156e-02 9.99727606e-01 4.41601779e-04 -2.04324961e+00] [ 1.93971795e-02 -8.94393692e-04 9.99811457e-01 5.29675805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.350714057 meters Centerline goodness [0,1] 0.9901212898580076 Centerline is valid? [True, True] Translation: X:49.96, Y:-2.05, Z:0.53 [[ 9.99442507e-01 -2.63622067e-02 -2.04867932e-02 4.99599813e+01] [ 2.63772916e-02 9.99651950e-01 4.66401362e-04 -2.04675607e+00] [ 2.04673674e-02 -1.00652746e-03 9.99790015e-01 5.28518497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.380714057 meters Centerline goodness [0,1] 0.9906548369663124 Centerline is valid? [True, True] Translation: X:49.99, Y:-2.05, Z:0.53 [[ 9.99390459e-01 -2.78645018e-02 -2.10304751e-02 4.99915953e+01] [ 2.78807408e-02 9.99611142e-01 4.79298239e-04 -2.05040571e+00] [ 2.10089418e-02 -1.06535131e-03 9.99778720e-01 5.28032184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.410714057 meters Centerline goodness [0,1] 0.9902565256525653 Centerline is valid? [True, True] Translation: X:50.02, Y:-2.06, Z:0.53 [[ 9.99280065e-01 -3.04707698e-02 -2.26027238e-02 5.00214381e+01] [ 3.04902047e-02 9.99534933e-01 5.15639740e-04 -2.05685073e+00] [ 2.25765000e-02 -1.20443019e-03 9.99744393e-01 5.26908062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.440714056999994 meters Centerline goodness [0,1] 0.9902949700087614 Centerline is valid? [True, True] Translation: X:50.05, Y:-2.06, Z:0.53 [[ 9.99243396e-01 -3.12858910e-02 -2.31047214e-02 5.00528086e+01] [ 3.13064243e-02 9.99509695e-01 5.27441587e-04 -2.05949777e+00] [ 2.30768915e-02 -1.25036873e-03 9.99732911e-01 5.27037094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.470714056999995 meters Centerline goodness [0,1] 0.9901083372585964 Centerline is valid? [True, True] Translation: X:50.08, Y:-2.06, Z:0.53 [[ 9.99201837e-01 -3.22276629e-02 -2.36022607e-02 5.00844231e+01] [ 3.22493766e-02 9.99479708e-01 5.39831364e-04 -2.06215046e+00] [ 2.35725831e-02 -1.30055868e-03 9.99721282e-01 5.27358812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.500714056999996 meters Centerline goodness [0,1] 0.9907206096604281 Centerline is valid? [True, True] Translation: X:50.12, Y:-2.07, Z:0.53 [[ 9.99174146e-01 -3.33388588e-02 -2.32281514e-02 5.01150512e+01] [ 3.33602332e-02 9.99443250e-01 5.33195114e-04 -2.06638658e+00] [ 2.31974430e-02 -1.30765132e-03 9.99730048e-01 5.28535147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.530714057 meters Centerline goodness [0,1] 0.9904359929953751 Centerline is valid? [True, True] Translation: X:50.15, Y:-2.07, Z:0.53 [[ 9.99141288e-01 -3.51639378e-02 -2.19130817e-02 5.01455216e+01] [ 3.51834380e-02 9.99380744e-01 5.04871354e-04 -2.07165284e+00] [ 2.18817587e-02 -1.27541537e-03 9.99759752e-01 5.29756133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.560714057 meters Centerline goodness [0,1] 0.9894899605593402 Centerline is valid? [True, True] Translation: X:50.18, Y:-2.08, Z:0.53 [[ 9.99146389e-01 -3.57228776e-02 -2.07453358e-02 5.01762364e+01] [ 3.57404922e-02 9.99360990e-01 4.78828277e-04 -2.07548913e+00] [ 2.07149742e-02 -1.21986806e-03 9.99784678e-01 5.30354060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.590714057 meters Centerline goodness [0,1] 0.9900435036103512 Centerline is valid? [True, True] Translation: X:50.21, Y:-2.07, Z:0.53 [[ 9.99132248e-01 -3.65827906e-02 -1.99110547e-02 5.02084919e+01] [ 3.65992095e-02 9.99329918e-01 4.60718380e-04 -2.07160996e+00] [ 1.98808584e-02 -1.18904746e-03 9.99801649e-01 5.31893190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.620714057 meters Centerline goodness [0,1] 0.9896288331877338 Centerline is valid? [True, True] Translation: X:50.24, Y:-2.08, Z:0.53 [[ 9.99126657e-01 -3.70280920e-02 -1.93608734e-02 5.02391066e+01] [ 3.70437299e-02 9.99313544e-01 4.49576055e-04 -2.08111360e+00] [ 1.93309361e-02 -1.16638239e-03 9.99812460e-01 5.31846872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.650714056999995 meters Centerline goodness [0,1] 0.9895626131461904 Centerline is valid? [True, True] Translation: X:50.27, Y:-2.08, Z:0.53 [[ 9.99076707e-01 -3.85943890e-02 -1.88734250e-02 5.02715258e+01] [ 3.86095611e-02 9.99254276e-01 4.40034785e-04 -2.07782277e+00] [ 1.88423678e-02 -1.16832316e-03 9.99821784e-01 5.32805483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.680714056999996 meters Centerline goodness [0,1] 0.9897035881435258 Centerline is valid? [True, True] Translation: X:50.30, Y:-2.08, Z:0.53 [[ 9.98999037e-01 -4.00851040e-02 -1.98521655e-02 5.03020331e+01] [ 4.01022089e-02 9.99195475e-01 4.64104448e-04 -2.08225185e+00] [ 1.98175903e-02 -1.25975558e-03 9.99802819e-01 5.32088192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.710714057 meters Centerline goodness [0,1] 0.9894652263190786 Centerline is valid? [True, True] Translation: X:50.33, Y:-2.09, Z:0.53 [[ 9.98942471e-01 -4.09955159e-02 -2.08160275e-02 5.03329446e+01] [ 4.10145382e-02 9.99158431e-01 4.87544606e-04 -2.08541791e+00] [ 2.07785222e-02 -1.34078877e-03 9.99783204e-01 5.31427172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.740714057 meters Centerline goodness [0,1] 0.9889268412475164 Centerline is valid? [True, True] Translation: X:50.37, Y:-2.09, Z:0.53 [[ 9.98900595e-01 -4.17790587e-02 -2.12629107e-02 5.03655106e+01] [ 4.17991111e-02 9.99125910e-01 4.99315002e-04 -2.08554973e+00] [ 2.12234641e-02 -1.38753682e-03 9.99773794e-01 5.30998529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.770714057 meters Centerline goodness [0,1] 0.9879069974611376 Centerline is valid? [True, True] Translation: X:50.40, Y:-2.09, Z:0.53 [[ 9.98870529e-01 -4.22670487e-02 -2.17062837e-02 5.03968187e+01] [ 4.22881010e-02 9.99105327e-01 5.11569081e-04 -2.09177057e+00] [ 2.16652412e-02 -1.42890880e-03 9.99764260e-01 5.30634526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.800714057 meters Centerline goodness [0,1] 0.9895425129319032 Centerline is valid? [True, True] Translation: X:50.43, Y:-2.09, Z:0.53 [[ 9.98872875e-01 -4.20044589e-02 -2.21044143e-02 5.04292660e+01] [ 4.20262712e-02 9.99116369e-01 5.22966071e-04 -2.08970534e+00] [ 2.20629153e-02 -1.45134273e-03 9.99755531e-01 5.31293227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.830714056999994 meters Centerline goodness [0,1] 0.9886305255869017 Centerline is valid? [True, True] Translation: X:50.46, Y:-2.09, Z:0.53 [[ 9.98842517e-01 -4.28570827e-02 -2.18379682e-02 5.04608253e+01] [ 4.28786137e-02 9.99080155e-01 5.18437908e-04 -2.09120710e+00] [ 2.17956619e-02 -1.45421963e-03 9.99761389e-01 5.31677809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.860714056999996 meters Centerline goodness [0,1] 0.9885340068393643 Centerline is valid? [True, True] Translation: X:50.49, Y:-2.09, Z:0.53 [[ 9.98833700e-01 -4.31227778e-02 -2.17178551e-02 5.04933053e+01] [ 4.31441759e-02 9.99068723e-01 5.17469420e-04 -2.09284510e+00] [ 2.16753151e-02 -1.45386486e-03 9.99764006e-01 5.32154058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.890714057 meters Centerline goodness [0,1] 0.9879361958804342 Centerline is valid? [True, True] Translation: X:50.53, Y:-2.09, Z:0.53 [[ 9.98842264e-01 -4.29780381e-02 -2.16106486e-02 5.05255767e+01] [ 4.29992247e-02 9.99074972e-01 5.16443162e-04 -2.09034272e+00] [ 2.15684625e-02 -1.44508639e-03 9.99766329e-01 5.32987600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.920714057 meters Centerline goodness [0,1] 0.9885615794421811 Centerline is valid? [True, True] Translation: X:50.56, Y:-2.09, Z:0.53 [[ 9.98809567e-01 -4.38427105e-02 -2.13837756e-02 5.05570984e+01] [ 4.38636810e-02 9.99037394e-01 5.12400008e-04 -2.09236303e+00] [ 2.13407265e-02 -1.44976114e-03 9.99771210e-01 5.33063113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.950714057 meters Centerline goodness [0,1] 0.987316049217302 Centerline is valid? [True, True] Translation: X:50.59, Y:-2.10, Z:0.53 [[ 9.98794430e-01 -4.42492037e-02 -2.12530990e-02 5.05881200e+01] [ 4.42700342e-02 9.99019471e-01 5.10396678e-04 -2.09543188e+00] [ 2.12096750e-02 -1.45065678e-03 9.99773997e-01 5.32836066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.980714057 meters Centerline goodness [0,1] 0.9872704087339762 Centerline is valid? [True, True] Translation: X:50.62, Y:-2.09, Z:0.53 [[ 9.98709207e-01 -4.62843774e-02 -2.09207259e-02 5.06191846e+01] [ 4.63050228e-02 9.98927220e-01 5.03241051e-04 -2.09337125e+00] [ 2.08749904e-02 -1.47132616e-03 9.99781011e-01 5.34116802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.010714056999994 meters Centerline goodness [0,1] 0.9881275061042539 Centerline is valid? [True, True] Translation: X:50.65, Y:-2.09, Z:0.54 [[ 9.98672081e-01 -4.73296869e-02 -2.03463632e-02 5.06511348e+01] [ 4.73494447e-02 9.98878266e-01 4.90157882e-04 -2.09284245e+00] [ 2.03003410e-02 -1.45289599e-03 9.99792871e-01 5.35109416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.040714056999995 meters Centerline goodness [0,1] 0.9886009898551049 Centerline is valid? [True, True] Translation: X:50.68, Y:-2.09, Z:0.54 [[ 9.98622494e-01 -4.83722233e-02 -2.03283482e-02 5.06835069e+01] [ 4.83921904e-02 9.98828291e-01 4.91173607e-04 -2.09332543e+00] [ 2.02807701e-02 -1.47423031e-03 9.99793237e-01 5.36161381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.070714056999996 meters Centerline goodness [0,1] 0.9879110792719783 Centerline is valid? [True, True] Translation: X:50.71, Y:-2.10, Z:0.54 [[ 9.98484589e-01 -5.12184589e-02 -2.01294754e-02 5.07131315e+01] [ 5.12386397e-02 9.98686319e-01 4.87737071e-04 -2.09633259e+00] [ 2.00780505e-02 -1.51840489e-03 9.99797263e-01 5.36128012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.100714057 meters Centerline goodness [0,1] 0.9874447907091451 Centerline is valid? [True, True] Translation: X:50.74, Y:-2.10, Z:0.54 [[ 9.98385562e-01 -5.28508805e-02 -2.08099388e-02 5.07427474e+01] [ 5.28728194e-02 9.98601127e-01 5.05082817e-04 -2.09917025e+00] [ 2.07541343e-02 -1.60454753e-03 9.99783322e-01 5.35610280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.130714057 meters Centerline goodness [0,1] 0.988190740823735 Centerline is valid? [True, True] Translation: X:50.77, Y:-2.10, Z:0.53 [[ 9.98203668e-01 -5.57920038e-02 -2.18332059e-02 5.07735554e+01] [ 5.58168538e-02 9.98440884e-01 5.29958223e-04 -2.09715672e+00] [ 2.17695980e-02 -1.74766711e-03 9.99761487e-01 5.34606301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.160714057 meters Centerline goodness [0,1] 0.9874286733238231 Centerline is valid? [True, True] Translation: X:50.80, Y:-2.10, Z:0.53 [[ 9.98133832e-01 -5.67055276e-02 -2.26569420e-02 5.08044761e+01] [ 5.67325352e-02 9.98389261e-01 5.50516702e-04 -2.10212511e+00] [ 2.25892303e-02 -1.83487511e-03 9.99743147e-01 5.33571325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.190714056999994 meters Centerline goodness [0,1] 0.9879364082785838 Centerline is valid? [True, True] Translation: X:50.84, Y:-2.10, Z:0.53 [[ 9.98047064e-01 -5.78301627e-02 -2.36163085e-02 5.08367641e+01] [ 5.78598542e-02 9.98324550e-01 5.75298691e-04 -2.09961567e+00] [ 2.35434709e-02 -1.94061133e-03 9.99720931e-01 5.33347240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.220714056999995 meters Centerline goodness [0,1] 0.9871944382148464 Centerline is valid? [True, True] Translation: X:50.87, Y:-2.10, Z:0.53 [[ 9.97944634e-01 -5.92398609e-02 -2.44365739e-02 5.08666122e+01] [ 5.92721185e-02 9.98241684e-01 5.97223430e-04 -2.10207444e+00] [ 2.43582272e-02 -2.04440342e-03 9.99701204e-01 5.32307361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.250714056999996 meters Centerline goodness [0,1] 0.9883230983011341 Centerline is valid? [True, True] Translation: X:50.90, Y:-2.10, Z:0.53 [[ 9.97960143e-01 -5.91470620e-02 -2.40245105e-02 5.09000742e+01] [ 5.91782688e-02 9.98247256e-01 5.89448721e-04 -2.09767191e+00] [ 2.39475376e-02 -2.00997527e-03 9.99711196e-01 5.33508079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.280714057 meters Centerline goodness [0,1] 0.9880617664122818 Centerline is valid? [True, True] Translation: X:50.93, Y:-2.10, Z:0.53 [[ 9.97967279e-01 -5.92579057e-02 -2.34480426e-02 5.09318435e+01] [ 5.92877126e-02 9.98240769e-01 5.77437532e-04 -2.09741061e+00] [ 2.33725743e-02 -1.96644457e-03 9.99724890e-01 5.34539139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.310714057 meters Centerline goodness [0,1] 0.9879026807839604 Centerline is valid? [True, True] Translation: X:50.96, Y:-2.10, Z:0.54 [[ 9.98024771e-01 -5.85765037e-02 -2.27013142e-02 5.09642000e+01] [ 5.86043028e-02 9.98281133e-01 5.60644372e-04 -2.09587293e+00] [ 2.26294531e-02 -1.88993166e-03 9.99742135e-01 5.36023758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.340714057 meters Centerline goodness [0,1] 0.9886040523900146 Centerline is valid? [True, True] Translation: X:51.00, Y:-2.09, Z:0.54 [[ 9.98097677e-01 -5.75319350e-02 -2.21608578e-02 5.09959517e+01] [ 5.75582011e-02 9.98342002e-01 5.48700863e-04 -2.09424429e+00] [ 2.20925474e-02 -1.82319617e-03 9.99754267e-01 5.37186837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.370714057 meters Centerline goodness [0,1] 0.9877306148224999 Centerline is valid? [True, True] Translation: X:51.03, Y:-2.09, Z:0.54 [[ 9.98207633e-01 -5.56845923e-02 -2.19259449e-02 5.10279897e+01] [ 5.57098876e-02 9.98446850e-01 5.44070317e-04 -2.08678533e+00] [ 2.18615943e-02 -1.76458707e-03 9.99759450e-01 5.38301685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.400714056999995 meters Centerline goodness [0,1] 0.9868264280736461 Centerline is valid? [True, True] Translation: X:51.06, Y:-2.09, Z:0.54 [[ 9.98267890e-01 -5.46454899e-02 -2.17965494e-02 5.10590044e+01] [ 5.46702674e-02 9.98504315e-01 5.42060805e-04 -2.08708601e+00] [ 2.17343274e-02 -1.73274508e-03 9.99762280e-01 5.38224419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.430714056999996 meters Centerline goodness [0,1] 0.9884698860553446 Centerline is valid? [True, True] Translation: X:51.09, Y:-2.09, Z:0.54 [[ 9.98287532e-01 -5.40516739e-02 -2.23700631e-02 5.10899324e+01] [ 5.40776525e-02 9.98536578e-01 5.57568182e-04 -2.09264598e+00] [ 2.23071887e-02 -1.76633386e-03 9.99749603e-01 5.37491567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.460714057 meters Centerline goodness [0,1] 0.9887546384288171 Centerline is valid? [True, True] Translation: X:51.12, Y:-2.09, Z:0.54 [[ 9.98342456e-01 -5.23382398e-02 -2.39384665e-02 5.11203752e+01] [ 5.23675458e-02 9.98627699e-01 5.98546827e-04 -2.09095589e+00] [ 2.38742888e-02 -1.85115345e-03 9.99713255e-01 5.36441936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.490714057 meters Centerline goodness [0,1] 0.9896116241173275 Centerline is valid? [True, True] Translation: X:51.15, Y:-2.08, Z:0.54 [[ 9.98344773e-01 -5.19071020e-02 -2.47662574e-02 5.11531341e+01] [ 5.19383948e-02 9.98650097e-01 6.21508764e-04 -2.08338640e+00] [ 2.47005646e-02 -1.90679968e-03 9.99693076e-01 5.37511313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.520714057 meters Centerline goodness [0,1] 0.989389439318022 Centerline is valid? [True, True] Translation: X:51.19, Y:-2.08, Z:0.54 [[ 9.98367539e-01 -5.12684538e-02 -2.51754347e-02 5.11852711e+01] [ 5.13006336e-02 9.98683055e-01 6.33605999e-04 -2.08325912e+00] [ 2.51097960e-02 -1.92408741e-03 9.99682848e-01 5.37644893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.550714057 meters Centerline goodness [0,1] 0.9897679683078664 Centerline is valid? [True, True] Translation: X:51.22, Y:-2.08, Z:0.54 [[ 9.98421778e-01 -4.97918255e-02 -2.59755189e-02 5.12155506e+01] [ 4.98256186e-02 9.98757718e-01 6.54951894e-04 -2.08124310e+00] [ 2.59106387e-02 -1.94816453e-03 9.99662365e-01 5.38200533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.580714056999994 meters Centerline goodness [0,1] 0.9897646551528493 Centerline is valid? [True, True] Translation: X:51.25, Y:-2.08, Z:0.54 [[ 9.98448359e-01 -4.92030380e-02 -2.60755603e-02 5.12480867e+01] [ 4.92369229e-02 9.98786910e-01 6.58646003e-04 -2.07726062e+00] [ 2.60115209e-02 -1.94150437e-03 9.99659758e-01 5.39022648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.610714056999996 meters Centerline goodness [0,1] 0.9893384860195499 Centerline is valid? [True, True] Translation: X:51.28, Y:-2.08, Z:0.54 [[ 9.98508323e-01 -4.83190199e-02 -2.54244192e-02 5.12793759e+01] [ 4.83510165e-02 9.98830197e-01 6.44902283e-04 -2.07700845e+00] [ 2.53635166e-02 -1.87323681e-03 9.99676539e-01 5.40107856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.640714057 meters Centerline goodness [0,1] 0.9895733951206215 Centerline is valid? [True, True] Translation: X:51.31, Y:-2.08, Z:0.54 [[ 9.98525271e-01 -4.81423383e-02 -2.50917847e-02 5.13110568e+01] [ 4.81735160e-02 9.98838778e-01 6.39203021e-04 -2.07898837e+00] [ 2.50318748e-02 -1.84701986e-03 9.99684947e-01 5.40560297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.670714057 meters Centerline goodness [0,1] 0.9893650865791028 Centerline is valid? [True, True] Translation: X:51.34, Y:-2.08, Z:0.54 [[ 9.98537717e-01 -4.81486403e-02 -2.45791922e-02 5.13429006e+01] [ 4.81786012e-02 9.98838540e-01 6.27880958e-04 -2.07892283e+00] [ 2.45204129e-02 -1.81115392e-03 9.99697689e-01 5.41486736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.700714057 meters Centerline goodness [0,1] 0.9896904875445648 Centerline is valid? [True, True] Translation: X:51.37, Y:-2.08, Z:0.54 [[ 9.98536858e-01 -4.84812372e-02 -2.39523176e-02 5.13749749e+01] [ 4.85098241e-02 9.98822517e-01 6.13549604e-04 -2.08000425e+00] [ 2.38943685e-02 -1.77457461e-03 9.99712914e-01 5.42885960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.730714057 meters Centerline goodness [0,1] 0.9898263422627853 Centerline is valid? [True, True] Translation: X:51.40, Y:-2.08, Z:0.54 [[ 9.98456953e-01 -5.05087469e-02 -2.30776925e-02 5.14046871e+01] [ 5.05358427e-02 9.98722072e-01 5.92051249e-04 -2.08342776e+00] [ 2.30182971e-02 -1.75738832e-03 9.99733499e-01 5.44182537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.760714056999994 meters Centerline goodness [0,1] 0.9886216234667637 Centerline is valid? [True, True] Translation: X:51.44, Y:-2.09, Z:0.54 [[ 9.98305065e-01 -5.36527564e-02 -2.25472463e-02 5.14353340e+01] [ 5.36794184e-02 9.98558053e-01 5.78486337e-04 -2.08634534e+00] [ 2.24836969e-02 -1.78782891e-03 9.99745611e-01 5.44213350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.790714056999995 meters Centerline goodness [0,1] 0.9880510731274325 Centerline is valid? [True, True] Translation: X:51.47, Y:-2.09, Z:0.54 [[ 9.98217917e-01 -5.52062372e-02 -2.26552657e-02 5.14668161e+01] [ 5.52335616e-02 9.98473292e-01 5.81649596e-04 -2.08935079e+00] [ 2.25885670e-02 -1.83194406e-03 9.99743167e-01 5.44199669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.820714056999996 meters Centerline goodness [0,1] 0.9883834373227454 Centerline is valid? [True, True] Translation: X:51.50, Y:-2.09, Z:0.54 [[ 9.98135861e-01 -5.65293070e-02 -2.30052264e-02 5.14988294e+01] [ 5.65578579e-02 9.98399148e-01 5.91789688e-04 -2.09123353e+00] [ 2.29349449e-02 -1.89181283e-03 9.99735170e-01 5.44164055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.850714057 meters Centerline goodness [0,1] 0.9879775459648644 Centerline is valid? [True, True] Translation: X:51.53, Y:-2.09, Z:0.54 [[ 9.98034114e-01 -5.80980909e-02 -2.35057343e-02 5.15302094e+01] [ 5.81283609e-02 9.98308933e-01 6.05979798e-04 -2.09293700e+00] [ 2.34307783e-02 -1.97113832e-03 9.99723518e-01 5.44025601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.880714057 meters Centerline goodness [0,1] 0.9870323850906375 Centerline is valid? [True, True] Translation: X:51.56, Y:-2.10, Z:0.54 [[ 9.97895132e-01 -6.00942977e-02 -2.43717191e-02 5.15605624e+01] [ 6.01274476e-02 9.98190510e-01 6.28991542e-04 -2.09786227e+00] [ 2.42898200e-02 -2.09307686e-03 9.99702768e-01 5.44132760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.910714057 meters Centerline goodness [0,1] 0.9884393063583815 Centerline is valid? [True, True] Translation: X:51.59, Y:-2.10, Z:0.55 [[ 9.97849570e-01 -6.08501190e-02 -2.43618093e-02 5.15929163e+01] [ 6.08834905e-02 9.98144681e-01 6.29764292e-04 -2.09667684e+00] [ 2.42782892e-02 -2.11164202e-03 9.99703009e-01 5.45054133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.940714056999994 meters Centerline goodness [0,1] 0.9881472381472381 Centerline is valid? [True, True] Translation: X:51.62, Y:-2.10, Z:0.55 [[ 9.97808804e-01 -6.17122927e-02 -2.38575650e-02 5.16246053e+01] [ 6.17445767e-02 9.98091792e-01 6.18227548e-04 -2.09978947e+00] [ 2.37738876e-02 -2.08994814e-03 9.99715177e-01 5.45559622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.970714056999995 meters Centerline goodness [0,1] 0.9874656554417676 Centerline is valid? [True, True] Translation: X:51.66, Y:-2.10, Z:0.55 [[ 9.97827416e-01 -6.16400145e-02 -2.32584839e-02 5.16580184e+01] [ 6.16707186e-02 9.98096367e-01 6.04478450e-04 -2.10089955e+00] [ 2.31769482e-02 -2.03753258e-03 9.99729302e-01 5.46057758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.000714056999996 meters Centerline goodness [0,1] 0.9876618811095235 Centerline is valid? [True, True] Translation: X:51.69, Y:-2.10, Z:0.55 [[ 9.97855841e-01 -6.14092927e-02 -2.26411049e-02 5.16904656e+01] [ 6.14383754e-02 9.98110704e-01 5.90493726e-04 -2.10280591e+00] [ 2.25620674e-02 -1.98026032e-03 9.99743483e-01 5.46583783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.030714057 meters Centerline goodness [0,1] 0.9875139049694658 Centerline is valid? [True, True] Translation: X:51.72, Y:-2.10, Z:0.55 [[ 9.97959850e-01 -6.03587858e-02 -2.08075687e-02 5.17215331e+01] [ 6.03831446e-02 9.98175125e-01 5.43810461e-04 -2.10257282e+00] [ 2.07367738e-02 -1.79912744e-03 9.99783351e-01 5.48333769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.060714057 meters Centerline goodness [0,1] 0.98712767889575 Centerline is valid? [True, True] Translation: X:51.75, Y:-2.10, Z:0.55 [[ 9.98053988e-01 -5.90741570e-02 -1.99619838e-02 5.17535418e+01] [ 5.90963369e-02 9.98252147e-01 5.22525197e-04 -2.10352827e+00] [ 1.98962255e-02 -1.70118848e-03 9.99800603e-01 5.49318611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.090714057 meters Centerline goodness [0,1] 0.9870652421004774 Centerline is valid? [True, True] Translation: X:51.78, Y:-2.10, Z:0.55 [[ 9.98228054e-01 -5.62348996e-02 -1.94521946e-02 5.17843987e+01] [ 5.62554408e-02 9.98416279e-01 5.09970780e-04 -2.10203592e+00] [ 1.93927096e-02 -1.60335892e-03 9.99810658e-01 5.50524229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.120714057 meters Centerline goodness [0,1] 0.9886165219165968 Centerline is valid? [True, True] Translation: X:51.82, Y:-2.10, Z:0.55 [[ 9.98307933e-01 -5.46292312e-02 -1.99228169e-02 5.18164480e+01] [ 5.46504727e-02 9.98505409e-01 5.22897487e-04 -2.09695401e+00] [ 1.98644750e-02 -1.61080407e-03 9.99801384e-01 5.51303204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.150714056999995 meters Centerline goodness [0,1] 0.9886165219165968 Centerline is valid? [True, True] Translation: X:51.85, Y:-2.10, Z:0.55 [[ 9.98313961e-01 -5.45189627e-02 -1.99227783e-02 5.18490875e+01] [ 5.45402115e-02 9.98511437e-01 5.24365445e-04 -2.09789935e+00] [ 1.98645341e-02 -1.61007389e-03 9.99801384e-01 5.51735982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.180714056999996 meters Centerline goodness [0,1] 0.9877854969804295 Centerline is valid? [True, True] Translation: X:51.88, Y:-2.10, Z:0.55 [[ 9.98367932e-01 -5.33474391e-02 -2.03843907e-02 5.18795780e+01] [ 5.33694747e-02 9.98574689e-01 5.38143464e-04 -2.10457592e+00] [ 2.03266281e-02 -1.62516940e-03 9.99792072e-01 5.51008347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.210714057 meters Centerline goodness [0,1] 0.9881022526401668 Centerline is valid? [True, True] Translation: X:51.91, Y:-2.10, Z:0.55 [[ 9.98487621e-01 -5.07896293e-02 -2.10448190e-02 5.19109036e+01] [ 5.08125607e-02 9.98708053e-01 5.56002701e-04 -2.10362571e+00] [ 2.09893910e-02 -1.62450296e-03 9.99778379e-01 5.50624754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.240714057 meters Centerline goodness [0,1] 0.9871529593669706 Centerline is valid? [True, True] Translation: X:51.94, Y:-2.11, Z:0.55 [[ 9.98535240e-01 -4.96826412e-02 -2.14245324e-02 5.19418055e+01] [ 4.97061701e-02 9.98763724e-01 5.66769383e-04 -2.10748556e+00] [ 2.13698872e-02 -1.63087065e-03 9.99770308e-01 5.50398874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.270714057 meters Centerline goodness [0,1] 0.9893730799863466 Centerline is valid? [True, True] Translation: X:51.97, Y:-2.10, Z:0.55 [[ 9.98663952e-01 -4.68940530e-02 -2.17084784e-02 5.19730756e+01] [ 4.69175735e-02 9.98898599e-01 5.75143505e-04 -2.09872759e+00] [ 2.16575978e-02 -1.59288422e-03 9.99764178e-01 5.50905683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.300714057 meters Centerline goodness [0,1] 0.9883118064398763 Centerline is valid? [True, True] Translation: X:52.00, Y:-2.10, Z:0.55 [[ 9.98751124e-01 -4.49123522e-02 -2.18877476e-02 5.20031638e+01] [ 4.49357982e-02 9.98989708e-01 5.80297229e-04 -2.10171598e+00] [ 2.18395721e-02 -1.56311592e-03 9.99760266e-01 5.50752446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.330714056999994 meters Centerline goodness [0,1] 0.9894335857784228 Centerline is valid? [True, True] Translation: X:52.03, Y:-2.10, Z:0.55 [[ 9.98839326e-01 -4.29018449e-02 -2.18959443e-02 5.20343609e+01] [ 4.29248401e-02 9.99078135e-01 5.81070323e-04 -2.10166237e+00] [ 2.18508302e-02 -1.52027580e-03 9.99760086e-01 5.50842908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.360714056999996 meters Centerline goodness [0,1] 0.9903714832013111 Centerline is valid? [True, True] Translation: X:52.06, Y:-2.10, Z:0.55 [[ 9.99044660e-01 -3.79861891e-02 -2.16059288e-02 5.20647263e+01] [ 3.80074445e-02 9.99277291e-01 5.73841973e-04 -2.09852691e+00] [ 2.15685160e-02 -1.39447990e-03 9.99766400e-01 5.51843951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.390714057 meters Centerline goodness [0,1] 0.9900243696904821 Centerline is valid? [True, True] Translation: X:52.10, Y:-2.10, Z:0.55 [[ 9.99137085e-01 -3.55386765e-02 -2.14962355e-02 5.20959317e+01] [ 3.55591588e-02 9.99367410e-01 5.71224785e-04 -2.09823395e+00] [ 2.14623366e-02 -1.33511992e-03 9.99768766e-01 5.52571485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.420714057 meters Centerline goodness [0,1] 0.9904242949317161 Centerline is valid? [True, True] Translation: X:52.13, Y:-2.09, Z:0.55 [[ 9.99227474e-01 -3.30611923e-02 -2.12464728e-02 5.21276011e+01] [ 3.30806629e-02 9.99452525e-01 5.65513174e-04 -2.09443292e+00] [ 2.12161444e-02 -1.26792371e-03 9.99774108e-01 5.53613710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.450714057 meters Centerline goodness [0,1] 0.990994669388681 Centerline is valid? [True, True] Translation: X:52.16, Y:-2.09, Z:0.55 [[ 9.99367788e-01 -2.87577156e-02 -2.09049928e-02 5.21579598e+01] [ 2.87756414e-02 9.99585740e-01 5.57121982e-04 -2.09386581e+00] [ 2.08803111e-02 -1.15832434e-03 9.99781312e-01 5.53986019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.480714057 meters Centerline goodness [0,1] 0.989973459156591 Centerline is valid? [True, True] Translation: X:52.19, Y:-2.10, Z:0.55 [[ 9.99404988e-01 -2.72858567e-02 -2.10986155e-02 5.21883946e+01] [ 2.73037910e-02 9.99627024e-01 5.62367619e-04 -2.09782532e+00] [ 2.10754016e-02 -1.13810519e-03 9.99777241e-01 5.53662754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.510714056999994 meters Centerline goodness [0,1] 0.9899125298193797 Centerline is valid? [True, True] Translation: X:52.22, Y:-2.10, Z:0.55 [[ 9.99424223e-01 -2.61261068e-02 -2.16482926e-02 5.22194238e+01] [ 2.61447286e-02 9.99658001e-01 5.77567107e-04 -2.09661165e+00] [ 2.16257994e-02 -1.14322329e-03 9.99765481e-01 5.54068057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.540714056999995 meters Centerline goodness [0,1] 0.9903619375907112 Centerline is valid? [True, True] Translation: X:52.25, Y:-2.10, Z:0.55 [[ 9.99476722e-01 -2.40611147e-02 -2.16181623e-02 5.22504725e+01] [ 2.40792198e-02 9.99709887e-01 5.77541640e-04 -2.09757378e+00] [ 2.15979943e-02 -1.09778791e-03 9.99766133e-01 5.53865850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.570714056999996 meters Centerline goodness [0,1] 0.9908261047277351 Centerline is valid? [True, True] Translation: X:52.28, Y:-2.10, Z:0.55 [[ 9.99482139e-01 -2.34837332e-02 -2.19992767e-02 5.22816048e+01] [ 2.35023607e-02 9.99723608e-01 5.88532073e-04 -2.09688799e+00] [ 2.19793753e-02 -1.10526223e-03 9.99757813e-01 5.54089471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.600714057 meters Centerline goodness [0,1] 0.9906516670816451 Centerline is valid? [True, True] Translation: X:52.31, Y:-2.10, Z:0.55 [[ 9.99517763e-01 -2.21657511e-02 -2.17467441e-02 5.23117087e+01] [ 2.21836668e-02 9.99753742e-01 5.82907021e-04 -2.10018463e+00] [ 2.17284682e-02 -1.06504845e-03 9.99763342e-01 5.53879215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.630714057 meters Centerline goodness [0,1] 0.9906482945561328 Centerline is valid? [True, True] Translation: X:52.34, Y:-2.10, Z:0.55 [[ 9.99541166e-01 -2.14419180e-02 -2.13939717e-02 5.23427189e+01] [ 2.14591115e-02 9.99769562e-01 5.74386306e-04 -2.10098510e+00] [ 2.13767258e-02 -1.03321838e-03 9.99770958e-01 5.54296191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.660714057 meters Centerline goodness [0,1] 0.9907771599077716 Centerline is valid? [True, True] Translation: X:52.37, Y:-2.10, Z:0.55 [[ 9.99551698e-01 -2.10053865e-02 -2.13348941e-02 5.23734340e+01] [ 2.10223837e-02 9.99778841e-01 5.72694720e-04 -2.10181465e+00] [ 2.13181460e-02 -1.02094831e-03 9.99772221e-01 5.54902602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.690714056999994 meters Centerline goodness [0,1] 0.9913689599710034 Centerline is valid? [True, True] Translation: X:52.40, Y:-2.10, Z:0.56 [[ 9.99577306e-01 -2.04445613e-02 -2.06695069e-02 5.24041496e+01] [ 2.04603950e-02 9.99790510e-01 5.54833664e-04 -2.10263901e+00] [ 2.06538335e-02 -9.77505415e-04 9.99786209e-01 5.55477848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.720714056999995 meters Centerline goodness [0,1] 0.9913707193332125 Centerline is valid? [True, True] Translation: X:52.43, Y:-2.10, Z:0.56 [[ 9.99580073e-01 -2.05745057e-02 -2.04050674e-02 5.24346375e+01] [ 2.05899638e-02 9.99787854e-01 5.47735288e-04 -2.10445303e+00] [ 2.03894691e-02 -9.67644878e-04 9.99791645e-01 5.55514588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.750714056999996 meters Centerline goodness [0,1] 0.9899516864381791 Centerline is valid? [True, True] Translation: X:52.47, Y:-2.11, Z:0.56 [[ 9.99592884e-01 -2.02572118e-02 -2.00925828e-02 5.24652848e+01] [ 2.02721359e-02 9.99794354e-01 5.39347232e-04 -2.10679187e+00] [ 2.00775251e-02 -9.46447224e-04 9.99797978e-01 5.55167834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.780714057 meters Centerline goodness [0,1] 0.9902668688743521 Centerline is valid? [True, True] Translation: X:52.50, Y:-2.11, Z:0.56 [[ 9.99574615e-01 -2.04146689e-02 -2.08285885e-02 5.24956881e+01] [ 2.04307409e-02 9.99791114e-01 5.59103910e-04 -2.10928246e+00] [ 2.08128238e-02 -9.84409571e-04 9.99782905e-01 5.55157829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.810714057 meters Centerline goodness [0,1] 0.9910659622230789 Centerline is valid? [True, True] Translation: X:52.53, Y:-2.11, Z:0.56 [[ 9.99579637e-01 -2.03213988e-02 -2.06782374e-02 5.25266240e+01] [ 2.03372195e-02 9.99793023e-01 5.55068019e-04 -2.11010760e+00] [ 2.06626777e-02 -9.75372543e-04 9.99786028e-01 5.55378841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.840714057 meters Centerline goodness [0,1] 0.9897019215535386 Centerline is valid? [True, True] Translation: X:52.56, Y:-2.12, Z:0.55 [[ 9.99566175e-01 -2.01545636e-02 -2.14768622e-02 5.25558348e+01] [ 2.01715888e-02 9.99796367e-01 5.76360722e-04 -2.11533188e+00] [ 2.14608725e-02 -1.00933312e-03 9.99769179e-01 5.54279571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.870714057 meters Centerline goodness [0,1] 0.9907249926298841 Centerline is valid? [True, True] Translation: X:52.59, Y:-2.11, Z:0.55 [[ 9.99574476e-01 -2.00205650e-02 -2.12142165e-02 5.25852079e+01] [ 2.00371352e-02 9.99799075e-01 5.68794535e-04 -2.11150526e+00] [ 2.11985665e-02 -9.93624624e-04 9.99774791e-01 5.54896000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.900714056999995 meters Centerline goodness [0,1] 0.9907306681171245 Centerline is valid? [True, True] Translation: X:52.62, Y:-2.11, Z:0.56 [[ 9.99572817e-01 -1.97072373e-02 -2.15826053e-02 5.26151951e+01] [ 1.97242983e-02 9.99805290e-01 5.77884403e-04 -2.11209367e+00] [ 2.15670144e-02 -1.00333928e-03 9.99766901e-01 5.55349176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.930714056999996 meters Centerline goodness [0,1] 0.9900237529691212 Centerline is valid? [True, True] Translation: X:52.65, Y:-2.11, Z:0.56 [[ 9.99609807e-01 -1.86254043e-02 -2.08165300e-02 5.26452098e+01] [ 1.86410259e-02 9.99826086e-01 5.56638416e-04 -2.11212098e+00] [ 2.08025421e-02 -9.44462694e-04 9.99783158e-01 5.56085569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.960714057 meters Centerline goodness [0,1] 0.9890580936266216 Centerline is valid? [True, True] Translation: X:52.67, Y:-2.12, Z:0.56 [[ 9.99627998e-01 -1.79966598e-02 -2.04935445e-02 5.26736477e+01] [ 1.80116510e-02 9.99837627e-01 5.47145606e-04 -2.11848657e+00] [ 2.04803701e-02 -9.16064637e-04 9.99789836e-01 5.55765614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.990714057 meters Centerline goodness [0,1] 0.9893563907044299 Centerline is valid? [True, True] Translation: X:52.70, Y:-2.12, Z:0.56 [[ 9.99664107e-01 -1.68235430e-02 -1.97140182e-02 5.27024876e+01] [ 1.68371677e-02 9.99858107e-01 5.25330199e-04 -2.11824530e+00] [ 1.97023830e-02 -8.57081973e-04 9.99805522e-01 5.57214791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.020714057 meters Centerline goodness [0,1] 0.9891722919403797 Centerline is valid? [True, True] Translation: X:52.73, Y:-2.12, Z:0.56 [[ 9.99689315e-01 -1.61991458e-02 -1.89436424e-02 5.27321914e+01] [ 1.62115988e-02 9.99868456e-01 5.03980125e-04 -2.11844383e+00] [ 1.89329864e-02 -8.10930276e-04 9.99820426e-01 5.57910573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.050714057 meters Centerline goodness [0,1] 0.9886438037613167 Centerline is valid? [True, True] Translation: X:52.76, Y:-2.12, Z:0.56 [[ 9.99712472e-01 -1.56316114e-02 -1.81831376e-02 5.27613610e+01] [ 1.56429802e-02 9.99877524e-01 4.83167397e-04 -2.11932627e+00] [ 1.81733579e-02 -7.67466933e-04 9.99834556e-01 5.58694266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.080714056999994 meters Centerline goodness [0,1] 0.9894457306278088 Centerline is valid? [True, True] Translation: X:52.79, Y:-2.11, Z:0.56 [[ 9.99736212e-01 -1.45394323e-02 -1.77795225e-02 5.27911490e+01] [ 1.45501192e-02 9.99894030e-01 4.71862270e-04 -2.11463009e+00] [ 1.77707778e-02 -7.30431970e-04 9.99841820e-01 5.59205806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.110714056999996 meters Centerline goodness [0,1] 0.9901536929310306 Centerline is valid? [True, True] Translation: X:52.82, Y:-2.12, Z:0.56 [[ 9.99750314e-01 -1.39111817e-02 -1.74867951e-02 5.28195161e+01] [ 1.39214119e-02 9.99902985e-01 4.63424662e-04 -2.11540055e+00] [ 1.74786519e-02 -7.06749830e-04 9.99846987e-01 5.59239958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.140714057 meters Centerline goodness [0,1] 0.9906013757406524 Centerline is valid? [True, True] Translation: X:52.85, Y:-2.11, Z:0.56 [[ 9.99742343e-01 -1.30418224e-02 -1.85784326e-02 5.28493027e+01] [ 1.30532031e-02 9.99914683e-01 4.91441110e-04 -2.11250010e+00] [ 1.85704383e-02 -7.33822542e-04 9.99827285e-01 5.59209190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.170714057 meters Centerline goodness [0,1] 0.9895480675285724 Centerline is valid? [True, True] Translation: X:52.88, Y:-2.12, Z:0.56 [[ 9.99734592e-01 -1.26431783e-02 -1.92586738e-02 5.28768129e+01] [ 1.26553145e-02 9.99919789e-01 5.08420218e-04 -2.11626570e+00] [ 1.92507010e-02 -7.52009852e-04 9.99814405e-01 5.58988852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.200714057 meters Centerline goodness [0,1] 0.9905716103235187 Centerline is valid? [True, True] Translation: X:52.90, Y:-2.11, Z:0.56 [[ 9.99723248e-01 -1.25980910e-02 -1.98674692e-02 5.29044501e+01] [ 1.26109360e-02 9.99920343e-01 5.21378951e-04 -2.11145019e+00] [ 1.98593182e-02 -7.71782041e-04 9.99802486e-01 5.60128662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.230714057 meters Centerline goodness [0,1] 0.9898726129112831 Centerline is valid? [True, True] Translation: X:52.93, Y:-2.12, Z:0.56 [[ 9.99729627e-01 -1.16159081e-02 -2.01430923e-02 5.29323642e+01] [ 1.16288225e-02 9.99932246e-01 5.24114081e-04 -2.11774780e+00] [ 2.01356394e-02 -7.58212818e-04 9.99796970e-01 5.59175400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.260714056999994 meters Centerline goodness [0,1] 0.9906803355079217 Centerline is valid? [True, True] Translation: X:52.96, Y:-2.11, Z:0.56 [[ 9.99739020e-01 -1.12139874e-02 -1.99032054e-02 5.29608896e+01] [ 1.12264601e-02 9.99936849e-01 5.15047123e-04 -2.11357703e+00] [ 1.98961728e-02 -7.38355249e-04 9.99801779e-01 5.60290472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.290714056999995 meters Centerline goodness [0,1] 0.9908556647228336 Centerline is valid? [True, True] Translation: X:52.99, Y:-2.11, Z:0.56 [[ 9.99743439e-01 -1.10218237e-02 -1.97882826e-02 5.29899703e+01] [ 1.10340176e-02 9.99938995e-01 5.07141092e-04 -2.11333911e+00] [ 1.97814858e-02 -7.25355238e-04 9.99804064e-01 5.61017045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.320714056999996 meters Centerline goodness [0,1] 0.9902243189911316 Centerline is valid? [True, True] Translation: X:53.02, Y:-2.12, Z:0.56 [[ 9.99750704e-01 -9.34410641e-03 -2.02785112e-02 5.30175969e+01] [ 9.35648518e-03 9.99956094e-01 5.15644063e-04 -2.11758506e+00] [ 2.02728026e-02 -7.05251104e-04 9.99794237e-01 5.60372509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.350714057 meters Centerline goodness [0,1] 0.9902961161738972 Centerline is valid? [True, True] Translation: X:53.05, Y:-2.12, Z:0.56 [[ 9.99762168e-01 -8.10432744e-03 -2.02466838e-02 5.30467708e+01] [ 8.11635867e-03 9.99966931e-01 5.12128637e-04 -2.11803000e+00] [ 2.02418638e-02 -6.76336184e-04 9.99794884e-01 5.60775340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.380714057 meters Centerline goodness [0,1] 0.9910300663093833 Centerline is valid? [True, True] Translation: X:53.08, Y:-2.11, Z:0.56 [[ 9.99787887e-01 -5.11777707e-03 -1.99496942e-02 5.30754060e+01] [ 5.12879784e-03 9.99986722e-01 5.01302649e-04 -2.11431122e+00] [ 1.99468637e-02 -6.03514264e-04 9.99800859e-01 5.62586010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.410714057 meters Centerline goodness [0,1] 0.9910793326523664 Centerline is valid? [True, True] Translation: X:53.10, Y:-2.11, Z:0.56 [[ 9.99802329e-01 -3.44126500e-03 -1.95821287e-02 5.31045536e+01] [ 3.45151591e-03 9.99993924e-01 4.89709394e-04 -2.11419881e+00] [ 1.95803245e-02 -5.57200621e-04 9.99808132e-01 5.63312889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.440714056999994 meters Centerline goodness [0,1] 0.9913094778879535 Centerline is valid? [True, True] Translation: X:53.13, Y:-2.12, Z:0.56 [[ 9.99811443e-01 -1.90970520e-03 -1.93243635e-02 5.31319860e+01] [ 1.91932992e-03 9.99998043e-01 4.79527178e-04 -2.11511021e+00] [ 1.93234099e-02 -5.16526589e-04 9.99813152e-01 5.63848704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.470714056999995 meters Centerline goodness [0,1] 0.9912892379211518 Centerline is valid? [True, True] Translation: X:53.16, Y:-2.11, Z:0.57 [[ 9.99825017e-01 2.07513838e-04 -1.87054037e-02 5.31604987e+01] [-1.98921112e-04 9.99999874e-01 4.61230780e-04 -2.11419588e+00] [ 1.87054971e-02 -4.57429173e-04 9.99824932e-01 5.65083963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.500714056999996 meters Centerline goodness [0,1] 0.9922619182297441 Centerline is valid? [True, True] Translation: X:53.19, Y:-2.11, Z:0.57 [[ 9.99813725e-01 5.96103127e-04 -1.92914549e-02 5.31887838e+01] [-5.87131096e-04 9.99999717e-01 4.70738471e-04 -2.11442414e+00] [ 1.92917300e-02 -4.59324171e-04 9.99813792e-01 5.65537344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.530714057 meters Centerline goodness [0,1] 0.9922792125699837 Centerline is valid? [True, True] Translation: X:53.22, Y:-2.12, Z:0.56 [[ 9.99787579e-01 5.75304147e-04 -2.06025468e-02 5.32166248e+01] [-5.65161310e-04 9.99999716e-01 4.98128952e-04 -2.11828030e+00] [ 2.06028275e-02 -4.86379376e-04 9.99787621e-01 5.63866025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.560714057 meters Centerline goodness [0,1] 0.9921740703881299 Centerline is valid? [True, True] Translation: X:53.25, Y:-2.12, Z:0.56 [[ 9.99771056e-01 3.28507409e-04 -2.13945939e-02 5.32454223e+01] [-3.17565911e-04 9.99999817e-01 5.14809612e-04 -2.11920035e+00] [ 2.13947591e-02 -5.07897556e-04 9.99770977e-01 5.63523641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.590714057 meters Centerline goodness [0,1] 0.9910285598358993 Centerline is valid? [True, True] Translation: X:53.27, Y:-2.13, Z:0.56 [[ 9.99760696e-01 -3.22492354e-04 -2.18734463e-02 5.32727053e+01] [ 3.34046605e-04 9.99999807e-01 5.24580095e-04 -2.12720747e+00] [ 2.18732729e-02 -5.31761311e-04 9.99760610e-01 5.60944814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.620714056999994 meters Centerline goodness [0,1] 0.9920129958034385 Centerline is valid? [True, True] Translation: X:53.30, Y:-2.13, Z:0.56 [[ 9.99748406e-01 -1.46643104e-03 -2.23824377e-02 5.33018659e+01] [ 1.47877389e-03 9.99998764e-01 5.34911344e-04 -2.12542691e+00] [ 2.23816256e-02 -5.67875328e-04 9.99749339e-01 5.62591099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.650714056999995 meters Centerline goodness [0,1] 0.9910153347294467 Centerline is valid? [True, True] Translation: X:53.33, Y:-2.13, Z:0.56 [[ 9.99739793e-01 -2.37294645e-03 -2.26873514e-02 5.33296188e+01] [ 2.38581999e-03 9.99997008e-01 5.40381962e-04 -2.12768657e+00] [ 2.26860013e-02 -5.94369287e-04 9.99742463e-01 5.62953531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.680714056999996 meters Centerline goodness [0,1] 0.9913641488162345 Centerline is valid? [True, True] Translation: X:53.36, Y:-2.13, Z:0.56 [[ 9.99741770e-01 -3.21530724e-03 -2.24956810e-02 5.33582532e+01] [ 3.22813592e-03 9.99994647e-01 5.33981946e-04 -2.12949936e+00] [ 2.24938436e-02 -6.06463172e-04 9.99746798e-01 5.63119303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.710714057 meters Centerline goodness [0,1] 0.9919514834520696 Centerline is valid? [True, True] Translation: X:53.39, Y:-2.13, Z:0.56 [[ 9.99733036e-01 -5.55382666e-03 -2.24279135e-02 5.33864239e+01] [ 5.56712686e-03 9.99984363e-01 5.30625753e-04 -2.13306832e+00] [ 2.24246157e-02 -6.55343135e-04 9.99748322e-01 5.63877502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.740714057 meters Centerline goodness [0,1] 0.9913343714034256 Centerline is valid? [True, True] Translation: X:53.41, Y:-2.14, Z:0.56 [[ 9.99717146e-01 -6.92918388e-03 -2.27511584e-02 5.34146101e+01] [ 6.94317045e-03 9.99975752e-01 5.35826809e-04 -2.13502312e+00] [ 2.27468939e-02 -6.93640419e-04 9.99741015e-01 5.64695385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.770714057 meters Centerline goodness [0,1] 0.9918101023737204 Centerline is valid? [True, True] Translation: X:53.44, Y:-2.14, Z:0.56 [[ 9.99679032e-01 -1.07872727e-02 -2.29230982e-02 5.34433363e+01] [ 1.08024323e-02 9.99941508e-01 5.37592443e-04 -2.14033915e+00] [ 2.29159582e-02 -7.85045109e-04 9.99737087e-01 5.64472591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.800714057 meters Centerline goodness [0,1] 0.992 Centerline is valid? [True, True] Translation: X:53.47, Y:-2.14, Z:0.56 [[ 9.99639243e-01 -1.34091485e-02 -2.32718385e-02 5.34731482e+01] [ 1.34254577e-02 9.99909726e-01 5.44707160e-04 -2.14265263e+00] [ 2.32624336e-02 -8.56945736e-04 9.99729026e-01 5.64644262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.830714056999994 meters Centerline goodness [0,1] 0.9907866282213011 Centerline is valid? [True, True] Translation: X:53.50, Y:-2.15, Z:0.56 [[ 9.99589553e-01 -1.60306406e-02 -2.37432910e-02 5.35025063e+01] [ 1.60483357e-02 9.99871063e-01 5.54894048e-04 -2.14536842e+00] [ 2.37313343e-02 -9.35706596e-04 9.99717934e-01 5.64880594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.860714056999996 meters Centerline goodness [0,1] 0.9912547614217775 Centerline is valid? [True, True] Translation: X:53.53, Y:-2.15, Z:0.57 [[ 9.99521404e-01 -1.92925844e-02 -2.41817980e-02 5.35316161e+01] [ 1.93118665e-02 9.99813349e-01 5.64079967e-04 -2.14814185e+00] [ 2.41664019e-02 -1.03080566e-03 9.99707418e-01 5.65097505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.890714057 meters Centerline goodness [0,1] 0.9905597065008277 Centerline is valid? [True, True] Translation: X:53.56, Y:-2.16, Z:0.56 [[ 9.99377966e-01 -2.58203232e-02 -2.40206711e-02 5.35605229e+01] [ 2.58412083e-02 9.99665904e-01 5.59413754e-04 -2.15534681e+00] [ 2.39982016e-02 -1.17978895e-03 9.99711306e-01 5.64494093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.920714057 meters Centerline goodness [0,1] 0.9907099901265596 Centerline is valid? [True, True] Translation: X:53.59, Y:-2.16, Z:0.56 [[ 9.99274425e-01 -2.94194814e-02 -2.41891880e-02 5.35903185e+01] [ 2.94417015e-02 9.99566341e-01 5.62893116e-04 -2.15876867e+00] [ 2.41621381e-02 -1.27465555e-03 9.99707240e-01 5.64694692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.950714057 meters Centerline goodness [0,1] 0.9894254415381176 Centerline is valid? [True, True] Translation: X:53.62, Y:-2.17, Z:0.56 [[ 9.99042704e-01 -3.62553013e-02 -2.44791451e-02 5.36200746e+01] [ 3.62801124e-02 9.99341497e-01 5.70055549e-04 -2.16592077e+00] [ 2.44423580e-02 -1.45761597e-03 9.99700178e-01 5.64532019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.980714057 meters Centerline goodness [0,1] 0.989119949749871 Centerline is valid? [True, True] Translation: X:53.65, Y:-2.17, Z:0.56 [[ 9.98925514e-01 -3.94285866e-02 -2.43557944e-02 5.36501856e+01] [ 3.94541063e-02 9.99221222e-01 5.67948347e-04 -2.17151888e+00] [ 2.43144332e-02 -1.52827419e-03 9.99703192e-01 5.64496701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.010714056999994 meters Centerline goodness [0,1] 0.989185921547555 Centerline is valid? [True, True] Translation: X:53.68, Y:-2.17, Z:0.57 [[ 9.98831853e-01 -4.18441722e-02 -2.41659812e-02 5.36813525e+01] [ 4.18700112e-02 9.99122907e-01 5.64011146e-04 -2.16658139e+00] [ 2.41211848e-02 -1.57518220e-03 9.99707801e-01 5.66712135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.040714056999995 meters Centerline goodness [0,1] 0.989185921547555 Centerline is valid? [True, True] Translation: X:53.71, Y:-2.17, Z:0.57 [[ 9.98834892e-01 -4.17715762e-02 -2.41659488e-02 5.37131058e+01] [ 4.17974274e-02 9.99125946e-01 5.65397780e-04 -2.16738205e+00] [ 2.41212089e-02 -1.57481352e-03 9.99707801e-01 5.67133178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.070714056999996 meters Centerline goodness [0,1] 0.9891284936155014 Centerline is valid? [True, True] Translation: X:53.74, Y:-2.17, Z:0.57 [[ 9.98709788e-01 -4.52505473e-02 -2.30466496e-02 5.37434330e+01] [ 4.52750056e-02 9.98974415e-01 5.40303282e-04 -2.17217274e+00] [ 2.29985643e-02 -1.58304337e-03 9.99734245e-01 5.68103949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.100714057 meters Centerline goodness [0,1] 0.9871820773564999 Centerline is valid? [True, True] Translation: X:53.77, Y:-2.18, Z:0.57 [[ 9.98641366e-01 -4.67955489e-02 -2.29259284e-02 5.37743442e+01] [ 4.68201738e-02 9.98903189e-01 5.38222366e-04 -2.17843594e+00] [ 2.28755966e-02 -1.61088707e-03 9.99737021e-01 5.68054548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.130714057 meters Centerline goodness [0,1] 0.9883505545760897 Centerline is valid? [True, True] Translation: X:53.81, Y:-2.17, Z:0.57 [[ 9.98583164e-01 -4.83302668e-02 -2.22676795e-02 5.38059885e+01] [ 4.83539031e-02 9.98830128e-01 5.23939288e-04 -2.17435777e+00] [ 2.22163070e-02 -1.59992617e-03 9.99751907e-01 5.68949605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.160714057 meters Centerline goodness [0,1] 0.9884933960152228 Centerline is valid? [True, True] Translation: X:53.84, Y:-2.17, Z:0.57 [[ 9.98571197e-01 -4.84507078e-02 -2.25409098e-02 5.38384890e+01] [ 4.84749898e-02 9.98824255e-01 5.31764658e-04 -2.17265056e+00] [ 2.24886431e-02 -1.62367524e-03 9.99745780e-01 5.69518592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.190714056999994 meters Centerline goodness [0,1] 0.988187034878508 Centerline is valid? [True, True] Translation: X:53.87, Y:-2.17, Z:0.57 [[ 9.98563378e-01 -4.84162698e-02 -2.29574695e-02 5.38700797e+01] [ 4.84414833e-02 9.98825875e-01 5.43098350e-04 -2.17395354e+00] [ 2.29042198e-02 -1.65441200e-03 9.99736295e-01 5.69664010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.220714056999995 meters Centerline goodness [0,1] 0.9885359177996141 Centerline is valid? [True, True] Translation: X:53.90, Y:-2.17, Z:0.57 [[ 9.98566215e-01 -4.75018582e-02 -2.46797099e-02 5.39014675e+01] [ 4.75307738e-02 9.98869602e-01 5.86013186e-04 -2.17376919e+00] [ 2.46239753e-02 -1.75821868e-03 9.99695238e-01 5.68801495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.250714056999996 meters Centerline goodness [0,1] 0.9888776768696043 Centerline is valid? [True, True] Translation: X:53.93, Y:-2.17, Z:0.57 [[ 9.98589277e-01 -4.69178914e-02 -2.48629799e-02 5.39335427e+01] [ 4.69471192e-02 9.98897200e-01 5.92829277e-04 -2.17215873e+00] [ 2.48077467e-02 -1.75923824e-03 9.99690693e-01 5.69153956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.280714057 meters Centerline goodness [0,1] 0.9890504397774188 Centerline is valid? [True, True] Translation: X:53.97, Y:-2.17, Z:0.57 [[ 9.98614107e-01 -4.64566938e-02 -2.47313604e-02 5.39654621e+01] [ 4.64855157e-02 9.98918789e-01 5.91451596e-04 -2.17102613e+00] [ 2.46771437e-02 -1.74028195e-03 9.99693958e-01 5.69394269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.310714057 meters Centerline goodness [0,1] 0.9882424079548509 Centerline is valid? [True, True] Translation: X:54.00, Y:-2.17, Z:0.57 [[ 9.98678604e-01 -4.53452881e-02 -2.41837031e-02 5.39967093e+01] [ 4.53725593e-02 9.98969967e-01 5.79861417e-04 -2.17037472e+00] [ 2.41324991e-02 -1.67637169e-03 9.99707363e-01 5.70167653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.340714057 meters Centerline goodness [0,1] 0.9885122071849287 Centerline is valid? [True, True] Translation: X:54.03, Y:-2.17, Z:0.57 [[ 9.98705497e-01 -4.48559776e-02 -2.39848326e-02 5.40274635e+01] [ 4.48826918e-02 9.98992098e-01 5.76359698e-04 -2.17045118e+00] [ 2.39348051e-02 -1.65211745e-03 9.99712156e-01 5.70856830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.370714056999994 meters Centerline goodness [0,1] 0.987549621075424 Centerline is valid? [True, True] Translation: X:54.06, Y:-2.17, Z:0.57 [[ 9.98744524e-01 -4.38738999e-02 -2.41755197e-02 5.40591251e+01] [ 4.39007899e-02 9.99035726e-01 5.82411690e-04 -2.16972972e+00] [ 2.41266552e-02 -1.64300490e-03 9.99707560e-01 5.71444206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.400714056999995 meters Centerline goodness [0,1] 0.9878486730660644 Centerline is valid? [True, True] Translation: X:54.09, Y:-2.17, Z:0.57 [[ 9.98772266e-01 -4.32861681e-02 -2.40887597e-02 5.40915587e+01] [ 4.33127354e-02 9.99061394e-01 5.81990664e-04 -2.16908520e+00] [ 2.40409577e-02 -1.62462621e-03 9.99709654e-01 5.71485305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.430714056999996 meters Centerline goodness [0,1] 0.9884419161135943 Centerline is valid? [True, True] Translation: X:54.12, Y:-2.17, Z:0.57 [[ 9.98800536e-01 -4.26466923e-02 -2.40572168e-02 5.41234853e+01] [ 4.26730452e-02 9.99088921e-01 5.82887765e-04 -2.16891587e+00] [ 2.40104405e-02 -1.60878331e-03 9.99710413e-01 5.71661633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.460714057 meters Centerline goodness [0,1] 0.9870211949529377 Centerline is valid? [True, True] Translation: X:54.15, Y:-2.17, Z:0.57 [[ 9.98845202e-01 -4.15872768e-02 -2.40574684e-02 5.41547246e+01] [ 4.16133596e-02 9.99133618e-01 5.84361427e-04 -2.16803710e+00] [ 2.40123235e-02 -1.58479869e-03 9.99710406e-01 5.71407520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.490714057 meters Centerline goodness [0,1] 0.9880219259660283 Centerline is valid? [True, True] Translation: X:54.19, Y:-2.16, Z:0.57 [[ 9.98877799e-01 -4.10120232e-02 -2.36887430e-02 5.41872109e+01] [ 4.10371843e-02 9.99157453e-01 5.76800892e-04 -2.16487826e+00] [ 2.36451283e-02 -1.54827292e-03 9.99719216e-01 5.72108514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.520714057 meters Centerline goodness [0,1] 0.9877727870786261 Centerline is valid? [True, True] Translation: X:54.22, Y:-2.16, Z:0.57 [[ 9.98939102e-01 -3.95885987e-02 -2.35247529e-02 5.42185866e+01] [ 3.96130494e-02 9.99214930e-01 5.74080864e-04 -2.16285259e+00] [ 2.34835573e-02 -1.50535902e-03 9.99723090e-01 5.72381020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.550714057 meters Centerline goodness [0,1] 0.9880187887176927 Centerline is valid? [True, True] Translation: X:54.25, Y:-2.16, Z:0.57 [[ 9.98972765e-01 -3.88425294e-02 -2.33382032e-02 5.42514001e+01] [ 3.88664227e-02 9.99244252e-01 5.70888902e-04 -2.15802513e+00] [ 2.32983907e-02 -1.47737494e-03 9.99727464e-01 5.73742635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.580714056999994 meters Centerline goodness [0,1] 0.9869741521872097 Centerline is valid? [True, True] Translation: X:54.28, Y:-2.17, Z:0.57 [[ 9.99009798e-01 -3.80577593e-02 -2.30441025e-02 5.42824394e+01] [ 3.80808852e-02 9.99274500e-01 5.65392464e-04 -2.16639703e+00] [ 2.30058664e-02 -1.44237243e-03 9.99734290e-01 5.73324258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.610714056999996 meters Centerline goodness [0,1] 0.9887110667815207 Centerline is valid? [True, True] Translation: X:54.31, Y:-2.15, Z:0.58 [[ 9.99070619e-01 -3.65669534e-02 -2.28200988e-02 5.43137148e+01] [ 3.65892682e-02 9.99330231e-01 5.60946101e-04 -2.15478335e+00] [ 2.27843025e-02 -1.39539548e-03 9.99739430e-01 5.75407484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.640714057 meters Centerline goodness [0,1] 0.988745944228893 Centerline is valid? [True, True] Translation: X:54.35, Y:-2.15, Z:0.58 [[ 9.99092321e-01 -3.58400573e-02 -2.30222418e-02 5.43463808e+01] [ 3.58626083e-02 9.99356569e-01 5.67274680e-04 -2.15443739e+00] [ 2.29870974e-02 -1.39239742e-03 9.99734792e-01 5.75533864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.670714057 meters Centerline goodness [0,1] 0.9888424305776485 Centerline is valid? [True, True] Translation: X:54.38, Y:-2.15, Z:0.58 [[ 9.99135663e-01 -3.45457577e-02 -2.31196366e-02 5.43790138e+01] [ 3.45682029e-02 9.99402178e-01 5.71756048e-04 -2.15262377e+00] [ 2.30860635e-02 -1.37046615e-03 9.99732542e-01 5.75441058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.700714057 meters Centerline goodness [0,1] 0.9891289484479694 Centerline is valid? [True, True] Translation: X:54.41, Y:-2.15, Z:0.58 [[ 9.99163479e-01 -3.36239875e-02 -2.32759322e-02 5.44109651e+01] [ 3.36465328e-02 9.99433628e-01 5.77548106e-04 -2.15173427e+00] [ 2.32433299e-02 -1.36021939e-03 9.99728912e-01 5.75479896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.730714057 meters Centerline goodness [0,1] 0.9892284967617316 Centerline is valid? [True, True] Translation: X:54.44, Y:-2.15, Z:0.58 [[ 9.99219943e-01 -3.16668688e-02 -2.35948059e-02 5.44421320e+01] [ 3.16895244e-02 9.99497589e-01 5.86812548e-04 -2.14960822e+00] [ 2.35643691e-02 -1.33406298e-03 9.99721432e-01 5.75150715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.760714056999994 meters Centerline goodness [0,1] 0.9894208846329229 Centerline is valid? [True, True] Translation: X:54.47, Y:-2.15, Z:0.58 [[ 9.99251406e-01 -3.03492364e-02 -2.39906580e-02 5.44735688e+01] [ 3.03723013e-02 9.99538477e-01 5.97536783e-04 -2.14844692e+00] [ 2.39614509e-02 -1.32574096e-03 9.99712004e-01 5.75297544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.790714056999995 meters Centerline goodness [0,1] 0.98991834314128 Centerline is valid? [True, True] Translation: X:54.50, Y:-2.15, Z:0.58 [[ 9.99294483e-01 -2.89396921e-02 -2.39380347e-02 5.45035618e+01] [ 2.89622687e-02 9.99580327e-01 5.96895087e-04 -2.14840490e+00] [ 2.39107146e-02 -1.28977376e-03 9.99713266e-01 5.75403920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.820714056999996 meters Centerline goodness [0,1] 0.9894911630234515 Centerline is valid? [True, True] Translation: X:54.53, Y:-2.15, Z:0.58 [[ 9.99340992e-01 -2.72271251e-02 -2.40055106e-02 5.45346949e+01] [ 2.72493516e-02 9.99628488e-01 5.99200156e-04 -2.14784274e+00] [ 2.39802777e-02 -1.25293988e-03 9.99711647e-01 5.76054782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.850714057 meters Centerline goodness [0,1] 0.989329791862249 Centerline is valid? [True, True] Translation: X:54.57, Y:-2.14, Z:0.58 [[ 9.99446832e-01 -2.37170913e-02 -2.33137158e-02 5.45651426e+01] [ 2.37371130e-02 9.99718065e-01 5.82393120e-04 -2.14384904e+00] [ 2.32933302e-02 -1.13547126e-03 9.99728029e-01 5.77205731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.880714057 meters Centerline goodness [0,1] 0.9898393519154195 Centerline is valid? [True, True] Translation: X:54.60, Y:-2.14, Z:0.58 [[ 9.99504870e-01 -2.17336382e-02 -2.27522078e-02 5.45952483e+01] [ 2.17521941e-02 9.99763231e-01 5.68366252e-04 -2.14359550e+00] [ 2.27344681e-02 -1.06299528e-03 9.99740973e-01 5.77723289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.910714057 meters Centerline goodness [0,1] 0.9897195191757299 Centerline is valid? [True, True] Translation: X:54.63, Y:-2.14, Z:0.58 [[ 9.99610785e-01 -1.72769534e-02 -2.19040101e-02 5.46253251e+01] [ 1.72930799e-02 9.99850314e-01 5.47017377e-04 -2.13982066e+00] [ 2.18912806e-02 -9.25592267e-04 9.99759929e-01 5.78964107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.940714056999994 meters Centerline goodness [0,1] 0.9901870873074101 Centerline is valid? [True, True] Translation: X:54.65, Y:-2.14, Z:0.58 [[ 9.99644447e-01 -1.57261731e-02 -2.15329360e-02 5.46541823e+01] [ 1.57413496e-02 9.99875954e-01 5.35475310e-04 -2.13746127e+00] [ 2.15218440e-02 -8.74242394e-04 9.99767996e-01 5.79768410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.970714056999995 meters Centerline goodness [0,1] 0.9900456432486984 Centerline is valid? [True, True] Translation: X:54.68, Y:-2.14, Z:0.58 [[ 9.99674499e-01 -1.37861926e-02 -2.14671171e-02 5.46829165e+01] [ 1.38007476e-02 9.99904625e-01 5.30003509e-04 -2.13673774e+00] [ 2.14577629e-02 -8.26093257e-04 9.99769414e-01 5.80056367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.000714056999996 meters Centerline goodness [0,1] 0.9900869963369964 Centerline is valid? [True, True] Translation: X:54.71, Y:-2.14, Z:0.58 [[ 9.99735206e-01 -9.90554840e-03 -2.07701423e-02 5.47126512e+01] [ 9.91831237e-03 9.99950681e-01 5.11608775e-04 -2.13526642e+00] [ 2.07640502e-02 -7.17478063e-04 9.99784146e-01 5.80595421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.030714057 meters Centerline goodness [0,1] 0.9901614530776993 Centerline is valid? [True, True] Translation: X:54.74, Y:-2.14, Z:0.58 [[ 9.99759342e-01 -8.22934639e-03 -2.03355944e-02 5.47407760e+01] [ 8.24119019e-03 9.99965916e-01 4.98680824e-04 -2.13535847e+00] [ 2.03307975e-02 -6.66150314e-04 9.99793086e-01 5.81133333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.060714057 meters Centerline goodness [0,1] 0.9904633089566952 Centerline is valid? [True, True] Translation: X:54.77, Y:-2.13, Z:0.58 [[ 9.99785469e-01 -5.05349470e-03 -2.00867804e-02 5.47685087e+01] [ 5.06433274e-03 9.99987057e-01 4.88728861e-04 -2.13432534e+00] [ 2.00840506e-02 -5.90350153e-04 9.99798121e-01 5.81971703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.090714057 meters Centerline goodness [0,1] 0.9911630362430279 Centerline is valid? [True, True] Translation: X:54.80, Y:-2.13, Z:0.58 [[ 9.99785504e-01 -4.21655174e-03 -2.02772338e-02 5.47967863e+01] [ 4.22736592e-03 9.99990944e-01 4.90481842e-04 -2.13432162e+00] [ 2.02749821e-02 -5.76095924e-04 9.99794275e-01 5.82075567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.120714056999994 meters Centerline goodness [0,1] 0.9904875695050779 Centerline is valid? [True, True] Translation: X:54.83, Y:-2.14, Z:0.58 [[ 9.99777792e-01 -3.55076598e-03 -2.07787894e-02 5.48251168e+01] [ 3.56187123e-03 9.99993533e-01 4.97465773e-04 -2.13544251e+00] [ 2.07768886e-02 -5.71366604e-04 9.99783974e-01 5.81531488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.150714056999995 meters Centerline goodness [0,1] 0.9912016030587097 Centerline is valid? [True, True] Translation: X:54.85, Y:-2.14, Z:0.58 [[ 9.99750905e-01 -3.62705891e-03 -2.20220922e-02 5.48523396e+01] [ 3.63944952e-03 9.99993241e-01 5.22591553e-04 -2.13827596e+00] [ 2.20200479e-02 -6.02609671e-04 9.99757348e-01 5.80365222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.180714056999996 meters Centerline goodness [0,1] 0.9913434823540217 Centerline is valid? [True, True] Translation: X:54.88, Y:-2.14, Z:0.58 [[ 9.99736264e-01 -4.20539048e-03 -2.25769322e-02 5.48813858e+01] [ 4.21846498e-03 9.99990961e-01 5.31513487e-04 -2.13760893e+00] [ 2.25744930e-02 -6.26613306e-04 9.99744967e-01 5.81069766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.210714057 meters Centerline goodness [0,1] 0.9907282032451289 Centerline is valid? [True, True] Translation: X:54.91, Y:-2.14, Z:0.58 [[ 9.99719158e-01 -5.20337803e-03 -2.31198915e-02 5.49101875e+01] [ 5.21721938e-03 9.99986245e-01 5.38398157e-04 -2.13951004e+00] [ 2.31167720e-02 -6.58868498e-04 9.99732555e-01 5.80913505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.240714057 meters Centerline goodness [0,1] 0.9903253169490359 Centerline is valid? [True, True] Translation: X:54.94, Y:-2.14, Z:0.58 [[ 9.99700964e-01 -6.79316633e-03 -2.34911803e-02 5.49373520e+01] [ 6.80777801e-03 9.99976680e-01 5.42089620e-04 -2.14414724e+00] [ 2.34869499e-02 -7.01850256e-04 9.99723897e-01 5.80987209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.270714057 meters Centerline goodness [0,1] 0.9908861918937486 Centerline is valid? [True, True] Translation: X:54.97, Y:-2.15, Z:0.58 [[ 9.99694292e-01 -8.20836266e-03 -2.33226197e-02 5.49661519e+01] [ 8.22304469e-03 9.99966048e-01 5.33682477e-04 -2.14649355e+00] [ 2.33174472e-02 -7.25302270e-04 9.99727848e-01 5.81256890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.300714057 meters Centerline goodness [0,1] 0.9909798817108538 Centerline is valid? [True, True] Translation: X:55.00, Y:-2.15, Z:0.58 [[ 9.99683283e-01 -1.07035004e-02 -2.27764777e-02 5.49952156e+01] [ 1.07180607e-02 9.99942426e-01 5.17282423e-04 -2.15057361e+00] [ 2.27696297e-02 -7.61238261e-04 9.99740449e-01 5.81959676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.330714056999994 meters Centerline goodness [0,1] 0.9899740236066171 Centerline is valid? [True, True] Translation: X:55.02, Y:-2.16, Z:0.58 [[ 9.99666225e-01 -1.23850301e-02 -2.26726760e-02 5.50223578e+01] [ 1.23998455e-02 9.99922987e-01 5.12974560e-04 -2.15500810e+00] [ 2.26645767e-02 -7.93941022e-04 9.99742810e-01 5.81831051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.360714056999996 meters Centerline goodness [0,1] 0.990174672489083 Centerline is valid? [True, True] Translation: X:55.05, Y:-2.16, Z:0.58 [[ 9.99627606e-01 -1.58585749e-02 -2.22070708e-02 5.50519200e+01] [ 1.58736062e-02 9.99873881e-01 5.00745207e-04 -2.16073956e+00] [ 2.21963290e-02 -8.53065029e-04 9.99753267e-01 5.82101503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.390714057 meters Centerline goodness [0,1] 0.9902174406464206 Centerline is valid? [True, True] Translation: X:55.08, Y:-2.16, Z:0.58 [[ 9.99603500e-01 -1.77920139e-02 -2.18239873e-02 5.50804051e+01] [ 1.78069342e-02 9.99841324e-01 4.89506351e-04 -2.16131289e+00] [ 2.18118151e-02 -8.77930569e-04 9.99761709e-01 5.83195183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.420714057 meters Centerline goodness [0,1] 0.9898086569671107 Centerline is valid? [True, True] Translation: X:55.11, Y:-2.17, Z:0.58 [[ 9.99561463e-01 -2.00384216e-02 -2.18023702e-02 5.51086620e+01] [ 2.00537633e-02 9.99798785e-01 4.85240935e-04 -2.16531274e+00] [ 2.17882598e-02 -9.22247710e-04 9.99762182e-01 5.83267494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.450714057 meters Centerline goodness [0,1] 0.9895894894758376 Centerline is valid? [True, True] Translation: X:55.14, Y:-2.17, Z:0.58 [[ 9.99508448e-01 -2.25289391e-02 -2.18016064e-02 5.51386256e+01] [ 2.25448529e-02 9.99745715e-01 4.84391270e-04 -2.16858637e+00] [ 2.17851498e-02 -9.75667176e-04 9.99762199e-01 5.83782870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.480714057 meters Centerline goodness [0,1] 0.9894135515607644 Centerline is valid? [True, True] Translation: X:55.17, Y:-2.17, Z:0.58 [[ 9.99371974e-01 -2.78108249e-02 -2.19594283e-02 5.51688130e+01] [ 2.78282364e-02 9.99612601e-01 4.87652965e-04 -2.17271700e+00] [ 2.19373592e-02 -1.09843887e-03 9.99758744e-01 5.84055116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.510714056999994 meters Centerline goodness [0,1] 0.9892848243209569 Centerline is valid? [True, True] Translation: X:55.20, Y:-2.18, Z:0.58 [[ 9.99279519e-01 -3.07482031e-02 -2.22483744e-02 5.51984885e+01] [ 3.07668003e-02 9.99526468e-01 4.93994839e-04 -2.17864918e+00] [ 2.22226496e-02 -1.17815022e-03 9.99752352e-01 5.84183280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.540714056999995 meters Centerline goodness [0,1] 0.9885021120874653 Centerline is valid? [True, True] Translation: X:55.23, Y:-2.19, Z:0.58 [[ 9.99087825e-01 -3.62736182e-02 -2.25331503e-02 5.52279240e+01] [ 3.62940921e-02 9.99341027e-01 5.00181920e-04 -2.18647133e+00] [ 2.25001582e-02 -1.31754590e-03 9.99745971e-01 5.84003794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.570714056999996 meters Centerline goodness [0,1] 0.9879515358976669 Centerline is valid? [True, True] Translation: X:55.26, Y:-2.19, Z:0.58 [[ 9.98995728e-01 -3.87649289e-02 -2.24681207e-02 5.52587076e+01] [ 3.87859117e-02 9.99247419e-01 4.98703940e-04 -2.19014913e+00] [ 2.24318794e-02 -1.36964965e-03 9.99747436e-01 5.84262907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.600714057 meters Centerline goodness [0,1] 0.9875662868103351 Centerline is valid? [True, True] Translation: X:55.29, Y:-2.19, Z:0.58 [[ 9.98904030e-01 -4.09946685e-02 -2.25870794e-02 5.52889471e+01] [ 4.10164507e-02 9.99158345e-01 5.01734958e-04 -2.19435725e+00] [ 2.25475004e-02 -1.42762690e-03 9.99744753e-01 5.84207130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.630714057 meters Centerline goodness [0,1] 0.9877252074055655 Centerline is valid? [True, True] Translation: X:55.32, Y:-2.19, Z:0.59 [[ 9.98781686e-01 -4.41493520e-02 -2.20449149e-02 5.53202778e+01] [ 4.41708775e-02 9.99023870e-01 4.90228288e-04 -2.19308639e+00] [ 2.20017529e-02 -1.46337427e-03 9.99756861e-01 5.85356618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.660714057 meters Centerline goodness [0,1] 0.9869124051542226 Centerline is valid? [True, True] Translation: X:55.35, Y:-2.20, Z:0.58 [[ 9.98738179e-01 -4.51558376e-02 -2.19772728e-02 5.53515790e+01] [ 4.51774944e-02 9.98978856e-01 4.89665337e-04 -2.20268381e+00] [ 2.19327196e-02 -1.48192559e-03 9.99758351e-01 5.84812620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.690714056999994 meters Centerline goodness [0,1] 0.9874960573153697 Centerline is valid? [True, True] Translation: X:55.38, Y:-2.20, Z:0.59 [[ 9.98666773e-01 -4.69318661e-02 -2.14959449e-02 5.53825214e+01] [ 4.69530178e-02 9.98896984e-01 4.80057317e-04 -2.19948040e+00] [ 2.14497045e-02 -1.48871677e-03 9.99768820e-01 5.86387828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.720714056999995 meters Centerline goodness [0,1] 0.9853955375253549 Centerline is valid? [True, True] Translation: X:55.41, Y:-2.21, Z:0.59 [[ 9.98608587e-01 -4.79033737e-02 -2.20489543e-02 5.54131464e+01] [ 4.79258857e-02 9.98850773e-01 4.93410373e-04 -2.20876097e+00] [ 2.19999790e-02 -1.54943950e-03 9.99756770e-01 5.85412469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.750714056999996 meters Centerline goodness [0,1] 0.9848044188930222 Centerline is valid? [True, True] Translation: X:55.44, Y:-2.21, Z:0.58 [[ 9.98566015e-01 -4.86200876e-02 -2.24053851e-02 5.54443414e+01] [ 4.86435338e-02 9.98816076e-01 5.02315116e-04 -2.21166597e+00] [ 2.23544362e-02 -1.59147191e-03 9.99748842e-01 5.84879637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.780714057 meters Centerline goodness [0,1] 0.9850328464681581 Centerline is valid? [True, True] Translation: X:55.48, Y:-2.22, Z:0.58 [[ 9.98451219e-01 -5.04724872e-02 -2.34028071e-02 5.54757355e+01] [ 5.04985981e-02 9.98723994e-01 5.25695944e-04 -2.21508685e+00] [ 2.33464118e-02 -1.70669070e-03 9.99725979e-01 5.84108012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.810714057 meters Centerline goodness [0,1] 0.9865547735065873 Centerline is valid? [True, True] Translation: X:55.51, Y:-2.21, Z:0.59 [[ 9.98404215e-01 -5.14004293e-02 -2.33884523e-02 5.55083452e+01] [ 5.14267876e-02 9.98676629e-01 5.26502239e-04 -2.21038614e+00] [ 2.33304382e-02 -1.72845502e-03 9.99726314e-01 5.85272342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.840714057 meters Centerline goodness [0,1] 0.9851571987586021 Centerline is valid? [True, True] Translation: X:55.54, Y:-2.21, Z:0.59 [[ 9.98299564e-01 -5.32743706e-02 -2.36605400e-02 5.55383436e+01] [ 5.33018909e-02 9.98578301e-01 5.33548209e-04 -2.21398670e+00] [ 2.35984774e-02 -1.79379247e-03 9.99719908e-01 5.85055514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.870714056999994 meters Centerline goodness [0,1] 0.9852609753898856 Centerline is valid? [True, True] Translation: X:55.57, Y:-2.21, Z:0.59 [[ 9.98250981e-01 -5.39283401e-02 -2.42221431e-02 5.55705399e+01] [ 5.39573923e-02 9.98543089e-01 5.46959160e-04 -2.21462704e+00] [ 2.41573570e-02 -1.85296619e-03 9.99706451e-01 5.85422807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.900714056999995 meters Centerline goodness [0,1] 0.9869258908007045 Centerline is valid? [True, True] Translation: X:55.60, Y:-2.21, Z:0.59 [[ 9.98212027e-01 -5.43932730e-02 -2.47814492e-02 5.56027810e+01] [ 5.44238683e-02 9.98517765e-01 5.61329909e-04 -2.20898600e+00] [ 2.47141847e-02 -1.90902859e-03 9.99692735e-01 5.86387620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.930714056999996 meters Centerline goodness [0,1] 0.9860070416177665 Centerline is valid? [True, True] Translation: X:55.63, Y:-2.21, Z:0.59 [[ 9.98221340e-01 -5.39513847e-02 -2.53654351e-02 5.56349938e+01] [ 5.39833438e-02 9.98541670e-01 5.76373464e-04 -2.21006977e+00] [ 2.52973478e-02 -1.94465930e-03 9.99678079e-01 5.86284477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.960714057 meters Centerline goodness [0,1] 0.9860070416177665 Centerline is valid? [True, True] Translation: X:55.67, Y:-2.21, Z:0.59 [[ 9.98225137e-01 -5.38810994e-02 -2.53653945e-02 5.56667735e+01] [ 5.39130810e-02 9.98545465e-01 5.78159265e-04 -2.21085554e+00] [ 2.52973477e-02 -1.94465968e-03 9.99678079e-01 5.86705740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.990714057 meters Centerline goodness [0,1] 0.9865829418142392 Centerline is valid? [True, True] Translation: X:55.70, Y:-2.21, Z:0.59 [[ 9.98257020e-01 -5.32747212e-02 -2.53914449e-02 5.56993729e+01] [ 5.33066191e-02 9.98578023e-01 5.80549938e-04 -2.20973553e+00] [ 2.53244102e-02 -1.93307013e-03 9.99677417e-01 5.87005976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.020714057 meters Centerline goodness [0,1] 0.9859978770974954 Centerline is valid? [True, True] Translation: X:55.73, Y:-2.21, Z:0.59 [[ 9.98310256e-01 -5.21790749e-02 -2.55729868e-02 5.57302409e+01] [ 5.22111420e-02 9.98635895e-01 5.87391460e-04 -2.21049874e+00] [ 2.55074530e-02 -1.92159376e-03 9.99672785e-01 5.87082251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.050714057 meters Centerline goodness [0,1] 0.9867079594005018 Centerline is valid? [True, True] Translation: X:55.76, Y:-2.21, Z:0.59 [[ 9.98426380e-01 -4.99148057e-02 -2.55592748e-02 5.57605523e+01] [ 4.99461810e-02 9.98751736e-01 5.90226631e-04 -2.20998147e+00] [ 2.54979090e-02 -1.86588600e-03 9.99673134e-01 5.87880678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.080714056999994 meters Centerline goodness [0,1] 0.9866570338428194 Centerline is valid? [True, True] Translation: X:55.79, Y:-2.21, Z:0.59 [[ 9.98519514e-01 -4.82141686e-02 -2.51828033e-02 5.57925533e+01] [ 4.82441378e-02 9.98835403e-01 5.83512854e-04 -2.20787483e+00] [ 2.51253419e-02 -1.79757160e-03 9.99682693e-01 5.89097982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.110714056999996 meters Centerline goodness [0,1] 0.9870609981515711 Centerline is valid? [True, True] Translation: X:55.82, Y:-2.21, Z:0.59 [[ 9.98699024e-01 -4.45529020e-02 -2.48052113e-02 5.58223989e+01] [ 4.45808680e-02 9.99005613e-01 5.75290349e-04 -2.20620439e+00] [ 2.47549145e-02 -1.68037976e-03 9.99692138e-01 5.89777064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.140714057 meters Centerline goodness [0,1] 0.9864596497562736 Centerline is valid? [True, True] Translation: X:55.85, Y:-2.21, Z:0.59 [[ 9.98767243e-01 -4.30568045e-02 -2.47003038e-02 5.58536983e+01] [ 4.30840841e-02 9.99071285e-01 5.73068274e-04 -2.20519654e+00] [ 2.46526898e-02 -1.63655179e-03 9.99694737e-01 5.90210932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.170714057 meters Centerline goodness [0,1] 0.985474506969074 Centerline is valid? [True, True] Translation: X:55.88, Y:-2.21, Z:0.59 [[ 9.98844495e-01 -4.12546220e-02 -2.46522084e-02 5.58844553e+01] [ 4.12812695e-02 9.99147401e-01 5.72789453e-04 -2.21247262e+00] [ 2.46075597e-02 -1.58980205e-03 9.99695924e-01 5.89176953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.200714057 meters Centerline goodness [0,1] 0.9887123461547179 Centerline is valid? [True, True] Translation: X:55.92, Y:-2.20, Z:0.59 [[ 9.98939211e-01 -3.83376063e-02 -2.55084566e-02 5.59152971e+01] [ 3.83652025e-02 9.99263609e-01 5.93147507e-04 -2.19582043e+00] [ 2.54669325e-02 -1.57115541e-03 9.99674430e-01 5.91981063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.230714057 meters Centerline goodness [0,1] 0.9875204582651391 Centerline is valid? [True, True] Translation: X:55.95, Y:-2.20, Z:0.59 [[ 9.98991445e-01 -3.68734649e-02 -2.56210816e-02 5.59456419e+01] [ 3.69008313e-02 9.99318755e-01 5.95983010e-04 -2.20241406e+00] [ 2.55816514e-02 -1.54082114e-03 9.99671549e-01 5.90607149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.260714056999994 meters Centerline goodness [0,1] 0.9880698086624551 Centerline is valid? [True, True] Translation: X:55.98, Y:-2.20, Z:0.59 [[ 9.99085971e-01 -3.38100102e-02 -2.61554316e-02 5.59750359e+01] [ 3.38374850e-02 9.99427163e-01 6.08437892e-04 -2.19923935e+00] [ 2.61198775e-02 -1.49291579e-03 9.99657703e-01 5.90925177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.290714056999995 meters Centerline goodness [0,1] 0.9883519883519883 Centerline is valid? [True, True] Translation: X:56.01, Y:-2.20, Z:0.59 [[ 9.99122225e-01 -3.24075932e-02 -2.65429233e-02 5.60066363e+01] [ 3.24354010e-02 9.99473643e-01 6.17668322e-04 -2.19844130e+00] [ 2.65089351e-02 -1.47805651e-03 9.99647484e-01 5.91205299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.320714056999996 meters Centerline goodness [0,1] 0.9880903584278362 Centerline is valid? [True, True] Translation: X:56.04, Y:-2.20, Z:0.59 [[ 9.99153561e-01 -3.10136988e-02 -2.70242872e-02 5.60377263e+01] [ 3.10420281e-02 9.99517882e-01 6.29298403e-04 -2.19745443e+00] [ 2.69917414e-02 -1.46765442e-03 9.99634579e-01 5.91399993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.350714057 meters Centerline goodness [0,1] 0.9885804157549234 Centerline is valid? [True, True] Translation: X:56.07, Y:-2.19, Z:0.59 [[ 9.99213650e-01 -2.84247775e-02 -2.76426115e-02 5.60691235e+01] [ 2.84534374e-02 9.99594912e-01 6.43935941e-04 -2.18664632e+00] [ 2.76131101e-02 -1.42995690e-03 9.99617663e-01 5.93562111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.380714057 meters Centerline goodness [0,1] 0.9890132387061553 Centerline is valid? [True, True] Translation: X:56.10, Y:-2.19, Z:0.59 [[ 9.99253275e-01 -2.74480107e-02 -2.71937238e-02 5.60997660e+01] [ 2.74753925e-02 9.99622279e-01 6.33709954e-04 -2.18694551e+00] [ 2.71660581e-02 -1.38039498e-03 9.99629981e-01 5.93750818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.410714057 meters Centerline goodness [0,1] 0.9891331643951328 Centerline is valid? [True, True] Translation: X:56.13, Y:-2.18, Z:0.59 [[ 9.99287854e-01 -2.58886174e-02 -2.74511123e-02 5.61300139e+01] [ 2.59159334e-02 9.99663921e-01 6.39708017e-04 -2.18370332e+00] [ 2.74253254e-02 -1.35067365e-03 9.99622943e-01 5.94536005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.440714056999994 meters Centerline goodness [0,1] 0.9893905243266625 Centerline is valid? [True, True] Translation: X:56.16, Y:-2.18, Z:0.59 [[ 9.99322734e-01 -2.46469737e-02 -2.73239753e-02 5.61591106e+01] [ 2.46735605e-02 9.99695359e-01 6.36245801e-04 -2.18461468e+00] [ 2.72999697e-02 -1.30999465e-03 9.99626428e-01 5.94377289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.470714056999995 meters Centerline goodness [0,1] 0.9889459860682882 Centerline is valid? [True, True] Translation: X:56.19, Y:-2.18, Z:0.59 [[ 9.99340018e-01 -2.34412734e-02 -2.77495149e-02 5.61891439e+01] [ 2.34682040e-02 9.99724376e-01 6.45164328e-04 -2.18334587e+00] [ 2.77267430e-02 -1.29596981e-03 9.99614700e-01 5.94880847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.500714056999996 meters Centerline goodness [0,1] 0.9887128531526169 Centerline is valid? [True, True] Translation: X:56.22, Y:-2.18, Z:0.60 [[ 9.99389610e-01 -2.10824372e-02 -2.78556763e-02 5.62177404e+01] [ 2.11086256e-02 9.99776979e-01 6.46393650e-04 -2.18209784e+00] [ 2.78358364e-02 -1.23399414e-03 9.99611746e-01 5.95550607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.530714057 meters Centerline goodness [0,1] 0.9887779123717231 Centerline is valid? [True, True] Translation: X:56.25, Y:-2.18, Z:0.60 [[ 9.99430267e-01 -2.01307473e-02 -2.70904874e-02 5.62466611e+01] [ 2.01550564e-02 9.99796671e-01 6.24544062e-04 -2.18117318e+00] [ 2.70724066e-02 -1.17019854e-03 9.99632790e-01 5.96135515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.560714057 meters Centerline goodness [0,1] 0.9893006561349763 Centerline is valid? [True, True] Translation: X:56.27, Y:-2.18, Z:0.60 [[ 9.99446699e-01 -1.94676030e-02 -2.69686475e-02 5.62740204e+01] [ 1.94913327e-02 9.99809835e-01 6.17280119e-04 -2.18153769e+00] [ 2.69515020e-02 -1.14259346e-03 9.99636089e-01 5.96894058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.590714057 meters Centerline goodness [0,1] 0.9891405593293501 Centerline is valid? [True, True] Translation: X:56.30, Y:-2.18, Z:0.60 [[ 9.99498367e-01 -1.85560645e-02 -2.56648853e-02 5.63014738e+01] [ 1.85771854e-02 9.99827258e-01 5.84744188e-04 -2.18203410e+00] [ 2.56496013e-02 -1.06123219e-03 9.99670432e-01 5.97732069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.620714056999994 meters Centerline goodness [0,1] 0.9889857315158274 Centerline is valid? [True, True] Translation: X:56.33, Y:-2.18, Z:0.60 [[ 9.99490834e-01 -1.90770305e-02 -2.55761481e-02 5.63302708e+01] [ 1.90980538e-02 9.99817448e-01 5.77951816e-04 -2.18055997e+00] [ 2.55604535e-02 -1.06611219e-03 9.99672710e-01 5.98822791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.650714056999995 meters Centerline goodness [0,1] 0.989151828626356 Centerline is valid? [True, True] Translation: X:56.36, Y:-2.18, Z:0.60 [[ 9.99435301e-01 -2.07029193e-02 -2.64663632e-02 5.63587574e+01] [ 2.07258230e-02 9.99785022e-01 5.91333780e-04 -2.18180540e+00] [ 2.64484312e-02 -1.13953701e-03 9.99649530e-01 5.98921856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.680714056999996 meters Centerline goodness [0,1] 0.9885644548906165 Centerline is valid? [True, True] Translation: X:56.39, Y:-2.18, Z:0.60 [[ 9.99405403e-01 -2.19217906e-02 -2.66134528e-02 5.63872932e+01] [ 2.19452037e-02 9.99759002e-01 5.87961549e-04 -2.18398392e+00] [ 2.65941499e-02 -1.17164959e-03 9.99645626e-01 5.99092179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.710714057 meters Centerline goodness [0,1] 0.9882352941176471 Centerline is valid? [True, True] Translation: X:56.42, Y:-2.19, Z:0.60 [[ 9.99347976e-01 -2.38878235e-02 -2.70738928e-02 5.64157438e+01] [ 2.39125900e-02 9.99713878e-01 5.91336896e-04 -2.18583553e+00] [ 2.70520207e-02 -1.23835823e-03 9.99633260e-01 5.98886745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.740714057 meters Centerline goodness [0,1] 0.988865517399058 Centerline is valid? [True, True] Translation: X:56.44, Y:-2.19, Z:0.60 [[ 9.99243308e-01 -2.70741863e-02 -2.79249125e-02 5.64448909e+01] [ 2.71016595e-02 9.99632499e-01 6.05747992e-04 -2.18943357e+00] [ 2.78982500e-02 -1.36210110e-03 9.99609840e-01 5.99420822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.770714057 meters Centerline goodness [0,1] 0.9880235422940049 Centerline is valid? [True, True] Translation: X:56.47, Y:-2.20, Z:0.60 [[ 9.99202899e-01 -2.87464190e-02 -2.76985530e-02 5.64738245e+01] [ 2.87740562e-02 9.99585761e-01 5.99642472e-04 -2.19723192e+00] [ 2.76698416e-02 -1.39616422e-03 9.99616142e-01 5.98410065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.800714057 meters Centerline goodness [0,1] 0.9885319013379449 Centerline is valid? [True, True] Translation: X:56.50, Y:-2.20, Z:0.60 [[ 9.99097259e-01 -3.21189465e-02 -2.78035985e-02 5.65044928e+01] [ 3.21480828e-02 9.99482936e-01 6.01447746e-04 -2.19620904e+00] [ 2.77699044e-02 -1.49473718e-03 9.99613224e-01 6.00364117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.830714056999994 meters Centerline goodness [0,1] 0.9868253679811012 Centerline is valid? [True, True] Translation: X:56.53, Y:-2.21, Z:0.60 [[ 9.99036653e-01 -3.38152564e-02 -2.79695159e-02 5.65345291e+01] [ 3.38454114e-02 9.99426897e-01 6.05293499e-04 -2.20562476e+00] [ 2.79330183e-02 -1.55135016e-03 9.99608593e-01 5.98547718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.860714056999996 meters Centerline goodness [0,1] 0.9877028685729872 Centerline is valid? [True, True] Translation: X:56.57, Y:-2.21, Z:0.60 [[ 9.98990580e-01 -3.51739794e-02 -2.79394543e-02 5.65659233e+01] [ 3.52046190e-02 9.99379942e-01 6.05354381e-04 -2.20877028e+00] [ 2.79008375e-02 -1.58834117e-03 9.99609434e-01 5.98988269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.890714057 meters Centerline goodness [0,1] 0.9876130733215146 Centerline is valid? [True, True] Translation: X:56.60, Y:-2.21, Z:0.60 [[ 9.98931931e-01 -3.65812131e-02 -2.82278599e-02 5.65967694e+01] [ 3.66130778e-02 9.99329329e-01 6.12634292e-04 -2.21060449e+00] [ 2.81865173e-02 -1.64548879e-03 9.99601327e-01 5.99633298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.920714057 meters Centerline goodness [0,1] 0.9887622521085024 Centerline is valid? [True, True] Translation: X:56.63, Y:-2.21, Z:0.60 [[ 9.98817214e-01 -3.94837698e-02 -2.83761260e-02 5.66280827e+01] [ 3.95171671e-02 9.99218701e-01 6.16910454e-04 -2.20727085e+00] [ 2.83295978e-02 -1.73752489e-03 9.99597126e-01 6.02230308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.950714057 meters Centerline goodness [0,1] 0.9881022660188002 Centerline is valid? [True, True] Translation: X:56.66, Y:-2.21, Z:0.60 [[ 9.98744336e-01 -4.15593059e-02 -2.79745481e-02 5.66588723e+01] [ 4.15925950e-02 9.99134468e-01 6.08898195e-04 -2.20991923e+00] [ 2.79250299e-02 -1.77166767e-03 9.99608450e-01 6.03161008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.980714057 meters Centerline goodness [0,1] 0.9874309612019001 Centerline is valid? [True, True] Translation: X:56.69, Y:-2.22, Z:0.60 [[ 9.98707207e-01 -4.24501637e-02 -2.79624322e-02 5.66902869e+01] [ 4.24837998e-02 9.99096970e-01 6.09644547e-04 -2.21746434e+00] [ 2.79113017e-02 -1.79680677e-03 9.99608789e-01 6.02372071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.010714056999994 meters Centerline goodness [0,1] 0.9882092018014348 Centerline is valid? [True, True] Translation: X:56.72, Y:-2.22, Z:0.60 [[ 9.98680686e-01 -4.31289774e-02 -2.78707336e-02 5.67220385e+01] [ 4.31626969e-02 9.99067871e-01 6.09102442e-04 -2.21617312e+00] [ 2.78184845e-02 -1.81127487e-03 9.99611350e-01 6.03358416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.040714056999995 meters Centerline goodness [0,1] 0.9869569148695692 Centerline is valid? [True, True] Translation: X:56.75, Y:-2.22, Z:0.60 [[ 9.98630247e-01 -4.47247347e-02 -2.71537691e-02 5.67526680e+01] [ 4.47573593e-02 9.98997710e-01 5.94583989e-04 -2.22038612e+00] [ 2.70999606e-02 -1.80910056e-03 9.99631092e-01 6.03974818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.070714056999996 meters Centerline goodness [0,1] 0.988409354332856 Centerline is valid? [True, True] Translation: X:56.79, Y:-2.21, Z:0.61 [[ 9.98610700e-01 -4.54469931e-02 -2.66690806e-02 5.67851709e+01] [ 4.54787579e-02 9.98965134e-01 5.85422106e-04 -2.21138455e+00] [ 2.66148760e-02 -1.79748544e-03 9.99644145e-01 6.06701458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.100714057 meters Centerline goodness [0,1] 0.9865441343317449 Centerline is valid? [True, True] Translation: X:56.82, Y:-2.23, Z:0.61 [[ 9.98555793e-01 -4.68591037e-02 -2.62783554e-02 5.68155335e+01] [ 4.68904690e-02 9.98899870e-01 5.78306530e-04 -2.22603377e+00] [ 2.62223468e-02 -1.80967575e-03 9.99654497e-01 6.05731843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.130714057 meters Centerline goodness [0,1] 0.9879771770139927 Centerline is valid? [True, True] Translation: X:56.85, Y:-2.22, Z:0.61 [[ 9.98537167e-01 -4.73175256e-02 -2.61644516e-02 5.68482984e+01] [ 4.73488135e-02 9.98878249e-01 5.77228723e-04 -2.21872279e+00] [ 2.61077886e-02 -1.81524007e-03 9.99657485e-01 6.07914892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.160714057 meters Centerline goodness [0,1] 0.9862551514877044 Centerline is valid? [True, True] Translation: X:56.88, Y:-2.23, Z:0.61 [[ 9.98506111e-01 -4.78008468e-02 -2.64693455e-02 5.68790288e+01] [ 4.78331009e-02 9.98855170e-01 5.86360941e-04 -2.22705252e+00] [ 2.64110141e-02 -1.85159586e-03 9.99649454e-01 6.06670650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.190714056999994 meters Centerline goodness [0,1] 0.9872795344850918 Centerline is valid? [True, True] Translation: X:56.91, Y:-2.22, Z:0.61 [[ 9.98434462e-01 -4.88926056e-02 -2.71686930e-02 5.69114458e+01] [ 4.89270566e-02 9.98802172e-01 6.04326601e-04 -2.22428970e+00] [ 2.71066024e-02 -1.93266468e-03 9.99630680e-01 6.07487995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.220714056999995 meters Centerline goodness [0,1] 0.98773339368564 Centerline is valid? [True, True] Translation: X:56.94, Y:-2.23, Z:0.61 [[ 9.98387834e-01 -4.96407192e-02 -2.75233031e-02 5.69437406e+01] [ 4.96764129e-02 9.98765176e-01 6.14193781e-04 -2.22679692e+00] [ 2.74588276e-02 -1.98046257e-03 9.99620973e-01 6.07452804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.250714056999996 meters Centerline goodness [0,1] 0.9878620439774451 Centerline is valid? [True, True] Translation: X:56.98, Y:-2.23, Z:0.61 [[ 9.98375538e-01 -4.98357521e-02 -2.76167153e-02 5.69762855e+01] [ 4.98718174e-02 9.98755435e-01 6.18258210e-04 -2.22705044e+00] [ 2.75515331e-02 -1.99454965e-03 9.99618395e-01 6.08088963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.280714057 meters Centerline goodness [0,1] 0.9877635797173432 Centerline is valid? [True, True] Translation: X:57.01, Y:-2.23, Z:0.61 [[ 9.98363306e-01 -5.00554142e-02 -2.76615955e-02 5.70071428e+01] [ 5.00917284e-02 9.98744428e-01 6.20990821e-04 -2.22995201e+00] [ 2.75957805e-02 -2.00559158e-03 9.99617152e-01 6.08224995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.310714057 meters Centerline goodness [0,1] 0.9869001561121292 Centerline is valid? [True, True] Translation: X:57.04, Y:-2.23, Z:0.61 [[ 9.98356509e-01 -5.02065075e-02 -2.76330945e-02 5.70385116e+01] [ 5.02428451e-02 9.98736837e-01 6.21824384e-04 -2.23339799e+00] [ 2.75669698e-02 -2.00916771e-03 9.99617940e-01 6.07895264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.340714057 meters Centerline goodness [0,1] 0.987497461127034 Centerline is valid? [True, True] Translation: X:57.07, Y:-2.24, Z:0.61 [[ 9.98381681e-01 -5.01335887e-02 -2.68447990e-02 5.70692912e+01] [ 5.01678930e-02 9.98740615e-01 6.05483234e-04 -2.23601844e+00] [ 2.67806360e-02 -1.95125037e-03 9.99639430e-01 6.08591900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.370714056999994 meters Centerline goodness [0,1] 0.9865519583427665 Centerline is valid? [True, True] Translation: X:57.10, Y:-2.24, Z:0.61 [[ 9.98393734e-01 -5.02321158e-02 -2.62047044e-02 5.71016320e+01] [ 5.02648780e-02 9.98735746e-01 5.92623463e-04 -2.23781108e+00] [ 2.61418062e-02 -1.90884782e-03 9.99656422e-01 6.09191255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.400714056999995 meters Centerline goodness [0,1] 0.9863768836274089 Centerline is valid? [True, True] Translation: X:57.13, Y:-2.24, Z:0.61 [[ 9.98368413e-01 -5.07329263e-02 -2.62046179e-02 5.71338321e+01] [ 5.07659071e-02 9.98710403e-01 5.94431745e-04 -2.24032841e+00] [ 2.61406672e-02 -1.92376308e-03 9.99656423e-01 6.09885925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.430714056999996 meters Centerline goodness [0,1] 0.9866579522661197 Centerline is valid? [True, True] Translation: X:57.17, Y:-2.24, Z:0.61 [[ 9.98329936e-01 -5.19624089e-02 -2.52437697e-02 5.71661572e+01] [ 5.19934483e-02 9.98647261e-01 5.74343395e-04 -2.24265902e+00] [ 2.51797772e-02 -1.88589484e-03 9.99681160e-01 6.10827459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.460714057 meters Centerline goodness [0,1] 0.9855501117608544 Centerline is valid? [True, True] Translation: X:57.20, Y:-2.25, Z:0.61 [[ 9.98254066e-01 -5.32295313e-02 -2.56015026e-02 5.71971435e+01] [ 5.32619112e-02 9.98580406e-01 5.84047249e-04 -2.24735668e+00] [ 2.55340703e-02 -1.94661250e-03 9.99672057e-01 6.11136242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.490714057 meters Centerline goodness [0,1] 0.9852771818900304 Centerline is valid? [True, True] Translation: X:57.23, Y:-2.25, Z:0.61 [[ 9.98167774e-01 -5.50781125e-02 -2.50498664e-02 5.72274624e+01] [ 5.51097117e-02 9.98480141e-01 5.72328231e-04 -2.25206916e+00] [ 2.49802714e-02 -1.95177051e-03 9.99686039e-01 6.11903250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.520714057 meters Centerline goodness [0,1] 0.9841581034793582 Centerline is valid? [True, True] Translation: X:57.26, Y:-2.25, Z:0.61 [[ 9.98103046e-01 -5.62107264e-02 -2.51130317e-02 5.72594782e+01] [ 5.62428670e-02 9.98416952e-01 5.74791588e-04 -2.25368884e+00] [ 2.50409671e-02 -1.98613014e-03 9.99684453e-01 6.12425571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.550714057 meters Centerline goodness [0,1] 0.9861706447683075 Centerline is valid? [True, True] Translation: X:57.29, Y:-2.25, Z:0.61 [[ 9.98001177e-01 -5.78873265e-02 -2.53517007e-02 5.72903858e+01] [ 5.79206555e-02 9.98321020e-01 5.81716165e-04 -2.25015882e+00] [ 2.52754617e-02 -2.04894054e-03 9.99678425e-01 6.14014491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.580714056999994 meters Centerline goodness [0,1] 0.9871748636343146 Centerline is valid? [True, True] Translation: X:57.32, Y:-2.25, Z:0.61 [[ 9.97965196e-01 -5.86739310e-02 -2.49567217e-02 5.73228442e+01] [ 5.87065093e-02 9.98275120e-01 5.74092531e-04 -2.24855986e+00] [ 2.48799901e-02 -2.03804638e-03 9.99688368e-01 6.14676055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.610714056999996 meters Centerline goodness [0,1] 0.987336067420794 Centerline is valid? [True, True] Translation: X:57.35, Y:-2.25, Z:0.61 [[ 9.97930946e-01 -5.93601794e-02 -2.47021567e-02 5.73543376e+01] [ 5.93923430e-02 9.98234554e-01 5.69780332e-04 -2.25341270e+00] [ 2.46247241e-02 -2.03572039e-03 9.99694693e-01 6.14611525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.640714057 meters Centerline goodness [0,1] 0.9876305292878591 Centerline is valid? [True, True] Translation: X:57.39, Y:-2.26, Z:0.61 [[ 9.97896250e-01 -6.02482588e-02 -2.39420275e-02 5.73860015e+01] [ 6.02787563e-02 9.98181429e-01 5.53495937e-04 -2.25511478e+00] [ 2.38651400e-02 -1.99552716e-03 9.99713195e-01 6.14925753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.670714057 meters Centerline goodness [0,1] 0.9870916873169633 Centerline is valid? [True, True] Translation: X:57.42, Y:-2.25, Z:0.62 [[ 9.97901933e-01 -6.02931111e-02 -2.35896910e-02 5.74180724e+01] [ 6.03227633e-02 9.98178774e-01 5.46776391e-04 -2.25487320e+00] [ 2.35137620e-02 -1.96862456e-03 9.99721575e-01 6.15964005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.700714057 meters Centerline goodness [0,1] 0.9872083596072426 Centerline is valid? [True, True] Translation: X:57.45, Y:-2.26, Z:0.62 [[ 9.97911602e-01 -6.02940323e-02 -2.31746331e-02 5.74513033e+01] [ 6.03226958e-02 9.98178782e-01 5.39135271e-04 -2.25746793e+00] [ 2.30999204e-02 -1.93596569e-03 9.99731287e-01 6.16460876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.730714057 meters Centerline goodness [0,1] 0.9879143879548984 Centerline is valid? [True, True] Translation: X:57.48, Y:-2.26, Z:0.62 [[ 9.97916968e-01 -6.01681630e-02 -2.32705180e-02 5.74848014e+01] [ 6.01970876e-02 9.98186363e-01 5.43837051e-04 -2.25868418e+00] [ 2.31955921e-02 -1.94352163e-03 9.99729057e-01 6.17010128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.760714056999994 meters Centerline goodness [0,1] 0.9869448758637765 Centerline is valid? [True, True] Translation: X:57.52, Y:-2.26, Z:0.62 [[ 9.98025505e-01 -5.81140721e-02 -2.38295057e-02 5.75167689e+01] [ 5.81438693e-02 9.98308058e-01 5.58891983e-04 -2.25772486e+00] [ 2.37567080e-02 -1.94332812e-03 9.99715881e-01 6.17341746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.790714056999995 meters Centerline goodness [0,1] 0.9864788859141937 Centerline is valid? [True, True] Translation: X:57.55, Y:-2.26, Z:0.62 [[ 9.98079324e-01 -5.71626754e-02 -2.38766074e-02 5.75484016e+01] [ 5.71923546e-02 9.98363020e-01 5.61443386e-04 -2.25981434e+00] [ 2.38054283e-02 -1.92592443e-03 9.99714756e-01 6.17560457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.820714056999996 meters Centerline goodness [0,1] 0.987128133579369 Centerline is valid? [True, True] Translation: X:57.58, Y:-2.26, Z:0.62 [[ 9.98093547e-01 -5.67777487e-02 -2.41983362e-02 5.75805062e+01] [ 5.68081624e-02 9.98384949e-01 5.70721848e-04 -2.25961789e+00] [ 2.41268504e-02 -1.94429681e-03 9.99707014e-01 6.18431251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.850714057 meters Centerline goodness [0,1] 0.987128133579369 Centerline is valid? [True, True] Translation: X:57.61, Y:-2.26, Z:0.62 [[ 9.98099531e-01 -5.66724660e-02 -2.41982869e-02 5.76131438e+01] [ 5.67028991e-02 9.98390932e-01 5.72805104e-04 -2.26048386e+00] [ 2.41268880e-02 -1.94382953e-03 9.99707014e-01 6.18863920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.880714057 meters Centerline goodness [0,1] 0.987981093855503 Centerline is valid? [True, True] Translation: X:57.64, Y:-2.26, Z:0.62 [[ 9.98251712e-01 -5.39429349e-02 -2.41594534e-02 5.76440635e+01] [ 5.39725142e-02 9.98542257e-01 5.73474080e-04 -2.25879609e+00] [ 2.40933003e-02 -1.87641793e-03 9.99707953e-01 6.20001736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.910714057 meters Centerline goodness [0,1] 0.9872121608516204 Centerline is valid? [True, True] Translation: X:57.67, Y:-2.26, Z:0.62 [[ 9.98314188e-01 -5.27666979e-02 -2.41755707e-02 5.76741916e+01] [ 5.27959841e-02 9.98605154e-01 5.74279976e-04 -2.26152652e+00] [ 2.41115466e-02 -1.84968489e-03 9.99707563e-01 6.19993977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.940714056999994 meters Centerline goodness [0,1] 0.9877404497426172 Centerline is valid? [True, True] Translation: X:57.70, Y:-2.26, Z:0.62 [[ 9.98500268e-01 -4.91428818e-02 -2.41286439e-02 5.77044550e+01] [ 4.91710083e-02 9.98790210e-01 5.73419377e-04 -2.25987193e+00] [ 2.40712738e-02 -1.75898915e-03 9.99708697e-01 6.20874072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.970714056999995 meters Centerline goodness [0,1] 0.9871904934032171 Centerline is valid? [True, True] Translation: X:57.74, Y:-2.26, Z:0.62 [[ 9.98571742e-01 -4.75226887e-02 -2.44145418e-02 5.77355524e+01] [ 4.75510145e-02 9.98868642e-01 5.80630441e-04 -2.25903367e+00] [ 2.43593271e-02 -1.74073738e-03 9.99701752e-01 6.21244574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.000714056999996 meters Centerline goodness [0,1] 0.9872047466992776 Centerline is valid? [True, True] Translation: X:57.77, Y:-2.26, Z:0.62 [[ 9.98687024e-01 -4.54021559e-02 -2.37249460e-02 5.77676221e+01] [ 4.54283317e-02 9.98967441e-01 5.65224909e-04 -2.25714756e+00] [ 2.36747862e-02 -1.64226750e-03 9.99718364e-01 6.22105654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.030714057 meters Centerline goodness [0,1] 0.9868847260289487 Centerline is valid? [True, True] Translation: X:57.80, Y:-2.26, Z:0.62 [[ 9.98867711e-01 -4.12221939e-02 -2.37492594e-02 5.77971630e+01] [ 4.12472597e-02 9.99148809e-01 5.66330101e-04 -2.25824474e+00] [ 2.37056989e-02 -1.54528072e-03 9.99717786e-01 6.22494597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.060714057 meters Centerline goodness [0,1] 0.9884484711211778 Centerline is valid? [True, True] Translation: X:57.83, Y:-2.25, Z:0.62 [[ 9.98954222e-01 -3.91360920e-02 -2.36395448e-02 5.78293314e+01] [ 3.91603532e-02 9.99232780e-01 5.64059753e-04 -2.25220829e+00] [ 2.35993329e-02 -1.48920279e-03 9.99720388e-01 6.24438578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.090714057 meters Centerline goodness [0,1] 0.9871748554913294 Centerline is valid? [True, True] Translation: X:57.86, Y:-2.26, Z:0.62 [[ 9.99122282e-01 -3.49354854e-02 -2.31122907e-02 5.78593029e+01] [ 3.49575693e-02 9.99388645e-01 5.52046617e-04 -2.25739451e+00] [ 2.30788749e-02 -1.35951158e-03 9.99732723e-01 6.23996772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.120714056999994 meters Centerline goodness [0,1] 0.9871127015763725 Centerline is valid? [True, True] Translation: X:57.89, Y:-2.25, Z:0.63 [[ 9.99154222e-01 -3.40785536e-02 -2.30106931e-02 5.78912234e+01] [ 3.41002244e-02 9.99418267e-01 5.49926730e-04 -2.25326906e+00] [ 2.29785664e-02 -1.33413141e-03 9.99735068e-01 6.25436512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.150714056999995 meters Centerline goodness [0,1] 0.9879422497223544 Centerline is valid? [True, True] Translation: X:57.92, Y:-2.25, Z:0.63 [[ 9.99201992e-01 -3.29219185e-02 -2.26169587e-02 5.79226997e+01] [ 3.29425805e-02 9.99457099e-01 5.41490770e-04 -2.25140674e+00] [ 2.25868530e-02 -1.28611964e-03 9.99744057e-01 6.26498664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.180714056999996 meters Centerline goodness [0,1] 0.9861820162003948 Centerline is valid? [True, True] Translation: X:57.95, Y:-2.25, Z:0.63 [[ 9.99281126e-01 -3.00603439e-02 -2.30999532e-02 5.79541420e+01] [ 3.00811552e-02 9.99547306e-01 5.53888166e-04 -2.25156593e+00] [ 2.30728459e-02 -1.24836327e-03 9.99733007e-01 6.26890464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.210714057 meters Centerline goodness [0,1] 0.9867228566249774 Centerline is valid? [True, True] Translation: X:57.98, Y:-2.25, Z:0.63 [[ 9.99320254e-01 -2.87759570e-02 -2.30428939e-02 5.79846323e+01] [ 2.87963523e-02 9.99585146e-01 5.53703320e-04 -2.25342294e+00] [ 2.30174011e-02 -1.21687823e-03 9.99734324e-01 6.26806665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.240714057 meters Centerline goodness [0,1] 0.9879894851341552 Centerline is valid? [True, True] Translation: X:58.02, Y:-2.25, Z:0.63 [[ 9.99367086e-01 -2.68011896e-02 -2.33906583e-02 5.80158592e+01] [ 2.68216976e-02 9.99640075e-01 5.63411012e-04 -2.25171702e+00] [ 2.33671393e-02 -1.19043158e-03 9.99726242e-01 6.27555653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.270714057 meters Centerline goodness [0,1] 0.987663804789878 Centerline is valid? [True, True] Translation: X:58.05, Y:-2.26, Z:0.63 [[ 9.99393245e-01 -2.60887874e-02 -2.30763135e-02 5.80458701e+01] [ 2.61085733e-02 9.99658958e-01 5.56488929e-04 -2.25897704e+00] [ 2.30539254e-02 -1.15864090e-03 9.99733552e-01 6.26641169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.300714057 meters Centerline goodness [0,1] 0.988099016185338 Centerline is valid? [True, True] Translation: X:58.08, Y:-2.26, Z:0.63 [[ 9.99418086e-01 -2.51615647e-02 -2.30300938e-02 5.80769253e+01] [ 2.51810352e-02 9.99682753e-01 5.55782397e-04 -2.25560898e+00] [ 2.30088032e-02 -1.13538058e-03 9.99734618e-01 6.28404809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.330714056999994 meters Centerline goodness [0,1] 0.9880107272440448 Centerline is valid? [True, True] Translation: X:58.11, Y:-2.26, Z:0.63 [[ 9.99440555e-01 -2.50492067e-02 -2.21611172e-02 5.81073742e+01] [ 2.50672126e-02 9.99685625e-01 5.35035637e-04 -2.25712986e+00] [ 2.21407481e-02 -1.09025375e-03 9.99754269e-01 6.29543052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.360714056999996 meters Centerline goodness [0,1] 0.9881318383217289 Centerline is valid? [True, True] Translation: X:58.14, Y:-2.26, Z:0.63 [[ 9.99452722e-01 -2.51569569e-02 -2.14798306e-02 5.81373807e+01] [ 2.51738972e-02 9.99682953e-01 5.18587343e-04 -2.26019732e+00] [ 2.14599744e-02 -1.05903458e-03 9.99769147e-01 6.30084807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.390714057 meters Centerline goodness [0,1] 0.9885396496600171 Centerline is valid? [True, True] Translation: X:58.17, Y:-2.26, Z:0.63 [[ 9.99449597e-01 -2.50727452e-02 -2.17223341e-02 5.81688131e+01] [ 2.50900570e-02 9.99685057e-01 5.24744783e-04 -2.25965387e+00] [ 2.17023360e-02 -1.06947056e-03 9.99763905e-01 6.31026840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.420714057 meters Centerline goodness [0,1] 0.988467429498153 Centerline is valid? [True, True] Translation: X:58.20, Y:-2.26, Z:0.63 [[ 9.99445972e-01 -2.49075730e-02 -2.20762701e-02 5.81995163e+01] [ 2.49254276e-02 9.99689171e-01 5.33932767e-04 -2.26425507e+00] [ 2.20561092e-02 -1.08389743e-03 9.99756147e-01 6.30802139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.450714057 meters Centerline goodness [0,1] 0.9892623190689508 Centerline is valid? [True, True] Translation: X:58.23, Y:-2.27, Z:0.63 [[ 9.99408036e-01 -2.48892129e-02 -2.37508870e-02 5.82295143e+01] [ 2.49098850e-02 9.99689535e-01 5.74866634e-04 -2.26650893e+00] [ 2.37292052e-02 -1.16615820e-03 9.99717743e-01 6.30457944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.480714057 meters Centerline goodness [0,1] 0.9890307095269073 Centerline is valid? [True, True] Translation: X:58.26, Y:-2.27, Z:0.63 [[ 9.99394418e-01 -2.48629873e-02 -2.43439763e-02 5.82603604e+01] [ 2.48847030e-02 9.99690154e-01 5.89453756e-04 -2.26857889e+00] [ 2.43217778e-02 -1.19488941e-03 9.99703468e-01 6.30338630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.510714056999994 meters Centerline goodness [0,1] 0.9882695973982281 Centerline is valid? [True, True] Translation: X:58.29, Y:-2.27, Z:0.63 [[ 9.99376136e-01 -2.54875742e-02 -2.44483763e-02 5.82892653e+01] [ 2.55096746e-02 9.99674400e-01 5.92456700e-04 -2.27273387e+00] [ 2.44253156e-02 -1.21575721e-03 9.99700918e-01 6.30294528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.540714056999995 meters Centerline goodness [0,1] 0.989297253634895 Centerline is valid? [True, True] Translation: X:58.32, Y:-2.27, Z:0.63 [[ 9.99367896e-01 -2.59057924e-02 -2.43454150e-02 5.83196231e+01] [ 2.59278444e-02 9.99663643e-01 5.90521944e-04 -2.26804513e+00] [ 2.43219283e-02 -1.22137280e-03 9.99703432e-01 6.32624611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.570714056999996 meters Centerline goodness [0,1] 0.9882684816191286 Centerline is valid? [True, True] Translation: X:58.35, Y:-2.28, Z:0.63 [[ 9.99370264e-01 -2.60765930e-02 -2.40642387e-02 5.83490456e+01] [ 2.60981832e-02 9.99659214e-01 5.83509404e-04 -2.27688939e+00] [ 2.40408220e-02 -1.21117485e-03 9.99710244e-01 6.31918036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.600714057 meters Centerline goodness [0,1] 0.9873911872924707 Centerline is valid? [True, True] Translation: X:58.38, Y:-2.28, Z:0.63 [[ 9.99339328e-01 -2.70434132e-02 -2.42808894e-02 5.83786361e+01] [ 2.70656684e-02 9.99633485e-01 5.88343022e-04 -2.28015096e+00] [ 2.42560793e-02 -1.24513282e-03 9.99705003e-01 6.32993252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.630714057 meters Centerline goodness [0,1] 0.9886118598382749 Centerline is valid? [True, True] Translation: X:58.41, Y:-2.27, Z:0.64 [[ 9.99333227e-01 -2.72391750e-02 -2.43131487e-02 5.84091052e+01] [ 2.72615418e-02 9.99628162e-01 5.88905916e-04 -2.27325076e+00] [ 2.42880669e-02 -1.25132717e-03 9.99704218e-01 6.35403715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.660714057 meters Centerline goodness [0,1] 0.9880156200906683 Centerline is valid? [True, True] Translation: X:58.44, Y:-2.28, Z:0.64 [[ 9.99298965e-01 -2.79861110e-02 -2.48667717e-02 5.84395180e+01] [ 2.80097391e-02 9.99607469e-01 6.02315609e-04 -2.27508137e+00] [ 2.48401543e-02 -1.29840515e-03 9.99690593e-01 6.35557723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.690714056999994 meters Centerline goodness [0,1] 0.9888108770756715 Centerline is valid? [True, True] Translation: X:58.47, Y:-2.28, Z:0.64 [[ 9.99288901e-01 -2.81442823e-02 -2.50916647e-02 5.84699242e+01] [ 2.81683948e-02 9.99603007e-01 6.07970189e-04 -2.27949221e+00] [ 2.50645926e-02 -1.31432978e-03 9.99684970e-01 6.35100014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.720714056999995 meters Centerline goodness [0,1] 0.989223944797921 Centerline is valid? [True, True] Translation: X:58.50, Y:-2.28, Z:0.64 [[ 9.99262048e-01 -2.86636560e-02 -2.55686287e-02 5.85002246e+01] [ 2.86888698e-02 9.99588198e-01 6.19763597e-04 -2.27946553e+00] [ 2.55403348e-02 -1.35284130e-03 9.99672877e-01 6.35210734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.750714056999996 meters Centerline goodness [0,1] 0.9886904628863905 Centerline is valid? [True, True] Translation: X:58.53, Y:-2.28, Z:0.64 [[ 9.99202869e-01 -3.02015320e-02 -2.61054332e-02 5.85310286e+01] [ 3.02283393e-02 9.99542819e-01 6.32775318e-04 -2.28074568e+00] [ 2.60743875e-02 -1.42139481e-03 9.99658995e-01 6.35844550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.780714057 meters Centerline goodness [0,1] 0.9892666277450937 Centerline is valid? [True, True] Translation: X:58.56, Y:-2.28, Z:0.64 [[ 9.99175251e-01 -3.10563373e-02 -2.61595322e-02 5.85617768e+01] [ 3.10835478e-02 9.99516589e-01 6.34086636e-04 -2.28184280e+00] [ 2.61271940e-02 -1.44669475e-03 9.99657580e-01 6.36677195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.810714057 meters Centerline goodness [0,1] 0.9889654863691302 Centerline is valid? [True, True] Translation: X:58.59, Y:-2.28, Z:0.64 [[ 9.99092118e-01 -3.36049810e-02 -2.61848275e-02 5.85925098e+01] [ 3.36331225e-02 9.99434045e-01 6.34929494e-04 -2.28483514e+00] [ 2.61486712e-02 -1.51503056e-03 9.99656917e-01 6.37652648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.840714057 meters Centerline goodness [0,1] 0.9893033768209994 Centerline is valid? [True, True] Translation: X:58.62, Y:-2.29, Z:0.64 [[ 9.99043388e-01 -3.49690023e-02 -2.62579134e-02 5.86232052e+01] [ 3.49977921e-02 9.99387186e-01 6.37520046e-04 -2.28779040e+00] [ 2.62195287e-02 -1.55587918e-03 9.99654998e-01 6.38223018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.870714056999994 meters Centerline goodness [0,1] 0.989584266642774 Centerline is valid? [True, True] Translation: X:58.65, Y:-2.29, Z:0.64 [[ 9.98963382e-01 -3.71259278e-02 -2.63405857e-02 5.86547181e+01] [ 3.71556741e-02 9.99309284e-01 6.40591156e-04 -2.28883913e+00] [ 2.62986093e-02 -1.61862933e-03 9.99652821e-01 6.38976678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.900714056999995 meters Centerline goodness [0,1] 0.9890792147754428 Centerline is valid? [True, True] Translation: X:58.68, Y:-2.29, Z:0.64 [[ 9.98805408e-01 -4.12553483e-02 -2.61868842e-02 5.86843921e+01] [ 4.12861687e-02 9.99147159e-01 6.37134174e-04 -2.29445856e+00] [ 2.61382658e-02 -1.71752918e-03 9.99656862e-01 6.39619415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.930714056999996 meters Centerline goodness [0,1] 0.9883334448682772 Centerline is valid? [True, True] Translation: X:58.72, Y:-2.30, Z:0.64 [[ 9.98731915e-01 -4.31841732e-02 -2.58783688e-02 5.87156939e+01] [ 4.32149226e-02 9.99065600e-01 6.29887654e-04 -2.29569000e+00] [ 2.58269869e-02 -1.74742061e-03 9.99664900e-01 6.40590570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.960714057 meters Centerline goodness [0,1] 0.9881436992548104 Centerline is valid? [True, True] Translation: X:58.74, Y:-2.30, Z:0.64 [[ 9.98576314e-01 -4.66244854e-02 -2.59133523e-02 5.87448477e+01] [ 4.66564925e-02 9.98910793e-01 6.31589613e-04 -2.30102767e+00] [ 2.58556797e-02 -1.83971655e-03 9.99663993e-01 6.41377994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.990714057 meters Centerline goodness [0,1] 0.9885167464114832 Centerline is valid? [True, True] Translation: X:58.78, Y:-2.30, Z:0.64 [[ 9.98533060e-01 -4.76684103e-02 -2.56797704e-02 5.87772108e+01] [ 4.77002187e-02 9.98861500e-01 6.27167437e-04 -2.30168511e+00] [ 2.56206379e-02 -1.85117808e-03 9.99670024e-01 6.42366106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.020714057 meters Centerline goodness [0,1] 0.9872289210332761 Centerline is valid? [True, True] Translation: X:58.81, Y:-2.30, Z:0.64 [[ 9.98444248e-01 -4.94380443e-02 -2.57868691e-02 5.88080446e+01] [ 4.94707356e-02 9.98775374e-01 6.30949649e-04 -2.30440028e+00] [ 2.57240970e-02 -1.90566343e-03 9.99667264e-01 6.42913184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.050714057 meters Centerline goodness [0,1] 0.9871301873791372 Centerline is valid? [True, True] Translation: X:58.84, Y:-2.31, Z:0.64 [[ 9.98434201e-01 -4.99489494e-02 -2.51843064e-02 5.88398198e+01] [ 4.99803187e-02 9.98750012e-01 6.17281031e-04 -2.30528501e+00] [ 2.51219938e-02 -1.87503415e-03 9.99682634e-01 6.43445729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.080714056999994 meters Centerline goodness [0,1] 0.987349344204183 Centerline is valid? [True, True] Translation: X:58.87, Y:-2.31, Z:0.64 [[ 9.98376699e-01 -5.15004414e-02 -2.43242832e-02 5.88707054e+01] [ 5.15301981e-02 9.98671258e-01 5.97693729e-04 -2.30961530e+00] [ 2.42611810e-02 -1.85015862e-03 9.99703942e-01 6.43551672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.110714056999996 meters Centerline goodness [0,1] 0.9871202700302008 Centerline is valid? [True, True] Translation: X:58.90, Y:-2.31, Z:0.64 [[ 9.98332542e-01 -5.23672826e-02 -2.42858588e-02 5.89013295e+01] [ 5.23972496e-02 9.98626141e-01 5.98788583e-04 -2.31280624e+00] [ 2.42211365e-02 -1.87030234e-03 9.99704876e-01 6.43340634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.140714057 meters Centerline goodness [0,1] 0.9865807598311487 Centerline is valid? [True, True] Translation: X:58.93, Y:-2.31, Z:0.64 [[ 9.98305834e-01 -5.28754319e-02 -2.42827392e-02 5.89339167e+01] [ 5.29055985e-02 9.98599337e-01 6.01097830e-04 -2.31219495e+00] [ 2.42169440e-02 -1.88477232e-03 9.99704950e-01 6.44123524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.170714057 meters Centerline goodness [0,1] 0.9874754858263505 Centerline is valid? [True, True] Translation: X:58.97, Y:-2.31, Z:0.64 [[ 9.98236511e-01 -5.40075560e-02 -2.46384383e-02 5.89653331e+01] [ 5.40389936e-02 9.98538639e-01 6.11442526e-04 -2.31440845e+00] [ 2.45694102e-02 -1.94180067e-03 9.99696241e-01 6.44265499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.200714057 meters Centerline goodness [0,1] 0.9876055086628165 Centerline is valid? [True, True] Translation: X:59.00, Y:-2.32, Z:0.64 [[ 9.98232094e-01 -5.40841644e-02 -2.46493311e-02 5.89975410e+01] [ 5.41156895e-02 9.98534484e-01 6.13193768e-04 -2.31590010e+00] [ 2.45800430e-02 -1.94602525e-03 9.99695971e-01 6.44024663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.230714057 meters Centerline goodness [0,1] 0.9881185040419295 Centerline is valid? [True, True] Translation: X:59.03, Y:-2.31, Z:0.64 [[ 9.98216934e-01 -5.41255406e-02 -2.51669974e-02 5.90295444e+01] [ 5.41584618e-02 9.98532156e-01 6.27847149e-04 -2.31294287e+00] [ 2.50960736e-02 -1.98973352e-03 9.99683064e-01 6.43823561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.260714056999994 meters Centerline goodness [0,1] 0.985820496839106 Centerline is valid? [True, True] Translation: X:59.06, Y:-2.32, Z:0.64 [[ 9.98228437e-01 -5.41129172e-02 -2.47341972e-02 5.90606930e+01] [ 5.41447492e-02 9.98532906e-01 6.18570940e-04 -2.32075509e+00] [ 2.46644372e-02 -1.95670201e-03 9.99693872e-01 6.43047369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.290714056999995 meters Centerline goodness [0,1] 0.9877146602092729 Centerline is valid? [True, True] Translation: X:59.09, Y:-2.31, Z:0.65 [[ 9.98294200e-01 -5.36634338e-02 -2.29983987e-02 5.90932327e+01] [ 5.36908654e-02 9.98557439e-01 5.76497813e-04 -2.31236680e+00] [ 2.29342852e-02 -1.81031835e-03 9.99735336e-01 6.45536322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.320714056999996 meters Centerline goodness [0,1] 0.9877686023796839 Centerline is valid? [True, True] Translation: X:59.13, Y:-2.31, Z:0.65 [[ 9.98324626e-01 -5.34858650e-02 -2.20726970e-02 5.91253404e+01] [ 5.35111227e-02 9.98567099e-01 5.54823491e-04 -2.31136665e+00] [ 2.20113939e-02 -1.73502875e-03 9.99756214e-01 6.46720251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.350714057 meters Centerline goodness [0,1] 0.9874916536835077 Centerline is valid? [True, True] Translation: X:59.16, Y:-2.31, Z:0.65 [[ 9.98387557e-01 -5.25946772e-02 -2.13561635e-02 5.91566271e+01] [ 5.26181472e-02 9.98614561e-01 5.38156122e-04 -2.31264711e+00] [ 2.12982717e-02 -1.66101013e-03 9.99771786e-01 6.47502993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.380714057 meters Centerline goodness [0,1] 0.9860677663843067 Centerline is valid? [True, True] Translation: X:59.19, Y:-2.31, Z:0.65 [[ 9.98468735e-01 -5.09696908e-02 -2.15005982e-02 5.91885436e+01] [ 5.09931294e-02 9.98698857e-01 5.42935955e-04 -2.31115221e+00] [ 2.14449496e-02 -1.63848736e-03 9.99768688e-01 6.47891948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.410714057 meters Centerline goodness [0,1] 0.9873629312650442 Centerline is valid? [True, True] Translation: X:59.22, Y:-2.31, Z:0.65 [[ 9.98494695e-01 -5.05113646e-02 -2.13763034e-02 5.92211169e+01] [ 5.05344555e-02 9.98722172e-01 5.41066818e-04 -2.30737520e+00] [ 2.13216582e-02 -1.62049220e-03 9.99771354e-01 6.48411036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.440714056999994 meters Centerline goodness [0,1] 0.9878986427759577 Centerline is valid? [True, True] Translation: X:59.25, Y:-2.31, Z:0.65 [[ 9.98507021e-01 -5.02524801e-02 -2.14107026e-02 5.92533259e+01] [ 5.02756188e-02 9.98735234e-01 5.43461849e-04 -2.30807275e+00] [ 2.13563128e-02 -1.61908680e-03 9.99770617e-01 6.47782485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.470714056999995 meters Centerline goodness [0,1] 0.9878550615032142 Centerline is valid? [True, True] Translation: X:59.29, Y:-2.31, Z:0.65 [[ 9.98464352e-01 -5.08849862e-02 -2.19010423e-02 5.92855837e+01] [ 5.09093827e-02 9.98703121e-01 5.57475903e-04 -2.30945357e+00] [ 2.18442721e-02 -1.67158836e-03 9.99759988e-01 6.47442196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.500714056999996 meters Centerline goodness [0,1] 0.9879284184219922 Centerline is valid? [True, True] Translation: X:59.32, Y:-2.31, Z:0.65 [[ 9.98442687e-01 -5.14014079e-02 -2.16817189e-02 5.93177399e+01] [ 5.14254719e-02 9.98676682e-01 5.53409122e-04 -2.31052896e+00] [ 2.16245811e-02 -1.66753992e-03 9.99764771e-01 6.47228588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.530714057 meters Centerline goodness [0,1] 0.9861392757660167 Centerline is valid? [True, True] Translation: X:59.35, Y:-2.31, Z:0.65 [[ 9.98333296e-01 -5.35745849e-02 -2.14567894e-02 5.93474813e+01] [ 5.35986706e-02 9.98562407e-01 5.48589877e-04 -2.31371302e+00] [ 2.13965529e-02 -1.69773093e-03 9.99769626e-01 6.46407329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.560714057 meters Centerline goodness [0,1] 0.9858332962088475 Centerline is valid? [True, True] Translation: X:59.38, Y:-2.31, Z:0.65 [[ 9.98232118e-01 -5.55020230e-02 -2.12641530e-02 5.93786215e+01] [ 5.55261154e-02 9.98457087e-01 5.43802932e-04 -2.31474963e+00] [ 2.12011622e-02 -1.72355737e-03 9.99773744e-01 6.47051489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.590714057 meters Centerline goodness [0,1] 0.9849982193732194 Centerline is valid? [True, True] Translation: X:59.41, Y:-2.32, Z:0.65 [[ 9.98167988e-01 -5.66859641e-02 -2.11511134e-02 5.94097713e+01] [ 5.67100783e-02 9.98390542e-01 5.41546714e-04 -2.31769514e+00] [ 2.10863735e-02 -1.74003589e-03 9.99776144e-01 6.47334005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.620714056999994 meters Centerline goodness [0,1] 0.9860996636296808 Centerline is valid? [True, True] Translation: X:59.44, Y:-2.32, Z:0.65 [[ 9.98113922e-01 -5.76613082e-02 -2.10658791e-02 5.94419992e+01] [ 5.76854698e-02 9.98334660e-01 5.40588560e-04 -2.31529988e+00] [ 2.09996262e-02 -1.75476410e-03 9.99777944e-01 6.48263636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.650714056999995 meters Centerline goodness [0,1] 0.9864380358534685 Centerline is valid? [True, True] Translation: X:59.47, Y:-2.31, Z:0.65 [[ 9.98066131e-01 -5.85686043e-02 -2.08258588e-02 5.94741249e+01] [ 5.85924444e-02 9.98281843e-01 5.35876326e-04 -2.31303425e+00] [ 2.07586912e-02 -1.75507799e-03 9.99782975e-01 6.49052509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.680714056999996 meters Centerline goodness [0,1] 0.9757486433978696 Centerline is valid? [True, True] Translation: X:59.50, Y:-2.32, Z:0.65 [[ 9.97956767e-01 -6.04221789e-02 -2.07714122e-02 5.95042028e+01] [ 6.04463151e-02 9.98171306e-01 5.35541377e-04 -2.32200989e+00] [ 2.07010691e-02 -1.79000247e-03 9.99784108e-01 6.48721032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.710714057 meters Centerline goodness [0,1] 0.982457704567238 Centerline is valid? [True, True] Translation: X:59.54, Y:-2.32, Z:0.65 [[ 9.97874036e-01 -6.20397368e-02 -1.99619384e-02 5.95350635e+01] [ 6.20623559e-02 9.98072141e-01 5.15009293e-04 -2.31676613e+00] [ 1.98915036e-02 -1.75279933e-03 9.99800608e-01 6.49995853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.740714057 meters Centerline goodness [0,1] 0.9827166014533258 Centerline is valid? [True, True] Translation: X:59.57, Y:-2.32, Z:0.65 [[ 9.97815512e-01 -6.29883904e-02 -1.99164700e-02 5.95668483e+01] [ 6.30111054e-02 9.98012693e-01 5.14413300e-04 -2.31591175e+00] [ 1.98444878e-02 -1.76824836e-03 9.99801515e-01 6.50615805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.770714057 meters Centerline goodness [0,1] 0.9827166014533258 Centerline is valid? [True, True] Translation: X:59.60, Y:-2.32, Z:0.65 [[ 9.97822141e-01 -6.28833029e-02 -1.99164339e-02 5.95995051e+01] [ 6.29060248e-02 9.98019321e-01 5.15809195e-04 -2.31685322e+00] [ 1.98445500e-02 -1.76754952e-03 9.99801515e-01 6.51048843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.800714057 meters Centerline goodness [0,1] 0.9804501838400144 Centerline is valid? [True, True] Translation: X:59.63, Y:-2.32, Z:0.65 [[ 9.97798839e-01 -6.33110206e-02 -1.97279351e-02 5.96308985e+01] [ 6.33334311e-02 9.97992291e-01 5.12648784e-04 -2.31883063e+00] [ 1.96558708e-02 -1.76095818e-03 9.99805254e-01 6.51587727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.830714056999994 meters Centerline goodness [0,1] 0.9849144704350559 Centerline is valid? [True, True] Translation: X:59.66, Y:-2.31, Z:0.65 [[ 9.97743149e-01 -6.42224316e-02 -1.95981611e-02 5.96628548e+01] [ 6.42447426e-02 9.97934042e-01 5.10305582e-04 -2.31109449e+00] [ 1.95248991e-02 -1.76823272e-03 9.99807807e-01 6.52292094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.860714056999996 meters Centerline goodness [0,1] 0.9844799317206837 Centerline is valid? [True, True] Translation: X:59.69, Y:-2.31, Z:0.65 [[ 9.97721082e-01 -6.44316368e-02 -2.00301499e-02 5.96948813e+01] [ 6.44550086e-02 9.97920477e-01 5.22771422e-04 -2.31117155e+00] [ 1.99548138e-02 -1.81262356e-03 9.99799240e-01 6.52403904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.890714057 meters Centerline goodness [0,1] 0.9622356835634022 Centerline is valid? [True, True] Translation: X:59.73, Y:-2.32, Z:0.65 [[ 9.97683167e-01 -6.48440785e-02 -2.05801962e-02 5.97258122e+01] [ 6.48688671e-02 9.97893652e-01 5.38501382e-04 -2.32212329e+00] [ 2.05019285e-02 -1.87226778e-03 9.99788060e-01 6.50425112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.920714057 meters Centerline goodness [0,1] 0.9842831730877485 Centerline is valid? [True, True] Translation: X:59.76, Y:-2.31, Z:0.65 [[ 9.97699095e-01 -6.45914394e-02 -2.06024913e-02 5.97585277e+01] [ 6.46162539e-02 9.97910040e-01 5.40329872e-04 -2.31170279e+00] [ 2.05245322e-02 -1.87034243e-03 9.99787600e-01 6.51499434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.950714057 meters Centerline goodness [0,1] 0.9846889304800776 Centerline is valid? [True, True] Translation: X:59.79, Y:-2.31, Z:0.65 [[ 9.97692143e-01 -6.46296003e-02 -2.08183400e-02 5.97905763e+01] [ 6.46549773e-02 9.97907528e-01 5.47501809e-04 -2.31144090e+00] [ 2.07393934e-02 -1.89224755e-03 9.99783125e-01 6.51697734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.980714057 meters Centerline goodness [0,1] 0.9789630163520879 Centerline is valid? [True, True] Translation: X:59.82, Y:-2.32, Z:0.65 [[ 9.97747515e-01 -6.39097192e-02 -2.03824499e-02 5.98218065e+01] [ 6.39339245e-02 9.97953989e-01 5.37477229e-04 -2.31701511e+00] [ 2.03063972e-02 -1.83939658e-03 9.99792112e-01 6.51589479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.010714057 meters Centerline goodness [0,1] 0.9770003822028372 Centerline is valid? [True, True] Translation: X:59.85, Y:-2.32, Z:0.65 [[ 9.97785449e-01 -6.34509581e-02 -1.99542889e-02 5.98541216e+01] [ 6.34740961e-02 9.97983347e-01 5.27702015e-04 -2.31871492e+00] [ 1.98805648e-02 -1.79311384e-03 9.99800754e-01 6.51628874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.040714057 meters Centerline goodness [0,1] 0.9814881704894347 Centerline is valid? [True, True] Translation: X:59.89, Y:-2.32, Z:0.65 [[ 9.97765824e-01 -6.37769848e-02 -1.98961667e-02 5.98868478e+01] [ 6.38000851e-02 9.97962560e-01 5.27814253e-04 -2.31504405e+00] [ 1.98219671e-02 -1.79601215e-03 9.99801912e-01 6.52488970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.070714057 meters Centerline goodness [0,1] 0.9771800590209727 Centerline is valid? [True, True] Translation: X:59.92, Y:-2.32, Z:0.65 [[ 9.97759007e-01 -6.38946259e-02 -1.98605394e-02 5.99184498e+01] [ 6.39177035e-02 9.97955033e-01 5.28731631e-04 -2.31846621e+00] [ 1.97861421e-02 -1.79698681e-03 9.99802620e-01 6.52213928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.100714057 meters Centerline goodness [0,1] 0.9620670201963217 Centerline is valid? [True, True] Translation: X:59.95, Y:-2.32, Z:0.65 [[ 9.97747184e-01 -6.40122692e-02 -2.00744924e-02 5.99496015e+01] [ 6.40359144e-02 9.97947450e-01 5.36623550e-04 -2.32317897e+00] [ 1.99989380e-02 -1.82090311e-03 9.99798343e-01 6.52039185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.130714057 meters Centerline goodness [0,1] 0.9810135135135135 Centerline is valid? [True, True] Translation: X:59.98, Y:-2.32, Z:0.65 [[ 9.97755671e-01 -6.37958658e-02 -2.03398469e-02 5.99817550e+01] [ 6.38201207e-02 9.97961269e-01 5.44943485e-04 -2.31698183e+00] [ 2.02636143e-02 -1.84181194e-03 9.99792975e-01 6.52231091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.160714057 meters Centerline goodness [0,1] 0.9790625422126165 Centerline is valid? [True, True] Translation: X:60.01, Y:-2.32, Z:0.65 [[ 9.97773142e-01 -6.35413277e-02 -2.02794882e-02 6.00143015e+01] [ 6.35654155e-02 9.97977525e-01 5.44753577e-04 -2.31837642e+00] [ 2.02038591e-02 -1.83261458e-03 9.99794202e-01 6.52236695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19071405700001 meters Centerline goodness [0,1] 0.9850089178877024 Centerline is valid? [True, True] Translation: X:60.05, Y:-2.31, Z:0.65 [[ 9.97794643e-01 -6.29924277e-02 -2.09237913e-02 6.00470923e+01] [ 6.30179822e-02 9.98012233e-01 5.63551655e-04 -2.31183866e+00] [ 2.08467002e-02 -1.88088393e-03 9.99780915e-01 6.52584108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22071405700001 meters Centerline goodness [0,1] 0.9827695226051217 Centerline is valid? [True, True] Translation: X:60.08, Y:-2.32, Z:0.65 [[ 9.97830690e-01 -6.23941849e-02 -2.09971302e-02 6.00783442e+01] [ 6.24198161e-02 9.98049821e-01 5.66891953e-04 -2.31545609e+00] [ 2.09208113e-02 -1.87629920e-03 9.99779375e-01 6.52726154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25071405700001 meters Centerline goodness [0,1] 0.9829458412183473 Centerline is valid? [True, True] Translation: X:60.11, Y:-2.32, Z:0.65 [[ 9.97887923e-01 -6.15396103e-02 -2.07983119e-02 6.01106649e+01] [ 6.15645996e-02 9.98102942e-01 5.62753190e-04 -2.31620101e+00] [ 2.07242247e-02 -1.84200436e-03 9.99783533e-01 6.53563815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.280714057 meters Centerline goodness [0,1] 0.985341283823463 Centerline is valid? [True, True] Translation: X:60.14, Y:-2.31, Z:0.65 [[ 9.97972714e-01 -6.02306446e-02 -2.05604201e-02 6.01426181e+01] [ 6.02548166e-02 9.98182872e-01 5.57625729e-04 -2.31224002e+00] [ 2.04894730e-02 -1.79535960e-03 9.99788457e-01 6.54842010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.310714057 meters Centerline goodness [0,1] 0.9840847009955528 Centerline is valid? [True, True] Translation: X:60.17, Y:-2.31, Z:0.66 [[ 9.98024324e-01 -5.94116612e-02 -2.04377778e-02 6.01746976e+01] [ 5.94353999e-02 9.98231999e-01 5.55516399e-04 -2.31227187e+00] [ 2.03686396e-02 -1.76914638e-03 9.99790972e-01 6.55383700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.340714057 meters Centerline goodness [0,1] 0.985335920227406 Centerline is valid? [True, True] Translation: X:60.21, Y:-2.31, Z:0.66 [[ 9.98121617e-01 -5.77133857e-02 -2.05524204e-02 6.02055894e+01] [ 5.77370589e-02 9.98331668e-01 5.59838502e-04 -2.31277265e+00] [ 2.04858219e-02 -1.74542322e-03 9.99788620e-01 6.55482500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.370714057 meters Centerline goodness [0,1] 0.9855903875688861 Centerline is valid? [True, True] Translation: X:60.24, Y:-2.31, Z:0.66 [[ 9.98187945e-01 -5.65879012e-02 -2.04605833e-02 6.02375836e+01] [ 5.66111457e-02 9.98396147e-01 5.58179762e-04 -2.31262129e+00] [ 2.03961813e-02 -1.71546537e-03 9.99790505e-01 6.55709787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.400714057 meters Centerline goodness [0,1] 0.9843926713413255 Centerline is valid? [True, True] Translation: X:60.27, Y:-2.31, Z:0.66 [[ 9.98321613e-01 -5.40792677e-02 -2.07217394e-02 6.02674315e+01] [ 5.41025873e-02 9.98535222e-01 5.66007959e-04 -2.31173430e+00] [ 2.06607774e-02 -1.68615769e-03 9.99785121e-01 6.55359474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.430714057 meters Centerline goodness [0,1] 0.9849064289108642 Centerline is valid? [True, True] Translation: X:60.30, Y:-2.31, Z:0.66 [[ 9.98412034e-01 -5.23915785e-02 -2.07010211e-02 6.02980456e+01] [ 5.24144964e-02 9.98625255e-01 5.65697638e-04 -2.31171873e+00] [ 2.06429247e-02 -1.64983292e-03 9.99785551e-01 6.56020640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.460714057 meters Centerline goodness [0,1] 0.9859490084985836 Centerline is valid? [True, True] Translation: X:60.33, Y:-2.31, Z:0.66 [[ 9.98493825e-01 -5.08650131e-02 -2.05628912e-02 6.03300764e+01] [ 5.08873216e-02 9.98704242e-01 5.62761078e-04 -2.30630133e+00] [ 2.05076218e-02 -1.60830392e-03 9.99788403e-01 6.57202449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.490714057 meters Centerline goodness [0,1] 0.9847676556718349 Centerline is valid? [True, True] Translation: X:60.36, Y:-2.30, Z:0.66 [[ 9.98624146e-01 -4.81112472e-02 -2.08595926e-02 6.03607473e+01] [ 4.81336246e-02 9.98840742e-01 5.71724097e-04 -2.30419743e+00] [ 2.08079046e-02 -1.57498529e-03 9.99782252e-01 6.57689161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.520714057 meters Centerline goodness [0,1] 0.9850878588802255 Centerline is valid? [True, True] Translation: X:60.39, Y:-2.31, Z:0.66 [[ 9.98660328e-01 -4.71423197e-02 -2.13342740e-02 6.03930327e+01] [ 4.71655245e-02 9.98886916e-01 5.85530207e-04 -2.30506406e+00] [ 2.12829239e-02 -1.59098801e-03 9.99772227e-01 6.57913261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55071405700001 meters Centerline goodness [0,1] 0.9855029585798817 Centerline is valid? [True, True] Translation: X:60.43, Y:-2.30, Z:0.66 [[ 9.98709036e-01 -4.59561464e-02 -2.16401230e-02 6.04257351e+01] [ 4.59797804e-02 9.98942193e-01 5.95585323e-04 -2.30367234e+00] [ 2.15898612e-02 -1.58982455e-03 9.99765648e-01 6.58076206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58071405700001 meters Centerline goodness [0,1] 0.9846125830829464 Centerline is valid? [True, True] Translation: X:60.46, Y:-2.30, Z:0.66 [[ 9.98697520e-01 -4.60665544e-02 -2.19348081e-02 6.04580182e+01] [ 4.60909020e-02 9.98937066e-01 6.05468608e-04 -2.30492093e+00] [ 2.18836010e-02 -1.61567509e-03 9.99759220e-01 6.58026606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61071405700001 meters Centerline goodness [0,1] 0.9847875025581554 Centerline is valid? [True, True] Translation: X:60.49, Y:-2.31, Z:0.66 [[ 9.98688498e-01 -4.60674624e-02 -2.23399517e-02 6.04889228e+01] [ 4.60927498e-02 9.98936973e-01 6.18064137e-04 -2.30622577e+00] [ 2.22877311e-02 -1.64696335e-03 9.99750241e-01 6.58300735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64071405700001 meters Centerline goodness [0,1] 0.9832394622093024 Centerline is valid? [True, True] Translation: X:60.52, Y:-2.31, Z:0.66 [[ 9.98635311e-01 -4.70535149e-02 -2.26601680e-02 6.05200925e+01] [ 4.70798117e-02 9.98890933e-01 6.28105592e-04 -2.31280597e+00] [ 2.26054818e-02 -1.69408487e-03 9.99743028e-01 6.57894724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.670714057 meters Centerline goodness [0,1] 0.9845066594183202 Centerline is valid? [True, True] Translation: X:60.55, Y:-2.31, Z:0.66 [[ 9.98621475e-01 -4.74327157e-02 -2.24785960e-02 6.05525285e+01] [ 4.74587174e-02 9.98873005e-01 6.24377681e-04 -2.31144358e+00] [ 2.24236468e-02 -1.69032230e-03 9.99747129e-01 6.58586627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.700714057 meters Centerline goodness [0,1] 0.9852475811041548 Centerline is valid? [True, True] Translation: X:60.58, Y:-2.31, Z:0.66 [[ 9.98553690e-01 -4.87645276e-02 -2.26395443e-02 6.05845046e+01] [ 4.87912754e-02 9.98808798e-01 6.30263250e-04 -2.30728209e+00] [ 2.25818415e-02 -1.73396393e-03 9.99743494e-01 6.60021983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.730714057 meters Centerline goodness [0,1] 0.9847512403841777 Centerline is valid? [True, True] Translation: X:60.62, Y:-2.32, Z:0.66 [[ 9.98542830e-01 -4.91719415e-02 -2.22337017e-02 6.06154944e+01] [ 4.91978651e-02 9.98788859e-01 6.20143539e-04 -2.31517370e+00] [ 2.21762799e-02 -1.71309054e-03 9.99752608e-01 6.60210643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.760714057 meters Centerline goodness [0,1] 0.9846407889974665 Centerline is valid? [True, True] Translation: X:60.65, Y:-2.32, Z:0.66 [[ 9.98516892e-01 -4.97078455e-02 -2.22069228e-02 6.06465436e+01] [ 4.97338642e-02 9.98762313e-01 6.20560424e-04 -2.31904365e+00] [ 2.21485909e-02 -1.72407615e-03 9.99753203e-01 6.60670000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.790714057 meters Centerline goodness [0,1] 0.985691321967896 Centerline is valid? [True, True] Translation: X:60.68, Y:-2.32, Z:0.66 [[ 9.98478047e-01 -5.04989262e-02 -2.21686146e-02 6.06782228e+01] [ 5.05250741e-02 9.98722600e-01 6.20631862e-04 -2.31753312e+00] [ 2.21089551e-02 -1.73975818e-03 9.99754053e-01 6.61248726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.820714057 meters Centerline goodness [0,1] 0.9872088540131086 Centerline is valid? [True, True] Translation: X:60.71, Y:-2.32, Z:0.66 [[ 9.98395557e-01 -5.15801761e-02 -2.33623131e-02 6.07103698e+01] [ 5.16095445e-02 9.98667124e-01 6.55490928e-04 -2.32198586e+00] [ 2.32973637e-02 -1.86015757e-03 9.99726849e-01 6.60770069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.850714057 meters Centerline goodness [0,1] 0.9870077049958199 Centerline is valid? [True, True] Translation: X:60.74, Y:-2.32, Z:0.66 [[ 9.98295187e-01 -5.35555529e-02 -2.32060679e-02 6.07411592e+01] [ 5.35850852e-02 9.98563074e-01 6.52207851e-04 -2.32496297e+00] [ 2.31377932e-02 -1.89459509e-03 9.99730490e-01 6.60983408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.880714057 meters Centerline goodness [0,1] 0.9710043233210349 Centerline is valid? [True, True] Translation: X:60.77, Y:-2.34, Z:0.66 [[ 9.98238223e-01 -5.45471480e-02 -2.33464763e-02 6.07715279e+01] [ 5.45773222e-02 9.98509331e-01 6.56752975e-04 -2.33921013e+00] [ 2.32758505e-02 -1.92978408e-03 9.99727218e-01 6.59841535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.910714057 meters Centerline goodness [0,1] 0.9877014036196236 Centerline is valid? [True, True] Translation: X:60.80, Y:-2.33, Z:0.66 [[ 9.98189209e-01 -5.52858333e-02 -2.37018956e-02 6.08035171e+01] [ 5.53171650e-02 9.98468610e-01 6.67795101e-04 -2.32849147e+00] [ 2.36286791e-02 -1.97770753e-03 9.99718848e-01 6.62054275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94071405700001 meters Centerline goodness [0,1] 0.9853800509893283 Centerline is valid? [True, True] Translation: X:60.83, Y:-2.34, Z:0.66 [[ 9.98117623e-01 -5.66315138e-02 -2.35389691e-02 6.08345185e+01] [ 5.66628168e-02 9.98393151e-01 6.64454617e-04 -2.33653775e+00] [ 2.34635165e-02 -1.99698816e-03 9.99722699e-01 6.62103508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97071405700001 meters Centerline goodness [0,1] 0.9847089959058111 Centerline is valid? [True, True] Translation: X:60.86, Y:-2.34, Z:0.66 [[ 9.97993610e-01 -5.89499961e-02 -2.31009101e-02 6.08649993e+01] [ 5.89807806e-02 9.98258905e-01 6.52944963e-04 -2.34329922e+00] [ 2.30221981e-02 -2.01414461e-03 9.99732925e-01 6.62499237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00071405700001 meters Centerline goodness [0,1] 0.9850923601147776 Centerline is valid? [True, True] Translation: X:60.90, Y:-2.35, Z:0.66 [[ 9.97837557e-01 -6.17112527e-02 -2.26259029e-02 6.08952252e+01] [ 6.17414938e-02 9.98091969e-01 6.39783104e-04 -2.34934862e+00] [ 2.25432501e-02 -2.03535665e-03 9.99743797e-01 6.63329697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.030714057 meters Centerline goodness [0,1] 0.9840560508409871 Centerline is valid? [True, True] Translation: X:60.93, Y:-2.35, Z:0.66 [[ 9.97733665e-01 -6.32660072e-02 -2.29116935e-02 6.09261108e+01] [ 6.32974290e-02 9.97994497e-01 6.48091030e-04 -2.35205391e+00] [ 2.28247418e-02 -2.09687353e-03 9.99737283e-01 6.63254302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.060714057 meters Centerline goodness [0,1] 0.9862475882801633 Centerline is valid? [True, True] Translation: X:60.96, Y:-2.35, Z:0.66 [[ 9.97636807e-01 -6.47183025e-02 -2.30725497e-02 6.09568955e+01] [ 6.47505617e-02 9.97901267e-01 6.53053899e-04 -2.35471492e+00] [ 2.29818621e-02 -2.14547116e-03 9.99733580e-01 6.63349053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.090714057 meters Centerline goodness [0,1] 0.9823222177581358 Centerline is valid? [True, True] Translation: X:60.99, Y:-2.36, Z:0.66 [[ 9.97402696e-01 -6.77022670e-02 -2.45818196e-02 6.09869878e+01] [ 6.77397911e-02 9.97702779e-01 6.96054294e-04 -2.36351906e+00] [ 2.44782253e-02 -2.35941375e-03 9.99697579e-01 6.62070478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.120714057 meters Centerline goodness [0,1] 0.9810008444069153 Centerline is valid? [True, True] Translation: X:61.02, Y:-2.37, Z:0.66 [[ 9.97316343e-01 -6.87692753e-02 -2.51177024e-02 6.10190567e+01] [ 6.88088111e-02 9.97629611e-01 7.12108462e-04 -2.36797675e+00] [ 2.50091925e-02 -2.43851665e-03 9.99684247e-01 6.61902510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.150714057 meters Centerline goodness [0,1] 0.9784389918951927 Centerline is valid? [True, True] Translation: X:61.05, Y:-2.38, Z:0.66 [[ 9.97166088e-01 -7.08940798e-02 -2.51758373e-02 6.10496204e+01] [ 7.09344985e-02 9.97480720e-01 7.14917868e-04 -2.37639185e+00] [ 2.50617289e-02 -2.49872725e-03 9.99682783e-01 6.61850535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.180714057 meters Centerline goodness [0,1] 0.9675404077458369 Centerline is valid? [True, True] Translation: X:61.08, Y:-2.39, Z:0.66 [[ 9.97119413e-01 -7.16868776e-02 -2.47763422e-02 6.10804393e+01] [ 7.17262865e-02 9.97424104e-01 7.04422754e-04 -2.38536894e+00] [ 2.46620230e-02 -2.47950862e-03 9.99692771e-01 6.61426271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.210714057 meters Centerline goodness [0,1] 0.9809356828975987 Centerline is valid? [True, True] Translation: X:61.11, Y:-2.38, Z:0.66 [[ 9.97075814e-01 -7.22302225e-02 -2.49522576e-02 6.11126077e+01] [ 7.22704005e-02 9.97384822e-01 7.10990819e-04 -2.38385653e+00] [ 2.48356480e-02 -2.51222140e-03 9.99688391e-01 6.62147295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.240714057 meters Centerline goodness [0,1] 0.9791250720972536 Centerline is valid? [True, True] Translation: X:61.14, Y:-2.39, Z:0.66 [[ 9.97106610e-01 -7.20580953e-02 -2.42082302e-02 6.11435596e+01] [ 7.20958988e-02 9.97397465e-01 6.91322536e-04 -2.39320749e+00] [ 2.40954120e-02 -2.43463638e-03 9.99706699e-01 6.61727697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.270714057 meters Centerline goodness [0,1] 0.9769920450050543 Centerline is valid? [True, True] Translation: X:61.17, Y:-2.40, Z:0.66 [[ 9.97172897e-01 -7.11499071e-02 -2.41641057e-02 6.11744374e+01] [ 7.11873357e-02 9.97462724e-01 6.91173809e-04 -2.39791910e+00] [ 2.40536178e-02 -2.40939810e-03 9.99707766e-01 6.61915138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30071405700001 meters Centerline goodness [0,1] 0.9737875645381934 Centerline is valid? [True, True] Translation: X:61.20, Y:-2.41, Z:0.66 [[ 9.97367135e-01 -6.85568705e-02 -2.36379796e-02 6.12042257e+01] [ 6.85919728e-02 9.97644568e-01 6.76451784e-04 -2.40593151e+00] [ 2.35359265e-02 -2.29604643e-03 9.99720355e-01 6.62035761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33071405700001 meters Centerline goodness [0,1] 0.9792139161070131 Centerline is valid? [True, True] Translation: X:61.24, Y:-2.41, Z:0.66 [[ 9.97502207e-01 -6.65499907e-02 -2.36737210e-02 6.12354297e+01] [ 6.65846395e-02 9.97780550e-01 6.77481705e-04 -2.40538876e+00] [ 2.35760919e-02 -2.25209567e-03 9.99719509e-01 6.63033479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36071405700001 meters Centerline goodness [0,1] 0.978743088750358 Centerline is valid? [True, True] Translation: X:61.26, Y:-2.41, Z:0.66 [[ 9.97634131e-01 -6.46163675e-02 -2.34705143e-02 6.12647971e+01] [ 6.46499156e-02 9.97907779e-01 6.72615578e-04 -2.40948779e+00] [ 2.33779468e-02 -2.18839103e-03 9.99724303e-01 6.62917380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39071405700001 meters Centerline goodness [0,1] 0.9781869563297567 Centerline is valid? [True, True] Translation: X:61.29, Y:-2.42, Z:0.66 [[ 9.97867979e-01 -6.08060455e-02 -2.37091073e-02 6.12939087e+01] [ 6.08392303e-02 9.98147347e-01 6.80195346e-04 -2.41576317e+00] [ 2.36238226e-02 -2.12118900e-03 9.99718668e-01 6.62635001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.420714057 meters Centerline goodness [0,1] 0.9787159113419761 Centerline is valid? [True, True] Translation: X:61.32, Y:-2.42, Z:0.66 [[ 9.98010168e-01 -5.84923382e-02 -2.35446722e-02 6.13249003e+01] [ 5.85244237e-02 9.98285748e-01 6.75411773e-04 -2.41933469e+00] [ 2.34648043e-02 -2.05200619e-03 9.99722558e-01 6.62549682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.450714057 meters Centerline goodness [0,1] 0.9798742964763594 Centerline is valid? [True, True] Translation: X:61.35, Y:-2.42, Z:0.66 [[ 9.98289584e-01 -5.35777962e-02 -2.33950124e-02 6.13541436e+01] [ 5.36081359e-02 9.98561824e-01 6.71156620e-04 -2.42411716e+00] [ 2.33254071e-02 -1.92417166e-03 9.99726074e-01 6.62492871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.480714057 meters Centerline goodness [0,1] 0.9803059609636012 Centerline is valid? [True, True] Translation: X:61.39, Y:-2.43, Z:0.66 [[ 9.98436014e-01 -5.08736642e-02 -2.31818281e-02 6.13851307e+01] [ 5.09027274e-02 9.98703394e-01 6.64964539e-04 -2.42689763e+00] [ 2.31179412e-02 -1.84394282e-03 9.99731044e-01 6.62663063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.510714057 meters Centerline goodness [0,1] 0.980972423166294 Centerline is valid? [True, True] Translation: X:61.42, Y:-2.43, Z:0.66 [[ 9.98544804e-01 -4.86584734e-02 -2.32513771e-02 6.14158754e+01] [ 4.86871237e-02 9.98813856e-01 6.67356327e-04 -2.42902480e+00] [ 2.31913251e-02 -1.79842787e-03 9.99729427e-01 6.62757053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.540714057 meters Centerline goodness [0,1] 0.9837903314612928 Centerline is valid? [True, True] Translation: X:61.45, Y:-2.42, Z:0.66 [[ 9.98791204e-01 -4.35776782e-02 -2.27401953e-02 6.14467223e+01] [ 4.36037773e-02 9.99048690e-01 6.52894938e-04 -2.42434854e+00] [ 2.26901107e-02 -1.64366414e-03 9.99741195e-01 6.63916032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.570714057 meters Centerline goodness [0,1] 0.9846739082633361 Centerline is valid? [True, True] Translation: X:61.48, Y:-2.43, Z:0.66 [[ 9.98902023e-01 -4.10454485e-02 -2.25836024e-02 6.14762531e+01] [ 4.10705451e-02 9.99156039e-01 6.48385237e-04 -2.42877277e+00] [ 2.25379295e-02 -1.57519419e-03 9.99744748e-01 6.64234890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.600714057 meters Centerline goodness [0,1] 0.9831379264918984 Centerline is valid? [True, True] Translation: X:61.51, Y:-2.43, Z:0.66 [[ 9.99072557e-01 -3.69054617e-02 -2.21813563e-02 6.15066575e+01] [ 3.69286565e-02 9.99317702e-01 6.36848282e-04 -2.43307106e+00] [ 2.21427188e-02 -1.45538533e-03 9.99753761e-01 6.63460403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.630714057 meters Centerline goodness [0,1] 0.9848714734920949 Centerline is valid? [True, True] Translation: X:61.54, Y:-2.43, Z:0.66 [[ 9.99143164e-01 -3.49436752e-02 -2.21783075e-02 6.15372960e+01] [ 3.49663828e-02 9.99388286e-01 6.36778133e-04 -2.43178818e+00] [ 2.21424893e-02 -1.41172771e-03 9.99753828e-01 6.64129512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.660714057 meters Centerline goodness [0,1] 0.9838486690513287 Centerline is valid? [True, True] Translation: X:61.57, Y:-2.44, Z:0.66 [[ 9.99227635e-01 -3.27228838e-02 -2.17565342e-02 6.15666470e+01] [ 3.27442080e-02 9.99463570e-01 6.24515585e-04 -2.43900997e+00] [ 2.17244273e-02 -1.33643371e-03 9.99763104e-01 6.63980868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69071405700001 meters Centerline goodness [0,1] 0.9838486690513287 Centerline is valid? [True, True] Translation: X:61.60, Y:-2.44, Z:0.66 [[ 9.99227635e-01 -3.27228869e-02 -2.17565410e-02 6.15966897e+01] [ 3.27442060e-02 9.99463570e-01 6.24277703e-04 -2.43987192e+00] [ 2.17244419e-02 -1.33619619e-03 9.99763104e-01 6.64379534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72071405700001 meters Centerline goodness [0,1] 0.9833707963249896 Centerline is valid? [True, True] Translation: X:61.63, Y:-2.44, Z:0.66 [[ 9.99286875e-01 -3.14574746e-02 -2.08846342e-02 6.16271399e+01] [ 3.14768434e-02 9.99504302e-01 5.99259389e-04 -2.44320850e+00] [ 2.08554305e-02 -1.25621440e-03 9.99781713e-01 6.64795123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75071405700001 meters Centerline goodness [0,1] 0.9837879118481344 Centerline is valid? [True, True] Translation: X:61.66, Y:-2.45, Z:0.67 [[ 9.99300637e-01 -3.13057017e-02 -2.04496790e-02 6.16574469e+01] [ 3.13242403e-02 9.99509103e-01 5.86778874e-04 -2.44742526e+00] [ 2.04212708e-02 -1.22693916e-03 9.99790711e-01 6.65255755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.780714057 meters Centerline goodness [0,1] 0.9839538564954355 Centerline is valid? [True, True] Translation: X:61.69, Y:-2.45, Z:0.67 [[ 9.99300918e-01 -3.17090463e-02 -1.98043348e-02 6.16876887e+01] [ 3.17265119e-02 9.99496426e-01 5.68261500e-04 -2.45097518e+00] [ 1.97763428e-02 -1.19618670e-03 9.99803713e-01 6.66112928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.810714057 meters Centerline goodness [0,1] 0.9838734182710047 Centerline is valid? [True, True] Translation: X:61.72, Y:-2.45, Z:0.67 [[ 9.99269925e-01 -3.26178731e-02 -1.98919861e-02 6.17184463e+01] [ 3.26356731e-02 9.99467152e-01 5.70776550e-04 -2.45338744e+00] [ 1.98627692e-02 -1.21954820e-03 9.99801972e-01 6.66482579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.840714057 meters Centerline goodness [0,1] 0.984412444137395 Centerline is valid? [True, True] Translation: X:61.75, Y:-2.46, Z:0.67 [[ 9.99243129e-01 -3.35900358e-02 -1.96183239e-02 6.17489793e+01] [ 3.36075381e-02 9.99434949e-01 5.63037169e-04 -2.46111466e+00] [ 1.95883261e-02 -1.22193459e-03 9.99807384e-01 6.66359015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.870714057 meters Centerline goodness [0,1] 0.9856364108332613 Centerline is valid? [True, True] Translation: X:61.78, Y:-2.46, Z:0.67 [[ 9.99166247e-01 -3.61034263e-02 -1.90618539e-02 6.17799043e+01] [ 3.61204114e-02 9.99347295e-01 5.47399353e-04 -2.46397577e+00] [ 1.90296492e-02 -1.23546496e-03 9.99818157e-01 6.67462028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.900714057 meters Centerline goodness [0,1] 0.9855824062318436 Centerline is valid? [True, True] Translation: X:61.81, Y:-2.47, Z:0.67 [[ 9.99156649e-01 -3.68654997e-02 -1.80811035e-02 6.18104225e+01] [ 3.68809115e-02 9.99319533e-01 5.19545655e-04 -2.46982435e+00] [ 1.80496466e-02 -1.18595507e-03 9.99836388e-01 6.68261756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.930714057 meters Centerline goodness [0,1] 0.9846960801243309 Centerline is valid? [True, True] Translation: X:61.84, Y:-2.47, Z:0.67 [[ 9.99119599e-01 -3.79641476e-02 -1.78535677e-02 6.18416383e+01] [ 3.79793555e-02 9.99278392e-01 5.13400385e-04 -2.47318164e+00] [ 1.78211936e-02 -1.19101538e-03 9.99840481e-01 6.69342644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.960714057 meters Centerline goodness [0,1] 0.9861363047421612 Centerline is valid? [True, True] Translation: X:61.87, Y:-2.47, Z:0.67 [[ 9.99049020e-01 -4.00608468e-02 -1.72099965e-02 6.18722714e+01] [ 4.00752963e-02 9.99196540e-01 4.95411338e-04 -2.47331689e+00] [ 1.71763223e-02 -1.18463592e-03 9.99851774e-01 6.69862702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.990714057 meters Centerline goodness [0,1] 0.9846227047602569 Centerline is valid? [True, True] Translation: X:61.90, Y:-2.47, Z:0.67 [[ 9.99060682e-01 -3.97973192e-02 -1.71443045e-02 6.19048090e+01] [ 3.98116290e-02 9.99207081e-01 4.94047275e-04 -2.47409978e+00] [ 1.71110487e-02 -1.17612590e-03 9.99852904e-01 6.70233797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.020714057 meters Centerline goodness [0,1] 0.9842182319252465 Centerline is valid? [True, True] Translation: X:61.94, Y:-2.48, Z:0.67 [[ 9.98934333e-01 -4.30771125e-02 -1.65698698e-02 6.19352974e+01] [ 4.30909458e-02 9.99071039e-01 4.78552946e-04 -2.47861971e+00] [ 1.65338624e-02 -1.19205433e-03 9.99862596e-01 6.70285387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05071405700001 meters Centerline goodness [0,1] 0.9851023004117888 Centerline is valid? [True, True] Translation: X:61.97, Y:-2.48, Z:0.67 [[ 9.98890663e-01 -4.41265533e-02 -1.64405017e-02 6.19664530e+01] [ 4.41403228e-02 9.99025228e-01 4.75433668e-04 -2.48364550e+00] [ 1.64034967e-02 -1.20059530e-03 9.99864733e-01 6.70582973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08071405700001 meters Centerline goodness [0,1] 0.9835020221256927 Centerline is valid? [True, True] Translation: X:62.00, Y:-2.49, Z:0.67 [[ 9.98873644e-01 -4.45554195e-02 -1.63174109e-02 6.19975373e+01] [ 4.45690580e-02 9.99006194e-01 4.72945675e-04 -2.48888136e+00] [ 1.62801223e-02 -1.19966460e-03 9.99866750e-01 6.70520392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11071405700001 meters Centerline goodness [0,1] 0.9814305955089949 Centerline is valid? [True, True] Translation: X:62.03, Y:-2.49, Z:0.67 [[ 9.98827563e-01 -4.55769660e-02 -1.63168657e-02 6.20293547e+01] [ 4.55907661e-02 9.98960088e-01 4.74589826e-04 -2.48826826e+00] [ 1.62782672e-02 -1.21793181e-03 9.99866758e-01 6.70469079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14071405700001 meters Centerline goodness [0,1] 0.9829388984509466 Centerline is valid? [True, True] Translation: X:62.06, Y:-2.49, Z:0.67 [[ 9.98821206e-01 -4.56168090e-02 -1.65923256e-02 6.20613370e+01] [ 4.56311007e-02 9.98958242e-01 4.83581668e-04 -2.48853942e+00] [ 1.65529809e-02 -1.24013770e-03 9.99862221e-01 6.70815390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.170714057 meters Centerline goodness [0,1] 0.9816379310344827 Centerline is valid? [True, True] Translation: X:62.09, Y:-2.49, Z:0.67 [[ 9.98813853e-01 -4.56887060e-02 -1.68353684e-02 6.20926835e+01] [ 4.57034534e-02 9.98954930e-01 4.92075475e-04 -2.49166400e+00] [ 1.67952920e-02 -1.26092628e-03 9.99858154e-01 6.71128702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.200714057 meters Centerline goodness [0,1] 0.9814814814814815 Centerline is valid? [True, True] Translation: X:62.12, Y:-2.49, Z:0.67 [[ 9.98812886e-01 -4.57302035e-02 -1.67799364e-02 6.21248053e+01] [ 4.57448902e-02 9.98953033e-01 4.92276747e-04 -2.49269507e+00] [ 1.67398564e-02 -1.25928871e-03 9.99859086e-01 6.71474607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.230714057 meters Centerline goodness [0,1] 0.9794278574813666 Centerline is valid? [True, True] Translation: X:62.16, Y:-2.50, Z:0.67 [[ 9.98828997e-01 -4.51408130e-02 -1.74052348e-02 6.21561301e+01] [ 4.51565471e-02 9.98979792e-01 5.11838654e-04 -2.49578253e+00] [ 1.73643730e-02 -1.29719959e-03 9.99848386e-01 6.71721642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.260714057 meters Centerline goodness [0,1] 0.9806336514487146 Centerline is valid? [True, True] Translation: X:62.19, Y:-2.50, Z:0.67 [[ 9.98909733e-01 -4.32939119e-02 -1.74637502e-02 6.21862868e+01] [ 4.33094851e-02 9.99061572e-01 5.14350357e-04 -2.49745562e+00] [ 1.74250935e-02 -1.27013561e-03 9.99847365e-01 6.72495831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.290714057 meters Centerline goodness [0,1] 0.982340623043544 Centerline is valid? [True, True] Translation: X:62.22, Y:-2.50, Z:0.67 [[ 9.98926413e-01 -4.27053886e-02 -1.79519232e-02 6.22181717e+01] [ 4.27217589e-02 9.99086869e-01 5.29216336e-04 -2.49609090e+00] [ 1.79129303e-02 -1.29558591e-03 9.99838711e-01 6.72931406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.320714057 meters Centerline goodness [0,1] 0.981137339055794 Centerline is valid? [True, True] Translation: X:62.25, Y:-2.50, Z:0.67 [[ 9.98967939e-01 -4.13568676e-02 -1.87794000e-02 6.22488084e+01] [ 4.13745624e-02 9.99143552e-01 5.54530113e-04 -2.49710119e+00] [ 1.87403828e-02 -1.33094726e-03 9.99823498e-01 6.72774256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.350714057 meters Centerline goodness [0,1] 0.982491786270102 Centerline is valid? [True, True] Translation: X:62.28, Y:-2.50, Z:0.67 [[ 9.99091630e-01 -3.79633146e-02 -1.93572294e-02 6.22783378e+01] [ 3.79814905e-02 9.99278279e-01 5.72061397e-04 -2.49559862e+00] [ 1.93215415e-02 -1.30675818e-03 9.99812468e-01 6.73186345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.380714057 meters Centerline goodness [0,1] 0.9840693426712491 Centerline is valid? [True, True] Translation: X:62.31, Y:-2.49, Z:0.67 [[ 9.99175771e-01 -3.59831229e-02 -1.87881307e-02 6.23092591e+01] [ 3.59998985e-02 9.99351639e-01 5.55323310e-04 -2.48928445e+00] [ 1.87559670e-02 -1.23123640e-03 9.99823333e-01 6.74451099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.410714057 meters Centerline goodness [0,1] 0.984746019056673 Centerline is valid? [True, True] Translation: X:62.34, Y:-2.49, Z:0.68 [[ 9.99316393e-01 -3.22663927e-02 -1.80451536e-02 6.23387848e+01] [ 3.22812677e-02 9.99478682e-01 5.33569187e-04 -2.48730614e+00] [ 1.80185299e-02 -1.11572487e-03 9.99837031e-01 6.76071407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44071405700001 meters Centerline goodness [0,1] 0.9836685316800242 Centerline is valid? [True, True] Translation: X:62.37, Y:-2.49, Z:0.68 [[ 9.99395569e-01 -3.01838785e-02 -1.72461408e-02 6.23699572e+01] [ 3.01971565e-02 9.99543832e-01 5.09961059e-04 -2.48664080e+00] [ 1.72228811e-02 -1.03043724e-03 9.99851144e-01 6.76945987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47071405700001 meters Centerline goodness [0,1] 0.9835653812008748 Centerline is valid? [True, True] Translation: X:62.40, Y:-2.49, Z:0.68 [[ 9.99514731e-01 -2.66084940e-02 -1.61953987e-02 6.23999590e+01] [ 2.66197389e-02 9.99645517e-01 4.79107699e-04 -2.48549157e+00] [ 1.61769094e-02 -9.09992487e-04 9.99868731e-01 6.77905560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50071405700001 meters Centerline goodness [0,1] 0.9841125737630504 Centerline is valid? [True, True] Translation: X:62.43, Y:-2.48, Z:0.68 [[ 9.99548419e-01 -2.53994500e-02 -1.60569548e-02 6.24309727e+01] [ 2.54103487e-02 9.99676992e-01 4.75060925e-04 -2.48305254e+00] [ 1.60397020e-02 -8.82859216e-04 9.99870966e-01 6.78282306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.530714057 meters Centerline goodness [0,1] 0.9843363024114707 Centerline is valid? [True, True] Translation: X:62.46, Y:-2.49, Z:0.68 [[ 9.99574480e-01 -2.44661582e-02 -1.58828604e-02 6.24616224e+01] [ 2.44767086e-02 9.99700290e-01 4.70184059e-04 -2.48593203e+00] [ 1.58665966e-02 -8.58744132e-04 9.99873749e-01 6.78590703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.560714057 meters Centerline goodness [0,1] 0.9821991349518573 Centerline is valid? [True, True] Translation: X:62.49, Y:-2.49, Z:0.68 [[ 9.99555796e-01 -2.47093328e-02 -1.66631287e-02 6.24914069e+01] [ 2.47209822e-02 9.99694268e-01 4.93465874e-04 -2.48671953e+00] [ 1.66458410e-02 -9.05175582e-04 9.99861039e-01 6.77744611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.590714057 meters Centerline goodness [0,1] 0.9810066271061636 Centerline is valid? [True, True] Translation: X:62.52, Y:-2.49, Z:0.68 [[ 9.99541119e-01 -2.54767172e-02 -1.63856259e-02 6.25205570e+01] [ 2.54880801e-02 9.99675008e-01 4.84976192e-04 -2.48934014e+00] [ 1.63679451e-02 -9.02391791e-04 9.99865629e-01 6.77597877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.620714057 meters Centerline goodness [0,1] 0.9832158152009344 Centerline is valid? [True, True] Translation: X:62.55, Y:-2.48, Z:0.68 [[ 9.99456648e-01 -2.85074870e-02 -1.65448376e-02 6.25512475e+01] [ 2.85194820e-02 9.99593117e-01 4.89465417e-04 -2.48497382e+00] [ 1.65241523e-02 -9.61049662e-04 9.99863005e-01 6.78000480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.650714057 meters Centerline goodness [0,1] 0.9814051379968756 Centerline is valid? [True, True] Translation: X:62.58, Y:-2.49, Z:0.68 [[ 9.99376999e-01 -3.12021957e-02 -1.64935508e-02 6.25809609e+01] [ 3.12144821e-02 9.99512590e-01 4.87948138e-04 -2.49499827e+00] [ 1.64702866e-02 -1.00248179e-03 9.99863853e-01 6.77566844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.680714057 meters Centerline goodness [0,1] 0.9811083941052996 Centerline is valid? [True, True] Translation: X:62.61, Y:-2.50, Z:0.68 [[ 9.99313713e-01 -3.33873668e-02 -1.60432790e-02 6.26120864e+01] [ 3.33992734e-02 9.99441976e-01 4.74718727e-04 -2.49826009e+00] [ 1.60184768e-02 -1.01022679e-03 9.99871186e-01 6.78325971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.710714057 meters Centerline goodness [0,1] 0.9816367437549841 Centerline is valid? [True, True] Translation: X:62.64, Y:-2.49, Z:0.68 [[ 9.99180700e-01 -3.74300958e-02 -1.53921241e-02 6.26427085e+01] [ 3.74415395e-02 9.99298716e-01 4.55876607e-04 -2.49129203e+00] [ 1.53642664e-02 -1.03180793e-03 9.99881430e-01 6.79937456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.740714057 meters Centerline goodness [0,1] 0.9838074208771702 Centerline is valid? [True, True] Translation: X:62.67, Y:-2.49, Z:0.68 [[ 9.99091853e-01 -3.97742770e-02 -1.52799077e-02 6.26739495e+01] [ 3.97858291e-02 9.99208128e-01 4.52677342e-04 -2.49010998e+00] [ 1.52498031e-02 -1.06019004e-03 9.99883153e-01 6.80507965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.770714057 meters Centerline goodness [0,1] 0.9814107131290887 Centerline is valid? [True, True] Translation: X:62.70, Y:-2.50, Z:0.68 [[ 9.98954818e-01 -4.30108643e-02 -1.54705021e-02 6.27033244e+01] [ 4.30231021e-02 9.99073972e-01 4.58947845e-04 -2.49841542e+00] [ 1.54364363e-02 -1.12405715e-03 9.99880219e-01 6.80517574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80071405700001 meters Centerline goodness [0,1] 0.9825358696357852 Centerline is valid? [True, True] Translation: X:62.73, Y:-2.50, Z:0.68 [[ 9.98869063e-01 -4.49002669e-02 -1.56384611e-02 6.27341689e+01] [ 4.49130151e-02 9.98990793e-01 4.64756670e-04 -2.49681108e+00] [ 1.56018110e-02 -1.16660150e-03 9.99877604e-01 6.80752879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83071405700001 meters Centerline goodness [0,1] 0.9830130701982169 Centerline is valid? [True, True] Translation: X:62.76, Y:-2.50, Z:0.68 [[ 9.98809128e-01 -4.61111984e-02 -1.59399670e-02 6.27647774e+01] [ 4.61246018e-02 9.98935582e-01 4.74059492e-04 -2.50198868e+00] [ 1.59011407e-02 -1.20871958e-03 9.99872838e-01 6.81038124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86071405700001 meters Centerline goodness [0,1] 0.9832397408207343 Centerline is valid? [True, True] Translation: X:62.80, Y:-2.50, Z:0.68 [[ 9.98710289e-01 -4.81740465e-02 -1.60318181e-02 6.27959064e+01] [ 4.81878775e-02 9.98838175e-01 4.77323775e-04 -2.50400824e+00] [ 1.59901974e-02 -1.24924745e-03 9.99871368e-01 6.81093966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89071405700001 meters Centerline goodness [0,1] 0.9826946314517521 Centerline is valid? [True, True] Translation: X:62.83, Y:-2.50, Z:0.68 [[ 9.98670419e-01 -4.89699146e-02 -1.61041001e-02 6.28280465e+01] [ 4.89839805e-02 9.98799449e-01 4.79917196e-04 -2.50472427e+00] [ 1.60612648e-02 -1.26812203e-03 9.99870205e-01 6.81393433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.920714057 meters Centerline goodness [0,1] 0.9809849904171243 Centerline is valid? [True, True] Translation: X:62.86, Y:-2.51, Z:0.68 [[ 9.98585791e-01 -5.05016238e-02 -1.66133418e-02 6.28582969e+01] [ 5.05168233e-02 9.98723087e-01 4.96245524e-04 -2.50815336e+00] [ 1.65670668e-02 -1.33479698e-03 9.99861866e-01 6.81846048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.950714057 meters Centerline goodness [0,1] 0.981007057604731 Centerline is valid? [True, True] Translation: X:62.89, Y:-2.51, Z:0.68 [[ 9.98569415e-01 -5.08826927e-02 -1.64339810e-02 6.28908737e+01] [ 5.08976316e-02 9.98703754e-01 4.91783414e-04 -2.50886820e+00] [ 1.63876553e-02 -1.32753059e-03 9.99864832e-01 6.82124916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.980714057 meters Centerline goodness [0,1] 0.9803147056918993 Centerline is valid? [True, True] Translation: X:62.92, Y:-2.51, Z:0.68 [[ 9.98552848e-01 -5.11742998e-02 -1.65348506e-02 6.29214986e+01] [ 5.11894797e-02 9.98688836e-01 4.95855268e-04 -2.51175704e+00] [ 1.64877956e-02 -1.34154809e-03 9.99863167e-01 6.82046562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.010714057 meters Centerline goodness [0,1] 0.9816489937243021 Centerline is valid? [True, True] Translation: X:62.95, Y:-2.51, Z:0.68 [[ 9.98537792e-01 -5.13280416e-02 -1.69619962e-02 6.29539327e+01] [ 5.13440506e-02 9.98680894e-01 5.09401705e-04 -2.51001078e+00] [ 1.69134750e-02 -1.37955445e-03 9.99856005e-01 6.82546212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.040714057 meters Centerline goodness [0,1] 0.9814022809745983 Centerline is valid? [True, True] Translation: X:62.99, Y:-2.51, Z:0.68 [[ 9.98578153e-01 -5.05646905e-02 -1.68784969e-02 6.29862207e+01] [ 5.05804538e-02 9.98719860e-01 5.08074464e-04 -2.50921121e+00] [ 1.68311994e-02 -1.36107409e-03 9.99857419e-01 6.83403030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.070714057 meters Centerline goodness [0,1] 0.9825976047386398 Centerline is valid? [True, True] Translation: X:63.02, Y:-2.50, Z:0.68 [[ 9.98701293e-01 -4.81720443e-02 -1.65885674e-02 6.30171209e+01] [ 4.81869591e-02 9.98838208e-01 5.00339393e-04 -2.50354969e+00] [ 1.65451926e-02 -1.29904222e-03 9.99862275e-01 6.83910477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.100714057 meters Centerline goodness [0,1] 0.982873310008207 Centerline is valid? [True, True] Translation: X:63.05, Y:-2.51, Z:0.68 [[ 9.98772756e-01 -4.66841992e-02 -1.65398632e-02 6.30472371e+01] [ 4.66988344e-02 9.98908889e-01 4.99515939e-04 -2.50856594e+00] [ 1.64984969e-02 -1.27129524e-03 9.99863082e-01 6.84029904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.130714057 meters Centerline goodness [0,1] 0.981221367447489 Centerline is valid? [True, True] Translation: X:63.08, Y:-2.51, Z:0.68 [[ 9.98839402e-01 -4.51943089e-02 -1.66530043e-02 6.30787689e+01] [ 4.52089647e-02 9.98977425e-01 5.04471525e-04 -2.50794480e+00] [ 1.66131761e-02 -1.25675112e-03 9.99861202e-01 6.84228929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.160714057 meters Centerline goodness [0,1] 0.985160508782556 Centerline is valid? [True, True] Translation: X:63.11, Y:-2.50, Z:0.68 [[ 9.98942355e-01 -4.27471581e-02 -1.69367059e-02 6.31098119e+01] [ 4.27619770e-02 9.99085156e-01 5.13607505e-04 -2.49572803e+00] [ 1.68992562e-02 -1.23731132e-03 9.99856432e-01 6.84560288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19071405700001 meters Centerline goodness [0,1] 0.9841139295299108 Centerline is valid? [True, True] Translation: X:63.14, Y:-2.50, Z:0.68 [[ 9.98986942e-01 -4.16393677e-02 -1.70661047e-02 6.31407668e+01] [ 4.16542615e-02 9.99131950e-01 5.18023463e-04 -2.50034418e+00] [ 1.70297203e-02 -1.22837466e-03 9.99854229e-01 6.84440118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22071405700001 meters Centerline goodness [0,1] 0.9835603366010237 Centerline is valid? [True, True] Translation: X:63.17, Y:-2.50, Z:0.68 [[ 9.99021281e-01 -4.05618568e-02 -1.76412992e-02 6.31713014e+01] [ 4.05776190e-02 9.99176245e-01 5.36305863e-04 -2.50470668e+00] [ 1.76050136e-02 -1.25162289e-03 9.99844236e-01 6.84931659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25071405700001 meters Centerline goodness [0,1] 0.9857965034205668 Centerline is valid? [True, True] Translation: X:63.20, Y:-2.49, Z:0.69 [[ 9.99019551e-01 -4.05261261e-02 -1.78205074e-02 6.32036219e+01] [ 4.05422145e-02 9.99177679e-01 5.42313694e-04 -2.49474247e+00] [ 1.77838754e-02 -1.26426482e-03 9.99841055e-01 6.86178837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.280714057 meters Centerline goodness [0,1] 0.9853903515446659 Centerline is valid? [True, True] Translation: X:63.24, Y:-2.49, Z:0.69 [[ 9.99008243e-01 -4.08554514e-02 -1.77020599e-02 6.32356918e+01] [ 4.08714004e-02 9.99164269e-01 5.39973843e-04 -2.49339709e+00] [ 1.76652049e-02 -1.26294630e-03 9.99843160e-01 6.87287457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.310714057 meters Centerline goodness [0,1] 0.9832912164517253 Centerline is valid? [True, True] Translation: X:63.27, Y:-2.50, Z:0.69 [[ 9.99011032e-01 -4.11787755e-02 -1.67709880e-02 6.32666426e+01] [ 4.11931544e-02 9.99151070e-01 5.12670209e-04 -2.49609158e+00] [ 1.67356394e-02 -1.20301309e-03 9.99859226e-01 6.88431357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.340714057 meters Centerline goodness [0,1] 0.9832970856894302 Centerline is valid? [True, True] Translation: X:63.30, Y:-2.50, Z:0.69 [[ 9.99024462e-01 -4.11562179e-02 -1.60090608e-02 6.32987838e+01] [ 4.11693308e-02 9.99152063e-01 4.90253949e-04 -2.49532676e+00] [ 1.59753091e-02 -1.14885801e-03 9.99871727e-01 6.89732199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.370714057 meters Centerline goodness [0,1] 0.9831938268375622 Centerline is valid? [True, True] Translation: X:63.33, Y:-2.49, Z:0.69 [[ 9.99014789e-01 -4.17333614e-02 -1.50923133e-02 6.33306760e+01] [ 4.17450955e-02 9.99128186e-01 4.63155618e-04 -2.49111554e+00] [ 1.50598266e-02 -1.09272937e-03 9.99885997e-01 6.91346386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.400714057 meters Centerline goodness [0,1] 0.9839562841530055 Centerline is valid? [True, True] Translation: X:63.36, Y:-2.49, Z:0.69 [[ 9.98990721e-01 -4.23928114e-02 -1.48455227e-02 6.33628697e+01] [ 4.24042494e-02 9.99100431e-01 4.56398869e-04 -2.48990048e+00] [ 1.48128200e-02 -1.08545148e-03 9.99889695e-01 6.91676246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.430714057 meters Centerline goodness [0,1] 0.9846516603715914 Centerline is valid? [True, True] Translation: X:63.40, Y:-2.49, Z:0.69 [[ 9.98967847e-01 -4.29251753e-02 -1.48549514e-02 6.33953297e+01] [ 4.29367023e-02 9.99077690e-01 4.57765030e-04 -2.49149880e+00] [ 1.48216009e-02 -1.09511517e-03 9.99889554e-01 6.92124187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.460714057 meters Centerline goodness [0,1] 0.9826824757968019 Centerline is valid? [True, True] Translation: X:63.43, Y:-2.49, Z:0.69 [[ 9.98892210e-01 -4.42129810e-02 -1.61109975e-02 6.34267464e+01] [ 4.42267257e-02 9.99021396e-01 4.97659303e-04 -2.49268249e+00] [ 1.60732282e-02 -1.20964467e-03 9.99870086e-01 6.90947511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.490714057 meters Centerline goodness [0,1] 0.9830897293045815 Centerline is valid? [True, True] Translation: X:63.46, Y:-2.49, Z:0.69 [[ 9.98839987e-01 -4.51384547e-02 -1.67690363e-02 6.34589957e+01] [ 4.51534915e-02 9.98979926e-01 5.18976913e-04 -2.49314466e+00] [ 1.67285048e-02 -1.27555543e-03 9.99859255e-01 6.90361255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.520714057 meters Centerline goodness [0,1] 0.9840405681294316 Centerline is valid? [True, True] Translation: X:63.49, Y:-2.49, Z:0.69 [[ 9.98760200e-01 -4.63411986e-02 -1.81811976e-02 6.34915572e+01] [ 4.63590983e-02 9.98924680e-01 5.64059235e-04 -2.49150513e+00] [ 1.81355078e-02 -1.40622384e-03 9.99834549e-01 6.89648254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55071405700001 meters Centerline goodness [0,1] 0.9840423196804073 Centerline is valid? [True, True] Translation: X:63.52, Y:-2.49, Z:0.69 [[ 9.98736396e-01 -4.66789623e-02 -1.86195064e-02 6.35228433e+01] [ 4.66978174e-02 9.98908894e-01 5.78923972e-04 -2.49256231e+00] [ 1.85721670e-02 -1.44768275e-03 9.99826474e-01 6.89740739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58071405700001 meters Centerline goodness [0,1] 0.9853183224702087 Centerline is valid? [True, True] Translation: X:63.55, Y:-2.49, Z:0.69 [[ 9.98753813e-01 -4.62318753e-02 -1.87998596e-02 6.35546544e+01] [ 4.62510397e-02 9.98929676e-01 5.85646689e-04 -2.49201743e+00] [ 1.87526621e-02 -1.45442992e-03 9.99823096e-01 6.90284808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61071405700001 meters Centerline goodness [0,1] 0.9853183224702087 Centerline is valid? [True, True] Translation: X:63.59, Y:-2.49, Z:0.69 [[ 9.98757106e-01 -4.61607015e-02 -1.87998177e-02 6.35864218e+01] [ 4.61798785e-02 9.98932968e-01 5.86987358e-04 -2.49307027e+00] [ 1.87526620e-02 -1.45443109e-03 9.99823096e-01 6.90706069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64071405700001 meters Centerline goodness [0,1] 0.9841890289428609 Centerline is valid? [True, True] Translation: X:63.62, Y:-2.49, Z:0.69 [[ 9.98839009e-01 -4.42645351e-02 -1.90075209e-02 6.36173211e+01] [ 4.42838190e-02 9.99018814e-01 5.94632463e-04 -2.49281730e+00] [ 1.89625499e-02 -1.43566772e-03 9.99819164e-01 6.91235692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.670714057 meters Centerline goodness [0,1] 0.9850742987778071 Centerline is valid? [True, True] Translation: X:63.65, Y:-2.49, Z:0.69 [[ 9.98913379e-01 -4.28486519e-02 -1.83317827e-02 6.36487001e+01] [ 4.28663632e-02 9.99080650e-01 5.74124588e-04 -2.49083884e+00] [ 1.82903290e-02 -1.35931759e-03 9.99831794e-01 6.91595966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.700714057 meters Centerline goodness [0,1] 0.98517312684236 Centerline is valid? [True, True] Translation: X:63.68, Y:-2.49, Z:0.69 [[ 9.99070295e-01 -3.91688877e-02 -1.80095753e-02 6.36782312e+01] [ 3.91853939e-02 9.99231798e-01 5.64420180e-04 -2.48782100e+00] [ 1.79736326e-02 -1.26960774e-03 9.99837655e-01 6.92054917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.730714057 meters Centerline goodness [0,1] 0.9845145396155031 Centerline is valid? [True, True] Translation: X:63.71, Y:-2.49, Z:0.69 [[ 9.99120979e-01 -3.78275413e-02 -1.80650744e-02 6.37095771e+01] [ 3.78439307e-02 9.99283502e-01 5.66129346e-04 -2.48681327e+00] [ 1.80307155e-02 -1.24928513e-03 9.99836653e-01 6.92012245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.760714057 meters Centerline goodness [0,1] 0.9853147466245835 Centerline is valid? [True, True] Translation: X:63.74, Y:-2.49, Z:0.69 [[ 9.99179551e-01 -3.63454446e-02 -1.78671185e-02 6.37398900e+01] [ 3.63612504e-02 9.99338554e-01 5.60458150e-04 -2.48682381e+00] [ 1.78349302e-02 -1.20966909e-03 9.99840213e-01 6.92253187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.790714057 meters Centerline goodness [0,1] 0.985541055040824 Centerline is valid? [True, True] Translation: X:63.77, Y:-2.49, Z:0.69 [[ 9.99224147e-01 -3.51414186e-02 -1.77815840e-02 6.37703093e+01] [ 3.51568890e-02 9.99381650e-01 5.58078740e-04 -2.48562352e+00] [ 1.77509770e-02 -1.18279093e-03 9.99841739e-01 6.92907953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.820714057 meters Centerline goodness [0,1] 0.9844628099173554 Centerline is valid? [True, True] Translation: X:63.80, Y:-2.49, Z:0.69 [[ 9.99236640e-01 -3.48929615e-02 -1.75675337e-02 6.38023658e+01] [ 3.49080323e-02 9.99390377e-01 5.51868660e-04 -2.48586901e+00] [ 1.75375678e-02 -1.16469542e-03 9.99845527e-01 6.93539934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.850714057 meters Centerline goodness [0,1] 0.9840727849495527 Centerline is valid? [True, True] Translation: X:63.83, Y:-2.49, Z:0.69 [[ 9.99198692e-01 -3.55841304e-02 -1.83232796e-02 6.38338075e+01] [ 3.56006632e-02 9.99365929e-01 5.76783760e-04 -2.48655354e+00] [ 1.82911370e-02 -1.22864249e-03 9.99831948e-01 6.93368460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.880714057 meters Centerline goodness [0,1] 0.9840676026583337 Centerline is valid? [True, True] Translation: X:63.86, Y:-2.49, Z:0.69 [[ 9.99154384e-01 -3.65519494e-02 -1.88274267e-02 6.38648757e+01] [ 3.65695919e-02 9.99330933e-01 5.93513712e-04 -2.48741811e+00] [ 1.87931358e-02 -1.28152314e-03 9.99822572e-01 6.93043219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.910714057 meters Centerline goodness [0,1] 0.9844518448272059 Centerline is valid? [True, True] Translation: X:63.90, Y:-2.49, Z:0.69 [[ 9.99067701e-01 -3.83171965e-02 -1.98876923e-02 6.38958276e+01] [ 3.83372417e-02 9.99264661e-01 6.27504946e-04 -2.48533856e+00] [ 1.98490238e-02 -1.38935919e-03 9.99802023e-01 6.92983964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94071405700001 meters Centerline goodness [0,1] 0.9848769179821172 Centerline is valid? [True, True] Translation: X:63.93, Y:-2.48, Z:0.69 [[ 9.99028435e-01 -3.93194482e-02 -1.99039687e-02 6.39277485e+01] [ 3.93397354e-02 9.99225695e-01 6.28581479e-04 -2.48071910e+00] [ 1.98638415e-02 -1.41098763e-03 9.99801699e-01 6.93539311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97071405700001 meters Centerline goodness [0,1] 0.9844604126256392 Centerline is valid? [True, True] Translation: X:63.96, Y:-2.48, Z:0.69 [[ 9.98989307e-01 -4.02032057e-02 -2.01014092e-02 6.39597733e+01] [ 4.02240987e-02 9.99190481e-01 6.35979003e-04 -2.48135645e+00] [ 2.00595683e-02 -1.44389729e-03 9.99797744e-01 6.93574370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00071405700001 meters Centerline goodness [0,1] 0.9844244984160507 Centerline is valid? [True, True] Translation: X:63.99, Y:-2.48, Z:0.69 [[ 9.98940761e-01 -4.13079063e-02 -2.02734521e-02 6.39912343e+01] [ 4.13294159e-02 9.99145368e-01 6.42956434e-04 -2.48388179e+00] [ 2.02295666e-02 -1.48016532e-03 9.99794266e-01 6.92721256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.030714057 meters Centerline goodness [0,1] 0.9822829885916514 Centerline is valid? [True, True] Translation: X:64.02, Y:-2.49, Z:0.69 [[ 9.98905187e-01 -4.19954823e-02 -2.06108533e-02 6.40227410e+01] [ 4.20178989e-02 9.99116643e-01 6.55566727e-04 -2.48594427e+00] [ 2.05651157e-02 -1.52087375e-03 9.99787359e-01 6.92820464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.060714057 meters Centerline goodness [0,1] 0.9820293182620982 Centerline is valid? [True, True] Translation: X:64.05, Y:-2.49, Z:0.69 [[ 9.98844689e-01 -4.35917465e-02 -2.02248972e-02 6.40539307e+01] [ 4.36136872e-02 9.99048262e-01 6.44810181e-04 -2.48545042e+00] [ 2.01775401e-02 -1.52614757e-03 9.99795248e-01 6.94079578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.090714057 meters Centerline goodness [0,1] 0.9798858804608843 Centerline is valid? [True, True] Translation: X:64.09, Y:-2.49, Z:0.70 [[ 9.98804370e-01 -4.44841351e-02 -2.02729338e-02 6.40850205e+01] [ 4.45063789e-02 9.99008891e-01 6.47132231e-04 -2.48664789e+00] [ 2.02240540e-02 -1.54863338e-03 9.99794274e-01 6.95116122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.120714057 meters Centerline goodness [0,1] 0.978710730674197 Centerline is valid? [True, True] Translation: X:64.12, Y:-2.49, Z:0.70 [[ 9.98787821e-01 -4.51655272e-02 -1.95694546e-02 6.41173430e+01] [ 4.51864041e-02 9.98978377e-01 6.25727154e-04 -2.48758662e+00] [ 1.95212007e-02 -1.50924194e-03 9.99808304e-01 6.96220917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.150714057 meters Centerline goodness [0,1] 0.9724115044247787 Centerline is valid? [True, True] Translation: X:64.15, Y:-2.49, Z:0.70 [[ 9.98682759e-01 -4.74523118e-02 -1.95198370e-02 6.41470436e+01] [ 4.74735414e-02 9.98872300e-01 6.25387907e-04 -2.48934683e+00] [ 1.94681484e-02 -1.55123991e-03 9.99809274e-01 6.97032215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.180714057 meters Centerline goodness [0,1] 0.9814303083895214 Centerline is valid? [True, True] Translation: X:64.18, Y:-2.48, Z:0.70 [[ 9.98639906e-01 -4.83987294e-02 -1.93881627e-02 6.41787874e+01] [ 4.84198721e-02 9.98826876e-01 6.22277352e-04 -2.48408295e+00] [ 1.93353006e-02 -1.56020336e-03 9.99811838e-01 6.97930309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.210714057 meters Centerline goodness [0,1] 0.9814851726352624 Centerline is valid? [True, True] Translation: X:64.21, Y:-2.48, Z:0.70 [[ 9.98487660e-01 -5.12036675e-02 -2.00144131e-02 6.42091213e+01] [ 5.12267726e-02 9.98686840e-01 6.43109817e-04 -2.48105803e+00] [ 1.99552013e-02 -1.66741100e-03 9.99799485e-01 6.97511645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.240714057 meters Centerline goodness [0,1] 0.9794100046543585 Centerline is valid? [True, True] Translation: X:64.24, Y:-2.48, Z:0.70 [[ 9.98444182e-01 -5.19183640e-02 -2.03395952e-02 6.42400031e+01] [ 5.19423823e-02 9.98649869e-01 6.53995040e-04 -2.48476666e+00] [ 2.02781797e-02 -1.70946457e-03 9.99792915e-01 6.97182310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.270714057 meters Centerline goodness [0,1] 0.9800949760340849 Centerline is valid? [True, True] Translation: X:64.27, Y:-2.48, Z:0.70 [[ 9.98385060e-01 -5.28995023e-02 -2.07102535e-02 6.42720352e+01] [ 5.29246389e-02 9.98598286e-01 6.67128444e-04 -2.48327072e+00] [ 2.06459329e-02 -1.76213376e-03 9.99785297e-01 6.97366774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30071405700001 meters Centerline goodness [0,1] 0.9673093971631206 Centerline is valid? [True, True] Translation: X:64.30, Y:-2.49, Z:0.70 [[ 9.98300904e-01 -5.44007651e-02 -2.08773233e-02 6.43020690e+01] [ 5.44266567e-02 9.98517544e-01 6.73563525e-04 -2.48979663e+00] [ 2.08097312e-02 -1.80870199e-03 9.99781818e-01 6.96755736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33071405700001 meters Centerline goodness [0,1] 0.981078985266423 Centerline is valid? [True, True] Translation: X:64.33, Y:-2.48, Z:0.70 [[ 9.98276778e-01 -5.46950366e-02 -2.12585717e-02 6.43345810e+01] [ 5.47219657e-02 9.98501395e-01 6.86656813e-04 -2.48010310e+00] [ 2.11891568e-02 -1.84878438e-03 9.99773775e-01 6.97476770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36071405700001 meters Centerline goodness [0,1] 0.970173487544484 Centerline is valid? [True, True] Translation: X:64.37, Y:-2.49, Z:0.70 [[ 9.98232686e-01 -5.54257057e-02 -2.14358459e-02 6.43653983e+01] [ 5.54532926e-02 9.98461041e-01 6.94229120e-04 -2.48692196e+00] [ 2.13643788e-02 -1.88169043e-03 9.99769985e-01 6.96815271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39071405700001 meters Centerline goodness [0,1] 0.9810951470130332 Centerline is valid? [True, True] Translation: X:64.40, Y:-2.48, Z:0.70 [[ 9.98221644e-01 -5.56653585e-02 -2.13287895e-02 6.43975961e+01] [ 5.56927680e-02 9.98447713e-01 6.92796480e-04 -2.48018737e+00] [ 2.12571164e-02 -1.87942377e-03 9.99772275e-01 6.98174677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.420714057 meters Centerline goodness [0,1] 0.9391861811058677 Centerline is valid? [True, False] Translation: X:64.40, Y:-2.48, Z:0.70 [[ 9.98398147e-01 -5.25972795e-02 -2.08486280e-02 6.43961036e+01] [ 5.27009101e-02 9.98600416e-01 4.45237323e-03 -2.48068190e+00] [ 2.05852659e-02 -5.54398286e-03 9.99772730e-01 6.98040931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.450714057 meters Centerline goodness [0,1] 0.9788859440076616 Centerline is valid? [False, True] Translation: X:64.40, Y:-2.48, Z:0.70 [[ 9.98391124e-01 -5.27001044e-02 -2.09251534e-02 6.43960533e+01] [ 5.27971935e-02 9.98596779e-01 4.11441819e-03 -2.47958249e+00] [ 2.06789605e-02 -5.21258797e-03 9.99772579e-01 6.98384151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.480714057 meters Centerline goodness [0,1] 0.9778099910793934 Centerline is valid? [True, True] Translation: X:64.43, Y:-2.48, Z:0.70 [[ 9.98390914e-01 -5.28325219e-02 -2.05987193e-02 6.44282951e+01] [ 5.28589300e-02 9.98601716e-01 7.39288538e-04 -2.47959714e+00] [ 2.05308580e-02 -1.82692522e-03 9.99787551e-01 7.00078548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.510714057 meters Centerline goodness [0,1] 0.9745602104746829 Centerline is valid? [True, True] Translation: X:64.46, Y:-2.48, Z:0.70 [[ 9.98384213e-01 -5.30745365e-02 -2.02992040e-02 6.44593372e+01] [ 5.31002576e-02 9.98588919e-01 7.29822694e-04 -2.48137883e+00] [ 2.02318252e-02 -1.80653642e-03 9.99793684e-01 7.00692095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.540714057 meters Centerline goodness [0,1] 0.9190921884423794 Centerline is valid? [True, False] Translation: X:64.46, Y:-2.48, Z:0.70 [[ 9.98554957e-01 -4.97922631e-02 -2.02170538e-02 6.44588255e+01] [ 4.99007131e-02 9.98742186e-01 4.89540721e-03 -2.48300521e+00] [ 1.99478711e-02 -5.89717854e-03 9.99783629e-01 7.00089759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.570714057 meters Centerline goodness [0,1] 0.979506548071336 Centerline is valid? [False, True] Translation: X:64.46, Y:-2.48, Z:0.70 [[ 9.98552385e-01 -4.97514248e-02 -2.04433464e-02 6.44596703e+01] [ 4.98594741e-02 9.98744662e-01 4.80972340e-03 -2.48192384e+00] [ 2.01783925e-02 -5.82205528e-03 9.99779444e-01 6.99459832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.600714057 meters Centerline goodness [0,1] 0.9668008048289738 Centerline is valid? [True, True] Translation: X:64.49, Y:-2.49, Z:0.70 [[ 9.98527075e-01 -5.00896751e-02 -2.08495958e-02 6.44903935e+01] [ 5.01177394e-02 9.98742975e-01 8.25367940e-04 -2.48783618e+00] [ 2.07820449e-02 -1.86908684e-03 9.99782283e-01 7.00293681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.630714057 meters Centerline goodness [0,1] 0.9647050929343085 Centerline is valid? [True, True] Translation: X:64.52, Y:-2.49, Z:0.70 [[ 9.98529126e-01 -4.99575375e-02 -2.10672515e-02 6.45227405e+01] [ 4.99861876e-02 9.98749560e-01 8.35214659e-04 -2.48918083e+00] [ 2.09991829e-02 -1.88705775e-03 9.99777712e-01 7.00322726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.660714057 meters Centerline goodness [0,1] 0.9588189240577116 Centerline is valid? [True, True] Translation: X:64.55, Y:-2.49, Z:0.70 [[ 9.98563453e-01 -4.91735909e-02 -2.12835164e-02 6.45542514e+01] [ 4.92026830e-02 9.98788457e-01 8.45068411e-04 -2.49006799e+00] [ 2.12161754e-02 -1.89106054e-03 9.99773123e-01 7.00264314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69071405700001 meters Centerline goodness [0,1] 0.9553111419739259 Centerline is valid? [True, True] Translation: X:64.59, Y:-2.49, Z:0.70 [[ 9.98598696e-01 -4.86178373e-02 -2.09033447e-02 6.45862246e+01] [ 4.86458026e-02 9.98815746e-01 8.31138254e-04 -2.49148902e+00] [ 2.08381817e-02 -1.84683356e-03 9.99781156e-01 7.00994840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72071405700001 meters Centerline goodness [0,1] 0.9852329684655323 Centerline is valid? [True, True] Translation: X:64.62, Y:-2.47, Z:0.70 [[ 9.98688882e-01 -4.69273395e-02 -2.04534283e-02 6.46181917e+01] [ 4.69537841e-02 9.98896731e-01 8.14345575e-04 -2.47361073e+00] [ 2.03926476e-02 -1.77364373e-03 9.99790475e-01 7.03255162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75071405700001 meters Centerline goodness [0,1] 0.9836626139817629 Centerline is valid? [True, True] Translation: X:64.65, Y:-2.47, Z:0.70 [[ 9.98745838e-01 -4.57072826e-02 -2.04351331e-02 6.46484866e+01] [ 4.57334531e-02 9.98953346e-01 8.14923265e-04 -2.47398286e+00] [ 2.03764966e-02 -1.74847042e-03 9.99790849e-01 7.03676392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.780714057 meters Centerline goodness [0,1] 0.98410919604635 Centerline is valid? [True, True] Translation: X:64.68, Y:-2.47, Z:0.70 [[ 9.98789551e-01 -4.48119026e-02 -2.02811628e-02 6.46803270e+01] [ 4.48375350e-02 9.98993963e-01 8.10667491e-04 -2.47438109e+00] [ 2.02244316e-02 -1.71904357e-03 9.99793987e-01 7.04315117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.810714057 meters Centerline goodness [0,1] 0.9837986435025575 Centerline is valid? [True, True] Translation: X:64.71, Y:-2.47, Z:0.71 [[ 9.98924088e-01 -4.22799570e-02 -1.90544274e-02 6.47110881e+01] [ 4.23021425e-02 9.99104573e-01 7.62591128e-04 -2.47239282e+00] [ 1.90051233e-02 -1.56781375e-03 9.99818157e-01 7.05931999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.840714057 meters Centerline goodness [0,1] 0.9844717002363003 Centerline is valid? [True, True] Translation: X:64.74, Y:-2.47, Z:0.71 [[ 9.99000276e-01 -4.09161165e-02 -1.80088856e-02 6.47426272e+01] [ 4.09357209e-02 9.99161522e-01 7.21157545e-04 -2.47170209e+00] [ 1.79642786e-02 -1.45764330e-03 9.99837567e-01 7.06132032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.870714057 meters Centerline goodness [0,1] 0.9846667267971498 Centerline is valid? [True, True] Translation: X:64.77, Y:-2.47, Z:0.71 [[ 9.99100660e-01 -3.86633126e-02 -1.74074525e-02 6.47723428e+01] [ 3.86812970e-02 9.99251355e-01 6.97510232e-04 -2.47253098e+00] [ 1.73674525e-02 -1.37022577e-03 9.99848236e-01 7.06848160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.900714057 meters Centerline goodness [0,1] 0.9836626310815069 Centerline is valid? [True, True] Translation: X:64.80, Y:-2.48, Z:0.71 [[ 9.99130218e-01 -3.79434677e-02 -1.72945412e-02 6.48030137e+01] [ 3.79611168e-02 9.99278977e-01 6.93240899e-04 -2.47661462e+00] [ 1.72557675e-02 -1.34915803e-03 9.99850198e-01 7.06969328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.930714057 meters Centerline goodness [0,1] 0.9848587570621469 Centerline is valid? [True, True] Translation: X:64.84, Y:-2.47, Z:0.71 [[ 9.99151720e-01 -3.73807187e-02 -1.72777993e-02 6.48355784e+01] [ 3.73982672e-02 9.99300199e-01 6.93572558e-04 -2.47394611e+00] [ 1.72397821e-02 -1.33914397e-03 9.99850487e-01 7.07030104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.960714057 meters Centerline goodness [0,1] 0.9852352635268049 Centerline is valid? [True, True] Translation: X:64.87, Y:-2.48, Z:0.71 [[ 9.99127552e-01 -3.74065526e-02 -1.85710842e-02 6.48677091e+01] [ 3.74268572e-02 9.99299091e-01 7.46870417e-04 -2.47613252e+00] [ 1.85301297e-02 -1.44127613e-03 9.99827264e-01 7.05399157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.990714057 meters Centerline goodness [0,1] 0.9841011006930289 Centerline is valid? [True, True] Translation: X:64.90, Y:-2.48, Z:0.71 [[ 9.99121906e-01 -3.74353183e-02 -1.88152427e-02 6.48999099e+01] [ 3.74561905e-02 9.99297983e-01 7.58026671e-04 -2.47830014e+00] [ 1.87736571e-02 -1.46210837e-03 9.99822690e-01 7.05281797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.020714057 meters Centerline goodness [0,1] 0.9848505434782608 Centerline is valid? [True, True] Translation: X:64.93, Y:-2.48, Z:0.71 [[ 9.99116450e-01 -3.73060647e-02 -1.93539837e-02 6.49317721e+01] [ 3.73281524e-02 9.99302756e-01 7.81123459e-04 -2.47914947e+00] [ 1.93113486e-02 -1.50288175e-03 9.99812389e-01 7.05092762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05071405700001 meters Centerline goodness [0,1] 0.9837604324519937 Centerline is valid? [True, True] Translation: X:64.96, Y:-2.48, Z:0.71 [[ 9.99129065e-01 -3.70270259e-02 -1.92382769e-02 6.49624617e+01] [ 3.70488225e-02 9.99313154e-01 7.77687046e-04 -2.48331600e+00] [ 1.91962677e-02 -1.48976524e-03 9.99814625e-01 7.05417107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08071405700001 meters Centerline goodness [0,1] 0.9847175929075119 Centerline is valid? [True, True] Translation: X:64.99, Y:-2.48, Z:0.71 [[ 9.99135951e-01 -3.68785781e-02 -1.91656564e-02 6.49946659e+01] [ 3.69002048e-02 9.99318654e-01 7.75872971e-04 -2.48233734e+00] [ 1.91239849e-02 -1.48241922e-03 9.99816021e-01 7.06116593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11071405700001 meters Centerline goodness [0,1] 0.9846690368894223 Centerline is valid? [True, True] Translation: X:65.03, Y:-2.48, Z:0.71 [[ 9.99165318e-01 -3.60663624e-02 -1.91803136e-02 6.50255493e+01] [ 3.60878968e-02 9.99348317e-01 7.77691007e-04 -2.48466989e+00] [ 1.91397656e-02 -1.46921906e-03 9.99815738e-01 7.06756660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14071405700001 meters Centerline goodness [0,1] 0.984134910007036 Centerline is valid? [True, True] Translation: X:65.06, Y:-2.49, Z:0.71 [[ 9.99191310e-01 -3.50687191e-02 -1.96700569e-02 6.50570629e+01] [ 3.50911957e-02 9.99383795e-01 7.98585398e-04 -2.48602515e+00] [ 1.96299308e-02 -1.48818541e-03 9.99806207e-01 7.06441229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.170714057 meters Centerline goodness [0,1] 0.9842312149235418 Centerline is valid? [True, True] Translation: X:65.09, Y:-2.49, Z:0.71 [[ 9.99210232e-01 -3.46430451e-02 -1.94620557e-02 6.50893857e+01] [ 3.46649900e-02 9.99398675e-01 7.91250298e-04 -2.48891075e+00] [ 1.94229414e-02 -1.46527736e-03 9.99810283e-01 7.06111042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.200714057 meters Centerline goodness [0,1] 0.9850268108697628 Centerline is valid? [True, True] Translation: X:65.12, Y:-2.49, Z:0.71 [[ 9.99216759e-01 -3.41310041e-02 -2.00235574e-02 6.51221065e+01] [ 3.41541643e-02 9.99416243e-01 8.15711543e-04 -2.48955791e+00] [ 1.99840274e-02 -1.49896051e-03 9.99799176e-01 7.06225191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.230714057 meters Centerline goodness [0,1] 0.984830248665834 Centerline is valid? [True, True] Translation: X:65.15, Y:-2.49, Z:0.71 [[ 9.99264298e-01 -3.25308798e-02 -2.03126511e-02 6.51529037e+01] [ 3.25544162e-02 9.99469621e-01 8.29028058e-04 -2.49155583e+00] [ 2.02749087e-02 -1.48968464e-03 9.99793333e-01 7.06182615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.260714057 meters Centerline goodness [0,1] 0.987011512522991 Centerline is valid? [True, True] Translation: X:65.19, Y:-2.49, Z:0.71 [[ 9.99274997e-01 -3.21952237e-02 -2.03211185e-02 6.51852510e+01] [ 3.22187304e-02 9.99480497e-01 8.30347248e-04 -2.48501334e+00] [ 2.02838284e-02 -1.48446588e-03 9.99793160e-01 7.06999749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.290714057 meters Centerline goodness [0,1] 0.987648434484481 Centerline is valid? [True, True] Translation: X:65.22, Y:-2.48, Z:0.71 [[ 9.99300399e-01 -3.12837485e-02 -2.04948787e-02 6.52167516e+01] [ 3.13074924e-02 9.99509448e-01 8.38624967e-04 -2.48119969e+00] [ 2.04585896e-02 -1.47968153e-03 9.99789606e-01 7.08054816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.320714057 meters Centerline goodness [0,1] 0.9864421357597157 Centerline is valid? [True, True] Translation: X:65.25, Y:-2.49, Z:0.71 [[ 9.99319521e-01 -3.07324210e-02 -2.03964182e-02 6.52478893e+01] [ 3.07558409e-02 9.99526578e-01 8.35470136e-04 -2.48840701e+00] [ 2.03610861e-02 -1.46221061e-03 9.99791622e-01 7.07691571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.350714057 meters Centerline goodness [0,1] 0.9862529724832975 Centerline is valid? [True, True] Translation: X:65.28, Y:-2.49, Z:0.71 [[ 9.99336715e-01 -3.02563703e-02 -2.02652806e-02 6.52791835e+01] [ 3.02794141e-02 9.99541128e-01 8.31166433e-04 -2.49181291e+00] [ 2.02308334e-02 -1.44423596e-03 9.99794293e-01 7.07865271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.380714057 meters Centerline goodness [0,1] 0.9873911465892597 Centerline is valid? [True, True] Translation: X:65.31, Y:-2.49, Z:0.71 [[ 9.99328445e-01 -3.03434643e-02 -2.05410026e-02 6.53112120e+01] [ 3.03671831e-02 9.99538455e-01 8.43697762e-04 -2.48744108e+00] [ 2.05059213e-02 -1.46690356e-03 9.99788655e-01 7.08620584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.410714057 meters Centerline goodness [0,1] 0.9866745363328869 Centerline is valid? [True, True] Translation: X:65.34, Y:-2.49, Z:0.71 [[ 9.99315936e-01 -3.04827261e-02 -2.09395262e-02 6.53437341e+01] [ 3.05074364e-02 9.99534169e-01 8.61576484e-04 -2.48792941e+00] [ 2.09035087e-02 -1.49979837e-03 9.99780373e-01 7.08511604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44071405700001 meters Centerline goodness [0,1] 0.9868217758793056 Centerline is valid? [True, True] Translation: X:65.38, Y:-2.49, Z:0.71 [[ 9.99294013e-01 -3.07986921e-02 -2.15154898e-02 6.53750029e+01] [ 3.08248838e-02 9.99524407e-01 8.86676713e-04 -2.49123585e+00] [ 2.14779487e-02 -1.54926320e-03 9.99768122e-01 7.08375760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47071405700001 meters Centerline goodness [0,1] 0.9882310256468401 Centerline is valid? [True, True] Translation: X:65.41, Y:-2.49, Z:0.71 [[ 9.99302331e-01 -3.07566622e-02 -2.11867617e-02 6.54061436e+01] [ 3.07820703e-02 9.99525738e-01 8.74092058e-04 -2.49357635e+00] [ 2.11498295e-02 -1.52565462e-03 9.99775153e-01 7.08768966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50071405700001 meters Centerline goodness [0,1] 0.9882310256468401 Centerline is valid? [True, True] Translation: X:65.44, Y:-2.49, Z:0.71 [[ 9.99303411e-01 -3.07215866e-02 -2.11867311e-02 6.54370431e+01] [ 3.07470026e-02 9.99526816e-01 8.74834736e-04 -2.49488319e+00] [ 2.11498295e-02 -1.52565381e-03 9.99775153e-01 7.09155491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.530714057 meters Centerline goodness [0,1] 0.9865551172176121 Centerline is valid? [True, True] Translation: X:65.47, Y:-2.50, Z:0.71 [[ 9.99266074e-01 -3.18912244e-02 -2.12194019e-02 6.54686488e+01] [ 3.19169969e-02 9.99490138e-01 8.76931175e-04 -2.49795636e+00] [ 2.11806165e-02 -1.55354716e-03 9.99774459e-01 7.09029144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.560714057 meters Centerline goodness [0,1] 0.9866095704187058 Centerline is valid? [True, True] Translation: X:65.50, Y:-2.50, Z:0.71 [[ 9.99239394e-01 -3.26167018e-02 -2.13724893e-02 6.55011632e+01] [ 3.26430358e-02 9.99466683e-01 8.84337988e-04 -2.49874881e+00] [ 2.13322468e-02 -1.58132829e-03 9.99771191e-01 7.09466258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.590714057 meters Centerline goodness [0,1] 0.9785777435223176 Centerline is valid? [True, True] Translation: X:65.53, Y:-2.52, Z:0.71 [[ 9.99176623e-01 -3.45206667e-02 -2.13166497e-02 6.55305370e+01] [ 3.45473248e-02 9.99402673e-01 8.83473107e-04 -2.51661454e+00] [ 2.12734186e-02 -1.61917889e-03 9.99772384e-01 7.07525098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.620714057 meters Centerline goodness [0,1] 0.987687074829932 Centerline is valid? [True, True] Translation: X:65.56, Y:-2.51, Z:0.71 [[ 9.99130769e-01 -3.56692522e-02 -2.15733920e-02 6.55632987e+01] [ 3.56968531e-02 9.99362263e-01 8.95535814e-04 -2.50533484e+00] [ 2.15276908e-02 -1.66485959e-03 9.99766866e-01 7.09359863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.650714057 meters Centerline goodness [0,1] 0.9868456801304112 Centerline is valid? [True, True] Translation: X:65.59, Y:-2.51, Z:0.71 [[ 9.99024812e-01 -3.80934637e-02 -2.23229373e-02 6.55942823e+01] [ 3.81236417e-02 9.99272599e-01 9.27721198e-04 -2.50932169e+00] [ 2.22713595e-02 -1.77784816e-03 9.99750382e-01 7.09168952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.680714057 meters Centerline goodness [0,1] 0.98561736770692 Centerline is valid? [True, True] Translation: X:65.63, Y:-2.51, Z:0.71 [[ 9.98971842e-01 -3.92535536e-02 -2.26807825e-02 6.56264276e+01] [ 3.92850256e-02 9.99227600e-01 9.43537463e-04 -2.51247129e+00] [ 2.26262267e-02 -1.83358248e-03 9.99742313e-01 7.08941963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.710714057 meters Centerline goodness [0,1] 0.9861267764493571 Centerline is valid? [True, True] Translation: X:65.66, Y:-2.51, Z:0.71 [[ 9.98924758e-01 -4.03728131e-02 -2.27895709e-02 6.56586063e+01] [ 4.04049140e-02 9.99182937e-01 9.49685194e-04 -2.51443871e+00] [ 2.27326089e-02 -1.86947470e-03 9.99739833e-01 7.09274004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.740714057 meters Centerline goodness [0,1] 0.9851302795417053 Centerline is valid? [True, True] Translation: X:65.69, Y:-2.52, Z:0.71 [[ 9.98843911e-01 -4.22156214e-02 -2.29931006e-02 6.56893299e+01] [ 4.22488080e-02 9.99106660e-01 9.59251251e-04 -2.51867316e+00] [ 2.29320646e-02 -1.92957337e-03 9.99735164e-01 7.09437475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.770714057 meters Centerline goodness [0,1] 0.9851069591118332 Centerline is valid? [True, True] Translation: X:65.72, Y:-2.52, Z:0.71 [[ 9.98817499e-01 -4.26209377e-02 -2.33893055e-02 6.57216569e+01] [ 4.26554118e-02 9.99089366e-01 9.76776806e-04 -2.52191636e+00] [ 2.33263752e-02 -1.97330222e-03 9.99725956e-01 7.09409641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80071405700001 meters Centerline goodness [0,1] 0.9843524531024531 Centerline is valid? [True, True] Translation: X:65.75, Y:-2.52, Z:0.71 [[ 9.98811660e-01 -4.20650800e-02 -2.46129279e-02 6.57534596e+01] [ 4.21031335e-02 9.99112739e-01 1.02967345e-03 -2.52170350e+00] [ 2.45477765e-02 -2.06473123e-03 9.99696526e-01 7.09789354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83071405700001 meters Centerline goodness [0,1] 0.9849765046087113 Centerline is valid? [True, True] Translation: X:65.78, Y:-2.52, Z:0.71 [[ 9.98834166e-01 -4.13214263e-02 -2.49569182e-02 6.57845619e+01] [ 4.13603597e-02 9.99143747e-01 1.04562996e-03 -2.52487323e+00] [ 2.48923418e-02 -2.07663805e-03 9.99687981e-01 7.09524916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86071405700001 meters Centerline goodness [0,1] 0.9866579375112877 Centerline is valid? [True, True] Translation: X:65.82, Y:-2.52, Z:0.71 [[ 9.98861902e-01 -4.03263200e-02 -2.54693646e-02 6.58162620e+01] [ 4.03665773e-02 9.99184367e-01 1.06825188e-03 -2.51846743e+00] [ 2.54055123e-02 -2.09514718e-03 9.99675032e-01 7.10843179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.890714057 meters Centerline goodness [0,1] 0.9812165384442345 Centerline is valid? [True, True] Translation: X:65.85, Y:-2.53, Z:0.71 [[ 9.98957831e-01 -3.80586228e-02 -2.51950954e-02 6.58457804e+01] [ 3.80973124e-02 9.99273475e-01 1.05720125e-03 -2.53250624e+00] [ 2.51365549e-02 -2.01596489e-03 9.99681994e-01 7.09698635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.920714057 meters Centerline goodness [0,1] 0.9861694915254238 Centerline is valid? [True, True] Translation: X:65.88, Y:-2.52, Z:0.71 [[ 9.98988879e-01 -3.71255487e-02 -2.53557307e-02 6.58776699e+01] [ 3.71644466e-02 9.99308596e-01 1.06440787e-03 -2.52014723e+00] [ 2.52986830e-02 -2.00566333e-03 9.99677925e-01 7.12753518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.950714057 meters Centerline goodness [0,1] 0.9864901500090367 Centerline is valid? [True, True] Translation: X:65.91, Y:-2.52, Z:0.71 [[ 9.99090348e-01 -3.45027477e-02 -2.50606489e-02 6.59088085e+01] [ 3.45399420e-02 9.99402764e-01 1.05269704e-03 -2.51831175e+00] [ 2.50093609e-02 -1.91733281e-03 9.99685378e-01 7.14044583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.980714057 meters Centerline goodness [0,1] 0.9873472256864924 Centerline is valid? [True, True] Translation: X:65.94, Y:-2.52, Z:0.71 [[ 9.99144211e-01 -3.30672507e-02 -2.48475752e-02 6.59402461e+01] [ 3.31033904e-02 9.99451387e-01 1.04442042e-03 -2.52040977e+00] [ 2.47994074e-02 -1.86606560e-03 9.99690706e-01 7.14621328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.010714057 meters Centerline goodness [0,1] 0.9878855124315022 Centerline is valid? [True, True] Translation: X:65.97, Y:-2.52, Z:0.71 [[ 9.99191239e-01 -3.16706409e-02 -2.47757823e-02 6.59702786e+01] [ 3.17061617e-02 9.99496690e-01 1.04207552e-03 -2.52359536e+00] [ 2.47303092e-02 -1.82677769e-03 9.99692490e-01 7.14638530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.040714057 meters Centerline goodness [0,1] 0.9872803537013944 Centerline is valid? [True, True] Translation: X:66.00, Y:-2.52, Z:0.71 [[ 9.99249356e-01 -2.98244464e-02 -2.47230080e-02 6.60013745e+01] [ 2.98592650e-02 9.99553571e-01 1.04030292e-03 -2.51995574e+00] [ 2.46809445e-02 -1.77773287e-03 9.99693798e-01 7.14615992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.070714057 meters Centerline goodness [0,1] 0.987923637436724 Centerline is valid? [True, True] Translation: X:66.03, Y:-2.52, Z:0.71 [[ 9.99284697e-01 -2.89543809e-02 -2.43256547e-02 6.60316731e+01] [ 2.89878431e-02 9.99579240e-01 1.02401969e-03 -2.52157606e+00] [ 2.42857696e-02 -1.72843547e-03 9.99703563e-01 7.14873439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.100714057 meters Centerline goodness [0,1] 0.9869838318329214 Centerline is valid? [True, True] Translation: X:66.06, Y:-2.52, Z:0.72 [[ 9.99332728e-01 -2.77816439e-02 -2.37124084e-02 6.60621278e+01] [ 2.78131164e-02 9.99612642e-01 9.98423357e-04 -2.52194908e+00] [ 2.36754853e-02 -1.65727311e-03 9.99718323e-01 7.15354720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.130714057 meters Centerline goodness [0,1] 0.987295537557567 Centerline is valid? [True, True] Translation: X:66.09, Y:-2.52, Z:0.72 [[ 9.99331370e-01 -2.75165083e-02 -2.40760189e-02 6.60929571e+01] [ 2.75488771e-02 9.99619944e-01 1.01373337e-03 -2.52411268e+00] [ 2.40389743e-02 -1.67632285e-03 9.99709617e-01 7.15906631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.160714057 meters Centerline goodness [0,1] 0.9871611334560411 Centerline is valid? [True, True] Translation: X:66.12, Y:-2.53, Z:0.72 [[ 9.99333829e-01 -2.74847577e-02 -2.40101166e-02 6.61223376e+01] [ 2.75169356e-02 9.99620826e-01 1.01075567e-03 -2.52917627e+00] [ 2.39732323e-02 -1.67076717e-03 9.99711205e-01 7.15575194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19071405700001 meters Centerline goodness [0,1] 0.9866454689984102 Centerline is valid? [True, True] Translation: X:66.15, Y:-2.53, Z:0.72 [[ 9.99321316e-01 -2.73334615e-02 -2.46938973e-02 6.61525246e+01] [ 2.73674421e-02 9.99624901e-01 1.03910506e-03 -2.52924276e+00] [ 2.46562323e-02 -1.71420864e-03 9.99694519e-01 7.15679489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22071405700001 meters Centerline goodness [0,1] 0.9875059414680519 Centerline is valid? [True, True] Translation: X:66.18, Y:-2.53, Z:0.72 [[ 9.99303821e-01 -2.75438388e-02 -2.51636718e-02 6.61828645e+01] [ 2.75791860e-02 9.99619061e-01 1.05865433e-03 -2.52903123e+00] [ 2.51249266e-02 -1.75191090e-03 9.99682784e-01 7.16409202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25071405700001 meters Centerline goodness [0,1] 0.9876655178668602 Centerline is valid? [True, True] Translation: X:66.21, Y:-2.53, Z:0.72 [[ 9.99294735e-01 -2.80137221e-02 -2.50052834e-02 6.62123420e+01] [ 2.80487609e-02 9.99606003e-01 1.05155088e-03 -2.52992536e+00] [ 2.49659735e-02 -1.75217647e-03 9.99686766e-01 7.16142336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.280714057 meters Centerline goodness [0,1] 0.9882376937720968 Centerline is valid? [True, True] Translation: X:66.24, Y:-2.53, Z:0.72 [[ 9.99277274e-01 -2.82712296e-02 -2.54099713e-02 6.62430475e+01] [ 2.83074836e-02 9.99598692e-01 1.06812312e-03 -2.52992976e+00] [ 2.53695769e-02 -1.78664351e-03 9.99676544e-01 7.16024528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.310714057 meters Centerline goodness [0,1] 0.988042837046785 Centerline is valid? [True, True] Translation: X:66.27, Y:-2.53, Z:0.72 [[ 9.99231304e-01 -2.91917076e-02 -2.61657450e-02 6.62719134e+01] [ 2.92304729e-02 9.99572093e-01 1.10019149e-03 -2.53415445e+00] [ 2.61224320e-02 -1.86418288e-03 9.99657013e-01 7.15277081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.340714057 meters Centerline goodness [0,1] 0.9872725622759654 Centerline is valid? [True, True] Translation: X:66.30, Y:-2.54, Z:0.72 [[ 9.99228686e-01 -2.96151341e-02 -2.57871290e-02 6.63012348e+01] [ 2.96529205e-02 9.99559668e-01 1.08407331e-03 -2.53555491e+00] [ 2.57436691e-02 -1.84790083e-03 9.99666869e-01 7.15408136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.370714057 meters Centerline goodness [0,1] 0.9871969181962383 Centerline is valid? [True, True] Translation: X:66.33, Y:-2.54, Z:0.72 [[ 9.99218298e-01 -3.02126673e-02 -2.54948605e-02 6.63305075e+01] [ 3.02497783e-02 9.99541797e-01 1.07112644e-03 -2.53912157e+00] [ 2.54508171e-02 -1.84150302e-03 9.99674379e-01 7.15490989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.400714057 meters Centerline goodness [0,1] 0.9878317328429703 Centerline is valid? [True, True] Translation: X:66.36, Y:-2.54, Z:0.72 [[ 9.99220347e-01 -3.03408818e-02 -2.52611994e-02 6.63605630e+01] [ 3.03773507e-02 9.99537939e-01 1.06109462e-03 -2.54086982e+00] [ 2.52173326e-02 -1.82763565e-03 9.99680322e-01 7.15652105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.430714057 meters Centerline goodness [0,1] 0.9876394810850041 Centerline is valid? [True, True] Translation: X:66.39, Y:-2.54, Z:0.72 [[ 9.99207426e-01 -3.08787918e-02 -2.51201045e-02 6.63902984e+01] [ 3.09150234e-02 9.99521459e-01 1.05516794e-03 -2.54451835e+00] [ 2.50755012e-02 -1.83092026e-03 9.99683884e-01 7.15570370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.460714057 meters Centerline goodness [0,1] 0.9871989487278248 Centerline is valid? [True, True] Translation: X:66.42, Y:-2.55, Z:0.72 [[ 9.99177562e-01 -3.17299781e-02 -2.52469383e-02 6.64210486e+01] [ 3.17668615e-02 9.99494743e-01 1.06107617e-03 -2.54633629e+00] [ 2.52005141e-02 -1.86221949e-03 9.99680682e-01 7.15787087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.490714057 meters Centerline goodness [0,1] 0.9857977711334602 Centerline is valid? [True, True] Translation: X:66.45, Y:-2.55, Z:0.72 [[ 9.99182873e-01 -3.20813870e-02 -2.45839375e-02 6.64512898e+01] [ 3.21164824e-02 9.99483598e-01 1.03397077e-03 -2.55001627e+00] [ 2.45380711e-02 -1.82267548e-03 9.99697235e-01 7.15998968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.520714057 meters Centerline goodness [0,1] 0.9854412896798442 Centerline is valid? [True, True] Translation: X:66.48, Y:-2.55, Z:0.72 [[ 9.99177651e-01 -3.27328775e-02 -2.39286536e-02 6.64818121e+01] [ 3.27663301e-02 9.99462532e-01 1.00716492e-03 -2.55350919e+00] [ 2.38828253e-02 -1.79039085e-03 9.99713161e-01 7.17405924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55071405700001 meters Centerline goodness [0,1] 0.9858109484260789 Centerline is valid? [True, True] Translation: X:66.51, Y:-2.55, Z:0.72 [[ 9.99159920e-01 -3.34328439e-02 -2.37002129e-02 6.65129907e+01] [ 3.34658793e-02 9.99439362e-01 9.98521185e-04 -2.55337734e+00] [ 2.36535422e-02 -1.79083081e-03 9.99718612e-01 7.18051461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58071405700001 meters Centerline goodness [0,1] 0.9826094812204982 Centerline is valid? [True, True] Translation: X:66.54, Y:-2.56, Z:0.72 [[ 9.99139034e-01 -3.40353967e-02 -2.37230429e-02 6.65432137e+01] [ 3.40686792e-02 9.99418994e-01 1.00009421e-03 -2.55985074e+00] [ 2.36752211e-02 -1.80744590e-03 9.99718069e-01 7.17482496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61071405700001 meters Centerline goodness [0,1] 0.9876747400140472 Centerline is valid? [True, True] Translation: X:66.57, Y:-2.55, Z:0.72 [[ 9.99132066e-01 -3.42774969e-02 -2.36678543e-02 6.65744647e+01] [ 3.43107114e-02 9.99410715e-01 9.98580717e-04 -2.55329743e+00] [ 2.36196784e-02 -1.80977493e-03 9.99719378e-01 7.18451737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.640714057 meters Centerline goodness [0,1] 0.9865292469035349 Centerline is valid? [True, True] Translation: X:66.61, Y:-2.56, Z:0.72 [[ 9.99104792e-01 -3.48976001e-02 -2.39117762e-02 6.66055548e+01] [ 3.49317106e-02 9.99389191e-01 1.01017425e-03 -2.55691245e+00] [ 2.38619180e-02 -1.84454918e-03 9.99713562e-01 7.18261568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.670714057 meters Centerline goodness [0,1] 0.9880521361332368 Centerline is valid? [True, True] Translation: X:66.64, Y:-2.56, Z:0.72 [[ 9.99058531e-01 -3.58158667e-02 -2.44801142e-02 6.66363797e+01] [ 3.58519146e-02 9.99356577e-01 1.03509238e-03 -2.55563718e+00] [ 2.44272904e-02 -1.91177684e-03 9.99699781e-01 7.19075093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.700714057 meters Centerline goodness [0,1] 0.9873263024487394 Centerline is valid? [True, True] Translation: X:66.67, Y:-2.56, Z:0.72 [[ 9.99020571e-01 -3.65882103e-02 -2.48837710e-02 6.66676981e+01] [ 3.66257119e-02 9.99328499e-01 1.05282780e-03 -2.55697169e+00] [ 2.48285404e-02 -1.96318245e-03 9.99689797e-01 7.19648890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.730714057 meters Centerline goodness [0,1] 0.98696036040115 Centerline is valid? [True, True] Translation: X:66.70, Y:-2.56, Z:0.72 [[ 9.98946842e-01 -3.86161035e-02 -2.47790943e-02 6.66982162e+01] [ 3.86539263e-02 9.99252107e-01 1.04906154e-03 -2.55989757e+00] [ 2.47200515e-02 -2.00576600e-03 9.99692401e-01 7.20244269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.760714057 meters Centerline goodness [0,1] 0.9867073584265853 Centerline is valid? [True, True] Translation: X:66.73, Y:-2.56, Z:0.72 [[ 9.98920357e-01 -3.94153118e-02 -2.45876843e-02 6.67293138e+01] [ 3.94528088e-02 9.99220892e-01 1.04161261e-03 -2.56246384e+00] [ 2.45274723e-02 -2.01054125e-03 9.99697135e-01 7.20502123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.790714057 meters Centerline goodness [0,1] 0.9863778068946821 Centerline is valid? [True, True] Translation: X:66.76, Y:-2.57, Z:0.72 [[ 9.98886718e-01 -4.02471273e-02 -2.46067625e-02 6.67605650e+01] [ 4.02849547e-02 9.99187687e-01 1.04330063e-03 -2.56576840e+00] [ 2.45447842e-02 -2.03342145e-03 9.99696663e-01 7.20818687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.820714057 meters Centerline goodness [0,1] 0.986024739377219 Centerline is valid? [True, True] Translation: X:66.79, Y:-2.57, Z:0.72 [[ 9.98851554e-01 -4.11548220e-02 -2.45327265e-02 6.67919294e+01] [ 4.11927206e-02 9.99150677e-01 1.04124836e-03 -2.57003396e+00] [ 2.44690379e-02 -2.05062229e-03 9.99698485e-01 7.21166682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.850714057 meters Centerline goodness [0,1] 0.9874314959916662 Centerline is valid? [True, True] Translation: X:66.82, Y:-2.57, Z:0.72 [[ 9.98821589e-01 -4.16502665e-02 -2.49136305e-02 6.68242533e+01] [ 4.16895435e-02 9.99130052e-01 1.05898403e-03 -2.56938302e+00] [ 2.48478500e-02 -2.09637400e-03 9.99689046e-01 7.21924351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.880714057 meters Centerline goodness [0,1] 0.9878310827622085 Centerline is valid? [True, True] Translation: X:66.86, Y:-2.57, Z:0.72 [[ 9.98821984e-01 -4.16050812e-02 -2.49732325e-02 6.68566646e+01] [ 4.16445774e-02 9.99131922e-01 1.06332474e-03 -2.56919213e+00] [ 2.49073141e-02 -2.10207184e-03 9.99687555e-01 7.22917234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.910714057 meters Centerline goodness [0,1] 0.9868281090867942 Centerline is valid? [True, True] Translation: X:66.89, Y:-2.57, Z:0.72 [[ 9.98820250e-01 -4.15435404e-02 -2.51444210e-02 6.68889778e+01] [ 4.15836067e-02 9.99134452e-01 1.07244652e-03 -2.57052935e+00] [ 2.50781040e-02 -2.11677701e-03 9.99683254e-01 7.22953937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94071405700001 meters Centerline goodness [0,1] 0.986704589061195 Centerline is valid? [True, True] Translation: X:66.92, Y:-2.57, Z:0.72 [[ 9.98813361e-01 -4.16264848e-02 -2.52805534e-02 6.69202161e+01] [ 4.16670732e-02 9.99130966e-01 1.08064998e-03 -2.57411222e+00] [ 2.52136001e-02 -2.13273431e-03 9.99679812e-01 7.22531163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97071405700001 meters Centerline goodness [0,1] 0.9862252732363833 Centerline is valid? [True, True] Translation: X:66.95, Y:-2.58, Z:0.72 [[ 9.98806609e-01 -4.16034703e-02 -2.55833892e-02 6.69508402e+01] [ 4.16450851e-02 9.99131866e-01 1.09576273e-03 -2.57799468e+00] [ 2.55155919e-02 -2.15987747e-03 9.99672091e-01 7.22388207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00071405700001 meters Centerline goodness [0,1] 0.9868717348225545 Centerline is valid? [True, True] Translation: X:66.98, Y:-2.58, Z:0.72 [[ 9.98814133e-01 -4.18477047e-02 -2.48816830e-02 6.69833524e+01] [ 4.18871805e-02 9.99121777e-01 1.06724303e-03 -2.57846782e+00] [ 2.48151696e-02 -2.10820096e-03 9.99689833e-01 7.23648013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.030714057 meters Centerline goodness [0,1] 0.9865142650613296 Centerline is valid? [True, True] Translation: X:67.02, Y:-2.58, Z:0.72 [[ 9.98807752e-01 -4.19711819e-02 -2.49297806e-02 6.70156828e+01] [ 4.20108929e-02 9.99116579e-01 1.07108556e-03 -2.58106735e+00] [ 2.48628024e-02 -2.11713090e-03 9.99688631e-01 7.24322026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.060714057 meters Centerline goodness [0,1] 0.9867866242756319 Centerline is valid? [True, True] Translation: X:67.05, Y:-2.58, Z:0.72 [[ 9.98831228e-01 -4.14496012e-02 -2.48617770e-02 6.70475357e+01] [ 4.14889737e-02 9.99138389e-01 1.06970554e-03 -2.58219499e+00] [ 2.47960169e-02 -2.09994491e-03 9.99690326e-01 7.24860197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.090714057 meters Centerline goodness [0,1] 0.9871264990853039 Centerline is valid? [True, True] Translation: X:67.08, Y:-2.58, Z:0.73 [[ 9.98883973e-01 -4.02416927e-02 -2.47268048e-02 6.70794626e+01] [ 4.02803040e-02 9.99187851e-01 1.06522484e-03 -2.57973223e+00] [ 2.46638565e-02 -2.06003923e-03 9.99693678e-01 7.26368911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.120714057 meters Centerline goodness [0,1] 0.9856423685576902 Centerline is valid? [True, True] Translation: X:67.11, Y:-2.58, Z:0.73 [[ 9.98900297e-01 -3.93287113e-02 -2.55234952e-02 6.71100305e+01] [ 3.93695856e-02 9.99224111e-01 1.10071653e-03 -2.58484966e+00] [ 2.54604021e-02 -2.10435550e-03 9.99673617e-01 7.25795349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.150714057 meters Centerline goodness [0,1] 0.9860446210821064 Centerline is valid? [True, True] Translation: X:67.14, Y:-2.58, Z:0.73 [[ 9.98943376e-01 -3.82904803e-02 -2.54159604e-02 6.71412252e+01] [ 3.83306999e-02 9.99264507e-01 1.09698474e-03 -2.58498202e+00] [ 2.53552631e-02 -2.07003719e-03 9.99676360e-01 7.25913431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.180714057 meters Centerline goodness [0,1] 0.9861981868206215 Centerline is valid? [True, True] Translation: X:67.17, Y:-2.59, Z:0.73 [[ 9.98949278e-01 -3.76918646e-02 -2.60703608e-02 6.71712129e+01] [ 3.77339984e-02 9.99287185e-01 1.12592289e-03 -2.58857249e+00] [ 2.60093393e-02 -2.10847882e-03 9.99659476e-01 7.25958020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.210714057 meters Centerline goodness [0,1] 0.9877053811557845 Centerline is valid? [True, True] Translation: X:67.20, Y:-2.58, Z:0.73 [[ 9.98973905e-01 -3.67839140e-02 -2.64212325e-02 6.72025430e+01] [ 3.68268938e-02 9.99321008e-01 1.14180406e-03 -2.58351874e+00] [ 2.63612927e-02 -2.11364438e-03 9.99650246e-01 7.26897459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.240714057 meters Centerline goodness [0,1] 0.9875428005045954 Centerline is valid? [True, True] Translation: X:67.23, Y:-2.59, Z:0.73 [[ 9.98995395e-01 -3.61486489e-02 -2.64853979e-02 6.72331116e+01] [ 3.61916347e-02 9.99344212e-01 1.14528456e-03 -2.58621436e+00] [ 2.64266286e-02 -2.10268384e-03 9.99648544e-01 7.26971043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.270714057 meters Centerline goodness [0,1] 0.9863234832518721 Centerline is valid? [True, True] Translation: X:67.26, Y:-2.59, Z:0.73 [[ 9.99029344e-01 -3.52224820e-02 -2.64527226e-02 6.72633745e+01] [ 3.52650516e-02 9.99377339e-01 1.14434474e-03 -2.59414555e+00] [ 2.63959449e-02 -2.07609060e-03 9.99649411e-01 7.26448580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30071405700001 meters Centerline goodness [0,1] 0.9884979702300406 Centerline is valid? [True, True] Translation: X:67.29, Y:-2.59, Z:0.73 [[ 9.99051599e-01 -3.46699259e-02 -2.63419491e-02 6.72949741e+01] [ 3.47119676e-02 9.99396708e-01 1.14026755e-03 -2.58852219e+00] [ 2.62865243e-02 -2.05356701e-03 9.99652340e-01 7.28193779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33071405700001 meters Centerline goodness [0,1] 0.988003061132619 Centerline is valid? [True, True] Translation: X:67.33, Y:-2.59, Z:0.73 [[ 9.99090024e-01 -3.39245390e-02 -2.58505341e-02 6.73253835e+01] [ 3.39647894e-02 9.99422403e-01 1.11943277e-03 -2.59002984e+00] [ 2.57976267e-02 -1.99642206e-03 9.99665192e-01 7.28589984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36071405700001 meters Centerline goodness [0,1] 0.9878419452887538 Centerline is valid? [True, True] Translation: X:67.35, Y:-2.59, Z:0.73 [[ 9.99115350e-01 -3.19544858e-02 -2.73391241e-02 6.73545783e+01] [ 3.19987670e-02 9.99487207e-01 1.18363288e-03 -2.59088503e+00] [ 2.72872824e-02 -2.05740404e-03 9.99625516e-01 7.28857413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.390714057 meters Centerline goodness [0,1] 0.9878419452887538 Centerline is valid? [True, True] Translation: X:67.38, Y:-2.59, Z:0.73 [[ 9.99115350e-01 -3.19544885e-02 -2.73391336e-02 6.73846362e+01] [ 3.19987637e-02 9.99487208e-01 1.18341306e-03 -2.59218604e+00] [ 2.72872989e-02 -2.05718463e-03 9.99625516e-01 7.29233660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.420714057 meters Centerline goodness [0,1] 0.9882719112273896 Centerline is valid? [True, True] Translation: X:67.41, Y:-2.59, Z:0.73 [[ 9.99138671e-01 -3.09514402e-02 -2.76391739e-02 6.74148069e+01] [ 3.09963039e-02 9.99518783e-01 1.19612817e-03 -2.58917287e+00] [ 2.75888516e-02 -2.05181014e-03 9.99617249e-01 7.30068595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.450714057 meters Centerline goodness [0,1] 0.987944191086829 Centerline is valid? [True, True] Translation: X:67.44, Y:-2.59, Z:0.73 [[ 9.99190367e-01 -2.85153095e-02 -2.83811267e-02 6.74443727e+01] [ 2.85616502e-02 9.99591278e-01 1.22867055e-03 -2.58950608e+00] [ 2.83344908e-02 -2.03828759e-03 9.99596420e-01 7.30049334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.480714057 meters Centerline goodness [0,1] 0.9887235921472726 Centerline is valid? [True, True] Translation: X:67.47, Y:-2.59, Z:0.73 [[ 9.99229604e-01 -2.72118255e-02 -2.82792354e-02 6.74727587e+01] [ 2.72572979e-02 9.99627702e-01 1.22366656e-03 -2.59107237e+00] [ 2.82354089e-02 -1.99353940e-03 9.99599313e-01 7.30527638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.510714057 meters Centerline goodness [0,1] 0.9886224559176828 Centerline is valid? [True, True] Translation: X:67.50, Y:-2.59, Z:0.73 [[ 9.99317374e-01 -2.43968257e-02 -2.77413390e-02 6.75026640e+01] [ 2.44394655e-02 9.99700593e-01 1.19898221e-03 -2.58660016e+00] [ 2.77037816e-02 -1.87614725e-03 9.99614416e-01 7.32202165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.540714057 meters Centerline goodness [0,1] 0.9879879197983605 Centerline is valid? [True, True] Translation: X:67.53, Y:-2.59, Z:0.73 [[ 9.99364637e-01 -2.29994430e-02 -2.72277040e-02 6.75312849e+01] [ 2.30399611e-02 9.99733854e-01 1.17529588e-03 -2.58696069e+00] [ 2.71934263e-02 -1.80187438e-03 9.99628566e-01 7.32812509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.570714057 meters Centerline goodness [0,1] 0.989065335753176 Centerline is valid? [True, True] Translation: X:67.56, Y:-2.59, Z:0.73 [[ 9.99387996e-01 -2.21988689e-02 -2.70341112e-02 6.75593827e+01] [ 2.22384000e-02 9.99752020e-01 1.16245764e-03 -2.58749024e+00] [ 2.70016020e-02 -1.76294159e-03 9.99633836e-01 7.34010519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.600714057 meters Centerline goodness [0,1] 0.9883414390254989 Centerline is valid? [True, True] Translation: X:67.59, Y:-2.59, Z:0.74 [[ 9.99469826e-01 -2.02906533e-02 -2.54628601e-02 6.75897641e+01] [ 2.03250247e-02 9.99792829e-01 1.09175662e-03 -2.58761336e+00] [ 2.54354325e-02 -1.60871106e-03 9.99675173e-01 7.35794035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.630714057 meters Centerline goodness [0,1] 0.9884088274733517 Centerline is valid? [True, True] Translation: X:67.62, Y:-2.59, Z:0.74 [[ 9.99471575e-01 -2.02135355e-02 -2.54555069e-02 6.76178710e+01] [ 2.02478280e-02 9.99794397e-01 1.09009883e-03 -2.59018738e+00] [ 2.54282384e-02 -1.60494152e-03 9.99675362e-01 7.36442089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.660714057 meters Centerline goodness [0,1] 0.9879591975827521 Centerline is valid? [True, True] Translation: X:67.65, Y:-2.59, Z:0.74 [[ 9.99452579e-01 -2.12315632e-02 -2.53724712e-02 6.76457662e+01] [ 2.12659035e-02 9.99773267e-01 1.08435430e-03 -2.59346479e+00] [ 2.53436959e-02 -1.62332922e-03 9.99677479e-01 7.36085132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69071405700001 meters Centerline goodness [0,1] 0.9880296754813163 Centerline is valid? [True, True] Translation: X:67.67, Y:-2.59, Z:0.74 [[ 9.99408567e-01 -2.27113625e-02 -2.58207485e-02 6.76749069e+01] [ 2.27473049e-02 9.99740642e-01 1.09908604e-03 -2.59081159e+00] [ 2.57890900e-02 -1.68578844e-03 9.99665985e-01 7.36706677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72071405700001 meters Centerline goodness [0,1] 0.9878472616586784 Centerline is valid? [True, True] Translation: X:67.70, Y:-2.60, Z:0.73 [[ 9.99308822e-01 -2.57583366e-02 -2.68027463e-02 6.77036118e+01] [ 2.57980564e-02 9.99666528e-01 1.13713987e-03 -2.59739185e+00] [ 2.67645175e-02 -1.82781267e-03 9.99640095e-01 7.34725423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75071405700001 meters Centerline goodness [0,1] 0.9875444436895623 Centerline is valid? [True, True] Translation: X:67.73, Y:-2.60, Z:0.73 [[ 9.99268786e-01 -2.72993232e-02 -2.67701558e-02 6.77331553e+01] [ 2.73394713e-02 9.99625563e-01 1.13480877e-03 -2.59761800e+00] [ 2.67291525e-02 -1.86586088e-03 9.99640971e-01 7.34993493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.780714057 meters Centerline goodness [0,1] 0.9862687784650942 Centerline is valid? [True, True] Translation: X:67.76, Y:-2.61, Z:0.73 [[ 9.99192941e-01 -3.01627549e-02 -2.65268693e-02 6.77618039e+01] [ 3.02031607e-02 9.99543149e-01 1.12376108e-03 -2.60791355e+00] [ 2.64808548e-02 -1.92404944e-03 9.99647469e-01 7.34043770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.810714057 meters Centerline goodness [0,1] 0.9853848946986202 Centerline is valid? [True, True] Translation: X:67.79, Y:-2.61, Z:0.73 [[ 9.99127916e-01 -3.19307272e-02 -2.69041919e-02 6.77915792e+01] [ 3.19729082e-02 9.99488087e-01 1.13899133e-03 -2.61052483e+00] [ 2.68540504e-02 -1.99820329e-03 9.99637368e-01 7.34156092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.840714057 meters Centerline goodness [0,1] 0.9794182031549729 Centerline is valid? [True, True] Translation: X:67.82, Y:-2.62, Z:0.73 [[ 9.99035412e-01 -3.53689851e-02 -2.60246070e-02 6.78210467e+01] [ 3.54095931e-02 9.99372277e-01 1.10104771e-03 -2.61998554e+00] [ 2.59693278e-02 -2.02150639e-03 9.99660696e-01 7.33464812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.870714057 meters Centerline goodness [0,1] 0.9851229563878448 Centerline is valid? [True, True] Translation: X:67.85, Y:-2.61, Z:0.74 [[ 9.98985078e-01 -3.70188563e-02 -2.56596455e-02 6.78525721e+01] [ 3.70588788e-02 9.99312494e-01 1.08580398e-03 -2.61125744e+00] [ 2.56018091e-02 -2.03561967e-03 9.99670147e-01 7.36045473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.900714057 meters Centerline goodness [0,1] 0.98357094365241 Centerline is valid? [True, True] Translation: X:67.88, Y:-2.61, Z:0.74 [[ 9.98950460e-01 -3.84026913e-02 -2.49642131e-02 6.78832151e+01] [ 3.84410260e-02 9.99260311e-01 1.05732723e-03 -2.61417284e+00] [ 2.49051431e-02 -2.01586749e-03 9.99687786e-01 7.35981718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.930714057 meters Centerline goodness [0,1] 0.982020702070207 Centerline is valid? [True, True] Translation: X:67.91, Y:-2.62, Z:0.74 [[ 9.98865368e-01 -4.09716096e-02 -2.42755832e-02 6.79137149e+01] [ 4.10086285e-02 9.99158263e-01 1.02887525e-03 -2.61913130e+00] [ 2.42129948e-02 -2.02321623e-03 9.99704775e-01 7.36103358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.960714057 meters Centerline goodness [0,1] 0.98017328682345 Centerline is valid? [True, True] Translation: X:67.94, Y:-2.62, Z:0.74 [[ 9.98807730e-01 -4.30064010e-02 -2.30990970e-02 6.79449994e+01] [ 4.30404712e-02 9.99072849e-01 9.79593637e-04 -2.62340293e+00] [ 2.30355519e-02 -1.97262172e-03 9.99732700e-01 7.36827123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.990714057 meters Centerline goodness [0,1] 0.9804297341780713 Centerline is valid? [True, True] Translation: X:67.98, Y:-2.63, Z:0.74 [[ 9.98779766e-01 -4.39366390e-02 -2.25510684e-02 6.79772064e+01] [ 4.39693722e-02 9.99032421e-01 9.57491427e-04 -2.62502120e+00] [ 2.24871795e-02 -1.94787938e-03 9.99745234e-01 7.37234389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.020714057 meters Centerline goodness [0,1] 0.9809979986057703 Centerline is valid? [True, True] Translation: X:68.01, Y:-2.63, Z:0.74 [[ 9.98753424e-01 -4.46468325e-02 -2.23217073e-02 6.80088917e+01] [ 4.46791102e-02 9.99000939e-01 9.49150951e-04 -2.62615581e+00] [ 2.22570300e-02 -1.94528178e-03 9.99750389e-01 7.37975985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05071405700001 meters Centerline goodness [0,1] 0.9687478921689863 Centerline is valid? [True, True] Translation: X:68.04, Y:-2.64, Z:0.74 [[ 9.98730084e-01 -4.55631353e-02 -2.14992944e-02 6.80393782e+01] [ 4.55933157e-02 9.98959665e-01 9.15455969e-04 -2.63929895e+00] [ 2.14352169e-02 -1.89451753e-03 9.99768444e-01 7.36475789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08071405700001 meters Centerline goodness [0,1] 0.9808706975908754 Centerline is valid? [True, True] Translation: X:68.07, Y:-2.63, Z:0.74 [[ 9.98734537e-01 -4.55569070e-02 -2.13047832e-02 6.80720355e+01] [ 4.55865744e-02 9.98959978e-01 9.08690758e-04 -2.62698337e+00] [ 2.12412286e-02 -1.87875293e-03 9.99772614e-01 7.37976963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11071405700001 meters Centerline goodness [0,1] 0.9682428934752763 Centerline is valid? [True, True] Translation: X:68.10, Y:-2.64, Z:0.74 [[ 9.98768700e-01 -4.47077615e-02 -2.15011475e-02 6.81031804e+01] [ 4.47378170e-02 9.98998340e-01 9.18640439e-04 -2.64270318e+00] [ 2.14385403e-02 -1.87942372e-03 9.99768402e-01 7.36164232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.140714057 meters Centerline goodness [0,1] 0.9802022471910112 Centerline is valid? [True, True] Translation: X:68.14, Y:-2.63, Z:0.74 [[ 9.98781070e-01 -4.42743836e-02 -2.18209342e-02 6.81360980e+01] [ 4.43052720e-02 9.99017603e-01 9.33893163e-04 -2.62997286e+00] [ 2.17581499e-02 -1.89953724e-03 9.99761459e-01 7.37448238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.170714057 meters Centerline goodness [0,1] 0.9799851575325522 Centerline is valid? [True, True] Translation: X:68.17, Y:-2.63, Z:0.74 [[ 9.98782296e-01 -4.38364175e-02 -2.26339075e-02 6.81684672e+01] [ 4.38695813e-02 9.99036795e-01 9.70536390e-04 -2.63350803e+00] [ 2.25695616e-02 -1.96229461e-03 9.99743349e-01 7.36945445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.200714057 meters Centerline goodness [0,1] 0.979515116043491 Centerline is valid? [True, True] Translation: X:68.20, Y:-2.64, Z:0.74 [[ 9.98768062e-01 -4.41616678e-02 -2.26297526e-02 6.82003226e+01] [ 4.41949440e-02 9.99022453e-01 9.72211965e-04 -2.63527067e+00] [ 2.25646964e-02 -1.97113491e-03 9.99743442e-01 7.36536541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.230714057 meters Centerline goodness [0,1] 0.979961229825985 Centerline is valid? [True, True] Translation: X:68.23, Y:-2.64, Z:0.74 [[ 9.98718753e-01 -4.49147907e-02 -2.33133691e-02 6.82326478e+01] [ 4.49503516e-02 9.98988718e-01 1.00328165e-03 -2.63760593e+00] [ 2.32447305e-02 -2.04994034e-03 9.99727703e-01 7.35550844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.260714057 meters Centerline goodness [0,1] 0.9788903376646734 Centerline is valid? [True, True] Translation: X:68.26, Y:-2.64, Z:0.74 [[ 9.98700040e-01 -4.53335048e-02 -2.33045669e-02 6.82646769e+01] [ 4.53691903e-02 9.98969783e-01 1.00455797e-03 -2.64004688e+00] [ 2.32350180e-02 -2.06056141e-03 9.99727907e-01 7.35409131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.290714057 meters Centerline goodness [0,1] 0.9787334487332239 Centerline is valid? [True, True] Translation: X:68.30, Y:-2.64, Z:0.74 [[ 9.98679220e-01 -4.59964183e-02 -2.28942196e-02 6.82971120e+01] [ 4.60310673e-02 9.98939520e-01 9.88473196e-04 -2.64178874e+00] [ 2.28244745e-02 -2.04101300e-03 9.99737404e-01 7.35742307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.320714057 meters Centerline goodness [0,1] 0.9772635089458741 Centerline is valid? [True, True] Translation: X:68.33, Y:-2.64, Z:0.74 [[ 9.98648810e-01 -4.69709776e-02 -2.22324407e-02 6.83289666e+01] [ 4.70039255e-02 9.98894242e-01 9.61442692e-04 -2.64498628e+00] [ 2.21626971e-02 -2.00515559e-03 9.99752366e-01 7.36266315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.350714057 meters Centerline goodness [0,1] 0.9793714491838759 Centerline is valid? [True, True] Translation: X:68.36, Y:-2.64, Z:0.74 [[ 9.98643457e-01 -4.72804062e-02 -2.18130499e-02 6.83614786e+01] [ 4.73122289e-02 9.98879703e-01 9.44837070e-04 -2.64215807e+00] [ 2.17439405e-02 -1.97557937e-03 9.99761621e-01 7.37217448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.380714057 meters Centerline goodness [0,1] 0.976840921866217 Centerline is valid? [True, True] Translation: X:68.39, Y:-2.65, Z:0.74 [[ 9.98642521e-01 -4.73562156e-02 -2.16911002e-02 6.83923964e+01] [ 4.73877312e-02 9.98876127e-01 9.40940888e-04 -2.64879016e+00] [ 2.16221628e-02 -1.96755561e-03 9.99764278e-01 7.36927333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.410714057 meters Centerline goodness [0,1] 0.9771040297804588 Centerline is valid? [True, True] Translation: X:68.42, Y:-2.65, Z:0.74 [[ 9.98647436e-01 -4.72300361e-02 -2.17398713e-02 6.84241230e+01] [ 4.72616924e-02 9.98882095e-01 9.44370873e-04 -2.64900452e+00] [ 2.16709655e-02 -1.97055666e-03 9.99763215e-01 7.37453828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44071405700001 meters Centerline goodness [0,1] 0.9756372151670719 Centerline is valid? [True, True] Translation: X:68.46, Y:-2.65, Z:0.74 [[ 9.98650618e-01 -4.71873121e-02 -2.16864392e-02 6.84553315e+01] [ 4.72188320e-02 9.98884123e-01 9.43393874e-04 -2.65136887e+00] [ 2.16177236e-02 -1.96612920e-03 9.99764376e-01 7.37292550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47071405700001 meters Centerline goodness [0,1] 0.9793258933603878 Centerline is valid? [True, True] Translation: X:68.49, Y:-2.65, Z:0.74 [[ 9.98670193e-01 -4.68184294e-02 -2.15842807e-02 6.84877953e+01] [ 4.68495953e-02 9.98901512e-01 9.40241204e-04 -2.64748234e+00] [ 2.15165501e-02 -1.95020568e-03 9.99766590e-01 7.38302160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50071405700001 meters Centerline goodness [0,1] 0.9746398085000677 Centerline is valid? [True, True] Translation: X:68.52, Y:-2.65, Z:0.74 [[ 9.98702057e-01 -4.63627636e-02 -2.10877909e-02 6.85191793e+01] [ 4.63924421e-02 9.98922867e-01 9.20090098e-04 -2.65387664e+00] [ 2.10224187e-02 -1.89720999e-03 9.99777204e-01 7.38168665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.530714057 meters Centerline goodness [0,1] 0.9746232969412614 Centerline is valid? [True, True] Translation: X:68.55, Y:-2.65, Z:0.74 [[ 9.98761848e-01 -4.55265248e-02 -2.00525889e-02 6.85507968e+01] [ 4.55532152e-02 9.98961529e-01 8.76024225e-04 -2.65312125e+00] [ 1.99918825e-02 -1.78839947e-03 9.99798543e-01 7.39100240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.560714057 meters Centerline goodness [0,1] 0.9718961625282168 Centerline is valid? [True, True] Translation: X:68.58, Y:-2.66, Z:0.74 [[ 9.98835840e-01 -4.46936688e-02 -1.81504903e-02 6.85809327e+01] [ 4.47154073e-02 9.98999451e-01 7.93415456e-04 -2.65641938e+00] [ 1.80968691e-02 -1.60409836e-03 9.99834951e-01 7.39645767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.590714057 meters Centerline goodness [0,1] 0.9793327761841303 Centerline is valid? [True, True] Translation: X:68.61, Y:-2.65, Z:0.74 [[ 9.98855961e-01 -4.43778231e-02 -1.78151110e-02 6.86137449e+01] [ 4.43987263e-02 9.99013586e-01 7.79346867e-04 -2.64545941e+00] [ 1.77629522e-02 -1.56942350e-03 9.99840995e-01 7.40879633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.620714057 meters Centerline goodness [0,1] 0.9711842938568714 Centerline is valid? [True, True] Translation: X:68.64, Y:-2.66, Z:0.74 [[ 9.98875693e-01 -4.38909186e-02 -1.79147125e-02 6.86439699e+01] [ 4.39119999e-02 9.99035095e-01 7.84900324e-04 -2.65849716e+00] [ 1.78629765e-02 -1.57068871e-03 9.99839211e-01 7.40631221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.650714057 meters Centerline goodness [0,1] 0.979495767890282 Centerline is valid? [True, True] Translation: X:68.68, Y:-2.65, Z:0.74 [[ 9.98918064e-01 -4.27609170e-02 -1.82813124e-02 6.86762670e+01] [ 4.27827002e-02 9.99084079e-01 8.01950445e-04 -2.64791533e+00] [ 1.82302760e-02 -1.58320669e-03 9.99832561e-01 7.40601229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.680714057 meters Centerline goodness [0,1] 0.9804571350750164 Centerline is valid? [True, True] Translation: X:68.71, Y:-2.65, Z:0.74 [[ 9.98945438e-01 -4.19600426e-02 -1.86377928e-02 6.87082523e+01] [ 4.19825663e-02 9.99118008e-01 8.18706878e-04 -2.64545527e+00] [ 1.85870014e-02 -1.60030587e-03 9.99825966e-01 7.41188010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.710714057 meters Centerline goodness [0,1] 0.9804023861909407 Centerline is valid? [True, True] Translation: X:68.74, Y:-2.65, Z:0.74 [[ 9.98969868e-01 -4.08310017e-02 -1.97997899e-02 6.87384727e+01] [ 4.08562235e-02 9.99164656e-01 8.70836409e-04 -2.64741632e+00] [ 1.97476931e-02 -1.67888397e-03 9.99803586e-01 7.40377436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.740714057 meters Centerline goodness [0,1] 0.9821817686580715 Centerline is valid? [True, True] Translation: X:68.77, Y:-2.64, Z:0.74 [[ 9.98982264e-01 -4.02477149e-02 -2.03606690e-02 6.87705247e+01] [ 4.02742821e-02 9.99188260e-01 8.96299130e-04 -2.64442337e+00] [ 2.03080675e-02 -1.71539826e-03 9.99792298e-01 7.40287235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.770714057 meters Centerline goodness [0,1] 0.9819889302241176 Centerline is valid? [True, True] Translation: X:68.80, Y:-2.65, Z:0.74 [[ 9.99031514e-01 -3.90378264e-02 -2.02998169e-02 6.88013392e+01] [ 3.90640106e-02 9.99236310e-01 8.94793197e-04 -2.64608589e+00] [ 2.02493833e-02 -1.68691887e-03 9.99793537e-01 7.39816328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80071405700001 meters Centerline goodness [0,1] 0.9811702175986917 Centerline is valid? [True, True] Translation: X:68.83, Y:-2.65, Z:0.74 [[ 9.99054720e-01 -3.85032197e-02 -2.01784263e-02 6.88337624e+01] [ 3.85290033e-02 9.99257086e-01 8.90428974e-04 -2.64747539e+00] [ 2.01291511e-02 -1.66704192e-03 9.99795998e-01 7.40480149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83071405700001 meters Centerline goodness [0,1] 0.9822009396458258 Centerline is valid? [True, True] Translation: X:68.86, Y:-2.65, Z:0.74 [[ 9.99101163e-01 -3.75636201e-02 -1.96428403e-02 6.88648039e+01] [ 3.75878943e-02 9.99292949e-01 8.67908128e-04 -2.64713607e+00] [ 1.95963501e-02 -1.60546103e-03 9.99806684e-01 7.40401641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86071405700001 meters Centerline goodness [0,1] 0.9819672503463469 Centerline is valid? [True, True] Translation: X:68.90, Y:-2.65, Z:0.74 [[ 9.99187979e-01 -3.55593094e-02 -1.89451164e-02 6.88954659e+01] [ 3.55815396e-02 9.99366426e-01 8.37508614e-04 -2.64576359e+00] [ 1.89033320e-02 -1.51092495e-03 9.99820174e-01 7.41998569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.890714057 meters Centerline goodness [0,1] 0.9779947205534316 Centerline is valid? [True, True] Translation: X:68.93, Y:-2.65, Z:0.74 [[ 9.99240636e-01 -3.43166361e-02 -1.84531934e-02 6.89258208e+01] [ 3.43375199e-02 9.99409960e-01 8.15973838e-04 -2.65470693e+00] [ 1.84143038e-02 -1.44899111e-03 9.99829392e-01 7.42088135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.920714057 meters Centerline goodness [0,1] 0.9811981357280891 Centerline is valid? [True, True] Translation: X:68.96, Y:-2.64, Z:0.74 [[ 9.99344736e-01 -3.12265967e-02 -1.83029721e-02 6.89568960e+01] [ 3.12466365e-02 9.99511377e-01 8.09871961e-04 -2.64236254e+00] [ 1.82687393e-02 -1.38124760e-03 9.99832159e-01 7.43162353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.950714057 meters Centerline goodness [0,1] 0.9831618334892422 Centerline is valid? [True, True] Translation: X:68.99, Y:-2.64, Z:0.74 [[ 9.99407455e-01 -2.95338750e-02 -1.76773522e-02 6.89883851e+01] [ 2.95523117e-02 9.99562929e-01 7.82584611e-04 -2.64145177e+00] [ 1.76465132e-02 -1.30452752e-03 9.99843437e-01 7.43787712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.980714057 meters Centerline goodness [0,1] 0.9832133746355685 Centerline is valid? [True, True] Translation: X:69.02, Y:-2.64, Z:0.74 [[ 9.99476471e-01 -2.73394295e-02 -1.73014130e-02 6.90198179e+01] [ 2.73567737e-02 9.99625440e-01 7.66551412e-04 -2.63981005e+00] [ 1.72739755e-02 -1.23946094e-03 9.99850026e-01 7.44610152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.010714057 meters Centerline goodness [0,1] 0.9852900930487137 Centerline is valid? [True, True] Translation: X:69.05, Y:-2.64, Z:0.75 [[ 9.99582219e-01 -2.27250437e-02 -1.78594249e-02 6.90510577e+01] [ 2.27428019e-02 9.99741035e-01 7.91832700e-04 -2.63643774e+00] [ 1.78368055e-02 -1.19767525e-03 9.99840194e-01 7.45926668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.040714057 meters Centerline goodness [0,1] 0.9844842557469952 Centerline is valid? [True, True] Translation: X:69.08, Y:-2.64, Z:0.75 [[ 9.99630287e-01 -2.01914516e-02 -1.82097581e-02 6.90812684e+01] [ 2.02094991e-02 9.99795441e-01 8.07595899e-04 -2.63745639e+00] [ 1.81897266e-02 -1.17530741e-03 9.99833862e-01 7.46110372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.070714057 meters Centerline goodness [0,1] 0.9853744372586211 Centerline is valid? [True, True] Translation: X:69.11, Y:-2.64, Z:0.75 [[ 9.99710103e-01 -1.45318245e-02 -1.91972806e-02 6.91109751e+01] [ 1.45508408e-02 9.99893769e-01 8.51257973e-04 -2.63724580e+00] [ 1.91828709e-02 -1.13034777e-03 9.99815353e-01 7.45870040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.100714057 meters Centerline goodness [0,1] 0.9863908297940357 Centerline is valid? [True, True] Translation: X:69.14, Y:-2.64, Z:0.75 [[ 9.99744762e-01 -1.18632810e-02 -1.92269026e-02 6.91404587e+01] [ 1.18818550e-02 9.99929045e-01 8.52089673e-04 -2.63723692e+00] [ 1.92154298e-02 -1.08032345e-03 9.99814783e-01 7.45577223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.130714057 meters Centerline goodness [0,1] 0.9865253734070251 Centerline is valid? [True, True] Translation: X:69.17, Y:-2.64, Z:0.75 [[ 9.99787269e-01 -6.80520037e-03 -1.94706447e-02 6.91707451e+01] [ 6.82328313e-03 9.99976349e-01 8.62436065e-04 -2.63558353e+00] [ 1.94643152e-02 -9.95106320e-04 9.99810057e-01 7.45922813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.160714057 meters Centerline goodness [0,1] 0.9876625008567708 Centerline is valid? [True, True] Translation: X:69.20, Y:-2.63, Z:0.75 [[ 9.99794938e-01 -4.88437625e-03 -1.96525900e-02 6.92000237e+01] [ 4.90241748e-03 9.99987605e-01 8.69934618e-04 -2.62920457e+00] [ 1.96480973e-02 -9.66101429e-04 9.99806491e-01 7.47661805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19071405700001 meters Centerline goodness [0,1] 0.9882959230416858 Centerline is valid? [True, True] Translation: X:69.23, Y:-2.63, Z:0.75 [[ 9.99803380e-01 -1.42110186e-03 -1.97783029e-02 6.92286474e+01] [ 1.43867265e-03 9.99998583e-01 8.74186897e-04 -2.63123103e+00] [ 1.97770325e-02 -9.02469518e-04 9.99804008e-01 7.47992349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22071405700001 meters Centerline goodness [0,1] 0.9878886395897248 Centerline is valid? [True, True] Translation: X:69.26, Y:-2.63, Z:0.75 [[ 9.99805147e-01 -1.38079914e-04 -1.97395340e-02 6.92571935e+01] [ 1.55282698e-04 9.99999610e-01 8.69958788e-04 -2.63014506e+00] [ 1.97394062e-02 -8.72854482e-04 9.99804778e-01 7.48212550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25071405700001 meters Centerline goodness [0,1] 0.9895499862800695 Centerline is valid? [True, True] Translation: X:69.29, Y:-2.63, Z:0.75 [[ 9.99803555e-01 7.08989221e-04 -1.98077872e-02 6.92857092e+01] [-6.91932765e-04 9.99999384e-01 8.67938770e-04 -2.63130191e+00] [ 1.98083903e-02 -8.54062611e-04 9.99803430e-01 7.48485136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.280714057 meters Centerline goodness [0,1] 0.9895499862800695 Centerline is valid? [True, True] Translation: X:69.31, Y:-2.63, Z:0.75 [[ 9.99803622e-01 6.01085134e-04 -1.98079591e-02 6.93131625e+01] [-5.84085440e-04 9.99999456e-01 8.63999575e-04 -2.63241257e+00] [ 1.98084677e-02 -8.52260365e-04 9.99803430e-01 7.48829917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.310714057 meters Centerline goodness [0,1] 0.9887683965917893 Centerline is valid? [True, True] Translation: X:69.34, Y:-2.64, Z:0.75 [[ 9.99803967e-01 1.04619838e-03 -1.97720453e-02 6.93410441e+01] [-1.02938668e-03 9.99999100e-01 8.60434666e-04 -2.63579498e+00] [ 1.97729276e-02 -8.39912913e-04 9.99804144e-01 7.49091298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.340714057 meters Centerline goodness [0,1] 0.9880292567690351 Centerline is valid? [True, True] Translation: X:69.37, Y:-2.64, Z:0.75 [[ 9.99817557e-01 -7.36868372e-04 -1.90868766e-02 6.93691902e+01] [ 7.52822058e-04 9.99999373e-01 8.28674135e-04 -2.64005765e+00] [ 1.90862541e-02 -8.42891971e-04 9.99817486e-01 7.50389815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.370714057 meters Centerline goodness [0,1] 0.9867853412651559 Centerline is valid? [True, True] Translation: X:69.40, Y:-2.64, Z:0.75 [[ 9.99814989e-01 -2.47168034e-03 -1.90755903e-02 6.93971022e+01] [ 2.48788796e-03 9.99996564e-01 8.25968047e-04 -2.64403302e+00] [ 1.90734832e-02 -8.73273165e-04 9.99817703e-01 7.50958672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.400714057 meters Centerline goodness [0,1] 0.9876184201558489 Centerline is valid? [True, True] Translation: X:69.43, Y:-2.65, Z:0.75 [[ 9.99804815e-01 -4.38954082e-03 -1.92630238e-02 6.94267402e+01] [ 4.40639782e-03 9.99989945e-01 8.32738968e-04 -2.64614879e+00] [ 1.92591747e-02 -9.17456975e-04 9.99814104e-01 7.52137163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.430714057 meters Centerline goodness [0,1] 0.9872805324005723 Centerline is valid? [True, True] Translation: X:69.46, Y:-2.65, Z:0.75 [[ 9.99756467e-01 -9.66194787e-03 -1.98407117e-02 6.94558457e+01] [ 9.68085479e-03 9.99952772e-01 8.57107397e-04 -2.65395128e+00] [ 1.98314934e-02 -1.04897371e-03 9.99802786e-01 7.51781701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.460714057 meters Centerline goodness [0,1] 0.9872163269000158 Centerline is valid? [True, True] Translation: X:69.49, Y:-2.66, Z:0.75 [[ 9.99719633e-01 -1.24683120e-02 -2.01294717e-02 6.94854411e+01] [ 1.24883298e-02 9.99921640e-01 8.69050234e-04 -2.65736261e+00] [ 2.01170587e-02 -1.12019006e-03 9.99797004e-01 7.51718075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.490714057 meters Centerline goodness [0,1] 0.9859727586907908 Centerline is valid? [True, True] Translation: X:69.51, Y:-2.67, Z:0.75 [[ 9.99612727e-01 -1.88278870e-02 -2.04916385e-02 6.95140154e+01] [ 1.88499569e-02 9.99821933e-01 8.84379690e-04 -2.67106508e+00] [ 2.04713386e-02 -1.27030370e-03 9.99789633e-01 7.51020307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.520714057 meters Centerline goodness [0,1] 0.9860350924612024 Centerline is valid? [True, True] Translation: X:69.54, Y:-2.68, Z:0.75 [[ 9.99543798e-01 -2.18785304e-02 -2.08212931e-02 6.95435531e+01] [ 2.19019771e-02 9.99759719e-01 8.98691949e-04 -2.67569205e+00] [ 2.07966281e-02 -1.35430945e-03 9.99782809e-01 7.51496520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55071405700001 meters Centerline goodness [0,1] 0.9861189481999775 Centerline is valid? [True, True] Translation: X:69.57, Y:-2.68, Z:0.75 [[ 9.99476058e-01 -2.45595987e-02 -2.10816489e-02 6.95729915e+01] [ 2.45842216e-02 9.99697349e-01 9.09567528e-04 -2.68205026e+00] [ 2.10529299e-02 -1.42736690e-03 9.99777344e-01 7.51312978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58071405700001 meters Centerline goodness [0,1] 0.985999954911288 Centerline is valid? [True, True] Translation: X:69.60, Y:-2.69, Z:0.75 [[ 9.99323437e-01 -2.88032573e-02 -2.28700971e-02 6.96016510e+01] [ 2.88333422e-02 9.99583746e-01 9.86737257e-04 -2.69082415e+00] [ 2.28321561e-02 -1.64549100e-03 9.99737958e-01 7.50782765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61071405700001 meters Centerline goodness [0,1] 0.9851392910858194 Centerline is valid? [True, True] Translation: X:69.63, Y:-2.69, Z:0.75 [[ 9.99275154e-01 -3.02019517e-02 -2.31734418e-02 6.96322044e+01] [ 3.02332210e-02 9.99542371e-01 1.00011388e-03 -2.69461613e+00] [ 2.31326315e-02 -1.69999674e-03 9.99730959e-01 7.50735663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.640714057 meters Centerline goodness [0,1] 0.9859269099997748 Centerline is valid? [True, True] Translation: X:69.66, Y:-2.70, Z:0.75 [[ 9.99194544e-01 -3.19448801e-02 -2.42855595e-02 6.96616197e+01] [ 3.19797308e-02 9.99487968e-01 1.04791517e-03 -2.70098222e+00] [ 2.42396490e-02 -1.82371677e-03 9.99704513e-01 7.50758285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.670714057 meters Centerline goodness [0,1] 0.9864934831055985 Centerline is valid? [True, True] Translation: X:69.69, Y:-2.70, Z:0.75 [[ 9.99185362e-01 -3.21395504e-02 -2.44061795e-02 6.96924179e+01] [ 3.21748009e-02 9.99481702e-01 1.05291215e-03 -2.70382461e+00] [ 2.43596897e-02 -1.83731838e-03 9.99701570e-01 7.51392814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.700714057 meters Centerline goodness [0,1] 0.9864309302900276 Centerline is valid? [True, True] Translation: X:69.72, Y:-2.71, Z:0.75 [[ 9.99216231e-01 -3.14023081e-02 -2.41002019e-02 6.97217729e+01] [ 3.14364703e-02 9.99505211e-01 1.03985940e-03 -2.70712522e+00] [ 2.40556234e-02 -1.79666967e-03 9.99709007e-01 7.52350102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.730714057 meters Centerline goodness [0,1] 0.9861139197842939 Centerline is valid? [True, True] Translation: X:69.75, Y:-2.71, Z:0.75 [[ 9.99231742e-01 -3.06755023e-02 -2.43913760e-02 6.97518926e+01] [ 3.07102839e-02 9.99527774e-01 1.05258337e-03 -2.70881949e+00] [ 2.43475692e-02 -1.80084079e-03 9.99701932e-01 7.52431993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.760714057 meters Centerline goodness [0,1] 0.989441355810617 Centerline is valid? [True, True] Translation: X:69.78, Y:-2.70, Z:0.76 [[ 9.99258686e-01 -2.97123938e-02 -2.44796322e-02 6.97829841e+01] [ 2.97471402e-02 9.99556898e-01 1.05639197e-03 -2.69732480e+00] [ 2.44373972e-02 -1.78380790e-03 9.99699771e-01 7.55040733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.790714057 meters Centerline goodness [0,1] 0.9894992467339734 Centerline is valid? [True, True] Translation: X:69.81, Y:-2.70, Z:0.76 [[ 9.99281204e-01 -2.87099035e-02 -2.47551280e-02 6.98120805e+01] [ 2.87451254e-02 9.99586203e-01 1.06806423e-03 -2.70001256e+00] [ 2.47142204e-02 -1.77888577e-03 9.99692974e-01 7.55259585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.820714057 meters Centerline goodness [0,1] 0.98905486027004 Centerline is valid? [True, True] Translation: X:69.84, Y:-2.70, Z:0.76 [[ 9.99285490e-01 -2.83474055e-02 -2.49986869e-02 6.98419317e+01] [ 2.83831947e-02 9.99596535e-01 1.07790968e-03 -2.70154715e+00] [ 2.49580449e-02 -1.78668210e-03 9.99686903e-01 7.55429726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.850714057 meters Centerline goodness [0,1] 0.989927831111311 Centerline is valid? [True, True] Translation: X:69.87, Y:-2.70, Z:0.76 [[ 9.99265210e-01 -2.79989015e-02 -2.61744344e-02 6.98715443e+01] [ 2.80379941e-02 9.99606222e-01 1.12766469e-03 -2.70368475e+00] [ 2.61325542e-02 -1.86071473e-03 9.99656755e-01 7.55028765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.880714057 meters Centerline goodness [0,1] 0.9883400845959314 Centerline is valid? [True, True] Translation: X:69.90, Y:-2.71, Z:0.75 [[ 9.99257437e-01 -2.78369437e-02 -2.66398093e-02 6.98996802e+01] [ 2.78773505e-02 9.99610694e-01 1.14652434e-03 -2.70969095e+00] [ 2.65975225e-02 -1.88832027e-03 9.99644440e-01 7.54273961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.910714057 meters Centerline goodness [0,1] 0.9888849049838652 Centerline is valid? [True, True] Translation: X:69.93, Y:-2.71, Z:0.76 [[ 9.99275500e-01 -2.76436044e-02 -2.61592487e-02 6.99283526e+01] [ 2.76823955e-02 9.99616140e-01 1.12184151e-03 -2.70740071e+00] [ 2.61181954e-02 -1.84517940e-03 9.99657159e-01 7.56374145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94071405700001 meters Centerline goodness [0,1] 0.9888063042894242 Centerline is valid? [True, True] Translation: X:69.96, Y:-2.71, Z:0.76 [[ 9.99292021e-01 -2.76020813e-02 -2.55652337e-02 6.99578423e+01] [ 2.76390283e-02 9.99617372e-01 1.09290829e-03 -2.70771092e+00] [ 2.55252851e-02 -1.79873275e-03 9.99672559e-01 7.57564857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97071405700001 meters Centerline goodness [0,1] 0.9884323088304526 Centerline is valid? [True, True] Translation: X:69.99, Y:-2.71, Z:0.76 [[ 9.99324343e-01 -2.69338024e-02 -2.50085394e-02 6.99869335e+01] [ 2.69689273e-02 9.99635702e-01 1.06823981e-03 -2.70934438e+00] [ 2.49706570e-02 -1.74197153e-03 9.99686667e-01 7.58845762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00071405700001 meters Centerline goodness [0,1] 0.9882605968276728 Centerline is valid? [True, True] Translation: X:70.02, Y:-2.71, Z:0.76 [[ 9.99334131e-01 -2.61426596e-02 -2.54530216e-02 7.00167940e+01] [ 2.61787663e-02 9.99656687e-01 1.08632249e-03 -2.70876673e+00] [ 2.54158839e-02 -1.75192785e-03 9.99675429e-01 7.59446434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.030714057 meters Centerline goodness [0,1] 0.9889630678625216 Centerline is valid? [True, True] Translation: X:70.05, Y:-2.71, Z:0.76 [[ 9.99327020e-01 -2.52971293e-02 -2.65624195e-02 7.00452614e+01] [ 2.53360510e-02 9.99678352e-01 1.12970889e-03 -2.70863629e+00] [ 2.65252973e-02 -1.80193543e-03 9.99646518e-01 7.59129567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.060714057 meters Centerline goodness [0,1] 0.9874315468174881 Centerline is valid? [True, True] Translation: X:70.07, Y:-2.72, Z:0.76 [[ 9.99341155e-01 -2.48598488e-02 -2.64432022e-02 7.00732476e+01] [ 2.48980967e-02 9.99689369e-01 1.11810349e-03 -2.71666484e+00] [ 2.64071922e-02 -1.77575223e-03 9.99649692e-01 7.57402355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.090714057 meters Centerline goodness [0,1] 0.9880805681894562 Centerline is valid? [True, True] Translation: X:70.10, Y:-2.71, Z:0.76 [[ 9.99342885e-01 -2.45927871e-02 -2.66269288e-02 7.01026880e+01] [ 2.46312977e-02 9.99695977e-01 1.11923369e-03 -2.70998780e+00] [ 2.65913086e-02 -1.77435404e-03 9.99644814e-01 7.59403752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.120714057 meters Centerline goodness [0,1] 0.9885641106293109 Centerline is valid? [True, True] Translation: X:70.13, Y:-2.71, Z:0.76 [[ 9.99369903e-01 -2.29644344e-02 -2.70634711e-02 7.01317841e+01] [ 2.30034477e-02 9.99734746e-01 1.13105539e-03 -2.71040870e+00] [ 2.70303184e-02 -1.75289586e-03 9.99633077e-01 7.59957145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.150714057 meters Centerline goodness [0,1] 0.9884558260947838 Centerline is valid? [True, True] Translation: X:70.16, Y:-2.71, Z:0.76 [[ 9.99386801e-01 -2.20622206e-02 -2.71896977e-02 7.01606403e+01] [ 2.21010868e-02 9.99755103e-01 1.12972250e-03 -2.70757482e+00] [ 2.71581149e-02 -1.72995162e-03 9.99629653e-01 7.60964596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.180714057 meters Centerline goodness [0,1] 0.9887435145499661 Centerline is valid? [True, True] Translation: X:70.19, Y:-2.71, Z:0.76 [[ 9.99423484e-01 -1.98968611e-02 -2.75102539e-02 7.01892531e+01] [ 1.99357224e-02 9.99800615e-01 1.13903615e-03 -2.70746183e+00] [ 2.74821056e-02 -1.68681627e-03 9.99620872e-01 7.61507565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.210714057 meters Centerline goodness [0,1] 0.9890218662827319 Centerline is valid? [True, True] Translation: X:70.22, Y:-2.71, Z:0.76 [[ 9.99444863e-01 -1.86095075e-02 -2.76342450e-02 7.02185297e+01] [ 1.86481139e-02 9.99825459e-01 1.13997488e-03 -2.70679476e+00] [ 2.76082073e-02 -1.65466858e-03 9.99617451e-01 7.61732471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.240714057 meters Centerline goodness [0,1] 0.9888833880912732 Centerline is valid? [True, True] Translation: X:70.25, Y:-2.71, Z:0.76 [[ 9.99442665e-01 -1.76027458e-02 -2.83637518e-02 7.02464577e+01] [ 1.76428901e-02 9.99843673e-01 1.16568087e-03 -2.70847461e+00] [ 2.83387986e-02 -1.66544975e-03 9.99596988e-01 7.61327756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.270714057 meters Centerline goodness [0,1] 0.9887463425613324 Centerline is valid? [True, True] Translation: X:70.27, Y:-2.71, Z:0.76 [[ 9.99448290e-01 -1.52931540e-02 -2.94827862e-02 7.02749194e+01] [ 1.53354684e-02 9.99881673e-01 1.20962900e-03 -2.70827475e+00] [ 2.94607985e-02 -1.66109397e-03 9.99564556e-01 7.61218609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30071405700001 meters Centerline goodness [0,1] 0.9893276173285198 Centerline is valid? [True, True] Translation: X:70.30, Y:-2.71, Z:0.76 [[ 9.99472037e-01 -1.37984358e-02 -2.94151455e-02 7.03041312e+01] [ 1.38397771e-02 9.99903503e-01 1.20229972e-03 -2.70505591e+00] [ 2.93957171e-02 -1.60876400e-03 9.99566558e-01 7.63399782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33071405700001 meters Centerline goodness [0,1] 0.9898650931285331 Centerline is valid? [True, True] Translation: X:70.33, Y:-2.71, Z:0.76 [[ 9.99502857e-01 -1.30360445e-02 -2.87071376e-02 7.03322115e+01] [ 1.30749101e-02 9.99913839e-01 1.16656164e-03 -2.70668756e+00] [ 2.86894568e-02 -1.54132493e-03 9.99587184e-01 7.63922217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36071405700001 meters Centerline goodness [0,1] 0.9890648652312419 Centerline is valid? [True, True] Translation: X:70.36, Y:-2.71, Z:0.76 [[ 9.99502788e-01 -1.26259999e-02 -2.88922178e-02 7.03610919e+01] [ 1.26649922e-02 9.99919115e-01 1.16696924e-03 -2.70679294e+00] [ 2.88751467e-02 -1.53230872e-03 9.99581852e-01 7.64882170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.390714057 meters Centerline goodness [0,1] 0.9882384811612525 Centerline is valid? [True, True] Translation: X:70.39, Y:-2.71, Z:0.77 [[ 9.99535110e-01 -1.12670313e-02 -2.83305176e-02 7.03904024e+01] [ 1.13037897e-02 9.99935463e-01 1.13765978e-03 -2.70582227e+00] [ 2.83158712e-02 -1.45737311e-03 9.99597963e-01 7.65772909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.420714057 meters Centerline goodness [0,1] 0.9879583399227345 Centerline is valid? [True, True] Translation: X:70.42, Y:-2.70, Z:0.77 [[ 9.99545042e-01 -1.12086133e-02 -2.80013465e-02 7.04196528e+01] [ 1.12443186e-02 9.99936156e-01 1.11799247e-03 -2.70454136e+00] [ 2.79870277e-02 -1.43233989e-03 9.99607260e-01 7.67048930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.450714057 meters Centerline goodness [0,1] 0.9878875531049444 Centerline is valid? [True, True] Translation: X:70.45, Y:-2.71, Z:0.77 [[ 9.99565913e-01 -1.17178381e-02 -2.70310388e-02 7.04475830e+01] [ 1.17511073e-02 9.99930378e-01 1.07224842e-03 -2.70659632e+00] [ 2.70165924e-02 -1.38942760e-03 9.99634020e-01 7.67638222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.480714057 meters Centerline goodness [0,1] 0.9873209249858996 Centerline is valid? [True, True] Translation: X:70.47, Y:-2.72, Z:0.77 [[ 9.99553289e-01 -1.25052168e-02 -2.71448257e-02 7.04747072e+01] [ 1.25389229e-02 9.99920810e-01 1.07184931e-03 -2.71537506e+00] [ 2.71292724e-02 -1.41173738e-03 9.99630937e-01 7.65786003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.510714057 meters Centerline goodness [0,1] 0.9879784378735593 Centerline is valid? [True, True] Translation: X:70.50, Y:-2.71, Z:0.77 [[ 9.99515706e-01 -1.45487398e-02 -2.75079530e-02 7.05038187e+01] [ 1.45840727e-02 9.99893059e-01 1.08426239e-03 -2.71329172e+00] [ 2.74892366e-02 -1.48491528e-03 9.99620997e-01 7.67559788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.540714057 meters Centerline goodness [0,1] 0.9880250344562688 Centerline is valid? [True, True] Translation: X:70.53, Y:-2.72, Z:0.77 [[ 9.99481176e-01 -1.62117221e-02 -2.78309071e-02 7.05333772e+01] [ 1.62484988e-02 9.99867384e-01 1.09577781e-03 -2.71670314e+00] [ 2.78094519e-02 -1.54741975e-03 9.99612045e-01 7.67548704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.570714057 meters Centerline goodness [0,1] 0.9868294105768584 Centerline is valid? [True, True] Translation: X:70.56, Y:-2.72, Z:0.77 [[ 9.99407768e-01 -2.01967389e-02 -2.78604479e-02 7.05637727e+01] [ 2.02351243e-02 9.99794648e-01 1.09649931e-03 -2.72134865e+00] [ 2.78325810e-02 -1.65960956e-03 9.99611221e-01 7.67545545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.600714057 meters Centerline goodness [0,1] 0.9864886131157123 Centerline is valid? [True, True] Translation: X:70.59, Y:-2.72, Z:0.77 [[ 9.99338139e-01 -2.26342227e-02 -2.84776560e-02 7.05934735e+01] [ 2.26752980e-02 9.99742255e-01 1.12022042e-03 -2.72416251e+00] [ 2.84449607e-02 -1.76521833e-03 9.99593802e-01 7.67638195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.630714057 meters Centerline goodness [0,1] 0.9865810968494749 Centerline is valid? [True, True] Translation: X:70.62, Y:-2.73, Z:0.77 [[ 9.99286142e-01 -2.43561116e-02 -2.88788364e-02 7.06227870e+01] [ 2.43990391e-02 9.99701655e-01 1.13496890e-03 -2.72808975e+00] [ 2.88425771e-02 -1.83877455e-03 9.99582275e-01 7.66977603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.660714057 meters Centerline goodness [0,1] 0.9851708719976633 Centerline is valid? [True, True] Translation: X:70.65, Y:-2.74, Z:0.76 [[ 9.99147974e-01 -2.77704640e-02 -3.05307711e-02 7.06520567e+01] [ 2.78200176e-02 9.99612229e-01 1.19940623e-03 -2.73822751e+00] [ 3.04856240e-02 -2.04775089e-03 9.99533108e-01 7.64106644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69071405700001 meters Centerline goodness [0,1] 0.9868108205105199 Centerline is valid? [True, True] Translation: X:70.68, Y:-2.73, Z:0.77 [[ 9.99098287e-01 -2.89788526e-02 -3.10296561e-02 7.06814708e+01] [ 2.90305886e-02 9.99577782e-01 1.21800208e-03 -2.73331375e+00] [ 3.09812585e-02 -2.11771297e-03 9.99517722e-01 7.65823356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72071405700001 meters Centerline goodness [0,1] 0.9853720107286947 Centerline is valid? [True, True] Translation: X:70.71, Y:-2.74, Z:0.76 [[ 9.99030973e-01 -3.04684520e-02 -3.17614239e-02 7.07102506e+01] [ 3.05233534e-02 9.99533278e-01 1.24502139e-03 -2.73877980e+00] [ 3.17086663e-02 -2.21328010e-03 9.99494703e-01 7.64055451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75071405700001 meters Centerline goodness [0,1] 0.9865323650426063 Centerline is valid? [True, True] Translation: X:70.74, Y:-2.74, Z:0.76 [[ 9.99031626e-01 -3.08644216e-02 -3.13559722e-02 7.07377319e+01] [ 3.09179386e-02 9.99521178e-01 1.22322693e-03 -2.74014902e+00] [ 3.13032041e-02 -2.19150442e-03 9.99507532e-01 7.64283155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.780714057 meters Centerline goodness [0,1] 0.9853003882492875 Centerline is valid? [True, True] Translation: X:70.77, Y:-2.74, Z:0.77 [[ 9.99082455e-01 -3.07100283e-02 -2.98520179e-02 7.07671127e+01] [ 3.07582452e-02 9.99526183e-01 1.15723202e-03 -2.73816773e+00] [ 2.98023349e-02 -2.07436589e-03 9.99553659e-01 7.65555005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.810714057 meters Centerline goodness [0,1] 0.9853929038366169 Centerline is valid? [True, True] Translation: X:70.80, Y:-2.74, Z:0.77 [[ 9.99129389e-01 -3.01952459e-02 -2.87873290e-02 7.07951389e+01] [ 3.02397491e-02 9.99542056e-01 1.11173501e-03 -2.74022301e+00] [ 2.87405769e-02 -1.98128873e-03 9.99584941e-01 7.65899382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.840714057 meters Centerline goodness [0,1] 0.9852583723442564 Centerline is valid? [True, True] Translation: X:70.82, Y:-2.74, Z:0.77 [[ 9.99188730e-01 -2.92798625e-02 -2.76508995e-02 7.08241951e+01] [ 2.93205125e-02 9.99569493e-01 1.06572577e-03 -2.74035293e+00] [ 2.76077913e-02 -1.87559972e-03 9.99617073e-01 7.67251853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.870714057 meters Centerline goodness [0,1] 0.9849230352548187 Centerline is valid? [True, True] Translation: X:70.85, Y:-2.74, Z:0.77 [[ 9.99280792e-01 -2.76670126e-02 -2.59313622e-02 7.08534940e+01] [ 2.77021881e-02 9.99615722e-01 9.98161260e-04 -2.74033082e+00] [ 2.58937812e-02 -1.71579885e-03 9.99663227e-01 7.68321848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.900714057 meters Centerline goodness [0,1] 0.9848607914805289 Centerline is valid? [True, True] Translation: X:70.88, Y:-2.74, Z:0.77 [[ 9.99324417e-01 -2.68422618e-02 -2.51038432e-02 7.08829871e+01] [ 2.68749466e-02 9.99638337e-01 9.65447967e-04 -2.74098172e+00] [ 2.50688493e-02 -1.63946017e-03 9.99684383e-01 7.69033755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.930714057 meters Centerline goodness [0,1] 0.9860274034446175 Centerline is valid? [True, True] Translation: X:70.91, Y:-2.74, Z:0.77 [[ 9.99374952e-01 -2.59589038e-02 -2.39967004e-02 7.09129334e+01] [ 2.59884950e-02 9.99661817e-01 9.22047246e-04 -2.73939272e+00] [ 2.39646497e-02 -1.54510905e-03 9.99711613e-01 7.69414465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.960714057 meters Centerline goodness [0,1] 0.985718797942424 Centerline is valid? [True, True] Translation: X:70.94, Y:-2.74, Z:0.77 [[ 9.99387765e-01 -2.58640090e-02 -2.35615725e-02 7.09425577e+01] [ 2.58924908e-02 9.99664324e-01 9.04501704e-04 -2.73887257e+00] [ 2.35302695e-02 -1.51401574e-03 9.99721978e-01 7.69973570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.990714057 meters Centerline goodness [0,1] 0.9862810029059944 Centerline is valid? [True, True] Translation: X:70.97, Y:-2.74, Z:0.77 [[ 9.99381740e-01 -2.61167274e-02 -2.35383448e-02 7.09723718e+01] [ 2.61452032e-02 9.99657748e-01 9.02772195e-04 -2.73915011e+00] [ 2.35067113e-02 -1.51762885e-03 9.99722527e-01 7.69767668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.020714057 meters Centerline goodness [0,1] 0.9857528696826469 Centerline is valid? [True, True] Translation: X:71.00, Y:-2.74, Z:0.77 [[ 9.99353147e-01 -2.69865735e-02 -2.37700017e-02 7.10019797e+01] [ 2.70158374e-02 9.99634591e-01 9.10801999e-04 -2.73955196e+00] [ 2.37367365e-02 -1.55237934e-03 9.99717039e-01 7.69908240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05071405700001 meters Centerline goodness [0,1] 0.9855690094477891 Centerline is valid? [True, True] Translation: X:71.03, Y:-2.74, Z:0.77 [[ 9.99335675e-01 -2.77987085e-02 -2.35678039e-02 7.10324632e+01] [ 2.78276909e-02 9.99612327e-01 9.02610372e-04 -2.73893707e+00] [ 2.35335759e-02 -1.55784831e-03 9.99721833e-01 7.70184290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08071405700001 meters Centerline goodness [0,1] 0.9859868880528082 Centerline is valid? [True, True] Translation: X:71.06, Y:-2.74, Z:0.77 [[ 9.99286695e-01 -2.94155814e-02 -2.36817495e-02 7.10620975e+01] [ 2.94452919e-02 9.99565982e-01 9.06771819e-04 -2.74116010e+00] [ 2.36447980e-02 -1.60344104e-03 9.99719137e-01 7.69555921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11071405700001 meters Centerline goodness [0,1] 0.986029246344207 Centerline is valid? [True, True] Translation: X:71.09, Y:-2.74, Z:0.77 [[ 9.99244864e-01 -3.04231033e-02 -2.41689303e-02 7.10924834e+01] [ 3.04543370e-02 9.99535731e-01 9.25195205e-04 -2.74157008e+00] [ 2.41295621e-02 -1.66054530e-03 9.99707461e-01 7.69862033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.140714057 meters Centerline goodness [0,1] 0.9849383328448063 Centerline is valid? [True, True] Translation: X:71.12, Y:-2.74, Z:0.77 [[ 9.99196927e-01 -3.18891673e-02 -2.42607051e-02 7.11232532e+01] [ 3.19210738e-02 9.99489961e-01 9.28919942e-04 -2.74332360e+00] [ 2.42187087e-02 -1.70260171e-03 9.99705234e-01 7.69533210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.170714057 meters Centerline goodness [0,1] 0.985361122389137 Centerline is valid? [True, True] Translation: X:71.15, Y:-2.75, Z:0.77 [[ 9.99205543e-01 -3.20380527e-02 -2.37032911e-02 7.11541669e+01] [ 3.20685658e-02 9.99485259e-01 9.08196592e-04 -2.74527975e+00] [ 2.36619932e-02 -1.66760562e-03 9.99718625e-01 7.69785928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.200714057 meters Centerline goodness [0,1] 0.985361122389137 Centerline is valid? [True, True] Translation: X:71.19, Y:-2.75, Z:0.77 [[ 9.99206689e-01 -3.20023265e-02 -2.37032587e-02 7.11850671e+01] [ 3.20328495e-02 9.99486403e-01 9.09042498e-04 -2.74649484e+00] [ 2.36619933e-02 -1.66760426e-03 9.99718625e-01 7.70172416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.230714057 meters Centerline goodness [0,1] 0.984396491465422 Centerline is valid? [True, True] Translation: X:71.22, Y:-2.75, Z:0.77 [[ 9.99203241e-01 -3.23217571e-02 -2.34133940e-02 7.12160380e+01] [ 3.23516446e-02 9.99476144e-01 8.98758413e-04 -2.74649987e+00] [ 2.33720793e-02 -1.65550412e-03 9.99725465e-01 7.70789068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.260714057 meters Centerline goodness [0,1] 0.9842557036367744 Centerline is valid? [True, True] Translation: X:71.25, Y:-2.75, Z:0.77 [[ 9.99233989e-01 -3.22282288e-02 -2.21985529e-02 7.12466681e+01] [ 3.22550846e-02 9.99479306e-01 8.52720393e-04 -2.74829419e+00] [ 2.21595126e-02 -1.56808340e-03 9.99753218e-01 7.71344683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.290714057 meters Centerline goodness [0,1] 0.9819740153731039 Centerline is valid? [True, True] Translation: X:71.28, Y:-2.75, Z:0.77 [[ 9.99289877e-01 -3.14489112e-02 -2.07535208e-02 7.12782281e+01] [ 3.14722267e-02 9.99504308e-01 7.97709728e-04 -2.74747942e+00] [ 2.07181463e-02 -1.45030277e-03 9.99784304e-01 7.71991951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.320714057 meters Centerline goodness [0,1] 0.9816834833196982 Centerline is valid? [True, True] Translation: X:71.31, Y:-2.75, Z:0.77 [[ 9.99307979e-01 -3.13647580e-02 -1.99953924e-02 7.13099947e+01] [ 3.13863978e-02 9.99507030e-01 7.69256282e-04 -2.74873109e+00] [ 1.99614077e-02 -1.39630728e-03 9.99799776e-01 7.72488052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.350714057 meters Centerline goodness [0,1] 0.9801043557168784 Centerline is valid? [True, True] Translation: X:71.34, Y:-2.75, Z:0.77 [[ 9.99323160e-01 -3.14137721e-02 -1.91415194e-02 7.13417331e+01] [ 3.14336286e-02 9.99505569e-01 7.37290338e-04 -2.74983318e+00] [ 1.91088941e-02 -1.33847872e-03 9.99816512e-01 7.73118325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.380714057 meters Centerline goodness [0,1] 0.9786426737554813 Centerline is valid? [True, True] Translation: X:71.37, Y:-2.75, Z:0.77 [[ 9.99315706e-01 -3.22659541e-02 -1.80839353e-02 7.13737691e+01] [ 3.22838375e-02 9.99478497e-01 6.97771526e-04 -2.75024323e+00] [ 1.80519902e-02 -1.28111287e-03 9.99836229e-01 7.73671581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.410714057 meters Centerline goodness [0,1] 0.9787394038829642 Centerline is valid? [True, True] Translation: X:71.41, Y:-2.75, Z:0.77 [[ 9.99293143e-01 -3.31500821e-02 -1.77281228e-02 7.14061725e+01] [ 3.31674285e-02 9.99449575e-01 6.85262822e-04 -2.75251636e+00] [ 1.76956483e-02 -1.27277468e-03 9.99842610e-01 7.74124075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44071405700001 meters Centerline goodness [0,1] 0.9770618145335979 Centerline is valid? [True, True] Translation: X:71.44, Y:-2.75, Z:0.77 [[ 9.99191175e-01 -3.59330047e-02 -1.80503266e-02 7.14369388e+01] [ 3.59514585e-02 9.99353293e-01 6.98795472e-04 -2.75472065e+00] [ 1.80135435e-02 -1.34716584e-03 9.99836835e-01 7.73324205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47071405700001 meters Centerline goodness [0,1] 0.9771468932990043 Centerline is valid? [True, True] Translation: X:71.47, Y:-2.76, Z:0.77 [[ 9.99112811e-01 -3.77485694e-02 -1.86717918e-02 7.14683247e+01] [ 3.77686436e-02 9.99286248e-01 7.23521947e-04 -2.75697629e+00] [ 1.86311528e-02 -1.42808830e-03 9.99825405e-01 7.72954875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50071405700001 meters Centerline goodness [0,1] 0.9769223752622458 Centerline is valid? [True, True] Translation: X:71.50, Y:-2.76, Z:0.77 [[ 9.99020491e-01 -3.97128967e-02 -1.95177798e-02 7.14991817e+01] [ 3.97352156e-02 9.99209958e-01 7.56884631e-04 -2.75883676e+00] [ 1.94723018e-02 -1.53168644e-03 9.99809224e-01 7.72445574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.530714057 meters Centerline goodness [0,1] 0.9754731644875194 Centerline is valid? [True, True] Translation: X:71.53, Y:-2.76, Z:0.77 [[ 9.98857866e-01 -4.31374048e-02 -2.05457668e-02 7.15295368e+01] [ 4.31628620e-02 9.99067732e-01 7.97004350e-04 -2.76233960e+00] [ 2.04922319e-02 -1.68290816e-03 9.99788596e-01 7.71871310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.560714057 meters Centerline goodness [0,1] 0.974117861870635 Centerline is valid? [True, True] Translation: X:71.56, Y:-2.77, Z:0.77 [[ 9.98803534e-01 -4.41571380e-02 -2.10154123e-02 7.15603581e+01] [ 4.41840137e-02 9.99023076e-01 8.16028769e-04 -2.77014297e+00] [ 2.09588484e-02 -1.74359768e-03 9.99778819e-01 7.71403312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.590714057 meters Centerline goodness [0,1] 0.9742554841063529 Centerline is valid? [True, True] Translation: X:71.59, Y:-2.77, Z:0.77 [[ 9.98724366e-01 -4.56960530e-02 -2.14828255e-02 7.15913797e+01] [ 4.57245251e-02 9.98953737e-01 8.35753968e-04 -2.76635051e+00] [ 2.14221582e-02 -1.81697985e-03 9.99768868e-01 7.72115254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.620714057 meters Centerline goodness [0,1] 0.9746308908899758 Centerline is valid? [True, True] Translation: X:71.62, Y:-2.77, Z:0.77 [[ 9.98738015e-01 -4.57454758e-02 -2.07299005e-02 7.16231472e+01] [ 4.57720208e-02 9.98951585e-01 8.07604653e-04 -2.76841510e+00] [ 2.06712227e-02 -1.75543490e-03 9.99784786e-01 7.72370015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.650714057 meters Centerline goodness [0,1] 0.9767329910141207 Centerline is valid? [True, True] Translation: X:71.66, Y:-2.77, Z:0.77 [[ 9.98749330e-01 -4.54646397e-02 -2.08024517e-02 7.16557053e+01] [ 4.54913408e-02 9.98964403e-01 8.11897571e-04 -2.76542313e+00] [ 2.07439961e-02 -1.75721357e-03 9.99783276e-01 7.73813659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.680714057 meters Centerline goodness [0,1] 0.9773909059672432 Centerline is valid? [True, True] Translation: X:71.69, Y:-2.77, Z:0.77 [[ 9.98884991e-01 -4.29402841e-02 -1.96190430e-02 7.16850085e+01] [ 4.29635634e-02 9.99076346e-01 7.66425541e-04 -2.76813604e+00] [ 1.95680112e-02 -1.60847497e-03 9.99807234e-01 7.74357384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.710714057 meters Centerline goodness [0,1] 0.9773800247513407 Centerline is valid? [True, True] Translation: X:71.72, Y:-2.77, Z:0.78 [[ 9.99074781e-01 -3.88869845e-02 -1.83680026e-02 7.17151064e+01] [ 3.89067045e-02 9.99242590e-01 7.17343828e-04 -2.76682847e+00] [ 1.83261952e-02 -1.43131858e-03 9.99831037e-01 7.75320949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.740714057 meters Centerline goodness [0,1] 0.9750114942528736 Centerline is valid? [True, True] Translation: X:71.75, Y:-2.77, Z:0.78 [[ 9.99170789e-01 -3.68362943e-02 -1.73442327e-02 7.17450895e+01] [ 3.68535697e-02 9.99320447e-01 6.77354614e-04 -2.76998961e+00] [ 1.73074951e-02 -1.31598983e-03 9.99849348e-01 7.75547767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.770714057 meters Centerline goodness [0,1] 0.9765089123901722 Centerline is valid? [True, True] Translation: X:71.78, Y:-2.77, Z:0.78 [[ 9.99269640e-01 -3.45057195e-02 -1.64177313e-02 7.17753757e+01] [ 3.45208855e-02 9.99403771e-01 6.41171406e-04 -2.77028362e+00] [ 1.63858185e-02 -1.20745774e-03 9.99865014e-01 7.76388698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80071405700001 meters Centerline goodness [0,1] 0.9789831130690162 Centerline is valid? [True, True] Translation: X:71.81, Y:-2.76, Z:0.78 [[ 9.99413550e-01 -3.06974926e-02 -1.51729749e-02 7.18068379e+01] [ 3.07100099e-02 9.99528161e-01 5.92611642e-04 -2.76021767e+00] [ 1.51476240e-02 -1.05822632e-03 9.99884708e-01 7.77174865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83071405700001 meters Centerline goodness [0,1] 0.9767665879222953 Centerline is valid? [True, True] Translation: X:71.84, Y:-2.76, Z:0.78 [[ 9.99461193e-01 -2.91936645e-02 -1.50017954e-02 7.18371049e+01] [ 2.92057366e-02 9.99573250e-01 5.86211633e-04 -2.76498650e+00] [ 1.49782797e-02 -1.02403426e-03 9.99887295e-01 7.77220610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86071405700001 meters Centerline goodness [0,1] 0.9799945065006409 Centerline is valid? [True, True] Translation: X:71.87, Y:-2.76, Z:0.78 [[ 9.99519894e-01 -2.70087083e-02 -1.51825896e-02 7.18693196e+01] [ 2.70208277e-02 9.99634695e-01 5.93636875e-04 -2.76227154e+00] [ 1.51610100e-02 -1.00359800e-03 9.99884562e-01 7.76759520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.890714057 meters Centerline goodness [0,1] 0.9805382358334862 Centerline is valid? [True, True] Translation: X:71.90, Y:-2.76, Z:0.78 [[ 9.99534491e-01 -2.63568589e-02 -1.53660991e-02 7.19006518e+01] [ 2.63692078e-02 9.99652091e-01 6.01560798e-04 -2.76324785e+00] [ 1.53448978e-02 -1.00647263e-03 9.99881754e-01 7.76396881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.920714057 meters Centerline goodness [0,1] 0.9779907377688111 Centerline is valid? [True, True] Translation: X:71.93, Y:-2.77, Z:0.78 [[ 9.99522309e-01 -2.62203264e-02 -1.63599888e-02 7.19317485e+01] [ 2.62343172e-02 9.99655615e-01 6.41122643e-04 -2.77002121e+00] [ 1.63375442e-02 -1.07000952e-03 9.99865961e-01 7.75821480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.950714057 meters Centerline goodness [0,1] 0.9799875927670427 Centerline is valid? [True, True] Translation: X:71.96, Y:-2.77, Z:0.78 [[ 9.99515700e-01 -2.56707518e-02 -1.75891204e-02 7.19639236e+01] [ 2.56868576e-02 9.99669800e-01 6.90325338e-04 -2.76744002e+00] [ 1.75655913e-02 -1.14180024e-03 9.99845061e-01 7.75229635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.980714057 meters Centerline goodness [0,1] 0.9798772949956503 Centerline is valid? [True, True] Translation: X:71.99, Y:-2.77, Z:0.78 [[ 9.99536359e-01 -2.44963908e-02 -1.80829929e-02 7.19940722e+01] [ 2.45132401e-02 9.99699253e-01 7.10677641e-04 -2.77085171e+00] [ 1.80601454e-02 -1.15362089e-03 9.99836237e-01 7.75294033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.010714057 meters Centerline goodness [0,1] 0.9801391640938205 Centerline is valid? [True, True] Translation: X:72.03, Y:-2.77, Z:0.78 [[ 9.99560368e-01 -2.39147918e-02 -1.75257755e-02 7.20252527e+01] [ 2.39305360e-02 9.99713386e-01 6.89148473e-04 -2.77201503e+00] [ 1.75042716e-02 -1.10824670e-03 9.99846174e-01 7.76201630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.040714057 meters Centerline goodness [0,1] 0.9832861385454796 Centerline is valid? [True, True] Translation: X:72.06, Y:-2.76, Z:0.78 [[ 9.99587402e-01 -2.32434528e-02 -1.68750520e-02 7.20571981e+01] [ 2.32579634e-02 9.99729276e-01 6.64116056e-04 -2.76323467e+00] [ 1.68550471e-02 -1.05632138e-03 9.99857386e-01 7.77915595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.070714057 meters Centerline goodness [0,1] 0.9804917279411764 Centerline is valid? [True, True] Translation: X:72.09, Y:-2.78, Z:0.78 [[ 9.99644686e-01 -2.19560181e-02 -1.51140635e-02 7.20867351e+01] [ 2.19675206e-02 9.99758508e-01 5.95425034e-04 -2.77681484e+00] [ 1.50973404e-02 -9.27231973e-04 9.99885599e-01 7.78920071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.100714057 meters Centerline goodness [0,1] 0.9812957253945612 Centerline is valid? [True, True] Translation: X:72.12, Y:-2.78, Z:0.78 [[ 9.99656405e-01 -2.15848274e-02 -1.48717081e-02 7.21183649e+01] [ 2.15959388e-02 9.99766608e-01 5.86939205e-04 -2.77958396e+00] [ 1.48555682e-02 -9.07906033e-04 9.99889238e-01 7.80077991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.130714057 meters Centerline goodness [0,1] 0.983831331388806 Centerline is valid? [True, True] Translation: X:72.15, Y:-2.77, Z:0.78 [[ 9.99669471e-01 -2.12575760e-02 -1.44590193e-02 7.21504352e+01] [ 2.12680517e-02 9.99773646e-01 5.71113092e-04 -2.77093868e+00] [ 1.44436060e-02 -8.78439494e-04 9.99895300e-01 7.80790104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.160714057 meters Centerline goodness [0,1] 0.9811169236417033 Centerline is valid? [True, True] Translation: X:72.18, Y:-2.78, Z:0.78 [[ 9.99670965e-01 -2.12280512e-02 -1.43990055e-02 7.21813801e+01] [ 2.12384448e-02 9.99774277e-01 5.69281634e-04 -2.78401557e+00] [ 1.43836706e-02 -8.74906805e-04 9.99896167e-01 7.80871497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19071405700001 meters Centerline goodness [0,1] 0.9844401668270774 Centerline is valid? [True, True] Translation: X:72.21, Y:-2.77, Z:0.78 [[ 9.99666524e-01 -2.13195576e-02 -1.45710877e-02 7.22140352e+01] [ 2.13302227e-02 9.99772318e-01 5.76896518e-04 -2.77385394e+00] [ 1.45554709e-02 -8.87508682e-04 9.99893670e-01 7.81665335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22071405700001 meters Centerline goodness [0,1] 0.9848886653559508 Centerline is valid? [True, True] Translation: X:72.25, Y:-2.77, Z:0.78 [[ 9.99656348e-01 -2.12581180e-02 -1.53387921e-02 7.22465138e+01] [ 2.12699468e-02 9.99773584e-01 6.08425820e-04 -2.77377379e+00] [ 1.53223852e-02 -9.34472025e-04 9.99882169e-01 7.80968472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25071405700001 meters Centerline goodness [0,1] 0.9860904577795063 Centerline is valid? [True, True] Translation: X:72.28, Y:-2.78, Z:0.78 [[ 9.99651805e-01 -2.11007225e-02 -1.58438921e-02 7.22777881e+01] [ 2.11133412e-02 9.99776890e-01 6.29571621e-04 -2.77920527e+00] [ 1.58270727e-02 -9.63869907e-04 9.99874279e-01 7.80704453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.280714057 meters Centerline goodness [0,1] 0.9859530704854856 Centerline is valid? [True, True] Translation: X:72.31, Y:-2.78, Z:0.78 [[ 9.99644567e-01 -2.07507240e-02 -1.67375926e-02 7.23091769e+01] [ 2.07647721e-02 9.99784167e-01 6.65944471e-04 -2.77792242e+00] [ 1.67201612e-02 -1.01326007e-03 9.99859695e-01 7.80687208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.310714057 meters Centerline goodness [0,1] 0.9860219719982641 Centerline is valid? [True, True] Translation: X:72.34, Y:-2.78, Z:0.78 [[ 9.99649898e-01 -2.05370566e-02 -1.66826446e-02 7.23394255e+01] [ 2.05509916e-02 9.99788585e-01 6.64276979e-04 -2.78030599e+00] [ 1.66654753e-02 -1.00688930e-03 9.99860614e-01 7.81035365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.340714057 meters Centerline goodness [0,1] 0.9866614984723425 Centerline is valid? [True, True] Translation: X:72.37, Y:-2.78, Z:0.78 [[ 9.99661882e-01 -1.94671451e-02 -1.72380862e-02 7.23692036e+01] [ 1.94818690e-02 9.99809975e-01 6.86622332e-04 -2.78321414e+00] [ 1.72214440e-02 -1.02222031e-03 9.99851177e-01 7.81081502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.370714057 meters Centerline goodness [0,1] 0.984984848139625 Centerline is valid? [True, True] Translation: X:72.40, Y:-2.78, Z:0.78 [[ 9.99672034e-01 -1.88996721e-02 -1.72808238e-02 7.23996495e+01] [ 1.89143847e-02 9.99820870e-01 6.88324643e-04 -2.78162379e+00] [ 1.72647192e-02 -1.01495505e-03 9.99850438e-01 7.81392431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.400714057 meters Centerline goodness [0,1] 0.9865040465063263 Centerline is valid? [True, True] Translation: X:72.43, Y:-2.78, Z:0.78 [[ 9.99684712e-01 -1.80662940e-02 -1.74380446e-02 7.24298177e+01] [ 1.80811477e-02 9.99836281e-01 6.94498266e-04 -2.78200464e+00] [ 1.74226427e-02 -1.00957916e-03 9.99847705e-01 7.82373298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.430714057 meters Centerline goodness [0,1] 0.9861259824581388 Centerline is valid? [True, True] Translation: X:72.46, Y:-2.78, Z:0.78 [[ 9.99721872e-01 -1.64830131e-02 -1.68667983e-02 7.24591227e+01] [ 1.64966785e-02 9.99863695e-01 6.71374531e-04 -2.78286242e+00] [ 1.68534330e-02 -9.49433951e-04 9.99857520e-01 7.82771115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.460714057 meters Centerline goodness [0,1] 0.9872130326955018 Centerline is valid? [True, True] Translation: X:72.49, Y:-2.78, Z:0.78 [[ 9.99736827e-01 -1.57826531e-02 -1.66488401e-02 7.24885292e+01] [ 1.57958610e-02 9.99875018e-01 6.62109358e-04 -2.78298462e+00] [ 1.66363094e-02 -9.24917872e-04 9.99861179e-01 7.83433556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.490714057 meters Centerline goodness [0,1] 0.9863471149477511 Centerline is valid? [True, True] Translation: X:72.52, Y:-2.78, Z:0.78 [[ 9.99751293e-01 -1.52483628e-02 -1.62739083e-02 7.25169128e+01] [ 1.52609014e-02 9.99883337e-01 6.46557107e-04 -2.78496054e+00] [ 1.62621508e-02 -8.94750813e-04 9.99867362e-01 7.83922886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.520714057 meters Centerline goodness [0,1] 0.9862232023097733 Centerline is valid? [True, True] Translation: X:72.55, Y:-2.79, Z:0.78 [[ 9.99754592e-01 -1.52433535e-02 -1.60746927e-02 7.25463304e+01] [ 1.52555736e-02 9.99883424e-01 6.37853139e-04 -2.78601701e+00] [ 1.60630957e-02 -8.82925261e-04 9.99870590e-01 7.84593551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55071405700001 meters Centerline goodness [0,1] 0.9845541509305954 Centerline is valid? [True, True] Translation: X:72.57, Y:-2.80, Z:0.78 [[ 9.99738822e-01 -1.60428595e-02 -1.62761913e-02 7.25742066e+01] [ 1.60554830e-02 9.99870894e-01 6.45195413e-04 -2.79562647e+00] [ 1.62637392e-02 -9.06349014e-04 9.99867326e-01 7.84876405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58071405700001 meters Centerline goodness [0,1] 0.9853542234332425 Centerline is valid? [True, True] Translation: X:72.60, Y:-2.79, Z:0.79 [[ 9.99708980e-01 -1.73070476e-02 -1.68054150e-02 7.26043615e+01] [ 1.73206711e-02 9.99849764e-01 6.65442341e-04 -2.79048042e+00] [ 1.67913734e-02 -9.56329750e-04 9.99858558e-01 7.85926583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61071405700001 meters Centerline goodness [0,1] 0.9862210959771935 Centerline is valid? [True, True] Translation: X:72.63, Y:-2.79, Z:0.79 [[ 9.99684291e-01 -1.83458359e-02 -1.71682271e-02 7.26339759e+01] [ 1.83602037e-02 9.99831206e-01 6.79626483e-04 -2.79377099e+00] [ 1.71528609e-02 -9.94624065e-04 9.99852384e-01 7.86058981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.640714057 meters Centerline goodness [0,1] 0.986280935698949 Centerline is valid? [True, True] Translation: X:72.66, Y:-2.80, Z:0.79 [[ 9.99613238e-01 -2.12160682e-02 -1.79792327e-02 7.26644756e+01] [ 2.12322860e-02 9.99774316e-01 7.11604105e-04 -2.79621917e+00] [ 1.79600776e-02 -1.09306909e-03 9.99838107e-01 7.85747109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.670714057 meters Centerline goodness [0,1] 0.9864060597862844 Centerline is valid? [True, True] Translation: X:72.69, Y:-2.81, Z:0.78 [[ 9.99519435e-01 -2.44979636e-02 -1.89933756e-02 7.26941435e+01] [ 2.45166576e-02 9.99699139e-01 7.51980770e-04 -2.80661057e+00] [ 1.89692392e-02 -1.21727348e-03 9.99819327e-01 7.84430809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.700714057 meters Centerline goodness [0,1] 0.9861073644456434 Centerline is valid? [True, True] Translation: X:72.73, Y:-2.81, Z:0.78 [[ 9.99477248e-01 -2.57821389e-02 -1.95067004e-02 7.27250876e+01] [ 2.58021156e-02 9.99666771e-01 7.73067681e-04 -2.80613728e+00] [ 1.94802688e-02 -1.27597770e-03 9.99809427e-01 7.84930216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.730714057 meters Centerline goodness [0,1] 0.9851344655164647 Centerline is valid? [True, True] Translation: X:72.76, Y:-2.81, Z:0.78 [[ 9.99418604e-01 -2.72613065e-02 -2.04762244e-02 7.27558229e+01] [ 2.72836421e-02 9.99627402e-01 8.12184576e-04 -2.80813592e+00] [ 2.04464538e-02 -1.37037835e-03 9.99790010e-01 7.84741463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.760714057 meters Centerline goodness [0,1] 0.9844820229513351 Centerline is valid? [True, True] Translation: X:72.79, Y:-2.81, Z:0.78 [[ 9.99359614e-01 -2.88456899e-02 -2.11728196e-02 7.27859264e+01] [ 2.88699335e-02 9.99582823e-01 8.40200608e-04 -2.81478448e+00] [ 2.11397507e-02 -1.45092045e-03 9.99775478e-01 7.83859045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.790714057 meters Centerline goodness [0,1] 0.9866729699916706 Centerline is valid? [True, True] Translation: X:72.82, Y:-2.82, Z:0.78 [[ 9.99337298e-01 -2.95187558e-02 -2.12980530e-02 7.28172241e+01] [ 2.95434505e-02 9.99563139e-01 8.45700912e-04 -2.81662941e+00] [ 2.12637847e-02 -1.47435844e-03 9.99772813e-01 7.84606480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.820714057 meters Centerline goodness [0,1] 0.9866174849868424 Centerline is valid? [True, True] Translation: X:72.85, Y:-2.82, Z:0.79 [[ 9.99331528e-01 -2.97564335e-02 -2.12379799e-02 7.28473859e+01] [ 2.97810549e-02 9.99556090e-01 8.43903572e-04 -2.81950815e+00] [ 2.12034405e-02 -1.47582889e-03 9.99774093e-01 7.85515633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.850714057 meters Centerline goodness [0,1] 0.9867000469410108 Centerline is valid? [True, True] Translation: X:72.88, Y:-2.82, Z:0.79 [[ 9.99344990e-01 -2.96158383e-02 -2.07964712e-02 7.28783041e+01] [ 2.96394266e-02 9.99560314e-01 8.26862104e-04 -2.81938177e+00] [ 2.07628391e-02 -1.44271598e-03 9.99783388e-01 7.86161900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.880714057 meters Centerline goodness [0,1] 0.9863044504913756 Centerline is valid? [True, True] Translation: X:72.91, Y:-2.82, Z:0.79 [[ 9.99336863e-01 -2.97557216e-02 -2.09864432e-02 7.29085047e+01] [ 2.97797858e-02 9.99556135e-01 8.35000833e-04 -2.82173528e+00] [ 2.09522820e-02 -1.45941890e-03 9.99779412e-01 7.86769847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.910714057 meters Centerline goodness [0,1] 0.9855796270050168 Centerline is valid? [True, True] Translation: X:72.94, Y:-2.82, Z:0.79 [[ 9.99355372e-01 -2.93137538e-02 -2.07254692e-02 7.29402252e+01] [ 2.93371388e-02 9.99569233e-01 8.25114358e-04 -2.82249443e+00] [ 2.06923541e-02 -1.43260843e-03 9.99784864e-01 7.88088655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94071405700001 meters Centerline goodness [0,1] 0.9855801778219073 Centerline is valid? [True, True] Translation: X:72.97, Y:-2.83, Z:0.79 [[ 9.99356065e-01 -2.95118649e-02 -2.04084408e-02 7.29707475e+01] [ 2.95345923e-02 9.99563428e-01 8.13052465e-04 -2.82667092e+00] [ 2.03755364e-02 -1.41528389e-03 9.99791395e-01 7.88643061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97071405700001 meters Centerline goodness [0,1] 0.9849661287781604 Centerline is valid? [True, True] Translation: X:73.00, Y:-2.83, Z:0.79 [[ 9.99352167e-01 -2.97516546e-02 -2.02505514e-02 7.30005760e+01] [ 2.97740980e-02 9.99556327e-01 8.07618499e-04 -2.82946964e+00] [ 2.02175388e-02 -1.41003720e-03 9.99794610e-01 7.88542777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00071405700001 meters Centerline goodness [0,1] 0.9853650872034297 Centerline is valid? [True, True] Translation: X:73.03, Y:-2.83, Z:0.79 [[ 9.99341761e-01 -3.01418574e-02 -2.01869686e-02 7.30314965e+01] [ 3.01642652e-02 9.99544630e-01 8.06371769e-04 -2.83126251e+00] [ 2.01534705e-02 -1.41476606e-03 9.99795897e-01 7.89067040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.030714057 meters Centerline goodness [0,1] 0.9852934592828043 Centerline is valid? [True, True] Translation: X:73.06, Y:-2.83, Z:0.79 [[ 9.99315531e-01 -3.13247074e-02 -1.96782012e-02 7.30630494e+01] [ 3.13462405e-02 9.99508276e-01 7.86690174e-04 -2.83382570e+00] [ 1.96438821e-02 -1.40298934e-03 9.99806056e-01 7.89015351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.060714057 meters Centerline goodness [0,1] 0.9873651494335713 Centerline is valid? [True, True] Translation: X:73.10, Y:-2.83, Z:0.79 [[ 9.99278570e-01 -3.21759107e-02 -2.01754817e-02 7.30956060e+01] [ 3.21987383e-02 9.99481160e-01 8.07544790e-04 -2.82509349e+00] [ 2.01390303e-02 -1.45658726e-03 9.99796128e-01 7.89989625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.090714057 meters Centerline goodness [0,1] 0.9873651494335713 Centerline is valid? [True, True] Translation: X:73.13, Y:-2.83, Z:0.79 [[ 9.99280873e-01 -3.21043388e-02 -2.01754238e-02 7.31273560e+01] [ 3.21271809e-02 9.99483461e-01 8.08989061e-04 -2.82642632e+00] [ 2.01390303e-02 -1.45658678e-03 9.99796128e-01 7.90386628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.120714057 meters Centerline goodness [0,1] 0.9876790251141039 Centerline is valid? [True, True] Translation: X:73.16, Y:-2.83, Z:0.79 [[ 9.99212598e-01 -3.34383653e-02 -2.13555423e-02 7.31588865e+01] [ 3.34642885e-02 9.99439546e-01 8.57576783e-04 -2.82677841e+00] [ 2.13148975e-02 -1.57154955e-03 9.99771577e-01 7.90504340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.150714057 meters Centerline goodness [0,1] 0.9848396107406739 Centerline is valid? [True, True] Translation: X:73.19, Y:-2.84, Z:0.79 [[ 9.99175125e-01 -3.40032640e-02 -2.22001638e-02 7.31898827e+01] [ 3.40314395e-02 9.99420364e-01 8.92486450e-04 -2.83704628e+00] [ 2.21569483e-02 -1.64725379e-03 9.99753148e-01 7.89390668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.180714057 meters Centerline goodness [0,1] 0.9869213483146068 Centerline is valid? [True, True] Translation: X:73.22, Y:-2.83, Z:0.79 [[ 9.99114319e-01 -3.48650046e-02 -2.35586137e-02 7.32212140e+01] [ 3.48969991e-02 9.99390464e-01 9.48204616e-04 -2.83150783e+00] [ 2.35111947e-02 -1.76948973e-03 9.99722008e-01 7.90290373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.210714057 meters Centerline goodness [0,1] 0.9869556401649131 Centerline is valid? [True, True] Translation: X:73.25, Y:-2.83, Z:0.79 [[ 9.99086212e-01 -3.53900469e-02 -2.39642666e-02 7.32528579e+01] [ 3.54233236e-02 9.99371931e-01 9.65385233e-04 -2.83119806e+00] [ 2.39150503e-02 -1.81339704e-03 9.99712350e-01 7.90627356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.240714057 meters Centerline goodness [0,1] 0.985359829347704 Centerline is valid? [True, True] Translation: X:73.28, Y:-2.83, Z:0.79 [[ 9.99068551e-01 -3.57406119e-02 -2.41792943e-02 7.32845753e+01] [ 3.57746166e-02 9.99359408e-01 9.75114071e-04 -2.83260730e+00] [ 2.41289541e-02 -1.83921079e-03 9.99707163e-01 7.90752687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.270714057 meters Centerline goodness [0,1] 0.9861805945036456 Centerline is valid? [True, True] Translation: X:73.32, Y:-2.83, Z:0.79 [[ 9.99034134e-01 -3.68015275e-02 -2.40093215e-02 7.33158595e+01] [ 3.68353857e-02 9.99320877e-01 9.69326665e-04 -2.83200954e+00] [ 2.39573435e-02 -1.85278304e-03 9.99711265e-01 7.91393288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30071405700001 meters Centerline goodness [0,1] 0.9867418263810598 Centerline is valid? [True, True] Translation: X:73.35, Y:-2.83, Z:0.79 [[ 9.99015480e-01 -3.77366968e-02 -2.33240801e-02 7.33473132e+01] [ 3.77689216e-02 9.99286055e-01 9.42482197e-04 -2.82942277e+00] [ 2.32718619e-02 -1.82247966e-03 9.99727512e-01 7.93095430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33071405700001 meters Centerline goodness [0,1] 0.9858259909412533 Centerline is valid? [True, True] Translation: X:73.38, Y:-2.83, Z:0.79 [[ 9.99001658e-01 -3.81356606e-02 -2.32671179e-02 7.33789749e+01] [ 3.81678596e-02 9.99270899e-01 9.41210234e-04 -2.83076987e+00] [ 2.32142601e-02 -1.82832667e-03 9.99728841e-01 7.93539221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36071405700001 meters Centerline goodness [0,1] 0.9855795269904315 Centerline is valid? [True, True] Translation: X:73.41, Y:-2.83, Z:0.79 [[ 9.98993957e-01 -3.82942153e-02 -2.33372588e-02 7.34107049e+01] [ 3.83266968e-02 9.99264814e-01 9.45980395e-04 -2.83032684e+00] [ 2.32838760e-02 -1.83946874e-03 9.99727202e-01 7.93974314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.390714057 meters Centerline goodness [0,1] 0.9865692902525607 Centerline is valid? [True, True] Translation: X:73.44, Y:-2.83, Z:0.79 [[ 9.99009648e-01 -3.84399184e-02 -2.24074800e-02 7.34429708e+01] [ 3.84699460e-02 9.99259343e-01 9.10393701e-04 -2.83073409e+00] [ 2.23558883e-02 -1.77150664e-03 9.99748506e-01 7.94737297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.420714057 meters Centerline goodness [0,1] 0.9854954588586146 Centerline is valid? [True, True] Translation: X:73.47, Y:-2.84, Z:0.79 [[ 9.99013922e-01 -3.85898149e-02 -2.19547411e-02 7.34740409e+01] [ 3.86187203e-02 9.99253619e-01 8.93972500e-04 -2.83511112e+00] [ 2.19038562e-02 -1.74095498e-03 9.99758566e-01 7.94944821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.450714057 meters Centerline goodness [0,1] 0.9825743913435527 Centerline is valid? [True, True] Translation: X:73.51, Y:-2.84, Z:0.79 [[ 9.99001931e-01 -3.95023680e-02 -2.08495797e-02 7.35050560e+01] [ 3.95286708e-02 9.99218074e-01 8.50780286e-04 -2.84191376e+00] [ 2.07996691e-02 -1.67408732e-03 9.99782262e-01 7.94835486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.480714057 meters Centerline goodness [0,1] 0.9855718130215518 Centerline is valid? [True, True] Translation: X:73.54, Y:-2.83, Z:0.80 [[ 9.98971819e-01 -4.03491855e-02 -2.06699875e-02 7.35373168e+01] [ 4.03752424e-02 9.99184230e-01 8.44677315e-04 -2.83468750e+00] [ 2.06190436e-02 -1.67836459e-03 9.99785996e-01 7.95837690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.510714057 meters Centerline goodness [0,1] 0.9858308773520743 Centerline is valid? [True, True] Translation: X:73.57, Y:-2.84, Z:0.80 [[ 9.98904186e-01 -4.18284441e-02 -2.09954552e-02 7.35683379e+01] [ 4.18556747e-02 9.99123298e-01 8.59025511e-04 -2.83654547e+00] [ 2.09411168e-02 -1.73686312e-03 9.99779202e-01 7.95799878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.540714057 meters Centerline goodness [0,1] 0.9849884526558892 Centerline is valid? [True, True] Translation: X:73.60, Y:-2.84, Z:0.80 [[ 9.98855549e-01 -4.27222018e-02 -2.15036270e-02 7.35994779e+01] [ 4.27509951e-02 9.99085370e-01 8.80870742e-04 -2.83988686e+00] [ 2.14463264e-02 -1.79916408e-03 9.99768382e-01 7.95318196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.570714057 meters Centerline goodness [0,1] 0.9847959275610415 Centerline is valid? [True, True] Translation: X:73.63, Y:-2.84, Z:0.80 [[ 9.98805037e-01 -4.37857972e-02 -2.17095036e-02 7.36312702e+01] [ 4.38154374e-02 9.99039245e-01 8.91304848e-04 -2.84021339e+00] [ 2.16496196e-02 -1.84145117e-03 9.99763924e-01 7.95434713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.600714057 meters Centerline goodness [0,1] 0.9855571930620111 Centerline is valid? [True, True] Translation: X:73.66, Y:-2.84, Z:0.79 [[ 9.98699184e-01 -4.58685345e-02 -2.22714627e-02 7.36627761e+01] [ 4.59002772e-02 9.98945607e-01 9.15893012e-04 -2.84192239e+00] [ 2.22059691e-02 -1.93696791e-03 9.99751541e-01 7.94495362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.630714057 meters Centerline goodness [0,1] 0.9838779166005306 Centerline is valid? [True, True] Translation: X:73.69, Y:-2.85, Z:0.79 [[ 9.98604879e-01 -4.76066367e-02 -2.28452330e-02 7.36930837e+01] [ 4.76405022e-02 9.98864104e-01 9.40126789e-04 -2.84655105e+00] [ 2.27745269e-02 -2.02717357e-03 9.99738572e-01 7.93989542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.660714057 meters Centerline goodness [0,1] 0.9801312514143471 Centerline is valid? [True, True] Translation: X:73.72, Y:-2.85, Z:0.79 [[ 9.98568279e-01 -4.83351354e-02 -2.29152240e-02 7.37243798e+01] [ 4.83694167e-02 9.98829069e-01 9.43780433e-04 -2.85099301e+00] [ 2.28427741e-02 -2.05082522e-03 9.99736966e-01 7.93796106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69071405700001 meters Centerline goodness [0,1] 0.9839265472681932 Centerline is valid? [True, True] Translation: X:73.76, Y:-2.85, Z:0.79 [[ 9.98533948e-01 -4.89083585e-02 -2.31932550e-02 7.37564240e+01] [ 4.89436634e-02 9.98801083e-01 9.56658442e-04 -2.84854175e+00] [ 2.31186596e-02 -2.09041880e-03 9.99730543e-01 7.94788455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72071405700001 meters Centerline goodness [0,1] 0.9845794498491961 Centerline is valid? [True, True] Translation: X:73.79, Y:-2.85, Z:0.80 [[ 9.98522000e-01 -4.90291787e-02 -2.34511288e-02 7.37884320e+01] [ 4.90653504e-02 9.98795100e-01 9.69181191e-04 -2.84750292e+00] [ 2.33753544e-02 -2.11838660e-03 9.99724515e-01 7.95818788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75071405700001 meters Centerline goodness [0,1] 0.9850454988994032 Centerline is valid? [True, True] Translation: X:73.82, Y:-2.85, Z:0.80 [[ 9.98536347e-01 -4.89791229e-02 -2.29392642e-02 7.38211472e+01] [ 4.90137620e-02 9.98797652e-01 9.49895800e-04 -2.84728665e+00] [ 2.28651582e-02 -2.07284512e-03 9.99736409e-01 7.96136921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.780714057 meters Centerline goodness [0,1] 0.9853778701862231 Centerline is valid? [True, True] Translation: X:73.85, Y:-2.85, Z:0.80 [[ 9.98609289e-01 -4.76101003e-02 -2.26443520e-02 7.38517817e+01] [ 4.76435336e-02 9.98863961e-01 9.38949817e-04 -2.84935229e+00] [ 2.25739236e-02 -2.01650095e-03 9.99743143e-01 7.96409535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.810714057 meters Centerline goodness [0,1] 0.9668604915277336 Centerline is valid? [True, True] Translation: X:73.88, Y:-2.86, Z:0.80 [[ 9.98636682e-01 -4.70087075e-02 -2.26926918e-02 7.38821473e+01] [ 4.70421521e-02 9.98892461e-01 9.41943135e-04 -2.86037358e+00] [ 2.26232792e-02 -2.00817203e-03 9.99742044e-01 7.95457964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.840714057 meters Centerline goodness [0,1] 0.9851575305044619 Centerline is valid? [True, True] Translation: X:73.91, Y:-2.85, Z:0.80 [[ 9.98767457e-01 -4.47330000e-02 -2.15064249e-02 7.39129107e+01] [ 4.47625283e-02 9.98997256e-01 8.93327667e-04 -2.84987292e+00] [ 2.14448982e-02 -1.85490855e-03 9.99768311e-01 7.97820957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.870714057 meters Centerline goodness [0,1] 0.9844818156959256 Centerline is valid? [True, True] Translation: X:73.94, Y:-2.85, Z:0.80 [[ 9.98831295e-01 -4.33131196e-02 -2.14480103e-02 7.39444448e+01] [ 4.33421696e-02 9.99059889e-01 8.91220342e-04 -2.84929702e+00] [ 2.13892453e-02 -1.81978207e-03 9.99769568e-01 7.98453590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.900714057 meters Centerline goodness [0,1] 0.9853488161117663 Centerline is valid? [True, True] Translation: X:73.97, Y:-2.85, Z:0.80 [[ 9.98900407e-01 -4.16555796e-02 -2.15125658e-02 7.39747101e+01] [ 4.16844361e-02 9.99130426e-01 8.94509175e-04 -2.85036389e+00] [ 2.14565978e-02 -1.79026475e-03 9.99768178e-01 7.98195161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.930714057 meters Centerline goodness [0,1] 0.9843338479702116 Centerline is valid? [True, True] Translation: X:74.01, Y:-2.85, Z:0.80 [[ 9.98900499e-01 -4.14487941e-02 -2.19041413e-02 7.40065068e+01] [ 4.14786808e-02 9.99138973e-01 9.11669452e-04 -2.85289530e+00] [ 2.18474937e-02 -1.81922196e-03 9.99759660e-01 7.97776528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.960714057 meters Centerline goodness [0,1] 0.9837483497974234 Centerline is valid? [True, True] Translation: X:74.04, Y:-2.86, Z:0.80 [[ 9.98865060e-01 -4.17377063e-02 -2.29468146e-02 7.40375633e+01] [ 4.17706158e-02 9.99126769e-01 9.56515576e-04 -2.85579834e+00] [ 2.28868539e-02 -1.91393256e-03 9.99736230e-01 7.96857730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.990714057 meters Centerline goodness [0,1] 0.9842449870413313 Centerline is valid? [True, True] Translation: X:74.07, Y:-2.86, Z:0.80 [[ 9.98845697e-01 -4.18992912e-02 -2.34887720e-02 7.40692049e+01] [ 4.19338472e-02 9.99119908e-01 9.80336393e-04 -2.85727335e+00] [ 2.34270243e-02 -1.96417936e-03 9.99723620e-01 7.96989941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.020714057 meters Centerline goodness [0,1] 0.9809910197383416 Centerline is valid? [True, True] Translation: X:74.10, Y:-2.86, Z:0.80 [[ 9.98828374e-01 -4.20872240e-02 -2.38860752e-02 7.41000542e+01] [ 4.21230421e-02 9.99111932e-01 9.98155660e-04 -2.86131018e+00] [ 2.38228531e-02 -2.00314034e-03 9.99714189e-01 7.96212340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05071405700001 meters Centerline goodness [0,1] 0.9848070079386806 Centerline is valid? [True, True] Translation: X:74.13, Y:-2.86, Z:0.80 [[ 9.98836580e-01 -4.21728136e-02 -2.33867499e-02 7.41324007e+01] [ 4.22072052e-02 9.99108400e-01 9.78683306e-04 -2.85714531e+00] [ 2.33246245e-02 -1.96463404e-03 9.99726014e-01 7.97472213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08071405700001 meters Centerline goodness [0,1] 0.9845978322875071 Centerline is valid? [True, True] Translation: X:74.16, Y:-2.86, Z:0.80 [[ 9.98890268e-01 -4.12191576e-02 -2.27862690e-02 7.41636441e+01] [ 4.12515867e-02 9.99148335e-01 9.54776441e-04 -2.85828351e+00] [ 2.27275076e-02 -1.89368664e-03 9.99739903e-01 7.98349933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11071405700001 meters Centerline goodness [0,1] 0.9848280897081974 Centerline is valid? [True, True] Translation: X:74.20, Y:-2.86, Z:0.80 [[ 9.98939267e-01 -4.01663369e-02 -2.25167944e-02 7.41950658e+01] [ 4.01977556e-02 9.99191297e-01 9.44281883e-04 -2.85571965e+00] [ 2.24606567e-02 -1.84840485e-03 9.99746019e-01 7.99214358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.140714057 meters Centerline goodness [0,1] 0.9849062599300922 Centerline is valid? [True, True] Translation: X:74.23, Y:-2.86, Z:0.80 [[ 9.99009203e-01 -3.84716197e-02 -2.23728910e-02 7.42261374e+01] [ 3.85022336e-02 9.99258073e-01 9.39048761e-04 -2.85608906e+00] [ 2.23201652e-02 -1.79952463e-03 9.99749255e-01 7.99810377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.170714057 meters Centerline goodness [0,1] 0.9854983100392801 Centerline is valid? [True, True] Translation: X:74.26, Y:-2.85, Z:0.80 [[ 9.99148917e-01 -3.48296252e-02 -2.20983880e-02 7.42568949e+01] [ 3.48586173e-02 9.99391823e-01 9.27989611e-04 -2.85014133e+00] [ 2.20526268e-02 -1.69751907e-03 9.99755370e-01 8.00918906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.200714057 meters Centerline goodness [0,1] 0.9850538199602349 Centerline is valid? [True, True] Translation: X:74.29, Y:-2.85, Z:0.80 [[ 9.99240843e-01 -3.23868296e-02 -2.16524966e-02 7.42864875e+01] [ 3.24140935e-02 9.99474112e-01 9.09289915e-04 -2.85399102e+00] [ 2.16116608e-02 -1.61044567e-03 9.99765144e-01 8.00594666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.230714057 meters Centerline goodness [0,1] 0.9853015247950914 Centerline is valid? [True, True] Translation: X:74.32, Y:-2.85, Z:0.80 [[ 9.99383921e-01 -2.78168472e-02 -2.14009820e-02 7.43157278e+01] [ 2.78424354e-02 9.99611920e-01 8.98565436e-04 -2.85233991e+00] [ 2.13676814e-02 -1.49386731e-03 9.99770569e-01 8.01394255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.260714057 meters Centerline goodness [0,1] 0.9850742846661775 Centerline is valid? [True, True] Translation: X:74.35, Y:-2.85, Z:0.80 [[ 9.99447855e-01 -2.56102115e-02 -2.11684215e-02 7.43463093e+01] [ 2.56347491e-02 9.99670981e-01 8.88575991e-04 -2.85075496e+00] [ 2.11387000e-02 -1.43073254e-03 9.99775529e-01 8.01606299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.290714057 meters Centerline goodness [0,1] 0.9859038523348179 Centerline is valid? [True, True] Translation: X:74.38, Y:-2.85, Z:0.80 [[ 9.99511139e-01 -2.33907288e-02 -2.07450454e-02 7.43772164e+01] [ 2.34138215e-02 9.99725480e-01 8.70948970e-04 -2.84730305e+00] [ 2.07189783e-02 -1.35624399e-03 9.99784419e-01 8.02729572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.320714057 meters Centerline goodness [0,1] 0.9846752058554438 Centerline is valid? [True, True] Translation: X:74.41, Y:-2.85, Z:0.80 [[ 9.99600415e-01 -1.92916280e-02 -2.06601789e-02 7.44071893e+01] [ 1.93136617e-02 9.99813098e-01 8.67464798e-04 -2.84801888e+00] [ 2.06395827e-02 -1.26614188e-03 9.99786179e-01 8.03549645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.350714057 meters Centerline goodness [0,1] 0.9854833539405596 Centerline is valid? [True, True] Translation: X:74.44, Y:-2.84, Z:0.80 [[ 9.99645251e-01 -1.62276145e-02 -2.11195916e-02 7.44374015e+01] [ 1.62499502e-02 9.99867568e-01 8.86386030e-04 -2.84336432e+00] [ 2.11024107e-02 -1.22926390e-03 9.99776564e-01 8.03448521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.380714057 meters Centerline goodness [0,1] 0.9852796184623851 Centerline is valid? [True, True] Translation: X:74.47, Y:-2.85, Z:0.80 [[ 9.99655102e-01 -1.50601703e-02 -2.15143855e-02 7.44650712e+01] [ 1.50830501e-02 9.99885838e-01 9.01581395e-04 -2.84554783e+00] [ 2.14983514e-02 -1.22577300e-03 9.99768132e-01 8.02795429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.410714057 meters Centerline goodness [0,1] 0.9864213954768567 Centerline is valid? [True, True] Translation: X:74.49, Y:-2.84, Z:0.80 [[ 9.99656279e-01 -1.40986347e-02 -2.21032287e-02 7.44935357e+01] [ 1.41224622e-02 9.99899848e-01 9.22275238e-04 -2.84384421e+00] [ 2.20880122e-02 -1.23411024e-03 9.99755268e-01 8.03054974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44071405700001 meters Centerline goodness [0,1] 0.9861622766623688 Centerline is valid? [True, True] Translation: X:74.52, Y:-2.84, Z:0.80 [[ 9.99665668e-01 -1.21510050e-02 -2.28233474e-02 7.45230060e+01] [ 1.21758044e-02 9.99925423e-01 9.47924874e-04 -2.84300652e+00] [ 2.28101271e-02 -1.22550057e-03 9.99739064e-01 8.02902239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47071405700001 meters Centerline goodness [0,1] 0.9875212575263134 Centerline is valid? [True, True] Translation: X:74.55, Y:-2.84, Z:0.80 [[ 9.99690269e-01 -1.05677058e-02 -2.25319583e-02 7.45523931e+01] [ 1.05913885e-02 9.99943475e-01 9.31988467e-04 -2.83899166e+00] [ 2.25208357e-02 -1.17034452e-03 9.99745689e-01 8.04329990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50071405700001 meters Centerline goodness [0,1] 0.9864587891209727 Centerline is valid? [True, True] Translation: X:74.58, Y:-2.84, Z:0.80 [[ 9.99698282e-01 -9.82096682e-03 -2.25142921e-02 7.45800508e+01] [ 9.84433810e-03 9.99951113e-01 9.27463747e-04 -2.84425253e+00] [ 2.25040828e-02 -1.14882222e-03 9.99746091e-01 8.03869987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.530714057 meters Centerline goodness [0,1] 0.9865899942495687 Centerline is valid? [True, True] Translation: X:74.61, Y:-2.84, Z:0.81 [[ 9.99711282e-01 -9.14821206e-03 -2.22185227e-02 7.46088181e+01] [ 9.17072960e-03 9.99957532e-01 9.11774724e-04 -2.84011902e+00] [ 2.22092380e-02 -1.11527154e-03 9.99752722e-01 8.05331566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.560714057 meters Centerline goodness [0,1] 0.987833540716162 Centerline is valid? [True, True] Translation: X:74.64, Y:-2.84, Z:0.81 [[ 9.99727075e-01 -7.41134161e-03 -2.21550614e-02 7.46376573e+01] [ 7.43322164e-03 9.99971963e-01 9.05396293e-04 -2.83892361e+00] [ 2.21477301e-02 -1.06983267e-03 9.99754137e-01 8.06075406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.590714057 meters Centerline goodness [0,1] 0.9883999263487387 Centerline is valid? [True, True] Translation: X:74.67, Y:-2.84, Z:0.81 [[ 9.99731130e-01 -6.70606138e-03 -2.21967710e-02 7.46654647e+01] [ 6.72780401e-03 9.99976959e-01 9.05007666e-04 -2.83956406e+00] [ 2.21901905e-02 -1.05409986e-03 9.99753212e-01 8.06504935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.620714057 meters Centerline goodness [0,1] 0.987463415758302 Centerline is valid? [True, True] Translation: X:74.69, Y:-2.84, Z:0.81 [[ 9.99759084e-01 -5.27437520e-03 -2.13062022e-02 7.46945852e+01] [ 5.29403836e-03 9.99985611e-01 8.66584843e-04 -2.83819582e+00] [ 2.13013249e-02 -9.79171921e-04 9.99772622e-01 8.07574426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.650714057 meters Centerline goodness [0,1] 0.9878096645348972 Centerline is valid? [True, True] Translation: X:74.72, Y:-2.84, Z:0.81 [[ 9.99780136e-01 -4.78255217e-03 -2.04158706e-02 7.47231945e+01] [ 4.80044638e-03 9.99988135e-01 8.27567252e-04 -2.83861622e+00] [ 2.04116705e-02 -9.25390592e-04 9.99791232e-01 8.08509344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.680714057 meters Centerline goodness [0,1] 0.9882464105459657 Centerline is valid? [True, True] Translation: X:74.75, Y:-2.84, Z:0.81 [[ 9.99805128e-01 -4.16093216e-03 -1.92974538e-02 7.47516212e+01] [ 4.17671471e-03 9.99990975e-01 7.77625174e-04 -2.83906295e+00] [ 1.92940440e-02 -8.58073596e-04 9.99813484e-01 8.09649596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.710714057 meters Centerline goodness [0,1] 0.9882480856871863 Centerline is valid? [True, True] Translation: X:74.78, Y:-2.84, Z:0.81 [[ 9.99806937e-01 -4.52971778e-03 -1.91198780e-02 7.47792218e+01] [ 4.54518384e-03 9.99989378e-01 7.65520891e-04 -2.84018917e+00] [ 1.91162073e-02 -8.52276458e-04 9.99816905e-01 8.10200412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.740714057 meters Centerline goodness [0,1] 0.9880842416404951 Centerline is valid? [True, True] Translation: X:74.81, Y:-2.84, Z:0.81 [[ 9.99812259e-01 -4.85426734e-03 -1.87585534e-02 7.48071033e+01] [ 4.86911276e-03 9.99987868e-01 7.45802776e-04 -2.84214419e+00] [ 1.87547055e-02 -8.37000270e-04 9.99823765e-01 8.10442055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.770714057 meters Centerline goodness [0,1] 0.9879481979905982 Centerline is valid? [True, True] Translation: X:74.83, Y:-2.85, Z:0.81 [[ 9.99795196e-01 -6.50893387e-03 -1.91624739e-02 7.48346210e+01] [ 6.52464878e-03 9.99978427e-01 7.57681545e-04 -2.84547876e+00] [ 1.91571288e-02 -8.82554780e-04 9.99816096e-01 8.10196469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80071405700001 meters Centerline goodness [0,1] 0.9876787729439672 Centerline is valid? [True, True] Translation: X:74.86, Y:-2.85, Z:0.81 [[ 9.99788514e-01 -7.44668822e-03 -1.91695903e-02 7.48617135e+01] [ 7.46254663e-03 9.99971869e-01 7.55867807e-04 -2.85036837e+00] [ 1.91634224e-02 -8.98761913e-04 9.99815961e-01 8.10096401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83071405700001 meters Centerline goodness [0,1] 0.9875206839492554 Centerline is valid? [True, True] Translation: X:74.89, Y:-2.85, Z:0.81 [[ 9.99744941e-01 -9.78388736e-03 -2.03550531e-02 7.48911723e+01] [ 9.80220534e-03 9.99951637e-01 8.00343228e-04 -2.85308336e+00] [ 2.03462382e-02 -9.99663504e-04 9.99792494e-01 8.09772091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86071405700001 meters Centerline goodness [0,1] 0.9882204072242033 Centerline is valid? [True, True] Translation: X:74.92, Y:-2.85, Z:0.81 [[ 9.99726474e-01 -1.09021083e-02 -2.06910985e-02 7.49196314e+01] [ 1.09212238e-02 9.99940033e-01 8.11072610e-04 -2.85178914e+00] [ 2.06810154e-02 -1.03682288e-03 9.99785587e-01 8.10311520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.890714057 meters Centerline goodness [0,1] 0.9868418020509275 Centerline is valid? [True, True] Translation: X:74.95, Y:-2.86, Z:0.81 [[ 9.99691436e-01 -1.26096973e-02 -2.14016100e-02 7.49487403e+01] [ 1.26304594e-02 9.99919884e-01 8.35221601e-04 -2.85601723e+00] [ 2.13893635e-02 -1.10527605e-03 9.99770610e-01 8.09992793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.920714057 meters Centerline goodness [0,1] 0.9888697251925952 Centerline is valid? [True, True] Translation: X:74.98, Y:-2.86, Z:0.81 [[ 9.99682740e-01 -1.30186951e-02 -2.15623002e-02 7.49766815e+01] [ 1.30398335e-02 9.99914625e-01 8.40025391e-04 -2.85896473e+00] [ 2.15495233e-02 -1.12092769e-03 9.99767154e-01 8.10208602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.950714057 meters Centerline goodness [0,1] 0.9886535899673848 Centerline is valid? [True, True] Translation: X:75.01, Y:-2.86, Z:0.81 [[ 9.99674090e-01 -1.39998582e-02 -2.13475587e-02 7.50051159e+01] [ 1.40207309e-02 9.99901362e-01 8.28390406e-04 -2.86132900e+00] [ 2.13338557e-02 -1.12742880e-03 9.99771772e-01 8.10853735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.980714057 meters Centerline goodness [0,1] 0.9886188935545307 Centerline is valid? [True, True] Translation: X:75.03, Y:-2.86, Z:0.81 [[ 9.99664659e-01 -1.41529106e-02 -2.16855740e-02 7.50324348e+01] [ 1.41744005e-02 9.99899187e-01 8.37582485e-04 -2.86452313e+00] [ 2.16715336e-02 -1.14468162e-03 9.99764489e-01 8.10935468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.010714057 meters Centerline goodness [0,1] 0.9886188935545307 Centerline is valid? [True, True] Translation: X:75.06, Y:-2.87, Z:0.81 [[ 9.99660718e-01 -1.44283887e-02 -2.16857133e-02 7.50598294e+01] [ 1.44498649e-02 9.99895247e-01 8.33962222e-04 -2.86549638e+00] [ 2.16714089e-02 -1.14703490e-03 9.99764489e-01 8.11278629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.040714057 meters Centerline goodness [0,1] 0.9890351379191943 Centerline is valid? [True, True] Translation: X:75.09, Y:-2.87, Z:0.81 [[ 9.99642884e-01 -1.45084937e-02 -2.24412064e-02 7.50872414e+01] [ 1.45314138e-02 9.99894045e-01 8.58599000e-04 -2.86836541e+00] [ 2.24263717e-02 -1.18439484e-03 9.99747796e-01 8.10981295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.070714057 meters Centerline goodness [0,1] 0.9893856029344338 Centerline is valid? [True, True] Translation: X:75.12, Y:-2.87, Z:0.81 [[ 9.99631990e-01 -1.43269888e-02 -2.30352168e-02 7.51158226e+01] [ 1.43510050e-02 9.99896634e-01 8.77601696e-04 -2.86554367e+00] [ 2.30202624e-02 -1.20785724e-03 9.99734269e-01 8.11636113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.100714057 meters Centerline goodness [0,1] 0.9891023737177583 Centerline is valid? [True, True] Translation: X:75.14, Y:-2.87, Z:0.81 [[ 9.99619025e-01 -1.46249676e-02 -2.34076053e-02 7.51440023e+01] [ 1.46497007e-02 9.99892295e-01 8.85489783e-04 -2.86661043e+00] [ 2.33921339e-02 -1.22806685e-03 9.99725612e-01 8.12112823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.130714057 meters Centerline goodness [0,1] 0.9895726143925362 Centerline is valid? [True, True] Translation: X:75.17, Y:-2.87, Z:0.81 [[ 9.99626622e-01 -1.46432016e-02 -2.30693158e-02 7.51729206e+01] [ 1.46670865e-02 9.99892057e-01 8.66483478e-04 -2.86889494e+00] [ 2.30541375e-02 -1.20451960e-03 9.99733492e-01 8.12650578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.160714057 meters Centerline goodness [0,1] 0.9898614551793743 Centerline is valid? [True, True] Translation: X:75.20, Y:-2.87, Z:0.81 [[ 9.99629412e-01 -1.47715844e-02 -2.28656843e-02 7.51996968e+01] [ 1.47949816e-02 9.99890183e-01 8.54406079e-04 -2.87309673e+00] [ 2.28505524e-02 -1.19238683e-03 9.99738181e-01 8.12286777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19071405700001 meters Centerline goodness [0,1] 0.9889974151931743 Centerline is valid? [True, True] Translation: X:75.23, Y:-2.87, Z:0.81 [[ 9.99626865e-01 -1.50769765e-02 -2.27775430e-02 7.52277432e+01] [ 1.51001697e-02 9.99885628e-01 8.46587556e-04 -2.87237666e+00] [ 2.27621739e-02 -1.19021643e-03 9.99740200e-01 8.13330403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22071405700001 meters Centerline goodness [0,1] 0.988409839063643 Centerline is valid? [True, True] Translation: X:75.26, Y:-2.88, Z:0.81 [[ 9.99619414e-01 -1.57777121e-02 -2.26294343e-02 7.52550803e+01] [ 1.58006821e-02 9.99874811e-01 8.36595119e-04 -2.88359833e+00] [ 2.26134018e-02 -1.19383722e-03 9.99743572e-01 8.12138900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25071405700001 meters Centerline goodness [0,1] 0.9892861222158766 Centerline is valid? [True, True] Translation: X:75.28, Y:-2.88, Z:0.81 [[ 9.99619889e-01 -1.63900215e-02 -2.21685629e-02 7.52844084e+01] [ 1.64121375e-02 9.99864979e-01 8.16048322e-04 -2.87759275e+00] [ 2.21521946e-02 -1.17957164e-03 9.99753914e-01 8.14033380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.280714057 meters Centerline goodness [0,1] 0.9890526796937493 Centerline is valid? [True, True] Translation: X:75.31, Y:-2.88, Z:0.81 [[ 9.99588750e-01 -1.83759387e-02 -2.20149063e-02 7.53130292e+01] [ 1.83981501e-02 9.99830414e-01 8.06793552e-04 -2.88347069e+00] [ 2.19963473e-02 -1.21149531e-03 9.99757317e-01 8.14426985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.310714057 meters Centerline goodness [0,1] 0.9892333606482746 Centerline is valid? [True, True] Translation: X:75.34, Y:-2.89, Z:0.81 [[ 9.99572387e-01 -1.99774648e-02 -2.13528560e-02 7.53412489e+01] [ 1.99986940e-02 9.99799701e-01 7.81111258e-04 -2.88591880e+00] [ 2.13329744e-02 -1.20780648e-03 9.99771697e-01 8.14935794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.340714057 meters Centerline goodness [0,1] 0.9882919481467957 Centerline is valid? [True, True] Translation: X:75.37, Y:-2.89, Z:0.81 [[ 9.99533073e-01 -2.17688741e-02 -2.14418281e-02 7.53689959e+01] [ 2.17906544e-02 9.99762249e-01 7.82640009e-04 -2.89405403e+00] [ 2.14196931e-02 -1.24950604e-03 9.99769791e-01 8.14579197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.370714057 meters Centerline goodness [0,1] 0.988303561269769 Centerline is valid? [True, True] Translation: X:75.40, Y:-2.89, Z:0.81 [[ 9.99456372e-01 -2.46681013e-02 -2.18733857e-02 7.53988730e+01] [ 2.46914361e-02 9.99694802e-01 7.97338287e-04 -2.89274665e+00] [ 2.18470412e-02 -1.33699014e-03 9.99760431e-01 8.14702350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.400714057 meters Centerline goodness [0,1] 0.9887469309811767 Centerline is valid? [True, True] Translation: X:75.43, Y:-2.90, Z:0.81 [[ 9.99404348e-01 -2.62724168e-02 -2.23765511e-02 7.54287334e+01] [ 2.62972293e-02 9.99653836e-01 8.15275173e-04 -2.89594408e+00] [ 2.23473859e-02 -1.40323085e-03 9.99749281e-01 8.14507837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.430714057 meters Centerline goodness [0,1] 0.9882624852714583 Centerline is valid? [True, True] Translation: X:75.46, Y:-2.90, Z:0.81 [[ 9.99325958e-01 -2.85558526e-02 -2.30692949e-02 7.54580969e+01] [ 2.85828219e-02 9.99591075e-01 8.40096130e-04 -2.90167041e+00] [ 2.30358716e-02 -1.49891542e-03 9.99733515e-01 8.13999596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.460714057 meters Centerline goodness [0,1] 0.9874268076800872 Centerline is valid? [True, True] Translation: X:75.49, Y:-2.90, Z:0.81 [[ 9.99286137e-01 -2.94613438e-02 -2.36483576e-02 7.54882876e+01] [ 2.94899314e-02 9.99564707e-01 8.60955232e-04 -2.90365096e+00] [ 2.36126987e-02 -1.55772907e-03 9.99719968e-01 8.14212541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.490714057 meters Centerline goodness [0,1] 0.9878112326967081 Centerline is valid? [True, True] Translation: X:75.52, Y:-2.90, Z:0.81 [[ 9.99252933e-01 -3.05191572e-02 -2.37098566e-02 7.55198817e+01] [ 3.05481996e-02 9.99532922e-01 8.63592780e-04 -2.90396641e+00] [ 2.36724261e-02 -1.58724105e-03 9.99718509e-01 8.14998332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.520714057 meters Centerline goodness [0,1] 0.9874559709123963 Centerline is valid? [True, True] Translation: X:75.55, Y:-2.91, Z:0.82 [[ 9.99235806e-01 -3.08261309e-02 -2.40323660e-02 7.55514058e+01] [ 3.08560780e-02 9.99523454e-01 8.76199506e-04 -2.90518356e+00] [ 2.39939036e-02 -1.61707448e-03 9.99710797e-01 8.15652993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55071405700001 meters Centerline goodness [0,1] 0.9872471016140032 Centerline is valid? [True, True] Translation: X:75.58, Y:-2.91, Z:0.82 [[ 9.99248285e-01 -3.08824176e-02 -2.34337764e-02 7.55818544e+01] [ 3.09109210e-02 9.99521778e-01 8.55000849e-04 -2.91052687e+00] [ 2.33961654e-02 -1.57871774e-03 9.99725026e-01 8.15755031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58071405700001 meters Centerline goodness [0,1] 0.9879156141189323 Centerline is valid? [True, True] Translation: X:75.61, Y:-2.91, Z:0.82 [[ 9.99243730e-01 -3.07748679e-02 -2.37671194e-02 7.56136581e+01] [ 3.08041724e-02 9.99525062e-01 8.67772455e-04 -2.91176791e+00] [ 2.37291259e-02 -1.59924263e-03 9.99717146e-01 8.16611453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61071405700001 meters Centerline goodness [0,1] 0.9877766165311037 Centerline is valid? [True, True] Translation: X:75.64, Y:-2.91, Z:0.82 [[ 9.99242072e-01 -3.05398734e-02 -2.41370406e-02 7.56446933e+01] [ 3.05700498e-02 9.99532238e-01 8.82128471e-04 -2.90741518e+00] [ 2.40988102e-02 -1.61933042e-03 9.99708270e-01 8.17652172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.640714057 meters Centerline goodness [0,1] 0.9875702870671796 Centerline is valid? [True, True] Translation: X:75.68, Y:-2.91, Z:0.82 [[ 9.99243292e-01 -3.00127657e-02 -2.47401992e-02 7.56750896e+01] [ 3.00443255e-02 9.99548158e-01 9.04845777e-04 -2.91161942e+00] [ 2.47018636e-02 -1.64746367e-03 9.99693505e-01 8.16448803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.670714057 meters Centerline goodness [0,1] 0.9876430830849054 Centerline is valid? [True, True] Translation: X:75.71, Y:-2.91, Z:0.82 [[ 9.99229086e-01 -3.03450620e-02 -2.49080656e-02 7.57054971e+01] [ 3.03771655e-02 9.99538092e-01 9.11427327e-04 -2.91338036e+00] [ 2.48689031e-02 -1.66736113e-03 9.99689331e-01 8.16510198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.700714057 meters Centerline goodness [0,1] 0.9882839108124063 Centerline is valid? [True, True] Translation: X:75.74, Y:-2.91, Z:0.82 [[ 9.99242805e-01 -3.03920809e-02 -2.42927699e-02 7.57359826e+01] [ 3.04226363e-02 9.99536729e-01 8.89127354e-04 -2.91272621e+00] [ 2.42544933e-02 -1.62750422e-03 9.99704492e-01 8.17755670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.730714057 meters Centerline goodness [0,1] 0.9881073965638547 Centerline is valid? [True, True] Translation: X:75.77, Y:-2.91, Z:0.82 [[ 9.99258065e-01 -3.03725753e-02 -2.36817750e-02 7.57669383e+01] [ 3.04016165e-02 9.99537388e-01 8.67162442e-04 -2.91352835e+00] [ 2.36444816e-02 -1.58648331e-03 9.99719171e-01 8.18856070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.760714057 meters Centerline goodness [0,1] 0.9879204061281842 Centerline is valid? [True, True] Translation: X:75.80, Y:-2.92, Z:0.82 [[ 9.99252578e-01 -3.09187843e-02 -2.32015840e-02 7.57976295e+01] [ 3.09468290e-02 9.99520670e-01 8.50576010e-04 -2.91641268e+00] [ 2.31641640e-02 -1.56795572e-03 9.99730445e-01 8.20194864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.790714057 meters Centerline goodness [0,1] 0.9875807365439093 Centerline is valid? [True, True] Translation: X:75.83, Y:-2.92, Z:0.82 [[ 9.99262403e-01 -3.10819446e-02 -2.25513547e-02 7.58285683e+01] [ 3.11085027e-02 9.99515671e-01 8.27730543e-04 -2.91647272e+00] [ 2.25147050e-02 -1.52865889e-03 9.99745343e-01 8.21282296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.820714057 meters Centerline goodness [0,1] 0.9874022884332163 Centerline is valid? [True, True] Translation: X:75.86, Y:-2.92, Z:0.82 [[ 9.99261633e-01 -3.14441682e-02 -2.20783347e-02 7.58590075e+01] [ 3.14697247e-02 9.99504377e-01 8.10968279e-04 -2.92167330e+00] [ 2.20418920e-02 -1.50516860e-03 9.99755915e-01 8.21622787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.850714057 meters Centerline goodness [0,1] 0.9869438085091915 Centerline is valid? [True, True] Translation: X:75.89, Y:-2.93, Z:0.82 [[ 9.99242064e-01 -3.25092316e-02 -2.14114044e-02 7.58889951e+01] [ 3.25335182e-02 9.99470335e-01 7.86835533e-04 -2.92559306e+00] [ 2.13744841e-02 -1.48282748e-03 9.99770440e-01 8.22193707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.880714057 meters Centerline goodness [0,1] 0.9873518144932792 Centerline is valid? [True, True] Translation: X:75.92, Y:-2.93, Z:0.82 [[ 9.99217118e-01 -3.29887245e-02 -2.18379112e-02 7.59203322e+01] [ 3.30141177e-02 9.99454563e-01 8.03202835e-04 -2.92937891e+00] [ 2.17995033e-02 -1.52353339e-03 9.99761202e-01 8.22314028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.910714057 meters Centerline goodness [0,1] 0.9885656062492925 Centerline is valid? [True, True] Translation: X:75.95, Y:-2.92, Z:0.82 [[ 9.99211658e-01 -3.27973144e-02 -2.23695798e-02 7.59524032e+01] [ 3.28239382e-02 9.99460810e-01 8.23942691e-04 -2.92381425e+00] [ 2.23304953e-02 -1.55755085e-03 9.99749430e-01 8.23584949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94071405700001 meters Centerline goodness [0,1] 0.9876185518006293 Centerline is valid? [True, True] Translation: X:75.98, Y:-2.93, Z:0.82 [[ 9.99220819e-01 -3.23556499e-02 -2.26023466e-02 7.59836835e+01] [ 3.23827459e-02 9.99475194e-01 8.33740771e-04 -2.93316481e+00] [ 2.25635085e-02 -1.56501718e-03 9.99744187e-01 8.22505967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97071405700001 meters Centerline goodness [0,1] 0.9876593528519348 Centerline is valid? [True, True] Translation: X:76.02, Y:-2.93, Z:0.82 [[ 9.99205787e-01 -3.20778182e-02 -2.36391379e-02 7.60150265e+01] [ 3.21074063e-02 9.99484043e-01 8.73076757e-04 -2.92845709e+00] [ 2.35989347e-02 -1.63137475e-03 9.99720175e-01 8.22891165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00071405700001 meters Centerline goodness [0,1] 0.9880221895165855 Centerline is valid? [True, True] Translation: X:76.05, Y:-2.93, Z:0.82 [[ 9.99221728e-01 -3.18683731e-02 -2.32453354e-02 7.60464930e+01] [ 3.18969458e-02 9.99490794e-01 8.59347116e-04 -2.92757768e+00] [ 2.32061128e-02 -1.60013351e-03 9.99729421e-01 8.23765383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.030714057 meters Centerline goodness [0,1] 0.98792237752748 Centerline is valid? [True, True] Translation: X:76.08, Y:-2.93, Z:0.82 [[ 9.99277331e-01 -3.05027454e-02 -2.26803651e-02 7.60779565e+01] [ 3.05296138e-02 9.99533510e-01 8.39265489e-04 -2.92927773e+00] [ 2.26441850e-02 -1.53108177e-03 9.99742415e-01 8.23914527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.060714057 meters Centerline goodness [0,1] 0.987593840012701 Centerline is valid? [True, True] Translation: X:76.11, Y:-2.93, Z:0.82 [[ 9.99313316e-01 -2.95267567e-02 -2.23845248e-02 7.61094401e+01] [ 2.95527027e-02 9.99562880e-01 8.29115933e-04 -2.93055898e+00] [ 2.23502590e-02 -1.49006980e-03 9.99749091e-01 8.23975297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.090714057 meters Centerline goodness [0,1] 0.9884728190437214 Centerline is valid? [True, True] Translation: X:76.14, Y:-2.93, Z:0.82 [[ 9.99344201e-01 -2.83659043e-02 -2.25065126e-02 7.61408983e+01] [ 2.83918590e-02 9.99596522e-01 8.34444477e-04 -2.92933866e+00] [ 2.24737620e-02 -1.47289898e-03 9.99746348e-01 8.24848937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.120714057 meters Centerline goodness [0,1] 0.988357815271272 Centerline is valid? [True, True] Translation: X:76.17, Y:-2.93, Z:0.83 [[ 9.99449960e-01 -2.57380083e-02 -2.09124711e-02 7.61718815e+01] [ 2.57598549e-02 9.99667859e-01 7.75915471e-04 -2.92995957e+00] [ 2.08855547e-02 -1.31419091e-03 9.99781009e-01 8.25701145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.150714057 meters Centerline goodness [0,1] 0.9880630272162979 Centerline is valid? [True, True] Translation: X:76.20, Y:-2.93, Z:0.83 [[ 9.99474234e-01 -2.49764745e-02 -2.06744293e-02 7.62023937e+01] [ 2.49976688e-02 9.99687215e-01 7.67305056e-04 -2.93098364e+00] [ 2.06487981e-02 -1.28371417e-03 9.99785967e-01 8.26360764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.180714057 meters Centerline goodness [0,1] 0.9888123337198991 Centerline is valid? [True, True] Translation: X:76.23, Y:-2.93, Z:0.83 [[ 9.99533253e-01 -2.37604564e-02 -1.92020061e-02 7.62333510e+01] [ 2.37785150e-02 9.99716997e-01 7.12651803e-04 -2.93154609e+00] [ 1.91796389e-02 -1.16891436e-03 9.99815371e-01 8.27362872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.210714057 meters Centerline goodness [0,1] 0.9891217950173733 Centerline is valid? [True, True] Translation: X:76.26, Y:-2.93, Z:0.83 [[ 9.99536064e-01 -2.37107914e-02 -1.91168645e-02 7.62643763e+01] [ 2.37286855e-02 9.99718183e-01 7.09721887e-04 -2.93226718e+00] [ 1.90946490e-02 -1.16301069e-03 9.99817004e-01 8.27429670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.240714057 meters Centerline goodness [0,1] 0.988785980205212 Centerline is valid? [True, True] Translation: X:76.29, Y:-2.94, Z:0.83 [[ 9.99482383e-01 -2.48876443e-02 -2.03855464e-02 7.62942772e+01] [ 2.49082607e-02 9.99689454e-01 7.58000074e-04 -2.93655935e+00] [ 2.03603509e-02 -1.26537623e-03 9.99791906e-01 8.26491604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.270714057 meters Centerline goodness [0,1] 0.9887065988002182 Centerline is valid? [True, True] Translation: X:76.32, Y:-2.94, Z:0.83 [[ 9.99438727e-01 -2.59586391e-02 -2.11749777e-02 7.63248866e+01] [ 2.59811503e-02 9.99662122e-01 7.88645918e-04 -2.93998080e+00] [ 2.11473509e-02 -1.33835355e-03 9.99775474e-01 8.25893387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30071405700001 meters Centerline goodness [0,1] 0.9887696531070627 Centerline is valid? [True, True] Translation: X:76.36, Y:-2.94, Z:0.83 [[ 9.99385983e-01 -2.72757377e-02 -2.19929753e-02 7.63551963e+01] [ 2.73003448e-02 9.99626940e-01 8.19341606e-04 -2.94318520e+00] [ 2.19624224e-02 -1.41925433e-03 9.99757790e-01 8.25419808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33071405700001 meters Centerline goodness [0,1] 0.9881289504089169 Centerline is valid? [True, True] Translation: X:76.39, Y:-2.95, Z:0.82 [[ 9.99302564e-01 -2.97521685e-02 -2.25653373e-02 7.63854580e+01] [ 2.97787049e-02 9.99556162e-01 8.40791849e-04 -2.94688041e+00] [ 2.25303066e-02 -1.51217197e-03 9.99745017e-01 8.24571298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36071405700001 meters Centerline goodness [0,1] 0.9876112608429778 Centerline is valid? [True, True] Translation: X:76.42, Y:-2.95, Z:0.82 [[ 9.99232637e-01 -3.13937956e-02 -2.34214934e-02 7.64154146e+01] [ 3.14228416e-02 9.99505799e-01 8.73046882e-04 -2.95276734e+00] [ 2.33825102e-02 -1.60834682e-03 9.99725298e-01 8.24013254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.390714057 meters Centerline goodness [0,1] 0.9877524223489994 Centerline is valid? [True, True] Translation: X:76.45, Y:-2.96, Z:0.82 [[ 9.99229727e-01 -3.16997869e-02 -2.31317347e-02 7.64464410e+01] [ 3.17282134e-02 9.99496161e-01 8.62829342e-04 -2.95509795e+00] [ 2.30927285e-02 -1.59609334e-03 9.99732053e-01 8.24096781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.420714057 meters Centerline goodness [0,1] 0.9878250243273213 Centerline is valid? [True, True] Translation: X:76.48, Y:-2.95, Z:0.83 [[ 9.99216845e-01 -3.22293308e-02 -2.29557629e-02 7.64773525e+01] [ 3.22574794e-02 9.99479225e-01 8.56878379e-04 -2.95436373e+00] [ 2.29161914e-02 -1.59670236e-03 9.99736115e-01 8.25040482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.450714057 meters Centerline goodness [0,1] 0.9877324175948309 Centerline is valid? [True, True] Translation: X:76.51, Y:-2.96, Z:0.83 [[ 9.99205325e-01 -3.30523525e-02 -2.22769117e-02 7.65070847e+01] [ 3.30790687e-02 9.99452392e-01 8.31752003e-04 -2.95802515e+00] [ 2.22372213e-02 -1.56799052e-03 9.99751493e-01 8.25727306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.480714057 meters Centerline goodness [0,1] 0.9866434641113723 Centerline is valid? [True, True] Translation: X:76.54, Y:-2.96, Z:0.83 [[ 9.99203548e-01 -3.33159879e-02 -2.19616650e-02 7.65383815e+01] [ 3.33420237e-02 9.99443664e-01 8.20308861e-04 -2.96033129e+00] [ 2.19221175e-02 -1.55190188e-03 9.99758477e-01 8.26131673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.510714057 meters Centerline goodness [0,1] 0.9865633891874802 Centerline is valid? [True, True] Translation: X:76.57, Y:-2.96, Z:0.83 [[ 9.99160616e-01 -3.46196676e-02 -2.18984326e-02 7.65679614e+01] [ 3.46458745e-02 9.99399316e-01 8.18377481e-04 -2.96465537e+00] [ 2.18569466e-02 -1.57638090e-03 9.99759866e-01 8.26252798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.540714057 meters Centerline goodness [0,1] 0.9868602262208476 Centerline is valid? [True, True] Translation: X:76.60, Y:-2.96, Z:0.83 [[ 9.99130939e-01 -3.52807215e-02 -2.21954316e-02 7.66004410e+01] [ 3.53078218e-02 9.99376140e-01 8.30164091e-04 -2.96196528e+00] [ 2.21522959e-02 -1.61311497e-03 9.99753306e-01 8.27279180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.570714057 meters Centerline goodness [0,1] 0.987436393929842 Centerline is valid? [True, True] Translation: X:76.63, Y:-2.96, Z:0.83 [[ 9.99101963e-01 -3.59114521e-02 -2.24863225e-02 7.66322642e+01] [ 3.59394589e-02 9.99353614e-01 8.42490937e-04 -2.95966271e+00] [ 2.24415326e-02 -1.64988061e-03 9.99746796e-01 8.28214867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.600714057 meters Centerline goodness [0,1] 0.9866910288511426 Centerline is valid? [True, True] Translation: X:76.66, Y:-2.97, Z:0.83 [[ 9.99022303e-01 -3.77673341e-02 -2.29797095e-02 7.66621658e+01] [ 3.77970924e-02 9.99285063e-01 8.61869437e-04 -2.96779086e+00] [ 2.29307299e-02 -1.72959299e-03 9.99735560e-01 8.27410603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.630714057 meters Centerline goodness [0,1] 0.9844865242158828 Centerline is valid? [True, True] Translation: X:76.69, Y:-2.98, Z:0.83 [[ 9.98974497e-01 -3.88876405e-02 -2.31884782e-02 7.66919607e+01] [ 3.89182519e-02 9.99242019e-01 8.70114797e-04 -2.97780694e+00] [ 2.31370650e-02 -1.77167753e-03 9.99730732e-01 8.26651474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.660714057 meters Centerline goodness [0,1] 0.9812176896855318 Centerline is valid? [True, True] Translation: X:76.72, Y:-2.99, Z:0.83 [[ 9.98848484e-01 -4.16619050e-02 -2.37905929e-02 7.67211964e+01] [ 4.16949218e-02 9.99129989e-01 8.93241387e-04 -2.98566575e+00] [ 2.37326807e-02 -1.88415972e-03 9.99716565e-01 8.26375641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69071405700001 meters Centerline goodness [0,1] 0.9866618601297765 Centerline is valid? [True, True] Translation: X:76.75, Y:-2.98, Z:0.83 [[ 9.98792776e-01 -4.29495610e-02 -2.38395956e-02 7.67524277e+01] [ 4.29830913e-02 9.99075398e-01 8.95625304e-04 -2.97684035e+00] [ 2.37790868e-02 -1.91924360e-03 9.99715395e-01 8.27996965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72071405700001 meters Centerline goodness [0,1] 0.9862461359258098 Centerline is valid? [True, True] Translation: X:76.78, Y:-2.98, Z:0.83 [[ 9.98691443e-01 -4.44008566e-02 -2.53764806e-02 7.67821765e+01] [ 4.44393225e-02 9.99011630e-01 9.53600698e-04 -2.98198589e+00] [ 2.53090586e-02 -2.08006646e-03 9.99677510e-01 8.27520822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75071405700001 meters Centerline goodness [0,1] 0.9864251359733897 Centerline is valid? [True, True] Translation: X:76.81, Y:-2.98, Z:0.83 [[ 9.98665949e-01 -4.44630044e-02 -2.62557514e-02 7.68140221e+01] [ 4.45042298e-02 9.99008708e-01 9.87604835e-04 -2.98479113e+00] [ 2.61858124e-02 -2.15477931e-03 9.99654770e-01 8.27656407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.780714057 meters Centerline goodness [0,1] 0.986532744797766 Centerline is valid? [True, True] Translation: X:76.85, Y:-2.99, Z:0.83 [[ 9.98651693e-01 -4.45349845e-02 -2.66726809e-02 7.68464040e+01] [ 4.45776056e-02 9.99005419e-01 1.00516248e-03 -2.98732506e+00] [ 2.66013879e-02 -2.19281146e-03 9.99643715e-01 8.27750149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.810714057 meters Centerline goodness [0,1] 0.9832515420287246 Centerline is valid? [True, True] Translation: X:76.88, Y:-2.99, Z:0.83 [[ 9.98583704e-01 -4.56642850e-02 -2.73012632e-02 7.68760386e+01] [ 4.57094175e-02 9.98954246e-01 1.03101556e-03 -2.99353980e+00] [ 2.72256322e-02 -2.27748017e-03 9.99626719e-01 8.27002583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.840714057 meters Centerline goodness [0,1] 0.9872479906605002 Centerline is valid? [True, True] Translation: X:76.91, Y:-2.99, Z:0.83 [[ 9.98595060e-01 -4.53072243e-02 -2.74802213e-02 7.69074784e+01] [ 4.53528607e-02 9.98970489e-01 1.03938956e-03 -2.98597904e+00] [ 2.74048382e-02 -2.28423593e-03 9.99621807e-01 8.29579511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.870714057 meters Centerline goodness [0,1] 0.9874112040284148 Centerline is valid? [True, True] Translation: X:76.94, Y:-2.99, Z:0.83 [[ 9.98612742e-01 -4.50857797e-02 -2.72004377e-02 7.69386209e+01] [ 4.51304358e-02 9.98980572e-01 1.02977008e-03 -2.98754350e+00] [ 2.71262809e-02 -2.25590914e-03 9.99629469e-01 8.30111391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.900714057 meters Centerline goodness [0,1] 0.9874112040284148 Centerline is valid? [True, True] Translation: X:76.97, Y:-2.99, Z:0.83 [[ 9.98615960e-01 -4.50144819e-02 -2.72003811e-02 7.69704017e+01] [ 4.50591520e-02 9.98983788e-01 1.03126327e-03 -2.98880891e+00] [ 2.71263180e-02 -2.25546207e-03 9.99629469e-01 8.30508910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.930714057 meters Centerline goodness [0,1] 0.9873988413245869 Centerline is valid? [True, True] Translation: X:77.00, Y:-2.99, Z:0.83 [[ 9.98655389e-01 -4.43644272e-02 -2.68181073e-02 7.70005965e+01] [ 4.44076477e-02 9.99012975e-01 1.01790352e-03 -2.99167618e+00] [ 2.67464784e-02 -2.20746390e-03 9.99639812e-01 8.30955759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.960714057 meters Centerline goodness [0,1] 0.9879360792257483 Centerline is valid? [True, True] Translation: X:77.03, Y:-2.99, Z:0.83 [[ 9.98731018e-01 -4.32455863e-02 -2.58103242e-02 7.70325336e+01] [ 4.32852709e-02 9.99062272e-01 9.80575022e-04 -2.99177034e+00] [ 2.57437156e-02 -2.09653756e-03 9.99666377e-01 8.32431856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.990714057 meters Centerline goodness [0,1] 0.9873483262420927 Centerline is valid? [True, True] Translation: X:77.06, Y:-2.99, Z:0.83 [[ 9.98755305e-01 -4.24677712e-02 -2.61597022e-02 7.70638516e+01] [ 4.25083094e-02 9.99095618e-01 9.95246232e-04 -2.99431309e+00] [ 2.60937779e-02 -2.10601217e-03 9.99657281e-01 8.33042478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.020714057 meters Centerline goodness [0,1] 0.987300369935938 Centerline is valid? [True, True] Translation: X:77.10, Y:-2.99, Z:0.83 [[ 9.98772270e-01 -4.21003894e-02 -2.61057460e-02 7.70956751e+01] [ 4.21406681e-02 9.99111193e-01 9.94436656e-04 -2.99466160e+00] [ 2.60406769e-02 -2.09332934e-03 9.99658692e-01 8.33109724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05071405700001 meters Centerline goodness [0,1] 0.9886785658016161 Centerline is valid? [True, True] Translation: X:77.13, Y:-2.99, Z:0.83 [[ 9.98752137e-01 -4.21073601e-02 -2.68540432e-02 7.71278921e+01] [ 4.21500275e-02 9.99110767e-01 1.02454209e-03 -2.99192550e+00] [ 2.67870230e-02 -2.15516226e-03 9.99638840e-01 8.33625004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08071405700001 meters Centerline goodness [0,1] 0.9885052289938695 Centerline is valid? [True, True] Translation: X:77.16, Y:-3.00, Z:0.83 [[ 9.98703769e-01 -4.22714020e-02 -2.83533233e-02 7.71591103e+01] [ 4.23190863e-02 9.99103559e-01 1.08357015e-03 -2.99535376e+00] [ 2.82821022e-02 -2.28205233e-03 9.99597376e-01 8.32383965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11071405700001 meters Centerline goodness [0,1] 0.9886732120338678 Centerline is valid? [True, True] Translation: X:77.19, Y:-3.00, Z:0.83 [[ 9.98678401e-01 -4.23398441e-02 -2.91339831e-02 7.71899709e+01] [ 4.23902677e-02 9.99100506e-01 1.11502489e-03 -2.99606141e+00] [ 2.90605673e-02 -2.34854862e-03 9.99574894e-01 8.32437567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.140714057 meters Centerline goodness [0,1] 0.9848771266540642 Centerline is valid? [True, True] Translation: X:77.22, Y:-3.01, Z:0.83 [[ 9.98623308e-01 -4.31422228e-02 -2.98368441e-02 7.72200205e+01] [ 4.31954960e-02 9.99065985e-01 1.14294348e-03 -3.00734369e+00] [ 2.97596670e-02 -2.43018728e-03 9.99554129e-01 8.30014933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.170714057 meters Centerline goodness [0,1] 0.9870328680774426 Centerline is valid? [True, True] Translation: X:77.25, Y:-3.00, Z:0.83 [[ 9.98590424e-01 -4.37285362e-02 -3.00829052e-02 7.72510457e+01] [ 4.37829632e-02 9.99040401e-01 1.15259418e-03 -3.00317327e+00] [ 3.00036365e-02 -2.46808825e-03 9.99546742e-01 8.31337817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.200714057 meters Centerline goodness [0,1] 0.9869432856015334 Centerline is valid? [True, True] Translation: X:77.28, Y:-3.00, Z:0.83 [[ 9.98589060e-01 -4.39594582e-02 -2.97901799e-02 7.72818983e+01] [ 4.40129326e-02 9.99030309e-01 1.14137873e-03 -3.00385471e+00] [ 2.97111182e-02 -2.45092149e-03 9.99555522e-01 8.32143461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.230714057 meters Centerline goodness [0,1] 0.9878651685393258 Centerline is valid? [True, True] Translation: X:77.31, Y:-3.00, Z:0.83 [[ 9.98637526e-01 -4.33072078e-02 -2.91131678e-02 7.73129432e+01] [ 4.33580114e-02 9.99058976e-01 1.11573495e-03 -3.00225646e+00] [ 2.90374523e-02 -2.37650386e-03 9.99575499e-01 8.34022814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.260714057 meters Centerline goodness [0,1] 0.9875658872820652 Centerline is valid? [True, True] Translation: X:77.34, Y:-3.00, Z:0.84 [[ 9.98660180e-01 -4.27285074e-02 -2.91910707e-02 7.73446078e+01] [ 4.27793619e-02 9.99083917e-01 1.11954468e-03 -3.00025448e+00] [ 2.91164928e-02 -2.36682007e-03 9.99573223e-01 8.35881033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.290714057 meters Centerline goodness [0,1] 0.9872685966214544 Centerline is valid? [True, True] Translation: X:77.37, Y:-3.00, Z:0.84 [[ 9.98759068e-01 -4.10973334e-02 -2.81306505e-02 7.73745244e+01] [ 4.11439280e-02 9.99152647e-01 1.07930886e-03 -3.00397157e+00] [ 2.80624572e-02 -2.23537497e-03 9.99603672e-01 8.37320129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.320714057 meters Centerline goodness [0,1] 0.9881239436619719 Centerline is valid? [True, True] Translation: X:77.41, Y:-3.00, Z:0.84 [[ 9.98786299e-01 -4.07572310e-02 -2.76545849e-02 7.74064399e+01] [ 4.08021466e-02 9.99166682e-01 1.06158685e-03 -3.00023486e+00] [ 2.75882725e-02 -2.18866483e-03 9.99616975e-01 8.38993750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.350714057 meters Centerline goodness [0,1] 0.9875555154767004 Centerline is valid? [True, True] Translation: X:77.44, Y:-3.00, Z:0.84 [[ 9.98819173e-01 -4.04264831e-02 -2.69436099e-02 7.74363735e+01] [ 4.04690170e-02 9.99180258e-01 1.03498846e-03 -3.00150134e+00] [ 2.68796822e-02 -2.12414773e-03 9.99636419e-01 8.40078576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.380714057 meters Centerline goodness [0,1] 0.9870586643820174 Centerline is valid? [True, True] Translation: X:77.47, Y:-3.00, Z:0.84 [[ 9.98814412e-01 -4.07092806e-02 -2.66931500e-02 7.74673759e+01] [ 4.07511467e-02 9.99168800e-01 1.02609008e-03 -3.00328501e+00] [ 2.66291912e-02 -2.11265003e-03 9.99643148e-01 8.40677215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.410714057 meters Centerline goodness [0,1] 0.9861170584390706 Centerline is valid? [True, True] Translation: X:77.50, Y:-3.01, Z:0.84 [[ 9.98805125e-01 -4.09774065e-02 -2.66303458e-02 7.74983360e+01] [ 4.10192240e-02 9.99157831e-01 1.02569189e-03 -3.00643684e+00] [ 2.65658883e-02 -2.11682243e-03 9.99644823e-01 8.41051070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44071405700001 meters Centerline goodness [0,1] 0.9858270905041506 Centerline is valid? [True, True] Translation: X:77.53, Y:-3.01, Z:0.84 [[ 9.98746357e-01 -4.20080148e-02 -2.72220665e-02 7.75289507e+01] [ 4.20521381e-02 9.99114866e-01 1.05016291e-03 -3.00933038e+00] [ 2.71538561e-02 -2.19359248e-03 9.99628859e-01 8.41210612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47071405700001 meters Centerline goodness [0,1] 0.9880552613193302 Centerline is valid? [True, True] Translation: X:77.56, Y:-3.01, Z:0.84 [[ 9.98680525e-01 -4.26309511e-02 -2.86323584e-02 7.75602299e+01] [ 4.26800442e-02 9.99088180e-01 1.10537917e-03 -3.00678337e+00] [ 2.85591275e-02 -2.32595097e-03 9.99589399e-01 8.41753861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50071405700001 meters Centerline goodness [0,1] 0.986445952955504 Centerline is valid? [True, True] Translation: X:77.59, Y:-3.01, Z:0.84 [[ 9.98626311e-01 -4.29610977e-02 -2.99972412e-02 7.75903226e+01] [ 4.30151568e-02 9.99073748e-01 1.15885559e-03 -3.01447511e+00] [ 2.99196705e-02 -2.44759972e-03 9.99549310e-01 8.39813435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.530714057 meters Centerline goodness [0,1] 0.9882907679812292 Centerline is valid? [True, True] Translation: X:77.62, Y:-3.01, Z:0.84 [[ 9.98580748e-01 -4.23008980e-02 -3.23592972e-02 7.76209250e+01] [ 4.23634747e-02 9.99101483e-01 1.25034742e-03 -3.01152208e+00] [ 3.22773309e-02 -2.61942513e-03 9.99475519e-01 8.39432451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.560714057 meters Centerline goodness [0,1] 0.9888648453701199 Centerline is valid? [True, True] Translation: X:77.65, Y:-3.01, Z:0.84 [[ 9.98588202e-01 -4.16842456e-02 -3.29245457e-02 7.76512349e+01] [ 4.17486961e-02 9.99127333e-01 1.27218835e-03 -3.01217359e+00] [ 3.28427833e-02 -2.64494912e-03 9.99457031e-01 8.39705740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.590714057 meters Centerline goodness [0,1] 0.9885913591359136 Centerline is valid? [True, True] Translation: X:77.68, Y:-3.01, Z:0.84 [[ 9.98640790e-01 -4.02002311e-02 -3.31740071e-02 7.76814546e+01] [ 4.02648370e-02 9.99188221e-01 1.28146294e-03 -3.01320371e+00] [ 3.30955620e-02 -2.61546715e-03 9.99448770e-01 8.40106245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.620714057 meters Centerline goodness [0,1] 0.9896047546948091 Centerline is valid? [True, True] Translation: X:77.71, Y:-3.01, Z:0.84 [[ 9.98764356e-01 -3.70530535e-02 -3.31184636e-02 7.77117699e+01] [ 3.71157136e-02 9.99310156e-01 1.27901641e-03 -3.01189891e+00] [ 3.30482256e-02 -2.50665141e-03 9.99450615e-01 8.41508903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.650714057 meters Centerline goodness [0,1] 0.9898520656684107 Centerline is valid? [True, True] Translation: X:77.74, Y:-3.01, Z:0.84 [[ 9.98883409e-01 -3.44266266e-02 -3.23534134e-02 7.77416760e+01] [ 3.44850408e-02 9.99404434e-01 1.24907703e-03 -3.01110610e+00] [ 3.22911433e-02 -2.36339111e-03 9.99475711e-01 8.42695630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.680714057 meters Centerline goodness [0,1] 0.9894097457435759 Centerline is valid? [True, True] Translation: X:77.77, Y:-3.01, Z:0.84 [[ 9.99032956e-01 -2.94878327e-02 -3.26131859e-02 7.77710405e+01] [ 2.95445471e-02 9.99562672e-01 1.25836721e-03 -3.00801676e+00] [ 3.25618167e-02 -2.22069211e-03 9.99467256e-01 8.44255931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.710714057 meters Centerline goodness [0,1] 0.9886732851985559 Centerline is valid? [True, True] Translation: X:77.80, Y:-3.02, Z:0.84 [[ 9.99111807e-01 -2.71513606e-02 -3.22242214e-02 7.77997876e+01] [ 2.72054880e-02 9.99629090e-01 1.24236929e-03 -3.01563130e+00] [ 3.21785371e-02 -2.11794149e-03 9.99479893e-01 8.42596147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.740714057 meters Centerline goodness [0,1] 0.9909251380465285 Centerline is valid? [True, True] Translation: X:77.83, Y:-3.00, Z:0.85 [[ 9.99244747e-01 -2.34845920e-02 -3.09581924e-02 7.78305984e+01] [ 2.35327805e-02 9.99722354e-01 1.19308364e-03 -3.00246464e+00] [ 3.09215779e-02 -1.92071491e-03 9.99519968e-01 8.47556367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.770714057 meters Centerline goodness [0,1] 0.9910089457592571 Centerline is valid? [True, True] Translation: X:77.86, Y:-3.00, Z:0.85 [[ 9.99281273e-01 -2.19378900e-02 -3.09138703e-02 7.78592681e+01] [ 2.19851625e-02 9.99757589e-01 1.19005452e-03 -3.00355262e+00] [ 3.08802691e-02 -1.86884566e-03 9.99521344e-01 8.48558540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80071405700001 meters Centerline goodness [0,1] 0.9904304060306498 Centerline is valid? [True, True] Translation: X:77.89, Y:-3.01, Z:0.85 [[ 9.99278100e-01 -2.18737903e-02 -3.10614743e-02 7.78868916e+01] [ 2.19213821e-02 9.99758987e-01 1.19242926e-03 -3.00961252e+00] [ 3.10279051e-02 -1.87247890e-03 9.99516765e-01 8.47010465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83071405700001 meters Centerline goodness [0,1] 0.9900707936579739 Centerline is valid? [True, True] Translation: X:77.92, Y:-3.01, Z:0.85 [[ 9.99252024e-01 -2.25055656e-02 -3.14466633e-02 7.79159952e+01] [ 2.25544627e-02 9.99744894e-01 1.20102238e-03 -3.00736772e+00] [ 3.14116114e-02 -1.90938664e-03 9.99504710e-01 8.48765463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86071405700001 meters Centerline goodness [0,1] 0.9907866440294284 Centerline is valid? [True, True] Translation: X:77.94, Y:-3.01, Z:0.85 [[ 9.99193980e-01 -2.43452536e-02 -3.19170490e-02 7.79440866e+01] [ 2.43964212e-02 9.99701625e-01 1.21463719e-03 -3.01122186e+00] [ 3.18779551e-02 -1.99231994e-03 9.99489783e-01 8.47726082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.890714057 meters Centerline goodness [0,1] 0.9910178289325209 Centerline is valid? [True, True] Translation: X:77.97, Y:-3.01, Z:0.85 [[ 9.99150750e-01 -2.56890874e-02 -3.22156693e-02 7.79733136e+01] [ 2.57418397e-02 9.99667875e-01 1.22372311e-03 -3.00645308e+00] [ 3.21735334e-02 -2.05197446e-03 9.99480191e-01 8.50066056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.920714057 meters Centerline goodness [0,1] 0.9902776521660487 Centerline is valid? [True, True] Translation: X:78.00, Y:-3.02, Z:0.85 [[ 9.99047920e-01 -2.89871181e-02 -3.26036819e-02 7.80017632e+01] [ 2.90428563e-02 9.99577402e-01 1.23719104e-03 -3.02024956e+00] [ 3.25540410e-02 -2.18291718e-03 9.99467593e-01 8.46751219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.950714057 meters Centerline goodness [0,1] 0.9896136738242002 Centerline is valid? [True, True] Translation: X:78.03, Y:-3.01, Z:0.85 [[ 9.99004162e-01 -3.07873138e-02 -3.22928251e-02 7.80317360e+01] [ 3.08428996e-02 9.99523495e-01 1.22446901e-03 -3.01389127e+00] [ 3.22397393e-02 -2.21925400e-03 9.99477701e-01 8.50072501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.980714057 meters Centerline goodness [0,1] 0.9908145072107247 Centerline is valid? [True, True] Translation: X:78.06, Y:-3.01, Z:0.85 [[ 9.98955634e-01 -3.25293863e-02 -3.20855129e-02 7.80616445e+01] [ 3.25851170e-02 9.99468225e-01 1.21544411e-03 -3.01209842e+00] [ 3.20289130e-02 -2.25968494e-03 9.99484388e-01 8.51893266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.010714057 meters Centerline goodness [0,1] 0.9902735150749232 Centerline is valid? [True, True] Translation: X:78.09, Y:-3.02, Z:0.85 [[ 9.98900984e-01 -3.48948499e-02 -3.12917608e-02 7.80900483e+01] [ 3.49489637e-02 9.99388397e-01 1.18389571e-03 -3.01727428e+00] [ 3.12313108e-02 -2.27620921e-03 9.99509592e-01 8.52571371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.040714057 meters Centerline goodness [0,1] 0.9899094787692725 Centerline is valid? [True, True] Translation: X:78.12, Y:-3.02, Z:0.85 [[ 9.98891152e-01 -3.59149022e-02 -3.04398870e-02 7.81185202e+01] [ 3.59665296e-02 9.99352333e-01 1.15003083e-03 -3.01988758e+00] [ 3.03788689e-02 -2.24357272e-03 9.99535938e-01 8.53060598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.070714057 meters Centerline goodness [0,1] 0.9886458544953839 Centerline is valid? [True, True] Translation: X:78.15, Y:-3.02, Z:0.85 [[ 9.98877443e-01 -3.74858944e-02 -2.89596641e-02 7.81486548e+01] [ 3.75332497e-02 9.99294781e-01 1.09316986e-03 -3.02092424e+00] [ 2.88982628e-02 -2.17889302e-03 9.99579983e-01 8.54311574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.100714057 meters Centerline goodness [0,1] 0.9749238234962194 Centerline is valid? [True, True] Translation: X:78.18, Y:-3.04, Z:0.85 [[ 9.98869648e-01 -3.81963098e-02 -2.82925342e-02 7.81772434e+01] [ 3.82417765e-02 9.99267946e-01 1.06748596e-03 -3.04073429e+00] [ 2.82310485e-02 -2.14823610e-03 9.99599116e-01 8.50816573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.130714057 meters Centerline goodness [0,1] 0.9890877050291447 Centerline is valid? [True, True] Translation: X:78.21, Y:-3.03, Z:0.85 [[ 9.98847098e-01 -3.94996515e-02 -2.72809715e-02 7.82089821e+01] [ 3.95424153e-02 9.99217362e-01 1.02962752e-03 -3.02836068e+00] [ 2.72189505e-02 -2.10719597e-03 9.99627275e-01 8.53900886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.160714057 meters Centerline goodness [0,1] 0.989642567018684 Centerline is valid? [True, True] Translation: X:78.24, Y:-3.03, Z:0.85 [[ 9.98820373e-01 -4.02810932e-02 -2.71163300e-02 7.82401804e+01] [ 4.03236543e-02 9.99186146e-01 1.02436884e-03 -3.03064793e+00] [ 2.70529985e-02 -2.11658998e-03 9.99631760e-01 8.54034262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19071405700001 meters Centerline goodness [0,1] 0.9879237957654282 Centerline is valid? [True, True] Translation: X:78.27, Y:-3.03, Z:0.85 [[ 9.98733349e-01 -4.21979144e-02 -2.74050056e-02 7.82703790e+01] [ 4.22421231e-02 9.99106866e-01 1.03598049e-03 -3.03385139e+00] [ 2.73368130e-02 -2.19231388e-03 9.99623875e-01 8.53781343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22071405700001 meters Centerline goodness [0,1] 0.9874649289528464 Centerline is valid? [True, True] Translation: X:78.30, Y:-3.04, Z:0.85 [[ 9.98680272e-01 -4.32010874e-02 -2.77737291e-02 7.83016654e+01] [ 4.32469004e-02 9.99063863e-01 1.05066997e-03 -3.03652668e+00] [ 2.77023390e-02 -2.25041107e-03 9.99613683e-01 8.53326364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25071405700001 meters Centerline goodness [0,1] 0.9878824803682643 Centerline is valid? [True, True] Translation: X:78.33, Y:-3.04, Z:0.85 [[ 9.98642082e-01 -4.38374330e-02 -2.81473257e-02 7.83330717e+01] [ 4.38847659e-02 9.99036031e-01 1.06578473e-03 -3.03799949e+00] [ 2.80734713e-02 -2.29957628e-03 9.99603217e-01 8.53332005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.280714057 meters Centerline goodness [0,1] 0.9863449645646187 Centerline is valid? [True, True] Translation: X:78.36, Y:-3.04, Z:0.85 [[ 9.98559250e-01 -4.57656012e-02 -2.80166662e-02 7.83626962e+01] [ 4.58132831e-02 9.98949456e-01 1.06205326e-03 -3.04419357e+00] [ 2.79386279e-02 -2.34405857e-03 9.99606892e-01 8.52402022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.310714057 meters Centerline goodness [0,1] 0.9889531468847422 Centerline is valid? [True, True] Translation: X:78.39, Y:-3.04, Z:0.85 [[ 9.98525155e-01 -4.66804419e-02 -2.77209504e-02 7.83947844e+01] [ 4.67275293e-02 9.98907117e-01 1.05291483e-03 -3.03651693e+00] [ 2.76415041e-02 -2.34669347e-03 9.99615146e-01 8.54405166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.340714057 meters Centerline goodness [0,1] 0.9793567621284669 Centerline is valid? [True, True] Translation: X:78.42, Y:-3.05, Z:0.85 [[ 9.98444752e-01 -4.83820934e-02 -2.76992985e-02 7.84241067e+01] [ 4.84297899e-02 9.98826034e-01 1.05327834e-03 -3.05040882e+00] [ 2.76158206e-02 -2.39311144e-03 9.99615746e-01 8.52303165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.370714057 meters Centerline goodness [0,1] 0.9780237118514178 Centerline is valid? [True, True] Translation: X:78.46, Y:-3.05, Z:0.85 [[ 9.98437983e-01 -4.85969397e-02 -2.75668702e-02 7.84563710e+01] [ 4.86442901e-02 9.98815615e-01 1.04925839e-03 -3.05164266e+00] [ 2.74832296e-02 -2.38859026e-03 9.99619411e-01 8.52548857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.400714057 meters Centerline goodness [0,1] 0.9742906199168625 Centerline is valid? [True, True] Translation: X:78.49, Y:-3.05, Z:0.85 [[ 9.98438596e-01 -4.87199061e-02 -2.73265472e-02 7.84882833e+01] [ 4.87665297e-02 9.98809662e-01 1.04193767e-03 -3.05407925e+00] [ 2.72432562e-02 -2.37293166e-03 9.99626017e-01 8.52321963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.430714057 meters Centerline goodness [0,1] 0.9876092637649815 Centerline is valid? [True, True] Translation: X:78.52, Y:-3.05, Z:0.85 [[ 9.98468885e-01 -4.81352204e-02 -2.72559255e-02 7.85203976e+01] [ 4.81814381e-02 9.98838057e-01 1.04112330e-03 -3.04696929e+00] [ 2.71741410e-02 -2.35275891e-03 9.99627946e-01 8.53893113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.460714057 meters Centerline goodness [0,1] 0.988118096184689 Centerline is valid? [True, True] Translation: X:78.55, Y:-3.04, Z:0.86 [[ 9.98545343e-01 -4.68565200e-02 -2.66770454e-02 7.85516434e+01] [ 4.69003783e-02 9.98899051e-01 1.02039080e-03 -3.04271958e+00] [ 2.65998634e-02 -2.27007000e-03 9.99643584e-01 8.55824957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.490714057 meters Centerline goodness [0,1] 0.9886237952283141 Centerline is valid? [True, True] Translation: X:78.58, Y:-3.04, Z:0.86 [[ 9.98592333e-01 -4.60583973e-02 -2.63054532e-02 7.85834828e+01] [ 4.61007980e-02 9.98936285e-01 1.00736404e-03 -3.04274540e+00] [ 2.62310742e-02 -2.21864840e-03 9.99653444e-01 8.56608395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.520714057 meters Centerline goodness [0,1] 0.9863294908524893 Centerline is valid? [True, True] Translation: X:78.61, Y:-3.05, Z:0.86 [[ 9.98634974e-01 -4.54582887e-02 -2.57241634e-02 7.86147904e+01] [ 4.54986727e-02 9.98963912e-01 9.86461088e-04 -3.04867139e+00] [ 2.56526681e-02 -2.15552984e-03 9.99668592e-01 8.57027083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55071405700001 meters Centerline goodness [0,1] 0.9887713918513675 Centerline is valid? [True, True] Translation: X:78.65, Y:-3.04, Z:0.86 [[ 9.98694140e-01 -4.48332370e-02 -2.44948218e-02 7.86469400e+01] [ 4.48696967e-02 9.98992405e-01 9.40604074e-04 -3.04144990e+00] [ 2.44279706e-02 -2.03845100e-03 9.99699514e-01 8.59786388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58071405700001 meters Centerline goodness [0,1] 0.9889068898789434 Centerline is valid? [True, True] Translation: X:78.68, Y:-3.04, Z:0.86 [[ 9.98697197e-01 -4.48973410e-02 -2.42515253e-02 7.86787148e+01] [ 4.49331357e-02 9.98989561e-01 9.32792838e-04 -3.04122277e+00] [ 2.41851406e-02 -2.02127467e-03 9.99705453e-01 8.60356283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61071405700001 meters Centerline goodness [0,1] 0.9883891662337075 Centerline is valid? [True, True] Translation: X:78.71, Y:-3.04, Z:0.86 [[ 9.98679358e-01 -4.53597295e-02 -2.41254148e-02 7.87094403e+01] [ 4.53953237e-02 9.98968669e-01 9.29481418e-04 -3.04465163e+00] [ 2.40583724e-02 -2.02343492e-03 9.99708508e-01 8.60257985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.640714057 meters Centerline goodness [0,1] 0.9884920008123294 Centerline is valid? [True, True] Translation: X:78.74, Y:-3.05, Z:0.86 [[ 9.98664649e-01 -4.56857849e-02 -2.41190362e-02 7.87416988e+01] [ 4.57214912e-02 9.98953792e-01 9.30753292e-04 -3.04693163e+00] [ 2.40512804e-02 -2.03226871e-03 9.99708660e-01 8.60413142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.670714057 meters Centerline goodness [0,1] 0.9881404174573055 Centerline is valid? [True, True] Translation: X:78.77, Y:-3.05, Z:0.86 [[ 9.98615376e-01 -4.62761273e-02 -2.50169923e-02 7.87734891e+01] [ 4.63147725e-02 9.98926427e-01 9.67242095e-04 -3.04937851e+00] [ 2.49453745e-02 -2.12455914e-03 9.99686558e-01 8.60313126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.700714057 meters Centerline goodness [0,1] 0.9879175871241153 Centerline is valid? [True, True] Translation: X:78.81, Y:-3.05, Z:0.86 [[ 9.98612004e-01 -4.63507258e-02 -2.50135092e-02 7.88058627e+01] [ 4.63894283e-02 9.98922961e-01 9.68901477e-04 -3.05257325e+00] [ 2.49416594e-02 -2.12791903e-03 9.99686644e-01 8.59834774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.730714057 meters Centerline goodness [0,1] 0.9869851097001604 Centerline is valid? [True, True] Translation: X:78.84, Y:-3.06, Z:0.86 [[ 9.98591714e-01 -4.67866960e-02 -2.50118872e-02 7.88367508e+01] [ 4.68255681e-02 9.98902610e-01 9.70399275e-04 -3.05701089e+00] [ 2.49390376e-02 -2.14022850e-03 9.99686683e-01 8.59683152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.760714057 meters Centerline goodness [0,1] 0.9875489710451659 Centerline is valid? [True, True] Translation: X:78.87, Y:-3.06, Z:0.86 [[ 9.98597517e-01 -4.67593611e-02 -2.48306430e-02 7.88686313e+01] [ 4.67977012e-02 9.98903921e-01 9.64901368e-04 -3.05781236e+00] [ 2.47583085e-02 -2.12556513e-03 9.99691206e-01 8.60483662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.790714057 meters Centerline goodness [0,1] 0.9866735933864884 Centerline is valid? [True, True] Translation: X:78.90, Y:-3.06, Z:0.86 [[ 9.98615080e-01 -4.70274063e-02 -2.35869828e-02 7.89006074e+01] [ 4.70621131e-02 9.98891543e-01 9.18192287e-04 -3.06110700e+00] [ 2.35176574e-02 -2.02697391e-03 9.99721367e-01 8.61603666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.820714057 meters Centerline goodness [0,1] 0.9867440866023001 Centerline is valid? [True, True] Translation: X:78.93, Y:-3.06, Z:0.86 [[ 9.98616085e-01 -4.72106887e-02 -2.31746907e-02 7.89316620e+01] [ 4.72442742e-02 9.98882957e-01 9.03565829e-04 -3.06477781e+00] [ 2.31061456e-02 -1.99718681e-03 9.99731022e-01 8.62041615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.850714057 meters Centerline goodness [0,1] 0.9867440866023001 Centerline is valid? [True, True] Translation: X:78.96, Y:-3.07, Z:0.86 [[ 9.98619369e-01 -4.71411948e-02 -2.31746362e-02 7.89634477e+01] [ 4.71747940e-02 9.98886240e-01 9.04963295e-04 -3.06608194e+00] [ 2.31061641e-02 -1.99697256e-03 9.99731022e-01 8.62439143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.880714057 meters Centerline goodness [0,1] 0.9860582445550575 Centerline is valid? [True, True] Translation: X:79.00, Y:-3.07, Z:0.86 [[ 9.98577667e-01 -4.80603876e-02 -2.30833900e-02 7.89957494e+01] [ 4.80940033e-02 9.98842406e-01 9.03001884e-04 -3.07017396e+00] [ 2.30132702e-02 -2.01189015e-03 9.99733135e-01 8.62682681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.910714057 meters Centerline goodness [0,1] 0.9837148183921471 Centerline is valid? [True, True] Translation: X:79.03, Y:-3.08, Z:0.86 [[ 9.98470664e-01 -5.03043375e-02 -2.29304612e-02 7.90254074e+01] [ 5.03381303e-02 9.98731829e-01 8.98516572e-04 -3.07626861e+00] [ 2.28561821e-02 -2.05141898e-03 9.99736659e-01 8.62737573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94071405700001 meters Centerline goodness [0,1] 0.9806396550175186 Centerline is valid? [True, True] Translation: X:79.06, Y:-3.08, Z:0.86 [[ 9.98405806e-01 -5.14978258e-02 -2.31045490e-02 7.90571088e+01] [ 5.15324810e-02 9.98670907e-01 9.06652274e-04 -3.08092583e+00] [ 2.30271503e-02 -2.09584163e-03 9.99732643e-01 8.62644903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97071405700001 meters Centerline goodness [0,1] 0.9785006501367529 Centerline is valid? [True, True] Translation: X:79.09, Y:-3.09, Z:0.86 [[ 9.98280172e-01 -5.39712136e-02 -2.28868188e-02 7.90876638e+01] [ 5.40058788e-02 9.98540213e-01 8.98808176e-04 -3.08588253e+00] [ 2.28048991e-02 -2.13328514e-03 9.99737658e-01 8.62854597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00071405700001 meters Centerline goodness [0,1] 0.9865829032981827 Centerline is valid? [True, True] Translation: X:79.12, Y:-3.08, Z:0.86 [[ 9.98211910e-01 -5.52013696e-02 -2.29301579e-02 7.91195090e+01] [ 5.52364982e-02 9.98472893e-01 9.00960400e-04 -3.07987413e+00] [ 2.28454068e-02 -2.16593102e-03 9.99736663e-01 8.63997966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.030714057 meters Centerline goodness [0,1] 0.9854055382964934 Centerline is valid? [True, True] Translation: X:79.15, Y:-3.09, Z:0.86 [[ 9.98153410e-01 -5.62199908e-02 -2.30018076e-02 7.91504623e+01] [ 5.62556426e-02 9.98415987e-01 9.05314877e-04 -3.08676120e+00] [ 2.29144757e-02 -2.19762460e-03 9.99735014e-01 8.63860411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.060714057 meters Centerline goodness [0,1] 0.9840662414680541 Centerline is valid? [True, True] Translation: X:79.18, Y:-3.09, Z:0.86 [[ 9.98155059e-01 -5.62303177e-02 -2.29047873e-02 7.91828521e+01] [ 5.62657181e-02 9.98415421e-01 9.03520585e-04 -3.09047219e+00] [ 2.28176876e-02 -2.19060795e-03 9.99737243e-01 8.64057929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.090714057 meters Centerline goodness [0,1] 0.9834496332080873 Centerline is valid? [True, True] Translation: X:79.21, Y:-3.09, Z:0.86 [[ 9.98176574e-01 -5.61039051e-02 -2.22683496e-02 7.92145062e+01] [ 5.61373682e-02 9.98422667e-01 8.79963248e-04 -3.09336843e+00] [ 2.21838557e-02 -2.12844524e-03 9.99751642e-01 8.64643100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.120714057 meters Centerline goodness [0,1] 0.982927536878752 Centerline is valid? [True, True] Translation: X:79.25, Y:-3.10, Z:0.87 [[ 9.98290251e-01 -5.44577978e-02 -2.12349517e-02 7.92456973e+01] [ 5.44878784e-02 9.98514079e-01 8.40121542e-04 -3.09521502e+00] [ 2.11576471e-02 -1.99573261e-03 9.99774160e-01 8.66420811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.150714057 meters Centerline goodness [0,1] 0.9806243994010772 Centerline is valid? [True, True] Translation: X:79.28, Y:-3.10, Z:0.87 [[ 9.98459953e-01 -5.15207943e-02 -2.05749653e-02 7.92756301e+01] [ 5.15484200e-02 9.98670164e-01 8.14239017e-04 -3.09829558e+00] [ 2.05056538e-02 -1.87359200e-03 9.99787981e-01 8.68201707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.180714057 meters Centerline goodness [0,1] 0.9774726501451216 Centerline is valid? [True, True] Translation: X:79.31, Y:-3.10, Z:0.87 [[ 9.98544215e-01 -4.98205132e-02 -2.06728577e-02 7.93065408e+01] [ 4.98480474e-02 9.98756478e-01 8.18421473e-04 -3.10032091e+00] [ 2.06063764e-02 -1.84773162e-03 9.99785959e-01 8.68636176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.210714057 meters Centerline goodness [0,1] 0.9824889720625585 Centerline is valid? [True, True] Translation: X:79.34, Y:-3.10, Z:0.87 [[ 9.98656012e-01 -4.75481409e-02 -2.06238743e-02 7.93377528e+01] [ 4.75750757e-02 9.98867331e-01 8.17053878e-04 -3.09837672e+00] [ 2.05616649e-02 -1.79713815e-03 9.99786971e-01 8.69409877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.240714057 meters Centerline goodness [0,1] 0.983324019224321 Centerline is valid? [True, True] Translation: X:79.37, Y:-3.10, Z:0.87 [[ 9.98850054e-01 -4.31786793e-02 -2.08367575e-02 7.93677711e+01] [ 4.32052335e-02 9.99065877e-01 8.25693567e-04 -3.09815538e+00] [ 2.07816410e-02 -1.72500104e-03 9.99782550e-01 8.69305308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.270714057 meters Centerline goodness [0,1] 0.9840898976412995 Centerline is valid? [True, True] Translation: X:79.40, Y:-3.10, Z:0.87 [[ 9.98997821e-01 -3.92104859e-02 -2.15844959e-02 7.93975238e+01] [ 3.92380568e-02 9.99229525e-01 8.55149380e-04 -3.09876096e+00] [ 2.15343347e-02 -1.70122604e-03 9.99766662e-01 8.68960403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30071405700001 meters Centerline goodness [0,1] 0.9834051772273469 Centerline is valid? [True, True] Translation: X:79.43, Y:-3.10, Z:0.87 [[ 9.99037836e-01 -3.79311027e-02 -2.20144007e-02 7.94290170e+01] [ 3.79594764e-02 9.99278899e-01 8.72276851e-04 -3.09916003e+00] [ 2.19654396e-02 -1.70709270e-03 9.99757273e-01 8.68966457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33071405700001 meters Centerline goodness [0,1] 0.9836940740244365 Centerline is valid? [True, True] Translation: X:79.46, Y:-3.10, Z:0.87 [[ 9.99076276e-01 -3.63914409e-02 -2.28529475e-02 7.94601814e+01] [ 3.64216313e-02 9.99336101e-01 9.06103029e-04 -3.10010620e+00] [ 2.28048011e-02 -1.73760767e-03 9.99738427e-01 8.69055662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36071405700001 meters Centerline goodness [0,1] 0.9852766776308429 Centerline is valid? [True, True] Translation: X:79.49, Y:-3.10, Z:0.87 [[ 9.99100508e-01 -3.47815009e-02 -2.42573979e-02 7.94914117e+01] [ 3.48150555e-02 9.99393309e-01 9.62198690e-04 -3.09928816e+00] [ 2.42092145e-02 -1.80585586e-03 9.99705283e-01 8.68760364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.390714057 meters Centerline goodness [0,1] 0.98284807012836 Centerline is valid? [True, True] Translation: X:79.52, Y:-3.10, Z:0.87 [[ 9.99086631e-01 -3.47030698e-02 -2.49319255e-02 7.95209471e+01] [ 3.47384931e-02 9.99395947e-01 9.88962344e-04 -3.10298337e+00] [ 2.48825453e-02 -1.85415658e-03 9.99688662e-01 8.67952411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.420714057 meters Centerline goodness [0,1] 0.9805104512424868 Centerline is valid? [True, True] Translation: X:79.55, Y:-3.11, Z:0.87 [[ 9.99051204e-01 -3.50950442e-02 -2.57881747e-02 7.95509613e+01] [ 3.51330677e-02 9.99382120e-01 1.02271581e-03 -3.10715341e+00] [ 2.57363485e-02 -1.92776315e-03 9.99666907e-01 8.67063070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.450714057 meters Centerline goodness [0,1] 0.9776625002794982 Centerline is valid? [True, True] Translation: X:79.58, Y:-3.11, Z:0.87 [[ 9.99025462e-01 -3.54995323e-02 -2.62280208e-02 7.95813536e+01] [ 3.55390031e-02 9.99367749e-01 1.04015937e-03 -3.11050130e+00] [ 2.61745130e-02 -1.97126341e-03 9.99655445e-01 8.67400678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.480714057 meters Centerline goodness [0,1] 0.9882274098067687 Centerline is valid? [True, True] Translation: X:79.61, Y:-3.10, Z:0.87 [[ 9.98981113e-01 -3.70223901e-02 -2.58084906e-02 7.96123589e+01] [ 3.70611129e-02 9.99312477e-01 1.02352151e-03 -3.10034309e+00] [ 2.57528535e-02 -1.97897004e-03 9.99666381e-01 8.70795288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.510714057 meters Centerline goodness [0,1] 0.988395492353099 Centerline is valid? [True, True] Translation: X:79.64, Y:-3.10, Z:0.87 [[ 9.98931354e-01 -3.82925928e-02 -2.58810162e-02 7.96439844e+01] [ 3.83319698e-02 9.99264532e-01 1.02688179e-03 -3.09886314e+00] [ 2.58226596e-02 -2.01785475e-03 9.99664503e-01 8.72506869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.540714057 meters Centerline goodness [0,1] 0.9871663244353183 Centerline is valid? [True, True] Translation: X:79.67, Y:-3.11, Z:0.87 [[ 9.98814528e-01 -4.11269173e-02 -2.60406511e-02 7.96736770e+01] [ 4.11677640e-02 9.99151713e-01 1.03418711e-03 -3.10913181e+00] [ 2.59760283e-02 -2.10499649e-03 9.99660350e-01 8.71782364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.570714057 meters Centerline goodness [0,1] 0.986780905752754 Centerline is valid? [True, True] Translation: X:79.71, Y:-3.11, Z:0.87 [[ 9.98753040e-01 -4.26421633e-02 -2.59617354e-02 7.97052059e+01] [ 4.26832958e-02 9.99088120e-01 1.03200627e-03 -3.11137976e+00] [ 2.58940544e-02 -2.13885183e-03 9.99662405e-01 8.72253122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.600714057 meters Centerline goodness [0,1] 0.9859747545582047 Centerline is valid? [True, True] Translation: X:79.73, Y:-3.12, Z:0.87 [[ 9.98549483e-01 -4.66808852e-02 -2.68295508e-02 7.97348254e+01] [ 4.67262876e-02 9.98907160e-01 1.06747468e-03 -3.11881927e+00] [ 2.67503998e-02 -2.31957160e-03 9.99639453e-01 8.72024594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.630714057 meters Centerline goodness [0,1] 0.986027366781622 Centerline is valid? [True, True] Translation: X:79.77, Y:-3.12, Z:0.87 [[ 9.98452122e-01 -4.85413765e-02 -2.71494977e-02 7.97658301e+01] [ 4.85885703e-02 9.98818293e-01 1.08091569e-03 -3.12308224e+00] [ 2.70649459e-02 -2.39839785e-03 9.99630800e-01 8.72205776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.660714057 meters Centerline goodness [0,1] 0.9843461632535077 Centerline is valid? [True, True] Translation: X:79.79, Y:-3.13, Z:0.87 [[ 9.98291452e-01 -5.16993841e-02 -2.72277536e-02 7.97947661e+01] [ 5.17480155e-02 9.98659586e-01 1.08403984e-03 -3.13107871e+00] [ 2.71352130e-02 -2.49116993e-03 9.99628668e-01 8.72081710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.69071405700001 meters Centerline goodness [0,1] 0.9832962138084632 Centerline is valid? [True, True] Translation: X:79.83, Y:-3.14, Z:0.87 [[ 9.98198578e-01 -5.33227015e-02 -2.75007137e-02 7.98253991e+01] [ 5.33729261e-02 9.98574049e-01 1.09498799e-03 -3.13546451e+00] [ 2.74031113e-02 -2.56080901e-03 9.99621184e-01 8.72544185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72071405700001 meters Centerline goodness [0,1] 0.9841128565706911 Centerline is valid? [True, True] Translation: X:79.86, Y:-3.14, Z:0.87 [[ 9.98137367e-01 -5.44800976e-02 -2.74538866e-02 7.98564227e+01] [ 5.45305983e-02 9.98511501e-01 1.09360636e-03 -3.13732884e+00] [ 2.73534417e-02 -2.58864623e-03 9.99622473e-01 8.73029977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75071405700001 meters Centerline goodness [0,1] 0.9849635715392963 Centerline is valid? [True, True] Translation: X:79.89, Y:-3.14, Z:0.87 [[ 9.98024622e-01 -5.64096884e-02 -2.76550275e-02 7.98873485e+01] [ 5.64616797e-02 9.98404159e-01 1.10211721e-03 -3.13865063e+00] [ 2.75487244e-02 -2.66138942e-03 9.99616919e-01 8.73331146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.780714057 meters Centerline goodness [0,1] 0.9822071922728378 Centerline is valid? [True, True] Translation: X:79.92, Y:-3.15, Z:0.87 [[ 9.97993297e-01 -5.69377790e-02 -2.77032390e-02 7.99181807e+01] [ 5.69901825e-02 9.98374127e-01 1.10509221e-03 -3.14602689e+00] [ 2.75952756e-02 -2.68168726e-03 9.99615581e-01 8.72915884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.810714057 meters Centerline goodness [0,1] 0.9838563033595742 Centerline is valid? [True, True] Translation: X:79.95, Y:-3.15, Z:0.87 [[ 9.97952908e-01 -5.75893770e-02 -2.78110881e-02 7.99500276e+01] [ 5.76424894e-02 9.98336671e-01 1.11117662e-03 -3.14789565e+00] [ 2.77008372e-02 -2.71200229e-03 9.99612579e-01 8.73731695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.840714057 meters Centerline goodness [0,1] 0.9822223206181231 Centerline is valid? [True, True] Translation: X:79.98, Y:-3.15, Z:0.87 [[ 9.97989208e-01 -5.71993392e-02 -2.73088949e-02 7.99822930e+01] [ 5.72504581e-02 9.98359249e-01 1.09305177e-03 -3.15243773e+00] [ 2.72015660e-02 -2.65430062e-03 9.99626445e-01 8.74397876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.870714057 meters Centerline goodness [0,1] 0.9842460615153789 Centerline is valid? [True, True] Translation: X:80.01, Y:-3.15, Z:0.88 [[ 9.98034913e-01 -5.65613770e-02 -2.69652082e-02 8.00143968e+01] [ 5.66110382e-02 9.98395724e-01 1.08123487e-03 -3.15037153e+00] [ 2.68607925e-02 -2.60563859e-03 9.99635788e-01 8.75719347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.900714057 meters Centerline goodness [0,1] 0.9851699597754497 Centerline is valid? [True, True] Translation: X:80.05, Y:-3.15, Z:0.88 [[ 9.98071661e-01 -5.59395027e-02 -2.69022416e-02 8.00464778e+01] [ 5.59887615e-02 9.98430814e-01 1.08068994e-03 -3.15021748e+00] [ 2.67995738e-02 -2.58482919e-03 9.99637485e-01 8.76616469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.930714057 meters Centerline goodness [0,1] 0.982989010989011 Centerline is valid? [True, True] Translation: X:80.08, Y:-3.16, Z:0.88 [[ 9.98183614e-01 -5.39556514e-02 -2.68003729e-02 8.00762352e+01] [ 5.40038538e-02 9.98540146e-01 1.07752045e-03 -3.15766200e+00] [ 2.67031100e-02 -2.52288668e-03 9.99640225e-01 8.76011556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.960714057 meters Centerline goodness [0,1] 0.9843101774207785 Centerline is valid? [True, True] Translation: X:80.11, Y:-3.16, Z:0.88 [[ 9.98251998e-01 -5.21781237e-02 -2.77559435e-02 8.01076770e+01] [ 5.22291606e-02 9.98634502e-01 1.11649362e-03 -3.15638984e+00] [ 2.76597862e-02 -2.56421162e-03 9.99614106e-01 8.76411608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.990714057 meters Centerline goodness [0,1] 0.9840441920859193 Centerline is valid? [True, True] Translation: X:80.14, Y:-3.16, Z:0.88 [[ 9.98290843e-01 -5.13692357e-02 -2.78674322e-02 8.01378200e+01] [ 5.14203915e-02 9.98676467e-01 1.12170845e-03 -3.15935825e+00] [ 2.77729274e-02 -2.55274555e-03 9.99610998e-01 8.76011695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.020714057 meters Centerline goodness [0,1] 0.9857303296558103 Centerline is valid? [True, True] Translation: X:80.17, Y:-3.16, Z:0.88 [[ 9.98316628e-01 -5.04410436e-02 -2.86288659e-02 8.01696405e+01] [ 5.04946795e-02 9.98723664e-01 1.15318010e-03 -3.15703853e+00] [ 2.85341583e-02 -2.59684428e-03 9.99589445e-01 8.76746474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05071405700001 meters Centerline goodness [0,1] 0.9846708746618575 Centerline is valid? [True, True] Translation: X:80.20, Y:-3.16, Z:0.87 [[ 9.98400248e-01 -4.84831313e-02 -2.90917746e-02 8.01992184e+01] [ 4.85377057e-02 9.98820663e-01 1.17229278e-03 -3.16396702e+00] [ 2.90006292e-02 -2.58246540e-03 9.99576057e-01 8.74920154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08071405700001 meters Centerline goodness [0,1] 0.9855844355921386 Centerline is valid? [True, True] Translation: X:80.23, Y:-3.17, Z:0.88 [[ 9.98432938e-01 -4.76491163e-02 -2.93467264e-02 8.02297750e+01] [ 4.77043033e-02 9.98860801e-01 1.18286608e-03 -3.16670846e+00] [ 2.92569322e-02 -2.58097759e-03 9.99568592e-01 8.75109028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11071405700001 meters Centerline goodness [0,1] 0.9860649422124381 Centerline is valid? [True, True] Translation: X:80.26, Y:-3.17, Z:0.88 [[ 9.98499844e-01 -4.57839864e-02 -3.00314657e-02 8.02605437e+01] [ 4.58409523e-02 9.98948017e-01 1.21077227e-03 -3.16540561e+00] [ 2.99444392e-02 -2.58562691e-03 9.99548220e-01 8.76374244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.140714057 meters Centerline goodness [0,1] 0.9866924751996129 Centerline is valid? [True, True] Translation: X:80.29, Y:-3.17, Z:0.88 [[ 9.98548971e-01 -4.45142430e-02 -3.03056790e-02 8.02908247e+01] [ 4.45716758e-02 9.99005442e-01 1.22188477e-03 -3.16587248e+00] [ 3.02211470e-02 -2.57088668e-03 9.99539931e-01 8.77116696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.170714057 meters Centerline goodness [0,1] 0.9868913033915453 Centerline is valid? [True, True] Translation: X:80.32, Y:-3.17, Z:0.88 [[ 9.98707841e-01 -4.08149491e-02 -3.02785220e-02 8.03203321e+01] [ 4.08705792e-02 9.99163703e-01 1.22040936e-03 -3.16941287e+00] [ 3.02033893e-02 -2.45633313e-03 9.99540755e-01 8.77310691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.200714057 meters Centerline goodness [0,1] 0.987237881488327 Centerline is valid? [True, True] Translation: X:80.35, Y:-3.17, Z:0.88 [[ 9.98788130e-01 -3.90055130e-02 -3.00140052e-02 8.03500760e+01] [ 3.90593368e-02 9.99236162e-01 1.20886539e-03 -3.17040069e+00] [ 2.99439269e-02 -2.37972754e-03 9.99548747e-01 8.77930315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.230714057 meters Centerline goodness [0,1] 0.9867418837939285 Centerline is valid? [True, True] Translation: X:80.38, Y:-3.17, Z:0.88 [[ 9.98942778e-01 -3.54306273e-02 -2.92915846e-02 8.03793040e+01] [ 3.54803398e-02 9.99369679e-01 1.17899186e-03 -3.17179586e+00] [ 2.92313490e-02 -2.21702078e-03 9.99570214e-01 8.78939651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.260714057 meters Centerline goodness [0,1] 0.987748446520647 Centerline is valid? [True, True] Translation: X:80.41, Y:-3.17, Z:0.88 [[ 9.99012293e-01 -3.37353877e-02 -2.89199373e-02 8.04094340e+01] [ 3.37831242e-02 9.99428510e-01 1.16349100e-03 -3.17166994e+00] [ 2.88641591e-02 -2.13934764e-03 9.99581054e-01 8.80350563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.290714057 meters Centerline goodness [0,1] 0.9875484837799718 Centerline is valid? [True, True] Translation: X:80.44, Y:-3.17, Z:0.88 [[ 9.99122964e-01 -3.03205347e-02 -2.88785004e-02 8.04385085e+01] [ 3.03666991e-02 9.99538151e-01 1.16125256e-03 -3.17184926e+00] [ 2.88299531e-02 -2.03717883e-03 9.99582255e-01 8.81416605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.320714057 meters Centerline goodness [0,1] 0.9887420567734558 Centerline is valid? [True, True] Translation: X:80.47, Y:-3.17, Z:0.88 [[ 9.99163433e-01 -2.90656260e-02 -2.87684521e-02 8.04671913e+01] [ 2.91108809e-02 9.99575521e-01 1.15541367e-03 -3.16971650e+00] [ 2.87226577e-02 -1.99192207e-03 9.99585435e-01 8.82672513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.350714057 meters Centerline goodness [0,1] 0.987794130607209 Centerline is valid? [True, True] Translation: X:80.49, Y:-3.17, Z:0.88 [[ 9.99151962e-01 -2.91295803e-02 -2.91002560e-02 8.04949802e+01] [ 2.91757494e-02 9.99573620e-01 1.16312497e-03 -3.17079398e+00] [ 2.90539670e-02 -2.01116038e-03 9.99575821e-01 8.82288869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.380714057 meters Centerline goodness [0,1] 0.9875420209610442 Centerline is valid? [True, True] Translation: X:80.52, Y:-3.18, Z:0.88 [[ 9.99134881e-01 -2.94542020e-02 -2.93588183e-02 8.05228465e+01] [ 2.95011864e-02 9.99564062e-01 1.16839018e-03 -3.17907832e+00] [ 2.93116057e-02 -2.03349935e-03 9.99568254e-01 8.80669741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.410714057 meters Centerline goodness [0,1] 0.9882518590223083 Centerline is valid? [True, True] Translation: X:80.55, Y:-3.18, Z:0.88 [[ 9.99038448e-01 -3.16336238e-02 -3.03561207e-02 8.05532213e+01] [ 3.16848225e-02 9.99497181e-01 1.20694345e-03 -3.17999484e+00] [ 3.03026770e-02 -2.16761120e-03 9.99538418e-01 8.81185770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44071405700001 meters Centerline goodness [0,1] 0.9877474703035636 Centerline is valid? [True, True] Translation: X:80.58, Y:-3.18, Z:0.88 [[ 9.98974547e-01 -3.30632926e-02 -3.09301487e-02 8.05820297e+01] [ 3.31170989e-02 9.99450723e-01 1.22880803e-03 -3.18395597e+00] [ 3.08725311e-02 -2.25186474e-03 9.99520793e-01 8.80744730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47071405700001 meters Centerline goodness [0,1] 0.9874165495432186 Centerline is valid? [True, True] Translation: X:80.61, Y:-3.18, Z:0.88 [[ 9.98923868e-01 -3.44482310e-02 -3.10551997e-02 8.06112827e+01] [ 3.45030884e-02 9.99403832e-01 1.23214205e-03 -3.18389093e+00] [ 3.09942404e-02 -2.30231640e-03 9.99516912e-01 8.81477181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.500714057 meters Centerline goodness [0,1] 0.9885548267817054 Centerline is valid? [True, True] Translation: X:80.64, Y:-3.18, Z:0.88 [[ 9.98813345e-01 -3.71858689e-02 -3.14501753e-02 8.06416238e+01] [ 3.72434484e-02 9.99305444e-01 1.24679616e-03 -3.18203072e+00] [ 3.13819682e-02 -2.41662963e-03 9.99504543e-01 8.83864098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.530714057 meters Centerline goodness [0,1] 0.9880063263333626 Centerline is valid? [True, True] Translation: X:80.67, Y:-3.19, Z:0.88 [[ 9.98757586e-01 -3.94057949e-02 -3.05035830e-02 8.06701833e+01] [ 3.94609507e-02 9.99220383e-01 1.20806609e-03 -3.18680567e+00] [ 3.04321971e-02 -2.41026555e-03 9.99533927e-01 8.84757676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.560714057 meters Centerline goodness [0,1] 0.9851025437901593 Centerline is valid? [True, True] Translation: X:80.70, Y:-3.20, Z:0.88 [[ 9.98754467e-01 -4.00337649e-02 -2.97793991e-02 8.06974247e+01] [ 4.00865428e-02 9.99195518e-01 1.17716415e-03 -3.20205648e+00] [ 2.97083158e-02 -2.36945111e-03 9.99555802e-01 8.83001822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.590714057 meters Centerline goodness [0,1] 0.9877464388087788 Centerline is valid? [True, True] Translation: X:80.73, Y:-3.19, Z:0.89 [[ 9.98787014e-01 -4.04307352e-02 -2.81043692e-02 8.07275566e+01] [ 4.04778508e-02 9.99179820e-01 1.10932971e-03 -3.19308856e+00] [ 2.80364675e-02 -2.24558857e-03 9.99604379e-01 8.86910028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.620714057 meters Centerline goodness [0,1] 0.9874231782265145 Centerline is valid? [True, True] Translation: X:80.76, Y:-3.19, Z:0.89 [[ 9.98795509e-01 -4.03436396e-02 -2.79270709e-02 8.07584655e+01] [ 4.03901161e-02 9.99183379e-01 1.10188631e-03 -3.19049890e+00] [ 2.78598110e-02 -2.22853673e-03 9.99609356e-01 8.88196949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.650714057 meters Centerline goodness [0,1] 0.9874433968455363 Centerline is valid? [True, True] Translation: X:80.79, Y:-3.19, Z:0.89 [[ 9.98818345e-01 -4.01434146e-02 -2.73937830e-02 8.07875451e+01] [ 4.01880500e-02 9.99191550e-01 1.08057313e-03 -3.19354522e+00] [ 2.73282586e-02 -2.18019899e-03 9.99624136e-01 8.88634716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.680714057 meters Centerline goodness [0,1] 0.9870556541165648 Centerline is valid? [True, True] Translation: X:80.82, Y:-3.20, Z:0.89 [[ 9.98813123e-01 -4.01113435e-02 -2.76301605e-02 8.08170505e+01] [ 4.01567268e-02 9.99192799e-01 1.08939532e-03 -3.19753256e+00] [ 2.75641603e-02 -2.19763915e-03 9.99617621e-01 8.88663272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.710714057 meters Centerline goodness [0,1] 0.9867596124336885 Centerline is valid? [True, True] Translation: X:80.85, Y:-3.20, Z:0.89 [[ 9.98794592e-01 -4.04409762e-02 -2.78188904e-02 8.08467897e+01] [ 4.04871016e-02 9.99179459e-01 1.09657055e-03 -3.20062878e+00] [ 2.77517175e-02 -2.22155497e-03 9.99612378e-01 8.88833961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.740714057 meters Centerline goodness [0,1] 0.9867596124336885 Centerline is valid? [True, True] Translation: X:80.88, Y:-3.20, Z:0.89 [[ 9.98793168e-01 -4.04761230e-02 -2.78189129e-02 8.08760174e+01] [ 4.05222461e-02 9.99178035e-01 1.09599881e-03 -3.20174959e+00] [ 2.77516849e-02 -2.22196096e-03 9.99612378e-01 8.89199674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.770714057 meters Centerline goodness [0,1] 0.9867082805884151 Centerline is valid? [True, True] Translation: X:80.91, Y:-3.20, Z:0.89 [[ 9.98777065e-01 -4.08485303e-02 -2.78526847e-02 8.09057590e+01] [ 4.08948820e-02 9.99162853e-01 1.09634544e-03 -3.20293093e+00] [ 2.77845838e-02 -2.23403694e-03 9.99611438e-01 8.89328041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80071405700001 meters Centerline goodness [0,1] 0.9866181116181116 Centerline is valid? [True, True] Translation: X:80.94, Y:-3.20, Z:0.89 [[ 9.98691214e-01 -4.23989715e-02 -2.86039413e-02 8.09356247e+01] [ 4.24484608e-02 9.99098025e-01 1.12488823e-03 -3.20427996e+00] [ 2.85304471e-02 -2.33760927e-03 9.99590191e-01 8.88985002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83071405700001 meters Centerline goodness [0,1] 0.9854096274518408 Centerline is valid? [True, True] Translation: X:80.97, Y:-3.21, Z:0.89 [[ 9.98657917e-01 -4.29916398e-02 -2.88805162e-02 8.09651421e+01] [ 4.30423161e-02 9.99072605e-01 1.13502457e-03 -3.21012777e+00] [ 2.88049360e-02 -2.37658558e-03 9.99582226e-01 8.88509655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86071405700001 meters Centerline goodness [0,1] 0.9865598458979074 Centerline is valid? [True, True] Translation: X:81.00, Y:-3.21, Z:0.89 [[ 9.98630141e-01 -4.36044788e-02 -2.89221624e-02 8.09952765e+01] [ 4.36555333e-02 9.99045997e-01 1.13585617e-03 -3.20819389e+00] [ 2.88450422e-02 -2.39691264e-03 9.99581021e-01 8.89550556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.890714057 meters Centerline goodness [0,1] 0.9862129527991218 Centerline is valid? [True, True] Translation: X:81.02, Y:-3.21, Z:0.89 [[ 9.98595402e-01 -4.43172592e-02 -2.90379547e-02 8.10244775e+01] [ 4.43690014e-02 9.99014561e-01 1.13966645e-03 -3.21226109e+00] [ 2.89588327e-02 -2.42645073e-03 9.99577660e-01 8.89455611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.920714057 meters Centerline goodness [0,1] 0.9861712835324493 Centerline is valid? [True, True] Translation: X:81.05, Y:-3.21, Z:0.89 [[ 9.98609963e-01 -4.37629972e-02 -2.93758802e-02 8.10535785e+01] [ 4.38156981e-02 9.99038966e-01 1.15241253e-03 -3.21410374e+00] [ 2.92972159e-02 -2.43793533e-03 9.99567771e-01 8.89571604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.950714057 meters Centerline goodness [0,1] 0.9846534436709138 Centerline is valid? [True, True] Translation: X:81.08, Y:-3.22, Z:0.89 [[ 9.98659941e-01 -4.26898607e-02 -2.92557505e-02 8.10825241e+01] [ 4.27416508e-02 9.99085500e-01 1.14690719e-03 -3.21611058e+00] [ 2.91800348e-02 -2.39580934e-03 9.99571301e-01 8.89487359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.980714057 meters Centerline goodness [0,1] 0.9865990026142929 Centerline is valid? [True, True] Translation: X:81.11, Y:-3.21, Z:0.89 [[ 9.98797156e-01 -3.99538942e-02 -2.84240539e-02 8.11127145e+01] [ 4.00016627e-02 9.99198993e-01 1.11370742e-03 -3.21053581e+00] [ 2.83567891e-02 -2.24937722e-03 9.99595335e-01 8.91616255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.010714057 meters Centerline goodness [0,1] 0.9857618505213354 Centerline is valid? [True, True] Translation: X:81.14, Y:-3.21, Z:0.89 [[ 9.98874350e-01 -3.83635054e-02 -2.78975732e-02 8.11419890e+01] [ 3.84088849e-02 9.99261509e-01 1.09241211e-03 -3.21236110e+00] [ 2.78350623e-02 -2.16269711e-03 9.99610190e-01 8.91823584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.040714057 meters Centerline goodness [0,1] 0.9855346465001759 Centerline is valid? [True, True] Translation: X:81.17, Y:-3.21, Z:0.89 [[ 9.98944667e-01 -3.68942679e-02 -2.73562547e-02 8.11705826e+01] [ 3.69373230e-02 9.99317011e-01 1.07004047e-03 -3.21389975e+00] [ 2.72980923e-02 -2.07937804e-03 9.99625175e-01 8.92233152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.070714057 meters Centerline goodness [0,1] 0.9871129486277269 Centerline is valid? [True, True] Translation: X:81.20, Y:-3.20, Z:0.90 [[ 9.99059425e-01 -3.48090043e-02 -2.58572719e-02 8.12005672e+01] [ 3.48467463e-02 9.99392157e-01 1.01033270e-03 -3.20402862e+00] [ 2.58063861e-02 -1.91042420e-03 9.99665134e-01 8.95029750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.100714057 meters Centerline goodness [0,1] 0.9866707724793243 Centerline is valid? [True, True] Translation: X:81.23, Y:-3.20, Z:0.90 [[ 9.99100724e-01 -3.41916563e-02 -2.50733869e-02 8.12307216e+01] [ 3.42269174e-02 9.99413609e-01 9.78381332e-04 -3.20440748e+00] [ 2.50252316e-02 -1.83568624e-03 9.99685134e-01 8.95626337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.130714057 meters Centerline goodness [0,1] 0.9869005230999165 Centerline is valid? [True, True] Translation: X:81.26, Y:-3.21, Z:0.90 [[ 9.99086688e-01 -3.47510606e-02 -2.48627097e-02 8.12599369e+01] [ 3.47858710e-02 9.99394319e-01 9.68845635e-04 -3.20595059e+00] [ 2.48139824e-02 -1.83283179e-03 9.99690406e-01 8.96267653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.160714057 meters Centerline goodness [0,1] 0.9863016710642041 Centerline is valid? [True, True] Translation: X:81.29, Y:-3.21, Z:0.90 [[ 9.99051991e-01 -3.60003257e-02 -2.44764197e-02 8.12898438e+01] [ 3.60344143e-02 9.99350095e-01 9.52934796e-04 -3.20902493e+00] [ 2.44262064e-02 -1.83402485e-03 9.99699953e-01 8.96134444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19071405700001 meters Centerline goodness [0,1] 0.9857875167755704 Centerline is valid? [True, True] Translation: X:81.32, Y:-3.21, Z:0.90 [[ 9.98918519e-01 -3.94575967e-02 -2.45945108e-02 8.13202366e+01] [ 3.94930447e-02 9.99219387e-01 9.57049443e-04 -3.21341501e+00] [ 2.45375491e-02 -1.92732653e-03 9.99697051e-01 8.95695167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22071405700001 meters Centerline goodness [0,1] 0.9850720017588216 Centerline is valid? [True, True] Translation: X:81.35, Y:-3.22, Z:0.89 [[ 9.98708893e-01 -4.40425021e-02 -2.53141108e-02 8.13491479e+01] [ 4.40815264e-02 9.99027451e-01 9.85370795e-04 -3.21988809e+00] [ 2.52460934e-02 -2.09998322e-03 9.99679061e-01 8.94708119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.250714057 meters Centerline goodness [0,1] 0.9848241934421189 Centerline is valid? [True, True] Translation: X:81.38, Y:-3.22, Z:0.90 [[ 9.98599891e-01 -4.61941554e-02 -2.57751539e-02 8.13799306e+01] [ 4.62353415e-02 9.98930070e-01 1.00391473e-03 -3.21840150e+00] [ 2.57012013e-02 -2.19423218e-03 9.99667261e-01 8.95278289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.280714057 meters Centerline goodness [0,1] 0.9848208196757375 Centerline is valid? [True, True] Translation: X:81.41, Y:-3.22, Z:0.90 [[ 9.98508537e-01 -4.81179165e-02 -2.57947276e-02 8.14111011e+01] [ 4.81598201e-02 9.98839137e-01 1.00537691e-03 -3.22079784e+00] [ 2.57164068e-02 -2.24614687e-03 9.99666755e-01 8.95360407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.310714057 meters Centerline goodness [0,1] 0.9835586969883221 Centerline is valid? [True, True] Translation: X:81.44, Y:-3.23, Z:0.90 [[ 9.98402945e-01 -5.04594815e-02 -2.54047296e-02 8.14405489e+01] [ 5.05009042e-02 9.98723523e-01 9.91164333e-04 -3.22646632e+00] [ 2.53222874e-02 -2.27254320e-03 9.99676756e-01 8.95100195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.340714057 meters Centerline goodness [0,1] 0.9828527741371778 Centerline is valid? [True, True] Translation: X:81.47, Y:-3.23, Z:0.90 [[ 9.98400224e-01 -5.10705816e-02 -2.42649627e-02 8.14719842e+01] [ 5.11085708e-02 9.98692653e-01 9.47615296e-04 -3.22890239e+00] [ 2.41848447e-02 -2.18624689e-03 9.99705113e-01 8.96352426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.370714057 meters Centerline goodness [0,1] 0.9842212530954834 Centerline is valid? [True, True] Translation: X:81.50, Y:-3.22, Z:0.90 [[ 9.98403110e-01 -5.12731288e-02 -2.37127763e-02 8.15045165e+01] [ 5.13094943e-02 9.98682370e-01 9.27301416e-04 -3.22337229e+00] [ 2.36339860e-02 -2.14251118e-03 9.99718383e-01 8.98131535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.400714057 meters Centerline goodness [0,1] 0.9833187006145742 Centerline is valid? [True, True] Translation: X:81.54, Y:-3.23, Z:0.90 [[ 9.98440236e-01 -5.09071987e-02 -2.29249106e-02 8.15358037e+01] [ 5.09411418e-02 9.98701253e-01 8.98695451e-04 -3.22763011e+00] [ 2.28493869e-02 -2.06511482e-03 9.99736786e-01 8.98389643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.430714057 meters Centerline goodness [0,1] 0.9781454337999737 Centerline is valid? [True, True] Translation: X:81.57, Y:-3.24, Z:0.90 [[ 9.98497976e-01 -5.02226280e-02 -2.18970269e-02 8.15654958e+01] [ 5.02534679e-02 9.98736126e-01 8.60076793e-04 -3.23690937e+00] [ 2.18261565e-02 -1.95918648e-03 9.99759861e-01 8.98229394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.460714057 meters Centerline goodness [0,1] 0.9835006700793111 Centerline is valid? [True, True] Translation: X:81.60, Y:-3.23, Z:0.90 [[ 9.98533526e-01 -4.96309984e-02 -2.16231637e-02 8.15985196e+01] [ 4.96609565e-02 9.98765771e-01 8.50367118e-04 -3.22699652e+00] [ 2.15542712e-02 -1.92294707e-03 9.99765830e-01 8.99739256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.490714057 meters Centerline goodness [0,1] 0.9822226114370786 Centerline is valid? [True, True] Translation: X:81.63, Y:-3.23, Z:0.90 [[ 9.98547691e-01 -4.92724301e-02 -2.17884356e-02 8.16292177e+01] [ 4.93027991e-02 9.98783509e-01 8.58508913e-04 -3.23165222e+00] [ 2.17196294e-02 -1.93149296e-03 9.99762235e-01 8.99399253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.520714057 meters Centerline goodness [0,1] 0.9767457194979888 Centerline is valid? [True, True] Translation: X:81.66, Y:-3.24, Z:0.90 [[ 9.98517999e-01 -4.95782552e-02 -2.24455364e-02 8.16598836e+01] [ 4.96105995e-02 9.98768243e-01 8.86132325e-04 -3.24047362e+00] [ 2.23739561e-02 -1.99835560e-03 9.99747674e-01 8.98168028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.55071405700001 meters Centerline goodness [0,1] 0.9825494832720266 Centerline is valid? [True, True] Translation: X:81.69, Y:-3.24, Z:0.90 [[ 9.98507217e-01 -4.96903814e-02 -2.26760515e-02 8.16923651e+01] [ 4.97234683e-02 9.98762620e-01 8.97264709e-04 -3.23571996e+00] [ 2.26034072e-02 -2.02345722e-03 9.99742463e-01 8.98962539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58071405700001 meters Centerline goodness [0,1] 0.9747806776456103 Centerline is valid? [True, True] Translation: X:81.72, Y:-3.24, Z:0.90 [[ 9.98475526e-01 -5.03043651e-02 -2.27177135e-02 8.17227519e+01] [ 5.03377795e-02 9.98731844e-01 9.01041402e-04 -3.24392489e+00] [ 2.26435776e-02 -2.04322704e-03 9.99741513e-01 8.98476891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61071405700001 meters Centerline goodness [0,1] 0.9811586237221062 Centerline is valid? [True, True] Translation: X:81.75, Y:-3.24, Z:0.90 [[ 9.98392628e-01 -5.17909766e-02 -2.30185635e-02 8.17539175e+01] [ 5.18257137e-02 9.98655726e-01 9.14702774e-04 -3.23992473e+00] [ 2.29402469e-02 -2.10618599e-03 9.99734619e-01 8.99279541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.640714057 meters Centerline goodness [0,1] 0.9817998199740938 Centerline is valid? [True, True] Translation: X:81.79, Y:-3.24, Z:0.90 [[ 9.98317030e-01 -5.30065524e-02 -2.35247367e-02 8.17852948e+01] [ 5.30431834e-02 9.98591781e-01 9.35430975e-04 -3.24007231e+00] [ 2.34420248e-02 -2.18168360e-03 9.99722817e-01 8.98933824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.670714057 meters Centerline goodness [0,1] 0.9831942027708641 Centerline is valid? [True, True] Translation: X:81.82, Y:-3.24, Z:0.90 [[ 9.98292474e-01 -5.33683613e-02 -2.37477144e-02 8.18174884e+01] [ 5.34058216e-02 9.98572443e-01 9.45558045e-04 -3.23876211e+00] [ 2.36633503e-02 -2.21220968e-03 9.99717536e-01 8.99546608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.700714057 meters Centerline goodness [0,1] 0.9836177474402731 Centerline is valid? [True, True] Translation: X:81.85, Y:-3.24, Z:0.90 [[ 9.98288448e-01 -5.35294113e-02 -2.35537167e-02 8.18496513e+01] [ 5.35663462e-02 9.98563851e-01 9.39535357e-04 -3.23866180e+00] [ 2.34695973e-02 -2.19961384e-03 9.99722131e-01 8.99416284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.730714057 meters Centerline goodness [0,1] 0.9832260624228532 Centerline is valid? [True, True] Translation: X:81.88, Y:-3.24, Z:0.90 [[ 9.98290169e-01 -5.34673801e-02 -2.36215724e-02 8.18815085e+01] [ 5.35045515e-02 9.98567159e-01 9.43961650e-04 -3.24008434e+00] [ 2.35372553e-02 -2.20620927e-03 9.99720526e-01 8.99829367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.760714057 meters Centerline goodness [0,1] 0.9829911765353049 Centerline is valid? [True, True] Translation: X:81.91, Y:-3.24, Z:0.90 [[ 9.98326195e-01 -5.31811825e-02 -2.27281944e-02 8.19139299e+01] [ 5.32155577e-02 9.98582634e-01 9.09882477e-04 -3.23909133e+00] [ 2.26475916e-02 -2.11785305e-03 9.99741267e-01 9.00787283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.790714057 meters Centerline goodness [0,1] 0.9836438786110558 Centerline is valid? [True, True] Translation: X:81.95, Y:-3.24, Z:0.90 [[ 9.98357760e-01 -5.28105440e-02 -2.21997822e-02 8.19460724e+01] [ 5.28432836e-02 9.98602421e-01 8.90331183e-04 -3.24019021e+00] [ 2.21217374e-02 -2.06197843e-03 9.99753158e-01 9.01872178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.820714057 meters Centerline goodness [0,1] 0.9823211727102392 Centerline is valid? [True, True] Translation: X:81.98, Y:-3.24, Z:0.90 [[ 9.98436492e-01 -5.16589647e-02 -2.13523722e-02 8.19768829e+01] [ 5.16890163e-02 9.98662861e-01 8.57544946e-04 -3.24321840e+00] [ 2.12795212e-02 -1.95988728e-03 9.99771644e-01 9.01956290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.850714057 meters Centerline goodness [0,1] 0.9814496585150915 Centerline is valid? [True, True] Translation: X:82.01, Y:-3.24, Z:0.90 [[ 9.98485315e-01 -5.07768211e-02 -2.11846728e-02 8.20086367e+01] [ 5.08062280e-02 9.98708166e-01 8.51872748e-04 -3.24494615e+00] [ 2.11140504e-02 -1.92689575e-03 9.99775217e-01 9.02172715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.880714057 meters Centerline goodness [0,1] 0.9824832333215673 Centerline is valid? [True, True] Translation: X:82.04, Y:-3.24, Z:0.90 [[ 9.98492914e-01 -5.05566449e-02 -2.13524201e-02 8.20409640e+01] [ 5.05865019e-02 9.98719313e-01 8.60140520e-04 -3.24382183e+00] [ 2.12815886e-02 -1.93898846e-03 9.99771641e-01 9.02732653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.910714057 meters Centerline goodness [0,1] 0.9821550829302768 Centerline is valid? [True, True] Translation: X:82.07, Y:-3.25, Z:0.90 [[ 9.98499905e-01 -5.03680786e-02 -2.14708373e-02 8.20717986e+01] [ 5.03982664e-02 9.98728824e-01 8.66863511e-04 -3.24628387e+00] [ 2.13998818e-02 -1.94765611e-03 9.99769099e-01 9.02587219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94071405700001 meters Centerline goodness [0,1] 0.9831671373102718 Centerline is valid? [True, True] Translation: X:82.10, Y:-3.24, Z:0.90 [[ 9.98487461e-01 -5.05385885e-02 -2.16481259e-02 8.21042975e+01] [ 5.05693630e-02 9.98720167e-01 8.76164737e-04 -3.24264339e+00] [ 2.15761397e-02 -1.96957144e-03 9.99765268e-01 9.02631043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97071405700001 meters Centerline goodness [0,1] 0.9834931129476584 Centerline is valid? [True, True] Translation: X:82.14, Y:-3.24, Z:0.90 [[ 9.98482474e-01 -5.06229033e-02 -2.16811057e-02 8.21364687e+01] [ 5.06538256e-02 9.98715884e-01 8.79083303e-04 -3.24431453e+00] [ 2.16087629e-02 -1.97598022e-03 9.99764551e-01 9.02415227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.000714057 meters Centerline goodness [0,1] 0.9838271959049489 Centerline is valid? [True, True] Translation: X:82.17, Y:-3.25, Z:0.90 [[ 9.98438152e-01 -5.11405791e-02 -2.24921551e-02 8.21678101e+01] [ 5.11740225e-02 9.98689334e-01 9.13458917e-04 -3.24775431e+00] [ 2.24159606e-02 -2.06304629e-03 9.99746602e-01 9.02312621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.030714057 meters Centerline goodness [0,1] 0.9825130820692853 Centerline is valid? [True, True] Translation: X:82.20, Y:-3.25, Z:0.90 [[ 9.98436427e-01 -5.12081071e-02 -2.24149920e-02 8.22004510e+01] [ 5.12413694e-02 9.98685882e-01 9.11716825e-04 -3.24894094e+00] [ 2.23388488e-02 -2.05886618e-03 9.99748337e-01 9.03085447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.060714057 meters Centerline goodness [0,1] 0.9827837051406402 Centerline is valid? [True, True] Translation: X:82.23, Y:-3.25, Z:0.90 [[ 9.98458440e-01 -5.09586818e-02 -2.19990067e-02 8.22321000e+01] [ 5.09906948e-02 9.98698726e-01 8.96358282e-04 -3.25043414e+00] [ 2.19247027e-02 -2.01672113e-03 9.99757591e-01 9.04244682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.090714057 meters Centerline goodness [0,1] 0.9824681038275407 Centerline is valid? [True, True] Translation: X:82.26, Y:-3.25, Z:0.91 [[ 9.98506271e-01 -5.02077813e-02 -2.15500698e-02 8.22633167e+01] [ 5.02383564e-02 9.98736869e-01 8.79422126e-04 -3.25225728e+00] [ 2.14786954e-02 -1.96074859e-03 9.99767383e-01 9.05196648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.120714057 meters Centerline goodness [0,1] 0.9813924911680162 Centerline is valid? [True, True] Translation: X:82.29, Y:-3.25, Z:0.91 [[ 9.98621983e-01 -4.85344798e-02 -1.99634282e-02 8.22939674e+01] [ 4.85604006e-02 9.98819915e-01 8.15419959e-04 -3.25309642e+00] [ 1.99002937e-02 -1.78372837e-03 9.99800378e-01 9.06900533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.150714057 meters Centerline goodness [0,1] 0.9822468242766408 Centerline is valid? [True, True] Translation: X:82.33, Y:-3.25, Z:0.91 [[ 9.98676633e-01 -4.74915130e-02 -1.97367459e-02 8.23252924e+01] [ 4.75166556e-02 9.98870120e-01 8.06634603e-04 -3.25264240e+00] [ 1.96761374e-02 -1.74339129e-03 9.99804886e-01 9.07296332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.180714057 meters Centerline goodness [0,1] 0.9813862085716178 Centerline is valid? [True, True] Translation: X:82.36, Y:-3.25, Z:0.91 [[ 9.98781125e-01 -4.52959415e-02 -1.96097425e-02 8.23552248e+01] [ 4.53203501e-02 9.98972183e-01 8.01884909e-04 -3.25400929e+00] [ 1.95532651e-02 -1.68962791e-03 9.99807389e-01 9.07376893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.210714057 meters Centerline goodness [0,1] 0.9823670911217531 Centerline is valid? [True, True] Translation: X:82.39, Y:-3.25, Z:0.91 [[ 9.98833631e-01 -4.40470925e-02 -1.97795769e-02 8.23867718e+01] [ 4.40716879e-02 9.99028044e-01 8.09083564e-04 -3.25397900e+00] [ 1.97247142e-02 -1.67985921e-03 9.99804038e-01 9.07913555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.240714057 meters Centerline goodness [0,1] 0.9828786037777533 Centerline is valid? [True, True] Translation: X:82.42, Y:-3.25, Z:0.91 [[ 9.98921345e-01 -4.22160597e-02 -1.93377870e-02 8.24181652e+01] [ 4.22392405e-02 9.99107211e-01 7.91672705e-04 -3.25345787e+00] [ 1.92871011e-02 -1.60763220e-03 9.99812694e-01 9.08000062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.270714057 meters Centerline goodness [0,1] 0.9832575308153715 Centerline is valid? [True, True] Translation: X:82.45, Y:-3.25, Z:0.91 [[ 9.98955191e-01 -4.15286293e-02 -1.90761513e-02 8.24495261e+01] [ 4.15510748e-02 9.99136075e-01 7.81612472e-04 -3.25452275e+00] [ 1.90272117e-02 -1.57343043e-03 9.99817728e-01 9.08471297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30071405700001 meters Centerline goodness [0,1] 0.9826866594527748 Centerline is valid? [True, True] Translation: X:82.48, Y:-3.26, Z:0.91 [[ 9.98950233e-01 -4.15161938e-02 -1.93607255e-02 8.24806761e+01] [ 4.15393271e-02 9.99136554e-01 7.94065032e-04 -3.25780977e+00] [ 1.93110420e-02 -1.59746296e-03 9.99812248e-01 9.08308348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.33071405700001 meters Centerline goodness [0,1] 0.9807203904507409 Centerline is valid? [True, True] Translation: X:82.51, Y:-3.26, Z:0.91 [[ 9.98935880e-01 -4.14267691e-02 -2.02714341e-02 8.25113414e+01] [ 4.14521339e-02 9.99140144e-01 8.32489920e-04 -3.26127083e+00] [ 2.02195162e-02 -1.67189825e-03 9.99794167e-01 9.06794560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36071405700001 meters Centerline goodness [0,1] 0.9779802749156058 Centerline is valid? [True, True] Translation: X:82.54, Y:-3.26, Z:0.91 [[ 9.98917880e-01 -4.15685081e-02 -2.08597105e-02 8.25422059e+01] [ 4.15954200e-02 9.99134168e-01 8.57728239e-04 -3.26447360e+00] [ 2.08059950e-02 -1.72446849e-03 9.99782045e-01 9.06391254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.390714057 meters Centerline goodness [0,1] 0.975583864118896 Centerline is valid? [True, True] Translation: X:82.57, Y:-3.27, Z:0.91 [[ 9.98895583e-01 -4.18660347e-02 -2.13272092e-02 8.25723100e+01] [ 4.18942508e-02 9.99121665e-01 8.77744012e-04 -3.26604978e+00] [ 2.12717291e-02 -1.77026207e-03 9.99772164e-01 9.06512668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.420714057 meters Centerline goodness [0,1] 0.9743771297074832 Centerline is valid? [True, True] Translation: X:82.60, Y:-3.27, Z:0.91 [[ 9.98911096e-01 -4.17133661e-02 -2.08953784e-02 8.26032317e+01] [ 4.17404277e-02 9.99128118e-01 8.60450250e-04 -3.26809435e+00] [ 2.08412678e-02 -1.73169534e-03 9.99781297e-01 9.06660271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.450714057 meters Centerline goodness [0,1] 0.9844692367171104 Centerline is valid? [True, True] Translation: X:82.64, Y:-3.26, Z:0.91 [[ 9.98963259e-01 -4.09289581e-02 -1.99305795e-02 8.26357144e+01] [ 4.09534385e-02 9.99160718e-01 8.21512150e-04 -3.25552043e+00] [ 1.98802285e-02 -1.63688621e-03 9.99801029e-01 9.08632969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.480714057 meters Centerline goodness [0,1] 0.9669620560871584 Centerline is valid? [True, True] Translation: X:82.67, Y:-3.27, Z:0.91 [[ 9.98982410e-01 -4.05561349e-02 -1.97317934e-02 8.26651606e+01] [ 4.05800727e-02 9.99175958e-01 8.14112062e-04 -3.27205710e+00] [ 1.96825163e-02 -1.61400124e-03 9.99804978e-01 9.07911280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.510714057 meters Centerline goodness [0,1] 0.9833160002655279 Centerline is valid? [True, True] Translation: X:82.70, Y:-3.26, Z:0.91 [[ 9.99018123e-01 -3.97857763e-02 -1.94905558e-02 8.26970996e+01] [ 3.98089956e-02 9.99206984e-01 8.04622794e-04 -3.25828970e+00] [ 1.94430869e-02 -1.57973220e-03 9.99809717e-01 9.09988873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.540714057 meters Centerline goodness [0,1] 0.9835638227367118 Centerline is valid? [True, True] Translation: X:82.73, Y:-3.26, Z:0.91 [[ 9.99018121e-01 -3.96226638e-02 -1.98201458e-02 8.27289797e+01] [ 3.96466623e-02 9.99213426e-01 8.19188376e-04 -3.25873152e+00] [ 1.97720973e-02 -1.60418666e-03 9.99803226e-01 9.10674118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.570714057 meters Centerline goodness [0,1] 0.9836486905658706 Centerline is valid? [True, True] Translation: X:82.76, Y:-3.26, Z:0.91 [[ 9.99002375e-01 -3.97283254e-02 -2.03939701e-02 8.27609112e+01] [ 3.97537856e-02 9.99209149e-01 8.44366231e-04 -3.25733120e+00] [ 2.03442962e-02 -1.65426138e-03 9.99791665e-01 9.11131208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.600714057 meters Centerline goodness [0,1] 0.9822482590914116 Centerline is valid? [True, True] Translation: X:82.79, Y:-3.26, Z:0.91 [[ 9.98969810e-01 -4.03452631e-02 -2.07744586e-02 8.27919815e+01] [ 4.03718425e-02 9.99184353e-01 8.61454599e-04 -3.26218896e+00] [ 2.07227583e-02 -1.69927031e-03 9.99783817e-01 9.11008617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.630714057 meters Centerline goodness [0,1] 0.983566001060258 Centerline is valid? [True, True] Translation: X:82.82, Y:-3.26, Z:0.91 [[ 9.98894854e-01 -4.17773881e-02 -2.15341907e-02 8.28232390e+01] [ 4.18062962e-02 9.99125335e-01 8.93801078e-04 -3.25736490e+00] [ 2.14780148e-02 -1.79307805e-03 9.99767713e-01 9.11428121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.660714057 meters Centerline goodness [0,1] 0.983566001060258 Centerline is valid? [True, True] Translation: X:82.86, Y:-3.26, Z:0.91 [[ 9.98897837e-01 -4.17060152e-02 -2.15341546e-02 8.28550113e+01] [ 4.17349254e-02 9.99128318e-01 8.94669577e-04 -3.25874540e+00] [ 2.14780706e-02 -1.79240984e-03 9.99767713e-01 9.11825678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.69071405700001 meters Centerline goodness [0,1] 0.9848102386962491 Centerline is valid? [True, True] Translation: X:82.89, Y:-3.26, Z:0.91 [[ 9.98866619e-01 -4.25377068e-02 -2.13546580e-02 8.28870256e+01] [ 4.25663584e-02 9.99093247e-01 8.88746209e-04 -3.25675661e+00] [ 2.12974894e-02 -1.79672895e-03 9.99771568e-01 9.12676727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72071405700001 meters Centerline goodness [0,1] 0.9837761372176297 Centerline is valid? [True, True] Translation: X:82.92, Y:-3.26, Z:0.91 [[ 9.98808859e-01 -4.36144077e-02 -2.18780168e-02 8.29177366e+01] [ 4.36447656e-02 9.99046697e-01 9.11804453e-04 -3.26115378e+00] [ 2.18173926e-02 -1.86557928e-03 9.99760232e-01 9.13158963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.750714057 meters Centerline goodness [0,1] 0.9829716563330381 Centerline is valid? [True, True] Translation: X:82.95, Y:-3.26, Z:0.91 [[ 9.98810378e-01 -4.34075522e-02 -2.22173861e-02 8.29485871e+01] [ 4.34388302e-02 9.99055659e-01 9.26923512e-04 -3.26285915e+00] [ 2.21561698e-02 -1.89091808e-03 9.99752734e-01 9.13334677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.780714057 meters Centerline goodness [0,1] 0.9829970477902821 Centerline is valid? [True, True] Translation: X:82.98, Y:-3.26, Z:0.91 [[ 9.98853409e-01 -4.23665585e-02 -2.22921953e-02 8.29799384e+01] [ 4.23978127e-02 9.99100375e-01 9.31056791e-04 -3.25840143e+00] [ 2.22326950e-02 -1.87512957e-03 9.99751065e-01 9.14221626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.810714057 meters Centerline goodness [0,1] 0.9848091721553235 Centerline is valid? [True, True] Translation: X:83.01, Y:-3.25, Z:0.92 [[ 9.98963122e-01 -3.99962392e-02 -2.17481655e-02 8.30110340e+01] [ 4.00254421e-02 9.99198247e-01 9.08972067e-04 -3.25167847e+00] [ 2.16943734e-02 -1.77850951e-03 9.99763067e-01 9.16007081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.840714057 meters Centerline goodness [0,1] 0.9853555555555555 Centerline is valid? [True, True] Translation: X:83.04, Y:-3.25, Z:0.92 [[ 9.99006050e-01 -3.87650475e-02 -2.20041533e-02 8.30428362e+01] [ 3.87946631e-02 9.99246780e-01 9.20473351e-04 -3.25003532e+00] [ 2.19518971e-02 -1.77320216e-03 9.99757456e-01 9.16485285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.870714057 meters Centerline goodness [0,1] 0.9854366773390253 Centerline is valid? [True, True] Translation: X:83.07, Y:-3.25, Z:0.92 [[ 9.99036163e-01 -3.76779953e-02 -2.25191931e-02 8.30728935e+01] [ 3.77087747e-02 9.99288326e-01 9.43582186e-04 -3.25147461e+00] [ 2.24676145e-02 -1.79184391e-03 9.99745966e-01 9.16598608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.900714057 meters Centerline goodness [0,1] 0.9855007906634892 Centerline is valid? [True, True] Translation: X:83.10, Y:-3.25, Z:0.92 [[ 9.99063834e-01 -3.68279761e-02 -2.26970241e-02 8.31044949e+01] [ 3.68590583e-02 9.99320020e-01 9.52473510e-04 -3.25212144e+00] [ 2.26465129e-02 -1.78817277e-03 9.99741936e-01 9.16633915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.930714057 meters Centerline goodness [0,1] 0.9850360161459378 Centerline is valid? [True, True] Translation: X:83.14, Y:-3.25, Z:0.92 [[ 9.99104124e-01 -3.58832860e-02 -2.24352197e-02 8.31358456e+01] [ 3.59134363e-02 9.99354460e-01 9.42285763e-04 -3.25276146e+00] [ 2.23869245e-02 -1.74716743e-03 9.99747855e-01 9.17104453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.960714057 meters Centerline goodness [0,1] 0.9845467722154086 Centerline is valid? [True, True] Translation: X:83.17, Y:-3.26, Z:0.92 [[ 9.99083725e-01 -3.65923751e-02 -2.21970234e-02 8.31670274e+01] [ 3.66220797e-02 9.99328751e-01 9.33066610e-04 -3.25508033e+00] [ 2.21479806e-02 -1.74511283e-03 9.99753180e-01 9.16548668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.990714057 meters Centerline goodness [0,1] 0.9840427902830399 Centerline is valid? [True, True] Translation: X:83.20, Y:-3.26, Z:0.92 [[ 9.99073239e-01 -3.68522339e-02 -2.22390639e-02 8.31981810e+01] [ 3.68821327e-02 9.99319185e-01 9.35622596e-04 -3.25673267e+00] [ 2.21894434e-02 -1.75497960e-03 9.99752244e-01 9.16482008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.020714057 meters Centerline goodness [0,1] 0.9855017593871097 Centerline is valid? [True, True] Translation: X:83.23, Y:-3.25, Z:0.92 [[ 9.99032603e-01 -3.80325034e-02 -2.20768390e-02 8.32299379e+01] [ 3.80622711e-02 9.99274937e-01 9.29586027e-04 -3.25247092e+00] [ 2.20254774e-02 -1.76898138e-03 9.99755845e-01 9.17622714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.05071405700001 meters Centerline goodness [0,1] 0.9854296360755963 Centerline is valid? [True, True] Translation: X:83.26, Y:-3.26, Z:0.92 [[ 9.98979480e-01 -3.92856016e-02 -2.22854377e-02 8.32599776e+01] [ 3.93162585e-02 9.99226376e-01 9.39007242e-04 -3.25744268e+00] [ 2.22313077e-02 -1.81422900e-03 9.99751208e-01 9.17267474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08071405700001 meters Centerline goodness [0,1] 0.9850945792393556 Centerline is valid? [True, True] Translation: X:83.29, Y:-3.26, Z:0.92 [[ 9.98944732e-01 -3.99721936e-02 -2.26196120e-02 8.32906471e+01] [ 4.00039653e-02 9.99199066e-01 9.53678930e-04 -3.26095829e+00] [ 2.25633745e-02 -1.85754671e-03 9.99743689e-01 9.17205165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11071405700001 meters Centerline goodness [0,1] 0.985310886041988 Centerline is valid? [True, True] Translation: X:83.32, Y:-3.27, Z:0.92 [[ 9.98828590e-01 -4.21063378e-02 -2.38433053e-02 8.33209107e+01] [ 4.21422609e-02 9.99111114e-01 1.00594005e-03 -3.26506371e+00] [ 2.37797549e-02 -2.00957247e-03 9.99715202e-01 9.16179501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.140714057 meters Centerline goodness [0,1] 0.9829812861062164 Centerline is valid? [True, True] Translation: X:83.35, Y:-3.27, Z:0.92 [[ 9.98752660e-01 -4.35062407e-02 -2.45016508e-02 8.33510063e+01] [ 4.35446043e-02 9.99050949e-01 1.03414734e-03 -3.26881127e+00] [ 2.44334057e-02 -2.09977209e-03 9.99699255e-01 9.15109087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.170714057 meters Centerline goodness [0,1] 0.98643614054657 Centerline is valid? [True, True] Translation: X:83.38, Y:-3.26, Z:0.92 [[ 9.98725109e-01 -4.40522282e-02 -2.46486983e-02 8.33835811e+01] [ 4.40912460e-02 9.99026965e-01 1.04146143e-03 -3.26050399e+00] [ 2.45788355e-02 -2.12692550e-03 9.99695632e-01 9.16960556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.200714057 meters Centerline goodness [0,1] 0.9864104967197751 Centerline is valid? [True, True] Translation: X:83.42, Y:-3.26, Z:0.92 [[ 9.98714225e-01 -4.45360427e-02 -2.42164833e-02 8.34156664e+01] [ 4.45738872e-02 9.99005565e-01 1.02495411e-03 -3.26186471e+00] [ 2.41467542e-02 -2.10305905e-03 9.99706213e-01 9.17340468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.230714057 meters Centerline goodness [0,1] 0.9850282799157147 Centerline is valid? [True, True] Translation: X:83.45, Y:-3.26, Z:0.92 [[ 9.98727950e-01 -4.44928447e-02 -2.37248336e-02 8.34470150e+01] [ 4.45292089e-02 9.99007576e-01 1.00640110e-03 -3.26390113e+00] [ 2.36565109e-02 -2.06156898e-03 9.99718020e-01 9.18659816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.260714057 meters Centerline goodness [0,1] 0.9855614973262032 Centerline is valid? [True, True] Translation: X:83.48, Y:-3.26, Z:0.92 [[ 9.98761635e-01 -4.39509347e-02 -2.33133469e-02 8.34792711e+01] [ 4.39859542e-02 9.99031658e-01 9.91209573e-04 -3.26482521e+00] [ 2.32472070e-02 -2.01544190e-03 9.99727716e-01 9.19700677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.290714057 meters Centerline goodness [0,1] 0.9849090300256725 Centerline is valid? [True, True] Translation: X:83.51, Y:-3.26, Z:0.92 [[ 9.98876546e-01 -4.18933492e-02 -2.21493299e-02 8.35093644e+01] [ 4.19244747e-02 9.99120338e-01 9.42568935e-04 -3.26475685e+00] [ 2.20903586e-02 -1.87010902e-03 9.99754229e-01 9.20905756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.320714057 meters Centerline goodness [0,1] 0.9855786456467216 Centerline is valid? [True, True] Translation: X:83.54, Y:-3.26, Z:0.92 [[ 9.99020210e-01 -3.88976359e-02 -2.11090787e-02 8.35398691e+01] [ 3.89252428e-02 9.99241722e-01 8.98361686e-04 -3.26049181e+00] [ 2.10581280e-02 -1.71915750e-03 9.99776775e-01 9.21635044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.350714057 meters Centerline goodness [0,1] 0.9858943979970493 Centerline is valid? [True, True] Translation: X:83.57, Y:-3.26, Z:0.92 [[ 9.99097574e-01 -3.71574530e-02 -2.05757245e-02 8.35713149e+01] [ 3.71833233e-02 9.99308077e-01 8.76043135e-04 -3.25907107e+00] [ 2.05289361e-02 -1.64032639e-03 9.99787914e-01 9.22560424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.380714057 meters Centerline goodness [0,1] 0.986090301227721 Centerline is valid? [True, True] Translation: X:83.60, Y:-3.26, Z:0.92 [[ 9.99179099e-01 -3.51603996e-02 -2.01215126e-02 8.36016205e+01] [ 3.51847630e-02 9.99380456e-01 8.57970109e-04 -3.26073234e+00] [ 2.00788799e-02 -1.56523645e-03 9.99797174e-01 9.23078074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.410714057 meters Centerline goodness [0,1] 0.9853526544120935 Centerline is valid? [True, True] Translation: X:83.63, Y:-3.26, Z:0.92 [[ 9.99292801e-01 -3.15951687e-02 -2.03873154e-02 8.36316780e+01] [ 3.16194679e-02 9.99499600e-01 8.70549010e-04 -3.26130102e+00] [ 2.03496084e-02 -1.51456942e-03 9.99791778e-01 9.23255179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44071405700001 meters Centerline goodness [0,1] 0.9852993824398103 Centerline is valid? [True, True] Translation: X:83.66, Y:-3.26, Z:0.92 [[ 9.99339265e-01 -2.97824552e-02 -2.08335743e-02 8.36632337e+01] [ 2.98074405e-02 9.99555264e-01 8.89706341e-04 -3.26214976e+00] [ 2.07978112e-02 -1.51011401e-03 9.99782562e-01 9.23242781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47071405700001 meters Centerline goodness [0,1] 0.9865932541014795 Centerline is valid? [True, True] Translation: X:83.69, Y:-3.26, Z:0.92 [[ 9.99435198e-01 -2.58332976e-02 -2.14924698e-02 8.36937287e+01] [ 2.58589902e-02 9.99665179e-01 9.18320406e-04 -3.25656804e+00] [ 2.14615505e-02 -1.47357530e-03 9.99768588e-01 9.22908426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.500714057 meters Centerline goodness [0,1] 0.9858831400535236 Centerline is valid? [True, True] Translation: X:83.72, Y:-3.26, Z:0.92 [[ 9.99484318e-01 -2.36398189e-02 -2.17314631e-02 8.37236327e+01] [ 2.36655710e-02 9.99719500e-01 9.28568219e-04 -3.25797240e+00] [ 2.17034163e-02 -1.44237686e-03 9.99763413e-01 9.22507083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.530714057 meters Centerline goodness [0,1] 0.986660378629657 Centerline is valid? [True, True] Translation: X:83.75, Y:-3.25, Z:0.92 [[ 9.99572625e-01 -1.88920675e-02 -2.23082184e-02 8.37543652e+01] [ 1.89180270e-02 9.99820584e-01 9.53189105e-04 -3.25489273e+00] [ 2.22862082e-02 -1.37480922e-03 9.99750686e-01 9.22819143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.560714057 meters Centerline goodness [0,1] 0.9870287525571567 Centerline is valid? [True, True] Translation: X:83.78, Y:-3.26, Z:0.92 [[ 9.99626156e-01 -1.64426146e-02 -2.18446271e-02 8.37836656e+01] [ 1.64669156e-02 9.99863976e-01 9.33023269e-04 -3.25518400e+00] [ 2.18263144e-02 -1.29238809e-03 9.99760942e-01 9.23242225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.590714057 meters Centerline goodness [0,1] 0.9880981787967933 Centerline is valid? [True, True] Translation: X:83.81, Y:-3.25, Z:0.92 [[ 9.99697535e-01 -1.14537007e-02 -2.17635377e-02 8.38139135e+01] [ 1.14766331e-02 9.99933710e-01 9.29094812e-04 -3.24961094e+00] [ 2.17514534e-02 -1.17858593e-03 9.99762714e-01 9.24365995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.620714057 meters Centerline goodness [0,1] 0.9875033713926099 Centerline is valid? [True, True] Translation: X:83.84, Y:-3.25, Z:0.92 [[ 9.99713683e-01 -9.20686332e-03 -2.20858736e-02 8.38430050e+01] [ 9.22992514e-03 9.99956959e-01 9.42475813e-04 -3.25348754e+00] [ 2.20762458e-02 -1.14605693e-03 9.99755633e-01 9.23370113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.650714057 meters Centerline goodness [0,1] 0.9877431687844372 Centerline is valid? [True, True] Translation: X:83.87, Y:-3.25, Z:0.92 [[ 9.99739269e-01 -5.57972338e-03 -2.21418367e-02 8.38721810e+01] [ 5.60199781e-03 9.99983863e-01 9.44088412e-04 -3.25456928e+00] [ 2.21362117e-02 -1.06788078e-03 9.99754394e-01 9.22636779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.680714057 meters Centerline goodness [0,1] 0.9890058112140726 Centerline is valid? [True, True] Translation: X:83.90, Y:-3.25, Z:0.92 [[ 9.99753455e-01 -4.30766733e-03 -2.17824194e-02 8.39016063e+01] [ 4.32886638e-03 9.99990202e-01 9.26159598e-04 -3.25023664e+00] [ 2.17782164e-02 -1.02022444e-03 9.99762306e-01 9.24256874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.710714057 meters Centerline goodness [0,1] 0.9884758531007578 Centerline is valid? [True, True] Translation: X:83.93, Y:-3.26, Z:0.92 [[ 9.99773169e-01 -3.29415457e-03 -2.10418435e-02 8.39294795e+01] [ 3.31360762e-03 9.99994114e-01 8.89694495e-04 -3.25823090e+00] [ 2.10387889e-02 -9.59217098e-04 9.99778200e-01 9.23917094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.740714057 meters Centerline goodness [0,1] 0.9894384395856273 Centerline is valid? [True, True] Translation: X:83.96, Y:-3.25, Z:0.93 [[ 9.99781049e-01 -3.71171212e-03 -2.05931396e-02 8.39572239e+01] [ 3.73032175e-03 9.99992668e-01 8.65341284e-04 -3.25448819e+00] [ 2.05897767e-02 -9.41970853e-04 9.99787564e-01 9.25946694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.770714057 meters Centerline goodness [0,1] 0.9889913583279369 Centerline is valid? [True, True] Translation: X:83.99, Y:-3.26, Z:0.93 [[ 9.99797299e-01 -5.13162249e-03 -1.94686413e-02 8.39858910e+01] [ 5.14844794e-03 9.99986415e-01 8.14209703e-04 -3.25827955e+00] [ 1.94641986e-02 -9.14277948e-04 9.99810137e-01 9.27469584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80071405700001 meters Centerline goodness [0,1] 0.9891698366524949 Centerline is valid? [True, True] Translation: X:84.01, Y:-3.26, Z:0.93 [[ 9.99794364e-01 -6.49373470e-03 -1.92109856e-02 8.40146019e+01] [ 6.51034240e-03 9.99978486e-01 8.02074448e-04 -3.26211774e+00] [ 1.92053639e-02 -9.26979607e-04 9.99815130e-01 9.27917813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.83071405700001 meters Centerline goodness [0,1] 0.9895291464803198 Centerline is valid? [True, True] Translation: X:84.04, Y:-3.27, Z:0.93 [[ 9.99778197e-01 -9.96142588e-03 -1.85560468e-02 8.40444314e+01] [ 9.97749811e-03 9.99949924e-01 7.73764759e-04 -3.26703322e+00] [ 1.85474098e-02 -9.58736058e-04 9.99827522e-01 9.29000705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86071405700001 meters Centerline goodness [0,1] 0.9893959012367728 Centerline is valid? [True, True] Translation: X:84.07, Y:-3.27, Z:0.93 [[ 9.99747623e-01 -1.19068968e-02 -1.90503476e-02 8.40731489e+01] [ 1.19241779e-02 9.99928589e-01 7.93793154e-04 -3.27281125e+00] [ 1.90395356e-02 -1.02075255e-03 9.99818211e-01 9.29013802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.890714057 meters Centerline goodness [0,1] 0.9898668210770122 Centerline is valid? [True, True] Translation: X:84.10, Y:-3.28, Z:0.93 [[ 9.99684933e-01 -1.58894701e-02 -1.94309149e-02 8.41032026e+01] [ 1.59081829e-02 9.99873130e-01 8.08842727e-04 -3.27763137e+00] [ 1.94155976e-02 -1.11769843e-03 9.99810875e-01 9.28670498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.920714057 meters Centerline goodness [0,1] 0.9881406183820415 Centerline is valid? [True, True] Translation: X:84.13, Y:-3.28, Z:0.93 [[ 9.99638465e-01 -1.81366434e-02 -1.98494463e-02 8.41310308e+01] [ 1.81565957e-02 9.99834815e-01 8.25415619e-04 -3.28232070e+00] [ 1.98311972e-02 -1.18551558e-03 9.99802640e-01 9.28432733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.950714057 meters Centerline goodness [0,1] 0.9888041393460903 Centerline is valid? [True, True] Translation: X:84.16, Y:-3.28, Z:0.93 [[ 9.99591211e-01 -2.01516100e-02 -2.02810888e-02 8.41606300e+01] [ 2.01728253e-02 9.99796153e-01 8.42004042e-04 -3.28256537e+00] [ 2.02599868e-02 -1.25078670e-03 9.99793963e-01 9.29098389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.980714057 meters Centerline goodness [0,1] 0.9889804096170971 Centerline is valid? [True, True] Translation: X:84.19, Y:-3.29, Z:0.93 [[ 9.99502568e-01 -2.41063203e-02 -2.03347673e-02 8.41910779e+01] [ 2.41284521e-02 9.99708511e-01 8.43690569e-04 -3.28692163e+00] [ 2.03085017e-02 -1.33391735e-03 9.99792871e-01 9.29328160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.010714057 meters Centerline goodness [0,1] 0.9886876826352607 Centerline is valid? [True, True] Translation: X:84.22, Y:-3.29, Z:0.93 [[ 9.99403366e-01 -2.76714706e-02 -2.06688623e-02 8.42200166e+01] [ 2.76950861e-02 9.99616050e-01 8.57143333e-04 -3.29416748e+00] [ 2.06372080e-02 -1.42905785e-03 9.99786009e-01 9.29096176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.040714057 meters Centerline goodness [0,1] 0.9867946376876141 Centerline is valid? [True, True] Translation: X:84.25, Y:-3.30, Z:0.93 [[ 9.99277930e-01 -3.15623950e-02 -2.11526485e-02 8.42489228e+01] [ 3.15879882e-02 9.99500590e-01 8.76815838e-04 -3.30077060e+00] [ 2.11144103e-02 -1.54435233e-03 9.99775873e-01 9.28983536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.070714057 meters Centerline goodness [0,1] 0.9868698762524716 Centerline is valid? [True, True] Translation: X:84.28, Y:-3.30, Z:0.93 [[ 9.99216791e-01 -3.31664237e-02 -2.15822157e-02 8.42795882e+01] [ 3.31934434e-02 9.99448545e-01 8.94813610e-04 -3.30296341e+00] [ 2.15406363e-02 -1.61050084e-03 9.99766676e-01 9.29723306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.100714057 meters Centerline goodness [0,1] 0.9869194102649373 Centerline is valid? [True, True] Translation: X:84.31, Y:-3.31, Z:0.93 [[ 9.99168656e-01 -3.45875818e-02 -2.15800062e-02 8.43093595e+01] [ 3.46149446e-02 9.99400322e-01 8.95607842e-04 -3.30728414e+00] [ 2.15360882e-02 -1.64185400e-03 9.99766723e-01 9.29910969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.130714057 meters Centerline goodness [0,1] 0.9864239294934568 Centerline is valid? [True, True] Translation: X:84.34, Y:-3.31, Z:0.93 [[ 9.99108828e-01 -3.61727832e-02 -2.17504094e-02 8.43408774e+01] [ 3.62009803e-02 9.99344121e-01 9.03925521e-04 -3.30904893e+00] [ 2.17034463e-02 -1.69050611e-03 9.99763023e-01 9.29809931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.160714057 meters Centerline goodness [0,1] 0.9851817293166267 Centerline is valid? [True, True] Translation: X:84.37, Y:-3.31, Z:0.93 [[ 9.99037348e-01 -3.79706713e-02 -2.19682999e-02 8.43721933e+01] [ 3.79998850e-02 9.99277326e-01 9.13745541e-04 -3.31313903e+00] [ 2.19177285e-02 -1.74765879e-03 9.99758250e-01 9.29667758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.19071405700001 meters Centerline goodness [0,1] 0.9859070264493721 Centerline is valid? [True, True] Translation: X:84.40, Y:-3.31, Z:0.93 [[ 9.98968971e-01 -3.94333771e-02 -2.24945372e-02 8.44038005e+01] [ 3.94643938e-02 9.99220539e-01 9.36428426e-04 -3.31101150e+00] [ 2.24400770e-02 -1.82319621e-03 9.99746527e-01 9.30544191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22071405700001 meters Centerline goodness [0,1] 0.9871489342747054 Centerline is valid? [True, True] Translation: X:84.44, Y:-3.31, Z:0.93 [[ 9.98916972e-01 -4.04987164e-02 -2.29071313e-02 8.44356021e+01] [ 4.05311788e-02 9.99177818e-01 9.54433908e-04 -3.30774538e+00] [ 2.28496441e-02 -1.88185327e-03 9.99737142e-01 9.31450162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.250714057 meters Centerline goodness [0,1] 0.9769246204267273 Centerline is valid? [True, True] Translation: X:84.47, Y:-3.32, Z:0.93 [[ 9.98843336e-01 -4.19347591e-02 -2.35258763e-02 8.44654417e+01] [ 4.19694162e-02 9.99118414e-01 9.81119363e-04 -3.32325459e+00] [ 2.34639933e-02 -1.96735183e-03 9.99722747e-01 9.29953060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.280714057 meters Centerline goodness [0,1] 0.9862952646239554 Centerline is valid? [True, True] Translation: X:84.50, Y:-3.31, Z:0.93 [[ 9.98801261e-01 -4.25897869e-02 -2.41278230e-02 8.44974840e+01] [ 4.26264529e-02 9.99090572e-01 1.00714904e-03 -3.31202143e+00] [ 2.40629862e-02 -2.03442523e-03 9.99708374e-01 9.31943125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.310714057 meters Centerline goodness [0,1] 0.9853634665005784 Centerline is valid? [True, True] Translation: X:84.53, Y:-3.32, Z:0.93 [[ 9.98764793e-01 -4.31583957e-02 -2.46219761e-02 8.45283985e+01] [ 4.31967783e-02 9.99066054e-01 1.02888572e-03 -3.31504067e+00] [ 2.45545755e-02 -2.09120488e-03 9.99696304e-01 9.31944934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.340714057 meters Centerline goodness [0,1] 0.9857991853451155 Centerline is valid? [True, True] Translation: X:84.56, Y:-3.31, Z:0.93 [[ 9.98716221e-01 -4.38106390e-02 -2.54271082e-02 8.45602019e+01] [ 4.38518130e-02 9.99037480e-01 1.06368977e-03 -3.31313802e+00] [ 2.53560332e-02 -2.17734903e-03 9.99676113e-01 9.31926864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.370714057 meters Centerline goodness [0,1] 0.9857308481227147 Centerline is valid? [True, True] Translation: X:84.59, Y:-3.31, Z:0.93 [[ 9.98688921e-01 -4.41516038e-02 -2.59050998e-02 8.45922832e+01] [ 4.41944917e-02 9.99022357e-01 1.08511114e-03 -3.31464189e+00] [ 2.58318645e-02 -2.22855120e-03 9.99663818e-01 9.32159871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.400714057 meters Centerline goodness [0,1] 0.9851639944115494 Centerline is valid? [True, True] Translation: X:84.62, Y:-3.32, Z:0.93 [[ 9.98680177e-01 -4.45133924e-02 -2.56215051e-02 8.46235101e+01] [ 4.45555049e-02 9.99006332e-01 1.07482561e-03 -3.31630802e+00] [ 2.55482017e-02 -2.21498613e-03 9.99671138e-01 9.33062718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.430714057 meters Centerline goodness [0,1] 0.9847047822602191 Centerline is valid? [True, True] Translation: X:84.66, Y:-3.31, Z:0.93 [[ 9.98666382e-01 -4.46447532e-02 -2.59288071e-02 8.46557555e+01] [ 4.46879689e-02 9.99000400e-01 1.08936513e-03 -3.31425628e+00] [ 2.58542542e-02 -2.24661806e-03 9.99663198e-01 9.33823209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.460714057 meters Centerline goodness [0,1] 0.9843422869615573 Centerline is valid? [True, True] Translation: X:84.69, Y:-3.32, Z:0.93 [[ 9.98663377e-01 -4.46576043e-02 -2.60222413e-02 8.46871517e+01] [ 4.47011788e-02 9.98999803e-01 1.09492337e-03 -3.31595730e+00] [ 2.59473173e-02 -2.25668474e-03 9.99660765e-01 9.33935031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.490714057 meters Centerline goodness [0,1] 0.9840232065156755 Centerline is valid? [True, True] Translation: X:84.72, Y:-3.32, Z:0.93 [[ 9.98675580e-01 -4.43870379e-02 -2.60168724e-02 8.47182895e+01] [ 4.44305394e-02 9.99011875e-01 1.09608733e-03 -3.31853618e+00] [ 2.59425124e-02 -2.25057933e-03 9.99660903e-01 9.34873616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.520714057 meters Centerline goodness [0,1] 0.983641583761768 Centerline is valid? [True, True] Translation: X:84.75, Y:-3.32, Z:0.94 [[ 9.98705360e-01 -4.40457458e-02 -2.54475262e-02 8.47501070e+01] [ 4.40872873e-02 9.99027106e-01 1.07343083e-03 -3.31843906e+00] [ 2.53754884e-02 -2.19395352e-03 9.99675583e-01 9.35721570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.55071405700001 meters Centerline goodness [0,1] 0.983641583761768 Centerline is valid? [True, True] Translation: X:84.78, Y:-3.32, Z:0.94 [[ 9.98708446e-01 -4.39757410e-02 -2.54474602e-02 8.47818888e+01] [ 4.40172995e-02 9.99030191e-01 1.07499409e-03 -3.31984373e+00] [ 2.53755073e-02 -2.19373415e-03 9.99675583e-01 9.36119110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58071405700001 meters Centerline goodness [0,1] 0.9832756503293514 Centerline is valid? [True, True] Translation: X:84.81, Y:-3.32, Z:0.94 [[ 9.98724758e-01 -4.38400764e-02 -2.50380642e-02 8.48127452e+01] [ 4.38803036e-02 9.99036234e-01 1.05921899e-03 -3.32222707e+00] [ 2.49674971e-02 -2.15654609e-03 9.99685937e-01 9.36609996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61071405700001 meters Centerline goodness [0,1] 0.9851371526617199 Centerline is valid? [True, True] Translation: X:84.85, Y:-3.32, Z:0.94 [[ 9.98752546e-01 -4.35035995e-02 -2.45109969e-02 8.48451287e+01] [ 4.35420867e-02 9.99051054e-01 1.03842855e-03 -3.31675314e+00] [ 2.44425619e-02 -2.10439311e-03 9.99699021e-01 9.38346323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.640714057 meters Centerline goodness [0,1] 0.9842271293375394 Centerline is valid? [True, True] Translation: X:84.88, Y:-3.32, Z:0.94 [[ 9.98771697e-01 -4.31482272e-02 -2.43583330e-02 8.48761834e+01] [ 4.31861685e-02 9.99066508e-01 1.03349143e-03 -3.32023705e+00] [ 2.42910014e-02 -2.08416506e-03 9.99702758e-01 9.38122964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.670714057 meters Centerline goodness [0,1] 0.9770063423051927 Centerline is valid? [True, True] Translation: X:84.91, Y:-3.33, Z:0.94 [[ 9.98784340e-01 -4.27831266e-02 -2.44835840e-02 8.49068288e+01] [ 4.28213822e-02 9.99082203e-01 1.04011035e-03 -3.32889093e+00] [ 2.44166139e-02 -2.08726684e-03 9.99699691e-01 9.37213349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.700714057 meters Centerline goodness [0,1] 0.9766088416340235 Centerline is valid? [True, True] Translation: X:84.94, Y:-3.33, Z:0.94 [[ 9.98815619e-01 -4.19458869e-02 -2.46556694e-02 8.49385426e+01] [ 4.19844554e-02 9.99117714e-01 1.04849018e-03 -3.32915044e+00] [ 2.45899362e-02 -2.08240322e-03 9.99695453e-01 9.37001726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.730714057 meters Centerline goodness [0,1] 0.9860638107187668 Centerline is valid? [True, True] Translation: X:84.97, Y:-3.32, Z:0.94 [[ 9.98805961e-01 -4.18335315e-02 -2.52310722e-02 8.49716203e+01] [ 4.18739202e-02 9.99122325e-01 1.07430519e-03 -3.31722213e+00] [ 2.51639855e-02 -2.12954633e-03 9.99681069e-01 9.38995854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.760714057 meters Centerline goodness [0,1] 0.9857680756645301 Centerline is valid? [True, True] Translation: X:85.00, Y:-3.32, Z:0.94 [[ 9.98800613e-01 -4.18064569e-02 -2.54863837e-02 8.50039374e+01] [ 4.18477056e-02 9.99123410e-01 1.08702157e-03 -3.31794467e+00] [ 2.54185980e-02 -2.15226449e-03 9.99674578e-01 9.39417189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.790714057 meters Centerline goodness [0,1] 0.984932363051922 Centerline is valid? [True, True] Translation: X:85.04, Y:-3.32, Z:0.94 [[ 9.98789971e-01 -4.18936004e-02 -2.57588757e-02 8.50354389e+01] [ 4.19358276e-02 9.99119700e-01 1.10107963e-03 -3.32170093e+00] [ 2.56900720e-02 -2.17996706e-03 9.99667579e-01 9.38556156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.820714057 meters Centerline goodness [0,1] 0.9859056938303746 Centerline is valid? [True, True] Translation: X:85.07, Y:-3.32, Z:0.94 [[ 9.98750318e-01 -4.25583882e-02 -2.62027889e-02 8.50667739e+01] [ 4.26023625e-02 9.99091477e-01 1.12202304e-03 -3.31709465e+00] [ 2.61312316e-02 -2.23692158e-03 9.99656018e-01 9.39288954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.850714057 meters Centerline goodness [0,1] 0.9850262599173092 Centerline is valid? [True, True] Translation: X:85.10, Y:-3.32, Z:0.94 [[ 9.98725149e-01 -4.31261235e-02 -2.62338235e-02 8.50982664e+01] [ 4.31704284e-02 9.99067090e-01 1.12457352e-03 -3.32011241e+00] [ 2.61608512e-02 -2.25566525e-03 9.99655201e-01 9.38816450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.880714057 meters Centerline goodness [0,1] 0.9846285226302306 Centerline is valid? [True, True] Translation: X:85.13, Y:-3.32, Z:0.94 [[ 9.98718673e-01 -4.35302430e-02 -2.58095022e-02 8.51308890e+01] [ 4.35733019e-02 9.99049618e-01 1.10802481e-03 -3.32102200e+00] [ 2.57367407e-02 -2.23121030e-03 9.99666265e-01 9.39515292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.910714057 meters Centerline goodness [0,1] 0.9842938965455522 Centerline is valid? [True, True] Translation: X:85.16, Y:-3.32, Z:0.94 [[ 9.98740169e-01 -4.34575667e-02 -2.50901234e-02 8.51620519e+01] [ 4.34982953e-02 9.99052918e-01 1.07954717e-03 -3.32136182e+00] [ 2.50194465e-02 -2.16956471e-03 9.99684610e-01 9.41034527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94071405700001 meters Centerline goodness [0,1] 0.9845210280373832 Centerline is valid? [True, True] Translation: X:85.19, Y:-3.32, Z:0.94 [[ 9.98743506e-01 -4.35389559e-02 -2.48146701e-02 8.51945933e+01] [ 4.35788787e-02 9.99049416e-01 1.07007960e-03 -3.32181637e+00] [ 2.47444916e-02 -2.15013055e-03 9.99691496e-01 9.41723613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97071405700001 meters Centerline goodness [0,1] 0.984787884235125 Centerline is valid? [True, True] Translation: X:85.23, Y:-3.32, Z:0.94 [[ 9.98758797e-01 -4.30665297e-02 -2.50227799e-02 8.52270104e+01] [ 4.31070230e-02 9.99069876e-01 1.08085565e-03 -3.32120897e+00] [ 2.49529569e-02 -2.15817164e-03 9.99686297e-01 9.41716426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.000714057 meters Centerline goodness [0,1] 0.9848144991252075 Centerline is valid? [True, True] Translation: X:85.26, Y:-3.32, Z:0.94 [[ 9.98770931e-01 -4.27439234e-02 -2.50915187e-02 8.52581051e+01] [ 4.27845778e-02 9.99083731e-01 1.08539099e-03 -3.32345140e+00] [ 2.50221342e-02 -2.15758701e-03 9.99684569e-01 9.41556855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.030714057 meters Centerline goodness [0,1] 0.9839913903275711 Centerline is valid? [True, True] Translation: X:85.29, Y:-3.33, Z:0.94 [[ 9.98794310e-01 -4.23245607e-02 -2.48708097e-02 8.52889668e+01] [ 4.23644061e-02 9.99101645e-01 1.07715187e-03 -3.32592813e+00] [ 2.48028769e-02 -2.12949024e-03 9.99690093e-01 9.41329613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.060714057 meters Centerline goodness [0,1] 0.9824616629941089 Centerline is valid? [True, True] Translation: X:85.32, Y:-3.33, Z:0.94 [[ 9.98806517e-01 -4.17784798e-02 -2.53001836e-02 8.53201299e+01] [ 4.18195733e-02 9.99124577e-01 1.09708667e-03 -3.32623131e+00] [ 2.52322006e-02 -2.15382020e-03 9.99679297e-01 9.41622733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.090714057 meters Centerline goodness [0,1] 0.9830695454443119 Centerline is valid? [True, True] Translation: X:85.35, Y:-3.33, Z:0.94 [[ 9.98885630e-01 -4.01183883e-02 -2.48598867e-02 8.53504351e+01] [ 4.01575744e-02 9.99192777e-01 1.07885253e-03 -3.32518586e+00] [ 2.47965374e-02 -2.07596304e-03 9.99690363e-01 9.42061520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.120714057 meters Centerline goodness [0,1] 0.9827927927927927 Centerline is valid? [True, True] Translation: X:85.38, Y:-3.33, Z:0.94 [[ 9.98921198e-01 -3.91023468e-02 -2.50488825e-02 8.53819494e+01] [ 3.91418302e-02 9.99233073e-01 1.08770510e-03 -3.32544210e+00] [ 2.49871401e-02 -2.06699079e-03 9.99685636e-01 9.42283240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.150714057 meters Centerline goodness [0,1] 0.9828336829757958 Centerline is valid? [True, True] Translation: X:85.41, Y:-3.33, Z:0.94 [[ 9.99013623e-01 -3.63412622e-02 -2.55165514e-02 8.54114700e+01] [ 3.63813452e-02 9.99337365e-01 1.10822858e-03 -3.32509604e+00] [ 2.54593688e-02 -2.03546191e-03 9.99673786e-01 9.42108299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.180714057 meters Centerline goodness [0,1] 0.9831837804850485 Centerline is valid? [True, True] Translation: X:85.44, Y:-3.32, Z:0.94 [[ 9.99067103e-01 -3.47212654e-02 -2.56779551e-02 8.54419491e+01] [ 3.47613201e-02 9.99395021e-01 1.11502586e-03 -3.32337612e+00] [ 2.56237053e-02 -2.00658528e-03 9.99669645e-01 9.42464527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.210714057 meters Centerline goodness [0,1] 0.9836210211976563 Centerline is valid? [True, True] Translation: X:85.47, Y:-3.32, Z:0.94 [[ 9.99137573e-01 -3.26582031e-02 -2.56427609e-02 8.54727038e+01] [ 3.26974783e-02 9.99464674e-01 1.11371660e-03 -3.32290441e+00] [ 2.55926616e-02 -1.95120972e-03 9.99670550e-01 9.42830198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.240714057 meters Centerline goodness [0,1] 0.9840679886685553 Centerline is valid? [True, True] Translation: X:85.50, Y:-3.32, Z:0.94 [[ 9.99291036e-01 -2.77858453e-02 -2.54041679e-02 8.55023857e+01] [ 2.78228311e-02 9.99612261e-01 1.10352170e-03 -3.32033534e+00] [ 2.53636554e-02 -1.80955522e-03 9.99676653e-01 9.42973436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.270714057 meters Centerline goodness [0,1] 0.9849852574279883 Centerline is valid? [True, True] Translation: X:85.53, Y:-3.32, Z:0.94 [[ 9.99375850e-01 -2.49073360e-02 -2.50506692e-02 8.55324859e+01] [ 2.49423934e-02 9.99688298e-01 1.08792566e-03 -3.31646360e+00] [ 2.50157635e-02 -1.71207027e-03 9.99685591e-01 9.43784694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30071405700001 meters Centerline goodness [0,1] 0.9874783717329934 Centerline is valid? [True, True] Translation: X:85.56, Y:-3.30, Z:0.95 [[ 9.99516428e-01 -1.93055448e-02 -2.43763317e-02 8.55627936e+01] [ 1.93370679e-02 9.99812462e-01 1.05810955e-03 -3.30190790e+00] [ 2.43513328e-02 -1.52896466e-03 9.99702293e-01 9.46268516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.33071405700001 meters Centerline goodness [0,1] 0.9885369188696445 Centerline is valid? [True, True] Translation: X:85.59, Y:-3.30, Z:0.95 [[ 9.99605609e-01 -1.41385685e-02 -2.42636874e-02 8.55920408e+01] [ 1.41682700e-02 9.99899071e-01 1.05262651e-03 -3.29842775e+00] [ 2.42463559e-02 -1.39598584e-03 9.99705039e-01 9.46044860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36071405700001 meters Centerline goodness [0,1] 0.9879916900668904 Centerline is valid? [True, True] Translation: X:85.62, Y:-3.30, Z:0.95 [[ 9.99632671e-01 -1.19481951e-02 -2.43262097e-02 8.56210963e+01] [ 1.19773870e-02 9.99927712e-01 1.05466522e-03 -3.30324600e+00] [ 2.43118498e-02 -1.34564224e-03 9.99703518e-01 9.45127424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.390714057 meters Centerline goodness [0,1] 0.9875322540131984 Centerline is valid? [True, True] Translation: X:85.65, Y:-3.30, Z:0.95 [[ 9.99653509e-01 -9.75850828e-03 -2.44465230e-02 8.56513234e+01] [ 9.78732148e-03 9.99951542e-01 1.05924544e-03 -3.30204104e+00] [ 2.44350017e-02 -1.29814440e-03 9.99700578e-01 9.45236118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.420714057 meters Centerline goodness [0,1] 0.9875941312458514 Centerline is valid? [True, True] Translation: X:85.68, Y:-3.29, Z:0.95 [[ 9.99678738e-01 -5.83163383e-03 -2.46660121e-02 8.56819015e+01] [ 5.85976453e-03 9.99982261e-01 1.06833773e-03 -3.29463407e+00] [ 2.46593444e-02 -1.21253154e-03 9.99695177e-01 9.46836015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.450714057 meters Centerline goodness [0,1] 0.9873438000640821 Centerline is valid? [True, True] Translation: X:85.71, Y:-3.30, Z:0.95 [[ 9.99686174e-01 -4.28134153e-03 -2.46824732e-02 8.57093622e+01] [ 4.30900757e-03 9.99990146e-01 1.06780008e-03 -3.29884736e+00] [ 2.46776583e-02 -1.17382194e-03 9.99694771e-01 9.46177696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.480714057 meters Centerline goodness [0,1] 0.9883747539933178 Centerline is valid? [True, True] Translation: X:85.74, Y:-3.29, Z:0.95 [[ 9.99705570e-01 -1.22288743e-03 -2.42338317e-02 8.57397636e+01] [ 1.24862972e-03 9.99998672e-01 1.04714302e-03 -3.29023346e+00] [ 2.42325190e-02 -1.07709379e-03 9.99705769e-01 9.48370483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.510714057 meters Centerline goodness [0,1] 0.9886410479549306 Centerline is valid? [True, True] Translation: X:85.77, Y:-3.29, Z:0.95 [[ 9.99704370e-01 -1.27534503e-04 -2.43137102e-02 8.57684047e+01] [ 1.53046369e-04 9.99999440e-01 1.04742108e-03 -3.28907310e+00] [ 2.43135630e-02 -1.05083255e-03 9.99703829e-01 9.49373406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.540714057 meters Centerline goodness [0,1] 0.9879764117390606 Centerline is valid? [True, True] Translation: X:85.80, Y:-3.29, Z:0.95 [[ 9.99700338e-01 1.61176564e-03 -2.44261326e-02 8.57961387e+01] [-1.58663783e-03 9.99998192e-01 1.04807235e-03 -3.28953230e+00] [ 2.44277777e-02 -1.00900286e-03 9.99701088e-01 9.49776613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.570714057 meters Centerline goodness [0,1] 0.9891157087418769 Centerline is valid? [True, True] Translation: X:85.83, Y:-3.29, Z:0.95 [[ 9.99708850e-01 5.40355260e-03 -2.35163169e-02 8.58260883e+01] [-5.38134619e-03 9.99985013e-01 1.00747948e-03 -3.28703170e+00] [ 2.35214084e-02 -8.80636715e-04 9.99722946e-01 9.50701652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.600714057 meters Centerline goodness [0,1] 0.9894026974951831 Centerline is valid? [True, True] Translation: X:85.86, Y:-3.29, Z:0.95 [[ 9.99690625e-01 9.15428489e-03 -2.31269141e-02 8.58555930e+01] [-9.13383161e-03 9.99957796e-01 9.89873026e-04 -3.28502930e+00] [ 2.31349996e-02 -7.78329445e-04 9.99732047e-01 9.51824608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.630714057 meters Centerline goodness [0,1] 0.9890675241157556 Centerline is valid? [True, True] Translation: X:85.88, Y:-3.29, Z:0.95 [[ 9.99685044e-01 1.08059967e-02 -2.26504732e-02 8.58830051e+01] [-1.07868314e-02 9.99941352e-01 9.68146202e-04 -3.28604886e+00] [ 2.26596065e-02 -7.23514443e-04 9.99742976e-01 9.51859206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.660714057 meters Centerline goodness [0,1] 0.9890883977900552 Centerline is valid? [True, True] Translation: X:85.91, Y:-3.29, Z:0.95 [[ 9.99676717e-01 1.19665727e-02 -2.24335222e-02 8.59105330e+01] [-1.19481181e-02 9.99928161e-01 9.56493563e-04 -3.28806649e+00] [ 2.24433565e-02 -6.88145972e-04 9.99747879e-01 9.52072433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.69071405700001 meters Centerline goodness [0,1] 0.9885253064134109 Centerline is valid? [True, True] Translation: X:85.94, Y:-3.29, Z:0.95 [[ 9.99668113e-01 1.36702365e-02 -2.18354749e-02 8.59380770e+01] [-1.36532109e-02 9.99906359e-01 9.28617903e-04 -3.29335728e+00] [ 2.18461246e-02 -6.30185362e-04 9.99761146e-01 9.52021819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72071405700001 meters Centerline goodness [0,1] 0.988564867967853 Centerline is valid? [True, True] Translation: X:85.97, Y:-3.30, Z:0.95 [[ 9.99674788e-01 1.40385238e-02 -2.12894071e-02 8.59653963e+01] [-1.40224600e-02 9.99901272e-01 9.03645656e-04 -3.29545758e+00] [ 2.12999911e-02 -6.04821919e-04 9.99772947e-01 9.52732735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.750714057 meters Centerline goodness [0,1] 0.9897552255225522 Centerline is valid? [True, True] Translation: X:85.99, Y:-3.29, Z:0.95 [[ 9.99700855e-01 1.26145365e-02 -2.09540835e-02 8.59943385e+01] [-1.25986953e-02 9.99920239e-01 8.87844526e-04 -3.29463192e+00] [ 2.09636119e-02 -6.23584820e-04 9.99780045e-01 9.54906257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.780714057 meters Centerline goodness [0,1] 0.9892951289398281 Centerline is valid? [True, True] Translation: X:86.02, Y:-3.30, Z:0.95 [[ 9.99725755e-01 1.12159402e-02 -2.05576624e-02 8.60220141e+01] [-1.12004294e-02 9.99936895e-01 8.69494150e-04 -3.29987020e+00] [ 2.05661173e-02 -6.39001050e-04 9.99788291e-01 9.54742222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.810714057 meters Centerline goodness [0,1] 0.9889031254290028 Centerline is valid? [True, True] Translation: X:86.05, Y:-3.31, Z:0.95 [[ 9.99763160e-01 7.18297035e-03 -2.05433325e-02 8.60513868e+01] [-7.16665852e-03 9.99973943e-01 8.67532726e-04 -3.30711666e+00] [ 2.05490287e-02 -7.20100210e-04 9.99788587e-01 9.54770550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.840714057 meters Centerline goodness [0,1] 0.9892703373806866 Centerline is valid? [True, True] Translation: X:86.08, Y:-3.31, Z:0.96 [[ 9.99776323e-01 4.78355196e-03 -2.06014910e-02 8.60806440e+01] [-4.76665344e-03 9.99988262e-01 8.69284197e-04 -3.31120205e+00] [ 2.06054074e-02 -7.70889590e-04 9.99787389e-01 9.55526033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.870714057 meters Centerline goodness [0,1] 0.9890962895515593 Centerline is valid? [True, True] Translation: X:86.11, Y:-3.32, Z:0.96 [[ 9.99793902e-01 -2.04573542e-04 -2.03005187e-02 8.61108419e+01] [ 2.21999743e-04 9.99999609e-01 8.56161759e-04 -3.32021553e+00] [ 2.03003356e-02 -8.60492016e-04 9.99793557e-01 9.55862155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.900714057 meters Centerline goodness [0,1] 0.988933647144021 Centerline is valid? [True, True] Translation: X:86.14, Y:-3.33, Z:0.96 [[ 9.99798301e-01 -2.56430723e-03 -1.99193660e-02 8.61406269e+01] [ 2.58154744e-03 9.99996315e-01 8.39834110e-04 -3.32554028e+00] [ 1.99171390e-02 -8.91087505e-04 9.99801237e-01 9.55975468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.930714057 meters Centerline goodness [0,1] 0.9889369998413094 Centerline is valid? [True, True] Translation: X:86.17, Y:-3.33, Z:0.96 [[ 9.99789774e-01 -4.90420456e-03 -1.99087224e-02 8.61691294e+01] [ 4.92187331e-03 9.99987536e-01 8.38585193e-04 -3.33150684e+00] [ 1.99043617e-02 -9.36397110e-04 9.99801450e-01 9.56070999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.960714057 meters Centerline goodness [0,1] 0.9889129747550016 Centerline is valid? [True, True] Translation: X:86.20, Y:-3.34, Z:0.96 [[ 9.99742877e-01 -9.24075653e-03 -2.07072102e-02 8.61982411e+01] [ 9.26078267e-03 9.99956738e-01 8.71423663e-04 -3.34154304e+00] [ 2.06982618e-02 -1.06296457e-03 9.99785203e-01 9.55180440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.990714057 meters Centerline goodness [0,1] 0.9898869048962731 Centerline is valid? [True, True] Translation: X:86.23, Y:-3.34, Z:0.96 [[ 9.99718453e-01 -1.12029895e-02 -2.09166662e-02 8.62275756e+01] [ 1.12238373e-02 9.99936624e-01 8.79573096e-04 -3.33977248e+00] [ 2.09054867e-02 -1.11409071e-03 9.99780836e-01 9.56293687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.020714057 meters Centerline goodness [0,1] 0.9890265885534024 Centerline is valid? [True, True] Translation: X:86.26, Y:-3.35, Z:0.96 [[ 9.99679844e-01 -1.47960830e-02 -2.05252607e-02 8.62573389e+01] [ 1.48168953e-02 9.99889852e-01 8.62270414e-04 -3.34760741e+00] [ 2.05102417e-02 -1.16611499e-03 9.99788963e-01 9.56944602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.05071405700001 meters Centerline goodness [0,1] 0.9892892576891855 Centerline is valid? [True, True] Translation: X:86.29, Y:-3.35, Z:0.96 [[ 9.99657441e-01 -1.65250304e-02 -2.02959276e-02 8.62862589e+01] [ 1.65457170e-02 9.99862747e-01 8.51739305e-04 -3.34974439e+00] [ 2.02790669e-02 -1.18725821e-03 9.99793654e-01 9.57992362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08071405700001 meters Centerline goodness [0,1] 0.9896710022953328 Centerline is valid? [True, True] Translation: X:86.31, Y:-3.35, Z:0.96 [[ 9.99641940e-01 -1.79995159e-02 -1.97992465e-02 8.63137068e+01] [ 1.80194583e-02 9.99837292e-01 8.29272986e-04 -3.35484130e+00] [ 1.97810985e-02 -1.18574775e-03 9.99803632e-01 9.58276678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11071405700001 meters Centerline goodness [0,1] 0.9892056524757575 Centerline is valid? [True, True] Translation: X:86.34, Y:-3.36, Z:0.96 [[ 9.99590475e-01 -2.06985782e-02 -1.97598439e-02 8.63427768e+01] [ 2.07189417e-02 9.99784998e-01 8.26361957e-04 -3.36467597e+00] [ 1.97384910e-02 -1.23542659e-03 9.99804414e-01 9.58243890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.140714057 meters Centerline goodness [0,1] 0.9893306379155435 Centerline is valid? [True, True] Translation: X:86.37, Y:-3.37, Z:0.96 [[ 9.99531206e-01 -2.36273237e-02 -1.94709690e-02 8.63728475e+01] [ 2.36476427e-02 9.99720024e-01 8.13935795e-04 -3.36848105e+00] [ 1.94462864e-02 -1.27399674e-03 9.99810091e-01 9.59298704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.170714057 meters Centerline goodness [0,1] 0.9899901469007524 Centerline is valid? [True, True] Translation: X:86.40, Y:-3.37, Z:0.96 [[ 9.99506442e-01 -2.47176477e-02 -1.93883844e-02 8.64033664e+01] [ 2.47379945e-02 9.99693641e-01 8.10261073e-04 -3.37223227e+00] [ 1.93624168e-02 -1.28949091e-03 9.99811699e-01 9.59636462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.200714057 meters Centerline goodness [0,1] 0.9895106459116121 Centerline is valid? [True, True] Translation: X:86.43, Y:-3.38, Z:0.96 [[ 9.99424498e-01 -2.72639103e-02 -2.01829759e-02 8.64327616e+01] [ 2.72864734e-02 9.99627299e-01 8.43331971e-04 -3.37955997e+00] [ 2.01524612e-02 -1.39356887e-03 9.99795947e-01 9.59086734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.230714057 meters Centerline goodness [0,1] 0.9885565147560731 Centerline is valid? [True, True] Translation: X:86.46, Y:-3.38, Z:0.96 [[ 9.99383137e-01 -2.83305914e-02 -2.07538781e-02 8.64629692e+01] [ 2.83546734e-02 9.99597549e-01 8.66959776e-04 -3.38314951e+00] [ 2.07209642e-02 -1.45489442e-03 9.99784239e-01 9.59005634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.260714057 meters Centerline goodness [0,1] 0.9882069150361833 Centerline is valid? [True, True] Translation: X:86.49, Y:-3.39, Z:0.96 [[ 9.99357401e-01 -2.92347731e-02 -2.07391472e-02 8.64926436e+01] [ 2.92590147e-02 9.99571488e-01 8.66344414e-04 -3.38678118e+00] [ 2.07049328e-02 -1.47259471e-03 9.99784545e-01 9.59241618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.290714057 meters Centerline goodness [0,1] 0.9885329287881492 Centerline is valid? [True, True] Translation: X:86.52, Y:-3.39, Z:0.96 [[ 9.99306546e-01 -3.07646173e-02 -2.09753528e-02 8.65227643e+01] [ 3.07897526e-02 9.99525499e-01 8.76357311e-04 -3.39243520e+00] [ 2.09384392e-02 -1.52157552e-03 9.99779609e-01 9.59351222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.320714057 meters Centerline goodness [0,1] 0.9888891367885589 Centerline is valid? [True, True] Translation: X:86.55, Y:-3.39, Z:0.96 [[ 9.99284611e-01 -3.15885624e-02 -2.07949192e-02 8.65535650e+01] [ 3.16134518e-02 9.99499792e-01 8.69174124e-04 -3.39471139e+00] [ 2.07570614e-02 -1.52595150e-03 9.99783384e-01 9.59772365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.350714057 meters Centerline goodness [0,1] 0.9877396344181899 Centerline is valid? [True, True] Translation: X:86.58, Y:-3.40, Z:0.96 [[ 9.99230682e-01 -3.28053251e-02 -2.14908186e-02 8.65840359e+01] [ 3.28321966e-02 9.99460474e-01 8.98635591e-04 -3.39877258e+00] [ 2.14497437e-02 -1.60353504e-03 9.99768642e-01 9.59814471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.380714057 meters Centerline goodness [0,1] 0.9898132427843803 Centerline is valid? [True, True] Translation: X:86.62, Y:-3.39, Z:0.96 [[ 9.99202398e-01 -3.33048432e-02 -2.20307949e-02 8.66154232e+01] [ 3.33332154e-02 9.99443869e-01 9.21778105e-04 -3.39170095e+00] [ 2.19878432e-02 -1.65540012e-03 9.99756868e-01 9.61313913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.410714057 meters Centerline goodness [0,1] 0.9882635904059862 Centerline is valid? [True, True] Translation: X:86.64, Y:-3.41, Z:0.96 [[ 9.99170752e-01 -3.39987020e-02 -2.24030348e-02 8.66447166e+01] [ 3.40282252e-02 9.99420432e-01 9.37813255e-04 -3.40554160e+00] [ 2.23581662e-02 -1.69937109e-03 9.99748581e-01 9.59327220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44071405700001 meters Centerline goodness [0,1] 0.9876628437813161 Centerline is valid? [True, True] Translation: X:86.68, Y:-3.41, Z:0.96 [[ 9.99160017e-01 -3.42649801e-02 -2.24760278e-02 8.66759942e+01] [ 3.42947704e-02 9.99411318e-01 9.41200845e-04 -3.40720752e+00] [ 2.24305464e-02 -1.71122047e-03 9.99746939e-01 9.59857280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47071405700001 meters Centerline goodness [0,1] 0.9876628437813161 Centerline is valid? [True, True] Translation: X:86.71, Y:-3.41, Z:0.96 [[ 9.99161155e-01 -3.42317907e-02 -2.24759966e-02 8.67069006e+01] [ 3.42615894e-02 9.99412456e-01 9.41947046e-04 -3.40853602e+00] [ 2.24305464e-02 -1.71122026e-03 9.99746939e-01 9.60243928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.500714057 meters Centerline goodness [0,1] 0.9871254211571502 Centerline is valid? [True, True] Translation: X:86.74, Y:-3.41, Z:0.96 [[ 9.99157575e-01 -3.42223101e-02 -2.26489208e-02 8.67377120e+01] [ 3.42525838e-02 9.99412757e-01 9.49948928e-04 -3.41051667e+00] [ 2.26031109e-02 -1.72493272e-03 9.99743029e-01 9.60821908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.530714057 meters Centerline goodness [0,1] 0.9888814765399155 Centerline is valid? [True, True] Translation: X:86.77, Y:-3.40, Z:0.96 [[ 9.99155209e-01 -3.44918405e-02 -2.23423467e-02 8.67694705e+01] [ 3.45213839e-02 9.99403519e-01 9.37848978e-04 -3.40058138e+00] [ 2.22966717e-02 -1.70834542e-03 9.99749939e-01 9.62836859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.560714057 meters Centerline goodness [0,1] 0.9883004376172189 Centerline is valid? [True, True] Translation: X:86.80, Y:-3.40, Z:0.96 [[ 9.99143106e-01 -3.46722445e-02 -2.26028561e-02 8.67995700e+01] [ 3.47025497e-02 9.99397234e-01 9.49791318e-04 -3.40435461e+00] [ 2.25563005e-02 -1.73335419e-03 9.99744072e-01 9.63106776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.590714057 meters Centerline goodness [0,1] 0.9890575204475051 Centerline is valid? [True, True] Translation: X:86.83, Y:-3.40, Z:0.96 [[ 9.99141315e-01 -3.47245409e-02 -2.26017646e-02 8.68308272e+01] [ 3.47548800e-02 9.99395414e-01 9.50790425e-04 -3.40366803e+00] [ 2.25550842e-02 -1.73549561e-03 9.99744095e-01 9.64150239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.620714057 meters Centerline goodness [0,1] 0.9880652846741332 Centerline is valid? [True, True] Translation: X:86.86, Y:-3.41, Z:0.96 [[ 9.99136298e-01 -3.47163843e-02 -2.28348753e-02 8.68617805e+01] [ 3.47473689e-02 9.99395665e-01 9.61404993e-04 -3.40554214e+00] [ 2.27876989e-02 -1.75402646e-03 9.99738788e-01 9.64586651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.650714057 meters Centerline goodness [0,1] 0.9884164713759626 Centerline is valid? [True, True] Translation: X:86.89, Y:-3.41, Z:0.97 [[ 9.99159788e-01 -3.43735856e-02 -2.23198047e-02 8.68919608e+01] [ 3.44031262e-02 9.99407594e-01 9.40769960e-04 -3.40721268e+00] [ 2.22742447e-02 -1.70785057e-03 9.99750439e-01 9.65298279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.680714057 meters Centerline goodness [0,1] 0.9832805035939104 Centerline is valid? [True, True] Translation: X:86.92, Y:-3.42, Z:0.96 [[ 9.99186184e-01 -3.37976474e-02 -2.20156260e-02 8.69215843e+01] [ 3.38262698e-02 9.99427296e-01 9.28893260e-04 -3.42090373e+00] [ 2.19716232e-02 -1.67284382e-03 9.99757195e-01 9.64133699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.710714057 meters Centerline goodness [0,1] 0.9879970495540803 Centerline is valid? [True, True] Translation: X:86.95, Y:-3.41, Z:0.97 [[ 9.99220456e-01 -3.25148009e-02 -2.23890241e-02 8.69536289e+01] [ 3.25440952e-02 9.99469854e-01 9.45213484e-04 -3.40661230e+00] [ 2.23464212e-02 -1.67310718e-03 9.99748888e-01 9.66257400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.740714057 meters Centerline goodness [0,1] 0.9887204556666817 Centerline is valid? [True, True] Translation: X:86.98, Y:-3.40, Z:0.97 [[ 9.99245863e-01 -3.16005504e-02 -2.25634870e-02 8.69847310e+01] [ 3.16300854e-02 9.99499189e-01 9.53198333e-04 -3.40376473e+00] [ 2.25220654e-02 -1.66616451e-03 9.99744958e-01 9.67019705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.770714057 meters Centerline goodness [0,1] 0.9877917414721723 Centerline is valid? [True, True] Translation: X:87.01, Y:-3.41, Z:0.97 [[ 9.99295875e-01 -3.01440338e-02 -2.23403713e-02 8.70145013e+01] [ 3.01726303e-02 9.99544257e-01 9.43991803e-04 -3.41050546e+00] [ 2.23017341e-02 -1.61739488e-03 9.99749977e-01 9.65933741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80071405700001 meters Centerline goodness [0,1] 0.9880209969043026 Centerline is valid? [True, True] Translation: X:87.04, Y:-3.41, Z:0.97 [[ 9.99308143e-01 -2.94495994e-02 -2.27146758e-02 8.70442569e+01] [ 2.94789802e-02 9.99564940e-01 9.59636880e-04 -3.41251696e+00] [ 2.26765326e-02 -1.62857842e-03 9.99741528e-01 9.66112937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.83071405700001 meters Centerline goodness [0,1] 0.9886307795398704 Centerline is valid? [True, True] Translation: X:87.07, Y:-3.41, Z:0.97 [[ 9.99339364e-01 -2.86049973e-02 -2.24185264e-02 8.70748358e+01] [ 2.86334007e-02 9.99589532e-01 9.46918977e-04 -3.40663314e+00] [ 2.23822377e-02 -1.58821206e-03 9.99748225e-01 9.66995474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86071405700001 meters Centerline goodness [0,1] 0.9896974176353334 Centerline is valid? [True, True] Translation: X:87.10, Y:-3.41, Z:0.97 [[ 9.99358807e-01 -2.77794340e-02 -2.25893270e-02 8.71049039e+01] [ 2.78080660e-02 9.99612825e-01 9.54308738e-04 -3.40817581e+00] [ 2.25540708e-02 -1.58186234e-03 9.99744373e-01 9.66768186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.890714057 meters Centerline goodness [0,1] 0.9893715030447385 Centerline is valid? [True, True] Translation: X:87.14, Y:-3.41, Z:0.97 [[ 9.99356489e-01 -2.74791291e-02 -2.30543854e-02 8.71358535e+01] [ 2.75088781e-02 9.99621085e-01 9.74177049e-04 -3.40864229e+00] [ 2.30188802e-02 -1.60775043e-03 9.99733738e-01 9.66992151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.920714057 meters Centerline goodness [0,1] 0.9895840348396076 Centerline is valid? [True, True] Translation: X:87.17, Y:-3.41, Z:0.97 [[ 9.99370151e-01 -2.72500724e-02 -2.27318156e-02 8.71665227e+01] [ 2.72789356e-02 9.99627399e-01 9.60546667e-04 -3.40672658e+00] [ 2.26971707e-02 -1.58004140e-03 9.99741137e-01 9.67457722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.950714057 meters Centerline goodness [0,1] 0.9889828797092018 Centerline is valid? [True, True] Translation: X:87.20, Y:-3.41, Z:0.97 [[ 9.99389901e-01 -2.68216782e-02 -2.23701253e-02 8.71957942e+01] [ 2.68495252e-02 9.99639039e-01 9.45359002e-04 -3.41137058e+00] [ 2.23366944e-02 -1.54540948e-03 9.99749310e-01 9.67534546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.980714057 meters Centerline goodness [0,1] 0.9888933764135702 Centerline is valid? [True, True] Translation: X:87.23, Y:-3.41, Z:0.97 [[ 9.99424816e-01 -2.57811937e-02 -2.20310476e-02 8.72253084e+01] [ 2.58079576e-02 9.99666485e-01 9.31322207e-04 -3.41343618e+00] [ 2.19996893e-02 -1.49936287e-03 9.99756853e-01 9.68447731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.010714057 meters Centerline goodness [0,1] 0.9884091112904673 Centerline is valid? [True, True] Translation: X:87.26, Y:-3.41, Z:0.97 [[ 9.99446169e-01 -2.52894684e-02 -2.16286397e-02 8.72555897e+01] [ 2.53151393e-02 9.99679103e-01 9.13874190e-04 -3.40997711e+00] [ 2.15985878e-02 -1.46090009e-03 9.99765656e-01 9.69632030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.040714057 meters Centerline goodness [0,1] 0.9900669693019911 Centerline is valid? [True, True] Translation: X:87.29, Y:-3.41, Z:0.97 [[ 9.99437176e-01 -2.49943536e-02 -2.23743923e-02 8.72865938e+01] [ 2.50217312e-02 9.99686461e-01 9.44451586e-04 -3.40684531e+00] [ 2.23437711e-02 -1.50376606e-03 9.99749216e-01 9.70624918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.070714057 meters Centerline goodness [0,1] 0.9891845992268329 Centerline is valid? [True, True] Translation: X:87.32, Y:-3.42, Z:0.97 [[ 9.99455476e-01 -2.45081181e-02 -2.20930547e-02 8.73153445e+01] [ 2.45346856e-02 9.99698545e-01 9.32235389e-04 -3.41657108e+00] [ 2.20635473e-02 -1.47377392e-03 9.99755484e-01 9.69436661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.100714057 meters Centerline goodness [0,1] 0.9891506579094842 Centerline is valid? [True, True] Translation: X:87.34, Y:-3.41, Z:0.97 [[ 9.99461241e-01 -2.42267317e-02 -2.21425702e-02 8.73449781e+01] [ 2.42533324e-02 9.99705409e-01 9.33543848e-04 -3.41129847e+00] [ 2.21134304e-02 -1.47007201e-03 9.99754387e-01 9.70702382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.130714057 meters Centerline goodness [0,1] 0.9895311381531854 Centerline is valid? [True, True] Translation: X:87.37, Y:-3.41, Z:0.97 [[ 9.99458864e-01 -2.40945535e-02 -2.23926740e-02 8.73742866e+01] [ 2.41217081e-02 9.99708584e-01 9.43298966e-04 -3.41167013e+00] [ 2.23634201e-02 -1.48293806e-03 9.99748808e-01 9.71263950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.160714057 meters Centerline goodness [0,1] 0.9889297239153818 Centerline is valid? [True, True] Translation: X:87.40, Y:-3.41, Z:0.97 [[ 9.99450115e-01 -2.40200762e-02 -2.28583502e-02 8.74043858e+01] [ 2.40483344e-02 9.99710334e-01 9.62105577e-04 -3.41294690e+00] [ 2.28286190e-02 -1.51128178e-03 9.99738251e-01 9.71557710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.19071405700001 meters Centerline goodness [0,1] 0.9896357913669065 Centerline is valid? [True, True] Translation: X:87.43, Y:-3.41, Z:0.97 [[ 9.99453297e-01 -2.30871370e-02 -2.36662397e-02 8.74341352e+01] [ 2.31171479e-02 9.99732268e-01 9.95253094e-04 -3.40774754e+00] [ 2.36369259e-02 -1.54180495e-03 9.99719420e-01 9.72481842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22071405700001 meters Centerline goodness [0,1] 0.9896153414825614 Centerline is valid? [True, True] Translation: X:87.46, Y:-3.41, Z:0.97 [[ 9.99470702e-01 -2.22715008e-02 -2.37128021e-02 8.74621806e+01] [ 2.23013236e-02 9.99750800e-01 9.93928337e-04 -3.41040153e+00] [ 2.36847567e-02 -1.52222913e-03 9.99718318e-01 9.72227675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.250714057 meters Centerline goodness [0,1] 0.9896182862290283 Centerline is valid? [True, True] Translation: X:87.49, Y:-3.41, Z:0.97 [[ 9.99512339e-01 -2.07514848e-02 -2.33336846e-02 8.74907658e+01] [ 2.07798588e-02 9.99783601e-01 9.74170907e-04 -3.41152174e+00] [ 2.33084197e-02 -1.45856651e-03 9.99727258e-01 9.72359252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.280714057 meters Centerline goodness [0,1] 0.9892971174169177 Centerline is valid? [True, True] Translation: X:87.52, Y:-3.41, Z:0.97 [[ 9.99583964e-01 -1.83028667e-02 -2.22913504e-02 8.75211705e+01] [ 1.83281323e-02 9.99831593e-01 9.29632755e-04 -3.41092221e+00] [ 2.22705815e-02 -1.33780481e-03 9.99751085e-01 9.73592943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.310714057 meters Centerline goodness [0,1] 0.9899191737763808 Centerline is valid? [True, True] Translation: X:87.55, Y:-3.41, Z:0.97 [[ 9.99613155e-01 -1.71526863e-02 -2.18934880e-02 8.75490805e+01] [ 1.71767600e-02 9.99852053e-01 9.11989702e-04 -3.41385723e+00] [ 2.18746059e-02 -1.28769609e-03 9.99759893e-01 9.74000269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.340714057 meters Centerline goodness [0,1] 0.9889969236296678 Centerline is valid? [True, True] Translation: X:87.58, Y:-3.41, Z:0.98 [[ 9.99625842e-01 -1.62572318e-02 -2.19972486e-02 8.75777896e+01] [ 1.62812424e-02 9.99867035e-01 9.12859683e-04 -3.41219675e+00] [ 2.19794832e-02 -1.27066067e-03 9.99757614e-01 9.75066610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.370714057 meters Centerline goodness [0,1] 0.9894512400403995 Centerline is valid? [True, True] Translation: X:87.61, Y:-3.41, Z:0.98 [[ 9.99648719e-01 -1.53846551e-02 -2.15812491e-02 8.76062656e+01] [ 1.54074496e-02 9.99880902e-01 8.90327831e-04 -3.41177019e+00] [ 2.15649814e-02 -1.22252708e-03 9.99766701e-01 9.75947894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.400714057 meters Centerline goodness [0,1] 0.9899824805714029 Centerline is valid? [True, True] Translation: X:87.64, Y:-3.41, Z:0.98 [[ 9.99666340e-01 -1.38893931e-02 -2.17782924e-02 8.76354055e+01] [ 1.39121370e-02 9.99902823e-01 8.93169699e-04 -3.41103906e+00] [ 2.17637705e-02 -1.19585427e-03 9.99762426e-01 9.76328660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.430714057 meters Centerline goodness [0,1] 0.9895576569712724 Centerline is valid? [True, True] Translation: X:87.66, Y:-3.42, Z:0.97 [[ 9.99655864e-01 -1.34150589e-02 -2.25430562e-02 8.76626132e+01] [ 1.34392202e-02 9.99909266e-01 9.20620274e-04 -3.41666624e+00] [ 2.25286606e-02 -1.22326455e-03 9.99745449e-01 9.74657944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.460714057 meters Centerline goodness [0,1] 0.9896460927388763 Centerline is valid? [True, True] Translation: X:87.69, Y:-3.42, Z:0.97 [[ 9.99635150e-01 -1.38334292e-02 -2.31991967e-02 8.76909331e+01] [ 1.38590417e-02 9.99903514e-01 9.43603835e-04 -3.41598546e+00] [ 2.31839050e-02 -1.26477820e-03 9.99730417e-01 9.74851912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.490714057 meters Centerline goodness [0,1] 0.9901652595652954 Centerline is valid? [True, True] Translation: X:87.72, Y:-3.42, Z:0.97 [[ 9.99596086e-01 -1.46369907e-02 -2.43602814e-02 8.77198635e+01] [ 1.46653178e-02 9.99891974e-01 9.84584699e-04 -3.41714360e+00] [ 2.43432385e-02 -1.34143828e-03 9.99702759e-01 9.74767961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.520714057 meters Centerline goodness [0,1] 0.989973756813135 Centerline is valid? [True, True] Translation: X:87.75, Y:-3.42, Z:0.97 [[ 9.99537315e-01 -1.57726116e-02 -2.60073223e-02 8.77487090e+01] [ 1.58051080e-02 9.99874546e-01 1.04441021e-03 -3.41926980e+00] [ 2.59875865e-02 -1.45497552e-03 9.99661207e-01 9.74490973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.55071405700001 meters Centerline goodness [0,1] 0.9896010757507844 Centerline is valid? [True, True] Translation: X:87.78, Y:-3.43, Z:0.97 [[ 9.99519877e-01 -1.66204418e-02 -2.61491241e-02 8.77756608e+01] [ 1.66534620e-02 9.99860775e-01 1.04548253e-03 -3.42762802e+00] [ 2.61281071e-02 -1.48045401e-03 9.99657506e-01 9.73705522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58071405700001 meters Centerline goodness [0,1] 0.9898656980785184 Centerline is valid? [True, True] Translation: X:87.80, Y:-3.42, Z:0.98 [[ 9.99525803e-01 -1.68905012e-02 -2.57464390e-02 8.78033902e+01] [ 1.69224704e-02 9.99856280e-01 1.02430435e-03 -3.42449816e+00] [ 2.57254377e-02 -1.45951198e-03 9.99667981e-01 9.75642160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61071405700001 meters Centerline goodness [0,1] 0.9895265648478324 Centerline is valid? [True, True] Translation: X:87.83, Y:-3.43, Z:0.97 [[ 9.99537769e-01 -1.67901701e-02 -2.53443886e-02 8.78305316e+01] [ 1.68209867e-02 9.99858014e-01 1.00319782e-03 -3.43444192e+00] [ 2.53239462e-02 -1.42905174e-03 9.99678276e-01 9.74391482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.640714057 meters Centerline goodness [0,1] 0.9902239960537231 Centerline is valid? [True, True] Translation: X:87.86, Y:-3.43, Z:0.98 [[ 9.99540168e-01 -1.69356093e-02 -2.51522820e-02 8.78588387e+01] [ 1.69658751e-02 9.99855579e-01 9.90375687e-04 -3.42608028e+00] [ 2.51318769e-02 -1.41665076e-03 9.99683141e-01 9.77905718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.670714057 meters Centerline goodness [0,1] 0.9893979468328328 Centerline is valid? [True, True] Translation: X:87.89, Y:-3.43, Z:0.98 [[ 9.99533316e-01 -1.69030693e-02 -2.54447896e-02 8.78875675e+01] [ 1.69338559e-02 9.99856117e-01 9.94932030e-04 -3.42585106e+00] [ 2.54243112e-02 -1.42534611e-03 9.99675734e-01 9.78796146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.700714057 meters Centerline goodness [0,1] 0.9894170443635714 Centerline is valid? [True, True] Translation: X:87.92, Y:-3.43, Z:0.98 [[ 9.99554974e-01 -1.66940722e-02 -2.47216932e-02 8.79155194e+01] [ 1.67229654e-02 9.99859698e-01 9.62440970e-04 -3.43031759e+00] [ 2.47021576e-02 -1.37543268e-03 9.99693909e-01 9.79034691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.730714057 meters Centerline goodness [0,1] 0.9891367258804149 Centerline is valid? [True, True] Translation: X:87.94, Y:-3.43, Z:0.98 [[ 9.99549534e-01 -1.72211841e-02 -2.45796635e-02 8.79442827e+01] [ 1.72498031e-02 9.99850757e-01 9.52767882e-04 -3.43132458e+00] [ 2.45595874e-02 -1.37633305e-03 9.99697420e-01 9.79795053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.760714057 meters Centerline goodness [0,1] 0.9899921813917123 Centerline is valid? [True, True] Translation: X:87.97, Y:-3.43, Z:0.98 [[ 9.99532293e-01 -1.77929654e-02 -2.48717886e-02 8.79726540e+01] [ 1.78222889e-02 9.99840712e-01 9.57796282e-04 -3.43295777e+00] [ 2.48507847e-02 -1.40062052e-03 9.99690190e-01 9.80349069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.790714057 meters Centerline goodness [0,1] 0.9896322116458864 Centerline is valid? [True, True] Translation: X:88.00, Y:-3.44, Z:0.98 [[ 9.99516214e-01 -1.83322897e-02 -2.51249857e-02 8.79997588e+01] [ 1.83622549e-02 9.99830936e-01 9.62433079e-04 -3.43749971e+00] [ 2.51030943e-02 -1.42331886e-03 9.99683854e-01 9.79899787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.820714057 meters Centerline goodness [0,1] 0.988627223165609 Centerline is valid? [True, True] Translation: X:88.03, Y:-3.44, Z:0.98 [[ 9.99485836e-01 -1.89066782e-02 -2.58959731e-02 8.80281456e+01] [ 1.89385673e-02 9.99820162e-01 9.86706969e-04 -3.43921937e+00] [ 2.58726607e-02 -1.47663227e-03 9.99664156e-01 9.80131087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.850714057 meters Centerline goodness [0,1] 0.9889920957442058 Centerline is valid? [True, True] Translation: X:88.06, Y:-3.44, Z:0.98 [[ 9.99451628e-01 -1.97932604e-02 -2.65456423e-02 8.80564375e+01] [ 1.98269653e-02 9.99802919e-01 1.00706515e-03 -3.44241625e+00] [ 2.65204776e-02 -1.53283244e-03 9.99647095e-01 9.80051834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.880714057 meters Centerline goodness [0,1] 0.9895584658976819 Centerline is valid? [True, True] Translation: X:88.08, Y:-3.44, Z:0.98 [[ 9.99439940e-01 -2.05877066e-02 -2.63809024e-02 8.80848436e+01] [ 2.06211490e-02 9.99786865e-01 9.96224999e-04 -3.44156084e+00] [ 2.63547697e-02 -1.53967157e-03 9.99651467e-01 9.80935801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.910714057 meters Centerline goodness [0,1] 0.9895770561321281 Centerline is valid? [True, True] Translation: X:88.11, Y:-3.45, Z:0.98 [[ 9.99423362e-01 -2.11535841e-02 -2.65606907e-02 8.81122385e+01] [ 2.11875657e-02 9.99775020e-01 9.98589394e-04 -3.44735072e+00] [ 2.65335913e-02 -1.56076995e-03 9.99646704e-01 9.80054315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94071405700001 meters Centerline goodness [0,1] 0.9894802254871499 Centerline is valid? [True, True] Translation: X:88.14, Y:-3.45, Z:0.98 [[ 9.99420545e-01 -2.11359611e-02 -2.66804488e-02 8.81409260e+01] [ 2.11701201e-02 9.99775389e-01 9.98455987e-04 -3.44780427e+00] [ 2.66533527e-02 -1.56270573e-03 9.99643515e-01 9.80489204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97071405700001 meters Centerline goodness [0,1] 0.989672324953715 Centerline is valid? [True, True] Translation: X:88.17, Y:-3.45, Z:0.98 [[ 9.99422741e-01 -2.10143640e-02 -2.66942293e-02 8.81699493e+01] [ 2.10483383e-02 9.99777967e-01 9.92345487e-04 -3.44919191e+00] [ 2.66674488e-02 -1.55364182e-03 9.99643153e-01 9.81052670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.000714057 meters Centerline goodness [0,1] 0.9896601671309192 Centerline is valid? [True, True] Translation: X:88.20, Y:-3.45, Z:0.98 [[ 9.99481859e-01 -1.93754460e-02 -2.57022568e-02 8.81988826e+01] [ 1.94063005e-02 9.99811227e-01 9.51543357e-04 -3.44954039e+00] [ 2.56789683e-02 -1.44983604e-03 9.99669190e-01 9.82954401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.030714057 meters Centerline goodness [0,1] 0.9902070134737218 Centerline is valid? [True, True] Translation: X:88.23, Y:-3.45, Z:0.98 [[ 9.99507452e-01 -1.85385781e-02 -2.53214258e-02 8.82280336e+01] [ 1.85681512e-02 9.99827161e-01 9.33264108e-04 -3.44652838e+00] [ 2.52997479e-02 -1.40297649e-03 9.99678926e-01 9.84937146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.060714057 meters Centerline goodness [0,1] 0.9902994704756819 Centerline is valid? [True, True] Translation: X:88.26, Y:-3.45, Z:0.99 [[ 9.99575400e-01 -1.64765256e-02 -2.40321395e-02 8.82571407e+01] [ 1.65024852e-02 9.99863435e-01 8.82268339e-04 -3.45131004e+00] [ 2.40143209e-02 -1.27848376e-03 9.99710797e-01 9.85378377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.090714057 meters Centerline goodness [0,1] 0.9898584642817341 Centerline is valid? [True, True] Translation: X:88.29, Y:-3.45, Z:0.99 [[ 9.99625608e-01 -1.40495194e-02 -2.34788159e-02 8.82867463e+01] [ 1.40736097e-02 9.99900591e-01 8.61113289e-04 -3.45131905e+00] [ 2.34643837e-02 -1.19122259e-03 9.99723964e-01 9.86522865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.120714057 meters Centerline goodness [0,1] 0.9904730105731775 Centerline is valid? [True, True] Translation: X:88.31, Y:-3.45, Z:0.99 [[ 9.99624619e-01 -1.40125431e-02 -2.35429328e-02 8.83144324e+01] [ 1.40367211e-02 9.99901109e-01 8.62025948e-04 -3.45316844e+00] [ 2.35285255e-02 -1.19216794e-03 9.99722455e-01 9.86999913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.150714057 meters Centerline goodness [0,1] 0.990413914281266 Centerline is valid? [True, True] Translation: X:88.34, Y:-3.45, Z:0.99 [[ 9.99637778e-01 -1.37088767e-02 -2.31598692e-02 8.83434716e+01] [ 1.37321052e-02 9.99905354e-01 8.44215030e-04 -3.45406348e+00] [ 2.31461039e-02 -1.16194300e-03 9.99731418e-01 9.87278342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.180714057 meters Centerline goodness [0,1] 0.9903167642410347 Centerline is valid? [True, True] Translation: X:88.37, Y:-3.46, Z:0.99 [[ 9.99626102e-01 -1.40954915e-02 -2.34301799e-02 8.83724490e+01] [ 1.41192321e-02 9.99899959e-01 8.48119292e-04 -3.45542220e+00] [ 2.34158813e-02 -1.17861833e-03 9.99725116e-01 9.86996266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.210714057 meters Centerline goodness [0,1] 0.9909557565387436 Centerline is valid? [True, True] Translation: X:88.40, Y:-3.46, Z:0.99 [[ 9.99596944e-01 -1.47753716e-02 -2.42412428e-02 8.84002007e+01] [ 1.48008795e-02 9.99890080e-01 8.73158326e-04 -3.45976961e+00] [ 2.42256769e-02 -1.23159811e-03 9.99705757e-01 9.85945363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.240714057 meters Centerline goodness [0,1] 0.9910403406444745 Centerline is valid? [True, True] Translation: X:88.43, Y:-3.46, Z:0.98 [[ 9.99550361e-01 -1.66810082e-02 -2.49162581e-02 8.84293525e+01] [ 1.67084964e-02 9.99860002e-01 8.95426962e-04 -3.46337674e+00] [ 2.48978333e-02 -1.31133755e-03 9.99689141e-01 9.84954540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.270714057 meters Centerline goodness [0,1] 0.9910359670727107 Centerline is valid? [True, True] Translation: X:88.46, Y:-3.47, Z:0.98 [[ 9.99530672e-01 -1.77702087e-02 -2.49530665e-02 8.84569695e+01] [ 1.77980664e-02 9.99841202e-01 8.94737876e-04 -3.46826364e+00] [ 2.49332043e-02 -1.33843428e-03 9.99688223e-01 9.84095582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30071405700001 meters Centerline goodness [0,1] 0.990855417942913 Centerline is valid? [True, True] Translation: X:88.49, Y:-3.47, Z:0.98 [[ 9.99496631e-01 -1.95626448e-02 -2.49757237e-02 8.84867808e+01] [ 1.95910723e-02 9.99807677e-01 8.93997304e-04 -3.47290835e+00] [ 2.49534313e-02 -1.38284850e-03 9.99687658e-01 9.84971059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.33071405700001 meters Centerline goodness [0,1] 0.9902906164793509 Centerline is valid? [True, True] Translation: X:88.52, Y:-3.48, Z:0.99 [[ 9.99499538e-01 -2.00627574e-02 -2.44573073e-02 8.85158853e+01] [ 2.00900833e-02 9.99797794e-01 8.72065981e-04 -3.47536210e+00] [ 2.44348658e-02 -1.36297889e-03 9.99700495e-01 9.85185394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36071405700001 meters Centerline goodness [0,1] 0.9902906164793509 Centerline is valid? [True, True] Translation: X:88.54, Y:-3.48, Z:0.99 [[ 9.99493853e-01 -2.03437076e-02 -2.44575353e-02 8.85433042e+01] [ 2.03709605e-02 9.99792116e-01 8.65633593e-04 -3.47625749e+00] [ 2.44348408e-02 -1.36341894e-03 9.99700495e-01 9.85529406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.390714057 meters Centerline goodness [0,1] 0.990705497034611 Centerline is valid? [True, True] Translation: X:88.57, Y:-3.48, Z:0.99 [[ 9.99521588e-01 -1.97993249e-02 -2.37609439e-02 8.85713519e+01] [ 1.98247892e-02 9.99803120e-01 8.36582862e-04 -3.47901259e+00] [ 2.37397021e-02 -1.30723833e-03 9.99717319e-01 9.86923945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.420714057 meters Centerline goodness [0,1] 0.9906599973440751 Centerline is valid? [True, True] Translation: X:88.60, Y:-3.48, Z:0.99 [[ 9.99532152e-01 -1.95003779e-02 -2.35629522e-02 8.86003829e+01] [ 1.95252479e-02 9.99809023e-01 8.25842623e-04 -3.47982207e+00] [ 2.35423479e-02 -1.28552874e-03 9.99722014e-01 9.87613700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.450714057 meters Centerline goodness [0,1] 0.9906409403415392 Centerline is valid? [True, True] Translation: X:88.63, Y:-3.48, Z:0.99 [[ 9.99551139e-01 -1.90360894e-02 -2.31332556e-02 8.86289672e+01] [ 1.90598082e-02 9.99818021e-01 8.05238144e-04 -3.48148203e+00] [ 2.31137172e-02 -1.24579212e-03 9.99732066e-01 9.88038985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.480714057 meters Centerline goodness [0,1] 0.9907682089882666 Centerline is valid? [True, True] Translation: X:88.66, Y:-3.48, Z:0.99 [[ 9.99638938e-01 -1.67326605e-02 -2.10240901e-02 8.86576429e+01] [ 1.67516782e-02 9.99859415e-01 7.28763675e-04 -3.48380049e+00] [ 2.10089403e-02 -1.08068934e-03 9.99778704e-01 9.89100592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.510714057 meters Centerline goodness [0,1] 0.9904223478550049 Centerline is valid? [True, True] Translation: X:88.69, Y:-3.49, Z:0.99 [[ 9.99670572e-01 -1.60059051e-02 -2.00638613e-02 8.86868084e+01] [ 1.60230366e-02 9.99871382e-01 6.93370746e-04 -3.48530655e+00] [ 2.00501827e-02 -1.01462631e-03 9.99798460e-01 9.89789202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.540714057 meters Centerline goodness [0,1] 0.9900301311591634 Centerline is valid? [True, True] Translation: X:88.72, Y:-3.49, Z:0.99 [[ 9.99693134e-01 -1.50591601e-02 -1.96687588e-02 8.87159844e+01] [ 1.50753571e-02 9.99886132e-01 6.75468942e-04 -3.48626210e+00] [ 1.96563472e-02 -9.71775227e-04 9.99806323e-01 9.90747586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.570714057 meters Centerline goodness [0,1] 0.9900657123260393 Centerline is valid? [True, True] Translation: X:88.74, Y:-3.49, Z:0.99 [[ 9.99733769e-01 -1.32920484e-02 -1.88603529e-02 8.87440524e+01] [ 1.33065701e-02 9.99911256e-01 6.44669820e-04 -3.48800031e+00] [ 1.88501102e-02 -8.95464797e-04 9.99821920e-01 9.91089379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.600714057 meters Centerline goodness [0,1] 0.9896080299572356 Centerline is valid? [True, True] Translation: X:88.77, Y:-3.49, Z:0.99 [[ 9.99736939e-01 -1.31496076e-02 -1.87920513e-02 8.87725033e+01] [ 1.31639564e-02 9.99913147e-01 6.40053470e-04 -3.48993195e+00] [ 1.87820027e-02 -8.87262841e-04 9.99823209e-01 9.91120072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.630714057 meters Centerline goodness [0,1] 0.9896297281127435 Centerline is valid? [True, True] Translation: X:88.80, Y:-3.49, Z:0.99 [[ 9.99722938e-01 -1.30706751e-02 -1.95755932e-02 8.87995993e+01] [ 1.30861465e-02 9.99914153e-01 6.62449211e-04 -3.49204199e+00] [ 1.95652541e-02 -9.18434752e-04 9.99808160e-01 9.90595528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.660714057 meters Centerline goodness [0,1] 0.9899491937265297 Centerline is valid? [True, True] Translation: X:88.83, Y:-3.50, Z:0.99 [[ 9.99688597e-01 -1.41744562e-02 -2.05376074e-02 8.88281756e+01] [ 1.41916319e-02 9.99899055e-01 6.90795061e-04 -3.49622849e+00] [ 2.05257426e-02 -9.82042110e-04 9.99788842e-01 9.88887874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.69071405700001 meters Centerline goodness [0,1] 0.9892247565634039 Centerline is valid? [True, True] Translation: X:88.86, Y:-3.50, Z:0.99 [[ 9.99642177e-01 -1.53306860e-02 -2.19200249e-02 8.88561384e+01] [ 1.53504468e-02 9.99881906e-01 7.33507833e-04 -3.50152053e+00] [ 2.19061911e-02 -1.06972754e-03 9.99759458e-01 9.87832395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72071405700001 meters Centerline goodness [0,1] 0.9899902989681629 Centerline is valid? [True, True] Translation: X:88.88, Y:-3.50, Z:0.99 [[ 9.99634049e-01 -1.56414766e-02 -2.20706408e-02 8.88836121e+01] [ 1.56615093e-02 9.99877081e-01 7.35093632e-04 -3.50440284e+00] [ 2.20564299e-02 -1.08048417e-03 9.99756143e-01 9.87895953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.750714057 meters Centerline goodness [0,1] 0.9902458401377058 Centerline is valid? [True, True] Translation: X:88.91, Y:-3.51, Z:0.99 [[ 9.99629433e-01 -1.61403651e-02 -2.19199796e-02 8.89127830e+01] [ 1.61601295e-02 9.99869154e-01 7.24813379e-04 -3.50652068e+00] [ 2.19054127e-02 -1.07877450e-03 9.99759466e-01 9.88011097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.780714057 meters Centerline goodness [0,1] 0.9902936234191209 Centerline is valid? [True, True] Translation: X:88.94, Y:-3.51, Z:0.99 [[ 9.99648725e-01 -1.49013391e-02 -2.19175057e-02 8.89408506e+01] [ 1.49207248e-02 9.99888420e-01 7.21210650e-04 -3.50878235e+00] [ 2.19043131e-02 -1.04798238e-03 9.99759522e-01 9.88675659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.810714057 meters Centerline goodness [0,1] 0.9897245203309276 Centerline is valid? [True, True] Translation: X:88.97, Y:-3.51, Z:0.99 [[ 9.99667784e-01 -1.37439423e-02 -2.18042663e-02 8.89697383e+01] [ 1.37627883e-02 9.99905033e-01 7.14490018e-04 -3.50915981e+00] [ 2.17923757e-02 -1.01434015e-03 9.99762003e-01 9.89403652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.840714057 meters Centerline goodness [0,1] 0.9906350985952648 Centerline is valid? [True, True] Translation: X:89.00, Y:-3.50, Z:0.99 [[ 9.99713574e-01 -9.47698438e-03 -2.19762766e-02 8.90001257e+01] [ 9.49503295e-03 9.99954664e-01 7.17073091e-04 -3.50290597e+00] [ 2.19684846e-02 -9.25533173e-04 9.99758235e-01 9.91561613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.870714057 meters Centerline goodness [0,1] 0.9909584086799277 Centerline is valid? [True, True] Translation: X:89.03, Y:-3.50, Z:0.99 [[ 9.99730608e-01 -6.86900980e-03 -2.21704219e-02 8.90292104e+01] [ 6.88671394e-03 9.99976025e-01 7.22295515e-04 -3.49733339e+00] [ 2.21649289e-02 -8.74782288e-04 9.99753945e-01 9.93422637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.900714057 meters Centerline goodness [0,1] 0.9918029174562601 Centerline is valid? [True, True] Translation: X:89.06, Y:-3.50, Z:0.99 [[ 9.99757031e-01 -4.19658990e-03 -2.16394796e-02 8.90584459e+01] [ 4.21276691e-03 9.99990880e-01 7.02036812e-04 -3.49672012e+00] [ 2.16363361e-02 -7.93028322e-04 9.99765593e-01 9.94535125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.930714057 meters Centerline goodness [0,1] 0.9923160149263618 Centerline is valid? [True, True] Translation: X:89.09, Y:-3.50, Z:1.00 [[ 9.99788516e-01 9.74612614e-04 -2.05419827e-02 8.90887966e+01] [-9.61184480e-04 9.99999318e-01 6.63555421e-04 -3.49517113e+00] [ 2.05426154e-02 -6.43670455e-04 9.99788771e-01 9.97021747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.960714057 meters Centerline goodness [0,1] 0.9927668864533487 Centerline is valid? [True, True] Translation: X:89.12, Y:-3.49, Z:1.00 [[ 9.99804355e-01 5.07272041e-03 -1.91185325e-02 8.91182991e+01] [-5.06184631e-03 9.99986998e-01 6.17122348e-04 -3.49454156e+00] [ 1.91214144e-02 -5.20226539e-04 9.99817034e-01 9.99147257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.990714057 meters Centerline goodness [0,1] 0.9923637243898682 Centerline is valid? [True, True] Translation: X:89.15, Y:-3.50, Z:1.00 [[ 9.99795323e-01 6.41086816e-03 -1.91888839e-02 8.91456125e+01] [-6.40018066e-03 9.99979327e-01 6.18323832e-04 -3.49739809e+00] [ 1.91924512e-02 -4.95384952e-04 9.99815685e-01 9.99409553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.020714057 meters Centerline goodness [0,1] 0.9925292549088746 Centerline is valid? [True, True] Translation: X:89.17, Y:-3.50, Z:1.00 [[ 9.99781195e-01 7.70519770e-03 -1.94471736e-02 8.91742614e+01] [-7.69449708e-03 9.99970202e-01 6.25006807e-04 -3.49916580e+00] [ 1.94514099e-02 -4.75233832e-04 9.99810690e-01 9.99577985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.05071405700001 meters Centerline goodness [0,1] 0.9924841685474506 Centerline is valid? [True, True] Translation: X:89.20, Y:-3.50, Z:1.00 [[ 9.99769180e-01 8.01832972e-03 -1.99322341e-02 8.92024187e+01] [-8.00717896e-03 9.99967738e-01 6.39180475e-04 -3.50425641e+00] [ 1.99367162e-02 -4.79431974e-04 9.99801129e-01 9.99336899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08071405700001 meters Centerline goodness [0,1] 0.9926480299361655 Centerline is valid? [True, True] Translation: X:89.23, Y:-3.51, Z:1.00 [[ 9.99773715e-01 6.93367266e-03 -2.01107435e-02 8.92314203e+01] [-6.92213011e-03 9.99975835e-01 6.43504929e-04 -3.50822918e+00] [ 2.01147193e-02 -5.04150130e-04 9.99797551e-01 9.99249703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11071405700001 meters Centerline goodness [0,1] 0.9924007818848697 Centerline is valid? [True, True] Translation: X:89.26, Y:-3.51, Z:1.00 [[ 9.99775315e-01 3.27549893e-03 -2.09425391e-02 8.92611397e+01] [-3.26220477e-03 9.99994455e-01 6.68923712e-04 -3.51323944e+00] [ 2.09446141e-02 -6.00454564e-04 9.99780457e-01 9.99776984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.140714057 meters Centerline goodness [0,1] 0.9919317708447524 Centerline is valid? [True, True] Translation: X:89.29, Y:-3.52, Z:1.00 [[ 9.99757335e-01 6.51541517e-04 -2.20192295e-02 8.92910336e+01] [-6.36227148e-04 9.99999551e-01 7.02498047e-04 -3.51728597e+00] [ 2.20196773e-02 -6.88318344e-04 9.99757301e-01 9.99573523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.170714057 meters Centerline goodness [0,1] 0.9909190371991248 Centerline is valid? [True, True] Translation: X:89.32, Y:-3.53, Z:1.00 [[ 9.99719954e-01 -5.04055430e-03 -2.31215486e-02 8.93198716e+01] [ 5.05894140e-03 9.99986932e-01 7.36811904e-04 -3.52630147e+00] [ 2.31175326e-02 -8.53576122e-04 9.99732390e-01 9.98700284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.200714057 meters Centerline goodness [0,1] 0.9904462079972016 Centerline is valid? [True, True] Translation: X:89.35, Y:-3.53, Z:1.00 [[ 9.99702519e-01 -8.37628870e-03 -2.29065859e-02 8.93487211e+01] [ 8.39518142e-03 9.99964494e-01 7.28730011e-04 -3.53135106e+00] [ 2.28996685e-02 -9.20818172e-04 9.99737344e-01 9.98772191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.230714057 meters Centerline goodness [0,1] 0.9914847161572052 Centerline is valid? [True, True] Translation: X:89.38, Y:-3.53, Z:1.00 [[ 9.99683460e-01 -1.12148344e-02 -2.25212443e-02 8.93785087e+01] [ 1.12337865e-02 9.99936643e-01 7.15176365e-04 -3.53485204e+00] [ 2.25117968e-02 -9.67948833e-04 9.99746109e-01 9.99460742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.260714057 meters Centerline goodness [0,1] 0.9897079942556247 Centerline is valid? [True, True] Translation: X:89.41, Y:-3.55, Z:1.00 [[ 9.99615801e-01 -1.67154225e-02 -2.21098303e-02 8.94076165e+01] [ 1.67350135e-02 9.99859714e-01 7.01333065e-04 -3.54568762e+00] [ 2.20950055e-02 -1.07107192e-03 9.99755302e-01 9.99575976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.290714057 meters Centerline goodness [0,1] 0.9895572172927249 Centerline is valid? [True, True] Translation: X:89.44, Y:-3.55, Z:1.00 [[ 9.99565727e-01 -1.95544399e-02 -2.20450030e-02 8.94368446e+01] [ 1.95745838e-02 9.99808156e-01 6.98325115e-04 -3.54713030e+00] [ 2.20271184e-02 -1.12954361e-03 9.99756736e-01 1.00034760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.320714057 meters Centerline goodness [0,1] 0.9884967490812621 Centerline is valid? [True, True] Translation: X:89.47, Y:-3.55, Z:1.00 [[ 9.99466642e-01 -2.47349530e-02 -2.13216859e-02 8.94666332e+01] [ 2.47549568e-02 9.99693321e-01 6.74721518e-04 -3.55443475e+00] [ 2.12984578e-02 -1.20217906e-03 9.99772439e-01 1.00090956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.350714057 meters Centerline goodness [0,1] 0.9880510113189511 Centerline is valid? [True, True] Translation: X:89.50, Y:-3.56, Z:1.00 [[ 9.99407437e-01 -2.74800542e-02 -2.07272935e-02 8.94961269e+01] [ 2.74995392e-02 9.99621601e-01 6.55571290e-04 -3.55776012e+00] [ 2.07014351e-02 -1.22517384e-03 9.99784952e-01 1.00173946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.380714057 meters Centerline goodness [0,1] 0.98811515480717 Centerline is valid? [True, True] Translation: X:89.53, Y:-3.56, Z:1.00 [[ 9.99343246e-01 -2.98288078e-02 -2.05747243e-02 8.95255783e+01] [ 2.98484876e-02 9.99554223e-01 6.50008466e-04 -3.56143235e+00] [ 2.05461636e-02 -1.26370597e-03 9.99788107e-01 1.00239870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.410714057 meters Centerline goodness [0,1] 0.9875920815315413 Centerline is valid? [True, True] Translation: X:89.55, Y:-3.57, Z:1.00 [[ 9.99212441e-01 -3.43182470e-02 -1.99187089e-02 8.95549065e+01] [ 3.43375681e-02 9.99410094e-01 6.28695987e-04 -3.57126760e+00] [ 1.98853830e-02 -1.31216088e-03 9.99801405e-01 1.00237595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44071405700001 meters Centerline goodness [0,1] 0.9862054007157575 Centerline is valid? [True, True] Translation: X:89.59, Y:-3.58, Z:1.00 [[ 9.99113128e-01 -3.66271339e-02 -2.07704361e-02 8.95852231e+01] [ 3.66486354e-02 9.99327998e-01 6.55372723e-04 -3.57509022e+00] [ 2.07324739e-02 -1.41599963e-03 9.99784056e-01 1.00154572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47071405700001 meters Centerline goodness [0,1] 0.9874804721402535 Centerline is valid? [True, True] Translation: X:89.62, Y:-3.58, Z:1.00 [[ 9.98902091e-01 -4.13415913e-02 -2.20337121e-02 8.96151222e+01] [ 4.13669286e-02 9.99143780e-01 6.95189613e-04 -3.58005777e+00] [ 2.19861061e-02 -1.60589335e-03 9.99756987e-01 9.99858035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.500714057 meters Centerline goodness [0,1] 0.9867472227635938 Centerline is valid? [True, True] Translation: X:89.65, Y:-3.58, Z:1.00 [[ 9.98782476e-01 -4.38855906e-02 -2.25304376e-02 8.96457449e+01] [ 4.39127250e-02 9.99035118e-01 7.10774213e-04 -3.58328236e+00] [ 2.24775056e-02 -1.69928174e-03 9.99745905e-01 9.99322411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.530714057 meters Centerline goodness [0,1] 0.9860804910733584 Centerline is valid? [True, True] Translation: X:89.68, Y:-3.59, Z:1.00 [[ 9.98608668e-01 -4.77269806e-02 -2.24245975e-02 8.96750289e+01] [ 4.77548227e-02 9.98858837e-01 7.07416296e-04 -3.58911266e+00] [ 2.23652446e-02 -1.77731472e-03 9.99748287e-01 9.99387514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.560714057 meters Centerline goodness [0,1] 0.9857982793653538 Centerline is valid? [True, True] Translation: X:89.71, Y:-3.59, Z:1.00 [[ 9.98515147e-01 -4.96944396e-02 -2.23150936e-02 8.97065167e+01] [ 4.97225021e-02 9.98762823e-01 7.04130580e-04 -3.58657730e+00] [ 2.22524945e-02 -1.81264734e-03 9.99750739e-01 9.99834723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.590714057 meters Centerline goodness [0,1] 0.9859459927672751 Centerline is valid? [True, True] Translation: X:89.74, Y:-3.59, Z:1.00 [[ 9.98462118e-01 -5.07662001e-02 -2.22753431e-02 8.97370904e+01] [ 5.07944414e-02 9.98708881e-01 7.03497107e-04 -3.58978749e+00] [ 2.22108691e-02 -1.83387882e-03 9.99751626e-01 9.99972669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.620714057 meters Centerline goodness [0,1] 0.9848103463241038 Centerline is valid? [True, True] Translation: X:89.77, Y:-3.59, Z:1.00 [[ 9.98387283e-01 -5.22749556e-02 -2.21395864e-02 8.97666664e+01] [ 5.23032418e-02 9.98631003e-01 7.00111334e-04 -3.59371418e+00] [ 2.20726791e-02 -1.85695440e-03 9.99754644e-01 9.99575420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.650714057 meters Centerline goodness [0,1] 0.9847732181425486 Centerline is valid? [True, True] Translation: X:89.80, Y:-3.59, Z:1.00 [[ 9.98400580e-01 -5.22656734e-02 -2.15541417e-02 8.97976656e+01] [ 5.22925061e-02 9.98631578e-01 6.82773329e-04 -3.59398798e+00] [ 2.14889610e-02 -1.80880138e-03 9.99767449e-01 9.99941352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.680714057 meters Centerline goodness [0,1] 0.984426851751437 Centerline is valid? [True, True] Translation: X:89.83, Y:-3.59, Z:1.00 [[ 9.98414522e-01 -5.21060752e-02 -2.12931605e-02 8.98292730e+01] [ 5.21322416e-02 9.98639962e-01 6.75242979e-04 -3.59378590e+00] [ 2.12290167e-02 -1.78423258e-03 9.99773047e-01 1.00040160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.710714057 meters Centerline goodness [0,1] 0.9844124959463841 Centerline is valid? [True, True] Translation: X:89.86, Y:-3.59, Z:1.00 [[ 9.98462657e-01 -5.13589195e-02 -2.08466557e-02 8.98609639e+01] [ 5.13838528e-02 9.98678758e-01 6.61797150e-04 -3.59353615e+00] [ 2.07851230e-02 -1.73196123e-03 9.99782466e-01 1.00069576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.740714057 meters Centerline goodness [0,1] 0.9837225453598403 Centerline is valid? [True, True] Translation: X:89.89, Y:-3.59, Z:1.00 [[ 9.98554013e-01 -4.97294795e-02 -2.04172113e-02 8.98916609e+01] [ 4.97530717e-02 9.98761338e-01 6.48860708e-04 -3.59228237e+00] [ 2.03596538e-02 -1.66374144e-03 9.99791336e-01 1.00159933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.770714057 meters Centerline goodness [0,1] 0.9845369767946216 Centerline is valid? [True, True] Translation: X:89.92, Y:-3.58, Z:1.00 [[ 9.98631145e-01 -4.80131562e-02 -2.07502680e-02 8.99235629e+01] [ 4.80371747e-02 9.98845330e-01 6.60321464e-04 -3.58373480e+00] [ 2.06946042e-02 -1.65620183e-03 9.99784472e-01 1.00219389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80071405700001 meters Centerline goodness [0,1] 0.9853667021808614 Centerline is valid? [True, True] Translation: X:89.96, Y:-3.58, Z:1.00 [[ 9.98676758e-01 -4.71498769e-02 -2.05334268e-02 8.99552144e+01] [ 4.71732338e-02 9.98886509e-01 6.54360206e-04 -3.58193785e+00] [ 2.04797100e-02 -1.62212247e-03 9.99788953e-01 1.00276431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83071405700001 meters Centerline goodness [0,1] 0.9863464852014221 Centerline is valid? [True, True] Translation: X:89.99, Y:-3.58, Z:1.00 [[ 9.98738496e-01 -4.59650827e-02 -2.02145294e-02 8.99868652e+01] [ 4.59874928e-02 9.98941807e-01 6.44913929e-04 -3.57580992e+00] [ 2.01634951e-02 -1.57371589e-03 9.99795458e-01 1.00395937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86071405700001 meters Centerline goodness [0,1] 0.9862924281984334 Centerline is valid? [True, True] Translation: X:90.02, Y:-3.58, Z:1.00 [[ 9.98809294e-01 -4.45550834e-02 -1.98705713e-02 9.00173923e+01] [ 4.45764714e-02 9.99005774e-01 6.34525591e-04 -3.57724841e+00] [ 1.98225441e-02 -1.51953001e-03 9.99802359e-01 1.00430042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.890714057 meters Centerline goodness [0,1] 0.9841200877631264 Centerline is valid? [True, True] Translation: X:90.05, Y:-3.58, Z:1.00 [[ 9.98956627e-01 -4.15797109e-02 -1.88887304e-02 9.00471930e+01] [ 4.15985122e-02 9.99134225e-01 6.03390029e-04 -3.58417763e+00] [ 1.88472882e-02 -1.38850355e-03 9.99821410e-01 1.00358557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.920714057 meters Centerline goodness [0,1] 0.9878372159277684 Centerline is valid? [True, True] Translation: X:90.08, Y:-3.57, Z:1.00 [[ 9.99094095e-01 -3.85112807e-02 -1.81072190e-02 9.00784374e+01] [ 3.85280586e-02 9.99257351e-01 5.78523943e-04 -3.56923292e+00] [ 1.80714920e-02 -1.27563585e-03 9.99835883e-01 1.00493534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.950714057 meters Centerline goodness [0,1] 0.9884700374122126 Centerline is valid? [True, True] Translation: X:90.11, Y:-3.56, Z:1.01 [[ 9.99158243e-01 -3.67518705e-02 -1.82237501e-02 9.01102448e+01] [ 3.67685835e-02 9.99323637e-01 5.82780325e-04 -3.56407574e+00] [ 1.81900060e-02 -1.25235124e-03 9.99833764e-01 1.00537324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.980714057 meters Centerline goodness [0,1] 0.9881742329676105 Centerline is valid? [True, True] Translation: X:90.14, Y:-3.56, Z:1.01 [[ 9.99281323e-01 -3.34130411e-02 -1.78999170e-02 9.01401374e+01] [ 3.34286440e-02 9.99440942e-01 5.73092215e-04 -3.56062215e+00] [ 1.78707612e-02 -1.17105030e-03 9.99839619e-01 1.00559946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.010714057 meters Centerline goodness [0,1] 0.9881656804733728 Centerline is valid? [True, True] Translation: X:90.17, Y:-3.56, Z:1.01 [[ 9.99336802e-01 -3.18978242e-02 -1.75637240e-02 9.01702374e+01] [ 3.19126150e-02 9.99490505e-01 5.62418104e-04 -3.56098279e+00] [ 1.75368354e-02 -1.12254947e-03 9.99845588e-01 1.00577380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.040714057 meters Centerline goodness [0,1] 0.9888377192982456 Centerline is valid? [True, True] Translation: X:90.20, Y:-3.56, Z:1.01 [[ 9.99389265e-01 -3.04364016e-02 -1.71674908e-02 9.02013681e+01] [ 3.04503241e-02 9.99536130e-01 5.50110911e-04 -3.55888707e+00] [ 1.71427839e-02 -1.07253060e-03 9.99852476e-01 1.00638642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.070714057 meters Centerline goodness [0,1] 0.9892839853892532 Centerline is valid? [True, True] Translation: X:90.23, Y:-3.55, Z:1.01 [[ 9.99452692e-01 -2.82381207e-02 -1.72314895e-02 9.02323961e+01] [ 2.82518307e-02 9.99600685e-01 5.52679358e-04 -3.55049345e+00] [ 1.72090021e-02 -1.03919800e-03 9.99851374e-01 1.00743941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.100714057 meters Centerline goodness [0,1] 0.9895696091348265 Centerline is valid? [True, True] Translation: X:90.26, Y:-3.55, Z:1.01 [[ 9.99456278e-01 -2.78474139e-02 -1.76541577e-02 9.02628249e+01] [ 2.78617493e-02 9.99611626e-01 5.66532141e-04 -3.54943253e+00] [ 1.76315249e-02 -1.05809982e-03 9.99843993e-01 1.00671950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.130714057 meters Centerline goodness [0,1] 0.9894419637947341 Centerline is valid? [True, True] Translation: X:90.29, Y:-3.55, Z:1.01 [[ 9.99394688e-01 -2.93630696e-02 -1.86565871e-02 9.02937029e+01] [ 2.93793492e-02 9.99568154e-01 5.99049109e-04 -3.54951972e+00] [ 1.86309404e-02 -1.14680488e-03 9.99825771e-01 1.00561318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.160714057 meters Centerline goodness [0,1] 0.9894419637947341 Centerline is valid? [True, True] Translation: X:90.32, Y:-3.55, Z:1.01 [[ 9.99395731e-01 -2.93275372e-02 -1.86565729e-02 9.03245889e+01] [ 2.93438188e-02 9.99569198e-01 5.99490007e-04 -3.55054209e+00] [ 1.86309540e-02 -1.14658285e-03 9.99825771e-01 1.00599950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.19071405700001 meters Centerline goodness [0,1] 0.9896713822250668 Centerline is valid? [True, True] Translation: X:90.36, Y:-3.55, Z:1.01 [[ 9.99363441e-01 -3.02745092e-02 -1.88723861e-02 9.03559006e+01] [ 3.02913507e-02 9.99540927e-01 6.07102094e-04 -3.55112668e+00] [ 1.88453426e-02 -1.17838571e-03 9.99821716e-01 1.00608345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22071405700001 meters Centerline goodness [0,1] 0.9893153937475268 Centerline is valid? [True, True] Translation: X:90.39, Y:-3.55, Z:1.01 [[ 9.99278373e-01 -3.29901769e-02 -1.88250074e-02 9.03871136e+01] [ 3.30074264e-02 9.99454923e-01 6.06247906e-04 -3.55224041e+00] [ 1.87947461e-02 -1.22717547e-03 9.99822610e-01 1.00611670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.250714057 meters Centerline goodness [0,1] 0.9893153937475268 Centerline is valid? [True, True] Translation: X:90.42, Y:-3.55, Z:1.01 [[ 9.99279544e-01 -3.29547053e-02 -1.88249859e-02 9.04180070e+01] [ 3.29719610e-02 9.99456093e-01 6.06916580e-04 -3.55326646e+00] [ 1.87947461e-02 -1.22717602e-03 9.99822610e-01 1.00650304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.280714057 meters Centerline goodness [0,1] 0.9883033192090396 Centerline is valid? [True, True] Translation: X:90.45, Y:-3.56, Z:1.01 [[ 9.99234482e-01 -3.45633321e-02 -1.83255700e-02 9.04478252e+01] [ 3.45799615e-02 9.99401759e-01 5.91247593e-04 -3.55554916e+00] [ 1.82941714e-02 -1.22449249e-03 9.99831898e-01 1.00698575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.310714057 meters Centerline goodness [0,1] 0.9865487662351982 Centerline is valid? [True, True] Translation: X:90.48, Y:-3.56, Z:1.01 [[ 9.99151560e-01 -3.73583019e-02 -1.73354175e-02 9.04777357e+01] [ 3.73736011e-02 9.99301206e-01 5.59301779e-04 -3.55970744e+00] [ 1.73024091e-02 -1.20671422e-03 9.99849574e-01 1.00757123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.340714057 meters Centerline goodness [0,1] 0.9857247033345855 Centerline is valid? [True, True] Translation: X:90.51, Y:-3.56, Z:1.01 [[ 9.99114994e-01 -3.86051035e-02 -1.66995579e-02 9.05096060e+01] [ 3.86194777e-02 9.99253844e-01 5.39007376e-04 -3.55791829e+00] [ 1.66662890e-02 -1.18345855e-03 9.99860407e-01 1.00834112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.370714057 meters Centerline goodness [0,1] 0.9870132743362832 Centerline is valid? [True, True] Translation: X:90.54, Y:-3.55, Z:1.01 [[ 9.99077419e-01 -4.00407055e-02 -1.55258923e-02 9.05415890e+01] [ 4.00533144e-02 9.99197418e-01 5.01899493e-04 -3.55413209e+00] [ 1.54933351e-02 -1.12329990e-03 9.99879340e-01 1.00905786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.400714057 meters Centerline goodness [0,1] 0.9860920709326494 Centerline is valid? [True, True] Translation: X:90.57, Y:-3.55, Z:1.01 [[ 9.99062498e-01 -4.05615367e-02 -1.51290335e-02 9.05737457e+01] [ 4.05735814e-02 9.99176433e-01 4.89922870e-04 -3.55369313e+00] [ 1.50967017e-02 -1.10330264e-03 9.99885430e-01 1.00962616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.430714057 meters Centerline goodness [0,1] 0.984071226581831 Centerline is valid? [True, True] Translation: X:90.60, Y:-3.56, Z:1.01 [[ 9.99057665e-01 -4.07038316e-02 -1.50658256e-02 9.06048059e+01] [ 4.07158078e-02 9.99170648e-01 4.88921975e-04 -3.56205131e+00] [ 1.50334297e-02 -1.10187851e-03 9.99886384e-01 1.00935163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.460714057 meters Centerline goodness [0,1] 0.9846371806791517 Centerline is valid? [True, True] Translation: X:90.64, Y:-3.56, Z:1.01 [[ 9.99004119e-01 -4.18991263e-02 -1.53373056e-02 9.06370975e+01] [ 4.19116917e-02 9.99121195e-01 4.98625899e-04 -3.55666920e+00] [ 1.53029351e-02 -1.14094175e-03 9.99882252e-01 1.00952405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.490714057 meters Centerline goodness [0,1] 0.9845697460760222 Centerline is valid? [True, True] Translation: X:90.67, Y:-3.56, Z:1.01 [[ 9.98935515e-01 -4.32684497e-02 -1.59899350e-02 9.06693913e+01] [ 4.32823007e-02 9.99062746e-01 5.21021772e-04 -3.55790420e+00] [ 1.59524046e-02 -1.21254833e-03 9.99872017e-01 1.00889544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.520714057 meters Centerline goodness [0,1] 0.9849428983257568 Centerline is valid? [True, True] Translation: X:90.70, Y:-3.56, Z:1.01 [[ 9.98901617e-01 -4.41002009e-02 -1.58345031e-02 9.07018598e+01] [ 4.41139054e-02 9.99026374e-01 5.17075837e-04 -3.55740059e+00] [ 1.57962830e-02 -1.21502966e-03 9.99874493e-01 1.00864822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.55071405700001 meters Centerline goodness [0,1] 0.984532198732438 Centerline is valid? [True, True] Translation: X:90.73, Y:-3.56, Z:1.01 [[ 9.98839392e-01 -4.54523632e-02 -1.59358557e-02 9.07324636e+01] [ 4.54664311e-02 9.98965731e-01 5.21414391e-04 -3.55983878e+00] [ 1.58956743e-02 -1.24535572e-03 9.99872880e-01 1.00826517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58071405700001 meters Centerline goodness [0,1] 0.9836429904880434 Centerline is valid? [True, True] Translation: X:90.76, Y:-3.56, Z:1.01 [[ 9.98734912e-01 -4.73254048e-02 -1.69964890e-02 9.07637740e+01] [ 4.73416883e-02 9.98878599e-01 5.56756485e-04 -3.56046314e+00] [ 1.69510804e-02 -1.36069462e-03 9.99855394e-01 1.00754243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61071405700001 meters Centerline goodness [0,1] 0.9838537733753832 Centerline is valid? [True, True] Translation: X:90.80, Y:-3.56, Z:1.01 [[ 9.98620772e-01 -4.94100800e-02 -1.77537901e-02 9.07953128e+01] [ 4.94281859e-02 9.98777510e-01 5.82215437e-04 -3.56244999e+00] [ 1.77033190e-02 -1.45895007e-03 9.99842220e-01 1.00632905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.640714057 meters Centerline goodness [0,1] 0.9829741952646981 Centerline is valid? [True, True] Translation: X:90.83, Y:-3.56, Z:1.01 [[ 9.98567411e-01 -5.02122335e-02 -1.84893632e-02 9.08260266e+01] [ 5.02320201e-02 9.98737391e-01 6.07011343e-04 -3.56440273e+00] [ 1.84355389e-02 -1.53489981e-03 9.99828873e-01 1.00575919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.670714057 meters Centerline goodness [0,1] 0.9833833166722203 Centerline is valid? [True, True] Translation: X:90.86, Y:-3.56, Z:1.01 [[ 9.98549919e-01 -5.05706420e-02 -1.84572145e-02 9.08579666e+01] [ 5.05904365e-02 9.98719300e-01 6.06818313e-04 -3.56493603e+00] [ 1.84028892e-02 -1.53969692e-03 9.99829467e-01 1.00624995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.700714057 meters Centerline goodness [0,1] 0.9820074283299602 Centerline is valid? [True, True] Translation: X:90.89, Y:-3.57, Z:1.01 [[ 9.98534150e-01 -5.08577069e-02 -1.85214792e-02 9.08890598e+01] [ 5.08777107e-02 9.98704704e-01 6.10130940e-04 -3.56628714e+00] [ 1.84664585e-02 -1.55156704e-03 9.99828277e-01 1.00687523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.730714057 meters Centerline goodness [0,1] 0.979002624671916 Centerline is valid? [True, True] Translation: X:90.92, Y:-3.57, Z:1.01 [[ 9.98558899e-01 -5.06260486e-02 -1.78081276e-02 9.09203532e+01] [ 5.06445205e-02 9.98716570e-01 5.87538877e-04 -3.57163256e+00] [ 1.77555274e-02 -1.48857626e-03 9.99841250e-01 1.00800795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.760714057 meters Centerline goodness [0,1] 0.9799808706096937 Centerline is valid? [True, True] Translation: X:90.95, Y:-3.57, Z:1.01 [[ 9.98571592e-01 -5.06508407e-02 -1.70078696e-02 9.09523321e+01] [ 5.06677087e-02 9.98715409e-01 5.62066028e-04 -3.56659287e+00] [ 1.69575523e-02 -1.42301295e-03 9.99855198e-01 1.01006037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.790714057 meters Centerline goodness [0,1] 0.9799076778984457 Centerline is valid? [True, True] Translation: X:90.98, Y:-3.57, Z:1.01 [[ 9.98566713e-01 -5.09080676e-02 -1.65193264e-02 9.09849359e+01] [ 5.09240335e-02 9.98702380e-01 5.47026887e-04 -3.56774675e+00] [ 1.64700425e-02 -1.38747357e-03 9.99863397e-01 1.01020699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.820714057 meters Centerline goodness [0,1] 0.9786693413574056 Centerline is valid? [True, True] Translation: X:91.02, Y:-3.57, Z:1.01 [[ 9.98558475e-01 -5.09763524e-02 -1.68042957e-02 9.10169768e+01] [ 5.09929031e-02 9.98698860e-01 5.57622362e-04 -3.56933483e+00] [ 1.67540054e-02 -1.41371836e-03 9.99858642e-01 1.01072928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.850714057 meters Centerline goodness [0,1] 0.9787721170089801 Centerline is valid? [True, True] Translation: X:91.05, Y:-3.57, Z:1.01 [[ 9.98589746e-01 -5.02534948e-02 -1.71203208e-02 9.10482477e+01] [ 5.02705872e-02 9.98735473e-01 5.69207813e-04 -3.56826749e+00] [ 1.70700670e-02 -1.42905366e-03 9.99853275e-01 1.01052838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.880714057 meters Centerline goodness [0,1] 0.9782942972388742 Centerline is valid? [True, True] Translation: X:91.08, Y:-3.57, Z:1.01 [[ 9.98586617e-01 -5.00653974e-02 -1.78388279e-02 9.10794068e+01] [ 5.00839416e-02 9.98744835e-01 5.94025495e-04 -3.56920811e+00] [ 1.77866971e-02 -1.48662473e-03 9.99840699e-01 1.01059281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.910714057 meters Centerline goodness [0,1] 0.9773975968195828 Centerline is valid? [True, True] Translation: X:91.11, Y:-3.57, Z:1.01 [[ 9.98629493e-01 -4.90207525e-02 -1.83330774e-02 9.11102931e+01] [ 4.90401792e-02 9.98796619e-01 6.11320506e-04 -3.56807170e+00] [ 1.82810484e-02 -1.50954009e-03 9.99831748e-01 1.01111882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94071405700001 meters Centerline goodness [0,1] 0.9766476156456511 Centerline is valid? [True, True] Translation: X:91.14, Y:-3.57, Z:1.01 [[ 9.98661595e-01 -4.83502322e-02 -1.83650386e-02 9.11419649e+01] [ 4.83696287e-02 9.98829316e-01 6.13185737e-04 -3.56873434e+00] [ 1.83138912e-02 -1.50067514e-03 9.99831160e-01 1.01176122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97071405700001 meters Centerline goodness [0,1] 0.9773367935925544 Centerline is valid? [True, True] Translation: X:91.17, Y:-3.57, Z:1.01 [[ 9.98730932e-01 -4.69244580e-02 -1.82926544e-02 9.11736987e+01] [ 4.69434858e-02 9.98897359e-01 6.11945306e-04 -3.56787788e+00] [ 1.82437690e-02 -1.46988967e-03 9.99832488e-01 1.01217585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.000714057 meters Centerline goodness [0,1] 0.9768577637386026 Centerline is valid? [True, True] Translation: X:91.20, Y:-3.56, Z:1.01 [[ 9.98872880e-01 -4.40679188e-02 -1.76348548e-02 9.12029534e+01] [ 4.40851709e-02 9.99027602e-01 5.90553906e-04 -3.56494708e+00] [ 1.75916822e-02 -1.36732387e-03 9.99844319e-01 1.01277902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.030714057 meters Centerline goodness [0,1] 0.9774231917233331 Centerline is valid? [True, True] Translation: X:91.23, Y:-3.56, Z:1.01 [[ 9.98953829e-01 -4.21597139e-02 -1.77145622e-02 9.12346446e+01] [ 4.21768226e-02 9.99109986e-01 5.93144279e-04 -3.56385625e+00] [ 1.76737892e-02 -1.33966770e-03 9.99842909e-01 1.01306942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.060714057 meters Centerline goodness [0,1] 0.9846184846856528 Centerline is valid? [True, True] Translation: X:91.27, Y:-3.54, Z:1.01 [[ 9.99159184e-01 -3.72581718e-02 -1.71100622e-02 9.12663963e+01] [ 3.72734289e-02 9.99304940e-01 5.73565864e-04 -3.54267671e+00] [ 1.70767996e-02 -1.21083429e-03 9.99853448e-01 1.01422884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.090714057 meters Centerline goodness [0,1] 0.9786123917688069 Centerline is valid? [True, True] Translation: X:91.30, Y:-3.56, Z:1.01 [[ 9.99255695e-01 -3.45404691e-02 -1.71759424e-02 9.12954237e+01] [ 3.45554467e-02 9.99402616e-01 5.75905967e-04 -3.55802122e+00] [ 1.71457897e-02 -1.16899968e-03 9.99852317e-01 1.01369095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.120714057 meters Centerline goodness [0,1] 0.9784020676480504 Centerline is valid? [True, True] Translation: X:91.33, Y:-3.55, Z:1.01 [[ 9.99443554e-01 -2.86987966e-02 -1.69988370e-02 9.13258180e+01] [ 2.87126216e-02 9.99587545e-01 5.69740510e-04 -3.55232941e+00] [ 1.69754749e-02 -1.05750465e-03 9.99855347e-01 1.01440128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.150714057 meters Centerline goodness [0,1] 0.9794014243216442 Centerline is valid? [True, True] Translation: X:91.36, Y:-3.55, Z:1.01 [[ 9.99520524e-01 -2.59569061e-02 -1.68807722e-02 9.13567647e+01] [ 2.59701509e-02 9.99662559e-01 5.65832600e-04 -3.55119219e+00] [ 1.68603886e-02 -1.00395750e-03 9.99857350e-01 1.01490598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.180714057 meters Centerline goodness [0,1] 0.9800860534793089 Centerline is valid? [True, True] Translation: X:91.39, Y:-3.55, Z:1.02 [[ 9.99633248e-01 -2.13413431e-02 -1.66708489e-02 9.13863667e+01] [ 2.13536228e-02 9.99771829e-01 5.58922698e-04 -3.54708134e+00] [ 1.66551169e-02 -9.14700731e-04 9.99860876e-01 1.01504849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.210714057 meters Centerline goodness [0,1] 0.9810984147057495 Centerline is valid? [True, True] Translation: X:91.42, Y:-3.55, Z:1.02 [[ 9.99661699e-01 -1.95786066e-02 -1.71220797e-02 9.14174873e+01] [ 1.95913002e-02 9.99807907e-01 5.73925897e-04 -3.54618655e+00] [ 1.71075540e-02 -9.09175542e-04 9.99853242e-01 1.01529439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.240714057 meters Centerline goodness [0,1] 0.9815148376637997 Centerline is valid? [True, True] Translation: X:91.45, Y:-3.55, Z:1.01 [[ 9.99687391e-01 -1.78306223e-02 -1.75268380e-02 9.14472799e+01] [ 1.78436561e-02 9.99840617e-01 5.87535809e-04 -3.54616489e+00] [ 1.75135684e-02 -9.00095010e-04 9.99846221e-01 1.01494243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.270714057 meters Centerline goodness [0,1] 0.9848478036059529 Centerline is valid? [True, True] Translation: X:91.48, Y:-3.53, Z:1.01 [[ 9.99683334e-01 -1.64709362e-02 -1.90247372e-02 9.14773595e+01] [ 1.64860359e-02 9.99863893e-01 6.37114565e-04 -3.53404205e+00] [ 1.90116539e-02 -9.50555312e-04 9.99818810e-01 1.01483841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30071405700001 meters Centerline goodness [0,1] 0.9849651217915435 Centerline is valid? [True, True] Translation: X:91.51, Y:-3.54, Z:1.01 [[ 9.99662824e-01 -1.64235588e-02 -2.01123336e-02 9.15058252e+01] [ 1.64403796e-02 9.99864622e-01 6.71274871e-04 -3.53534616e+00] [ 2.00985861e-02 -1.00170293e-03 9.99797501e-01 1.01406933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.33071405700001 meters Centerline goodness [0,1] 0.9865676679041512 Centerline is valid? [True, True] Translation: X:91.53, Y:-3.54, Z:1.01 [[ 9.99638416e-01 -1.61700136e-02 -2.14841089e-02 9.15333504e+01] [ 1.61890567e-02 9.99868695e-01 7.12744645e-04 -3.53737503e+00] [ 2.14697629e-02 -1.06029439e-03 9.99768936e-01 1.01291919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36071405700001 meters Centerline goodness [0,1] 0.9862603329053765 Centerline is valid? [True, True] Translation: X:91.56, Y:-3.54, Z:1.01 [[ 9.99627750e-01 -1.62663128e-02 -2.19036033e-02 9.15615147e+01] [ 1.62860396e-02 9.99867113e-01 7.22527444e-04 -3.53871520e+00] [ 2.18889397e-02 -1.07898143e-03 9.99759826e-01 1.01286851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.390714057 meters Centerline goodness [0,1] 0.986143655371305 Centerline is valid? [True, True] Translation: X:91.59, Y:-3.53, Z:1.01 [[ 9.99607887e-01 -1.69354597e-02 -2.22993827e-02 9.15901139e+01] [ 1.69559425e-02 9.99855971e-01 7.29767743e-04 -3.53484062e+00] [ 2.22838120e-02 -1.10758864e-03 9.99751072e-01 1.01443083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.420714057 meters Centerline goodness [0,1] 0.9850910974483706 Centerline is valid? [True, True] Translation: X:91.62, Y:-3.54, Z:1.02 [[ 9.99613914e-01 -1.76129994e-02 -2.14896614e-02 9.16178330e+01] [ 1.76320971e-02 9.99844298e-01 6.99524578e-04 -3.53963496e+00] [ 2.14739947e-02 -1.07816230e-03 9.99768826e-01 1.01581978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.450714057 meters Centerline goodness [0,1] 0.9841953375118366 Centerline is valid? [True, True] Translation: X:91.65, Y:-3.54, Z:1.02 [[ 9.99605140e-01 -1.85283800e-02 -2.11249459e-02 9.16465127e+01] [ 1.85469733e-02 9.99827756e-01 6.84556688e-04 -3.54140021e+00] [ 2.11086235e-02 -1.07609019e-03 9.99776609e-01 1.01713150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.480714057 meters Centerline goodness [0,1] 0.9846575465552485 Centerline is valid? [True, True] Translation: X:91.68, Y:-3.55, Z:1.02 [[ 9.99603446e-01 -2.03603487e-02 -1.94526837e-02 9.16753544e+01] [ 2.03764008e-02 9.99792183e-01 6.27318646e-04 -3.54586223e+00] [ 1.94358687e-02 -1.02344556e-03 9.99810582e-01 1.01843981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.510714057 meters Centerline goodness [0,1] 0.985717177624328 Centerline is valid? [True, True] Translation: X:91.71, Y:-3.54, Z:1.02 [[ 9.99564678e-01 -2.21480450e-02 -1.94915085e-02 9.17054750e+01] [ 2.21644832e-02 9.99754141e-01 6.27698574e-04 -3.54121141e+00] [ 1.94728140e-02 -1.05944454e-03 9.99809825e-01 1.01995196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.540714057 meters Centerline goodness [0,1] 0.9852815795378057 Centerline is valid? [True, True] Translation: X:91.74, Y:-3.55, Z:1.02 [[ 9.99468140e-01 -2.57242225e-02 -2.00425036e-02 9.17351188e+01] [ 2.57423082e-02 9.99668404e-01 6.44853055e-04 -3.54523529e+00] [ 2.00192693e-02 -1.16045039e-03 9.99798921e-01 1.01997388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.570714057 meters Centerline goodness [0,1] 0.9854769452125627 Centerline is valid? [True, True] Translation: X:91.77, Y:-3.55, Z:1.02 [[ 9.99394712e-01 -2.80547690e-02 -2.05703689e-02 9.17661755e+01] [ 2.80743104e-02 9.99605620e-01 6.61753354e-04 -3.54768442e+00] [ 2.05436910e-02 -1.23885172e-03 9.99788189e-01 1.01991271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.600714057 meters Centerline goodness [0,1] 0.9853311735061195 Centerline is valid? [True, True] Translation: X:91.80, Y:-3.55, Z:1.02 [[ 9.99317122e-01 -3.07667905e-02 -2.04620329e-02 9.17971333e+01] [ 3.07867002e-02 9.99525760e-01 6.58632160e-04 -3.55111784e+00] [ 2.04320650e-02 -1.28814087e-03 9.99790414e-01 1.01973097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.630714057 meters Centerline goodness [0,1] 0.9849315988625932 Centerline is valid? [True, True] Translation: X:91.83, Y:-3.56, Z:1.02 [[ 9.99146728e-01 -3.54414928e-02 -2.12064986e-02 9.18274578e+01] [ 3.54639316e-02 9.99370724e-01 6.82854053e-04 -3.55679586e+00] [ 2.11689524e-02 -1.43433721e-03 9.99774884e-01 1.01868624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.660714057 meters Centerline goodness [0,1] 0.9847491608659413 Centerline is valid? [True, True] Translation: X:91.86, Y:-3.56, Z:1.02 [[ 9.98933667e-01 -3.99103029e-02 -2.32098378e-02 9.18570071e+01] [ 3.99383850e-02 9.99201865e-01 7.47454591e-04 -3.56331614e+00] [ 2.31614820e-02 -1.67362099e-03 9.99730336e-01 1.01691211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.69071405700001 meters Centerline goodness [0,1] 0.9846358332019194 Centerline is valid? [True, True] Translation: X:91.89, Y:-3.57, Z:1.02 [[ 9.98863667e-01 -4.13868264e-02 -2.36327270e-02 9.18876687e+01] [ 4.14163584e-02 9.99141684e-01 7.61326449e-04 -3.56655066e+00] [ 2.35809338e-02 -1.73924282e-03 9.99720418e-01 1.01664674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72071405700001 meters Centerline goodness [0,1] 0.9851938525235706 Centerline is valid? [True, True] Translation: X:91.92, Y:-3.57, Z:1.02 [[ 9.98807579e-01 -4.24407376e-02 -2.41288865e-02 9.19200032e+01] [ 4.24718540e-02 9.99097361e-01 7.78354462e-04 -3.56856727e+00] [ 2.40740728e-02 -1.80222488e-03 9.99708553e-01 1.01644547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.750714057 meters Centerline goodness [0,1] 0.984557980624424 Centerline is valid? [True, True] Translation: X:91.95, Y:-3.57, Z:1.02 [[ 9.98739836e-01 -4.37137730e-02 -2.46545171e-02 9.19505035e+01] [ 4.37466734e-02 9.99042339e-01 7.96421092e-04 -3.57123383e+00] [ 2.45960919e-02 -1.87397058e-03 9.99695714e-01 1.01597674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.780714057 meters Centerline goodness [0,1] 0.9840916250393772 Centerline is valid? [True, True] Translation: X:91.98, Y:-3.57, Z:1.02 [[ 9.98730015e-01 -4.37996705e-02 -2.48986992e-02 9.19824547e+01] [ 4.38332793e-02 9.99038535e-01 8.05384487e-04 -3.57316295e+00] [ 2.48394844e-02 -1.89575330e-03 9.99689655e-01 1.01665142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.810714057 meters Centerline goodness [0,1] 0.9836021323975976 Centerline is valid? [True, True] Translation: X:92.01, Y:-3.58, Z:1.02 [[ 9.98752723e-01 -4.36052629e-02 -2.43224085e-02 9.20133932e+01] [ 4.36373112e-02 9.99047128e-01 7.88194766e-04 -3.57545767e+00] [ 2.42648629e-02 -1.84857618e-03 9.99703856e-01 1.01724972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.840714057 meters Centerline goodness [0,1] 0.9847660989529502 Centerline is valid? [True, True] Translation: X:92.05, Y:-3.58, Z:1.02 [[ 9.98762412e-01 -4.33722880e-02 -2.43410830e-02 9.20454657e+01] [ 4.34043521e-02 9.99057274e-01 7.90249533e-04 -3.57650434e+00] [ 2.42838611e-02 -1.84578047e-03 9.99703400e-01 1.01777556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.870714057 meters Centerline goodness [0,1] 0.9843388902600462 Centerline is valid? [True, True] Translation: X:92.08, Y:-3.58, Z:1.02 [[ 9.98764599e-01 -4.33894114e-02 -2.42205319e-02 9.20765668e+01] [ 4.34212145e-02 9.99056543e-01 7.88446389e-04 -3.57868093e+00] [ 2.41634706e-02 -1.83915725e-03 9.99706329e-01 1.01841065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.900714057 meters Centerline goodness [0,1] 0.9844696031871075 Centerline is valid? [True, True] Translation: X:92.11, Y:-3.58, Z:1.02 [[ 9.98750808e-01 -4.35040875e-02 -2.45808300e-02 9.21085842e+01] [ 4.35369324e-02 9.99051496e-01 8.02360222e-04 -3.57835243e+00] [ 2.45226090e-02 -1.87153185e-03 9.99697524e-01 1.01902194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.930714057 meters Centerline goodness [0,1] 0.9856484085029805 Centerline is valid? [True, True] Translation: X:92.14, Y:-3.57, Z:1.02 [[ 9.98737882e-01 -4.36592646e-02 -2.48296617e-02 9.21408470e+01] [ 4.36928683e-02 9.99044680e-01 8.12200760e-04 -3.57453892e+00] [ 2.47704814e-02 -1.89605481e-03 9.99691366e-01 1.01994587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.960714057 meters Centerline goodness [0,1] 0.9842821113312916 Centerline is valid? [True, True] Translation: X:92.17, Y:-3.58, Z:1.02 [[ 9.98716073e-01 -4.38169451e-02 -2.54220607e-02 9.21717297e+01] [ 4.38522628e-02 9.99037679e-01 8.33152946e-04 -3.58402051e+00] [ 2.53610903e-02 -1.94689813e-03 9.99676460e-01 1.01893990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.990714057 meters Centerline goodness [0,1] 0.9857741906393723 Centerline is valid? [True, True] Translation: X:92.20, Y:-3.58, Z:1.02 [[ 9.98689389e-01 -4.41474298e-02 -2.58941825e-02 9.22038786e+01] [ 4.41842235e-02 9.99023039e-01 8.50219146e-04 -3.57964377e+00] [ 2.58313498e-02 -1.99321918e-03 9.99664328e-01 1.02072386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.020714057 meters Centerline goodness [0,1] 0.9860858228246454 Centerline is valid? [True, True] Translation: X:92.24, Y:-3.58, Z:1.02 [[ 9.98659330e-01 -4.47716164e-02 -2.59816308e-02 9.22351578e+01] [ 4.48089036e-02 9.98995211e-01 8.54420546e-04 -3.58133964e+00] [ 2.59172710e-02 -2.01748344e-03 9.99662055e-01 1.02139284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.05071405700001 meters Centerline goodness [0,1] 0.9709234496993628 Centerline is valid? [True, True] Translation: X:92.27, Y:-3.59, Z:1.02 [[ 9.98589806e-01 -4.59252512e-02 -2.66321531e-02 9.22651928e+01] [ 4.59648637e-02 9.98942672e-01 8.76804600e-04 -3.59286850e+00] [ 2.65637267e-02 -2.09971142e-03 9.99644917e-01 1.02028738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08071405700001 meters Centerline goodness [0,1] 0.985643030466433 Centerline is valid? [True, True] Translation: X:92.30, Y:-3.59, Z:1.02 [[ 9.98568874e-01 -4.62372606e-02 -2.68759895e-02 9.22966214e+01] [ 4.62777407e-02 9.98928219e-01 8.85811883e-04 -3.58606696e+00] [ 2.68062268e-02 -2.12830425e-03 9.99638383e-01 1.02212171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11071405700001 meters Centerline goodness [0,1] 0.9850867130035765 Centerline is valid? [True, True] Translation: X:92.33, Y:-3.59, Z:1.02 [[ 9.98540572e-01 -4.62677676e-02 -2.78571247e-02 9.23273541e+01] [ 4.63113042e-02 9.98926633e-01 9.19366228e-04 -3.58811120e+00] [ 2.77846867e-02 -2.20812425e-03 9.99611492e-01 1.02194379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.140714057 meters Centerline goodness [0,1] 0.9850867130035765 Centerline is valid? [True, True] Translation: X:92.36, Y:-3.59, Z:1.02 [[ 9.98542116e-01 -4.62344650e-02 -2.78570869e-02 9.23582814e+01] [ 4.62780204e-02 9.98928174e-01 9.20509955e-04 -3.58916620e+00] [ 2.77846697e-02 -2.20833879e-03 9.99611492e-01 1.02233049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.170714057 meters Centerline goodness [0,1] 0.9862144961432073 Centerline is valid? [True, True] Translation: X:92.39, Y:-3.59, Z:1.02 [[ 9.98564433e-01 -4.56750082e-02 -2.79797432e-02 9.23901407e+01] [ 4.57187565e-02 9.98953922e-01 9.25513920e-04 -3.58512243e+00] [ 2.79082014e-02 -2.20338435e-03 9.99608062e-01 1.02399314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.200714057 meters Centerline goodness [0,1] 0.9861170392002696 Centerline is valid? [True, True] Translation: X:92.42, Y:-3.59, Z:1.03 [[ 9.98683052e-01 -4.35774122e-02 -2.70771439e-02 9.24198033e+01] [ 4.36176273e-02 9.99047897e-01 8.96073198e-04 -3.58615144e+00] [ 2.70123151e-02 -2.07593388e-03 9.99632945e-01 1.02584544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.230714057 meters Centerline goodness [0,1] 0.98681990958368 Centerline is valid? [True, True] Translation: X:92.45, Y:-3.59, Z:1.03 [[ 9.98763999e-01 -4.19051044e-02 -2.67289610e-02 9.24516741e+01] [ 4.19437154e-02 9.99119583e-01 8.85273602e-04 -3.58571152e+00] [ 2.66683308e-02 -2.00529133e-03 9.99642326e-01 1.02732056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.260714057 meters Centerline goodness [0,1] 0.9887777176852353 Centerline is valid? [True, True] Translation: X:92.48, Y:-3.57, Z:1.03 [[ 9.98903653e-01 -3.86772081e-02 -2.63735951e-02 9.24828384e+01] [ 3.87137026e-02 9.99249961e-01 8.74369137e-04 -3.57451725e+00] [ 2.63199957e-02 -1.89443004e-03 9.99651774e-01 1.03099822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.290714057 meters Centerline goodness [0,1] 0.9869024083393242 Centerline is valid? [True, True] Translation: X:92.51, Y:-3.58, Z:1.03 [[ 9.98966861e-01 -3.69173674e-02 -2.65012898e-02 9.25132200e+01] [ 3.69536192e-02 9.99316595e-01 8.79319060e-04 -3.58283129e+00] [ 2.64507165e-02 -1.85772917e-03 9.99648392e-01 1.02999337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.320714057 meters Centerline goodness [0,1] 0.9884284844246949 Centerline is valid? [True, True] Translation: X:92.54, Y:-3.57, Z:1.03 [[ 9.99019877e-01 -3.53092973e-02 -2.66934285e-02 9.25446795e+01] [ 3.53455244e-02 9.99374759e-01 8.86396826e-04 -3.57290778e+00] [ 2.66454406e-02 -1.82902128e-03 9.99643274e-01 1.03258058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.350714057 meters Centerline goodness [0,1] 0.9878503195501457 Centerline is valid? [True, True] Translation: X:92.58, Y:-3.57, Z:1.03 [[ 9.99071026e-01 -3.36026475e-02 -2.69805027e-02 9.25752233e+01] [ 3.36390520e-02 9.99433645e-01 8.96414853e-04 -3.57227558e+00] [ 2.69351002e-02 -1.80318064e-03 9.99635558e-01 1.03229821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.380714057 meters Centerline goodness [0,1] 0.988876855737557 Centerline is valid? [True, True] Translation: X:92.61, Y:-3.57, Z:1.03 [[ 9.99074345e-01 -3.34196161e-02 -2.70847124e-02 9.26053227e+01] [ 3.34562486e-02 9.99439777e-01 9.00358593e-04 -3.57450310e+00] [ 2.70394493e-02 -1.80567804e-03 9.99632736e-01 1.03231562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.410714057 meters Centerline goodness [0,1] 0.989764331066272 Centerline is valid? [True, True] Translation: X:92.64, Y:-3.57, Z:1.03 [[ 9.99010277e-01 -3.48295525e-02 -2.76652810e-02 9.26364365e+01] [ 3.48683248e-02 9.99391491e-01 9.20156289e-04 -3.57140231e+00] [ 2.76163978e-02 -1.88388759e-03 9.99616819e-01 1.03266782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44071405700001 meters Centerline goodness [0,1] 0.9882140438022127 Centerline is valid? [True, True] Translation: X:92.67, Y:-3.58, Z:1.03 [[ 9.98953814e-01 -3.57929007e-02 -2.84630705e-02 9.26661525e+01] [ 3.58343382e-02 9.99357295e-01 9.46923198e-04 -3.57603331e+00] [ 2.84108840e-02 -1.96588783e-03 9.99594396e-01 1.03203016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47071405700001 meters Centerline goodness [0,1] 0.989460380509603 Centerline is valid? [True, True] Translation: X:92.70, Y:-3.58, Z:1.03 [[ 9.98888549e-01 -3.69770199e-02 -2.92295450e-02 9.26971945e+01] [ 3.70212332e-02 9.99314006e-01 9.72715791e-04 -3.57685126e+00] [ 2.91735256e-02 -2.05374847e-03 9.99572252e-01 1.03231819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.500714057 meters Centerline goodness [0,1] 0.9893222332820559 Centerline is valid? [True, True] Translation: X:92.73, Y:-3.58, Z:1.03 [[ 9.98789924e-01 -3.90185268e-02 -2.99373061e-02 9.27277438e+01] [ 3.90658271e-02 9.99236142e-01 9.96493160e-04 -3.57961056e+00] [ 2.98755566e-02 -2.16481295e-03 9.99551282e-01 1.03223052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.530714057 meters Centerline goodness [0,1] 0.9893650721817441 Centerline is valid? [True, True] Translation: X:92.76, Y:-3.58, Z:1.03 [[ 9.98745054e-01 -4.03427717e-02 -2.96779178e-02 9.27585754e+01] [ 4.03898458e-02 9.99183509e-01 9.88158685e-04 -3.58049788e+00] [ 2.96138209e-02 -2.18560512e-03 9.99559025e-01 1.03312735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.560714057 meters Centerline goodness [0,1] 0.9898367098041873 Centerline is valid? [True, True] Translation: X:92.79, Y:-3.58, Z:1.03 [[ 9.98737381e-01 -4.08514489e-02 -2.92369983e-02 9.27897515e+01] [ 4.08973743e-02 9.99162877e-01 9.74288777e-04 -3.57763243e+00] [ 2.91727222e-02 -2.16877508e-03 9.99572033e-01 1.03497281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.590714057 meters Centerline goodness [0,1] 0.9885983924862277 Centerline is valid? [True, True] Translation: X:92.82, Y:-3.59, Z:1.03 [[ 9.98749337e-01 -4.10211104e-02 -2.85837510e-02 9.28199426e+01] [ 4.10650951e-02 9.99156018e-01 9.53239540e-04 -3.58636905e+00] [ 2.85205239e-02 -2.12584181e-03 9.99590947e-01 1.03406204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.620714057 meters Centerline goodness [0,1] 0.9903134031791907 Centerline is valid? [True, True] Translation: X:92.85, Y:-3.58, Z:1.04 [[ 9.98758721e-01 -4.10572816e-02 -2.82013650e-02 9.28526315e+01] [ 4.11001488e-02 9.99154588e-01 9.41825598e-04 -3.57907915e+00] [ 2.81388545e-02 -2.09973683e-03 9.99601819e-01 1.03697275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.650714057 meters Centerline goodness [0,1] 0.9898763925609563 Centerline is valid? [True, True] Translation: X:92.88, Y:-3.58, Z:1.04 [[ 9.98769311e-01 -4.07633925e-02 -2.82526068e-02 9.28839322e+01] [ 4.08063475e-02 9.99166627e-01 9.45266643e-04 -3.58319071e+00] [ 2.81905295e-02 -2.09698901e-03 9.99600368e-01 1.03670493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.680714057 meters Centerline goodness [0,1] 0.989592269833386 Centerline is valid? [True, True] Translation: X:92.92, Y:-3.58, Z:1.04 [[ 9.98781123e-01 -4.06570646e-02 -2.79869700e-02 9.29152370e+01] [ 4.06992072e-02 9.99171004e-01 9.37573910e-04 -3.58307731e+00] [ 2.79256499e-02 -2.07547862e-03 9.99607848e-01 1.03740542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.710714057 meters Centerline goodness [0,1] 0.990077926785067 Centerline is valid? [True, True] Translation: X:92.95, Y:-3.58, Z:1.04 [[ 9.98779553e-01 -4.06979000e-02 -2.79836475e-02 9.29474544e+01] [ 4.07400913e-02 9.99169337e-01 9.38992996e-04 -3.58185373e+00] [ 2.79221875e-02 -2.07790336e-03 9.99607940e-01 1.03865300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.740714057 meters Centerline goodness [0,1] 0.990421064578368 Centerline is valid? [True, True] Translation: X:92.98, Y:-3.58, Z:1.04 [[ 9.98775138e-01 -4.12375631e-02 -2.73438560e-02 9.29791521e+01] [ 4.12780928e-02 9.99147274e-01 9.19189573e-04 -3.58286915e+00] [ 2.72826340e-02 -2.04676592e-03 9.99625664e-01 1.03979665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.770714057 meters Centerline goodness [0,1] 0.9902683574166913 Centerline is valid? [True, True] Translation: X:93.01, Y:-3.58, Z:1.04 [[ 9.98761837e-01 -4.17398523e-02 -2.70661674e-02 9.30098277e+01] [ 4.17797782e-02 9.99126429e-01 9.11046173e-04 -3.58385351e+00] [ 2.70044962e-02 -2.04073662e-03 9.99633229e-01 1.04035603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80071405700001 meters Centerline goodness [0,1] 0.9902540740237076 Centerline is valid? [True, True] Translation: X:93.04, Y:-3.59, Z:1.04 [[ 9.98732269e-01 -4.25787657e-02 -2.68496457e-02 9.30417830e+01] [ 4.26183959e-02 9.99091013e-01 9.05228398e-04 -3.58552125e+00] [ 2.67866963e-02 -2.04836964e-03 9.99639073e-01 1.04102695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.83071405700001 meters Centerline goodness [0,1] 0.9895951398648954 Centerline is valid? [True, True] Translation: X:93.07, Y:-3.59, Z:1.04 [[ 9.98661855e-01 -4.37502207e-02 -2.75756620e-02 9.30720554e+01] [ 4.37925004e-02 9.99040215e-01 9.30888889e-04 -3.59472252e+00] [ 2.75084687e-02 -2.13725041e-03 9.99619286e-01 1.03984712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86071405700001 meters Centerline goodness [0,1] 0.9904335575349936 Centerline is valid? [True, True] Translation: X:93.10, Y:-3.59, Z:1.04 [[ 9.98617776e-01 -4.46110878e-02 -2.77918864e-02 9.31044100e+01] [ 4.46544007e-02 9.99002053e-01 9.39481053e-04 -3.59274125e+00] [ 2.77222403e-02 -2.17921251e-03 9.99613289e-01 1.04083609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.890714057 meters Centerline goodness [0,1] 0.9900821569606464 Centerline is valid? [True, True] Translation: X:93.14, Y:-3.60, Z:1.04 [[ 9.98512317e-01 -4.64208393e-02 -2.86052258e-02 9.31356243e+01] [ 4.64675051e-02 9.98919333e-01 9.68433866e-04 -3.59692451e+00] [ 2.85293575e-02 -2.29620662e-03 9.99590318e-01 1.03986638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.920714057 meters Centerline goodness [0,1] 0.9901640830387091 Centerline is valid? [True, True] Translation: X:93.17, Y:-3.60, Z:1.04 [[ 9.98480248e-01 -4.70857435e-02 -2.86378636e-02 9.31680133e+01] [ 4.71328324e-02 9.98888158e-01 9.71111508e-04 -3.59710630e+00] [ 2.85602973e-02 -2.31941928e-03 9.99589381e-01 1.04077410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.950714057 meters Centerline goodness [0,1] 0.9893409534176986 Centerline is valid? [True, True] Translation: X:93.20, Y:-3.60, Z:1.04 [[ 9.98393027e-01 -4.85278257e-02 -2.92645549e-02 9.31976635e+01] [ 4.85776491e-02 9.98818915e-01 9.93553836e-04 -3.60209459e+00] [ 2.91817760e-02 -2.41356050e-03 9.99571207e-01 1.04089766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.980714057 meters Centerline goodness [0,1] 0.9867585706511881 Centerline is valid? [True, True] Translation: X:93.23, Y:-3.61, Z:1.04 [[ 9.98357147e-01 -4.91932482e-02 -2.93773860e-02 9.32286569e+01] [ 4.92437751e-02 9.98786290e-01 9.98485198e-04 -3.60621939e+00] [ 2.92926117e-02 -2.44349822e-03 9.99567893e-01 1.04125908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.010714057 meters Centerline goodness [0,1] 0.9893757094211124 Centerline is valid? [True, True] Translation: X:93.26, Y:-3.60, Z:1.04 [[ 9.98329299e-01 -4.97635056e-02 -2.93633245e-02 9.32605062e+01] [ 4.98142741e-02 9.98757998e-01 9.99549455e-04 -3.60455763e+00] [ 2.92771142e-02 -2.46059220e-03 9.99568305e-01 1.04318529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.040714057 meters Centerline goodness [0,1] 0.9871048158640227 Centerline is valid? [True, True] Translation: X:93.29, Y:-3.61, Z:1.04 [[ 9.98244832e-01 -5.14417965e-02 -2.93427655e-02 9.32909730e+01] [ 5.14932413e-02 9.98672843e-01 9.99797864e-04 -3.60983516e+00] [ 2.92523917e-02 -2.50899716e-03 9.99568908e-01 1.04338992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.070714057 meters Centerline goodness [0,1] 0.9746855452430956 Centerline is valid? [True, True] Translation: X:93.32, Y:-3.62, Z:1.04 [[ 9.98211405e-01 -5.20930335e-02 -2.93309985e-02 9.33215121e+01] [ 5.21447393e-02 9.98639037e-01 1.00019401e-03 -3.61778686e+00] [ 2.92389769e-02 -2.52786234e-03 9.99569253e-01 1.04215587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.100714057 meters Centerline goodness [0,1] 0.984538766270515 Centerline is valid? [True, True] Translation: X:93.35, Y:-3.62, Z:1.04 [[ 9.98154996e-01 -5.31073856e-02 -2.94314525e-02 9.33539405e+01] [ 5.31599309e-02 9.98585505e-01 1.00522238e-03 -3.61752776e+00] [ 2.93364372e-02 -2.56794173e-03 9.99566296e-01 1.04293787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.130714057 meters Centerline goodness [0,1] 0.9854367834286877 Centerline is valid? [True, True] Translation: X:93.39, Y:-3.62, Z:1.04 [[ 9.98147935e-01 -5.32457876e-02 -2.94208420e-02 9.33864736e+01] [ 5.32984145e-02 9.98578122e-01 1.00689985e-03 -3.61868654e+00] [ 2.93253960e-02 -2.57311924e-03 9.99566606e-01 1.04350068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.160714057 meters Centerline goodness [0,1] 0.9668901076579322 Centerline is valid? [True, True] Translation: X:93.42, Y:-3.63, Z:1.04 [[ 9.98149176e-01 -5.34135316e-02 -2.90726226e-02 9.34177267e+01] [ 5.34650399e-02 9.98569224e-01 9.96700506e-04 -3.62699152e+00] [ 2.89777890e-02 -2.54922472e-03 9.99576805e-01 1.04298698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.19071405700001 meters Centerline goodness [0,1] 0.9586111801803838 Centerline is valid? [True, True] Translation: X:93.45, Y:-3.63, Z:1.04 [[ 9.98129375e-01 -5.36542940e-02 -2.93081550e-02 9.34486769e+01] [ 5.37067873e-02 9.98556242e-01 1.00626609e-03 -3.63101542e+00] [ 2.92118507e-02 -2.57843059e-03 9.99569917e-01 1.04390328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22071405700001 meters Centerline goodness [0,1] 0.9672462596037201 Centerline is valid? [True, True] Translation: X:93.48, Y:-3.63, Z:1.05 [[ 9.98137364e-01 -5.36238570e-02 -2.90909630e-02 9.34811872e+01] [ 5.36756118e-02 9.98557924e-01 1.00053221e-03 -3.63345809e+00] [ 2.89953593e-02 -2.56014383e-03 9.99576268e-01 1.04526596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.250714057 meters Centerline goodness [0,1] 0.9897217911521939 Centerline is valid? [True, True] Translation: X:93.51, Y:-3.62, Z:1.05 [[ 9.98126256e-01 -5.38166164e-02 -2.91161121e-02 9.35139357e+01] [ 5.38686012e-02 9.98547529e-01 1.00342645e-03 -3.62266297e+00] [ 2.90198208e-02 -2.56999052e-03 9.99575532e-01 1.04847948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.280714057 meters Centerline goodness [0,1] 0.9873782257520193 Centerline is valid? [True, True] Translation: X:93.55, Y:-3.63, Z:1.05 [[ 9.98122087e-01 -5.40055979e-02 -2.89084036e-02 9.35451507e+01] [ 5.40569729e-02 9.98537354e-01 9.98041012e-04 -3.62941358e+00] [ 2.88122210e-02 -2.55886757e-03 9.99581567e-01 1.04852721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.310714057 meters Centerline goodness [0,1] 0.9888736541617029 Centerline is valid? [True, True] Translation: X:93.58, Y:-3.63, Z:1.05 [[ 9.98124108e-01 -5.39741490e-02 -2.88973277e-02 9.35772282e+01] [ 5.40255246e-02 9.98539055e-01 9.99497696e-04 -3.63030306e+00] [ 2.88011632e-02 -2.55881603e-03 9.99581885e-01 1.04941320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.340714057 meters Centerline goodness [0,1] 0.9875002795107444 Centerline is valid? [True, True] Translation: X:93.61, Y:-3.63, Z:1.05 [[ 9.98156053e-01 -5.30361948e-02 -2.95238080e-02 9.36093315e+01] [ 5.30894786e-02 9.98589235e-01 1.02328628e-03 -3.63407427e+00] [ 2.94278857e-02 -2.58880297e-03 9.99563554e-01 1.04916921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.370714057 meters Centerline goodness [0,1] 0.9887685879868817 Centerline is valid? [True, True] Translation: X:93.64, Y:-3.64, Z:1.05 [[ 9.98159094e-01 -5.25750429e-02 -3.02371862e-02 9.36414207e+01] [ 5.26307899e-02 9.98613487e-01 1.05018474e-03 -3.63569823e+00] [ 3.01400484e-02 -2.63965844e-03 9.99542200e-01 1.04976902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.400714057 meters Centerline goodness [0,1] 0.9855140710842023 Centerline is valid? [True, True] Translation: X:93.67, Y:-3.64, Z:1.05 [[ 9.98210764e-01 -5.15550809e-02 -3.02876944e-02 9.36720194e+01] [ 5.16105945e-02 9.98666730e-01 1.05346135e-03 -3.64176516e+00] [ 3.01930014e-02 -2.61474237e-03 9.99540667e-01 1.04901466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.430714057 meters Centerline goodness [0,1] 0.9873735674717979 Centerline is valid? [True, True] Translation: X:93.70, Y:-3.64, Z:1.05 [[ 9.98295414e-01 -4.97682089e-02 -3.04859322e-02 9.37032027e+01] [ 4.98236485e-02 9.98757467e-01 1.06112886e-03 -3.64195781e+00] [ 3.03952419e-02 -2.57824044e-03 9.99534633e-01 1.05025223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.460714057 meters Centerline goodness [0,1] 0.9887459086221585 Centerline is valid? [True, True] Translation: X:93.73, Y:-3.64, Z:1.05 [[ 9.98325028e-01 -4.91959182e-02 -3.04450205e-02 9.37347945e+01] [ 4.92509709e-02 9.98785871e-01 1.06056544e-03 -3.64033283e+00] [ 3.03558808e-02 -2.55823585e-03 9.99535880e-01 1.05148544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.490714057 meters Centerline goodness [0,1] 0.9894348069390039 Centerline is valid? [True, True] Translation: X:93.77, Y:-3.64, Z:1.05 [[ 9.98398899e-01 -4.77929800e-02 -3.02567237e-02 9.37666033e+01] [ 4.78467554e-02 9.98854131e-01 1.05538075e-03 -3.64374247e+00] [ 3.01716136e-02 -2.50137703e-03 9.99541603e-01 1.05144341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.520714057 meters Centerline goodness [0,1] 0.9873812085350547 Centerline is valid? [True, True] Translation: X:93.80, Y:-3.65, Z:1.05 [[ 9.98407486e-01 -4.75246171e-02 -3.03957588e-02 9.37971197e+01] [ 4.75787941e-02 9.98866924e-01 1.06120291e-03 -3.64737628e+00] [ 3.03108848e-02 -2.50570647e-03 9.99537379e-01 1.05135969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.55071405700001 meters Centerline goodness [0,1] 0.9869938650306749 Centerline is valid? [True, True] Translation: X:93.83, Y:-3.65, Z:1.05 [[ 9.98475006e-01 -4.64543419e-02 -2.98271168e-02 9.38289798e+01] [ 4.65060680e-02 9.98917464e-01 1.04244272e-03 -3.64998752e+00] [ 2.97464018e-02 -2.42799492e-03 9.99554529e-01 1.05166096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58071405700001 meters Centerline goodness [0,1] 0.9862955605651407 Centerline is valid? [True, True] Translation: X:93.86, Y:-3.65, Z:1.05 [[ 9.98505840e-01 -4.60342593e-02 -2.94437378e-02 9.38590604e+01] [ 4.60845089e-02 9.98937014e-01 1.02995935e-03 -3.65304452e+00] [ 2.93650261e-02 -2.38532063e-03 9.99565909e-01 1.05189166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61071405700001 meters Centerline goodness [0,1] 0.9881162069964995 Centerline is valid? [True, True] Translation: X:93.89, Y:-3.65, Z:1.05 [[ 9.98534803e-01 -4.55968090e-02 -2.91406565e-02 9.38908670e+01] [ 4.56458671e-02 9.98957163e-01 1.02015339e-03 -3.64964684e+00] [ 2.90637518e-02 -2.34880920e-03 9.99574800e-01 1.05378479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.640714057 meters Centerline goodness [0,1] 0.9886457796788569 Centerline is valid? [True, True] Translation: X:93.92, Y:-3.65, Z:1.05 [[ 9.98564528e-01 -4.48971687e-02 -2.92083603e-02 9.39221218e+01] [ 4.49461880e-02 9.98988885e-01 1.02355731e-03 -3.64933757e+00] [ 2.91328725e-02 -2.33489248e-03 9.99572821e-01 1.05450151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.670714057 meters Centerline goodness [0,1] 0.9883226701266162 Centerline is valid? [True, True] Translation: X:93.95, Y:-3.65, Z:1.06 [[ 9.98611142e-01 -4.41249939e-02 -2.87883898e-02 9.39532863e+01] [ 4.41723234e-02 9.99023416e-01 1.00985724e-03 -3.65121270e+00] [ 2.87157156e-02 -2.28010476e-03 9.99585018e-01 1.05506237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.700714057 meters Centerline goodness [0,1] 0.985176282051282 Centerline is valid? [True, True] Translation: X:93.98, Y:-3.66, Z:1.05 [[ 9.98644144e-01 -4.36389657e-02 -2.83815805e-02 9.39831178e+01] [ 4.36848123e-02 9.99044865e-01 9.97031904e-04 -3.66208945e+00] [ 2.83109628e-02 -2.23552409e-03 9.99596665e-01 1.05397250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.730714057 meters Centerline goodness [0,1] 0.988666221331552 Centerline is valid? [True, True] Translation: X:94.01, Y:-3.66, Z:1.06 [[ 9.98683622e-01 -4.30840896e-02 -2.78349320e-02 9.40144609e+01] [ 4.31280087e-02 9.99069075e-01 9.79145381e-04 -3.65570425e+00] [ 2.77668341e-02 -2.17832164e-03 9.99612054e-01 1.05585021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.760714057 meters Centerline goodness [0,1] 0.9887141741942679 Centerline is valid? [True, True] Translation: X:94.05, Y:-3.66, Z:1.06 [[ 9.98745583e-01 -4.18435173e-02 -2.75023739e-02 9.40457486e+01] [ 4.18859520e-02 9.99121929e-01 9.68419753e-04 -3.65620460e+00] [ 2.74377027e-02 -2.11916806e-03 9.99621269e-01 1.05606232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.790714057 meters Centerline goodness [0,1] 0.9877937409511082 Centerline is valid? [True, True] Translation: X:94.08, Y:-3.66, Z:1.05 [[ 9.98761838e-01 -4.12396482e-02 -2.78223281e-02 9.40754642e+01] [ 4.12828637e-02 9.99147018e-01 9.80409657e-04 -3.66386166e+00] [ 2.77581645e-02 -2.12778113e-03 9.99612403e-01 1.05462915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.820714057 meters Centerline goodness [0,1] 0.9887039636387942 Centerline is valid? [True, True] Translation: X:94.11, Y:-3.66, Z:1.06 [[ 9.98797670e-01 -3.98423315e-02 -2.85622530e-02 9.41062974e+01] [ 3.98873157e-02 9.99203677e-01 1.00670979e-03 -3.66195962e+00] [ 2.84993986e-02 -2.14477100e-03 9.99591509e-01 1.05520067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.850714057 meters Centerline goodness [0,1] 0.9892173680575668 Centerline is valid? [True, True] Translation: X:94.14, Y:-3.66, Z:1.06 [[ 9.98810227e-01 -3.94902622e-02 -2.86120396e-02 9.41378281e+01] [ 3.95352765e-02 9.99217666e-01 1.00904735e-03 -3.65860230e+00] [ 2.85498079e-02 -2.13903171e-03 9.99590082e-01 1.05651401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.880714057 meters Centerline goodness [0,1] 0.9896842763363551 Centerline is valid? [True, True] Translation: X:94.17, Y:-3.66, Z:1.06 [[ 9.98822590e-01 -3.89427749e-02 -2.89291039e-02 9.41683250e+01] [ 3.89885777e-02 9.99239135e-01 1.02068577e-03 -3.65923575e+00] [ 2.88673445e-02 -2.14738862e-03 9.99580945e-01 1.05700241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.910714057 meters Centerline goodness [0,1] 0.9900744970335014 Centerline is valid? [True, True] Translation: X:94.20, Y:-3.66, Z:1.06 [[ 9.98820939e-01 -3.84933255e-02 -2.95803112e-02 9.41983327e+01] [ 3.85410279e-02 9.99256473e-01 1.04397140e-03 -3.66273343e+00] [ 2.95181316e-02 -2.18279610e-03 9.99561862e-01 1.05655859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94071405700001 meters Centerline goodness [0,1] 0.9897818343722172 Centerline is valid? [True, True] Translation: X:94.23, Y:-3.67, Z:1.06 [[ 9.98810906e-01 -3.85501661e-02 -2.98439019e-02 9.42290573e+01] [ 3.85987549e-02 9.99254235e-01 1.05350256e-03 -3.66575659e+00] [ 2.97810327e-02 -2.20418730e-03 9.99554016e-01 1.05666621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97071405700001 meters Centerline goodness [0,1] 0.990184513343275 Centerline is valid? [True, True] Translation: X:94.26, Y:-3.67, Z:1.06 [[ 9.98836501e-01 -3.81644212e-02 -2.94808788e-02 9.42586059e+01] [ 3.82116586e-02 9.99269126e-01 1.04038518e-03 -3.66989500e+00] [ 2.94196263e-02 -2.16568796e-03 9.99564803e-01 1.05675044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.000714057 meters Centerline goodness [0,1] 0.9896041583366654 Centerline is valid? [True, True] Translation: X:94.29, Y:-3.67, Z:1.06 [[ 9.98816440e-01 -3.87216943e-02 -2.94338103e-02 9.42879020e+01] [ 3.87690062e-02 9.99247660e-01 1.03820387e-03 -3.67406268e+00] [ 2.93714650e-02 -2.17809466e-03 9.99566192e-01 1.05649264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.030714057 meters Centerline goodness [0,1] 0.9899315433854907 Centerline is valid? [True, True] Translation: X:94.32, Y:-3.68, Z:1.06 [[ 9.98809753e-01 -3.89937089e-02 -2.93013326e-02 9.43178884e+01] [ 3.90407056e-02 9.99237087e-01 1.03331218e-03 -3.67671666e+00] [ 2.92386855e-02 -2.17602698e-03 9.99570090e-01 1.05669831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.060714057 meters Centerline goodness [0,1] 0.9899315433854907 Centerline is valid? [True, True] Translation: X:94.35, Y:-3.68, Z:1.06 [[ 9.98809753e-01 -3.89937089e-02 -2.93013326e-02 9.43479546e+01] [ 3.90407056e-02 9.99237087e-01 1.03331218e-03 -3.67777694e+00] [ 2.92386855e-02 -2.17602698e-03 9.99570090e-01 1.05707446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.090714057 meters Centerline goodness [0,1] 0.9889410930366562 Centerline is valid? [True, True] Translation: X:94.38, Y:-3.68, Z:1.06 [[ 9.98808123e-01 -3.90458794e-02 -2.92874214e-02 9.43785765e+01] [ 3.90928538e-02 9.99235048e-01 1.03282160e-03 -3.68070297e+00] [ 2.92246905e-02 -2.17651949e-03 9.99570498e-01 1.05757058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.120714057 meters Centerline goodness [0,1] 0.988746407251824 Centerline is valid? [True, True] Translation: X:94.41, Y:-3.68, Z:1.06 [[ 9.98822937e-01 -3.91532488e-02 -2.86314994e-02 9.44079721e+01] [ 3.91981775e-02 9.99230946e-01 1.00941000e-03 -3.68378053e+00] [ 2.85699585e-02 -2.13052446e-03 9.99589525e-01 1.05823772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.150714057 meters Centerline goodness [0,1] 0.9884305946497041 Centerline is valid? [True, True] Translation: X:94.44, Y:-3.69, Z:1.06 [[ 9.98819651e-01 -3.96907614e-02 -2.79990703e-02 9.44376601e+01] [ 3.97339229e-02 9.99209809e-01 9.86635612e-04 -3.68756752e+00] [ 2.79377854e-02 -2.09798394e-03 9.99607462e-01 1.06024941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.180714057 meters Centerline goodness [0,1] 0.9882173152311133 Centerline is valid? [True, True] Translation: X:94.47, Y:-3.69, Z:1.06 [[ 9.98816407e-01 -4.06693747e-02 -2.66793313e-02 9.44668421e+01] [ 4.07088968e-02 9.99170607e-01 9.39685593e-04 -3.69206775e+00] [ 2.66189872e-02 -2.02465953e-03 9.99643602e-01 1.06162589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.210714057 meters Centerline goodness [0,1] 0.987560867640549 Centerline is valid? [True, True] Translation: X:94.50, Y:-3.70, Z:1.06 [[ 9.98794341e-01 -4.14513088e-02 -2.62993009e-02 9.44975750e+01] [ 4.14899765e-02 9.99138491e-01 9.26091207e-04 -3.69606171e+00] [ 2.62382561e-02 -2.01613203e-03 9.99653685e-01 1.06185581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.240714057 meters Centerline goodness [0,1] 0.986717141528857 Centerline is valid? [True, True] Translation: X:94.53, Y:-3.70, Z:1.06 [[ 9.98757731e-01 -4.25372887e-02 -2.59532918e-02 9.45277896e+01] [ 4.25753096e-02 9.99092842e-01 9.13907004e-04 -3.69991082e+00] [ 2.58908729e-02 -2.01774112e-03 9.99662739e-01 1.06205870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.270714057 meters Centerline goodness [0,1] 0.9827228596646073 Centerline is valid? [True, True] Translation: X:94.56, Y:-3.71, Z:1.06 [[ 9.98647705e-01 -4.51021382e-02 -2.58564912e-02 9.45574855e+01] [ 4.51407409e-02 9.98980222e-01 9.10926510e-04 -3.70776604e+00] [ 2.57890386e-02 -2.07687584e-03 9.99665250e-01 1.06133522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30071405700001 meters Centerline goodness [0,1] 0.9803509857660684 Centerline is valid? [True, True] Translation: X:94.59, Y:-3.71, Z:1.06 [[ 9.98580460e-01 -4.63854441e-02 -2.61812002e-02 9.45889268e+01] [ 4.64254833e-02 9.98921329e-01 9.23219684e-04 -3.71128980e+00] [ 2.61101354e-02 -2.13738401e-03 9.99656787e-01 1.06112179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.33071405700001 meters Centerline goodness [0,1] 0.9810245838043936 Centerline is valid? [True, True] Translation: X:94.62, Y:-3.71, Z:1.06 [[ 9.98497371e-01 -4.76605307e-02 -2.70457692e-02 9.46204042e+01] [ 4.77037479e-02 9.98861072e-01 9.54608840e-04 -3.71377517e+00] [ 2.69694689e-02 -2.24335897e-03 9.99633740e-01 1.06086767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36071405700001 meters Centerline goodness [0,1] 0.9799325912457315 Centerline is valid? [True, True] Translation: X:94.65, Y:-3.72, Z:1.06 [[ 9.98475615e-01 -4.78273407e-02 -2.75498180e-02 9.46516974e+01] [ 4.78722727e-02 9.98852991e-01 9.73315455e-04 -3.71510598e+00] [ 2.74716670e-02 -2.29070415e-03 9.99619958e-01 1.06094098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.390714057 meters Centerline goodness [0,1] 0.9731565902451979 Centerline is valid? [True, True] Translation: X:94.68, Y:-3.72, Z:1.06 [[ 9.98454099e-01 -4.78600285e-02 -2.82635754e-02 9.46831497e+01] [ 4.79073595e-02 9.98851283e-01 9.99470442e-04 -3.71808481e+00] [ 2.81832739e-02 -2.35195863e-03 9.99600006e-01 1.06065512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.420714057 meters Centerline goodness [0,1] 0.9880941842967159 Centerline is valid? [True, True] Translation: X:94.72, Y:-3.71, Z:1.06 [[ 9.98476367e-01 -4.73493458e-02 -2.83369754e-02 9.47151530e+01] [ 4.73967464e-02 9.98875639e-01 1.00303950e-03 -3.70667547e+00] [ 2.82576212e-02 -2.34459168e-03 9.99597924e-01 1.06329463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.450714057 meters Centerline goodness [0,1] 0.9878555943901252 Centerline is valid? [True, True] Translation: X:94.75, Y:-3.71, Z:1.06 [[ 9.98476988e-01 -4.71945322e-02 -2.85723704e-02 9.47468237e+01] [ 4.72426902e-02 9.98882928e-01 1.01239541e-03 -3.70629328e+00] [ 2.84926734e-02 -2.36068916e-03 9.99591214e-01 1.06409825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.480714057 meters Centerline goodness [0,1] 0.9874723817940787 Centerline is valid? [True, True] Translation: X:94.78, Y:-3.71, Z:1.06 [[ 9.98542250e-01 -4.59522266e-02 -2.83154989e-02 9.47766471e+01] [ 4.59990387e-02 9.98940980e-01 1.00373685e-03 -3.71071950e+00] [ 2.82393883e-02 -2.30475938e-03 9.99598532e-01 1.06416414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.510714057 meters Centerline goodness [0,1] 0.9879034038232307 Centerline is valid? [True, True] Translation: X:94.81, Y:-3.71, Z:1.07 [[ 9.98578507e-01 -4.53662440e-02 -2.79797933e-02 9.48077161e+01] [ 4.54117215e-02 9.98967863e-01 9.91760370e-04 -3.71107511e+00] [ 2.79059219e-02 -2.26096117e-03 9.99607997e-01 1.06512118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.540714057 meters Centerline goodness [0,1] 0.9888493108254608 Centerline is valid? [True, True] Translation: X:94.84, Y:-3.71, Z:1.07 [[ 9.98690710e-01 -4.32767451e-02 -2.72761711e-02 9.48386067e+01] [ 4.33191903e-02 9.99060815e-01 9.66876464e-04 -3.70724263e+00] [ 2.72087105e-02 -2.14719219e-03 9.99627468e-01 1.06663130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.570714057 meters Centerline goodness [0,1] 0.9891508911767962 Centerline is valid? [True, True] Translation: X:94.87, Y:-3.71, Z:1.07 [[ 9.98754920e-01 -4.19330671e-02 -2.70227393e-02 9.48694565e+01] [ 4.19742478e-02 9.99118233e-01 9.58254060e-04 -3.70636510e+00] [ 2.69587290e-02 -2.09132011e-03 9.99634360e-01 1.06708995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.600714057 meters Centerline goodness [0,1] 0.9894214876033058 Centerline is valid? [True, True] Translation: X:94.90, Y:-3.71, Z:1.07 [[ 9.98824376e-01 -4.02011032e-02 -2.70875743e-02 9.48994223e+01] [ 4.02418549e-02 9.99189507e-01 9.60780473e-04 -3.70921257e+00] [ 2.70269956e-02 -2.04970519e-03 9.99632603e-01 1.06686554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.630714057 meters Centerline goodness [0,1] 0.9892168994166519 Centerline is valid? [True, True] Translation: X:94.93, Y:-3.71, Z:1.07 [[ 9.98956296e-01 -3.66328444e-02 -2.72828349e-02 9.49300686e+01] [ 3.66728622e-02 9.99326856e-01 9.67691481e-04 -3.70798118e+00] [ 2.72290203e-02 -1.96722114e-03 9.99627286e-01 1.06722210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.660714057 meters Centerline goodness [0,1] 0.9894725177304965 Centerline is valid? [True, True] Translation: X:94.96, Y:-3.71, Z:1.07 [[ 9.98992511e-01 -3.54534207e-02 -2.75139514e-02 9.49605817e+01] [ 3.54936744e-02 9.99369425e-01 9.75876342e-04 -3.70636298e+00] [ 2.74620037e-02 -1.95146439e-03 9.99620943e-01 1.06769390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.69071405700001 meters Centerline goodness [0,1] 0.9891046792302411 Centerline is valid? [True, True] Translation: X:94.99, Y:-3.71, Z:1.07 [[ 9.99118842e-01 -3.26277901e-02 -2.64001277e-02 9.49895560e+01] [ 3.26638535e-02 9.99465956e-01 9.35830659e-04 -3.70561979e+00] [ 2.63554948e-02 -1.79733595e-03 9.99651018e-01 1.06821609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72071405700001 meters Centerline goodness [0,1] 0.9892103756550843 Centerline is valid? [True, True] Translation: X:95.02, Y:-3.71, Z:1.07 [[ 9.99170556e-01 -3.12241718e-02 -2.61390727e-02 9.50190906e+01] [ 3.12590222e-02 9.99510889e-01 9.25621456e-04 -3.70579738e+00] [ 2.60973860e-02 -1.74193556e-03 9.99657888e-01 1.06912704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.750714057 meters Centerline goodness [0,1] 0.9882621815922605 Centerline is valid? [True, True] Translation: X:95.05, Y:-3.71, Z:1.07 [[ 9.99246443e-01 -2.94456551e-02 -2.52883333e-02 9.50481011e+01] [ 2.94776843e-02 9.99565038e-01 8.94633294e-04 -3.70609905e+00] [ 2.52509907e-02 -1.63940064e-03 9.99679799e-01 1.07037451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.780714057 meters Centerline goodness [0,1] 0.988927274337851 Centerline is valid? [True, True] Translation: X:95.08, Y:-3.71, Z:1.07 [[ 9.99253259e-01 -2.93563409e-02 -2.51222796e-02 9.50774322e+01] [ 2.93879010e-02 9.99567688e-01 8.87899010e-04 -3.70733964e+00] [ 2.50853535e-02 -1.62552705e-03 9.99683991e-01 1.07029472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.810714057 meters Centerline goodness [0,1] 0.9886102264685067 Centerline is valid? [True, True] Translation: X:95.11, Y:-3.71, Z:1.07 [[ 9.99258369e-01 -2.90067533e-02 -2.53243051e-02 9.51071497e+01] [ 2.90386895e-02 9.99577888e-01 8.94171363e-04 -3.70795788e+00] [ 2.52876784e-02 -1.62889285e-03 9.99678888e-01 1.07052251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.840714057 meters Centerline goodness [0,1] 0.9893945108828293 Centerline is valid? [True, True] Translation: X:95.14, Y:-3.71, Z:1.07 [[ 9.99245802e-01 -2.87183046e-02 -2.61359270e-02 9.51359101e+01] [ 2.87521937e-02 9.99586145e-01 9.21696897e-04 -3.70956468e+00] [ 2.60986409e-02 -1.67246699e-03 9.99657973e-01 1.06987793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.870714057 meters Centerline goodness [0,1] 0.9894006253187574 Centerline is valid? [True, True] Translation: X:95.16, Y:-3.71, Z:1.07 [[ 9.99246820e-01 -2.86966345e-02 -2.61208118e-02 9.51645892e+01] [ 2.87303770e-02 9.99586777e-01 9.17333051e-04 -3.71103301e+00] [ 2.60836937e-02 -1.66710290e-03 9.99658372e-01 1.06995347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.900714057 meters Centerline goodness [0,1] 0.9887523524853316 Centerline is valid? [True, True] Translation: X:95.19, Y:-3.71, Z:1.07 [[ 9.99291609e-01 -2.74592325e-02 -2.57346247e-02 9.51927806e+01] [ 2.74914788e-02 9.99621633e-01 9.00004069e-04 -3.71186887e+00] [ 2.57001741e-02 -1.60684940e-03 9.99668405e-01 1.07018248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.930714057 meters Centerline goodness [0,1] 0.9901130569718466 Centerline is valid? [True, True] Translation: X:95.22, Y:-3.70, Z:1.07 [[ 9.99328965e-01 -2.68868508e-02 -2.48740293e-02 9.52220898e+01] [ 2.69167014e-02 9.99637305e-01 8.65974688e-04 -3.70189243e+00] [ 2.48417243e-02 -1.53492041e-03 9.99690218e-01 1.07277686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.960714057 meters Centerline goodness [0,1] 0.9886593133447258 Centerline is valid? [True, True] Translation: X:95.25, Y:-3.71, Z:1.07 [[ 9.99378577e-01 -2.56624891e-02 -2.41639512e-02 9.52504663e+01] [ 2.56902134e-02 9.99669601e-01 8.37558464e-04 -3.71314791e+00] [ 2.41344736e-02 -1.45781505e-03 9.99707658e-01 1.07161965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.990714057 meters Centerline goodness [0,1] 0.9896506540520132 Centerline is valid? [True, True] Translation: X:95.28, Y:-3.70, Z:1.07 [[ 9.99444178e-01 -2.43578882e-02 -2.27602243e-02 9.52800039e+01] [ 2.43820789e-02 9.99702404e-01 7.85907201e-04 -3.70332300e+00] [ 2.27343079e-02 -1.34041196e-03 9.99740644e-01 1.07437498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.020714057 meters Centerline goodness [0,1] 0.9896186112402329 Centerline is valid? [True, True] Translation: X:95.31, Y:-3.70, Z:1.07 [[ 9.99466708e-01 -2.38033459e-02 -2.23539883e-02 9.53087056e+01] [ 2.38264250e-02 9.99715816e-01 7.66627393e-04 -3.70370781e+00] [ 2.23293873e-02 -1.29883418e-03 9.99749824e-01 1.07454064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.05071405700001 meters Centerline goodness [0,1] 0.9899811174053094 Centerline is valid? [True, True] Translation: X:95.34, Y:-3.70, Z:1.07 [[ 9.99487134e-01 -2.30084867e-02 -2.22728377e-02 9.53380450e+01] [ 2.30310839e-02 9.99734462e-01 7.58545058e-04 -3.70311976e+00] [ 2.22494704e-02 -1.27112362e-03 9.99751642e-01 1.07435425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08071405700001 meters Centerline goodness [0,1] 0.989478590930279 Centerline is valid? [True, True] Translation: X:95.37, Y:-3.70, Z:1.07 [[ 9.99465167e-01 -2.36898797e-02 -2.25426266e-02 9.53668518e+01] [ 2.37130798e-02 9.99718515e-01 7.62369537e-04 -3.70396413e+00] [ 2.25182208e-02 -1.29651690e-03 9.99745592e-01 1.07403291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11071405700001 meters Centerline goodness [0,1] 0.9900622498888395 Centerline is valid? [True, True] Translation: X:95.40, Y:-3.70, Z:1.07 [[ 9.99455151e-01 -2.41802827e-02 -2.24658637e-02 9.53951528e+01] [ 2.42033239e-02 9.99706772e-01 7.54230684e-04 -3.70396536e+00] [ 2.24410385e-02 -1.29756832e-03 9.99747326e-01 1.07403710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.140714057 meters Centerline goodness [0,1] 0.9896433957242969 Centerline is valid? [True, True] Translation: X:95.42, Y:-3.71, Z:1.07 [[ 9.99408984e-01 -2.65252260e-02 -2.18653852e-02 9.54248291e+01] [ 2.65475376e-02 9.99647285e-01 7.30715257e-04 -3.70667409e+00] [ 2.18382906e-02 -1.31075553e-03 9.99760657e-01 1.07297625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.170714057 meters Centerline goodness [0,1] 0.9894194007290833 Centerline is valid? [True, True] Translation: X:95.45, Y:-3.71, Z:1.07 [[ 9.99377182e-01 -2.78478738e-02 -2.16735789e-02 9.54543397e+01] [ 2.78700924e-02 9.99611292e-01 7.23705570e-04 -3.71035068e+00] [ 2.16450005e-02 -1.32729948e-03 9.99764838e-01 1.07292841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.200714057 meters Centerline goodness [0,1] 0.9890720092399271 Centerline is valid? [True, True] Translation: X:95.48, Y:-3.71, Z:1.07 [[ 9.99295301e-01 -3.10157369e-02 -2.11405964e-02 9.54843626e+01] [ 3.10375726e-02 9.99517970e-01 7.05470042e-04 -3.71283186e+00] [ 2.11085253e-02 -1.36112569e-03 9.99776264e-01 1.07308525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.230714057 meters Centerline goodness [0,1] 0.9884131538291768 Centerline is valid? [True, True] Translation: X:95.51, Y:-3.72, Z:1.07 [[ 9.99238207e-01 -3.25817509e-02 -2.14810634e-02 9.55142548e+01] [ 3.26046489e-02 9.99468070e-01 7.16502086e-04 -3.71770083e+00] [ 2.14462921e-02 -1.41633879e-03 9.99768999e-01 1.07254319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.260714057 meters Centerline goodness [0,1] 0.9887157203981644 Centerline is valid? [True, True] Translation: X:95.55, Y:-3.71, Z:1.07 [[ 9.99148862e-01 -3.53968537e-02 -2.11805055e-02 9.55452780e+01] [ 3.54197480e-02 9.99372274e-01 7.06632282e-04 -3.71398043e+00] [ 2.11421974e-02 -1.45623901e-03 9.99775418e-01 1.07259501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.290714057 meters Centerline goodness [0,1] 0.9883334072661136 Centerline is valid? [True, True] Translation: X:95.58, Y:-3.72, Z:1.07 [[ 9.99108907e-01 -3.66191265e-02 -2.09864404e-02 9.55761082e+01] [ 3.66418842e-02 9.99328215e-01 7.00764231e-04 -3.71564691e+00] [ 2.09466807e-02 -1.46912250e-03 9.99779515e-01 1.07296576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.320714057 meters Centerline goodness [0,1] 0.9874095128125416 Centerline is valid? [True, True] Translation: X:95.61, Y:-3.72, Z:1.07 [[ 9.99040800e-01 -3.90069391e-02 -1.98982304e-02 9.56057162e+01] [ 3.90278791e-02 9.99237901e-01 6.64964671e-04 -3.72029669e+00] [ 1.98571277e-02 -1.44091257e-03 9.99801789e-01 1.07363923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.350714057 meters Centerline goodness [0,1] 0.9863444912436267 Centerline is valid? [True, True] Translation: X:95.64, Y:-3.73, Z:1.07 [[ 9.99026293e-01 -3.98655033e-02 -1.88999459e-02 9.56370440e+01] [ 3.98845587e-02 9.99204094e-01 6.32206480e-04 -3.72578353e+00] [ 1.88597001e-02 -1.38540690e-03 9.99821180e-01 1.07410552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.380714057 meters Centerline goodness [0,1] 0.9866158482538557 Centerline is valid? [True, True] Translation: X:95.67, Y:-3.72, Z:1.08 [[ 9.98991081e-01 -4.10017450e-02 -1.83214771e-02 9.56689731e+01] [ 4.10198699e-02 9.99158142e-01 6.14404629e-04 -3.72485112e+00] [ 1.82808614e-02 -1.36532935e-03 9.99831959e-01 1.07523433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.410714057 meters Centerline goodness [0,1] 0.9839078418751248 Centerline is valid? [True, True] Translation: X:95.70, Y:-3.73, Z:1.08 [[ 9.98923225e-01 -4.29321829e-02 -1.75845789e-02 9.56990218e+01] [ 4.29491925e-02 9.99077083e-01 5.90620564e-04 -3.73237262e+00] [ 1.75429932e-02 -1.34522806e-03 9.99845205e-01 1.07535107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44071405700001 meters Centerline goodness [0,1] 0.9846659121674101 Centerline is valid? [True, True] Translation: X:95.73, Y:-3.73, Z:1.08 [[ 9.98882757e-01 -4.39434110e-02 -1.73843186e-02 9.57308930e+01] [ 4.39601956e-02 9.99033112e-01 5.84359946e-04 -3.72847218e+00] [ 1.73418311e-02 -1.34792512e-03 9.99848711e-01 1.07563818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47071405700001 meters Centerline goodness [0,1] 0.984901716623677 Centerline is valid? [True, True] Translation: X:95.76, Y:-3.73, Z:1.07 [[ 9.98782474e-01 -4.60910898e-02 -1.75835388e-02 9.57622354e+01] [ 4.61086067e-02 9.98936257e-01 5.91887752e-04 -3.72885344e+00] [ 1.75375537e-02 -1.40191959e-03 9.99845222e-01 1.07472319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.500714057 meters Centerline goodness [0,1] 0.9841308539639619 Centerline is valid? [True, True] Translation: X:95.79, Y:-3.73, Z:1.07 [[ 9.98751849e-01 -4.66162916e-02 -1.79350578e-02 9.57929399e+01] [ 4.66346130e-02 9.98911832e-01 6.04444934e-04 -3.73235783e+00] [ 1.78873644e-02 -1.44008497e-03 9.99838971e-01 1.07441828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.530714057 meters Centerline goodness [0,1] 0.984387857222284 Centerline is valid? [True, True] Translation: X:95.82, Y:-3.73, Z:1.07 [[ 9.98688347e-01 -4.79299742e-02 -1.80083927e-02 9.58246854e+01] [ 4.79486748e-02 9.98849616e-01 6.07855201e-04 -3.73020874e+00] [ 1.79585417e-02 -1.47053647e-03 9.99837651e-01 1.07407016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.560714057 meters Centerline goodness [0,1] 0.9844070212955538 Centerline is valid? [True, True] Translation: X:95.86, Y:-3.73, Z:1.08 [[ 9.98688106e-01 -4.77635973e-02 -1.84582322e-02 9.58570639e+01] [ 4.77832360e-02 9.98857534e-01 6.24132697e-04 -3.72691765e+00] [ 1.84073335e-02 -1.50530797e-03 9.99829438e-01 1.07517586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.590714057 meters Centerline goodness [0,1] 0.9837702871410736 Centerline is valid? [True, True] Translation: X:95.89, Y:-3.73, Z:1.08 [[ 9.98655649e-01 -4.86229678e-02 -1.79638776e-02 9.58889108e+01] [ 4.86417320e-02 9.98816105e-01 6.08839629e-04 -3.72823214e+00] [ 1.79130067e-02 -1.48181526e-03 9.99838451e-01 1.07532516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.620714057 meters Centerline goodness [0,1] 0.9837488621983438 Centerline is valid? [True, True] Translation: X:95.92, Y:-3.73, Z:1.08 [[ 9.98630751e-01 -4.92037622e-02 -1.77655020e-02 9.59215468e+01] [ 4.92222341e-02 9.98787669e-01 6.03735154e-04 -3.72790015e+00] [ 1.77142583e-02 -1.47736619e-03 9.99841999e-01 1.07590268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.650714057 meters Centerline goodness [0,1] 0.9838000669418722 Centerline is valid? [True, True] Translation: X:95.95, Y:-3.73, Z:1.08 [[ 9.98607856e-01 -4.96284308e-02 -1.78708723e-02 9.59532485e+01] [ 4.96472110e-02 9.98766631e-01 6.08495921e-04 -3.72748057e+00] [ 1.78186323e-02 -1.49488778e-03 9.99840118e-01 1.07623664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.680714057 meters Centerline goodness [0,1] 0.982356225572306 Centerline is valid? [True, True] Translation: X:95.98, Y:-3.73, Z:1.08 [[ 9.98521788e-01 -5.14533222e-02 -1.75155416e-02 9.59833297e+01] [ 5.14716602e-02 9.98674277e-01 5.97459918e-04 -3.72974824e+00] [ 1.74615795e-02 -1.49813075e-03 9.99846413e-01 1.07587207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.710714057 meters Centerline goodness [0,1] 0.9827102179047279 Centerline is valid? [True, True] Translation: X:96.01, Y:-3.73, Z:1.08 [[ 9.98482871e-01 -5.23169240e-02 -1.71725147e-02 9.60147545e+01] [ 5.23347033e-02 9.98629428e-01 5.87275477e-04 -3.73217022e+00] [ 1.71182541e-02 -1.48510297e-03 9.99852369e-01 1.07591215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.740714057 meters Centerline goodness [0,1] 0.9829271558650241 Centerline is valid? [True, True] Translation: X:96.05, Y:-3.73, Z:1.08 [[ 9.98405616e-01 -5.39567450e-02 -1.65799953e-02 9.60456112e+01] [ 5.39735682e-02 9.98542203e-01 5.68552444e-04 -3.72717216e+00] [ 1.65251478e-02 -1.46252746e-03 9.99862381e-01 1.07685704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.770714057 meters Centerline goodness [0,1] 0.9805126834591658 Centerline is valid? [True, True] Translation: X:96.08, Y:-3.74, Z:1.08 [[ 9.98362908e-01 -5.48257352e-02 -1.62985247e-02 9.60761775e+01] [ 5.48421188e-02 9.98494882e-01 5.59635510e-04 -3.73522457e+00] [ 1.62433111e-02 -1.45256496e-03 9.99867014e-01 1.07663073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80071405700001 meters Centerline goodness [0,1] 0.9839177373304783 Centerline is valid? [True, True] Translation: X:96.11, Y:-3.73, Z:1.08 [[ 9.98310628e-01 -5.57855942e-02 -1.62436895e-02 9.61083652e+01] [ 5.58020055e-02 9.98441698e-01 5.58475856e-04 -3.72850782e+00] [ 1.61872221e-02 -1.46396284e-03 9.99867907e-01 1.07753535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.83071405700001 meters Centerline goodness [0,1] 0.9789548619608017 Centerline is valid? [True, True] Translation: X:96.14, Y:-3.74, Z:1.08 [[ 9.98248354e-01 -5.69008646e-02 -1.62023063e-02 9.61391074e+01] [ 5.69173559e-02 9.98378737e-01 5.58163419e-04 -3.73907623e+00] [ 1.61442781e-02 -1.47937815e-03 9.99868578e-01 1.07734287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86071405700001 meters Centerline goodness [0,1] 0.9813663211857796 Centerline is valid? [True, True] Translation: X:96.17, Y:-3.73, Z:1.08 [[ 9.98205309e-01 -5.77727446e-02 -1.57629464e-02 9.61716467e+01] [ 5.77884754e-02 9.98328702e-01 5.43923204e-04 -3.73324780e+00] [ 1.57051779e-02 -1.45386367e-03 9.99875609e-01 1.07757866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.890714057 meters Centerline goodness [0,1] 0.9810569846810592 Centerline is valid? [True, True] Translation: X:96.20, Y:-3.74, Z:1.08 [[ 9.98193721e-01 -5.78974762e-02 -1.60367775e-02 9.62037556e+01] [ 5.79137930e-02 9.98321434e-01 5.54537439e-04 -3.73548330e+00] [ 1.59777524e-02 -1.48228640e-03 9.99871249e-01 1.07784032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.920714057 meters Centerline goodness [0,1] 0.9800463210404419 Centerline is valid? [True, True] Translation: X:96.24, Y:-3.74, Z:1.08 [[ 9.98176829e-01 -5.81610558e-02 -1.61341391e-02 9.62355198e+01] [ 5.81776240e-02 9.98306091e-01 5.59058187e-04 -3.73652152e+00] [ 1.60742939e-02 -1.49668480e-03 9.99869680e-01 1.07780763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.950714057 meters Centerline goodness [0,1] 0.9800463210404419 Centerline is valid? [True, True] Translation: X:96.27, Y:-3.74, Z:1.08 [[ 9.98183038e-01 -5.80544056e-02 -1.61340948e-02 9.62681774e+01] [ 5.80709804e-02 9.98312299e-01 5.60334003e-04 -3.73774848e+00] [ 1.60743354e-02 -1.49623860e-03 9.99869680e-01 1.07821594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.980714057 meters Centerline goodness [0,1] 0.9802631578947368 Centerline is valid? [True, True] Translation: X:96.30, Y:-3.74, Z:1.08 [[ 9.98168005e-01 -5.81172291e-02 -1.68232432e-02 9.63004104e+01] [ 5.81352877e-02 9.98308542e-01 5.85966876e-04 -3.73957009e+00] [ 1.67607326e-02 -1.56291747e-03 9.99858308e-01 1.07754142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.010714057 meters Centerline goodness [0,1] 0.9802805629043374 Centerline is valid? [True, True] Translation: X:96.33, Y:-3.74, Z:1.08 [[ 9.98180778e-01 -5.78490927e-02 -1.69887331e-02 9.63329381e+01] [ 5.78674903e-02 9.98324097e-01 5.92939807e-04 -3.73968480e+00] [ 1.69259606e-02 -1.57495647e-03 9.99855505e-01 1.07780759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.040714057 meters Centerline goodness [0,1] 0.9807189615496325 Centerline is valid? [True, True] Translation: X:96.37, Y:-3.74, Z:1.08 [[ 9.98236514e-01 -5.69160436e-02 -1.68649377e-02 9.63657159e+01] [ 5.69340634e-02 9.98377766e-01 5.89887214e-04 -3.73926153e+00] [ 1.68040048e-02 -1.54903639e-03 9.99857603e-01 1.07822337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.070714057 meters Centerline goodness [0,1] 0.9788830168398424 Centerline is valid? [True, True] Translation: X:96.40, Y:-3.74, Z:1.08 [[ 9.98272847e-01 -5.64336412e-02 -1.63268823e-02 9.63973444e+01] [ 5.64504871e-02 9.98405236e-01 5.72410892e-04 -3.74203713e+00] [ 1.62685415e-02 -1.49308271e-03 9.99866544e-01 1.07856090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.100714057 meters Centerline goodness [0,1] 0.9811776817886797 Centerline is valid? [True, True] Translation: X:96.43, Y:-3.74, Z:1.08 [[ 9.98380190e-01 -5.47527511e-02 -1.54639192e-02 9.64291195e+01] [ 5.47676783e-02 9.98498977e-01 5.43146958e-04 -3.73685641e+00] [ 1.54109688e-02 -1.38919012e-03 9.99880279e-01 1.07995225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.130714057 meters Centerline goodness [0,1] 0.9799474176730092 Centerline is valid? [True, True] Translation: X:96.46, Y:-3.74, Z:1.08 [[ 9.98449592e-01 -5.34984411e-02 -1.53730247e-02 9.64606506e+01] [ 5.35130576e-02 9.98567003e-01 5.40724880e-04 -3.73849031e+00] [ 1.53220672e-02 -1.36254409e-03 9.99881682e-01 1.08002411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.160714057 meters Centerline goodness [0,1] 0.9821000515267603 Centerline is valid? [True, True] Translation: X:96.49, Y:-3.74, Z:1.08 [[ 9.98560305e-01 -5.15947934e-02 -1.46729518e-02 9.64910394e+01] [ 5.16079112e-02 9.98667290e-01 5.16526376e-04 -3.73617474e+00] [ 1.46267469e-02 -1.27302313e-03 9.99892213e-01 1.07982977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.19071405700001 meters Centerline goodness [0,1] 0.9809078293567304 Centerline is valid? [True, True] Translation: X:96.52, Y:-3.74, Z:1.08 [[ 9.98602953e-01 -5.07804648e-02 -1.46111585e-02 9.65230740e+01] [ 5.07933880e-02 9.98709050e-01 5.14501674e-04 -3.73686027e+00] [ 1.45661696e-02 -1.25593313e-03 9.99893119e-01 1.07946882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22071405700001 meters Centerline goodness [0,1] 0.9817721745750946 Centerline is valid? [True, True] Translation: X:96.56, Y:-3.74, Z:1.08 [[ 9.98637136e-01 -5.01046732e-02 -1.46079637e-02 9.65551412e+01] [ 5.01175341e-02 9.98743194e-01 5.15428709e-04 -3.73695484e+00] [ 1.45637789e-02 -1.24684137e-03 9.99893165e-01 1.07950210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.250714057 meters Centerline goodness [0,1] 0.9805236913306947 Centerline is valid? [True, True] Translation: X:96.59, Y:-3.74, Z:1.08 [[ 9.98700051e-01 -4.89139993e-02 -1.43397365e-02 9.65860735e+01] [ 4.89262838e-02 9.98802264e-01 5.06906101e-04 -3.73825213e+00] [ 1.42977665e-02 -1.20783717e-03 9.99897052e-01 1.08009582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.280714057 meters Centerline goodness [0,1] 0.9727319691830821 Centerline is valid? [True, True] Translation: X:96.62, Y:-3.75, Z:1.08 [[ 9.98701706e-01 -4.89587299e-02 -1.40692820e-02 9.66167712e+01] [ 4.89705670e-02 9.98800098e-01 4.97865182e-04 -3.75027047e+00] [ 1.40280254e-02 -1.18619953e-03 9.99900899e-01 1.08015718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.310714057 meters Centerline goodness [0,1] 0.9776985035112518 Centerline is valid? [True, True] Translation: X:96.65, Y:-3.75, Z:1.08 [[ 9.98702407e-01 -4.88520464e-02 -1.43867835e-02 9.66504790e+01] [ 4.88644253e-02 9.98805290e-01 5.09966980e-04 -3.74592829e+00] [ 1.43446825e-02 -1.21230716e-03 9.99896375e-01 1.07948069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.340714057 meters Centerline goodness [0,1] 0.9815574229691877 Centerline is valid? [True, True] Translation: X:96.68, Y:-3.74, Z:1.08 [[ 9.98694498e-01 -4.90274743e-02 -1.43389780e-02 9.66830750e+01] [ 4.90398093e-02 9.98796695e-01 5.09691194e-04 -3.74046679e+00] [ 1.42967349e-02 -1.21220654e-03 9.99897062e-01 1.07937544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.370714057 meters Centerline goodness [0,1] 0.9786767011602383 Centerline is valid? [True, True] Translation: X:96.71, Y:-3.75, Z:1.08 [[ 9.98691565e-01 -4.90608425e-02 -1.44288406e-02 9.67137162e+01] [ 4.90733506e-02 9.98795045e-01 5.13898988e-04 -3.75065398e+00] [ 1.43862421e-02 -1.22129814e-03 9.99895767e-01 1.07909982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.400714057 meters Centerline goodness [0,1] 0.9815890386383513 Centerline is valid? [True, True] Translation: X:96.75, Y:-3.75, Z:1.08 [[ 9.98661855e-01 -4.94423649e-02 -1.51641653e-02 9.67463868e+01] [ 4.94562379e-02 9.98776145e-01 5.40991475e-04 -3.74544451e+00] [ 1.51188586e-02 -1.29023011e-03 9.99884871e-01 1.07867287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.430714057 meters Centerline goodness [0,1] 0.9762370011005548 Centerline is valid? [True, True] Translation: X:96.78, Y:-3.76, Z:1.08 [[ 9.98648614e-01 -4.95856261e-02 -1.55631237e-02 9.67773013e+01] [ 4.96002730e-02 9.98768994e-01 5.56315700e-04 -3.75536549e+00] [ 1.55163801e-02 -1.32749909e-03 9.99878732e-01 1.07810301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.460714057 meters Centerline goodness [0,1] 0.9827729488129731 Centerline is valid? [True, True] Translation: X:96.81, Y:-3.74, Z:1.08 [[ 9.98632279e-01 -4.94495044e-02 -1.69799143e-02 9.68102754e+01] [ 4.94669411e-02 9.98775576e-01 6.08178897e-04 -3.74494422e+00] [ 1.69290495e-02 -1.44729150e-03 9.99855646e-01 1.07789300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.490714057 meters Centerline goodness [0,1] 0.9813472200399542 Centerline is valid? [True, True] Translation: X:96.84, Y:-3.75, Z:1.08 [[ 9.98640794e-01 -4.92087480e-02 -1.71774137e-02 9.68414086e+01] [ 4.92265850e-02 9.98787446e-01 6.16870690e-04 -3.74922020e+00] [ 1.71262297e-02 -1.46161765e-03 9.99852267e-01 1.07795082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.520714057 meters Centerline goodness [0,1] 0.9827648034425568 Centerline is valid? [True, True] Translation: X:96.87, Y:-3.75, Z:1.08 [[ 9.98663363e-01 -4.85277778e-02 -1.77916220e-02 9.68736872e+01] [ 4.85468251e-02 9.98820703e-01 6.39991841e-04 -3.74762615e+00] [ 1.77395830e-02 -1.50286317e-03 9.99841512e-01 1.07811983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.55071405700001 meters Centerline goodness [0,1] 0.9823010839742725 Centerline is valid? [True, True] Translation: X:96.91, Y:-3.75, Z:1.08 [[ 9.98688007e-01 -4.80066307e-02 -1.78221041e-02 9.69060602e+01] [ 4.80256833e-02 9.98845895e-01 6.42348234e-04 -3.74896121e+00] [ 1.77706985e-02 -1.49742421e-03 9.99840967e-01 1.07850582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58071405700001 meters Centerline goodness [0,1] 0.9823113734961313 Centerline is valid? [True, True] Translation: X:96.94, Y:-3.75, Z:1.08 [[ 9.98754082e-01 -4.65957398e-02 -1.78639596e-02 9.69367418e+01] [ 4.66146771e-02 9.98912737e-01 6.44929134e-04 -3.75035134e+00] [ 1.78144858e-02 -1.47684831e-03 9.99840219e-01 1.07919662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.610714057 meters Centerline goodness [0,1] 0.9836471196886879 Centerline is valid? [True, True] Translation: X:96.97, Y:-3.75, Z:1.08 [[ 9.98862890e-01 -4.44824513e-02 -1.71533742e-02 9.69678617e+01] [ 4.44996107e-02 9.99009209e-01 6.19780087e-04 -3.74541125e+00] [ 1.71088095e-02 -1.38239380e-03 9.99852678e-01 1.08098803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.640714057 meters Centerline goodness [0,1] 0.9828967503825727 Centerline is valid? [True, True] Translation: X:97.00, Y:-3.75, Z:1.08 [[ 9.98995839e-01 -4.15828717e-02 -1.66786870e-02 9.69972822e+01] [ 4.15986952e-02 9.99134218e-01 6.02768590e-04 -3.74630339e+00] [ 1.66391820e-02 -1.29597493e-03 9.99860719e-01 1.08259016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.670714057 meters Centerline goodness [0,1] 0.9825040019840823 Centerline is valid? [True, True] Translation: X:97.03, Y:-3.75, Z:1.08 [[ 9.99052507e-01 -4.02210259e-02 -1.66239826e-02 9.70277365e+01] [ 4.02365558e-02 9.99190001e-01 6.00638592e-04 -3.74677877e+00] [ 1.65863588e-02 -1.26896129e-03 9.99861632e-01 1.08302763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.700714057 meters Centerline goodness [0,1] 0.9820968979997291 Centerline is valid? [True, True] Translation: X:97.06, Y:-3.75, Z:1.08 [[ 9.99098164e-01 -3.89863156e-02 -1.68204131e-02 9.70596759e+01] [ 3.90020481e-02 9.99238946e-01 6.08173964e-04 -3.74673558e+00] [ 1.67839014e-02 -1.26365605e-03 9.99858342e-01 1.08362903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.730714057 meters Centerline goodness [0,1] 0.9844389659150024 Centerline is valid? [True, True] Translation: X:97.09, Y:-3.74, Z:1.08 [[ 9.99172324e-01 -3.69095191e-02 -1.70983587e-02 9.70920169e+01] [ 3.69254887e-02 9.99317830e-01 6.19115250e-04 -3.73991742e+00] [ 1.70638435e-02 -1.24996807e-03 9.99853621e-01 1.08485622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.760714057 meters Centerline goodness [0,1] 0.9848710653479655 Centerline is valid? [True, True] Translation: X:97.12, Y:-3.74, Z:1.09 [[ 9.99194679e-01 -3.60117181e-02 -1.76960144e-02 9.71246299e+01] [ 3.60287025e-02 9.99350549e-01 6.41817937e-04 -3.73639096e+00] [ 1.76614087e-02 -1.27886551e-03 9.99843207e-01 1.08535811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.790714057 meters Centerline goodness [0,1] 0.9860291624279417 Centerline is valid? [True, True] Translation: X:97.16, Y:-3.74, Z:1.09 [[ 9.99223778e-01 -3.49138189e-02 -1.82446465e-02 9.71570810e+01] [ 3.49317155e-02 9.99389481e-01 6.63061661e-04 -3.73566900e+00] [ 1.82103578e-02 -1.29986378e-03 9.99833333e-01 1.08549413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.820714057 meters Centerline goodness [0,1] 0.9858181653945169 Centerline is valid? [True, True] Translation: X:97.19, Y:-3.74, Z:1.09 [[ 9.99230405e-01 -3.45900363e-02 -1.84966744e-02 9.71895823e+01] [ 3.46084005e-02 9.99400723e-01 6.73568511e-04 -3.73570235e+00] [ 1.84622910e-02 -1.31319045e-03 9.99828695e-01 1.08553731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.850714057 meters Centerline goodness [0,1] 0.9848105265533663 Centerline is valid? [True, True] Translation: X:97.22, Y:-3.74, Z:1.09 [[ 9.99234367e-01 -3.43490081e-02 -1.87303086e-02 9.72210328e+01] [ 3.43678286e-02 9.99409018e-01 6.83760828e-04 -3.74002764e+00] [ 1.86957528e-02 -1.32695736e-03 9.99824339e-01 1.08531550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.880714057 meters Centerline goodness [0,1] 0.9848618360107548 Centerline is valid? [True, True] Translation: X:97.25, Y:-3.74, Z:1.09 [[ 9.99198947e-01 -3.49178916e-02 -1.95500698e-02 9.72519993e+01] [ 3.49385429e-02 9.99389206e-01 7.15663820e-04 -3.74298025e+00] [ 1.95131393e-02 -1.39814149e-03 9.99808623e-01 1.08555433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.910714057 meters Centerline goodness [0,1] 0.9821432607762031 Centerline is valid? [True, True] Translation: X:97.28, Y:-3.75, Z:1.08 [[ 9.99175573e-01 -3.52244661e-02 -2.01844323e-02 9.72827560e+01] [ 3.52465637e-02 9.99378373e-01 7.39969906e-04 -3.75431163e+00] [ 2.01458201e-02 -1.45079173e-03 9.99796000e-01 1.08455317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94071405700001 meters Centerline goodness [0,1] 0.9855206895771589 Centerline is valid? [True, True] Translation: X:97.31, Y:-3.75, Z:1.09 [[ 9.99110194e-01 -3.64304177e-02 -2.12519515e-02 9.73149836e+01] [ 3.64552141e-02 9.99334983e-01 7.80410880e-04 -3.74674858e+00] [ 2.12093879e-02 -1.55446091e-03 9.99773847e-01 1.08557412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97071405700001 meters Centerline goodness [0,1] 0.9838261537418962 Centerline is valid? [True, True] Translation: X:97.35, Y:-3.75, Z:1.09 [[ 9.99086155e-01 -3.68680376e-02 -2.16241206e-02 9.73455088e+01] [ 3.68938386e-02 9.99318874e-01 7.95293930e-04 -3.75217045e+00] [ 2.15800710e-02 -1.59236397e-03 9.99765855e-01 1.08506412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.000714057 meters Centerline goodness [0,1] 0.9866280516777157 Centerline is valid? [True, True] Translation: X:97.38, Y:-3.75, Z:1.09 [[ 9.99052657e-01 -3.75422424e-02 -2.20083815e-02 9.73777702e+01] [ 3.75691562e-02 9.99293701e-01 8.10552264e-04 -3.74936718e+00] [ 2.19624071e-02 -1.63662072e-03 9.99757458e-01 1.08548560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.030714057 meters Centerline goodness [0,1] 0.984271954674221 Centerline is valid? [True, True] Translation: X:97.41, Y:-3.76, Z:1.08 [[ 9.99067735e-01 -3.72538499e-02 -2.18130863e-02 9.74090717e+01] [ 3.72802497e-02 9.99304526e-01 8.04739590e-04 -3.75860683e+00] [ 2.17679362e-02 -1.61718666e-03 9.99761742e-01 1.08486577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.060714057 meters Centerline goodness [0,1] 0.9869040079616394 Centerline is valid? [True, True] Translation: X:97.44, Y:-3.75, Z:1.09 [[ 9.99087015e-01 -3.69618688e-02 -2.14232636e-02 9.74418563e+01] [ 3.69872942e-02 9.99315422e-01 7.91656072e-04 -3.75065927e+00] [ 2.13793367e-02 -1.58332186e-03 9.99770182e-01 1.08645252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.090714057 meters Centerline goodness [0,1] 0.9858227962224175 Centerline is valid? [True, True] Translation: X:97.47, Y:-3.76, Z:1.09 [[ 9.99123902e-01 -3.63464768e-02 -2.07451625e-02 9.74729217e+01] [ 3.63702132e-02 9.99338090e-01 7.67917266e-04 -3.75549459e+00] [ 2.07035199e-02 -1.52175048e-03 9.99784501e-01 1.08687807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.120714057 meters Centerline goodness [0,1] 0.986564429666825 Centerline is valid? [True, True] Translation: X:97.51, Y:-3.75, Z:1.09 [[ 9.99128618e-01 -3.59921831e-02 -2.11321409e-02 9.75053808e+01] [ 3.60167621e-02 9.99350879e-01 7.83541351e-04 -3.75431952e+00] [ 2.10902223e-02 -1.54396988e-03 9.99776384e-01 1.08768722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.150714057 meters Centerline goodness [0,1] 0.9869965970297253 Centerline is valid? [True, True] Translation: X:97.54, Y:-3.75, Z:1.09 [[ 9.99096518e-01 -3.63002326e-02 -2.21006793e-02 9.75375101e+01] [ 3.63272276e-02 9.99339611e-01 8.21075793e-04 -3.75362229e+00] [ 2.20562790e-02 -1.62319037e-03 9.99755413e-01 1.08789459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.180714057 meters Centerline goodness [0,1] 0.9871610054959906 Centerline is valid? [True, True] Translation: X:97.57, Y:-3.76, Z:1.09 [[ 9.99078581e-01 -3.67177119e-02 -2.22215778e-02 9.75685707e+01] [ 3.67451376e-02 9.99324327e-01 8.26996975e-04 -3.75785605e+00] [ 2.21761979e-02 -1.64276990e-03 9.99752728e-01 1.08766093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.210714057 meters Centerline goodness [0,1] 0.9868826639667004 Centerline is valid? [True, True] Translation: X:97.60, Y:-3.76, Z:1.09 [[ 9.99042355e-01 -3.75067696e-02 -2.25303249e-02 9.75999617e+01] [ 3.75351857e-02 9.99294954e-01 8.39521292e-04 -3.76121321e+00] [ 2.24829523e-02 -1.68439726e-03 9.99745808e-01 1.08750674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.240714057 meters Centerline goodness [0,1] 0.9867491563554556 Centerline is valid? [True, True] Translation: X:97.63, Y:-3.76, Z:1.09 [[ 9.98957257e-01 -3.94730327e-02 -2.29407423e-02 9.76312157e+01] [ 3.95030280e-02 9.99219084e-01 8.55637036e-04 -3.76264122e+00] [ 2.28890529e-02 -1.76097361e-03 9.99736460e-01 1.08793545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.270714057 meters Centerline goodness [0,1] 0.9878911778581538 Centerline is valid? [True, True] Translation: X:97.66, Y:-3.77, Z:1.09 [[ 9.98920078e-01 -4.03976057e-02 -2.29501984e-02 9.76632763e+01] [ 4.04278957e-02 9.99182091e-01 8.57187411e-04 -3.76556659e+00] [ 2.28967989e-02 -1.78408994e-03 9.99736242e-01 1.08848142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30071405700001 meters Centerline goodness [0,1] 0.9880061990431912 Centerline is valid? [True, True] Translation: X:97.69, Y:-3.77, Z:1.09 [[ 9.98882425e-01 -4.14899524e-02 -2.26381419e-02 9.76943589e+01] [ 4.15197349e-02 9.99137325e-01 8.46955305e-04 -3.76943203e+00] [ 2.25834724e-02 -1.78593842e-03 9.99743366e-01 1.08938563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33071405700001 meters Centerline goodness [0,1] 0.9861936033350517 Centerline is valid? [True, True] Translation: X:97.73, Y:-3.77, Z:1.09 [[ 9.98888732e-01 -4.13821573e-02 -2.25569945e-02 9.77258962e+01] [ 4.14117411e-02 9.99141808e-01 8.45773907e-04 -3.77167488e+00] [ 2.25026363e-02 -1.77895844e-03 9.99745201e-01 1.08960037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.360714057 meters Centerline goodness [0,1] 0.9891643998831015 Centerline is valid? [True, True] Translation: X:97.76, Y:-3.76, Z:1.09 [[ 9.98898785e-01 -4.10457468e-02 -2.27258246e-02 9.77588825e+01] [ 4.10757460e-02 9.99155670e-01 8.54628979e-04 -3.76445784e+00] [ 2.26715577e-02 -1.78716805e-03 9.99741370e-01 1.09130998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.390714057 meters Centerline goodness [0,1] 0.9874384845284375 Centerline is valid? [True, True] Translation: X:97.79, Y:-3.78, Z:1.09 [[ 9.98920979e-01 -4.06818853e-02 -2.24022757e-02 9.77899430e+01] [ 4.07109853e-02 9.99170608e-01 8.44253017e-04 -3.77566475e+00] [ 2.23493496e-02 -1.75536077e-03 9.99748681e-01 1.09045749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.420714057 meters Centerline goodness [0,1] 0.989588252490499 Centerline is valid? [True, True] Translation: X:97.82, Y:-3.77, Z:1.09 [[ 9.98937074e-01 -4.04864694e-02 -2.20355973e-02 9.78226251e+01] [ 4.05146071e-02 9.99178600e-01 8.31806704e-04 -3.77000392e+00] [ 2.19838203e-02 -1.72368612e-03 9.99756841e-01 1.09266142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.450714057 meters Centerline goodness [0,1] 0.9889973899738997 Centerline is valid? [True, True] Translation: X:97.85, Y:-3.77, Z:1.09 [[ 9.98928479e-01 -4.07404748e-02 -2.19569286e-02 9.78542341e+01] [ 4.07685040e-02 9.99168274e-01 8.30254450e-04 -3.77240300e+00] [ 2.19048415e-02 -1.72451595e-03 9.99758573e-01 1.09343605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.480714057 meters Centerline goodness [0,1] 0.988530046779417 Centerline is valid? [True, True] Translation: X:97.89, Y:-3.77, Z:1.09 [[ 9.98912402e-01 -4.11303837e-02 -2.19614379e-02 9.78863363e+01] [ 4.11585477e-02 9.99152282e-01 8.31775706e-04 -3.77486483e+00] [ 2.19086095e-02 -1.73477196e-03 9.99758473e-01 1.09368628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.510714057 meters Centerline goodness [0,1] 0.9880419879071232 Centerline is valid? [True, True] Translation: X:97.92, Y:-3.78, Z:1.09 [[ 9.98820102e-01 -4.28996331e-02 -2.27601602e-02 9.79167379e+01] [ 4.29303650e-02 9.99077694e-01 8.63133214e-04 -3.78007518e+00] [ 2.27021402e-02 -1.83921679e-03 9.99740581e-01 1.09400329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.540714057 meters Centerline goodness [0,1] 0.9876487660014849 Centerline is valid? [True, True] Translation: X:97.95, Y:-3.78, Z:1.09 [[ 9.98784464e-01 -4.35785504e-02 -2.30326769e-02 9.79488378e+01] [ 4.36102244e-02 9.99048239e-01 8.74435134e-04 -3.78343503e+00] [ 2.29726487e-02 -1.87783244e-03 9.99734330e-01 1.09389519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.570714057 meters Centerline goodness [0,1] 0.9872252531375586 Centerline is valid? [True, True] Translation: X:97.98, Y:-3.79, Z:1.09 [[ 9.98673234e-01 -4.53445712e-02 -2.44057522e-02 9.79795594e+01] [ 4.53806870e-02 9.98969335e-01 9.27706424e-04 -3.78728260e+00] [ 2.43385316e-02 -2.03402538e-03 9.99701705e-01 1.09277751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.600714057 meters Centerline goodness [0,1] 0.9875365579302587 Centerline is valid? [True, True] Translation: X:98.01, Y:-3.79, Z:1.09 [[ 9.98620679e-01 -4.61670778e-02 -2.50067987e-02 9.80118030e+01] [ 4.62052783e-02 9.98931512e-01 9.51644308e-04 -3.79148954e+00] [ 2.49361446e-02 -2.10577778e-03 9.99686828e-01 1.09221909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.630714057 meters Centerline goodness [0,1] 0.9873261275027527 Centerline is valid? [True, True] Translation: X:98.04, Y:-3.80, Z:1.09 [[ 9.98562970e-01 -4.72180729e-02 -2.53465533e-02 9.80434221e+01] [ 4.72576940e-02 9.98882264e-01 9.66117827e-04 -3.79583804e+00] [ 2.52726043e-02 -2.16254915e-03 9.99678258e-01 1.09194843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.660714057 meters Centerline goodness [0,1] 0.9869139966273187 Centerline is valid? [True, True] Translation: X:98.08, Y:-3.80, Z:1.09 [[ 9.98528721e-01 -4.77320239e-02 -2.57302862e-02 9.80753321e+01] [ 4.77730637e-02 9.98857732e-01 9.82306524e-04 -3.79921969e+00] [ 2.56540079e-02 -2.21007588e-03 9.99668439e-01 1.09221444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.69071405700001 meters Centerline goodness [0,1] 0.9849110831686725 Centerline is valid? [True, True] Translation: X:98.11, Y:-3.80, Z:1.09 [[ 9.98560174e-01 -4.71541428e-02 -2.55747071e-02 9.81068148e+01] [ 4.71945606e-02 9.98885236e-01 9.78761047e-04 -3.80263667e+00] [ 2.55000447e-02 -2.18433886e-03 9.99672435e-01 1.09267260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72071405700001 meters Centerline goodness [0,1] 0.9884789004424281 Centerline is valid? [True, True] Translation: X:98.14, Y:-3.80, Z:1.09 [[ 9.98587242e-01 -4.65953988e-02 -2.55418943e-02 9.81396176e+01] [ 4.66355979e-02 9.98911488e-01 9.80113708e-04 -3.79935593e+00] [ 2.54684228e-02 -2.16989056e-03 9.99673272e-01 1.09422760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.750714057 meters Centerline goodness [0,1] 0.9842807489628882 Centerline is valid? [True, True] Translation: X:98.17, Y:-3.81, Z:1.09 [[ 9.98611188e-01 -4.60109885e-02 -2.56648484e-02 9.81703346e+01] [ 4.60514295e-02 9.98938583e-01 9.86604852e-04 -3.80603856e+00] [ 2.55922126e-02 -2.16713760e-03 9.99670117e-01 1.09420899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.780714057 meters Centerline goodness [0,1] 0.9834784951064021 Centerline is valid? [True, True] Translation: X:98.20, Y:-3.81, Z:1.10 [[ 9.98692893e-01 -4.43637868e-02 -2.53842565e-02 9.82004255e+01] [ 4.44028664e-02 9.99013228e-01 9.77661028e-04 -3.80696308e+00] [ 2.53158352e-02 -2.10351687e-03 9.99677290e-01 1.09563087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.810714057 meters Centerline goodness [0,1] 0.9826126024935415 Centerline is valid? [True, True] Translation: X:98.23, Y:-3.81, Z:1.10 [[ 9.98737582e-01 -4.34392730e-02 -2.52244145e-02 9.82323101e+01] [ 4.34776140e-02 9.99053927e-01 9.73295492e-04 -3.80828684e+00] [ 2.51582711e-02 -2.06876414e-03 9.99681340e-01 1.09683187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.840714057 meters Centerline goodness [0,1] 0.9863456701401365 Centerline is valid? [True, True] Translation: X:98.26, Y:-3.81, Z:1.10 [[ 9.98803326e-01 -4.20691803e-02 -2.49419140e-02 9.82640165e+01] [ 4.21062734e-02 9.99112673e-01 9.63630956e-04 -3.80709434e+00] [ 2.48792432e-02 -2.01268886e-03 9.99688438e-01 1.09810871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.870714057 meters Centerline goodness [0,1] 0.9863456701401365 Centerline is valid? [True, True] Translation: X:98.30, Y:-3.81, Z:1.10 [[ 9.98806123e-01 -4.20027594e-02 -2.49418579e-02 9.82957871e+01] [ 4.20398680e-02 9.99115468e-01 9.65082401e-04 -3.80839027e+00] [ 2.48792599e-02 -2.01248262e-03 9.99688438e-01 1.09850606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.900714057 meters Centerline goodness [0,1] 0.9785627612242146 Centerline is valid? [True, True] Translation: X:98.33, Y:-3.81, Z:1.10 [[ 9.98817423e-01 -4.16234810e-02 -2.51245099e-02 9.83263202e+01] [ 4.16610423e-02 9.99131328e-01 9.73195802e-04 -3.81333025e+00] [ 2.50621772e-02 -2.01875819e-03 9.99683856e-01 1.09815772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.930714057 meters Centerline goodness [0,1] 0.9707807544368716 Centerline is valid? [True, True] Translation: X:98.36, Y:-3.82, Z:1.10 [[ 9.98846740e-01 -4.07386258e-02 -2.54077597e-02 9.83570560e+01] [ 4.07767705e-02 9.99167796e-01 9.84790821e-04 -3.81646275e+00] [ 2.53464962e-02 -2.01970149e-03 9.99676686e-01 1.09801400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.960714057 meters Centerline goodness [0,1] 0.9700204968804198 Centerline is valid? [True, True] Translation: X:98.39, Y:-3.82, Z:1.10 [[ 9.98855592e-01 -4.04042093e-02 -2.55930782e-02 9.83881752e+01] [ 4.04428246e-02 9.99181361e-01 9.92797871e-04 -3.81747904e+00] [ 2.55320135e-02 -2.02671808e-03 9.99671951e-01 1.09827185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.990714057 meters Centerline goodness [0,1] 0.9658431213716754 Centerline is valid? [True, True] Translation: X:98.42, Y:-3.82, Z:1.10 [[ 9.98869478e-01 -3.99792029e-02 -2.57182537e-02 9.84192281e+01] [ 4.00180782e-02 9.99198457e-01 9.98475266e-04 -3.81950677e+00] [ 2.56577212e-02 -2.02654156e-03 9.99668732e-01 1.09854586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.020714057 meters Centerline goodness [0,1] 0.9655598490294752 Centerline is valid? [True, True] Translation: X:98.45, Y:-3.82, Z:1.10 [[ 9.98925995e-01 -3.87322789e-02 -2.54296461e-02 9.84503992e+01] [ 3.87698998e-02 9.99247676e-01 9.87866854e-04 -3.82030289e+00] [ 2.53722525e-02 -1.97271071e-03 9.99676126e-01 1.09904447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.05071405700001 meters Centerline goodness [0,1] 0.962429106234168 Centerline is valid? [True, True] Translation: X:98.48, Y:-3.82, Z:1.10 [[ 9.98967574e-01 -3.76413231e-02 -2.54345611e-02 9.84804028e+01] [ 3.76786173e-02 9.99289420e-01 9.88459469e-04 -3.82156420e+00] [ 2.53792808e-02 -1.94577805e-03 9.99676001e-01 1.09917754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08071405700001 meters Centerline goodness [0,1] 0.9595904807105566 Centerline is valid? [True, True] Translation: X:98.51, Y:-3.82, Z:1.10 [[ 9.99029453e-01 -3.59131786e-02 -2.55028439e-02 9.85099090e+01] [ 3.59501134e-02 9.99353094e-01 9.91106834e-04 -3.82196448e+00] [ 2.54507522e-02 -1.90697505e-03 9.99674258e-01 1.09982326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.110714057 meters Centerline goodness [0,1] 0.989775235349759 Centerline is valid? [True, True] Translation: X:98.54, Y:-3.80, Z:1.10 [[ 9.99064378e-01 -3.47609081e-02 -2.57302901e-02 9.85415774e+01] [ 3.47981259e-02 9.99393862e-01 9.99981850e-04 -3.80366717e+00] [ 2.56799337e-02 -1.89441212e-03 9.99668421e-01 1.10311431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.140714057 meters Centerline goodness [0,1] 0.9903048656466813 Centerline is valid? [True, True] Translation: X:98.57, Y:-3.80, Z:1.10 [[ 9.99090567e-01 -3.38103099e-02 -2.59788712e-02 9.85722033e+01] [ 3.38479367e-02 9.99426484e-01 1.00986491e-03 -3.80362477e+00] [ 2.59298280e-02 -1.88827769e-03 9.99661982e-01 1.10321788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.170714057 meters Centerline goodness [0,1] 0.9908157508744218 Centerline is valid? [True, True] Translation: X:98.60, Y:-3.80, Z:1.10 [[ 9.99125189e-01 -3.18432369e-02 -2.71083814e-02 9.86031715e+01] [ 3.18834948e-02 9.99491036e-01 1.05402777e-03 -3.80347002e+00] [ 2.70610206e-02 -1.91741563e-03 9.99631945e-01 1.10279656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.200714057 meters Centerline goodness [0,1] 0.9908256880733946 Centerline is valid? [True, True] Translation: X:98.63, Y:-3.80, Z:1.10 [[ 9.99163021e-01 -3.01843173e-02 -2.76073290e-02 9.86333495e+01] [ 3.02254401e-02 9.99542531e-01 1.07337931e-03 -3.79873403e+00] [ 2.75623002e-02 -1.90692459e-03 9.99618269e-01 1.10369465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.230714057 meters Centerline goodness [0,1] 0.9911245952860733 Centerline is valid? [True, True] Translation: X:98.66, Y:-3.80, Z:1.10 [[ 9.99179843e-01 -2.95098152e-02 -2.77274507e-02 9.86625153e+01] [ 2.95509338e-02 9.99562699e-01 1.07427547e-03 -3.79894207e+00] [ 2.76836238e-02 -1.89276645e-03 9.99614943e-01 1.10445632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.260714057 meters Centerline goodness [0,1] 0.9913946922642575 Centerline is valid? [True, True] Translation: X:98.69, Y:-3.80, Z:1.10 [[ 9.99220182e-01 -2.86208166e-02 -2.72006676e-02 9.86913535e+01] [ 2.86599604e-02 9.99588667e-01 1.05022855e-03 -3.80087632e+00] [ 2.71594207e-02 -1.82897962e-03 9.99629442e-01 1.10485348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.290714057 meters Centerline goodness [0,1] 0.9919674171286345 Centerline is valid? [True, True] Translation: X:98.72, Y:-3.80, Z:1.11 [[ 9.99284386e-01 -2.72674485e-02 -2.62145432e-02 9.87207987e+01] [ 2.73033115e-02 9.99626684e-01 1.01103163e-03 -3.80003465e+00] [ 2.61771887e-02 -1.72605196e-03 9.99655829e-01 1.10633493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.320714057 meters Centerline goodness [0,1] 0.9906616017727129 Centerline is valid? [True, True] Translation: X:98.75, Y:-3.81, Z:1.11 [[ 9.99306742e-01 -2.65969449e-02 -2.60506800e-02 9.87488497e+01] [ 2.66321034e-02 9.99644799e-01 1.00353811e-03 -3.80655955e+00] [ 2.60147358e-02 -1.69662681e-03 9.99660120e-01 1.10532062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.350714057 meters Centerline goodness [0,1] 0.9907470097043557 Centerline is valid? [True, True] Translation: X:98.78, Y:-3.81, Z:1.11 [[ 9.99346152e-01 -2.50127022e-02 -2.61081157e-02 9.87771848e+01] [ 2.50474363e-02 9.99685759e-01 1.00416636e-03 -3.80562846e+00] [ 2.60747946e-02 -1.65745115e-03 9.99658621e-01 1.10568960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.380714057 meters Centerline goodness [0,1] 0.9910722357833831 Centerline is valid? [True, True] Translation: X:98.81, Y:-3.80, Z:1.11 [[ 9.99331618e-01 -2.49639190e-02 -2.67043185e-02 9.88059701e+01] [ 2.50001268e-02 9.99686925e-01 1.02282047e-03 -3.79977100e+00] [ 2.66704245e-02 -1.68974818e-03 9.99642853e-01 1.10700812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.410714057 meters Centerline goodness [0,1] 0.9909014968505181 Centerline is valid? [True, True] Translation: X:98.83, Y:-3.80, Z:1.11 [[ 9.99330991e-01 -2.45408734e-02 -2.71166945e-02 9.88338794e+01] [ 2.45779366e-02 9.99697382e-01 1.03430450e-03 -3.80170052e+00] [ 2.70831058e-02 -1.70008495e-03 9.99631740e-01 1.10674600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44071405700001 meters Centerline goodness [0,1] 0.9905792517621543 Centerline is valid? [True, True] Translation: X:98.86, Y:-3.80, Z:1.11 [[ 9.99359769e-01 -2.40426295e-02 -2.64953714e-02 9.88619279e+01] [ 2.40777668e-02 9.99709580e-01 1.00789206e-03 -3.80186297e+00] [ 2.64634442e-02 -1.64519615e-03 9.99648428e-01 1.10796950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47071405700001 meters Centerline goodness [0,1] 0.9908637497166175 Centerline is valid? [True, True] Translation: X:98.89, Y:-3.80, Z:1.11 [[ 9.99356371e-01 -2.45241993e-02 -2.61802918e-02 9.88907178e+01] [ 2.45585484e-02 9.99697902e-01 9.91247373e-04 -3.80326346e+00] [ 2.61480732e-02 -1.63355934e-03 9.99656746e-01 1.10879814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.500714057 meters Centerline goodness [0,1] 0.990035103612275 Centerline is valid? [True, True] Translation: X:98.92, Y:-3.81, Z:1.11 [[ 9.99349744e-01 -2.56695113e-02 -2.53212486e-02 9.89182062e+01] [ 2.57019104e-02 9.99669195e-01 9.54846909e-04 -3.80544511e+00] [ 2.52883618e-02 -1.60503048e-03 9.99678910e-01 1.11011267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.530714057 meters Centerline goodness [0,1] 0.9903114813473379 Centerline is valid? [True, True] Translation: X:98.95, Y:-3.80, Z:1.11 [[ 9.99340686e-01 -2.65349817e-02 -2.47808121e-02 9.89485628e+01] [ 2.65662410e-02 9.99646620e-01 9.33011829e-04 -3.79678107e+00] [ 2.47472976e-02 -1.59072971e-03 9.99692473e-01 1.11282057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.560714057 meters Centerline goodness [0,1] 0.9899348593142133 Centerline is valid? [True, True] Translation: X:98.98, Y:-3.80, Z:1.11 [[ 9.99319874e-01 -2.77244583e-02 -2.43134360e-02 9.89779832e+01] [ 2.77548788e-02 9.99614341e-01 9.14549432e-04 -3.79938389e+00] [ 2.42787039e-02 -1.58874389e-03 9.99703966e-01 1.11283676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.590714057 meters Centerline goodness [0,1] 0.9910030065329928 Centerline is valid? [True, True] Translation: X:99.01, Y:-3.80, Z:1.11 [[ 9.99284228e-01 -2.87689949e-02 -2.45637067e-02 9.90076911e+01] [ 2.88003481e-02 9.99584757e-01 9.23511195e-04 -3.80338053e+00] [ 2.45269383e-02 -1.63029348e-03 9.99697840e-01 1.11277667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.620714057 meters Centerline goodness [0,1] 0.9882137363134558 Centerline is valid? [True, True] Translation: X:99.04, Y:-3.82, Z:1.11 [[ 9.99255149e-01 -2.90642442e-02 -2.53853834e-02 9.90365125e+01] [ 2.90978200e-02 9.99576113e-01 9.54177896e-04 -3.81629106e+00] [ 2.53468904e-02 -1.69212649e-03 9.99677284e-01 1.11057510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.650714057 meters Centerline goodness [0,1] 0.9913106444605359 Centerline is valid? [True, True] Translation: X:99.07, Y:-3.80, Z:1.11 [[ 9.99240002e-01 -2.84865198e-02 -2.66070747e-02 9.90672192e+01] [ 2.85231896e-02 9.99592631e-01 9.99614063e-04 -3.80011763e+00] [ 2.65677603e-02 -1.75777300e-03 9.99645469e-01 1.11360493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.680714057 meters Centerline goodness [0,1] 0.9858090215693819 Centerline is valid? [True, True] Translation: X:99.10, Y:-3.82, Z:1.11 [[ 9.99232366e-01 -2.81966205e-02 -2.71961244e-02 9.90953061e+01] [ 2.82347928e-02 9.99600798e-01 1.02052827e-03 -3.81836316e+00] [ 2.71564922e-02 -1.78762182e-03 9.99629596e-01 1.10988723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.710714057 meters Centerline goodness [0,1] 0.9911654774040095 Centerline is valid? [True, True] Translation: X:99.13, Y:-3.80, Z:1.11 [[ 9.99236383e-01 -2.78612913e-02 -2.73934353e-02 9.91250925e+01] [ 2.78997758e-02 9.99610201e-01 1.02360506e-03 -3.80177317e+00] [ 2.73542384e-02 -1.78709412e-03 9.99624205e-01 1.11430104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.740714057 meters Centerline goodness [0,1] 0.9902218793956169 Centerline is valid? [True, True] Translation: X:99.15, Y:-3.80, Z:1.11 [[ 9.99271939e-01 -2.65315241e-02 -2.74166057e-02 9.91542854e+01] [ 2.65694809e-02 9.99646448e-01 1.02101673e-03 -3.80431298e+00] [ 2.73798233e-02 -1.74871834e-03 9.99623573e-01 1.11391244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.770714057 meters Centerline goodness [0,1] 0.9895663588629368 Centerline is valid? [True, True] Translation: X:99.18, Y:-3.81, Z:1.11 [[ 9.99302209e-01 -2.58273423e-02 -2.69822817e-02 9.91834972e+01] [ 2.58637489e-02 9.99664976e-01 1.00109990e-03 -3.80584512e+00] [ 2.69473863e-02 -1.69826430e-03 9.99635411e-01 1.11398638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80071405700001 meters Centerline goodness [0,1] 0.9903623221348365 Centerline is valid? [True, True] Translation: X:99.21, Y:-3.80, Z:1.12 [[ 9.99370729e-01 -2.22690999e-02 -2.76085823e-02 9.92137261e+01] [ 2.23057766e-02 9.99750674e-01 1.02115220e-03 -3.80183225e+00] [ 2.75789586e-02 -1.63634049e-03 9.99618289e-01 1.11521871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83071405700001 meters Centerline goodness [0,1] 0.9895019698039305 Centerline is valid? [True, True] Translation: X:99.24, Y:-3.80, Z:1.11 [[ 9.99409272e-01 -1.92633834e-02 -2.84610159e-02 9.92430255e+01] [ 1.93011238e-02 9.99813163e-01 1.05188894e-03 -3.80252825e+00] [ 2.84354354e-02 -1.60059715e-03 9.99594350e-01 1.11365050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.860714057 meters Centerline goodness [0,1] 0.9901871706341995 Centerline is valid? [True, True] Translation: X:99.27, Y:-3.80, Z:1.11 [[ 9.99405938e-01 -1.10019670e-02 -3.26607953e-02 9.92729562e+01] [ 1.10472414e-02 9.99938250e-01 1.20606372e-03 -3.80400529e+00] [ 3.26455094e-02 -1.56615893e-03 9.99465766e-01 1.10710447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.890714057 meters Centerline goodness [0,1] 0.9911546574130775 Centerline is valid? [True, True] Translation: X:99.30, Y:-3.80, Z:1.11 [[ 9.99497908e-01 -6.17093463e-03 -3.10781474e-02 9.93034195e+01] [ 6.20958327e-03 9.99980062e-01 1.14723356e-03 -3.80117557e+00] [ 3.10704482e-02 -1.33963988e-03 9.99516299e-01 1.11069723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.920714057 meters Centerline goodness [0,1] 0.9919281491587085 Centerline is valid? [True, True] Translation: X:99.33, Y:-3.80, Z:1.12 [[ 9.99586202e-01 -1.77745488e-03 -2.87100402e-02 9.93331897e+01] [ 1.80860894e-03 9.99997804e-01 1.05919612e-03 -3.79531677e+00] [ 2.87080945e-02 -1.11068306e-03 9.99587221e-01 1.11662277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.950714057 meters Centerline goodness [0,1] 0.9912031459550383 Centerline is valid? [True, True] Translation: X:99.36, Y:-3.79, Z:1.12 [[ 9.99668855e-01 6.34244323e-03 -2.49390018e-02 9.93626309e+01] [-6.32147773e-03 9.99979597e-01 9.19420247e-04 -3.78986091e+00] [ 2.49443243e-02 -7.61464442e-04 9.99688552e-01 1.12281366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.980714057 meters Centerline goodness [0,1] 0.9919599826408716 Centerline is valid? [True, True] Translation: X:99.39, Y:-3.79, Z:1.12 [[ 9.99663460e-01 9.11903864e-03 -2.42859850e-02 9.93919527e+01] [-9.10004770e-03 9.99958196e-01 8.92376982e-04 -3.79077185e+00] [ 2.42931074e-02 -6.71073040e-04 9.99704654e-01 1.12296395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.010714057 meters Centerline goodness [0,1] 0.9922288622781704 Centerline is valid? [True, True] Translation: X:99.42, Y:-3.80, Z:1.12 [[ 9.99600221e-01 1.25586266e-02 -2.53313883e-02 9.94193593e+01] [-1.25391728e-02 9.99920952e-01 9.26673264e-04 -3.79950078e+00] [ 2.53410237e-02 -6.08668143e-04 9.99678679e-01 1.11734977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.040714057 meters Centerline goodness [0,1] 0.9925386632902233 Centerline is valid? [True, True] Translation: X:99.45, Y:-3.81, Z:1.12 [[ 9.99593249e-01 1.21826099e-02 -2.57860508e-02 9.94472720e+01] [-1.21623847e-02 9.99925593e-01 9.41042335e-04 -3.80550038e+00] [ 2.57955965e-02 -6.27039695e-04 9.99667042e-01 1.11526948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.070714057 meters Centerline goodness [0,1] 0.99228524241533 Centerline is valid? [True, True] Translation: X:99.48, Y:-3.81, Z:1.12 [[ 9.99621054e-01 1.06000415e-02 -2.54044765e-02 9.94762632e+01] [-1.05800073e-02 9.99943604e-01 9.22894775e-04 -3.80975927e+00] [ 2.54128266e-02 -6.53765500e-04 9.99676828e-01 1.11585217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.100714057 meters Centerline goodness [0,1] 0.9916139240506329 Centerline is valid? [True, True] Translation: X:99.50, Y:-3.81, Z:1.12 [[ 9.99658720e-01 8.80542058e-03 -2.45948876e-02 9.95046908e+01] [-8.78619463e-03 9.99961005e-01 8.89661838e-04 -3.81139198e+00] [ 2.46017624e-02 -6.73262744e-04 9.99697104e-01 1.11860181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.130714057 meters Centerline goodness [0,1] 0.9899509969965901 Centerline is valid? [True, True] Translation: X:99.53, Y:-3.82, Z:1.12 [[ 9.99725356e-01 3.61783988e-03 -2.31543669e-02 9.95328479e+01] [-3.59944767e-03 9.99993173e-01 8.35957703e-04 -3.81805142e+00] [ 2.31572332e-02 -7.52385180e-04 9.99731552e-01 1.12213285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.160714057 meters Centerline goodness [0,1] 0.9905160014383315 Centerline is valid? [True, True] Translation: X:99.56, Y:-3.83, Z:1.12 [[ 9.99756913e-01 -2.14130988e-03 -2.19437760e-02 9.95628708e+01] [ 2.15919189e-03 9.99997356e-01 7.91240204e-04 -3.82882407e+00] [ 2.19420237e-02 -8.38428687e-04 9.99758893e-01 1.12217342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.19071405700001 meters Centerline goodness [0,1] 0.9892917274666068 Centerline is valid? [True, True] Translation: X:99.59, Y:-3.84, Z:1.12 [[ 9.99760950e-01 -5.37997811e-03 -2.11919305e-02 9.95907209e+01] [ 5.39736261e-03 9.99985143e-01 7.63224156e-04 -3.83850709e+00] [ 2.11875095e-02 -8.77422240e-04 9.99775135e-01 1.12121616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22071405700001 meters Centerline goodness [0,1] 0.9901747946554463 Centerline is valid? [True, True] Translation: X:99.62, Y:-3.85, Z:1.12 [[ 9.99757557e-01 -8.27765761e-03 -2.04036317e-02 9.96199725e+01] [ 8.29434972e-03 9.99965332e-01 7.33602913e-04 -3.84613847e+00] [ 2.03968518e-02 -9.02659913e-04 9.99791555e-01 1.12142024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.250714057 meters Centerline goodness [0,1] 0.9894079607537072 Centerline is valid? [True, True] Translation: X:99.65, Y:-3.85, Z:1.12 [[ 9.99737244e-01 -1.12501288e-02 -1.99718961e-02 9.96491157e+01] [ 1.12666971e-02 9.99936272e-01 7.17250687e-04 -3.85203777e+00] [ 1.99625542e-02 -9.42079528e-04 9.99800285e-01 1.12232988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.280714057 meters Centerline goodness [0,1] 0.9901151374509104 Centerline is valid? [True, True] Translation: X:99.68, Y:-3.86, Z:1.12 [[ 9.99680491e-01 -1.58442922e-02 -1.96945177e-02 9.96791266e+01] [ 1.58612762e-02 9.99873952e-01 7.06460305e-04 -3.85784392e+00] [ 1.96808419e-02 -1.01861477e-03 9.99805795e-01 1.12460873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.310714057 meters Centerline goodness [0,1] 0.9893877369404646 Centerline is valid? [True, True] Translation: X:99.71, Y:-3.86, Z:1.13 [[ 9.99657439e-01 -1.74794458e-02 -1.94800946e-02 9.97062009e+01] [ 1.74963444e-02 9.99846684e-01 6.97374666e-04 -3.86174431e+00] [ 1.94649183e-02 -1.03796622e-03 9.99810002e-01 1.12507965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.340714057 meters Centerline goodness [0,1] 0.9894909906907507 Centerline is valid? [True, True] Translation: X:99.74, Y:-3.87, Z:1.12 [[ 9.99624304e-01 -1.92756611e-02 -1.94858632e-02 9.97351983e+01] [ 1.92928646e-02 9.99813634e-01 6.95251255e-04 -3.87074819e+00] [ 1.94688303e-02 -1.07092817e-03 9.99809891e-01 1.12371060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.370714057 meters Centerline goodness [0,1] 0.9894503053858967 Centerline is valid? [True, True] Translation: X:99.76, Y:-3.88, Z:1.12 [[ 9.99616023e-01 -1.98639048e-02 -1.93192285e-02 9.97631249e+01] [ 1.98808944e-02 9.99802119e-01 6.87730185e-04 -3.87725603e+00] [ 1.93017446e-02 -1.07154965e-03 9.99813130e-01 1.12254444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.400714057 meters Centerline goodness [0,1] 0.9892200662354693 Centerline is valid? [True, True] Translation: X:99.79, Y:-3.88, Z:1.12 [[ 9.99608661e-01 -2.05844899e-02 -1.89421046e-02 9.97917056e+01] [ 2.06008904e-02 9.99787554e-01 6.71082385e-04 -3.88277532e+00] [ 1.89242665e-02 -1.06104399e-03 9.99820357e-01 1.12200190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.430714057 meters Centerline goodness [0,1] 0.9885228103604901 Centerline is valid? [True, True] Translation: X:99.82, Y:-3.89, Z:1.12 [[ 9.99623167e-01 -2.07500430e-02 -1.79710604e-02 9.98198967e+01] [ 2.07647742e-02 9.99784188e-01 6.33488783e-04 -3.88835290e+00] [ 1.79540372e-02 -1.00641508e-03 9.99838307e-01 1.12347734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.460714057 meters Centerline goodness [0,1] 0.9885513087382081 Centerline is valid? [True, True] Translation: X:99.85, Y:-3.89, Z:1.13 [[ 9.99640520e-01 -2.05423640e-02 -1.72290785e-02 9.98492191e+01] [ 2.05558594e-02 9.99788522e-01 6.06547007e-04 -3.89036101e+00] [ 1.72129750e-02 -9.60487480e-04 9.99851384e-01 1.12514169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.490714057 meters Centerline goodness [0,1] 0.9880702992348233 Centerline is valid? [True, True] Translation: X:99.88, Y:-3.89, Z:1.12 [[ 9.99646492e-01 -2.02575502e-02 -1.72198500e-02 9.98788559e+01] [ 2.02709788e-02 9.99794339e-01 6.05628506e-04 -3.89234845e+00] [ 1.72040400e-02 -9.54477626e-04 9.99851544e-01 1.12469816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.520714057 meters Centerline goodness [0,1] 0.9896304174421696 Centerline is valid? [True, True] Translation: X:99.91, Y:-3.89, Z:1.12 [[ 9.99647236e-01 -1.99706079e-02 -1.75093597e-02 9.99082941e+01] [ 1.99844371e-02 9.99800102e-01 6.15187630e-04 -3.88973992e+00] [ 1.74935740e-02 -9.64885311e-04 9.99846510e-01 1.12461294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.55071405700001 meters Centerline goodness [0,1] 0.9893469198703103 Centerline is valid? [True, True] Translation: X:99.94, Y:-3.90, Z:1.12 [[ 9.99651332e-01 -1.95805633e-02 -1.77148621e-02 9.99369571e+01] [ 1.95946449e-02 9.99807813e-01 6.21661736e-04 -3.89634510e+00] [ 1.76992851e-02 -9.68561414e-04 9.99842886e-01 1.12345861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58071405700001 meters Centerline goodness [0,1] 0.9896042554130708 Centerline is valid? [True, True] Translation: X:99.97, Y:-3.90, Z:1.12 [[ 9.99661075e-01 -1.86179837e-02 -1.81962889e-02 9.99665001e+01] [ 1.86326657e-02 9.99826193e-01 6.37649383e-04 -3.89577708e+00] [ 1.81812546e-02 -9.76478637e-04 9.99834230e-01 1.12319647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.610714057 meters Centerline goodness [0,1] 0.9890284553742908 Centerline is valid? [True, True] Translation: X:100.00, Y:-3.90, Z:1.12 [[ 9.99688913e-01 -1.73446955e-02 -1.79231456e-02 9.99952592e+01] [ 1.73587225e-02 9.99849129e-01 6.27330585e-04 -3.90041142e+00] [ 1.79095606e-02 -9.38258341e-04 9.99839171e-01 1.12405155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.640714057 meters Centerline goodness [0,1] 0.9880535167184642 Centerline is valid? [True, True] Translation: X:100.02, Y:-3.91, Z:1.12 [[ 9.99708291e-01 -1.66983937e-02 -1.74498557e-02 1.00022797e+02] [ 1.67115723e-02 9.99860166e-01 6.09668866e-04 -3.90661709e+00] [ 1.74372351e-02 -9.01105544e-04 9.99847554e-01 1.12441648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.670714057 meters Centerline goodness [0,1] 0.9896012337519278 Centerline is valid? [True, True] Translation: X:100.05, Y:-3.90, Z:1.13 [[ 9.99719345e-01 -1.60659802e-02 -1.74101854e-02 1.00052275e+02] [ 1.60789645e-02 9.99870541e-01 6.06057956e-04 -3.90181890e+00] [ 1.73981946e-02 -8.85825617e-04 9.99848248e-01 1.12513732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.700714057 meters Centerline goodness [0,1] 0.9897009091308357 Centerline is valid? [True, True] Translation: X:100.08, Y:-3.90, Z:1.12 [[ 9.99717208e-01 -1.52981792e-02 -1.82063366e-02 1.00081272e+02] [ 1.53121705e-02 9.99882564e-01 6.29320709e-04 -3.90391259e+00] [ 1.81945710e-02 -9.07921270e-04 9.99834053e-01 1.12435302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.730714057 meters Centerline goodness [0,1] 0.989339441862514 Centerline is valid? [True, True] Translation: X:100.11, Y:-3.91, Z:1.12 [[ 9.99713972e-01 -1.49974572e-02 -1.86292959e-02 1.00108668e+02] [ 1.50119843e-02 9.99887109e-01 6.40192151e-04 -3.90921309e+00] [ 1.86175916e-02 -9.19671735e-04 9.99826255e-01 1.12300392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.760714057 meters Centerline goodness [0,1] 0.989339441862514 Centerline is valid? [True, True] Translation: X:100.14, Y:-3.91, Z:1.12 [[ 9.99709801e-01 -1.52728657e-02 -1.86293916e-02 1.00136086e+02] [ 1.52873885e-02 9.99882938e-01 6.37395130e-04 -3.91006896e+00] [ 1.86174760e-02 -9.22004905e-04 9.99826255e-01 1.12334724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.790714057 meters Centerline goodness [0,1] 0.9892652881654201 Centerline is valid? [True, True] Translation: X:100.16, Y:-3.91, Z:1.12 [[ 9.99705512e-01 -1.44775588e-02 -1.94753636e-02 1.00164687e+02] [ 1.44931767e-02 9.99894750e-01 6.61018974e-04 -3.90942265e+00] [ 1.94637439e-02 -9.43084199e-04 9.99810119e-01 1.12360518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.820714057 meters Centerline goodness [0,1] 0.9896318192848161 Centerline is valid? [True, True] Translation: X:100.19, Y:-3.91, Z:1.12 [[ 9.99686646e-01 -1.51429434e-02 -1.99324337e-02 1.00192365e+02] [ 1.51593595e-02 9.99884864e-01 6.72737680e-04 -3.91288476e+00] [ 1.99199515e-02 -9.74689803e-04 9.99801103e-01 1.12257324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.850714057 meters Centerline goodness [0,1] 0.9893023358404834 Centerline is valid? [True, True] Translation: X:100.22, Y:-3.91, Z:1.12 [[ 9.99680064e-01 -1.52307744e-02 -2.01938673e-02 1.00220367e+02] [ 1.52475759e-02 9.99883519e-01 6.78293326e-04 -3.91043476e+00] [ 2.01811842e-02 -9.85983840e-04 9.99795853e-01 1.12371208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.880714057 meters Centerline goodness [0,1] 0.9894432935161106 Centerline is valid? [True, True] Translation: X:100.25, Y:-3.91, Z:1.12 [[ 9.99677612e-01 -1.54234138e-02 -2.01690347e-02 1.00248373e+02] [ 1.54400988e-02 9.99880569e-01 6.71790437e-04 -3.91086463e+00] [ 2.01562646e-02 -9.82985749e-04 9.99796359e-01 1.12414509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.910714057 meters Centerline goodness [0,1] 0.9887667672518227 Centerline is valid? [True, True] Translation: X:100.28, Y:-3.91, Z:1.12 [[ 9.99672906e-01 -1.57072185e-02 -2.01832563e-02 1.00276422e+02] [ 1.57238693e-02 9.99876150e-01 6.66539217e-04 -3.90970764e+00] [ 2.01702871e-02 -9.83680080e-04 9.99796075e-01 1.12450458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94071405700001 meters Centerline goodness [0,1] 0.9893314523772786 Centerline is valid? [True, True] Translation: X:100.30, Y:-3.91, Z:1.12 [[ 9.99679759e-01 -1.53550591e-02 -2.01147260e-02 1.00304730e+02] [ 1.53714153e-02 9.99881636e-01 6.58779513e-04 -3.91002458e+00] [ 2.01022295e-02 -9.67760351e-04 9.99797461e-01 1.12493586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97071405700001 meters Centerline goodness [0,1] 0.9890752593246523 Centerline is valid? [True, True] Translation: X:100.33, Y:-3.91, Z:1.12 [[ 9.99691314e-01 -1.35450944e-02 -2.08280462e-02 1.00332967e+02] [ 1.35621596e-02 9.99907800e-01 6.78294101e-04 -3.90947166e+00] [ 2.08169383e-02 -9.60558007e-04 9.99782843e-01 1.12482982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.000714057 meters Centerline goodness [0,1] 0.9884160495191776 Centerline is valid? [True, True] Translation: X:100.36, Y:-3.91, Z:1.13 [[ 9.99694683e-01 -1.22042251e-02 -2.14848129e-02 1.00362435e+02] [ 1.22220295e-02 9.99925065e-01 6.97578671e-04 -3.90589643e+00] [ 2.14746895e-02 -9.59953705e-04 9.99768931e-01 1.12530431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.030714057 meters Centerline goodness [0,1] 0.9892701488905112 Centerline is valid? [True, True] Translation: X:100.39, Y:-3.90, Z:1.12 [[ 9.99717079e-01 -7.91952445e-03 -2.24286065e-02 1.00391379e+02] [ 7.93780508e-03 9.99968231e-01 7.26146541e-04 -3.90181623e+00] [ 2.24221432e-02 -9.03975006e-04 9.99748183e-01 1.12433046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.060714057 meters Centerline goodness [0,1] 0.9901424362581132 Centerline is valid? [True, True] Translation: X:100.42, Y:-3.90, Z:1.12 [[ 9.99725724e-01 -5.61433574e-03 -2.27366720e-02 1.00420830e+02] [ 5.63246329e-03 9.99983869e-01 7.33320112e-04 -3.90033348e+00] [ 2.27321881e-02 -8.61182450e-04 9.99741220e-01 1.12382680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.090714057 meters Centerline goodness [0,1] 0.9892613586041981 Centerline is valid? [True, True] Translation: X:100.45, Y:-3.90, Z:1.12 [[ 9.99736984e-01 -3.58402712e-03 -2.26521191e-02 1.00450260e+02] [ 3.60138241e-03 9.99993252e-01 7.25417768e-04 -3.89824078e+00] [ 2.26493664e-02 -8.06805915e-04 9.99743145e-01 1.12375781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.120714057 meters Centerline goodness [0,1] 0.991679609496339 Centerline is valid? [True, True] Translation: X:100.48, Y:-3.89, Z:1.13 [[ 9.99769637e-01 5.65967992e-04 -2.14558428e-02 1.00480439e+02] [-5.51413725e-04 9.99999614e-01 6.84245993e-04 -3.89313417e+00] [ 2.14562217e-02 -6.72257321e-04 9.99769563e-01 1.12502029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.150714057 meters Centerline goodness [0,1] 0.9923723364154415 Centerline is valid? [True, True] Translation: X:100.51, Y:-3.89, Z:1.13 [[ 9.99790243e-01 1.63301729e-03 -2.04157818e-02 1.00508708e+02] [-1.62010629e-03 9.99998477e-01 6.48926236e-04 -3.89256741e+00] [ 2.04168104e-02 -6.15714382e-04 9.99791366e-01 1.12593303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.180714057 meters Centerline goodness [0,1] 0.9919628782664683 Centerline is valid? [True, True] Translation: X:100.54, Y:-3.89, Z:1.13 [[ 9.99813615e-01 2.19303323e-03 -1.91813761e-02 1.00537480e+02] [-2.18182699e-03 9.99997437e-01 6.05132264e-04 -3.88790353e+00] [ 1.91826540e-02 -5.63169032e-04 9.99815837e-01 1.12824873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.210714057 meters Centerline goodness [0,1] 0.9924265910802073 Centerline is valid? [True, True] Translation: X:100.57, Y:-3.89, Z:1.13 [[ 9.99833279e-01 1.64014995e-03 -1.81858321e-02 1.00565355e+02] [-1.63005369e-03 9.99998509e-01 5.69980710e-04 -3.89008540e+00] [ 1.81867398e-02 -5.40241799e-04 9.99834462e-01 1.12851919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.240714057 meters Centerline goodness [0,1] 0.9919562134373338 Centerline is valid? [True, True] Translation: X:100.59, Y:-3.89, Z:1.13 [[ 9.99847479e-01 -4.66453160e-05 -1.74647291e-02 1.00594321e+02] [ 5.61792437e-05 9.99999850e-01 5.45405892e-04 -3.88995551e+00] [ 1.74647010e-02 -5.46303862e-04 9.99847331e-01 1.12923631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.270714057 meters Centerline goodness [0,1] 0.9918830808808853 Centerline is valid? [True, True] Translation: X:100.62, Y:-3.89, Z:1.13 [[ 9.99851254e-01 -4.55614382e-03 -1.66346689e-02 1.00623358e+02] [ 4.56539840e-03 9.99989444e-01 5.18410217e-04 -3.89353442e+00] [ 1.66321313e-02 -5.94276996e-04 9.99861500e-01 1.12916771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30071405700001 meters Centerline goodness [0,1] 0.9913400688353503 Centerline is valid? [True, True] Translation: X:100.65, Y:-3.90, Z:1.13 [[ 9.99833469e-01 -7.23461154e-03 -1.67539351e-02 1.00652534e+02] [ 7.24435971e-03 9.99973623e-01 5.21226385e-04 -3.89661819e+00] [ 1.67497223e-02 -6.42511117e-04 9.99859507e-01 1.12915131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33071405700001 meters Centerline goodness [0,1] 0.9911453363218747 Centerline is valid? [True, True] Translation: X:100.68, Y:-3.90, Z:1.13 [[ 9.99796801e-01 -1.05719202e-02 -1.71636617e-02 1.00680747e+02] [ 1.05826249e-02 9.99943860e-01 5.32977945e-04 -3.90001287e+00] [ 1.71570635e-02 -7.14506238e-04 9.99852551e-01 1.12891194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.360714057 meters Centerline goodness [0,1] 0.9893063583815029 Centerline is valid? [True, True] Translation: X:100.71, Y:-3.91, Z:1.13 [[ 9.99682663e-01 -1.68741445e-02 -1.87039388e-02 1.00709787e+02] [ 1.68879409e-02 9.99857220e-01 5.79902062e-04 -3.90570430e+00] [ 1.86914829e-02 -8.95589051e-04 9.99824898e-01 1.12830985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.390714057 meters Centerline goodness [0,1] 0.9898839763072077 Centerline is valid? [True, True] Translation: X:100.74, Y:-3.91, Z:1.13 [[ 9.99621902e-01 -1.98729658e-02 -1.90031351e-02 1.00737686e+02] [ 1.98877394e-02 9.99802046e-01 5.88747323e-04 -3.90987875e+00] [ 1.89876732e-02 -9.66454117e-04 9.99819251e-01 1.12829991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.420714057 meters Centerline goodness [0,1] 0.9889168543294917 Centerline is valid? [True, True] Translation: X:100.77, Y:-3.91, Z:1.13 [[ 9.99519868e-01 -2.46216895e-02 -1.88097129e-02 1.00768115e+02] [ 2.46369853e-02 9.99696294e-01 5.81861404e-04 -3.91487255e+00] [ 1.87896739e-02 -1.04499665e-03 9.99822912e-01 1.12889566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.450714057 meters Centerline goodness [0,1] 0.9890739389113751 Centerline is valid? [True, True] Translation: X:100.80, Y:-3.92, Z:1.13 [[ 9.99482118e-01 -2.64093242e-02 -1.83859473e-02 1.00798568e+02] [ 2.64242386e-02 9.99650657e-01 5.68676400e-04 -3.91537651e+00] [ 1.83645060e-02 -1.05421655e-03 9.99830802e-01 1.12947139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.480714057 meters Centerline goodness [0,1] 0.9895443368850099 Centerline is valid? [True, True] Translation: X:100.83, Y:-3.92, Z:1.13 [[ 9.99445622e-01 -2.76556522e-02 -1.85368390e-02 1.00829293e+02] [ 2.76710261e-02 9.99616919e-01 5.73343472e-04 -3.91531641e+00] [ 1.85138817e-02 -1.08595898e-03 9.99828014e-01 1.13063751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.510714057 meters Centerline goodness [0,1] 0.989069947899346 Centerline is valid? [True, True] Translation: X:100.86, Y:-3.92, Z:1.13 [[ 9.99443203e-01 -2.80023151e-02 -1.81425926e-02 1.00860333e+02] [ 2.80171024e-02 9.99607286e-01 5.61352419e-04 -3.91595245e+00] [ 1.81197486e-02 -1.06934273e-03 9.99835252e-01 1.13221373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.540714057 meters Centerline goodness [0,1] 0.9891085827902353 Centerline is valid? [True, True] Translation: X:100.89, Y:-3.92, Z:1.13 [[ 9.99454649e-01 -2.76022773e-02 -1.81251149e-02 1.00891242e+02] [ 2.76169824e-02 9.99618421e-01 5.61464872e-04 -3.91543411e+00] [ 1.81027011e-02 -1.06171966e-03 9.99835569e-01 1.13309106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.570714057 meters Centerline goodness [0,1] 0.9889210764910108 Centerline is valid? [True, True] Translation: X:100.92, Y:-3.92, Z:1.13 [[ 9.99494788e-01 -2.71425556e-02 -1.65363327e-02 1.00922872e+02] [ 2.71547419e-02 9.99631110e-01 5.12809156e-04 -3.91756110e+00] [ 1.65163137e-02 -9.61589924e-04 9.99863134e-01 1.13445334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.600714057 meters Centerline goodness [0,1] 0.988626576268192 Centerline is valid? [True, True] Translation: X:100.95, Y:-3.92, Z:1.14 [[ 9.99517608e-01 -2.66385904e-02 -1.59667682e-02 1.00954164e+02] [ 2.66498964e-02 9.99644706e-01 4.95707541e-04 -3.91949201e+00] [ 1.59478903e-02 -9.20981133e-04 9.99872400e-01 1.13503597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.630714057 meters Centerline goodness [0,1] 0.9886903315588346 Centerline is valid? [True, True] Translation: X:100.99, Y:-3.92, Z:1.14 [[ 9.99547170e-01 -2.60047289e-02 -1.51396710e-02 1.00985992e+02] [ 2.60148299e-02 9.99661446e-01 4.70600667e-04 -3.91877926e+00] [ 1.51223076e-02 -8.64243531e-04 9.99885278e-01 1.13642600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.660714057 meters Centerline goodness [0,1] 0.987867022567338 Centerline is valid? [True, True] Translation: X:101.02, Y:-3.92, Z:1.14 [[ 9.99563060e-01 -2.56890415e-02 -1.46206186e-02 1.01015788e+02] [ 2.56984383e-02 9.99669637e-01 4.55167326e-04 -3.92137896e+00] [ 1.46040956e-02 -8.30695509e-04 9.99893009e-01 1.13728312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.69071405700001 meters Centerline goodness [0,1] 0.9886839899413244 Centerline is valid? [True, True] Translation: X:101.05, Y:-3.92, Z:1.14 [[ 9.99552993e-01 -2.56726081e-02 -1.53209189e-02 1.01047614e+02] [ 2.56829316e-02 9.99670025e-01 4.77412064e-04 -3.92295429e+00] [ 1.53036070e-02 -8.70684770e-04 9.99882514e-01 1.13706573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72071405700001 meters Centerline goodness [0,1] 0.9882722421101179 Centerline is valid? [True, True] Translation: X:101.08, Y:-3.93, Z:1.14 [[ 9.99493803e-01 -2.65717804e-02 -1.74950917e-02 1.01077870e+02] [ 2.65853993e-02 9.99646397e-01 5.46288285e-04 -3.92898162e+00] [ 1.74743895e-02 -1.01112576e-03 9.99846800e-01 1.13555425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.750714057 meters Centerline goodness [0,1] 0.9878180416345412 Centerline is valid? [True, True] Translation: X:101.11, Y:-3.93, Z:1.13 [[ 9.99446445e-01 -2.73117184e-02 -1.89966782e-02 1.01107671e+02] [ 2.73279246e-02 9.99626346e-01 5.93987789e-04 -3.93340470e+00] [ 1.89733572e-02 -1.11279877e-03 9.99819370e-01 1.13451134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.780714057 meters Centerline goodness [0,1] 0.9892879924334074 Centerline is valid? [True, True] Translation: X:101.14, Y:-3.93, Z:1.13 [[ 9.99375240e-01 -2.87796599e-02 -2.05148774e-02 1.01138765e+02] [ 2.87988959e-02 9.99585019e-01 6.42782956e-04 -3.93166426e+00] [ 2.04878650e-02 -1.23318719e-03 9.99789341e-01 1.13444904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.810714057 meters Centerline goodness [0,1] 0.9902739575310815 Centerline is valid? [True, True] Translation: X:101.17, Y:-3.93, Z:1.13 [[ 9.99254218e-01 -3.19785242e-02 -2.16421289e-02 1.01168584e+02] [ 3.20006816e-02 9.99487617e-01 6.78170948e-04 -3.93352297e+00] [ 2.16093529e-02 -1.37022805e-03 9.99765552e-01 1.13382257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.840714057 meters Centerline goodness [0,1] 0.9889120192834447 Centerline is valid? [True, True] Translation: X:101.20, Y:-3.94, Z:1.13 [[ 9.99196998e-01 -3.35780447e-02 -2.18603297e-02 1.01198919e+02] [ 3.36010310e-02 9.99435091e-01 6.84946868e-04 -3.94006151e+00] [ 2.18249814e-02 -1.41892647e-03 9.99760800e-01 1.13301277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.870714057 meters Centerline goodness [0,1] 0.9891306734590808 Centerline is valid? [True, True] Translation: X:101.23, Y:-3.94, Z:1.13 [[ 9.99072032e-01 -3.67548409e-02 -2.24534140e-02 1.01229608e+02] [ 3.67798977e-02 9.99323143e-01 7.03859047e-04 -3.94068410e+00] [ 2.24123460e-02 -1.52904016e-03 9.99747643e-01 1.13423616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.900714057 meters Centerline goodness [0,1] 0.9883387036671708 Centerline is valid? [True, True] Translation: X:101.26, Y:-3.94, Z:1.13 [[ 9.99037016e-01 -3.78454672e-02 -2.21982057e-02 1.01260650e+02] [ 3.78702359e-02 9.99282423e-01 6.96331879e-04 -3.94338865e+00] [ 2.21559238e-02 -1.53631261e-03 9.99753347e-01 1.13459108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.930714057 meters Centerline goodness [0,1] 0.9869092813195445 Centerline is valid? [True, True] Translation: X:101.29, Y:-3.95, Z:1.13 [[ 9.98991731e-01 -3.91981110e-02 -2.18867337e-02 1.01290574e+02] [ 3.92225259e-02 9.99230264e-01 6.87185658e-04 -3.95046067e+00] [ 2.18429503e-02 -1.54494577e-03 9.99760221e-01 1.13437313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.960714057 meters Centerline goodness [0,1] 0.9877572513054543 Centerline is valid? [True, True] Translation: X:101.32, Y:-3.95, Z:1.13 [[ 9.98971419e-01 -3.96673040e-02 -2.19683669e-02 1.01322237e+02] [ 3.96920268e-02 9.99211723e-01 6.90315582e-04 -3.95248010e+00] [ 2.19236668e-02 -1.56157454e-03 9.99758428e-01 1.13476040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.990714057 meters Centerline goodness [0,1] 0.9873012391709617 Centerline is valid? [True, True] Translation: X:101.35, Y:-3.96, Z:1.13 [[ 9.98959333e-01 -4.02802954e-02 -2.13950588e-02 1.01352529e+02] [ 4.03038968e-02 9.99187241e-01 6.72892814e-04 -3.95628405e+00] [ 2.13505654e-02 -1.53449680e-03 9.99770873e-01 1.13498919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.020714057 meters Centerline goodness [0,1] 0.985912711473899 Centerline is valid? [True, True] Translation: X:101.38, Y:-3.96, Z:1.14 [[ 9.98922706e-01 -4.13518836e-02 -2.10582336e-02 1.01383428e+02] [ 4.13749952e-02 9.99143468e-01 6.62818841e-04 -3.96070343e+00] [ 2.10127877e-02 -1.53338910e-03 9.99778031e-01 1.13571728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05071405700001 meters Centerline goodness [0,1] 0.9870385777466393 Centerline is valid? [True, True] Translation: X:101.41, Y:-3.96, Z:1.14 [[ 9.98886817e-01 -4.21535813e-02 -2.11708053e-02 1.01414599e+02] [ 4.21771358e-02 9.99109926e-01 6.67117239e-04 -3.95963768e+00] [ 2.11238403e-02 -1.55929854e-03 9.99775651e-01 1.13656619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08071405700001 meters Centerline goodness [0,1] 0.9868360429145001 Centerline is valid? [True, True] Translation: X:101.44, Y:-3.97, Z:1.14 [[ 9.98793443e-01 -4.44072265e-02 -2.09679862e-02 1.01444798e+02] [ 4.44308380e-02 9.99012244e-01 6.61324244e-04 -3.96684889e+00] [ 2.09179073e-02 -1.59215152e-03 9.99779929e-01 1.13669398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.110714057 meters Centerline goodness [0,1] 0.9865300660333897 Centerline is valid? [True, True] Translation: X:101.48, Y:-3.97, Z:1.14 [[ 9.98727717e-01 -4.55928957e-02 -2.15461373e-02 1.01476685e+02] [ 4.56181173e-02 9.98958720e-01 6.80277770e-04 -3.96777736e+00] [ 2.14926859e-02 -1.66230648e-03 9.99767624e-01 1.13667133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.140714057 meters Centerline goodness [0,1] 0.9858484356487779 Centerline is valid? [True, True] Translation: X:101.51, Y:-3.98, Z:1.14 [[ 9.98640703e-01 -4.71403840e-02 -2.22380255e-02 1.01506396e+02] [ 4.71676652e-02 9.98886739e-01 7.03563026e-04 -3.97575911e+00] [ 2.21801025e-02 -1.75152241e-03 9.99752457e-01 1.13547448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.170714057 meters Centerline goodness [0,1] 0.9854548640774572 Centerline is valid? [True, True] Translation: X:101.54, Y:-3.98, Z:1.14 [[ 9.98493238e-01 -4.98539102e-02 -2.29312175e-02 1.01537585e+02] [ 4.98836567e-02 9.98754771e-01 7.26661973e-04 -3.97600482e+00] [ 2.28664359e-02 -1.86946005e-03 9.99736781e-01 1.13519494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.200714057 meters Centerline goodness [0,1] 0.986094078486335 Centerline is valid? [True, True] Translation: X:101.57, Y:-3.98, Z:1.14 [[ 9.98451372e-01 -5.06110185e-02 -2.30950763e-02 1.01568805e+02] [ 5.06414068e-02 9.98716632e-01 7.32457757e-04 -3.97880482e+00] [ 2.30283664e-02 -1.90089061e-03 9.99733005e-01 1.13514076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.230714057 meters Centerline goodness [0,1] 0.9820046355009402 Centerline is valid? [True, True] Translation: X:101.60, Y:-3.99, Z:1.13 [[ 9.98454602e-01 -5.05319259e-02 -2.31286050e-02 1.01600034e+02] [ 5.05624050e-02 9.98720633e-01 7.34541549e-04 -3.98972490e+00] [ 2.30618972e-02 -1.90284428e-03 9.99732228e-01 1.13444847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.260714057 meters Centerline goodness [0,1] 0.9857745340121933 Centerline is valid? [True, True] Translation: X:101.63, Y:-3.98, Z:1.14 [[ 9.98507401e-01 -4.96100777e-02 -2.28431653e-02 1.01631995e+02] [ 4.96395970e-02 9.98766931e-01 7.26692355e-04 -3.98327094e+00] [ 2.27789469e-02 -1.85953322e-03 9.99738797e-01 1.13615986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.290714057 meters Centerline goodness [0,1] 0.9855271774721677 Centerline is valid? [True, True] Translation: X:101.66, Y:-3.99, Z:1.14 [[ 9.98564742e-01 -4.86169719e-02 -2.24687637e-02 1.01662481e+02] [ 4.86453002e-02 9.98815860e-01 7.15615204e-04 -3.98546392e+00] [ 2.24073665e-02 -1.80758787e-03 9.99747289e-01 1.13663899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.320714057 meters Centerline goodness [0,1] 0.9868985126859142 Centerline is valid? [True, True] Translation: X:101.69, Y:-3.98, Z:1.14 [[ 9.98683715e-01 -4.57941106e-02 -2.31027606e-02 1.01692992e+02] [ 4.58233152e-02 9.98949289e-01 7.36033812e-04 -3.98225588e+00] [ 2.30447802e-02 -1.79371006e-03 9.99732825e-01 1.13742053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.350714057 meters Centerline goodness [0,1] 0.9877561767674551 Centerline is valid? [True, True] Translation: X:101.72, Y:-3.98, Z:1.14 [[ 9.98746607e-01 -4.43638977e-02 -2.31745326e-02 1.01724397e+02] [ 4.43929104e-02 9.99013876e-01 7.38709726e-04 -3.97843410e+00] [ 2.31189076e-02 -1.76656878e-03 9.99731162e-01 1.13840668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.380714057 meters Centerline goodness [0,1] 0.9857587309933833 Centerline is valid? [True, True] Translation: X:101.75, Y:-3.98, Z:1.14 [[ 9.98849313e-01 -4.20557264e-02 -2.30513710e-02 1.01754124e+02] [ 4.20838307e-02 9.99113813e-01 7.35236917e-04 -3.98168508e+00] [ 2.30000222e-02 -1.70448088e-03 9.99734011e-01 1.13788413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.410714057 meters Centerline goodness [0,1] 0.9863586838091087 Centerline is valid? [True, True] Translation: X:101.79, Y:-3.98, Z:1.14 [[ 9.98890633e-01 -4.10814622e-02 -2.30177539e-02 1.01785414e+02] [ 4.11092358e-02 9.99154388e-01 7.34535816e-04 -3.97990126e+00] [ 2.29681140e-02 -1.67996322e-03 9.99734787e-01 1.13878740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44071405700001 meters Centerline goodness [0,1] 0.9872118274145079 Centerline is valid? [True, True] Translation: X:101.82, Y:-3.98, Z:1.14 [[ 9.98920943e-01 -4.04372830e-02 -2.28424069e-02 1.01816378e+02] [ 4.04644816e-02 9.99180711e-01 7.29561650e-04 -3.97880774e+00] [ 2.27941909e-02 -1.65308057e-03 9.99738812e-01 1.13994272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47071405700001 meters Centerline goodness [0,1] 0.986899372307154 Centerline is valid? [True, True] Translation: X:101.85, Y:-3.98, Z:1.14 [[ 9.98934143e-01 -4.04896886e-02 -2.21622147e-02 1.01847617e+02] [ 4.05153162e-02 9.99178666e-01 7.08396169e-04 -3.97984309e+00] [ 2.21153293e-02 -1.60555026e-03 9.99754137e-01 1.13993900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.500714057 meters Centerline goodness [0,1] 0.9862616863450818 Centerline is valid? [True, True] Translation: X:101.88, Y:-3.98, Z:1.14 [[ 9.98911567e-01 -4.08905128e-02 -2.24420786e-02 1.01877719e+02] [ 4.09169066e-02 9.99162295e-01 7.17966646e-04 -3.98388435e+00] [ 2.23939207e-02 -1.63544562e-03 9.99747887e-01 1.13963369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.530714057 meters Centerline goodness [0,1] 0.9868718083590856 Centerline is valid? [True, True] Translation: X:101.91, Y:-3.98, Z:1.14 [[ 9.98849270e-01 -4.18600926e-02 -2.34066004e-02 1.01908790e+02] [ 4.18890861e-02 9.99121986e-01 7.49541189e-04 -3.98219014e+00] [ 2.33546732e-02 -1.72915977e-03 9.99725747e-01 1.13957660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.560714057 meters Centerline goodness [0,1] 0.9870486225441774 Centerline is valid? [True, True] Translation: X:101.94, Y:-3.98, Z:1.14 [[ 9.98820927e-01 -4.22327283e-02 -2.39406184e-02 1.01939441e+02] [ 4.22631942e-02 9.99106217e-01 7.67791620e-04 -3.98452461e+00] [ 2.38867947e-02 -1.77869334e-03 9.99713087e-01 1.13910882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.590714057 meters Centerline goodness [0,1] 0.9858516393263103 Centerline is valid? [True, True] Translation: X:101.97, Y:-3.99, Z:1.14 [[ 9.98794082e-01 -4.24551781e-02 -2.46564449e-02 1.01970231e+02] [ 4.24875772e-02 9.99096682e-01 7.91399010e-04 -3.98583762e+00] [ 2.46005733e-02 -1.83803726e-03 9.99695670e-01 1.13904677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.620714057 meters Centerline goodness [0,1] 0.9858063107326127 Centerline is valid? [True, True] Translation: X:102.00, Y:-3.99, Z:1.14 [[ 9.98769604e-01 -4.29486190e-02 -2.47930231e-02 1.02000698e+02] [ 4.29815293e-02 9.99075550e-01 7.95782765e-04 -3.98702182e+00] [ 2.47359254e-02 -1.86044569e-03 9.99692289e-01 1.13944164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.650714057 meters Centerline goodness [0,1] 0.9851103546722302 Centerline is valid? [True, True] Translation: X:102.03, Y:-3.99, Z:1.14 [[ 9.98786664e-01 -4.34866895e-02 -2.31107548e-02 1.02029797e+02] [ 4.35154267e-02 9.99052480e-01 7.41769386e-04 -3.99041677e+00] [ 2.30565998e-02 -1.74654372e-03 9.99732636e-01 1.14098167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.680714057 meters Centerline goodness [0,1] 0.9851103546722302 Centerline is valid? [True, True] Translation: X:102.06, Y:-3.99, Z:1.14 [[ 9.98788159e-01 -4.34523444e-02 -2.31107437e-02 1.02060713e+02] [ 4.34810804e-02 9.99053975e-01 7.42113772e-04 -3.99144136e+00] [ 2.30566338e-02 -1.74609455e-03 9.99732636e-01 1.14136843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.710714057 meters Centerline goodness [0,1] 0.9855043859649123 Centerline is valid? [True, True] Translation: X:102.09, Y:-3.99, Z:1.14 [[ 9.98791294e-01 -4.39410180e-02 -2.20258491e-02 1.02092123e+02] [ 4.39672529e-02 9.99032722e-01 7.08013287e-04 -3.99234236e+00] [ 2.19734332e-02 -1.67557359e-03 9.99757151e-01 1.14234824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.740714057 meters Centerline goodness [0,1] 0.9838879389714587 Centerline is valid? [True, True] Translation: X:102.12, Y:-3.99, Z:1.14 [[ 9.98730990e-01 -4.57231812e-02 -2.11139965e-02 1.02122836e+02] [ 4.57476958e-02 9.98952795e-01 6.79260477e-04 -3.99413570e+00] [ 2.10608278e-02 -1.64431518e-03 9.99776844e-01 1.14282678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.770714057 meters Centerline goodness [0,1] 0.9850159288146765 Centerline is valid? [True, True] Translation: X:102.15, Y:-3.99, Z:1.14 [[ 9.98674146e-01 -4.67783719e-02 -2.14880058e-02 1.02154180e+02] [ 4.68040171e-02 9.98903852e-01 6.91825630e-04 -3.99241011e+00] [ 2.14320893e-02 -1.69663336e-03 9.99768867e-01 1.14315532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80071405700001 meters Centerline goodness [0,1] 0.9847833713383617 Centerline is valid? [True, True] Translation: X:102.19, Y:-3.99, Z:1.14 [[ 9.98621553e-01 -4.78926465e-02 -2.14776436e-02 1.02185927e+02] [ 4.79185511e-02 9.98851006e-01 6.92801986e-04 -3.99402479e+00] [ 2.14197858e-02 -1.72102456e-03 9.99769089e-01 1.14297709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83071405700001 meters Centerline goodness [0,1] 0.9849799073321768 Centerline is valid? [True, True] Translation: X:102.22, Y:-3.99, Z:1.14 [[ 9.98482795e-01 -5.04028776e-02 -2.21733483e-02 1.02216638e+02] [ 5.04311343e-02 9.98727284e-01 7.16668235e-04 -3.99278487e+00] [ 2.21090058e-02 -1.83380801e-03 9.99753884e-01 1.14337590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.860714057 meters Centerline goodness [0,1] 0.9845116217760007 Centerline is valid? [True, True] Translation: X:102.25, Y:-3.99, Z:1.14 [[ 9.98416453e-01 -5.16059927e-02 -2.23921309e-02 1.02248030e+02] [ 5.16351233e-02 9.98665755e-01 7.24315985e-04 -3.99404304e+00] [ 2.23248752e-02 -1.87938944e-03 9.99749002e-01 1.14365843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.890714057 meters Centerline goodness [0,1] 0.9852960511899023 Centerline is valid? [True, True] Translation: X:102.28, Y:-3.99, Z:1.14 [[ 9.98379696e-01 -5.22689243e-02 -2.24931467e-02 1.02279850e+02] [ 5.22985078e-02 9.98631231e-01 7.28580919e-04 -3.99018034e+00] [ 2.24242767e-02 -1.90375841e-03 9.99746732e-01 1.14460299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.920714057 meters Centerline goodness [0,1] 0.9847180748287371 Centerline is valid? [True, True] Translation: X:102.31, Y:-4.00, Z:1.14 [[ 9.98277186e-01 -5.38173711e-02 -2.33741265e-02 1.02309556e+02] [ 5.38497561e-02 9.98548762e-01 7.57832921e-04 -3.99530985e+00] [ 2.32994205e-02 -2.01521833e-03 9.99726501e-01 1.14453193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.950714057 meters Centerline goodness [0,1] 0.9850785512390718 Centerline is valid? [True, True] Translation: X:102.34, Y:-3.99, Z:1.14 [[ 9.98227810e-01 -5.45097852e-02 -2.38730380e-02 1.02342096e+02] [ 5.45437840e-02 9.98511079e-01 7.74833237e-04 -3.99294396e+00] [ 2.37952569e-02 -2.07558591e-03 9.99714698e-01 1.14490058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.980714057 meters Centerline goodness [0,1] 0.9814770055590956 Centerline is valid? [True, True] Translation: X:102.37, Y:-4.00, Z:1.14 [[ 9.98162381e-01 -5.54770201e-02 -2.43754061e-02 1.02373088e+02] [ 5.55127896e-02 9.98457662e-01 7.92703696e-04 -4.00068469e+00] [ 2.42938341e-02 -2.14439380e-03 9.99702561e-01 1.14351760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.010714057 meters Centerline goodness [0,1] 0.983820824940888 Centerline is valid? [True, True] Translation: X:102.41, Y:-4.00, Z:1.14 [[ 9.98161624e-01 -5.54562879e-02 -2.44534568e-02 1.02405628e+02] [ 5.54923178e-02 9.98458796e-01 7.96762447e-04 -3.99760895e+00] [ 2.43715836e-02 -2.15227670e-03 9.99700652e-01 1.14446167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.040714057 meters Centerline goodness [0,1] 0.9844993715961458 Centerline is valid? [True, True] Translation: X:102.44, Y:-3.99, Z:1.15 [[ 9.98190523e-01 -5.49094642e-02 -2.45077544e-02 1.02437734e+02] [ 5.49455338e-02 9.98489032e-01 8.00293015e-04 -3.99264697e+00] [ 2.44267803e-02 -2.14543655e-03 9.99699320e-01 1.14542190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.070714057 meters Centerline goodness [0,1] 0.9846164003697346 Centerline is valid? [True, True] Translation: X:102.47, Y:-3.99, Z:1.15 [[ 9.98326635e-01 -5.27672862e-02 -2.36546751e-02 1.02467524e+02] [ 5.28003116e-02 9.98604791e-01 7.73316500e-04 -3.99313471e+00] [ 2.35808661e-02 -2.02099668e-03 9.99719890e-01 1.14645056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.100714057 meters Centerline goodness [0,1] 0.979685914685253 Centerline is valid? [True, True] Translation: X:102.50, Y:-4.00, Z:1.15 [[ 9.98426213e-01 -5.10872372e-02 -2.31341918e-02 1.02497564e+02] [ 5.11183814e-02 9.98692314e-01 7.56492340e-04 -4.00207806e+00] [ 2.30652925e-02 -1.93788422e-03 9.99732083e-01 1.14641176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.130714057 meters Centerline goodness [0,1] 0.9812120543106303 Centerline is valid? [True, True] Translation: X:102.53, Y:-4.00, Z:1.15 [[ 9.98597126e-01 -4.80096894e-02 -2.23349238e-02 1.02527197e+02] [ 4.80379551e-02 9.98845244e-01 7.30426687e-04 -4.00005794e+00] [ 2.22740649e-02 -1.80232606e-03 9.99750278e-01 1.14756536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.160714057 meters Centerline goodness [0,1] 0.984795657163033 Centerline is valid? [True, True] Translation: X:102.56, Y:-3.99, Z:1.15 [[ 9.98675362e-01 -4.63720301e-02 -2.22970179e-02 1.02558879e+02] [ 4.63997978e-02 9.98922683e-01 7.29342290e-04 -3.99344005e+00] [ 2.22391758e-02 -1.76295330e-03 9.99751125e-01 1.14890818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.19071405700001 meters Centerline goodness [0,1] 0.9867376936849318 Centerline is valid? [True, True] Translation: X:102.59, Y:-3.98, Z:1.15 [[ 9.98720517e-01 -4.53812966e-02 -2.23129149e-02 1.02591126e+02] [ 4.54088800e-02 9.98968217e-01 7.30841748e-04 -3.98349773e+00] [ 2.22567263e-02 -1.74311112e-03 9.99750769e-01 1.15021231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22071405700001 meters Centerline goodness [0,1] 0.9856887298747764 Centerline is valid? [True, True] Translation: X:102.62, Y:-3.99, Z:1.15 [[ 9.98788857e-01 -4.38000231e-02 -2.24137884e-02 1.02620956e+02] [ 4.38274965e-02 9.99038843e-01 7.35738620e-04 -3.99356662e+00] [ 2.23600199e-02 -1.71718777e-03 9.99748509e-01 1.14882120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.250714057 meters Centerline goodness [0,1] 0.9854354984860875 Centerline is valid? [True, True] Translation: X:102.65, Y:-3.99, Z:1.15 [[ 9.98773084e-01 -4.37857258e-02 -2.31330057e-02 1.02653191e+02] [ 4.38150315e-02 9.99039370e-01 7.61258822e-04 -3.99062800e+00] [ 2.30774512e-02 -1.77389819e-03 9.99732106e-01 1.14946574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.280714057 meters Centerline goodness [0,1] 0.9861861994395039 Centerline is valid? [True, True] Translation: X:102.68, Y:-3.99, Z:1.15 [[ 9.98718828e-01 -4.45192267e-02 -2.40570274e-02 1.02684111e+02] [ 4.45511594e-02 9.99006790e-01 7.92780839e-04 -3.98973983e+00] [ 2.39978397e-02 -1.86353361e-03 9.99710273e-01 1.14975570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.310714057 meters Centerline goodness [0,1] 0.986344421574486 Centerline is valid? [True, True] Translation: X:102.72, Y:-3.99, Z:1.15 [[ 9.98681392e-01 -4.52803424e-02 -2.41902497e-02 1.02715232e+02] [ 4.53128671e-02 9.98972526e-01 7.97807705e-04 -3.98914382e+00] [ 2.41292699e-02 -1.89288528e-03 9.99707055e-01 1.15016852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.340714057 meters Centerline goodness [0,1] 0.9856323107481793 Centerline is valid? [True, True] Translation: X:102.75, Y:-3.99, Z:1.15 [[ 9.98656178e-01 -4.58190685e-02 -2.42167411e-02 1.02745091e+02] [ 4.58518465e-02 9.98947931e-01 7.99699058e-04 -3.99444760e+00] [ 2.41546219e-02 -1.90900670e-03 9.99706412e-01 1.14977038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.370714057 meters Centerline goodness [0,1] 0.9863511477443943 Centerline is valid? [True, True] Translation: X:102.78, Y:-3.99, Z:1.15 [[ 9.98616244e-01 -4.65929436e-02 -2.43863771e-02 1.02776483e+02] [ 4.66264371e-02 9.98912071e-01 8.06338489e-04 -3.99074534e+00] [ 2.43222768e-02 -1.94227259e-03 9.99702283e-01 1.15089388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.400714057 meters Centerline goodness [0,1] 0.9849202834366696 Centerline is valid? [True, True] Translation: X:102.81, Y:-3.99, Z:1.15 [[ 9.98625395e-01 -4.63173619e-02 -2.45361472e-02 1.02807809e+02] [ 4.63512123e-02 9.98924875e-01 8.12380271e-04 -3.99217738e+00] [ 2.44721404e-02 -1.94854373e-03 9.99698613e-01 1.15119789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.430714057 meters Centerline goodness [0,1] 0.9852108939782475 Centerline is valid? [True, True] Translation: X:102.84, Y:-3.99, Z:1.15 [[ 9.98738816e-01 -4.44248263e-02 -2.33925845e-02 1.02837540e+02] [ 4.44550928e-02 9.99011083e-01 7.75153535e-04 -3.99203685e+00] [ 2.33350152e-02 -1.81409544e-03 9.99726056e-01 1.15205247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.460714057 meters Centerline goodness [0,1] 0.9857488512508602 Centerline is valid? [True, True] Translation: X:102.87, Y:-3.99, Z:1.15 [[ 9.98829741e-01 -4.26676998e-02 -2.27731244e-02 1.02869184e+02] [ 4.26959431e-02 9.99087827e-01 7.55203591e-04 -3.99164001e+00] [ 2.27201286e-02 -1.72663983e-03 9.99740374e-01 1.15307243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.490714057 meters Centerline goodness [0,1] 0.9865056818181818 Centerline is valid? [True, True] Translation: X:102.90, Y:-3.99, Z:1.15 [[ 9.98954095e-01 -4.02389256e-02 -2.17151041e-02 1.02900153e+02] [ 4.02640521e-02 9.99188814e-01 7.20944805e-04 -3.99004329e+00] [ 2.16684790e-02 -1.59452885e-03 9.99763939e-01 1.15429959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.520714057 meters Centerline goodness [0,1] 0.9857500055318301 Centerline is valid? [True, True] Translation: X:102.93, Y:-3.99, Z:1.16 [[ 9.99158072e-01 -3.56856549e-02 -2.02406025e-02 1.02930306e+02] [ 3.57065585e-02 9.99362091e-01 6.72185611e-04 -3.98781373e+00] [ 2.02037034e-02 -1.39434194e-03 9.99794912e-01 1.15625930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55071405700001 meters Centerline goodness [0,1] 0.9862631275756636 Centerline is valid? [True, True] Translation: X:102.96, Y:-3.99, Z:1.16 [[ 9.99260258e-01 -3.32159002e-02 -1.93814687e-02 1.02960681e+02] [ 3.32346040e-02 9.99447371e-01 6.43644943e-04 -3.98661415e+00] [ 1.93493787e-02 -1.28730425e-03 9.99811955e-01 1.15716142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58071405700001 meters Centerline goodness [0,1] 0.9862265073088372 Centerline is valid? [True, True] Translation: X:102.99, Y:-3.98, Z:1.16 [[ 9.99403204e-01 -2.87697151e-02 -1.91191075e-02 1.02990554e+02] [ 2.87871034e-02 9.99585364e-01 6.34822522e-04 -3.98470284e+00] [ 1.90929164e-02 -1.18482739e-03 9.99817012e-01 1.15839466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.610714057 meters Centerline goodness [0,1] 0.9866961815163254 Centerline is valid? [True, True] Translation: X:103.02, Y:-3.98, Z:1.16 [[ 9.99457931e-01 -2.66798444e-02 -1.92881015e-02 1.03021248e+02] [ 2.66971498e-02 9.99643363e-01 6.40225184e-04 -3.98420459e+00] [ 1.92641415e-02 -1.15481547e-03 9.99813762e-01 1.15880180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.640714057 meters Centerline goodness [0,1] 0.9879271172094266 Centerline is valid? [True, True] Translation: X:103.05, Y:-3.98, Z:1.16 [[ 9.99552083e-01 -2.26973117e-02 -1.95054984e-02 1.03052197e+02] [ 2.27142532e-02 9.99741788e-01 6.47413549e-04 -3.97704148e+00] [ 1.94857673e-02 -1.09017639e-03 9.99809540e-01 1.15938877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.670714057 meters Centerline goodness [0,1] 0.9888068798900637 Centerline is valid? [True, True] Translation: X:103.08, Y:-3.98, Z:1.16 [[ 9.99592590e-01 -2.06416738e-02 -1.97123184e-02 1.03080919e+02] [ 2.06585698e-02 9.99786375e-01 6.53859625e-04 -3.97759580e+00] [ 1.96946106e-02 -1.06082154e-03 9.99805480e-01 1.15944453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.700714057 meters Centerline goodness [0,1] 0.9883893883893884 Centerline is valid? [True, True] Translation: X:103.11, Y:-3.97, Z:1.16 [[ 9.99623871e-01 -1.87713586e-02 -1.99938310e-02 1.03109637e+02] [ 1.87883442e-02 9.99823264e-01 6.62022344e-04 -3.97321653e+00] [ 1.99778703e-02 -1.03742432e-03 9.99799884e-01 1.16004567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.730714057 meters Centerline goodness [0,1] 0.989039631090022 Centerline is valid? [True, True] Translation: X:103.14, Y:-3.97, Z:1.16 [[ 9.99642378e-01 -1.61762014e-02 -2.12942944e-02 1.03138952e+02] [ 1.61948554e-02 9.99868607e-01 7.03839370e-04 -3.97321160e+00] [ 2.12801110e-02 -1.04844568e-03 9.99773003e-01 1.15944441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.760714057 meters Centerline goodness [0,1] 0.9887309486086626 Centerline is valid? [True, True] Translation: X:103.17, Y:-3.98, Z:1.16 [[ 9.99642306e-01 -1.55512491e-02 -2.17581655e-02 1.03166487e+02] [ 1.55705502e-02 9.99878514e-01 7.17931004e-04 -3.97602845e+00] [ 2.17443575e-02 -1.05646081e-03 9.99763005e-01 1.15871277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.790714057 meters Centerline goodness [0,1] 0.9907574844283705 Centerline is valid? [True, True] Translation: X:103.19, Y:-3.97, Z:1.16 [[ 9.99614837e-01 -1.54387316e-02 -2.30612906e-02 1.03194663e+02] [ 1.54602898e-02 9.99880196e-01 7.56814410e-04 -3.97289410e+00] [ 2.30468435e-02 -1.11305715e-03 9.99733767e-01 1.15845024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.820714057 meters Centerline goodness [0,1] 0.9898732479377641 Centerline is valid? [True, True] Translation: X:103.22, Y:-3.98, Z:1.16 [[ 9.99595579e-01 -1.62464846e-02 -2.33394446e-02 1.03223546e+02] [ 1.62686408e-02 9.99867368e-01 7.59726594e-04 -3.97521273e+00] [ 2.33240062e-02 -1.13912039e-03 9.99727309e-01 1.15801853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.850714057 meters Centerline goodness [0,1] 0.9902916964924839 Centerline is valid? [True, True] Translation: X:103.25, Y:-3.97, Z:1.16 [[ 9.99590059e-01 -1.67965314e-02 -2.31859998e-02 1.03251966e+02] [ 1.68184120e-02 9.99858280e-01 7.49006016e-04 -3.97432661e+00] [ 2.31701331e-02 -1.13865066e-03 9.99730888e-01 1.15885815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.880714057 meters Centerline goodness [0,1] 0.9904952698942682 Centerline is valid? [True, True] Translation: X:103.28, Y:-3.98, Z:1.16 [[ 9.99582701e-01 -1.76247699e-02 -2.28865017e-02 1.03280068e+02] [ 1.76462024e-02 9.99844024e-01 7.34831199e-04 -3.97728784e+00] [ 2.28699807e-02 -1.13838439e-03 9.99737800e-01 1.15921787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.910714057 meters Centerline goodness [0,1] 0.9901901633483051 Centerline is valid? [True, True] Translation: X:103.31, Y:-3.98, Z:1.16 [[ 9.99575687e-01 -1.85229944e-02 -2.24798522e-02 1.03308737e+02] [ 1.85438055e-02 9.99827791e-01 7.17644350e-04 -3.97838783e+00] [ 2.24626881e-02 -1.13420185e-03 9.99747039e-01 1.16037768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94071405700001 meters Centerline goodness [0,1] 0.9907502569373073 Centerline is valid? [True, True] Translation: X:103.34, Y:-3.98, Z:1.16 [[ 9.99581424e-01 -1.92856384e-02 -2.15648135e-02 1.03336911e+02] [ 1.93048850e-02 9.99813409e-01 6.84660626e-04 -3.98009064e+00] [ 2.15475856e-02 -1.10068029e-03 9.99767218e-01 1.16199613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97071405700001 meters Centerline goodness [0,1] 0.9896918692670763 Centerline is valid? [True, True] Translation: X:103.36, Y:-3.99, Z:1.16 [[ 9.99577018e-01 -1.98695410e-02 -2.12364448e-02 1.03364819e+02] [ 1.98882982e-02 9.99801982e-01 6.72397517e-04 -3.98773363e+00] [ 2.12188794e-02 -1.09446985e-03 9.99774255e-01 1.16151739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.000714057 meters Centerline goodness [0,1] 0.9902845401348997 Centerline is valid? [True, True] Translation: X:103.39, Y:-3.98, Z:1.16 [[ 9.99565286e-01 -2.07007097e-02 -2.09933296e-02 1.03393999e+02] [ 2.07191568e-02 9.99785116e-01 6.61562001e-04 -3.98401059e+00] [ 2.09751236e-02 -1.09623850e-03 9.99779397e-01 1.16318716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.030714057 meters Centerline goodness [0,1] 0.9899757189637121 Centerline is valid? [True, True] Translation: X:103.42, Y:-3.99, Z:1.16 [[ 9.99543058e-01 -2.17178010e-02 -2.10240906e-02 1.03421615e+02] [ 2.17364471e-02 9.99763518e-01 6.58753933e-04 -3.98694931e+00] [ 2.10048121e-02 -1.11544195e-03 9.99778752e-01 1.16321060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.060714057 meters Centerline goodness [0,1] 0.9901737967914439 Centerline is valid? [True, True] Translation: X:103.45, Y:-3.99, Z:1.16 [[ 9.99486635e-01 -2.39197602e-02 -2.13146051e-02 1.03451216e+02] [ 2.39393947e-02 9.99713189e-01 6.66460038e-04 -3.98999088e+00] [ 2.12925502e-02 -1.17637664e-03 9.99772596e-01 1.16278018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.090714057 meters Centerline goodness [0,1] 0.9909026043524795 Centerline is valid? [True, True] Translation: X:103.48, Y:-3.99, Z:1.16 [[ 9.99451777e-01 -2.49337664e-02 -2.17819143e-02 1.03480675e+02] [ 2.49544947e-02 9.99688357e-01 6.80295953e-04 -3.98736332e+00] [ 2.17581637e-02 -1.22347966e-03 9.99762515e-01 1.16360516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.120714057 meters Centerline goodness [0,1] 0.9903850443938785 Centerline is valid? [True, True] Translation: X:103.51, Y:-3.99, Z:1.16 [[ 9.99410338e-01 -2.53857139e-02 -2.31201718e-02 1.03509664e+02] [ 2.54091646e-02 9.99676875e-01 7.21045797e-04 -3.98978158e+00] [ 2.30943968e-02 -1.30808487e-03 9.99732433e-01 1.16320144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.150714057 meters Centerline goodness [0,1] 0.989579140390894 Centerline is valid? [True, True] Translation: X:103.54, Y:-3.99, Z:1.16 [[ 9.99414226e-01 -2.49142409e-02 -2.34624326e-02 1.03538236e+02] [ 2.49381819e-02 9.99688730e-01 7.28306897e-04 -3.98981325e+00] [ 2.34369843e-02 -1.31299069e-03 9.99724454e-01 1.16380900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.180714057 meters Centerline goodness [0,1] 0.9896472478190054 Centerline is valid? [True, True] Translation: X:103.57, Y:-3.99, Z:1.16 [[ 9.99420026e-01 -2.44008172e-02 -2.37531564e-02 1.03567173e+02] [ 2.44251217e-02 9.99701393e-01 7.33582150e-04 -3.99106639e+00] [ 2.37281635e-02 -1.31333043e-03 9.99717585e-01 1.16385541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.210714057 meters Centerline goodness [0,1] 0.9885775717261305 Centerline is valid? [True, True] Translation: X:103.60, Y:-3.99, Z:1.16 [[ 9.99473409e-01 -2.18388650e-02 -2.39993366e-02 1.03597350e+02] [ 2.18629189e-02 9.99760704e-01 7.40315476e-04 -3.98954987e+00] [ 2.39774260e-02 -1.26462118e-03 9.99711700e-01 1.16428418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.240714057 meters Centerline goodness [0,1] 0.9882958487188095 Centerline is valid? [True, True] Translation: X:103.63, Y:-3.99, Z:1.16 [[ 9.99487249e-01 -2.11462513e-02 -2.40432108e-02 1.03625537e+02] [ 2.11701640e-02 9.99775613e-01 7.40444168e-04 -3.98940117e+00] [ 2.40221582e-02 -1.24906322e-03 9.99710646e-01 1.16464680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.270714057 meters Centerline goodness [0,1] 0.9886083329595909 Centerline is valid? [True, True] Translation: X:103.65, Y:-3.99, Z:1.17 [[ 9.99521363e-01 -2.01358321e-02 -2.34860383e-02 1.03654007e+02] [ 2.01582833e-02 9.99796542e-01 7.19558231e-04 -3.98778912e+00] [ 2.34667710e-02 -1.19265204e-03 9.99723906e-01 1.16618869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30071405700001 meters Centerline goodness [0,1] 0.9895547868278 Centerline is valid? [True, True] Translation: X:103.68, Y:-3.99, Z:1.17 [[ 9.99547400e-01 -1.97238431e-02 -2.27148748e-02 1.03682509e+02] [ 1.97446143e-02 9.99804818e-01 6.90495515e-04 -3.98657834e+00] [ 2.26968220e-02 -1.13867944e-03 9.99741745e-01 1.16784804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33071405700001 meters Centerline goodness [0,1] 0.9900527674862468 Centerline is valid? [True, True] Translation: X:103.71, Y:-3.99, Z:1.17 [[ 9.99543302e-01 -2.04770516e-02 -2.22233665e-02 1.03711131e+02] [ 2.04969988e-02 9.99789690e-01 6.70138331e-04 -3.98572178e+00] [ 2.22049703e-02 -1.12534460e-03 9.99752806e-01 1.16900544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.360714057 meters Centerline goodness [0,1] 0.9897258737493831 Centerline is valid? [True, True] Translation: X:103.74, Y:-3.99, Z:1.17 [[ 9.99504003e-01 -2.29200189e-02 -2.15967699e-02 1.03740135e+02] [ 2.29393442e-02 9.99736649e-01 6.47479201e-04 -3.98561606e+00] [ 2.15762421e-02 -1.14257379e-03 9.99766553e-01 1.17028807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.390714057 meters Centerline goodness [0,1] 0.9887615194425714 Centerline is valid? [True, True] Translation: X:103.77, Y:-3.99, Z:1.17 [[ 9.99459938e-01 -2.45770961e-02 -2.18128015e-02 1.03769619e+02] [ 2.45971736e-02 9.99697231e-01 6.52586344e-04 -3.98750008e+00] [ 2.17901586e-02 -1.18876717e-03 9.99761860e-01 1.17049016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.420714057 meters Centerline goodness [0,1] 0.9888853890113846 Centerline is valid? [True, True] Translation: X:103.80, Y:-3.99, Z:1.17 [[ 9.99337710e-01 -2.82632166e-02 -2.29201236e-02 1.03799939e+02] [ 2.82863361e-02 9.99599627e-01 6.85057118e-04 -3.99054197e+00] [ 2.28915850e-02 -1.33292973e-03 9.99737065e-01 1.17083023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.450714057 meters Centerline goodness [0,1] 0.9882054846738569 Centerline is valid? [True, True] Translation: X:103.83, Y:-3.99, Z:1.17 [[ 9.99273231e-01 -2.98628136e-02 -2.36901489e-02 1.03829772e+02] [ 2.98879519e-02 9.99553005e-01 7.07686107e-04 -3.99291203e+00] [ 2.36584260e-02 -1.41522181e-03 9.99719099e-01 1.17092112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.480714057 meters Centerline goodness [0,1] 0.9892206944663231 Centerline is valid? [True, True] Translation: X:103.86, Y:-4.00, Z:1.17 [[ 9.99117992e-01 -3.37157492e-02 -2.50297042e-02 1.03860423e+02] [ 3.37450089e-02 9.99430196e-01 7.47419028e-04 -3.99521977e+00] [ 2.49902424e-02 -1.59138739e-03 9.99686428e-01 1.17117379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.510714057 meters Centerline goodness [0,1] 0.9879780684014201 Centerline is valid? [True, True] Translation: X:103.89, Y:-4.00, Z:1.17 [[ 9.99057643e-01 -3.51560607e-02 -2.54534221e-02 1.03890267e+02] [ 3.51867827e-02 9.99380464e-01 7.59971097e-04 -3.99872738e+00] [ 2.54109352e-02 -1.65487897e-03 9.99675720e-01 1.17096367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.540714057 meters Centerline goodness [0,1] 0.9880381703328704 Centerline is valid? [True, True] Translation: X:103.92, Y:-4.00, Z:1.17 [[ 9.98999860e-01 -3.63440427e-02 -2.60459344e-02 1.03920503e+02] [ 3.63766141e-02 9.99337849e-01 7.77661930e-04 -3.99957162e+00] [ 2.60004247e-02 -1.72434707e-03 9.99660445e-01 1.17178030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.570714057 meters Centerline goodness [0,1] 0.9888169247663656 Centerline is valid? [True, True] Translation: X:103.95, Y:-4.00, Z:1.17 [[ 9.98915833e-01 -3.76950643e-02 -2.73173993e-02 1.03951092e+02] [ 3.77313976e-02 9.99287584e-01 8.15624468e-04 -3.99838274e+00] [ 2.72671929e-02 -1.84546385e-03 9.99626477e-01 1.17299423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.600714057 meters Centerline goodness [0,1] 0.9888169247663656 Centerline is valid? [True, True] Translation: X:103.98, Y:-4.00, Z:1.17 [[ 9.98917162e-01 -3.76598428e-02 -2.73173836e-02 1.03981996e+02] [ 3.76961773e-02 9.99288913e-01 8.16146983e-04 -3.99933603e+00] [ 2.72672226e-02 -1.84502416e-03 9.99626477e-01 1.17338081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.630714057 meters Centerline goodness [0,1] 0.9886050111033848 Centerline is valid? [True, True] Translation: X:104.01, Y:-4.00, Z:1.17 [[ 9.98900041e-01 -3.77928583e-02 -2.77562255e-02 1.04013400e+02] [ 3.78304484e-02 9.99283827e-01 8.30242286e-04 -3.99982691e+00] [ 2.77049701e-02 -1.87935951e-03 9.99614377e-01 1.17350517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.660714057 meters Centerline goodness [0,1] 0.9882593274368069 Centerline is valid? [True, True] Translation: X:104.04, Y:-4.00, Z:1.17 [[ 9.98911351e-01 -3.72055833e-02 -2.81399778e-02 1.04042701e+02] [ 3.72439935e-02 9.99305847e-01 8.41893180e-04 -3.99966673e+00] [ 2.80891213e-02 -1.88902180e-03 9.99603638e-01 1.17452728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.69071405700001 meters Centerline goodness [0,1] 0.9882048396173326 Centerline is valid? [True, True] Translation: X:104.07, Y:-4.00, Z:1.18 [[ 9.98941025e-01 -3.66213670e-02 -2.78514547e-02 1.04073597e+02] [ 3.66587611e-02 9.99327495e-01 8.33045300e-04 -3.99869861e+00] [ 2.78022172e-02 -1.85316295e-03 9.99611726e-01 1.17555104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72071405700001 meters Centerline goodness [0,1] 0.9890349889674427 Centerline is valid? [True, True] Translation: X:104.10, Y:-4.00, Z:1.18 [[ 9.98961568e-01 -3.59502465e-02 -2.79886662e-02 1.04103341e+02] [ 3.59877405e-02 9.99351881e-01 8.36880010e-04 -4.00246548e+00] [ 2.79404402e-02 -1.84325982e-03 9.99607890e-01 1.17534033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.750714057 meters Centerline goodness [0,1] 0.9895579612088408 Centerline is valid? [True, True] Translation: X:104.13, Y:-3.99, Z:1.18 [[ 9.98999283e-01 -3.40772916e-02 -2.89684478e-02 1.04134006e+02] [ 3.41166674e-02 9.99417482e-01 8.65951337e-04 -3.99481177e+00] [ 2.89220639e-02 -1.85339166e-03 9.99579951e-01 1.17757454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.780714057 meters Centerline goodness [0,1] 0.9892422404887032 Centerline is valid? [True, True] Translation: X:104.16, Y:-4.00, Z:1.18 [[ 9.99010945e-01 -3.32350199e-02 -2.95392256e-02 1.04163552e+02] [ 3.32755880e-02 9.99445824e-01 8.82717657e-04 -3.99614452e+00] [ 2.94935186e-02 -1.86477970e-03 9.99563232e-01 1.17772584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.810714057 meters Centerline goodness [0,1] 0.9889724990396132 Centerline is valid? [True, True] Translation: X:104.19, Y:-3.99, Z:1.18 [[ 9.98984620e-01 -3.26795825e-02 -3.10124743e-02 1.04193869e+02] [ 3.27240061e-02 9.99463997e-01 9.25841655e-04 -3.98707933e+00] [ 3.09655954e-02 -1.93975397e-03 9.99518569e-01 1.18096264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.840714057 meters Centerline goodness [0,1] 0.9890132156606705 Centerline is valid? [True, True] Translation: X:104.22, Y:-3.99, Z:1.18 [[ 9.98978382e-01 -3.28565421e-02 -3.10264440e-02 1.04222168e+02] [ 3.29010456e-02 9.99458186e-01 9.24801522e-04 -3.98896374e+00] [ 3.09792477e-02 -1.94465918e-03 9.99518136e-01 1.18131724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.870714057 meters Centerline goodness [0,1] 0.9882985452245414 Centerline is valid? [True, True] Translation: X:104.25, Y:-3.99, Z:1.18 [[ 9.98944930e-01 -3.34399311e-02 -3.14769450e-02 1.04250541e+02] [ 3.34858518e-02 9.99438756e-01 9.32708028e-04 -3.98758154e+00] [ 3.14280890e-02 -1.98575627e-03 9.99504043e-01 1.18262251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.900714057 meters Centerline goodness [0,1] 0.9868373602596466 Centerline is valid? [True, True] Translation: X:104.28, Y:-4.00, Z:1.18 [[ 9.98906142e-01 -3.48804592e-02 -3.11427968e-02 1.04278391e+02] [ 3.49259691e-02 9.99389480e-01 9.18383241e-04 -3.99828776e+00] [ 3.10917498e-02 -2.00507102e-03 9.99514524e-01 1.18168793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.930714057 meters Centerline goodness [0,1] 0.9886887022487131 Centerline is valid? [True, True] Translation: X:104.31, Y:-3.99, Z:1.19 [[ 9.98871233e-01 -3.57021119e-02 -3.13307938e-02 1.04308672e+02] [ 3.57485273e-02 9.99360391e-01 9.22382972e-04 -3.98848058e+00] [ 3.12778233e-02 -2.04137155e-03 9.99508645e-01 1.18541465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.960714057 meters Centerline goodness [0,1] 0.9885237350026083 Centerline is valid? [True, True] Translation: X:104.34, Y:-3.99, Z:1.18 [[ 9.98774652e-01 -3.69496850e-02 -3.29228689e-02 1.04338078e+02] [ 3.70015751e-02 9.99314738e-01 9.68036123e-04 -3.98962467e+00] [ 3.28645394e-02 -2.18504795e-03 9.99457427e-01 1.18497732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.990714057 meters Centerline goodness [0,1] 0.9887886801835402 Centerline is valid? [True, True] Translation: X:104.37, Y:-3.99, Z:1.18 [[ 9.98727995e-01 -3.75012691e-02 -3.37052883e-02 1.04366314e+02] [ 3.75559151e-02 9.99294038e-01 9.89434193e-04 -3.99398543e+00] [ 3.36443886e-02 -2.25400857e-03 9.99431326e-01 1.18372365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.020714057 meters Centerline goodness [0,1] 0.9891655922734162 Centerline is valid? [True, True] Translation: X:104.40, Y:-3.99, Z:1.18 [[ 9.98659627e-01 -3.76807559e-02 -3.54839301e-02 1.04395920e+02] [ 3.77413844e-02 9.99286999e-01 1.04011439e-03 -3.99224091e+00] [ 3.54194378e-02 -2.37793290e-03 9.99369706e-01 1.18384938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05071405700001 meters Centerline goodness [0,1] 0.9886520333657346 Centerline is valid? [True, True] Translation: X:104.42, Y:-3.99, Z:1.18 [[ 9.98620524e-01 -3.79537130e-02 -3.62844941e-02 1.04423721e+02] [ 3.80171963e-02 9.99276522e-01 1.06101152e-03 -3.99399481e+00] [ 3.62179737e-02 -2.43898262e-03 9.99340938e-01 1.18321795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08071405700001 meters Centerline goodness [0,1] 0.9891660083512019 Centerline is valid? [True, True] Translation: X:104.45, Y:-3.99, Z:1.19 [[ 9.98652101e-01 -3.80134443e-02 -3.53406088e-02 1.04452579e+02] [ 3.80734621e-02 9.99274416e-01 1.02659725e-03 -3.98930240e+00] [ 3.52759417e-02 -2.37075283e-03 9.99374798e-01 1.18659824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.110714057 meters Centerline goodness [0,1] 0.9887645509197758 Centerline is valid? [True, True] Translation: X:104.48, Y:-3.99, Z:1.19 [[ 9.98688117e-01 -3.80438484e-02 -3.42740593e-02 1.04481219e+02] [ 3.81001641e-02 9.99273434e-01 9.91250615e-04 -3.99157850e+00] [ 3.42114459e-02 -2.29579750e-03 9.99411980e-01 1.18708010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.140714057 meters Centerline goodness [0,1] 0.9886419975661423 Centerline is valid? [True, True] Translation: X:104.51, Y:-3.99, Z:1.19 [[ 9.98695229e-01 -3.80708680e-02 -3.40360033e-02 1.04511347e+02] [ 3.81263678e-02 9.99272442e-01 9.82854197e-04 -3.99160677e+00] [ 3.39738220e-02 -2.27924098e-03 9.99420124e-01 1.18805753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.170714057 meters Centerline goodness [0,1] 0.9889311345587077 Centerline is valid? [True, True] Translation: X:104.54, Y:-3.99, Z:1.19 [[ 9.98710711e-01 -3.82655764e-02 -3.33565931e-02 1.04540239e+02] [ 3.83189386e-02 9.99265097e-01 9.61712287e-04 -3.99327254e+00] [ 3.32952787e-02 -2.23866160e-03 9.99443051e-01 1.18831242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.200714057 meters Centerline goodness [0,1] 0.9880767236910316 Centerline is valid? [True, True] Translation: X:104.57, Y:-4.00, Z:1.19 [[ 9.98635935e-01 -3.98244811e-02 -3.37680354e-02 1.04569953e+02] [ 3.98800207e-02 9.99204002e-01 9.72544669e-04 -3.99598114e+00] [ 3.37024250e-02 -2.31788801e-03 9.99429224e-01 1.18793407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.230714057 meters Centerline goodness [0,1] 0.9885745252557184 Centerline is valid? [True, True] Translation: X:104.60, Y:-4.00, Z:1.19 [[ 9.98568544e-01 -4.19272888e-02 -3.32109293e-02 1.04600195e+02] [ 4.19821479e-02 9.99117904e-01 9.55931902e-04 -3.99801893e+00] [ 3.31415544e-02 -2.34882967e-03 9.99447908e-01 1.18826954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.260714057 meters Centerline goodness [0,1] 0.9874289067437032 Centerline is valid? [True, True] Translation: X:104.63, Y:-4.00, Z:1.19 [[ 9.98503803e-01 -4.32432097e-02 -3.34690849e-02 1.04629773e+02] [ 4.32996416e-02 9.99061667e-01 9.62789828e-04 -4.00188303e+00] [ 3.33960456e-02 -2.41054869e-03 9.99439289e-01 1.18774694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.290714057 meters Centerline goodness [0,1] 0.9884426988104106 Centerline is valid? [True, True] Translation: X:104.66, Y:-4.00, Z:1.19 [[ 9.98431456e-01 -4.45884085e-02 -3.38600140e-02 1.04659827e+02] [ 4.46469169e-02 9.99002355e-01 9.73452951e-04 -3.99881564e+00] [ 3.37828290e-02 -2.48367128e-03 9.99426111e-01 1.18888643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.320714057 meters Centerline goodness [0,1] 0.9881455054530675 Centerline is valid? [True, True] Translation: X:104.69, Y:-4.00, Z:1.19 [[ 9.98329744e-01 -4.64922489e-02 -3.42956694e-02 1.04689718e+02] [ 4.65533829e-02 9.98915317e-01 9.85760074e-04 -4.00236298e+00] [ 3.42126392e-02 -2.58069303e-03 9.99411244e-01 1.18736786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.350714057 meters Centerline goodness [0,1] 0.9885656292286874 Centerline is valid? [True, True] Translation: X:104.72, Y:-4.00, Z:1.19 [[ 9.98303853e-01 -4.67588572e-02 -3.46846592e-02 1.04720884e+02] [ 4.68215741e-02 9.98902770e-01 9.97727227e-04 -3.99951652e+00] [ 3.45999496e-02 -2.62002528e-03 9.99397808e-01 1.18866616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.380714057 meters Centerline goodness [0,1] 0.9819327446419296 Centerline is valid? [True, True] Translation: X:104.75, Y:-4.01, Z:1.19 [[ 9.98323773e-01 -4.63978558e-02 -3.45959891e-02 1.04750060e+02] [ 4.64600386e-02 9.98919654e-01 9.95230792e-04 -4.00863324e+00] [ 3.45124369e-02 -2.60089355e-03 9.99400884e-01 1.18615089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.410714057 meters Centerline goodness [0,1] 0.980195345906288 Centerline is valid? [True, True] Translation: X:104.78, Y:-4.01, Z:1.19 [[ 9.98409687e-01 -4.51684488e-02 -3.37329028e-02 1.04779648e+02] [ 4.52268491e-02 9.98976272e-01 9.69841455e-04 -4.00931073e+00] [ 3.36545633e-02 -2.49393201e-03 9.99430413e-01 1.18668883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44071405700001 meters Centerline goodness [0,1] 0.9809665561644454 Centerline is valid? [True, True] Translation: X:104.81, Y:-4.01, Z:1.19 [[ 9.98458841e-01 -4.40006079e-02 -3.38214385e-02 1.04810082e+02] [ 4.40586421e-02 9.99028474e-01 9.72182127e-04 -4.00795056e+00] [ 3.37458035e-02 -2.46081049e-03 9.99427419e-01 1.18703256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47071405700001 meters Centerline goodness [0,1] 0.9887277491641818 Centerline is valid? [True, True] Translation: X:104.84, Y:-4.00, Z:1.19 [[ 9.98539312e-01 -4.27557356e-02 -3.30331613e-02 1.04840838e+02] [ 4.28104169e-02 9.99082763e-01 9.49523452e-04 -3.99986366e+00] [ 3.29622645e-02 -2.36229990e-03 9.99453805e-01 1.19001547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.500714057 meters Centerline goodness [0,1] 0.9874424067214744 Centerline is valid? [True, True] Translation: X:104.87, Y:-4.00, Z:1.19 [[ 9.98712189e-01 -4.04807170e-02 -3.05822530e-02 1.04870702e+02] [ 4.05265195e-02 9.99178076e-01 8.79073190e-04 -3.99971522e+00] [ 3.05215313e-02 -2.11733338e-03 9.99531867e-01 1.19121995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.530714057 meters Centerline goodness [0,1] 0.9892050587172538 Centerline is valid? [True, True] Translation: X:104.90, Y:-3.99, Z:1.19 [[ 9.98794374e-01 -3.92683265e-02 -2.94583926e-02 1.04901797e+02] [ 3.93103070e-02 9.99226692e-01 8.47072998e-04 -3.99102156e+00] [ 2.94023490e-02 -2.00407020e-03 9.99565648e-01 1.19461900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.560714057 meters Centerline goodness [0,1] 0.9883589511754068 Centerline is valid? [True, True] Translation: X:104.93, Y:-3.99, Z:1.20 [[ 9.98936637e-01 -3.69166502e-02 -2.76180307e-02 1.04932805e+02] [ 3.69526655e-02 9.99316701e-01 7.94638497e-04 -3.98773300e+00] [ 2.75698239e-02 -1.81435336e-03 9.99618234e-01 1.19589651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.590714057 meters Centerline goodness [0,1] 0.9874757850159932 Centerline is valid? [True, True] Translation: X:104.96, Y:-4.00, Z:1.19 [[ 9.98997618e-01 -3.55086178e-02 -2.72561311e-02 1.04962860e+02] [ 3.55431866e-02 9.99367833e-01 7.84716390e-04 -3.99855282e+00] [ 2.72110364e-02 -1.75269956e-03 9.99628175e-01 1.19362968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.620714057 meters Centerline goodness [0,1] 0.9890740111073331 Centerline is valid? [True, True] Translation: X:104.99, Y:-3.99, Z:1.20 [[ 9.99063320e-01 -3.42476155e-02 -2.64496322e-02 1.04994489e+02] [ 3.42797472e-02 9.99411986e-01 7.62227090e-04 -3.98691986e+00] [ 2.64079750e-02 -1.66819983e-03 9.99649857e-01 1.19592387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.650714057 meters Centerline goodness [0,1] 0.989587577527276 Centerline is valid? [True, True] Translation: X:105.03, Y:-3.98, Z:1.20 [[ 9.99148413e-01 -3.16819634e-02 -2.64329674e-02 1.05025475e+02] [ 3.17131790e-02 9.99496720e-01 7.62457150e-04 -3.98448270e+00] [ 2.63955081e-02 -1.60008128e-03 9.99650297e-01 1.19552484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.680714057 meters Centerline goodness [0,1] 0.9883338250981638 Centerline is valid? [True, True] Translation: X:105.06, Y:-4.00, Z:1.19 [[ 9.99176210e-01 -3.06234650e-02 -2.66290224e-02 1.05055232e+02] [ 3.06547839e-02 9.99529736e-01 7.68593618e-04 -3.99593589e+00] [ 2.65929627e-02 -1.58426738e-03 9.99645089e-01 1.19250640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.710714057 meters Centerline goodness [0,1] 0.9892655367231639 Centerline is valid? [True, True] Translation: X:105.09, Y:-3.99, Z:1.19 [[ 9.99245491e-01 -2.83005512e-02 -2.65993786e-02 1.05085745e+02] [ 2.83309799e-02 9.99598302e-01 7.67724247e-04 -3.98938177e+00] [ 2.65669667e-02 -1.52073145e-03 9.99645879e-01 1.19283080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.740714057 meters Centerline goodness [0,1] 0.9889713390972836 Centerline is valid? [True, True] Translation: X:105.12, Y:-3.99, Z:1.19 [[ 9.99268411e-01 -2.74773873e-02 -2.66014105e-02 1.05115710e+02] [ 2.75075118e-02 9.99621302e-01 7.67097944e-04 -3.98906599e+00] [ 2.65702588e-02 -1.49827536e-03 9.99645826e-01 1.19278459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.770714057 meters Centerline goodness [0,1] 0.9890566466114201 Centerline is valid? [True, True] Translation: X:105.14, Y:-3.99, Z:1.19 [[ 9.99314967e-01 -2.61764227e-02 -2.61608739e-02 1.05144932e+02] [ 2.62050901e-02 9.99656304e-01 7.53523293e-04 -3.98959854e+00] [ 2.61321580e-02 -1.43855516e-03 9.99657462e-01 1.19259387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80071405700001 meters Centerline goodness [0,1] 0.9899208720041959 Centerline is valid? [True, True] Translation: X:105.18, Y:-3.98, Z:1.19 [[ 9.99423280e-01 -2.32933059e-02 -2.47088946e-02 1.05175220e+02] [ 2.33179767e-02 9.99727846e-01 7.10764321e-04 -3.98103311e+00] [ 2.46856140e-02 -1.28651584e-03 9.99694436e-01 1.19456967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83071405700001 meters Centerline goodness [0,1] 0.9909780929006454 Centerline is valid? [True, True] Translation: X:105.21, Y:-3.98, Z:1.20 [[ 9.99492409e-01 -2.10310872e-02 -2.39294518e-02 1.05205627e+02] [ 2.10535613e-02 9.99778113e-01 6.87603870e-04 -3.97801931e+00] [ 2.39096811e-02 -1.19105503e-03 9.99713413e-01 1.19548223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.860714057 meters Centerline goodness [0,1] 0.9900013696753869 Centerline is valid? [True, True] Translation: X:105.23, Y:-3.97, Z:1.20 [[ 9.99649483e-01 -1.57009649e-02 -2.13164441e-02 1.05234738e+02] [ 1.57175803e-02 9.99876284e-01 6.12137015e-04 -3.97420586e+00] [ 2.13041958e-02 -9.46965373e-04 9.99772591e-01 1.19592561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.890714057 meters Centerline goodness [0,1] 0.9900107435938464 Centerline is valid? [True, True] Translation: X:105.26, Y:-3.97, Z:1.20 [[ 9.99717043e-01 -1.28988701e-02 -1.99863275e-02 1.05264857e+02] [ 1.29129097e-02 9.99916460e-01 5.73562259e-04 -3.97217732e+00] [ 1.99772596e-02 -8.31481607e-04 9.99800089e-01 1.19693849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.920714057 meters Centerline goodness [0,1] 0.9892507620728381 Centerline is valid? [True, True] Translation: X:105.29, Y:-3.97, Z:1.20 [[ 9.99838652e-01 -7.92506975e-03 -1.61202786e-02 1.05294782e+02] [ 7.93355320e-03 9.99968422e-01 4.62377137e-04 -3.96910976e+00] [ 1.61161052e-02 -5.90193622e-04 9.99869953e-01 1.19855790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.950714057 meters Centerline goodness [0,1] 0.9896902482147367 Centerline is valid? [True, True] Translation: X:105.32, Y:-3.97, Z:1.20 [[ 9.99877007e-01 -6.33657355e-03 -1.43463815e-02 1.05323584e+02] [ 6.34311991e-03 9.99979798e-01 4.10850159e-04 -3.96876908e+00] [ 1.43434883e-02 -5.01800445e-04 9.99897001e-01 1.19990249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.980714057 meters Centerline goodness [0,1] 0.9900229357798165 Centerline is valid? [True, True] Translation: X:105.35, Y:-3.97, Z:1.20 [[ 9.99911970e-01 -5.42645889e-03 -1.21080881e-02 1.05352010e+02] [ 5.43102481e-03 9.99985193e-01 3.44247684e-04 -3.96750708e+00] [ 1.21060408e-02 -4.09976707e-04 9.99926635e-01 1.20111894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.010714057 meters Centerline goodness [0,1] 0.9884065908987174 Centerline is valid? [True, True] Translation: X:105.38, Y:-3.97, Z:1.20 [[ 9.99906324e-01 -5.54791497e-03 -1.25125792e-02 1.05379531e+02] [ 5.55276006e-03 9.99984521e-01 3.52509374e-04 -3.97223369e+00] [ 1.25104298e-02 -4.21955702e-04 9.99921652e-01 1.20163576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.040714057 meters Centerline goodness [0,1] 0.9899163515526527 Centerline is valid? [True, True] Translation: X:105.41, Y:-3.97, Z:1.20 [[ 9.99897320e-01 -7.02135632e-03 -1.24919618e-02 1.05407855e+02] [ 7.02628664e-03 9.99975254e-01 3.50834706e-04 -3.96924766e+00] [ 1.24891893e-02 -4.38570787e-04 9.99921911e-01 1.20153631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.070714057 meters Centerline goodness [0,1] 0.9891018156008884 Centerline is valid? [True, True] Translation: X:105.44, Y:-3.97, Z:1.20 [[ 9.99851193e-01 -1.05460247e-02 -1.36518260e-02 1.05435695e+02] [ 1.05522165e-02 9.99944251e-01 3.81598900e-04 -3.97472716e+00] [ 1.36470406e-02 -5.25599139e-04 9.99906737e-01 1.20029181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.100714057 meters Centerline goodness [0,1] 0.9891488097957691 Centerline is valid? [True, True] Translation: X:105.46, Y:-3.98, Z:1.20 [[ 9.99807792e-01 -1.25932804e-02 -1.50262721e-02 1.05463888e+02] [ 1.26009957e-02 9.99920517e-01 4.18884110e-04 -3.98143280e+00] [ 1.50198027e-02 -6.08149587e-04 9.99887011e-01 1.19967105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.130714057 meters Centerline goodness [0,1] 0.9886547075006252 Centerline is valid? [True, True] Translation: X:105.49, Y:-3.98, Z:1.20 [[ 9.99716791e-01 -1.58330538e-02 -1.77666277e-02 1.05493077e+02] [ 1.58443320e-02 9.99874349e-01 4.94209113e-04 -3.98405456e+00] [ 1.77565705e-02 -7.75569496e-04 9.99842039e-01 1.19849283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.160714057 meters Centerline goodness [0,1] 0.9884531292702924 Centerline is valid? [True, True] Translation: X:105.52, Y:-3.99, Z:1.20 [[ 9.99684624e-01 -1.75623429e-02 -1.79503895e-02 1.05521736e+02] [ 1.75741167e-02 9.99845439e-01 4.98364437e-04 -3.98962102e+00] [ 1.79388627e-02 -8.13669505e-04 9.99838755e-01 1.19781640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.19071405700001 meters Centerline goodness [0,1] 0.9890247512352848 Centerline is valid? [True, True] Translation: X:105.55, Y:-3.99, Z:1.20 [[ 9.99667016e-01 -1.84014583e-02 -1.80898904e-02 1.05551746e+02] [ 1.84135376e-02 9.99830331e-01 5.01386266e-04 -3.99274073e+00] [ 1.80775949e-02 -8.34318190e-04 9.99836239e-01 1.19834105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22071405700001 meters Centerline goodness [0,1] 0.9899268442763053 Centerline is valid? [True, True] Translation: X:105.58, Y:-3.99, Z:1.20 [[ 9.99652372e-01 -1.97007505e-02 -1.75218487e-02 1.05581880e+02] [ 1.97122734e-02 9.99805577e-01 4.85144173e-04 -3.99163902e+00] [ 1.75088843e-02 -8.30370994e-04 9.99846363e-01 1.20032817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.250714057 meters Centerline goodness [0,1] 0.9893517781165388 Centerline is valid? [True, True] Translation: X:105.61, Y:-3.99, Z:1.20 [[ 9.99639609e-01 -2.04271944e-02 -1.74178706e-02 1.05612708e+02] [ 2.04386886e-02 9.99790992e-01 4.82132171e-04 -3.99344600e+00] [ 1.74043815e-02 -8.37956847e-04 9.99848181e-01 1.20150034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.280714057 meters Centerline goodness [0,1] 0.9882967844563117 Centerline is valid? [True, True] Translation: X:105.64, Y:-4.00, Z:1.20 [[ 9.99622569e-01 -2.14949200e-02 -1.71081416e-02 1.05643422e+02] [ 2.15061700e-02 9.99768603e-01 4.73858279e-04 -3.99561241e+00] [ 1.70939973e-02 -8.41610031e-04 9.99853533e-01 1.20259959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.310714057 meters Centerline goodness [0,1] 0.9866979832426207 Centerline is valid? [True, True] Translation: X:105.67, Y:-4.00, Z:1.20 [[ 9.99593889e-01 -2.26278313e-02 -1.73215881e-02 1.05673451e+02] [ 2.26395414e-02 9.99743577e-01 4.80225678e-04 -4.00327656e+00] [ 1.73062800e-02 -8.72183464e-04 9.99849855e-01 1.20269411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.340714057 meters Centerline goodness [0,1] 0.9872224739465337 Centerline is valid? [True, True] Translation: X:105.70, Y:-4.00, Z:1.20 [[ 9.99513136e-01 -2.58690967e-02 -1.74436269e-02 1.05704751e+02] [ 2.58814781e-02 9.99664901e-01 4.84382798e-04 -4.00405824e+00] [ 1.74252510e-02 -9.35613819e-04 9.99847731e-01 1.20404794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.370714057 meters Centerline goodness [0,1] 0.9869882144560256 Centerline is valid? [True, True] Translation: X:105.74, Y:-4.01, Z:1.20 [[ 9.99452456e-01 -2.83023802e-02 -1.71395278e-02 1.05735538e+02] [ 2.83147012e-02 9.99598945e-01 4.76576387e-04 -4.00644360e+00] [ 1.71191657e-02 -9.61616049e-04 9.99852994e-01 1.20443464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.400714057 meters Centerline goodness [0,1] 0.986424006164725 Centerline is valid? [True, True] Translation: X:105.77, Y:-4.01, Z:1.21 [[ 9.99285735e-01 -3.34569416e-02 -1.75685306e-02 1.05765511e+02] [ 3.34706920e-02 9.99439580e-01 4.89132710e-04 -4.01008876e+00] [ 1.75423200e-02 -1.07681422e-03 9.99845542e-01 1.20552642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.430714057 meters Centerline goodness [0,1] 0.9851054182725005 Centerline is valid? [True, True] Translation: X:105.80, Y:-4.02, Z:1.21 [[ 9.99195479e-01 -3.59399832e-02 -1.77964253e-02 1.05795295e+02] [ 3.59544953e-02 9.99353305e-01 4.96063542e-04 -4.01817427e+00] [ 1.77670880e-02 -1.13552594e-03 9.99841508e-01 1.20546316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.460714057 meters Centerline goodness [0,1] 0.9850157549928592 Centerline is valid? [True, True] Translation: X:105.83, Y:-4.02, Z:1.21 [[ 9.99098703e-01 -3.81387226e-02 -1.86338264e-02 1.05826157e+02] [ 3.81550359e-02 9.99271696e-01 5.20604334e-04 -4.01824634e+00] [ 1.86004002e-02 -1.23110943e-03 9.99826240e-01 1.20592666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.490714057 meters Centerline goodness [0,1] 0.9850574192965006 Centerline is valid? [True, True] Translation: X:105.86, Y:-4.03, Z:1.21 [[ 9.98964899e-01 -4.12699539e-02 -1.91290639e-02 1.05855874e+02] [ 4.12877297e-02 9.99147155e-01 5.35085586e-04 -4.02823293e+00] [ 1.90906668e-02 -1.32432734e-03 9.99816880e-01 1.20537900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.520714057 meters Centerline goodness [0,1] 0.9850574192965006 Centerline is valid? [True, True] Translation: X:105.89, Y:-4.03, Z:1.21 [[ 9.98967787e-01 -4.12000114e-02 -1.91290291e-02 1.05887630e+02] [ 4.12177981e-02 9.99150042e-01 5.36328460e-04 -4.02918522e+00] [ 1.90906734e-02 -1.32423131e-03 9.99816880e-01 1.20577595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55071405700001 meters Centerline goodness [0,1] 0.9841840077724304 Centerline is valid? [True, True] Translation: X:105.92, Y:-4.03, Z:1.21 [[ 9.98882391e-01 -4.28460792e-02 -1.99545107e-02 1.05919028e+02] [ 4.28657847e-02 9.99080683e-01 5.60648497e-04 -4.03065165e+00] [ 1.99121446e-02 -1.41538767e-03 9.99800732e-01 1.20579141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58071405700001 meters Centerline goodness [0,1] 0.9846233977988134 Centerline is valid? [True, True] Translation: X:105.95, Y:-4.03, Z:1.21 [[ 9.98848093e-01 -4.33712529e-02 -2.05285557e-02 1.05951614e+02] [ 4.33922401e-02 9.99057946e-01 5.77799745e-04 -4.03181358e+00] [ 2.04841568e-02 -1.46791419e-03 9.99789100e-01 1.20568101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.610714057 meters Centerline goodness [0,1] 0.9827707215467862 Centerline is valid? [True, True] Translation: X:105.98, Y:-4.04, Z:1.20 [[ 9.98824184e-01 -4.35910068e-02 -2.12149364e-02 1.05982845e+02] [ 4.36135031e-02 9.99048299e-01 5.98654413e-04 -4.04043743e+00] [ 2.11686502e-02 -1.52320820e-03 9.99774759e-01 1.20404065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.640714057 meters Centerline goodness [0,1] 0.9844287524895889 Centerline is valid? [True, True] Translation: X:106.02, Y:-4.04, Z:1.21 [[ 9.98844138e-01 -4.29766686e-02 -2.15266053e-02 1.06015034e+02] [ 4.29997221e-02 9.99074899e-01 6.08989918e-04 -4.03585228e+00] [ 2.14805186e-02 -1.53392405e-03 9.99768090e-01 1.20503001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.670714057 meters Centerline goodness [0,1] 0.9846819246711119 Centerline is valid? [True, True] Translation: X:106.05, Y:-4.03, Z:1.21 [[ 9.98938904e-01 -4.09196299e-02 -2.11340963e-02 1.06046940e+02] [ 4.09414200e-02 9.99161369e-01 5.99209098e-04 -4.03474726e+00] [ 2.10918532e-02 -1.46383319e-03 9.99776470e-01 1.20539802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.700714057 meters Centerline goodness [0,1] 0.9856717360891737 Centerline is valid? [True, True] Translation: X:106.08, Y:-4.03, Z:1.21 [[ 9.99007810e-01 -3.94789959e-02 -2.06108025e-02 1.06078971e+02] [ 3.94994384e-02 9.99219421e-01 5.85519915e-04 -4.03332098e+00] [ 2.05715984e-02 -1.39905409e-03 9.99787403e-01 1.20602262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.730714057 meters Centerline goodness [0,1] 0.9841960501397782 Centerline is valid? [True, True] Translation: X:106.11, Y:-4.04, Z:1.21 [[ 9.99083720e-01 -3.76896141e-02 -2.02783919e-02 1.06108930e+02] [ 3.77090663e-02 9.99288593e-01 5.77595571e-04 -4.04020895e+00] [ 2.02421964e-02 -1.34174556e-03 9.99794205e-01 1.20554676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.760714057 meters Centerline goodness [0,1] 0.9858293220567727 Centerline is valid? [True, True] Translation: X:106.14, Y:-4.03, Z:1.21 [[ 9.99245156e-01 -3.33811660e-02 -1.98699935e-02 1.06139996e+02] [ 3.33990175e-02 9.99441936e-01 5.67149891e-04 -4.03195286e+00] [ 1.98399727e-02 -1.23036004e-03 9.99802411e-01 1.20671685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.790714057 meters Centerline goodness [0,1] 0.9862042493621441 Centerline is valid? [True, True] Translation: X:106.17, Y:-4.02, Z:1.21 [[ 9.99325904e-01 -3.07744822e-02 -2.00167006e-02 1.06172226e+02] [ 3.07920859e-02 9.99525648e-01 5.71763280e-04 -4.02481266e+00] [ 1.99896100e-02 -1.18773382e-03 9.99799482e-01 1.20796860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.820714057 meters Centerline goodness [0,1] 0.9875635952515546 Centerline is valid? [True, True] Translation: X:106.20, Y:-4.02, Z:1.21 [[ 9.99507167e-01 -2.47419506e-02 -1.93199136e-02 1.06202161e+02] [ 2.47572388e-02 9.99693340e-01 5.52508331e-04 -4.02122807e+00] [ 1.93003188e-02 -1.03054375e-03 9.99813200e-01 1.20866773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.850714057 meters Centerline goodness [0,1] 0.9876436846759018 Centerline is valid? [True, True] Translation: X:106.23, Y:-4.02, Z:1.21 [[ 9.99577354e-01 -2.18644169e-02 -1.91588332e-02 1.06232980e+02] [ 2.18789262e-02 9.99760477e-01 5.48012498e-04 -4.01917941e+00] [ 1.91422623e-02 -9.66955581e-04 9.99816303e-01 1.20907690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.880714057 meters Centerline goodness [0,1] 0.986797032735192 Centerline is valid? [True, True] Translation: X:106.26, Y:-4.02, Z:1.21 [[ 9.99649262e-01 -1.86707222e-02 -1.87818050e-02 1.06264249e+02] [ 1.86841098e-02 9.99825292e-01 5.37557153e-04 -4.01802649e+00] [ 1.87684871e-02 -8.88289919e-04 9.99823462e-01 1.20922069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.910714057 meters Centerline goodness [0,1] 0.9875141884222475 Centerline is valid? [True, True] Translation: X:106.29, Y:-4.02, Z:1.21 [[ 9.99674571e-01 -1.63654549e-02 -1.95684456e-02 1.06294258e+02] [ 1.63795490e-02 9.99865689e-01 5.60176749e-04 -4.01674080e+00] [ 1.95566498e-02 -8.80516764e-04 9.99808363e-01 1.20887321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94071405700001 meters Centerline goodness [0,1] 0.987706405371076 Centerline is valid? [True, True] Translation: X:106.32, Y:-4.02, Z:1.21 [[ 9.99731262e-01 -1.20076335e-02 -1.98297913e-02 1.06323621e+02] [ 1.20212415e-02 9.99927581e-01 5.67174121e-04 -4.01686243e+00] [ 1.98215448e-02 -8.05400409e-04 9.99803209e-01 1.20788151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97071405700001 meters Centerline goodness [0,1] 0.987888959448426 Centerline is valid? [True, True] Translation: X:106.35, Y:-4.01, Z:1.21 [[ 9.99738677e-01 -1.08482181e-02 -2.01219545e-02 1.06352865e+02] [ 1.08619516e-02 9.99940843e-01 5.73342975e-04 -4.01470824e+00] [ 2.01145444e-02 -7.91756844e-04 9.99797369e-01 1.20837857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.000714057 meters Centerline goodness [0,1] 0.9885462354839443 Centerline is valid? [True, True] Translation: X:106.38, Y:-4.01, Z:1.21 [[ 9.99752302e-01 -8.22232757e-03 -2.06815631e-02 1.06382270e+02] [ 8.23617550e-03 9.99965911e-01 5.84488918e-04 -4.01359218e+00] [ 2.06760522e-02 -7.54681124e-04 9.99785943e-01 1.20854939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.030714057 meters Centerline goodness [0,1] 0.9882997261638038 Centerline is valid? [True, True] Translation: X:106.41, Y:-4.01, Z:1.21 [[ 9.99764884e-01 -7.06941548e-03 -2.04987984e-02 1.06410772e+02] [ 7.08267951e-03 9.99974752e-01 5.74534489e-04 -4.01400851e+00] [ 2.04942192e-02 -7.19585826e-04 9.99789712e-01 1.20862183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.060714057 meters Centerline goodness [0,1] 0.9886789879288004 Centerline is valid? [True, True] Translation: X:106.44, Y:-4.01, Z:1.21 [[ 9.99762819e-01 -6.44271441e-03 -2.08037768e-02 1.06439544e+02] [ 6.45613383e-03 9.99978992e-01 5.77947914e-04 -4.01490680e+00] [ 2.07996162e-02 -7.12122803e-04 9.99783411e-01 1.20913176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.090714057 meters Centerline goodness [0,1] 0.9894889452700254 Centerline is valid? [True, True] Translation: X:106.47, Y:-4.02, Z:1.21 [[ 9.99791094e-01 -5.47547082e-03 -1.96923186e-02 1.06467577e+02] [ 5.48723789e-03 9.99984797e-01 5.43562030e-04 -4.01740112e+00] [ 1.96890429e-02 -6.51504914e-04 9.99805940e-01 1.20981133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.120714057 meters Centerline goodness [0,1] 0.9883332196220236 Centerline is valid? [True, True] Translation: X:106.50, Y:-4.02, Z:1.21 [[ 9.99784075e-01 -6.29812798e-03 -1.98024662e-02 1.06496394e+02] [ 6.31013211e-03 9.99979943e-01 5.43767310e-04 -4.01904132e+00] [ 1.97986443e-02 -6.68606075e-04 9.99803764e-01 1.21042074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.150714057 meters Centerline goodness [0,1] 0.989088429188452 Centerline is valid? [True, True] Translation: X:106.53, Y:-4.02, Z:1.21 [[ 9.99747834e-01 -7.67412267e-03 -2.11039612e-02 1.06525109e+02] [ 7.68795096e-03 9.99970282e-01 5.74190772e-04 -4.01974711e+00] [ 2.10989277e-02 -7.36292199e-04 9.99777122e-01 1.21046738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.180714057 meters Centerline goodness [0,1] 0.9883287072848888 Centerline is valid? [True, True] Translation: X:106.55, Y:-4.02, Z:1.21 [[ 9.99726857e-01 -8.36233785e-03 -2.18239154e-02 1.06552942e+02] [ 8.37720232e-03 9.99964737e-01 5.89774157e-04 -4.02483217e+00] [ 2.18182139e-02 -7.72436419e-04 9.99761656e-01 1.20922795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.210714057 meters Centerline goodness [0,1] 0.9894297509413419 Centerline is valid? [True, True] Translation: X:106.58, Y:-4.03, Z:1.21 [[ 9.99671968e-01 -9.95530469e-03 -2.35976205e-02 1.06581254e+02] [ 9.97307666e-03 9.99950066e-01 6.35555456e-04 -4.02547677e+00] [ 2.35901150e-02 -8.70687852e-04 9.99721335e-01 1.20841981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.240714057 meters Centerline goodness [0,1] 0.9893219070937904 Centerline is valid? [True, True] Translation: X:106.61, Y:-4.03, Z:1.21 [[ 9.99645910e-01 -1.10500395e-02 -2.42064151e-02 1.06609580e+02] [ 1.10689645e-02 9.99938527e-01 6.47964271e-04 -4.02778679e+00] [ 2.41977670e-02 -9.15674783e-04 9.99706772e-01 1.20775901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.270714057 meters Centerline goodness [0,1] 0.9884587422755362 Centerline is valid? [True, True] Translation: X:106.64, Y:-4.03, Z:1.21 [[ 9.99602899e-01 -1.32941037e-02 -2.48457354e-02 1.06638911e+02] [ 1.33146451e-02 9.99911137e-01 6.61503677e-04 -4.03102752e+00] [ 2.48347335e-02 -9.92053144e-04 9.99691078e-01 1.20800553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30071405700001 meters Centerline goodness [0,1] 0.9879039578794481 Centerline is valid? [True, True] Translation: X:106.67, Y:-4.03, Z:1.21 [[ 9.99593297e-01 -1.45360110e-02 -2.45345857e-02 1.06667841e+02] [ 1.45563311e-02 9.99893840e-01 6.49821752e-04 -4.03298743e+00] [ 2.45225353e-02 -1.00669102e-03 9.99698771e-01 1.20893995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33071405700001 meters Centerline goodness [0,1] 0.9887910691595571 Centerline is valid? [True, True] Translation: X:106.70, Y:-4.04, Z:1.21 [[ 9.99578260e-01 -1.58115824e-02 -2.43576719e-02 1.06696321e+02] [ 1.58318431e-02 9.99874464e-01 6.39170436e-04 -4.03503227e+00] [ 2.43445079e-02 -1.02452771e-03 9.99703104e-01 1.20976631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.360714057 meters Centerline goodness [0,1] 0.9879196452809701 Centerline is valid? [True, True] Translation: X:106.73, Y:-4.04, Z:1.21 [[ 9.99554610e-01 -1.85042083e-02 -2.34131525e-02 1.06725817e+02] [ 1.85235870e-02 9.99828237e-01 6.11058365e-04 -4.03933365e+00] [ 2.33978238e-02 -1.04448177e-03 9.99725688e-01 1.21025984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.390714057 meters Centerline goodness [0,1] 0.9876654973407265 Centerline is valid? [True, True] Translation: X:106.75, Y:-4.04, Z:1.21 [[ 9.99527111e-01 -2.04647394e-02 -2.29510142e-02 1.06754677e+02] [ 2.04838076e-02 9.99790007e-01 5.96010749e-04 -4.04210532e+00] [ 2.29339974e-02 -1.06585306e-03 9.99736413e-01 1.21019072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.420714057 meters Centerline goodness [0,1] 0.987819209039548 Centerline is valid? [True, True] Translation: X:106.78, Y:-4.05, Z:1.21 [[ 9.99454111e-01 -2.45436481e-02 -2.21153693e-02 1.06783737e+02] [ 2.45622760e-02 9.99698139e-01 5.71025029e-04 -4.04845779e+00] [ 2.20946785e-02 -1.11391712e-03 9.99755262e-01 1.21011450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.450714057 meters Centerline goodness [0,1] 0.9874269203855444 Centerline is valid? [True, True] Translation: X:106.81, Y:-4.05, Z:1.21 [[ 9.99397824e-01 -2.68494236e-02 -2.19794695e-02 1.06813469e+02] [ 2.68683623e-02 9.99638820e-01 5.66746284e-04 -4.04856083e+00] [ 2.19563141e-02 -1.15695735e-03 9.99758262e-01 1.21055205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.480714057 meters Centerline goodness [0,1] 0.9865066449688094 Centerline is valid? [True, True] Translation: X:106.84, Y:-4.06, Z:1.21 [[ 9.99323286e-01 -2.90910839e-02 -2.25095141e-02 1.06843289e+02] [ 2.91115041e-02 9.99576002e-01 5.79959346e-04 -4.05559606e+00] [ 2.24830985e-02 -1.23485269e-03 9.99746461e-01 1.20984558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.510714057 meters Centerline goodness [0,1] 0.9876163078167843 Centerline is valid? [True, True] Translation: X:106.87, Y:-4.06, Z:1.21 [[ 9.99160055e-01 -3.37370860e-02 -2.32592653e-02 1.06874150e+02] [ 3.37601447e-02 9.99429784e-01 5.99310938e-04 -4.05579832e+00] [ 2.32257835e-02 -1.38404371e-03 9.99729287e-01 1.21047741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.540714057 meters Centerline goodness [0,1] 0.9863081677305845 Centerline is valid? [True, True] Translation: X:106.90, Y:-4.06, Z:1.21 [[ 9.99062832e-01 -3.59060629e-02 -2.41705037e-02 1.06904093e+02] [ 3.59315977e-02 9.99354058e-01 6.22831669e-04 -4.06322467e+00] [ 2.41325275e-02 -1.49073279e-03 9.99707657e-01 1.20955914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.570714057 meters Centerline goodness [0,1] 0.9853425337121725 Centerline is valid? [True, True] Translation: X:106.93, Y:-4.07, Z:1.21 [[ 9.98896679e-01 -3.96798054e-02 -2.51184835e-02 1.06933235e+02] [ 3.97085771e-02 9.99211094e-01 6.47493299e-04 -4.07190346e+00] [ 2.50729749e-02 -1.64419814e-03 9.99684271e-01 1.20823796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.600714057 meters Centerline goodness [0,1] 0.9848345071214815 Centerline is valid? [True, True] Translation: X:106.96, Y:-4.07, Z:1.21 [[ 9.98837133e-01 -4.09959603e-02 -2.53714815e-02 1.06964610e+02] [ 4.10257542e-02 9.99157875e-01 6.54676471e-04 -4.07458815e+00] [ 2.53232764e-02 -1.69479933e-03 9.99677878e-01 1.20816341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.630714057 meters Centerline goodness [0,1] 0.9869455204997872 Centerline is valid? [True, True] Translation: X:107.00, Y:-4.07, Z:1.21 [[ 9.98745994e-01 -4.24381162e-02 -2.65602198e-02 1.06996184e+02] [ 4.24713006e-02 9.99097452e-01 6.86276392e-04 -4.06958758e+00] [ 2.65071237e-02 -1.81346288e-03 9.99646980e-01 1.20897971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.660714057 meters Centerline goodness [0,1] 0.9859773307647507 Centerline is valid? [True, True] Translation: X:107.03, Y:-4.07, Z:1.21 [[ 9.98763069e-01 -4.19947211e-02 -2.66228495e-02 1.07027410e+02] [ 4.20279302e-02 9.99116199e-01 6.88824871e-04 -4.06993478e+00] [ 2.65703932e-02 -1.80687610e-03 9.99645312e-01 1.20913600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.69071405700001 meters Centerline goodness [0,1] 0.9868724141786872 Centerline is valid? [True, True] Translation: X:107.06, Y:-4.07, Z:1.21 [[ 9.98784313e-01 -4.12255115e-02 -2.70250368e-02 1.07058893e+02] [ 4.12594777e-02 9.99148220e-01 7.00190783e-04 -4.06661947e+00] [ 2.69731517e-02 -1.81437847e-03 9.99634512e-01 1.21057871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72071405700001 meters Centerline goodness [0,1] 0.9871703013747705 Centerline is valid? [True, True] Translation: X:107.09, Y:-4.07, Z:1.21 [[ 9.98929521e-01 -3.83212144e-02 -2.59094022e-02 1.07089050e+02] [ 3.83514714e-02 9.99264086e-01 6.71712850e-04 -4.06520530e+00] [ 2.58645942e-02 -1.66465749e-03 9.99664069e-01 1.21186532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.750714057 meters Centerline goodness [0,1] 0.9866269432373102 Centerline is valid? [True, True] Translation: X:107.12, Y:-4.07, Z:1.21 [[ 9.99024543e-01 -3.62549471e-02 -2.52099529e-02 1.07119400e+02] [ 3.62829424e-02 9.99341343e-01 6.53804962e-04 -4.06559218e+00] [ 2.51696446e-02 -1.56785847e-03 9.99681965e-01 1.21290820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.780714057 meters Centerline goodness [0,1] 0.9879602124403637 Centerline is valid? [True, True] Translation: X:107.15, Y:-4.06, Z:1.22 [[ 9.99201467e-01 -3.19306973e-02 -2.40178724e-02 1.07149719e+02] [ 3.19548680e-02 9.99489119e-01 6.23142030e-04 -4.05631218e+00] [ 2.39857048e-02 -1.39013237e-03 9.99711335e-01 1.21593721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.810714057 meters Centerline goodness [0,1] 0.9878698025473415 Centerline is valid? [True, True] Translation: X:107.18, Y:-4.06, Z:1.22 [[ 9.99277585e-01 -2.97286460e-02 -2.36751950e-02 1.07180050e+02] [ 2.97515216e-02 9.99557137e-01 6.14499199e-04 -4.05601432e+00] [ 2.36464419e-02 -1.31842835e-03 9.99719514e-01 1.21658427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.840714057 meters Centerline goodness [0,1] 0.9878763295475032 Centerline is valid? [True, True] Translation: X:107.21, Y:-4.05, Z:1.22 [[ 9.99340369e-01 -2.75510265e-02 -2.36594220e-02 1.07210405e+02] [ 2.75732686e-02 9.99619596e-01 6.14317039e-04 -4.05320179e+00] [ 2.36334968e-02 -1.26627941e-03 9.99719888e-01 1.21737007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.870714057 meters Centerline goodness [0,1] 0.9874562887760857 Centerline is valid? [True, True] Translation: X:107.24, Y:-4.05, Z:1.22 [[ 9.99451317e-01 -2.45002527e-02 -2.22890630e-02 1.07240120e+02] [ 2.45192356e-02 9.99699191e-01 5.78735659e-04 -4.05273214e+00] [ 2.22681790e-02 -1.12492890e-03 9.99751400e-01 1.21717997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.900714057 meters Centerline goodness [0,1] 0.987223764700571 Centerline is valid? [True, True] Translation: X:107.27, Y:-4.05, Z:1.22 [[ 9.99469457e-01 -2.39042596e-02 -2.21221942e-02 1.07269539e+02] [ 2.39228098e-02 9.99713644e-01 5.74232860e-04 -4.05287504e+00] [ 2.21021328e-02 -1.10315325e-03 9.99755109e-01 1.21760539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.930714057 meters Centerline goodness [0,1] 0.9858753870143958 Centerline is valid? [True, True] Translation: X:107.30, Y:-4.06, Z:1.22 [[ 9.99495682e-01 -2.37024443e-02 -2.11323529e-02 1.07298913e+02] [ 2.37193186e-02 9.99718507e-01 5.48178047e-04 -4.06285980e+00] [ 2.11134111e-02 -1.04914660e-03 9.99776537e-01 1.21674001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.960714057 meters Centerline goodness [0,1] 0.9871124096849448 Centerline is valid? [True, True] Translation: X:107.33, Y:-4.06, Z:1.22 [[ 9.99463052e-01 -2.41222727e-02 -2.21748615e-02 1.07329750e+02] [ 2.41409515e-02 9.99708399e-01 5.74992745e-04 -4.05515869e+00] [ 2.21545251e-02 -1.11000626e-03 9.99753942e-01 1.21837665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.990714057 meters Centerline goodness [0,1] 0.9874912348164401 Centerline is valid? [True, True] Translation: X:107.36, Y:-4.06, Z:1.22 [[ 9.99434722e-01 -2.51505053e-02 -2.23089393e-02 1.07358905e+02] [ 2.51696643e-02 9.99683026e-01 5.78389156e-04 -4.05777358e+00] [ 2.22873212e-02 -1.13957072e-03 9.99750957e-01 1.21780707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.020714057 meters Centerline goodness [0,1] 0.9867966686979484 Centerline is valid? [True, True] Translation: X:107.39, Y:-4.06, Z:1.22 [[ 9.99386659e-01 -2.61777202e-02 -2.32601151e-02 1.07388871e+02] [ 2.61988190e-02 9.99656570e-01 6.02758935e-04 -4.05919662e+00] [ 2.32363480e-02 -1.21177678e-03 9.99729265e-01 1.21734981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05071405700001 meters Centerline goodness [0,1] 0.9862314112803438 Centerline is valid? [True, True] Translation: X:107.42, Y:-4.06, Z:1.22 [[ 9.99287220e-01 -2.84984249e-02 -2.47566553e-02 1.07417782e+02] [ 2.85230212e-02 9.99592930e-01 6.40896057e-04 -4.06367757e+00] [ 2.47283131e-02 -1.34657384e-03 9.99693302e-01 1.21570456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08071405700001 meters Centerline goodness [0,1] 0.9872802855722742 Centerline is valid? [True, True] Translation: X:107.45, Y:-4.07, Z:1.22 [[ 9.99241848e-01 -2.99485622e-02 -2.48759350e-02 1.07448291e+02] [ 2.99738334e-02 9.99550477e-01 6.43557499e-04 -4.06550191e+00] [ 2.48454791e-02 -1.38869672e-03 9.99690339e-01 1.21574394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.110714057 meters Centerline goodness [0,1] 0.986496317177412 Centerline is valid? [True, True] Translation: X:107.48, Y:-4.07, Z:1.22 [[ 9.99221452e-01 -3.11155733e-02 -2.42551187e-02 1.07478045e+02] [ 3.11399364e-02 9.99514838e-01 6.27300283e-04 -4.06866730e+00] [ 2.42238322e-02 -1.38211475e-03 9.99705605e-01 1.21571370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.140714057 meters Centerline goodness [0,1] 0.9862656664324728 Centerline is valid? [True, True] Translation: X:107.51, Y:-4.07, Z:1.22 [[ 9.99244291e-01 -3.07676752e-02 -2.37528531e-02 1.07508188e+02] [ 3.07909366e-02 9.99525658e-01 6.14106105e-04 -4.06935727e+00] [ 2.37226916e-02 -1.34501461e-03 9.99717673e-01 1.21652268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.170714057 meters Centerline goodness [0,1] 0.986937326475809 Centerline is valid? [True, True] Translation: X:107.54, Y:-4.06, Z:1.22 [[ 9.99262262e-01 -3.06565785e-02 -2.31323524e-02 1.07539278e+02] [ 3.06786189e-02 9.99529121e-01 5.98433861e-04 -4.06369039e+00] [ 2.31031139e-02 -1.30766100e-03 9.99732232e-01 1.21866462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.200714057 meters Centerline goodness [0,1] 0.9856899875269305 Centerline is valid? [True, True] Translation: X:107.57, Y:-4.07, Z:1.22 [[ 9.99336775e-01 -2.91710552e-02 -2.17958571e-02 1.07569581e+02] [ 2.91902819e-02 9.99573714e-01 5.64429228e-04 -4.07002572e+00] [ 2.17701008e-02 -1.20028210e-03 9.99762283e-01 1.21925944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.230714057 meters Centerline goodness [0,1] 0.9875113947128532 Centerline is valid? [True, True] Translation: X:107.60, Y:-4.06, Z:1.22 [[ 9.99367074e-01 -2.86206950e-02 -2.11259801e-02 1.07601158e+02] [ 2.86386458e-02 9.99589680e-01 5.47587253e-04 -4.06431052e+00] [ 2.11016394e-02 -1.15226013e-03 9.99776672e-01 1.22114739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.260714057 meters Centerline goodness [0,1] 0.986894612733539 Centerline is valid? [True, True] Translation: X:107.63, Y:-4.07, Z:1.22 [[ 9.99416965e-01 -2.69601842e-02 -2.09494150e-02 1.07631097e+02] [ 2.69774844e-02 9.99635894e-01 5.43579628e-04 -4.06835004e+00] [ 2.09271322e-02 -1.10842522e-03 9.99780389e-01 1.22029856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.290714057 meters Centerline goodness [0,1] 0.9871211431692 Centerline is valid? [True, True] Translation: X:107.66, Y:-4.06, Z:1.22 [[ 9.99431270e-01 -2.65910168e-02 -2.07377351e-02 1.07662254e+02] [ 2.66078999e-02 9.99645802e-01 5.38579423e-04 -4.06452489e+00] [ 2.07160685e-02 -1.09006070e-03 9.99784805e-01 1.22095725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.320714057 meters Centerline goodness [0,1] 0.9872362653584974 Centerline is valid? [True, True] Translation: X:107.69, Y:-4.06, Z:1.22 [[ 9.99444809e-01 -2.60080683e-02 -2.08243649e-02 1.07693761e+02] [ 2.60249816e-02 9.99661146e-01 5.41546131e-04 -4.06377362e+00] [ 2.08032239e-02 -1.08319918e-03 9.99783003e-01 1.22136529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.350714057 meters Centerline goodness [0,1] 0.9876616146697267 Centerline is valid? [True, True] Translation: X:107.72, Y:-4.07, Z:1.22 [[ 9.99461759e-01 -2.47315403e-02 -2.15532758e-02 1.07724350e+02] [ 2.47493858e-02 9.99693529e-01 5.61574152e-04 -4.06530655e+00] [ 2.15327818e-02 -1.09470223e-03 9.99767543e-01 1.22049289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.380714057 meters Centerline goodness [0,1] 0.9867788461538461 Centerline is valid? [True, True] Translation: X:107.75, Y:-4.07, Z:1.22 [[ 9.99468694e-01 -2.40635439e-02 -2.19835296e-02 1.07754198e+02] [ 2.40819673e-02 9.99709823e-01 5.73664979e-04 -4.07208187e+00] [ 2.19633461e-02 -1.10276683e-03 9.99758168e-01 1.21908635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.410714057 meters Centerline goodness [0,1] 0.9867788461538461 Centerline is valid? [True, True] Translation: X:107.78, Y:-4.07, Z:1.22 [[ 9.99467932e-01 -2.40951568e-02 -2.19835374e-02 1.07783377e+02] [ 2.41135813e-02 9.99709061e-01 5.73364956e-04 -4.07280788e+00] [ 2.19633262e-02 -1.10316170e-03 9.99758168e-01 1.21945129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44071405700001 meters Centerline goodness [0,1] 0.9882695943329614 Centerline is valid? [True, True] Translation: X:107.81, Y:-4.06, Z:1.22 [[ 9.99504373e-01 -2.13948310e-02 -2.30926197e-02 1.07814239e+02] [ 2.14144335e-02 9.99770504e-01 6.01876079e-04 -4.06096760e+00] [ 2.30744430e-02 -1.09609314e-03 9.99733149e-01 1.22136089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47071405700001 meters Centerline goodness [0,1] 0.9892465769029231 Centerline is valid? [True, True] Translation: X:107.84, Y:-4.06, Z:1.22 [[ 9.99547514e-01 -1.93987919e-02 -2.29881225e-02 1.07842792e+02] [ 1.94176740e-02 9.99811280e-01 5.98429659e-04 -4.06047834e+00] [ 2.29721754e-02 -1.04453475e-03 9.99735559e-01 1.22158043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.500714057 meters Centerline goodness [0,1] 0.9889096800693715 Centerline is valid? [True, True] Translation: X:107.87, Y:-4.06, Z:1.22 [[ 9.99634075e-01 -1.47058002e-02 -2.27036601e-02 1.07871609e+02] [ 1.47229824e-02 9.99891437e-01 5.89825812e-04 -4.05836647e+00] [ 2.26925214e-02 -9.23875568e-04 9.99742065e-01 1.22263541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.530714057 meters Centerline goodness [0,1] 0.9896594920851839 Centerline is valid? [True, True] Translation: X:107.90, Y:-4.05, Z:1.22 [[ 9.99686060e-01 -1.24313924e-02 -2.17541384e-02 1.07900906e+02] [ 1.24465747e-02 9.99922380e-01 5.62639419e-04 -4.05494650e+00] [ 2.17454555e-02 -8.33227292e-04 9.99763192e-01 1.22401185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.560714057 meters Centerline goodness [0,1] 0.9900881810103219 Centerline is valid? [True, True] Translation: X:107.93, Y:-4.05, Z:1.22 [[ 9.99707136e-01 -1.08186181e-02 -2.16471798e-02 1.07929324e+02] [ 1.08331639e-02 9.99941166e-01 5.54791066e-04 -4.05378053e+00] [ 2.16399042e-02 -7.89136034e-04 9.99765518e-01 1.22484511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.590714057 meters Centerline goodness [0,1] 0.9890601239247373 Centerline is valid? [True, True] Translation: X:107.96, Y:-4.05, Z:1.23 [[ 9.99758478e-01 -7.40313339e-03 -2.06924789e-02 1.07957968e+02] [ 7.41562398e-03 9.99972365e-01 5.26961493e-04 -4.05325415e+00] [ 2.06880059e-02 -6.80281864e-04 9.99785749e-01 1.22508550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.620714057 meters Centerline goodness [0,1] 0.9901353260126668 Centerline is valid? [True, True] Translation: X:107.99, Y:-4.05, Z:1.23 [[ 9.99765884e-01 -6.67303198e-03 -2.05827100e-02 1.07986550e+02] [ 6.68518242e-03 9.99977518e-01 5.21571499e-04 -4.05373703e+00] [ 2.05787668e-02 -6.59048561e-04 9.99788018e-01 1.22542730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.650714057 meters Centerline goodness [0,1] 0.9900031880493693 Centerline is valid? [True, True] Translation: X:108.01, Y:-4.05, Z:1.23 [[ 9.99780923e-01 -5.78710138e-03 -2.01150659e-02 1.08014799e+02] [ 5.79843099e-03 9.99983061e-01 5.04961364e-04 -4.05499008e+00] [ 2.01118029e-02 -6.21486560e-04 9.99797544e-01 1.22578434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.680714057 meters Centerline goodness [0,1] 0.9905724825795874 Centerline is valid? [True, True] Translation: X:108.04, Y:-4.06, Z:1.23 [[ 9.99785971e-01 -5.62376440e-03 -1.99094264e-02 1.08042199e+02] [ 5.63475983e-03 9.99984001e-01 4.96217215e-04 -4.05659813e+00] [ 1.99063173e-02 -6.08295847e-04 9.99801665e-01 1.22608375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.710714057 meters Centerline goodness [0,1] 0.99083132365655 Centerline is valid? [True, True] Translation: X:108.07, Y:-4.06, Z:1.23 [[ 9.99789265e-01 -6.12486954e-03 -1.95936615e-02 1.08069655e+02] [ 6.13555535e-03 9.99981060e-01 4.85302177e-04 -4.05516620e+00] [ 1.95903180e-02 -6.05417902e-04 9.99807908e-01 1.22685685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.740714057 meters Centerline goodness [0,1] 0.9897022050466014 Centerline is valid? [True, True] Translation: X:108.10, Y:-4.06, Z:1.23 [[ 9.99769483e-01 -7.66526795e-03 -2.00555566e-02 1.08097074e+02] [ 7.67668747e-03 9.99970413e-01 4.92467465e-04 -4.06129435e+00] [ 2.00511883e-02 -6.46314183e-04 9.99798746e-01 1.22659912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.770714057 meters Centerline goodness [0,1] 0.9904627821426949 Centerline is valid? [True, True] Translation: X:108.13, Y:-4.06, Z:1.23 [[ 9.99761679e-01 -9.41720262e-03 -1.96952334e-02 1.08125526e+02] [ 9.42850108e-03 9.99955435e-01 4.80883712e-04 -4.06414508e+00] [ 1.96898271e-02 -6.66465636e-04 9.99805914e-01 1.22689625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80071405700001 meters Centerline goodness [0,1] 0.9889546619491506 Centerline is valid? [True, True] Translation: X:108.15, Y:-4.07, Z:1.23 [[ 9.99720427e-01 -1.39982612e-02 -1.90555933e-02 1.08154498e+02] [ 1.40096142e-02 9.99901754e-01 4.62415410e-04 -4.07135503e+00] [ 1.90472481e-02 -7.29247642e-04 9.99818319e-01 1.22719901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83071405700001 meters Centerline goodness [0,1] 0.9885994953136266 Centerline is valid? [True, True] Translation: X:108.18, Y:-4.08, Z:1.23 [[ 9.99688250e-01 -1.66725628e-02 -1.85857222e-02 1.08183658e+02] [ 1.66838165e-02 9.99860714e-01 4.50605430e-04 -4.07589061e+00] [ 1.85756207e-02 -7.60545733e-04 9.99827169e-01 1.22728178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.860714057 meters Centerline goodness [0,1] 0.9897032922368243 Centerline is valid? [True, True] Translation: X:108.21, Y:-4.07, Z:1.23 [[ 9.99639341e-01 -1.94631794e-02 -1.85033113e-02 1.08212986e+02] [ 1.94747936e-02 9.99810248e-01 4.47683313e-04 -4.07370681e+00] [ 1.84910869e-02 -8.07870020e-04 9.99828699e-01 1.22782480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.890714057 meters Centerline goodness [0,1] 0.9888853819100009 Centerline is valid? [True, True] Translation: X:108.24, Y:-4.08, Z:1.23 [[ 9.99514701e-01 -2.44984837e-02 -1.92402352e-02 1.08242282e+02] [ 2.45119549e-02 9.99699429e-01 4.64603460e-04 -4.08456341e+00] [ 1.92230701e-02 -9.35993765e-04 9.99814782e-01 1.22599902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.920714057 meters Centerline goodness [0,1] 0.9897426628408758 Centerline is valid? [True, True] Translation: X:108.27, Y:-4.08, Z:1.23 [[ 9.99384715e-01 -2.86954726e-02 -2.01683153e-02 1.08273368e+02] [ 2.87111208e-02 9.99587632e-01 4.86690727e-04 -4.08284655e+00] [ 2.01460327e-02 -1.06544621e-03 9.99796480e-01 1.22687994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.950714057 meters Centerline goodness [0,1] 0.9893388261391158 Centerline is valid? [True, True] Translation: X:108.30, Y:-4.08, Z:1.23 [[ 9.99318887e-01 -3.07632347e-02 -2.03810108e-02 1.08304221e+02] [ 3.07796502e-02 9.99526073e-01 4.92153378e-04 -4.08411223e+00] [ 2.03562115e-02 -1.11913855e-03 9.99792164e-01 1.22750384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.980714057 meters Centerline goodness [0,1] 0.988399071925754 Centerline is valid? [True, True] Translation: X:108.33, Y:-4.10, Z:1.23 [[ 9.99261569e-01 -3.26373034e-02 -2.02761858e-02 1.08334569e+02] [ 3.26539424e-02 9.99466598e-01 4.89986996e-04 -4.09625253e+00] [ 2.02493786e-02 -1.15172258e-03 9.99794297e-01 1.22682866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.010714057 meters Centerline goodness [0,1] 0.9893093960034283 Centerline is valid? [True, True] Translation: X:108.37, Y:-4.09, Z:1.23 [[ 9.99150824e-01 -3.63964568e-02 -1.93113803e-02 1.08365277e+02] [ 3.64122557e-02 9.99336745e-01 4.67008186e-04 -4.09097277e+00] [ 1.92815745e-02 -1.16978253e-03 9.99813409e-01 1.22965069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.040714057 meters Centerline goodness [0,1] 0.9888561201287738 Centerline is valid? [True, True] Translation: X:108.40, Y:-4.09, Z:1.23 [[ 9.99128164e-01 -3.74456070e-02 -1.84591114e-02 1.08396057e+02] [ 3.74602301e-02 9.99298019e-01 4.46931770e-04 -4.09445081e+00] [ 1.84294179e-02 -1.13802468e-03 9.99829516e-01 1.23089999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.070714057 meters Centerline goodness [0,1] 0.9876415370416226 Centerline is valid? [True, True] Translation: X:108.43, Y:-4.10, Z:1.23 [[ 9.99076712e-01 -3.94778017e-02 -1.69477681e-02 1.08426030e+02] [ 3.94904295e-02 9.99219864e-01 4.10954662e-04 -4.09824396e+00] [ 1.69183229e-02 -1.07984987e-03 9.99856292e-01 1.23220759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.100714057 meters Centerline goodness [0,1] 0.9882495948136143 Centerline is valid? [True, True] Translation: X:108.46, Y:-4.10, Z:1.23 [[ 9.99063390e-01 -3.99740709e-02 -1.65655370e-02 1.08458565e+02] [ 3.99862081e-02 9.99200151e-01 4.01974056e-04 -4.09782663e+00] [ 1.65362186e-02 -1.06399057e-03 9.99862701e-01 1.23331549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.130714057 meters Centerline goodness [0,1] 0.988679670763333 Centerline is valid? [True, True] Translation: X:108.49, Y:-4.10, Z:1.23 [[ 9.99048324e-01 -4.06594614e-02 -1.57877998e-02 1.08490956e+02] [ 4.06705878e-02 9.99172535e-01 3.84184573e-04 -4.09580059e+00] [ 1.57591152e-02 -1.02591805e-03 9.99875291e-01 1.23417133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.160714057 meters Centerline goodness [0,1] 0.9881568874679155 Centerline is valid? [True, True] Translation: X:108.52, Y:-4.10, Z:1.23 [[ 9.99005681e-01 -4.16208054e-02 -1.59798957e-02 1.08521983e+02] [ 4.16323444e-02 9.99132922e-01 3.89971182e-04 -4.10232482e+00] [ 1.59498090e-02 -1.05486395e-03 9.99872237e-01 1.23343406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19071405700001 meters Centerline goodness [0,1] 0.9886686190583465 Centerline is valid? [True, True] Translation: X:108.55, Y:-4.10, Z:1.23 [[ 9.98962966e-01 -4.23911704e-02 -1.66126798e-02 1.08553704e+02] [ 4.24037669e-02 9.99100473e-01 4.06579261e-04 -4.09925648e+00] [ 1.65805008e-02 -1.11059782e-03 9.99861917e-01 1.23329986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22071405700001 meters Centerline goodness [0,1] 0.988149314144367 Centerline is valid? [True, True] Translation: X:108.58, Y:-4.11, Z:1.23 [[ 9.98893700e-01 -4.33585179e-02 -1.82048038e-02 1.08584968e+02] [ 4.33738437e-02 9.99058812e-01 4.47672411e-04 -4.10812011e+00] [ 1.81682592e-02 -1.23678946e-03 9.99834179e-01 1.23151055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.250714057 meters Centerline goodness [0,1] 0.9883767985611511 Centerline is valid? [True, True] Translation: X:108.62, Y:-4.11, Z:1.23 [[ 9.98889492e-01 -4.32350277e-02 -1.87220380e-02 1.08616728e+02] [ 4.32512486e-02 9.99064120e-01 4.62174951e-04 -4.10816084e+00] [ 1.86845343e-02 -1.27141322e-03 9.99824620e-01 1.23177709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.280714057 meters Centerline goodness [0,1] 0.9880772951206893 Centerline is valid? [True, True] Translation: X:108.65, Y:-4.11, Z:1.23 [[ 9.98908245e-01 -4.28903256e-02 -1.85132019e-02 1.08647969e+02] [ 4.29061487e-02 9.99079002e-01 4.58161012e-04 -4.11012627e+00] [ 1.84765006e-02 -1.25199101e-03 9.99828511e-01 1.23254496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.310714057 meters Centerline goodness [0,1] 0.9897393108425041 Centerline is valid? [True, True] Translation: X:108.68, Y:-4.10, Z:1.23 [[ 9.99022530e-01 -4.05031431e-02 -1.77053441e-02 1.08680018e+02] [ 4.05172574e-02 9.99178742e-01 4.39045836e-04 -4.10107396e+00] [ 1.76730207e-02 -1.15598867e-03 9.99843152e-01 1.23463203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.340714057 meters Centerline goodness [0,1] 0.9896332098653898 Centerline is valid? [True, True] Translation: X:108.71, Y:-4.10, Z:1.24 [[ 9.99098839e-01 -3.86884128e-02 -1.74561090e-02 1.08711190e+02] [ 3.87018710e-02 9.99250708e-01 4.33688066e-04 -4.10068028e+00] [ 1.74262506e-02 -1.10888132e-03 9.99847536e-01 1.23557151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.370714057 meters Centerline goodness [0,1] 0.9904188090330471 Centerline is valid? [True, True] Translation: X:108.74, Y:-4.09, Z:1.24 [[ 9.99280070e-01 -3.41972416e-02 -1.64283383e-02 1.08741676e+02] [ 3.42085639e-02 9.99414632e-01 4.08592681e-04 -4.09004521e+00] [ 1.64047489e-02 -9.70288383e-04 9.99864962e-01 1.23755516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.400714057 meters Centerline goodness [0,1] 0.9902978646234756 Centerline is valid? [True, True] Translation: X:108.77, Y:-4.09, Z:1.24 [[ 9.99378510e-01 -3.13785060e-02 -1.60618720e-02 1.08773699e+02] [ 3.13889701e-02 9.99507165e-01 3.99741870e-04 -4.08814841e+00] [ 1.60414129e-02 -9.03659055e-04 9.99870920e-01 1.23821964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.430714057 meters Centerline goodness [0,1] 0.9906681766704417 Centerline is valid? [True, True] Translation: X:108.80, Y:-4.09, Z:1.24 [[ 9.99474820e-01 -2.84332993e-02 -1.55444838e-02 1.08804026e+02] [ 2.84427559e-02 9.99595348e-01 3.87573107e-04 -4.08770580e+00] [ 1.55271737e-02 -8.29497518e-04 9.99879102e-01 1.23876382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.460714057 meters Centerline goodness [0,1] 0.9905641072281213 Centerline is valid? [True, True] Translation: X:108.84, Y:-4.08, Z:1.24 [[ 9.99617138e-01 -2.37781116e-02 -1.41484333e-02 1.08835428e+02] [ 2.37854839e-02 9.99717023e-01 3.53004305e-04 -4.08373694e+00] [ 1.41360358e-02 -6.89396486e-04 9.99899844e-01 1.23970127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.490714057 meters Centerline goodness [0,1] 0.9915790907233811 Centerline is valid? [True, True] Translation: X:108.87, Y:-4.08, Z:1.24 [[ 9.99674307e-01 -2.15318263e-02 -1.36989470e-02 1.08867460e+02] [ 2.15385322e-02 9.99767960e-01 3.42149892e-04 -4.08153572e+00] [ 1.36884012e-02 -6.37093666e-04 9.99906106e-01 1.24027258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.520714057 meters Centerline goodness [0,1] 0.991196542311192 Centerline is valid? [True, True] Translation: X:108.90, Y:-4.08, Z:1.24 [[ 9.99751875e-01 -1.83728266e-02 -1.25947426e-02 1.08898817e+02] [ 1.83782525e-02 9.99831056e-01 3.15190806e-04 -4.07979114e+00] [ 1.25868238e-02 -5.46581958e-04 9.99920633e-01 1.24115572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55071405700001 meters Centerline goodness [0,1] 0.9916939741489168 Centerline is valid? [True, True] Translation: X:108.93, Y:-4.08, Z:1.24 [[ 9.99772807e-01 -1.72389633e-02 -1.25360710e-02 1.08930552e+02] [ 1.72442553e-02 9.99851257e-01 3.14165135e-04 -4.07954528e+00] [ 1.25287905e-02 -5.30268968e-04 9.99921371e-01 1.24124332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58071405700001 meters Centerline goodness [0,1] 0.9917694540177762 Centerline is valid? [True, True] Translation: X:108.96, Y:-4.08, Z:1.24 [[ 9.99790874e-01 -1.60746418e-02 -1.26417415e-02 1.08962016e+02] [ 1.60799361e-02 9.99870659e-01 3.17262285e-04 -4.08005042e+00] [ 1.26350065e-02 -5.20474333e-04 9.99920040e-01 1.24109077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.610714057 meters Centerline goodness [0,1] 0.9915870850386539 Centerline is valid? [True, True] Translation: X:108.99, Y:-4.08, Z:1.24 [[ 9.99801058e-01 -1.45904793e-02 -1.36000574e-02 1.08993021e+02] [ 1.45964764e-02 9.99893407e-01 3.41801501e-04 -4.08018488e+00] [ 1.35936207e-02 -5.40246420e-04 9.99907457e-01 1.24003018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.640714057 meters Centerline goodness [0,1] 0.9917242322686547 Centerline is valid? [True, True] Translation: X:109.02, Y:-4.08, Z:1.24 [[ 9.99796872e-01 -1.40047891e-02 -1.44941467e-02 1.09023420e+02] [ 1.40115427e-02 9.99901767e-01 3.64503215e-04 -4.08082809e+00] [ 1.44876181e-02 -5.67514530e-04 9.99894888e-01 1.24007662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.670714057 meters Centerline goodness [0,1] 0.9920067599972595 Centerline is valid? [True, True] Translation: X:109.05, Y:-4.08, Z:1.24 [[ 9.99787463e-01 -1.29776267e-02 -1.60190723e-02 1.09053129e+02] [ 1.29857426e-02 9.99915601e-01 4.02726870e-04 -4.07814562e+00] [ 1.60124938e-02 -6.10660825e-04 9.99871605e-01 1.23894877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.700714057 meters Centerline goodness [0,1] 0.9918944910015112 Centerline is valid? [True, True] Translation: X:109.08, Y:-4.08, Z:1.24 [[ 9.99768730e-01 -1.29310074e-02 -1.71835793e-02 1.09081642e+02] [ 1.29403113e-02 9.99916178e-01 4.30355516e-04 -4.07862001e+00] [ 1.71765740e-02 -6.52616853e-04 9.99852259e-01 1.23828790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.730714057 meters Centerline goodness [0,1] 0.9920453506446009 Centerline is valid? [True, True] Translation: X:109.11, Y:-4.08, Z:1.24 [[ 9.99762249e-01 -1.23411275e-02 -1.79761387e-02 1.09110493e+02] [ 1.23511311e-02 9.99923623e-01 4.45576902e-04 -4.07899837e+00] [ 1.79692668e-02 -6.67496612e-04 9.99838317e-01 1.23783944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.760714057 meters Centerline goodness [0,1] 0.9908652858023704 Centerline is valid? [True, True] Translation: X:109.14, Y:-4.08, Z:1.24 [[ 9.99765247e-01 -1.13646295e-02 -1.84471314e-02 1.09138303e+02] [ 1.13749253e-02 9.99935201e-01 4.53291815e-04 -4.08344575e+00] [ 1.84407845e-02 -6.63020146e-04 9.99829734e-01 1.23699776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.790714057 meters Centerline goodness [0,1] 0.9911514515724418 Centerline is valid? [True, True] Translation: X:109.17, Y:-4.08, Z:1.24 [[ 9.99792146e-01 -1.00443232e-02 -1.77419470e-02 1.09166033e+02] [ 1.00536041e-02 9.99949367e-01 4.33987144e-04 -4.08416419e+00] [ 1.77366895e-02 -6.12267449e-04 9.99842505e-01 1.23782889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.820714057 meters Centerline goodness [0,1] 0.9918450327797702 Centerline is valid? [True, True] Translation: X:109.20, Y:-4.08, Z:1.24 [[ 9.99794474e-01 -9.74704362e-03 -1.77765303e-02 1.09195100e+02] [ 9.75627195e-03 9.99952313e-01 4.32478889e-04 -4.07901297e+00] [ 1.77714672e-02 -6.05822667e-04 9.99841891e-01 1.23872743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.850714057 meters Centerline goodness [0,1] 0.992186964567199 Centerline is valid? [True, True] Translation: X:109.22, Y:-4.08, Z:1.24 [[ 9.99796945e-01 -9.01500079e-03 -1.80221670e-02 1.09222684e+02] [ 9.02430149e-03 9.99959186e-01 4.34809996e-04 -4.07981110e+00] [ 1.80175116e-02 -5.97359175e-04 9.99837493e-01 1.23847778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.880714057 meters Centerline goodness [0,1] 0.9922041105598866 Centerline is valid? [True, True] Translation: X:109.25, Y:-4.08, Z:1.24 [[ 9.99793244e-01 -7.85789440e-03 -1.87542494e-02 1.09251610e+02] [ 7.86771147e-03 9.99968948e-01 4.49731549e-04 -4.07848006e+00] [ 1.87501331e-02 -5.97191587e-04 9.99824022e-01 1.23818931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.910714057 meters Centerline goodness [0,1] 0.9922644324572478 Centerline is valid? [True, True] Translation: X:109.28, Y:-4.08, Z:1.24 [[ 9.99786672e-01 -7.44620261e-03 -1.92656306e-02 1.09279232e+02] [ 7.45640552e-03 9.99972096e-01 4.57811829e-04 -4.07901349e+00] [ 1.92616841e-02 -6.01366520e-04 9.99814296e-01 1.23823111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94071405700001 meters Centerline goodness [0,1] 0.9927007299270073 Centerline is valid? [True, True] Translation: X:109.31, Y:-4.08, Z:1.24 [[ 9.99795938e-01 -5.43644072e-03 -1.94557894e-02 1.09306656e+02] [ 5.44642076e-03 9.99985062e-01 4.60009274e-04 -4.08097415e+00] [ 1.94529979e-02 -5.65879819e-04 9.99810612e-01 1.23804329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97071405700001 meters Centerline goodness [0,1] 0.992124001190558 Centerline is valid? [True, True] Translation: X:109.34, Y:-4.08, Z:1.24 [[ 9.99783670e-01 -5.05953411e-03 -2.01745834e-02 1.09335813e+02] [ 5.07012678e-03 9.99987035e-01 4.73935185e-04 -4.08075273e+00] [ 2.01719239e-02 -5.76120354e-04 9.99796360e-01 1.23811734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.000714057 meters Centerline goodness [0,1] 0.9924266691072164 Centerline is valid? [True, True] Translation: X:109.36, Y:-4.08, Z:1.24 [[ 9.99779448e-01 -4.82406522e-03 -2.04397756e-02 1.09364082e+02] [ 4.83478398e-03 9.99988200e-01 4.75023096e-04 -4.08158447e+00] [ 2.04372429e-02 -5.73740229e-04 9.99790973e-01 1.23825893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.030714057 meters Centerline goodness [0,1] 0.9927618960635675 Centerline is valid? [True, True] Translation: X:109.39, Y:-4.08, Z:1.24 [[ 9.99768939e-01 -4.49696568e-03 -2.10201300e-02 1.09392302e+02] [ 4.50814658e-03 9.99989721e-01 4.84557871e-04 -4.08454741e+00] [ 2.10177349e-02 -5.79207735e-04 9.99778935e-01 1.23809342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.060714057 meters Centerline goodness [0,1] 0.9924041365425094 Centerline is valid? [True, True] Translation: X:109.42, Y:-4.09, Z:1.24 [[ 9.99753235e-01 -5.60334558e-03 -2.14958717e-02 1.09420933e+02] [ 5.61522282e-03 9.99984113e-01 4.92216166e-04 -4.08687544e+00] [ 2.14927721e-02 -6.12798813e-04 9.99768816e-01 1.23810583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.090714057 meters Centerline goodness [0,1] 0.9933644966366435 Centerline is valid? [True, True] Translation: X:109.45, Y:-4.09, Z:1.24 [[ 9.99709422e-01 -8.08621098e-03 -2.27086891e-02 1.09450353e+02] [ 8.10002554e-03 9.99967061e-01 5.16420028e-04 -4.09035981e+00] [ 2.27037652e-02 -7.00210930e-04 9.99741991e-01 1.23781203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.120714057 meters Centerline goodness [0,1] 0.9927349746065727 Centerline is valid? [True, True] Translation: X:109.48, Y:-4.09, Z:1.24 [[ 9.99678393e-01 -1.03054794e-02 -2.31712517e-02 1.09478041e+02] [ 1.03204257e-02 9.99946605e-01 5.25542464e-04 -4.09475523e+00] [ 2.31645985e-02 -7.64510629e-04 9.99731372e-01 1.23743993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.150714057 meters Centerline goodness [0,1] 0.9923686661064298 Centerline is valid? [True, True] Translation: X:109.51, Y:-4.10, Z:1.24 [[ 9.99619096e-01 -1.50092198e-02 -2.31600143e-02 1.09506966e+02] [ 1.50253736e-02 9.99886976e-01 5.23618207e-04 -4.10064388e+00] [ 2.31495375e-02 -8.71406626e-04 9.99731634e-01 1.23786574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.180714057 meters Centerline goodness [0,1] 0.9912962669144812 Centerline is valid? [True, True] Translation: X:109.54, Y:-4.11, Z:1.24 [[ 9.99565898e-01 -1.77266857e-02 -2.35325449e-02 1.09536087e+02] [ 1.77440792e-02 9.99842421e-01 5.30504710e-04 -4.10511052e+00] [ 2.35194326e-02 -9.47837757e-04 9.99722931e-01 1.23798245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.210714057 meters Centerline goodness [0,1] 0.9912764418730791 Centerline is valid? [True, True] Translation: X:109.56, Y:-4.11, Z:1.24 [[ 9.99505868e-01 -2.05967435e-02 -2.37443608e-02 1.09564641e+02] [ 2.06152223e-02 9.99787341e-01 5.33696104e-04 -4.11067640e+00] [ 2.37283190e-02 -1.02292766e-03 9.99717920e-01 1.23775111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.240714057 meters Centerline goodness [0,1] 0.9910935738444194 Centerline is valid? [True, True] Translation: X:109.59, Y:-4.12, Z:1.24 [[ 9.99381679e-01 -2.54858054e-02 -2.42225812e-02 1.09594473e+02] [ 2.55064476e-02 9.99674510e-01 5.43562653e-04 -4.11858606e+00] [ 2.42008438e-02 -1.16105855e-03 9.99706442e-01 1.23752373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.270714057 meters Centerline goodness [0,1] 0.9907663896583564 Centerline is valid? [True, True] Translation: X:109.62, Y:-4.12, Z:1.24 [[ 9.99304919e-01 -2.76110814e-02 -2.50461003e-02 1.09623854e+02] [ 2.76338009e-02 9.99617956e-01 5.61378299e-04 -4.12206981e+00] [ 2.50210314e-02 -1.25310705e-03 9.99686140e-01 1.23738877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30071405700001 meters Centerline goodness [0,1] 0.9911269851966664 Centerline is valid? [True, True] Translation: X:109.65, Y:-4.13, Z:1.24 [[ 9.99194718e-01 -3.04518457e-02 -2.61266213e-02 1.09652612e+02] [ 3.04775067e-02 9.99535282e-01 5.84442578e-04 -4.12965668e+00] [ 2.60966824e-02 -1.38024621e-03 9.99658471e-01 1.23610856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33071405700001 meters Centerline goodness [0,1] 0.9911269851966664 Centerline is valid? [True, True] Translation: X:109.68, Y:-4.13, Z:1.24 [[ 9.99193671e-01 -3.04861684e-02 -2.61266460e-02 1.09681799e+02] [ 3.05118122e-02 9.99534236e-01 5.83335027e-04 -4.13027700e+00] [ 2.60966935e-02 -1.38003598e-03 9.99658471e-01 1.23647380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.360714057 meters Centerline goodness [0,1] 0.9918053085391386 Centerline is valid? [True, True] Translation: X:109.71, Y:-4.13, Z:1.24 [[ 9.99141036e-01 -3.16072173e-02 -2.67987686e-02 1.09711570e+02] [ 3.16345744e-02 9.99499323e-01 5.97383714e-04 -4.12731947e+00] [ 2.67664694e-02 -1.44463822e-03 9.99640670e-01 1.23807877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.390714057 meters Centerline goodness [0,1] 0.991066606660666 Centerline is valid? [True, True] Translation: X:109.74, Y:-4.13, Z:1.24 [[ 9.99083423e-01 -3.29578062e-02 -2.73147570e-02 1.09740409e+02] [ 3.29867035e-02 9.99455606e-01 6.07892546e-04 -4.13381665e+00] [ 2.72798522e-02 -1.50835916e-03 9.99626698e-01 1.23702974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.420714057 meters Centerline goodness [0,1] 0.991257444656703 Centerline is valid? [True, True] Translation: X:109.77, Y:-4.14, Z:1.24 [[ 9.98959648e-01 -3.59517819e-02 -2.80551350e-02 1.09769471e+02] [ 3.59834235e-02 9.99352192e-01 6.23633272e-04 -4.14115387e+00] [ 2.80145400e-02 -1.63250428e-03 9.99606183e-01 1.23620907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.450714057 meters Centerline goodness [0,1] 0.9908172429277055 Centerline is valid? [True, True] Translation: X:109.80, Y:-4.14, Z:1.24 [[ 9.98895984e-01 -3.75453064e-02 -2.82340806e-02 1.09799843e+02] [ 3.75779811e-02 9.99293501e-01 6.27388460e-04 -4.14373422e+00] [ 2.81905778e-02 -1.68767556e-03 9.99601142e-01 1.23608229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.480714057 meters Centerline goodness [0,1] 0.9918646200867475 Centerline is valid? [True, True] Translation: X:109.83, Y:-4.14, Z:1.24 [[ 9.98741481e-01 -4.11349659e-02 -2.86944071e-02 1.09830422e+02] [ 4.11701907e-02 9.99151945e-01 6.37617358e-04 -4.14034601e+00] [ 2.86438443e-02 -1.81816912e-03 9.99588027e-01 1.23799913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.510714057 meters Centerline goodness [0,1] 0.9912040569043665 Centerline is valid? [True, True] Translation: X:109.86, Y:-4.14, Z:1.24 [[ 9.98673830e-01 -4.26583045e-02 -2.88244668e-02 1.09861681e+02] [ 4.26944979e-02 9.99087969e-01 6.41085055e-04 -4.14331005e+00] [ 2.87708304e-02 -1.87088100e-03 9.99584283e-01 1.23779058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.540714057 meters Centerline goodness [0,1] 0.9908984935437589 Centerline is valid? [True, True] Translation: X:109.89, Y:-4.15, Z:1.24 [[ 9.98578401e-01 -4.44915046e-02 -2.93544533e-02 1.09891146e+02] [ 4.45298766e-02 9.99007839e-01 6.54453155e-04 -4.15458982e+00] [ 2.92962114e-02 -1.96067297e-03 9.99568851e-01 1.23558161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.570714057 meters Centerline goodness [0,1] 0.990945471617966 Centerline is valid? [True, True] Translation: X:109.92, Y:-4.15, Z:1.24 [[ 9.98462868e-01 -4.70778982e-02 -2.92501590e-02 1.09922234e+02] [ 4.71171412e-02 9.98889157e-01 6.53463651e-04 -4.15006125e+00] [ 2.91869030e-02 -2.03064306e-03 9.99571909e-01 1.23834578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.600714057 meters Centerline goodness [0,1] 0.9904093934165416 Centerline is valid? [True, True] Translation: X:109.95, Y:-4.15, Z:1.24 [[ 9.98400994e-01 -4.83349099e-02 -2.93119547e-02 1.09953443e+02] [ 4.83748859e-02 9.98829035e-01 6.55800028e-04 -4.15168039e+00] [ 2.92459334e-02 -2.07271386e-03 9.99570097e-01 1.23921673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.630714057 meters Centerline goodness [0,1] 0.989612884490808 Centerline is valid? [True, True] Translation: X:109.98, Y:-4.15, Z:1.24 [[ 9.98341059e-01 -4.95678160e-02 -2.92943895e-02 1.09984427e+02] [ 4.96082931e-02 9.98768535e-01 6.56128752e-04 -4.15296127e+00] [ 2.92257916e-02 -2.10828493e-03 9.99570612e-01 1.24072840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.660714057 meters Centerline goodness [0,1] 0.9896484506284869 Centerline is valid? [True, True] Translation: X:110.02, Y:-4.15, Z:1.24 [[ 9.98317939e-01 -5.00645037e-02 -2.92376209e-02 1.10015913e+02] [ 5.01050588e-02 9.98743738e-01 6.55646792e-04 -4.15424279e+00] [ 2.91680661e-02 -2.11949667e-03 9.99572274e-01 1.24111857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69071405700001 meters Centerline goodness [0,1] 0.9898643345666555 Centerline is valid? [True, True] Translation: X:110.05, Y:-4.15, Z:1.24 [[ 9.98303331e-01 -5.01541520e-02 -2.95807310e-02 1.10047417e+02] [ 5.01957343e-02 9.98739179e-01 6.64359444e-04 -4.15479052e+00] [ 2.95101146e-02 -2.14805876e-03 9.99562174e-01 1.24155969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72071405700001 meters Centerline goodness [0,1] 0.9890642894033638 Centerline is valid? [True, True] Translation: X:110.08, Y:-4.16, Z:1.24 [[ 9.98265351e-01 -5.03069004e-02 -3.05860114e-02 1.10078987e+02] [ 5.03514718e-02 9.98731323e-01 6.88305461e-04 -4.15661763e+00] [ 3.05125811e-02 -2.22716218e-03 9.99531902e-01 1.24107604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.750714057 meters Centerline goodness [0,1] 0.9911949685534591 Centerline is valid? [True, True] Translation: X:110.11, Y:-4.15, Z:1.24 [[ 9.98258768e-01 -5.03064160e-02 -3.08009184e-02 1.10111750e+02] [ 5.03516765e-02 9.98731308e-01 6.95106218e-04 -4.14827416e+00] [ 3.07268732e-02 -2.24477375e-03 9.99525297e-01 1.24326243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.780714057 meters Centerline goodness [0,1] 0.9896891005481175 Centerline is valid? [True, True] Translation: X:110.14, Y:-4.15, Z:1.24 [[ 9.98227276e-01 -5.07208447e-02 -3.11400394e-02 1.10143550e+02] [ 5.07673999e-02 9.98710255e-01 7.05699662e-04 -4.14745261e+00] [ 3.10640830e-02 -2.28534748e-03 9.99514782e-01 1.24370310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.810714057 meters Centerline goodness [0,1] 0.9901108307803208 Centerline is valid? [True, True] Translation: X:110.18, Y:-4.15, Z:1.24 [[ 9.98212408e-01 -5.08272796e-02 -3.14416253e-02 1.10175073e+02] [ 5.08748688e-02 9.98704780e-01 7.14919839e-04 -4.14921513e+00] [ 3.13645640e-02 -2.31323042e-03 9.99505334e-01 1.24352014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.840714057 meters Centerline goodness [0,1] 0.9891162287619992 Centerline is valid? [True, True] Translation: X:110.21, Y:-4.16, Z:1.24 [[ 9.98186495e-01 -5.10542887e-02 -3.18932840e-02 1.10205422e+02] [ 5.11034035e-02 9.98693103e-01 7.26206170e-04 -4.15802634e+00] [ 3.18145268e-02 -2.35474455e-03 9.99491016e-01 1.24165670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.870714057 meters Centerline goodness [0,1] 0.9899448662328272 Centerline is valid? [True, True] Translation: X:110.24, Y:-4.15, Z:1.24 [[ 9.98174522e-01 -5.12140113e-02 -3.20116974e-02 1.10237739e+02] [ 5.12636244e-02 9.98684889e-01 7.30501038e-04 -4.14674409e+00] [ 3.19321865e-02 -2.37020315e-03 9.99487227e-01 1.24498739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.900714057 meters Centerline goodness [0,1] 0.9900739938639235 Centerline is valid? [True, True] Translation: X:110.27, Y:-4.15, Z:1.25 [[ 9.98190482e-01 -5.07572870e-02 -3.22406566e-02 1.10268842e+02] [ 5.08074380e-02 9.98708196e-01 7.37655427e-04 -4.14706631e+00] [ 3.21615666e-02 -2.37438579e-03 9.99479863e-01 1.24575293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.930714057 meters Centerline goodness [0,1] 0.9895920727421147 Centerline is valid? [True, True] Translation: X:110.30, Y:-4.14, Z:1.25 [[ 9.98284077e-01 -4.97238149e-02 -3.09264372e-02 1.10300297e+02] [ 4.97695046e-02 9.98760479e-01 7.08867497e-04 -4.14294730e+00] [ 3.08528556e-02 -2.24684459e-03 9.99521412e-01 1.24854178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.960714057 meters Centerline goodness [0,1] 0.9892149088025377 Centerline is valid? [True, True] Translation: X:110.33, Y:-4.14, Z:1.25 [[ 9.98375852e-01 -4.87120914e-02 -2.95430296e-02 1.10331910e+02] [ 4.87533724e-02 9.98810617e-01 6.78183656e-04 -4.14108146e+00] [ 2.94748559e-02 -2.11740451e-03 9.99563279e-01 1.25033955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.990714057 meters Centerline goodness [0,1] 0.9894064919190547 Centerline is valid? [True, True] Translation: X:110.36, Y:-4.14, Z:1.25 [[ 9.98464304e-01 -4.76821695e-02 -2.82036359e-02 1.10363016e+02] [ 4.77194096e-02 9.98860570e-01 6.48430927e-04 -4.13630722e+00] [ 2.81405813e-02 -1.99329599e-03 9.99601988e-01 1.25260206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.020714057 meters Centerline goodness [0,1] 0.9875656384260417 Centerline is valid? [True, True] Translation: X:110.39, Y:-4.14, Z:1.25 [[ 9.98624402e-01 -4.57894179e-02 -2.55466798e-02 1.10393067e+02] [ 4.58193635e-02 9.98949569e-01 5.87756234e-04 -4.14076640e+00] [ 2.54929317e-02 -1.75748032e-03 9.99673458e-01 1.25286562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05071405700001 meters Centerline goodness [0,1] 0.988326316987143 Centerline is valid? [True, True] Translation: X:110.43, Y:-4.14, Z:1.25 [[ 9.98668013e-01 -4.50701743e-02 -2.51172962e-02 1.10425407e+02] [ 4.50989175e-02 9.98982359e-01 5.78774415e-04 -4.13515700e+00] [ 2.50656504e-02 -1.71076636e-03 9.99684343e-01 1.25421570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08071405700001 meters Centerline goodness [0,1] 0.9880272232718003 Centerline is valid? [True, True] Translation: X:110.46, Y:-4.13, Z:1.25 [[ 9.98759934e-01 -4.31101210e-02 -2.49020403e-02 1.10456720e+02] [ 4.31377999e-02 9.99068966e-01 5.75139236e-04 -4.13173418e+00] [ 2.48540613e-02 -1.64864526e-03 9.99689731e-01 1.25411714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.110714057 meters Centerline goodness [0,1] 0.9886612021857923 Centerline is valid? [True, True] Translation: X:110.49, Y:-4.13, Z:1.25 [[ 9.98795416e-01 -4.23527398e-02 -2.47782614e-02 1.10489031e+02] [ 4.23799451e-02 9.99101402e-01 5.73618514e-04 -4.12826929e+00] [ 2.47317014e-02 -1.62302890e-03 9.99692807e-01 1.25448213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.140714057 meters Centerline goodness [0,1] 0.9884892086330935 Centerline is valid? [True, True] Translation: X:110.52, Y:-4.13, Z:1.25 [[ 9.98834668e-01 -4.10240709e-02 -2.54230407e-02 1.10521153e+02] [ 4.10523300e-02 9.99156823e-01 5.90411495e-04 -4.12691140e+00] [ 2.53773835e-02 -1.63339853e-03 9.99676608e-01 1.25396397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.170714057 meters Centerline goodness [0,1] 0.989073655877187 Centerline is valid? [True, True] Translation: X:110.55, Y:-4.13, Z:1.25 [[ 9.98855388e-01 -4.05295398e-02 -2.54021789e-02 1.10552218e+02] [ 4.05576574e-02 9.99177024e-01 5.92455838e-04 -4.12898775e+00] [ 2.53572615e-02 -1.62203057e-03 9.99677137e-01 1.25329856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.200714057 meters Centerline goodness [0,1] 0.9881571412209369 Centerline is valid? [True, True] Translation: X:110.58, Y:-4.13, Z:1.25 [[ 9.98881043e-01 -3.95366806e-02 -2.59521255e-02 1.10584670e+02] [ 3.95657621e-02 9.99216784e-01 6.07844597e-04 -4.12722165e+00] [ 2.59077672e-02 -1.63398007e-03 9.99663002e-01 1.25315451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.230714057 meters Centerline goodness [0,1] 0.9878579401781443 Centerline is valid? [True, True] Translation: X:110.62, Y:-4.13, Z:1.25 [[ 9.98923727e-01 -3.85184106e-02 -2.58402854e-02 1.10615764e+02] [ 3.85469707e-02 9.99256604e-01 6.07868922e-04 -4.12970542e+00] [ 2.57976617e-02 -1.60327941e-03 9.99665899e-01 1.25228496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.260714057 meters Centerline goodness [0,1] 0.9885799290536674 Centerline is valid? [True, True] Translation: X:110.65, Y:-4.13, Z:1.25 [[ 9.98969354e-01 -3.75064122e-02 -2.55636378e-02 1.10647070e+02] [ 3.75340874e-02 9.99295166e-01 6.03456773e-04 -4.12543603e+00] [ 2.55229862e-02 -1.56234264e-03 9.99673015e-01 1.25367086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.290714057 meters Centerline goodness [0,1] 0.9879055175392729 Centerline is valid? [True, True] Translation: X:110.68, Y:-4.12, Z:1.25 [[ 9.99121389e-01 -3.41351101e-02 -2.43155270e-02 1.10676583e+02] [ 3.41591581e-02 9.99416241e-01 5.74206897e-04 -4.12379601e+00] [ 2.42817320e-02 -1.40430032e-03 9.99704169e-01 1.25410113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.320714057 meters Centerline goodness [0,1] 0.9888555114769887 Centerline is valid? [True, True] Translation: X:110.71, Y:-4.12, Z:1.26 [[ 9.99299850e-01 -2.96720829e-02 -2.27898525e-02 1.10707529e+02] [ 2.96920467e-02 9.99558949e-01 5.38038149e-04 -4.11884464e+00] [ 2.27638363e-02 -1.21433881e-03 9.99740133e-01 1.25511103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.350714057 meters Centerline goodness [0,1] 0.988272750177512 Centerline is valid? [True, True] Translation: X:110.74, Y:-4.12, Z:1.26 [[ 9.99396798e-01 -2.64626636e-02 -2.24892917e-02 1.10738730e+02] [ 2.64812994e-02 9.99649168e-01 5.31194756e-04 -4.11721209e+00] [ 2.24673449e-02 -1.12642000e-03 9.99746943e-01 1.25599344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.380714057 meters Centerline goodness [0,1] 0.9882355644401554 Centerline is valid? [True, True] Translation: X:110.77, Y:-4.11, Z:1.26 [[ 9.99487614e-01 -2.34276656e-02 -2.18095039e-02 1.10769610e+02] [ 2.34444788e-02 9.99725008e-01 5.15510420e-04 -4.11495215e+00] [ 2.17914293e-02 -1.02655873e-03 9.99762012e-01 1.25651481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.410714057 meters Centerline goodness [0,1] 0.9889495130879205 Centerline is valid? [True, True] Translation: X:110.80, Y:-4.11, Z:1.26 [[ 9.99640157e-01 -1.67684280e-02 -2.09374591e-02 1.10799932e+02] [ 1.67824691e-02 9.99859042e-01 4.95080677e-04 -4.10867548e+00] [ 2.09262061e-02 -8.46284785e-04 9.99780665e-01 1.25783615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44071405700001 meters Centerline goodness [0,1] 0.9891131723709347 Centerline is valid? [True, True] Translation: X:110.83, Y:-4.11, Z:1.26 [[ 9.99697593e-01 -1.37343041e-02 -2.03983005e-02 1.10829915e+02] [ 1.37469918e-02 9.99905390e-01 4.81899686e-04 -4.10648661e+00] [ 2.03897520e-02 -7.62169227e-04 9.99791817e-01 1.25859645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47071405700001 meters Centerline goodness [0,1] 0.9889762689974863 Centerline is valid? [True, True] Translation: X:110.86, Y:-4.10, Z:1.26 [[ 9.99777528e-01 -7.60585172e-03 -1.96734645e-02 1.10859353e+02] [ 7.61645188e-03 9.99970887e-01 4.63931780e-04 -4.10340418e+00] [ 1.96693631e-02 -6.13670564e-04 9.99806351e-01 1.25845597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.500714057 meters Centerline goodness [0,1] 0.9908447773616313 Centerline is valid? [True, True] Translation: X:110.89, Y:-4.10, Z:1.26 [[ 9.99802712e-01 -4.96142077e-03 -1.92333649e-02 1.10888120e+02] [ 4.97104597e-03 9.99987542e-01 4.52665107e-04 -4.09894864e+00] [ 1.92308794e-02 -5.48185742e-04 9.99814919e-01 1.25903903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.530714057 meters Centerline goodness [0,1] 0.9899020311740047 Centerline is valid? [True, True] Translation: X:110.92, Y:-4.10, Z:1.26 [[ 9.99809085e-01 -2.60477725e-03 -1.93651395e-02 1.10916691e+02] [ 2.61404275e-03 9.99996481e-01 4.53165321e-04 -4.09803263e+00] [ 1.93638910e-02 -5.03700107e-04 9.99812375e-01 1.25874789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.560714057 meters Centerline goodness [0,1] 0.9903153309700887 Centerline is valid? [True, True] Translation: X:110.95, Y:-4.10, Z:1.26 [[ 9.99804309e-01 1.85861285e-03 -1.96948980e-02 1.10946146e+02] [-1.84998946e-03 9.99998185e-01 4.56059589e-04 -4.09584177e+00] [ 1.96957099e-02 -4.19534989e-04 9.99805933e-01 1.25800640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.590714057 meters Centerline goodness [0,1] 0.9911605029929006 Centerline is valid? [True, True] Translation: X:110.98, Y:-4.10, Z:1.26 [[ 9.99812986e-01 3.04476797e-03 -1.90976817e-02 1.10975040e+02] [-3.03696066e-03 9.99995293e-01 4.37798325e-04 -4.09613259e+00] [ 1.90989248e-02 -3.79717543e-04 9.99817527e-01 1.25809120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.620714057 meters Centerline goodness [0,1] 0.9911623483565679 Centerline is valid? [True, True] Translation: X:111.00, Y:-4.10, Z:1.26 [[ 9.99818371e-01 4.98632603e-03 -1.83946099e-02 1.11003361e+02] [-4.97949335e-03 9.99987515e-01 4.17233569e-04 -4.09704619e+00] [ 1.83964607e-02 -3.25561950e-04 9.99830718e-01 1.25798273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.650714057 meters Centerline goodness [0,1] 0.9914375217542638 Centerline is valid? [True, True] Translation: X:111.03, Y:-4.10, Z:1.26 [[ 9.99828166e-01 5.31254874e-03 -1.77599367e-02 1.11031262e+02] [-5.30629266e-03 9.99985842e-01 3.99362846e-04 -4.09926221e+00] [ 1.77618069e-02 -3.05054800e-04 9.99842200e-01 1.25802887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.680714057 meters Centerline goodness [0,1] 0.9913561364479051 Centerline is valid? [True, True] Translation: X:111.06, Y:-4.10, Z:1.26 [[ 9.99836463e-01 5.23028789e-03 -1.73116163e-02 1.11059414e+02] [-5.22435870e-03 9.99986278e-01 3.87704849e-04 -4.10108049e+00] [ 1.73134065e-02 -2.97199351e-04 9.99850068e-01 1.25829078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.710714057 meters Centerline goodness [0,1] 0.9907567879838244 Centerline is valid? [True, True] Translation: X:111.09, Y:-4.10, Z:1.26 [[ 9.99846389e-01 4.29683492e-03 -1.69922200e-02 1.11088491e+02] [-4.29101499e-03 9.99990722e-01 3.78950295e-04 -4.10422525e+00] [ 1.69936906e-02 -3.05978213e-04 9.99855550e-01 1.25895766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.740714057 meters Centerline goodness [0,1] 0.9908893308051612 Centerline is valid? [True, True] Translation: X:111.12, Y:-4.11, Z:1.26 [[ 9.99858484e-01 2.12848632e-03 -1.66877759e-02 1.11116716e+02] [-2.12259178e-03 9.99997679e-01 3.70928997e-04 -4.10914426e+00] [ 1.66885267e-02 -3.35455169e-04 9.99860681e-01 1.25860890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.770714057 meters Centerline goodness [0,1] 0.9906710803490821 Centerline is valid? [True, True] Translation: X:111.15, Y:-4.11, Z:1.26 [[ 9.99856043e-01 4.88057856e-04 -1.69603765e-02 1.11145737e+02] [-4.81757577e-04 9.99999813e-01 3.75554138e-04 -4.11081516e+00] [ 1.69605567e-02 -3.67329285e-04 9.99856092e-01 1.25897161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80071405700001 meters Centerline goodness [0,1] 0.9908214565748812 Centerline is valid? [True, True] Translation: X:111.17, Y:-4.11, Z:1.26 [[ 9.99850485e-01 -1.52149726e-03 -1.72247821e-02 1.11174146e+02] [ 1.52827184e-03 9.99998760e-01 3.80147809e-04 -4.11412108e+00] [ 1.72241824e-02 -4.06415120e-04 9.99851570e-01 1.25853879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83071405700001 meters Centerline goodness [0,1] 0.9897383981777604 Centerline is valid? [True, True] Translation: X:111.20, Y:-4.12, Z:1.26 [[ 9.99816784e-01 -6.65975733e-03 -1.79456662e-02 1.11202254e+02] [ 6.66791401e-03 9.99977691e-01 3.94724171e-04 -4.12351474e+00] [ 1.79426371e-02 -5.14312010e-04 9.99838886e-01 1.25755615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.860714057 meters Centerline goodness [0,1] 0.9892564255280157 Centerline is valid? [True, True] Translation: X:111.23, Y:-4.13, Z:1.26 [[ 9.99793883e-01 -9.48682122e-03 -1.79497019e-02 1.11232102e+02] [ 9.49541712e-03 9.99954840e-01 3.93720006e-04 -4.12718336e+00] [ 1.79451562e-02 -5.64078761e-04 9.99838814e-01 1.25775277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.890714057 meters Centerline goodness [0,1] 0.9894606890560343 Centerline is valid? [True, True] Translation: X:111.26, Y:-4.14, Z:1.26 [[ 9.99707902e-01 -1.57734570e-02 -1.83114626e-02 1.11261674e+02] [ 1.57834452e-02 9.99875353e-01 4.01060123e-04 -4.13532224e+00] [ 1.83028541e-02 -6.89960941e-04 9.99832251e-01 1.25810787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.920714057 meters Centerline goodness [0,1] 0.989015246473256 Centerline is valid? [True, True] Translation: X:111.29, Y:-4.14, Z:1.26 [[ 9.99655299e-01 -1.89726231e-02 -1.81472512e-02 1.11290624e+02] [ 1.89829482e-02 9.99819729e-01 3.96860908e-04 -4.13900161e+00] [ 1.81364503e-02 -7.41212441e-04 9.99835246e-01 1.25851897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.950714057 meters Centerline goodness [0,1] 0.9882430377448421 Centerline is valid? [True, True] Translation: X:111.32, Y:-4.15, Z:1.26 [[ 9.99605528e-01 -2.17515168e-02 -1.77668465e-02 1.11319314e+02] [ 2.17618407e-02 9.99763108e-01 3.87925994e-04 -4.14666393e+00] [ 1.77541997e-02 -7.74412251e-04 9.99842082e-01 1.25918920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.980714057 meters Centerline goodness [0,1] 0.9880216383307573 Centerline is valid? [True, True] Translation: X:111.35, Y:-4.15, Z:1.26 [[ 9.99502563e-01 -2.69155553e-02 -1.64371386e-02 1.11350022e+02] [ 2.69250904e-02 9.99637390e-01 3.59027659e-04 -4.14959021e+00] [ 1.64215149e-02 -8.01420509e-04 9.99864837e-01 1.26089787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.010714057 meters Centerline goodness [0,1] 0.9873784867780019 Centerline is valid? [True, True] Translation: X:111.38, Y:-4.16, Z:1.26 [[ 9.99439400e-01 -2.91820501e-02 -1.64101493e-02 1.11380285e+02] [ 2.91918637e-02 9.99573762e-01 3.58751999e-04 -4.15549323e+00] [ 1.63926856e-02 -8.37593725e-04 9.99865280e-01 1.26148911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.040714057 meters Centerline goodness [0,1] 0.9868584180510787 Centerline is valid? [True, True] Translation: X:111.41, Y:-4.16, Z:1.26 [[ 9.99289792e-01 -3.38808505e-02 -1.64923867e-02 1.11411286e+02] [ 3.38914127e-02 9.99425456e-01 3.61280490e-04 -4.16173974e+00] [ 1.64706706e-02 -9.19974192e-04 9.99863926e-01 1.26173773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.070714057 meters Centerline goodness [0,1] 0.9866841795371167 Centerline is valid? [True, True] Translation: X:111.44, Y:-4.16, Z:1.26 [[ 9.99204224e-01 -3.61826978e-02 -1.67848660e-02 1.11442688e+02] [ 3.61939690e-02 9.99344716e-01 3.68121934e-04 -4.16337776e+00] [ 1.67605475e-02 -9.75339912e-04 9.99859056e-01 1.26151252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.100714057 meters Centerline goodness [0,1] 0.9869906558971923 Centerline is valid? [True, True] Translation: X:111.47, Y:-4.17, Z:1.26 [[ 9.98992083e-01 -4.09200066e-02 -1.84491542e-02 1.11473159e+02] [ 4.09344384e-02 9.99161752e-01 4.05133375e-04 -4.16824408e+00] [ 1.84171111e-02 -1.15993080e-03 9.99829718e-01 1.26027923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.130714057 meters Centerline goodness [0,1] 0.9874091351706334 Centerline is valid? [True, True] Translation: X:111.50, Y:-4.17, Z:1.26 [[ 9.98874438e-01 -4.31946474e-02 -1.95979401e-02 1.11504260e+02] [ 4.32113759e-02 9.99065859e-01 4.30721302e-04 -4.17139315e+00] [ 1.95610280e-02 -1.27709045e-03 9.99807849e-01 1.25982550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.160714057 meters Centerline goodness [0,1] 0.9860315024597193 Centerline is valid? [True, True] Translation: X:111.53, Y:-4.18, Z:1.26 [[ 9.98664252e-01 -4.72125864e-02 -2.09924433e-02 1.11533725e+02] [ 4.72326775e-02 9.98883807e-01 4.62002490e-04 -4.17908230e+00] [ 2.09471993e-02 -1.45291468e-03 9.99779528e-01 1.25880579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19071405700001 meters Centerline goodness [0,1] 0.9856432412970589 Centerline is valid? [True, True] Translation: X:111.56, Y:-4.18, Z:1.26 [[ 9.98589247e-01 -4.86943313e-02 -2.11749470e-02 1.11564508e+02] [ 4.87151282e-02 9.98812604e-01 4.67126885e-04 -4.18267435e+00] [ 2.11270575e-02 -1.49800814e-03 9.99775677e-01 1.25877994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.220714057 meters Centerline goodness [0,1] 0.9856432412970589 Centerline is valid? [True, True] Translation: X:111.60, Y:-4.18, Z:1.26 [[ 9.98592616e-01 -4.86251987e-02 -2.11748997e-02 1.11596272e+02] [ 4.86460252e-02 9.98815971e-01 4.69259970e-04 -4.18344148e+00] [ 2.11270102e-02 -1.49867425e-03 9.99775677e-01 1.25917667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.250714057 meters Centerline goodness [0,1] 0.9855375618533513 Centerline is valid? [True, True] Translation: X:111.63, Y:-4.19, Z:1.26 [[ 9.98523105e-01 -4.99817687e-02 -2.12939424e-02 1.11627868e+02] [ 5.00031651e-02 9.98748947e-01 4.73226117e-04 -4.18542932e+00] [ 2.12436498e-02 -1.53729173e-03 9.99773146e-01 1.25925328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.280714057 meters Centerline goodness [0,1] 0.985421556237588 Centerline is valid? [True, True] Translation: X:111.66, Y:-4.19, Z:1.26 [[ 9.98372337e-01 -5.27719685e-02 -2.16285726e-02 1.11658716e+02] [ 5.27947117e-02 9.98605271e-01 4.81483799e-04 -4.18597854e+00] [ 2.15729977e-02 -1.62257436e-03 9.99765959e-01 1.25972333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.310714057 meters Centerline goodness [0,1] 0.9861258375256615 Centerline is valid? [True, True] Translation: X:111.69, Y:-4.18, Z:1.26 [[ 9.98298380e-01 -5.39354944e-02 -2.21654446e-02 1.11690751e+02] [ 5.39596869e-02 9.98542992e-01 4.94375588e-04 -4.18061403e+00] [ 2.21064850e-02 -1.68957480e-03 9.99754194e-01 1.26072605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.340714057 meters Centerline goodness [0,1] 0.9854585625394535 Centerline is valid? [True, True] Translation: X:111.72, Y:-4.18, Z:1.26 [[ 9.98255513e-01 -5.47609977e-02 -2.20718053e-02 1.11721507e+02] [ 5.47852147e-02 9.98498040e-01 4.93561003e-04 -4.18305606e+00] [ 2.20116264e-02 -1.70190859e-03 9.99756266e-01 1.26161204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.370714057 meters Centerline goodness [0,1] 0.985439956725568 Centerline is valid? [True, True] Translation: X:111.75, Y:-4.18, Z:1.26 [[ 9.98261030e-01 -5.47216504e-02 -2.19193165e-02 1.11754843e+02] [ 5.47455571e-02 9.98500216e-01 4.91640087e-04 -4.18262868e+00] [ 2.18595390e-02 -1.69077033e-03 9.99759622e-01 1.26254426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.400714057 meters Centerline goodness [0,1] 0.9852194516529392 Centerline is valid? [True, True] Translation: X:111.79, Y:-4.18, Z:1.26 [[ 9.98298330e-01 -5.42448674e-02 -2.13994986e-02 1.11786945e+02] [ 5.42675866e-02 9.98526313e-01 4.81956534e-04 -4.18334200e+00] [ 2.13418187e-02 -1.64243554e-03 9.99770888e-01 1.26348131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.430714057 meters Centerline goodness [0,1] 0.9845869158034888 Centerline is valid? [True, True] Translation: X:111.82, Y:-4.18, Z:1.26 [[ 9.98387596e-01 -5.24243331e-02 -2.17691997e-02 1.11818052e+02] [ 5.24474411e-02 9.98623565e-01 4.91530384e-04 -4.18135624e+00] [ 2.17134677e-02 -1.63247666e-03 9.99762902e-01 1.26468589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.460714057 meters Centerline goodness [0,1] 0.985582780560444 Centerline is valid? [True, True] Translation: X:111.85, Y:-4.18, Z:1.27 [[ 9.98447947e-01 -5.10611147e-02 -2.22364305e-02 1.11850040e+02] [ 5.10849112e-02 9.98694187e-01 5.03061457e-04 -4.17981923e+00] [ 2.21817070e-02 -1.63822676e-03 9.99752613e-01 1.26535650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.490714057 meters Centerline goodness [0,1] 0.98597993250436 Centerline is valid? [True, True] Translation: X:111.88, Y:-4.17, Z:1.27 [[ 9.98548227e-01 -4.85085282e-02 -2.34171009e-02 1.11880922e+02] [ 4.85342426e-02 9.98821378e-01 5.30676616e-04 -4.17265047e+00] [ 2.33637586e-02 -1.66643745e-03 9.99725641e-01 1.26572149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.520714057 meters Centerline goodness [0,1] 0.984996384671005 Centerline is valid? [True, True] Translation: X:111.91, Y:-4.18, Z:1.27 [[ 9.98623857e-01 -4.68255039e-02 -2.36170393e-02 1.11911393e+02] [ 4.68512013e-02 9.98901736e-01 5.35640324e-04 -4.17702691e+00] [ 2.35660199e-02 -1.64138987e-03 9.99720935e-01 1.26507735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55071405700001 meters Centerline goodness [0,1] 0.9858499095840868 Centerline is valid? [True, True] Translation: X:111.94, Y:-4.17, Z:1.27 [[ 9.98768159e-01 -4.32609155e-02 -2.43034680e-02 1.11942072e+02] [ 4.32870892e-02 9.99062522e-01 5.51647393e-04 -4.17166207e+00] [ 2.42568192e-02 -1.60299424e-03 9.99704475e-01 1.26507482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58071405700001 meters Centerline goodness [0,1] 0.9861126817904237 Centerline is valid? [True, True] Translation: X:111.97, Y:-4.17, Z:1.27 [[ 9.98854206e-01 -4.14911918e-02 -2.38485978e-02 1.11972446e+02] [ 4.15159020e-02 9.99137696e-01 5.41733987e-04 -4.17092391e+00] [ 2.38055558e-02 -1.53120932e-03 9.99715435e-01 1.26568515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.610714057 meters Centerline goodness [0,1] 0.9870100376981423 Centerline is valid? [True, True] Translation: X:112.00, Y:-4.16, Z:1.27 [[ 9.99013496e-01 -3.73370352e-02 -2.40412392e-02 1.12002958e+02] [ 3.73609558e-02 9.99301686e-01 5.46427871e-04 -4.16236892e+00] [ 2.40040488e-02 -1.44409249e-03 9.99710818e-01 1.26758480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.640714057 meters Centerline goodness [0,1] 0.987606876478079 Centerline is valid? [True, True] Translation: X:112.03, Y:-4.16, Z:1.27 [[ 9.99098321e-01 -3.51922421e-02 -2.37497393e-02 1.12034730e+02] [ 3.52149986e-02 9.99379613e-01 5.40499284e-04 -4.16062651e+00] [ 2.37159839e-02 -1.37635897e-03 9.99717789e-01 1.26843613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.670714057 meters Centerline goodness [0,1] 0.9875989806134523 Centerline is valid? [True, True] Translation: X:112.07, Y:-4.16, Z:1.27 [[ 9.99159309e-01 -3.34344877e-02 -2.37236408e-02 1.12066449e+02] [ 3.34567302e-02 9.99440020e-01 5.41160864e-04 -4.15827592e+00] [ 2.36922627e-02 -1.33442137e-03 9.99718408e-01 1.26918757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.700714057 meters Centerline goodness [0,1] 0.9879373012267151 Centerline is valid? [True, True] Translation: X:112.10, Y:-4.15, Z:1.27 [[ 9.99294748e-01 -2.99935374e-02 -2.25919106e-02 1.12097342e+02] [ 3.00128492e-02 9.99549380e-01 5.16155934e-04 -4.15404132e+00] [ 2.25662489e-02 -1.19383952e-03 9.99744637e-01 1.27127983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.730714057 meters Centerline goodness [0,1] 0.9872202281612218 Centerline is valid? [True, True] Translation: X:112.13, Y:-4.15, Z:1.27 [[ 9.99324589e-01 -2.87408316e-02 -2.28982713e-02 1.12127788e+02] [ 2.87603524e-02 9.99586198e-01 5.23564476e-04 -4.15439078e+00] [ 2.28737483e-02 -1.18177321e-03 9.99737663e-01 1.27167364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.760714057 meters Centerline goodness [0,1] 0.9877468910021946 Centerline is valid? [True, True] Translation: X:112.16, Y:-4.15, Z:1.27 [[ 9.99424093e-01 -2.57526212e-02 -2.20971455e-02 1.12157933e+02] [ 2.57700758e-02 9.99667769e-01 5.05460232e-04 -4.15208974e+00] [ 2.20767872e-02 -1.07461425e-03 9.99755700e-01 1.27296600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.790714057 meters Centerline goodness [0,1] 0.9872532611935166 Centerline is valid? [True, True] Translation: X:112.19, Y:-4.15, Z:1.27 [[ 9.99438431e-01 -2.45297259e-02 -2.28279595e-02 1.12188766e+02] [ 2.45480362e-02 9.99698515e-01 5.22177206e-04 -4.15049081e+00] [ 2.28082684e-02 -1.08226554e-03 9.99739272e-01 1.27348014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.820714057 meters Centerline goodness [0,1] 0.9877548228211793 Centerline is valid? [True, True] Translation: X:112.22, Y:-4.15, Z:1.27 [[ 9.99499172e-01 -2.13984219e-02 -2.33133780e-02 1.12217995e+02] [ 2.14166607e-02 9.99770495e-01 5.32901340e-04 -4.15267672e+00] [ 2.32966242e-02 -1.03192915e-03 9.99728064e-01 1.27197040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.850714057 meters Centerline goodness [0,1] 0.9878180274839983 Centerline is valid? [True, True] Translation: X:112.25, Y:-4.15, Z:1.27 [[ 9.99502049e-01 -2.08315198e-02 -2.37002286e-02 1.12246863e+02] [ 2.08501352e-02 9.99782467e-01 5.38583773e-04 -4.14898193e+00] [ 2.36838535e-02 -1.03246856e-03 9.99718965e-01 1.27235317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.880714057 meters Centerline goodness [0,1] 0.9886337490221343 Centerline is valid? [True, True] Translation: X:112.28, Y:-4.15, Z:1.27 [[ 9.99502832e-01 -1.90122613e-02 -2.51519765e-02 1.12275118e+02] [ 1.90324957e-02 9.99818706e-01 5.65319259e-04 -4.15176890e+00] [ 2.51366686e-02 -1.04374308e-03 9.99683479e-01 1.27060616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.910714057 meters Centerline goodness [0,1] 0.9883264011765517 Centerline is valid? [True, True] Translation: X:112.30, Y:-4.15, Z:1.27 [[ 9.99510179e-01 -1.83862545e-02 -2.53248628e-02 1.12303281e+02] [ 1.84064645e-02 9.99830427e-01 5.65135090e-04 -4.15232099e+00] [ 2.53101777e-02 -1.03099946e-03 9.99679114e-01 1.27067187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94071405700001 meters Centerline goodness [0,1] 0.989649791159866 Centerline is valid? [True, True] Translation: X:112.33, Y:-4.15, Z:1.27 [[ 9.99527862e-01 -1.77272879e-02 -2.50957412e-02 1.12331852e+02] [ 1.77468234e-02 9.99842358e-01 5.55912395e-04 -4.14638919e+00] [ 2.50819302e-02 -1.00101961e-03 9.99684898e-01 1.27290412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.970714057 meters Centerline goodness [0,1] 0.9894775536460966 Centerline is valid? [True, True] Translation: X:112.36, Y:-4.15, Z:1.27 [[ 9.99519538e-01 -1.76601046e-02 -2.54718116e-02 1.12360044e+02] [ 1.76800349e-02 9.99843541e-01 5.57434953e-04 -4.14608512e+00] [ 2.54579819e-02 -1.00750965e-03 9.99675385e-01 1.27319339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.000714057 meters Centerline goodness [0,1] 0.9897214019183664 Centerline is valid? [True, True] Translation: X:112.39, Y:-4.15, Z:1.27 [[ 9.99528171e-01 -1.83842617e-02 -2.46059646e-02 1.12387996e+02] [ 1.84029681e-02 9.99830508e-01 5.33992450e-04 -4.14992337e+00] [ 2.45919770e-02 -9.86563280e-04 9.99697085e-01 1.27340478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.030714057 meters Centerline goodness [0,1] 0.9902124448306616 Centerline is valid? [True, True] Translation: X:112.42, Y:-4.15, Z:1.27 [[ 9.99513652e-01 -1.93024923e-02 -2.44923027e-02 1.12417007e+02] [ 1.93212044e-02 9.99813189e-01 5.27564081e-04 -4.15220795e+00] [ 2.44775440e-02 -1.00052829e-03 9.99699879e-01 1.27418237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.060714057 meters Centerline goodness [0,1] 0.9902776822361331 Centerline is valid? [True, True] Translation: X:112.45, Y:-4.15, Z:1.28 [[ 9.99479970e-01 -2.06739502e-02 -2.47462514e-02 1.12445463e+02] [ 2.06933223e-02 9.99785731e-01 5.26979285e-04 -4.15126048e+00] [ 2.47300543e-02 -1.03878740e-03 9.99693626e-01 1.27558024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.090714057 meters Centerline goodness [0,1] 0.9899075044425206 Centerline is valid? [True, True] Translation: X:112.47, Y:-4.15, Z:1.28 [[ 9.99434106e-01 -2.25695302e-02 -2.49416021e-02 1.12474350e+02] [ 2.25896435e-02 9.99744684e-01 5.24921712e-04 -4.15308553e+00] [ 2.49233868e-02 -1.08804656e-03 9.99688772e-01 1.27639462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.120714057 meters Centerline goodness [0,1] 0.9901595075176786 Centerline is valid? [True, True] Translation: X:112.50, Y:-4.15, Z:1.28 [[ 9.99387464e-01 -2.41271769e-02 -2.53490779e-02 1.12503360e+02] [ 2.41482921e-02 9.99708248e-01 5.27145335e-04 -4.15499472e+00] [ 2.53289638e-02 -1.13895938e-03 9.99678522e-01 1.27624524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.150714057 meters Centerline goodness [0,1] 0.9902269717312874 Centerline is valid? [True, True] Translation: X:112.53, Y:-4.16, Z:1.28 [[ 9.99332092e-01 -2.59734756e-02 -2.57050288e-02 1.12532199e+02] [ 2.59956988e-02 9.99661914e-01 5.30703842e-04 -4.15896170e+00] [ 2.56825540e-02 -1.19856957e-03 9.99669430e-01 1.27594089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.180714057 meters Centerline goodness [0,1] 0.9904355368882396 Centerline is valid? [True, True] Translation: X:112.56, Y:-4.16, Z:1.28 [[ 9.99299317e-01 -2.68897124e-02 -2.60349326e-02 1.12561790e+02] [ 2.69127905e-02 9.99637641e-01 5.36374149e-04 -4.16165092e+00] [ 2.60110757e-02 -1.23667101e-03 9.99660890e-01 1.27582543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.210714057 meters Centerline goodness [0,1] 0.9910262834236778 Centerline is valid? [True, True] Translation: X:112.59, Y:-4.16, Z:1.28 [[ 9.99222956e-01 -2.93166194e-02 -2.63442417e-02 1.12591262e+02] [ 2.93410660e-02 9.99569311e-01 5.41814194e-04 -4.16490965e+00] [ 2.63170114e-02 -1.31436132e-03 9.99652783e-01 1.27571014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.240714057 meters Centerline goodness [0,1] 0.9902213307196097 Centerline is valid? [True, True] Translation: X:112.62, Y:-4.17, Z:1.28 [[ 9.99199995e-01 -3.04135232e-02 -2.59689603e-02 1.12621772e+02] [ 3.04376361e-02 9.99536525e-01 5.33659526e-04 -4.16715550e+00] [ 2.59406939e-02 -1.32366636e-03 9.99662607e-01 1.27654934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.270714057 meters Centerline goodness [0,1] 0.9905037347422117 Centerline is valid? [True, True] Translation: X:112.65, Y:-4.17, Z:1.28 [[ 9.99160601e-01 -3.16427326e-02 -2.60159809e-02 1.12651893e+02] [ 3.16673485e-02 9.99498321e-01 5.34625794e-04 -4.16828361e+00] [ 2.59860122e-02 -1.35803416e-03 9.99661384e-01 1.27755522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30071405700001 meters Centerline goodness [0,1] 0.9901887306670301 Centerline is valid? [True, True] Translation: X:112.68, Y:-4.17, Z:1.28 [[ 9.99065267e-01 -3.37987945e-02 -2.69487202e-02 1.12682306e+02] [ 3.38259968e-02 9.99427584e-01 5.54052072e-04 -4.17363904e+00] [ 2.69145680e-02 -1.46510150e-03 9.99636664e-01 1.27769330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33071405700001 meters Centerline goodness [0,1] 0.9899021988245705 Centerline is valid? [True, True] Translation: X:112.71, Y:-4.18, Z:1.28 [[ 9.99021361e-01 -3.46416468e-02 -2.75004680e-02 1.12712105e+02] [ 3.46702994e-02 9.99398644e-01 5.65623948e-04 -4.17940806e+00] [ 2.74643363e-02 -1.51851987e-03 9.99621631e-01 1.27711128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.360714057 meters Centerline goodness [0,1] 0.9896206318270407 Centerline is valid? [True, True] Translation: X:112.74, Y:-4.18, Z:1.28 [[ 9.98929517e-01 -3.64035895e-02 -2.85411738e-02 1.12742562e+02] [ 3.64351696e-02 9.99335846e-01 5.87028970e-04 -4.18157286e+00] [ 2.85008481e-02 -1.62630307e-03 9.99592445e-01 1.27699695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.390714057 meters Centerline goodness [0,1] 0.990203637353168 Centerline is valid? [True, True] Translation: X:112.77, Y:-4.18, Z:1.28 [[ 9.98883831e-01 -3.73821522e-02 -2.88733026e-02 1.12773852e+02] [ 3.74148961e-02 9.99299641e-01 5.94443139e-04 -4.18124147e+00] [ 2.88308594e-02 -1.67407126e-03 9.99582903e-01 1.27772953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.420714057 meters Centerline goodness [0,1] 0.9895059917401999 Centerline is valid? [True, True] Translation: X:112.80, Y:-4.19, Z:1.28 [[ 9.98840721e-01 -3.85313837e-02 -2.88538897e-02 1.12804198e+02] [ 3.85645825e-02 9.99255933e-01 5.94776971e-04 -4.18638046e+00] [ 2.88095029e-02 -1.70682567e-03 9.99583463e-01 1.27756794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.450714057 meters Centerline goodness [0,1] 0.9902620196118396 Centerline is valid? [True, True] Translation: X:112.84, Y:-4.19, Z:1.28 [[ 9.98826432e-01 -3.90003313e-02 -2.87181751e-02 1.12835527e+02] [ 3.90334345e-02 9.99237729e-01 5.92779448e-04 -4.18547022e+00] [ 2.86731655e-02 -1.71305279e-03 9.99587372e-01 1.27902853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.480714057 meters Centerline goodness [0,1] 0.9894965101307854 Centerline is valid? [True, True] Translation: X:112.87, Y:-4.19, Z:1.28 [[ 9.98835873e-01 -3.89146348e-02 -2.85052498e-02 1.12866079e+02] [ 3.89472346e-02 9.99241095e-01 5.89112999e-04 -4.18856538e+00] [ 2.84606919e-02 -1.69862785e-03 9.99593469e-01 1.27906536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.510714057 meters Centerline goodness [0,1] 0.9894333461826262 Centerline is valid? [True, True] Translation: X:112.90, Y:-4.19, Z:1.28 [[ 9.98840199e-01 -3.88114328e-02 -2.84943604e-02 1.12896168e+02] [ 3.88439802e-02 9.99245114e-01 5.89390054e-04 -4.18915174e+00] [ 2.84499754e-02 -1.69554085e-03 9.99593780e-01 1.28079213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.540714057 meters Centerline goodness [0,1] 0.9899395010536334 Centerline is valid? [True, True] Translation: X:112.93, Y:-4.19, Z:1.28 [[ 9.98841332e-01 -3.87863448e-02 -2.84888121e-02 1.12927834e+02] [ 3.88188917e-02 9.99246089e-01 5.90063402e-04 -4.18652422e+00] [ 2.84444476e-02 -1.69528382e-03 9.99593937e-01 1.28234117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.570714057 meters Centerline goodness [0,1] 0.988754874399202 Centerline is valid? [True, True] Translation: X:112.96, Y:-4.19, Z:1.28 [[ 9.98840052e-01 -3.90136292e-02 -2.82221119e-02 1.12958487e+02] [ 3.90456878e-02 9.99237255e-01 5.85538448e-04 -4.18899782e+00] [ 2.81777417e-02 -1.68681103e-03 9.99601505e-01 1.28242556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.600714057 meters Centerline goodness [0,1] 0.9894154710908638 Centerline is valid? [True, True] Translation: X:112.99, Y:-4.19, Z:1.28 [[ 9.98823899e-01 -3.95450751e-02 -2.80536391e-02 1.12989941e+02] [ 3.95769885e-02 9.99216354e-01 5.83030519e-04 -4.18917330e+00] [ 2.80085990e-02 -1.69262337e-03 9.99606249e-01 1.28327438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.630714057 meters Centerline goodness [0,1] 0.9891296947690911 Centerline is valid? [True, True] Translation: X:113.02, Y:-4.19, Z:1.28 [[ 9.98760441e-01 -4.11836405e-02 -2.79551440e-02 1.13019655e+02] [ 4.12159815e-02 9.99150091e-01 5.81421112e-04 -4.19182157e+00] [ 2.79074396e-02 -1.73289910e-03 9.99609009e-01 1.28283564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.660714057 meters Centerline goodness [0,1] 0.9885209010524402 Centerline is valid? [True, True] Translation: X:113.05, Y:-4.19, Z:1.28 [[ 9.98700139e-01 -4.24032559e-02 -2.82841926e-02 1.13051333e+02] [ 4.24368656e-02 9.99098977e-01 5.88810673e-04 -4.19387787e+00] [ 2.82337404e-02 -1.78833778e-03 9.99599749e-01 1.28300997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69071405700001 meters Centerline goodness [0,1] 0.9888621175614857 Centerline is valid? [True, True] Translation: X:113.08, Y:-4.20, Z:1.28 [[ 9.98624434e-01 -4.43886589e-02 -2.79085363e-02 1.13081585e+02] [ 4.44221725e-02 9.99012679e-01 5.81681029e-04 -4.19652088e+00] [ 2.78551615e-02 -1.82063870e-03 9.99610312e-01 1.28331830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.720714057 meters Centerline goodness [0,1] 0.9875479144457802 Centerline is valid? [True, True] Translation: X:113.11, Y:-4.20, Z:1.28 [[ 9.98582469e-01 -4.52005309e-02 -2.81063121e-02 1.13114040e+02] [ 4.52348776e-02 9.98976207e-01 5.87087773e-04 -4.19844522e+00] [ 2.80510004e-02 -1.85764115e-03 9.99604767e-01 1.28386256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.750714057 meters Centerline goodness [0,1] 0.9873076312866889 Centerline is valid? [True, True] Translation: X:113.14, Y:-4.20, Z:1.28 [[ 9.98506225e-01 -4.73714609e-02 -2.72261380e-02 1.13143816e+02] [ 4.74045148e-02 9.98875612e-01 5.69531616e-04 -4.20283413e+00] [ 2.71685457e-02 -1.85932273e-03 9.99629138e-01 1.28467641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.780714057 meters Centerline goodness [0,1] 0.9864999321604632 Centerline is valid? [True, True] Translation: X:113.18, Y:-4.20, Z:1.29 [[ 9.98454981e-01 -4.83467830e-02 -2.73905072e-02 1.13176149e+02] [ 4.83806301e-02 9.98828807e-01 5.73975438e-04 -4.20473044e+00] [ 2.73306778e-02 -1.89825863e-03 9.99624645e-01 1.28504642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.810714057 meters Centerline goodness [0,1] 0.9857754422523727 Centerline is valid? [True, True] Translation: X:113.21, Y:-4.21, Z:1.28 [[ 9.98352301e-01 -5.06227275e-02 -2.70189364e-02 1.13206561e+02] [ 5.06565201e-02 9.98715973e-01 5.67262781e-04 -4.20868482e+00] [ 2.69555269e-02 -1.93501340e-03 9.99634761e-01 1.28479788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.840714057 meters Centerline goodness [0,1] 0.9853331217554916 Centerline is valid? [True, True] Translation: X:113.24, Y:-4.21, Z:1.28 [[ 9.98305032e-01 -5.14873395e-02 -2.71314844e-02 1.13238553e+02] [ 5.15217637e-02 9.98671709e-01 5.70800655e-04 -4.21088265e+00] [ 2.70660569e-02 -1.96769509e-03 9.99631711e-01 1.28455833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.870714057 meters Centerline goodness [0,1] 0.9850415762834418 Centerline is valid? [True, True] Translation: X:113.27, Y:-4.21, Z:1.28 [[ 9.98229845e-01 -5.28459608e-02 -2.72851715e-02 1.13269798e+02] [ 5.28813169e-02 9.98600639e-01 5.75350716e-04 -4.21266947e+00] [ 2.72165847e-02 -2.01720806e-03 9.99627525e-01 1.28389367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.900714057 meters Centerline goodness [0,1] 0.9838545091725436 Centerline is valid? [True, True] Translation: X:113.30, Y:-4.22, Z:1.28 [[ 9.98201050e-01 -5.35405853e-02 -2.69827524e-02 1.13301759e+02] [ 5.35754504e-02 9.98563641e-01 5.70331188e-04 -4.21535319e+00] [ 2.69134596e-02 -2.01491830e-03 9.99635737e-01 1.28392627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.930714057 meters Centerline goodness [0,1] 0.9825653798256538 Centerline is valid? [True, True] Translation: X:113.33, Y:-4.22, Z:1.28 [[ 9.98175222e-01 -5.40105270e-02 -2.70016423e-02 1.13334156e+02] [ 5.40456597e-02 9.98538301e-01 5.72504286e-04 -4.21663609e+00] [ 2.69312528e-02 -2.03078116e-03 9.99635225e-01 1.28449903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.960714057 meters Centerline goodness [0,1] 0.9839545567700907 Centerline is valid? [True, True] Translation: X:113.37, Y:-4.22, Z:1.29 [[ 9.98140865e-01 -5.53032696e-02 -2.56195772e-02 1.13365984e+02] [ 5.53353565e-02 9.98467677e-01 5.44637512e-04 -4.21552142e+00] [ 2.55501995e-02 -1.96129339e-03 9.99671616e-01 1.28694365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.990714057 meters Centerline goodness [0,1] 0.9811013654037436 Centerline is valid? [True, True] Translation: X:113.40, Y:-4.22, Z:1.29 [[ 9.98084875e-01 -5.66636509e-02 -2.48155964e-02 1.13396932e+02] [ 5.66942028e-02 9.98391450e-01 5.28765081e-04 -4.21827456e+00] [ 2.47457176e-02 -1.93465289e-03 9.99691906e-01 1.28866248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.020714057 meters Centerline goodness [0,1] 0.9793148760705062 Centerline is valid? [True, True] Translation: X:113.43, Y:-4.22, Z:1.29 [[ 9.98041566e-01 -5.74862796e-02 -2.46649624e-02 1.13428579e+02] [ 5.75167412e-02 9.98344403e-01 5.26778159e-04 -4.21953184e+00] [ 2.45938447e-02 -1.94439476e-03 9.99695635e-01 1.28953293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05071405700001 meters Centerline goodness [0,1] 0.9788613112310576 Centerline is valid? [True, True] Translation: X:113.46, Y:-4.22, Z:1.29 [[ 9.98041676e-01 -5.77187134e-02 -2.41114571e-02 1.13461051e+02] [ 5.77479231e-02 9.98331063e-01 5.16329221e-04 -4.22073625e+00] [ 2.40414147e-02 -1.90770465e-03 9.99709143e-01 1.28997792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08071405700001 meters Centerline goodness [0,1] 0.967589558142163 Centerline is valid? [True, True] Translation: X:113.49, Y:-4.23, Z:1.29 [[ 9.97990814e-01 -5.83770464e-02 -2.46263387e-02 1.13492079e+02] [ 5.84077565e-02 9.98292670e-01 5.28985967e-04 -4.22544665e+00] [ 2.45534128e-02 -1.96629233e-03 9.99696586e-01 1.28857496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.110714057 meters Centerline goodness [0,1] 0.967589558142163 Centerline is valid? [True, True] Translation: X:113.52, Y:-4.23, Z:1.29 [[ 9.97994638e-01 -5.83116420e-02 -2.46263041e-02 1.13523865e+02] [ 5.83423718e-02 9.98296492e-01 5.30594297e-04 -4.22620138e+00] [ 2.45534132e-02 -1.96628725e-03 9.99696586e-01 1.28897221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.140714057 meters Centerline goodness [0,1] 0.9559710086025875 Centerline is valid? [True, True] Translation: X:113.56, Y:-4.23, Z:1.29 [[ 9.97964873e-01 -5.86157171e-02 -2.51059584e-02 1.13556253e+02] [ 5.86477932e-02 9.98278589e-01 5.42586309e-04 -4.22870435e+00] [ 2.50309367e-02 -2.01389113e-03 9.99684649e-01 1.28819169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.170714057 meters Centerline goodness [0,1] 0.9400090313840596 Centerline is valid? [True, False] Translation: X:113.56, Y:-4.23, Z:1.29 [[ 9.97965075e-01 -5.85311974e-02 -2.52944458e-02 1.13557062e+02] [ 5.85614497e-02 9.98283701e-01 4.56272994e-04 -4.22777509e+00] [ 2.52243268e-02 -1.93662393e-03 9.99679940e-01 1.28757635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.200714057 meters Centerline goodness [0,1] 0.9488323631339328 Centerline is valid? [False, False] Translation: X:113.56, Y:-4.23, Z:1.29 [[ 9.98142547e-01 -5.55264246e-02 -2.50653547e-02 1.13555758e+02] [ 5.56463482e-02 9.98442074e-01 4.11201727e-03 -4.22910995e+00] [ 2.47979792e-02 -5.49917484e-03 9.99677358e-01 1.28775209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.230714057 meters Centerline goodness [0,1] 0.9490057365712083 Centerline is valid? [False, False] Translation: X:113.56, Y:-4.23, Z:1.29 [[ 9.98144828e-01 -5.54865471e-02 -2.50628118e-02 1.13555710e+02] [ 5.55992373e-02 9.98445853e-01 3.82153229e-03 -4.22808319e+00] [ 2.48118169e-02 -5.20791591e-03 9.99678574e-01 1.28799479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.260714057 meters Centerline goodness [0,1] 0.9532792825437086 Centerline is valid? [False, True] Translation: X:113.56, Y:-4.23, Z:1.29 [[ 9.98153127e-01 -5.53725967e-02 -2.49841907e-02 1.13555606e+02] [ 5.54870087e-02 9.98451757e-01 3.90906234e-03 -4.22806354e+00] [ 2.47290542e-02 -5.28814081e-03 9.99680204e-01 1.28795952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.290714057 meters Centerline goodness [0,1] 0.9499343624100313 Centerline is valid? [True, False] Translation: X:113.56, Y:-4.23, Z:1.29 [[ 9.98159371e-01 -5.52663758e-02 -2.49699253e-02 1.13555612e+02] [ 5.53824447e-02 9.98457281e-01 3.98042303e-03 -4.22807496e+00] [ 2.47114202e-02 -5.35599206e-03 9.99680278e-01 1.28800107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.320714057 meters Centerline goodness [0,1] 0.9849495313626532 Centerline is valid? [False, True] Translation: X:113.56, Y:-4.23, Z:1.29 [[ 9.98173201e-01 -5.50462030e-02 -2.49033323e-02 1.13555535e+02] [ 5.51618872e-02 9.98469484e-01 3.98194447e-03 -4.22778786e+00] [ 2.46460264e-02 -5.34838507e-03 9.99681933e-01 1.28813501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.350714057 meters Centerline goodness [0,1] 0.956814231212046 Centerline is valid? [True, True] Translation: X:113.59, Y:-4.24, Z:1.29 [[ 9.98221189e-01 -5.42548007e-02 -2.47158775e-02 1.13586307e+02] [ 5.42848744e-02 9.98525339e-01 5.46959595e-04 -4.24460868e+00] [ 2.46497548e-02 -1.88768497e-03 9.99694366e-01 1.28775660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.380714057 meters Centerline goodness [0,1] 0.9864521975532397 Centerline is valid? [True, True] Translation: X:113.62, Y:-4.22, Z:1.29 [[ 9.98291149e-01 -5.27363929e-02 -2.51724909e-02 1.13617882e+02] [ 5.27671380e-02 9.98606688e-01 5.58236661e-04 -4.22049358e+00] [ 2.51079784e-02 -1.88556302e-03 9.99682967e-01 1.29058509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.410714057 meters Centerline goodness [0,1] 0.9863656987295826 Centerline is valid? [True, True] Translation: X:113.65, Y:-4.22, Z:1.29 [[ 9.98293927e-01 -5.21188554e-02 -2.63222553e-02 1.13649302e+02] [ 5.21522919e-02 9.98638972e-01 5.84910588e-04 -4.22080504e+00] [ 2.62559451e-02 -1.95667863e-03 9.99653338e-01 1.29032719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44071405700001 meters Centerline goodness [0,1] 0.986722349576704 Centerline is valid? [True, True] Translation: X:113.68, Y:-4.22, Z:1.29 [[ 9.98357233e-01 -5.07468766e-02 -2.66005614e-02 1.13679437e+02] [ 5.07805673e-02 9.98709659e-01 5.92124405e-04 -4.22129852e+00] [ 2.65361891e-02 -1.94194328e-03 9.99645967e-01 1.28973784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.470714057 meters Centerline goodness [0,1] 0.9865640816141259 Centerline is valid? [True, True] Translation: X:113.71, Y:-4.22, Z:1.29 [[ 9.98377117e-01 -5.03793568e-02 -2.65528168e-02 1.13711245e+02] [ 5.04128258e-02 9.98728290e-01 5.92133474e-04 -4.22222156e+00] [ 2.64892180e-02 -1.92977504e-03 9.99647236e-01 1.28964567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.500714057 meters Centerline goodness [0,1] 0.9858966206395349 Centerline is valid? [True, True] Translation: X:113.74, Y:-4.22, Z:1.29 [[ 9.98405097e-01 -5.00667170e-02 -2.60880353e-02 1.13742391e+02] [ 5.00989603e-02 9.98744088e-01 5.83397489e-04 -4.22391243e+00] [ 2.60260622e-02 -1.88945047e-03 9.99659479e-01 1.28988072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.530714057 meters Centerline goodness [0,1] 0.9851521224266715 Centerline is valid? [True, True] Translation: X:113.77, Y:-4.23, Z:1.29 [[ 9.98379979e-01 -5.05298399e-02 -2.61562984e-02 1.13774513e+02] [ 5.05624511e-02 9.98720729e-01 5.86491019e-04 -4.22594835e+00] [ 2.60932021e-02 -1.90806745e-03 9.99657693e-01 1.29011321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.560714057 meters Centerline goodness [0,1] 0.8962622562959256 Centerline is valid? [True, False] Translation: X:113.78, Y:-4.23, Z:1.29 [[ 9.98382548e-01 -5.04068271e-02 -2.62952384e-02 1.13775264e+02] [ 5.04477816e-02 9.98726298e-01 8.96012953e-04 -4.22605032e+00] [ 2.62165809e-02 -2.22110014e-03 9.99653819e-01 1.28933404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.590714057 meters Centerline goodness [0,1] 0.8968061748794676 Centerline is valid? [False, False] Translation: X:113.78, Y:-4.23, Z:1.29 [[ 9.98386015e-01 -5.02507073e-02 -2.64618896e-02 1.13776019e+02] [ 5.02985539e-02 9.98733570e-01 1.14521323e-03 -4.22619021e+00] [ 2.63708297e-02 -2.47435965e-03 9.99649167e-01 1.28869823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.620714057 meters Centerline goodness [0,1] 0.9846437766284659 Centerline is valid? [False, True] Translation: X:113.78, Y:-4.23, Z:1.29 [[ 9.98387421e-01 -5.01456445e-02 -2.66077277e-02 1.13776578e+02] [ 5.01987743e-02 9.98738358e-01 1.33217454e-03 -4.22636768e+00] [ 2.65073555e-02 -2.66570162e-03 9.99645064e-01 1.28828427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.650714057 meters Centerline goodness [0,1] 0.9838360349269316 Centerline is valid? [True, True] Translation: X:113.81, Y:-4.23, Z:1.29 [[ 9.98413441e-01 -4.99589588e-02 -2.59750500e-02 1.13808448e+02] [ 4.99922266e-02 9.98749407e-01 6.32552232e-04 -4.22723731e+00] [ 2.59109641e-02 -1.93009924e-03 9.99662391e-01 1.28866812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.680714057 meters Centerline goodness [0,1] 0.9838735357670875 Centerline is valid? [True, True] Translation: X:113.84, Y:-4.23, Z:1.29 [[ 9.98443809e-01 -4.96284428e-02 -2.54357494e-02 1.13840953e+02] [ 4.96602797e-02 9.98765974e-01 6.21124489e-04 -4.22716515e+00] [ 2.53735355e-02 -1.88330433e-03 9.99676266e-01 1.28959692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.710714057 meters Centerline goodness [0,1] 0.9842768726676981 Centerline is valid? [True, True] Translation: X:113.87, Y:-4.23, Z:1.29 [[ 9.98509727e-01 -4.91800577e-02 -2.36568692e-02 1.13872989e+02] [ 4.92075070e-02 9.98788409e-01 5.79228755e-04 -4.22564810e+00] [ 2.35997203e-02 -1.74246110e-03 9.99719969e-01 1.29173409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.740714057 meters Centerline goodness [0,1] 0.982071758469274 Centerline is valid? [True, True] Translation: X:113.90, Y:-4.23, Z:1.29 [[ 9.98529058e-01 -4.92553455e-02 -2.26634438e-02 1.13903704e+02] [ 4.92805876e-02 9.98784819e-01 5.56282604e-04 -4.23053959e+00] [ 2.26085038e-02 -1.67233217e-03 9.99742996e-01 1.29241574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.770714057 meters Centerline goodness [0,1] 0.9848560872143411 Centerline is valid? [True, True] Translation: X:113.94, Y:-4.23, Z:1.29 [[ 9.98519343e-01 -5.00499730e-02 -2.13101301e-02 1.13935493e+02] [ 5.00724919e-02 9.98745448e-01 5.24118338e-04 -4.22577767e+00] [ 2.12571633e-02 -1.59039361e-03 9.99772776e-01 1.29391553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80071405700001 meters Centerline goodness [0,1] 0.9812366057179335 Centerline is valid? [True, True] Translation: X:113.97, Y:-4.23, Z:1.29 [[ 9.98508216e-01 -5.03186591e-02 -2.11984630e-02 1.13966875e+02] [ 5.03410260e-02 9.98731950e-01 5.22467921e-04 -4.23455841e+00] [ 2.11452924e-02 -1.58884089e-03 9.99775151e-01 1.29323784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83071405700001 meters Centerline goodness [0,1] 0.9813214130955368 Centerline is valid? [True, True] Translation: X:114.00, Y:-4.24, Z:1.29 [[ 9.98441475e-01 -5.16527914e-02 -2.11331300e-02 1.13998866e+02] [ 5.16753425e-02 9.98663801e-01 5.22035337e-04 -4.23591678e+00] [ 2.10779273e-02 -1.61328346e-03 9.99776534e-01 1.29279892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.860714057 meters Centerline goodness [0,1] 0.9800852188575204 Centerline is valid? [True, True] Translation: X:114.03, Y:-4.24, Z:1.29 [[ 9.98397668e-01 -5.23162915e-02 -2.15662445e-02 1.14030052e+02] [ 5.23399670e-02 9.98629182e-01 5.34428946e-04 -4.23953055e+00] [ 2.15087217e-02 -1.66234914e-03 9.99767279e-01 1.29298144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.890714057 meters Centerline goodness [0,1] 0.9794206795961622 Centerline is valid? [True, True] Translation: X:114.06, Y:-4.24, Z:1.29 [[ 9.98332523e-01 -5.34725513e-02 -2.17453617e-02 1.14062525e+02] [ 5.34969380e-02 9.98567867e-01 5.40873560e-04 -4.24136809e+00] [ 2.16852975e-02 -1.70328193e-03 9.99763395e-01 1.29296006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.920714057 meters Centerline goodness [0,1] 0.9843586357633988 Centerline is valid? [True, True] Translation: X:114.09, Y:-4.23, Z:1.29 [[ 9.98192833e-01 -5.59713079e-02 -2.18696516e-02 1.14093292e+02] [ 5.59965969e-02 9.98430811e-01 5.45204385e-04 -4.23305026e+00] [ 2.18048182e-02 -1.76884518e-03 9.99760682e-01 1.29337750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.950714057 meters Centerline goodness [0,1] 0.9838095455271019 Centerline is valid? [True, True] Translation: X:114.12, Y:-4.24, Z:1.29 [[ 9.98122305e-01 -5.70782852e-02 -2.22246171e-02 1.14124859e+02] [ 5.71046957e-02 9.98368041e-01 5.54999501e-04 -4.23581038e+00] [ 2.21566690e-02 -1.82308738e-03 9.99752849e-01 1.29333590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.980714057 meters Centerline goodness [0,1] 0.9853705222860268 Centerline is valid? [True, True] Translation: X:114.16, Y:-4.24, Z:1.29 [[ 9.97993940e-01 -5.90377971e-02 -2.28612025e-02 1.14155472e+02] [ 5.90662782e-02 9.98253899e-01 5.71994622e-04 -4.23646526e+00] [ 2.27875152e-02 -1.92117331e-03 9.99738485e-01 1.29250742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.010714057 meters Centerline goodness [0,1] 0.9816868126874488 Centerline is valid? [True, True] Translation: X:114.19, Y:-4.24, Z:1.29 [[ 9.97970784e-01 -5.94259981e-02 -2.28662402e-02 1.14186619e+02] [ 5.94546151e-02 9.98230845e-01 5.73094281e-04 -4.24484138e+00] [ 2.27917296e-02 -1.93143486e-03 9.99738369e-01 1.29136871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.040714057 meters Centerline goodness [0,1] 0.9841342104664133 Centerline is valid? [True, True] Translation: X:114.22, Y:-4.24, Z:1.29 [[ 9.98026757e-01 -5.85326059e-02 -2.27272152e-02 1.14219085e+02] [ 5.85606767e-02 9.98283688e-01 5.70973948e-04 -4.24045663e+00] [ 2.26547876e-02 -1.90076838e-03 9.99741540e-01 1.29189729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.070714057 meters Centerline goodness [0,1] 0.9618544734506225 Centerline is valid? [True, True] Translation: X:114.25, Y:-4.25, Z:1.29 [[ 9.98092171e-01 -5.76132792e-02 -2.21974606e-02 1.14249705e+02] [ 5.76398618e-02 9.98337285e-01 5.59078921e-04 -4.25498321e+00] [ 2.21283422e-02 -1.83747086e-03 9.99753450e-01 1.29138447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.100714057 meters Centerline goodness [0,1] 0.9852890865549093 Centerline is valid? [True, True] Translation: X:114.28, Y:-4.23, Z:1.30 [[ 9.98399813e-01 -5.25308966e-02 -2.09360361e-02 1.14280393e+02] [ 5.25534477e-02 9.98617973e-01 5.28027647e-04 -4.23379851e+00] [ 2.08793642e-02 -1.62744358e-03 9.99780678e-01 1.29539973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.130714057 meters Centerline goodness [0,1] 0.9840356286399452 Centerline is valid? [True, True] Translation: X:114.31, Y:-4.24, Z:1.30 [[ 9.98563950e-01 -4.95613586e-02 -2.03398383e-02 1.14309915e+02] [ 4.95820302e-02 9.98769923e-01 5.12966727e-04 -4.23670395e+00] [ 2.02893954e-02 -1.52072056e-03 9.99792992e-01 1.29613814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.160714057 meters Centerline goodness [0,1] 0.9858314350797267 Centerline is valid? [True, True] Translation: X:114.34, Y:-4.23, Z:1.30 [[ 9.98747841e-01 -4.59033917e-02 -1.98904378e-02 1.14340875e+02] [ 4.59224385e-02 9.98944882e-01 5.01651750e-04 -4.22942405e+00] [ 1.98464236e-02 -1.41444101e-03 9.99802040e-01 1.29763080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19071405700001 meters Centerline goodness [0,1] 0.9859035869316883 Centerline is valid? [True, True] Translation: X:114.37, Y:-4.23, Z:1.30 [[ 9.98791850e-01 -4.48676011e-02 -2.00434445e-02 1.14371762e+02] [ 4.48867414e-02 9.98991954e-01 5.05848978e-04 -4.23239269e+00] [ 2.00005436e-02 -1.40492275e-03 9.99798982e-01 1.29705626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.220714057 meters Centerline goodness [0,1] 0.9854131418903471 Centerline is valid? [True, True] Translation: X:114.40, Y:-4.23, Z:1.30 [[ 9.98808189e-01 -4.42133179e-02 -2.06732584e-02 1.14403956e+02] [ 4.42335662e-02 9.99021080e-01 5.22974752e-04 -4.23253467e+00] [ 2.06298985e-02 -1.43680341e-03 9.99786149e-01 1.29622279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.250714057 meters Centerline goodness [0,1] 0.9863777655878588 Centerline is valid? [True, True] Translation: X:114.44, Y:-4.23, Z:1.29 [[ 9.98788838e-01 -4.39731229e-02 -2.20731068e-02 1.14436557e+02] [ 4.39961850e-02 9.99031542e-01 5.60033041e-04 -4.23454170e+00] [ 2.20271035e-02 -1.53048724e-03 9.99756202e-01 1.29334077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.280714057 meters Centerline goodness [0,1] 0.9863634283622386 Centerline is valid? [True, True] Translation: X:114.47, Y:-4.24, Z:1.29 [[ 9.98763123e-01 -4.43605602e-02 -2.24580502e-02 1.14468692e+02] [ 4.43845674e-02 9.99014356e-01 5.71405628e-04 -4.23733423e+00] [ 2.24105667e-02 -1.56748971e-03 9.99747623e-01 1.29249601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.310714057 meters Centerline goodness [0,1] 0.9860390723180624 Centerline is valid? [True, True] Translation: X:114.50, Y:-4.24, Z:1.29 [[ 9.98673618e-01 -4.55350287e-02 -2.40326008e-02 1.14501126e+02] [ 4.55629018e-02 9.98961284e-01 6.13220421e-04 -4.23962211e+00] [ 2.39797147e-02 -1.70740209e-03 9.99710987e-01 1.29143069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.340714057 meters Centerline goodness [0,1] 0.9862402124639407 Centerline is valid? [True, True] Translation: X:114.53, Y:-4.24, Z:1.29 [[ 9.98633379e-01 -4.61582398e-02 -2.45110370e-02 1.14532875e+02] [ 4.61874591e-02 9.98932593e-01 6.26987285e-04 -4.24154858e+00] [ 2.44559331e-02 -1.75823295e-03 9.99699363e-01 1.29187026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.370714057 meters Centerline goodness [0,1] 0.9860987468328426 Centerline is valid? [True, True] Translation: X:114.56, Y:-4.24, Z:1.29 [[ 9.98581158e-01 -4.74673699e-02 -2.41354614e-02 1.14564099e+02] [ 4.74961105e-02 9.98871231e-01 6.18623998e-04 -4.24492498e+00] [ 2.40788536e-02 -1.76408681e-03 9.99708506e-01 1.29205047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.400714057 meters Centerline goodness [0,1] 0.9857863156213639 Centerline is valid? [True, True] Translation: X:114.60, Y:-4.25, Z:1.29 [[ 9.98569369e-01 -4.80267957e-02 -2.35083335e-02 1.14595856e+02] [ 4.80542473e-02 9.98844545e-01 6.03892560e-04 -4.24727781e+00] [ 2.34521677e-02 -1.73270389e-03 9.99723459e-01 1.29267442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.430714057 meters Centerline goodness [0,1] 0.9844041710304631 Centerline is valid? [True, True] Translation: X:114.63, Y:-4.25, Z:1.29 [[ 9.98540183e-01 -4.87991730e-02 -2.31547717e-02 1.14628168e+02] [ 4.88260474e-02 9.98807119e-01 5.96374200e-04 -4.25023391e+00] [ 2.30980483e-02 -1.72605958e-03 9.99731714e-01 1.29367893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.460714057 meters Centerline goodness [0,1] 0.9843914015791155 Centerline is valid? [True, True] Translation: X:114.66, Y:-4.25, Z:1.30 [[ 9.98478299e-01 -5.05526713e-02 -2.20344000e-02 1.14658252e+02] [ 5.05774602e-02 9.98719979e-01 5.68816030e-04 -4.25254022e+00] [ 2.19774403e-02 -1.68239445e-03 9.99757051e-01 1.29577603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.490714057 meters Centerline goodness [0,1] 0.9836487440504658 Centerline is valid? [True, True] Translation: X:114.69, Y:-4.25, Z:1.30 [[ 9.98452752e-01 -5.12625856e-02 -2.15464324e-02 1.14690576e+02] [ 5.12864770e-02 9.98683827e-01 5.57354582e-04 -4.25479418e+00] [ 2.14895021e-02 -1.66153283e-03 9.99767693e-01 1.29660946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.520714057 meters Centerline goodness [0,1] 0.9841931442888053 Centerline is valid? [True, True] Translation: X:114.72, Y:-4.26, Z:1.30 [[ 9.98333242e-01 -5.37017192e-02 -2.11391289e-02 1.14721539e+02] [ 5.37252842e-02 9.98555604e-01 5.48016679e-04 -4.25677934e+00] [ 2.10791662e-02 -1.68280898e-03 9.99776393e-01 1.29748190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55071405700001 meters Centerline goodness [0,1] 0.981470113452925 Centerline is valid? [True, True] Translation: X:114.75, Y:-4.26, Z:1.30 [[ 9.98285629e-01 -5.47022619e-02 -2.08198386e-02 1.14753677e+02] [ 5.47253556e-02 9.98501299e-01 5.40664429e-04 -4.26122723e+00] [ 2.07590603e-02 -1.67911060e-03 9.99783097e-01 1.29811820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58071405700001 meters Centerline goodness [0,1] 0.9861804483979305 Centerline is valid? [True, True] Translation: X:114.79, Y:-4.26, Z:1.30 [[ 9.98210532e-01 -5.62395051e-02 -2.03187442e-02 1.14785086e+02] [ 5.62618403e-02 9.98415908e-01 5.28820952e-04 -4.25665460e+00] [ 2.02568168e-02 -1.67104459e-03 9.99793413e-01 1.29966906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.610714057 meters Centerline goodness [0,1] 0.9855430983613999 Centerline is valid? [True, True] Translation: X:114.82, Y:-4.26, Z:1.30 [[ 9.98171276e-01 -5.68878654e-02 -2.04419963e-02 1.14817563e+02] [ 5.69106285e-02 9.98379135e-01 5.33059305e-04 -4.25999648e+00] [ 2.03785379e-02 -1.69545134e-03 9.99790898e-01 1.30020230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.640714057 meters Centerline goodness [0,1] 0.9844631168889996 Centerline is valid? [True, True] Translation: X:114.85, Y:-4.26, Z:1.30 [[ 9.98122057e-01 -5.77001668e-02 -2.05681732e-02 1.14848155e+02] [ 5.77234249e-02 9.98332468e-01 5.38388995e-04 -4.26497312e+00] [ 2.05028100e-02 -1.72464333e-03 9.99788308e-01 1.30087128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.670714057 meters Centerline goodness [0,1] 0.9850148267197864 Centerline is valid? [True, True] Translation: X:114.88, Y:-4.26, Z:1.30 [[ 9.98092538e-01 -5.80372437e-02 -2.10467158e-02 1.14880215e+02] [ 5.80617200e-02 9.98312842e-01 5.53235363e-04 -4.26467901e+00] [ 2.09790985e-02 -1.77418861e-03 9.99778340e-01 1.30149840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.700714057 meters Centerline goodness [0,1] 0.985442506972631 Centerline is valid? [True, True] Translation: X:114.91, Y:-4.27, Z:1.30 [[ 9.98100439e-01 -5.77343531e-02 -2.15002050e-02 1.14912299e+02] [ 5.77598589e-02 9.98330345e-01 5.66688493e-04 -4.26764314e+00] [ 2.14315897e-02 -1.80746084e-03 9.99768683e-01 1.30161999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.730714057 meters Centerline goodness [0,1] 0.9860846704741184 Centerline is valid? [True, True] Translation: X:114.94, Y:-4.27, Z:1.30 [[ 9.98146391e-01 -5.65258354e-02 -2.25524084e-02 1.14944006e+02] [ 5.65536268e-02 9.98399385e-01 5.95912827e-04 -4.26793722e+00] [ 2.24826262e-02 -1.87022872e-03 9.99745484e-01 1.30101523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.760714057 meters Centerline goodness [0,1] 0.9848371693031888 Centerline is valid? [True, True] Translation: X:114.97, Y:-4.27, Z:1.30 [[ 9.98216140e-01 -5.50567131e-02 -2.30932091e-02 1.14974472e+02] [ 5.50854852e-02 9.98481455e-01 6.11148962e-04 -4.27204584e+00] [ 2.30244932e-02 -1.88215939e-03 9.99733129e-01 1.30106632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.790714057 meters Centerline goodness [0,1] 0.9858922101449276 Centerline is valid? [True, True] Translation: X:115.00, Y:-4.27, Z:1.30 [[ 9.98375530e-01 -5.17627909e-02 -2.38099565e-02 1.15003865e+02] [ 5.17924501e-02 9.98657672e-01 6.30263447e-04 -4.27307276e+00] [ 2.37453715e-02 -1.86241558e-03 9.99716304e-01 1.30047413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.820714057 meters Centerline goodness [0,1] 0.9880717509127606 Centerline is valid? [True, True] Translation: X:115.03, Y:-4.26, Z:1.30 [[ 9.98484692e-01 -4.95320875e-02 -2.39768975e-02 1.15034987e+02] [ 4.95615240e-02 9.98770871e-01 6.34648454e-04 -4.26208332e+00] [ 2.39159913e-02 -1.82201835e-03 9.99712311e-01 1.30248705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.850714057 meters Centerline goodness [0,1] 0.988796407593042 Centerline is valid? [True, True] Translation: X:115.07, Y:-4.26, Z:1.30 [[ 9.98760603e-01 -4.37407650e-02 -2.37487489e-02 1.15065471e+02] [ 4.37680211e-02 9.99041523e-01 6.28860439e-04 -4.25946551e+00] [ 2.36984794e-02 -1.66751677e-03 9.99717761e-01 1.30400917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.880714057 meters Centerline goodness [0,1] 0.9888735298783113 Centerline is valid? [True, True] Translation: X:115.10, Y:-4.26, Z:1.31 [[ 9.98915933e-01 -4.04234808e-02 -2.30846366e-02 1.15096102e+02] [ 4.04483546e-02 9.99181443e-01 6.11399863e-04 -4.25851195e+00] [ 2.30410257e-02 -1.54447263e-03 9.99733327e-01 1.30540372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.910714057 meters Centerline goodness [0,1] 0.9888881314336355 Centerline is valid? [True, True] Translation: X:115.13, Y:-4.26, Z:1.31 [[ 9.99189359e-01 -3.40381390e-02 -2.14948994e-02 1.15126427e+02] [ 3.40582373e-02 9.99419688e-01 5.69530872e-04 -4.25507917e+00] [ 2.14630398e-02 -1.30114757e-03 9.99768796e-01 1.30706961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94071405700001 meters Centerline goodness [0,1] 0.9891210538269362 Centerline is valid? [True, True] Translation: X:115.16, Y:-4.25, Z:1.31 [[ 9.99298769e-01 -3.08222804e-02 -2.12592944e-02 1.15157676e+02] [ 3.08412171e-02 9.99524138e-01 5.63380402e-04 -4.25443889e+00] [ 2.12318132e-02 -1.21864786e-03 9.99773837e-01 1.30768655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.970714057 meters Centerline goodness [0,1] 0.9895479073141976 Centerline is valid? [True, True] Translation: X:115.19, Y:-4.26, Z:1.31 [[ 9.99449889e-01 -2.52799511e-02 -2.14672752e-02 1.15186987e+02] [ 2.52979888e-02 9.99679793e-01 5.69043373e-04 -4.25722124e+00] [ 2.14460158e-02 -1.11180922e-03 9.99769390e-01 1.30700904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.000714057 meters Centerline goodness [0,1] 0.9895479073141976 Centerline is valid? [True, True] Translation: X:115.22, Y:-4.26, Z:1.31 [[ 9.99449889e-01 -2.52799548e-02 -2.14672819e-02 1.15217014e+02] [ 2.52979871e-02 9.99679793e-01 5.68790432e-04 -4.25801673e+00] [ 2.14460289e-02 -1.11155655e-03 9.99769390e-01 1.30745292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.030714057 meters Centerline goodness [0,1] 0.9912038086601678 Centerline is valid? [True, True] Translation: X:115.25, Y:-4.25, Z:1.31 [[ 9.99488943e-01 -2.29438224e-02 -2.22583260e-02 1.15248001e+02] [ 2.29626337e-02 9.99736150e-01 5.89884353e-04 -4.25138503e+00] [ 2.22389189e-02 -1.10069267e-03 9.99752079e-01 1.30848535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.060714057 meters Centerline goodness [0,1] 0.9909609139015694 Centerline is valid? [True, True] Translation: X:115.28, Y:-4.25, Z:1.31 [[ 9.99552470e-01 -1.97675688e-02 -2.24522477e-02 1.15276760e+02] [ 1.97859068e-02 9.99804063e-01 5.94879938e-04 -4.25447478e+00] [ 2.24360891e-02 -1.03885179e-03 9.99747740e-01 1.30749929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.090714057 meters Centerline goodness [0,1] 0.9916401635620172 Centerline is valid? [True, True] Translation: X:115.31, Y:-4.25, Z:1.31 [[ 9.99558868e-01 -1.90174052e-02 -2.28124502e-02 1.15305319e+02] [ 1.90360764e-02 9.99818617e-01 6.01568339e-04 -4.25273331e+00] [ 2.27968721e-02 -1.03556251e-03 9.99739581e-01 1.30848402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.120714057 meters Centerline goodness [0,1] 0.9912808519334256 Centerline is valid? [True, True] Translation: X:115.33, Y:-4.26, Z:1.31 [[ 9.99581084e-01 -1.85519378e-02 -2.22144422e-02 1.15333374e+02] [ 1.85694243e-02 9.99827404e-01 5.81132403e-04 -4.25718782e+00] [ 2.21998269e-02 -9.93398360e-04 9.99753060e-01 1.30905712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.150714057 meters Centerline goodness [0,1] 0.9919259729656174 Centerline is valid? [True, True] Translation: X:115.36, Y:-4.26, Z:1.31 [[ 9.99583004e-01 -1.89132785e-02 -2.18198397e-02 1.15361510e+02] [ 1.89301483e-02 9.99820648e-01 5.66832673e-04 -4.25779358e+00] [ 2.18052057e-02 -9.79649108e-04 9.99761758e-01 1.31002825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.180714057 meters Centerline goodness [0,1] 0.9903652606581477 Centerline is valid? [True, True] Translation: X:115.39, Y:-4.27, Z:1.31 [[ 9.99585632e-01 -1.93956870e-02 -2.12690529e-02 1.15389123e+02] [ 1.94117242e-02 9.99811425e-01 5.47796707e-04 -4.26517460e+00] [ 2.12544172e-02 -9.60438705e-04 9.99773638e-01 1.31008433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.210714057 meters Centerline goodness [0,1] 0.9904860907098144 Centerline is valid? [True, True] Translation: X:115.42, Y:-4.27, Z:1.31 [[ 9.99571958e-01 -1.99280599e-02 -2.14189913e-02 1.15416746e+02] [ 1.99444053e-02 9.99800939e-01 5.49760860e-04 -4.26927609e+00] [ 2.14037720e-02 -9.76714585e-04 9.99770436e-01 1.31007449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.240714057 meters Centerline goodness [0,1] 0.9912153922587056 Centerline is valid? [True, True] Translation: X:115.45, Y:-4.27, Z:1.31 [[ 9.99557824e-01 -2.06242813e-02 -2.14195090e-02 1.15445838e+02] [ 2.06407242e-02 9.99786808e-01 5.46838840e-04 -4.26708351e+00] [ 2.14036644e-02 -9.88711219e-04 9.99770426e-01 1.31103238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.270714057 meters Centerline goodness [0,1] 0.9912777627911159 Centerline is valid? [True, True] Translation: X:115.47, Y:-4.27, Z:1.31 [[ 9.99531747e-01 -2.17354067e-02 -2.15373761e-02 1.15474295e+02] [ 2.17522004e-02 9.99763244e-01 5.45756969e-04 -4.27343075e+00] [ 2.15204147e-02 -1.01398674e-03 9.99767895e-01 1.31118824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30071405700001 meters Centerline goodness [0,1] 0.9903987017962992 Centerline is valid? [True, True] Translation: X:115.50, Y:-4.28, Z:1.31 [[ 9.99506459e-01 -2.26045029e-02 -2.18145470e-02 1.15502705e+02] [ 2.26219128e-02 9.99743940e-01 5.51612457e-04 -4.28009130e+00] [ 2.17964922e-02 -1.04482699e-03 9.99761882e-01 1.31106058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33071405700001 meters Centerline goodness [0,1] 0.991034916640453 Centerline is valid? [True, True] Translation: X:115.53, Y:-4.28, Z:1.31 [[ 9.99447622e-01 -2.44440560e-02 -2.25152881e-02 1.15532471e+02] [ 2.44630441e-02 9.99700573e-01 5.68255331e-04 -4.28023348e+00] [ 2.24946560e-02 -1.11873393e-03 9.99746337e-01 1.31190169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.360714057 meters Centerline goodness [0,1] 0.9911914071277695 Centerline is valid? [True, True] Translation: X:115.56, Y:-4.28, Z:1.31 [[ 9.99420622e-01 -2.54965320e-02 -2.25465678e-02 1.15561810e+02] [ 2.55158219e-02 9.99674257e-01 5.68239645e-04 -4.28176568e+00] [ 2.25247353e-02 -1.14320463e-03 9.99745632e-01 1.31260639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.390714057 meters Centerline goodness [0,1] 0.9915836251009965 Centerline is valid? [True, True] Translation: X:115.59, Y:-4.29, Z:1.31 [[ 9.99396205e-01 -2.64813144e-02 -2.24936892e-02 1.15590837e+02] [ 2.65007495e-02 9.99648633e-01 5.66322738e-04 -4.28558154e+00] [ 2.24707887e-02 -1.16208042e-03 9.99746825e-01 1.31305714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.420714057 meters Centerline goodness [0,1] 0.9898463473807171 Centerline is valid? [True, True] Translation: X:115.62, Y:-4.29, Z:1.31 [[ 9.99331319e-01 -2.82333874e-02 -2.32333771e-02 1.15620149e+02] [ 2.82545882e-02 9.99600588e-01 5.84690455e-04 -4.29191597e+00] [ 2.32075896e-02 -1.24074899e-03 9.99729898e-01 1.31251860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.450714057 meters Centerline goodness [0,1] 0.9914616335243231 Centerline is valid? [True, True] Translation: X:115.65, Y:-4.30, Z:1.31 [[ 9.99288630e-01 -2.87619760e-02 -2.43922873e-02 1.15650056e+02] [ 2.87854916e-02 9.99585424e-01 6.13409716e-04 -4.29505678e+00] [ 2.43645319e-02 -1.31511733e-03 9.99702276e-01 1.31259643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.480714057 meters Centerline goodness [0,1] 0.99047021100074 Centerline is valid? [True, True] Translation: X:115.68, Y:-4.30, Z:1.31 [[ 9.99277271e-01 -2.88415701e-02 -2.47608412e-02 1.15679260e+02] [ 2.88658108e-02 9.99583102e-01 6.22053640e-04 -4.29664357e+00] [ 2.47325775e-02 -1.33634582e-03 9.99693210e-01 1.31282033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.510714057 meters Centerline goodness [0,1] 0.9907847533632287 Centerline is valid? [True, True] Translation: X:115.71, Y:-4.31, Z:1.31 [[ 9.99287966e-01 -2.84256833e-02 -2.48101281e-02 1.15708215e+02] [ 2.84498709e-02 9.99595027e-01 6.22406283e-04 -4.30500908e+00] [ 2.47823883e-02 -1.32780805e-03 9.99691988e-01 1.31219605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.540714057 meters Centerline goodness [0,1] 0.9902856249581277 Centerline is valid? [True, True] Translation: X:115.74, Y:-4.31, Z:1.31 [[ 9.99307555e-01 -2.81088008e-02 -2.43783865e-02 1.15737150e+02] [ 2.81320354e-02 9.99604029e-01 6.10577836e-04 -4.30995602e+00] [ 2.43515708e-02 -1.29596868e-03 9.99702617e-01 1.31262557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.570714057 meters Centerline goodness [0,1] 0.9905245044360516 Centerline is valid? [True, True] Translation: X:115.77, Y:-4.31, Z:1.31 [[ 9.99301503e-01 -2.80431494e-02 -2.46999501e-02 1.15767341e+02] [ 2.80669538e-02 9.99605855e-01 6.17524658e-04 -4.30742996e+00] [ 2.46728974e-02 -1.31034568e-03 9.99694719e-01 1.31443035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.600714057 meters Centerline goodness [0,1] 0.9906180892175039 Centerline is valid? [True, True] Translation: X:115.80, Y:-4.32, Z:1.31 [[ 9.99293202e-01 -2.83000119e-02 -2.47427901e-02 1.15795712e+02] [ 2.83239513e-02 9.99598606e-01 6.17536479e-04 -4.31512027e+00] [ 2.47153822e-02 -1.31791359e-03 9.99693660e-01 1.31367695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.630714057 meters Centerline goodness [0,1] 0.9900412164420185 Centerline is valid? [True, True] Translation: X:115.82, Y:-4.32, Z:1.31 [[ 9.99267567e-01 -2.91238329e-02 -2.48220120e-02 1.15824481e+02] [ 2.91480980e-02 9.99574914e-01 6.16236036e-04 -4.31551319e+00] [ 2.47935133e-02 -1.33929912e-03 9.99691696e-01 1.31434542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.660714057 meters Centerline goodness [0,1] 0.9916870960552708 Centerline is valid? [True, True] Translation: X:115.85, Y:-4.32, Z:1.31 [[ 9.99263310e-01 -2.93364919e-02 -2.47428164e-02 1.15852785e+02] [ 2.93605643e-02 9.99568700e-01 6.10099168e-04 -4.31913229e+00] [ 2.47142466e-02 -1.33611276e-03 9.99693663e-01 1.31449931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69071405700001 meters Centerline goodness [0,1] 0.9905786152342014 Centerline is valid? [True, True] Translation: X:115.88, Y:-4.32, Z:1.31 [[ 9.99244832e-01 -2.96811223e-02 -2.50758359e-02 1.15881899e+02] [ 2.97059221e-02 9.99558491e-01 6.16982134e-04 -4.32177485e+00] [ 2.50464520e-02 -1.36141704e-03 9.99685361e-01 1.31468245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.720714057 meters Centerline goodness [0,1] 0.9901254336802776 Centerline is valid? [True, True] Translation: X:115.91, Y:-4.32, Z:1.32 [[ 9.99214197e-01 -3.04706582e-02 -2.53481394e-02 1.15910163e+02] [ 3.04961671e-02 9.99534691e-01 6.20291751e-04 -4.32445250e+00] [ 2.53174440e-02 -1.39282542e-03 9.99678492e-01 1.31518594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.750714057 meters Centerline goodness [0,1] 0.9913942243712017 Centerline is valid? [True, True] Translation: X:115.94, Y:-4.33, Z:1.32 [[ 9.99192862e-01 -3.09772809e-02 -2.55740735e-02 1.15938432e+02] [ 3.10032508e-02 9.99519092e-01 6.19500462e-04 -4.32688526e+00] [ 2.55425843e-02 -1.41187985e-03 9.99672738e-01 1.31586055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.780714057 meters Centerline goodness [0,1] 0.990786896920064 Centerline is valid? [True, True] Translation: X:115.97, Y:-4.33, Z:1.32 [[ 9.99139391e-01 -3.20225163e-02 -2.63635253e-02 1.15967627e+02] [ 3.20503566e-02 9.99486054e-01 6.34032061e-04 -4.32650718e+00] [ 2.63296726e-02 -1.47844679e-03 9.99652221e-01 1.31703516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.810714057 meters Centerline goodness [0,1] 0.9903730712792921 Centerline is valid? [True, True] Translation: X:116.00, Y:-4.33, Z:1.32 [[ 9.99102750e-01 -3.34429990e-02 -2.59857987e-02 1.15995793e+02] [ 3.34704768e-02 9.99439512e-01 6.23060600e-04 -4.33150410e+00] [ 2.59503970e-02 -1.49225863e-03 9.99662118e-01 1.31678715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.840714057 meters Centerline goodness [0,1] 0.9898945128977927 Centerline is valid? [True, True] Translation: X:116.02, Y:-4.34, Z:1.32 [[ 9.99027071e-01 -3.58206892e-02 -2.57252774e-02 1.16024755e+02] [ 3.58483764e-02 9.99357051e-01 6.15743108e-04 -4.33688558e+00] [ 2.56866810e-02 -1.53735346e-03 9.99668861e-01 1.31667037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.870714057 meters Centerline goodness [0,1] 0.9895625138796358 Centerline is valid? [True, True] Translation: X:116.05, Y:-4.34, Z:1.32 [[ 9.98965030e-01 -3.73496291e-02 -2.59590860e-02 1.16054267e+02] [ 3.73783255e-02 9.99300993e-01 6.20923934e-04 -4.33940661e+00] [ 2.59177491e-02 -1.59058846e-03 9.99662813e-01 1.31679463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.900714057 meters Centerline goodness [0,1] 0.9895976578095196 Centerline is valid? [True, True] Translation: X:116.08, Y:-4.34, Z:1.32 [[ 9.98915594e-01 -3.85619788e-02 -2.60885050e-02 1.16084420e+02] [ 3.85913604e-02 9.99254881e-01 6.23499154e-04 -4.34146322e+00] [ 2.60450226e-02 -1.62961393e-03 9.99659443e-01 1.31701962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.930714057 meters Centerline goodness [0,1] 0.9889612980449528 Centerline is valid? [True, True] Translation: X:116.11, Y:-4.35, Z:1.32 [[ 9.98854922e-01 -4.00763843e-02 -2.61290560e-02 1.16114109e+02] [ 4.01063733e-02 9.99195221e-01 6.24468297e-04 -4.34666108e+00] [ 2.60830014e-02 -1.67169491e-03 9.99658383e-01 1.31703680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.960714057 meters Centerline goodness [0,1] 0.9906473704040247 Centerline is valid? [True, True] Translation: X:116.14, Y:-4.35, Z:1.32 [[ 9.98778482e-01 -4.12159608e-02 -2.72541453e-02 1.16144929e+02] [ 4.12490117e-02 9.99148685e-01 6.51357236e-04 -4.34621999e+00] [ 2.72040971e-02 -1.77476815e-03 9.99628325e-01 1.31707105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.990714057 meters Centerline goodness [0,1] 0.9895089384731403 Centerline is valid? [True, True] Translation: X:116.17, Y:-4.35, Z:1.32 [[ 9.98752890e-01 -4.13457479e-02 -2.79855898e-02 1.16174141e+02] [ 4.13806418e-02 9.99143231e-01 6.68609325e-04 -4.34870626e+00] [ 2.79339684e-02 -1.82583716e-03 9.99608103e-01 1.31733546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.020714057 meters Centerline goodness [0,1] 0.9892189267729985 Centerline is valid? [True, True] Translation: X:116.20, Y:-4.35, Z:1.32 [[ 9.98755474e-01 -4.13867816e-02 -2.78323152e-02 1.16204307e+02] [ 4.14212966e-02 9.99141549e-01 6.64466542e-04 -4.34868673e+00] [ 2.77809224e-02 -1.81649018e-03 9.99612385e-01 1.31781463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05071405700001 meters Centerline goodness [0,1] 0.9900122073021862 Centerline is valid? [True, True] Translation: X:116.23, Y:-4.35, Z:1.32 [[ 9.98759199e-01 -4.12630294e-02 -2.78823408e-02 1.16233418e+02] [ 4.12976143e-02 9.99146668e-01 6.65431529e-04 -4.35015147e+00] [ 2.78310901e-02 -1.81608001e-03 9.99610990e-01 1.31925530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08071405700001 meters Centerline goodness [0,1] 0.9897606382978723 Centerline is valid? [True, True] Translation: X:116.26, Y:-4.35, Z:1.32 [[ 9.98790201e-01 -4.08932402e-02 -2.73107690e-02 1.16264317e+02] [ 4.09262842e-02 9.99161956e-01 6.51820464e-04 -4.35065890e+00] [ 2.72612264e-02 -1.76876019e-03 9.99626779e-01 1.32025955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.110714057 meters Centerline goodness [0,1] 0.9897280028397746 Centerline is valid? [True, True] Translation: X:116.29, Y:-4.35, Z:1.32 [[ 9.98872528e-01 -3.92998642e-02 -2.66306726e-02 1.16293609e+02] [ 3.93307076e-02 9.99226046e-01 6.35187803e-04 -4.34943349e+00] [ 2.65850989e-02 -1.68187484e-03 9.99645139e-01 1.32257299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.140714057 meters Centerline goodness [0,1] 0.99051722223456 Centerline is valid? [True, True] Translation: X:116.32, Y:-4.35, Z:1.32 [[ 9.98931911e-01 -3.78277018e-02 -2.65349089e-02 1.16323085e+02] [ 3.78577880e-02 9.99282937e-01 6.32209198e-04 -4.34905184e+00] [ 2.64919667e-02 -1.63608690e-03 9.99647687e-01 1.32341504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.170714057 meters Centerline goodness [0,1] 0.9901849754624387 Centerline is valid? [True, True] Translation: X:116.35, Y:-4.35, Z:1.32 [[ 9.99003452e-01 -3.62648710e-02 -2.60184814e-02 1.16353000e+02] [ 3.62932530e-02 9.99340991e-01 6.19288098e-04 -4.34837998e+00] [ 2.59788766e-02 -1.56296628e-03 9.99661270e-01 1.32442374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.200714057 meters Centerline goodness [0,1] 0.9907007786429366 Centerline is valid? [True, True] Translation: X:116.38, Y:-4.34, Z:1.33 [[ 9.99128945e-01 -3.30859958e-02 -2.54296584e-02 1.16382197e+02] [ 3.31120600e-02 9.99451463e-01 6.04439642e-04 -4.34439435e+00] [ 2.53957108e-02 -1.44594152e-03 9.99676431e-01 1.32605371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.230714057 meters Centerline goodness [0,1] 0.9910234992760887 Centerline is valid? [True, True] Translation: X:116.41, Y:-4.33, Z:1.33 [[ 9.99209655e-01 -3.07040121e-02 -2.52453756e-02 1.16412481e+02] [ 3.07289250e-02 9.99527575e-01 5.99391325e-04 -4.33442388e+00] [ 2.52150453e-02 -1.37468085e-03 9.99681105e-01 1.32808104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.260714057 meters Centerline goodness [0,1] 0.9912501953081404 Centerline is valid? [True, True] Translation: X:116.44, Y:-4.33, Z:1.33 [[ 9.99217371e-01 -3.01634997e-02 -2.55892294e-02 1.16441085e+02] [ 3.01888949e-02 9.99544027e-01 6.06595112e-04 -4.33380226e+00] [ 2.55592643e-02 -1.37863093e-03 9.99672358e-01 1.32828687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.290714057 meters Centerline goodness [0,1] 0.9912589751594345 Centerline is valid? [True, True] Translation: X:116.47, Y:-4.33, Z:1.33 [[ 9.99208940e-01 -3.04105116e-02 -2.56260441e-02 1.16470327e+02] [ 3.04359698e-02 9.99536536e-01 6.03905203e-04 -4.33360425e+00] [ 2.55958023e-02 -1.38338098e-03 9.99671417e-01 1.32832510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.320714057 meters Centerline goodness [0,1] 0.9915814389710151 Centerline is valid? [True, True] Translation: X:116.50, Y:-4.33, Z:1.33 [[ 9.99193651e-01 -3.06518474e-02 -2.59328443e-02 1.16499887e+02] [ 3.06778972e-02 9.99529138e-01 6.07161639e-04 -4.33191937e+00] [ 2.59020229e-02 -1.40223718e-03 9.99663503e-01 1.32866636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.350714057 meters Centerline goodness [0,1] 0.9924240731222205 Centerline is valid? [True, True] Translation: X:116.53, Y:-4.33, Z:1.33 [[ 9.99122010e-01 -3.31984171e-02 -2.55553361e-02 1.16529048e+02] [ 3.32245165e-02 9.99447735e-01 5.97249366e-04 -4.32971410e+00] [ 2.55213950e-02 -1.44578867e-03 9.99673231e-01 1.32945251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.380714057 meters Centerline goodness [0,1] 0.990346152986659 Centerline is valid? [True, True] Translation: X:116.56, Y:-4.33, Z:1.33 [[ 9.98989781e-01 -3.70363212e-02 -2.54505035e-02 1.16558245e+02] [ 3.70634218e-02 9.99312739e-01 5.93781133e-04 -4.33373085e+00] [ 2.54110208e-02 -1.53646403e-03 9.99675907e-01 1.32974367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.410714057 meters Centerline goodness [0,1] 0.9919185605214984 Centerline is valid? [True, True] Translation: X:116.59, Y:-4.33, Z:1.33 [[ 9.98913553e-01 -3.90972039e-02 -2.53598446e-02 1.16589841e+02] [ 3.91247741e-02 9.99234158e-01 5.91703751e-04 -4.33325765e+00] [ 2.53172890e-02 -1.58325909e-03 9.99678212e-01 1.33041817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44071405700001 meters Centerline goodness [0,1] 0.9910343904723672 Centerline is valid? [True, True] Translation: X:116.62, Y:-4.33, Z:1.33 [[ 9.98838396e-01 -4.10287965e-02 -2.52684934e-02 1.16621231e+02] [ 4.10568060e-02 9.99156639e-01 5.90448600e-04 -4.33491096e+00] [ 2.52229576e-02 -1.62720636e-03 9.99680526e-01 1.33052118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.470714057 meters Centerline goodness [0,1] 0.9907187905354028 Centerline is valid? [True, True] Translation: X:116.65, Y:-4.34, Z:1.33 [[ 9.98645638e-01 -4.49367228e-02 -2.62217435e-02 1.16651484e+02] [ 4.49682418e-02 9.98988229e-01 6.13287975e-04 -4.33662951e+00] [ 2.61676540e-02 -1.79160307e-03 9.99655963e-01 1.33013148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.500714057 meters Centerline goodness [0,1] 0.9897749598142526 Centerline is valid? [True, True] Translation: X:116.68, Y:-4.34, Z:1.33 [[ 9.98582890e-01 -4.62498682e-02 -2.63279658e-02 1.16681096e+02] [ 4.62820985e-02 9.98928220e-01 6.15816680e-04 -4.34325345e+00] [ 2.62712666e-02 -1.83345751e-03 9.99653169e-01 1.32876072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.530714057 meters Centerline goodness [0,1] 0.9908429419008172 Centerline is valid? [True, True] Translation: X:116.71, Y:-4.34, Z:1.33 [[ 9.98445791e-01 -4.84004129e-02 -2.76297495e-02 1.16712454e+02] [ 4.84367361e-02 9.98826043e-01 6.46492765e-04 -4.33505560e+00] [ 2.75660229e-02 -1.98378287e-03 9.99618017e-01 1.32890141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.560714057 meters Centerline goodness [0,1] 0.9900389488292967 Centerline is valid? [True, True] Translation: X:116.74, Y:-4.34, Z:1.33 [[ 9.98394085e-01 -4.91610550e-02 -2.81503389e-02 1.16743640e+02] [ 4.91990888e-02 9.98788774e-01 6.59650152e-04 -4.34020224e+00] [ 2.80838134e-02 -2.04356183e-03 9.99603483e-01 1.32781295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.590714057 meters Centerline goodness [0,1] 0.9907353403023913 Centerline is valid? [True, True] Translation: X:116.77, Y:-4.33, Z:1.33 [[ 9.98300538e-01 -5.08159072e-02 -2.85268281e-02 1.16774497e+02] [ 5.08556670e-02 9.98705789e-01 6.69509540e-04 -4.33468378e+00] [ 2.84558866e-02 -2.11912260e-03 9.99592803e-01 1.32893673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.620714057 meters Centerline goodness [0,1] 0.9885312367000425 Centerline is valid? [True, True] Translation: X:116.81, Y:-4.34, Z:1.33 [[ 9.98287303e-01 -5.11755005e-02 -2.83465715e-02 1.16805374e+02] [ 5.12149308e-02 9.98687432e-01 6.66252126e-04 -4.34241192e+00] [ 2.82752689e-02 -2.11687873e-03 9.99597933e-01 1.32808195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.650714057 meters Centerline goodness [0,1] 0.9876708358415268 Centerline is valid? [True, True] Translation: X:116.84, Y:-4.34, Z:1.33 [[ 9.98292074e-01 -5.12092750e-02 -2.81166381e-02 1.16836947e+02] [ 5.12481153e-02 9.98685733e-01 6.62062879e-04 -4.34151383e+00] [ 2.80457815e-02 -2.10185683e-03 9.99604430e-01 1.32918743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.680714057 meters Centerline goodness [0,1] 0.9908197162865865 Centerline is valid? [True, True] Translation: X:116.87, Y:-4.33, Z:1.33 [[ 9.98285937e-01 -5.14319216e-02 -2.79275044e-02 1.16869546e+02] [ 5.14703670e-02 9.98674305e-01 6.59028683e-04 -4.33083014e+00] [ 2.78565860e-02 -2.09533797e-03 9.99609734e-01 1.33141437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.710714057 meters Centerline goodness [0,1] 0.9905081085944353 Centerline is valid? [True, True] Translation: X:116.90, Y:-4.33, Z:1.33 [[ 9.98317543e-01 -5.09324885e-02 -2.77121860e-02 1.16900909e+02] [ 5.09702237e-02 9.98699958e-01 6.56549821e-04 -4.33169848e+00] [ 2.76427192e-02 -2.06794152e-03 9.99615728e-01 1.33178705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.740714057 meters Centerline goodness [0,1] 0.9903375129207677 Centerline is valid? [True, True] Translation: X:116.93, Y:-4.33, Z:1.33 [[ 9.98426790e-01 -4.90563823e-02 -2.71554115e-02 1.16932120e+02] [ 4.90919849e-02 9.98794053e-01 6.45542809e-04 -4.32810909e+00] [ 2.70909955e-02 -1.97764028e-03 9.99631015e-01 1.33357821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.770714057 meters Centerline goodness [0,1] 0.9898226294173399 Centerline is valid? [True, True] Translation: X:116.96, Y:-4.32, Z:1.34 [[ 9.98516819e-01 -4.77610765e-02 -2.61350659e-02 1.16964044e+02] [ 4.77936402e-02 9.98857037e-01 6.22391255e-04 -4.32374306e+00] [ 2.60754684e-02 -1.87055807e-03 9.99658227e-01 1.33559561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80071405700001 meters Centerline goodness [0,1] 0.9896828429499427 Centerline is valid? [True, True] Translation: X:116.99, Y:-4.32, Z:1.34 [[ 9.98733819e-01 -4.37052448e-02 -2.49120621e-02 1.16993305e+02] [ 4.37335897e-02 9.99043052e-01 5.93845054e-04 -4.32118872e+00] [ 2.48622684e-02 -1.68258704e-03 9.99689470e-01 1.33717958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83071405700001 meters Centerline goodness [0,1] 0.9899616512519739 Centerline is valid? [True, True] Translation: X:117.02, Y:-4.32, Z:1.34 [[ 9.98851764e-01 -4.12369903e-02 -2.43857398e-02 1.17023645e+02] [ 4.12634114e-02 9.99148134e-01 5.81054379e-04 -4.31873121e+00] [ 2.43410055e-02 -1.58662601e-03 9.99702455e-01 1.33758613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.860714057 meters Centerline goodness [0,1] 0.9904080527218561 Centerline is valid? [True, True] Translation: X:117.05, Y:-4.31, Z:1.34 [[ 9.99045599e-01 -3.60415384e-02 -2.46758727e-02 1.17054797e+02] [ 3.60670178e-02 9.99349200e-01 5.88136356e-04 -4.31006277e+00] [ 2.46386163e-02 -1.47756018e-03 9.99695331e-01 1.33755878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.890714057 meters Centerline goodness [0,1] 0.9906711759765758 Centerline is valid? [True, True] Translation: X:117.09, Y:-4.31, Z:1.34 [[ 9.99130937e-01 -3.34861825e-02 -2.48202914e-02 1.17085387e+02] [ 3.35111816e-02 9.99438167e-01 5.91831570e-04 -4.30782584e+00] [ 2.47865284e-02 -1.42307452e-03 9.99691754e-01 1.33724314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.920714057 meters Centerline goodness [0,1] 0.9906711759765758 Centerline is valid? [True, True] Translation: X:117.12, Y:-4.31, Z:1.34 [[ 9.99132107e-01 -3.34512391e-02 -2.48202830e-02 1.17116275e+02] [ 3.34762362e-02 9.99439338e-01 5.92183107e-04 -4.30859352e+00] [ 2.47865580e-02 -1.42255881e-03 9.99691754e-01 1.33769963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.950714057 meters Centerline goodness [0,1] 0.9910474281288442 Centerline is valid? [True, True] Translation: X:117.15, Y:-4.30, Z:1.34 [[ 9.99262993e-01 -2.82072301e-02 -2.60350281e-02 1.17146300e+02] [ 2.82329699e-02 9.99601177e-01 6.21530188e-04 -4.30392594e+00] [ 2.60071131e-02 -1.35611828e-03 9.99660838e-01 1.33734537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.980714057 meters Centerline goodness [0,1] 0.9912354588294215 Centerline is valid? [True, True] Translation: X:117.18, Y:-4.30, Z:1.34 [[ 9.99319528e-01 -2.53745121e-02 -2.67696822e-02 1.17175326e+02] [ 2.54006947e-02 9.99677146e-01 6.38422613e-04 -4.30140142e+00] [ 2.67448398e-02 -1.31795671e-03 9.99641424e-01 1.33755528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.010714057 meters Centerline goodness [0,1] 0.9915072371124606 Centerline is valid? [True, True] Translation: X:117.21, Y:-4.30, Z:1.34 [[ 9.99375848e-01 -2.25951647e-02 -2.71545953e-02 1.17205629e+02] [ 2.26210629e-02 9.99743902e-01 6.46882135e-04 -4.29820778e+00] [ 2.71330247e-02 -1.26074419e-03 9.99631037e-01 1.33815022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.040714057 meters Centerline goodness [0,1] 0.991127836697457 Centerline is valid? [True, True] Translation: X:117.23, Y:-4.29, Z:1.34 [[ 9.99482810e-01 -1.71031553e-02 -2.72322454e-02 1.17234834e+02] [ 1.71271532e-02 9.99853109e-01 6.48207858e-04 -4.29383208e+00] [ 2.72171589e-02 -1.11428345e-03 9.99628923e-01 1.33809142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.070714057 meters Centerline goodness [0,1] 0.9914682403531645 Centerline is valid? [True, True] Translation: X:117.26, Y:-4.29, Z:1.34 [[ 9.99571076e-01 -1.10838884e-02 -2.71074066e-02 1.17264676e+02] [ 1.11054408e-02 9.99938125e-01 6.44650880e-04 -4.28994756e+00] [ 2.70985841e-02 -9.45414072e-04 9.99632319e-01 1.33885070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.100714057 meters Centerline goodness [0,1] 0.9919112760935818 Centerline is valid? [True, True] Translation: X:117.29, Y:-4.29, Z:1.34 [[ 9.99611509e-01 -7.70259923e-03 -2.67862080e-02 1.17294791e+02] [ 7.72240780e-03 9.99969979e-01 6.36137851e-04 -4.28813947e+00] [ 2.67805040e-02 -8.42744739e-04 9.99640983e-01 1.33965460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.130714057 meters Centerline goodness [0,1] 0.9915706530453307 Centerline is valid? [True, True] Translation: X:117.32, Y:-4.28, Z:1.34 [[ 9.99643644e-01 -4.35359123e-03 -2.63368772e-02 1.17323905e+02] [ 4.37154097e-03 9.99990250e-01 6.24005633e-04 -4.28458592e+00] [ 2.63339038e-02 -7.38916003e-04 9.99652930e-01 1.34101096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.160714057 meters Centerline goodness [0,1] 0.9924820673165349 Centerline is valid? [True, True] Translation: X:117.35, Y:-4.28, Z:1.34 [[ 9.99661709e-01 3.00461939e-03 -2.58348396e-02 1.17353102e+02] [-2.98983811e-03 9.99995344e-01 6.10753625e-04 -4.28048011e+00] [ 2.58365544e-02 -5.33305025e-04 9.99666038e-01 1.34177839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19071405700001 meters Centerline goodness [0,1] 0.993018272310422 Centerline is valid? [True, True] Translation: X:117.38, Y:-4.28, Z:1.34 [[ 9.99652944e-01 6.14296567e-03 -2.56174948e-02 1.17381834e+02] [-6.12954342e-03 9.99981033e-01 6.02440756e-04 -4.27737728e+00] [ 2.56207097e-02 -4.45208128e-04 9.99671637e-01 1.34316773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.220714057 meters Centerline goodness [0,1] 0.9933608428041218 Centerline is valid? [True, True] Translation: X:117.41, Y:-4.28, Z:1.34 [[ 9.99597199e-01 1.22254135e-02 -2.56120696e-02 1.17410459e+02] [-1.22141061e-02 9.99925226e-01 5.97887537e-04 -4.27564982e+00] [ 2.56174639e-02 -2.84818173e-04 9.99671778e-01 1.34365640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.250714057 meters Centerline goodness [0,1] 0.9940202391904324 Centerline is valid? [True, True] Translation: X:117.44, Y:-4.28, Z:1.34 [[ 9.99570271e-01 1.44685024e-02 -2.54938565e-02 1.17438162e+02] [-1.44580796e-02 9.99895301e-01 5.93123743e-04 -4.27739130e+00] [ 2.54997689e-02 -2.24276653e-04 9.99674803e-01 1.34197899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.280714057 meters Centerline goodness [0,1] 0.9938408700629651 Centerline is valid? [True, True] Translation: X:117.47, Y:-4.28, Z:1.34 [[ 9.99540956e-01 1.59911791e-02 -2.57324680e-02 1.17467171e+02] [-1.59811649e-02 9.99872116e-01 5.94781147e-04 -4.27723829e+00] [ 2.57386884e-02 -1.83273302e-04 9.99668688e-01 1.34301246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.310714057 meters Centerline goodness [0,1] 0.9930296012656776 Centerline is valid? [True, True] Translation: X:117.50, Y:-4.28, Z:1.34 [[ 9.99535417e-01 1.54453013e-02 -2.62753292e-02 1.17495350e+02] [-1.54348395e-02 9.99880695e-01 6.00939034e-04 -4.27957598e+00] [ 2.62814762e-02 -1.95104357e-04 9.99654563e-01 1.34454221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.340714057 meters Centerline goodness [0,1] 0.9928141520012815 Centerline is valid? [True, True] Translation: X:117.52, Y:-4.28, Z:1.34 [[ 9.99560711e-01 1.36499234e-02 -2.63071268e-02 1.17524421e+02] [-1.36389860e-02 9.99906808e-01 5.95154372e-04 -4.28307889e+00] [ 2.63127990e-02 -2.36090392e-04 9.99653730e-01 1.34465284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.370714057 meters Centerline goodness [0,1] 0.9923845136577135 Centerline is valid? [True, True] Translation: X:117.55, Y:-4.29, Z:1.34 [[ 9.99636227e-01 8.43672786e-03 -2.56171013e-02 1.17552288e+02] [-8.42476070e-03 9.99964346e-01 5.75047798e-04 -4.29464540e+00] [ 2.56210395e-02 -3.59020662e-04 9.99671663e-01 1.34246336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.400714057 meters Centerline goodness [0,1] 0.992148026764987 Centerline is valid? [True, True] Translation: X:117.58, Y:-4.30, Z:1.35 [[ 9.99674786e-01 5.75371119e-03 -2.48438715e-02 1.17580695e+02] [-5.74167627e-03 9.99983362e-01 5.55729106e-04 -4.29675870e+00] [ 2.48466556e-02 -4.12902908e-04 9.99691189e-01 1.34523543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.430714057 meters Centerline goodness [0,1] 0.9916456673250245 Centerline is valid? [True, True] Translation: X:117.61, Y:-4.30, Z:1.34 [[ 9.99709226e-01 2.65485186e-03 -2.39669741e-02 1.17608111e+02] [-2.64280506e-03 9.99996365e-01 5.34302311e-04 -4.30323232e+00] [ 2.39683055e-02 -4.70806909e-04 9.99712608e-01 1.34493722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.460714057 meters Centerline goodness [0,1] 0.9908136779144566 Centerline is valid? [True, True] Translation: X:117.64, Y:-4.31, Z:1.35 [[ 9.99731614e-01 -2.18617593e-03 -2.30633907e-02 1.17637398e+02] [ 2.19858320e-03 9.99997452e-01 5.12621140e-04 -4.31171393e+00] [ 2.30622113e-02 -5.63190343e-04 9.99733873e-01 1.34609863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.490714057 meters Centerline goodness [0,1] 0.9912559439298673 Centerline is valid? [True, True] Translation: X:117.67, Y:-4.31, Z:1.35 [[ 9.99733447e-01 -4.51633764e-03 -2.26414848e-02 1.17666430e+02] [ 4.52886770e-03 9.99989619e-01 5.02165123e-04 -4.31475909e+00] [ 2.26389818e-02 -6.04571558e-04 9.99743523e-01 1.34715311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.520714057 meters Centerline goodness [0,1] 0.9909701475774388 Centerline is valid? [True, True] Translation: X:117.70, Y:-4.32, Z:1.35 [[ 9.99708023e-01 -8.87629600e-03 -2.24740022e-02 1.17695101e+02] [ 8.88970881e-03 9.99960362e-01 4.96976738e-04 -4.32309538e+00] [ 2.24687001e-02 -6.96618968e-04 9.99747304e-01 1.34804926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55071405700001 meters Centerline goodness [0,1] 0.9909488069900303 Centerline is valid? [True, True] Translation: X:117.72, Y:-4.33, Z:1.35 [[ 9.99675738e-01 -1.14896819e-02 -2.27245502e-02 1.17723449e+02] [ 1.15040274e-02 9.99933701e-01 5.00641963e-04 -4.32730509e+00] [ 2.27172913e-02 -7.61903471e-04 9.99741639e-01 1.34839050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58071405700001 meters Centerline goodness [0,1] 0.9910099293317828 Centerline is valid? [True, True] Translation: X:117.75, Y:-4.34, Z:1.35 [[ 9.99619313e-01 -1.65036144e-02 -2.21101761e-02 1.17753900e+02] [ 1.65183763e-02 9.99863445e-01 4.85171425e-04 -4.33771197e+00] [ 2.20991498e-02 -8.50210936e-04 9.99755422e-01 1.34826822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.610714057 meters Centerline goodness [0,1] 0.9912194468028062 Centerline is valid? [True, True] Translation: X:117.78, Y:-4.34, Z:1.35 [[ 9.99579035e-01 -1.92317419e-02 -2.17230903e-02 1.17783090e+02] [ 1.92466263e-02 9.99814653e-01 4.76303540e-04 -4.34278625e+00] [ 2.17099038e-02 -8.94199232e-04 9.99763912e-01 1.34870323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.640714057 meters Centerline goodness [0,1] 0.9901259333556224 Centerline is valid? [True, True] Translation: X:117.81, Y:-4.36, Z:1.35 [[ 9.99482629e-01 -2.47603558e-02 -2.05280252e-02 1.17811613e+02] [ 2.47747911e-02 9.99692957e-01 4.49145458e-04 -4.35500842e+00] [ 2.05106012e-02 -9.57490619e-04 9.99789177e-01 1.34892046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.670714057 meters Centerline goodness [0,1] 0.9904766152954033 Centerline is valid? [True, True] Translation: X:117.84, Y:-4.36, Z:1.35 [[ 9.99389868e-01 -2.79933782e-02 -2.08868784e-02 1.17841418e+02] [ 2.80090132e-02 9.99607566e-01 4.56335121e-04 -4.35696586e+00] [ 2.08659073e-02 -1.04107755e-03 9.99781741e-01 1.34899248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.700714057 meters Centerline goodness [0,1] 0.9891048161159781 Centerline is valid? [True, True] Translation: X:117.87, Y:-4.37, Z:1.35 [[ 9.99196402e-01 -3.32252818e-02 -2.24194193e-02 1.17870859e+02] [ 3.32446014e-02 9.99447126e-01 4.89473858e-04 -4.36672499e+00] [ 2.23907613e-02 -1.23440518e-03 9.99748533e-01 1.34738086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.730714057 meters Centerline goodness [0,1] 0.9890960879433887 Centerline is valid? [True, True] Translation: X:117.90, Y:-4.37, Z:1.35 [[ 9.99107569e-01 -3.55686648e-02 -2.27801488e-02 1.17901155e+02] [ 3.55892179e-02 9.99366379e-01 4.97326838e-04 -4.36942800e+00] [ 2.27480256e-02 -1.30761069e-03 9.99740375e-01 1.34717298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.760714057 meters Centerline goodness [0,1] 0.9894062138342384 Centerline is valid? [True, True] Translation: X:117.93, Y:-4.37, Z:1.35 [[ 9.99033063e-01 -3.73569808e-02 -2.31817754e-02 1.17932545e+02] [ 3.73787519e-02 9.99301042e-01 5.06396297e-04 -4.37060186e+00] [ 2.31466548e-02 -1.37241247e-03 9.99731138e-01 1.34764961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.790714057 meters Centerline goodness [0,1] 0.9890649656613251 Centerline is valid? [True, True] Translation: X:117.96, Y:-4.37, Z:1.35 [[ 9.98974687e-01 -3.95530852e-02 -2.20256267e-02 1.17963902e+02] [ 3.95732867e-02 9.99216554e-01 4.81904137e-04 -4.37458211e+00] [ 2.19893100e-02 -1.35303648e-03 9.99757290e-01 1.34830883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.820714057 meters Centerline goodness [0,1] 0.9886683667812396 Centerline is valid? [True, True] Translation: X:118.00, Y:-4.38, Z:1.35 [[ 9.98963172e-01 -4.00400949e-02 -2.16650031e-02 1.17995425e+02] [ 4.00597736e-02 9.99197172e-01 4.74907425e-04 -4.37827992e+00] [ 2.16285945e-02 -1.34231015e-03 9.99765173e-01 1.34868780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.850714057 meters Centerline goodness [0,1] 0.9890049112871112 Centerline is valid? [True, True] Translation: X:118.03, Y:-4.38, Z:1.35 [[ 9.98905693e-01 -4.11133690e-02 -2.22959235e-02 1.18026507e+02] [ 4.11345013e-02 9.99153498e-01 4.89823467e-04 -4.37958594e+00] [ 2.22569116e-02 -1.40641914e-03 9.99751295e-01 1.34878364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.880714057 meters Centerline goodness [0,1] 0.9891253792828508 Centerline is valid? [True, True] Translation: X:118.06, Y:-4.38, Z:1.35 [[ 9.98893147e-01 -4.11087521e-02 -2.28594042e-02 1.18057559e+02] [ 4.11309873e-02 9.99153636e-01 5.03171116e-04 -4.38152140e+00] [ 2.28193721e-02 -1.44284404e-03 9.99738563e-01 1.34891498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.910714057 meters Centerline goodness [0,1] 0.9883439532870052 Centerline is valid? [True, True] Translation: X:118.09, Y:-4.38, Z:1.35 [[ 9.98891146e-01 -4.11163430e-02 -2.29330349e-02 1.18089060e+02] [ 4.11387483e-02 9.99153315e-01 5.05864259e-04 -4.38353344e+00] [ 2.28928185e-02 -1.44873968e-03 9.99736875e-01 1.34888985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94071405700001 meters Centerline goodness [0,1] 0.9889647225669208 Centerline is valid? [True, True] Translation: X:118.12, Y:-4.38, Z:1.35 [[ 9.98892304e-01 -4.10608994e-02 -2.29818779e-02 1.18120150e+02] [ 4.10834041e-02 9.99155592e-01 5.07748389e-04 -4.38337082e+00] [ 2.29416233e-02 -1.45135974e-03 9.99735753e-01 1.34930618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.970714057 meters Centerline goodness [0,1] 0.9892377676689227 Centerline is valid? [True, True] Translation: X:118.15, Y:-4.38, Z:1.35 [[ 9.98881336e-01 -4.12902154e-02 -2.30476541e-02 1.18152053e+02] [ 4.13129357e-02 9.99146126e-01 5.10317850e-04 -4.38258178e+00] [ 2.30069032e-02 -1.46191323e-03 9.99734237e-01 1.34996665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.000714057 meters Centerline goodness [0,1] 0.9879456555521023 Centerline is valid? [True, True] Translation: X:118.18, Y:-4.39, Z:1.35 [[ 9.98889656e-01 -4.13420079e-02 -2.25896650e-02 1.18182787e+02] [ 4.13638800e-02 9.99144023e-01 5.01633483e-04 -4.38961232e+00] [ 2.25495903e-02 -1.43547269e-03 9.99744695e-01 1.35040273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.030714057 meters Centerline goodness [0,1] 0.9894528821387335 Centerline is valid? [True, True] Translation: X:118.21, Y:-4.38, Z:1.35 [[ 9.98905856e-01 -4.11654415e-02 -2.21922815e-02 1.18214960e+02] [ 4.11865365e-02 9.99151352e-01 4.94131720e-04 -4.37983876e+00] [ 2.21531069e-02 -1.40761428e-03 9.99753599e-01 1.35221363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.060714057 meters Centerline goodness [0,1] 0.989112840639482 Centerline is valid? [True, True] Translation: X:118.25, Y:-4.38, Z:1.35 [[ 9.98924157e-01 -4.09662355e-02 -2.17323846e-02 1.18246011e+02] [ 4.09864495e-02 9.99159585e-01 4.85340876e-04 -4.38100240e+00] [ 2.16942378e-02 -1.37555201e-03 9.99763706e-01 1.35295247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.090714057 meters Centerline goodness [0,1] 0.9893118236562007 Centerline is valid? [True, True] Translation: X:118.28, Y:-4.38, Z:1.35 [[ 9.98950889e-01 -4.05912006e-02 -2.12008449e-02 1.18278746e+02] [ 4.06103826e-02 9.99174945e-01 4.74846972e-04 -4.38075550e+00] [ 2.11640784e-02 -1.33532323e-03 9.99775124e-01 1.35413346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.120714057 meters Centerline goodness [0,1] 0.9888104435859865 Centerline is valid? [True, True] Translation: X:118.31, Y:-4.38, Z:1.35 [[ 9.98950675e-01 -4.06040968e-02 -2.11862213e-02 1.18310263e+02] [ 4.06232910e-02 9.99174420e-01 4.76209144e-04 -4.38149127e+00] [ 2.11493944e-02 -1.33636348e-03 9.99775433e-01 1.35432270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.150714057 meters Centerline goodness [0,1] 0.9896559378468368 Centerline is valid? [True, True] Translation: X:118.34, Y:-4.38, Z:1.35 [[ 9.98896519e-01 -4.13461153e-02 -2.22765220e-02 1.18342642e+02] [ 4.13675511e-02 9.99143870e-01 5.02103559e-04 -4.38063146e+00] [ 2.22366904e-02 -1.42307466e-03 9.99751721e-01 1.35442641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.180714057 meters Centerline goodness [0,1] 0.9898394770776824 Centerline is valid? [True, True] Translation: X:118.38, Y:-4.38, Z:1.35 [[ 9.98880553e-01 -4.15429957e-02 -2.26234383e-02 1.18375311e+02] [ 4.15651923e-02 9.99135663e-01 5.11582292e-04 -4.38035447e+00] [ 2.25826314e-02 -1.45135717e-03 9.99743926e-01 1.35485385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.210714057 meters Centerline goodness [0,1] 0.9891826923076923 Centerline is valid? [True, True] Translation: X:118.41, Y:-4.38, Z:1.36 [[ 9.98864212e-01 -4.20613177e-02 -2.23859843e-02 1.18406296e+02] [ 4.20832133e-02 9.99113980e-01 5.07690811e-04 -4.38087621e+00] [ 2.23447957e-02 -1.44918833e-03 9.99749274e-01 1.35534564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.240714057 meters Centerline goodness [0,1] 0.9882925312125117 Centerline is valid? [True, True] Translation: X:118.44, Y:-4.39, Z:1.36 [[ 9.98889807e-01 -4.19033568e-02 -2.15235488e-02 1.18437563e+02] [ 4.19235852e-02 9.99120700e-01 4.89264543e-04 -4.38550779e+00] [ 2.14841213e-02 -1.39106570e-03 9.99768222e-01 1.35608111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.270714057 meters Centerline goodness [0,1] 0.988676385359547 Centerline is valid? [True, True] Translation: X:118.47, Y:-4.38, Z:1.36 [[ 9.98924756e-01 -4.15203277e-02 -2.06250657e-02 1.18469383e+02] [ 4.15388416e-02 9.99136779e-01 4.69851915e-04 -4.38397355e+00] [ 2.05877533e-02 -1.32608805e-03 9.99787170e-01 1.35745485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30071405700001 meters Centerline goodness [0,1] 0.9888479982156797 Centerline is valid? [True, True] Translation: X:118.50, Y:-4.38, Z:1.36 [[ 9.99020979e-01 -3.97649473e-02 -1.93864237e-02 1.18499510e+02] [ 3.97809876e-02 9.99208325e-01 4.42311327e-04 -4.38304641e+00] [ 1.93534875e-02 -1.21308938e-03 9.99811968e-01 1.35920848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33071405700001 meters Centerline goodness [0,1] 0.9891965643732665 Centerline is valid? [True, True] Translation: X:118.53, Y:-4.38, Z:1.36 [[ 9.99150782e-01 -3.65432384e-02 -1.90343689e-02 1.18529457e+02] [ 3.65581238e-02 9.99331434e-01 4.34533495e-04 -4.38176953e+00] [ 1.90057639e-02 -1.13002529e-03 9.99818736e-01 1.35955442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.360714057 meters Centerline goodness [0,1] 0.989796146702768 Centerline is valid? [True, True] Translation: X:118.56, Y:-4.38, Z:1.36 [[ 9.99220169e-01 -3.47506823e-02 -1.87468594e-02 1.18560999e+02] [ 3.47648095e-02 9.99395430e-01 4.28109044e-04 -4.37587374e+00] [ 1.87206485e-02 -1.07950619e-03 9.99824171e-01 1.36029086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.390714057 meters Centerline goodness [0,1] 0.9898786331676296 Centerline is valid? [True, True] Translation: X:118.59, Y:-4.37, Z:1.36 [[ 9.99303585e-01 -3.23565480e-02 -1.85848900e-02 1.18592495e+02] [ 3.23700313e-02 9.99475863e-01 4.25054783e-04 -4.37426476e+00] [ 1.85613957e-02 -1.02635224e-03 9.99827196e-01 1.36089336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.420714057 meters Centerline goodness [0,1] 0.9902797375081189 Centerline is valid? [True, True] Translation: X:118.62, Y:-4.37, Z:1.36 [[ 9.99424358e-01 -2.80131210e-02 -1.91368243e-02 1.18622055e+02] [ 2.80266319e-02 9.99607081e-01 4.38131933e-04 -4.37077572e+00] [ 1.91170316e-02 -9.74220456e-04 9.99816778e-01 1.36093579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.450714057 meters Centerline goodness [0,1] 0.9902496974044022 Centerline is valid? [True, True] Translation: X:118.65, Y:-4.36, Z:1.36 [[ 9.99505216e-01 -2.39603177e-02 -2.03770946e-02 1.18653492e+02] [ 2.39747933e-02 9.99712455e-01 4.66357773e-04 -4.36327175e+00] [ 2.03600612e-02 -9.54663659e-04 9.99792257e-01 1.36064690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.480714057 meters Centerline goodness [0,1] 0.9903960507124425 Centerline is valid? [True, True] Translation: X:118.68, Y:-4.37, Z:1.36 [[ 9.99531190e-01 -2.23824910e-02 -2.08907496e-02 1.18682601e+02] [ 2.23973631e-02 9.99749033e-01 4.78166556e-04 -4.36773627e+00] [ 2.08748041e-02 -9.45840089e-04 9.99781650e-01 1.35977639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.510714057 meters Centerline goodness [0,1] 0.9920005377789728 Centerline is valid? [True, True] Translation: X:118.71, Y:-4.36, Z:1.36 [[ 9.99544106e-01 -2.11219137e-02 -2.15741673e-02 1.18712726e+02] [ 2.11374653e-02 9.99776457e-01 4.93033380e-04 -4.36202613e+00] [ 2.15589307e-02 -9.48831821e-04 9.99767129e-01 1.36049351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.540714057 meters Centerline goodness [0,1] 0.991523713420787 Centerline is valid? [True, True] Translation: X:118.74, Y:-4.36, Z:1.36 [[ 9.99592801e-01 -1.81409015e-02 -2.20258810e-02 1.18742861e+02] [ 1.81563746e-02 9.99835033e-01 5.02701003e-04 -4.35931167e+00] [ 2.20131280e-02 -9.02406449e-04 9.99757274e-01 1.36047958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.570714057 meters Centerline goodness [0,1] 0.9926232457718603 Centerline is valid? [True, True] Translation: X:118.77, Y:-4.36, Z:1.36 [[ 9.99613515e-01 -1.69950390e-02 -2.19997776e-02 1.18771457e+02] [ 1.70101532e-02 9.99855192e-01 5.00053867e-04 -4.35756960e+00] [ 2.19880935e-02 -8.74080191e-04 9.99757851e-01 1.36106174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.600714057 meters Centerline goodness [0,1] 0.9925016888088268 Centerline is valid? [True, True] Translation: X:118.80, Y:-4.36, Z:1.36 [[ 9.99660993e-01 -1.41626016e-02 -2.18476677e-02 1.18800231e+02] [ 1.41767416e-02 9.99899384e-01 4.92456108e-04 -4.35508179e+00] [ 2.18384950e-02 -8.02017902e-04 9.99761190e-01 1.36202690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.630714057 meters Centerline goodness [0,1] 0.9926215863589328 Centerline is valid? [True, True] Translation: X:118.83, Y:-4.35, Z:1.36 [[ 9.99671788e-01 -1.32914903e-02 -2.19009557e-02 1.18829033e+02] [ 1.33054280e-02 9.99911358e-01 4.90796411e-04 -4.35351346e+00] [ 2.18924909e-02 -7.82036915e-04 9.99760025e-01 1.36283693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.660714057 meters Centerline goodness [0,1] 0.9916822577373036 Centerline is valid? [True, True] Translation: X:118.86, Y:-4.35, Z:1.36 [[ 9.99668652e-01 -1.18564513e-02 -2.28475558e-02 1.18857819e+02] [ 1.18711101e-02 9.99929408e-01 5.06061195e-04 -4.35309709e+00] [ 2.28399428e-02 -7.77119362e-04 9.99738832e-01 1.36300230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69071405700001 meters Centerline goodness [0,1] 0.9928010618433781 Centerline is valid? [True, True] Translation: X:118.89, Y:-4.35, Z:1.36 [[ 9.99689755e-01 -1.18033393e-02 -2.19334237e-02 1.18886009e+02] [ 1.18167428e-02 9.99930064e-01 4.81590628e-04 -4.35387622e+00] [ 2.19262054e-02 -7.40622845e-04 9.99759318e-01 1.36312289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.720714057 meters Centerline goodness [0,1] 0.991496062992126 Centerline is valid? [True, True] Translation: X:118.91, Y:-4.35, Z:1.36 [[ 9.99679907e-01 -1.19813257e-02 -2.22829864e-02 1.18913985e+02] [ 1.19951265e-02 9.99927938e-01 4.85780082e-04 -4.35414926e+00] [ 2.22755604e-02 -7.52911828e-04 9.99751585e-01 1.36361825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.750714057 meters Centerline goodness [0,1] 0.9922362339002827 Centerline is valid? [True, True] Translation: X:118.94, Y:-4.36, Z:1.36 [[ 9.99677238e-01 -1.25033010e-02 -2.21153073e-02 1.18942956e+02] [ 1.25168896e-02 9.99921547e-01 4.76120219e-04 -4.35532027e+00] [ 2.21076192e-02 -7.52781406e-04 9.99755313e-01 1.36394578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.780714057 meters Centerline goodness [0,1] 0.9923468815225441 Centerline is valid? [True, True] Translation: X:118.97, Y:-4.36, Z:1.36 [[ 9.99671457e-01 -1.30678070e-02 -2.20501729e-02 1.18972124e+02] [ 1.30813324e-02 9.99914326e-01 4.69260675e-04 -4.35668035e+00] [ 2.20421516e-02 -7.57552145e-04 9.99756755e-01 1.36439334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.810714057 meters Centerline goodness [0,1] 0.9923468815225441 Centerline is valid? [True, True] Translation: X:119.00, Y:-4.36, Z:1.36 [[ 9.99667716e-01 -1.33507646e-02 -2.20502934e-02 1.18999514e+02] [ 1.33642329e-02 9.99910587e-01 4.63542676e-04 -4.35718813e+00] [ 2.20421331e-02 -7.58073903e-04 9.99756755e-01 1.36479941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.840714057 meters Centerline goodness [0,1] 0.9915111121118642 Centerline is valid? [True, True] Translation: X:119.03, Y:-4.36, Z:1.36 [[ 9.99620494e-01 -1.53165573e-02 -2.28969661e-02 1.19028486e+02] [ 1.53314498e-02 9.99882354e-01 4.75001636e-04 -4.35978536e+00] [ 2.28869970e-02 -8.25865056e-04 9.99737717e-01 1.36431042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.870714057 meters Centerline goodness [0,1] 0.9926941665730021 Centerline is valid? [True, True] Translation: X:119.06, Y:-4.36, Z:1.36 [[ 9.99598412e-01 -1.62546219e-02 -2.32121263e-02 1.19057493e+02] [ 1.62700460e-02 9.99867521e-01 4.75769884e-04 -4.36072502e+00] [ 2.32013177e-02 -8.53241183e-04 9.99730449e-01 1.36473714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.900714057 meters Centerline goodness [0,1] 0.9913791168084772 Centerline is valid? [True, True] Translation: X:119.09, Y:-4.36, Z:1.37 [[ 9.99567344e-01 -1.77928872e-02 -2.34208853e-02 1.19086584e+02] [ 1.78088748e-02 9.99841297e-01 4.74204893e-04 -4.36191299e+00] [ 2.34087309e-02 -8.91099341e-04 9.99725581e-01 1.36527085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.930714057 meters Centerline goodness [0,1] 0.991603070619752 Centerline is valid? [True, True] Translation: X:119.12, Y:-4.37, Z:1.37 [[ 9.99488519e-01 -2.12561752e-02 -2.38930101e-02 1.19115586e+02] [ 2.12736952e-02 9.99773574e-01 4.79297357e-04 -4.36577703e+00] [ 2.38774121e-02 -9.87344819e-04 9.99714406e-01 1.36586344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.960714057 meters Centerline goodness [0,1] 0.9908707550132341 Centerline is valid? [True, True] Translation: X:119.15, Y:-4.37, Z:1.37 [[ 9.99391577e-01 -2.54535380e-02 -2.38451745e-02 1.19146010e+02] [ 2.54721527e-02 9.99675418e-01 4.77187635e-04 -4.37093883e+00] [ 2.38252887e-02 -1.08428523e-03 9.99715550e-01 1.36636952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.990714057 meters Centerline goodness [0,1] 0.9906079081861383 Centerline is valid? [True, True] Translation: X:119.17, Y:-4.37, Z:1.37 [[ 9.99340457e-01 -2.75606406e-02 -2.36445007e-02 1.19174939e+02] [ 2.75794793e-02 9.99619503e-01 4.70958039e-04 -4.37268133e+00] [ 2.36225242e-02 -1.12275044e-03 9.99720319e-01 1.36668608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.020714057 meters Centerline goodness [0,1] 0.9895950127819886 Centerline is valid? [True, True] Translation: X:119.20, Y:-4.38, Z:1.37 [[ 9.99276908e-01 -2.93229809e-02 -2.42038134e-02 1.19203928e+02] [ 2.93431380e-02 9.99569283e-01 4.77993962e-04 -4.37683384e+00] [ 2.41793722e-02 -1.18786417e-03 9.99706931e-01 1.36690396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05071405700001 meters Centerline goodness [0,1] 0.9900210319058487 Centerline is valid? [True, True] Translation: X:119.23, Y:-4.38, Z:1.37 [[ 9.99173356e-01 -3.27226525e-02 -2.41212100e-02 1.19234546e+02] [ 3.27436476e-02 9.99463670e-01 4.75842203e-04 -4.37754059e+00] [ 2.40927023e-02 -1.26526525e-03 9.99708928e-01 1.36723874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08071405700001 meters Centerline goodness [0,1] 0.99003434112181 Centerline is valid? [True, True] Translation: X:119.27, Y:-4.38, Z:1.37 [[ 9.99111447e-01 -3.43143725e-02 -2.44712061e-02 1.19265180e+02] [ 3.43364575e-02 9.99410213e-01 4.82746620e-04 -4.37812016e+00] [ 2.44402081e-02 -1.32257220e-03 9.99700419e-01 1.36778304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.110714057 meters Centerline goodness [0,1] 0.9898263305322129 Centerline is valid? [True, True] Translation: X:119.30, Y:-4.38, Z:1.37 [[ 9.98992308e-01 -3.76825773e-02 -2.43801571e-02 1.19296248e+02] [ 3.77055037e-02 9.99288779e-01 4.81192537e-04 -4.38088626e+00] [ 2.43446848e-02 -1.39997374e-03 9.99702644e-01 1.36751117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.140714057 meters Centerline goodness [0,1] 0.9893251230420028 Centerline is valid? [True, True] Translation: X:119.33, Y:-4.38, Z:1.37 [[ 9.98918751e-01 -3.93085208e-02 -2.48227534e-02 1.19326684e+02] [ 3.93328016e-02 9.99226046e-01 4.90487866e-04 -4.38370122e+00] [ 2.47842614e-02 -1.46630596e-03 9.99691748e-01 1.36764288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.170714057 meters Centerline goodness [0,1] 0.989212344128465 Centerline is valid? [True, True] Translation: X:119.36, Y:-4.39, Z:1.37 [[ 9.98866010e-01 -4.11745189e-02 -2.39029863e-02 1.19357540e+02] [ 4.11975753e-02 9.99150908e-01 4.72733557e-04 -4.38602185e+00] [ 2.38632259e-02 -1.45694256e-03 9.99714171e-01 1.36806432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.200714057 meters Centerline goodness [0,1] 0.9889389962082968 Centerline is valid? [True, True] Translation: X:119.39, Y:-4.39, Z:1.37 [[ 9.98727862e-01 -4.44156298e-02 -2.38727839e-02 1.19387959e+02] [ 4.44395602e-02 9.99011963e-01 4.72563140e-04 -4.39160136e+00] [ 2.38282075e-02 -1.53285799e-03 9.99714893e-01 1.36849501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.230714057 meters Centerline goodness [0,1] 0.9897635331455903 Centerline is valid? [True, True] Translation: X:119.42, Y:-4.39, Z:1.37 [[ 9.98669367e-01 -4.56428425e-02 -2.40047202e-02 1.19420192e+02] [ 4.56674134e-02 9.98956586e-01 4.76101605e-04 -4.39058212e+00] [ 2.39579427e-02 -1.57170157e-03 9.99711732e-01 1.36925912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.260714057 meters Centerline goodness [0,1] 0.9890511767741357 Centerline is valid? [True, True] Translation: X:119.45, Y:-4.39, Z:1.37 [[ 9.98497812e-01 -4.85191257e-02 -2.54561354e-02 1.19450111e+02] [ 4.85477177e-02 9.98820736e-01 5.06011001e-04 -4.39407328e+00] [ 2.54015647e-02 -1.74108815e-03 9.99675812e-01 1.36821896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.290714057 meters Centerline goodness [0,1] 0.9895415761538978 Centerline is valid? [True, True] Translation: X:119.48, Y:-4.39, Z:1.37 [[ 9.98453846e-01 -4.95082967e-02 -2.52753919e-02 1.19482335e+02] [ 4.95368182e-02 9.98772171e-01 5.03166009e-04 -4.39439098e+00] [ 2.52194471e-02 -1.75445053e-03 9.99680400e-01 1.36853171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.320714057 meters Centerline goodness [0,1] 0.9889227733429007 Centerline is valid? [True, True] Translation: X:119.51, Y:-4.39, Z:1.37 [[ 9.98387764e-01 -5.04068938e-02 -2.60963273e-02 1.19513972e+02] [ 5.04376484e-02 9.98727076e-01 5.21200101e-04 -4.39480999e+00] [ 2.60368366e-02 -1.83659719e-03 9.99659297e-01 1.36790725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.350714057 meters Centerline goodness [0,1] 0.989904202095439 Centerline is valid? [True, True] Translation: X:119.55, Y:-4.40, Z:1.37 [[ 9.98400926e-01 -5.01355052e-02 -2.61155649e-02 1.19545120e+02] [ 5.01662492e-02 9.98740744e-01 5.22977697e-04 -4.39646919e+00] [ 2.60564590e-02 -1.83226135e-03 9.99658794e-01 1.36794868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.380714057 meters Centerline goodness [0,1] 0.9619549250849876 Centerline is valid? [True, True] Translation: X:119.57, Y:-4.42, Z:1.37 [[ 9.98594021e-01 -4.68652844e-02 -2.47714782e-02 1.19573965e+02] [ 4.68919548e-02 9.98899844e-01 4.96556504e-04 -4.41988267e+00] [ 2.47209545e-02 -1.65744139e-03 9.99693017e-01 1.36547650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.410714057 meters Centerline goodness [0,1] 0.9900006726004977 Centerline is valid? [True, True] Translation: X:119.61, Y:-4.39, Z:1.37 [[ 9.98537294e-01 -4.70874393e-02 -2.65715197e-02 1.19606708e+02] [ 4.71182187e-02 9.98889178e-01 5.33090190e-04 -4.38844554e+00] [ 2.65169016e-02 -1.78431311e-03 9.99646773e-01 1.37052075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44071405700001 meters Centerline goodness [0,1] 0.9894708362455753 Centerline is valid? [True, True] Translation: X:119.64, Y:-4.39, Z:1.37 [[ 9.98687277e-01 -4.41148153e-02 -2.60308649e-02 1.19636387e+02] [ 4.41433758e-02 9.99025069e-01 5.23279722e-04 -4.38595827e+00] [ 2.59824022e-02 -1.67168305e-03 9.99661003e-01 1.37109477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.470714057 meters Centerline goodness [0,1] 0.9894918831533331 Centerline is valid? [True, True] Translation: X:119.67, Y:-4.38, Z:1.37 [[ 9.98768676e-01 -4.23959782e-02 -2.57626282e-02 1.19668066e+02] [ 4.24233983e-02 9.99099588e-01 5.18464902e-04 -4.38498764e+00] [ 2.57174503e-02 -1.61076474e-03 9.99667954e-01 1.37147301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.500714057 meters Centerline goodness [0,1] 0.9898257776977446 Centerline is valid? [True, True] Translation: X:119.70, Y:-4.38, Z:1.37 [[ 9.98857931e-01 -4.06170337e-02 -2.51613047e-02 1.19699314e+02] [ 4.06426542e-02 9.99173617e-01 5.07485103e-04 -4.38329250e+00] [ 2.51198993e-02 -1.52952772e-03 9.99683275e-01 1.37242863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.530714057 meters Centerline goodness [0,1] 0.9897111466330459 Centerline is valid? [True, True] Translation: X:119.73, Y:-4.38, Z:1.37 [[ 9.98985569e-01 -3.72640595e-02 -2.52828734e-02 1.19729843e+02] [ 3.72888714e-02 9.99304398e-01 5.10457052e-04 -4.37745366e+00] [ 2.52462649e-02 -1.45270904e-03 9.99680207e-01 1.37426363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.560714057 meters Centerline goodness [0,1] 0.990682459108855 Centerline is valid? [True, True] Translation: X:119.76, Y:-4.37, Z:1.38 [[ 9.99124004e-01 -3.43193729e-02 -2.39458990e-02 1.19760756e+02] [ 3.43407900e-02 9.99410064e-01 4.83629813e-04 -4.37038937e+00] [ 2.39151746e-02 -1.30552724e-03 9.99713139e-01 1.37630518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.590714057 meters Centerline goodness [0,1] 0.9905009025270758 Centerline is valid? [True, True] Translation: X:119.79, Y:-4.37, Z:1.38 [[ 9.99171339e-01 -3.28204253e-02 -2.40718791e-02 1.19791593e+02] [ 3.28416493e-02 9.99460449e-01 4.86779775e-04 -4.37036802e+00] [ 2.40429148e-02 -1.27693661e-03 9.99710112e-01 1.37675305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.620714057 meters Centerline goodness [0,1] 0.990197628458498 Centerline is valid? [True, True] Translation: X:119.82, Y:-4.37, Z:1.38 [[ 9.99211046e-01 -3.15179989e-02 -2.41640409e-02 1.19822105e+02] [ 3.15390190e-02 9.99502402e-01 4.89180407e-04 -4.36862857e+00] [ 2.41365990e-02 -1.25090461e-03 9.99707887e-01 1.37693010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.650714057 meters Centerline goodness [0,1] 0.9911801858702517 Centerline is valid? [True, True] Translation: X:119.85, Y:-4.37, Z:1.38 [[ 9.99300417e-01 -2.86808996e-02 -2.40017162e-02 1.19852727e+02] [ 2.87008219e-02 9.99587928e-01 4.85894281e-04 -4.36549083e+00] [ 2.39778899e-02 -1.17442334e-03 9.99711799e-01 1.37726869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.680714057 meters Centerline goodness [0,1] 0.9906123464609677 Centerline is valid? [True, True] Translation: X:119.88, Y:-4.36, Z:1.38 [[ 9.99330397e-01 -2.76459940e-02 -2.39678318e-02 1.19883133e+02] [ 2.76655632e-02 9.99617117e-01 4.85208320e-04 -4.36447461e+00] [ 2.39452408e-02 -1.14796699e-03 9.99712613e-01 1.37783574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.710714057 meters Centerline goodness [0,1] 0.9899375904486252 Centerline is valid? [True, True] Translation: X:119.91, Y:-4.36, Z:1.38 [[ 9.99388397e-01 -2.62040446e-02 -2.31555551e-02 1.19912953e+02] [ 2.62219198e-02 9.99656037e-01 4.68616403e-04 -4.36261575e+00] [ 2.31353108e-02 -1.07551291e-03 9.99731764e-01 1.37982668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.740714057 meters Centerline goodness [0,1] 0.9910766861439507 Centerline is valid? [True, True] Translation: X:119.94, Y:-4.36, Z:1.38 [[ 9.99398990e-01 -2.60734293e-02 -2.28437040e-02 1.19943337e+02] [ 2.60907862e-02 9.99659471e-01 4.62047978e-04 -4.36138007e+00] [ 2.28238779e-02 -1.05778048e-03 9.99738942e-01 1.38064337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.770714057 meters Centerline goodness [0,1] 0.9907853924698318 Centerline is valid? [True, True] Translation: X:119.97, Y:-4.36, Z:1.38 [[ 9.99373534e-01 -2.67314038e-02 -2.31942238e-02 1.19974095e+02] [ 2.67494744e-02 9.99642059e-01 4.69137764e-04 -4.36058519e+00] [ 2.31733809e-02 -1.08927716e-03 9.99730868e-01 1.38075748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80071405700001 meters Centerline goodness [0,1] 0.9907959465892862 Centerline is valid? [True, True] Translation: X:120.00, Y:-4.36, Z:1.38 [[ 9.99286274e-01 -2.84818353e-02 -2.48138546e-02 1.20003789e+02] [ 2.85030525e-02 9.99593580e-01 5.01716372e-04 -4.36359616e+00] [ 2.47894800e-02 -1.20862889e-03 9.99691963e-01 1.37876092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83071405700001 meters Centerline goodness [0,1] 0.98982015609094 Centerline is valid? [True, True] Translation: X:120.03, Y:-4.37, Z:1.38 [[ 9.99234654e-01 -2.98216020e-02 -2.53136043e-02 1.20032789e+02] [ 2.98441000e-02 9.99554435e-01 5.11362044e-04 -4.37358991e+00] [ 2.52870758e-02 -1.26643241e-03 9.99679429e-01 1.37652776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.860714057 meters Centerline goodness [0,1] 0.9905478175910568 Centerline is valid? [True, True] Translation: X:120.06, Y:-4.37, Z:1.38 [[ 9.99129963e-01 -3.22517058e-02 -2.64413537e-02 1.20063203e+02] [ 3.22770953e-02 9.99478816e-01 5.33869308e-04 -4.36738762e+00] [ 2.64103547e-02 -1.38685492e-03 9.99650224e-01 1.37770261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.890714057 meters Centerline goodness [0,1] 0.9906671197191075 Centerline is valid? [True, True] Translation: X:120.09, Y:-4.37, Z:1.38 [[ 9.99095372e-01 -3.30984251e-02 -2.67007992e-02 1.20093668e+02] [ 3.31246328e-02 9.99451083e-01 5.39701871e-04 -4.36955452e+00] [ 2.66682794e-02 -1.42366781e-03 9.99643324e-01 1.37783664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.920714057 meters Centerline goodness [0,1] 0.9909082664490092 Centerline is valid? [True, True] Translation: X:120.12, Y:-4.37, Z:1.38 [[ 9.99030879e-01 -3.49881889e-02 -2.67044714e-02 1.20124326e+02] [ 3.50151094e-02 9.99386637e-01 5.41000987e-04 -4.37160964e+00] [ 2.66691632e-02 -1.47553668e-03 9.99643226e-01 1.37836761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.950714057 meters Centerline goodness [0,1] 0.990744512333107 Centerline is valid? [True, True] Translation: X:120.16, Y:-4.37, Z:1.38 [[ 9.99007014e-01 -3.59104756e-02 -2.63708796e-02 1.20155494e+02] [ 3.59370743e-02 9.99353911e-01 5.35252142e-04 -4.37156822e+00] [ 2.63346205e-02 -1.48241290e-03 9.99652085e-01 1.37922507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.980714057 meters Centerline goodness [0,1] 0.9901762824148649 Centerline is valid? [True, True] Translation: X:120.19, Y:-4.37, Z:1.38 [[ 9.99014014e-01 -3.64209018e-02 -2.53873445e-02 1.20186983e+02] [ 3.64457393e-02 9.99335500e-01 5.16168851e-04 -4.37244461e+00] [ 2.53516753e-02 -1.44092046e-03 9.99677556e-01 1.38118854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.010714057 meters Centerline goodness [0,1] 0.9896970245912776 Centerline is valid? [True, True] Translation: X:120.22, Y:-4.38, Z:1.38 [[ 9.99052230e-01 -3.59167632e-02 -2.45891647e-02 1.20217345e+02] [ 3.59399273e-02 9.99353827e-01 5.00618147e-04 -4.37611769e+00] [ 2.45552952e-02 -1.38387647e-03 9.99697515e-01 1.38166434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.040714057 meters Centerline goodness [0,1] 0.9897037858387454 Centerline is valid? [True, True] Translation: X:120.25, Y:-4.37, Z:1.38 [[ 9.99154643e-01 -3.37331072e-02 -2.34963357e-02 1.20248432e+02] [ 3.37536647e-02 9.99430068e-01 4.78763948e-04 -4.37490306e+00] [ 2.34667942e-02 -1.27144666e-03 9.99723808e-01 1.38373132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.070714057 meters Centerline goodness [0,1] 0.9906094767164924 Centerline is valid? [True, True] Translation: X:120.28, Y:-4.37, Z:1.38 [[ 9.99196531e-01 -3.25653124e-02 -2.33621903e-02 1.20280261e+02] [ 3.25853335e-02 9.99468843e-01 4.76711457e-04 -4.37131898e+00] [ 2.33342571e-02 -1.23759320e-03 9.99726953e-01 1.38492703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.100714057 meters Centerline goodness [0,1] 0.9908209056706405 Centerline is valid? [True, True] Translation: X:120.31, Y:-4.38, Z:1.38 [[ 9.99250491e-01 -3.09249448e-02 -2.32831319e-02 1.20311128e+02] [ 3.09444106e-02 9.99520994e-01 4.76134353e-04 -4.37535453e+00] [ 2.32572547e-02 -1.19626028e-03 9.99728798e-01 1.38391604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.130714057 meters Centerline goodness [0,1] 0.9907021044992743 Centerline is valid? [True, True] Translation: X:120.34, Y:-4.37, Z:1.38 [[ 9.99249649e-01 -3.04464912e-02 -2.39405556e-02 1.20342063e+02] [ 3.04669553e-02 9.99535654e-01 4.90418302e-04 -4.37363417e+00] [ 2.39145074e-02 -1.21944615e-03 9.99713264e-01 1.38376836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.160714057 meters Centerline goodness [0,1] 0.9906395902270976 Centerline is valid? [True, True] Translation: X:120.37, Y:-4.38, Z:1.38 [[ 9.99222235e-01 -3.05147089e-02 -2.49755510e-02 1.20372405e+02] [ 3.05370199e-02 9.99533505e-01 5.12314221e-04 -4.37762391e+00] [ 2.49482669e-02 -1.27459466e-03 9.99687931e-01 1.38271704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19071405700001 meters Centerline goodness [0,1] 0.9908358852217307 Centerline is valid? [True, True] Translation: X:120.40, Y:-4.38, Z:1.38 [[ 9.99165429e-01 -3.14762035e-02 -2.60325544e-02 1.20401708e+02] [ 3.15007711e-02 9.99503585e-01 5.34070966e-04 -4.38074052e+00] [ 2.60028209e-02 -1.35367078e-03 9.99660953e-01 1.38149173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.220714057 meters Centerline goodness [0,1] 0.9905836328071692 Centerline is valid? [True, True] Translation: X:120.43, Y:-4.38, Z:1.38 [[ 9.99092415e-01 -3.28689169e-02 -2.70920766e-02 1.20431770e+02] [ 3.28960242e-02 9.99458625e-01 5.55356409e-04 -4.38213358e+00] [ 2.70591556e-02 -1.44607398e-03 9.99632788e-01 1.38159849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.250714057 meters Centerline goodness [0,1] 0.9904852737470763 Centerline is valid? [True, True] Translation: X:120.46, Y:-4.39, Z:1.38 [[ 9.98995757e-01 -3.51437474e-02 -2.77920007e-02 1.20461243e+02] [ 3.51731389e-02 9.99381072e-01 5.69249320e-04 -4.38517697e+00] [ 2.77547938e-02 -1.54620956e-03 9.99613566e-01 1.38110651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.280714057 meters Centerline goodness [0,1] 0.9912424366498339 Centerline is valid? [True, True] Translation: X:120.49, Y:-4.37, Z:1.38 [[ 9.98937271e-01 -3.62556415e-02 -2.84579991e-02 1.20493090e+02] [ 3.62869161e-02 9.99341243e-01 5.83144007e-04 -4.37327427e+00] [ 2.84181099e-02 -1.61517731e-03 9.99594819e-01 1.38449018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.310714057 meters Centerline goodness [0,1] 0.9913634400781836 Centerline is valid? [True, True] Translation: X:120.52, Y:-4.37, Z:1.38 [[ 9.98885543e-01 -3.75342616e-02 -2.86155869e-02 1.20523820e+02] [ 3.75664290e-02 9.99293960e-01 5.87161030e-04 -4.37485989e+00] [ 2.85733445e-02 -1.66149208e-03 9.99590318e-01 1.38483936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.340714057 meters Centerline goodness [0,1] 0.990409744790128 Centerline is valid? [True, True] Translation: X:120.55, Y:-4.38, Z:1.39 [[ 9.98825643e-01 -3.95985443e-02 -2.79157808e-02 1.20554603e+02] [ 3.96299739e-02 9.99214260e-01 5.73297043e-04 -4.37833995e+00] [ 2.78711445e-02 -1.67892545e-03 9.99610114e-01 1.38611453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.370714057 meters Centerline goodness [0,1] 0.990427249369017 Centerline is valid? [True, True] Translation: X:120.59, Y:-4.38, Z:1.39 [[ 9.98782308e-01 -4.11189659e-02 -2.72604548e-02 1.20585806e+02] [ 4.11495200e-02 9.99152843e-01 5.60550014e-04 -4.37883568e+00] [ 2.72143117e-02 -1.68162207e-03 9.99628208e-01 1.38780038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.400714057 meters Centerline goodness [0,1] 0.9891950787669678 Centerline is valid? [True, True] Translation: X:120.62, Y:-4.38, Z:1.39 [[ 9.98769846e-01 -4.14186619e-02 -2.72633255e-02 1.20616760e+02] [ 4.14493666e-02 9.99140448e-01 5.61820689e-04 -4.38482479e+00] [ 2.72166214e-02 -1.69117714e-03 9.99628129e-01 1.38785539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.430714057 meters Centerline goodness [0,1] 0.9899415151446191 Centerline is valid? [True, True] Translation: X:120.65, Y:-4.38, Z:1.39 [[ 9.98765364e-01 -4.16534510e-02 -2.70691230e-02 1.20648846e+02] [ 4.16838508e-02 9.99130694e-01 5.59496346e-04 -4.38190803e+00] [ 2.70222867e-02 -1.68715086e-03 9.99633408e-01 1.38972789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.460714057 meters Centerline goodness [0,1] 0.9898488659279904 Centerline is valid? [True, True] Translation: X:120.68, Y:-4.38, Z:1.39 [[ 9.98762901e-01 -4.20661489e-02 -2.65161769e-02 1.20680718e+02] [ 4.20955135e-02 9.99113440e-01 5.49945539e-04 -4.38357103e+00] [ 2.64695346e-02 -1.66547729e-03 9.99648233e-01 1.39075947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.490714057 meters Centerline goodness [0,1] 0.9904578422484134 Centerline is valid? [True, True] Translation: X:120.71, Y:-4.39, Z:1.39 [[ 9.98749988e-01 -4.23844042e-02 -2.64957306e-02 1.20711555e+02] [ 4.24138795e-02 9.99099974e-01 5.51201770e-04 -4.38555118e+00] [ 2.64485214e-02 -1.67429948e-03 9.99648775e-01 1.39100932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.520714057 meters Centerline goodness [0,1] 0.9894277334424664 Centerline is valid? [True, True] Translation: X:120.74, Y:-4.39, Z:1.39 [[ 9.98760385e-01 -4.16558597e-02 -2.72485450e-02 1.20742368e+02] [ 4.16867985e-02 9.99130566e-01 5.68112230e-04 -4.38928445e+00] [ 2.72011889e-02 -1.70331259e-03 9.99628528e-01 1.38980164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55071405700001 meters Centerline goodness [0,1] 0.9889522856948012 Centerline is valid? [True, True] Translation: X:120.77, Y:-4.39, Z:1.39 [[ 9.98773501e-01 -4.11169601e-02 -2.75842140e-02 1.20773717e+02] [ 4.11484883e-02 9.99152876e-01 5.76084597e-04 -4.38672428e+00] [ 2.75371599e-02 -1.71042674e-03 9.99619317e-01 1.39058942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58071405700001 meters Centerline goodness [0,1] 0.9895778814427125 Centerline is valid? [True, True] Translation: X:120.80, Y:-4.39, Z:1.39 [[ 9.98803259e-01 -3.93325299e-02 -2.90689278e-02 1.20804050e+02] [ 3.93668432e-02 9.99224640e-01 6.08837729e-04 -4.38818095e+00] [ 2.90224418e-02 -1.75246103e-03 9.99577224e-01 1.39001982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.610714057 meters Centerline goodness [0,1] 0.9901666211417646 Centerline is valid? [True, True] Translation: X:120.83, Y:-4.39, Z:1.39 [[ 9.98838250e-01 -3.80124890e-02 -2.96175930e-02 1.20834252e+02] [ 3.80475698e-02 9.99275736e-01 6.21590974e-04 -4.38765069e+00] [ 2.95725138e-02 -1.74774628e-03 9.99561110e-01 1.39047080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.640714057 meters Centerline goodness [0,1] 0.9900267464526951 Centerline is valid? [True, True] Translation: X:120.86, Y:-4.39, Z:1.39 [[ 9.98922594e-01 -3.48698975e-02 -3.06225621e-02 1.20863641e+02] [ 3.49059499e-02 9.99390395e-01 6.43362243e-04 -4.38724793e+00] [ 3.05814604e-02 -1.71157870e-03 9.99530812e-01 1.39051602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.670714057 meters Centerline goodness [0,1] 0.989978362373306 Centerline is valid? [True, True] Translation: X:120.89, Y:-4.39, Z:1.39 [[ 9.98952941e-01 -3.35941445e-02 -3.10556682e-02 1.20893793e+02] [ 3.36305957e-02 9.99434119e-01 6.52000026e-04 -4.38618731e+00] [ 3.10161910e-02 -1.69573796e-03 9.99517444e-01 1.39085874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.700714057 meters Centerline goodness [0,1] 0.9906297618776866 Centerline is valid? [True, True] Translation: X:120.92, Y:-4.38, Z:1.39 [[ 9.99085882e-01 -2.94646808e-02 -3.09714833e-02 1.20923451e+02] [ 2.94989074e-02 9.99564602e-01 6.48659921e-04 -4.37896154e+00] [ 3.09388858e-02 -1.56169189e-03 9.99520058e-01 1.39251677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.730714057 meters Centerline goodness [0,1] 0.9906297618776866 Centerline is valid? [True, True] Translation: X:120.95, Y:-4.38, Z:1.39 [[ 9.99077448e-01 -2.97491710e-02 -3.09715902e-02 1.20950857e+02] [ 2.97833751e-02 9.99556170e-01 6.43523562e-04 -4.37946372e+00] [ 3.09386997e-02 -1.56536836e-03 9.99520058e-01 1.39292196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.760714057 meters Centerline goodness [0,1] 0.9912792021494603 Centerline is valid? [True, True] Translation: X:120.98, Y:-4.38, Z:1.39 [[ 9.99140159e-01 -2.77325069e-02 -3.08196549e-02 1.20978716e+02] [ 2.77652290e-02 9.99614271e-01 6.34193530e-04 -4.38353621e+00] [ 3.07901791e-02 -1.48936300e-03 9.99524760e-01 1.39187596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.790714057 meters Centerline goodness [0,1] 0.9910877097009482 Centerline is valid? [True, True] Translation: X:121.01, Y:-4.38, Z:1.39 [[ 9.99202062e-01 -2.58834395e-02 -3.04185393e-02 1.21008035e+02] [ 2.59143454e-02 9.99663973e-01 6.22164949e-04 -4.37801122e+00] [ 3.03922141e-02 -1.40994503e-03 9.99537056e-01 1.39437177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.820714057 meters Centerline goodness [0,1] 0.9907377834557649 Centerline is valid? [True, True] Translation: X:121.04, Y:-4.38, Z:1.39 [[ 9.99314227e-01 -2.17298574e-02 -2.99814662e-02 1.21036837e+02] [ 2.17579448e-02 9.99763081e-01 6.10861738e-04 -4.38261246e+00] [ 2.99610891e-02 -1.26277791e-03 9.99550268e-01 1.39341615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.850714057 meters Centerline goodness [0,1] 0.991655457011924 Centerline is valid? [True, True] Translation: X:121.07, Y:-4.37, Z:1.40 [[ 9.99365418e-01 -1.98545003e-02 -2.95729621e-02 1.21066087e+02] [ 1.98808912e-02 9.99802176e-01 5.98603798e-04 -4.37467046e+00] [ 2.95552269e-02 -1.18616078e-03 9.99562445e-01 1.39708485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.880714057 meters Centerline goodness [0,1] 0.9920513464744981 Centerline is valid? [True, True] Translation: X:121.10, Y:-4.37, Z:1.40 [[ 9.99440013e-01 -1.63035445e-02 -2.92208098e-02 1.21096275e+02] [ 1.63276888e-02 9.99866522e-01 5.87842889e-04 -4.37397571e+00] [ 2.92073255e-02 -1.06462199e-03 9.99572808e-01 1.39794278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.910714057 meters Centerline goodness [0,1] 0.9914098375636837 Centerline is valid? [True, True] Translation: X:121.13, Y:-4.37, Z:1.40 [[ 9.99440911e-01 -1.59067603e-02 -2.94081820e-02 1.21125530e+02] [ 1.59309360e-02 9.99872922e-01 5.87938081e-04 -4.37355241e+00] [ 2.93950926e-02 -1.05610923e-03 9.99567313e-01 1.39884982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94071405700001 meters Centerline goodness [0,1] 0.9918021556448666 Centerline is valid? [True, True] Translation: X:121.15, Y:-4.38, Z:1.40 [[ 9.99451285e-01 -1.57331008e-02 -2.91478838e-02 1.21153603e+02] [ 1.57566398e-02 9.99875689e-01 5.78048513e-04 -4.37599066e+00] [ 2.91351659e-02 -1.03700404e-03 9.99574943e-01 1.39917334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.970714057 meters Centerline goodness [0,1] 0.9917513995201646 Centerline is valid? [True, True] Translation: X:121.18, Y:-4.38, Z:1.40 [[ 9.99421953e-01 -1.67613762e-02 -2.95773022e-02 1.21182703e+02] [ 1.67859138e-02 9.99858938e-01 5.81490382e-04 -4.37674461e+00] [ 2.95633834e-02 -1.07763630e-03 9.99562327e-01 1.39979002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.000714057 meters Centerline goodness [0,1] 0.9917355371900827 Centerline is valid? [True, True] Translation: X:121.21, Y:-4.38, Z:1.40 [[ 9.99380443e-01 -1.81765022e-02 -3.01387606e-02 1.21210411e+02] [ 1.82024670e-02 9.99834149e-01 5.87348470e-04 -4.38031803e+00] [ 3.01230861e-02 -1.13558437e-03 9.99545552e-01 1.39911277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.030714057 meters Centerline goodness [0,1] 0.9912644930002495 Centerline is valid? [True, True] Translation: X:121.24, Y:-4.39, Z:1.40 [[ 9.99285486e-01 -2.17746740e-02 -3.08930683e-02 1.21240054e+02] [ 2.18036124e-02 9.99762093e-01 6.00125392e-04 -4.38577117e+00] [ 3.08726511e-02 -1.27327708e-03 9.99522515e-01 1.39821692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.060714057 meters Centerline goodness [0,1] 0.9911783381712627 Centerline is valid? [True, True] Translation: X:121.27, Y:-4.39, Z:1.40 [[ 9.99218687e-01 -2.39416332e-02 -3.14454247e-02 1.21269103e+02] [ 2.39726425e-02 9.99712429e-01 6.09437988e-04 -4.38858443e+00] [ 3.14217910e-02 -1.36279175e-03 9.99505285e-01 1.39837300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.090714057 meters Centerline goodness [0,1] 0.9907354973157859 Centerline is valid? [True, True] Translation: X:121.30, Y:-4.40, Z:1.40 [[ 9.99073884e-01 -2.80033622e-02 -3.26678218e-02 1.21297628e+02] [ 2.80389496e-02 9.99606632e-01 6.31682488e-04 -4.39852061e+00] [ 3.26372821e-02 -1.54706889e-03 9.99466065e-01 1.39610286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.120714057 meters Centerline goodness [0,1] 0.9904947268365546 Centerline is valid? [True, True] Translation: X:121.33, Y:-4.40, Z:1.40 [[ 9.99026219e-01 -2.94678185e-02 -3.28368782e-02 1.21325980e+02] [ 2.95044961e-02 9.99564447e-01 6.32871755e-04 -4.39891493e+00] [ 3.28039266e-02 -1.60109102e-03 9.99460524e-01 1.39734860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.150714057 meters Centerline goodness [0,1] 0.989988926803914 Centerline is valid? [True, True] Translation: X:121.35, Y:-4.40, Z:1.40 [[ 9.99018962e-01 -3.07324311e-02 -3.18846637e-02 1.21354467e+02] [ 3.07674775e-02 9.99526384e-01 6.08996402e-04 -4.39866563e+00] [ 3.18508467e-02 -1.58940963e-03 9.99491369e-01 1.40044193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.180714057 meters Centerline goodness [0,1] 0.9908089065534529 Centerline is valid? [True, True] Translation: X:121.38, Y:-4.40, Z:1.40 [[ 9.99042833e-01 -3.09422900e-02 -3.09191305e-02 1.21383356e+02] [ 3.09751081e-02 9.99519986e-01 5.82888193e-04 -4.39938359e+00] [ 3.08862530e-02 -1.54005368e-03 9.99521719e-01 1.40174922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.210714057 meters Centerline goodness [0,1] 0.9912556205797953 Centerline is valid? [True, True] Translation: X:121.41, Y:-4.40, Z:1.40 [[ 9.99108607e-01 -3.03637301e-02 -2.93263732e-02 1.21412318e+02] [ 3.03927921e-02 9.99537883e-01 5.45640961e-04 -4.40168470e+00] [ 2.92962533e-02 -1.43646494e-03 9.99569740e-01 1.40391444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.240714057 meters Centerline goodness [0,1] 0.9910180316399991 Centerline is valid? [True, True] Translation: X:121.44, Y:-4.40, Z:1.40 [[ 9.99150340e-01 -2.98683048e-02 -2.83986424e-02 1.21440747e+02] [ 2.98952319e-02 9.99552900e-01 5.23982025e-04 -4.40478649e+00] [ 2.83702949e-02 -1.37252082e-03 9.99596540e-01 1.40435156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.270714057 meters Centerline goodness [0,1] 0.9912217357945571 Centerline is valid? [True, True] Translation: X:121.47, Y:-4.41, Z:1.40 [[ 9.99210775e-01 -2.82501812e-02 -2.79240657e-02 1.21469287e+02] [ 2.82755427e-02 9.99600035e-01 5.13705374e-04 -4.41163239e+00] [ 2.78983847e-02 -1.30286806e-03 9.99609915e-01 1.40359329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30071405700001 meters Centerline goodness [0,1] 0.9914946418499718 Centerline is valid? [True, True] Translation: X:121.50, Y:-4.41, Z:1.41 [[ 9.99226926e-01 -2.74603851e-02 -2.81332188e-02 1.21498130e+02] [ 2.74856991e-02 9.99622065e-01 5.13405823e-04 -4.40517604e+00] [ 2.81084879e-02 -1.28627011e-03 9.99604051e-01 1.40591457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33071405700001 meters Centerline goodness [0,1] 0.9917877447883765 Centerline is valid? [True, True] Translation: X:121.53, Y:-4.41, Z:1.41 [[ 9.99262739e-01 -2.54165274e-02 -2.87746230e-02 1.21526470e+02] [ 2.54420257e-02 9.99676164e-01 5.20305614e-04 -4.40926413e+00] [ 2.87520804e-02 -1.25200671e-03 9.99585789e-01 1.40507327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.360714057 meters Centerline goodness [0,1] 0.9911257263840714 Centerline is valid? [True, True] Translation: X:121.56, Y:-4.41, Z:1.41 [[ 9.99259906e-01 -2.50195465e-02 -2.92175171e-02 1.21555423e+02] [ 2.50455304e-02 9.99686174e-01 5.23645818e-04 -4.40903469e+00] [ 2.91952465e-02 -1.25502648e-03 9.99572940e-01 1.40565998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.390714057 meters Centerline goodness [0,1] 0.9914039469835054 Centerline is valid? [True, True] Translation: X:121.58, Y:-4.41, Z:1.41 [[ 9.99277153e-01 -2.34498875e-02 -2.99211448e-02 1.21583553e+02] [ 2.34762113e-02 9.99724256e-01 5.28734105e-04 -4.41185744e+00] [ 2.99004955e-02 -1.23078703e-03 9.99552122e-01 1.40501056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.420714057 meters Centerline goodness [0,1] 0.9916464564807329 Centerline is valid? [True, True] Translation: X:121.61, Y:-4.41, Z:1.41 [[ 9.99273750e-01 -2.29513593e-02 -3.04172404e-02 1.21611968e+02] [ 2.29781024e-02 9.99735828e-01 5.29908450e-04 -4.41198811e+00] [ 3.03970429e-02 -1.22845407e-03 9.99537148e-01 1.40548779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.450714057 meters Centerline goodness [0,1] 0.9924329179297182 Centerline is valid? [True, True] Translation: X:121.64, Y:-4.41, Z:1.41 [[ 9.99303949e-01 -2.16430659e-02 -3.03841414e-02 1.21640472e+02] [ 2.16689180e-02 9.99765065e-01 5.21792106e-04 -4.41385383e+00] [ 3.03657099e-02 -1.17982038e-03 9.99538159e-01 1.40619665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.480714057 meters Centerline goodness [0,1] 0.9916631372461604 Centerline is valid? [True, True] Translation: X:121.67, Y:-4.42, Z:1.41 [[ 9.99334061e-01 -2.10956175e-02 -2.97726210e-02 1.21668213e+02] [ 2.11200331e-02 9.99776819e-01 5.05804397e-04 -4.41673589e+00] [ 2.97553061e-02 -1.13426630e-03 9.99556569e-01 1.40608393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.510714057 meters Centerline goodness [0,1] 0.9925143306732607 Centerline is valid? [True, True] Translation: X:121.70, Y:-4.42, Z:1.41 [[ 9.99376729e-01 -1.94409067e-02 -2.94653111e-02 1.21697505e+02] [ 1.94639478e-02 9.99810437e-01 4.95333479e-04 -4.41737145e+00] [ 2.94500958e-02 -1.06853603e-03 9.99565681e-01 1.40844883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.540714057 meters Centerline goodness [0,1] 0.9925523800978061 Centerline is valid? [True, True] Translation: X:121.73, Y:-4.42, Z:1.41 [[ 9.99418383e-01 -1.94622144e-02 -2.80021197e-02 1.21725783e+02] [ 1.94828476e-02 9.99810084e-01 4.64171776e-04 -4.41860037e+00] [ 2.79877678e-02 -1.00946284e-03 9.99607756e-01 1.40862965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.570714057 meters Centerline goodness [0,1] 0.9930691070587444 Centerline is valid? [True, True] Translation: X:121.76, Y:-4.42, Z:1.41 [[ 9.99501118e-01 -1.74767063e-02 -2.63074156e-02 1.21755093e+02] [ 1.74940672e-02 9.99846875e-01 4.29902131e-04 -4.41975092e+00] [ 2.62958740e-02 -8.89911357e-04 9.99653808e-01 1.41026117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.600714057 meters Centerline goodness [0,1] 0.9931497649429147 Centerline is valid? [True, True] Translation: X:121.78, Y:-4.42, Z:1.41 [[ 9.99528730e-01 -1.64100921e-02 -2.59427533e-02 1.21782839e+02] [ 1.64265011e-02 9.99864988e-01 4.19510837e-04 -4.42125370e+00] [ 2.59323665e-02 -8.45461801e-04 9.99663342e-01 1.41049167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.630714057 meters Centerline goodness [0,1] 0.9933106626694707 Centerline is valid? [True, True] Translation: X:121.81, Y:-4.42, Z:1.41 [[ 9.99560947e-01 -1.47333451e-02 -2.57068580e-02 1.21811907e+02] [ 1.47488044e-02 9.99891146e-01 4.11860391e-04 -4.42317299e+00] [ 2.56979916e-02 -7.90824983e-04 9.99669439e-01 1.41153408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.660714057 meters Centerline goodness [0,1] 0.9934658073755818 Centerline is valid? [True, True] Translation: X:121.84, Y:-4.42, Z:1.41 [[ 9.99583030e-01 -1.40358502e-02 -2.52341421e-02 1.21840534e+02] [ 1.40503742e-02 9.99901209e-01 3.98352737e-04 -4.42480822e+00] [ 2.52260579e-02 -7.52735775e-04 9.99681489e-01 1.41203315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69071405700001 meters Centerline goodness [0,1] 0.9930842163970999 Centerline is valid? [True, True] Translation: X:121.87, Y:-4.43, Z:1.41 [[ 9.99591693e-01 -1.32974105e-02 -2.52908394e-02 1.21868478e+02] [ 1.33116479e-02 9.99911318e-01 3.94664668e-04 -4.43034303e+00] [ 2.52833485e-02 -7.31166274e-04 9.99680058e-01 1.41105731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.720714057 meters Centerline goodness [0,1] 0.9934094412546637 Centerline is valid? [True, True] Translation: X:121.90, Y:-4.43, Z:1.41 [[ 9.99589158e-01 -1.32786951e-02 -2.54006068e-02 1.21896456e+02] [ 1.32929412e-02 9.99911568e-01 3.92080469e-04 -4.43093139e+00] [ 2.53931543e-02 -7.29568160e-04 9.99677276e-01 1.41238877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.750714057 meters Centerline goodness [0,1] 0.9932268342133993 Centerline is valid? [True, True] Translation: X:121.92, Y:-4.44, Z:1.41 [[ 9.99564126e-01 -1.32122472e-02 -2.64006527e-02 1.21924447e+02] [ 1.32274733e-02 9.99912432e-01 4.02170347e-04 -4.43556966e+00] [ 2.63930273e-02 -7.51208982e-04 9.99651361e-01 1.41194928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.780714057 meters Centerline goodness [0,1] 0.993338086538033 Centerline is valid? [True, True] Translation: X:121.95, Y:-4.44, Z:1.41 [[ 9.99571307e-01 -1.30214917e-02 -2.62229590e-02 1.21953529e+02] [ 1.30363405e-02 9.99914945e-01 3.95370204e-04 -4.43676061e+00] [ 2.62155803e-02 -7.37052135e-04 9.99656041e-01 1.41265411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.810714057 meters Centerline goodness [0,1] 0.9935584531371894 Centerline is valid? [True, True] Translation: X:121.98, Y:-4.44, Z:1.41 [[ 9.99549547e-01 -1.33889586e-02 -2.68596206e-02 1.21982682e+02] [ 1.34044904e-02 9.99910076e-01 3.98277913e-04 -4.43841238e+00] [ 2.68518728e-02 -7.58138033e-04 9.99639136e-01 1.41331003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.840714057 meters Centerline goodness [0,1] 0.9938106688039897 Centerline is valid? [True, True] Translation: X:122.01, Y:-4.44, Z:1.41 [[ 9.99550126e-01 -1.32194062e-02 -2.69219616e-02 1.22010096e+02] [ 1.32348220e-02 9.99912338e-01 3.94497647e-04 -4.44399226e+00] [ 2.69143866e-02 -7.50627544e-04 9.99637460e-01 1.41247784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.870714057 meters Centerline goodness [0,1] 0.9924781912052697 Centerline is valid? [True, True] Translation: X:122.04, Y:-4.45, Z:1.41 [[ 9.99558239e-01 -1.34780703e-02 -2.64890160e-02 1.22037641e+02] [ 1.34929674e-02 9.99908892e-01 3.83720493e-04 -4.44614639e+00] [ 2.64814308e-02 -7.40966408e-04 9.99649031e-01 1.41298995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.900714057 meters Centerline goodness [0,1] 0.9927013776427003 Centerline is valid? [True, True] Translation: X:122.07, Y:-4.45, Z:1.41 [[ 9.99584416e-01 -1.36042326e-02 -2.54149650e-02 1.22065987e+02] [ 1.36178241e-02 9.99907208e-01 3.61777703e-04 -4.44947594e+00] [ 2.54076850e-02 -7.07723878e-04 9.99676922e-01 1.41441504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.930714057 meters Centerline goodness [0,1] 0.9925891410947658 Centerline is valid? [True, True] Translation: X:122.09, Y:-4.45, Z:1.41 [[ 9.99595019e-01 -1.38784436e-02 -2.48432275e-02 1.22093248e+02] [ 1.38913989e-02 9.99903449e-01 3.48971785e-04 -4.45201665e+00] [ 2.48359856e-02 -6.93937641e-04 9.99691298e-01 1.41480163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.960714057 meters Centerline goodness [0,1] 0.9932447397563676 Centerline is valid? [True, True] Translation: X:122.12, Y:-4.45, Z:1.42 [[ 9.99580456e-01 -1.52829350e-02 -2.46037562e-02 1.22121529e+02] [ 1.52959628e-02 9.99882952e-01 3.41383192e-04 -4.45243371e+00] [ 2.45956590e-02 -7.17578107e-04 9.99697223e-01 1.41625997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.990714057 meters Centerline goodness [0,1] 0.9928041674024368 Centerline is valid? [True, True] Translation: X:122.15, Y:-4.46, Z:1.42 [[ 9.99572418e-01 -1.59634162e-02 -2.44979864e-02 1.22148977e+02] [ 1.59764241e-02 9.99872313e-01 3.35331693e-04 -4.45638817e+00] [ 2.44895053e-02 -7.26578532e-04 9.99699823e-01 1.41606078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.020714057 meters Centerline goodness [0,1] 0.9918679424568537 Centerline is valid? [True, True] Translation: X:122.18, Y:-4.47, Z:1.42 [[ 9.99567580e-01 -1.79527159e-02 -2.32884706e-02 1.22176514e+02] [ 1.79649635e-02 9.99838567e-01 3.16782255e-04 -4.46543637e+00] [ 2.32790239e-02 -7.35021794e-04 9.99728737e-01 1.41594403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05071405700001 meters Centerline goodness [0,1] 0.9924179156960133 Centerline is valid? [True, True] Translation: X:122.21, Y:-4.46, Z:1.42 [[ 9.99548967e-01 -1.96129990e-02 -2.27418614e-02 1.22205169e+02] [ 1.96250343e-02 9.99807364e-01 3.06126794e-04 -4.46443138e+00] [ 2.27314764e-02 -7.52298529e-04 9.99741324e-01 1.41774746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08071405700001 meters Centerline goodness [0,1] 0.9910284319546144 Centerline is valid? [True, True] Translation: X:122.23, Y:-4.47, Z:1.42 [[ 9.99490818e-01 -2.26646586e-02 -2.24592332e-02 1.22234880e+02] [ 2.26770786e-02 9.99742797e-01 2.98439352e-04 -4.46804973e+00] [ 2.24466926e-02 -8.07597190e-04 9.99747715e-01 1.41831613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.110714057 meters Centerline goodness [0,1] 0.9906050605060506 Centerline is valid? [True, True] Translation: X:122.26, Y:-4.47, Z:1.42 [[ 9.99463720e-01 -2.40773831e-02 -2.21935257e-02 1.22262364e+02] [ 2.40898321e-02 9.99709755e-01 2.93707339e-04 -4.47409911e+00] [ 2.21800124e-02 -8.28188137e-04 9.99753650e-01 1.41805707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.140714057 meters Centerline goodness [0,1] 0.9900746055150862 Centerline is valid? [True, True] Translation: X:122.29, Y:-4.48, Z:1.42 [[ 9.99432678e-01 -2.55617139e-02 -2.19299197e-02 1.22290496e+02] [ 2.55741858e-02 9.99672885e-01 2.88408355e-04 -4.47727909e+00] [ 2.19153739e-02 -8.49084577e-04 9.99759469e-01 1.41833855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.170714057 meters Centerline goodness [0,1] 0.9904004208034717 Centerline is valid? [True, True] Translation: X:122.32, Y:-4.48, Z:1.42 [[ 9.99364260e-01 -2.82353533e-02 -2.17678650e-02 1.22319822e+02] [ 2.82482445e-02 9.99600898e-01 2.84890303e-04 -4.47835939e+00] [ 2.17511334e-02 -8.99613159e-04 9.99763011e-01 1.41891651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.200714057 meters Centerline goodness [0,1] 0.9901315789473685 Centerline is valid? [True, True] Translation: X:122.35, Y:-4.48, Z:1.42 [[ 9.99344442e-01 -2.89998380e-02 -2.16724453e-02 1.22348851e+02] [ 2.90127856e-02 9.99579000e-01 2.83168176e-04 -4.48178080e+00] [ 2.16551094e-02 -9.11760553e-04 9.99765085e-01 1.41885520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.230714057 meters Centerline goodness [0,1] 0.990254691982568 Centerline is valid? [True, True] Translation: X:122.38, Y:-4.49, Z:1.42 [[ 9.99265620e-01 -3.09251723e-02 -2.26242115e-02 1.22377502e+02] [ 3.09397781e-02 9.99521207e-01 2.95746477e-04 -4.48718670e+00] [ 2.26042332e-02 -9.95517371e-04 9.99743996e-01 1.41768087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.260714057 meters Centerline goodness [0,1] 0.9896687870146962 Centerline is valid? [True, True] Translation: X:122.41, Y:-4.49, Z:1.42 [[ 9.99222269e-01 -3.19627272e-02 -2.30920296e-02 1.22407191e+02] [ 3.19781873e-02 9.99488522e-01 3.00443344e-04 -4.48658778e+00] [ 2.30706156e-02 -1.03865093e-03 9.99733298e-01 1.41816256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.290714057 meters Centerline goodness [0,1] 0.9883463184461758 Centerline is valid? [True, True] Translation: X:122.44, Y:-4.49, Z:1.42 [[ 9.99169880e-01 -3.32983674e-02 -2.34684680e-02 1.22435932e+02] [ 3.33146795e-02 9.99444866e-01 3.04321149e-04 -4.49321435e+00] [ 2.34453065e-02 -1.08591302e-03 9.99724531e-01 1.41757100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.320714057 meters Centerline goodness [0,1] 0.9883726032205695 Centerline is valid? [True, True] Translation: X:122.47, Y:-4.49, Z:1.42 [[ 9.99145760e-01 -3.42352484e-02 -2.31451497e-02 1.22465664e+02] [ 3.42513393e-02 9.99413206e-01 2.99030047e-04 -4.49057382e+00] [ 2.31213309e-02 -1.09152698e-03 9.99732070e-01 1.41894986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.350714057 meters Centerline goodness [0,1] 0.9882708876855283 Centerline is valid? [True, True] Translation: X:122.50, Y:-4.49, Z:1.42 [[ 9.99138050e-01 -3.49387131e-02 -2.24152613e-02 1.22495032e+02] [ 3.49539665e-02 9.99388882e-01 2.88934507e-04 -4.49415779e+00] [ 2.23914679e-02 -1.07218775e-03 9.99748705e-01 1.41966212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.380714057 meters Centerline goodness [0,1] 0.9878064798598949 Centerline is valid? [True, True] Translation: X:122.53, Y:-4.50, Z:1.42 [[ 9.99118614e-01 -3.63554260e-02 -2.09828139e-02 1.22525352e+02] [ 3.63690980e-02 9.99338389e-01 2.70217799e-04 -4.49637297e+00] [ 2.09591076e-02 -1.03310565e-03 9.99779800e-01 1.42088298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.410714057 meters Centerline goodness [0,1] 0.9877248260470002 Centerline is valid? [True, True] Translation: X:122.56, Y:-4.50, Z:1.42 [[ 9.99120179e-01 -3.66810892e-02 -2.03314082e-02 1.22555995e+02] [ 3.66939946e-02 9.99326514e-01 2.61929754e-04 -4.49932723e+00] [ 2.03081074e-02 -1.00773988e-03 9.99793261e-01 1.42129491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44071405700001 meters Centerline goodness [0,1] 0.9873926628356676 Centerline is valid? [True, True] Translation: X:122.59, Y:-4.50, Z:1.42 [[ 9.99100910e-01 -3.71478052e-02 -2.04306527e-02 1.22586211e+02] [ 3.71609418e-02 9.99309259e-01 2.63578609e-04 -4.50396441e+00] [ 2.04067490e-02 -1.02256392e-03 9.99791238e-01 1.42112266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.470714057 meters Centerline goodness [0,1] 0.987936036999062 Centerline is valid? [True, True] Translation: X:122.62, Y:-4.50, Z:1.42 [[ 9.99105500e-01 -3.70679273e-02 -2.03511548e-02 1.22617524e+02] [ 3.70809547e-02 9.99312230e-01 2.63015435e-04 -4.50381735e+00] [ 2.03274084e-02 -1.01742042e-03 9.99792859e-01 1.42174694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.500714057 meters Centerline goodness [0,1] 0.986860228688865 Centerline is valid? [True, True] Translation: X:122.65, Y:-4.51, Z:1.42 [[ 9.99087400e-01 -3.68784877e-02 -2.15486377e-02 1.22648493e+02] [ 3.68930671e-02 9.99319180e-01 2.79290923e-04 -4.50654960e+00] [ 2.15236671e-02 -1.07403138e-03 9.99767762e-01 1.42151651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.530714057 meters Centerline goodness [0,1] 0.987314457594978 Centerline is valid? [True, True] Translation: X:122.68, Y:-4.51, Z:1.42 [[ 9.99055233e-01 -3.76111101e-02 -2.17725860e-02 1.22679866e+02] [ 3.76261846e-02 9.99291844e-01 2.82973158e-04 -4.50730434e+00] [ 2.17465246e-02 -1.10192515e-03 9.99762909e-01 1.42134714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.560714057 meters Centerline goodness [0,1] 0.9868610275853053 Centerline is valid? [True, True] Translation: X:122.71, Y:-4.51, Z:1.42 [[ 9.99019459e-01 -3.82721428e-02 -2.22567800e-02 1.22711583e+02] [ 3.82880771e-02 9.99266701e-01 2.90074835e-04 -4.50897708e+00] [ 2.22293574e-02 -1.14195971e-03 9.99752245e-01 1.42116190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.590714057 meters Centerline goodness [0,1] 0.9871825613079019 Centerline is valid? [True, True] Translation: X:122.74, Y:-4.51, Z:1.42 [[ 9.99028879e-01 -3.84383000e-02 -2.15359081e-02 1.22743379e+02] [ 3.84532733e-02 9.99260360e-01 2.81439939e-04 -4.51068767e+00] [ 2.15091613e-02 -1.10929279e-03 9.99768036e-01 1.42187721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.620714057 meters Centerline goodness [0,1] 0.9871825613079019 Centerline is valid? [True, True] Translation: X:122.77, Y:-4.51, Z:1.42 [[ 9.99030263e-01 -3.84023162e-02 -2.15358980e-02 1.22774260e+02] [ 3.84172979e-02 9.99261743e-01 2.82216468e-04 -4.51112143e+00] [ 2.15091612e-02 -1.10929380e-03 9.99768036e-01 1.42233335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.650714057 meters Centerline goodness [0,1] 0.9870112916911429 Centerline is valid? [True, True] Translation: X:122.80, Y:-4.51, Z:1.42 [[ 9.99058023e-01 -3.81959009e-02 -2.05946509e-02 1.22804738e+02] [ 3.82095701e-02 9.99269711e-01 2.70494766e-04 -4.51449372e+00] [ 2.05692791e-02 -1.05715272e-03 9.99787871e-01 1.42358255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.680714057 meters Centerline goodness [0,1] 0.9870175132874445 Centerline is valid? [True, True] Translation: X:122.83, Y:-4.51, Z:1.42 [[ 9.99093768e-01 -3.75724364e-02 -1.99988801e-02 1.22834884e+02] [ 3.75852065e-02 9.99293392e-01 2.62926152e-04 -4.51303849e+00] [ 1.99748700e-02 -1.01434992e-03 9.99799968e-01 1.42457815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.710714057 meters Centerline goodness [0,1] 0.9873227471737568 Centerline is valid? [True, True] Translation: X:122.87, Y:-4.51, Z:1.43 [[ 9.99197333e-01 -3.53464614e-02 -1.88498747e-02 1.22865330e+02] [ 3.53574122e-02 9.99374700e-01 2.47893175e-04 -4.51323184e+00] [ 1.88293257e-02 -9.14176989e-04 9.99822295e-01 1.42552532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.740714057 meters Centerline goodness [0,1] 0.9875321504860718 Centerline is valid? [True, True] Translation: X:122.90, Y:-4.51, Z:1.43 [[ 9.99261364e-01 -3.32995603e-02 -1.91798503e-02 1.22895526e+02] [ 3.33105269e-02 9.99445019e-01 2.52501856e-04 -4.51382654e+00] [ 1.91607977e-02 -8.91206270e-04 9.99816018e-01 1.42586319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.770714057 meters Centerline goodness [0,1] 0.9877209788382827 Centerline is valid? [True, True] Translation: X:122.93, Y:-4.51, Z:1.43 [[ 9.99312272e-01 -3.21753362e-02 -1.84317996e-02 1.22926623e+02] [ 3.21852744e-02 9.99481890e-01 2.42720078e-04 -4.50964424e+00] [ 1.84144403e-02 -8.35785679e-04 9.99830090e-01 1.42661551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80071405700001 meters Centerline goodness [0,1] 0.9878687740504816 Centerline is valid? [True, True] Translation: X:122.96, Y:-4.51, Z:1.43 [[ 9.99350857e-01 -3.10310372e-02 -1.83013477e-02 1.22956569e+02] [ 3.10406497e-02 9.99518094e-01 2.41331276e-04 -4.51276565e+00] [ 1.82850394e-02 -8.09260342e-04 9.99832487e-01 1.42701935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83071405700001 meters Centerline goodness [0,1] 0.9880252558240801 Centerline is valid? [True, True] Translation: X:122.99, Y:-4.51, Z:1.43 [[ 9.99373705e-01 -3.01322326e-02 -1.85538655e-02 1.22987928e+02] [ 3.01419652e-02 9.99545598e-01 2.45066606e-04 -4.50947139e+00] [ 1.85380501e-02 -8.04163088e-04 9.99827832e-01 1.42788322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.860714057 meters Centerline goodness [0,1] 0.9882673051806704 Centerline is valid? [True, True] Translation: X:123.02, Y:-4.51, Z:1.43 [[ 9.99440073e-01 -2.83720565e-02 -1.77360431e-02 1.23017883e+02] [ 2.83806821e-02 9.99597160e-01 2.34772628e-04 -4.51038085e+00] [ 1.77222373e-02 -7.38002173e-04 9.99842676e-01 1.42865473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.890714057 meters Centerline goodness [0,1] 0.9883349625285109 Centerline is valid? [True, True] Translation: X:123.05, Y:-4.51, Z:1.43 [[ 9.99471730e-01 -2.75527975e-02 -1.72366849e-02 1.23048099e+02] [ 2.75608233e-02 9.99620102e-01 2.28205632e-04 -4.51140100e+00] [ 1.72238490e-02 -7.03142304e-04 9.99851411e-01 1.42935214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.920714057 meters Centerline goodness [0,1] 0.9881189836094008 Centerline is valid? [True, True] Translation: X:123.08, Y:-4.51, Z:1.43 [[ 9.99480277e-01 -2.70677577e-02 -1.75074926e-02 1.23078981e+02] [ 2.70759680e-02 9.99633352e-01 2.32052865e-04 -4.50874187e+00] [ 1.74947924e-02 -7.05964571e-04 9.99846705e-01 1.43017109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.950714057 meters Centerline goodness [0,1] 0.9887001973669942 Centerline is valid? [True, True] Translation: X:123.11, Y:-4.51, Z:1.43 [[ 9.99478694e-01 -2.67934138e-02 -1.80125644e-02 1.23109032e+02] [ 2.68020603e-02 9.99640732e-01 2.38747333e-04 -4.50845465e+00] [ 1.79996962e-02 -7.21396710e-04 9.99837732e-01 1.43020951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.980714057 meters Centerline goodness [0,1] 0.9881673444665571 Centerline is valid? [True, True] Translation: X:123.14, Y:-4.51, Z:1.43 [[ 9.99454232e-01 -2.67449570e-02 -1.93892896e-02 1.23138796e+02] [ 2.67549653e-02 9.99641989e-01 2.56910808e-04 -4.51426196e+00] [ 1.93754770e-02 -7.75530366e-04 9.99811977e-01 1.42925836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.010714057 meters Centerline goodness [0,1] 0.9887050967979708 Centerline is valid? [True, True] Translation: X:123.17, Y:-4.52, Z:1.43 [[ 9.99431115e-01 -2.72524452e-02 -1.98683185e-02 1.23168299e+02] [ 2.72630454e-02 9.99628260e-01 2.62806053e-04 -4.51601263e+00] [ 1.98537705e-02 -8.04327415e-04 9.99802571e-01 1.42894549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.040714057 meters Centerline goodness [0,1] 0.9888159178100007 Centerline is valid? [True, True] Translation: X:123.20, Y:-4.51, Z:1.43 [[ 9.99430169e-01 -2.70423877e-02 -2.02001634e-02 1.23198179e+02] [ 2.70532878e-02 9.99633957e-01 2.66480147e-04 -4.51293082e+00] [ 2.01855630e-02 -8.12809133e-04 9.99795920e-01 1.42941487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.070714057 meters Centerline goodness [0,1] 0.9888201712654615 Centerline is valid? [True, True] Translation: X:123.23, Y:-4.51, Z:1.43 [[ 9.99422197e-01 -2.70006448e-02 -2.06455173e-02 1.23228215e+02] [ 2.70120063e-02 9.99635072e-01 2.71590311e-04 -4.51453006e+00] [ 2.06306501e-02 -8.29110229e-04 9.99786822e-01 1.42971410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.100714057 meters Centerline goodness [0,1] 0.9877678493970677 Centerline is valid? [True, True] Translation: X:123.26, Y:-4.52, Z:1.43 [[ 9.99439801e-01 -2.71152618e-02 -1.96174888e-02 1.23257212e+02] [ 2.71255265e-02 9.99632002e-01 2.57290864e-04 -4.52308685e+00] [ 1.96032931e-02 -7.89281443e-04 9.99807525e-01 1.42943827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.130714057 meters Centerline goodness [0,1] 0.9895244718769016 Centerline is valid? [True, True] Translation: X:123.29, Y:-4.52, Z:1.43 [[ 9.99441669e-01 -2.75110932e-02 -1.89602034e-02 1.23286393e+02] [ 2.75207335e-02 9.99621202e-01 2.47664008e-04 -4.51742388e+00] [ 1.89462078e-02 -7.69324433e-04 9.99820209e-01 1.43156602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.160714057 meters Centerline goodness [0,1] 0.9884489521704267 Centerline is valid? [True, True] Translation: X:123.32, Y:-4.52, Z:1.43 [[ 9.99414340e-01 -2.82804946e-02 -1.92662886e-02 1.23316029e+02] [ 2.82905740e-02 9.99599710e-01 2.50756163e-04 -4.52025456e+00] [ 1.92514850e-02 -7.95663668e-04 9.99814356e-01 1.43128169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19071405700001 meters Centerline goodness [0,1] 0.9878895737477211 Centerline is valid? [True, True] Translation: X:123.35, Y:-4.52, Z:1.43 [[ 9.99310685e-01 -3.12132527e-02 -2.00969475e-02 1.23346127e+02] [ 3.12248045e-02 9.99512353e-01 2.61190576e-04 -4.52261267e+00] [ 2.00789946e-02 -8.88533789e-04 9.99798002e-01 1.43109636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.220714057 meters Centerline goodness [0,1] 0.9879356278022049 Centerline is valid? [True, True] Translation: X:123.38, Y:-4.53, Z:1.43 [[ 9.99235757e-01 -3.34574854e-02 -2.02113717e-02 1.23375606e+02] [ 3.34696203e-02 9.99439701e-01 2.62333920e-04 -4.52641405e+00] [ 2.01912703e-02 -9.38600370e-04 9.99795695e-01 1.43109623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.250714057 meters Centerline goodness [0,1] 0.9868583162217659 Centerline is valid? [True, True] Translation: X:123.40, Y:-4.53, Z:1.43 [[ 9.99069381e-01 -3.86896821e-02 -1.90651838e-02 1.23404629e+02] [ 3.87014243e-02 9.99250789e-01 2.47186914e-04 -4.53412893e+00] [ 1.90413364e-02 -9.84806647e-04 9.99818212e-01 1.43228698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.280714057 meters Centerline goodness [0,1] 0.9863173847153064 Centerline is valid? [True, True] Translation: X:123.44, Y:-4.54, Z:1.43 [[ 9.99001020e-01 -4.04285036e-02 -1.90393693e-02 1.23435553e+02] [ 4.04405249e-02 9.99181917e-01 2.46639372e-04 -4.53551673e+00] [ 1.90138223e-02 -1.01635507e-03 9.99818704e-01 1.43344222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.310714057 meters Centerline goodness [0,1] 0.9862898168371429 Centerline is valid? [True, True] Translation: X:123.47, Y:-4.54, Z:1.43 [[ 9.98854405e-01 -4.42827071e-02 -1.81361486e-02 1.23465555e+02] [ 4.42942549e-02 9.99018500e-01 2.35327984e-04 -4.53899432e+00] [ 1.81079270e-02 -1.03838558e-03 9.99835499e-01 1.43440844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.340714057 meters Centerline goodness [0,1] 0.9850775277501835 Centerline is valid? [True, True] Translation: X:123.50, Y:-4.54, Z:1.43 [[ 9.98600721e-01 -4.94939529e-02 -1.86265587e-02 1.23496213e+02] [ 4.95070485e-02 9.98773745e-01 2.42321371e-04 -4.54301066e+00] [ 1.85917243e-02 -1.16412824e-03 9.99826481e-01 1.43427662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.370714057 meters Centerline goodness [0,1] 0.9859620326976654 Centerline is valid? [True, True] Translation: X:123.53, Y:-4.54, Z:1.43 [[ 9.98387405e-01 -5.31974924e-02 -1.98145434e-02 1.23526628e+02] [ 5.32130396e-02 9.98583149e-01 2.57845418e-04 -4.54110577e+00] [ 1.97727524e-02 -1.31182170e-03 9.99803639e-01 1.43414520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.400714057 meters Centerline goodness [0,1] 0.9848435779519399 Centerline is valid? [True, True] Translation: X:123.56, Y:-4.54, Z:1.43 [[ 9.98371333e-01 -5.31345759e-02 -2.07701135e-02 1.23557493e+02] [ 5.31516566e-02 9.98586415e-01 2.70800184e-04 -4.54427703e+00] [ 2.07263643e-02 -1.37432508e-03 9.99784241e-01 1.43391758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.430714057 meters Centerline goodness [0,1] 0.9858450749951302 Centerline is valid? [True, True] Translation: X:123.59, Y:-4.54, Z:1.43 [[ 9.98298757e-01 -5.45023189e-02 -2.07144484e-02 1.23588125e+02] [ 5.45196221e-02 9.98512663e-01 2.71085552e-04 -4.54494893e+00] [ 2.06688642e-02 -1.39996827e-03 9.99785396e-01 1.43374025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.460714057 meters Centerline goodness [0,1] 0.9862614847086227 Centerline is valid? [True, True] Translation: X:123.62, Y:-4.54, Z:1.43 [[ 9.98281489e-01 -5.44310649e-02 -2.17101103e-02 1.23620608e+02] [ 5.44500780e-02 9.98516453e-01 2.85168891e-04 -4.54019548e+00] [ 2.16623803e-02 -1.46679602e-03 9.99764267e-01 1.43405533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.490714057 meters Centerline goodness [0,1] 0.986579945799458 Centerline is valid? [True, True] Translation: X:123.65, Y:-4.54, Z:1.43 [[ 9.98297778e-01 -5.37655163e-02 -2.26012374e-02 1.23653201e+02] [ 5.37859910e-02 9.98552441e-01 2.98557927e-04 -4.53819381e+00] [ 2.25524687e-02 -1.51367967e-03 9.99744515e-01 1.43468359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.520714057 meters Centerline goodness [0,1] 0.9856588054066955 Centerline is valid? [True, True] Translation: X:123.69, Y:-4.54, Z:1.43 [[ 9.98229900e-01 -5.50240504e-02 -2.25703456e-02 1.23685034e+02] [ 5.50448232e-02 9.98483839e-01 2.99652153e-04 -4.53611477e+00] [ 2.25196372e-02 -1.54150242e-03 9.99745212e-01 1.43452094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55071405700001 meters Centerline goodness [0,1] 0.9861453868467767 Centerline is valid? [True, True] Translation: X:123.72, Y:-4.54, Z:1.43 [[ 9.98227477e-01 -5.49726505e-02 -2.28015704e-02 1.23715737e+02] [ 5.49938663e-02 9.98486646e-01 3.03970565e-04 -4.53744682e+00] [ 2.27503535e-02 -1.55737828e-03 9.99739964e-01 1.43494951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58071405700001 meters Centerline goodness [0,1] 0.9866889603057414 Centerline is valid? [True, True] Translation: X:123.75, Y:-4.53, Z:1.44 [[ 9.98213075e-01 -5.51884695e-02 -2.29104540e-02 1.23747742e+02] [ 5.52099770e-02 9.98474719e-01 3.06816200e-04 -4.53490224e+00] [ 2.28585764e-02 -1.57115358e-03 9.99737474e-01 1.43523760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.610714057 meters Centerline goodness [0,1] 0.9859704158769579 Centerline is valid? [True, True] Translation: X:123.78, Y:-4.53, Z:1.44 [[ 9.98236661e-01 -5.46554660e-02 -2.31592177e-02 1.23779790e+02] [ 5.46773395e-02 9.98504027e-01 3.11835607e-04 -4.53220537e+00] [ 2.31075286e-02 -1.57757014e-03 9.99731741e-01 1.43559488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.640714057 meters Centerline goodness [0,1] 0.985651333926672 Centerline is valid? [True, True] Translation: X:123.81, Y:-4.53, Z:1.44 [[ 9.98276333e-01 -5.38034002e-02 -2.34426285e-02 1.23810686e+02] [ 5.38256148e-02 9.98550300e-01 3.17198549e-04 -4.53387536e+00] [ 2.33915773e-02 -1.57846569e-03 9.99725134e-01 1.43559512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.670714057 meters Centerline goodness [0,1] 0.9862915177403888 Centerline is valid? [True, True] Translation: X:123.84, Y:-4.53, Z:1.44 [[ 9.98191976e-01 -5.58060299e-02 -2.23263552e-02 1.23842208e+02] [ 5.58266999e-02 9.98440428e-01 3.03118062e-04 -4.53027411e+00] [ 2.22746198e-02 -1.54897675e-03 9.99750690e-01 1.43679968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.700714057 meters Centerline goodness [0,1] 0.985613392623594 Centerline is valid? [True, True] Translation: X:123.87, Y:-4.53, Z:1.44 [[ 9.98149243e-01 -5.65185313e-02 -2.24442309e-02 1.23874804e+02] [ 5.65396233e-02 9.98400309e-01 3.05783196e-04 -4.52939635e+00] [ 2.23910446e-02 -1.57420562e-03 9.99748050e-01 1.43749145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.730714057 meters Centerline goodness [0,1] 0.9857947106572401 Centerline is valid? [True, True] Translation: X:123.91, Y:-4.52, Z:1.44 [[ 9.98101967e-01 -5.73790832e-02 -2.23630014e-02 1.23907411e+02] [ 5.74002733e-02 9.98351198e-01 3.06277803e-04 -4.52341584e+00] [ 2.23085553e-02 -1.58933887e-03 9.99749870e-01 1.43865664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.760714057 meters Centerline goodness [0,1] 0.9844673749427344 Centerline is valid? [True, True] Translation: X:123.94, Y:-4.53, Z:1.44 [[ 9.97953596e-01 -5.98362813e-02 -2.25441674e-02 1.23937134e+02] [ 5.98584778e-02 9.98206825e-01 3.10445598e-04 -4.53156231e+00] [ 2.24851659e-02 -1.65926985e-03 9.99745800e-01 1.43797607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.790714057 meters Centerline goodness [0,1] 0.9855473688799756 Centerline is valid? [True, True] Translation: X:123.97, Y:-4.53, Z:1.44 [[ 9.97836500e-01 -6.15745719e-02 -2.30410713e-02 1.23968833e+02] [ 6.15982517e-02 9.98100974e-01 3.18722607e-04 -4.52565755e+00] [ 2.29776905e-02 -1.73732276e-03 9.99734468e-01 1.43876331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.820714057 meters Centerline goodness [0,1] 0.9855411160860544 Centerline is valid? [True, True] Translation: X:124.00, Y:-4.53, Z:1.44 [[ 9.97582579e-01 -6.51690980e-02 -2.41243909e-02 1.23999291e+02] [ 6.51961164e-02 9.97872414e-01 3.34304204e-04 -4.52512489e+00] [ 2.40512779e-02 -1.90631265e-03 9.99708909e-01 1.43850664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.850714057 meters Centerline goodness [0,1] 0.9850038255547054 Centerline is valid? [True, True] Translation: X:124.03, Y:-4.53, Z:1.44 [[ 9.97466845e-01 -6.69038286e-02 -2.41613455e-02 1.24030650e+02] [ 6.69314452e-02 9.97757520e-01 3.35216304e-04 -4.52661814e+00] [ 2.40847369e-02 -1.95152092e-03 9.99708016e-01 1.43889662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.880714057 meters Centerline goodness [0,1] 0.9841773537007047 Centerline is valid? [True, True] Translation: X:124.06, Y:-4.52, Z:1.44 [[ 9.97321610e-01 -6.88009593e-02 -2.48200442e-02 1.24061640e+02] [ 6.88307041e-02 9.97628295e-01 3.45078613e-04 -4.52487901e+00] [ 2.47374367e-02 -2.05253548e-03 9.99691876e-01 1.43910680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.910714057 meters Centerline goodness [0,1] 0.9851580655062042 Centerline is valid? [True, True] Translation: X:124.09, Y:-4.52, Z:1.44 [[ 9.97299460e-01 -6.91761074e-02 -2.46668396e-02 1.24094085e+02] [ 6.92056238e-02 9.97602357e-01 3.43920595e-04 -4.52461442e+00] [ 2.45839062e-02 -2.05007584e-03 9.99695668e-01 1.43933918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94071405700001 meters Centerline goodness [0,1] 0.9854369996710166 Centerline is valid? [True, True] Translation: X:124.13, Y:-4.52, Z:1.44 [[ 9.97288572e-01 -6.90481278e-02 -2.54530959e-02 1.24126361e+02] [ 6.90795624e-02 9.97611090e-01 3.56738335e-04 -4.52086395e+00] [ 2.53676586e-02 -2.11405979e-03 9.99675954e-01 1.43971310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.970714057 meters Centerline goodness [0,1] 0.9853968253968254 Centerline is valid? [True, True] Translation: X:124.16, Y:-4.52, Z:1.44 [[ 9.97318865e-01 -6.85978340e-02 -2.54836975e-02 1.24159076e+02] [ 6.86292492e-02 9.97642169e-01 3.59174555e-04 -4.52018666e+00] [ 2.53989726e-02 -2.10713859e-03 9.99675173e-01 1.43993526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00071405699998 meters Centerline goodness [0,1] 0.9855024566505828 Centerline is valid? [True, True] Translation: X:124.19, Y:-4.52, Z:1.44 [[ 9.97431962e-01 -6.68512889e-02 -2.56979807e-02 1.24190351e+02] [ 6.68827029e-02 9.97760779e-01 3.63902201e-04 -4.51626723e+00] [ 2.56161099e-02 -2.08171809e-03 9.99669686e-01 1.44050622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03071405699998 meters Centerline goodness [0,1] 0.9853504868484821 Centerline is valid? [True, True] Translation: X:124.22, Y:-4.51, Z:1.44 [[ 9.97424445e-01 -6.72646325e-02 -2.48987015e-02 1.24222231e+02] [ 6.72942805e-02 9.97733108e-01 3.53812409e-04 -4.51375000e+00] [ 2.48184598e-02 -2.02844135e-03 9.99689917e-01 1.44131816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06071405699998 meters Centerline goodness [0,1] 0.9861249199089724 Centerline is valid? [True, True] Translation: X:124.25, Y:-4.51, Z:1.44 [[ 9.97554788e-01 -6.57378817e-02 -2.37270939e-02 1.24253522e+02] [ 6.57644063e-02 9.97835121e-01 3.38487464e-04 -4.50745466e+00] [ 2.36534762e-02 -1.89805804e-03 9.99718416e-01 1.44336851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09071405699999 meters Centerline goodness [0,1] 0.9865017121396222 Centerline is valid? [True, True] Translation: X:124.29, Y:-4.51, Z:1.44 [[ 9.97635171e-01 -6.47347537e-02 -2.30971291e-02 1.24285396e+02] [ 6.47596466e-02 9.97900836e-01 3.30616810e-04 -4.50552432e+00] [ 2.30272421e-02 -1.82559688e-03 9.99733171e-01 1.44425503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.120714057 meters Centerline goodness [0,1] 0.9861931629605045 Centerline is valid? [True, True] Translation: X:124.32, Y:-4.50, Z:1.45 [[ 9.97707666e-01 -6.37635825e-02 -2.26631804e-02 1.24317747e+02] [ 6.37873361e-02 9.97963461e-01 3.26022780e-04 -4.50031535e+00] [ 2.25962376e-02 -1.77089933e-03 9.99743104e-01 1.44500896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.150714057 meters Centerline goodness [0,1] 0.9857266531998491 Centerline is valid? [True, True] Translation: X:124.35, Y:-4.50, Z:1.44 [[ 9.97790732e-01 -6.22409095e-02 -2.32319840e-02 1.24348697e+02] [ 6.22654934e-02 9.98059565e-01 3.35623088e-04 -4.50398652e+00] [ 2.31660144e-02 -1.78143255e-03 9.99730045e-01 1.44452994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.180714057 meters Centerline goodness [0,1] 0.9869452860452682 Centerline is valid? [True, True] Translation: X:124.38, Y:-4.50, Z:1.44 [[ 9.97827130e-01 -6.16665641e-02 -2.32002725e-02 1.24381004e+02] [ 6.16909531e-02 9.98095243e-01 3.36304861e-04 -4.49717889e+00] [ 2.31353428e-02 -1.76682103e-03 9.99730781e-01 1.44489819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.210714057 meters Centerline goodness [0,1] 0.9874006633573003 Centerline is valid? [True, True] Translation: X:124.41, Y:-4.50, Z:1.44 [[ 9.97837307e-01 -6.15765947e-02 -2.30006894e-02 1.24412838e+02] [ 6.16005793e-02 9.98100825e-01 3.35043248e-04 -4.49685368e+00] [ 2.29363762e-02 -1.75117444e-03 9.99735393e-01 1.44465819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.240714057 meters Centerline goodness [0,1] 0.987169188200116 Centerline is valid? [True, True] Translation: X:124.44, Y:-4.50, Z:1.44 [[ 9.97834704e-01 -6.15445510e-02 -2.31985072e-02 1.24444768e+02] [ 6.15689799e-02 9.98102773e-01 3.39584927e-04 -4.49551544e+00] [ 2.31335947e-02 -1.76715805e-03 9.99730821e-01 1.44472527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.270714057 meters Centerline goodness [0,1] 0.9871489342747054 Centerline is valid? [True, True] Translation: X:124.48, Y:-4.50, Z:1.44 [[ 9.97798855e-01 -6.16875627e-02 -2.43328741e-02 1.24475695e+02] [ 6.17145215e-02 9.98093778e-01 3.57800810e-04 -4.49573173e+00] [ 2.42644184e-02 -1.85870492e-03 9.99703848e-01 1.44356980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.300714057 meters Centerline goodness [0,1] 0.9871837735428508 Centerline is valid? [True, True] Translation: X:124.51, Y:-4.50, Z:1.44 [[ 9.97782068e-01 -6.17937813e-02 -2.47481807e-02 1.24508048e+02] [ 6.18217378e-02 9.98087140e-01 3.65400712e-04 -4.49509923e+00] [ 2.46782614e-02 -1.89456582e-03 9.99693650e-01 1.44351172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.330714057 meters Centerline goodness [0,1] 0.9889594135526552 Centerline is valid? [True, True] Translation: X:124.54, Y:-4.49, Z:1.44 [[ 9.97758829e-01 -6.20519068e-02 -2.50375651e-02 1.24540579e+02] [ 6.20806469e-02 9.98071067e-01 3.71469648e-04 -4.48587966e+00] [ 2.49662189e-02 -1.92498536e-03 9.99686442e-01 1.44479128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.360714057 meters Centerline goodness [0,1] 0.9895286789166983 Centerline is valid? [True, True] Translation: X:124.57, Y:-4.49, Z:1.45 [[ 9.97752563e-01 -6.22285479e-02 -2.48481720e-02 1.24571274e+02] [ 6.22569448e-02 9.98060086e-01 3.70104166e-04 -4.48657716e+00] [ 2.47769377e-02 -1.91624365e-03 9.99691168e-01 1.44518196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.390714057 meters Centerline goodness [0,1] 0.9888125657261764 Centerline is valid? [True, True] Translation: X:124.60, Y:-4.49, Z:1.45 [[ 9.97739326e-01 -6.26858058e-02 -2.42224311e-02 1.24603120e+02] [ 6.27129532e-02 9.98031540e-01 3.61994431e-04 -4.48711105e+00] [ 2.41520583e-02 -1.88023626e-03 9.99706528e-01 1.44637420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.420714057 meters Centerline goodness [0,1] 0.986142154671435 Centerline is valid? [True, True] Translation: X:124.63, Y:-4.50, Z:1.45 [[ 9.97750321e-01 -6.29695034e-02 -2.30030275e-02 1.24633957e+02] [ 6.29940937e-02 9.98013840e-01 3.45229470e-04 -4.49646638e+00] [ 2.29356008e-02 -1.79350768e-03 9.99735336e-01 1.44680209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.450714057 meters Centerline goodness [0,1] 0.9886198493080243 Centerline is valid? [True, True] Translation: X:124.67, Y:-4.49, Z:1.45 [[ 9.97750770e-01 -6.32368237e-02 -2.22374692e-02 1.24666225e+02] [ 6.32598988e-02 9.97997031e-01 3.35038732e-04 -4.48795157e+00] [ 2.21717414e-02 -1.74102520e-03 9.99752661e-01 1.44855903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.480714057 meters Centerline goodness [0,1] 0.9857651245551602 Centerline is valid? [True, True] Translation: X:124.70, Y:-4.50, Z:1.45 [[ 9.97707827e-01 -6.42232628e-02 -2.13181905e-02 1.24697183e+02] [ 6.42447213e-02 9.97934122e-01 3.22537810e-04 -4.49631318e+00] [ 2.12534353e-02 -1.69137971e-03 9.99772690e-01 1.44841671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.510714057 meters Centerline goodness [0,1] 0.9881104033970276 Centerline is valid? [True, True] Translation: X:124.73, Y:-4.48, Z:1.45 [[ 9.97673381e-01 -6.47350058e-02 -2.13823374e-02 1.24729223e+02] [ 6.47567374e-02 9.97901027e-01 3.24769623e-04 -4.48435900e+00] [ 2.13164325e-02 -1.70866442e-03 9.99771319e-01 1.44967598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54071405699997 meters Centerline goodness [0,1] 0.9881104033970276 Centerline is valid? [True, True] Translation: X:124.76, Y:-4.48, Z:1.45 [[ 9.97680408e-01 -6.46266287e-02 -2.13823102e-02 1.24761862e+02] [ 6.46483736e-02 9.97908052e-01 3.26557627e-04 -4.48494686e+00] [ 2.13164752e-02 -1.70813172e-03 9.99771319e-01 1.45015793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57071405699998 meters Centerline goodness [0,1] 0.9884609352243956 Centerline is valid? [True, True] Translation: X:124.79, Y:-4.49, Z:1.45 [[ 9.97517653e-01 -6.67699230e-02 -2.23675821e-02 1.24792022e+02] [ 6.67942913e-02 9.97766709e-01 3.43283632e-04 -4.48650413e+00] [ 2.22947077e-02 -1.83645827e-03 9.99749755e-01 1.44920170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60071405699998 meters Centerline goodness [0,1] 0.9876808672669444 Centerline is valid? [True, True] Translation: X:124.82, Y:-4.49, Z:1.45 [[ 9.97397847e-01 -6.81677497e-02 -2.34668389e-02 1.24821832e+02] [ 6.81949750e-02 9.97671948e-01 3.60919172e-04 -4.48833318e+00] [ 2.33876038e-02 -1.96030050e-03 9.99724551e-01 1.44832163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63071405699998 meters Centerline goodness [0,1] 0.9891767131268767 Centerline is valid? [True, True] Translation: X:124.85, Y:-4.48, Z:1.45 [[ 9.97289756e-01 -6.93866214e-02 -2.44671084e-02 1.24854101e+02] [ 6.94166324e-02 9.97587684e-01 3.78358504e-04 -4.48496735e+00] [ 2.43818330e-02 -2.07575733e-03 9.99700564e-01 1.44787323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66071405699998 meters Centerline goodness [0,1] 0.9880733120704371 Centerline is valid? [True, True] Translation: X:124.88, Y:-4.49, Z:1.45 [[ 9.97054205e-01 -7.21537114e-02 -2.60145166e-02 1.24883389e+02] [ 7.21886000e-02 9.97390918e-01 4.03262400e-04 -4.48944795e+00] [ 2.59175457e-02 -2.28002600e-03 9.99661484e-01 1.44633824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69071405699998 meters Centerline goodness [0,1] 0.9887778872860855 Centerline is valid? [True, True] Translation: X:124.91, Y:-4.49, Z:1.45 [[ 9.96963282e-01 -7.29127816e-02 -2.73485096e-02 1.24914275e+02] [ 7.29516375e-02 9.97335389e-01 4.24393022e-04 -4.49056224e+00] [ 2.72446927e-02 -2.41822282e-03 9.99625869e-01 1.44617182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72071405699998 meters Centerline goodness [0,1] 0.9881925114483254 Centerline is valid? [True, True] Translation: X:124.95, Y:-4.49, Z:1.45 [[ 9.96981837e-01 -7.24864517e-02 -2.78016512e-02 1.24946635e+02] [ 7.25264900e-02 9.97366392e-01 4.33151772e-04 -4.48865524e+00] [ 2.76970349e-02 -2.44820063e-03 9.99613366e-01 1.44689963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75071405699998 meters Centerline goodness [0,1] 0.9873485868102289 Centerline is valid? [True, True] Translation: X:124.98, Y:-4.49, Z:1.45 [[ 9.97070783e-01 -7.12003395e-02 -2.79350122e-02 1.24978313e+02] [ 7.12403109e-02 9.97459085e-01 4.36979847e-04 -4.48786672e+00] [ 2.78329186e-02 -2.42579879e-03 9.99609646e-01 1.44723702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78071405699998 meters Centerline goodness [0,1] 0.9894800865020724 Centerline is valid? [True, True] Translation: X:125.01, Y:-4.48, Z:1.45 [[ 9.97383782e-01 -6.70454909e-02 -2.70276502e-02 1.25008742e+02] [ 6.70814120e-02 9.97747415e-01 4.23534391e-04 -4.47821683e+00] [ 2.69383721e-02 -2.23547927e-03 9.99634597e-01 1.44949515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81071405699998 meters Centerline goodness [0,1] 0.9882413661557795 Centerline is valid? [True, True] Translation: X:125.04, Y:-4.48, Z:1.45 [[ 9.97790150e-01 -6.13872826e-02 -2.54247553e-02 1.25038179e+02] [ 6.14172365e-02 9.98112100e-01 3.98195742e-04 -4.47549570e+00] [ 2.53523117e-02 -1.95883400e-03 9.99676659e-01 1.45081258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84071405699999 meters Centerline goodness [0,1] 0.9877457064837174 Centerline is valid? [True, True] Translation: X:125.07, Y:-4.47, Z:1.45 [[ 9.97980478e-01 -5.85156837e-02 -2.47159770e-02 1.25069559e+02] [ 5.85431135e-02 9.98284806e-01 3.87053682e-04 -4.46973145e+00] [ 2.46509355e-02 -1.83322226e-03 9.99694439e-01 1.45251728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.870714057 meters Centerline goodness [0,1] 0.9870861968288192 Centerline is valid? [True, True] Translation: X:125.10, Y:-4.47, Z:1.45 [[ 9.98176370e-01 -5.56631132e-02 -2.33570761e-02 1.25099057e+02] [ 5.56868396e-02 9.98448217e-01 3.66111050e-04 -4.47213487e+00] [ 2.33004521e-02 -1.66612515e-03 9.99727119e-01 1.45308598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.900714057 meters Centerline goodness [0,1] 0.9882943143812709 Centerline is valid? [True, True] Translation: X:125.13, Y:-4.46, Z:1.46 [[ 9.98448932e-01 -5.16905109e-02 -2.06838603e-02 1.25129686e+02] [ 5.17082674e-02 9.98662180e-01 3.24215726e-04 -4.45966872e+00] [ 2.06394301e-02 -1.39323942e-03 9.99786014e-01 1.45626156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.930714057 meters Centerline goodness [0,1] 0.9883257918552036 Centerline is valid? [True, True] Translation: X:125.16, Y:-4.46, Z:1.46 [[ 9.98531358e-01 -5.03119833e-02 -2.00955794e-02 1.25160702e+02] [ 5.03284701e-02 9.98732670e-01 3.15199925e-04 -4.45795707e+00] [ 2.00542533e-02 -1.32611677e-03 9.99798014e-01 1.45740613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.960714057 meters Centerline goodness [0,1] 0.9877169922494674 Centerline is valid? [True, True] Translation: X:125.19, Y:-4.45, Z:1.46 [[ 9.98573818e-01 -4.95397213e-02 -1.99034374e-02 1.25193309e+02] [ 4.95557593e-02 9.98771310e-01 3.13083127e-04 -4.45444418e+00] [ 1.98634722e-02 -1.29896657e-03 9.99801858e-01 1.45764940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.990714057 meters Centerline goodness [0,1] 0.9881506367330262 Centerline is valid? [True, True] Translation: X:125.22, Y:-4.46, Z:1.46 [[ 9.98514275e-01 -5.04388061e-02 -2.06196301e-02 1.25224194e+02] [ 5.04562396e-02 9.98726220e-01 3.25779263e-04 -4.45688095e+00] [ 2.05769333e-02 -1.36568424e-03 9.99787340e-01 1.45710548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.020714057 meters Centerline goodness [0,1] 0.9880352358897516 Centerline is valid? [True, True] Translation: X:125.26, Y:-4.46, Z:1.46 [[ 9.98374144e-01 -5.24072783e-02 -2.24175337e-02 1.25255031e+02] [ 5.24284022e-02 9.98624622e-01 3.55195238e-04 -4.45744462e+00] [ 2.23680863e-02 -1.52993321e-03 9.99748632e-01 1.45574050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.050714057 meters Centerline goodness [0,1] 0.9879739929071565 Centerline is valid? [True, True] Translation: X:125.29, Y:-4.46, Z:1.46 [[ 9.98255744e-01 -5.41758529e-02 -2.34616176e-02 1.25286004e+02] [ 5.41994870e-02 9.98530058e-01 3.72169886e-04 -4.45890697e+00] [ 2.34069678e-02 -1.64312836e-03 9.99724669e-01 1.45503656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.080714057 meters Centerline goodness [0,1] 0.9869080843146598 Centerline is valid? [True, True] Translation: X:125.32, Y:-4.46, Z:1.45 [[ 9.98153515e-01 -5.55049943e-02 -2.46729808e-02 1.25316988e+02] [ 5.55315569e-02 9.98456856e-01 3.92194246e-04 -4.46429930e+00] [ 2.46131381e-02 -1.76159910e-03 9.99695499e-01 1.45390141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.110714057 meters Centerline goodness [0,1] 0.986041647722106 Centerline is valid? [True, True] Translation: X:125.35, Y:-4.47, Z:1.45 [[ 9.97969245e-01 -5.78413802e-02 -2.66788421e-02 1.25347467e+02] [ 5.78732978e-02 9.98323846e-01 4.25139196e-04 -4.46749512e+00] [ 2.66095336e-02 -1.96826842e-03 9.99643966e-01 1.45253774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.140714057 meters Centerline goodness [0,1] 0.9872031331830499 Centerline is valid? [True, True] Translation: X:125.38, Y:-4.46, Z:1.45 [[ 9.97942071e-01 -5.82027793e-02 -2.69083700e-02 1.25379555e+02] [ 5.82354092e-02 9.98302786e-01 4.29908185e-04 -4.46487530e+00] [ 2.68376788e-02 -1.99604340e-03 9.99637812e-01 1.45313867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.170714057 meters Centerline goodness [0,1] 0.986672731407778 Centerline is valid? [True, True] Translation: X:125.41, Y:-4.47, Z:1.45 [[ 9.97989749e-01 -5.77285198e-02 -2.61510857e-02 1.25410587e+02] [ 5.77592431e-02 9.98330453e-01 4.20371174e-04 -4.46652228e+00] [ 2.60831578e-02 -1.92999304e-03 9.99657913e-01 1.45347044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.200714057 meters Centerline goodness [0,1] 0.9869529577849628 Centerline is valid? [True, True] Translation: X:125.44, Y:-4.47, Z:1.45 [[ 9.98063268e-01 -5.66380810e-02 -2.57262722e-02 1.25442372e+02] [ 5.66675237e-02 9.98393018e-01 4.16279469e-04 -4.46582247e+00] [ 2.56613533e-02 -1.87331739e-03 9.99668938e-01 1.45461934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.230714057 meters Centerline goodness [0,1] 0.9870919273323316 Centerline is valid? [True, True] Translation: X:125.47, Y:-4.46, Z:1.46 [[ 9.98296712e-01 -5.28434403e-02 -2.47233884e-02 1.25472645e+02] [ 5.28694981e-02 9.98601350e-01 4.01050477e-04 -4.45937495e+00] [ 2.46676162e-02 -1.70748051e-03 9.99694250e-01 1.45717819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.260714057 meters Centerline goodness [0,1] 0.9876863548423808 Centerline is valid? [True, True] Translation: X:125.50, Y:-4.46, Z:1.46 [[ 9.98430980e-01 -5.04114035e-02 -2.43776058e-02 1.25502964e+02] [ 5.04360163e-02 9.98727216e-01 3.95465333e-04 -4.45715109e+00] [ 2.43266424e-02 -1.62435416e-03 9.99702744e-01 1.45882526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29071405699997 meters Centerline goodness [0,1] 0.9897156961331017 Centerline is valid? [True, True] Translation: X:125.53, Y:-4.45, Z:1.46 [[ 9.98630571e-01 -4.66062178e-02 -2.37664122e-02 1.25534154e+02] [ 4.66285407e-02 9.98912224e-01 3.85652586e-04 -4.44792539e+00] [ 2.37225859e-02 -1.49331758e-03 9.99717465e-01 1.46139310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32071405699998 meters Centerline goodness [0,1] 0.9896294942665266 Centerline is valid? [True, True] Translation: X:125.57, Y:-4.45, Z:1.46 [[ 9.98700062e-01 -4.49222445e-02 -2.40868977e-02 1.25565778e+02] [ 4.49446981e-02 9.98989400e-01 3.91361295e-04 -4.44715650e+00] [ 2.40449747e-02 -1.47343090e-03 9.99709792e-01 1.46193247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35071405699998 meters Centerline goodness [0,1] 0.9888245127899787 Centerline is valid? [True, True] Translation: X:125.60, Y:-4.45, Z:1.46 [[ 9.98775441e-01 -4.29793395e-02 -2.45029590e-02 1.25596652e+02] [ 4.30020152e-02 9.99074906e-01 3.99016994e-04 -4.44836800e+00] [ 2.44631420e-02 -1.45220499e-03 9.99699678e-01 1.46130422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38071405699998 meters Centerline goodness [0,1] 0.9892963557185422 Centerline is valid? [True, True] Translation: X:125.63, Y:-4.45, Z:1.46 [[ 9.98805004e-01 -4.21337097e-02 -2.47651919e-02 1.25628533e+02] [ 4.21566497e-02 9.99110931e-01 4.04706839e-04 -4.44980143e+00] [ 2.47261222e-02 -1.44824074e-03 9.99693214e-01 1.46094698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41071405699998 meters Centerline goodness [0,1] 0.9888952621314673 Centerline is valid? [True, True] Translation: X:125.66, Y:-4.45, Z:1.46 [[ 9.98833627e-01 -4.08872822e-02 -2.56829766e-02 1.25660700e+02] [ 4.09115989e-02 9.99162681e-01 4.21844784e-04 -4.44820700e+00] [ 2.56442237e-02 -1.47208440e-03 9.99670049e-01 1.46165191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44071405699998 meters Centerline goodness [0,1] 0.9896119977985691 Centerline is valid? [True, True] Translation: X:125.69, Y:-4.45, Z:1.46 [[ 9.98885740e-01 -3.91239115e-02 -2.63931349e-02 1.25691176e+02] [ 3.91490130e-02 9.99233289e-01 4.34811860e-04 -4.44842492e+00] [ 2.63558874e-02 -1.46759255e-03 9.99651546e-01 1.46110198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47071405699998 meters Centerline goodness [0,1] 0.9902403093637786 Centerline is valid? [True, True] Translation: X:125.72, Y:-4.45, Z:1.46 [[ 9.98975034e-01 -3.61446946e-02 -2.72477863e-02 1.25721744e+02] [ 3.61703513e-02 9.99345538e-01 4.49162580e-04 -4.44547547e+00] [ 2.72137188e-02 -1.43426421e-03 9.99628609e-01 1.46142923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50071405699998 meters Centerline goodness [0,1] 0.991230896704106 Centerline is valid? [True, True] Translation: X:125.75, Y:-4.44, Z:1.46 [[ 9.99030176e-01 -3.45017312e-02 -2.73557814e-02 1.25753222e+02] [ 3.45269899e-02 9.99403664e-01 4.51392926e-04 -4.44102451e+00] [ 2.73238943e-02 -1.39546794e-03 9.99625659e-01 1.46326711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53071405699998 meters Centerline goodness [0,1] 0.9908825086915479 Centerline is valid? [True, True] Translation: X:125.78, Y:-4.44, Z:1.46 [[ 9.99089692e-01 -3.29504106e-02 -2.70934877e-02 1.25784579e+02] [ 3.29746444e-02 9.99456088e-01 4.48035459e-04 -4.43839843e+00] [ 2.70639883e-02 -1.34102573e-03 9.99632804e-01 1.46482496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56071405699998 meters Centerline goodness [0,1] 0.9906010274367066 Centerline is valid? [True, True] Translation: X:125.81, Y:-4.44, Z:1.47 [[ 9.99217441e-01 -2.98524208e-02 -2.59487805e-02 1.25814735e+02] [ 2.98736204e-02 9.99553591e-01 4.29619443e-04 -4.43750383e+00] [ 2.59243716e-02 -1.20446726e-03 9.99663181e-01 1.46524827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59071405699999 meters Centerline goodness [0,1] 0.9910431912094 Centerline is valid? [True, True] Translation: X:125.84, Y:-4.44, Z:1.47 [[ 9.99263045e-01 -2.86832720e-02 -2.55075880e-02 1.25844667e+02] [ 2.87033765e-02 9.99587884e-01 4.22314865e-04 -4.43907399e+00] [ 2.54849626e-02 -1.15415754e-03 9.99674539e-01 1.46572834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.620714057 meters Centerline goodness [0,1] 0.9900693532407088 Centerline is valid? [True, True] Translation: X:125.87, Y:-4.44, Z:1.47 [[ 9.99299936e-01 -2.77878512e-02 -2.50493991e-02 1.25873826e+02] [ 2.78069620e-02 9.99613226e-01 4.14852210e-04 -4.44246287e+00] [ 2.50281828e-02 -1.11110948e-03 9.99686128e-01 1.46588090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.650714057 meters Centerline goodness [0,1] 0.989102696737706 Centerline is valid? [True, True] Translation: X:125.90, Y:-4.44, Z:1.47 [[ 9.99282209e-01 -2.82354026e-02 -2.52552927e-02 1.25903116e+02] [ 2.82549717e-02 9.99600661e-01 4.18268631e-04 -4.44349879e+00] [ 2.52333973e-02 -1.13155598e-03 9.99680947e-01 1.46607684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.680714057 meters Centerline goodness [0,1] 0.9906466512702079 Centerline is valid? [True, True] Translation: X:125.93, Y:-4.44, Z:1.47 [[ 9.99251924e-01 -2.88497078e-02 -2.57543594e-02 1.25933655e+02] [ 2.88702556e-02 9.99583076e-01 4.26286751e-04 -4.43785396e+00] [ 2.57313235e-02 -1.16950279e-03 9.99668211e-01 1.46796009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.710714057 meters Centerline goodness [0,1] 0.9903702167853111 Centerline is valid? [True, True] Translation: X:125.96, Y:-4.44, Z:1.47 [[ 9.99156322e-01 -3.13146258e-02 -2.65713898e-02 1.25963452e+02] [ 3.13373624e-02 9.99508768e-01 4.39598018e-04 -4.43881482e+00] [ 2.65445712e-02 -1.27190441e-03 9.99646822e-01 1.46802198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.740714057 meters Centerline goodness [0,1] 0.9909184963788942 Centerline is valid? [True, True] Translation: X:125.99, Y:-4.44, Z:1.47 [[ 9.99104709e-01 -3.26977443e-02 -2.68446891e-02 1.25993821e+02] [ 3.27214478e-02 9.99464411e-01 4.44066595e-04 -4.44182411e+00] [ 2.68157915e-02 -1.32206612e-03 9.99639518e-01 1.46790014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.770714057 meters Centerline goodness [0,1] 0.9899680907233535 Centerline is valid? [True, True] Translation: X:126.02, Y:-4.45, Z:1.47 [[ 9.98953543e-01 -3.60428045e-02 -2.81555384e-02 1.26024811e+02] [ 3.60702199e-02 9.99349149e-01 4.66264489e-04 -4.44525465e+00] [ 2.81204079e-02 -1.48135303e-03 9.99603445e-01 1.46829025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.800714057 meters Centerline goodness [0,1] 0.9898824990227414 Centerline is valid? [True, True] Translation: X:126.06, Y:-4.45, Z:1.47 [[ 9.98873327e-01 -3.78965514e-02 -2.85644431e-02 1.26056326e+02] [ 3.79255465e-02 9.99280455e-01 4.73794990e-04 -4.44631519e+00] [ 2.85259345e-02 -1.55658329e-03 9.99591841e-01 1.46891407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.830714057 meters Centerline goodness [0,1] 0.9900659967346563 Centerline is valid? [True, True] Translation: X:126.09, Y:-4.45, Z:1.47 [[ 9.98710253e-01 -4.18144281e-02 -2.87990282e-02 1.26087435e+02] [ 4.18455470e-02 9.99123977e-01 4.78460643e-04 -4.45071394e+00] [ 2.87537931e-02 -1.68295464e-03 9.99585107e-01 1.46923335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.860714057 meters Centerline goodness [0,1] 0.9894894204231831 Centerline is valid? [True, True] Translation: X:126.12, Y:-4.45, Z:1.47 [[ 9.98625695e-01 -4.38150146e-02 -2.87570017e-02 1.26118672e+02] [ 4.38468908e-02 9.99038148e-01 4.78519045e-04 -4.45237543e+00] [ 2.87083754e-02 -1.73876653e-03 9.99586317e-01 1.46978647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.890714057 meters Centerline goodness [0,1] 0.9891782831988262 Centerline is valid? [True, True] Translation: X:126.15, Y:-4.46, Z:1.47 [[ 9.98532470e-01 -4.59956101e-02 -2.85886482e-02 1.26149136e+02] [ 4.60280261e-02 9.98940035e-01 4.76490857e-04 -4.45840384e+00] [ 2.85364287e-02 -1.79167064e-03 9.99591147e-01 1.46919124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.920714057 meters Centerline goodness [0,1] 0.9896459509496925 Centerline is valid? [True, True] Translation: X:126.18, Y:-4.46, Z:1.47 [[ 9.98394132e-01 -4.91323516e-02 -2.81987580e-02 1.26179804e+02] [ 4.91651486e-02 9.98790552e-01 4.70488173e-04 -4.46291133e+00] [ 2.81415369e-02 -1.85612876e-03 9.99602225e-01 1.46958542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.950714057 meters Centerline goodness [0,1] 0.9893227856783575 Centerline is valid? [True, True] Translation: X:126.21, Y:-4.47, Z:1.47 [[ 9.98332180e-01 -5.03820627e-02 -2.81869896e-02 1.26211743e+02] [ 5.04153620e-02 9.98728226e-01 4.71496953e-04 -4.46537174e+00] [ 2.81273871e-02 -1.89176787e-03 9.99602557e-01 1.46973560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.980714057 meters Centerline goodness [0,1] 0.9876890046137682 Centerline is valid? [True, True] Translation: X:126.24, Y:-4.47, Z:1.47 [[ 9.98194131e-01 -5.25093769e-02 -2.91760569e-02 1.26243275e+02] [ 5.25460057e-02 9.98618384e-01 4.89624874e-04 -4.46807212e+00] [ 2.91100369e-02 -2.02182593e-03 9.99574168e-01 1.47006980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.010714057 meters Centerline goodness [0,1] 0.9888340868612139 Centerline is valid? [True, True] Translation: X:126.28, Y:-4.47, Z:1.47 [[ 9.98176134e-01 -5.27687000e-02 -2.93235463e-02 1.26275626e+02] [ 5.28058576e-02 9.98604675e-01 4.93673913e-04 -4.46583099e+00] [ 2.92565799e-02 -2.04122853e-03 9.99569850e-01 1.47137233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04071405699997 meters Centerline goodness [0,1] 0.9894530179892247 Centerline is valid? [True, True] Translation: X:126.31, Y:-4.47, Z:1.47 [[ 9.98139419e-01 -5.31674294e-02 -2.98483739e-02 1.26307803e+02] [ 5.32061723e-02 9.98583421e-01 5.04696472e-04 -4.46601122e+00] [ 2.97792579e-02 -2.09187517e-03 9.99554311e-01 1.47233102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07071405699998 meters Centerline goodness [0,1] 0.9883887712587938 Centerline is valid? [True, True] Translation: X:126.34, Y:-4.47, Z:1.47 [[ 9.98122139e-01 -5.34560202e-02 -2.99106841e-02 1.26339125e+02] [ 5.34951109e-02 9.98567982e-01 5.07652143e-04 -4.47000217e+00] [ 2.98407144e-02 -2.10677421e-03 9.99552446e-01 1.47196201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10071405699998 meters Centerline goodness [0,1] 0.9885023450662538 Centerline is valid? [True, True] Translation: X:126.37, Y:-4.48, Z:1.47 [[ 9.98050278e-01 -5.44163209e-02 -3.05697066e-02 1.26370458e+02] [ 5.44576533e-02 9.98515945e-01 5.20510364e-04 -4.47538118e+00] [ 3.04960152e-02 -2.18425000e-03 9.99532502e-01 1.47129932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13071405699998 meters Centerline goodness [0,1] 0.9883625784162197 Centerline is valid? [True, True] Translation: X:126.40, Y:-4.48, Z:1.47 [[ 9.98019502e-01 -5.46049127e-02 -3.12310212e-02 1.26402016e+02] [ 5.46481983e-02 9.98505528e-01 5.33458554e-04 -4.47611507e+00] [ 3.11552178e-02 -2.23912108e-03 9.99512050e-01 1.47189508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16071405699998 meters Centerline goodness [0,1] 0.9882874687286787 Centerline is valid? [True, True] Translation: X:126.43, Y:-4.48, Z:1.47 [[ 9.97966773e-01 -5.52998101e-02 -3.16899305e-02 1.26433944e+02] [ 5.53447889e-02 9.98467155e-01 5.43276446e-04 -4.47776441e+00] [ 3.16113116e-02 -2.29604436e-03 9.99497600e-01 1.47245849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19071405699998 meters Centerline goodness [0,1] 0.9888212305734799 Centerline is valid? [True, True] Translation: X:126.47, Y:-4.48, Z:1.47 [[ 9.97946557e-01 -5.55525976e-02 -3.18838262e-02 1.26466394e+02] [ 5.55983294e-02 9.98453066e-01 5.48868231e-04 -4.47594003e+00] [ 3.18040129e-02 -2.32042863e-03 9.99491431e-01 1.47357786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22071405699998 meters Centerline goodness [0,1] 0.9886622347691467 Centerline is valid? [True, True] Translation: X:126.50, Y:-4.48, Z:1.47 [[ 9.97954222e-01 -5.57422615e-02 -3.13076793e-02 1.26498001e+02] [ 5.57865074e-02 9.98442574e-01 5.40875967e-04 -4.47918767e+00] [ 3.12287703e-02 -2.28631554e-03 9.99509648e-01 1.47381566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25071405699998 meters Centerline goodness [0,1] 0.9888404018364471 Centerline is valid? [True, True] Translation: X:126.53, Y:-4.48, Z:1.48 [[ 9.97972585e-01 -5.56718882e-02 -3.08441352e-02 1.26530598e+02] [ 5.57148594e-02 9.98446578e-01 5.34817198e-04 -4.47672967e+00] [ 3.07664469e-02 -2.25220956e-03 9.99524063e-01 1.47568226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28071405699998 meters Centerline goodness [0,1] 0.9882986245751694 Centerline is valid? [True, True] Translation: X:126.56, Y:-4.48, Z:1.48 [[ 9.98014300e-01 -5.51921590e-02 -3.03526252e-02 1.26562989e+02] [ 5.52336167e-02 9.98473319e-01 5.28493111e-04 -4.47529012e+00] [ 3.02771177e-02 -2.20392895e-03 9.99539113e-01 1.47744374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31071405699998 meters Centerline goodness [0,1] 0.9878492764175845 Centerline is valid? [True, True] Translation: X:126.60, Y:-4.47, Z:1.48 [[ 9.98064612e-01 -5.44489368e-02 -3.00390244e-02 1.26595696e+02] [ 5.44892888e-02 9.98514217e-01 5.25764831e-04 -4.47486141e+00] [ 2.99657656e-02 -2.16155235e-03 9.99548588e-01 1.47896184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34071405699999 meters Centerline goodness [0,1] 0.9883074258102749 Centerline is valid? [True, True] Translation: X:126.63, Y:-4.48, Z:1.48 [[ 9.98124116e-01 -5.38024387e-02 -2.92155119e-02 1.26626730e+02] [ 5.38404002e-02 9.98549422e-01 5.13696690e-04 -4.47619027e+00] [ 2.91454944e-02 -2.08570791e-03 9.99573004e-01 1.47970757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.370714057 meters Centerline goodness [0,1] 0.9875496989662615 Centerline is valid? [True, True] Translation: X:126.66, Y:-4.48, Z:1.48 [[ 9.98204329e-01 -5.27890975e-02 -2.83095334e-02 1.26657026e+02] [ 5.28243633e-02 9.98603694e-01 4.98781812e-04 -4.47900696e+00] [ 2.82436744e-02 -1.99331924e-03 9.99599080e-01 1.48006545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.400714057 meters Centerline goodness [0,1] 0.9881782151154845 Centerline is valid? [True, True] Translation: X:126.69, Y:-4.48, Z:1.48 [[ 9.98209331e-01 -5.27034545e-02 -2.82926984e-02 1.26689245e+02] [ 5.27386789e-02 9.98608222e-01 4.99718610e-04 -4.47673855e+00] [ 2.82269844e-02 -1.99094332e-03 9.99599557e-01 1.48083417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.430714057 meters Centerline goodness [0,1] 0.9881782151154845 Centerline is valid? [True, True] Translation: X:126.72, Y:-4.48, Z:1.48 [[ 9.98213115e-01 -5.26317544e-02 -2.82926625e-02 1.26721014e+02] [ 5.26670075e-02 9.98612004e-01 5.01749573e-04 -4.47736108e+00] [ 2.82269844e-02 -1.99094287e-03 9.99599557e-01 1.48130324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.460714057 meters Centerline goodness [0,1] 0.9882232579288394 Centerline is valid? [True, True] Translation: X:126.75, Y:-4.48, Z:1.48 [[ 9.98199635e-01 -5.27013201e-02 -2.86366683e-02 1.26752737e+02] [ 5.27375167e-02 9.98608279e-01 5.09674379e-04 -4.47781056e+00] [ 2.85699535e-02 -2.01898355e-03 9.99589757e-01 1.48121569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.490714057 meters Centerline goodness [0,1] 0.988352518312935 Centerline is valid? [True, True] Translation: X:126.78, Y:-4.48, Z:1.48 [[ 9.98168157e-01 -5.31360794e-02 -2.89290050e-02 1.26784213e+02] [ 5.31732461e-02 9.98585169e-01 5.16444151e-04 -4.48046313e+00] [ 2.88606335e-02 -2.05374721e-03 9.99581335e-01 1.48130497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.520714057 meters Centerline goodness [0,1] 0.9878772715900562 Centerline is valid? [True, True] Translation: X:126.82, Y:-4.48, Z:1.48 [[ 9.98074922e-01 -5.43444201e-02 -2.98853451e-02 1.26816244e+02] [ 5.43846815e-02 9.98519915e-01 5.35412486e-04 -4.48314747e+00] [ 2.98120156e-02 -2.15968675e-03 9.99553190e-01 1.48089930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.550714057 meters Centerline goodness [0,1] 0.9873561650065948 Centerline is valid? [True, True] Translation: X:126.85, Y:-4.49, Z:1.48 [[ 9.98030109e-01 -5.49942164e-02 -3.01916779e-02 1.26847629e+02] [ 5.50356603e-02 9.98484242e-01 5.42784075e-04 -4.48644858e+00] [ 3.01160647e-02 -2.20333378e-03 9.99543980e-01 1.48045150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.580714057 meters Centerline goodness [0,1] 0.9891022432543113 Centerline is valid? [True, True] Translation: X:126.88, Y:-4.48, Z:1.48 [[ 9.97992571e-01 -5.54893730e-02 -3.05246983e-02 1.26879425e+02] [ 5.55320407e-02 9.98456754e-01 5.51191020e-04 -4.48258680e+00] [ 3.04470059e-02 -2.24518333e-03 9.99533861e-01 1.48205616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.610714057 meters Centerline goodness [0,1] 0.9886816515223976 Centerline is valid? [True, True] Translation: X:126.91, Y:-4.49, Z:1.48 [[ 9.97995382e-01 -5.54120479e-02 -3.05732246e-02 1.26910953e+02] [ 5.54549201e-02 9.98461037e-01 5.55498621e-04 -4.48758489e+00] [ 3.04953923e-02 -2.24982079e-03 9.99532375e-01 1.48162372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.640714057 meters Centerline goodness [0,1] 0.988953659809014 Centerline is valid? [True, True] Translation: X:126.94, Y:-4.49, Z:1.48 [[ 9.98073224e-01 -5.39988026e-02 -3.05609010e-02 1.26942395e+02] [ 5.40410529e-02 9.98538559e-01 5.57620368e-04 -4.48749143e+00] [ 3.04861272e-02 -2.20808923e-03 9.99532751e-01 1.48242755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.670714057 meters Centerline goodness [0,1] 0.9899378514353359 Centerline is valid? [True, True] Translation: X:126.97, Y:-4.49, Z:1.48 [[ 9.98128235e-01 -5.28047146e-02 -3.08494526e-02 1.26974470e+02] [ 5.28472520e-02 9.98602448e-01 5.64583016e-04 -4.48639254e+00] [ 3.07765262e-02 -2.19383504e-03 9.99523883e-01 1.48356311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.700714057 meters Centerline goodness [0,1] 0.9895077955039884 Centerline is valid? [True, True] Translation: X:127.01, Y:-4.49, Z:1.48 [[ 9.98258584e-01 -5.06541802e-02 -3.02316598e-02 1.27005197e+02] [ 5.06940970e-02 9.98714074e-01 5.54875395e-04 -4.48666531e+00] [ 3.01646773e-02 -2.08647582e-03 9.99542765e-01 1.48369379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.730714057 meters Centerline goodness [0,1] 0.9892819837413143 Centerline is valid? [True, True] Translation: X:127.04, Y:-4.49, Z:1.48 [[ 9.98312739e-01 -4.91238694e-02 -3.09599794e-02 1.27035543e+02] [ 4.91650655e-02 9.98790504e-01 5.70315485e-04 -4.48695009e+00] [ 3.08945174e-02 -2.09150263e-03 9.99520462e-01 1.48440496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.760714057 meters Centerline goodness [0,1] 0.9892495113414246 Centerline is valid? [True, True] Translation: X:127.07, Y:-4.48, Z:1.49 [[ 9.98500415e-01 -4.60646298e-02 -2.95799019e-02 1.27066583e+02] [ 4.61009439e-02 9.98936637e-01 5.46495431e-04 -4.48264023e+00] [ 2.95232736e-02 -1.90933731e-03 9.99562270e-01 1.48685971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79071405699997 meters Centerline goodness [0,1] 0.9898769307764053 Centerline is valid? [True, True] Translation: X:127.10, Y:-4.48, Z:1.49 [[ 9.98609503e-01 -4.41332797e-02 -2.88325111e-02 1.27098008e+02] [ 4.41670014e-02 9.99024019e-01 5.33455816e-04 -4.48293894e+00] [ 2.87808280e-02 -1.80615961e-03 9.99584114e-01 1.48786118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82071405699998 meters Centerline goodness [0,1] 0.9901695915726383 Centerline is valid? [True, True] Translation: X:127.13, Y:-4.48, Z:1.49 [[ 9.98699852e-01 -4.21971584e-02 -2.86007933e-02 1.27129242e+02] [ 4.22295787e-02 9.99107793e-01 5.30201714e-04 -4.48322489e+00] [ 2.85529025e-02 -1.73731183e-03 9.99590773e-01 1.48880765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85071405699998 meters Centerline goodness [0,1] 0.990314880072752 Centerline is valid? [True, True] Translation: X:127.16, Y:-4.48, Z:1.49 [[ 9.98871404e-01 -3.79598120e-02 -2.85476837e-02 1.27159622e+02] [ 3.79904076e-02 9.99277963e-01 5.29926653e-04 -4.48198346e+00] [ 2.85069553e-02 -1.61386672e-03 9.99592291e-01 1.48962602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88071405699998 meters Centerline goodness [0,1] 0.9907483178759775 Centerline is valid? [True, True] Translation: X:127.19, Y:-4.48, Z:1.49 [[ 9.98951516e-01 -3.57519502e-02 -2.85948798e-02 1.27190089e+02] [ 3.57817579e-02 9.99359487e-01 5.31237656e-04 -4.48317505e+00] [ 2.85575716e-02 -1.55385573e-03 9.99590942e-01 1.48938046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91071405699998 meters Centerline goodness [0,1] 0.9907720980975976 Centerline is valid? [True, True] Translation: X:127.22, Y:-4.48, Z:1.49 [[ 9.99135909e-01 -2.98602936e-02 -2.89101759e-02 1.27219908e+02] [ 2.98883036e-02 9.99553101e-01 5.37122563e-04 -4.48188484e+00] [ 2.88812173e-02 -1.40073455e-03 9.99581869e-01 1.48918792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94071405699998 meters Centerline goodness [0,1] 0.990848453115396 Centerline is valid? [True, True] Translation: X:127.25, Y:-4.48, Z:1.49 [[ 9.99217280e-01 -2.64319370e-02 -2.94309451e-02 1.27249478e+02] [ 2.64594594e-02 9.99649738e-01 5.46031078e-04 -4.48050226e+00] [ 2.94062039e-02 -1.32433059e-03 9.99566667e-01 1.48958266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97071405699998 meters Centerline goodness [0,1] 0.9919180421172453 Centerline is valid? [True, True] Translation: X:127.28, Y:-4.48, Z:1.49 [[ 9.99373522e-01 -1.85997543e-02 -3.01099961e-02 1.27278940e+02] [ 1.86249883e-02 9.99826384e-01 5.57792613e-04 -4.47710480e+00] [ 3.00943937e-02 -1.11824149e-03 9.99546436e-01 1.48958653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00071405699998 meters Centerline goodness [0,1] 0.9929946658730341 Centerline is valid? [True, True] Translation: X:127.31, Y:-4.47, Z:1.49 [[ 9.99484311e-01 -1.04754519e-02 -3.03542027e-02 1.27309591e+02] [ 1.04973442e-02 9.99944743e-01 5.61958709e-04 -4.47193129e+00] [ 3.03466386e-02 -8.80307427e-04 9.99539047e-01 1.49179371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03071405699998 meters Centerline goodness [0,1] 0.992700228832952 Centerline is valid? [True, True] Translation: X:127.34, Y:-4.47, Z:1.49 [[ 9.99534021e-01 -6.65940603e-03 -2.97891491e-02 1.27338778e+02] [ 6.67874457e-03 9.99977546e-01 5.49727393e-04 -4.47136047e+00] [ 2.97848194e-02 -7.48425350e-04 9.99556054e-01 1.49255420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06071405699998 meters Centerline goodness [0,1] 0.992711403568899 Centerline is valid? [True, True] Translation: X:127.37, Y:-4.47, Z:1.49 [[ 9.99595016e-01 -3.17185653e-03 -2.82797318e-02 1.27367264e+02] [ 3.18781671e-03 9.99994784e-01 5.19301572e-04 -4.47018656e+00] [ 2.82779372e-02 -6.09241865e-04 9.99599914e-01 1.49426775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09071405699999 meters Centerline goodness [0,1] 0.9940860828861742 Centerline is valid? [True, True] Translation: X:127.40, Y:-4.47, Z:1.50 [[ 9.99642286e-01 2.21259332e-03 -2.66534206e-02 1.27396871e+02] [-2.20036746e-03 9.99997460e-01 4.88018003e-04 -4.47027767e+00] [ 2.66544327e-02 -4.29196113e-04 9.99644615e-01 1.49531545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.120714057 meters Centerline goodness [0,1] 0.993730977149866 Centerline is valid? [True, True] Translation: X:127.43, Y:-4.47, Z:1.50 [[ 9.99653426e-01 3.95802369e-03 -2.60261618e-02 1.27425063e+02] [-3.94704388e-03 9.99992098e-01 4.73234673e-04 -4.47136664e+00] [ 2.60278293e-02 -3.70344260e-04 9.99661150e-01 1.49572265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.150714057 meters Centerline goodness [0,1] 0.993913836334625 Centerline is valid? [True, True] Translation: X:127.45, Y:-4.47, Z:1.50 [[ 9.99647910e-01 4.83262133e-03 -2.60902491e-02 1.27453611e+02] [-4.82205418e-03 9.99988264e-01 4.67923005e-04 -4.47431088e+00] [ 2.60922042e-02 -3.41949660e-04 9.99659482e-01 1.49576182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.180714057 meters Centerline goodness [0,1] 0.9944000546336134 Centerline is valid? [True, True] Translation: X:127.48, Y:-4.48, Z:1.50 [[ 9.99647159e-01 4.41462859e-03 -2.61929155e-02 1.27481915e+02] [-4.40395239e-03 9.99990194e-01 4.65271024e-04 -4.47745238e+00] [ 2.61947126e-02 -3.49754504e-04 9.99656798e-01 1.49558577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.210714057 meters Centerline goodness [0,1] 0.9941101848495831 Centerline is valid? [True, True] Translation: X:127.51, Y:-4.48, Z:1.49 [[ 9.99618206e-01 1.13107178e-03 -2.76072854e-02 1.27510188e+02] [-1.11802140e-03 9.99999256e-01 4.88146322e-04 -4.48437065e+00] [ 2.76078170e-02 -4.57094414e-04 9.99618727e-01 1.49449004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.240714057 meters Centerline goodness [0,1] 0.9939232385298303 Centerline is valid? [True, True] Translation: X:127.54, Y:-4.49, Z:1.49 [[ 9.99597401e-01 -1.59795181e-03 -2.83281236e-02 1.27537562e+02] [ 1.61271575e-03 9.99998575e-01 4.98336593e-04 -4.48942029e+00] [ 2.83272870e-02 -5.43821174e-04 9.99598554e-01 1.49382441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.270714057 meters Centerline goodness [0,1] 0.9931300987548304 Centerline is valid? [True, True] Translation: X:127.57, Y:-4.49, Z:1.49 [[ 9.99565943e-01 -5.18722641e-03 -2.90003065e-02 1.27565961e+02] [ 5.20414867e-03 9.99986329e-01 5.08073261e-04 -4.49490188e+00] [ 2.89972746e-02 -6.58774635e-04 9.99579274e-01 1.49358073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.300714057 meters Centerline goodness [0,1] 0.9937338573834924 Centerline is valid? [True, True] Translation: X:127.60, Y:-4.50, Z:1.50 [[ 9.99501591e-01 -1.25282695e-02 -2.89760597e-02 1.27596146e+02] [ 1.25482155e-02 9.99921140e-01 5.06616621e-04 -4.50384948e+00] [ 2.89674276e-02 -8.69961958e-04 9.99579977e-01 1.49510824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.330714057 meters Centerline goodness [0,1] 0.9925067662782114 Centerline is valid? [True, True] Translation: X:127.62, Y:-4.52, Z:1.50 [[ 9.99405228e-01 -2.01385318e-02 -2.79933965e-02 1.27624790e+02] [ 2.01601146e-02 9.99796645e-01 4.88949791e-04 -4.51616465e+00] [ 2.79778572e-02 -1.05300906e-03 9.99607989e-01 1.49550572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.360714057 meters Centerline goodness [0,1] 0.9922114545332468 Centerline is valid? [True, True] Translation: X:127.65, Y:-4.52, Z:1.50 [[ 9.99329902e-01 -2.40182929e-02 -2.76200916e-02 1.27654147e+02] [ 2.40407567e-02 9.99710863e-01 4.81489154e-04 -4.52134755e+00] [ 2.76005411e-02 -1.14517441e-03 9.99618377e-01 1.49668427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.390714057 meters Centerline goodness [0,1] 0.992338790735074 Centerline is valid? [True, True] Translation: X:127.68, Y:-4.53, Z:1.50 [[ 9.99266468e-01 -2.67603180e-02 -2.73936216e-02 1.27683196e+02] [ 2.67834026e-02 9.99641147e-01 4.76064958e-04 -4.52523588e+00] [ 2.73710517e-02 -1.20941014e-03 9.99624611e-01 1.49839116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.420714057 meters Centerline goodness [0,1] 0.9909761368953455 Centerline is valid? [True, True] Translation: X:127.71, Y:-4.54, Z:1.50 [[ 9.99079469e-01 -3.40980847e-02 -2.60295022e-02 1.27712509e+02] [ 3.41213849e-02 9.99417594e-01 4.51388137e-04 -4.54159745e+00] [ 2.59989510e-02 -1.33913529e-03 9.99661073e-01 1.49821673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.450714057 meters Centerline goodness [0,1] 0.9905185844647229 Centerline is valid? [True, True] Translation: X:127.74, Y:-4.54, Z:1.50 [[ 9.98989229e-01 -3.69030860e-02 -2.56648247e-02 1.27742446e+02] [ 3.69266487e-02 9.99317880e-01 4.44602811e-04 -4.54066489e+00] [ 2.56309110e-02 -1.39186939e-03 9.99670505e-01 1.50024278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.480714057 meters Centerline goodness [0,1] 0.9901928080592435 Centerline is valid? [True, True] Translation: X:127.77, Y:-4.55, Z:1.50 [[ 9.98809142e-01 -4.17368754e-02 -2.52652342e-02 1.27773266e+02] [ 4.17612450e-02 9.99127523e-01 4.37450366e-04 -4.54620230e+00] [ 2.52249331e-02 -1.49203706e-03 9.99680687e-01 1.50089717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.510714057 meters Centerline goodness [0,1] 0.9901527107831152 Centerline is valid? [True, True] Translation: X:127.80, Y:-4.55, Z:1.50 [[ 9.98717100e-01 -4.38490279e-02 -2.53262101e-02 1.27803246e+02] [ 4.38742123e-02 9.99036967e-01 4.39317335e-04 -4.55333239e+00] [ 2.52825565e-02 -1.54992125e-03 9.99679144e-01 1.50043136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54071405699997 meters Centerline goodness [0,1] 0.9896799680411914 Centerline is valid? [True, True] Translation: X:127.83, Y:-4.55, Z:1.50 [[ 9.98484816e-01 -4.81887714e-02 -2.65690637e-02 1.27833868e+02] [ 4.82180495e-02 9.98836727e-01 4.62028957e-04 -4.55335070e+00] [ 2.65158920e-02 -1.74243733e-03 9.99646873e-01 1.50083566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57071405699998 meters Centerline goodness [0,1] 0.9882927260276999 Centerline is valid? [True, True] Translation: X:127.86, Y:-4.56, Z:1.50 [[ 9.98365510e-01 -5.01178891e-02 -2.74682505e-02 1.27863707e+02] [ 5.01499117e-02 9.98741587e-01 4.77717946e-04 -4.56454402e+00] [ 2.74097419e-02 -1.85446746e-03 9.99622562e-01 1.49911897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60071405699998 meters Centerline goodness [0,1] 0.9890818089205828 Centerline is valid? [True, True] Translation: X:127.89, Y:-4.56, Z:1.50 [[ 9.98285538e-01 -5.12302148e-02 -2.83098702e-02 1.27894568e+02] [ 5.12646827e-02 9.98684980e-01 4.92595825e-04 -4.56282609e+00] [ 2.82474064e-02 -1.94304780e-03 9.99599074e-01 1.50012219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63071405699998 meters Centerline goodness [0,1] 0.9893277831901515 Centerline is valid? [True, True] Translation: X:127.93, Y:-4.57, Z:1.50 [[ 9.98093113e-01 -5.47071143e-02 -2.85879246e-02 1.27925439e+02] [ 5.47436907e-02 9.98500316e-01 4.97753004e-04 -4.56521585e+00] [ 2.85178211e-02 -2.06181235e-03 9.99591158e-01 1.50018074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66071405699998 meters Centerline goodness [0,1] 0.989050933108737 Centerline is valid? [True, True] Translation: X:127.96, Y:-4.57, Z:1.50 [[ 9.97978287e-01 -5.68316584e-02 -2.84517310e-02 1.27955764e+02] [ 5.68687614e-02 9.98381539e-01 4.95945200e-04 -4.57079766e+00] [ 2.83774976e-02 -2.11295724e-03 9.99595045e-01 1.49999318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69071405699998 meters Centerline goodness [0,1] 0.9886640393216136 Centerline is valid? [True, True] Translation: X:127.99, Y:-4.57, Z:1.50 [[ 9.97919862e-01 -5.76325819e-02 -2.88865646e-02 1.27988324e+02] [ 5.76712069e-02 9.98335503e-01 5.05088460e-04 -4.57001742e+00] [ 2.88093735e-02 -2.16996085e-03 9.99582569e-01 1.50106864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72071405699998 meters Centerline goodness [0,1] 0.9887145670598128 Centerline is valid? [True, True] Translation: X:128.02, Y:-4.57, Z:1.50 [[ 9.97885617e-01 -5.84044709e-02 -2.85169080e-02 1.28019062e+02] [ 5.84424701e-02 9.98290653e-01 5.00155791e-04 -4.57334327e+00] [ 2.84389514e-02 -2.16569681e-03 9.99593185e-01 1.50186051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75071405699998 meters Centerline goodness [0,1] 0.9887324567228937 Centerline is valid? [True, True] Translation: X:128.05, Y:-4.57, Z:1.50 [[ 9.97885674e-01 -5.84713831e-02 -2.83774354e-02 1.28051424e+02] [ 5.85090807e-02 9.98286752e-01 4.99211038e-04 -4.56958926e+00] [ 2.82996283e-02 -2.15849320e-03 9.99597155e-01 1.50343824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78071405699998 meters Centerline goodness [0,1] 0.9886376220957275 Centerline is valid? [True, True] Translation: X:128.08, Y:-4.57, Z:1.50 [[ 9.97846117e-01 -5.89533416e-02 -2.87685602e-02 1.28083503e+02] [ 5.89923447e-02 9.98258306e-01 5.08167534e-04 -4.57083698e+00] [ 2.86884960e-02 -2.20419782e-03 9.99585970e-01 1.50418747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81071405699998 meters Centerline goodness [0,1] 0.9887053195730168 Centerline is valid? [True, True] Translation: X:128.11, Y:-4.57, Z:1.51 [[ 9.97792292e-01 -6.02590828e-02 -2.79174744e-02 1.28114133e+02] [ 6.02963606e-02 9.98180397e-01 4.94623960e-04 -4.57370757e+00] [ 2.78368700e-02 -2.17685408e-03 9.99610109e-01 1.50508529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84071405699999 meters Centerline goodness [0,1] 0.9883942414174972 Centerline is valid? [True, True] Translation: X:128.15, Y:-4.57, Z:1.51 [[ 9.97743074e-01 -6.15313143e-02 -2.68822656e-02 1.28146594e+02] [ 6.15663734e-02 9.98102877e-01 4.77670591e-04 -4.57090543e+00] [ 2.68018749e-02 -2.13163613e-03 9.99638492e-01 1.50768173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.870714057 meters Centerline goodness [0,1] 0.9888157022235975 Centerline is valid? [True, True] Translation: X:128.18, Y:-4.57, Z:1.51 [[ 9.97724126e-01 -6.21139972e-02 -2.62377402e-02 1.28178726e+02] [ 6.21476442e-02 9.98066857e-01 4.68104599e-04 -4.57137595e+00] [ 2.61579430e-02 -2.09765299e-03 9.99655622e-01 1.50872464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.900714057 meters Centerline goodness [0,1] 0.9883126369612856 Centerline is valid? [True, True] Translation: X:128.21, Y:-4.57, Z:1.51 [[ 9.97640116e-01 -6.34252157e-02 -2.62952691e-02 1.28209912e+02] [ 6.34595179e-02 9.97984302e-01 4.71232005e-04 -4.57269063e+00] [ 2.62123778e-02 -2.13880505e-03 9.99654109e-01 1.50940590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.930714057 meters Centerline goodness [0,1] 0.9879854584146125 Centerline is valid? [True, True] Translation: X:128.24, Y:-4.57, Z:1.51 [[ 9.97614531e-01 -6.33235741e-02 -2.74840532e-02 1.28241677e+02] [ 6.33610739e-02 9.97990546e-01 4.94825334e-04 -4.57356560e+00] [ 2.73974911e-02 -2.23506407e-03 9.99622120e-01 1.51014144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.960714057 meters Centerline goodness [0,1] 0.9883294284072323 Centerline is valid? [True, True] Translation: X:128.27, Y:-4.57, Z:1.51 [[ 9.97540064e-01 -6.46580001e-02 -2.70769790e-02 1.28273500e+02] [ 6.46949317e-02 9.97904969e-01 4.89228125e-04 -4.57201533e+00] [ 2.69886194e-02 -2.23976796e-03 9.99633232e-01 1.51040592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.990714057 meters Centerline goodness [0,1] 0.9875917897903211 Centerline is valid? [True, True] Translation: X:128.30, Y:-4.58, Z:1.51 [[ 9.97461778e-01 -6.56509133e-02 -2.75673501e-02 1.28304244e+02] [ 6.56896393e-02 9.97839978e-01 5.00541151e-04 -4.57602623e+00] [ 2.74749430e-02 -2.31015995e-03 9.99619823e-01 1.50966862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.020714057 meters Centerline goodness [0,1] 0.9879665193934415 Centerline is valid? [True, True] Translation: X:128.34, Y:-4.58, Z:1.51 [[ 9.97396521e-01 -6.64705000e-02 -2.79616270e-02 1.28335908e+02] [ 6.65107350e-02 9.97785579e-01 5.10320241e-04 -4.57500707e+00] [ 2.78657870e-02 -2.36874000e-03 9.99608867e-01 1.50989061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.050714057 meters Centerline goodness [0,1] 0.9867655549140649 Centerline is valid? [True, True] Translation: X:128.37, Y:-4.58, Z:1.51 [[ 9.97303491e-01 -6.76512410e-02 -2.84439287e-02 1.28366719e+02] [ 6.76933905e-02 9.97706036e-01 5.20432996e-04 -4.58189856e+00] [ 2.83434714e-02 -2.44449562e-03 9.99595254e-01 1.50896118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.080714057 meters Centerline goodness [0,1] 0.9874977832949104 Centerline is valid? [True, True] Translation: X:128.40, Y:-4.58, Z:1.51 [[ 9.97295545e-01 -6.76766150e-02 -2.86613315e-02 1.28399267e+02] [ 6.77194659e-02 9.97704263e-01 5.25946302e-04 -4.57698789e+00] [ 2.85599384e-02 -2.46545396e-03 9.99589041e-01 1.51018485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.110714057 meters Centerline goodness [0,1] 0.987518257867481 Centerline is valid? [True, True] Translation: X:128.43, Y:-4.58, Z:1.51 [[ 9.97277117e-01 -6.77575020e-02 -2.91079476e-02 1.28430490e+02] [ 6.78017873e-02 9.97698667e-01 5.35989352e-04 -4.58020983e+00] [ 2.90046432e-02 -2.50810079e-03 9.99576130e-01 1.51009319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.140714057 meters Centerline goodness [0,1] 0.9875277407900577 Centerline is valid? [True, True] Translation: X:128.46, Y:-4.58, Z:1.51 [[ 9.97296247e-01 -6.75773309e-02 -2.88703997e-02 1.28462706e+02] [ 6.76208722e-02 9.97710947e-01 5.33394504e-04 -4.57969435e+00] [ 2.87682684e-02 -2.48419394e-03 9.99583021e-01 1.51037969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.170714057 meters Centerline goodness [0,1] 0.986917634494727 Centerline is valid? [True, True] Translation: X:128.49, Y:-4.58, Z:1.51 [[ 9.97364050e-01 -6.61465829e-02 -2.98258358e-02 1.28493996e+02] [ 6.61924683e-02 9.97806721e-01 5.52652933e-04 -4.57839047e+00] [ 2.97238633e-02 -2.52544186e-03 9.99554958e-01 1.51060638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.200714057 meters Centerline goodness [0,1] 0.9881211421466317 Centerline is valid? [True, True] Translation: X:128.53, Y:-4.58, Z:1.51 [[ 9.97447525e-01 -6.51348430e-02 -2.92555499e-02 1.28525570e+02] [ 6.51785874e-02 9.97873467e-01 5.43112970e-04 -4.57566966e+00] [ 2.91579615e-02 -2.44856211e-03 9.99571817e-01 1.51143596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.230714057 meters Centerline goodness [0,1] 0.987061862557342 Centerline is valid? [True, True] Translation: X:128.56, Y:-4.57, Z:1.51 [[ 9.97649111e-01 -6.17562440e-02 -2.97054992e-02 1.28555739e+02] [ 6.17998760e-02 9.98088408e-01 5.52088606e-04 -4.57297689e+00] [ 2.96146195e-02 -2.38658688e-03 9.99558542e-01 1.51273768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.260714057 meters Centerline goodness [0,1] 0.9870801033591732 Centerline is valid? [True, True] Translation: X:128.59, Y:-4.57, Z:1.51 [[ 9.97697318e-01 -6.17433003e-02 -2.80682334e-02 1.28587812e+02] [ 6.17822762e-02 9.98089514e-01 5.22682476e-04 -4.57247499e+00] [ 2.79823372e-02 -2.25559825e-03 9.99605873e-01 1.51316621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29071405699997 meters Centerline goodness [0,1] 0.9874449045011353 Centerline is valid? [True, True] Translation: X:128.62, Y:-4.57, Z:1.51 [[ 9.97844606e-01 -5.98828753e-02 -2.68362497e-02 1.28619906e+02] [ 5.99178785e-02 9.98203184e-01 5.01375107e-04 -4.57001488e+00] [ 2.67580061e-02 -2.10826560e-03 9.99639717e-01 1.51450213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32071405699998 meters Centerline goodness [0,1] 0.987016174010039 Centerline is valid? [True, True] Translation: X:128.65, Y:-4.57, Z:1.52 [[ 9.97876456e-01 -5.94083833e-02 -2.67062121e-02 1.28651958e+02] [ 5.94429221e-02 9.98231581e-01 5.00563027e-04 -4.57050091e+00] [ 2.66292467e-02 -2.08699535e-03 9.99643200e-01 1.51500396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35071405699998 meters Centerline goodness [0,1] 0.987016174010039 Centerline is valid? [True, True] Translation: X:128.68, Y:-4.57, Z:1.52 [[ 9.97880666e-01 -5.93376429e-02 -2.67061766e-02 1.28683741e+02] [ 5.93722068e-02 9.98235788e-01 5.02452321e-04 -4.57116122e+00] [ 2.66292469e-02 -2.08699210e-03 9.99643200e-01 1.51547330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38071405699998 meters Centerline goodness [0,1] 0.9873119045499065 Centerline is valid? [True, True] Translation: X:128.71, Y:-4.57, Z:1.52 [[ 9.97958766e-01 -5.84405891e-02 -2.57487649e-02 1.28714949e+02] [ 5.84724622e-02 9.98288904e-01 4.86029071e-04 -4.57322234e+00] [ 2.56763024e-02 -1.99063065e-03 9.99668327e-01 1.51516510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41071405699998 meters Centerline goodness [0,1] 0.9864566366942591 Centerline is valid? [True, True] Translation: X:128.75, Y:-4.57, Z:1.52 [[ 9.97944115e-01 -5.85100414e-02 -2.61556481e-02 1.28747543e+02] [ 5.85429953e-02 9.98284765e-01 4.95295253e-04 -4.57302999e+00] [ 2.60818053e-02 -2.02550697e-03 9.99657760e-01 1.51539516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44071405699998 meters Centerline goodness [0,1] 0.9874518019925558 Centerline is valid? [True, True] Translation: X:128.78, Y:-4.57, Z:1.52 [[ 9.97881504e-01 -5.93051025e-02 -2.67471240e-02 1.28779963e+02] [ 5.93398986e-02 9.98237706e-01 5.08384132e-04 -4.57275222e+00] [ 2.66698379e-02 -2.09447875e-03 9.99642102e-01 1.51537932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47071405699998 meters Centerline goodness [0,1] 0.9871032408954227 Centerline is valid? [True, True] Translation: X:128.81, Y:-4.57, Z:1.52 [[ 9.97847755e-01 -5.95295928e-02 -2.74970084e-02 1.28811955e+02] [ 5.95665064e-02 9.98224201e-01 5.24582687e-04 -4.57270310e+00] [ 2.74169510e-02 -2.16135438e-03 9.99621748e-01 1.51579372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50071405699998 meters Centerline goodness [0,1] 0.9871703492516037 Centerline is valid? [True, True] Translation: X:128.84, Y:-4.57, Z:1.52 [[ 9.97770415e-01 -6.06601407e-02 -2.78306830e-02 1.28842773e+02] [ 6.06984345e-02 9.98156008e-01 5.32441451e-04 -4.57406392e+00] [ 2.77470655e-02 -2.22053322e-03 9.99612510e-01 1.51520021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53071405699998 meters Centerline goodness [0,1] 0.9862130507529281 Centerline is valid? [True, True] Translation: X:128.87, Y:-4.58, Z:1.51 [[ 9.97727631e-01 -6.12396133e-02 -2.80941880e-02 1.28874579e+02] [ 6.12789041e-02 9.98120537e-01 5.38907196e-04 -4.57648692e+00] [ 2.80083835e-02 -2.25926365e-03 9.99605135e-01 1.51471377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56071405699998 meters Centerline goodness [0,1] 0.9854305224992771 Centerline is valid? [True, True] Translation: X:128.90, Y:-4.58, Z:1.51 [[ 9.97641104e-01 -6.24481689e-02 -2.85035793e-02 1.28904715e+02] [ 6.24891518e-02 9.98045493e-01 5.48454741e-04 -4.57824714e+00] [ 2.84136188e-02 -2.32832549e-03 9.99593540e-01 1.51379994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59071405699999 meters Centerline goodness [0,1] 0.9830096003572226 Centerline is valid? [True, True] Translation: X:128.94, Y:-4.58, Z:1.51 [[ 9.97579822e-01 -6.30758243e-02 -2.92564528e-02 1.28935491e+02] [ 6.31193060e-02 9.98005829e-01 5.64172723e-04 -4.57956105e+00] [ 2.91625247e-02 -2.40945432e-03 9.99571779e-01 1.51401301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.620714057 meters Centerline goodness [0,1] 0.9782516750884848 Centerline is valid? [True, True] Translation: X:128.97, Y:-4.58, Z:1.51 [[ 9.97554947e-01 -6.34570426e-02 -2.92802296e-02 1.28966142e+02] [ 6.35007867e-02 9.97981628e-01 5.65613183e-04 -4.58068596e+00] [ 2.91852391e-02 -2.42354785e-03 9.99571082e-01 1.51424157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.650714057 meters Centerline goodness [0,1] 0.978644340974212 Centerline is valid? [True, True] Translation: X:129.00, Y:-4.58, Z:1.52 [[ 9.97576279e-01 -6.33204578e-02 -2.88459321e-02 1.28998197e+02] [ 6.33628973e-02 9.97990396e-01 5.58638630e-04 -4.58042253e+00] [ 2.87525900e-02 -2.38504648e-03 9.99583713e-01 1.51511585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.680714057 meters Centerline goodness [0,1] 0.9876785714285714 Centerline is valid? [True, True] Translation: X:129.03, Y:-4.57, Z:1.52 [[ 9.97665689e-01 -6.21584518e-02 -2.82754293e-02 1.29029483e+02] [ 6.21988051e-02 9.98063629e-01 5.49021222e-04 -4.56845890e+00] [ 2.81865513e-02 -2.30643756e-03 9.99600019e-01 1.51836319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.710714057 meters Centerline goodness [0,1] 0.9879817933137515 Centerline is valid? [True, True] Translation: X:129.06, Y:-4.57, Z:1.52 [[ 9.97691621e-01 -6.17710490e-02 -2.82093545e-02 1.29061714e+02] [ 6.18111016e-02 9.98087715e-01 5.49216779e-04 -4.56555938e+00] [ 2.81214845e-02 -2.29160026e-03 9.99601886e-01 1.51950881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.740714057 meters Centerline goodness [0,1] 0.9876382854839432 Centerline is valid? [True, True] Translation: X:129.09, Y:-4.56, Z:1.52 [[ 9.97744399e-01 -6.14109678e-02 -2.71073300e-02 1.29094100e+02] [ 6.14478700e-02 9.98110154e-01 5.29659553e-04 -4.56354946e+00] [ 2.70235744e-02 -2.19415254e-03 9.99632388e-01 1.52095339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.770714057 meters Centerline goodness [0,1] 0.9862866842363872 Centerline is valid? [True, True] Translation: X:129.13, Y:-4.57, Z:1.52 [[ 9.97762354e-01 -6.13839849e-02 -2.65007794e-02 1.29125558e+02] [ 6.14192879e-02 9.98111918e-01 5.19469335e-04 -4.56553858e+00] [ 2.64188567e-02 -2.14596595e-03 9.99648658e-01 1.52133839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.800714057 meters Centerline goodness [0,1] 0.9877800407331976 Centerline is valid? [True, True] Translation: X:129.16, Y:-4.56, Z:1.52 [[ 9.97705657e-01 -6.21136088e-02 -2.69317864e-02 1.29157420e+02] [ 6.21503732e-02 9.98066657e-01 5.29376043e-04 -4.56270380e+00] [ 2.68468365e-02 -2.20198205e-03 9.99637133e-01 1.52196927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.830714057 meters Centerline goodness [0,1] 0.9880404783808647 Centerline is valid? [True, True] Translation: X:129.19, Y:-4.56, Z:1.52 [[ 9.97667119e-01 -6.25999059e-02 -2.72318246e-02 1.29189525e+02] [ 6.26377205e-02 9.98036186e-01 5.36975808e-04 -4.56351577e+00] [ 2.71447317e-02 -2.24146253e-03 9.99629001e-01 1.52180944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.860714057 meters Centerline goodness [0,1] 0.9887252594535225 Centerline is valid? [True, True] Translation: X:129.22, Y:-4.57, Z:1.52 [[ 9.97639040e-01 -6.28594082e-02 -2.76593652e-02 1.29221489e+02] [ 6.28985742e-02 9.98019774e-01 5.47399925e-04 -4.56502876e+00] [ 2.75701842e-02 -2.28584217e-03 9.99617257e-01 1.52163346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.890714057 meters Centerline goodness [0,1] 0.988498045784478 Centerline is valid? [True, True] Translation: X:129.25, Y:-4.57, Z:1.52 [[ 9.97614752e-01 -6.29855187e-02 -2.82423780e-02 1.29254049e+02] [ 6.30264613e-02 9.98011699e-01 5.60966832e-04 -4.56588144e+00] [ 2.81508909e-02 -2.33964593e-03 9.99600947e-01 1.52187325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.920714057 meters Centerline goodness [0,1] 0.9877744567049463 Centerline is valid? [True, True] Translation: X:129.29, Y:-4.57, Z:1.52 [[ 9.97574350e-01 -6.36883590e-02 -2.80928557e-02 1.29286060e+02] [ 6.37292011e-02 9.97967071e-01 5.59974130e-04 -4.56692655e+00] [ 2.80000811e-02 -2.34895108e-03 9.99605161e-01 1.52185568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.950714057 meters Centerline goodness [0,1] 0.988796020346427 Centerline is valid? [True, True] Translation: X:129.32, Y:-4.56, Z:1.52 [[ 9.97589230e-01 -6.35591421e-02 -2.78561331e-02 1.29318592e+02] [ 6.35993031e-02 9.97975359e-01 5.57224140e-04 -4.56377292e+00] [ 2.77643177e-02 -2.32751145e-03 9.99611787e-01 1.52307555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.980714057 meters Centerline goodness [0,1] 0.9891021031817365 Centerline is valid? [True, True] Translation: X:129.35, Y:-4.56, Z:1.52 [[ 9.97626421e-01 -6.30520397e-02 -2.76760730e-02 1.29351012e+02] [ 6.30915437e-02 9.98007589e-01 5.55597162e-04 -4.56314394e+00] [ 2.75858994e-02 -2.30040458e-03 9.99616790e-01 1.52419574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.010714057 meters Centerline goodness [0,1] 0.9894308394611977 Centerline is valid? [True, True] Translation: X:129.38, Y:-4.56, Z:1.53 [[ 9.97714535e-01 -6.18953680e-02 -2.71047894e-02 1.29382691e+02] [ 6.19328733e-02 9.98080168e-01 5.45606213e-04 -4.55935959e+00] [ 2.70189823e-02 -2.22303674e-03 9.99632449e-01 1.52545225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04071405699997 meters Centerline goodness [0,1] 0.9888230389616243 Centerline is valid? [True, True] Translation: X:129.41, Y:-4.56, Z:1.53 [[ 9.97755624e-01 -6.12641724e-02 -2.70262236e-02 1.29414551e+02] [ 6.13012684e-02 9.98119160e-01 5.45435670e-04 -4.55896420e+00] [ 2.69419759e-02 -2.20095329e-03 9.99634576e-01 1.52585290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07071405699998 meters Centerline goodness [0,1] 0.9885868952295026 Centerline is valid? [True, True] Translation: X:129.45, Y:-4.56, Z:1.53 [[ 9.97813148e-01 -6.05112740e-02 -2.65952531e-02 1.29446758e+02] [ 6.05469803e-02 9.98165203e-01 5.38624041e-04 -4.55917394e+00] [ 2.65138634e-02 -2.14770841e-03 9.99646139e-01 1.52622180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10071405699998 meters Centerline goodness [0,1] 0.9879325122930482 Centerline is valid? [True, True] Translation: X:129.48, Y:-4.56, Z:1.53 [[ 9.97912829e-01 -5.93913091e-02 -2.53506938e-02 1.29478548e+02] [ 5.94234310e-02 9.98232734e-01 5.14987168e-04 -4.55815207e+00] [ 2.52753066e-02 -2.02033750e-03 9.99678487e-01 1.52713274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13071405699998 meters Centerline goodness [0,1] 0.9885225940290431 Centerline is valid? [True, True] Translation: X:129.51, Y:-4.56, Z:1.53 [[ 9.97960426e-01 -5.87345716e-02 -2.50047706e-02 1.29510874e+02] [ 5.87656550e-02 9.98271676e-01 5.09459388e-04 -4.55813349e+00] [ 2.49316313e-02 -1.97784203e-03 9.99687202e-01 1.52800698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16071405699998 meters Centerline goodness [0,1] 0.9882875970391768 Centerline is valid? [True, True] Translation: X:129.54, Y:-4.56, Z:1.53 [[ 9.98026192e-01 -5.75698803e-02 -2.50884098e-02 1.29542569e+02] [ 5.76008507e-02 9.98339561e-01 5.12932667e-04 -4.55738905e+00] [ 2.50172226e-02 -1.95703398e-03 9.99685105e-01 1.52878278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19071405699998 meters Centerline goodness [0,1] 0.9871543063551191 Centerline is valid? [True, True] Translation: X:129.57, Y:-4.56, Z:1.53 [[ 9.98041267e-01 -5.76932816e-02 -2.41891617e-02 1.29573500e+02] [ 5.77221427e-02 9.98332564e-01 4.96037722e-04 -4.55937040e+00] [ 2.41202098e-02 -1.89131636e-03 9.99707276e-01 1.52916752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22071405699998 meters Centerline goodness [0,1] 0.9869387019772102 Centerline is valid? [True, True] Translation: X:129.61, Y:-4.56, Z:1.53 [[ 9.98088555e-01 -5.69345808e-02 -2.40351779e-02 1.29606008e+02] [ 5.69628907e-02 9.98376174e-01 4.94290628e-04 -4.55839650e+00] [ 2.39680067e-02 -1.86245903e-03 9.99710991e-01 1.52980720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25071405699998 meters Centerline goodness [0,1] 0.987332071048598 Centerline is valid? [True, True] Translation: X:129.64, Y:-4.56, Z:1.53 [[ 9.98108488e-01 -5.65218465e-02 -2.41811312e-02 1.29637586e+02] [ 5.65504176e-02 9.98399620e-01 4.98807797e-04 -4.55979970e+00] [ 2.41142387e-02 -1.86531737e-03 9.99707469e-01 1.52951687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28071405699998 meters Centerline goodness [0,1] 0.9878591937781194 Centerline is valid? [True, True] Translation: X:129.67, Y:-4.56, Z:1.53 [[ 9.98128149e-01 -5.55452936e-02 -2.55913906e-02 1.29668834e+02] [ 5.55770116e-02 9.98454263e-01 5.29258897e-04 -4.56019953e+00] [ 2.55224352e-02 -1.95056122e-03 9.99672347e-01 1.52838890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31071405699998 meters Centerline goodness [0,1] 0.9877941076564234 Centerline is valid? [True, True] Translation: X:129.70, Y:-4.56, Z:1.53 [[ 9.98153110e-01 -5.48712637e-02 -2.60674597e-02 1.29701175e+02] [ 5.49039847e-02 9.98491492e-01 5.40641989e-04 -4.55944015e+00] [ 2.59984711e-02 -1.97085089e-03 9.99660040e-01 1.52849838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34071405699999 meters Centerline goodness [0,1] 0.9881993204983013 Centerline is valid? [True, True] Translation: X:129.73, Y:-4.55, Z:1.53 [[ 9.98271107e-01 -5.26164564e-02 -2.61974304e-02 1.29731754e+02] [ 5.26487590e-02 9.98612944e-01 5.44346986e-04 -4.55368426e+00] [ 2.61324515e-02 -1.92266807e-03 9.99656640e-01 1.52954477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.370714057 meters Centerline goodness [0,1] 0.98854400144898 Centerline is valid? [True, True] Translation: X:129.76, Y:-4.55, Z:1.53 [[ 9.98355359e-01 -5.11035793e-02 -2.59807839e-02 1.29762935e+02] [ 5.11348502e-02 9.98691612e-01 5.40238355e-04 -4.55075707e+00] [ 2.59191828e-02 -1.86787335e-03 9.99662296e-01 1.53048748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.400714057 meters Centerline goodness [0,1] 0.9880844713755992 Centerline is valid? [True, True] Translation: X:129.79, Y:-4.55, Z:1.53 [[ 9.98581262e-01 -4.73094974e-02 -2.44392035e-02 1.29793177e+02] [ 4.73360483e-02 9.98878891e-01 5.08714356e-04 -4.54832213e+00] [ 2.43877375e-02 -1.66484794e-03 9.99701189e-01 1.53153281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.430714057 meters Centerline goodness [0,1] 0.9882030613169097 Centerline is valid? [True, True] Translation: X:129.82, Y:-4.55, Z:1.53 [[ 9.98689095e-01 -4.53349912e-02 -2.37661406e-02 1.29824349e+02] [ 4.53595518e-02 9.98970603e-01 4.95082890e-04 -4.54696504e+00] [ 2.37192313e-02 -1.57245537e-03 9.99717423e-01 1.53263980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.460714057 meters Centerline goodness [0,1] 0.9894777335264301 Centerline is valid? [True, True] Translation: X:129.86, Y:-4.54, Z:1.54 [[ 9.98907378e-01 -4.11608822e-02 -2.21321365e-02 1.29855151e+02] [ 4.11811712e-02 9.99151589e-01 4.61539760e-04 -4.53938213e+00] [ 2.20943620e-02 -1.37246277e-03 9.99754948e-01 1.53520245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.490714057 meters Centerline goodness [0,1] 0.9900591446769791 Centerline is valid? [True, True] Translation: X:129.89, Y:-4.54, Z:1.54 [[ 9.99000461e-01 -3.90125319e-02 -2.18197225e-02 1.29886519e+02] [ 3.90317478e-02 9.99237867e-01 4.55316390e-04 -4.53566630e+00] [ 2.17853299e-02 -1.30652319e-03 9.99761818e-01 1.53636660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.520714057 meters Centerline goodness [0,1] 0.9903819980038109 Centerline is valid? [True, True] Translation: X:129.92, Y:-4.53, Z:1.54 [[ 9.99213382e-01 -3.36583928e-02 -2.09697305e-02 1.29915704e+02] [ 3.36749737e-02 9.99432741e-01 4.37989301e-04 -4.53418397e+00] [ 2.09430932e-02 -1.14379989e-03 9.99780015e-01 1.53701882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.550714057 meters Centerline goodness [0,1] 0.9908691395131726 Centerline is valid? [True, True] Translation: X:129.95, Y:-4.53, Z:1.54 [[ 9.99372989e-01 -2.90554702e-02 -2.02338588e-02 1.29946888e+02] [ 2.90699631e-02 9.99577290e-01 4.22450325e-04 -4.52994914e+00] [ 2.02130312e-02 -1.01038297e-03 9.99795185e-01 1.53780861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.580714057 meters Centerline goodness [0,1] 0.9903084500329105 Centerline is valid? [True, True] Translation: X:129.98, Y:-4.53, Z:1.54 [[ 9.99445759e-01 -2.66698250e-02 -1.99222389e-02 1.29977546e+02] [ 2.66834100e-02 9.99643848e-01 4.16341106e-04 -4.53310280e+00] [ 1.99040398e-02 -9.47703620e-04 9.99801446e-01 1.53757511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.610714057 meters Centerline goodness [0,1] 0.9907786885245902 Centerline is valid? [True, True] Translation: X:130.01, Y:-4.53, Z:1.54 [[ 9.99487787e-01 -2.50040944e-02 -1.99739625e-02 1.30009263e+02] [ 2.50174324e-02 9.99686928e-01 4.18133027e-04 -4.53006631e+00] [ 1.99572541e-02 -9.17616109e-04 9.99800413e-01 1.53822217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.640714057 meters Centerline goodness [0,1] 0.9903797930059728 Centerline is valid? [True, True] Translation: X:130.04, Y:-4.53, Z:1.54 [[ 9.99556911e-01 -2.18974771e-02 -2.01613842e-02 1.30038993e+02] [ 2.19104465e-02 9.99759848e-01 4.22583972e-04 -4.53029701e+00] [ 2.01472888e-02 -8.64141660e-04 9.99796649e-01 1.53730174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.670714057 meters Centerline goodness [0,1] 0.9911904275367255 Centerline is valid? [True, True] Translation: X:130.07, Y:-4.53, Z:1.54 [[ 9.99577405e-01 -2.03815570e-02 -2.07268952e-02 1.30068475e+02] [ 2.03949369e-02 9.99791907e-01 4.34334692e-04 -4.53140349e+00] [ 2.07137297e-02 -8.56874864e-04 9.99785080e-01 1.53689483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.700714057 meters Centerline goodness [0,1] 0.9917392986368705 Centerline is valid? [True, True] Translation: X:130.10, Y:-4.53, Z:1.54 [[ 9.99604520e-01 -1.90606500e-02 -2.06759554e-02 1.30098377e+02] [ 1.90736727e-02 9.99817987e-01 4.32810414e-04 -4.53203045e+00] [ 2.06639424e-02 -8.27005652e-04 9.99786136e-01 1.53609766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.730714057 meters Centerline goodness [0,1] 0.9916655280776062 Centerline is valid? [True, True] Translation: X:130.13, Y:-4.53, Z:1.54 [[ 9.99620299e-01 -1.88770660e-02 -2.00727229e-02 1.30126984e+02] [ 1.88892663e-02 9.99821494e-01 4.18359704e-04 -4.53137089e+00] [ 2.00612424e-02 -7.97359860e-04 9.99798435e-01 1.53670947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.760714057 meters Centerline goodness [0,1] 0.9900550483655393 Centerline is valid? [True, True] Translation: X:130.16, Y:-4.54, Z:1.54 [[ 9.99614497e-01 -1.89988142e-02 -2.02460715e-02 1.30155096e+02] [ 1.90111696e-02 9.99819184e-01 4.17947775e-04 -4.53739171e+00] [ 2.02344701e-02 -8.02688152e-04 9.99794940e-01 1.53660060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79071405699997 meters Centerline goodness [0,1] 0.9893048128342246 Centerline is valid? [True, True] Translation: X:130.18, Y:-4.54, Z:1.54 [[ 9.99606474e-01 -1.98001269e-02 -1.98709034e-02 1.30183426e+02] [ 1.98121476e-02 9.99803637e-01 4.08244445e-04 -4.53966963e+00] [ 1.98589182e-02 -8.01769063e-04 9.99802471e-01 1.53717568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82071405699998 meters Centerline goodness [0,1] 0.9887507937947927 Centerline is valid? [True, True] Translation: X:130.21, Y:-4.54, Z:1.54 [[ 9.99582016e-01 -2.15806154e-02 -1.92372266e-02 1.30211767e+02] [ 2.15921410e-02 9.99766786e-01 3.91597639e-04 -4.54485776e+00] [ 1.92242893e-02 -8.06806867e-04 9.99814871e-01 1.53726137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85071405699998 meters Centerline goodness [0,1] 0.9883025027203483 Centerline is valid? [True, True] Translation: X:130.24, Y:-4.55, Z:1.54 [[ 9.99561228e-01 -2.27002035e-02 -1.90276766e-02 1.30241800e+02] [ 2.27116617e-02 9.99741982e-01 3.86283949e-04 -4.54802580e+00] [ 1.90139984e-02 -8.18264613e-04 9.99818883e-01 1.53765155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88071405699998 meters Centerline goodness [0,1] 0.987032972006608 Centerline is valid? [True, True] Translation: X:130.27, Y:-4.55, Z:1.54 [[ 9.99526296e-01 -2.49419664e-02 -1.80300544e-02 1.30272288e+02] [ 2.49526143e-02 9.99688568e-01 3.65802558e-04 -4.55349712e+00] [ 1.80153154e-02 -8.15526269e-04 9.99837378e-01 1.53783874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91071405699998 meters Centerline goodness [0,1] 0.9893383434819023 Centerline is valid? [True, True] Translation: X:130.30, Y:-4.55, Z:1.54 [[ 9.99453357e-01 -2.78400304e-02 -1.78303176e-02 1.30303199e+02] [ 2.78509058e-02 9.99612023e-01 3.61865053e-04 -4.55034551e+00] [ 1.78133255e-02 -8.58257738e-04 9.99840962e-01 1.53825831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94071405699998 meters Centerline goodness [0,1] 0.9890487826952665 Centerline is valid? [True, True] Translation: X:130.33, Y:-4.55, Z:1.54 [[ 9.99413906e-01 -2.92408999e-02 -1.77992783e-02 1.30334749e+02] [ 2.92519718e-02 9.99572004e-01 3.61949787e-04 -4.55342814e+00] [ 1.77810765e-02 -8.82401636e-04 9.99841515e-01 1.53849260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97071405699998 meters Centerline goodness [0,1] 0.9888110943515163 Centerline is valid? [True, True] Translation: X:130.37, Y:-4.56, Z:1.54 [[ 9.99356693e-01 -3.09713015e-02 -1.80825666e-02 1.30367198e+02] [ 3.09830298e-02 9.99519843e-01 3.68743593e-04 -4.55645758e+00] [ 1.80624637e-02 -9.28759078e-04 9.99836429e-01 1.53870707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00071405699998 meters Centerline goodness [0,1] 0.9881478143307796 Centerline is valid? [True, True] Translation: X:130.40, Y:-4.56, Z:1.54 [[ 9.99216972e-01 -3.49269495e-02 -1.85889952e-02 1.30398101e+02] [ 3.49400477e-02 9.99389338e-01 3.80210954e-04 -4.55958760e+00] [ 1.85643640e-02 -1.02941362e-03 9.99827137e-01 1.53809952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03071405699998 meters Centerline goodness [0,1] 0.9883679232596709 Centerline is valid? [True, True] Translation: X:130.43, Y:-4.57, Z:1.54 [[ 9.99151480e-01 -3.65814416e-02 -1.89240295e-02 1.30429012e+02] [ 3.65953214e-02 9.99330092e-01 3.87556208e-04 -4.56621603e+00] [ 1.88971748e-02 -1.07975830e-03 9.99820849e-01 1.53797202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06071405699998 meters Centerline goodness [0,1] 0.987764082530702 Centerline is valid? [True, True] Translation: X:130.46, Y:-4.57, Z:1.54 [[ 9.99004351e-01 -4.01935743e-02 -1.93593022e-02 1.30460028e+02] [ 4.02087944e-02 9.99191220e-01 3.97433149e-04 -4.57134902e+00] [ 1.93276705e-02 -1.17545164e-03 9.99812512e-01 1.53768437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09071405699999 meters Centerline goodness [0,1] 0.9868918918918919 Centerline is valid? [True, True] Translation: X:130.49, Y:-4.58, Z:1.54 [[ 9.98928756e-01 -4.21093658e-02 -1.91870426e-02 1.30490514e+02] [ 4.21246818e-02 9.99112284e-01 3.94607281e-04 -4.57570949e+00] [ 1.91533933e-02 -1.20243262e-03 9.99815834e-01 1.53816198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.120714057 meters Centerline goodness [0,1] 0.9884085213032582 Centerline is valid? [True, True] Translation: X:130.52, Y:-4.57, Z:1.54 [[ 9.98831516e-01 -4.44830644e-02 -1.88907067e-02 1.30521384e+02] [ 4.44983489e-02 9.99009382e-01 3.89325852e-04 -4.57227648e+00] [ 1.88546748e-02 -1.22947619e-03 9.99821479e-01 1.53887338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.150714057 meters Centerline goodness [0,1] 0.9861426165075801 Centerline is valid? [True, True] Translation: X:130.55, Y:-4.58, Z:1.54 [[ 9.98774129e-01 -4.57111254e-02 -1.89929657e-02 1.30551743e+02] [ 4.57268048e-02 9.98953906e-01 3.91851778e-04 -4.58364124e+00] [ 1.89551852e-02 -1.25985905e-03 9.99819541e-01 1.53849395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.180714057 meters Centerline goodness [0,1] 0.9856056857541271 Centerline is valid? [True, True] Translation: X:130.58, Y:-4.59, Z:1.54 [[ 9.98721152e-01 -4.66265221e-02 -1.95455596e-02 1.30582673e+02] [ 4.66433172e-02 9.98911526e-01 4.04036465e-04 -4.58608701e+00] [ 1.95054460e-02 -1.31518950e-03 9.99808886e-01 1.53837082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.210714057 meters Centerline goodness [0,1] 0.9855479636788637 Centerline is valid? [True, True] Translation: X:130.61, Y:-4.59, Z:1.54 [[ 9.98687446e-01 -4.70307761e-02 -2.02852703e-02 1.30614024e+02] [ 4.70489709e-02 9.98892496e-01 4.20365421e-04 -4.58793856e+00] [ 2.02430341e-02 -1.37421476e-03 9.99794144e-01 1.53793688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.240714057 meters Centerline goodness [0,1] 0.9855479636788637 Centerline is valid? [True, True] Translation: X:130.65, Y:-4.59, Z:1.54 [[ 9.98690538e-01 -4.69650684e-02 -2.02852475e-02 1.30645779e+02] [ 4.69832718e-02 9.98895587e-01 4.21459772e-04 -4.58866550e+00] [ 2.02430504e-02 -1.37397519e-03 9.99794144e-01 1.53840592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.270714057 meters Centerline goodness [0,1] 0.9875748435600774 Centerline is valid? [True, True] Translation: X:130.68, Y:-4.58, Z:1.54 [[ 9.98687934e-01 -4.70449593e-02 -2.02282504e-02 1.30677734e+02] [ 4.70631042e-02 9.98891829e-01 4.21634448e-04 -4.57868576e+00] [ 2.01859982e-02 -1.37308549e-03 9.99795299e-01 1.53980556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.300714057 meters Centerline goodness [0,1] 0.987822720417764 Centerline is valid? [True, True] Translation: X:130.71, Y:-4.58, Z:1.54 [[ 9.98702361e-01 -4.70335753e-02 -1.95303909e-02 1.30709395e+02] [ 4.70505178e-02 9.98892428e-01 4.08650674e-04 -4.57987406e+00] [ 1.94895392e-02 -1.32703540e-03 9.99809180e-01 1.54041906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.330714057 meters Centerline goodness [0,1] 0.988328601685368 Centerline is valid? [True, True] Translation: X:130.74, Y:-4.58, Z:1.54 [[ 9.98717522e-01 -4.66968590e-02 -1.95630900e-02 1.30741725e+02] [ 4.67138339e-02 9.98908228e-01 4.11373366e-04 -4.57783880e+00] [ 1.95225217e-02 -1.32471272e-03 9.99808540e-01 1.54119646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.360714057 meters Centerline goodness [0,1] 0.9880104570449834 Centerline is valid? [True, True] Translation: X:130.77, Y:-4.58, Z:1.54 [[ 9.98740122e-01 -4.62944335e-02 -1.93647549e-02 1.30772553e+02] [ 4.63110158e-02 9.98926986e-01 4.08506984e-04 -4.57974587e+00] [ 1.93250646e-02 -1.30479378e-03 9.99812402e-01 1.54191712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.390714057 meters Centerline goodness [0,1] 0.9876156807998019 Centerline is valid? [True, True] Translation: X:130.80, Y:-4.58, Z:1.54 [[ 9.98780729e-01 -4.55356631e-02 -1.90672346e-02 1.30804014e+02] [ 4.55516212e-02 9.98961905e-01 4.03239718e-04 -4.58096850e+00] [ 1.90290792e-02 -1.27129151e-03 9.99818122e-01 1.54273539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.420714057 meters Centerline goodness [0,1] 0.9884350060868389 Centerline is valid? [True, True] Translation: X:130.84, Y:-4.58, Z:1.54 [[ 9.98830077e-01 -4.43778526e-02 -1.92115514e-02 1.30836043e+02] [ 4.43938608e-02 9.99014024e-01 4.07380381e-04 -4.57880749e+00] [ 1.91745306e-02 -1.25977872e-03 9.99815358e-01 1.54325461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.450714057 meters Centerline goodness [0,1] 0.9877682742434158 Centerline is valid? [True, True] Translation: X:130.87, Y:-4.58, Z:1.54 [[ 9.98891323e-01 -4.31249705e-02 -1.88775713e-02 1.30867117e+02] [ 4.31402339e-02 9.99068946e-01 4.01875848e-04 -4.58099440e+00] [ 1.88426644e-02 -1.21581314e-03 9.99821722e-01 1.54371648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.480714057 meters Centerline goodness [0,1] 0.9873152014445322 Centerline is valid? [True, True] Translation: X:130.90, Y:-4.58, Z:1.54 [[ 9.99029723e-01 -4.02684608e-02 -1.78343203e-02 1.30898240e+02] [ 4.02816650e-02 9.99188291e-01 3.81632628e-04 -4.57876489e+00] [ 1.78044762e-02 -1.09965845e-03 9.99840883e-01 1.54472486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.510714057 meters Centerline goodness [0,1] 0.9873858395876661 Centerline is valid? [True, True] Translation: X:130.93, Y:-4.58, Z:1.55 [[ 9.99091860e-01 -3.88426521e-02 -1.75129577e-02 1.30930251e+02] [ 3.88551732e-02 9.99244782e-01 3.75140172e-04 -4.57664470e+00] [ 1.74851602e-02 -1.05526850e-03 9.99846566e-01 1.54575449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54071405699997 meters Centerline goodness [0,1] 0.9874753697370507 Centerline is valid? [True, True] Translation: X:130.96, Y:-4.58, Z:1.55 [[ 9.99179100e-01 -3.65920248e-02 -1.73824365e-02 1.30960385e+02] [ 3.66040344e-02 9.99329778e-01 3.73139263e-04 -4.57525528e+00] [ 1.73571325e-02 -1.00910025e-03 9.99848844e-01 1.54734604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57071405699998 meters Centerline goodness [0,1] 0.9887248686832095 Centerline is valid? [True, True] Translation: X:130.99, Y:-4.56, Z:1.55 [[ 9.99197802e-01 -3.58443065e-02 -1.78588136e-02 1.30993265e+02] [ 3.58568740e-02 9.99356862e-01 3.83904234e-04 -4.56488574e+00] [ 1.78335671e-02 -1.02395749e-03 9.99840445e-01 1.54850709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60071405699998 meters Centerline goodness [0,1] 0.9881052178444389 Centerline is valid? [True, True] Translation: X:131.02, Y:-4.57, Z:1.55 [[ 9.99214369e-01 -3.52494630e-02 -1.81141075e-02 1.31024990e+02] [ 3.52623238e-02 9.99378014e-01 3.90983516e-04 -4.56503477e+00] [ 1.80890588e-02 -1.02942187e-03 9.99835850e-01 1.54907827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63071405699998 meters Centerline goodness [0,1] 0.9885665025748055 Centerline is valid? [True, True] Translation: X:131.06, Y:-4.56, Z:1.55 [[ 9.99227779e-01 -3.50352685e-02 -1.77869541e-02 1.31057320e+02] [ 3.50476574e-02 9.99385568e-01 3.85176773e-04 -4.56481446e+00] [ 1.77625304e-02 -1.00827040e-03 9.99841725e-01 1.54951380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66071405699998 meters Centerline goodness [0,1] 0.9878216859847715 Centerline is valid? [True, True] Translation: X:131.09, Y:-4.57, Z:1.55 [[ 9.99227639e-01 -3.51551729e-02 -1.75567384e-02 1.31089892e+02] [ 3.51672832e-02 9.99381367e-01 3.81423069e-04 -4.56589632e+00] [ 1.75324682e-02 -9.98551262e-04 9.99845796e-01 1.55032624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69071405699998 meters Centerline goodness [0,1] 0.9882187684081744 Centerline is valid? [True, True] Translation: X:131.12, Y:-4.57, Z:1.55 [[ 9.99210196e-01 -3.58307113e-02 -1.71797647e-02 1.31121901e+02] [ 3.58424269e-02 9.99357384e-01 3.74421563e-04 -4.56670778e+00] [ 1.71553089e-02 -9.89890304e-04 9.99852347e-01 1.55158287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72071405699998 meters Centerline goodness [0,1] 0.9881667535647088 Centerline is valid? [True, True] Translation: X:131.15, Y:-4.56, Z:1.55 [[ 9.99183012e-01 -3.65026315e-02 -1.73454784e-02 1.31153943e+02] [ 3.65146963e-02 9.99333044e-01 3.79261634e-04 -4.56474117e+00] [ 1.73200657e-02 -1.01231666e-03 9.99849484e-01 1.55176008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75071405699998 meters Centerline goodness [0,1] 0.9889206090266449 Centerline is valid? [True, True] Translation: X:131.19, Y:-4.57, Z:1.55 [[ 9.99180911e-01 -3.63636699e-02 -1.77535978e-02 1.31185175e+02] [ 3.63763104e-02 9.99338087e-01 3.89480160e-04 -4.56736290e+00] [ 1.77276835e-02 -1.03497153e-03 9.99842317e-01 1.55197337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78071405699998 meters Centerline goodness [0,1] 0.9879342861687382 Centerline is valid? [True, True] Translation: X:131.22, Y:-4.57, Z:1.55 [[ 9.99172485e-01 -3.63069160e-02 -1.83344646e-02 1.31215956e+02] [ 3.63204112e-02 9.99340115e-01 4.03499190e-04 -4.56775247e+00] [ 1.83077162e-02 -1.06908058e-03 9.99831828e-01 1.55205098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81071405699998 meters Centerline goodness [0,1] 0.9887520693017665 Centerline is valid? [True, True] Translation: X:131.25, Y:-4.57, Z:1.55 [[ 9.99195438e-01 -3.55478707e-02 -1.85694879e-02 1.31247850e+02] [ 3.55616034e-02 9.99367402e-01 4.09741395e-04 -4.56521648e+00] [ 1.85431754e-02 -1.06977250e-03 9.99827488e-01 1.55231257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84071405699999 meters Centerline goodness [0,1] 0.990017429884329 Centerline is valid? [True, True] Translation: X:131.28, Y:-4.56, Z:1.55 [[ 9.99221411e-01 -3.47337741e-02 -1.87119648e-02 1.31280118e+02] [ 3.47476014e-02 9.99396034e-01 4.14234582e-04 -4.56472470e+00] [ 1.86862755e-02 -1.06410796e-03 9.99824830e-01 1.55299487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.870714057 meters Centerline goodness [0,1] 0.989334297464636 Centerline is valid? [True, True] Translation: X:131.31, Y:-4.56, Z:1.55 [[ 9.99283587e-01 -3.28464124e-02 -1.87996144e-02 1.31311183e+02] [ 3.28600593e-02 9.99459875e-01 4.17385872e-04 -4.56324659e+00] [ 1.87757506e-02 -1.03484329e-03 9.99823185e-01 1.55355184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.900714057 meters Centerline goodness [0,1] 0.9880204197390811 Centerline is valid? [True, True] Translation: X:131.34, Y:-4.56, Z:1.55 [[ 9.99359785e-01 -3.04259830e-02 -1.88223029e-02 1.31342171e+02] [ 3.04392475e-02 9.99536531e-01 4.18566258e-04 -4.56420703e+00] [ 1.88008441e-02 -9.91235024e-04 9.99822757e-01 1.55338555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.930714057 meters Centerline goodness [0,1] 0.989491125334786 Centerline is valid? [True, True] Translation: X:131.37, Y:-4.56, Z:1.55 [[ 9.99399896e-01 -2.89257041e-02 -1.90565398e-02 1.31374123e+02] [ 2.89390433e-02 9.99581088e-01 4.24533849e-04 -4.56407701e+00] [ 1.90362768e-02 -9.75757115e-04 9.99818318e-01 1.55397454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.960714057 meters Centerline goodness [0,1] 0.9895823876532002 Centerline is valid? [True, True] Translation: X:131.41, Y:-4.56, Z:1.55 [[ 9.99442644e-01 -2.74645217e-02 -1.89763427e-02 1.31405666e+02] [ 2.74775037e-02 9.99622332e-01 4.23670975e-04 -4.56173062e+00] [ 1.89575400e-02 -9.44857366e-04 9.99819843e-01 1.55432516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.990714057 meters Centerline goodness [0,1] 0.9898265055863384 Centerline is valid? [True, True] Translation: X:131.44, Y:-4.56, Z:1.56 [[ 9.99516512e-01 -2.43989621e-02 -1.92726054e-02 1.31437309e+02] [ 2.44117992e-02 9.99701895e-01 4.31063606e-04 -4.55998926e+00] [ 1.92563427e-02 -9.01334166e-04 9.99814173e-01 1.55503893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.020714057 meters Centerline goodness [0,1] 0.990508197465825 Centerline is valid? [True, True] Translation: X:131.47, Y:-4.56, Z:1.56 [[ 9.99549472e-01 -2.28935088e-02 -1.94097770e-02 1.31467697e+02] [ 2.29062683e-02 9.99737522e-01 4.35275723e-04 -4.56145350e+00] [ 1.93947174e-02 -8.79685179e-04 9.99811518e-01 1.55530671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.050714057 meters Centerline goodness [0,1] 0.9911727903537709 Centerline is valid? [True, True] Translation: X:131.50, Y:-4.56, Z:1.56 [[ 9.99610277e-01 -2.02201543e-02 -1.92468067e-02 1.31498910e+02] [ 2.02322282e-02 9.99795214e-01 4.32785546e-04 -4.55806921e+00] [ 1.92341143e-02 -8.22022665e-04 9.99814669e-01 1.55652675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.080714057 meters Centerline goodness [0,1] 0.9906815399265406 Centerline is valid? [True, True] Translation: X:131.53, Y:-4.56, Z:1.56 [[ 9.99635237e-01 -1.91984199e-02 -1.89950840e-02 1.31527964e+02] [ 1.92099994e-02 9.99815380e-01 4.27314190e-04 -4.56100145e+00] [ 1.89833733e-02 -7.92053873e-04 9.99819486e-01 1.55695542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.110714057 meters Centerline goodness [0,1] 0.990670923623848 Centerline is valid? [True, True] Translation: X:131.56, Y:-4.56, Z:1.56 [[ 9.99641264e-01 -1.82863673e-02 -1.95691495e-02 1.31557574e+02] [ 1.82984743e-02 9.99832472e-01 4.39782584e-04 -4.56260828e+00] [ 1.95578291e-02 -7.97710397e-04 9.99808409e-01 1.55646851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.140714057 meters Centerline goodness [0,1] 0.9914833054714679 Centerline is valid? [True, True] Translation: X:131.59, Y:-4.57, Z:1.56 [[ 9.99640969e-01 -1.81142838e-02 -1.97434879e-02 1.31587619e+02] [ 1.81265601e-02 9.99835602e-01 4.42993892e-04 -4.56511939e+00] [ 1.97322176e-02 -8.00716364e-04 9.99804980e-01 1.55605217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.170714057 meters Centerline goodness [0,1] 0.9911630752498131 Centerline is valid? [True, True] Translation: X:131.62, Y:-4.57, Z:1.56 [[ 9.99616483e-01 -1.84397935e-02 -2.06605900e-02 1.31615852e+02] [ 1.84532650e-02 9.99829617e-01 4.61563756e-04 -4.56730202e+00] [ 2.06485587e-02 -8.42642081e-04 9.99786441e-01 1.55578445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.200714057 meters Centerline goodness [0,1] 0.9916830519583248 Centerline is valid? [True, True] Translation: X:131.64, Y:-4.57, Z:1.55 [[ 9.99574125e-01 -1.97045337e-02 -2.15244064e-02 1.31644520e+02] [ 1.97193300e-02 9.99805442e-01 4.75366543e-04 -4.57168850e+00] [ 2.15108518e-02 -8.99610968e-04 9.99768210e-01 1.55499291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.230714057 meters Centerline goodness [0,1] 0.9913996016657614 Centerline is valid? [True, True] Translation: X:131.67, Y:-4.58, Z:1.55 [[ 9.99516850e-01 -2.12538387e-02 -2.26790714e-02 1.31673575e+02] [ 2.12705664e-02 9.99773633e-01 4.96579730e-04 -4.57719323e+00] [ 2.26633834e-02 -9.78736502e-04 9.99742673e-01 1.55426003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.260714057 meters Centerline goodness [0,1] 0.9920213367086319 Centerline is valid? [True, True] Translation: X:131.70, Y:-4.58, Z:1.55 [[ 9.99486044e-01 -2.22258847e-02 -2.31010289e-02 1.31702676e+02] [ 2.22434713e-02 9.99752456e-01 5.04580024e-04 -4.57976398e+00] [ 2.30840957e-02 -1.01816777e-03 9.99733008e-01 1.55452522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29071405699997 meters Centerline goodness [0,1] 0.9914452745863711 Centerline is valid? [True, True] Translation: X:131.73, Y:-4.58, Z:1.55 [[ 9.99456113e-01 -2.27383104e-02 -2.38840289e-02 1.31731509e+02] [ 2.27572215e-02 9.99740886e-01 5.20246120e-04 -4.58293322e+00] [ 2.38660107e-02 -1.06349730e-03 9.99714601e-01 1.55473275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32071405699998 meters Centerline goodness [0,1] 0.9916053383746315 Centerline is valid? [True, True] Translation: X:131.76, Y:-4.59, Z:1.55 [[ 9.99425139e-01 -2.41800778e-02 -2.37637614e-02 1.31760410e+02] [ 2.41991287e-02 9.99707026e-01 5.14392887e-04 -4.58713361e+00] [ 2.37443612e-02 -1.08915950e-03 9.99717470e-01 1.55498647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35071405699998 meters Centerline goodness [0,1] 0.9920756072374624 Centerline is valid? [True, True] Translation: X:131.79, Y:-4.59, Z:1.55 [[ 9.99408135e-01 -2.48790706e-02 -2.37573298e-02 1.31789006e+02] [ 2.48981685e-02 9.99689863e-01 5.08368745e-04 -4.58964704e+00] [ 2.37373140e-02 -1.09958186e-03 9.99717626e-01 1.55486000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38071405699998 meters Centerline goodness [0,1] 0.9921924219242192 Centerline is valid? [True, True] Translation: X:131.82, Y:-4.59, Z:1.56 [[ 9.99351366e-01 -2.64316482e-02 -2.44584571e-02 1.31818036e+02] [ 2.64522492e-02 9.99649943e-01 5.19073869e-04 -4.59418395e+00] [ 2.44361753e-02 -1.16571838e-03 9.99700712e-01 1.55506244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41071405699998 meters Centerline goodness [0,1] 0.9916956570530805 Centerline is valid? [True, True] Translation: X:131.85, Y:-4.60, Z:1.56 [[ 9.99301119e-01 -2.81465077e-02 -2.45976971e-02 1.31847091e+02] [ 2.81678295e-02 9.99603072e-01 5.20699872e-04 -4.59730315e+00] [ 2.45732777e-02 -1.21319970e-03 9.99697295e-01 1.55579722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44071405699998 meters Centerline goodness [0,1] 0.9921517624899094 Centerline is valid? [True, True] Translation: X:131.88, Y:-4.60, Z:1.56 [[ 9.99280551e-01 -2.88580308e-02 -2.46088128e-02 1.31876087e+02] [ 2.88795782e-02 9.99582762e-01 5.20570997e-04 -4.60165067e+00] [ 2.45835225e-02 -1.23088861e-03 9.99697022e-01 1.55565495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47071405699998 meters Centerline goodness [0,1] 0.9904874882492501 Centerline is valid? [True, True] Translation: X:131.91, Y:-4.61, Z:1.55 [[ 9.99220757e-01 -3.04650508e-02 -2.50950259e-02 1.31905060e+02] [ 3.04879856e-02 9.99534992e-01 5.31724584e-04 -4.61146388e+00] [ 2.50671575e-02 -1.29640703e-03 9.99684929e-01 1.55488561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50071405699998 meters Centerline goodness [0,1] 0.9906026420257026 Centerline is valid? [True, True] Translation: X:131.94, Y:-4.61, Z:1.56 [[ 9.99195257e-01 -3.11238844e-02 -2.53010410e-02 1.31935038e+02] [ 3.11474058e-02 9.99514658e-01 5.36005298e-04 -4.61403946e+00] [ 2.52720788e-02 -1.32363574e-03 9.99679734e-01 1.55519201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53071405699998 meters Centerline goodness [0,1] 0.9910153543571062 Centerline is valid? [True, True] Translation: X:131.96, Y:-4.61, Z:1.56 [[ 9.99181660e-01 -3.19334066e-02 -2.48247301e-02 1.31964484e+02] [ 3.19562783e-02 9.99489130e-01 5.25058268e-04 -4.61480785e+00] [ 2.47952809e-02 -1.31793457e-03 9.99691681e-01 1.55681595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56071405699998 meters Centerline goodness [0,1] 0.9904171237937442 Centerline is valid? [True, True] Translation: X:131.99, Y:-4.63, Z:1.56 [[ 9.99187585e-01 -3.19839459e-02 -2.45193062e-02 1.31993392e+02] [ 3.20062562e-02 9.99487534e-01 5.17904201e-04 -4.62626929e+00] [ 2.44901763e-02 -1.30225465e-03 9.99699222e-01 1.55549576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59071405699999 meters Centerline goodness [0,1] 0.9914953458782562 Centerline is valid? [True, True] Translation: X:132.02, Y:-4.62, Z:1.56 [[ 9.99184162e-01 -3.19979833e-02 -2.46402134e-02 1.32023674e+02] [ 3.20205120e-02 9.99487077e-01 5.20195410e-04 -4.62074453e+00] [ 2.46109296e-02 -1.30876326e-03 9.99696249e-01 1.55739350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.620714057 meters Centerline goodness [0,1] 0.990670892291211 Centerline is valid? [True, True] Translation: X:132.05, Y:-4.63, Z:1.56 [[ 9.99184850e-01 -3.13802044e-02 -2.53952403e-02 1.32052806e+02] [ 3.14039318e-02 9.99506631e-01 5.35947638e-04 -4.62634518e+00] [ 2.53658929e-02 -1.33302116e-03 9.99677345e-01 1.55589891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.650714057 meters Centerline goodness [0,1] 0.9912220118079537 Centerline is valid? [True, True] Translation: X:132.08, Y:-4.63, Z:1.56 [[ 9.99200791e-01 -3.04807885e-02 -2.58592326e-02 1.32081668e+02] [ 3.05050691e-02 9.99534464e-01 5.44895430e-04 -4.63137568e+00] [ 2.58305854e-02 -1.33329762e-03 9.99665446e-01 1.55554549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.680714057 meters Centerline goodness [0,1] 0.991648292911071 Centerline is valid? [True, True] Translation: X:132.11, Y:-4.63, Z:1.56 [[ 9.99222409e-01 -2.99351167e-02 -2.56605905e-02 1.32109942e+02] [ 2.99587581e-02 9.99550991e-01 5.37276326e-04 -4.63283098e+00] [ 2.56329852e-02 -1.30561797e-03 9.99670568e-01 1.55605071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.710714057 meters Centerline goodness [0,1] 0.9908616769937146 Centerline is valid? [True, True] Translation: X:132.14, Y:-4.64, Z:1.56 [[ 9.99241477e-01 -2.94109412e-02 -2.55238544e-02 1.32138898e+02] [ 2.94340546e-02 9.99566584e-01 5.30255564e-04 -4.63623018e+00] [ 2.54971967e-02 -1.28112388e-03 9.99674073e-01 1.55596898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.740714057 meters Centerline goodness [0,1] 0.9908715351812367 Centerline is valid? [True, True] Translation: X:132.17, Y:-4.64, Z:1.56 [[ 9.99269804e-01 -2.83767903e-02 -2.55854730e-02 1.32167264e+02] [ 2.83995905e-02 9.99596511e-01 5.28138657e-04 -4.63955117e+00] [ 2.55601627e-02 -1.25436997e-03 9.99672499e-01 1.55634777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.770714057 meters Centerline goodness [0,1] 0.9903225090449027 Centerline is valid? [True, True] Translation: X:132.20, Y:-4.64, Z:1.56 [[ 9.99271819e-01 -2.82230493e-02 -2.56766770e-02 1.32196008e+02] [ 2.82458016e-02 9.99600871e-01 5.23777781e-04 -4.64197684e+00] [ 2.56516461e-02 -1.24865470e-03 9.99670163e-01 1.55608745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.800714057 meters Centerline goodness [0,1] 0.9901394687749845 Centerline is valid? [True, True] Translation: X:132.23, Y:-4.64, Z:1.56 [[ 9.99243131e-01 -2.86923659e-02 -2.62661873e-02 1.32225171e+02] [ 2.87161650e-02 9.99587466e-01 5.29247295e-04 -4.64305459e+00] [ 2.62401663e-02 -1.28311089e-03 9.99654844e-01 1.55666333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.830714057 meters Centerline goodness [0,1] 0.9896628216503993 Centerline is valid? [True, True] Translation: X:132.25, Y:-4.65, Z:1.56 [[ 9.99203068e-01 -2.99966041e-02 -2.63331039e-02 1.32252382e+02] [ 3.00208457e-02 9.99549135e-01 5.25630084e-04 -4.64941973e+00] [ 2.63054641e-02 -1.31575324e-03 9.99653086e-01 1.55673585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.860714057 meters Centerline goodness [0,1] 0.9894892248027852 Centerline is valid? [True, True] Translation: X:132.28, Y:-4.65, Z:1.56 [[ 9.99192123e-01 -3.05826896e-02 -2.60729780e-02 1.32280986e+02] [ 3.06065398e-02 9.99531377e-01 5.16074564e-04 -4.65254827e+00] [ 2.60449766e-02 -1.31366128e-03 9.99659909e-01 1.55709695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.890714057 meters Centerline goodness [0,1] 0.9889252398426102 Centerline is valid? [True, True] Translation: X:132.31, Y:-4.66, Z:1.56 [[ 9.99170800e-01 -3.14960050e-02 -2.58014221e-02 1.32308596e+02] [ 3.15195462e-02 9.99503008e-01 5.06114657e-04 -4.65718592e+00] [ 2.57726584e-02 -1.31894410e-03 9.99666960e-01 1.55718279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.920714057 meters Centerline goodness [0,1] 0.988332780908187 Centerline is valid? [True, True] Translation: X:132.34, Y:-4.66, Z:1.56 [[ 9.99107938e-01 -3.36360032e-02 -2.55332685e-02 1.32337952e+02] [ 3.36597120e-02 9.99433227e-01 4.99201355e-04 -4.66281018e+00] [ 2.55020058e-02 -1.35819850e-03 9.99673848e-01 1.55730434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.950714057 meters Centerline goodness [0,1] 0.9879170065927282 Centerline is valid? [True, True] Translation: X:132.37, Y:-4.67, Z:1.56 [[ 9.99042372e-01 -3.55698914e-02 -2.54778511e-02 1.32366609e+02] [ 3.55940971e-02 9.99366206e-01 4.97052047e-04 -4.66908038e+00] [ 2.54440233e-02 -1.40343716e-03 9.99675263e-01 1.55741350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.980714057 meters Centerline goodness [0,1] 0.9873412157707353 Centerline is valid? [True, True] Translation: X:132.40, Y:-4.67, Z:1.56 [[ 9.99017475e-01 -3.66041831e-02 -2.49843592e-02 1.32396478e+02] [ 3.66277548e-02 9.99328860e-01 4.86325340e-04 -4.67241590e+00] [ 2.49497897e-02 -1.40096850e-03 9.99687724e-01 1.55758620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.010714057 meters Centerline goodness [0,1] 0.9874947711411022 Centerline is valid? [True, True] Translation: X:132.43, Y:-4.67, Z:1.56 [[ 9.98982672e-01 -3.78688022e-02 -2.44862365e-02 1.32425818e+02] [ 3.78918013e-02 9.99281735e-01 4.75799363e-04 -4.67482999e+00] [ 2.44506310e-02 -1.40314293e-03 9.99700054e-01 1.55842176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04071405699997 meters Centerline goodness [0,1] 0.9870392782484322 Centerline is valid? [True, True] Translation: X:132.45, Y:-4.68, Z:1.56 [[ 9.98942683e-01 -3.95016284e-02 -2.35188819e-02 1.32454933e+02] [ 3.95232816e-02 9.99218546e-01 4.56365178e-04 -4.68085313e+00] [ 2.34824758e-02 -1.38542605e-03 9.99723289e-01 1.55902795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07071405699998 meters Centerline goodness [0,1] 0.9865043371053674 Centerline is valid? [True, True] Translation: X:132.49, Y:-4.68, Z:1.56 [[ 9.98908934e-01 -4.04717997e-02 -2.33018035e-02 1.32485832e+02] [ 4.04933154e-02 9.99179707e-01 4.52049840e-04 -4.68037881e+00] [ 2.32643940e-02 -1.39512390e-03 9.99728374e-01 1.55996970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10071405699998 meters Centerline goodness [0,1] 0.9860345622625766 Centerline is valid? [True, True] Translation: X:132.52, Y:-4.68, Z:1.56 [[ 9.98851315e-01 -4.19493245e-02 -2.31582588e-02 1.32516569e+02] [ 4.19709807e-02 9.99118729e-01 4.49664267e-04 -4.68131520e+00] [ 2.31189870e-02 -1.42112258e-03 9.99731710e-01 1.56094857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13071405699998 meters Centerline goodness [0,1] 0.9844233342840218 Centerline is valid? [True, True] Translation: X:132.55, Y:-4.69, Z:1.56 [[ 9.98805359e-01 -4.30181602e-02 -2.31795801e-02 1.32547096e+02] [ 4.30401523e-02 9.99073242e-01 4.50483332e-04 -4.68986154e+00] [ 2.31387193e-02 -1.44759782e-03 9.99731216e-01 1.56039861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16071405699998 meters Centerline goodness [0,1] 0.9844233342840218 Centerline is valid? [True, True] Translation: X:132.58, Y:-4.69, Z:1.56 [[ 9.98805359e-01 -4.30181564e-02 -2.31795751e-02 1.32577146e+02] [ 4.30401545e-02 9.99073242e-01 4.50739804e-04 -4.69044600e+00] [ 2.31387033e-02 -1.44785383e-03 9.99731216e-01 1.56084260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19071405699998 meters Centerline goodness [0,1] 0.9851448324144569 Centerline is valid? [True, True] Translation: X:132.61, Y:-4.69, Z:1.56 [[ 9.98740291e-01 -4.44594028e-02 -2.32635282e-02 1.32608622e+02] [ 4.44819567e-02 9.99010085e-01 4.52667864e-04 -4.68737570e+00] [ 2.32203739e-02 -1.48690489e-03 9.99729265e-01 1.56222945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22071405699998 meters Centerline goodness [0,1] 0.9856097774662695 Centerline is valid? [True, True] Translation: X:132.64, Y:-4.68, Z:1.56 [[ 9.98720866e-01 -4.50191790e-02 -2.30196629e-02 1.32640460e+02] [ 4.50414326e-02 9.98985019e-01 4.48885621e-04 -4.68342282e+00] [ 2.29760900e-02 -1.48515003e-03 9.99734912e-01 1.56305558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25071405699998 meters Centerline goodness [0,1] 0.9854065779959243 Centerline is valid? [True, True] Translation: X:132.67, Y:-4.69, Z:1.56 [[ 9.98719918e-01 -4.51266739e-02 -2.28496904e-02 1.32671603e+02] [ 4.51486565e-02 9.98980180e-01 4.46820233e-04 -4.68586751e+00] [ 2.28062243e-02 -1.47788109e-03 9.99738812e-01 1.56336237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28071405699998 meters Centerline goodness [0,1] 0.9861159775753329 Centerline is valid? [True, True] Translation: X:132.70, Y:-4.69, Z:1.56 [[ 9.98768841e-01 -4.41080053e-02 -2.26998997e-02 1.32703319e+02] [ 4.41294632e-02 9.99025722e-01 4.44979248e-04 -4.68541571e+00] [ 2.26581565e-02 -1.44616579e-03 9.99742225e-01 1.56409409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31071405699998 meters Centerline goodness [0,1] 0.9861470343255447 Centerline is valid? [True, True] Translation: X:132.73, Y:-4.68, Z:1.56 [[ 9.98841836e-01 -4.24636350e-02 -2.26235831e-02 1.32734646e+02] [ 4.24845471e-02 9.99097025e-01 4.44299101e-04 -4.68468099e+00] [ 2.25842880e-02 -1.40493721e-03 9.99743955e-01 1.56498916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34071405699999 meters Centerline goodness [0,1] 0.9860442627634558 Centerline is valid? [True, True] Translation: X:132.76, Y:-4.68, Z:1.57 [[ 9.99012267e-01 -3.80930571e-02 -2.28781212e-02 1.32764659e+02] [ 3.81133106e-02 9.99273323e-01 4.49735499e-04 -4.68291180e+00] [ 2.28443644e-02 -1.32125222e-03 9.99738160e-01 1.56602040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.370714057 meters Centerline goodness [0,1] 0.9861028651845988 Centerline is valid? [True, True] Translation: X:132.80, Y:-4.68, Z:1.57 [[ 9.99091826e-01 -3.58842147e-02 -2.29748863e-02 1.32795130e+02] [ 3.59040535e-02 9.99355140e-01 4.51448809e-04 -4.68187876e+00] [ 2.29438708e-02 -1.27593036e-03 9.99735941e-01 1.56633004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.400714057 meters Centerline goodness [0,1] 0.9866356002989405 Centerline is valid? [True, True] Translation: X:132.83, Y:-4.68, Z:1.57 [[ 9.99229424e-01 -3.20694442e-02 -2.26298378e-02 1.32825423e+02] [ 3.20877159e-02 9.99484958e-01 4.44668722e-04 -4.68099808e+00] [ 2.26039222e-02 -1.17046588e-03 9.99743814e-01 1.56629797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.430714057 meters Centerline goodness [0,1] 0.9862826994943944 Centerline is valid? [True, True] Translation: X:132.85, Y:-4.68, Z:1.57 [[ 9.99283368e-01 -3.04905806e-02 -2.24293138e-02 1.32854779e+02] [ 3.05081272e-02 9.99534422e-01 4.40462587e-04 -4.68070694e+00] [ 2.24054412e-02 -1.12442330e-03 9.99748334e-01 1.56678542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.460714057 meters Centerline goodness [0,1] 0.9875167578734533 Centerline is valid? [True, True] Translation: X:132.88, Y:-4.68, Z:1.57 [[ 9.99356607e-01 -2.85014665e-02 -2.17724254e-02 1.32883125e+02] [ 2.85175108e-02 9.99593202e-01 4.26715087e-04 -4.68058621e+00] [ 2.17514064e-02 -1.04733592e-03 9.99762862e-01 1.56752279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.490714057 meters Centerline goodness [0,1] 0.9873437191008767 Centerline is valid? [True, True] Translation: X:132.91, Y:-4.68, Z:1.57 [[ 9.99377844e-01 -2.76918611e-02 -2.18422938e-02 1.32913105e+02] [ 2.77077942e-02 9.99615974e-01 4.27102498e-04 -4.68078203e+00] [ 2.18220786e-02 -1.03203856e-03 9.99761337e-01 1.56776860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.520714057 meters Centerline goodness [0,1] 0.9866663742625935 Centerline is valid? [True, True] Translation: X:132.94, Y:-4.68, Z:1.57 [[ 9.99349129e-01 -2.78618145e-02 -2.29136992e-02 1.32941899e+02] [ 2.78793376e-02 9.99611196e-01 4.45584627e-04 -4.68130276e+00] [ 2.28923755e-02 -1.08411337e-03 9.99737347e-01 1.56767964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.550714057 meters Centerline goodness [0,1] 0.9876556720435992 Centerline is valid? [True, True] Translation: X:132.97, Y:-4.68, Z:1.57 [[ 9.99330706e-01 -2.82844769e-02 -2.31976113e-02 1.32970217e+02] [ 2.83024514e-02 9.99599306e-01 4.46825290e-04 -4.68143563e+00] [ 2.31756780e-02 -1.10307550e-03 9.99730799e-01 1.56810720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.580714057 meters Centerline goodness [0,1] 0.9873453811737872 Centerline is valid? [True, True] Translation: X:133.00, Y:-4.69, Z:1.57 [[ 9.99259082e-01 -3.04049439e-02 -2.35971488e-02 1.32998505e+02] [ 3.04240884e-02 9.99536978e-01 4.52637505e-04 -4.68573332e+00] [ 2.35724603e-02 -1.17022388e-03 9.99721446e-01 1.56814044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.610714057 meters Centerline goodness [0,1] 0.9866976397624422 Centerline is valid? [True, True] Translation: X:133.03, Y:-4.69, Z:1.57 [[ 9.99231165e-01 -3.13295346e-02 -2.35698737e-02 1.33027061e+02] [ 3.13488192e-02 9.99508404e-01 4.49048161e-04 -4.68736089e+00] [ 2.35442184e-02 -1.18759063e-03 9.99722091e-01 1.56854877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.640714057 meters Centerline goodness [0,1] 0.9868158385433805 Centerline is valid? [True, True] Translation: X:133.06, Y:-4.69, Z:1.57 [[ 9.99179770e-01 -3.30366388e-02 -2.34172601e-02 1.33056164e+02] [ 3.30560512e-02 9.99453402e-01 4.42265304e-04 -4.69107215e+00] [ 2.33898493e-02 -1.21598469e-03 9.99725681e-01 1.56881079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.670714057 meters Centerline goodness [0,1] 0.9868165447997381 Centerline is valid? [True, True] Translation: X:133.09, Y:-4.69, Z:1.57 [[ 9.99164343e-01 -3.36208615e-02 -2.32433499e-02 1.33085084e+02] [ 3.36401356e-02 9.99433914e-01 4.38610961e-04 -4.69490902e+00] [ 2.32154457e-02 -1.22015387e-03 9.99729741e-01 1.56873737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.700714057 meters Centerline goodness [0,1] 0.9865707224251438 Centerline is valid? [True, True] Translation: X:133.11, Y:-4.70, Z:1.57 [[ 9.99135204e-01 -3.44411614e-02 -2.32948510e-02 1.33114152e+02] [ 3.44607484e-02 9.99405955e-01 4.39802121e-04 -4.69661896e+00] [ 2.32658655e-02 -1.24217978e-03 9.99728541e-01 1.56955377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.730714057 meters Centerline goodness [0,1] 0.986491820534187 Centerline is valid? [True, True] Translation: X:133.14, Y:-4.70, Z:1.57 [[ 9.99102614e-01 -3.55585043e-02 -2.30121433e-02 1.33143595e+02] [ 3.55778915e-02 9.99366812e-01 4.33481479e-04 -4.69827140e+00] [ 2.29821583e-02 -1.25181602e-03 9.99735092e-01 1.57103951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.760714057 meters Centerline goodness [0,1] 0.9863540097377786 Centerline is valid? [True, True] Translation: X:133.17, Y:-4.70, Z:1.57 [[ 9.99080594e-01 -3.63234418e-02 -2.27722118e-02 1.33173632e+02] [ 3.63426080e-02 9.99339297e-01 4.28225437e-04 -4.70017564e+00] [ 2.27416116e-02 -1.25543329e-03 9.99740588e-01 1.57169787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79071405699997 meters Centerline goodness [0,1] 0.9864406779661017 Centerline is valid? [True, True] Translation: X:133.20, Y:-4.70, Z:1.57 [[ 9.99014046e-01 -3.84194400e-02 -2.22459654e-02 1.33203958e+02] [ 3.84382379e-02 9.99260890e-01 4.17862105e-04 -4.69921864e+00] [ 2.22134691e-02 -1.27254582e-03 9.99752441e-01 1.57239552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82071405699998 meters Centerline goodness [0,1] 0.9862773850430063 Centerline is valid? [True, True] Translation: X:133.23, Y:-4.70, Z:1.57 [[ 9.98955584e-01 -3.97845592e-02 -2.24706556e-02 1.33233191e+02] [ 3.98040807e-02 9.99207414e-01 4.21976658e-04 -4.70390749e+00] [ 2.24360575e-02 -1.31595973e-03 9.99747414e-01 1.57217222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85071405699998 meters Centerline goodness [0,1] 0.98489716521321 Centerline is valid? [True, True] Translation: X:133.26, Y:-4.71, Z:1.57 [[ 9.98805626e-01 -4.33655922e-02 -2.25110517e-02 1.33263006e+02] [ 4.33860884e-02 9.99058291e-01 4.22668880e-04 -4.70975084e+00] [ 2.24715235e-02 -1.39883053e-03 9.99746505e-01 1.57203367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88071405699998 meters Centerline goodness [0,1] 0.9843465678644246 Centerline is valid? [True, True] Translation: X:133.29, Y:-4.71, Z:1.57 [[ 9.98616684e-01 -4.73762355e-02 -2.28081405e-02 1.33293334e+02] [ 4.73983245e-02 9.98875976e-01 4.28537098e-04 -4.71391088e+00] [ 2.27622011e-02 -1.50901194e-03 9.99739769e-01 1.57238001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91071405699998 meters Centerline goodness [0,1] 0.9834992887624466 Centerline is valid? [True, True] Translation: X:133.32, Y:-4.72, Z:1.57 [[ 9.98510853e-01 -4.93182454e-02 -2.33192360e-02 1.33323448e+02] [ 4.93418745e-02 9.98781852e-01 4.38639722e-04 -4.71691497e+00] [ 2.32691967e-02 -1.58860134e-03 9.99727973e-01 1.57256167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94071405699998 meters Centerline goodness [0,1] 0.9827812254173586 Centerline is valid? [True, True] Translation: X:133.35, Y:-4.72, Z:1.57 [[ 9.98416663e-01 -5.10846180e-02 -2.35484408e-02 1.33354988e+02] [ 5.11092282e-02 9.98692971e-01 4.44027555e-04 -4.71867988e+00] [ 2.34949793e-02 -1.64686715e-03 9.99722598e-01 1.57213415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97071405699998 meters Centerline goodness [0,1] 0.9822813088615358 Centerline is valid? [True, True] Translation: X:133.38, Y:-4.72, Z:1.57 [[ 9.98221027e-01 -5.42033982e-02 -2.48349267e-02 1.33384347e+02] [ 5.42317491e-02 9.98528266e-01 4.68979298e-04 -4.72258648e+00] [ 2.47729560e-02 -1.81498651e-03 9.99691456e-01 1.57124217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00071405699998 meters Centerline goodness [0,1] 0.9760225978803538 Centerline is valid? [True, True] Translation: X:133.41, Y:-4.73, Z:1.57 [[ 9.98030971e-01 -5.74647245e-02 -2.51393525e-02 1.33414037e+02] [ 5.74948070e-02 9.98345692e-01 4.74869874e-04 -4.72644917e+00] [ 2.50704760e-02 -1.91931706e-03 9.99683844e-01 1.57072934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03071405699998 meters Centerline goodness [0,1] 0.9720457433290979 Centerline is valid? [True, True] Translation: X:133.44, Y:-4.73, Z:1.57 [[ 9.97936355e-01 -5.89776238e-02 -2.53903824e-02 1.33444814e+02] [ 5.90087964e-02 9.98257348e-01 4.79586256e-04 -4.72777592e+00] [ 2.53178509e-02 -1.97685247e-03 9.99677497e-01 1.57084520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06071405699998 meters Centerline goodness [0,1] 0.9645276565891303 Centerline is valid? [True, True] Translation: X:133.48, Y:-4.73, Z:1.57 [[ 9.97870933e-01 -6.01649828e-02 -2.51749161e-02 1.33475576e+02] [ 6.01960139e-02 9.98186462e-01 4.75915013e-04 -4.72936643e+00] [ 2.51006271e-02 -1.99033136e-03 9.99682948e-01 1.57140692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09071405699999 meters Centerline goodness [0,1] 0.9508308123986146 Centerline is valid? [True, True] Translation: X:133.51, Y:-4.73, Z:1.57 [[ 9.97756130e-01 -6.22296790e-02 -2.47016621e-02 1.33505130e+02] [ 6.22601980e-02 9.98059842e-01 4.67604450e-04 -4.73072231e+00] [ 2.46246381e-02 -2.00448558e-03 9.99694758e-01 1.57196072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.120714057 meters Centerline goodness [0,1] 0.9432415848527349 Centerline is valid? [True, False] Translation: X:133.50, Y:-4.73, Z:1.57 [[ 9.97943162e-01 -5.92132996e-02 -2.45607440e-02 1.33504215e+02] [ 5.93380621e-02 9.98228328e-01 4.38180058e-03 -4.73200754e+00] [ 2.42577696e-02 -5.83017488e-03 9.99688736e-01 1.57176160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.150714057 meters Centerline goodness [0,1] 0.9215341695406718 Centerline is valid? [False, False] Translation: X:133.50, Y:-4.73, Z:1.57 [[ 9.98073897e-01 -5.70299939e-02 -2.44146659e-02 1.33502942e+02] [ 5.72122428e-02 9.98338662e-01 6.83188952e-03 -4.73050624e+00] [ 2.39844822e-02 -8.21554839e-03 9.99678573e-01 1.57217730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.180714057 meters Centerline goodness [0,1] 0.906578947368421 Centerline is valid? [False, False] Translation: X:133.50, Y:-4.73, Z:1.57 [[ 9.98068078e-01 -5.70761815e-02 -2.45442857e-02 1.33503325e+02] [ 5.72503898e-02 9.98338990e-01 6.45401072e-03 -4.72887367e+00] [ 2.41351471e-02 -7.84671199e-03 9.99677910e-01 1.57202322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.210714057 meters Centerline goodness [0,1] 0.8757378204563475 Centerline is valid? [False, False] Translation: X:133.50, Y:-4.73, Z:1.57 [[ 9.98040474e-01 -5.75213899e-02 -2.46272599e-02 1.33503498e+02] [ 5.76658728e-02 9.98322413e-01 5.19677243e-03 -4.72502864e+00] [ 2.42870199e-02 -6.60674165e-03 9.99683196e-01 1.57207450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.240714057 meters Centerline goodness [0,1] 0.8566740088105727 Centerline is valid? [False, False] Translation: X:133.50, Y:-4.72, Z:1.57 [[ 9.98027999e-01 -5.77053882e-02 -2.47022663e-02 1.33503613e+02] [ 5.78355968e-02 9.98315574e-01 4.58893633e-03 -4.72302525e+00] [ 2.43958508e-02 -6.00855725e-03 9.99684320e-01 1.57216803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.270714057 meters Centerline goodness [0,1] 0.8181055235318802 Centerline is valid? [False, False] Translation: X:133.50, Y:-4.72, Z:1.57 [[ 9.98183196e-01 -5.50451057e-02 -2.45019252e-02 1.33502473e+02] [ 5.52439717e-02 9.98444610e-01 7.51431373e-03 -4.72148793e+00] [ 2.40501889e-02 -8.85424535e-03 9.99671541e-01 1.57225517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.300714057 meters Centerline goodness [0,1] 0.812688688600454 Centerline is valid? [False, False] Translation: X:133.50, Y:-4.72, Z:1.57 [[ 9.98170807e-01 -5.52381334e-02 -2.45721197e-02 1.33502651e+02] [ 5.54253406e-02 9.98438272e-01 7.00348827e-03 -4.71987017e+00] [ 2.41468851e-02 -8.35259564e-03 9.99673528e-01 1.57224762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.330714057 meters Centerline goodness [0,1] 0.7790112557934231 Centerline is valid? [False, False] Translation: X:133.50, Y:-4.72, Z:1.57 [[ 9.98143351e-01 -5.57463900e-02 -2.45395772e-02 1.33502584e+02] [ 5.59030864e-02 9.98419666e-01 5.74589726e-03 -4.71610710e+00] [ 2.41804835e-02 -7.10706725e-03 9.99682346e-01 1.57236481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.360714057 meters Centerline goodness [0,1] 0.9837099665788717 Centerline is valid? [False, True] Translation: X:133.50, Y:-4.71, Z:1.57 [[ 9.98128403e-01 -5.59869862e-02 -2.45997629e-02 1.33502664e+02] [ 5.61274657e-02 9.98410803e-01 5.05719558e-03 -4.71396273e+00] [ 2.42775319e-02 -6.42845290e-03 9.99684588e-01 1.57245631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.390714057 meters Centerline goodness [0,1] 0.983221402132234 Centerline is valid? [True, True] Translation: X:133.53, Y:-4.71, Z:1.57 [[ 9.98110220e-01 -5.63287280e-02 -2.45573442e-02 1.33534420e+02] [ 5.63647632e-02 9.98409941e-01 7.77130845e-04 -4.71177956e+00] [ 2.44745218e-02 -2.15983113e-03 9.99698121e-01 1.57433753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.420714057 meters Centerline goodness [0,1] 0.984303437235982 Centerline is valid? [True, True] Translation: X:133.57, Y:-4.71, Z:1.58 [[ 9.98051471e-01 -5.75365403e-02 -2.41414050e-02 1.33566736e+02] [ 5.75717504e-02 9.98341078e-01 7.65427094e-04 -4.70626667e+00] [ 2.40573162e-02 -2.15379858e-03 9.99708261e-01 1.57540871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.450714057 meters Centerline goodness [0,1] 0.9828322362568938 Centerline is valid? [True, True] Translation: X:133.60, Y:-4.71, Z:1.58 [[ 9.98015509e-01 -5.80386142e-02 -2.44246589e-02 1.33597576e+02] [ 5.80748617e-02 9.98311929e-01 7.76743589e-04 -4.70669478e+00] [ 2.43383473e-02 -2.19366084e-03 9.99701372e-01 1.57566586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.480714057 meters Centerline goodness [0,1] 0.6990532360701536 Centerline is valid? [True, False] Translation: X:133.60, Y:-4.71, Z:1.58 [[ 9.98178639e-01 -5.51448474e-02 -2.44632650e-02 1.33597080e+02] [ 5.52592323e-02 9.98463932e-01 4.02416162e-03 -4.70546844e+00] [ 2.42037759e-02 -5.36865341e-03 9.99692630e-01 1.57539923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.510714057 meters Centerline goodness [0,1] 0.9827290352773382 Centerline is valid? [False, True] Translation: X:133.60, Y:-4.70, Z:1.58 [[ 9.98160971e-01 -5.54713857e-02 -2.44458663e-02 1.33596928e+02] [ 5.55668865e-02 9.98449696e-01 3.24427938e-03 -4.70325415e+00] [ 2.42280031e-02 -4.59669374e-03 9.99695891e-01 1.57561081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54071405699997 meters Centerline goodness [0,1] 0.9768695613269803 Centerline is valid? [True, True] Translation: X:133.63, Y:-4.71, Z:1.58 [[ 9.98093973e-01 -5.67353304e-02 -2.42801072e-02 1.33627131e+02] [ 5.67732493e-02 9.98386715e-01 8.74697593e-04 -4.70508818e+00] [ 2.41913102e-02 -2.25149097e-03 9.99704812e-01 1.57675272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57071405699998 meters Centerline goodness [0,1] 0.9784338264872838 Centerline is valid? [True, True] Translation: X:133.66, Y:-4.70, Z:1.58 [[ 9.98063834e-01 -5.73973825e-02 -2.39608649e-02 1.33659249e+02] [ 5.74345285e-02 9.98348901e-01 8.64407976e-04 -4.70410753e+00] [ 2.38716884e-02 -2.23891531e-03 9.99712524e-01 1.57738979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60071405699998 meters Centerline goodness [0,1] 0.9827709178442473 Centerline is valid? [True, True] Translation: X:133.69, Y:-4.70, Z:1.58 [[ 9.98056790e-01 -5.78645096e-02 -2.31158658e-02 1.33691358e+02] [ 5.78992420e-02 9.98322082e-01 8.35528015e-04 -4.70076469e+00] [ 2.30287319e-02 -2.17229552e-03 9.99732444e-01 1.57854696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63071405699998 meters Centerline goodness [0,1] 0.9801238625438773 Centerline is valid? [True, True] Translation: X:133.72, Y:-4.70, Z:1.58 [[ 9.97980761e-01 -5.91221465e-02 -2.32157631e-02 1.33721941e+02] [ 5.91575510e-02 9.98248305e-01 8.40603153e-04 -4.70299761e+00] [ 2.31253979e-02 -2.21229347e-03 9.99730124e-01 1.57874992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66071405699998 meters Centerline goodness [0,1] 0.9755966627150111 Centerline is valid? [True, True] Translation: X:133.75, Y:-4.71, Z:1.58 [[ 9.97972953e-01 -5.92784835e-02 -2.31526946e-02 1.33753028e+02] [ 5.93137650e-02 9.98239036e-01 8.39513488e-04 -4.70547337e+00] [ 2.30621585e-02 -2.21108524e-03 9.99731588e-01 1.57875676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69071405699998 meters Centerline goodness [0,1] 0.98410919604635 Centerline is valid? [True, True] Translation: X:133.79, Y:-4.70, Z:1.58 [[ 9.97942330e-01 -5.96340075e-02 -2.35561079e-02 1.33785770e+02] [ 5.96706617e-02 9.98217752e-01 8.55583367e-04 -4.69650852e+00] [ 2.34631033e-02 -2.25943141e-03 9.99722150e-01 1.57931366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72071405699998 meters Centerline goodness [0,1] 0.9596944033696285 Centerline is valid? [True, True] Translation: X:133.82, Y:-4.71, Z:1.58 [[ 9.97926185e-01 -5.96952050e-02 -2.40792983e-02 1.33816965e+02] [ 5.97335748e-02 9.98213971e-01 8.76718963e-04 -4.70938584e+00] [ 2.39839561e-02 -2.31324338e-03 9.99709667e-01 1.57752185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75071405699998 meters Centerline goodness [0,1] 0.9836187137656734 Centerline is valid? [True, True] Translation: X:133.85, Y:-4.70, Z:1.58 [[ 9.97909538e-01 -5.95451146e-02 -2.51183845e-02 1.33849223e+02] [ 5.95868798e-02 9.98222702e-01 9.16876728e-04 -4.70002040e+00] [ 2.50191461e-02 -2.41168619e-03 9.99684063e-01 1.57829565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78071405699998 meters Centerline goodness [0,1] 0.9846253692596902 Centerline is valid? [True, True] Translation: X:133.88, Y:-4.70, Z:1.58 [[ 9.97915773e-01 -5.94823478e-02 -2.50192043e-02 1.33881513e+02] [ 5.95238084e-02 9.98226467e-01 9.15030752e-04 -4.70100769e+00] [ 2.49204037e-02 -2.40236194e-03 9.99686552e-01 1.57852930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81071405699998 meters Centerline goodness [0,1] 0.9828313658602271 Centerline is valid? [True, True] Translation: X:133.91, Y:-4.70, Z:1.58 [[ 9.97949902e-01 -5.88456451e-02 -2.51631489e-02 1.33913406e+02] [ 5.88874285e-02 9.98264204e-01 9.22078136e-04 -4.70251544e+00] [ 2.50652106e-02 -2.40198092e-03 9.99682933e-01 1.57913506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84071405699999 meters Centerline goodness [0,1] 0.9503534956794972 Centerline is valid? [True, True] Translation: X:133.94, Y:-4.71, Z:1.58 [[ 9.98054380e-01 -5.73089246e-02 -2.45589553e-02 1.33943402e+02] [ 5.73482911e-02 9.98353826e-01 9.01052463e-04 -4.71132872e+00] [ 2.44668886e-02 -2.30771347e-03 9.99697977e-01 1.57924379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.870714057 meters Centerline goodness [0,1] 0.9865188668682119 Centerline is valid? [True, True] Translation: X:133.97, Y:-4.69, Z:1.58 [[ 9.98231168e-01 -5.42212025e-02 -2.43843597e-02 1.33974559e+02] [ 5.42591038e-02 9.98526489e-01 8.94901510e-04 -4.69408989e+00] [ 2.42999064e-02 -2.21639208e-03 9.99702257e-01 1.58206552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.900714057 meters Centerline goodness [0,1] 0.9862252782941743 Centerline is valid? [True, True] Translation: X:134.00, Y:-4.70, Z:1.58 [[ 9.98346988e-01 -5.21140311e-02 -2.42367537e-02 1.34004468e+02] [ 5.21508594e-02 9.98638822e-01 8.89509777e-04 -4.69649506e+00] [ 2.41574073e-02 -2.15200694e-03 9.99705851e-01 1.58183008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.930714057 meters Centerline goodness [0,1] 0.9883201185957189 Centerline is valid? [True, True] Translation: X:134.04, Y:-4.69, Z:1.58 [[ 9.98436490e-01 -5.01023858e-02 -2.47855881e-02 1.34035719e+02] [ 5.01402917e-02 9.98741770e-01 9.09857996e-04 -4.69152127e+00] [ 2.47088161e-02 -2.15119204e-03 9.99692376e-01 1.58229075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.960714057 meters Centerline goodness [0,1] 0.9883373407339161 Centerline is valid? [True, True] Translation: X:134.07, Y:-4.69, Z:1.58 [[ 9.98650868e-01 -4.54177838e-02 -2.51727944e-02 1.34066697e+02] [ 4.54554149e-02 9.98965941e-01 9.24427331e-04 -4.68748252e+00] [ 2.51047788e-02 -2.06741997e-03 9.99682688e-01 1.58196116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.990714057 meters Centerline goodness [0,1] 0.9890796332913896 Centerline is valid? [True, True] Translation: X:134.10, Y:-4.68, Z:1.58 [[ 9.98879480e-01 -4.03026362e-02 -2.48089243e-02 1.34097145e+02] [ 4.03376218e-02 9.99185691e-01 9.11174021e-04 -4.68285523e+00] [ 2.47519995e-02 -1.91088604e-03 9.99691796e-01 1.58272037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.020714057 meters Centerline goodness [0,1] 0.9892039307609087 Centerline is valid? [True, True] Translation: X:134.13, Y:-4.68, Z:1.58 [[ 9.98975449e-01 -3.80748742e-02 -2.44613124e-02 1.34126427e+02] [ 3.81082166e-02 9.99273214e-01 8.98190215e-04 -4.68331209e+00] [ 2.44093358e-02 -1.82944696e-03 9.99700374e-01 1.58326852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.050714057 meters Centerline goodness [0,1] 0.9892039307609087 Centerline is valid? [True, True] Translation: X:134.16, Y:-4.68, Z:1.58 [[ 9.98976797e-01 -3.80394992e-02 -2.44613067e-02 1.34157339e+02] [ 3.80728349e-02 9.99274563e-01 8.98344997e-04 -4.68447750e+00] [ 2.44093889e-02 -1.82873710e-03 9.99700374e-01 1.58368168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.080714057 meters Centerline goodness [0,1] 0.9875205180671418 Centerline is valid? [True, True] Translation: X:134.19, Y:-4.69, Z:1.58 [[ 9.99061362e-01 -3.59795904e-02 -2.41218649e-02 1.34186982e+02] [ 3.60114211e-02 9.99350985e-01 8.86345494e-04 -4.68668059e+00] [ 2.40743191e-02 -1.75417617e-03 9.99708633e-01 1.58432780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.110714057 meters Centerline goodness [0,1] 0.9887026074382033 Centerline is valid? [True, True] Translation: X:134.22, Y:-4.68, Z:1.59 [[ 9.99209232e-01 -3.20098228e-02 -2.35856161e-02 1.34218232e+02] [ 3.20391576e-02 9.99486239e-01 8.66829805e-04 -4.68048538e+00] [ 2.35457516e-02 -1.62180761e-03 9.99721445e-01 1.58615341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.140714057 meters Centerline goodness [0,1] 0.9884030504038627 Centerline is valid? [True, True] Translation: X:134.25, Y:-4.68, Z:1.59 [[ 9.99273764e-01 -3.03201679e-02 -2.30788278e-02 1.34249392e+02] [ 3.03478161e-02 9.99539039e-01 8.48611676e-04 -4.68021795e+00] [ 2.30424593e-02 -1.54838741e-03 9.99733288e-01 1.58712801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.170714057 meters Centerline goodness [0,1] 0.9891622265049315 Centerline is valid? [True, True] Translation: X:134.28, Y:-4.67, Z:1.59 [[ 9.99344984e-01 -2.81867871e-02 -2.26959957e-02 1.34280848e+02] [ 2.82129842e-02 9.99601586e-01 8.34820047e-04 -4.67170844e+00] [ 2.26634224e-02 -1.47459499e-03 9.99742064e-01 1.58880376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.200714057 meters Centerline goodness [0,1] 0.9885062682777539 Centerline is valid? [True, True] Translation: X:134.31, Y:-4.68, Z:1.59 [[ 9.99370654e-01 -2.70631559e-02 -2.29321087e-02 1.34310974e+02] [ 2.70896123e-02 9.99632653e-01 8.43762498e-04 -4.67766409e+00] [ 2.29008498e-02 -1.46445341e-03 9.99736669e-01 1.58828070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.230714057 meters Centerline goodness [0,1] 0.9886590455452731 Centerline is valid? [True, True] Translation: X:134.34, Y:-4.68, Z:1.59 [[ 9.99383421e-01 -2.64498029e-02 -2.30907981e-02 1.34340583e+02] [ 2.64764654e-02 9.99649076e-01 8.49669042e-04 -4.67578431e+00] [ 2.30602214e-02 -1.46050787e-03 9.99733011e-01 1.58790734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.260714057 meters Centerline goodness [0,1] 0.9899490662139219 Centerline is valid? [True, True] Translation: X:134.37, Y:-4.67, Z:1.59 [[ 9.99382172e-01 -2.62033236e-02 -2.34234881e-02 1.34369919e+02] [ 2.62306786e-02 9.99655546e-01 8.61306257e-04 -4.67264661e+00] [ 2.33928507e-02 -1.47518811e-03 9.99725261e-01 1.58835224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29071405699997 meters Centerline goodness [0,1] 0.9894191907724444 Centerline is valid? [True, True] Translation: X:134.40, Y:-4.67, Z:1.59 [[ 9.99351880e-01 -2.66080371e-02 -2.42452618e-02 1.34399534e+02] [ 2.66374429e-02 9.99644764e-01 8.90633130e-04 -4.67163507e+00] [ 2.42129510e-02 -1.53588767e-03 9.99705644e-01 1.58835105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32071405699998 meters Centerline goodness [0,1] 0.9896255175865678 Centerline is valid? [True, True] Translation: X:134.43, Y:-4.67, Z:1.59 [[ 9.99328808e-01 -2.68983428e-02 -2.48679028e-02 1.34429228e+02] [ 2.69293458e-02 9.99636923e-01 9.12599591e-04 -4.67149189e+00] [ 2.48343264e-02 -1.58166341e-03 9.99690329e-01 1.58900923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35071405699998 meters Centerline goodness [0,1] 0.9890257202581114 Centerline is valid? [True, True] Translation: X:134.46, Y:-4.67, Z:1.59 [[ 9.99329533e-01 -2.73316972e-02 -2.43611106e-02 1.34457464e+02] [ 2.73615514e-02 9.99625204e-01 8.92939336e-04 -4.67428739e+00] [ 2.43275746e-02 -1.55889843e-03 9.99702825e-01 1.58917608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38071405699998 meters Centerline goodness [0,1] 0.9894307099115446 Centerline is valid? [True, True] Translation: X:134.49, Y:-4.67, Z:1.59 [[ 9.99330499e-01 -2.78287214e-02 -2.37511442e-02 1.34487424e+02] [ 2.78572177e-02 9.99611534e-01 8.69698845e-04 -4.67460631e+00] [ 2.37177151e-02 -1.53075737e-03 9.99717523e-01 1.58996639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41071405699998 meters Centerline goodness [0,1] 0.9894170281379874 Centerline is valid? [True, True] Translation: X:134.52, Y:-4.68, Z:1.59 [[ 9.99349580e-01 -2.76332986e-02 -2.31693382e-02 1.34517097e+02] [ 2.76603538e-02 9.99617020e-01 8.47990407e-04 -4.67955292e+00] [ 2.31370321e-02 -1.48831095e-03 9.99731195e-01 1.59073059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44071405699998 meters Centerline goodness [0,1] 0.989217840396856 Centerline is valid? [True, True] Translation: X:134.55, Y:-4.67, Z:1.59 [[ 9.99395492e-01 -2.71442733e-02 -2.17218418e-02 1.34547615e+02] [ 2.71679329e-02 9.99630568e-01 7.94792409e-04 -4.67487992e+00] [ 2.16922430e-02 -1.38444949e-03 9.99763737e-01 1.59320989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47071405699998 meters Centerline goodness [0,1] 0.9893027393198458 Centerline is valid? [True, True] Translation: X:134.58, Y:-4.67, Z:1.59 [[ 9.99405897e-01 -2.70387799e-02 -2.13719020e-02 1.34578543e+02] [ 2.70616653e-02 9.99633460e-01 7.82277095e-04 -4.67399453e+00] [ 2.13429165e-02 -1.36017160e-03 9.99771289e-01 1.59428745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50071405699998 meters Centerline goodness [0,1] 0.988892674616695 Centerline is valid? [True, True] Translation: X:134.61, Y:-4.68, Z:1.59 [[ 9.99411824e-01 -2.72614728e-02 -2.08043048e-02 1.34608564e+02] [ 2.72832190e-02 9.99627453e-01 7.62101053e-04 -4.67733603e+00] [ 2.07757783e-02 -1.32926121e-03 9.99783277e-01 1.59443999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53071405699998 meters Centerline goodness [0,1] 0.9880481708702568 Centerline is valid? [True, True] Translation: X:134.64, Y:-4.68, Z:1.59 [[ 9.99400624e-01 -2.78636458e-02 -2.05428594e-02 1.34640094e+02] [ 2.78849854e-02 9.99610855e-01 7.53011921e-04 -4.67942016e+00] [ 2.05138836e-02 -1.32539792e-03 9.99788690e-01 1.59466164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56071405699998 meters Centerline goodness [0,1] 0.9869800511740597 Centerline is valid? [True, True] Translation: X:134.67, Y:-4.68, Z:1.59 [[ 9.99383430e-01 -2.78793562e-02 -2.13424618e-02 1.34670494e+02] [ 2.79024134e-02 9.99610345e-01 7.83262649e-04 -4.68229232e+00] [ 2.13123088e-02 -1.37828591e-03 9.99771917e-01 1.59424428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59071405699999 meters Centerline goodness [0,1] 0.9876187668654618 Centerline is valid? [True, True] Translation: X:134.70, Y:-4.68, Z:1.59 [[ 9.99384008e-01 -2.76817585e-02 -2.15713958e-02 1.34700355e+02] [ 2.77052867e-02 9.99615821e-01 7.92567440e-04 -4.68463878e+00] [ 2.15411689e-02 -1.38972093e-03 9.99766996e-01 1.59439559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.620714057 meters Centerline goodness [0,1] 0.9879266994359752 Centerline is valid? [True, True] Translation: X:134.73, Y:-4.68, Z:1.60 [[ 9.99397592e-01 -2.72272281e-02 -2.15204717e-02 1.34731964e+02] [ 2.72505515e-02 9.99628322e-01 7.91208893e-04 -4.68471701e+00] [ 2.14909305e-02 -1.37717698e-03 9.99768095e-01 1.59530381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.650714057 meters Centerline goodness [0,1] 0.9870226933007202 Centerline is valid? [True, True] Translation: X:134.76, Y:-4.69, Z:1.60 [[ 9.99394547e-01 -2.64058344e-02 -2.26554770e-02 1.34762563e+02] [ 2.64314880e-02 9.99650280e-01 8.33583608e-04 -4.68635264e+00] [ 2.26255425e-02 -1.43189688e-03 9.99742984e-01 1.59534085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.680714057 meters Centerline goodness [0,1] 0.9877313181435368 Centerline is valid? [True, True] Translation: X:134.79, Y:-4.69, Z:1.60 [[ 9.99400798e-01 -2.59713800e-02 -2.28808431e-02 1.34793476e+02] [ 2.59974385e-02 9.99661655e-01 8.42106863e-04 -4.68635883e+00] [ 2.28512308e-02 -1.43644558e-03 9.99737845e-01 1.59574453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.710714057 meters Centerline goodness [0,1] 0.9874792646624401 Centerline is valid? [True, True] Translation: X:134.82, Y:-4.69, Z:1.60 [[ 9.99387638e-01 -2.59023330e-02 -2.35248257e-02 1.34823147e+02] [ 2.59298522e-02 9.99663390e-01 8.65454069e-04 -4.68732710e+00] [ 2.34944898e-02 -1.47491935e-03 9.99722878e-01 1.59528143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.740714057 meters Centerline goodness [0,1] 0.9871303084640353 Centerline is valid? [True, True] Translation: X:134.85, Y:-4.69, Z:1.59 [[ 9.99378254e-01 -2.57610832e-02 -2.40722303e-02 1.34852040e+02] [ 2.57898329e-02 9.99666996e-01 8.84566170e-04 -4.69337098e+00] [ 2.40414267e-02 -1.50483499e-03 9.99709831e-01 1.59441730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.770714057 meters Centerline goodness [0,1] 0.9879309952951337 Centerline is valid? [True, True] Translation: X:134.88, Y:-4.69, Z:1.60 [[ 9.99365506e-01 -2.59673812e-02 -2.43778516e-02 1.34882029e+02] [ 2.59969007e-02 9.99661623e-01 8.94720347e-04 -4.69041399e+00] [ 2.43463692e-02 -1.52790124e-03 9.99702416e-01 1.59508236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.800714057 meters Centerline goodness [0,1] 0.9884667879890809 Centerline is valid? [True, True] Translation: X:134.91, Y:-4.69, Z:1.60 [[ 9.99335303e-01 -2.61460346e-02 -2.54034797e-02 1.34911488e+02] [ 2.61781255e-02 9.99656860e-01 9.31450067e-04 -4.68752744e+00] [ 2.53704090e-02 -1.59584641e-03 9.99676846e-01 1.59533826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.830714057 meters Centerline goodness [0,1] 0.9891856202900531 Centerline is valid? [True, True] Translation: X:134.94, Y:-4.69, Z:1.60 [[ 9.99305745e-01 -2.66203033e-02 -2.60650451e-02 1.34941290e+02] [ 2.66542239e-02 9.99644257e-01 9.54758867e-04 -4.68824199e+00] [ 2.60303567e-02 -1.64883957e-03 9.99659793e-01 1.59505372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.860714057 meters Centerline goodness [0,1] 0.9875414151500023 Centerline is valid? [True, True] Translation: X:134.97, Y:-4.70, Z:1.59 [[ 9.99296921e-01 -2.67248503e-02 -2.62953589e-02 1.34969379e+02] [ 2.67593784e-02 9.99641441e-01 9.62017326e-04 -4.69665823e+00] [ 2.62602207e-02 -1.66498841e-03 9.99653754e-01 1.59413450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.890714057 meters Centerline goodness [0,1] 0.9880229994772846 Centerline is valid? [True, True] Translation: X:135.00, Y:-4.69, Z:1.60 [[ 9.99268009e-01 -2.73683153e-02 -2.67286644e-02 1.34998401e+02] [ 2.74041119e-02 9.99623962e-01 9.73805118e-04 -4.69135206e+00] [ 2.66919620e-02 -1.70556761e-03 9.99642251e-01 1.59610715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.920714057 meters Centerline goodness [0,1] 0.987111758812278 Centerline is valid? [True, True] Translation: X:135.03, Y:-4.69, Z:1.60 [[ 9.99263632e-01 -2.77124773e-02 -2.65369970e-02 1.35026782e+02] [ 2.77477768e-02 9.99614493e-01 9.62819197e-04 -4.69325671e+00] [ 2.65000847e-02 -1.69845288e-03 9.99647368e-01 1.59669443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.950714057 meters Centerline goodness [0,1] 0.9887952630380323 Centerline is valid? [True, True] Translation: X:135.06, Y:-4.70, Z:1.60 [[ 9.99274279e-01 -2.77906476e-02 -2.60498502e-02 1.35055797e+02] [ 2.78246535e-02 9.99612374e-01 9.43782436e-04 -4.69600421e+00] [ 2.60135242e-02 -1.66792557e-03 9.99660200e-01 1.59690005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.980714057 meters Centerline goodness [0,1] 0.9870916334661355 Centerline is valid? [True, True] Translation: X:135.08, Y:-4.70, Z:1.60 [[ 9.99247410e-01 -2.81891606e-02 -2.66455380e-02 1.35083966e+02] [ 2.82248438e-02 9.99601135e-01 9.63957037e-04 -4.69796774e+00] [ 2.66077369e-02 -1.71529772e-03 9.99644480e-01 1.59635320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01071405699997 meters Centerline goodness [0,1] 0.9872910308386098 Centerline is valid? [True, True] Translation: X:135.11, Y:-4.70, Z:1.60 [[ 9.99216307e-01 -2.87456020e-02 -2.72114434e-02 1.35112899e+02] [ 2.87829774e-02 9.99585201e-01 9.82747330e-04 -4.70125272e+00] [ 2.71719064e-02 -1.76520352e-03 9.99629217e-01 1.59561202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04071405699997 meters Centerline goodness [0,1] 0.988143646913693 Centerline is valid? [True, True] Translation: X:135.14, Y:-4.70, Z:1.59 [[ 9.99103529e-01 -3.06723218e-02 -2.91778385e-02 1.35142813e+02] [ 3.07160700e-02 9.99527596e-01 1.05223480e-03 -4.70177967e+00] [ 2.91317803e-02 -1.94752003e-03 9.99573682e-01 1.59450796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07071405699998 meters Centerline goodness [0,1] 0.987775116889041 Centerline is valid? [True, True] Translation: X:135.17, Y:-4.71, Z:1.59 [[ 9.99059623e-01 -3.20691899e-02 -2.91793968e-02 1.35171341e+02] [ 3.21134996e-02 9.99483676e-01 1.05105008e-03 -4.70683562e+00] [ 2.91306244e-02 -1.98711424e-03 9.99573638e-01 1.59422017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10071405699998 meters Centerline goodness [0,1] 0.9879325683783106 Centerline is valid? [True, True] Translation: X:135.20, Y:-4.71, Z:1.60 [[ 9.98985786e-01 -3.41034794e-02 -2.93998726e-02 1.35200566e+02] [ 3.41492944e-02 9.99416183e-01 1.05750350e-03 -4.70751995e+00] [ 2.93466439e-02 -2.06041587e-03 9.99567171e-01 1.59523689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13071405699998 meters Centerline goodness [0,1] 0.9876517848991144 Centerline is valid? [True, True] Translation: X:135.23, Y:-4.71, Z:1.60 [[ 9.98952842e-01 -3.51019768e-02 -2.93440144e-02 1.35229767e+02] [ 3.51480033e-02 9.99381562e-01 1.05402582e-03 -4.71016340e+00] [ 2.92888686e-02 -2.08430561e-03 9.99568816e-01 1.59563977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16071405699998 meters Centerline goodness [0,1] 0.9862434587875049 Centerline is valid? [True, True] Translation: X:135.26, Y:-4.71, Z:1.60 [[ 9.98887825e-01 -3.70207612e-02 -2.91988937e-02 1.35258823e+02] [ 3.70671141e-02 9.99312229e-01 1.04762755e-03 -4.71409465e+00] [ 2.91400276e-02 -2.12878113e-03 9.99573072e-01 1.59578602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19071405699998 meters Centerline goodness [0,1] 0.9883854118940713 Centerline is valid? [True, True] Translation: X:135.29, Y:-4.71, Z:1.60 [[ 9.98853410e-01 -3.80665276e-02 -2.90311135e-02 1.35289421e+02] [ 3.81127755e-02 9.99272902e-01 1.04116964e-03 -4.70807713e+00] [ 2.89703713e-02 -2.14643216e-03 9.99577966e-01 1.59806563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22071405699998 meters Centerline goodness [0,1] 0.9876766612456193 Centerline is valid? [True, True] Translation: X:135.32, Y:-4.71, Z:1.60 [[ 9.98833605e-01 -3.86898178e-02 -2.88881940e-02 1.35319813e+02] [ 3.87358921e-02 9.99248946e-01 1.03679506e-03 -4.71146837e+00] [ 2.88263839e-02 -2.15459571e-03 9.99582111e-01 1.59814731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25071405699998 meters Centerline goodness [0,1] 0.9819943646484778 Centerline is valid? [True, True] Translation: X:135.35, Y:-4.72, Z:1.60 [[ 9.98812048e-01 -3.93022486e-02 -2.88067078e-02 1.35348868e+02] [ 3.93483273e-02 9.99225019e-01 1.03424688e-03 -4.72102095e+00] [ 2.87437349e-02 -2.16651401e-03 9.99584466e-01 1.59660452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28071405699998 meters Centerline goodness [0,1] 0.987238713808718 Centerline is valid? [True, True] Translation: X:135.38, Y:-4.71, Z:1.60 [[ 9.98804905e-01 -3.91773385e-02 -2.92215451e-02 1.35379460e+02] [ 3.92246946e-02 9.99229865e-01 1.04890758e-03 -4.71246339e+00] [ 2.91579472e-02 -2.19386022e-03 9.99572409e-01 1.59796138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31071405699998 meters Centerline goodness [0,1] 0.9871633526302542 Centerline is valid? [True, True] Translation: X:135.41, Y:-4.71, Z:1.60 [[ 9.98789708e-01 -3.92770447e-02 -2.96046155e-02 1.35409689e+02] [ 3.93256947e-02 9.99225881e-01 1.06265789e-03 -4.71387940e+00] [ 2.95399600e-02 -2.22559384e-03 9.99561122e-01 1.59765721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34071405699999 meters Centerline goodness [0,1] 0.9880178021225607 Centerline is valid? [True, True] Translation: X:135.44, Y:-4.71, Z:1.60 [[ 9.98806526e-01 -3.88906916e-02 -2.95472280e-02 1.35440221e+02] [ 3.89389851e-02 9.99241027e-01 1.06059797e-03 -4.71407139e+00] [ 2.94835551e-02 -2.20987124e-03 9.99562823e-01 1.59854043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.370714057 meters Centerline goodness [0,1] 0.9896559633027523 Centerline is valid? [True, True] Translation: X:135.47, Y:-4.70, Z:1.60 [[ 9.98815098e-01 -3.86487276e-02 -2.95749100e-02 1.35471857e+02] [ 3.86970235e-02 9.99250425e-01 1.06217665e-03 -4.70432917e+00] [ 2.95116896e-02 -2.20537906e-03 9.99562002e-01 1.60146093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.400714057 meters Centerline goodness [0,1] 0.9893202548471376 Centerline is valid? [True, True] Translation: X:135.50, Y:-4.71, Z:1.60 [[ 9.98827635e-01 -3.84475028e-02 -2.94133395e-02 1.35503138e+02] [ 3.84952163e-02 9.99258225e-01 1.05742920e-03 -4.70520026e+00] [ 2.93508659e-02 -2.18846237e-03 9.99566775e-01 1.60208421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.430714057 meters Centerline goodness [0,1] 0.9885600311790733 Centerline is valid? [True, True] Translation: X:135.53, Y:-4.71, Z:1.60 [[ 9.98832398e-01 -3.82782012e-02 -2.94723609e-02 1.35533325e+02] [ 3.83260558e-02 9.99264724e-01 1.06031867e-03 -4.70735348e+00] [ 2.94101035e-02 -2.18863999e-03 9.99565033e-01 1.60221938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.460714057 meters Centerline goodness [0,1] 0.9862881996108505 Centerline is valid? [True, True] Translation: X:135.56, Y:-4.72, Z:1.60 [[ 9.98841848e-01 -3.79088562e-02 -2.96290737e-02 1.35562006e+02] [ 3.79570584e-02 9.99278803e-01 1.06590980e-03 -4.71963802e+00] [ 2.95672978e-02 -2.18930779e-03 9.99560394e-01 1.59923651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.490714057 meters Centerline goodness [0,1] 0.9882930860343403 Centerline is valid? [True, True] Translation: X:135.59, Y:-4.71, Z:1.60 [[ 9.98837723e-01 -3.76201795e-02 -3.01318088e-02 1.35593603e+02] [ 3.76699121e-02 9.99289649e-01 1.08434454e-03 -4.71071197e+00] [ 3.00696114e-02 -2.21814682e-03 9.99545346e-01 1.60187011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.520714057 meters Centerline goodness [0,1] 0.9877621175661739 Centerline is valid? [True, True] Translation: X:135.62, Y:-4.71, Z:1.60 [[ 9.98864750e-01 -3.72936488e-02 -2.96377210e-02 1.35624068e+02] [ 3.73416336e-02 9.99301988e-01 1.06702281e-03 -4.71124214e+00] [ 2.95772403e-02 -2.17253239e-03 9.99560137e-01 1.60258403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.550714057 meters Centerline goodness [0,1] 0.9867602854454923 Centerline is valid? [True, True] Translation: X:135.65, Y:-4.71, Z:1.60 [[ 9.98930682e-01 -3.62994826e-02 -2.86328456e-02 1.35653264e+02] [ 3.63438610e-02 9.99338812e-01 1.03084510e-03 -4.71362967e+00] [ 2.85764948e-02 -2.07037096e-03 9.99589464e-01 1.60412131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.580714057 meters Centerline goodness [0,1] 0.9873699170219594 Centerline is valid? [True, True] Translation: X:135.68, Y:-4.71, Z:1.61 [[ 9.98938188e-01 -3.61893205e-02 -2.85101497e-02 1.35683369e+02] [ 3.62332746e-02 9.99342832e-01 1.02642777e-03 -4.71442249e+00] [ 2.84542680e-02 -2.05835399e-03 9.99592976e-01 1.60528636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.610714057 meters Centerline goodness [0,1] 0.9858874656907594 Centerline is valid? [True, True] Translation: X:135.71, Y:-4.72, Z:1.61 [[ 9.98979811e-01 -3.59533513e-02 -2.73256797e-02 1.35713009e+02] [ 3.59936331e-02 9.99351535e-01 9.83542601e-04 -4.71762130e+00] [ 2.72725983e-02 -1.96608969e-03 9.99626100e-01 1.60604140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.640714057 meters Centerline goodness [0,1] 0.9863978346637307 Centerline is valid? [True, True] Translation: X:135.74, Y:-4.72, Z:1.61 [[ 9.98965520e-01 -3.63435860e-02 -2.73319005e-02 1.35744084e+02] [ 3.63840381e-02 9.99337397e-01 9.84012950e-04 -4.72002432e+00] [ 2.72780278e-02 -1.97743992e-03 9.99625930e-01 1.60633694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.670714057 meters Centerline goodness [0,1] 0.9865305185865075 Centerline is valid? [True, True] Translation: X:135.77, Y:-4.72, Z:1.61 [[ 9.98983931e-01 -3.60625088e-02 -2.70296316e-02 1.35774394e+02] [ 3.61020021e-02 9.99347635e-01 9.74378998e-04 -4.72140023e+00] [ 2.69768599e-02 -1.94921278e-03 9.99634158e-01 1.60642858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.700714057 meters Centerline goodness [0,1] 0.985367308089264 Centerline is valid? [True, True] Translation: X:135.81, Y:-4.72, Z:1.61 [[ 9.98981162e-01 -3.58056628e-02 -2.74698311e-02 1.35805366e+02] [ 3.58463850e-02 9.99356820e-01 9.91273742e-04 -4.72315064e+00] [ 2.74166698e-02 -1.97495794e-03 9.99622141e-01 1.60661111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.730714057 meters Centerline goodness [0,1] 0.9859419791308336 Centerline is valid? [True, True] Translation: X:135.84, Y:-4.73, Z:1.61 [[ 9.98988316e-01 -3.56958965e-02 -2.73522839e-02 1.35835770e+02] [ 3.57362360e-02 9.99360769e-01 9.87253095e-04 -4.72500809e+00] [ 2.72995586e-02 -1.96372198e-03 9.99625369e-01 1.60674651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76071405699997 meters Centerline goodness [0,1] 0.984841546070709 Centerline is valid? [True, True] Translation: X:135.86, Y:-4.73, Z:1.61 [[ 9.98973333e-01 -3.54025454e-02 -2.82655070e-02 1.35864816e+02] [ 3.54455010e-02 9.99371090e-01 1.01996957e-03 -4.72704337e+00] [ 2.82116211e-02 -2.02080746e-03 9.99599930e-01 1.60638197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79071405699997 meters Centerline goodness [0,1] 0.9843631604325963 Centerline is valid? [True, True] Translation: X:135.89, Y:-4.73, Z:1.61 [[ 9.98960725e-01 -3.54940522e-02 -2.85944494e-02 1.35893827e+02] [ 3.55380378e-02 9.99367792e-01 1.03136949e-03 -4.72963107e+00] [ 2.85397643e-02 -2.04648823e-03 9.99590563e-01 1.60599778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82071405699998 meters Centerline goodness [0,1] 0.9844442912616898 Centerline is valid? [True, True] Translation: X:135.92, Y:-4.73, Z:1.61 [[ 9.98924881e-01 -3.63231655e-02 -2.88046996e-02 1.35923814e+02] [ 3.63681301e-02 9.99337921e-01 1.03848415e-03 -4.73369350e+00] [ 2.87479076e-02 -2.08494071e-03 9.99584519e-01 1.60501699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85071405699998 meters Centerline goodness [0,1] 0.984227418615314 Centerline is valid? [True, True] Translation: X:135.95, Y:-4.74, Z:1.61 [[ 9.98928191e-01 -3.63455931e-02 -2.86612389e-02 1.35954166e+02] [ 3.63901136e-02 9.99337126e-01 1.03309721e-03 -4.73539348e+00] [ 2.86046916e-02 -2.07497567e-03 9.99588648e-01 1.60521849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88071405699998 meters Centerline goodness [0,1] 0.9867292071845326 Centerline is valid? [True, True] Translation: X:135.99, Y:-4.73, Z:1.61 [[ 9.98939329e-01 -3.62059393e-02 -2.84490129e-02 1.35985695e+02] [ 3.62497614e-02 9.99342235e-01 1.02597506e-03 -4.72531116e+00] [ 2.83931537e-02 -2.05615676e-03 9.99594718e-01 1.60834945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91071405699998 meters Centerline goodness [0,1] 0.9870723306544202 Centerline is valid? [True, True] Translation: X:136.02, Y:-4.72, Z:1.61 [[ 9.98970891e-01 -3.56641243e-02 -2.80219513e-02 1.36016158e+02] [ 3.57064408e-02 9.99361810e-01 1.01103261e-03 -4.72243807e+00] [ 2.79680104e-02 -2.01055630e-03 9.99606797e-01 1.60998536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94071405699998 meters Centerline goodness [0,1] 0.9867088317521426 Centerline is valid? [True, True] Translation: X:136.05, Y:-4.72, Z:1.61 [[ 9.99021183e-01 -3.48381133e-02 -2.72577035e-02 1.36046638e+02] [ 3.48778529e-02 9.99391098e-01 9.83706166e-04 -4.72434731e+00] [ 2.72068358e-02 -1.93343347e-03 9.99627956e-01 1.61118877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97071405699998 meters Centerline goodness [0,1] 0.9867088317521426 Centerline is valid? [True, True] Translation: X:136.08, Y:-4.73, Z:1.61 [[ 9.99022422e-01 -3.48025687e-02 -2.72576771e-02 1.36077544e+02] [ 3.48423151e-02 9.99392337e-01 9.84438250e-04 -4.72549370e+00] [ 2.72068526e-02 -1.93319646e-03 9.99627956e-01 1.61160167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00071405699998 meters Centerline goodness [0,1] 0.9870640136023161 Centerline is valid? [True, True] Translation: X:136.11, Y:-4.73, Z:1.61 [[ 9.99048900e-01 -3.43324431e-02 -2.68808097e-02 1.36106811e+02] [ 3.43709344e-02 9.99408673e-01 9.71056603e-04 -4.72851696e+00] [ 2.68315756e-02 -1.89405158e-03 9.99638174e-01 1.61210588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03071405699998 meters Centerline goodness [0,1] 0.9876074860900355 Centerline is valid? [True, True] Translation: X:136.14, Y:-4.73, Z:1.61 [[ 9.99079505e-01 -3.39764264e-02 -2.61867432e-02 1.36138144e+02] [ 3.40128393e-02 9.99420948e-01 9.46217533e-04 -4.72531000e+00] [ 2.61394306e-02 -1.83603203e-03 9.99656621e-01 1.61326083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06071405699998 meters Centerline goodness [0,1] 0.9872186846279396 Centerline is valid? [True, True] Translation: X:136.17, Y:-4.73, Z:1.61 [[ 9.99098071e-01 -3.37122873e-02 -2.58171786e-02 1.36168639e+02] [ 3.37476095e-02 9.99429951e-01 9.33561640e-04 -4.72925321e+00] [ 2.57709890e-02 -1.80398769e-03 9.99666245e-01 1.61323927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09071405699999 meters Centerline goodness [0,1] 0.9878202628621235 Centerline is valid? [True, True] Translation: X:136.20, Y:-4.73, Z:1.61 [[ 9.99114541e-01 -3.35644136e-02 -2.53685708e-02 1.36200189e+02] [ 3.35984878e-02 9.99434990e-01 9.18000310e-04 -4.73057084e+00] [ 2.53234252e-02 -1.76953307e-03 9.99677745e-01 1.61357989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.120714057 meters Centerline goodness [0,1] 0.9880611379729142 Centerline is valid? [True, True] Translation: X:136.23, Y:-4.73, Z:1.61 [[ 9.99130364e-01 -3.31235914e-02 -2.53247761e-02 1.36230014e+02] [ 3.31574244e-02 9.99449721e-01 9.17098306e-04 -4.73363358e+00] [ 2.52804628e-02 -1.75600511e-03 9.99678856e-01 1.61336938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.150714057 meters Centerline goodness [0,1] 0.9887434374928357 Centerline is valid? [True, True] Translation: X:136.26, Y:-4.74, Z:1.61 [[ 9.99126530e-01 -3.28212267e-02 -2.58639355e-02 1.36261000e+02] [ 3.28564328e-02 9.99459642e-01 9.37298709e-04 -4.73646014e+00] [ 2.58191964e-02 -1.78627667e-03 9.99665033e-01 1.61352530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.180714057 meters Centerline goodness [0,1] 0.9887038144756821 Centerline is valid? [True, True] Translation: X:136.29, Y:-4.73, Z:1.61 [[ 9.99110502e-01 -3.25084568e-02 -2.68589910e-02 1.36291655e+02] [ 3.25463322e-02 9.99469753e-01 9.74085815e-04 -4.73452429e+00] [ 2.68130831e-02 -1.84738101e-03 9.99638758e-01 1.61386786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.210714057 meters Centerline goodness [0,1] 0.988156173250396 Centerline is valid? [True, True] Translation: X:136.32, Y:-4.74, Z:1.61 [[ 9.99080782e-01 -3.25219160e-02 -2.79269705e-02 1.36321296e+02] [ 3.25628769e-02 9.99469175e-01 1.01306864e-03 -4.74024426e+00] [ 2.78791992e-02 -1.92151991e-03 9.99609453e-01 1.61265511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.240714057 meters Centerline goodness [0,1] 0.9893712265558642 Centerline is valid? [True, True] Translation: X:136.35, Y:-4.74, Z:1.61 [[ 9.99058394e-01 -3.26210421e-02 -2.86040901e-02 1.36351554e+02] [ 3.26640547e-02 9.99465849e-01 1.03763159e-03 -4.73834461e+00] [ 2.85549626e-02 -1.97098011e-03 9.99590281e-01 1.61270276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.270714057 meters Centerline goodness [0,1] 0.9895895573838305 Centerline is valid? [True, True] Translation: X:136.38, Y:-4.74, Z:1.61 [[ 9.99000933e-01 -3.23348439e-02 -3.08479090e-02 1.36381481e+02] [ 3.23847174e-02 9.99474852e-01 1.11837667e-03 -4.73507340e+00] [ 3.07955467e-02 -2.11626015e-03 9.99523464e-01 1.61260195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.300714057 meters Centerline goodness [0,1] 0.9881267401458846 Centerline is valid? [True, True] Translation: X:136.41, Y:-4.74, Z:1.61 [[ 9.98977863e-01 -3.19624718e-02 -3.19629382e-02 1.36409976e+02] [ 3.20157793e-02 9.99486694e-01 1.15726350e-03 -4.74183730e+00] [ 3.19095424e-02 -2.17939899e-03 9.99488385e-01 1.61112884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.330714057 meters Centerline goodness [0,1] 0.9885384192187786 Centerline is valid? [True, True] Translation: X:136.44, Y:-4.74, Z:1.61 [[ 9.98971135e-01 -3.14118013e-02 -3.27104034e-02 1.36439027e+02] [ 3.14671604e-02 9.99504091e-01 1.17886205e-03 -4.73954569e+00] [ 3.26571519e-02 -2.20695267e-03 9.99464176e-01 1.61243170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.360714057 meters Centerline goodness [0,1] 0.9888942539835828 Centerline is valid? [True, True] Translation: X:136.47, Y:-4.73, Z:1.61 [[ 9.98977094e-01 -3.12123346e-02 -3.27193419e-02 1.36468311e+02] [ 3.12673503e-02 9.99510371e-01 1.17100735e-03 -4.73411140e+00] [ 3.26667717e-02 -2.19285665e-03 9.99463893e-01 1.61482077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.390714057 meters Centerline goodness [0,1] 0.9886932941122397 Centerline is valid? [True, True] Translation: X:136.50, Y:-4.74, Z:1.61 [[ 9.99004720e-01 -3.07509677e-02 -3.23101826e-02 1.36495796e+02] [ 3.08042119e-02 9.99524775e-01 1.15130819e-03 -4.73748643e+00] [ 3.22594241e-02 -2.14545203e-03 9.99477227e-01 1.61495713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.420714057 meters Centerline goodness [0,1] 0.9884917255506709 Centerline is valid? [True, True] Translation: X:136.52, Y:-4.74, Z:1.62 [[ 9.99066372e-01 -3.03147749e-02 -3.07798382e-02 1.36523820e+02] [ 3.03628041e-02 9.99538345e-01 1.09411119e-03 -4.74104178e+00] [ 3.07324608e-02 -2.02765189e-03 9.99525590e-01 1.61631949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.450714057 meters Centerline goodness [0,1] 0.9880263006113739 Centerline is valid? [True, True] Translation: X:136.55, Y:-4.74, Z:1.62 [[ 9.99107042e-01 -3.00059357e-02 -2.97449647e-02 1.36553178e+02] [ 3.00505080e-02 9.99547827e-01 1.05249053e-03 -4.73800309e+00] [ 2.96999339e-02 -1.94540199e-03 9.99556967e-01 1.61883252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.480714057 meters Centerline goodness [0,1] 0.9865126127784938 Centerline is valid? [True, True] Translation: X:136.58, Y:-4.75, Z:1.62 [[ 9.99110878e-01 -3.01183929e-02 -2.95014720e-02 1.36580523e+02] [ 3.01621577e-02 9.99544478e-01 1.03949283e-03 -4.74896743e+00] [ 2.94567256e-02 -1.92839664e-03 9.99564196e-01 1.61682838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51071405699997 meters Centerline goodness [0,1] 0.9882898042922017 Centerline is valid? [True, True] Translation: X:136.61, Y:-4.74, Z:1.62 [[ 9.99090353e-01 -3.07861695e-02 -2.95072446e-02 1.36610068e+02] [ 3.08301823e-02 9.99524098e-01 1.03769229e-03 -4.73751755e+00] [ 2.94612555e-02 -1.94646209e-03 9.99564028e-01 1.62046848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54071405699997 meters Centerline goodness [0,1] 0.9882420616658997 Centerline is valid? [True, True] Translation: X:136.64, Y:-4.74, Z:1.62 [[ 9.99066616e-01 -3.15006950e-02 -2.95567702e-02 1.36639717e+02] [ 3.15451291e-02 9.99501789e-01 1.03815228e-03 -4.73749829e+00] [ 2.95093422e-02 -1.96955542e-03 9.99562564e-01 1.62124142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57071405699998 meters Centerline goodness [0,1] 0.9878815804630803 Centerline is valid? [True, True] Translation: X:136.67, Y:-4.74, Z:1.62 [[ 9.99039158e-01 -3.17005056e-02 -3.02628196e-02 1.36668383e+02] [ 3.17471387e-02 9.99495369e-01 1.06157332e-03 -4.73985294e+00] [ 3.02138957e-02 -2.02131125e-03 9.99541412e-01 1.62208668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60071405699998 meters Centerline goodness [0,1] 0.987782388197326 Centerline is valid? [True, True] Translation: X:136.70, Y:-4.74, Z:1.62 [[ 9.98936912e-01 -3.43930882e-02 -3.06946444e-02 1.36698409e+02] [ 3.44422960e-02 9.99406109e-01 1.07570134e-03 -4.74122311e+00] [ 3.06394185e-02 -2.13175180e-03 9.99528230e-01 1.62245322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63071405699998 meters Centerline goodness [0,1] 0.9881001798810018 Centerline is valid? [True, True] Translation: X:136.73, Y:-4.74, Z:1.62 [[ 9.98886338e-01 -3.53901555e-02 -3.12029050e-02 1.36728319e+02] [ 3.54414771e-02 9.99371156e-01 1.09306324e-03 -4.74378330e+00] [ 3.11445996e-02 -2.19772299e-03 9.99512473e-01 1.62200132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66071405699998 meters Centerline goodness [0,1] 0.9875925370724845 Centerline is valid? [True, True] Translation: X:136.76, Y:-4.75, Z:1.62 [[ 9.98771158e-01 -3.76102532e-02 -3.22744985e-02 1.36757802e+02] [ 3.76662996e-02 9.99289734e-01 1.13010993e-03 -4.74778578e+00] [ 3.22090713e-02 -2.34438214e-03 9.99478404e-01 1.62040361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69071405699998 meters Centerline goodness [0,1] 0.9873773437140093 Centerline is valid? [True, True] Translation: X:136.79, Y:-4.75, Z:1.62 [[ 9.98732685e-01 -3.84086463e-02 -3.25238404e-02 1.36787582e+02] [ 3.84659715e-02 9.99259262e-01 1.13847246e-03 -4.75072007e+00] [ 3.24560215e-02 -2.38809078e-03 9.99470312e-01 1.61991075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72071405699998 meters Centerline goodness [0,1] 0.9863515006444485 Centerline is valid? [True, True] Translation: X:136.82, Y:-4.75, Z:1.62 [[ 9.98688601e-01 -3.96216864e-02 -3.24222029e-02 1.36816488e+02] [ 3.96792960e-02 9.99211822e-01 1.13512198e-03 -4.75413751e+00] [ 3.23516730e-02 -2.42012357e-03 9.99473618e-01 1.61924734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75071405699998 meters Centerline goodness [0,1] 0.9856485740570378 Centerline is valid? [True, True] Translation: X:136.85, Y:-4.76, Z:1.62 [[ 9.98693639e-01 -3.97167818e-02 -3.21495303e-02 1.36846722e+02] [ 3.97734815e-02 9.99208088e-01 1.12578428e-03 -4.75595003e+00] [ 3.20793582e-02 -2.40301235e-03 9.99482436e-01 1.61977278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78071405699998 meters Centerline goodness [0,1] 0.9831381840767408 Centerline is valid? [True, True] Translation: X:136.88, Y:-4.76, Z:1.62 [[ 9.98685462e-01 -4.00903121e-02 -3.19392414e-02 1.36875757e+02] [ 4.01464520e-02 9.99193181e-01 1.11810968e-03 -4.75943945e+00] [ 3.18686469e-02 -2.39888711e-03 9.99489187e-01 1.61970157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81071405699998 meters Centerline goodness [0,1] 0.983227166490995 Centerline is valid? [True, True] Translation: X:136.91, Y:-4.76, Z:1.62 [[ 9.98712020e-01 -3.95778559e-02 -3.17473510e-02 1.36906052e+02] [ 3.96330585e-02 9.99213684e-01 1.11117040e-03 -4.76111308e+00] [ 3.16784098e-02 -2.36798386e-03 9.99495308e-01 1.62028623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84071405699999 meters Centerline goodness [0,1] 0.9857431470682768 Centerline is valid? [True, True] Translation: X:136.94, Y:-4.75, Z:1.62 [[ 9.98737437e-01 -3.91634304e-02 -3.14604032e-02 1.36936643e+02] [ 3.92174346e-02 9.99230094e-01 1.10112711e-03 -4.75103337e+00] [ 3.13930578e-02 -2.33353318e-03 9.99504392e-01 1.62342018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.870714057 meters Centerline goodness [0,1] 0.9832262505736576 Centerline is valid? [True, True] Translation: X:136.97, Y:-4.76, Z:1.62 [[ 9.98786463e-01 -3.81691108e-02 -3.11242618e-02 1.36965934e+02] [ 3.82214767e-02 9.99268699e-01 1.08904696e-03 -4.76187391e+00] [ 3.10599327e-02 -2.27734061e-03 9.99514930e-01 1.62105133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.900714057 meters Centerline goodness [0,1] 0.9830866322432588 Centerline is valid? [True, True] Translation: X:137.00, Y:-4.76, Z:1.62 [[ 9.98815530e-01 -3.74860189e-02 -3.10215213e-02 1.36996606e+02] [ 3.75377045e-02 9.99294623e-01 1.08521642e-03 -4.76187968e+00] [ 3.09589590e-02 -2.24840771e-03 9.99518128e-01 1.62200829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.930714057 meters Centerline goodness [0,1] 0.9860393561571491 Centerline is valid? [True, True] Translation: X:137.03, Y:-4.75, Z:1.63 [[ 9.98827825e-01 -3.76132628e-02 -3.04666892e-02 1.37027828e+02] [ 3.76632047e-02 9.99289920e-01 1.06681799e-03 -4.75043426e+00] [ 3.04049290e-02 -2.21304065e-03 9.99535213e-01 1.62626889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.960714057 meters Centerline goodness [0,1] 0.9858813299466831 Centerline is valid? [True, True] Translation: X:137.06, Y:-4.75, Z:1.63 [[ 9.98818304e-01 -3.78689159e-02 -3.04621083e-02 1.37058912e+02] [ 3.79190036e-02 9.99280245e-01 1.06805803e-03 -4.75230703e+00] [ 3.03997368e-02 -2.22188870e-03 9.99535352e-01 1.62643334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.990714057 meters Centerline goodness [0,1] 0.9859452023386449 Centerline is valid? [True, True] Translation: X:137.09, Y:-4.76, Z:1.63 [[ 9.98794251e-01 -3.84792476e-02 -3.04859214e-02 1.37090481e+02] [ 3.85297295e-02 9.99256881e-01 1.06997977e-03 -4.75598057e+00] [ 3.04220947e-02 -2.24330395e-03 9.99534624e-01 1.62624054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.020714057 meters Centerline goodness [0,1] 0.986520254006098 Centerline is valid? [True, True] Translation: X:137.12, Y:-4.76, Z:1.63 [[ 9.98777332e-01 -3.88726393e-02 -3.05410976e-02 1.37121306e+02] [ 3.89235108e-02 9.99241617e-01 1.07269752e-03 -4.75825983e+00] [ 3.04762372e-02 -2.26015271e-03 9.99532936e-01 1.62665402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.050714057 meters Centerline goodness [0,1] 0.9862429495116247 Centerline is valid? [True, True] Translation: X:137.15, Y:-4.76, Z:1.63 [[ 9.98782055e-01 -3.89053599e-02 -3.03443581e-02 1.37151385e+02] [ 3.89556091e-02 9.99240373e-01 1.06632536e-03 -4.76138351e+00] [ 3.02798219e-02 -2.24710958e-03 9.99538935e-01 1.62708481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.080714057 meters Centerline goodness [0,1] 0.9859648319443173 Centerline is valid? [True, True] Translation: X:137.18, Y:-4.76, Z:1.63 [[ 9.98776427e-01 -3.91772972e-02 -3.01792674e-02 1.37182487e+02] [ 3.92271491e-02 9.99229756e-01 1.06135022e-03 -4.76416274e+00] [ 3.01144412e-02 -2.24389820e-03 9.99543939e-01 1.62822292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.110714057 meters Centerline goodness [0,1] 0.9865639924136828 Centerline is valid? [True, True] Translation: X:137.21, Y:-4.77, Z:1.63 [[ 9.98774812e-01 -3.93980242e-02 -2.99444730e-02 1.37214044e+02] [ 3.94472332e-02 9.99221099e-01 1.05414368e-03 -4.76611894e+00] [ 2.98796180e-02 -2.23407876e-03 9.99551008e-01 1.62881156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.140714057 meters Centerline goodness [0,1] 0.987368950001142 Centerline is valid? [True, True] Translation: X:137.25, Y:-4.77, Z:1.63 [[ 9.98784850e-01 -3.95934378e-02 -2.93459133e-02 1.37245582e+02] [ 3.96408119e-02 9.99213459e-01 1.03409343e-03 -4.76917184e+00] [ 2.92818882e-02 -2.19613267e-03 9.99568781e-01 1.62970642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.170714057 meters Centerline goodness [0,1] 0.9854076273121717 Centerline is valid? [True, True] Translation: X:137.28, Y:-4.77, Z:1.63 [[ 9.98822920e-01 -3.88736801e-02 -2.90105328e-02 1.37275492e+02] [ 3.89196964e-02 9.99241818e-01 1.02300768e-03 -4.77477275e+00] [ 2.89487695e-02 -2.15088464e-03 9.99578582e-01 1.62977538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.200714057 meters Centerline goodness [0,1] 0.9853423160961399 Centerline is valid? [True, True] Translation: X:137.31, Y:-4.78, Z:1.63 [[ 9.98807019e-01 -4.01312472e-02 -2.78212310e-02 1.37305434e+02] [ 4.01740574e-02 9.99192215e-01 9.81290627e-04 -4.78015569e+00] [ 2.77593770e-02 -2.09781170e-03 9.99612433e-01 1.63063176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.230714057 meters Centerline goodness [0,1] 0.9847284680530509 Centerline is valid? [True, True] Translation: X:137.34, Y:-4.78, Z:1.63 [[ 9.98799381e-01 -4.03280351e-02 -2.78108948e-02 1.37337046e+02] [ 4.03709033e-02 9.99184281e-01 9.81431438e-04 -4.78404304e+00] [ 2.77486297e-02 -2.10300406e-03 9.99612720e-01 1.63066117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26071405699997 meters Centerline goodness [0,1] 0.9861464968152867 Centerline is valid? [True, True] Translation: X:137.37, Y:-4.78, Z:1.63 [[ 9.98825596e-01 -3.97052812e-02 -2.77654263e-02 1.37368461e+02] [ 3.97477975e-02 9.99209263e-01 9.80816300e-04 -4.77911391e+00] [ 2.77045276e-02 -2.08327897e-03 9.99613985e-01 1.63199950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29071405699997 meters Centerline goodness [0,1] 0.9865988279652932 Centerline is valid? [True, True] Translation: X:137.40, Y:-4.78, Z:1.63 [[ 9.98861229e-01 -3.90889602e-02 -2.73550470e-02 1.37399631e+02] [ 3.91300253e-02 9.99233659e-01 9.67296807e-04 -4.78130773e+00] [ 2.72962731e-02 -2.03659896e-03 9.99625313e-01 1.63192541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32071405699998 meters Centerline goodness [0,1] 0.9868573374191352 Centerline is valid? [True, True] Translation: X:137.43, Y:-4.79, Z:1.63 [[ 9.98910660e-01 -3.80032476e-02 -2.70785368e-02 1.37429999e+02] [ 3.80431307e-02 9.99275638e-01 9.59038572e-04 -4.78593731e+00] [ 2.70224756e-02 -1.98814617e-03 9.99632849e-01 1.63176021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35071405699998 meters Centerline goodness [0,1] 0.9870495112381211 Centerline is valid? [True, True] Translation: X:137.46, Y:-4.79, Z:1.63 [[ 9.98949586e-01 -3.70889621e-02 -2.69097120e-02 1.37461466e+02] [ 3.71280594e-02 9.99310060e-01 9.54547215e-04 -4.78814946e+00] [ 2.68557427e-02 -1.95264993e-03 9.99637412e-01 1.63226104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38071405699998 meters Centerline goodness [0,1] 0.9870324189526185 Centerline is valid? [True, True] Translation: X:137.49, Y:-4.79, Z:1.63 [[ 9.98972632e-01 -3.63399629e-02 -2.70756077e-02 1.37492346e+02] [ 3.63792894e-02 9.99337592e-01 9.61142335e-04 -4.79026913e+00] [ 2.70227447e-02 -1.94514626e-03 9.99632926e-01 1.63254838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41071405699998 meters Centerline goodness [0,1] 0.9869294370823423 Centerline is valid? [True, True] Translation: X:137.52, Y:-4.79, Z:1.63 [[ 9.99015390e-01 -3.46569043e-02 -2.76974668e-02 1.37522339e+02] [ 3.46974581e-02 9.99397377e-01 9.84764129e-04 -4.79384042e+00] [ 2.76466468e-02 -1.94482622e-03 9.99615867e-01 1.63193139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44071405699998 meters Centerline goodness [0,1] 0.987889468808604 Centerline is valid? [True, True] Translation: X:137.55, Y:-4.79, Z:1.63 [[ 9.99100081e-01 -3.18324397e-02 -2.80307603e-02 1.37552964e+02] [ 3.18729012e-02 9.99491432e-01 9.97741025e-04 -4.79078664e+00] [ 2.79847442e-02 -1.89026479e-03 9.99606563e-01 1.63250211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47071405699998 meters Centerline goodness [0,1] 0.9882012567243795 Centerline is valid? [True, True] Translation: X:137.58, Y:-4.79, Z:1.63 [[ 9.99156526e-01 -3.01985493e-02 -2.78259609e-02 1.37583120e+02] [ 3.02377809e-02 9.99542243e-01 9.90098278e-04 -4.79077825e+00] [ 2.77833238e-02 -1.83065847e-03 9.99612293e-01 1.63259753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50071405699998 meters Centerline goodness [0,1] 0.9877006556635768 Centerline is valid? [True, True] Translation: X:137.61, Y:-4.80, Z:1.63 [[ 9.99203898e-01 -2.85344730e-02 -2.78810850e-02 1.37611783e+02] [ 2.85731943e-02 9.99591211e-01 9.91304553e-04 -4.79884305e+00] [ 2.78414012e-02 -1.78716703e-03 9.99610755e-01 1.63144483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53071405699998 meters Centerline goodness [0,1] 0.988076957817722 Centerline is valid? [True, True] Translation: X:137.64, Y:-4.80, Z:1.63 [[ 9.99320411e-01 -2.56760071e-02 -2.64472788e-02 1.37641062e+02] [ 2.57098263e-02 9.99669006e-01 9.39438771e-04 -4.80092759e+00] [ 2.64144039e-02 -1.61875528e-03 9.99649768e-01 1.63209784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56071405699998 meters Centerline goodness [0,1] 0.9885321617663625 Centerline is valid? [True, True] Translation: X:137.67, Y:-4.80, Z:1.63 [[ 9.99364048e-01 -2.47000461e-02 -2.57178231e-02 1.37670386e+02] [ 2.47316199e-02 9.99693712e-01 9.10305269e-04 -4.79797236e+00] [ 2.56874614e-02 -1.54576978e-03 9.99668828e-01 1.63349125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59071405699999 meters Centerline goodness [0,1] 0.987584624727289 Centerline is valid? [True, True] Translation: X:137.70, Y:-4.81, Z:1.63 [[ 9.99422093e-01 -2.32013641e-02 -2.48430439e-02 1.37698533e+02] [ 2.32302726e-02 9.99729757e-01 8.75642542e-04 -4.80724577e+00] [ 2.48160141e-02 -1.45224718e-03 9.99690980e-01 1.63236880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.620714057 meters Centerline goodness [0,1] 0.9874825834868983 Centerline is valid? [True, True] Translation: X:137.73, Y:-4.81, Z:1.63 [[ 9.99419063e-01 -2.30508214e-02 -2.51036974e-02 1.37727422e+02] [ 2.30802012e-02 9.99733228e-01 8.81181699e-04 -4.80848746e+00] [ 2.50766885e-02 -1.46006818e-03 9.99684464e-01 1.63234839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.650714057 meters Centerline goodness [0,1] 0.9880279946891104 Centerline is valid? [True, True] Translation: X:137.76, Y:-4.81, Z:1.63 [[ 9.99417438e-01 -2.32236675e-02 -2.50089042e-02 1.37755483e+02] [ 2.32527264e-02 9.99729239e-01 8.71724100e-04 -4.81001050e+00] [ 2.49818882e-02 -1.45274148e-03 9.99686848e-01 1.63247231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.680714057 meters Centerline goodness [0,1] 0.9880717045556654 Centerline is valid? [True, True] Translation: X:137.78, Y:-4.82, Z:1.63 [[ 9.99423751e-01 -2.36319471e-02 -2.43659027e-02 1.37782661e+02] [ 2.36595467e-02 9.99719717e-01 8.45008255e-04 -4.81558236e+00] [ 2.43391042e-02 -1.42100753e-03 9.99702750e-01 1.63326140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.710714057 meters Centerline goodness [0,1] 0.9874052583046578 Centerline is valid? [True, True] Translation: X:137.81, Y:-4.82, Z:1.63 [[ 9.99423232e-01 -2.43976660e-02 -2.36210976e-02 1.37811204e+02] [ 2.44237375e-02 9.99701363e-01 8.15826989e-04 -4.81789951e+00] [ 2.35941392e-02 -1.39227193e-03 9.99720650e-01 1.63465568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.740714057 meters Centerline goodness [0,1] 0.9878588933606134 Centerline is valid? [True, True] Translation: X:137.84, Y:-4.81, Z:1.64 [[ 9.99426010e-01 -2.56596624e-02 -2.21185863e-02 1.37840074e+02] [ 2.56827208e-02 9.99669856e-01 7.59002977e-04 -4.81183655e+00] [ 2.20918082e-02 -1.32663279e-03 9.99755066e-01 1.63895670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.770714057 meters Centerline goodness [0,1] 0.9879574811625403 Centerline is valid? [True, True] Translation: X:137.87, Y:-4.82, Z:1.64 [[ 9.99422868e-01 -2.62312823e-02 -2.15835593e-02 1.37869626e+02] [ 2.62532999e-02 9.99655051e-01 7.37341331e-04 -4.81553248e+00] [ 2.15567726e-02 -1.30355544e-03 9.99766776e-01 1.63981905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.800714057 meters Centerline goodness [0,1] 0.9875179597701149 Centerline is valid? [True, True] Translation: X:137.90, Y:-4.82, Z:1.64 [[ 9.99389992e-01 -2.78892931e-02 -2.10197886e-02 1.37898886e+02] [ 2.79105331e-02 9.99610168e-01 7.17728167e-04 -4.82160471e+00] [ 2.09915775e-02 -1.30396385e-03 9.99778802e-01 1.64049158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.830714057 meters Centerline goodness [0,1] 0.9868184272089257 Centerline is valid? [True, True] Translation: X:137.93, Y:-4.83, Z:1.64 [[ 9.99360259e-01 -2.90424046e-02 -2.08713264e-02 1.37929296e+02] [ 2.90635939e-02 9.99577311e-01 7.12560226e-04 -4.82616841e+00] [ 2.08418099e-02 -1.31870013e-03 9.99781916e-01 1.64067620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.860714057 meters Centerline goodness [0,1] 0.9868184272089257 Centerline is valid? [True, True] Translation: X:137.96, Y:-4.83, Z:1.64 [[ 9.99361237e-01 -2.90087426e-02 -2.08713101e-02 1.37960184e+02] [ 2.90299346e-02 9.99578288e-01 7.13038386e-04 -4.82725607e+00] [ 2.08418241e-02 -1.31847569e-03 9.99781916e-01 1.64108885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.890714057 meters Centerline goodness [0,1] 0.9865073504732497 Centerline is valid? [True, True] Translation: X:137.99, Y:-4.83, Z:1.64 [[ 9.99324602e-01 -3.01192872e-02 -2.10515762e-02 1.37989871e+02] [ 3.01411019e-02 9.99545395e-01 7.19650760e-04 -4.83177122e+00] [ 2.10203307e-02 -1.35368241e-03 9.99778132e-01 1.64109628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.920714057 meters Centerline goodness [0,1] 0.9889854034207934 Centerline is valid? [True, True] Translation: X:138.02, Y:-4.83, Z:1.64 [[ 9.99273814e-01 -3.15448254e-02 -2.13721473e-02 1.38021607e+02] [ 3.15676404e-02 9.99501351e-01 7.30895400e-04 -4.82811809e+00] [ 2.13384341e-02 -1.40503290e-03 9.99771322e-01 1.64181408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.950714057 meters Centerline goodness [0,1] 0.989269472882457 Centerline is valid? [True, True] Translation: X:138.05, Y:-4.83, Z:1.64 [[ 9.99246656e-01 -3.23161798e-02 -2.14891859e-02 1.38052989e+02] [ 3.23394394e-02 9.99476673e-01 7.35666041e-04 -4.83137890e+00] [ 2.14541661e-02 -1.43006006e-03 9.99768810e-01 1.64155320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.980714057 meters Centerline goodness [0,1] 0.9886853448275862 Centerline is valid? [True, True] Translation: X:138.08, Y:-4.83, Z:1.64 [[ 9.99261457e-01 -3.19971509e-02 -2.12772672e-02 1.38082891e+02] [ 3.20198949e-02 9.99486966e-01 7.29022168e-04 -4.83443264e+00] [ 2.12430246e-02 -1.40977961e-03 9.99773348e-01 1.64175065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01071405699997 meters Centerline goodness [0,1] 0.9873190841062867 Centerline is valid? [True, True] Translation: X:138.11, Y:-4.84, Z:1.64 [[ 9.99267523e-01 -3.16480577e-02 -2.15131933e-02 1.38112709e+02] [ 3.16712367e-02 9.99498068e-01 7.37487036e-04 -4.84439771e+00] [ 2.14790551e-02 -1.41829628e-03 9.99768292e-01 1.64083201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04071405699997 meters Centerline goodness [0,1] 0.9891156158505241 Centerline is valid? [True, True] Translation: X:138.14, Y:-4.84, Z:1.64 [[ 9.99294714e-01 -3.04807507e-02 -2.19316843e-02 1.38143139e+02] [ 3.05045659e-02 9.99534345e-01 7.52071475e-04 -4.83786667e+00] [ 2.18985480e-02 -1.42055756e-03 9.99759189e-01 1.64250679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07071405699998 meters Centerline goodness [0,1] 0.9891541104349584 Centerline is valid? [True, True] Translation: X:138.17, Y:-4.84, Z:1.64 [[ 9.99297848e-01 -3.01360659e-02 -2.22626989e-02 1.38174361e+02] [ 3.01605274e-02 9.99544776e-01 7.63739053e-04 -4.83751435e+00] [ 2.22295483e-02 -1.43465753e-03 9.99751864e-01 1.64320918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10071405699998 meters Centerline goodness [0,1] 0.9898321063027473 Centerline is valid? [True, True] Translation: X:138.20, Y:-4.84, Z:1.64 [[ 9.99292959e-01 -3.00238750e-02 -2.26307117e-02 1.38204519e+02] [ 3.00491381e-02 9.99548121e-01 7.77008324e-04 -4.84079790e+00] [ 2.25971565e-02 -1.45649233e-03 9.99743591e-01 1.64325098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13071405699998 meters Centerline goodness [0,1] 0.9901697344260827 Centerline is valid? [True, True] Translation: X:138.23, Y:-4.84, Z:1.64 [[ 9.99284930e-01 -3.05077448e-02 -2.23362116e-02 1.38234014e+02] [ 3.05324765e-02 9.99533481e-01 7.66971915e-04 -4.84425483e+00] [ 2.23023928e-02 -1.44840333e-03 9.99750222e-01 1.64299689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16071405699998 meters Centerline goodness [0,1] 0.9894588108641532 Centerline is valid? [True, True] Translation: X:138.26, Y:-4.85, Z:1.64 [[ 9.99270854e-01 -3.11681366e-02 -2.20523614e-02 1.38264449e+02] [ 3.11923985e-02 9.99513112e-01 7.56996795e-04 -4.84577638e+00] [ 2.20180301e-02 -1.44431088e-03 9.99756531e-01 1.64327508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19071405699998 meters Centerline goodness [0,1] 0.9888628501283339 Centerline is valid? [True, True] Translation: X:138.29, Y:-4.85, Z:1.64 [[ 9.99233475e-01 -3.23430415e-02 -2.20542603e-02 1.38294848e+02] [ 3.23675958e-02 9.99475745e-01 7.57212148e-04 -4.85082529e+00] [ 2.20182077e-02 -1.47047511e-03 9.99756488e-01 1.64349544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22071405699998 meters Centerline goodness [0,1] 0.9899975385441607 Centerline is valid? [True, True] Translation: X:138.33, Y:-4.85, Z:1.64 [[ 9.99209797e-01 -3.31679463e-02 -2.19013548e-02 1.38326203e+02] [ 3.31923698e-02 9.99448698e-01 7.52482904e-04 -4.85376488e+00] [ 2.18643222e-02 -1.47884616e-03 9.99759853e-01 1.64382750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25071405699998 meters Centerline goodness [0,1] 0.9897975130042641 Centerline is valid? [True, True] Translation: X:138.36, Y:-4.85, Z:1.65 [[ 9.99193858e-01 -3.34151681e-02 -2.22499486e-02 1.38358108e+02] [ 3.34404539e-02 9.99440419e-01 7.65242729e-04 -4.84924823e+00] [ 2.22119273e-02 -1.50867422e-03 9.99752146e-01 1.64503054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28071405699998 meters Centerline goodness [0,1] 0.9889650858891594 Centerline is valid? [True, True] Translation: X:138.39, Y:-4.86, Z:1.64 [[ 9.99192059e-01 -3.36571146e-02 -2.19642463e-02 1.38387949e+02] [ 3.36818270e-02 9.99432320e-01 7.56043853e-04 -4.85932331e+00] [ 2.19263314e-02 -1.49522896e-03 9.99758471e-01 1.64423903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31071405699998 meters Centerline goodness [0,1] 0.9898384401114206 Centerline is valid? [True, True] Translation: X:138.42, Y:-4.86, Z:1.65 [[ 9.99154193e-01 -3.44704278e-02 -2.24207126e-02 1.38418972e+02] [ 3.44963911e-02 9.99404524e-01 7.72158863e-04 -4.85584674e+00] [ 2.23807450e-02 -1.54493944e-03 9.99748326e-01 1.64565191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34071405699999 meters Centerline goodness [0,1] 0.9890840904524857 Centerline is valid? [True, True] Translation: X:138.45, Y:-4.86, Z:1.65 [[ 9.99137812e-01 -3.50316615e-02 -2.22803714e-02 1.38448973e+02] [ 3.50574483e-02 9.99385004e-01 7.67714730e-04 -4.86442318e+00] [ 2.22397748e-02 -1.54814579e-03 9.99751467e-01 1.64518895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.370714057 meters Centerline goodness [0,1] 0.9896654092542577 Centerline is valid? [True, True] Translation: X:138.48, Y:-4.86, Z:1.65 [[ 9.99090423e-01 -3.61439667e-02 -2.26260809e-02 1.38480798e+02] [ 3.61708567e-02 9.99345316e-01 7.80192813e-04 -4.85913998e+00] [ 2.25830687e-02 -1.59788790e-03 9.99743693e-01 1.64692362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.400714057 meters Centerline goodness [0,1] 0.9891287362993058 Centerline is valid? [True, True] Translation: X:138.51, Y:-4.86, Z:1.65 [[ 9.99080722e-01 -3.65303993e-02 -2.24330388e-02 1.38512498e+02] [ 3.65569469e-02 9.99331271e-01 7.74328426e-04 -4.86128776e+00] [ 2.23897506e-02 -1.59370001e-03 9.99748048e-01 1.64752575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.430714057 meters Centerline goodness [0,1] 0.9898328566321059 Centerline is valid? [True, True] Translation: X:138.54, Y:-4.86, Z:1.65 [[ 9.99094728e-01 -3.64085050e-02 -2.20033077e-02 1.38543835e+02] [ 3.64340327e-02 9.99335771e-01 7.60276004e-04 -4.85921739e+00] [ 2.19610119e-02 -1.56125698e-03 9.99757609e-01 1.64857538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.460714057 meters Centerline goodness [0,1] 0.9880901933670853 Centerline is valid? [True, True] Translation: X:138.57, Y:-4.86, Z:1.65 [[ 9.99147698e-01 -3.46339191e-02 -2.24581810e-02 1.38574204e+02] [ 3.46600824e-02 9.99398857e-01 7.76657406e-04 -4.86250011e+00] [ 2.24177817e-02 -1.55439786e-03 9.99747482e-01 1.64837945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.490714057 meters Centerline goodness [0,1] 0.9892071862710047 Centerline is valid? [True, True] Translation: X:138.61, Y:-4.86, Z:1.65 [[ 9.99158916e-01 -3.42699859e-02 -2.25172961e-02 1.38605340e+02] [ 3.42962080e-02 9.99411408e-01 7.79273661e-04 -4.86063189e+00] [ 2.24773369e-02 -1.55087610e-03 9.99746150e-01 1.64915714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.520714057 meters Centerline goodness [0,1] 0.9909221320661675 Centerline is valid? [True, True] Translation: X:138.64, Y:-4.85, Z:1.65 [[ 9.99233466e-01 -3.19240171e-02 -2.26569454e-02 1.38636357e+02] [ 3.19499799e-02 9.99489161e-01 7.84755929e-04 -4.85376111e+00] [ 2.26203188e-02 -1.50804334e-03 9.99742990e-01 1.65049660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.550714057 meters Centerline goodness [0,1] 0.9901971755332244 Centerline is valid? [True, True] Translation: X:138.67, Y:-4.85, Z:1.65 [[ 9.99271307e-01 -3.08338084e-02 -2.24973430e-02 1.38666597e+02] [ 3.08591527e-02 9.99523438e-01 7.80164310e-04 -4.85401844e+00] [ 2.24625662e-02 -1.47384475e-03 9.99746598e-01 1.65109333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.580714057 meters Centerline goodness [0,1] 0.9895468048513547 Centerline is valid? [True, True] Translation: X:138.70, Y:-4.85, Z:1.65 [[ 9.99337841e-01 -2.89555914e-02 -2.20330008e-02 1.38696462e+02] [ 2.89794672e-02 9.99579714e-01 7.65051141e-04 -4.85246118e+00] [ 2.20015881e-02 -1.40304918e-03 9.99756951e-01 1.65172312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.610714057 meters Centerline goodness [0,1] 0.9890529702196108 Centerline is valid? [True, True] Translation: X:138.73, Y:-4.86, Z:1.65 [[ 9.99354786e-01 -2.85930648e-02 -2.17358898e-02 1.38727054e+02] [ 2.86162187e-02 9.99590187e-01 7.54884503e-04 -4.85826786e+00] [ 2.17053977e-02 -1.37639642e-03 9.99763463e-01 1.65101770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.640714057 meters Centerline goodness [0,1] 0.9891056837969371 Centerline is valid? [True, True] Translation: X:138.76, Y:-4.85, Z:1.65 [[ 9.99362107e-01 -2.87218609e-02 -2.12234458e-02 1.38757981e+02] [ 2.87439695e-02 9.99586535e-01 7.37320188e-04 -4.85414741e+00] [ 2.11934934e-02 -1.34689593e-03 9.99774485e-01 1.65218518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.670714057 meters Centerline goodness [0,1] 0.9888070560318775 Centerline is valid? [True, True] Translation: X:138.79, Y:-4.85, Z:1.65 [[ 9.99318006e-01 -3.01642189e-02 -2.12989097e-02 1.38788632e+02] [ 3.01868112e-02 9.99544000e-01 7.39941865e-04 -4.85441475e+00] [ 2.12668776e-02 -1.38238339e-03 9.99772879e-01 1.65254004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.700714057 meters Centerline goodness [0,1] 0.9899515521263234 Centerline is valid? [True, True] Translation: X:138.82, Y:-4.85, Z:1.65 [[ 9.99238302e-01 -3.26164857e-02 -2.14238569e-02 1.38819531e+02] [ 3.26399081e-02 9.99466899e-01 7.44427666e-04 -4.85424560e+00] [ 2.13881552e-02 -1.44313336e-03 9.99770206e-01 1.65241215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.730714057 meters Centerline goodness [0,1] 0.9885372036160524 Centerline is valid? [True, True] Translation: X:138.85, Y:-4.86, Z:1.65 [[ 9.99179950e-01 -3.41235919e-02 -2.17946984e-02 1.38850014e+02] [ 3.41481978e-02 9.99416493e-01 7.57707562e-04 -4.85690277e+00] [ 2.17561254e-02 -1.50133588e-03 9.99762180e-01 1.65205428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76071405699997 meters Centerline goodness [0,1] 0.9879125570109416 Centerline is valid? [True, True] Translation: X:138.88, Y:-4.86, Z:1.65 [[ 9.99111690e-01 -3.58708014e-02 -2.21159882e-02 1.38881383e+02] [ 3.58965764e-02 9.99355214e-01 7.69428391e-04 -4.85942203e+00] [ 2.20741281e-02 -1.56263316e-03 9.99755116e-01 1.65218120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79071405699997 meters Centerline goodness [0,1] 0.9877442712901122 Centerline is valid? [True, True] Translation: X:138.91, Y:-4.86, Z:1.65 [[ 9.98947707e-01 -3.96216195e-02 -2.30999205e-02 1.38912317e+02] [ 3.96507491e-02 9.99213276e-01 8.04186595e-04 -4.85970633e+00] [ 2.30498840e-02 -1.71926950e-03 9.99732838e-01 1.65227269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82071405699998 meters Centerline goodness [0,1] 0.9861479649201709 Centerline is valid? [True, True] Translation: X:138.94, Y:-4.87, Z:1.65 [[ 9.98750151e-01 -4.36591172e-02 -2.43313963e-02 1.38941408e+02] [ 4.36926246e-02 9.99044662e-01 8.46948020e-04 -4.86616113e+00] [ 2.42711746e-02 -1.90899203e-03 9.99703589e-01 1.65098789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85071405699998 meters Centerline goodness [0,1] 0.9862361631901565 Centerline is valid? [True, True] Translation: X:138.97, Y:-4.87, Z:1.65 [[ 9.98649870e-01 -4.57490212e-02 -2.46061915e-02 1.38972023e+02] [ 4.57839202e-02 9.98950999e-01 8.56512546e-04 -4.86666348e+00] [ 2.45411950e-02 -1.98192405e-03 9.99696855e-01 1.65075120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88071405699998 meters Centerline goodness [0,1] 0.9858217981454106 Centerline is valid? [True, True] Translation: X:139.00, Y:-4.87, Z:1.65 [[ 9.98578805e-01 -4.73047723e-02 -2.45484965e-02 1.39002242e+02] [ 4.73399851e-02 9.98878469e-01 8.54927614e-04 -4.86947840e+00] [ 2.44805224e-02 -2.01583805e-03 9.99698275e-01 1.65062442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91071405699998 meters Centerline goodness [0,1] 0.9853482319152755 Centerline is valid? [True, True] Translation: X:139.03, Y:-4.87, Z:1.65 [[ 9.98475374e-01 -4.92409219e-02 -2.49451243e-02 1.39033282e+02] [ 4.92778929e-02 9.98784728e-01 8.69175926e-04 -4.87017646e+00] [ 2.48720102e-02 -2.09709392e-03 9.99688444e-01 1.65088124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94071405699998 meters Centerline goodness [0,1] 0.9817336209220814 Centerline is valid? [True, True] Translation: X:139.06, Y:-4.87, Z:1.65 [[ 9.98308694e-01 -5.23783943e-02 -2.52240820e-02 1.39063130e+02] [ 5.24171926e-02 9.98624887e-01 8.78961074e-04 -4.87458950e+00] [ 2.51433574e-02 -2.19965004e-03 9.99681436e-01 1.65036517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97071405699998 meters Centerline goodness [0,1] 0.9850337078651685 Centerline is valid? [True, True] Translation: X:139.09, Y:-4.87, Z:1.65 [[ 9.98157527e-01 -5.50071444e-02 -2.56079309e-02 1.39093910e+02] [ 5.50479876e-02 9.98483311e-01 8.92202551e-04 -4.87116605e+00] [ 2.55200142e-02 -2.30022376e-03 9.99671665e-01 1.65136239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00071405699998 meters Centerline goodness [0,1] 0.9726993107474012 Centerline is valid? [True, True] Translation: X:139.13, Y:-4.88, Z:1.65 [[ 9.98104313e-01 -5.61055991e-02 -2.52970954e-02 1.39125178e+02] [ 5.61458236e-02 9.98422189e-01 8.82061816e-04 -4.87941556e+00] [ 2.52076928e-02 -2.30071596e-03 9.99679588e-01 1.65108417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03071405699998 meters Centerline goodness [0,1] 0.9613638406904612 Centerline is valid? [True, True] Translation: X:139.16, Y:-4.88, Z:1.65 [[ 9.98075420e-01 -5.67382249e-02 -2.50245873e-02 1.39155898e+02] [ 5.67778163e-02 9.98386456e-01 8.73843009e-04 -4.88284180e+00] [ 2.49346287e-02 -2.29300265e-03 9.99686454e-01 1.65179891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06071405699998 meters Centerline goodness [0,1] 0.9446213888390453 Centerline is valid? [True, False] Translation: X:139.16, Y:-4.88, Z:1.65 [[ 9.98066025e-01 -5.68895720e-02 -2.50556724e-02 1.39155806e+02] [ 5.69205719e-02 9.98378572e-01 5.25203081e-04 -4.88183095e+00] [ 2.49851678e-02 -1.95037055e-03 9.99685919e-01 1.65207988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09071405699999 meters Centerline goodness [0,1] 0.9509694424588993 Centerline is valid? [False, True] Translation: X:139.16, Y:-4.88, Z:1.65 [[ 9.98223756e-01 -5.40529588e-02 -2.50521682e-02 1.39155067e+02] [ 5.41720424e-02 9.98523204e-01 4.09888648e-03 -4.88317806e+00] [ 2.47936143e-02 -5.44873298e-03 9.99677742e-01 1.65202063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.120714057 meters Centerline goodness [0,1] 0.9839074792119595 Centerline is valid? [True, True] Translation: X:139.19, Y:-4.87, Z:1.65 [[ 9.98235279e-01 -5.36306412e-02 -2.54966942e-02 1.39187718e+02] [ 5.36728979e-02 9.98558095e-01 9.75397119e-04 -4.86986495e+00] [ 2.54076192e-02 -2.34215728e-03 9.99674431e-01 1.65476498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.150714057 meters Centerline goodness [0,1] 0.9850716022696568 Centerline is valid? [True, True] Translation: X:139.22, Y:-4.87, Z:1.65 [[ 9.98242116e-01 -5.31832256e-02 -2.61576417e-02 1.39219669e+02] [ 5.32275996e-02 9.98581903e-01 1.00257438e-03 -4.86940243e+00] [ 2.60672275e-02 -2.39312045e-03 9.99657328e-01 1.65473605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.180714057 meters Centerline goodness [0,1] 0.985060817367364 Centerline is valid? [True, True] Translation: X:139.25, Y:-4.87, Z:1.65 [[ 9.98283540e-01 -5.19789172e-02 -2.69845384e-02 1.39251584e+02] [ 5.20257522e-02 9.98645206e-01 1.03598656e-03 -4.86911066e+00] [ 2.68941305e-02 -2.43809924e-03 9.99635314e-01 1.65464337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.210714057 meters Centerline goodness [0,1] 0.9840814667630058 Centerline is valid? [True, True] Translation: X:139.28, Y:-4.87, Z:1.65 [[ 9.98303495e-01 -5.12183630e-02 -2.76913447e-02 1.39282596e+02] [ 5.12674355e-02 9.98684393e-01 1.06460411e-03 -4.87029149e+00] [ 2.76003864e-02 -2.48246224e-03 9.99615954e-01 1.65461421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.240714057 meters Centerline goodness [0,1] 0.9858120778076497 Centerline is valid? [True, True] Translation: X:139.31, Y:-4.87, Z:1.66 [[ 9.98335039e-01 -5.03962315e-02 -2.80600925e-02 1.39314666e+02] [ 5.04463474e-02 9.98726188e-01 1.08053929e-03 -4.86525687e+00] [ 2.79698941e-02 -2.49426940e-03 9.99605654e-01 1.65546821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.270714057 meters Centerline goodness [0,1] 0.9859664188379924 Centerline is valid? [True, True] Translation: X:139.35, Y:-4.86, Z:1.66 [[ 9.98437751e-01 -4.84490441e-02 -2.78342842e-02 1.39345175e+02] [ 4.84976331e-02 9.98822721e-01 1.07283920e-03 -4.86308942e+00] [ 2.77495374e-02 -2.42106006e-03 9.99611976e-01 1.65704801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.300714057 meters Centerline goodness [0,1] 0.9855203211692002 Centerline is valid? [True, True] Translation: X:139.38, Y:-4.86, Z:1.66 [[ 9.98505257e-01 -4.73665906e-02 -2.72701042e-02 1.39376572e+02] [ 4.74128413e-02 9.98874825e-01 1.05157032e-03 -4.86237866e+00] [ 2.71896113e-02 -2.34295162e-03 9.99627548e-01 1.65774909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.330714057 meters Centerline goodness [0,1] 0.986938904859995 Centerline is valid? [True, True] Translation: X:139.41, Y:-4.86, Z:1.66 [[ 9.98636795e-01 -4.51095032e-02 -2.62618552e-02 1.39408041e+02] [ 4.51516394e-02 9.98979631e-01 1.01339566e-03 -4.85810088e+00] [ 2.61893446e-02 -2.19778001e-03 9.99654584e-01 1.65870341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.360714057 meters Centerline goodness [0,1] 0.9865484075855185 Centerline is valid? [True, True] Translation: X:139.44, Y:-4.86, Z:1.66 [[ 9.98688514e-01 -4.42491545e-02 -2.57539340e-02 1.39439348e+02] [ 4.42894406e-02 9.99018245e-01 9.95690549e-04 -4.86061979e+00] [ 2.56845915e-02 -2.13501204e-03 9.99667817e-01 1.65842128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.390714057 meters Centerline goodness [0,1] 0.986098827584643 Centerline is valid? [True, True] Translation: X:139.47, Y:-4.86, Z:1.66 [[ 9.98717464e-01 -4.36540064e-02 -2.56467384e-02 1.39471545e+02] [ 4.36938393e-02 9.99044473e-01 9.94533519e-04 -4.86369062e+00] [ 2.55788169e-02 -2.11386246e-03 9.99670574e-01 1.65854797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.420714057 meters Centerline goodness [0,1] 0.9855111897149854 Centerline is valid? [True, True] Translation: X:139.50, Y:-4.86, Z:1.66 [[ 9.98749405e-01 -4.29993657e-02 -2.55084604e-02 1.39503740e+02] [ 4.30386108e-02 9.99072918e-01 9.91246912e-04 -4.86435471e+00] [ 2.54421889e-02 -2.08785596e-03 9.99674115e-01 1.65876648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.450714057 meters Centerline goodness [0,1] 0.9862721517551224 Centerline is valid? [True, True] Translation: X:139.54, Y:-4.86, Z:1.66 [[ 9.98759324e-01 -4.27836270e-02 -2.54828311e-02 1.39536195e+02] [ 4.28227709e-02 9.99082192e-01 9.92113116e-04 -4.86083418e+00] [ 2.54169965e-02 -2.08212766e-03 9.99674768e-01 1.65965746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.480714057 meters Centerline goodness [0,1] 0.9854505774302083 Centerline is valid? [True, True] Translation: X:139.57, Y:-4.86, Z:1.66 [[ 9.98792303e-01 -4.25746174e-02 -2.45221689e-02 1.39567509e+02] [ 4.26108409e-02 9.99091288e-01 9.56303143e-04 -4.86466302e+00] [ 2.44591711e-02 -2.00005846e-03 9.99698829e-01 1.65967262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51071405699997 meters Centerline goodness [0,1] 0.9861484485351073 Centerline is valid? [True, True] Translation: X:139.60, Y:-4.86, Z:1.66 [[ 9.98800732e-01 -4.27398090e-02 -2.38831661e-02 1.39600316e+02] [ 4.27742516e-02 9.99084327e-01 9.32894871e-04 -4.86097071e+00] [ 2.38214252e-02 -1.95336064e-03 9.99714321e-01 1.66092428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54071405699997 meters Centerline goodness [0,1] 0.9861259338313767 Centerline is valid? [True, True] Translation: X:139.63, Y:-4.86, Z:1.66 [[ 9.98803237e-01 -4.31044737e-02 -2.31105454e-02 1.39632152e+02] [ 4.31368597e-02 9.99068763e-01 9.04430899e-04 -4.86340393e+00] [ 2.30500390e-02 -1.90026486e-03 9.99732507e-01 1.66115978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57071405699998 meters Centerline goodness [0,1] 0.9833019060817412 Centerline is valid? [True, True] Translation: X:139.66, Y:-4.87, Z:1.66 [[ 9.98743639e-01 -4.44214286e-02 -2.31922506e-02 1.39663376e+02] [ 4.44544328e-02 9.99010999e-01 9.09191506e-04 -4.86954785e+00] [ 2.31289259e-02 -1.93904758e-03 9.99730610e-01 1.66103326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60071405699998 meters Centerline goodness [0,1] 0.98590843900107 Centerline is valid? [True, True] Translation: X:139.70, Y:-4.86, Z:1.66 [[ 9.98709045e-01 -4.51688298e-02 -2.32383391e-02 1.39695693e+02] [ 4.52022000e-02 9.98977441e-01 9.12456445e-04 -4.86492189e+00] [ 2.31733620e-02 -1.96170256e-03 9.99729537e-01 1.66151730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63071405699998 meters Centerline goodness [0,1] 0.9858621790486615 Centerline is valid? [True, True] Translation: X:139.73, Y:-4.87, Z:1.66 [[ 9.98603945e-01 -4.66971299e-02 -2.46888541e-02 1.39725833e+02] [ 4.67352931e-02 9.98906838e-01 9.70710448e-04 -4.86830397e+00] [ 2.46165358e-02 -2.12319612e-03 9.99694713e-01 1.66017966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66071405699998 meters Centerline goodness [0,1] 0.9856652028487565 Centerline is valid? [True, True] Translation: X:139.76, Y:-4.87, Z:1.66 [[ 9.98579713e-01 -4.72219614e-02 -2.46707048e-02 1.39758128e+02] [ 4.72602525e-02 9.98882138e-01 9.71015946e-04 -4.86951898e+00] [ 2.45972731e-02 -2.13558056e-03 9.99695160e-01 1.65982869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69071405699998 meters Centerline goodness [0,1] 0.9852806937471474 Centerline is valid? [True, True] Translation: X:139.79, Y:-4.87, Z:1.66 [[ 9.98553253e-01 -4.75201341e-02 -2.51642268e-02 1.39788700e+02] [ 4.75601027e-02 9.98867886e-01 9.91858798e-04 -4.87250645e+00] [ 2.50886047e-02 -2.18723704e-03 9.99682839e-01 1.65928064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72071405699998 meters Centerline goodness [0,1] 0.9846923621741415 Centerline is valid? [True, True] Translation: X:139.82, Y:-4.87, Z:1.66 [[ 9.98587397e-01 -4.68118644e-02 -2.51368111e-02 1.39821384e+02] [ 4.68515600e-02 9.98901370e-01 9.92248333e-04 -4.87438192e+00] [ 2.50627460e-02 -2.16854549e-03 9.99683528e-01 1.65979268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75071405699998 meters Centerline goodness [0,1] 0.9859906146274465 Centerline is valid? [True, True] Translation: X:139.85, Y:-4.87, Z:1.66 [[ 9.98677119e-01 -4.57407833e-02 -2.34902871e-02 1.39853185e+02] [ 4.57751918e-02 9.98951335e-01 9.28901395e-04 -4.87119751e+00] [ 2.34231650e-02 -2.00294497e-03 9.99723634e-01 1.66191594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78071405699998 meters Centerline goodness [0,1] 0.9859906146274465 Centerline is valid? [True, True] Translation: X:139.88, Y:-4.87, Z:1.66 [[ 9.98680361e-01 -4.56699666e-02 -2.34902308e-02 1.39884969e+02] [ 4.57043889e-02 9.98954575e-01 9.30323219e-04 -4.87251741e+00] [ 2.34231857e-02 -2.00270217e-03 9.99723634e-01 1.66236000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81071405699998 meters Centerline goodness [0,1] 0.9856116748375328 Centerline is valid? [True, True] Translation: X:139.92, Y:-4.87, Z:1.66 [[ 9.98743408e-01 -4.48937379e-02 -2.22745973e-02 1.39916993e+02] [ 4.49245310e-02 9.98989993e-01 8.83710685e-04 -4.87344657e+00] [ 2.22124267e-02 -1.88327606e-03 9.99751500e-01 1.66346425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84071405699999 meters Centerline goodness [0,1] 0.985232693492799 Centerline is valid? [True, True] Translation: X:139.95, Y:-4.88, Z:1.66 [[ 9.98796421e-01 -4.40995104e-02 -2.14695553e-02 1.39948468e+02] [ 4.41279671e-02 9.99025522e-01 8.53263619e-04 -4.87620455e+00] [ 2.14110051e-02 -1.79964448e-03 9.99769138e-01 1.66466331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.870714057 meters Centerline goodness [0,1] 0.9853015132812143 Centerline is valid? [True, True] Translation: X:139.98, Y:-4.88, Z:1.67 [[ 9.98844780e-01 -4.32118318e-02 -2.10200480e-02 1.39981184e+02] [ 4.32389489e-02 9.99064409e-01 8.37068180e-04 -4.87673985e+00] [ 2.09642105e-02 -1.74498596e-03 9.99778704e-01 1.66640776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.900714057 meters Centerline goodness [0,1] 0.9844761557399471 Centerline is valid? [True, True] Translation: X:140.01, Y:-4.88, Z:1.67 [[ 9.98874527e-01 -4.28100774e-02 -2.04200197e-02 1.40012009e+02] [ 4.28356190e-02 9.99081801e-01 8.14854042e-04 -4.88039912e+00] [ 2.03663861e-02 -1.68864113e-03 9.99791158e-01 1.66672155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.930714057 meters Centerline goodness [0,1] 0.9839153679899898 Centerline is valid? [True, True] Translation: X:140.04, Y:-4.89, Z:1.67 [[ 9.98829481e-01 -4.35016252e-02 -2.11489168e-02 1.40043167e+02] [ 4.35292010e-02 9.99051798e-01 8.45072272e-04 -4.88737462e+00] [ 2.10921014e-02 -1.76467855e-03 9.99775979e-01 1.66521643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.960714057 meters Centerline goodness [0,1] 0.9844968309698601 Centerline is valid? [True, True] Translation: X:140.07, Y:-4.89, Z:1.66 [[ 9.98786225e-01 -4.40339791e-02 -2.20699925e-02 1.40074768e+02] [ 4.40641648e-02 9.99028313e-01 8.83053065e-04 -4.88843123e+00] [ 2.20096630e-02 -1.85447703e-03 9.99756038e-01 1.66484590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.990714057 meters Centerline goodness [0,1] 0.9830932714405989 Centerline is valid? [True, True] Translation: X:140.10, Y:-4.90, Z:1.66 [[ 9.98698024e-01 -4.51422445e-02 -2.37578249e-02 1.40104455e+02] [ 4.51775747e-02 9.98978518e-01 9.52191343e-04 -4.89548483e+00] [ 2.36905726e-02 -2.02427252e-03 9.99717290e-01 1.66313751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.020714057 meters Centerline goodness [0,1] 0.9827974605775138 Centerline is valid? [True, True] Translation: X:140.14, Y:-4.90, Z:1.66 [[ 9.98671346e-01 -4.52943819e-02 -2.45756381e-02 1.40136820e+02] [ 4.53322805e-02 9.98971476e-01 9.86909852e-04 -4.89763384e+00] [ 2.45056600e-02 -2.09966831e-03 9.99697486e-01 1.66323018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.050714057 meters Centerline goodness [0,1] 0.9822378894700933 Centerline is valid? [True, True] Translation: X:140.17, Y:-4.90, Z:1.66 [[ 9.98674882e-01 -4.50039552e-02 -2.49624467e-02 1.40167952e+02] [ 4.50430041e-02 9.98984544e-01 1.00395558e-03 -4.90119079e+00] [ 2.48919165e-02 -2.12700881e-03 9.99687885e-01 1.66353706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.080714057 meters Centerline goodness [0,1] 0.9830980132752446 Centerline is valid? [True, True] Translation: X:140.20, Y:-4.90, Z:1.66 [[ 9.98748104e-01 -4.30278489e-02 -2.55113344e-02 1.40198786e+02] [ 4.30680180e-02 9.99071615e-01 1.02694951e-03 -4.90208078e+00] [ 2.54434626e-02 -2.12438649e-03 9.99674005e-01 1.66476635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.110714057 meters Centerline goodness [0,1] 0.9833500364431487 Centerline is valid? [True, True] Translation: X:140.23, Y:-4.90, Z:1.67 [[ 9.98924345e-01 -3.89241842e-02 -2.52004141e-02 1.40228788e+02] [ 3.89620883e-02 9.99240174e-01 1.01466311e-03 -4.90152327e+00] [ 2.51417712e-02 -1.99543244e-03 9.99681904e-01 1.66587962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.140714057 meters Centerline goodness [0,1] 0.9877920774005111 Centerline is valid? [True, True] Translation: X:140.26, Y:-4.89, Z:1.67 [[ 9.99010273e-01 -3.67293918e-02 -2.50883598e-02 1.40260012e+02] [ 3.67662762e-02 9.99323381e-01 1.01033746e-03 -4.88865658e+00] [ 2.50342755e-02 -1.93174307e-03 9.99684727e-01 1.66845527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.170714057 meters Centerline goodness [0,1] 0.9877073527395696 Centerline is valid? [True, True] Translation: X:140.29, Y:-4.89, Z:1.67 [[ 9.99113752e-01 -3.40271963e-02 -2.47762273e-02 1.40291088e+02] [ 3.40623530e-02 9.99419211e-01 9.98201913e-04 -4.88848294e+00] [ 2.47278716e-02 -1.84125386e-03 9.99692524e-01 1.66922863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.200714057 meters Centerline goodness [0,1] 0.9885277682746038 Centerline is valid? [True, True] Translation: X:140.32, Y:-4.89, Z:1.67 [[ 9.99295618e-01 -2.88041409e-02 -2.40538959e-02 1.40321227e+02] [ 2.88357771e-02 9.99583693e-01 9.69326654e-04 -4.88640823e+00] [ 2.40159615e-02 -1.66225666e-03 9.99710193e-01 1.67082242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.230714057 meters Centerline goodness [0,1] 0.9898001189223803 Centerline is valid? [True, True] Translation: X:140.35, Y:-4.88, Z:1.67 [[ 9.99469901e-01 -2.34293378e-02 -2.26049278e-02 1.40351789e+02] [ 2.34559078e-02 9.99724457e-01 9.10947540e-04 -4.88418882e+00] [ 2.25773562e-02 -1.44068375e-03 9.99744061e-01 1.67218097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26071405699997 meters Centerline goodness [0,1] 0.9891341723402792 Centerline is valid? [True, True] Translation: X:140.38, Y:-4.88, Z:1.67 [[ 9.99524160e-01 -2.10269349e-02 -2.25681442e-02 1.40380218e+02] [ 2.10528024e-02 9.99777952e-01 9.09192180e-04 -4.88439360e+00] [ 2.25440155e-02 -1.38388223e-03 9.99744894e-01 1.67271043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29071405699997 meters Centerline goodness [0,1] 0.9888649589882235 Centerline is valid? [True, True] Translation: X:140.41, Y:-4.88, Z:1.67 [[ 9.99589421e-01 -1.84570863e-02 -2.19163174e-02 1.40409852e+02] [ 1.84808486e-02 9.99828825e-01 8.82165864e-04 -4.88440288e+00] [ 2.18962837e-02 -1.28683581e-03 9.99759419e-01 1.67329946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32071405699998 meters Centerline goodness [0,1] 0.9887931429619105 Centerline is valid? [True, True] Translation: X:140.44, Y:-4.88, Z:1.67 [[ 9.99652435e-01 -1.37327093e-02 -2.25038173e-02 1.40439680e+02] [ 1.37565549e-02 9.99904964e-01 9.05156079e-04 -4.88195280e+00] [ 2.24892484e-02 -1.21441648e-03 9.99746347e-01 1.67292880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35071405699998 meters Centerline goodness [0,1] 0.9893333945038308 Centerline is valid? [True, True] Translation: X:140.47, Y:-4.88, Z:1.67 [[ 9.99652430e-01 -1.19699574e-02 -2.34891143e-02 1.40467867e+02] [ 1.19954306e-02 9.99927607e-01 9.43859341e-04 -4.88213446e+00] [ 2.34761159e-02 -1.22529332e-03 9.99723647e-01 1.67260431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38071405699998 meters Centerline goodness [0,1] 0.9892180203278088 Centerline is valid? [True, True] Translation: X:140.50, Y:-4.88, Z:1.67 [[ 9.99643704e-01 -9.34771739e-03 -2.50017149e-02 1.40496836e+02] [ 9.37572645e-03 9.99955544e-01 1.00329479e-03 -4.88275311e+00] [ 2.49912249e-02 -1.23734656e-03 9.99686905e-01 1.67089035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41071405699998 meters Centerline goodness [0,1] 0.9893763165125011 Centerline is valid? [True, True] Translation: X:140.53, Y:-4.88, Z:1.67 [[ 9.99635443e-01 -8.65798479e-03 -2.55738201e-02 1.40526055e+02] [ 8.68701775e-03 9.99961742e-01 1.02437858e-03 -4.88393489e+00] [ 2.55639727e-02 -1.24616537e-03 9.99672412e-01 1.67018458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44071405699998 meters Centerline goodness [0,1] 0.9900362734744479 Centerline is valid? [True, True] Translation: X:140.55, Y:-4.89, Z:1.67 [[ 9.99644235e-01 -6.77505831e-03 -2.57973442e-02 1.40553605e+02] [ 6.80390720e-03 9.99976322e-01 1.03067647e-03 -4.88584779e+00] [ 2.57897505e-02 -1.20583252e-03 9.99666662e-01 1.66980672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47071405699998 meters Centerline goodness [0,1] 0.9898830369200485 Centerline is valid? [True, True] Translation: X:140.58, Y:-4.89, Z:1.67 [[ 9.99656993e-01 -5.46997866e-03 -2.56120071e-02 1.40582699e+02] [ 5.49789683e-03 9.99984366e-01 1.01975111e-03 -4.88559281e+00] [ 2.56060286e-02 -1.16021350e-03 9.99671439e-01 1.67049402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50071405699998 meters Centerline goodness [0,1] 0.9891301849936803 Centerline is valid? [True, True] Translation: X:140.61, Y:-4.89, Z:1.67 [[ 9.99652682e-01 -4.37342003e-03 -2.59882421e-02 1.40610444e+02] [ 4.40169427e-03 9.99989781e-01 1.03085629e-03 -4.88674920e+00] [ 2.59834682e-02 -1.14489055e-03 9.99661717e-01 1.67095500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53071405699998 meters Centerline goodness [0,1] 0.988928874320948 Centerline is valid? [True, True] Translation: X:140.64, Y:-4.89, Z:1.67 [[ 9.99681380e-01 -2.63868533e-03 -2.51032973e-02 1.40638794e+02] [ 2.66447617e-03 9.99995956e-01 9.93995019e-04 -4.88669329e+00] [ 2.51005729e-02 -1.06056545e-03 9.99684368e-01 1.67227278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56071405699998 meters Centerline goodness [0,1] 0.9893417071605392 Centerline is valid? [True, True] Translation: X:140.67, Y:-4.89, Z:1.67 [[ 9.99688222e-01 -2.02944814e-03 -2.48865427e-02 1.40667433e+02] [ 2.05452650e-03 9.99997407e-01 9.82179831e-04 -4.88768662e+00] [ 2.48844849e-02 -1.03300367e-03 9.99689800e-01 1.67333354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59071405699999 meters Centerline goodness [0,1] 0.9892739273927392 Centerline is valid? [True, True] Translation: X:140.69, Y:-4.89, Z:1.67 [[ 9.99686481e-01 -1.21503015e-03 -2.50092729e-02 1.40694948e+02] [ 1.24000497e-03 9.99998748e-01 9.83138034e-04 -4.88966003e+00] [ 2.50080470e-02 -1.01384142e-03 9.99686736e-01 1.67410947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.620714057 meters Centerline goodness [0,1] 0.9895976223136717 Centerline is valid? [True, True] Translation: X:140.72, Y:-4.89, Z:1.67 [[ 9.99693310e-01 -1.22695860e-03 -2.47342016e-02 1.40723537e+02] [ 1.25130718e-03 9.99998748e-01 9.68955889e-04 -4.89110536e+00] [ 2.47329817e-02 -9.99608803e-04 9.99693593e-01 1.67493465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.650714057 meters Centerline goodness [0,1] 0.9906435156589573 Centerline is valid? [True, True] Translation: X:140.75, Y:-4.88, Z:1.68 [[ 9.99690822e-01 -1.87924162e-03 -2.47937250e-02 1.40752850e+02] [ 1.90376594e-03 9.99997722e-01 9.65567044e-04 -4.88055289e+00] [ 2.47918540e-02 -1.01246996e-03 9.99692122e-01 1.67936955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.680714057 meters Centerline goodness [0,1] 0.9874098416627545 Centerline is valid? [True, True] Translation: X:140.78, Y:-4.90, Z:1.68 [[ 9.99764076e-01 -7.55305086e-04 -2.17076550e-02 1.40779770e+02] [ 7.73756838e-04 9.99999346e-01 8.41624624e-04 -4.89966105e+00] [ 2.17070052e-02 -8.58222510e-04 9.99764007e-01 1.67711627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.710714057 meters Centerline goodness [0,1] 0.9903690717424467 Centerline is valid? [True, True] Translation: X:140.81, Y:-4.88, Z:1.68 [[ 9.99689615e-01 -3.26980389e-03 -2.46978234e-02 1.40809854e+02] [ 3.29441240e-03 9.99994117e-01 9.55760653e-04 -4.88492678e+00] [ 2.46945529e-02 -1.03682881e-03 9.99694505e-01 1.68033914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.740714057 meters Centerline goodness [0,1] 0.9897592280733695 Centerline is valid? [True, True] Translation: X:140.84, Y:-4.89, Z:1.68 [[ 9.99646836e-01 -5.62012530e-03 -2.59733923e-02 1.40839661e+02] [ 5.64810924e-03 9.99983545e-01 1.00417010e-03 -4.88866942e+00] [ 2.59673214e-02 -1.15051602e-03 9.99662130e-01 1.68030155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.770714057 meters Centerline goodness [0,1] 0.9897177511285395 Centerline is valid? [True, True] Translation: X:140.87, Y:-4.89, Z:1.68 [[ 9.99607827e-01 -7.22475716e-03 -2.70553912e-02 1.40867194e+02] [ 7.25566328e-03 9.99973132e-01 1.04433009e-03 -4.89242488e+00] [ 2.70471192e-02 -1.24022534e-03 9.99633390e-01 1.67967168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.800714057 meters Centerline goodness [0,1] 0.9900295925335761 Centerline is valid? [True, True] Translation: X:140.90, Y:-4.90, Z:1.68 [[ 9.99541161e-01 -9.84901852e-03 -2.86437520e-02 1.40896820e+02] [ 9.88468421e-03 9.99950536e-01 1.10381431e-03 -4.89659840e+00] [ 2.86314637e-02 -1.38644228e-03 9.99589074e-01 1.67880681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.830714057 meters Centerline goodness [0,1] 0.9891648266599895 Centerline is valid? [True, True] Translation: X:140.92, Y:-4.90, Z:1.68 [[ 9.99499720e-01 -1.09602639e-02 -2.96678534e-02 1.40923854e+02] [ 1.09989498e-02 9.99938859e-01 1.14108332e-03 -4.90136944e+00] [ 2.96535329e-02 -1.46682769e-03 9.99559161e-01 1.67801620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.860714057 meters Centerline goodness [0,1] 0.9894421360942716 Centerline is valid? [True, True] Translation: X:140.95, Y:-4.90, Z:1.68 [[ 9.99485381e-01 -1.21256221e-02 -2.96975265e-02 1.40952795e+02] [ 1.21647381e-02 9.99925361e-01 1.13682258e-03 -4.90259610e+00] [ 2.96815252e-02 -1.49750018e-03 9.99558285e-01 1.67850807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.890714057 meters Centerline goodness [0,1] 0.9897647487918301 Centerline is valid? [True, True] Translation: X:140.98, Y:-4.91, Z:1.68 [[ 9.99484185e-01 -1.28937067e-02 -2.94128663e-02 1.40979930e+02] [ 1.29322587e-02 9.99915747e-01 1.12085773e-03 -4.90670426e+00] [ 2.93959362e-02 -1.50065437e-03 9.99566720e-01 1.67920511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.920714057 meters Centerline goodness [0,1] 0.9901428375849952 Centerline is valid? [True, True] Translation: X:141.01, Y:-4.91, Z:1.68 [[ 9.99501148e-01 -1.16884465e-02 -2.93399875e-02 1.41008976e+02] [ 1.17261372e-02 9.99930627e-01 1.11288390e-03 -4.90549220e+00] [ 2.93249442e-02 -1.45637345e-03 9.99568870e-01 1.68137426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.950714057 meters Centerline goodness [0,1] 0.9896458138527151 Centerline is valid? [True, True] Translation: X:141.04, Y:-4.91, Z:1.68 [[ 9.99517059e-01 -1.04213108e-02 -2.92753225e-02 1.41036545e+02] [ 1.04581557e-02 9.99944701e-01 1.10572888e-03 -4.91083138e+00] [ 2.92621804e-02 -1.41136076e-03 9.99570774e-01 1.68074365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.980714057 meters Centerline goodness [0,1] 0.989604231260259 Centerline is valid? [True, True] Translation: X:141.07, Y:-4.91, Z:1.68 [[ 9.99518002e-01 -9.47050797e-03 -2.95647309e-02 1.41065053e+02] [ 9.50752199e-03 9.99954185e-01 1.11163898e-03 -4.90682798e+00] [ 2.95528485e-02 -1.39219050e-03 9.99562250e-01 1.68299175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01071405699997 meters Centerline goodness [0,1] 0.9902518092368102 Centerline is valid? [True, True] Translation: X:141.09, Y:-4.91, Z:1.68 [[ 9.99563895e-01 -7.87673188e-03 -2.84601095e-02 1.41093846e+02] [ 7.91026400e-03 9.99968145e-01 1.06581892e-03 -4.90515550e+00] [ 2.84508078e-02 -1.29048109e-03 9.99594361e-01 1.68472046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04071405699997 meters Centerline goodness [0,1] 0.990478576797795 Centerline is valid? [True, True] Translation: X:141.12, Y:-4.91, Z:1.69 [[ 9.99597346e-01 -7.30843440e-03 -2.74177417e-02 1.41123008e+02] [ 7.33923017e-03 9.99972544e-01 1.02274098e-03 -4.90553602e+00] [ 2.74095143e-02 -1.22355429e-03 9.99623540e-01 1.68601176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07071405699998 meters Centerline goodness [0,1] 0.9902740131653873 Centerline is valid? [True, True] Translation: X:141.15, Y:-4.91, Z:1.69 [[ 9.99596526e-01 -7.72330467e-03 -2.73337787e-02 1.41150741e+02] [ 7.75394727e-03 9.99969422e-01 1.01523629e-03 -4.90817007e+00] [ 2.73251019e-02 -1.22677134e-03 9.99625847e-01 1.68613016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10071405699998 meters Centerline goodness [0,1] 0.9902281610762658 Centerline is valid? [True, True] Translation: X:141.18, Y:-4.91, Z:1.69 [[ 9.99594446e-01 -8.60663774e-03 -2.71453472e-02 1.41179005e+02] [ 8.63710377e-03 9.99962194e-01 1.00527706e-03 -4.90878154e+00] [ 2.71356689e-02 -1.23932654e-03 9.99630992e-01 1.68653325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13071405699998 meters Centerline goodness [0,1] 0.9909265319941316 Centerline is valid? [True, True] Translation: X:141.21, Y:-4.91, Z:1.69 [[ 9.99564994e-01 -1.07998579e-02 -2.74442299e-02 1.41208517e+02] [ 1.08317591e-02 9.99940821e-01 1.01399954e-03 -4.91249831e+00] [ 2.74316548e-02 -1.31082773e-03 9.99622822e-01 1.68618690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16071405699998 meters Centerline goodness [0,1] 0.9898210771562351 Centerline is valid? [True, True] Translation: X:141.24, Y:-4.92, Z:1.68 [[ 9.99534924e-01 -1.24376954e-02 -2.78431102e-02 1.41236350e+02] [ 1.24711170e-02 9.99921705e-01 1.02701810e-03 -4.92043773e+00] [ 2.78281565e-02 -1.37377514e-03 9.99611778e-01 1.68444194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19071405699998 meters Centerline goodness [0,1] 0.9898610419589915 Centerline is valid? [True, True] Translation: X:141.27, Y:-4.92, Z:1.69 [[ 9.99447208e-01 -1.62248156e-02 -2.90178328e-02 1.41266773e+02] [ 1.62626651e-02 9.99867183e-01 1.06880969e-03 -4.92024303e+00] [ 2.89966375e-02 -1.54012616e-03 9.99578323e-01 1.68554230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22071405699998 meters Centerline goodness [0,1] 0.9900978881537207 Centerline is valid? [True, True] Translation: X:141.30, Y:-4.92, Z:1.69 [[ 9.99394223e-01 -1.82556435e-02 -2.96296738e-02 1.41296465e+02] [ 1.82959721e-02 9.99832020e-01 1.09052663e-03 -4.91934233e+00] [ 2.96047883e-02 -1.63196970e-03 9.99560350e-01 1.68651531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25071405699998 meters Centerline goodness [0,1] 0.9901878583244579 Centerline is valid? [True, True] Translation: X:141.33, Y:-4.92, Z:1.69 [[ 9.99327005e-01 -2.06992793e-02 -3.02832776e-02 1.41325189e+02] [ 2.07424835e-02 9.99784232e-01 1.11318323e-03 -4.92363645e+00] [ 3.02537014e-02 -1.74058445e-03 9.99540736e-01 1.68610905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28071405699998 meters Centerline goodness [0,1] 0.989769820971867 Centerline is valid? [True, True] Translation: X:141.36, Y:-4.93, Z:1.69 [[ 9.99225650e-01 -2.47985230e-02 -3.05472344e-02 1.41355385e+02] [ 2.48443630e-02 9.99690702e-01 1.12193243e-03 -4.92829258e+00] [ 3.05099639e-02 -1.87999024e-03 9.99532695e-01 1.68577573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31071405699998 meters Centerline goodness [0,1] 0.9898846214635688 Centerline is valid? [True, True] Translation: X:141.39, Y:-4.93, Z:1.69 [[ 9.99184457e-01 -2.66552618e-02 -3.03301463e-02 1.41385195e+02] [ 2.67012814e-02 9.99642837e-01 1.11320717e-03 -4.93065177e+00] [ 3.02896407e-02 -1.92215308e-03 9.99539315e-01 1.68643595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34071405699999 meters Centerline goodness [0,1] 0.9899533873376476 Centerline is valid? [True, True] Translation: X:141.41, Y:-4.93, Z:1.69 [[ 9.99154212e-01 -2.94423010e-02 -2.87055895e-02 1.41414754e+02] [ 2.94846366e-02 9.99564679e-01 1.05257141e-03 -4.93354493e+00] [ 2.86621033e-02 -1.89805504e-03 9.99587355e-01 1.68730902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.370714057 meters Centerline goodness [0,1] 0.98926335299835 Centerline is valid? [True, True] Translation: X:141.44, Y:-4.94, Z:1.69 [[ 9.99119478e-01 -3.07686266e-02 -2.85229689e-02 1.41443113e+02] [ 3.08108445e-02 9.99524690e-01 1.04171621e-03 -4.93572477e+00] [ 2.84773594e-02 -1.91961571e-03 9.99592595e-01 1.68817413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.400714057 meters Centerline goodness [0,1] 0.9884584049968317 Centerline is valid? [True, True] Translation: X:141.47, Y:-4.94, Z:1.69 [[ 9.99099745e-01 -3.15995855e-02 -2.83048882e-02 1.41472040e+02] [ 3.16414059e-02 9.99498754e-01 1.03071090e-03 -4.93812218e+00] [ 2.82581305e-02 -1.92538945e-03 9.99598805e-01 1.68912987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.430714057 meters Centerline goodness [0,1] 0.9889479037179343 Centerline is valid? [True, True] Translation: X:141.50, Y:-4.94, Z:1.69 [[ 9.99086086e-01 -3.20463748e-02 -2.82846732e-02 1.41501819e+02] [ 3.20883112e-02 9.99484507e-01 1.02989189e-03 -4.93939617e+00] [ 2.82370883e-02 -1.93655806e-03 9.99599378e-01 1.68940276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.460714057 meters Centerline goodness [0,1] 0.9887683615819209 Centerline is valid? [True, True] Translation: X:141.53, Y:-4.94, Z:1.69 [[ 9.99057439e-01 -3.27956197e-02 -2.84373208e-02 1.41530550e+02] [ 3.28382763e-02 9.99460143e-01 1.03418760e-03 -4.94179761e+00] [ 2.83880519e-02 -1.96704541e-03 9.99595043e-01 1.68908018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.490714057 meters Centerline goodness [0,1] 0.9879177958446251 Centerline is valid? [True, True] Translation: X:141.56, Y:-4.94, Z:1.69 [[ 9.99028508e-01 -3.36568031e-02 -2.84474786e-02 1.41560249e+02] [ 3.36998024e-02 9.99431466e-01 1.03331685e-03 -4.94400159e+00] [ 2.83965271e-02 -1.99098740e-03 9.99594754e-01 1.68907933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.520714057 meters Centerline goodness [0,1] 0.9879553400248111 Centerline is valid? [True, True] Translation: X:141.59, Y:-4.95, Z:1.69 [[ 9.99007502e-01 -3.44328881e-02 -2.82557293e-02 1.41589651e+02] [ 3.44755907e-02 9.99405014e-01 1.02537517e-03 -4.94522977e+00] [ 2.82036109e-02 -1.99849045e-03 9.99600201e-01 1.68938556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.550714057 meters Centerline goodness [0,1] 0.987479377132913 Centerline is valid? [True, True] Translation: X:141.62, Y:-4.95, Z:1.69 [[ 9.98973619e-01 -3.55407290e-02 -2.80814082e-02 1.41618735e+02] [ 3.55833211e-02 9.99366194e-01 1.01832408e-03 -4.94783004e+00] [ 2.80274181e-02 -2.01650866e-03 9.99605121e-01 1.68967135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.580714057 meters Centerline goodness [0,1] 0.9879070610081978 Centerline is valid? [True, True] Translation: X:141.65, Y:-4.95, Z:1.69 [[ 9.98956979e-01 -3.54955411e-02 -2.87231783e-02 1.41649214e+02] [ 3.55400690e-02 9.99367710e-01 1.04105269e-03 -4.94983421e+00] [ 2.86680642e-02 -2.06079058e-03 9.99586862e-01 1.68982640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.610714057 meters Centerline goodness [0,1] 0.9876705201004456 Centerline is valid? [True, True] Translation: X:141.68, Y:-4.95, Z:1.69 [[ 9.98965045e-01 -3.43849945e-02 -2.97743426e-02 1.41679005e+02] [ 3.44323497e-02 9.99406448e-01 1.07906608e-03 -4.94900046e+00] [ 2.97195663e-02 -2.10314987e-03 9.99556064e-01 1.68880333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.640714057 meters Centerline goodness [0,1] 0.9880046345730059 Centerline is valid? [True, True] Translation: X:141.71, Y:-4.94, Z:1.69 [[ 9.98984993e-01 -3.32601141e-02 -3.03767783e-02 1.41708896e+02] [ 3.33088764e-02 9.99444500e-01 1.10049624e-03 -4.94176594e+00] [ 3.03233014e-02 -2.11119558e-03 9.99537913e-01 1.69030380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.670714057 meters Centerline goodness [0,1] 0.9880046345730059 Centerline is valid? [True, True] Translation: X:141.74, Y:-4.94, Z:1.69 [[ 9.98983800e-01 -3.32959048e-02 -3.03768177e-02 1.41738101e+02] [ 3.33446506e-02 9.99443308e-01 1.09940842e-03 -4.94279324e+00] [ 3.03233014e-02 -2.11119558e-03 9.99537913e-01 1.69071217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.700714057 meters Centerline goodness [0,1] 0.9877232396124084 Centerline is valid? [True, True] Translation: X:141.77, Y:-4.95, Z:1.69 [[ 9.99052881e-01 -3.12366631e-02 -3.02921041e-02 1.41767204e+02] [ 3.12841626e-02 9.99509931e-01 1.09526241e-03 -4.94997723e+00] [ 3.02430465e-02 -2.04188818e-03 9.99540489e-01 1.68911882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.730714057 meters Centerline goodness [0,1] 0.9886019792970083 Centerline is valid? [True, True] Translation: X:141.80, Y:-4.95, Z:1.69 [[ 9.99227966e-01 -2.57834416e-02 -2.96426434e-02 1.41796006e+02] [ 2.58265010e-02 9.99665867e-01 1.07060451e-03 -4.94611080e+00] [ 2.96051349e-02 -1.83534373e-03 9.99559987e-01 1.68986431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76071405699997 meters Centerline goodness [0,1] 0.9881520898712876 Centerline is valid? [True, True] Translation: X:141.83, Y:-4.94, Z:1.69 [[ 9.99462964e-01 -1.76629956e-02 -2.76007633e-02 1.41827199e+02] [ 1.76972168e-02 9.99842896e-01 9.96064390e-04 -4.93780520e+00] [ 2.75788336e-02 -1.48398616e-03 9.99618530e-01 1.69260037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79071405699997 meters Centerline goodness [0,1] 0.9898043160204828 Centerline is valid? [True, True] Translation: X:141.86, Y:-4.93, Z:1.70 [[ 9.99567243e-01 -1.29259141e-02 -2.64243850e-02 1.41857722e+02] [ 1.29556216e-02 9.99915618e-01 9.53347777e-04 -4.92785771e+00] [ 2.64098323e-02 -1.29527954e-03 9.99650360e-01 1.69556487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82071405699998 meters Centerline goodness [0,1] 0.9890449888845598 Centerline is valid? [True, True] Translation: X:141.89, Y:-4.93, Z:1.70 [[ 9.99633221e-01 -8.19535058e-03 -2.58119887e-02 1.41887426e+02] [ 8.22211467e-03 9.99965765e-01 9.30922713e-04 -4.92980343e+00] [ 2.58034758e-02 -1.14281040e-03 9.99666382e-01 1.69534948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85071405699998 meters Centerline goodness [0,1] 0.990058867993678 Centerline is valid? [True, True] Translation: X:141.92, Y:-4.92, Z:1.70 [[ 9.99700046e-01 9.62479147e-04 -2.44722468e-02 1.41917778e+02] [-9.41176234e-04 9.99999168e-01 8.81995902e-04 -4.91698161e+00] [ 2.44730754e-02 -8.58698647e-04 9.99700121e-01 1.69803987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88071405699998 meters Centerline goodness [0,1] 0.9908148628013511 Centerline is valid? [True, True] Translation: X:141.95, Y:-4.91, Z:1.70 [[ 9.99679714e-01 8.60732141e-03 -2.37988152e-02 1.41948443e+02] [-8.58934894e-03 9.99962743e-01 8.57305108e-04 -4.91068911e+00] [ 2.38053076e-02 -6.52614197e-04 9.99716400e-01 1.69868533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91071405699998 meters Centerline goodness [0,1] 0.991311380704795 Centerline is valid? [True, True] Translation: X:141.98, Y:-4.91, Z:1.70 [[ 9.99649376e-01 1.23705648e-02 -2.34114193e-02 1.41977538e+02] [-1.23542207e-02 9.99923329e-01 8.42636030e-04 -4.90884909e+00] [ 2.34200482e-02 -5.53110739e-04 9.99725560e-01 1.69920162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94071405699998 meters Centerline goodness [0,1] 0.9911817803082905 Centerline is valid? [True, True] Translation: X:142.01, Y:-4.91, Z:1.70 [[ 9.99620313e-01 1.51585334e-02 -2.30097397e-02 1.42006653e+02] [-1.51435563e-02 9.99884989e-01 8.25020195e-04 -4.90765083e+00] [ 2.30195994e-02 -4.76257657e-04 9.99734900e-01 1.69998896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97071405699998 meters Centerline goodness [0,1] 0.991290853079471 Centerline is valid? [True, True] Translation: X:142.03, Y:-4.91, Z:1.70 [[ 9.99557560e-01 2.00398766e-02 -2.19792701e-02 1.42034473e+02] [-2.00274773e-02 9.99799122e-01 7.84136261e-04 -4.90562047e+00] [ 2.19905689e-02 -3.43599996e-04 9.99758119e-01 1.70134901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00071405699998 meters Centerline goodness [0,1] 0.9922541743970316 Centerline is valid? [True, True] Translation: X:142.06, Y:-4.91, Z:1.70 [[ 9.99544296e-01 2.14892048e-02 -2.11994192e-02 1.42063592e+02] [-2.14780567e-02 9.99769036e-01 7.53440654e-04 -4.90619742e+00] [ 2.12107137e-02 -2.97774980e-04 9.99774983e-01 1.70138482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03071405699998 meters Centerline goodness [0,1] 0.9924805071608709 Centerline is valid? [True, True] Translation: X:142.09, Y:-4.91, Z:1.70 [[ 9.99529728e-01 2.25057348e-02 -2.08282324e-02 1.42091570e+02] [-2.24952738e-02 9.99746678e-01 7.36435840e-04 -4.90917539e+00] [ 2.08395301e-02 -2.67552725e-04 9.99782798e-01 1.70102279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06071405699998 meters Centerline goodness [0,1] 0.9920985144282974 Centerline is valid? [True, True] Translation: X:142.12, Y:-4.91, Z:1.70 [[ 9.99551639e-01 2.17781756e-02 -2.05482991e-02 1.42119420e+02] [-2.17679000e-02 9.99762789e-01 7.23634809e-04 -4.91205006e+00] [ 2.05591843e-02 -2.76017040e-04 9.99788600e-01 1.70121391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09071405699999 meters Centerline goodness [0,1] 0.9924143162540514 Centerline is valid? [True, True] Translation: X:142.15, Y:-4.92, Z:1.70 [[ 9.99600839e-01 1.92437732e-02 -2.06843104e-02 1.42147317e+02] [-1.92329074e-02 9.99814768e-01 7.24137084e-04 -4.91809414e+00] [ 2.06944142e-02 -3.26028610e-04 9.99785795e-01 1.69987536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.120714057 meters Centerline goodness [0,1] 0.9913848557250505 Centerline is valid? [True, True] Translation: X:142.18, Y:-4.92, Z:1.70 [[ 9.99618017e-01 1.78644414e-02 -2.10874846e-02 1.42175682e+02] [-1.78529001e-02 9.99840354e-01 7.35453373e-04 -4.92147340e+00] [ 2.10972565e-02 -3.58699688e-04 9.99777364e-01 1.69928556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.150714057 meters Centerline goodness [0,1] 0.9922693380906638 Centerline is valid? [True, True] Translation: X:142.20, Y:-4.93, Z:1.70 [[ 9.99623490e-01 1.54855806e-02 -2.26511759e-02 1.42203567e+02] [-1.54717469e-02 9.99879997e-01 7.85856480e-04 -4.92817590e+00] [ 2.26606271e-02 -4.35107335e-04 9.99743120e-01 1.69711706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.180714057 meters Centerline goodness [0,1] 0.99112006225111 Centerline is valid? [True, True] Translation: X:142.23, Y:-4.93, Z:1.70 [[ 9.99635099e-01 1.38433191e-02 -2.31954937e-02 1.42232245e+02] [-1.38284456e-02 9.99904061e-01 8.01510427e-04 -4.93182756e+00] [ 2.32043639e-02 -4.80460333e-04 9.99730627e-01 1.69682551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.210714057 meters Centerline goodness [0,1] 0.9916525636920825 Centerline is valid? [True, True] Translation: X:142.26, Y:-4.93, Z:1.70 [[ 9.99681202e-01 1.07417962e-02 -2.28497046e-02 1.42260404e+02] [-1.07266414e-02 9.99942159e-01 7.85704530e-04 -4.93472391e+00] [ 2.28568228e-02 -5.40353460e-04 9.99738603e-01 1.69914826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.240714057 meters Centerline goodness [0,1] 0.9913208322865039 Centerline is valid? [True, True] Translation: X:142.29, Y:-4.94, Z:1.70 [[ 9.99723648e-01 8.75125602e-03 -2.18184088e-02 1.42288366e+02] [-8.73700507e-03 9.99961552e-01 7.48403232e-04 -4.94012125e+00] [ 2.18241194e-02 -5.57568861e-04 9.99761670e-01 1.69942902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.270714057 meters Centerline goodness [0,1] 0.991991238277774 Centerline is valid? [True, True] Translation: X:142.32, Y:-4.94, Z:1.70 [[ 9.99760681e-01 6.44011300e-03 -2.09070620e-02 1.42317421e+02] [-6.42655752e-03 9.99979093e-01 7.15491770e-04 -4.94204841e+00] [ 2.09112327e-02 -5.80960103e-04 9.99781167e-01 1.70125870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.300714057 meters Centerline goodness [0,1] 0.9919032931143972 Centerline is valid? [True, True] Translation: X:142.35, Y:-4.95, Z:1.70 [[ 9.99803440e-01 3.13672897e-03 -1.95765897e-02 1.42345876e+02] [-3.12423535e-03 9.99994896e-01 6.68743190e-04 -4.95062058e+00] [ 1.95785875e-02 -6.07449868e-04 9.99808137e-01 1.70245845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.330714057 meters Centerline goodness [0,1] 0.9915473755964553 Centerline is valid? [True, True] Translation: X:142.37, Y:-4.95, Z:1.70 [[ 9.99817102e-01 2.00964116e-03 -1.90190288e-02 1.42374254e+02] [-1.99766585e-03 9.99997794e-01 6.48626438e-04 -4.95295176e+00] [ 1.90202904e-02 -6.10514141e-04 9.99818912e-01 1.70328960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.360714057 meters Centerline goodness [0,1] 0.9919276206888733 Centerline is valid? [True, True] Translation: X:142.40, Y:-4.96, Z:1.70 [[ 9.99822729e-01 3.15078613e-04 -1.88257967e-02 1.42402478e+02] [-3.03070375e-04 9.99999749e-01 6.40710431e-04 -4.95897567e+00] [ 1.88259938e-02 -6.34891310e-04 9.99822574e-01 1.70377821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.390714057 meters Centerline goodness [0,1] 0.9921177802944507 Centerline is valid? [True, True] Translation: X:142.43, Y:-4.96, Z:1.70 [[ 9.99824712e-01 -3.99734595e-04 -1.87185759e-02 1.42429783e+02] [ 4.11705297e-04 9.99999713e-01 6.35660006e-04 -4.96317128e+00] [ 1.87183164e-02 -6.43255119e-04 9.99824590e-01 1.70375996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.420714057 meters Centerline goodness [0,1] 0.9906881313131313 Centerline is valid? [True, True] Translation: X:142.46, Y:-4.97, Z:1.70 [[ 9.99814523e-01 -2.33300126e-03 -1.91174232e-02 1.42457047e+02] [ 2.34580808e-03 9.99997039e-01 6.47505495e-04 -4.97018500e+00] [ 1.91158560e-02 -6.92231203e-04 9.99817036e-01 1.70335517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.450714057 meters Centerline goodness [0,1] 0.9913276568905708 Centerline is valid? [True, True] Translation: X:142.49, Y:-4.97, Z:1.70 [[ 9.99809416e-01 -2.86754536e-03 -1.93108533e-02 1.42486153e+02] [ 2.88068140e-03 9.99995638e-01 6.52458651e-04 -4.97221680e+00] [ 1.93088981e-02 -7.07962719e-04 9.99813315e-01 1.70349107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.480714057 meters Centerline goodness [0,1] 0.9910205918757736 Centerline is valid? [True, True] Translation: X:142.51, Y:-4.98, Z:1.70 [[ 9.99806838e-01 -3.77857266e-03 -1.92875530e-02 1.42514994e+02] [ 3.79181998e-03 9.99992600e-01 6.50307952e-04 -4.97577186e+00] [ 1.92849531e-02 -7.23317267e-04 9.99813766e-01 1.70320277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51071405699997 meters Centerline goodness [0,1] 0.9912270860912293 Centerline is valid? [True, True] Translation: X:142.54, Y:-4.99, Z:1.70 [[ 9.99772772e-01 -5.82663988e-03 -2.05049883e-02 1.42542030e+02] [ 5.84200726e-03 9.99982698e-01 6.89623528e-04 -4.98511587e+00] [ 2.05006153e-02 -8.09257117e-04 9.99789513e-01 1.70168050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54071405699997 meters Centerline goodness [0,1] 0.99086788727338 Centerline is valid? [True, True] Translation: X:142.57, Y:-4.99, Z:1.70 [[ 9.99751003e-01 -6.86889176e-03 -2.12308934e-02 1.42570297e+02] [ 6.88553299e-03 9.99976042e-01 7.10818434e-04 -4.98851491e+00] [ 2.12255022e-02 -8.56827460e-04 9.99774346e-01 1.70136452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57071405699998 meters Centerline goodness [0,1] 0.9920552987117913 Centerline is valid? [True, True] Translation: X:142.60, Y:-4.99, Z:1.70 [[ 9.99720000e-01 -8.84992659e-03 -2.19453822e-02 1.42598673e+02] [ 8.86809342e-03 9.99960411e-01 7.30637888e-04 -4.98799842e+00] [ 2.19380473e-02 -9.25047009e-04 9.99758904e-01 1.70233058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60071405699998 meters Centerline goodness [0,1] 0.991582529270859 Centerline is valid? [True, True] Translation: X:142.63, Y:-5.00, Z:1.70 [[ 9.99717002e-01 -9.82454078e-03 -2.16654946e-02 1.42626110e+02] [ 9.84243402e-03 9.99951303e-01 7.19405262e-04 -4.99705003e+00] [ 2.16573717e-02 -9.32442873e-04 9.99765017e-01 1.70187115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63071405699998 meters Centerline goodness [0,1] 0.9908466307096658 Centerline is valid? [True, True] Translation: X:142.65, Y:-5.00, Z:1.70 [[ 9.99718222e-01 -1.16112234e-02 -2.07040086e-02 1.42653668e+02] [ 1.16279095e-02 9.99932158e-01 6.85730444e-04 -5.00199953e+00] [ 2.06946419e-02 -9.26281559e-04 9.99785414e-01 1.70270727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66071405699998 meters Centerline goodness [0,1] 0.9898567885788333 Centerline is valid? [True, True] Translation: X:142.68, Y:-5.00, Z:1.70 [[ 9.99715937e-01 -1.27043547e-02 -2.01654371e-02 1.42682511e+02] [ 1.27203539e-02 9.99918872e-01 6.65322521e-04 -5.00376930e+00] [ 2.01553486e-02 -9.21645024e-04 9.99796436e-01 1.70382522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69071405699998 meters Centerline goodness [0,1] 0.9913511822285791 Centerline is valid? [True, True] Translation: X:142.71, Y:-5.00, Z:1.71 [[ 9.99720673e-01 -1.48495023e-02 -1.83866267e-02 1.42711246e+02] [ 1.48630901e-02 9.99889357e-01 6.02562850e-04 -4.99978094e+00] [ 1.83756446e-02 -8.75676627e-04 9.99830770e-01 1.70624563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72071405699998 meters Centerline goodness [0,1] 0.9917636526410026 Centerline is valid? [True, True] Translation: X:142.74, Y:-5.00, Z:1.71 [[ 9.99720643e-01 -1.56658984e-02 -1.76979183e-02 1.42740072e+02] [ 1.56785385e-02 9.99876918e-01 5.75681534e-04 -5.00217407e+00] [ 1.76867215e-02 -8.52998206e-04 9.99843214e-01 1.70731344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75071405699998 meters Centerline goodness [0,1] 0.9904708770363758 Centerline is valid? [True, True] Translation: X:142.77, Y:-5.01, Z:1.71 [[ 9.99717239e-01 -1.65085699e-02 -1.71146080e-02 1.42768076e+02] [ 1.65204511e-02 9.99863375e-01 5.53057267e-04 -5.00652198e+00] [ 1.71031396e-02 -8.35641930e-04 9.99853381e-01 1.70765376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78071405699998 meters Centerline goodness [0,1] 0.9901846800518714 Centerline is valid? [True, True] Translation: X:142.80, Y:-5.01, Z:1.71 [[ 9.99669605e-01 -1.88385609e-02 -1.74868270e-02 1.42797357e+02] [ 1.88512949e-02 9.99822140e-01 5.63642373e-04 -5.00975828e+00] [ 1.74730985e-02 -8.93105481e-04 9.99846935e-01 1.70736647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81071405699998 meters Centerline goodness [0,1] 0.9908168521961161 Centerline is valid? [True, True] Translation: X:142.83, Y:-5.01, Z:1.71 [[ 9.99600892e-01 -2.17176987e-02 -1.80665043e-02 1.42826404e+02] [ 2.17317425e-02 9.99763669e-01 5.81357849e-04 -5.00959166e+00] [ 1.80496088e-02 -9.73742443e-04 9.99836618e-01 1.70716012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84071405699999 meters Centerline goodness [0,1] 0.9900890420153027 Centerline is valid? [True, True] Translation: X:142.86, Y:-5.01, Z:1.71 [[ 9.99567829e-01 -2.30943062e-02 -1.81881601e-02 1.42856379e+02] [ 2.31087506e-02 9.99732786e-01 5.84369123e-04 -5.01169832e+00] [ 1.81698043e-02 -1.00442223e-03 9.99834411e-01 1.70782506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.870714057 meters Centerline goodness [0,1] 0.9901982673930517 Centerline is valid? [True, True] Translation: X:142.89, Y:-5.01, Z:1.71 [[ 9.99552124e-01 -2.42115368e-02 -1.75884267e-02 1.42886620e+02] [ 2.42252082e-02 9.99706367e-01 5.64619819e-04 -5.01424924e+00] [ 1.75695919e-02 -9.90450238e-04 9.99845152e-01 1.70824903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.900714057 meters Centerline goodness [0,1] 0.988648021767251 Centerline is valid? [True, True] Translation: X:142.92, Y:-5.02, Z:1.71 [[ 9.99484656e-01 -2.66196031e-02 -1.79393232e-02 1.42917553e+02] [ 2.66342133e-02 9.99645080e-01 5.75953990e-04 -5.01761037e+00] [ 1.79176245e-02 -1.05345694e-03 9.99838912e-01 1.70817611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.930714057 meters Centerline goodness [0,1] 0.9893671449227005 Centerline is valid? [True, True] Translation: X:142.95, Y:-5.02, Z:1.71 [[ 9.99458755e-01 -2.74690861e-02 -1.81010290e-02 1.42949254e+02] [ 2.74841068e-02 9.99622071e-01 5.81536903e-04 -5.02010360e+00] [ 1.80782139e-02 -1.07871277e-03 9.99835994e-01 1.70812633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.960714057 meters Centerline goodness [0,1] 0.9898361751922434 Centerline is valid? [True, True] Translation: X:142.98, Y:-5.02, Z:1.71 [[ 9.99398884e-01 -2.90515494e-02 -1.89176700e-02 1.42979739e+02] [ 2.90682500e-02 9.99577244e-01 6.08367507e-04 -5.02347735e+00] [ 1.88919984e-02 -1.15790537e-03 9.99820860e-01 1.70762767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.990714057 meters Centerline goodness [0,1] 0.9888372923736382 Centerline is valid? [True, True] Translation: X:143.01, Y:-5.03, Z:1.71 [[ 9.99348360e-01 -3.04048935e-02 -1.94524527e-02 1.43010884e+02] [ 3.04228157e-02 9.99536923e-01 6.26002458e-04 -5.02559126e+00] [ 1.94244112e-02 -1.21739291e-03 9.99810587e-01 1.70720902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.020714057 meters Centerline goodness [0,1] 0.9888331661651621 Centerline is valid? [True, True] Translation: X:143.04, Y:-5.03, Z:1.71 [[ 9.99270109e-01 -3.22484081e-02 -2.04765434e-02 1.43042433e+02] [ 3.22686678e-02 9.99479013e-01 6.59687119e-04 -5.02785424e+00] [ 2.04446015e-02 -1.31995640e-03 9.99790116e-01 1.70629275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.050714057 meters Centerline goodness [0,1] 0.988426287268916 Centerline is valid? [True, True] Translation: X:143.07, Y:-5.03, Z:1.71 [[ 9.99228648e-01 -3.32635007e-02 -2.08721795e-02 1.43072296e+02] [ 3.32847817e-02 9.99445682e-01 6.72920255e-04 -5.02996590e+00] [ 2.08382260e-02 -1.36712713e-03 9.99781926e-01 1.70618919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.080714057 meters Centerline goodness [0,1] 0.9889943074003795 Centerline is valid? [True, True] Translation: X:143.10, Y:-5.03, Z:1.71 [[ 9.99180045e-01 -3.42459281e-02 -2.15975607e-02 1.43103643e+02] [ 3.42689484e-02 9.99412404e-01 6.96564990e-04 -5.03161185e+00] [ 2.15610155e-02 -1.43611953e-03 9.99766503e-01 1.70639879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.110714057 meters Centerline goodness [0,1] 0.988508562902256 Centerline is valid? [True, True] Translation: X:143.13, Y:-5.03, Z:1.71 [[ 9.99099092e-01 -3.62083550e-02 -2.21350200e-02 1.43133504e+02] [ 3.62330257e-02 9.99343113e-01 7.14383096e-04 -5.03366650e+00] [ 2.20946131e-02 -1.51575825e-03 9.99754735e-01 1.70611614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.140714057 meters Centerline goodness [0,1] 0.9875952705572071 Centerline is valid? [True, True] Translation: X:143.16, Y:-5.03, Z:1.71 [[ 9.99040937e-01 -3.78892151e-02 -2.19457026e-02 1.43163774e+02] [ 3.79138719e-02 9.99280760e-01 7.08405648e-04 -5.03485266e+00] [ 2.19030774e-02 -1.53977280e-03 9.99758913e-01 1.70665036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.170714057 meters Centerline goodness [0,1] 0.9874035126971697 Centerline is valid? [True, True] Translation: X:143.19, Y:-5.04, Z:1.71 [[ 9.99001544e-01 -3.87935300e-02 -2.21579908e-02 1.43194933e+02] [ 3.88188988e-02 9.99246006e-01 7.15762599e-04 -5.03582922e+00] [ 2.21135169e-02 -1.57519674e-03 9.99754225e-01 1.70726811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.200714057 meters Centerline goodness [0,1] 0.98720419505199 Centerline is valid? [True, True] Translation: X:143.23, Y:-5.04, Z:1.71 [[ 9.98973284e-01 -3.94684355e-02 -2.22400798e-02 1.43226079e+02] [ 3.94941753e-02 9.99219542e-01 7.19148968e-04 -5.03654600e+00] [ 2.21943387e-02 -1.59676422e-03 9.99752400e-01 1.70750258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.230714057 meters Centerline goodness [0,1] 0.986226820747111 Centerline is valid? [True, True] Translation: X:143.26, Y:-5.04, Z:1.71 [[ 9.98915420e-01 -4.10146932e-02 -2.20403656e-02 1.43257440e+02] [ 4.10403628e-02 9.99157235e-01 7.13411040e-04 -5.03754706e+00] [ 2.19925304e-02 -1.61718189e-03 9.99756827e-01 1.70784284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26071405699997 meters Centerline goodness [0,1] 0.9891905198845199 Centerline is valid? [True, True] Translation: X:143.29, Y:-5.03, Z:1.71 [[ 9.98902154e-01 -4.16140938e-02 -2.15117366e-02 1.43289611e+02] [ 4.16387059e-02 9.99132490e-01 6.97287506e-04 -5.02666070e+00] [ 2.14640579e-02 -1.59224286e-03 9.99768353e-01 1.70973549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29071405699997 meters Centerline goodness [0,1] 0.9839248481043876 Centerline is valid? [True, True] Translation: X:143.32, Y:-5.04, Z:1.71 [[ 9.98860563e-01 -4.29865080e-02 -2.07300865e-02 1.43320522e+02] [ 4.30096847e-02 9.99074429e-01 6.73271618e-04 -5.04077779e+00] [ 2.06819578e-02 -1.56409895e-03 9.99784882e-01 1.70944205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32071405699998 meters Centerline goodness [0,1] 0.9840800035876048 Centerline is valid? [True, True] Translation: X:143.35, Y:-5.04, Z:1.71 [[ 9.98833835e-01 -4.37888846e-02 -2.03348065e-02 1.43352468e+02] [ 4.38113740e-02 9.99039602e-01 6.61569440e-04 -5.04037541e+00] [ 2.02863076e-02 -1.55169375e-03 9.99793008e-01 1.70997122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35071405699998 meters Centerline goodness [0,1] 0.9888354402058396 Centerline is valid? [True, True] Translation: X:143.38, Y:-5.03, Z:1.71 [[ 9.98805887e-01 -4.43659141e-02 -2.04564483e-02 1.43384611e+02] [ 4.43888193e-02 9.99014108e-01 6.66780884e-04 -5.02898402e+00] [ 2.04066981e-02 -1.57402226e-03 9.99790523e-01 1.71140900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38071405699998 meters Centerline goodness [0,1] 0.9882418812989922 Centerline is valid? [True, True] Translation: X:143.42, Y:-5.03, Z:1.71 [[ 9.98731379e-01 -4.56423236e-02 -2.12699584e-02 1.43415557e+02] [ 4.56673992e-02 9.98956459e-01 6.94436272e-04 -5.02928361e+00] [ 2.12160666e-02 -1.66489897e-03 9.99773528e-01 1.71117664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41071405699998 meters Centerline goodness [0,1] 0.9876657138355579 Centerline is valid? [True, True] Translation: X:143.45, Y:-5.03, Z:1.71 [[ 9.98677630e-01 -4.63181516e-02 -2.23073853e-02 1.43447899e+02] [ 4.63459309e-02 9.98925184e-01 7.29641771e-04 -5.02979905e+00] [ 2.22496133e-02 -1.76253345e-03 9.99750893e-01 1.71064801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44071405699998 meters Centerline goodness [0,1] 0.9879064949103684 Centerline is valid? [True, True] Translation: X:143.48, Y:-5.03, Z:1.71 [[ 9.98577606e-01 -4.74963130e-02 -2.42253023e-02 1.43478123e+02] [ 4.75294583e-02 9.98869521e-01 7.93931578e-04 -5.03102636e+00] [ 2.41602073e-02 -1.94421779e-03 9.99706209e-01 1.70897982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47071405699998 meters Centerline goodness [0,1] 0.9871667867435159 Centerline is valid? [True, True] Translation: X:143.51, Y:-5.03, Z:1.71 [[ 9.98554691e-01 -4.79144596e-02 -2.43461314e-02 1.43510612e+02] [ 4.79480939e-02 9.98849509e-01 7.99289863e-04 -5.03133827e+00] [ 2.42798239e-02 -1.96548524e-03 9.99703269e-01 1.70908211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50071405699998 meters Centerline goodness [0,1] 0.9885909224408649 Centerline is valid? [True, True] Translation: X:143.54, Y:-5.02, Z:1.71 [[ 9.98564562e-01 -4.77161649e-02 -2.43307005e-02 1.43543216e+02] [ 4.77497388e-02 9.98859010e-01 8.00462930e-04 -5.02128936e+00] [ 2.42647443e-02 -1.96109851e-03 9.99703644e-01 1.71073904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53071405699998 meters Centerline goodness [0,1] 0.9862548366777648 Centerline is valid? [True, True] Translation: X:143.57, Y:-5.03, Z:1.71 [[ 9.98622456e-01 -4.67604605e-02 -2.38044074e-02 1.43573754e+02] [ 4.67923587e-02 9.98904330e-01 7.84462293e-04 -5.02812918e+00] [ 2.37416438e-02 -1.89724603e-03 9.99716327e-01 1.71037539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56071405699998 meters Centerline goodness [0,1] 0.9895901694991966 Centerline is valid? [True, True] Translation: X:143.61, Y:-5.02, Z:1.71 [[ 9.98677578e-01 -4.54807087e-02 -2.39708363e-02 1.43605504e+02] [ 4.55127085e-02 9.98963447e-01 7.90794424e-04 -5.01855275e+00] [ 2.39100234e-02 -1.88072635e-03 9.99712345e-01 1.71183271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59071405699999 meters Centerline goodness [0,1] 0.9895901694991966 Centerline is valid? [True, True] Translation: X:143.64, Y:-5.02, Z:1.71 [[ 9.98680760e-01 -4.54108046e-02 -2.39707970e-02 1.43637277e+02] [ 4.54428128e-02 9.98966628e-01 7.91985476e-04 -5.01966430e+00] [ 2.39100615e-02 -1.88024110e-03 9.99712345e-01 1.71227660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.620714057 meters Centerline goodness [0,1] 0.9901320266775555 Centerline is valid? [True, True] Translation: X:143.67, Y:-5.01, Z:1.71 [[ 9.98816762e-01 -4.20324057e-02 -2.44612545e-02 1.43668069e+02] [ 4.20647568e-02 9.99114559e-01 8.09267564e-04 -5.01102746e+00] [ 2.44055800e-02 -1.83726673e-03 9.99700451e-01 1.71254536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.650714057 meters Centerline goodness [0,1] 0.9878516769227276 Centerline is valid? [True, True] Translation: X:143.70, Y:-5.02, Z:1.71 [[ 9.98886194e-01 -4.01880269e-02 -2.47243398e-02 1.43698600e+02] [ 4.02205282e-02 9.99190492e-01 8.18463562e-04 -5.02006714e+00] [ 2.46714329e-02 -1.81197796e-03 9.99693972e-01 1.71122082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.680714057 meters Centerline goodness [0,1] 0.9896231817661207 Centerline is valid? [True, True] Translation: X:143.73, Y:-5.01, Z:1.71 [[ 9.99027150e-01 -3.58778583e-02 -2.56424186e-02 1.43729893e+02] [ 3.59114197e-02 9.99354616e-01 8.49374771e-04 -5.00703606e+00] [ 2.55953957e-02 -1.76940411e-03 9.99670818e-01 1.71196177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.710714057 meters Centerline goodness [0,1] 0.9903199908246358 Centerline is valid? [True, True] Translation: X:143.76, Y:-5.00, Z:1.71 [[ 9.99108263e-01 -3.34811473e-02 -2.57233835e-02 1.43760637e+02] [ 3.35141305e-02 9.99437881e-01 8.52058575e-04 -4.99925275e+00] [ 2.56803960e-02 -1.71339559e-03 9.99668736e-01 1.71321503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.740714057 meters Centerline goodness [0,1] 0.989803686359547 Centerline is valid? [True, True] Translation: X:143.79, Y:-5.00, Z:1.71 [[ 9.99267125e-01 -2.90755110e-02 -2.48963460e-02 1.43790389e+02] [ 2.91050404e-02 9.99576019e-01 8.24481885e-04 -4.99748187e+00] [ 2.48618182e-02 -1.54848680e-03 9.99689698e-01 1.71419779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.770714057 meters Centerline goodness [0,1] 0.9912670798866333 Centerline is valid? [True, True] Translation: X:143.82, Y:-4.98, Z:1.72 [[ 9.99349987e-01 -2.66916486e-02 -2.42313689e-02 1.43821894e+02] [ 2.67189222e-02 9.99642664e-01 8.02423243e-04 -4.98299787e+00] [ 2.42012922e-02 -1.44933772e-03 9.99706055e-01 1.71765131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.800714057 meters Centerline goodness [0,1] 0.9899506753330567 Centerline is valid? [True, True] Translation: X:143.85, Y:-4.99, Z:1.72 [[ 9.99491853e-01 -2.09472754e-02 -2.40259802e-02 1.43850906e+02] [ 2.09724352e-02 9.99779738e-01 7.95665481e-04 -4.98702479e+00] [ 2.40040212e-02 -1.29914448e-03 9.99711018e-01 1.71544049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.830714057 meters Centerline goodness [0,1] 0.9906630613141048 Centerline is valid? [True, True] Translation: X:143.88, Y:-4.98, Z:1.72 [[ 9.99547998e-01 -1.79014741e-02 -2.41523793e-02 1.43881427e+02] [ 1.79259944e-02 9.99838997e-01 7.99088428e-04 -4.97704427e+00] [ 2.41341859e-02 -1.23168266e-03 9.99707969e-01 1.71638739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.860714057 meters Centerline goodness [0,1] 0.9912675861113036 Centerline is valid? [True, True] Translation: X:143.91, Y:-4.98, Z:1.72 [[ 9.99604879e-01 -1.36748842e-02 -2.45577642e-02 1.43911560e+02] [ 1.36989418e-02 9.99905836e-01 8.11662738e-04 -4.97504757e+00] [ 2.45443524e-02 -1.14775742e-03 9.99698083e-01 1.71588875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.890714057 meters Centerline goodness [0,1] 0.9918017600741084 Centerline is valid? [True, True] Translation: X:143.94, Y:-4.97, Z:1.71 [[ 9.99648256e-01 -7.22584298e-03 -2.55176780e-02 1.43942144e+02] [ 7.24971445e-03 9.99973365e-01 8.43097207e-04 -4.97242724e+00] [ 2.55109063e-02 -1.02779653e-03 9.99674016e-01 1.71389817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.920714057 meters Centerline goodness [0,1] 0.9923759645911061 Centerline is valid? [True, True] Translation: X:143.97, Y:-4.97, Z:1.72 [[ 9.99699472e-01 -2.55335794e-03 -2.43812660e-02 1.43972561e+02] [ 2.57375687e-03 9.99996364e-01 8.05320443e-04 -4.96610161e+00] [ 2.43791211e-02 -8.67829873e-04 9.99702408e-01 1.71753496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.950714057 meters Centerline goodness [0,1] 0.99155126265565 Centerline is valid? [True, True] Translation: X:144.00, Y:-4.97, Z:1.72 [[ 9.99722758e-01 -1.45807452e-03 -2.35006700e-02 1.44000032e+02] [ 1.47669850e-03 9.99998609e-01 7.75152470e-04 -4.96653235e+00] [ 2.34995070e-02 -8.09640969e-04 9.99723521e-01 1.71891217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.980714057 meters Centerline goodness [0,1] 0.9916372421482996 Centerline is valid? [True, True] Translation: X:144.03, Y:-4.97, Z:1.72 [[ 9.99741301e-01 -1.29559918e-03 -2.27079648e-02 1.44029042e+02] [ 1.31286977e-03 9.99998860e-01 7.45660279e-04 -4.96613431e+00] [ 2.27069728e-02 -7.75279979e-04 9.99741863e-01 1.72034693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01071405699997 meters Centerline goodness [0,1] 0.9919848035581913 Centerline is valid? [True, True] Translation: X:144.06, Y:-4.97, Z:1.72 [[ 9.99740468e-01 -2.49577371e-03 -2.26443600e-02 1.44057420e+02] [ 2.51316356e-03 9.99996569e-01 7.39529109e-04 -4.96989276e+00] [ 2.26424366e-02 -7.96246158e-04 9.99743310e-01 1.72002150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04071405699997 meters Centerline goodness [0,1] 0.9913817069780373 Centerline is valid? [True, True] Translation: X:144.09, Y:-4.97, Z:1.72 [[ 9.99722917e-01 -3.88593050e-03 -2.32161200e-02 1.44086549e+02] [ 3.90454550e-03 9.99992091e-01 7.56536652e-04 -4.97318055e+00] [ 2.32129965e-02 -8.46975425e-04 9.99730183e-01 1.71896727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07071405699998 meters Centerline goodness [0,1] 0.9876723644913262 Centerline is valid? [True, True] Translation: X:144.11, Y:-5.01, Z:1.71 [[ 9.99772194e-01 -4.54137895e-03 -2.08551391e-02 1.44112757e+02] [ 4.55650571e-03 9.99989389e-01 6.77864042e-04 -5.00703480e+00] [ 2.08518394e-02 -7.72736181e-04 9.99782278e-01 1.71321787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10071405699998 meters Centerline goodness [0,1] 0.9904621140389367 Centerline is valid? [True, True] Translation: X:144.14, Y:-4.98, Z:1.72 [[ 9.99665286e-01 -1.07232853e-02 -2.35441496e-02 1.44143635e+02] [ 1.07442308e-02 9.99941988e-01 7.63302298e-04 -4.98445372e+00] [ 2.35345986e-02 -1.01601059e-03 9.99722507e-01 1.71768965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13071405699998 meters Centerline goodness [0,1] 0.9905307404499053 Centerline is valid? [True, True] Translation: X:144.17, Y:-4.99, Z:1.72 [[ 9.99614760e-01 -1.48889772e-02 -2.34232862e-02 1.44174111e+02] [ 1.49108482e-02 9.99888539e-01 7.59345823e-04 -4.98874067e+00] [ 2.34093695e-02 -1.10831436e-03 9.99725349e-01 1.71857356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16071405699998 meters Centerline goodness [0,1] 0.9909547044743141 Centerline is valid? [True, True] Translation: X:144.20, Y:-4.99, Z:1.72 [[ 9.99596710e-01 -1.65847706e-02 -2.30513132e-02 1.44201917e+02] [ 1.66063837e-02 9.99861826e-01 7.46484558e-04 -4.99300076e+00] [ 2.30357479e-02 -1.12898246e-03 9.99734004e-01 1.71889362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19071405699998 meters Centerline goodness [0,1] 0.9902984214771287 Centerline is valid? [True, True] Translation: X:144.23, Y:-5.00, Z:1.72 [[ 9.99548715e-01 -1.86170456e-02 -2.35748209e-02 1.44231474e+02] [ 1.86401778e-02 9.99825967e-01 7.61834063e-04 -4.99564388e+00] [ 2.35565350e-02 -1.20092911e-03 9.99721785e-01 1.71932850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22071405699998 meters Centerline goodness [0,1] 0.9899061896440725 Centerline is valid? [True, True] Translation: X:144.26, Y:-5.00, Z:1.72 [[ 9.99493046e-01 -2.21413233e-02 -2.28782070e-02 1.44260196e+02] [ 2.21640103e-02 9.99754075e-01 7.38521205e-04 -5.00433351e+00] [ 2.28562289e-02 -1.24521963e-03 9.99737987e-01 1.71864855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25071405699998 meters Centerline goodness [0,1] 0.9901762296967744 Centerline is valid? [True, True] Translation: X:144.29, Y:-5.01, Z:1.72 [[ 9.99453999e-01 -2.38853427e-02 -2.28296673e-02 1.44289329e+02] [ 2.39083597e-02 9.99713884e-01 7.35753013e-04 -5.00797842e+00] [ 2.28055616e-02 -1.28117119e-03 9.99739098e-01 1.71920579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28071405699998 meters Centerline goodness [0,1] 0.9902158471197471 Centerline is valid? [True, True] Translation: X:144.32, Y:-5.01, Z:1.72 [[ 9.99384098e-01 -2.76629707e-02 -2.15912972e-02 1.44319328e+02] [ 2.76844105e-02 9.99616472e-01 6.94653598e-04 -5.01122065e+00] [ 2.15638001e-02 -1.29196810e-03 9.99766639e-01 1.72117854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31071405699998 meters Centerline goodness [0,1] 0.9898094714665201 Centerline is valid? [True, True] Translation: X:144.35, Y:-5.02, Z:1.72 [[ 9.99338551e-01 -2.95642532e-02 -2.11758093e-02 1.44349421e+02] [ 2.95852983e-02 9.99562027e-01 6.81166659e-04 -5.02108612e+00] [ 2.11463967e-02 -1.30720874e-03 9.99775535e-01 1.72129582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34071405699999 meters Centerline goodness [0,1] 0.9885706479668503 Centerline is valid? [True, True] Translation: X:144.38, Y:-5.03, Z:1.72 [[ 9.99203797e-01 -3.39219261e-02 -2.10018008e-02 1.44380270e+02] [ 3.39435907e-02 9.99423522e-01 6.75840695e-04 -5.02584796e+00] [ 2.09667679e-02 -1.38817912e-03 9.99779209e-01 1.72128522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.370714057 meters Centerline goodness [0,1] 0.9880000910809026 Centerline is valid? [True, True] Translation: X:144.41, Y:-5.03, Z:1.72 [[ 9.99112648e-01 -3.64768116e-02 -2.10560893e-02 1.44409891e+02] [ 3.64991540e-02 9.99333454e-01 6.77632407e-04 -5.03318793e+00] [ 2.10173366e-02 -1.44556056e-03 9.99778066e-01 1.72100627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.400714057 meters Centerline goodness [0,1] 0.9882224794063585 Centerline is valid? [True, True] Translation: X:144.44, Y:-5.04, Z:1.72 [[ 9.98954423e-01 -4.04366419e-02 -2.13292764e-02 1.44439720e+02] [ 4.04604636e-02 9.99180904e-01 6.86315588e-04 -5.04201059e+00] [ 2.12840534e-02 -1.54859040e-03 9.99772270e-01 1.72061064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.430714057 meters Centerline goodness [0,1] 0.988087404415602 Centerline is valid? [True, True] Translation: X:144.47, Y:-5.04, Z:1.72 [[ 9.98865484e-01 -4.24513350e-02 -2.15784605e-02 1.44470698e+02] [ 4.24761826e-02 9.99097238e-01 6.94261851e-04 -5.04335050e+00] [ 2.15295079e-02 -1.61004483e-03 9.99766917e-01 1.72165625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.460714057 meters Centerline goodness [0,1] 0.9881819617041431 Centerline is valid? [True, True] Translation: X:144.50, Y:-5.05, Z:1.72 [[ 9.98736766e-01 -4.57827438e-02 -2.07077970e-02 1.44500884e+02] [ 4.58063435e-02 9.98950116e-01 6.66516624e-04 -5.04972925e+00] [ 2.06555412e-02 -1.61422312e-03 9.99785348e-01 1.72279068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.490714057 meters Centerline goodness [0,1] 0.988294201231477 Centerline is valid? [True, True] Translation: X:144.53, Y:-5.05, Z:1.72 [[ 9.98681062e-01 -4.71376891e-02 -2.03512590e-02 1.44532534e+02] [ 4.71607706e-02 9.98887097e-01 6.55442738e-04 -5.05383149e+00] [ 2.02977140e-02 -1.61435931e-03 9.99792677e-01 1.72368623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.520714057 meters Centerline goodness [0,1] 0.9876284478096268 Centerline is valid? [True, True] Translation: X:144.56, Y:-5.06, Z:1.72 [[ 9.98646910e-01 -4.80315801e-02 -1.99328002e-02 1.44564425e+02] [ 4.80539221e-02 9.98844536e-01 6.43132314e-04 -5.05886108e+00] [ 1.98788779e-02 -1.60011132e-03 9.99801115e-01 1.72397903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.550714057 meters Centerline goodness [0,1] 0.9876099838391094 Centerline is valid? [True, True] Translation: X:144.60, Y:-5.07, Z:1.72 [[ 9.98623962e-01 -4.88999765e-02 -1.89466084e-02 1.44596390e+02] [ 4.89203418e-02 9.98802495e-01 6.12618924e-04 -5.06504809e+00] [ 1.88939627e-02 -1.53865050e-03 9.99820309e-01 1.72449476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.580714057 meters Centerline goodness [0,1] 0.9875917158435614 Centerline is valid? [True, True] Translation: X:144.63, Y:-5.07, Z:1.72 [[ 9.98649226e-01 -4.82299847e-02 -1.93285092e-02 1.44628626e+02] [ 4.82510818e-02 9.98835042e-01 6.26366027e-04 -5.06877437e+00] [ 1.92757827e-02 -1.55814143e-03 9.99812991e-01 1.72496719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.610714057 meters Centerline goodness [0,1] 0.9893853869161401 Centerline is valid? [True, True] Translation: X:144.66, Y:-5.07, Z:1.73 [[ 9.98756993e-01 -4.55718587e-02 -2.01909603e-02 1.44659572e+02] [ 4.55943643e-02 9.98959821e-01 6.55463647e-04 -5.06583596e+00] [ 2.01400874e-02 -1.57524290e-03 9.99795927e-01 1.72540814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.640714057 meters Centerline goodness [0,1] 0.9892002335084646 Centerline is valid? [True, True] Translation: X:144.69, Y:-5.07, Z:1.72 [[ 9.98846208e-01 -4.33842916e-02 -2.05926411e-02 1.44690433e+02] [ 4.34072499e-02 9.99057237e-01 6.68998475e-04 -5.06964209e+00] [ 2.05442031e-02 -1.56209651e-03 9.99787725e-01 1.72491447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.670714057 meters Centerline goodness [0,1] 0.9885232672823455 Centerline is valid? [True, True] Translation: X:144.72, Y:-5.07, Z:1.72 [[ 9.98997802e-01 -3.91216808e-02 -2.17459276e-02 1.44721112e+02] [ 3.91462904e-02 9.99233240e-01 7.06992345e-04 -5.06905466e+00] [ 2.17015949e-02 -1.55755619e-03 9.99763279e-01 1.72451853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.700714057 meters Centerline goodness [0,1] 0.9896264626462646 Centerline is valid? [True, True] Translation: X:144.75, Y:-5.07, Z:1.73 [[ 9.99068468e-01 -3.69386242e-02 -2.23099734e-02 1.44753134e+02] [ 3.69639959e-02 9.99316334e-01 7.25781866e-04 -5.06974879e+00] [ 2.22679115e-02 -1.54977154e-03 9.99750838e-01 1.72537452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.730714057 meters Centerline goodness [0,1] 0.9899403623269944 Centerline is valid? [True, True] Translation: X:144.78, Y:-5.07, Z:1.73 [[ 9.99205390e-01 -3.37053256e-02 -2.12729976e-02 1.44784231e+02] [ 3.37276813e-02 9.99430820e-01 6.92887217e-04 -5.07148662e+00] [ 2.12375354e-02 -1.40982552e-03 9.99773464e-01 1.72573419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76071405699997 meters Centerline goodness [0,1] 0.9894604373131981 Centerline is valid? [True, True] Translation: X:144.81, Y:-5.08, Z:1.73 [[ 9.99254390e-01 -3.23346175e-02 -2.10982577e-02 1.44814788e+02] [ 3.23563136e-02 9.99476161e-01 6.87689531e-04 -5.07506930e+00] [ 2.10649694e-02 -1.36983863e-03 9.99777170e-01 1.72595034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79071405699997 meters Centerline goodness [0,1] 0.9905991363799928 Centerline is valid? [True, True] Translation: X:144.85, Y:-5.07, Z:1.73 [[ 9.99310731e-01 -2.99481814e-02 -2.19355921e-02 1.44845574e+02] [ 2.99710729e-02 9.99550510e-01 7.15491383e-04 -5.07293692e+00] [ 2.19043046e-02 -1.37243145e-03 9.99759130e-01 1.72539365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82071405699998 meters Centerline goodness [0,1] 0.9906264751500439 Centerline is valid? [True, True] Translation: X:144.88, Y:-5.07, Z:1.73 [[ 9.99326646e-01 -2.86713898e-02 -2.28955550e-02 1.44876420e+02] [ 2.86959955e-02 9.99587906e-01 7.46803290e-04 -5.07221380e+00] [ 2.28647080e-02 -1.40331117e-03 9.99737583e-01 1.72531696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85071405699998 meters Centerline goodness [0,1] 0.9907901551487311 Centerline is valid? [True, True] Translation: X:144.91, Y:-5.08, Z:1.72 [[ 9.99344618e-01 -2.76062266e-02 -2.34143273e-02 1.44905778e+02] [ 2.76316651e-02 9.99617881e-01 7.63553060e-04 -5.07624988e+00] [ 2.33843014e-02 -1.41002949e-03 9.99725555e-01 1.72461778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88071405699998 meters Centerline goodness [0,1] 0.9903969126522919 Centerline is valid? [True, True] Translation: X:144.93, Y:-5.08, Z:1.72 [[ 9.99384476e-01 -2.54833353e-02 -2.41095057e-02 1.44934870e+02] [ 2.55096769e-02 9.99674267e-01 7.85606132e-04 -5.07913748e+00] [ 2.40816326e-02 -1.40014828e-03 9.99709015e-01 1.72364999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91071405699998 meters Centerline goodness [0,1] 0.9911289779235071 Centerline is valid? [True, True] Translation: X:144.96, Y:-5.08, Z:1.72 [[ 9.99391032e-01 -2.48778837e-02 -2.44674571e-02 1.44963568e+02] [ 2.49047553e-02 9.99689513e-01 7.94102359e-04 -5.07601234e+00] [ 2.44401047e-02 -1.40297481e-03 9.99700312e-01 1.72474784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94071405699998 meters Centerline goodness [0,1] 0.9912129295465244 Centerline is valid? [True, True] Translation: X:144.99, Y:-5.08, Z:1.73 [[ 9.99443359e-01 -2.27243894e-02 -2.44248723e-02 1.44993112e+02] [ 2.27504310e-02 9.99740864e-01 7.88804121e-04 -5.07690437e+00] [ 2.44006178e-02 -1.34404141e-03 9.99701357e-01 1.72542331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97071405699998 meters Centerline goodness [0,1] 0.9910528086108308 Centerline is valid? [True, True] Translation: X:145.02, Y:-5.08, Z:1.73 [[ 9.99448849e-01 -2.20556098e-02 -2.48102654e-02 1.45021801e+02] [ 2.20821944e-02 9.99755840e-01 7.98020064e-04 -5.07795323e+00] [ 2.47866069e-02 -1.34544534e-03 9.99691859e-01 1.72566496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00071405699998 meters Centerline goodness [0,1] 0.9910280626011873 Centerline is valid? [True, True] Translation: X:145.05, Y:-5.08, Z:1.73 [[ 9.99449871e-01 -2.11430058e-02 -2.55524860e-02 1.45049599e+02] [ 2.11707897e-02 9.99775540e-01 8.17259134e-04 -5.08024499e+00] [ 2.55294711e-02 -1.35777584e-03 9.99673148e-01 1.72556487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03071405699998 meters Centerline goodness [0,1] 0.9915600448933782 Centerline is valid? [True, True] Translation: X:145.08, Y:-5.08, Z:1.73 [[ 9.99443233e-01 -2.06406353e-02 -2.62142915e-02 1.45078975e+02] [ 2.06695966e-02 9.99786013e-01 8.34279568e-04 -5.07713908e+00] [ 2.61914619e-02 -1.37565390e-03 9.99655998e-01 1.72635197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06071405699998 meters Centerline goodness [0,1] 0.9918954014239019 Centerline is valid? [True, True] Translation: X:145.11, Y:-5.08, Z:1.73 [[ 9.99450020e-01 -1.96449350e-02 -2.67158081e-02 1.45106703e+02] [ 1.96745414e-02 9.99806080e-01 8.45766006e-04 -5.08079011e+00] [ 2.66940123e-02 -1.37092212e-03 9.99642711e-01 1.72553077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09071405699999 meters Centerline goodness [0,1] 0.9920234814366696 Centerline is valid? [True, True] Translation: X:145.14, Y:-5.08, Z:1.73 [[ 9.99478025e-01 -1.79034969e-02 -2.68913213e-02 1.45135520e+02] [ 1.79328069e-02 9.99838834e-01 8.49157330e-04 -5.07768991e+00] [ 2.68717844e-02 -1.33095096e-03 9.99638002e-01 1.72631589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.120714057 meters Centerline goodness [0,1] 0.9914606741573033 Centerline is valid? [True, True] Translation: X:145.16, Y:-5.08, Z:1.73 [[ 9.99500920e-01 -1.70434833e-02 -2.65975791e-02 1.45164363e+02] [ 1.70717437e-02 9.99853918e-01 8.35790560e-04 -5.07760279e+00] [ 2.65794489e-02 -1.28944049e-03 9.99645872e-01 1.72710288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.150714057 meters Centerline goodness [0,1] 0.9912455947383779 Centerline is valid? [True, True] Translation: X:145.19, Y:-5.08, Z:1.73 [[ 9.99571245e-01 -1.57499828e-02 -2.46832703e-02 1.45192229e+02] [ 1.57738250e-02 9.99875288e-01 7.71506148e-04 -5.07827814e+00] [ 2.46680408e-02 -1.16052495e-03 9.99695024e-01 1.72921707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.180714057 meters Centerline goodness [0,1] 0.9914006017333513 Centerline is valid? [True, True] Translation: X:145.22, Y:-5.08, Z:1.73 [[ 9.99604496e-01 -1.55240182e-02 -2.34490070e-02 1.45220874e+02] [ 1.55453923e-02 9.99878897e-01 7.29492006e-04 -5.07917617e+00] [ 2.34348426e-02 -1.09372750e-03 9.99724768e-01 1.73054035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.210714057 meters Centerline goodness [0,1] 0.9922276882988521 Centerline is valid? [True, True] Translation: X:145.25, Y:-5.08, Z:1.73 [[ 9.99623372e-01 -1.60767724e-02 -2.22407441e-02 1.45248723e+02] [ 1.60960155e-02 9.99870215e-01 6.86461126e-04 -5.08105305e+00] [ 2.22268215e-02 -1.04418995e-03 9.99752408e-01 1.73203036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.240714057 meters Centerline goodness [0,1] 0.9906659486627176 Centerline is valid? [True, True] Translation: X:145.28, Y:-5.08, Z:1.73 [[ 9.99643799e-01 -1.67403174e-02 -2.07855193e-02 1.45276347e+02] [ 1.67571812e-02 9.99859385e-01 6.37403433e-04 -5.08464735e+00] [ 2.07719262e-02 -9.85483102e-04 9.99783755e-01 1.73351212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.270714057 meters Centerline goodness [0,1] 0.9905313229222761 Centerline is valid? [True, True] Translation: X:145.31, Y:-5.09, Z:1.73 [[ 9.99639932e-01 -1.71653770e-02 -2.06241825e-02 1.45305218e+02] [ 1.71820136e-02 9.99852180e-01 6.29711359e-04 -5.08601117e+00] [ 2.06103246e-02 -9.83849604e-04 9.99787101e-01 1.73462424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.300714057 meters Centerline goodness [0,1] 0.9908864954432477 Centerline is valid? [True, True] Translation: X:145.33, Y:-5.09, Z:1.73 [[ 9.99625565e-01 -1.76724323e-02 -2.08905366e-02 1.45333688e+02] [ 1.76895083e-02 9.99843328e-01 6.32877124e-04 -5.08782314e+00] [ 2.08760791e-02 -1.00218347e-03 9.99781569e-01 1.73495973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.330714057 meters Centerline goodness [0,1] 0.9910762331838565 Centerline is valid? [True, True] Translation: X:145.36, Y:-5.08, Z:1.74 [[ 9.99600324e-01 -1.80675000e-02 -2.17430026e-02 1.45362920e+02] [ 1.80859750e-02 9.99836222e-01 6.53335119e-04 -5.08380441e+00] [ 2.17276374e-02 -1.04631740e-03 9.99763380e-01 1.73564034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.360714057 meters Centerline goodness [0,1] 0.9914952664443499 Centerline is valid? [True, True] Translation: X:145.39, Y:-5.09, Z:1.73 [[ 9.99596331e-01 -1.69386746e-02 -2.28091077e-02 1.45390995e+02] [ 1.69586116e-02 9.99855961e-01 6.80918997e-04 -5.08615123e+00] [ 2.27942884e-02 -1.06745493e-03 9.99739607e-01 1.73473968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.390714057 meters Centerline goodness [0,1] 0.9912421446717475 Centerline is valid? [True, True] Translation: X:145.42, Y:-5.09, Z:1.73 [[ 9.99618754e-01 -1.41964509e-02 -2.36813641e-02 1.45419487e+02] [ 1.42171320e-02 9.99898683e-01 7.05162213e-04 -5.09386282e+00] [ 2.36689539e-02 -1.04157445e-03 9.99719308e-01 1.73307470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.420714057 meters Centerline goodness [0,1] 0.9934240057455785 Centerline is valid? [True, True] Translation: X:145.45, Y:-5.09, Z:1.74 [[ 9.99631553e-01 -1.26712375e-02 -2.40041271e-02 1.45449027e+02] [ 1.26919998e-02 9.99919199e-01 7.12789473e-04 -5.08670928e+00] [ 2.39931556e-02 -1.01718723e-03 9.99711605e-01 1.73503878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.450714057 meters Centerline goodness [0,1] 0.9922480620155039 Centerline is valid? [True, True] Translation: X:145.48, Y:-5.08, Z:1.74 [[ 9.99644121e-01 -1.05156750e-02 -2.45163558e-02 1.45477811e+02] [ 1.05366243e-02 9.99944225e-01 7.25477132e-04 -5.08489628e+00] [ 2.45073595e-02 -9.83538582e-04 9.99699166e-01 1.73586501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.480714057 meters Centerline goodness [0,1] 0.9922480620155039 Centerline is valid? [True, True] Translation: X:145.51, Y:-5.09, Z:1.74 [[ 9.99641042e-01 -1.08041322e-02 -2.45164752e-02 1.45505205e+02] [ 1.08250688e-02 9.99941147e-01 7.21422252e-04 -5.08564150e+00] [ 2.45072380e-02 -9.86555822e-04 9.99699166e-01 1.73624815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51071405699997 meters Centerline goodness [0,1] 0.99229062549024 Centerline is valid? [True, True] Translation: X:145.53, Y:-5.09, Z:1.74 [[ 9.99683429e-01 -7.18271134e-03 -2.41132980e-02 1.45534524e+02] [ 7.20180861e-03 9.99973818e-01 7.05230847e-04 -5.08704192e+00] [ 2.41076012e-02 -8.78666949e-04 9.99708983e-01 1.73693828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54071405699997 meters Centerline goodness [0,1] 0.993079662269602 Centerline is valid? [True, True] Translation: X:145.56, Y:-5.09, Z:1.74 [[ 9.99708179e-01 -5.85442320e-03 -2.34367710e-02 1.45563684e+02] [ 5.87203700e-03 9.99982526e-01 6.82795361e-04 -5.08787586e+00] [ 2.34323641e-02 -8.20217693e-04 9.99725088e-01 1.73788868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57071405699998 meters Centerline goodness [0,1] 0.9926574287569117 Centerline is valid? [True, True] Translation: X:145.59, Y:-5.09, Z:1.74 [[ 9.99747777e-01 -5.08654469e-03 -2.18748457e-02 1.45592633e+02] [ 5.10159672e-03 9.99986787e-01 6.32347404e-04 -5.08926757e+00] [ 2.18713402e-02 -7.43784553e-04 9.99760517e-01 1.74036797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60071405699998 meters Centerline goodness [0,1] 0.993389652004392 Centerline is valid? [True, True] Translation: X:145.62, Y:-5.09, Z:1.74 [[ 9.99762401e-01 -5.83438832e-03 -2.10024231e-02 1.45621308e+02] [ 5.84832080e-03 9.99982717e-01 6.02014205e-04 -5.09048292e+00] [ 2.09985477e-02 -7.24700074e-04 9.99779244e-01 1.74147042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63071405699998 meters Centerline goodness [0,1] 0.9928432446939369 Centerline is valid? [True, True] Translation: X:145.65, Y:-5.10, Z:1.74 [[ 9.99762815e-01 -8.53014218e-03 -2.00387190e-02 1.45649832e+02] [ 8.54329181e-03 9.99963343e-01 5.70694333e-04 -5.09682914e+00] [ 2.00331163e-02 -7.41755597e-04 9.99799042e-01 1.74216202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66071405699998 meters Centerline goodness [0,1] 0.9918817048419832 Centerline is valid? [True, True] Translation: X:145.68, Y:-5.10, Z:1.74 [[ 9.99748348e-01 -1.09817108e-02 -1.95612670e-02 1.45679088e+02] [ 1.09946915e-02 9.99939402e-01 5.56168338e-04 -5.10065543e+00] [ 1.95539740e-02 -7.71098473e-04 9.99808505e-01 1.74275215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69071405699998 meters Centerline goodness [0,1] 0.9914495657982632 Centerline is valid? [True, True] Translation: X:145.71, Y:-5.10, Z:1.74 [[ 9.99726746e-01 -1.33098548e-02 -1.92166759e-02 1.45708943e+02] [ 1.33227986e-02 9.99911099e-01 5.45701929e-04 -5.10463181e+00] [ 1.92077043e-02 -8.01572716e-04 9.99815194e-01 1.74289368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72071405699998 meters Centerline goodness [0,1] 0.991598506401138 Centerline is valid? [True, True] Translation: X:145.74, Y:-5.11, Z:1.74 [[ 9.99641790e-01 -1.85152739e-02 -1.93255297e-02 1.45738177e+02] [ 1.85293223e-02 9.99828167e-01 5.48112161e-04 -5.11324516e+00] [ 1.93120604e-02 -9.06004790e-04 9.99813094e-01 1.74249586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75071405699998 meters Centerline goodness [0,1] 0.9909663351356163 Centerline is valid? [True, True] Translation: X:145.77, Y:-5.12, Z:1.74 [[ 9.99542061e-01 -2.28433083e-02 -1.98456806e-02 1.45768308e+02] [ 2.28589622e-02 9.99738542e-01 5.62263355e-04 -5.12041743e+00] [ 1.98276478e-02 -1.01565753e-03 9.99802897e-01 1.74191254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78071405699998 meters Centerline goodness [0,1] 0.9911659991099243 Centerline is valid? [True, True] Translation: X:145.80, Y:-5.12, Z:1.74 [[ 9.99481504e-01 -2.48402302e-02 -2.04862338e-02 1.45797458e+02] [ 2.48573175e-02 9.99690841e-01 5.79824558e-04 -5.12365547e+00] [ 2.04654974e-02 -1.08875674e-03 9.99789967e-01 1.74180539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81071405699998 meters Centerline goodness [0,1] 0.9901658951471793 Centerline is valid? [True, True] Translation: X:145.83, Y:-5.13, Z:1.74 [[ 9.99416458e-01 -2.67369118e-02 -2.12574752e-02 1.45827099e+02] [ 2.67557167e-02 9.99641821e-01 6.00652324e-04 -5.12725060e+00] [ 2.12338016e-02 -1.16906080e-03 9.99773854e-01 1.74152294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84071405699999 meters Centerline goodness [0,1] 0.9908118425140929 Centerline is valid? [True, True] Translation: X:145.86, Y:-5.13, Z:1.74 [[ 9.99312858e-01 -2.97499192e-02 -2.21077661e-02 1.45857517e+02] [ 2.97709827e-02 9.99556551e-01 6.24179257e-04 -5.12767747e+00] [ 2.20793931e-02 -1.28192028e-03 9.99755399e-01 1.74156145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.870714057 meters Centerline goodness [0,1] 0.9908584614701902 Centerline is valid? [True, True] Translation: X:145.89, Y:-5.13, Z:1.74 [[ 9.99270375e-01 -3.11374642e-02 -2.21173181e-02 1.45886548e+02] [ 3.11588781e-02 9.99514249e-01 6.24156861e-04 -5.13158714e+00] [ 2.20871399e-02 -1.31285228e-03 9.99755187e-01 1.74159233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.900714057 meters Centerline goodness [0,1] 0.9894561966995238 Centerline is valid? [True, True] Translation: X:145.92, Y:-5.14, Z:1.74 [[ 9.99171934e-01 -3.40967440e-02 -2.22003930e-02 1.45915944e+02] [ 3.41190323e-02 9.99417580e-01 6.25853028e-04 -5.13636870e+00] [ 2.21661235e-02 -1.38279071e-03 9.99753345e-01 1.74167825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.930714057 meters Centerline goodness [0,1] 0.989251830063914 Centerline is valid? [True, True] Translation: X:145.95, Y:-5.14, Z:1.74 [[ 9.99125503e-01 -3.52354977e-02 -2.25097477e-02 1.45946506e+02] [ 3.52586939e-02 9.99378018e-01 6.34322488e-04 -5.13916335e+00] [ 2.24733964e-02 -1.42743208e-03 9.99746422e-01 1.74169692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.960714057 meters Centerline goodness [0,1] 0.9896094113476749 Centerline is valid? [True, True] Translation: X:145.98, Y:-5.14, Z:1.74 [[ 9.99097446e-01 -3.62105170e-02 -2.22056522e-02 1.45977310e+02] [ 3.62333303e-02 9.99343161e-01 6.25753107e-04 -5.14211711e+00] [ 2.21684079e-02 -1.42977306e-03 9.99753228e-01 1.74222921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.990714057 meters Centerline goodness [0,1] 0.9894384908334072 Centerline is valid? [True, True] Translation: X:146.01, Y:-5.14, Z:1.74 [[ 9.99078404e-01 -3.65744139e-02 -2.24645182e-02 1.46008796e+02] [ 3.65978607e-02 9.99329873e-01 6.33346593e-04 -5.14252206e+00] [ 2.24262999e-02 -1.45491621e-03 9.99747440e-01 1.74277494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.020714057 meters Centerline goodness [0,1] 0.9891723130065099 Centerline is valid? [True, True] Translation: X:146.04, Y:-5.14, Z:1.74 [[ 9.99118139e-01 -3.56892591e-02 -2.21183632e-02 1.46039035e+02] [ 3.57117833e-02 9.99361936e-01 6.24070124e-04 -5.14025655e+00] [ 2.20819777e-02 -1.41340598e-03 9.99755164e-01 1.74408650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.050714057 meters Centerline goodness [0,1] 0.9895990085863504 Centerline is valid? [True, True] Translation: X:146.07, Y:-5.14, Z:1.74 [[ 9.99161360e-01 -3.45013847e-02 -2.20506406e-02 1.46068470e+02] [ 3.45234800e-02 9.99403693e-01 6.22016242e-04 -5.14374217e+00] [ 2.20160312e-02 -1.38275944e-03 9.99756662e-01 1.74416478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.080714057 meters Centerline goodness [0,1] 0.9893058784456991 Centerline is valid? [True, True] Translation: X:146.10, Y:-5.14, Z:1.75 [[ 9.99255610e-01 -3.25416970e-02 -2.07186701e-02 1.46098006e+02] [ 3.25607760e-02 9.99469587e-01 5.84095274e-04 -5.14351891e+00] [ 2.06886731e-02 -1.25827645e-03 9.99785175e-01 1.74536945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.110714057 meters Centerline goodness [0,1] 0.9889455028799291 Centerline is valid? [True, True] Translation: X:146.13, Y:-5.14, Z:1.75 [[ 9.99291896e-01 -3.15940111e-02 -2.04334310e-02 1.46128996e+02] [ 3.16123684e-02 9.99500038e-01 5.75930285e-04 -5.14114318e+00] [ 2.04050191e-02 -1.22147161e-03 9.99791050e-01 1.74649582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.140714057 meters Centerline goodness [0,1] 0.9899321417483479 Centerline is valid? [True, True] Translation: X:146.16, Y:-5.14, Z:1.75 [[ 9.99335196e-01 -3.03366646e-02 -2.02201300e-02 1.46159546e+02] [ 3.03543890e-02 9.99539037e-01 5.70158987e-04 -5.14046325e+00] [ 2.01935125e-02 -1.18354963e-03 9.99795390e-01 1.74727746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.170714057 meters Centerline goodness [0,1] 0.9907203907203908 Centerline is valid? [True, True] Translation: X:146.19, Y:-5.14, Z:1.75 [[ 9.99332568e-01 -3.00769117e-02 -2.07315782e-02 1.46190489e+02] [ 3.00954885e-02 9.99546857e-01 5.84580596e-04 -5.13625440e+00] [ 2.07046015e-02 -1.20811740e-03 9.99784907e-01 1.74784222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.200714057 meters Centerline goodness [0,1] 0.9908014308885285 Centerline is valid? [True, True] Translation: X:146.22, Y:-5.14, Z:1.75 [[ 9.99321930e-01 -3.01645966e-02 -2.11134574e-02 1.46221190e+02] [ 3.01838838e-02 9.99544185e-01 5.95348670e-04 -5.13611495e+00] [ 2.10858752e-02 -1.23223113e-03 9.99776909e-01 1.74777127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.230714057 meters Centerline goodness [0,1] 0.9906062624916723 Centerline is valid? [True, True] Translation: X:146.25, Y:-5.14, Z:1.75 [[ 9.99309256e-01 -3.03620820e-02 -2.14278758e-02 1.46251104e+02] [ 3.03819904e-02 9.99538178e-01 6.04081611e-04 -5.13800883e+00] [ 2.13996387e-02 -1.25468586e-03 9.99770214e-01 1.74763296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26071405699997 meters Centerline goodness [0,1] 0.9912730664179602 Centerline is valid? [True, True] Translation: X:146.28, Y:-5.14, Z:1.75 [[ 9.99345549e-01 -2.98192800e-02 -2.04764099e-02 1.46281483e+02] [ 2.98373409e-02 9.99554601e-01 5.77021034e-04 -5.13510305e+00] [ 2.04500834e-02 -1.18760503e-03 9.99790170e-01 1.74841432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29071405699997 meters Centerline goodness [0,1] 0.9906890130353817 Centerline is valid? [True, True] Translation: X:146.31, Y:-5.13, Z:1.75 [[ 9.99372728e-01 -2.89256978e-02 -2.04316836e-02 1.46311732e+02] [ 2.89434937e-02 9.99580884e-01 5.75760655e-04 -5.13493474e+00] [ 2.04064661e-02 -1.16676380e-03 9.99791086e-01 1.74871973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32071405699998 meters Centerline goodness [0,1] 0.9902241773867448 Centerline is valid? [True, True] Translation: X:146.34, Y:-5.13, Z:1.75 [[ 9.99397035e-01 -2.77644217e-02 -2.08495449e-02 1.46342279e+02] [ 2.77827013e-02 9.99613814e-01 5.87535900e-04 -5.13392722e+00] [ 2.08251805e-02 -1.16643831e-03 9.99782452e-01 1.74912628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35071405699998 meters Centerline goodness [0,1] 0.9903070546815812 Centerline is valid? [True, True] Translation: X:146.37, Y:-5.13, Z:1.75 [[ 9.99484009e-01 -2.43849842e-02 -2.09066550e-02 1.46371658e+02] [ 2.44026232e-02 9.99702038e-01 5.88961879e-04 -5.13097188e+00] [ 2.08860638e-02 -1.09883520e-03 9.99781259e-01 1.74954550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38071405699998 meters Centerline goodness [0,1] 0.9902845555629832 Centerline is valid? [True, True] Translation: X:146.40, Y:-5.13, Z:1.75 [[ 9.99538391e-01 -2.26169702e-02 -2.02848870e-02 1.46401510e+02] [ 2.26332005e-02 9.99743673e-01 5.70865259e-04 -5.12927509e+00] [ 2.02667762e-02 -1.02971366e-03 9.99794078e-01 1.75015210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41071405699998 meters Centerline goodness [0,1] 0.9910535896638991 Centerline is valid? [True, True] Translation: X:146.43, Y:-5.13, Z:1.75 [[ 9.99650116e-01 -1.78059559e-02 -1.95600074e-02 1.46431185e+02] [ 1.78201161e-02 9.99841058e-01 5.49862761e-04 -5.12611878e+00] [ 1.95471077e-02 -8.98231976e-04 9.99808534e-01 1.75104537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44071405699998 meters Centerline goodness [0,1] 0.9908709432614615 Centerline is valid? [True, True] Translation: X:146.46, Y:-5.12, Z:1.75 [[ 9.99693107e-01 -1.52275598e-02 -1.95400346e-02 1.46461087e+02] [ 1.52411896e-02 9.99883696e-01 5.48788101e-04 -5.12331448e+00] [ 1.95294053e-02 -8.46433053e-04 9.99808925e-01 1.75160731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47071405699998 meters Centerline goodness [0,1] 0.991068238656663 Centerline is valid? [True, True] Translation: X:146.49, Y:-5.12, Z:1.75 [[ 9.99735726e-01 -1.24831243e-02 -1.93041480e-02 1.46490528e+02] [ 1.24959032e-02 9.99921777e-01 5.41492814e-04 -5.12097385e+00] [ 1.92958785e-02 -7.82572477e-04 9.99813511e-01 1.75184049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50071405699998 meters Centerline goodness [0,1] 0.9918935215167825 Centerline is valid? [True, True] Translation: X:146.52, Y:-5.12, Z:1.75 [[ 9.99779033e-01 -7.32069781e-03 -1.97051249e-02 1.46520266e+02] [ 7.33299818e-03 9.99972961e-01 5.52037415e-04 -5.11510295e+00] [ 1.97005508e-02 -6.96413078e-04 9.99805683e-01 1.75223016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53071405699998 meters Centerline goodness [0,1] 0.9927691963286321 Centerline is valid? [True, True] Translation: X:146.55, Y:-5.11, Z:1.75 [[ 9.99791016e-01 -2.33120643e-03 -2.03098552e-02 1.46550182e+02] [ 2.34323020e-03 9.99997093e-01 5.68238895e-04 -5.11012481e+00] [ 2.03084714e-02 -6.15710808e-04 9.99793572e-01 1.75245858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56071405699998 meters Centerline goodness [0,1] 0.9926488660484862 Centerline is valid? [True, True] Translation: X:146.58, Y:-5.11, Z:1.75 [[ 9.99790524e-01 5.17074715e-05 -2.04671975e-02 1.46577841e+02] [-4.00178940e-05 9.99999836e-01 5.71546339e-04 -5.10954720e+00] [ 2.04672237e-02 -5.70607560e-04 9.99790362e-01 1.75210809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59071405699999 meters Centerline goodness [0,1] 0.9931353194544149 Centerline is valid? [True, True] Translation: X:146.61, Y:-5.11, Z:1.75 [[ 9.99785046e-01 2.37557480e-03 -2.05965876e-02 1.46606518e+02] [-2.36428985e-03 9.99997041e-01 5.72237224e-04 -5.10870184e+00] [ 2.05978860e-02 -5.23417916e-04 9.99787704e-01 1.75225439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.620714057 meters Centerline goodness [0,1] 0.9934088106714494 Centerline is valid? [True, True] Translation: X:146.63, Y:-5.11, Z:1.75 [[ 9.99740047e-01 7.29627372e-03 -2.16009913e-02 1.46634644e+02] [-7.28510864e-03 9.99973286e-01 5.95526107e-04 -5.10647700e+00] [ 2.16047593e-02 -4.38005730e-04 9.99766494e-01 1.75197346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.650714057 meters Centerline goodness [0,1] 0.9935930464392123 Centerline is valid? [True, True] Translation: X:146.66, Y:-5.11, Z:1.75 [[ 9.99723828e-01 9.44526938e-03 -2.15187053e-02 1.46662787e+02] [-9.43473837e-03 9.99955317e-01 5.90861725e-04 -5.10623916e+00] [ 2.15233246e-02 -3.87675191e-04 9.99768271e-01 1.75222974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.680714057 meters Centerline goodness [0,1] 0.9939319024609506 Centerline is valid? [True, True] Translation: X:146.69, Y:-5.11, Z:1.75 [[ 9.99708715e-01 1.16095233e-02 -2.11590055e-02 1.46691142e+02] [-1.15998891e-02 9.99932552e-01 5.78003413e-04 -5.10611136e+00] [ 2.11642887e-02 -3.32392932e-04 9.99775956e-01 1.75274307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.710714057 meters Centerline goodness [0,1] 0.9938392355255762 Centerline is valid? [True, True] Translation: X:146.72, Y:-5.11, Z:1.75 [[ 9.99708039e-01 1.19490556e-02 -2.10013675e-02 1.46718528e+02] [-1.19397299e-02 9.99928557e-01 5.69393627e-04 -5.10896334e+00] [ 2.10066708e-02 -3.18476731e-04 9.99779285e-01 1.75273284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.740714057 meters Centerline goodness [0,1] 0.9937202834843456 Centerline is valid? [True, True] Translation: X:146.75, Y:-5.11, Z:1.75 [[ 9.99750235e-01 9.41232169e-03 -2.02700833e-02 1.46747539e+02] [-9.40315608e-03 9.99955639e-01 5.47440181e-04 -5.11237537e+00] [ 2.02743368e-02 -3.56700693e-04 9.99794391e-01 1.75466119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.770714057 meters Centerline goodness [0,1] 0.9933578673368638 Centerline is valid? [True, True] Translation: X:146.78, Y:-5.12, Z:1.76 [[ 9.99775232e-01 6.65375367e-03 -2.01299006e-02 1.46776452e+02] [-6.64418411e-03 9.99977780e-01 5.42233799e-04 -5.11569857e+00] [ 2.01330612e-02 -4.08365156e-04 9.99797226e-01 1.75567621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.800714057 meters Centerline goodness [0,1] 0.9933814815642957 Centerline is valid? [True, True] Translation: X:146.81, Y:-5.12, Z:1.76 [[ 9.99809285e-01 3.20263596e-03 -1.92648936e-02 1.46805031e+02] [-3.19325684e-03 9.99994768e-01 5.17592242e-04 -5.11998033e+00] [ 1.92664505e-02 -4.55975776e-04 9.99814281e-01 1.75614903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.830714057 meters Centerline goodness [0,1] 0.9918865905848787 Centerline is valid? [True, True] Translation: X:146.83, Y:-5.13, Z:1.76 [[ 9.99813994e-01 -4.62715179e-03 -1.87234331e-02 1.46833481e+02] [ 4.63736126e-03 9.99989121e-01 5.01896757e-04 -5.13196589e+00] [ 1.87209071e-02 -5.88630724e-04 9.99824575e-01 1.75590213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.860714057 meters Centerline goodness [0,1] 0.9921559888579388 Centerline is valid? [True, True] Translation: X:146.86, Y:-5.13, Z:1.76 [[ 9.99791512e-01 -8.60545278e-03 -1.85169659e-02 1.46862611e+02] [ 8.61610612e-03 9.99962758e-01 4.95625241e-04 -5.13452057e+00] [ 1.85120112e-02 -6.55066052e-04 9.99828423e-01 1.75671399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.890714057 meters Centerline goodness [0,1] 0.9914180265907777 Centerline is valid? [True, True] Translation: X:146.89, Y:-5.14, Z:1.76 [[ 9.99695780e-01 -1.58102972e-02 -1.89309842e-02 1.46892011e+02] [ 1.58227056e-02 9.99874685e-01 5.05844596e-04 -5.14322688e+00] [ 1.89206143e-02 -8.05230098e-04 9.99820665e-01 1.75688835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.920714057 meters Centerline goodness [0,1] 0.9910517529215359 Centerline is valid? [True, True] Translation: X:146.92, Y:-5.14, Z:1.76 [[ 9.99627579e-01 -1.84800463e-02 -2.00796189e-02 1.46921821e+02] [ 1.84945336e-02 9.99828818e-01 5.36019313e-04 -5.14471645e+00] [ 2.00662759e-02 -9.07182874e-04 9.99798240e-01 1.75717917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.950714057 meters Centerline goodness [0,1] 0.9914673504575799 Centerline is valid? [True, True] Translation: X:146.95, Y:-5.15, Z:1.76 [[ 9.99518491e-01 -2.26280799e-02 -2.12310414e-02 1.46951050e+02] [ 2.26451934e-02 9.99743405e-01 5.65959256e-04 -5.15085148e+00] [ 2.12127870e-02 -1.04646778e-03 9.99774436e-01 1.75647398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.980714057 meters Centerline goodness [0,1] 0.9907283884738527 Centerline is valid? [True, True] Translation: X:146.98, Y:-5.15, Z:1.76 [[ 9.99454444e-01 -2.45829524e-02 -2.20565637e-02 1.46979989e+02] [ 2.46018720e-02 9.99697156e-01 5.86799779e-04 -5.15317993e+00] [ 2.20354588e-02 -1.12911241e-03 9.99756552e-01 1.75610904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01071405699997 meters Centerline goodness [0,1] 0.990966395880499 Centerline is valid? [True, True] Translation: X:147.01, Y:-5.16, Z:1.76 [[ 9.99406962e-01 -2.58591250e-02 -2.27382886e-02 1.47008311e+02] [ 2.58795183e-02 9.99664887e-01 6.03010655e-04 -5.15594417e+00] [ 2.27150754e-02 -1.19110900e-03 9.99741270e-01 1.75626240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04071405699997 meters Centerline goodness [0,1] 0.9916492693110647 Centerline is valid? [True, True] Translation: X:147.04, Y:-5.16, Z:1.76 [[ 9.99295376e-01 -2.81510999e-02 -2.48247236e-02 1.47037864e+02] [ 2.81760705e-02 9.99602760e-01 6.56597327e-04 -5.15774531e+00] [ 2.47963783e-02 -1.35559784e-03 9.99691603e-01 1.75545693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07071405699998 meters Centerline goodness [0,1] 0.990829354946153 Centerline is valid? [True, True] Translation: X:147.07, Y:-5.16, Z:1.75 [[ 9.99231101e-01 -2.95433421e-02 -2.57759140e-02 1.47066736e+02] [ 2.95706901e-02 9.99562460e-01 6.80383806e-04 -5.16014026e+00] [ 2.57445352e-02 -1.44207222e-03 9.99667514e-01 1.75482963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10071405699998 meters Centerline goodness [0,1] 0.9912401618569078 Centerline is valid? [True, True] Translation: X:147.10, Y:-5.16, Z:1.76 [[ 9.99237384e-01 -3.00764597e-02 -2.49009502e-02 1.47095502e+02] [ 3.01020534e-02 9.99546617e-01 6.53531350e-04 -5.15764065e+00] [ 2.48700047e-02 -1.40260269e-03 9.99689710e-01 1.75601011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13071405699998 meters Centerline goodness [0,1] 0.9909237819051203 Centerline is valid? [True, True] Translation: X:147.12, Y:-5.16, Z:1.76 [[ 9.99263618e-01 -2.98681946e-02 -2.40855173e-02 1.47123579e+02] [ 2.98919830e-02 9.99552937e-01 6.28154094e-04 -5.16319167e+00] [ 2.40559878e-02 -1.34765541e-03 9.99709705e-01 1.75605213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16071405699998 meters Centerline goodness [0,1] 0.9918979678144546 Centerline is valid? [True, True] Translation: X:147.15, Y:-5.16, Z:1.76 [[ 9.99310588e-01 -2.92760402e-02 -2.28311840e-02 1.47153015e+02] [ 2.92972370e-02 9.99570567e-01 5.94404507e-04 -5.15770032e+00] [ 2.28039777e-02 -1.26288533e-03 9.99739158e-01 1.75845580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19071405699998 meters Centerline goodness [0,1] 0.9909645257488762 Centerline is valid? [True, True] Translation: X:147.18, Y:-5.15, Z:1.76 [[ 9.99350983e-01 -2.87088451e-02 -2.17580871e-02 1.47183086e+02] [ 2.87279448e-02 9.99587107e-01 5.65696507e-04 -5.15475757e+00] [ 2.17328629e-02 -1.19039449e-03 9.99763105e-01 1.76013674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22071405699998 meters Centerline goodness [0,1] 0.9908838243468594 Centerline is valid? [True, True] Translation: X:147.21, Y:-5.16, Z:1.76 [[ 9.99365405e-01 -2.85265223e-02 -2.13313075e-02 1.47212063e+02] [ 2.85448249e-02 9.99592360e-01 5.53963037e-04 -5.15977138e+00] [ 2.13068093e-02 -1.16250993e-03 9.99772308e-01 1.76045790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25071405699998 meters Centerline goodness [0,1] 0.9909350082409016 Centerline is valid? [True, True] Translation: X:147.24, Y:-5.16, Z:1.76 [[ 9.99377938e-01 -2.85821014e-02 -2.06591456e-02 1.47242256e+02] [ 2.85992752e-02 9.99590813e-01 5.36260794e-04 -5.15763955e+00] [ 2.06353647e-02 -1.12676380e-03 9.99786433e-01 1.76163796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28071405699998 meters Centerline goodness [0,1] 0.9910304918762519 Centerline is valid? [True, True] Translation: X:147.27, Y:-5.16, Z:1.76 [[ 9.99336225e-01 -3.03378554e-02 -2.01673740e-02 1.47271997e+02] [ 3.03545758e-02 9.99539057e-01 5.23414456e-04 -5.16124073e+00] [ 2.01421987e-02 -1.13523911e-03 9.99796481e-01 1.76167923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31071405699998 meters Centerline goodness [0,1] 0.9908681901198272 Centerline is valid? [True, True] Translation: X:147.30, Y:-5.16, Z:1.76 [[ 9.99290749e-01 -3.17962613e-02 -2.01741703e-02 1.47302351e+02] [ 3.18132856e-02 9.99493692e-01 5.23408211e-04 -5.16031204e+00] [ 2.01473136e-02 -1.16484363e-03 9.99796344e-01 1.76183230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34071405699999 meters Centerline goodness [0,1] 0.9908240534521158 Centerline is valid? [True, True] Translation: X:147.33, Y:-5.16, Z:1.76 [[ 9.99165906e-01 -3.48528284e-02 -2.12784441e-02 1.47333300e+02] [ 3.48724611e-02 9.99391618e-01 5.52187332e-04 -5.16107892e+00] [ 2.12462534e-02 -1.29375847e-03 9.99773436e-01 1.76177682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.370714057 meters Centerline goodness [0,1] 0.9899348202013036 Centerline is valid? [True, True] Translation: X:147.36, Y:-5.16, Z:1.76 [[ 9.99102312e-01 -3.63870108e-02 -2.16922806e-02 1.47363271e+02] [ 3.64077805e-02 9.99336858e-01 5.63178173e-04 -5.16469983e+00] [ 2.16574032e-02 -1.35244041e-03 9.99764536e-01 1.76119203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.400714057 meters Centerline goodness [0,1] 0.9899348202013036 Centerline is valid? [True, True] Translation: X:147.39, Y:-5.17, Z:1.76 [[ 9.99103579e-01 -3.63522278e-02 -2.16922737e-02 1.47394164e+02] [ 3.63729951e-02 9.99338125e-01 5.63447306e-04 -5.16553318e+00] [ 2.16574335e-02 -1.35195518e-03 9.99764536e-01 1.76162370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.430714057 meters Centerline goodness [0,1] 0.9901984753183829 Centerline is valid? [True, True] Translation: X:147.42, Y:-5.17, Z:1.76 [[ 9.99042870e-01 -3.75650653e-02 -2.24100342e-02 1.47424711e+02] [ 3.75875485e-02 9.99293168e-01 5.82739375e-04 -5.16793005e+00] [ 2.23723035e-02 -1.42451987e-03 9.99748694e-01 1.76091178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.460714057 meters Centerline goodness [0,1] 0.9903276131045242 Centerline is valid? [True, True] Translation: X:147.46, Y:-5.17, Z:1.76 [[ 9.98946653e-01 -3.93164632e-02 -2.36600774e-02 1.47455914e+02] [ 3.93420286e-02 9.99225613e-01 6.15839617e-04 -5.16586142e+00] [ 2.36175427e-02 -1.54602637e-03 9.99719872e-01 1.76067940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.490714057 meters Centerline goodness [0,1] 0.990642545227698 Centerline is valid? [True, True] Translation: X:147.49, Y:-5.17, Z:1.76 [[ 9.98928013e-01 -3.92399944e-02 -2.45570292e-02 1.47487362e+02] [ 3.92675342e-02 9.99228528e-01 6.40063236e-04 -5.16665829e+00] [ 2.45129681e-02 -1.60367108e-03 9.99698226e-01 1.76051966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.520714057 meters Centerline goodness [0,1] 0.9907444578259512 Centerline is valid? [True, True] Translation: X:147.52, Y:-5.16, Z:1.76 [[ 9.98915449e-01 -3.85633774e-02 -2.60920013e-02 1.47517652e+02] [ 3.85942528e-02 9.99254733e-01 6.80588480e-04 -5.16481074e+00] [ 2.60463100e-02 -1.68685164e-03 9.99659314e-01 1.75961450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.550714057 meters Centerline goodness [0,1] 0.9909590141976963 Centerline is valid? [True, True] Translation: X:147.55, Y:-5.16, Z:1.76 [[ 9.98941254e-01 -3.75686110e-02 -2.65512812e-02 1.47547429e+02] [ 3.76002277e-02 9.99292622e-01 6.92350087e-04 -5.16477681e+00] [ 2.65064887e-02 -1.68995128e-03 9.99647213e-01 1.75957095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.580714057 meters Centerline goodness [0,1] 0.9908308299331928 Centerline is valid? [True, True] Translation: X:147.58, Y:-5.16, Z:1.76 [[ 9.99029608e-01 -3.48027672e-02 -2.69927586e-02 1.47577924e+02] [ 3.48344323e-02 9.99392849e-01 7.03615923e-04 -5.15859397e+00] [ 2.69518822e-02 -1.64321056e-03 9.99635381e-01 1.76068948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.610714057 meters Centerline goodness [0,1] 0.9911341960327766 Centerline is valid? [True, True] Translation: X:147.61, Y:-5.16, Z:1.76 [[ 9.99070706e-01 -3.33846377e-02 -2.72615248e-02 1.47607875e+02] [ 3.34163980e-02 9.99441264e-01 7.10152671e-04 -5.15664618e+00] [ 2.72225846e-02 -1.62047469e-03 9.99628083e-01 1.76156738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.640714057 meters Centerline goodness [0,1] 0.99114568155836 Centerline is valid? [True, True] Translation: X:147.64, Y:-5.16, Z:1.76 [[ 9.99107036e-01 -3.21739622e-02 -2.73855128e-02 1.47636441e+02] [ 3.22055254e-02 9.99481014e-01 7.12152535e-04 -5.15933293e+00] [ 2.73483873e-02 -1.59348144e-03 9.99624693e-01 1.76141110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.670714057 meters Centerline goodness [0,1] 0.9904514278029318 Centerline is valid? [True, True] Translation: X:147.67, Y:-5.15, Z:1.76 [[ 9.99220516e-01 -2.96153637e-02 -2.61015637e-02 1.47666473e+02] [ 2.96431409e-02 9.99560316e-01 6.77822273e-04 -5.15025324e+00] [ 2.60700133e-02 -1.45102625e-03 9.99659066e-01 1.76441839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.700714057 meters Centerline goodness [0,1] 0.9910756328901047 Centerline is valid? [True, True] Translation: X:147.70, Y:-5.15, Z:1.77 [[ 9.99262609e-01 -2.86504632e-02 -2.55614894e-02 1.47695626e+02] [ 2.86767145e-02 9.99588520e-01 6.60934140e-04 -5.14945413e+00] [ 2.55320353e-02 -1.39346631e-03 9.99673033e-01 1.76545913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.730714057 meters Centerline goodness [0,1] 0.9906278865433573 Centerline is valid? [True, True] Translation: X:147.72, Y:-5.15, Z:1.77 [[ 9.99313225e-01 -2.77554187e-02 -2.45502668e-02 1.47724594e+02] [ 2.77792762e-02 9.99613882e-01 6.31206650e-04 -5.14788038e+00] [ 2.45232681e-02 -1.31276180e-03 9.99698398e-01 1.76602025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76071405699997 meters Centerline goodness [0,1] 0.99009878710142 Centerline is valid? [True, True] Translation: X:147.75, Y:-5.15, Z:1.77 [[ 9.99321254e-01 -2.75988635e-02 -2.43994500e-02 1.47753515e+02] [ 2.76223516e-02 9.99618234e-01 6.26075732e-04 -5.14807810e+00] [ 2.43728561e-02 -1.29962097e-03 9.99702093e-01 1.76603258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79071405699997 meters Centerline goodness [0,1] 0.9912798557908968 Centerline is valid? [True, True] Translation: X:147.78, Y:-5.15, Z:1.77 [[ 9.99311611e-01 -2.78354496e-02 -2.45253318e-02 1.47782152e+02] [ 2.78591726e-02 9.99611662e-01 6.26070685e-04 -5.14718570e+00] [ 2.44983807e-02 -1.30889516e-03 9.99699013e-01 1.76595666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82071405699998 meters Centerline goodness [0,1] 0.9913045442226036 Centerline is valid? [True, True] Translation: X:147.81, Y:-5.14, Z:1.77 [[ 9.99259238e-01 -2.87158046e-02 -2.56198789e-02 1.47812196e+02] [ 2.87418822e-02 9.99586655e-01 6.50128078e-04 -5.14120014e+00] [ 2.55906201e-02 -1.38601003e-03 9.99671546e-01 1.76682214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85071405699998 meters Centerline goodness [0,1] 0.9918726718591263 Centerline is valid? [True, True] Translation: X:147.84, Y:-5.14, Z:1.77 [[ 9.99229879e-01 -2.94619399e-02 -2.59160846e-02 1.47842070e+02] [ 2.94888504e-02 9.99564894e-01 6.56719640e-04 -5.13868830e+00] [ 2.58854601e-02 -1.42044943e-03 9.99663906e-01 1.76778601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88071405699998 meters Centerline goodness [0,1] 0.9914087404761367 Centerline is valid? [True, True] Translation: X:147.87, Y:-5.14, Z:1.77 [[ 9.99188426e-01 -3.11903532e-02 -2.54882648e-02 1.47871930e+02] [ 3.12169198e-02 9.99512425e-01 6.44978150e-04 -5.13793242e+00] [ 2.54557203e-02 -1.44011982e-03 9.99674913e-01 1.76845437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91071405699998 meters Centerline goodness [0,1] 0.9910768606773473 Centerline is valid? [True, True] Translation: X:147.90, Y:-5.14, Z:1.77 [[ 9.99169782e-01 -3.17788543e-02 -2.54921656e-02 1.47902164e+02] [ 3.18056073e-02 9.99493866e-01 6.44581251e-04 -5.13819168e+00] [ 2.54587791e-02 -1.45483992e-03 9.99674814e-01 1.76892427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94071405699998 meters Centerline goodness [0,1] 0.9910910118711136 Centerline is valid? [True, True] Translation: X:147.93, Y:-5.14, Z:1.77 [[ 9.99153930e-01 -3.31527860e-02 -2.43375570e-02 1.47932640e+02] [ 3.31775758e-02 9.99449283e-01 6.15386438e-04 -5.13630800e+00] [ 2.43037522e-02 -1.42232692e-03 9.99703608e-01 1.76990739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97071405699998 meters Centerline goodness [0,1] 0.9910136266920186 Centerline is valid? [True, True] Translation: X:147.96, Y:-5.14, Z:1.77 [[ 9.99156745e-01 -3.31277050e-02 -2.42559985e-02 1.47963291e+02] [ 3.31523259e-02 9.99450122e-01 6.13506627e-04 -5.13787044e+00] [ 2.42223366e-02 -1.41713205e-03 9.99705592e-01 1.77021054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00071405699998 meters Centerline goodness [0,1] 0.9913326846047659 Centerline is valid? [True, True] Translation: X:147.99, Y:-5.13, Z:1.77 [[ 9.99172447e-01 -3.29249720e-02 -2.38823834e-02 1.47994833e+02] [ 3.29487965e-02 9.99456858e-01 6.04654611e-04 -5.13473653e+00] [ 2.38495036e-02 -1.39105002e-03 9.99714592e-01 1.77121359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03071405699998 meters Centerline goodness [0,1] 0.9914463981849121 Centerline is valid? [True, True] Translation: X:148.03, Y:-5.13, Z:1.77 [[ 9.99189594e-01 -3.17093777e-02 -2.47925691e-02 1.48025682e+02] [ 3.17346934e-02 9.99496130e-01 6.28216190e-04 -5.13093247e+00] [ 2.47601565e-02 -1.41449166e-03 9.99692420e-01 1.77159066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06071405699998 meters Centerline goodness [0,1] 0.9908919526654099 Centerline is valid? [True, True] Translation: X:148.06, Y:-5.13, Z:1.77 [[ 9.99201789e-01 -3.10292592e-02 -2.51589081e-02 1.48056193e+02] [ 3.10551190e-02 9.99517470e-01 6.37698332e-04 -5.13209891e+00] [ 2.51269809e-02 -1.41850220e-03 9.99683261e-01 1.77096962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09071405699999 meters Centerline goodness [0,1] 0.9909489914265572 Centerline is valid? [True, True] Translation: X:148.09, Y:-5.13, Z:1.77 [[ 9.99200796e-01 -3.03107061e-02 -2.60582011e-02 1.48086923e+02] [ 3.03382115e-02 9.99539472e-01 6.60750198e-04 -5.12991147e+00] [ 2.60261728e-02 -1.45078134e-03 9.99660209e-01 1.77026205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.120714057 meters Centerline goodness [0,1] 0.9909903760835438 Centerline is valid? [True, True] Translation: X:148.12, Y:-5.13, Z:1.77 [[ 9.99187221e-01 -3.04478950e-02 -2.64163493e-02 1.48116812e+02] [ 3.04762090e-02 9.99535268e-01 6.69801334e-04 -5.13092300e+00] [ 2.63836787e-02 -1.47432712e-03 9.99650803e-01 1.76988039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.150714057 meters Centerline goodness [0,1] 0.9910250569476082 Centerline is valid? [True, True] Translation: X:148.15, Y:-5.13, Z:1.77 [[ 9.99166204e-01 -3.10239415e-02 -2.65407425e-02 1.48146884e+02] [ 3.10527187e-02 9.99517522e-01 6.72698692e-04 -5.12961931e+00] [ 2.65070674e-02 -1.49630001e-03 9.99647506e-01 1.77050349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.180714057 meters Centerline goodness [0,1] 0.9900414748644091 Centerline is valid? [True, True] Translation: X:148.18, Y:-5.13, Z:1.77 [[ 9.99049180e-01 -3.38583370e-02 -2.74654142e-02 1.48175936e+02] [ 3.38902093e-02 9.99425320e-01 6.95656316e-04 -5.13396846e+00] [ 2.74260766e-02 -1.62580351e-03 9.99622512e-01 1.76920761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.210714057 meters Centerline goodness [0,1] 0.9902806297056811 Centerline is valid? [True, True] Translation: X:148.21, Y:-5.14, Z:1.77 [[ 9.98954097e-01 -3.60306333e-02 -2.81514601e-02 1.48205895e+02] [ 3.60649635e-02 9.99349194e-01 7.12530252e-04 -5.13582007e+00] [ 2.81074660e-02 -1.72706640e-03 9.99603415e-01 1.76883685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.240714057 meters Centerline goodness [0,1] 0.9886713318593148 Centerline is valid? [True, True] Translation: X:148.23, Y:-5.14, Z:1.77 [[ 9.98769070e-01 -4.01196749e-02 -2.91677429e-02 1.48234894e+02] [ 4.01582811e-02 9.99193058e-01 7.38776623e-04 -5.13954214e+00] [ 2.91145668e-02 -1.90919366e-03 9.99574258e-01 1.76735001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.270714057 meters Centerline goodness [0,1] 0.9899917928141528 Centerline is valid? [True, True] Translation: X:148.26, Y:-5.14, Z:1.77 [[ 9.98720886e-01 -4.12437176e-02 -2.92497489e-02 1.48264726e+02] [ 4.12830789e-02 9.99147214e-01 7.42831896e-04 -5.14188685e+00] [ 2.91941680e-02 -1.94940142e-03 9.99571859e-01 1.76744672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.300714057 meters Centerline goodness [0,1] 0.9889327522077448 Centerline is valid? [True, True] Translation: X:148.30, Y:-5.14, Z:1.77 [[ 9.98691582e-01 -4.21327104e-02 -2.89820314e-02 1.48295419e+02] [ 4.21717667e-02 9.99110103e-01 7.37412346e-04 -5.14371955e+00] [ 2.89251712e-02 -1.95867097e-03 9.99579661e-01 1.76827330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.330714057 meters Centerline goodness [0,1] 0.988858256055048 Centerline is valid? [True, True] Translation: X:148.33, Y:-5.14, Z:1.77 [[ 9.98719797e-01 -4.17884120e-02 -2.85042990e-02 1.48327106e+02] [ 4.18260713e-02 9.99124643e-01 7.25969831e-04 -5.14289862e+00] [ 2.84490104e-02 -1.91726328e-03 9.99593406e-01 1.76961318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.360714057 meters Centerline goodness [0,1] 0.9897409067127682 Centerline is valid? [True, True] Translation: X:148.36, Y:-5.13, Z:1.77 [[ 9.98880354e-01 -3.87248871e-02 -2.71739208e-02 1.48357735e+02] [ 3.87579949e-02 9.99248387e-01 6.92528599e-04 -5.13076624e+00] [ 2.71266784e-02 -1.74495990e-03 9.99630481e-01 1.77315334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.390714057 meters Centerline goodness [0,1] 0.9886132852611642 Centerline is valid? [True, True] Translation: X:148.39, Y:-5.14, Z:1.77 [[ 9.98954396e-01 -3.69660863e-02 -2.69002314e-02 1.48387705e+02] [ 3.69979015e-02 9.99315108e-01 6.85785603e-04 -5.14101797e+00] [ 2.68564569e-02 -1.68032066e-03 9.99637888e-01 1.77197526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.420714057 meters Centerline goodness [0,1] 0.9906945905162559 Centerline is valid? [True, True] Translation: X:148.42, Y:-5.13, Z:1.78 [[ 9.99043262e-01 -3.51096771e-02 -2.60743308e-02 1.48419557e+02] [ 3.51389558e-02 9.99382215e-01 6.65410345e-04 -5.12813509e+00] [ 2.60348601e-02 -1.58099848e-03 9.99659785e-01 1.77522118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.450714057 meters Centerline goodness [0,1] 0.9898642450926436 Centerline is valid? [True, True] Translation: X:148.45, Y:-5.13, Z:1.78 [[ 9.99194811e-01 -3.12116533e-02 -2.52103648e-02 1.48449266e+02] [ 3.12377985e-02 9.99511774e-01 6.43831149e-04 -5.12618862e+00] [ 2.51779614e-02 -1.43082904e-03 9.99681961e-01 1.77653962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.480714057 meters Centerline goodness [0,1] 0.9904480483782298 Centerline is valid? [True, True] Translation: X:148.48, Y:-5.12, Z:1.78 [[ 9.99256535e-01 -2.93025186e-02 -2.50547202e-02 1.48480242e+02] [ 2.93277480e-02 9.99569644e-01 6.40032422e-04 -5.12237689e+00] [ 2.50251832e-02 -1.37435510e-03 9.99685876e-01 1.77784608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51071405699997 meters Centerline goodness [0,1] 0.9906880733944954 Centerline is valid? [True, True] Translation: X:148.51, Y:-5.12, Z:1.78 [[ 9.99411615e-01 -2.51827062e-02 -2.32863927e-02 1.48510938e+02] [ 2.52033881e-02 9.99682167e-01 5.95044575e-04 -5.11911747e+00] [ 2.32640067e-02 -1.18159045e-03 9.99728658e-01 1.77946039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54071405699997 meters Centerline goodness [0,1] 0.9912877568847409 Centerline is valid? [True, True] Translation: X:148.54, Y:-5.12, Z:1.78 [[ 9.99463690e-01 -2.32760964e-02 -2.30338029e-02 1.48540691e+02] [ 2.32958178e-02 9.99728443e-01 5.88197261e-04 -5.11872749e+00] [ 2.30138569e-02 -1.12447308e-03 9.99734514e-01 1.77951266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57071405699998 meters Centerline goodness [0,1] 0.9903704725133297 Centerline is valid? [True, True] Translation: X:148.57, Y:-5.12, Z:1.78 [[ 9.99504850e-01 -2.14454788e-02 -2.30249001e-02 1.48569899e+02] [ 2.14646817e-02 9.99769435e-01 5.87155670e-04 -5.11940949e+00] [ 2.30069995e-02 -1.08108709e-03 9.99734719e-01 1.77939088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60071405699998 meters Centerline goodness [0,1] 0.9909787586587807 Centerline is valid? [True, True] Translation: X:148.60, Y:-5.12, Z:1.78 [[ 9.99537490e-01 -1.86041604e-02 -2.40560085e-02 1.48599394e+02] [ 1.86242803e-02 9.99826365e-01 6.12580042e-04 -5.11626834e+00] [ 2.40404350e-02 -1.06032256e-03 9.99710425e-01 1.77901523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63071405699998 meters Centerline goodness [0,1] 0.9903668879056047 Centerline is valid? [True, True] Translation: X:148.63, Y:-5.12, Z:1.78 [[ 9.99532498e-01 -1.78366944e-02 -2.48321739e-02 1.48627516e+02] [ 1.78578614e-02 9.99840337e-01 6.30885329e-04 -5.11636060e+00] [ 2.48169562e-02 -1.07403991e-03 9.99691435e-01 1.77876822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66071405699998 meters Centerline goodness [0,1] 0.9903165563830032 Centerline is valid? [True, True] Translation: X:148.66, Y:-5.11, Z:1.78 [[ 9.99520073e-01 -1.67913650e-02 -2.60321833e-02 1.48656307e+02] [ 1.68141632e-02 9.99858416e-01 6.57111122e-04 -5.11426065e+00] [ 2.60174638e-02 -1.09450514e-03 9.99660889e-01 1.77840621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69071405699998 meters Centerline goodness [0,1] 0.9895379652033645 Centerline is valid? [True, True] Translation: X:148.68, Y:-5.12, Z:1.78 [[ 9.99500754e-01 -1.68428252e-02 -2.67313087e-02 1.48684201e+02] [ 1.68667590e-02 9.99857522e-01 6.70108227e-04 -5.11617363e+00] [ 2.67162136e-02 -1.12064422e-03 9.99642430e-01 1.77733163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72071405699998 meters Centerline goodness [0,1] 0.9889519328351324 Centerline is valid? [True, True] Translation: X:148.71, Y:-5.11, Z:1.78 [[ 9.99469522e-01 -1.74802705e-02 -2.74793391e-02 1.48712585e+02] [ 1.75056766e-02 9.99846530e-01 6.84239471e-04 -5.11412731e+00] [ 2.74631612e-02 -1.16492092e-03 9.99622137e-01 1.77817149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75071405699998 meters Centerline goodness [0,1] 0.9885225037602684 Centerline is valid? [True, True] Translation: X:148.74, Y:-5.12, Z:1.78 [[ 9.99425367e-01 -1.94570040e-02 -2.77553700e-02 1.48741089e+02] [ 1.94834914e-02 9.99809945e-01 6.84174948e-04 -5.11588652e+00] [ 2.77367830e-02 -1.22455331e-03 9.99614511e-01 1.77810549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78071405699998 meters Centerline goodness [0,1] 0.9883788226034216 Centerline is valid? [True, True] Translation: X:148.77, Y:-5.12, Z:1.78 [[ 9.99393435e-01 -2.08548340e-02 -2.78897425e-02 1.48769421e+02] [ 2.08819287e-02 9.99781717e-01 6.80562793e-04 -5.11759733e+00] [ 2.78694616e-02 -1.26254160e-03 9.99610774e-01 1.77881427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81071405699998 meters Centerline goodness [0,1] 0.9864877414561665 Centerline is valid? [True, True] Translation: X:148.80, Y:-5.12, Z:1.78 [[ 9.99328556e-01 -2.35113647e-02 -2.81007619e-02 1.48798523e+02] [ 2.35397903e-02 9.99722669e-01 6.81133163e-04 -5.11897308e+00] [ 2.80769543e-02 -1.34216186e-03 9.99604864e-01 1.78028367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84071405699999 meters Centerline goodness [0,1] 0.9864093881905469 Centerline is valid? [True, True] Translation: X:148.83, Y:-5.12, Z:1.78 [[ 9.99304210e-01 -2.49290581e-02 -2.77423464e-02 1.48827067e+02] [ 2.49571831e-02 9.99688298e-01 6.67947260e-04 -5.11984413e+00] [ 2.77170478e-02 -1.35985333e-03 9.99614884e-01 1.78123621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.870714057 meters Centerline goodness [0,1] 0.9870325344448304 Centerline is valid? [True, True] Translation: X:148.86, Y:-5.12, Z:1.78 [[ 9.99264227e-01 -2.74617663e-02 -2.67741664e-02 1.48855710e+02] [ 2.74887524e-02 9.99621908e-01 6.40306108e-04 -5.12394538e+00] [ 2.67464594e-02 -1.37582342e-03 9.99641303e-01 1.78163293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.900714057 meters Centerline goodness [0,1] 0.9855254292418857 Centerline is valid? [True, True] Translation: X:148.89, Y:-5.13, Z:1.78 [[ 9.99226944e-01 -2.90717452e-02 -2.64641017e-02 1.48885377e+02] [ 2.90986330e-02 9.99576346e-01 6.31395815e-04 -5.12584039e+00] [ 2.64345343e-02 -1.40097689e-03 9.99649565e-01 1.78235685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.930714057 meters Centerline goodness [0,1] 0.9855896412493619 Centerline is valid? [True, True] Translation: X:148.92, Y:-5.13, Z:1.78 [[ 9.99174794e-01 -3.05300609e-02 -2.67889234e-02 1.48915238e+02] [ 3.05581162e-02 9.99532788e-01 6.38418893e-04 -5.12767030e+00] [ 2.67569163e-02 -1.45651110e-03 9.99640909e-01 1.78289919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.960714057 meters Centerline goodness [0,1] 0.9846994535519126 Centerline is valid? [True, True] Translation: X:148.95, Y:-5.13, Z:1.78 [[ 9.99104832e-01 -3.27740643e-02 -2.67468671e-02 1.48945658e+02] [ 3.28028264e-02 9.99461639e-01 6.37170247e-04 -5.13083483e+00] [ 2.67115850e-02 -1.51397271e-03 9.99642035e-01 1.78367541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.990714057 meters Centerline goodness [0,1] 0.984178752341961 Centerline is valid? [True, True] Translation: X:148.98, Y:-5.13, Z:1.78 [[ 9.99089949e-01 -3.35583506e-02 -2.63270021e-02 1.48977219e+02] [ 3.35864991e-02 9.99435617e-01 6.27602668e-04 -5.13241707e+00] [ 2.62910823e-02 -1.51126335e-03 9.99653187e-01 1.78401801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.020714057 meters Centerline goodness [0,1] 0.9831503701812612 Centerline is valid? [True, True] Translation: X:149.01, Y:-5.13, Z:1.79 [[ 9.99046980e-01 -3.48356488e-02 -2.62984840e-02 1.49008484e+02] [ 3.48642016e-02 9.99391862e-01 6.27845721e-04 -5.13414884e+00] [ 2.62606195e-02 -1.54412302e-03 9.99653938e-01 1.78509903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.050714057 meters Centerline goodness [0,1] 0.9834994206257243 Centerline is valid? [True, True] Translation: X:149.04, Y:-5.14, Z:1.79 [[ 9.99007831e-01 -3.55389283e-02 -2.68391170e-02 1.49040102e+02] [ 3.55689458e-02 9.99367019e-01 6.41699107e-04 -5.13602835e+00] [ 2.67993231e-02 -1.59570153e-03 9.99639560e-01 1.78514913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.080714057 meters Centerline goodness [0,1] 0.983205151964418 Centerline is valid? [True, True] Translation: X:149.07, Y:-5.14, Z:1.79 [[ 9.99008385e-01 -3.56249933e-02 -2.67040553e-02 1.49071053e+02] [ 3.56547647e-02 9.99363962e-01 6.39393702e-04 -5.13779921e+00] [ 2.66642921e-02 -1.59088648e-03 9.99643179e-01 1.78564849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.110714057 meters Centerline goodness [0,1] 0.9839987032234161 Centerline is valid? [True, True] Translation: X:149.10, Y:-5.14, Z:1.79 [[ 9.98943786e-01 -3.68075118e-02 -2.75048976e-02 1.49100818e+02] [ 3.68395566e-02 9.99320976e-01 6.59067734e-04 -5.14197134e+00] [ 2.74619625e-02 -1.67163985e-03 9.99621451e-01 1.78520364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.140714057 meters Centerline goodness [0,1] 0.9831263561239093 Centerline is valid? [True, True] Translation: X:149.13, Y:-5.14, Z:1.79 [[ 9.98900089e-01 -3.74142695e-02 -2.82627754e-02 1.49131312e+02] [ 3.74483542e-02 9.99298335e-01 6.77470663e-04 -5.14469173e+00] [ 2.82175973e-02 -1.73511993e-03 9.99600298e-01 1.78507076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.170714057 meters Centerline goodness [0,1] 0.9829357840533863 Centerline is valid? [True, True] Translation: X:149.16, Y:-5.15, Z:1.78 [[ 9.98797213e-01 -3.91523978e-02 -2.95164005e-02 1.49161502e+02] [ 3.91903540e-02 9.99231512e-01 7.08306948e-04 -5.14857974e+00] [ 2.94659856e-02 -1.86421319e-03 9.99564045e-01 1.78481749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.200714057 meters Centerline goodness [0,1] 0.9828701678447264 Centerline is valid? [True, True] Translation: X:149.19, Y:-5.15, Z:1.79 [[ 9.98765005e-01 -3.97848481e-02 -2.97595452e-02 1.49191552e+02] [ 3.98237266e-02 9.99206465e-01 7.14629289e-04 -5.15114714e+00] [ 2.97074985e-02 -1.89888272e-03 9.99556831e-01 1.78519364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.230714057 meters Centerline goodness [0,1] 0.982994923857868 Centerline is valid? [True, True] Translation: X:149.22, Y:-5.15, Z:1.79 [[ 9.98718031e-01 -4.02279781e-02 -3.07246601e-02 1.49222272e+02] [ 4.02696294e-02 9.99188577e-01 7.37805026e-04 -5.15418988e+00] [ 3.06700490e-02 -1.97412986e-03 9.99527614e-01 1.78507541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26071405699997 meters Centerline goodness [0,1] 0.9826646969207331 Centerline is valid? [True, True] Translation: X:149.25, Y:-5.16, Z:1.78 [[ 9.98663192e-01 -4.09237293e-02 -3.15765458e-02 1.49251816e+02] [ 4.09680655e-02 9.99160169e-01 7.58119202e-04 -5.15806611e+00] [ 3.15190017e-02 -2.05073574e-03 9.99501049e-01 1.78489010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29071405699997 meters Centerline goodness [0,1] 0.9826646969207331 Centerline is valid? [True, True] Translation: X:149.28, Y:-5.16, Z:1.79 [[ 9.98663191e-01 -4.09237309e-02 -3.15765485e-02 1.49281872e+02] [ 4.09680635e-02 9.99160169e-01 7.58006312e-04 -5.15878758e+00] [ 3.15190091e-02 -2.05062305e-03 9.99501049e-01 1.78531009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32071405699998 meters Centerline goodness [0,1] 0.9838255171939793 Centerline is valid? [True, True] Translation: X:149.31, Y:-5.16, Z:1.79 [[ 9.98692635e-01 -4.06011154e-02 -3.10575369e-02 1.49312101e+02] [ 4.06438465e-02 9.99173419e-01 7.45547255e-04 -5.16106730e+00] [ 3.10015953e-02 -2.00687032e-03 9.99517320e-01 1.78622367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35071405699998 meters Centerline goodness [0,1] 0.9831967400760039 Centerline is valid? [True, True] Translation: X:149.34, Y:-5.16, Z:1.79 [[ 9.98725854e-01 -4.02132034e-02 -3.04887940e-02 1.49342336e+02] [ 4.02542030e-02 9.99189203e-01 7.31894378e-04 -5.16289707e+00] [ 3.04346419e-02 -1.95826394e-03 9.99534841e-01 1.78735792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38071405699998 meters Centerline goodness [0,1] 0.9831324196727322 Centerline is valid? [True, True] Translation: X:149.37, Y:-5.17, Z:1.79 [[ 9.98747494e-01 -4.00846667e-02 -2.99443401e-02 1.49371429e+02] [ 4.01241599e-02 9.99194443e-01 7.18931728e-04 -5.16601495e+00] [ 2.98914000e-02 -1.91952275e-03 9.99551309e-01 1.78805132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41071405699998 meters Centerline goodness [0,1] 0.9821605094369985 Centerline is valid? [True, True] Translation: X:149.40, Y:-5.17, Z:1.79 [[ 9.98751937e-01 -4.07077248e-02 -2.89387298e-02 1.49401652e+02] [ 4.07448716e-02 9.99169341e-01 6.94878552e-04 -5.16916561e+00] [ 2.88864047e-02 -1.87311613e-03 9.99580946e-01 1.78996958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44071405699998 meters Centerline goodness [0,1] 0.9847647979379546 Centerline is valid? [True, True] Translation: X:149.43, Y:-5.17, Z:1.79 [[ 9.98744399e-01 -4.12647131e-02 -2.84050896e-02 1.49431764e+02] [ 4.13007262e-02 9.99146528e-01 6.82064750e-04 -5.17003891e+00] [ 2.83527015e-02 -1.85435918e-03 9.99596261e-01 1.79125308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47071405699998 meters Centerline goodness [0,1] 0.9788894516322114 Centerline is valid? [True, True] Translation: X:149.46, Y:-5.18, Z:1.79 [[ 9.98648288e-01 -4.38904340e-02 -2.78429057e-02 1.49461816e+02] [ 4.39260568e-02 9.99034561e-01 6.68786153e-04 -5.17853729e+00] [ 2.77866718e-02 -1.89091121e-03 9.99612087e-01 1.79115057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50071405699998 meters Centerline goodness [0,1] 0.9765998528870908 Centerline is valid? [True, True] Translation: X:149.49, Y:-5.18, Z:1.79 [[ 9.98588234e-01 -4.55363151e-02 -2.73492792e-02 1.49492938e+02] [ 4.55713170e-02 9.98960871e-01 6.57567323e-04 -5.18313692e+00] [ 2.72909166e-02 -1.90298166e-03 9.99625722e-01 1.79182236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53071405699998 meters Centerline goodness [0,1] 0.9718575402938404 Centerline is valid? [True, True] Translation: X:149.52, Y:-5.19, Z:1.79 [[ 9.98444715e-01 -4.90248910e-02 -2.65464133e-02 1.49522988e+02] [ 4.90591058e-02 9.98795673e-01 6.38725768e-04 -5.18908801e+00] [ 2.64831293e-02 -1.94007567e-03 9.99647378e-01 1.79251503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56071405699998 meters Centerline goodness [0,1] 0.9847454133168418 Centerline is valid? [True, True] Translation: X:149.56, Y:-5.17, Z:1.80 [[ 9.98396616e-01 -5.00297275e-02 -2.64806335e-02 1.49555272e+02] [ 5.00641492e-02 9.98745800e-01 6.38088436e-04 -5.17045227e+00] [ 2.64154982e-02 -1.96279573e-03 9.99649123e-01 1.79664132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59071405699999 meters Centerline goodness [0,1] 0.9841237113402062 Centerline is valid? [True, True] Translation: X:149.59, Y:-5.18, Z:1.80 [[ 9.98339428e-01 -5.10469867e-02 -2.66944013e-02 1.49586240e+02] [ 5.10823736e-02 9.98694235e-01 6.44939231e-04 -5.17526629e+00] [ 2.66266225e-02 -2.00748164e-03 9.99643433e-01 1.79662524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.620714057 meters Centerline goodness [0,1] 0.9842296528238064 Centerline is valid? [True, True] Translation: X:149.62, Y:-5.18, Z:1.80 [[ 9.98216051e-01 -5.27974105e-02 -2.78773859e-02 1.49616808e+02] [ 5.28367118e-02 9.98602938e-01 6.74546090e-04 -5.17987845e+00] [ 2.78028251e-02 -2.14629214e-03 9.99611123e-01 1.79579307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.650714057 meters Centerline goodness [0,1] 0.9854186695966671 Centerline is valid? [True, True] Translation: X:149.65, Y:-5.18, Z:1.80 [[ 9.98150282e-01 -5.35755986e-02 -2.87344853e-02 1.49648463e+02] [ 5.36177250e-02 9.98561292e-01 6.97012065e-04 -5.18209378e+00] [ 2.86558019e-02 -2.23640052e-03 9.99586836e-01 1.79546691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.680714057 meters Centerline goodness [0,1] 0.9856110186304243 Centerline is valid? [True, True] Translation: X:149.68, Y:-5.18, Z:1.79 [[ 9.98003880e-01 -5.47957869e-02 -3.13954901e-02 1.49679621e+02] [ 5.48467549e-02 9.98494492e-01 7.63896282e-04 -5.18286857e+00] [ 3.13063657e-02 -2.48431221e-03 9.99506748e-01 1.79386606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.710714057 meters Centerline goodness [0,1] 0.985048773817121 Centerline is valid? [True, True] Translation: X:149.71, Y:-5.19, Z:1.79 [[ 9.97994344e-01 -5.47606951e-02 -3.17577655e-02 1.49711034e+02] [ 5.48128800e-02 9.98496344e-01 7.74310791e-04 -5.18679726e+00] [ 3.16676110e-02 -2.51349238e-03 9.99495295e-01 1.79313872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.740714057 meters Centerline goodness [0,1] 0.9842305849060909 Centerline is valid? [True, True] Translation: X:149.74, Y:-5.19, Z:1.79 [[ 9.97988523e-01 -5.47040342e-02 -3.20370973e-02 1.49742501e+02] [ 5.47571988e-02 9.98499391e-01 7.83813789e-04 -5.18981277e+00] [ 3.19461444e-02 -2.53649887e-03 9.99486373e-01 1.79317177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.770714057 meters Centerline goodness [0,1] 0.9858238597452403 Centerline is valid? [True, True] Translation: X:149.77, Y:-5.19, Z:1.80 [[ 9.98083912e-01 -5.31534221e-02 -3.16736182e-02 1.49774085e+02] [ 5.32046776e-02 9.98583326e-01 7.77042650e-04 -5.18556937e+00] [ 3.15874445e-02 -2.46073841e-03 9.99497963e-01 1.79637732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.800714057 meters Centerline goodness [0,1] 0.9825776036803389 Centerline is valid? [True, True] Translation: X:149.80, Y:-5.19, Z:1.80 [[ 9.98251052e-01 -5.10720856e-02 -2.97738050e-02 1.49803324e+02] [ 5.11164589e-02 9.98692432e-01 7.30626050e-04 -5.19355683e+00] [ 2.96975592e-02 -2.25127970e-03 9.99556395e-01 1.79724678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.830714057 meters Centerline goodness [0,1] 0.9862688745951371 Centerline is valid? [True, True] Translation: X:149.83, Y:-5.18, Z:1.80 [[ 9.98316192e-01 -4.97855888e-02 -2.97687122e-02 1.49834799e+02] [ 4.98293881e-02 9.98757477e-01 7.30831560e-04 -5.18073177e+00] [ 2.96953390e-02 -2.21295769e-03 9.99556547e-01 1.80097584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.860714057 meters Centerline goodness [0,1] 0.9861998408548369 Centerline is valid? [True, True] Translation: X:149.87, Y:-5.18, Z:1.80 [[ 9.98444956e-01 -4.78066003e-02 -2.86740249e-02 1.49865770e+02] [ 4.78464535e-02 9.98854454e-01 7.04974390e-04 -5.18165245e+00] [ 2.86074751e-02 -2.07582852e-03 9.99588567e-01 1.80168846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.890714057 meters Centerline goodness [0,1] 0.9860889031020147 Centerline is valid? [True, True] Translation: X:149.90, Y:-5.18, Z:1.80 [[ 9.98599265e-01 -4.50369232e-02 -2.77701839e-02 1.49896894e+02] [ 4.50732590e-02 9.98983450e-01 6.83551726e-04 -5.18149846e+00] [ 2.77111691e-02 -1.93428694e-03 9.99614100e-01 1.80321816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.920714057 meters Centerline goodness [0,1] 0.9830632442687024 Centerline is valid? [True, True] Translation: X:149.93, Y:-5.19, Z:1.80 [[ 9.98649799e-01 -4.39063538e-02 -2.77634793e-02 1.49926604e+02] [ 4.39422528e-02 9.99033839e-01 6.83948080e-04 -5.19327037e+00] [ 2.77066257e-02 -1.90301444e-03 9.99614286e-01 1.80137876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.950714057 meters Centerline goodness [0,1] 0.9854460843579624 Centerline is valid? [True, True] Translation: X:149.96, Y:-5.18, Z:1.80 [[ 9.98771385e-01 -4.15914752e-02 -2.69419646e-02 1.49958064e+02] [ 4.16244545e-02 9.99133106e-01 6.64179874e-04 -5.18178666e+00] [ 2.68909846e-02 -1.78480843e-03 9.99636779e-01 1.80428100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.980714057 meters Centerline goodness [0,1] 0.9849594887595572 Centerline is valid? [True, True] Translation: X:149.99, Y:-5.18, Z:1.80 [[ 9.98786609e-01 -4.12276906e-02 -2.69367337e-02 1.49989592e+02] [ 4.12605507e-02 9.99148200e-01 6.64989535e-04 -5.18452439e+00] [ 2.68863729e-02 -1.77560711e-03 9.99636919e-01 1.80405772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01071405699997 meters Centerline goodness [0,1] 0.9858757704642118 Centerline is valid? [True, True] Translation: X:150.02, Y:-5.18, Z:1.80 [[ 9.98828021e-01 -4.02845337e-02 -2.68279781e-02 1.50020923e+02] [ 4.03168221e-02 9.99186726e-01 6.63498638e-04 -5.18454101e+00] [ 2.67794309e-02 -1.74433985e-03 9.99639845e-01 1.80439492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04071405699997 meters Centerline goodness [0,1] 0.9859562729407473 Centerline is valid? [True, True] Translation: X:150.05, Y:-5.19, Z:1.80 [[ 9.98826347e-01 -3.95255082e-02 -2.79939750e-02 1.50050767e+02] [ 3.95603901e-02 9.99216941e-01 6.93094776e-04 -5.18746412e+00] [ 2.79446592e-02 -1.79973389e-03 9.99607852e-01 1.80378730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07071405699998 meters Centerline goodness [0,1] 0.9869949437434519 Centerline is valid? [True, True] Translation: X:150.08, Y:-5.19, Z:1.80 [[ 9.98840465e-01 -3.85408285e-02 -2.88501156e-02 1.50080676e+02] [ 3.85774834e-02 9.99255356e-01 7.14800489e-04 -5.19080834e+00] [ 2.88010835e-02 -1.82693651e-03 9.99583493e-01 1.80299397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10071405699998 meters Centerline goodness [0,1] 0.9870835235052487 Centerline is valid? [True, True] Translation: X:150.11, Y:-5.19, Z:1.80 [[ 9.98831024e-01 -3.83248352e-02 -2.94583281e-02 1.50111881e+02] [ 3.83629825e-02 9.99263603e-01 7.30664409e-04 -5.18823046e+00] [ 2.94086325e-02 -1.85991961e-03 9.99565742e-01 1.80431954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13071405699998 meters Centerline goodness [0,1] 0.9875984162381104 Centerline is valid? [True, True] Translation: X:150.14, Y:-5.19, Z:1.80 [[ 9.98843378e-01 -3.77086005e-02 -2.98323098e-02 1.50140979e+02] [ 3.77474682e-02 9.99287036e-01 7.40571457e-04 -5.19375084e+00] [ 2.97831146e-02 -1.86580906e-03 9.99554643e-01 1.80312018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16071405699998 meters Centerline goodness [0,1] 0.9888754919580499 Centerline is valid? [True, True] Translation: X:150.17, Y:-5.19, Z:1.80 [[ 9.98884011e-01 -3.65656696e-02 -2.98945636e-02 1.50171172e+02] [ 3.66041851e-02 9.99329567e-01 7.41955234e-04 -5.19202291e+00] [ 2.98473912e-02 -1.83539336e-03 9.99552782e-01 1.80357455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19071405699998 meters Centerline goodness [0,1] 0.9882195387688396 Centerline is valid? [True, True] Translation: X:150.20, Y:-5.19, Z:1.80 [[ 9.98919459e-01 -3.55797343e-02 -2.98997836e-02 1.50201380e+02] [ 3.56178160e-02 9.99365209e-01 7.41842122e-04 -5.19073356e+00] [ 2.98544090e-02 -1.80600552e-03 9.99552626e-01 1.80455086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22071405699998 meters Centerline goodness [0,1] 0.9888225003975737 Centerline is valid? [True, True] Translation: X:150.23, Y:-5.19, Z:1.80 [[ 9.98994910e-01 -3.41924647e-02 -2.89835477e-02 1.50231058e+02] [ 3.42276578e-02 9.99413804e-01 7.18847774e-04 -5.19387831e+00] [ 2.89419785e-02 -1.71016422e-03 9.99579630e-01 1.80436445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25071405699998 meters Centerline goodness [0,1] 0.9892312226529734 Centerline is valid? [True, True] Translation: X:150.26, Y:-5.19, Z:1.81 [[ 9.99040918e-01 -3.34711801e-02 -2.82298329e-02 1.50260419e+02] [ 3.35042583e-02 9.99438330e-01 6.99423822e-04 -5.19266643e+00] [ 2.81905665e-02 -1.64457263e-03 9.99601214e-01 1.80602367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28071405699998 meters Centerline goodness [0,1] 0.9889860853011829 Centerline is valid? [True, True] Translation: X:150.29, Y:-5.20, Z:1.81 [[ 9.99070811e-01 -3.33408154e-02 -2.73112567e-02 1.50290093e+02] [ 3.33717075e-02 9.99442781e-01 6.75968814e-04 -5.19587002e+00] [ 2.72735010e-02 -1.58676398e-03 9.99626750e-01 1.80600023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31071405699998 meters Centerline goodness [0,1] 0.9888981843670156 Centerline is valid? [True, True] Translation: X:150.32, Y:-5.20, Z:1.81 [[ 9.99070454e-01 -3.38826100e-02 -2.66495174e-02 1.50320348e+02] [ 3.39122084e-02 9.99424598e-01 6.59356567e-04 -5.19777194e+00] [ 2.66118425e-02 -1.56248765e-03 9.99644621e-01 1.80688133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34071405699999 meters Centerline goodness [0,1] 0.9880847208064334 Centerline is valid? [True, True] Translation: X:150.35, Y:-5.20, Z:1.81 [[ 9.99047021e-01 -3.48569762e-02 -2.62686306e-02 1.50350258e+02] [ 3.48860644e-02 9.99391085e-01 6.49724744e-04 -5.20035923e+00] [ 2.62299878e-02 -1.56551471e-03 9.99654709e-01 1.80721522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.370714057 meters Centerline goodness [0,1] 0.9867497168742921 Centerline is valid? [True, True] Translation: X:150.38, Y:-5.21, Z:1.81 [[ 9.98989588e-01 -3.68535634e-02 -2.57219526e-02 1.50380699e+02] [ 3.68821113e-02 9.99319421e-01 6.36171063e-04 -5.20542985e+00] [ 2.56810016e-02 -1.58420819e-03 9.99668933e-01 1.80720105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.400714057 meters Centerline goodness [0,1] 0.9866687827328995 Centerline is valid? [True, True] Translation: X:150.41, Y:-5.21, Z:1.81 [[ 9.98929895e-01 -3.85679789e-02 -2.55260008e-02 1.50411003e+02] [ 3.85966568e-02 9.99254672e-01 6.31558887e-04 -5.20700623e+00] [ 2.54826176e-02 -1.61610134e-03 9.99673959e-01 1.80758548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.430714057 meters Centerline goodness [0,1] 0.9854575978946413 Centerline is valid? [True, True] Translation: X:150.44, Y:-5.21, Z:1.81 [[ 9.98805557e-01 -4.16345554e-02 -2.55738702e-02 1.50440641e+02] [ 4.16643527e-02 9.99131463e-01 6.33174553e-04 -5.21292374e+00] [ 2.55252964e-02 -1.69793701e-03 9.99672735e-01 1.80705162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.460714057 meters Centerline goodness [0,1] 0.9856226047123388 Centerline is valid? [True, True] Translation: X:150.47, Y:-5.22, Z:1.81 [[ 9.98744727e-01 -4.32707258e-02 -2.52312187e-02 1.50472124e+02] [ 4.33002715e-02 9.99061908e-01 6.25574064e-04 -5.21610249e+00] [ 2.51804804e-02 -1.71730742e-03 9.99681446e-01 1.80699077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.490714057 meters Centerline goodness [0,1] 0.9835806043061335 Centerline is valid? [True, True] Translation: X:150.50, Y:-5.22, Z:1.81 [[ 9.98655997e-01 -4.52908726e-02 -2.51979476e-02 1.50502542e+02] [ 4.53209965e-02 9.98972280e-01 6.25392281e-04 -5.22045799e+00] [ 2.51437266e-02 -1.76654785e-03 9.99682286e-01 1.80657248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.520714057 meters Centerline goodness [0,1] 0.9830067429967869 Centerline is valid? [True, True] Translation: X:150.53, Y:-5.23, Z:1.81 [[ 9.98462890e-01 -4.95774787e-02 -2.47776290e-02 1.50532334e+02] [ 4.96079201e-02 9.98768580e-01 6.15040574e-04 -5.22702960e+00] [ 2.47166251e-02 -1.84326182e-03 9.99692798e-01 1.80682886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.550714057 meters Centerline goodness [0,1] 0.9813598718209103 Centerline is valid? [True, True] Translation: X:150.56, Y:-5.23, Z:1.81 [[ 9.98386447e-01 -5.11697268e-02 -2.46203532e-02 1.50563791e+02] [ 5.12002680e-02 9.98688219e-01 6.11296603e-04 -5.22983679e+00] [ 2.45567768e-02 -1.87087893e-03 9.99696686e-01 1.80729849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.580714057 meters Centerline goodness [0,1] 0.9785401920562644 Centerline is valid? [True, True] Translation: X:150.59, Y:-5.24, Z:1.81 [[ 9.98290501e-01 -5.34713320e-02 -2.35985461e-02 1.50594587e+02] [ 5.35000428e-02 9.98567675e-01 5.86514073e-04 -5.23513722e+00] [ 2.35333836e-02 -1.84803465e-03 9.99721343e-01 1.80833039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.610714057 meters Centerline goodness [0,1] 0.986313126750384 Centerline is valid? [True, True] Translation: X:150.63, Y:-5.22, Z:1.81 [[ 9.98252523e-01 -5.43700407e-02 -2.31473208e-02 1.50626760e+02] [ 5.43979241e-02 9.98519171e-01 5.76179283e-04 -5.22166457e+00] [ 2.30817167e-02 -1.83433862e-03 9.99731899e-01 1.81108163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.640714057 meters Centerline goodness [0,1] 0.9853772092392533 Centerline is valid? [True, True] Translation: X:150.66, Y:-5.22, Z:1.81 [[ 9.98222632e-01 -5.49345693e-02 -2.31034729e-02 1.50658686e+02] [ 5.49625357e-02 9.98488251e-01 5.76751819e-04 -5.22050317e+00] [ 2.30368627e-02 -1.84555217e-03 9.99732913e-01 1.81214398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.670714057 meters Centerline goodness [0,1] 0.9859875194304896 Centerline is valid? [True, True] Translation: X:150.69, Y:-5.22, Z:1.81 [[ 9.98224398e-01 -5.48526239e-02 -2.32215442e-02 1.50690423e+02] [ 5.48808938e-02 9.98492739e-01 5.81382625e-04 -5.22176133e+00] [ 2.31546529e-02 -1.85476942e-03 9.99730175e-01 1.81256423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.700714057 meters Centerline goodness [0,1] 0.9868957287280751 Centerline is valid? [True, True] Translation: X:150.72, Y:-5.22, Z:1.81 [[ 9.98264203e-01 -5.38424874e-02 -2.38656048e-02 1.50721298e+02] [ 5.38720982e-02 9.98547664e-01 5.99066642e-04 -5.22490991e+00] [ 2.37986887e-02 -1.88371699e-03 9.99714996e-01 1.81113711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.730714057 meters Centerline goodness [0,1] 0.9852924590016016 Centerline is valid? [True, True] Translation: X:150.75, Y:-5.23, Z:1.81 [[ 9.98292099e-01 -5.30506195e-02 -2.44645872e-02 1.50753165e+02] [ 5.30815362e-02 9.98589992e-01 6.15603256e-04 -5.22672892e+00] [ 2.43974338e-02 -1.91316973e-03 9.99700508e-01 1.81074374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76071405699997 meters Centerline goodness [0,1] 0.9854519167777351 Centerline is valid? [True, True] Translation: X:150.79, Y:-5.23, Z:1.81 [[ 9.98315043e-01 -5.24225620e-02 -2.48787237e-02 1.50785513e+02] [ 5.24543846e-02 9.98623124e-01 6.27787781e-04 -5.22716522e+00] [ 2.48115586e-02 -1.93172813e-03 9.99690280e-01 1.81038943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79071405699997 meters Centerline goodness [0,1] 0.9858024551805213 Centerline is valid? [True, True] Translation: X:150.82, Y:-5.23, Z:1.81 [[ 9.98391082e-01 -5.05751427e-02 -2.56398592e-02 1.50816101e+02] [ 5.06083740e-02 9.98718365e-01 6.48419483e-04 -5.22818875e+00] [ 2.55742043e-02 -1.94496781e-03 9.99671034e-01 1.81011968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82071405699998 meters Centerline goodness [0,1] 0.9863399137735421 Centerline is valid? [True, True] Translation: X:150.85, Y:-5.22, Z:1.81 [[ 9.98554538e-01 -4.75246979e-02 -2.51045529e-02 1.50847371e+02] [ 4.75556136e-02 9.98868390e-01 6.35553115e-04 -5.22356234e+00] [ 2.50459399e-02 -1.82849687e-03 9.99684629e-01 1.81154756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85071405699998 meters Centerline goodness [0,1] 0.9859546085729245 Centerline is valid? [True, True] Translation: X:150.88, Y:-5.22, Z:1.81 [[ 9.98671172e-01 -4.53114646e-02 -2.45511803e-02 1.50878183e+02] [ 4.53403767e-02 9.98971403e-01 6.21959500e-04 -5.22246832e+00] [ 2.44977452e-02 -1.73429279e-03 9.99698381e-01 1.81245533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88071405699998 meters Centerline goodness [0,1] 0.9848522755703141 Centerline is valid? [True, True] Translation: X:150.91, Y:-5.22, Z:1.81 [[ 9.98780601e-01 -4.30184494e-02 -2.42223786e-02 1.50907508e+02] [ 4.30459225e-02 9.99072906e-01 6.13692075e-04 -5.22181995e+00] [ 2.41735221e-02 -1.65561837e-03 9.99706407e-01 1.81309752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91071405699998 meters Centerline goodness [0,1] 0.9857194999543754 Centerline is valid? [True, True] Translation: X:150.94, Y:-5.22, Z:1.81 [[ 9.98970703e-01 -3.84306724e-02 -2.40960155e-02 1.50938460e+02] [ 3.84565249e-02 9.99260088e-01 6.10250149e-04 -5.21816616e+00] [ 2.40547342e-02 -1.53627104e-03 9.99709463e-01 1.81347682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94071405699998 meters Centerline goodness [0,1] 0.9858093025374698 Centerline is valid? [True, True] Translation: X:150.97, Y:-5.22, Z:1.81 [[ 9.99067570e-01 -3.61150680e-02 -2.36578193e-02 1.50969376e+02] [ 3.61393488e-02 9.99346581e-01 5.99453920e-04 -5.21764634e+00] [ 2.36207115e-02 -1.45387316e-03 9.99719935e-01 1.81354711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97071405699998 meters Centerline goodness [0,1] 0.9849013570532558 Centerline is valid? [True, True] Translation: X:151.00, Y:-5.22, Z:1.81 [[ 9.99194784e-01 -3.25762490e-02 -2.34215938e-02 1.50999696e+02] [ 3.25990887e-02 9.99468332e-01 5.93899661e-04 -5.21586995e+00] [ 2.33897942e-02 -1.35694406e-03 9.99725500e-01 1.81314817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00071405699998 meters Centerline goodness [0,1] 0.9863632196552988 Centerline is valid? [True, True] Translation: X:151.03, Y:-5.21, Z:1.81 [[ 9.99251120e-01 -3.11626190e-02 -2.29366706e-02 1.51030109e+02] [ 3.11841512e-02 9.99513487e-01 5.81603499e-04 -5.21348618e+00] [ 2.29073873e-02 -1.29642855e-03 9.99736751e-01 1.81419424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03071405699998 meters Centerline goodness [0,1] 0.9872681474696589 Centerline is valid? [True, True] Translation: X:151.06, Y:-5.21, Z:1.81 [[ 9.99297369e-01 -3.00545986e-02 -2.23939558e-02 1.51059187e+02] [ 3.00748431e-02 9.99547488e-01 5.67699951e-04 -5.21492292e+00] [ 2.23667603e-02 -1.24079577e-03 9.99749063e-01 1.81427399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06071405699998 meters Centerline goodness [0,1] 0.9876205457903017 Centerline is valid? [True, True] Translation: X:151.09, Y:-5.21, Z:1.81 [[ 9.99352319e-01 -2.85491645e-02 -2.19063571e-02 1.51089663e+02] [ 2.85681712e-02 9.99591692e-01 5.55109099e-04 -5.21390265e+00] [ 2.18815646e-02 -1.18057412e-03 9.99759873e-01 1.81462622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09071405699999 meters Centerline goodness [0,1] 0.9864799835009969 Centerline is valid? [True, True] Translation: X:151.12, Y:-5.21, Z:1.82 [[ 9.99373919e-01 -2.82379358e-02 -2.13163888e-02 1.51120054e+02] [ 2.82558616e-02 9.99600577e-01 5.40159250e-04 -5.21486089e+00] [ 2.12926216e-02 -1.14213400e-03 9.99772634e-01 1.81514343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.120714057 meters Centerline goodness [0,1] 0.9881295457664334 Centerline is valid? [True, True] Translation: X:151.15, Y:-5.21, Z:1.82 [[ 9.99394525e-01 -2.85559469e-02 -1.98781562e-02 1.51151179e+02] [ 2.85716017e-02 9.99591621e-01 5.03922229e-04 -5.21172024e+00] [ 1.98556484e-02 -1.07156788e-03 9.99802283e-01 1.81712235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.150714057 meters Centerline goodness [0,1] 0.9867199087278951 Centerline is valid? [True, True] Translation: X:151.18, Y:-5.22, Z:1.82 [[ 9.99383314e-01 -2.94408338e-02 -1.91371030e-02 1.51181668e+02] [ 2.94555154e-02 9.99565974e-01 4.85698831e-04 -5.21585277e+00] [ 1.91144976e-02 -1.04909254e-03 9.99816751e-01 1.81755163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.180714057 meters Centerline goodness [0,1] 0.9848629050532518 Centerline is valid? [True, True] Translation: X:151.21, Y:-5.22, Z:1.82 [[ 9.99360167e-01 -3.08667576e-02 -1.80692844e-02 1.51212076e+02] [ 3.08800859e-02 9.99522991e-01 4.59007487e-04 -5.22380837e+00] [ 1.80464971e-02 -1.01669485e-03 9.99836632e-01 1.81756138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.210714057 meters Centerline goodness [0,1] 0.9848629050532518 Centerline is valid? [True, True] Translation: X:151.24, Y:-5.22, Z:1.82 [[ 9.99362193e-01 -3.08011113e-02 -1.80692620e-02 1.51243806e+02] [ 3.08144448e-02 9.99525016e-01 4.59887948e-04 -5.22468273e+00] [ 1.80465144e-02 -1.01638891e-03 9.99836632e-01 1.81800453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.240714057 meters Centerline goodness [0,1] 0.986268045924747 Centerline is valid? [True, True] Translation: X:151.28, Y:-5.22, Z:1.82 [[ 9.99345680e-01 -3.14974086e-02 -1.77799062e-02 1.51276171e+02] [ 3.15104488e-02 9.99503320e-01 4.53682888e-04 -5.22442914e+00] [ 1.77567854e-02 -1.01363886e-03 9.99841822e-01 1.81850409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.270714057 meters Centerline goodness [0,1] 0.9867217468279729 Centerline is valid? [True, True] Translation: X:151.31, Y:-5.22, Z:1.82 [[ 9.99338434e-01 -3.15497237e-02 -1.80917052e-02 1.51308606e+02] [ 3.15632564e-02 9.99501649e-01 4.62880773e-04 -5.22218054e+00] [ 1.80680855e-02 -1.03360768e-03 9.99836225e-01 1.81889353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.300714057 meters Centerline goodness [0,1] 0.9855190699571691 Centerline is valid? [True, True] Translation: X:151.34, Y:-5.22, Z:1.82 [[ 9.99277536e-01 -3.28052855e-02 -1.91890192e-02 1.51340124e+02] [ 3.28207638e-02 9.99461132e-01 4.92167349e-04 -5.22341375e+00] [ 1.91625331e-02 -1.12161004e-03 9.99815753e-01 1.81761070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.330714057 meters Centerline goodness [0,1] 0.986955831310542 Centerline is valid? [True, True] Translation: X:151.37, Y:-5.22, Z:1.82 [[ 9.99273475e-01 -3.31814445e-02 -1.87486893e-02 1.51372523e+02] [ 3.31963016e-02 9.99448735e-01 4.81683685e-04 -5.22346032e+00] [ 1.87223709e-02 -1.10372088e-03 9.99824112e-01 1.81801684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.360714057 meters Centerline goodness [0,1] 0.9854790554600561 Centerline is valid? [True, True] Translation: X:151.40, Y:-5.23, Z:1.82 [[ 9.99259838e-01 -3.39619297e-02 -1.80655487e-02 1.51404341e+02] [ 3.39758745e-02 9.99422545e-01 4.65447182e-04 -5.22655744e+00] [ 1.80393091e-02 -1.07889549e-03 9.99836696e-01 1.81814658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.390714057 meters Centerline goodness [0,1] 0.9857272315360217 Centerline is valid? [True, True] Translation: X:151.44, Y:-5.23, Z:1.82 [[ 9.99287181e-01 -3.33394367e-02 -1.77091036e-02 1.51435389e+02] [ 3.33527642e-02 9.99443537e-01 4.57684278e-04 -5.22749033e+00] [ 1.76839903e-02 -1.04800559e-03 9.99843077e-01 1.81957114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.420714057 meters Centerline goodness [0,1] 0.9847930352556088 Centerline is valid? [True, True] Translation: X:151.47, Y:-5.23, Z:1.82 [[ 9.99304945e-01 -3.32902278e-02 -1.67746301e-02 1.51466484e+02] [ 3.33021931e-02 9.99445234e-01 4.34388028e-04 -5.22897613e+00] [ 1.67508632e-02 -9.92718075e-04 9.99859202e-01 1.82057167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.450714057 meters Centerline goodness [0,1] 0.9853088101725704 Centerline is valid? [True, True] Translation: X:151.50, Y:-5.23, Z:1.82 [[ 9.99343110e-01 -3.24657864e-02 -1.61034540e-02 1.51499277e+02] [ 3.24767207e-02 9.99472405e-01 4.17888717e-04 -5.22658706e+00] [ 1.60813908e-02 -9.40601589e-04 9.99870244e-01 1.82171772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.480714057 meters Centerline goodness [0,1] 0.9856391815926625 Centerline is valid? [True, True] Translation: X:151.53, Y:-5.22, Z:1.82 [[ 9.99363583e-01 -3.21398060e-02 -1.54745426e-02 1.51531494e+02] [ 3.21498836e-02 9.99482978e-01 4.02849105e-04 -5.22414437e+00] [ 1.54535944e-02 -9.00097469e-04 9.99880181e-01 1.82264356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51071405699997 meters Centerline goodness [0,1] 0.9843052391799545 Centerline is valid? [True, True] Translation: X:151.56, Y:-5.23, Z:1.82 [[ 9.99348260e-01 -3.26937792e-02 -1.53026890e-02 1.51562155e+02] [ 3.27037151e-02 9.99465011e-01 3.99437466e-04 -5.23090933e+00] [ 1.52814431e-02 -8.99631918e-04 9.99882827e-01 1.82348489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54071405699997 meters Centerline goodness [0,1] 0.9834703217139865 Centerline is valid? [True, True] Translation: X:151.59, Y:-5.23, Z:1.82 [[ 9.99328389e-01 -3.32528546e-02 -1.53953979e-02 1.51594678e+02] [ 3.32629904e-02 9.99446552e-01 4.02704272e-04 -5.23303800e+00] [ 1.53734863e-02 -9.14530784e-04 9.99881403e-01 1.82359734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57071405699998 meters Centerline goodness [0,1] 0.983123608776632 Centerline is valid? [True, True] Translation: X:151.63, Y:-5.23, Z:1.82 [[ 9.99265123e-01 -3.49192651e-02 -1.58069421e-02 1.51626836e+02] [ 3.49301752e-02 9.99389669e-01 4.14564419e-04 -5.23293205e+00] [ 1.57828183e-02 -9.66399021e-04 9.99874977e-01 1.82334885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60071405699998 meters Centerline goodness [0,1] 0.9830627767056419 Centerline is valid? [True, True] Translation: X:151.66, Y:-5.24, Z:1.82 [[ 9.99256251e-01 -3.52195772e-02 -1.57011425e-02 1.51657969e+02] [ 3.52303964e-02 9.99379132e-01 4.12922618e-04 -5.23838550e+00] [ 1.56768512e-02 -9.65772981e-04 9.99876644e-01 1.82378591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63071405699998 meters Centerline goodness [0,1] 0.9835718191760846 Centerline is valid? [True, True] Translation: X:151.69, Y:-5.23, Z:1.82 [[ 9.99212926e-01 -3.62958122e-02 -1.60044708e-02 1.51689997e+02] [ 3.63072164e-02 9.99340586e-01 4.22486627e-04 -5.23462427e+00] [ 1.59785828e-02 -1.00323188e-03 9.99871831e-01 1.82411862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66071405699998 meters Centerline goodness [0,1] 0.9829203862269995 Centerline is valid? [True, True] Translation: X:151.72, Y:-5.23, Z:1.82 [[ 9.99213932e-01 -3.63016228e-02 -1.59282588e-02 1.51721747e+02] [ 3.63129363e-02 9.99340379e-01 4.21538888e-04 -5.23301229e+00] [ 1.59024497e-02 -9.99609377e-04 9.99873048e-01 1.82432278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69071405699998 meters Centerline goodness [0,1] 0.9828464828464828 Centerline is valid? [True, True] Translation: X:151.75, Y:-5.24, Z:1.82 [[ 9.99173757e-01 -3.70210921e-02 -1.67702727e-02 1.51753154e+02] [ 3.70337500e-02 9.99313916e-01 4.44750408e-04 -5.24068935e+00] [ 1.67423018e-02 -1.06544902e-03 9.99859270e-01 1.82381989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72071405699998 meters Centerline goodness [0,1] 0.982034021650141 Centerline is valid? [True, True] Translation: X:151.78, Y:-5.24, Z:1.82 [[ 9.99083981e-01 -3.87290368e-02 -1.82005819e-02 1.51784755e+02] [ 3.87442457e-02 9.99249043e-01 4.83624814e-04 -5.23979969e+00] [ 1.81681837e-02 -1.18834962e-03 9.99834239e-01 1.82271109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75071405699998 meters Centerline goodness [0,1] 0.9824621263818752 Centerline is valid? [True, True] Translation: X:151.82, Y:-5.24, Z:1.82 [[ 9.99024530e-01 -3.98482895e-02 -1.90289921e-02 1.51816763e+02] [ 3.98651327e-02 9.99204941e-01 5.06476461e-04 -5.24251990e+00] [ 1.89936807e-02 -1.26457570e-03 9.99818804e-01 1.82233200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78071405699998 meters Centerline goodness [0,1] 0.9806320778362613 Centerline is valid? [True, True] Translation: X:151.85, Y:-5.24, Z:1.82 [[ 9.98869482e-01 -4.29947526e-02 -2.02782826e-02 1.51847499e+02] [ 4.30145476e-02 9.99074300e-01 5.40800876e-04 -5.24357781e+00] [ 2.02362594e-02 -1.41245065e-03 9.99794228e-01 1.82207834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81071405699998 meters Centerline goodness [0,1] 0.9827935914674446 Centerline is valid? [True, True] Translation: X:151.88, Y:-5.25, Z:1.82 [[ 9.98795673e-01 -4.44210999e-02 -2.08319235e-02 1.51878834e+02] [ 4.44423149e-02 9.99011797e-01 5.56307476e-04 -5.24694316e+00] [ 2.07866255e-02 -1.48145640e-03 9.99782837e-01 1.82248187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84071405699999 meters Centerline goodness [0,1] 0.9794580020107851 Centerline is valid? [True, True] Translation: X:151.91, Y:-5.25, Z:1.82 [[ 9.98603705e-01 -4.83538519e-02 -2.12731167e-02 1.51909076e+02] [ 4.83768892e-02 9.98828991e-01 5.69343240e-04 -5.24981380e+00] [ 2.12206757e-02 -1.59767548e-03 9.99773540e-01 1.82310068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.870714057 meters Centerline goodness [0,1] 0.981345496009122 Centerline is valid? [True, True] Translation: X:151.94, Y:-5.25, Z:1.82 [[ 9.98569327e-01 -4.91965700e-02 -2.09522350e-02 1.51940729e+02] [ 4.92191103e-02 9.98787847e-01 5.61164395e-04 -5.24753174e+00] [ 2.08992304e-02 -1.59161192e-03 9.99780320e-01 1.82469352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.900714057 meters Centerline goodness [0,1] 0.9784607661943551 Centerline is valid? [True, True] Translation: X:151.97, Y:-5.25, Z:1.83 [[ 9.98463617e-01 -5.15033363e-02 -2.04404240e-02 1.51970175e+02] [ 5.15252836e-02 9.98671540e-01 5.48173836e-04 -5.25450697e+00] [ 2.03850369e-02 -1.60053028e-03 9.99790922e-01 1.82514298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.930714057 meters Centerline goodness [0,1] 0.9808143641625082 Centerline is valid? [True, True] Translation: X:152.00, Y:-5.25, Z:1.83 [[ 9.98451364e-01 -5.20097364e-02 -1.97449018e-02 1.52002644e+02] [ 5.20303216e-02 9.98645365e-01 5.29931173e-04 -5.25114386e+00] [ 1.96905931e-02 -1.55644409e-03 9.99804910e-01 1.82605466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.960714057 meters Centerline goodness [0,1] 0.9801738495585316 Centerline is valid? [True, True] Translation: X:152.03, Y:-5.26, Z:1.83 [[ 9.98382255e-01 -5.32418369e-02 -1.99544180e-02 1.52033821e+02] [ 5.32631390e-02 9.98580367e-01 5.37217394e-04 -5.25642161e+00] [ 1.98974876e-02 -1.59918326e-03 9.99800746e-01 1.82665259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.990714057 meters Centerline goodness [0,1] 0.977981231403067 Centerline is valid? [True, True] Translation: X:152.06, Y:-5.26, Z:1.83 [[ 9.98347022e-01 -5.38869669e-02 -1.99854794e-02 1.52064368e+02] [ 5.39085009e-02 9.98545734e-01 5.39910413e-04 -5.26136669e+00] [ 1.99273211e-02 -1.61640519e-03 9.99800125e-01 1.82729105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.020714057 meters Centerline goodness [0,1] 0.9741626141889742 Centerline is valid? [True, True] Translation: X:152.10, Y:-5.26, Z:1.83 [[ 9.98316338e-01 -5.47851560e-02 -1.90545638e-02 1.52095839e+02] [ 5.48049106e-02 9.98496948e-01 5.15706465e-04 -5.26337964e+00] [ 1.89976708e-02 -1.55912186e-03 9.99818312e-01 1.82847829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.050714057 meters Centerline goodness [0,1] 0.9785810826289144 Centerline is valid? [True, True] Translation: X:152.13, Y:-5.26, Z:1.83 [[ 9.98325228e-01 -5.49770851e-02 -1.80072181e-02 1.52127761e+02] [ 5.49947755e-02 9.98486523e-01 4.88314616e-04 -5.26001305e+00] [ 1.79531185e-02 -1.47779972e-03 9.99837738e-01 1.82963711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.080714057 meters Centerline goodness [0,1] 0.9812619677213459 Centerline is valid? [True, True] Translation: X:152.16, Y:-5.26, Z:1.83 [[ 9.98325124e-01 -5.52387143e-02 -1.71939553e-02 1.52160069e+02] [ 5.52549010e-02 9.98472172e-01 4.67418245e-04 -5.25720875e+00] [ 1.71418663e-02 -1.41668568e-03 9.99852064e-01 1.83063781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.110714057 meters Centerline goodness [0,1] 0.980451196423276 Centerline is valid? [True, True] Translation: X:152.19, Y:-5.26, Z:1.83 [[ 9.98331152e-01 -5.51489087e-02 -1.71321126e-02 1.52193496e+02] [ 5.51649889e-02 9.98477143e-01 4.67078699e-04 -5.25961273e+00] [ 1.70802640e-02 -1.41139202e-03 9.99853125e-01 1.83086608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.140714057 meters Centerline goodness [0,1] 0.9809078467153285 Centerline is valid? [True, True] Translation: X:152.23, Y:-5.26, Z:1.83 [[ 9.98329400e-01 -5.49192460e-02 -1.79523264e-02 1.52225832e+02] [ 5.49368995e-02 9.98489707e-01 4.91299074e-04 -5.26127181e+00] [ 1.78982314e-02 -1.47672346e-03 9.99838723e-01 1.83172243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.170714057 meters Centerline goodness [0,1] 0.9801068883610451 Centerline is valid? [True, True] Translation: X:152.26, Y:-5.26, Z:1.83 [[ 9.98387428e-01 -5.37410334e-02 -1.82878568e-02 1.52257259e+02] [ 5.37591863e-02 9.98553803e-01 5.02104836e-04 -5.26442307e+00] [ 1.82344253e-02 -1.48443546e-03 9.99832637e-01 1.83213674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.200714057 meters Centerline goodness [0,1] 0.9799850228061815 Centerline is valid? [True, True] Translation: X:152.29, Y:-5.27, Z:1.83 [[ 9.98443166e-01 -5.26558268e-02 -1.84012954e-02 1.52287828e+02] [ 5.26740617e-02 9.98611629e-01 5.07352590e-04 -5.26848140e+00] [ 1.83490325e-02 -1.47583370e-03 9.99830553e-01 1.83279926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.230714057 meters Centerline goodness [0,1] 0.9811501816437042 Centerline is valid? [True, True] Translation: X:152.32, Y:-5.27, Z:1.83 [[ 9.98498349e-01 -5.12060444e-02 -1.94676130e-02 1.52318926e+02] [ 5.12261943e-02 9.98686932e-01 5.37459838e-04 -5.26670575e+00] [ 1.94145295e-02 -1.53390449e-03 9.99810344e-01 1.83279330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26071405699997 meters Centerline goodness [0,1] 0.9832597708509616 Centerline is valid? [True, True] Translation: X:152.35, Y:-5.27, Z:1.83 [[ 9.98536557e-01 -5.02497295e-02 -1.99927456e-02 1.52351113e+02] [ 5.02708093e-02 9.98735471e-01 5.52880782e-04 -5.26643203e+00] [ 1.99396820e-02 -1.55712317e-03 9.99799972e-01 1.83293758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29071405699997 meters Centerline goodness [0,1] 0.9814281139929555 Centerline is valid? [True, True] Translation: X:152.38, Y:-5.27, Z:1.83 [[ 9.98578398e-01 -4.91979551e-02 -2.05120429e-02 1.52381824e+02] [ 4.92199514e-02 9.98787802e-01 5.68586782e-04 -5.27266840e+00] [ 2.04592049e-02 -1.57738023e-03 9.99789444e-01 1.83189018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32071405699998 meters Centerline goodness [0,1] 0.9833390784786855 Centerline is valid? [True, True] Translation: X:152.41, Y:-5.27, Z:1.83 [[ 9.98603045e-01 -4.78392712e-02 -2.24357465e-02 1.52413746e+02] [ 4.78652752e-02 9.98853606e-01 6.23154930e-04 -5.26624604e+00] [ 2.23802151e-02 -1.69617759e-03 9.99748093e-01 1.83183843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35071405699998 meters Centerline goodness [0,1] 0.984381459874133 Centerline is valid? [True, True] Translation: X:152.44, Y:-5.27, Z:1.83 [[ 9.98661746e-01 -4.66086744e-02 -2.24131513e-02 1.52443690e+02] [ 4.66343375e-02 9.98911833e-01 6.23408195e-04 -5.26829410e+00] [ 2.23597058e-02 -1.66779638e-03 9.99748599e-01 1.83171099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38071405699998 meters Centerline goodness [0,1] 0.9850612694478865 Centerline is valid? [True, True] Translation: X:152.48, Y:-5.26, Z:1.83 [[ 9.98705194e-01 -4.53460828e-02 -2.30579128e-02 1.52476245e+02] [ 4.53729300e-02 9.98969912e-01 6.42231259e-04 -5.26430234e+00] [ 2.30050385e-02 -1.68760476e-03 9.99733925e-01 1.83262478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41071405699998 meters Centerline goodness [0,1] 0.983583661507464 Centerline is valid? [True, True] Translation: X:152.51, Y:-5.27, Z:1.83 [[ 9.98750021e-01 -4.45712557e-02 -2.26229653e-02 1.52507508e+02] [ 4.45969337e-02 9.99004862e-01 6.31540311e-04 -5.27064513e+00] [ 2.25723038e-02 -1.63966578e-03 9.99743868e-01 1.83245180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44071405699998 meters Centerline goodness [0,1] 0.983149158604246 Centerline is valid? [True, True] Translation: X:152.54, Y:-5.27, Z:1.83 [[ 9.98785506e-01 -4.39417861e-02 -2.22852653e-02 1.52539335e+02] [ 4.39665761e-02 9.99032808e-01 6.23418111e-04 -5.26995040e+00] [ 2.22363170e-02 -1.60246778e-03 9.99751458e-01 1.83396732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47071405699998 meters Centerline goodness [0,1] 0.9843342036553525 Centerline is valid? [True, True] Translation: X:152.57, Y:-5.27, Z:1.83 [[ 9.98818809e-01 -4.33746530e-02 -2.19003576e-02 1.52571818e+02] [ 4.33984911e-02 9.99057653e-01 6.14155025e-04 -5.26987629e+00] [ 2.18530811e-02 -1.56387207e-03 9.99759970e-01 1.83480434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50071405699998 meters Centerline goodness [0,1] 0.984948495991595 Centerline is valid? [True, True] Translation: X:152.60, Y:-5.27, Z:1.84 [[ 9.98880510e-01 -4.22486041e-02 -2.12786973e-02 1.52603194e+02] [ 4.22708792e-02 9.99106008e-01 5.97930472e-04 -5.26998851e+00] [ 2.12344125e-02 -1.49673034e-03 9.99773404e-01 1.83553925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53071405699998 meters Centerline goodness [0,1] 0.9846051940339416 Centerline is valid? [True, True] Translation: X:152.63, Y:-5.27, Z:1.84 [[ 9.98917145e-01 -4.14162180e-02 -2.11951515e-02 1.52634467e+02] [ 4.14381624e-02 9.99140892e-01 5.97018161e-04 -5.27388290e+00] [ 2.11522164e-02 -1.47465981e-03 9.99775179e-01 1.83610998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56071405699998 meters Centerline goodness [0,1] 0.9838603050128798 Centerline is valid? [True, True] Translation: X:152.67, Y:-5.27, Z:1.84 [[ 9.98961129e-01 -4.04152626e-02 -2.10539807e-02 1.52666772e+02] [ 4.04367428e-02 9.99181923e-01 5.95344653e-04 -5.27262124e+00] [ 2.10126959e-02 -1.44608057e-03 9.99778163e-01 1.83720969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59071405699999 meters Centerline goodness [0,1] 0.9854567006314254 Centerline is valid? [True, True] Translation: X:152.70, Y:-5.27, Z:1.84 [[ 9.99048574e-01 -3.84324105e-02 -2.06130075e-02 1.52697900e+02] [ 3.84526045e-02 9.99260254e-01 5.84066128e-04 -5.27401485e+00] [ 2.05753121e-02 -1.37613426e-03 9.99787359e-01 1.83807592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.620714057 meters Centerline goodness [0,1] 0.9851506537805571 Centerline is valid? [True, True] Translation: X:152.73, Y:-5.28, Z:1.84 [[ 9.99097217e-01 -3.71352785e-02 -2.06330437e-02 1.52729339e+02] [ 3.71552511e-02 9.99309334e-01 5.85352605e-04 -5.27551296e+00] [ 2.05970559e-02 -1.35145008e-03 9.99786945e-01 1.83900022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.650714057 meters Centerline goodness [0,1] 0.9845954309638664 Centerline is valid? [True, True] Translation: X:152.76, Y:-5.28, Z:1.84 [[ 9.99139227e-01 -3.56920117e-02 -2.11396512e-02 1.52759744e+02] [ 3.57126689e-02 9.99361919e-01 6.00343811e-04 -5.27730395e+00] [ 2.11047349e-02 -1.35478041e-03 9.99776352e-01 1.83889884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.680714057 meters Centerline goodness [0,1] 0.9855019687279514 Centerline is valid? [True, True] Translation: X:152.79, Y:-5.28, Z:1.84 [[ 9.99167772e-01 -3.48009890e-02 -2.12756686e-02 1.52790944e+02] [ 3.48217223e-02 9.99393357e-01 6.04700729e-04 -5.27614437e+00] [ 2.12417176e-02 -1.34505290e-03 9.99773464e-01 1.83929602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.710714057 meters Centerline goodness [0,1] 0.9867646055534077 Centerline is valid? [True, True] Translation: X:152.82, Y:-5.28, Z:1.84 [[ 9.99172767e-01 -3.39047481e-02 -2.24555068e-02 1.52821950e+02] [ 3.39276379e-02 9.99424088e-01 6.39036872e-04 -5.27746018e+00] [ 2.24209080e-02 -1.40037054e-03 9.99747639e-01 1.83915131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.740714057 meters Centerline goodness [0,1] 0.9863137859149823 Centerline is valid? [True, True] Translation: X:152.85, Y:-5.28, Z:1.84 [[ 9.99185153e-01 -3.24935354e-02 -2.39416099e-02 1.52852175e+02] [ 3.25191690e-02 9.99470879e-01 6.82009387e-04 -5.27904880e+00] [ 2.39067810e-02 -1.46001491e-03 9.99713126e-01 1.83695530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.770714057 meters Centerline goodness [0,1] 0.986094125107578 Centerline is valid? [True, True] Translation: X:152.88, Y:-5.28, Z:1.84 [[ 9.99183227e-01 -3.06991354e-02 -2.62762608e-02 1.52881911e+02] [ 3.07293973e-02 9.99527460e-01 7.48568429e-04 -5.28071703e+00] [ 2.62408638e-02 -1.55541068e-03 9.99654439e-01 1.83571413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.800714057 meters Centerline goodness [0,1] 0.9862054906224518 Centerline is valid? [True, True] Translation: X:152.91, Y:-5.28, Z:1.84 [[ 9.99199250e-01 -2.96723682e-02 -2.68404450e-02 1.52911651e+02] [ 2.97035571e-02 9.99558460e-01 7.63968469e-04 -5.27915275e+00] [ 2.68059251e-02 -1.56061341e-03 9.99639438e-01 1.83663598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.830714057 meters Centerline goodness [0,1] 0.9860282610174873 Centerline is valid? [True, True] Translation: X:152.94, Y:-5.28, Z:1.84 [[ 9.99217347e-01 -2.90570758e-02 -2.68398839e-02 1.52940637e+02] [ 2.90880123e-02 9.99576563e-01 7.62840886e-04 -5.28045961e+00] [ 2.68063530e-02 -1.54296272e-03 9.99639454e-01 1.83672587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.860714057 meters Centerline goodness [0,1] 0.985733695652174 Centerline is valid? [True, True] Translation: X:152.97, Y:-5.28, Z:1.84 [[ 9.99289957e-01 -2.73380562e-02 -2.59270557e-02 1.52969027e+02] [ 2.73663139e-02 9.99625202e-01 7.35630110e-04 -5.28091310e+00] [ 2.58972276e-02 -1.44463573e-03 9.99663567e-01 1.83793607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.890714057 meters Centerline goodness [0,1] 0.987049676806943 Centerline is valid? [True, True] Translation: X:153.00, Y:-5.28, Z:1.84 [[ 9.99320414e-01 -2.67966311e-02 -2.53110823e-02 1.52997910e+02] [ 2.68233056e-02 9.99639935e-01 7.14878079e-04 -5.28176921e+00] [ 2.52828123e-02 -1.39331915e-03 9.99679368e-01 1.83848383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.920714057 meters Centerline goodness [0,1] 0.9862716272758114 Centerline is valid? [True, True] Translation: X:153.03, Y:-5.28, Z:1.84 [[ 9.99330279e-01 -2.62617867e-02 -2.54815971e-02 1.53026059e+02] [ 2.62885429e-02 9.99654140e-01 7.15541521e-04 -5.28354751e+00] [ 2.54539926e-02 -1.38493637e-03 9.99675035e-01 1.83786877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.950714057 meters Centerline goodness [0,1] 0.9857310575273187 Centerline is valid? [True, True] Translation: X:153.05, Y:-5.29, Z:1.84 [[ 9.99302406e-01 -2.69702690e-02 -2.58322480e-02 1.53053612e+02] [ 2.69979366e-02 9.99635228e-01 7.22818257e-04 -5.28520416e+00] [ 2.58033306e-02 -1.41973142e-03 9.99666030e-01 1.83771677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.980714057 meters Centerline goodness [0,1] 0.9871977562145168 Centerline is valid? [True, True] Translation: X:153.08, Y:-5.28, Z:1.84 [[ 9.99246816e-01 -2.87312471e-02 -2.60828792e-02 1.53082924e+02] [ 2.87599921e-02 9.99586081e-01 7.27521360e-04 -5.27888096e+00] [ 2.60511804e-02 -1.47711680e-03 9.99659519e-01 1.84033355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01071405699997 meters Centerline goodness [0,1] 0.9864956415699381 Centerline is valid? [True, True] Translation: X:153.11, Y:-5.28, Z:1.84 [[ 9.99207609e-01 -2.99320853e-02 -2.62340419e-02 1.53111403e+02] [ 2.99615350e-02 9.99550786e-01 7.30131595e-04 -5.28109982e+00] [ 2.62004028e-02 -1.51556521e-03 9.99655562e-01 1.84064956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04071405699997 meters Centerline goodness [0,1] 0.9865499187578985 Centerline is valid? [True, True] Translation: X:153.14, Y:-5.28, Z:1.84 [[ 9.99097635e-01 -3.32892779e-02 -2.63768661e-02 1.53141231e+02] [ 3.33201823e-02 9.99444460e-01 7.32874230e-04 -5.28022520e+00] [ 2.63378158e-02 -1.61109490e-03 9.99651801e-01 1.84157733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07071405699998 meters Centerline goodness [0,1] 0.9865204684986747 Centerline is valid? [True, True] Translation: X:153.17, Y:-5.28, Z:1.84 [[ 9.99003229e-01 -3.54862975e-02 -2.70789952e-02 1.53171106e+02] [ 3.55196602e-02 9.99368695e-01 7.51888964e-04 -5.28369091e+00] [ 2.70352183e-02 -1.71297621e-03 9.99633014e-01 1.84137444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10071405699998 meters Centerline goodness [0,1] 0.9865204684986747 Centerline is valid? [True, True] Translation: X:153.20, Y:-5.28, Z:1.84 [[ 9.99003228e-01 -3.54863011e-02 -2.70790023e-02 1.53201154e+02] [ 3.55196569e-02 9.99368695e-01 7.51631554e-04 -5.28452485e+00] [ 2.70352346e-02 -1.71271922e-03 9.99633014e-01 1.84179440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13071405699998 meters Centerline goodness [0,1] 0.9864026878932058 Centerline is valid? [True, True] Translation: X:153.23, Y:-5.29, Z:1.84 [[ 9.98818481e-01 -3.97160732e-02 -2.80049231e-02 1.53230797e+02] [ 3.97534028e-02 9.99209219e-01 7.77252912e-04 -5.29395058e+00] [ 2.79519079e-02 -1.88962556e-03 9.99607483e-01 1.84081454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16071405699998 meters Centerline goodness [0,1] 0.9871841400898245 Centerline is valid? [True, True] Translation: X:153.26, Y:-5.29, Z:1.84 [[ 9.98729267e-01 -4.14844159e-02 -2.86163435e-02 1.53261342e+02] [ 4.15241141e-02 9.99137186e-01 7.94141712e-04 -5.29110319e+00] [ 2.85587084e-02 -1.98140088e-03 9.99590153e-01 1.84191234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19071405699998 meters Centerline goodness [0,1] 0.9873532273025497 Centerline is valid? [True, True] Translation: X:153.29, Y:-5.29, Z:1.84 [[ 9.98633380e-01 -4.34524303e-02 -2.90389157e-02 1.53292130e+02] [ 4.34941524e-02 9.99053356e-01 8.06370975e-04 -5.29209718e+00] [ 2.89763874e-02 -2.06829200e-03 9.99577957e-01 1.84243362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22071405699998 meters Centerline goodness [0,1] 0.9843711069333394 Centerline is valid? [True, True] Translation: X:153.32, Y:-5.30, Z:1.84 [[ 9.98490124e-01 -4.56857852e-02 -3.05005262e-02 1.53321685e+02] [ 4.57328665e-02 9.98953346e-01 8.47446321e-04 -5.29724434e+00] [ 3.04298865e-02 -2.24104328e-03 9.99534391e-01 1.84119097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25071405699998 meters Centerline goodness [0,1] 0.9847943159704937 Centerline is valid? [True, True] Translation: X:153.35, Y:-5.30, Z:1.84 [[ 9.98448704e-01 -4.62983870e-02 -3.09296828e-02 1.53352328e+02] [ 4.63470956e-02 9.98925026e-01 8.59370285e-04 -5.29636116e+00] [ 3.08566468e-02 -2.29153811e-03 9.99521193e-01 1.84186524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28071405699998 meters Centerline goodness [0,1] 0.9838742508198575 Centerline is valid? [True, True] Translation: X:153.38, Y:-5.30, Z:1.84 [[ 9.98430962e-01 -4.68837349e-02 -3.06191091e-02 1.53382413e+02] [ 4.69317519e-02 9.98897736e-01 8.51023507e-04 -5.29919023e+00] [ 3.05454596e-02 -2.28669665e-03 9.99530763e-01 1.84238081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31071405699998 meters Centerline goodness [0,1] 0.9854869337191428 Centerline is valid? [True, True] Translation: X:153.41, Y:-5.30, Z:1.84 [[ 9.98504070e-01 -4.59426594e-02 -2.96461624e-02 1.53413445e+02] [ 4.59872739e-02 9.98941685e-01 8.24475576e-04 -5.29568895e+00] [ 2.95769089e-02 -2.18658841e-03 9.99560116e-01 1.84404752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34071405699999 meters Centerline goodness [0,1] 0.9860138280084957 Centerline is valid? [True, True] Translation: X:153.45, Y:-5.29, Z:1.85 [[ 9.98577263e-01 -4.45763323e-02 -2.92643211e-02 1.53445048e+02] [ 4.46192433e-02 9.99003733e-01 8.14624761e-04 -5.29110177e+00] [ 2.91988531e-02 -2.11921763e-03 9.99571376e-01 1.84550475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.370714057 meters Centerline goodness [0,1] 0.9856375869333757 Centerline is valid? [True, True] Translation: X:153.48, Y:-5.29, Z:1.85 [[ 9.98652145e-01 -4.30007899e-02 -2.90658743e-02 1.53476034e+02] [ 4.30424712e-02 9.99072915e-01 8.09598708e-04 -5.29019067e+00] [ 2.90041144e-02 -2.05957454e-03 9.99577170e-01 1.84590363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.400714057 meters Centerline goodness [0,1] 0.985899554127153 Centerline is valid? [True, True] Translation: X:153.51, Y:-5.28, Z:1.85 [[ 9.98844904e-01 -3.89660190e-02 -2.81159622e-02 1.53506944e+02] [ 3.90034291e-02 9.99238770e-01 7.83166130e-04 -5.28417486e+00] [ 2.80640426e-02 -1.87888043e-03 9.99604361e-01 1.84795101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.430714057 meters Centerline goodness [0,1] 0.9852777966523975 Centerline is valid? [True, True] Translation: X:153.54, Y:-5.28, Z:1.85 [[ 9.98929150e-01 -3.69489858e-02 -2.78446764e-02 1.53537346e+02] [ 3.69848973e-02 9.99315524e-01 7.75623932e-04 -5.28287459e+00] [ 2.77969589e-02 -1.80462585e-03 9.99611961e-01 1.84854104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.460714057 meters Centerline goodness [0,1] 0.9855272381900002 Centerline is valid? [True, True] Translation: X:153.57, Y:-5.28, Z:1.85 [[ 9.99083745e-01 -3.34469949e-02 -2.67014683e-02 1.53567783e+02] [ 3.34787726e-02 9.99439152e-01 7.43825613e-04 -5.28019032e+00] [ 2.66616141e-02 -1.63707646e-03 9.99643175e-01 1.84954998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.490714057 meters Centerline goodness [0,1] 0.9852321630804077 Centerline is valid? [True, True] Translation: X:153.60, Y:-5.28, Z:1.85 [[ 9.99140850e-01 -3.22653088e-02 -2.60098357e-02 1.53598315e+02] [ 3.22950633e-02 9.99478116e-01 7.24608007e-04 -5.28087580e+00] [ 2.59728818e-02 -1.56397475e-03 9.99661424e-01 1.85056206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.520714057 meters Centerline goodness [0,1] 0.9843746461649947 Centerline is valid? [True, True] Translation: X:153.63, Y:-5.28, Z:1.85 [[ 9.99171270e-01 -3.12745343e-02 -2.60514094e-02 1.53628070e+02] [ 3.13040430e-02 9.99509645e-01 7.25557073e-04 -5.28185475e+00] [ 2.60159435e-02 -1.54047022e-03 9.99660341e-01 1.85060440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.550714057 meters Centerline goodness [0,1] 0.9851128432883168 Centerline is valid? [True, True] Translation: X:153.66, Y:-5.28, Z:1.85 [[ 9.99176553e-01 -3.10913440e-02 -2.60680803e-02 1.53658384e+02] [ 3.11208221e-02 9.99515366e-01 7.25779755e-04 -5.28321814e+00] [ 2.60328813e-02 -1.53644220e-03 9.99659906e-01 1.85038747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.580714057 meters Centerline goodness [0,1] 0.9842177855156352 Centerline is valid? [True, True] Translation: X:153.69, Y:-5.28, Z:1.85 [[ 9.99168277e-01 -3.09012609e-02 -2.66057697e-02 1.53689037e+02] [ 3.09319010e-02 9.99521220e-01 7.40749945e-04 -5.28327857e+00] [ 2.65701413e-02 -1.56310088e-03 9.99645729e-01 1.85012167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.610714057 meters Centerline goodness [0,1] 0.9854372235454236 Centerline is valid? [True, True] Translation: X:153.72, Y:-5.28, Z:1.85 [[ 9.99131419e-01 -3.16224741e-02 -2.71371883e-02 1.53719171e+02] [ 3.16546031e-02 9.99498582e-01 7.55071796e-04 -5.28018633e+00] [ 2.70997040e-02 -1.61343288e-03 9.99631434e-01 1.85008271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.640714057 meters Centerline goodness [0,1] 0.9841510630108452 Centerline is valid? [True, True] Translation: X:153.75, Y:-5.28, Z:1.85 [[ 9.99115408e-01 -3.11258069e-02 -2.82769292e-02 1.53748770e+02] [ 3.11604726e-02 9.99514086e-01 7.86007597e-04 -5.28400411e+00] [ 2.82387239e-02 -1.66643478e-03 9.99599819e-01 1.84876422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.670714057 meters Centerline goodness [0,1] 0.9849155041397301 Centerline is valid? [True, True] Translation: X:153.78, Y:-5.28, Z:1.85 [[ 9.99120850e-01 -3.08423186e-02 -2.83950573e-02 1.53777711e+02] [ 3.08771326e-02 9.99522877e-01 7.88303829e-04 -5.28479404e+00] [ 2.83571962e-02 -1.66436874e-03 9.99596468e-01 1.84856045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.700714057 meters Centerline goodness [0,1] 0.9838156849392804 Centerline is valid? [True, True] Translation: X:153.81, Y:-5.29, Z:1.85 [[ 9.99089598e-01 -3.14048906e-02 -2.88740027e-02 1.53806643e+02] [ 3.14410809e-02 9.99505287e-01 8.00120616e-04 -5.28668706e+00] [ 2.88345907e-02 -1.70722204e-03 9.99582739e-01 1.84818869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.730714057 meters Centerline goodness [0,1] 0.9837365226057806 Centerline is valid? [True, True] Translation: X:153.84, Y:-5.29, Z:1.85 [[ 9.99054916e-01 -3.22616428e-02 -2.91283579e-02 1.53835186e+02] [ 3.22987132e-02 9.99477938e-01 8.02926176e-04 -5.28741760e+00] [ 2.90872474e-02 -1.74297582e-03 9.99575357e-01 1.84803257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76071405699997 meters Centerline goodness [0,1] 0.9831963304418911 Centerline is valid? [True, True] Translation: X:153.87, Y:-5.29, Z:1.85 [[ 9.99018076e-01 -3.42229006e-02 -2.81367403e-02 1.53865056e+02] [ 3.42581687e-02 9.99412718e-01 7.72217344e-04 -5.29055434e+00] [ 2.80937886e-02 -1.73537228e-03 9.99603785e-01 1.84872962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79071405699997 meters Centerline goodness [0,1] 0.9833822091886608 Centerline is valid? [True, True] Translation: X:153.90, Y:-5.29, Z:1.85 [[ 9.98999882e-01 -3.55423585e-02 -2.71288903e-02 1.53895276e+02] [ 3.55756188e-02 9.99366710e-01 7.44193040e-04 -5.28504212e+00] [ 2.70852595e-02 -1.70857582e-03 9.99631667e-01 1.85087185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82071405699998 meters Centerline goodness [0,1] 0.9819252548131371 Centerline is valid? [True, True] Translation: X:153.93, Y:-5.29, Z:1.85 [[ 9.98978045e-01 -3.69029896e-02 -2.60966575e-02 1.53925250e+02] [ 3.69342301e-02 9.99317442e-01 7.15946960e-04 -5.29262664e+00] [ 2.60524244e-02 -1.67907525e-03 9.99659168e-01 1.85032543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85071405699998 meters Centerline goodness [0,1] 0.9802852730080858 Centerline is valid? [True, True] Translation: X:153.95, Y:-5.30, Z:1.85 [[ 9.98841037e-01 -4.09477777e-02 -2.52954911e-02 1.53954429e+02] [ 4.09784218e-02 9.99159791e-01 6.94052191e-04 -5.30100283e+00] [ 2.52458177e-02 -1.72981712e-03 9.99679777e-01 1.84963543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88071405699998 meters Centerline goodness [0,1] 0.9780970698042765 Centerline is valid? [True, True] Translation: X:153.98, Y:-5.30, Z:1.85 [[ 9.98788878e-01 -4.25641842e-02 -2.46792881e-02 1.53984669e+02] [ 4.25938437e-02 9.99092241e-01 6.77133189e-04 -5.30441587e+00] [ 2.46280636e-02 -1.72749884e-03 9.99695191e-01 1.84980436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91071405699998 meters Centerline goodness [0,1] 0.9805097790655559 Centerline is valid? [True, True] Translation: X:154.02, Y:-5.30, Z:1.85 [[ 9.98618585e-01 -4.67321209e-02 -2.40214507e-02 1.54015215e+02] [ 4.67614248e-02 9.98905869e-01 6.59331174e-04 -5.29621365e+00] [ 2.39643561e-02 -1.78169762e-03 9.99711226e-01 1.85201324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94071405699998 meters Centerline goodness [0,1] 0.9808846510995856 Centerline is valid? [True, True] Translation: X:154.05, Y:-5.30, Z:1.85 [[ 9.98558421e-01 -4.84110862e-02 -2.31829110e-02 1.54046504e+02] [ 4.84388374e-02 9.98825948e-01 6.36675417e-04 -5.29961627e+00] [ 2.31248709e-02 -1.75871086e-03 9.99731037e-01 1.85283651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97071405699998 meters Centerline goodness [0,1] 0.9793283986279112 Centerline is valid? [True, True] Translation: X:154.08, Y:-5.30, Z:1.85 [[ 9.98434417e-01 -5.17182311e-02 -2.13058559e-02 1.54075952e+02] [ 5.17424306e-02 9.98660291e-01 5.85744959e-04 -5.30491984e+00] [ 2.12470186e-02 -1.68724470e-03 9.99772833e-01 1.85343714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00071405699998 meters Centerline goodness [0,1] 0.9799541939726525 Centerline is valid? [True, True] Translation: X:154.11, Y:-5.30, Z:1.85 [[ 9.98398254e-01 -5.25862103e-02 -2.08714558e-02 1.54107919e+02] [ 5.26096381e-02 9.98614989e-01 5.74613315e-04 -5.30433142e+00] [ 2.08123319e-02 -1.67173267e-03 9.99782002e-01 1.85403736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03071405699998 meters Centerline goodness [0,1] 0.9787234042553191 Centerline is valid? [True, True] Translation: X:154.14, Y:-5.31, Z:1.85 [[ 9.98364429e-01 -5.33427029e-02 -2.05675276e-02 1.54140035e+02] [ 5.33656421e-02 9.98574878e-01 5.67680656e-04 -5.30798164e+00] [ 2.05079347e-02 -1.66435149e-03 9.99788305e-01 1.85403506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06071405699998 meters Centerline goodness [0,1] 0.9784125550412104 Centerline is valid? [True, True] Translation: X:154.17, Y:-5.31, Z:1.85 [[ 9.98317460e-01 -5.37651512e-02 -2.17153857e-02 1.54171101e+02] [ 5.37908535e-02 9.98552043e-01 6.00800648e-04 -5.31040970e+00] [ 2.16516407e-02 -1.76787891e-03 9.99764013e-01 1.85275989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09071405699999 meters Centerline goodness [0,1] 0.9781408399710355 Centerline is valid? [True, True] Translation: X:154.20, Y:-5.31, Z:1.85 [[ 9.98316719e-01 -5.36056278e-02 -2.21396606e-02 1.54202783e+02] [ 5.36323513e-02 9.98560561e-01 6.14609796e-04 -5.31290953e+00] [ 2.20748454e-02 -1.80097729e-03 9.99754699e-01 1.85253010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.120714057 meters Centerline goodness [0,1] 0.9793910263676967 Centerline is valid? [True, True] Translation: X:154.23, Y:-5.31, Z:1.85 [[ 9.98335121e-01 -5.27501537e-02 -2.33325594e-02 1.54234730e+02] [ 5.27796740e-02 9.98605970e-01 6.50757458e-04 -5.31272078e+00] [ 2.32657055e-02 -1.88115890e-03 9.99727547e-01 1.85070612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.150714057 meters Centerline goodness [0,1] 0.9787012280781258 Centerline is valid? [True, True] Translation: X:154.27, Y:-5.31, Z:1.85 [[ 9.98338670e-01 -5.24649799e-02 -2.38186188e-02 1.54267249e+02] [ 5.24957025e-02 9.98620928e-01 6.65988485e-04 -5.31391007e+00] [ 2.37508302e-02 -1.91525719e-03 9.99716075e-01 1.85000047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.180714057 meters Centerline goodness [0,1] 0.9786102308736985 Centerline is valid? [True, True] Translation: X:154.30, Y:-5.32, Z:1.85 [[ 9.98353776e-01 -5.17508615e-02 -2.47302769e-02 1.54299186e+02] [ 5.17838076e-02 9.98658078e-01 6.93236165e-04 -5.31556793e+00] [ 2.46612152e-02 -1.97272284e-03 9.99693920e-01 1.84869028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.210714057 meters Centerline goodness [0,1] 0.9783608637527473 Centerline is valid? [True, True] Translation: X:154.33, Y:-5.32, Z:1.85 [[ 9.98349069e-01 -5.15903641e-02 -2.52501811e-02 1.54331290e+02] [ 5.16247042e-02 9.98666304e-01 7.09584236e-04 -5.31572023e+00] [ 2.51798973e-02 -2.01194589e-03 9.99680912e-01 1.84883261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.240714057 meters Centerline goodness [0,1] 0.978303211487068 Centerline is valid? [True, True] Translation: X:154.36, Y:-5.32, Z:1.85 [[ 9.98384486e-01 -5.10282549e-02 -2.49907110e-02 1.54363704e+02] [ 5.10617604e-02 9.98695249e-01 7.04006705e-04 -5.31685092e+00] [ 2.49221801e-02 -1.97893907e-03 9.99687436e-01 1.84911455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.270714057 meters Centerline goodness [0,1] 0.9791850095947624 Centerline is valid? [True, True] Translation: X:154.40, Y:-5.32, Z:1.85 [[ 9.98446759e-01 -5.00051675e-02 -2.45672942e-02 1.54395315e+02] [ 5.00372710e-02 9.98747111e-01 6.93382590e-04 -5.31720743e+00] [ 2.45018413e-02 -1.92158596e-03 9.99697938e-01 1.84958009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.300714057 meters Centerline goodness [0,1] 0.9683703821439114 Centerline is valid? [True, True] Translation: X:154.43, Y:-5.33, Z:1.85 [[ 9.98477998e-01 -4.97575566e-02 -2.37880776e-02 1.54426182e+02] [ 4.97876123e-02 9.98759601e-01 6.72524433e-04 -5.32564726e+00] [ 2.37251077e-02 -1.85585243e-03 9.99716797e-01 1.84884787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.330714057 meters Centerline goodness [0,1] 0.9763633064150259 Centerline is valid? [True, True] Translation: X:154.46, Y:-5.32, Z:1.85 [[ 9.98494958e-01 -4.95055804e-02 -2.36012147e-02 1.54458254e+02] [ 4.95351332e-02 9.98772158e-01 6.68839787e-04 -5.32253909e+00] [ 2.35391249e-02 -1.83692247e-03 9.99721229e-01 1.85001936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.360714057 meters Centerline goodness [0,1] 0.9724567160801176 Centerline is valid? [True, True] Translation: X:154.49, Y:-5.33, Z:1.85 [[ 9.98529844e-01 -4.89413527e-02 -2.33000852e-02 1.54490371e+02] [ 4.89700432e-02 9.98800028e-01 6.62020161e-04 -5.32585507e+00] [ 2.32397256e-02 -1.80205306e-03 9.99728297e-01 1.85008797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.390714057 meters Centerline goodness [0,1] 0.9732250232579247 Centerline is valid? [True, True] Translation: X:154.52, Y:-5.33, Z:1.85 [[ 9.98610045e-01 -4.77390744e-02 -2.23373877e-02 1.54520653e+02] [ 4.77651714e-02 9.98858390e-01 6.35926602e-04 -5.32635652e+00] [ 2.22815286e-02 -1.70199185e-03 9.99750287e-01 1.85101171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.420714057 meters Centerline goodness [0,1] 0.9776426440003617 Centerline is valid? [True, True] Translation: X:154.55, Y:-5.32, Z:1.85 [[ 9.98671291e-01 -4.65375788e-02 -2.21338044e-02 1.54552512e+02] [ 4.65629232e-02 9.98915160e-01 6.30786753e-04 -5.32009383e+00] [ 2.20804374e-02 -1.66056325e-03 9.99754818e-01 1.85257260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.450714057 meters Centerline goodness [0,1] 0.9717730947406668 Centerline is valid? [True, True] Translation: X:154.58, Y:-5.33, Z:1.85 [[ 9.98672318e-01 -4.65363246e-02 -2.20900842e-02 1.54583964e+02] [ 4.65615937e-02 9.98915222e-01 6.30675943e-04 -5.32915033e+00] [ 2.20367720e-02 -1.65838813e-03 9.99755785e-01 1.85199634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.480714057 meters Centerline goodness [0,1] 0.9777343128112989 Centerline is valid? [True, True] Translation: X:154.62, Y:-5.32, Z:1.85 [[ 9.98653195e-01 -4.69974493e-02 -2.19780879e-02 1.54616120e+02] [ 4.70226013e-02 9.98893628e-01 6.28737643e-04 -5.32431320e+00] [ 2.19242229e-02 -1.66135772e-03 9.99758255e-01 1.85212966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51071405699997 meters Centerline goodness [0,1] 0.9788050014750267 Centerline is valid? [True, True] Translation: X:154.65, Y:-5.32, Z:1.85 [[ 9.98633561e-01 -4.73916457e-02 -2.20236693e-02 1.54648158e+02] [ 4.74170310e-02 9.98874980e-01 6.31565893e-04 -5.32306847e+00] [ 2.19689613e-02 -1.67499991e-03 9.99757250e-01 1.85241021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54071405699997 meters Centerline goodness [0,1] 0.9787354243875983 Centerline is valid? [True, True] Translation: X:154.68, Y:-5.33, Z:1.85 [[ 9.98635439e-01 -4.73649907e-02 -2.19958477e-02 1.54680372e+02] [ 4.73903392e-02 9.98876247e-01 6.32305133e-04 -5.32548930e+00] [ 2.19411806e-02 -1.67383300e-03 9.99757862e-01 1.85256620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57071405699998 meters Centerline goodness [0,1] 0.9776580753670622 Centerline is valid? [True, True] Translation: X:154.71, Y:-5.33, Z:1.85 [[ 9.98551349e-01 -4.89724794e-02 -2.22912539e-02 1.54711674e+02] [ 4.89989400e-02 9.98798624e-01 6.42071181e-04 -5.32948687e+00] [ 2.22330300e-02 -1.73338886e-03 9.99751313e-01 1.85188434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60071405699998 meters Centerline goodness [0,1] 0.9748621730154049 Centerline is valid? [True, True] Translation: X:154.74, Y:-5.34, Z:1.85 [[ 9.98502636e-01 -4.96369682e-02 -2.29925297e-02 1.54742544e+02] [ 4.96653178e-02 9.98765696e-01 6.63243517e-04 -5.33714981e+00] [ 2.29312286e-02 -1.80418170e-03 9.99735417e-01 1.85150251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63071405699998 meters Centerline goodness [0,1] 0.9777288412640756 Centerline is valid? [True, True] Translation: X:154.77, Y:-5.34, Z:1.85 [[ 9.98433509e-01 -5.09041705e-02 -2.32226756e-02 1.54774975e+02] [ 5.09334630e-02 9.98701823e-01 6.71254944e-04 -5.33599505e+00] [ 2.31583588e-02 -1.85301472e-03 9.99730092e-01 1.85176318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66071405699998 meters Centerline goodness [0,1] 0.9777072949705482 Centerline is valid? [True, True] Translation: X:154.81, Y:-5.34, Z:1.85 [[ 9.98408006e-01 -5.13782314e-02 -2.32751011e-02 1.54806752e+02] [ 5.14078214e-02 9.98677516e-01 6.74365950e-04 -5.33849164e+00] [ 2.32096724e-02 -1.86981460e-03 9.99728871e-01 1.85239578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69071405699998 meters Centerline goodness [0,1] 0.975939100095156 Centerline is valid? [True, True] Translation: X:154.84, Y:-5.34, Z:1.85 [[ 9.98394244e-01 -5.18992249e-02 -2.27025322e-02 1.54839147e+02] [ 5.19275448e-02 9.98650637e-01 6.59300615e-04 -5.34228956e+00] [ 2.26376810e-02 -1.83712869e-03 9.99742047e-01 1.85304672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72071405699998 meters Centerline goodness [0,1] 0.9760787248033014 Centerline is valid? [True, True] Translation: X:154.87, Y:-5.34, Z:1.85 [[ 9.98394593e-01 -5.18083653e-02 -2.28938812e-02 1.54871385e+02] [ 5.18371767e-02 9.98655327e-01 6.66419660e-04 -5.34347835e+00] [ 2.28285703e-02 -1.85210395e-03 9.99737679e-01 1.85395046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75071405699998 meters Centerline goodness [0,1] 0.9732387664000363 Centerline is valid? [True, True] Translation: X:154.90, Y:-5.35, Z:1.85 [[ 9.98432636e-01 -5.11526942e-02 -2.27084357e-02 1.54902873e+02] [ 5.11809068e-02 9.98689179e-01 6.62554049e-04 -5.34723824e+00] [ 2.26447775e-02 -1.82375391e-03 9.99741911e-01 1.85410983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78071405699998 meters Centerline goodness [0,1] 0.9737677413503831 Centerline is valid? [True, True] Translation: X:154.93, Y:-5.35, Z:1.85 [[ 9.98506806e-01 -4.98438921e-02 -2.23549509e-02 1.54933723e+02] [ 4.98709341e-02 9.98755457e-01 6.53452365e-04 -5.34812113e+00] [ 2.22945586e-02 -1.76733892e-03 9.99749883e-01 1.85478154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81071405699998 meters Centerline goodness [0,1] 0.9734469277530451 Centerline is valid? [True, True] Translation: X:154.96, Y:-5.35, Z:1.86 [[ 9.98642524e-01 -4.71914162e-02 -2.20472218e-02 1.54963775e+02] [ 4.72170863e-02 9.98884443e-01 6.44922410e-04 -5.34868065e+00] [ 2.19921920e-02 -1.68505252e-03 9.99756722e-01 1.85526022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84071405699999 meters Centerline goodness [0,1] 0.974116204618214 Centerline is valid? [True, True] Translation: X:154.99, Y:-5.35, Z:1.86 [[ 9.98690276e-01 -4.58613625e-02 -2.26818959e-02 1.54994591e+02] [ 4.58881977e-02 9.98946361e-01 6.63773423e-04 -5.34898499e+00] [ 2.26275558e-02 -1.70373539e-03 9.99742512e-01 1.85584481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.870714057 meters Centerline goodness [0,1] 0.974312177761555 Centerline is valid? [True, True] Translation: X:155.03, Y:-5.35, Z:1.86 [[ 9.98747219e-01 -4.43968871e-02 -2.30848097e-02 1.55026194e+02] [ 4.44243130e-02 9.99012524e-01 6.76326207e-04 -5.34854029e+00] [ 2.30319873e-02 -1.70100573e-03 9.99733282e-01 1.85620251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.900714057 meters Centerline goodness [0,1] 0.9770363458431006 Centerline is valid? [True, True] Translation: X:155.06, Y:-5.35, Z:1.86 [[ 9.98876383e-01 -4.12689686e-02 -2.32990006e-02 1.55056143e+02] [ 4.12960686e-02 9.99146720e-01 6.82989796e-04 -5.34770887e+00] [ 2.32509337e-02 -1.64437950e-03 9.99728308e-01 1.85677957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.930714057 meters Centerline goodness [0,1] 0.9764430612662138 Centerline is valid? [True, True] Translation: X:155.09, Y:-5.35, Z:1.86 [[ 9.98932955e-01 -3.98734038e-02 -2.33037099e-02 1.55087100e+02] [ 3.99001414e-02 9.99203439e-01 6.83322780e-04 -5.34908316e+00] [ 2.32579006e-02 -1.61241496e-03 9.99728198e-01 1.85720524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.960714057 meters Centerline goodness [0,1] 0.9766763188851688 Centerline is valid? [True, True] Translation: X:155.12, Y:-5.35, Z:1.86 [[ 9.99007879e-01 -3.81462776e-02 -2.29808437e-02 1.55117951e+02] [ 3.81718411e-02 9.99270962e-01 6.74582827e-04 -5.34883024e+00] [ 2.29383569e-02 -1.55113467e-03 9.99735678e-01 1.85853049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.990714057 meters Centerline goodness [0,1] 0.9763579434587285 Centerline is valid? [True, True] Translation: X:155.15, Y:-5.35, Z:1.86 [[ 9.99038383e-01 -3.75572559e-02 -2.26221486e-02 1.55149193e+02] [ 3.75818930e-02 9.99293330e-01 6.64761694e-04 -5.35032753e+00] [ 2.25811956e-02 -1.51430562e-03 9.99743865e-01 1.85953047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.020714057 meters Centerline goodness [0,1] 0.9763579434587285 Centerline is valid? [True, True] Translation: X:155.18, Y:-5.35, Z:1.86 [[ 9.99039557e-01 -3.75260261e-02 -2.26221278e-02 1.55180092e+02] [ 3.75506712e-02 9.99294503e-01 6.65468157e-04 -5.35127220e+00] [ 2.25811956e-02 -1.51430510e-03 9.99743865e-01 1.85996212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.050714057 meters Centerline goodness [0,1] 0.9832967430912342 Centerline is valid? [True, True] Translation: X:155.21, Y:-5.34, Z:1.86 [[ 9.99094778e-01 -3.57383270e-02 -2.30737289e-02 1.55212348e+02] [ 3.57635127e-02 9.99360050e-01 6.79669180e-04 -5.33856452e+00] [ 2.30346726e-02 -1.50425152e-03 9.99733535e-01 1.86280671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.080714057 meters Centerline goodness [0,1] 0.984382437609085 Centerline is valid? [True, True] Translation: X:155.24, Y:-5.33, Z:1.86 [[ 9.99142812e-01 -3.45647278e-02 -2.27798347e-02 1.55244110e+02] [ 3.45889955e-02 9.99401396e-01 6.72040907e-04 -5.33421536e+00] [ 2.27429697e-02 -1.45939644e-03 9.99740280e-01 1.86423325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.110714057 meters Centerline goodness [0,1] 0.9847948438634713 Centerline is valid? [True, True] Translation: X:155.27, Y:-5.34, Z:1.86 [[ 9.99208315e-01 -3.21492600e-02 -2.34343300e-02 1.55274902e+02] [ 3.21743003e-02 9.99482034e-01 6.92175428e-04 -5.33550216e+00] [ 2.33999389e-02 -1.44561061e-03 9.99725139e-01 1.86447660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.140714057 meters Centerline goodness [0,1] 0.9827254844325864 Centerline is valid? [True, True] Translation: X:155.30, Y:-5.35, Z:1.86 [[ 9.99283525e-01 -2.97934117e-02 -2.33407045e-02 1.55303990e+02] [ 2.98176188e-02 9.99555118e-01 6.89702466e-04 -5.34523826e+00] [ 2.33097720e-02 -1.38517254e-03 9.99727331e-01 1.86326242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.170714057 meters Centerline goodness [0,1] 0.9820666485063108 Centerline is valid? [True, True] Translation: X:155.33, Y:-5.35, Z:1.86 [[ 9.99293064e-01 -2.89214416e-02 -2.40191992e-02 1.55333041e+02] [ 2.89468162e-02 9.99580701e-01 7.09340211e-04 -5.34898957e+00] [ 2.39886129e-02 -1.40411810e-03 9.99711246e-01 1.86268468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.200714057 meters Centerline goodness [0,1] 0.9848100117892445 Centerline is valid? [True, True] Translation: X:155.36, Y:-5.33, Z:1.87 [[ 9.99306076e-01 -2.80444510e-02 -2.45127682e-02 1.55363932e+02] [ 2.80706110e-02 9.99605681e-01 7.23688133e-04 -5.33420935e+00] [ 2.44828069e-02 -1.41127433e-03 9.99699255e-01 1.86561775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.230714057 meters Centerline goodness [0,1] 0.9827480673754846 Centerline is valid? [True, True] Translation: X:155.39, Y:-5.35, Z:1.86 [[ 9.99296875e-01 -2.73939479e-02 -2.55993544e-02 1.55392344e+02] [ 2.74222508e-02 9.99623654e-01 7.55145784e-04 -5.34584897e+00] [ 2.55690337e-02 -1.45660674e-03 9.99671998e-01 1.86365316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26071405699997 meters Centerline goodness [0,1] 0.9851563920712857 Centerline is valid? [True, True] Translation: X:155.42, Y:-5.34, Z:1.87 [[ 9.99269509e-01 -2.77108715e-02 -2.63164564e-02 1.55421607e+02] [ 2.77407926e-02 9.99614852e-01 7.72500335e-04 -5.33803505e+00] [ 2.62849140e-02 -1.50197539e-03 9.99653364e-01 1.86555067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29071405699997 meters Centerline goodness [0,1] 0.9843912826786281 Centerline is valid? [True, True] Translation: X:155.45, Y:-5.34, Z:1.86 [[ 9.99223485e-01 -2.82315404e-02 -2.74846854e-02 1.55449506e+02] [ 2.82642439e-02 9.99600165e-01 8.02042832e-04 -5.34254818e+00] [ 2.74510531e-02 -1.57825389e-03 9.99621903e-01 1.86480912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32071405699998 meters Centerline goodness [0,1] 0.9848238114624327 Centerline is valid? [True, True] Translation: X:155.48, Y:-5.34, Z:1.87 [[ 9.99186647e-01 -2.92255470e-02 -2.77833107e-02 1.55478540e+02] [ 2.92592216e-02 9.99571532e-01 8.06193894e-04 -5.34355445e+00] [ 2.77478449e-02 -1.61845622e-03 9.99613644e-01 1.86519716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35071405699998 meters Centerline goodness [0,1] 0.9843792263997836 Centerline is valid? [True, True] Translation: X:155.51, Y:-5.35, Z:1.87 [[ 9.99130201e-01 -3.06826998e-02 -2.82385074e-02 1.55507211e+02] [ 3.07179498e-02 9.99527760e-01 8.15240708e-04 -5.34817026e+00] [ 2.82001583e-02 -1.68196067e-03 9.99600881e-01 1.86567887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38071405699998 meters Centerline goodness [0,1] 0.9851959164271 Centerline is valid? [True, True] Translation: X:155.54, Y:-5.34, Z:1.87 [[ 9.99084689e-01 -3.19089498e-02 -2.84886395e-02 1.55535965e+02] [ 3.19451997e-02 9.99489287e-01 8.18097573e-04 -5.34359454e+00] [ 2.84479854e-02 -1.72742404e-03 9.99593782e-01 1.86805214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41071405699998 meters Centerline goodness [0,1] 0.9845720085711064 Centerline is valid? [True, True] Translation: X:155.56, Y:-5.35, Z:1.87 [[ 9.99018367e-01 -3.34990880e-02 -2.89847214e-02 1.55564469e+02] [ 3.35371524e-02 9.99437129e-01 8.27984338e-04 -5.34753682e+00] [ 2.89406700e-02 -1.79923658e-03 9.99579512e-01 1.86809904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44071405699998 meters Centerline goodness [0,1] 0.9848515679757625 Centerline is valid? [True, True] Translation: X:155.59, Y:-5.35, Z:1.87 [[ 9.98985146e-01 -3.40804475e-02 -2.94482859e-02 1.55594397e+02] [ 3.41199530e-02 9.99417392e-01 8.39924333e-04 -5.34925853e+00] [ 2.94025041e-02 -1.84384606e-03 9.99565952e-01 1.86807186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47071405699998 meters Centerline goodness [0,1] 0.9835844692461432 Centerline is valid? [True, True] Translation: X:155.62, Y:-5.36, Z:1.87 [[ 9.98944934e-01 -3.49224023e-02 -2.98235460e-02 1.55622388e+02] [ 3.49632472e-02 9.99388238e-01 8.49014026e-04 -5.35943633e+00] [ 2.97756515e-02 -1.89084627e-03 9.99554819e-01 1.86593937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50071405699998 meters Centerline goodness [0,1] 0.9844228345038718 Centerline is valid? [True, True] Translation: X:155.65, Y:-5.36, Z:1.87 [[ 9.98849475e-01 -3.67133378e-02 -3.08521881e-02 1.55651800e+02] [ 3.67578611e-02 9.99323817e-01 8.76999683e-04 -5.36181665e+00] [ 3.07991288e-02 -2.01005112e-03 9.99523573e-01 1.86574582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53071405699998 meters Centerline goodness [0,1] 0.9842038045304833 Centerline is valid? [True, True] Translation: X:155.68, Y:-5.36, Z:1.87 [[ 9.98826462e-01 -3.75411346e-02 -3.06000308e-02 1.55679779e+02] [ 3.75852780e-02 9.99293046e-01 8.68480001e-04 -5.36476238e+00] [ 3.05457943e-02 -2.01757147e-03 9.99531332e-01 1.86666039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56071405699998 meters Centerline goodness [0,1] 0.9845467187009375 Centerline is valid? [True, True] Translation: X:155.71, Y:-5.37, Z:1.87 [[ 9.98786156e-01 -3.85720531e-02 -3.06335012e-02 1.55708258e+02] [ 3.86166282e-02 9.99253726e-01 8.64603334e-04 -5.36674462e+00] [ 3.05772907e-02 -2.04651637e-03 9.99530310e-01 1.86744968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59071405699999 meters Centerline goodness [0,1] 0.9854775981835757 Centerline is valid? [True, True] Translation: X:155.74, Y:-5.36, Z:1.87 [[ 9.98751903e-01 -3.93709170e-02 -3.07338035e-02 1.55738321e+02] [ 3.94160518e-02 9.99222512e-01 8.63875003e-04 -5.36190300e+00] [ 3.06758968e-02 -2.07420199e-03 9.99527232e-01 1.87034635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.620714057 meters Centerline goodness [0,1] 0.9857453925067906 Centerline is valid? [True, True] Translation: X:155.77, Y:-5.37, Z:1.87 [[ 9.98709757e-01 -4.07244679e-02 -3.03370945e-02 1.55768134e+02] [ 4.07690497e-02 9.99168233e-01 8.52194962e-04 -5.36534066e+00] [ 3.02771559e-02 -2.08790994e-03 9.99539361e-01 1.87187248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.650714057 meters Centerline goodness [0,1] 0.9860911378752472 Centerline is valid? [True, True] Translation: X:155.80, Y:-5.37, Z:1.87 [[ 9.98664677e-01 -4.15875241e-02 -3.06486705e-02 1.55798252e+02] [ 4.16334237e-02 9.99132582e-01 8.60700309e-04 -5.36702952e+00] [ 3.05862909e-02 -2.13556008e-03 9.99529849e-01 1.87253047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.680714057 meters Centerline goodness [0,1] 0.9860141430014592 Centerline is valid? [True, True] Translation: X:155.83, Y:-5.37, Z:1.87 [[ 9.98620303e-01 -4.26012811e-02 -3.07021309e-02 1.55827299e+02] [ 4.26478088e-02 9.99089797e-01 8.61910489e-04 -5.37172541e+00] [ 3.06374673e-02 -2.17009992e-03 9.99528207e-01 1.87321859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.710714057 meters Centerline goodness [0,1] 0.9861151677188883 Centerline is valid? [True, True] Translation: X:155.86, Y:-5.37, Z:1.87 [[ 9.98573657e-01 -4.34714520e-02 -3.09981397e-02 1.55858168e+02] [ 4.35192912e-02 9.99052208e-01 8.69975367e-04 -5.37161529e+00] [ 3.09309408e-02 -2.21775155e-03 9.99519064e-01 1.87383499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.740714057 meters Centerline goodness [0,1] 0.9861453616105457 Centerline is valid? [True, True] Translation: X:155.89, Y:-5.37, Z:1.87 [[ 9.98505966e-01 -4.48172501e-02 -3.12610058e-02 1.55888749e+02] [ 4.48665604e-02 9.98992604e-01 8.77352810e-04 -5.37446194e+00] [ 3.11901930e-02 -2.27861582e-03 9.99510870e-01 1.87384169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.770714057 meters Centerline goodness [0,1] 0.9859578961558336 Centerline is valid? [True, True] Translation: X:155.92, Y:-5.38, Z:1.87 [[ 9.98469303e-01 -4.51409051e-02 -3.19585555e-02 1.55918685e+02] [ 4.51926043e-02 9.98977890e-01 8.96850879e-04 -5.37603637e+00] [ 3.18854057e-02 -2.33976843e-03 9.99488793e-01 1.87416155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.800714057 meters Centerline goodness [0,1] 0.9851526416582179 Centerline is valid? [True, True] Translation: X:155.95, Y:-5.38, Z:1.87 [[ 9.98405225e-01 -4.54966108e-02 -3.34225094e-02 1.55948262e+02] [ 4.55533430e-02 9.98961468e-01 9.37530620e-04 -5.38437927e+00] [ 3.33451446e-02 -2.45854251e-03 9.99440872e-01 1.87213071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.830714057 meters Centerline goodness [0,1] 0.9868087492989344 Centerline is valid? [True, True] Translation: X:155.98, Y:-5.38, Z:1.87 [[ 9.98390392e-01 -4.56524100e-02 -3.36523673e-02 1.55979346e+02] [ 4.57100056e-02 9.98954306e-01 9.43733498e-04 -5.37967819e+00] [ 3.35740935e-02 -2.48046435e-03 9.99433153e-01 1.87363668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.860714057 meters Centerline goodness [0,1] 0.9865838285611381 Centerline is valid? [True, True] Translation: X:156.01, Y:-5.38, Z:1.87 [[ 9.98349668e-01 -4.60823956e-02 -3.42688302e-02 1.56010070e+02] [ 4.61423740e-02 9.98934411e-01 9.61021336e-04 -5.37728056e+00] [ 3.41880275e-02 -2.54068051e-03 9.99412189e-01 1.87448309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.890714057 meters Centerline goodness [0,1] 0.9872236093303641 Centerline is valid? [True, True] Translation: X:156.04, Y:-5.38, Z:1.87 [[ 9.98332257e-01 -4.63266616e-02 -3.44462684e-02 1.56039035e+02] [ 4.63874431e-02 9.98923055e-01 9.67025542e-04 -5.38016869e+00] [ 3.43643726e-02 -2.56328711e-03 9.99406083e-01 1.87418042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.920714057 meters Centerline goodness [0,1] 0.9858015815959741 Centerline is valid? [True, True] Translation: X:156.07, Y:-5.38, Z:1.87 [[ 9.98271406e-01 -4.76135462e-02 -3.44550514e-02 1.56068829e+02] [ 4.76751200e-02 9.98862427e-01 9.67253326e-04 -5.38254225e+00] [ 3.43698019e-02 -2.60823005e-03 9.99405780e-01 1.87421748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.950714057 meters Centerline goodness [0,1] 0.985853724361281 Centerline is valid? [True, True] Translation: X:156.10, Y:-5.39, Z:1.87 [[ 9.98250377e-01 -4.83336964e-02 -3.40593301e-02 1.56098586e+02] [ 4.83942512e-02 9.98827855e-01 9.55310268e-04 -5.38668026e+00] [ 3.39732340e-02 -2.60191461e-03 9.99419356e-01 1.87405434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.980714057 meters Centerline goodness [0,1] 0.9858229211063505 Centerline is valid? [True, True] Translation: X:156.13, Y:-5.39, Z:1.87 [[ 9.98209985e-01 -4.91317737e-02 -3.41012514e-02 1.56128919e+02] [ 4.91929323e-02 9.98788837e-01 9.56242959e-04 -5.38657013e+00] [ 3.40129673e-02 -2.63207182e-03 9.99417926e-01 1.87474124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01071405699997 meters Centerline goodness [0,1] 0.9845378151260504 Centerline is valid? [True, True] Translation: X:156.16, Y:-5.39, Z:1.87 [[ 9.98164981e-01 -5.01245367e-02 -3.39735295e-02 1.56158357e+02] [ 5.01858018e-02 9.98739445e-01 9.52447883e-04 -5.39099068e+00] [ 3.38829630e-02 -2.65568894e-03 9.99422279e-01 1.87485910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04071405699997 meters Centerline goodness [0,1] 0.9849441585582347 Centerline is valid? [True, True] Translation: X:156.19, Y:-5.39, Z:1.88 [[ 9.98112478e-01 -5.16528557e-02 -3.32184242e-02 1.56188284e+02] [ 5.17122510e-02 9.98661593e-01 9.30804631e-04 -5.39338308e+00] [ 3.31258857e-02 -2.64684720e-03 9.99447682e-01 1.87572680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07071405699998 meters Centerline goodness [0,1] 0.9848246756162169 Centerline is valid? [True, True] Translation: X:156.22, Y:-5.39, Z:1.88 [[ 9.98092657e-01 -5.22543758e-02 -3.28713787e-02 1.56219151e+02] [ 5.23128520e-02 9.98630321e-01 9.20844763e-04 -5.39462170e+00] [ 3.27782373e-02 -2.63868396e-03 9.99459166e-01 1.87639489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10071405699998 meters Centerline goodness [0,1] 0.9778912329629796 Centerline is valid? [True, True] Translation: X:156.25, Y:-5.40, Z:1.88 [[ 9.98076143e-01 -5.28313327e-02 -3.24478386e-02 1.56248838e+02] [ 5.28886642e-02 9.98600000e-01 9.10541922e-04 -5.40129283e+00] [ 3.23543065e-02 -2.62491301e-03 9.99473015e-01 1.87580620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13071405699998 meters Centerline goodness [0,1] 0.9856244384546271 Centerline is valid? [True, True] Translation: X:156.28, Y:-5.39, Z:1.88 [[ 9.98064650e-01 -5.35541628e-02 -3.16054774e-02 1.56280577e+02] [ 5.36089702e-02 9.98561610e-01 8.88678963e-04 -5.39088440e+00] [ 3.15124239e-02 -2.58129615e-03 9.99500027e-01 1.87994404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16071405699998 meters Centerline goodness [0,1] 0.9844810211622439 Centerline is valid? [True, True] Translation: X:156.31, Y:-5.40, Z:1.88 [[ 9.98081316e-01 -5.34311177e-02 -3.12858087e-02 1.56310431e+02] [ 5.34848104e-02 9.98568274e-01 8.81261397e-04 -5.39813955e+00] [ 3.11939293e-02 -2.55288608e-03 9.99510091e-01 1.87961425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19071405699998 meters Centerline goodness [0,1] 0.9862930860713566 Centerline is valid? [True, True] Translation: X:156.34, Y:-5.39, Z:1.88 [[ 9.98146880e-01 -5.23855041e-02 -3.09606855e-02 1.56341744e+02] [ 5.24376318e-02 9.98623819e-01 8.73573478e-04 -5.39190260e+00] [ 3.08723154e-02 -2.49545967e-03 9.99520221e-01 1.88180351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22071405699998 meters Centerline goodness [0,1] 0.9854063612149428 Centerline is valid? [True, True] Translation: X:156.37, Y:-5.39, Z:1.88 [[ 9.98273098e-01 -4.99571330e-02 -3.09048067e-02 1.56371568e+02] [ 5.00079317e-02 9.98748440e-01 8.72495863e-04 -5.39216084e+00] [ 3.08225401e-02 -2.41647461e-03 9.99521952e-01 1.88187404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25071405699998 meters Centerline goodness [0,1] 0.9856758574310692 Centerline is valid? [True, True] Translation: X:156.40, Y:-5.39, Z:1.88 [[ 9.98356119e-01 -4.83158438e-02 -3.08324386e-02 1.56401787e+02] [ 4.83656361e-02 9.98829318e-01 8.70751512e-04 -5.39222012e+00] [ 3.07542725e-02 -2.36055060e-03 9.99524188e-01 1.88253503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28071405699998 meters Centerline goodness [0,1] 0.9863658788177782 Centerline is valid? [True, True] Translation: X:156.43, Y:-5.39, Z:1.88 [[ 9.98455722e-01 -4.64095723e-02 -3.05339645e-02 1.56432677e+02] [ 4.64575349e-02 9.98919893e-01 8.62859130e-04 -5.38893463e+00] [ 3.04609397e-02 -2.28005936e-03 9.99533357e-01 1.88380274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31071405699998 meters Centerline goodness [0,1] 0.986093866401788 Centerline is valid? [True, True] Translation: X:156.46, Y:-5.38, Z:1.89 [[ 9.98676170e-01 -4.16042631e-02 -3.02488560e-02 1.56462925e+02] [ 4.16491480e-02 9.99131932e-01 8.55035244e-04 -5.38417253e+00] [ 3.01870248e-02 -2.11374240e-03 9.99542033e-01 1.88569920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34071405699999 meters Centerline goodness [0,1] 0.9868329557434782 Centerline is valid? [True, True] Translation: X:156.49, Y:-5.38, Z:1.89 [[ 9.98804504e-01 -3.85277631e-02 -3.00861224e-02 1.56493099e+02] [ 3.85707637e-02 9.99255510e-01 8.49991199e-04 -5.38237612e+00] [ 3.00309753e-02 -2.00941976e-03 9.99546949e-01 1.88628062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.370714057 meters Centerline goodness [0,1] 0.9865063399859865 Centerline is valid? [True, True] Translation: X:156.52, Y:-5.38, Z:1.89 [[ 9.99067453e-01 -3.15399439e-02 -2.94865431e-02 1.56522922e+02] [ 3.15782013e-02 9.99500937e-01 8.32570414e-04 -5.37921580e+00] [ 2.94455682e-02 -1.76292600e-03 9.99564831e-01 1.88702519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.400714057 meters Centerline goodness [0,1] 0.9872052806474219 Centerline is valid? [True, True] Translation: X:156.55, Y:-5.37, Z:1.89 [[ 9.99166199e-01 -2.81678891e-02 -2.95546403e-02 1.56553001e+02] [ 2.82048425e-02 9.99601816e-01 8.34122192e-04 -5.37494190e+00] [ 2.95193766e-02 -1.66701067e-03 9.99562818e-01 1.88780138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.430714057 meters Centerline goodness [0,1] 0.988283378746594 Centerline is valid? [True, True] Translation: X:156.58, Y:-5.37, Z:1.89 [[ 9.99319232e-01 -2.15325491e-02 -2.99570080e-02 1.56583327e+02] [ 2.15675210e-02 9.99767037e-01 8.44732917e-04 -5.36677622e+00] [ 2.99318399e-02 -1.49025625e-03 9.99550831e-01 1.88877527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.460714057 meters Centerline goodness [0,1] 0.989020212790091 Centerline is valid? [True, True] Translation: X:156.61, Y:-5.36, Z:1.89 [[ 9.99383823e-01 -1.88145990e-02 -2.96308120e-02 1.56612905e+02] [ 1.88475919e-02 9.99822020e-01 8.34540939e-04 -5.36410251e+00] [ 2.96098367e-02 -1.39249617e-03 9.99560563e-01 1.88933639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.490714057 meters Centerline goodness [0,1] 0.9879711488457277 Centerline is valid? [True, True] Translation: X:156.64, Y:-5.37, Z:1.89 [[ 9.99453082e-01 -1.53918060e-02 -2.92682436e-02 1.56641517e+02] [ 1.54224933e-02 9.99880728e-01 8.23017707e-04 -5.36716651e+00] [ 2.92520850e-02 -1.27395688e-03 9.99571254e-01 1.88783717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.520714057 meters Centerline goodness [0,1] 0.9886353304845895 Centerline is valid? [True, True] Translation: X:156.67, Y:-5.36, Z:1.89 [[ 9.99462458e-01 -1.52924469e-02 -2.89988882e-02 1.56670629e+02] [ 1.53223997e-02 9.99882276e-01 8.10952264e-04 -5.36159869e+00] [ 2.89830729e-02 -1.25484890e-03 9.99579115e-01 1.89033155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.550714057 meters Centerline goodness [0,1] 0.9883884748227595 Centerline is valid? [True, True] Translation: X:156.70, Y:-5.36, Z:1.89 [[ 9.99472879e-01 -1.53274033e-02 -2.86187911e-02 1.56699090e+02] [ 1.53563868e-02 9.99881769e-01 7.93222612e-04 -5.36215846e+00] [ 2.86032495e-02 -1.23228572e-03 9.99590084e-01 1.89112757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.580714057 meters Centerline goodness [0,1] 0.9883749802487528 Centerline is valid? [True, True] Translation: X:156.73, Y:-5.36, Z:1.89 [[ 9.99480915e-01 -1.68698217e-02 -2.74464837e-02 1.56727368e+02] [ 1.68969339e-02 9.99856951e-01 7.56179727e-04 -5.36429293e+00] [ 2.74298009e-02 -1.21954863e-03 9.99622988e-01 1.89201380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.610714057 meters Centerline goodness [0,1] 0.9872527969262064 Centerline is valid? [True, True] Translation: X:156.76, Y:-5.37, Z:1.89 [[ 9.99446242e-01 -1.87937283e-02 -2.74591356e-02 1.56755991e+02] [ 1.88214626e-02 9.99822578e-01 7.51888184e-04 -5.36630601e+00] [ 2.74401330e-02 -1.26829292e-03 9.99622644e-01 1.89253576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.640714057 meters Centerline goodness [0,1] 0.9868525086407481 Centerline is valid? [True, True] Translation: X:156.78, Y:-5.37, Z:1.89 [[ 9.99390897e-01 -2.23961421e-02 -2.67627896e-02 1.56784725e+02] [ 2.24236659e-02 9.99748292e-01 7.28725225e-04 -5.37138277e+00] [ 2.67397326e-02 -1.32840121e-03 9.99641547e-01 1.89314623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.670714057 meters Centerline goodness [0,1] 0.9863565751851768 Centerline is valid? [True, True] Translation: X:156.81, Y:-5.37, Z:1.89 [[ 9.99347920e-01 -2.41944771e-02 -2.68022890e-02 1.56813190e+02] [ 2.42226892e-02 9.99706322e-01 7.28382025e-04 -5.37421405e+00] [ 2.67767950e-02 -1.37713058e-03 9.99640489e-01 1.89372559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.700714057 meters Centerline goodness [0,1] 0.9853870191767271 Centerline is valid? [True, True] Translation: X:156.84, Y:-5.38, Z:1.89 [[ 9.99249540e-01 -2.78766822e-02 -2.68932671e-02 1.56842618e+02] [ 2.79063896e-02 9.99610274e-01 7.29887082e-04 -5.38021776e+00] [ 2.68624393e-02 -1.47983332e-03 9.99638044e-01 1.89408314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.730714057 meters Centerline goodness [0,1] 0.9857410373846536 Centerline is valid? [True, True] Translation: X:156.87, Y:-5.39, Z:1.89 [[ 9.99146672e-01 -3.14162928e-02 -2.68131317e-02 1.56872581e+02] [ 3.14470811e-02 9.99505154e-01 7.27247868e-04 -5.38567796e+00] [ 2.67770158e-02 -1.56982201e-03 9.99640199e-01 1.89347302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76071405699997 meters Centerline goodness [0,1] 0.9857297199963987 Centerline is valid? [True, True] Translation: X:156.90, Y:-5.39, Z:1.89 [[ 9.99089744e-01 -3.29409378e-02 -2.71030853e-02 1.56901931e+02] [ 3.29729359e-02 9.99455975e-01 7.34416706e-04 -5.38823574e+00] [ 2.70641482e-02 -1.62741649e-03 9.99632374e-01 1.89368851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79071405699997 meters Centerline goodness [0,1] 0.9851476222672977 Centerline is valid? [True, True] Translation: X:156.93, Y:-5.39, Z:1.89 [[ 9.99030574e-01 -3.46713047e-02 -2.71258668e-02 1.56930661e+02] [ 3.47039667e-02 9.99397366e-01 7.34103952e-04 -5.39249767e+00] [ 2.70840675e-02 -1.67476747e-03 9.99631756e-01 1.89360984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82071405699998 meters Centerline goodness [0,1] 0.9845081506464306 Centerline is valid? [True, True] Translation: X:156.96, Y:-5.40, Z:1.89 [[ 9.98927224e-01 -3.79444666e-02 -2.65446680e-02 1.56959256e+02] [ 3.79768705e-02 9.99278361e-01 7.17484423e-04 -5.39776825e+00] [ 2.64982878e-02 -1.72479814e-03 9.99647371e-01 1.89351328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85071405699998 meters Centerline goodness [0,1] 0.9846556548424948 Centerline is valid? [True, True] Translation: X:156.99, Y:-5.40, Z:1.90 [[ 9.98882665e-01 -3.93385556e-02 -2.61896993e-02 1.56990836e+02] [ 3.93705741e-02 9.99224428e-01 7.07846792e-04 -5.39542232e+00] [ 2.61415416e-02 -1.73815939e-03 9.99656740e-01 1.89531981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88071405699998 meters Centerline goodness [0,1] 0.9838044824867666 Centerline is valid? [True, True] Translation: X:157.02, Y:-5.40, Z:1.90 [[ 9.98844043e-01 -4.11923467e-02 -2.47743397e-02 1.57021972e+02] [ 4.12215847e-02 9.99149804e-01 6.70418205e-04 -5.39828837e+00] [ 2.47256606e-02 -1.69088077e-03 9.99692844e-01 1.89682609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91071405699998 meters Centerline goodness [0,1] 0.9838044824867666 Centerline is valid? [True, True] Translation: X:157.05, Y:-5.40, Z:1.90 [[ 9.98846872e-01 -4.11237138e-02 -2.47743066e-02 1.57053726e+02] [ 4.11529609e-02 9.99152632e-01 6.71638019e-04 -5.39921268e+00] [ 2.47256935e-02 -1.69039961e-03 9.99692844e-01 1.89726966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94071405699998 meters Centerline goodness [0,1] 0.9856953879957848 Centerline is valid? [True, True] Translation: X:157.09, Y:-5.40, Z:1.90 [[ 9.98854377e-01 -4.17082347e-02 -2.34596820e-02 1.57086266e+02] [ 4.17346565e-02 9.99128526e-01 6.37575798e-04 -5.39783908e+00] [ 2.34126453e-02 -1.61592715e-03 9.99724580e-01 1.89895125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97071405699998 meters Centerline goodness [0,1] 0.9849915872125631 Centerline is valid? [True, True] Translation: X:157.12, Y:-5.40, Z:1.90 [[ 9.98868783e-01 -4.18206003e-02 -2.26316317e-02 1.57117923e+02] [ 4.18452497e-02 9.99123914e-01 6.16475927e-04 -5.39950600e+00] [ 2.25860230e-02 -1.56280484e-03 9.99743682e-01 1.89932251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00071405699998 meters Centerline goodness [0,1] 0.9840299772494089 Centerline is valid? [True, True] Translation: X:157.15, Y:-5.40, Z:1.90 [[ 9.98876041e-01 -4.15784693e-02 -2.27570964e-02 1.57148620e+02] [ 4.16033576e-02 9.99134012e-01 6.21092057e-04 -5.40410019e+00] [ 2.27115650e-02 -1.56716560e-03 9.99740831e-01 1.89940373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03071405699998 meters Centerline goodness [0,1] 0.9865068817155858 Centerline is valid? [True, True] Translation: X:157.18, Y:-5.40, Z:1.90 [[ 9.98846992e-01 -4.17092281e-02 -2.37703045e-02 1.57181278e+02] [ 4.17364544e-02 9.99128443e-01 6.50214866e-04 -5.39737398e+00] [ 2.37224673e-02 -1.64155339e-03 9.99717235e-01 1.89973475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06071405699998 meters Centerline goodness [0,1] 0.985178727114211 Centerline is valid? [True, True] Translation: X:157.21, Y:-5.40, Z:1.90 [[ 9.98852540e-01 -4.12318195e-02 -2.43627000e-02 1.57212663e+02] [ 4.12603355e-02 9.99148206e-01 6.68744939e-04 -5.40419081e+00] [ 2.43143744e-02 -1.67319076e-03 9.99702962e-01 1.89906083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09071405699999 meters Centerline goodness [0,1] 0.9863916505465833 Centerline is valid? [True, True] Translation: X:157.24, Y:-5.40, Z:1.90 [[ 9.98906274e-01 -3.98572619e-02 -2.44469644e-02 1.57244216e+02] [ 3.98856175e-02 9.99204025e-01 6.73172658e-04 -5.40048822e+00] [ 2.44006744e-02 -1.64751866e-03 9.99700902e-01 1.89970696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.120714057 meters Centerline goodness [0,1] 0.9863259761546579 Centerline is valid? [True, True] Translation: X:157.28, Y:-5.40, Z:1.90 [[ 9.98953982e-01 -3.85522620e-02 -2.45899365e-02 1.57275103e+02] [ 3.85805782e-02 9.99255262e-01 6.77984323e-04 -5.40411545e+00] [ 2.45454856e-02 -1.62596911e-03 9.99697392e-01 1.89959113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.150714057 meters Centerline goodness [0,1] 0.9868802372340665 Centerline is valid? [True, True] Translation: X:157.31, Y:-5.40, Z:1.90 [[ 9.99002728e-01 -3.69970257e-02 -2.49954042e-02 1.57306610e+02] [ 3.70258213e-02 9.99314071e-01 6.90053145e-04 -5.40169654e+00] [ 2.49527292e-02 -1.61484034e-03 9.99687328e-01 1.89983469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.180714057 meters Centerline goodness [0,1] 0.9873057169130015 Centerline is valid? [True, True] Translation: X:157.34, Y:-5.40, Z:1.90 [[ 9.99107596e-01 -3.29504155e-02 -2.64250160e-02 1.57336129e+02] [ 3.29812036e-02 9.99455706e-01 7.30001453e-04 -5.40050732e+00] [ 2.63865792e-02 -1.60087883e-03 9.99650532e-01 1.89841415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.210714057 meters Centerline goodness [0,1] 0.9877465360834048 Centerline is valid? [True, True] Translation: X:157.37, Y:-5.40, Z:1.90 [[ 9.99186816e-01 -2.91469658e-02 -2.78596660e-02 1.57365216e+02] [ 2.91797015e-02 9.99573886e-01 7.69109986e-04 -5.39815294e+00] [ 2.78253774e-02 -1.58142130e-03 9.99611548e-01 1.89752362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.240714057 meters Centerline goodness [0,1] 0.9879207965500891 Centerline is valid? [True, True] Translation: X:157.39, Y:-5.40, Z:1.90 [[ 9.99228121e-01 -2.70427382e-02 -2.84930153e-02 1.57393967e+02] [ 2.70760854e-02 9.99633067e-01 7.85126779e-04 -5.39711248e+00] [ 2.84613283e-02 -1.55600007e-03 9.99593683e-01 1.89781183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.270714057 meters Centerline goodness [0,1] 0.9868847260289487 Centerline is valid? [True, True] Translation: X:157.42, Y:-5.40, Z:1.90 [[ 9.99257595e-01 -2.55048387e-02 -2.88749440e-02 1.57422760e+02] [ 2.55383897e-02 9.99673527e-01 7.93691646e-04 -5.39648382e+00] [ 2.88452741e-02 -1.53052198e-03 9.99582717e-01 1.89756649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.300714057 meters Centerline goodness [0,1] 0.9886869143050694 Centerline is valid? [True, True] Translation: X:157.45, Y:-5.40, Z:1.90 [[ 9.99309782e-01 -2.32530081e-02 -2.89699398e-02 1.57451465e+02] [ 2.32857875e-02 9.99728534e-01 7.94600676e-04 -5.39593807e+00] [ 2.89435986e-02 -1.46864009e-03 9.99579967e-01 1.89750058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.330714057 meters Centerline goodness [0,1] 0.9882087192229501 Centerline is valid? [True, True] Translation: X:157.48, Y:-5.40, Z:1.90 [[ 9.99318044e-01 -2.32846234e-02 -2.86578588e-02 1.57480361e+02] [ 2.33165942e-02 9.99727826e-01 7.81893135e-04 -5.39649602e+00] [ 2.86318528e-02 -1.44956358e-03 9.99588973e-01 1.89807578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.360714057 meters Centerline goodness [0,1] 0.9882022599125926 Centerline is valid? [True, True] Translation: X:157.51, Y:-5.40, Z:1.90 [[ 9.99319070e-01 -2.41916137e-02 -2.78597048e-02 1.57508406e+02] [ 2.42220580e-02 9.99706317e-01 7.55768229e-04 -5.39787440e+00] [ 2.78332396e-02 -1.43007299e-03 9.99611557e-01 1.90008673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.390714057 meters Centerline goodness [0,1] 0.9869951005847689 Centerline is valid? [True, True] Translation: X:157.54, Y:-5.40, Z:1.90 [[ 9.99330939e-01 -2.48399908e-02 -2.68449049e-02 1.57535748e+02] [ 2.48684314e-02 9.99690469e-01 7.26053469e-04 -5.39956882e+00] [ 2.68185604e-02 -1.39315837e-03 9.99639347e-01 1.90089753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.420714057 meters Centerline goodness [0,1] 0.9862998290290651 Centerline is valid? [True, True] Translation: X:157.56, Y:-5.40, Z:1.90 [[ 9.99314964e-01 -2.68541608e-02 -2.54648234e-02 1.57563613e+02] [ 2.68803563e-02 9.99638422e-01 6.86883212e-04 -5.40422456e+00] [ 2.54371702e-02 -1.37091620e-03 9.99675483e-01 1.90236801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.450714057 meters Centerline goodness [0,1] 0.9865765745406884 Centerline is valid? [True, True] Translation: X:157.59, Y:-5.41, Z:1.90 [[ 9.99293739e-01 -2.84578171e-02 -2.45392563e-02 1.57592554e+02] [ 2.84825433e-02 9.99594073e-01 6.58615371e-04 -5.40574337e+00] [ 2.45105524e-02 -1.35709065e-03 9.99698650e-01 1.90352307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.480714057 meters Centerline goodness [0,1] 0.987112182592434 Centerline is valid? [True, True] Translation: X:157.62, Y:-5.41, Z:1.90 [[ 9.99273096e-01 -2.96645043e-02 -2.39436030e-02 1.57621416e+02] [ 2.96883205e-02 9.99559000e-01 6.39738512e-04 -5.40885962e+00] [ 2.39140663e-02 -1.35011884e-03 9.99713106e-01 1.90401344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51071405699997 meters Centerline goodness [0,1] 0.9858462925400046 Centerline is valid? [True, True] Translation: X:157.65, Y:-5.41, Z:1.90 [[ 9.99196909e-01 -3.22865794e-02 -2.37300213e-02 1.57651789e+02] [ 3.23107168e-02 9.99477671e-01 6.34349830e-04 -5.41284837e+00] [ 2.36971454e-02 -1.40057439e-03 9.99718202e-01 1.90488295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54071405699997 meters Centerline goodness [0,1] 0.9857907280003597 Centerline is valid? [True, True] Translation: X:157.68, Y:-5.42, Z:1.91 [[ 9.99135275e-01 -3.42992909e-02 -2.35002388e-02 1.57680526e+02] [ 3.43235179e-02 9.99410577e-01 6.28220244e-04 -5.41684903e+00] [ 2.34648398e-02 -1.43428787e-03 9.99723634e-01 1.90577835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57071405699998 meters Centerline goodness [0,1] 0.9863063063063063 Centerline is valid? [True, True] Translation: X:157.71, Y:-5.42, Z:1.91 [[ 9.99103600e-01 -3.52876059e-02 -2.33833456e-02 1.57710671e+02] [ 3.53118624e-02 9.99376146e-01 6.25114250e-04 -5.41922513e+00] [ 2.33466991e-02 -1.45026338e-03 9.99726377e-01 1.90630157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60071405699998 meters Centerline goodness [0,1] 0.9856321190932672 Centerline is valid? [True, True] Translation: X:157.74, Y:-5.42, Z:1.91 [[ 9.99061761e-01 -3.63065679e-02 -2.36099611e-02 1.57741530e+02] [ 3.63315890e-02 9.99339590e-01 6.31538183e-04 -5.42182466e+00] [ 2.35714399e-02 -1.48873305e-03 9.99721047e-01 1.90723699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63071405699998 meters Centerline goodness [0,1] 0.9848034580575442 Centerline is valid? [True, True] Translation: X:157.77, Y:-5.42, Z:1.91 [[ 9.99042852e-01 -3.68530627e-02 -2.35633432e-02 1.57772014e+02] [ 3.68781488e-02 9.99319571e-01 6.30819357e-04 -5.42351849e+00] [ 2.35240624e-02 -1.49918805e-03 9.99722147e-01 1.90773377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66071405699998 meters Centerline goodness [0,1] 0.9847448829914472 Centerline is valid? [True, True] Translation: X:157.80, Y:-5.43, Z:1.91 [[ 9.99033757e-01 -3.67498085e-02 -2.41040158e-02 1.57802972e+02] [ 3.67760372e-02 9.99323324e-01 6.45609910e-04 -5.42513619e+00] [ 2.40639792e-02 -1.53143628e-03 9.99709248e-01 1.90768768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69071405699998 meters Centerline goodness [0,1] 0.984759195285511 Centerline is valid? [True, True] Translation: X:157.83, Y:-5.43, Z:1.91 [[ 9.98983624e-01 -3.72191719e-02 -2.54254248e-02 1.57833459e+02] [ 3.72485324e-02 9.99305800e-01 6.81973341e-04 -5.42682330e+00] [ 2.53823920e-02 -1.62833996e-03 9.99676489e-01 1.90669648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72071405699998 meters Centerline goodness [0,1] 0.9851958512385538 Centerline is valid? [True, True] Translation: X:157.86, Y:-5.43, Z:1.91 [[ 9.98945901e-01 -3.75486302e-02 -2.64043168e-02 1.57863824e+02] [ 3.75804276e-02 9.99293355e-01 7.08876457e-04 -5.42769072e+00] [ 2.63590410e-02 -1.70041475e-03 9.99651094e-01 1.90617112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75071405699998 meters Centerline goodness [0,1] 0.9877186621952325 Centerline is valid? [True, True] Translation: X:157.90, Y:-5.41, Z:1.91 [[ 9.98920647e-01 -3.79979634e-02 -2.67150715e-02 1.57895529e+02] [ 3.80306858e-02 9.99276314e-01 7.17664228e-04 -5.41218842e+00] [ 2.66684684e-02 -1.73288211e-03 9.99642831e-01 1.90934817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78071405699998 meters Centerline goodness [0,1] 0.9866986381939103 Centerline is valid? [True, True] Translation: X:157.93, Y:-5.42, Z:1.91 [[ 9.98893932e-01 -3.85210026e-02 -2.69637706e-02 1.57925809e+02] [ 3.85545577e-02 9.99256233e-01 7.25482795e-04 -5.42056315e+00] [ 2.69157696e-02 -1.76425661e-03 9.99636148e-01 1.90772638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81071405699998 meters Centerline goodness [0,1] 0.9881754839881074 Centerline is valid? [True, True] Translation: X:157.96, Y:-5.42, Z:1.91 [[ 9.98824227e-01 -4.02738757e-02 -2.69848009e-02 1.57956422e+02] [ 4.03081386e-02 9.99187032e-01 7.26742784e-04 -5.41711970e+00] [ 2.69335944e-02 -1.81359540e-03 9.99635580e-01 1.90831632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84071405699999 meters Centerline goodness [0,1] 0.9874847236681302 Centerline is valid? [True, True] Translation: X:157.99, Y:-5.42, Z:1.91 [[ 9.98759270e-01 -4.14550811e-02 -2.75934354e-02 1.57987292e+02] [ 4.14913627e-02 9.99138586e-01 7.43367762e-04 -5.41860167e+00] [ 2.75388496e-02 -1.88733468e-03 9.99618952e-01 1.90864718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.870714057 meters Centerline goodness [0,1] 0.9876858421076415 Centerline is valid? [True, True] Translation: X:158.02, Y:-5.42, Z:1.91 [[ 9.98632532e-01 -4.39258826e-02 -2.83475494e-02 1.58017160e+02] [ 4.39651899e-02 9.99032771e-01 7.64536855e-04 -5.42276531e+00] [ 2.82865478e-02 -2.00979677e-03 9.99597835e-01 1.90750300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.900714057 meters Centerline goodness [0,1] 0.9868349496963654 Centerline is valid? [True, True] Translation: X:158.05, Y:-5.42, Z:1.91 [[ 9.98549354e-01 -4.53408630e-02 -2.90412528e-02 1.58048733e+02] [ 4.53827460e-02 9.98969364e-01 7.84353032e-04 -5.42375740e+00] [ 2.89757587e-02 -2.10118701e-03 9.99577906e-01 1.90742391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.930714057 meters Centerline goodness [0,1] 0.9873572317086962 Centerline is valid? [True, True] Translation: X:158.08, Y:-5.42, Z:1.91 [[ 9.98489989e-01 -4.66180717e-02 -2.90602206e-02 1.58080145e+02] [ 4.66605761e-02 9.98910493e-01 7.85856306e-04 -5.41901121e+00] [ 2.89919242e-02 -2.14063629e-03 9.99577354e-01 1.90934096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.960714057 meters Centerline goodness [0,1] 0.9872240530901539 Centerline is valid? [True, True] Translation: X:158.11, Y:-5.42, Z:1.91 [[ 9.98429766e-01 -4.87327324e-02 -2.76246771e-02 1.58111540e+02] [ 4.87719696e-02 9.98809659e-01 7.47968167e-04 -5.42131661e+00] [ 2.75553438e-02 -2.09410359e-03 9.99618086e-01 1.91047212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.990714057 meters Centerline goodness [0,1] 0.988343085227015 Centerline is valid? [True, True] Translation: X:158.14, Y:-5.42, Z:1.91 [[ 9.98386736e-01 -5.01143326e-02 -2.66923028e-02 1.58142743e+02] [ 5.01514853e-02 9.98741360e-01 7.23843469e-04 -5.42408882e+00] [ 2.66224318e-02 -2.06133435e-03 9.99643435e-01 1.91153415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.020714057 meters Centerline goodness [0,1] 0.9873779147499376 Centerline is valid? [True, True] Translation: X:158.17, Y:-5.42, Z:1.91 [[ 9.98333978e-01 -5.09164680e-02 -2.71437107e-02 1.58174929e+02] [ 5.09552280e-02 9.98700666e-01 7.37742323e-04 -5.42159756e+00] [ 2.70708787e-02 -2.11962720e-03 9.99631269e-01 1.91278514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.050714057 meters Centerline goodness [0,1] 0.9884397002044061 Centerline is valid? [True, True] Translation: X:158.21, Y:-5.42, Z:1.91 [[ 9.98327549e-01 -5.11874808e-02 -2.68690816e-02 1.58206774e+02] [ 5.12256231e-02 9.98686837e-01 7.32716719e-04 -5.41871342e+00] [ 2.67962922e-02 -2.10787673e-03 9.99638693e-01 1.91386241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.080714057 meters Centerline goodness [0,1] 0.9855897284130489 Centerline is valid? [True, True] Translation: X:158.24, Y:-5.43, Z:1.91 [[ 9.98291401e-01 -5.13881912e-02 -2.78124345e-02 1.58237526e+02] [ 5.14292035e-02 9.98676353e-01 7.60820581e-04 -5.42539820e+00] [ 2.77365234e-02 -2.18989200e-03 9.99612870e-01 1.91212744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.110714057 meters Centerline goodness [0,1] 0.9867706225990498 Centerline is valid? [True, True] Translation: X:158.27, Y:-5.42, Z:1.91 [[ 9.98304709e-01 -5.11191815e-02 -2.78305246e-02 1.58270104e+02] [ 5.11601912e-02 9.98690168e-01 7.63040140e-04 -5.41617239e+00] [ 2.77550654e-02 -2.18556153e-03 9.99612365e-01 1.91391686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.140714057 meters Centerline goodness [0,1] 0.9877126869932625 Centerline is valid? [True, True] Translation: X:158.30, Y:-5.41, Z:1.91 [[ 9.98318769e-01 -5.09285200e-02 -2.76752710e-02 1.58302392e+02] [ 5.09690547e-02 9.98699943e-01 7.60750792e-04 -5.41474772e+00] [ 2.76005477e-02 -2.17005420e-03 9.99616677e-01 1.91444853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.170714057 meters Centerline goodness [0,1] 0.9868204659661947 Centerline is valid? [True, True] Translation: X:158.33, Y:-5.42, Z:1.91 [[ 9.98347552e-01 -5.02135419e-02 -2.79421843e-02 1.58333417e+02] [ 5.02546335e-02 9.98736141e-01 7.69850373e-04 -5.41686918e+00] [ 2.78682124e-02 -2.17280247e-03 9.99609244e-01 1.91447518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.200714057 meters Centerline goodness [0,1] 0.9851322340474125 Centerline is valid? [True, True] Translation: X:158.36, Y:-5.42, Z:1.91 [[ 9.98417625e-01 -4.88445797e-02 -2.78649108e-02 1.58363442e+02] [ 4.88849677e-02 9.98804119e-01 7.69642320e-04 -5.42056141e+00] [ 2.77939948e-02 -2.13059972e-03 9.99611402e-01 1.91424742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.230714057 meters Centerline goodness [0,1] 0.9869685915525271 Centerline is valid? [True, True] Translation: X:158.40, Y:-5.41, Z:1.92 [[ 9.98462598e-01 -4.81737457e-02 -2.74177024e-02 1.58396077e+02] [ 4.82126541e-02 9.98836805e-01 7.59423062e-04 -5.40984093e+00] [ 2.73492260e-02 -2.08013572e-03 9.99623776e-01 1.91609447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26071405699997 meters Centerline goodness [0,1] 0.9869748669968813 Centerline is valid? [True, True] Translation: X:158.43, Y:-5.41, Z:1.92 [[ 9.98565798e-01 -4.65341756e-02 -2.64748603e-02 1.58427121e+02] [ 4.65699178e-02 9.98914763e-01 7.34737628e-04 -5.41018801e+00] [ 2.64119384e-02 -1.96661593e-03 9.99649209e-01 1.91614255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29071405699997 meters Centerline goodness [0,1] 0.9863226395707273 Centerline is valid? [True, True] Translation: X:158.46, Y:-5.41, Z:1.92 [[ 9.98645180e-01 -4.51852348e-02 -2.58088780e-02 1.58458257e+02] [ 4.52187764e-02 9.98976851e-01 7.17176634e-04 -5.40880267e+00] [ 2.57500659e-02 -1.88325087e-03 9.99666638e-01 1.91665105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32071405699998 meters Centerline goodness [0,1] 0.9874255764235305 Centerline is valid? [True, True] Translation: X:158.49, Y:-5.40, Z:1.92 [[ 9.98757989e-01 -4.22329648e-02 -2.64358927e-02 1.58489232e+02] [ 4.22671475e-02 9.99106074e-01 7.35345977e-04 -5.40001155e+00] [ 2.63812052e-02 -1.85180245e-03 9.99650240e-01 1.91756442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35071405699998 meters Centerline goodness [0,1] 0.9880721668512367 Centerline is valid? [True, True] Translation: X:158.52, Y:-5.40, Z:1.92 [[ 9.98945311e-01 -3.74492231e-02 -2.65673004e-02 1.58518414e+02] [ 3.74820711e-02 9.99297027e-01 7.39323983e-04 -5.40441125e+00] [ 2.65209372e-02 -1.73434167e-03 9.99646754e-01 1.91651898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38071405699998 meters Centerline goodness [0,1] 0.9894586303139344 Centerline is valid? [True, True] Translation: X:158.55, Y:-5.39, Z:1.92 [[ 9.99136950e-01 -3.21696094e-02 -2.62768387e-02 1.58549487e+02] [ 3.21999257e-02 9.99481180e-01 7.31304865e-04 -5.39477074e+00] [ 2.62396800e-02 -1.57678597e-03 9.99654437e-01 1.91865021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41071405699998 meters Centerline goodness [0,1] 0.9886191546968932 Centerline is valid? [True, True] Translation: X:158.58, Y:-5.39, Z:1.92 [[ 9.99358535e-01 -2.48983427e-02 -2.57408597e-02 1.58579630e+02] [ 2.49250290e-02 9.99689067e-01 7.16350490e-04 -5.39025160e+00] [ 2.57150201e-02 -1.35748265e-03 9.99668393e-01 1.92009148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44071405699998 meters Centerline goodness [0,1] 0.9901854374985567 Centerline is valid? [True, True] Translation: X:158.61, Y:-5.39, Z:1.92 [[ 9.99458658e-01 -2.02422788e-02 -2.59353349e-02 1.58609726e+02] [ 2.02678037e-02 9.99794327e-01 7.21654301e-04 -5.38831427e+00] [ 2.59153927e-02 -1.24691592e-03 9.99663362e-01 1.91886147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47071405699998 meters Centerline goodness [0,1] 0.9897566039912331 Centerline is valid? [True, True] Translation: X:158.64, Y:-5.39, Z:1.92 [[ 9.99486218e-01 -1.85156324e-02 -2.61623946e-02 1.58638433e+02] [ 1.85409914e-02 9.99827837e-01 7.27026932e-04 -5.38812299e+00] [ 2.61444290e-02 -1.21173013e-03 9.99657442e-01 1.91809021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50071405699998 meters Centerline goodness [0,1] 0.9895609101219822 Centerline is valid? [True, True] Translation: X:158.67, Y:-5.39, Z:1.92 [[ 9.99492614e-01 -1.73455717e-02 -2.67141430e-02 1.58667109e+02] [ 1.73714841e-02 9.99848832e-01 7.38200163e-04 -5.38802218e+00] [ 2.66973002e-02 -1.20188992e-03 9.99642841e-01 1.91732504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53071405699998 meters Centerline goodness [0,1] 0.9906321012846079 Centerline is valid? [True, True] Translation: X:158.70, Y:-5.39, Z:1.92 [[ 9.99538072e-01 -1.44813688e-02 -2.67195129e-02 1.58697066e+02] [ 1.45061610e-02 9.99894511e-01 7.34258743e-04 -5.38553151e+00] [ 2.67060612e-02 -1.12151712e-03 9.99642700e-01 1.91742941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56071405699998 meters Centerline goodness [0,1] 0.9899670180132389 Centerline is valid? [True, True] Translation: X:158.72, Y:-5.39, Z:1.92 [[ 9.99570176e-01 -1.33518462e-02 -2.60996522e-02 1.58724490e+02] [ 1.33750709e-02 9.99910294e-01 7.15470176e-04 -5.38660883e+00] [ 2.60877580e-02 -1.06424735e-03 9.99659090e-01 1.91862937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59071405699999 meters Centerline goodness [0,1] 0.9896192171641274 Centerline is valid? [True, True] Translation: X:158.75, Y:-5.39, Z:1.92 [[ 9.99590601e-01 -1.39418966e-02 -2.49850653e-02 1.58752072e+02] [ 1.39632566e-02 9.99902277e-01 6.80641706e-04 -5.38675587e+00] [ 2.49731342e-02 -1.02923593e-03 9.99687593e-01 1.92019216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.620714057 meters Centerline goodness [0,1] 0.9895730005305774 Centerline is valid? [True, True] Translation: X:158.78, Y:-5.39, Z:1.92 [[ 9.99595205e-01 -1.52109107e-02 -2.40427725e-02 1.58780904e+02] [ 1.52309063e-02 9.99883793e-01 6.48752150e-04 -5.38891620e+00] [ 2.40301104e-02 -1.01468275e-03 9.99710720e-01 1.92102562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.650714057 meters Centerline goodness [0,1] 0.9893690459754245 Centerline is valid? [True, True] Translation: X:158.81, Y:-5.39, Z:1.92 [[ 9.99600545e-01 -1.81844154e-02 -2.16350939e-02 1.58809983e+02] [ 1.82012220e-02 9.99834176e-01 5.80144210e-04 -5.39309287e+00] [ 2.16209567e-02 -9.73697616e-04 9.99765766e-01 1.92228696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.680714057 meters Centerline goodness [0,1] 0.9894964757912195 Centerline is valid? [True, True] Translation: X:158.84, Y:-5.39, Z:1.92 [[ 9.99572669e-01 -2.08270766e-02 -2.05112914e-02 1.58839888e+02] [ 2.08427118e-02 9.99782616e-01 5.48768417e-04 -5.39485683e+00] [ 2.04954033e-02 -9.76044847e-04 9.99789471e-01 1.92333564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.710714057 meters Centerline goodness [0,1] 0.987677311078925 Centerline is valid? [True, True] Translation: X:158.87, Y:-5.40, Z:1.92 [[ 9.99477125e-01 -2.59527862e-02 -1.92854633e-02 1.58868767e+02] [ 2.59675480e-02 9.99662654e-01 5.15362904e-04 -5.40300380e+00] [ 1.92655823e-02 -1.01588963e-03 9.99813885e-01 1.92392988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.740714057 meters Centerline goodness [0,1] 0.987243787930837 Centerline is valid? [True, True] Translation: X:158.90, Y:-5.41, Z:1.92 [[ 9.99411567e-01 -2.87119784e-02 -1.87654552e-02 1.58899451e+02] [ 2.87264358e-02 9.99587185e-01 5.01268516e-04 -5.40727034e+00] [ 1.87433161e-02 -1.04003820e-03 9.99823788e-01 1.92416921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.770714057 meters Centerline goodness [0,1] 0.9869279549460864 Centerline is valid? [True, True] Translation: X:158.93, Y:-5.41, Z:1.92 [[ 9.99259788e-01 -3.36701375e-02 -1.86063781e-02 1.58929749e+02] [ 3.36852165e-02 9.99432368e-01 4.97516832e-04 -5.41368909e+00] [ 1.85790650e-02 -1.12390844e-03 9.99826763e-01 1.92338589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.800714057 meters Centerline goodness [0,1] 0.9866815918124915 Centerline is valid? [True, True] Translation: X:158.96, Y:-5.42, Z:1.92 [[ 9.99188347e-01 -3.56265277e-02 -1.87988928e-02 1.58961181e+02] [ 3.56422693e-02 9.99364486e-01 5.02881695e-04 -5.41793736e+00] [ 1.87690299e-02 -1.17250873e-03 9.99823159e-01 1.92310002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.830714057 meters Centerline goodness [0,1] 0.9866815918124915 Centerline is valid? [True, True] Translation: X:158.99, Y:-5.42, Z:1.92 [[ 9.99190847e-01 -3.55563504e-02 -1.87988706e-02 1.58992925e+02] [ 3.55720951e-02 9.99366986e-01 5.03709410e-04 -5.41884919e+00] [ 1.87690606e-02 -1.17201705e-03 9.99823159e-01 1.92354341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.860714057 meters Centerline goodness [0,1] 0.9841800965127925 Centerline is valid? [True, True] Translation: X:159.02, Y:-5.43, Z:1.92 [[ 9.99103323e-01 -3.79996270e-02 -1.86702575e-02 1.59022639e+02] [ 3.80156000e-02 9.99277020e-01 5.01237743e-04 -5.43311670e+00] [ 1.86377124e-02 -1.21054933e-03 9.99825570e-01 1.92305502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.890714057 meters Centerline goodness [0,1] 0.9861484485351073 Centerline is valid? [True, True] Translation: X:159.05, Y:-5.43, Z:1.92 [[ 9.99073166e-01 -3.88742077e-02 -1.84825468e-02 1.59054446e+02] [ 3.88900144e-02 9.99243374e-01 4.96434195e-04 -5.42832525e+00] [ 1.84492639e-02 -1.21476059e-03 9.99829060e-01 1.92447871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.920714057 meters Centerline goodness [0,1] 0.9847288286032909 Centerline is valid? [True, True] Translation: X:159.09, Y:-5.43, Z:1.93 [[ 9.99050453e-01 -3.95386438e-02 -1.82999226e-02 1.59085447e+02] [ 3.95542679e-02 9.99217302e-01 4.92473905e-04 -5.43451173e+00] [ 1.82661275e-02 -1.21584632e-03 9.99832421e-01 1.92511750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.950714057 meters Centerline goodness [0,1] 0.9855856675154602 Centerline is valid? [True, True] Translation: X:159.12, Y:-5.43, Z:1.93 [[ 9.99042951e-01 -3.96842241e-02 -1.83941209e-02 1.59117516e+02] [ 3.97000530e-02 9.99211519e-01 4.96045492e-04 -5.43210959e+00] [ 1.83599323e-02 -1.22581833e-03 9.99830691e-01 1.92570716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.980714057 meters Centerline goodness [0,1] 0.9845315161839864 Centerline is valid? [True, True] Translation: X:159.15, Y:-5.44, Z:1.93 [[ 9.99114139e-01 -3.82833267e-02 -1.74735544e-02 1.59147528e+02] [ 3.82974200e-02 9.99266273e-01 4.72517798e-04 -5.43913705e+00] [ 1.74426441e-02 -1.14129126e-03 9.99847214e-01 1.92574433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01071405699997 meters Centerline goodness [0,1] 0.984254826780407 Centerline is valid? [True, True] Translation: X:159.18, Y:-5.44, Z:1.93 [[ 9.99150612e-01 -3.73656872e-02 -1.73741157e-02 1.59178240e+02] [ 3.73795101e-02 9.99301031e-01 4.71428788e-04 -5.44294376e+00] [ 1.73443564e-02 -1.12046430e-03 9.99848948e-01 1.92591931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04071405699997 meters Centerline goodness [0,1] 0.9839150570428103 Centerline is valid? [True, True] Translation: X:159.21, Y:-5.44, Z:1.93 [[ 9.99190701e-01 -3.61611870e-02 -1.76156358e-02 1.59210052e+02] [ 3.61752273e-02 9.99345347e-01 4.78937420e-04 -5.44446015e+00] [ 1.75867847e-02 -1.11579945e-03 9.99844718e-01 1.92591733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07071405699998 meters Centerline goodness [0,1] 0.9850553922676916 Centerline is valid? [True, True] Translation: X:159.24, Y:-5.45, Z:1.93 [[ 9.99269641e-01 -3.39725271e-02 -1.74943513e-02 1.59240091e+02] [ 3.39860576e-02 9.99422193e-01 4.76607458e-04 -5.44764884e+00] [ 1.74680514e-02 -1.07082339e-03 9.99846849e-01 1.92530624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10071405699998 meters Centerline goodness [0,1] 0.9855170853134193 Centerline is valid? [True, True] Translation: X:159.27, Y:-5.45, Z:1.93 [[ 9.99319336e-01 -3.24373474e-02 -1.75693925e-02 1.59271255e+02] [ 3.24507639e-02 9.99473220e-01 4.79004550e-04 -5.44839534e+00] [ 1.75445996e-02 -1.04881872e-03 9.99845532e-01 1.92583065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13071405699998 meters Centerline goodness [0,1] 0.986127428829643 Centerline is valid? [True, True] Translation: X:159.30, Y:-5.45, Z:1.93 [[ 9.99379537e-01 -3.01114774e-02 -1.82713076e-02 1.59301483e+02] [ 3.01256102e-02 9.99545996e-01 4.98689817e-04 -5.45000090e+00] [ 1.82479961e-02 -1.04881469e-03 9.99832941e-01 1.92588113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16071405699998 meters Centerline goodness [0,1] 0.9884191716993509 Centerline is valid? [True, True] Translation: X:159.33, Y:-5.44, Z:1.93 [[ 9.99408580e-01 -2.83628196e-02 -1.94432632e-02 1.59333218e+02] [ 2.83785027e-02 9.99597108e-01 5.31116104e-04 -5.44195839e+00] [ 1.94203657e-02 -1.08257269e-03 9.99810821e-01 1.92630360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19071405699998 meters Centerline goodness [0,1] 0.9884244662643005 Centerline is valid? [True, True] Translation: X:159.36, Y:-5.44, Z:1.93 [[ 9.99413700e-01 -2.76924291e-02 -2.01342007e-02 1.59364768e+02] [ 2.77091261e-02 9.99615877e-01 5.50723655e-04 -5.44382007e+00] [ 2.01112158e-02 -1.10830187e-03 9.99797135e-01 1.92645937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22071405699998 meters Centerline goodness [0,1] 0.9884896947854488 Centerline is valid? [True, True] Translation: X:159.40, Y:-5.45, Z:1.93 [[ 9.99388571e-01 -2.77984479e-02 -2.12068325e-02 1.59396469e+02] [ 2.78170121e-02 9.99612863e-01 5.80841779e-04 -5.44537798e+00] [ 2.11824761e-02 -1.17039735e-03 9.99774941e-01 1.92601869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25071405699998 meters Centerline goodness [0,1] 0.9886847107812076 Centerline is valid? [True, True] Translation: X:159.43, Y:-5.45, Z:1.92 [[ 9.99296710e-01 -2.88191305e-02 -2.39904620e-02 1.59426226e+02] [ 2.88431964e-02 9.99583732e-01 6.57645355e-04 -5.45066671e+00] [ 2.39615228e-02 -1.34914445e-03 9.99711971e-01 1.92425609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28071405699998 meters Centerline goodness [0,1] 0.989612266558273 Centerline is valid? [True, True] Translation: X:159.46, Y:-5.45, Z:1.92 [[ 9.99254649e-01 -2.94653867e-02 -2.49386775e-02 1.59455956e+02] [ 2.94915840e-02 9.99564795e-01 6.83243903e-04 -5.45186977e+00] [ 2.49076921e-02 -1.41821575e-03 9.99688749e-01 1.92445397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31071405699998 meters Centerline goodness [0,1] 0.9887842484996966 Centerline is valid? [True, True] Translation: X:159.48, Y:-5.46, Z:1.92 [[ 9.99189808e-01 -3.06808267e-02 -2.60463718e-02 1.59484423e+02] [ 3.07097849e-02 9.99528089e-01 7.12419253e-04 -5.45837751e+00] [ 2.60122227e-02 -1.51172053e-03 9.99660482e-01 1.92373631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34071405699999 meters Centerline goodness [0,1] 0.9888566218680354 Centerline is valid? [True, True] Translation: X:159.51, Y:-5.46, Z:1.92 [[ 9.99179118e-01 -3.13600191e-02 -2.56444738e-02 1.59512701e+02] [ 3.13882785e-02 9.99507021e-01 7.00080478e-04 -5.46314815e+00] [ 2.56098771e-02 -1.50444168e-03 9.99670881e-01 1.92406633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.370714057 meters Centerline goodness [0,1] 0.9882254941690306 Centerline is valid? [True, True] Translation: X:159.54, Y:-5.47, Z:1.93 [[ 9.99197525e-01 -3.14117131e-02 -2.48517703e-02 1.59542093e+02] [ 3.14382409e-02 9.99505467e-01 6.77358912e-04 -5.46541400e+00] [ 2.48182033e-02 -1.45811129e-03 9.99690918e-01 1.92613352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.400714057 meters Centerline goodness [0,1] 0.9889051094890511 Centerline is valid? [True, True] Translation: X:159.57, Y:-5.47, Z:1.93 [[ 9.99237030e-01 -3.09435105e-02 -2.38297609e-02 1.59571754e+02] [ 3.09677489e-02 9.99520174e-01 6.48702400e-04 -5.46716863e+00] [ 2.37982536e-02 -1.38616151e-03 9.99715820e-01 1.92723507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.430714057 meters Centerline goodness [0,1] 0.9887481471499798 Centerline is valid? [True, True] Translation: X:159.60, Y:-5.47, Z:1.93 [[ 9.99284246e-01 -3.01865268e-02 -2.27984713e-02 1.59601818e+02] [ 3.02085018e-02 9.99543427e-01 6.20017519e-04 -5.46795569e+00] [ 2.27693460e-02 -1.30828140e-03 9.99739889e-01 1.92903157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.460714057 meters Centerline goodness [0,1] 0.988321527840043 Centerline is valid? [True, True] Translation: X:159.63, Y:-5.47, Z:1.93 [[ 9.99356732e-01 -2.85717221e-02 -2.16743817e-02 1.59632916e+02] [ 2.85912023e-02 9.99591014e-01 5.89351617e-04 -5.46937632e+00] [ 2.16486784e-02 -1.20866914e-03 9.99764909e-01 1.93098589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.490714057 meters Centerline goodness [0,1] 0.987889505730659 Centerline is valid? [True, True] Translation: X:159.66, Y:-5.47, Z:1.93 [[ 9.99426385e-01 -2.71812699e-02 -2.02009647e-02 1.59663331e+02] [ 2.71979123e-02 9.99629917e-01 5.49511952e-04 -5.46821090e+00] [ 2.01785523e-02 -1.09862081e-03 9.99795789e-01 1.93323253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.520714057 meters Centerline goodness [0,1] 0.9887408603597542 Centerline is valid? [True, True] Translation: X:159.69, Y:-5.47, Z:1.93 [[ 9.99444425e-01 -2.67054376e-02 -1.99414624e-02 1.59693785e+02] [ 2.67215628e-02 9.99642768e-01 5.42558508e-04 -5.47323806e+00] [ 1.99198494e-02 -1.07512412e-03 9.99801002e-01 1.93374000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.550714057 meters Centerline goodness [0,1] 0.9873951464585295 Centerline is valid? [True, True] Translation: X:159.72, Y:-5.48, Z:1.93 [[ 9.99441446e-01 -2.66441687e-02 -2.01713659e-02 1.59723835e+02] [ 2.66606606e-02 9.99644391e-01 5.49062997e-04 -5.47511762e+00] [ 2.01495634e-02 -1.08653826e-03 9.99796387e-01 1.93414605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.580714057 meters Centerline goodness [0,1] 0.9882741424624301 Centerline is valid? [True, True] Translation: X:159.75, Y:-5.48, Z:1.93 [[ 9.99399951e-01 -2.73422371e-02 -2.12635781e-02 1.59754687e+02] [ 2.73607213e-02 9.99625458e-01 5.78792928e-04 -5.47581093e+00] [ 2.12397885e-02 -1.16023246e-03 9.99773737e-01 1.93399907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.610714057 meters Centerline goodness [0,1] 0.9891601956999866 Centerline is valid? [True, True] Translation: X:159.79, Y:-5.48, Z:1.93 [[ 9.99372160e-01 -2.82274392e-02 -2.14125755e-02 1.59785151e+02] [ 2.82463859e-02 9.99600821e-01 5.82848626e-04 -5.47943342e+00] [ 2.13875758e-02 -1.18731056e-03 9.99770555e-01 1.93320682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.640714057 meters Centerline goodness [0,1] 0.9885067792044536 Centerline is valid? [True, True] Translation: X:159.81, Y:-5.49, Z:1.93 [[ 9.99257381e-01 -3.07853678e-02 -2.31721477e-02 1.59814464e+02] [ 3.08082391e-02 9.99525115e-01 6.30585271e-04 -5.48632045e+00] [ 2.31417308e-02 -1.34401005e-03 9.99731291e-01 1.93151004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.670714057 meters Centerline goodness [0,1] 0.9886060334193114 Centerline is valid? [True, True] Translation: X:159.84, Y:-5.49, Z:1.93 [[ 9.99190394e-01 -3.22967891e-02 -2.39890492e-02 1.59843329e+02] [ 3.23217319e-02 9.99477303e-01 6.52644460e-04 -5.49015943e+00] [ 2.39554319e-02 -1.42748369e-03 9.99712008e-01 1.93053924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.700714057 meters Centerline goodness [0,1] 0.989111195752022 Centerline is valid? [True, True] Translation: X:159.87, Y:-5.50, Z:1.93 [[ 9.99054888e-01 -3.48632102e-02 -2.59593253e-02 1.59872732e+02] [ 3.48932808e-02 9.99390795e-01 7.06160987e-04 -5.49534965e+00] [ 2.59188917e-02 -1.61129961e-03 9.99662751e-01 1.92905316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.730714057 meters Centerline goodness [0,1] 0.98932527693857 Centerline is valid? [True, True] Translation: X:159.90, Y:-5.50, Z:1.93 [[ 9.98993241e-01 -3.59402240e-02 -2.68478192e-02 1.59902648e+02] [ 3.59727582e-02 9.99352505e-01 7.29649957e-04 -5.49801228e+00] [ 2.68042116e-02 -1.69470548e-03 9.99639266e-01 1.92931430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76071405699997 meters Centerline goodness [0,1] 0.9887952671208319 Centerline is valid? [True, True] Translation: X:159.93, Y:-5.50, Z:1.93 [[ 9.98930996e-01 -3.70542922e-02 -2.76377563e-02 1.59932603e+02] [ 3.70891748e-02 9.99311678e-01 7.50403659e-04 -5.50048656e+00] [ 2.75909270e-02 -1.77466305e-03 9.99617723e-01 1.92936186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79071405699997 meters Centerline goodness [0,1] 0.9885904391899435 Centerline is valid? [True, True] Translation: X:159.96, Y:-5.50, Z:1.93 [[ 9.98859642e-01 -3.86913603e-02 -2.79713265e-02 1.59962670e+02] [ 3.87277167e-02 9.99249512e-01 7.59004114e-04 -5.49965469e+00] [ 2.79209674e-02 -1.84140418e-03 9.99608438e-01 1.93109576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82071405699998 meters Centerline goodness [0,1] 0.9880343401094257 Centerline is valid? [True, True] Translation: X:159.99, Y:-5.50, Z:1.93 [[ 9.98799037e-01 -4.05955289e-02 -2.74314812e-02 1.59992130e+02] [ 4.06311974e-02 9.99173935e-01 7.43909032e-04 -5.50464448e+00] [ 2.73786217e-02 -1.85758955e-03 9.99623409e-01 1.93185145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85071405699998 meters Centerline goodness [0,1] 0.9880290340591849 Centerline is valid? [True, True] Translation: X:160.02, Y:-5.51, Z:1.93 [[ 9.98745528e-01 -4.18657390e-02 -2.74705398e-02 1.60022198e+02] [ 4.19019744e-02 9.99121449e-01 7.44494114e-04 -5.50648387e+00] [ 2.74152367e-02 -1.89463002e-03 9.99622336e-01 1.93315690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88071405699998 meters Centerline goodness [0,1] 0.988494983277592 Centerline is valid? [True, True] Translation: X:160.05, Y:-5.50, Z:1.93 [[ 9.98711505e-01 -4.28355694e-02 -2.72111023e-02 1.60053013e+02] [ 4.28714813e-02 9.99080323e-01 7.37458920e-04 -5.50497249e+00] [ 2.71544874e-02 -1.90308897e-03 9.99629437e-01 1.93470191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91071405699998 meters Centerline goodness [0,1] 0.9858389261744966 Centerline is valid? [True, True] Translation: X:160.08, Y:-5.51, Z:1.94 [[ 9.98646376e-01 -4.50154564e-02 -2.60581153e-02 1.60083290e+02] [ 4.50491435e-02 9.98984522e-01 7.06870367e-04 -5.51342036e+00] [ 2.59998338e-02 -1.87980930e-03 9.99660180e-01 1.93569310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94071405699998 meters Centerline goodness [0,1] 0.98540877701047 Centerline is valid? [True, True] Translation: X:160.11, Y:-5.52, Z:1.94 [[ 9.98609142e-01 -4.64771684e-02 -2.48928535e-02 1.60114229e+02] [ 4.65083826e-02 9.98917671e-01 6.76145265e-04 -5.51641476e+00] [ 2.48344859e-02 -1.83293120e-03 9.99689896e-01 1.93730688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97071405699998 meters Centerline goodness [0,1] 0.9859123633454804 Centerline is valid? [True, True] Translation: X:160.14, Y:-5.52, Z:1.94 [[ 9.98555445e-01 -4.75452235e-02 -2.50294841e-02 1.60144954e+02] [ 4.75771332e-02 9.98867335e-01 6.80587487e-04 -5.51637430e+00] [ 2.49687754e-02 -1.87043544e-03 9.99686482e-01 1.93810851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00071405699998 meters Centerline goodness [0,1] 0.9853766025641025 Centerline is valid? [True, True] Translation: X:160.18, Y:-5.52, Z:1.94 [[ 9.98482037e-01 -4.85133222e-02 -2.60783392e-02 1.60175761e+02] [ 4.85483038e-02 9.98820584e-01 7.09571098e-04 -5.51918179e+00] [ 2.60131583e-02 -1.97455313e-03 9.99659650e-01 1.93819342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03071405699998 meters Centerline goodness [0,1] 0.9836798221234019 Centerline is valid? [True, True] Translation: X:160.21, Y:-5.52, Z:1.94 [[ 9.98361149e-01 -5.02735798e-02 -2.73419590e-02 1.60206998e+02] [ 5.03127108e-02 9.98733236e-01 7.44668995e-04 -5.52267053e+00] [ 2.72698860e-02 -2.11909667e-03 9.99625861e-01 1.93727264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06071405699998 meters Centerline goodness [0,1] 0.9831244295033061 Centerline is valid? [True, True] Translation: X:160.24, Y:-5.52, Z:1.94 [[ 9.98285513e-01 -5.13496256e-02 -2.80936115e-02 1.60238080e+02] [ 5.13913896e-02 9.98678296e-01 7.66122876e-04 -5.52442798e+00] [ 2.80171399e-02 -2.20857910e-03 9.99605003e-01 1.93748371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09071405699999 meters Centerline goodness [0,1] 0.9849560287487166 Centerline is valid? [True, True] Translation: X:160.27, Y:-5.52, Z:1.94 [[ 9.98193548e-01 -5.24718386e-02 -2.92634212e-02 1.60269771e+02] [ 5.25176643e-02 9.98619676e-01 7.99059857e-04 -5.52378604e+00] [ 2.91811000e-02 -2.33446292e-03 9.99571415e-01 1.93785605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.120714057 meters Centerline goodness [0,1] 0.9781456068436999 Centerline is valid? [True, True] Translation: X:160.30, Y:-5.53, Z:1.94 [[ 9.98146800e-01 -5.30201823e-02 -2.98634415e-02 1.60299699e+02] [ 5.30681744e-02 9.98590558e-01 8.16217031e-04 -5.53021401e+00] [ 2.97780747e-02 -2.39950274e-03 9.99553655e-01 1.93696374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.150714057 meters Centerline goodness [0,1] 0.9775958350946671 Centerline is valid? [True, True] Translation: X:160.33, Y:-5.53, Z:1.94 [[ 9.98126299e-01 -5.34947412e-02 -2.97019024e-02 1.60331348e+02] [ 5.35424469e-02 9.98565244e-01 8.12575509e-04 -5.53246661e+00] [ 2.96158189e-02 -2.40136552e-03 9.99558471e-01 1.93773590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.180714057 meters Centerline goodness [0,1] 0.9711127356505173 Centerline is valid? [True, True] Translation: X:160.36, Y:-5.54, Z:1.94 [[ 9.98130824e-01 -5.35861321e-02 -2.93833962e-02 1.60361489e+02] [ 5.36328802e-02 9.98560397e-01 8.04588872e-04 -5.53672974e+00] [ 2.92979810e-02 -2.37900112e-03 9.99567891e-01 1.93781443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.210714057 meters Centerline goodness [0,1] 0.9808803912850156 Centerline is valid? [True, True] Translation: X:160.39, Y:-5.53, Z:1.94 [[ 9.98141876e-01 -5.35184418e-02 -2.91302573e-02 1.60393040e+02] [ 5.35643807e-02 9.98564079e-01 7.98409127e-04 -5.53209391e+00] [ 2.90456989e-02 -2.35726977e-03 9.99575305e-01 1.94001713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.240714057 meters Centerline goodness [0,1] 0.9802183114279349 Centerline is valid? [True, True] Translation: X:160.42, Y:-5.53, Z:1.94 [[ 9.98161539e-01 -5.33895595e-02 -2.86896584e-02 1.60424734e+02] [ 5.34340935e-02 9.98571068e-01 7.87305387e-04 -5.53358208e+00] [ 2.86066290e-02 -2.31886385e-03 9.99588057e-01 1.94065948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.270714057 meters Centerline goodness [0,1] 0.986214422520155 Centerline is valid? [True, True] Translation: X:160.46, Y:-5.53, Z:1.94 [[ 9.98240773e-01 -5.21862036e-02 -2.81417629e-02 1.60456732e+02] [ 5.22286111e-02 9.98634855e-01 7.73485096e-04 -5.52824690e+00] [ 2.80629800e-02 -2.24192955e-03 9.99603643e-01 1.94332396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.300714057 meters Centerline goodness [0,1] 0.9855439907481541 Centerline is valid? [True, True] Translation: X:160.49, Y:-5.53, Z:1.94 [[ 9.98277884e-01 -5.14725423e-02 -2.81397252e-02 1.60488051e+02] [ 5.15146967e-02 9.98671936e-01 7.74667496e-04 -5.52926762e+00] [ 2.80624797e-02 -2.22294284e-03 9.99603699e-01 1.94388245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.330714057 meters Centerline goodness [0,1] 0.9815986326607622 Centerline is valid? [True, True] Translation: X:160.52, Y:-5.54, Z:1.94 [[ 9.98327848e-01 -5.02160276e-02 -2.86331834e-02 1.60517908e+02] [ 5.02591823e-02 9.98735897e-01 7.89011752e-04 -5.53722568e+00] [ 2.85573671e-02 -2.22677279e-03 9.99589675e-01 1.94261312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.360714057 meters Centerline goodness [0,1] 0.9859901552442256 Centerline is valid? [True, True] Translation: X:160.55, Y:-5.53, Z:1.94 [[ 9.98348938e-01 -4.96092017e-02 -2.89538566e-02 1.60549934e+02] [ 4.96531052e-02 9.98766204e-01 7.98883222e-04 -5.53188157e+00] [ 2.88785015e-02 -2.23521310e-03 9.99580430e-01 1.94425905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.390714057 meters Centerline goodness [0,1] 0.984267016288527 Centerline is valid? [True, True] Translation: X:160.58, Y:-5.53, Z:1.94 [[ 9.98368325e-01 -4.85610634e-02 -3.00418299e-02 1.60580696e+02] [ 4.86078981e-02 9.98817592e-01 8.30220547e-04 -5.53442592e+00] [ 2.99659918e-02 -2.28913610e-03 9.99548298e-01 1.94386489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.420714057 meters Centerline goodness [0,1] 0.9856391044509857 Centerline is valid? [True, True] Translation: X:160.61, Y:-5.54, Z:1.94 [[ 9.98339329e-01 -4.85254589e-02 -3.10461601e-02 1.60610654e+02] [ 4.85754686e-02 9.98819146e-01 8.58182286e-04 -5.53621774e+00] [ 3.09678555e-02 -2.36483890e-03 9.99517583e-01 1.94375416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.450714057 meters Centerline goodness [0,1] 0.9855363152147266 Centerline is valid? [True, True] Translation: X:160.64, Y:-5.54, Z:1.94 [[ 9.98329963e-01 -4.85005425e-02 -3.13844325e-02 1.60640797e+02] [ 4.85516287e-02 9.98820298e-01 8.67290385e-04 -5.53808724e+00] [ 3.13053441e-02 -2.38960729e-03 9.99507011e-01 1.94381198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.480714057 meters Centerline goodness [0,1] 0.9856251392912859 Centerline is valid? [True, True] Translation: X:160.67, Y:-5.54, Z:1.94 [[ 9.98332218e-01 -4.82571673e-02 -3.16864030e-02 1.60669940e+02] [ 4.83091235e-02 9.98832049e-01 8.75743416e-04 -5.54177650e+00] [ 3.16071340e-02 -2.40502522e-03 9.99497476e-01 1.94309206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51071405699997 meters Centerline goodness [0,1] 0.9854543837017926 Centerline is valid? [True, True] Translation: X:160.70, Y:-5.54, Z:1.94 [[ 9.98343230e-01 -4.80733949e-02 -3.16187342e-02 1.60699914e+02] [ 4.81250404e-02 9.98840937e-01 8.73958254e-04 -5.54362311e+00] [ 3.15400719e-02 -2.39416317e-03 9.99499621e-01 1.94336762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54071405699997 meters Centerline goodness [0,1] 0.9852360019537321 Centerline is valid? [True, True] Translation: X:160.73, Y:-5.54, Z:1.95 [[ 9.98441870e-01 -4.64320986e-02 -3.09498337e-02 1.60729808e+02] [ 4.64807880e-02 9.98918818e-01 8.55187268e-04 -5.54409221e+00] [ 3.08766631e-02 -2.29242743e-03 9.99520573e-01 1.94512084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57071405699998 meters Centerline goodness [0,1] 0.9865120103104238 Centerline is valid? [True, True] Translation: X:160.76, Y:-5.54, Z:1.95 [[ 9.98510890e-01 -4.50678365e-02 -3.07391168e-02 1.60759641e+02] [ 4.51151979e-02 9.98981431e-01 8.48580280e-04 -5.54436375e+00] [ 3.06695632e-02 -2.23411799e-03 9.99527081e-01 1.94587033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60071405699998 meters Centerline goodness [0,1] 0.9862815723941658 Centerline is valid? [True, True] Translation: X:160.79, Y:-5.54, Z:1.95 [[ 9.98595687e-01 -4.34045150e-02 -3.03760190e-02 1.60789983e+02] [ 4.34499761e-02 9.99055253e-01 8.37832242e-04 -5.54497072e+00] [ 3.03109556e-02 -2.15649296e-03 9.99538191e-01 1.94660192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63071405699998 meters Centerline goodness [0,1] 0.9886667260420378 Centerline is valid? [True, True] Translation: X:160.82, Y:-5.54, Z:1.95 [[ 9.98789287e-01 -3.95543376e-02 -2.92474576e-02 1.60820691e+02] [ 3.95948310e-02 9.99215492e-01 8.06432464e-04 -5.53596209e+00] [ 2.91926148e-02 -1.96350424e-03 9.99571876e-01 1.95051338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66071405699998 meters Centerline goodness [0,1] 0.9879072667750485 Centerline is valid? [True, True] Translation: X:160.85, Y:-5.54, Z:1.95 [[ 9.98870102e-01 -3.77737117e-02 -2.88386370e-02 1.60849042e+02] [ 3.78123183e-02 9.99284543e-01 7.94351205e-04 -5.54354429e+00] [ 2.87879986e-02 -1.88390939e-03 9.99583764e-01 1.95010025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69071405699998 meters Centerline goodness [0,1] 0.9894940681550071 Centerline is valid? [True, True] Translation: X:160.88, Y:-5.53, Z:1.95 [[ 9.99019874e-01 -3.46285197e-02 -2.75709315e-02 1.60879723e+02] [ 3.46625874e-02 9.99398784e-01 7.58522232e-04 -5.53336296e+00] [ 2.75280889e-02 -1.71345861e-03 9.99619562e-01 1.95396570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72071405699998 meters Centerline goodness [0,1] 0.9894940681550071 Centerline is valid? [True, True] Translation: X:160.91, Y:-5.53, Z:1.95 [[ 9.99018680e-01 -3.46629538e-02 -2.75709508e-02 1.60908922e+02] [ 3.46970153e-02 9.99397590e-01 7.57820987e-04 -5.53413437e+00] [ 2.75280735e-02 -1.71370702e-03 9.99619562e-01 1.95437377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75071405699998 meters Centerline goodness [0,1] 0.9899205660503304 Centerline is valid? [True, True] Translation: X:160.94, Y:-5.53, Z:1.96 [[ 9.99047690e-01 -3.40874198e-02 -2.72352843e-02 1.60938166e+02] [ 3.41203497e-02 9.99417454e-01 7.45147625e-04 -5.53454690e+00] [ 2.71940184e-02 -1.67371544e-03 9.99628773e-01 1.95501435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78071405699998 meters Centerline goodness [0,1] 0.990268829149078 Centerline is valid? [True, True] Translation: X:160.97, Y:-5.53, Z:1.96 [[ 9.99078384e-01 -3.32020561e-02 -2.72030621e-02 1.60968208e+02] [ 3.32344838e-02 9.99447308e-01 7.40680642e-04 -5.53348783e+00] [ 2.71634350e-02 -1.64407774e-03 9.99629654e-01 1.95613517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81071405699998 meters Centerline goodness [0,1] 0.9901106715854038 Centerline is valid? [True, True] Translation: X:161.00, Y:-5.54, Z:1.95 [[ 9.99053469e-01 -3.34867569e-02 -2.77633291e-02 1.60996295e+02] [ 3.35206104e-02 9.99437741e-01 7.54716372e-04 -5.54039385e+00] [ 2.77224460e-02 -1.68464575e-03 9.99614240e-01 1.95479356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84071405699999 meters Centerline goodness [0,1] 0.9906885567262925 Centerline is valid? [True, True] Translation: X:161.03, Y:-5.54, Z:1.95 [[ 9.98940501e-01 -3.51295680e-02 -2.97285820e-02 1.61025558e+02] [ 3.51690635e-02 9.99381052e-01 8.06540949e-04 -5.53864516e+00] [ 2.96818481e-02 -1.85121281e-03 9.99557683e-01 1.95436668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.870714057 meters Centerline goodness [0,1] 0.9893210781048799 Centerline is valid? [True, True] Translation: X:161.05, Y:-5.55, Z:1.95 [[ 9.98867816e-01 -3.62727007e-02 -3.07794888e-02 1.61052543e+02] [ 3.63154781e-02 9.99340029e-01 8.31737523e-04 -5.54705402e+00] [ 3.07290058e-02 -1.94856769e-03 9.99525853e-01 1.95213385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.900714057 meters Centerline goodness [0,1] 0.9900282680793286 Centerline is valid? [True, True] Translation: X:161.08, Y:-5.54, Z:1.95 [[ 9.98732073e-01 -3.89934477e-02 -3.18395624e-02 1.61083024e+02] [ 3.90405206e-02 9.99237260e-01 8.57873058e-04 -5.54322073e+00] [ 3.17818257e-02 -2.09981843e-03 9.99492624e-01 1.95374507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.930714057 meters Centerline goodness [0,1] 0.9905694029517992 Centerline is valid? [True, True] Translation: X:161.11, Y:-5.54, Z:1.95 [[ 9.98663316e-01 -4.06040289e-02 -3.19827044e-02 1.61113003e+02] [ 4.06523203e-02 9.99172982e-01 8.60849849e-04 -5.54197168e+00] [ 3.19213001e-02 -2.15987031e-03 9.99488052e-01 1.95483373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.960714057 meters Centerline goodness [0,1] 0.9912913715532986 Centerline is valid? [True, True] Translation: X:161.14, Y:-5.54, Z:1.96 [[ 9.98518123e-01 -4.42369941e-02 -3.16961720e-02 1.61143352e+02] [ 4.42862211e-02 9.99018520e-01 8.52404137e-04 -5.54299075e+00] [ 3.16273551e-02 -2.25484466e-03 9.99497187e-01 1.95634621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.990714057 meters Centerline goodness [0,1] 0.9901639344262295 Centerline is valid? [True, True] Translation: X:161.17, Y:-5.55, Z:1.96 [[ 9.98421764e-01 -4.61582910e-02 -3.19905136e-02 1.61172880e+02] [ 4.62093911e-02 9.98931406e-01 8.59480733e-04 -5.54504145e+00] [ 3.19166566e-02 -2.33638642e-03 9.99487803e-01 1.95680327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.020714057 meters Centerline goodness [0,1] 0.9886429430365653 Centerline is valid? [True, True] Translation: X:161.20, Y:-5.56, Z:1.96 [[ 9.98317031e-01 -4.89443863e-02 -3.11055113e-02 1.61201506e+02] [ 4.89940069e-02 9.98798724e-01 8.34610122e-04 -5.55747584e+00] [ 3.10272956e-02 -2.35718914e-03 9.99515758e-01 1.95535221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.050714057 meters Centerline goodness [0,1] 0.9906002895645395 Centerline is valid? [True, True] Translation: X:161.23, Y:-5.55, Z:1.96 [[ 9.98283866e-01 -5.01431091e-02 -3.02488402e-02 1.61232187e+02] [ 5.01905651e-02 9.98739330e-01 8.11143074e-04 -5.54658918e+00] [ 3.01700332e-02 -2.32795743e-03 9.99542070e-01 1.95909359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.080714057 meters Centerline goodness [0,1] 0.9878795980660829 Centerline is valid? [True, True] Translation: X:161.26, Y:-5.56, Z:1.96 [[ 9.98246766e-01 -5.11944487e-02 -2.97072771e-02 1.61262183e+02] [ 5.12406907e-02 9.98686015e-01 7.96901301e-04 -5.55970207e+00] [ 2.96274453e-02 -2.31772555e-03 9.99558324e-01 1.95801130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.110714057 meters Centerline goodness [0,1] 0.9892454004088526 Centerline is valid? [True, True] Translation: X:161.29, Y:-5.55, Z:1.96 [[ 9.98228857e-01 -5.25892673e-02 -2.78121975e-02 1.61293727e+02] [ 5.26303528e-02 9.98613783e-01 7.46782954e-04 -5.55172693e+00] [ 2.77343710e-02 -2.20922606e-03 9.99612887e-01 1.96117906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.140714057 meters Centerline goodness [0,1] 0.9892896904920953 Centerline is valid? [True, True] Translation: X:161.32, Y:-5.55, Z:1.96 [[ 9.98184375e-01 -5.38593434e-02 -2.69652605e-02 1.61324999e+02] [ 5.38984550e-02 9.98546158e-01 7.25195960e-04 -5.55312012e+00] [ 2.68869987e-02 -2.17726516e-03 9.99636108e-01 1.96219582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.170714057 meters Centerline goodness [0,1] 0.9895659895659895 Centerline is valid? [True, True] Translation: X:161.36, Y:-5.55, Z:1.96 [[ 9.98162200e-01 -5.43316758e-02 -2.68382349e-02 1.61357454e+02] [ 5.43706328e-02 9.98520561e-01 7.23412745e-04 -5.55194159e+00] [ 2.67592251e-02 -2.18129507e-03 9.99639528e-01 1.96303611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.200714057 meters Centerline goodness [0,1] 0.9900316667410017 Centerline is valid? [True, True] Translation: X:161.39, Y:-5.55, Z:1.96 [[ 9.98114201e-01 -5.50264137e-02 -2.72054455e-02 1.61389708e+02] [ 5.50667535e-02 9.98482404e-01 7.35250039e-04 -5.55031268e+00] [ 2.71237005e-02 -2.23197907e-03 9.99629593e-01 1.96325240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.230714057 meters Centerline goodness [0,1] 0.9877078490970856 Centerline is valid? [True, True] Translation: X:161.42, Y:-5.56, Z:1.96 [[ 9.98017687e-01 -5.63366027e-02 -2.80514295e-02 1.61420212e+02] [ 5.63800411e-02 9.98409092e-01 7.59387653e-04 -5.55659540e+00] [ 2.79640210e-02 -2.33942306e-03 9.99606193e-01 1.96198452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26071405699997 meters Centerline goodness [0,1] 0.9883804075795495 Centerline is valid? [True, True] Translation: X:161.45, Y:-5.55, Z:1.96 [[ 9.97959055e-01 -5.69038695e-02 -2.89771473e-02 1.61452731e+02] [ 5.69504986e-02 9.98376694e-01 7.85742788e-04 -5.55382932e+00] [ 2.88853968e-02 -2.43440212e-03 9.99579765e-01 1.96231756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29071405699997 meters Centerline goodness [0,1] 0.9890887183148875 Centerline is valid? [True, True] Translation: X:161.48, Y:-5.55, Z:1.96 [[ 9.97825224e-01 -5.82532880e-02 -3.08443839e-02 1.61483514e+02] [ 5.83068174e-02 9.98298359e-01 8.38124229e-04 -5.54961033e+00] [ 3.07430744e-02 -2.63473936e-03 9.99523847e-01 1.96173990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32071405699998 meters Centerline goodness [0,1] 0.9892379679144385 Centerline is valid? [True, True] Translation: X:161.52, Y:-5.55, Z:1.96 [[ 9.97752990e-01 -5.91294928e-02 -3.15067142e-02 1.61515125e+02] [ 5.91858517e-02 9.98246612e-01 8.58379830e-04 -5.55052557e+00] [ 3.14007152e-02 -2.72120276e-03 9.99503172e-01 1.96133953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35071405699998 meters Centerline goodness [0,1] 0.9876416065911432 Centerline is valid? [True, True] Translation: X:161.54, Y:-5.55, Z:1.96 [[ 9.97602691e-01 -6.10529241e-02 -3.25793114e-02 1.61544735e+02] [ 6.11142498e-02 9.98130381e-01 8.88959628e-04 -5.55262571e+00] [ 3.24641269e-02 -2.87788869e-03 9.99468758e-01 1.96097044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38071405699998 meters Centerline goodness [0,1] 0.9859334751931907 Centerline is valid? [True, True] Translation: X:161.58, Y:-5.55, Z:1.96 [[ 9.97566371e-01 -6.16318439e-02 -3.26014057e-02 1.61576375e+02] [ 6.16936176e-02 9.98094737e-01 8.91347704e-04 -5.55425028e+00] [ 3.24843561e-02 -2.90047715e-03 9.99468035e-01 1.96106868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41071405699998 meters Centerline goodness [0,1] 0.9884180283713414 Centerline is valid? [True, True] Translation: X:161.61, Y:-5.55, Z:1.96 [[ 9.97549056e-01 -6.18997411e-02 -3.26236664e-02 1.61608891e+02] [ 6.19618280e-02 9.98078119e-01 8.94619964e-04 -5.54871320e+00] [ 3.25055908e-02 -2.91384930e-03 9.99467306e-01 1.96274626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44071405699998 meters Centerline goodness [0,1] 0.9867921561580448 Centerline is valid? [True, True] Translation: X:161.64, Y:-5.55, Z:1.96 [[ 9.97588561e-01 -6.13877943e-02 -3.23821103e-02 1.61640348e+02] [ 6.14487603e-02 9.98109843e-01 8.89955765e-04 -5.55153829e+00] [ 3.22662706e-02 -2.87765022e-03 9.99475166e-01 1.96316009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47071405699998 meters Centerline goodness [0,1] 0.987577779275333 Centerline is valid? [True, True] Translation: X:161.67, Y:-5.55, Z:1.97 [[ 9.97711017e-01 -5.98113041e-02 -3.15489236e-02 1.61672277e+02] [ 5.98684414e-02 9.98205898e-01 8.68714038e-04 -5.54674136e+00] [ 3.14403627e-02 -2.75551045e-03 9.99501831e-01 1.96548186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50071405699998 meters Centerline goodness [0,1] 0.9871938890137048 Centerline is valid? [True, True] Translation: X:161.70, Y:-5.55, Z:1.97 [[ 9.97793627e-01 -5.86354959e-02 -3.11409123e-02 1.61703149e+02] [ 5.86906373e-02 9.98275849e-01 8.58821031e-04 -5.54680710e+00] [ 3.10368632e-02 -2.68460614e-03 9.99514635e-01 1.96620786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53071405699998 meters Centerline goodness [0,1] 0.9879312282278908 Centerline is valid? [True, True] Translation: X:161.73, Y:-5.55, Z:1.97 [[ 9.97848630e-01 -5.75665965e-02 -3.13719531e-02 1.61734275e+02] [ 5.76220701e-02 9.98338092e-01 8.66301620e-04 -5.54685928e+00] [ 3.12699458e-02 -2.67215477e-03 9.99507404e-01 1.96657631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56071405699998 meters Centerline goodness [0,1] 0.9875135232600072 Centerline is valid? [True, True] Translation: X:161.77, Y:-5.54, Z:1.97 [[ 9.97931793e-01 -5.57343098e-02 -3.20284872e-02 1.61765782e+02] [ 5.57912309e-02 9.98442064e-01 8.85579319e-04 -5.54175318e+00] [ 3.19292317e-02 -2.67065648e-03 9.99486564e-01 1.96696373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59071405699999 meters Centerline goodness [0,1] 0.9878240200914881 Centerline is valid? [True, True] Translation: X:161.80, Y:-5.54, Z:1.97 [[ 9.97965443e-01 -5.49130843e-02 -3.23964116e-02 1.61796947e+02] [ 5.49709294e-02 9.98487552e-01 8.96913567e-04 -5.54197054e+00] [ 3.22981614e-02 -2.67594960e-03 9.99474696e-01 1.96741564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.620714057 meters Centerline goodness [0,1] 0.9875849039629346 Centerline is valid? [True, True] Translation: X:161.83, Y:-5.54, Z:1.97 [[ 9.98045777e-01 -5.33001116e-02 -3.26147844e-02 1.61827354e+02] [ 5.33579114e-02 9.98575043e-01 9.03791590e-04 -5.54282912e+00] [ 3.25201376e-02 -2.64228216e-03 9.99467588e-01 1.96707414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.650714057 meters Centerline goodness [0,1] 0.9881201015068831 Centerline is valid? [True, True] Translation: X:161.86, Y:-5.54, Z:1.97 [[ 9.98110692e-01 -5.22041457e-02 -3.24002235e-02 1.61858187e+02] [ 5.22606319e-02 9.98633075e-01 8.98415575e-04 -5.54305093e+00] [ 3.23090338e-02 -2.58997434e-03 9.99474571e-01 1.96752097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.680714057 meters Centerline goodness [0,1] 0.9878405764467463 Centerline is valid? [True, True] Translation: X:161.89, Y:-5.54, Z:1.97 [[ 9.98232792e-01 -4.96636160e-02 -3.26315552e-02 1.61888242e+02] [ 4.97195714e-02 9.98762807e-01 9.05075625e-04 -5.54280793e+00] [ 3.25462343e-02 -2.52590310e-03 9.99467039e-01 1.96860929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.710714057 meters Centerline goodness [0,1] 0.9886519404058336 Centerline is valid? [True, True] Translation: X:161.92, Y:-5.54, Z:1.97 [[ 9.98328517e-01 -4.78619891e-02 -3.23944879e-02 1.61919412e+02] [ 4.79162015e-02 9.98850955e-01 8.98819439e-04 -5.54028019e+00] [ 3.23142459e-02 -2.44953789e-03 9.99474757e-01 1.96972945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.740714057 meters Centerline goodness [0,1] 0.9881643490391971 Centerline is valid? [True, True] Translation: X:161.95, Y:-5.54, Z:1.97 [[ 9.98455515e-01 -4.56859951e-02 -3.16128922e-02 1.61949349e+02] [ 4.57365443e-02 9.98953151e-01 8.77369060e-04 -5.54088606e+00] [ 3.15397148e-02 -2.32187842e-03 9.99499803e-01 1.97046577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.770714057 meters Centerline goodness [0,1] 0.9880364988171679 Centerline is valid? [True, True] Translation: X:161.98, Y:-5.54, Z:1.97 [[ 9.98704993e-01 -4.05542101e-02 -3.07195771e-02 1.61979079e+02] [ 4.05995163e-02 9.99175136e-01 8.52265714e-04 -5.53782076e+00] [ 3.06596746e-02 -2.09836199e-03 9.99527679e-01 1.97132268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.800714057 meters Centerline goodness [0,1] 0.9897701667417755 Centerline is valid? [True, True] Translation: X:162.01, Y:-5.53, Z:1.97 [[ 9.98914508e-01 -3.57763363e-02 -2.98305003e-02 1.62009409e+02] [ 3.58169266e-02 9.99358026e-01 8.27302364e-04 -5.52631225e+00] [ 2.97817520e-02 -1.89484117e-03 9.99554629e-01 1.97435809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.830714057 meters Centerline goodness [0,1] 0.9883246557125792 Centerline is valid? [True, True] Translation: X:162.04, Y:-5.53, Z:1.97 [[ 9.99001956e-01 -3.34409866e-02 -2.96106625e-02 1.62038141e+02] [ 3.34799412e-02 9.99439053e-01 8.20610523e-04 -5.53255755e+00] [ 2.95666104e-02 -1.81115476e-03 9.99561171e-01 1.97286881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.860714057 meters Centerline goodness [0,1] 0.9893912376137056 Centerline is valid? [True, True] Translation: X:162.07, Y:-5.53, Z:1.97 [[ 9.99081058e-01 -3.13519128e-02 -2.92249507e-02 1.62068368e+02] [ 3.13889321e-02 9.99506919e-01 8.08680764e-04 -5.53115339e+00] [ 2.91851867e-02 -1.72527763e-03 9.99572533e-01 1.97363712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.890714057 meters Centerline goodness [0,1] 0.9895636101343431 Centerline is valid? [True, True] Translation: X:162.10, Y:-5.52, Z:1.98 [[ 9.99211722e-01 -2.79251560e-02 -2.82156066e-02 1.62098779e+02] [ 2.79582738e-02 9.99608787e-01 7.79836440e-04 -5.52159417e+00] [ 2.81827913e-02 -1.56808137e-03 9.99601556e-01 1.97654150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.920714057 meters Centerline goodness [0,1] 0.9886589105339105 Centerline is valid? [True, True] Translation: X:162.13, Y:-5.52, Z:1.98 [[ 9.99309713e-01 -2.51533559e-02 -2.73387390e-02 1.62129041e+02] [ 2.51833890e-02 9.99682563e-01 7.54751016e-04 -5.52002260e+00] [ 2.73110762e-02 -1.44271212e-03 9.99625942e-01 1.97736647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.950714057 meters Centerline goodness [0,1] 0.9889631201191712 Centerline is valid? [True, True] Translation: X:162.16, Y:-5.52, Z:1.98 [[ 9.99346452e-01 -2.42828604e-02 -2.67770668e-02 1.62156722e+02] [ 2.43113012e-02 9.99704165e-01 7.37046521e-04 -5.52392309e+00] [ 2.67512476e-02 -1.38755016e-03 9.99641158e-01 1.97685908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.980714057 meters Centerline goodness [0,1] 0.9887148467476188 Centerline is valid? [True, True] Translation: X:162.19, Y:-5.52, Z:1.98 [[ 9.99372740e-01 -2.35158544e-02 -2.64788849e-02 1.62185329e+02] [ 2.35432687e-02 9.99722557e-01 7.24006609e-04 -5.51761452e+00] [ 2.64545129e-02 -1.34695197e-03 9.99649111e-01 1.97927207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01071405699997 meters Centerline goodness [0,1] 0.9887286965574995 Centerline is valid? [True, True] Translation: X:162.21, Y:-5.52, Z:1.98 [[ 9.99422515e-01 -2.25512494e-02 -2.54180626e-02 1.62214619e+02] [ 2.25760759e-02 9.99744890e-01 6.90149890e-04 -5.51778595e+00] [ 2.53960144e-02 -1.26359145e-03 9.99676671e-01 1.97988832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04071405699997 meters Centerline goodness [0,1] 0.9884325154760291 Centerline is valid? [True, True] Translation: X:162.24, Y:-5.52, Z:1.98 [[ 9.99417952e-01 -2.30728665e-02 -2.51276816e-02 1.62242936e+02] [ 2.30972229e-02 9.99732993e-01 6.79461813e-04 -5.51796925e+00] [ 2.51052952e-02 -1.25944600e-03 9.99684019e-01 1.98034860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07071405699998 meters Centerline goodness [0,1] 0.9885394576546497 Centerline is valid? [True, True] Translation: X:162.27, Y:-5.52, Z:1.98 [[ 9.99358080e-01 -2.46717351e-02 -2.59756365e-02 1.62271631e+02] [ 2.46982456e-02 9.99694707e-01 7.00208020e-04 -5.52356867e+00] [ 2.59504310e-02 -1.34131119e-03 9.99662331e-01 1.97839163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10071405699998 meters Centerline goodness [0,1] 0.9882275997383911 Centerline is valid? [True, True] Translation: X:162.30, Y:-5.53, Z:1.98 [[ 9.99304258e-01 -2.62937816e-02 -2.64506512e-02 1.62300110e+02] [ 2.63217279e-02 9.99653272e-01 7.08866145e-04 -5.52575142e+00] [ 2.64228413e-02 -1.40459980e-03 9.99649869e-01 1.97783588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13071405699998 meters Centerline goodness [0,1] 0.9872223225573415 Centerline is valid? [True, True] Translation: X:162.33, Y:-5.54, Z:1.98 [[ 9.99225306e-01 -2.82868312e-02 -2.73613248e-02 1.62328298e+02] [ 2.83173632e-02 9.99598717e-01 7.28974399e-04 -5.53525232e+00] [ 2.73297248e-02 -1.50321024e-03 9.99625343e-01 1.97570020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16071405699998 meters Centerline goodness [0,1] 0.9874850609962342 Centerline is valid? [True, True] Translation: X:162.36, Y:-5.54, Z:1.97 [[ 9.99109183e-01 -3.17534328e-02 -2.77949620e-02 1.62356869e+02] [ 3.17862439e-02 9.99494416e-01 7.39320977e-04 -5.54361305e+00] [ 2.77574334e-02 -1.62215982e-03 9.99613372e-01 1.97397351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19071405699998 meters Centerline goodness [0,1] 0.9885078191896886 Centerline is valid? [True, True] Translation: X:162.39, Y:-5.54, Z:1.98 [[ 9.99040646e-01 -3.43075471e-02 -2.72172819e-02 1.62386604e+02] [ 3.43399269e-02 9.99409949e-01 7.23027081e-04 -5.53555624e+00] [ 2.71764170e-02 -1.65697291e-03 9.99629280e-01 1.97745726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22071405699998 meters Centerline goodness [0,1] 0.9880487037785866 Centerline is valid? [True, True] Translation: X:162.42, Y:-5.54, Z:1.98 [[ 9.99019581e-01 -3.49181681e-02 -2.72139376e-02 1.62416412e+02] [ 3.49507842e-02 9.99388773e-01 7.23622056e-04 -5.53955686e+00] [ 2.71720361e-02 -1.67406106e-03 9.99629370e-01 1.97712950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25071405699998 meters Centerline goodness [0,1] 0.9888656454551589 Centerline is valid? [True, True] Translation: X:162.45, Y:-5.54, Z:1.98 [[ 9.98993628e-01 -3.54422052e-02 -2.74878416e-02 1.62446518e+02] [ 3.54757136e-02 9.99370271e-01 7.32166335e-04 -5.53977132e+00] [ 2.74445821e-02 -1.70658030e-03 9.99621870e-01 1.97762041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28071405699998 meters Centerline goodness [0,1] 0.9880582218016313 Centerline is valid? [True, True] Translation: X:162.48, Y:-5.54, Z:1.98 [[ 9.98940040e-01 -3.65746736e-02 -2.79479655e-02 1.62476205e+02] [ 3.66097483e-02 9.99329361e-01 7.44176936e-04 -5.54325126e+00] [ 2.79020045e-02 -1.76655612e-03 9.99609102e-01 1.97724034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31071405699998 meters Centerline goodness [0,1] 0.987461594071932 Centerline is valid? [True, True] Translation: X:162.51, Y:-5.55, Z:1.98 [[ 9.98901910e-01 -3.78034978e-02 -2.76743487e-02 1.62505434e+02] [ 3.78383451e-02 9.99283602e-01 7.36411586e-04 -5.54657119e+00] [ 2.76266839e-02 -1.78275449e-03 9.99616721e-01 1.97731160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34071405699999 meters Centerline goodness [0,1] 0.988318863456985 Centerline is valid? [True, True] Translation: X:162.54, Y:-5.55, Z:1.98 [[ 9.98897710e-01 -3.81624397e-02 -2.73311916e-02 1.62536840e+02] [ 3.81965677e-02 9.99269980e-01 7.27505784e-04 -5.54665236e+00] [ 2.72834759e-02 -1.77066157e-03 9.99626168e-01 1.97807831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.370714057 meters Centerline goodness [0,1] 0.988068706242543 Centerline is valid? [True, True] Translation: X:162.57, Y:-5.55, Z:1.98 [[ 9.98891802e-01 -3.87056111e-02 -2.67776863e-02 1.62567426e+02] [ 3.87385831e-02 9.99249125e-01 7.13467679e-04 -5.54865709e+00] [ 2.67299644e-02 -1.75000664e-03 9.99641159e-01 1.97862845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.400714057 meters Centerline goodness [0,1] 0.9875250512283547 Centerline is valid? [True, True] Translation: X:162.60, Y:-5.55, Z:1.98 [[ 9.98870763e-01 -4.00525742e-02 -2.55536658e-02 1.62597928e+02] [ 4.00830492e-02 9.99196119e-01 6.81281495e-04 -5.55174322e+00] [ 2.55058367e-02 -1.70478101e-03 9.99673220e-01 1.97947492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.430714057 meters Centerline goodness [0,1] 0.9873380646614848 Centerline is valid? [True, True] Translation: X:162.63, Y:-5.55, Z:1.98 [[ 9.98843842e-01 -4.10572950e-02 -2.50055624e-02 1.62628830e+02] [ 4.10868000e-02 9.99155358e-01 6.67087806e-04 -5.55403671e+00] [ 2.49570529e-02 -1.69371509e-03 9.99687089e-01 1.98012566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.460714057 meters Centerline goodness [0,1] 0.9877711588175789 Centerline is valid? [True, True] Translation: X:162.66, Y:-5.55, Z:1.98 [[ 9.98812041e-01 -4.24592393e-02 -2.39106524e-02 1.62660413e+02] [ 4.24866297e-02 9.99096831e-01 6.38454812e-04 -5.55035902e+00] [ 2.38619487e-02 -1.65357939e-03 9.99713896e-01 1.98228604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.490714057 meters Centerline goodness [0,1] 0.9880909500225123 Centerline is valid? [True, True] Translation: X:162.69, Y:-5.55, Z:1.98 [[ 9.98786687e-01 -4.33647046e-02 -2.33378898e-02 1.62692468e+02] [ 4.33910707e-02 9.99057969e-01 6.24306744e-04 -5.55218301e+00] [ 2.32888319e-02 -1.63620529e-03 9.99727439e-01 1.98257121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.520714057 meters Centerline goodness [0,1] 0.9871408659682568 Centerline is valid? [True, True] Translation: X:162.72, Y:-5.55, Z:1.98 [[ 9.98707438e-01 -4.52412539e-02 -2.31663839e-02 1.62723468e+02] [ 4.52677624e-02 9.98974696e-01 6.20862493e-04 -5.55464773e+00] [ 2.31145427e-02 -1.66875035e-03 9.99731431e-01 1.98295798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.550714057 meters Centerline goodness [0,1] 0.9876737949838881 Centerline is valid? [True, True] Translation: X:162.76, Y:-5.55, Z:1.98 [[ 9.98667952e-01 -4.60705406e-02 -2.32341735e-02 1.62756101e+02] [ 4.60974488e-02 9.98936753e-01 6.23589231e-04 -5.55366559e+00] [ 2.31807407e-02 -1.69379470e-03 9.99729856e-01 1.98355569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.580714057 meters Centerline goodness [0,1] 0.9875185201813855 Centerline is valid? [True, True] Translation: X:162.79, Y:-5.56, Z:1.98 [[ 9.98543214e-01 -4.81592643e-02 -2.43338423e-02 1.62786869e+02] [ 4.81894274e-02 9.98838000e-01 6.54334618e-04 -5.55672810e+00] [ 2.42740541e-02 -1.82601532e-03 9.99703674e-01 1.98207376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.610714057 meters Centerline goodness [0,1] 0.986394251345933 Centerline is valid? [True, True] Translation: X:162.82, Y:-5.56, Z:1.98 [[ 9.98469612e-01 -4.93804345e-02 -2.48999270e-02 1.62817979e+02] [ 4.94124162e-02 9.98778235e-01 6.70393080e-04 -5.56414108e+00] [ 2.48364009e-02 -1.89973267e-03 9.99689724e-01 1.98068957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.640714057 meters Centerline goodness [0,1] 0.986394251345933 Centerline is valid? [True, True] Translation: X:162.85, Y:-5.57, Z:1.98 [[ 9.98472998e-01 -4.93119480e-02 -2.48998867e-02 1.62849751e+02] [ 4.93439454e-02 9.98781620e-01 6.71886269e-04 -5.56506249e+00] [ 2.48364172e-02 -1.89951895e-03 9.99689724e-01 1.98113329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.670714057 meters Centerline goodness [0,1] 0.9874323104693141 Centerline is valid? [True, True] Translation: X:162.88, Y:-5.56, Z:1.98 [[ 9.98331995e-01 -5.12663499e-02 -2.65516284e-02 1.62881460e+02] [ 5.13034612e-02 9.98682852e-01 7.17930745e-04 -5.55970687e+00] [ 2.64798503e-02 -2.07892367e-03 9.99647186e-01 1.98097259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.700714057 meters Centerline goodness [0,1] 0.985808722333777 Centerline is valid? [True, True] Translation: X:162.91, Y:-5.57, Z:1.98 [[ 9.98285439e-01 -5.19893112e-02 -2.68941403e-02 1.62912411e+02] [ 5.20276796e-02 9.98645377e-01 7.28397265e-04 -5.56933432e+00] [ 2.68198401e-02 -2.12638810e-03 9.99638022e-01 1.97982519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.730714057 meters Centerline goodness [0,1] 0.9869031009496377 Centerline is valid? [True, True] Translation: X:162.94, Y:-5.56, Z:1.98 [[ 9.98253665e-01 -5.23782077e-02 -2.73156411e-02 1.62944907e+02] [ 5.24179798e-02 9.98624957e-01 7.41516531e-04 -5.56415165e+00] [ 2.72392417e-02 -2.17205232e-03 9.99626583e-01 1.98127514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76071405699997 meters Centerline goodness [0,1] 0.9874873410599753 Centerline is valid? [True, True] Translation: X:162.98, Y:-5.56, Z:1.98 [[ 9.98262205e-01 -5.21788267e-02 -2.73850442e-02 1.62977331e+02] [ 5.22187795e-02 9.98635391e-01 7.45332043e-04 -5.56411861e+00] [ 2.73087837e-02 -2.17405039e-03 9.99624681e-01 1.98211791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79071405699997 meters Centerline goodness [0,1] 0.987819704610951 Centerline is valid? [True, True] Translation: X:163.01, Y:-5.56, Z:1.98 [[ 9.98317161e-01 -5.15465471e-02 -2.65668772e-02 1.63010062e+02] [ 5.15839849e-02 9.98668397e-01 7.25332507e-04 -5.56311877e+00] [ 2.64941123e-02 -2.09453728e-03 9.99646775e-01 1.98297790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82071405699998 meters Centerline goodness [0,1] 0.9871269748390872 Centerline is valid? [True, True] Translation: X:163.04, Y:-5.56, Z:1.98 [[ 9.98444041e-01 -4.96210501e-02 -2.54410587e-02 1.63041192e+02] [ 4.96548001e-02 9.98766197e-01 6.96189395e-04 -5.56315175e+00] [ 2.53751238e-02 -1.95837684e-03 9.99676081e-01 1.98387806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85071405699998 meters Centerline goodness [0,1] 0.9871005570214013 Centerline is valid? [True, True] Translation: X:163.07, Y:-5.56, Z:1.99 [[ 9.98521757e-01 -4.83483757e-02 -2.48341647e-02 1.63072830e+02] [ 4.83801583e-02 9.98828763e-01 6.80205663e-04 -5.56256117e+00] [ 2.47721912e-02 -1.88068097e-03 9.99691353e-01 1.98500228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88071405699998 meters Centerline goodness [0,1] 0.9867799811142587 Centerline is valid? [True, True] Translation: X:163.10, Y:-5.56, Z:1.99 [[ 9.98647038e-01 -4.64860891e-02 -2.33053006e-02 1.63104183e+02] [ 4.65135918e-02 9.98917453e-01 6.39123903e-04 -5.56078030e+00] [ 2.32503611e-02 -1.72227243e-03 9.99728190e-01 1.98674111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91071405699998 meters Centerline goodness [0,1] 0.9874538246688891 Centerline is valid? [True, True] Translation: X:163.14, Y:-5.56, Z:1.99 [[ 9.98672912e-01 -4.64262107e-02 -2.22939834e-02 1.63136384e+02] [ 4.64513866e-02 9.98920364e-01 6.12459409e-04 -5.55815345e+00] [ 2.22414799e-02 -1.64723306e-03 9.99751271e-01 1.98757232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94071405699998 meters Centerline goodness [0,1] 0.9860776860619419 Centerline is valid? [True, True] Translation: X:163.17, Y:-5.56, Z:1.99 [[ 9.98674188e-01 -4.67228025e-02 -2.16066100e-02 1.63167659e+02] [ 4.67465481e-02 9.98906605e-01 5.94955165e-04 -5.56147340e+00] [ 2.15551875e-02 -1.60420080e-03 9.99766373e-01 1.98782453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97071405699998 meters Centerline goodness [0,1] 0.9855868840644987 Centerline is valid? [True, True] Translation: X:163.20, Y:-5.57, Z:1.99 [[ 9.98644234e-01 -4.74132729e-02 -2.14866525e-02 1.63198896e+02] [ 4.74369388e-02 9.98874059e-01 5.92789203e-04 -5.56850679e+00] [ 2.14343537e-02 -1.61124654e-03 9.99768959e-01 1.98726364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00071405699998 meters Centerline goodness [0,1] 0.9865436543654366 Centerline is valid? [True, True] Translation: X:163.23, Y:-5.57, Z:1.99 [[ 9.98483580e-01 -5.02752017e-02 -2.24264366e-02 1.63229368e+02] [ 5.03017203e-02 9.98733875e-01 6.19565647e-04 -5.56693416e+00] [ 2.23668932e-02 -1.74671447e-03 9.99748304e-01 1.98671747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03071405699998 meters Centerline goodness [0,1] 0.9869176555357907 Centerline is valid? [True, True] Translation: X:163.26, Y:-5.57, Z:1.99 [[ 9.98372003e-01 -5.20413057e-02 -2.33462320e-02 1.63260846e+02] [ 5.20705355e-02 9.98643201e-01 6.45445842e-04 -5.56938534e+00] [ 2.32809660e-02 -1.86004586e-03 9.99727231e-01 1.98591468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06071405699998 meters Centerline goodness [0,1] 0.985730066051985 Centerline is valid? [True, True] Translation: X:163.29, Y:-5.58, Z:1.98 [[ 9.98118287e-01 -5.60347372e-02 -2.48996794e-02 1.63289871e+02] [ 5.60692261e-02 9.98426646e-01 6.88566199e-04 -5.57582766e+00] [ 2.48219198e-02 -2.08337627e-03 9.99689718e-01 1.98385449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09071405699999 meters Centerline goodness [0,1] 0.9842284068666052 Centerline is valid? [True, True] Translation: X:163.32, Y:-5.58, Z:1.98 [[ 9.98000048e-01 -5.76564134e-02 -2.59160777e-02 1.63321368e+02] [ 5.76943180e-02 9.98334038e-01 7.16623939e-04 -5.57722113e+00] [ 2.58315845e-02 -2.21040115e-03 9.99663865e-01 1.98355137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.120714057 meters Centerline goodness [0,1] 0.9861515213027494 Centerline is valid? [True, True] Translation: X:163.35, Y:-5.58, Z:1.98 [[ 9.97906262e-01 -5.90503504e-02 -2.63846305e-02 1.63352422e+02] [ 5.90901410e-02 9.98252384e-01 7.30295880e-04 -5.57541445e+00] [ 2.62953961e-02 -2.28783837e-03 9.99651598e-01 1.98400094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.150714057 meters Centerline goodness [0,1] 0.9764875456060538 Centerline is valid? [True, True] Translation: X:163.38, Y:-5.59, Z:1.98 [[ 9.97816293e-01 -6.05487898e-02 -2.63911008e-02 1.63382711e+02] [ 6.05891322e-02 9.98162523e-01 7.30945490e-04 -5.58676061e+00] [ 2.62983499e-02 -2.32836322e-03 9.99651427e-01 1.98316698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.180714057 meters Centerline goodness [0,1] 0.9853922452660054 Centerline is valid? [True, True] Translation: X:163.42, Y:-5.58, Z:1.99 [[ 9.97823050e-01 -6.11445731e-02 -2.47083459e-02 1.63415101e+02] [ 6.11801389e-02 9.98126505e-01 6.85342477e-04 -5.57921073e+00] [ 2.46201500e-02 -2.19551056e-03 9.99694467e-01 1.98561909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.210714057 meters Centerline goodness [0,1] 0.9846647968877228 Centerline is valid? [True, True] Translation: X:163.45, Y:-5.58, Z:1.99 [[ 9.97884318e-01 -6.03552682e-02 -2.41687854e-02 1.63446458e+02] [ 6.03891262e-02 9.98174684e-01 6.72818433e-04 -5.58098641e+00] [ 2.40840616e-02 -2.13092680e-03 9.99707666e-01 1.98673200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.240714057 meters Centerline goodness [0,1] 0.9837644717800289 Centerline is valid? [True, True] Translation: X:163.48, Y:-5.58, Z:1.99 [[ 9.97967330e-01 -5.94061095e-02 -2.30677936e-02 1.63477594e+02] [ 5.94367517e-02 9.98231865e-01 6.44400237e-04 -5.58117672e+00] [ 2.29887254e-02 -2.01416511e-03 9.99733695e-01 1.98771374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.270714057 meters Centerline goodness [0,1] 0.9724770642201834 Centerline is valid? [True, True] Translation: X:163.51, Y:-5.59, Z:1.99 [[ 9.98152840e-01 -5.67919983e-02 -2.15772354e-02 1.63506762e+02] [ 5.68182105e-02 9.98384358e-01 6.03200717e-04 -5.59205975e+00] [ 2.15081174e-02 -1.82806641e-03 9.99767002e-01 1.98754384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.300714057 meters Centerline goodness [0,1] 0.9841409294676849 Centerline is valid? [True, True] Translation: X:163.54, Y:-5.58, Z:1.99 [[ 9.98212404e-01 -5.57967483e-02 -2.14177247e-02 1.63539699e+02] [ 5.58223600e-02 9.98440536e-01 5.99354617e-04 -5.58000866e+00] [ 2.13508825e-02 -1.79387115e-03 9.99770435e-01 1.98938961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.330714057 meters Centerline goodness [0,1] 0.9861007861954 Centerline is valid? [True, True] Translation: X:163.57, Y:-5.58, Z:1.99 [[ 9.98278013e-01 -5.47639443e-02 -2.10218530e-02 1.63571973e+02] [ 5.47884261e-02 9.98497812e-01 5.89990231e-04 -5.57715287e+00] [ 2.09579640e-02 -1.74072851e-03 9.99778842e-01 1.98945641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.360714057 meters Centerline goodness [0,1] 0.9837114470453061 Centerline is valid? [True, True] Translation: X:163.60, Y:-5.58, Z:1.99 [[ 9.98267447e-01 -5.48391200e-02 -2.13254507e-02 1.63602940e+02] [ 5.48643614e-02 9.98493636e-01 5.99921652e-04 -5.58208263e+00] [ 2.12604276e-02 -1.76888949e-03 9.99772407e-01 1.98876948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.390714057 meters Centerline goodness [0,1] 0.9845443280387518 Centerline is valid? [True, True] Translation: X:163.63, Y:-5.58, Z:1.99 [[ 9.98131253e-01 -5.69764572e-02 -2.20835726e-02 1.63634378e+02] [ 5.70040686e-02 9.98373752e-01 6.22318459e-04 -5.58346366e+00] [ 2.20122018e-02 -1.88000899e-03 9.99755934e-01 1.98740413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.420714057 meters Centerline goodness [0,1] 0.9835357624831309 Centerline is valid? [True, True] Translation: X:163.67, Y:-5.59, Z:1.99 [[ 9.98050185e-01 -5.80043751e-02 -2.30504053e-02 1.63665365e+02] [ 5.80347531e-02 9.98314351e-01 6.50572581e-04 -5.58836426e+00] [ 2.29738143e-02 -1.98702866e-03 9.99734092e-01 1.98653849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.450714057 meters Centerline goodness [0,1] 0.9817515787581186 Centerline is valid? [True, True] Translation: X:163.70, Y:-5.59, Z:1.98 [[ 9.97838642e-01 -6.07098272e-02 -2.51467961e-02 1.63695683e+02] [ 6.07468631e-02 9.98152951e-01 7.10794298e-04 -5.59419982e+00] [ 2.50571965e-02 -2.23684700e-03 9.99683517e-01 1.98495213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.480714057 meters Centerline goodness [0,1] 0.9814685707860115 Centerline is valid? [True, True] Translation: X:163.73, Y:-5.60, Z:1.98 [[ 9.97760189e-01 -6.17772985e-02 -2.56548432e-02 1.63727934e+02] [ 6.18162256e-02 9.98087284e-01 7.26288355e-04 -5.59843163e+00] [ 2.55609047e-02 -2.31054718e-03 9.99670597e-01 1.98411560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51071405699997 meters Centerline goodness [0,1] 0.9563418911020188 Centerline is valid? [True, True] Translation: X:163.76, Y:-5.61, Z:1.98 [[ 9.97661632e-01 -6.31543646e-02 -2.61303349e-02 1.63757624e+02] [ 6.31952432e-02 9.98000908e-01 7.40759302e-04 -5.61000495e+00] [ 2.60313158e-02 -2.39034001e-03 9.99658270e-01 1.98313963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54071405699997 meters Centerline goodness [0,1] 0.9737786550625813 Centerline is valid? [True, True] Translation: X:163.79, Y:-5.61, Z:1.98 [[ 9.97577956e-01 -6.44982298e-02 -2.60422568e-02 1.63789258e+02] [ 6.45393035e-02 9.97914892e-01 7.38894526e-04 -5.60740039e+00] [ 2.59402986e-02 -2.41785401e-03 9.99660570e-01 1.98487438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57071405699998 meters Centerline goodness [0,1] 0.9798127231491254 Centerline is valid? [True, True] Translation: X:163.82, Y:-5.60, Z:1.99 [[ 9.97548944e-01 -6.50342058e-02 -2.58196816e-02 1.63821333e+02] [ 6.50747986e-02 9.97880119e-01 7.34152593e-04 -5.60434638e+00] [ 2.57172019e-02 -2.41256372e-03 9.99666347e-01 1.98721235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60071405699998 meters Centerline goodness [0,1] 0.9794270073811501 Centerline is valid? [True, True] Translation: X:163.85, Y:-5.61, Z:1.99 [[ 9.97560798e-01 -6.50100933e-02 -2.54193327e-02 1.63853360e+02] [ 6.50494740e-02 9.97881777e-01 7.24554531e-04 -5.60703597e+00] [ 2.53183855e-02 -2.37630142e-03 9.99676614e-01 1.98801590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63071405699998 meters Centerline goodness [0,1] 0.9789173533307888 Centerline is valid? [True, True] Translation: X:163.89, Y:-5.61, Z:1.99 [[ 9.97557717e-01 -6.52009203e-02 -2.50487645e-02 1.63885865e+02] [ 6.52392637e-02 9.97869393e-01 7.15734056e-04 -5.60775066e+00] [ 2.49487289e-02 -2.34814898e-03 9.99685974e-01 1.98923939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66071405699998 meters Centerline goodness [0,1] 0.9788217346435142 Centerline is valid? [True, True] Translation: X:163.92, Y:-5.61, Z:1.99 [[ 9.97628641e-01 -6.44848524e-02 -2.40582338e-02 1.63918357e+02] [ 6.45200640e-02 9.97916172e-01 6.89438491e-04 -5.61028899e+00] [ 2.39636422e-02 -2.24004237e-03 9.99710321e-01 1.99095364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69071405699998 meters Centerline goodness [0,1] 0.9799173461409584 Centerline is valid? [True, True] Translation: X:163.95, Y:-5.61, Z:1.99 [[ 9.97764657e-01 -6.28841480e-02 -2.26113328e-02 1.63950168e+02] [ 6.29148841e-02 9.98018685e-01 6.49809963e-04 -5.61086627e+00] [ 2.25256699e-02 -2.07094680e-03 9.99744120e-01 1.99276046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72071405699998 meters Centerline goodness [0,1] 0.9794640060847389 Centerline is valid? [True, True] Translation: X:163.98, Y:-5.61, Z:1.99 [[ 9.97828788e-01 -6.18484850e-02 -2.26379024e-02 1.63981791e+02] [ 6.18790558e-02 9.98083442e-01 6.51760582e-04 -5.61311755e+00] [ 2.25542051e-02 -2.05115750e-03 9.99743517e-01 1.99338328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75071405699998 meters Centerline goodness [0,1] 0.9804640350485047 Centerline is valid? [True, True] Translation: X:164.01, Y:-5.61, Z:1.99 [[ 9.97933077e-01 -5.99931080e-02 -2.30304487e-02 1.64013349e+02] [ 6.00242907e-02 9.98196696e-01 6.64466253e-04 -5.61426292e+00] [ 2.29490544e-02 -2.04547920e-03 9.99734543e-01 1.99397502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78071405699998 meters Centerline goodness [0,1] 0.9810911206587898 Centerline is valid? [True, True] Translation: X:164.05, Y:-5.61, Z:1.99 [[ 9.97972284e-01 -5.91083062e-02 -2.36120251e-02 1.64045753e+02] [ 5.91408792e-02 9.98249413e-01 6.82970909e-04 -5.61168365e+00] [ 2.35303209e-02 -2.07802196e-03 9.99720964e-01 1.99411118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81071405699998 meters Centerline goodness [0,1] 0.982988248461108 Centerline is valid? [True, True] Translation: X:164.08, Y:-5.61, Z:1.99 [[ 9.98013206e-01 -5.81985397e-02 -2.41364949e-02 1.64078246e+02] [ 5.82323540e-02 9.98302811e-01 6.99876052e-04 -5.61408227e+00] [ 2.40547990e-02 -2.10401046e-03 9.99708427e-01 1.99337192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84071405699999 meters Centerline goodness [0,1] 0.9804527440048364 Centerline is valid? [True, True] Translation: X:164.11, Y:-5.62, Z:1.99 [[ 9.98038713e-01 -5.73561614e-02 -2.50798256e-02 1.64109027e+02] [ 5.73924479e-02 9.98351429e-01 7.28841341e-04 -5.62141588e+00] [ 2.49966762e-02 -2.16680446e-03 9.99685186e-01 1.99189758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.870714057 meters Centerline goodness [0,1] 0.9786929595099157 Centerline is valid? [True, True] Translation: X:164.14, Y:-5.63, Z:1.99 [[ 9.98023354e-01 -5.73204249e-02 -2.57634104e-02 1.64140059e+02] [ 5.73587565e-02 9.98353349e-01 7.50689519e-04 -5.62694869e+00] [ 2.56779572e-02 -2.22696286e-03 9.99667786e-01 1.99139755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.900714057 meters Centerline goodness [0,1] 0.9838875941197562 Centerline is valid? [True, True] Translation: X:164.17, Y:-5.62, Z:1.99 [[ 9.97997530e-01 -5.69275838e-02 -2.75713660e-02 1.64172121e+02] [ 5.69714069e-02 9.98375485e-01 8.05884550e-04 -5.62097709e+00] [ 2.74806989e-02 -2.37505030e-03 9.99619513e-01 1.99153655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.930714057 meters Centerline goodness [0,1] 0.9758254584633341 Centerline is valid? [True, True] Translation: X:164.20, Y:-5.63, Z:1.99 [[ 9.97984222e-01 -5.65938447e-02 -2.87163464e-02 1.64202656e+02] [ 5.66412997e-02 9.98394239e-01 8.41157422e-04 -5.63192173e+00] [ 2.86226304e-02 -2.46599302e-03 9.99587247e-01 1.98975080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.960714057 meters Centerline goodness [0,1] 0.9844919546412084 Centerline is valid? [True, True] Translation: X:164.23, Y:-5.62, Z:1.99 [[ 9.98015849e-01 -5.53516529e-02 -3.00093104e-02 1.64234604e+02] [ 5.54029712e-02 9.98463687e-01 8.80656906e-04 -5.62461200e+00] [ 2.99144609e-02 -2.54151451e-03 9.99549231e-01 1.99098473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.990714057 meters Centerline goodness [0,1] 0.9838659007270443 Centerline is valid? [True, True] Translation: X:164.27, Y:-5.63, Z:1.99 [[ 9.98027668e-01 -5.47057209e-02 -3.07905390e-02 1.64266131e+02] [ 5.47594841e-02 9.98499164e-01 9.04942056e-04 -5.62684934e+00] [ 3.06948219e-02 -2.58923124e-03 9.99525449e-01 1.99097434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.020714057 meters Centerline goodness [0,1] 0.9863053678467997 Centerline is valid? [True, True] Translation: X:164.30, Y:-5.62, Z:1.99 [[ 9.98187874e-01 -5.20211535e-02 -3.02451186e-02 1.64297091e+02] [ 5.20718295e-02 9.98642946e-01 8.89758928e-04 -5.61978524e+00] [ 3.01577880e-02 -2.46306523e-03 9.99542116e-01 1.99358802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.050714057 meters Centerline goodness [0,1] 0.9858940486319466 Centerline is valid? [True, True] Translation: X:164.33, Y:-5.62, Z:1.99 [[ 9.98311116e-01 -4.99778653e-02 -2.96163540e-02 1.64327195e+02] [ 5.00255709e-02 9.98747557e-01 8.71565987e-04 -5.62065617e+00] [ 2.95357022e-02 -2.35166903e-03 9.99560960e-01 1.99437911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.080714057 meters Centerline goodness [0,1] 0.9873409198033802 Centerline is valid? [True, True] Translation: X:164.36, Y:-5.62, Z:2.00 [[ 9.98571044e-01 -4.51157244e-02 -2.86433637e-02 1.64357757e+02] [ 4.51583562e-02 9.98979485e-01 8.42911260e-04 -5.61699105e+00] [ 2.85761042e-02 -2.13519400e-03 9.99589339e-01 1.99645756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.110714057 meters Centerline goodness [0,1] 0.9867877972184836 Centerline is valid? [True, True] Translation: X:164.39, Y:-5.62, Z:2.00 [[ 9.98704354e-01 -4.23020531e-02 -2.82869074e-02 1.64388573e+02] [ 4.23425141e-02 9.99102807e-01 8.32656209e-04 -5.61706798e+00] [ 2.82263055e-02 -2.02931616e-03 9.99599499e-01 1.99718605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.140714057 meters Centerline goodness [0,1] 0.9875640910317531 Centerline is valid? [True, True] Translation: X:164.42, Y:-5.62, Z:2.00 [[ 9.98819734e-01 -3.96272727e-02 -2.80859168e-02 1.64417895e+02] [ 3.96661083e-02 9.99212648e-01 8.26736075e-04 -5.61630072e+00] [ 2.80310420e-02 -1.93981932e-03 9.99605171e-01 1.99806654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.170714057 meters Centerline goodness [0,1] 0.9877572108904663 Centerline is valid? [True, True] Translation: X:164.45, Y:-5.61, Z:2.00 [[ 9.99023568e-01 -3.43326761e-02 -2.78060788e-02 1.64448430e+02] [ 3.43686915e-02 9.99408887e-01 8.18210601e-04 -5.61240097e+00] [ 2.77615509e-02 -1.77307022e-03 9.99613001e-01 1.99895824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.200714057 meters Centerline goodness [0,1] 0.9879490984306848 Centerline is valid? [True, True] Translation: X:164.48, Y:-5.61, Z:2.00 [[ 9.99183236e-01 -2.95801565e-02 -2.75295316e-02 1.64477542e+02] [ 2.96136530e-02 9.99561092e-01 8.09751325e-04 -5.60980936e+00] [ 2.74934961e-02 -1.62433995e-03 9.99620663e-01 2.00020654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.230714057 meters Centerline goodness [0,1] 0.9897685040075225 Centerline is valid? [True, True] Translation: X:164.51, Y:-5.61, Z:2.00 [[ 9.99230382e-01 -2.81907878e-02 -2.72749507e-02 1.64506287e+02] [ 2.82231184e-02 9.99601327e-01 8.01043582e-04 -5.60731756e+00] [ 2.72414948e-02 -1.57021125e-03 9.99627648e-01 2.00125174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26071405699997 meters Centerline goodness [0,1] 0.9898277681719174 Centerline is valid? [True, True] Translation: X:164.53, Y:-5.61, Z:2.00 [[ 9.99238819e-01 -2.76451182e-02 -2.75232671e-02 1.64534797e+02] [ 2.76777156e-02 9.99616575e-01 8.04026114e-04 -5.60769091e+00] [ 2.74904866e-02 -1.56519526e-03 9.99620840e-01 2.00178556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29071405699997 meters Centerline goodness [0,1] 0.9905154824099195 Centerline is valid? [True, True] Translation: X:164.56, Y:-5.61, Z:2.00 [[ 9.99222488e-01 -2.78954477e-02 -2.78615174e-02 1.64563012e+02] [ 2.79287431e-02 9.99609591e-01 8.06527965e-04 -5.60658321e+00] [ 2.78281415e-02 -1.58403804e-03 9.99611467e-01 2.00216175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32071405699998 meters Centerline goodness [0,1] 0.9892659046506928 Centerline is valid? [True, True] Translation: X:164.59, Y:-5.61, Z:2.00 [[ 9.99186064e-01 -2.86110265e-02 -2.84362265e-02 1.64591581e+02] [ 2.86457913e-02 9.99589292e-01 8.15849425e-04 -5.60862398e+00] [ 2.84012053e-02 -1.62976359e-03 9.99595276e-01 2.00198897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35071405699998 meters Centerline goodness [0,1] 0.9898919873873471 Centerline is valid? [True, True] Translation: X:164.62, Y:-5.61, Z:2.00 [[ 9.99143436e-01 -2.96787344e-02 -2.88368943e-02 1.64619034e+02] [ 2.97147989e-02 9.99558079e-01 8.22818472e-04 -5.61119288e+00] [ 2.87997304e-02 -1.67899619e-03 9.99583792e-01 2.00171061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38071405699998 meters Centerline goodness [0,1] 0.9905337950263075 Centerline is valid? [True, True] Translation: X:164.65, Y:-5.61, Z:2.00 [[ 9.99096801e-01 -3.04799503e-02 -2.96066547e-02 1.64647509e+02] [ 3.05182390e-02 9.99533855e-01 8.42132878e-04 -5.60671999e+00] [ 2.95671855e-02 -1.74491523e-03 9.99561272e-01 2.00357205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41071405699998 meters Centerline goodness [0,1] 0.9907278210379439 Centerline is valid? [True, True] Translation: X:164.67, Y:-5.61, Z:2.00 [[ 9.99080698e-01 -3.05705444e-02 -3.00532860e-02 1.64674779e+02] [ 3.06099578e-02 9.99531042e-01 8.52150787e-04 -5.61268535e+00] [ 3.00131416e-02 -1.77129722e-03 9.99547935e-01 2.00260162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44071405699998 meters Centerline goodness [0,1] 0.9909424779758016 Centerline is valid? [True, True] Translation: X:164.70, Y:-5.60, Z:2.01 [[ 9.99090635e-01 -3.03898480e-02 -2.99058450e-02 1.64703268e+02] [ 3.04286380e-02 9.99536587e-01 8.42724853e-04 -5.60492442e+00] [ 2.98663759e-02 -1.75195264e-03 9.99552365e-01 2.00532643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47071405699998 meters Centerline goodness [0,1] 0.9900024712992294 Centerline is valid? [True, True] Translation: X:164.73, Y:-5.61, Z:2.01 [[ 9.99119226e-01 -3.03149178e-02 -2.90134214e-02 1.64731210e+02] [ 3.03512568e-02 9.99538964e-01 8.12821297e-04 -5.60709657e+00] [ 2.89754045e-02 -1.69269919e-03 9.99578692e-01 2.00631456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50071405699998 meters Centerline goodness [0,1] 0.9902606186310758 Centerline is valid? [True, True] Translation: X:164.76, Y:-5.60, Z:2.01 [[ 9.99107280e-01 -3.10181004e-02 -2.86796223e-02 1.64760019e+02] [ 3.10537543e-02 9.99517397e-01 7.98511679e-04 -5.60414667e+00] [ 2.86410131e-02 -1.68840878e-03 9.99588336e-01 2.00801934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53071405699998 meters Centerline goodness [0,1] 0.9902606186310758 Centerline is valid? [True, True] Translation: X:164.79, Y:-5.60, Z:2.01 [[ 9.99099388e-01 -3.12710924e-02 -2.86798230e-02 1.64788286e+02] [ 3.13066425e-02 9.99509514e-01 7.91254847e-04 -5.60489061e+00] [ 2.86410126e-02 -1.68841120e-03 9.99588336e-01 2.00841557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56071405699998 meters Centerline goodness [0,1] 0.9893061371516052 Centerline is valid? [True, True] Translation: X:164.82, Y:-5.61, Z:2.01 [[ 9.99061266e-01 -3.30107713e-02 -2.80513005e-02 1.64816619e+02] [ 3.30453447e-02 9.99453557e-01 7.69698221e-04 -5.61110596e+00] [ 2.80105638e-02 -1.69594057e-03 9.99606189e-01 2.00828149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59071405699999 meters Centerline goodness [0,1] 0.9903203971119133 Centerline is valid? [True, True] Translation: X:164.85, Y:-5.61, Z:2.01 [[ 9.99013450e-01 -3.44835532e-02 -2.79823236e-02 1.64846262e+02] [ 3.45184970e-02 9.99403765e-01 7.66551836e-04 -5.60717400e+00] [ 2.79392061e-02 -1.73170335e-03 9.99608124e-01 2.01002690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.620714057 meters Centerline goodness [0,1] 0.989109357384442 Centerline is valid? [True, True] Translation: X:164.87, Y:-5.61, Z:2.01 [[ 9.98891447e-01 -3.79803429e-02 -2.78095309e-02 1.64874995e+02] [ 3.80161828e-02 9.99276834e-01 7.61000562e-04 -5.61399736e+00] [ 2.77605169e-02 -1.81736916e-03 9.99612951e-01 2.00928179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.650714057 meters Centerline goodness [0,1] 0.9889622237740184 Centerline is valid? [True, True] Translation: X:164.91, Y:-5.61, Z:2.01 [[ 9.98793508e-01 -4.01155060e-02 -2.83244568e-02 1.64905990e+02] [ 4.01535386e-02 9.99193221e-01 7.75019078e-04 -5.61457733e+00] [ 2.82705149e-02 -1.91141119e-03 9.99598482e-01 2.00972607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.680714057 meters Centerline goodness [0,1] 0.9890611987665714 Centerline is valid? [True, True] Translation: X:164.94, Y:-5.62, Z:2.01 [[ 9.98704239e-01 -4.22780146e-02 -2.83269011e-02 1.64936734e+02] [ 4.23169335e-02 9.99103936e-01 7.75589399e-04 -5.61608518e+00] [ 2.82687280e-02 -1.97329201e-03 9.99598412e-01 2.00986192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.710714057 meters Centerline goodness [0,1] 0.987092421857432 Centerline is valid? [True, True] Translation: X:164.97, Y:-5.62, Z:2.01 [[ 9.98481789e-01 -4.67431482e-02 -2.91409441e-02 1.64966426e+02] [ 4.67862293e-02 9.98904606e-01 7.97913131e-04 -5.62219664e+00] [ 2.90717263e-02 -2.16009662e-03 9.99574994e-01 2.00931452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.740714057 meters Centerline goodness [0,1] 0.9871872410008288 Centerline is valid? [True, True] Translation: X:165.00, Y:-5.62, Z:2.01 [[ 9.98382117e-01 -4.86152070e-02 -2.94908466e-02 1.64997744e+02] [ 4.86601513e-02 9.98815067e-01 8.07832938e-04 -5.62498690e+00] [ 2.94166289e-02 -2.24155502e-03 9.99564724e-01 2.00895454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.770714057 meters Centerline goodness [0,1] 0.9881679475332987 Centerline is valid? [True, True] Translation: X:165.03, Y:-5.62, Z:2.01 [[ 9.98223795e-01 -5.05938871e-02 -3.14565352e-02 1.65028494e+02] [ 5.06460328e-02 9.98716294e-01 8.62637936e-04 -5.62416243e+00] [ 3.13725100e-02 -2.45425442e-03 9.99504748e-01 2.00928584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.800714057 meters Centerline goodness [0,1] 0.9873890915642031 Centerline is valid? [True, True] Translation: X:165.06, Y:-5.63, Z:2.01 [[ 9.98231189e-01 -5.01435705e-02 -3.19392464e-02 1.65059197e+02] [ 5.01971222e-02 9.98738945e-01 8.76547293e-04 -5.62504030e+00] [ 3.18550161e-02 -2.47825510e-03 9.99489428e-01 2.00912555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.830714057 meters Centerline goodness [0,1] 0.9858926763415458 Centerline is valid? [True, True] Translation: X:165.09, Y:-5.62, Z:2.01 [[ 9.98418712e-01 -4.59576245e-02 -3.23724079e-02 1.65088657e+02] [ 4.60104495e-02 9.98940563e-01 8.88362288e-04 -5.62416538e+00] [ 3.22972843e-02 -2.37642657e-03 9.99475481e-01 2.00970098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.860714057 meters Centerline goodness [0,1] 0.9866118799810354 Centerline is valid? [True, True] Translation: X:165.12, Y:-5.62, Z:2.01 [[ 9.98593099e-01 -4.20522906e-02 -3.23021372e-02 1.65118802e+02] [ 4.21028456e-02 9.99112889e-01 8.86180899e-04 -5.62005678e+00] [ 3.22362156e-02 -2.24494602e-03 9.99477757e-01 2.01102540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.890714057 meters Centerline goodness [0,1] 0.9887782805429864 Centerline is valid? [True, True] Translation: X:165.15, Y:-5.61, Z:2.01 [[ 9.98949195e-01 -3.30536728e-02 -3.17483930e-02 1.65150002e+02] [ 3.30979757e-02 9.99451733e-01 8.70774372e-04 -5.60652890e+00] [ 3.17022041e-02 -1.92066690e-03 9.99495513e-01 2.01416326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.920714057 meters Centerline goodness [0,1] 0.9888195117552916 Centerline is valid? [True, True] Translation: X:165.18, Y:-5.60, Z:2.01 [[ 9.99129039e-01 -2.79529434e-02 -3.09805657e-02 1.65180091e+02] [ 2.79926779e-02 9.99607767e-01 8.49500829e-04 -5.60372913e+00] [ 3.09446681e-02 -1.71598994e-03 9.99519626e-01 2.01467991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.950714057 meters Centerline goodness [0,1] 0.9908558722091123 Centerline is valid? [True, True] Translation: X:165.21, Y:-5.60, Z:2.02 [[ 9.99387662e-01 -1.78053157e-02 -3.01209550e-02 1.65209586e+02] [ 1.78382711e-02 9.99840544e-01 8.25722789e-04 -5.59594136e+00] [ 3.01014498e-02 -1.36252293e-03 9.99545920e-01 2.01554966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98071405699997 meters Centerline goodness [0,1] 0.9902645072395022 Centerline is valid? [True, True] Translation: X:165.24, Y:-5.59, Z:2.02 [[ 9.99486070e-01 -1.30006496e-02 -2.93015141e-02 1.65239702e+02] [ 1.30297631e-02 9.99914787e-01 8.02858715e-04 -5.59316726e+00] [ 2.92885796e-02 -1.18423789e-03 9.99570296e-01 2.01626933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01071405699997 meters Centerline goodness [0,1] 0.9910257581293387 Centerline is valid? [True, True] Translation: X:165.27, Y:-5.59, Z:2.02 [[ 9.99586387e-01 -4.68391617e-03 -2.83745663e-02 1.65269750e+02] [ 4.70786359e-03 9.99988616e-01 7.77228031e-04 -5.58700217e+00] [ 2.83706028e-02 -9.10490146e-04 9.99597059e-01 2.01714646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04071405699997 meters Centerline goodness [0,1] 0.991247514796956 Centerline is valid? [True, True] Translation: X:165.30, Y:-5.58, Z:2.02 [[ 9.99608846e-01 -1.21474228e-03 -2.79406561e-02 1.65298549e+02] [ 1.23658092e-03 9.99998943e-01 7.64342270e-04 -5.58240908e+00] [ 2.79396981e-02 -7.98594177e-04 9.99609291e-01 2.01915242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07071405699998 meters Centerline goodness [0,1] 0.9924774208299989 Centerline is valid? [True, True] Translation: X:165.33, Y:-5.58, Z:2.02 [[ 9.99623148e-01 3.67599616e-03 -2.72038263e-02 1.65327192e+02] [-3.65714970e-03 9.99993037e-01 7.42508216e-04 -5.57974702e+00] [ 2.72063663e-02 -6.42739935e-04 9.99629632e-01 2.02032618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10071405699998 meters Centerline goodness [0,1] 0.9912354973798028 Centerline is valid? [True, True] Translation: X:165.36, Y:-5.58, Z:2.02 [[ 9.99630134e-01 4.78287767e-03 -2.67716049e-02 1.65355230e+02] [-4.76507203e-03 9.99988381e-01 7.28850978e-04 -5.58014696e+00] [ 2.67747799e-02 -6.01012776e-04 9.99641311e-01 2.02055503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13071405699998 meters Centerline goodness [0,1] 0.9926081401715642 Centerline is valid? [True, True] Translation: X:165.38, Y:-5.58, Z:2.02 [[ 9.99644679e-01 4.32104866e-03 -2.63029395e-02 1.65383206e+02] [-4.30382466e-03 9.99990485e-01 7.11408443e-04 -5.58216054e+00] [ 2.63057633e-02 -5.97952424e-04 9.99653765e-01 2.02107736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16071405699998 meters Centerline goodness [0,1] 0.9928719928719929 Centerline is valid? [True, True] Translation: X:165.41, Y:-5.58, Z:2.02 [[ 9.99646742e-01 2.77132252e-03 -2.64331561e-02 1.65411563e+02] [-2.75357328e-03 9.99995958e-01 7.07852049e-04 -5.58374739e+00] [ 2.64350110e-02 -6.34816361e-04 9.99650332e-01 2.02130652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19071405699998 meters Centerline goodness [0,1] 0.9928963366043578 Centerline is valid? [True, True] Translation: X:165.44, Y:-5.59, Z:2.02 [[ 9.99639250e-01 1.18962928e-03 -2.68319728e-02 1.65439170e+02] [-1.17091222e-03 9.99999060e-01 7.13266416e-04 -5.58733498e+00] [ 2.68327961e-02 -6.81591220e-04 9.99639703e-01 2.02088237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22071405699998 meters Centerline goodness [0,1] 0.9933813996861283 Centerline is valid? [True, True] Translation: X:165.47, Y:-5.59, Z:2.02 [[ 9.99601506e-01 -1.74998838e-03 -2.81738762e-02 1.65468880e+02] [ 1.77172254e-03 9.99998152e-01 7.46484969e-04 -5.59240522e+00] [ 2.81725178e-02 -7.96103790e-04 9.99602759e-01 2.01949839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25071405699998 meters Centerline goodness [0,1] 0.9934735645252984 Centerline is valid? [True, True] Translation: X:165.50, Y:-5.60, Z:2.02 [[ 9.99556778e-01 -3.85493367e-03 -2.95192565e-02 1.65496151e+02] [ 3.87962463e-03 9.99992171e-01 7.79206682e-04 -5.59785002e+00] [ 2.95160216e-02 -8.93384955e-04 9.99563908e-01 2.01813213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28071405699998 meters Centerline goodness [0,1] 0.9930697568734379 Centerline is valid? [True, True] Translation: X:165.52, Y:-5.60, Z:2.02 [[ 9.99533193e-01 -4.79243836e-03 -3.01732972e-02 1.65524725e+02] [ 4.81847424e-03 9.99988079e-01 7.90225549e-04 -5.59948220e+00] [ 3.01691504e-02 -9.35245921e-04 9.99544370e-01 2.01862890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31071405699998 meters Centerline goodness [0,1] 0.9925100433509612 Centerline is valid? [True, True] Translation: X:165.55, Y:-5.60, Z:2.02 [[ 9.99527338e-01 -5.32413151e-03 -3.02779459e-02 1.65552839e+02] [ 5.35042128e-03 9.99985376e-01 7.87328482e-04 -5.60213535e+00] [ 3.02733113e-02 -9.48956108e-04 9.99541208e-01 2.01917300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34071405699999 meters Centerline goodness [0,1] 0.99280248847717 Centerline is valid? [True, True] Translation: X:165.58, Y:-5.61, Z:2.02 [[ 9.99531122e-01 -5.66570667e-03 -3.00904486e-02 1.65580554e+02] [ 5.69172907e-03 9.99983498e-01 7.79222771e-04 -5.60588340e+00] [ 3.00855372e-02 -9.50124092e-04 9.99546876e-01 2.02057718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.370714057 meters Centerline goodness [0,1] 0.9931180158081221 Centerline is valid? [True, True] Translation: X:165.61, Y:-5.61, Z:2.02 [[ 9.99545984e-01 -5.84110959e-03 -2.95585512e-02 1.65609585e+02] [ 5.86614968e-03 9.99982505e-01 7.60489018e-04 -5.60727595e+00] [ 2.95535920e-02 -9.33538629e-04 9.99562761e-01 2.02165379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.400714057 meters Centerline goodness [0,1] 0.9933378653976886 Centerline is valid? [True, True] Translation: X:165.64, Y:-5.61, Z:2.02 [[ 9.99577348e-01 -6.50227872e-03 -2.83345398e-02 1.65636761e+02] [ 6.52541204e-03 9.99978447e-01 7.24044984e-04 -5.61118976e+00] [ 2.83292211e-02 -9.08633512e-04 9.99598234e-01 2.02309482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.430714057 meters Centerline goodness [0,1] 0.9923219786193151 Centerline is valid? [True, True] Translation: X:165.67, Y:-5.62, Z:2.02 [[ 9.99566475e-01 -9.55110088e-03 -2.78502750e-02 1.65665131e+02] [ 9.57456626e-03 9.99953911e-01 7.09320189e-04 -5.61726118e+00] [ 2.78422167e-02 -9.75666985e-04 9.99611854e-01 2.02339832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.460714057 meters Centerline goodness [0,1] 0.9925038499864118 Centerline is valid? [True, True] Translation: X:165.69, Y:-5.62, Z:2.02 [[ 9.99537145e-01 -1.22374480e-02 -2.78521109e-02 1.65693419e+02] [ 1.22619184e-02 9.99924569e-01 7.07954164e-04 -5.62185929e+00] [ 2.78413464e-02 -1.04914680e-03 9.99611804e-01 2.02353364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.490714057 meters Centerline goodness [0,1] 0.9921185158420089 Centerline is valid? [True, True] Translation: X:165.72, Y:-5.62, Z:2.02 [[ 9.99482606e-01 -1.51408544e-02 -2.83773499e-02 1.65723285e+02] [ 1.51673904e-02 9.99884709e-01 7.20082320e-04 -5.62258944e+00] [ 2.83631756e-02 -1.15012010e-03 9.99597023e-01 2.02482519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.520714057 meters Centerline goodness [0,1] 0.992084671400787 Centerline is valid? [True, True] Translation: X:165.75, Y:-5.63, Z:2.02 [[ 9.99322471e-01 -2.22970198e-02 -2.92821055e-02 1.65752885e+02] [ 2.23283184e-02 9.99750416e-01 7.42278887e-04 -5.63482512e+00] [ 2.92582466e-02 -1.39559615e-03 9.99570912e-01 2.02313451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.550714057 meters Centerline goodness [0,1] 0.9923071717012205 Centerline is valid? [True, True] Translation: X:165.78, Y:-5.64, Z:2.02 [[ 9.99208587e-01 -2.61105031e-02 -3.00073420e-02 1.65783501e+02] [ 2.61450797e-02 9.99657870e-01 7.60422150e-04 -5.63685045e+00] [ 2.99772206e-02 -1.54436469e-03 9.99549389e-01 2.02418816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.580714057 meters Centerline goodness [0,1] 0.9923626286975916 Centerline is valid? [True, True] Translation: X:165.81, Y:-5.64, Z:2.03 [[ 9.98985267e-01 -3.35911752e-02 -3.00011422e-02 1.65813210e+02] [ 3.36290913e-02 9.99434093e-01 7.60005878e-04 -5.64102147e+00] [ 2.99586349e-02 -1.76814583e-03 9.99549575e-01 2.02640562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.610714057 meters Centerline goodness [0,1] 0.9912166412076556 Centerline is valid? [True, True] Translation: X:165.84, Y:-5.65, Z:2.03 [[ 9.98776361e-01 -3.95678834e-02 -2.96675301e-02 1.65842707e+02] [ 3.96075715e-02 9.99215030e-01 7.51068759e-04 -5.64818221e+00] [ 2.96145237e-02 -1.92520854e-03 9.99559540e-01 2.02756079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.640714057 meters Centerline goodness [0,1] 0.9914656605129587 Centerline is valid? [True, True] Translation: X:165.87, Y:-5.65, Z:2.03 [[ 9.98682556e-01 -4.21393129e-02 -2.92819338e-02 1.65872306e+02] [ 4.21790593e-02 9.99109793e-01 7.40748886e-04 -5.65266084e+00] [ 2.92246521e-02 -1.97485741e-03 9.99570918e-01 2.02817240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.670714057 meters Centerline goodness [0,1] 0.9914827979344109 Centerline is valid? [True, True] Translation: X:165.90, Y:-5.65, Z:2.03 [[ 9.98611457e-01 -4.38848248e-02 -2.91423957e-02 1.65902839e+02] [ 4.39249240e-02 9.99034563e-01 7.36922003e-04 -5.65258549e+00] [ 2.90819208e-02 -2.01597627e-03 9.99574999e-01 2.02919837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.700714057 meters Centerline goodness [0,1] 0.9909019607843137 Centerline is valid? [True, True] Translation: X:165.93, Y:-5.66, Z:2.03 [[ 9.98508875e-01 -4.60120928e-02 -2.93753787e-02 1.65932608e+02] [ 4.60537790e-02 9.98938685e-01 7.43738640e-04 -5.65861948e+00] [ 2.93099812e-02 -2.09547683e-03 9.99568174e-01 2.02893865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73071405699997 meters Centerline goodness [0,1] 0.9910110339558192 Centerline is valid? [True, True] Translation: X:165.96, Y:-5.66, Z:2.03 [[ 9.98480340e-01 -4.61683270e-02 -3.00914652e-02 1.65962786e+02] [ 4.62121763e-02 9.98931355e-01 7.63006598e-04 -5.66034485e+00] [ 3.00240814e-02 -2.15243918e-03 9.99546858e-01 2.02910201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76071405699997 meters Centerline goodness [0,1] 0.9913793103448276 Centerline is valid? [True, True] Translation: X:165.99, Y:-5.66, Z:2.03 [[ 9.98551879e-01 -4.43680528e-02 -3.04240085e-02 1.65993602e+02] [ 4.44120620e-02 9.99012999e-01 7.71970006e-04 -5.65776567e+00] [ 3.03597292e-02 -2.12204505e-03 9.99536785e-01 2.03005851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79071405699997 meters Centerline goodness [0,1] 0.9914019530811539 Centerline is valid? [True, True] Translation: X:166.02, Y:-5.66, Z:2.03 [[ 9.98626505e-01 -4.28517731e-02 -3.01467778e-02 1.66023894e+02] [ 4.28943032e-02 9.99079323e-01 7.65176648e-04 -5.65770385e+00] [ 3.00862332e-02 -2.05725071e-03 9.99545190e-01 2.03016481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82071405699998 meters Centerline goodness [0,1] 0.9910726332358893 Centerline is valid? [True, True] Translation: X:166.05, Y:-5.66, Z:2.03 [[ 9.98768685e-01 -3.98340567e-02 -2.95695957e-02 1.66054978e+02] [ 3.98736644e-02 9.99204447e-01 7.50798025e-04 -5.65608601e+00] [ 2.95161642e-02 -1.92892169e-03 9.99562442e-01 2.03144043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85071405699998 meters Centerline goodness [0,1] 0.9917639910889084 Centerline is valid? [True, True] Translation: X:166.09, Y:-5.66, Z:2.03 [[ 9.98866674e-01 -3.81531552e-02 -2.84553166e-02 1.66085195e+02] [ 3.81891601e-02 9.99270267e-01 7.22738948e-04 -5.65587788e+00] [ 2.84069771e-02 -1.80860449e-03 9.99594804e-01 2.03228334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88071405699998 meters Centerline goodness [0,1] 0.9907405326441173 Centerline is valid? [True, True] Translation: X:166.11, Y:-5.66, Z:2.03 [[ 9.99040484e-01 -3.43186790e-02 -2.72091728e-02 1.66114338e+02] [ 3.43501738e-02 9.99409620e-01 6.90810005e-04 -5.65832393e+00] [ 2.71694014e-02 -1.62478698e-03 9.99629523e-01 2.03276078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91071405699998 meters Centerline goodness [0,1] 0.9913461754591022 Centerline is valid? [True, True] Translation: X:166.14, Y:-5.65, Z:2.03 [[ 9.99113094e-01 -3.23478259e-02 -2.69563272e-02 1.66144286e+02] [ 3.23780033e-02 9.99475461e-01 6.83657835e-04 -5.65359149e+00] [ 2.69200727e-02 -1.55584355e-03 9.99636378e-01 2.03450979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94071405699998 meters Centerline goodness [0,1] 0.9914681515076674 Centerline is valid? [True, True] Translation: X:166.17, Y:-5.65, Z:2.03 [[ 9.99160112e-01 -3.08211901e-02 -2.70023032e-02 1.66174124e+02] [ 3.08508902e-02 9.99523764e-01 6.83904879e-04 -5.65299223e+00] [ 2.69683650e-02 -1.51637557e-03 9.99635137e-01 2.03438915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97071405699998 meters Centerline goodness [0,1] 0.99250826790254 Centerline is valid? [True, True] Translation: X:166.20, Y:-5.64, Z:2.04 [[ 9.99193308e-01 -2.92758904e-02 -2.74891833e-02 1.66204333e+02] [ 2.93060688e-02 9.99570243e-01 6.95507205e-04 -5.64469284e+00] [ 2.74570080e-02 -1.50054604e-03 9.99621859e-01 2.03624116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00071405699998 meters Centerline goodness [0,1] 0.9908839841031053 Centerline is valid? [True, True] Translation: X:166.23, Y:-5.65, Z:2.03 [[ 9.99216914e-01 -2.85502879e-02 -2.73941394e-02 1.66232579e+02] [ 2.85799591e-02 9.99591270e-01 6.92119200e-04 -5.65385925e+00] [ 2.73631823e-02 -1.47450059e-03 9.99624471e-01 2.03417779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03071405699998 meters Centerline goodness [0,1] 0.991878491463442 Centerline is valid? [True, True] Translation: X:166.26, Y:-5.65, Z:2.03 [[ 9.99204426e-01 -2.91757692e-02 -2.71898801e-02 1.66260942e+02] [ 2.92051257e-02 9.99573206e-01 6.83111009e-04 -5.65357181e+00] [ 2.71583453e-02 -1.47665141e-03 9.99630053e-01 2.03477542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06071405699998 meters Centerline goodness [0,1] 0.991131119864941 Centerline is valid? [True, True] Translation: X:166.29, Y:-5.66, Z:2.03 [[ 9.99135199e-01 -3.06278015e-02 -2.81210225e-02 1.66289269e+02] [ 3.06596626e-02 9.99529635e-01 7.02422911e-04 -5.65816471e+00] [ 2.80862817e-02 -1.56399652e-03 9.99604279e-01 2.03322388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09071405699999 meters Centerline goodness [0,1] 0.9926019203525893 Centerline is valid? [True, True] Translation: X:166.32, Y:-5.65, Z:2.04 [[ 9.99098631e-01 -3.15627527e-02 -2.83851865e-02 1.66317959e+02] [ 3.15954703e-02 9.99500490e-01 7.04744043e-04 -5.65052082e+00] [ 2.83487641e-02 -1.60095212e-03 9.99596811e-01 2.03552040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.120714057 meters Centerline goodness [0,1] 0.9919726575675128 Centerline is valid? [True, True] Translation: X:166.35, Y:-5.65, Z:2.04 [[ 9.99056384e-01 -3.29684441e-02 -2.82740880e-02 1.66346400e+02] [ 3.30013482e-02 9.99455064e-01 6.97781663e-04 -5.65242692e+00] [ 2.82356756e-02 -1.63020625e-03 9.99599965e-01 2.03587842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.150714057 meters Centerline goodness [0,1] 0.991245201697084 Centerline is valid? [True, True] Translation: X:166.37, Y:-5.66, Z:2.04 [[ 9.99043068e-01 -3.36602647e-02 -2.79273221e-02 1.66374796e+02] [ 3.36925949e-02 9.99432007e-01 6.87767412e-04 -5.66023619e+00] [ 2.78883091e-02 -1.62805322e-03 9.99609720e-01 2.03514147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.180714057 meters Centerline goodness [0,1] 0.9902428057553957 Centerline is valid? [True, True] Translation: X:166.40, Y:-5.66, Z:2.04 [[ 9.99030955e-01 -3.49564354e-02 -2.67432146e-02 1.66404697e+02] [ 3.49865136e-02 9.99387568e-01 6.57479392e-04 -5.65880818e+00] [ 2.67038531e-02 -1.59249410e-03 9.99642120e-01 2.03798640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.210714057 meters Centerline goodness [0,1] 0.9909188994785111 Centerline is valid? [True, True] Translation: X:166.44, Y:-5.66, Z:2.04 [[ 9.99014123e-01 -3.59106770e-02 -2.60999148e-02 1.66435133e+02] [ 3.59396375e-02 9.99353757e-01 6.41205601e-04 -5.66079350e+00] [ 2.60600218e-02 -1.57859493e-03 9.99659134e-01 2.03876410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.240714057 meters Centerline goodness [0,1] 0.9911458684464819 Centerline is valid? [True, True] Translation: X:166.47, Y:-5.66, Z:2.04 [[ 9.98974626e-01 -3.72620134e-02 -2.57145677e-02 1.66466178e+02] [ 3.72905809e-02 9.99304264e-01 6.32139329e-04 -5.66037004e+00] [ 2.56731224e-02 -1.59040232e-03 9.99669126e-01 2.04041712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.270714057 meters Centerline goodness [0,1] 0.9910730306836534 Centerline is valid? [True, True] Translation: X:166.50, Y:-5.66, Z:2.04 [[ 9.98837131e-01 -4.07798096e-02 -2.57175494e-02 1.66497512e+02] [ 4.08095662e-02 9.99166742e-01 6.33053474e-04 -5.65765082e+00] [ 2.56703042e-02 -1.68183935e-03 9.99669049e-01 2.04211650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.300714057 meters Centerline goodness [0,1] 0.9905144189801318 Centerline is valid? [True, True] Translation: X:166.53, Y:-5.67, Z:2.04 [[ 9.98611911e-01 -4.57236160e-02 -2.61457737e-02 1.66526367e+02] [ 4.57560593e-02 9.98952436e-01 6.43634781e-04 -5.66549901e+00] [ 2.60889550e-02 -1.83906893e-03 9.99657934e-01 2.04140018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.330714057 meters Centerline goodness [0,1] 0.9902236206315317 Centerline is valid? [True, True] Translation: X:166.56, Y:-5.67, Z:2.04 [[ 9.98484990e-01 -4.83296450e-02 -2.63053153e-02 1.66557551e+02] [ 4.83633788e-02 9.98829597e-01 6.47317876e-04 -5.66761154e+00] [ 2.62432428e-02 -1.91855111e-03 9.99653746e-01 2.04178202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.360714057 meters Centerline goodness [0,1] 0.989021329987453 Centerline is valid? [True, True] Translation: X:166.59, Y:-5.67, Z:2.04 [[ 9.98377372e-01 -5.05277521e-02 -2.62596644e-02 1.66587384e+02] [ 5.05621368e-02 9.98720708e-01 6.46654292e-04 -5.67434396e+00] [ 2.61933966e-02 -1.97334975e-03 9.99654946e-01 2.04096689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.390714057 meters Centerline goodness [0,1] 0.9896948788028137 Centerline is valid? [True, True] Translation: X:166.62, Y:-5.67, Z:2.04 [[ 9.98141748e-01 -5.47596262e-02 -2.67289086e-02 1.66618214e+02] [ 5.47967666e-02 9.98497311e-01 6.58497972e-04 -5.67167515e+00] [ 2.66526842e-02 -2.12193208e-03 9.99642502e-01 2.04192770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.420714057 meters Centerline goodness [0,1] 0.9892591017923874 Centerline is valid? [True, True] Translation: X:166.65, Y:-5.67, Z:2.04 [[ 9.98026836e-01 -5.65703265e-02 -2.72439401e-02 1.66649100e+02] [ 5.66096001e-02 9.98396165e-01 6.71821452e-04 -5.67410549e+00] [ 2.71622401e-02 -2.21276439e-03 9.99628589e-01 2.04206573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.450714057 meters Centerline goodness [0,1] 0.9892591017923874 Centerline is valid? [True, True] Translation: X:166.68, Y:-5.67, Z:2.04 [[ 9.98030863e-01 -5.64992623e-02 -2.72439014e-02 1.66680888e+02] [ 5.65385520e-02 9.98400190e-01 6.73387087e-04 -5.67495253e+00] [ 2.71622704e-02 -2.21239183e-03 9.99628589e-01 2.04250970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48071405699997 meters Centerline goodness [0,1] 0.9903954041560074 Centerline is valid? [True, True] Translation: X:166.71, Y:-5.68, Z:2.04 [[ 9.97805938e-01 -5.95370194e-02 -2.89594995e-02 1.66711819e+02] [ 5.95827181e-02 9.98223114e-01 7.16900243e-04 -5.67654921e+00] [ 2.88653597e-02 -2.44081302e-03 9.99580329e-01 2.04179242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51071405699997 meters Centerline goodness [0,1] 0.9886287175346521 Centerline is valid? [True, True] Translation: X:166.74, Y:-5.68, Z:2.04 [[ 9.97729607e-01 -6.03913390e-02 -2.98080024e-02 1.66742306e+02] [ 6.04401531e-02 9.98171550e-01 7.38518535e-04 -5.67966705e+00] [ 2.97088998e-02 -2.53844204e-03 9.99555370e-01 2.04162772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54071405699997 meters Centerline goodness [0,1] 0.9882215952348963 Centerline is valid? [True, True] Translation: X:166.77, Y:-5.68, Z:2.04 [[ 9.97638693e-01 -6.16877130e-02 -3.01937945e-02 1.66773801e+02] [ 6.17384210e-02 9.98092083e-01 7.49149709e-04 -5.68124452e+00] [ 3.00899739e-02 -2.61149793e-03 9.99543783e-01 2.04183498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57071405699998 meters Centerline goodness [0,1] 0.9906472883864891 Centerline is valid? [True, True] Translation: X:166.81, Y:-5.68, Z:2.04 [[ 9.97627315e-01 -6.19368541e-02 -3.00593789e-02 1.66806231e+02] [ 6.19872734e-02 9.98076660e-01 7.47475639e-04 -5.67672326e+00] [ 2.99552682e-02 -2.60900105e-03 9.99547835e-01 2.04383103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60071405699998 meters Centerline goodness [0,1] 0.9899709923320816 Centerline is valid? [True, True] Translation: X:166.84, Y:-5.68, Z:2.04 [[ 9.97654440e-01 -6.14646197e-02 -3.01283585e-02 1.66838654e+02] [ 6.15151232e-02 9.98105869e-01 7.51388822e-04 -5.67695938e+00] [ 3.00251076e-02 -2.60297608e-03 9.99545756e-01 2.04492899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63071405699998 meters Centerline goodness [0,1] 0.9825872321328397 Centerline is valid? [True, True] Translation: X:166.87, Y:-5.69, Z:2.04 [[ 9.97716964e-01 -6.04604819e-02 -3.00897094e-02 1.66869705e+02] [ 6.05104590e-02 9.98167280e-01 7.52308947e-04 -5.68831778e+00] [ 2.99890785e-02 -2.57133353e-03 9.99546919e-01 2.04391412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66071405699998 meters Centerline goodness [0,1] 0.9895172537904351 Centerline is valid? [True, True] Translation: X:166.90, Y:-5.68, Z:2.05 [[ 9.97848310e-01 -5.84905869e-02 -2.96243368e-02 1.66900278e+02] [ 5.85381892e-02 9.98284895e-01 7.41413244e-04 -5.67931536e+00] [ 2.95301623e-02 -2.47397299e-03 9.99560828e-01 2.04677676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69071405699998 meters Centerline goodness [0,1] 0.9894644424934153 Centerline is valid? [True, True] Translation: X:166.93, Y:-5.68, Z:2.05 [[ 9.97909783e-01 -5.75052061e-02 -2.94824609e-02 1.66932278e+02] [ 5.75519590e-02 9.98342239e-01 7.38970646e-04 -5.67823688e+00] [ 2.93910914e-02 -2.43419942e-03 9.99565025e-01 2.04793033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72071405699998 meters Centerline goodness [0,1] 0.9890611987665714 Centerline is valid? [True, True] Translation: X:166.96, Y:-5.68, Z:2.05 [[ 9.98029200e-01 -5.60365693e-02 -2.82421329e-02 1.66962436e+02] [ 5.60789193e-02 9.98426087e-01 7.09092669e-04 -5.67877093e+00] [ 2.81579471e-02 -2.29148348e-03 9.99600860e-01 2.04975022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75071405699998 meters Centerline goodness [0,1] 0.9891791970062445 Centerline is valid? [True, True] Translation: X:166.99, Y:-5.68, Z:2.05 [[ 9.98087175e-01 -5.50986915e-02 -2.80379331e-02 1.66994952e+02] [ 5.51400985e-02 9.98478378e-01 7.05222127e-04 -5.67699003e+00] [ 2.79564132e-02 -2.24988755e-03 9.99606611e-01 2.05122638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78071405699998 meters Centerline goodness [0,1] 0.9901797378260282 Centerline is valid? [True, True] Translation: X:167.03, Y:-5.68, Z:2.05 [[ 9.98177677e-01 -5.33622523e-02 -2.81743818e-02 1.67026074e+02] [ 5.34034189e-02 9.98572767e-01 7.10170840e-04 -5.67652279e+00] [ 2.80962740e-02 -2.21348499e-03 9.99602771e-01 2.05161498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81071405699998 meters Centerline goodness [0,1] 0.9897153145043321 Centerline is valid? [True, True] Translation: X:167.06, Y:-5.68, Z:2.05 [[ 9.98228675e-01 -5.22917854e-02 -2.83739571e-02 1.67057332e+02] [ 5.23331777e-02 9.98629422e-01 7.17674049e-04 -5.67866657e+00] [ 2.82975399e-02 -2.20130215e-03 9.99597121e-01 2.05155604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84071405699999 meters Centerline goodness [0,1] 0.9903403347186341 Centerline is valid? [True, True] Translation: X:167.09, Y:-5.68, Z:2.05 [[ 9.98265435e-01 -5.11593339e-02 -2.91349080e-02 1.67089426e+02] [ 5.12025859e-02 9.98688013e-01 7.39944979e-04 -5.67827742e+00] [ 2.90588282e-02 -2.23044412e-03 9.99575215e-01 2.05142544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.870714057 meters Centerline goodness [0,1] 0.9899653512127076 Centerline is valid? [True, True] Translation: X:167.12, Y:-5.68, Z:2.05 [[ 9.98289266e-01 -5.02882690e-02 -2.98266766e-02 1.67120756e+02] [ 5.03332688e-02 9.98732189e-01 7.59352708e-04 -5.67999115e+00] [ 2.97506754e-02 -2.25932779e-03 9.99554797e-01 2.05196397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.900714057 meters Centerline goodness [0,1] 0.9895316185555431 Centerline is valid? [True, True] Translation: X:167.15, Y:-5.68, Z:2.05 [[ 9.98297260e-01 -5.00009890e-02 -3.00413312e-02 1.67152812e+02] [ 5.00465653e-02 9.98746591e-01 7.66669462e-04 -5.68171032e+00] [ 2.99653429e-02 -2.26882947e-03 9.99548363e-01 2.05230785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.930714057 meters Centerline goodness [0,1] 0.9907224368766286 Centerline is valid? [True, True] Translation: X:167.18, Y:-5.68, Z:2.05 [[ 9.98326604e-01 -4.92613312e-02 -3.02871780e-02 1.67184989e+02] [ 4.93073838e-02 9.98783350e-01 7.75101950e-04 -5.67658569e+00] [ 3.02121466e-02 -2.26718641e-03 9.99540938e-01 2.05408333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.960714057 meters Centerline goodness [0,1] 0.9899617375647085 Centerline is valid? [True, True] Translation: X:167.22, Y:-5.69, Z:2.05 [[ 9.98346997e-01 -4.78182932e-02 -3.18854858e-02 1.67215568e+02] [ 4.78686605e-02 9.98853304e-01 8.17718415e-04 -5.68556745e+00] [ 3.18098209e-02 -2.34268222e-03 9.99491194e-01 2.05198370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.990714057 meters Centerline goodness [0,1] 0.9907261513528114 Centerline is valid? [True, True] Translation: X:167.25, Y:-5.68, Z:2.05 [[ 9.98371343e-01 -4.68880879e-02 -3.24987620e-02 1.67246899e+02] [ 4.69399610e-02 9.98897364e-01 8.34631487e-04 -5.67716733e+00] [ 3.24237935e-02 -2.35876278e-03 9.99471427e-01 2.05411482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.020714057 meters Centerline goodness [0,1] 0.6970814132104455 Centerline is valid? [True, False] Translation: X:167.28, Y:-5.68, Z:2.06 [[ 9.98350415e-01 -4.54737159e-02 -3.50512479e-02 1.67282527e+02] [ 4.53124297e-02 9.98958363e-01 -5.38257289e-03 -5.67539181e+00] [ 3.52595028e-02 3.78543668e-03 9.99371021e-01 2.05881677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.050714057 meters Centerline goodness [0,1] 0.9904239536033809 Centerline is valid? [False, True] Translation: X:167.21, Y:-5.68, Z:2.06 [[ 9.98602227e-01 -3.96742988e-02 -3.49219397e-02 1.67213706e+02] [ 3.95982883e-02 9.99211571e-01 -2.86580537e-03 -5.67744059e+00] [ 3.50081050e-02 1.47895059e-03 9.99385934e-01 2.05674505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.080714057 meters Centerline goodness [0,1] 0.9903771015204627 Centerline is valid? [True, True] Translation: X:167.24, Y:-5.69, Z:2.05 [[ 9.98696471e-01 -3.81079909e-02 -3.39579002e-02 1.67242704e+02] [ 3.81629976e-02 9.99271054e-01 9.72935613e-04 -5.68640932e+00] [ 3.38960701e-02 -2.26760263e-03 9.99422791e-01 2.05455500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.110714057 meters Centerline goodness [0,1] 0.9909019607843137 Centerline is valid? [True, True] Translation: X:167.27, Y:-5.68, Z:2.06 [[ 9.98743670e-01 -3.72289204e-02 -3.35423599e-02 1.67272015e+02] [ 3.72819331e-02 9.99304330e-01 9.56204059e-04 -5.67917812e+00] [ 3.34834270e-02 -2.20552677e-03 9.99436839e-01 2.05808300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.140714057 meters Centerline goodness [0,1] 0.9900608018666847 Centerline is valid? [True, True] Translation: X:167.30, Y:-5.68, Z:2.06 [[ 9.98876736e-01 -3.48873758e-02 -3.20645852e-02 1.67301573e+02] [ 3.49344932e-02 9.99389190e-01 9.10233139e-04 -5.68058755e+00] [ 3.20132442e-02 -2.02937074e-03 9.99485385e-01 2.05964898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.170714057 meters Centerline goodness [0,1] 0.9896773035321574 Centerline is valid? [True, True] Translation: X:167.33, Y:-5.68, Z:2.06 [[ 9.98936491e-01 -3.39470567e-02 -3.12006958e-02 1.67330320e+02] [ 3.39911683e-02 9.99421742e-01 8.84334363e-04 -5.68249944e+00] [ 3.11526332e-02 -1.94394197e-03 9.99512749e-01 2.06054898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.200714057 meters Centerline goodness [0,1] 0.989949861223028 Centerline is valid? [True, True] Translation: X:167.36, Y:-5.68, Z:2.06 [[ 9.98994964e-01 -3.28690534e-02 -3.04743658e-02 1.67359182e+02] [ 3.29105769e-02 9.99457929e-01 8.61859433e-04 -5.67925246e+00] [ 3.04295180e-02 -1.86392219e-03 9.99535177e-01 2.06324125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23071405699997 meters Centerline goodness [0,1] 0.9904864235668077 Centerline is valid? [True, True] Translation: X:167.39, Y:-5.69, Z:2.06 [[ 9.99008707e-01 -3.27731983e-02 -3.01250933e-02 1.67387681e+02] [ 3.28136755e-02 9.99461125e-01 8.50115480e-04 -5.68716951e+00] [ 3.00809987e-02 -1.83778780e-03 9.99545775e-01 2.06223429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26071405699997 meters Centerline goodness [0,1] 0.9905039193729004 Centerline is valid? [True, True] Translation: X:167.42, Y:-5.69, Z:2.06 [[ 9.98967855e-01 -3.32506681e-02 -3.09453864e-02 1.67416527e+02] [ 3.32934615e-02 9.99445242e-01 8.68492943e-04 -5.68685990e+00] [ 3.08993412e-02 -1.89787556e-03 9.99520700e-01 2.06224889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29071405699997 meters Centerline goodness [0,1] 0.9908914339294086 Centerline is valid? [True, True] Translation: X:167.45, Y:-5.69, Z:2.06 [[ 9.98947146e-01 -3.38446439e-02 -3.09699639e-02 1.67445017e+02] [ 3.38875550e-02 9.99425280e-01 8.61597392e-04 -5.68846332e+00] [ 3.09230044e-02 -1.91018661e-03 9.99519944e-01 2.06188845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32071405699998 meters Centerline goodness [0,1] 0.9905503681091758 Centerline is valid? [True, True] Translation: X:167.47, Y:-5.69, Z:2.06 [[ 9.98823467e-01 -3.61666214e-02 -3.23056878e-02 1.67474525e+02] [ 3.62143940e-02 9.99343643e-01 8.94685558e-04 -5.69343995e+00] [ 3.22521260e-02 -2.06356384e-03 9.99477635e-01 2.06084332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35071405699998 meters Centerline goodness [0,1] 0.9916171691135268 Centerline is valid? [True, True] Translation: X:167.50, Y:-5.69, Z:2.06 [[ 9.98742322e-01 -3.75700451e-02 -3.32003973e-02 1.67503808e+02] [ 3.76212322e-02 9.99291649e-01 9.18196923e-04 -5.68955903e+00] [ 3.31423831e-02 -2.16608198e-03 9.99448293e-01 2.06239372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38071405699998 meters Centerline goodness [0,1] 0.9912984974209464 Centerline is valid? [True, True] Translation: X:167.53, Y:-5.70, Z:2.06 [[ 9.98666876e-01 -3.88724711e-02 -3.39617601e-02 1.67531949e+02] [ 3.89267102e-02 9.99241629e-01 9.37075352e-04 -5.69691084e+00] [ 3.38995780e-02 -2.25784571e-03 9.99422694e-01 2.06115332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41071405699998 meters Centerline goodness [0,1] 0.9906703447038507 Centerline is valid? [True, True] Translation: X:167.56, Y:-5.70, Z:2.06 [[ 9.98579559e-01 -4.10409095e-02 -3.39780611e-02 1.67561669e+02] [ 4.10963914e-02 9.99154748e-01 9.35803834e-04 -5.69745793e+00] [ 3.39109348e-02 -2.33085028e-03 9.99422141e-01 2.06219971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44071405699998 meters Centerline goodness [0,1] 0.9909206789364224 Centerline is valid? [True, True] Translation: X:167.59, Y:-5.71, Z:2.06 [[ 9.98565909e-01 -4.21297410e-02 -3.30334705e-02 1.67590259e+02] [ 4.21827233e-02 9.99109500e-01 9.08319527e-04 -5.70728826e+00] [ 3.29657869e-02 -2.30045866e-03 9.99453833e-01 2.06150489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47071405699998 meters Centerline goodness [0,1] 0.9908714621322295 Centerline is valid? [True, True] Translation: X:167.62, Y:-5.70, Z:2.07 [[ 9.98539133e-01 -4.27765295e-02 -3.30116457e-02 1.67620846e+02] [ 4.28297679e-02 9.99081973e-01 9.06945956e-04 -5.69742169e+00] [ 3.29425441e-02 -2.31950215e-03 9.99454556e-01 2.06533676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50071405699998 meters Centerline goodness [0,1] 0.9914704038685412 Centerline is valid? [True, True] Translation: X:167.65, Y:-5.70, Z:2.07 [[ 9.98558137e-01 -4.27837721e-02 -3.24221583e-02 1.67650979e+02] [ 4.28351287e-02 9.99081758e-01 8.90750667e-04 -5.69872080e+00] [ 3.23542773e-02 -2.27827365e-03 9.99473867e-01 2.06632804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53071405699998 meters Centerline goodness [0,1] 0.9913860436053648 Centerline is valid? [True, True] Translation: X:167.68, Y:-5.70, Z:2.07 [[ 9.98608873e-01 -4.21603690e-02 -3.16673588e-02 1.67681227e+02] [ 4.22090490e-02 9.99108422e-01 8.70013668e-04 -5.69875677e+00] [ 3.16024447e-02 -2.20545247e-03 9.99498085e-01 2.06790534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56071405699998 meters Centerline goodness [0,1] 0.9910161575077658 Centerline is valid? [True, True] Translation: X:167.71, Y:-5.70, Z:2.07 [[ 9.98641417e-01 -4.20076124e-02 -3.08331082e-02 1.67711043e+02] [ 4.20536904e-02 9.99114993e-01 8.47192810e-04 -5.70091674e+00] [ 3.07702321e-02 -2.14268781e-03 9.99524188e-01 2.06835414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59071405699999 meters Centerline goodness [0,1] 0.9907910324325533 Centerline is valid? [True, True] Translation: X:167.74, Y:-5.70, Z:2.07 [[ 9.98671882e-01 -4.18748014e-02 -3.00162116e-02 1.67740081e+02] [ 4.19184144e-02 9.99120696e-01 8.24922995e-04 -5.70287192e+00] [ 2.99552747e-02 -2.08205940e-03 9.99549072e-01 2.06908317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.620714057 meters Centerline goodness [0,1] 0.9914184191118958 Centerline is valid? [True, True] Translation: X:167.77, Y:-5.70, Z:2.07 [[ 9.98655655e-01 -4.23218831e-02 -2.99289410e-02 1.67770857e+02] [ 4.23654531e-02 9.99101842e-01 8.22877694e-04 -5.70378767e+00] [ 2.98672344e-02 -2.08972461e-03 9.99551690e-01 2.06967757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.650714057 meters Centerline goodness [0,1] 0.9916599408124832 Centerline is valid? [True, True] Translation: X:167.80, Y:-5.71, Z:2.07 [[ 9.98530729e-01 -4.44462221e-02 -3.09986670e-02 1.67800971e+02] [ 4.44940191e-02 9.99009286e-01 8.53479696e-04 -5.70598662e+00] [ 3.09300222e-02 -2.23148098e-03 9.99519061e-01 2.06982957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.680714057 meters Centerline goodness [0,1] 0.9911692376481109 Centerline is valid? [True, True] Translation: X:167.83, Y:-5.71, Z:2.07 [[ 9.98452604e-01 -4.59788626e-02 -3.12784663e-02 1.67831411e+02] [ 4.60283010e-02 9.98939764e-01 8.62023685e-04 -5.70851754e+00] [ 3.12056689e-02 -2.30038446e-03 9.99510337e-01 2.06950695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.710714057 meters Centerline goodness [0,1] 0.9909950170938261 Centerline is valid? [True, True] Translation: X:167.86, Y:-5.71, Z:2.07 [[ 9.98212828e-01 -4.99175275e-02 -3.28540681e-02 1.67860384e+02] [ 4.99742258e-02 9.98750096e-01 9.06366851e-04 -5.71375398e+00] [ 3.27677601e-02 -2.54660364e-03 9.99459748e-01 2.06754064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.740714057 meters Centerline goodness [0,1] 0.9906623673250033 Centerline is valid? [True, True] Translation: X:167.89, Y:-5.72, Z:2.07 [[ 9.98058885e-01 -5.22836503e-02 -3.38361115e-02 1.67891081e+02] [ 5.23451769e-02 9.98628614e-01 9.34494284e-04 -5.71721091e+00] [ 3.37408503e-02 -2.70383756e-03 9.99426958e-01 2.06700407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.770714057 meters Centerline goodness [0,1] 0.9898141929706739 Centerline is valid? [True, True] Translation: X:167.92, Y:-5.72, Z:2.07 [[ 9.97732339e-01 -5.76088056e-02 -3.48052330e-02 1.67921163e+02] [ 5.76771370e-02 9.98334825e-01 9.61577195e-04 -5.72204447e+00] [ 3.46918809e-02 -2.96686286e-03 9.99393652e-01 2.06650772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.800714057 meters Centerline goodness [0,1] 0.9896547091226656 Centerline is valid? [True, True] Translation: X:167.95, Y:-5.72, Z:2.07 [[ 9.97573318e-01 -6.00962599e-02 -3.51555926e-02 1.67952350e+02] [ 6.01675209e-02 9.98187821e-01 9.71646396e-04 -5.72178710e+00] [ 3.50334920e-02 -3.08451337e-03 9.99381379e-01 2.06718328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.830714057 meters Centerline goodness [0,1] 0.978982474203729 Centerline is valid? [True, True] Translation: X:167.98, Y:-5.73, Z:2.07 [[ 9.97349194e-01 -6.37426944e-02 -3.50920875e-02 1.67981632e+02] [ 6.38159466e-02 9.97961214e-01 9.70198720e-04 -5.72777334e+00] [ 3.49586992e-02 -3.20706170e-03 9.99383612e-01 2.06716464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.860714057 meters Centerline goodness [0,1] 0.9734111543450065 Centerline is valid? [True, True] Translation: X:168.01, Y:-5.73, Z:2.07 [[ 9.97275044e-01 -6.47811579e-02 -3.52971354e-02 1.68013237e+02] [ 6.48559413e-02 9.97894159e-01 9.76640840e-04 -5.72941981e+00] [ 3.51595374e-02 -3.26320848e-03 9.99376385e-01 2.06745959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.890714057 meters Centerline goodness [0,1] 0.9437414615574119 Centerline is valid? [True, False] Translation: X:168.01, Y:-5.73, Z:2.07 [[ 9.97266430e-01 -6.48621539e-02 -3.53916402e-02 1.68013552e+02] [ 6.49307677e-02 9.97889457e-01 7.91579750e-04 -5.72868916e+00] [ 3.52656011e-02 -3.08742228e-03 9.99373206e-01 2.06733232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.920714057 meters Centerline goodness [0,1] 0.9839038715896609 Centerline is valid? [False, True] Translation: X:168.01, Y:-5.73, Z:2.07 [[ 9.97493530e-01 -6.13315517e-02 -3.52859646e-02 1.68012810e+02] [ 6.15453648e-02 9.98091741e-01 5.00448034e-03 -5.73031938e+00] [ 3.49116973e-02 -7.16362432e-03 9.99364726e-01 2.06707050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.950714057 meters Centerline goodness [0,1] 0.9818637207326073 Centerline is valid? [True, True] Translation: X:168.04, Y:-5.73, Z:2.07 [[ 9.97653640e-01 -5.90435071e-02 -3.46565816e-02 1.68042540e+02] [ 5.91158678e-02 9.98250559e-01 1.06608060e-03 -5.72774305e+00] [ 3.45330068e-02 -3.11233309e-03 9.99398712e-01 2.06956424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98071405699997 meters Centerline goodness [0,1] 0.9841294747932124 Centerline is valid? [True, True] Translation: X:168.07, Y:-5.73, Z:2.07 [[ 9.97786589e-01 -5.72051065e-02 -3.39042583e-02 1.68073132e+02] [ 5.72733045e-02 9.98357992e-01 1.04293182e-03 -5.72715759e+00] [ 3.37889262e-02 -2.98243229e-03 9.99424541e-01 2.07081243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01071405699997 meters Centerline goodness [0,1] 0.9858753895477883 Centerline is valid? [True, True] Translation: X:168.10, Y:-5.72, Z:2.07 [[ 9.98060749e-01 -5.33860121e-02 -3.20105502e-02 1.68103267e+02] [ 5.34448494e-02 9.98570317e-01 9.84655263e-04 -5.72496274e+00] [ 3.19122184e-02 -2.69354480e-03 9.99487046e-01 2.07401008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04071405699997 meters Centerline goodness [0,1] 0.9784088611292098 Centerline is valid? [True, True] Translation: X:168.13, Y:-5.73, Z:2.07 [[ 9.98203074e-01 -5.13520369e-02 -3.08802701e-02 1.68132968e+02] [ 5.14058231e-02 9.98677395e-01 9.49867822e-04 -5.72814592e+00] [ 3.07906500e-02 -2.53558668e-03 9.99522639e-01 2.07448323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07071405699998 meters Centerline goodness [0,1] 0.9887317620650954 Centerline is valid? [True, True] Translation: X:168.16, Y:-5.72, Z:2.08 [[ 9.98419302e-01 -4.76918739e-02 -2.97385735e-02 1.68163705e+02] [ 4.77401410e-02 9.98859371e-01 9.14741328e-04 -5.72442044e+00] [ 2.96610271e-02 -2.33301909e-03 9.99557292e-01 2.07691678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10071405699998 meters Centerline goodness [0,1] 0.9887086979014372 Centerline is valid? [True, True] Translation: X:168.19, Y:-5.72, Z:2.08 [[ 9.98472625e-01 -4.65237863e-02 -2.97985790e-02 1.68194806e+02] [ 4.65717387e-02 9.98914527e-01 9.16828227e-04 -5.72440201e+00] [ 2.97235791e-02 -2.30319952e-03 9.99555503e-01 2.07715250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13071405699998 meters Centerline goodness [0,1] 0.9902466493974547 Centerline is valid? [True, True] Translation: X:168.23, Y:-5.72, Z:2.08 [[ 9.98562957e-01 -4.41777413e-02 -3.03372545e-02 1.68226024e+02] [ 4.42263831e-02 9.99021098e-01 9.33908785e-04 -5.72181839e+00] [ 3.02662993e-02 -2.27427376e-03 9.99539283e-01 2.07654141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16071405699998 meters Centerline goodness [0,1] 0.9877650345868728 Centerline is valid? [True, True] Translation: X:168.26, Y:-5.73, Z:2.08 [[ 9.98593923e-01 -4.29677356e-02 -3.10475485e-02 1.68256513e+02] [ 4.30181178e-02 9.99073835e-01 9.56294907e-04 -5.72555729e+00] [ 3.09777035e-02 -2.29055738e-03 9.99517451e-01 2.07505459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19071405699998 meters Centerline goodness [0,1] 0.9905966716276553 Centerline is valid? [True, True] Translation: X:168.29, Y:-5.72, Z:2.08 [[ 9.98680773e-01 -4.02789273e-02 -3.18484209e-02 1.68287154e+02] [ 4.03305918e-02 9.99185909e-01 9.81211341e-04 -5.72072796e+00] [ 3.17829713e-02 -2.26438257e-03 9.99492229e-01 2.07511296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22071405699998 meters Centerline goodness [0,1] 0.9909150341531594 Centerline is valid? [True, True] Translation: X:168.32, Y:-5.72, Z:2.08 [[ 9.98732164e-01 -3.87032500e-02 -3.21888537e-02 1.68317425e+02] [ 3.87552022e-02 9.99248243e-01 9.91413129e-04 -5.72053830e+00] [ 3.21262846e-02 -2.23764171e-03 9.99481313e-01 2.07546571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25071405699998 meters Centerline goodness [0,1] 0.9909820542880332 Centerline is valid? [True, True] Translation: X:168.35, Y:-5.72, Z:2.08 [[ 9.98875357e-01 -3.53948847e-02 -3.15471634e-02 1.68347190e+02] [ 3.54431248e-02 9.99371223e-01 9.71077395e-04 -5.71863009e+00] [ 3.14929561e-02 -2.08811533e-03 9.99501793e-01 2.07683597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28071405699998 meters Centerline goodness [0,1] 0.9907536872491092 Centerline is valid? [True, True] Translation: X:168.38, Y:-5.72, Z:2.08 [[ 9.98943574e-01 -3.37180591e-02 -3.12222303e-02 1.68376692e+02] [ 3.37644691e-02 9.99429356e-01 9.60253941e-04 -5.71798163e+00] [ 3.11720356e-02 -2.01344153e-03 9.99512006e-01 2.07770423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31071405699998 meters Centerline goodness [0,1] 0.9906242233919978 Centerline is valid? [True, True] Translation: X:168.40, Y:-5.72, Z:2.08 [[ 9.99012939e-01 -3.23612439e-02 -3.04285779e-02 1.68404723e+02] [ 3.24046447e-02 9.99474395e-01 9.34143248e-04 -5.71751666e+00] [ 3.03823544e-02 -1.91924845e-03 9.99536507e-01 2.07852315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34071405699999 meters Centerline goodness [0,1] 0.9906242233919978 Centerline is valid? [True, True] Translation: X:168.43, Y:-5.72, Z:2.08 [[ 9.99005673e-01 -3.25846255e-02 -3.04287209e-02 1.68433010e+02] [ 3.26279876e-02 9.99467133e-01 9.29466856e-04 -5.71830594e+00] [ 3.03822201e-02 -1.92137059e-03 9.99536507e-01 2.07893932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.370714057 meters Centerline goodness [0,1] 0.991138469864033 Centerline is valid? [True, True] Translation: X:168.46, Y:-5.70, Z:2.08 [[ 9.99133360e-01 -2.89290622e-02 -2.99272096e-02 1.68464036e+02] [ 2.89692730e-02 9.99579888e-01 9.10822224e-04 -5.70396783e+00] [ 2.98882876e-02 -1.77700237e-03 9.99551666e-01 2.08298941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.400714057 meters Centerline goodness [0,1] 0.9913993543872323 Centerline is valid? [True, True] Translation: X:168.49, Y:-5.70, Z:2.08 [[ 9.99285892e-01 -2.50925304e-02 -2.82501497e-02 1.68493201e+02] [ 2.51268201e-02 9.99683902e-01 8.59399665e-04 -5.70272445e+00] [ 2.82196554e-02 -1.56862239e-03 9.99600515e-01 2.08372026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.430714057 meters Centerline goodness [0,1] 0.9910292622302564 Centerline is valid? [True, True] Translation: X:168.52, Y:-5.70, Z:2.08 [[ 9.99341585e-01 -2.35289720e-02 -2.76185618e-02 1.68522593e+02] [ 2.35610971e-02 9.99722047e-01 8.38278437e-04 -5.69953246e+00] [ 2.75911614e-02 -1.48845012e-03 9.99618183e-01 2.08496212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.460714057 meters Centerline goodness [0,1] 0.9915265726681128 Centerline is valid? [True, True] Translation: X:168.55, Y:-5.70, Z:2.09 [[ 9.99383102e-01 -2.26269295e-02 -2.68595815e-02 1.68551135e+02] [ 2.26568581e-02 9.99742972e-01 8.10415647e-04 -5.69664200e+00] [ 2.68343406e-02 -1.41846943e-03 9.99638888e-01 2.08628270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.490714057 meters Centerline goodness [0,1] 0.991066582232676 Centerline is valid? [True, True] Translation: X:168.58, Y:-5.70, Z:2.09 [[ 9.99446405e-01 -2.16689188e-02 -2.52456222e-02 1.68579036e+02] [ 2.16949414e-02 9.99764350e-01 7.57303062e-04 -5.69647908e+00] [ 2.52232631e-02 -1.30458612e-03 9.99680992e-01 2.08690428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.520714057 meters Centerline goodness [0,1] 0.9903024549030246 Centerline is valid? [True, True] Translation: X:168.61, Y:-5.70, Z:2.09 [[ 9.99472840e-01 -2.17849764e-02 -2.40719021e-02 1.68606550e+02] [ 2.18086184e-02 9.99761905e-01 7.20019570e-04 -5.70492800e+00] [ 2.40504851e-02 -1.24461493e-03 9.99709970e-01 2.08575810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.550714057 meters Centerline goodness [0,1] 0.9897285067873303 Centerline is valid? [True, True] Translation: X:168.64, Y:-5.70, Z:2.09 [[ 9.99453239e-01 -2.33746008e-02 -2.33848670e-02 1.68635119e+02] [ 2.33972663e-02 9.99726004e-01 6.96065388e-04 -5.69885608e+00] [ 2.33621894e-02 -1.24282677e-03 9.99726294e-01 2.08700187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.580714057 meters Centerline goodness [0,1] 0.9902609874590442 Centerline is valid? [True, True] Translation: X:168.66, Y:-5.70, Z:2.09 [[ 9.99434343e-01 -2.46059040e-02 -2.29247390e-02 1.68664938e+02] [ 2.46279210e-02 9.99696456e-01 6.78523835e-04 -5.69951092e+00] [ 2.29010847e-02 -1.24272868e-03 9.99736963e-01 2.08715347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.610714057 meters Centerline goodness [0,1] 0.9895501119630861 Centerline is valid? [True, True] Translation: X:168.69, Y:-5.70, Z:2.09 [[ 9.99317197e-01 -2.82708026e-02 -2.37887009e-02 1.68694937e+02] [ 2.82955290e-02 9.99599354e-01 7.03386607e-04 -5.70164793e+00] [ 2.37592847e-02 -1.37602021e-03 9.99716761e-01 2.08637648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.640714057 meters Centerline goodness [0,1] 0.9891198624714425 Centerline is valid? [True, True] Translation: X:168.72, Y:-5.71, Z:2.09 [[ 9.99246914e-01 -3.06112089e-02 -2.38444633e-02 1.68724616e+02] [ 3.06367050e-02 9.99530338e-01 7.04605534e-04 -5.70595922e+00] [ 2.38116956e-02 -1.43459069e-03 9.99715432e-01 2.08568472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.670714057 meters Centerline goodness [0,1] 0.9890045115509306 Centerline is valid? [True, True] Translation: X:168.76, Y:-5.71, Z:2.09 [[ 9.99071860e-01 -3.52990854e-02 -2.46858910e-02 1.68755247e+02] [ 3.53278320e-02 9.99375511e-01 7.29217049e-04 -5.70579661e+00] [ 2.46447342e-02 -1.60063924e-03 9.99694991e-01 2.08594866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.700714057 meters Centerline goodness [0,1] 0.9882275849602313 Centerline is valid? [True, True] Translation: X:168.79, Y:-5.72, Z:2.08 [[ 9.98964310e-01 -3.78653891e-02 -2.52293566e-02 1.68785049e+02] [ 3.78962314e-02 9.99281402e-01 7.45300701e-04 -5.71519079e+00] [ 2.51830057e-02 -1.70062633e-03 9.99681411e-01 2.08483289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73071405699997 meters Centerline goodness [0,1] 0.9873371842790803 Centerline is valid? [True, True] Translation: X:168.82, Y:-5.72, Z:2.08 [[ 9.98780920e-01 -4.23746394e-02 -2.53192421e-02 1.68815474e+02] [ 4.24071440e-02 9.99100132e-01 7.47986846e-04 -5.71770714e+00] [ 2.52647625e-02 -1.82079174e-03 9.99679137e-01 2.08492802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76071405699997 meters Centerline goodness [0,1] 0.9879515338536939 Centerline is valid? [True, True] Translation: X:168.85, Y:-5.72, Z:2.09 [[ 9.98712595e-01 -4.41751177e-02 -2.49341460e-02 1.68846545e+02] [ 4.42072112e-02 9.99022111e-01 7.37111514e-04 -5.71645809e+00] [ 2.48772012e-02 -1.83843161e-03 9.99688824e-01 2.08579375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79071405699997 meters Centerline goodness [0,1] 0.9867071265200752 Centerline is valid? [True, True] Translation: X:168.88, Y:-5.72, Z:2.09 [[ 9.98633563e-01 -4.60478965e-02 -2.47103027e-02 1.68876077e+02] [ 4.60800215e-02 9.98937483e-01 7.31929342e-04 -5.72373312e+00] [ 2.46503438e-02 -1.86958049e-03 9.99694386e-01 2.08537039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82071405699998 meters Centerline goodness [0,1] 0.9863184644007805 Centerline is valid? [True, True] Translation: X:168.91, Y:-5.72, Z:2.09 [[ 9.98521249e-01 -4.87356602e-02 -2.40863268e-02 1.68906977e+02] [ 4.87669946e-02 9.98809926e-01 7.14895095e-04 -5.72227061e+00] [ 2.40228214e-02 -1.88845571e-03 9.99709627e-01 2.08702019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85071405699998 meters Centerline goodness [0,1] 0.9840267879363787 Centerline is valid? [True, True] Translation: X:168.94, Y:-5.73, Z:2.09 [[ 9.98482179e-01 -5.01267581e-02 -2.28176617e-02 1.68937801e+02] [ 5.01552623e-02 9.98741203e-01 6.78288914e-04 -5.72597833e+00] [ 2.27549385e-02 -1.82168520e-03 9.99739413e-01 2.08841179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88071405699998 meters Centerline goodness [0,1] 0.9836236145668401 Centerline is valid? [True, True] Translation: X:168.97, Y:-5.73, Z:2.09 [[ 9.98485507e-01 -5.04033161e-02 -2.20499118e-02 1.68970080e+02] [ 5.04300335e-02 9.98727380e-01 6.56951099e-04 -5.72732998e+00] [ 2.19887381e-02 -1.76793394e-03 9.99756655e-01 2.08917842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91071405699998 meters Centerline goodness [0,1] 0.9830420095672086 Centerline is valid? [True, True] Translation: X:169.00, Y:-5.73, Z:2.09 [[ 9.98493765e-01 -5.05463187e-02 -2.13370904e-02 1.69001919e+02] [ 5.05713991e-02 9.98720245e-01 6.37147116e-04 -5.72942647e+00] [ 2.12775787e-02 -1.71523394e-03 9.99772135e-01 2.08969395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94071405699998 meters Centerline goodness [0,1] 0.9817581771739867 Centerline is valid? [True, True] Translation: X:169.03, Y:-5.73, Z:2.09 [[ 9.98503007e-01 -5.04784812e-02 -2.10634427e-02 1.69032837e+02] [ 5.05029348e-02 9.98723714e-01 6.30286540e-04 -5.73170221e+00] [ 2.10047438e-02 -1.69310868e-03 9.99777942e-01 2.08990795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97071405699998 meters Centerline goodness [0,1] 0.9811384915327243 Centerline is valid? [True, True] Translation: X:169.06, Y:-5.73, Z:2.09 [[ 9.98470240e-01 -5.06447224e-02 -2.21876326e-02 1.69064264e+02] [ 5.06719232e-02 9.98715131e-01 6.65086286e-04 -5.73266661e+00] [ 2.21254413e-02 -1.78835888e-03 9.99753603e-01 2.08934931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00071405699998 meters Centerline goodness [0,1] 0.9776219029301957 Centerline is valid? [True, True] Translation: X:169.09, Y:-5.74, Z:2.09 [[ 9.98462454e-01 -5.05888241e-02 -2.26605045e-02 1.69094916e+02] [ 5.06172086e-02 9.98717896e-01 6.80409801e-04 -5.73546536e+00] [ 2.25970302e-02 -1.82637512e-03 9.99742986e-01 2.08849210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03071405699998 meters Centerline goodness [0,1] 0.9780692811345976 Centerline is valid? [True, True] Translation: X:169.13, Y:-5.74, Z:2.09 [[ 9.98460573e-01 -5.04566604e-02 -2.30349585e-02 1.69126803e+02] [ 5.04859859e-02 9.98724529e-01 6.92946618e-04 -5.73627859e+00] [ 2.29706143e-02 -1.85482247e-03 9.99734420e-01 2.08797970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06071405699998 meters Centerline goodness [0,1] 0.9747762039660056 Centerline is valid? [True, True] Translation: X:169.16, Y:-5.74, Z:2.09 [[ 9.98452821e-01 -5.01047778e-02 -2.41137842e-02 1.69158859e+02] [ 5.01368528e-02 9.98742093e-01 7.27034304e-04 -5.73743187e+00] [ 2.40470234e-02 -1.93489870e-03 9.99708956e-01 2.08715997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09071405699999 meters Centerline goodness [0,1] 0.9663608562691132 Centerline is valid? [True, True] Translation: X:169.19, Y:-5.74, Z:2.09 [[ 9.98470747e-01 -4.95297553e-02 -2.45554757e-02 1.69189623e+02] [ 4.95628796e-02 9.98770730e-01 7.41811340e-04 -5.73972482e+00] [ 2.44885486e-02 -1.95771701e-03 9.99698194e-01 2.08716343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.120714057 meters Centerline goodness [0,1] 0.974982973893303 Centerline is valid? [True, True] Translation: X:169.22, Y:-5.74, Z:2.09 [[ 9.98504273e-01 -4.81287555e-02 -2.59391650e-02 1.69221599e+02] [ 4.81652837e-02 9.98839071e-01 7.84922252e-04 -5.73608188e+00] [ 2.58712741e-02 -2.03311546e-03 9.99663215e-01 2.08750122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.150714057 meters Centerline goodness [0,1] 0.9711241366775718 Centerline is valid? [True, True] Translation: X:169.25, Y:-5.74, Z:2.09 [[ 9.98518089e-01 -4.77029389e-02 -2.61926719e-02 1.69254276e+02] [ 4.77400827e-02 9.98859476e-01 7.94252482e-04 -5.73712390e+00] [ 2.61249104e-02 -2.04351579e-03 9.99656598e-01 2.08842745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.180714057 meters Centerline goodness [0,1] 0.964375838315866 Centerline is valid? [True, True] Translation: X:169.29, Y:-5.74, Z:2.09 [[ 9.98565690e-01 -4.68241429e-02 -2.59627059e-02 1.69285087e+02] [ 4.68603865e-02 9.98901137e-01 7.89000289e-04 -5.73831084e+00] [ 2.58972321e-02 -2.00449105e-03 9.99662601e-01 2.08945144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.210714057 meters Centerline goodness [0,1] 0.9855013180619944 Centerline is valid? [True, True] Translation: X:169.32, Y:-5.73, Z:2.09 [[ 9.98611669e-01 -4.60390287e-02 -2.55957594e-02 1.69317540e+02] [ 4.60740356e-02 9.98937724e-01 7.79311509e-04 -5.72521100e+00] [ 2.55326909e-02 -1.95752950e-03 9.99672071e-01 2.09234301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.240714057 meters Centerline goodness [0,1] 0.9861499624752678 Centerline is valid? [True, True] Translation: X:169.35, Y:-5.72, Z:2.09 [[ 9.98704532e-01 -4.40547900e-02 -2.54643341e-02 1.69349586e+02] [ 4.40888376e-02 9.99027312e-01 7.76906818e-04 -5.72017851e+00] [ 2.54053388e-02 -1.89859325e-03 9.99675429e-01 2.09478270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.270714057 meters Centerline goodness [0,1] 0.9855181194016278 Centerline is valid? [True, True] Translation: X:169.38, Y:-5.72, Z:2.10 [[ 9.98757615e-01 -4.28908198e-02 -2.53693391e-02 1.69379986e+02] [ 4.29242648e-02 9.99078028e-01 7.74977432e-04 -5.72190903e+00] [ 2.53127099e-02 -1.86297484e-03 9.99677846e-01 2.09572241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.300714057 meters Centerline goodness [0,1] 0.9856044755753661 Centerline is valid? [True, True] Translation: X:169.41, Y:-5.72, Z:2.10 [[ 9.98830569e-01 -4.11515332e-02 -2.53780730e-02 1.69411856e+02] [ 4.11844637e-02 9.99151259e-01 7.76067766e-04 -5.71936125e+00] [ 2.53245972e-02 -1.82034253e-03 9.99677624e-01 2.09643159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.330714057 meters Centerline goodness [0,1] 0.9864085197600967 Centerline is valid? [True, True] Translation: X:169.44, Y:-5.72, Z:2.10 [[ 9.98852901e-01 -4.07435443e-02 -2.51564389e-02 1.69443386e+02] [ 4.07758064e-02 9.99168024e-01 7.70611847e-04 -5.72140693e+00] [ 2.51041119e-02 -1.79550196e-03 9.99683230e-01 2.09653301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.360714057 meters Centerline goodness [0,1] 0.9870070454753408 Centerline is valid? [True, True] Translation: X:169.48, Y:-5.72, Z:2.10 [[ 9.98847477e-01 -4.07757387e-02 -2.53190979e-02 1.69475726e+02] [ 4.08084684e-02 9.99166685e-01 7.77120962e-04 -5.72156675e+00] [ 2.52663114e-02 -1.80945892e-03 9.99679118e-01 2.09743691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.390714057 meters Centerline goodness [0,1] 0.9864404454302244 Centerline is valid? [True, True] Translation: X:169.51, Y:-5.72, Z:2.10 [[ 9.98836931e-01 -4.10353574e-02 -2.53157135e-02 1.69507704e+02] [ 4.10682061e-02 9.99156042e-01 7.78788094e-04 -5.72400357e+00] [ 2.52623903e-02 -1.81755325e-03 9.99679203e-01 2.09792134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.420714057 meters Centerline goodness [0,1] 0.9869336384439359 Centerline is valid? [True, True] Translation: X:169.54, Y:-5.72, Z:2.10 [[ 9.98769131e-01 -4.26428660e-02 -2.53339427e-02 1.69539113e+02] [ 4.26763116e-02 9.99088646e-01 7.80750547e-04 -5.72048088e+00] [ 2.52775611e-02 -1.86094878e-03 9.99678739e-01 2.09881229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.450714057 meters Centerline goodness [0,1] 0.9860067790399414 Centerline is valid? [True, True] Translation: X:169.57, Y:-5.73, Z:2.10 [[ 9.98741960e-01 -4.32395453e-02 -2.53936896e-02 1.69569670e+02] [ 4.32733638e-02 9.99062962e-01 7.83501031e-04 -5.72779184e+00] [ 2.53360165e-02 -1.88138572e-03 9.99677221e-01 2.09796184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48071405699997 meters Centerline goodness [0,1] 0.9859206519997252 Centerline is valid? [True, True] Translation: X:169.60, Y:-5.73, Z:2.10 [[ 9.98702877e-01 -4.40079810e-02 -2.56097825e-02 1.69601030e+02] [ 4.40426567e-02 9.99029338e-01 7.91254012e-04 -5.73137318e+00] [ 2.55501025e-02 -1.91815052e-03 9.99671703e-01 2.09774194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51071405699997 meters Centerline goodness [0,1] 0.9873034789384425 Centerline is valid? [True, True] Translation: X:169.63, Y:-5.73, Z:2.10 [[ 9.98608226e-01 -4.53859201e-02 -2.68650082e-02 1.69632025e+02] [ 4.54246023e-02 9.98967424e-01 8.31035688e-04 -5.72659237e+00] [ 2.67995507e-02 -2.05021138e-03 9.99638725e-01 2.09792111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54071405699997 meters Centerline goodness [0,1] 0.987606329461264 Centerline is valid? [True, True] Translation: X:169.66, Y:-5.73, Z:2.10 [[ 9.98583283e-01 -4.58891631e-02 -2.69371864e-02 1.69664508e+02] [ 4.59282655e-02 9.98944392e-01 8.34385971e-04 -5.72848226e+00] [ 2.68704620e-02 -2.07038213e-03 9.99636780e-01 2.09778031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57071405699998 meters Centerline goodness [0,1] 0.9804105116555173 Centerline is valid? [True, True] Translation: X:169.70, Y:-5.74, Z:2.10 [[ 9.98526705e-01 -4.70792477e-02 -2.69807953e-02 1.69695260e+02] [ 4.71189537e-02 9.98888934e-01 8.37412473e-04 -5.73926980e+00] [ 2.69113932e-02 -2.10748557e-03 9.99635601e-01 2.09609133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60071405699998 meters Centerline goodness [0,1] 0.9868529170090387 Centerline is valid? [True, True] Translation: X:169.73, Y:-5.73, Z:2.10 [[ 9.98475436e-01 -4.75837005e-02 -2.79748915e-02 1.69727664e+02] [ 4.76266324e-02 9.98864829e-01 8.69985238e-04 -5.73274812e+00] [ 2.79017381e-02 -2.20100877e-03 9.99608248e-01 2.09727185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63071405699998 meters Centerline goodness [0,1] 0.9720161603250326 Centerline is valid? [True, True] Translation: X:169.76, Y:-5.74, Z:2.09 [[ 9.98460128e-01 -4.76892857e-02 -2.83391133e-02 1.69758059e+02] [ 4.77334282e-02 9.98859720e-01 8.82814138e-04 -5.74379454e+00] [ 2.82646980e-02 -2.23417774e-03 9.99597977e-01 2.09461324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66071405699998 meters Centerline goodness [0,1] 0.9876948318293683 Centerline is valid? [True, True] Translation: X:169.79, Y:-5.74, Z:2.10 [[ 9.98480687e-01 -4.72727918e-02 -2.83125681e-02 1.69790529e+02] [ 4.73167259e-02 9.98879546e-01 8.83433019e-04 -5.73529630e+00] [ 2.82390828e-02 -2.22174883e-03 9.99598729e-01 2.09659036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69071405699998 meters Centerline goodness [0,1] 0.9881641961231471 Centerline is valid? [True, True] Translation: X:169.82, Y:-5.73, Z:2.10 [[ 9.98535051e-01 -4.64439053e-02 -2.77617630e-02 1.69823342e+02] [ 4.64858876e-02 9.98918569e-01 8.68416024e-04 -5.72828888e+00] [ 2.76914079e-02 -2.15767403e-03 9.99614191e-01 2.09917486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72071405699998 meters Centerline goodness [0,1] 0.9876388350400256 Centerline is valid? [True, True] Translation: X:169.85, Y:-5.73, Z:2.10 [[ 9.98586837e-01 -4.58370474e-02 -2.68941381e-02 1.69854108e+02] [ 4.58763047e-02 9.98946771e-01 8.44179863e-04 -5.73089060e+00] [ 2.68271177e-02 -2.07679057e-03 9.99637931e-01 2.09974887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75071405699998 meters Centerline goodness [0,1] 0.9880642658268292 Centerline is valid? [True, True] Translation: X:169.89, Y:-5.73, Z:2.10 [[ 9.98601146e-01 -4.58016043e-02 -2.64190274e-02 1.69886154e+02] [ 4.58395467e-02 9.98948469e-01 8.32027375e-04 -5.72969250e+00] [ 2.63531387e-02 -2.04189973e-03 9.99650610e-01 2.10145215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78071405699998 meters Centerline goodness [0,1] 0.9881004042664961 Centerline is valid? [True, True] Translation: X:169.92, Y:-5.73, Z:2.10 [[ 9.98591129e-01 -4.58688261e-02 -2.66797385e-02 1.69918411e+02] [ 4.59075964e-02 9.98945336e-01 8.42161456e-04 -5.73175430e+00] [ 2.66129714e-02 -2.06577762e-03 9.99643678e-01 2.10210589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81071405699998 meters Centerline goodness [0,1] 0.9876989207975123 Centerline is valid? [True, True] Translation: X:169.95, Y:-5.73, Z:2.10 [[ 9.98532153e-01 -4.65282573e-02 -2.77247405e-02 1.69950892e+02] [ 4.65704344e-02 9.98914624e-01 8.77176135e-04 -5.73365657e+00] [ 2.76538352e-02 -2.16704178e-03 9.99615211e-01 2.10238963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84071405699999 meters Centerline goodness [0,1] 0.9870538359848657 Centerline is valid? [True, True] Translation: X:169.98, Y:-5.74, Z:2.10 [[ 9.98517326e-01 -4.72491303e-02 -2.70308877e-02 1.69981891e+02] [ 4.72895297e-02 9.98880857e-01 8.56910083e-04 -5.73825085e+00] [ 2.69601480e-02 -2.13391753e-03 9.99634232e-01 2.10144689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.870714057 meters Centerline goodness [0,1] 0.9876742546562663 Centerline is valid? [True, True] Translation: X:170.01, Y:-5.74, Z:2.10 [[ 9.98445610e-01 -4.85507434e-02 -2.73713362e-02 1.70013539e+02] [ 4.85926930e-02 9.98818299e-01 8.69157244e-04 -5.74379656e+00] [ 2.72967932e-02 -2.19785317e-03 9.99624957e-01 2.10006309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.900714057 meters Centerline goodness [0,1] 0.9866836630170039 Centerline is valid? [True, True] Translation: X:170.05, Y:-5.75, Z:2.10 [[ 9.98416733e-01 -4.89150935e-02 -2.77730089e-02 1.70046084e+02] [ 4.89584712e-02 9.98800424e-01 8.83616428e-04 -5.74598646e+00] [ 2.76964709e-02 -2.24194149e-03 9.99613865e-01 2.09985990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.930714057 meters Centerline goodness [0,1] 0.9863123075168244 Centerline is valid? [True, True] Translation: X:170.08, Y:-5.75, Z:2.10 [[ 9.98421246e-01 -4.84946304e-02 -2.83423103e-02 1.70076973e+02] [ 4.85396877e-02 9.98820846e-01 9.03517812e-04 -5.75008823e+00] [ 2.82650746e-02 -2.27781827e-03 9.99597868e-01 2.10026223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.960714057 meters Centerline goodness [0,1] 0.9864692191849587 Centerline is valid? [True, True] Translation: X:170.11, Y:-5.75, Z:2.10 [[ 9.98450152e-01 -4.77500063e-02 -2.85872589e-02 1.70109726e+02] [ 4.77956004e-02 9.98856720e-01 9.13337465e-04 -5.75054267e+00] [ 2.85109638e-02 -2.27826713e-03 9.99590884e-01 2.10152096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.990714057 meters Centerline goodness [0,1] 0.9858981660781411 Centerline is valid? [True, True] Translation: X:170.14, Y:-5.75, Z:2.10 [[ 9.98532960e-01 -4.63571401e-02 -2.79811139e-02 1.70139875e+02] [ 4.64003188e-02 9.98922524e-01 8.95470643e-04 -5.75204752e+00] [ 2.79094534e-02 -2.19248956e-03 9.99608051e-01 2.10216017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.020714057 meters Centerline goodness [0,1] 0.9874275544197508 Centerline is valid? [True, True] Translation: X:170.17, Y:-5.75, Z:2.10 [[ 9.98676946e-01 -4.36738280e-02 -2.71469178e-02 1.70169276e+02] [ 4.37134849e-02 9.99043731e-01 8.68810826e-04 -5.75334215e+00] [ 2.70830137e-02 -2.05434772e-03 9.99631077e-01 2.10305595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.050714057 meters Centerline goodness [0,1] 0.9856632455681223 Centerline is valid? [True, True] Translation: X:170.20, Y:-5.76, Z:2.10 [[ 9.98834872e-01 -4.04111570e-02 -2.63787229e-02 1.70199592e+02] [ 4.04474618e-02 9.99181310e-01 8.43956479e-04 -5.75506286e+00] [ 2.63230216e-02 -1.90992555e-03 9.99651665e-01 2.10320224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.080714057 meters Centerline goodness [0,1] 0.9867575329352236 Centerline is valid? [True, True] Translation: X:170.23, Y:-5.76, Z:2.10 [[ 9.98906727e-01 -3.86910198e-02 -2.62365510e-02 1.70231343e+02] [ 3.87263584e-02 9.99249500e-01 8.39963727e-04 -5.75569025e+00] [ 2.61843614e-02 -1.85509149e-03 9.99655410e-01 2.10327172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.110714057 meters Centerline goodness [0,1] 0.987518824442112 Centerline is valid? [True, True] Translation: X:170.26, Y:-5.76, Z:2.10 [[ 9.98976654e-01 -3.67128503e-02 -2.64161083e-02 1.70261541e+02] [ 3.67480113e-02 9.99324205e-01 8.46658415e-04 -5.75739850e+00] [ 2.63671732e-02 -1.81653144e-03 9.99650675e-01 2.10312491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.140714057 meters Centerline goodness [0,1] 0.9883124871847447 Centerline is valid? [True, True] Translation: X:170.29, Y:-5.75, Z:2.10 [[ 9.99135853e-01 -3.21586843e-02 -2.63318395e-02 1.70292133e+02] [ 3.21920532e-02 9.99481345e-01 8.44206340e-04 -5.74927581e+00] [ 2.62910338e-02 -1.69115280e-03 9.99652901e-01 2.10469284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.170714057 meters Centerline goodness [0,1] 0.987971094035858 Centerline is valid? [True, True] Translation: X:170.32, Y:-5.76, Z:2.10 [[ 9.99222695e-01 -2.97612006e-02 -2.58510626e-02 1.70321531e+02] [ 2.97925626e-02 9.99555759e-01 8.28794281e-04 -5.75643947e+00] [ 2.58149126e-02 -1.59831945e-03 9.99665462e-01 2.10412631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.200714057 meters Centerline goodness [0,1] 0.9894483103652159 Centerline is valid? [True, True] Translation: X:170.35, Y:-5.74, Z:2.11 [[ 9.99365223e-01 -2.50779744e-02 -2.53030994e-02 1.70352431e+02] [ 2.51065238e-02 9.99684452e-01 8.11193547e-04 -5.74341570e+00] [ 2.52747720e-02 -1.44595149e-03 9.99679496e-01 2.10765257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23071405699997 meters Centerline goodness [0,1] 0.9898071372944248 Centerline is valid? [True, True] Translation: X:170.38, Y:-5.74, Z:2.11 [[ 9.99398635e-01 -2.33420849e-02 -2.56420532e-02 1.70381580e+02] [ 2.33707692e-02 9.99726530e-01 8.19487027e-04 -5.74405540e+00] [ 2.56159123e-02 -1.41826872e-03 9.99670853e-01 2.10803319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26071405699997 meters Centerline goodness [0,1] 0.9898071372944248 Centerline is valid? [True, True] Translation: X:170.41, Y:-5.74, Z:2.11 [[ 9.99392807e-01 -2.35901040e-02 -2.56422470e-02 1.70409833e+02] [ 2.36187137e-02 9.99720708e-01 8.13386015e-04 -5.74491003e+00] [ 2.56158975e-02 -1.41852902e-03 9.99670853e-01 2.10844977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29071405699997 meters Centerline goodness [0,1] 0.9889580909360527 Centerline is valid? [True, True] Translation: X:170.44, Y:-5.75, Z:2.11 [[ 9.99472555e-01 -2.04588924e-02 -2.52199603e-02 1.70439027e+02] [ 2.04854736e-02 9.99789834e-01 7.96034353e-04 -5.74746681e+00] [ 2.51983739e-02 -1.31225732e-03 9.99681609e-01 2.10794097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32071405699998 meters Centerline goodness [0,1] 0.9905901116427432 Centerline is valid? [True, True] Translation: X:170.47, Y:-5.75, Z:2.11 [[ 9.99501269e-01 -1.88388316e-02 -2.53438868e-02 1.70467732e+02] [ 1.88651231e-02 9.99821719e-01 7.98671658e-04 -5.74582163e+00] [ 2.53243225e-02 -1.27638888e-03 9.99678473e-01 2.10862401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35071405699998 meters Centerline goodness [0,1] 0.9910279182037619 Centerline is valid? [True, True] Translation: X:170.50, Y:-5.75, Z:2.11 [[ 9.99515413e-01 -1.68417860e-02 -2.61781183e-02 1.70496652e+02] [ 1.68691049e-02 9.99857368e-01 8.23073353e-04 -5.74726972e+00] [ 2.61605225e-02 -1.26427593e-03 9.99656955e-01 2.10806048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38071405699998 meters Centerline goodness [0,1] 0.9908532423208191 Centerline is valid? [True, True] Translation: X:170.53, Y:-5.75, Z:2.11 [[ 9.99517420e-01 -1.66565510e-02 -2.62199570e-02 1.70525418e+02] [ 1.66837908e-02 9.99860479e-01 8.20464567e-04 -5.74786426e+00] [ 2.62026326e-02 -1.25751691e-03 9.99655861e-01 2.10795651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41071405699998 meters Centerline goodness [0,1] 0.9907285069934849 Centerline is valid? [True, True] Translation: X:170.55, Y:-5.75, Z:2.11 [[ 9.99513564e-01 -1.68520899e-02 -2.62419838e-02 1.70553251e+02] [ 1.68793197e-02 9.99857201e-01 8.16461906e-04 -5.75190865e+00] [ 2.62244773e-02 -1.25901158e-03 9.99655286e-01 2.10713189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44071405699998 meters Centerline goodness [0,1] 0.9912606113020324 Centerline is valid? [True, True] Translation: X:170.58, Y:-5.76, Z:2.11 [[ 9.99501421e-01 -1.78232412e-02 -2.60622482e-02 1.70582308e+02] [ 1.78503221e-02 9.99840345e-01 8.06787163e-04 -5.75500696e+00] [ 2.60437077e-02 -1.27160444e-03 9.99659996e-01 2.10735261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47071405699998 meters Centerline goodness [0,1] 0.9916999274310595 Centerline is valid? [True, True] Translation: X:170.61, Y:-5.76, Z:2.11 [[ 9.99482343e-01 -1.87861427e-02 -2.61175597e-02 1.70610636e+02] [ 1.88135457e-02 9.99822686e-01 8.03870143e-04 -5.75649488e+00] [ 2.60978271e-02 -1.29481792e-03 9.99658555e-01 2.10789038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50071405699998 meters Centerline goodness [0,1] 0.9917552466612156 Centerline is valid? [True, True] Translation: X:170.64, Y:-5.76, Z:2.11 [[ 9.99431250e-01 -2.14888030e-02 -2.59886283e-02 1.70640028e+02] [ 2.15168033e-02 9.99768168e-01 7.98212681e-04 -5.76074972e+00] [ 2.59654506e-02 -1.35695090e-03 9.99661920e-01 2.10739664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53071405699998 meters Centerline goodness [0,1] 0.9910259301014657 Centerline is valid? [True, True] Translation: X:170.67, Y:-5.77, Z:2.11 [[ 9.99402396e-01 -2.27734785e-02 -2.60042124e-02 1.70667730e+02] [ 2.28019069e-02 9.99739685e-01 7.97184376e-04 -5.76598364e+00] [ 2.59792885e-02 -1.38965361e-03 9.99661515e-01 2.10747510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56071405699998 meters Centerline goodness [0,1] 0.9922025523041005 Centerline is valid? [True, True] Translation: X:170.70, Y:-5.76, Z:2.11 [[ 9.99377612e-01 -2.41486176e-02 -2.57144626e-02 1.70696768e+02] [ 2.41767656e-02 9.99707392e-01 7.84258083e-04 -5.76369248e+00] [ 2.56879996e-02 -1.40546250e-03 9.99669021e-01 2.10905112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59071405699999 meters Centerline goodness [0,1] 0.9904211956521739 Centerline is valid? [True, True] Translation: X:170.72, Y:-5.77, Z:2.11 [[ 9.99338463e-01 -2.68091499e-02 -2.45744794e-02 1.70724909e+02] [ 2.68355545e-02 9.99639584e-01 7.45257977e-04 -5.77237185e+00] [ 2.45456427e-02 -1.40423474e-03 9.99697724e-01 2.10901598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.620714057 meters Centerline goodness [0,1] 0.9906683537439559 Centerline is valid? [True, True] Translation: X:170.75, Y:-5.78, Z:2.11 [[ 9.99301643e-01 -2.91584369e-02 -2.33668791e-02 1.70754649e+02] [ 2.91829192e-02 9.99573838e-01 7.07343205e-04 -5.77677918e+00] [ 2.33362960e-02 -1.38876297e-03 9.99726707e-01 2.11044122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.650714057 meters Centerline goodness [0,1] 0.9901111085967731 Centerline is valid? [True, True] Translation: X:170.79, Y:-5.78, Z:2.11 [[ 9.99275909e-01 -3.02329048e-02 -2.31004076e-02 1.70785411e+02] [ 3.02571096e-02 9.99541904e-01 6.98924263e-04 -5.77627532e+00] [ 2.30686949e-02 -1.39736974e-03 9.99732906e-01 2.11197354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.680714057 meters Centerline goodness [0,1] 0.9899256849856565 Centerline is valid? [True, True] Translation: X:170.82, Y:-5.78, Z:2.11 [[ 9.99275600e-01 -3.09346838e-02 -2.21657671e-02 1.70815514e+02] [ 3.09571494e-02 9.99520487e-01 6.71027574e-04 -5.78012489e+00] [ 2.21343803e-02 -1.35673044e-03 9.99754084e-01 2.11259605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.710714057 meters Centerline goodness [0,1] 0.9895519027246116 Centerline is valid? [True, True] Translation: X:170.85, Y:-5.78, Z:2.11 [[ 9.99262739e-01 -3.24751308e-02 -2.04778751e-02 1.70846448e+02] [ 3.24946336e-02 9.99471717e-01 6.20270367e-04 -5.78197838e+00] [ 2.04469136e-02 -1.28523411e-03 9.99790114e-01 2.11376409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.740714057 meters Centerline goodness [0,1] 0.989285071132721 Centerline is valid? [True, True] Translation: X:170.88, Y:-5.79, Z:2.11 [[ 9.99228447e-01 -3.38204809e-02 -1.99671123e-02 1.70877563e+02] [ 3.38392988e-02 9.99427104e-01 6.05232982e-04 -5.78536501e+00] [ 1.99352040e-02 -1.28043909e-03 9.99800454e-01 2.11414845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.770714057 meters Centerline goodness [0,1] 0.9887890862429932 Centerline is valid? [True, True] Translation: X:170.91, Y:-5.79, Z:2.11 [[ 9.99211950e-01 -3.42242720e-02 -2.01041707e-02 1.70909246e+02] [ 3.42434466e-02 9.99413335e-01 6.10181018e-04 -5.78761610e+00] [ 2.00714933e-02 -1.29813626e-03 9.99797705e-01 2.11454414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.800714057 meters Centerline goodness [0,1] 0.9885243688402863 Centerline is valid? [True, True] Translation: X:170.94, Y:-5.79, Z:2.11 [[ 9.99184649e-01 -3.49569339e-02 -2.02002450e-02 1.70941684e+02] [ 3.49764645e-02 9.99387948e-01 6.14248095e-04 -5.78739952e+00] [ 2.01664092e-02 -1.32028042e-03 9.99795766e-01 2.11469433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.830714057 meters Centerline goodness [0,1] 0.9876429278833169 Centerline is valid? [True, True] Translation: X:170.97, Y:-5.80, Z:2.11 [[ 9.99106310e-01 -3.68671682e-02 -2.06735143e-02 1.70971836e+02] [ 3.68880590e-02 9.99319205e-01 6.29948443e-04 -5.79557501e+00] [ 2.06362155e-02 -1.39199128e-03 9.99786082e-01 2.11424281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.860714057 meters Centerline goodness [0,1] 0.9888908918833657 Centerline is valid? [True, True] Translation: X:171.00, Y:-5.79, Z:2.11 [[ 9.99053338e-01 -3.83634769e-02 -2.05102793e-02 1.71003818e+02] [ 3.83843717e-02 9.99262852e-01 6.25898785e-04 -5.79298143e+00] [ 2.04711485e-02 -1.41258046e-03 9.99789446e-01 2.11474793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.890714057 meters Centerline goodness [0,1] 0.9871236892547074 Centerline is valid? [True, True] Translation: X:171.03, Y:-5.80, Z:2.11 [[ 9.98932928e-01 -4.12844329e-02 -2.07026715e-02 1.71034897e+02] [ 4.13063635e-02 9.99146328e-01 6.32628204e-04 -5.79636481e+00] [ 2.06588805e-02 -1.48710522e-03 9.99785477e-01 2.11471339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.920714057 meters Centerline goodness [0,1] 0.9876072021911904 Centerline is valid? [True, True] Translation: X:171.07, Y:-5.80, Z:2.12 [[ 9.98867800e-01 -4.27883722e-02 -2.07911617e-02 1.71066741e+02] [ 4.28108266e-02 9.99082994e-01 6.35903318e-04 -5.79647663e+00] [ 2.07448868e-02 -1.52527017e-03 9.99783638e-01 2.11521736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.950714057 meters Centerline goodness [0,1] 0.9868394366197183 Centerline is valid? [True, True] Translation: X:171.10, Y:-5.80, Z:2.11 [[ 9.98747478e-01 -4.53622158e-02 -2.11126438e-02 1.71097470e+02] [ 4.53859606e-02 9.98969317e-01 6.46624054e-04 -5.79934899e+00] [ 2.10615510e-02 -1.60403176e-03 9.99776894e-01 2.11497478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98071405699997 meters Centerline goodness [0,1] 0.9863044555570573 Centerline is valid? [True, True] Translation: X:171.13, Y:-5.81, Z:2.11 [[ 9.98702796e-01 -4.62502544e-02 -2.12988144e-02 1.71128302e+02] [ 4.62746336e-02 9.98928542e-01 6.52932605e-04 -5.80736940e+00] [ 2.12457953e-02 -1.63768045e-03 9.99772941e-01 2.11415961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01071405699997 meters Centerline goodness [0,1] 0.9887574498826079 Centerline is valid? [True, True] Translation: X:171.16, Y:-5.80, Z:2.11 [[ 9.98659701e-01 -4.67346556e-02 -2.22412444e-02 1.71160601e+02] [ 4.67613898e-02 9.98905854e-01 6.83168621e-04 -5.79998767e+00] [ 2.21849816e-02 -1.72228447e-03 9.99752400e-01 2.11477611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04071405699997 meters Centerline goodness [0,1] 0.9876417923911328 Centerline is valid? [True, True] Translation: X:171.19, Y:-5.80, Z:2.11 [[ 9.98587946e-01 -4.72341162e-02 -2.43115742e-02 1.71192580e+02] [ 4.72662526e-02 9.98882046e-01 7.48589863e-04 -5.80165506e+00] [ 2.42490360e-02 -1.89664982e-03 9.99704150e-01 2.11379694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07071405699998 meters Centerline goodness [0,1] 0.9879111989933489 Centerline is valid? [True, True] Translation: X:171.22, Y:-5.80, Z:2.11 [[ 9.98590638e-01 -4.66373872e-02 -2.53316461e-02 1.71223413e+02] [ 4.66721287e-02 9.98909957e-01 7.81643563e-04 -5.80233697e+00] [ 2.52675797e-02 -1.96282379e-03 9.99678797e-01 2.11392447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10071405699998 meters Centerline goodness [0,1] 0.981828417023193 Centerline is valid? [True, True] Translation: X:171.25, Y:-5.81, Z:2.11 [[ 9.98610552e-01 -4.60717978e-02 -2.55803740e-02 1.71254091e+02] [ 4.61070753e-02 9.98936190e-01 7.90669862e-04 -5.81259919e+00] [ 2.55167338e-02 -1.96900750e-03 9.99672456e-01 2.11350004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13071405699998 meters Centerline goodness [0,1] 0.9872269362700848 Centerline is valid? [True, True] Translation: X:171.29, Y:-5.80, Z:2.12 [[ 9.98628424e-01 -4.56327749e-02 -2.56694516e-02 1.71286745e+02] [ 4.56681937e-02 9.98956347e-01 7.94957959e-04 -5.80319028e+00] [ 2.56063855e-02 -1.96614510e-03 9.99670169e-01 2.11599112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16071405699998 meters Centerline goodness [0,1] 0.9865755155453274 Centerline is valid? [True, True] Translation: X:171.32, Y:-5.80, Z:2.12 [[ 9.98676403e-01 -4.49951253e-02 -2.49174974e-02 1.71318531e+02] [ 4.50283393e-02 9.98985411e-01 7.73197777e-04 -5.80427214e+00] [ 2.48574263e-02 -1.89416790e-03 9.99689212e-01 2.11724443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19071405699998 meters Centerline goodness [0,1] 0.9758358457453989 Centerline is valid? [True, True] Translation: X:171.35, Y:-5.82, Z:2.12 [[ 9.98695955e-01 -4.48758452e-02 -2.43422920e-02 1.71349821e+02] [ 4.49075381e-02 9.98990861e-01 7.56599683e-04 -5.81731848e+00] [ 2.42837742e-02 -1.84876545e-03 9.99703396e-01 2.11622800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22071405699998 meters Centerline goodness [0,1] 0.9867202948049614 Centerline is valid? [True, True] Translation: X:171.38, Y:-5.81, Z:2.12 [[ 9.98669417e-01 -4.51127615e-02 -2.49846884e-02 1.71381740e+02] [ 4.51462696e-02 9.98980084e-01 7.78416908e-04 -5.80938204e+00] [ 2.49240896e-02 -1.90534664e-03 9.99687531e-01 2.11812899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25071405699998 meters Centerline goodness [0,1] 0.9861795754833772 Centerline is valid? [True, True] Translation: X:171.41, Y:-5.81, Z:2.12 [[ 9.98648922e-01 -4.53009970e-02 -2.54588114e-02 1.71414062e+02] [ 4.53359082e-02 9.98971482e-01 7.95470799e-04 -5.80959386e+00] [ 2.53965909e-02 -1.94859439e-03 9.99675555e-01 2.11876774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28071405699998 meters Centerline goodness [0,1] 0.9835521148883654 Centerline is valid? [True, True] Translation: X:171.45, Y:-5.81, Z:2.12 [[ 9.98659598e-01 -4.49824882e-02 -2.56043538e-02 1.71445605e+02] [ 4.50177357e-02 9.98985866e-01 8.01577529e-04 -5.81295794e+00] [ 2.55423306e-02 -1.95315312e-03 9.99671833e-01 2.11947053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31071405699998 meters Centerline goodness [0,1] 0.9854044192175146 Centerline is valid? [True, True] Translation: X:171.48, Y:-5.81, Z:2.12 [[ 9.98667972e-01 -4.46891323e-02 -2.57907598e-02 1.71477493e+02] [ 4.47248315e-02 9.98999017e-01 8.08721303e-04 -5.81239583e+00] [ 2.57288027e-02 -1.96113145e-03 9.99667036e-01 2.12020318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34071405699999 meters Centerline goodness [0,1] 0.983611354989757 Centerline is valid? [True, True] Translation: X:171.51, Y:-5.82, Z:2.12 [[ 9.98703321e-01 -4.38885341e-02 -2.57967787e-02 1.71507354e+02] [ 4.39240082e-02 9.99034547e-01 8.09830491e-04 -5.81553809e+00] [ 2.57363308e-02 -1.94187832e-03 9.99666880e-01 2.12073091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.370714057 meters Centerline goodness [0,1] 0.9856436755785217 Centerline is valid? [True, True] Translation: X:171.54, Y:-5.81, Z:2.12 [[ 9.98783067e-01 -4.21705492e-02 -2.55740149e-02 1.71539076e+02] [ 4.22048739e-02 9.99108654e-01 8.03656368e-04 -5.81485367e+00] [ 2.55173290e-02 -1.88202645e-03 9.99672608e-01 2.12155640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.400714057 meters Centerline goodness [0,1] 0.985468124353264 Centerline is valid? [True, True] Translation: X:171.57, Y:-5.82, Z:2.12 [[ 9.98807048e-01 -4.12345765e-02 -2.61570448e-02 1.71570898e+02] [ 4.12702011e-02 9.99147683e-01 8.23341939e-04 -5.81537425e+00] [ 2.61008006e-02 -1.90186623e-03 9.99657507e-01 2.12226836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.430714057 meters Centerline goodness [0,1] 0.9854132901134521 Centerline is valid? [True, True] Translation: X:171.60, Y:-5.81, Z:2.12 [[ 9.98883247e-01 -3.87395384e-02 -2.70463689e-02 1.71600920e+02] [ 3.87767381e-02 9.99247536e-01 8.52085971e-04 -5.81458579e+00] [ 2.69930080e-02 -1.89990436e-03 9.99633817e-01 2.12219380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.460714057 meters Centerline goodness [0,1] 0.9858885056693942 Centerline is valid? [True, True] Translation: X:171.63, Y:-5.82, Z:2.12 [[ 9.98940111e-01 -3.72316259e-02 -2.70640039e-02 1.71631588e+02] [ 3.72683235e-02 9.99304931e-01 8.52641555e-04 -5.81507603e+00] [ 2.70134473e-02 -1.86036790e-03 9.99633339e-01 2.12247316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.490714057 meters Centerline goodness [0,1] 0.9863155758955745 Centerline is valid? [True, True] Translation: X:171.66, Y:-5.81, Z:2.12 [[ 9.99050662e-01 -3.36914707e-02 -2.76162778e-02 1.71661563e+02] [ 3.37283319e-02 9.99430659e-01 8.69907928e-04 -5.81420568e+00] [ 2.75712463e-02 -1.80053308e-03 9.99618219e-01 2.12202123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.520714057 meters Centerline goodness [0,1] 0.9856537038707931 Centerline is valid? [True, True] Translation: X:171.69, Y:-5.81, Z:2.12 [[ 9.99103225e-01 -3.19595199e-02 -2.77729223e-02 1.71691545e+02] [ 3.19961244e-02 9.99487610e-01 8.74482224e-04 -5.81397259e+00] [ 2.77307438e-02 -1.76232389e-03 9.99613875e-01 2.12208501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.550714057 meters Centerline goodness [0,1] 0.9866331184148451 Centerline is valid? [True, True] Translation: X:171.72, Y:-5.81, Z:2.12 [[ 9.99240971e-01 -2.81491496e-02 -2.69278052e-02 1.71721329e+02] [ 2.81821688e-02 9.99602445e-01 8.47412745e-04 -5.81284928e+00] [ 2.68932460e-02 -1.60565349e-03 9.99637022e-01 2.12320479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.580714057 meters Centerline goodness [0,1] 0.9859805711452205 Centerline is valid? [True, True] Translation: X:171.75, Y:-5.81, Z:2.12 [[ 9.99293680e-01 -2.66791388e-02 -2.64643988e-02 1.71749866e+02] [ 2.67104905e-02 9.99642865e-01 8.31819374e-04 -5.81312150e+00] [ 2.64327552e-02 -1.53810892e-03 9.99649410e-01 2.12422520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.610714057 meters Centerline goodness [0,1] 0.9863288740496763 Centerline is valid? [True, True] Translation: X:171.78, Y:-5.81, Z:2.13 [[ 9.99413011e-01 -2.40561912e-02 -2.43912683e-02 1.71778696e+02] [ 2.40820152e-02 9.99709693e-01 7.65511078e-04 -5.81297358e+00] [ 2.43657721e-02 -1.35245263e-03 9.99702196e-01 2.12595397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.640714057 meters Centerline goodness [0,1] 0.9858023158702571 Centerline is valid? [True, True] Translation: X:171.81, Y:-5.81, Z:2.13 [[ 9.99446490e-01 -2.32660629e-02 -2.37782230e-02 1.71807383e+02] [ 2.32903244e-02 9.99728467e-01 7.43859038e-04 -5.81378658e+00] [ 2.37544598e-02 -1.29724983e-03 9.99716981e-01 2.12680328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.670714057 meters Centerline goodness [0,1] 0.9877693125042389 Centerline is valid? [True, True] Translation: X:171.84, Y:-5.81, Z:2.13 [[ 9.99453975e-01 -2.27343426e-02 -2.39770872e-02 1.71836469e+02] [ 2.27587309e-02 9.99740709e-01 7.44725720e-04 -5.80821426e+00] [ 2.39539393e-02 -1.29000716e-03 9.99712231e-01 2.12735229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.700714057 meters Centerline goodness [0,1] 0.9869133574007221 Centerline is valid? [True, True] Translation: X:171.86, Y:-5.81, Z:2.13 [[ 9.99408560e-01 -2.35648552e-02 -2.50445000e-02 1.71863876e+02] [ 2.35916012e-02 9.99721381e-01 7.72968712e-04 -5.81248329e+00] [ 2.50193072e-02 -1.36335140e-03 9.99686038e-01 2.12590146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73071405699997 meters Centerline goodness [0,1] 0.9869420325995784 Centerline is valid? [True, True] Translation: X:171.89, Y:-5.82, Z:2.12 [[ 9.99361005e-01 -2.44363441e-02 -2.60853881e-02 1.71890767e+02] [ 2.44655620e-02 9.99700352e-01 8.01476454e-04 -5.82396429e+00] [ 2.60579865e-02 -1.43915799e-03 9.99659397e-01 2.12355417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76071405699997 meters Centerline goodness [0,1] 0.9877292279827937 Centerline is valid? [True, True] Translation: X:171.92, Y:-5.81, Z:2.13 [[ 9.99329817e-01 -2.55194561e-02 -2.62426014e-02 1.71919954e+02] [ 2.55492735e-02 9.99673243e-01 8.01497404e-04 -5.81396259e+00] [ 2.62135726e-02 -1.47143966e-03 9.99655282e-01 2.12594505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79071405699997 meters Centerline goodness [0,1] 0.9839936787447793 Centerline is valid? [True, True] Translation: X:171.95, Y:-5.83, Z:2.12 [[ 9.99279361e-01 -2.75492881e-02 -2.61112253e-02 1.71948306e+02] [ 2.75793934e-02 9.99619301e-01 7.93471265e-04 -5.83465974e+00] [ 2.60794253e-02 -1.51303121e-03 9.99658729e-01 2.12199214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82071405699998 meters Centerline goodness [0,1] 0.9835794901951914 Centerline is valid? [True, True] Translation: X:171.98, Y:-5.84, Z:2.12 [[ 9.99261921e-01 -2.85488539e-02 -2.57016764e-02 1.71976671e+02] [ 2.85782742e-02 9.99591255e-01 7.78021952e-04 -5.83717558e+00] [ 2.56689593e-02 -1.51195727e-03 9.99669355e-01 2.12165000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85071405699998 meters Centerline goodness [0,1] 0.9861098583927121 Centerline is valid? [True, True] Translation: X:172.01, Y:-5.83, Z:2.12 [[ 9.99206000e-01 -3.04203964e-02 -2.57287411e-02 1.72006494e+02] [ 3.04504093e-02 9.99535978e-01 7.75436840e-04 -5.82762388e+00] [ 2.56932133e-02 -1.55827184e-03 9.99668660e-01 2.12335735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88071405699998 meters Centerline goodness [0,1] 0.9861622990480928 Centerline is valid? [True, True] Translation: X:172.04, Y:-5.83, Z:2.12 [[ 9.99163041e-01 -3.17047456e-02 -2.58462007e-02 1.72036018e+02] [ 3.17354392e-02 9.99496001e-01 7.78124478e-04 -5.82905316e+00] [ 2.58085040e-02 -1.59771375e-03 9.99665628e-01 2.12331101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91071405699998 meters Centerline goodness [0,1] 0.9863038425957265 Centerline is valid? [True, True] Translation: X:172.07, Y:-5.83, Z:2.12 [[ 9.99148995e-01 -3.29287231e-02 -2.48391768e-02 1.72066511e+02] [ 3.29574359e-02 9.99456477e-01 7.47341445e-04 -5.82678925e+00] [ 2.48010671e-02 -1.56534103e-03 9.99691181e-01 2.12486324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94071405699998 meters Centerline goodness [0,1] 0.9864916672304536 Centerline is valid? [True, True] Translation: X:172.10, Y:-5.83, Z:2.13 [[ 9.99144258e-01 -3.35013952e-02 -2.42571142e-02 1.72097251e+02] [ 3.35289457e-02 9.99437480e-01 7.29828807e-04 -5.82763925e+00] [ 2.42190188e-02 -1.54251973e-03 9.99705487e-01 2.12570117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97071405699998 meters Centerline goodness [0,1] 0.9867916008128246 Centerline is valid? [True, True] Translation: X:172.13, Y:-5.83, Z:2.13 [[ 9.99166342e-01 -3.35199459e-02 -2.33031048e-02 1.72128876e+02] [ 3.35453830e-02 9.99436949e-01 7.01416010e-04 -5.82962779e+00] [ 2.32664725e-02 -1.48254284e-03 9.99728200e-01 2.12650475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00071405699998 meters Centerline goodness [0,1] 0.9861870374119818 Centerline is valid? [True, True] Translation: X:172.16, Y:-5.83, Z:2.13 [[ 9.99200942e-01 -3.40498013e-02 -2.09305849e-02 1.72158947e+02] [ 3.40704485e-02 9.99419235e-01 6.30553146e-04 -5.83352261e+00] [ 2.08969589e-02 -1.34316371e-03 9.99780732e-01 2.12796760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03071405699998 meters Centerline goodness [0,1] 0.9861386584926073 Centerline is valid? [True, True] Translation: X:172.19, Y:-5.83, Z:2.13 [[ 9.99210733e-01 -3.42639111e-02 -2.00971561e-02 1.72189919e+02] [ 3.42829978e-02 9.99411982e-01 6.05860361e-04 -5.83499309e+00] [ 2.00645795e-02 -1.29437293e-03 9.99797848e-01 2.12848929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06071405699998 meters Centerline goodness [0,1] 0.9868522116296932 Centerline is valid? [True, True] Translation: X:172.22, Y:-5.83, Z:2.13 [[ 9.99145409e-01 -3.62867031e-02 -1.97920938e-02 1.72221668e+02] [ 3.63056227e-02 9.99340555e-01 5.97324351e-04 -5.82751085e+00] [ 1.97573671e-02 -1.31537817e-03 9.99803939e-01 2.12946939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09071405699999 meters Centerline goodness [0,1] 0.986851601262968 Centerline is valid? [True, True] Translation: X:172.25, Y:-5.83, Z:2.13 [[ 9.99094010e-01 -3.76352551e-02 -1.98682336e-02 1.72253266e+02] [ 3.76546020e-02 9.99290634e-01 6.00423915e-04 -5.82990058e+00] [ 1.98315426e-02 -1.34801036e-03 9.99802427e-01 2.12912460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.120714057 meters Centerline goodness [0,1] 0.9844556083714434 Centerline is valid? [True, True] Translation: X:172.28, Y:-5.84, Z:2.13 [[ 9.98960049e-01 -4.04675922e-02 -2.10046341e-02 1.72283365e+02] [ 4.04898588e-02 9.99179747e-01 6.35708002e-04 -5.83610237e+00] [ 2.09616795e-02 -1.48552157e-03 9.99779176e-01 2.12747551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.150714057 meters Centerline goodness [0,1] 0.9844556083714434 Centerline is valid? [True, True] Translation: X:172.32, Y:-5.84, Z:2.13 [[ 9.98962914e-01 -4.03968037e-02 -2.10046127e-02 1.72315121e+02] [ 4.04190695e-02 9.99182613e-01 6.36414296e-04 -5.83712710e+00] [ 2.09617347e-02 -1.48474118e-03 9.99779176e-01 2.12794223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.180714057 meters Centerline goodness [0,1] 0.9857991104689229 Centerline is valid? [True, True] Translation: X:172.35, Y:-5.84, Z:2.13 [[ 9.98908237e-01 -4.14598539e-02 -2.15270660e-02 1.72347057e+02] [ 4.14835204e-02 9.99138974e-01 6.53794312e-04 -5.83892844e+00] [ 2.14814244e-02 -1.54609900e-03 9.99768052e-01 2.12739820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.210714057 meters Centerline goodness [0,1] 0.985548480332385 Centerline is valid? [True, True] Translation: X:172.38, Y:-5.84, Z:2.13 [[ 9.98837949e-01 -4.25981170e-02 -2.25422091e-02 1.72379130e+02] [ 4.26243939e-02 9.99090932e-01 6.86258256e-04 -5.84133005e+00] [ 2.24924834e-02 -1.64630879e-03 9.99745657e-01 2.12658358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.240714057 meters Centerline goodness [0,1] 0.9848876200833786 Centerline is valid? [True, True] Translation: X:172.41, Y:-5.84, Z:2.13 [[ 9.98735687e-01 -4.40261039e-02 -2.42637585e-02 1.72410010e+02] [ 4.40569988e-02 9.99028745e-01 7.39935528e-04 -5.84356032e+00] [ 2.42076157e-02 -1.80798840e-03 9.99705318e-01 2.12553478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.270714057 meters Centerline goodness [0,1] 0.9842985318107668 Centerline is valid? [True, True] Translation: X:172.44, Y:-5.85, Z:2.12 [[ 9.98716500e-01 -4.36861002e-02 -2.56295997e-02 1.72440799e+02] [ 4.37204827e-02 9.99043496e-01 7.82421362e-04 -5.84521720e+00] [ 2.55709040e-02 -1.90195559e-03 9.99671202e-01 2.12456353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.300714057 meters Centerline goodness [0,1] 0.9863001228892632 Centerline is valid? [True, True] Translation: X:172.47, Y:-5.85, Z:2.13 [[ 9.98761389e-01 -4.27545589e-02 -2.54506409e-02 1.72472624e+02] [ 4.27881937e-02 9.99083863e-01 7.78211670e-04 -5.84583182e+00] [ 2.53940525e-02 -1.86623472e-03 9.99675777e-01 2.12513119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.330714057 meters Centerline goodness [0,1] 0.9850427350427351 Centerline is valid? [True, True] Translation: X:172.50, Y:-5.85, Z:2.13 [[ 9.98787688e-01 -4.21330189e-02 -2.54551135e-02 1.72504289e+02] [ 4.21664915e-02 9.99110294e-01 7.79395975e-04 -5.84507116e+00] [ 2.53996277e-02 -1.85180393e-03 9.99675662e-01 2.12542905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.360714057 meters Centerline goodness [0,1] 0.9849407168491346 Centerline is valid? [True, True] Translation: X:172.54, Y:-5.84, Z:2.13 [[ 9.98931633e-01 -3.89797649e-02 -2.48227696e-02 1.72535466e+02] [ 3.90106414e-02 9.99238506e-01 7.60661795e-04 -5.84201716e+00] [ 2.47742168e-02 -1.72820129e-03 9.99691578e-01 2.12737935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.390714057 meters Centerline goodness [0,1] 0.986624203821656 Centerline is valid? [True, True] Translation: X:172.57, Y:-5.84, Z:2.13 [[ 9.99001930e-01 -3.75424035e-02 -2.42014883e-02 1.72567446e+02] [ 3.75713505e-02 9.99293672e-01 7.42325392e-04 -5.83529815e+00] [ 2.41565254e-02 -1.65086710e-03 9.99706825e-01 2.12942989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.420714057 meters Centerline goodness [0,1] 0.9858044880530571 Centerline is valid? [True, True] Translation: X:172.60, Y:-5.84, Z:2.13 [[ 9.99101939e-01 -3.54596864e-02 -2.31932347e-02 1.72597384e+02] [ 3.54857295e-02 9.99369929e-01 7.12142568e-04 -5.84041353e+00] [ 2.31533690e-02 -1.53453188e-03 9.99730747e-01 2.12925793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.450714057 meters Centerline goodness [0,1] 0.9860268976521541 Centerline is valid? [True, True] Translation: X:172.63, Y:-5.84, Z:2.13 [[ 9.99141446e-01 -3.45058736e-02 -2.29284694e-02 1.72629162e+02] [ 3.45310847e-02 9.99403376e-01 7.04422344e-04 -5.83958772e+00] [ 2.28904830e-02 -1.49556248e-03 9.99736860e-01 2.13031318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48071405699997 meters Centerline goodness [0,1] 0.9859662734180681 Centerline is valid? [True, True] Translation: X:172.66, Y:-5.84, Z:2.13 [[ 9.99178975e-01 -3.37126882e-02 -2.24684517e-02 1.72660524e+02] [ 3.37367196e-02 9.99430516e-01 6.91258299e-04 -5.83832384e+00] [ 2.24323521e-02 -1.44870261e-03 9.99747313e-01 2.13115608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51071405699997 meters Centerline goodness [0,1] 0.9864852545694881 Centerline is valid? [True, True] Translation: X:172.69, Y:-5.83, Z:2.13 [[ 9.99166027e-01 -3.39494998e-02 -2.26866120e-02 1.72692024e+02] [ 3.39740784e-02 9.99422470e-01 6.98739127e-04 -5.82796729e+00] [ 2.26497880e-02 -1.46891313e-03 9.99742382e-01 2.13309298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54071405699997 meters Centerline goodness [0,1] 0.9848350297151445 Centerline is valid? [True, True] Translation: X:172.72, Y:-5.84, Z:2.13 [[ 9.99126385e-01 -3.48869006e-02 -2.30080639e-02 1.72722314e+02] [ 3.49124507e-02 9.99390123e-01 7.09610140e-04 -5.84051122e+00] [ 2.29692757e-02 -1.51225811e-03 9.99735028e-01 2.13135390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57071405699998 meters Centerline goodness [0,1] 0.9837158844353089 Centerline is valid? [True, True] Translation: X:172.75, Y:-5.84, Z:2.13 [[ 9.99096682e-01 -3.55012659e-02 -2.33555339e-02 1.72752692e+02] [ 3.55277826e-02 9.99368429e-01 7.21258015e-04 -5.84252279e+00] [ 2.33151777e-02 -1.55037682e-03 9.99726962e-01 2.13103655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60071405699998 meters Centerline goodness [0,1] 0.984186300870437 Centerline is valid? [True, True] Translation: X:172.78, Y:-5.84, Z:2.13 [[ 9.99085829e-01 -3.59106457e-02 -2.31933449e-02 1.72784309e+02] [ 3.59369170e-02 9.99353803e-01 7.16761907e-04 -5.84349808e+00] [ 2.31526180e-02 -1.54960397e-03 9.99730741e-01 2.13151441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63071405699998 meters Centerline goodness [0,1] 0.9880549972592728 Centerline is valid? [True, True] Translation: X:172.82, Y:-5.83, Z:2.13 [[ 9.99028805e-01 -3.69940634e-02 -2.39350219e-02 1.72815563e+02] [ 3.70223674e-02 9.99314163e-01 7.40340123e-04 -5.82876684e+00] [ 2.38912181e-02 -1.62575228e-03 9.99713242e-01 2.13306258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66071405699998 meters Centerline goodness [0,1] 0.9881483515226394 Centerline is valid? [True, True] Translation: X:172.85, Y:-5.83, Z:2.13 [[ 9.98994031e-01 -3.72186231e-02 -2.50139842e-02 1.72847896e+02] [ 3.72496330e-02 9.99305691e-01 7.74731554e-04 -5.82729428e+00] [ 2.49677824e-02 -1.70571393e-03 9.99686801e-01 2.13359282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69071405699998 meters Centerline goodness [0,1] 0.9875129117410766 Centerline is valid? [True, True] Translation: X:172.88, Y:-5.83, Z:2.13 [[ 9.98957432e-01 -3.72195165e-02 -2.64339978e-02 1.72879459e+02] [ 3.72541949e-02 9.99305485e-01 8.20457222e-04 -5.82877495e+00] [ 2.63851020e-02 -1.80437915e-03 9.99650224e-01 2.13178342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72071405699998 meters Centerline goodness [0,1] 0.9871742018230956 Centerline is valid? [True, True] Translation: X:172.91, Y:-5.83, Z:2.13 [[ 9.98964405e-01 -3.65818215e-02 -2.70534113e-02 1.72911117e+02] [ 3.66179455e-02 9.99328984e-01 8.40913097e-04 -5.82745930e+00] [ 2.70044959e-02 -1.83068259e-03 9.99633636e-01 2.13218109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75071405699998 meters Centerline goodness [0,1] 0.987140119594579 Centerline is valid? [True, True] Translation: X:172.94, Y:-5.83, Z:2.13 [[ 9.99030960e-01 -3.52648792e-02 -2.63349580e-02 1.72941684e+02] [ 3.52986719e-02 9.99376472e-01 8.19272994e-04 -5.82515008e+00] [ 2.62896459e-02 -1.74806813e-03 9.99652839e-01 2.13285571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78071405699998 meters Centerline goodness [0,1] 0.9876118852080834 Centerline is valid? [True, True] Translation: X:172.97, Y:-5.82, Z:2.14 [[ 9.99092795e-01 -3.40599515e-02 -2.55637602e-02 1.72973767e+02] [ 3.40914218e-02 9.99418401e-01 7.96113769e-04 -5.81606039e+00] [ 2.55217768e-02 -1.66689646e-03 9.99672877e-01 2.13542632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81071405699998 meters Centerline goodness [0,1] 0.986935949221004 Centerline is valid? [True, True] Translation: X:173.01, Y:-5.82, Z:2.14 [[ 9.99160527e-01 -3.28173659e-02 -2.45206241e-02 1.73005253e+02] [ 3.28459742e-02 9.99460133e-01 7.64745358e-04 -5.81508866e+00] [ 2.44822893e-02 -1.56950716e-03 9.99699032e-01 2.13657198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84071405699999 meters Centerline goodness [0,1] 0.9855772564428522 Centerline is valid? [True, True] Translation: X:173.03, Y:-5.81, Z:2.14 [[ 9.99276177e-01 -3.06334916e-02 -2.25546503e-02 1.73034652e+02] [ 3.06571488e-02 9.99529711e-01 7.03777778e-04 -5.81473591e+00] [ 2.25224839e-02 -1.39472964e-03 9.99745364e-01 2.13829651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.870714057 meters Centerline goodness [0,1] 0.9853849177901626 Centerline is valid? [True, True] Translation: X:173.06, Y:-5.82, Z:2.14 [[ 9.99314100e-01 -2.99452031e-02 -2.17856294e-02 1.73064930e+02] [ 2.99671084e-02 9.99550654e-01 6.79650608e-04 -5.81912525e+00] [ 2.17554879e-02 -1.33203675e-03 9.99762434e-01 2.13861175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.900714057 meters Centerline goodness [0,1] 0.9854145342886387 Centerline is valid? [True, True] Translation: X:173.10, Y:-5.81, Z:2.14 [[ 9.99357691e-01 -2.81860448e-02 -2.21303397e-02 1.73096743e+02] [ 2.82082305e-02 9.99601830e-01 6.90914719e-04 -5.81197895e+00] [ 2.21020539e-02 -1.31472866e-03 9.99754855e-01 2.13906895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.930714057 meters Centerline goodness [0,1] 0.9860714534438332 Centerline is valid? [True, True] Translation: X:173.13, Y:-5.81, Z:2.14 [[ 9.99416792e-01 -2.63024094e-02 -2.17774986e-02 1.73128097e+02] [ 2.63234636e-02 9.99653246e-01 6.80642011e-04 -5.80513469e+00] [ 2.17520447e-02 -1.25350425e-03 9.99762610e-01 2.13954749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.960714057 meters Centerline goodness [0,1] 0.9871615639125775 Centerline is valid? [True, True] Translation: X:173.16, Y:-5.81, Z:2.14 [[ 9.99439261e-01 -2.51410651e-02 -2.21153683e-02 1.73159740e+02] [ 2.51625120e-02 9.99683134e-01 6.91990633e-04 -5.80503343e+00] [ 2.20909633e-02 -1.24808083e-03 9.99755186e-01 2.13961609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.990714057 meters Centerline goodness [0,1] 0.9868161455794628 Centerline is valid? [True, True] Translation: X:173.19, Y:-5.81, Z:2.14 [[ 9.99460932e-01 -2.39589373e-02 -2.24458097e-02 1.73190226e+02] [ 2.39807446e-02 9.99712174e-01 7.02851769e-04 -5.80544255e+00] [ 2.24225097e-02 -1.24074012e-03 9.99747814e-01 2.13943404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.020714057 meters Centerline goodness [0,1] 0.9875348837209302 Centerline is valid? [True, True] Translation: X:173.22, Y:-5.80, Z:2.14 [[ 9.99479515e-01 -2.14699761e-02 -2.40777813e-02 1.73220476e+02] [ 2.14943377e-02 9.99768686e-01 7.53412837e-04 -5.80294969e+00] [ 2.40560360e-02 -1.27055666e-03 9.99709804e-01 2.13894698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.050714057 meters Centerline goodness [0,1] 0.9871142996447726 Centerline is valid? [True, True] Translation: X:173.25, Y:-5.80, Z:2.14 [[ 9.99510755e-01 -1.82968293e-02 -2.53668232e-02 1.73249650e+02] [ 1.83228192e-02 9.99831809e-01 7.92488671e-04 -5.80095192e+00] [ 2.53480567e-02 -1.25689267e-03 9.99677896e-01 2.13821232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.080714057 meters Centerline goodness [0,1] 0.9885030720536213 Centerline is valid? [True, True] Translation: X:173.28, Y:-5.80, Z:2.14 [[ 9.99522520e-01 -1.69892985e-02 -2.58088374e-02 1.73278191e+02] [ 1.70156819e-02 9.99854900e-01 8.02977744e-04 -5.79553547e+00] [ 2.57914505e-02 -1.24174931e-03 9.99666574e-01 2.13927342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.110714057 meters Centerline goodness [0,1] 0.9893879450779614 Centerline is valid? [True, True] Translation: X:173.31, Y:-5.80, Z:2.14 [[ 9.99540185e-01 -1.54787187e-02 -2.60734976e-02 1.73306099e+02] [ 1.55050095e-02 9.99879465e-01 8.06455177e-04 -5.79574624e+00] [ 2.60578719e-02 -1.21035418e-03 9.99659703e-01 2.13916390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.140714057 meters Centerline goodness [0,1] 0.9886612339930151 Centerline is valid? [True, True] Translation: X:173.34, Y:-5.80, Z:2.14 [[ 9.99585115e-01 -1.24522394e-02 -2.59718824e-02 1.73335084e+02] [ 1.24772620e-02 9.99921835e-01 8.01608689e-04 -5.79504756e+00] [ 2.59598705e-02 -1.12533410e-03 9.99662352e-01 2.14030940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.170714057 meters Centerline goodness [0,1] 0.988950276243094 Centerline is valid? [True, True] Translation: X:173.36, Y:-5.79, Z:2.14 [[ 9.99624619e-01 -1.09089864e-02 -2.51319651e-02 1.73363738e+02] [ 1.09318983e-02 9.99939945e-01 7.74450990e-04 -5.79446674e+00] [ 2.51220073e-02 -1.04890036e-03 9.99683842e-01 2.14175492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.200714057 meters Centerline goodness [0,1] 0.9889626266154383 Centerline is valid? [True, True] Translation: X:173.39, Y:-5.79, Z:2.14 [[ 9.99686455e-01 -8.04441347e-03 -2.37124134e-02 1.73393862e+02] [ 8.06397140e-03 9.99967220e-01 7.29289595e-04 -5.79249867e+00] [ 2.37057694e-02 -9.20277154e-04 9.99718555e-01 2.14429051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23071405699997 meters Centerline goodness [0,1] 0.9903718382095815 Centerline is valid? [True, True] Translation: X:173.42, Y:-5.79, Z:2.15 [[ 9.99707249e-01 -7.30305069e-03 -2.30668896e-02 1.73422749e+02] [ 7.32129691e-03 9.99972949e-01 7.06660390e-04 -5.79123474e+00] [ 2.30611048e-02 -8.75333062e-04 9.99733674e-01 2.14575465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26071405699997 meters Centerline goodness [0,1] 0.9895257424125784 Centerline is valid? [True, True] Translation: X:173.45, Y:-5.79, Z:2.15 [[ 9.99728348e-01 -6.54400616e-03 -2.23697825e-02 1.73451366e+02] [ 6.56085533e-03 9.99978246e-01 6.79901712e-04 -5.79199857e+00] [ 2.23648465e-02 -8.26481922e-04 9.99749534e-01 2.14643432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29071405699997 meters Centerline goodness [0,1] 0.9895195286116869 Centerline is valid? [True, True] Translation: X:173.48, Y:-5.79, Z:2.15 [[ 9.99725855e-01 -6.83101149e-03 -2.23953435e-02 1.73479163e+02] [ 6.84784185e-03 9.99976326e-01 6.74907549e-04 -5.79359789e+00] [ 2.23902030e-02 -8.28082297e-04 9.99748965e-01 2.14670033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32071405699998 meters Centerline goodness [0,1] 0.9886874141663369 Centerline is valid? [True, True] Translation: X:173.51, Y:-5.80, Z:2.15 [[ 9.99699898e-01 -8.00648656e-03 -2.31518990e-02 1.73507106e+02] [ 8.02467254e-03 9.99967562e-01 6.92706531e-04 -5.79789016e+00] [ 2.31456019e-02 -8.78285057e-04 9.99731719e-01 2.14546900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35071405699998 meters Centerline goodness [0,1] 0.9896245289163914 Centerline is valid? [True, True] Translation: X:173.54, Y:-5.80, Z:2.15 [[ 9.99674332e-01 -8.93259980e-03 -2.39047798e-02 1.73535601e+02] [ 8.95216722e-03 9.99959675e-01 7.11664761e-04 -5.79968095e+00] [ 2.38974588e-02 -9.25432581e-04 9.99713987e-01 2.14604956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38071405699998 meters Centerline goodness [0,1] 0.9893985539255574 Centerline is valid? [True, True] Translation: X:173.56, Y:-5.80, Z:2.15 [[ 9.99615674e-01 -1.07154116e-02 -2.55672524e-02 1.73564142e+02] [ 1.07382113e-02 9.99942059e-01 7.54618130e-04 -5.80203277e+00] [ 2.55576849e-02 -1.02887467e-03 9.99672820e-01 2.14579360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41071405699998 meters Centerline goodness [0,1] 0.9893179759886678 Centerline is valid? [True, True] Translation: X:173.59, Y:-5.81, Z:2.14 [[ 9.99575416e-01 -1.13841569e-02 -2.68214054e-02 1.73591762e+02] [ 1.14093578e-02 9.99934602e-01 7.86728477e-04 -5.80565964e+00] [ 2.68106951e-02 -1.09240946e-03 9.99639932e-01 2.14476802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44071405699998 meters Centerline goodness [0,1] 0.9883309022713065 Centerline is valid? [True, True] Translation: X:173.62, Y:-5.81, Z:2.15 [[ 9.99558760e-01 -1.30613186e-02 -2.66774515e-02 1.73619443e+02] [ 1.30867835e-02 9.99914060e-01 7.80169540e-04 -5.81051529e+00] [ 2.66649688e-02 -1.12894733e-03 9.99643789e-01 2.14677132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47071405699998 meters Centerline goodness [0,1] 0.9890535494793479 Centerline is valid? [True, True] Translation: X:173.65, Y:-5.81, Z:2.15 [[ 9.99564690e-01 -1.43147057e-02 -2.57976531e-02 1.73648277e+02] [ 1.43388319e-02 9.99896912e-01 7.50458365e-04 -5.81176988e+00] [ 2.57842511e-02 -1.12003989e-03 9.99666903e-01 2.14881659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50071405699998 meters Centerline goodness [0,1] 0.9892084664906674 Centerline is valid? [True, True] Translation: X:173.68, Y:-5.81, Z:2.15 [[ 9.99569430e-01 -1.51766567e-02 -2.51122200e-02 1.73676504e+02] [ 1.51996352e-02 9.99884216e-01 7.24398756e-04 -5.81392769e+00] [ 2.50983184e-02 -1.10578344e-03 9.99684376e-01 2.15033394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53071405699998 meters Centerline goodness [0,1] 0.9885591457495493 Centerline is valid? [True, True] Translation: X:173.70, Y:-5.82, Z:2.15 [[ 9.99562310e-01 -1.69775263e-02 -2.42270811e-02 1.73704141e+02] [ 1.69993351e-02 9.99855260e-01 6.94502479e-04 -5.82161289e+00] [ 2.42117836e-02 -1.10604277e-03 9.99706240e-01 2.15107305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56071405699998 meters Centerline goodness [0,1] 0.9878434176835598 Centerline is valid? [True, True] Translation: X:173.73, Y:-5.83, Z:2.15 [[ 9.99524995e-01 -1.85394534e-02 -2.46185452e-02 1.73731405e+02] [ 1.85623921e-02 9.99827456e-01 7.03549984e-04 -5.82954386e+00] [ 2.46012540e-02 -1.16019488e-03 9.99696670e-01 2.15064785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59071405699999 meters Centerline goodness [0,1] 0.987846982460986 Centerline is valid? [True, True] Translation: X:173.76, Y:-5.83, Z:2.15 [[ 9.99508445e-01 -1.95247300e-02 -2.45286027e-02 1.73759995e+02] [ 1.95477074e-02 9.99808682e-01 6.97312132e-04 -5.83260603e+00] [ 2.45102952e-02 -1.17644732e-03 9.99698885e-01 2.15114352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.620714057 meters Centerline goodness [0,1] 0.9872089284894134 Centerline is valid? [True, True] Translation: X:173.79, Y:-5.84, Z:2.15 [[ 9.99486324e-01 -2.04403573e-02 -2.46835876e-02 1.73787648e+02] [ 2.04637945e-02 9.99790351e-01 6.97257339e-04 -5.84009647e+00] [ 2.46641605e-02 -1.20201904e-03 9.99695071e-01 2.15090278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.650714057 meters Centerline goodness [0,1] 0.9872309208867289 Centerline is valid? [True, True] Translation: X:173.82, Y:-5.84, Z:2.15 [[ 9.99421912e-01 -2.24803416e-02 -2.55044192e-02 1.73816795e+02] [ 2.25059796e-02 9.99746450e-01 7.18599995e-04 -5.84490172e+00] [ 2.54817981e-02 -1.29218652e-03 9.99674451e-01 2.15171508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.680714057 meters Centerline goodness [0,1] 0.9876675725672003 Centerline is valid? [True, True] Translation: X:173.85, Y:-5.85, Z:2.15 [[ 9.99376730e-01 -2.36864328e-02 -2.61744920e-02 1.73845168e+02] [ 2.37137584e-02 9.99718520e-01 7.34026645e-04 -5.84838606e+00] [ 2.61497379e-02 -1.35426473e-03 9.99657120e-01 2.15188581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.710714057 meters Centerline goodness [0,1] 0.9871698628267249 Centerline is valid? [True, True] Translation: X:173.87, Y:-5.86, Z:2.15 [[ 9.99296673e-01 -2.54099542e-02 -2.75770496e-02 1.73872928e+02] [ 2.54408170e-02 9.99676034e-01 7.68809796e-04 -5.85808616e+00] [ 2.75485802e-02 -1.46985174e-03 9.99619385e-01 2.15031532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.740714057 meters Centerline goodness [0,1] 0.9873466782180476 Centerline is valid? [True, True] Translation: X:173.90, Y:-5.86, Z:2.15 [[ 9.99245600e-01 -2.62187347e-02 -2.86497776e-02 1.73901725e+02] [ 2.62522541e-02 9.99655035e-01 7.94397655e-04 -5.86195638e+00] [ 2.86190663e-02 -1.54591960e-03 9.99589195e-01 2.14983695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.770714057 meters Centerline goodness [0,1] 0.9881936245572609 Centerline is valid? [True, True] Translation: X:173.93, Y:-5.87, Z:2.15 [[ 9.99185623e-01 -2.67484121e-02 -3.02094781e-02 1.73929568e+02] [ 2.67857773e-02 9.99640850e-01 8.32790825e-04 -5.86940805e+00] [ 3.01763525e-02 -1.64129697e-03 9.99543243e-01 2.14790665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.800714057 meters Centerline goodness [0,1] 0.9893097891463719 Centerline is valid? [True, True] Translation: X:173.96, Y:-5.86, Z:2.15 [[ 9.99161322e-01 -2.66171747e-02 -3.11155785e-02 1.73957881e+02] [ 2.66565688e-02 9.99644288e-01 8.51854254e-04 -5.86267555e+00] [ 3.10818363e-02 -1.68057438e-03 9.99515430e-01 2.15058979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.830714057 meters Centerline goodness [0,1] 0.9889105587808418 Centerline is valid? [True, True] Translation: X:173.99, Y:-5.87, Z:2.15 [[ 9.99143884e-01 -2.49662723e-02 -3.29876447e-02 1.73986364e+02] [ 2.50093577e-02 9.99686817e-01 8.94078074e-04 -5.86535172e+00] [ 3.29549917e-02 -1.71831245e-03 9.99455360e-01 2.15039304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.860714057 meters Centerline goodness [0,1] 0.9896160894056965 Centerline is valid? [True, True] Translation: X:174.01, Y:-5.87, Z:2.15 [[ 9.99154745e-01 -2.39053235e-02 -3.34414594e-02 1.74014696e+02] [ 2.39487281e-02 9.99712785e-01 8.97920899e-04 -5.86735598e+00] [ 3.34103894e-02 -1.69804235e-03 9.99440275e-01 2.15111463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.890714057 meters Centerline goodness [0,1] 0.9894402900521188 Centerline is valid? [True, True] Translation: X:174.04, Y:-5.87, Z:2.15 [[ 9.99143517e-01 -2.33318564e-02 -3.41739332e-02 1.74042262e+02] [ 2.33766618e-02 9.99726312e-01 9.12077513e-04 -5.87432338e+00] [ 3.41432997e-02 -1.71016881e-03 9.99415484e-01 2.14934824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.920714057 meters Centerline goodness [0,1] 0.9874105994630328 Centerline is valid? [True, True] Translation: X:174.07, Y:-5.88, Z:2.15 [[ 9.99167792e-01 -2.22862984e-02 -3.41620220e-02 1.74069683e+02] [ 2.23303621e-02 9.99750233e-01 9.08805288e-04 -5.87865789e+00] [ 3.41332356e-02 -1.67089930e-03 9.99415895e-01 2.14965369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.950714057 meters Centerline goodness [0,1] 0.9884602330580382 Centerline is valid? [True, True] Translation: X:174.10, Y:-5.88, Z:2.15 [[ 9.99194805e-01 -2.17142345e-02 -3.37377152e-02 1.74098633e+02] [ 2.17566929e-02 9.99762897e-01 8.91835375e-04 -5.88126769e+00] [ 3.37103504e-02 -1.62513838e-03 9.99430323e-01 2.15083202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98071405699997 meters Centerline goodness [0,1] 0.9880462783025263 Centerline is valid? [True, True] Translation: X:174.13, Y:-5.88, Z:2.16 [[ 9.99218593e-01 -2.17479997e-02 -3.30034523e-02 1.74127050e+02] [ 2.17883870e-02 9.99762231e-01 8.64538479e-04 -5.87938992e+00] [ 3.29768031e-02 -1.58295491e-03 9.99454864e-01 2.15519360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01071405699997 meters Centerline goodness [0,1] 0.9885754360563762 Centerline is valid? [True, True] Translation: X:174.16, Y:-5.88, Z:2.16 [[ 9.99234445e-01 -2.17919168e-02 -3.24905607e-02 1.74156151e+02] [ 2.18308193e-02 9.99761324e-01 8.43046285e-04 -5.88014695e+00] [ 3.24644344e-02 -1.55169645e-03 9.99471687e-01 2.15715619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04071405699997 meters Centerline goodness [0,1] 0.9865611400482536 Centerline is valid? [True, True] Translation: X:174.18, Y:-5.89, Z:2.16 [[ 9.99237030e-01 -2.33826316e-02 -3.12827606e-02 1.74183867e+02] [ 2.34192869e-02 9.99725406e-01 8.05805085e-04 -5.88655921e+00] [ 3.12553287e-02 -1.53781023e-03 9.99510250e-01 2.15770510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07071405699998 meters Centerline goodness [0,1] 0.9865611400482536 Centerline is valid? [True, True] Translation: X:174.21, Y:-5.89, Z:2.16 [[ 9.99230388e-01 -2.36645094e-02 -3.12829334e-02 1.74211279e+02] [ 2.37010916e-02 9.99718770e-01 7.99053677e-04 -5.88718851e+00] [ 3.12552265e-02 -1.53987839e-03 9.99510250e-01 2.15810867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10071405699998 meters Centerline goodness [0,1] 0.9875639263748395 Centerline is valid? [True, True] Translation: X:174.24, Y:-5.89, Z:2.16 [[ 9.99213552e-01 -2.47598694e-02 -3.09713952e-02 1.74240097e+02] [ 2.47959998e-02 9.99692225e-01 7.82983265e-04 -5.89067020e+00] [ 3.09424764e-02 -1.55033420e-03 9.99519965e-01 2.15859873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13071405699998 meters Centerline goodness [0,1] 0.9876529327096077 Centerline is valid? [True, True] Translation: X:174.27, Y:-5.90, Z:2.16 [[ 9.99135789e-01 -2.78396101e-02 -3.08647093e-02 1.74268027e+02] [ 2.78768027e-02 9.99611066e-01 7.75283776e-04 -5.89755529e+00] [ 3.08311213e-02 -1.63502318e-03 9.99523271e-01 2.15904425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16071405699998 meters Centerline goodness [0,1] 0.9867549668874173 Centerline is valid? [True, True] Translation: X:174.30, Y:-5.90, Z:2.16 [[ 9.99071152e-01 -2.98883035e-02 -3.10406753e-02 1.74297861e+02] [ 2.99268499e-02 9.99551789e-01 7.77854286e-04 -5.90015617e+00] [ 3.10035138e-02 -1.70608141e-03 9.99517819e-01 2.15949474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19071405699998 meters Centerline goodness [0,1] 0.987145719366966 Centerline is valid? [True, True] Translation: X:174.33, Y:-5.91, Z:2.16 [[ 9.98919747e-01 -3.40206276e-02 -3.16533786e-02 1.74327201e+02] [ 3.40627602e-02 9.99419381e-01 7.92622518e-04 -5.90864516e+00] [ 3.16080345e-02 -1.86996773e-03 9.99498592e-01 2.15847649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22071405699998 meters Centerline goodness [0,1] 0.9865492069214131 Centerline is valid? [True, True] Translation: X:174.36, Y:-5.91, Z:2.16 [[ 9.98811050e-01 -3.63694126e-02 -3.24615579e-02 1.74356089e+02] [ 3.64149292e-02 9.99336427e-01 8.11877829e-04 -5.91199540e+00] [ 3.24104898e-02 -1.99299788e-03 9.99472655e-01 2.15820358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25071405699998 meters Centerline goodness [0,1] 0.9869820356588799 Centerline is valid? [True, True] Translation: X:174.39, Y:-5.92, Z:2.16 [[ 9.98717710e-01 -3.86940042e-02 -3.26452019e-02 1.74385688e+02] [ 3.87412287e-02 9.99248944e-01 8.15079046e-04 -5.91665986e+00] [ 3.25891449e-02 -2.07874911e-03 9.99466671e-01 2.15747698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28071405699998 meters Centerline goodness [0,1] 0.987486520488857 Centerline is valid? [True, True] Translation: X:174.41, Y:-5.92, Z:2.16 [[ 9.98574709e-01 -4.20186014e-02 -3.29087762e-02 1.74414316e+02] [ 4.20683516e-02 9.99114398e-01 8.20521175e-04 -5.92353365e+00] [ 3.28451550e-02 -2.20376966e-03 9.99458023e-01 2.15717766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31071405699998 meters Centerline goodness [0,1] 0.985717177624328 Centerline is valid? [True, True] Translation: X:174.44, Y:-5.93, Z:2.16 [[ 9.98460999e-01 -4.40987856e-02 -3.36292976e-02 1.74443219e+02] [ 4.41518636e-02 9.99024480e-01 8.36993213e-04 -5.92588987e+00] [ 3.35595812e-02 -2.32050124e-03 9.99434025e-01 2.15725722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34071405699999 meters Centerline goodness [0,1] 0.9865566620956321 Centerline is valid? [True, True] Translation: X:174.47, Y:-5.93, Z:2.16 [[ 9.98449736e-01 -4.43834674e-02 -3.35891841e-02 1.74471787e+02] [ 4.44365212e-02 9.99011862e-01 8.34270998e-04 -5.92889159e+00] [ 3.35189655e-02 -2.32556415e-03 9.99435376e-01 2.15722386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.370714057 meters Centerline goodness [0,1] 0.9870550161812298 Centerline is valid? [True, True] Translation: X:174.50, Y:-5.93, Z:2.16 [[ 9.98474540e-01 -4.40038816e-02 -3.33504272e-02 1.74501095e+02] [ 4.40559268e-02 9.99028724e-01 8.26962654e-04 -5.92870441e+00] [ 3.32816451e-02 -2.29498513e-03 9.99443378e-01 2.15785920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.400714057 meters Centerline goodness [0,1] 0.98712388485652 Centerline is valid? [True, True] Translation: X:174.53, Y:-5.93, Z:2.16 [[ 9.98505864e-01 -4.34290069e-02 -3.31656492e-02 1.74529667e+02] [ 4.34800090e-02 9.99053963e-01 8.17789283e-04 -5.92830176e+00] [ 3.30987575e-02 -2.25861012e-03 9.99449534e-01 2.15868307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.430714057 meters Centerline goodness [0,1] 0.9872482769458726 Centerline is valid? [True, True] Translation: X:174.56, Y:-5.93, Z:2.16 [[ 9.98535997e-01 -4.29971975e-02 -3.28192601e-02 1.74558215e+02] [ 4.30467711e-02 9.99072734e-01 8.05100238e-04 -5.92877394e+00] [ 3.27542108e-02 -2.21668474e-03 9.99460979e-01 2.15909766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.460714057 meters Centerline goodness [0,1] 0.9870272943927335 Centerline is valid? [True, True] Translation: X:174.59, Y:-5.92, Z:2.16 [[ 9.98543887e-01 -4.30840827e-02 -3.24633386e-02 1.74587820e+02] [ 4.31325876e-02 9.99069041e-01 7.95003466e-04 -5.92227789e+00] [ 3.23988645e-02 -2.19407365e-03 9.99472611e-01 2.16155022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.490714057 meters Centerline goodness [0,1] 0.9878120080953452 Centerline is valid? [True, True] Translation: X:174.62, Y:-5.92, Z:2.16 [[ 9.98551171e-01 -4.35407458e-02 -3.16190263e-02 1.74618242e+02] [ 4.35869709e-02 9.99049337e-01 7.73825420e-04 -5.91612537e+00] [ 3.15552743e-02 -2.15088186e-03 9.99499694e-01 2.16426819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.520714057 meters Centerline goodness [0,1] 0.9866807184339754 Centerline is valid? [True, True] Translation: X:174.65, Y:-5.92, Z:2.16 [[ 9.98548257e-01 -4.41460196e-02 -3.08627299e-02 1.74648257e+02] [ 4.41903553e-02 9.99022843e-01 7.55609707e-04 -5.92229188e+00] [ 3.07992150e-02 -2.11834775e-03 9.99523347e-01 2.16358448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.550714057 meters Centerline goodness [0,1] 0.9881967507405081 Centerline is valid? [True, True] Translation: X:174.68, Y:-5.92, Z:2.16 [[ 9.98531664e-01 -4.49073058e-02 -3.02960475e-02 1.74678830e+02] [ 4.49503839e-02 9.98988945e-01 7.41997123e-04 -5.92081241e+00] [ 3.02320955e-02 -2.10272659e-03 9.99540694e-01 2.16495275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.580714057 meters Centerline goodness [0,1] 0.9873744748725092 Centerline is valid? [True, True] Translation: X:174.71, Y:-5.92, Z:2.17 [[ 9.98468131e-01 -4.65646114e-02 -2.98852502e-02 1.74709359e+02] [ 4.66072750e-02 9.98913022e-01 7.32204448e-04 -5.92407582e+00] [ 2.98186708e-02 -2.12395288e-03 9.99553068e-01 2.16533310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.610714057 meters Centerline goodness [0,1] 0.9877674470706844 Centerline is valid? [True, True] Translation: X:174.74, Y:-5.92, Z:2.17 [[ 9.98370765e-01 -4.84705525e-02 -3.01068228e-02 1.74740699e+02] [ 4.85147375e-02 9.98822194e-01 7.38437572e-04 -5.92282714e+00] [ 3.00355704e-02 -2.19785909e-03 9.99546414e-01 2.16658054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.640714057 meters Centerline goodness [0,1] 0.9878543417366947 Centerline is valid? [True, True] Translation: X:174.77, Y:-5.92, Z:2.17 [[ 9.98318418e-01 -4.95451761e-02 -3.00933906e-02 1.74771939e+02] [ 4.95898395e-02 9.98769394e-01 7.39186266e-04 -5.91881833e+00] [ 3.00197343e-02 -2.23026967e-03 9.99546818e-01 2.16787219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.670714057 meters Centerline goodness [0,1] 0.987999910279703 Centerline is valid? [True, True] Translation: X:174.80, Y:-5.92, Z:2.17 [[ 9.98229196e-01 -5.10146542e-02 -3.05937422e-02 1.74802514e+02] [ 5.10615274e-02 9.98695226e-01 7.52306479e-04 -5.92242777e+00] [ 3.05154456e-02 -2.31313750e-03 9.99531619e-01 2.16734966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.700714057 meters Centerline goodness [0,1] 0.9877055616628901 Centerline is valid? [True, True] Translation: X:174.83, Y:-5.92, Z:2.17 [[ 9.98049375e-01 -5.41710960e-02 -3.10312306e-02 1.74832921e+02] [ 5.42208465e-02 9.98528676e-01 7.63399894e-04 -5.92207914e+00] [ 3.09442194e-02 -2.44445038e-03 9.99518124e-01 2.16679327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73071405699997 meters Centerline goodness [0,1] 0.9874099508516798 Centerline is valid? [True, True] Translation: X:174.86, Y:-5.92, Z:2.17 [[ 9.97933468e-01 -5.59559868e-02 -3.15867067e-02 1.74864221e+02] [ 5.60084450e-02 9.98429992e-01 7.77739986e-04 -5.92377028e+00] [ 3.14935962e-02 -2.54525509e-03 9.99500713e-01 2.16687746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76071405699997 meters Centerline goodness [0,1] 0.9862028672868635 Centerline is valid? [True, True] Translation: X:174.89, Y:-5.93, Z:2.17 [[ 9.97750244e-01 -5.88348680e-02 -3.21388893e-02 1.74894130e+02] [ 5.88906698e-02 9.98264125e-01 7.91631333e-04 -5.92809265e+00] [ 3.20365247e-02 -2.68253107e-03 9.99483099e-01 2.16630387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79071405699997 meters Centerline goodness [0,1] 0.9857476320869057 Centerline is valid? [True, True] Translation: X:174.93, Y:-5.93, Z:2.17 [[ 9.97657533e-01 -6.00483659e-02 -3.27664433e-02 1.74925778e+02] [ 6.01070335e-02 9.98191611e-01 8.07522919e-04 -5.92848050e+00] [ 3.26586984e-02 -2.77512503e-03 9.99462710e-01 2.16696783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82071405699998 meters Centerline goodness [0,1] 0.9863840287124271 Centerline is valid? [True, True] Translation: X:174.96, Y:-5.93, Z:2.17 [[ 9.97639910e-01 -6.08455950e-02 -3.18186076e-02 1.74958328e+02] [ 6.09013727e-02 9.98143479e-01 7.85895406e-04 -5.92887824e+00] [ 3.17117175e-02 -2.72183750e-03 9.99493351e-01 2.16802714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85071405699998 meters Centerline goodness [0,1] 0.9854208383017976 Centerline is valid? [True, True] Translation: X:174.99, Y:-5.93, Z:2.17 [[ 9.97637472e-01 -6.11095005e-02 -3.13863505e-02 1.74990675e+02] [ 6.11639712e-02 9.98127429e-01 7.77441063e-04 -5.93033057e+00] [ 3.12800683e-02 -2.69531818e-03 9.99507025e-01 2.16889654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88071405699998 meters Centerline goodness [0,1] 0.9863951687133781 Centerline is valid? [True, True] Translation: X:175.02, Y:-5.93, Z:2.17 [[ 9.97756294e-01 -6.01913827e-02 -2.93151185e-02 1.75022149e+02] [ 6.02385484e-02 9.98183745e-01 7.27642756e-04 -5.92817316e+00] [ 2.92180769e-02 -2.49191032e-03 9.99569955e-01 2.17118557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91071405699998 meters Centerline goodness [0,1] 0.9864316311197829 Centerline is valid? [True, True] Translation: X:175.05, Y:-5.93, Z:2.17 [[ 9.97795928e-01 -5.98137581e-02 -2.87332685e-02 1.75054412e+02] [ 5.98589576e-02 9.98206589e-01 7.14733134e-04 -5.92778556e+00] [ 2.86389871e-02 -2.43310131e-03 9.99586859e-01 2.17250202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94071405699998 meters Centerline goodness [0,1] 0.9863873875894239 Centerline is valid? [True, True] Translation: X:175.09, Y:-5.93, Z:2.17 [[ 9.97863997e-01 -5.91895289e-02 -2.76413134e-02 1.75086909e+02] [ 5.92311724e-02 9.98244055e-01 6.89515665e-04 -5.92758724e+00] [ 2.75519647e-02 -2.32527026e-03 9.99617668e-01 2.17402050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97071405699998 meters Centerline goodness [0,1] 0.9866915032093002 Centerline is valid? [True, True] Translation: X:175.12, Y:-5.93, Z:2.17 [[ 9.97886408e-01 -5.89317672e-02 -2.73818117e-02 1.75118424e+02] [ 5.89725826e-02 9.98259368e-01 6.84762173e-04 -5.93039606e+00] [ 2.72937958e-02 -2.29809102e-03 9.99624813e-01 2.17429526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00071405699998 meters Centerline goodness [0,1] 0.9870523292343596 Centerline is valid? [True, True] Translation: X:175.15, Y:-5.93, Z:2.17 [[ 9.97899430e-01 -5.87732839e-02 -2.72475362e-02 1.75150260e+02] [ 5.88136864e-02 9.98268743e-01 6.83066603e-04 -5.93264234e+00] [ 2.71602177e-02 -2.28415982e-03 9.99628484e-01 2.17442635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03071405699998 meters Centerline goodness [0,1] 0.9859205452425791 Centerline is valid? [True, True] Translation: X:175.18, Y:-5.94, Z:2.17 [[ 9.97895152e-01 -5.89353812e-02 -2.70533986e-02 1.75181314e+02] [ 5.89753141e-02 9.98259210e-01 6.79874001e-04 -5.93572097e+00] [ 2.69662357e-02 -2.27392565e-03 9.99633759e-01 2.17361124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06071405699998 meters Centerline goodness [0,1] 0.9874127756961116 Centerline is valid? [True, True] Translation: X:175.21, Y:-5.93, Z:2.17 [[ 9.97863461e-01 -5.93999958e-02 -2.72057667e-02 1.75213458e+02] [ 5.94405965e-02 9.98231609e-01 6.85368361e-04 -5.93451472e+00] [ 2.71169454e-02 -2.30103105e-03 9.99629620e-01 2.17367763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09071405699999 meters Centerline goodness [0,1] 0.9870252100840337 Centerline is valid? [True, True] Translation: X:175.24, Y:-5.94, Z:2.17 [[ 9.97780301e-01 -6.04671175e-02 -2.78962091e-02 1.75244342e+02] [ 6.05102837e-02 9.98167325e-01 7.05045547e-04 -5.93826593e+00] [ 2.78024524e-02 -2.39148809e-03 9.99610576e-01 2.17225281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.120714057 meters Centerline goodness [0,1] 0.9859631813799135 Centerline is valid? [True, True] Translation: X:175.28, Y:-5.94, Z:2.17 [[ 9.97733233e-01 -6.08577200e-02 -2.87181766e-02 1.75276152e+02] [ 6.09036972e-02 9.98143381e-01 7.28191394e-04 -5.94026767e+00] [ 2.86205419e-02 -2.47558389e-03 9.99587283e-01 2.17192374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.150714057 meters Centerline goodness [0,1] 0.9854367844420048 Centerline is valid? [True, True] Translation: X:175.31, Y:-5.94, Z:2.17 [[ 9.97634161e-01 -6.18716009e-02 -2.99664085e-02 1.75308499e+02] [ 6.19221816e-02 9.98080690e-01 7.61974069e-04 -5.94216200e+00] [ 2.98617491e-02 -2.61575675e-03 9.99550616e-01 2.17101101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.180714057 meters Centerline goodness [0,1] 0.9802242747028023 Centerline is valid? [True, True] Translation: X:175.34, Y:-5.95, Z:2.17 [[ 9.97593890e-01 -6.25054138e-02 -2.99917188e-02 1.75339291e+02] [ 6.25564185e-02 9.98041137e-01 7.64432175e-04 -5.94719624e+00] [ 2.98851880e-02 -2.63876738e-03 9.99549855e-01 2.17065417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.210714057 meters Centerline goodness [0,1] 0.9665956253505328 Centerline is valid? [True, True] Translation: X:175.37, Y:-5.95, Z:2.17 [[ 9.97523308e-01 -6.33773264e-02 -3.05051477e-02 1.75370414e+02] [ 6.34305461e-02 9.97985951e-01 7.79110329e-04 -5.95165934e+00] [ 3.03943309e-02 -2.71213889e-03 9.99534306e-01 2.17041096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.240714057 meters Centerline goodness [0,1] 0.9592673959827833 Centerline is valid? [True, True] Translation: X:175.40, Y:-5.95, Z:2.17 [[ 9.97531603e-01 -6.31848208e-02 -3.06329677e-02 1.75403024e+02] [ 6.32384538e-02 9.97998138e-01 7.84209963e-04 -5.95393531e+00] [ 3.05220946e-02 -2.71945574e-03 9.99530393e-01 2.17063768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.270714057 meters Centerline goodness [0,1] 0.9619966856272675 Centerline is valid? [True, True] Translation: X:175.43, Y:-5.95, Z:2.17 [[ 9.97583589e-01 -6.26092739e-02 -3.01174734e-02 1.75434839e+02] [ 6.26609161e-02 9.98034575e-01 7.73023743e-04 -5.95455672e+00] [ 3.00098813e-02 -2.65834427e-03 9.99546067e-01 2.17134962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.300714057 meters Centerline goodness [0,1] 0.988645288692413 Centerline is valid? [True, True] Translation: X:175.47, Y:-5.94, Z:2.17 [[ 9.97714358e-01 -6.12065564e-02 -2.86324573e-02 1.75466274e+02] [ 6.12526971e-02 9.98122019e-01 7.36355045e-04 -5.94088073e+00] [ 2.85336163e-02 -2.48848723e-03 9.99589736e-01 2.17493169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.330714057 meters Centerline goodness [0,1] 0.9872502421552948 Centerline is valid? [True, True] Translation: X:175.50, Y:-5.94, Z:2.18 [[ 9.97944662e-01 -5.82849363e-02 -2.66330317e-02 1.75495984e+02] [ 5.83238306e-02 9.98297481e-01 6.85250073e-04 -5.94172822e+00] [ 2.65477487e-02 -2.23718208e-03 9.99645043e-01 2.17658885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.360714057 meters Centerline goodness [0,1] 0.9876829542895744 Centerline is valid? [True, True] Translation: X:175.53, Y:-5.94, Z:2.18 [[ 9.98054298e-01 -5.65791981e-02 -2.61994846e-02 1.75527913e+02] [ 5.66162681e-02 9.98395785e-01 6.74703158e-04 -5.93643581e+00] [ 2.61192808e-02 -2.15670743e-03 9.99656507e-01 2.17802411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.390714057 meters Centerline goodness [0,1] 0.9886678532002613 Centerline is valid? [True, True] Translation: X:175.56, Y:-5.94, Z:2.18 [[ 9.98194127e-01 -5.44376012e-02 -2.53974935e-02 1.75558408e+02] [ 5.44717729e-02 9.98515096e-01 6.55073912e-04 -5.93592557e+00] [ 2.53241200e-02 -2.03733743e-03 9.99677217e-01 2.17878905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.420714057 meters Centerline goodness [0,1] 0.9888222833190607 Centerline is valid? [True, True] Translation: X:175.59, Y:-5.93, Z:2.18 [[ 9.98440752e-01 -5.02992958e-02 -2.42083770e-02 1.75588882e+02] [ 5.03291323e-02 9.98732491e-01 6.24398953e-04 -5.93378000e+00] [ 2.41462858e-02 -1.84181197e-03 9.99706739e-01 2.17917286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.450714057 meters Centerline goodness [0,1] 0.9887268054021149 Centerline is valid? [True, True] Translation: X:175.62, Y:-5.93, Z:2.18 [[ 9.98544389e-01 -4.85997230e-02 -2.33916643e-02 1.75620839e+02] [ 4.86271267e-02 9.98816819e-01 6.03798414e-04 -5.93450071e+00] [ 2.33346433e-02 -1.74038894e-03 9.99726195e-01 2.17986218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48071405699997 meters Centerline goodness [0,1] 0.988827067330435 Centerline is valid? [True, True] Translation: X:175.65, Y:-5.93, Z:2.18 [[ 9.98678265e-01 -4.62455974e-02 -2.24291780e-02 1.75652029e+02] [ 4.62702214e-02 9.98928791e-01 5.79855150e-04 -5.93391036e+00] [ 2.23783359e-02 -1.61689177e-03 9.99748266e-01 2.18010244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51071405699997 meters Centerline goodness [0,1] 0.9879171073059875 Centerline is valid? [True, True] Translation: X:175.68, Y:-5.93, Z:2.18 [[ 9.98720037e-01 -4.50874736e-02 -2.29217617e-02 1.75684370e+02] [ 4.51129076e-02 9.98981718e-01 5.93449116e-04 -5.93493964e+00] [ 2.28716638e-02 -1.62675684e-03 9.99737086e-01 2.18008951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54071405699997 meters Centerline goodness [0,1] 0.9875626925758496 Centerline is valid? [True, True] Translation: X:175.72, Y:-5.94, Z:2.18 [[ 9.98745641e-01 -4.40072629e-02 -2.38852540e-02 1.75715191e+02] [ 4.40346289e-02 9.99029812e-01 6.20720057e-04 -5.93768873e+00] [ 2.38347647e-02 -1.67171975e-03 9.99714514e-01 2.17849897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57071405699998 meters Centerline goodness [0,1] 0.9867912660616408 Centerline is valid? [True, True] Translation: X:175.75, Y:-5.94, Z:2.18 [[ 9.98736160e-01 -4.36922434e-02 -2.48408867e-02 1.75747378e+02] [ 4.37218155e-02 9.99043534e-01 6.48323087e-04 -5.93614818e+00] [ 2.47888005e-02 -1.73359238e-03 9.99691207e-01 2.17864154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60071405699998 meters Centerline goodness [0,1] 0.9877120071885881 Centerline is valid? [True, True] Translation: X:175.78, Y:-5.94, Z:2.18 [[ 9.98701920e-01 -4.35701876e-02 -2.63839677e-02 1.75779796e+02] [ 4.36035584e-02 9.99048674e-01 6.90547668e-04 -5.93778889e+00] [ 2.63287806e-02 -1.84008616e-03 9.99651644e-01 2.17769870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63071405699998 meters Centerline goodness [0,1] 0.9878496307898859 Centerline is valid? [True, True] Translation: X:175.81, Y:-5.94, Z:2.18 [[ 9.98698119e-01 -4.31467486e-02 -2.72107629e-02 1.75810720e+02] [ 4.31821359e-02 9.99066961e-01 7.13940051e-04 -5.94065223e+00] [ 2.71545700e-02 -1.88802945e-03 9.99629464e-01 2.17704267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66071405699998 meters Centerline goodness [0,1] 0.9874528640689532 Centerline is valid? [True, True] Translation: X:175.84, Y:-5.94, Z:2.18 [[ 9.98714106e-01 -4.25163254e-02 -2.76133544e-02 1.75841867e+02] [ 4.25525628e-02 9.99093966e-01 7.25753127e-04 -5.94120501e+00] [ 2.75574794e-02 -1.89983888e-03 9.99618415e-01 2.17746951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69071405699998 meters Centerline goodness [0,1] 0.9878341675832192 Centerline is valid? [True, True] Translation: X:175.87, Y:-5.94, Z:2.18 [[ 9.98742549e-01 -4.17882790e-02 -2.76958586e-02 1.75873290e+02] [ 4.18244817e-02 9.99124708e-01 7.28898629e-04 -5.94088069e+00] [ 2.76411572e-02 -1.88634701e-03 9.99616130e-01 2.17797344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72071405699998 meters Centerline goodness [0,1] 0.9880326911850554 Centerline is valid? [True, True] Translation: X:175.90, Y:-5.94, Z:2.18 [[ 9.98867608e-01 -3.91771397e-02 -2.69935643e-02 1.75903400e+02] [ 3.92105934e-02 9.99230716e-01 7.10921200e-04 -5.94120871e+00] [ 2.69449468e-02 -1.76854984e-03 9.99635355e-01 2.17869639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75071405699998 meters Centerline goodness [0,1] 0.9877072164023419 Centerline is valid? [True, True] Translation: X:175.93, Y:-5.94, Z:2.18 [[ 9.98956377e-01 -3.76027252e-02 -2.59266701e-02 1.75934597e+02] [ 3.76330627e-02 9.99291392e-01 6.83018979e-04 -5.93994085e+00] [ 2.58826149e-02 -1.65800617e-03 9.99663614e-01 2.18010359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78071405699998 meters Centerline goodness [0,1] 0.9873303980591248 Centerline is valid? [True, True] Translation: X:175.96, Y:-5.94, Z:2.18 [[ 9.99108806e-01 -3.44992511e-02 -2.43186160e-02 1.75964763e+02] [ 3.45250309e-02 9.99403628e-01 6.40896426e-04 -5.93877133e+00] [ 2.42820026e-02 -1.47992623e-03 9.99704053e-01 2.18196704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81071405699998 meters Centerline goodness [0,1] 0.9883242221772288 Centerline is valid? [True, True] Translation: X:176.00, Y:-5.93, Z:2.18 [[ 9.99190885e-01 -3.27054207e-02 -2.34079348e-02 1.75995968e+02] [ 3.27288184e-02 9.99464078e-01 6.17053565e-04 -5.93342120e+00] [ 2.33752090e-02 -1.38266835e-03 9.99725806e-01 2.18390045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84071405699999 meters Centerline goodness [0,1] 0.9879924446842957 Centerline is valid? [True, True] Translation: X:176.03, Y:-5.93, Z:2.19 [[ 9.99300284e-01 -2.98006117e-02 -2.26023348e-02 1.76026368e+02] [ 2.98216915e-02 9.99555057e-01 5.96073061e-04 -5.93194482e+00] [ 2.25745147e-02 -1.26969584e-03 9.99744357e-01 2.18528529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.870714057 meters Centerline goodness [0,1] 0.9885687335773801 Centerline is valid? [True, True] Translation: X:176.06, Y:-5.93, Z:2.19 [[ 9.99341908e-01 -2.84634546e-02 -2.24851847e-02 1.76058014e+02] [ 2.84839854e-02 9.99594073e-01 5.93266849e-04 -5.93112662e+00] [ 2.24591710e-02 -1.23334410e-03 9.99747000e-01 2.18607004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.900714057 meters Centerline goodness [0,1] 0.9875219209496829 Centerline is valid? [True, True] Translation: X:176.09, Y:-5.93, Z:2.19 [[ 9.99373900e-01 -2.72836405e-02 -2.25257871e-02 1.76087916e+02] [ 2.73039587e-02 9.99627000e-01 5.94872461e-04 -5.93276001e+00] [ 2.25011547e-02 -1.20954317e-03 9.99746085e-01 2.18636019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.930714057 meters Centerline goodness [0,1] 0.9869203061683927 Centerline is valid? [True, True] Translation: X:176.12, Y:-5.93, Z:2.19 [[ 9.99394183e-01 -2.63070633e-02 -2.27860823e-02 1.76117776e+02] [ 2.63275976e-02 9.99653188e-01 6.01603336e-04 -5.93362681e+00] [ 2.27623534e-02 -1.20114168e-03 9.99740183e-01 2.18583377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.960714057 meters Centerline goodness [0,1] 0.9869203061683927 Centerline is valid? [True, True] Translation: X:176.15, Y:-5.93, Z:2.19 [[ 9.99393258e-01 -2.63421674e-02 -2.27860966e-02 1.76146958e+02] [ 2.63626985e-02 9.99652263e-01 6.01059545e-04 -5.93436650e+00] [ 2.27623398e-02 -1.20139785e-03 9.99740183e-01 2.18626274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.990714057 meters Centerline goodness [0,1] 0.9867828514815815 Centerline is valid? [True, True] Translation: X:176.18, Y:-5.94, Z:2.19 [[ 9.99400393e-01 -2.57914288e-02 -2.31010297e-02 1.76176716e+02] [ 2.58123658e-02 9.99666620e-01 6.08546079e-04 -5.93507984e+00] [ 2.30776330e-02 -1.20447342e-03 9.99732950e-01 2.18666548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.020714057 meters Centerline goodness [0,1] 0.9874235061195105 Centerline is valid? [True, True] Translation: X:176.21, Y:-5.94, Z:2.19 [[ 9.99430529e-01 -2.46704079e-02 -2.30214613e-02 1.76205620e+02] [ 2.46908822e-02 9.99694950e-01 6.05493128e-04 -5.93948644e+00] [ 2.29995009e-02 -1.17356851e-03 9.99734788e-01 2.18547272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.050714057 meters Centerline goodness [0,1] 0.9874643362613169 Centerline is valid? [True, True] Translation: X:176.24, Y:-5.94, Z:2.19 [[ 9.99445611e-01 -2.39665749e-02 -2.31100202e-02 1.76235046e+02] [ 2.39869949e-02 9.99712087e-01 6.06754572e-04 -5.93830515e+00] [ 2.30888247e-02 -1.16075813e-03 9.99732744e-01 2.18577757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.080714057 meters Centerline goodness [0,1] 0.9885949520853017 Centerline is valid? [True, True] Translation: X:176.26, Y:-5.93, Z:2.19 [[ 9.99473581e-01 -2.25007796e-02 -2.33725360e-02 1.76264805e+02] [ 2.25212472e-02 9.99746177e-01 6.12823237e-04 -5.93431904e+00] [ 2.33528145e-02 -1.13887930e-03 9.99726637e-01 2.18603689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.110714057 meters Centerline goodness [0,1] 0.9888261876391106 Centerline is valid? [True, True] Translation: X:176.29, Y:-5.93, Z:2.19 [[ 9.99485463e-01 -2.18357521e-02 -2.34948635e-02 1.76293352e+02] [ 2.18561873e-02 9.99760937e-01 6.13306340e-04 -5.93469229e+00] [ 2.34758547e-02 -1.12649891e-03 9.99723769e-01 2.18667131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.140714057 meters Centerline goodness [0,1] 0.9884443646644379 Centerline is valid? [True, True] Translation: X:176.32, Y:-5.94, Z:2.19 [[ 9.99489884e-01 -2.13448966e-02 -2.37564227e-02 1.76320955e+02] [ 2.13655443e-02 9.99771541e-01 6.15633045e-04 -5.93570934e+00] [ 2.37378547e-02 -1.12288790e-03 9.99717587e-01 2.18665708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.170714057 meters Centerline goodness [0,1] 0.9889692667145938 Centerline is valid? [True, True] Translation: X:176.35, Y:-5.94, Z:2.19 [[ 9.99487225e-01 -2.13360463e-02 -2.38759292e-02 1.76348386e+02] [ 2.13568496e-02 9.99771726e-01 6.16626014e-04 -5.93768557e+00] [ 2.38573225e-02 -1.12622445e-03 9.99714739e-01 2.18664673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.200714057 meters Centerline goodness [0,1] 0.9886491346369971 Centerline is valid? [True, True] Translation: X:176.38, Y:-5.94, Z:2.19 [[ 9.99481934e-01 -2.19388371e-02 -2.35489111e-02 1.76377334e+02] [ 2.19591605e-02 9.99758686e-01 6.04753073e-04 -5.93884295e+00] [ 2.35299608e-02 -1.12155409e-03 9.99722503e-01 2.18713258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23071405699997 meters Centerline goodness [0,1] 0.9892260284756742 Centerline is valid? [True, True] Translation: X:176.41, Y:-5.94, Z:2.19 [[ 9.99456259e-01 -2.29170426e-02 -2.37064380e-02 1.76405628e+02] [ 2.29377763e-02 9.99736713e-01 6.03008844e-04 -5.94054700e+00] [ 2.36863772e-02 -1.14645393e-03 9.99718781e-01 2.18722795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26071405699997 meters Centerline goodness [0,1] 0.9882495402969009 Centerline is valid? [True, True] Translation: X:176.43, Y:-5.94, Z:2.19 [[ 9.99428776e-01 -2.45719044e-02 -2.32022256e-02 1.76433162e+02] [ 2.45921033e-02 9.99697397e-01 5.85584036e-04 -5.94430771e+00] [ 2.31808157e-02 -1.15584107e-03 9.99730621e-01 2.18741582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29071405699997 meters Centerline goodness [0,1] 0.988912579957356 Centerline is valid? [True, True] Translation: X:176.46, Y:-5.95, Z:2.19 [[ 9.99400677e-01 -2.57875696e-02 -2.30930509e-02 1.76462367e+02] [ 2.58078483e-02 9.99666753e-01 5.80478955e-04 -5.94700025e+00] [ 2.30703861e-02 -1.17611301e-03 9.99733151e-01 2.18786034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32071405699998 meters Centerline goodness [0,1] 0.9880672005024337 Centerline is valid? [True, True] Translation: X:176.49, Y:-5.95, Z:2.19 [[ 9.99386648e-01 -2.67031983e-02 -2.26554127e-02 1.76491076e+02] [ 2.67229243e-02 9.99642717e-01 5.68340963e-04 -5.95044905e+00] [ 2.26321418e-02 -1.17341125e-03 9.99743172e-01 2.18836330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35071405699998 meters Centerline goodness [0,1] 0.9891521617069062 Centerline is valid? [True, True] Translation: X:176.52, Y:-5.95, Z:2.19 [[ 9.99392066e-01 -2.69385027e-02 -2.21317822e-02 1.76521271e+02] [ 2.69573686e-02 9.99636430e-01 5.54476660e-04 -5.94536025e+00] [ 2.21087989e-02 -1.15075418e-03 9.99754908e-01 2.19021469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38071405699998 meters Centerline goodness [0,1] 0.9889459228240803 Centerline is valid? [True, True] Translation: X:176.55, Y:-5.95, Z:2.19 [[ 9.99394793e-01 -2.72211603e-02 -2.16577123e-02 1.76551491e+02] [ 2.72392926e-02 9.99628794e-01 5.42599592e-04 -5.94672654e+00] [ 2.16349026e-02 -1.13221197e-03 9.99765297e-01 2.19162024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41071405699998 meters Centerline goodness [0,1] 0.9889453107446187 Centerline is valid? [True, True] Translation: X:176.58, Y:-5.95, Z:2.19 [[ 9.99381478e-01 -2.74334725e-02 -2.20015043e-02 1.76582252e+02] [ 2.74522364e-02 9.99622964e-01 5.51212756e-04 -5.94627712e+00] [ 2.19780873e-02 -1.15486232e-03 9.99757786e-01 2.19214642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44071405699998 meters Centerline goodness [0,1] 0.9892743346946102 Centerline is valid? [True, True] Translation: X:176.61, Y:-5.95, Z:2.19 [[ 9.99316235e-01 -2.90607294e-02 -2.28590632e-02 1.76611493e+02] [ 2.90814061e-02 9.99576882e-01 5.72551555e-04 -5.95135342e+00] [ 2.28327524e-02 -1.23693376e-03 9.99738534e-01 2.19104985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47071405699998 meters Centerline goodness [0,1] 0.9894424727076688 Centerline is valid? [True, True] Translation: X:176.64, Y:-5.95, Z:2.19 [[ 9.99271637e-01 -3.02750241e-02 -2.32296860e-02 1.76642209e+02] [ 3.02966978e-02 9.99540780e-01 5.81568012e-04 -5.95206121e+00] [ 2.32014115e-02 -1.28492720e-03 9.99729985e-01 2.19104799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50071405699998 meters Centerline goodness [0,1] 0.9901092478532572 Centerline is valid? [True, True] Translation: X:176.67, Y:-5.96, Z:2.19 [[ 9.99185637e-01 -3.26164436e-02 -2.37535269e-02 1.76672598e+02] [ 3.26397656e-02 9.99467004e-01 5.94682658e-04 -5.95505563e+00] [ 2.37214699e-02 -1.36950792e-03 9.99717668e-01 2.19061303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53071405699998 meters Centerline goodness [0,1] 0.9893978615644344 Centerline is valid? [True, True] Translation: X:176.70, Y:-5.96, Z:2.19 [[ 9.99158573e-01 -3.34667786e-02 -2.37090966e-02 1.76702567e+02] [ 3.34902557e-02 9.99438868e-01 5.93729930e-04 -5.96443919e+00] [ 2.36759224e-02 -1.38725406e-03 9.99718724e-01 2.19004984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56071405699998 meters Centerline goodness [0,1] 0.9889262274746837 Centerline is valid? [True, True] Translation: X:176.73, Y:-5.96, Z:2.19 [[ 9.99118499e-01 -3.45402358e-02 -2.38578692e-02 1.76733996e+02] [ 3.45643272e-02 9.99402296e-01 5.98027891e-04 -5.96286253e+00] [ 2.38229533e-02 -1.42213193e-03 9.99715182e-01 2.19115181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59071405699999 meters Centerline goodness [0,1] 0.9896043827742602 Centerline is valid? [True, True] Translation: X:176.77, Y:-5.96, Z:2.19 [[ 9.99106487e-01 -3.47782318e-02 -2.40146384e-02 1.76765851e+02] [ 3.48027291e-02 9.99394020e-01 6.02780935e-04 -5.96107282e+00] [ 2.39791224e-02 -1.43801730e-03 9.99711425e-01 2.19200345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.620714057 meters Centerline goodness [0,1] 0.9894623074844636 Centerline is valid? [True, True] Translation: X:176.80, Y:-5.96, Z:2.19 [[ 9.99057036e-01 -3.54466076e-02 -2.50714231e-02 1.76796978e+02] [ 3.54735412e-02 9.99370417e-01 6.30195404e-04 -5.96131621e+00] [ 2.50333003e-02 -1.51897331e-03 9.99685464e-01 2.19141020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.650714057 meters Centerline goodness [0,1] 0.989391414027659 Centerline is valid? [True, True] Translation: X:176.83, Y:-5.96, Z:2.19 [[ 9.99035262e-01 -3.58804414e-02 -2.53207442e-02 1.76828178e+02] [ 3.59080746e-02 9.99354894e-01 6.37343584e-04 -5.96146248e+00] [ 2.52815414e-02 -1.54594789e-03 9.99679175e-01 2.19201569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.680714057 meters Centerline goodness [0,1] 0.9887130137602302 Centerline is valid? [True, True] Translation: X:176.86, Y:-5.96, Z:2.19 [[ 9.98973658e-01 -3.75568139e-02 -2.53202844e-02 1.76858311e+02] [ 3.75849999e-02 9.99293231e-01 6.38023519e-04 -5.96355962e+00] [ 2.52784267e-02 -1.58903157e-03 9.99679187e-01 2.19207374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.710714057 meters Centerline goodness [0,1] 0.9887092058208318 Centerline is valid? [True, True] Translation: X:176.89, Y:-5.96, Z:2.19 [[ 9.98914083e-01 -3.92531589e-02 -2.50967103e-02 1.76889133e+02] [ 3.92813929e-02 9.99227988e-01 6.32816428e-04 -5.96385409e+00] [ 2.50524953e-02 -1.61796298e-03 9.99684828e-01 2.19288925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.740714057 meters Centerline goodness [0,1] 0.9890023212313794 Centerline is valid? [True, True] Translation: X:176.92, Y:-5.96, Z:2.19 [[ 9.98883544e-01 -4.00469602e-02 -2.50580456e-02 1.76920331e+02] [ 4.00753713e-02 9.99196459e-01 6.32452039e-04 -5.96092659e+00] [ 2.50125826e-02 -1.63595641e-03 9.99685798e-01 2.19391433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.770714057 meters Centerline goodness [0,1] 0.9878117340169557 Centerline is valid? [True, True] Translation: X:176.95, Y:-5.97, Z:2.19 [[ 9.98841875e-01 -4.12256842e-02 -2.48063017e-02 1.76950734e+02] [ 4.12539057e-02 9.99148499e-01 6.26779728e-04 -5.96745223e+00] [ 2.47593397e-02 -1.64941067e-03 9.99692080e-01 2.19398454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.800714057 meters Centerline goodness [0,1] 0.9891863941907781 Centerline is valid? [True, True] Translation: X:176.98, Y:-5.96, Z:2.20 [[ 9.98718132e-01 -4.44160577e-02 -2.42756435e-02 1.76981447e+02] [ 4.44440356e-02 9.99011687e-01 6.13924774e-04 -5.96240427e+00] [ 2.42243834e-02 -1.69204537e-03 9.99705115e-01 2.19599474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.830714057 meters Centerline goodness [0,1] 0.9872683102393378 Centerline is valid? [True, True] Translation: X:177.01, Y:-5.97, Z:2.20 [[ 9.98641539e-01 -4.60115276e-02 -2.44543706e-02 1.77011569e+02] [ 4.60404105e-02 9.98939386e-01 6.19083711e-04 -5.96621415e+00] [ 2.43999490e-02 -1.74413197e-03 9.99700755e-01 2.19583407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.860714057 meters Centerline goodness [0,1] 0.9872413326721068 Centerline is valid? [True, True] Translation: X:177.04, Y:-5.97, Z:2.20 [[ 9.98489581e-01 -4.89781930e-02 -2.48936352e-02 1.77042380e+02] [ 4.90090514e-02 9.98798135e-01 6.30657907e-04 -5.96791194e+00] [ 2.48328280e-02 -1.84971880e-03 9.99689907e-01 2.19581577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.890714057 meters Centerline goodness [0,1] 0.9879640502212989 Centerline is valid? [True, True] Translation: X:177.07, Y:-5.96, Z:2.20 [[ 9.98412553e-01 -5.02337303e-02 -2.54744290e-02 1.77074521e+02] [ 5.02664792e-02 9.98735632e-01 6.46428431e-04 -5.96257418e+00] [ 2.54097475e-02 -1.92591212e-03 9.99675265e-01 2.19669438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.920714057 meters Centerline goodness [0,1] 0.9850732786848226 Centerline is valid? [True, True] Translation: X:177.10, Y:-5.97, Z:2.19 [[ 9.98243970e-01 -5.28841385e-02 -2.66878870e-02 1.77104562e+02] [ 5.29210535e-02 9.98598469e-01 6.78317061e-04 -5.97137683e+00] [ 2.66146109e-02 -2.08947701e-03 9.99643585e-01 2.19441167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.950714057 meters Centerline goodness [0,1] 0.9853874472073537 Centerline is valid? [True, True] Translation: X:177.14, Y:-5.97, Z:2.19 [[ 9.98082798e-01 -5.52624041e-02 -2.78710572e-02 1.77136117e+02] [ 5.53036001e-02 9.98469333e-01 7.08840443e-04 -5.96992813e+00] [ 2.77892237e-02 -2.24885126e-03 9.99611275e-01 2.19386262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98071405699997 meters Centerline goodness [0,1] 0.9874044593188911 Centerline is valid? [True, True] Translation: X:177.17, Y:-5.96, Z:2.20 [[ 9.98019180e-01 -5.62633323e-02 -2.81452135e-02 1.77168461e+02] [ 5.63057801e-02 9.98413314e-01 7.17298185e-04 -5.96224821e+00] [ 2.80601983e-02 -2.30061555e-03 9.99603588e-01 2.19558689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01071405699997 meters Centerline goodness [0,1] 0.9873056818953228 Centerline is valid? [True, True] Translation: X:177.20, Y:-5.97, Z:2.20 [[ 9.97992902e-01 -5.68214491e-02 -2.79551644e-02 1.77199965e+02] [ 5.68636127e-02 9.98381700e-01 7.14961364e-04 -5.96588351e+00] [ 2.78692994e-02 -2.30315801e-03 9.99608922e-01 2.19536851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04071405699997 meters Centerline goodness [0,1] 0.9862656664324728 Centerline is valid? [True, True] Translation: X:177.23, Y:-5.97, Z:2.20 [[ 9.97976494e-01 -5.71756676e-02 -2.78183372e-02 1.77230784e+02] [ 5.72176195e-02 9.98361475e-01 7.13755592e-04 -5.96682669e+00] [ 2.77319467e-02 -2.30401034e-03 9.99612740e-01 2.19548219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07071405699998 meters Centerline goodness [0,1] 0.9869683257918552 Centerline is valid? [True, True] Translation: X:177.26, Y:-5.96, Z:2.20 [[ 9.98032809e-01 -5.62645886e-02 -2.76551825e-02 1.77263236e+02] [ 5.63057491e-02 9.98413320e-01 7.11270710e-04 -5.96499386e+00] [ 2.75712832e-02 -2.26701727e-03 9.99617269e-01 2.19635976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10071405699998 meters Centerline goodness [0,1] 0.9863411535145438 Centerline is valid? [True, True] Translation: X:177.29, Y:-5.96, Z:2.20 [[ 9.98190657e-01 -5.32736903e-02 -2.78805746e-02 1.77294257e+02] [ 5.33144013e-02 9.98577518e-01 7.18346873e-04 -5.96224393e+00] [ 2.78026460e-02 -2.20348328e-03 9.99611003e-01 2.19659571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13071405699998 meters Centerline goodness [0,1] 0.9872256574030033 Centerline is valid? [True, True] Translation: X:177.33, Y:-5.96, Z:2.20 [[ 9.98300993e-01 -5.12166855e-02 -2.77844896e-02 1.77325925e+02] [ 5.12563547e-02 9.98685272e-01 7.16960128e-04 -5.96042944e+00] [ 2.77112402e-02 -2.13987366e-03 9.99613679e-01 2.19713422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16071405699998 meters Centerline goodness [0,1] 0.9882143752707047 Centerline is valid? [True, True] Translation: X:177.36, Y:-5.95, Z:2.20 [[ 9.98529702e-01 -4.68045929e-02 -2.73452722e-02 1.77356895e+02] [ 4.68413972e-02 9.98902089e-01 7.06549599e-04 -5.95137902e+00] [ 2.72821798e-02 -1.98640152e-03 9.99625798e-01 2.19896550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19071405699998 meters Centerline goodness [0,1] 0.988059565967493 Centerline is valid? [True, True] Translation: X:177.39, Y:-5.96, Z:2.20 [[ 9.98651061e-01 -4.44905732e-02 -2.67702811e-02 1.77386444e+02] [ 4.45250182e-02 9.99008030e-01 6.91690487e-04 -5.95515836e+00] [ 2.67129521e-02 -1.88270469e-03 9.99641373e-01 2.19916357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22071405699998 meters Centerline goodness [0,1] 0.9884800510983872 Centerline is valid? [True, True] Translation: X:177.42, Y:-5.95, Z:2.20 [[ 9.98872197e-01 -3.98490940e-02 -2.58143944e-02 1.77416509e+02] [ 3.98795791e-02 9.99204271e-01 6.66987245e-04 -5.95119104e+00] [ 2.57672743e-02 -1.69570220e-03 9.99666530e-01 2.20049927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25071405699998 meters Centerline goodness [0,1] 0.9881969603755099 Centerline is valid? [True, True] Translation: X:177.45, Y:-5.95, Z:2.20 [[ 9.98976330e-01 -3.74312415e-02 -2.54006698e-02 1.77446813e+02] [ 3.74599784e-02 9.99297913e-01 6.56290962e-04 -5.94946694e+00] [ 2.53582705e-02 -1.60712768e-03 9.99677136e-01 2.20122627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28071405699998 meters Centerline goodness [0,1] 0.9898992217809508 Centerline is valid? [True, True] Translation: X:177.48, Y:-5.94, Z:2.20 [[ 9.99139961e-01 -3.29605160e-02 -2.51583383e-02 1.77478042e+02] [ 3.29872957e-02 9.99455560e-01 6.50057829e-04 -5.93859085e+00] [ 2.51232148e-02 -1.47940430e-03 9.99683268e-01 2.20286597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31071405699998 meters Centerline goodness [0,1] 0.9892152363469482 Centerline is valid? [True, True] Translation: X:177.51, Y:-5.94, Z:2.20 [[ 9.99207433e-01 -3.04745442e-02 -2.56087398e-02 1.77508041e+02] [ 3.05014790e-02 9.99534503e-01 6.61735734e-04 -5.94427476e+00] [ 2.55766529e-02 -1.44231570e-03 9.99671823e-01 2.20160335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34071405699999 meters Centerline goodness [0,1] 0.9895910095799558 Centerline is valid? [True, True] Translation: X:177.54, Y:-5.94, Z:2.20 [[ 9.99317527e-01 -2.61589081e-02 -2.60804821e-02 1.77537328e+02] [ 2.61853721e-02 9.99656877e-01 6.73640403e-04 -5.94134708e+00] [ 2.60539116e-02 -1.35610779e-03 9.99659619e-01 2.20061741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.370714057 meters Centerline goodness [0,1] 0.9901985596944528 Centerline is valid? [True, True] Translation: X:177.57, Y:-5.94, Z:2.20 [[ 9.99365258e-01 -2.42341564e-02 -2.61110379e-02 1.77566978e+02] [ 2.42600073e-02 9.99705456e-01 6.73663059e-04 -5.93507300e+00] [ 2.60870214e-02 -1.30668943e-03 9.99658822e-01 2.20180326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.400714057 meters Centerline goodness [0,1] 0.990819144040497 Centerline is valid? [True, True] Translation: X:177.60, Y:-5.93, Z:2.20 [[ 9.99443600e-01 -2.06559148e-02 -2.61882243e-02 1.77596735e+02] [ 2.06806692e-02 9.99785904e-01 6.74733355e-04 -5.93099178e+00] [ 2.61686803e-02 -1.21594794e-03 9.99656802e-01 2.20250110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.430714057 meters Centerline goodness [0,1] 0.9913505555427756 Centerline is valid? [True, True] Translation: X:177.63, Y:-5.93, Z:2.20 [[ 9.99491611e-01 -1.90309661e-02 -2.55801158e-02 1.77625461e+02] [ 1.90540200e-02 9.99818239e-01 6.57780985e-04 -5.92941835e+00] [ 2.55629481e-02 -1.14485061e-03 9.99672559e-01 2.20323425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.460714057 meters Centerline goodness [0,1] 0.990258170009903 Centerline is valid? [True, True] Translation: X:177.65, Y:-5.93, Z:2.20 [[ 9.99541916e-01 -1.69505138e-02 -2.50726786e-02 1.77653472e+02] [ 1.69719598e-02 9.99855759e-01 6.42788410e-04 -5.93003130e+00] [ 2.50581665e-02 -1.06802645e-03 9.99685424e-01 2.20331272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.490714057 meters Centerline goodness [0,1] 0.990858350368652 Centerline is valid? [True, True] Translation: X:177.68, Y:-5.93, Z:2.20 [[ 9.99565569e-01 -1.60380577e-02 -2.47275761e-02 1.77682102e+02] [ 1.60585438e-02 9.99870855e-01 6.30108089e-04 -5.92668217e+00] [ 2.47142769e-02 -1.02692321e-03 9.99694028e-01 2.20430790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.520714057 meters Centerline goodness [0,1] 0.9910630183564224 Centerline is valid? [True, True] Translation: X:177.71, Y:-5.93, Z:2.20 [[ 9.99549474e-01 -1.63419454e-02 -2.51751969e-02 1.77709830e+02] [ 1.63631570e-02 9.99865912e-01 6.36771218e-04 -5.92874886e+00] [ 2.51614151e-02 -1.04843004e-03 9.99682852e-01 2.20400819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.550714057 meters Centerline goodness [0,1] 0.990517518482803 Centerline is valid? [True, True] Translation: X:177.74, Y:-5.93, Z:2.20 [[ 9.99531123e-01 -1.69766215e-02 -2.54819180e-02 1.77738425e+02] [ 1.69984568e-02 9.99855311e-01 6.40510734e-04 -5.93072578e+00] [ 2.54673573e-02 -1.07336369e-03 9.99675078e-01 2.20347422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.580714057 meters Centerline goodness [0,1] 0.989723827874117 Centerline is valid? [True, True] Translation: X:177.77, Y:-5.94, Z:2.20 [[ 9.99489372e-01 -1.86780312e-02 -2.59254071e-02 1.77765417e+02] [ 1.87010777e-02 9.99824910e-01 6.46757721e-04 -5.94083864e+00] [ 2.59087876e-02 -1.13126052e-03 9.99663671e-01 2.20062385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.610714057 meters Centerline goodness [0,1] 0.9903006343660936 Centerline is valid? [True, True] Translation: X:177.79, Y:-5.94, Z:2.20 [[ 9.99454800e-01 -1.98358716e-02 -2.63939538e-02 1.77794263e+02] [ 1.98600439e-02 9.99802556e-01 6.53980199e-04 -5.93612299e+00] [ 2.63757702e-02 -1.17780873e-03 9.99651405e-01 2.20258676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.640714057 meters Centerline goodness [0,1] 0.9904036452340406 Centerline is valid? [True, True] Translation: X:177.82, Y:-5.94, Z:2.20 [[ 9.99428740e-01 -2.13207641e-02 -2.62224952e-02 1.77822599e+02] [ 2.13449633e-02 9.99771963e-01 6.43251518e-04 -5.93632561e+00] [ 2.62028009e-02 -1.20260225e-03 9.99655924e-01 2.20407349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.670714057 meters Centerline goodness [0,1] 0.9901591962196633 Centerline is valid? [True, True] Translation: X:177.85, Y:-5.94, Z:2.21 [[ 9.99447886e-01 -2.13894268e-02 -2.54246951e-02 1.77851424e+02] [ 2.14120390e-02 9.99770545e-01 6.17440381e-04 -5.93698798e+00] [ 2.54056546e-02 -1.16149405e-03 9.99676550e-01 2.20555045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.700714057 meters Centerline goodness [0,1] 0.9903202128635654 Centerline is valid? [True, True] Translation: X:177.88, Y:-5.94, Z:2.21 [[ 9.99504362e-01 -2.07924177e-02 -2.36369422e-02 1.77879730e+02] [ 2.08116613e-02 9.99783252e-01 5.68401479e-04 -5.93786672e+00] [ 2.36200005e-02 -1.06004379e-03 9.99720447e-01 2.20775123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73071405699997 meters Centerline goodness [0,1] 0.9898106712564544 Centerline is valid? [True, True] Translation: X:177.91, Y:-5.94, Z:2.21 [[ 9.99534718e-01 -2.05902883e-02 -2.25030376e-02 1.77908027e+02] [ 2.06075566e-02 9.99787498e-01 5.35725244e-04 -5.93805247e+00] [ 2.24872249e-02 -9.99208601e-04 9.99746631e-01 2.20867102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76071405699997 meters Centerline goodness [0,1] 0.989221859631383 Centerline is valid? [True, True] Translation: X:177.94, Y:-5.94, Z:2.21 [[ 9.99567918e-01 -2.03285681e-02 -2.12303275e-02 1.77936123e+02] [ 2.03437964e-02 9.99792918e-01 5.01537841e-04 -5.94206221e+00] [ 2.12157356e-02 -9.33226596e-04 9.99774485e-01 2.20884842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79071405699997 meters Centerline goodness [0,1] 0.9898948236749845 Centerline is valid? [True, True] Translation: X:177.97, Y:-5.94, Z:2.21 [[ 9.99574030e-01 -2.03824979e-02 -2.08880964e-02 1.77966045e+02] [ 2.03972266e-02 9.99791834e-01 4.92293849e-04 -5.94045912e+00] [ 2.08737140e-02 -9.18143381e-04 9.99781699e-01 2.20992833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82071405699998 meters Centerline goodness [0,1] 0.9894199365196191 Centerline is valid? [True, True] Translation: X:178.00, Y:-5.94, Z:2.21 [[ 9.99554588e-01 -2.16561326e-02 -2.05338040e-02 1.77995099e+02] [ 2.16706172e-02 9.99765048e-01 4.83124170e-04 -5.94126374e+00] [ 2.05185170e-02 -9.27889188e-04 9.99789042e-01 2.21094650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85071405699998 meters Centerline goodness [0,1] 0.9885365797739414 Centerline is valid? [True, True] Translation: X:178.02, Y:-5.95, Z:2.21 [[ 9.99540671e-01 -2.25802518e-02 -2.02133678e-02 1.78024538e+02] [ 2.25944587e-02 9.99744600e-01 4.74715567e-04 -5.94859954e+00] [ 2.01974861e-02 -9.31207621e-04 9.99795576e-01 2.21088505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88071405699998 meters Centerline goodness [0,1] 0.9885365797739414 Centerline is valid? [True, True] Translation: X:178.05, Y:-5.95, Z:2.21 [[ 9.99540670e-01 -2.25802557e-02 -2.02133740e-02 1.78054558e+02] [ 2.25944573e-02 9.99744600e-01 4.74454715e-04 -5.94930409e+00] [ 2.01974981e-02 -9.30946998e-04 9.99795576e-01 2.21132635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91071405699998 meters Centerline goodness [0,1] 0.9892239406973552 Centerline is valid? [True, True] Translation: X:178.09, Y:-5.95, Z:2.21 [[ 9.99470533e-01 -2.54349404e-02 -2.02908402e-02 1.78085309e+02] [ 2.54498380e-02 9.99675987e-01 4.76273028e-04 -5.94777797e+00] [ 2.02721518e-02 -9.92419454e-04 9.99794006e-01 2.21213902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94071405699998 meters Centerline goodness [0,1] 0.9890459202341749 Centerline is valid? [True, True] Translation: X:178.12, Y:-5.95, Z:2.21 [[ 9.99346865e-01 -2.91055419e-02 -2.14175193e-02 1.78116708e+02] [ 2.91229861e-02 9.99575709e-01 5.02960756e-04 -5.95176840e+00] [ 2.13937931e-02 -1.12637437e-03 9.99770492e-01 2.21202325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97071405699998 meters Centerline goodness [0,1] 0.9874078974382371 Centerline is valid? [True, True] Translation: X:178.15, Y:-5.96, Z:2.21 [[ 9.99272130e-01 -3.09919132e-02 -2.22421155e-02 1.78146455e+02] [ 3.10112049e-02 9.99518900e-01 5.22873507e-04 -5.96239658e+00] [ 2.22152099e-02 -1.21224772e-03 9.99752477e-01 2.21108001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00071405699998 meters Centerline goodness [0,1] 0.988212225540938 Centerline is valid? [True, True] Translation: X:178.18, Y:-5.97, Z:2.21 [[ 9.99134397e-01 -3.41978180e-02 -2.36847251e-02 1.78176941e+02] [ 3.42205971e-02 9.99414149e-01 5.57004704e-04 -5.96604179e+00] [ 2.36518010e-02 -1.36702800e-03 9.99719322e-01 2.21043893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03071405699998 meters Centerline goodness [0,1] 0.9883654483531052 Centerline is valid? [True, True] Translation: X:178.21, Y:-5.97, Z:2.21 [[ 9.99051636e-01 -3.57311971e-02 -2.48819206e-02 1.78207465e+02] [ 3.57568255e-02 9.99360349e-01 5.85705077e-04 -5.96993876e+00] [ 2.48450769e-02 -1.47484811e-03 9.99690226e-01 2.20985760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06071405699998 meters Centerline goodness [0,1] 0.9883519883519883 Centerline is valid? [True, True] Translation: X:178.24, Y:-5.98, Z:2.21 [[ 9.98929113e-01 -3.80252199e-02 -2.63573311e-02 1.78237206e+02] [ 3.80547982e-02 9.99275461e-01 6.21332988e-04 -5.97596115e+00] [ 2.63146078e-02 -1.62369053e-03 9.99652392e-01 2.20832449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09071405699999 meters Centerline goodness [0,1] 0.98803197529182 Centerline is valid? [True, True] Translation: X:178.27, Y:-5.98, Z:2.21 [[ 9.98881272e-01 -3.87276819e-02 -2.71361635e-02 1.78267918e+02] [ 3.87593298e-02 9.99248369e-01 6.41048053e-04 -5.97882962e+00] [ 2.70909408e-02 -1.69211040e-03 9.99631541e-01 2.20828923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.120714057 meters Centerline goodness [0,1] 0.9893762227580872 Centerline is valid? [True, True] Translation: X:178.30, Y:-5.97, Z:2.21 [[ 9.98827161e-01 -3.91863947e-02 -2.84381547e-02 1.78299116e+02] [ 3.92213718e-02 9.99230319e-01 6.72958797e-04 -5.96960981e+00] [ 2.83898956e-02 -1.78755296e-03 9.99595327e-01 2.21076002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.150714057 meters Centerline goodness [0,1] 0.98938738328399 Centerline is valid? [True, True] Translation: X:178.33, Y:-5.97, Z:2.21 [[ 9.98851814e-01 -3.84838861e-02 -2.85314486e-02 1.78329083e+02] [ 3.85188299e-02 9.99257646e-01 6.75945478e-04 -5.97068343e+00] [ 2.84842551e-02 -1.77416738e-03 9.99592667e-01 2.21147924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.180714057 meters Centerline goodness [0,1] 0.9889446090722589 Centerline is valid? [True, True] Translation: X:178.36, Y:-5.97, Z:2.21 [[ 9.98862013e-01 -3.85518135e-02 -2.80791021e-02 1.78360583e+02] [ 3.85857051e-02 9.99255072e-01 6.65970852e-04 -5.96975059e+00] [ 2.80325108e-02 -1.74866494e-03 9.99605482e-01 2.21255535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.210714057 meters Centerline goodness [0,1] 0.988749459108611 Centerline is valid? [True, True] Translation: X:178.39, Y:-5.97, Z:2.21 [[ 9.98930240e-01 -3.79850946e-02 -2.63724865e-02 1.78390850e+02] [ 3.80148118e-02 9.99276980e-01 6.26201750e-04 -5.97187707e+00] [ 2.63296323e-02 -1.62807697e-03 9.99651989e-01 2.21359182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.240714057 meters Centerline goodness [0,1] 0.9889446323579487 Centerline is valid? [True, True] Translation: X:178.42, Y:-5.97, Z:2.21 [[ 9.98972034e-01 -3.77690739e-02 -2.50673594e-02 1.78422249e+02] [ 3.77958692e-02 9.99285303e-01 5.95830184e-04 -5.97341034e+00] [ 2.50269398e-02 -1.54266033e-03 9.99685587e-01 2.21477828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.270714057 meters Centerline goodness [0,1] 0.9889285470707254 Centerline is valid? [True, True] Translation: X:178.45, Y:-5.97, Z:2.22 [[ 9.98972927e-01 -3.80080505e-02 -2.46673843e-02 1.78454699e+02] [ 3.80341002e-02 9.99276269e-01 5.87555811e-04 -5.97227301e+00] [ 2.46271999e-02 -1.52515411e-03 9.99695541e-01 2.21619100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.300714057 meters Centerline goodness [0,1] 0.9882206082614616 Centerline is valid? [True, True] Translation: X:178.49, Y:-5.97, Z:2.22 [[ 9.98941256e-01 -3.93203790e-02 -2.38804243e-02 1.78486358e+02] [ 3.93451983e-02 9.99225515e-01 5.70168869e-04 -5.97338576e+00] [ 2.38395100e-02 -1.50914524e-03 9.99714659e-01 2.21779765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.330714057 meters Centerline goodness [0,1] 0.9867786273438922 Centerline is valid? [True, True] Translation: X:178.52, Y:-5.98, Z:2.22 [[ 9.98770950e-01 -4.31316679e-02 -2.44181901e-02 1.78515562e+02] [ 4.31587705e-02 9.99068056e-01 5.83770286e-04 -5.98234000e+00] [ 2.43702547e-02 -1.63691187e-03 9.99701661e-01 2.21823407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.360714057 meters Centerline goodness [0,1] 0.987559699795315 Centerline is valid? [True, True] Translation: X:178.55, Y:-5.98, Z:2.22 [[ 9.98673598e-01 -4.51783454e-02 -2.46973844e-02 1.78546563e+02] [ 4.52067144e-02 9.98977479e-01 5.91261015e-04 -5.97917447e+00] [ 2.46454186e-02 -1.70696437e-03 9.99694798e-01 2.21930250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.390714057 meters Centerline goodness [0,1] 0.987289287656335 Centerline is valid? [True, True] Translation: X:178.58, Y:-5.99, Z:2.22 [[ 9.98455778e-01 -4.93374715e-02 -2.55318231e-02 1.78576259e+02] [ 4.93691574e-02 9.98780412e-01 6.11798946e-04 -5.98625301e+00] [ 2.54705002e-02 -1.87133878e-03 9.99673823e-01 2.21877478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.420714057 meters Centerline goodness [0,1] 0.9863801728058208 Centerline is valid? [True, True] Translation: X:178.61, Y:-5.99, Z:2.22 [[ 9.98340779e-01 -5.12698062e-02 -2.62125217e-02 1.78607801e+02] [ 5.13038718e-02 9.98682892e-01 6.28286372e-04 -5.98942892e+00] [ 2.61457848e-02 -1.97204776e-03 9.99656195e-01 2.21812593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.450714057 meters Centerline goodness [0,1] 0.9855836690354411 Centerline is valid? [True, True] Translation: X:178.64, Y:-5.99, Z:2.22 [[ 9.98209250e-01 -5.36645297e-02 -2.64274740e-02 1.78637256e+02] [ 5.37000095e-02 9.98556912e-01 6.34156509e-04 -5.99481211e+00] [ 2.63553051e-02 -2.05217650e-03 9.99650532e-01 2.21829820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48071405699997 meters Centerline goodness [0,1] 0.9849090001361595 Centerline is valid? [True, True] Translation: X:178.67, Y:-6.00, Z:2.22 [[ 9.98176820e-01 -5.40369587e-02 -2.68894548e-02 1.78669230e+02] [ 5.40738544e-02 9.98536730e-01 6.46349959e-04 -5.99528613e+00] [ 2.68151815e-02 -2.09918801e-03 9.99638204e-01 2.21944997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51071405699997 meters Centerline goodness [0,1] 0.9836017103347889 Centerline is valid? [True, True] Translation: X:178.70, Y:-6.00, Z:2.22 [[ 9.98228891e-01 -5.30101019e-02 -2.70001926e-02 1.78700230e+02] [ 5.30469737e-02 9.98591806e-01 6.50673529e-04 -5.99547565e+00] [ 2.69276788e-02 -2.08179962e-03 9.99635217e-01 2.22006343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54071405699997 meters Centerline goodness [0,1] 0.9855287146763901 Centerline is valid? [True, True] Translation: X:178.73, Y:-5.99, Z:2.22 [[ 9.98268076e-01 -5.21212043e-02 -2.72805391e-02 1.78732697e+02] [ 5.21585606e-02 9.98638598e-01 6.59063930e-04 -5.99426803e+00] [ 2.72090481e-02 -2.08083613e-03 9.99627600e-01 2.22029279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57071405699998 meters Centerline goodness [0,1] 0.9855931430655603 Centerline is valid? [True, True] Translation: X:178.76, Y:-5.99, Z:2.22 [[ 9.98370775e-01 -4.93336337e-02 -2.86703409e-02 1.78762309e+02] [ 4.93737828e-02 9.98780130e-01 6.93703484e-04 -5.99483543e+00] [ 2.86011439e-02 -2.10813647e-03 9.99588681e-01 2.21950322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60071405699998 meters Centerline goodness [0,1] 0.9858431327777144 Centerline is valid? [True, True] Translation: X:178.79, Y:-5.99, Z:2.22 [[ 9.98420259e-01 -4.78851973e-02 -2.93937952e-02 1.78793461e+02] [ 4.79267896e-02 9.98850598e-01 7.11703870e-04 -5.99364855e+00] [ 2.93259299e-02 -2.11932980e-03 9.99567656e-01 2.21987014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63071405699998 meters Centerline goodness [0,1] 0.9869031564992801 Centerline is valid? [True, True] Translation: X:178.82, Y:-5.99, Z:2.22 [[ 9.98557505e-01 -4.49088507e-02 -2.94296596e-02 1.78823025e+02] [ 4.49492730e-02 9.98989016e-01 7.13067825e-04 -5.99183597e+00] [ 2.93678836e-02 -2.03488103e-03 9.99566599e-01 2.22093281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66071405699998 meters Centerline goodness [0,1] 0.985699972675107 Centerline is valid? [True, True] Translation: X:178.85, Y:-5.99, Z:2.22 [[ 9.98611840e-01 -4.37588332e-02 -2.93182201e-02 1.78854904e+02] [ 4.37984778e-02 9.99040133e-01 7.11092361e-04 -5.99105299e+00] [ 2.92589619e-02 -1.99419866e-03 9.99569876e-01 2.22187797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69071405699998 meters Centerline goodness [0,1] 0.9852058810058169 Centerline is valid? [True, True] Translation: X:178.89, Y:-5.99, Z:2.22 [[ 9.98713953e-01 -4.23460240e-02 -2.78792902e-02 1.78885901e+02] [ 4.23813542e-02 9.99101277e-01 6.77315958e-04 -5.99136890e+00] [ 2.78255528e-02 -1.85800697e-03 9.99611068e-01 2.22338545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72071405699998 meters Centerline goodness [0,1] 0.9854893626745276 Centerline is valid? [True, True] Translation: X:178.92, Y:-5.99, Z:2.22 [[ 9.98756866e-01 -4.17443074e-02 -2.72421783e-02 1.78917406e+02] [ 4.17778416e-02 9.99126705e-01 6.62716132e-04 -5.99138475e+00] [ 2.71907232e-02 -1.80001170e-03 9.99628643e-01 2.22436777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75071405699998 meters Centerline goodness [0,1] 0.9878018137378075 Centerline is valid? [True, True] Translation: X:178.95, Y:-5.98, Z:2.23 [[ 9.98794346e-01 -4.09979187e-02 -2.70004458e-02 1.78950050e+02] [ 4.10306256e-02 9.99157673e-01 6.58206380e-04 -5.97792459e+00] [ 2.69507175e-02 -1.76525800e-03 9.99635205e-01 2.22766485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78071405699998 meters Centerline goodness [0,1] 0.9875981053932225 Centerline is valid? [True, True] Translation: X:178.98, Y:-5.98, Z:2.23 [[ 9.98792872e-01 -4.11880886e-02 -2.67645191e-02 1.78981495e+02] [ 4.12203400e-02 9.99149866e-01 6.54171242e-04 -5.98110955e+00] [ 2.67148216e-02 -1.75662415e-03 9.99641552e-01 2.22737389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81071405699998 meters Centerline goodness [0,1] 0.9881023200475907 Centerline is valid? [True, True] Translation: X:179.01, Y:-5.98, Z:2.23 [[ 9.98761184e-01 -4.13738097e-02 -2.76460537e-02 1.79013874e+02] [ 4.14083408e-02 9.99142077e-01 6.77469216e-04 -5.98092762e+00] [ 2.75943060e-02 -1.82140717e-03 9.99617545e-01 2.22761207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84071405699999 meters Centerline goodness [0,1] 0.9888255363971514 Centerline is valid? [True, True] Translation: X:179.05, Y:-5.98, Z:2.23 [[ 9.98740620e-01 -4.15908145e-02 -2.80602482e-02 1.79046501e+02] [ 4.16265309e-02 9.99133002e-01 6.89655588e-04 -5.98081793e+00] [ 2.80072367e-02 -1.85683784e-03 9.99605996e-01 2.22793360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.870714057 meters Centerline goodness [0,1] 0.9892266079860633 Centerline is valid? [True, True] Translation: X:179.08, Y:-5.98, Z:2.23 [[ 9.98701898e-01 -4.19131444e-02 -2.89448880e-02 1.79078670e+02] [ 4.19513458e-02 9.99119400e-01 7.13527807e-04 -5.98186422e+00] [ 2.88894929e-02 -1.92687858e-03 9.99580754e-01 2.22767249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.900714057 meters Centerline goodness [0,1] 0.9884136288697564 Centerline is valid? [True, True] Translation: X:179.11, Y:-5.98, Z:2.23 [[ 9.98671603e-01 -4.23717870e-02 -2.93199645e-02 1.79109512e+02] [ 4.24112367e-02 9.99099976e-01 7.24639352e-04 -5.98492289e+00] [ 2.92628716e-02 -1.96717270e-03 9.99569815e-01 2.22750869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.930714057 meters Centerline goodness [0,1] 0.9883460023811704 Centerline is valid? [True, True] Translation: X:179.14, Y:-5.99, Z:2.23 [[ 9.98646609e-01 -4.31610578e-02 -2.90185177e-02 1.79140154e+02] [ 4.32001057e-02 9.99066180e-01 7.19745486e-04 -5.98755471e+00] [ 2.89603547e-02 -1.97237442e-03 9.99578615e-01 2.22772029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.960714057 meters Centerline goodness [0,1] 0.9871879781670359 Centerline is valid? [True, True] Translation: X:179.17, Y:-5.99, Z:2.23 [[ 9.98662638e-01 -4.30740276e-02 -2.85930634e-02 1.79170829e+02] [ 4.31120008e-02 9.99069991e-01 7.12621165e-04 -5.99412978e+00] [ 2.85357761e-02 -1.94437230e-03 9.99590881e-01 2.22749189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.990714057 meters Centerline goodness [0,1] 0.988173936912414 Centerline is valid? [True, True] Translation: X:179.20, Y:-5.99, Z:2.23 [[ 9.98689998e-01 -4.26658144e-02 -2.82473999e-02 1.79202208e+02] [ 4.27027735e-02 9.99087571e-01 7.06185884e-04 -5.99067136e+00] [ 2.81914962e-02 -1.91150310e-03 9.99600713e-01 2.22970760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.020714057 meters Centerline goodness [0,1] 0.9889366371034104 Centerline is valid? [True, True] Translation: X:179.23, Y:-5.99, Z:2.23 [[ 9.98709797e-01 -4.21397557e-02 -2.83369483e-02 1.79234738e+02] [ 4.21767815e-02 9.99109911e-01 7.09930921e-04 -5.98609116e+00] [ 2.82818096e-02 -1.90417624e-03 9.99598176e-01 2.23118338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.050714057 meters Centerline goodness [0,1] 0.9887506859337846 Centerline is valid? [True, True] Translation: X:179.27, Y:-5.99, Z:2.23 [[ 9.98753012e-01 -4.08312999e-02 -2.87267433e-02 1.79266481e+02] [ 4.08688659e-02 9.99164258e-01 7.21537188e-04 -5.98600703e+00] [ 2.86732739e-02 -1.89466686e-03 9.99587042e-01 2.23161346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.080714057 meters Centerline goodness [0,1] 0.9883553668059456 Centerline is valid? [True, True] Translation: X:179.30, Y:-5.99, Z:2.23 [[ 9.98771092e-01 -4.00873749e-02 -2.91428965e-02 1.79296934e+02] [ 4.01257743e-02 9.99194367e-01 7.33770473e-04 -5.99102492e+00] [ 2.90900031e-02 -1.90225002e-03 9.99574986e-01 2.23106578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.110714057 meters Centerline goodness [0,1] 0.9891977070820106 Centerline is valid? [True, True] Translation: X:179.33, Y:-5.99, Z:2.23 [[ 9.98797849e-01 -3.93524870e-02 -2.92273449e-02 1.79328276e+02] [ 3.93908402e-02 9.99223608e-01 7.37408777e-04 -5.99043978e+00] [ 2.91756342e-02 -1.88781197e-03 9.99572518e-01 2.23142620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.140714057 meters Centerline goodness [0,1] 0.9894554252065549 Centerline is valid? [True, True] Translation: X:179.36, Y:-5.99, Z:2.23 [[ 9.98879688e-01 -3.78145510e-02 -2.84504675e-02 1.79359529e+02] [ 3.78502990e-02 9.99283162e-01 7.18818743e-04 -5.98907653e+00] [ 2.84028913e-02 -1.79487214e-03 9.99594945e-01 2.23253201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.170714057 meters Centerline goodness [0,1] 0.9887024991441288 Centerline is valid? [True, True] Translation: X:179.39, Y:-5.99, Z:2.23 [[ 9.98905322e-01 -3.68357902e-02 -2.88319526e-02 1.79389891e+02] [ 3.68721208e-02 9.99319726e-01 7.29256562e-04 -5.99092967e+00] [ 2.87854763e-02 -1.79155350e-03 9.99584007e-01 2.23265437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.200714057 meters Centerline goodness [0,1] 0.9887553137998811 Centerline is valid? [True, True] Translation: X:179.42, Y:-5.99, Z:2.23 [[ 9.98943536e-01 -3.59091817e-02 -2.86765274e-02 1.79420153e+02] [ 3.59447558e-02 9.99353515e-01 7.25838623e-04 -5.99211200e+00] [ 2.86319242e-02 -1.75584258e-03 9.99588480e-01 2.23292848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23071405699997 meters Centerline goodness [0,1] 0.9896402680266198 Centerline is valid? [True, True] Translation: X:179.45, Y:-5.99, Z:2.23 [[ 9.98977680e-01 -3.49984473e-02 -2.86129908e-02 1.79451182e+02] [ 3.50335136e-02 9.99385875e-01 7.24997333e-04 -5.99057708e+00] [ 2.85700450e-02 -1.72666976e-03 9.99590302e-01 2.23455966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26071405699997 meters Centerline goodness [0,1] 0.988536457262908 Centerline is valid? [True, True] Translation: X:179.48, Y:-6.00, Z:2.23 [[ 9.98984297e-01 -3.52664958e-02 -2.80472565e-02 1.79481446e+02] [ 3.53003152e-02 9.99376496e-01 7.11425361e-04 -6.00248176e+00] [ 2.80046794e-02 -1.70077976e-03 9.99606345e-01 2.23261467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29071405699997 meters Centerline goodness [0,1] 0.9888214627914405 Centerline is valid? [True, True] Translation: X:179.51, Y:-6.00, Z:2.23 [[ 9.98941929e-01 -3.63827493e-02 -2.81303931e-02 1.79512829e+02] [ 3.64172311e-02 9.99336417e-01 7.14273623e-04 -5.99786670e+00] [ 2.80857391e-02 -1.73794890e-03 9.99604007e-01 2.23466140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32071405699998 meters Centerline goodness [0,1] 0.9890355376233787 Centerline is valid? [True, True] Translation: X:179.54, Y:-6.00, Z:2.23 [[ 9.98854217e-01 -3.80512739e-02 -2.90233410e-02 1.79544368e+02] [ 3.80887124e-02 9.99274089e-01 7.37986686e-04 -6.00264261e+00] [ 2.89741914e-02 -1.84260280e-03 9.99578462e-01 2.23389896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35071405699998 meters Centerline goodness [0,1] 0.9892771139079467 Centerline is valid? [True, True] Translation: X:179.58, Y:-6.00, Z:2.23 [[ 9.98813810e-01 -3.89169373e-02 -2.92650793e-02 1.79575394e+02] [ 3.89554030e-02 9.99240672e-01 7.45183257e-04 -6.00121773e+00] [ 2.92138573e-02 -1.88433229e-03 9.99571408e-01 2.23457569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38071405699998 meters Centerline goodness [0,1] 0.9886280931586608 Centerline is valid? [True, True] Translation: X:179.61, Y:-6.01, Z:2.23 [[ 9.98730386e-01 -4.05989868e-02 -2.98217634e-02 1.79605189e+02] [ 4.06396931e-02 9.99173577e-01 7.59900123e-04 -6.00630045e+00] [ 2.97662668e-02 -1.97088266e-03 9.99554943e-01 2.23476362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41071405699998 meters Centerline goodness [0,1] 0.9885624630497066 Centerline is valid? [True, True] Translation: X:179.64, Y:-6.01, Z:2.23 [[ 9.98703600e-01 -4.12748263e-02 -2.97910750e-02 1.79635563e+02] [ 4.13157704e-02 9.99145850e-01 7.59863703e-04 -6.01012003e+00] [ 2.97342657e-02 -1.98971983e-03 9.99555859e-01 2.23459252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44071405699998 meters Centerline goodness [0,1] 0.9886864464537235 Centerline is valid? [True, True] Translation: X:179.67, Y:-6.01, Z:2.23 [[ 9.98673076e-01 -4.22527409e-02 -2.94413402e-02 1.79666383e+02] [ 4.22931803e-02 9.99104960e-01 7.51916634e-04 -6.01360714e+00] [ 2.93832185e-02 -1.99608681e-03 9.99566227e-01 2.23485281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47071405699998 meters Centerline goodness [0,1] 0.9894089898852452 Centerline is valid? [True, True] Translation: X:179.70, Y:-6.01, Z:2.24 [[ 9.98690616e-01 -4.21769590e-02 -2.89509491e-02 1.79697856e+02] [ 4.22160520e-02 9.99108231e-01 7.40150868e-04 -6.01307339e+00] [ 2.88939142e-02 -1.96137650e-03 9.99580559e-01 2.23620892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50071405699998 meters Centerline goodness [0,1] 0.9886990264824018 Centerline is valid? [True, True] Translation: X:179.73, Y:-6.02, Z:2.24 [[ 9.98703930e-01 -4.21599137e-02 -2.85132021e-02 1.79729448e+02] [ 4.21978871e-02 9.99109005e-01 7.31111109e-04 -6.01673258e+00] [ 2.84569734e-02 -1.93336042e-03 9.99593149e-01 2.23717459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53071405699998 meters Centerline goodness [0,1] 0.9882358264331931 Centerline is valid? [True, True] Translation: X:179.76, Y:-6.02, Z:2.24 [[ 9.98715942e-01 -4.16836303e-02 -2.87913694e-02 1.79760267e+02] [ 4.17222162e-02 9.99128975e-01 7.40487848e-04 -6.01899360e+00] [ 2.87354252e-02 -1.94077676e-03 9.99585168e-01 2.23765762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56071405699998 meters Centerline goodness [0,1] 0.9876930063578565 Centerline is valid? [True, True] Translation: X:179.79, Y:-6.02, Z:2.24 [[ 9.98714584e-01 -4.09259237e-02 -2.99039951e-02 1.79790214e+02] [ 4.09672366e-02 9.99160194e-01 7.69891130e-04 -6.02132109e+00] [ 2.98473731e-02 -1.99398554e-03 9.99552479e-01 2.23735625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59071405699999 meters Centerline goodness [0,1] 0.9877183839024721 Centerline is valid? [True, True] Translation: X:179.82, Y:-6.02, Z:2.24 [[ 9.98744580e-01 -4.00033612e-02 -3.01495297e-02 1.79820128e+02] [ 4.00449448e-02 9.99197578e-01 7.76465188e-04 -6.02399895e+00] [ 3.00942758e-02 -1.98282665e-03 9.99545098e-01 2.23738208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.620714057 meters Centerline goodness [0,1] 0.9877144287209355 Centerline is valid? [True, True] Translation: X:179.85, Y:-6.02, Z:2.24 [[ 9.98747778e-01 -3.97886454e-02 -3.03272012e-02 1.79850436e+02] [ 3.98306223e-02 9.99206141e-01 7.81040905e-04 -6.02473810e+00] [ 3.02720491e-02 -1.98801416e-03 9.99539719e-01 2.23829950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.650714057 meters Centerline goodness [0,1] 0.9888288451932247 Centerline is valid? [True, True] Translation: X:179.88, Y:-6.02, Z:2.24 [[ 9.98764368e-01 -3.94793482e-02 -3.01847484e-02 1.79880976e+02] [ 3.95207909e-02 9.99218446e-01 7.77372204e-04 -6.02241416e+00] [ 3.01304672e-02 -1.96933679e-03 9.99544034e-01 2.23985086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.680714057 meters Centerline goodness [0,1] 0.9879553666795445 Centerline is valid? [True, True] Translation: X:179.91, Y:-6.02, Z:2.24 [[ 9.98773196e-01 -3.97074286e-02 -2.95875632e-02 1.79912613e+02] [ 3.97473614e-02 9.99209470e-01 7.62497281e-04 -6.02400065e+00] [ 2.95338965e-02 -1.93758941e-03 9.99561901e-01 2.24103342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.710714057 meters Centerline goodness [0,1] 0.9892231089284497 Centerline is valid? [True, True] Translation: X:179.94, Y:-6.02, Z:2.24 [[ 9.98778304e-01 -3.99699903e-02 -2.90568406e-02 1.79942919e+02] [ 4.00086274e-02 9.99199053e-01 7.49308626e-04 -6.02485828e+00] [ 2.90036177e-02 -1.91091751e-03 9.99577480e-01 2.24144278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.740714057 meters Centerline goodness [0,1] 0.9882644590506948 Centerline is valid? [True, True] Translation: X:179.97, Y:-6.03, Z:2.24 [[ 9.98760095e-01 -4.03359026e-02 -2.91768290e-02 1.79973326e+02] [ 4.03750222e-02 9.99184313e-01 7.52646789e-04 -6.03153941e+00] [ 2.91226712e-02 -1.92972870e-03 9.99573982e-01 2.24009018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.770714057 meters Centerline goodness [0,1] 0.9882644590506948 Centerline is valid? [True, True] Translation: X:180.00, Y:-6.03, Z:2.24 [[ 9.98760095e-01 -4.03358990e-02 -2.91768227e-02 1.80003381e+02] [ 4.03750258e-02 9.99184313e-01 7.52893793e-04 -6.03231509e+00] [ 2.91226548e-02 -1.92997524e-03 9.99573982e-01 2.24053183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.800714057 meters Centerline goodness [0,1] 0.9886084583901773 Centerline is valid? [True, True] Translation: X:180.03, Y:-6.03, Z:2.24 [[ 9.98739197e-01 -4.05409962e-02 -2.96048102e-02 1.80034023e+02] [ 4.05813695e-02 9.99175945e-01 7.63937805e-04 -6.03277108e+00] [ 2.95494434e-02 -1.96437837e-03 9.99561390e-01 2.24116134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.830714057 meters Centerline goodness [0,1] 0.9887691435053886 Centerline is valid? [True, True] Translation: X:180.06, Y:-6.03, Z:2.24 [[ 9.98806082e-01 -3.92765707e-02 -2.90475642e-02 1.80063607e+02] [ 3.93148985e-02 9.99226590e-01 7.49320996e-04 -6.03265131e+00] [ 2.89956677e-02 -1.89042841e-03 9.99577750e-01 2.24228804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.860714057 meters Centerline goodness [0,1] 0.9890715338397007 Centerline is valid? [True, True] Translation: X:180.09, Y:-6.03, Z:2.24 [[ 9.98850617e-01 -3.83499970e-02 -2.87527896e-02 1.80094021e+02] [ 3.83871613e-02 9.99262666e-01 7.41476701e-04 -6.03210159e+00] [ 2.87031536e-02 -1.84436243e-03 9.99586278e-01 2.24340178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.890714057 meters Centerline goodness [0,1] 0.9908002634986257 Centerline is valid? [True, True] Translation: X:180.12, Y:-6.02, Z:2.25 [[ 9.98972279e-01 -3.60004472e-02 -2.75382197e-02 1.80124748e+02] [ 3.60336476e-02 9.99350325e-01 7.10155380e-04 -6.02120354e+00] [ 2.74947628e-02 -1.70172804e-03 9.99620499e-01 2.24704709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.920714057 meters Centerline goodness [0,1] 0.9886743535512043 Centerline is valid? [True, True] Translation: X:180.15, Y:-6.03, Z:2.25 [[ 9.98990818e-01 -3.51407180e-02 -2.79727545e-02 1.80154075e+02] [ 3.51746326e-02 9.99380921e-01 7.21126483e-04 -6.03376033e+00] [ 2.79300962e-02 -1.70433010e-03 9.99608426e-01 2.24530192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.950714057 meters Centerline goodness [0,1] 0.9898747366751988 Centerline is valid? [True, True] Translation: X:180.18, Y:-6.02, Z:2.25 [[ 9.99012881e-01 -3.39322068e-02 -2.86682677e-02 1.80184732e+02] [ 3.39673264e-02 9.99422671e-01 7.38790749e-04 -6.02124214e+00] [ 2.86266479e-02 -1.71184588e-03 9.99588708e-01 2.24823076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98071405699997 meters Centerline goodness [0,1] 0.989650946393718 Centerline is valid? [True, True] Translation: X:180.22, Y:-6.02, Z:2.25 [[ 9.98998456e-01 -3.39232747e-02 -2.91769680e-02 1.80215303e+02] [ 3.39596485e-02 9.99422922e-01 7.51900123e-04 -6.02258849e+00] [ 2.91346237e-02 -1.74198664e-03 9.99573979e-01 2.24822528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01071405699997 meters Centerline goodness [0,1] 0.9905795292034595 Centerline is valid? [True, True] Translation: X:180.25, Y:-6.03, Z:2.25 [[ 9.98972920e-01 -3.38085574e-02 -3.01676287e-02 1.80245076e+02] [ 3.38473842e-02 9.99426711e-01 7.77154472e-04 -6.02570131e+00] [ 3.01240594e-02 -1.79745159e-03 9.99544551e-01 2.24775461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04071405699997 meters Centerline goodness [0,1] 0.9908452783898594 Centerline is valid? [True, True] Translation: X:180.27, Y:-6.02, Z:2.25 [[ 9.98975900e-01 -3.37157490e-02 -3.01728131e-02 1.80274871e+02] [ 3.37545224e-02 9.99429852e-01 7.76474648e-04 -6.02434190e+00] [ 3.01294307e-02 -1.79414836e-03 9.99544395e-01 2.24842872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07071405699998 meters Centerline goodness [0,1] 0.9900543724512914 Centerline is valid? [True, True] Translation: X:180.30, Y:-6.03, Z:2.25 [[ 9.98905696e-01 -3.45060351e-02 -3.15712409e-02 1.80304680e+02] [ 3.45488452e-02 9.99402681e-01 8.11317323e-04 -6.02702937e+00] [ 3.15243874e-02 -1.90117941e-03 9.99501175e-01 2.24799702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10071405699998 meters Centerline goodness [0,1] 0.9904262800880238 Centerline is valid? [True, True] Translation: X:180.33, Y:-6.03, Z:2.25 [[ 9.98882048e-01 -3.50758238e-02 -3.16913374e-02 1.80334322e+02] [ 3.51192107e-02 9.99382799e-01 8.13284551e-04 -6.02956702e+00] [ 3.16432508e-02 -1.92535009e-03 9.99497373e-01 2.24807744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13071405699998 meters Centerline goodness [0,1] 0.9903639043192382 Centerline is valid? [True, True] Translation: X:180.36, Y:-6.03, Z:2.25 [[ 9.98822314e-01 -3.59789982e-02 -3.25499047e-02 1.80363263e+02] [ 3.60252432e-02 9.99350531e-01 8.35203777e-04 -6.03299453e+00] [ 3.24987148e-02 -2.00683840e-03 9.99469762e-01 2.24872180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16071405699998 meters Centerline goodness [0,1] 0.9900219969612445 Centerline is valid? [True, True] Translation: X:180.39, Y:-6.03, Z:2.25 [[ 9.98816397e-01 -3.62786241e-02 -3.23985569e-02 1.80392757e+02] [ 3.63245877e-02 9.99339699e-01 8.31042418e-04 -6.03396948e+00] [ 3.23470151e-02 -2.00692302e-03 9.99474683e-01 2.24983612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19071405699998 meters Centerline goodness [0,1] 0.9908757471472559 Centerline is valid? [True, True] Translation: X:180.42, Y:-6.03, Z:2.25 [[ 9.98790852e-01 -3.72194397e-02 -3.21177125e-02 1.80421884e+02] [ 3.72650480e-02 9.99305078e-01 8.22410906e-04 -6.03415084e+00] [ 3.20647835e-02 -2.01828459e-03 9.99483755e-01 2.25146525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22071405699998 meters Centerline goodness [0,1] 0.990358439201452 Centerline is valid? [True, True] Translation: X:180.45, Y:-6.04, Z:2.25 [[ 9.98761797e-01 -3.76250242e-02 -3.25458255e-02 1.80451797e+02] [ 3.76720361e-02 9.99289810e-01 8.32276931e-04 -6.03631605e+00] [ 3.24913974e-02 -2.05731392e-03 9.99469898e-01 2.25174757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25071405699998 meters Centerline goodness [0,1] 0.9904335436596784 Centerline is valid? [True, True] Translation: X:180.48, Y:-6.04, Z:2.25 [[ 9.98731522e-01 -3.78042610e-02 -3.32593537e-02 1.80481889e+02] [ 3.78534268e-02 9.99282941e-01 8.49608465e-04 -6.03662361e+00] [ 3.32033860e-02 -2.10751127e-03 9.99446394e-01 2.25253758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28071405699998 meters Centerline goodness [0,1] 0.9898712952052933 Centerline is valid? [True, True] Translation: X:180.51, Y:-6.04, Z:2.25 [[ 9.98718852e-01 -3.80699372e-02 -3.33366907e-02 1.80509906e+02] [ 3.81194296e-02 9.99272829e-01 8.50089909e-04 -6.04416150e+00] [ 3.32800863e-02 -2.11977645e-03 9.99443817e-01 2.25133801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31071405699998 meters Centerline goodness [0,1] 0.9897469557738445 Centerline is valid? [True, True] Translation: X:180.54, Y:-6.04, Z:2.26 [[ 9.98702924e-01 -3.87863923e-02 -3.29861330e-02 1.80539418e+02] [ 3.88351913e-02 9.99245277e-01 8.39738703e-04 -6.03733602e+00] [ 3.29286671e-02 -2.11967228e-03 9.99455457e-01 2.25580632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34071405699999 meters Centerline goodness [0,1] 0.9900904977375565 Centerline is valid? [True, True] Translation: X:180.57, Y:-6.04, Z:2.26 [[ 9.98721547e-01 -3.91970385e-02 -3.19196573e-02 1.80568775e+02] [ 3.92429249e-02 9.99229370e-01 8.12119410e-04 -6.04275939e+00] [ 3.18632264e-02 -2.06370187e-03 9.99490108e-01 2.25616840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.370714057 meters Centerline goodness [0,1] 0.9896535401122557 Centerline is valid? [True, True] Translation: X:180.60, Y:-6.04, Z:2.26 [[ 9.98694344e-01 -4.11575209e-02 -3.02599732e-02 1.80599501e+02] [ 4.11996536e-02 9.99150637e-01 7.69921810e-04 -6.04286659e+00] [ 3.02025834e-02 -2.01561697e-03 9.99541766e-01 2.25870595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.400714057 meters Centerline goodness [0,1] 0.9894641645941669 Centerline is valid? [True, True] Translation: X:180.63, Y:-6.05, Z:2.26 [[ 9.98629868e-01 -4.27410621e-02 -3.01925374e-02 1.80630702e+02] [ 4.27837438e-02 9.99084061e-01 7.68750313e-04 -6.04612768e+00] [ 3.01320257e-02 -2.05944681e-03 9.99543806e-01 2.25918311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.430714057 meters Centerline goodness [0,1] 0.9901133131687057 Centerline is valid? [True, True] Translation: X:180.66, Y:-6.05, Z:2.26 [[ 9.98546622e-01 -4.43647492e-02 -3.06008484e-02 1.80661457e+02] [ 4.44093770e-02 9.99013112e-01 7.79951756e-04 -6.04811541e+00] [ 3.05360464e-02 -2.13778280e-03 9.99531380e-01 2.25925463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.460714057 meters Centerline goodness [0,1] 0.9889954091277343 Centerline is valid? [True, True] Translation: X:180.69, Y:-6.05, Z:2.26 [[ 9.98475353e-01 -4.54419361e-02 -3.13368642e-02 1.80691546e+02] [ 4.54892958e-02 9.98964506e-01 7.99678447e-04 -6.05286290e+00] [ 3.12680762e-02 -2.22395111e-03 9.99508560e-01 2.25883727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.490714057 meters Centerline goodness [0,1] 0.9888308412898577 Centerline is valid? [True, True] Translation: X:180.72, Y:-6.06, Z:2.26 [[ 9.98379562e-01 -4.64307089e-02 -3.29004396e-02 1.80721804e+02] [ 4.64834813e-02 9.98918705e-01 8.40539229e-04 -6.05632879e+00] [ 3.28258377e-02 -2.36850416e-03 9.99458281e-01 2.25860860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.520714057 meters Centerline goodness [0,1] 0.9892793463786761 Centerline is valid? [True, True] Translation: X:180.75, Y:-6.06, Z:2.26 [[ 9.98317989e-01 -4.70621671e-02 -3.38577107e-02 1.80753066e+02] [ 4.71184497e-02 9.98888934e-01 8.65919866e-04 -6.05513708e+00] [ 3.37793405e-02 -2.45978622e-03 9.99426288e-01 2.25951374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.550714057 meters Centerline goodness [0,1] 0.989256049115204 Centerline is valid? [True, True] Translation: X:180.78, Y:-6.06, Z:2.26 [[ 9.98314844e-01 -4.70405694e-02 -3.39802496e-02 1.80783688e+02] [ 4.70972767e-02 9.98889929e-01 8.69897511e-04 -6.06068236e+00] [ 3.39016086e-02 -2.46880881e-03 9.99422126e-01 2.25886619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.580714057 meters Centerline goodness [0,1] 0.9873491938211749 Centerline is valid? [True, True] Translation: X:180.81, Y:-6.06, Z:2.26 [[ 9.98281294e-01 -4.73215959e-02 -3.45705733e-02 1.80814286e+02] [ 4.73804684e-02 9.98876523e-01 8.85267141e-04 -6.06260537e+00] [ 3.44898418e-02 -2.52171558e-03 9.99401867e-01 2.25910938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.610714057 meters Centerline goodness [0,1] 0.9874938143866121 Centerline is valid? [True, True] Translation: X:180.84, Y:-6.06, Z:2.26 [[ 9.98271304e-01 -4.73357602e-02 -3.48386297e-02 1.80844860e+02] [ 4.73955586e-02 9.98875801e-01 8.92131404e-04 -6.06379960e+00] [ 3.47572344e-02 -2.54178549e-03 9.99392552e-01 2.25902216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.640714057 meters Centerline goodness [0,1] 0.9891871148332919 Centerline is valid? [True, True] Translation: X:180.88, Y:-6.06, Z:2.26 [[ 9.98245696e-01 -4.71510029e-02 -3.58094071e-02 1.80875785e+02] [ 4.72140647e-02 9.98884373e-01 9.16990619e-04 -6.06210503e+00] [ 3.57262201e-02 -2.60608960e-03 9.99358217e-01 2.25974550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.670714057 meters Centerline goodness [0,1] 0.9845230574857865 Centerline is valid? [True, True] Translation: X:180.90, Y:-6.07, Z:2.26 [[ 9.98301818e-01 -4.67119550e-02 -3.48062239e-02 1.80904823e+02] [ 4.67712534e-02 9.98905229e-01 8.90965230e-04 -6.06666885e+00] [ 3.47265003e-02 -2.51738293e-03 9.99393683e-01 2.26046445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.700714057 meters Centerline goodness [0,1] 0.9845230574857865 Centerline is valid? [True, True] Translation: X:180.93, Y:-6.07, Z:2.26 [[ 9.98300296e-01 -4.67444633e-02 -3.48062469e-02 1.80934047e+02] [ 4.68037501e-02 9.98903707e-01 8.90065020e-04 -6.06738180e+00] [ 3.47264835e-02 -2.51761505e-03 9.99393683e-01 2.26089403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73071405699997 meters Centerline goodness [0,1] 0.9889705051418239 Centerline is valid? [True, True] Translation: X:180.96, Y:-6.06, Z:2.26 [[ 9.98308238e-01 -4.69317313e-02 -3.43230868e-02 1.80964875e+02] [ 4.69894762e-02 9.98894999e-01 8.77238087e-04 -6.05842961e+00] [ 3.42439894e-02 -2.48857788e-03 9.99410404e-01 2.26463550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76071405699997 meters Centerline goodness [0,1] 0.9888811046577324 Centerline is valid? [True, True] Translation: X:181.00, Y:-6.05, Z:2.27 [[ 9.98307460e-01 -4.70880129e-02 -3.41311386e-02 1.80995918e+02] [ 4.71452282e-02 9.98887664e-01 8.73038843e-04 -6.05347453e+00] [ 3.40520636e-02 -2.48068151e-03 9.99416982e-01 2.26709924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79071405699997 meters Centerline goodness [0,1] 0.9876835622927522 Centerline is valid? [True, True] Translation: X:181.03, Y:-6.06, Z:2.27 [[ 9.98313932e-01 -4.75171528e-02 -3.33378539e-02 1.81026142e+02] [ 4.75720040e-02 9.98867447e-01 8.53604128e-04 -6.06151027e+00] [ 3.32595361e-02 -2.43811341e-03 9.99443775e-01 2.26599427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82071405699998 meters Centerline goodness [0,1] 0.98721308512561 Centerline is valid? [True, True] Translation: X:181.06, Y:-6.07, Z:2.27 [[ 9.98224501e-01 -4.94547671e-02 -3.31974638e-02 1.81056518e+02] [ 4.95102413e-02 9.98773254e-01 8.50587009e-04 -6.06545699e+00] [ 3.31146734e-02 -2.49269124e-03 9.99448450e-01 2.26618436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85071405699998 meters Centerline goodness [0,1] 0.9873014448532711 Centerline is valid? [True, True] Translation: X:181.09, Y:-6.07, Z:2.27 [[ 9.98177631e-01 -5.03018103e-02 -3.33338475e-02 1.81087631e+02] [ 5.03582403e-02 9.98730853e-01 8.54960437e-04 -6.06785270e+00] [ 3.32485358e-02 -2.53203628e-03 9.99443907e-01 2.26647587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88071405699998 meters Centerline goodness [0,1] 0.9882671480144405 Centerline is valid? [True, True] Translation: X:181.12, Y:-6.06, Z:2.27 [[ 9.98031810e-01 -5.23305952e-02 -3.45545272e-02 1.81118398e+02] [ 5.23924846e-02 9.98626176e-01 8.87408692e-04 -6.06257669e+00] [ 3.44606168e-02 -2.69605964e-03 9.99402420e-01 2.26750532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91071405699998 meters Centerline goodness [0,1] 0.9884316157402188 Centerline is valid? [True, True] Translation: X:181.15, Y:-6.07, Z:2.27 [[ 9.97978958e-01 -5.28888478e-02 -3.52245613e-02 1.81149437e+02] [ 5.29535502e-02 9.98596566e-01 9.05818365e-04 -6.06531736e+00] [ 3.51272182e-02 -2.76925324e-03 9.99379012e-01 2.26691907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94071405699998 meters Centerline goodness [0,1] 0.9899945916711737 Centerline is valid? [True, True] Translation: X:181.18, Y:-6.06, Z:2.27 [[ 9.97872181e-01 -5.38699267e-02 -3.67306645e-02 1.81181059e+02] [ 5.39409946e-02 9.98543677e-01 9.45892144e-04 -6.06449783e+00] [ 3.66262176e-02 -2.92516803e-03 9.99324754e-01 2.26677853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97071405699998 meters Centerline goodness [0,1] 0.9894043012687843 Centerline is valid? [True, True] Translation: X:181.21, Y:-6.07, Z:2.27 [[ 9.97856300e-01 -5.38917137e-02 -3.71279803e-02 1.81213017e+02] [ 5.39644237e-02 9.98542399e-01 9.58283467e-04 -6.06614346e+00] [ 3.70222190e-02 -2.95981926e-03 9.99310059e-01 2.26703114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00071405699998 meters Centerline goodness [0,1] 0.988271577146459 Centerline is valid? [True, True] Translation: X:181.24, Y:-6.07, Z:2.27 [[ 9.97889892e-01 -5.33817821e-02 -3.69614431e-02 1.81243516e+02] [ 5.34535469e-02 9.98569880e-01 9.55438890e-04 -6.07074966e+00] [ 3.68575808e-02 -2.92914305e-03 9.99316236e-01 2.26687714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03071405699998 meters Centerline goodness [0,1] 0.9886624892936032 Centerline is valid? [True, True] Translation: X:181.27, Y:-6.07, Z:2.27 [[ 9.97945470e-01 -5.29561752e-02 -3.60621933e-02 1.81274673e+02] [ 5.30242487e-02 9.98592789e-01 9.33225596e-04 -6.06624126e+00] [ 3.59620261e-02 -2.84347896e-03 9.99349112e-01 2.26947124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06071405699998 meters Centerline goodness [0,1] 0.9881644799134316 Centerline is valid? [True, True] Translation: X:181.30, Y:-6.07, Z:2.27 [[ 9.98001094e-01 -5.23274609e-02 -3.54352042e-02 1.81304654e+02] [ 5.23928663e-02 9.98626128e-01 9.19093568e-04 -6.06941261e+00] [ 3.53384269e-02 -2.77380830e-03 9.99371553e-01 2.26953806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09071405699999 meters Centerline goodness [0,1] 0.9880235469246904 Centerline is valid? [True, True] Translation: X:181.34, Y:-6.07, Z:2.27 [[ 9.98100027e-01 -5.10956096e-02 -3.44321693e-02 1.81335535e+02] [ 5.11566828e-02 9.98690239e-01 8.94509836e-04 -6.06934668e+00] [ 3.43413659e-02 -2.65424585e-03 9.99406637e-01 2.27048074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.120714057 meters Centerline goodness [0,1] 0.98823396821819 Centerline is valid? [True, True] Translation: X:181.37, Y:-6.07, Z:2.27 [[ 9.98220548e-01 -4.94030341e-02 -3.33927779e-02 1.81366437e+02] [ 4.94595515e-02 9.98775750e-01 8.68094938e-04 -6.06976533e+00] [ 3.33090103e-02 -2.51814202e-03 9.99441929e-01 2.27072265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.150714057 meters Centerline goodness [0,1] 0.9870530487255696 Centerline is valid? [True, True] Translation: X:181.40, Y:-6.07, Z:2.27 [[ 9.98281784e-01 -4.83114157e-02 -3.31585179e-02 1.81397110e+02] [ 4.83665740e-02 9.98829280e-01 8.62921721e-04 -6.07490089e+00] [ 3.30780096e-02 -2.46520294e-03 9.99449733e-01 2.26969998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.180714057 meters Centerline goodness [0,1] 0.9873789921288338 Centerline is valid? [True, True] Translation: X:181.43, Y:-6.07, Z:2.27 [[ 9.98366857e-01 -4.62022077e-02 -3.36002236e-02 1.81428288e+02] [ 4.62576789e-02 9.98929157e-01 8.75025800e-04 -6.06915810e+00] [ 3.35238149e-02 -2.42786511e-03 9.99434970e-01 2.27133641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.210714057 meters Centerline goodness [0,1] 0.9870344390641264 Centerline is valid? [True, True] Translation: X:181.46, Y:-6.07, Z:2.27 [[ 9.98451220e-01 -4.45675318e-02 -3.33000911e-02 1.81459089e+02] [ 4.46211241e-02 9.99003605e-01 8.67592438e-04 -6.06955436e+00] [ 3.32282446e-02 -2.35213623e-03 9.99445022e-01 2.27171934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.240714057 meters Centerline goodness [0,1] 0.9877938517179023 Centerline is valid? [True, True] Translation: X:181.49, Y:-6.07, Z:2.27 [[ 9.98539003e-01 -4.28373868e-02 -3.29365693e-02 1.81489801e+02] [ 4.28888865e-02 9.99079480e-01 8.58372171e-04 -6.06932121e+00] [ 3.28694800e-02 -2.26973087e-03 9.99457075e-01 2.27238921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.270714057 meters Centerline goodness [0,1] 0.9869037117459456 Centerline is valid? [True, True] Translation: X:181.52, Y:-6.07, Z:2.27 [[ 9.98706182e-01 -3.98330575e-02 -3.16115458e-02 1.81519250e+02] [ 3.98789935e-02 9.99204177e-01 8.23746276e-04 -6.06774766e+00] [ 3.15535762e-02 -2.08331713e-03 9.99499891e-01 2.27385872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.300714057 meters Centerline goodness [0,1] 0.9866392367861826 Centerline is valid? [True, True] Translation: X:181.55, Y:-6.07, Z:2.27 [[ 9.98785026e-01 -3.86136319e-02 -3.06179410e-02 1.81550233e+02] [ 3.86561501e-02 9.99252253e-01 7.97742107e-04 -6.06832426e+00] [ 3.05642428e-02 -1.98034459e-03 9.99530843e-01 2.27479069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.330714057 meters Centerline goodness [0,1] 0.9866304101518242 Centerline is valid? [True, True] Translation: X:181.58, Y:-6.07, Z:2.28 [[ 9.98865102e-01 -3.67823467e-02 -3.02583493e-02 1.81580937e+02] [ 3.68230339e-02 9.99321491e-01 7.88342562e-04 -6.06709484e+00] [ 3.02088217e-02 -1.90165210e-03 9.99541800e-01 2.27527851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.360714057 meters Centerline goodness [0,1] 0.9869190659714351 Centerline is valid? [True, True] Translation: X:181.61, Y:-6.07, Z:2.28 [[ 9.98878637e-01 -3.59382803e-02 -3.08205794e-02 1.81610849e+02] [ 3.59800943e-02 9.99352184e-01 8.02990746e-04 -6.06748837e+00] [ 3.07717552e-02 -1.91101765e-03 9.99524611e-01 2.27500538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.390714057 meters Centerline goodness [0,1] 0.9868221785221853 Centerline is valid? [True, True] Translation: X:181.64, Y:-6.07, Z:2.27 [[ 9.98905702e-01 -3.46406486e-02 -3.14233115e-02 1.81640076e+02] [ 3.46834581e-02 9.99398013e-01 8.18140007e-04 -6.06738104e+00] [ 3.13760542e-02 -1.90711383e-03 9.99505831e-01 2.27426800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.420714057 meters Centerline goodness [0,1] 0.9869221687403505 Centerline is valid? [True, True] Translation: X:181.67, Y:-6.07, Z:2.27 [[ 9.98910903e-01 -3.44975126e-02 -3.14154481e-02 1.81668565e+02] [ 3.45401891e-02 9.99402976e-01 8.16625044e-04 -6.06935858e+00] [ 3.13685208e-02 -1.90083118e-03 9.99506079e-01 2.27392441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.450714057 meters Centerline goodness [0,1] 0.9869473588796484 Centerline is valid? [True, True] Translation: X:181.70, Y:-6.07, Z:2.27 [[ 9.98927341e-01 -3.43440702e-02 -3.10588589e-02 1.81697807e+02] [ 3.43856699e-02 9.99408313e-01 8.06097642e-04 -6.06887923e+00] [ 3.10127971e-02 -1.87321264e-03 9.99517232e-01 2.27464855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48071405699997 meters Centerline goodness [0,1] 0.9884527602648407 Centerline is valid? [True, True] Translation: X:181.73, Y:-6.06, Z:2.28 [[ 9.98931716e-01 -3.47139376e-02 -3.05019553e-02 1.81727517e+02] [ 3.47541982e-02 9.99395578e-01 7.90611297e-04 -6.06400668e+00] [ 3.04560740e-02 -1.84983770e-03 9.99534394e-01 2.27676173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51071405699997 meters Centerline goodness [0,1] 0.987994190004993 Centerline is valid? [True, True] Translation: X:181.76, Y:-6.06, Z:2.28 [[ 9.98928074e-01 -3.56125378e-02 -2.95710878e-02 1.81757791e+02] [ 3.56507547e-02 9.99364016e-01 7.65984232e-04 -6.06450199e+00] [ 2.95250025e-02 -1.81939475e-03 9.99562386e-01 2.27764124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54071405699997 meters Centerline goodness [0,1] 0.9880672040576035 Centerline is valid? [True, True] Translation: X:181.79, Y:-6.07, Z:2.28 [[ 9.98908160e-01 -3.60537560e-02 -2.97088137e-02 1.81788520e+02] [ 3.60925243e-02 9.99348156e-01 7.69551765e-04 -6.06546843e+00] [ 2.96617030e-02 -1.84097762e-03 9.99558300e-01 2.27804193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57071405699998 meters Centerline goodness [0,1] 0.9886268379437686 Centerline is valid? [True, True] Translation: X:181.82, Y:-6.07, Z:2.28 [[ 9.98849499e-01 -3.74302212e-02 -2.99776014e-02 1.81818668e+02] [ 3.74703312e-02 9.99297438e-01 7.77158522e-04 -6.06874916e+00] [ 2.99274511e-02 -1.89953505e-03 9.99550269e-01 2.27750916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60071405699998 meters Centerline goodness [0,1] 0.988971920289855 Centerline is valid? [True, True] Translation: X:181.85, Y:-6.07, Z:2.28 [[ 9.98818367e-01 -3.81323522e-02 -3.01296237e-02 1.81848801e+02] [ 3.81732070e-02 9.99270832e-01 7.81721418e-04 -6.07039779e+00] [ 3.00778452e-02 -1.93094207e-03 9.99545694e-01 2.27771563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63071405699998 meters Centerline goodness [0,1] 0.9897411508934031 Centerline is valid? [True, True] Translation: X:181.88, Y:-6.07, Z:2.28 [[ 9.98733645e-01 -4.02630875e-02 -3.01660376e-02 1.81880488e+02] [ 4.03050255e-02 9.99187115e-01 7.83224309e-04 -6.06827443e+00] [ 3.01099810e-02 -1.99807538e-03 9.99544595e-01 2.27883383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66071405699998 meters Centerline goodness [0,1] 0.9889062464624511 Centerline is valid? [True, True] Translation: X:181.91, Y:-6.07, Z:2.28 [[ 9.98701198e-01 -4.12218159e-02 -2.99445971e-02 1.81910411e+02] [ 4.12635928e-02 9.99147992e-01 7.78273014e-04 -6.07475525e+00] [ 2.98870023e-02 -2.01288386e-03 9.99551257e-01 2.27794974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69071405699998 meters Centerline goodness [0,1] 0.9889062464624511 Centerline is valid? [True, True] Translation: X:181.94, Y:-6.08, Z:2.28 [[ 9.98702625e-01 -4.11872515e-02 -2.99445766e-02 1.81941318e+02] [ 4.12290366e-02 9.99149418e-01 7.79063173e-04 -6.07559043e+00] [ 2.98870188e-02 -2.01263848e-03 9.99551257e-01 2.27840391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72071405699998 meters Centerline goodness [0,1] 0.989660399556551 Centerline is valid? [True, True] Translation: X:181.97, Y:-6.07, Z:2.28 [[ 9.98668586e-01 -4.25956447e-02 -2.90975492e-02 1.81972525e+02] [ 4.26357223e-02 9.99090397e-01 7.58033438e-04 -6.07401939e+00] [ 2.90387931e-02 -1.99761921e-03 9.99576289e-01 2.27984118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75071405699998 meters Centerline goodness [0,1] 0.9898871331828443 Centerline is valid? [True, True] Translation: X:182.00, Y:-6.08, Z:2.28 [[ 9.98676929e-01 -4.29734247e-02 -2.82431638e-02 1.82004212e+02] [ 4.30113903e-02 9.99074310e-01 7.37829312e-04 -6.07580665e+00] [ 2.81853123e-02 -1.95163085e-03 9.99600810e-01 2.28073807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78071405699998 meters Centerline goodness [0,1] 0.9884649311288535 Centerline is valid? [True, True] Translation: X:182.04, Y:-6.08, Z:2.28 [[ 9.98709220e-01 -4.29400043e-02 -2.71302226e-02 1.82035135e+02] [ 4.29750846e-02 9.99075891e-01 7.11021148e-04 -6.08475881e+00] [ 2.70746200e-02 -1.87602699e-03 9.99631655e-01 2.28079039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81071405699998 meters Centerline goodness [0,1] 0.9879313851786562 Centerline is valid? [True, True] Translation: X:182.07, Y:-6.09, Z:2.28 [[ 9.98743735e-01 -4.23585657e-02 -2.67713187e-02 1.82066283e+02] [ 4.23925523e-02 9.99100784e-01 7.02983104e-04 -6.08674189e+00] [ 2.67174681e-02 -1.83700450e-03 9.99641337e-01 2.28069515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84071405699999 meters Centerline goodness [0,1] 0.9894938563859768 Centerline is valid? [True, True] Translation: X:182.10, Y:-6.08, Z:2.28 [[ 9.98773070e-01 -4.14450752e-02 -2.71046329e-02 1.82098106e+02] [ 4.14796107e-02 9.99139096e-01 7.12906999e-04 -6.08005130e+00] [ 2.70517519e-02 -1.83632193e-03 9.99632348e-01 2.28205891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.870714057 meters Centerline goodness [0,1] 0.9888090070537168 Centerline is valid? [True, True] Translation: X:182.13, Y:-6.08, Z:2.28 [[ 9.98836741e-01 -4.00306686e-02 -2.68832730e-02 1.82129747e+02] [ 4.00641570e-02 9.99196859e-01 7.08014106e-04 -6.08005077e+00] [ 2.68333397e-02 -1.78424617e-03 9.99638329e-01 2.28237961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.900714057 meters Centerline goodness [0,1] 0.9896944576566782 Centerline is valid? [True, True] Translation: X:182.16, Y:-6.08, Z:2.28 [[ 9.98972567e-01 -3.69008682e-02 -2.63084867e-02 1.82160663e+02] [ 3.69318770e-02 9.99317545e-01 6.93577589e-04 -6.07653869e+00] [ 2.62649387e-02 -1.66448678e-03 9.99653631e-01 2.28325058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.930714057 meters Centerline goodness [0,1] 0.9886755628177197 Centerline is valid? [True, True] Translation: X:182.19, Y:-6.08, Z:2.28 [[ 9.99044941e-01 -3.48746353e-02 -2.63242588e-02 1.82190574e+02] [ 3.49049874e-02 9.99390394e-01 6.94248399e-04 -6.07651325e+00] [ 2.62839997e-02 -1.61243327e-03 9.99653216e-01 2.28395638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.960714057 meters Centerline goodness [0,1] 0.9890530800960972 Centerline is valid? [True, True] Translation: X:182.22, Y:-6.07, Z:2.29 [[ 9.99167189e-01 -3.12441635e-02 -2.62436948e-02 1.82221980e+02] [ 3.12730877e-02 9.99510638e-01 6.92331366e-04 -6.06846843e+00] [ 2.62092208e-02 -1.51247615e-03 9.99655335e-01 2.28560224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.990714057 meters Centerline goodness [0,1] 0.9888881329795678 Centerline is valid? [True, True] Translation: X:182.25, Y:-6.07, Z:2.28 [[ 9.99222769e-01 -2.96276711e-02 -2.60011436e-02 1.82251351e+02] [ 2.96555190e-02 9.99559943e-01 6.85992749e-04 -6.07415894e+00] [ 2.59693773e-02 -1.45653698e-03 9.99661678e-01 2.28478083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.020714057 meters Centerline goodness [0,1] 0.9890608687758159 Centerline is valid? [True, True] Translation: X:182.28, Y:-6.07, Z:2.29 [[ 9.99328668e-01 -2.67909415e-02 -2.49891601e-02 1.82281757e+02] [ 2.68157681e-02 9.99640176e-01 6.58859449e-04 -6.06663021e+00] [ 2.49625170e-02 -1.32852066e-03 9.99687505e-01 2.28602717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.050714057 meters Centerline goodness [0,1] 0.988519074250898 Centerline is valid? [True, True] Translation: X:182.31, Y:-6.07, Z:2.29 [[ 9.99357389e-01 -2.54917192e-02 -2.51988239e-02 1.82310788e+02] [ 2.55165365e-02 9.99674180e-01 6.63754049e-04 -6.07208323e+00] [ 2.51736934e-02 -1.30631422e-03 9.99682239e-01 2.28519007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.080714057 meters Centerline goodness [0,1] 0.9892353208921256 Centerline is valid? [True, True] Translation: X:182.34, Y:-6.06, Z:2.29 [[ 9.99411779e-01 -2.30823777e-02 -2.53633428e-02 1.82341184e+02] [ 2.31067284e-02 9.99732781e-01 6.67377358e-04 -6.06367809e+00] [ 2.53411606e-02 -1.25304867e-03 9.99678076e-01 2.28632178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.110714057 meters Centerline goodness [0,1] 0.9903323400286618 Centerline is valid? [True, True] Translation: X:182.37, Y:-6.06, Z:2.29 [[ 9.99431425e-01 -2.20858354e-02 -2.54762966e-02 1.82370416e+02] [ 2.21100378e-02 9.99755320e-01 6.68670384e-04 -6.06256026e+00] [ 2.54552950e-02 -1.23157208e-03 9.99675203e-01 2.28684322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.140714057 meters Centerline goodness [0,1] 0.989873475332241 Centerline is valid? [True, True] Translation: X:182.40, Y:-6.06, Z:2.29 [[ 9.99457259e-01 -2.06702173e-02 -2.56501510e-02 1.82398073e+02] [ 2.06942116e-02 9.99785627e-01 6.70320976e-04 -6.06273204e+00] [ 2.56307966e-02 -1.20076682e-03 9.99670756e-01 2.28628079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.170714057 meters Centerline goodness [0,1] 0.9907105940210833 Centerline is valid? [True, True] Translation: X:182.43, Y:-6.06, Z:2.29 [[ 9.99464273e-01 -2.02850981e-02 -2.56842660e-02 1.82426491e+02] [ 2.03089256e-02 9.99793530e-01 6.67170570e-04 -6.06242546e+00] [ 2.56654294e-02 -1.18843300e-03 9.99669882e-01 2.28641224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.200714057 meters Centerline goodness [0,1] 0.9902730842999361 Centerline is valid? [True, True] Translation: X:182.45, Y:-6.06, Z:2.29 [[ 9.99453093e-01 -2.03185793e-02 -2.60896706e-02 1.82454049e+02] [ 2.03429948e-02 9.99792835e-01 6.70727094e-04 -6.06353909e+00] [ 2.60706375e-02 -1.20110230e-03 9.99659382e-01 2.28682943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23071405699997 meters Centerline goodness [0,1] 0.9905102995186714 Centerline is valid? [True, True] Translation: X:182.48, Y:-6.06, Z:2.29 [[ 9.99448097e-01 -2.07272596e-02 -2.59592206e-02 1.82481994e+02] [ 2.07513753e-02 9.99784449e-01 6.59911224e-04 -6.06152394e+00] [ 2.59399469e-02 -1.19823655e-03 9.99662785e-01 2.28808793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26071405699997 meters Centerline goodness [0,1] 0.9904512306289881 Centerline is valid? [True, True] Translation: X:182.51, Y:-6.06, Z:2.29 [[ 9.99433063e-01 -2.14287961e-02 -2.59684229e-02 1.82509815e+02] [ 2.14530276e-02 9.99769643e-01 6.54846434e-04 -6.06363706e+00] [ 2.59484083e-02 -1.21157647e-03 9.99662549e-01 2.28790402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29071405699997 meters Centerline goodness [0,1] 0.99003587997349 Centerline is valid? [True, True] Translation: X:182.54, Y:-6.06, Z:2.29 [[ 9.99411226e-01 -2.27143138e-02 -2.57149907e-02 1.82538280e+02] [ 2.27383943e-02 9.99741242e-01 6.44381226e-04 -6.06420411e+00] [ 2.56937001e-02 -1.22871943e-03 9.99669107e-01 2.28806308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32071405699998 meters Centerline goodness [0,1] 0.9904298570188662 Centerline is valid? [True, True] Translation: X:182.57, Y:-6.07, Z:2.29 [[ 9.99388011e-01 -2.36209439e-02 -2.58002962e-02 1.82566557e+02] [ 2.36453648e-02 9.99720203e-01 6.41826684e-04 -6.06605644e+00] [ 2.57779168e-02 -1.25149131e-03 9.99666911e-01 2.28788042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35071405699998 meters Centerline goodness [0,1] 0.9901737266882495 Centerline is valid? [True, True] Translation: X:182.60, Y:-6.07, Z:2.29 [[ 9.99338043e-01 -2.58691543e-02 -2.55785662e-02 1.82595320e+02] [ 2.58938435e-02 9.99664497e-01 6.34430499e-04 -6.06884777e+00] [ 2.55535723e-02 -1.29633792e-03 9.99672614e-01 2.28839558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38071405699998 meters Centerline goodness [0,1] 0.9901839930603114 Centerline is valid? [True, True] Translation: X:182.62, Y:-6.07, Z:2.29 [[ 9.99296334e-01 -2.70201434e-02 -2.60144083e-02 1.82624836e+02] [ 2.70460395e-02 9.99633981e-01 6.44052729e-04 -6.07089633e+00] [ 2.59874841e-02 -1.34718625e-03 9.99661361e-01 2.28915178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41071405699998 meters Centerline goodness [0,1] 0.9892042089919373 Centerline is valid? [True, True] Translation: X:182.65, Y:-6.07, Z:2.29 [[ 9.99233550e-01 -2.93165474e-02 -2.59393870e-02 1.82653586e+02] [ 2.93430424e-02 9.99569195e-01 6.41293900e-04 -6.07472977e+00] [ 2.59094117e-02 -1.40194291e-03 9.99663312e-01 2.28906487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44071405699998 meters Centerline goodness [0,1] 0.9895937471598655 Centerline is valid? [True, True] Translation: X:182.68, Y:-6.08, Z:2.29 [[ 9.99191920e-01 -3.04294085e-02 -2.62594296e-02 1.82684315e+02] [ 3.04569312e-02 9.99535870e-01 6.48691575e-04 -6.07697531e+00] [ 2.62275025e-02 -1.44794902e-03 9.99654951e-01 2.28912641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47071405699998 meters Centerline goodness [0,1] 0.9889241942805266 Centerline is valid? [True, True] Translation: X:182.71, Y:-6.08, Z:2.29 [[ 9.99102757e-01 -3.30247203e-02 -2.65150785e-02 1.82714172e+02] [ 3.30536925e-02 9.99453363e-01 6.55006918e-04 -6.08139812e+00] [ 2.64789529e-02 -1.53084047e-03 9.99648199e-01 2.28872304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50071405699998 meters Centerline goodness [0,1] 0.988942985848842 Centerline is valid? [True, True] Translation: X:182.75, Y:-6.08, Z:2.29 [[ 9.99058194e-01 -3.44205746e-02 -2.64187358e-02 1.82745376e+02] [ 3.44498333e-02 9.99406215e-01 6.53023351e-04 -6.08382621e+00] [ 2.63805713e-02 -1.56252937e-03 9.99650751e-01 2.28888141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53071405699998 meters Centerline goodness [0,1] 0.9887947526646624 Centerline is valid? [True, True] Translation: X:182.78, Y:-6.09, Z:2.29 [[ 9.98968015e-01 -3.75481214e-02 -2.55547090e-02 1.82775400e+02] [ 3.75765398e-02 9.99293552e-01 6.32595715e-04 -6.08883950e+00] [ 2.55129031e-02 -1.59220042e-03 9.99673225e-01 2.28937745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56071405699998 meters Centerline goodness [0,1] 0.9881063379801241 Centerline is valid? [True, True] Translation: X:182.81, Y:-6.09, Z:2.29 [[ 9.98924862e-01 -3.86214279e-02 -2.56418701e-02 1.82806882e+02] [ 3.86504177e-02 9.99252591e-01 6.35729164e-04 -6.09061243e+00] [ 2.55981524e-02 -1.62611466e-03 9.99670991e-01 2.29010863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59071405699999 meters Centerline goodness [0,1] 0.9881220049510572 Centerline is valid? [True, True] Translation: X:182.84, Y:-6.09, Z:2.29 [[ 9.98882902e-01 -4.02511674e-02 -2.47546390e-02 1.82837046e+02] [ 4.02787045e-02 9.99188295e-01 6.14588983e-04 -6.09413111e+00] [ 2.47098076e-02 -1.61098722e-03 9.99693368e-01 2.29051602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.620714057 meters Centerline goodness [0,1] 0.9879331894102943 Centerline is valid? [True, True] Translation: X:182.87, Y:-6.10, Z:2.29 [[ 9.98858854e-01 -4.09762916e-02 -2.45343441e-02 1.82869248e+02] [ 4.10035878e-02 9.99158813e-01 6.10323628e-04 -6.09586413e+00] [ 2.44886973e-02 -1.61562329e-03 9.99698801e-01 2.29113088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.650714057 meters Centerline goodness [0,1] 0.987279843444227 Centerline is valid? [True, True] Translation: X:182.90, Y:-6.10, Z:2.29 [[ 9.98862788e-01 -4.14236188e-02 -2.36054029e-02 1.82901646e+02] [ 4.14490466e-02 9.99140446e-01 5.88734100e-04 -6.09837070e+00] [ 2.35607253e-02 -1.56648603e-03 9.99721180e-01 2.29173596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.680714057 meters Centerline goodness [0,1] 0.9858493775086741 Centerline is valid? [True, True] Translation: X:182.93, Y:-6.10, Z:2.29 [[ 9.98877065e-01 -4.15717844e-02 -2.27243295e-02 1.82933034e+02] [ 4.15954171e-02 9.99134375e-01 5.68082796e-04 -6.10107331e+00] [ 2.26810425e-02 -1.51267284e-03 9.99741608e-01 2.29239294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.710714057 meters Centerline goodness [0,1] 0.9855639166117262 Centerline is valid? [True, True] Translation: X:182.96, Y:-6.10, Z:2.29 [[ 9.98854781e-01 -4.22903702e-02 -2.23752164e-02 1.82964033e+02] [ 4.23134857e-02 9.99104226e-01 5.60438355e-04 -6.10432962e+00] [ 2.23314721e-02 -1.50656993e-03 9.99749486e-01 2.29239676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.740714057 meters Centerline goodness [0,1] 0.9845867054651268 Centerline is valid? [True, True] Translation: X:183.00, Y:-6.11, Z:2.29 [[ 9.98823803e-01 -4.29467174e-02 -2.25075367e-02 1.82995591e+02] [ 4.29702975e-02 9.99076191e-01 5.64841612e-04 -6.10692939e+00] [ 2.24624860e-02 -1.53133280e-03 9.99746514e-01 2.29239250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.770714057 meters Centerline goodness [0,1] 0.9838863853611908 Centerline is valid? [True, True] Translation: X:183.03, Y:-6.11, Z:2.29 [[ 9.98735677e-01 -4.45909366e-02 -2.32098158e-02 1.83025513e+02] [ 4.46164703e-02 9.99004019e-01 5.83190422e-04 -6.11166989e+00] [ 2.31606943e-02 -1.61799314e-03 9.99730446e-01 2.29098782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.800714057 meters Centerline goodness [0,1] 0.9828150572831424 Centerline is valid? [True, True] Translation: X:183.06, Y:-6.11, Z:2.29 [[ 9.98694455e-01 -4.54374463e-02 -2.33414838e-02 1.83057922e+02] [ 4.54635133e-02 9.98965827e-01 5.87045319e-04 -6.11379946e+00] [ 2.32906708e-02 -1.64746476e-03 9.99727378e-01 2.29103924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.830714057 meters Centerline goodness [0,1] 0.9798325809305597 Centerline is valid? [True, True] Translation: X:183.09, Y:-6.12, Z:2.29 [[ 9.98626229e-01 -4.66171377e-02 -2.39269199e-02 1.83090063e+02] [ 4.66449025e-02 9.98911352e-01 6.03296437e-04 -6.11725387e+00] [ 2.38727479e-02 -1.71853649e-03 9.99713528e-01 2.29079880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.860714057 meters Centerline goodness [0,1] 0.9737854846742428 Centerline is valid? [True, True] Translation: X:183.12, Y:-6.12, Z:2.29 [[ 9.98483904e-01 -4.92936612e-02 -2.44954958e-02 1.83119652e+02] [ 4.93235840e-02 9.98782660e-01 6.18510290e-04 -6.12099886e+00] [ 2.44351878e-02 -1.82577821e-03 9.99699749e-01 2.29107489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.890714057 meters Centerline goodness [0,1] 0.9631475231602075 Centerline is valid? [True, True] Translation: X:183.15, Y:-6.13, Z:2.29 [[ 9.98391061e-01 -5.13182737e-02 -2.41189436e-02 1.83149545e+02] [ 5.13478684e-02 9.98680642e-01 6.08912959e-04 -6.12565006e+00] [ 2.40558737e-02 -1.84638960e-03 9.99708911e-01 2.29158534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.920714057 meters Centerline goodness [0,1] 0.9585972850678733 Centerline is valid? [True, True] Translation: X:183.18, Y:-6.13, Z:2.29 [[ 9.98349171e-01 -5.20974158e-02 -2.41824838e-02 1.83181986e+02] [ 5.21274080e-02 9.98640255e-01 6.11100487e-04 -6.12762374e+00] [ 2.41177650e-02 -1.87066186e-03 9.99707374e-01 2.29218305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.950714057 meters Centerline goodness [0,1] 0.9436396917583784 Centerline is valid? [True, False] Translation: X:183.18, Y:-6.13, Z:2.29 [[ 9.98356576e-01 -5.19110435e-02 -2.42773886e-02 1.83182466e+02] [ 5.19482500e-02 9.98649369e-01 9.03976177e-04 -6.12799957e+00] [ 2.41976724e-02 -2.16365841e-03 9.99704852e-01 2.29180364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98071405699997 meters Centerline goodness [0,1] 0.9895064392304722 Centerline is valid? [False, True] Translation: X:183.18, Y:-6.13, Z:2.29 [[ 9.98363290e-01 -5.16827476e-02 -2.44874227e-02 1.83183211e+02] [ 5.17254703e-02 9.98660720e-01 1.11407600e-03 -6.12795922e+00] [ 2.43970487e-02 -2.37887604e-03 9.99699517e-01 2.29137912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01071405699997 meters Centerline goodness [0,1] 0.987908074139613 Centerline is valid? [True, True] Translation: X:183.21, Y:-6.13, Z:2.29 [[ 9.98376057e-01 -5.07344350e-02 -2.59087835e-02 1.83214773e+02] [ 5.07690465e-02 9.98710189e-01 6.79431251e-04 -6.13162921e+00] [ 2.58408956e-02 -1.99369213e-03 9.99664080e-01 2.29097945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04071405699997 meters Centerline goodness [0,1] 0.9873245195584026 Centerline is valid? [True, True] Translation: X:183.25, Y:-6.13, Z:2.29 [[ 9.98418944e-01 -4.98905067e-02 -2.58949842e-02 1.83246351e+02] [ 4.99248468e-02 9.98752745e-01 6.80914729e-04 -6.13249689e+00] [ 2.58287154e-02 -1.97264129e-03 9.99664437e-01 2.29107729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07071405699998 meters Centerline goodness [0,1] 0.9874321038158224 Centerline is valid? [True, True] Translation: X:183.28, Y:-6.13, Z:2.29 [[ 9.98454351e-01 -4.90907126e-02 -2.60578435e-02 1.83278336e+02] [ 4.91252630e-02 9.98792389e-01 6.87028283e-04 -6.13281469e+00] [ 2.59926490e-02 -1.96606479e-03 9.99660201e-01 2.29175138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10071405699998 meters Centerline goodness [0,1] 0.9880556945897985 Centerline is valid? [True, True] Translation: X:183.31, Y:-6.13, Z:2.29 [[ 9.98509954e-01 -4.80440835e-02 -2.58773509e-02 1.83310718e+02] [ 4.80778608e-02 9.98843357e-01 6.84342326e-04 -6.12707362e+00] [ 2.58145414e-02 -1.92745030e-03 9.99664891e-01 2.29356890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13071405699998 meters Centerline goodness [0,1] 0.9874817916970139 Centerline is valid? [True, True] Translation: X:183.34, Y:-6.13, Z:2.29 [[ 9.98532083e-01 -4.78041621e-02 -2.54644943e-02 1.83341397e+02] [ 4.78368401e-02 9.98854935e-01 6.75307969e-04 -6.13406579e+00] [ 2.54030533e-02 -1.89245761e-03 9.99675499e-01 2.29332933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16071405699998 meters Centerline goodness [0,1] 0.9879007450953585 Centerline is valid? [True, True] Translation: X:183.37, Y:-6.13, Z:2.29 [[ 9.98561111e-01 -4.73139634e-02 -2.52407883e-02 1.83374086e+02] [ 4.73459534e-02 9.98878326e-01 6.70947192e-04 -6.13078642e+00] [ 2.51807312e-02 -1.86503096e-03 9.99681175e-01 2.29498106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19071405699998 meters Centerline goodness [0,1] 0.9878683236022446 Centerline is valid? [True, True] Translation: X:183.41, Y:-6.13, Z:2.30 [[ 9.98624200e-01 -4.65756576e-02 -2.40918055e-02 1.83406273e+02] [ 4.66046315e-02 9.98913207e-01 6.42266367e-04 -6.13104228e+00] [ 2.40357087e-02 -1.76417245e-03 9.99709544e-01 2.29608528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22071405699998 meters Centerline goodness [0,1] 0.9883365288048936 Centerline is valid? [True, True] Translation: X:183.44, Y:-6.13, Z:2.30 [[ 9.98658149e-01 -4.59386654e-02 -2.39069315e-02 1.83438196e+02] [ 4.59670611e-02 9.98942751e-01 6.39284110e-04 -6.13233834e+00] [ 2.38522881e-02 -1.73735767e-03 9.99713984e-01 2.29622311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25071405699998 meters Centerline goodness [0,1] 0.9882717314568104 Centerline is valid? [True, True] Translation: X:183.47, Y:-6.13, Z:2.30 [[ 9.98683624e-01 -4.51938141e-02 -2.42598149e-02 1.83470804e+02] [ 4.52228783e-02 9.98976711e-01 6.50471209e-04 -6.13226861e+00] [ 2.42055928e-02 -1.74671360e-03 9.99705476e-01 2.29643250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28071405699998 meters Centerline goodness [0,1] 0.9884751773049646 Centerline is valid? [True, True] Translation: X:183.50, Y:-6.13, Z:2.30 [[ 9.98679282e-01 -4.50369367e-02 -2.47258211e-02 1.83503211e+02] [ 4.50671247e-02 9.98983740e-01 6.64743592e-04 -6.13281701e+00] [ 2.46707552e-02 -1.77818732e-03 9.99694049e-01 2.29610058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31071405699998 meters Centerline goodness [0,1] 0.988358661925577 Centerline is valid? [True, True] Translation: X:183.54, Y:-6.13, Z:2.30 [[ 9.98635719e-01 -4.53423586e-02 -2.58992448e-02 1.83535579e+02] [ 4.53756323e-02 9.98969752e-01 6.98185968e-04 -6.13068323e+00] [ 2.58409047e-02 -1.87242805e-03 9.99664314e-01 2.29555338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34071405699999 meters Centerline goodness [0,1] 0.9893233562987636 Centerline is valid? [True, True] Translation: X:183.57, Y:-6.13, Z:2.30 [[ 9.98511425e-01 -4.74236489e-02 -2.69431028e-02 1.83566407e+02] [ 4.74604564e-02 9.98872852e-01 7.27923227e-04 -6.13053322e+00] [ 2.68782131e-02 -2.00557161e-03 9.99636704e-01 2.29527931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.370714057 meters Centerline goodness [0,1] 0.987987987987988 Centerline is valid? [True, True] Translation: X:183.60, Y:-6.14, Z:2.29 [[ 9.98442095e-01 -4.85367456e-02 -2.75239419e-02 1.83597117e+02] [ 4.85756154e-02 9.98819230e-01 7.44963746e-04 -6.13949354e+00] [ 2.74552843e-02 -2.08079558e-03 9.99620867e-01 2.29444036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.400714057 meters Centerline goodness [0,1] 0.9893677701978142 Centerline is valid? [True, True] Translation: X:183.63, Y:-6.14, Z:2.30 [[ 9.98369762e-01 -4.98036419e-02 -2.78821878e-02 1.83629433e+02] [ 4.98440706e-02 9.98756725e-01 7.56417235e-04 -6.13594251e+00] [ 2.78098502e-02 -2.14494583e-03 9.99610930e-01 2.29569641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.430714057 meters Centerline goodness [0,1] 0.9885896850753081 Centerline is valid? [True, True] Translation: X:183.66, Y:-6.14, Z:2.30 [[ 9.98248265e-01 -5.18200046e-02 -2.85497645e-02 1.83660113e+02] [ 5.18632485e-02 9.98653895e-01 7.75783385e-04 -6.13735419e+00] [ 2.84711324e-02 -2.25510795e-03 9.99592071e-01 2.29565608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.460714057 meters Centerline goodness [0,1] 0.9892639784823688 Centerline is valid? [True, True] Translation: X:183.69, Y:-6.14, Z:2.30 [[ 9.98217417e-01 -5.23172328e-02 -2.87209951e-02 1.83691769e+02] [ 5.23612315e-02 9.98627904e-01 7.81473530e-04 -6.13932233e+00] [ 2.86407026e-02 -2.28394716e-03 9.99587162e-01 2.29570870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.490714057 meters Centerline goodness [0,1] 0.9883805871341825 Centerline is valid? [True, True] Translation: X:183.72, Y:-6.14, Z:2.30 [[ 9.98158737e-01 -5.34850657e-02 -2.86091652e-02 1.83722459e+02] [ 5.35292340e-02 9.98565978e-01 7.79667893e-04 -6.14144058e+00] [ 2.85264384e-02 -2.30965902e-03 9.99590370e-01 2.29608609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.520714057 meters Centerline goodness [0,1] 0.9877482913895175 Centerline is valid? [True, True] Translation: X:183.75, Y:-6.14, Z:2.30 [[ 9.98147494e-01 -5.38988177e-02 -2.82222840e-02 1.83754485e+02] [ 5.39420051e-02 9.98543773e-01 7.70612902e-04 -6.14240638e+00] [ 2.81396508e-02 -2.29155192e-03 9.99601375e-01 2.29690608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.550714057 meters Centerline goodness [0,1] 0.9881550118678109 Centerline is valid? [True, True] Translation: X:183.79, Y:-6.14, Z:2.30 [[ 9.98149414e-01 -5.41164378e-02 -2.77336906e-02 1.83787197e+02] [ 5.41582792e-02 9.98532075e-01 7.59212084e-04 -6.14107005e+00] [ 2.76518938e-02 -2.25981606e-03 9.99615059e-01 2.29794953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.580714057 meters Centerline goodness [0,1] 0.9881550118678109 Centerline is valid? [True, True] Translation: X:183.82, Y:-6.14, Z:2.30 [[ 9.98153267e-01 -5.40453591e-02 -2.77336364e-02 1.83818987e+02] [ 5.40872277e-02 9.98535924e-01 7.61187059e-04 -6.14200424e+00] [ 2.76518937e-02 -2.25981686e-03 9.99615059e-01 2.29838216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.610714057 meters Centerline goodness [0,1] 0.9888713694842439 Centerline is valid? [True, True] Translation: X:183.85, Y:-6.14, Z:2.30 [[ 9.98203454e-01 -5.39306649e-02 -2.61026250e-02 1.83851001e+02] [ 5.39677602e-02 9.98542420e-01 7.18241465e-04 -6.14104363e+00] [ 2.60258431e-02 -2.12565132e-03 9.99659010e-01 2.29948866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.640714057 meters Centerline goodness [0,1] 0.9847647327546825 Centerline is valid? [True, True] Translation: X:183.88, Y:-6.15, Z:2.30 [[ 9.98216296e-01 -5.39164197e-02 -2.56367955e-02 1.83882220e+02] [ 5.39522390e-02 9.98543267e-01 7.07045171e-04 -6.15278251e+00] [ 2.55613282e-02 -2.08894653e-03 9.99671073e-01 2.29851414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.670714057 meters Centerline goodness [0,1] 0.9882498171177762 Centerline is valid? [True, True] Translation: X:183.91, Y:-6.15, Z:2.30 [[ 9.98285046e-01 -5.32792959e-02 -2.42545532e-02 1.83914283e+02] [ 5.33112040e-02 9.98577722e-01 6.70381099e-04 -6.14624167e+00] [ 2.41843390e-02 -1.96227086e-03 9.99705590e-01 2.30074238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.700714057 meters Centerline goodness [0,1] 0.9881493321155383 Centerline is valid? [True, True] Translation: X:183.95, Y:-6.15, Z:2.30 [[ 9.98281016e-01 -5.34404059e-02 -2.40652318e-02 1.83946525e+02] [ 5.34719052e-02 9.98569132e-01 6.66857074e-04 -6.14683917e+00] [ 2.39951605e-02 -1.95252455e-03 9.99710168e-01 2.30125467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73071405699997 meters Centerline goodness [0,1] 0.9835710211066743 Centerline is valid? [True, True] Translation: X:183.98, Y:-6.16, Z:2.30 [[ 9.98285697e-01 -5.33398134e-02 -2.40942033e-02 1.83977789e+02] [ 5.33713961e-02 9.98574507e-01 6.69186278e-04 -6.15819551e+00] [ 2.40241629e-02 -1.95398036e-03 9.99709469e-01 2.30014031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76071405699997 meters Centerline goodness [0,1] 0.9875935633025843 Centerline is valid? [True, True] Translation: X:184.01, Y:-6.15, Z:2.30 [[ 9.98297201e-01 -5.31242298e-02 -2.40938879e-02 1.84009758e+02] [ 5.31557846e-02 9.98586007e-01 6.70645696e-04 -6.14971038e+00] [ 2.40241918e-02 -1.95023324e-03 9.99709475e-01 2.30178488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79071405699997 meters Centerline goodness [0,1] 0.9866478629756841 Centerline is valid? [True, True] Translation: X:184.04, Y:-6.16, Z:2.30 [[ 9.98291731e-01 -5.29029677e-02 -2.47971003e-02 1.84041392e+02] [ 5.29363733e-02 9.98597647e-01 6.92203597e-04 -6.15618638e+00] [ 2.47257063e-02 -2.00368968e-03 9.99692265e-01 2.30052972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82071405699998 meters Centerline goodness [0,1] 0.9890705384703327 Centerline is valid? [True, True] Translation: X:184.07, Y:-6.15, Z:2.30 [[ 9.98273160e-01 -5.30728831e-02 -2.51787078e-02 1.84073660e+02] [ 5.31074306e-02 9.98588556e-01 7.04914747e-04 -6.14971442e+00] [ 2.51057576e-02 -2.04087395e-03 9.99682718e-01 2.30144298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85071405699998 meters Centerline goodness [0,1] 0.9885833257069644 Centerline is valid? [True, True] Translation: X:184.11, Y:-6.15, Z:2.30 [[ 9.98233133e-01 -5.34219596e-02 -2.60135983e-02 1.84106034e+02] [ 5.34590046e-02 9.98569778e-01 7.30209119e-04 -6.15110760e+00] [ 2.59373839e-02 -2.11958001e-03 9.99661322e-01 2.30044309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88071405699998 meters Centerline goodness [0,1] 0.9874851285805802 Centerline is valid? [True, True] Translation: X:184.14, Y:-6.16, Z:2.30 [[ 9.98170729e-01 -5.38055604e-02 -2.75709539e-02 1.84136732e+02] [ 5.38473710e-02 9.98548877e-01 7.75731064e-04 -6.15689738e+00] [ 2.74892064e-02 -2.25893542e-03 9.99619548e-01 2.29828677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91071405699998 meters Centerline goodness [0,1] 0.9877638771356037 Centerline is valid? [True, True] Translation: X:184.17, Y:-6.16, Z:2.30 [[ 9.98167254e-01 -5.36971034e-02 -2.79061640e-02 1.84168089e+02] [ 5.37399373e-02 9.98554656e-01 7.86676410e-04 -6.15952182e+00] [ 2.78235877e-02 -2.28491014e-03 9.99610238e-01 2.29714687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94071405699998 meters Centerline goodness [0,1] 0.9885814969909156 Centerline is valid? [True, True] Translation: X:184.20, Y:-6.16, Z:2.30 [[ 9.98164741e-01 -5.34868415e-02 -2.83955520e-02 1.84199897e+02] [ 5.35311582e-02 9.98565857e-01 8.02272552e-04 -6.15876065e+00] [ 2.83119177e-02 -2.32084696e-03 9.99596443e-01 2.29782788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97071405699998 meters Centerline goodness [0,1] 0.987561562249456 Centerline is valid? [True, True] Translation: X:184.23, Y:-6.16, Z:2.30 [[ 9.98206731e-01 -5.29356847e-02 -2.79488008e-02 1.84232166e+02] [ 5.29784582e-02 9.98595342e-01 7.91643720e-04 -6.15737690e+00] [ 2.78676361e-02 -2.27090846e-03 9.99609042e-01 2.29846670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00071405699998 meters Centerline goodness [0,1] 0.9865874557294642 Centerline is valid? [True, True] Translation: X:184.26, Y:-6.16, Z:2.30 [[ 9.98263944e-01 -5.18702024e-02 -2.79030424e-02 1.84262342e+02] [ 5.19124569e-02 9.98651326e-01 7.91582850e-04 -6.16315963e+00] [ 2.78243507e-02 -2.23872410e-03 9.99610321e-01 2.29846941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03071405699998 meters Centerline goodness [0,1] 0.9866082689353115 Centerline is valid? [True, True] Translation: X:184.29, Y:-6.16, Z:2.30 [[ 9.98322283e-01 -5.13729732e-02 -2.67102356e-02 1.84294363e+02] [ 5.14115449e-02 9.98677264e-01 7.58908113e-04 -6.15996241e+00] [ 2.66359176e-02 -2.13084936e-03 9.99642930e-01 2.29998404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06071405699998 meters Centerline goodness [0,1] 0.9868303520304161 Centerline is valid? [True, True] Translation: X:184.32, Y:-6.16, Z:2.30 [[ 9.98441205e-01 -5.03517003e-02 -2.40804302e-02 1.84324843e+02] [ 5.03827783e-02 9.98729746e-01 6.85246850e-04 -6.16154119e+00] [ 2.40153386e-02 -1.89741767e-03 9.99709790e-01 2.30212903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09071405699999 meters Centerline goodness [0,1] 0.9858788044968467 Centerline is valid? [True, True] Translation: X:184.36, Y:-6.16, Z:2.30 [[ 9.98484177e-01 -4.99344123e-02 -2.31495788e-02 1.84356791e+02] [ 4.99630426e-02 9.98750849e-01 6.59657919e-04 -6.16277609e+00] [ 2.30877218e-02 -1.81528139e-03 9.99731795e-01 2.30298120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.120714057 meters Centerline goodness [0,1] 0.9843814315115481 Centerline is valid? [True, True] Translation: X:184.39, Y:-6.17, Z:2.30 [[ 9.98517493e-01 -4.95504916e-02 -2.25292207e-02 1.84387592e+02] [ 4.95775453e-02 9.98770070e-01 6.43531597e-04 -6.16840456e+00] [ 2.24696241e-02 -1.75952102e-03 9.99745978e-01 2.30285681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.150714057 meters Centerline goodness [0,1] 0.9868208039765601 Centerline is valid? [True, True] Translation: X:184.42, Y:-6.16, Z:2.30 [[ 9.98517410e-01 -4.95854220e-02 -2.24559062e-02 1.84419622e+02] [ 4.96123443e-02 9.98768342e-01 6.43027063e-04 -6.16387615e+00] [ 2.23963635e-02 -1.75616387e-03 9.99747628e-01 2.30378181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.180714057 meters Centerline goodness [0,1] 0.9853740645542843 Centerline is valid? [True, True] Translation: X:184.45, Y:-6.17, Z:2.30 [[ 9.98474682e-01 -5.01445110e-02 -2.31049082e-02 1.84451239e+02] [ 5.01732001e-02 9.98740312e-01 6.63298585e-04 -6.17021821e+00] [ 2.30425425e-02 -1.82153403e-03 9.99732826e-01 2.30266441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.210714057 meters Centerline goodness [0,1] 0.986019249190348 Centerline is valid? [True, True] Translation: X:184.48, Y:-6.17, Z:2.30 [[ 9.98423990e-01 -5.08800300e-02 -2.36803527e-02 1.84483743e+02] [ 5.09104126e-02 9.98702992e-01 6.81537723e-04 -6.16936477e+00] [ 2.36149624e-02 -1.88604014e-03 9.99719349e-01 2.30266708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.240714057 meters Centerline goodness [0,1] 0.9856075787939516 Centerline is valid? [True, True] Translation: X:184.51, Y:-6.17, Z:2.30 [[ 9.98331505e-01 -5.20882330e-02 -2.49203036e-02 1.84514148e+02] [ 5.21222913e-02 9.98640451e-01 7.18654706e-04 -6.17416240e+00] [ 2.48489898e-02 -2.01635896e-03 9.99689183e-01 2.30186736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.270714057 meters Centerline goodness [0,1] 0.9858865911215486 Centerline is valid? [True, True] Translation: X:184.55, Y:-6.17, Z:2.30 [[ 9.98267925e-01 -5.29883226e-02 -2.55614291e-02 1.84546522e+02] [ 5.30244839e-02 9.98592939e-01 7.38486030e-04 -6.17415698e+00] [ 2.54863315e-02 -2.09258850e-03 9.99672981e-01 2.30253257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.300714057 meters Centerline goodness [0,1] 0.9839570977344514 Centerline is valid? [True, True] Translation: X:184.58, Y:-6.18, Z:2.30 [[ 9.98199580e-01 -5.39520690e-02 -2.62063635e-02 1.84577487e+02] [ 5.39904522e-02 9.98541164e-01 7.58784291e-04 -6.18125048e+00] [ 2.61271948e-02 -2.17231158e-03 9.99656266e-01 2.30191377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.330714057 meters Centerline goodness [0,1] 0.982822476199132 Centerline is valid? [True, True] Translation: X:184.61, Y:-6.19, Z:2.30 [[ 9.98051180e-01 -5.63761766e-02 -2.67501118e-02 1.84607380e+02] [ 5.64170737e-02 9.98406987e-01 7.76011755e-04 -6.18688615e+00] [ 2.66637500e-02 -2.28366248e-03 9.99641851e-01 2.30190782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.360714057 meters Centerline goodness [0,1] 0.9844246662428481 Centerline is valid? [True, True] Translation: X:184.64, Y:-6.19, Z:2.30 [[ 9.98012645e-01 -5.70587808e-02 -2.67405238e-02 1.84639304e+02] [ 5.70999369e-02 9.98368165e-01 7.77425223e-04 -6.18662829e+00] [ 2.66525288e-02 -2.30276243e-03 9.99642106e-01 2.30285824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.390714057 meters Centerline goodness [0,1] 0.9825923151993827 Centerline is valid? [True, True] Translation: X:184.67, Y:-6.19, Z:2.30 [[ 9.97955590e-01 -5.79537261e-02 -2.69445069e-02 1.84671438e+02] [ 5.79958935e-02 9.98316513e-01 7.85480144e-04 -6.19248127e+00] [ 2.68536246e-02 -2.34654505e-03 9.99636622e-01 2.30266304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.420714057 meters Centerline goodness [0,1] 0.9768320550238693 Centerline is valid? [True, True] Translation: X:184.70, Y:-6.20, Z:2.30 [[ 9.97965827e-01 -5.74373429e-02 -2.76615132e-02 1.84702220e+02] [ 5.74816427e-02 9.98346236e-01 8.08341041e-04 -6.20090286e+00] [ 2.75693386e-02 -2.39672595e-03 9.99617020e-01 2.30215561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.450714057 meters Centerline goodness [0,1] 0.9823127094845547 Centerline is valid? [True, True] Translation: X:184.74, Y:-6.20, Z:2.30 [[ 9.98006398e-01 -5.65733944e-02 -2.79764338e-02 1.84735017e+02] [ 5.66184268e-02 9.98395554e-01 8.19501005e-04 -6.19647418e+00] [ 2.78851852e-02 -2.40184892e-03 9.99608247e-01 2.30369220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48071405699997 meters Centerline goodness [0,1] 0.9848971286457155 Centerline is valid? [True, True] Translation: X:184.77, Y:-6.19, Z:2.31 [[ 9.98100546e-01 -5.49332046e-02 -2.78862478e-02 1.84766807e+02] [ 5.49773651e-02 9.98487265e-01 8.18783874e-04 -6.19093056e+00] [ 2.77990849e-02 -2.35034106e-03 9.99610768e-01 2.30562357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51071405699997 meters Centerline goodness [0,1] 0.9830143323657474 Centerline is valid? [True, True] Translation: X:184.80, Y:-6.20, Z:2.31 [[ 9.98296292e-01 -5.14680135e-02 -2.74873847e-02 1.84796164e+02] [ 5.15096276e-02 9.98672171e-01 8.07550318e-04 -6.19697088e+00] [ 2.74093231e-02 -2.22203944e-03 9.99621824e-01 2.30619177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54071405699997 meters Centerline goodness [0,1] 0.983349148253581 Centerline is valid? [True, True] Translation: X:184.83, Y:-6.20, Z:2.31 [[ 9.98423659e-01 -4.93281665e-02 -2.67755314e-02 1.84826096e+02] [ 4.93668816e-02 9.98780403e-01 7.86411320e-04 -6.19842271e+00] [ 2.67040838e-02 -2.10699616e-03 9.99641162e-01 2.30663595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57071405699998 meters Centerline goodness [0,1] 0.9833028310626087 Centerline is valid? [True, True] Translation: X:184.86, Y:-6.20, Z:2.31 [[ 9.98628526e-01 -4.50466563e-02 -2.66808242e-02 1.84855293e+02] [ 4.50835726e-02 9.98982912e-01 7.83400570e-04 -6.20010297e+00] [ 2.66183979e-02 -1.98519303e-03 9.99643696e-01 2.30694387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60071405699998 meters Centerline goodness [0,1] 0.9832180749217219 Centerline is valid? [True, True] Translation: X:184.89, Y:-6.20, Z:2.31 [[ 9.98732059e-01 -4.26268339e-02 -2.67810870e-02 1.84885242e+02] [ 4.26631567e-02 9.99089204e-01 7.86105119e-04 -6.19991950e+00] [ 2.67231857e-02 -1.92767410e-03 9.99641013e-01 2.30739105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63071405699998 meters Centerline goodness [0,1] 0.9849455549770222 Centerline is valid? [True, True] Translation: X:184.92, Y:-6.20, Z:2.31 [[ 9.98894008e-01 -3.80729531e-02 -2.75900710e-02 1.84915021e+02] [ 3.81097694e-02 9.99273231e-01 8.09618426e-04 -6.19856992e+00] [ 2.75391948e-02 -1.86017424e-03 9.99618994e-01 2.30764298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66071405699998 meters Centerline goodness [0,1] 0.9891397800805466 Centerline is valid? [True, True] Translation: X:184.95, Y:-6.18, Z:2.31 [[ 9.98965349e-01 -3.59156915e-02 -2.78979348e-02 1.84946253e+02] [ 3.59524921e-02 9.99353165e-01 8.18478372e-04 -6.18301547e+00] [ 2.78504932e-02 -1.82063181e-03 9.99610442e-01 2.31146996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69071405699998 meters Centerline goodness [0,1] 0.9885049668499536 Centerline is valid? [True, True] Translation: X:184.98, Y:-6.19, Z:2.31 [[ 9.99094680e-01 -3.21244405e-02 -2.78898109e-02 1.84976025e+02] [ 3.21597479e-02 9.99482407e-01 8.18220040e-04 -6.18682814e+00] [ 2.78490905e-02 -1.71440858e-03 9.99610669e-01 2.31122752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72071405699998 meters Centerline goodness [0,1] 0.9888269422536488 Centerline is valid? [True, True] Translation: X:185.01, Y:-6.18, Z:2.31 [[ 9.99144677e-01 -3.06417595e-02 -2.77668454e-02 1.85006125e+02] [ 3.06761770e-02 9.99529044e-01 8.14292193e-04 -6.18388143e+00] [ 2.77288171e-02 -1.66537637e-03 9.99614095e-01 2.31252770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75071405699998 meters Centerline goodness [0,1] 0.9893670082524713 Centerline is valid? [True, True] Translation: X:185.04, Y:-6.18, Z:2.31 [[ 9.99207321e-01 -2.91838731e-02 -2.70745555e-02 1.85036364e+02] [ 2.92160489e-02 9.99572805e-01 7.93513999e-04 -6.18476867e+00] [ 2.70398316e-02 -1.58389653e-03 9.99633102e-01 2.31372039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78071405699998 meters Centerline goodness [0,1] 0.9888512751071993 Centerline is valid? [True, True] Translation: X:185.07, Y:-6.19, Z:2.31 [[ 9.99230474e-01 -2.89036897e-02 -2.65148324e-02 1.85065697e+02] [ 2.89344317e-02 9.99581010e-01 7.76412995e-04 -6.18657592e+00] [ 2.64812818e-02 -1.54300713e-03 9.99648119e-01 2.31437883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81071405699998 meters Centerline goodness [0,1] 0.9889637704102402 Centerline is valid? [True, True] Translation: X:185.10, Y:-6.19, Z:2.32 [[ 9.99228507e-01 -2.89606589e-02 -2.65267999e-02 1.85095372e+02] [ 2.89914235e-02 9.99579359e-01 7.75817306e-04 -6.18740952e+00] [ 2.64931735e-02 -1.54426846e-03 9.99647801e-01 2.31503178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84071405699999 meters Centerline goodness [0,1] 0.988450040764562 Centerline is valid? [True, True] Translation: X:185.12, Y:-6.20, Z:2.31 [[ 9.99196493e-01 -2.95810901e-02 -2.70430522e-02 1.85123779e+02] [ 2.96132580e-02 9.99561119e-01 7.89704042e-04 -6.19539674e+00] [ 2.70078232e-02 -1.58990239e-03 9.99633958e-01 2.31426983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.870714057 meters Centerline goodness [0,1] 0.9895258347660845 Centerline is valid? [True, True] Translation: X:185.15, Y:-6.20, Z:2.32 [[ 9.99131979e-01 -3.06735817e-02 -2.81854735e-02 1.85153151e+02] [ 3.07089235e-02 9.99528032e-01 8.21795400e-04 -6.19534367e+00] [ 2.81469634e-02 -1.68662761e-03 9.99602373e-01 2.31513753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.900714057 meters Centerline goodness [0,1] 0.9902805090300852 Centerline is valid? [True, True] Translation: X:185.18, Y:-6.20, Z:2.31 [[ 9.99088594e-01 -3.14403326e-02 -2.88701778e-02 1.85182774e+02] [ 3.14777024e-02 9.99504101e-01 8.40732373e-04 -6.19877759e+00] [ 2.88294282e-02 -1.74873299e-03 9.99582816e-01 2.31489415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.930714057 meters Centerline goodness [0,1] 0.9894948490872945 Centerline is valid? [True, True] Translation: X:185.21, Y:-6.20, Z:2.32 [[ 9.99041059e-01 -3.21937408e-02 -2.96736586e-02 1.85211104e+02] [ 3.22335122e-02 9.99479993e-01 8.62796719e-04 -6.20174408e+00] [ 2.96304514e-02 -1.81845558e-03 9.99559268e-01 2.31501916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.960714057 meters Centerline goodness [0,1] 0.989422404655044 Centerline is valid? [True, True] Translation: X:185.24, Y:-6.20, Z:2.32 [[ 9.98953760e-01 -3.35314287e-02 -3.10970856e-02 1.85240814e+02] [ 3.35757125e-02 9.99435769e-01 9.02819516e-04 -6.20322450e+00] [ 3.10492669e-02 -1.94598176e-03 9.99515961e-01 2.31568300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.990714057 meters Centerline goodness [0,1] 0.9898960283272062 Centerline is valid? [True, True] Translation: X:185.27, Y:-6.20, Z:2.32 [[ 9.98926096e-01 -3.40148283e-02 -3.14586346e-02 1.85269146e+02] [ 3.40602315e-02 9.99419369e-01 9.08362790e-04 -6.20354277e+00] [ 3.14094710e-02 -1.97887568e-03 9.99504642e-01 2.31659408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.020714057 meters Centerline goodness [0,1] 0.9898393673823417 Centerline is valid? [True, True] Translation: X:185.30, Y:-6.21, Z:2.32 [[ 9.98877510e-01 -3.45981954e-02 -3.23525229e-02 1.85297746e+02] [ 3.46462568e-02 9.99399209e-01 9.25972557e-04 -6.20621172e+00] [ 3.23010488e-02 -2.04582698e-03 9.99476091e-01 2.31701831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.050714057 meters Centerline goodness [0,1] 0.9899559869089267 Centerline is valid? [True, True] Translation: X:185.33, Y:-6.21, Z:2.32 [[ 9.98876554e-01 -3.45765063e-02 -3.24051562e-02 1.85325597e+02] [ 3.46245483e-02 9.99399965e-01 9.22394592e-04 -6.21144323e+00] [ 3.23538188e-02 -2.04337223e-03 9.99474389e-01 2.31653393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.080714057 meters Centerline goodness [0,1] 0.9895583050771338 Centerline is valid? [True, True] Translation: X:185.35, Y:-6.21, Z:2.32 [[ 9.98879489e-01 -3.38446138e-02 -3.30803291e-02 1.85354218e+02] [ 3.38940812e-02 9.99424993e-01 9.35590326e-04 -6.21092274e+00] [ 3.30296430e-02 -2.05576935e-03 9.99452258e-01 2.31794688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.110714057 meters Centerline goodness [0,1] 0.9887202027224004 Centerline is valid? [True, True] Translation: X:185.38, Y:-6.22, Z:2.32 [[ 9.98910796e-01 -3.25310800e-02 -3.34507255e-02 1.85382349e+02] [ 3.25807694e-02 9.99468663e-01 9.41301450e-04 -6.22014276e+00] [ 3.34023303e-02 -2.03012655e-03 9.99439925e-01 2.31635650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.140714057 meters Centerline goodness [0,1] 0.9901047860524603 Centerline is valid? [True, True] Translation: X:185.41, Y:-6.21, Z:2.32 [[ 9.98935026e-01 -3.20684521e-02 -3.31726907e-02 1.85411243e+02] [ 3.21168748e-02 9.99483690e-01 9.27759243e-04 -6.21349367e+00] [ 3.31258114e-02 -1.99217436e-03 9.99449204e-01 2.31986902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.170714057 meters Centerline goodness [0,1] 0.9899325842696629 Centerline is valid? [True, True] Translation: X:185.44, Y:-6.22, Z:2.32 [[ 9.98963491e-01 -3.18501596e-02 -3.25193857e-02 1.85440118e+02] [ 3.18963221e-02 9.99490776e-01 9.01631757e-04 -6.21518954e+00] [ 3.24741090e-02 -1.93794601e-03 9.99470698e-01 2.32087266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.200714057 meters Centerline goodness [0,1] 0.9893027741023973 Centerline is valid? [True, True] Translation: X:185.47, Y:-6.22, Z:2.32 [[ 9.98958233e-01 -3.21101785e-02 -3.24250576e-02 1.85467851e+02] [ 3.21560505e-02 9.99482461e-01 8.94096421e-04 -6.21770374e+00] [ 3.23795668e-02 -1.93582677e-03 9.99473770e-01 2.32113676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23071405699997 meters Centerline goodness [0,1] 0.9895901106050748 Centerline is valid? [True, True] Translation: X:185.50, Y:-6.22, Z:2.32 [[ 9.98921365e-01 -3.37771569e-02 -3.18623546e-02 1.85496482e+02] [ 3.38221170e-02 9.99427487e-01 8.73011104e-04 -6.21986391e+00] [ 3.18146251e-02 -1.94972173e-03 9.99491885e-01 2.32279171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26071405699997 meters Centerline goodness [0,1] 0.9897584973166369 Centerline is valid? [True, True] Translation: X:185.53, Y:-6.22, Z:2.32 [[ 9.98835303e-01 -3.66858299e-02 -3.13398530e-02 1.85526896e+02] [ 3.67306509e-02 9.99324836e-01 8.55457024e-04 -6.22394988e+00] [ 3.12873103e-02 -2.00559387e-03 9.99508420e-01 2.32352834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29071405699997 meters Centerline goodness [0,1] 0.9897205700819213 Centerline is valid? [True, True] Translation: X:185.56, Y:-6.23, Z:2.32 [[ 9.98720869e-01 -3.90003827e-02 -3.21806789e-02 1.85557411e+02] [ 3.90488385e-02 9.99236917e-01 8.78408326e-04 -6.22606756e+00] [ 3.21218641e-02 -2.13390286e-03 9.99481682e-01 2.32409816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32071405699998 meters Centerline goodness [0,1] 0.9888366890380313 Centerline is valid? [True, True] Translation: X:185.59, Y:-6.23, Z:2.32 [[ 9.98651713e-01 -4.08102292e-02 -3.20824205e-02 1.85586137e+02] [ 4.08592983e-02 9.99164527e-01 8.75085682e-04 -6.23320681e+00] [ 3.20199041e-02 -2.18477100e-03 9.99484844e-01 2.32305887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35071405699998 meters Centerline goodness [0,1] 0.9898919718499261 Centerline is valid? [True, True] Translation: X:185.62, Y:-6.23, Z:2.32 [[ 9.98448837e-01 -4.50456774e-02 -3.27231815e-02 1.85617007e+02] [ 4.50989737e-02 9.98982125e-01 8.92067974e-04 -6.22917586e+00] [ 3.26496896e-02 -2.36646613e-03 9.99464055e-01 2.32458720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38071405699998 meters Centerline goodness [0,1] 0.9896678966789668 Centerline is valid? [True, True] Translation: X:185.65, Y:-6.24, Z:2.32 [[ 9.98360217e-01 -4.68794447e-02 -3.28511153e-02 1.85646547e+02] [ 4.69341455e-02 9.98897584e-01 8.95545508e-04 -6.23677065e+00] [ 3.27729170e-02 -2.43591603e-03 9.99459855e-01 2.32342594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41071405699998 meters Centerline goodness [0,1] 0.9851606847539445 Centerline is valid? [True, True] Translation: X:185.68, Y:-6.25, Z:2.32 [[ 9.98208080e-01 -4.95600490e-02 -3.35325412e-02 1.85675897e+02] [ 4.96185291e-02 9.98767824e-01 9.13570303e-04 -6.24781979e+00] [ 3.34459466e-02 -2.57576863e-03 9.99437209e-01 2.32177834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44071405699998 meters Centerline goodness [0,1] 0.9842655386199333 Centerline is valid? [True, True] Translation: X:185.71, Y:-6.25, Z:2.32 [[ 9.98169050e-01 -5.02874796e-02 -3.36112734e-02 1.85705411e+02] [ 5.03466262e-02 9.98731385e-01 9.15165520e-04 -6.24937136e+00] [ 3.35226122e-02 -2.60570411e-03 9.99434563e-01 2.32202794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47071405699998 meters Centerline goodness [0,1] 0.982539859516111 Centerline is valid? [True, True] Translation: X:185.74, Y:-6.25, Z:2.32 [[ 9.98159107e-01 -5.06672179e-02 -3.33351184e-02 1.85736162e+02] [ 5.07256024e-02 9.98712216e-01 9.07530081e-04 -6.25080576e+00] [ 3.32462080e-02 -2.59680338e-03 9.99443818e-01 2.32249426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50071405699998 meters Centerline goodness [0,1] 0.982539859516111 Centerline is valid? [True, True] Translation: X:185.77, Y:-6.25, Z:2.32 [[ 9.98159107e-01 -5.06672179e-02 -3.33351184e-02 1.85766245e+02] [ 5.07256024e-02 9.98712216e-01 9.07530081e-04 -6.25162476e+00] [ 3.32462080e-02 -2.59680338e-03 9.99443818e-01 2.32290398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53071405699998 meters Centerline goodness [0,1] 0.9749972070159759 Centerline is valid? [True, True] Translation: X:185.80, Y:-6.25, Z:2.32 [[ 9.98187404e-01 -5.06591907e-02 -3.24892638e-02 1.85795947e+02] [ 5.07146338e-02 9.98712794e-01 8.84193215e-04 -6.25466657e+00] [ 3.24026509e-02 -2.53027165e-03 9.99471693e-01 2.32322698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56071405699998 meters Centerline goodness [0,1] 0.9801325981650557 Centerline is valid? [True, True] Translation: X:185.83, Y:-6.25, Z:2.32 [[ 9.98231824e-01 -5.01999236e-02 -3.18306875e-02 1.85826495e+02] [ 5.02529014e-02 9.98736149e-01 8.66052022e-04 -6.25421339e+00] [ 3.17469825e-02 -2.46410509e-03 9.99492900e-01 2.32452102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59071405699999 meters Centerline goodness [0,1] 0.9888494904217122 Centerline is valid? [True, True] Translation: X:185.86, Y:-6.24, Z:2.33 [[ 9.98359872e-01 -4.87293161e-02 -3.00502781e-02 1.85857861e+02] [ 4.87758762e-02 9.98809414e-01 8.17892925e-04 -6.24457984e+00] [ 2.99746453e-02 -2.28228012e-03 9.99548054e-01 2.32788730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.620714057 meters Centerline goodness [0,1] 0.9893624138623135 Centerline is valid? [True, True] Translation: X:185.89, Y:-6.24, Z:2.33 [[ 9.98430910e-01 -4.75423249e-02 -2.95879199e-02 1.85889343e+02] [ 4.75869674e-02 9.98866773e-01 8.06090325e-04 -6.24436052e+00] [ 2.95160666e-02 -2.21282488e-03 9.99561857e-01 2.32839282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.650714057 meters Centerline goodness [0,1] 0.9899589432345591 Centerline is valid? [True, True] Translation: X:185.92, Y:-6.24, Z:2.33 [[ 9.98569150e-01 -4.46826553e-02 -2.93787958e-02 1.85920134e+02] [ 4.47254597e-02 9.98998995e-01 8.01141438e-04 -6.23614176e+00] [ 2.93135903e-02 -2.11397527e-03 9.99568029e-01 2.32988710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.680714057 meters Centerline goodness [0,1] 0.990384185339237 Centerline is valid? [True, True] Translation: X:185.95, Y:-6.23, Z:2.33 [[ 9.98613418e-01 -4.33081445e-02 -2.99273512e-02 1.85951244e+02] [ 4.33519745e-02 9.99059527e-01 8.16946886e-04 -6.23283108e+00] [ 2.98638249e-02 -2.11322389e-03 9.99551743e-01 2.33065590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.710714057 meters Centerline goodness [0,1] 0.9905469732351356 Centerline is valid? [True, True] Translation: X:185.98, Y:-6.23, Z:2.33 [[ 9.98765788e-01 -3.92038143e-02 -3.04952685e-02 1.85980975e+02] [ 3.92474283e-02 9.99229176e-01 8.32706032e-04 -6.23289407e+00] [ 3.04391167e-02 -2.02853916e-03 9.99534564e-01 2.32941280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.740714057 meters Centerline goodness [0,1] 0.9910940619602037 Centerline is valid? [True, True] Translation: X:186.01, Y:-6.23, Z:2.33 [[ 9.98848447e-01 -3.69115427e-02 -3.06482898e-02 1.86011872e+02] [ 3.69545172e-02 9.99316598e-01 8.36743357e-04 -6.22872146e+00] [ 3.05964592e-02 -1.96837255e-03 9.99529881e-01 2.33038211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.770714057 meters Centerline goodness [0,1] 0.9915341545352744 Centerline is valid? [True, True] Translation: X:186.04, Y:-6.23, Z:2.33 [[ 9.98934742e-01 -3.43624994e-02 -3.07993509e-02 1.86041130e+02] [ 3.44046749e-02 9.99407631e-01 8.40307884e-04 -6.22768834e+00] [ 3.07522313e-02 -1.89905440e-03 9.99525234e-01 2.33066417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.800714057 meters Centerline goodness [0,1] 0.9913102206213418 Centerline is valid? [True, True] Translation: X:186.07, Y:-6.22, Z:2.33 [[ 9.99147831e-01 -2.85009217e-02 -2.98548042e-02 1.86069781e+02] [ 2.85379053e-02 9.99592380e-01 8.13337164e-04 -6.22331427e+00] [ 2.98194539e-02 -1.66463764e-03 9.99553915e-01 2.33187099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.830714057 meters Centerline goodness [0,1] 0.9919041086648526 Centerline is valid? [True, True] Translation: X:186.10, Y:-6.22, Z:2.33 [[ 9.99257114e-01 -2.50735943e-02 -2.92666083e-02 1.86099579e+02] [ 2.51076351e-02 9.99684437e-01 7.96161958e-04 -6.22001458e+00] [ 2.92374102e-02 -1.53038582e-03 9.99571324e-01 2.33340604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.860714057 meters Centerline goodness [0,1] 0.9908451339406512 Centerline is valid? [True, True] Translation: X:186.13, Y:-6.21, Z:2.34 [[ 9.99474014e-01 -1.76860421e-02 -2.71827190e-02 1.86129208e+02] [ 1.77126575e-02 9.99842846e-01 7.38640898e-04 -6.21448309e+00] [ 2.71653835e-02 -1.21973057e-03 9.99630209e-01 2.33570664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.890714057 meters Centerline goodness [0,1] 0.9914879205238203 Centerline is valid? [True, True] Translation: X:186.16, Y:-6.21, Z:2.34 [[ 9.99569925e-01 -1.39047498e-02 -2.58190448e-02 1.86157759e+02] [ 1.39274761e-02 9.99902763e-01 7.00588875e-04 -6.21223845e+00] [ 2.58067927e-02 -1.05988170e-03 9.99666387e-01 2.33680265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.920714057 meters Centerline goodness [0,1] 0.9919136248644742 Centerline is valid? [True, True] Translation: X:186.19, Y:-6.20, Z:2.34 [[ 9.99697465e-01 -5.04527511e-03 -2.40732816e-02 1.86188124e+02] [ 5.06244393e-03 9.99986973e-01 6.52299022e-04 -6.20486424e+00] [ 2.40696769e-02 -7.73971317e-04 9.99709984e-01 2.33873617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.950714057 meters Centerline goodness [0,1] 0.9920381805433037 Centerline is valid? [True, True] Translation: X:186.22, Y:-6.20, Z:2.34 [[ 9.99729617e-01 -9.78912422e-04 -2.32321939e-02 1.86216957e+02] [ 9.93786101e-04 9.99999309e-01 6.28681581e-04 -6.20403549e+00] [ 2.32315624e-02 -6.51599427e-04 9.99729898e-01 2.33900629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98071405699997 meters Centerline goodness [0,1] 0.993297708540893 Centerline is valid? [True, True] Translation: X:186.25, Y:-6.20, Z:2.34 [[ 9.99741643e-01 3.04213364e-03 -2.25253580e-02 1.86245950e+02] [-3.02920098e-03 9.99995227e-01 6.08237161e-04 -6.19805302e+00] [ 2.25271008e-02 -5.39846183e-04 9.99746087e-01 2.34139975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01071405699997 meters Centerline goodness [0,1] 0.9933585692590158 Centerline is valid? [True, True] Translation: X:186.27, Y:-6.20, Z:2.34 [[ 9.99741334e-01 9.40947111e-03 -2.07057219e-02 1.86274763e+02] [-9.39993290e-03 9.99955664e-01 5.57936217e-04 -6.19588878e+00] [ 2.07100538e-02 -3.63159502e-04 9.99785458e-01 2.34304160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04071405699997 meters Centerline goodness [0,1] 0.9933454462866228 Centerline is valid? [True, True] Translation: X:186.30, Y:-6.20, Z:2.34 [[ 9.99738126e-01 1.14356742e-02 -1.98218432e-02 1.86302518e+02] [-1.14273517e-02 9.99934564e-01 5.33084021e-04 -6.19777650e+00] [ 1.98266423e-02 -3.06433245e-04 9.99803386e-01 2.34293694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07071405699998 meters Centerline goodness [0,1] 0.9942473851750796 Centerline is valid? [True, True] Translation: X:186.33, Y:-6.20, Z:2.34 [[ 9.99723182e-01 1.34211212e-02 -1.93244231e-02 1.86330885e+02] [-1.34136318e-02 9.99909899e-01 5.17130969e-04 -6.19908965e+00] [ 1.93296225e-02 -2.57777121e-04 9.99813132e-01 2.34374301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10071405699998 meters Centerline goodness [0,1] 0.9938341827448125 Centerline is valid? [True, True] Translation: X:186.36, Y:-6.20, Z:2.34 [[ 9.99714860e-01 1.35066898e-02 -1.96918391e-02 1.86358689e+02] [-1.34990091e-02 9.99908747e-01 5.22920572e-04 -6.20186552e+00] [ 1.96971051e-02 -2.56951151e-04 9.99805960e-01 2.34368081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13071405699998 meters Centerline goodness [0,1] 0.9938597484989238 Centerline is valid? [True, True] Translation: X:186.39, Y:-6.21, Z:2.34 [[ 9.99713159e-01 1.27430267e-02 -2.02784167e-02 1.86387716e+02] [-1.27347639e-02 9.99918766e-01 5.36550682e-04 -6.20509078e+00] [ 2.02836067e-02 -2.78155927e-04 9.99794228e-01 2.34350873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16071405699998 meters Centerline goodness [0,1] 0.9932843557037905 Centerline is valid? [True, True] Translation: X:186.42, Y:-6.21, Z:2.34 [[ 9.99731439e-01 1.00061571e-02 -2.09027979e-02 1.86415820e+02] [-9.99681382e-03 9.99949879e-01 5.51432692e-04 -6.21309750e+00] [ 2.09072679e-02 -3.42323220e-04 9.99781361e-01 2.34214810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19071405699998 meters Centerline goodness [0,1] 0.9934285778365891 Centerline is valid? [True, True] Translation: X:186.44, Y:-6.22, Z:2.34 [[ 9.99742857e-01 8.47690321e-03 -2.10324007e-02 1.86443860e+02] [-8.46715168e-03 9.99964000e-01 5.52653951e-04 -6.21942953e+00] [ 2.10363283e-02 -3.74427313e-04 9.99778642e-01 2.34128436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22071405699998 meters Centerline goodness [0,1] 0.9931343953331837 Centerline is valid? [True, True] Translation: X:186.47, Y:-6.23, Z:2.34 [[ 9.99760327e-01 4.96722829e-03 -2.13217047e-02 1.86472199e+02] [-4.95645942e-03 9.99987561e-01 5.57882954e-04 -6.22782479e+00] [ 2.13242106e-02 -4.52069080e-04 9.99772511e-01 2.34112084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25071405699998 meters Centerline goodness [0,1] 0.9938155418123151 Centerline is valid? [True, True] Translation: X:186.50, Y:-6.23, Z:2.34 [[ 9.99761264e-01 3.70238161e-03 -2.15338483e-02 1.86500539e+02] [-3.69113739e-03 9.99993030e-01 5.61888619e-04 -6.23305637e+00] [ 2.15357786e-02 -4.82270084e-04 9.99767962e-01 2.34113072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28071405699998 meters Centerline goodness [0,1] 0.9928935371413248 Centerline is valid? [True, True] Translation: X:186.53, Y:-6.24, Z:2.34 [[ 9.99765117e-01 2.88514436e-03 -2.14799054e-02 1.86528288e+02] [-2.87380353e-03 9.99995714e-01 5.58823353e-04 -6.24459457e+00] [ 2.14814257e-02 -4.96963067e-04 9.99769124e-01 2.34038370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31071405699998 meters Centerline goodness [0,1] 0.993649449618967 Centerline is valid? [True, True] Translation: X:186.56, Y:-6.25, Z:2.34 [[ 9.99766596e-01 2.61725894e-03 -2.14453699e-02 1.86555619e+02] [-2.60594884e-03 9.99996450e-01 5.55320238e-04 -6.24828437e+00] [ 2.14467472e-02 -4.99305087e-04 9.99769867e-01 2.34115922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34071405699999 meters Centerline goodness [0,1] 0.9932495655661008 Centerline is valid? [True, True] Translation: X:186.58, Y:-6.25, Z:2.34 [[ 9.99777799e-01 2.91381088e-03 -2.08773179e-02 1.86583192e+02] [-2.90321884e-03 9.99995641e-01 5.37637921e-04 -6.25222166e+00] [ 2.08787935e-02 -4.76907035e-04 9.99781900e-01 2.34183781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.370714057 meters Centerline goodness [0,1] 0.9944818992946621 Centerline is valid? [True, True] Translation: X:186.61, Y:-6.26, Z:2.34 [[ 9.99776817e-01 3.13955459e-03 -2.08916315e-02 1.86611888e+02] [-3.12903130e-03 9.99994961e-01 5.36378182e-04 -6.25550860e+00] [ 2.08932102e-02 -4.70887903e-04 9.99781602e-01 2.34371361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.400714057 meters Centerline goodness [0,1] 0.9946079731282595 Centerline is valid? [True, True] Translation: X:186.64, Y:-6.26, Z:2.34 [[ 9.99782608e-01 2.80647197e-03 -2.06606000e-02 1.86640143e+02] [-2.79613920e-03 9.99995951e-01 5.28990292e-04 -6.26379877e+00] [ 2.06620009e-02 -4.71105381e-04 9.99786407e-01 2.34358681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.430714057 meters Centerline goodness [0,1] 0.9944435835565493 Centerline is valid? [True, True] Translation: X:186.67, Y:-6.27, Z:2.34 [[ 9.99795911e-01 2.59142626e-03 -2.00354781e-02 1.86667558e+02] [-2.58169866e-03 9.99996537e-01 5.11368844e-04 -6.26809976e+00] [ 2.00367339e-02 -4.59538913e-04 9.99799139e-01 2.34422851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.460714057 meters Centerline goodness [0,1] 0.9938237564795412 Centerline is valid? [True, True] Translation: X:186.70, Y:-6.27, Z:2.34 [[ 9.99805728e-01 2.47880302e-03 -1.95540942e-02 1.86695065e+02] [-2.46955570e-03 9.99996827e-01 4.97043192e-04 -6.27239767e+00] [ 1.95552643e-02 -4.48656705e-04 9.99808677e-01 2.34468822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.490714057 meters Centerline goodness [0,1] 0.9936633663366337 Centerline is valid? [True, True] Translation: X:186.72, Y:-6.28, Z:2.35 [[ 9.99813778e-01 1.31032348e-03 -1.92533641e-02 1.86723946e+02] [-1.30117714e-03 9.99999035e-01 4.87570735e-04 -6.27905723e+00] [ 1.92539844e-02 -4.62427901e-04 9.99814518e-01 2.34516644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.520714057 meters Centerline goodness [0,1] 0.9932560080840034 Centerline is valid? [True, True] Translation: X:186.75, Y:-6.29, Z:2.34 [[ 9.99824711e-01 -6.45014431e-04 -1.87118033e-02 1.86752371e+02] [ 6.53970544e-04 9.99999675e-01 4.72519368e-04 -6.28810717e+00] [ 1.87114925e-02 -4.84673509e-04 9.99824807e-01 2.34478551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.550714057 meters Centerline goodness [0,1] 0.9934659153200167 Centerline is valid? [True, True] Translation: X:186.78, Y:-6.29, Z:2.34 [[ 9.99821532e-01 -2.05989763e-03 -1.87792806e-02 1.86780695e+02] [ 2.06914190e-03 9.99997748e-01 4.72842335e-04 -6.29328422e+00] [ 1.87782643e-02 -5.11614944e-04 9.99823542e-01 2.34495699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.580714057 meters Centerline goodness [0,1] 0.9927447284204989 Centerline is valid? [True, True] Translation: X:186.81, Y:-6.30, Z:2.35 [[ 9.99825116e-01 -3.93233928e-03 -1.82831678e-02 1.86807914e+02] [ 3.94138542e-03 9.99992127e-01 4.58772213e-04 -6.29916473e+00] [ 1.82812198e-02 -5.30752992e-04 9.99832744e-01 2.34506114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.610714057 meters Centerline goodness [0,1] 0.9903940403842384 Centerline is valid? [True, True] Translation: X:186.84, Y:-6.32, Z:2.34 [[ 9.99816048e-01 -9.43391928e-03 -1.66994283e-02 1.86836300e+02] [ 9.44220379e-03 9.99955334e-01 4.17317783e-04 -6.31747178e+00] [ 1.66947455e-02 -5.74920422e-04 9.99860468e-01 2.34483427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.640714057 meters Centerline goodness [0,1] 0.9912899573207908 Centerline is valid? [True, True] Translation: X:186.87, Y:-6.32, Z:2.35 [[ 9.99785721e-01 -1.28041610e-02 -1.62654904e-02 1.86866142e+02] [ 1.28124566e-02 9.99917835e-01 4.05899850e-04 -6.31621135e+00] [ 1.62589568e-02 -6.14213763e-04 9.99867626e-01 2.34605640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.670714057 meters Centerline goodness [0,1] 0.9890183822731514 Centerline is valid? [True, True] Translation: X:186.90, Y:-6.33, Z:2.35 [[ 9.99668580e-01 -2.04413147e-02 -1.56487250e-02 1.86895143e+02] [ 2.04499189e-02 9.99790802e-01 3.89997673e-04 -6.32922940e+00] [ 1.56374792e-02 -7.09883577e-04 9.99877475e-01 2.34546374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.700714057 meters Centerline goodness [0,1] 0.9885820960319528 Centerline is valid? [True, True] Translation: X:186.92, Y:-6.34, Z:2.35 [[ 9.99577034e-01 -2.44489180e-02 -1.57481246e-02 1.86924842e+02] [ 2.44581235e-02 9.99700778e-01 3.92183099e-04 -6.33503349e+00] [ 1.57338240e-02 -7.77186795e-04 9.99875914e-01 2.34551491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73071405699997 meters Centerline goodness [0,1] 0.9884545533166134 Centerline is valid? [True, True] Translation: X:186.95, Y:-6.35, Z:2.34 [[ 9.99374319e-01 -3.12120543e-02 -1.66366639e-02 1.86953758e+02] [ 3.12232564e-02 9.99512350e-01 4.13954489e-04 -6.34516069e+00] [ 1.66156306e-02 -9.33146307e-04 9.99861515e-01 2.34442168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76071405699997 meters Centerline goodness [0,1] 0.9878663350275765 Centerline is valid? [True, True] Translation: X:186.98, Y:-6.35, Z:2.34 [[ 9.99305610e-01 -3.33801754e-02 -1.65547830e-02 1.86984040e+02] [ 3.33915566e-02 9.99442262e-01 4.11472897e-04 -6.34955418e+00] [ 1.65318148e-02 -9.63977148e-04 9.99862876e-01 2.34456501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79071405699997 meters Centerline goodness [0,1] 0.9874821945007985 Centerline is valid? [True, True] Translation: X:187.01, Y:-6.35, Z:2.35 [[ 9.99241768e-01 -3.57118028e-02 -1.55098817e-02 1.87014051e+02] [ 3.57220722e-02 9.99361689e-01 3.85501637e-04 -6.35423973e+00] [ 1.54862146e-02 -9.39254452e-04 9.99879640e-01 2.34537670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82071405699998 meters Centerline goodness [0,1] 0.9868937270963569 Centerline is valid? [True, True] Translation: X:187.04, Y:-6.36, Z:2.35 [[ 9.99255117e-01 -3.52226758e-02 -1.57662298e-02 1.87044288e+02] [ 3.52332275e-02 9.99379040e-01 3.91910597e-04 -6.35589277e+00] [ 1.57426355e-02 -9.47113830e-04 9.99875628e-01 2.34624077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85071405699998 meters Centerline goodness [0,1] 0.988668372503064 Centerline is valid? [True, True] Translation: X:187.08, Y:-6.35, Z:2.35 [[ 9.99349673e-01 -3.18844316e-02 -1.68408476e-02 1.87075007e+02] [ 3.18960038e-02 9.99491105e-01 4.18930222e-04 -6.35407878e+00] [ 1.68189200e-02 -9.55813518e-04 9.99858095e-01 2.34581576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88071405699998 meters Centerline goodness [0,1] 0.9880585433147242 Centerline is valid? [True, True] Translation: X:187.11, Y:-6.35, Z:2.35 [[ 9.99414559e-01 -2.92963123e-02 -1.76710169e-02 1.87105466e+02] [ 2.93086546e-02 9.99570312e-01 4.39826166e-04 -6.35324159e+00] [ 1.76505386e-02 -9.57482407e-04 9.99843759e-01 2.34564845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91071405699998 meters Centerline goodness [0,1] 0.9884936338609773 Centerline is valid? [True, True] Translation: X:187.14, Y:-6.35, Z:2.34 [[ 9.99551593e-01 -2.33758161e-02 -1.87132166e-02 1.87135008e+02] [ 2.33886208e-02 9.99726340e-01 4.65665039e-04 -6.35047050e+00] [ 1.86972103e-02 -9.03132559e-04 9.99824784e-01 2.34470897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94071405699998 meters Centerline goodness [0,1] 0.98884278865791 Centerline is valid? [True, True] Translation: X:187.16, Y:-6.35, Z:2.35 [[ 9.99621534e-01 -1.99858445e-02 -1.89038155e-02 1.87164537e+02] [ 1.99982980e-02 9.99799904e-01 4.69957929e-04 -6.34882993e+00] [ 1.88906404e-02 -8.47824203e-04 9.99821196e-01 2.34504659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97071405699998 meters Centerline goodness [0,1] 0.9889082349906494 Centerline is valid? [True, True] Translation: X:187.19, Y:-6.34, Z:2.35 [[ 9.99684389e-01 -1.68152026e-02 -1.86647354e-02 1.87194178e+02] [ 1.68267798e-02 9.99858312e-01 4.63389608e-04 -6.34457809e+00] [ 1.86542988e-02 -7.77310750e-04 9.99825691e-01 2.34589617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00071405699998 meters Centerline goodness [0,1] 0.9890756122164274 Centerline is valid? [True, True] Translation: X:187.22, Y:-6.34, Z:2.35 [[ 9.99792520e-01 -1.04371482e-02 -1.74923697e-02 1.87223128e+02] [ 1.04463327e-02 9.99945341e-01 4.33763781e-04 -6.34432726e+00] [ 1.74868863e-02 -6.16404897e-04 9.99846903e-01 2.34644613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03071405699998 meters Centerline goodness [0,1] 0.9904427750392837 Centerline is valid? [True, True] Translation: X:187.25, Y:-6.34, Z:2.35 [[ 9.99861820e-01 -5.05364533e-03 -1.58366847e-02 1.87253217e+02] [ 5.06049400e-03 9.99987119e-01 3.92412369e-04 -6.33639720e+00] [ 1.58344976e-02 -4.72499594e-04 9.99874515e-01 2.34882002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06071405699998 meters Centerline goodness [0,1] 0.98910942131718 Centerline is valid? [True, True] Translation: X:187.28, Y:-6.34, Z:2.35 [[ 9.99886640e-01 -2.69372182e-03 -1.48138687e-02 1.87280653e+02] [ 2.69945062e-03 9.99996289e-01 3.66736763e-04 -6.34075320e+00] [ 1.48128258e-02 -4.06684497e-04 9.99890201e-01 2.34949615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09071405699999 meters Centerline goodness [0,1] 0.9899341102740755 Centerline is valid? [True, True] Translation: X:187.31, Y:-6.34, Z:2.35 [[ 9.99904179e-01 -5.08209812e-04 -1.38338307e-02 1.87310027e+02] [ 5.12980787e-04 9.99999810e-01 3.41331138e-04 -6.33998413e+00] [ 1.38336546e-02 -3.48394921e-04 9.99904250e-01 2.35052853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.120714057 meters Centerline goodness [0,1] 0.9912005837661502 Centerline is valid? [True, True] Translation: X:187.34, Y:-6.33, Z:2.35 [[ 9.99922768e-01 2.26157885e-03 -1.22206190e-02 1.87338542e+02] [-2.25807551e-03 9.99997405e-01 3.00465285e-04 -6.33476568e+00] [ 1.22212668e-02 -2.72846999e-04 9.99925280e-01 2.35138878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.150714057 meters Centerline goodness [0,1] 0.9914429350732699 Centerline is valid? [True, True] Translation: X:187.37, Y:-6.34, Z:2.35 [[ 9.99921154e-01 2.75086645e-03 -1.22522638e-02 1.87366109e+02] [-2.74742170e-03 9.99996181e-01 2.97974837e-04 -6.33642256e+00] [ 1.22530367e-02 -2.64289207e-04 9.99924894e-01 2.35163959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.180714057 meters Centerline goodness [0,1] 0.9903875037548814 Centerline is valid? [True, True] Translation: X:187.40, Y:-6.34, Z:2.35 [[ 9.99930430e-01 1.45586719e-03 -1.17053507e-02 1.87395016e+02] [-1.45264626e-03 9.99998905e-01 2.83665276e-04 -6.33938915e+00] [ 1.17057509e-02 -2.66641807e-04 9.99931450e-01 2.35090992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.210714057 meters Centerline goodness [0,1] 0.9901296690536094 Centerline is valid? [True, True] Translation: X:187.42, Y:-6.35, Z:2.35 [[ 9.99938284e-01 -1.89278843e-03 -1.09474113e-02 1.87423467e+02] [ 1.89579845e-03 9.99998168e-01 2.64582303e-04 -6.34526000e+00] [ 1.09468904e-02 -2.85320060e-04 9.99940040e-01 2.35145510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.240714057 meters Centerline goodness [0,1] 0.9899193981730252 Centerline is valid? [True, True] Translation: X:187.45, Y:-6.35, Z:2.35 [[ 9.99931972e-01 -4.00738132e-03 -1.09541394e-02 1.87452631e+02] [ 4.01051367e-03 9.99991923e-01 2.63999273e-04 -6.34812672e+00] [ 1.09529929e-02 -3.07913039e-04 9.99939967e-01 2.35160118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.270714057 meters Centerline goodness [0,1] 0.9891872216512504 Centerline is valid? [True, True] Translation: X:187.48, Y:-6.36, Z:2.35 [[ 9.99901916e-01 -9.05378607e-03 -1.06858569e-02 1.87481024e+02] [ 9.05704651e-03 9.99958951e-01 2.56762716e-04 -6.35614566e+00] [ 1.06830936e-02 -3.53519835e-04 9.99942872e-01 2.35112357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.300714057 meters Centerline goodness [0,1] 0.9894703322364929 Centerline is valid? [True, True] Translation: X:187.51, Y:-6.36, Z:2.35 [[ 9.99880510e-01 -1.12865115e-02 -1.05632046e-02 1.87510041e+02] [ 1.12898223e-02 9.99936236e-01 2.53843783e-04 -6.36051770e+00] [ 1.05596661e-02 -3.73070154e-04 9.99944176e-01 2.35102228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.330714057 meters Centerline goodness [0,1] 0.9889903157534686 Centerline is valid? [True, True] Translation: X:187.54, Y:-6.36, Z:2.35 [[ 9.99838364e-01 -1.41506500e-02 -1.10907285e-02 1.87539832e+02] [ 1.41544392e-02 9.99899786e-01 2.63231826e-04 -6.36113695e+00] [ 1.10858922e-02 -4.20172321e-04 9.99938461e-01 2.35053196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.360714057 meters Centerline goodness [0,1] 0.9876627389145767 Centerline is valid? [True, True] Translation: X:187.57, Y:-6.37, Z:2.35 [[ 9.99739445e-01 -1.91980905e-02 -1.23481053e-02 1.87568384e+02] [ 1.92031653e-02 9.99815559e-01 2.92535711e-04 -6.36896664e+00] [ 1.23402117e-02 -5.29582197e-04 9.99923716e-01 2.34902105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.390714057 meters Centerline goodness [0,1] 0.9876627389145767 Centerline is valid? [True, True] Translation: X:187.60, Y:-6.37, Z:2.35 [[ 9.99738775e-01 -1.92329481e-02 -1.23481031e-02 1.87597556e+02] [ 1.92380268e-02 9.99814889e-01 2.92629471e-04 -6.36962741e+00] [ 1.23401892e-02 -5.30106167e-04 9.99923716e-01 2.34941831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.420714057 meters Centerline goodness [0,1] 0.9871346516606261 Centerline is valid? [True, True] Translation: X:187.63, Y:-6.37, Z:2.35 [[ 9.99679372e-01 -2.16900507e-02 -1.30650468e-02 1.87627006e+02] [ 2.16959392e-02 9.99764568e-01 3.09126859e-04 -6.37493302e+00] [ 1.30552659e-02 -5.92486206e-04 9.99914601e-01 2.34911305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.450714057 meters Centerline goodness [0,1] 0.9873922689649287 Centerline is valid? [True, True] Translation: X:187.66, Y:-6.38, Z:2.35 [[ 9.99572168e-01 -2.60806572e-02 -1.32393572e-02 1.87657128e+02] [ 2.60870851e-02 9.99659625e-01 3.13018837e-04 -6.37844156e+00] [ 1.32266872e-02 -6.58261156e-04 9.99912307e-01 2.34919524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48071405699997 meters Centerline goodness [0,1] 0.9853776898026946 Centerline is valid? [True, True] Translation: X:187.69, Y:-6.39, Z:2.35 [[ 9.99486141e-01 -3.01074556e-02 -1.09997617e-02 1.87686761e+02] [ 3.01121337e-02 9.99546493e-01 2.59875772e-04 -6.38748481e+00] [ 1.09869491e-02 -5.90968528e-04 9.99939467e-01 2.35120069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51071405699997 meters Centerline goodness [0,1] 0.9849271906667803 Centerline is valid? [True, True] Translation: X:187.72, Y:-6.39, Z:2.35 [[ 9.99435032e-01 -3.21034739e-02 -9.94906664e-03 1.87718048e+02] [ 3.21073979e-02 9.99484397e-01 2.34898829e-04 -6.38931953e+00] [ 9.93639581e-03 -5.54204760e-04 9.99950479e-01 2.35218826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54071405699997 meters Centerline goodness [0,1] 0.9855103300070214 Centerline is valid? [True, True] Translation: X:187.75, Y:-6.39, Z:2.35 [[ 9.99370336e-01 -3.42989348e-02 -9.08375796e-03 1.87749457e+02] [ 3.43022987e-02 9.99411480e-01 2.14736331e-04 -6.39030990e+00] [ 9.07104676e-03 -5.26194898e-04 9.99958719e-01 2.35337268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57071405699998 meters Centerline goodness [0,1] 0.9844348047971422 Centerline is valid? [True, True] Translation: X:187.78, Y:-6.39, Z:2.35 [[ 9.99198147e-01 -3.91247820e-02 -8.50373438e-03 1.87779626e+02] [ 3.91279077e-02 9.99234190e-01 2.01453182e-04 -6.39497016e+00] [ 8.48934032e-03 -5.34024981e-04 9.99963822e-01 2.35418705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60071405699998 meters Centerline goodness [0,1] 0.9832100654594916 Centerline is valid? [True, True] Translation: X:187.81, Y:-6.40, Z:2.35 [[ 9.98985553e-01 -4.41887810e-02 -8.67275584e-03 1.87810237e+02] [ 4.41922224e-02 9.99023025e-01 2.05482278e-04 -6.39695248e+00] [ 8.65520276e-03 -5.88542182e-04 9.99962370e-01 2.35380387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63071405699998 meters Centerline goodness [0,1] 0.9824076828283687 Centerline is valid? [True, True] Translation: X:187.84, Y:-6.40, Z:2.35 [[ 9.98885214e-01 -4.63678793e-02 -8.85149949e-03 1.87841566e+02] [ 4.63715481e-02 9.98924239e-01 2.09592914e-04 -6.39876643e+00] [ 8.83225901e-03 -6.19816997e-04 9.99960803e-01 2.35374830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66071405699998 meters Centerline goodness [0,1] 0.9811893590369631 Centerline is valid? [True, True] Translation: X:187.87, Y:-6.40, Z:2.35 [[ 9.98756512e-01 -4.90618593e-02 -8.85233103e-03 1.87871711e+02] [ 4.90656354e-02 9.98795534e-01 2.09770766e-04 -6.40106543e+00] [ 8.83137696e-03 -6.43855166e-04 9.99960795e-01 2.35376195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69071405699998 meters Centerline goodness [0,1] 0.984297643584132 Centerline is valid? [True, True] Translation: X:187.90, Y:-6.39, Z:2.35 [[ 9.98712729e-01 -5.00069366e-02 -8.49649445e-03 1.87904352e+02] [ 5.00104534e-02 9.98748674e-01 2.01827663e-04 -6.39116924e+00] [ 8.47576978e-03 -6.26481396e-04 9.99963884e-01 2.35345423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72071405699998 meters Centerline goodness [0,1] 0.9844835670744704 Centerline is valid? [True, True] Translation: X:187.94, Y:-6.39, Z:2.35 [[ 9.98715422e-01 -5.00576993e-02 -7.85697157e-03 1.87935571e+02] [ 5.00607130e-02 9.98746159e-01 1.87249220e-04 -6.39274002e+00] [ 7.83774691e-03 -5.80334283e-04 9.99969116e-01 2.35435953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75071405699998 meters Centerline goodness [0,1] 0.9831122090423153 Centerline is valid? [True, True] Translation: X:187.97, Y:-6.39, Z:2.36 [[ 9.98777371e-01 -4.90322455e-02 -6.29298187e-03 1.87967781e+02] [ 4.90341590e-02 9.98797091e-01 1.50044230e-04 -6.38830647e+00] [ 6.27805498e-03 -4.58431855e-04 9.99980188e-01 2.35556975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78071405699998 meters Centerline goodness [0,1] 0.9834800357188417 Centerline is valid? [True, True] Translation: X:188.00, Y:-6.38, Z:2.36 [[ 9.98863941e-01 -4.73136606e-02 -5.67844114e-03 1.87999337e+02] [ 4.73151944e-02 9.98880000e-01 1.35995499e-04 -6.38325529e+00] [ 5.66564684e-03 -4.04517546e-04 9.99983868e-01 2.35690242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81071405699998 meters Centerline goodness [0,1] 0.9831461875735216 Centerline is valid? [True, True] Translation: X:188.03, Y:-6.38, Z:2.36 [[ 9.98885893e-01 -4.68776016e-02 -5.42795700e-03 1.88031996e+02] [ 4.68789960e-02 9.98900567e-01 1.29883028e-04 -6.38220861e+00] [ 5.41590072e-03 -3.84195499e-04 9.99985260e-01 2.35756025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84071405699999 meters Centerline goodness [0,1] 0.9823668967875692 Centerline is valid? [True, True] Translation: X:188.06, Y:-6.38, Z:2.36 [[ 9.98918647e-01 -4.62463123e-02 -4.77657507e-03 1.88064060e+02] [ 4.62473860e-02 9.98930011e-01 1.14523171e-04 -6.38081707e+00] [ 4.76616792e-03 -3.35303442e-04 9.99988586e-01 2.35769243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.870714057 meters Centerline goodness [0,1] 0.9835539769669572 Centerline is valid? [True, True] Translation: X:188.10, Y:-6.38, Z:2.36 [[ 9.98970890e-01 -4.50866812e-02 -4.93472582e-03 1.88095591e+02] [ 4.50878120e-02 9.98983021e-01 1.18091894e-04 -6.37742974e+00] [ 4.92438294e-03 -3.40466355e-04 9.99987817e-01 2.35667530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.900714057 meters Centerline goodness [0,1] 0.9845087998623004 Centerline is valid? [True, True] Translation: X:188.13, Y:-6.37, Z:2.36 [[ 9.99003936e-01 -4.42522117e-02 -5.73387304e-03 1.88127911e+02] [ 4.42537343e-02 9.99020314e-01 1.38883569e-04 -6.37482943e+00] [ 5.72210974e-03 -3.92490526e-04 9.99983552e-01 2.35569224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.930714057 meters Centerline goodness [0,1] 0.9844798929350055 Centerline is valid? [True, True] Translation: X:188.16, Y:-6.37, Z:2.35 [[ 9.99067522e-01 -4.26401946e-02 -6.77493486e-03 1.88159328e+02] [ 4.26422894e-02 9.99090390e-01 1.64987471e-04 -6.36856756e+00] [ 6.76173721e-03 -4.53732357e-04 9.99977036e-01 2.35480730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.960714057 meters Centerline goodness [0,1] 0.9852880814016289 Centerline is valid? [True, True] Translation: X:188.19, Y:-6.36, Z:2.36 [[ 9.99112646e-01 -4.15358498e-02 -6.97806560e-03 1.88192208e+02] [ 4.15380446e-02 9.99136909e-01 1.69832635e-04 -6.36378500e+00] [ 6.96498875e-03 -4.59537134e-04 9.99975639e-01 2.35514937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.990714057 meters Centerline goodness [0,1] 0.9839146154012687 Centerline is valid? [True, True] Translation: X:188.22, Y:-6.37, Z:2.36 [[ 9.99178067e-01 -3.97945079e-02 -7.71933114e-03 1.88222658e+02] [ 3.97971517e-02 9.99207762e-01 1.89131974e-04 -6.36600267e+00] [ 7.70568918e-03 -4.96183912e-04 9.99970188e-01 2.35583577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.020714057 meters Centerline goodness [0,1] 0.9854327892306691 Centerline is valid? [True, True] Translation: X:188.26, Y:-6.36, Z:2.36 [[ 9.99200801e-01 -3.91690309e-02 -7.97162787e-03 1.88255598e+02] [ 3.91718286e-02 9.99232470e-01 1.95064480e-04 -6.35923406e+00] [ 7.95786892e-03 -5.07171826e-04 9.99968207e-01 2.35508271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.050714057 meters Centerline goodness [0,1] 0.9854452240783785 Centerline is valid? [True, True] Translation: X:188.29, Y:-6.36, Z:2.36 [[ 9.99205726e-01 -3.87520981e-02 -9.28392234e-03 1.88288189e+02] [ 3.87558852e-02 9.99248682e-01 2.28287432e-04 -6.35739369e+00] [ 9.26810055e-03 -5.87912738e-04 9.99956877e-01 2.35510985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.080714057 meters Centerline goodness [0,1] 0.9833894988585716 Centerline is valid? [True, True] Translation: X:188.32, Y:-6.36, Z:2.36 [[ 9.99185724e-01 -3.91288483e-02 -9.83981345e-03 1.88319295e+02] [ 3.91331287e-02 9.99233976e-01 2.42783894e-04 -6.36088292e+00] [ 9.82277606e-03 -6.27648887e-04 9.99951558e-01 2.35509540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.110714057 meters Centerline goodness [0,1] 0.9851903475912536 Centerline is valid? [True, True] Translation: X:188.35, Y:-6.36, Z:2.36 [[ 9.99151472e-01 -3.99098390e-02 -1.01754815e-02 1.88351682e+02] [ 3.99144620e-02 9.99203069e-01 2.51570233e-04 -6.35551299e+00] [ 1.01573322e-02 -6.57505637e-04 9.99948197e-01 2.35504366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.140714057 meters Centerline goodness [0,1] 0.9851110143665651 Centerline is valid? [True, True] Translation: X:188.38, Y:-6.35, Z:2.36 [[ 9.99149886e-01 -3.99351917e-02 -1.02316397e-02 1.88383936e+02] [ 3.99398746e-02 9.99202053e-01 2.53685727e-04 -6.35389734e+00] [ 1.02133444e-02 -6.62120473e-04 9.99947623e-01 2.35583880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.170714057 meters Centerline goodness [0,1] 0.9847753434831044 Centerline is valid? [True, True] Translation: X:188.41, Y:-6.35, Z:2.36 [[ 9.99168719e-01 -3.95247901e-02 -9.98307370e-03 1.88414827e+02] [ 3.95292353e-02 9.99218383e-01 2.48273366e-04 -6.35238362e+00] [ 9.96545781e-03 -6.42690250e-04 9.99950137e-01 2.35784951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.200714057 meters Centerline goodness [0,1] 0.9841172877214417 Centerline is valid? [True, True] Translation: X:188.45, Y:-6.35, Z:2.36 [[ 9.99172775e-01 -3.94374704e-02 -9.92224675e-03 1.88447617e+02] [ 3.94418605e-02 9.99221837e-01 2.47082693e-04 -6.34900530e+00] [ 9.90478131e-03 -6.38230173e-04 9.99950743e-01 2.35867781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23071405699997 meters Centerline goodness [0,1] 0.9839670579989487 Centerline is valid? [True, True] Translation: X:188.48, Y:-6.35, Z:2.36 [[ 9.99186682e-01 -3.92372770e-02 -9.29569775e-03 1.88479282e+02] [ 3.92411313e-02 9.99229743e-01 2.32537509e-04 -6.35039273e+00] [ 9.27941354e-03 -5.97122078e-04 9.99956767e-01 2.35953304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26071405699997 meters Centerline goodness [0,1] 0.9848001049776922 Centerline is valid? [True, True] Translation: X:188.51, Y:-6.35, Z:2.36 [[ 9.99142496e-01 -4.04929010e-02 -8.63699009e-03 1.88511057e+02] [ 4.04962805e-02 9.99179666e-01 2.16680548e-04 -6.34600198e+00] [ 8.62113085e-03 -5.66260716e-04 9.99962677e-01 2.36006844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29071405699997 meters Centerline goodness [0,1] 0.9845978822088037 Centerline is valid? [True, True] Translation: X:188.54, Y:-6.35, Z:2.36 [[ 9.99077028e-01 -4.20433355e-02 -8.80052961e-03 1.88542721e+02] [ 4.20469084e-02 9.99115613e-01 2.21272846e-04 -6.34634650e+00] [ 8.78344349e-03 -5.91103680e-04 9.99961250e-01 2.36083300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32071405699998 meters Centerline goodness [0,1] 0.983565551289084 Centerline is valid? [True, True] Translation: X:188.57, Y:-6.35, Z:2.36 [[ 9.98899634e-01 -4.58175128e-02 -1.00137797e-02 1.88572403e+02] [ 4.58223363e-02 9.98949573e-01 2.52663325e-04 -6.34830684e+00] [ 9.99168453e-03 -7.11240083e-04 9.99949829e-01 2.36021157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35071405699998 meters Centerline goodness [0,1] 0.9835144331028427 Centerline is valid? [True, True] Translation: X:188.60, Y:-6.35, Z:2.36 [[ 9.98670781e-01 -5.02693972e-02 -1.13867783e-02 1.88601684e+02] [ 5.02759197e-02 9.98735325e-01 2.87113077e-04 -6.35242194e+00] [ 1.13579447e-02 -8.59212191e-04 9.99935127e-01 2.35933966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38071405699998 meters Centerline goodness [0,1] 0.9833603718156706 Centerline is valid? [True, True] Translation: X:188.63, Y:-6.35, Z:2.36 [[ 9.98547830e-01 -5.23732642e-02 -1.26203362e-02 1.88632558e+02] [ 5.23814405e-02 9.98627099e-01 3.17957206e-04 -6.35374043e+00] [ 1.25863572e-02 -9.78566865e-04 9.99920310e-01 2.35881747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41071405699998 meters Centerline goodness [0,1] 0.9833824240559195 Centerline is valid? [True, True] Translation: X:188.66, Y:-6.36, Z:2.36 [[ 9.98466523e-01 -5.36447554e-02 -1.36690360e-02 1.88664347e+02] [ 5.36544742e-02 9.98559502e-01 3.45018436e-04 -6.35514110e+00] [ 1.36308374e-02 -1.07789430e-03 9.99906515e-01 2.35870149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44071405699998 meters Centerline goodness [0,1] 0.9849058264390073 Centerline is valid? [True, True] Translation: X:188.70, Y:-6.35, Z:2.36 [[ 9.98358950e-01 -5.51289949e-02 -1.54983984e-02 1.88695958e+02] [ 5.51416806e-02 9.98478463e-01 3.92062105e-04 -6.35015167e+00] [ 1.54532030e-02 -1.24602645e-03 9.99879816e-01 2.35796817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47071405699998 meters Centerline goodness [0,1] 0.982706403897643 Centerline is valid? [True, True] Translation: X:188.73, Y:-6.35, Z:2.36 [[ 9.98327073e-01 -5.54953932e-02 -1.62270551e-02 1.88727134e+02] [ 5.55093585e-02 9.98458082e-01 4.11137365e-04 -6.35481020e+00] [ 1.61792181e-02 -1.31120298e-03 9.99868248e-01 2.35794264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50071405699998 meters Centerline goodness [0,1] 0.9857866901718819 Centerline is valid? [True, True] Translation: X:188.76, Y:-6.35, Z:2.36 [[ 9.98347377e-01 -5.50908260e-02 -1.63559012e-02 1.88759575e+02] [ 5.51049751e-02 9.98480480e-01 4.15322199e-04 -6.34847990e+00] [ 1.63081676e-02 -1.31592735e-03 9.99866147e-01 2.35894873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53071405699998 meters Centerline goodness [0,1] 0.9830810917982948 Centerline is valid? [True, True] Translation: X:188.79, Y:-6.35, Z:2.36 [[ 9.98423394e-01 -5.38422522e-02 -1.58662889e-02 1.88789790e+02] [ 5.38554255e-02 9.98548662e-01 4.03865190e-04 -6.35358076e+00] [ 1.58215165e-02 -1.25771419e-03 9.99874041e-01 2.35964429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56071405699998 meters Centerline goodness [0,1] 0.9854973139079876 Centerline is valid? [True, True] Translation: X:188.82, Y:-6.34, Z:2.36 [[ 9.98513123e-01 -5.19144381e-02 -1.66263290e-02 1.88821237e+02] [ 5.19286443e-02 9.98650708e-01 4.23568343e-04 -6.34233912e+00] [ 1.65819060e-02 -1.28632128e-03 9.99861683e-01 2.36037061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59071405699999 meters Centerline goodness [0,1] 0.9871434577681397 Centerline is valid? [True, True] Translation: X:188.85, Y:-6.34, Z:2.36 [[ 9.98572111e-01 -5.05413020e-02 -1.73007283e-02 1.88853240e+02] [ 5.05564915e-02 9.98721105e-01 4.41451309e-04 -6.33556480e+00] [ 1.72562910e-02 -1.31548509e-03 9.99850234e-01 2.36099976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.620714057 meters Centerline goodness [0,1] 0.9843653523859928 Centerline is valid? [True, True] Translation: X:188.88, Y:-6.35, Z:2.36 [[ 9.98643265e-01 -4.91146290e-02 -1.73026774e-02 1.88883048e+02] [ 4.91296230e-02 9.98792313e-01 4.42311872e-04 -6.34825718e+00] [ 1.72600572e-02 -1.29178579e-03 9.99850200e-01 2.36043255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.650714057 meters Centerline goodness [0,1] 0.9869079792654291 Centerline is valid? [True, True] Translation: X:188.91, Y:-6.33, Z:2.36 [[ 9.98808814e-01 -4.54464991e-02 -1.77642286e-02 1.88914268e+02] [ 4.54617315e-02 9.98965978e-01 4.54380760e-04 -6.33259912e+00] [ 1.77252100e-02 -1.26143210e-03 9.99842100e-01 2.36128814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.680714057 meters Centerline goodness [0,1] 0.988793657121343 Centerline is valid? [True, True] Translation: X:188.94, Y:-6.33, Z:2.36 [[ 9.98919490e-01 -4.27914431e-02 -1.81313108e-02 1.88944780e+02] [ 4.28068773e-02 9.99083258e-01 4.63821172e-04 -6.32724678e+00] [ 1.80948415e-02 -1.23946480e-03 9.99835507e-01 2.36201435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.710714057 meters Centerline goodness [0,1] 0.9855056428413366 Centerline is valid? [True, True] Translation: X:188.97, Y:-6.34, Z:2.36 [[ 9.99135198e-01 -3.71040332e-02 -1.87655960e-02 1.88974271e+02] [ 3.71195656e-02 9.99310716e-01 4.79947463e-04 -6.33639672e+00] [ 1.87348532e-02 -1.17610318e-03 9.99823796e-01 2.36100241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.740714057 meters Centerline goodness [0,1] 0.9890244173387545 Centerline is valid? [True, True] Translation: X:189.01, Y:-6.32, Z:2.36 [[ 9.99238957e-01 -3.38444596e-02 -1.93922534e-02 1.89005442e+02] [ 3.38604325e-02 9.99426448e-01 4.95824846e-04 -6.32204231e+00] [ 1.93643500e-02 -1.15207759e-03 9.99811830e-01 2.36210851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.770714057 meters Centerline goodness [0,1] 0.9901618180604091 Centerline is valid? [True, True] Translation: X:189.04, Y:-6.31, Z:2.36 [[ 9.99393805e-01 -2.79076158e-02 -2.08131658e-02 1.89036287e+02] [ 2.79247387e-02 9.99609887e-01 5.32460196e-04 -6.31292423e+00] [ 2.07901867e-02 -1.11333964e-03 9.99783241e-01 2.36250875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.800714057 meters Centerline goodness [0,1] 0.989471809824827 Centerline is valid? [True, True] Translation: X:189.07, Y:-6.31, Z:2.36 [[ 9.99452399e-01 -2.50567485e-02 -2.16115998e-02 1.89065533e+02] [ 2.50745429e-02 9.99685431e-01 5.52740481e-04 -6.31354028e+00] [ 2.15909516e-02 -1.09433879e-03 9.99766289e-01 2.36226604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.830714057 meters Centerline goodness [0,1] 0.9907920197504504 Centerline is valid? [True, True] Translation: X:189.10, Y:-6.31, Z:2.36 [[ 9.99512235e-01 -2.23616526e-02 -2.18001943e-02 1.89095529e+02] [ 2.23791110e-02 9.99749401e-01 5.57172093e-04 -6.31024983e+00] [ 2.17822719e-02 -1.04476929e-03 9.99762192e-01 2.36267612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.860714057 meters Centerline goodness [0,1] 0.9902858543323753 Centerline is valid? [True, True] Translation: X:189.12, Y:-6.31, Z:2.36 [[ 9.99560789e-01 -1.88655388e-02 -2.28543256e-02 1.89124057e+02] [ 1.88837980e-02 9.99821515e-01 5.83369074e-04 -6.30873143e+00] [ 2.28392408e-02 -1.01468932e-03 9.99738636e-01 2.36192305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.890714057 meters Centerline goodness [0,1] 0.9902050469666882 Centerline is valid? [True, True] Translation: X:189.15, Y:-6.31, Z:2.36 [[ 9.99603386e-01 -1.63767744e-02 -2.29100674e-02 1.89153165e+02] [ 1.63944053e-02 9.99865433e-01 5.81947139e-04 -6.30812088e+00] [ 2.28974541e-02 -9.57313261e-04 9.99737361e-01 2.36215952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.920714057 meters Centerline goodness [0,1] 0.9862581049989542 Centerline is valid? [True, True] Translation: X:189.18, Y:-6.33, Z:2.36 [[ 9.99714345e-01 -1.34577611e-02 -1.97513862e-02 1.89181187e+02] [ 1.34702366e-02 9.99909148e-01 4.98715966e-04 -6.32673128e+00] [ 1.97428801e-02 -7.64629351e-04 9.99804798e-01 2.36023656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.950714057 meters Centerline goodness [0,1] 0.9902251118879561 Centerline is valid? [True, True] Translation: X:189.21, Y:-6.31, Z:2.36 [[ 9.99624465e-01 -1.58291209e-02 -2.23688876e-02 1.89210833e+02] [ 1.58456827e-02 9.99874291e-01 5.63330059e-04 -6.30826420e+00] [ 2.23571586e-02 -9.17568804e-04 9.99749626e-01 2.36399574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98071405699997 meters Centerline goodness [0,1] 0.9903632155256833 Centerline is valid? [True, True] Translation: X:189.24, Y:-6.31, Z:2.36 [[ 9.99601355e-01 -1.74520418e-02 -2.21936462e-02 1.89239806e+02] [ 1.74686739e-02 9.99847257e-01 5.55743096e-04 -6.30968391e+00] [ 2.21805574e-02 -9.43215117e-04 9.99753536e-01 2.36486300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01071405699997 meters Centerline goodness [0,1] 0.9904831787961665 Centerline is valid? [True, True] Translation: X:189.27, Y:-6.31, Z:2.36 [[ 9.99569333e-01 -1.88255262e-02 -2.25110439e-02 1.89267245e+02] [ 1.88428814e-02 9.99822301e-01 5.59081987e-04 -6.31351503e+00] [ 2.24965187e-02 -9.83014140e-04 9.99746438e-01 2.36484884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04071405699997 meters Centerline goodness [0,1] 0.9897763293004151 Centerline is valid? [True, True] Translation: X:189.30, Y:-6.32, Z:2.37 [[ 9.99483132e-01 -2.27667325e-02 -2.26967967e-02 1.89297311e+02] [ 2.27853446e-02 9.99740223e-01 5.61726866e-04 -6.31621397e+00] [ 2.26781119e-02 -1.07859086e-03 9.99742237e-01 2.36640328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07071405699998 meters Centerline goodness [0,1] 0.9881100542270425 Centerline is valid? [True, True] Translation: X:189.33, Y:-6.33, Z:2.37 [[ 9.99455328e-01 -2.47482692e-02 -2.18304760e-02 1.89325894e+02] [ 2.47659441e-02 9.99693131e-01 5.39617667e-04 -6.32714224e+00] [ 2.18104223e-02 -1.07997610e-03 9.99761541e-01 2.36634565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10071405699998 meters Centerline goodness [0,1] 0.9881219832284183 Centerline is valid? [True, True] Translation: X:189.36, Y:-6.33, Z:2.37 [[ 9.99326095e-01 -2.98358728e-02 -2.13816824e-02 1.89355695e+02] [ 2.98539712e-02 9.99554132e-01 5.27670824e-04 -6.33188545e+00] [ 2.13564055e-02 -1.16564336e-03 9.99771246e-01 2.36797102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13071405699998 meters Centerline goodness [0,1] 0.9884004613200852 Centerline is valid? [True, True] Translation: X:189.39, Y:-6.33, Z:2.37 [[ 9.99265338e-01 -3.19636000e-02 -2.11450255e-02 1.89386097e+02] [ 3.19817693e-02 9.99488316e-01 5.21576138e-04 -6.32878258e+00] [ 2.11175345e-02 -1.19744828e-03 9.99776283e-01 2.36946820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16071405699998 meters Centerline goodness [0,1] 0.9876641817536386 Centerline is valid? [True, True] Translation: X:189.42, Y:-6.33, Z:2.37 [[ 9.99094978e-01 -3.65651701e-02 -2.17304608e-02 1.89416216e+02] [ 3.65854448e-02 9.99330385e-01 5.36052915e-04 -6.33406387e+00] [ 2.16963089e-02 -1.33058635e-03 9.99763722e-01 2.36996482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19071405699998 meters Centerline goodness [0,1] 0.9867226333811996 Centerline is valid? [True, True] Translation: X:189.45, Y:-6.34, Z:2.37 [[ 9.99034829e-01 -3.81856003e-02 -2.17087843e-02 1.89446267e+02] [ 3.82062199e-02 9.99269732e-01 5.35719244e-04 -6.34425735e+00] [ 2.16724744e-02 -1.36461277e-03 9.99764193e-01 2.36929967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22071405699998 meters Centerline goodness [0,1] 0.9869850083287063 Centerline is valid? [True, True] Translation: X:189.48, Y:-6.34, Z:2.37 [[ 9.98917372e-01 -4.07203365e-02 -2.24930782e-02 1.89477180e+02] [ 4.07431241e-02 9.99169500e-01 5.55560430e-04 -6.34260641e+00] [ 2.24517751e-02 -1.47139724e-03 9.99746844e-01 2.37019604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25071405699998 meters Centerline goodness [0,1] 0.987450579716583 Centerline is valid? [True, True] Translation: X:189.51, Y:-6.34, Z:2.37 [[ 9.98888321e-01 -4.11472824e-02 -2.30004863e-02 1.89508367e+02] [ 4.11712389e-02 9.99151943e-01 5.68794276e-04 -6.34302043e+00] [ 2.29575762e-02 -1.51512048e-03 9.99735292e-01 2.37067299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28071405699998 meters Centerline goodness [0,1] 0.9872922560113154 Centerline is valid? [True, True] Translation: X:189.54, Y:-6.34, Z:2.37 [[ 9.98882962e-01 -4.12771151e-02 -2.30006165e-02 1.89540211e+02] [ 4.13011316e-02 9.99146582e-01 5.69906370e-04 -6.34484655e+00] [ 2.29574633e-02 -1.51922125e-03 9.99735288e-01 2.37140190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31071405699998 meters Centerline goodness [0,1] 0.9872922560113154 Centerline is valid? [True, True] Translation: X:189.57, Y:-6.35, Z:2.37 [[ 9.98885779e-01 -4.12089031e-02 -2.30005775e-02 1.89571960e+02] [ 4.12329376e-02 9.99149397e-01 5.71476719e-04 -6.34569921e+00] [ 2.29574633e-02 -1.51922135e-03 9.99735288e-01 2.37183400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34071405699999 meters Centerline goodness [0,1] 0.9869819341126461 Centerline is valid? [True, True] Translation: X:189.60, Y:-6.35, Z:2.37 [[ 9.98885762e-01 -4.11972977e-02 -2.30220980e-02 1.89604620e+02] [ 4.12214103e-02 9.99149872e-01 5.73584151e-04 -6.34653575e+00] [ 2.29788962e-02 -1.52194839e-03 9.99734792e-01 2.37260053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.370714057 meters Centerline goodness [0,1] 0.9872954636158042 Centerline is valid? [True, True] Translation: X:189.64, Y:-6.35, Z:2.37 [[ 9.98905978e-01 -4.09255338e-02 -2.26262667e-02 1.89636389e+02] [ 4.09487822e-02 9.99161087e-01 5.64941446e-04 -6.34664111e+00] [ 2.25841647e-02 -1.49084145e-03 9.99743834e-01 2.37393292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.400714057 meters Centerline goodness [0,1] 0.9863475925144849 Centerline is valid? [True, True] Translation: X:189.67, Y:-6.35, Z:2.37 [[ 9.98912332e-01 -4.09383678e-02 -2.23204733e-02 1.89667855e+02] [ 4.09610152e-02 9.99160590e-01 5.58206525e-04 -6.34875939e+00] [ 2.22788852e-02 -1.47186863e-03 9.99750711e-01 2.37389910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.430714057 meters Centerline goodness [0,1] 0.9861800141743444 Centerline is valid? [True, True] Translation: X:189.70, Y:-6.35, Z:2.37 [[ 9.98882837e-01 -4.15415863e-02 -2.25249966e-02 1.89698779e+02] [ 4.15648258e-02 9.99135650e-01 5.64318639e-04 -6.35132741e+00] [ 2.24820844e-02 -1.49993576e-03 9.99746121e-01 2.37351183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.460714057 meters Centerline goodness [0,1] 0.9864415791572511 Centerline is valid? [True, True] Translation: X:189.73, Y:-6.35, Z:2.37 [[ 9.98842028e-01 -4.21423391e-02 -2.32083253e-02 1.89730027e+02] [ 4.21671902e-02 9.99110399e-01 5.82225395e-04 -6.35347264e+00] [ 2.31631428e-02 -1.56018106e-03 9.99730481e-01 2.37314850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.490714057 meters Centerline goodness [0,1] 0.9865159054558379 Centerline is valid? [True, True] Translation: X:189.76, Y:-6.35, Z:2.37 [[ 9.98723935e-01 -4.41518254e-02 -2.45176962e-02 1.89761419e+02] [ 4.41801838e-02 9.99023389e-01 6.15915901e-04 -6.35393148e+00] [ 2.44665581e-02 -1.69832628e-03 9.99699206e-01 2.37240519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.520714057 meters Centerline goodness [0,1] 0.9853848364914763 Centerline is valid? [True, True] Translation: X:189.79, Y:-6.36, Z:2.37 [[ 9.98669243e-01 -4.52725411e-02 -2.47009988e-02 1.89791134e+02] [ 4.53016777e-02 9.98973159e-01 6.20979770e-04 -6.35923222e+00] [ 2.46475214e-02 -1.73915008e-03 9.99694691e-01 2.37155448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.550714057 meters Centerline goodness [0,1] 0.9867371648190523 Centerline is valid? [True, True] Translation: X:189.82, Y:-6.36, Z:2.37 [[ 9.98558478e-01 -4.66954319e-02 -2.64670028e-02 1.89822742e+02] [ 4.67293940e-02 9.98907363e-01 6.65803612e-04 -6.35874780e+00] [ 2.64069940e-02 -1.90163085e-03 9.99649466e-01 2.37156502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.580714057 meters Centerline goodness [0,1] 0.9845415542483082 Centerline is valid? [True, True] Translation: X:189.85, Y:-6.36, Z:2.37 [[ 9.98401620e-01 -4.94234052e-02 -2.74140814e-02 1.89852013e+02] [ 4.94608754e-02 9.98775824e-01 6.90005774e-04 -6.36313619e+00] [ 2.73464193e-02 -2.04482734e-03 9.99623925e-01 2.37082568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.610714057 meters Centerline goodness [0,1] 0.9862940785096473 Centerline is valid? [True, True] Translation: X:189.88, Y:-6.36, Z:2.37 [[ 9.98263308e-01 -5.22181557e-02 -2.72696361e-02 1.89882884e+02] [ 5.22562757e-02 9.98633471e-01 6.86641940e-04 -6.35699903e+00] [ 2.71965162e-02 -2.11045908e-03 9.99627878e-01 2.37377419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.640714057 meters Centerline goodness [0,1] 0.9855066020539723 Centerline is valid? [True, True] Translation: X:189.91, Y:-6.36, Z:2.37 [[ 9.98218633e-01 -5.32233391e-02 -2.69599144e-02 1.89913677e+02] [ 5.32609900e-02 9.98580395e-01 6.79886121e-04 -6.36064293e+00] [ 2.68854561e-02 -2.11458672e-03 9.99636284e-01 2.37437943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.670714057 meters Centerline goodness [0,1] 0.9860885797462166 Centerline is valid? [True, True] Translation: X:189.95, Y:-6.36, Z:2.38 [[ 9.98181279e-01 -5.40137661e-02 -2.67702602e-02 1.89946133e+02] [ 5.40512142e-02 9.98537935e-01 6.76708327e-04 -6.35818124e+00] [ 2.66945688e-02 -2.12244265e-03 9.99641383e-01 2.37535582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.700714057 meters Centerline goodness [0,1] 0.9816267730496454 Centerline is valid? [True, True] Translation: X:189.98, Y:-6.36, Z:2.38 [[ 9.98206847e-01 -5.40590678e-02 -2.57042322e-02 1.89976937e+02] [ 5.40936633e-02 9.98535653e-01 6.51975658e-04 -6.36265687e+00] [ 2.56313471e-02 -2.04124265e-03 9.99669379e-01 2.37570049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73071405699997 meters Centerline goodness [0,1] 0.9783057163771878 Centerline is valid? [True, True] Translation: X:190.01, Y:-6.36, Z:2.38 [[ 9.98246683e-01 -5.39193171e-02 -2.44185621e-02 1.90007848e+02] [ 5.39505428e-02 9.98543416e-01 6.21302869e-04 -6.36272341e+00] [ 2.43494942e-02 -1.93760821e-03 9.99701629e-01 2.37698273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76071405699997 meters Centerline goodness [0,1] 0.9873242888012653 Centerline is valid? [True, True] Translation: X:190.04, Y:-6.35, Z:2.38 [[ 9.98264787e-01 -5.36372303e-02 -2.42994548e-02 1.90039851e+02] [ 5.36681033e-02 9.98558637e-01 6.19690388e-04 -6.35171061e+00] [ 2.42311919e-02 -1.92272074e-03 9.99704533e-01 2.37960921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79071405699997 meters Centerline goodness [0,1] 0.9881316229782487 Centerline is valid? [True, True] Translation: X:190.07, Y:-6.35, Z:2.38 [[ 9.98303313e-01 -5.32772086e-02 -2.34954204e-02 1.90071849e+02] [ 5.33060107e-02 9.98578043e-01 6.00814780e-04 -6.34677389e+00] [ 2.34300012e-02 -1.85224252e-03 9.99723764e-01 2.38120103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82071405699998 meters Centerline goodness [0,1] 0.9887014497941651 Centerline is valid? [True, True] Translation: X:190.10, Y:-6.34, Z:2.38 [[ 9.98324735e-01 -5.32676201e-02 -2.25894499e-02 1.90103785e+02] [ 5.32942763e-02 9.98578682e-01 5.79227604e-04 -6.34449486e+00] [ 2.25264891e-02 -1.78214563e-03 9.99744658e-01 2.38280169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85071405699998 meters Centerline goodness [0,1] 0.9865036696633726 Centerline is valid? [True, True] Translation: X:190.13, Y:-6.35, Z:2.38 [[ 9.98304228e-01 -5.37738987e-02 -2.22943100e-02 1.90134643e+02] [ 5.38000198e-02 9.98551566e-01 5.73083705e-04 -6.35224623e+00] [ 2.22312012e-02 -1.77154621e-03 9.99751287e-01 2.38229666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88071405699998 meters Centerline goodness [0,1] 0.985456660849331 Centerline is valid? [True, True] Translation: X:190.17, Y:-6.35, Z:2.38 [[ 9.98201618e-01 -5.52998048e-02 -2.31400293e-02 1.90165906e+02] [ 5.53283781e-02 9.98468034e-01 5.95897872e-04 -6.35248760e+00] [ 2.30716266e-02 -1.87512651e-03 9.99732056e-01 2.38105308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91071405699998 meters Centerline goodness [0,1] 0.984848145744276 Centerline is valid? [True, True] Translation: X:190.20, Y:-6.35, Z:2.38 [[ 9.98104086e-01 -5.67371760e-02 -2.38563887e-02 1.90197444e+02] [ 5.67679737e-02 9.98387209e-01 6.15167620e-04 -6.35336642e+00] [ 2.37830105e-02 -1.96828016e-03 9.99715207e-01 2.38036744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94071405699998 meters Centerline goodness [0,1] 0.987467210725736 Centerline is valid? [True, True] Translation: X:190.23, Y:-6.35, Z:2.38 [[ 9.97997322e-01 -5.83655288e-02 -2.43887270e-02 1.90228439e+02] [ 5.83982156e-02 9.98293169e-01 6.29555742e-04 -6.34954855e+00] [ 2.43103552e-02 -2.05255308e-03 9.99702353e-01 2.38062268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97071405699998 meters Centerline goodness [0,1] 0.968491435216244 Centerline is valid? [True, True] Translation: X:190.26, Y:-6.36, Z:2.38 [[ 9.97798042e-01 -6.12116654e-02 -2.55381932e-02 1.90257487e+02] [ 6.12484344e-02 9.98122334e-01 6.59308903e-04 -6.35967291e+00] [ 2.54498837e-02 -2.22203149e-03 9.99673630e-01 2.37927387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00071405699998 meters Centerline goodness [0,1] 0.9610468245425189 Centerline is valid? [True, True] Translation: X:190.29, Y:-6.36, Z:2.38 [[ 9.97699936e-01 -6.26299234e-02 -2.59293231e-02 1.90288730e+02] [ 6.26683085e-02 9.98034185e-01 6.69618689e-04 -6.36051127e+00] [ 2.58364127e-02 -2.29302534e-03 9.99663554e-01 2.37930089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03071405699998 meters Centerline goodness [0,1] 0.9801938097262941 Centerline is valid? [True, True] Translation: X:190.32, Y:-6.35, Z:2.38 [[ 9.97562660e-01 -6.45647799e-02 -2.64599608e-02 1.90320085e+02] [ 6.46054535e-02 9.97910651e-01 6.84295086e-04 -6.35458896e+00] [ 2.63604954e-02 -2.39208500e-03 9.99649640e-01 2.38031088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06071405699998 meters Centerline goodness [0,1] 0.9831200897867565 Centerline is valid? [True, True] Translation: X:190.35, Y:-6.35, Z:2.38 [[ 9.97508777e-01 -6.52969070e-02 -2.66936957e-02 1.90352311e+02] [ 6.53386015e-02 9.97862911e-01 6.91804917e-04 -6.35334353e+00] [ 2.65914762e-02 -2.43421022e-03 9.99643420e-01 2.38088780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09071405699999 meters Centerline goodness [0,1] 0.9861881555011566 Centerline is valid? [True, True] Translation: X:190.38, Y:-6.35, Z:2.38 [[ 9.97484860e-01 -6.56435629e-02 -2.67371887e-02 1.90384324e+02] [ 6.56855673e-02 9.97840129e-01 6.94820951e-04 -6.34891753e+00] [ 2.66338293e-02 -2.44932079e-03 9.99642256e-01 2.38155660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.120714057 meters Centerline goodness [0,1] 0.9810799271959194 Centerline is valid? [True, True] Translation: X:190.42, Y:-6.35, Z:2.38 [[ 9.97491604e-01 -6.55143945e-02 -2.68023281e-02 1.90415418e+02] [ 6.55566022e-02 9.97848608e-01 6.98180536e-04 -6.35236453e+00] [ 2.66989249e-02 -2.45349878e-03 9.99640509e-01 2.38145737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.150714057 meters Centerline goodness [0,1] 0.9769763467937764 Centerline is valid? [True, True] Translation: X:190.45, Y:-6.35, Z:2.38 [[ 9.97533404e-01 -6.48839964e-02 -2.67801140e-02 1.90446675e+02] [ 6.49259462e-02 9.97889840e-01 6.99000329e-04 -6.35187843e+00] [ 2.66782498e-02 -2.43600042e-03 9.99641104e-01 2.38126144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.180714057 meters Centerline goodness [0,1] 0.9732335976928623 Centerline is valid? [True, True] Translation: X:190.48, Y:-6.35, Z:2.38 [[ 9.97536753e-01 -6.47453956e-02 -2.69900024e-02 1.90478610e+02] [ 6.47879992e-02 9.97898801e-01 7.06103008e-04 -6.35222972e+00] [ 2.68875741e-02 -2.45299196e-03 9.99635454e-01 2.38132814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.210714057 meters Centerline goodness [0,1] 0.9696812704133349 Centerline is valid? [True, True] Translation: X:190.51, Y:-6.35, Z:2.38 [[ 9.97549044e-01 -6.44202778e-02 -2.73117563e-02 1.90509568e+02] [ 6.44638275e-02 9.97919787e-01 7.16160478e-04 -6.35194973e+00] [ 2.72088068e-02 -2.47502555e-03 9.99626708e-01 2.38146101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.240714057 meters Centerline goodness [0,1] 0.9768505995852493 Centerline is valid? [True, True] Translation: X:190.54, Y:-6.35, Z:2.38 [[ 9.97558635e-01 -6.43344161e-02 -2.71634411e-02 1.90541890e+02] [ 6.43775062e-02 9.97925361e-01 7.13890478e-04 -6.34969674e+00] [ 2.70611590e-02 -2.46086221e-03 9.99630751e-01 2.38238838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.270714057 meters Centerline goodness [0,1] 0.9819779025538852 Centerline is valid? [True, True] Translation: X:190.57, Y:-6.35, Z:2.38 [[ 9.97594214e-01 -6.38484806e-02 -2.70028787e-02 1.90574198e+02] [ 6.38909361e-02 9.97956633e-01 7.11531569e-04 -6.34550927e+00] [ 2.69022717e-02 -2.43505897e-03 9.99635103e-01 2.38331260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.300714057 meters Centerline goodness [0,1] 0.9859853287447926 Centerline is valid? [True, True] Translation: X:190.61, Y:-6.34, Z:2.38 [[ 9.97610936e-01 -6.35374893e-02 -2.71184038e-02 1.90606383e+02] [ 6.35802469e-02 9.97976472e-01 7.16492554e-04 -6.34084173e+00] [ 2.70180048e-02 -2.43897562e-03 9.99631972e-01 2.38420852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.330714057 meters Centerline goodness [0,1] 0.9847125968202202 Centerline is valid? [True, True] Translation: X:190.64, Y:-6.34, Z:2.38 [[ 9.97643144e-01 -6.31155334e-02 -2.69181442e-02 1.90637679e+02] [ 6.31575832e-02 9.98003312e-01 7.13959719e-04 -6.34248740e+00] [ 2.68193351e-02 -2.41236195e-03 9.99637386e-01 2.38410979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.360714057 meters Centerline goodness [0,1] 0.976589765671033 Centerline is valid? [True, True] Translation: X:190.67, Y:-6.35, Z:2.38 [[ 9.97656762e-01 -6.29130900e-02 -2.68873138e-02 1.90669266e+02] [ 6.29550443e-02 9.98016107e-01 7.15896600e-04 -6.34654968e+00] [ 2.67889330e-02 -2.40691112e-03 9.99638214e-01 2.38402638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.390714057 meters Centerline goodness [0,1] 0.9822153664677994 Centerline is valid? [True, True] Translation: X:190.70, Y:-6.34, Z:2.38 [[ 9.97738261e-01 -6.16749847e-02 -2.67312364e-02 1.90701154e+02] [ 6.17160556e-02 9.98093492e-01 7.13362860e-04 -6.34325831e+00] [ 2.66362764e-02 -2.36149589e-03 9.99642402e-01 2.38460515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.420714057 meters Centerline goodness [0,1] 0.9803324162706624 Centerline is valid? [True, True] Translation: X:190.73, Y:-6.35, Z:2.38 [[ 9.97786566e-01 -6.11450608e-02 -2.61390567e-02 1.90733904e+02] [ 6.11841968e-02 9.98126247e-01 6.99319671e-04 -6.34512545e+00] [ 2.60473186e-02 -2.29706896e-03 9.99658072e-01 2.38444760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.450714057 meters Centerline goodness [0,1] 0.9852847525473072 Centerline is valid? [True, True] Translation: X:190.77, Y:-6.34, Z:2.39 [[ 9.97886158e-01 -5.96487651e-02 -2.57922516e-02 1.90765955e+02] [ 5.96864189e-02 9.98216937e-01 6.91822524e-04 -6.34095432e+00] [ 2.57049960e-02 -2.22980725e-03 9.99667085e-01 2.38559573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48071405699997 meters Centerline goodness [0,1] 0.9849013829063704 Centerline is valid? [True, True] Translation: X:190.80, Y:-6.34, Z:2.39 [[ 9.97945599e-01 -5.86205824e-02 -2.58497529e-02 1.90796939e+02] [ 5.86580913e-02 9.98277890e-01 6.94499695e-04 -6.34163516e+00] [ 2.57645248e-02 -2.20937008e-03 9.99665598e-01 2.38568919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51071405699997 meters Centerline goodness [0,1] 0.988089002254663 Centerline is valid? [True, True] Translation: X:190.83, Y:-6.34, Z:2.39 [[ 9.98081452e-01 -5.67875251e-02 -2.46696754e-02 1.90827987e+02] [ 5.68211460e-02 9.98384153e-01 6.63437433e-04 -6.33571163e+00] [ 2.45921380e-02 -2.06392383e-03 9.99695437e-01 2.38764351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54071405699997 meters Centerline goodness [0,1] 0.9880302202803568 Centerline is valid? [True, True] Translation: X:190.86, Y:-6.33, Z:2.39 [[ 9.98145897e-01 -5.57744511e-02 -2.43716940e-02 1.90860850e+02] [ 5.58069938e-02 9.98441359e-01 6.56625129e-04 -6.33190252e+00] [ 2.42970844e-02 -2.01551865e-03 9.99702751e-01 2.38895145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57071405699998 meters Centerline goodness [0,1] 0.985440979094156 Centerline is valid? [True, True] Translation: X:190.89, Y:-6.34, Z:2.39 [[ 9.98228382e-01 -5.45313794e-02 -2.37996986e-02 1.90891173e+02] [ 5.45620937e-02 9.98510173e-01 6.42590049e-04 -6.34040058e+00] [ 2.37291998e-02 -1.94001301e-03 9.99716541e-01 2.38862486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60071405699998 meters Centerline goodness [0,1] 0.9891623596912639 Centerline is valid? [True, True] Translation: X:190.92, Y:-6.33, Z:2.39 [[ 9.98419208e-01 -5.12056064e-02 -2.31748016e-02 1.90922153e+02] [ 5.12338450e-02 9.98686488e-01 6.26014682e-04 -6.33145544e+00] [ 2.31123057e-02 -1.81235927e-03 9.99731232e-01 2.39000446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63071405699998 meters Centerline goodness [0,1] 0.9878846065926028 Centerline is valid? [True, True] Translation: X:190.95, Y:-6.33, Z:2.39 [[ 9.98625221e-01 -4.71066396e-02 -2.29920003e-02 1.90951510e+02] [ 4.71333522e-02 9.98888413e-01 6.20991739e-04 -6.33316387e+00] [ 2.29371898e-02 -1.70382806e-03 9.99735456e-01 2.38926693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66071405699998 meters Centerline goodness [0,1] 0.9889774538829423 Centerline is valid? [True, True] Translation: X:190.98, Y:-6.33, Z:2.39 [[ 9.98738883e-01 -4.44704543e-02 -2.33028299e-02 1.90982204e+02] [ 4.44971787e-02 9.99009312e-01 6.29308423e-04 -6.33058204e+00] [ 2.32517584e-02 -1.66542498e-03 9.99728254e-01 2.38963276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69071405699998 meters Centerline goodness [0,1] 0.9899486007995432 Centerline is valid? [True, True] Translation: X:191.01, Y:-6.32, Z:2.39 [[ 9.98850919e-01 -4.17824285e-02 -2.34748857e-02 1.91013408e+02] [ 4.18088202e-02 9.99125428e-01 6.34366823e-04 -6.32260915e+00] [ 2.34278498e-02 -1.61509516e-03 9.99724226e-01 2.39053710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72071405699998 meters Centerline goodness [0,1] 0.9904591532498509 Centerline is valid? [True, True] Translation: X:191.04, Y:-6.32, Z:2.39 [[ 9.99064928e-01 -3.59476688e-02 -2.40215317e-02 1.91043467e+02] [ 3.59736306e-02 9.99352528e-01 6.49375380e-04 -6.32290379e+00] [ 2.39826349e-02 -1.51290988e-03 9.99711230e-01 2.38939926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75071405699998 meters Centerline goodness [0,1] 0.9898144112316762 Centerline is valid? [True, True] Translation: X:191.07, Y:-6.32, Z:2.39 [[ 9.99156375e-01 -3.31589438e-02 -2.42285474e-02 1.91073210e+02] [ 3.31845380e-02 9.99449027e-01 6.54953835e-04 -6.32394719e+00] [ 2.41934806e-02 -1.45841445e-03 9.99706231e-01 2.38901049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78071405699998 meters Centerline goodness [0,1] 0.9907953632503156 Centerline is valid? [True, True] Translation: X:191.10, Y:-6.32, Z:2.39 [[ 9.99309121e-01 -2.81947968e-02 -2.42143442e-02 1.91103527e+02] [ 2.82189096e-02 9.99601553e-01 6.54616418e-04 -6.31859749e+00] [ 2.41862393e-02 -1.33746655e-03 9.99706575e-01 2.39013771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81071405699998 meters Centerline goodness [0,1] 0.9899425947187142 Centerline is valid? [True, True] Translation: X:191.13, Y:-6.32, Z:2.39 [[ 9.99429930e-01 -2.41057976e-02 -2.36373630e-02 1.91132923e+02] [ 2.41276333e-02 9.99708682e-01 6.38979069e-04 -6.31660621e+00] [ 2.36150739e-02 -1.20892843e-03 9.99720394e-01 2.39176138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84071405699999 meters Centerline goodness [0,1] 0.9906666666666667 Centerline is valid? [True, True] Translation: X:191.16, Y:-6.31, Z:2.39 [[ 9.99495200e-01 -2.20176744e-02 -2.29034191e-02 1.91162934e+02] [ 2.20376214e-02 9.99756951e-01 6.18850650e-04 -6.31312522e+00] [ 2.28842268e-02 -1.12327513e-03 9.99737491e-01 2.39350083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.870714057 meters Centerline goodness [0,1] 0.9914978917536462 Centerline is valid? [True, True] Translation: X:191.19, Y:-6.31, Z:2.40 [[ 9.99545083e-01 -2.00760113e-02 -2.25073591e-02 1.91192646e+02] [ 2.00947707e-02 9.99797895e-01 6.07596922e-04 -6.30755394e+00] [ 2.24906121e-02 -1.05960074e-03 9.99746493e-01 2.39526856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.900714057 meters Centerline goodness [0,1] 0.9907275320970043 Centerline is valid? [True, True] Translation: X:191.22, Y:-6.31, Z:2.39 [[ 9.99613608e-01 -1.62380863e-02 -2.25601274e-02 1.91221615e+02] [ 1.62559401e-02 9.99867678e-01 6.08207605e-04 -6.31101420e+00] [ 2.25472661e-02 -9.74708678e-04 9.99745303e-01 2.39437255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.930714057 meters Centerline goodness [0,1] 0.9912199843296309 Centerline is valid? [True, True] Translation: X:191.25, Y:-6.31, Z:2.40 [[ 9.99644556e-01 -1.41468460e-02 -2.25970983e-02 1.91250784e+02] [ 1.41641998e-02 9.99899498e-01 6.08087161e-04 -6.30773334e+00] [ 2.25862247e-02 -9.27940835e-04 9.99744468e-01 2.39511086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.960714057 meters Centerline goodness [0,1] 0.9918993768751443 Centerline is valid? [True, True] Translation: X:191.28, Y:-6.31, Z:2.40 [[ 9.99668636e-01 -1.18189322e-02 -2.28677006e-02 1.91280046e+02] [ 1.18360249e-02 9.99929764e-01 6.12252915e-04 -6.30641005e+00] [ 2.28588583e-02 -8.82712710e-04 9.99738312e-01 2.39540758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.990714057 meters Centerline goodness [0,1] 0.9916524466171656 Centerline is valid? [True, True] Translation: X:191.31, Y:-6.31, Z:2.40 [[ 9.99672479e-01 -1.14543263e-02 -2.28852127e-02 1.91308230e+02] [ 1.14712244e-02 9.99934019e-01 6.07242319e-04 -6.30834727e+00] [ 2.28767472e-02 -8.69564846e-04 9.99737915e-01 2.39538730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.020714057 meters Centerline goodness [0,1] 0.9914216534071255 Centerline is valid? [True, True] Translation: X:191.34, Y:-6.31, Z:2.40 [[ 9.99666200e-01 -1.19459820e-02 -2.29081184e-02 1.91336600e+02] [ 1.19629130e-02 9.99928260e-01 6.02179084e-04 -6.30998261e+00] [ 2.28992813e-02 -8.76025903e-04 9.99737393e-01 2.39544113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.050714057 meters Centerline goodness [0,1] 0.9915215293414825 Centerline is valid? [True, True] Translation: X:191.37, Y:-6.31, Z:2.40 [[ 9.99645350e-01 -1.32033268e-02 -2.31267602e-02 1.91365168e+02] [ 1.32207860e-02 9.99912420e-01 6.02196976e-04 -6.31091574e+00] [ 2.31167837e-02 -9.07737354e-04 9.99732359e-01 2.39584239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.080714057 meters Centerline goodness [0,1] 0.9903724638680177 Centerline is valid? [True, True] Translation: X:191.39, Y:-6.32, Z:2.40 [[ 9.99591852e-01 -1.64828053e-02 -2.33333809e-02 1.91393859e+02] [ 1.65013780e-02 9.99863661e-01 6.03639109e-04 -6.31761380e+00] [ 2.33202500e-02 -9.88425673e-04 9.99727557e-01 2.39525518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.110714057 meters Centerline goodness [0,1] 0.9909326722218397 Centerline is valid? [True, True] Translation: X:191.42, Y:-6.32, Z:2.40 [[ 9.99548745e-01 -1.88210470e-02 -2.34109789e-02 1.91422905e+02] [ 1.88403546e-02 9.99822322e-01 6.04411905e-04 -6.32133230e+00] [ 2.33954436e-02 -1.04521031e-03 9.99725743e-01 2.39562434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.140714057 meters Centerline goodness [0,1] 0.9905262192044777 Centerline is valid? [True, True] Translation: X:191.45, Y:-6.32, Z:2.40 [[ 9.99503588e-01 -2.11615747e-02 -2.33401902e-02 1.91452396e+02] [ 2.11813779e-02 9.99775468e-01 6.01534833e-04 -6.32362855e+00] [ 2.33222202e-02 -1.09561361e-03 9.99727400e-01 2.39631595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.170714057 meters Centerline goodness [0,1] 0.9897621060810348 Centerline is valid? [True, True] Translation: X:191.48, Y:-6.33, Z:2.40 [[ 9.99449091e-01 -2.47240758e-02 -2.21412262e-02 1.91481489e+02] [ 2.47427514e-02 9.99693689e-01 5.69881157e-04 -6.33254854e+00] [ 2.21203544e-02 -1.11740206e-03 9.99754691e-01 2.39681930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.200714057 meters Centerline goodness [0,1] 0.9897621060810348 Centerline is valid? [True, True] Translation: X:191.51, Y:-6.33, Z:2.40 [[ 9.99449091e-01 -2.47240823e-02 -2.21412385e-02 1.91511516e+02] [ 2.47427474e-02 9.99693689e-01 5.69405122e-04 -6.33332053e+00] [ 2.21203784e-02 -1.11692650e-03 9.99754691e-01 2.39722841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23071405699997 meters Centerline goodness [0,1] 0.9905587051938551 Centerline is valid? [True, True] Translation: X:191.54, Y:-6.33, Z:2.40 [[ 9.99430604e-01 -2.60450652e-02 -2.14504639e-02 1.91542105e+02] [ 2.60628869e-02 9.99660153e-01 5.51640506e-04 -6.32960689e+00] [ 2.14288065e-02 -1.11038742e-03 9.99769760e-01 2.39921637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26071405699997 meters Centerline goodness [0,1] 0.9888784854643861 Centerline is valid? [True, True] Translation: X:191.57, Y:-6.34, Z:2.40 [[ 9.99373047e-01 -2.88802407e-02 -2.04803376e-02 1.91571926e+02] [ 2.88970800e-02 9.99582253e-01 5.26691816e-04 -6.34129971e+00] [ 2.04565710e-02 -1.11818356e-03 9.99790117e-01 2.39948790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29071405699997 meters Centerline goodness [0,1] 0.9900397050482133 Centerline is valid? [True, True] Translation: X:191.60, Y:-6.35, Z:2.40 [[ 9.99339156e-01 -3.04843590e-02 -1.97978701e-02 1.91602869e+02] [ 3.05004103e-02 9.99534625e-01 5.09245025e-04 -6.34502442e+00] [ 1.97731327e-02 -1.11275165e-03 9.99803873e-01 2.40016164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32071405699998 meters Centerline goodness [0,1] 0.9898159117834685 Centerline is valid? [True, True] Translation: X:191.63, Y:-6.34, Z:2.40 [[ 9.99283365e-01 -3.21480850e-02 -1.99814385e-02 1.91633881e+02] [ 3.21647787e-02 9.99482447e-01 5.14556460e-04 -6.34263296e+00] [ 1.99545550e-02 -1.15688626e-03 9.99800219e-01 2.40109419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35071405699998 meters Centerline goodness [0,1] 0.9891133889406577 Centerline is valid? [True, True] Translation: X:191.66, Y:-6.36, Z:2.40 [[ 9.99149785e-01 -3.59908626e-02 -2.01088220e-02 1.91663469e+02] [ 3.60085591e-02 9.99351347e-01 5.18533757e-04 -6.35725969e+00] [ 2.00771159e-02 -1.24218260e-03 9.99797663e-01 2.39958190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38071405699998 meters Centerline goodness [0,1] 0.9899820946941366 Centerline is valid? [True, True] Translation: X:191.69, Y:-6.35, Z:2.40 [[ 9.99009249e-01 -3.91644982e-02 -2.11343847e-02 1.91694674e+02] [ 3.91847530e-02 9.99231834e-01 5.44954183e-04 -6.35255339e+00] [ 2.10968072e-02 -1.37255991e-03 9.99776495e-01 2.39978380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41071405699998 meters Centerline goodness [0,1] 0.9895226216124278 Centerline is valid? [True, True] Translation: X:191.73, Y:-6.36, Z:2.40 [[ 9.98953838e-01 -4.02899584e-02 -2.16321038e-02 1.91725289e+02] [ 4.03114531e-02 9.99187007e-01 5.58329565e-04 -6.36014617e+00] [ 2.15920220e-02 -1.42976700e-03 9.99765843e-01 2.39899728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44071405699998 meters Centerline goodness [0,1] 0.9891169083874471 Centerline is valid? [True, True] Translation: X:191.76, Y:-6.36, Z:2.40 [[ 9.98898566e-01 -4.09610616e-02 -2.28876690e-02 1.91757633e+02] [ 4.09853268e-02 9.99159573e-01 5.91902727e-04 -6.36204932e+00] [ 2.28441887e-02 -1.52930938e-03 9.99737868e-01 2.39882446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47071405699998 meters Centerline goodness [0,1] 0.9900120309627041 Centerline is valid? [True, True] Translation: X:191.79, Y:-6.36, Z:2.40 [[ 9.98817012e-01 -4.19093029e-02 -2.46614627e-02 1.91789852e+02] [ 4.19378085e-02 9.99120018e-01 6.39583428e-04 -6.36131645e+00] [ 2.46129566e-02 -1.67307451e-03 9.99695655e-01 2.39894340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50071405699998 meters Centerline goodness [0,1] 0.9898229787619847 Centerline is valid? [True, True] Translation: X:191.82, Y:-6.37, Z:2.40 [[ 9.98846802e-01 -4.09396517e-02 -2.50801099e-02 1.91819999e+02] [ 4.09688591e-02 9.99160211e-01 6.51626110e-04 -6.36576642e+00] [ 2.50323706e-02 -1.67837815e-03 9.99685232e-01 2.39898994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53071405699998 meters Centerline goodness [0,1] 0.9907853924698318 Centerline is valid? [True, True] Translation: X:191.85, Y:-6.36, Z:2.40 [[ 9.98889451e-01 -4.01094064e-02 -2.47204280e-02 1.91852100e+02] [ 4.01375541e-02 9.99193957e-01 6.43311527e-04 -6.36108474e+00] [ 2.46746995e-02 -1.63481462e-03 9.99694197e-01 2.40050260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56071405699998 meters Centerline goodness [0,1] 0.9894467468351563 Centerline is valid? [True, True] Translation: X:191.88, Y:-6.36, Z:2.40 [[ 9.98940982e-01 -3.91267547e-02 -2.42076860e-02 1.91882593e+02] [ 3.91534868e-02 9.99233009e-01 6.31108771e-04 -6.36352004e+00] [ 2.41644257e-02 -1.57825573e-03 9.99706752e-01 2.40101373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59071405699999 meters Centerline goodness [0,1] 0.9892714062606097 Centerline is valid? [True, True] Translation: X:191.91, Y:-6.36, Z:2.40 [[ 9.99045439e-01 -3.67692086e-02 -2.35846791e-02 1.91913596e+02] [ 3.67939375e-02 9.99322684e-01 6.15278978e-04 -6.36019330e+00] [ 2.35460815e-02 -1.48246487e-03 9.99721653e-01 2.40239049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.620714057 meters Centerline goodness [0,1] 0.9900956438964689 Centerline is valid? [True, True] Translation: X:191.95, Y:-6.36, Z:2.40 [[ 9.99081831e-01 -3.56928218e-02 -2.36963470e-02 1.91945060e+02] [ 3.57174982e-02 9.99361735e-01 6.18797117e-04 -6.35967013e+00] [ 2.36591359e-02 -1.46460319e-03 9.99719011e-01 2.40343447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.650714057 meters Centerline goodness [0,1] 0.9893537330034277 Centerline is valid? [True, True] Translation: X:191.98, Y:-6.36, Z:2.40 [[ 9.99165097e-01 -3.36871687e-02 -2.31145838e-02 1.91975741e+02] [ 3.37101322e-02 9.99431469e-01 6.04420441e-04 -6.36013040e+00] [ 2.30810812e-02 -1.38311148e-03 9.99732640e-01 2.40397180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.680714057 meters Centerline goodness [0,1] 0.9908691317745152 Centerline is valid? [True, True] Translation: X:192.01, Y:-6.36, Z:2.40 [[ 9.99247690e-01 -3.16614328e-02 -2.23966166e-02 1.92007240e+02] [ 3.16825021e-02 9.99497811e-01 5.86436332e-04 -6.35739127e+00] [ 2.23668018e-02 -1.29557600e-03 9.99748992e-01 2.40495099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.710714057 meters Centerline goodness [0,1] 0.9899408686195881 Centerline is valid? [True, True] Translation: X:192.04, Y:-6.36, Z:2.40 [[ 9.99267566e-01 -3.09691489e-02 -2.24776002e-02 1.92037661e+02] [ 3.09902206e-02 9.99519514e-01 5.89640809e-04 -6.36231657e+00] [ 2.24485393e-02 -1.28579472e-03 9.99747173e-01 2.40476537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.740714057 meters Centerline goodness [0,1] 0.990913828654295 Centerline is valid? [True, True] Translation: X:192.07, Y:-6.36, Z:2.41 [[ 9.99300474e-01 -2.99885289e-02 -2.23439242e-02 1.92069388e+02] [ 3.00091333e-02 9.99549452e-01 5.87343137e-04 -6.35959270e+00] [ 2.23162436e-02 -1.25745407e-03 9.99750171e-01 2.40624087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.770714057 meters Centerline goodness [0,1] 0.9904982198335488 Centerline is valid? [True, True] Translation: X:192.10, Y:-6.36, Z:2.41 [[ 9.99326460e-01 -2.92481265e-02 -2.21624487e-02 1.92101269e+02] [ 2.92682368e-02 9.99571423e-01 5.83509586e-04 -6.35939581e+00] [ 2.21358838e-02 -1.23177236e-03 9.99754212e-01 2.40706099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.800714057 meters Centerline goodness [0,1] 0.9903432017046743 Centerline is valid? [True, True] Translation: X:192.13, Y:-6.36, Z:2.41 [[ 9.99344992e-01 -2.84540415e-02 -2.23596409e-02 1.92132449e+02] [ 2.84743400e-02 9.99594350e-01 5.89903626e-04 -6.36190322e+00] [ 2.23337856e-02 -1.22619325e-03 9.99749818e-01 2.40676426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.830714057 meters Centerline goodness [0,1] 0.991222499432978 Centerline is valid? [True, True] Translation: X:192.16, Y:-6.36, Z:2.41 [[ 9.99333944e-01 -2.82311868e-02 -2.31229133e-02 1.92163935e+02] [ 2.82528611e-02 9.99600621e-01 6.11135638e-04 -6.36194842e+00] [ 2.30964254e-02 -1.26401705e-03 9.99732443e-01 2.40721017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.860714057 meters Centerline goodness [0,1] 0.9910198555956679 Centerline is valid? [True, True] Translation: X:192.19, Y:-6.36, Z:2.41 [[ 9.99340347e-01 -2.76685140e-02 -2.35228245e-02 1.92194832e+02] [ 2.76908010e-02 9.99616343e-01 6.22203390e-04 -6.36183146e+00] [ 2.34965844e-02 -1.27315880e-03 9.99723106e-01 2.40703304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.890714057 meters Centerline goodness [0,1] 0.9914555097230406 Centerline is valid? [True, True] Translation: X:192.22, Y:-6.37, Z:2.41 [[ 9.99321338e-01 -2.71181439e-02 -2.49292986e-02 1.92223923e+02] [ 2.71430011e-02 9.99631344e-01 6.59205169e-04 -6.36543861e+00] [ 2.49022318e-02 -1.33541377e-03 9.99688999e-01 2.40555707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.920714057 meters Centerline goodness [0,1] 0.9912138049419524 Centerline is valid? [True, True] Translation: X:192.25, Y:-6.37, Z:2.41 [[ 9.99324766e-01 -2.67953845e-02 -2.51399869e-02 1.92254011e+02] [ 2.68205456e-02 9.99640044e-01 6.64128643e-04 -6.36564952e+00] [ 2.51131420e-02 -1.33794837e-03 9.99683720e-01 2.40577619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.950714057 meters Centerline goodness [0,1] 0.9916615684408493 Centerline is valid? [True, True] Translation: X:192.28, Y:-6.36, Z:2.41 [[ 9.99356330e-01 -2.60383469e-02 -2.46765162e-02 1.92283765e+02] [ 2.60623371e-02 9.99660108e-01 6.51019682e-04 -6.36465461e+00] [ 2.46511774e-02 -1.29372833e-03 9.99695276e-01 2.40718294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98071405699997 meters Centerline goodness [0,1] 0.9905083363537514 Centerline is valid? [True, True] Translation: X:192.31, Y:-6.37, Z:2.41 [[ 9.99371475e-01 -2.55398951e-02 -2.45839178e-02 1.92312543e+02] [ 2.55635288e-02 9.99672990e-01 6.47502620e-04 -6.36988171e+00] [ 2.45593415e-02 -1.27554734e-03 9.99697560e-01 2.40713300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01071405699997 meters Centerline goodness [0,1] 0.991287577992059 Centerline is valid? [True, True] Translation: X:192.34, Y:-6.37, Z:2.41 [[ 9.99392632e-01 -2.48777504e-02 -2.44021528e-02 1.92342436e+02] [ 2.49008121e-02 9.99689721e-01 6.41615397e-04 -6.36750409e+00] [ 2.43786194e-02 -1.24885912e-03 9.99702017e-01 2.40881249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04071405699997 meters Centerline goodness [0,1] 0.9916225849660589 Centerline is valid? [True, True] Translation: X:192.37, Y:-6.37, Z:2.41 [[ 9.99451954e-01 -2.36867900e-02 -2.31241910e-02 1.92372177e+02] [ 2.37071625e-02 9.99718761e-01 6.07224163e-04 -6.36562575e+00] [ 2.31033044e-02 -1.15510033e-03 9.99732416e-01 2.41129852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07071405699998 meters Centerline goodness [0,1] 0.991720019003235 Centerline is valid? [True, True] Translation: X:192.40, Y:-6.37, Z:2.41 [[ 9.99479532e-01 -2.40036499e-02 -2.15520375e-02 1.92400728e+02] [ 2.40214004e-02 9.99711285e-01 5.65067305e-04 -6.37002563e+00] [ 2.15322514e-02 -1.08248333e-03 9.99767568e-01 2.41221629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10071405699998 meters Centerline goodness [0,1] 0.990772648952571 Centerline is valid? [True, True] Translation: X:192.43, Y:-6.37, Z:2.41 [[ 9.99455176e-01 -2.51687590e-02 -2.13514387e-02 1.92430637e+02] [ 2.51864247e-02 9.99682615e-01 5.58827116e-04 -6.37260942e+00] [ 2.13305971e-02 -1.09628906e-03 9.99771876e-01 2.41243886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13071405699998 meters Centerline goodness [0,1] 0.9912882130654176 Centerline is valid? [True, True] Translation: X:192.46, Y:-6.38, Z:2.41 [[ 9.99370003e-01 -2.80165217e-02 -2.17869394e-02 1.92460919e+02] [ 2.80355799e-02 9.99606764e-01 5.69748089e-04 -6.37692349e+00] [ 2.17624096e-02 -1.18019863e-03 9.99762474e-01 2.41251695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16071405699998 meters Centerline goodness [0,1] 0.9912757761160208 Centerline is valid? [True, True] Translation: X:192.49, Y:-6.38, Z:2.41 [[ 9.99321539e-01 -2.95589625e-02 -2.19711023e-02 1.92491151e+02] [ 2.95787191e-02 9.99562289e-01 5.74705991e-04 -6.38414216e+00] [ 2.19444976e-02 -1.22419314e-03 9.99758441e-01 2.41210957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19071405699998 meters Centerline goodness [0,1] 0.9911006708377567 Centerline is valid? [True, True] Translation: X:192.52, Y:-6.38, Z:2.41 [[ 9.99215569e-01 -3.28500593e-02 -2.21160493e-02 1.92522315e+02] [ 3.28708893e-02 9.99459439e-01 5.78880986e-04 -6.38009223e+00] [ 2.20850779e-02 -1.30540110e-03 9.99755243e-01 2.41343432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22071405699998 meters Centerline goodness [0,1] 0.9911762050911717 Centerline is valid? [True, True] Translation: X:192.55, Y:-6.39, Z:2.41 [[ 9.99142514e-01 -3.47418049e-02 -2.25220690e-02 1.92552172e+02] [ 3.47638913e-02 9.99395379e-01 5.89754685e-04 -6.38717380e+00] [ 2.24879625e-02 -1.37220374e-03 9.99746172e-01 2.41312848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25071405699998 meters Centerline goodness [0,1] 0.9918249362028861 Centerline is valid? [True, True] Translation: X:192.58, Y:-6.39, Z:2.41 [[ 9.99010917e-01 -3.76560320e-02 -2.36476335e-02 1.92583053e+02] [ 3.76811993e-02 9.99289619e-01 6.19406475e-04 -6.38645467e+00] [ 2.36075103e-02 -1.50986502e-03 9.99720164e-01 2.41351109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28071405699998 meters Centerline goodness [0,1] 0.9909907880808126 Centerline is valid? [True, True] Translation: X:192.61, Y:-6.39, Z:2.41 [[ 9.98942226e-01 -3.90921048e-02 -2.42123293e-02 1.92613382e+02] [ 3.91189192e-02 9.99234361e-01 6.34631820e-04 -6.39144613e+00] [ 2.41689823e-02 -1.58112067e-03 9.99706637e-01 2.41333169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31071405699998 meters Centerline goodness [0,1] 0.9911462557447959 Centerline is valid? [True, True] Translation: X:192.65, Y:-6.39, Z:2.41 [[ 9.98899933e-01 -3.98720209e-02 -2.46808624e-02 1.92645104e+02] [ 3.99001519e-02 9.99203462e-01 6.48183351e-04 -6.39410446e+00] [ 2.46353587e-02 -1.63224046e-03 9.99695171e-01 2.41326146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34071405699999 meters Centerline goodness [0,1] 0.9913018070664389 Centerline is valid? [True, True] Translation: X:192.68, Y:-6.40, Z:2.41 [[ 9.98855110e-01 -4.03421073e-02 -2.57096021e-02 1.92675001e+02] [ 4.03728272e-02 9.99184456e-01 6.76721249e-04 -6.39755368e+00] [ 2.56613345e-02 -1.71391580e-03 9.99669224e-01 2.41293150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.370714057 meters Centerline goodness [0,1] 0.9916542608381829 Centerline is valid? [True, True] Translation: X:192.71, Y:-6.39, Z:2.41 [[ 9.98903436e-01 -3.80137881e-02 -2.73290739e-02 1.92706432e+02] [ 3.80476547e-02 9.99275666e-01 7.20096026e-04 -6.38914908e+00] [ 2.72819050e-02 -1.75911356e-03 9.99626232e-01 2.41443105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.400714057 meters Centerline goodness [0,1] 0.9912254979360747 Centerline is valid? [True, True] Translation: X:192.74, Y:-6.39, Z:2.41 [[ 9.98978780e-01 -3.56509202e-02 -2.77562477e-02 1.92735714e+02] [ 3.56849529e-02 9.99362821e-01 7.31601763e-04 -6.39169128e+00] [ 2.77124797e-02 -1.72133503e-03 9.99614453e-01 2.41433927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.430714057 meters Centerline goodness [0,1] 0.9922839157999233 Centerline is valid? [True, True] Translation: X:192.77, Y:-6.38, Z:2.42 [[ 9.99195575e-01 -2.90532289e-02 -2.76425872e-02 1.92766651e+02] [ 2.90844664e-02 9.99576692e-01 7.28573264e-04 -6.38356387e+00] [ 2.76097185e-02 -1.53195708e-03 9.99617605e-01 2.41691338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.460714057 meters Centerline goodness [0,1] 0.992273630941623 Centerline is valid? [True, True] Translation: X:192.80, Y:-6.38, Z:2.42 [[ 9.99308103e-01 -2.53853245e-02 -2.71827371e-02 1.92797112e+02] [ 2.54141767e-02 9.99676751e-01 7.16411875e-04 -6.38138338e+00] [ 2.71557640e-02 -1.40674308e-03 9.99630224e-01 2.41823995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.490714057 meters Centerline goodness [0,1] 0.9922143762447945 Centerline is valid? [True, True] Translation: X:192.83, Y:-6.38, Z:2.42 [[ 9.99412086e-01 -2.18309251e-02 -2.64365721e-02 1.92826171e+02] [ 2.18569560e-02 9.99760866e-01 6.96058608e-04 -6.38026829e+00] [ 2.64150547e-02 -1.27347238e-03 9.99650250e-01 2.41915781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.520714057 meters Centerline goodness [0,1] 0.9922312065411882 Centerline is valid? [True, True] Translation: X:192.86, Y:-6.38, Z:2.42 [[ 9.99587411e-01 -1.43848563e-02 -2.48612916e-02 1.92856449e+02] [ 1.44055553e-02 9.99896021e-01 6.53672835e-04 -6.37615648e+00] [ 2.48493036e-02 -1.01154385e-03 9.99690697e-01 2.42107120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.550714057 meters Centerline goodness [0,1] 0.9925885632691915 Centerline is valid? [True, True] Translation: X:192.89, Y:-6.37, Z:2.42 [[ 9.99636821e-01 -1.14437847e-02 -2.43980786e-02 1.92886659e+02] [ 1.14628173e-02 9.99934095e-01 6.40366737e-04 -6.37262679e+00] [ 2.43891424e-02 -9.19804887e-04 9.99702117e-01 2.42250491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.580714057 meters Centerline goodness [0,1] 0.9925802304864573 Centerline is valid? [True, True] Translation: X:192.92, Y:-6.38, Z:2.42 [[ 9.99688866e-01 -6.65888852e-03 -2.40380882e-02 1.92915163e+02] [ 6.67595108e-03 9.99977517e-01 6.29632507e-04 -6.37520754e+00] [ 2.40333551e-02 -7.89913708e-04 9.99710845e-01 2.42141008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.610714057 meters Centerline goodness [0,1] 0.9929267135205984 Centerline is valid? [True, True] Translation: X:192.94, Y:-6.37, Z:2.42 [[ 9.99689862e-01 -5.58399611e-03 -2.42693072e-02 1.92944094e+02] [ 5.60099077e-03 9.99984114e-01 6.32332871e-04 -6.37392583e+00] [ 2.42653907e-02 -7.68068926e-04 9.99705257e-01 2.42219862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.640714057 meters Centerline goodness [0,1] 0.9926911501821556 Centerline is valid? [True, True] Translation: X:192.97, Y:-6.37, Z:2.42 [[ 9.99681798e-01 -5.39488203e-03 -2.46413686e-02 1.92972062e+02] [ 5.41218265e-03 9.99985152e-01 6.35457982e-04 -6.37395296e+00] [ 2.46375745e-02 -7.68619366e-04 9.99696153e-01 2.42254859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.670714057 meters Centerline goodness [0,1] 0.992541867245237 Centerline is valid? [True, True] Translation: X:193.00, Y:-6.38, Z:2.42 [[ 9.99676539e-01 -6.33201406e-03 -2.46317445e-02 1.93000336e+02] [ 6.34946455e-03 9.99979643e-01 6.30307919e-04 -6.37636299e+00] [ 2.46272520e-02 -7.86502428e-04 9.99696394e-01 2.42225701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.700714057 meters Centerline goodness [0,1] 0.9918783558182557 Centerline is valid? [True, True] Translation: X:193.03, Y:-6.38, Z:2.42 [[ 9.99632992e-01 -9.53243573e-03 -2.53577021e-02 1.93028223e+02] [ 9.55190320e-03 9.99954170e-01 6.46695645e-04 -6.38316286e+00] [ 2.53503754e-02 -8.88672618e-04 9.99678233e-01 2.42148015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73071405699997 meters Centerline goodness [0,1] 0.9920001802776276 Centerline is valid? [True, True] Translation: X:193.06, Y:-6.39, Z:2.42 [[ 9.99603601e-01 -1.20450022e-02 -2.54471707e-02 1.93056913e+02] [ 1.20653183e-02 9.99927003e-01 6.44967277e-04 -6.38640355e+00] [ 2.54375445e-02 -9.51739826e-04 9.99675960e-01 2.42164204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76071405699997 meters Centerline goodness [0,1] 0.9912961338641118 Centerline is valid? [True, True] Translation: X:193.09, Y:-6.39, Z:2.42 [[ 9.99539559e-01 -1.62553357e-02 -2.56209546e-02 1.93087383e+02] [ 1.62772245e-02 9.99867309e-01 6.45995104e-04 -6.39155187e+00] [ 2.56070540e-02 -1.06273569e-03 9.99671521e-01 2.42204939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79071405699997 meters Centerline goodness [0,1] 0.9913936452294279 Centerline is valid? [True, True] Translation: X:193.12, Y:-6.39, Z:2.42 [[ 9.99499803e-01 -1.85271853e-02 -2.56298132e-02 1.93116357e+02] [ 1.85497587e-02 9.99827731e-01 6.43257179e-04 -6.39457535e+00] [ 2.56134802e-02 -1.11836227e-03 9.99671295e-01 2.42251343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82071405699998 meters Centerline goodness [0,1] 0.9914814981746067 Centerline is valid? [True, True] Translation: X:193.14, Y:-6.40, Z:2.42 [[ 9.99469398e-01 -2.04674029e-02 -2.53378731e-02 1.93144585e+02] [ 2.04899770e-02 9.99789859e-01 6.31588159e-04 -6.39777103e+00] [ 2.53196216e-02 -1.15042547e-03 9.99678745e-01 2.42260665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85071405699998 meters Centerline goodness [0,1] 0.9919503530152448 Centerline is valid? [True, True] Translation: X:193.17, Y:-6.40, Z:2.42 [[ 9.99425396e-01 -2.35460422e-02 -2.43816009e-02 1.93173868e+02] [ 2.35678158e-02 9.99722057e-01 6.06027277e-04 -6.40060241e+00] [ 2.43605547e-02 -1.18030013e-03 9.99702541e-01 2.42356173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88071405699998 meters Centerline goodness [0,1] 0.991655420602789 Centerline is valid? [True, True] Translation: X:193.20, Y:-6.40, Z:2.42 [[ 9.99384703e-01 -2.63964112e-02 -2.30964421e-02 1.93203556e+02] [ 2.64166846e-02 9.99650854e-01 5.73054353e-04 -6.40320432e+00] [ 2.30732515e-02 -1.18283318e-03 9.99733077e-01 2.42485783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91071405699998 meters Centerline goodness [0,1] 0.9913936452294279 Centerline is valid? [True, True] Translation: X:193.23, Y:-6.41, Z:2.43 [[ 9.99348097e-01 -2.79447379e-02 -2.28576517e-02 1.93232616e+02] [ 2.79649795e-02 9.99608743e-01 5.66319337e-04 -6.40639638e+00] [ 2.28328828e-02 -1.20516391e-03 9.99738569e-01 2.42576790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94071405699998 meters Centerline goodness [0,1] 0.9915000112731946 Centerline is valid? [True, True] Translation: X:193.26, Y:-6.41, Z:2.43 [[ 9.99286896e-01 -3.06341285e-02 -2.20737159e-02 1.93262655e+02] [ 3.06536456e-02 9.99529917e-01 5.46278894e-04 -6.40731492e+00] [ 2.20466047e-02 -1.22252921e-03 9.99756197e-01 2.42723250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97071405699998 meters Centerline goodness [0,1] 0.9911713700141889 Centerline is valid? [True, True] Translation: X:193.29, Y:-6.41, Z:2.43 [[ 9.99242651e-01 -3.22102671e-02 -2.18317100e-02 1.93293443e+02] [ 3.22297313e-02 9.99480341e-01 5.40196737e-04 -6.40899344e+00] [ 2.18029651e-02 -1.24341777e-03 9.99761514e-01 2.42775234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00071405699998 meters Centerline goodness [0,1] 0.990789621475907 Centerline is valid? [True, True] Translation: X:193.32, Y:-6.41, Z:2.43 [[ 9.99193279e-01 -3.39165938e-02 -2.15047791e-02 1.93324221e+02] [ 3.39358813e-02 9.99423870e-01 5.32487623e-04 -6.41135994e+00] [ 2.14743294e-02 -1.26184169e-03 9.99768604e-01 2.42758846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03071405699998 meters Centerline goodness [0,1] 0.9898282962396201 Centerline is valid? [True, True] Translation: X:193.35, Y:-6.42, Z:2.43 [[ 9.99056485e-01 -3.75331708e-02 -2.18495253e-02 1.93354312e+02] [ 3.75539487e-02 9.99294455e-01 5.41267668e-04 -6.41730123e+00] [ 2.18137940e-02 -1.36129293e-03 9.99761124e-01 2.42649356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06071405699998 meters Centerline goodness [0,1] 0.9916138776798394 Centerline is valid? [True, True] Translation: X:193.39, Y:-6.42, Z:2.43 [[ 9.99009751e-01 -3.88693411e-02 -2.16493020e-02 1.93385976e+02] [ 3.88900582e-02 9.99243351e-01 5.36586856e-04 -6.41865072e+00] [ 2.16120644e-02 -1.37799812e-03 9.99765482e-01 2.42670900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09071405699999 meters Centerline goodness [0,1] 0.9897821389989196 Centerline is valid? [True, True] Translation: X:193.42, Y:-6.42, Z:2.43 [[ 9.98886488e-01 -4.10970842e-02 -2.31692211e-02 1.93416148e+02] [ 4.11214304e-02 9.99153991e-01 5.75140481e-04 -6.42279095e+00] [ 2.31259831e-02 -1.52725157e-03 9.99731392e-01 2.42542738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.120714057 meters Centerline goodness [0,1] 0.9897821389989196 Centerline is valid? [True, True] Translation: X:193.45, Y:-6.42, Z:2.43 [[ 9.98889342e-01 -4.10276941e-02 -2.31691916e-02 1.93447899e+02] [ 4.10520491e-02 9.99156843e-01 5.76325823e-04 -6.42364284e+00] [ 2.31260110e-02 -1.52682851e-03 9.99731392e-01 2.42585963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.150714057 meters Centerline goodness [0,1] 0.9910088559388872 Centerline is valid? [True, True] Translation: X:193.48, Y:-6.42, Z:2.43 [[ 9.98860210e-01 -4.13645897e-02 -2.38170264e-02 1.93480130e+02] [ 4.13904616e-02 9.99142871e-01 5.94120946e-04 -6.42434294e+00] [ 2.37720366e-02 -1.57924149e-03 9.99716158e-01 2.42559831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.180714057 meters Centerline goodness [0,1] 0.9895607864357865 Centerline is valid? [True, True] Translation: X:193.51, Y:-6.42, Z:2.42 [[ 9.98825797e-01 -4.13506877e-02 -2.52417802e-02 1.93512223e+02] [ 4.13797900e-02 9.99143290e-01 6.31475161e-04 -6.42249669e+00] [ 2.51940434e-02 -1.67523325e-03 9.99681176e-01 2.42489578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.210714057 meters Centerline goodness [0,1] 0.9894984078231216 Centerline is valid? [True, True] Translation: X:193.54, Y:-6.43, Z:2.42 [[ 9.98845700e-01 -4.08126530e-02 -2.53297375e-02 1.93542324e+02] [ 4.08418156e-02 9.99165423e-01 6.34832709e-04 -6.42521602e+00] [ 2.52826887e-02 -1.66861239e-03 9.99678949e-01 2.42456962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.240714057 meters Centerline goodness [0,1] 0.9895880386665462 Centerline is valid? [True, True] Translation: X:193.57, Y:-6.42, Z:2.42 [[ 9.98907861e-01 -3.95989950e-02 -2.47992928e-02 1.93573090e+02] [ 3.96265912e-02 9.99214364e-01 6.22150682e-04 -6.42498701e+00] [ 2.47551730e-02 -1.60418264e-03 9.99692257e-01 2.42452865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.270714057 meters Centerline goodness [0,1] 0.9900454740842968 Centerline is valid? [True, True] Translation: X:193.60, Y:-6.42, Z:2.43 [[ 9.99095672e-01 -3.52818538e-02 -2.37282472e-02 1.93603542e+02] [ 3.53059150e-02 9.99376374e-01 5.95735262e-04 -6.42046316e+00] [ 2.36924310e-02 -1.43294400e-03 9.99718268e-01 2.42554335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.300714057 meters Centerline goodness [0,1] 0.9911083961175592 Centerline is valid? [True, True] Translation: X:193.63, Y:-6.41, Z:2.43 [[ 9.99299247e-01 -2.90433562e-02 -2.36114165e-02 1.93633505e+02] [ 2.90654452e-02 9.99577335e-01 5.92802032e-04 -6.41490491e+00] [ 2.35842198e-02 -1.27866295e-03 9.99721036e-01 2.42661469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.330714057 meters Centerline goodness [0,1] 0.9911757366785382 Centerline is valid? [True, True] Translation: X:193.66, Y:-6.40, Z:2.43 [[ 9.99384005e-01 -2.59355813e-02 -2.36422474e-02 1.93664974e+02] [ 2.59568646e-02 9.99662888e-01 5.93735036e-04 -6.40488831e+00] [ 2.36188784e-02 -1.20704791e-03 9.99720307e-01 2.42849141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.360714057 meters Centerline goodness [0,1] 0.9902709583560647 Centerline is valid? [True, True] Translation: X:193.69, Y:-6.40, Z:2.43 [[ 9.99554586e-01 -1.91820198e-02 -2.28621769e-02 1.93694792e+02] [ 1.92001635e-02 9.99815495e-01 5.74350667e-04 -6.40467863e+00] [ 2.28469416e-02 -1.01305238e-03 9.99738461e-01 2.42792278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.390714057 meters Centerline goodness [0,1] 0.9922325231771486 Centerline is valid? [True, True] Translation: X:193.72, Y:-6.40, Z:2.43 [[ 9.99612430e-01 -1.64981516e-02 -2.24232049e-02 1.93724415e+02] [ 1.65149231e-02 9.99863461e-01 5.62968006e-04 -6.39519297e+00] [ 2.24108554e-02 -9.33067322e-04 9.99748410e-01 2.43024888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.420714057 meters Centerline goodness [0,1] 0.9916190911166933 Centerline is valid? [True, True] Translation: X:193.75, Y:-6.40, Z:2.43 [[ 9.99696714e-01 -1.17186225e-02 -2.16599732e-02 1.93752913e+02] [ 1.17331320e-02 9.99931017e-01 5.42908699e-04 -6.39865789e+00] [ 2.16521169e-02 -7.96883368e-04 9.99765248e-01 2.42961849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.450714057 meters Centerline goodness [0,1] 0.9925535073893876 Centerline is valid? [True, True] Translation: X:193.78, Y:-6.39, Z:2.43 [[ 9.99721810e-01 -1.01401348e-02 -2.12950901e-02 1.93781613e+02] [ 1.01537461e-02 9.99948308e-01 5.31147306e-04 -6.39019330e+00] [ 2.12886034e-02 -7.47224484e-04 9.99773093e-01 2.43203334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48071405699997 meters Centerline goodness [0,1] 0.9925287881557302 Centerline is valid? [True, True] Translation: X:193.81, Y:-6.39, Z:2.43 [[ 9.99731243e-01 -8.35340611e-03 -2.16255234e-02 1.93810333e+02] [ 8.36690901e-03 9.99964854e-01 5.33990192e-04 -6.38819100e+00] [ 2.16203027e-02 -7.14785464e-04 9.99765998e-01 2.43150031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51071405699997 meters Centerline goodness [0,1] 0.9929332662489136 Centerline is valid? [True, True] Translation: X:193.84, Y:-6.39, Z:2.43 [[ 9.99731156e-01 -8.35592041e-03 -2.16285533e-02 1.93838596e+02] [ 8.36930611e-03 9.99964837e-01 5.28444023e-04 -6.38784972e+00] [ 2.16233772e-02 -7.09317938e-04 9.99765936e-01 2.43152190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54071405699997 meters Centerline goodness [0,1] 0.9929830175310279 Centerline is valid? [True, True] Translation: X:193.87, Y:-6.39, Z:2.43 [[ 9.99732558e-01 -8.64184807e-03 -2.14506541e-02 1.93866368e+02] [ 8.65495021e-03 9.99962411e-01 5.18039302e-04 -6.38784962e+00] [ 2.14453710e-02 -7.03555100e-04 9.99769774e-01 2.43168134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57071405699998 meters Centerline goodness [0,1] 0.9929699625673332 Centerline is valid? [True, True] Translation: X:193.89, Y:-6.39, Z:2.43 [[ 9.99699110e-01 -9.80954909e-03 -2.24825080e-02 1.93894356e+02] [ 9.82412825e-03 9.99951597e-01 5.38106425e-04 -6.38946256e+00] [ 2.24761412e-02 -7.58815556e-04 9.99747092e-01 2.43121788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60071405699998 meters Centerline goodness [0,1] 0.9926287683424998 Centerline is valid? [True, True] Translation: X:193.92, Y:-6.39, Z:2.43 [[ 9.99677864e-01 -1.10672073e-02 -2.28404164e-02 1.93923375e+02] [ 1.10825026e-02 9.99938440e-01 5.43185642e-04 -6.39159740e+00] [ 2.28329988e-02 -7.96139637e-04 9.99738976e-01 2.43076979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63071405699998 meters Centerline goodness [0,1] 0.9915655214976342 Centerline is valid? [True, True] Translation: X:193.95, Y:-6.40, Z:2.43 [[ 9.99635123e-01 -1.37447254e-02 -2.32530385e-02 1.93951773e+02] [ 1.37612110e-02 9.99905159e-01 5.49089197e-04 -6.39635255e+00] [ 2.32432860e-02 -8.68878816e-04 9.99729461e-01 2.42982027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66071405699998 meters Centerline goodness [0,1] 0.9923910063065533 Centerline is valid? [True, True] Translation: X:193.98, Y:-6.40, Z:2.43 [[ 9.99594480e-01 -1.57715460e-02 -2.37093818e-02 1.93980585e+02] [ 1.57891782e-02 9.99875188e-01 5.56652363e-04 -6.39604435e+00] [ 2.36976433e-02 -9.30778284e-04 9.99718738e-01 2.43099941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69071405699998 meters Centerline goodness [0,1] 0.9912362781568798 Centerline is valid? [True, True] Translation: X:194.01, Y:-6.40, Z:2.43 [[ 9.99536816e-01 -1.96462258e-02 -2.32417688e-02 1.94009212e+02] [ 1.96641267e-02 9.99806496e-01 5.41889349e-04 -6.40425201e+00] [ 2.32266253e-02 -9.98667441e-04 9.99729727e-01 2.43036949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72071405699998 meters Centerline goodness [0,1] 0.9915202078916775 Centerline is valid? [True, True] Translation: X:194.04, Y:-6.40, Z:2.43 [[ 9.99489078e-01 -2.19588780e-02 -2.32247924e-02 1.94038452e+02] [ 2.19773474e-02 9.99758323e-01 5.40271761e-04 -6.40243234e+00] [ 2.32073157e-02 -1.05041505e-03 9.99730122e-01 2.43152055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75071405699998 meters Centerline goodness [0,1] 0.9897324065240107 Centerline is valid? [True, True] Translation: X:194.07, Y:-6.42, Z:2.43 [[ 9.99362852e-01 -2.67853912e-02 -2.35888430e-02 1.94066909e+02] [ 2.68057633e-02 9.99640511e-01 5.47795420e-04 -6.41521610e+00] [ 2.35656901e-02 -1.17976333e-03 9.99721594e-01 2.42986559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78071405699998 meters Centerline goodness [0,1] 0.9888898986686054 Centerline is valid? [True, True] Translation: X:194.10, Y:-6.42, Z:2.43 [[ 9.99294495e-01 -2.91596676e-02 -2.36691039e-02 1.94096296e+02] [ 2.91808281e-02 9.99573998e-01 5.49043339e-04 -6.41907480e+00] [ 2.36430109e-02 -1.23934004e-03 9.99719697e-01 2.42988501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81071405699998 meters Centerline goodness [0,1] 0.9896354214019456 Centerline is valid? [True, True] Translation: X:194.13, Y:-6.42, Z:2.43 [[ 9.99218487e-01 -3.18363069e-02 -2.34278513e-02 1.94126427e+02] [ 3.18577574e-02 9.99492265e-01 5.42843326e-04 -6.41984347e+00] [ 2.33986740e-02 -1.28877789e-03 9.99725383e-01 2.43029611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84071405699999 meters Centerline goodness [0,1] 0.9883221900975786 Centerline is valid? [True, True] Translation: X:194.16, Y:-6.42, Z:2.43 [[ 9.99072919e-01 -3.61734835e-02 -2.33405550e-02 1.94156739e+02] [ 3.61959494e-02 9.99344566e-01 5.40632867e-04 -6.41959588e+00] [ 2.33057002e-02 -1.38496520e-03 9.99727426e-01 2.43154098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.870714057 meters Centerline goodness [0,1] 0.988263283108644 Centerline is valid? [True, True] Translation: X:194.19, Y:-6.42, Z:2.43 [[ 9.98973738e-01 -3.86693766e-02 -2.35828294e-02 1.94186571e+02] [ 3.86930056e-02 9.99250996e-01 5.46299801e-04 -6.42460194e+00] [ 2.35440407e-02 -1.45822970e-03 9.99721737e-01 2.43156827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.900714057 meters Centerline goodness [0,1] 0.986975986975987 Centerline is valid? [True, True] Translation: X:194.22, Y:-6.44, Z:2.43 [[ 9.98806186e-01 -4.30231578e-02 -2.31346274e-02 1.94216125e+02] [ 4.30470564e-02 9.99072902e-01 5.35783101e-04 -6.43982158e+00] [ 2.30901282e-02 -1.53102109e-03 9.99732215e-01 2.43004751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.930714057 meters Centerline goodness [0,1] 0.9877985403439004 Centerline is valid? [True, True] Translation: X:194.25, Y:-6.43, Z:2.43 [[ 9.98692898e-01 -4.54185150e-02 -2.34447036e-02 1.94247664e+02] [ 4.54437193e-02 9.98966753e-01 5.43120410e-04 -6.43132436e+00] [ 2.33958117e-02 -1.60782503e-03 9.99724988e-01 2.43168834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.960714057 meters Centerline goodness [0,1] 0.9885793115925641 Centerline is valid? [True, True] Translation: X:194.28, Y:-6.43, Z:2.43 [[ 9.98470846e-01 -4.98096276e-02 -2.39785600e-02 1.94278534e+02] [ 4.98372650e-02 9.98757197e-01 5.56001148e-04 -6.43418511e+00] [ 2.39210651e-02 -1.75017678e-03 9.99712318e-01 2.43204545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.990714057 meters Centerline goodness [0,1] 0.9876991829549046 Centerline is valid? [True, True] Translation: X:194.31, Y:-6.44, Z:2.43 [[ 9.98356768e-01 -5.17230283e-02 -2.46676225e-02 1.94309369e+02] [ 5.17528638e-02 9.98659759e-01 5.72200035e-04 -6.43763726e+00] [ 2.46049660e-02 -1.84787988e-03 9.99695544e-01 2.43166929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.020714057 meters Centerline goodness [0,1] 0.9873295006199977 Centerline is valid? [True, True] Translation: X:194.34, Y:-6.44, Z:2.43 [[ 9.98242327e-01 -5.34609077e-02 -2.55770941e-02 1.94340074e+02] [ 5.34935635e-02 9.98568018e-01 5.93761331e-04 -6.44050119e+00] [ 2.55087251e-02 -1.96092760e-03 9.99672676e-01 2.43144795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.050714057 meters Centerline goodness [0,1] 0.9861086135587125 Centerline is valid? [True, True] Translation: X:194.37, Y:-6.45, Z:2.43 [[ 9.98086302e-01 -5.59183527e-02 -2.63983322e-02 1.94369846e+02] [ 5.59540008e-02 9.98433159e-01 6.13076253e-04 -6.44663585e+00] [ 2.63226880e-02 -2.08899531e-03 9.99651315e-01 2.42999929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.080714057 meters Centerline goodness [0,1] 0.9869106993748731 Centerline is valid? [True, True] Translation: X:194.40, Y:-6.45, Z:2.43 [[ 9.98007954e-01 -5.69883794e-02 -2.70637833e-02 1.94402273e+02] [ 5.70262649e-02 9.98372480e-01 6.29486954e-04 -6.44641646e+00] [ 2.69838630e-02 -2.17157946e-03 9.99633511e-01 2.43029919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.110714057 meters Centerline goodness [0,1] 0.9861928067890979 Centerline is valid? [True, True] Translation: X:194.43, Y:-6.45, Z:2.43 [[ 9.97918711e-01 -5.82277741e-02 -2.77087038e-02 1.94434374e+02] [ 5.82680169e-02 9.98300766e-01 6.46470977e-04 -6.44783469e+00] [ 2.76239777e-02 -2.25965670e-03 9.99615831e-01 2.43082817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.140714057 meters Centerline goodness [0,1] 0.98545438169864 Centerline is valid? [True, True] Translation: X:194.47, Y:-6.45, Z:2.43 [[ 9.97893652e-01 -5.85574078e-02 -2.79157679e-02 1.94466199e+02] [ 5.85984379e-02 9.98281421e-01 6.53281939e-04 -6.44893714e+00] [ 2.78295380e-02 -2.28772629e-03 9.99610066e-01 2.43145986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.170714057 meters Centerline goodness [0,1] 0.9854484840293734 Centerline is valid? [True, True] Translation: X:194.50, Y:-6.45, Z:2.43 [[ 9.97905229e-01 -5.86391341e-02 -2.73240839e-02 1.94498421e+02] [ 5.86785252e-02 9.98276725e-01 6.41355489e-04 -6.44993161e+00] [ 2.72393884e-02 -2.24334894e-03 9.99626422e-01 2.43189271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.200714057 meters Centerline goodness [0,1] 0.9856518605279755 Centerline is valid? [True, True] Translation: X:194.53, Y:-6.45, Z:2.43 [[ 9.97945050e-01 -5.81453159e-02 -2.69220939e-02 1.94530219e+02] [ 5.81834288e-02 9.98305708e-01 6.33827894e-04 -6.44922818e+00] [ 2.68396258e-02 -2.19894514e-03 9.99637334e-01 2.43309905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23071405699997 meters Centerline goodness [0,1] 0.9860642841087885 Centerline is valid? [True, True] Translation: X:194.56, Y:-6.45, Z:2.43 [[ 9.97984672e-01 -5.74966735e-02 -2.68463553e-02 1.94562937e+02] [ 5.75343966e-02 9.98343323e-01 6.34193408e-04 -6.44942869e+00] [ 2.67654156e-02 -2.17750415e-03 9.99639370e-01 2.43357804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26071405699997 meters Centerline goodness [0,1] 0.9858843690809056 Centerline is valid? [True, True] Translation: X:194.60, Y:-6.45, Z:2.43 [[ 9.97989721e-01 -5.71386746e-02 -2.74169271e-02 1.94595016e+02] [ 5.71779452e-02 9.98363792e-01 6.49883166e-04 -6.44923133e+00] [ 2.73349338e-02 -2.21622027e-03 9.99623874e-01 2.43403959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29071405699997 meters Centerline goodness [0,1] 0.986368040377639 Centerline is valid? [True, True] Translation: X:194.63, Y:-6.45, Z:2.43 [[ 9.97988793e-01 -5.70195912e-02 -2.76971930e-02 1.94627123e+02] [ 5.70596778e-02 9.98370552e-01 6.58486499e-04 -6.45028200e+00] [ 2.76145152e-02 -2.23755505e-03 9.99616142e-01 2.43404463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32071405699998 meters Centerline goodness [0,1] 0.9855664058095217 Centerline is valid? [True, True] Translation: X:194.66, Y:-6.45, Z:2.43 [[ 9.97980307e-01 -5.70575429e-02 -2.79238760e-02 1.94658976e+02] [ 5.70983581e-02 9.98368336e-01 6.65840559e-04 -6.45074467e+00] [ 2.78403224e-02 -2.25890324e-03 9.99609831e-01 2.43398594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35071405699998 meters Centerline goodness [0,1] 0.986122412078474 Centerline is valid? [True, True] Translation: X:194.69, Y:-6.45, Z:2.43 [[ 9.97982672e-01 -5.69901944e-02 -2.79768405e-02 1.94689852e+02] [ 5.70311860e-02 9.98372173e-01 6.68809738e-04 -6.45130689e+00] [ 2.78931834e-02 -2.26301292e-03 9.99608348e-01 2.43434080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38071405699998 meters Centerline goodness [0,1] 0.9848782803282023 Centerline is valid? [True, True] Translation: X:194.72, Y:-6.45, Z:2.43 [[ 9.97984004e-01 -5.70160527e-02 -2.78764814e-02 1.94722220e+02] [ 5.70568076e-02 9.98370710e-01 6.68099677e-04 -6.45248226e+00] [ 2.77929701e-02 -2.25729582e-03 9.99611152e-01 2.43482669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41071405699998 meters Centerline goodness [0,1] 0.983861489082772 Centerline is valid? [True, True] Translation: X:194.75, Y:-6.45, Z:2.44 [[ 9.97989746e-01 -5.69336872e-02 -2.78392354e-02 1.94753806e+02] [ 5.69743476e-02 9.98375419e-01 6.68870472e-04 -6.45312814e+00] [ 2.77559270e-02 -2.25364815e-03 9.99612190e-01 2.43530163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44071405699998 meters Centerline goodness [0,1] 0.9827695226051217 Centerline is valid? [True, True] Translation: X:194.78, Y:-6.45, Z:2.44 [[ 9.97990196e-01 -5.71971494e-02 -2.72773561e-02 1.94784734e+02] [ 5.72363195e-02 9.98360442e-01 6.56750033e-04 -6.45399573e+00] [ 2.71950691e-02 -2.21668556e-03 9.99627688e-01 2.43606292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47071405699998 meters Centerline goodness [0,1] 0.9820223701489834 Centerline is valid? [True, True] Translation: X:194.82, Y:-6.46, Z:2.44 [[ 9.97976623e-01 -5.75285184e-02 -2.70763470e-02 1.94816601e+02] [ 5.75672771e-02 9.98341415e-01 6.53499104e-04 -6.45531813e+00] [ 2.69938438e-02 -2.21088840e-03 9.99633155e-01 2.43653260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50071405699998 meters Centerline goodness [0,1] 0.9798847968069666 Centerline is valid? [True, True] Translation: X:194.85, Y:-6.46, Z:2.44 [[ 9.98002016e-01 -5.73093212e-02 -2.66010713e-02 1.94847855e+02] [ 5.73466942e-02 9.98354117e-01 6.43572509e-04 -6.45563479e+00] [ 2.65204063e-02 -2.16777016e-03 9.99645922e-01 2.43736846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53071405699998 meters Centerline goodness [0,1] 0.9765651611145173 Centerline is valid? [True, True] Translation: X:194.88, Y:-6.46, Z:2.44 [[ 9.98002091e-01 -5.72951725e-02 -2.66287187e-02 1.94880069e+02] [ 5.73326592e-02 9.98354921e-01 6.45781074e-04 -6.45677421e+00] [ 2.65479122e-02 -2.17118611e-03 9.99645184e-01 2.43765093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56071405699998 meters Centerline goodness [0,1] 0.9793420219024346 Centerline is valid? [True, True] Translation: X:194.91, Y:-6.46, Z:2.44 [[ 9.98036296e-01 -5.68406377e-02 -2.63190805e-02 1.94912710e+02] [ 5.68771511e-02 9.98380979e-01 6.40208473e-04 -6.45636033e+00] [ 2.62400795e-02 -2.13590561e-03 9.99653388e-01 2.43855687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59071405699999 meters Centerline goodness [0,1] 0.974691876432803 Centerline is valid? [True, True] Translation: X:194.94, Y:-6.46, Z:2.44 [[ 9.97998275e-01 -5.75471911e-02 -2.62252571e-02 1.94943625e+02] [ 5.75837323e-02 9.98340475e-01 6.39665964e-04 -6.45824551e+00] [ 2.61449247e-02 -2.14853371e-03 9.99655854e-01 2.43903694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.620714057 meters Centerline goodness [0,1] 0.9714078242715802 Centerline is valid? [True, True] Translation: X:194.98, Y:-6.46, Z:2.44 [[ 9.97974932e-01 -5.78872745e-02 -2.63647111e-02 1.94975531e+02] [ 5.79243629e-02 9.98320766e-01 6.44569993e-04 -6.45943014e+00] [ 2.62831262e-02 -2.17042379e-03 9.99652183e-01 2.43960455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.650714057 meters Centerline goodness [0,1] 0.9643942486506101 Centerline is valid? [True, True] Translation: X:195.01, Y:-6.46, Z:2.44 [[ 9.97943251e-01 -5.84102247e-02 -2.64104950e-02 1.95006340e+02] [ 5.84476789e-02 9.98290263e-01 6.47776891e-04 -6.46173853e+00] [ 2.63275032e-02 -2.19007671e-03 9.99650972e-01 2.43912371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.680714057 meters Centerline goodness [0,1] 0.9868693534806454 Centerline is valid? [True, True] Translation: X:195.04, Y:-6.44, Z:2.44 [[ 9.97932693e-01 -5.85521115e-02 -2.64950929e-02 1.95039385e+02] [ 5.85899146e-02 9.98281922e-01 6.52079157e-04 -6.44192553e+00] [ 2.64113916e-02 -2.20307634e-03 9.99648731e-01 2.44225420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.710714057 meters Centerline goodness [0,1] 0.9859103800340329 Centerline is valid? [True, True] Translation: X:195.07, Y:-6.45, Z:2.44 [[ 9.97922675e-01 -5.85511884e-02 -2.68717953e-02 1.95070869e+02] [ 5.85901209e-02 9.98281903e-01 6.63090184e-04 -6.44553923e+00] [ 2.67868023e-02 -2.23613447e-03 9.99638668e-01 2.44163109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.740714057 meters Centerline goodness [0,1] 0.9865228501006263 Centerline is valid? [True, True] Translation: X:195.10, Y:-6.45, Z:2.44 [[ 9.97914904e-01 -5.84047184e-02 -2.74724066e-02 1.95103324e+02] [ 5.84454113e-02 9.98290374e-01 6.79910933e-04 -6.44701709e+00] [ 2.73857291e-02 -2.28412936e-03 9.99622331e-01 2.44112408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.770714057 meters Centerline goodness [0,1] 0.984622004801377 Centerline is valid? [True, True] Translation: X:195.13, Y:-6.45, Z:2.44 [[ 9.97896781e-01 -5.79589874e-02 -2.90305010e-02 1.95134054e+02] [ 5.80043030e-02 9.98316073e-01 7.20570136e-04 -6.45283524e+00] [ 2.89398523e-02 -2.40294860e-03 9.99578266e-01 2.43899589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.800714057 meters Centerline goodness [0,1] 0.9872714438600086 Centerline is valid? [True, True] Translation: X:195.17, Y:-6.45, Z:2.44 [[ 9.97863803e-01 -5.82467273e-02 -2.95829140e-02 1.95166810e+02] [ 5.82939653e-02 9.98299189e-01 7.36143624e-04 -6.44801614e+00] [ 2.94897212e-02 -2.45907644e-03 9.99562059e-01 2.43973854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.830714057 meters Centerline goodness [0,1] 0.9867435027219097 Centerline is valid? [True, True] Translation: X:195.20, Y:-6.45, Z:2.44 [[ 9.97880156e-01 -5.79458471e-02 -2.96221725e-02 1.95198893e+02] [ 5.79931408e-02 9.98316708e-01 7.39214341e-04 -6.45016275e+00] [ 2.95294754e-02 -2.45553015e-03 9.99560894e-01 2.44007345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.860714057 meters Centerline goodness [0,1] 0.986885469463827 Centerline is valid? [True, True] Translation: X:195.23, Y:-6.45, Z:2.44 [[ 9.97971339e-01 -5.69417139e-02 -2.84753864e-02 1.95230078e+02] [ 5.69850501e-02 9.98374778e-01 7.12046621e-04 -6.44867931e+00] [ 2.83885625e-02 -2.33327344e-03 9.99594240e-01 2.44177559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.890714057 meters Centerline goodness [0,1] 0.985813345458679 Centerline is valid? [True, True] Translation: X:195.26, Y:-6.45, Z:2.44 [[ 9.98042810e-01 -5.59593312e-02 -2.79124016e-02 1.95261415e+02] [ 5.60006155e-02 9.98430490e-01 6.98944102e-04 -6.44904006e+00] [ 2.78294803e-02 -2.26068780e-03 9.99610129e-01 2.44281616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.920714057 meters Centerline goodness [0,1] 0.9860120742681399 Centerline is valid? [True, True] Translation: X:195.29, Y:-6.45, Z:2.44 [[ 9.98188240e-01 -5.37172190e-02 -2.71053084e-02 1.95291550e+02] [ 5.37553404e-02 9.98553905e-01 6.79197651e-04 -6.44897748e+00] [ 2.70296269e-02 -2.13502219e-03 9.99632353e-01 2.44377542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.950714057 meters Centerline goodness [0,1] 0.9866359025905789 Centerline is valid? [True, True] Translation: X:195.32, Y:-6.45, Z:2.45 [[ 9.98258757e-01 -5.25244512e-02 -2.68446732e-02 1.95323600e+02] [ 5.25614324e-02 9.98617466e-01 6.73347471e-04 -6.44641031e+00] [ 2.67721923e-02 -2.08316948e-03 9.99639390e-01 2.44501116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98071405699997 meters Centerline goodness [0,1] 0.9853598467572745 Centerline is valid? [True, True] Translation: X:195.35, Y:-6.45, Z:2.45 [[ 9.98348346e-01 -5.10124203e-02 -2.64256156e-02 1.95353810e+02] [ 5.10477529e-02 9.98695993e-01 6.63745836e-04 -6.44739486e+00] [ 2.63572971e-02 -2.01161785e-03 9.99650562e-01 2.44582779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01071405699997 meters Centerline goodness [0,1] 0.9853598467572745 Centerline is valid? [True, True] Translation: X:195.39, Y:-6.45, Z:2.45 [[ 9.98351782e-01 -5.09451456e-02 -2.64255879e-02 1.95385586e+02] [ 5.09804836e-02 9.98699428e-01 6.64843594e-04 -6.44825971e+00] [ 2.63573490e-02 -2.01093704e-03 9.99650562e-01 2.44626048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04071405699997 meters Centerline goodness [0,1] 0.9871406786990463 Centerline is valid? [True, True] Translation: X:195.42, Y:-6.44, Z:2.45 [[ 9.98501712e-01 -4.81317577e-02 -2.60319944e-02 1.95416488e+02] [ 4.81651307e-02 9.98839171e-01 6.56134824e-04 -6.43926315e+00] [ 2.59701948e-02 -1.90898616e-03 9.99660895e-01 2.44772042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07071405699998 meters Centerline goodness [0,1] 0.9878279933316586 Centerline is valid? [True, True] Translation: X:195.45, Y:-6.44, Z:2.45 [[ 9.98569075e-01 -4.67358789e-02 -2.59915462e-02 1.95448015e+02] [ 4.67686975e-02 9.98905530e-01 6.55872118e-04 -6.43652271e+00] [ 2.59324465e-02 -1.87052438e-03 9.99661948e-01 2.44853144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10071405699998 meters Centerline goodness [0,1] 0.9873728114400954 Centerline is valid? [True, True] Translation: X:195.48, Y:-6.43, Z:2.45 [[ 9.98620727e-01 -4.52267100e-02 -2.66681184e-02 1.95479160e+02] [ 4.52607505e-02 9.98974980e-01 6.73909691e-04 -6.43272875e+00] [ 2.66103043e-02 -1.87999924e-03 9.99644115e-01 2.44925640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13071405699998 meters Centerline goodness [0,1] 0.9881667660413704 Centerline is valid? [True, True] Translation: X:195.51, Y:-6.43, Z:2.45 [[ 9.98651583e-01 -4.45812301e-02 -2.65994406e-02 1.95511288e+02] [ 4.46149054e-02 9.99004032e-01 6.73596580e-04 -6.43274604e+00] [ 2.65429186e-02 -1.85941982e-03 9.99645945e-01 2.44989674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16071405699998 meters Centerline goodness [0,1] 0.9866069377440846 Centerline is valid? [True, True] Translation: X:195.54, Y:-6.43, Z:2.45 [[ 9.98680135e-01 -4.38678473e-02 -2.67132964e-02 1.95543450e+02] [ 4.39016155e-02 9.99035629e-01 6.78645543e-04 -6.43360868e+00] [ 2.66577641e-02 -1.85050669e-03 9.99642906e-01 2.45013193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19071405699998 meters Centerline goodness [0,1] 0.9872393258685306 Centerline is valid? [True, True] Translation: X:195.57, Y:-6.43, Z:2.45 [[ 9.98699877e-01 -4.31922709e-02 -2.70736689e-02 1.95574735e+02] [ 4.32267631e-02 9.99065049e-01 6.89776071e-04 -6.43235324e+00] [ 2.70185634e-02 -1.85918635e-03 9.99633203e-01 2.45018513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22071405699998 meters Centerline goodness [0,1] 0.9867138653916881 Centerline is valid? [True, True] Translation: X:195.61, Y:-6.43, Z:2.45 [[ 9.98712548e-01 -4.27468600e-02 -2.73121118e-02 1.95606156e+02] [ 4.27818626e-02 9.99084193e-01 6.98258636e-04 -6.43495092e+00] [ 2.72572508e-02 -1.86582267e-03 9.99626711e-01 2.45013320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25071405699998 meters Centerline goodness [0,1] 0.9871942512322078 Centerline is valid? [True, True] Translation: X:195.64, Y:-6.43, Z:2.45 [[ 9.98720170e-01 -4.24104103e-02 -2.75568319e-02 1.95638469e+02] [ 4.24459883e-02 9.99098513e-01 7.07149944e-04 -6.43318203e+00] [ 2.75019992e-02 -1.87592188e-03 9.99619988e-01 2.45061437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28071405699998 meters Centerline goodness [0,1] 0.9866632883401668 Centerline is valid? [True, True] Translation: X:195.67, Y:-6.43, Z:2.45 [[ 9.98765015e-01 -4.11345499e-02 -2.78638377e-02 1.95668694e+02] [ 4.11704646e-02 9.99151880e-01 7.16228908e-04 -6.43209877e+00] [ 2.78107441e-02 -1.86251152e-03 9.99611471e-01 2.45084269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31071405699998 meters Centerline goodness [0,1] 0.9867928884784114 Centerline is valid? [True, True] Translation: X:195.70, Y:-6.43, Z:2.45 [[ 9.98787641e-01 -4.06111245e-02 -2.78205960e-02 1.95700174e+02] [ 4.06467794e-02 9.99173321e-01 7.17049337e-04 -6.43356934e+00] [ 2.77684771e-02 -1.84699765e-03 9.99612675e-01 2.45116279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34071405699999 meters Centerline goodness [0,1] 0.9863149635373396 Centerline is valid? [True, True] Translation: X:195.73, Y:-6.43, Z:2.45 [[ 9.98837810e-01 -3.95902282e-02 -2.74889794e-02 1.95731289e+02] [ 3.96247100e-02 9.99214380e-01 7.10585151e-04 -6.42938293e+00] [ 2.74392513e-02 -1.79900215e-03 9.99621854e-01 2.45284085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.370714057 meters Centerline goodness [0,1] 0.9860081925714549 Centerline is valid? [True, True] Translation: X:195.76, Y:-6.43, Z:2.45 [[ 9.98886440e-01 -3.87992627e-02 -2.68420862e-02 1.95761738e+02] [ 3.88318739e-02 9.99245517e-01 6.94542986e-04 -6.43204313e+00] [ 2.67948865e-02 -1.73609808e-03 9.99639445e-01 2.45343430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.400714057 meters Centerline goodness [0,1] 0.9867592443080898 Centerline is valid? [True, True] Translation: X:195.79, Y:-6.42, Z:2.46 [[ 9.98909496e-01 -3.83823819e-02 -2.65821833e-02 1.95794179e+02] [ 3.84142484e-02 9.99261663e-01 6.88984380e-04 -6.42275691e+00] [ 2.65361118e-02 -1.70936763e-03 9.99646394e-01 2.45596339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.430714057 meters Centerline goodness [0,1] 0.985374518443332 Centerline is valid? [True, True] Translation: X:195.83, Y:-6.43, Z:2.45 [[ 9.98915540e-01 -3.80954651e-02 -2.67671456e-02 1.95825521e+02] [ 3.81277196e-02 9.99272632e-01 6.95478005e-04 -6.43407466e+00] [ 2.67211815e-02 -1.71529401e-03 9.99641454e-01 2.45414560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.460714057 meters Centerline goodness [0,1] 0.9867249473854622 Centerline is valid? [True, True] Translation: X:195.86, Y:-6.42, Z:2.46 [[ 9.98915211e-01 -3.79361701e-02 -2.70045876e-02 1.95857560e+02] [ 3.79689877e-02 9.99278670e-01 7.03352755e-04 -6.42418685e+00] [ 2.69584259e-02 -1.72792662e-03 9.99635062e-01 2.45630100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.490714057 meters Centerline goodness [0,1] 0.9862450957765982 Centerline is valid? [True, True] Translation: X:195.89, Y:-6.43, Z:2.46 [[ 9.98881277e-01 -3.83371672e-02 -2.76849515e-02 1.95888620e+02] [ 3.83718621e-02 9.99263267e-01 7.22833661e-04 -6.42689534e+00] [ 2.76368437e-02 -1.78434815e-03 9.99616437e-01 2.45577108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.520714057 meters Centerline goodness [0,1] 0.9864126046736948 Centerline is valid? [True, True] Translation: X:195.92, Y:-6.43, Z:2.46 [[ 9.98856370e-01 -3.87736344e-02 -2.79742238e-02 1.95920634e+02] [ 3.88092777e-02 9.99246368e-01 7.32135086e-04 -6.42785013e+00] [ 2.79247540e-02 -1.81695722e-03 9.99608377e-01 2.45587327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.550714057 meters Centerline goodness [0,1] 0.9877232657959109 Centerline is valid? [True, True] Translation: X:195.95, Y:-6.43, Z:2.46 [[ 9.98830044e-01 -3.91731387e-02 -2.83550250e-02 1.95952450e+02] [ 3.92099769e-02 9.99230716e-01 7.44116725e-04 -6.42878054e+00] [ 2.83040626e-02 -1.85504602e-03 9.99597638e-01 2.45615697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.580714057 meters Centerline goodness [0,1] 0.9869539115175026 Centerline is valid? [True, True] Translation: X:195.98, Y:-6.43, Z:2.46 [[ 9.98758873e-01 -4.06505482e-02 -2.87792806e-02 1.95983248e+02] [ 4.06891590e-02 9.99171566e-01 7.57023580e-04 -6.43032438e+00] [ 2.87246655e-02 -1.92708874e-03 9.99585504e-01 2.45722018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.610714057 meters Centerline goodness [0,1] 0.9867670492598324 Centerline is valid? [True, True] Translation: X:196.01, Y:-6.44, Z:2.46 [[ 9.98732746e-01 -4.11381396e-02 -2.89923334e-02 1.96013732e+02] [ 4.11775655e-02 9.99151552e-01 7.63895118e-04 -6.43704199e+00] [ 2.89363097e-02 -1.95676078e-03 9.99579342e-01 2.45649746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.640714057 meters Centerline goodness [0,1] 0.9867366037387064 Centerline is valid? [True, True] Translation: X:196.04, Y:-6.44, Z:2.46 [[ 9.98645880e-01 -4.26483770e-02 -2.97913004e-02 1.96044552e+02] [ 4.26906989e-02 9.99088028e-01 7.85724179e-04 -6.44088558e+00] [ 2.97306217e-02 -2.05647165e-03 9.99555832e-01 2.45616543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.670714057 meters Centerline goodness [0,1] 0.98616299986163 Centerline is valid? [True, True] Translation: X:196.08, Y:-6.44, Z:2.46 [[ 9.98618644e-01 -4.29580490e-02 -3.02557555e-02 1.96075937e+02] [ 4.30018674e-02 9.99074673e-01 7.98781907e-04 -6.44371354e+00] [ 3.01934449e-02 -2.09873249e-03 9.99541871e-01 2.45577385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.700714057 meters Centerline goodness [0,1] 0.9871115005072397 Centerline is valid? [True, True] Translation: X:196.11, Y:-6.44, Z:2.46 [[ 9.98599504e-01 -4.32418096e-02 -3.04823943e-02 1.96108442e+02] [ 4.32864705e-02 9.99062376e-01 8.06461274e-04 -6.43679151e+00] [ 3.04189404e-02 -2.12480709e-03 9.99534979e-01 2.45824863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73071405699997 meters Centerline goodness [0,1] 0.9857800180350991 Centerline is valid? [True, True] Translation: X:196.14, Y:-6.45, Z:2.46 [[ 9.98599463e-01 -4.33183494e-02 -3.03748880e-02 1.96139160e+02] [ 4.33627880e-02 9.99059067e-01 8.05501723e-04 -6.44921920e+00] [ 3.03114143e-02 -2.12151342e-03 9.99538252e-01 2.45640768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76071405699997 meters Centerline goodness [0,1] 0.9855256475368207 Centerline is valid? [True, True] Translation: X:196.17, Y:-6.45, Z:2.46 [[ 9.98629495e-01 -4.28569632e-02 -3.00401822e-02 1.96170094e+02] [ 4.29002576e-02 9.99079042e-01 7.97891229e-04 -6.45014923e+00] [ 2.99783213e-02 -2.08552927e-03 9.99548373e-01 2.45715445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79071405699997 meters Centerline goodness [0,1] 0.9857953892477073 Centerline is valid? [True, True] Translation: X:196.20, Y:-6.45, Z:2.46 [[ 9.98735749e-01 -4.09836160e-02 -2.91074911e-02 1.96200427e+02] [ 4.10234904e-02 9.99157883e-01 7.73804008e-04 -6.45096151e+00] [ 2.90512659e-02 -1.96691661e-03 9.99575988e-01 2.45905121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82071405699998 meters Centerline goodness [0,1] 0.9865154060335504 Centerline is valid? [True, True] Translation: X:196.23, Y:-6.44, Z:2.46 [[ 9.98786169e-01 -3.99454553e-02 -2.88192389e-02 1.96232005e+02] [ 3.99841348e-02 9.99200020e-01 7.66886617e-04 -6.44329452e+00] [ 2.87655505e-02 -1.91826808e-03 9.99584345e-01 2.46224007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85071405699998 meters Centerline goodness [0,1] 0.985544276408167 Centerline is valid? [True, True] Translation: X:196.26, Y:-6.45, Z:2.46 [[ 9.98833181e-01 -3.89920221e-02 -2.84938429e-02 1.96262269e+02] [ 3.90294671e-02 9.99237772e-01 7.58952023e-04 -6.45301012e+00] [ 2.84425310e-02 -1.87016597e-03 9.99593680e-01 2.46136216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88071405699998 meters Centerline goodness [0,1] 0.9877173613027878 Centerline is valid? [True, True] Translation: X:196.29, Y:-6.44, Z:2.47 [[ 9.98943288e-01 -3.67052613e-02 -2.76592124e-02 1.96293567e+02] [ 3.67396841e-02 9.99324598e-01 7.37199320e-04 -6.44050151e+00] [ 2.76134722e-02 -1.75261104e-03 9.99617139e-01 2.46612234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91071405699998 meters Centerline goodness [0,1] 0.9857539400334931 Centerline is valid? [True, True] Translation: X:196.33, Y:-6.44, Z:2.47 [[ 9.99010521e-01 -3.53909207e-02 -2.69343816e-02 1.96325072e+02] [ 3.54231121e-02 9.99372146e-01 7.18829159e-04 -6.44304109e+00] [ 2.68920308e-02 -1.67221751e-03 9.99636945e-01 2.46641190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94071405699998 meters Centerline goodness [0,1] 0.9867557295865484 Centerline is valid? [True, True] Translation: X:196.36, Y:-6.44, Z:2.47 [[ 9.99037349e-01 -3.44118149e-02 -2.72066451e-02 1.96356580e+02] [ 3.44443324e-02 9.99406353e-01 7.27325903e-04 -6.44223092e+00] [ 2.71654653e-02 -1.66374047e-03 9.99629566e-01 2.46748963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97071405699998 meters Centerline goodness [0,1] 0.9880916802685119 Centerline is valid? [True, True] Translation: X:196.39, Y:-6.44, Z:2.47 [[ 9.99139419e-01 -3.19345622e-02 -2.64689384e-02 1.96386996e+02] [ 3.19644861e-02 9.99488754e-01 7.08087057e-04 -6.44191239e+00] [ 2.64327938e-02 -1.55354370e-03 9.99649385e-01 2.46861557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00071405699998 meters Centerline goodness [0,1] 0.9874028349336992 Centerline is valid? [True, True] Translation: X:196.42, Y:-6.44, Z:2.47 [[ 9.99192595e-01 -3.04073821e-02 -2.62592578e-02 1.96416923e+02] [ 3.04363080e-02 9.99536461e-01 7.02477761e-04 -6.44385940e+00] [ 2.62257251e-02 -1.50114544e-03 9.99654919e-01 2.46884604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03071405699998 meters Centerline goodness [0,1] 0.9881154499151104 Centerline is valid? [True, True] Translation: X:196.45, Y:-6.44, Z:2.47 [[ 9.99282006e-01 -2.68749302e-02 -2.67060180e-02 1.96447753e+02] [ 2.69035957e-02 9.99637777e-01 7.14578799e-04 -6.44331733e+00] [ 2.66771402e-02 -1.43255365e-03 9.99643075e-01 2.46920696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06071405699998 meters Centerline goodness [0,1] 0.9874260184694748 Centerline is valid? [True, True] Translation: X:196.48, Y:-6.44, Z:2.47 [[ 9.99325926e-01 -2.48336747e-02 -2.70366962e-02 1.96476930e+02] [ 2.48623077e-02 9.99690623e-01 7.23346302e-04 -6.44426165e+00] [ 2.70103683e-02 -1.39505337e-03 9.99634180e-01 2.46923933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09071405699999 meters Centerline goodness [0,1] 0.9881539980256664 Centerline is valid? [True, True] Translation: X:196.51, Y:-6.44, Z:2.47 [[ 9.99358415e-01 -2.28924134e-02 -2.75444329e-02 1.96505220e+02] [ 2.29213701e-02 9.99737000e-01 7.35951809e-04 -6.44499347e+00] [ 2.75203410e-02 -1.36683577e-03 9.99620309e-01 2.46915667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.120714057 meters Centerline goodness [0,1] 0.988739099585727 Centerline is valid? [True, True] Translation: X:196.54, Y:-6.44, Z:2.47 [[ 9.99423275e-01 -1.82977043e-02 -2.86061470e-02 1.96535060e+02] [ 1.83270219e-02 9.99831755e-01 7.62999040e-04 -6.44345569e+00] [ 2.85873731e-02 -1.28682448e-03 9.99590469e-01 2.46911660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.150714057 meters Centerline goodness [0,1] 0.9888669089570777 Centerline is valid? [True, True] Translation: X:196.56, Y:-6.44, Z:2.47 [[ 9.99439776e-01 -1.65613379e-02 -2.90836167e-02 1.96564307e+02] [ 1.65907895e-02 9.99862066e-01 7.71616101e-04 -6.44283153e+00] [ 2.90668261e-02 -1.25370399e-03 9.99576684e-01 2.46917344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.180714057 meters Centerline goodness [0,1] 0.9887645623244463 Centerline is valid? [True, True] Translation: X:196.59, Y:-6.45, Z:2.47 [[ 9.99455809e-01 -1.49370203e-02 -2.94103945e-02 1.96592303e+02] [ 1.49663012e-02 9.99887698e-01 7.75705235e-04 -6.44520061e+00] [ 2.93955050e-02 -1.21544792e-03 9.99567120e-01 2.46845315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.210714057 meters Centerline goodness [0,1] 0.9896077619901595 Centerline is valid? [True, True] Translation: X:196.62, Y:-6.45, Z:2.47 [[ 9.99501147e-01 -1.25470391e-02 -2.89832505e-02 1.96621009e+02] [ 1.25744065e-02 9.99920649e-01 7.62171596e-04 -6.44543800e+00] [ 2.89713876e-02 -1.12623856e-03 9.99579607e-01 2.46910932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.240714057 meters Centerline goodness [0,1] 0.9899309617193055 Centerline is valid? [True, True] Translation: X:196.65, Y:-6.45, Z:2.47 [[ 9.99505546e-01 -1.22590856e-02 -2.89547519e-02 1.96650025e+02] [ 1.22861405e-02 9.99924236e-01 7.56655990e-04 -6.44655735e+00] [ 2.89432822e-02 -1.11202401e-03 9.99580437e-01 2.46949098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.270714057 meters Centerline goodness [0,1] 0.9898064368342687 Centerline is valid? [True, True] Translation: X:196.68, Y:-6.45, Z:2.47 [[ 9.99502356e-01 -1.24107901e-02 -2.90002150e-02 1.96677542e+02] [ 1.24377686e-02 9.99922367e-01 7.50078108e-04 -6.44881769e+00] [ 2.89886546e-02 -1.11040280e-03 9.99579124e-01 2.46994268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.300714057 meters Centerline goodness [0,1] 0.9893034654939417 Centerline is valid? [True, True] Translation: X:196.70, Y:-6.45, Z:2.47 [[ 9.99507754e-01 -1.28401149e-02 -2.86248351e-02 1.96704970e+02] [ 1.28664276e-02 9.99916954e-01 7.35219832e-04 -6.45213603e+00] [ 2.86130176e-02 -1.10315729e-03 9.99589955e-01 2.47010144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.330714057 meters Centerline goodness [0,1] 0.9889466096070668 Centerline is valid? [True, True] Translation: X:196.73, Y:-6.45, Z:2.47 [[ 9.99488349e-01 -1.38031515e-02 -2.88533173e-02 1.96733557e+02] [ 1.38301436e-02 9.99904088e-01 7.36128220e-04 -6.45369863e+00] [ 2.88403890e-02 -1.13479710e-03 9.99583385e-01 2.47081867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.360714057 meters Centerline goodness [0,1] 0.9875936757448364 Centerline is valid? [True, True] Translation: X:196.76, Y:-6.46, Z:2.47 [[ 9.99456242e-01 -1.58565251e-02 -2.89100416e-02 1.96761554e+02] [ 1.58843235e-02 9.99873568e-01 7.32131899e-04 -6.45884695e+00] [ 2.88947774e-02 -1.19095025e-03 9.99581749e-01 2.47178990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.390714057 meters Centerline goodness [0,1] 0.9886641526682665 Centerline is valid? [True, True] Translation: X:196.79, Y:-6.46, Z:2.47 [[ 9.99442206e-01 -1.73988436e-02 -2.85053956e-02 1.96789750e+02] [ 1.74264048e-02 9.99847890e-01 7.18719306e-04 -6.45938551e+00] [ 2.84885548e-02 -1.21506497e-03 9.99593380e-01 2.47308221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.420714057 meters Centerline goodness [0,1] 0.9875570776255708 Centerline is valid? [True, True] Translation: X:196.82, Y:-6.47, Z:2.47 [[ 9.99404030e-01 -2.09417305e-02 -2.74413522e-02 1.96817923e+02] [ 2.09685517e-02 9.99779898e-01 6.89976970e-04 -6.47179256e+00] [ 2.74208630e-02 -1.26497118e-03 9.99623177e-01 2.47207241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45071405699997 meters Centerline goodness [0,1] 0.9877382956458438 Centerline is valid? [True, True] Translation: X:196.85, Y:-6.48, Z:2.47 [[ 9.99356248e-01 -2.31773561e-02 -2.73842812e-02 1.96846199e+02] [ 2.32048572e-02 9.99730495e-01 6.86866036e-04 -6.47657883e+00] [ 2.73609813e-02 -1.32187220e-03 9.99624744e-01 2.47246812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48071405699997 meters Centerline goodness [0,1] 0.9875542231609548 Centerline is valid? [True, True] Translation: X:196.88, Y:-6.48, Z:2.47 [[ 9.99309852e-01 -2.53221938e-02 -2.71773032e-02 1.96876066e+02] [ 2.53500342e-02 9.99678405e-01 6.80297640e-04 -6.48036861e+00] [ 2.71513365e-02 -1.36877370e-03 9.99630397e-01 2.47268180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51071405699997 meters Centerline goodness [0,1] 0.9885451429602237 Centerline is valid? [True, True] Translation: X:196.91, Y:-6.48, Z:2.48 [[ 9.99194016e-01 -2.96694457e-02 -2.70377842e-02 1.96905806e+02] [ 2.96985692e-02 9.99558672e-01 6.76122560e-04 -6.47910496e+00] [ 2.70057914e-02 -1.47856112e-03 9.99634184e-01 2.47548693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54071405699997 meters Centerline goodness [0,1] 0.9884454494064443 Centerline is valid? [True, True] Translation: X:196.94, Y:-6.48, Z:2.48 [[ 9.99149790e-01 -3.16072612e-02 -2.64703169e-02 1.96935677e+02] [ 3.16358414e-02 9.99499243e-01 6.61521002e-04 -6.48189110e+00] [ 2.64361528e-02 -1.49836932e-03 9.99649381e-01 2.47583289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57071405699998 meters Centerline goodness [0,1] 0.9885493597127176 Centerline is valid? [True, True] Translation: X:196.97, Y:-6.49, Z:2.48 [[ 9.98998147e-01 -3.60546518e-02 -2.65097104e-02 1.96965773e+02] [ 3.60848720e-02 9.99348509e-01 6.62312900e-04 -6.48608005e+00] [ 2.64685601e-02 -1.61824886e-03 9.99648336e-01 2.47662696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60071405699998 meters Centerline goodness [0,1] 0.9891331360278336 Centerline is valid? [True, True] Translation: X:197.00, Y:-6.49, Z:2.48 [[ 9.98933361e-01 -3.79832585e-02 -2.62566751e-02 1.96996469e+02] [ 3.80135736e-02 9.99277007e-01 6.56213587e-04 -6.48987225e+00] [ 2.62127666e-02 -1.65362370e-03 9.99655019e-01 2.47685590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63071405699998 meters Centerline goodness [0,1] 0.9885224005614289 Centerline is valid? [True, True] Translation: X:197.03, Y:-6.49, Z:2.48 [[ 9.98827092e-01 -4.03184610e-02 -2.68115991e-02 1.97027201e+02] [ 4.03509282e-02 9.99185344e-01 6.70789426e-04 -6.49311090e+00] [ 2.67627117e-02 -1.75187556e-03 9.99640279e-01 2.47710872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66071405699998 meters Centerline goodness [0,1] 0.9884974513960937 Centerline is valid? [True, True] Translation: X:197.06, Y:-6.50, Z:2.48 [[ 9.98649470e-01 -4.39585325e-02 -2.76926627e-02 1.97056254e+02] [ 4.39945701e-02 9.99031530e-01 6.93114486e-04 -6.49874745e+00] [ 2.76353749e-02 -1.91050521e-03 9.99616244e-01 2.47689941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69071405699998 meters Centerline goodness [0,1] 0.9882633867225339 Centerline is valid? [True, True] Translation: X:197.09, Y:-6.50, Z:2.48 [[ 9.98568754e-01 -4.55341513e-02 -2.80550153e-02 1.97085871e+02] [ 4.55717517e-02 9.98960821e-01 7.01985277e-04 -6.50247743e+00] [ 2.79938968e-02 -1.97949676e-03 9.99606134e-01 2.47678607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72071405699998 meters Centerline goodness [0,1] 0.9885218175668057 Centerline is valid? [True, True] Translation: X:197.12, Y:-6.50, Z:2.48 [[ 9.98488174e-01 -4.70205908e-02 -2.84680681e-02 1.97116916e+02] [ 4.70599157e-02 9.98891814e-01 7.12590094e-04 -6.50234801e+00] [ 2.84030138e-02 -2.05121767e-03 9.99594448e-01 2.47744421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75071405699998 meters Centerline goodness [0,1] 0.9888878871207681 Centerline is valid? [True, True] Translation: X:197.15, Y:-6.51, Z:2.48 [[ 9.98352383e-01 -4.93661677e-02 -2.92489575e-02 1.97147773e+02] [ 4.94086973e-02 9.98778376e-01 7.32672013e-04 -6.50611716e+00] [ 2.91770570e-02 -2.17661774e-03 9.99571889e-01 2.47790993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78071405699998 meters Centerline goodness [0,1] 0.9887917203353445 Centerline is valid? [True, True] Translation: X:197.18, Y:-6.51, Z:2.48 [[ 9.98316775e-01 -5.01943880e-02 -2.90541036e-02 1.97179464e+02] [ 5.02367326e-02 9.98737072e-01 7.28875398e-04 -6.50790612e+00] [ 2.89808249e-02 -2.18723177e-03 9.99577575e-01 2.47808388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81071405699998 meters Centerline goodness [0,1] 0.9888060541904097 Centerline is valid? [True, True] Translation: X:197.21, Y:-6.51, Z:2.48 [[ 9.98286454e-01 -5.07264344e-02 -2.91716438e-02 1.97210061e+02] [ 5.07693864e-02 9.98710134e-01 7.33132348e-04 -6.51145879e+00] [ 2.90968271e-02 -2.21290255e-03 9.99574148e-01 2.47801245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84071405699999 meters Centerline goodness [0,1] 0.9887982329606924 Centerline is valid? [True, True] Translation: X:197.24, Y:-6.51, Z:2.48 [[ 9.98260092e-01 -5.13140169e-02 -2.90458267e-02 1.97241255e+02] [ 5.13568843e-02 9.98680097e-01 7.31281738e-04 -6.51482604e+00] [ 2.89699641e-02 -2.22171254e-03 9.99577813e-01 2.47833084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.870714057 meters Centerline goodness [0,1] 0.9902580601615407 Centerline is valid? [True, True] Translation: X:197.27, Y:-6.51, Z:2.48 [[ 9.98270944e-01 -5.12099959e-02 -2.88558249e-02 1.97273225e+02] [ 5.12523132e-02 9.98685471e-01 7.28315688e-04 -6.51263665e+00] [ 2.87805960e-02 -2.20598416e-03 9.99583319e-01 2.47944629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.900714057 meters Centerline goodness [0,1] 0.9895551953898793 Centerline is valid? [True, True] Translation: X:197.30, Y:-6.52, Z:2.48 [[ 9.98296200e-01 -5.08548437e-02 -2.86091249e-02 1.97304279e+02] [ 5.08963460e-02 9.98703679e-01 7.23868062e-04 -6.51702255e+00] [ 2.85352261e-02 -2.17873465e-03 9.99590413e-01 2.47940845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.930714057 meters Centerline goodness [0,1] 0.9895551953898793 Centerline is valid? [True, True] Translation: X:197.34, Y:-6.52, Z:2.48 [[ 9.98299750e-01 -5.07851406e-02 -2.86090798e-02 1.97336056e+02] [ 5.08266651e-02 9.98707226e-01 7.25645922e-04 -6.51789075e+00] [ 2.85352427e-02 -2.17851626e-03 9.99590413e-01 2.47984097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.960714057 meters Centerline goodness [0,1] 0.9893929135635297 Centerline is valid? [True, True] Translation: X:197.37, Y:-6.52, Z:2.48 [[ 9.98368669e-01 -4.94748378e-02 -2.84998395e-02 1.97367881e+02] [ 4.95155637e-02 9.98773089e-01 7.24596768e-04 -6.51593692e+00] [ 2.84290234e-02 -2.13460033e-03 9.99593534e-01 2.48066056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.990714057 meters Centerline goodness [0,1] 0.9895317424583521 Centerline is valid? [True, True] Translation: X:197.40, Y:-6.52, Z:2.48 [[ 9.98415989e-01 -4.85745036e-02 -2.83906638e-02 1.97400060e+02] [ 4.86146055e-02 9.98817349e-01 7.23564379e-04 -6.51529028e+00] [ 2.83219407e-02 -2.10261916e-03 9.99596642e-01 2.48144229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.020714057 meters Centerline goodness [0,1] 0.9897279602663958 Centerline is valid? [True, True] Translation: X:197.43, Y:-6.51, Z:2.48 [[ 9.98460774e-01 -4.77864520e-02 -2.81520380e-02 1.97431974e+02] [ 4.78256347e-02 9.98855440e-01 7.19760077e-04 -6.51228559e+00] [ 2.80854215e-02 -2.06504129e-03 9.99603394e-01 2.48272898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.050714057 meters Centerline goodness [0,1] 0.9901934201012292 Centerline is valid? [True, True] Translation: X:197.46, Y:-6.51, Z:2.48 [[ 9.98515476e-01 -4.66859440e-02 -2.80582803e-02 1.97463793e+02] [ 4.67244912e-02 9.98907555e-01 7.19407614e-04 -6.51004212e+00] [ 2.79940420e-02 -2.02934851e-03 9.99606030e-01 2.48322427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.080714057 meters Centerline goodness [0,1] 0.9905436818705003 Centerline is valid? [True, True] Translation: X:197.49, Y:-6.51, Z:2.48 [[ 9.98535146e-01 -4.63908723e-02 -2.78468743e-02 1.97494497e+02] [ 4.64287763e-02 9.98921346e-01 7.15779860e-04 -6.51290419e+00] [ 2.77836315e-02 -2.00762764e-03 9.99611944e-01 2.48326136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.110714057 meters Centerline goodness [0,1] 0.9893093960034283 Centerline is valid? [True, True] Translation: X:197.53, Y:-6.52, Z:2.48 [[ 9.98567368e-01 -4.62085998e-02 -2.69810554e-02 1.97525621e+02] [ 4.62441869e-02 9.98929923e-01 6.96152749e-04 -6.51857557e+00] [ 2.69200154e-02 -1.94287239e-03 9.99635703e-01 2.48306830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.140714057 meters Centerline goodness [0,1] 0.9888359058961784 Centerline is valid? [True, True] Translation: X:197.56, Y:-6.52, Z:2.48 [[ 9.98572076e-01 -4.62603605e-02 -2.67168306e-02 1.97557762e+02] [ 4.62953404e-02 9.98927556e-01 6.91898343e-04 -6.51960401e+00] [ 2.66561709e-02 -1.92777513e-03 9.99642802e-01 2.48380932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.170714057 meters Centerline goodness [0,1] 0.988944542213799 Centerline is valid? [True, True] Translation: X:197.59, Y:-6.51, Z:2.49 [[ 9.98558473e-01 -4.67788097e-02 -2.63195606e-02 1.97589899e+02] [ 4.68129836e-02 9.98903438e-01 6.83432053e-04 -6.51156661e+00] [ 2.62587295e-02 -1.91454403e-03 9.99653347e-01 2.48632437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20071405699997 meters Centerline goodness [0,1] 0.9881547121188146 Centerline is valid? [True, True] Translation: X:197.62, Y:-6.52, Z:2.48 [[ 9.98526769e-01 -4.77023051e-02 -2.58608247e-02 1.97621124e+02] [ 4.77356475e-02 9.98859777e-01 6.73140900e-04 -6.52475865e+00] [ 2.57992272e-02 -1.90663242e-03 9.99665326e-01 2.48457638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23071405699997 meters Centerline goodness [0,1] 0.9891201300167035 Centerline is valid? [True, True] Translation: X:197.65, Y:-6.52, Z:2.49 [[ 9.98503578e-01 -4.82303048e-02 -2.57767775e-02 1.97653946e+02] [ 4.82636467e-02 9.98834405e-01 6.72550024e-04 -6.51571071e+00] [ 2.57142950e-02 -1.91562489e-03 9.99667497e-01 2.48645382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26071405699997 meters Centerline goodness [0,1] 0.986679331478843 Centerline is valid? [True, True] Translation: X:197.68, Y:-6.53, Z:2.49 [[ 9.98461155e-01 -4.90937869e-02 -2.57899669e-02 1.97684961e+02] [ 4.91274911e-02 9.98792288e-01 6.74516231e-04 -6.52819198e+00] [ 2.57257055e-02 -1.94047463e-03 9.99667156e-01 2.48562955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29071405699997 meters Centerline goodness [0,1] 0.9887238474775836 Centerline is valid? [True, True] Translation: X:197.72, Y:-6.52, Z:2.49 [[ 9.98427961e-01 -4.96506224e-02 -2.60081120e-02 1.97717773e+02] [ 4.96851290e-02 9.98764699e-01 6.81832709e-04 -6.51659353e+00] [ 2.59421308e-02 -1.97297724e-03 9.99661499e-01 2.48809662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32071405699998 meters Centerline goodness [0,1] 0.9892169273894565 Centerline is valid? [True, True] Translation: X:197.75, Y:-6.52, Z:2.49 [[ 9.98423180e-01 -4.97294227e-02 -2.60410700e-02 1.97748534e+02] [ 4.97641056e-02 9.98760764e-01 6.85086684e-04 -6.51869071e+00] [ 2.59747300e-02 -1.97991698e-03 9.99660639e-01 2.48838904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35071405699998 meters Centerline goodness [0,1] 0.9886104783599089 Centerline is valid? [True, True] Translation: X:197.78, Y:-6.52, Z:2.49 [[ 9.98433132e-01 -4.96356745e-02 -2.58375664e-02 1.97779437e+02] [ 4.96698424e-02 9.98765459e-01 6.81918825e-04 -6.52015612e+00] [ 2.57718213e-02 -1.96419820e-03 9.99665922e-01 2.48858003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38071405699998 meters Centerline goodness [0,1] 0.9883528209785447 Centerline is valid? [True, True] Translation: X:197.81, Y:-6.52, Z:2.49 [[ 9.98441852e-01 -4.95993851e-02 -2.55688959e-02 1.97811309e+02] [ 4.96328791e-02 9.98767300e-01 6.76593515e-04 -6.51939383e+00] [ 2.55038185e-02 -1.94459720e-03 9.99672833e-01 2.48931478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41071405699998 meters Centerline goodness [0,1] 0.9900826446280991 Centerline is valid? [True, True] Translation: X:197.84, Y:-6.52, Z:2.49 [[ 9.98484912e-01 -4.89279974e-02 -2.51779851e-02 1.97843553e+02] [ 4.89603133e-02 9.98800501e-01 6.68275539e-04 -6.51641461e+00] [ 2.51150868e-02 -1.89998508e-03 9.99682761e-01 2.49010034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44071405699998 meters Centerline goodness [0,1] 0.9890935421097886 Centerline is valid? [True, True] Translation: X:197.88, Y:-6.52, Z:2.49 [[ 9.98529831e-01 -4.82699037e-02 -2.46615615e-02 1.97875189e+02] [ 4.83007505e-02 9.98832622e-01 6.56315026e-04 -6.52103585e+00] [ 2.46010919e-02 -1.84652206e-03 9.99695642e-01 2.48989678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47071405699998 meters Centerline goodness [0,1] 0.988347577701707 Centerline is valid? [True, True] Translation: X:197.91, Y:-6.52, Z:2.49 [[ 9.98557581e-01 -4.78555897e-02 -2.43433908e-02 1.97907056e+02] [ 4.78855638e-02 9.98852617e-01 6.49528218e-04 -6.52202602e+00] [ 2.42843761e-02 -1.81428832e-03 9.99703445e-01 2.49058076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50071405699998 meters Centerline goodness [0,1] 0.9893416785722384 Centerline is valid? [True, True] Translation: X:197.94, Y:-6.52, Z:2.49 [[ 9.98609683e-01 -4.71447566e-02 -2.35811978e-02 1.97939464e+02] [ 4.71727231e-02 9.98886548e-01 6.30795485e-04 -6.51611413e+00] [ 2.35252026e-02 -1.74230779e-03 9.99721726e-01 2.49251568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53071405699998 meters Centerline goodness [0,1] 0.9889005140335714 Centerline is valid? [True, True] Translation: X:197.97, Y:-6.52, Z:2.49 [[ 9.98619536e-01 -4.71039140e-02 -2.32431452e-02 1.97970450e+02] [ 4.71311071e-02 9.98888517e-01 6.23213013e-04 -6.51778916e+00] [ 2.31879551e-02 -1.71782785e-03 9.99729647e-01 2.49300397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56071405699998 meters Centerline goodness [0,1] 0.989563675223392 Centerline is valid? [True, True] Translation: X:198.00, Y:-6.52, Z:2.49 [[ 9.98634138e-01 -4.69878243e-02 -2.28473697e-02 1.98002979e+02] [ 4.70140999e-02 9.98894037e-01 6.13969977e-04 -6.51600913e+00] [ 2.27932522e-02 -1.68727990e-03 9.99738776e-01 2.49375157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59071405699999 meters Centerline goodness [0,1] 0.9892018459160244 Centerline is valid? [True, True] Translation: X:198.03, Y:-6.52, Z:2.49 [[ 9.98629592e-01 -4.72525710e-02 -2.24973793e-02 1.98033622e+02] [ 4.72781606e-02 9.98881578e-01 6.06631358e-04 -6.51826297e+00] [ 2.24435529e-02 -1.66943474e-03 9.99746718e-01 2.49357716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.620714057 meters Centerline goodness [0,1] 0.9882732603063498 Centerline is valid? [True, True] Translation: X:198.07, Y:-6.52, Z:2.49 [[ 9.98619134e-01 -4.76347539e-02 -2.21530192e-02 1.98066000e+02] [ 4.76597097e-02 9.98863450e-01 5.99616692e-04 -6.52041684e+00] [ 2.20992786e-02 -1.65459517e-03 9.99754412e-01 2.49383698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.650714057 meters Centerline goodness [0,1] 0.9889448833197131 Centerline is valid? [True, True] Translation: X:198.10, Y:-6.52, Z:2.49 [[ 9.98600656e-01 -4.81024053e-02 -2.19747232e-02 1.98098623e+02] [ 4.81271072e-02 9.98841041e-01 5.96334135e-04 -6.52105250e+00] [ 2.19205703e-02 -1.65307952e-03 9.99758349e-01 2.49441286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.680714057 meters Centerline goodness [0,1] 0.9881052368737657 Centerline is valid? [True, True] Translation: X:198.13, Y:-6.52, Z:2.49 [[ 9.98552136e-01 -4.90055108e-02 -2.21831586e-02 1.98129614e+02] [ 4.90309369e-02 9.98797078e-01 6.03419966e-04 -6.52440321e+00] [ 2.21269030e-02 -1.69020734e-03 9.99753741e-01 2.49393881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.710714057 meters Centerline goodness [0,1] 0.9884558572889445 Centerline is valid? [True, True] Translation: X:198.16, Y:-6.53, Z:2.49 [[ 9.98528406e-01 -4.95537704e-02 -2.20328337e-02 1.98161863e+02] [ 4.95790144e-02 9.98770024e-01 6.00638989e-04 -6.52617995e+00] [ 2.19759699e-02 -1.69212127e-03 9.99757067e-01 2.49417602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.740714057 meters Centerline goodness [0,1] 0.9884874770090147 Centerline is valid? [True, True] Translation: X:198.19, Y:-6.53, Z:2.49 [[ 9.98475956e-01 -5.03934916e-02 -2.25002341e-02 1.98193250e+02] [ 5.04200626e-02 9.98727911e-01 6.14824242e-04 -6.52858455e+00] [ 2.24406287e-02 -1.74835044e-03 9.99746649e-01 2.49333302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.770714057 meters Centerline goodness [0,1] 0.9878638023727968 Centerline is valid? [True, True] Translation: X:198.23, Y:-6.53, Z:2.49 [[ 9.98476029e-01 -5.04546908e-02 -2.23594394e-02 1.98225131e+02] [ 5.04809748e-02 9.98724835e-01 6.12291053e-04 -6.53054982e+00] [ 2.23000344e-02 -1.74008424e-03 9.99749809e-01 2.49313374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.800714057 meters Centerline goodness [0,1] 0.9873070559169519 Centerline is valid? [True, True] Translation: X:198.26, Y:-6.53, Z:2.49 [[ 9.98477568e-01 -5.05239160e-02 -2.21332287e-02 1.98256542e+02] [ 5.05497282e-02 9.98721360e-01 6.07933580e-04 -6.53419662e+00] [ 2.20742131e-02 -1.72583674e-03 9.99754845e-01 2.49284782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.830714057 meters Centerline goodness [0,1] 0.9864861800784527 Centerline is valid? [True, True] Translation: X:198.29, Y:-6.54, Z:2.49 [[ 9.98511912e-01 -5.01943676e-02 -2.13186844e-02 1.98288893e+02] [ 5.02182833e-02 9.98738093e-01 5.87612757e-04 -6.53791749e+00] [ 2.12622874e-02 -1.65732607e-03 9.99772558e-01 2.49329434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.860714057 meters Centerline goodness [0,1] 0.9881780566543901 Centerline is valid? [True, True] Translation: X:198.32, Y:-6.53, Z:2.49 [[ 9.98529824e-01 -4.99374427e-02 -2.10818183e-02 1.98321335e+02] [ 4.99608084e-02 9.98751009e-01 5.82772011e-04 -6.52987619e+00] [ 2.10263851e-02 -1.63517992e-03 9.99777584e-01 2.49472729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.890714057 meters Centerline goodness [0,1] 0.9850454988994032 Centerline is valid? [True, True] Translation: X:198.35, Y:-6.54, Z:2.49 [[ 9.98540470e-01 -4.98264859e-02 -2.08386885e-02 1.98352601e+02] [ 4.98493200e-02 9.98756583e-01 5.77418046e-04 -6.54269264e+00] [ 2.07840066e-02 -1.61536974e-03 9.99782684e-01 2.49416493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.920714057 meters Centerline goodness [0,1] 0.9851364577879953 Centerline is valid? [True, True] Translation: X:198.38, Y:-6.54, Z:2.49 [[ 9.98547798e-01 -4.99120538e-02 -2.02751479e-02 1.98384385e+02] [ 4.99337103e-02 9.98752376e-01 5.62964366e-04 -6.54308377e+00] [ 2.02217535e-02 -1.57456019e-03 9.99794280e-01 2.49461932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95071405699997 meters Centerline goodness [0,1] 0.9864631205351049 Centerline is valid? [True, True] Translation: X:198.42, Y:-6.54, Z:2.50 [[ 9.98535111e-01 -5.01972561e-02 -2.01957415e-02 1.98416747e+02] [ 5.02188285e-02 9.98738080e-01 5.62110343e-04 -6.54372794e+00] [ 2.01420397e-02 -1.57549339e-03 9.99795887e-01 2.49548737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98071405699997 meters Centerline goodness [0,1] 0.9883720930232558 Centerline is valid? [True, True] Translation: X:198.45, Y:-6.53, Z:2.50 [[ 9.98494397e-01 -5.09100900e-02 -2.04230571e-02 1.98448953e+02] [ 5.09323279e-02 9.98701944e-01 5.69854257e-04 -6.53163661e+00] [ 2.03675355e-02 -1.60919012e-03 9.99791265e-01 2.49670551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01071405699997 meters Centerline goodness [0,1] 0.9885456360007259 Centerline is valid? [True, True] Translation: X:198.48, Y:-6.53, Z:2.50 [[ 9.98467177e-01 -5.11772723e-02 -2.10756552e-02 1.98480622e+02] [ 5.12010439e-02 9.98688192e-01 5.89506812e-04 -6.53381977e+00] [ 2.10178386e-02 -1.66769875e-03 9.99777710e-01 2.49649217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04071405699997 meters Centerline goodness [0,1] 0.9872690963554668 Centerline is valid? [True, True] Translation: X:198.51, Y:-6.54, Z:2.50 [[ 9.98436065e-01 -5.16194423e-02 -2.14675677e-02 1.98511876e+02] [ 5.16442337e-02 9.98665365e-01 6.01666220e-04 -6.54197920e+00] [ 2.14078586e-02 -1.70940134e-03 9.99769364e-01 2.49576122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07071405699998 meters Centerline goodness [0,1] 0.9888626238748978 Centerline is valid? [True, True] Translation: X:198.54, Y:-6.54, Z:2.49 [[ 9.98355166e-01 -5.25054350e-02 -2.30247930e-02 1.98543700e+02] [ 5.25342189e-02 9.98618915e-01 6.46619998e-04 -6.54460908e+00] [ 2.29590427e-02 -1.85514593e-03 9.99734685e-01 2.49430368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10071405699998 meters Centerline goodness [0,1] 0.9880754991255366 Centerline is valid? [True, True] Translation: X:198.58, Y:-6.55, Z:2.49 [[ 9.98330807e-01 -5.27262148e-02 -2.35700271e-02 1.98575999e+02] [ 5.27564741e-02 9.98607187e-01 6.63400241e-04 -6.54635298e+00] [ 2.35022199e-02 -1.90576442e-03 9.99721968e-01 2.49385932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13071405699998 meters Centerline goodness [0,1] 0.9882417157542814 Centerline is valid? [True, True] Translation: X:198.61, Y:-6.55, Z:2.49 [[ 9.98321204e-01 -5.24964528e-02 -2.44723415e-02 1.98606681e+02] [ 5.25290445e-02 9.98619158e-01 6.90387696e-04 -6.55068843e+00] [ 2.44023062e-02 -1.97473739e-03 9.99700269e-01 2.49276228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16071405699998 meters Centerline goodness [0,1] 0.9888191982547041 Centerline is valid? [True, True] Translation: X:198.64, Y:-6.55, Z:2.49 [[ 9.98315245e-01 -5.24630364e-02 -2.47850943e-02 1.98638992e+02] [ 5.24964941e-02 9.98620863e-01 7.00734163e-04 -6.55088233e+00] [ 2.47141496e-02 -2.00068416e-03 9.99692557e-01 2.49282244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19071405699998 meters Centerline goodness [0,1] 0.9881767126713809 Centerline is valid? [True, True] Translation: X:198.67, Y:-6.55, Z:2.49 [[ 9.98343353e-01 -5.19283939e-02 -2.47788309e-02 1.98671375e+02] [ 5.19617143e-02 9.98648831e-01 7.02304473e-04 -6.55198934e+00] [ 2.47088809e-02 -1.98869153e-03 9.99692711e-01 2.49317386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22071405699998 meters Centerline goodness [0,1] 0.9889331462454171 Centerline is valid? [True, True] Translation: X:198.70, Y:-6.55, Z:2.49 [[ 9.98381000e-01 -5.12734436e-02 -2.46254531e-02 1.98702181e+02] [ 5.13062119e-02 9.98682724e-01 7.00284133e-04 -6.55499608e+00] [ 2.45571086e-02 -1.96258909e-03 9.99696502e-01 2.49355058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25071405699998 meters Centerline goodness [0,1] 0.9887191592709444 Centerline is valid? [True, True] Translation: X:198.73, Y:-6.55, Z:2.49 [[ 9.98437897e-01 -5.04232836e-02 -2.40677839e-02 1.98734431e+02] [ 5.04543961e-02 9.98726130e-01 6.86818540e-04 -6.55330243e+00] [ 2.40024930e-02 -1.90007116e-03 9.99710093e-01 2.49454343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28071405699998 meters Centerline goodness [0,1] 0.987525469775866 Centerline is valid? [True, True] Translation: X:198.77, Y:-6.56, Z:2.49 [[ 9.98456472e-01 -5.00561467e-02 -2.40635565e-02 1.98765542e+02] [ 5.00871780e-02 9.98744612e-01 6.88189491e-04 -6.55711840e+00] [ 2.39988993e-02 -1.89240289e-03 9.99710194e-01 2.49459431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31071405699998 meters Centerline goodness [0,1] 0.9880579394269627 Centerline is valid? [True, True] Translation: X:198.80, Y:-6.56, Z:2.50 [[ 9.98487918e-01 -4.95077490e-02 -2.38926745e-02 1.98797627e+02] [ 4.95382188e-02 9.98771994e-01 6.84718680e-04 -6.55528368e+00] [ 2.38294353e-02 -1.86728387e-03 9.99714295e-01 2.49558617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34071405699999 meters Centerline goodness [0,1] 0.9888982223533952 Centerline is valid? [True, True] Translation: X:198.83, Y:-6.55, Z:2.50 [[ 9.98507847e-01 -4.92442341e-02 -2.36026272e-02 1.98829955e+02] [ 4.92739341e-02 9.98785072e-01 6.78057940e-04 -6.55130827e+00] [ 2.35405612e-02 -1.84004047e-03 9.99721189e-01 2.49656896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.370714057 meters Centerline goodness [0,1] 0.9882107080389796 Centerline is valid? [True, True] Translation: X:198.86, Y:-6.56, Z:2.50 [[ 9.98509921e-01 -4.90417261e-02 -2.39342014e-02 1.98860543e+02] [ 4.90722457e-02 9.98794994e-01 6.89125542e-04 -6.55785624e+00] [ 2.38715646e-02 -1.86260370e-03 9.99713298e-01 2.49659076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.400714057 meters Centerline goodness [0,1] 0.9886531260637694 Centerline is valid? [True, True] Translation: X:198.89, Y:-6.55, Z:2.50 [[ 9.98543671e-01 -4.90912893e-02 -2.23736803e-02 1.98892371e+02] [ 4.91179990e-02 9.98792774e-01 6.45491719e-04 -6.55476955e+00] [ 2.23149822e-02 -1.74350208e-03 9.99749470e-01 2.49823555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.430714057 meters Centerline goodness [0,1] 0.9871806507237827 Centerline is valid? [True, True] Translation: X:198.92, Y:-6.56, Z:2.50 [[ 9.98562531e-01 -4.88703259e-02 -2.20128073e-02 1.98923447e+02] [ 4.88961701e-02 9.98803664e-01 6.37029450e-04 -6.56337971e+00] [ 2.19553408e-02 -1.71245571e-03 9.99757486e-01 2.49851494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.460714057 meters Centerline goodness [0,1] 0.9860318753961785 Centerline is valid? [True, True] Translation: X:198.96, Y:-6.57, Z:2.50 [[ 9.98565319e-01 -4.89299669e-02 -2.17522691e-02 1.98955008e+02] [ 4.89552606e-02 9.98800773e-01 6.31507811e-04 -6.56635201e+00] [ 2.16952835e-02 -1.69548980e-03 9.99763192e-01 2.49903719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.490714057 meters Centerline goodness [0,1] 0.9844566650002272 Centerline is valid? [True, True] Translation: X:198.99, Y:-6.57, Z:2.50 [[ 9.98559542e-01 -4.91028073e-02 -2.16276398e-02 1.98987546e+02] [ 4.91278784e-02 9.98792299e-01 6.29105495e-04 -6.56843860e+00] [ 2.15706292e-02 -1.69071935e-03 9.99765897e-01 2.49949375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.520714057 meters Centerline goodness [0,1] 0.982743002083522 Centerline is valid? [True, True] Translation: X:199.02, Y:-6.57, Z:2.50 [[ 9.98558299e-01 -4.88662464e-02 -2.22129121e-02 1.99018555e+02] [ 4.88926761e-02 9.98803828e-01 6.47982850e-04 -6.57019463e+00] [ 2.21546772e-02 -1.73309737e-03 9.99753053e-01 2.49948033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.550714057 meters Centerline goodness [0,1] 0.9826428279711394 Centerline is valid? [True, True] Translation: X:199.05, Y:-6.57, Z:2.50 [[ 9.98504474e-01 -4.96676065e-02 -2.28461140e-02 1.99050962e+02] [ 4.96958214e-02 9.98764176e-01 6.68557618e-04 -6.57218445e+00] [ 2.27846746e-02 -1.80291417e-03 9.99738770e-01 2.49877124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.580714057 meters Centerline goodness [0,1] 0.9880416496157869 Centerline is valid? [True, True] Translation: X:199.08, Y:-6.56, Z:2.50 [[ 9.98457647e-01 -5.03581014e-02 -2.33749488e-02 1.99083367e+02] [ 5.03878635e-02 9.98729489e-01 6.85638044e-04 -6.56036989e+00] [ 2.33107233e-02 -1.86239428e-03 9.99726533e-01 2.50039623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.610714057 meters Centerline goodness [0,1] 0.9886301619064944 Centerline is valid? [True, True] Translation: X:199.12, Y:-6.56, Z:2.50 [[ 9.98431550e-01 -5.07616088e-02 -2.36156498e-02 1.99115385e+02] [ 5.07921392e-02 9.98709005e-01 6.94389222e-04 -6.56064249e+00] [ 2.35499138e-02 -1.89278948e-03 9.99720870e-01 2.50093717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.640714057 meters Centerline goodness [0,1] 0.9890344404840284 Centerline is valid? [True, True] Translation: X:199.15, Y:-6.56, Z:2.50 [[ 9.98348710e-01 -5.22716470e-02 -2.38228545e-02 1.99147007e+02] [ 5.23031746e-02 9.98631006e-01 7.01826184e-04 -6.56132341e+00] [ 2.37535556e-02 -1.94667819e-03 9.99715949e-01 2.50098646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.670714057 meters Centerline goodness [0,1] 0.988377372196495 Centerline is valid? [True, True] Translation: X:199.18, Y:-6.56, Z:2.50 [[ 9.98318382e-01 -5.27871092e-02 -2.39568240e-02 1.99178801e+02] [ 5.28191693e-02 9.98603843e-01 7.07003268e-04 -6.56350854e+00] [ 2.38860558e-02 -1.97119390e-03 9.99712744e-01 2.50098607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70071405699997 meters Centerline goodness [0,1] 0.9870141622551016 Centerline is valid? [True, True] Translation: X:199.21, Y:-6.57, Z:2.50 [[ 9.98242490e-01 -5.39882959e-02 -2.44375784e-02 1.99210630e+02] [ 5.40220650e-02 9.98539480e-01 7.23301664e-04 -6.56677414e+00] [ 2.43628370e-02 -2.04219890e-03 9.99701096e-01 2.50087078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73071405699997 meters Centerline goodness [0,1] 0.9871882240697832 Centerline is valid? [True, True] Translation: X:199.24, Y:-6.57, Z:2.50 [[ 9.98197485e-01 -5.45763696e-02 -2.49639912e-02 1.99242458e+02] [ 5.46118481e-02 9.98507384e-01 7.41123158e-04 -6.56898616e+00] [ 2.48862817e-02 -2.10311697e-03 9.99688076e-01 2.50091959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76071405699997 meters Centerline goodness [0,1] 0.9876803702695345 Centerline is valid? [True, True] Translation: X:199.27, Y:-6.57, Z:2.50 [[ 9.98212640e-01 -5.43781501e-02 -2.47899455e-02 1.99273380e+02] [ 5.44131325e-02 9.98518235e-01 7.38291721e-04 -6.57029368e+00] [ 2.47130657e-02 -2.08587072e-03 9.99692409e-01 2.50128586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79071405699997 meters Centerline goodness [0,1] 0.6992627743411575 Centerline is valid? [True, False] Translation: X:199.32, Y:-6.57, Z:2.50 [[ 9.98124818e-01 -5.63246589e-02 -2.39662510e-02 1.99322956e+02] [ 5.63076856e-02 9.98412506e-01 -1.38300379e-03 -6.56923135e+00] [ 2.40061019e-02 3.09262831e-05 9.99711812e-01 2.50250870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82071405699998 meters Centerline goodness [0,1] 0.6992627743411575 Centerline is valid? [False, False] Translation: X:199.32, Y:-6.57, Z:2.50 [[ 9.98124818e-01 -5.63246589e-02 -2.39662510e-02 1.99322956e+02] [ 5.63076856e-02 9.98412506e-01 -1.38300379e-03 -6.56923135e+00] [ 2.40061019e-02 3.09262831e-05 9.99711812e-01 2.50250870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85071405699998 meters Centerline goodness [0,1] 0.9876428441864683 Centerline is valid? [False, True] Translation: X:199.25, Y:-6.57, Z:2.50 [[ 9.98322262e-01 -5.27234392e-02 -2.39353391e-02 1.99247323e+02] [ 5.27529362e-02 9.98607413e-01 6.02178152e-04 -6.56940968e+00] [ 2.38702581e-02 -1.86382727e-03 9.99713327e-01 2.50035190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88071405699998 meters Centerline goodness [0,1] 0.9870147559591373 Centerline is valid? [True, True] Translation: X:199.28, Y:-6.57, Z:2.50 [[ 9.98370239e-01 -5.18072100e-02 -2.39349070e-02 1.99278214e+02] [ 5.18398716e-02 9.98655131e-01 7.45723730e-04 -6.57026800e+00] [ 2.38640838e-02 -1.98529088e-03 9.99713241e-01 2.50070970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91071405699998 meters Centerline goodness [0,1] 0.9865279323897586 Centerline is valid? [True, True] Translation: X:199.31, Y:-6.57, Z:2.50 [[ 9.98383246e-01 -5.14625902e-02 -2.41349531e-02 1.99310485e+02] [ 5.14957351e-02 9.98672930e-01 7.53402035e-04 -6.57033628e+00] [ 2.40641523e-02 -1.99503112e-03 9.99708426e-01 2.50164186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94071405699998 meters Centerline goodness [0,1] 0.988028858189763 Centerline is valid? [True, True] Translation: X:199.34, Y:-6.57, Z:2.50 [[ 9.98417827e-01 -5.08755174e-02 -2.39483499e-02 1.99342718e+02] [ 5.09080237e-02 9.98703065e-01 7.49246827e-04 -6.56559841e+00] [ 2.38791721e-02 -1.96722455e-03 9.99712916e-01 2.50309627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97071405699998 meters Centerline goodness [0,1] 0.9834665697674418 Centerline is valid? [True, True] Translation: X:199.37, Y:-6.57, Z:2.50 [[ 9.98489356e-01 -4.96213504e-02 -2.35950773e-02 1.99372920e+02] [ 4.96525822e-02 9.98766276e-01 7.39284366e-04 -6.57477919e+00] [ 2.35292832e-02 -1.90972409e-03 9.99721324e-01 2.50264899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00071405699998 meters Centerline goodness [0,1] 0.988151012053673 Centerline is valid? [True, True] Translation: X:199.41, Y:-6.57, Z:2.50 [[ 9.98536984e-01 -4.86863034e-02 -2.35273420e-02 1.99405727e+02] [ 4.87171259e-02 9.98812343e-01 7.38342994e-04 -6.56697512e+00] [ 2.34634524e-02 -1.88344727e-03 9.99722921e-01 2.50426991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03071405699998 meters Centerline goodness [0,1] 0.9850888757557849 Centerline is valid? [True, True] Translation: X:199.44, Y:-6.57, Z:2.50 [[ 9.98572624e-01 -4.80290530e-02 -2.33650299e-02 1.99436812e+02] [ 4.80593117e-02 9.98844213e-01 7.34914059e-04 -6.57284632e+00] [ 2.33027277e-02 -1.85677231e-03 9.99726730e-01 2.50389096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06071405699998 meters Centerline goodness [0,1] 0.987869822485207 Centerline is valid? [True, True] Translation: X:199.47, Y:-6.57, Z:2.51 [[ 9.98657891e-01 -4.60979743e-02 -2.36091767e-02 1.99468493e+02] [ 4.61283574e-02 9.98935244e-01 7.43651072e-04 -6.56636168e+00] [ 2.35497579e-02 -1.83170555e-03 9.99720988e-01 2.50519404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09071405699999 meters Centerline goodness [0,1] 0.9885224995445436 Centerline is valid? [True, True] Translation: X:199.50, Y:-6.56, Z:2.51 [[ 9.98724700e-01 -4.48145422e-02 -2.32514763e-02 1.99499592e+02] [ 4.48436846e-02 9.98993747e-01 7.33201690e-04 -6.56486757e+00] [ 2.31952213e-02 -1.77494851e-03 9.99729379e-01 2.50600079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.120714057 meters Centerline goodness [0,1] 0.9871896790605764 Centerline is valid? [True, True] Translation: X:199.53, Y:-6.57, Z:2.51 [[ 9.98802145e-01 -4.27917378e-02 -2.37306283e-02 1.99530503e+02] [ 4.28215466e-02 9.99082456e-01 7.49161004e-04 -6.56988312e+00] [ 2.36767965e-02 -1.76444582e-03 9.99718108e-01 2.50590475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.150714057 meters Centerline goodness [0,1] 0.9874731894309314 Centerline is valid? [True, True] Translation: X:199.56, Y:-6.57, Z:2.51 [[ 9.98835684e-01 -4.17233242e-02 -2.42165512e-02 1.99562450e+02] [ 4.17540843e-02 9.99127625e-01 7.65736060e-04 -6.57074294e+00] [ 2.41634763e-02 -1.77598442e-03 9.99706443e-01 2.50583797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.180714057 meters Centerline goodness [0,1] 0.988391376451078 Centerline is valid? [True, True] Translation: X:199.59, Y:-6.57, Z:2.51 [[ 9.98862964e-01 -4.08809972e-02 -2.45259615e-02 1.99594479e+02] [ 4.09123376e-02 9.99162438e-01 7.77215467e-04 -6.56636496e+00] [ 2.44736461e-02 -1.77974616e-03 9.99698891e-01 2.50660108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.210714057 meters Centerline goodness [0,1] 0.98729615691641 Centerline is valid? [True, True] Translation: X:199.63, Y:-6.57, Z:2.50 [[ 9.98859169e-01 -4.01272462e-02 -2.58875334e-02 1.99625113e+02] [ 4.01619545e-02 9.99192845e-01 8.21987625e-04 -6.57321208e+00] [ 2.58336541e-02 -1.86074382e-03 9.99664524e-01 2.50481542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.240714057 meters Centerline goodness [0,1] 0.9893655864901871 Centerline is valid? [True, True] Translation: X:199.66, Y:-6.56, Z:2.51 [[ 9.98894243e-01 -3.92473023e-02 -2.58832102e-02 1.99656775e+02] [ 3.92817342e-02 9.99227836e-01 8.22975872e-04 -6.56486813e+00] [ 2.58309245e-02 -1.83880324e-03 9.99664635e-01 2.50648689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.270714057 meters Centerline goodness [0,1] 0.9886524498835563 Centerline is valid? [True, True] Translation: X:199.69, Y:-6.56, Z:2.51 [[ 9.98911783e-01 -3.81152613e-02 -2.68789242e-02 1.99687800e+02] [ 3.81520126e-02 9.99271581e-01 8.55598154e-04 -6.56382741e+00] [ 2.68267338e-02 -1.88015214e-03 9.99638330e-01 2.50659707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.300714057 meters Centerline goodness [0,1] 0.9894768078889701 Centerline is valid? [True, True] Translation: X:199.72, Y:-6.56, Z:2.51 [[ 9.98964309e-01 -3.68051542e-02 -2.67523794e-02 1.99719335e+02] [ 3.68411177e-02 9.99320772e-01 8.52508688e-04 -6.56453433e+00] [ 2.67028317e-02 -1.83721331e-03 9.99641728e-01 2.50677438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.330714057 meters Centerline goodness [0,1] 0.9900599594191004 Centerline is valid? [True, True] Translation: X:199.75, Y:-6.56, Z:2.51 [[ 9.99009354e-01 -3.54543220e-02 -2.68942717e-02 1.99751194e+02] [ 3.54902133e-02 9.99369655e-01 8.58233400e-04 -6.56209594e+00] [ 2.68468909e-02 -1.81186663e-03 9.99637915e-01 2.50800322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.360714057 meters Centerline goodness [0,1] 0.9901976501843667 Centerline is valid? [True, True] Translation: X:199.78, Y:-6.56, Z:2.51 [[ 9.99133274e-01 -3.17047223e-02 -2.69724098e-02 1.99780783e+02] [ 3.17394766e-02 9.99495805e-01 8.61260401e-04 -6.56248680e+00] [ 2.69315044e-02 -1.71660409e-03 9.99635807e-01 2.50899986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.390714057 meters Centerline goodness [0,1] 0.9900232178570607 Centerline is valid? [True, True] Translation: X:199.81, Y:-6.55, Z:2.51 [[ 9.99312850e-01 -2.64318844e-02 -2.59842815e-02 1.99812034e+02] [ 2.64623640e-02 9.99649466e-01 8.29780744e-04 -6.55250634e+00] [ 2.59532404e-02 -1.51681607e-03 9.99662007e-01 2.51245455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.420714057 meters Centerline goodness [0,1] 0.9904413961076262 Centerline is valid? [True, True] Translation: X:199.84, Y:-6.55, Z:2.51 [[ 9.99398349e-01 -2.30275451e-02 -2.59359160e-02 1.99842293e+02] [ 2.30567672e-02 9.99733814e-01 8.28181533e-04 -6.54831201e+00] [ 2.59099413e-02 -1.42568164e-03 9.99663264e-01 2.51423512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45071405699997 meters Centerline goodness [0,1] 0.9908085694540428 Centerline is valid? [True, True] Translation: X:199.87, Y:-6.54, Z:2.52 [[ 9.99473828e-01 -1.98087603e-02 -2.56842423e-02 1.99871866e+02] [ 1.98363404e-02 9.99802905e-01 8.19449365e-04 -6.54456564e+00] [ 2.56629478e-02 -1.32849957e-03 9.99669770e-01 2.51567847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48071405699997 meters Centerline goodness [0,1] 0.9900606004958222 Centerline is valid? [True, True] Translation: X:199.90, Y:-6.54, Z:2.52 [[ 9.99541474e-01 -1.64143923e-02 -2.54442451e-02 1.99901962e+02] [ 1.64403449e-02 9.99864519e-01 8.11108908e-04 -6.54306908e+00] [ 2.54274840e-02 -1.22904916e-03 9.99675914e-01 2.51617308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51071405699997 meters Centerline goodness [0,1] 0.9910201066506614 Centerline is valid? [True, True] Translation: X:199.93, Y:-6.54, Z:2.52 [[ 9.99626999e-01 -1.07884804e-02 -2.50892902e-02 1.99931545e+02] [ 1.08119332e-02 9.99941230e-01 7.99303026e-04 -6.54009876e+00] [ 2.50791924e-02 -1.07026861e-03 9.99684895e-01 2.51632460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54071405699997 meters Centerline goodness [0,1] 0.9905725772910023 Centerline is valid? [True, True] Translation: X:199.96, Y:-6.54, Z:2.52 [[ 9.99631893e-01 -8.54830087e-03 -2.57488923e-02 1.99960698e+02] [ 8.57223068e-03 9.99962922e-01 8.19113151e-04 -6.53857521e+00] [ 2.57409355e-02 -1.03953707e-03 9.99668107e-01 2.51638503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57071405699998 meters Centerline goodness [0,1] 0.9911340540290284 Centerline is valid? [True, True] Translation: X:199.99, Y:-6.54, Z:2.52 [[ 9.99651302e-01 -4.17206183e-03 -2.60742985e-02 1.99990908e+02] [ 4.19508447e-03 9.99990858e-01 8.28323973e-04 -6.53618403e+00] [ 2.60706043e-02 -9.37419022e-04 9.99659665e-01 2.51645840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60071405699998 meters Centerline goodness [0,1] 0.9923353016093551 Centerline is valid? [True, True] Translation: X:200.02, Y:-6.53, Z:2.52 [[ 9.99653112e-01 -2.49421461e-03 -2.62189567e-02 2.00020270e+02] [ 2.51682895e-03 9.99996489e-01 8.29554186e-04 -6.53447876e+00] [ 2.62167956e-02 -8.95255053e-04 9.99655880e-01 2.51686829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63071405699998 meters Centerline goodness [0,1] 0.9917825976250549 Centerline is valid? [True, True] Translation: X:200.05, Y:-6.53, Z:2.52 [[ 9.99652170e-01 -9.42680404e-04 -2.63562196e-02 2.00048848e+02] [ 9.64825969e-04 9.99999192e-01 8.27536389e-04 -6.53419692e+00] [ 2.63554182e-02 -8.52677712e-04 9.99652272e-01 2.51714709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66071405699998 meters Centerline goodness [0,1] 0.9922070113773009 Centerline is valid? [True, True] Translation: X:200.08, Y:-6.53, Z:2.52 [[ 9.99642827e-01 7.85346994e-04 -2.67133268e-02 2.00076661e+02] [-7.63331858e-04 9.99999361e-01 8.34312967e-04 -6.53484318e+00] [ 2.67139649e-02 -8.13623840e-04 9.99642787e-01 2.51690543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69071405699998 meters Centerline goodness [0,1] 0.9924214332066377 Centerline is valid? [True, True] Translation: X:200.10, Y:-6.54, Z:2.52 [[ 9.99642441e-01 7.63415963e-04 -2.67283874e-02 2.00103509e+02] [-7.41443690e-04 9.99999379e-01 8.31958470e-04 -6.53651637e+00] [ 2.67290059e-02 -8.11843402e-04 9.99642387e-01 2.51681168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72071405699998 meters Centerline goodness [0,1] 0.9925840360401987 Centerline is valid? [True, True] Translation: X:200.13, Y:-6.54, Z:2.52 [[ 9.99634784e-01 -1.05241512e-03 -2.70035205e-02 2.00132590e+02] [ 1.07543473e-03 9.99999071e-01 8.37958181e-04 -6.53789328e+00] [ 2.70026136e-02 -8.66692669e-04 9.99634987e-01 2.51679837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75071405699998 meters Centerline goodness [0,1] 0.9907788305985671 Centerline is valid? [True, True] Translation: X:200.16, Y:-6.54, Z:2.52 [[ 9.99639043e-01 -2.56761275e-03 -2.67430615e-02 2.00160031e+02] [ 2.59067523e-03 9.99996302e-01 8.27760370e-04 -6.54299857e+00] [ 2.67408372e-02 -8.96744171e-04 9.99641998e-01 2.51618570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78071405699998 meters Centerline goodness [0,1] 0.9915586373228821 Centerline is valid? [True, True] Translation: X:200.19, Y:-6.54, Z:2.52 [[ 9.99650614e-01 -4.29671583e-03 -2.60804343e-02 2.00188448e+02] [ 4.31918405e-03 9.99990348e-01 8.05225412e-04 -6.54261387e+00] [ 2.60767227e-02 -9.17590272e-04 9.99659523e-01 2.51777189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81071405699998 meters Centerline goodness [0,1] 0.9910402148496285 Centerline is valid? [True, True] Translation: X:200.22, Y:-6.55, Z:2.52 [[ 9.99641606e-01 -7.24869289e-03 -2.57704614e-02 2.00217339e+02] [ 7.27156887e-03 9.99973247e-01 7.94080312e-04 -6.54666584e+00] [ 2.57640159e-02 -9.81187403e-04 9.99667571e-01 2.51865083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84071405699999 meters Centerline goodness [0,1] 0.9921680066537288 Centerline is valid? [True, True] Translation: X:200.25, Y:-6.55, Z:2.52 [[ 9.99644628e-01 -8.86827055e-03 -2.51390447e-02 2.00245489e+02] [ 8.89050624e-03 9.99960180e-01 7.72876912e-04 -6.54965701e+00] [ 2.51311896e-02 -9.96101087e-04 9.99683666e-01 2.51940741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.870714057 meters Centerline goodness [0,1] 0.9912751214346555 Centerline is valid? [True, True] Translation: X:200.27, Y:-6.55, Z:2.52 [[ 9.99616430e-01 -1.24136868e-02 -2.47566659e-02 2.00274817e+02] [ 1.24362987e-02 9.99922378e-01 7.59604443e-04 -6.55485638e+00] [ 2.47453147e-02 -1.06719437e-03 9.99693218e-01 2.52013818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.900714057 meters Centerline goodness [0,1] 0.9903914836747391 Centerline is valid? [True, True] Translation: X:200.30, Y:-6.56, Z:2.52 [[ 9.99580122e-01 -1.39976063e-02 -2.53701766e-02 2.00302718e+02] [ 1.40218226e-02 9.99901388e-01 7.76865836e-04 -6.55875588e+00] [ 2.53568006e-02 -1.13227576e-03 9.99677823e-01 2.52054566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.930714057 meters Centerline goodness [0,1] 0.9919653751410088 Centerline is valid? [True, True] Translation: X:200.33, Y:-6.56, Z:2.52 [[ 9.99571232e-01 -1.50998856e-02 -2.50867681e-02 2.00331169e+02] [ 1.51238402e-02 9.99885335e-01 7.65400753e-04 -6.55528817e+00] [ 2.50723341e-02 -1.14448085e-03 9.99684984e-01 2.52223160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.960714057 meters Centerline goodness [0,1] 0.9914669488016928 Centerline is valid? [True, True] Translation: X:200.36, Y:-6.56, Z:2.52 [[ 9.99555499e-01 -1.55810686e-02 -2.54172281e-02 2.00358959e+02] [ 1.56057401e-02 9.99877925e-01 7.72574346e-04 -6.55990921e+00] [ 2.54020878e-02 -1.16888559e-03 9.99676632e-01 2.52103442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.990714057 meters Centerline goodness [0,1] 0.9911059018201875 Centerline is valid? [True, True] Translation: X:200.39, Y:-6.57, Z:2.52 [[ 9.99555474e-01 -1.50475657e-02 -2.57376351e-02 2.00387020e+02] [ 1.50725730e-02 9.99886100e-01 7.77889443e-04 -6.56716193e+00] [ 2.57229983e-02 -1.16547604e-03 9.99668430e-01 2.51931952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.020714057 meters Centerline goodness [0,1] 0.9913691914658566 Centerline is valid? [True, True] Translation: X:200.42, Y:-6.57, Z:2.52 [[ 9.99593317e-01 -1.24068805e-02 -2.56762509e-02 2.00416114e+02] [ 1.24308073e-02 9.99922436e-01 7.72454335e-04 -6.56827707e+00] [ 2.56646756e-02 -1.09131672e-03 9.99670012e-01 2.51935125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.050714057 meters Centerline goodness [0,1] 0.991287556607894 Centerline is valid? [True, True] Translation: X:200.45, Y:-6.57, Z:2.52 [[ 9.99620381e-01 -1.11067302e-02 -2.52137764e-02 2.00445256e+02] [ 1.11293121e-02 9.99937782e-01 7.55458792e-04 -6.56844668e+00] [ 2.52038170e-02 -1.03578399e-03 9.99681797e-01 2.51995474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.080714057 meters Centerline goodness [0,1] 0.9913769315673289 Centerline is valid? [True, True] Translation: X:200.47, Y:-6.57, Z:2.52 [[ 9.99653630e-01 -9.59157755e-03 -2.45075979e-02 2.00474273e+02] [ 9.61237410e-03 9.99953533e-01 7.30908075e-04 -6.56847706e+00] [ 2.44994485e-02 -9.66231109e-04 9.99699377e-01 2.52091508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.110714057 meters Centerline goodness [0,1] 0.9927156578886898 Centerline is valid? [True, True] Translation: X:200.50, Y:-6.56, Z:2.52 [[ 9.99716844e-01 -7.89236209e-03 -2.24486832e-02 2.00503117e+02] [ 7.90934974e-03 9.99968497e-01 6.68043511e-04 -6.56138408e+00] [ 2.24427036e-02 -8.45408837e-04 9.99747773e-01 2.52495472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.140714057 meters Centerline goodness [0,1] 0.9921456950600556 Centerline is valid? [True, True] Translation: X:200.53, Y:-6.56, Z:2.53 [[ 9.99735732e-01 -8.07936399e-03 -2.15218276e-02 2.00532308e+02] [ 8.09495758e-03 9.99967032e-01 6.37525552e-04 -6.56295620e+00] [ 2.15159673e-02 -8.11575357e-04 9.99768175e-01 2.52598158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.170714057 meters Centerline goodness [0,1] 0.9918262386921982 Centerline is valid? [True, True] Translation: X:200.56, Y:-6.57, Z:2.53 [[ 9.99725495e-01 -1.04312523e-02 -2.09791433e-02 2.00560287e+02] [ 1.04465105e-02 9.99945243e-01 6.17840848e-04 -6.56636364e+00] [ 2.09715496e-02 -8.36830088e-04 9.99779723e-01 2.52616513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20071405699997 meters Centerline goodness [0,1] 0.9906847935548841 Centerline is valid? [True, True] Translation: X:200.59, Y:-6.57, Z:2.53 [[ 9.99694965e-01 -1.20481432e-02 -2.15596485e-02 2.00587878e+02] [ 1.20645915e-02 9.99927020e-01 6.33008847e-04 -6.57090058e+00] [ 2.15504485e-02 -8.92924108e-04 9.99767363e-01 2.52553196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23071405699997 meters Centerline goodness [0,1] 0.991422805247225 Centerline is valid? [True, True] Translation: X:200.62, Y:-6.57, Z:2.53 [[ 9.99614917e-01 -1.58512936e-02 -2.27761905e-02 2.00617972e+02] [ 1.58706053e-02 9.99873831e-01 6.67370073e-04 -6.57332456e+00] [ 2.27627382e-02 -1.02858501e-03 9.99740366e-01 2.52503279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26071405699997 meters Centerline goodness [0,1] 0.9911129434938959 Centerline is valid? [True, True] Translation: X:200.65, Y:-6.58, Z:2.52 [[ 9.99575830e-01 -1.77321093e-02 -2.31026612e-02 2.00646344e+02] [ 1.77524406e-02 9.99842185e-01 6.75232071e-04 -6.57626117e+00] [ 2.30870420e-02 -1.08507428e-03 9.99732870e-01 2.52472183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29071405699997 meters Centerline goodness [0,1] 0.9910420475319927 Centerline is valid? [True, True] Translation: X:200.67, Y:-6.58, Z:2.53 [[ 9.99548019e-01 -1.94734971e-02 -2.29028433e-02 2.00674651e+02] [ 1.94938724e-02 9.99809754e-01 6.66691483e-04 -6.57693492e+00] [ 2.28855033e-02 -1.11285526e-03 9.99737473e-01 2.52577690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32071405699998 meters Centerline goodness [0,1] 0.9905675459632294 Centerline is valid? [True, True] Translation: X:200.70, Y:-6.58, Z:2.53 [[ 9.99513840e-01 -2.21514862e-02 -2.19407162e-02 2.00703045e+02] [ 2.21707936e-02 9.99753995e-01 6.37091889e-04 -6.58148366e+00] [ 2.19212061e-02 -1.12322525e-03 9.99759071e-01 2.52632509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35071405699998 meters Centerline goodness [0,1] 0.991077133728891 Centerline is valid? [True, True] Translation: X:200.73, Y:-6.58, Z:2.53 [[ 9.99484874e-01 -2.32184698e-02 -2.21560191e-02 2.00733145e+02] [ 2.32384007e-02 9.99729745e-01 6.42493229e-04 -6.58048681e+00] [ 2.21351136e-02 -1.15703272e-03 9.99754319e-01 2.52741602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38071405699998 meters Centerline goodness [0,1] 0.9903337380030693 Centerline is valid? [True, True] Translation: X:200.76, Y:-6.59, Z:2.53 [[ 9.99429728e-01 -2.50613884e-02 -2.26306266e-02 2.00762742e+02] [ 2.50826443e-02 9.99685166e-01 6.55847202e-04 -6.58542660e+00] [ 2.26070652e-02 -1.22310915e-03 9.99743679e-01 2.52660955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41071405699998 meters Centerline goodness [0,1] 0.9902404461510331 Centerline is valid? [True, True] Translation: X:200.79, Y:-6.59, Z:2.53 [[ 9.99410470e-01 -2.55037975e-02 -2.29841011e-02 2.00792399e+02] [ 2.55258302e-02 9.99673941e-01 6.65685374e-04 -6.59127562e+00] [ 2.29596294e-02 -1.25198119e-03 9.99735609e-01 2.52544170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44071405699998 meters Centerline goodness [0,1] 0.9900802267376746 Centerline is valid? [True, True] Translation: X:200.82, Y:-6.59, Z:2.53 [[ 9.99415511e-01 -2.55144580e-02 -2.27519165e-02 2.00822710e+02] [ 2.55360455e-02 9.99673685e-01 6.58745026e-04 -6.59269131e+00] [ 2.27276847e-02 -1.23935397e-03 9.99740925e-01 2.52548040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47071405699998 meters Centerline goodness [0,1] 0.9903824187874081 Centerline is valid? [True, True] Translation: X:200.85, Y:-6.59, Z:2.53 [[ 9.99422623e-01 -2.53651115e-02 -2.26060029e-02 2.00853048e+02] [ 2.53863848e-02 9.99677500e-01 6.54520333e-04 -6.58677769e+00] [ 2.25821104e-02 -1.22802712e-03 9.99744237e-01 2.52741557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50071405699998 meters Centerline goodness [0,1] 0.9903149912058293 Centerline is valid? [True, True] Translation: X:200.88, Y:-6.59, Z:2.53 [[ 9.99439332e-01 -2.50814397e-02 -2.21798028e-02 2.00883603e+02] [ 2.51018486e-02 9.99684693e-01 6.42180399e-04 -6.58543427e+00] [ 2.21567026e-02 -1.19857440e-03 9.99753792e-01 2.52870289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53071405699998 meters Centerline goodness [0,1] 0.9913844325609031 Centerline is valid? [True, True] Translation: X:200.91, Y:-6.59, Z:2.53 [[ 9.99455149e-01 -2.50536056e-02 -2.14877015e-02 2.00914566e+02] [ 2.50727540e-02 9.99685435e-01 6.22141722e-04 -6.58527060e+00] [ 2.14653553e-02 -1.16055860e-03 9.99768919e-01 2.52985184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56071405699998 meters Centerline goodness [0,1] 0.9897702306847309 Centerline is valid? [True, True] Translation: X:200.95, Y:-6.59, Z:2.53 [[ 9.99456961e-01 -2.52652156e-02 -2.11530649e-02 2.00945675e+02] [ 2.52838256e-02 9.99680125e-01 6.12755173e-04 -6.58553405e+00] [ 2.11308171e-02 -1.14725283e-03 9.99776061e-01 2.53043568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59071405699999 meters Centerline goodness [0,1] 0.9896419261901496 Centerline is valid? [True, True] Translation: X:200.98, Y:-6.59, Z:2.53 [[ 9.99417567e-01 -2.68799286e-02 -2.10237090e-02 2.00977007e+02] [ 2.68986835e-02 9.99637979e-01 6.09756616e-04 -6.58582361e+00] [ 2.09997078e-02 -1.17491157e-03 9.99778791e-01 2.53125194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.620714057 meters Centerline goodness [0,1] 0.9904205820636803 Centerline is valid? [True, True] Translation: X:201.01, Y:-6.59, Z:2.53 [[ 9.99389411e-01 -2.83189012e-02 -2.04656968e-02 2.01008332e+02] [ 2.83369890e-02 9.99598250e-01 5.94294418e-04 -6.58767409e+00] [ 2.04406450e-02 -1.17386777e-03 9.99790379e-01 2.53127413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.650714057 meters Centerline goodness [0,1] 0.9898124671646223 Centerline is valid? [True, True] Translation: X:201.04, Y:-6.59, Z:2.53 [[ 9.99319647e-01 -3.01784185e-02 -2.12015421e-02 2.01038712e+02] [ 3.01982609e-02 9.99543739e-01 6.16283048e-04 -6.59252160e+00] [ 2.11732702e-02 -1.25611346e-03 9.99775032e-01 2.53078544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.680714057 meters Centerline goodness [0,1] 0.9901105693290296 Centerline is valid? [True, True] Translation: X:201.07, Y:-6.59, Z:2.53 [[ 9.99168172e-01 -3.39154034e-02 -2.26430742e-02 2.01069683e+02] [ 3.39389991e-02 9.99423689e-01 6.58485406e-04 -6.59046118e+00] [ 2.26076920e-02 -1.42642094e-03 9.99743396e-01 2.53017742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.710714057 meters Centerline goodness [0,1] 0.9890366437023643 Centerline is valid? [True, True] Translation: X:201.10, Y:-6.60, Z:2.53 [[ 9.99095679e-01 -3.55927640e-02 -2.32589652e-02 2.01100012e+02] [ 3.56181272e-02 9.99365244e-01 6.76973774e-04 -6.60174460e+00] [ 2.32201061e-02 -1.50480236e-03 9.99729244e-01 2.52835561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.740714057 meters Centerline goodness [0,1] 0.9890366437023643 Centerline is valid? [True, True] Translation: X:201.13, Y:-6.60, Z:2.53 [[ 9.99098067e-01 -3.55257047e-02 -2.32589271e-02 2.01131759e+02] [ 3.55510801e-02 9.99367630e-01 6.78280662e-04 -6.60273514e+00] [ 2.32201225e-02 -1.50454888e-03 9.99729244e-01 2.52875784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.770714057 meters Centerline goodness [0,1] 0.9883941856472473 Centerline is valid? [True, True] Translation: X:201.16, Y:-6.60, Z:2.53 [[ 9.99015000e-01 -3.75952525e-02 -2.35717533e-02 2.01163227e+02] [ 3.76219176e-02 9.99291808e-01 6.88627844e-04 -6.60490209e+00] [ 2.35291708e-02 -1.57476410e-03 9.99721910e-01 2.52887908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.800714057 meters Centerline goodness [0,1] 0.9902092795033891 Centerline is valid? [True, True] Translation: X:201.20, Y:-6.60, Z:2.53 [[ 9.99015540e-01 -3.78416014e-02 -2.31508934e-02 2.01196006e+02] [ 3.78674153e-02 9.99282543e-01 6.77494918e-04 -6.59719777e+00] [ 2.31086461e-02 -1.55349245e-03 9.99731753e-01 2.53100832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.830714057 meters Centerline goodness [0,1] 0.9901313519357733 Centerline is valid? [True, True] Translation: X:201.23, Y:-6.60, Z:2.53 [[ 9.99034827e-01 -3.73609165e-02 -2.30992534e-02 2.01228222e+02] [ 3.73865325e-02 9.99300649e-01 6.77940464e-04 -6.59676624e+00] [ 2.30577704e-02 -1.54088712e-03 9.99732947e-01 2.53222884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.860714057 meters Centerline goodness [0,1] 0.9894623260939437 Centerline is valid? [True, True] Translation: X:201.26, Y:-6.60, Z:2.53 [[ 9.99070215e-01 -3.64651649e-02 -2.29999240e-02 2.01259377e+02] [ 3.64903858e-02 9.99333774e-01 6.77687873e-04 -6.60158431e+00] [ 2.29598889e-02 -1.51633387e-03 9.99735237e-01 2.53183803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.890714057 meters Centerline goodness [0,1] 0.9894400954982668 Centerline is valid? [True, True] Translation: X:201.29, Y:-6.60, Z:2.53 [[ 9.99095055e-01 -3.54777159e-02 -2.34606718e-02 2.01291296e+02] [ 3.55037452e-02 9.99369303e-01 6.93755376e-04 -6.60146011e+00] [ 2.34212624e-02 -1.52606928e-03 9.99724520e-01 2.53184028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.920714057 meters Centerline goodness [0,1] 0.9892006157946739 Centerline is valid? [True, True] Translation: X:201.32, Y:-6.60, Z:2.53 [[ 9.99152213e-01 -3.30307416e-02 -2.45728469e-02 2.01321606e+02] [ 3.30585890e-02 9.99453150e-01 7.27781267e-04 -6.60282804e+00] [ 2.45353701e-02 -1.53950791e-03 9.99697777e-01 2.52998382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95071405699997 meters Centerline goodness [0,1] 0.9904131319401338 Centerline is valid? [True, True] Translation: X:201.35, Y:-6.60, Z:2.53 [[ 9.99180737e-01 -3.17832512e-02 -2.50535308e-02 2.01353607e+02] [ 3.18118303e-02 9.99493600e-01 7.42887422e-04 -6.60060930e+00] [ 2.50172323e-02 -1.53927747e-03 9.99685835e-01 2.52990057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98071405699997 meters Centerline goodness [0,1] 0.9904029826701342 Centerline is valid? [True, True] Translation: X:201.38, Y:-6.60, Z:2.53 [[ 9.99319356e-01 -2.79533523e-02 -2.40714393e-02 2.01384467e+02] [ 2.79786460e-02 9.99608266e-01 7.14561040e-04 -6.59543494e+00] [ 2.40420353e-02 -1.38756096e-03 9.99709986e-01 2.53217084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01071405699997 meters Centerline goodness [0,1] 0.9900969576932821 Centerline is valid? [True, True] Translation: X:201.42, Y:-6.59, Z:2.53 [[ 9.99389579e-01 -2.59427736e-02 -2.33974767e-02 2.01415074e+02] [ 2.59661253e-02 9.99662582e-01 6.94729708e-04 -6.59204264e+00] [ 2.33715587e-02 -1.30184744e-03 9.99726000e-01 2.53426699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04071405699997 meters Centerline goodness [0,1] 0.9895890915791413 Centerline is valid? [True, True] Translation: X:201.45, Y:-6.59, Z:2.54 [[ 9.99526426e-01 -2.24707066e-02 -2.10235949e-02 2.01445187e+02] [ 2.24887933e-02 9.99746900e-01 6.24243209e-04 -6.59111106e+00] [ 2.10042466e-02 -1.09674286e-03 9.99778785e-01 2.53628485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07071405699998 meters Centerline goodness [0,1] 0.9901377943684041 Centerline is valid? [True, True] Translation: X:201.48, Y:-6.59, Z:2.54 [[ 9.99569787e-01 -2.10871946e-02 -2.03855554e-02 2.01475266e+02] [ 2.11039101e-02 9.99777105e-01 6.05161323e-04 -6.59103362e+00] [ 2.03682504e-02 -1.03511590e-03 9.99792010e-01 2.53691019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10071405699998 meters Centerline goodness [0,1] 0.9900270101807604 Centerline is valid? [True, True] Translation: X:201.51, Y:-6.59, Z:2.54 [[ 9.99602187e-01 -1.99310159e-02 -1.99555074e-02 2.01505576e+02] [ 1.99467992e-02 9.99800867e-01 5.92175213e-04 -6.59120104e+00] [ 1.99397309e-02 -9.89988137e-04 9.99800694e-01 2.53731014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13071405699998 meters Centerline goodness [0,1] 0.9887888763553488 Centerline is valid? [True, True] Translation: X:201.53, Y:-6.60, Z:2.54 [[ 9.99619429e-01 -1.93549783e-02 -1.96566236e-02 2.01534570e+02] [ 1.93701763e-02 9.99812211e-01 5.83061537e-04 -6.59847649e+00] [ 1.96416472e-02 -9.63591907e-04 9.99806620e-01 2.53546755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16071405699998 meters Centerline goodness [0,1] 0.9900138376383764 Centerline is valid? [True, True] Translation: X:201.56, Y:-6.59, Z:2.54 [[ 9.99615936e-01 -1.95468171e-02 -1.96444250e-02 2.01564466e+02] [ 1.95620197e-02 9.99808476e-01 5.82008250e-04 -6.59350017e+00] [ 1.96292862e-02 -9.66069350e-04 9.99806860e-01 2.53626525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19071405699998 meters Centerline goodness [0,1] 0.9905110665837537 Centerline is valid? [True, True] Translation: X:201.59, Y:-6.60, Z:2.54 [[ 9.99602194e-01 -1.98816489e-02 -2.00043398e-02 2.01593607e+02] [ 1.98974689e-02 9.99801850e-01 5.92081437e-04 -6.59616763e+00] [ 1.99886044e-02 -9.89881631e-04 9.99799718e-01 2.53615672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22071405699998 meters Centerline goodness [0,1] 0.990517836593786 Centerline is valid? [True, True] Translation: X:201.62, Y:-6.60, Z:2.54 [[ 9.99566073e-01 -2.11821554e-02 -2.04690728e-02 2.01622983e+02] [ 2.11989808e-02 9.99775093e-01 6.05330248e-04 -6.59812126e+00] [ 2.04516470e-02 -1.03899106e-03 9.99790303e-01 2.53577438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25071405699998 meters Centerline goodness [0,1] 0.9903559127439725 Centerline is valid? [True, True] Translation: X:201.65, Y:-6.60, Z:2.54 [[ 9.99535968e-01 -2.23173228e-02 -2.07312977e-02 2.01653394e+02] [ 2.23348162e-02 9.99750359e-01 6.12629645e-04 -6.59986154e+00] [ 2.07124500e-02 -1.07537509e-03 9.99784896e-01 2.53558182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28071405699998 meters Centerline goodness [0,1] 0.9902328039896123 Centerline is valid? [True, True] Translation: X:201.68, Y:-6.60, Z:2.54 [[ 9.99526543e-01 -2.28541427e-02 -2.06004466e-02 2.01683896e+02] [ 2.28715296e-02 9.99738227e-01 6.08762872e-04 -6.60210084e+00] [ 2.05811412e-02 -1.07963837e-03 9.99787603e-01 2.53580520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31071405699998 meters Centerline goodness [0,1] 0.9902736261209474 Centerline is valid? [True, True] Translation: X:201.71, Y:-6.61, Z:2.54 [[ 9.99531021e-01 -2.31632097e-02 -2.00300911e-02 2.01713581e+02] [ 2.31797062e-02 9.99731139e-01 5.91776502e-04 -6.60839675e+00] [ 2.00109983e-02 -1.05579060e-03 9.99799202e-01 2.53584882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34071405699999 meters Centerline goodness [0,1] 0.9895828553072369 Centerline is valid? [True, True] Translation: X:201.74, Y:-6.61, Z:2.54 [[ 9.99530410e-01 -2.39077596e-02 -1.91671407e-02 2.01743719e+02] [ 2.39229973e-02 9.99713644e-01 5.66064298e-04 -6.60869191e+00] [ 1.91481187e-02 -1.02433394e-03 9.99816133e-01 2.53757702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.370714057 meters Centerline goodness [0,1] 0.9904757533334864 Centerline is valid? [True, True] Translation: X:201.77, Y:-6.61, Z:2.54 [[ 9.99534062e-01 -2.40716377e-02 -1.87674088e-02 2.01774931e+02] [ 2.40862793e-02 9.99709730e-01 5.54477447e-04 -6.60949917e+00] [ 1.87486140e-02 -1.00625614e-03 9.99823723e-01 2.53824989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.400714057 meters Centerline goodness [0,1] 0.9906942629902129 Centerline is valid? [True, True] Translation: X:201.81, Y:-6.61, Z:2.54 [[ 9.99510423e-01 -2.49671538e-02 -1.88561802e-02 2.01805349e+02] [ 2.49821037e-02 9.99687743e-01 5.57665282e-04 -6.61419179e+00] [ 1.88363689e-02 -1.02845931e-03 9.99822051e-01 2.53741877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.430714057 meters Centerline goodness [0,1] 0.9900064178967636 Centerline is valid? [True, True] Translation: X:201.84, Y:-6.62, Z:2.54 [[ 9.99486961e-01 -2.56063054e-02 -1.92388258e-02 2.01836892e+02] [ 2.56219953e-02 9.99671541e-01 5.69442686e-04 -6.61698676e+00] [ 1.92179253e-02 -1.06208764e-03 9.99814754e-01 2.53710596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.460714057 meters Centerline goodness [0,1] 0.990266194447618 Centerline is valid? [True, True] Translation: X:201.87, Y:-6.62, Z:2.54 [[ 9.99475330e-01 -2.61525854e-02 -1.91077473e-02 2.01868124e+02] [ 2.61681744e-02 9.99657394e-01 5.66232558e-04 -6.61972783e+00] [ 1.90863925e-02 -1.06595034e-03 9.99817270e-01 2.53692974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.490714057 meters Centerline goodness [0,1] 0.9896121093125728 Centerline is valid? [True, True] Translation: X:201.90, Y:-6.62, Z:2.54 [[ 9.99406392e-01 -2.80166606e-02 -2.00482092e-02 2.01897734e+02] [ 2.80342055e-02 9.99606788e-01 5.94567582e-04 -6.62496884e+00] [ 2.00236682e-02 -1.15625026e-03 9.99798838e-01 2.53624138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.520714057 meters Centerline goodness [0,1] 0.9896481747497549 Centerline is valid? [True, True] Translation: X:201.93, Y:-6.63, Z:2.54 [[ 9.99373005e-01 -2.90818149e-02 -2.01951657e-02 2.01928432e+02] [ 2.90998373e-02 9.99576331e-01 5.99055537e-04 -6.62905608e+00] [ 2.01691880e-02 -1.18635597e-03 9.99795877e-01 2.53615560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.550714057 meters Centerline goodness [0,1] 0.9885490980142682 Centerline is valid? [True, True] Translation: X:201.96, Y:-6.64, Z:2.54 [[ 9.99304502e-01 -3.16173263e-02 -1.97701096e-02 2.01957992e+02] [ 3.16350964e-02 9.99499313e-01 5.86660449e-04 -6.63571004e+00] [ 1.97416623e-02 -1.21168175e-03 9.99804380e-01 2.53634582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.580714057 meters Centerline goodness [0,1] 0.9886722926096945 Centerline is valid? [True, True] Translation: X:201.99, Y:-6.64, Z:2.54 [[ 9.99286762e-01 -3.24258718e-02 -1.93527642e-02 2.01990316e+02] [ 3.24430592e-02 9.99473420e-01 5.74729796e-04 -6.63853565e+00] [ 1.93239373e-02 -1.20218275e-03 9.99812553e-01 2.53701148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.610714057 meters Centerline goodness [0,1] 0.9883736803785949 Centerline is valid? [True, True] Translation: X:202.02, Y:-6.64, Z:2.54 [[ 9.99275585e-01 -3.30212137e-02 -1.89183554e-02 2.02022293e+02] [ 3.30377680e-02 9.99453945e-01 5.63089864e-04 -6.64170204e+00] [ 1.88894311e-02 -1.18770219e-03 9.99820873e-01 2.53756160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.640714057 meters Centerline goodness [0,1] 0.9891727134181015 Centerline is valid? [True, True] Translation: X:202.05, Y:-6.65, Z:2.54 [[ 9.99265469e-01 -3.33435870e-02 -1.88872472e-02 2.02053351e+02] [ 3.33601663e-02 9.99443236e-01 5.63329311e-04 -6.64545653e+00] [ 1.88579481e-02 -1.19299724e-03 9.99821461e-01 2.53780606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.670714057 meters Centerline goodness [0,1] 0.9879389208747695 Centerline is valid? [True, True] Translation: X:202.09, Y:-6.65, Z:2.54 [[ 9.99251539e-01 -3.36780376e-02 -1.90302600e-02 2.02085745e+02] [ 3.36949497e-02 9.99432002e-01 5.68660973e-04 -6.64742959e+00] [ 1.90002994e-02 -1.20945900e-03 9.99818746e-01 2.53792255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70071405699997 meters Centerline goodness [0,1] 0.9868893433310612 Centerline is valid? [True, True] Translation: X:202.12, Y:-6.65, Z:2.54 [[ 9.99230234e-01 -3.43277530e-02 -1.89880037e-02 2.02117041e+02] [ 3.43447348e-02 9.99409884e-01 5.68869576e-04 -6.65110874e+00] [ 1.89572705e-02 -1.22056963e-03 9.99819550e-01 2.53816061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73071405699997 meters Centerline goodness [0,1] 0.9870501974055274 Centerline is valid? [True, True] Translation: X:202.15, Y:-6.65, Z:2.54 [[ 9.99222459e-01 -3.46261826e-02 -1.88548276e-02 2.02148609e+02] [ 3.46430156e-02 9.99399590e-01 5.66780724e-04 -6.65405285e+00] [ 1.88238815e-02 -1.21952811e-03 9.99822071e-01 2.53863466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76071405699997 meters Centerline goodness [0,1] 0.9865826571778251 Centerline is valid? [True, True] Translation: X:202.18, Y:-6.66, Z:2.54 [[ 9.99147943e-01 -3.63769822e-02 -1.94962456e-02 2.02179618e+02] [ 3.63953407e-02 9.99337297e-01 5.87532355e-04 -6.65829593e+00] [ 1.94619528e-02 -1.29660425e-03 9.99809758e-01 2.53853218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79071405699997 meters Centerline goodness [0,1] 0.9863977910555858 Centerline is valid? [True, True] Translation: X:202.21, Y:-6.66, Z:2.54 [[ 9.99108966e-01 -3.73164285e-02 -1.97169421e-02 2.02212118e+02] [ 3.73354002e-02 9.99302614e-01 5.94845417e-04 -6.66133326e+00] [ 1.96809942e-02 -1.33045531e-03 9.99805425e-01 2.53862806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82071405699998 meters Centerline goodness [0,1] 0.9864543994934534 Centerline is valid? [True, True] Translation: X:202.24, Y:-6.66, Z:2.54 [[ 9.99068938e-01 -3.84107880e-02 -1.96435122e-02 2.02244486e+02] [ 3.84298540e-02 9.99261124e-01 5.93896057e-04 -6.66350685e+00] [ 1.96061861e-02 -1.34824041e-03 9.99806871e-01 2.53873642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85071405699998 meters Centerline goodness [0,1] 0.9886054729974628 Centerline is valid? [True, True] Translation: X:202.28, Y:-6.65, Z:2.54 [[ 9.98968776e-01 -4.07590303e-02 -2.00021396e-02 2.02275718e+02] [ 4.07792865e-02 9.99167995e-01 6.05701527e-04 -6.65399906e+00] [ 1.99608099e-02 -1.42074989e-03 9.99799754e-01 2.53978867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88071405699998 meters Centerline goodness [0,1] 0.9886186923891731 Centerline is valid? [True, True] Translation: X:202.31, Y:-6.66, Z:2.54 [[ 9.98875224e-01 -4.31067960e-02 -1.97507115e-02 2.02307043e+02] [ 4.31270118e-02 9.99069418e-01 5.98560053e-04 -6.65625401e+00] [ 1.97065299e-02 -1.44967598e-03 9.99804756e-01 2.54026718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91071405699998 meters Centerline goodness [0,1] 0.9876741451058441 Centerline is valid? [True, True] Translation: X:202.34, Y:-6.66, Z:2.54 [[ 9.98818993e-01 -4.43587055e-02 -1.98223282e-02 2.02339440e+02] [ 4.43793324e-02 9.99014571e-01 6.01691844e-04 -6.65776999e+00] [ 1.97761044e-02 -1.48068294e-03 9.99803337e-01 2.54090974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94071405699998 meters Centerline goodness [0,1] 0.9874243763170417 Centerline is valid? [True, True] Translation: X:202.37, Y:-6.66, Z:2.54 [[ 9.98774368e-01 -4.54842437e-02 -1.95178419e-02 2.02370919e+02] [ 4.55044797e-02 9.98963958e-01 5.93703986e-04 -6.66057424e+00] [ 1.94706165e-02 -1.48112556e-03 9.99809333e-01 2.54116835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97071405699998 meters Centerline goodness [0,1] 0.987062715243792 Centerline is valid? [True, True] Translation: X:202.40, Y:-6.66, Z:2.54 [[ 9.98700350e-01 -4.70202503e-02 -1.96648824e-02 2.02402127e+02] [ 4.70411066e-02 9.98892775e-01 5.99102273e-04 -6.66268013e+00] [ 1.96149390e-02 -1.52338148e-03 9.99806448e-01 2.54140715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00071405699998 meters Centerline goodness [0,1] 0.986676602759524 Centerline is valid? [True, True] Translation: X:202.43, Y:-6.67, Z:2.54 [[ 9.98614783e-01 -4.87369423e-02 -1.98299037e-02 2.02432259e+02] [ 4.87584979e-02 9.98810414e-01 6.04705571e-04 -6.66729679e+00] [ 1.97768428e-02 -1.57074424e-03 9.99803185e-01 2.54007328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03071405699998 meters Centerline goodness [0,1] 0.9865090843351713 Centerline is valid? [True, True] Translation: X:202.46, Y:-6.67, Z:2.54 [[ 9.98555950e-01 -4.98393786e-02 -2.00511865e-02 2.02464002e+02] [ 4.98616585e-02 9.98755946e-01 6.12434686e-04 -6.66972215e+00] [ 1.99957184e-02 -1.61133572e-03 9.99798767e-01 2.53953156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06071405699998 meters Centerline goodness [0,1] 0.9867045249684514 Centerline is valid? [True, True] Translation: X:202.50, Y:-6.67, Z:2.54 [[ 9.98536095e-01 -5.02186841e-02 -2.00935614e-02 2.02495074e+02] [ 5.02411761e-02 9.98736925e-01 6.15801109e-04 -6.67374034e+00] [ 2.00372570e-02 -1.62442379e-03 9.99797914e-01 2.53952800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09071405699999 meters Centerline goodness [0,1] 0.9879507218305894 Centerline is valid? [True, True] Translation: X:202.53, Y:-6.67, Z:2.54 [[ 9.98501950e-01 -5.06555835e-02 -2.06849407e-02 2.02527650e+02] [ 5.06795520e-02 9.98714763e-01 6.35848698e-04 -6.67099124e+00] [ 2.06261464e-02 -1.68319970e-03 9.99785842e-01 2.53956724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.120714057 meters Centerline goodness [0,1] 0.9859212221192741 Centerline is valid? [True, True] Translation: X:202.56, Y:-6.68, Z:2.54 [[ 9.98453686e-01 -5.10432719e-02 -2.20186598e-02 2.02558346e+02] [ 5.10705573e-02 9.98694817e-01 6.78291328e-04 -6.67552613e+00] [ 2.19552992e-02 -1.80174770e-03 9.99757330e-01 2.53842564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.150714057 meters Centerline goodness [0,1] 0.9866091590642219 Centerline is valid? [True, True] Translation: X:202.59, Y:-6.68, Z:2.54 [[ 9.98437907e-01 -5.08414808e-02 -2.31708729e-02 2.02590906e+02] [ 5.08716763e-02 9.98704942e-01 7.15201932e-04 -6.67571835e+00] [ 2.31045033e-02 -1.89282586e-03 9.99731263e-01 2.53858403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.180714057 meters Centerline goodness [0,1] 0.9854491395621228 Centerline is valid? [True, True] Translation: X:202.62, Y:-6.68, Z:2.54 [[ 9.98506989e-01 -4.93498194e-02 -2.34177007e-02 2.02620975e+02] [ 4.93803002e-02 9.98779786e-01 7.24784874e-04 -6.67736160e+00] [ 2.33533581e-02 -1.88007585e-03 9.99725505e-01 2.53866549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.210714057 meters Centerline goodness [0,1] 0.9858351812463231 Centerline is valid? [True, True] Translation: X:202.65, Y:-6.68, Z:2.54 [[ 9.98562048e-01 -4.82303890e-02 -2.34022797e-02 2.02652102e+02] [ 4.82605625e-02 9.98834516e-01 7.25949125e-04 -6.67808488e+00] [ 2.33399919e-02 -1.85431243e-03 9.99725866e-01 2.53910267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.240714057 meters Centerline goodness [0,1] 0.987730754456922 Centerline is valid? [True, True] Translation: X:202.68, Y:-6.67, Z:2.54 [[ 9.98704058e-01 -4.53997633e-02 -2.30014544e-02 2.02682867e+02] [ 4.54281752e-02 9.98967352e-01 7.13934974e-04 -6.66890192e+00] [ 2.29452895e-02 -1.75792385e-03 9.99735177e-01 2.54101248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.270714057 meters Centerline goodness [0,1] 0.9882291572167287 Centerline is valid? [True, True] Translation: X:202.71, Y:-6.67, Z:2.54 [[ 9.98772799e-01 -4.39192430e-02 -2.28909409e-02 2.02714691e+02] [ 4.39470085e-02 9.99033610e-01 7.11056943e-04 -6.66535865e+00] [ 2.28375902e-02 -1.71617271e-03 9.99737715e-01 2.54228191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.300714057 meters Centerline goodness [0,1] 0.9890189837444583 Centerline is valid? [True, True] Translation: X:202.75, Y:-6.66, Z:2.54 [[ 9.98919520e-01 -4.09591903e-02 -2.19576100e-02 2.02745154e+02] [ 4.09840402e-02 9.99159568e-01 6.82720857e-04 -6.66285694e+00] [ 2.19111925e-02 -1.58189476e-03 9.99758670e-01 2.54393322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.330714057 meters Centerline goodness [0,1] 0.9886497775356397 Centerline is valid? [True, True] Translation: X:202.78, Y:-6.66, Z:2.54 [[ 9.99002826e-01 -3.93893633e-02 -2.10197896e-02 2.02777080e+02] [ 3.94117989e-02 9.99222839e-01 6.54008958e-04 -6.66377169e+00] [ 2.09776929e-02 -1.48178452e-03 9.99778846e-01 2.54440743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.360714057 meters Centerline goodness [0,1] 0.9896401308615049 Centerline is valid? [True, True] Translation: X:202.81, Y:-6.66, Z:2.55 [[ 9.99062324e-01 -3.82481331e-02 -2.02867652e-02 2.02808988e+02] [ 3.82688184e-02 9.99267280e-01 6.32273221e-04 -6.66162412e+00] [ 2.02477174e-02 -1.40803089e-03 9.99794002e-01 2.54531968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.390714057 meters Centerline goodness [0,1] 0.988406779661017 Centerline is valid? [True, True] Translation: X:202.84, Y:-6.67, Z:2.55 [[ 9.99152362e-01 -3.66729857e-02 -1.86989126e-02 2.02839609e+02] [ 3.66903005e-02 9.99326514e-01 5.83642845e-04 -6.66955176e+00] [ 1.86649152e-02 -1.26921685e-03 9.99824990e-01 2.54605748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.420714057 meters Centerline goodness [0,1] 0.9891567628749293 Centerline is valid? [True, True] Translation: X:202.87, Y:-6.67, Z:2.55 [[ 9.99186967e-01 -3.62954133e-02 -1.75513036e-02 2.02871693e+02] [ 3.63106232e-02 9.99340401e-01 5.48596667e-04 -6.67028534e+00] [ 1.75198152e-02 -1.18544941e-03 9.99845814e-01 2.54728518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45071405699997 meters Centerline goodness [0,1] 0.9892833676960373 Centerline is valid? [True, True] Translation: X:202.90, Y:-6.67, Z:2.55 [[ 9.99208921e-01 -3.60489682e-02 -1.67929889e-02 2.02903602e+02] [ 3.60628766e-02 9.99349384e-01 5.26044717e-04 -6.66742040e+00] [ 1.67630997e-02 -1.13123206e-03 9.99858849e-01 2.54825813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48071405699997 meters Centerline goodness [0,1] 0.9890090008593785 Centerline is valid? [True, True] Translation: X:202.94, Y:-6.67, Z:2.55 [[ 9.99209748e-01 -3.60072337e-02 -1.68332422e-02 2.02936184e+02] [ 3.60212238e-02 9.99350885e-01 5.28542735e-04 -6.66950733e+00] [ 1.68032841e-02 -1.13447904e-03 9.99858171e-01 2.54834265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51071405699997 meters Centerline goodness [0,1] 0.9875679700367771 Centerline is valid? [True, True] Translation: X:202.97, Y:-6.68, Z:2.55 [[ 9.99204422e-01 -3.59722254e-02 -1.72197977e-02 2.02967292e+02] [ 3.59868811e-02 9.99352116e-01 5.41883049e-04 -6.68118555e+00] [ 1.71891485e-02 -1.16113875e-03 9.99851581e-01 2.54761454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54071405699997 meters Centerline goodness [0,1] 0.9872278861586454 Centerline is valid? [True, True] Translation: X:203.00, Y:-6.69, Z:2.55 [[ 9.99233698e-01 -3.51007264e-02 -1.73192601e-02 2.02998038e+02] [ 3.51154377e-02 9.99383114e-01 5.45948576e-04 -6.68774856e+00] [ 1.72894129e-02 -1.15370361e-03 9.99849861e-01 2.54630979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57071405699998 meters Centerline goodness [0,1] 0.9857236293105393 Centerline is valid? [True, True] Translation: X:203.03, Y:-6.69, Z:2.55 [[ 9.99264915e-01 -3.41313025e-02 -1.74551833e-02 2.03029339e+02] [ 3.41461126e-02 9.99416700e-01 5.51045253e-04 -6.68921439e+00] [ 1.74261938e-02 -1.14666684e-03 9.99847495e-01 2.54612359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60071405699998 meters Centerline goodness [0,1] 0.9877362736273627 Centerline is valid? [True, True] Translation: X:203.06, Y:-6.68, Z:2.55 [[ 9.99357173e-01 -3.15880698e-02 -1.69538771e-02 2.03060071e+02] [ 3.16016838e-02 9.99500399e-01 5.35632475e-04 -6.68300246e+00] [ 1.69284873e-02 -1.07105922e-03 9.99856129e-01 2.54754752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63071405699998 meters Centerline goodness [0,1] 0.9877362736273627 Centerline is valid? [True, True] Translation: X:203.09, Y:-6.68, Z:2.55 [[ 9.99359443e-01 -3.15161827e-02 -1.69538674e-02 2.03091811e+02] [ 3.15297916e-02 9.99502669e-01 5.35941086e-04 -6.68406461e+00] [ 1.69285449e-02 -1.07014969e-03 9.99856129e-01 2.54794993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66071405699998 meters Centerline goodness [0,1] 0.9872676056338028 Centerline is valid? [True, True] Translation: X:203.12, Y:-6.69, Z:2.55 [[ 9.99473320e-01 -2.77258803e-02 -1.68629206e-02 2.03121995e+02] [ 2.77388214e-02 9.99615062e-01 5.33972956e-04 -6.68691035e+00] [ 1.68416245e-02 -1.00144927e-03 9.99857668e-01 2.54866705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69071405699998 meters Centerline goodness [0,1] 0.9869534794483443 Centerline is valid? [True, True] Translation: X:203.15, Y:-6.69, Z:2.55 [[ 9.99530237e-01 -2.56957909e-02 -1.67042532e-02 2.03153152e+02] [ 2.57082094e-02 9.99669349e-01 5.29091812e-04 -6.68780390e+00] [ 1.66851345e-02 -9.58279702e-04 9.99860334e-01 2.54904831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72071405699998 meters Centerline goodness [0,1] 0.9876292383403313 Centerline is valid? [True, True] Translation: X:203.19, Y:-6.69, Z:2.55 [[ 9.99572079e-01 -2.36798218e-02 -1.71733610e-02 2.03185075e+02] [ 2.36926633e-02 9.99719141e-01 5.44658367e-04 -6.68628114e+00] [ 1.71556403e-02 -9.51307955e-04 9.99852379e-01 2.54932773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75071405699998 meters Centerline goodness [0,1] 0.9880362292718097 Centerline is valid? [True, True] Translation: X:203.22, Y:-6.69, Z:2.55 [[ 9.99632284e-01 -2.10689691e-02 -1.70703122e-02 2.03215967e+02] [ 2.10812896e-02 9.99777618e-01 5.42105507e-04 -6.68798817e+00] [ 1.70550944e-02 -9.01770361e-04 9.99854145e-01 2.54923681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78071405699998 meters Centerline goodness [0,1] 0.9885777367247167 Centerline is valid? [True, True] Translation: X:203.25, Y:-6.69, Z:2.55 [[ 9.99716668e-01 -1.66925903e-02 -1.69688164e-02 2.03246365e+02] [ 1.67041373e-02 9.99860331e-01 5.38967464e-04 -6.68813044e+00] [ 1.69574496e-02 -8.22264196e-04 9.99855874e-01 2.54874327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81071405699998 meters Centerline goodness [0,1] 0.9888826501965188 Centerline is valid? [True, True] Translation: X:203.28, Y:-6.69, Z:2.55 [[ 9.99755877e-01 -1.43899305e-02 -1.67664994e-02 2.03276019e+02] [ 1.44008782e-02 9.99896160e-01 5.32393765e-04 -6.69025303e+00] [ 1.67570973e-02 -7.73716111e-04 9.99859291e-01 2.54873854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84071405699999 meters Centerline goodness [0,1] 0.9895732896831625 Centerline is valid? [True, True] Translation: X:203.30, Y:-6.69, Z:2.55 [[ 9.99796259e-01 -1.15122242e-02 -1.65803693e-02 2.03304363e+02] [ 1.15225243e-02 9.99933475e-01 5.25822485e-04 -6.69295405e+00] [ 1.65732130e-02 -7.16763062e-04 9.99862398e-01 2.54878543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.870714057 meters Centerline goodness [0,1] 0.9892427236794826 Centerline is valid? [True, True] Translation: X:203.33, Y:-6.70, Z:2.55 [[ 9.99802545e-01 -1.09457912e-02 -1.65849777e-02 2.03332905e+02] [ 1.09559919e-02 9.99939844e-01 5.24318848e-04 -6.69606393e+00] [ 1.65782409e-02 -7.05920201e-04 9.99862322e-01 2.54887566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.900714057 meters Centerline goodness [0,1] 0.9897881317892091 Centerline is valid? [True, True] Translation: X:203.36, Y:-6.70, Z:2.55 [[ 9.99798938e-01 -1.10633382e-02 -1.67238436e-02 2.03361087e+02] [ 1.10736545e-02 9.99938548e-01 5.24379742e-04 -6.69743221e+00] [ 1.67170145e-02 -7.09468375e-04 9.99860009e-01 2.54904974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.930714057 meters Centerline goodness [0,1] 0.9900775470981295 Centerline is valid? [True, True] Translation: X:203.39, Y:-6.70, Z:2.55 [[ 9.99780153e-01 -1.20754698e-02 -1.71414563e-02 2.03388319e+02] [ 1.20863852e-02 9.99926815e-01 5.33328390e-04 -6.70462713e+00] [ 1.71337616e-02 -7.40389384e-04 9.99852932e-01 2.54864368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.960714057 meters Centerline goodness [0,1] 0.9894287502234936 Centerline is valid? [True, True] Translation: X:203.42, Y:-6.71, Z:2.55 [[ 9.99733980e-01 -1.46418807e-02 -1.78209064e-02 2.03417341e+02] [ 1.46540598e-02 9.99892471e-01 5.53017089e-04 -6.71221398e+00] [ 1.78108929e-02 -8.14018604e-04 9.99841042e-01 2.54832847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.990714057 meters Centerline goodness [0,1] 0.9896040156162855 Centerline is valid? [True, True] Translation: X:203.45, Y:-6.72, Z:2.55 [[ 9.99708938e-01 -1.61175526e-02 -1.79516861e-02 2.03446317e+02] [ 1.61301128e-02 9.99869747e-01 5.55081419e-04 -6.71655539e+00] [ 1.79404013e-02 -8.44482578e-04 9.99838701e-01 2.54824916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.020714057 meters Centerline goodness [0,1] 0.9890833593784882 Centerline is valid? [True, True] Translation: X:203.47, Y:-6.73, Z:2.55 [[ 9.99673341e-01 -1.75597412e-02 -1.85705741e-02 2.03473894e+02] [ 1.75733607e-02 9.99845414e-01 5.70443573e-04 -6.72517579e+00] [ 1.85576865e-02 -8.96604628e-04 9.99827389e-01 2.54768528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.050714057 meters Centerline goodness [0,1] 0.9881752995145415 Centerline is valid? [True, True] Translation: X:203.50, Y:-6.73, Z:2.55 [[ 9.99619371e-01 -1.99266728e-02 -1.90798682e-02 2.03502836e+02] [ 1.99414516e-02 9.99800979e-01 5.84616274e-04 -6.73232582e+00] [ 1.90644214e-02 -9.64874021e-04 9.99817792e-01 2.54729253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.080714057 meters Centerline goodness [0,1] 0.989597255635748 Centerline is valid? [True, True] Translation: X:203.53, Y:-6.73, Z:2.55 [[ 9.99598870e-01 -2.13385394e-02 -1.86216748e-02 2.03531829e+02] [ 2.13528219e-02 9.99771841e-01 5.68468288e-04 -6.73185482e+00] [ 1.86052959e-02 -9.65865564e-04 9.99826440e-01 2.54776940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.110714057 meters Centerline goodness [0,1] 0.9894498367501054 Centerline is valid? [True, True] Translation: X:203.56, Y:-6.74, Z:2.55 [[ 9.99548215e-01 -2.30236785e-02 -1.93203362e-02 2.03561010e+02] [ 2.30392970e-02 9.99734388e-01 5.86169868e-04 -6.73696694e+00] [ 1.93017087e-02 -1.03103201e-03 9.99813173e-01 2.54850822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.140714057 meters Centerline goodness [0,1] 0.9899793365476481 Centerline is valid? [True, True] Translation: X:203.59, Y:-6.74, Z:2.55 [[ 9.99534756e-01 -2.33345682e-02 -1.96410143e-02 2.03590535e+02] [ 2.33507509e-02 9.99727157e-01 5.94954189e-04 -6.73726095e+00] [ 1.96217724e-02 -1.05330982e-03 9.99806920e-01 2.54920544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.170714057 meters Centerline goodness [0,1] 0.9892375288478609 Centerline is valid? [True, True] Translation: X:203.62, Y:-6.74, Z:2.55 [[ 9.99508737e-01 -2.38166522e-02 -2.03728339e-02 2.03618952e+02] [ 2.38341424e-02 9.99715737e-01 6.16095417e-04 -6.74360792e+00] [ 2.03523693e-02 -1.10136178e-03 9.99792262e-01 2.54880206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20071405699997 meters Centerline goodness [0,1] 0.9893865044296911 Centerline is valid? [True, True] Translation: X:203.65, Y:-6.75, Z:2.55 [[ 9.99470650e-01 -2.43469144e-02 -2.15788883e-02 2.03648101e+02] [ 2.43665914e-02 9.99702880e-01 6.49360988e-04 -6.74546530e+00] [ 2.15566668e-02 -1.17482120e-03 9.99766938e-01 2.54831798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23071405699997 meters Centerline goodness [0,1] 0.9896961807470821 Centerline is valid? [True, True] Translation: X:203.68, Y:-6.75, Z:2.55 [[ 9.99461359e-01 -2.45650908e-02 -2.17611829e-02 2.03676345e+02] [ 2.45850328e-02 9.99697532e-01 6.49306453e-04 -6.74779935e+00] [ 2.17386506e-02 -1.18395611e-03 9.99762987e-01 2.54850765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26071405699997 meters Centerline goodness [0,1] 0.9896370762383473 Centerline is valid? [True, True] Translation: X:203.70, Y:-6.75, Z:2.55 [[ 9.99430823e-01 -2.53442285e-02 -2.22643387e-02 2.03703853e+02] [ 2.53651941e-02 9.99678034e-01 6.59720236e-04 -6.75367742e+00] [ 2.22404502e-02 -1.22408401e-03 9.99751901e-01 2.54896428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29071405699997 meters Centerline goodness [0,1] 0.9893849930339017 Centerline is valid? [True, True] Translation: X:203.73, Y:-6.76, Z:2.55 [[ 9.99415152e-01 -2.59390935e-02 -2.22826715e-02 2.03732114e+02] [ 2.59601835e-02 9.99662761e-01 6.57680575e-04 -6.75512153e+00] [ 2.22580973e-02 -1.23575817e-03 9.99751494e-01 2.54962860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32071405699998 meters Centerline goodness [0,1] 0.9892021064743107 Centerline is valid? [True, True] Translation: X:203.76, Y:-6.76, Z:2.55 [[ 9.99373011e-01 -2.66950103e-02 -2.32585542e-02 2.03760440e+02] [ 2.67181045e-02 9.99642775e-01 6.82691388e-04 -6.75697597e+00] [ 2.32320212e-02 -1.30368783e-03 9.99729250e-01 2.55016859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35071405699998 meters Centerline goodness [0,1] 0.98894783377542 Centerline is valid? [True, True] Translation: X:203.79, Y:-6.76, Z:2.55 [[ 9.99310476e-01 -2.73225510e-02 -2.51406322e-02 2.03788985e+02] [ 2.73495685e-02 9.99625663e-01 7.31372546e-04 -6.75726775e+00] [ 2.51112382e-02 -1.41845369e-03 9.99683657e-01 2.55006160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38071405699998 meters Centerline goodness [0,1] 0.9892767309474427 Centerline is valid? [True, True] Translation: X:203.82, Y:-6.76, Z:2.55 [[ 9.99291643e-01 -2.72114401e-02 -2.59951899e-02 2.03817097e+02] [ 2.72401537e-02 9.99628636e-01 7.51029052e-04 -6.75950157e+00] [ 2.59650996e-02 -1.45861002e-03 9.99661786e-01 2.55008558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41071405699998 meters Centerline goodness [0,1] 0.9889664589160262 Centerline is valid? [True, True] Translation: X:203.85, Y:-6.76, Z:2.55 [[ 9.99297559e-01 -2.60045854e-02 -2.69842444e-02 2.03845155e+02] [ 2.60349414e-02 9.99660734e-01 7.74174272e-04 -6.76277779e+00] [ 2.69549574e-02 -1.47616368e-03 9.99635559e-01 2.54939530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44071405699998 meters Centerline goodness [0,1] 0.9895189761694616 Centerline is valid? [True, True] Translation: X:203.87, Y:-6.76, Z:2.55 [[ 9.99298654e-01 -2.46700905e-02 -2.81706782e-02 2.03873617e+02] [ 2.47024441e-02 9.99694527e-01 8.00998889e-04 -6.76028967e+00] [ 2.81423121e-02 -1.49632172e-03 9.99602807e-01 2.55027888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47071405699998 meters Centerline goodness [0,1] 0.9903663859618183 Centerline is valid? [True, True] Translation: X:203.90, Y:-6.76, Z:2.55 [[ 9.99315434e-01 -2.29628487e-02 -2.90063888e-02 2.03902815e+02] [ 2.29962777e-02 9.99735215e-01 8.19363287e-04 -6.75931260e+00] [ 2.89798935e-02 -1.48584135e-03 9.99578890e-01 2.55126425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50071405699998 meters Centerline goodness [0,1] 0.9899477634871164 Centerline is valid? [True, True] Translation: X:203.93, Y:-6.76, Z:2.55 [[ 9.99411250e-01 -1.74135733e-02 -2.95621381e-02 2.03932418e+02] [ 1.74458144e-02 9.99847463e-01 8.33025899e-04 -6.76013684e+00] [ 2.95431229e-02 -1.34827103e-03 9.99562597e-01 2.55220166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53071405699998 meters Centerline goodness [0,1] 0.990526455260136 Centerline is valid? [True, True] Translation: X:203.96, Y:-6.76, Z:2.55 [[ 9.99456000e-01 -1.46359503e-02 -2.95549309e-02 2.03962166e+02] [ 1.46669384e-02 9.99892089e-01 8.31965556e-04 -6.75948798e+00] [ 2.95395650e-02 -1.26499332e-03 9.99562811e-01 2.55321350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56071405699998 meters Centerline goodness [0,1] 0.9902484225389401 Centerline is valid? [True, True] Translation: X:203.99, Y:-6.76, Z:2.56 [[ 9.99574491e-01 -9.17821857e-03 -2.76874909e-02 2.03992626e+02] [ 9.20330984e-03 9.99957345e-01 7.78932032e-04 -6.75717548e+00] [ 2.76791607e-02 -1.03341715e-03 9.99616324e-01 2.55639949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59071405699999 meters Centerline goodness [0,1] 0.991547306393591 Centerline is valid? [True, True] Translation: X:204.02, Y:-6.75, Z:2.56 [[ 9.99610936e-01 -7.64662725e-03 -2.68236085e-02 2.04021530e+02] [ 7.66952758e-03 9.99970307e-01 7.50959552e-04 -6.75158377e+00] [ 2.68170698e-02 -9.56391786e-04 9.99639900e-01 2.56006889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.620714057 meters Centerline goodness [0,1] 0.9908527849412595 Centerline is valid? [True, True] Translation: X:204.05, Y:-6.75, Z:2.56 [[ 9.99665296e-01 -6.13958013e-03 -2.51316926e-02 2.04049402e+02] [ 6.15910107e-03 9.99980788e-01 6.99412437e-04 -6.75433288e+00] [ 2.51269157e-02 -8.53966975e-04 9.99683904e-01 2.56157566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.650714057 meters Centerline goodness [0,1] 0.990905687798648 Centerline is valid? [True, True] Translation: X:204.08, Y:-6.76, Z:2.56 [[ 9.99683198e-01 -6.67900958e-03 -2.42671289e-02 2.04076768e+02] [ 6.69731674e-03 9.99977346e-01 6.73204670e-04 -6.75705228e+00] [ 2.42620828e-02 -8.35516047e-04 9.99705283e-01 2.56174865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.680714057 meters Centerline goodness [0,1] 0.9903638368246968 Centerline is valid? [True, True] Translation: X:204.11, Y:-6.76, Z:2.56 [[ 9.99655535e-01 -1.01110206e-02 -2.42193643e-02 2.04105955e+02] [ 1.01302193e-02 9.99948463e-01 6.70138368e-04 -6.75944999e+00] [ 2.42113403e-02 -9.15255002e-04 9.99706444e-01 2.56370929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.710714057 meters Centerline goodness [0,1] 0.9906902016022537 Centerline is valid? [True, True] Translation: X:204.14, Y:-6.77, Z:2.56 [[ 9.99589135e-01 -1.48416556e-02 -2.45211609e-02 2.04136314e+02] [ 1.48627397e-02 9.99889314e-01 6.77794856e-04 -6.76579568e+00] [ 2.45083871e-02 -1.04196801e-03 9.99699081e-01 2.56349830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.740714057 meters Centerline goodness [0,1] 0.9906902016022537 Centerline is valid? [True, True] Translation: X:204.16, Y:-6.77, Z:2.56 [[ 9.99584777e-01 -1.51321618e-02 -2.45212556e-02 2.04163724e+02] [ 1.51532488e-02 9.99884956e-01 6.74349442e-04 -6.76648915e+00] [ 2.45082302e-02 -1.04564612e-03 9.99699081e-01 2.56384573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.770714057 meters Centerline goodness [0,1] 0.9901794561268303 Centerline is valid? [True, True] Translation: X:204.19, Y:-6.77, Z:2.56 [[ 9.99487560e-01 -1.96823391e-02 -2.52432698e-02 2.04192427e+02] [ 1.97060337e-02 9.99805579e-01 6.90208037e-04 -6.77320166e+00] [ 2.52247771e-02 -1.18729907e-03 9.99681100e-01 2.56363839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.800714057 meters Centerline goodness [0,1] 0.9894193831632093 Centerline is valid? [True, True] Translation: X:204.22, Y:-6.78, Z:2.56 [[ 9.99426493e-01 -2.19313682e-02 -2.58011615e-02 2.04220930e+02] [ 2.19568460e-02 9.99758671e-01 7.04547179e-04 -6.78090416e+00] [ 2.57794833e-02 -1.27065525e-03 9.99666846e-01 2.56239283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.830714057 meters Centerline goodness [0,1] 0.989224658195624 Centerline is valid? [True, True] Translation: X:204.25, Y:-6.78, Z:2.56 [[ 9.99332285e-01 -2.47648182e-02 -2.68642537e-02 2.04250821e+02] [ 2.47934284e-02 9.99692327e-01 7.32374981e-04 -6.78173223e+00] [ 2.68378512e-02 -1.39794291e-03 9.99638823e-01 2.56310579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.860714057 meters Centerline goodness [0,1] 0.989483852554392 Centerline is valid? [True, True] Translation: X:204.28, Y:-6.78, Z:2.56 [[ 9.99282594e-01 -2.64244869e-02 -2.71301107e-02 2.04279719e+02] [ 2.64541678e-02 9.99649757e-01 7.35622903e-04 -6.78458540e+00] [ 2.71011701e-02 -1.45279966e-03 9.99631640e-01 2.56324916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.890714057 meters Centerline goodness [0,1] 0.9888764562627526 Centerline is valid? [True, True] Translation: X:204.31, Y:-6.79, Z:2.56 [[ 9.99238590e-01 -2.79517022e-02 -2.72202513e-02 2.04308281e+02] [ 2.79819640e-02 9.99608161e-01 7.31391102e-04 -6.78725268e+00] [ 2.71891417e-02 -1.49251031e-03 9.99629193e-01 2.56326020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.920714057 meters Centerline goodness [0,1] 0.9889466412263965 Centerline is valid? [True, True] Translation: X:204.34, Y:-6.79, Z:2.56 [[ 9.99192634e-01 -2.94220671e-02 -2.73573162e-02 2.04336127e+02] [ 2.94530643e-02 9.99565897e-01 7.30701752e-04 -6.79052742e+00] [ 2.73239416e-02 -1.53586860e-03 9.99625452e-01 2.56360554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95071405699997 meters Centerline goodness [0,1] 0.9889122622491016 Centerline is valid? [True, True] Translation: X:204.36, Y:-6.79, Z:2.56 [[ 9.99183518e-01 -2.98357654e-02 -2.72419789e-02 2.04364058e+02] [ 2.98665915e-02 9.99553631e-01 7.25287590e-04 -6.79242040e+00] [ 2.72081794e-02 -1.53832046e-03 9.99628605e-01 2.56403688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98071405699997 meters Centerline goodness [0,1] 0.988295921041139 Centerline is valid? [True, True] Translation: X:204.39, Y:-6.79, Z:2.57 [[ 9.99214071e-01 -2.92856147e-02 -2.67131662e-02 2.04392817e+02] [ 2.93149414e-02 9.99569975e-01 7.06793560e-04 -6.79302285e+00] [ 2.66809799e-02 -1.48933297e-03 9.99642890e-01 2.56570956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01071405699997 meters Centerline goodness [0,1] 0.9892638036809815 Centerline is valid? [True, True] Translation: X:204.42, Y:-6.79, Z:2.57 [[ 9.99236216e-01 -2.89442694e-02 -2.62528749e-02 2.04422048e+02] [ 2.89723195e-02 9.99579977e-01 6.88640340e-04 -6.79339106e+00] [ 2.62219159e-02 -1.44872105e-03 9.99655097e-01 2.56749336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04071405699997 meters Centerline goodness [0,1] 0.9883567951585318 Centerline is valid? [True, True] Translation: X:204.45, Y:-6.79, Z:2.57 [[ 9.99299332e-01 -2.79139791e-02 -2.49330088e-02 2.04450421e+02] [ 2.79388720e-02 9.99609422e-01 6.50530198e-04 -6.79421213e+00] [ 2.49051117e-02 -1.34667453e-03 9.99688913e-01 2.57012882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07071405699998 meters Centerline goodness [0,1] 0.9888562277892335 Centerline is valid? [True, True] Translation: X:204.48, Y:-6.80, Z:2.57 [[ 9.99293632e-01 -2.83603127e-02 -2.46562347e-02 2.04478334e+02] [ 2.83846913e-02 9.99596869e-01 6.39246224e-04 -6.79568916e+00] [ 2.46281658e-02 -1.33865429e-03 9.99695784e-01 2.57141772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10071405699998 meters Centerline goodness [0,1] 0.9885077638389332 Centerline is valid? [True, True] Translation: X:204.51, Y:-6.80, Z:2.57 [[ 9.99277877e-01 -2.88403153e-02 -2.47378516e-02 2.04506713e+02] [ 2.88648482e-02 9.99583122e-01 6.35131519e-04 -6.79664625e+00] [ 2.47092215e-02 -1.34872721e-03 9.99693771e-01 2.57196351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13071405699998 meters Centerline goodness [0,1] 0.987532376311515 Centerline is valid? [True, True] Translation: X:204.53, Y:-6.80, Z:2.57 [[ 9.99260425e-01 -2.93720871e-02 -2.48170158e-02 2.04534433e+02] [ 2.93968423e-02 9.99567619e-01 6.33192919e-04 -6.79832249e+00] [ 2.47876872e-02 -1.36226652e-03 9.99691810e-01 2.57262198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16071405699998 meters Centerline goodness [0,1] 0.9880322361053163 Centerline is valid? [True, True] Translation: X:204.56, Y:-6.80, Z:2.57 [[ 9.99240382e-01 -2.98774226e-02 -2.50199441e-02 2.04563189e+02] [ 2.99026452e-02 9.99552615e-01 6.34481770e-04 -6.79988480e+00] [ 2.49897938e-02 -1.38216232e-03 9.99686751e-01 2.57237468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19071405699998 meters Centerline goodness [0,1] 0.9870477695820161 Centerline is valid? [True, True] Translation: X:204.59, Y:-6.80, Z:2.57 [[ 9.99217866e-01 -3.00163397e-02 -2.57424764e-02 2.04590740e+02] [ 3.00429823e-02 9.99548397e-01 6.48749363e-04 -6.80013579e+00] [ 2.57113780e-02 -1.42162272e-03 9.99668397e-01 2.57205760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22071405699998 meters Centerline goodness [0,1] 0.9875065870367118 Centerline is valid? [True, True] Translation: X:204.62, Y:-6.80, Z:2.57 [[ 9.99191626e-01 -3.04664824e-02 -2.62276315e-02 2.04619496e+02] [ 3.04941856e-02 9.99534728e-01 6.56853991e-04 -6.80064127e+00] [ 2.61954165e-02 -1.45611327e-03 9.99655781e-01 2.57168069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25071405699998 meters Centerline goodness [0,1] 0.9871780773713958 Centerline is valid? [True, True] Translation: X:204.65, Y:-6.80, Z:2.57 [[ 9.99166132e-01 -3.05988752e-02 -2.70323968e-02 2.04647504e+02] [ 3.06281737e-02 9.99530623e-01 6.70345192e-04 -6.80172475e+00] [ 2.69991965e-02 -1.49773915e-03 9.99634333e-01 2.57165795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28071405699998 meters Centerline goodness [0,1] 0.987725346391164 Centerline is valid? [True, True] Translation: X:204.68, Y:-6.79, Z:2.57 [[ 9.99112469e-01 -3.28999178e-02 -2.63034012e-02 2.04677421e+02] [ 3.29283553e-02 9.99457504e-01 6.48608865e-04 -6.79324023e+00] [ 2.62677926e-02 -1.51416095e-03 9.99653795e-01 2.57324136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31071405699998 meters Centerline goodness [0,1] 0.9866780604307719 Centerline is valid? [True, True] Translation: X:204.71, Y:-6.81, Z:2.57 [[ 9.99078043e-01 -3.41084820e-02 -2.60705687e-02 2.04705315e+02] [ 3.41367861e-02 9.99416964e-01 6.41257201e-04 -6.80620566e+00] [ 2.60334963e-02 -1.53063142e-03 9.99659899e-01 2.57052724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34071405699999 meters Centerline goodness [0,1] 0.9881190293181069 Centerline is valid? [True, True] Translation: X:204.74, Y:-6.80, Z:2.57 [[ 9.98932662e-01 -3.78940336e-02 -2.64117298e-02 2.04735469e+02] [ 3.79243656e-02 9.99280402e-01 6.48285886e-04 -6.79537999e+00] [ 2.63681578e-02 -1.64924204e-03 9.99650939e-01 2.57396325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.370714057 meters Centerline goodness [0,1] 0.9877863936911012 Centerline is valid? [True, True] Translation: X:204.76, Y:-6.80, Z:2.57 [[ 9.98843529e-01 -3.97107655e-02 -2.71045968e-02 2.04764178e+02] [ 3.97433566e-02 9.99209700e-01 6.64553104e-04 -6.80089178e+00] [ 2.70567861e-02 -1.74101222e-03 9.99632382e-01 2.57299190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.400714057 meters Centerline goodness [0,1] 0.9872790279422731 Centerline is valid? [True, True] Translation: X:204.79, Y:-6.80, Z:2.57 [[ 9.98609655e-01 -4.44710348e-02 -2.83034205e-02 2.04794742e+02] [ 4.45084611e-02 9.99008767e-01 6.93389717e-04 -6.79980195e+00] [ 2.82445294e-02 -1.95216735e-03 9.99599137e-01 2.57329065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.430714057 meters Centerline goodness [0,1] 0.9877156871332224 Centerline is valid? [True, True] Translation: X:204.82, Y:-6.80, Z:2.57 [[ 9.98506464e-01 -4.65009163e-02 -2.86793644e-02 2.04824843e+02] [ 4.65401667e-02 9.98916173e-01 7.02245319e-04 -6.80260082e+00] [ 2.86156259e-02 -2.03593889e-03 9.99588416e-01 2.57339612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.460714057 meters Centerline goodness [0,1] 0.9863851314197735 Centerline is valid? [True, True] Translation: X:204.85, Y:-6.81, Z:2.57 [[ 9.98269981e-01 -5.10288358e-02 -2.92079319e-02 2.04853895e+02] [ 5.10714593e-02 9.98694746e-01 7.14687270e-04 -6.81140628e+00] [ 2.91333385e-02 -2.20514255e-03 9.99573102e-01 2.57194639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.490714057 meters Centerline goodness [0,1] 0.9865337646049244 Centerline is valid? [True, True] Translation: X:204.88, Y:-6.81, Z:2.57 [[ 9.98178519e-01 -5.26479770e-02 -2.94590292e-02 2.04884494e+02] [ 5.26920316e-02 9.98610550e-01 7.20619199e-04 -6.80875126e+00] [ 2.93801582e-02 -2.27156270e-03 9.99565729e-01 2.57294293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.520714057 meters Centerline goodness [0,1] 0.9866358940542916 Centerline is valid? [True, True] Translation: X:204.91, Y:-6.81, Z:2.57 [[ 9.98130109e-01 -5.35694696e-02 -2.94380107e-02 2.04914995e+02] [ 5.36138595e-02 9.98561483e-01 7.20105049e-04 -6.80945047e+00] [ 2.93570880e-02 -2.29704390e-03 9.99566348e-01 2.57367687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.550714057 meters Centerline goodness [0,1] 0.9866358940542916 Centerline is valid? [True, True] Translation: X:204.95, Y:-6.81, Z:2.57 [[ 9.98131965e-01 -5.35348968e-02 -2.94379965e-02 2.04945926e+02] [ 5.35792888e-02 9.98563338e-01 7.20685881e-04 -6.81023907e+00] [ 2.93571222e-02 -2.29660653e-03 9.99566348e-01 2.57406894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.580714057 meters Centerline goodness [0,1] 0.9862612563024284 Centerline is valid? [True, True] Translation: X:204.98, Y:-6.81, Z:2.57 [[ 9.98053194e-01 -5.48479185e-02 -2.96905361e-02 2.04976426e+02] [ 5.48936749e-02 9.98491940e-01 7.27603842e-04 -6.81153433e+00] [ 2.96058535e-02 -2.35600998e-03 9.99558874e-01 2.57452416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.610714057 meters Centerline goodness [0,1] 0.9862673580594129 Centerline is valid? [True, True] Translation: X:205.01, Y:-6.81, Z:2.57 [[ 9.98044947e-01 -5.46432617e-02 -3.03380510e-02 2.05007723e+02] [ 5.46909678e-02 9.98503052e-01 7.44295580e-04 -6.81223762e+00] [ 3.02519658e-02 -2.40205781e-03 9.99539418e-01 2.57498547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.640714057 meters Centerline goodness [0,1] 0.987183446571958 Centerline is valid? [True, True] Translation: X:205.04, Y:-6.81, Z:2.58 [[ 9.98064647e-01 -5.40602416e-02 -3.07319196e-02 2.05038763e+02] [ 5.41089435e-02 9.98534753e-01 7.54705567e-04 -6.80959549e+00] [ 3.06460902e-02 -2.41611665e-03 9.99527378e-01 2.57577551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.670714057 meters Centerline goodness [0,1] 0.9874796461734806 Centerline is valid? [True, True] Translation: X:205.07, Y:-6.80, Z:2.58 [[ 9.98191980e-01 -5.15405257e-02 -3.09248291e-02 2.05069322e+02] [ 5.15886462e-02 9.98668130e-01 7.59662202e-04 -6.80093368e+00] [ 3.08444879e-02 -2.35365878e-03 9.99521424e-01 2.57785148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70071405699997 meters Centerline goodness [0,1] 0.9877799062025233 Centerline is valid? [True, True] Translation: X:205.10, Y:-6.80, Z:2.58 [[ 9.98299572e-01 -4.98160197e-02 -3.02709165e-02 2.05098887e+02] [ 4.98613279e-02 9.98755874e-01 7.43288763e-04 -6.80113951e+00] [ 3.01962280e-02 -2.25137295e-03 9.99541454e-01 2.57859277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73071405699997 meters Centerline goodness [0,1] 0.9875577360825654 Centerline is valid? [True, True] Translation: X:205.13, Y:-6.80, Z:2.58 [[ 9.98500671e-01 -4.63971905e-02 -2.90467082e-02 2.05128792e+02] [ 4.64374541e-02 9.98920945e-01 7.12770466e-04 -6.80336037e+00] [ 2.89822946e-02 -2.06055696e-03 9.99577801e-01 2.57909427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76071405699997 meters Centerline goodness [0,1] 0.9883166217589117 Centerline is valid? [True, True] Translation: X:205.16, Y:-6.80, Z:2.58 [[ 9.98593229e-01 -4.49329237e-02 -2.81530755e-02 2.05158922e+02] [ 4.49701626e-02 9.98988092e-01 6.90658767e-04 -6.80296702e+00] [ 2.80935538e-02 -1.95573555e-03 9.99603385e-01 2.57996227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79071405699997 meters Centerline goodness [0,1] 0.9879390324718357 Centerline is valid? [True, True] Translation: X:205.19, Y:-6.79, Z:2.58 [[ 9.98676327e-01 -4.33278366e-02 -2.77180988e-02 2.05189974e+02] [ 4.33633252e-02 9.99059137e-01 6.80253736e-04 -6.79143688e+00] [ 2.76625459e-02 -1.88130223e-03 9.99615548e-01 2.58308392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82071405699998 meters Centerline goodness [0,1] 0.9871359815467873 Centerline is valid? [True, True] Translation: X:205.22, Y:-6.80, Z:2.58 [[ 9.98838254e-01 -4.02879551e-02 -2.64390279e-02 2.05219646e+02] [ 4.03191863e-02 9.99186640e-01 6.49009347e-04 -6.79868365e+00] [ 2.63913762e-02 -1.71425545e-03 9.99650217e-01 2.58183826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85071405699998 meters Centerline goodness [0,1] 0.9896950718457814 Centerline is valid? [True, True] Translation: X:205.25, Y:-6.79, Z:2.58 [[ 9.98897717e-01 -3.93476980e-02 -2.55951146e-02 2.05250335e+02] [ 3.93766576e-02 9.99224241e-01 6.28233811e-04 -6.78695212e+00] [ 2.55505394e-02 -1.63539138e-03 9.99672194e-01 2.58465976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88071405699998 meters Centerline goodness [0,1] 0.9882595765457854 Centerline is valid? [True, True] Translation: X:205.28, Y:-6.79, Z:2.58 [[ 9.98947031e-01 -3.84921998e-02 -2.49635849e-02 2.05280712e+02] [ 3.85194867e-02 9.99257661e-01 6.12946359e-04 -6.78674893e+00] [ 2.49214598e-02 -1.57388542e-03 9.99688173e-01 2.58493981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91071405699998 meters Centerline goodness [0,1] 0.9890596161971048 Centerline is valid? [True, True] Translation: X:205.31, Y:-6.79, Z:2.58 [[ 9.98943540e-01 -3.85581493e-02 -2.50014455e-02 2.05312535e+02] [ 3.85855557e-02 9.99255111e-01 6.14520961e-04 -6.78570891e+00] [ 2.49591274e-02 -1.57856641e-03 9.99687226e-01 2.58499711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94071405699998 meters Centerline goodness [0,1] 0.9883115148276783 Centerline is valid? [True, True] Translation: X:205.34, Y:-6.79, Z:2.58 [[ 9.98905364e-01 -3.92573979e-02 -2.54348121e-02 2.05344063e+02] [ 3.92860111e-02 9.99227811e-01 6.26054156e-04 -6.78610436e+00] [ 2.53905943e-02 -1.62460117e-03 9.99676287e-01 2.58476219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97071405699998 meters Centerline goodness [0,1] 0.9880581747020103 Centerline is valid? [True, True] Translation: X:205.37, Y:-6.79, Z:2.58 [[ 9.98809645e-01 -4.11786453e-02 -2.61459746e-02 2.05374385e+02] [ 4.12095546e-02 9.99150318e-01 6.44233780e-04 -6.78712653e+00] [ 2.60972302e-02 -1.72093088e-03 9.99657928e-01 2.58428791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00071405699998 meters Centerline goodness [0,1] 0.9878715180594428 Centerline is valid? [True, True] Translation: X:205.40, Y:-6.79, Z:2.58 [[ 9.98723418e-01 -4.31132980e-02 -2.63206693e-02 2.05404688e+02] [ 4.31452964e-02 9.99068598e-01 6.48754684e-04 -6.78846013e+00] [ 2.62681842e-02 -1.78353957e-03 9.99653341e-01 2.58404745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03071405699998 meters Centerline goodness [0,1] 0.9869130958220003 Centerline is valid? [True, True] Translation: X:205.44, Y:-6.79, Z:2.58 [[ 9.98637109e-01 -4.48432558e-02 -2.67021895e-02 2.05435778e+02] [ 4.48768105e-02 9.98992311e-01 6.58393691e-04 -6.79049699e+00] [ 2.66457575e-02 -1.85580547e-03 9.99643216e-01 2.58374625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06071405699998 meters Centerline goodness [0,1] 0.9882815115734024 Centerline is valid? [True, True] Translation: X:205.47, Y:-6.79, Z:2.59 [[ 9.98474546e-01 -4.83542821e-02 -2.66541772e-02 2.05466293e+02] [ 4.83889690e-02 9.98828351e-01 6.57534774e-04 -6.78577664e+00] [ 2.65911533e-02 -1.94629989e-03 9.99644498e-01 2.58517995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09071405699999 meters Centerline goodness [0,1] 0.9883941524383439 Centerline is valid? [True, True] Translation: X:205.50, Y:-6.79, Z:2.59 [[ 9.98399056e-01 -4.99661839e-02 -2.65085874e-02 2.05497279e+02] [ 5.00010668e-02 9.98748950e-01 6.54286902e-04 -6.78743449e+00] [ 2.64427316e-02 -1.97869707e-03 9.99648372e-01 2.58575820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.120714057 meters Centerline goodness [0,1] 0.9870367478078493 Centerline is valid? [True, True] Translation: X:205.53, Y:-6.79, Z:2.59 [[ 9.98249659e-01 -5.33804844e-02 -2.54586326e-02 2.05526707e+02] [ 5.34137620e-02 9.98572268e-01 6.28402110e-04 -6.78934833e+00] [ 2.53887401e-02 -1.98714353e-03 9.99675679e-01 2.58736179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.150714057 meters Centerline goodness [0,1] 0.9879200035792582 Centerline is valid? [True, True] Translation: X:205.56, Y:-6.78, Z:2.59 [[ 9.98204645e-01 -5.44437662e-02 -2.49672483e-02 2.05559064e+02] [ 5.44761194e-02 9.98514883e-01 6.16991099e-04 -6.78387922e+00] [ 2.48965777e-02 -1.97600218e-03 9.99688079e-01 2.58972334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.180714057 meters Centerline goodness [0,1] 0.9872258698467997 Centerline is valid? [True, True] Translation: X:205.59, Y:-6.79, Z:2.59 [[ 9.98074471e-01 -5.70022058e-02 -2.44560547e-02 2.05589062e+02] [ 5.70340321e-02 9.98372051e-01 6.05260975e-04 -6.79252011e+00] [ 2.43817402e-02 -1.99892293e-03 9.99700723e-01 2.58945347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.210714057 meters Centerline goodness [0,1] 0.987166347310726 Centerline is valid? [True, True] Translation: X:205.62, Y:-6.79, Z:2.59 [[ 9.98019771e-01 -5.79115919e-02 -2.45516481e-02 2.05620702e+02] [ 5.79439565e-02 9.98319652e-01 6.08265822e-04 -6.79006759e+00] [ 2.44751672e-02 -2.02968095e-03 9.99698378e-01 2.59038204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.240714057 meters Centerline goodness [0,1] 0.9874116805294696 Centerline is valid? [True, True] Translation: X:205.65, Y:-6.79, Z:2.59 [[ 9.97993562e-01 -5.82489481e-02 -2.48175254e-02 2.05653084e+02] [ 5.82821597e-02 9.98299960e-01 6.16407465e-04 -6.79122430e+00] [ 2.47394295e-02 -2.06158966e-03 9.99691808e-01 2.59030535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.270714057 meters Centerline goodness [0,1] 0.9866229743681825 Centerline is valid? [True, True] Translation: X:205.69, Y:-6.79, Z:2.59 [[ 9.97935357e-01 -5.86408410e-02 -2.61968664e-02 2.05685183e+02] [ 5.86780326e-02 9.98276747e-01 6.52575628e-04 -6.79258923e+00] [ 2.61134550e-02 -2.18840887e-03 9.99656590e-01 2.58946280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.300714057 meters Centerline goodness [0,1] 0.9861064425770308 Centerline is valid? [True, True] Translation: X:205.72, Y:-6.79, Z:2.59 [[ 9.98047520e-01 -5.66675053e-02 -2.62667562e-02 2.05715344e+02] [ 5.67042405e-02 9.98390805e-01 6.55213417e-04 -6.79268995e+00] [ 2.61873585e-02 -2.14337058e-03 9.99654755e-01 2.58959809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.330714057 meters Centerline goodness [0,1] 0.9869369066056158 Centerline is valid? [True, True] Translation: X:205.75, Y:-6.79, Z:2.59 [[ 9.98140477e-01 -5.51888739e-02 -2.58800480e-02 2.05746874e+02] [ 5.52240534e-02 9.98473779e-01 6.46040994e-04 -6.78847498e+00] [ 2.58048951e-02 -2.07404082e-03 9.99664847e-01 2.59088210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.360714057 meters Centerline goodness [0,1] 0.9865413516969113 Centerline is valid? [True, True] Translation: X:205.78, Y:-6.79, Z:2.59 [[ 9.98253710e-01 -5.32093126e-02 -2.56573385e-02 2.05778713e+02] [ 5.32432687e-02 9.98581365e-01 6.41627779e-04 -6.78793837e+00] [ 2.55867995e-02 -2.00658788e-03 9.99670590e-01 2.59129047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.390714057 meters Centerline goodness [0,1] 0.9864391558149977 Centerline is valid? [True, True] Translation: X:205.81, Y:-6.78, Z:2.59 [[ 9.98377644e-01 -5.06996214e-02 -2.59157989e-02 2.05810087e+02] [ 5.07334496e-02 9.98712018e-01 6.49052617e-04 -6.78161250e+00] [ 2.58495131e-02 -1.96279750e-03 9.99663919e-01 2.59265785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.420714057 meters Centerline goodness [0,1] 0.9872069673518197 Centerline is valid? [True, True] Translation: X:205.84, Y:-6.78, Z:2.59 [[ 9.98619321e-01 -4.55169907e-02 -2.62231678e-02 2.05839739e+02] [ 4.55498491e-02 9.98961851e-01 6.56753688e-04 -6.77814968e+00] [ 2.61660508e-02 -1.85030826e-03 9.99655898e-01 2.59259843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45071405699997 meters Centerline goodness [0,1] 0.9866290231507623 Centerline is valid? [True, True] Translation: X:205.87, Y:-6.77, Z:2.59 [[ 9.98821575e-01 -4.09648522e-02 -2.60257866e-02 2.05869295e+02] [ 4.09956671e-02 9.99159112e-01 6.51330637e-04 -6.77482803e+00] [ 2.59772202e-02 -1.71750758e-03 9.99661060e-01 2.59289605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48071405699997 meters Centerline goodness [0,1] 0.9862769439115224 Centerline is valid? [True, True] Translation: X:205.90, Y:-6.77, Z:2.59 [[ 9.98913151e-01 -3.86048171e-02 -2.61186592e-02 2.05900454e+02] [ 3.86350553e-02 9.99253174e-01 6.53891992e-04 -6.77429727e+00] [ 2.60739097e-02 -1.66227715e-03 9.99658636e-01 2.59373444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51071405699997 meters Centerline goodness [0,1] 0.9879221043584466 Centerline is valid? [True, True] Translation: X:205.93, Y:-6.77, Z:2.59 [[ 9.99003404e-01 -3.66312695e-02 -2.55019252e-02 2.05931208e+02] [ 3.66594720e-02 9.99327611e-01 6.39100621e-04 -6.77324224e+00] [ 2.54613669e-02 -1.57335081e-03 9.99674569e-01 2.59444401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54071405699997 meters Centerline goodness [0,1] 0.98913559054051 Centerline is valid? [True, True] Translation: X:205.96, Y:-6.77, Z:2.60 [[ 9.99071779e-01 -3.48871305e-02 -2.52679298e-02 2.05961413e+02] [ 3.49142731e-02 9.99390110e-01 6.33679090e-04 -6.77327375e+00] [ 2.52304119e-02 -1.51530230e-03 9.99680514e-01 2.59544484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57071405699998 meters Centerline goodness [0,1] 0.9880144730891 Centerline is valid? [True, True] Translation: X:205.99, Y:-6.77, Z:2.60 [[ 9.99171232e-01 -3.25976466e-02 -2.43771112e-02 2.05992677e+02] [ 3.26222396e-02 9.99467566e-01 6.11758277e-04 -6.77151049e+00] [ 2.43441902e-02 -1.40648724e-03 9.99702647e-01 2.59645883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60071405699998 meters Centerline goodness [0,1] 0.9879550744615941 Centerline is valid? [True, True] Translation: X:206.02, Y:-6.77, Z:2.60 [[ 9.99217093e-01 -3.15309719e-02 -2.38955649e-02 2.06023480e+02] [ 3.15543038e-02 9.99501859e-01 5.99889798e-04 -6.77235206e+00] [ 2.38647464e-02 -1.35342806e-03 9.99714280e-01 2.59787929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63071405699998 meters Centerline goodness [0,1] 0.986467011934249 Centerline is valid? [True, True] Translation: X:206.05, Y:-6.77, Z:2.60 [[ 9.99246889e-01 -3.11351256e-02 -2.31572575e-02 2.06053594e+02] [ 3.11569358e-02 9.99514336e-01 5.81534220e-04 -6.77456102e+00] [ 2.31279047e-02 -1.30260544e-03 9.99731666e-01 2.59883723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66071405699998 meters Centerline goodness [0,1] 0.9868923591493594 Centerline is valid? [True, True] Translation: X:206.09, Y:-6.77, Z:2.60 [[ 9.99247002e-01 -3.09644885e-02 -2.33800908e-02 2.06085324e+02] [ 3.09866878e-02 9.99519625e-01 5.87719825e-04 -6.77306448e+00] [ 2.33506611e-02 -1.31174885e-03 9.99726476e-01 2.59969133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69071405699998 meters Centerline goodness [0,1] 0.988228661630398 Centerline is valid? [True, True] Translation: X:206.12, Y:-6.77, Z:2.60 [[ 9.99228047e-01 -3.12039948e-02 -2.38667195e-02 2.06116740e+02] [ 3.12272163e-02 9.99512131e-01 6.00797582e-04 -6.77168865e+00] [ 2.38363283e-02 -1.34562501e-03 9.99714969e-01 2.60024180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72071405699998 meters Centerline goodness [0,1] 0.9870835399666381 Centerline is valid? [True, True] Translation: X:206.15, Y:-6.77, Z:2.60 [[ 9.99126678e-01 -3.29233448e-02 -2.57280771e-02 2.06147657e+02] [ 3.29509177e-02 9.99456761e-01 6.48372142e-04 -6.77400998e+00] [ 2.56927540e-02 -1.49556965e-03 9.99668768e-01 2.59917919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75071405699998 meters Centerline goodness [0,1] 0.987643484132343 Centerline is valid? [True, True] Translation: X:206.18, Y:-6.78, Z:2.60 [[ 9.99049505e-01 -3.41081509e-02 -2.71425921e-02 2.06178202e+02] [ 3.41392895e-02 9.99416850e-01 6.84517979e-04 -6.77671849e+00] [ 2.71034162e-02 -1.61049616e-03 9.99631338e-01 2.59884778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78071405699998 meters Centerline goodness [0,1] 0.9883286857965279 Centerline is valid? [True, True] Translation: X:206.21, Y:-6.78, Z:2.60 [[ 9.98914062e-01 -3.66135955e-02 -2.88121754e-02 2.06207796e+02] [ 3.66497173e-02 9.99327909e-01 7.26434433e-04 -6.78030089e+00] [ 2.87662137e-02 -1.78160366e-03 9.99584579e-01 2.59857926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81071405699998 meters Centerline goodness [0,1] 0.9876662473040978 Centerline is valid? [True, True] Translation: X:206.24, Y:-6.78, Z:2.60 [[ 9.98841284e-01 -3.80794715e-02 -2.94286027e-02 2.06237965e+02] [ 3.81177710e-02 9.99272979e-01 7.41335764e-04 -6.78121450e+00] [ 2.93789778e-02 -1.86222950e-03 9.99566610e-01 2.59882061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84071405699999 meters Centerline goodness [0,1] 0.9863402119855076 Centerline is valid? [True, True] Translation: X:206.27, Y:-6.78, Z:2.60 [[ 9.98720556e-01 -4.06640107e-02 -3.00614367e-02 2.06267491e+02] [ 4.07051229e-02 9.99170917e-01 7.56652967e-04 -6.78404802e+00] [ 3.00057447e-02 -1.97933935e-03 9.99547766e-01 2.59805222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.870714057 meters Centerline goodness [0,1] 0.9878922658759575 Centerline is valid? [True, True] Translation: X:206.30, Y:-6.79, Z:2.60 [[ 9.98730942e-01 -4.07226826e-02 -2.96339010e-02 2.06296512e+02] [ 4.07626416e-02 9.99168580e-01 7.45313267e-04 -6.78616614e+00] [ 2.95789116e-02 -1.95232351e-03 9.99560542e-01 2.59880381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.900714057 meters Centerline goodness [0,1] 0.9870399638744638 Centerline is valid? [True, True] Translation: X:206.33, Y:-6.79, Z:2.60 [[ 9.98711753e-01 -4.12262987e-02 -2.95842229e-02 2.06327922e+02] [ 4.12663546e-02 9.99147904e-01 7.44431005e-04 -6.78684215e+00] [ 2.95283241e-02 -1.96430503e-03 9.99562014e-01 2.59938070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.930714057 meters Centerline goodness [0,1] 0.9809361120601299 Centerline is valid? [True, True] Translation: X:206.36, Y:-6.79, Z:2.60 [[ 9.98599529e-01 -4.43686216e-02 -2.88167761e-02 2.06358631e+02] [ 4.44079452e-02 9.99013217e-01 7.25746017e-04 -6.78748052e+00] [ 2.87561398e-02 -2.00442344e-03 9.99584447e-01 2.59970442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.960714057 meters Centerline goodness [0,1] 0.9791624013285106 Centerline is valid? [True, True] Translation: X:206.39, Y:-6.79, Z:2.60 [[ 9.98647394e-01 -4.35493009e-02 -2.84049521e-02 2.06390033e+02] [ 4.35871980e-02 9.99049370e-01 7.16074978e-04 -6.78622723e+00] [ 2.83467650e-02 -1.95319868e-03 9.99596241e-01 2.60012607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.990714057 meters Centerline goodness [0,1] 0.9794117647058823 Centerline is valid? [True, True] Translation: X:206.42, Y:-6.79, Z:2.60 [[ 9.98651024e-01 -4.33095465e-02 -2.86428980e-02 2.06421308e+02] [ 4.33480198e-02 9.99059771e-01 7.23347953e-04 -6.78955658e+00] [ 2.85846393e-02 -1.96398509e-03 9.99589446e-01 2.60088741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.020714057 meters Centerline goodness [0,1] 0.9783063965399499 Centerline is valid? [True, True] Translation: X:206.45, Y:-6.79, Z:2.60 [[ 9.98701827e-01 -4.17451164e-02 -2.91891531e-02 2.06451858e+02] [ 4.17844651e-02 9.99126374e-01 7.39137200e-04 -6.79003745e+00] [ 2.91327973e-02 -1.95783082e-03 9.99573633e-01 2.60182701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.050714057 meters Centerline goodness [0,1] 0.9795950900685477 Centerline is valid? [True, True] Translation: X:206.48, Y:-6.78, Z:2.60 [[ 9.98732939e-01 -4.10781826e-02 -2.90706044e-02 2.06483791e+02] [ 4.11169773e-02 9.99154067e-01 7.37733668e-04 -6.78181635e+00] [ 2.90157079e-02 -1.93209430e-03 9.99577088e-01 2.60430263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.080714057 meters Centerline goodness [0,1] 0.979580170127138 Centerline is valid? [True, True] Translation: X:206.51, Y:-6.78, Z:2.60 [[ 9.98759262e-01 -4.00667851e-02 -2.95734540e-02 2.06514511e+02] [ 4.01065243e-02 9.99195127e-01 7.51557725e-04 -6.78443468e+00] [ 2.95195386e-02 -1.93671369e-03 9.99562327e-01 2.60437415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.110714057 meters Centerline goodness [0,1] 0.9791595177635943 Centerline is valid? [True, True] Translation: X:206.54, Y:-6.79, Z:2.60 [[ 9.98759403e-01 -3.97702733e-02 -2.99663282e-02 2.06543703e+02] [ 3.98109587e-02 9.99206939e-01 7.62066508e-04 -6.78678962e+00] [ 2.99122555e-02 -1.95410935e-03 9.99550618e-01 2.60415007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.140714057 meters Centerline goodness [0,1] 0.979665180602311 Centerline is valid? [True, True] Translation: X:206.57, Y:-6.79, Z:2.60 [[ 9.98770199e-01 -3.95689417e-02 -2.98728720e-02 2.06574354e+02] [ 3.96092855e-02 9.99214956e-01 7.59739796e-04 -6.78758212e+00] [ 2.98193584e-02 -1.94204858e-03 9.99553417e-01 2.60397748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.170714057 meters Centerline goodness [0,1] 0.9780462783540408 Centerline is valid? [True, True] Translation: X:206.61, Y:-6.79, Z:2.60 [[ 9.98718436e-01 -3.98844778e-02 -3.11562931e-02 2.06605045e+02] [ 3.99285275e-02 9.99202224e-01 7.92700652e-04 -6.79064879e+00] [ 3.10998209e-02 -2.03570966e-03 9.99514211e-01 2.60276447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20071405699997 meters Centerline goodness [0,1] 0.9773669110615237 Centerline is valid? [True, True] Translation: X:206.63, Y:-6.79, Z:2.60 [[ 9.98707433e-01 -3.99144489e-02 -3.14690217e-02 2.06634677e+02] [ 3.99593995e-02 9.99200984e-01 8.00556652e-04 -6.79308934e+00] [ 3.14119237e-02 -2.05700509e-03 9.99504407e-01 2.60233177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23071405699997 meters Centerline goodness [0,1] 0.9768696642003415 Centerline is valid? [True, True] Translation: X:206.67, Y:-6.79, Z:2.60 [[ 9.98725204e-01 -3.89468229e-02 -3.21109159e-02 2.06665479e+02] [ 3.89931222e-02 9.99239145e-01 8.16664699e-04 -6.79423494e+00] [ 3.20546777e-02 -2.06772848e-03 9.99483978e-01 2.60240667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26071405699997 meters Centerline goodness [0,1] 0.9775903339792545 Centerline is valid? [True, True] Translation: X:206.70, Y:-6.79, Z:2.60 [[ 9.98730220e-01 -3.80826445e-02 -3.29797019e-02 2.06695171e+02] [ 3.81309927e-02 9.99272398e-01 8.38066440e-04 -6.79291167e+00] [ 3.29237900e-02 -2.09455105e-03 9.99455670e-01 2.60346813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29071405699997 meters Centerline goodness [0,1] 0.9781479287244224 Centerline is valid? [True, True] Translation: X:206.72, Y:-6.79, Z:2.60 [[ 9.98773688e-01 -3.70099923e-02 -3.28843525e-02 2.06724401e+02] [ 3.70573211e-02 9.99312796e-01 8.30740281e-04 -6.79286460e+00] [ 3.28310085e-02 -2.04832754e-03 9.99458818e-01 2.60376737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32071405699998 meters Centerline goodness [0,1] 0.9787714337832908 Centerline is valid? [True, True] Translation: X:206.75, Y:-6.79, Z:2.60 [[ 9.98870567e-01 -3.42022491e-02 -3.29817583e-02 2.06753641e+02] [ 3.42482191e-02 9.99413013e-01 8.29707460e-04 -6.79389109e+00] [ 3.29340205e-02 -1.95833684e-03 9.99455609e-01 2.60443162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35071405699998 meters Centerline goodness [0,1] 0.9791002640925235 Centerline is valid? [True, True] Translation: X:206.78, Y:-6.79, Z:2.61 [[ 9.98929504e-01 -3.29633066e-02 -3.24540660e-02 2.06783012e+02] [ 3.30070120e-02 9.99454791e-01 8.11712396e-04 -6.79331406e+00] [ 3.24096150e-02 -1.88205520e-03 9.99472898e-01 2.60558983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38071405699998 meters Centerline goodness [0,1] 0.9786165522883243 Centerline is valid? [True, True] Translation: X:206.81, Y:-6.79, Z:2.61 [[ 9.99060175e-01 -3.02201849e-02 -3.10726091e-02 2.06812415e+02] [ 3.02588235e-02 9.99541797e-01 7.73915933e-04 -6.79426287e+00] [ 3.10349837e-02 -1.71340918e-03 9.99516830e-01 2.60725338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41071405699998 meters Centerline goodness [0,1] 0.9786706687586693 Centerline is valid? [True, True] Translation: X:206.84, Y:-6.80, Z:2.61 [[ 9.99109770e-01 -2.94101239e-02 -3.02442010e-02 2.06840351e+02] [ 2.94462826e-02 9.99566082e-01 7.50767045e-04 -6.79505404e+00] [ 3.02089973e-02 -1.64067798e-03 9.99542258e-01 2.60830543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44071405699998 meters Centerline goodness [0,1] 0.9786706687586693 Centerline is valid? [True, True] Translation: X:206.87, Y:-6.80, Z:2.61 [[ 9.99102082e-01 -2.96700053e-02 -3.02443512e-02 2.06867781e+02] [ 2.97060989e-02 9.99558399e-01 7.44678705e-04 -6.79562809e+00] [ 3.02089006e-02 -1.64245173e-03 9.99542258e-01 2.60865360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47071405699998 meters Centerline goodness [0,1] 0.9792935721429221 Centerline is valid? [True, True] Translation: X:206.90, Y:-6.80, Z:2.61 [[ 9.99121217e-01 -2.95418910e-02 -2.97333072e-02 2.06896157e+02] [ 2.95765063e-02 9.99562257e-01 7.24970182e-04 -6.79578244e+00] [ 2.96988746e-02 -1.60374044e-03 9.99557605e-01 2.60956707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50071405699998 meters Centerline goodness [0,1] 0.9792273389151802 Centerline is valid? [True, True] Translation: X:206.93, Y:-6.80, Z:2.61 [[ 9.99173277e-01 -2.91348264e-02 -2.83535650e-02 2.06925123e+02] [ 2.91659597e-02 9.99574348e-01 6.85009202e-04 -6.79700110e+00] [ 2.83215386e-02 -1.51140182e-03 9.99597722e-01 2.61062461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53071405699998 meters Centerline goodness [0,1] 0.9813667415628333 Centerline is valid? [True, True] Translation: X:206.95, Y:-6.79, Z:2.61 [[ 9.99178058e-01 -2.95973732e-02 -2.76984583e-02 2.06954501e+02] [ 2.96270797e-02 9.99560802e-01 6.62628502e-04 -6.78958266e+00] [ 2.76666811e-02 -1.48270829e-03 9.99616104e-01 2.61370770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56071405699998 meters Centerline goodness [0,1] 0.9804232924256516 Centerline is valid? [True, True] Translation: X:206.98, Y:-6.79, Z:2.61 [[ 9.99145829e-01 -3.07505183e-02 -2.76046666e-02 2.06983473e+02] [ 3.07803613e-02 9.99525957e-01 6.56717589e-04 -6.79339757e+00] [ 2.75713864e-02 -1.50583825e-03 9.99618703e-01 2.61316271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59071405699999 meters Centerline goodness [0,1] 0.9796747967479675 Centerline is valid? [True, True] Translation: X:207.01, Y:-6.80, Z:2.61 [[ 9.99112143e-01 -3.15452826e-02 -2.79252816e-02 2.07011620e+02] [ 3.15760978e-02 9.99501131e-01 6.63094700e-04 -6.79911234e+00] [ 2.78904330e-02 -1.54427739e-03 9.99609793e-01 2.61269129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.620714057 meters Centerline goodness [0,1] 0.9810579390856027 Centerline is valid? [True, True] Translation: X:207.04, Y:-6.80, Z:2.61 [[ 9.98994226e-01 -3.45504180e-02 -2.85798003e-02 2.07041717e+02] [ 3.45838920e-02 9.99401569e-01 6.77626989e-04 -6.80101365e+00] [ 2.85392849e-02 -1.66534617e-03 9.99591284e-01 2.61278647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.650714057 meters Centerline goodness [0,1] 0.9806871822803196 Centerline is valid? [True, True] Translation: X:207.07, Y:-6.80, Z:2.61 [[ 9.98913254e-01 -3.65381909e-02 -2.89356619e-02 2.07072328e+02] [ 3.65733272e-02 9.99330737e-01 6.85796742e-04 -6.80051632e+00] [ 2.88912385e-02 -1.74332488e-03 9.99581041e-01 2.61366104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.680714057 meters Centerline goodness [0,1] 0.9797480971366437 Centerline is valid? [True, True] Translation: X:207.10, Y:-6.81, Z:2.61 [[ 9.98838049e-01 -3.86902802e-02 -2.87335141e-02 2.07101460e+02] [ 3.87258059e-02 9.99249643e-01 6.80727168e-04 -6.80987311e+00] [ 2.86856162e-02 -1.79266468e-03 9.99586876e-01 2.61162823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.710714057 meters Centerline goodness [0,1] 0.9778260476061182 Centerline is valid? [True, True] Translation: X:207.13, Y:-6.81, Z:2.61 [[ 9.98768183e-01 -4.05737388e-02 -2.85637523e-02 2.07132211e+02] [ 4.06096064e-02 9.99174861e-01 6.76487106e-04 -6.81296156e+00] [ 2.85127357e-02 -1.83561654e-03 9.99591744e-01 2.61154028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.740714057 meters Centerline goodness [0,1] 0.9780187440575905 Centerline is valid? [True, True] Translation: X:207.16, Y:-6.82, Z:2.61 [[ 9.98626133e-01 -4.42338430e-02 -2.80929372e-02 2.07162627e+02] [ 4.42699787e-02 9.99019382e-01 6.65334778e-04 -6.81893312e+00] [ 2.80359584e-02 -1.90809443e-03 9.99605094e-01 2.61147968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.770714057 meters Centerline goodness [0,1] 0.9779260431980097 Centerline is valid? [True, True] Translation: X:207.19, Y:-6.81, Z:2.61 [[ 9.98545676e-01 -4.60336750e-02 -2.80612324e-02 2.07193546e+02] [ 4.60704440e-02 9.98937972e-01 6.64855824e-04 -6.81460736e+00] [ 2.80008249e-02 -1.95668235e-03 9.99605985e-01 2.61329788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.800714057 meters Centerline goodness [0,1] 0.9783469466253366 Centerline is valid? [True, True] Translation: X:207.22, Y:-6.82, Z:2.61 [[ 9.98495623e-01 -4.77050317e-02 -2.70318318e-02 2.07223460e+02] [ 4.77398005e-02 9.98859599e-01 6.41948540e-04 -6.81828346e+00] [ 2.69703805e-02 -1.93147706e-03 9.99634367e-01 2.61440650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.830714057 meters Centerline goodness [0,1] 0.9786081714972014 Centerline is valid? [True, True] Translation: X:207.26, Y:-6.82, Z:2.62 [[ 9.98496377e-01 -4.82767583e-02 -2.59680709e-02 2.07255953e+02] [ 4.83090878e-02 9.98832243e-01 6.18696113e-04 -6.81947830e+00] [ 2.59078778e-02 -1.87225964e-03 9.99662581e-01 2.61534182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.860714057 meters Centerline goodness [0,1] 0.9774425873080581 Centerline is valid? [True, True] Translation: X:207.29, Y:-6.82, Z:2.62 [[ 9.98513324e-01 -4.88042156e-02 -2.42753107e-02 2.07286986e+02] [ 4.88326723e-02 9.98806805e-01 5.80479758e-04 -6.82281253e+00] [ 2.42180157e-02 -1.76504507e-03 9.99705143e-01 2.61645396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.890714057 meters Centerline goodness [0,1] 0.9763541879410897 Centerline is valid? [True, True] Translation: X:207.32, Y:-6.82, Z:2.62 [[ 9.98498761e-01 -4.93958966e-02 -2.36700131e-02 2.07318960e+02] [ 4.94231670e-02 9.98777767e-01 5.68130051e-04 -6.82488966e+00] [ 2.36130196e-02 -1.73712416e-03 9.99719665e-01 2.61673013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.920714057 meters Centerline goodness [0,1] 0.9762325940037193 Centerline is valid? [True, True] Translation: X:207.35, Y:-6.83, Z:2.62 [[ 9.98488118e-01 -4.97099867e-02 -2.34604910e-02 2.07350791e+02] [ 4.97369003e-02 9.98762195e-01 5.64721739e-04 -6.82587335e+00] [ 2.34033792e-02 -1.73072005e-03 9.99724605e-01 2.61673414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95071405699997 meters Centerline goodness [0,1] 0.9745891765347637 Centerline is valid? [True, True] Translation: X:207.38, Y:-6.83, Z:2.62 [[ 9.98426819e-01 -5.07790091e-02 -2.37777232e-02 2.07381713e+02] [ 5.08070037e-02 9.98708325e-01 5.74317073e-04 -6.83008436e+00] [ 2.37178468e-02 -1.78148844e-03 9.99717105e-01 2.61595331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98071405699997 meters Centerline goodness [0,1] 0.9751679680406755 Centerline is valid? [True, True] Translation: X:207.41, Y:-6.83, Z:2.62 [[ 9.98410257e-01 -5.13482764e-02 -2.32446177e-02 2.07413994e+02] [ 5.13752269e-02 9.98679262e-01 5.63345976e-04 -6.83194693e+00] [ 2.31849908e-02 -1.75664791e-03 9.99729649e-01 2.61598532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01071405699997 meters Centerline goodness [0,1] 0.9732579010746825 Centerline is valid? [True, True] Translation: X:207.44, Y:-6.83, Z:2.62 [[ 9.98374415e-01 -5.21995491e-02 -2.28852345e-02 2.07444683e+02] [ 5.22259414e-02 9.98635139e-01 5.56679889e-04 -6.83438497e+00] [ 2.28249409e-02 -1.75097787e-03 9.99737944e-01 2.61646153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04071405699997 meters Centerline goodness [0,1] 0.9722507239437262 Centerline is valid? [True, True] Translation: X:207.48, Y:-6.84, Z:2.62 [[ 9.98353595e-01 -5.27400136e-02 -2.25519627e-02 2.07476194e+02] [ 5.27658236e-02 9.98606762e-01 5.50530404e-04 -6.83656536e+00] [ 2.24915074e-02 -1.73959689e-03 9.99745521e-01 2.61589282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07071405699998 meters Centerline goodness [0,1] 0.9708503316088155 Centerline is valid? [True, True] Translation: X:207.51, Y:-6.84, Z:2.61 [[ 9.98299063e-01 -5.34201058e-02 -2.33510637e-02 2.07507401e+02] [ 5.34480010e-02 9.98570470e-01 5.71674056e-04 -6.83897586e+00] [ 2.32871438e-02 -1.81876935e-03 9.99727163e-01 2.61474177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10071405699998 meters Centerline goodness [0,1] 0.9686031123077625 Centerline is valid? [True, True] Translation: X:207.54, Y:-6.84, Z:2.61 [[ 9.98244600e-01 -5.41927024e-02 -2.38928621e-02 2.07538043e+02] [ 5.42221647e-02 9.98528724e-01 5.86499387e-04 -6.83981557e+00] [ 2.38259252e-02 -1.88099255e-03 9.99714353e-01 2.61448665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13071405699998 meters Centerline goodness [0,1] 0.9671992309100897 Centerline is valid? [True, True] Translation: X:207.57, Y:-6.84, Z:2.62 [[ 9.98223533e-01 -5.48337241e-02 -2.33032549e-02 2.07569693e+02] [ 5.48619448e-02 9.98493785e-01 5.72949573e-04 -6.84043328e+00] [ 2.32367382e-02 -1.85039363e-03 9.99728278e-01 2.61504420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16071405699998 meters Centerline goodness [0,1] 0.961441184585671 Centerline is valid? [True, True] Translation: X:207.60, Y:-6.84, Z:2.62 [[ 9.98162257e-01 -5.63458492e-02 -2.22991813e-02 2.07599803e+02] [ 5.63720810e-02 9.98409679e-01 5.49008108e-04 -6.84165058e+00] [ 2.22327841e-02 -1.80505043e-03 9.99751192e-01 2.61623597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19071405699998 meters Centerline goodness [0,1] 0.9582884514014622 Centerline is valid? [True, True] Translation: X:207.63, Y:-6.84, Z:2.62 [[ 9.98147922e-01 -5.68268596e-02 -2.17125323e-02 2.07632166e+02] [ 5.68518588e-02 9.98382482e-01 5.35339222e-04 -6.84248394e+00] [ 2.16469902e-02 -1.76874555e-03 9.99764112e-01 2.61689719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22071405699998 meters Centerline goodness [0,1] 0.9483817541922572 Centerline is valid? [True, False] Translation: X:207.63, Y:-6.84, Z:2.62 [[ 9.98308657e-01 -5.41169481e-02 -2.12410166e-02 2.07630673e+02] [ 5.42114883e-02 9.98521859e-01 3.90011913e-03 -6.84190977e+00] [ 2.09985569e-02 -5.04502982e-03 9.99766777e-01 2.61658229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25071405699998 meters Centerline goodness [0,1] 0.9762803979366249 Centerline is valid? [False, True] Translation: X:207.63, Y:-6.84, Z:2.62 [[ 9.98301509e-01 -5.41853511e-02 -2.14019843e-02 2.07630997e+02] [ 5.42737465e-02 9.98519709e-01 3.57079093e-03 -6.84065202e+00] [ 2.11768186e-02 -4.72629185e-03 9.99764575e-01 2.61656380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28071405699998 meters Centerline goodness [0,1] 0.9775410440878067 Centerline is valid? [True, True] Translation: X:207.66, Y:-6.84, Z:2.62 [[ 9.98264302e-01 -5.47586336e-02 -2.16765898e-02 2.07662677e+02] [ 5.47847743e-02 9.98497998e-01 6.13496925e-04 -6.83882578e+00] [ 2.16104372e-02 -1.79997916e-03 9.99764847e-01 2.61809840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31071405699998 meters Centerline goodness [0,1] 0.9731705081794437 Centerline is valid? [True, True] Translation: X:207.69, Y:-6.84, Z:2.62 [[ 9.98254217e-01 -5.46894026e-02 -2.23066603e-02 2.07694044e+02] [ 5.47171113e-02 9.98501696e-01 6.33261015e-04 -6.84001013e+00] [ 2.22386055e-02 -1.85271149e-03 9.99750975e-01 2.61776507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34071405699999 meters Centerline goodness [0,1] 0.9733333333333334 Centerline is valid? [True, True] Translation: X:207.73, Y:-6.84, Z:2.62 [[ 9.98258761e-01 -5.47317311e-02 -2.19973727e-02 2.07725953e+02] [ 5.47587361e-02 9.98499418e-01 6.26727892e-04 -6.83924872e+00] [ 2.19300619e-02 -1.83018493e-03 9.99757832e-01 2.61821222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.370714057 meters Centerline goodness [0,1] 0.9744841306560562 Centerline is valid? [True, True] Translation: X:207.76, Y:-6.84, Z:2.62 [[ 9.98310098e-01 -5.34012653e-02 -2.29184203e-02 2.07756759e+02] [ 5.34302606e-02 9.98571369e-01 6.54235798e-04 -6.83708712e+00] [ 2.28507413e-02 -1.87766737e-03 9.99737124e-01 2.61815670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.400714057 meters Centerline goodness [0,1] 0.9742390926976044 Centerline is valid? [True, True] Translation: X:207.79, Y:-6.83, Z:2.62 [[ 9.98332360e-01 -5.26154562e-02 -2.37510551e-02 2.07789272e+02] [ 5.26464055e-02 9.98612985e-01 6.79231736e-04 -6.83218924e+00] [ 2.36823739e-02 -1.92850670e-03 9.99717673e-01 2.61861613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.430714057 meters Centerline goodness [0,1] 0.975475765513085 Centerline is valid? [True, True] Translation: X:207.82, Y:-6.83, Z:2.62 [[ 9.98373078e-01 -5.16036101e-02 -2.42541579e-02 2.07821882e+02] [ 5.16356299e-02 9.98665749e-01 6.95338003e-04 -6.82847494e+00] [ 2.41859149e-02 -1.94658547e-03 9.99705583e-01 2.61917436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.460714057 meters Centerline goodness [0,1] 0.9740359359382627 Centerline is valid? [True, True] Translation: X:207.85, Y:-6.83, Z:2.62 [[ 9.98495637e-01 -4.88680466e-02 -2.48671781e-02 2.07851732e+02] [ 4.89008856e-02 9.98803381e-01 7.13824964e-04 -6.82851768e+00] [ 2.48025383e-02 -1.92877814e-03 9.99690509e-01 2.61921891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.490714057 meters Centerline goodness [0,1] 0.9738034913181934 Centerline is valid? [True, True] Translation: X:207.88, Y:-6.83, Z:2.62 [[ 9.98558729e-01 -4.74249465e-02 -2.51264634e-02 2.07882594e+02] [ 4.74580306e-02 9.98872972e-01 7.21689210e-04 -6.82821866e+00] [ 2.50639191e-02 -1.91310153e-03 9.99684020e-01 2.61953766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.520714057 meters Centerline goodness [0,1] 0.9781599271997573 Centerline is valid? [True, True] Translation: X:207.91, Y:-6.82, Z:2.62 [[ 9.98681473e-01 -4.54315091e-02 -2.39017648e-02 2.07913467e+02] [ 4.54608876e-02 9.98965883e-01 6.86918735e-04 -6.81532149e+00] [ 2.38458398e-02 -1.77260846e-03 9.99714076e-01 2.62314936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.550714057 meters Centerline goodness [0,1] 0.9745847835735476 Centerline is valid? [True, True] Translation: X:207.94, Y:-6.82, Z:2.62 [[ 9.98733090e-01 -4.46809788e-02 -2.31479160e-02 2.07944092e+02] [ 4.47083646e-02 9.98999859e-01 6.66650868e-04 -6.82436831e+00] [ 2.30949782e-02 -1.70071175e-03 9.99731829e-01 2.62308290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.580714057 meters Centerline goodness [0,1] 0.9780235195099712 Centerline is valid? [True, True] Translation: X:207.98, Y:-6.81, Z:2.63 [[ 9.98787621e-01 -4.40748504e-02 -2.19247666e-02 2.07976727e+02] [ 4.40993220e-02 9.99026951e-01 6.33690367e-04 -6.81198902e+00] [ 2.18755029e-02 -1.59978944e-03 9.99759423e-01 2.62621160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.610714057 meters Centerline goodness [0,1] 0.9777158774373259 Centerline is valid? [True, True] Translation: X:208.01, Y:-6.81, Z:2.63 [[ 9.98810294e-01 -4.37239810e-02 -2.15919182e-02 2.08008678e+02] [ 4.37476669e-02 9.99042417e-01 6.25624390e-04 -6.81182965e+00] [ 2.15438873e-02 -1.56947613e-03 9.99766672e-01 2.62715217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.640714057 meters Centerline goodness [0,1] 0.9769713723469053 Centerline is valid? [True, True] Translation: X:208.04, Y:-6.81, Z:2.63 [[ 9.98817269e-01 -4.35006946e-02 -2.17198752e-02 2.08039557e+02] [ 4.35246404e-02 9.99052155e-01 6.30748885e-04 -6.81328229e+00] [ 2.16718501e-02 -1.57535264e-03 9.99763897e-01 2.62685694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.670714057 meters Centerline goodness [0,1] 0.9774896241236195 Centerline is valid? [True, True] Translation: X:208.07, Y:-6.81, Z:2.63 [[ 9.98793818e-01 -4.38012345e-02 -2.21892081e-02 2.08072141e+02] [ 4.38263312e-02 9.99038956e-01 6.45771160e-04 -6.81255657e+00] [ 2.21395977e-02 -1.61746382e-03 9.99753581e-01 2.62683690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70071405699997 meters Centerline goodness [0,1] 0.9765271426896471 Centerline is valid? [True, True] Translation: X:208.10, Y:-6.81, Z:2.63 [[ 9.98675214e-01 -4.54701905e-02 -2.40889826e-02 2.08101884e+02] [ 4.55003003e-02 9.98964078e-01 7.03028348e-04 -6.81328249e+00] [ 2.40320614e-02 -1.79815293e-03 9.99709571e-01 2.62586641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73071405699997 meters Centerline goodness [0,1] 0.9744903929415619 Centerline is valid? [True, True] Translation: X:208.13, Y:-6.82, Z:2.63 [[ 9.98597297e-01 -4.67009393e-02 -2.49491532e-02 2.08132864e+02] [ 4.67336645e-02 9.98907119e-01 7.29898010e-04 -6.81658856e+00] [ 2.48877998e-02 -1.89483954e-03 9.99688455e-01 2.62508466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76071405699997 meters Centerline goodness [0,1] 0.974666041715491 Centerline is valid? [True, True] Translation: X:208.16, Y:-6.82, Z:2.63 [[ 9.98518378e-01 -4.79955192e-02 -2.56413362e-02 2.08164823e+02] [ 4.80305512e-02 9.98845584e-01 7.51740449e-04 -6.81797852e+00] [ 2.55756552e-02 -1.98219416e-03 9.99670924e-01 2.62536568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79071405699997 meters Centerline goodness [0,1] 0.9745792467404789 Centerline is valid? [True, True] Translation: X:208.20, Y:-6.82, Z:2.63 [[ 9.98415315e-01 -4.97393039e-02 -2.63222573e-02 2.08196291e+02] [ 4.97768606e-02 9.98760065e-01 7.73095456e-04 -6.81677238e+00] [ 2.62511662e-02 -2.08210967e-03 9.99653210e-01 2.62538812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82071405699998 meters Centerline goodness [0,1] 0.9751388335637463 Centerline is valid? [True, True] Translation: X:208.23, Y:-6.82, Z:2.63 [[ 9.98382121e-01 -5.03139477e-02 -2.64886275e-02 2.08228793e+02] [ 5.03522201e-02 9.98731218e-01 7.79430517e-04 -6.81862730e+00] [ 2.64158030e-02 -2.11193069e-03 9.99648811e-01 2.62517409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85071405699998 meters Centerline goodness [0,1] 0.9742538537225319 Centerline is valid? [True, True] Translation: X:208.26, Y:-6.82, Z:2.63 [[ 9.98288741e-01 -5.16733587e-02 -2.73761525e-02 2.08259536e+02] [ 5.17147806e-02 9.98661570e-01 8.06747261e-04 -6.81711887e+00] [ 2.72978240e-02 -2.22111842e-03 9.99624877e-01 2.62543605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88071405699998 meters Centerline goodness [0,1] 0.9738837405223252 Centerline is valid? [True, True] Translation: X:208.29, Y:-6.82, Z:2.63 [[ 9.98294405e-01 -5.16185600e-02 -2.72727928e-02 2.08292034e+02] [ 5.16596838e-02 9.98664423e-01 8.04973917e-04 -6.81836109e+00] [ 2.71948163e-02 -2.21250481e-03 9.99627704e-01 2.62616189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91071405699998 meters Centerline goodness [0,1] 0.9739904655075715 Centerline is valid? [True, True] Translation: X:208.32, Y:-6.82, Z:2.63 [[ 9.98305974e-01 -5.13655150e-02 -2.73270357e-02 2.08323651e+02] [ 5.14067545e-02 9.98677472e-01 8.08262506e-04 -6.81854939e+00] [ 2.72493781e-02 -2.21168751e-03 9.99626220e-01 2.62651401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94071405699998 meters Centerline goodness [0,1] 0.9724104097556417 Centerline is valid? [True, True] Translation: X:208.36, Y:-6.82, Z:2.63 [[ 9.98323268e-01 -5.10436718e-02 -2.72982803e-02 2.08355500e+02] [ 5.10847514e-02 9.98693994e-01 8.09116534e-04 -6.81959651e+00] [ 2.72213283e-02 -2.20228572e-03 9.99627005e-01 2.62713970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97071405699998 meters Centerline goodness [0,1] 0.972092805469061 Centerline is valid? [True, True] Translation: X:208.39, Y:-6.82, Z:2.63 [[ 9.98359485e-01 -5.05782320e-02 -2.68362043e-02 2.08387939e+02] [ 5.06178154e-02 9.98717778e-01 7.97299776e-04 -6.81973038e+00] [ 2.67614683e-02 -2.15438183e-03 9.99639526e-01 2.62759480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00071405699998 meters Centerline goodness [0,1] 0.9726445195195195 Centerline is valid? [True, True] Translation: X:208.42, Y:-6.82, Z:2.63 [[ 9.98397973e-01 -4.99778880e-02 -2.65272961e-02 2.08420137e+02] [ 5.00164037e-02 9.98748084e-01 7.89984615e-04 -6.82102474e+00] [ 2.64546043e-02 -2.11551899e-03 9.99647777e-01 2.62850329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03071405699998 meters Centerline goodness [0,1] 0.9721400741679576 Centerline is valid? [True, True] Translation: X:208.45, Y:-6.82, Z:2.63 [[ 9.98482788e-01 -4.89125083e-02 -2.52920610e-02 2.08451226e+02] [ 4.89472122e-02 9.98801082e-01 7.54495002e-04 -6.81999191e+00] [ 2.52248336e-02 -1.99132615e-03 9.99679820e-01 2.63006314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06071405699998 meters Centerline goodness [0,1] 0.9730040881537522 Centerline is valid? [True, True] Translation: X:208.48, Y:-6.82, Z:2.63 [[ 9.98548820e-01 -4.75810944e-02 -2.52248628e-02 2.08481893e+02] [ 4.76152087e-02 9.98865469e-01 7.53157339e-04 -6.81852185e+00] [ 2.51604083e-02 -1.95315148e-03 9.99681519e-01 2.63065576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09071405699999 meters Centerline goodness [0,1] 0.9737133435402191 Centerline is valid? [True, True] Translation: X:208.51, Y:-6.82, Z:2.63 [[ 9.98663044e-01 -4.48419876e-02 -2.57161517e-02 2.08512223e+02] [ 4.48765472e-02 9.98992245e-01 7.68053533e-04 -6.81652758e+00] [ 2.56557951e-02 -1.92107877e-03 9.99668990e-01 2.63034117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.120714057 meters Centerline goodness [0,1] 0.9743644167727937 Centerline is valid? [True, True] Translation: X:208.54, Y:-6.82, Z:2.63 [[ 9.98703926e-01 -4.36068704e-02 -2.62470608e-02 2.08543717e+02] [ 4.36424603e-02 9.99046906e-01 7.84374548e-04 -6.81608986e+00] [ 2.61878408e-02 -1.92884425e-03 9.99655179e-01 2.63087826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.150714057 meters Centerline goodness [0,1] 0.9742134513941221 Centerline is valid? [True, True] Translation: X:208.58, Y:-6.82, Z:2.63 [[ 9.98778807e-01 -4.20100242e-02 -2.60010172e-02 2.08575479e+02] [ 4.20444403e-02 9.99115439e-01 7.78129106e-04 -6.81656954e+00] [ 2.59453285e-02 -1.87037708e-03 9.99661614e-01 2.63096033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.180714057 meters Centerline goodness [0,1] 0.9747152511933457 Centerline is valid? [True, True] Translation: X:208.61, Y:-6.82, Z:2.63 [[ 9.98866492e-01 -3.89880991e-02 -2.73067680e-02 2.08605085e+02] [ 3.90249551e-02 9.99237902e-01 8.17881576e-04 -6.81640801e+00] [ 2.72540699e-02 -1.88259989e-03 9.99626766e-01 2.63034432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.210714057 meters Centerline goodness [0,1] 0.9748116760828626 Centerline is valid? [True, True] Translation: X:208.64, Y:-6.81, Z:2.63 [[ 9.98915371e-01 -3.74955229e-02 -2.76073776e-02 2.08636268e+02] [ 3.75326419e-02 9.99295060e-01 8.27391270e-04 -6.81338960e+00] [ 2.75568926e-02 -1.86267167e-03 9.99618501e-01 2.63079330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.240714057 meters Centerline goodness [0,1] 0.9761149512356785 Centerline is valid? [True, True] Translation: X:208.67, Y:-6.81, Z:2.63 [[ 9.98970739e-01 -3.52189026e-02 -2.85848046e-02 2.08667949e+02] [ 3.52577985e-02 9.99377882e-01 8.57682005e-04 -6.80598410e+00] [ 2.85368149e-02 -1.86463651e-03 9.99591003e-01 2.63146429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.270714057 meters Centerline goodness [0,1] 0.9774704491725769 Centerline is valid? [True, True] Translation: X:208.70, Y:-6.80, Z:2.63 [[ 9.99013455e-01 -3.39272554e-02 -2.86541124e-02 2.08699438e+02] [ 3.39658403e-02 9.99422624e-01 8.60780359e-04 -6.80140125e+00] [ 2.86083642e-02 -1.83319217e-03 9.99589016e-01 2.63294076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.300714057 meters Centerline goodness [0,1] 0.9769953943307536 Centerline is valid? [True, True] Translation: X:208.73, Y:-6.80, Z:2.63 [[ 9.99063647e-01 -3.27416059e-02 -2.82810189e-02 2.08730227e+02] [ 3.27787475e-02 9.99462271e-01 8.50581308e-04 -6.80273791e+00] [ 2.82379620e-02 -1.77680124e-03 9.99599650e-01 2.63304091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.330714057 meters Centerline goodness [0,1] 0.9767981438515081 Centerline is valid? [True, True] Translation: X:208.76, Y:-6.80, Z:2.63 [[ 9.99158447e-01 -3.05077950e-02 -2.74166587e-02 2.08760574e+02] [ 3.05418744e-02 9.99533148e-01 8.25022407e-04 -6.80030389e+00] [ 2.73786896e-02 -1.66168425e-03 9.99623752e-01 2.63462370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.360714057 meters Centerline goodness [0,1] 0.9767981438515081 Centerline is valid? [True, True] Translation: X:208.79, Y:-6.80, Z:2.64 [[ 9.99159535e-01 -3.04721364e-02 -2.74166428e-02 2.08791467e+02] [ 3.05062168e-02 9.99534236e-01 8.25549720e-04 -6.80126368e+00] [ 2.73787169e-02 -1.66123392e-03 9.99623752e-01 2.63501456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.390714057 meters Centerline goodness [0,1] 0.9748937079879337 Centerline is valid? [True, True] Translation: X:208.82, Y:-6.81, Z:2.63 [[ 9.99181104e-01 -2.96392111e-02 -2.75433832e-02 2.08821291e+02] [ 2.96733047e-02 9.99559306e-01 8.29819466e-04 -6.81001693e+00] [ 2.75066498e-02 -1.64644313e-03 9.99620265e-01 2.63319268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.420714057 meters Centerline goodness [0,1] 0.9760749619482496 Centerline is valid? [True, True] Translation: X:208.85, Y:-6.81, Z:2.63 [[ 9.99226403e-01 -2.81224572e-02 -2.74904304e-02 2.08851944e+02] [ 2.81558478e-02 9.99603202e-01 8.28224118e-04 -6.80658067e+00] [ 2.74562305e-02 -1.60159978e-03 9.99621724e-01 2.63373320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45071405699997 meters Centerline goodness [0,1] 0.9763362764644451 Centerline is valid? [True, True] Translation: X:208.88, Y:-6.81, Z:2.63 [[ 9.99238252e-01 -2.76252508e-02 -2.75637819e-02 2.08882630e+02] [ 2.76586314e-02 9.99617082e-01 8.30434033e-04 -6.80642078e+00] [ 2.75302863e-02 -1.59217794e-03 9.99619702e-01 2.63423197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48071405699997 meters Centerline goodness [0,1] 0.9774382576925814 Centerline is valid? [True, True] Translation: X:208.91, Y:-6.81, Z:2.64 [[ 9.99264156e-01 -2.74190981e-02 -2.68204896e-02 2.08912789e+02] [ 2.74506279e-02 9.99622834e-01 8.08040326e-04 -6.80524964e+00] [ 2.67882180e-02 -1.54368501e-03 9.99639939e-01 2.63513668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51071405699997 meters Centerline goodness [0,1] 0.9762091503267973 Centerline is valid? [True, True] Translation: X:208.94, Y:-6.81, Z:2.64 [[ 9.99264955e-01 -2.77299349e-02 -2.64688722e-02 2.08943086e+02] [ 2.77607517e-02 9.99614278e-01 7.97446894e-04 -6.80630069e+00] [ 2.64365494e-02 -1.53165652e-03 9.99649320e-01 2.63602776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54071405699997 meters Centerline goodness [0,1] 0.975612075112907 Centerline is valid? [True, True] Translation: X:208.97, Y:-6.81, Z:2.64 [[ 9.99266132e-01 -2.80580849e-02 -2.60757032e-02 2.08973690e+02] [ 2.80881101e-02 9.99605142e-01 7.85833651e-04 -6.80929247e+00] [ 2.60433580e-02 -1.51767417e-03 9.99659662e-01 2.63655671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57071405699998 meters Centerline goodness [0,1] 0.9771554377160172 Centerline is valid? [True, True] Translation: X:209.00, Y:-6.81, Z:2.64 [[ 9.99246373e-01 -2.90788445e-02 -2.57119828e-02 2.09004632e+02] [ 2.91083857e-02 9.99575960e-01 7.75316192e-04 -6.80941331e+00] [ 2.56785346e-02 -1.52316621e-03 9.99669092e-01 2.63803536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60071405699998 meters Centerline goodness [0,1] 0.9767541053529537 Centerline is valid? [True, True] Translation: X:209.04, Y:-6.81, Z:2.64 [[ 9.99236267e-01 -2.94853880e-02 -2.56416547e-02 2.09035661e+02] [ 2.95149182e-02 9.99564040e-01 7.73862691e-04 -6.81255303e+00] [ 2.56076584e-02 -1.53008301e-03 9.99670899e-01 2.63762086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63071405699998 meters Centerline goodness [0,1] 0.9745760707612988 Centerline is valid? [True, True] Translation: X:209.07, Y:-6.82, Z:2.64 [[ 9.99153409e-01 -3.14272749e-02 -2.65478991e-02 2.09065632e+02] [ 3.14596249e-02 9.99504702e-01 8.01662604e-04 -6.81689930e+00] [ 2.65095559e-02 -1.63617087e-03 9.99647221e-01 2.63674929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66071405699998 meters Centerline goodness [0,1] 0.9763124955718773 Centerline is valid? [True, True] Translation: X:209.10, Y:-6.82, Z:2.64 [[ 9.99130295e-01 -3.22362840e-02 -2.64476101e-02 2.09095437e+02] [ 3.22686722e-02 9.99478912e-01 7.98634192e-04 -6.82032197e+00] [ 2.64080835e-02 -1.65136888e-03 9.99649882e-01 2.63669314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69071405699998 meters Centerline goodness [0,1] 0.9753624896852529 Centerline is valid? [True, True] Translation: X:209.13, Y:-6.82, Z:2.64 [[ 9.99106548e-01 -3.29940738e-02 -2.64101541e-02 2.09126373e+02] [ 3.30266462e-02 9.99454153e-01 7.97965193e-04 -6.82326508e+00] [ 2.63694101e-02 -1.66949107e-03 9.99650873e-01 2.63668912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72071405699998 meters Centerline goodness [0,1] 0.9748931245423841 Centerline is valid? [True, True] Translation: X:209.16, Y:-6.83, Z:2.64 [[ 9.99074080e-01 -3.40459390e-02 -2.63031779e-02 2.09156034e+02] [ 3.40786220e-02 9.99418839e-01 7.95155278e-04 -6.82775236e+00] [ 2.62608197e-02 -1.69079509e-03 9.99653695e-01 2.63679124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75071405699998 meters Centerline goodness [0,1] 0.9759155627966282 Centerline is valid? [True, True] Translation: X:209.19, Y:-6.83, Z:2.64 [[ 9.99088109e-01 -3.40176519e-02 -2.58021334e-02 2.09187151e+02] [ 3.40491034e-02 9.99419856e-01 7.80460941e-04 -6.82520454e+00] [ 2.57606150e-02 -1.65828875e-03 9.99666765e-01 2.63855593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78071405699998 meters Centerline goodness [0,1] 0.9744244326299272 Centerline is valid? [True, True] Translation: X:209.22, Y:-6.83, Z:2.64 [[ 9.99160429e-01 -3.30771871e-02 -2.41730398e-02 2.09217851e+02] [ 3.31045364e-02 9.99451627e-01 7.31988751e-04 -6.83246008e+00] [ 2.41355718e-02 -1.53161147e-03 9.99707521e-01 2.63875301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81071405699998 meters Centerline goodness [0,1] 0.9758134719902125 Centerline is valid? [True, True] Translation: X:209.25, Y:-6.83, Z:2.64 [[ 9.99201495e-01 -3.21653407e-02 -2.37015636e-02 2.09249508e+02] [ 3.21913967e-02 9.99481464e-01 7.18513338e-04 -6.82948784e+00] [ 2.36661622e-02 -1.48092604e-03 9.99718820e-01 2.64035129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84071405699999 meters Centerline goodness [0,1] 0.9756108989527447 Centerline is valid? [True, True] Translation: X:209.28, Y:-6.83, Z:2.64 [[ 9.99236306e-01 -3.14107995e-02 -2.32414686e-02 2.09279472e+02] [ 3.14356640e-02 9.99505529e-01 7.05163729e-04 -6.83114589e+00] [ 2.32078266e-02 -1.43523620e-03 9.99729632e-01 2.64125826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.870714057 meters Centerline goodness [0,1] 0.9761406150732959 Centerline is valid? [True, True] Translation: X:209.31, Y:-6.83, Z:2.64 [[ 9.99298275e-01 -3.00927531e-02 -2.23021064e-02 2.09310310e+02] [ 3.01153326e-02 9.99546201e-01 6.77192136e-04 -6.83342840e+00] [ 2.22716071e-02 -1.34835228e-03 9.99751048e-01 2.64110578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.900714057 meters Centerline goodness [0,1] 0.9777417383537818 Centerline is valid? [True, True] Translation: X:209.34, Y:-6.83, Z:2.64 [[ 9.99314442e-01 -2.96174677e-02 -2.22137780e-02 2.09341675e+02] [ 2.96397684e-02 9.99560417e-01 6.75263097e-04 -6.83124206e+00] [ 2.21840136e-02 -1.33321140e-03 9.99753016e-01 2.64136541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.930714057 meters Centerline goodness [0,1] 0.9764603925610156 Centerline is valid? [True, True] Translation: X:209.37, Y:-6.84, Z:2.64 [[ 9.99302072e-01 -2.95514761e-02 -2.28490711e-02 2.09371654e+02] [ 2.95750679e-02 9.99562320e-01 6.95198351e-04 -6.83988016e+00] [ 2.28185264e-02 -1.37047598e-03 9.99738684e-01 2.63900114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.960714057 meters Centerline goodness [0,1] 0.9767300166381553 Centerline is valid? [True, True] Translation: X:209.40, Y:-6.84, Z:2.64 [[ 9.99268727e-01 -2.98395930e-02 -2.39083567e-02 2.09403380e+02] [ 2.98655201e-02 9.99553661e-01 7.28024742e-04 -6.84205313e+00] [ 2.38759615e-02 -1.44152786e-03 9.99713889e-01 2.63843553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.990714057 meters Centerline goodness [0,1] 0.9780039395929088 Centerline is valid? [True, True] Translation: X:209.43, Y:-6.84, Z:2.64 [[ 9.99240114e-01 -3.03532803e-02 -2.44514290e-02 2.09434998e+02] [ 3.03805725e-02 9.99538126e-01 7.45390162e-04 -6.83909049e+00] [ 2.44175105e-02 -1.48767216e-03 9.99700741e-01 2.63915500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.020714057 meters Centerline goodness [0,1] 0.9762753188297074 Centerline is valid? [True, True] Translation: X:209.47, Y:-6.85, Z:2.64 [[ 9.99199275e-01 -3.10098254e-02 -2.52823838e-02 2.09465152e+02] [ 3.10392405e-02 9.99517869e-01 7.71764642e-04 -6.84826284e+00] [ 2.52462621e-02 -1.55589266e-03 9.99680052e-01 2.63755410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.050714057 meters Centerline goodness [0,1] 0.9775246737452641 Centerline is valid? [True, True] Translation: X:209.50, Y:-6.85, Z:2.64 [[ 9.99113262e-01 -3.27691864e-02 -2.64361523e-02 2.09496258e+02] [ 3.28019846e-02 9.99461544e-01 8.07840365e-04 -6.84702685e+00] [ 2.63954453e-02 -1.67428228e-03 9.99650177e-01 2.63837196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.080714057 meters Centerline goodness [0,1] 0.9773163088723633 Centerline is valid? [True, True] Translation: X:209.53, Y:-6.85, Z:2.64 [[ 9.99064347e-01 -3.44808780e-02 -2.61055599e-02 2.09526159e+02] [ 3.45134726e-02 9.99403913e-01 7.98892668e-04 -6.85246826e+00] [ 2.60624522e-02 -1.69913871e-03 9.99658873e-01 2.63816037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.110714057 meters Centerline goodness [0,1] 0.977038075216071 Centerline is valid? [True, True] Translation: X:209.56, Y:-6.86, Z:2.64 [[ 9.99031642e-01 -3.52719279e-02 -2.62996201e-02 2.09556641e+02] [ 3.53053213e-02 9.99376248e-01 8.06328739e-04 -6.85659657e+00] [ 2.62547749e-02 -1.73406446e-03 9.99653780e-01 2.63810940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.140714057 meters Centerline goodness [0,1] 0.977253717472119 Centerline is valid? [True, True] Translation: X:209.59, Y:-6.86, Z:2.64 [[ 9.99022630e-01 -3.59568411e-02 -2.57077748e-02 2.09588124e+02] [ 3.59889987e-02 9.99351875e-01 7.89162343e-04 -6.85873633e+00] [ 2.56627372e-02 -1.71358812e-03 9.99669189e-01 2.63908000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.170714057 meters Centerline goodness [0,1] 0.9767865058442013 Centerline is valid? [True, True] Translation: X:209.62, Y:-6.86, Z:2.64 [[ 9.98993723e-01 -3.71800294e-02 -2.50836149e-02 2.09619255e+02] [ 3.72110484e-02 9.99307132e-01 7.70828520e-04 -6.85878268e+00] [ 2.50375758e-02 -1.70344046e-03 9.99685059e-01 2.64107885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20071405699997 meters Centerline goodness [0,1] 0.9780931450481624 Centerline is valid? [True, True] Translation: X:209.65, Y:-6.86, Z:2.64 [[ 9.98997438e-01 -3.76014734e-02 -2.42950154e-02 2.09651141e+02] [ 3.76307258e-02 9.99291434e-01 7.47823560e-04 -6.85607203e+00] [ 2.42496815e-02 -1.66131288e-03 9.99704553e-01 2.64275586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23071405699997 meters Centerline goodness [0,1] 0.976460432997387 Centerline is valid? [True, True] Translation: X:209.68, Y:-6.86, Z:2.64 [[ 9.98966554e-01 -3.91446399e-02 -2.30980606e-02 2.09681643e+02] [ 3.91715183e-02 9.99232248e-01 7.12187486e-04 -6.86060339e+00] [ 2.30524487e-02 -1.61623758e-03 9.99732951e-01 2.64389131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26071405699997 meters Centerline goodness [0,1] 0.9775 Centerline is valid? [True, True] Translation: X:209.71, Y:-6.86, Z:2.64 [[ 9.98955366e-01 -3.95552656e-02 -2.28813988e-02 2.09713426e+02] [ 3.95817754e-02 9.99216085e-01 7.06655797e-04 -6.86289710e+00] [ 2.28355097e-02 -1.61160399e-03 9.99737937e-01 2.64455001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29071405699997 meters Centerline goodness [0,1] 0.9782390436386561 Centerline is valid? [True, True] Translation: X:209.75, Y:-6.86, Z:2.65 [[ 9.98934578e-01 -4.01765407e-02 -2.27058336e-02 2.09746005e+02] [ 4.02028409e-02 9.99191292e-01 7.02828718e-04 -6.86035468e+00] [ 2.26592340e-02 -1.61491892e-03 9.99741942e-01 2.64558749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32071405699998 meters Centerline goodness [0,1] 0.977491436959713 Centerline is valid? [True, True] Translation: X:209.78, Y:-6.87, Z:2.65 [[ 9.98884593e-01 -4.14663891e-02 -2.25855904e-02 2.09777387e+02] [ 4.14927718e-02 9.99138559e-01 7.00545203e-04 -6.86568686e+00] [ 2.25370851e-02 -1.63690256e-03 9.99744668e-01 2.64583717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35071405699998 meters Centerline goodness [0,1] 0.9786603161261703 Centerline is valid? [True, True] Translation: X:209.81, Y:-6.86, Z:2.65 [[ 9.98855890e-01 -4.19829132e-02 -2.28986099e-02 2.09809381e+02] [ 4.20102002e-02 9.99116928e-01 7.11687364e-04 -6.86423527e+00] [ 2.28485100e-02 -1.67284830e-03 9.99737539e-01 2.64633146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38071405699998 meters Centerline goodness [0,1] 0.9746497200083649 Centerline is valid? [True, True] Translation: X:209.84, Y:-6.88, Z:2.65 [[ 9.98847844e-01 -4.21251639e-02 -2.29881692e-02 2.09840672e+02] [ 4.21527362e-02 9.99110922e-01 7.15947782e-04 -6.87650699e+00] [ 2.29375715e-02 -1.68413713e-03 9.99735481e-01 2.64511462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41071405699998 meters Centerline goodness [0,1] 0.9787808911559872 Centerline is valid? [True, True] Translation: X:209.87, Y:-6.87, Z:2.65 [[ 9.98863192e-01 -4.16637305e-02 -2.31615268e-02 2.09872989e+02] [ 4.16916301e-02 9.99130265e-01 7.22778159e-04 -6.86981789e+00] [ 2.31112688e-02 -1.68759831e-03 9.99731475e-01 2.64652455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44071405699998 meters Centerline goodness [0,1] 0.9754699839262003 Centerline is valid? [True, True] Translation: X:209.90, Y:-6.88, Z:2.65 [[ 9.98872272e-01 -4.11341902e-02 -2.37099808e-02 2.09903743e+02] [ 4.11633144e-02 9.99152157e-01 7.41395914e-04 -6.88033413e+00] [ 2.36593818e-02 -1.71654122e-03 9.99718604e-01 2.64522171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47071405699998 meters Centerline goodness [0,1] 0.9791016262056754 Centerline is valid? [True, True] Translation: X:209.94, Y:-6.87, Z:2.65 [[ 9.98919810e-01 -4.00934078e-02 -2.34889702e-02 2.09936480e+02] [ 4.01217384e-02 9.99194528e-01 7.35905456e-04 -6.87334342e+00] [ 2.34405456e-02 -1.67752886e-03 9.99723825e-01 2.64673639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50071405699998 meters Centerline goodness [0,1] 0.9784318287575616 Centerline is valid? [True, True] Translation: X:209.97, Y:-6.87, Z:2.65 [[ 9.98951213e-01 -3.92809232e-02 -2.35262275e-02 2.09968337e+02] [ 3.93091582e-02 9.99226823e-01 7.38714247e-04 -6.87499718e+00] [ 2.34790202e-02 -1.66273569e-03 9.99722947e-01 2.64746835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53071405699998 meters Centerline goodness [0,1] 0.9777363763390778 Centerline is valid? [True, True] Translation: X:210.00, Y:-6.88, Z:2.65 [[ 9.99042214e-01 -3.76123709e-02 -2.23598763e-02 2.09998372e+02] [ 3.76374814e-02 9.99291212e-01 7.03093653e-04 -6.87984779e+00] [ 2.23175828e-02 -1.54398967e-03 9.99749739e-01 2.64692650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56071405699998 meters Centerline goodness [0,1] 0.9786882959933066 Centerline is valid? [True, True] Translation: X:210.03, Y:-6.88, Z:2.65 [[ 9.99094391e-01 -3.64795712e-02 -2.19006726e-02 2.10029443e+02] [ 3.65034015e-02 9.99333291e-01 6.89189089e-04 -6.87745082e+00] [ 2.18609299e-02 -1.48801400e-03 9.99759914e-01 2.64767995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59071405699999 meters Centerline goodness [0,1] 0.9784928735845986 Centerline is valid? [True, True] Translation: X:210.06, Y:-6.88, Z:2.65 [[ 9.99120728e-01 -3.55450137e-02 -2.22333731e-02 2.10061873e+02] [ 3.55693678e-02 9.99366964e-01 7.00757633e-04 -6.87859536e+00] [ 2.21943901e-02 -1.49096850e-03 9.99752562e-01 2.64787880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.620714057 meters Centerline goodness [0,1] 0.9793689884299057 Centerline is valid? [True, True] Translation: X:210.09, Y:-6.88, Z:2.65 [[ 9.99200083e-01 -3.29456611e-02 -2.26666444e-02 2.10092900e+02] [ 3.29703319e-02 9.99456075e-01 7.15466886e-04 -6.87698587e+00] [ 2.26307439e-02 -1.46222136e-03 9.99742823e-01 2.64848964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.650714057 meters Centerline goodness [0,1] 0.9788591385331781 Centerline is valid? [True, True] Translation: X:210.12, Y:-6.88, Z:2.65 [[ 9.99236329e-01 -3.16121201e-02 -2.29659094e-02 2.10123387e+02] [ 3.16371186e-02 9.99499157e-01 7.25894809e-04 -6.88036815e+00] [ 2.29314600e-02 -1.45191566e-03 9.99735985e-01 2.64815833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.680714057 meters Centerline goodness [0,1] 0.9803492942024604 Centerline is valid? [True, True] Translation: X:210.15, Y:-6.88, Z:2.65 [[ 9.99291090e-01 -2.89032957e-02 -2.41229674e-02 2.10154385e+02] [ 2.89301170e-02 9.99581145e-01 7.63536224e-04 -6.87679113e+00] [ 2.40907946e-02 -1.46087521e-03 9.99708707e-01 2.64846990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.710714057 meters Centerline goodness [0,1] 0.9799944105454376 Centerline is valid? [True, True] Translation: X:210.19, Y:-6.88, Z:2.65 [[ 9.99310864e-01 -2.78427863e-02 -2.45474137e-02 2.10185153e+02] [ 2.78702438e-02 9.99611247e-01 7.77071501e-04 -6.87711726e+00] [ 2.45162349e-02 -1.46067840e-03 9.99698365e-01 2.64874957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.740714057 meters Centerline goodness [0,1] 0.9812133345749139 Centerline is valid? [True, True] Translation: X:210.22, Y:-6.88, Z:2.65 [[ 9.99366351e-01 -2.50766708e-02 -2.52598038e-02 2.10215125e+02] [ 2.51048652e-02 9.99684503e-01 7.99622881e-04 -6.87813657e+00] [ 2.52317825e-02 -1.43326017e-03 9.99680600e-01 2.64806733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.770714057 meters Centerline goodness [0,1] 0.9823521205357143 Centerline is valid? [True, True] Translation: X:210.24, Y:-6.87, Z:2.65 [[ 9.99399202e-01 -2.35565286e-02 -2.54229258e-02 2.10244841e+02] [ 2.35845866e-02 9.99721521e-01 8.04328804e-04 -6.87344572e+00] [ 2.53968989e-02 -1.40343476e-03 9.99676462e-01 2.64955695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.800714057 meters Centerline goodness [0,1] 0.9823784438953895 Centerline is valid? [True, True] Translation: X:210.27, Y:-6.87, Z:2.65 [[ 9.99446247e-01 -2.16287421e-02 -2.52863105e-02 2.10273736e+02] [ 2.16558500e-02 9.99765166e-01 7.98653399e-04 -6.87365237e+00] [ 2.52630985e-02 -1.34580769e-03 9.99679931e-01 2.65017013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.830714057 meters Centerline goodness [0,1] 0.9815785183632595 Centerline is valid? [True, True] Translation: X:210.30, Y:-6.87, Z:2.65 [[ 9.99494278e-01 -1.97893024e-02 -2.48911809e-02 2.10301844e+02] [ 1.98149570e-02 9.99803357e-01 7.84418657e-04 -6.87429220e+00] [ 2.48707631e-02 -1.27723964e-03 9.99689859e-01 2.65110647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.860714057 meters Centerline goodness [0,1] 0.9812714016166229 Centerline is valid? [True, True] Translation: X:210.33, Y:-6.87, Z:2.65 [[ 9.99605958e-01 -1.54759418e-02 -2.34184507e-02 2.10331929e+02] [ 1.54974468e-02 9.99879636e-01 7.37071955e-04 -6.87324149e+00] [ 2.34042251e-02 -1.09970771e-03 9.99725479e-01 2.65312855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.890714057 meters Centerline goodness [0,1] 0.9819853455920101 Centerline is valid? [True, True] Translation: X:210.36, Y:-6.87, Z:2.65 [[ 9.99652115e-01 -1.34386319e-02 -2.26947573e-02 2.10360975e+02] [ 1.34582737e-02 9.99909179e-01 7.12956025e-04 -6.87359224e+00] [ 2.26831150e-02 -1.01814025e-03 9.99742187e-01 2.65420335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.920714057 meters Centerline goodness [0,1] 0.9828141031620184 Centerline is valid? [True, True] Translation: X:210.39, Y:-6.87, Z:2.66 [[ 9.99720757e-01 -9.71414067e-03 -2.15416783e-02 2.10391287e+02] [ 9.73093877e-03 9.99952425e-01 6.75107500e-04 -6.87312698e+00] [ 2.15340953e-02 -8.84539733e-04 9.99767723e-01 2.65540915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95071405699997 meters Centerline goodness [0,1] 0.9830599185573008 Centerline is valid? [True, True] Translation: X:210.42, Y:-6.87, Z:2.66 [[ 9.99740357e-01 -8.13451631e-03 -2.12849262e-02 2.10420523e+02] [ 8.15051185e-03 9.99966563e-01 6.64851377e-04 -6.87272923e+00] [ 2.12788063e-02 -8.38161797e-04 9.99773229e-01 2.65606734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98071405699997 meters Centerline goodness [0,1] 0.9819410462542235 Centerline is valid? [True, True] Translation: X:210.45, Y:-6.88, Z:2.66 [[ 9.99758022e-01 -6.83230479e-03 -2.09097200e-02 2.10447839e+02] [ 6.84738196e-03 9.99976345e-01 6.49547860e-04 -6.87664502e+00] [ 2.09047875e-02 -7.92567523e-04 9.99781157e-01 2.65631836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01071405699997 meters Centerline goodness [0,1] 0.9833933341075368 Centerline is valid? [True, True] Translation: X:210.48, Y:-6.87, Z:2.66 [[ 9.99764951e-01 -5.73688386e-03 -2.09076778e-02 2.10476902e+02] [ 5.75165226e-03 9.99983250e-01 6.46297082e-04 -6.87466590e+00] [ 2.09036198e-02 -7.66398863e-04 9.99781202e-01 2.65728353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04071405699997 meters Centerline goodness [0,1] 0.9824565469293164 Centerline is valid? [True, True] Translation: X:210.51, Y:-6.88, Z:2.66 [[ 9.99760075e-01 -5.18068878e-03 -2.12826753e-02 2.10505001e+02] [ 5.19575121e-03 9.99986289e-01 6.52496679e-04 -6.87992274e+00] [ 2.12790031e-02 -7.62919615e-04 9.99773285e-01 2.65640544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07071405699998 meters Centerline goodness [0,1] 0.9835799810092869 Centerline is valid? [True, True] Translation: X:210.53, Y:-6.88, Z:2.66 [[ 9.99732508e-01 -5.13995379e-03 -2.25497995e-02 2.10533164e+02] [ 5.15671490e-03 9.99986469e-01 6.85207085e-04 -6.88054672e+00] [ 2.25459725e-02 -8.01306685e-04 9.99745486e-01 2.65585223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10071405699998 meters Centerline goodness [0,1] 0.9830124575311439 Centerline is valid? [True, True] Translation: X:210.56, Y:-6.88, Z:2.66 [[ 9.99731846e-01 -5.61819707e-03 -2.24648878e-02 2.10561003e+02] [ 5.63481074e-03 9.99983896e-01 6.76306630e-04 -6.88351720e+00] [ 2.24607264e-02 -8.02710667e-04 9.99747404e-01 2.65558229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13071405699998 meters Centerline goodness [0,1] 0.9843699421965318 Centerline is valid? [True, True] Translation: X:210.59, Y:-6.88, Z:2.66 [[ 9.99726005e-01 -6.30921569e-03 -2.25412630e-02 2.10589799e+02] [ 6.32598197e-03 9.99979765e-01 6.72573676e-04 -6.88494857e+00] [ 2.25365634e-02 -8.14985017e-04 9.99745687e-01 2.65592227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16071405699998 meters Centerline goodness [0,1] 0.9836826070901034 Centerline is valid? [True, True] Translation: X:210.62, Y:-6.89, Z:2.66 [[ 9.99712984e-01 -6.86239922e-03 -2.29533871e-02 2.10617799e+02] [ 6.87982526e-03 9.99976102e-01 6.80310048e-04 -6.88875877e+00] [ 2.29481700e-02 -8.38030080e-04 9.99736305e-01 2.65570389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19071405699998 meters Centerline goodness [0,1] 0.9846898777957114 Centerline is valid? [True, True] Translation: X:210.65, Y:-6.89, Z:2.66 [[ 9.99689190e-01 -8.33714577e-03 -2.34949928e-02 2.10646332e+02] [ 8.35570739e-03 9.99964851e-01 6.91961366e-04 -6.89214349e+00] [ 2.34883980e-02 -8.88063583e-04 9.99723715e-01 2.65522787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22071405699998 meters Centerline goodness [0,1] 0.9855346637443765 Centerline is valid? [True, True] Translation: X:210.67, Y:-6.90, Z:2.66 [[ 9.99678012e-01 -9.53448315e-03 -2.35152312e-02 2.10674874e+02] [ 9.55327033e-03 9.99954131e-01 6.86724522e-04 -6.89552328e+00] [ 2.35076050e-02 -9.11150766e-04 9.99723243e-01 2.65524124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25071405699998 meters Centerline goodness [0,1] 0.9855346637443765 Centerline is valid? [True, True] Translation: X:210.70, Y:-6.90, Z:2.66 [[ 9.99675275e-01 -9.81682288e-03 -2.35154108e-02 2.10702262e+02] [ 9.83554260e-03 9.99951398e-01 6.80532025e-04 -6.89624707e+00] [ 2.35075873e-02 -9.11597864e-04 9.99723243e-01 2.65558889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28071405699998 meters Centerline goodness [0,1] 0.9839590600330457 Centerline is valid? [True, True] Translation: X:210.73, Y:-6.90, Z:2.66 [[ 9.99662600e-01 -1.17949908e-02 -2.31422516e-02 2.10730486e+02] [ 1.18135472e-02 9.99929996e-01 6.65283500e-04 -6.90059451e+00] [ 2.31327845e-02 -9.38451115e-04 9.99731961e-01 2.65581733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31071405699998 meters Centerline goodness [0,1] 0.983960645235099 Centerline is valid? [True, True] Translation: X:210.76, Y:-6.90, Z:2.66 [[ 9.99665004e-01 -1.26523638e-02 -2.25787049e-02 2.10758456e+02] [ 1.26702008e-02 9.99919520e-01 6.47107411e-04 -6.90459764e+00] [ 2.25687003e-02 -9.32967358e-04 9.99744859e-01 2.65586078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34071405699999 meters Centerline goodness [0,1] 0.9841835801791918 Centerline is valid? [True, True] Translation: X:210.79, Y:-6.91, Z:2.66 [[ 9.99676510e-01 -1.29652589e-02 -2.18810043e-02 2.10785594e+02] [ 1.29820369e-02 9.99915535e-01 6.24903607e-04 -6.90986224e+00] [ 2.18710540e-02 -9.08761462e-04 9.99760387e-01 2.65670105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.370714057 meters Centerline goodness [0,1] 0.9851489672820325 Centerline is valid? [True, True] Translation: X:210.81, Y:-6.91, Z:2.66 [[ 9.99683160e-01 -1.34755319e-02 -2.12600466e-02 2.10812972e+02] [ 1.34914034e-02 9.99908805e-01 6.03281734e-04 -6.91212064e+00] [ 2.12499783e-02 -8.89918456e-04 9.99773798e-01 2.65747769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.400714057 meters Centerline goodness [0,1] 0.9852763532763533 Centerline is valid? [True, True] Translation: X:210.84, Y:-6.91, Z:2.66 [[ 9.99683205e-01 -1.36965204e-02 -2.11162033e-02 2.10840694e+02] [ 1.37121028e-02 9.99905809e-01 5.93317840e-04 -6.91275258e+00] [ 2.11060879e-02 -8.82677430e-04 9.99776852e-01 2.65896355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.430714057 meters Centerline goodness [0,1] 0.9860012311620802 Centerline is valid? [True, True] Translation: X:210.87, Y:-6.92, Z:2.66 [[ 9.99697397e-01 -1.36510307e-02 -2.04637419e-02 2.10869437e+02] [ 1.36655449e-02 9.99906460e-01 5.69588351e-04 -6.91659233e+00] [ 2.04540522e-02 -8.49064176e-04 9.99790433e-01 2.65951386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.460714057 meters Centerline goodness [0,1] 0.985612490355376 Centerline is valid? [True, True] Translation: X:210.90, Y:-6.92, Z:2.66 [[ 9.99703125e-01 -1.38454481e-02 -2.00490892e-02 2.10896267e+02] [ 1.38593395e-02 9.99903801e-01 5.54082253e-04 -6.91960101e+00] [ 2.00394890e-02 -8.31784895e-04 9.99798843e-01 2.66006085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.490714057 meters Centerline goodness [0,1] 0.9862458441499294 Centerline is valid? [True, True] Translation: X:210.92, Y:-6.92, Z:2.66 [[ 9.99705482e-01 -1.45031668e-02 -1.94578612e-02 2.10924797e+02] [ 1.45163130e-02 9.99894490e-01 5.34544951e-04 -6.92093200e+00] [ 1.94480556e-02 -8.16843920e-04 9.99810535e-01 2.66014756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.520714057 meters Centerline goodness [0,1] 0.9868594853108631 Centerline is valid? [True, True] Translation: X:210.95, Y:-6.92, Z:2.66 [[ 9.99685471e-01 -1.55979147e-02 -1.96383238e-02 2.10953121e+02] [ 1.56114196e-02 9.99877991e-01 5.34553913e-04 -6.92284029e+00] [ 1.96275898e-02 -8.40967893e-04 9.99807007e-01 2.66034508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.550714057 meters Centerline goodness [0,1] 0.9866123925825419 Centerline is valid? [True, True] Translation: X:210.98, Y:-6.93, Z:2.66 [[ 9.99637516e-01 -1.77782752e-02 -2.02180544e-02 2.10981132e+02] [ 1.77929563e-02 9.99841543e-01 5.46469286e-04 -6.92964873e+00] [ 2.02051354e-02 -9.06010158e-04 9.99795445e-01 2.65981551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.580714057 meters Centerline goodness [0,1] 0.9857534992400354 Centerline is valid? [True, True] Translation: X:211.01, Y:-6.93, Z:2.66 [[ 9.99591930e-01 -1.94918913e-02 -2.08815707e-02 2.11008711e+02] [ 1.95078894e-02 9.99809545e-01 5.62693896e-04 -6.93429915e+00] [ 2.08666257e-02 -9.69819650e-04 9.99781798e-01 2.65921508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.610714057 meters Centerline goodness [0,1] 0.9853860315007159 Centerline is valid? [True, True] Translation: X:211.04, Y:-6.94, Z:2.66 [[ 9.99499474e-01 -2.26645709e-02 -2.20707718e-02 2.11039278e+02] [ 2.26831893e-02 9.99742527e-01 5.93562483e-04 -6.93909906e+00] [ 2.20516364e-02 -1.09390088e-03 9.99756235e-01 2.65890777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.640714057 meters Centerline goodness [0,1] 0.9847369855546471 Centerline is valid? [True, True] Translation: X:211.07, Y:-6.94, Z:2.66 [[ 9.99446182e-01 -2.44433400e-02 -2.25799327e-02 2.11068723e+02] [ 2.44632723e-02 9.99700545e-01 6.06900603e-04 -6.94174251e+00] [ 2.25583364e-02 -1.15894353e-03 9.99744857e-01 2.65906501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.670714057 meters Centerline goodness [0,1] 0.9844757149341806 Centerline is valid? [True, True] Translation: X:211.10, Y:-6.95, Z:2.66 [[ 9.99414978e-01 -2.56011541e-02 -2.26777834e-02 2.11097011e+02] [ 2.56215344e-02 9.99671529e-01 6.08542729e-04 -6.94572760e+00] [ 2.26547550e-02 -1.18922633e-03 9.99742641e-01 2.65903731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70071405699997 meters Centerline goodness [0,1] 0.9836425836561771 Centerline is valid? [True, True] Translation: X:211.13, Y:-6.95, Z:2.66 [[ 9.99394027e-01 -2.72341940e-02 -2.16766571e-02 2.11125564e+02] [ 2.72531729e-02 9.99628395e-01 5.80560797e-04 -6.95169074e+00] [ 2.16527908e-02 -1.17096668e-03 9.99764865e-01 2.65945554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73071405699997 meters Centerline goodness [0,1] 0.9838921315777567 Centerline is valid? [True, True] Translation: X:211.16, Y:-6.95, Z:2.66 [[ 9.99388631e-01 -2.78200383e-02 -2.11756638e-02 2.11155843e+02] [ 2.78382673e-02 9.99612280e-01 5.66494960e-04 -6.95392302e+00] [ 2.11516937e-02 -1.15564241e-03 9.99775610e-01 2.66054911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76071405699997 meters Centerline goodness [0,1] 0.983775611517285 Centerline is valid? [True, True] Translation: X:211.19, Y:-6.96, Z:2.66 [[ 9.99379576e-01 -2.88661204e-02 -2.01794411e-02 2.11185182e+02] [ 2.88828841e-02 9.99582657e-01 5.39714761e-04 -6.95790891e+00] [ 2.01554399e-02 -1.12222037e-03 9.99796229e-01 2.66178359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79071405699997 meters Centerline goodness [0,1] 0.9828506787330317 Centerline is valid? [True, True] Translation: X:211.22, Y:-6.96, Z:2.66 [[ 9.99351074e-01 -2.98736136e-02 -2.01245847e-02 2.11216308e+02] [ 2.98904907e-02 9.99553035e-01 5.38285829e-04 -6.95966054e+00] [ 2.00995091e-02 -1.13947023e-03 9.99797335e-01 2.66249433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82071405699998 meters Centerline goodness [0,1] 0.9831344939216263 Centerline is valid? [True, True] Translation: X:211.25, Y:-6.96, Z:2.66 [[ 9.99329440e-01 -3.07692606e-02 -1.98474683e-02 2.11247453e+02] [ 3.07858652e-02 9.99525862e-01 5.31540977e-04 -6.96110185e+00] [ 1.98217027e-02 -1.14220603e-03 9.99802878e-01 2.66269534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85071405699998 meters Centerline goodness [0,1] 0.9824093334539206 Centerline is valid? [True, True] Translation: X:211.28, Y:-6.96, Z:2.66 [[ 9.99251382e-01 -3.27216331e-02 -2.06390561e-02 2.11277817e+02] [ 3.27400191e-02 9.99463749e-01 5.53477530e-04 -6.96496654e+00] [ 2.06098777e-02 -1.22878628e-03 9.99786839e-01 2.66197644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88071405699998 meters Centerline goodness [0,1] 0.9831763427225795 Centerline is valid? [True, True] Translation: X:211.31, Y:-6.96, Z:2.66 [[ 9.99192396e-01 -3.40247560e-02 -2.13745651e-02 2.11309498e+02] [ 3.40447899e-02 9.99420143e-01 5.73980621e-04 -6.96279191e+00] [ 2.13426414e-02 -1.30120965e-03 9.99771373e-01 2.66222762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91071405699998 meters Centerline goodness [0,1] 0.9815040650406504 Centerline is valid? [True, True] Translation: X:211.34, Y:-6.97, Z:2.66 [[ 9.99057215e-01 -3.67826992e-02 -2.30589343e-02 2.11339065e+02] [ 3.68067583e-02 9.99322210e-01 6.19683019e-04 -6.97099211e+00] [ 2.30205115e-02 -1.46782341e-03 9.99733915e-01 2.66048587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94071405699998 meters Centerline goodness [0,1] 0.9839535985917083 Centerline is valid? [True, True] Translation: X:211.37, Y:-6.96, Z:2.66 [[ 9.98999021e-01 -3.81483641e-02 -2.33593443e-02 2.11370429e+02] [ 3.81734350e-02 9.99270931e-01 6.28136882e-04 -6.96257088e+00] [ 2.33183513e-02 -1.51921454e-03 9.99726936e-01 2.66252013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97071405699998 meters Centerline goodness [0,1] 0.9841312959818902 Centerline is valid? [True, True] Translation: X:211.40, Y:-6.96, Z:2.66 [[ 9.98928544e-01 -3.99204256e-02 -2.34120502e-02 2.11401804e+02] [ 3.99461140e-02 9.99201637e-01 6.30394751e-04 -6.96124591e+00] [ 2.33681933e-02 -1.56493974e-03 9.99725702e-01 2.66370981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00071405699998 meters Centerline goodness [0,1] 0.983306115042642 Centerline is valid? [True, True] Translation: X:211.43, Y:-6.96, Z:2.66 [[ 9.98809208e-01 -4.29224205e-02 -2.31911935e-02 2.11431593e+02] [ 4.29484421e-02 9.99077095e-01 6.24902061e-04 -6.96391919e+00] [ 2.31429679e-02 -1.62018356e-03 9.99730853e-01 2.66488647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03071405699998 meters Centerline goodness [0,1] 0.9834285455204933 Centerline is valid? [True, True] Translation: X:211.46, Y:-6.96, Z:2.67 [[ 9.98779926e-01 -4.37367859e-02 -2.29293180e-02 2.11463272e+02] [ 4.37624490e-02 9.99041774e-01 6.18396907e-04 -6.96469635e+00] [ 2.28802998e-02 -1.62108553e-03 9.99736897e-01 2.66589189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06071405699998 meters Centerline goodness [0,1] 0.981962973046556 Centerline is valid? [True, True] Translation: X:211.50, Y:-6.96, Z:2.67 [[ 9.98727718e-01 -4.51201635e-02 -2.25192579e-02 2.11495285e+02] [ 4.51452973e-02 9.98980246e-01 6.08707778e-04 -6.96322255e+00] [ 2.24688288e-02 -1.62457192e-03 9.99746224e-01 2.66751909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09071405699999 meters Centerline goodness [0,1] 0.982848586596488 Centerline is valid? [True, True] Translation: X:211.53, Y:-6.96, Z:2.67 [[ 9.98720920e-01 -4.55156169e-02 -2.20193614e-02 2.11527290e+02] [ 4.55397766e-02 9.98962348e-01 5.96749987e-04 -6.96224081e+00] [ 2.19693516e-02 -1.59874350e-03 9.99757366e-01 2.66848900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.120714057 meters Centerline goodness [0,1] 0.9815087918321044 Centerline is valid? [True, True] Translation: X:211.56, Y:-6.96, Z:2.67 [[ 9.98725197e-01 -4.56947249e-02 -2.14469630e-02 2.11558869e+02] [ 4.57177264e-02 9.98954228e-01 5.83145835e-04 -6.96469554e+00] [ 2.13978876e-02 -1.56290882e-03 9.99769817e-01 2.66917180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.150714057 meters Centerline goodness [0,1] 0.9817248972734909 Centerline is valid? [True, True] Translation: X:211.59, Y:-6.96, Z:2.67 [[ 9.98712119e-01 -4.63264206e-02 -2.06873367e-02 2.11590875e+02] [ 4.63479969e-02 9.98925195e-01 5.64477993e-04 -6.96416429e+00] [ 2.06389516e-02 -1.52256763e-03 9.99785835e-01 2.67052772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.180714057 meters Centerline goodness [0,1] 0.9809491371480472 Centerline is valid? [True, True] Translation: X:211.62, Y:-6.96, Z:2.67 [[ 9.98626044e-01 -4.79859111e-02 -2.10565224e-02 2.11621826e+02] [ 4.80086593e-02 9.98846754e-01 5.75875603e-04 -6.96353229e+00] [ 2.10046051e-02 -1.58597978e-03 9.99778121e-01 2.67169296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.210714057 meters Centerline goodness [0,1] 0.9803917118670994 Centerline is valid? [True, True] Translation: X:211.65, Y:-6.97, Z:2.67 [[ 9.98494647e-01 -5.04622391e-02 -2.14942298e-02 2.11652472e+02] [ 5.04865303e-02 9.98724569e-01 5.88640691e-04 -6.96525683e+00] [ 2.14371113e-02 -1.67292366e-03 9.99768799e-01 2.67122464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.240714057 meters Centerline goodness [0,1] 0.9806739120549316 Centerline is valid? [True, True] Translation: X:211.68, Y:-6.96, Z:2.67 [[ 9.98403167e-01 -5.21029805e-02 -2.18264838e-02 2.11683726e+02] [ 5.21284303e-02 9.98640210e-01 5.98290083e-04 -6.96242606e+00] [ 2.17656316e-02 -1.73511505e-03 9.99761595e-01 2.67152274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.270714057 meters Centerline goodness [0,1] 0.9793183472879505 Centerline is valid? [True, True] Translation: X:211.71, Y:-6.97, Z:2.67 [[ 9.98290052e-01 -5.39117026e-02 -2.25942621e-02 2.11713337e+02] [ 5.39394637e-02 9.98544015e-01 6.20604333e-04 -6.96899291e+00] [ 2.25279074e-02 -1.83826552e-03 9.99744524e-01 2.67073314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.300714057 meters Centerline goodness [0,1] 0.9794585987261146 Centerline is valid? [True, True] Translation: X:211.74, Y:-6.97, Z:2.67 [[ 9.98147948e-01 -5.60627809e-02 -2.36143497e-02 2.11744100e+02] [ 5.60937336e-02 9.98425296e-01 6.49880341e-04 -6.96727788e+00] [ 2.35407300e-02 -1.97329377e-03 9.99720931e-01 2.67026814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.330714057 meters Centerline goodness [0,1] 0.9787045454545454 Centerline is valid? [True, True] Translation: X:211.78, Y:-6.97, Z:2.67 [[ 9.97864276e-01 -5.99332243e-02 -2.59787516e-02 2.11775296e+02] [ 5.99720056e-02 9.98199803e-01 7.15555881e-04 -6.96695580e+00] [ 2.58890991e-02 -2.27202549e-03 9.99662239e-01 2.66866504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.360714057 meters Centerline goodness [0,1] 0.9804193893581657 Centerline is valid? [True, True] Translation: X:211.81, Y:-6.97, Z:2.67 [[ 9.97742351e-01 -6.11969346e-02 -2.76611012e-02 2.11806048e+02] [ 6.12414031e-02 9.98122692e-01 7.62525971e-04 -6.96782365e+00] [ 2.75625086e-02 -2.45480911e-03 9.99617068e-01 2.66813164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.390714057 meters Centerline goodness [0,1] 0.9796899931616139 Centerline is valid? [True, True] Translation: X:211.84, Y:-6.97, Z:2.67 [[ 9.97738601e-01 -6.12138988e-02 -2.77586502e-02 2.11838251e+02] [ 6.12587239e-02 9.98121626e-01 7.66509321e-04 -6.96804722e+00] [ 2.76595881e-02 -2.46523543e-03 9.99614361e-01 2.66832413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.420714057 meters Centerline goodness [0,1] 0.9579086576829241 Centerline is valid? [True, True] Translation: X:211.87, Y:-6.98, Z:2.67 [[ 9.97752699e-01 -6.10551566e-02 -2.76010896e-02 2.11868935e+02] [ 6.10994599e-02 9.98131390e-01 7.63834312e-04 -6.97802850e+00] [ 2.75028779e-02 -2.44852942e-03 9.99618726e-01 2.66742610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45071405699997 meters Centerline goodness [0,1] 0.9796286569073013 Centerline is valid? [True, True] Translation: X:211.90, Y:-6.97, Z:2.67 [[ 9.97816194e-01 -6.01701132e-02 -2.72470174e-02 2.11901941e+02] [ 6.02130183e-02 9.98185264e-01 7.56210952e-04 -6.96770504e+00] [ 2.71520700e-02 -2.39518469e-03 9.99628445e-01 2.67003305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48071405699997 meters Centerline goodness [0,1] 0.9771343556878004 Centerline is valid? [True, True] Translation: X:211.93, Y:-6.97, Z:2.67 [[ 9.97976071e-01 -5.80192403e-02 -2.60294020e-02 2.11932250e+02] [ 5.80577014e-02 9.98312967e-01 7.23672928e-04 -6.96712811e+00] [ 2.59435025e-02 -2.23341551e-03 9.99660916e-01 2.67159684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51071405699997 meters Centerline goodness [0,1] 0.9792626728110599 Centerline is valid? [True, True] Translation: X:211.96, Y:-6.96, Z:2.67 [[ 9.98060417e-01 -5.68346127e-02 -2.54013960e-02 2.11964448e+02] [ 5.68708760e-02 9.98381292e-01 7.06896903e-04 -6.95990494e+00] [ 2.53201023e-02 -2.15012546e-03 9.99677083e-01 2.67395895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54071405699997 meters Centerline goodness [0,1] 0.9799967958254182 Centerline is valid? [True, True] Translation: X:212.00, Y:-6.96, Z:2.68 [[ 9.98149686e-01 -5.56996567e-02 -2.43875523e-02 2.11996432e+02] [ 5.57327767e-02 9.98445489e-01 6.79958663e-04 -6.95840209e+00] [ 2.43117682e-02 -2.03788653e-03 9.99702348e-01 2.67527190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57071405699998 meters Centerline goodness [0,1] 0.9757428466617755 Centerline is valid? [True, True] Translation: X:212.03, Y:-6.96, Z:2.68 [[ 9.98330061e-01 -5.29013107e-02 -2.32064636e-02 2.12026477e+02] [ 5.29305612e-02 9.98597985e-01 6.47586299e-04 -6.96347020e+00] [ 2.31396696e-02 -1.87483601e-03 9.99730484e-01 2.67538388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60071405699998 meters Centerline goodness [0,1] 0.9805676004313213 Centerline is valid? [True, True] Translation: X:212.06, Y:-6.95, Z:2.68 [[ 9.98391139e-01 -5.18786986e-02 -2.28852480e-02 2.12058967e+02] [ 5.19068925e-02 9.98651724e-01 6.39265081e-04 -6.95170202e+00] [ 2.28212282e-02 -1.82613870e-03 9.99737894e-01 2.67746614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63071405699998 meters Centerline goodness [0,1] 0.9814751129146893 Centerline is valid? [True, True] Translation: X:212.09, Y:-6.95, Z:2.68 [[ 9.98494839e-01 -5.01615775e-02 -2.21782183e-02 2.12090307e+02] [ 5.01876621e-02 9.98739612e-01 6.20747054e-04 -6.94810061e+00] [ 2.21191275e-02 -1.73288566e-03 9.99753840e-01 2.67799930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66071405699998 meters Centerline goodness [0,1] 0.9800796812749004 Centerline is valid? [True, True] Translation: X:212.12, Y:-6.95, Z:2.68 [[ 9.98528888e-01 -4.96088210e-02 -2.18866403e-02 2.12122828e+02] [ 4.96341166e-02 9.98767279e-01 6.13707860e-04 -6.94836491e+00] [ 2.18292148e-02 -1.69912908e-03 9.99760270e-01 2.67828124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69071405699998 meters Centerline goodness [0,1] 0.9800441419900681 Centerline is valid? [True, True] Translation: X:212.16, Y:-6.95, Z:2.68 [[ 9.98549425e-01 -4.91675181e-02 -2.19453901e-02 2.12155041e+02] [ 4.91928785e-02 9.98789107e-01 6.16941932e-04 -6.94849600e+00] [ 2.18884831e-02 -1.69560392e-03 9.99758981e-01 2.67871030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72071405699998 meters Centerline goodness [0,1] 0.98069782994719 Centerline is valid? [True, True] Translation: X:212.19, Y:-6.95, Z:2.68 [[ 9.98557985e-01 -4.90305876e-02 -2.18621092e-02 2.12186842e+02] [ 4.90557777e-02 9.98795850e-01 6.17102244e-04 -6.94967869e+00] [ 2.18055271e-02 -1.68867514e-03 9.99760805e-01 2.67825560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75071405699998 meters Centerline goodness [0,1] 0.9806695389719604 Centerline is valid? [True, True] Translation: X:212.22, Y:-6.95, Z:2.68 [[ 9.98541866e-01 -4.90604380e-02 -2.25214483e-02 2.12218906e+02] [ 4.90872449e-02 9.98794290e-01 6.38670046e-04 -6.95023801e+00] [ 2.24629605e-02 -1.74325463e-03 9.99746156e-01 2.67835825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78071405699998 meters Centerline goodness [0,1] 0.9806767730210946 Centerline is valid? [True, True] Translation: X:212.25, Y:-6.95, Z:2.68 [[ 9.98524287e-01 -4.92637046e-02 -2.28546726e-02 2.12250746e+02] [ 4.92914015e-02 9.98784229e-01 6.49772010e-04 -6.95049497e+00] [ 2.27948763e-02 -1.77535197e-03 9.99738587e-01 2.67772474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81071405699998 meters Centerline goodness [0,1] 0.9813508529276164 Centerline is valid? [True, True] Translation: X:212.28, Y:-6.95, Z:2.68 [[ 9.98449982e-01 -5.03925751e-02 -2.36267021e-02 2.12281899e+02] [ 5.04225255e-02 9.98727749e-01 6.73248310e-04 -6.95373299e+00] [ 2.35627163e-02 -1.86352275e-03 9.99720624e-01 2.67627273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84071405699999 meters Centerline goodness [0,1] 0.9807027251348734 Centerline is valid? [True, True] Translation: X:212.31, Y:-6.96, Z:2.68 [[ 9.98399218e-01 -5.11738780e-02 -2.40880978e-02 2.12314028e+02] [ 5.12052719e-02 9.98687913e-01 6.87894269e-04 -6.95601024e+00] [ 2.40212899e-02 -1.92023070e-03 9.99709603e-01 2.67587355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.870714057 meters Centerline goodness [0,1] 0.9795772537629948 Centerline is valid? [True, True] Translation: X:212.34, Y:-6.96, Z:2.67 [[ 9.98279552e-01 -5.32732533e-02 -2.44927909e-02 2.12344396e+02] [ 5.33063662e-02 9.98577959e-01 7.00565651e-04 -6.96045167e+00] [ 2.44206397e-02 -2.00498204e-03 9.99699761e-01 2.67494510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.900714057 meters Centerline goodness [0,1] 0.978968948677785 Centerline is valid? [True, True] Translation: X:212.38, Y:-6.96, Z:2.68 [[ 9.98247118e-01 -5.38698475e-02 -2.45098202e-02 2.12376457e+02] [ 5.39032106e-02 9.98545918e-01 7.02100219e-04 -6.96342154e+00] [ 2.44363589e-02 -2.02202752e-03 9.99699343e-01 2.67525497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.930714057 meters Centerline goodness [0,1] 0.9786699836454518 Centerline is valid? [True, True] Translation: X:212.41, Y:-6.97, Z:2.68 [[ 9.98231515e-01 -5.43487501e-02 -2.40843466e-02 2.12408070e+02] [ 5.43811518e-02 9.98520011e-01 6.91942605e-04 -6.96575097e+00] [ 2.40110958e-02 -2.00045342e-03 9.99709691e-01 2.67593980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.960714057 meters Centerline goodness [0,1] 0.9787229137851544 Centerline is valid? [True, True] Translation: X:212.44, Y:-6.97, Z:2.68 [[ 9.98236964e-01 -5.45110378e-02 -2.34842593e-02 2.12439738e+02] [ 5.45419317e-02 9.98511252e-01 6.76526489e-04 -6.96623560e+00] [ 2.34124189e-02 -1.95621061e-03 9.99723978e-01 2.67715223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.990714057 meters Centerline goodness [0,1] 0.9763082231167337 Centerline is valid? [True, True] Translation: X:212.47, Y:-6.97, Z:2.68 [[ 9.98329699e-01 -5.35735786e-02 -2.16259771e-02 2.12470314e+02] [ 5.35995768e-02 9.98562315e-01 6.23915271e-04 -6.96904409e+00] [ 2.15614604e-02 -1.78201637e-03 9.99765937e-01 2.67951243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.020714057 meters Centerline goodness [0,1] 0.9752915687088001 Centerline is valid? [True, True] Translation: X:212.50, Y:-6.97, Z:2.68 [[ 9.98388379e-01 -5.27511574e-02 -2.09275011e-02 2.12503079e+02] [ 5.27753470e-02 9.98606227e-01 6.04889448e-04 -6.97055511e+00] [ 2.08664243e-02 -1.70837073e-03 9.99780813e-01 2.68077042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.050714057 meters Centerline goodness [0,1] 0.975087079882817 Centerline is valid? [True, True] Translation: X:212.53, Y:-6.97, Z:2.68 [[ 9.98525538e-01 -5.04619541e-02 -2.00085275e-02 2.12534063e+02] [ 5.04836324e-02 9.98724720e-01 5.79511779e-04 -6.97017431e+00] [ 1.99537678e-02 -1.58876046e-03 9.99799641e-01 2.68222917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.080714057 meters Centerline goodness [0,1] 0.9737170596393897 Centerline is valid? [True, True] Translation: X:212.56, Y:-6.97, Z:2.68 [[ 9.98598749e-01 -4.89464789e-02 -2.01191872e-02 2.12564841e+02] [ 4.89681025e-02 9.98800173e-01 5.83243513e-04 -6.97246535e+00] [ 2.00664999e-02 -1.56762466e-03 9.99797419e-01 2.68236290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.110714057 meters Centerline goodness [0,1] 0.9713613181639859 Centerline is valid? [True, True] Translation: X:212.60, Y:-6.97, Z:2.68 [[ 9.98646602e-01 -4.76126272e-02 -2.09284924e-02 2.12595167e+02] [ 4.76357611e-02 9.98864588e-01 6.07964841e-04 -6.97363047e+00] [ 2.08757832e-02 -1.60408669e-03 9.99780790e-01 2.68179941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.140714057 meters Centerline goodness [0,1] 0.9744602239926106 Centerline is valid? [True, True] Translation: X:212.63, Y:-6.97, Z:2.68 [[ 9.98822627e-01 -4.37685948e-02 -2.09205428e-02 2.12625798e+02] [ 4.37908986e-02 9.99040533e-01 6.08978106e-04 -6.97380383e+00] [ 2.08738161e-02 -1.52439048e-03 9.99780956e-01 2.68152778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.170714057 meters Centerline goodness [0,1] 0.9744602239926106 Centerline is valid? [True, True] Translation: X:212.66, Y:-6.97, Z:2.68 [[ 9.98825505e-01 -4.37028863e-02 -2.09205269e-02 2.12657560e+02] [ 4.37251871e-02 9.99043411e-01 6.09522907e-04 -6.97479628e+00] [ 2.08738766e-02 -1.52356098e-03 9.99780956e-01 2.68192964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20071405699997 meters Centerline goodness [0,1] 0.9749390880612601 Centerline is valid? [True, True] Translation: X:212.69, Y:-6.97, Z:2.68 [[ 9.98898766e-01 -4.18186636e-02 -2.12709617e-02 2.12688794e+02] [ 4.18413170e-02 9.99124076e-01 6.20862792e-04 -6.97491146e+00] [ 2.12263663e-02 -1.51018413e-03 9.99773555e-01 2.68220157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23071405699997 meters Centerline goodness [0,1] 0.9751513885988724 Centerline is valid? [True, True] Translation: X:212.72, Y:-6.98, Z:2.68 [[ 9.98982627e-01 -3.96786414e-02 -2.14316875e-02 2.12719368e+02] [ 3.97011575e-02 9.99211402e-01 6.25972842e-04 -6.97548291e+00] [ 2.13899488e-02 -1.47619880e-03 9.99770119e-01 2.68214085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26071405699997 meters Centerline goodness [0,1] 0.9759643296718609 Centerline is valid? [True, True] Translation: X:212.75, Y:-6.97, Z:2.68 [[ 9.99138553e-01 -3.53460277e-02 -2.17441983e-02 2.12749136e+02] [ 3.53681807e-02 9.99374148e-01 6.34954011e-04 -6.97425953e+00] [ 2.17081466e-02 -1.40345977e-03 9.99763365e-01 2.68212684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29071405699997 meters Centerline goodness [0,1] 0.9778914714325401 Centerline is valid? [True, True] Translation: X:212.78, Y:-6.97, Z:2.68 [[ 9.99213170e-01 -3.33548031e-02 -2.14592385e-02 2.12781262e+02] [ 3.33759267e-02 9.99442672e-01 6.26864240e-04 -6.97172300e+00] [ 2.14263697e-02 -1.34259298e-03 9.99769528e-01 2.68222081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32071405699998 meters Centerline goodness [0,1] 0.9783353393204333 Centerline is valid? [True, True] Translation: X:212.81, Y:-6.97, Z:2.68 [[ 9.99357102e-01 -2.87135664e-02 -2.14688853e-02 2.12811008e+02] [ 2.87336522e-02 9.99586906e-01 6.27624781e-04 -6.97156659e+00] [ 2.14419953e-02 -1.24410076e-03 9.99769320e-01 2.68233503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35071405699998 meters Centerline goodness [0,1] 0.977467985086724 Centerline is valid? [True, True] Translation: X:212.84, Y:-6.97, Z:2.68 [[ 9.99404678e-01 -2.68574032e-02 -2.16557121e-02 2.12840323e+02] [ 2.68773984e-02 9.99638537e-01 6.32740709e-04 -6.97118631e+00] [ 2.16308906e-02 -1.21441323e-03 9.99765287e-01 2.68271858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38071405699998 meters Centerline goodness [0,1] 0.9789575914535449 Centerline is valid? [True, True] Translation: X:212.87, Y:-6.97, Z:2.68 [[ 9.99485509e-01 -2.38368195e-02 -2.14597933e-02 2.12870907e+02] [ 2.38557549e-02 9.99715215e-01 6.26763936e-04 -6.96915383e+00] [ 2.14387418e-02 -1.13838104e-03 9.99769516e-01 2.68277258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41071405699998 meters Centerline goodness [0,1] 0.9796728158719109 Centerline is valid? [True, True] Translation: X:212.90, Y:-6.97, Z:2.68 [[ 9.99505695e-01 -2.28258188e-02 -2.16182128e-02 2.12900692e+02] [ 2.28447913e-02 9.99738825e-01 6.31033244e-04 -6.96993679e+00] [ 2.15981629e-02 -1.12458488e-03 9.99766100e-01 2.68279639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44071405699998 meters Centerline goodness [0,1] 0.9798010250226108 Centerline is valid? [True, True] Translation: X:212.93, Y:-6.97, Z:2.68 [[ 9.99525420e-01 -2.21220929e-02 -2.14370673e-02 2.12930834e+02] [ 2.21405761e-02 9.99754672e-01 6.25220423e-04 -6.97055661e+00] [ 2.14179770e-02 -1.09955273e-03 9.99770004e-01 2.68281845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47071405699998 meters Centerline goodness [0,1] 0.9837811499373521 Centerline is valid? [True, True] Translation: X:212.96, Y:-6.96, Z:2.69 [[ 9.99580512e-01 -2.09913078e-02 -1.99540868e-02 2.12960532e+02] [ 2.10070882e-02 9.99779158e-01 5.81528851e-04 -6.95885333e+00] [ 1.99374730e-02 -1.00046217e-03 9.99800728e-01 2.68532534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50071405699998 meters Centerline goodness [0,1] 0.9822834645669292 Centerline is valid? [True, True] Translation: X:212.99, Y:-6.96, Z:2.69 [[ 9.99595201e-01 -2.08589630e-02 -1.93478101e-02 2.12990287e+02] [ 2.08737612e-02 9.99781961e-01 5.63193110e-04 -6.96101943e+00] [ 1.93318439e-02 -9.66826697e-04 9.99812655e-01 2.68582507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53071405699998 meters Centerline goodness [0,1] 0.9816224973961347 Centerline is valid? [True, True] Translation: X:213.02, Y:-6.96, Z:2.69 [[ 9.99597484e-01 -2.16352967e-02 -1.83516708e-02 2.13020199e+02] [ 2.16487310e-02 9.99765496e-01 5.33676460e-04 -6.96330524e+00] [ 1.83358210e-02 -9.30752030e-04 9.99831451e-01 2.68694926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56071405699998 meters Centerline goodness [0,1] 0.9791849965269739 Centerline is valid? [True, True] Translation: X:213.05, Y:-6.97, Z:2.69 [[ 9.99562747e-01 -2.26953366e-02 -1.89535093e-02 2.13050352e+02] [ 2.27098544e-02 9.99741946e-01 5.51058862e-04 -6.96820752e+00] [ 1.89361119e-02 -9.81249347e-04 9.99820214e-01 2.68651807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59071405699999 meters Centerline goodness [0,1] 0.9788808705876928 Centerline is valid? [True, True] Translation: X:213.08, Y:-6.97, Z:2.69 [[ 9.99552244e-01 -2.33193507e-02 -1.87488250e-02 2.13080572e+02] [ 2.33336701e-02 9.99727584e-01 5.45325980e-04 -6.97144702e+00] [ 1.87310008e-02 -9.82560704e-04 9.99824077e-01 2.68678487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.620714057 meters Centerline goodness [0,1] 0.9764320634627802 Centerline is valid? [True, True] Translation: X:213.11, Y:-6.98, Z:2.69 [[ 9.99470483e-01 -2.61948716e-02 -1.93023816e-02 2.13110941e+02] [ 2.62105879e-02 9.99656286e-01 5.61633152e-04 -6.97842016e+00] [ 1.92810352e-02 -1.06726253e-03 9.99813534e-01 2.68568983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.650714057 meters Centerline goodness [0,1] 0.976249769415237 Centerline is valid? [True, True] Translation: X:213.14, Y:-6.98, Z:2.69 [[ 9.99408103e-01 -2.78727131e-02 -2.01632179e-02 2.13141879e+02] [ 2.78902139e-02 9.99610820e-01 5.87216340e-04 -6.98302231e+00] [ 2.01390035e-02 -1.14922523e-03 9.99796529e-01 2.68537238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.680714057 meters Centerline goodness [0,1] 0.9773858921161825 Centerline is valid? [True, True] Translation: X:213.17, Y:-6.98, Z:2.69 [[ 9.99286204e-01 -3.14126703e-02 -2.09839452e-02 2.13172980e+02] [ 3.14324104e-02 9.99505693e-01 6.11482282e-04 -6.98429113e+00] [ 2.09543644e-02 -1.27062179e-03 9.99779626e-01 2.68570660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.710714057 meters Centerline goodness [0,1] 0.9739541501250659 Centerline is valid? [True, True] Translation: X:213.20, Y:-6.99, Z:2.68 [[ 9.99226626e-01 -3.31004724e-02 -2.12251946e-02 2.13203016e+02] [ 3.31210562e-02 9.99451156e-01 6.18880751e-04 -6.99495767e+00] [ 2.11930600e-02 -1.32140299e-03 9.99774529e-01 2.68493641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.740714057 meters Centerline goodness [0,1] 0.9729618257641721 Centerline is valid? [True, True] Translation: X:213.23, Y:-7.00, Z:2.69 [[ 9.99182208e-01 -3.43761071e-02 -2.12884742e-02 2.13233933e+02] [ 3.43971144e-02 9.99408051e-01 6.21299681e-04 -6.99870531e+00] [ 2.12545147e-02 -1.35305367e-03 9.99773182e-01 2.68575924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.770714057 meters Centerline goodness [0,1] 0.975034992313164 Centerline is valid? [True, True] Translation: X:213.27, Y:-7.00, Z:2.69 [[ 9.99150237e-01 -3.56049337e-02 -2.07627814e-02 2.13265459e+02] [ 3.56251965e-02 9.99365037e-01 6.06739414e-04 -6.99553075e+00] [ 2.07279949e-02 -1.34590200e-03 9.99784246e-01 2.68748462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.800714057 meters Centerline goodness [0,1] 0.9746838343108505 Centerline is valid? [True, True] Translation: X:213.30, Y:-6.99, Z:2.69 [[ 9.99086919e-01 -3.75311346e-02 -2.04142496e-02 2.13296567e+02] [ 3.75511392e-02 9.99294529e-01 5.97352663e-04 -6.99484994e+00] [ 2.03774286e-02 -1.36338556e-03 9.99791429e-01 2.68940897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.830714057 meters Centerline goodness [0,1] 0.9752213604228156 Centerline is valid? [True, True] Translation: X:213.33, Y:-7.00, Z:2.69 [[ 9.99087166e-01 -3.80177527e-02 -1.94803960e-02 2.13328294e+02] [ 3.80360868e-02 9.99276203e-01 5.71372908e-04 -6.99705041e+00] [ 1.94445738e-02 -1.31180937e-03 9.99810076e-01 2.69026235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.860714057 meters Centerline goodness [0,1] 0.9755310382713789 Centerline is valid? [True, True] Translation: X:213.36, Y:-7.00, Z:2.69 [[ 9.99051221e-01 -3.91530993e-02 -1.90707128e-02 2.13360700e+02] [ 3.91709115e-02 9.99232368e-01 5.61222099e-04 -6.99817416e+00] [ 1.90341000e-02 -1.30770683e-03 9.99817980e-01 2.69142522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.890714057 meters Centerline goodness [0,1] 0.9761942912079108 Centerline is valid? [True, True] Translation: X:213.39, Y:-7.00, Z:2.69 [[ 9.99028341e-01 -3.98990478e-02 -1.87200240e-02 2.13393165e+02] [ 3.99163664e-02 9.99202872e-01 5.52252241e-04 -6.99842109e+00] [ 1.86830674e-02 -1.29895098e-03 9.99824612e-01 2.69218567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.920714057 meters Centerline goodness [0,1] 0.9747460883886906 Centerline is valid? [True, True] Translation: X:213.42, Y:-7.00, Z:2.69 [[ 9.99031990e-01 -3.99663121e-02 -1.83787070e-02 2.13424432e+02] [ 3.99830386e-02 9.99200211e-01 5.43412714e-04 -7.00432497e+00] [ 1.83422897e-02 -1.27772324e-03 9.99830950e-01 2.69248175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95071405699997 meters Centerline goodness [0,1] 0.9738240278477533 Centerline is valid? [True, True] Translation: X:213.46, Y:-7.01, Z:2.69 [[ 9.98987520e-01 -4.08934972e-02 -1.87525082e-02 2.13455196e+02] [ 4.09111011e-02 9.99162636e-01 5.55922971e-04 -7.00620615e+00] [ 1.87140719e-02 -1.32254587e-03 9.99824002e-01 2.69243068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98071405699997 meters Centerline goodness [0,1] 0.9735184001461054 Centerline is valid? [True, True] Translation: X:213.49, Y:-7.01, Z:2.69 [[ 9.98998026e-01 -4.06852194e-02 -1.86455391e-02 2.13487254e+02] [ 4.07026233e-02 9.99171151e-01 5.54707316e-04 -7.00683492e+00] [ 1.86075163e-02 -1.31307387e-03 9.99826003e-01 2.69244823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01071405699997 meters Centerline goodness [0,1] 0.9740352002933358 Centerline is valid? [True, True] Translation: X:213.52, Y:-7.01, Z:2.69 [[ 9.98961325e-01 -4.12822462e-02 -1.92885372e-02 2.13518175e+02] [ 4.13010063e-02 9.99146584e-01 5.75093460e-04 -7.00904119e+00] [ 1.92483350e-02 -1.37113212e-03 9.99813793e-01 2.69185175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04071405699997 meters Centerline goodness [0,1] 0.975562833520372 Centerline is valid? [True, True] Translation: X:213.55, Y:-7.00, Z:2.69 [[ 9.98911474e-01 -4.18421610e-02 -2.06179692e-02 2.13550648e+02] [ 4.18637417e-02 9.99123139e-01 6.16000137e-04 -7.00436590e+00] [ 2.05741153e-02 -1.47847494e-03 9.99787237e-01 2.69253262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07071405699998 meters Centerline goodness [0,1] 0.9742819124529687 Centerline is valid? [True, True] Translation: X:213.58, Y:-7.01, Z:2.69 [[ 9.98863100e-01 -4.28538423e-02 -2.08819640e-02 2.13581916e+02] [ 4.28762274e-02 9.99080196e-01 6.25236010e-04 -7.00699484e+00] [ 2.08359629e-02 -1.51986502e-03 9.99781753e-01 2.69211350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10071405699998 meters Centerline goodness [0,1] 0.9718225695242473 Centerline is valid? [True, True] Translation: X:213.61, Y:-7.01, Z:2.69 [[ 9.98739861e-01 -4.50921189e-02 -2.20315884e-02 2.13611801e+02] [ 4.51176086e-02 9.98981464e-01 6.61010859e-04 -7.01455015e+00] [ 2.19793421e-02 -1.65419048e-03 9.99757057e-01 2.69029305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13071405699998 meters Centerline goodness [0,1] 0.971151860096849 Centerline is valid? [True, True] Translation: X:213.64, Y:-7.02, Z:2.69 [[ 9.98683387e-01 -4.61912097e-02 -2.23128691e-02 2.13642394e+02] [ 4.62176541e-02 9.98931168e-01 6.70653571e-04 -7.01665433e+00] [ 2.22580421e-02 -1.70101904e-03 9.99750812e-01 2.69006560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16071405699998 meters Centerline goodness [0,1] 0.9747288279404682 Centerline is valid? [True, True] Translation: X:213.67, Y:-7.01, Z:2.69 [[ 9.98626665e-01 -4.71080902e-02 -2.29262060e-02 2.13674652e+02] [ 4.71362755e-02 9.98888230e-01 6.90248633e-04 -7.00824503e+00] [ 2.28682010e-02 -1.76995665e-03 9.99736922e-01 2.69104133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19071405699998 meters Centerline goodness [0,1] 0.9754289004029937 Centerline is valid? [True, True] Translation: X:213.71, Y:-7.00, Z:2.69 [[ 9.98506066e-01 -4.89785317e-02 -2.42227017e-02 2.13706208e+02] [ 4.90105759e-02 9.98797992e-01 7.30644699e-04 -7.00392523e+00] [ 2.41577999e-02 -1.91672172e-03 9.99706320e-01 2.69101772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22071405699998 meters Centerline goodness [0,1] 0.9628239952120068 Centerline is valid? [True, True] Translation: X:213.74, Y:-7.02, Z:2.69 [[ 9.98507497e-01 -4.90836368e-02 -2.39494077e-02 2.13736978e+02] [ 4.91150171e-02 9.98792867e-01 7.23465095e-04 -7.01946864e+00] [ 2.38849873e-02 -1.89866089e-03 9.99712910e-01 2.68923915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25071405699998 meters Centerline goodness [0,1] 0.9754308256626756 Centerline is valid? [True, True] Translation: X:213.77, Y:-7.01, Z:2.69 [[ 9.98517668e-01 -4.89390788e-02 -2.38208737e-02 2.13769992e+02] [ 4.89701173e-02 9.98799984e-01 7.21053755e-04 -7.00633466e+00] [ 2.37570006e-02 -1.88649589e-03 9.99715983e-01 2.69265513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28071405699998 meters Centerline goodness [0,1] 0.9758502066354212 Centerline is valid? [True, True] Translation: X:213.80, Y:-7.00, Z:2.69 [[ 9.98640632e-01 -4.71643180e-02 -2.21904156e-02 2.13801989e+02] [ 4.71908459e-02 9.98885665e-01 6.73042377e-04 -7.00189220e+00] [ 2.21339444e-02 -1.71931195e-03 9.99753536e-01 2.69499869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31071405699998 meters Centerline goodness [0,1] 0.9762102542803083 Centerline is valid? [True, True] Translation: X:213.83, Y:-7.00, Z:2.70 [[ 9.98693791e-01 -4.61163681e-02 -2.19998290e-02 2.13834825e+02] [ 4.61422224e-02 9.98934657e-01 6.68763062e-04 -6.99979355e+00] [ 2.19455507e-02 -1.68301052e-03 9.99757751e-01 2.69607244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34071405699999 meters Centerline goodness [0,1] 0.9775478554729996 Centerline is valid? [True, True] Translation: X:213.87, Y:-7.00, Z:2.70 [[ 9.98827692e-01 -4.31595382e-02 -2.19201963e-02 2.13866281e+02] [ 4.31845257e-02 9.99066890e-01 6.67627915e-04 -6.99624891e+00] [ 2.18709278e-02 -1.61345853e-03 9.99759501e-01 2.69722503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.370714057 meters Centerline goodness [0,1] 0.9782709307168973 Centerline is valid? [True, True] Translation: X:213.90, Y:-6.99, Z:2.70 [[ 9.98890018e-01 -4.18231318e-02 -2.16692817e-02 2.13897415e+02] [ 4.18472494e-02 9.99123802e-01 6.60532625e-04 -6.99302555e+00] [ 2.16226696e-02 -1.56659928e-03 9.99764975e-01 2.69803955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.400714057 meters Centerline goodness [0,1] 0.9780138225335127 Centerline is valid? [True, True] Translation: X:213.93, Y:-6.99, Z:2.70 [[ 9.98958974e-01 -4.01141005e-02 -2.17215693e-02 2.13928304e+02] [ 4.01379496e-02 9.99193928e-01 6.62907285e-04 -6.99260433e+00] [ 2.16774682e-02 -1.53407644e-03 9.99763839e-01 2.69838096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.430714057 meters Centerline goodness [0,1] 0.9788459305700685 Centerline is valid? [True, True] Translation: X:213.96, Y:-6.99, Z:2.70 [[ 9.99070947e-01 -3.66599586e-02 -2.26559189e-02 2.13958249e+02] [ 3.66850310e-02 9.99326638e-01 6.91892831e-04 -6.98899307e+00] [ 2.26152985e-02 -1.52238311e-03 9.99743082e-01 2.69866547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.460714057 meters Centerline goodness [0,1] 0.978813559322034 Centerline is valid? [True, True] Translation: X:213.99, Y:-6.99, Z:2.70 [[ 9.99117981e-01 -3.50018433e-02 -2.31976364e-02 2.13988869e+02] [ 3.50276888e-02 9.99386091e-01 7.08622886e-04 -6.98845936e+00] [ 2.31585921e-02 -1.52055746e-03 9.99730647e-01 2.69836813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.490714057 meters Centerline goodness [0,1] 0.9804196130598147 Centerline is valid? [True, True] Translation: X:214.02, Y:-6.98, Z:2.70 [[ 9.99215136e-01 -3.16487472e-02 -2.38215860e-02 2.14019920e+02] [ 3.16750642e-02 9.99497954e-01 7.28142667e-04 -6.98460057e+00] [ 2.37865817e-02 -1.48212144e-03 9.99715961e-01 2.69796501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.520714057 meters Centerline goodness [0,1] 0.9824938144811166 Centerline is valid? [True, True] Translation: X:214.05, Y:-6.98, Z:2.70 [[ 9.99273379e-01 -2.96390180e-02 -2.39633726e-02 2.14051070e+02] [ 2.96650896e-02 9.99559626e-01 7.33142514e-04 -6.98174020e+00] [ 2.39310902e-02 -1.44348539e-03 9.99712568e-01 2.69874110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.550714057 meters Centerline goodness [0,1] 0.9812682471096579 Centerline is valid? [True, True] Translation: X:214.08, Y:-6.98, Z:2.70 [[ 9.99339207e-01 -2.75689750e-02 -2.36875773e-02 2.14080956e+02] [ 2.75938809e-02 9.99618953e-01 7.25150045e-04 -6.98428667e+00] [ 2.36585596e-02 -1.37830306e-03 9.99719147e-01 2.69880449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.580714057 meters Centerline goodness [0,1] 0.9830564006552773 Centerline is valid? [True, True] Translation: X:214.11, Y:-6.98, Z:2.70 [[ 9.99463864e-01 -2.38601095e-02 -2.24205373e-02 2.14112426e+02] [ 2.38814951e-02 9.99714561e-01 6.86536235e-04 -6.97570818e+00] [ 2.23977568e-02 -1.22160411e-03 9.99748392e-01 2.70120913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.610714057 meters Centerline goodness [0,1] 0.9824392985085111 Centerline is valid? [True, True] Translation: X:214.14, Y:-6.98, Z:2.70 [[ 9.99522754e-01 -2.15839807e-02 -2.20996899e-02 2.14141497e+02] [ 2.16042049e-02 9.99766373e-01 6.76766564e-04 -6.98067763e+00] [ 2.20799195e-02 -1.15388981e-03 9.99755543e-01 2.70084722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.640714057 meters Centerline goodness [0,1] 0.9835395778054336 Centerline is valid? [True, True] Translation: X:214.17, Y:-6.98, Z:2.70 [[ 9.99594662e-01 -1.84159610e-02 -2.17109320e-02 2.14170248e+02] [ 1.84347200e-02 9.99829845e-01 6.64191295e-04 -6.97918186e+00] [ 2.16950061e-02 -1.06415703e-03 9.99764069e-01 2.70115363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.670714057 meters Centerline goodness [0,1] 0.9844153405623621 Centerline is valid? [True, True] Translation: X:214.20, Y:-6.98, Z:2.70 [[ 9.99618601e-01 -1.73316565e-02 -2.15003683e-02 2.14199533e+02] [ 1.73497489e-02 9.99849267e-01 6.55232881e-04 -6.97959690e+00] [ 2.14857713e-02 -1.02800897e-03 9.99768626e-01 2.70149489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70071405699997 meters Centerline goodness [0,1] 0.9865575001172993 Centerline is valid? [True, True] Translation: X:214.23, Y:-6.97, Z:2.70 [[ 9.99632260e-01 -1.67501876e-02 -2.13254667e-02 2.14228502e+02] [ 1.67677512e-02 9.99859203e-01 6.45041317e-04 -6.97209865e+00] [ 2.13116596e-02 -1.00238423e-03 9.99772378e-01 2.70326625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73071405699997 meters Centerline goodness [0,1] 0.9858180965775902 Centerline is valid? [True, True] Translation: X:214.26, Y:-6.97, Z:2.70 [[ 9.99641061e-01 -1.65679526e-02 -2.10535484e-02 2.14256687e+02] [ 1.65849491e-02 9.99862260e-01 6.32935841e-04 -6.97407811e+00] [ 2.10401620e-02 -9.81880683e-04 9.99778149e-01 2.70386905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76071405699997 meters Centerline goodness [0,1] 0.984666682320896 Centerline is valid? [True, True] Translation: X:214.28, Y:-6.99, Z:2.70 [[ 9.99600008e-01 -1.82776665e-02 -2.15812523e-02 2.14283881e+02] [ 1.82958817e-02 9.99832407e-01 6.46868972e-04 -6.98519361e+00] [ 2.15658122e-02 -1.04145827e-03 9.99766888e-01 2.70239864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79071405699997 meters Centerline goodness [0,1] 0.9841009286183284 Centerline is valid? [True, True] Translation: X:214.31, Y:-6.99, Z:2.70 [[ 9.99568023e-01 -1.98110805e-02 -2.17091809e-02 2.14311619e+02] [ 1.98298333e-02 9.99803159e-01 6.48868186e-04 -6.98912066e+00] [ 2.16920529e-02 -1.07907733e-03 9.99764117e-01 2.70181677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82071405699998 meters Centerline goodness [0,1] 0.9865908452681831 Centerline is valid? [True, True] Translation: X:214.34, Y:-6.99, Z:2.70 [[ 9.99478980e-01 -2.37376914e-02 -2.18698638e-02 2.14342300e+02] [ 2.37576380e-02 9.99717534e-01 6.52653831e-04 -6.98640915e+00] [ 2.18481938e-02 -1.17189009e-03 9.99760613e-01 2.70295816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85071405699998 meters Centerline goodness [0,1] 0.9850473850473851 Centerline is valid? [True, True] Translation: X:214.37, Y:-6.99, Z:2.70 [[ 9.99421517e-01 -2.59504716e-02 -2.19819267e-02 2.14372171e+02] [ 2.59711567e-02 9.99662477e-01 6.55998082e-04 -6.99305339e+00] [ 2.19574839e-02 -1.22651466e-03 9.99758153e-01 2.70302482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88071405699998 meters Centerline goodness [0,1] 0.9858104633222684 Centerline is valid? [True, True] Translation: X:214.40, Y:-6.99, Z:2.70 [[ 9.99352247e-01 -2.84451208e-02 -2.20445410e-02 2.14403706e+02] [ 2.84665361e-02 9.99594529e-01 6.58201781e-04 -6.99192377e+00] [ 2.20168800e-02 -1.28530715e-03 9.99756773e-01 2.70386526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91071405699998 meters Centerline goodness [0,1] 0.9823089294454933 Centerline is valid? [True, True] Translation: X:214.43, Y:-7.01, Z:2.70 [[ 9.99178798e-01 -3.35397212e-02 -2.27336246e-02 2.14432646e+02] [ 3.35638224e-02 9.99436345e-01 6.79314696e-04 -7.00641565e+00] [ 2.26980266e-02 -1.44178418e-03 9.99741327e-01 2.70255176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94071405699998 meters Centerline goodness [0,1] 0.9837184384608217 Centerline is valid? [True, True] Translation: X:214.46, Y:-7.00, Z:2.70 [[ 9.99105530e-01 -3.55916010e-02 -2.28336948e-02 2.14464118e+02] [ 3.56164587e-02 9.99365299e-01 6.82755423e-04 -7.00252464e+00] [ 2.27949019e-02 -1.49540007e-03 9.99739044e-01 2.70421519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97071405699998 meters Centerline goodness [0,1] 0.9848681767545489 Centerline is valid? [True, True] Translation: X:214.49, Y:-7.01, Z:2.71 [[ 9.98979190e-01 -3.91679469e-02 -2.25044432e-02 2.14494876e+02] [ 3.91930067e-02 9.99231432e-01 6.73400567e-04 -7.00510915e+00] [ 2.24607713e-02 -1.55472995e-03 9.99746516e-01 2.70529646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00071405699998 meters Centerline goodness [0,1] 0.9838210141912819 Centerline is valid? [True, True] Translation: X:214.53, Y:-7.01, Z:2.71 [[ 9.98928628e-01 -4.06151588e-02 -2.21812084e-02 2.14527271e+02] [ 4.06398753e-02 9.99173638e-01 6.64478847e-04 -7.00745046e+00] [ 2.21358908e-02 -1.56520849e-03 9.99753746e-01 2.70570929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03071405699998 meters Centerline goodness [0,1] 0.9834727984979486 Centerline is valid? [True, True] Translation: X:214.56, Y:-7.01, Z:2.71 [[ 9.98825466e-01 -4.34618758e-02 -2.14185327e-02 2.14558569e+02] [ 4.34855978e-02 9.99053847e-01 6.42823482e-04 -7.00937483e+00] [ 2.13703292e-02 -1.57346616e-03 9.99770390e-01 2.70711085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06071405699998 meters Centerline goodness [0,1] 0.9834727984979486 Centerline is valid? [True, True] Translation: X:214.59, Y:-7.01, Z:2.71 [[ 9.98830237e-01 -4.33521200e-02 -2.14184899e-02 2.14591186e+02] [ 4.33758473e-02 9.99058617e-01 6.44246126e-04 -7.01044378e+00] [ 2.13703975e-02 -1.57253766e-03 9.99770390e-01 2.70752339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09071405699999 meters Centerline goodness [0,1] 0.9815330363771344 Centerline is valid? [True, True] Translation: X:214.62, Y:-7.01, Z:2.71 [[ 9.98806679e-01 -4.40581151e-02 -2.10736867e-02 2.14623450e+02] [ 4.40812823e-02 9.99027745e-01 6.35858367e-04 -7.01333850e+00] [ 2.10251830e-02 -1.56405472e-03 9.99777723e-01 2.70786004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.120714057 meters Centerline goodness [0,1] 0.9822616922113757 Centerline is valid? [True, True] Translation: X:214.65, Y:-7.02, Z:2.71 [[ 9.98780264e-01 -4.45663055e-02 -2.12562540e-02 2.14654134e+02] [ 4.45900170e-02 9.99005164e-01 6.42614179e-04 -7.01509077e+00] [ 2.12064686e-02 -1.58964709e-03 9.99773854e-01 2.70880101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.150714057 meters Centerline goodness [0,1] 0.9814703432960118 Centerline is valid? [True, True] Translation: X:214.68, Y:-7.02, Z:2.71 [[ 9.98712975e-01 -4.59097071e-02 -2.15567376e-02 2.14684897e+02] [ 4.59344391e-02 9.98944243e-01 6.53286068e-04 -7.01900854e+00] [ 2.15039867e-02 -1.64264192e-03 9.99767413e-01 2.70861450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.180714057 meters Centerline goodness [0,1] 0.9791835318607609 Centerline is valid? [True, True] Translation: X:214.72, Y:-7.02, Z:2.71 [[ 9.98688023e-01 -4.64064535e-02 -2.16488634e-02 2.14716685e+02] [ 4.64315615e-02 9.98921257e-01 6.58305083e-04 -7.02094033e+00] [ 2.15949602e-02 -1.66263193e-03 9.99765419e-01 2.70861057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.210714057 meters Centerline goodness [0,1] 0.9791285413143691 Centerline is valid? [True, True] Translation: X:214.75, Y:-7.02, Z:2.71 [[ 9.98679984e-01 -4.64366200e-02 -2.19528818e-02 2.14747749e+02] [ 4.64624762e-02 9.98919812e-01 6.68947993e-04 -7.02299062e+00] [ 2.18981049e-02 -1.68805022e-03 9.99758783e-01 2.70866968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.240714057 meters Centerline goodness [0,1] 0.9777767542546577 Centerline is valid? [True, True] Translation: X:214.78, Y:-7.03, Z:2.71 [[ 9.98659817e-01 -4.63160615e-02 -2.30952929e-02 2.14779304e+02] [ 4.63446765e-02 9.98925259e-01 7.05010749e-04 -7.02527582e+00] [ 2.30378182e-02 -1.77440979e-03 9.99733020e-01 2.70744938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.270714057 meters Centerline goodness [0,1] 0.97837775202781 Centerline is valid? [True, True] Translation: X:214.81, Y:-7.03, Z:2.71 [[ 9.98642840e-01 -4.64747439e-02 -2.35069568e-02 2.14811921e+02] [ 4.65044656e-02 9.98917823e-01 7.19003159e-04 -7.02651278e+00] [ 2.34481027e-02 -1.81120582e-03 9.99723415e-01 2.70747018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.300714057 meters Centerline goodness [0,1] 0.9781092913896546 Centerline is valid? [True, True] Translation: X:214.84, Y:-7.03, Z:2.71 [[ 9.98611790e-01 -4.65485928e-02 -2.46520126e-02 2.14842712e+02] [ 4.65813419e-02 9.98914214e-01 7.55565804e-04 -7.02718805e+00] [ 2.45900753e-02 -1.90284075e-03 9.99695807e-01 2.70761163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.330714057 meters Centerline goodness [0,1] 0.9768932444671512 Centerline is valid? [True, True] Translation: X:214.87, Y:-7.03, Z:2.71 [[ 9.98628763e-01 -4.61646283e-02 -2.46864687e-02 2.14874488e+02] [ 4.61973887e-02 9.98932043e-01 7.58093818e-04 -7.02901769e+00] [ 2.46251075e-02 -1.89750468e-03 9.99694955e-01 2.70780455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.360714057 meters Centerline goodness [0,1] 0.9771852538836077 Centerline is valid? [True, True] Translation: X:214.91, Y:-7.03, Z:2.71 [[ 9.98633349e-01 -4.60615656e-02 -2.46934357e-02 2.14906436e+02] [ 4.60943546e-02 9.98936801e-01 7.59987060e-04 -7.02877131e+00] [ 2.46321755e-02 -1.89717641e-03 9.99694782e-01 2.70815858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.390714057 meters Centerline goodness [0,1] 0.9804441344029764 Centerline is valid? [True, True] Translation: X:214.94, Y:-7.02, Z:2.71 [[ 9.98668029e-01 -4.52645089e-02 -2.47647537e-02 2.14938621e+02] [ 4.52972869e-02 9.98973259e-01 7.63918156e-04 -7.02142882e+00] [ 2.47047483e-02 -1.88467679e-03 9.99693015e-01 2.70952106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.420714057 meters Centerline goodness [0,1] 0.9796307491977864 Centerline is valid? [True, True] Translation: X:214.97, Y:-7.02, Z:2.71 [[ 9.98728409e-01 -4.37139734e-02 -2.51128191e-02 2.14969357e+02] [ 4.37472265e-02 9.99042330e-01 7.76023796e-04 -7.02036942e+00] [ 2.50548462e-02 -1.87365320e-03 9.99684322e-01 2.71000990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45071405699997 meters Centerline goodness [0,1] 0.9780431701480053 Centerline is valid? [True, True] Translation: X:215.00, Y:-7.03, Z:2.71 [[ 9.98763958e-01 -4.27554674e-02 -2.53480842e-02 2.15000565e+02] [ 4.27890684e-02 9.99083820e-01 7.84423065e-04 -7.02850581e+00] [ 2.52913224e-02 -1.86807439e-03 9.99678378e-01 2.70924785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48071405699997 meters Centerline goodness [0,1] 0.9819334685409236 Centerline is valid? [True, True] Translation: X:215.03, Y:-7.02, Z:2.71 [[ 9.98876863e-01 -4.02843454e-02 -2.49436171e-02 2.15032204e+02] [ 4.03161383e-02 9.99186675e-01 7.72810332e-04 -7.01606935e+00] [ 2.48921977e-02 -1.77757268e-03 9.99688561e-01 2.71223523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51071405699997 meters Centerline goodness [0,1] 0.9802544054148675 Centerline is valid? [True, True] Translation: X:215.06, Y:-7.02, Z:2.71 [[ 9.98924825e-01 -3.91507979e-02 -2.48275745e-02 2.15063611e+02] [ 3.91819948e-02 9.99231793e-01 7.71131309e-04 -7.01837719e+00] [ 2.47783114e-02 -1.74309610e-03 9.99691451e-01 2.71208850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54071405699997 meters Centerline goodness [0,1] 0.9812410824971347 Centerline is valid? [True, True] Translation: X:215.10, Y:-7.02, Z:2.71 [[ 9.98986609e-01 -3.78775096e-02 -2.43115218e-02 2.15095448e+02] [ 3.79071033e-02 9.99280980e-01 7.57403904e-04 -7.01803015e+00] [ 2.42653528e-02 -1.67821573e-03 9.99704144e-01 2.71278181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57071405699998 meters Centerline goodness [0,1] 0.9818713450292398 Centerline is valid? [True, True] Translation: X:215.13, Y:-7.02, Z:2.71 [[ 9.99085864e-01 -3.55199899e-02 -2.37858369e-02 2.15126108e+02] [ 3.55476676e-02 9.99367707e-01 7.41674373e-04 -7.01586071e+00] [ 2.37444530e-02 -1.58652741e-03 9.99716802e-01 2.71347406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60071405699998 meters Centerline goodness [0,1] 0.9823904083926565 Centerline is valid? [True, True] Translation: X:215.16, Y:-7.01, Z:2.71 [[ 9.99119794e-01 -3.46091628e-02 -2.37032255e-02 2.15158726e+02] [ 3.46364123e-02 9.99399706e-01 7.39898461e-04 -7.00974816e+00] [ 2.36633893e-02 -1.56024189e-03 9.99718765e-01 2.71494553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63071405699998 meters Centerline goodness [0,1] 0.9814529315580471 Centerline is valid? [True, True] Translation: X:215.19, Y:-7.02, Z:2.71 [[ 9.99153768e-01 -3.37387032e-02 -2.35254813e-02 2.15189652e+02] [ 3.37653403e-02 9.99429517e-01 7.35842911e-04 -7.01541923e+00] [ 2.34872340e-02 -1.52956610e-03 9.99722967e-01 2.71496522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66071405699998 meters Centerline goodness [0,1] 0.9821768228249383 Centerline is valid? [True, True] Translation: X:215.22, Y:-7.01, Z:2.72 [[ 9.99157407e-01 -3.32091062e-02 -2.41170158e-02 2.15221778e+02] [ 3.32369827e-02 9.99447213e-01 7.55851070e-04 -7.00962436e+00] [ 2.40785831e-02 -1.55679103e-03 9.99708857e-01 2.71661135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69071405699998 meters Centerline goodness [0,1] 0.9824368053275806 Centerline is valid? [True, True] Translation: X:215.25, Y:-7.01, Z:2.72 [[ 9.99177573e-01 -3.26735703e-02 -2.40128258e-02 2.15253107e+02] [ 3.27010833e-02 9.99464892e-01 7.53872411e-04 -7.00975191e+00] [ 2.39753447e-02 -1.53849782e-03 9.99711366e-01 2.71705741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72071405699998 meters Centerline goodness [0,1] 0.982030590222389 Centerline is valid? [True, True] Translation: X:215.29, Y:-7.01, Z:2.72 [[ 9.99201936e-01 -3.26146129e-02 -2.30603076e-02 2.15285533e+02] [ 3.26399967e-02 9.99466910e-01 7.25124313e-04 -7.01252508e+00] [ 2.30243647e-02 -1.47723398e-03 9.99733813e-01 2.71749170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75071405699998 meters Centerline goodness [0,1] 0.9836369177391753 Centerline is valid? [True, True] Translation: X:215.32, Y:-7.01, Z:2.72 [[ 9.99215184e-01 -3.23462667e-02 -2.28634185e-02 2.15317662e+02] [ 3.23711858e-02 9.99475656e-01 7.20549601e-04 -7.00998365e+00] [ 2.28281232e-02 -1.46010007e-03 9.99738338e-01 2.71887988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78071405699998 meters Centerline goodness [0,1] 0.9831330381615011 Centerline is valid? [True, True] Translation: X:215.35, Y:-7.01, Z:2.72 [[ 9.99224915e-01 -3.19955350e-02 -2.29315483e-02 2.15348896e+02] [ 3.20205447e-02 9.99486949e-01 7.24169524e-04 -7.01254339e+00] [ 2.28966130e-02 -1.45788890e-03 9.99736775e-01 2.71886579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81071405699998 meters Centerline goodness [0,1] 0.9820206878838116 Centerline is valid? [True, True] Translation: X:215.38, Y:-7.02, Z:2.72 [[ 9.99268826e-01 -3.06423253e-02 -2.28661452e-02 2.15379513e+02] [ 3.06668634e-02 9.99529400e-01 7.23145520e-04 -7.01875799e+00] [ 2.28332256e-02 -1.42384973e-03 9.99738274e-01 2.71820861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84071405699999 meters Centerline goodness [0,1] 0.9822371354154446 Centerline is valid? [True, True] Translation: X:215.41, Y:-7.02, Z:2.72 [[ 9.99289619e-01 -2.99092799e-02 -2.29279686e-02 2.15410063e+02] [ 2.99337841e-02 9.99551620e-01 7.26210506e-04 -7.02024928e+00] [ 2.28959677e-02 -1.41201548e-03 9.99736856e-01 2.71800038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.870714057 meters Centerline goodness [0,1] 0.9837939110070257 Centerline is valid? [True, True] Translation: X:215.44, Y:-7.02, Z:2.72 [[ 9.99330249e-01 -2.87387164e-02 -2.26525878e-02 2.15441046e+02] [ 2.87623614e-02 9.99586019e-01 7.18624825e-04 -7.02150904e+00] [ 2.26225577e-02 -1.36968544e-03 9.99743139e-01 2.71846226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.900714057 meters Centerline goodness [0,1] 0.9821269409391565 Centerline is valid? [True, True] Translation: X:215.47, Y:-7.02, Z:2.72 [[ 9.99354603e-01 -2.76527703e-02 -2.29281985e-02 2.15471608e+02] [ 2.76767233e-02 9.99616661e-01 7.27963974e-04 -7.02293020e+00] [ 2.28992790e-02 -1.36207155e-03 9.99736849e-01 2.71806266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.930714057 meters Centerline goodness [0,1] 0.9816382524681659 Centerline is valid? [True, True] Translation: X:215.50, Y:-7.02, Z:2.72 [[ 9.99362712e-01 -2.73390420e-02 -2.29509752e-02 2.15502590e+02] [ 2.73629728e-02 9.99625298e-01 7.29236378e-04 -7.02345273e+00] [ 2.29224387e-02 -1.35677855e-03 9.99736326e-01 2.71871559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.960714057 meters Centerline goodness [0,1] 0.9819788151481065 Centerline is valid? [True, True] Translation: X:215.53, Y:-7.03, Z:2.72 [[ 9.99363627e-01 -2.73905331e-02 -2.28494915e-02 2.15532441e+02] [ 2.74142794e-02 9.99623894e-01 7.26596667e-04 -7.02602229e+00] [ 2.28209958e-02 -1.35253662e-03 9.99738652e-01 2.71863829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.990714057 meters Centerline goodness [0,1] 0.9815509400346946 Centerline is valid? [True, True] Translation: X:215.56, Y:-7.03, Z:2.72 [[ 9.99350587e-01 -2.75389218e-02 -2.32381665e-02 2.15564068e+02] [ 2.75635361e-02 9.99619780e-01 7.39513334e-04 -7.02776153e+00] [ 2.32089655e-02 -1.37955913e-03 9.99729684e-01 2.71858180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.020714057 meters Centerline goodness [0,1] 0.9808572031810824 Centerline is valid? [True, True] Translation: X:215.59, Y:-7.03, Z:2.72 [[ 9.99337466e-01 -2.74993487e-02 -2.38414469e-02 2.15593951e+02] [ 2.75252610e-02 9.99620820e-01 7.59314150e-04 -7.03005321e+00] [ 2.38115261e-02 -1.41505313e-03 9.99715464e-01 2.71771074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.050714057 meters Centerline goodness [0,1] 0.983675285741053 Centerline is valid? [True, True] Translation: X:215.63, Y:-7.02, Z:2.72 [[ 9.99337070e-01 -2.70013723e-02 -2.44201900e-02 2.15625357e+02] [ 2.70284257e-02 9.99634362e-01 7.78378234e-04 -7.01851092e+00] [ 2.43902438e-02 -1.43790152e-03 9.99701480e-01 2.72021932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.080714057 meters Centerline goodness [0,1] 0.9840191208173212 Centerline is valid? [True, True] Translation: X:215.66, Y:-7.02, Z:2.72 [[ 9.99368344e-01 -2.62677043e-02 -2.39357823e-02 2.15655654e+02] [ 2.62934956e-02 9.99653975e-01 7.63382904e-04 -7.01970656e+00] [ 2.39074476e-02 -1.39225610e-03 9.99713207e-01 2.72111680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.110714057 meters Centerline goodness [0,1] 0.9840112530770132 Centerline is valid? [True, True] Translation: X:215.69, Y:-7.02, Z:2.72 [[ 9.99393492e-01 -2.56524406e-02 -2.35499432e-02 2.15686559e+02] [ 2.56772412e-02 9.99670003e-01 7.51274104e-04 -7.02086529e+00] [ 2.35228998e-02 -1.35551602e-03 9.99722379e-01 2.72236375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.140714057 meters Centerline goodness [0,1] 0.9840172482482248 Centerline is valid? [True, True] Translation: X:215.72, Y:-7.02, Z:2.72 [[ 9.99457132e-01 -2.43628225e-02 -2.21786829e-02 2.15717520e+02] [ 2.43845104e-02 9.99702403e-01 7.07914392e-04 -7.02160432e+00] [ 2.21548358e-02 -1.24834641e-03 9.99753772e-01 2.72351646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.170714057 meters Centerline goodness [0,1] 0.9828787203602505 Centerline is valid? [True, True] Translation: X:215.75, Y:-7.02, Z:2.72 [[ 9.99487899e-01 -2.35146150e-02 -2.17026154e-02 2.15747542e+02] [ 2.35351905e-02 9.99722769e-01 6.93100439e-04 -7.02373111e+00] [ 2.16803008e-02 -1.20352069e-03 9.99764230e-01 2.72403177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20071405699997 meters Centerline goodness [0,1] 0.9818062918934068 Centerline is valid? [True, True] Translation: X:215.78, Y:-7.03, Z:2.72 [[ 9.99519850e-01 -2.29183473e-02 -2.08523057e-02 2.15778056e+02] [ 2.29372198e-02 9.99736685e-01 6.66303046e-04 -7.02623705e+00] [ 2.08315444e-02 -1.14427704e-03 9.99782345e-01 2.72442092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23071405699997 meters Centerline goodness [0,1] 0.9816300675675675 Centerline is valid? [True, True] Translation: X:215.81, Y:-7.03, Z:2.72 [[ 9.99523090e-01 -2.30834630e-02 -2.05120994e-02 2.15808751e+02] [ 2.31017637e-02 9.99732904e-01 6.55649713e-04 -7.02798268e+00] [ 2.04914860e-02 -1.12920270e-03 9.99789390e-01 2.72481912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26071405699997 meters Centerline goodness [0,1] 0.9814290063464556 Centerline is valid? [True, True] Translation: X:215.84, Y:-7.03, Z:2.73 [[ 9.99524799e-01 -2.34835500e-02 -1.99674711e-02 2.15838922e+02] [ 2.35009737e-02 9.99723610e-01 6.38368688e-04 -7.03082406e+00] [ 1.99469611e-02 -1.10732035e-03 9.99800426e-01 2.72529917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29071405699997 meters Centerline goodness [0,1] 0.9820420968837068 Centerline is valid? [True, True] Translation: X:215.87, Y:-7.04, Z:2.73 [[ 9.99506942e-01 -2.45422280e-02 -1.95845001e-02 2.15869070e+02] [ 2.45591987e-02 9.99698181e-01 6.26459852e-04 -7.03674047e+00] [ 1.95632144e-02 -1.10713060e-03 9.99808009e-01 2.72536241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32071405699998 meters Centerline goodness [0,1] 0.980902737196419 Centerline is valid? [True, True] Translation: X:215.90, Y:-7.04, Z:2.73 [[ 9.99473253e-01 -2.58514063e-02 -1.96194015e-02 2.15899949e+02] [ 2.58686955e-02 9.99665152e-01 6.27911650e-04 -7.03970220e+00] [ 1.95965995e-02 -1.13510922e-03 9.99807324e-01 2.72549752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35071405699998 meters Centerline goodness [0,1] 0.9801913205786281 Centerline is valid? [True, True] Translation: X:215.93, Y:-7.05, Z:2.72 [[ 9.99383349e-01 -2.88169335e-02 -2.00625361e-02 2.15930116e+02] [ 2.88356150e-02 9.99583961e-01 6.42436777e-04 -7.04711416e+00] [ 2.00356763e-02 -1.22055619e-03 9.99798521e-01 2.72435599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38071405699998 meters Centerline goodness [0,1] 0.9801319870344892 Centerline is valid? [True, True] Translation: X:215.96, Y:-7.05, Z:2.72 [[ 9.99325317e-01 -3.05941692e-02 -2.03201093e-02 2.15960699e+02] [ 3.06137094e-02 9.99531078e-01 6.51176355e-04 -7.05113123e+00] [ 2.02906586e-02 -1.27281094e-03 9.99793313e-01 2.72439723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41071405699998 meters Centerline goodness [0,1] 0.9794858659712197 Centerline is valid? [True, True] Translation: X:215.99, Y:-7.05, Z:2.72 [[ 9.99229827e-01 -3.29465229e-02 -2.13138470e-02 2.15991634e+02] [ 3.29685677e-02 9.99456155e-01 6.83644042e-04 -7.05472907e+00] [ 2.12797319e-02 -1.38580453e-03 9.99772600e-01 2.72394466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44071405699998 meters Centerline goodness [0,1] 0.9776560941089121 Centerline is valid? [True, True] Translation: X:216.02, Y:-7.06, Z:2.72 [[ 9.99040660e-01 -3.69108813e-02 -2.35658016e-02 2.16021236e+02] [ 3.69389374e-02 9.99317238e-01 7.56201134e-04 -7.06194208e+00] [ 2.35217998e-02 -1.62597135e-03 9.99722002e-01 2.72115512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47071405699998 meters Centerline goodness [0,1] 0.9799006637887017 Centerline is valid? [True, True] Translation: X:216.05, Y:-7.05, Z:2.72 [[ 9.98946577e-01 -3.87841757e-02 -2.45259925e-02 2.16052739e+02] [ 3.88151404e-02 9.99246098e-01 7.87549688e-04 -7.05259691e+00] [ 2.44769579e-02 -1.73869991e-03 9.99698882e-01 2.72227186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50071405699998 meters Centerline goodness [0,1] 0.9806924719205421 Centerline is valid? [True, True] Translation: X:216.08, Y:-7.06, Z:2.72 [[ 9.98780022e-01 -4.22423571e-02 -2.55744294e-02 2.16082719e+02] [ 4.22771673e-02 9.99105583e-01 8.21731891e-04 -7.05731607e+00] [ 2.55168433e-02 -1.90194383e-03 9.99672583e-01 2.72146641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53071405699998 meters Centerline goodness [0,1] 0.9769433770081948 Centerline is valid? [True, True] Translation: X:216.11, Y:-7.07, Z:2.72 [[ 9.98747070e-01 -4.31984346e-02 -2.52623204e-02 2.16113166e+02] [ 4.32327445e-02 9.99064697e-01 8.13304191e-04 -7.06846107e+00] [ 2.52035590e-02 -1.90444462e-03 9.99680526e-01 2.72006153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56071405699998 meters Centerline goodness [0,1] 0.979081821547575 Centerline is valid? [True, True] Translation: X:216.15, Y:-7.06, Z:2.72 [[ 9.98707948e-01 -4.43184597e-02 -2.48658037e-02 2.16145035e+02] [ 4.43521117e-02 9.99015638e-01 8.03197398e-04 -7.06241997e+00] [ 2.48057303e-02 -1.90501053e-03 9.99690475e-01 2.72182810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59071405699999 meters Centerline goodness [0,1] 0.955182007883144 Centerline is valid? [True, True] Translation: X:216.18, Y:-7.08, Z:2.72 [[ 9.98664607e-01 -4.58709805e-02 -2.37667111e-02 2.16175363e+02] [ 4.59021950e-02 9.98945643e-01 7.69202798e-04 -7.08151484e+00] [ 2.37063684e-02 -1.85911982e-03 9.99717236e-01 2.72124663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.620714057 meters Centerline goodness [0,1] 0.9785674650883196 Centerline is valid? [True, True] Translation: X:216.21, Y:-7.07, Z:2.72 [[ 9.98677489e-01 -4.59415586e-02 -2.30791371e-02 2.16208374e+02] [ 4.59710382e-02 9.98942493e-01 7.48116461e-04 -7.06801799e+00] [ 2.30203611e-02 -1.80809896e-03 9.99733361e-01 2.72458198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.650714057 meters Centerline goodness [0,1] 0.976855176887612 Centerline is valid? [True, True] Translation: X:216.24, Y:-7.07, Z:2.73 [[ 9.98713441e-01 -4.58911021e-02 -2.15747551e-02 2.16239952e+02] [ 4.59168788e-02 9.98945018e-01 7.00643708e-04 -7.07071107e+00] [ 2.15198408e-02 -1.69038771e-03 9.99766992e-01 2.72571542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.680714057 meters Centerline goodness [0,1] 0.9751803484029598 Centerline is valid? [True, True] Translation: X:216.27, Y:-7.07, Z:2.73 [[ 9.98738842e-01 -4.56611065e-02 -2.08755382e-02 2.16270836e+02] [ 4.56852113e-02 9.98955655e-01 6.78998479e-04 -7.07352623e+00] [ 2.08227331e-02 -1.63184553e-03 9.99781852e-01 2.72653642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.710714057 meters Centerline goodness [0,1] 0.9758655899006776 Centerline is valid? [True, True] Translation: X:216.30, Y:-7.08, Z:2.73 [[ 9.98772026e-01 -4.51677092e-02 -2.03547850e-02 2.16302684e+02] [ 4.51905478e-02 9.98978165e-01 6.63219911e-04 -7.07504025e+00] [ 2.03040296e-02 -1.58224938e-03 9.99792600e-01 2.72751481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.740714057 meters Centerline goodness [0,1] 0.9778659427855502 Centerline is valid? [True, True] Translation: X:216.34, Y:-7.07, Z:2.73 [[ 9.98802391e-01 -4.45707679e-02 -2.01799260e-02 2.16335016e+02] [ 4.45931227e-02 9.99005015e-01 6.58922655e-04 -7.06617952e+00] [ 2.01304785e-02 -1.55801944e-03 9.99796147e-01 2.72904723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.770714057 meters Centerline goodness [0,1] 0.9742253716826456 Centerline is valid? [True, True] Translation: X:216.37, Y:-7.08, Z:2.73 [[ 9.98815438e-01 -4.40326148e-02 -2.07086788e-02 2.16365551e+02] [ 4.40560702e-02 9.99028830e-01 6.77563301e-04 -7.07892839e+00] [ 2.06587322e-02 -1.58910369e-03 9.99785323e-01 2.72787770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.800714057 meters Centerline goodness [0,1] 0.9742689786620798 Centerline is valid? [True, True] Translation: X:216.40, Y:-7.08, Z:2.73 [[ 9.98785164e-01 -4.42042118e-02 -2.17757416e-02 2.16397309e+02] [ 4.42302167e-02 9.99021110e-01 7.13802595e-04 -7.08081252e+00] [ 2.17228724e-02 -1.67608121e-03 9.99762626e-01 2.72691850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.830714057 meters Centerline goodness [0,1] 0.9712146577380952 Centerline is valid? [True, True] Translation: X:216.43, Y:-7.09, Z:2.72 [[ 9.98756228e-01 -4.39879436e-02 -2.34746267e-02 2.16428548e+02] [ 4.40181550e-02 9.99030433e-01 7.71561294e-04 -7.08532940e+00] [ 2.34179271e-02 -1.80391140e-03 9.99724135e-01 2.72407713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.860714057 meters Centerline goodness [0,1] 0.9775772236695199 Centerline is valid? [True, True] Translation: X:216.46, Y:-7.08, Z:2.72 [[ 9.98753169e-01 -4.38381302e-02 -2.38814997e-02 2.16460688e+02] [ 4.38694076e-02 9.99036964e-01 7.87108278e-04 -7.07524731e+00] [ 2.38239956e-02 -1.83379413e-03 9.99714486e-01 2.72499396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.890714057 meters Centerline goodness [0,1] 0.9724155590213925 Centerline is valid? [True, True] Translation: X:216.49, Y:-7.09, Z:2.72 [[ 9.98726880e-01 -4.36652624e-02 -2.52579616e-02 2.16491618e+02] [ 4.37002362e-02 9.99044340e-01 8.34086937e-04 -7.08566088e+00] [ 2.51974030e-02 -1.93680393e-03 9.99680619e-01 2.72344830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.920714057 meters Centerline goodness [0,1] 0.9779607257801204 Centerline is valid? [True, True] Translation: X:216.52, Y:-7.07, Z:2.73 [[ 9.98737182e-01 -4.34556841e-02 -2.52120107e-02 2.16523908e+02] [ 4.34905037e-02 9.99053492e-01 8.34129669e-04 -7.07169851e+00] [ 2.51518997e-02 -1.92955936e-03 9.99681779e-01 2.72617895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95071405699997 meters Centerline goodness [0,1] 0.9772144223144736 Centerline is valid? [True, True] Translation: X:216.56, Y:-7.07, Z:2.73 [[ 9.98758510e-01 -4.28895386e-02 -2.53362522e-02 2.16555430e+02] [ 4.29245611e-02 9.99077963e-01 8.39817351e-04 -7.07414993e+00] [ 2.52768719e-02 -1.92632223e-03 9.99678633e-01 2.72649649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98071405699997 meters Centerline goodness [0,1] 0.9772144223144736 Centerline is valid? [True, True] Translation: X:216.59, Y:-7.08, Z:2.73 [[ 9.98761505e-01 -4.28197814e-02 -2.53362006e-02 2.16587199e+02] [ 4.28548208e-02 9.99080956e-01 8.41373018e-04 -7.07526725e+00] [ 2.52768881e-02 -1.92610932e-03 9.99678633e-01 2.72689825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01071405699997 meters Centerline goodness [0,1] 0.97532419068943 Centerline is valid? [True, True] Translation: X:216.62, Y:-7.08, Z:2.73 [[ 9.98799861e-01 -4.22249189e-02 -2.48172190e-02 2.16618588e+02] [ 4.22583916e-02 9.99106374e-01 8.25638385e-04 -7.08059321e+00] [ 2.47601792e-02 -1.87338326e-03 9.99691664e-01 2.72650089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04071405699997 meters Centerline goodness [0,1] 0.9766387889548194 Centerline is valid? [True, True] Translation: X:216.65, Y:-7.08, Z:2.73 [[ 9.98856605e-01 -4.14590861e-02 -2.38039324e-02 2.16650485e+02] [ 4.14896925e-02 9.99138617e-01 7.93123851e-04 -7.07969130e+00] [ 2.37505459e-02 -1.77983483e-03 9.99716332e-01 2.72770633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07071405699998 meters Centerline goodness [0,1] 0.9785503995513809 Centerline is valid? [True, True] Translation: X:216.68, Y:-7.07, Z:2.73 [[ 9.98875911e-01 -4.12237281e-02 -2.33991336e-02 2.16682624e+02] [ 4.12532703e-02 9.99148416e-01 7.81025885e-04 -7.07302486e+00] [ 2.33470104e-02 -1.74543872e-03 9.99725898e-01 2.72924899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10071405699998 meters Centerline goodness [0,1] 0.9770946072028364 Centerline is valid? [True, True] Translation: X:216.71, Y:-7.08, Z:2.73 [[ 9.98914742e-01 -4.07436507e-02 -2.25675429e-02 2.16713463e+02] [ 4.07710392e-02 9.99168231e-01 7.54654110e-04 -7.07544061e+00] [ 2.25180245e-02 -1.67393729e-03 9.99745036e-01 2.73005223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13071405699998 meters Centerline goodness [0,1] 0.9783491204330176 Centerline is valid? [True, True] Translation: X:216.75, Y:-7.07, Z:2.73 [[ 9.98934651e-01 -4.04970501e-02 -2.21258140e-02 2.16745861e+02] [ 4.05233458e-02 9.99178317e-01 7.41211348e-04 -7.07049758e+00] [ 2.20776167e-02 -1.63703371e-03 9.99754919e-01 2.73127185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16071405699998 meters Centerline goodness [0,1] 0.9783113320359211 Centerline is valid? [True, True] Translation: X:216.78, Y:-7.07, Z:2.73 [[ 9.99017734e-01 -3.85281360e-02 -2.18894996e-02 2.16776666e+02] [ 3.85534293e-02 9.99256270e-01 7.34513838e-04 -7.07084551e+00] [ 2.18449202e-02 -1.57770762e-03 9.99760126e-01 2.73151291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19071405699998 meters Centerline goodness [0,1] 0.9794583186774534 Centerline is valid? [True, True] Translation: X:216.81, Y:-7.07, Z:2.73 [[ 9.99083014e-01 -3.69177575e-02 -2.16843271e-02 2.16808198e+02] [ 3.69422180e-02 9.99317138e-01 7.28397911e-04 -7.06755356e+00] [ 2.16426289e-02 -1.52879712e-03 9.99764602e-01 2.73232777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22071405699998 meters Centerline goodness [0,1] 0.9777907930186248 Centerline is valid? [True, True] Translation: X:216.84, Y:-7.07, Z:2.73 [[ 9.99112830e-01 -3.60369380e-02 -2.17920054e-02 2.16839688e+02] [ 3.60614613e-02 9.99349305e-01 7.33281164e-04 -7.07280304e+00] [ 2.17514003e-02 -1.51848218e-03 9.99762257e-01 2.73192690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25071405699998 meters Centerline goodness [0,1] 0.9798837100253212 Centerline is valid? [True, True] Translation: X:216.87, Y:-7.07, Z:2.73 [[ 9.99136784e-01 -3.50743805e-02 -2.22592517e-02 2.16872148e+02] [ 3.50997702e-02 9.99383531e-01 7.50848501e-04 -7.06771470e+00] [ 2.22191940e-02 -1.53149497e-03 9.99751950e-01 2.73224771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28071405699998 meters Centerline goodness [0,1] 0.9809168368424759 Centerline is valid? [True, True] Translation: X:216.90, Y:-7.07, Z:2.73 [[ 9.99213977e-01 -3.15220647e-02 -2.40372242e-02 2.16901601e+02] [ 3.15506697e-02 9.99501824e-01 8.11612771e-04 -7.06972316e+00] [ 2.39996658e-02 -1.56936535e-03 9.99710735e-01 2.72984322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31071405699998 meters Centerline goodness [0,1] 0.9822238942839004 Centerline is valid? [True, True] Translation: X:216.93, Y:-7.07, Z:2.73 [[ 9.99243073e-01 -3.03207621e-02 -2.43707374e-02 2.16933298e+02] [ 3.03498155e-02 9.99538999e-01 8.23063932e-04 -7.06835638e+00] [ 2.43345465e-02 -1.56208832e-03 9.99702651e-01 2.73016630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34071405699999 meters Centerline goodness [0,1] 0.9822476870332973 Centerline is valid? [True, True] Translation: X:216.96, Y:-7.07, Z:2.73 [[ 9.99297448e-01 -2.86680129e-02 -2.41403152e-02 2.16964713e+02] [ 2.86960598e-02 9.99587850e-01 8.16140970e-04 -7.06820675e+00] [ 2.41069686e-02 -1.50829952e-03 9.99708247e-01 2.73075947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.370714057 meters Centerline goodness [0,1] 0.9812862476226255 Centerline is valid? [True, True] Translation: X:217.00, Y:-7.07, Z:2.73 [[ 9.99313843e-01 -2.80741014e-02 -2.41596523e-02 2.16995528e+02] [ 2.81020410e-02 9.99604725e-01 8.17652097e-04 -7.07089658e+00] [ 2.41271478e-02 -1.49602660e-03 9.99707779e-01 2.73062978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.400714057 meters Centerline goodness [0,1] 0.9815746180963573 Centerline is valid? [True, True] Translation: X:217.03, Y:-7.07, Z:2.73 [[ 9.99328954e-01 -2.73495122e-02 -2.43648632e-02 2.17025440e+02] [ 2.73777299e-02 9.99624819e-01 8.25245837e-04 -7.07456224e+00] [ 2.43331519e-02 -1.49174670e-03 9.99702792e-01 2.72986815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.430714057 meters Centerline goodness [0,1] 0.9826197242642741 Centerline is valid? [True, True] Translation: X:217.06, Y:-7.07, Z:2.73 [[ 9.99346565e-01 -2.68405879e-02 -2.42079597e-02 2.17056241e+02] [ 2.68682996e-02 9.99638646e-01 8.20145009e-04 -7.06852112e+00] [ 2.41771989e-02 -1.47003581e-03 9.99706608e-01 2.73114094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.460714057 meters Centerline goodness [0,1] 0.9829880963539226 Centerline is valid? [True, True] Translation: X:217.09, Y:-7.07, Z:2.73 [[ 9.99359365e-01 -2.72313907e-02 -2.32230878e-02 2.17086295e+02] [ 2.72569979e-02 9.99628149e-01 7.86778389e-04 -7.06999984e+00] [ 2.31930272e-02 -1.41926600e-03 9.99729998e-01 2.73190444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.490714057 meters Centerline goodness [0,1] 0.9818203170874926 Centerline is valid? [True, True] Translation: X:217.12, Y:-7.08, Z:2.73 [[ 9.99344944e-01 -2.82993978e-02 -2.25572043e-02 2.17116670e+02] [ 2.83238321e-02 9.99598508e-01 7.64393991e-04 -7.08081147e+00] [ 2.25265158e-02 -1.40279974e-03 9.99745262e-01 2.73202625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.520714057 meters Centerline goodness [0,1] 0.9820568825007633 Centerline is valid? [True, True] Translation: X:217.15, Y:-7.08, Z:2.74 [[ 9.99276778e-01 -3.16561952e-02 -2.10667039e-02 2.17147487e+02] [ 3.16782566e-02 9.99497863e-01 7.14244209e-04 -7.07500482e+00] [ 2.10335153e-02 -1.38108410e-03 9.99777817e-01 2.73542045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.550714057 meters Centerline goodness [0,1] 0.982718596853237 Centerline is valid? [True, True] Translation: X:217.18, Y:-7.08, Z:2.74 [[ 9.99218030e-01 -3.37590221e-02 -2.05829160e-02 2.17178981e+02] [ 3.37805361e-02 9.99429031e-01 6.98344053e-04 -7.07762661e+00] [ 2.05475884e-02 -1.39309991e-03 9.99787905e-01 2.73630512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.580714057 meters Centerline goodness [0,1] 0.9830611576435356 Centerline is valid? [True, True] Translation: X:217.21, Y:-7.08, Z:2.74 [[ 9.99110850e-01 -3.71193178e-02 -1.99916237e-02 2.17209382e+02] [ 3.71402963e-02 9.99309831e-01 6.78975336e-04 -7.08118331e+00] [ 1.99526230e-02 -1.42086645e-03 9.99799917e-01 2.73609502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.610714057 meters Centerline goodness [0,1] 0.9817829366840274 Centerline is valid? [True, True] Translation: X:217.24, Y:-7.09, Z:2.74 [[ 9.99048294e-01 -3.88693484e-02 -1.97909284e-02 2.17239674e+02] [ 3.88902653e-02 9.99243261e-01 6.72974975e-04 -7.08664404e+00] [ 1.97497938e-02 -1.44200896e-03 9.99803914e-01 2.73606670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.640714057 meters Centerline goodness [0,1] 0.9800051388661792 Centerline is valid? [True, True] Translation: X:217.27, Y:-7.09, Z:2.74 [[ 9.98953005e-01 -4.11519840e-02 -1.99852195e-02 2.17269894e+02] [ 4.11737877e-02 9.99151768e-01 6.80572711e-04 -7.09379342e+00] [ 1.99402604e-02 -1.50272734e-03 9.99800044e-01 2.73583332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.670714057 meters Centerline goodness [0,1] 0.9810646742937194 Centerline is valid? [True, True] Translation: X:217.30, Y:-7.10, Z:2.74 [[ 9.98771998e-01 -4.55799209e-02 -1.94156492e-02 2.17299764e+02] [ 4.56013415e-02 9.98959499e-01 6.61733264e-04 -7.09712791e+00] [ 1.93652854e-02 -1.54630030e-03 9.99811280e-01 2.73723504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70071405699997 meters Centerline goodness [0,1] 0.9801159514773335 Centerline is valid? [True, True] Translation: X:217.33, Y:-7.10, Z:2.74 [[ 9.98668243e-01 -4.77827991e-02 -1.94562425e-02 2.17331252e+02] [ 4.78047304e-02 9.98856480e-01 6.63417709e-04 -7.09976737e+00] [ 1.94022939e-02 -1.59263462e-03 9.99810489e-01 2.73778822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73071405699997 meters Centerline goodness [0,1] 0.9780156137790442 Centerline is valid? [True, True] Translation: X:217.36, Y:-7.11, Z:2.74 [[ 9.98469151e-01 -5.16189221e-02 -1.98706056e-02 2.17361572e+02] [ 5.16425612e-02 9.98665403e-01 6.78019530e-04 -7.10735635e+00] [ 1.98090877e-02 -1.70315055e-03 9.99802330e-01 2.73727916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76071405699997 meters Centerline goodness [0,1] 0.9783087808838882 Centerline is valid? [True, True] Translation: X:217.39, Y:-7.11, Z:2.74 [[ 9.98383436e-01 -5.31466652e-02 -2.01481125e-02 2.17393030e+02] [ 5.31712836e-02 9.98585170e-01 6.87766975e-04 -7.11140297e+00] [ 2.00830538e-02 -1.75795616e-03 9.99796770e-01 2.73689799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79071405699997 meters Centerline goodness [0,1] 0.9760535954378969 Centerline is valid? [True, True] Translation: X:217.42, Y:-7.12, Z:2.74 [[ 9.98300027e-01 -5.44959227e-02 -2.06700351e-02 2.17424450e+02] [ 5.45221390e-02 9.98512312e-01 7.06485459e-04 -7.11574995e+00] [ 2.06007840e-02 -1.83225898e-03 9.99786102e-01 2.73646627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82071405699998 meters Centerline goodness [0,1] 0.966056109436587 Centerline is valid? [True, True] Translation: X:217.45, Y:-7.13, Z:2.74 [[ 9.98184159e-01 -5.63570242e-02 -2.12666578e-02 2.17454193e+02] [ 5.63852101e-02 9.98408823e-01 7.27585046e-04 -7.12627748e+00] [ 2.11918143e-02 -1.92538884e-03 9.99773574e-01 2.73527292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85071405699998 meters Centerline goodness [0,1] 0.9741068122917438 Centerline is valid? [True, True] Translation: X:217.49, Y:-7.12, Z:2.74 [[ 9.98131873e-01 -5.71701481e-02 -2.15485255e-02 2.17486530e+02] [ 5.71992880e-02 9.98362508e-01 7.37869335e-04 -7.12295413e+00] [ 2.14710559e-02 -1.96905122e-03 9.99767531e-01 2.73609743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88071405699998 meters Centerline goodness [0,1] 0.9773216891751025 Centerline is valid? [True, True] Translation: X:217.52, Y:-7.12, Z:2.74 [[ 9.98063972e-01 -5.83008456e-02 -2.16637702e-02 2.17518459e+02] [ 5.83305924e-02 9.98297045e-01 7.43219804e-04 -7.12179843e+00] [ 2.15835474e-02 -2.00544146e-03 9.99765037e-01 2.73734773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91071405699998 meters Centerline goodness [0,1] 0.9721675048086951 Centerline is valid? [True, True] Translation: X:217.55, Y:-7.13, Z:2.74 [[ 9.98057242e-01 -5.87217275e-02 -2.08206500e-02 2.17549526e+02] [ 5.87493169e-02 9.98272511e-01 7.15389301e-04 -7.12816406e+00] [ 2.07426737e-02 -1.93719844e-03 9.99782971e-01 2.73755115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94071405699998 meters Centerline goodness [0,1] 0.9689249849599704 Centerline is valid? [True, True] Translation: X:217.58, Y:-7.13, Z:2.74 [[ 9.98029134e-01 -5.92400445e-02 -2.06994147e-02 2.17580419e+02] [ 5.92674575e-02 9.98241885e-01 7.12850665e-04 -7.13225799e+00] [ 2.06207934e-02 -1.93824741e-03 9.99785490e-01 2.73798208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97071405699998 meters Centerline goodness [0,1] 0.9670057803468208 Centerline is valid? [True, True] Translation: X:217.61, Y:-7.13, Z:2.74 [[ 9.97958789e-01 -6.07884764e-02 -1.95707896e-02 2.17611313e+02] [ 6.08133060e-02 9.98148930e-01 6.75524530e-04 -7.13478424e+00] [ 1.94934986e-02 -1.86431006e-03 9.99808246e-01 2.73794360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00071405699998 meters Centerline goodness [0,1] 0.96616358887836 Centerline is valid? [True, True] Translation: X:217.64, Y:-7.14, Z:2.74 [[ 9.97938948e-01 -6.12670610e-02 -1.90841143e-02 2.17643177e+02] [ 6.12907699e-02 9.98119736e-01 6.59381103e-04 -7.13755344e+00] [ 1.90078328e-02 -1.82770214e-03 9.99817664e-01 2.73805763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03071405699998 meters Centerline goodness [0,1] 0.9564876699700392 Centerline is valid? [True, True] Translation: X:217.67, Y:-7.14, Z:2.74 [[ 9.97912243e-01 -6.16765846e-02 -1.91612460e-02 2.17673741e+02] [ 6.17005813e-02 9.98094484e-01 6.63141830e-04 -7.14372326e+00] [ 1.90838336e-02 -1.84401737e-03 9.99816187e-01 2.73760618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06071405699998 meters Centerline goodness [0,1] 0.9546279908980164 Centerline is valid? [True, True] Translation: X:217.71, Y:-7.15, Z:2.74 [[ 9.97933005e-01 -6.14849633e-02 -1.86900047e-02 2.17705686e+02] [ 6.15077761e-02 9.98106394e-01 6.47662530e-04 -7.14611649e+00] [ 1.86147916e-02 -1.79590444e-03 9.99825117e-01 2.73777576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09071405699999 meters Centerline goodness [0,1] 0.9541633076125763 Centerline is valid? [True, True] Translation: X:217.74, Y:-7.15, Z:2.74 [[ 9.97932216e-01 -6.15455352e-02 -1.85321085e-02 2.17737666e+02] [ 6.15679974e-02 9.98102684e-01 6.43435786e-04 -7.14766923e+00] [ 1.84573466e-02 -1.78309011e-03 9.99828059e-01 2.73811079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.120714057 meters Centerline goodness [0,1] 0.9455240375759808 Centerline is valid? [True, False] Translation: X:217.74, Y:-7.15, Z:2.74 [[ 9.97955204e-01 -6.11878224e-02 -1.84786753e-02 2.17737864e+02] [ 6.12194845e-02 9.98123663e-01 1.15212267e-03 -7.14860058e+00] [ 1.83735072e-02 -2.28102179e-03 9.99828591e-01 2.73785198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.150714057 meters Centerline goodness [0,1] 0.9705165355779403 Centerline is valid? [False, True] Translation: X:217.74, Y:-7.15, Z:2.74 [[ 9.97974331e-01 -6.08400970e-02 -1.85934766e-02 2.17738431e+02] [ 6.08807310e-02 9.98143722e-01 1.62669548e-03 -7.14939224e+00] [ 1.84599936e-02 -2.75538478e-03 9.99825803e-01 2.73746744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.180714057 meters Centerline goodness [0,1] 0.9704293628808864 Centerline is valid? [True, True] Translation: X:217.77, Y:-7.15, Z:2.74 [[ 9.97979170e-01 -6.07631016e-02 -1.85855350e-02 2.17771654e+02] [ 6.07855852e-02 9.98150637e-01 6.46698985e-04 -7.15151795e+00] [ 1.85118681e-02 -1.77512473e-03 9.99827065e-01 2.73777945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.210714057 meters Centerline goodness [0,1] 0.9704780079553031 Centerline is valid? [True, True] Translation: X:217.80, Y:-7.15, Z:2.74 [[ 9.98061085e-01 -5.93748309e-02 -1.86735014e-02 2.17802276e+02] [ 5.93973181e-02 9.98234208e-01 6.51427935e-04 -7.15445971e+00] [ 1.86018495e-02 -1.75932078e-03 9.99825423e-01 2.73665401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.240714057 meters Centerline goodness [0,1] 0.9764296576194645 Centerline is valid? [True, True] Translation: X:217.83, Y:-7.15, Z:2.74 [[ 9.98116006e-01 -5.83154191e-02 -1.90722490e-02 2.17833805e+02] [ 5.83386984e-02 9.98296626e-01 6.66022609e-04 -7.14796380e+00] [ 1.90009224e-02 -1.77741801e-03 9.99817886e-01 2.73668303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.270714057 meters Centerline goodness [0,1] 0.9675951461665747 Centerline is valid? [True, True] Translation: X:217.86, Y:-7.16, Z:2.73 [[ 9.98274952e-01 -5.48410749e-02 -2.09660625e-02 2.17863491e+02] [ 5.48684602e-02 9.98493323e-01 7.32728261e-04 -7.15878875e+00] [ 2.08942898e-02 -1.88183984e-03 9.99779919e-01 2.73463604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.300714057 meters Centerline goodness [0,1] 0.9774048959889667 Centerline is valid? [True, True] Translation: X:217.89, Y:-7.15, Z:2.73 [[ 9.98382396e-01 -5.25051691e-02 -2.18128229e-02 2.17894664e+02] [ 5.25342612e-02 9.98618831e-01 7.62439807e-04 -7.14712578e+00] [ 2.17426637e-02 -1.90712702e-03 9.99761781e-01 2.73494170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.330714057 meters Centerline goodness [0,1] 0.9765736028973548 Centerline is valid? [True, True] Translation: X:217.92, Y:-7.15, Z:2.73 [[ 9.98524560e-01 -4.93696378e-02 -2.26128800e-02 2.17923809e+02] [ 4.94001082e-02 9.98778756e-01 7.90513731e-04 -7.14865427e+00] [ 2.25462368e-02 -1.90642610e-03 9.99743984e-01 2.73487855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.360714057 meters Centerline goodness [0,1] 0.9797532572350974 Centerline is valid? [True, True] Translation: X:217.95, Y:-7.14, Z:2.74 [[ 9.98849339e-01 -4.23116104e-02 -2.25770959e-02 2.17954589e+02] [ 4.23401892e-02 9.99102940e-01 7.89099173e-04 -7.13859424e+00] [ 2.25234548e-02 -1.74410970e-03 9.99744793e-01 2.73648785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.390714057 meters Centerline goodness [0,1] 0.9793222683264177 Centerline is valid? [True, True] Translation: X:217.98, Y:-7.14, Z:2.74 [[ 9.99018049e-01 -3.84543882e-02 -2.20044790e-02 2.17983719e+02] [ 3.84806024e-02 9.99259051e-01 7.68977033e-04 -7.13684613e+00] [ 2.19586043e-02 -1.61496754e-03 9.99757576e-01 2.73744161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.420714057 meters Centerline goodness [0,1] 0.9814840531407675 Centerline is valid? [True, True] Translation: X:218.01, Y:-7.13, Z:2.74 [[ 9.99187309e-01 -3.41014704e-02 -2.14897734e-02 2.18014988e+02] [ 3.41254685e-02 9.99417274e-01 7.50890004e-04 -7.13111295e+00] [ 2.14516443e-02 -1.48362835e-03 9.99768786e-01 2.73948953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45071405699997 meters Centerline goodness [0,1] 0.9813290038269744 Centerline is valid? [True, True] Translation: X:218.04, Y:-7.13, Z:2.74 [[ 9.99476827e-01 -2.54131597e-02 -2.00060966e-02 2.18044415e+02] [ 2.54322273e-02 9.99676304e-01 6.99201993e-04 -7.12682493e+00] [ 1.99818518e-02 -1.20763579e-03 9.99799614e-01 2.74086952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48071405699997 meters Centerline goodness [0,1] 0.9815529018168301 Centerline is valid? [True, True] Translation: X:218.08, Y:-7.12, Z:2.74 [[ 9.99591221e-01 -2.08106532e-02 -1.96037527e-02 2.18075039e+02] [ 2.08280752e-02 9.99782837e-01 6.84931503e-04 -7.12452731e+00] [ 1.95852416e-02 -1.09295995e-03 9.99807593e-01 2.74174861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51071405699997 meters Centerline goodness [0,1] 0.9817711970945663 Centerline is valid? [True, True] Translation: X:218.11, Y:-7.12, Z:2.74 [[ 9.99728221e-01 -1.46032938e-02 -1.81721720e-02 2.18105166e+02] [ 1.46172418e-02 9.99892961e-01 6.34953636e-04 -7.12130248e+00] [ 1.81609545e-02 -9.00408101e-04 9.99834671e-01 2.74250777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54071405699997 meters Centerline goodness [0,1] 0.9827798850440974 Centerline is valid? [True, True] Translation: X:218.13, Y:-7.12, Z:2.74 [[ 9.99767674e-01 -1.24266332e-02 -1.76118345e-02 2.18133761e+02] [ 1.24393923e-02 9.99922439e-01 6.15096958e-04 -7.12125395e+00] [ 1.76028249e-02 -8.34034573e-04 9.99844710e-01 2.74312446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57071405699998 meters Centerline goodness [0,1] 0.9821707778114863 Centerline is valid? [True, True] Translation: X:218.16, Y:-7.12, Z:2.74 [[ 9.99793392e-01 -1.08271459e-02 -1.72031113e-02 2.18162685e+02] [ 1.08390633e-02 9.99941076e-01 5.99653899e-04 -7.12140285e+00] [ 1.71956051e-02 -7.85995617e-04 9.99851836e-01 2.74350524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60071405699998 meters Centerline goodness [0,1] 0.9831002331002331 Centerline is valid? [True, True] Translation: X:218.19, Y:-7.12, Z:2.74 [[ 9.99789860e-01 -1.05077104e-02 -1.76018064e-02 2.18190531e+02] [ 1.05201117e-02 9.99944475e-01 6.12102269e-04 -7.12242518e+00] [ 1.75943972e-02 -7.97146612e-04 9.99844889e-01 2.74386377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63071405699998 meters Centerline goodness [0,1] 0.9833274956217163 Centerline is valid? [True, True] Translation: X:218.22, Y:-7.13, Z:2.74 [[ 9.99770782e-01 -1.14468846e-02 -1.80929045e-02 2.18219195e+02] [ 1.14600903e-02 9.99934135e-01 6.26366415e-04 -7.12519937e+00] [ 1.80845429e-02 -8.33569159e-04 9.99836114e-01 2.74408753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66071405699998 meters Centerline goodness [0,1] 0.983504578178514 Centerline is valid? [True, True] Translation: X:218.25, Y:-7.12, Z:2.74 [[ 9.99759242e-01 -1.25041490e-02 -1.80306360e-02 2.18247837e+02] [ 1.25173575e-02 9.99921463e-01 6.19881758e-04 -7.12308938e+00] [ 1.80214688e-02 -8.45428434e-04 9.99837243e-01 2.74465057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69071405699998 meters Centerline goodness [0,1] 0.9811824214580723 Centerline is valid? [True, True] Translation: X:218.28, Y:-7.14, Z:2.74 [[ 9.99719656e-01 -1.50411180e-02 -1.82858782e-02 2.18275947e+02] [ 1.50550563e-02 9.99886471e-01 6.24817010e-04 -7.13587851e+00] [ 1.82744043e-02 -8.99936772e-04 9.99832604e-01 2.74383661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72071405699998 meters Centerline goodness [0,1] 0.9810702838296094 Centerline is valid? [True, True] Translation: X:218.30, Y:-7.14, Z:2.74 [[ 9.99687559e-01 -1.63143585e-02 -1.89374337e-02 2.18304266e+02] [ 1.63295096e-02 9.99866456e-01 6.45692265e-04 -7.13847676e+00] [ 1.89243707e-02 -9.54729529e-04 9.99820462e-01 2.74362794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75071405699998 meters Centerline goodness [0,1] 0.9817877717896302 Centerline is valid? [True, True] Translation: X:218.33, Y:-7.14, Z:2.74 [[ 9.99629101e-01 -1.78202679e-02 -2.05936571e-02 2.18333367e+02] [ 1.78384573e-02 9.99840637e-01 6.99877006e-04 -7.13726927e+00] [ 2.05779033e-02 -1.06697649e-03 9.99787683e-01 2.74358194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78071405699998 meters Centerline goodness [0,1] 0.982778202721183 Centerline is valid? [True, True] Translation: X:218.36, Y:-7.14, Z:2.74 [[ 9.99606296e-01 -1.81944352e-02 -2.13591899e-02 2.18361894e+02] [ 1.82140324e-02 9.99833849e-01 7.23307794e-04 -7.13771903e+00] [ 2.13424808e-02 -1.11206000e-03 9.99771605e-01 2.74370136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81071405699998 meters Centerline goodness [0,1] 0.9822446803578879 Centerline is valid? [True, True] Translation: X:218.39, Y:-7.14, Z:2.74 [[ 9.99591904e-01 -1.83695558e-02 -2.18765661e-02 2.18389513e+02] [ 1.83900610e-02 9.99830617e-01 7.36486085e-04 -7.14478703e+00] [ 2.18593317e-02 -1.13849691e-03 9.99760408e-01 2.74293022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84071405699999 meters Centerline goodness [0,1] 0.9822581018250792 Centerline is valid? [True, True] Translation: X:218.42, Y:-7.14, Z:2.74 [[ 9.99588310e-01 -1.86968728e-02 -2.17632236e-02 2.18418385e+02] [ 1.87171753e-02 9.99824552e-01 7.29540619e-04 -7.14387416e+00] [ 2.17457652e-02 -1.13658635e-03 9.99762887e-01 2.74405806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.870714057 meters Centerline goodness [0,1] 0.9822581018250792 Centerline is valid? [True, True] Translation: X:218.45, Y:-7.14, Z:2.74 [[ 9.99583650e-01 -1.89441381e-02 -2.17634028e-02 2.18446631e+02] [ 1.89643822e-02 9.99819898e-01 7.24161498e-04 -7.14477091e+00] [ 2.17457646e-02 -1.13658948e-03 9.99762887e-01 2.74446046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.900714057 meters Centerline goodness [0,1] 0.9815662873531317 Centerline is valid? [True, True] Translation: X:218.47, Y:-7.15, Z:2.75 [[ 9.99615341e-01 -1.90758628e-02 -2.01315855e-02 2.18474830e+02] [ 1.90931158e-02 9.99817489e-01 6.65134426e-04 -7.14826892e+00] [ 2.01152232e-02 -1.04925327e-03 9.99797118e-01 2.74619002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.930714057 meters Centerline goodness [0,1] 0.9804007470774055 Centerline is valid? [True, True] Translation: X:218.50, Y:-7.16, Z:2.75 [[ 9.99639566e-01 -1.85154686e-02 -1.94400496e-02 2.18503331e+02] [ 1.85313790e-02 9.99828075e-01 6.38597721e-04 -7.15526848e+00] [ 1.94248835e-02 -9.98618477e-04 9.99810820e-01 2.74668039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.960714057 meters Centerline goodness [0,1] 0.9812708261519016 Centerline is valid? [True, True] Translation: X:218.53, Y:-7.16, Z:2.75 [[ 9.99681016e-01 -1.77694891e-02 -1.79474414e-02 2.18532536e+02] [ 1.77829019e-02 9.99841699e-01 5.88013249e-04 -7.15519299e+00] [ 1.79341516e-02 -9.06983272e-04 9.99838759e-01 2.74844813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.990714057 meters Centerline goodness [0,1] 0.9798253054861413 Centerline is valid? [True, True] Translation: X:218.56, Y:-7.16, Z:2.75 [[ 9.99698989e-01 -1.69762355e-02 -1.77126664e-02 2.18561226e+02] [ 1.69891150e-02 9.99855508e-01 5.76906333e-04 -7.16276370e+00] [ 1.77003134e-02 -8.77655205e-04 9.99842952e-01 2.74845934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.020714057 meters Centerline goodness [0,1] 0.9798294673145687 Centerline is valid? [True, True] Translation: X:218.59, Y:-7.16, Z:2.75 [[ 9.99690288e-01 -1.67798227e-02 -1.83784050e-02 2.18591106e+02] [ 1.67936364e-02 9.99858798e-01 5.97538880e-04 -7.16425066e+00] [ 1.83657834e-02 -9.05994066e-04 9.99830924e-01 2.74891305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.050714057 meters Centerline goodness [0,1] 0.9802277361559787 Centerline is valid? [True, True] Translation: X:218.62, Y:-7.17, Z:2.75 [[ 9.99663016e-01 -1.69938468e-02 -1.96230473e-02 2.18619054e+02] [ 1.70096194e-02 9.99855123e-01 6.37139131e-04 -7.17088078e+00] [ 1.96093769e-02 -9.70704991e-04 9.99807246e-01 2.74775698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.080714057 meters Centerline goodness [0,1] 0.9801207851031706 Centerline is valid? [True, True] Translation: X:218.65, Y:-7.17, Z:2.75 [[ 9.99634835e-01 -1.76011675e-02 -2.05035739e-02 2.18647513e+02] [ 1.76184652e-02 9.99844563e-01 6.63295707e-04 -7.17415050e+00] [ 2.04887121e-02 -1.02429500e-03 9.99789560e-01 2.74751615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.110714057 meters Centerline goodness [0,1] 0.9802706780668465 Centerline is valid? [True, True] Translation: X:218.68, Y:-7.18, Z:2.75 [[ 9.99604840e-01 -1.85989139e-02 -2.10770996e-02 2.18675848e+02] [ 1.86173107e-02 9.99826454e-01 6.76934645e-04 -7.17876835e+00] [ 2.10608515e-02 -1.06906606e-03 9.99777624e-01 2.74727912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.140714057 meters Centerline goodness [0,1] 0.9798092717649206 Centerline is valid? [True, True] Translation: X:218.70, Y:-7.19, Z:2.75 [[ 9.99547067e-01 -1.99645939e-02 -2.25183486e-02 2.18703562e+02] [ 1.99858382e-02 9.99800005e-01 7.18741547e-04 -7.18719238e+00] [ 2.24994957e-02 -1.16846408e-03 9.99746171e-01 2.74589899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.170714057 meters Centerline goodness [0,1] 0.9827696089588929 Centerline is valid? [True, True] Translation: X:218.73, Y:-7.18, Z:2.75 [[ 9.99534733e-01 -2.03684491e-02 -2.27033960e-02 2.18732168e+02] [ 2.03900593e-02 9.99791841e-01 7.20742547e-04 -7.18025490e+00] [ 2.26839897e-02 -1.18333080e-03 9.99741985e-01 2.74812959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20071405699997 meters Centerline goodness [0,1] 0.9837352138307552 Centerline is valid? [True, True] Translation: X:218.76, Y:-7.19, Z:2.75 [[ 9.99521776e-01 -2.14721772e-02 -2.22523141e-02 2.18760938e+02] [ 2.14930872e-02 9.99768751e-01 7.00912316e-04 -7.18646481e+00] [ 2.22321181e-02 -1.17884805e-03 9.99752141e-01 2.74849913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23071405699997 meters Centerline goodness [0,1] 0.9838244969259738 Centerline is valid? [True, True] Translation: X:218.79, Y:-7.19, Z:2.75 [[ 9.99529444e-01 -2.14229381e-02 -2.19533286e-02 2.18789064e+02] [ 2.14431857e-02 9.99769832e-01 6.87286335e-04 -7.19073725e+00] [ 2.19335520e-02 -1.15771223e-03 9.99758760e-01 2.74887494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26071405699997 meters Centerline goodness [0,1] 0.9842600163532298 Centerline is valid? [True, True] Translation: X:218.82, Y:-7.19, Z:2.75 [[ 9.99512394e-01 -2.18361752e-02 -2.23194071e-02 2.18817928e+02] [ 2.18571330e-02 9.99760862e-01 6.95450771e-04 -7.19407382e+00] [ 2.22988837e-02 -1.18294991e-03 9.99750649e-01 2.74899580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29071405699997 meters Centerline goodness [0,1] 0.9850688780134131 Centerline is valid? [True, True] Translation: X:218.85, Y:-7.20, Z:2.75 [[ 9.99510003e-01 -2.07896886e-02 -2.33996397e-02 2.18847031e+02] [ 2.08123034e-02 9.99783139e-01 7.23314502e-04 -7.19809513e+00] [ 2.33795277e-02 -1.20996048e-03 9.99725929e-01 2.74899062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32071405699998 meters Centerline goodness [0,1] 0.9846132959225234 Centerline is valid? [True, True] Translation: X:218.88, Y:-7.20, Z:2.75 [[ 9.99506169e-01 -1.99759456e-02 -2.42565423e-02 2.18875422e+02] [ 1.99998658e-02 9.99799706e-01 7.43909487e-04 -7.19903047e+00] [ 2.42368236e-02 -1.22866971e-03 9.99705490e-01 2.74915512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35071405699998 meters Centerline goodness [0,1] 0.9850377426312006 Centerline is valid? [True, True] Translation: X:218.90, Y:-7.20, Z:2.75 [[ 9.99537933e-01 -1.77139692e-02 -2.47009139e-02 2.18903608e+02] [ 1.77379778e-02 9.99842386e-01 7.53186994e-04 -7.20489146e+00] [ 2.46836787e-02 -1.19098323e-03 9.99694602e-01 2.74921737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38071405699998 meters Centerline goodness [0,1] 0.9847962700182444 Centerline is valid? [True, True] Translation: X:218.93, Y:-7.21, Z:2.75 [[ 9.99537287e-01 -1.75174225e-02 -2.48667002e-02 2.18932495e+02] [ 1.75416050e-02 9.99845849e-01 7.54668417e-04 -7.20786220e+00] [ 2.48496471e-02 -1.19052105e-03 9.99690491e-01 2.74967396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41071405699998 meters Centerline goodness [0,1] 0.9850612153206785 Centerline is valid? [True, True] Translation: X:218.96, Y:-7.21, Z:2.75 [[ 9.99550265e-01 -1.72376096e-02 -2.45383708e-02 2.18961282e+02] [ 1.72609282e-02 9.99850746e-01 7.38780664e-04 -7.20728740e+00] [ 2.45219736e-02 -1.16200347e-03 9.99698616e-01 2.75106968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44071405699998 meters Centerline goodness [0,1] 0.9856310854264577 Centerline is valid? [True, True] Translation: X:218.99, Y:-7.21, Z:2.75 [[ 9.99562175e-01 -1.77481605e-02 -2.36740786e-02 2.18988999e+02] [ 1.77698635e-02 9.99841854e-01 7.06667052e-04 -7.21077486e+00] [ 2.36577926e-02 -1.12704280e-03 9.99719480e-01 2.75252986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47071405699998 meters Centerline goodness [0,1] 0.9857672017061399 Centerline is valid? [True, True] Translation: X:219.02, Y:-7.21, Z:2.75 [[ 9.99555147e-01 -1.84020502e-02 -2.34706572e-02 2.19017867e+02] [ 1.84234132e-02 9.99830033e-01 6.94272686e-04 -7.21417881e+00] [ 2.34538919e-02 -1.12637345e-03 9.99724285e-01 2.75278735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50071405699998 meters Centerline goodness [0,1] 0.9859432799013563 Centerline is valid? [True, True] Translation: X:219.05, Y:-7.22, Z:2.75 [[ 9.99541069e-01 -1.93187480e-02 -2.33331813e-02 2.19045439e+02] [ 1.93400097e-02 9.99812729e-01 6.85884085e-04 -7.21955142e+00] [ 2.33155613e-02 -1.13683326e-03 9.99727509e-01 2.75252085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53071405699998 meters Centerline goodness [0,1] 0.9851107180440185 Centerline is valid? [True, True] Translation: X:219.07, Y:-7.22, Z:2.75 [[ 9.99492381e-01 -2.19540248e-02 -2.30868325e-02 2.19074656e+02] [ 2.19755010e-02 9.99758280e-01 6.76912369e-04 -7.22135716e+00] [ 2.30663910e-02 -1.18391347e-03 9.99733234e-01 2.75371781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56071405699998 meters Centerline goodness [0,1] 0.983593732537607 Centerline is valid? [True, True] Translation: X:219.10, Y:-7.24, Z:2.75 [[ 9.99446329e-01 -2.40106388e-02 -2.30331256e-02 2.19102710e+02] [ 2.40325307e-02 9.99710950e-01 6.74073753e-04 -7.23660822e+00] [ 2.30102829e-02 -1.22724484e-03 9.99734475e-01 2.75232718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59071405699999 meters Centerline goodness [0,1] 0.9826474852235977 Centerline is valid? [True, True] Translation: X:219.13, Y:-7.24, Z:2.75 [[ 9.99283904e-01 -2.95468976e-02 -2.36359852e-02 2.19132852e+02] [ 2.95714755e-02 9.99562429e-01 6.90925891e-04 -7.24250896e+00] [ 2.36052281e-02 -1.38938208e-03 9.99720392e-01 2.75317201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.620714057 meters Centerline goodness [0,1] 0.9833199893247931 Centerline is valid? [True, True] Translation: X:219.16, Y:-7.24, Z:2.75 [[ 9.99196271e-01 -3.24653247e-02 -2.35120174e-02 2.19163354e+02] [ 3.24904504e-02 9.99471810e-01 6.87309786e-04 -7.24253088e+00] [ 2.34772849e-02 -1.45067341e-03 9.99723318e-01 2.75430288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.650714057 meters Centerline goodness [0,1] 0.9816338328812203 Centerline is valid? [True, True] Translation: X:219.19, Y:-7.25, Z:2.75 [[ 9.99076011e-01 -3.59089470e-02 -2.36150768e-02 2.19192577e+02] [ 3.59352448e-02 9.99353882e-01 6.90044393e-04 -7.25437162e+00] [ 2.35750399e-02 -1.53802037e-03 9.99720887e-01 2.75372703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.680714057 meters Centerline goodness [0,1] 0.9823639025688806 Centerline is valid? [True, True] Translation: X:219.22, Y:-7.25, Z:2.76 [[ 9.98850698e-01 -4.20287389e-02 -2.30405603e-02 2.19223313e+02] [ 4.20553832e-02 9.99115054e-01 6.72864018e-04 -7.25477519e+00] [ 2.29918910e-02 -1.64107029e-03 9.99734305e-01 2.75508048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.710714057 meters Centerline goodness [0,1] 0.9806977156012042 Centerline is valid? [True, True] Translation: X:219.25, Y:-7.26, Z:2.76 [[ 9.98740733e-01 -4.47556376e-02 -2.26689551e-02 2.19254514e+02] [ 4.47821351e-02 9.98996557e-01 6.62340328e-04 -7.25993277e+00] [ 2.26165647e-02 -1.67667048e-03 9.99742807e-01 2.75525154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.740714057 meters Centerline goodness [0,1] 0.9798245420193137 Centerline is valid? [True, True] Translation: X:219.28, Y:-7.27, Z:2.76 [[ 9.98555792e-01 -4.85638548e-02 -2.29756802e-02 2.19284883e+02] [ 4.85920889e-02 9.98818481e-01 6.71847903e-04 -7.26603076e+00] [ 2.29159065e-02 -1.78731391e-03 9.99735798e-01 2.75548748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.770714057 meters Centerline goodness [0,1] 0.9803006853858058 Centerline is valid? [True, True] Translation: X:219.32, Y:-7.27, Z:2.76 [[ 9.98506334e-01 -4.92600163e-02 -2.36336957e-02 2.19315642e+02] [ 4.92900983e-02 9.98784265e-01 6.91646833e-04 -7.27072462e+00] [ 2.35708929e-02 -1.85552093e-03 9.99720446e-01 2.75557235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.800714057 meters Centerline goodness [0,1] 0.9797750830784128 Centerline is valid? [True, True] Translation: X:219.35, Y:-7.27, Z:2.76 [[ 9.98503298e-01 -4.90358083e-02 -2.42209366e-02 2.19345985e+02] [ 4.90673730e-02 9.98795218e-01 7.10247139e-04 -7.27403510e+00] [ 2.41569281e-02 -1.89764184e-03 9.99706378e-01 2.75529005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.830714057 meters Centerline goodness [0,1] 0.9800229064798908 Centerline is valid? [True, True] Translation: X:219.38, Y:-7.28, Z:2.75 [[ 9.98578982e-01 -4.71183525e-02 -2.48973534e-02 2.19376421e+02] [ 4.71511407e-02 9.98887499e-01 7.31192238e-04 -7.27670717e+00] [ 2.48352025e-02 -1.90409181e-03 9.99689745e-01 2.75495957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.860714057 meters Centerline goodness [0,1] 0.9811095645257506 Centerline is valid? [True, True] Translation: X:219.41, Y:-7.28, Z:2.76 [[ 9.98639873e-01 -4.57139277e-02 -2.50727119e-02 2.19407458e+02] [ 4.57467454e-02 9.98952798e-01 7.36578237e-04 -7.27508569e+00] [ 2.50127838e-02 -1.88257136e-03 9.99685359e-01 2.75576089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.890714057 meters Centerline goodness [0,1] 0.9802278005086807 Centerline is valid? [True, True] Translation: X:219.44, Y:-7.28, Z:2.76 [[ 9.98829140e-01 -4.16868746e-02 -2.45469735e-02 2.19436975e+02] [ 4.17171155e-02 9.99129202e-01 7.20935870e-04 -7.27684646e+00] [ 2.44955445e-02 -1.74412068e-03 9.99698418e-01 2.75681577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.920714057 meters Centerline goodness [0,1] 0.980614928936142 Centerline is valid? [True, True] Translation: X:219.47, Y:-7.28, Z:2.76 [[ 9.98940750e-01 -3.92108849e-02 -2.40807911e-02 2.19466553e+02] [ 3.92392621e-02 9.99229594e-01 7.06841220e-04 -7.27716534e+00] [ 2.40345232e-02 -1.65100497e-03 9.99709766e-01 2.75774267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95071405699997 meters Centerline goodness [0,1] 0.9801951842795145 Centerline is valid? [True, True] Translation: X:219.50, Y:-7.28, Z:2.76 [[ 9.99036334e-01 -3.68090390e-02 -2.39060337e-02 2.19496344e+02] [ 3.68363077e-02 9.99321067e-01 7.01146862e-04 -7.27538741e+00] [ 2.38639945e-02 -1.58108120e-03 9.99713964e-01 2.75881881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98071405699997 meters Centerline goodness [0,1] 0.9814757641247298 Centerline is valid? [True, True] Translation: X:219.53, Y:-7.27, Z:2.76 [[ 9.99198311e-01 -3.28094636e-02 -2.29406925e-02 2.19526813e+02] [ 3.28335129e-02 9.99460609e-01 6.72349260e-04 -7.27076448e+00] [ 2.29062591e-02 -1.42503377e-03 9.99736602e-01 2.76054439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01071405699997 meters Centerline goodness [0,1] 0.9824898427839605 Centerline is valid? [True, True] Translation: X:219.56, Y:-7.27, Z:2.76 [[ 9.99239956e-01 -3.13856381e-02 -2.31182006e-02 2.19556506e+02] [ 3.14096734e-02 9.99506365e-01 6.77198027e-04 -7.26752964e+00] [ 2.30855343e-02 -1.40281846e-03 9.99732509e-01 2.76192589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04071405699997 meters Centerline goodness [0,1] 0.9830086844501699 Centerline is valid? [True, True] Translation: X:219.59, Y:-7.27, Z:2.76 [[ 9.99295706e-01 -3.00035513e-02 -2.25361656e-02 2.19585008e+02] [ 3.00260206e-02 9.99548900e-01 6.59240439e-04 -7.26990815e+00] [ 2.25062200e-02 -1.33544751e-03 9.99745811e-01 2.76267949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07071405699998 meters Centerline goodness [0,1] 0.9839641080312722 Centerline is valid? [True, True] Translation: X:219.62, Y:-7.27, Z:2.76 [[ 9.99275772e-01 -3.07438384e-02 -2.24220339e-02 2.19615100e+02] [ 3.07662436e-02 9.99526393e-01 6.54888325e-04 -7.26631183e+00] [ 2.23912809e-02 -1.34425579e-03 9.99748380e-01 2.76348536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10071405699998 meters Centerline goodness [0,1] 0.9822773002864947 Centerline is valid? [True, True] Translation: X:219.65, Y:-7.27, Z:2.76 [[ 9.99235048e-01 -3.27262601e-02 -2.14082089e-02 2.19645086e+02] [ 3.27471248e-02 9.99463474e-01 6.24679781e-04 -7.26797318e+00] [ 2.13762794e-02 -1.32525922e-03 9.99770623e-01 2.76441579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13071405699998 meters Centerline goodness [0,1] 0.9822116875636879 Centerline is valid? [True, True] Translation: X:219.68, Y:-7.27, Z:2.76 [[ 9.99197225e-01 -3.40316678e-02 -2.11364897e-02 2.19675420e+02] [ 3.40522919e-02 9.99419862e-01 6.16506441e-04 -7.26947694e+00] [ 2.11032468e-02 -1.33575744e-03 9.99776409e-01 2.76498993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16071405699998 meters Centerline goodness [0,1] 0.982400071021151 Centerline is valid? [True, True] Translation: X:219.71, Y:-7.27, Z:2.77 [[ 9.99139931e-01 -3.55325248e-02 -2.13737867e-02 2.19705735e+02] [ 3.55539593e-02 9.99367564e-01 6.23552622e-04 -7.27209884e+00] [ 2.13381127e-02 -1.38293907e-03 9.99771360e-01 2.76541186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19071405699998 meters Centerline goodness [0,1] 0.9819703512442683 Centerline is valid? [True, True] Translation: X:219.74, Y:-7.27, Z:2.77 [[ 9.98984854e-01 -3.91007575e-02 -2.23694531e-02 2.19736018e+02] [ 3.91251330e-02 9.99234106e-01 6.52887984e-04 -7.27454273e+00] [ 2.23267920e-02 -1.52743303e-03 9.99749559e-01 2.76529027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22071405699998 meters Centerline goodness [0,1] 0.9811767832229776 Centerline is valid? [True, True] Translation: X:219.77, Y:-7.28, Z:2.77 [[ 9.98914775e-01 -4.06144971e-02 -2.27977128e-02 2.19766283e+02] [ 4.06402120e-02 9.99173624e-01 6.65589280e-04 -7.27867985e+00] [ 2.27518408e-02 -1.59137085e-03 9.99739877e-01 2.76535589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25071405699998 meters Centerline goodness [0,1] 0.9812949000244656 Centerline is valid? [True, True] Translation: X:219.80, Y:-7.28, Z:2.76 [[ 9.98765244e-01 -4.37577550e-02 -2.35212034e-02 2.19796840e+02] [ 4.37860024e-02 9.99040697e-01 6.87009467e-04 -7.27973830e+00] [ 2.34685775e-02 -1.71606065e-03 9.99723102e-01 2.76466687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28071405699998 meters Centerline goodness [0,1] 0.9801397980694553 Centerline is valid? [True, True] Translation: X:219.83, Y:-7.28, Z:2.76 [[ 9.98732916e-01 -4.44712114e-02 -2.35557427e-02 2.19826564e+02] [ 4.44997409e-02 9.99009159e-01 6.88088777e-04 -7.28430596e+00] [ 2.35018026e-02 -1.73544136e-03 9.99722288e-01 2.76421045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31071405699998 meters Centerline goodness [0,1] 0.9792352156514006 Centerline is valid? [True, True] Translation: X:219.86, Y:-7.29, Z:2.76 [[ 9.98668093e-01 -4.58373715e-02 -2.36849320e-02 2.19856718e+02] [ 4.58666006e-02 9.98947334e-01 6.92022022e-04 -7.28809448e+00] [ 2.36282792e-02 -1.77744763e-03 9.99719233e-01 2.76390462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34071405699999 meters Centerline goodness [0,1] 0.9803455099272962 Centerline is valid? [True, True] Translation: X:219.89, Y:-7.28, Z:2.76 [[ 9.98609317e-01 -4.70074600e-02 -2.38690420e-02 2.19888450e+02] [ 4.70374913e-02 9.98892881e-01 6.97970234e-04 -7.28481328e+00] [ 2.38098063e-02 -1.81973943e-03 9.99714850e-01 2.76413537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.370714057 meters Centerline goodness [0,1] 0.9826637252935803 Centerline is valid? [True, True] Translation: X:219.92, Y:-7.28, Z:2.77 [[ 9.98614338e-01 -4.66110501e-02 -2.44297667e-02 2.19919601e+02] [ 4.66424123e-02 9.98911394e-01 7.15221854e-04 -7.27856962e+00] [ 2.43698351e-02 -1.85369405e-03 9.99701293e-01 2.76544845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.400714057 meters Centerline goodness [0,1] 0.9797333333333333 Centerline is valid? [True, True] Translation: X:219.95, Y:-7.29, Z:2.76 [[ 9.98664550e-01 -4.54031397e-02 -2.46510131e-02 2.19949904e+02] [ 4.54347402e-02 9.98967047e-01 7.23053013e-04 -7.28759909e+00] [ 2.45927209e-02 -1.84209979e-03 9.99695856e-01 2.76413611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.430714057 meters Centerline goodness [0,1] 0.9841269841269842 Centerline is valid? [True, True] Translation: X:219.98, Y:-7.27, Z:2.77 [[ 9.98700118e-01 -4.44186328e-02 -2.50012029e-02 2.19981505e+02] [ 4.44508698e-02 9.99011301e-01 7.34876186e-04 -7.27421596e+00] [ 2.49438420e-02 -1.84524615e-03 9.99687151e-01 2.76636265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.460714057 meters Centerline goodness [0,1] 0.9838543992853953 Centerline is valid? [True, True] Translation: X:220.01, Y:-7.27, Z:2.77 [[ 9.98749399e-01 -4.31148564e-02 -2.53129846e-02 2.20012210e+02] [ 4.31475094e-02 9.99068435e-01 7.44949675e-04 -7.27448606e+00] [ 2.52572855e-02 -1.83621028e-03 9.99679298e-01 2.76604917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.490714057 meters Centerline goodness [0,1] 0.9819852037281241 Centerline is valid? [True, True] Translation: X:220.04, Y:-7.28, Z:2.76 [[ 9.98890353e-01 -3.95762886e-02 -2.55299732e-02 2.20041409e+02] [ 3.96083640e-02 9.99214998e-01 7.51728960e-04 -7.28249216e+00] [ 2.54801814e-02 -1.76209528e-03 9.99673774e-01 2.76496970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.520714057 meters Centerline goodness [0,1] 0.9845091201716738 Centerline is valid? [True, True] Translation: X:220.07, Y:-7.27, Z:2.77 [[ 9.98986514e-01 -3.72022987e-02 -2.53363944e-02 2.20072246e+02] [ 3.72331258e-02 9.99306328e-01 7.45884607e-04 -7.26972425e+00] [ 2.52910706e-02 -1.68848182e-03 9.99678704e-01 2.76743352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.550714057 meters Centerline goodness [0,1] 0.9856592273908756 Centerline is valid? [True, True] Translation: X:220.10, Y:-7.26, Z:2.77 [[ 9.99202912e-01 -3.14040802e-02 -2.46439559e-02 2.20102668e+02] [ 3.14314876e-02 9.99505645e-01 7.25470505e-04 -7.26081930e+00] [ 2.46089903e-02 -1.49948843e-03 9.99696028e-01 2.77026272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.580714057 meters Centerline goodness [0,1] 0.9859104450865758 Centerline is valid? [True, True] Translation: X:220.13, Y:-7.26, Z:2.77 [[ 9.99316640e-01 -2.83266535e-02 -2.37456133e-02 2.20131943e+02] [ 2.83512240e-02 9.99597779e-01 6.98651044e-04 -7.26005622e+00] [ 2.37162718e-02 -1.37139081e-03 9.99717789e-01 2.77109299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.610714057 meters Centerline goodness [0,1] 0.9873044456949915 Centerline is valid? [True, True] Translation: X:220.16, Y:-7.25, Z:2.77 [[ 9.99485875e-01 -2.29355587e-02 -2.24041682e-02 2.20162519e+02] [ 2.29560693e-02 9.99736258e-01 6.58691408e-04 -7.25025823e+00] [ 2.23831518e-02 -1.17266440e-03 9.99748778e-01 2.77349082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.640714057 meters Centerline goodness [0,1] 0.9875970737197524 Centerline is valid? [True, True] Translation: X:220.19, Y:-7.25, Z:2.77 [[ 9.99552450e-01 -2.06949390e-02 -2.16013783e-02 2.20191952e+02] [ 2.07134773e-02 9.99785251e-01 6.34785150e-04 -7.24868578e+00] [ 2.15836026e-02 -1.08194071e-03 9.99766461e-01 2.77415878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.670714057 meters Centerline goodness [0,1] 0.9874110440500856 Centerline is valid? [True, True] Translation: X:220.22, Y:-7.25, Z:2.77 [[ 9.99590988e-01 -1.92460829e-02 -2.11529180e-02 2.20219896e+02] [ 1.92635118e-02 9.99814249e-01 6.20478315e-04 -7.24890113e+00] [ 2.11370471e-02 -1.02770402e-03 9.99776059e-01 2.77466591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70071405699997 meters Centerline goodness [0,1] 0.9889748156832683 Centerline is valid? [True, True] Translation: X:220.25, Y:-7.25, Z:2.78 [[ 9.99607353e-01 -1.81943726e-02 -2.13097124e-02 2.20249091e+02] [ 1.82117570e-02 9.99833959e-01 6.22002468e-04 -7.24563064e+00] [ 2.12948572e-02 -1.00984555e-03 9.99772729e-01 2.77549310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73071405699997 meters Centerline goodness [0,1] 0.9879667395272326 Centerline is valid? [True, True] Translation: X:220.28, Y:-7.25, Z:2.78 [[ 9.99598622e-01 -1.87704271e-02 -2.12194767e-02 2.20276658e+02] [ 1.87877055e-02 9.99823306e-01 6.15188724e-04 -7.24854925e+00] [ 2.12041800e-02 -1.01360708e-03 9.99774652e-01 2.77508544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76071405699997 meters Centerline goodness [0,1] 0.9874042361424065 Centerline is valid? [True, True] Translation: X:220.31, Y:-7.25, Z:2.78 [[ 9.99557462e-01 -2.14756221e-02 -2.05834171e-02 2.20305944e+02] [ 2.14924198e-02 9.99768834e-01 5.95185296e-04 -7.24820861e+00] [ 2.05658769e-02 -1.03730934e-03 9.99787962e-01 2.77628781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79071405699997 meters Centerline goodness [0,1] 0.9874042361424065 Centerline is valid? [True, True] Translation: X:220.33, Y:-7.25, Z:2.78 [[ 9.99552138e-01 -2.17219474e-02 -2.05834840e-02 2.20334204e+02] [ 2.17387495e-02 9.99763510e-01 5.92860042e-04 -7.24898039e+00] [ 2.05657381e-02 -1.04005372e-03 9.99787962e-01 2.77668926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82071405699998 meters Centerline goodness [0,1] 0.9875185869418285 Centerline is valid? [True, True] Translation: X:220.36, Y:-7.25, Z:2.78 [[ 9.99521135e-01 -2.36544907e-02 -1.99490969e-02 2.20363556e+02] [ 2.36705850e-02 9.99719649e-01 5.70995307e-04 -7.25041104e+00] [ 1.99299976e-02 -1.04292867e-03 9.99800834e-01 2.77737313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85071405699998 meters Centerline goodness [0,1] 0.9864791779340184 Centerline is valid? [True, True] Translation: X:220.39, Y:-7.25, Z:2.78 [[ 9.99477285e-01 -2.55341594e-02 -1.98283264e-02 2.20393508e+02] [ 2.55504164e-02 9.99673374e-01 5.66945262e-04 -7.25263278e+00] [ 1.98073735e-02 -1.07327091e-03 9.99803239e-01 2.77793549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88071405699998 meters Centerline goodness [0,1] 0.9860712915095831 Centerline is valid? [True, True] Translation: X:220.42, Y:-7.25, Z:2.78 [[ 9.99370127e-01 -2.92977598e-02 -2.00247647e-02 2.20423466e+02] [ 2.93150865e-02 9.99570057e-01 5.72208243e-04 -7.25250405e+00] [ 1.99993908e-02 -1.15887554e-03 9.99799321e-01 2.77826801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91071405699998 meters Centerline goodness [0,1] 0.9873698004925552 Centerline is valid? [True, True] Translation: X:220.45, Y:-7.25, Z:2.78 [[ 9.99308759e-01 -3.12080565e-02 -2.02005255e-02 2.20454896e+02] [ 3.12260769e-02 9.99512181e-01 5.77189029e-04 -7.25471083e+00] [ 2.01726583e-02 -1.20757321e-03 9.99795782e-01 2.77820651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94071405699998 meters Centerline goodness [0,1] 0.9864715314949071 Centerline is valid? [True, True] Translation: X:220.49, Y:-7.26, Z:2.78 [[ 9.99200214e-01 -3.41002959e-02 -2.08830640e-02 2.20485636e+02] [ 3.41201973e-02 9.99417558e-01 5.97329152e-04 -7.25661402e+00] [ 2.08505317e-02 -1.30938568e-03 9.99781747e-01 2.77753751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97071405699998 meters Centerline goodness [0,1] 0.9865435415772956 Centerline is valid? [True, True] Translation: X:220.52, Y:-7.26, Z:2.78 [[ 9.99156377e-01 -3.50943129e-02 -2.13289317e-02 2.20517144e+02] [ 3.51153100e-02 9.99383081e-01 6.10595408e-04 -7.25633926e+00] [ 2.12943451e-02 -1.35905235e-03 9.99772326e-01 2.77732696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00071405699998 meters Centerline goodness [0,1] 0.9850729416015537 Centerline is valid? [True, True] Translation: X:220.55, Y:-7.27, Z:2.78 [[ 9.99134594e-01 -3.54723775e-02 -2.17203596e-02 2.20547509e+02] [ 3.54942557e-02 9.99369687e-01 6.22454008e-04 -7.26602604e+00] [ 2.16845891e-02 -1.39286333e-03 9.99763891e-01 2.77619421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03071405699998 meters Centerline goodness [0,1] 0.9862232779097387 Centerline is valid? [True, True] Translation: X:220.58, Y:-7.26, Z:2.78 [[ 9.99127838e-01 -3.54105843e-02 -2.21281398e-02 2.20578791e+02] [ 3.54332887e-02 9.99371842e-01 6.34677766e-04 -7.25941382e+00] [ 2.20917656e-02 -1.41819699e-03 9.99754941e-01 2.77633164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06071405699998 meters Centerline goodness [0,1] 0.9862413302306667 Centerline is valid? [True, True] Translation: X:220.61, Y:-7.26, Z:2.78 [[ 9.99161490e-01 -3.42473532e-02 -2.24373677e-02 2.20609087e+02] [ 3.42704193e-02 9.99412389e-01 6.44197634e-04 -7.26031525e+00] [ 2.24021212e-02 -1.41259547e-03 9.99748043e-01 2.77663652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09071405699999 meters Centerline goodness [0,1] 0.9857841361825426 Centerline is valid? [True, True] Translation: X:220.64, Y:-7.26, Z:2.78 [[ 9.99218821e-01 -3.26046870e-02 -2.23312038e-02 2.20640147e+02] [ 3.26271352e-02 9.99467387e-01 6.41537574e-04 -7.25841893e+00] [ 2.22983928e-02 -1.36963962e-03 9.99750422e-01 2.77710704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.120714057 meters Centerline goodness [0,1] 0.98645767171763 Centerline is valid? [True, True] Translation: X:220.67, Y:-7.25, Z:2.78 [[ 9.99370459e-01 -2.78545959e-02 -2.19728650e-02 2.20669769e+02] [ 2.78751877e-02 9.99611212e-01 6.31357282e-04 -7.25481121e+00] [ 2.19467360e-02 -1.24345755e-03 9.99758368e-01 2.77768928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.150714057 meters Centerline goodness [0,1] 0.9871914246133582 Centerline is valid? [True, True] Translation: X:220.70, Y:-7.25, Z:2.78 [[ 9.99438221e-01 -2.55015994e-02 -2.17464933e-02 2.20699122e+02] [ 2.55212059e-02 9.99674086e-01 6.24492518e-04 -7.25378191e+00] [ 2.17234803e-02 -1.17913843e-03 9.99763322e-01 2.77848854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.180714057 meters Centerline goodness [0,1] 0.9876571272702476 Centerline is valid? [True, True] Translation: X:220.73, Y:-7.25, Z:2.78 [[ 9.99539458e-01 -2.23425898e-02 -2.05348733e-02 2.20729572e+02] [ 2.23594001e-02 9.99749824e-01 5.89361073e-04 -7.25052397e+00] [ 2.05165681e-02 -1.04823710e-03 9.99788964e-01 2.78007869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.210714057 meters Centerline goodness [0,1] 0.9877461010321466 Centerline is valid? [True, True] Translation: X:220.76, Y:-7.25, Z:2.78 [[ 9.99581797e-01 -2.14494967e-02 -1.93945706e-02 2.20759531e+02] [ 2.14643158e-02 9.99769460e-01 5.56220188e-04 -7.24643146e+00] [ 1.93781688e-02 -9.72278765e-04 9.99811753e-01 2.78184163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.240714057 meters Centerline goodness [0,1] 0.9871164526996267 Centerline is valid? [True, True] Translation: X:220.79, Y:-7.25, Z:2.78 [[ 9.99593517e-01 -2.16229614e-02 -1.85808729e-02 2.20789365e+02] [ 2.16365838e-02 9.99765760e-01 5.32400991e-04 -7.24905185e+00] [ 1.85650084e-02 -9.34211192e-04 9.99827219e-01 2.78270944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.270714057 meters Centerline goodness [0,1] 0.987726714850675 Centerline is valid? [True, True] Translation: X:220.82, Y:-7.25, Z:2.78 [[ 9.99566869e-01 -2.32810271e-02 -1.80019041e-02 2.20819892e+02] [ 2.32940818e-02 9.99728523e-01 5.15808387e-04 -7.24864856e+00] [ 1.79850085e-02 -9.34922801e-04 9.99837820e-01 2.78298179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.300714057 meters Centerline goodness [0,1] 0.9879704026510508 Centerline is valid? [True, True] Translation: X:220.85, Y:-7.25, Z:2.78 [[ 9.99530041e-01 -2.48044182e-02 -1.80121887e-02 2.20850227e+02] [ 2.48177344e-02 9.99691859e-01 5.16103071e-04 -7.25103273e+00] [ 1.79938368e-02 -9.62882240e-04 9.99837634e-01 2.78263692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.330714057 meters Centerline goodness [0,1] 0.9864874071718938 Centerline is valid? [True, True] Translation: X:220.88, Y:-7.25, Z:2.78 [[ 9.99397742e-01 -2.88751433e-02 -1.92452677e-02 2.20881024e+02] [ 2.88910986e-02 9.99582413e-01 5.51473591e-04 -7.25402117e+00] [ 1.92213072e-02 -1.10715839e-03 9.99814641e-01 2.78141067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.360714057 meters Centerline goodness [0,1] 0.9867940368950103 Centerline is valid? [True, True] Translation: X:220.91, Y:-7.26, Z:2.78 [[ 9.99320375e-01 -3.10100867e-02 -1.99289467e-02 2.20911240e+02] [ 3.10276233e-02 9.99518364e-01 5.71279011e-04 -7.25775711e+00] [ 1.99016328e-02 -1.18923861e-03 9.99801236e-01 2.78120257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.390714057 meters Centerline goodness [0,1] 0.9860085856406297 Centerline is valid? [True, True] Translation: X:220.94, Y:-7.26, Z:2.78 [[ 9.99230538e-01 -3.32772670e-02 -2.07594469e-02 2.20942010e+02] [ 3.32967911e-02 9.99445331e-01 5.95460265e-04 -7.26000457e+00] [ 2.07281170e-02 -1.28622505e-03 9.99784322e-01 2.78127787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.420714057 meters Centerline goodness [0,1] 0.9852224564266449 Centerline is valid? [True, True] Translation: X:220.97, Y:-7.26, Z:2.78 [[ 9.99056313e-01 -3.75211544e-02 -2.18780009e-02 2.20971941e+02] [ 3.75438608e-02 9.99294783e-01 6.27901122e-04 -7.26451105e+00] [ 2.18390126e-02 -1.44869320e-03 9.99760451e-01 2.78103423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45071405699997 meters Centerline goodness [0,1] 0.9842832195586602 Centerline is valid? [True, True] Translation: X:221.00, Y:-7.27, Z:2.78 [[ 9.98867392e-01 -4.20022566e-02 -2.23549320e-02 2.21001655e+02] [ 4.20270820e-02 9.99116266e-01 6.41651770e-04 -7.27009414e+00] [ 2.23082254e-02 -1.58043759e-03 9.99749891e-01 2.78092975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48071405699997 meters Centerline goodness [0,1] 0.9840518315474707 Centerline is valid? [True, True] Translation: X:221.03, Y:-7.27, Z:2.78 [[ 9.98778039e-01 -4.38494713e-02 -2.27958899e-02 2.21032920e+02] [ 4.38757666e-02 9.99036781e-01 6.54392392e-04 -7.27277113e+00] [ 2.27452377e-02 -1.65377989e-03 9.99739926e-01 2.78128905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51071405699997 meters Centerline goodness [0,1] 0.9839312830043289 Centerline is valid? [True, True] Translation: X:221.06, Y:-7.27, Z:2.78 [[ 9.98680595e-01 -4.57939338e-02 -2.32375885e-02 2.21064196e+02] [ 4.58218004e-02 9.98949406e-01 6.67878313e-04 -7.27286408e+00] [ 2.31825905e-02 -1.73178525e-03 9.99729748e-01 2.78177121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54071405699997 meters Centerline goodness [0,1] 0.9834861970812814 Centerline is valid? [True, True] Translation: X:221.09, Y:-7.27, Z:2.78 [[ 9.98506944e-01 -4.94820406e-02 -2.31389520e-02 2.21094607e+02] [ 4.95106672e-02 9.98773373e-01 6.65562058e-04 -7.27363885e+00] [ 2.30776357e-02 -1.81019329e-03 9.99732037e-01 2.78235352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57071405699998 meters Centerline goodness [0,1] 0.9832925835370823 Centerline is valid? [True, True] Translation: X:221.13, Y:-7.27, Z:2.78 [[ 9.98427863e-01 -5.11086932e-02 -2.30152782e-02 2.21125612e+02] [ 5.11374488e-02 9.98691405e-01 6.62213269e-04 -7.27259499e+00] [ 2.29513157e-02 -1.83811479e-03 9.99734894e-01 2.78324577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60071405699998 meters Centerline goodness [0,1] 0.9835880533670451 Centerline is valid? [True, True] Translation: X:221.16, Y:-7.28, Z:2.78 [[ 9.98282483e-01 -5.40958385e-02 -2.24883226e-02 2.21156327e+02] [ 5.41240527e-02 9.98534009e-01 6.47410976e-04 -7.27554665e+00] [ 2.24203327e-02 -1.86345819e-03 9.99746896e-01 2.78406637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63071405699998 meters Centerline goodness [0,1] 0.9767836919592299 Centerline is valid? [True, True] Translation: X:221.19, Y:-7.29, Z:2.78 [[ 9.98218138e-01 -5.54912632e-02 -2.19378496e-02 2.21187001e+02] [ 5.55184601e-02 9.98457461e-01 6.32155942e-04 -7.28956268e+00] [ 2.18689304e-02 -1.84898515e-03 9.99759137e-01 2.78348465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66071405699998 meters Centerline goodness [0,1] 0.9715403931859828 Centerline is valid? [True, True] Translation: X:221.22, Y:-7.29, Z:2.78 [[ 9.98177478e-01 -5.63067340e-02 -2.17088560e-02 2.21218624e+02] [ 5.63335816e-02 9.98411806e-01 6.26673911e-04 -7.29270966e+00] [ 2.16390922e-02 -1.84846939e-03 9.99764139e-01 2.78410431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69071405699998 meters Centerline goodness [0,1] 0.9802004786201292 Centerline is valid? [True, True] Translation: X:221.25, Y:-7.28, Z:2.79 [[ 9.98121829e-01 -5.75264608e-02 -2.10599103e-02 2.21251199e+02] [ 5.75520208e-02 9.98342323e-01 6.09107952e-04 -7.28426588e+00] [ 2.09899600e-02 -1.82000434e-03 9.99778030e-01 2.78607832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72071405699998 meters Centerline goodness [0,1] 0.9794497321004679 Centerline is valid? [True, True] Translation: X:221.28, Y:-7.29, Z:2.79 [[ 9.98035604e-01 -5.91686991e-02 -2.05912337e-02 2.21281874e+02] [ 5.91935028e-02 9.98246349e-01 5.96637810e-04 -7.28602534e+00] [ 2.05198216e-02 -1.81433303e-03 9.99787800e-01 2.78714368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75071405699998 meters Centerline goodness [0,1] 0.9809910825149566 Centerline is valid? [True, True] Translation: X:221.31, Y:-7.28, Z:2.79 [[ 9.97993294e-01 -5.98594589e-02 -2.06453226e-02 2.21314278e+02] [ 5.98845544e-02 9.98205130e-01 5.98912945e-04 -7.28361789e+00] [ 2.05724163e-02 -1.83404705e-03 9.99786683e-01 2.78779134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78071405699998 meters Centerline goodness [0,1] 0.9808875418438433 Centerline is valid? [True, True] Translation: X:221.35, Y:-7.29, Z:2.79 [[ 9.97916828e-01 -6.09953090e-02 -2.10137043e-02 2.21346730e+02] [ 6.10215899e-02 9.98136259e-01 6.11115681e-04 -7.28604089e+00] [ 2.09372650e-02 -1.89213227e-03 9.99779001e-01 2.78780651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81071405699998 meters Centerline goodness [0,1] 0.980500634863051 Centerline is valid? [True, True] Translation: X:221.38, Y:-7.29, Z:2.79 [[ 9.97728987e-01 -6.32182120e-02 -2.32449256e-02 2.21378010e+02] [ 6.32509997e-02 9.97997421e-01 6.77281395e-04 -7.28598743e+00] [ 2.31555592e-02 -2.14600806e-03 9.99729571e-01 2.78650395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84071405699999 meters Centerline goodness [0,1] 0.9806227903181942 Centerline is valid? [True, True] Translation: X:221.41, Y:-7.29, Z:2.79 [[ 9.97676434e-01 -6.37501460e-02 -2.40343977e-02 2.21410178e+02] [ 6.37853756e-02 9.97963393e-01 7.01248685e-04 -7.28885854e+00] [ 2.39407443e-02 -2.23266237e-03 9.99710886e-01 2.78586835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.870714057 meters Centerline goodness [0,1] 0.9803251222604601 Centerline is valid? [True, True] Translation: X:221.44, Y:-7.29, Z:2.78 [[ 9.97590360e-01 -6.45941060e-02 -2.53194736e-02 2.21442009e+02] [ 6.46335168e-02 9.97908794e-01 7.40411155e-04 -7.29076280e+00] [ 2.52186992e-02 -2.37511365e-03 9.99679137e-01 2.78479434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.900714057 meters Centerline goodness [0,1] 0.9812973807254074 Centerline is valid? [True, True] Translation: X:221.48, Y:-7.29, Z:2.79 [[ 9.97595387e-01 -6.44398148e-02 -2.55137942e-02 2.21475595e+02] [ 6.44798341e-02 9.97918730e-01 7.48099416e-04 -7.28992865e+00] [ 2.54124857e-02 -2.39142574e-03 9.99674190e-01 2.78515283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.930714057 meters Centerline goodness [0,1] 0.9808904202747427 Centerline is valid? [True, True] Translation: X:221.51, Y:-7.29, Z:2.79 [[ 9.97627283e-01 -6.39808056e-02 -2.54216633e-02 2.21507755e+02] [ 6.40204481e-02 9.97948307e-01 7.47751733e-04 -7.29029314e+00] [ 2.53216641e-02 -2.37348381e-03 9.99676538e-01 2.78558641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.960714057 meters Centerline goodness [0,1] 0.9816696462920637 Centerline is valid? [True, True] Translation: X:221.54, Y:-7.29, Z:2.79 [[ 9.97749320e-01 -6.21977768e-02 -2.50545731e-02 2.21538966e+02] [ 6.22357550e-02 9.98061203e-01 7.38158831e-04 -7.29024282e+00] [ 2.49600855e-02 -2.29578774e-03 9.99685812e-01 2.78678551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.990714057 meters Centerline goodness [0,1] 0.9809828188041162 Centerline is valid? [True, True] Translation: X:221.57, Y:-7.29, Z:2.79 [[ 9.97828074e-01 -6.08335132e-02 -2.52669328e-02 2.21569710e+02] [ 6.08717209e-02 9.98145319e-01 7.45066650e-04 -7.29111758e+00] [ 2.51747457e-02 -2.28149010e-03 9.99680462e-01 2.78758462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.020714057 meters Centerline goodness [0,1] 0.981608726217203 Centerline is valid? [True, True] Translation: X:221.60, Y:-7.29, Z:2.79 [[ 9.98071729e-01 -5.70799347e-02 -2.43865508e-02 2.21600436e+02] [ 5.71144270e-02 9.98367379e-01 7.19662826e-04 -7.28897971e+00] [ 2.43056585e-02 -2.11109900e-03 9.99702345e-01 2.78913351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.050714057 meters Centerline goodness [0,1] 0.9819611575679289 Centerline is valid? [True, True] Translation: X:221.63, Y:-7.29, Z:2.79 [[ 9.98193805e-01 -5.51438208e-02 -2.38387746e-02 2.21630105e+02] [ 5.51762345e-02 9.98476383e-01 7.03589934e-04 -7.28945800e+00] [ 2.37636548e-02 -2.01765293e-03 9.99715568e-01 2.78979579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.080714057 meters Centerline goodness [0,1] 0.9841726944967234 Centerline is valid? [True, True] Translation: X:221.66, Y:-7.28, Z:2.79 [[ 9.98428513e-01 -5.13181097e-02 -2.25156772e-02 2.21660675e+02] [ 5.13460578e-02 9.98680700e-01 6.64535038e-04 -7.28458978e+00] [ 2.24518696e-02 -1.81958199e-03 9.99746269e-01 2.79178610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.110714057 meters Centerline goodness [0,1] 0.9859710355143576 Centerline is valid? [True, True] Translation: X:221.69, Y:-7.28, Z:2.79 [[ 9.98525753e-01 -4.96005221e-02 -2.20478852e-02 2.21692019e+02] [ 4.96269107e-02 9.98767614e-01 6.51005444e-04 -7.28215214e+00] [ 2.19884235e-02 -1.74421413e-03 9.99756704e-01 2.79285625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.140714057 meters Centerline goodness [0,1] 0.9851959164271 Centerline is valid? [True, True] Translation: X:221.72, Y:-7.28, Z:2.79 [[ 9.98681222e-01 -4.65374891e-02 -2.16813106e-02 2.21722605e+02] [ 4.65623047e-02 9.98915182e-01 6.40872133e-04 -7.28144909e+00] [ 2.16279657e-02 -1.64955875e-03 9.99764727e-01 2.79362843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.170714057 meters Centerline goodness [0,1] 0.9850340752145267 Centerline is valid? [True, True] Translation: X:221.75, Y:-7.28, Z:2.79 [[ 9.98737574e-01 -4.53032386e-02 -2.16996284e-02 2.21752566e+02] [ 4.53278310e-02 9.98971959e-01 6.42545605e-04 -7.28358184e+00] [ 2.16482109e-02 -1.62533153e-03 9.99764329e-01 2.79381719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20071405699997 meters Centerline goodness [0,1] 0.9857479494267458 Centerline is valid? [True, True] Translation: X:221.78, Y:-7.28, Z:2.79 [[ 9.98798978e-01 -4.38442213e-02 -2.18697330e-02 2.21783655e+02] [ 4.38688915e-02 9.99037086e-01 6.49341375e-04 -7.28178762e+00] [ 2.18202044e-02 -1.60796244e-03 9.99760618e-01 2.79435998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23071405699997 meters Centerline goodness [0,1] 0.9860428231562253 Centerline is valid? [True, True] Translation: X:221.81, Y:-7.28, Z:2.79 [[ 9.98910281e-01 -4.09223268e-02 -2.24413477e-02 2.21813761e+02] [ 4.09475821e-02 9.99161074e-01 6.66838771e-04 -7.28254472e+00] [ 2.23952325e-02 -1.58503103e-03 9.99747939e-01 2.79410819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26071405699997 meters Centerline goodness [0,1] 0.9862631757905475 Centerline is valid? [True, True] Translation: X:221.85, Y:-7.28, Z:2.79 [[ 9.98985783e-01 -3.88981919e-02 -2.26789975e-02 2.21845375e+02] [ 3.89234730e-02 9.99241967e-01 6.74206444e-04 -7.27982536e+00] [ 2.26355807e-02 -1.55626800e-03 9.99742571e-01 2.79436048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29071405699997 meters Centerline goodness [0,1] 0.9860881011279304 Centerline is valid? [True, True] Translation: X:221.87, Y:-7.28, Z:2.79 [[ 9.99135797e-01 -3.47096060e-02 -2.28670748e-02 2.21874929e+02] [ 3.47342248e-02 9.99396353e-01 6.80178219e-04 -7.27875510e+00] [ 2.28296625e-02 -1.47386052e-03 9.99738283e-01 2.79480791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32071405699998 meters Centerline goodness [0,1] 0.9858666847863016 Centerline is valid? [True, True] Translation: X:221.91, Y:-7.28, Z:2.80 [[ 9.99218966e-01 -3.24334767e-02 -2.25727091e-02 2.21905248e+02] [ 3.24568822e-02 9.99472911e-01 6.71205521e-04 -7.27779255e+00] [ 2.25390418e-02 -1.40332105e-03 9.99744979e-01 2.79563034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35071405699998 meters Centerline goodness [0,1] 0.985825591168253 Centerline is valid? [True, True] Translation: X:221.94, Y:-7.28, Z:2.80 [[ 9.99280110e-01 -3.03947398e-02 -2.27029161e-02 2.21935816e+02] [ 3.04178955e-02 9.99537041e-01 6.75228922e-04 -7.27816119e+00] [ 2.26718822e-02 -1.36531776e-03 9.99742028e-01 2.79642147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38071405699998 meters Centerline goodness [0,1] 0.9873535767087456 Centerline is valid? [True, True] Translation: X:221.97, Y:-7.28, Z:2.80 [[ 9.99396684e-01 -2.64816320e-02 -2.24719956e-02 2.21966420e+02] [ 2.65033396e-02 9.99648501e-01 6.68654076e-04 -7.27636130e+00] [ 2.24463896e-02 -1.26383360e-03 9.99747249e-01 2.79658385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41071405699998 meters Centerline goodness [0,1] 0.9877191785494985 Centerline is valid? [True, True] Translation: X:222.00, Y:-7.28, Z:2.80 [[ 9.99418565e-01 -2.53334062e-02 -2.28199522e-02 2.21996727e+02] [ 2.53554949e-02 9.99678267e-01 6.79082699e-04 -7.27663614e+00] [ 2.27954068e-02 -1.25729904e-03 9.99739360e-01 2.79695023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44071405699998 meters Centerline goodness [0,1] 0.9872848644475728 Centerline is valid? [True, True] Translation: X:222.03, Y:-7.28, Z:2.80 [[ 9.99440448e-01 -2.38640008e-02 -2.34371625e-02 2.22026949e+02] [ 2.38868943e-02 9.99714424e-01 6.97290831e-04 -7.27688786e+00] [ 2.34138292e-02 -1.25674168e-03 9.99725069e-01 2.79689689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47071405699998 meters Centerline goodness [0,1] 0.986796876778438 Centerline is valid? [True, True] Translation: X:222.06, Y:-7.28, Z:2.80 [[ 9.99416047e-01 -2.42211578e-02 -2.41018932e-02 2.22055848e+02] [ 2.42454540e-02 9.99705779e-01 7.16309157e-04 -7.28044824e+00] [ 2.40774521e-02 -1.30025221e-03 9.99709251e-01 2.79640427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50071405699998 meters Centerline goodness [0,1] 0.9866262644673289 Centerline is valid? [True, True] Translation: X:222.08, Y:-7.28, Z:2.80 [[ 9.99390469e-01 -2.50841261e-02 -2.42791502e-02 2.22084219e+02] [ 2.51089584e-02 9.99684462e-01 7.18415598e-04 -7.27940606e+00] [ 2.42534684e-02 -1.32760187e-03 9.99704960e-01 2.79703044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53071405699998 meters Centerline goodness [0,1] 0.9865511739229542 Centerline is valid? [True, True] Translation: X:222.11, Y:-7.28, Z:2.80 [[ 9.99337112e-01 -2.70602682e-02 -2.43532218e-02 2.22112530e+02] [ 2.70857411e-02 9.99632857e-01 7.16662532e-04 -7.28467949e+00] [ 2.43248876e-02 -1.37581253e-03 9.99703159e-01 2.79690342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56071405699998 meters Centerline goodness [0,1] 0.9858670131527958 Centerline is valid? [True, True] Translation: X:222.14, Y:-7.29, Z:2.80 [[ 9.99290617e-01 -2.85406739e-02 -2.45701522e-02 2.22142446e+02] [ 2.85670221e-02 9.99591619e-01 7.21963927e-04 -7.28741502e+00] [ 2.45395129e-02 -1.42334786e-03 9.99697848e-01 2.79746730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59071405699999 meters Centerline goodness [0,1] 0.9851489631440732 Centerline is valid? [True, True] Translation: X:222.17, Y:-7.29, Z:2.80 [[ 9.99213355e-01 -3.12641465e-02 -2.43972151e-02 2.22171794e+02] [ 3.12909181e-02 9.99510063e-01 7.16236906e-04 -7.29350843e+00] [ 2.43628695e-02 -1.47908474e-03 9.99702087e-01 2.79820089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.620714057 meters Centerline goodness [0,1] 0.9839941631136141 Centerline is valid? [True, True] Translation: X:222.20, Y:-7.30, Z:2.80 [[ 9.99134798e-01 -3.33228092e-02 -2.48846651e-02 2.22202350e+02] [ 3.33512915e-02 9.99443424e-01 7.30305192e-04 -7.29614391e+00] [ 2.48464791e-02 -1.55960905e-03 9.99690062e-01 2.79856074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.650714057 meters Centerline goodness [0,1] 0.9831307198470154 Centerline is valid? [True, True] Translation: X:222.23, Y:-7.30, Z:2.80 [[ 9.99087319e-01 -3.45836900e-02 -2.50698330e-02 2.22232992e+02] [ 3.46129933e-02 9.99400520e-01 7.35739424e-04 -7.29851905e+00] [ 2.50293595e-02 -1.60280989e-03 9.99685432e-01 2.79935085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.680714057 meters Centerline goodness [0,1] 0.9831307198470154 Centerline is valid? [True, True] Translation: X:222.26, Y:-7.30, Z:2.80 [[ 9.99087319e-01 -3.45836900e-02 -2.50698330e-02 2.22263040e+02] [ 3.46129933e-02 9.99400520e-01 7.35739424e-04 -7.29940087e+00] [ 2.50293595e-02 -1.60280989e-03 9.99685432e-01 2.79977745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.710714057 meters Centerline goodness [0,1] 0.9838096322441079 Centerline is valid? [True, True] Translation: X:222.29, Y:-7.30, Z:2.80 [[ 9.99040474e-01 -3.67911067e-02 -2.37601583e-02 2.22294609e+02] [ 3.68180567e-02 9.99321742e-01 6.97635400e-04 -7.29625755e+00] [ 2.37183760e-02 -1.57176886e-03 9.99717444e-01 2.80304395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.740714057 meters Centerline goodness [0,1] 0.9828138852895042 Centerline is valid? [True, True] Translation: X:222.33, Y:-7.30, Z:2.80 [[ 9.99034196e-01 -3.72868508e-02 -2.32457834e-02 2.22326214e+02] [ 3.73127982e-02 9.99303401e-01 6.83325880e-04 -7.29846065e+00] [ 2.32041113e-02 -1.55003114e-03 9.99729547e-01 2.80395403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.770714057 meters Centerline goodness [0,1] 0.981937639701068 Centerline is valid? [True, True] Translation: X:222.36, Y:-7.30, Z:2.80 [[ 9.99008310e-01 -3.82378193e-02 -2.28093360e-02 2.22357871e+02] [ 3.82630655e-02 9.99267475e-01 6.71272241e-04 -7.30157993e+00] [ 2.27669596e-02 -1.54336167e-03 9.99739608e-01 2.80473896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.800714057 meters Centerline goodness [0,1] 0.9821812665564789 Centerline is valid? [True, True] Translation: X:222.39, Y:-7.30, Z:2.81 [[ 9.98969108e-01 -3.89065795e-02 -2.33880246e-02 2.22389270e+02] [ 3.89333252e-02 9.99241573e-01 6.89129288e-04 -7.29884461e+00] [ 2.33434748e-02 -1.59899244e-03 9.99726225e-01 2.80524874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.830714057 meters Centerline goodness [0,1] 0.9824191279887482 Centerline is valid? [True, True] Translation: X:222.42, Y:-7.30, Z:2.81 [[ 9.98903860e-01 -3.97672492e-02 -2.46909578e-02 2.22420759e+02] [ 3.97973432e-02 9.99207506e-01 7.28437048e-04 -7.29746376e+00] [ 2.46424224e-02 -1.71027310e-03 9.99694866e-01 2.80566866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.860714057 meters Centerline goodness [0,1] 0.9818589482266612 Centerline is valid? [True, True] Translation: X:222.45, Y:-7.30, Z:2.81 [[ 9.98869302e-01 -3.98446429e-02 -2.59330381e-02 2.22453040e+02] [ 3.98779043e-02 9.99204266e-01 7.66484404e-04 -7.29928688e+00] [ 2.58818620e-02 -1.79977296e-03 9.99663388e-01 2.80524044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.890714057 meters Centerline goodness [0,1] 0.9824772453866581 Centerline is valid? [True, True] Translation: X:222.48, Y:-7.31, Z:2.80 [[ 9.98844824e-01 -3.97672574e-02 -2.69737391e-02 2.22483565e+02] [ 3.98032567e-02 9.99207217e-01 7.98787590e-04 -7.30519744e+00] [ 2.69205892e-02 -1.87150751e-03 9.99635823e-01 2.80443315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.920714057 meters Centerline goodness [0,1] 0.9818758495695514 Centerline is valid? [True, True] Translation: X:222.52, Y:-7.31, Z:2.80 [[ 9.98795809e-01 -3.97735328e-02 -2.87227760e-02 2.22515111e+02] [ 3.98143875e-02 9.99206730e-01 8.51648668e-04 -7.30530362e+00] [ 2.86661180e-02 -1.99420286e-03 9.99587053e-01 2.80402290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95071405699997 meters Centerline goodness [0,1] 0.980865356343157 Centerline is valid? [True, True] Translation: X:222.55, Y:-7.31, Z:2.80 [[ 9.98753519e-01 -3.99600371e-02 -2.99099190e-02 2.22545068e+02] [ 4.00044476e-02 9.99199107e-01 8.87648987e-04 -7.30845423e+00] [ 2.98504939e-02 -2.08307234e-03 9.99552204e-01 2.80348708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98071405699997 meters Centerline goodness [0,1] 0.9816755114074477 Centerline is valid? [True, True] Translation: X:222.58, Y:-7.31, Z:2.80 [[ 9.98702893e-01 -3.99727657e-02 -3.15390305e-02 2.22575798e+02] [ 4.00221634e-02 9.99198354e-01 9.36260098e-04 -7.30656512e+00] [ 3.14763224e-02 -2.19730590e-03 9.99502083e-01 2.80444610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01071405699997 meters Centerline goodness [0,1] 0.9782314459733814 Centerline is valid? [True, True] Translation: X:222.60, Y:-7.32, Z:2.80 [[ 9.98728309e-01 -3.96517054e-02 -3.11369235e-02 2.22604780e+02] [ 3.96996863e-02 9.99211229e-01 9.24025474e-04 -7.31949356e+00] [ 3.10757244e-02 -2.15897649e-03 9.99514701e-01 2.80213145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04071405699997 meters Centerline goodness [0,1] 0.981655328798186 Centerline is valid? [True, True] Translation: X:222.64, Y:-7.31, Z:2.81 [[ 9.98729302e-01 -3.96980214e-02 -3.10459105e-02 2.22635164e+02] [ 3.97457367e-02 9.99209401e-01 9.21076218e-04 -7.30767743e+00] [ 3.09848008e-02 -2.15384840e-03 9.99517535e-01 2.80623518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07071405699998 meters Centerline goodness [0,1] 0.9816025887624177 Centerline is valid? [True, True] Translation: X:222.66, Y:-7.31, Z:2.81 [[ 9.98749298e-01 -3.93658068e-02 -3.08248684e-02 2.22664438e+02] [ 3.94126782e-02 9.99222600e-01 9.14226399e-04 -7.31047373e+00] [ 3.07649159e-02 -2.12797360e-03 9.99524383e-01 2.80622028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10071405699998 meters Centerline goodness [0,1] 0.9807963274396618 Centerline is valid? [True, True] Translation: X:222.69, Y:-7.32, Z:2.80 [[ 9.98741834e-01 -3.92327564e-02 -3.12336402e-02 2.22694132e+02] [ 3.92807982e-02 9.99227783e-01 9.25803705e-04 -7.31661688e+00] [ 3.11731992e-02 -2.15152121e-03 9.99511682e-01 2.80490431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13071405699998 meters Centerline goodness [0,1] 0.9796701799018717 Centerline is valid? [True, True] Translation: X:222.72, Y:-7.32, Z:2.81 [[ 9.98747062e-01 -3.91393344e-02 -3.11836320e-02 2.22723523e+02] [ 3.91871607e-02 9.99231461e-01 9.23795903e-04 -7.31862744e+00] [ 3.11235094e-02 -2.14463644e-03 9.99513245e-01 2.80531176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16071405699998 meters Centerline goodness [0,1] 0.9830924461412599 Centerline is valid? [True, True] Translation: X:222.75, Y:-7.31, Z:2.81 [[ 9.98741539e-01 -3.91769837e-02 -3.13129613e-02 2.22754047e+02] [ 3.92252188e-02 9.99229965e-01 9.27391746e-04 -7.30953005e+00] [ 3.12525168e-02 -2.15448242e-03 9.99509199e-01 2.80835662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19071405699998 meters Centerline goodness [0,1] 0.9826878134004946 Centerline is valid? [True, True] Translation: X:222.78, Y:-7.31, Z:2.81 [[ 9.98716202e-01 -3.93088783e-02 -3.19493298e-02 2.22784316e+02] [ 3.93591622e-02 9.99224680e-01 9.46238985e-04 -7.30736011e+00] [ 3.18873633e-02 -2.20252306e-03 9.99489042e-01 2.81005140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22071405699998 meters Centerline goodness [0,1] 0.9825419948103974 Centerline is valid? [True, True] Translation: X:222.82, Y:-7.31, Z:2.81 [[ 9.98717213e-01 -3.94006277e-02 -3.18043743e-02 2.22815219e+02] [ 3.94505024e-02 9.99221082e-01 9.41945858e-04 -7.30828444e+00] [ 3.17424881e-02 -2.19543609e-03 9.99493669e-01 2.81050549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25071405699998 meters Centerline goodness [0,1] 0.9833435729401324 Centerline is valid? [True, True] Translation: X:222.85, Y:-7.31, Z:2.81 [[ 9.98701676e-01 -3.94539255e-02 -3.22234287e-02 2.22845154e+02] [ 3.95051521e-02 9.99218911e-01 9.54374127e-04 -7.30959609e+00] [ 3.21606055e-02 -2.22612649e-03 9.99480235e-01 2.81121004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28071405699998 meters Centerline goodness [0,1] 0.9831041794924413 Centerline is valid? [True, True] Translation: X:222.87, Y:-7.31, Z:2.81 [[ 9.98692460e-01 -3.96811625e-02 -3.22300336e-02 2.22874434e+02] [ 3.97325079e-02 9.99209897e-01 9.53949113e-04 -7.31049947e+00] [ 3.21667148e-02 -2.23328185e-03 9.99480022e-01 2.81221507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31071405699998 meters Centerline goodness [0,1] 0.9835987152326933 Centerline is valid? [True, True] Translation: X:222.90, Y:-7.31, Z:2.81 [[ 9.98691473e-01 -3.97091087e-02 -3.22262116e-02 2.22904819e+02] [ 3.97604404e-02 9.99208786e-01 9.53337763e-04 -7.31113681e+00] [ 3.21628576e-02 -2.23341866e-03 9.99480146e-01 2.81311640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34071405699999 meters Centerline goodness [0,1] 0.9834757834757835 Centerline is valid? [True, True] Translation: X:222.93, Y:-7.31, Z:2.81 [[ 9.98739783e-01 -3.83853556e-02 -3.23327956e-02 2.22934347e+02] [ 3.84363272e-02 9.99260594e-01 9.56175858e-04 -7.31060531e+00] [ 3.22721854e-02 -2.19772478e-03 9.99476701e-01 2.81441332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.370714057 meters Centerline goodness [0,1] 0.9831973006246865 Centerline is valid? [True, True] Translation: X:222.96, Y:-7.31, Z:2.81 [[ 9.98781946e-01 -3.72486946e-02 -3.23598318e-02 2.22964106e+02] [ 3.72991296e-02 9.99303688e-01 9.56106593e-04 -7.31010749e+00] [ 3.23016855e-02 -2.16193556e-03 9.99475826e-01 2.81469830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.400714057 meters Centerline goodness [0,1] 0.9831969274381601 Centerline is valid? [True, True] Translation: X:222.99, Y:-7.31, Z:2.81 [[ 9.98860419e-01 -3.48152627e-02 -3.26459845e-02 2.22992877e+02] [ 3.48652538e-02 9.99391558e-01 9.63131269e-04 -7.30845834e+00] [ 3.25925896e-02 -2.10024424e-03 9.99466514e-01 2.81495818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.430714057 meters Centerline goodness [0,1] 0.982687155059885 Centerline is valid? [True, True] Translation: X:223.02, Y:-7.31, Z:2.82 [[ 9.98904610e-01 -3.35571234e-02 -3.26113270e-02 2.23021586e+02] [ 3.36062769e-02 9.99434688e-01 9.60149374e-04 -7.30862919e+00] [ 3.25606716e-02 -2.05504292e-03 9.99467648e-01 2.81526793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.460714057 meters Centerline goodness [0,1] 0.9827854592070323 Centerline is valid? [True, True] Translation: X:223.05, Y:-7.31, Z:2.82 [[ 9.98931018e-01 -3.28014685e-02 -3.25712365e-02 2.23049587e+02] [ 3.28500201e-02 9.99459835e-01 9.56480849e-04 -7.30826991e+00] [ 3.25222687e-02 -2.02542416e-03 9.99468959e-01 2.81549010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.490714057 meters Centerline goodness [0,1] 0.9834226428001368 Centerline is valid? [True, True] Translation: X:223.08, Y:-7.31, Z:2.82 [[ 9.98987667e-01 -3.14132382e-02 -3.22001577e-02 2.23078942e+02] [ 3.14598085e-02 9.99504575e-01 9.40536482e-04 -7.30631780e+00] [ 3.21546597e-02 -1.95259514e-03 9.99480998e-01 2.81616923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.520714057 meters Centerline goodness [0,1] 0.98423624974186 Centerline is valid? [True, True] Translation: X:223.11, Y:-7.31, Z:2.82 [[ 9.98971429e-01 -3.14462132e-02 -3.26683250e-02 2.23107360e+02] [ 3.14939153e-02 9.99503495e-01 9.46531163e-04 -7.30578896e+00] [ 3.26223402e-02 -1.97441105e-03 9.99465800e-01 2.81648695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.550714057 meters Centerline goodness [0,1] 0.9828077594925071 Centerline is valid? [True, True] Translation: X:223.13, Y:-7.31, Z:2.82 [[ 9.98910124e-01 -3.25460383e-02 -3.34562309e-02 2.23134848e+02] [ 3.25965020e-02 9.99468128e-01 9.63884068e-04 -7.30576862e+00] [ 3.34070658e-02 -2.05338965e-03 9.99439719e-01 2.81583209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.580714057 meters Centerline goodness [0,1] 0.9829351535836177 Centerline is valid? [True, True] Translation: X:223.16, Y:-7.31, Z:2.82 [[ 9.98866916e-01 -3.34167463e-02 -3.38851729e-02 2.23163351e+02] [ 3.34688131e-02 9.99439291e-01 9.70361253e-04 -7.30693533e+00] [ 3.38337469e-02 -2.10335827e-03 9.99425262e-01 2.81575696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.610714057 meters Centerline goodness [0,1] 0.9832043433059952 Centerline is valid? [True, True] Translation: X:223.19, Y:-7.30, Z:2.82 [[ 9.98784491e-01 -3.57095004e-02 -3.39760578e-02 2.23193230e+02] [ 3.57630341e-02 9.99359828e-01 9.69024836e-04 -7.29731347e+00] [ 3.39197039e-02 -2.18293389e-03 9.99422177e-01 2.81896455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.640714057 meters Centerline goodness [0,1] 0.9811381738427797 Centerline is valid? [True, True] Translation: X:223.22, Y:-7.31, Z:2.82 [[ 9.98742994e-01 -3.69307612e-02 -3.38902756e-02 2.23220432e+02] [ 3.69846487e-02 9.99315369e-01 9.64332371e-04 -7.31085353e+00] [ 3.38314597e-02 -2.21654013e-03 9.99425094e-01 2.81551282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.670714057 meters Centerline goodness [0,1] 0.9827586206896551 Centerline is valid? [True, True] Translation: X:223.25, Y:-7.30, Z:2.82 [[ 9.98701248e-01 -3.81743032e-02 -3.37422411e-02 2.23250031e+02] [ 3.82283619e-02 9.99268570e-01 9.58188578e-04 -7.30057271e+00] [ 3.36809828e-02 -2.24685473e-03 9.99430109e-01 2.81884715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70071405699997 meters Centerline goodness [0,1] 0.9824719829582291 Centerline is valid? [True, True] Translation: X:223.28, Y:-7.30, Z:2.82 [[ 9.98626894e-01 -4.03019991e-02 -3.34675191e-02 2.23279942e+02] [ 4.03563419e-02 9.99184900e-01 9.49561032e-04 -7.30181914e+00] [ 3.34019705e-02 -2.29888383e-03 9.99439355e-01 2.81893958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73071405699997 meters Centerline goodness [0,1] 0.9816503146982599 Centerline is valid? [True, True] Translation: X:223.31, Y:-7.30, Z:2.82 [[ 9.98585901e-01 -4.16195622e-02 -3.30758125e-02 2.23310666e+02] [ 4.16733505e-02 9.99130848e-01 9.38203447e-04 -7.30009746e+00] [ 3.30080170e-02 -2.31525666e-03 9.99452405e-01 2.82023144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76071405699997 meters Centerline goodness [0,1] 0.9798148534836779 Centerline is valid? [True, True] Translation: X:223.34, Y:-7.30, Z:2.82 [[ 9.98494017e-01 -4.40453852e-02 -3.27062876e-02 2.23340186e+02] [ 4.40992719e-02 9.99026723e-01 9.27721784e-04 -7.30448871e+00] [ 3.26335935e-02 -2.36864812e-03 9.99464576e-01 2.82017878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79071405699997 meters Centerline goodness [0,1] 0.9806206960729574 Centerline is valid? [True, True] Translation: X:223.37, Y:-7.31, Z:2.82 [[ 9.98446780e-01 -4.54968322e-02 -3.21568978e-02 2.23371599e+02] [ 4.55496918e-02 9.98961657e-01 9.12780428e-04 -7.30646391e+00] [ 3.20819793e-02 -2.37609946e-03 9.99482416e-01 2.82133951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82071405699998 meters Centerline goodness [0,1] 0.9780342777194824 Centerline is valid? [True, True] Translation: X:223.40, Y:-7.31, Z:2.82 [[ 9.98329040e-01 -4.84201819e-02 -3.15374964e-02 2.23401352e+02] [ 4.84725037e-02 9.98824115e-01 8.96164727e-04 -7.31139215e+00] [ 3.14570195e-02 -2.42336868e-03 9.99502168e-01 2.82180810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85071405699998 meters Centerline goodness [0,1] 0.9770045244647605 Centerline is valid? [True, True] Translation: X:223.43, Y:-7.31, Z:2.82 [[ 9.98274662e-01 -4.95648737e-02 -3.14805157e-02 2.23431887e+02] [ 4.96176037e-02 9.98767887e-01 8.95549488e-04 -7.31349138e+00] [ 3.13973403e-02 -2.45599211e-03 9.99503965e-01 2.82234268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88071405699998 meters Centerline goodness [0,1] 0.9792461218091205 Centerline is valid? [True, True] Translation: X:223.46, Y:-7.31, Z:2.82 [[ 9.98216265e-01 -5.12069431e-02 -3.06942553e-02 2.23463035e+02] [ 5.12578663e-02 9.98685069e-01 8.73986795e-04 -7.30855416e+00] [ 3.06091403e-02 -2.44574987e-03 9.99528438e-01 2.82439359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91071405699998 meters Centerline goodness [0,1] 0.9775629077353215 Centerline is valid? [True, True] Translation: X:223.49, Y:-7.31, Z:2.82 [[ 9.98223660e-01 -5.16917424e-02 -2.96224422e-02 2.23494166e+02] [ 5.17394146e-02 9.98660262e-01 8.44586691e-04 -7.31402895e+00] [ 2.95390978e-02 -2.37573424e-03 9.99560802e-01 2.82424806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94071405699998 meters Centerline goodness [0,1] 0.9783054959410282 Centerline is valid? [True, True] Translation: X:223.53, Y:-7.31, Z:2.83 [[ 9.98228753e-01 -5.17268866e-02 -2.93885163e-02 2.23526271e+02] [ 5.17738801e-02 9.98658480e-01 8.39845605e-04 -7.31233084e+00] [ 2.93056484e-02 -2.35991555e-03 9.99567711e-01 2.82539824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97071405699998 meters Centerline goodness [0,1] 0.9709218203033839 Centerline is valid? [True, True] Translation: X:223.56, Y:-7.32, Z:2.82 [[ 9.98279659e-01 -5.08938390e-02 -2.91125375e-02 2.23556932e+02] [ 5.09396953e-02 9.98701382e-01 8.35184535e-04 -7.32247893e+00] [ 2.90322257e-02 -2.31673152e-03 9.99575791e-01 2.82293505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00071405699998 meters Centerline goodness [0,1] 0.9710961048671636 Centerline is valid? [True, True] Translation: X:223.59, Y:-7.32, Z:2.82 [[ 9.98327854e-01 -4.96708390e-02 -2.95686379e-02 2.23587916e+02] [ 4.97176890e-02 9.98762949e-01 8.50907523e-04 -7.32184327e+00] [ 2.94897947e-02 -2.31956903e-03 9.99562390e-01 2.82310649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03071405699998 meters Centerline goodness [0,1] 0.9798137733075074 Centerline is valid? [True, True] Translation: X:223.62, Y:-7.31, Z:2.83 [[ 9.98330193e-01 -4.94940036e-02 -2.97853826e-02 2.23620061e+02] [ 4.95415153e-02 9.98771696e-01 8.58833282e-04 -7.31142468e+00] [ 2.97062900e-02 -2.33301218e-03 9.99555948e-01 2.82522123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06071405699998 meters Centerline goodness [0,1] 0.9789622948533172 Centerline is valid? [True, True] Translation: X:223.65, Y:-7.31, Z:2.82 [[ 9.98389775e-01 -4.85948162e-02 -2.92643134e-02 2.23651594e+02] [ 4.86403597e-02 9.98815999e-01 8.46008903e-04 -7.31456843e+00] [ 2.91885528e-02 -2.26807337e-03 9.99571350e-01 2.82489090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09071405699999 meters Centerline goodness [0,1] 0.9811536131948003 Centerline is valid? [True, True] Translation: X:223.68, Y:-7.31, Z:2.83 [[ 9.98406800e-01 -4.86034895e-02 -2.86629210e-02 2.23683798e+02] [ 4.86472425e-02 9.98815677e-01 8.30708669e-04 -7.30996235e+00] [ 2.85885995e-02 -2.22375725e-03 9.99588789e-01 2.82560423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.120714057 meters Centerline goodness [0,1] 0.9798052566754201 Centerline is valid? [True, True] Translation: X:223.72, Y:-7.31, Z:2.83 [[ 9.98376485e-01 -4.88503282e-02 -2.92923044e-02 2.23715858e+02] [ 4.88961920e-02 9.98803503e-01 8.51055034e-04 -7.31242444e+00] [ 2.92156819e-02 -2.28195547e-03 9.99570526e-01 2.82573554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.150714057 meters Centerline goodness [0,1] 0.9798087387408247 Centerline is valid? [True, True] Translation: X:223.75, Y:-7.32, Z:2.82 [[ 9.98337046e-01 -4.96157873e-02 -2.93498934e-02 2.23747028e+02] [ 4.96622354e-02 9.98765704e-01 8.55290794e-04 -7.31824887e+00] [ 2.92712310e-02 -2.31144980e-03 9.99568833e-01 2.82456936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.180714057 meters Centerline goodness [0,1] 0.9797949266432607 Centerline is valid? [True, True] Translation: X:223.78, Y:-7.32, Z:2.82 [[ 9.98305193e-01 -5.03320415e-02 -2.92134658e-02 2.23778839e+02] [ 5.03784504e-02 9.98729834e-01 8.54305571e-04 -7.31921134e+00] [ 2.91333609e-02 -2.32458683e-03 9.99572831e-01 2.82492504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.210714057 meters Centerline goodness [0,1] 0.9787288332173509 Centerline is valid? [True, True] Translation: X:223.81, Y:-7.32, Z:2.83 [[ 9.98276428e-01 -5.10285338e-02 -2.89872823e-02 2.23810734e+02] [ 5.10745900e-02 9.98694480e-01 8.50176224e-04 -7.32178344e+00] [ 2.89060556e-02 -2.32922444e-03 9.99579419e-01 2.82521622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.240714057 meters Centerline goodness [0,1] 0.9792997699974444 Centerline is valid? [True, True] Translation: X:223.84, Y:-7.32, Z:2.83 [[ 9.98262640e-01 -5.15581256e-02 -2.85212386e-02 2.23843363e+02] [ 5.16029834e-02 9.98667326e-01 8.38500732e-04 -7.32186681e+00] [ 2.84399976e-02 -2.30882496e-03 9.99592835e-01 2.82568816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.270714057 meters Centerline goodness [0,1] 0.9756999838154031 Centerline is valid? [True, True] Translation: X:223.87, Y:-7.33, Z:2.83 [[ 9.98233278e-01 -5.18906366e-02 -2.89427807e-02 2.23874081e+02] [ 5.19370216e-02 9.98649998e-01 8.52688255e-04 -7.32672778e+00] [ 2.88594613e-02 -2.35438362e-03 9.99580706e-01 2.82543012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.300714057 meters Centerline goodness [0,1] 0.977165883143049 Centerline is valid? [True, True] Translation: X:223.91, Y:-7.32, Z:2.83 [[ 9.98141421e-01 -5.34631066e-02 -2.92472208e-02 2.23905347e+02] [ 5.35111813e-02 9.98566877e-01 8.62958490e-04 -7.32267718e+00] [ 2.91591695e-02 -2.42640795e-03 9.99571836e-01 2.82670477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.330714057 meters Centerline goodness [0,1] 0.9722164484168225 Centerline is valid? [True, True] Translation: X:223.94, Y:-7.34, Z:2.82 [[ 9.98136499e-01 -5.37805975e-02 -2.88301360e-02 2.23936158e+02] [ 5.38275045e-02 9.98549885e-01 8.52836331e-04 -7.33645922e+00] [ 2.87424630e-02 -2.40310135e-03 9.99583961e-01 2.82497808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.360714057 meters Centerline goodness [0,1] 0.9663193882972579 Centerline is valid? [True, True] Translation: X:223.97, Y:-7.34, Z:2.83 [[ 9.98100521e-01 -5.47690390e-02 -2.82082095e-02 2.23966595e+02] [ 5.48143929e-02 9.98496211e-01 8.36500880e-04 -7.34358513e+00] [ 2.81199759e-02 -2.38112784e-03 9.99601719e-01 2.82516330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.390714057 meters Centerline goodness [0,1] 0.9667290496984821 Centerline is valid? [True, True] Translation: X:224.00, Y:-7.35, Z:2.83 [[ 9.98106099e-01 -5.46722192e-02 -2.81986440e-02 2.23998296e+02] [ 5.47175440e-02 9.98501522e-01 8.37640755e-04 -7.34515850e+00] [ 2.81105933e-02 -2.37901489e-03 9.99601988e-01 2.82567261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.420714057 meters Centerline goodness [0,1] 0.969013563786769 Centerline is valid? [True, True] Translation: X:224.03, Y:-7.35, Z:2.83 [[ 9.98109754e-01 -5.46432776e-02 -2.81252840e-02 2.24030617e+02] [ 5.46884084e-02 9.98503118e-01 8.37353420e-04 -7.34588727e+00] [ 2.80374281e-02 -2.37389764e-03 9.99604055e-01 2.82673929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45071405699997 meters Centerline goodness [0,1] 0.9661804628905352 Centerline is valid? [True, True] Translation: X:224.06, Y:-7.35, Z:2.83 [[ 9.98122433e-01 -5.40604128e-02 -2.87937528e-02 2.24061548e+02] [ 5.41075237e-02 9.98534746e-01 8.58958501e-04 -7.34979783e+00] [ 2.87051269e-02 -2.41530441e-03 9.99585005e-01 2.82791807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48071405699997 meters Centerline goodness [0,1] 0.9768456530772427 Centerline is valid? [True, True] Translation: X:224.09, Y:-7.34, Z:2.83 [[ 9.98123610e-01 -5.39218373e-02 -2.90119711e-02 2.24093695e+02] [ 5.39696587e-02 9.98542199e-01 8.67248708e-04 -7.33726687e+00] [ 2.89229138e-02 -2.43138759e-03 9.99578688e-01 2.83096820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51071405699997 meters Centerline goodness [0,1] 0.9771424625371176 Centerline is valid? [True, True] Translation: X:224.13, Y:-7.34, Z:2.83 [[ 9.98186271e-01 -5.30089946e-02 -2.85344427e-02 2.24125529e+02] [ 5.30549344e-02 9.98591229e-01 8.54758185e-04 -7.34018286e+00] [ 2.84489343e-02 -2.36710087e-03 9.99592444e-01 2.83161564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54071405699997 meters Centerline goodness [0,1] 0.9742237169446236 Centerline is valid? [True, True] Translation: X:224.16, Y:-7.35, Z:2.83 [[ 9.98228143e-01 -5.24772214e-02 -2.80484663e-02 2.24156210e+02] [ 5.25214425e-02 9.98619442e-01 8.41703099e-04 -7.35204509e+00] [ 2.79655735e-02 -2.31335763e-03 9.99606210e-01 2.83020814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57071405699998 meters Centerline goodness [0,1] 0.9763891762650297 Centerline is valid? [True, True] Translation: X:224.19, Y:-7.35, Z:2.83 [[ 9.98311382e-01 -5.10646601e-02 -2.76908965e-02 2.24187518e+02] [ 5.11072548e-02 9.98692824e-01 8.32207030e-04 -7.34687537e+00] [ 2.76122033e-02 -2.24600745e-03 9.99616187e-01 2.83222042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60071405699998 meters Centerline goodness [0,1] 0.9763891762650297 Centerline is valid? [True, True] Translation: X:224.22, Y:-7.35, Z:2.83 [[ 9.98315002e-01 -5.09938652e-02 -2.76908526e-02 2.24219302e+02] [ 5.10364731e-02 9.98696442e-01 8.33668326e-04 -7.34789367e+00] [ 2.76122440e-02 -2.24550705e-03 9.99616187e-01 2.83267154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63071405699998 meters Centerline goodness [0,1] 0.9557877813504823 Centerline is valid? [True, True] Translation: X:224.25, Y:-7.37, Z:2.83 [[ 9.98343175e-01 -5.02858025e-02 -2.79686113e-02 2.24249639e+02] [ 5.03290426e-02 9.98732334e-01 8.43776181e-04 -7.36628213e+00] [ 2.78907264e-02 -2.25001162e-03 9.99608446e-01 2.83021107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66071405699998 meters Centerline goodness [0,1] 0.9778587636663687 Centerline is valid? [True, True] Translation: X:224.28, Y:-7.35, Z:2.83 [[ 9.98361642e-01 -4.97201897e-02 -2.83184516e-02 2.24282605e+02] [ 4.97643429e-02 9.98760621e-01 8.56103500e-04 -7.35122343e+00] [ 2.82407887e-02 -2.26395003e-03 9.99598586e-01 2.83205467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69071405699998 meters Centerline goodness [0,1] 0.977117540934938 Centerline is valid? [True, True] Translation: X:224.31, Y:-7.36, Z:2.83 [[ 9.98367854e-01 -4.91756922e-02 -2.90410042e-02 2.24313447e+02] [ 4.92219528e-02 9.98787478e-01 8.79783845e-04 -7.35520744e+00] [ 2.89625274e-02 -2.30780285e-03 9.99577834e-01 2.83156464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72071405699998 meters Centerline goodness [0,1] 0.9788116285427868 Centerline is valid? [True, True] Translation: X:224.34, Y:-7.36, Z:2.83 [[ 9.98465436e-01 -4.67360664e-02 -2.97071074e-02 2.24342508e+02] [ 4.67834164e-02 9.98904651e-01 9.00465788e-04 -7.36382337e+00] [ 2.96324835e-02 -2.28888394e-03 9.99558241e-01 2.82980877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75071405699998 meters Centerline goodness [0,1] 0.9796090595990238 Centerline is valid? [True, True] Translation: X:224.37, Y:-7.36, Z:2.83 [[ 9.98558981e-01 -4.46379616e-02 -2.97894872e-02 2.24373435e+02] [ 4.46846420e-02 9.99000735e-01 9.02806405e-04 -7.36128074e+00] [ 2.97194201e-02 -2.23263801e-03 9.99555787e-01 2.83077788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78071405699998 meters Centerline goodness [0,1] 0.9798046492566198 Centerline is valid? [True, True] Translation: X:224.40, Y:-7.36, Z:2.83 [[ 9.98689786e-01 -4.17229499e-02 -2.96295042e-02 2.24403883e+02] [ 4.17678566e-02 9.99126939e-01 8.98041977e-04 -7.36132031e+00] [ 2.95661668e-02 -2.13442623e-03 9.99560546e-01 2.83216485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81071405699998 meters Centerline goodness [0,1] 0.9805865062546996 Centerline is valid? [True, True] Translation: X:224.43, Y:-7.36, Z:2.83 [[ 9.99021860e-01 -3.42350448e-02 -2.79872366e-02 2.24434302e+02] [ 3.42721834e-02 9.99412176e-01 8.48236166e-04 -7.35774748e+00] [ 2.79417456e-02 -1.80659018e-03 9.99607921e-01 2.83457849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84071405699999 meters Centerline goodness [0,1] 0.9823448905109489 Centerline is valid? [True, True] Translation: X:224.46, Y:-7.36, Z:2.84 [[ 9.99163241e-01 -3.02120587e-02 -2.75690016e-02 2.24464553e+02] [ 3.02465664e-02 9.99542119e-01 8.35435479e-04 -7.35711360e+00] [ 2.75311380e-02 -1.66860406e-03 9.99619554e-01 2.83607002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.870714057 meters Centerline goodness [0,1] 0.9836431565518499 Centerline is valid? [True, True] Translation: X:224.49, Y:-7.36, Z:2.84 [[ 9.99412303e-01 -2.25179545e-02 -2.58455053e-02 2.24493651e+02] [ 2.25457041e-02 9.99745507e-01 7.82737830e-04 -7.35910971e+00] [ 2.58213022e-02 -1.36498293e-03 9.99665643e-01 2.83651636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.900714057 meters Centerline goodness [0,1] 0.9841718098795236 Centerline is valid? [True, True] Translation: X:224.52, Y:-7.36, Z:2.84 [[ 9.99509733e-01 -1.94666852e-02 -2.45222554e-02 2.24523326e+02] [ 1.94907301e-02 9.99809762e-01 7.41875771e-04 -7.36046218e+00] [ 2.45031485e-02 -1.21946872e-03 9.99699009e-01 2.83724753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.930714057 meters Centerline goodness [0,1] 0.9855240696483442 Centerline is valid? [True, True] Translation: X:224.55, Y:-7.36, Z:2.84 [[ 9.99636734e-01 -1.56133141e-02 -2.19687315e-02 2.24552437e+02] [ 1.56316671e-02 9.99877598e-01 6.63926511e-04 -7.36375505e+00] [ 2.19556763e-02 -1.00709323e-03 9.99758438e-01 2.83993992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.960714057 meters Centerline goodness [0,1] 0.9846181727567225 Centerline is valid? [True, True] Translation: X:224.58, Y:-7.37, Z:2.84 [[ 9.99675883e-01 -1.49991746e-02 -2.05706790e-02 2.24580926e+02] [ 1.50150960e-02 9.99887075e-01 6.19742062e-04 -7.36609058e+00] [ 2.05590605e-02 -9.28411913e-04 9.99788209e-01 2.84145702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.990714057 meters Centerline goodness [0,1] 0.984053381587876 Centerline is valid? [True, True] Translation: X:224.61, Y:-7.37, Z:2.84 [[ 9.99698321e-01 -1.62942697e-02 -1.83783385e-02 2.24608377e+02] [ 1.63071355e-02 9.99866878e-01 5.50402473e-04 -7.37391364e+00] [ 1.83669236e-02 -8.49934486e-04 9.99830953e-01 2.84288805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.020714057 meters Centerline goodness [0,1] 0.9872238427967347 Centerline is valid? [True, True] Translation: X:224.64, Y:-7.37, Z:2.84 [[ 9.99679414e-01 -1.83593239e-02 -1.74356988e-02 2.24637527e+02] [ 1.83711833e-02 9.99831100e-01 5.20239792e-04 -7.37019690e+00] [ 1.74232026e-02 -8.40387428e-04 9.99847851e-01 2.84421201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.050714057 meters Centerline goodness [0,1] 0.986564169616087 Centerline is valid? [True, True] Translation: X:224.67, Y:-7.38, Z:2.84 [[ 9.99627980e-01 -2.14182265e-02 -1.68866930e-02 2.24666503e+02] [ 2.14297256e-02 9.99770232e-01 5.00280002e-04 -7.37740295e+00] [ 1.68720979e-02 -8.61971086e-04 9.99857284e-01 2.84412814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.080714057 meters Centerline goodness [0,1] 0.9841081008282643 Centerline is valid? [True, True] Translation: X:224.70, Y:-7.39, Z:2.84 [[ 9.99437308e-01 -2.96536429e-02 -1.56757152e-02 2.24696350e+02] [ 2.96645537e-02 9.99559803e-01 4.63920401e-04 -7.39128231e+00] [ 1.56550579e-02 -9.28672452e-04 9.99877021e-01 2.84443597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.110714057 meters Centerline goodness [0,1] 0.979809710992987 Centerline is valid? [True, True] Translation: X:224.73, Y:-7.41, Z:2.85 [[ 9.99133875e-01 -3.89025706e-02 -1.47678787e-02 2.24725066e+02] [ 3.89132589e-02 9.99242497e-01 4.36988584e-04 -7.40786350e+00] [ 1.47396920e-02 -1.01127638e-03 9.99890853e-01 2.84500847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.140714057 meters Centerline goodness [0,1] 0.9794444196727159 Centerline is valid? [True, True] Translation: X:224.75, Y:-7.42, Z:2.85 [[ 9.98944138e-01 -4.35677284e-02 -1.45760602e-02 2.24754738e+02] [ 4.35786466e-02 9.99049906e-01 4.32125091e-04 -7.41756618e+00] [ 1.45433848e-02 -1.06687380e-03 9.99893670e-01 2.84569064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.170714057 meters Centerline goodness [0,1] 0.9776450739244328 Centerline is valid? [True, True] Translation: X:224.78, Y:-7.42, Z:2.85 [[ 9.98755620e-01 -4.78854719e-02 -1.39353502e-02 2.24784884e+02] [ 4.78958698e-02 9.98852249e-01 4.13183929e-04 -7.42457659e+00] [ 1.38995704e-02 -1.08011549e-03 9.99902813e-01 2.84557325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20071405699997 meters Centerline goodness [0,1] 0.9737016136143197 Centerline is valid? [True, True] Translation: X:224.81, Y:-7.44, Z:2.85 [[ 9.98357705e-01 -5.57154927e-02 -1.33295480e-02 2.24814135e+02] [ 5.57256996e-02 9.98446038e-01 3.95261296e-04 -7.44290928e+00] [ 1.32868122e-02 -1.13741055e-03 9.99911080e-01 2.84500784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23071405699997 meters Centerline goodness [0,1] 0.9713628623869441 Centerline is valid? [True, True] Translation: X:224.84, Y:-7.45, Z:2.85 [[ 9.98173978e-01 -5.90977177e-02 -1.24967822e-02 2.24843935e+02] [ 5.91069517e-02 9.98251587e-01 3.70548897e-04 -7.45164471e+00] [ 1.24530340e-02 -1.10851897e-03 9.99921844e-01 2.84502248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26071405699997 meters Centerline goodness [0,1] 0.9750043851955797 Centerline is valid? [True, True] Translation: X:224.87, Y:-7.45, Z:2.84 [[ 9.97911375e-01 -6.33878759e-02 -1.24445026e-02 2.24874783e+02] [ 6.33973643e-02 9.97988296e-01 3.69059944e-04 -7.45436114e+00] [ 1.23960741e-02 -1.15723778e-03 9.99922496e-01 2.84412606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29071405699997 meters Centerline goodness [0,1] 0.9744205516876707 Centerline is valid? [True, True] Translation: X:224.91, Y:-7.46, Z:2.84 [[ 9.97824071e-01 -6.47264859e-02 -1.25540925e-02 2.24905035e+02] [ 6.47362539e-02 9.97902339e-01 3.72846267e-04 -7.46120592e+00] [ 1.25036252e-02 -1.18473990e-03 9.99921125e-01 2.84399696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32071405699998 meters Centerline goodness [0,1] 0.9747370274195678 Centerline is valid? [True, True] Translation: X:224.94, Y:-7.47, Z:2.84 [[ 9.97815045e-01 -6.48015049e-02 -1.28802459e-02 2.24936940e+02] [ 6.48117955e-02 9.97897432e-01 3.82700113e-04 -7.46518359e+00] [ 1.28283648e-02 -1.21665580e-03 9.99916973e-01 2.84418981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35071405699998 meters Centerline goodness [0,1] 0.9765125024741044 Centerline is valid? [True, True] Translation: X:224.97, Y:-7.47, Z:2.84 [[ 9.97896255e-01 -6.34435958e-02 -1.33407386e-02 2.24968635e+02] [ 6.34545284e-02 9.97984652e-01 3.97386287e-04 -7.46584446e+00] [ 1.32886408e-02 -1.24308056e-03 9.99910929e-01 2.84445697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38071405699998 meters Centerline goodness [0,1] 0.9767795713151628 Centerline is valid? [True, True] Translation: X:225.00, Y:-7.46, Z:2.84 [[ 9.98010388e-01 -6.17032005e-02 -1.29607208e-02 2.24999942e+02] [ 6.17133828e-02 9.98093838e-01 3.86773529e-04 -7.46435644e+00] [ 1.29121504e-02 -1.18585392e-03 9.99915932e-01 2.84492853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41071405699998 meters Centerline goodness [0,1] 0.9754712447851823 Centerline is valid? [True, True] Translation: X:225.03, Y:-7.47, Z:2.85 [[ 9.98283148e-01 -5.73806824e-02 -1.17564039e-02 2.25029861e+02] [ 5.73887683e-02 9.98351845e-01 3.51315548e-04 -7.47079392e+00] [ 1.17168688e-02 -1.02539793e-03 9.99930829e-01 2.84523356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44071405699998 meters Centerline goodness [0,1] 0.9751863217886891 Centerline is valid? [True, True] Translation: X:225.06, Y:-7.47, Z:2.85 [[ 9.98393657e-01 -5.56386978e-02 -1.06977344e-02 2.25061664e+02] [ 5.56452915e-02 9.98450549e-01 3.19474492e-04 -7.46898037e+00] [ 1.06633836e-02 -9.14239853e-04 9.99942727e-01 2.84554364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47071405699998 meters Centerline goodness [0,1] 0.9753776666885922 Centerline is valid? [True, True] Translation: X:225.09, Y:-7.47, Z:2.85 [[ 9.98652075e-01 -5.09780443e-02 -9.76073927e-03 2.25091365e+02] [ 5.09833193e-02 9.98699462e-01 2.92205266e-04 -7.47172550e+00] [ 9.73314900e-03 -7.89446282e-04 9.99952320e-01 2.84709966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50071405699998 meters Centerline goodness [0,1] 0.9771336131514515 Centerline is valid? [True, True] Translation: X:225.12, Y:-7.47, Z:2.85 [[ 9.98852819e-01 -4.68985497e-02 -9.67328911e-03 2.25122452e+02] [ 4.69035394e-02 9.98899381e-01 2.89485687e-04 -7.46642356e+00] [ 9.64906605e-03 -7.42865091e-04 9.99953171e-01 2.84771862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53071405699998 meters Centerline goodness [0,1] 0.9737641837381665 Centerline is valid? [True, True] Translation: X:225.15, Y:-7.47, Z:2.85 [[ 9.98923526e-01 -4.53582466e-02 -9.71697390e-03 2.25153268e+02] [ 4.53632100e-02 9.98970517e-01 2.90894261e-04 -7.47208382e+00] [ 9.69377599e-03 -7.31374249e-04 9.99952747e-01 2.84796530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56071405699998 meters Centerline goodness [0,1] 0.9763674522320843 Centerline is valid? [True, True] Translation: X:225.18, Y:-7.47, Z:2.85 [[ 9.98989995e-01 -4.38620694e-02 -9.75237217e-03 2.25184618e+02] [ 4.38670016e-02 9.99037337e-01 2.92307448e-04 -7.46854290e+00] [ 9.73016271e-03 -7.19819542e-04 9.99952402e-01 2.84720651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59071405699999 meters Centerline goodness [0,1] 0.9752536554630977 Centerline is valid? [True, True] Translation: X:225.22, Y:-7.47, Z:2.85 [[ 9.99040691e-01 -4.26890475e-02 -9.76432359e-03 2.25215321e+02] [ 4.26939395e-02 9.99088155e-01 2.93017055e-04 -7.47041221e+00] [ 9.74291142e-03 -7.09613402e-04 9.99952285e-01 2.84706586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.620714057 meters Centerline goodness [0,1] 0.9753480341805625 Centerline is valid? [True, True] Translation: X:225.25, Y:-7.47, Z:2.85 [[ 9.99075872e-01 -4.18547983e-02 -9.77640034e-03 2.25246216e+02] [ 4.18596653e-02 9.99123457e-01 2.93651886e-04 -7.47141425e+00] [ 9.75554017e-03 -7.02617360e-04 9.99952167e-01 2.84699748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.650714057 meters Centerline goodness [0,1] 0.9785431217568367 Centerline is valid? [True, True] Translation: X:225.28, Y:-7.47, Z:2.85 [[ 9.99031545e-01 -4.26845347e-02 -1.06772168e-02 2.25278896e+02] [ 4.26903932e-02 9.99088298e-01 3.21270854e-04 -7.46665634e+00] [ 1.06537691e-02 -7.76774301e-04 9.99942945e-01 2.84711656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.680714057 meters Centerline goodness [0,1] 0.9779846659364732 Centerline is valid? [True, True] Translation: X:225.31, Y:-7.47, Z:2.85 [[ 9.98989299e-01 -4.34698005e-02 -1.14348807e-02 2.25310946e+02] [ 4.34765813e-02 9.99054387e-01 3.44963059e-04 -7.46674720e+00] [ 1.14090723e-02 -8.41763927e-04 9.99934560e-01 2.84729547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.710714057 meters Centerline goodness [0,1] 0.9783022375817494 Centerline is valid? [True, True] Translation: X:225.34, Y:-7.47, Z:2.85 [[ 9.98947017e-01 -4.41014913e-02 -1.26457712e-02 2.25342219e+02] [ 4.41098479e-02 9.99026614e-01 3.82538164e-04 -7.46826313e+00] [ 1.26165914e-02 -9.39938400e-04 9.99919966e-01 2.84696812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.740714057 meters Centerline goodness [0,1] 0.9780371678697589 Centerline is valid? [True, True] Translation: X:225.37, Y:-7.47, Z:2.85 [[ 9.98832035e-01 -4.61196817e-02 -1.44062845e-02 2.25372598e+02] [ 4.61307485e-02 9.98935315e-01 4.36663972e-04 -7.47086472e+00] [ 1.43708075e-02 -1.10072665e-03 9.99896129e-01 2.84529010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.770714057 meters Centerline goodness [0,1] 0.9773726940499377 Centerline is valid? [True, True] Translation: X:225.40, Y:-7.47, Z:2.84 [[ 9.98776885e-01 -4.70344982e-02 -1.52476363e-02 2.25404652e+02] [ 4.70470067e-02 9.98892569e-01 4.62504426e-04 -7.47144338e+00] [ 1.52089969e-02 -1.17929438e-03 9.99883641e-01 2.84499703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.800714057 meters Centerline goodness [0,1] 0.9801145122219775 Centerline is valid? [True, True] Translation: X:225.44, Y:-7.46, Z:2.85 [[ 9.98695747e-01 -4.82563555e-02 -1.66771747e-02 2.25436765e+02] [ 4.82715110e-02 9.98834122e-01 5.07178179e-04 -7.46417411e+00] [ 1.66332565e-02 -1.31154911e-03 9.99860798e-01 2.84530816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.830714057 meters Centerline goodness [0,1] 0.9778629485230952 Centerline is valid? [True, True] Translation: X:225.47, Y:-7.47, Z:2.85 [[ 9.98677561e-01 -4.85335761e-02 -1.69593798e-02 2.25467715e+02] [ 4.85493161e-02 9.98820653e-01 5.17385967e-04 -7.46928664e+00] [ 1.69142682e-02 -1.34006805e-03 9.99856046e-01 2.84601064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.860714057 meters Centerline goodness [0,1] 0.9780400949617515 Centerline is valid? [True, True] Translation: X:225.50, Y:-7.46, Z:2.85 [[ 9.98635089e-01 -4.94579203e-02 -1.67890677e-02 2.25499883e+02] [ 4.94735030e-02 9.98775304e-01 5.13827960e-04 -7.46020522e+00] [ 1.67430934e-02 -1.34374062e-03 9.99858922e-01 2.84778833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.890714057 meters Centerline goodness [0,1] 0.9750082790594988 Centerline is valid? [True, True] Translation: X:225.53, Y:-7.47, Z:2.85 [[ 9.98601363e-01 -5.03448428e-02 -1.61466666e-02 2.25530922e+02] [ 5.03593883e-02 9.98731038e-01 4.95246894e-04 -7.46646445e+00] [ 1.61012440e-02 -1.30769048e-03 9.99869511e-01 2.84888203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.920714057 meters Centerline goodness [0,1] 0.9757433835549861 Centerline is valid? [True, True] Translation: X:225.56, Y:-7.46, Z:2.85 [[ 9.98505536e-01 -5.20111155e-02 -1.67791019e-02 2.25562745e+02] [ 5.20270711e-02 9.98645542e-01 5.15520255e-04 -7.45846453e+00] [ 1.67295625e-02 -1.38771736e-03 9.99859088e-01 2.85001838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95071405699997 meters Centerline goodness [0,1] 0.9776511540252312 Centerline is valid? [True, True] Translation: X:225.59, Y:-7.46, Z:2.85 [[ 9.98429410e-01 -5.31926243e-02 -1.75857294e-02 2.25594849e+02] [ 5.32103466e-02 9.98583179e-01 5.41066997e-04 -7.45541655e+00] [ 1.75320328e-02 -1.47595996e-03 9.99845213e-01 2.85031780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98071405699997 meters Centerline goodness [0,1] 0.9772264067346035 Centerline is valid? [True, True] Translation: X:225.63, Y:-7.45, Z:2.85 [[ 9.98319735e-01 -5.47214497e-02 -1.90596102e-02 2.25625865e+02] [ 5.47425669e-02 9.98500329e-01 5.87599062e-04 -7.45345224e+00] [ 1.89988728e-02 -1.62998373e-03 9.99818176e-01 2.84944565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01071405699997 meters Centerline goodness [0,1] 0.9767214571301643 Centerline is valid? [True, True] Translation: X:225.66, Y:-7.45, Z:2.85 [[ 9.98284539e-01 -5.50515436e-02 -1.99325758e-02 2.25658429e+02] [ 5.50747188e-02 9.98482046e-01 6.15186586e-04 -7.45273712e+00] [ 1.98684521e-02 -1.71191226e-03 9.99801137e-01 2.84959230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04071405699997 meters Centerline goodness [0,1] 0.977036279566068 Centerline is valid? [True, True] Translation: X:225.69, Y:-7.45, Z:2.85 [[ 9.98283961e-01 -5.49105724e-02 -2.03460758e-02 2.25691015e+02] [ 5.49347200e-02 9.98489750e-01 6.29418941e-04 -7.45162969e+00] [ 2.02807864e-02 -1.74604481e-03 9.99792799e-01 2.85023748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07071405699998 meters Centerline goodness [0,1] 0.9769552451285701 Centerline is valid? [True, True] Translation: X:225.72, Y:-7.45, Z:2.85 [[ 9.98402158e-01 -5.25144583e-02 -2.08653446e-02 2.25721256e+02] [ 5.25393565e-02 9.98618645e-01 6.46514150e-04 -7.44694630e+00] [ 2.08025708e-02 -1.74173290e-03 9.99782086e-01 2.85175789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10071405699998 meters Centerline goodness [0,1] 0.9782118540015626 Centerline is valid? [True, True] Translation: X:225.75, Y:-7.44, Z:2.85 [[ 9.98680353e-01 -4.71358334e-02 -2.03903426e-02 2.25750991e+02] [ 4.71584964e-02 9.98887219e-01 6.31784678e-04 -7.44178288e+00] [ 2.03378729e-02 -1.59252884e-03 9.99791896e-01 2.85323419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13071405699998 meters Centerline goodness [0,1] 0.9796732480222317 Centerline is valid? [True, True] Translation: X:225.78, Y:-7.43, Z:2.85 [[ 9.98845392e-01 -4.36783694e-02 -2.00020759e-02 2.25782025e+02] [ 4.36994880e-02 9.99044529e-01 6.19748547e-04 -7.43468709e+00] [ 1.99558949e-02 -1.49311346e-03 9.99799746e-01 2.85481013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16071405699998 meters Centerline goodness [0,1] 0.9818904891365403 Centerline is valid? [True, True] Translation: X:225.81, Y:-7.43, Z:2.86 [[ 9.99011708e-01 -4.00256953e-02 -1.93274463e-02 2.25812562e+02] [ 4.00447343e-02 9.99197708e-01 5.98912884e-04 -7.42677929e+00] [ 1.92879681e-02 -1.37228343e-03 9.99813028e-01 2.85674528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19071405699998 meters Centerline goodness [0,1] 0.9825051223740796 Centerline is valid? [True, True] Translation: X:225.84, Y:-7.42, Z:2.86 [[ 9.99307698e-01 -3.28437006e-02 -1.74761360e-02 2.25843833e+02] [ 3.28581747e-02 9.99459878e-01 5.41648213e-04 -7.41779369e+00] [ 1.74489070e-02 -1.11550716e-03 9.99847134e-01 2.85971123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22071405699998 meters Centerline goodness [0,1] 0.9832018038331455 Centerline is valid? [True, True] Translation: X:225.87, Y:-7.42, Z:2.86 [[ 9.99403166e-01 -3.00216372e-02 -1.70884184e-02 2.25873969e+02] [ 3.00350689e-02 9.99548705e-01 5.29852416e-04 -7.41650347e+00] [ 1.70647994e-02 -1.04278801e-03 9.99853842e-01 2.86089135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25071405699998 meters Centerline goodness [0,1] 0.9823158369002027 Centerline is valid? [True, True] Translation: X:225.90, Y:-7.41, Z:2.86 [[ 9.99511997e-01 -2.65109623e-02 -1.65207887e-02 2.25903788e+02] [ 2.65230384e-02 9.99648071e-01 5.12252194e-04 -7.41430622e+00] [ 1.65013942e-02 -9.50183726e-04 9.99863391e-01 2.86238184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28071405699998 meters Centerline goodness [0,1] 0.9821834808658243 Centerline is valid? [True, True] Translation: X:225.94, Y:-7.41, Z:2.86 [[ 9.99547656e-01 -2.49113968e-02 -1.68495099e-02 2.25935522e+02] [ 2.49237342e-02 9.99689219e-01 5.22585113e-04 -7.41333257e+00] [ 1.68312551e-02 -9.42301432e-04 9.99857900e-01 2.86291855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31071405699998 meters Centerline goodness [0,1] 0.9823820387143406 Centerline is valid? [True, True] Translation: X:225.97, Y:-7.41, Z:2.86 [[ 9.99572487e-01 -2.34611574e-02 -1.74475864e-02 2.25965628e+02] [ 2.34741806e-02 9.99724297e-01 5.41964474e-04 -7.41457426e+00] [ 1.74300609e-02 -9.51300572e-04 9.99847632e-01 2.86310801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34071405699999 meters Centerline goodness [0,1] 0.9828988388379343 Centerline is valid? [True, True] Translation: X:226.00, Y:-7.42, Z:2.86 [[ 9.99567556e-01 -2.34318670e-02 -1.77665039e-02 2.25995978e+02] [ 2.34453705e-02 9.99724967e-01 5.52121400e-04 -7.41598262e+00] [ 1.77486803e-02 -9.68424905e-04 9.99842011e-01 2.86329478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.370714057 meters Centerline goodness [0,1] 0.9819563795475562 Centerline is valid? [True, True] Translation: X:226.03, Y:-7.42, Z:2.86 [[ 9.99544064e-01 -2.39977544e-02 -1.83240745e-02 2.26025805e+02] [ 2.40122203e-02 9.99711503e-01 5.69802264e-04 -7.41995203e+00] [ 1.83051141e-02 -1.00954418e-03 9.99831938e-01 2.86322963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.400714057 meters Centerline goodness [0,1] 0.9812605325244355 Centerline is valid? [True, True] Translation: X:226.06, Y:-7.42, Z:2.86 [[ 9.99540069e-01 -2.43155719e-02 -1.81218784e-02 2.26056676e+02] [ 2.43297940e-02 9.99703827e-01 5.64712235e-04 -7.42256765e+00] [ 1.81027799e-02 -1.00535407e-03 9.99835626e-01 2.86322984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.430714057 meters Centerline goodness [0,1] 0.9831332897966537 Centerline is valid? [True, True] Translation: X:226.09, Y:-7.43, Z:2.86 [[ 9.99494800e-01 -2.45436348e-02 -2.01929248e-02 2.26086759e+02] [ 2.45613405e-02 9.99698127e-01 6.29249985e-04 -7.42599641e+00] [ 2.01713850e-02 -1.12489739e-03 9.99795904e-01 2.86165906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.460714057 meters Centerline goodness [0,1] 0.9831277661701602 Centerline is valid? [True, True] Translation: X:226.12, Y:-7.43, Z:2.86 [[ 9.99472092e-01 -2.47095884e-02 -2.10943991e-02 2.26116106e+02] [ 2.47289451e-02 9.99693977e-01 6.57225745e-04 -7.42910175e+00] [ 2.10717040e-02 -1.17852103e-03 9.99777272e-01 2.86132807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.490714057 meters Centerline goodness [0,1] 0.9831277661701602 Centerline is valid? [True, True] Translation: X:226.15, Y:-7.43, Z:2.86 [[ 9.99471263e-01 -2.47430635e-02 -2.10944138e-02 2.26145290e+02] [ 2.47624177e-02 9.99693149e-01 6.56756691e-04 -7.42997798e+00] [ 2.10716907e-02 -1.17875812e-03 9.99777272e-01 2.86174250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.520714057 meters Centerline goodness [0,1] 0.9834666308219638 Centerline is valid? [True, True] Translation: X:226.17, Y:-7.44, Z:2.86 [[ 9.99423749e-01 -2.52867229e-02 -2.26439970e-02 2.26173687e+02] [ 2.53091439e-02 9.99679424e-01 7.04068897e-04 -7.43500354e+00] [ 2.26189343e-02 -1.27676336e-03 9.99743344e-01 2.86201215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.550714057 meters Centerline goodness [0,1] 0.9859018752529568 Centerline is valid? [True, True] Translation: X:226.20, Y:-7.43, Z:2.86 [[ 9.99394650e-01 -2.59654061e-02 -2.31544954e-02 2.26203643e+02] [ 2.59890071e-02 9.99661970e-01 7.18897961e-04 -7.42930073e+00] [ 2.31280020e-02 -1.32022512e-03 9.99731640e-01 2.86397618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.580714057 meters Centerline goodness [0,1] 0.9825565732758621 Centerline is valid? [True, True] Translation: X:226.23, Y:-7.44, Z:2.86 [[ 9.99392102e-01 -2.66972082e-02 -2.24206345e-02 2.26232325e+02] [ 2.67194993e-02 9.99642729e-01 6.95187189e-04 -7.44166622e+00] [ 2.23940647e-02 -1.29383271e-03 9.99748384e-01 2.86325441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.610714057 meters Centerline goodness [0,1] 0.9838507929417021 Centerline is valid? [True, True] Translation: X:226.26, Y:-7.44, Z:2.87 [[ 9.99341294e-01 -2.92877695e-02 -2.14290626e-02 2.26262613e+02] [ 2.93087073e-02 9.99570187e-01 6.63594547e-04 -7.43885445e+00] [ 2.14004169e-02 -1.29121556e-03 9.99770151e-01 2.86595639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.640714057 meters Centerline goodness [0,1] 0.9827732405051993 Centerline is valid? [True, True] Translation: X:226.29, Y:-7.45, Z:2.87 [[ 9.99289883e-01 -3.13491104e-02 -2.09036822e-02 2.26291869e+02] [ 3.13694755e-02 9.99507648e-01 6.46959118e-04 -7.44994998e+00] [ 2.08731086e-02 -1.30223725e-03 9.99781285e-01 2.86602078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.670714057 meters Centerline goodness [0,1] 0.9836360806634502 Centerline is valid? [True, True] Translation: X:226.32, Y:-7.45, Z:2.87 [[ 9.99268592e-01 -3.22602644e-02 -2.05318545e-02 2.26323256e+02] [ 3.22801023e-02 9.99478660e-01 6.35430021e-04 -7.45090866e+00] [ 2.05006513e-02 -1.29773563e-03 9.99788997e-01 2.86664644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70071405699997 meters Centerline goodness [0,1] 0.9831856042047125 Centerline is valid? [True, True] Translation: X:226.35, Y:-7.46, Z:2.87 [[ 9.99246781e-01 -3.27557760e-02 -2.08069600e-02 2.26354642e+02] [ 3.27762717e-02 9.99462506e-01 6.44688721e-04 -7.45505559e+00] [ 2.07746591e-02 -1.32617771e-03 9.99783304e-01 2.86714099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73071405699997 meters Centerline goodness [0,1] 0.9827387035144621 Centerline is valid? [True, True] Translation: X:226.39, Y:-7.46, Z:2.87 [[ 9.99201058e-01 -3.36755091e-02 -2.15222224e-02 2.26385451e+02] [ 3.36976649e-02 9.99431850e-01 6.67499861e-04 -7.45991448e+00] [ 2.14875161e-02 -1.39221520e-03 9.99768147e-01 2.86784173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76071405699997 meters Centerline goodness [0,1] 0.983814106117381 Centerline is valid? [True, True] Translation: X:226.42, Y:-7.46, Z:2.87 [[ 9.99185779e-01 -3.38181064e-02 -2.20025971e-02 2.26417150e+02] [ 3.38413088e-02 9.99426986e-01 6.82936294e-04 -7.46198657e+00] [ 2.19668937e-02 -1.42697692e-03 9.99757680e-01 2.86820373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79071405699997 meters Centerline goodness [0,1] 0.9835385468663339 Centerline is valid? [True, True] Translation: X:226.45, Y:-7.47, Z:2.87 [[ 9.99116824e-01 -3.41929597e-02 -2.44215720e-02 2.26447631e+02] [ 3.42216840e-02 9.99413978e-01 7.59097411e-04 -7.46941009e+00] [ 2.43813047e-02 -1.59417432e-03 9.99701461e-01 2.86729601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82071405699998 meters Centerline goodness [0,1] 0.9823644820668826 Centerline is valid? [True, True] Translation: X:226.48, Y:-7.48, Z:2.87 [[ 9.99092255e-01 -3.45571871e-02 -2.49091561e-02 2.26477295e+02] [ 3.45871964e-02 9.99401384e-01 7.74793090e-04 -7.47572618e+00] [ 2.48674704e-02 -1.63562765e-03 9.99689419e-01 2.86652678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85071405699998 meters Centerline goodness [0,1] 0.9836325936383289 Centerline is valid? [True, True] Translation: X:226.51, Y:-7.48, Z:2.87 [[ 9.99040931e-01 -3.62356047e-02 -2.45804796e-02 2.26507031e+02] [ 3.62653175e-02 9.99341905e-01 7.63954877e-04 -7.47778303e+00] [ 2.45366209e-02 -1.65464109e-03 9.99697562e-01 2.86829458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88071405699998 meters Centerline goodness [0,1] 0.9833600421487059 Centerline is valid? [True, True] Translation: X:226.54, Y:-7.48, Z:2.87 [[ 9.99032731e-01 -3.70414417e-02 -2.36967010e-02 2.26537337e+02] [ 3.70692698e-02 9.99312427e-01 7.36000043e-04 -7.48096452e+00] [ 2.36531453e-02 -1.61370753e-03 9.99718923e-01 2.86925838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91071405699998 meters Centerline goodness [0,1] 0.9820125647525626 Centerline is valid? [True, True] Translation: X:226.57, Y:-7.49, Z:2.87 [[ 9.98929472e-01 -3.93359148e-02 -2.43432776e-02 2.26566978e+02] [ 3.93659561e-02 9.99224574e-01 7.55898647e-04 -7.48576202e+00] [ 2.42946672e-02 -1.71338583e-03 9.99703373e-01 2.86962908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94071405699998 meters Centerline goodness [0,1] 0.981996077480773 Centerline is valid? [True, True] Translation: X:226.60, Y:-7.49, Z:2.87 [[ 9.98878385e-01 -4.03604264e-02 -2.47590046e-02 2.26596792e+02] [ 4.03918325e-02 9.99183621e-01 7.69473718e-04 -7.49256438e+00] [ 2.47077356e-02 -1.76867223e-03 9.99693153e-01 2.86889627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97071405699998 meters Centerline goodness [0,1] 0.9829239920107109 Centerline is valid? [True, True] Translation: X:226.63, Y:-7.50, Z:2.87 [[ 9.98842643e-01 -4.09994299e-02 -2.51479725e-02 2.26627559e+02] [ 4.10320640e-02 9.99157524e-01 7.82824343e-04 -7.49515707e+00] [ 2.50946906e-02 -1.81379155e-03 9.99683433e-01 2.86903592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00071405699998 meters Centerline goodness [0,1] 0.9833040035195777 Centerline is valid? [True, True] Translation: X:226.66, Y:-7.50, Z:2.87 [[ 9.98792544e-01 -4.23727980e-02 -2.48596030e-02 2.26657636e+02] [ 4.24051108e-02 9.99100199e-01 7.73847769e-04 -7.50145124e+00] [ 2.48044443e-02 -1.82708760e-03 9.99690653e-01 2.86898703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03071405699998 meters Centerline goodness [0,1] 0.9825911109157252 Centerline is valid? [True, True] Translation: X:226.69, Y:-7.51, Z:2.87 [[ 9.98755495e-01 -4.35129686e-02 -2.43738294e-02 2.26688245e+02] [ 4.35443724e-02 9.99051206e-01 7.58907238e-04 -7.50566112e+00] [ 2.43176814e-02 -1.81930588e-03 9.99702626e-01 2.87031411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06071405699998 meters Centerline goodness [0,1] 0.9837578361316909 Centerline is valid? [True, True] Translation: X:226.72, Y:-7.51, Z:2.87 [[ 9.98750445e-01 -4.39452956e-02 -2.37983122e-02 2.26719814e+02] [ 4.39753695e-02 9.99032340e-01 7.41580655e-04 -7.50615157e+00] [ 2.37426945e-02 -1.78719358e-03 9.99716505e-01 2.87150365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09071405699999 meters Centerline goodness [0,1] 0.9821783910257812 Centerline is valid? [True, True] Translation: X:226.75, Y:-7.51, Z:2.87 [[ 9.98739319e-01 -4.41951994e-02 -2.38024733e-02 2.26749527e+02] [ 4.42253870e-02 9.99021303e-01 7.43082533e-04 -7.51194250e+00] [ 2.37463372e-02 -1.79481933e-03 9.99716405e-01 2.87176747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.120714057 meters Centerline goodness [0,1] 0.9822547430223897 Centerline is valid? [True, True] Translation: X:226.78, Y:-7.51, Z:2.87 [[ 9.98640097e-01 -4.68090060e-02 -2.29537289e-02 2.26780570e+02] [ 4.68377977e-02 9.98902250e-01 7.18028874e-04 -7.51237516e+00] [ 2.28949212e-02 -1.79215453e-03 9.99736271e-01 2.87223361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.150714057 meters Centerline goodness [0,1] 0.9810572207084469 Centerline is valid? [True, True] Translation: X:226.81, Y:-7.52, Z:2.87 [[ 9.98553675e-01 -4.85593496e-02 -2.30770045e-02 2.26810243e+02] [ 4.85889242e-02 9.98818600e-01 7.22242262e-04 -7.52301517e+00] [ 2.30146697e-02 -1.84248449e-03 9.99733430e-01 2.87137264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.180714057 meters Centerline goodness [0,1] 0.9813314163725875 Centerline is valid? [True, True] Translation: X:226.84, Y:-7.53, Z:2.87 [[ 9.98389913e-01 -5.15617847e-02 -2.36424291e-02 2.26841138e+02] [ 5.15936637e-02 9.98667886e-01 7.39976782e-04 -7.52775895e+00] [ 2.35727801e-02 -1.95858489e-03 9.99720205e-01 2.87090026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.210714057 meters Centerline goodness [0,1] 0.9802155521063332 Centerline is valid? [True, True] Translation: X:226.87, Y:-7.53, Z:2.87 [[ 9.98290377e-01 -5.31989582e-02 -2.42114508e-02 2.26870961e+02] [ 5.32328702e-02 9.98581838e-01 7.57845363e-04 -7.53243076e+00] [ 2.41367984e-02 -2.04539475e-03 9.99706573e-01 2.87048374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.240714057 meters Centerline goodness [0,1] 0.978052725921392 Centerline is valid? [True, True] Translation: X:226.90, Y:-7.54, Z:2.87 [[ 9.98165584e-01 -5.53359786e-02 -2.45641471e-02 2.26901585e+02] [ 5.53715327e-02 9.98465524e-01 7.69064108e-04 -7.53806763e+00] [ 2.44838971e-02 -2.12780780e-03 9.99697960e-01 2.87014999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.270714057 meters Centerline goodness [0,1] 0.980098414434117 Centerline is valid? [True, True] Translation: X:226.93, Y:-7.54, Z:2.87 [[ 9.98127631e-01 -5.61878191e-02 -2.41694401e-02 2.26933186e+02] [ 5.62225014e-02 9.98417977e-01 7.57297498e-04 -7.53783456e+00] [ 2.40886526e-02 -2.11474594e-03 9.99707590e-01 2.87115568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.300714057 meters Centerline goodness [0,1] 0.9825681852977843 Centerline is valid? [True, True] Translation: X:226.96, Y:-7.53, Z:2.87 [[ 9.98064490e-01 -5.74577478e-02 -2.37882506e-02 2.26964445e+02] [ 5.74917222e-02 9.98345704e-01 7.46195530e-04 -7.53293177e+00] [ 2.37060231e-02 -2.11237876e-03 9.99716741e-01 2.87346221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.330714057 meters Centerline goodness [0,1] 0.9763126556241204 Centerline is valid? [True, True] Translation: X:226.99, Y:-7.54, Z:2.87 [[ 9.98075522e-01 -5.74716493e-02 -2.32865204e-02 2.26994193e+02] [ 5.75042245e-02 9.98344995e-01 7.31131237e-04 -7.54317654e+00] [ 2.32059618e-02 -2.06879749e-03 9.99728565e-01 2.87324999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.360714057 meters Centerline goodness [0,1] 0.9806034952981476 Centerline is valid? [True, True] Translation: X:227.03, Y:-7.54, Z:2.88 [[ 9.98159386e-01 -5.63775170e-02 -2.23476037e-02 2.27025813e+02] [ 5.64072576e-02 9.98407596e-01 7.02193925e-04 -7.53595128e+00] [ 2.22724293e-02 -1.96146849e-03 9.99750015e-01 2.87592229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.390714057 meters Centerline goodness [0,1] 0.9810917962793535 Centerline is valid? [True, True] Translation: X:227.06, Y:-7.53, Z:2.88 [[ 9.98263556e-01 -5.48706517e-02 -2.14262605e-02 2.27057850e+02] [ 5.48976643e-02 9.98491759e-01 6.74124831e-04 -7.53467996e+00] [ 2.13569549e-02 -1.84920591e-03 9.99770204e-01 2.87749246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42071405699997 meters Centerline goodness [0,1] 0.9743247676325861 Centerline is valid? [True, True] Translation: X:227.09, Y:-7.54, Z:2.88 [[ 9.98380878e-01 -5.29266998e-02 -2.08419507e-02 2.27087049e+02] [ 5.29518630e-02 9.98596850e-01 6.56933689e-04 -7.54335526e+00] [ 2.07779369e-02 -1.75949015e-03 9.99782567e-01 2.87799210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45071405699997 meters Centerline goodness [0,1] 0.9816853022909783 Centerline is valid? [True, True] Translation: X:227.12, Y:-7.53, Z:2.88 [[ 9.98641702e-01 -4.83088399e-02 -1.95193879e-02 2.27117966e+02] [ 4.83300522e-02 9.98831230e-01 6.16191642e-04 -7.53094156e+00] [ 1.94668067e-02 -1.55872771e-03 9.99809289e-01 2.87886465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48071405699997 meters Centerline goodness [0,1] 0.981082087101224 Centerline is valid? [True, True] Translation: X:227.15, Y:-7.53, Z:2.88 [[ 9.98821623e-01 -4.44662667e-02 -1.94452447e-02 2.27147187e+02] [ 4.44865951e-02 9.99009793e-01 6.13888376e-04 -7.52771765e+00] [ 1.93986925e-02 -1.47821771e-03 9.99810735e-01 2.87864069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51071405699997 meters Centerline goodness [0,1] 0.9808709005155205 Centerline is valid? [True, True] Translation: X:227.18, Y:-7.53, Z:2.88 [[ 9.98905007e-01 -4.26927652e-02 -1.91341386e-02 2.27178386e+02] [ 4.27121235e-02 9.99087238e-01 6.04002856e-04 -7.52613011e+00] [ 1.90908872e-02 -1.42060117e-03 9.99816743e-01 2.87884278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54071405699997 meters Centerline goodness [0,1] 0.9801866854526242 Centerline is valid? [True, True] Translation: X:227.21, Y:-7.52, Z:2.88 [[ 9.99019410e-01 -4.02370142e-02 -1.84716487e-02 2.27208467e+02] [ 4.02546462e-02 9.99189283e-01 5.83572104e-04 -7.52490850e+00] [ 1.84331922e-02 -1.32656954e-03 9.99829214e-01 2.87920072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57071405699998 meters Centerline goodness [0,1] 0.9794469357249627 Centerline is valid? [True, True] Translation: X:227.24, Y:-7.53, Z:2.88 [[ 9.99064873e-01 -3.91565783e-02 -1.83341771e-02 2.27239855e+02] [ 3.91737704e-02 9.99232245e-01 5.79372458e-04 -7.52503341e+00] [ 1.82974148e-02 -1.29704952e-03 9.99831747e-01 2.87898663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60071405699998 meters Centerline goodness [0,1] 0.9797583348033163 Centerline is valid? [True, True] Translation: X:227.27, Y:-7.53, Z:2.88 [[ 9.99096458e-01 -3.80907892e-02 -1.88509737e-02 2.27271132e+02] [ 3.81087881e-02 9.99273418e-01 5.96366863e-04 -7.52506648e+00] [ 1.88145608e-02 -1.31421578e-03 9.99822127e-01 2.87912180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63071405699998 meters Centerline goodness [0,1] 0.9795184179743539 Centerline is valid? [True, True] Translation: X:227.30, Y:-7.52, Z:2.88 [[ 9.99148858e-01 -3.58808097e-02 -2.03501239e-02 2.27300735e+02] [ 3.59013465e-02 9.99355131e-01 6.44623149e-04 -7.52368504e+00] [ 2.03138711e-02 -1.37467133e-03 9.99792707e-01 2.87677193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66071405699998 meters Centerline goodness [0,1] 0.9800564772326156 Centerline is valid? [True, True] Translation: X:227.33, Y:-7.52, Z:2.88 [[ 9.99192861e-01 -3.36335702e-02 -2.19637995e-02 2.27330445e+02] [ 3.36569762e-02 9.99433201e-01 6.96768959e-04 -7.52192370e+00] [ 2.19279156e-02 -1.43544165e-03 9.99758524e-01 2.87511762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69071405699998 meters Centerline goodness [0,1] 0.979751261396831 Centerline is valid? [True, True] Translation: X:227.36, Y:-7.52, Z:2.87 [[ 9.99227108e-01 -3.23782692e-02 -2.22897628e-02 2.27360507e+02] [ 3.24020724e-02 9.99474665e-01 7.07470815e-04 -7.52119863e+00] [ 2.22551465e-02 -1.42915852e-03 9.99751302e-01 2.87498092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72071405699998 meters Centerline goodness [0,1] 0.9805788775961114 Centerline is valid? [True, True] Translation: X:227.39, Y:-7.52, Z:2.88 [[ 9.99341509e-01 -2.96113799e-02 -2.09693702e-02 2.27389327e+02] [ 2.96318298e-02 9.99560660e-01 6.65115506e-04 -7.51902694e+00] [ 2.09404626e-02 -1.28603834e-03 9.99779897e-01 2.87602606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75071405699998 meters Centerline goodness [0,1] 0.9795692253146605 Centerline is valid? [True, True] Translation: X:227.42, Y:-7.52, Z:2.88 [[ 9.99391441e-01 -2.84413202e-02 -2.01950062e-02 2.27418665e+02] [ 2.84600361e-02 9.99594726e-01 6.39905190e-04 -7.51846955e+00] [ 2.01686220e-02 -1.21426638e-03 9.99795855e-01 2.87673043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78071405699998 meters Centerline goodness [0,1] 0.9786364439731354 Centerline is valid? [True, True] Translation: X:227.45, Y:-7.52, Z:2.88 [[ 9.99502972e-01 -2.49777807e-02 -1.92332784e-02 2.27447488e+02] [ 2.49941056e-02 9.99687413e-01 6.08831475e-04 -7.51675192e+00] [ 1.92120591e-02 -1.08924746e-03 9.99814838e-01 2.87762798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81071405699998 meters Centerline goodness [0,1] 0.980320538362775 Centerline is valid? [True, True] Translation: X:227.48, Y:-7.51, Z:2.88 [[ 9.99541458e-01 -2.34100429e-02 -1.92053278e-02 2.27477207e+02] [ 2.34260203e-02 9.99725389e-01 6.07342266e-04 -7.51496365e+00] [ 1.91858358e-02 -1.05696817e-03 9.99815376e-01 2.87854798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84071405699999 meters Centerline goodness [0,1] 0.9804902894346391 Centerline is valid? [True, True] Translation: X:227.51, Y:-7.51, Z:2.88 [[ 9.99580511e-01 -2.17044635e-02 -1.91759608e-02 2.27505388e+02] [ 2.17200641e-02 9.99763908e-01 6.05628690e-04 -7.51458690e+00] [ 1.91582887e-02 -1.02187773e-03 9.99815941e-01 2.87948020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.870714057 meters Centerline goodness [0,1] 0.9798110061145081 Centerline is valid? [True, True] Translation: X:227.53, Y:-7.51, Z:2.88 [[ 9.99656842e-01 -1.85260456e-02 -1.85198504e-02 2.27534335e+02] [ 1.85400337e-02 9.99827948e-01 5.83881782e-04 -7.51222826e+00] [ 1.85058470e-02 -9.27040069e-04 9.99828322e-01 2.88129376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.900714057 meters Centerline goodness [0,1] 0.9792124725164901 Centerline is valid? [True, True] Translation: X:227.56, Y:-7.51, Z:2.88 [[ 9.99688881e-01 -1.75276786e-02 -1.77460367e-02 2.27562986e+02] [ 1.75403433e-02 9.99846000e-01 5.58253462e-04 -7.51226198e+00] [ 1.77335189e-02 -8.69351354e-04 9.99842371e-01 2.88191780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.930714057 meters Centerline goodness [0,1] 0.9783496913443176 Centerline is valid? [True, True] Translation: X:227.59, Y:-7.51, Z:2.88 [[ 9.99719061e-01 -1.63003479e-02 -1.72074861e-02 2.27590570e+02] [ 1.63120171e-02 9.99866805e-01 5.38001080e-04 -7.51355054e+00] [ 1.71964245e-02 -8.18538742e-04 9.99851796e-01 2.88302928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.960714057 meters Centerline goodness [0,1] 0.982072197537414 Centerline is valid? [True, True] Translation: X:227.62, Y:-7.51, Z:2.88 [[ 9.99724040e-01 -1.63604881e-02 -1.68575866e-02 2.27619425e+02] [ 1.63716666e-02 9.99865837e-01 5.25314609e-04 -7.50571176e+00] [ 1.68467305e-02 -8.01156431e-04 9.99857763e-01 2.88415350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.990714057 meters Centerline goodness [0,1] 0.9804734252404805 Centerline is valid? [True, True] Translation: X:227.65, Y:-7.51, Z:2.88 [[ 9.99696017e-01 -1.77210877e-02 -1.71416444e-02 2.27646996e+02] [ 1.77327815e-02 9.99842621e-01 5.30419663e-04 -7.50999748e+00] [ 1.71295470e-02 -8.34227459e-04 9.99852931e-01 2.88327274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.020714057 meters Centerline goodness [0,1] 0.9807175982426165 Centerline is valid? [True, True] Translation: X:227.68, Y:-7.51, Z:2.88 [[ 9.99667803e-01 -1.89073683e-02 -1.75155784e-02 2.27675405e+02] [ 1.89197238e-02 9.99820860e-01 5.39951011e-04 -7.51201852e+00] [ 1.75022316e-02 -8.71161547e-04 9.99846445e-01 2.88307184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.050714057 meters Centerline goodness [0,1] 0.9807530267417623 Centerline is valid? [True, True] Translation: X:227.71, Y:-7.51, Z:2.88 [[ 9.99599986e-01 -2.08714514e-02 -1.90853454e-02 2.27705249e+02] [ 2.08864045e-02 9.99781684e-01 5.84469515e-04 -7.51131306e+00] [ 1.90689801e-02 -9.82859964e-04 9.99817687e-01 2.88203793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.080714057 meters Centerline goodness [0,1] 0.9784190214257198 Centerline is valid? [True, True] Translation: X:227.73, Y:-7.52, Z:2.88 [[ 9.99571286e-01 -2.19165582e-02 -1.94141557e-02 2.27732528e+02] [ 2.19322087e-02 9.99759284e-01 5.93560870e-04 -7.52010575e+00] [ 1.93964736e-02 -1.01910172e-03 9.99811351e-01 2.88117441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.110714057 meters Centerline goodness [0,1] 0.9771927884083619 Centerline is valid? [True, True] Translation: X:227.76, Y:-7.53, Z:2.88 [[ 9.99510729e-01 -2.41937149e-02 -1.98234031e-02 2.27760936e+02] [ 2.42104478e-02 9.99706701e-01 6.04509955e-04 -7.52594063e+00] [ 1.98029635e-02 -1.08414765e-03 9.99803314e-01 2.88045579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.140714057 meters Centerline goodness [0,1] 0.9801188451258035 Centerline is valid? [True, True] Translation: X:227.79, Y:-7.52, Z:2.88 [[ 9.99473591e-01 -2.66986815e-02 -1.84315455e-02 2.27790500e+02] [ 2.67135564e-02 9.99642972e-01 5.61256841e-04 -7.52211157e+00] [ 1.84099801e-02 -1.05333352e-03 9.99829967e-01 2.88243015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17071405699997 meters Centerline goodness [0,1] 0.9800429232028675 Centerline is valid? [True, True] Translation: X:227.82, Y:-7.53, Z:2.88 [[ 9.99447971e-01 -2.79713228e-02 -1.79264486e-02 2.27820524e+02] [ 2.79855875e-02 9.99608178e-01 5.45316780e-04 -7.52593970e+00] [ 1.79041714e-02 -1.04669794e-03 9.99839160e-01 2.88348045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20071405699997 meters Centerline goodness [0,1] 0.9783686146661674 Centerline is valid? [True, True] Translation: X:227.85, Y:-7.53, Z:2.88 [[ 9.99410912e-01 -2.99721936e-02 -1.67181288e-02 2.27850064e+02] [ 2.99848776e-02 9.99550223e-01 5.08500161e-04 -7.53177544e+00] [ 1.66953685e-02 -1.00949166e-03 9.99860113e-01 2.88430321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23071405699997 meters Centerline goodness [0,1] 0.9788070981856755 Centerline is valid? [True, True] Translation: X:227.88, Y:-7.53, Z:2.88 [[ 9.99406922e-01 -3.05023778e-02 -1.59815383e-02 2.27881158e+02] [ 3.05140520e-02 9.99534219e-01 4.87092429e-04 -7.53483201e+00] [ 1.59592369e-02 -9.74465037e-04 9.99872168e-01 2.88458694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26071405699997 meters Centerline goodness [0,1] 0.978202778207195 Centerline is valid? [True, True] Translation: X:227.91, Y:-7.54, Z:2.89 [[ 9.99395982e-01 -3.08064061e-02 -1.60821762e-02 2.27912035e+02] [ 3.08182761e-02 9.99524884e-01 4.90722555e-04 -7.53797041e+00] [ 1.60594179e-02 -9.86051097e-04 9.99870553e-01 2.88502405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29071405699997 meters Centerline goodness [0,1] 0.9764723973550669 Centerline is valid? [True, True] Translation: X:227.94, Y:-7.54, Z:2.88 [[ 9.99370246e-01 -3.17441224e-02 -1.58562746e-02 2.27941674e+02] [ 3.17557865e-02 9.99495540e-01 4.84313785e-04 -7.54274202e+00] [ 1.58329016e-02 -9.87537257e-04 9.99874164e-01 2.88418794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32071405699998 meters Centerline goodness [0,1] 0.9780057357158615 Centerline is valid? [True, True] Translation: X:227.97, Y:-7.54, Z:2.88 [[ 9.99347804e-01 -3.23027567e-02 -1.61399668e-02 2.27972432e+02] [ 3.23149151e-02 9.99477615e-01 4.93012730e-04 -7.54440404e+00] [ 1.61156098e-02 -1.01425284e-03 9.99869621e-01 2.88411051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35071405699998 meters Centerline goodness [0,1] 0.9790274561693681 Centerline is valid? [True, True] Translation: X:228.00, Y:-7.55, Z:2.88 [[ 9.99305763e-01 -3.31905334e-02 -1.69227542e-02 2.28003654e+02] [ 3.32040327e-02 9.99448460e-01 5.17277107e-04 -7.54731443e+00] [ 1.68962520e-02 -1.07882168e-03 9.99856666e-01 2.88310664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38071405699998 meters Centerline goodness [0,1] 0.9803341646986117 Centerline is valid? [True, True] Translation: X:228.03, Y:-7.55, Z:2.88 [[ 9.99270877e-01 -3.38647826e-02 -1.76321258e-02 2.28034483e+02] [ 3.38795523e-02 9.99425778e-01 5.39538804e-04 -7.54911780e+00] [ 1.76037296e-02 -1.13651394e-03 9.99844396e-01 2.88330837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41071405699998 meters Centerline goodness [0,1] 0.9803341646986117 Centerline is valid? [True, True] Translation: X:228.07, Y:-7.55, Z:2.88 [[ 9.99272065e-01 -3.38297133e-02 -1.76321144e-02 2.28065374e+02] [ 3.38444840e-02 9.99426966e-01 5.39909098e-04 -7.55009434e+00] [ 1.76037456e-02 -1.13626589e-03 9.99844396e-01 2.88374690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44071405699998 meters Centerline goodness [0,1] 0.9789325223676671 Centerline is valid? [True, True] Translation: X:228.10, Y:-7.55, Z:2.88 [[ 9.99193666e-01 -3.56624318e-02 -1.84447641e-02 2.28095247e+02] [ 3.56789162e-02 9.99363145e-01 5.65314232e-04 -7.55418045e+00] [ 1.84128570e-02 -1.22294759e-03 9.99829721e-01 2.88273692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47071405699998 meters Centerline goodness [0,1] 0.9786962173118019 Centerline is valid? [True, True] Translation: X:228.13, Y:-7.56, Z:2.88 [[ 9.99135988e-01 -3.68448652e-02 -1.92284563e-02 2.28126518e+02] [ 3.68630018e-02 9.99320155e-01 5.89508745e-04 -7.55638002e+00] [ 1.91936636e-02 -1.29781802e-03 9.99814942e-01 2.88324288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50071405699998 meters Centerline goodness [0,1] 0.9796706692565778 Centerline is valid? [True, True] Translation: X:228.16, Y:-7.56, Z:2.88 [[ 9.99044135e-01 -3.88578357e-02 -2.00221202e-02 2.28157048e+02] [ 3.88779133e-02 9.99243779e-01 6.14353587e-04 -7.56029845e+00] [ 1.99831066e-02 -1.39218460e-03 9.99799349e-01 2.88281811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53071405699998 meters Centerline goodness [0,1] 0.9769288455600159 Centerline is valid? [True, True] Translation: X:228.19, Y:-7.56, Z:2.88 [[ 9.99000378e-01 -3.98412180e-02 -2.02712316e-02 2.28186264e+02] [ 3.98619978e-02 9.99205001e-01 6.21892807e-04 -7.56432289e+00] [ 2.02303390e-02 -1.42932294e-03 9.99794324e-01 2.88216959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56071405699998 meters Centerline goodness [0,1] 0.9799664636836996 Centerline is valid? [True, True] Translation: X:228.22, Y:-7.56, Z:2.88 [[ 9.98927391e-01 -4.16243816e-02 -2.02849086e-02 2.28217150e+02] [ 4.16455524e-02 9.99132254e-01 6.22178097e-04 -7.56181542e+00] [ 2.02414087e-02 -1.46628697e-03 9.99794046e-01 2.88257085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59071405699999 meters Centerline goodness [0,1] 0.97868404826918 Centerline is valid? [True, True] Translation: X:228.25, Y:-7.57, Z:2.88 [[ 9.98914683e-01 -4.20320372e-02 -2.00689573e-02 2.28247602e+02] [ 4.20528485e-02 9.99115198e-01 6.15910185e-04 -7.56954269e+00] [ 2.00253123e-02 -1.45919855e-03 9.99798408e-01 2.88271257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.620714057 meters Centerline goodness [0,1] 0.9789304506725964 Centerline is valid? [True, True] Translation: X:228.28, Y:-7.57, Z:2.88 [[ 9.98886504e-01 -4.26304338e-02 -2.02088738e-02 2.28278836e+02] [ 4.26516675e-02 9.99089811e-01 6.20668961e-04 -7.56665671e+00] [ 2.01640205e-02 -1.48192002e-03 9.99795587e-01 2.88421438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.650714057 meters Centerline goodness [0,1] 0.9789012826436099 Centerline is valid? [True, True] Translation: X:228.31, Y:-7.57, Z:2.88 [[ 9.98874436e-01 -4.30548111e-02 -1.99033994e-02 2.28309944e+02] [ 4.30755051e-02 9.99071632e-01 6.11975932e-04 -7.56749680e+00] [ 1.98585732e-02 -1.46863610e-03 9.99801720e-01 2.88475046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.680714057 meters Centerline goodness [0,1] 0.9734092858556755 Centerline is valid? [True, True] Translation: X:228.34, Y:-7.58, Z:2.89 [[ 9.98848766e-01 -4.41137494e-02 -1.88446004e-02 2.28339538e+02] [ 4.41325035e-02 9.99025518e-01 5.80286891e-04 -7.57678534e+00] [ 1.88006380e-02 -1.41127824e-03 9.99822256e-01 2.88648442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.710714057 meters Centerline goodness [0,1] 0.9773396632819025 Centerline is valid? [True, True] Translation: X:228.37, Y:-7.57, Z:2.89 [[ 9.98848494e-01 -4.44620084e-02 -1.80226598e-02 2.28372308e+02] [ 4.44792438e-02 9.99010154e-01 5.56401003e-04 -7.56943172e+00] [ 1.79800814e-02 -1.35739458e-03 9.99837424e-01 2.88811777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.740714057 meters Centerline goodness [0,1] 0.9763491958726597 Centerline is valid? [True, True] Translation: X:228.40, Y:-7.57, Z:2.89 [[ 9.98743628e-01 -4.72743604e-02 -1.66222654e-02 2.28403245e+02] [ 4.72894240e-02 9.98881097e-01 5.14129631e-04 -7.57071925e+00] [ 1.65793616e-02 -1.29954105e-03 9.99861708e-01 2.88984113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.770714057 meters Centerline goodness [0,1] 0.9754885796566203 Centerline is valid? [True, True] Translation: X:228.43, Y:-7.57, Z:2.89 [[ 9.98672035e-01 -4.87129998e-02 -1.67693455e-02 2.28434545e+02] [ 4.87285385e-02 9.98811924e-01 5.19021755e-04 -7.57074562e+00] [ 1.67241391e-02 -1.33547821e-03 9.99859250e-01 2.89081755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.800714057 meters Centerline goodness [0,1] 0.9749137798475496 Centerline is valid? [True, True] Translation: X:228.46, Y:-7.57, Z:2.89 [[ 9.98494281e-01 -5.22608817e-02 -1.66724445e-02 2.28463641e+02] [ 5.22767414e-02 9.98632503e-01 5.16554212e-04 -7.57353747e+00] [ 1.66226494e-02 -1.38735750e-03 9.99860872e-01 2.89151120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.830714057 meters Centerline goodness [0,1] 0.9752387224234442 Centerline is valid? [True, True] Translation: X:228.50, Y:-7.57, Z:2.89 [[ 9.98409650e-01 -5.38495849e-02 -1.66851063e-02 2.28495194e+02] [ 5.38656934e-02 9.98548056e-01 5.17220161e-04 -7.57362331e+00] [ 1.66330283e-02 -1.41515242e-03 9.99860660e-01 2.89184354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.860714057 meters Centerline goodness [0,1] 0.9775330107079511 Centerline is valid? [True, True] Translation: X:228.53, Y:-7.57, Z:2.89 [[ 9.98315184e-01 -5.54178128e-02 -1.71947741e-02 2.28526226e+02] [ 5.54351613e-02 9.98462147e-01 5.33591348e-04 -7.57077935e+00] [ 1.71387606e-02 -1.48588742e-03 9.99852017e-01 2.89178035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.890714057 meters Centerline goodness [0,1] 0.9784458185326492 Centerline is valid? [True, True] Translation: X:228.56, Y:-7.57, Z:2.89 [[ 9.98131586e-01 -5.79646238e-02 -1.93245787e-02 2.28557802e+02] [ 5.79870200e-02 9.98317157e-01 6.00161810e-04 -7.56796387e+00] [ 1.92572703e-02 -1.71961519e-03 9.99813083e-01 2.89079190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92071405699997 meters Centerline goodness [0,1] 0.9761173061726227 Centerline is valid? [True, True] Translation: X:228.59, Y:-7.58, Z:2.89 [[ 9.98033515e-01 -5.91627200e-02 -2.07092974e-02 2.28588251e+02] [ 5.91887141e-02 9.98246604e-01 6.43966642e-04 -7.57511875e+00] [ 2.06348870e-02 -1.86845698e-03 9.99785332e-01 2.88963772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95071405699997 meters Centerline goodness [0,1] 0.977239175939187 Centerline is valid? [True, True] Translation: X:228.62, Y:-7.57, Z:2.89 [[ 9.97895955e-01 -6.04447855e-02 -2.34540140e-02 2.28619503e+02] [ 6.04784980e-02 9.98169233e-01 7.30080460e-04 -7.57058306e+00] [ 2.33669456e-02 -2.14700788e-03 9.99724650e-01 2.88951449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98071405699997 meters Centerline goodness [0,1] 0.9763300568607572 Centerline is valid? [True, True] Translation: X:228.65, Y:-7.57, Z:2.89 [[ 9.97894327e-01 -6.02335068e-02 -2.40590153e-02 2.28651482e+02] [ 6.02689443e-02 9.98181893e-01 7.49895632e-04 -7.56893600e+00] [ 2.39701046e-02 -2.19832805e-03 9.99710259e-01 2.89018472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01071405699997 meters Centerline goodness [0,1] 0.976496811069671 Centerline is valid? [True, True] Translation: X:228.68, Y:-7.57, Z:2.89 [[ 9.97983350e-01 -5.87694279e-02 -2.39872334e-02 2.28683122e+02] [ 5.88042679e-02 9.98269251e-01 7.49044476e-04 -7.56526590e+00] [ 2.39016966e-02 -2.15808561e-03 9.99711984e-01 2.89145305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04071405699997 meters Centerline goodness [0,1] 0.9756345177664975 Centerline is valid? [True, True] Translation: X:228.71, Y:-7.56, Z:2.89 [[ 9.98079977e-01 -5.72392139e-02 -2.36650130e-02 2.28713963e+02] [ 5.72727172e-02 9.98358297e-01 7.39831793e-04 -7.56464381e+00] [ 2.35838147e-02 -2.09377090e-03 9.99719671e-01 2.89246750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07071405699998 meters Centerline goodness [0,1] 0.9767688835789194 Centerline is valid? [True, True] Translation: X:228.74, Y:-7.56, Z:2.89 [[ 9.98293227e-01 -5.34412481e-02 -2.35513670e-02 2.28744483e+02] [ 5.34733943e-02 9.98569003e-01 7.36836217e-04 -7.55896404e+00] [ 2.34782876e-02 -1.99495014e-03 9.99722357e-01 2.89455554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10071405699998 meters Centerline goodness [0,1] 0.9773375489177297 Centerline is valid? [True, True] Translation: X:228.78, Y:-7.56, Z:2.90 [[ 9.98420844e-01 -5.10462197e-02 -2.34542645e-02 2.28775210e+02] [ 5.10774507e-02 9.98694425e-01 7.34037537e-04 -7.55574376e+00] [ 2.33861733e-02 -1.93086241e-03 9.99724641e-01 2.89577395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13071405699998 meters Centerline goodness [0,1] 0.9774429426102371 Centerline is valid? [True, True] Translation: X:228.81, Y:-7.55, Z:2.90 [[ 9.98637087e-01 -4.67931712e-02 -2.31163737e-02 2.28805006e+02] [ 4.68223782e-02 9.98902969e-01 7.23545504e-04 -7.55152135e+00] [ 2.30571573e-02 -1.80492297e-03 9.99732519e-01 2.89616642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16071405699998 meters Centerline goodness [0,1] 0.9778193479422769 Centerline is valid? [True, True] Translation: X:228.84, Y:-7.55, Z:2.90 [[ 9.98719982e-01 -4.47678613e-02 -2.35422284e-02 2.28835473e+02] [ 4.47975891e-02 9.98995813e-01 7.36609241e-04 -7.54857869e+00] [ 2.34856112e-02 -1.79030144e-03 9.99722572e-01 2.89707078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19071405699998 meters Centerline goodness [0,1] 0.9798504964855517 Centerline is valid? [True, True] Translation: X:228.87, Y:-7.54, Z:2.90 [[ 9.98818935e-01 -4.21816201e-02 -2.41131898e-02 2.28866153e+02] [ 4.22120584e-02 9.99108389e-01 7.54473964e-04 -7.54049178e+00] [ 2.40598653e-02 -1.77145026e-03 9.99708950e-01 2.89809404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22071405699998 meters Centerline goodness [0,1] 0.9776296789958903 Centerline is valid? [True, True] Translation: X:228.90, Y:-7.55, Z:2.90 [[ 9.98843721e-01 -4.16245482e-02 -2.40544727e-02 2.28895996e+02] [ 4.16546820e-02 9.99131783e-01 7.52810117e-04 -7.54502964e+00] [ 2.40022528e-02 -1.75392107e-03 9.99710366e-01 2.89730480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25071405699998 meters Centerline goodness [0,1] 0.9796183189028347 Centerline is valid? [True, True] Translation: X:228.93, Y:-7.54, Z:2.90 [[ 9.98856791e-01 -4.01195688e-02 -2.59909969e-02 2.28927820e+02] [ 4.01542627e-02 9.99193161e-01 8.14096696e-04 -7.53774320e+00] [ 2.59373651e-02 -1.85681533e-03 9.99661845e-01 2.89707323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28071405699998 meters Centerline goodness [0,1] 0.9807312696276357 Centerline is valid? [True, True] Translation: X:228.96, Y:-7.53, Z:2.90 [[ 9.98847322e-01 -3.95027107e-02 -2.72683540e-02 2.28958870e+02] [ 3.95406856e-02 9.99217596e-01 8.54625430e-04 -7.53348152e+00] [ 2.72132591e-02 -1.93184973e-03 9.99627784e-01 2.89641395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31071405699998 meters Centerline goodness [0,1] 0.9802832048754258 Centerline is valid? [True, True] Translation: X:228.99, Y:-7.53, Z:2.90 [[ 9.98850490e-01 -3.92564729e-02 -2.75068833e-02 2.28988578e+02] [ 3.92950239e-02 9.99227280e-01 8.62156696e-04 -7.53349597e+00] [ 2.74517830e-02 -1.94204927e-03 9.99621242e-01 2.89643408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34071405699999 meters Centerline goodness [0,1] 0.9814856423852963 Centerline is valid? [True, True] Translation: X:229.02, Y:-7.53, Z:2.90 [[ 9.98868079e-01 -3.86514223e-02 -2.77241551e-02 2.29019129e+02] [ 3.86903548e-02 9.99250870e-01 8.69026193e-04 -7.53111298e+00] [ 2.76697970e-02 -1.94069992e-03 9.99615234e-01 2.89700570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.370714057 meters Centerline goodness [0,1] 0.9820846539438488 Centerline is valid? [True, True] Translation: X:229.05, Y:-7.53, Z:2.90 [[ 9.98952106e-01 -3.65109634e-02 -2.75978242e-02 2.29048845e+02] [ 3.65487226e-02 9.99331498e-01 8.64836228e-04 -7.52766637e+00] [ 2.75477990e-02 -1.87259519e-03 9.99618733e-01 2.89708769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.400714057 meters Centerline goodness [0,1] 0.9818693060398156 Centerline is valid? [True, True] Translation: X:229.08, Y:-7.52, Z:2.90 [[ 9.99013642e-01 -3.49390158e-02 -2.74045277e-02 2.29078677e+02] [ 3.49756399e-02 9.99387797e-01 8.58083505e-04 -7.52416465e+00] [ 2.73577700e-02 -1.81572802e-03 9.99624057e-01 2.89783074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.430714057 meters Centerline goodness [0,1] 0.982841810966811 Centerline is valid? [True, True] Translation: X:229.11, Y:-7.52, Z:2.90 [[ 9.99160916e-01 -3.08540976e-02 -2.69349018e-02 2.29108326e+02] [ 3.08879788e-02 9.99522497e-01 8.42643206e-04 -7.52064405e+00] [ 2.68960413e-02 -1.67390083e-03 9.99636835e-01 2.89866952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.460714057 meters Centerline goodness [0,1] 0.9820826401690571 Centerline is valid? [True, True] Translation: X:229.14, Y:-7.51, Z:2.90 [[ 9.99237441e-01 -2.88581956e-02 -2.63009594e-02 2.29138146e+02] [ 2.88897931e-02 9.99582265e-01 8.22115751e-04 -7.51376209e+00] [ 2.62662478e-02 -1.58131812e-03 9.99653732e-01 2.90079352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.490714057 meters Centerline goodness [0,1] 0.9841011006930289 Centerline is valid? [True, True] Translation: X:229.17, Y:-7.51, Z:2.90 [[ 9.99327519e-01 -2.64307397e-02 -2.54150551e-02 2.29167864e+02] [ 2.64594394e-02 9.99649573e-01 7.93557411e-04 -7.50506629e+00] [ 2.53851747e-02 -1.46549187e-03 9.99676670e-01 2.90285956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.520714057 meters Centerline goodness [0,1] 0.9823937279071875 Centerline is valid? [True, True] Translation: X:229.20, Y:-7.50, Z:2.90 [[ 9.99337806e-01 -2.63038225e-02 -2.51407548e-02 2.29196756e+02] [ 2.63317858e-02 9.99652953e-01 7.81807733e-04 -7.50497040e+00] [ 2.51114653e-02 -1.44329100e-03 9.99683616e-01 2.90342557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.550714057 meters Centerline goodness [0,1] 0.9833325784682277 Centerline is valid? [True, True] Translation: X:229.23, Y:-7.50, Z:2.90 [[ 9.99339234e-01 -2.65947673e-02 -2.47752746e-02 2.29225854e+02] [ 2.66219138e-02 9.99645280e-01 7.66458967e-04 -7.50415400e+00] [ 2.47461025e-02 -1.42551774e-03 9.99692752e-01 2.90341027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.580714057 meters Centerline goodness [0,1] 0.9826460754656902 Centerline is valid? [True, True] Translation: X:229.26, Y:-7.51, Z:2.90 [[ 9.99302010e-01 -2.77522732e-02 -2.50060721e-02 2.29255543e+02] [ 2.77802610e-02 9.99613756e-01 7.72478348e-04 -7.50509541e+00] [ 2.49749756e-02 -1.46661438e-03 9.99687001e-01 2.90361079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.610714057 meters Centerline goodness [0,1] 0.9815386711476453 Centerline is valid? [True, True] Translation: X:229.28, Y:-7.51, Z:2.90 [[ 9.99179569e-01 -3.10745271e-02 -2.59723455e-02 2.29284603e+02] [ 3.11058149e-02 9.99515776e-01 8.01415059e-04 -7.50675264e+00] [ 2.59348654e-02 -1.60864852e-03 9.99662340e-01 2.90319001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.640714057 meters Centerline goodness [0,1] 0.98075654527671 Centerline is valid? [True, True] Translation: X:229.31, Y:-7.51, Z:2.90 [[ 9.99110597e-01 -3.30281219e-02 -2.62137185e-02 2.29314610e+02] [ 3.30606456e-02 9.99453021e-01 8.08172025e-04 -7.50886984e+00] [ 2.61726878e-02 -1.67409569e-03 9.99656035e-01 2.90320959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67071405699997 meters Centerline goodness [0,1] 0.9794486215538847 Centerline is valid? [True, True] Translation: X:229.34, Y:-7.51, Z:2.90 [[ 9.98971316e-01 -3.68669017e-02 -2.64034165e-02 2.29344314e+02] [ 3.69012249e-02 9.99318587e-01 8.13727078e-04 -7.51401329e+00] [ 2.63554253e-02 -1.78720842e-03 9.99651038e-01 2.90219064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70071405699997 meters Centerline goodness [0,1] 0.9810641449242338 Centerline is valid? [True, True] Translation: X:229.38, Y:-7.51, Z:2.90 [[ 9.98887344e-01 -3.86845225e-02 -2.69737067e-02 2.29375724e+02] [ 3.87210149e-02 9.99249714e-01 8.31688175e-04 -7.50852324e+00] [ 2.69212953e-02 -1.87521209e-03 9.99635797e-01 2.90346997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73071405699997 meters Centerline goodness [0,1] 0.9771258193736344 Centerline is valid? [True, True] Translation: X:229.41, Y:-7.52, Z:2.90 [[ 9.98778187e-01 -4.14534172e-02 -2.69025511e-02 2.29405392e+02] [ 4.14907298e-02 9.99138544e-01 8.29994211e-04 -7.51719349e+00] [ 2.68449696e-02 -1.94518659e-03 9.99637716e-01 2.90252549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76071405699997 meters Centerline goodness [0,1] 0.9799607878898413 Centerline is valid? [True, True] Translation: X:229.44, Y:-7.51, Z:2.90 [[ 9.98733503e-01 -4.23988744e-02 -2.70873843e-02 2.29437039e+02] [ 4.24370598e-02 9.99098792e-01 8.36149745e-04 -7.50987710e+00] [ 2.70275212e-02 -1.98459971e-03 9.99632720e-01 2.90417433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79071405699997 meters Centerline goodness [0,1] 0.9800487949472149 Centerline is valid? [True, True] Translation: X:229.47, Y:-7.51, Z:2.90 [[ 9.98695378e-01 -4.29281401e-02 -2.76534974e-02 2.29468157e+02] [ 4.29681678e-02 9.99076076e-01 8.54604687e-04 -7.51024901e+00] [ 2.75912611e-02 -2.04170987e-03 9.99617204e-01 2.90479644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82071405699998 meters Centerline goodness [0,1] 0.9703894212167421 Centerline is valid? [True, True] Translation: X:229.50, Y:-7.52, Z:2.90 [[ 9.98662042e-01 -4.35379051e-02 -2.79029799e-02 2.29498477e+02] [ 4.35789159e-02 9.99049615e-01 8.63054366e-04 -7.51894824e+00] [ 2.78388858e-02 -2.07788125e-03 9.99610263e-01 2.90344753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85071405699998 meters Centerline goodness [0,1] 0.977912427117869 Centerline is valid? [True, True] Translation: X:229.53, Y:-7.51, Z:2.91 [[ 9.98663419e-01 -4.36349964e-02 -2.77013188e-02 2.29531167e+02] [ 4.36754858e-02 9.99045402e-01 8.57987826e-04 -7.51131145e+00] [ 2.76374369e-02 -2.06670961e-03 9.99615877e-01 2.90523210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88071405699998 meters Centerline goodness [0,1] 0.9774682038612865 Centerline is valid? [True, True] Translation: X:229.56, Y:-7.51, Z:2.91 [[ 9.98660943e-01 -4.36998836e-02 -2.76882700e-02 2.29562980e+02] [ 4.37404119e-02 9.99042560e-01 8.59475532e-04 -7.51207770e+00] [ 2.76242012e-02 -2.06942098e-03 9.99616237e-01 2.90585462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91071405699998 meters Centerline goodness [0,1] 0.9776671538180489 Centerline is valid? [True, True] Translation: X:229.59, Y:-7.51, Z:2.91 [[ 9.98696781e-01 -4.33987315e-02 -2.68568362e-02 2.29594867e+02] [ 4.34367956e-02 9.99055828e-01 8.35254594e-04 -7.51097002e+00] [ 2.67952297e-02 -2.00074098e-03 9.99638941e-01 2.90698141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94071405699998 meters Centerline goodness [0,1] 0.9756276678753385 Centerline is valid? [True, True] Translation: X:229.63, Y:-7.51, Z:2.91 [[ 9.98700951e-01 -4.36335090e-02 -2.63159319e-02 2.29625583e+02] [ 4.36701707e-02 9.99045667e-01 8.19764976e-04 -7.51188775e+00] [ 2.62550485e-02 -1.96792130e-03 9.99653340e-01 2.90783606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97071405699998 meters Centerline goodness [0,1] 0.9772826161632354 Centerline is valid? [True, True] Translation: X:229.66, Y:-7.51, Z:2.91 [[ 9.98709958e-01 -4.35685982e-02 -2.60805838e-02 2.29657527e+02] [ 4.36046251e-02 9.99048534e-01 8.13981278e-04 -7.50921065e+00] [ 2.60203050e-02 -1.95016529e-03 9.99659512e-01 2.90904893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00071405699998 meters Centerline goodness [0,1] 0.97787997240745 Centerline is valid? [True, True] Translation: X:229.69, Y:-7.51, Z:2.91 [[ 9.98686204e-01 -4.42694580e-02 -2.58085298e-02 2.29688907e+02] [ 4.43050104e-02 9.99017725e-01 8.07076328e-04 -7.50864771e+00] [ 2.57474498e-02 -1.94946317e-03 9.99666579e-01 2.90899257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03071405699998 meters Centerline goodness [0,1] 0.9773934641124118 Centerline is valid? [True, True] Translation: X:229.72, Y:-7.51, Z:2.91 [[ 9.98668297e-01 -4.44673364e-02 -2.61589214e-02 2.29721205e+02] [ 4.45039696e-02 9.99008871e-01 8.19605171e-04 -7.50965520e+00] [ 2.60965489e-02 -1.98268954e-03 9.99657461e-01 2.90909346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06071405699998 meters Centerline goodness [0,1] 0.9781477387860367 Centerline is valid? [True, True] Translation: X:229.75, Y:-7.51, Z:2.91 [[ 9.98665213e-01 -4.48787032e-02 -2.55674511e-02 2.29753822e+02] [ 4.49138764e-02 9.98990540e-01 8.02817399e-04 -7.50637907e+00] [ 2.55056124e-02 -1.95007915e-03 9.99672777e-01 2.91041226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09071405699999 meters Centerline goodness [0,1] 0.9772543958703017 Centerline is valid? [True, True] Translation: X:229.79, Y:-7.51, Z:2.91 [[ 9.98648691e-01 -4.53607698e-02 -2.53612342e-02 2.29786406e+02] [ 4.53955768e-02 9.98968771e-01 7.98107451e-04 -7.50722425e+00] [ 2.52988782e-02 -1.94831682e-03 9.99678034e-01 2.91127138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.120714057 meters Centerline goodness [0,1] 0.9764478586871521 Centerline is valid? [True, True] Translation: X:229.82, Y:-7.51, Z:2.91 [[ 9.98672948e-01 -4.54199784e-02 -2.42769322e-02 2.29817637e+02] [ 4.54519249e-02 9.98966234e-01 7.65462867e-04 -7.50695559e+00] [ 2.42170682e-02 -1.86788036e-03 9.99704979e-01 2.91263709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.150714057 meters Centerline goodness [0,1] 0.976636701869526 Centerline is valid? [True, True] Translation: X:229.85, Y:-7.51, Z:2.91 [[ 9.98665063e-01 -4.55546780e-02 -2.43487798e-02 2.29849511e+02] [ 4.55868888e-02 9.98960081e-01 7.69173219e-04 -7.50780936e+00] [ 2.42884196e-02 -1.87813154e-03 9.99703229e-01 2.91340827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.180714057 meters Centerline goodness [0,1] 0.9786831541549393 Centerline is valid? [True, True] Translation: X:229.88, Y:-7.50, Z:2.91 [[ 9.98640139e-01 -4.58341493e-02 -2.48415708e-02 2.29881392e+02] [ 4.58678027e-02 9.98947209e-01 7.86313828e-04 -7.50108274e+00] [ 2.47793778e-02 -1.92467282e-03 9.99691091e-01 2.91462007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.210714057 meters Centerline goodness [0,1] 0.976604000184766 Centerline is valid? [True, True] Translation: X:229.91, Y:-7.50, Z:2.91 [[ 9.98638948e-01 -4.56191346e-02 -2.52813445e-02 2.29912725e+02] [ 4.56539753e-02 9.98956991e-01 8.02347413e-04 -7.50497078e+00] [ 2.52183735e-02 -1.95544926e-03 9.99680054e-01 2.91418957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.240714057 meters Centerline goodness [0,1] 0.9787081228858718 Centerline is valid? [True, True] Translation: X:229.94, Y:-7.50, Z:2.91 [[ 9.98604446e-01 -4.57822871e-02 -2.63276061e-02 2.29944645e+02] [ 4.58201981e-02 9.98949352e-01 8.38191558e-04 -7.50143923e+00] [ 2.62615707e-02 -2.04335794e-03 9.99653017e-01 2.91482112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.270714057 meters Centerline goodness [0,1] 0.9791425528959674 Centerline is valid? [True, True] Translation: X:229.98, Y:-7.50, Z:2.92 [[ 9.98611586e-01 -4.54443473e-02 -2.66404016e-02 2.29977041e+02] [ 4.54830966e-02 9.98964747e-01 8.50074852e-04 -7.49839338e+00] [ 2.65741909e-02 -2.06058256e-03 9.99644720e-01 2.91573598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.300714057 meters Centerline goodness [0,1] 0.9791425528959674 Centerline is valid? [True, True] Translation: X:230.01, Y:-7.50, Z:2.92 [[ 9.98614878e-01 -4.53719887e-02 -2.66403399e-02 2.30008816e+02] [ 4.54107636e-02 9.98968036e-01 8.52005492e-04 -7.49946816e+00] [ 2.65741908e-02 -2.06058354e-03 9.99644720e-01 2.91618678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.330714057 meters Centerline goodness [0,1] 0.9795597484276729 Centerline is valid? [True, True] Translation: X:230.04, Y:-7.50, Z:2.92 [[ 9.98594062e-01 -4.53465938e-02 -2.74515072e-02 2.30040438e+02] [ 4.53878062e-02 9.98969055e-01 8.79724691e-04 -7.50116947e+00] [ 2.73833137e-02 -2.12445154e-03 9.99622749e-01 2.91553725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.360714057 meters Centerline goodness [0,1] 0.9801061620124625 Centerline is valid? [True, True] Translation: X:230.07, Y:-7.50, Z:2.92 [[ 9.98608972e-01 -4.50198867e-02 -2.74468817e-02 2.30072297e+02] [ 4.50610096e-02 9.98983848e-01 8.81292137e-04 -7.50186201e+00] [ 2.73793158e-02 -2.11685043e-03 9.99622875e-01 2.91593823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.390714057 meters Centerline goodness [0,1] 0.9800574419789688 Centerline is valid? [True, True] Translation: X:230.10, Y:-7.50, Z:2.92 [[ 9.98686126e-01 -4.36118559e-02 -2.69077701e-02 2.30102722e+02] [ 4.36509033e-02 9.99046470e-01 8.65205215e-04 -7.50249023e+00] [ 2.68443796e-02 -2.03861692e-03 9.99637546e-01 2.91686174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42071405699997 meters Centerline goodness [0,1] 0.9788484680181431 Centerline is valid? [True, True] Translation: X:230.13, Y:-7.51, Z:2.92 [[ 9.98754899e-01 -4.26895735e-02 -2.58118518e-02 2.30132805e+02] [ 4.27252090e-02 9.99086516e-01 8.30413049e-04 -7.50549991e+00] [ 2.57528231e-02 -1.93219586e-03 9.99666474e-01 2.91799802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45071405699997 meters Centerline goodness [0,1] 0.9789082172476725 Centerline is valid? [True, True] Translation: X:230.16, Y:-7.51, Z:2.92 [[ 9.98855789e-01 -4.13497585e-02 -2.40272721e-02 2.30163110e+02] [ 4.13802592e-02 9.99143171e-01 7.73399806e-04 -7.50624644e+00] [ 2.39747049e-02 -1.76676962e-03 9.99711004e-01 2.91968849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48071405699997 meters Centerline goodness [0,1] 0.9807018764641755 Centerline is valid? [True, True] Translation: X:230.20, Y:-7.50, Z:2.92 [[ 9.98873371e-01 -4.10774039e-02 -2.37620717e-02 2.30195076e+02] [ 4.11071802e-02 9.99154449e-01 7.65791303e-04 -7.50025622e+00] [ 2.37105230e-02 -1.74172030e-03 9.99717349e-01 2.92122882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51071405699997 meters Centerline goodness [0,1] 0.9809413401344772 Centerline is valid? [True, True] Translation: X:230.23, Y:-7.50, Z:2.92 [[ 9.98857439e-01 -4.13447103e-02 -2.39672925e-02 2.30226919e+02] [ 4.13751213e-02 9.99143383e-01 7.74137424e-04 -7.49998043e+00] [ 2.39147552e-02 -1.76490256e-03 9.99712443e-01 2.92155932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54071405699997 meters Centerline goodness [0,1] 0.9796632154355731 Centerline is valid? [True, True] Translation: X:230.26, Y:-7.51, Z:2.92 [[ 9.98822403e-01 -4.21193801e-02 -2.40783231e-02 2.30257980e+02] [ 4.21503351e-02 9.99110976e-01 7.79288234e-04 -7.50535557e+00] [ 2.40240937e-02 -1.79327993e-03 9.99709771e-01 2.92113953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57071405699998 meters Centerline goodness [0,1] 0.97837775202781 Centerline is valid? [True, True] Translation: X:230.29, Y:-7.51, Z:2.92 [[ 9.98725959e-01 -4.38884732e-02 -2.49050286e-02 2.30287730e+02] [ 4.39221575e-02 9.99034631e-01 8.06834376e-04 -7.50983435e+00] [ 2.48455753e-02 -1.89968902e-03 9.99689496e-01 2.92064357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60071405699998 meters Centerline goodness [0,1] 0.9800611365846881 Centerline is valid? [True, True] Translation: X:230.32, Y:-7.51, Z:2.92 [[ 9.98670137e-01 -4.50230312e-02 -2.51173873e-02 2.30319796e+02] [ 4.50576689e-02 9.98984055e-01 8.14499287e-04 -7.50752717e+00] [ 2.50551982e-02 -1.94514704e-03 9.99684177e-01 2.92135352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63071405699998 meters Centerline goodness [0,1] 0.9782618697092381 Centerline is valid? [True, True] Translation: X:230.35, Y:-7.51, Z:2.92 [[ 9.98570900e-01 -4.72502165e-02 -2.49714707e-02 2.30350146e+02] [ 4.72851746e-02 9.98881101e-01 8.10972043e-04 -7.51376963e+00] [ 2.49052115e-02 -1.99059343e-03 9.99687835e-01 2.92136512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66071405699998 meters Centerline goodness [0,1] 0.9795663919096765 Centerline is valid? [True, True] Translation: X:230.38, Y:-7.51, Z:2.92 [[ 9.98514433e-01 -4.85347209e-02 -2.47650704e-02 2.30381973e+02] [ 4.85695164e-02 9.98819480e-01 8.05101640e-04 -7.51187950e+00] [ 2.46967594e-02 -2.00673310e-03 9.99692974e-01 2.92247991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69071405699998 meters Centerline goodness [0,1] 0.9796673683236566 Centerline is valid? [True, True] Translation: X:230.41, Y:-7.52, Z:2.92 [[ 9.98441707e-01 -5.01350596e-02 -2.45078183e-02 2.30411592e+02] [ 5.01696333e-02 9.98740393e-01 7.97510648e-04 -7.51804418e+00] [ 2.44369648e-02 -2.02581615e-03 9.99699320e-01 2.92228652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72071405699998 meters Centerline goodness [0,1] 0.979405876803424 Centerline is valid? [True, True] Translation: X:230.44, Y:-7.52, Z:2.92 [[ 9.98420725e-01 -5.04935402e-02 -2.46263864e-02 2.30443008e+02] [ 5.05285716e-02 9.98722294e-01 8.01934916e-04 -7.52064610e+00] [ 2.45544285e-02 -2.04500457e-03 9.99696403e-01 2.92262085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75071405699998 meters Centerline goodness [0,1] 0.9774691500670148 Centerline is valid? [True, True] Translation: X:230.47, Y:-7.52, Z:2.92 [[ 9.98458078e-01 -4.99978966e-02 -2.41179707e-02 2.30474453e+02] [ 5.00313993e-02 9.98747335e-01 7.87329441e-04 -7.52429464e+00] [ 2.40483942e-02 -1.99277126e-03 9.99708809e-01 2.92283243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78071405699998 meters Centerline goodness [0,1] 0.9790447554064994 Centerline is valid? [True, True] Translation: X:230.51, Y:-7.52, Z:2.92 [[ 9.98484007e-01 -4.95049115e-02 -2.40614031e-02 2.30506889e+02] [ 4.95381729e-02 9.98771920e-01 7.87897872e-04 -7.52147342e+00] [ 2.39928490e-02 -1.97866137e-03 9.99710172e-01 2.92364018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81071405699998 meters Centerline goodness [0,1] 0.9791912053396152 Centerline is valid? [True, True] Translation: X:230.54, Y:-7.52, Z:2.92 [[ 9.98565019e-01 -4.82177070e-02 -2.33014135e-02 2.30538718e+02] [ 4.82485859e-02 9.98835066e-01 7.64482450e-04 -7.52297407e+00] [ 2.32374073e-02 -1.88764568e-03 9.99728193e-01 2.92394436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84071405699999 meters Centerline goodness [0,1] 0.9793106636769228 Centerline is valid? [True, True] Translation: X:230.57, Y:-7.52, Z:2.92 [[ 9.98611042e-01 -4.75526596e-02 -2.26876931e-02 2.30570702e+02] [ 4.75817926e-02 9.98867067e-01 7.45685349e-04 -7.52433981e+00] [ 2.26265301e-02 -1.82417073e-03 9.99742323e-01 2.92470577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.870714057 meters Centerline goodness [0,1] 0.9794389064921248 Centerline is valid? [True, True] Translation: X:230.60, Y:-7.52, Z:2.93 [[ 9.98722578e-01 -4.57964368e-02 -2.13517769e-02 2.30602246e+02] [ 4.58218659e-02 9.98949379e-01 7.02984133e-04 -7.52134349e+00] [ 2.12971501e-02 -1.68046438e-03 9.99771778e-01 2.92632440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.900714057 meters Centerline goodness [0,1] 0.9799949061103522 Centerline is valid? [True, True] Translation: X:230.63, Y:-7.52, Z:2.93 [[ 9.98780795e-01 -4.47282869e-02 -2.08878693e-02 2.30633732e+02] [ 4.47524060e-02 9.98997872e-01 6.88452374e-04 -7.52213305e+00] [ 2.08361436e-02 -1.62239542e-03 9.99781588e-01 2.92704313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.930714057 meters Centerline goodness [0,1] 0.9754527349358529 Centerline is valid? [True, True] Translation: X:230.67, Y:-7.53, Z:2.93 [[ 9.98812807e-01 -4.37687115e-02 -2.13840242e-02 2.30665039e+02] [ 4.37937938e-02 9.99040342e-01 7.05835751e-04 -7.53137021e+00] [ 2.13326093e-02 -1.64148533e-03 9.99771086e-01 2.92608423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.960714057 meters Centerline goodness [0,1] 0.9793117811769606 Centerline is valid? [True, True] Translation: X:230.70, Y:-7.52, Z:2.93 [[ 9.98826014e-01 -4.32367881e-02 -2.18442942e-02 2.30697740e+02] [ 4.32628699e-02 9.99063462e-01 7.22600174e-04 -7.52474807e+00] [ 2.17925932e-02 -1.66679871e-03 9.99761124e-01 2.92694167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.990714057 meters Centerline goodness [0,1] 0.981270038982308 Centerline is valid? [True, True] Translation: X:230.73, Y:-7.53, Z:2.93 [[ 9.98793898e-01 -4.33990741e-02 -2.29623334e-02 2.30729665e+02] [ 4.34279764e-02 9.99056270e-01 7.61274791e-04 -7.52607274e+00] [ 2.29076246e-02 -1.75756429e-03 9.99736041e-01 2.92579919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.020714057 meters Centerline goodness [0,1] 0.9809127671865974 Centerline is valid? [True, True] Translation: X:230.76, Y:-7.53, Z:2.93 [[ 9.98758421e-01 -4.37815638e-02 -2.37653552e-02 2.30762211e+02] [ 4.38126724e-02 9.99039452e-01 7.89634619e-04 -7.52755025e+00] [ 2.37079560e-02 -1.82987795e-03 9.99717252e-01 2.92556253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.050714057 meters Centerline goodness [0,1] 0.9759647544575923 Centerline is valid? [True, True] Translation: X:230.79, Y:-7.54, Z:2.92 [[ 9.98733805e-01 -4.39302972e-02 -2.45135710e-02 2.30793410e+02] [ 4.39634797e-02 9.99032805e-01 8.16093281e-04 -7.54011788e+00] [ 2.44540104e-02 -1.89276183e-03 9.99699164e-01 2.92389792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.080714057 meters Centerline goodness [0,1] 0.9800712072871873 Centerline is valid? [True, True] Translation: X:230.83, Y:-7.53, Z:2.92 [[ 9.98688405e-01 -4.42475034e-02 -2.57609845e-02 2.30825662e+02] [ 4.42842967e-02 9.99018600e-01 8.59236710e-04 -7.53197607e+00] [ 2.56976836e-02 -1.99891682e-03 9.99667762e-01 2.92439965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.110714057 meters Centerline goodness [0,1] 0.9804888161986594 Centerline is valid? [True, True] Translation: X:230.86, Y:-7.54, Z:2.92 [[ 9.98700433e-01 -4.37123535e-02 -2.62044810e-02 2.30856358e+02] [ 4.37502855e-02 9.99042114e-01 8.75689232e-04 -7.53802533e+00] [ 2.61411016e-02 -2.02100474e-03 9.99656220e-01 2.92397251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.140714057 meters Centerline goodness [0,1] 0.9809567723342939 Centerline is valid? [True, True] Translation: X:230.89, Y:-7.53, Z:2.93 [[ 9.98761294e-01 -4.22248374e-02 -2.63237845e-02 2.30887947e+02] [ 4.22626332e-02 9.99106147e-01 8.80860965e-04 -7.53363610e+00] [ 2.62630607e-02 -1.99228228e-03 9.99653081e-01 2.92512965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17071405699997 meters Centerline goodness [0,1] 0.9824521002210759 Centerline is valid? [True, True] Translation: X:230.92, Y:-7.54, Z:2.93 [[ 9.98899413e-01 -3.95502040e-02 -2.52139471e-02 2.30917664e+02] [ 3.95840436e-02 9.99215888e-01 8.44203903e-04 -7.53556999e+00] [ 2.51607881e-02 -1.84134476e-03 9.99681721e-01 2.92601119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20071405699997 meters Centerline goodness [0,1] 0.9830665095756231 Centerline is valid? [True, True] Translation: X:230.95, Y:-7.53, Z:2.93 [[ 9.98972019e-01 -3.79039119e-02 -2.48636160e-02 2.30949575e+02] [ 3.79363240e-02 9.99279811e-01 8.33034147e-04 -7.53411915e+00] [ 2.48141343e-02 -1.77541200e-03 9.99690505e-01 2.92719819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23071405699997 meters Centerline goodness [0,1] 0.9825209540742109 Centerline is valid? [True, True] Translation: X:230.98, Y:-7.54, Z:2.93 [[ 9.99042701e-01 -3.65620123e-02 -2.40187416e-02 2.30980804e+02] [ 3.65918979e-02 9.99329967e-01 8.05784842e-04 -7.53525753e+00] [ 2.39731872e-02 -1.68390481e-03 9.99711184e-01 2.92816303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26071405699997 meters Centerline goodness [0,1] 0.9827653831068454 Centerline is valid? [True, True] Translation: X:231.01, Y:-7.53, Z:2.93 [[ 9.99154455e-01 -3.38508141e-02 -2.33344757e-02 2.31011389e+02] [ 3.38782958e-02 9.99425659e-01 7.83304384e-04 -7.53277676e+00] [ 2.32945583e-02 -1.57317434e-03 9.99727407e-01 2.92911246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29071405699997 meters Centerline goodness [0,1] 0.9848059569927393 Centerline is valid? [True, True] Translation: X:231.04, Y:-7.53, Z:2.93 [[ 9.99208658e-01 -3.20347985e-02 -2.35760164e-02 2.31043160e+02] [ 3.20623619e-02 9.99485557e-01 7.91961014e-04 -7.52959467e+00] [ 2.35385176e-02 -1.54723707e-03 9.99721733e-01 2.92990664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32071405699998 meters Centerline goodness [0,1] 0.9830508474576272 Centerline is valid? [True, True] Translation: X:231.07, Y:-7.54, Z:2.93 [[ 9.99238289e-01 -3.11298266e-02 -2.35324480e-02 2.31073262e+02] [ 3.11570617e-02 9.99514188e-01 7.91487677e-04 -7.53681865e+00] [ 2.34963768e-02 -1.52408673e-03 9.99722760e-01 2.92888775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35071405699998 meters Centerline goodness [0,1] 0.9846428240526267 Centerline is valid? [True, True] Translation: X:231.10, Y:-7.53, Z:2.93 [[ 9.99259898e-01 -3.04563661e-02 -2.34960816e-02 2.31104321e+02] [ 3.04833450e-02 9.99534962e-01 7.90836336e-04 -7.53365711e+00] [ 2.34610690e-02 -1.50649020e-03 9.99723616e-01 2.92970213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38071405699998 meters Centerline goodness [0,1] 0.9838646293256894 Centerline is valid? [True, True] Translation: X:231.14, Y:-7.54, Z:2.93 [[ 9.99272119e-01 -3.03896235e-02 -2.30586885e-02 2.31135683e+02] [ 3.04156075e-02 9.99537036e-01 7.76904648e-04 -7.53549050e+00] [ 2.30244033e-02 -1.47768317e-03 9.99733811e-01 2.93032036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41071405699998 meters Centerline goodness [0,1] 0.9837732883361842 Centerline is valid? [True, True] Translation: X:231.17, Y:-7.54, Z:2.93 [[ 9.99264902e-01 -3.09324140e-02 -2.26460185e-02 2.31165476e+02] [ 3.09576290e-02 9.99520406e-01 7.63626545e-04 -7.53959804e+00] [ 2.26115367e-02 -1.46413224e-03 9.99743254e-01 2.93053965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44071405699998 meters Centerline goodness [0,1] 0.9842588745787749 Centerline is valid? [True, True] Translation: X:231.20, Y:-7.54, Z:2.93 [[ 9.99268081e-01 -3.08348127e-02 -2.26388373e-02 2.31196738e+02] [ 3.08599989e-02 9.99523425e-01 7.63918321e-04 -7.54017059e+00] [ 2.26044929e-02 -1.46199369e-03 9.99743417e-01 2.93090074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47071405699998 meters Centerline goodness [0,1] 0.9836815828402367 Centerline is valid? [True, True] Translation: X:231.23, Y:-7.54, Z:2.93 [[ 9.99241356e-01 -3.12945984e-02 -2.31810367e-02 2.31227698e+02] [ 3.13211512e-02 9.99509066e-01 7.83175367e-04 -7.54010250e+00] [ 2.31451471e-02 -1.50863797e-03 9.99730977e-01 2.93092272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50071405699998 meters Centerline goodness [0,1] 0.9837627142099314 Centerline is valid? [True, True] Translation: X:231.26, Y:-7.55, Z:2.93 [[ 9.99213533e-01 -3.14048917e-02 -2.42084518e-02 2.31258210e+02] [ 3.14339060e-02 9.99505497e-01 8.18820121e-04 -7.54893169e+00] [ 2.41707657e-02 -1.57914234e-03 9.99706597e-01 2.92904757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53071405699998 meters Centerline goodness [0,1] 0.9833167962710847 Centerline is valid? [True, True] Translation: X:231.29, Y:-7.55, Z:2.93 [[ 9.99209106e-01 -3.10160582e-02 -2.48830642e-02 2.31289187e+02] [ 3.10466081e-02 9.99517583e-01 8.42255702e-04 -7.54787489e+00] [ 2.48449368e-02 -1.61412431e-03 9.99690014e-01 2.92977279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56071405699998 meters Centerline goodness [0,1] 0.9849202133801354 Centerline is valid? [True, True] Translation: X:231.32, Y:-7.55, Z:2.93 [[ 9.99238526e-01 -3.01049181e-02 -2.48206029e-02 2.31319809e+02] [ 3.01350467e-02 9.99545483e-01 8.40623981e-04 -7.54936548e+00] [ 2.47840146e-02 -1.58795390e-03 9.99691568e-01 2.93036201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59071405699999 meters Centerline goodness [0,1] 0.9840643881739772 Centerline is valid? [True, True] Translation: X:231.35, Y:-7.55, Z:2.93 [[ 9.99335387e-01 -2.71080483e-02 -2.43708408e-02 2.31349508e+02] [ 2.71362070e-02 9.99631405e-01 8.25391442e-04 -7.55082115e+00] [ 2.43394831e-02 -1.48617506e-03 9.99702646e-01 2.93095275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.620714057 meters Centerline goodness [0,1] 0.9843490687811175 Centerline is valid? [True, True] Translation: X:231.38, Y:-7.55, Z:2.93 [[ 9.99401538e-01 -2.53967593e-02 -2.34855482e-02 2.31378900e+02] [ 2.54224306e-02 9.99676482e-01 7.95097610e-04 -7.55136321e+00] [ 2.34577573e-02 -1.39168149e-03 9.99723860e-01 2.93160006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.650714057 meters Centerline goodness [0,1] 0.9852582677889702 Centerline is valid? [True, True] Translation: X:231.41, Y:-7.55, Z:2.93 [[ 9.99462908e-01 -2.32862436e-02 -2.30574514e-02 2.31409024e+02] [ 2.33104134e-02 9.99727971e-01 7.79983552e-04 -7.54615738e+00] [ 2.30330162e-02 -1.31704335e-03 9.99733837e-01 2.93337500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.680714057 meters Centerline goodness [0,1] 0.9847419458614826 Centerline is valid? [True, True] Translation: X:231.44, Y:-7.55, Z:2.93 [[ 9.99617310e-01 -1.78642315e-02 -2.11211669e-02 2.31437963e+02] [ 1.78832967e-02 9.99839826e-01 7.14110714e-04 -7.55206761e+00] [ 2.11050268e-02 -1.09155353e-03 9.99776668e-01 2.93367080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.710714057 meters Centerline goodness [0,1] 0.9874006679718991 Centerline is valid? [True, True] Translation: X:231.47, Y:-7.54, Z:2.94 [[ 9.99713260e-01 -1.19265297e-02 -2.07642746e-02 2.31468919e+02] [ 1.19436717e-02 9.99928426e-01 7.01731426e-04 -7.54086487e+00] [ 2.07544192e-02 -9.49531890e-04 9.99784153e-01 2.93556842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.740714057 meters Centerline goodness [0,1] 0.9879506969243175 Centerline is valid? [True, True] Translation: X:231.50, Y:-7.54, Z:2.94 [[ 9.99749552e-01 -8.98509408e-03 -2.04963691e-02 2.31498660e+02] [ 9.00117396e-03 9.99959249e-01 6.92400986e-04 -7.53972828e+00] [ 2.04893126e-02 -8.76718959e-04 9.99789688e-01 2.93603371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.770714057 meters Centerline goodness [0,1] 0.9878588213611021 Centerline is valid? [True, True] Translation: X:231.53, Y:-7.54, Z:2.94 [[ 9.99759679e-01 -6.45204753e-03 -2.09512661e-02 2.31527070e+02] [ 6.46827295e-03 9.99978831e-01 7.06761171e-04 -7.54069465e+00] [ 2.09462625e-02 -8.42109829e-04 9.99780248e-01 2.93558674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.800714057 meters Centerline goodness [0,1] 0.9882545689496031 Centerline is valid? [True, True] Translation: X:231.56, Y:-7.54, Z:2.93 [[ 9.99754718e-01 -2.02278379e-03 -2.20547650e-02 2.31556895e+02] [ 2.03965803e-03 9.99997644e-01 7.42638333e-04 -7.54063428e+00] [ 2.20532109e-02 -7.87440356e-04 9.99756488e-01 2.93496275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.830714057 meters Centerline goodness [0,1] 0.9876125348253552 Centerline is valid? [True, True] Translation: X:231.59, Y:-7.54, Z:2.93 [[ 9.99752412e-01 -7.88708078e-04 -2.22371897e-02 2.31585030e+02] [ 8.05501830e-04 9.99999397e-01 7.46263114e-04 -7.54406149e+00] [ 2.22365878e-02 -7.63990445e-04 9.99752445e-01 2.93406942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.860714057 meters Centerline goodness [0,1] 0.9880114133186064 Centerline is valid? [True, True] Translation: X:231.61, Y:-7.54, Z:2.93 [[ 9.99746725e-01 1.84457447e-04 -2.25044711e-02 2.31613579e+02] [-1.67631870e-04 9.99999705e-01 7.49539037e-04 -7.54418386e+00] [ 2.25046027e-02 -7.45576731e-04 9.99746461e-01 2.93474858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.890714057 meters Centerline goodness [0,1] 0.9871426931465963 Centerline is valid? [True, True] Translation: X:231.64, Y:-7.55, Z:2.93 [[ 9.99756322e-01 4.81230047e-05 -2.20747324e-02 2.31640488e+02] [-3.20011292e-05 9.99999733e-01 7.30684309e-04 -7.55008621e+00] [ 2.20747617e-02 -7.29799841e-04 9.99756056e-01 2.93435358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92071405699997 meters Centerline goodness [0,1] 0.9860894674122285 Centerline is valid? [True, True] Translation: X:231.67, Y:-7.56, Z:2.93 [[ 9.99764336e-01 -2.69424372e-03 -2.15409753e-02 2.31668444e+02] [ 2.71018237e-03 9.99996075e-01 7.10763492e-04 -7.55931109e+00] [ 2.15389758e-02 -7.68975962e-04 9.99767714e-01 2.93436209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95071405699997 meters Centerline goodness [0,1] 0.9866206202543226 Centerline is valid? [True, True] Translation: X:231.70, Y:-7.56, Z:2.94 [[ 9.99763141e-01 -4.57465461e-03 -2.12775439e-02 2.31696723e+02] [ 4.59059037e-03 9.99989218e-01 7.00163640e-04 -7.56028435e+00] [ 2.12741115e-02 -7.97674289e-04 9.99773362e-01 2.93523116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98071405699997 meters Centerline goodness [0,1] 0.9862348731739556 Centerline is valid? [True, True] Translation: X:231.73, Y:-7.57, Z:2.93 [[ 9.99728680e-01 -8.65813963e-03 -2.16241201e-02 2.31725441e+02] [ 8.67550260e-03 9.99962116e-01 7.09261319e-04 -7.56933229e+00] [ 2.16171600e-02 -8.96668993e-04 9.99765920e-01 2.93484063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01071405699997 meters Centerline goodness [0,1] 0.9856190411177099 Centerline is valid? [True, True] Translation: X:231.75, Y:-7.57, Z:2.94 [[ 9.99715549e-01 -1.05104166e-02 -2.14091412e-02 2.31753591e+02] [ 1.05278305e-02 9.99944335e-01 7.00837951e-04 -7.57424492e+00] [ 2.14005834e-02 -9.26030408e-04 9.99770552e-01 2.93538600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04071405699997 meters Centerline goodness [0,1] 0.9865342763873776 Centerline is valid? [True, True] Translation: X:231.78, Y:-7.58, Z:2.94 [[ 9.99702325e-01 -1.24544850e-02 -2.09796626e-02 2.31782469e+02] [ 1.24715735e-02 9.99921993e-01 6.83883339e-04 -7.57925442e+00] [ 2.09695086e-02 -9.45329169e-04 9.99779669e-01 2.93572571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07071405699998 meters Centerline goodness [0,1] 0.984790016473721 Centerline is valid? [True, True] Translation: X:231.81, Y:-7.59, Z:2.94 [[ 9.99666903e-01 -1.51439466e-02 -2.08984227e-02 2.31810224e+02] [ 1.51614072e-02 9.99884830e-01 6.77301187e-04 -7.58788251e+00] [ 2.08857588e-02 -9.93925075e-04 9.99781375e-01 2.93593026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10071405699998 meters Centerline goodness [0,1] 0.9843721811293523 Centerline is valid? [True, True] Translation: X:231.84, Y:-7.60, Z:2.94 [[ 9.99616057e-01 -1.74180240e-02 -2.15488193e-02 2.31838711e+02] [ 1.74370855e-02 9.99847720e-01 6.96983319e-04 -7.59635119e+00] [ 2.15333978e-02 -1.07246432e-03 9.99767554e-01 2.93565959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13071405699998 meters Centerline goodness [0,1] 0.9836482231219074 Centerline is valid? [True, True] Translation: X:231.87, Y:-7.60, Z:2.94 [[ 9.99590012e-01 -1.86325295e-02 -2.17401893e-02 2.31867652e+02] [ 1.86521623e-02 9.99825788e-01 7.00623825e-04 -7.60067858e+00] [ 2.17233475e-02 -1.10583812e-03 9.99763409e-01 2.93560089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16071405699998 meters Centerline goodness [0,1] 0.9840086488434424 Centerline is valid? [True, True] Translation: X:231.90, Y:-7.61, Z:2.94 [[ 9.99559659e-01 -1.99993589e-02 -2.19206030e-02 2.31895954e+02] [ 2.00195314e-02 9.99799343e-01 7.01169969e-04 -7.60513575e+00] [ 2.19021815e-02 -1.13970141e-03 9.99759469e-01 2.93571912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19071405699998 meters Centerline goodness [0,1] 0.9838201539223187 Centerline is valid? [True, True] Translation: X:231.93, Y:-7.61, Z:2.94 [[ 9.99543629e-01 -2.17661724e-02 -2.09467665e-02 2.31925339e+02] [ 2.17849064e-02 9.99762459e-01 6.66566045e-04 -7.61305396e+00] [ 2.09272822e-02 -1.12258519e-03 9.99780370e-01 2.93567344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22071405699998 meters Centerline goodness [0,1] 0.9838201539223187 Centerline is valid? [True, True] Translation: X:231.95, Y:-7.61, Z:2.94 [[ 9.99538452e-01 -2.20025855e-02 -2.09468324e-02 2.31953606e+02] [ 2.20213279e-02 9.99757280e-01 6.64488421e-04 -7.61389403e+00] [ 2.09271277e-02 -1.12545879e-03 9.99780370e-01 2.93607491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25071405699998 meters Centerline goodness [0,1] 0.9824939402100727 Centerline is valid? [True, True] Translation: X:231.98, Y:-7.62, Z:2.94 [[ 9.99523269e-01 -2.26948996e-02 -2.09326613e-02 2.31981006e+02] [ 2.27136859e-02 9.99741793e-01 6.60117697e-04 -7.62170550e+00] [ 2.09122750e-02 -1.13526089e-03 9.99780670e-01 2.93525846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28071405699998 meters Centerline goodness [0,1] 0.9838911759441561 Centerline is valid? [True, True] Translation: X:232.01, Y:-7.62, Z:2.93 [[ 9.99522650e-01 -2.22516224e-02 -2.14321393e-02 2.32009938e+02] [ 2.22711525e-02 9.99751741e-01 6.72971343e-04 -7.62421826e+00] [ 2.14118438e-02 -1.14996854e-03 9.99770079e-01 2.93492935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31071405699998 meters Centerline goodness [0,1] 0.9848467891756385 Centerline is valid? [True, True] Translation: X:232.04, Y:-7.63, Z:2.93 [[ 9.99526381e-01 -2.06981636e-02 -2.27727668e-02 2.32038059e+02] [ 2.07197199e-02 9.99785071e-01 7.11010437e-04 -7.62758436e+00] [ 2.27531557e-02 -1.18251904e-03 9.99740414e-01 2.93411891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34071405699999 meters Centerline goodness [0,1] 0.9843595948731738 Centerline is valid? [True, True] Translation: X:232.07, Y:-7.63, Z:2.93 [[ 9.99560574e-01 -1.92116344e-02 -2.25737157e-02 2.32066678e+02] [ 1.92324042e-02 9.99814793e-01 7.03328795e-04 -7.62915464e+00] [ 2.25560228e-02 -1.13716656e-03 9.99744934e-01 2.93432490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.370714057 meters Centerline goodness [0,1] 0.9856155218554862 Centerline is valid? [True, True] Translation: X:232.10, Y:-7.63, Z:2.94 [[ 9.99597166e-01 -1.76105476e-02 -2.22570029e-02 2.32096074e+02] [ 1.76303019e-02 9.99844335e-01 6.91628922e-04 -7.63047070e+00] [ 2.22413583e-02 -1.08374799e-03 9.99752043e-01 2.93530821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.400714057 meters Centerline goodness [0,1] 0.9855478377772798 Centerline is valid? [True, True] Translation: X:232.12, Y:-7.63, Z:2.94 [[ 9.99680121e-01 -1.33809454e-02 -2.14617517e-02 2.32124656e+02] [ 1.33982994e-02 9.99910018e-01 6.65005383e-04 -7.63138168e+00] [ 2.14509221e-02 -9.52343635e-04 9.99769449e-01 2.93672477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.430714057 meters Centerline goodness [0,1] 0.9871511251145226 Centerline is valid? [True, True] Translation: X:232.16, Y:-7.63, Z:2.94 [[ 9.99767840e-01 -7.68914554e-03 -2.01281924e-02 2.32155369e+02] [ 7.70324487e-03 9.99970135e-01 6.23035043e-04 -7.62984801e+00] [ 2.01228006e-02 -7.77942793e-04 9.99797213e-01 2.93940799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.460714057 meters Centerline goodness [0,1] 0.9867756779698879 Centerline is valid? [True, True] Translation: X:232.18, Y:-7.63, Z:2.94 [[ 9.99798301e-01 -4.61047232e-03 -1.95473825e-02 2.32183879e+02] [ 4.62317624e-03 9.99989130e-01 6.04763835e-04 -7.62876289e+00] [ 1.95443818e-02 -6.95012849e-04 9.99808749e-01 2.94075822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.490714057 meters Centerline goodness [0,1] 0.9904144788291811 Centerline is valid? [True, True] Translation: X:232.21, Y:-7.62, Z:2.94 [[ 9.99833794e-01 2.68055228e-03 -1.80332685e-02 2.32214777e+02] [-2.67093736e-03 9.99996278e-01 5.57240778e-04 -7.61710882e+00] [ 1.80346951e-02 -5.08982431e-04 9.99837232e-01 2.94472786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.520714057 meters Centerline goodness [0,1] 0.990661096092406 Centerline is valid? [True, True] Translation: X:232.24, Y:-7.62, Z:2.95 [[ 9.99840752e-01 5.76092059e-03 -1.68903033e-02 2.32243862e+02] [-5.75293937e-03 9.99983316e-01 5.21082716e-04 -7.61724823e+00] [ 1.68930234e-02 -4.23830843e-04 9.99857213e-01 2.94543735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.550714057 meters Centerline goodness [0,1] 0.9911360185764044 Centerline is valid? [True, True] Translation: X:232.27, Y:-7.62, Z:2.95 [[ 9.99838940e-01 8.19422574e-03 -1.59671450e-02 2.32272921e+02] [-8.18746029e-03 9.99966363e-01 4.89034926e-04 -7.61821678e+00] [ 1.59706152e-02 -3.58225796e-04 9.99872397e-01 2.94597387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.580714057 meters Centerline goodness [0,1] 0.9915052061269537 Centerline is valid? [True, True] Translation: X:232.30, Y:-7.62, Z:2.95 [[ 9.99798794e-01 1.21112376e-02 -1.59903017e-02 2.32301633e+02] [-1.21050120e-02 9.99926614e-01 4.86065522e-04 -7.62182573e+00] [ 1.59950150e-02 -2.92404928e-04 9.99872029e-01 2.94614991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.610714057 meters Centerline goodness [0,1] 0.9919493320844762 Centerline is valid? [True, True] Translation: X:232.33, Y:-7.62, Z:2.95 [[ 9.99789143e-01 1.28849746e-02 -1.59889674e-02 2.32329916e+02] [-1.28788671e-02 9.99916946e-01 4.84889454e-04 -7.62470510e+00] [ 1.59938872e-02 -2.78867424e-04 9.99872051e-01 2.94616492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.640714057 meters Centerline goodness [0,1] 0.9911539829302988 Centerline is valid? [True, True] Translation: X:232.36, Y:-7.63, Z:2.95 [[ 9.99792893e-01 1.22573531e-02 -1.62459042e-02 2.32357297e+02] [-1.22509846e-02 9.99924833e-01 4.91470467e-04 -7.63082932e+00] [ 1.62507071e-02 -2.92340358e-04 9.99867906e-01 2.94604806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67071405699997 meters Centerline goodness [0,1] 0.9901619093836855 Centerline is valid? [True, True] Translation: X:232.39, Y:-7.64, Z:2.95 [[ 9.99795456e-01 1.10863633e-02 -1.69156232e-02 2.32385908e+02] [-1.10793167e-02 9.99938492e-01 5.10228748e-04 -7.63760116e+00] [ 1.69202394e-02 -3.22710836e-04 9.99856790e-01 2.94623964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70071405699997 meters Centerline goodness [0,1] 0.9910425974255761 Centerline is valid? [True, True] Translation: X:232.41, Y:-7.64, Z:2.95 [[ 9.99808423e-01 1.00442128e-02 -1.67997621e-02 2.32414771e+02] [-1.00371354e-02 9.99949499e-01 5.05543815e-04 -7.64213673e+00] [ 1.68039915e-02 -3.36825477e-04 9.99858746e-01 2.94632947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73071405699997 meters Centerline goodness [0,1] 0.9888813201784262 Centerline is valid? [True, True] Translation: X:232.44, Y:-7.65, Z:2.95 [[ 9.99816571e-01 8.49405275e-03 -1.71660975e-02 2.32442773e+02] [-8.48645725e-03 9.99963857e-01 5.15268926e-04 -7.65116108e+00] [ 1.71698538e-02 -3.69495058e-04 9.99852519e-01 2.94556004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76071405699997 meters Centerline goodness [0,1] 0.9891012964183696 Centerline is valid? [True, True] Translation: X:232.47, Y:-7.66, Z:2.95 [[ 9.99809211e-01 8.30325381e-03 -1.76804328e-02 2.32471004e+02] [-8.29519368e-03 9.99965454e-01 5.29167879e-04 -7.65584619e+00] [ 1.76842158e-02 -3.82404306e-04 9.99843549e-01 2.94597330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79071405699997 meters Centerline goodness [0,1] 0.9886413665580699 Centerline is valid? [True, True] Translation: X:232.50, Y:-7.66, Z:2.95 [[ 9.99819775e-01 7.77856464e-03 -1.73179291e-02 2.32499953e+02] [-7.77077382e-03 9.99969673e-01 5.17117702e-04 -7.66320983e+00] [ 1.73214264e-02 -3.82450794e-04 9.99849900e-01 2.94610472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82071405699998 meters Centerline goodness [0,1] 0.9887650292372047 Centerline is valid? [True, True] Translation: X:232.53, Y:-7.67, Z:2.95 [[ 9.99818434e-01 7.79013024e-03 -1.73900084e-02 2.32527435e+02] [-7.78229957e-03 9.99969583e-01 5.17924849e-04 -7.66731915e+00] [ 1.73935141e-02 -3.82496557e-04 9.99848648e-01 2.94659433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85071405699998 meters Centerline goodness [0,1] 0.9887529813352005 Centerline is valid? [True, True] Translation: X:232.56, Y:-7.67, Z:2.95 [[ 9.99841253e-01 7.11074628e-03 -1.63372331e-02 2.32556506e+02] [-7.10376998e-03 9.99974650e-01 4.85011724e-04 -7.67450923e+00] [ 1.63402677e-02 -3.68878784e-04 9.99866421e-01 2.94701923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88071405699998 meters Centerline goodness [0,1] 0.9885542037089622 Centerline is valid? [True, True] Translation: X:232.58, Y:-7.68, Z:2.95 [[ 9.99846905e-01 6.66869156e-03 -1.61770217e-02 2.32584263e+02] [-6.66181268e-03 9.99977695e-01 4.79076401e-04 -7.68004384e+00] [ 1.61798556e-02 -3.71234769e-04 9.99869029e-01 2.94732762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91071405699998 meters Centerline goodness [0,1] 0.9885164966615194 Centerline is valid? [True, True] Translation: X:232.61, Y:-7.69, Z:2.95 [[ 9.99871340e-01 5.61741991e-03 -1.50249220e-02 2.32612427e+02] [-5.61138584e-03 9.99984158e-01 4.43732071e-04 -7.69038645e+00] [ 1.50271766e-02 -3.59364346e-04 9.99887021e-01 2.94728176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94071405699998 meters Centerline goodness [0,1] 0.9883392686528273 Centerline is valid? [True, True] Translation: X:232.64, Y:-7.69, Z:2.95 [[ 9.99880749e-01 4.77921642e-03 -1.46848926e-02 2.32640794e+02] [-4.77337692e-03 9.99988514e-01 4.32677865e-04 -7.69483440e+00] [ 1.46867918e-02 -3.62529741e-04 9.99892078e-01 2.94790193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97071405699998 meters Centerline goodness [0,1] 0.9878361353664364 Centerline is valid? [True, True] Translation: X:232.67, Y:-7.70, Z:2.95 [[ 9.99897827e-01 3.59739567e-03 -1.38345676e-02 2.32667869e+02] [-3.59211253e-03 9.99993466e-01 4.06709384e-04 -7.70104538e+00] [ 1.38359402e-02 -3.56972505e-04 9.99904215e-01 2.94954506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00071405699998 meters Centerline goodness [0,1] 0.988361276365603 Centerline is valid? [True, True] Translation: X:232.70, Y:-7.71, Z:2.95 [[ 9.99912342e-01 1.14738271e-03 -1.31905727e-02 2.32696453e+02] [-1.14238496e-03 9.99999273e-01 3.86415746e-04 -7.70844228e+00] [ 1.31910065e-02 -3.71313162e-04 9.99912926e-01 2.95053779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03071405699998 meters Centerline goodness [0,1] 0.9872430900070872 Centerline is valid? [True, True] Translation: X:232.72, Y:-7.72, Z:2.95 [[ 9.99905601e-01 -1.65000667e-03 -1.36406026e-02 2.32724908e+02] [ 1.65559738e-03 9.99998550e-01 3.98576137e-04 -7.71828229e+00] [ 1.36399252e-02 -4.21121858e-04 9.99906883e-01 2.94988492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06071405699998 meters Centerline goodness [0,1] 0.9862404059080258 Centerline is valid? [True, True] Translation: X:232.75, Y:-7.73, Z:2.95 [[ 9.99896639e-01 -3.23671375e-03 -1.40083844e-02 2.32752375e+02] [ 3.24275105e-03 9.99994659e-01 4.08285158e-04 -7.72596943e+00] [ 1.40069880e-02 -4.53668660e-04 9.99901794e-01 2.94921891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09071405699999 meters Centerline goodness [0,1] 0.9857505704076801 Centerline is valid? [True, True] Translation: X:232.78, Y:-7.73, Z:2.95 [[ 9.99861721e-01 -6.93410288e-03 -1.51147711e-02 2.32781444e+02] [ 6.94152490e-03 9.99975811e-01 4.38635918e-04 -7.73497824e+00] [ 1.51113639e-02 -5.43494824e-04 9.99885669e-01 2.94805591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.120714057 meters Centerline goodness [0,1] 0.9847550531003768 Centerline is valid? [True, True] Translation: X:232.81, Y:-7.74, Z:2.95 [[ 9.99844922e-01 -8.24969125e-03 -1.55587590e-02 2.32808874e+02] [ 8.25770066e-03 9.99965803e-01 4.50610081e-04 -7.74180654e+00] [ 1.55545096e-02 -5.79019776e-04 9.99878854e-01 2.94770905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.150714057 meters Centerline goodness [0,1] 0.9836093636324732 Centerline is valid? [True, True] Translation: X:232.84, Y:-7.75, Z:2.95 [[ 9.99794010e-01 -1.13498271e-02 -1.68261585e-02 2.32837753e+02] [ 1.13596077e-02 9.99935360e-01 4.85807415e-04 -7.74937642e+00] [ 1.68195570e-02 -6.76845903e-04 9.99858312e-01 2.94706822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.180714057 meters Centerline goodness [0,1] 0.983183568677792 Centerline is valid? [True, True] Translation: X:232.87, Y:-7.75, Z:2.95 [[ 9.99757696e-01 -1.32701999e-02 -1.75627686e-02 2.32866752e+02] [ 1.32811231e-02 9.99911674e-01 5.05455266e-04 -7.75404448e+00] [ 1.75545099e-02 -7.38586084e-04 9.99845635e-01 2.94750649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.210714057 meters Centerline goodness [0,1] 0.982402497434143 Centerline is valid? [True, True] Translation: X:232.90, Y:-7.76, Z:2.95 [[ 9.99699755e-01 -1.67124443e-02 -1.79190810e-02 2.32896367e+02] [ 1.67243006e-02 9.99860008e-01 5.11997856e-04 -7.76320629e+00] [ 1.79080157e-02 -8.11528227e-04 9.99839309e-01 2.94777841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.240714057 meters Centerline goodness [0,1] 0.9822152087687124 Centerline is valid? [True, True] Translation: X:232.93, Y:-7.77, Z:2.95 [[ 9.99655910e-01 -1.88744752e-02 -1.82157913e-02 2.32926174e+02] [ 1.88870738e-02 9.99821488e-01 5.19825292e-04 -7.76812765e+00] [ 1.82027281e-02 -8.63689418e-04 9.99833944e-01 2.94795777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.270714057 meters Centerline goodness [0,1] 0.982080149828676 Centerline is valid? [True, True] Translation: X:232.96, Y:-7.78, Z:2.95 [[ 9.99548248e-01 -2.35169693e-02 -1.87150088e-02 2.32955374e+02] [ 2.35310682e-02 9.99722964e-01 5.33466061e-04 -7.77702400e+00] [ 1.86972785e-02 -9.73609215e-04 9.99824717e-01 2.94880622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.300714057 meters Centerline goodness [0,1] 0.9794796706561413 Centerline is valid? [True, True] Translation: X:232.98, Y:-7.78, Z:2.95 [[ 9.99493595e-01 -2.56904842e-02 -1.87763585e-02 2.32983281e+02] [ 2.57050467e-02 9.99669428e-01 5.34606443e-04 -7.78343845e+00] [ 1.87564173e-02 -1.01698289e-03 9.99823566e-01 2.94903622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.330714057 meters Centerline goodness [0,1] 0.9798830557490553 Centerline is valid? [True, True] Translation: X:233.01, Y:-7.79, Z:2.95 [[ 9.99384676e-01 -2.92256370e-02 -1.93941075e-02 2.33013405e+02] [ 2.92418158e-02 9.99572215e-01 5.51088993e-04 -7.78852777e+00] [ 1.93697050e-02 -1.11786881e-03 9.99811765e-01 2.95038221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.360714057 meters Centerline goodness [0,1] 0.9817140432753501 Centerline is valid? [True, True] Translation: X:233.04, Y:-7.78, Z:2.95 [[ 9.99329745e-01 -3.09120287e-02 -1.96088370e-02 2.33043205e+02] [ 3.09288826e-02 9.99521433e-01 5.56745109e-04 -7.78471933e+00] [ 1.95822427e-02 -1.16285136e-03 9.99807573e-01 2.95192945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.390714057 meters Centerline goodness [0,1] 0.979248802407902 Centerline is valid? [True, True] Translation: X:233.07, Y:-7.79, Z:2.95 [[ 9.99224682e-01 -3.43293904e-02 -1.92750523e-02 2.33072567e+02] [ 3.43462970e-02 9.99409842e-01 5.46666195e-04 -7.78992620e+00] [ 1.92449102e-02 -1.20826902e-03 9.99814069e-01 2.95296529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42071405699997 meters Centerline goodness [0,1] 0.9798694577638833 Centerline is valid? [True, True] Translation: X:233.10, Y:-7.79, Z:2.95 [[ 9.99112773e-01 -3.71962684e-02 -1.97510617e-02 2.33102711e+02] [ 3.72145711e-02 9.99307141e-01 5.59802585e-04 -7.79458331e+00] [ 1.97165544e-02 -1.29433320e-03 9.99804772e-01 2.95373656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45071405699997 meters Centerline goodness [0,1] 0.9772526408821177 Centerline is valid? [True, True] Translation: X:233.13, Y:-7.81, Z:2.95 [[ 9.99052954e-01 -3.87050811e-02 -1.98774145e-02 2.33130889e+02] [ 3.87239048e-02 9.99249790e-01 5.62819768e-04 -7.80540847e+00] [ 1.98407183e-02 -1.33201786e-03 9.99802266e-01 2.95342254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48071405699997 meters Centerline goodness [0,1] 0.9790491539081386 Centerline is valid? [True, True] Translation: X:233.16, Y:-7.80, Z:2.95 [[ 9.98977661e-01 -4.05123996e-02 -2.00593498e-02 2.33160215e+02] [ 4.05319073e-02 9.99178084e-01 5.66727555e-04 -7.79963463e+00] [ 2.00199033e-02 -1.37919188e-03 9.99798630e-01 2.95448757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51071405699997 meters Centerline goodness [0,1] 0.9799222385110588 Centerline is valid? [True, True] Translation: X:233.19, Y:-7.80, Z:2.96 [[ 9.98861849e-01 -4.32226728e-02 -2.01694586e-02 2.33190813e+02] [ 4.32429219e-02 9.99064425e-01 5.68688423e-04 -7.80254274e+00] [ 2.01260083e-02 -1.44022749e-03 9.99796414e-01 2.95556674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54071405699997 meters Centerline goodness [0,1] 0.9781689092957507 Centerline is valid? [True, True] Translation: X:233.22, Y:-7.80, Z:2.96 [[ 9.98785113e-01 -4.48705863e-02 -2.03698182e-02 2.33218866e+02] [ 4.48915709e-02 9.98991700e-01 5.73859148e-04 -7.80487699e+00] [ 2.03235299e-02 -1.48759511e-03 9.99792349e-01 2.95598632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57071405699998 meters Centerline goodness [0,1] 0.9777203270487841 Centerline is valid? [True, True] Translation: X:233.25, Y:-7.81, Z:2.96 [[ 9.98671808e-01 -4.73826181e-02 -2.02363059e-02 2.33247935e+02] [ 4.74038149e-02 9.98875645e-01 5.68795294e-04 -7.80682415e+00] [ 2.01866021e-02 -1.52731793e-03 9.99795063e-01 2.95675750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60071405699998 meters Centerline goodness [0,1] 0.9768296308881621 Centerline is valid? [True, True] Translation: X:233.28, Y:-7.81, Z:2.96 [[ 9.98514682e-01 -5.04107180e-02 -2.06685716e-02 2.33276779e+02] [ 5.04334616e-02 9.98727255e-01 5.80296362e-04 -7.80839257e+00] [ 2.06130127e-02 -1.62182205e-03 9.99786214e-01 2.95714160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63071405699998 meters Centerline goodness [0,1] 0.9762936528167219 Centerline is valid? [True, True] Translation: X:233.31, Y:-7.81, Z:2.96 [[ 9.98460059e-01 -5.16780497e-02 -2.01715059e-02 2.33305849e+02] [ 5.16999570e-02 9.98662503e-01 5.65730540e-04 -7.80932664e+00] [ 2.01152908e-02 -1.60772534e-03 9.99796374e-01 2.95781214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66071405699998 meters Centerline goodness [0,1] 0.975800156128025 Centerline is valid? [True, True] Translation: X:233.34, Y:-7.81, Z:2.96 [[ 9.98414952e-01 -5.25392402e-02 -2.01794745e-02 2.33335855e+02] [ 5.25613226e-02 9.98617538e-01 5.65114793e-04 -7.80928793e+00] [ 2.01218865e-02 -1.62487893e-03 9.99796214e-01 2.95861312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69071405699998 meters Centerline goodness [0,1] 0.9744978942244609 Centerline is valid? [True, True] Translation: X:233.37, Y:-7.81, Z:2.96 [[ 9.98245581e-01 -5.55560966e-02 -2.04763299e-02 2.33366175e+02] [ 5.55794576e-02 9.98454103e-01 5.73120951e-04 -7.80826742e+00] [ 2.04128352e-02 -1.71017877e-03 9.99790174e-01 2.95863313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72071405699998 meters Centerline goodness [0,1] 0.9761363394887269 Centerline is valid? [True, True] Translation: X:233.40, Y:-7.80, Z:2.96 [[ 9.98098679e-01 -5.79003079e-02 -2.11324720e-02 2.33396303e+02] [ 5.79257066e-02 9.98320721e-01 5.91225067e-04 -7.80356517e+00] [ 2.10627525e-02 -1.81421433e-03 9.99776510e-01 2.95886675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75071405699998 meters Centerline goodness [0,1] 0.9770271420062963 Centerline is valid? [True, True] Translation: X:233.43, Y:-7.80, Z:2.96 [[ 9.97776870e-01 -6.28472881e-02 -2.21706096e-02 2.33426566e+02] [ 6.28764468e-02 9.98021126e-01 6.19879874e-04 -7.80151401e+00] [ 2.20877790e-02 -2.01251096e-03 9.99754010e-01 2.95887806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78071405699998 meters Centerline goodness [0,1] 0.9564523338228721 Centerline is valid? [True, True] Translation: X:233.46, Y:-7.81, Z:2.96 [[ 9.97598671e-01 -6.54742894e-02 -2.25833926e-02 2.33455497e+02] [ 6.55052044e-02 9.97852028e-01 6.31100868e-04 -7.81433704e+00] [ 2.24935632e-02 -2.10891513e-03 9.99744763e-01 2.95775936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81071405699998 meters Centerline goodness [0,1] 0.9134949572485555 Centerline is valid? [True, False] Translation: X:233.46, Y:-7.81, Z:2.96 [[ 9.97539835e-01 -6.63931758e-02 -2.24994119e-02 2.33455406e+02] [ 6.64016740e-02 9.97792905e-01 -3.70000839e-04 -7.81197305e+00] [ 2.24743191e-02 -1.12490804e-03 9.99746788e-01 2.95763806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84071405699999 meters Centerline goodness [0,1] 0.9734539712346891 Centerline is valid? [False, True] Translation: X:233.45, Y:-7.81, Z:2.96 [[ 9.97726294e-01 -6.35768262e-02 -2.23658166e-02 2.33454467e+02] [ 6.36650908e-02 9.97966009e-01 3.25602474e-03 -7.81257205e+00] [ 2.21133170e-02 -4.67254324e-03 9.99744552e-01 2.95763356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.870714057 meters Centerline goodness [0,1] 0.9696038907019902 Centerline is valid? [True, True] Translation: X:233.48, Y:-7.81, Z:2.96 [[ 9.97586732e-01 -6.57578373e-02 -2.22849584e-02 2.33484596e+02] [ 6.57920712e-02 9.97833029e-01 8.05713618e-04 -7.81025369e+00] [ 2.21836855e-02 -2.26994278e-03 9.99751335e-01 2.95956260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.900714057 meters Centerline goodness [0,1] 0.8509633870209766 Centerline is valid? [True, False] Translation: X:233.48, Y:-7.81, Z:2.96 [[ 9.97787860e-01 -6.26669299e-02 -2.21865183e-02 2.33483696e+02] [ 6.27801309e-02 9.98017495e-01 4.44233749e-03 -7.81036053e+00] [ 2.18641458e-02 -5.82538294e-03 9.99743979e-01 2.95964855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.930714057 meters Centerline goodness [0,1] 0.7897893411307707 Centerline is valid? [False, False] Translation: X:233.48, Y:-7.81, Z:2.96 [[ 9.97947873e-01 -6.00883407e-02 -2.21231542e-02 2.33483213e+02] [ 6.02564342e-02 9.98158309e-01 7.01092898e-03 -7.80781050e+00] [ 2.16611351e-02 -8.32960405e-03 9.99730670e-01 2.95935348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.960714057 meters Centerline goodness [0,1] 0.9729579154881289 Centerline is valid? [False, True] Translation: X:233.48, Y:-7.81, Z:2.96 [[ 9.97935398e-01 -6.02089136e-02 -2.23568534e-02 2.33483810e+02] [ 6.03628425e-02 9.98156779e-01 6.27467410e-03 -7.80529470e+00] [ 2.19378535e-02 -7.61124261e-03 9.99730363e-01 2.95918472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.990714057 meters Centerline goodness [0,1] 0.9756991321118611 Centerline is valid? [True, True] Translation: X:233.51, Y:-7.80, Z:2.96 [[ 9.98004972e-01 -5.86428415e-02 -2.33900055e-02 2.33514670e+02] [ 5.86823431e-02 9.98276200e-01 1.00544106e-03 -7.79680224e+00] [ 2.32907239e-02 -2.37601551e-03 9.99725911e-01 2.96065434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.020714057 meters Centerline goodness [0,1] 0.9731197801490006 Centerline is valid? [True, True] Translation: X:233.54, Y:-7.80, Z:2.96 [[ 9.98086152e-01 -5.71305617e-02 -2.36671103e-02 2.33544334e+02] [ 5.71705790e-02 9.98363907e-01 1.01712512e-03 -7.79735305e+00] [ 2.35702798e-02 -2.36824089e-03 9.99719377e-01 2.96091461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.050714057 meters Centerline goodness [0,1] 0.9790644633789483 Centerline is valid? [True, True] Translation: X:233.58, Y:-7.79, Z:2.96 [[ 9.98201542e-01 -5.51173782e-02 -2.35744607e-02 2.33575626e+02] [ 5.51565274e-02 9.98477206e-01 1.01317348e-03 -7.79008001e+00] [ 2.34827182e-02 -2.31163672e-03 9.99721570e-01 2.96220458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.080714057 meters Centerline goodness [0,1] 0.8106873176591728 Centerline is valid? [True, False] Translation: X:233.58, Y:-7.79, Z:2.96 [[ 9.98408860e-01 -5.11058079e-02 -2.38315825e-02 2.33575577e+02] [ 5.12069295e-02 9.98681387e-01 3.65200004e-03 -7.78514131e+00] [ 2.36135194e-02 -4.86653135e-03 9.99709317e-01 2.96254712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.110714057 meters Centerline goodness [0,1] 0.8106873176591728 Centerline is valid? [False, False] Translation: X:233.58, Y:-7.79, Z:2.96 [[ 9.98408860e-01 -5.11058079e-02 -2.38315825e-02 2.33575577e+02] [ 5.12069295e-02 9.98681387e-01 3.65200004e-03 -7.78514131e+00] [ 2.36135194e-02 -4.86653135e-03 9.99709317e-01 2.96254712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.140714057 meters Centerline goodness [0,1] 0.9814229420170615 Centerline is valid? [False, True] Translation: X:233.57, Y:-7.78, Z:2.96 [[ 9.98586300e-01 -4.75902855e-02 -2.36762834e-02 2.33574554e+02] [ 4.77656155e-02 9.98834771e-01 6.89539535e-03 -7.78362590e+00] [ 2.33205413e-02 -8.01655958e-03 9.99695897e-01 2.96294394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17071405699997 meters Centerline goodness [0,1] 0.981181458328827 Centerline is valid? [True, True] Translation: X:233.60, Y:-7.78, Z:2.97 [[ 9.98856161e-01 -4.21725660e-02 -2.25353978e-02 2.33604129e+02] [ 4.22050930e-02 9.99108498e-01 9.69501818e-04 -7.77679414e+00] [ 2.24744210e-02 -1.91950142e-03 9.99745576e-01 2.96563808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20071405699997 meters Centerline goodness [0,1] 0.981916229912938 Centerline is valid? [True, True] Translation: X:233.63, Y:-7.77, Z:2.97 [[ 9.99074300e-01 -3.69824913e-02 -2.19735915e-02 2.33633781e+02] [ 3.70121622e-02 9.99314368e-01 9.45000819e-04 -7.77118491e+00] [ 2.19235772e-02 -1.75741616e-03 9.99758105e-01 2.96633397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23071405699997 meters Centerline goodness [0,1] 0.9817140866839367 Centerline is valid? [True, True] Translation: X:233.66, Y:-7.77, Z:2.97 [[ 9.99139060e-01 -3.51860053e-02 -2.19791643e-02 2.33664167e+02] [ 3.52152498e-02 9.99379304e-01 9.44808947e-04 -7.76710367e+00] [ 2.19322779e-02 -1.71799728e-03 9.99757983e-01 2.96663553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26071405699997 meters Centerline goodness [0,1] 0.9821693260092423 Centerline is valid? [True, True] Translation: X:233.69, Y:-7.76, Z:2.97 [[ 9.99239411e-01 -3.21745705e-02 -2.20317150e-02 2.33694572e+02] [ 3.22032204e-02 9.99480893e-01 9.46749579e-04 -7.76040575e+00] [ 2.19898170e-02 -1.65552167e-03 9.99756824e-01 2.96700845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29071405699997 meters Centerline goodness [0,1] 0.982434756110833 Centerline is valid? [True, True] Translation: X:233.72, Y:-7.76, Z:2.97 [[ 9.99256202e-01 -3.13355837e-02 -2.24749784e-02 2.33724087e+02] [ 3.13651577e-02 9.99507527e-01 9.64475167e-04 -7.75671919e+00] [ 2.24336877e-02 -1.66868903e-03 9.99746941e-01 2.96762995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32071405699998 meters Centerline goodness [0,1] 0.9828008217142358 Centerline is valid? [True, True] Translation: X:233.75, Y:-7.75, Z:2.97 [[ 9.99251226e-01 -3.12059879e-02 -2.28729954e-02 2.33753018e+02] [ 3.12365328e-02 9.99511541e-01 9.79264212e-04 -7.75456417e+00] [ 2.28312640e-02 -1.69300404e-03 9.99737899e-01 2.96759448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35071405699998 meters Centerline goodness [0,1] 0.981902633539284 Centerline is valid? [True, True] Translation: X:233.78, Y:-7.75, Z:2.97 [[ 9.99225896e-01 -3.14084040e-02 -2.36880055e-02 2.33781260e+02] [ 3.14411913e-02 9.99505090e-01 1.01287041e-03 -7.75486079e+00] [ 2.36444694e-02 -1.75686545e-03 9.99718887e-01 2.96735247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38071405699998 meters Centerline goodness [0,1] 0.9826569394085012 Centerline is valid? [True, True] Translation: X:233.81, Y:-7.75, Z:2.97 [[ 9.99163923e-01 -3.24745366e-02 -2.48366490e-02 2.33810875e+02] [ 3.25108809e-02 9.99470819e-01 1.06083668e-03 -7.75171377e+00] [ 2.47890558e-02 -1.86741107e-03 9.99690960e-01 2.96695499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41071405699998 meters Centerline goodness [0,1] 0.9810030562212793 Centerline is valid? [True, True] Translation: X:233.84, Y:-7.75, Z:2.97 [[ 9.99128092e-01 -3.31674317e-02 -2.53570056e-02 2.33839051e+02] [ 3.32055036e-02 9.99447960e-01 1.08173254e-03 -7.75331232e+00] [ 2.53071293e-02 -1.92278151e-03 9.99677874e-01 2.96675491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44071405699998 meters Centerline goodness [0,1] 0.9808516719062589 Centerline is valid? [True, True] Translation: X:233.87, Y:-7.75, Z:2.97 [[ 9.99091563e-01 -3.42958969e-02 -2.52950430e-02 2.33866621e+02] [ 3.43340789e-02 9.99409832e-01 1.07657498e-03 -7.75177771e+00] [ 2.52431926e-02 -1.94407898e-03 9.99679450e-01 2.96736454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47071405699998 meters Centerline goodness [0,1] 0.9800797690663493 Centerline is valid? [True, True] Translation: X:233.90, Y:-7.75, Z:2.97 [[ 9.99096851e-01 -3.49625190e-02 -2.41475494e-02 2.33895795e+02] [ 3.49974538e-02 9.99386875e-01 1.02549723e-03 -7.75286611e+00] [ 2.40968900e-02 -1.86967380e-03 9.99707879e-01 2.96824614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50071405699998 meters Centerline goodness [0,1] 0.9806324808974869 Centerline is valid? [True, True] Translation: X:233.93, Y:-7.75, Z:2.97 [[ 9.99097282e-01 -3.58073177e-02 -2.28573045e-02 2.33925360e+02] [ 3.58388149e-02 9.99357113e-01 9.69710995e-04 -7.74583989e+00] [ 2.28078871e-02 -1.78801433e-03 9.99738267e-01 2.97072462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53071405699998 meters Centerline goodness [0,1] 0.9812224183583407 Centerline is valid? [True, True] Translation: X:233.96, Y:-7.75, Z:2.97 [[ 9.99109603e-01 -3.57562893e-02 -2.23939582e-02 2.33955322e+02] [ 3.57865110e-02 9.99359006e-01 9.50125984e-04 -7.74668946e+00] [ 2.23456308e-02 -1.75068163e-03 9.99748772e-01 2.97117298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56071405699998 meters Centerline goodness [0,1] 0.981112485641071 Centerline is valid? [True, True] Translation: X:233.99, Y:-7.74, Z:2.97 [[ 9.99081031e-01 -3.65981013e-02 -2.23085567e-02 2.33986218e+02] [ 3.66283191e-02 9.99328509e-01 9.47295825e-04 -7.74329872e+00] [ 2.22589075e-02 -1.76355022e-03 9.99750684e-01 2.97199460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59071405699999 meters Centerline goodness [0,1] 0.9803396284898267 Centerline is valid? [True, True] Translation: X:234.02, Y:-7.74, Z:2.97 [[ 9.99064826e-01 -3.67772433e-02 -2.27356044e-02 2.34016490e+02] [ 3.68086871e-02 9.99321864e-01 9.65942102e-04 -7.74480775e+00] [ 2.26846619e-02 -1.80190653e-03 9.99741046e-01 2.97192749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.620714057 meters Centerline goodness [0,1] 0.9806960063756309 Centerline is valid? [True, True] Translation: X:234.05, Y:-7.74, Z:2.97 [[ 9.99017720e-01 -3.78151376e-02 -2.31000127e-02 2.34047852e+02] [ 3.78478985e-02 9.99283029e-01 9.82511726e-04 -7.74048754e+00] [ 2.30462968e-02 -1.85583356e-03 9.99732676e-01 2.97260360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.650714057 meters Centerline goodness [0,1] 0.9805861778899367 Centerline is valid? [True, True] Translation: X:234.08, Y:-7.74, Z:2.97 [[ 9.98983978e-01 -3.83613709e-02 -2.36520008e-02 2.34078969e+02] [ 3.83958889e-02 9.99262099e-01 1.00684293e-03 -7.73988029e+00] [ 2.35959241e-02 -1.91395955e-03 9.99719745e-01 2.97273160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.680714057 meters Centerline goodness [0,1] 0.9788855268679462 Centerline is valid? [True, True] Translation: X:234.11, Y:-7.74, Z:2.97 [[ 9.98889178e-01 -4.03145415e-02 -2.43956688e-02 2.34108659e+02] [ 4.03518555e-02 9.99184992e-01 1.03899185e-03 -7.74354439e+00] [ 2.43338996e-02 -2.02224821e-03 9.99701841e-01 2.97148823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.710714057 meters Centerline goodness [0,1] 0.9735894092426017 Centerline is valid? [True, True] Translation: X:234.14, Y:-7.75, Z:2.97 [[ 9.98832613e-01 -4.13150201e-02 -2.50295816e-02 2.34138407e+02] [ 4.13546110e-02 9.99143964e-01 1.06598968e-03 -7.74649598e+00] [ 2.49641140e-02 -2.09983387e-03 9.99686143e-01 2.97144879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.740714057 meters Centerline goodness [0,1] 0.98030901744883 Centerline is valid? [True, True] Translation: X:234.17, Y:-7.73, Z:2.97 [[ 9.98785203e-01 -4.23740432e-02 -2.51507013e-02 2.34170542e+02] [ 4.24143623e-02 9.99099531e-01 1.07157288e-03 -7.73409963e+00] [ 2.50826470e-02 -2.13702210e-03 9.99683097e-01 2.97337226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.770714057 meters Centerline goodness [0,1] 0.9796859338456398 Centerline is valid? [True, True] Translation: X:234.20, Y:-7.73, Z:2.97 [[ 9.98838320e-01 -4.18172299e-02 -2.39443131e-02 2.34202019e+02] [ 4.18536338e-02 9.99123231e-01 1.02100926e-03 -7.73125795e+00] [ 2.38806237e-02 -2.02197969e-03 9.99712772e-01 2.97485725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.800714057 meters Centerline goodness [0,1] 0.9779446164813866 Centerline is valid? [True, True] Translation: X:234.23, Y:-7.73, Z:2.98 [[ 9.98885815e-01 -4.10184543e-02 -2.33369838e-02 2.34232182e+02] [ 4.10528328e-02 9.99156481e-01 9.95753389e-04 -7.73399382e+00] [ 2.32764543e-02 -1.95269323e-03 9.99727160e-01 2.97557712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.830714057 meters Centerline goodness [0,1] 0.9790239439448374 Centerline is valid? [True, True] Translation: X:234.26, Y:-7.73, Z:2.98 [[ 9.98974736e-01 -3.94246261e-02 -2.22525537e-02 2.34263411e+02] [ 3.94554963e-02 9.99220877e-01 9.49754266e-04 -7.72835105e+00] [ 2.21977725e-02 -1.82676607e-03 9.99751930e-01 2.97742979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.860714057 meters Centerline goodness [0,1] 0.9818955859287475 Centerline is valid? [True, True] Translation: X:234.30, Y:-7.72, Z:2.98 [[ 9.99005539e-01 -3.89612494e-02 -2.16784338e-02 2.34295343e+02] [ 3.89904463e-02 9.99239155e-01 9.25615358e-04 -7.72477469e+00] [ 2.16258767e-02 -1.76994668e-03 9.99764567e-01 2.97834905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.890714057 meters Centerline goodness [0,1] 0.9810045580079485 Centerline is valid? [True, True] Translation: X:234.33, Y:-7.73, Z:2.98 [[ 9.98992279e-01 -3.90439889e-02 -2.21357812e-02 2.34326164e+02] [ 3.90744722e-02 9.99235853e-01 9.46096013e-04 -7.72576389e+00] [ 2.20819269e-02 -1.81008658e-03 9.99754526e-01 2.97844663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92071405699997 meters Centerline goodness [0,1] 0.9797775530839231 Centerline is valid? [True, True] Translation: X:234.36, Y:-7.73, Z:2.98 [[ 9.98906020e-01 -4.09285324e-02 -2.26189771e-02 2.34355955e+02] [ 4.09608576e-02 9.99160284e-01 9.67473336e-04 -7.72561321e+00] [ 2.25603863e-02 -1.89290764e-03 9.99743690e-01 2.97828730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95071405699997 meters Centerline goodness [0,1] 0.9804995175369702 Centerline is valid? [True, True] Translation: X:234.39, Y:-7.73, Z:2.98 [[ 9.98745393e-01 -4.42114126e-02 -2.35157527e-02 2.34386574e+02] [ 4.42472565e-02 9.99020104e-01 1.00586082e-03 -7.72665081e+00] [ 2.34482392e-02 -2.04510640e-03 9.99722960e-01 2.97666955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98071405699997 meters Centerline goodness [0,1] 0.9812890747987226 Centerline is valid? [True, True] Translation: X:234.42, Y:-7.73, Z:2.98 [[ 9.98626169e-01 -4.63228546e-02 -2.44942470e-02 2.34417722e+02] [ 4.63623805e-02 9.98924137e-01 1.04795360e-03 -7.72625025e+00] [ 2.44193504e-02 -2.18212549e-03 9.99699422e-01 2.97650242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01071405699997 meters Centerline goodness [0,1] 0.9802430243024303 Centerline is valid? [True, True] Translation: X:234.45, Y:-7.72, Z:2.98 [[ 9.98403457e-01 -5.01425152e-02 -2.60051060e-02 2.34448804e+02] [ 5.01883710e-02 9.98739149e-01 1.11324620e-03 -7.72498704e+00] [ 2.59164965e-02 -2.41662276e-03 9.99661190e-01 2.97555908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04071405699997 meters Centerline goodness [0,1] 0.9777687772827506 Centerline is valid? [True, True] Translation: X:234.48, Y:-7.73, Z:2.98 [[ 9.98352704e-01 -5.11027956e-02 -2.60841538e-02 2.34480191e+02] [ 5.11492843e-02 9.98690393e-01 1.11773774e-03 -7.72783094e+00] [ 2.59928743e-02 -2.45008229e-03 9.99659126e-01 2.97573165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07071405699998 meters Centerline goodness [0,1] 0.9768159697188176 Centerline is valid? [True, True] Translation: X:234.51, Y:-7.73, Z:2.98 [[ 9.98289762e-01 -5.22139396e-02 -2.62917513e-02 2.34511821e+02] [ 5.22615844e-02 9.98632793e-01 1.12781580e-03 -7.72808388e+00] [ 2.61969174e-02 -2.49993555e-03 9.99653676e-01 2.97658343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10071405699998 meters Centerline goodness [0,1] 0.9754065040650407 Centerline is valid? [True, True] Translation: X:234.54, Y:-7.73, Z:2.98 [[ 9.98332819e-01 -5.18512069e-02 -2.53581127e-02 2.34542716e+02] [ 5.18954595e-02 9.98651928e-01 1.08969642e-03 -7.72797729e+00] [ 2.52674261e-02 -2.40385061e-03 9.99677837e-01 2.97782843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13071405699998 meters Centerline goodness [0,1] 0.9764345416450763 Centerline is valid? [True, True] Translation: X:234.58, Y:-7.73, Z:2.98 [[ 9.98372741e-01 -5.12113722e-02 -2.50851543e-02 2.34575167e+02] [ 5.12545379e-02 9.98685038e-01 1.08041588e-03 -7.72764037e+00] [ 2.49968387e-02 -2.36438576e-03 9.99684734e-01 2.97831955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16071405699998 meters Centerline goodness [0,1] 0.9661691542288557 Centerline is valid? [True, True] Translation: X:234.60, Y:-7.73, Z:2.98 [[ 9.98481786e-01 -4.96792714e-02 -2.37927179e-02 2.34604557e+02] [ 4.97176881e-02 9.98762785e-01 1.02546395e-03 -7.73168773e+00] [ 2.37123369e-02 -2.20682600e-03 9.99716387e-01 2.97882827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19071405699998 meters Centerline goodness [0,1] 0.9694017903447654 Centerline is valid? [True, True] Translation: X:234.64, Y:-7.73, Z:2.98 [[ 9.98536382e-01 -4.90182512e-02 -2.28539895e-02 2.34636844e+02] [ 4.90535335e-02 9.98795665e-01 9.85432909e-04 -7.72922293e+00] [ 2.27781614e-02 -2.10505955e-03 9.99738328e-01 2.98072056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22071405699998 meters Centerline goodness [0,1] 0.9765704584040747 Centerline is valid? [True, True] Translation: X:234.67, Y:-7.73, Z:2.98 [[ 9.98518747e-01 -4.94061945e-02 -2.27890206e-02 2.34669443e+02] [ 4.94414125e-02 9.98776541e-01 9.84210692e-04 -7.72524939e+00] [ 2.27125130e-02 -2.10947419e-03 9.99739812e-01 2.98215485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25071405699998 meters Centerline goodness [0,1] 0.9752073586909847 Centerline is valid? [True, True] Translation: X:234.70, Y:-7.73, Z:2.98 [[ 9.98518439e-01 -4.96472606e-02 -2.22727923e-02 2.34700215e+02] [ 4.96809910e-02 9.98764673e-01 9.63306606e-04 -7.72796101e+00] [ 2.21974526e-02 -2.06841380e-03 9.99751466e-01 2.98265495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28071405699998 meters Centerline goodness [0,1] 0.970411528210688 Centerline is valid? [True, True] Translation: X:234.73, Y:-7.73, Z:2.98 [[ 9.98412593e-01 -5.15802506e-02 -2.26223663e-02 2.34730575e+02] [ 5.16155598e-02 9.98666548e-01 9.79300731e-04 -7.73139786e+00] [ 2.25416879e-02 -2.14541228e-03 9.99743602e-01 2.98287918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31071405699998 meters Centerline goodness [0,1] 0.9481874647092039 Centerline is valid? [True, False] Translation: X:234.73, Y:-7.73, Z:2.98 [[ 9.98414956e-01 -5.15198600e-02 -2.26556815e-02 2.34731027e+02] [ 5.15635735e-02 9.98668803e-01 1.34915870e-03 -7.73210849e+00] [ 2.25560139e-02 -2.51522813e-03 9.99742417e-01 2.98222761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34071405699999 meters Centerline goodness [0,1] 0.9284322168336129 Centerline is valid? [False, False] Translation: X:234.73, Y:-7.73, Z:2.98 [[ 9.98408683e-01 -5.16446845e-02 -2.26479020e-02 2.34731600e+02] [ 5.17005296e-02 9.98660851e-01 1.88684637e-03 -7.73337329e+00] [ 2.25201275e-02 -3.05475233e-03 9.99741723e-01 2.98112742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.370714057 meters Centerline goodness [0,1] 0.9373506470084314 Centerline is valid? [False, False] Translation: X:234.73, Y:-7.73, Z:2.98 [[ 9.98413221e-01 -5.14350165e-02 -2.29233422e-02 2.34732714e+02] [ 5.15029712e-02 9.98669997e-01 2.38358111e-03 -7.73407840e+00] [ 2.27702545e-02 -3.56041913e-03 9.99734384e-01 2.98024314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.400714057 meters Centerline goodness [0,1] 0.9224033136734051 Centerline is valid? [False, False] Translation: X:234.73, Y:-7.73, Z:2.98 [[ 9.98419318e-01 -5.11933317e-02 -2.31971716e-02 2.34733471e+02] [ 5.12677440e-02 9.98681497e-01 2.62414850e-03 -7.73413800e+00] [ 2.30322472e-02 -3.80926722e-03 9.99727465e-01 2.97992082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.430714057 meters Centerline goodness [0,1] 0.9322122131184645 Centerline is valid? [False, False] Translation: X:234.73, Y:-7.73, Z:2.98 [[ 9.98431103e-01 -5.09191883e-02 -2.32930919e-02 2.34733961e+02] [ 5.09997644e-02 9.98694519e-01 2.87797161e-03 -7.73406580e+00] [ 2.31161393e-02 -4.06139857e-03 9.99724537e-01 2.97950460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.460714057 meters Centerline goodness [0,1] 0.9297094233728614 Centerline is valid? [False, False] Translation: X:234.73, Y:-7.74, Z:2.98 [[ 9.98604507e-01 -4.74345428e-02 -2.32164519e-02 2.34733123e+02] [ 4.76050801e-02 9.98842758e-01 6.84850708e-03 -7.73545575e+00] [ 2.28647290e-02 -7.94417109e-03 9.99707004e-01 2.97964084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.490714057 meters Centerline goodness [0,1] 0.9492285733704887 Centerline is valid? [False, False] Translation: X:234.73, Y:-7.74, Z:2.98 [[ 9.98761040e-01 -4.40943718e-02 -2.30666917e-02 2.34731812e+02] [ 4.43441509e-02 9.98961854e-01 1.04312685e-02 -7.73588952e+00] [ 2.25827849e-02 -1.14412175e-02 9.99679507e-01 2.98031663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.520714057 meters Centerline goodness [0,1] 0.9468665775824973 Centerline is valid? [False, False] Translation: X:234.73, Y:-7.74, Z:2.98 [[ 9.98764465e-01 -4.39758743e-02 -2.31444497e-02 2.34731859e+02] [ 4.42215916e-02 9.98969532e-01 1.02139272e-02 -7.73508059e+00] [ 2.26714337e-02 -1.12247919e-02 9.99679954e-01 2.98062199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.550714057 meters Centerline goodness [0,1] 0.982308111050626 Centerline is valid? [False, True] Translation: X:234.73, Y:-7.73, Z:2.98 [[ 9.98780709e-01 -4.35945368e-02 -2.31648656e-02 2.34731909e+02] [ 4.38379836e-02 9.98987524e-01 1.01072907e-02 -7.73413989e+00] [ 2.27007891e-02 -1.11104680e-02 9.99680565e-01 2.98086904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.580714057 meters Centerline goodness [0,1] 0.9826292038007121 Centerline is valid? [True, True] Translation: X:234.76, Y:-7.73, Z:2.98 [[ 9.98831852e-01 -4.24833678e-02 -2.30237809e-02 2.34762648e+02] [ 4.25196146e-02 9.99095041e-01 1.08684765e-03 -7.73443054e+00] [ 2.29567724e-02 -2.06454034e-03 9.99734327e-01 2.98417283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.610714057 meters Centerline goodness [0,1] 0.9824852339845525 Centerline is valid? [True, True] Translation: X:234.79, Y:-7.73, Z:2.99 [[ 9.98862421e-01 -4.17049573e-02 -2.31205763e-02 2.34794345e+02] [ 4.17413221e-02 9.99127854e-01 1.09225263e-03 -7.73221322e+00] [ 2.30548594e-02 -2.05609353e-03 9.99732087e-01 2.98503068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.640714057 meters Centerline goodness [0,1] 0.981865167520515 Centerline is valid? [True, True] Translation: X:234.83, Y:-7.74, Z:2.98 [[ 9.98879914e-01 -4.10728452e-02 -2.34933755e-02 2.34825120e+02] [ 4.11102433e-02 9.99153999e-01 1.11090090e-03 -7.73564179e+00] [ 2.34278722e-02 -2.07547498e-03 9.99723375e-01 2.98496803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67071405699997 meters Centerline goodness [0,1] 0.9697196007875619 Centerline is valid? [True, True] Translation: X:234.86, Y:-7.75, Z:2.98 [[ 9.98866817e-01 -4.11412888e-02 -2.39264556e-02 2.34856048e+02] [ 4.11801292e-02 9.99151097e-01 1.13267085e-03 -7.74872742e+00] [ 2.38595448e-02 -2.11668186e-03 9.99713080e-01 2.98304714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70071405699997 meters Centerline goodness [0,1] 0.9818132403234209 Centerline is valid? [True, True] Translation: X:234.89, Y:-7.74, Z:2.98 [[ 9.98850138e-01 -4.12586097e-02 -2.44157587e-02 2.34888332e+02] [ 4.12991274e-02 9.99146157e-01 1.15735802e-03 -7.74052181e+00] [ 2.43471605e-02 -2.16437674e-03 9.99701221e-01 2.98448711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73071405699997 meters Centerline goodness [0,1] 0.9824045594354984 Centerline is valid? [True, True] Translation: X:234.92, Y:-7.74, Z:2.98 [[ 9.98842405e-01 -4.14326990e-02 -2.44372787e-02 2.34920329e+02] [ 4.14733828e-02 9.99138936e-01 1.16013785e-03 -7.74256101e+00] [ 2.43681690e-02 -2.17229150e-03 9.99700692e-01 2.98473644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76071405699997 meters Centerline goodness [0,1] 0.982060748827833 Centerline is valid? [True, True] Translation: X:234.95, Y:-7.75, Z:2.98 [[ 9.98806966e-01 -4.19201935e-02 -2.50467974e-02 2.34951183e+02] [ 4.19631198e-02 9.99118451e-01 1.19047313e-03 -7.74584241e+00] [ 2.49748126e-02 -2.24009461e-03 9.99685571e-01 2.98484752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79071405699997 meters Centerline goodness [0,1] 0.9809268600252207 Centerline is valid? [True, True] Translation: X:234.98, Y:-7.75, Z:2.99 [[ 9.98837493e-01 -4.14689494e-02 -2.45761696e-02 2.34980983e+02] [ 4.15101580e-02 9.99137398e-01 1.16877131e-03 -7.75097419e+00] [ 2.45065025e-02 -2.18757329e-03 9.99697277e-01 2.98504531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82071405699998 meters Centerline goodness [0,1] 0.9816233810266495 Centerline is valid? [True, True] Translation: X:235.01, Y:-7.75, Z:2.99 [[ 9.98891304e-01 -4.00758182e-02 -2.47000289e-02 2.35011996e+02] [ 4.01170367e-02 9.99194296e-01 1.17531024e-03 -7.75246792e+00] [ 2.46330265e-02 -2.16489915e-03 9.99694217e-01 2.98514984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85071405699998 meters Centerline goodness [0,1] 0.9809528108144705 Centerline is valid? [True, True] Translation: X:235.04, Y:-7.76, Z:2.99 [[ 9.98942517e-01 -3.90346226e-02 -2.42929168e-02 2.35042748e+02] [ 3.90742084e-02 9.99235642e-01 1.15679663e-03 -7.75680555e+00] [ 2.42291931e-02 -2.10479983e-03 9.99704214e-01 2.98526453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88071405699998 meters Centerline goodness [0,1] 0.9826741060335675 Centerline is valid? [True, True] Translation: X:235.07, Y:-7.76, Z:2.99 [[ 9.99019151e-01 -3.68937563e-02 -2.44864400e-02 2.35073738e+02] [ 3.69333514e-02 9.99317050e-01 1.16659253e-03 -7.75575345e+00] [ 2.44266770e-02 -2.06981457e-03 9.99699482e-01 2.98628285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91071405699998 meters Centerline goodness [0,1] 0.9835691877130025 Centerline is valid? [True, True] Translation: X:235.10, Y:-7.75, Z:2.99 [[ 9.99075658e-01 -3.55470205e-02 -2.41710369e-02 2.35104741e+02] [ 3.55852183e-02 9.99365982e-01 1.15189133e-03 -7.75381018e+00] [ 2.41147657e-02 -2.01095821e-03 9.99707174e-01 2.98731429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94071405699998 meters Centerline goodness [0,1] 0.9837286452573853 Centerline is valid? [True, True] Translation: X:235.14, Y:-7.75, Z:2.99 [[ 9.99167702e-01 -3.28466606e-02 -2.41867900e-02 2.35135803e+02] [ 3.28841330e-02 9.99458505e-01 1.15307975e-03 -7.75317857e+00] [ 2.41358182e-02 -1.94748166e-03 9.99706792e-01 2.98809565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97071405699998 meters Centerline goodness [0,1] 0.9841007779989144 Centerline is valid? [True, True] Translation: X:235.17, Y:-7.76, Z:2.99 [[ 9.99200914e-01 -3.15722967e-02 -2.45096803e-02 2.35165721e+02] [ 3.16104017e-02 9.99499583e-01 1.16871453e-03 -7.75551360e+00] [ 2.44605163e-02 -1.94254146e-03 9.99698910e-01 2.98811693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00071405699998 meters Centerline goodness [0,1] 0.9857409952019462 Centerline is valid? [True, True] Translation: X:235.20, Y:-7.76, Z:2.99 [[ 9.99301421e-01 -2.84758063e-02 -2.42032822e-02 2.35196404e+02] [ 2.85120602e-02 9.99592782e-01 1.15405041e-03 -7.75668283e+00] [ 2.41605637e-02 -1.84332965e-03 9.99706392e-01 2.98722141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03071405699998 meters Centerline goodness [0,1] 0.9857409952019462 Centerline is valid? [True, True] Translation: X:235.23, Y:-7.76, Z:2.99 [[ 9.99300395e-01 -2.85117782e-02 -2.42033042e-02 2.35225609e+02] [ 2.85480315e-02 9.99591756e-01 1.15358873e-03 -7.75804465e+00] [ 2.41605325e-02 -1.84373837e-03 9.99706392e-01 2.98760652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06071405699998 meters Centerline goodness [0,1] 0.9852400189577738 Centerline is valid? [True, True] Translation: X:235.26, Y:-7.76, Z:2.99 [[ 9.99316248e-01 -2.74710208e-02 -2.47462842e-02 2.35255525e+02] [ 2.75085800e-02 9.99620873e-01 1.17856612e-03 -7.76007093e+00] [ 2.47045258e-02 -1.85849541e-03 9.99693069e-01 2.98732124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09071405699999 meters Centerline goodness [0,1] 0.9861117384038661 Centerline is valid? [True, True] Translation: X:235.28, Y:-7.76, Z:2.99 [[ 9.99354033e-01 -2.53846425e-02 -2.54388694e-02 2.35284279e+02] [ 2.54236329e-02 9.99676034e-01 1.21040399e-03 -7.76087032e+00] [ 2.53999024e-02 -1.85637058e-03 9.99675647e-01 2.98713956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.120714057 meters Centerline goodness [0,1] 0.9861782374994353 Centerline is valid? [True, True] Translation: X:235.31, Y:-7.76, Z:2.99 [[ 9.99376111e-01 -2.43058147e-02 -2.56245109e-02 2.35313006e+02] [ 2.43449830e-02 9.99702875e-01 1.21764654e-03 -7.76054050e+00] [ 2.55873014e-02 -1.84071515e-03 9.99670897e-01 2.98785182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.150714057 meters Centerline goodness [0,1] 0.9858512918876227 Centerline is valid? [True, True] Translation: X:235.34, Y:-7.76, Z:2.99 [[ 9.99418726e-01 -2.24840754e-02 -2.56256879e-02 2.35343162e+02] [ 2.25226222e-02 9.99745593e-01 1.21655742e-03 -7.75970265e+00] [ 2.55918154e-02 -1.79300795e-03 9.99670868e-01 2.98853646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.180714057 meters Centerline goodness [0,1] 0.9860332670403182 Centerline is valid? [True, True] Translation: X:235.37, Y:-7.76, Z:2.99 [[ 9.99441847e-01 -2.18732022e-02 -2.52498908e-02 2.35371227e+02] [ 2.19103522e-02 9.99759225e-01 1.19553852e-03 -7.76108067e+00] [ 2.52176610e-02 -1.74810523e-03 9.99680456e-01 2.98883727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.210714057 meters Centerline goodness [0,1] 0.986381631037213 Centerline is valid? [True, True] Translation: X:235.40, Y:-7.76, Z:2.99 [[ 9.99516543e-01 -2.01192927e-02 -2.37043308e-02 2.35401626e+02] [ 2.01514660e-02 9.99796312e-01 1.11916175e-03 -7.75967806e+00] [ 2.36769857e-02 -1.59629770e-03 9.99718386e-01 2.99082688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.240714057 meters Centerline goodness [0,1] 0.9856600018094634 Centerline is valid? [True, True] Translation: X:235.43, Y:-7.76, Z:2.99 [[ 9.99544202e-01 -1.94827961e-02 -2.30609861e-02 2.35429287e+02] [ 1.95130527e-02 9.99809011e-01 1.08770636e-03 -7.76103765e+00] [ 2.30353902e-02 -1.53720082e-03 9.99733468e-01 2.99236522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.270714057 meters Centerline goodness [0,1] 0.9846481779632191 Centerline is valid? [True, True] Translation: X:235.46, Y:-7.76, Z:2.99 [[ 9.99598698e-01 -1.89888667e-02 -2.10205976e-02 2.35456895e+02] [ 1.90138601e-02 9.99818730e-01 9.89755679e-04 -7.76259302e+00] [ 2.09979929e-02 -1.38904119e-03 9.99778553e-01 2.99410317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.300714057 meters Centerline goodness [0,1] 0.9840830763649555 Centerline is valid? [True, True] Translation: X:235.49, Y:-7.76, Z:3.00 [[ 9.99605484e-01 -1.92168088e-02 -2.04838967e-02 2.35485803e+02] [ 1.92405314e-02 9.99814421e-01 9.61637808e-04 -7.76361410e+00] [ 2.04616158e-02 -1.35537949e-03 9.99789721e-01 2.99524749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.330714057 meters Centerline goodness [0,1] 0.9855860756051129 Centerline is valid? [True, True] Translation: X:235.51, Y:-7.76, Z:3.00 [[ 9.99596906e-01 -1.96453951e-02 -2.04959514e-02 2.35514998e+02] [ 1.96691335e-02 9.99806086e-01 9.57235098e-04 -7.75854612e+00] [ 2.04731717e-02 -1.35998685e-03 9.99789478e-01 2.99604545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.360714057 meters Centerline goodness [0,1] 0.9845805502094419 Centerline is valid? [True, True] Translation: X:235.54, Y:-7.77, Z:3.00 [[ 9.99584455e-01 -1.97582989e-02 -2.09887265e-02 2.35543386e+02] [ 1.97831360e-02 9.99803818e-01 9.76360244e-04 -7.76787603e+00] [ 2.09653176e-02 -1.39117735e-03 9.99779236e-01 2.99523884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.390714057 meters Centerline goodness [0,1] 0.9859365108076332 Centerline is valid? [True, True] Translation: X:235.57, Y:-7.76, Z:3.00 [[ 9.99556129e-01 -2.03127125e-02 -2.17930859e-02 2.35572826e+02] [ 2.03395546e-02 9.99792619e-01 1.01070666e-03 -7.76088555e+00] [ 2.17680363e-02 -1.45351970e-03 9.99761992e-01 2.99607902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42071405699997 meters Centerline goodness [0,1] 0.9855670103092784 Centerline is valid? [True, True] Translation: X:235.60, Y:-7.76, Z:2.99 [[ 9.99487477e-01 -2.17185492e-02 -2.35178246e-02 2.35602517e+02] [ 2.17501052e-02 9.99762848e-01 1.08680004e-03 -7.76310921e+00] [ 2.34886435e-02 -1.59775819e-03 9.99722827e-01 2.99426867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45071405699997 meters Centerline goodness [0,1] 0.986214258136313 Centerline is valid? [True, True] Translation: X:235.63, Y:-7.77, Z:2.99 [[ 9.99383516e-01 -2.36553092e-02 -2.59425050e-02 2.35631890e+02] [ 2.36943401e-02 9.99718532e-01 1.19811041e-03 -7.76666572e+00] [ 2.59068614e-02 -1.81206234e-03 9.99662719e-01 2.99253250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48071405699997 meters Centerline goodness [0,1] 0.9865131803010694 Centerline is valid? [True, True] Translation: X:235.66, Y:-7.77, Z:2.99 [[ 9.99339686e-01 -2.47765426e-02 -2.65765919e-02 2.35660423e+02] [ 2.48178069e-02 9.99691242e-01 1.22388446e-03 -7.76854971e+00] [ 2.65380626e-02 -1.88264904e-03 9.99646031e-01 2.99237834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51071405699997 meters Centerline goodness [0,1] 0.9848553243353044 Centerline is valid? [True, True] Translation: X:235.69, Y:-7.77, Z:2.99 [[ 9.99316840e-01 -2.56899143e-02 -2.65684383e-02 2.35689343e+02] [ 2.57313026e-02 9.99668154e-01 1.21703705e-03 -7.76983402e+00] [ 2.65283561e-02 -1.89984614e-03 9.99646256e-01 2.99232831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54071405699997 meters Centerline goodness [0,1] 0.9855987643103762 Centerline is valid? [True, True] Translation: X:235.72, Y:-7.77, Z:2.99 [[ 9.99307837e-01 -2.63906076e-02 -2.62179862e-02 2.35716963e+02] [ 2.64310384e-02 9.99649923e-01 1.19669925e-03 -7.77274569e+00] [ 2.61772263e-02 -1.88883955e-03 9.99655533e-01 2.99288647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57071405699998 meters Centerline goodness [0,1] 0.9861763704460333 Centerline is valid? [True, True] Translation: X:235.75, Y:-7.77, Z:2.99 [[ 9.99307026e-01 -2.67553555e-02 -2.58769820e-02 2.35745857e+02] [ 2.67947526e-02 9.99640263e-01 1.17686944e-03 -7.76881295e+00] [ 2.58361855e-02 -1.86942123e-03 9.99664442e-01 2.99445020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60071405699998 meters Centerline goodness [0,1] 0.9839410413302095 Centerline is valid? [True, True] Translation: X:235.77, Y:-7.77, Z:3.00 [[ 9.99322468e-01 -2.65841849e-02 -2.54536204e-02 2.35774171e+02] [ 2.66221499e-02 9.99644902e-01 1.15376950e-03 -7.77444774e+00] [ 2.54139099e-02 -1.83061789e-03 9.99675338e-01 2.99594684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63071405699998 meters Centerline goodness [0,1] 0.9856355855035512 Centerline is valid? [True, True] Translation: X:235.80, Y:-7.77, Z:3.00 [[ 9.99311622e-01 -2.70728122e-02 -2.53642390e-02 2.35802913e+02] [ 2.71105731e-02 9.99631784e-01 1.14599043e-03 -7.76712764e+00] [ 2.53238743e-02 -1.83284061e-03 9.99677619e-01 2.99813959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66071405699998 meters Centerline goodness [0,1] 0.9864018404209279 Centerline is valid? [True, True] Translation: X:235.83, Y:-7.77, Z:3.00 [[ 9.99303627e-01 -2.79525698e-02 -2.47166999e-02 2.35832401e+02] [ 2.79886051e-02 9.99607622e-01 1.11312488e-03 -7.76550936e+00] [ 2.46758869e-02 -1.80413568e-03 9.99693876e-01 3.00020029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69071405699998 meters Centerline goodness [0,1] 0.9845445427190663 Centerline is valid? [True, True] Translation: X:235.86, Y:-7.77, Z:3.00 [[ 9.99299650e-01 -2.87001385e-02 -2.40106754e-02 2.35862210e+02] [ 2.87343429e-02 9.99586499e-01 1.08067492e-03 -7.76819902e+00] [ 2.39697315e-02 -1.76984905e-03 9.99711118e-01 3.00099367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72071405699998 meters Centerline goodness [0,1] 0.984341928582808 Centerline is valid? [True, True] Translation: X:235.89, Y:-7.77, Z:3.00 [[ 9.99286604e-01 -2.97106448e-02 -2.33143935e-02 2.35891534e+02] [ 2.97431575e-02 9.99557024e-01 1.04892814e-03 -7.77124567e+00] [ 2.32729015e-02 -1.74162351e-03 9.99727632e-01 3.00113605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75071405699998 meters Centerline goodness [0,1] 0.9839113417076278 Centerline is valid? [True, True] Translation: X:235.92, Y:-7.77, Z:3.00 [[ 9.99160003e-01 -3.33404135e-02 -2.38265730e-02 2.35922124e+02] [ 3.33753900e-02 9.99442312e-01 1.07169850e-03 -7.77231737e+00] [ 2.37775544e-02 -1.86601945e-03 9.99715532e-01 3.00153912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78071405699998 meters Centerline goodness [0,1] 0.9818566264238455 Centerline is valid? [True, True] Translation: X:235.95, Y:-7.78, Z:3.00 [[ 9.99000302e-01 -3.72906920e-02 -2.46535985e-02 2.35951274e+02] [ 3.73293349e-02 9.99302402e-01 1.10891449e-03 -7.77803888e+00] [ 2.45950480e-02 -2.02810835e-03 9.99695439e-01 3.00083238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81071405699998 meters Centerline goodness [0,1] 0.9823466435844286 Centerline is valid? [True, True] Translation: X:235.98, Y:-7.78, Z:3.00 [[ 9.98894016e-01 -3.95474655e-02 -2.54311565e-02 2.35982013e+02] [ 3.95893187e-02 9.99215381e-01 1.14417771e-03 -7.78126661e+00] [ 2.53659534e-02 -2.14971443e-03 9.99675921e-01 3.00091562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84071405699999 meters Centerline goodness [0,1] 0.9820591047766495 Centerline is valid? [True, True] Translation: X:236.01, Y:-7.78, Z:3.00 [[ 9.98805686e-01 -4.14112750e-02 -2.59289047e-02 2.36013451e+02] [ 4.14554243e-02 9.99139673e-01 1.16725950e-03 -7.78409837e+00] [ 2.58582596e-02 -2.24075917e-03 9.99663108e-01 3.00083852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.870714057 meters Centerline goodness [0,1] 0.9797341815290241 Centerline is valid? [True, True] Translation: X:236.04, Y:-7.79, Z:3.00 [[ 9.98668562e-01 -4.43144122e-02 -2.64071393e-02 2.36043522e+02] [ 4.43612325e-02 9.99014848e-01 1.18954410e-03 -7.78743783e+00] [ 2.63284103e-02 -2.35941354e-03 9.99650563e-01 3.00096005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.900714057 meters Centerline goodness [0,1] 0.9832544594102658 Centerline is valid? [True, True] Translation: X:236.08, Y:-7.78, Z:3.00 [[ 9.98652265e-01 -4.46280267e-02 -2.64951334e-02 2.36076391e+02] [ 4.46753025e-02 9.99000846e-01 1.19477437e-03 -7.78041519e+00] [ 2.64153403e-02 -2.37684223e-03 9.99648228e-01 3.00278153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.930714057 meters Centerline goodness [0,1] 0.9786720688320852 Centerline is valid? [True, True] Translation: X:236.11, Y:-7.79, Z:3.00 [[ 9.98690252e-01 -4.40621152e-02 -2.60059804e-02 2.36107720e+02] [ 4.41075194e-02 9.99026099e-01 1.17459947e-03 -7.78746419e+00] [ 2.59288978e-02 -2.32012033e-03 9.99661097e-01 3.00268908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.960714057 meters Centerline goodness [0,1] 0.9782074053832491 Centerline is valid? [True, True] Translation: X:236.14, Y:-7.79, Z:3.00 [[ 9.98759536e-01 -4.28314175e-02 -2.53940660e-02 2.36139657e+02] [ 4.28743545e-02 9.99079812e-01 1.14853242e-03 -7.78779539e+00] [ 2.53215054e-02 -2.23586190e-03 9.99676859e-01 3.00394802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.990714057 meters Centerline goodness [0,1] 0.9820698118352877 Centerline is valid? [True, True] Translation: X:236.17, Y:-7.78, Z:3.01 [[ 9.98924284e-01 -3.96130928e-02 -2.41055403e-02 2.36170896e+02] [ 3.96508676e-02 9.99213000e-01 1.09092413e-03 -7.77962555e+00] [ 2.40433544e-02 -2.04555619e-03 9.99708824e-01 3.00688884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.020714057 meters Centerline goodness [0,1] 0.9826386512444961 Centerline is valid? [True, True] Translation: X:236.20, Y:-7.78, Z:3.01 [[ 9.99016413e-01 -3.75106999e-02 -2.36464481e-02 2.36201485e+02] [ 3.75464648e-02 9.99294310e-01 1.07016546e-03 -7.77833508e+00] [ 2.35896184e-02 -1.95695339e-03 9.99719811e-01 3.00779187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.050714057 meters Centerline goodness [0,1] 0.9816904309614812 Centerline is valid? [True, True] Translation: X:236.23, Y:-7.77, Z:3.01 [[ 9.99202271e-01 -3.25455317e-02 -2.31432553e-02 2.36231238e+02] [ 3.25784625e-02 9.99468632e-01 1.04719858e-03 -7.77474627e+00] [ 2.30968761e-02 -1.80033488e-03 9.99731611e-01 3.00829278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.080714057 meters Centerline goodness [0,1] 0.9828451020361421 Centerline is valid? [True, True] Translation: X:236.26, Y:-7.77, Z:3.01 [[ 9.99293935e-01 -2.95949780e-02 -2.31466938e-02 2.36260956e+02] [ 2.96271257e-02 9.99560472e-01 1.04709868e-03 -7.77266451e+00] [ 2.31055313e-02 -1.73212936e-03 9.99731531e-01 3.00841702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.110714057 meters Centerline goodness [0,1] 0.9842729697415616 Centerline is valid? [True, True] Translation: X:236.29, Y:-7.76, Z:3.01 [[ 9.99423520e-01 -2.40937850e-02 -2.39189804e-02 2.36291644e+02] [ 2.41265469e-02 9.99708327e-01 1.08202299e-03 -7.76372749e+00] [ 2.38859339e-02 -1.65848163e-03 9.99713315e-01 3.00947992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.140714057 meters Centerline goodness [0,1] 0.9831191561881074 Centerline is valid? [True, True] Translation: X:236.32, Y:-7.77, Z:3.01 [[ 9.99474786e-01 -2.16338088e-02 -2.41273957e-02 2.36320807e+02] [ 2.16664209e-02 9.99764660e-01 1.09103712e-03 -7.76737317e+00] [ 2.40981143e-02 -1.61321841e-03 9.99708297e-01 3.00894281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17071405699997 meters Centerline goodness [0,1] 0.9832238737181703 Centerline is valid? [True, True] Translation: X:236.35, Y:-7.77, Z:3.01 [[ 9.99525922e-01 -1.95109675e-02 -2.38170626e-02 2.36349370e+02] [ 1.95421215e-02 9.99808456e-01 1.07598235e-03 -7.76741347e+00] [ 2.37915072e-02 -1.54090818e-03 9.99715754e-01 3.00891059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20071405699997 meters Centerline goodness [0,1] 0.9858218260749088 Centerline is valid? [True, True] Translation: X:236.38, Y:-7.76, Z:3.01 [[ 9.99568478e-01 -1.60999018e-02 -2.45693115e-02 2.36379476e+02] [ 1.61320019e-02 9.99869256e-01 1.10885472e-03 -7.75830519e+00] [ 2.45482468e-02 -1.50472841e-03 9.99697514e-01 3.01087295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23071405699997 meters Centerline goodness [0,1] 0.9851342305117611 Centerline is valid? [True, True] Translation: X:236.41, Y:-7.76, Z:3.01 [[ 9.99587463e-01 -1.43063195e-02 -2.49044630e-02 2.36406883e+02] [ 1.43386969e-02 9.99896566e-01 1.12196230e-03 -7.76003944e+00] [ 2.48858359e-02 -1.47859699e-03 9.99689206e-01 3.01066452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26071405699997 meters Centerline goodness [0,1] 0.9851656120343972 Centerline is valid? [True, True] Translation: X:236.44, Y:-7.76, Z:3.01 [[ 9.99597052e-01 -1.07999188e-02 -2.62506227e-02 2.36436795e+02] [ 1.08346337e-02 9.99940607e-01 1.18056368e-03 -7.75816213e+00] [ 2.62363136e-02 -1.46450386e-03 9.99654696e-01 3.01018227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29071405699997 meters Centerline goodness [0,1] 0.9870455495194317 Centerline is valid? [True, True] Translation: X:236.47, Y:-7.76, Z:3.01 [[ 9.99600539e-01 -9.16576298e-03 -2.67348440e-02 2.36466172e+02] [ 9.20109663e-03 9.99956950e-01 1.19891317e-03 -7.75577622e+00] [ 2.67227041e-02 -1.44442414e-03 9.99641841e-01 3.01071201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32071405699998 meters Centerline goodness [0,1] 0.9867354287174483 Centerline is valid? [True, True] Translation: X:236.50, Y:-7.75, Z:3.01 [[ 9.99637583e-01 -5.06651810e-03 -2.64392312e-02 2.36496274e+02] [ 5.09955757e-03 9.99986298e-01 1.18236136e-03 -7.75484661e+00] [ 2.64328785e-02 -1.31676124e-03 9.99649723e-01 3.01111713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35071405699998 meters Centerline goodness [0,1] 0.9867174438045699 Centerline is valid? [True, True] Translation: X:236.53, Y:-7.75, Z:3.01 [[ 9.99640536e-01 -3.50147792e-03 -2.65808033e-02 2.36525629e+02] [ 3.53423090e-03 9.99993052e-01 1.18532459e-03 -7.75416459e+00] [ 2.65764683e-02 -1.27884121e-03 9.99645965e-01 3.01194758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38071405699998 meters Centerline goodness [0,1] 0.9867769747391415 Centerline is valid? [True, True] Translation: X:236.55, Y:-7.75, Z:3.01 [[ 9.99655325e-01 -1.76373422e-03 -2.61939167e-02 2.36554309e+02] [ 1.79484188e-03 9.99997712e-01 1.16412749e-03 -7.75488207e+00] [ 2.61918035e-02 -1.21074019e-03 9.99656203e-01 3.01290061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41071405699998 meters Centerline goodness [0,1] 0.9860169097835176 Centerline is valid? [True, True] Translation: X:236.58, Y:-7.76, Z:3.01 [[ 9.99689075e-01 5.97532955e-04 -2.49278248e-02 2.36583261e+02] [-5.70125573e-04 9.99999225e-01 1.10656206e-03 -7.75582169e+00] [ 2.49284667e-02 -1.09200601e-03 9.99688641e-01 3.01333135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44071405699998 meters Centerline goodness [0,1] 0.9866289057059288 Centerline is valid? [True, True] Translation: X:236.61, Y:-7.76, Z:3.01 [[ 9.99700999e-01 1.47295776e-03 -2.44078639e-02 2.36611950e+02] [-1.44702114e-03 9.99998370e-01 1.08026178e-03 -7.75637518e+00] [ 2.44094153e-02 -1.04462009e-03 9.99701500e-01 3.01495166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47071405699998 meters Centerline goodness [0,1] 0.9853142790751713 Centerline is valid? [True, True] Translation: X:236.64, Y:-7.76, Z:3.02 [[ 9.99701092e-01 8.24425377e-04 -2.44345457e-02 2.36640699e+02] [-7.98385461e-04 9.99999103e-01 1.07543726e-03 -7.75889295e+00] [ 2.44354104e-02 -1.05560762e-03 9.99700853e-01 3.01547820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50071405699998 meters Centerline goodness [0,1] 0.9857977507332055 Centerline is valid? [True, True] Translation: X:236.67, Y:-7.76, Z:3.02 [[ 9.99713462e-01 1.84029242e-04 -2.39365773e-02 2.36669167e+02] [-1.58950676e-04 9.99999437e-01 1.04960734e-03 -7.76217050e+00] [ 2.39367570e-02 -1.04550185e-03 9.99712928e-01 3.01553243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53071405699998 meters Centerline goodness [0,1] 0.984805032610204 Centerline is valid? [True, True] Translation: X:236.70, Y:-7.77, Z:3.01 [[ 9.99691125e-01 -2.88259647e-03 -2.46849173e-02 2.36697119e+02] [ 2.91015784e-03 9.99995182e-01 1.08067531e-03 -7.76881293e+00] [ 2.46816832e-02 -1.15217852e-03 9.99694697e-01 3.01442967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56071405699998 meters Centerline goodness [0,1] 0.9846224997109493 Centerline is valid? [True, True] Translation: X:236.73, Y:-7.77, Z:3.01 [[ 9.99658679e-01 -4.95249601e-03 -2.56514770e-02 2.36725727e+02] [ 4.98289780e-03 9.99986957e-01 1.12140217e-03 -7.77352438e+00] [ 2.56455887e-02 -1.24883810e-03 9.99670318e-01 3.01400689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59071405699999 meters Centerline goodness [0,1] 0.9836175269387849 Centerline is valid? [True, True] Translation: X:236.75, Y:-7.78, Z:3.01 [[ 9.99601372e-01 -9.34325274e-03 -2.66420752e-02 2.36754402e+02] [ 9.37757548e-03 9.99955353e-01 1.16363802e-03 -7.78143767e+00] [ 2.66300135e-02 -1.41301224e-03 9.99644360e-01 3.01340486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.620714057 meters Centerline goodness [0,1] 0.9818877315881648 Centerline is valid? [True, True] Translation: X:236.78, Y:-7.79, Z:3.01 [[ 9.99556395e-01 -1.17273807e-02 -2.73766614e-02 2.36783221e+02] [ 1.17644847e-02 9.99930082e-01 1.19463663e-03 -7.78623695e+00] [ 2.73607373e-02 -1.51617900e-03 9.99624475e-01 3.01303973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.650714057 meters Centerline goodness [0,1] 0.9795191246781905 Centerline is valid? [True, True] Translation: X:236.81, Y:-7.80, Z:3.01 [[ 9.99451842e-01 -1.72887104e-02 -2.82332311e-02 2.36812308e+02] [ 1.73303628e-02 9.99849060e-01 1.23125140e-03 -7.79651946e+00] [ 2.82076828e-02 -1.71986861e-03 9.99600605e-01 3.01296407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.680714057 meters Centerline goodness [0,1] 0.9790150384571232 Centerline is valid? [True, True] Translation: X:236.84, Y:-7.80, Z:3.01 [[ 9.99402384e-01 -2.01794568e-02 -2.80653673e-02 2.36841844e+02] [ 2.02217414e-02 9.99794771e-01 1.22361423e-03 -7.80220857e+00] [ 2.80349156e-02 -1.79041358e-03 9.99605341e-01 3.01326739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.710714057 meters Centerline goodness [0,1] 0.9761110095098756 Centerline is valid? [True, True] Translation: X:236.87, Y:-7.81, Z:3.01 [[ 9.99281889e-01 -2.56932430e-02 -2.78489577e-02 2.36871048e+02] [ 2.57369967e-02 9.99668012e-01 1.21374488e-03 -7.81272742e+00] [ 2.78085272e-02 -1.92962181e-03 9.99611406e-01 3.01314888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.740714057 meters Centerline goodness [0,1] 0.9738669590643275 Centerline is valid? [True, True] Translation: X:236.90, Y:-7.82, Z:3.01 [[ 9.99218363e-01 -2.78737135e-02 -2.80306837e-02 2.36900535e+02] [ 2.79188816e-02 9.99609446e-01 1.22122791e-03 -7.81855173e+00] [ 2.79856960e-02 -2.00285869e-03 9.99606317e-01 3.01330084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.770714057 meters Centerline goodness [0,1] 0.9696362269652172 Centerline is valid? [True, True] Translation: X:236.93, Y:-7.83, Z:3.01 [[ 9.99108236e-01 -3.12642893e-02 -2.83774048e-02 2.36930914e+02] [ 3.13119341e-02 9.99508897e-01 1.23605127e-03 -7.82515865e+00] [ 2.83248243e-02 -2.12350043e-03 9.99596516e-01 3.01363165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.800714057 meters Centerline goodness [0,1] 0.9611904328846853 Centerline is valid? [True, True] Translation: X:236.96, Y:-7.83, Z:3.01 [[ 9.99049742e-01 -3.27093202e-02 -2.88047385e-02 2.36960169e+02] [ 3.27589853e-02 9.99462494e-01 1.25385895e-03 -7.82946593e+00] [ 2.87482429e-02 -2.19628146e-03 9.99584271e-01 3.01387737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.830714057 meters Centerline goodness [0,1] 0.9810057392730254 Centerline is valid? [True, True] Translation: X:236.99, Y:-7.82, Z:3.02 [[ 9.98996546e-01 -3.39537144e-02 -2.92069737e-02 2.36990748e+02] [ 3.40052702e-02 9.99420846e-01 1.27016020e-03 -7.81525258e+00] [ 2.91469317e-02 -2.26207668e-03 9.99572578e-01 3.01768856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.860714057 meters Centerline goodness [0,1] 0.9800341102899375 Centerline is valid? [True, True] Translation: X:237.02, Y:-7.82, Z:3.02 [[ 9.98926628e-01 -3.55854377e-02 -2.96524564e-02 2.37020993e+02] [ 3.56392793e-02 9.99363888e-01 1.28905770e-03 -7.81844626e+00] [ 2.95877224e-02 -2.34446624e-03 9.99559438e-01 3.01839828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.890714057 meters Centerline goodness [0,1] 0.9804870292126664 Centerline is valid? [True, True] Translation: X:237.05, Y:-7.82, Z:3.02 [[ 9.98815588e-01 -3.74892064e-02 -3.10158248e-02 2.37049691e+02] [ 3.75490077e-02 9.99293879e-01 1.34769164e-03 -7.82406911e+00] [ 3.09433999e-02 -2.51070886e-03 9.99517985e-01 3.01723797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92071405699997 meters Centerline goodness [0,1] 0.9804870292126664 Centerline is valid? [True, True] Translation: X:237.08, Y:-7.83, Z:3.02 [[ 9.98815587e-01 -3.74892125e-02 -3.10158450e-02 2.37079763e+02] [ 3.75489994e-02 9.99293880e-01 1.34722500e-03 -7.82537517e+00] [ 3.09434377e-02 -2.51024328e-03 9.99517985e-01 3.01763460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95071405699997 meters Centerline goodness [0,1] 0.9807736011999455 Centerline is valid? [True, True] Translation: X:237.11, Y:-7.83, Z:3.02 [[ 9.98762974e-01 -3.85690978e-02 -3.13838697e-02 2.37109855e+02] [ 3.86308319e-02 9.99252621e-01 1.36288302e-03 -7.82510058e+00] [ 3.13078488e-02 -2.57358209e-03 9.99506476e-01 3.01786821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98071405699997 meters Centerline goodness [0,1] 0.9801635991820041 Centerline is valid? [True, True] Translation: X:237.14, Y:-7.83, Z:3.02 [[ 9.98668984e-01 -4.05712773e-02 -3.18470128e-02 2.37140390e+02] [ 4.06358512e-02 9.99173066e-01 1.38275554e-03 -7.82954633e+00] [ 3.17645772e-02 -2.67504554e-03 9.99491799e-01 3.01764485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01071405699997 meters Centerline goodness [0,1] 0.979533490651661 Centerline is valid? [True, True] Translation: X:237.17, Y:-7.83, Z:3.02 [[ 9.98633083e-01 -4.14617927e-02 -3.18258574e-02 2.37170780e+02] [ 4.15267296e-02 9.99136438e-01 1.38183700e-03 -7.83272362e+00] [ 3.17410804e-02 -2.70157192e-03 9.99492474e-01 3.01795102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04071405699997 meters Centerline goodness [0,1] 0.9806984876697398 Centerline is valid? [True, True] Translation: X:237.20, Y:-7.84, Z:3.02 [[ 9.98586895e-01 -4.22418119e-02 -3.22466003e-02 2.37201016e+02] [ 4.23088817e-02 9.99103597e-01 1.40010511e-03 -7.83586201e+00] [ 3.21585514e-02 -2.76244421e-03 9.99478962e-01 3.01819534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07071405699998 meters Centerline goodness [0,1] 0.9795885968294287 Centerline is valid? [True, True] Translation: X:237.23, Y:-7.84, Z:3.02 [[ 9.98539021e-01 -4.27676156e-02 -3.30265799e-02 2.37231020e+02] [ 4.28382520e-02 9.99080992e-01 1.43382802e-03 -7.83789914e+00] [ 3.29349068e-02 -2.84653419e-03 9.99453445e-01 3.01888914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10071405699998 meters Centerline goodness [0,1] 0.978298827637815 Centerline is valid? [True, True] Translation: X:237.26, Y:-7.84, Z:3.02 [[ 9.98547071e-01 -4.26490953e-02 -3.29363185e-02 2.37260744e+02] [ 4.27192675e-02 9.99086093e-01 1.42946755e-03 -7.84080346e+00] [ 3.28452522e-02 -2.83440603e-03 9.99456430e-01 3.01903229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13071405699998 meters Centerline goodness [0,1] 0.9783726249518763 Centerline is valid? [True, True] Translation: X:237.29, Y:-7.84, Z:3.02 [[ 9.98620577e-01 -4.13816866e-02 -3.23187086e-02 2.37291050e+02] [ 4.14485806e-02 9.99139654e-01 1.40232921e-03 -7.84128831e+00] [ 3.22328725e-02 -2.73995940e-03 9.99476630e-01 3.02057749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16071405699998 meters Centerline goodness [0,1] 0.9788693992547487 Centerline is valid? [True, True] Translation: X:237.32, Y:-7.84, Z:3.02 [[ 9.98668946e-01 -4.06459121e-02 -3.17528860e-02 2.37321688e+02] [ 4.07101115e-02 9.99170050e-01 1.37770587e-03 -7.84236652e+00] [ 3.16705346e-02 -2.66853560e-03 9.99494800e-01 3.02130014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19071405699998 meters Centerline goodness [0,1] 0.9801699073232782 Centerline is valid? [True, True] Translation: X:237.35, Y:-7.84, Z:3.02 [[ 9.98792826e-01 -3.81485951e-02 -3.09447287e-02 2.37351787e+02] [ 3.82083716e-02 9.99268892e-01 1.34249229e-03 -7.83910884e+00] [ 3.08708906e-02 -2.52321936e-03 9.99520196e-01 3.02346018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22071405699998 meters Centerline goodness [0,1] 0.9785404804573191 Centerline is valid? [True, True] Translation: X:237.38, Y:-7.84, Z:3.02 [[ 9.98855634e-01 -3.67456561e-02 -3.06133854e-02 2.37381733e+02] [ 3.68035008e-02 9.99321639e-01 1.32800846e-03 -7.84236054e+00] [ 3.05438200e-02 -2.45316849e-03 9.99530418e-01 3.02369442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25071405699998 meters Centerline goodness [0,1] 0.9788474236662947 Centerline is valid? [True, True] Translation: X:237.41, Y:-7.84, Z:3.02 [[ 9.98911932e-01 -3.47529161e-02 -3.10996385e-02 2.37410544e+02] [ 3.48116261e-02 9.99392982e-01 1.34819200e-03 -7.84222179e+00] [ 3.10339068e-02 -2.42935407e-03 9.99515380e-01 3.02372952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28071405699998 meters Centerline goodness [0,1] 0.9786360646814687 Centerline is valid? [True, True] Translation: X:237.44, Y:-7.84, Z:3.02 [[ 9.98933982e-01 -3.40817913e-02 -3.11340938e-02 2.37440484e+02] [ 3.41402681e-02 9.99416141e-01 1.34841399e-03 -7.84238399e+00] [ 3.10699595e-02 -2.40990287e-03 9.99514307e-01 3.02359011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31071405699998 meters Centerline goodness [0,1] 0.9771115555959633 Centerline is valid? [True, True] Translation: X:237.47, Y:-7.84, Z:3.02 [[ 9.98916505e-01 -3.41239675e-02 -3.16444562e-02 2.37469394e+02] [ 3.41842487e-02 9.99414615e-01 1.36574921e-03 -7.84394849e+00] [ 3.15793272e-02 -2.44601139e-03 9.99498256e-01 3.02292267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34071405699999 meters Centerline goodness [0,1] 0.9760351544803841 Centerline is valid? [True, True] Translation: X:237.50, Y:-7.85, Z:3.02 [[ 9.98914944e-01 -3.41869882e-02 -3.16256875e-02 2.37497669e+02] [ 3.42471033e-02 9.99412469e-01 1.36095035e-03 -7.84636078e+00] [ 3.15605797e-02 -2.44256183e-03 9.99498856e-01 3.02292940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.370714057 meters Centerline goodness [0,1] 0.9834688223806712 Centerline is valid? [True, True] Translation: X:237.53, Y:-7.84, Z:3.03 [[ 9.98833103e-01 -3.58062725e-02 -3.24089857e-02 2.37527764e+02] [ 3.58702074e-02 9.99355486e-01 1.39330883e-03 -7.83798959e+00] [ 3.23382084e-02 -2.55420002e-03 9.99473720e-01 3.02539215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.400714057 meters Centerline goodness [0,1] 0.9833352305065453 Centerline is valid? [True, True] Translation: X:237.56, Y:-7.84, Z:3.03 [[ 9.98797810e-01 -3.64227124e-02 -3.28073236e-02 2.37556916e+02] [ 3.64884962e-02 9.99333081e-01 1.40848558e-03 -7.83973743e+00] [ 3.27341429e-02 -2.60388222e-03 9.99460702e-01 3.02624385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.430714057 meters Centerline goodness [0,1] 0.9831122658279776 Centerline is valid? [True, True] Translation: X:237.59, Y:-7.84, Z:3.03 [[ 9.98753848e-01 -3.75470232e-02 -3.28781442e-02 2.37586137e+02] [ 3.76136300e-02 9.99291363e-01 1.40949709e-03 -7.84157424e+00] [ 3.28019231e-02 -2.64440699e-03 9.99458374e-01 3.02673899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.460714057 meters Centerline goodness [0,1] 0.9825694143414478 Centerline is valid? [True, True] Translation: X:237.62, Y:-7.84, Z:3.03 [[ 9.98770037e-01 -3.75665743e-02 -3.23599249e-02 2.37615923e+02] [ 3.76310631e-02 9.99290740e-01 1.38592893e-03 -7.84398149e+00] [ 3.22849087e-02 -2.60196267e-03 9.99475320e-01 3.02701113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.490714057 meters Centerline goodness [0,1] 0.9826463220223184 Centerline is valid? [True, True] Translation: X:237.65, Y:-7.84, Z:3.03 [[ 9.98802235e-01 -3.72917484e-02 -3.16768050e-02 2.37645447e+02] [ 3.73533696e-02 9.99301200e-01 1.35556835e-03 -7.84375746e+00] [ 3.16041178e-02 -2.53718010e-03 9.99497245e-01 3.02820480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.520714057 meters Centerline goodness [0,1] 0.9816999429549343 Centerline is valid? [True, True] Translation: X:237.68, Y:-7.85, Z:3.03 [[ 9.98823308e-01 -3.71105803e-02 -3.12218390e-02 2.37676044e+02] [ 3.71703409e-02 9.99308052e-01 1.33564101e-03 -7.84578253e+00] [ 3.11506687e-02 -2.49459577e-03 9.99511587e-01 3.02874979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.550714057 meters Centerline goodness [0,1] 0.9817903840449079 Centerline is valid? [True, True] Translation: X:237.71, Y:-7.85, Z:3.03 [[ 9.98832486e-01 -3.67757188e-02 -3.13243025e-02 2.37705210e+02] [ 3.68356989e-02 9.99320437e-01 1.33970509e-03 -7.84691657e+00] [ 3.12537471e-02 -2.49199354e-03 9.99508376e-01 3.02998729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.580714057 meters Centerline goodness [0,1] 0.9828253838093937 Centerline is valid? [True, True] Translation: X:237.74, Y:-7.84, Z:3.03 [[ 9.98852055e-01 -3.65076702e-02 -3.10123054e-02 2.37735582e+02] [ 3.65663254e-02 9.99330348e-01 1.32613248e-03 -7.84303823e+00] [ 3.09431240e-02 -2.45861620e-03 9.99518123e-01 3.03170947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.610714057 meters Centerline goodness [0,1] 0.9806095446664842 Centerline is valid? [True, True] Translation: X:237.76, Y:-7.85, Z:3.03 [[ 9.98859377e-01 -3.64134142e-02 -3.08870191e-02 2.37764450e+02] [ 3.64715417e-02 9.99333820e-01 1.32046041e-03 -7.85107820e+00] [ 3.08183603e-02 -2.44545147e-03 9.99522010e-01 3.03061602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.640714057 meters Centerline goodness [0,1] 0.9824421388667198 Centerline is valid? [True, True] Translation: X:237.80, Y:-7.85, Z:3.03 [[ 9.98835390e-01 -3.66615947e-02 -3.13654346e-02 2.37795142e+02] [ 3.67216520e-02 9.99324633e-01 1.34067623e-03 -7.84690378e+00] [ 3.12951001e-02 -2.49090544e-03 9.99507085e-01 3.03275573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67071405699997 meters Centerline goodness [0,1] 0.9779045879936088 Centerline is valid? [True, True] Translation: X:237.82, Y:-7.86, Z:3.03 [[ 9.98807773e-01 -3.71377131e-02 -3.16831537e-02 2.37824497e+02] [ 3.71992216e-02 9.99306952e-01 1.35392973e-03 -7.85642081e+00] [ 3.16109139e-02 -2.53090420e-03 9.99497046e-01 3.03103354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70071405699997 meters Centerline goodness [0,1] 0.9825759305777575 Centerline is valid? [True, True] Translation: X:237.85, Y:-7.85, Z:3.03 [[ 9.98795067e-01 -3.74879082e-02 -3.16712951e-02 2.37854993e+02] [ 3.75495381e-02 9.99293851e-01 1.35319086e-03 -7.85129472e+00] [ 3.15982022e-02 -2.54080286e-03 9.99497423e-01 3.03252879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73071405699997 meters Centerline goodness [0,1] 0.9820612431444241 Centerline is valid? [True, True] Translation: X:237.88, Y:-7.86, Z:3.03 [[ 9.98796469e-01 -3.78510897e-02 -3.11914669e-02 2.37884295e+02] [ 3.79110409e-02 9.99280229e-01 1.33268038e-03 -7.85503987e+00] [ 3.11185728e-02 -2.51357744e-03 9.99512539e-01 3.03238708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76071405699997 meters Centerline goodness [0,1] 0.9823027036901717 Centerline is valid? [True, True] Translation: X:237.91, Y:-7.86, Z:3.03 [[ 9.98818833e-01 -3.78556043e-02 -3.04613234e-02 2.37914963e+02] [ 3.79127820e-02 9.99280205e-01 1.30147780e-03 -7.85618448e+00] [ 3.03901292e-02 -2.45481405e-03 9.99535099e-01 3.03281670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79071405699997 meters Centerline goodness [0,1] 0.9827133429243452 Centerline is valid? [True, True] Translation: X:237.95, Y:-7.86, Z:3.03 [[ 9.98837824e-01 -3.73338116e-02 -3.04825948e-02 2.37945119e+02] [ 3.73908280e-02 9.99299870e-01 1.30238663e-03 -7.85817308e+00] [ 3.04126299e-02 -2.44064248e-03 9.99534449e-01 3.03363612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82071405699998 meters Centerline goodness [0,1] 0.9811561510242213 Centerline is valid? [True, True] Translation: X:237.97, Y:-7.86, Z:3.03 [[ 9.98851891e-01 -3.66653014e-02 -3.08310708e-02 2.37974256e+02] [ 3.67233188e-02 9.99324603e-01 1.31745880e-03 -7.85986519e+00] [ 3.07619426e-02 -2.44816546e-03 9.99523741e-01 3.03425414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85071405699998 meters Centerline goodness [0,1] 0.9790354959394105 Centerline is valid? [True, True] Translation: X:238.00, Y:-7.86, Z:3.03 [[ 9.98863569e-01 -3.63868007e-02 -3.07826404e-02 2.38003578e+02] [ 3.64444995e-02 9.99334813e-01 1.31522770e-03 -7.86200914e+00] [ 3.07143073e-02 -2.43559096e-03 9.99525237e-01 3.03415474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88071405699998 meters Centerline goodness [0,1] 0.9789103690685413 Centerline is valid? [True, True] Translation: X:238.03, Y:-7.86, Z:3.03 [[ 9.98860270e-01 -3.65873743e-02 -3.06516848e-02 2.38033764e+02] [ 3.66446700e-02 9.99327501e-01 1.30941109e-03 -7.86475239e+00] [ 3.05831636e-02 -2.43113959e-03 9.99529269e-01 3.03403966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91071405699998 meters Centerline goodness [0,1] 0.9831503002351651 Centerline is valid? [True, True] Translation: X:238.06, Y:-7.86, Z:3.04 [[ 9.98822419e-01 -3.75328258e-02 -3.07418620e-02 2.38063920e+02] [ 3.75908947e-02 9.99292350e-01 1.31295412e-03 -7.86118010e+00] [ 3.06708286e-02 -2.46702211e-03 9.99526495e-01 3.03534310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94071405699998 meters Centerline goodness [0,1] 0.983230944254835 Centerline is valid? [True, True] Translation: X:238.09, Y:-7.86, Z:3.04 [[ 9.98804161e-01 -3.78886457e-02 -3.08982006e-02 2.38094412e+02] [ 3.79474690e-02 9.99278864e-01 1.31939864e-03 -7.86367950e+00] [ 3.08259285e-02 -2.49032936e-03 9.99521666e-01 3.03532496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97071405699998 meters Centerline goodness [0,1] 0.9828660080764755 Centerline is valid? [True, True] Translation: X:238.13, Y:-7.87, Z:3.04 [[ 9.98797875e-01 -3.85217175e-02 -3.03130714e-02 2.38125126e+02] [ 3.85786224e-02 9.99254729e-01 1.29441276e-03 -7.86696695e+00] [ 3.02406169e-02 -2.46229325e-03 9.99539615e-01 3.03598010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00071405699998 meters Centerline goodness [0,1] 0.9816302313906257 Centerline is valid? [True, True] Translation: X:238.16, Y:-7.87, Z:3.04 [[ 9.98806991e-01 -3.85817925e-02 -2.99339116e-02 2.38156332e+02] [ 3.86373260e-02 9.99252481e-01 1.27880006e-03 -7.86951439e+00] [ 2.98621970e-02 -2.43384074e-03 9.99551062e-01 3.03686066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03071405699998 meters Centerline goodness [0,1] 0.9809056689859701 Centerline is valid? [True, True] Translation: X:238.19, Y:-7.87, Z:3.04 [[ 9.98800462e-01 -3.88303357e-02 -2.98302111e-02 2.38187987e+02] [ 3.88856254e-02 9.99242854e-01 1.27539170e-03 -7.87270421e+00] [ 2.97581013e-02 -2.43382823e-03 9.99554167e-01 3.03727608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06071405699998 meters Centerline goodness [0,1] 0.9797051328722243 Centerline is valid? [True, True] Translation: X:238.22, Y:-7.88, Z:3.04 [[ 9.98840574e-01 -3.87382662e-02 -2.85806504e-02 2.38217071e+02] [ 3.87889963e-02 9.99246676e-01 1.22249206e-03 -7.87612664e+00] [ 2.85117627e-02 -2.32968942e-03 9.99590742e-01 3.03784642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09071405699999 meters Centerline goodness [0,1] 0.9795872028337231 Centerline is valid? [True, True] Translation: X:238.25, Y:-7.88, Z:3.04 [[ 9.98855887e-01 -3.86467174e-02 -2.81664529e-02 2.38247956e+02] [ 3.86959532e-02 9.99250305e-01 1.20485472e-03 -7.87848582e+00] [ 2.80987730e-02 -2.29340398e-03 9.99602521e-01 3.03855646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.120714057 meters Centerline goodness [0,1] 0.9694778020378457 Centerline is valid? [True, True] Translation: X:238.28, Y:-7.88, Z:3.04 [[ 9.98850918e-01 -3.89025568e-02 -2.79899211e-02 2.38277339e+02] [ 3.89512768e-02 9.99240394e-01 1.19730336e-03 -7.88379780e+00] [ 2.79220816e-02 -2.28617073e-03 9.99607488e-01 3.03860058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.150714057 meters Centerline goodness [0,1] 0.9706987227648385 Centerline is valid? [True, True] Translation: X:238.31, Y:-7.89, Z:3.04 [[ 9.98853060e-01 -3.91235222e-02 -2.76027982e-02 2.38307486e+02] [ 3.91709871e-02 9.99231825e-01 1.18074370e-03 -7.88565224e+00] [ 2.75353995e-02 -2.26061831e-03 9.99618273e-01 3.03890435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.180714057 meters Centerline goodness [0,1] 0.9654999658415503 Centerline is valid? [True, True] Translation: X:238.34, Y:-7.89, Z:3.04 [[ 9.98790629e-01 -4.01350914e-02 -2.83981407e-02 2.38337990e+02] [ 4.01857536e-02 9.99191487e-01 1.21530700e-03 -7.88802928e+00] [ 2.83264040e-02 -2.35503793e-03 9.99595953e-01 3.03953131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.210714057 meters Centerline goodness [0,1] 0.9624697888640613 Centerline is valid? [True, True] Translation: X:238.37, Y:-7.89, Z:3.04 [[ 9.98773189e-01 -4.03795311e-02 -2.86637484e-02 2.38368350e+02] [ 4.04312594e-02 9.99181569e-01 1.22714561e-03 -7.89041067e+00] [ 2.85907375e-02 -2.38455158e-03 9.99588357e-01 3.03964218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.240714057 meters Centerline goodness [0,1] 0.955412559328222 Centerline is valid? [True, True] Translation: X:238.40, Y:-7.89, Z:3.04 [[ 9.98715991e-01 -4.16990759e-02 -2.87672863e-02 2.38398859e+02] [ 4.17517221e-02 9.99127258e-01 1.23157825e-03 -7.89414128e+00] [ 2.86908242e-02 -2.43108064e-03 9.99585377e-01 3.03927545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.270714057 meters Centerline goodness [0,1] 0.9495878683000136 Centerline is valid? [True, False] Translation: X:238.40, Y:-7.89, Z:3.04 [[ 9.98716000e-01 -4.16880426e-02 -2.87829698e-02 2.38398826e+02] [ 4.17478713e-02 9.99127081e-01 1.48055236e-03 -7.89486829e+00] [ 2.86961233e-02 -2.68027905e-03 9.99584588e-01 3.03930533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.300714057 meters Centerline goodness [0,1] 0.9401389267229637 Centerline is valid? [False, False] Translation: X:238.40, Y:-7.90, Z:3.04 [[ 9.98723625e-01 -4.15519077e-02 -2.87151657e-02 2.38398803e+02] [ 4.16239728e-02 9.99131509e-01 1.91622647e-03 -7.89579061e+00] [ 2.86106040e-02 -3.10901993e-03 9.99585798e-01 3.03914283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.330714057 meters Centerline goodness [0,1] 0.9196914700544465 Centerline is valid? [False, False] Translation: X:238.40, Y:-7.90, Z:3.04 [[ 9.98731048e-01 -4.13314089e-02 -2.87751392e-02 2.38399098e+02] [ 4.14123446e-02 9.99139670e-01 2.22219968e-03 -7.89610168e+00] [ 2.86585364e-02 -3.41102580e-03 9.99583440e-01 3.03893722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.360714057 meters Centerline goodness [0,1] 0.979176590677101 Centerline is valid? [False, True] Translation: X:238.40, Y:-7.90, Z:3.04 [[ 9.98742580e-01 -4.09737641e-02 -2.88861554e-02 2.38399658e+02] [ 4.10612512e-02 9.99153647e-01 2.44179486e-03 -7.89573444e+00] [ 2.87616580e-02 -3.62482618e-03 9.99579726e-01 3.03856725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.390714057 meters Centerline goodness [0,1] 0.9802141949537121 Centerline is valid? [True, True] Translation: X:238.43, Y:-7.90, Z:3.04 [[ 9.98748050e-01 -4.07075403e-02 -2.90728135e-02 2.38431375e+02] [ 4.07619069e-02 9.99168069e-01 1.27956950e-03 -7.89592347e+00] [ 2.89965388e-02 -2.46303087e-03 9.99576477e-01 3.03950993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42071405699997 meters Centerline goodness [0,1] 0.9791027825099375 Centerline is valid? [True, True] Translation: X:238.46, Y:-7.90, Z:3.04 [[ 9.98771389e-01 -4.06852205e-02 -2.82917818e-02 2.38462287e+02] [ 4.07367155e-02 9.99169139e-01 1.24591440e-03 -7.89829656e+00] [ 2.82175849e-02 -2.39689792e-03 9.99598931e-01 3.04031806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45071405699997 meters Centerline goodness [0,1] 0.9793453288141762 Centerline is valid? [True, True] Translation: X:238.49, Y:-7.90, Z:3.04 [[ 9.98753356e-01 -4.12020907e-02 -2.81801563e-02 2.38493741e+02] [ 4.12534051e-02 9.99147944e-01 1.24174418e-03 -7.89977712e+00] [ 2.81049828e-02 -2.40272357e-03 9.99602089e-01 3.04108019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48071405699997 meters Centerline goodness [0,1] 0.9802191320917361 Centerline is valid? [True, True] Translation: X:238.52, Y:-7.90, Z:3.04 [[ 9.98678820e-01 -4.26284774e-02 -2.86954287e-02 2.38524496e+02] [ 4.26822921e-02 9.99087895e-01 1.26519770e-03 -7.89842895e+00] [ 2.86153220e-02 -2.48831282e-03 9.99587401e-01 3.04239266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51071405699997 meters Centerline goodness [0,1] 0.9798672917091288 Centerline is valid? [True, True] Translation: X:238.56, Y:-7.90, Z:3.04 [[ 9.98624792e-01 -4.37083669e-02 -2.89500014e-02 2.38555435e+02] [ 4.37636063e-02 9.99041098e-01 1.27693903e-03 -7.90081762e+00] [ 2.88664283e-02 -2.54213944e-03 9.99580045e-01 3.04293370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54071405699997 meters Centerline goodness [0,1] 0.9766174801362089 Centerline is valid? [True, True] Translation: X:238.59, Y:-7.91, Z:3.04 [[ 9.98508326e-01 -4.60642743e-02 -2.93121967e-02 2.38586444e+02] [ 4.61219273e-02 9.98934980e-01 1.29343612e-03 -7.90582004e+00] [ 2.92213974e-02 -2.64344174e-03 9.99569468e-01 3.04310069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57071405699998 meters Centerline goodness [0,1] 0.9748007900292855 Centerline is valid? [True, True] Translation: X:238.62, Y:-7.91, Z:3.04 [[ 9.98458997e-01 -4.71842238e-02 -2.92109673e-02 2.38617037e+02] [ 4.72419693e-02 9.98882643e-01 1.28948467e-03 -7.90916962e+00] [ 2.91174848e-02 -2.66748119e-03 9.99572437e-01 3.04311155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60071405699998 meters Centerline goodness [0,1] 0.9717763873775843 Centerline is valid? [True, True] Translation: X:238.65, Y:-7.91, Z:3.04 [[ 9.98328594e-01 -4.93322594e-02 -3.01055857e-02 2.38647586e+02] [ 4.93945823e-02 9.98778458e-01 1.32951966e-03 -7.91240037e+00] [ 3.00032222e-02 -2.81435032e-03 9.99545840e-01 3.04286818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63071405699998 meters Centerline goodness [0,1] 0.9392322647737035 Centerline is valid? [True, False] Translation: X:238.65, Y:-7.91, Z:3.04 [[ 9.98332706e-01 -4.91994005e-02 -3.01865356e-02 2.38648027e+02] [ 4.92716054e-02 9.98784050e-01 1.65234833e-03 -7.91292222e+00] [ 3.00685358e-02 -3.13693245e-03 9.99542917e-01 3.04245121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66071405699998 meters Centerline goodness [0,1] 0.9393535262206149 Centerline is valid? [False, False] Translation: X:238.65, Y:-7.91, Z:3.04 [[ 9.98335645e-01 -4.90321735e-02 -3.03609311e-02 2.38648514e+02] [ 4.91173590e-02 9.98790878e-01 2.06590191e-03 -7.91349534e+00] [ 3.02229253e-02 -3.55371227e-03 9.99536866e-01 3.04214367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69071405699998 meters Centerline goodness [0,1] 0.9711697804817144 Centerline is valid? [False, True] Translation: X:238.65, Y:-7.91, Z:3.04 [[ 9.98344317e-01 -4.88450629e-02 -3.03773688e-02 2.38648626e+02] [ 4.89385837e-02 9.98799043e-01 2.34236548e-03 -7.91377279e+00] [ 3.02264739e-02 -3.82511267e-03 9.99535757e-01 3.04205094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72071405699998 meters Centerline goodness [0,1] 0.903700512448415 Centerline is valid? [True, False] Translation: X:238.65, Y:-7.91, Z:3.04 [[ 9.98345965e-01 -4.88041658e-02 -3.03889220e-02 2.38648368e+02] [ 4.89018339e-02 9.98800514e-01 2.47862436e-03 -7.91420767e+00] [ 3.02315037e-02 -3.96059865e-03 9.99535077e-01 3.04250657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75071405699998 meters Centerline goodness [0,1] 0.9536814952255962 Centerline is valid? [False, True] Translation: X:238.65, Y:-7.92, Z:3.04 [[ 9.98356871e-01 -4.86669762e-02 -3.02503366e-02 2.38648109e+02] [ 4.87773466e-02 9.98805406e-01 2.92096462e-03 -7.91540021e+00] [ 3.00720452e-02 -4.39169625e-03 9.99538086e-01 3.04252602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78071405699998 meters Centerline goodness [0,1] 0.9615609800036029 Centerline is valid? [True, True] Translation: X:238.68, Y:-7.92, Z:3.04 [[ 9.98382478e-01 -4.85261449e-02 -2.96249989e-02 2.38679096e+02] [ 4.85882759e-02 9.98817938e-01 1.38056819e-03 -7.91539019e+00] [ 2.95229867e-02 -2.81776271e-03 9.99560130e-01 3.04403159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81071405699998 meters Centerline goodness [0,1] 0.7014695907754918 Centerline is valid? [True, False] Translation: X:238.68, Y:-7.92, Z:3.04 [[ 9.98396230e-01 -4.82399099e-02 -2.96290268e-02 2.38679148e+02] [ 4.83111540e-02 9.98830900e-01 1.69298177e-03 -7.91583750e+00] [ 2.95127182e-02 -3.12167909e-03 9.99559530e-01 3.04407580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84071405699999 meters Centerline goodness [0,1] 0.7014695907754918 Centerline is valid? [False, False] Translation: X:238.68, Y:-7.92, Z:3.04 [[ 9.98396230e-01 -4.82399099e-02 -2.96290268e-02 2.38679148e+02] [ 4.83111540e-02 9.98830900e-01 1.69298177e-03 -7.91583750e+00] [ 2.95127182e-02 -3.12167909e-03 9.99559530e-01 3.04407580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.870714057 meters Centerline goodness [0,1] 0.7017381280654567 Centerline is valid? [False, False] Translation: X:238.68, Y:-7.92, Z:3.04 [[ 9.98406695e-01 -4.79479423e-02 -2.97500475e-02 2.38679462e+02] [ 4.80269460e-02 9.98844144e-01 1.94631658e-03 -7.91598387e+00] [ 2.96223388e-02 -3.37201942e-03 9.99555474e-01 3.04404265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.900714057 meters Centerline goodness [0,1] 0.960381279363932 Centerline is valid? [False, True] Translation: X:238.68, Y:-7.92, Z:3.04 [[ 9.98546179e-01 -4.50004789e-02 -2.96729893e-02 2.38678238e+02] [ 4.51800132e-02 9.98964225e-01 5.40764678e-03 -7.91763644e+00] [ 2.93989081e-02 -6.74041108e-03 9.99545032e-01 3.04460582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.930714057 meters Centerline goodness [0,1] 0.9577531431661485 Centerline is valid? [True, True] Translation: X:238.71, Y:-7.92, Z:3.05 [[ 9.98586991e-01 -4.40658406e-02 -2.97022444e-02 2.38708300e+02] [ 4.41270382e-02 9.99024936e-01 1.40773041e-03 -7.91877117e+00] [ 2.96112500e-02 -2.71641335e-03 9.99557800e-01 3.04576749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.960714057 meters Centerline goodness [0,1] 0.9590477476261194 Centerline is valid? [True, True] Translation: X:238.74, Y:-7.92, Z:3.05 [[ 9.98608942e-01 -4.32171696e-02 -3.02069194e-02 2.38739357e+02] [ 4.32800876e-02 9.99061952e-01 1.43187994e-03 -7.92020562e+00] [ 3.01167020e-02 -2.73724623e-03 9.99542641e-01 3.04565326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.990714057 meters Centerline goodness [0,1] 0.9458113649677797 Centerline is valid? [True, False] Translation: X:238.74, Y:-7.92, Z:3.05 [[ 9.98757142e-01 -3.96265800e-02 -3.02308806e-02 2.38739026e+02] [ 3.98125714e-02 9.99191611e-01 5.57521417e-03 -7.92173078e+00] [ 2.99855156e-02 -6.77185406e-03 9.99527394e-01 3.04531600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.020714057 meters Centerline goodness [0,1] 0.9486612182236872 Centerline is valid? [False, False] Translation: X:238.74, Y:-7.92, Z:3.05 [[ 9.98767575e-01 -3.91319963e-02 -3.05289837e-02 2.38739723e+02] [ 3.93185413e-02 9.99211403e-01 5.53399303e-03 -7.92075055e+00] [ 3.02883524e-02 -6.72752790e-03 9.99518562e-01 3.04543824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.050714057 meters Centerline goodness [0,1] 0.9766820610341392 Centerline is valid? [False, True] Translation: X:238.74, Y:-7.92, Z:3.05 [[ 9.98777305e-01 -3.87902645e-02 -3.06465486e-02 2.38740081e+02] [ 3.89823660e-02 9.99223666e-01 5.69565350e-03 -7.92053282e+00] [ 3.04018208e-02 -6.88336443e-03 9.99514056e-01 3.04534605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.080714057 meters Centerline goodness [0,1] 0.9808384046331697 Centerline is valid? [True, True] Translation: X:238.77, Y:-7.91, Z:3.05 [[ 9.98874038e-01 -3.59192435e-02 -3.09913481e-02 2.38770900e+02] [ 3.59809037e-02 9.99351449e-01 1.43403153e-03 -7.91179817e+00] [ 3.09197393e-02 -2.54751358e-03 9.99518624e-01 3.04832418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.110714057 meters Centerline goodness [0,1] 0.9806528806212751 Centerline is valid? [True, True] Translation: X:238.80, Y:-7.92, Z:3.05 [[ 9.98913879e-01 -3.42980582e-02 -3.15389459e-02 2.38799948e+02] [ 3.43611064e-02 9.99408418e-01 1.45908454e-03 -7.91681133e+00] [ 3.14702442e-02 -2.54121287e-03 9.99501459e-01 3.04751599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.140714057 meters Centerline goodness [0,1] 0.9813977668279011 Centerline is valid? [True, True] Translation: X:238.83, Y:-7.91, Z:3.05 [[ 9.98953906e-01 -3.29642591e-02 -3.16930696e-02 2.38829538e+02] [ 3.30272308e-02 9.99453378e-01 1.46533869e-03 -7.91375995e+00] [ 3.16274416e-02 -2.51054013e-03 9.99496574e-01 3.04833199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17071405699997 meters Centerline goodness [0,1] 0.981772784019975 Centerline is valid? [True, True] Translation: X:238.86, Y:-7.91, Z:3.05 [[ 9.99033863e-01 -2.99518212e-02 -3.21594226e-02 2.38858486e+02] [ 3.00150729e-02 9.99548342e-01 1.48575467e-03 -7.91353327e+00] [ 3.21003965e-02 -2.44958664e-03 9.99481648e-01 3.04889355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20071405699997 meters Centerline goodness [0,1] 0.9832498470046919 Centerline is valid? [True, True] Translation: X:238.89, Y:-7.91, Z:3.05 [[ 9.99156834e-01 -2.68159327e-02 -3.10890132e-02 2.38888032e+02] [ 2.68735060e-02 9.99637811e-01 1.43545316e-03 -7.91337744e+00] [ 3.10392601e-02 -2.26971362e-03 9.99515589e-01 3.04961351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23071405699997 meters Centerline goodness [0,1] 0.9829805556814576 Centerline is valid? [True, True] Translation: X:238.92, Y:-7.91, Z:3.05 [[ 9.99222273e-01 -2.52732615e-02 -3.02673451e-02 2.38917864e+02] [ 2.53271000e-02 9.99678242e-01 1.39664898e-03 -7.91034382e+00] [ 3.02223085e-02 -2.16214684e-03 9.99540863e-01 3.05165856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26071405699997 meters Centerline goodness [0,1] 0.9832712910840748 Centerline is valid? [True, True] Translation: X:238.95, Y:-7.91, Z:3.05 [[ 9.99277577e-01 -2.38567227e-02 -2.95834669e-02 2.38946700e+02] [ 2.39074908e-02 9.99713245e-01 1.36352582e-03 -7.91107752e+00] [ 2.95424545e-02 -2.06980724e-03 9.99561383e-01 3.05253763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29071405699997 meters Centerline goodness [0,1] 0.9839233406753105 Centerline is valid? [True, True] Translation: X:238.98, Y:-7.91, Z:3.05 [[ 9.99380977e-01 -2.04683732e-02 -2.86130703e-02 2.38976218e+02] [ 2.05144444e-02 9.99788689e-01 1.31749135e-03 -7.91142395e+00] [ 2.85800571e-02 -1.90365703e-03 9.99589694e-01 3.05361118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32071405699998 meters Centerline goodness [0,1] 0.9837987684337295 Centerline is valid? [True, True] Translation: X:239.01, Y:-7.91, Z:3.05 [[ 9.99469804e-01 -1.69012039e-02 -2.78291307e-02 2.39005900e+02] [ 1.69433906e-02 9.99855630e-01 1.28079748e-03 -7.91188973e+00] [ 2.78034660e-02 -1.75163824e-03 9.99611874e-01 3.05335096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35071405699998 meters Centerline goodness [0,1] 0.9843828256613395 Centerline is valid? [True, True] Translation: X:239.04, Y:-7.91, Z:3.05 [[ 9.99496667e-01 -1.49654701e-02 -2.79722488e-02 2.39035447e+02] [ 1.50073153e-02 9.99886556e-01 1.28660550e-03 -7.91003939e+00] [ 2.79498208e-02 -1.70574626e-03 9.99607872e-01 3.05431663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38071405699998 meters Centerline goodness [0,1] 0.9844404957171496 Centerline is valid? [True, True] Translation: X:239.06, Y:-7.91, Z:3.05 [[ 9.99516889e-01 -1.35597500e-02 -2.79664428e-02 2.39063504e+02] [ 1.36009834e-02 9.99906677e-01 1.28468494e-03 -7.91131922e+00] [ 2.79464129e-02 -1.66443542e-03 9.99608037e-01 3.05432675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41071405699998 meters Centerline goodness [0,1] 0.9857041722807097 Centerline is valid? [True, True] Translation: X:239.09, Y:-7.90, Z:3.06 [[ 9.99549820e-01 -1.02296769e-02 -2.82047944e-02 2.39094116e+02] [ 1.02702444e-02 9.99946423e-01 1.29382968e-03 -7.90401416e+00] [ 2.81900478e-02 -1.58291736e-03 9.99601328e-01 3.05632812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44071405699998 meters Centerline goodness [0,1] 0.9875766450077789 Centerline is valid? [True, True] Translation: X:239.12, Y:-7.90, Z:3.06 [[ 9.99605991e-01 -7.83907228e-03 -2.69520389e-02 2.39124419e+02] [ 7.87522776e-03 9.99968227e-01 1.23558909e-03 -7.90128887e+00] [ 2.69414966e-02 -1.44735570e-03 9.99635964e-01 3.05775572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47071405699998 meters Centerline goodness [0,1] 0.9861313868613139 Centerline is valid? [True, True] Translation: X:239.15, Y:-7.90, Z:3.06 [[ 9.99626157e-01 -7.25370717e-03 -2.63615267e-02 2.39151781e+02] [ 7.28805744e-03 9.99972713e-01 1.20719912e-03 -7.90327261e+00] [ 2.63520507e-02 -1.39887214e-03 9.99651746e-01 3.05810422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50071405699998 meters Centerline goodness [0,1] 0.984650525354043 Centerline is valid? [True, True] Translation: X:239.18, Y:-7.92, Z:3.06 [[ 9.99656280e-01 -5.90104269e-03 -2.55440624e-02 2.39179123e+02] [ 5.93279681e-03 9.99981719e-01 1.16750346e-03 -7.91500715e+00] [ 2.55367059e-02 -1.31864989e-03 9.99673015e-01 3.05652195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53071405699998 meters Centerline goodness [0,1] 0.9861790103714534 Centerline is valid? [True, True] Translation: X:239.21, Y:-7.91, Z:3.06 [[ 9.99658770e-01 -5.63039401e-03 -2.55076893e-02 2.39208567e+02] [ 5.66186734e-03 9.99983297e-01 1.16182141e-03 -7.90682985e+00] [ 2.55007217e-02 -1.30584612e-03 9.99673951e-01 3.05913489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56071405699998 meters Centerline goodness [0,1] 0.9869800589323648 Centerline is valid? [True, True] Translation: X:239.24, Y:-7.91, Z:3.06 [[ 9.99635150e-01 -4.92118615e-03 -2.65584132e-02 2.39237074e+02] [ 4.95487727e-03 9.99987001e-01 1.20290692e-03 -7.90804070e+00] [ 2.65521482e-02 -1.33406172e-03 9.99646539e-01 3.05895530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59071405699999 meters Centerline goodness [0,1] 0.9857977897524888 Centerline is valid? [True, True] Translation: X:239.26, Y:-7.92, Z:3.06 [[ 9.99611891e-01 -2.97683850e-03 -2.76984740e-02 2.39264482e+02] [ 3.01260347e-03 9.99994681e-01 1.24958463e-03 -7.91515533e+00] [ 2.76946069e-02 -1.33254417e-03 9.99615543e-01 3.05713853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.620714057 meters Centerline goodness [0,1] 0.9866017606514865 Centerline is valid? [True, True] Translation: X:239.29, Y:-7.91, Z:3.06 [[ 9.99606601e-01 -1.72746970e-03 -2.79938971e-02 2.39293009e+02] [ 1.76338560e-03 9.99997654e-01 1.25835450e-03 -7.91113139e+00] [ 2.79916576e-02 -1.30722350e-03 9.99607302e-01 3.05875492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.650714057 meters Centerline goodness [0,1] 0.9860168526531542 Centerline is valid? [True, True] Translation: X:239.32, Y:-7.92, Z:3.06 [[ 9.99608960e-01 1.45535387e-03 -2.79250608e-02 2.39321833e+02] [-1.42096623e-03 9.99998208e-01 1.25123043e-03 -7.91684423e+00] [ 2.79268318e-02 -1.21106058e-03 9.99609236e-01 3.05827658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.680714057 meters Centerline goodness [0,1] 0.9874097431679005 Centerline is valid? [True, True] Translation: X:239.35, Y:-7.91, Z:3.06 [[ 9.99612672e-01 2.83895814e-03 -2.76847719e-02 2.39351107e+02] [-2.80579316e-03 9.99995299e-01 1.23672332e-03 -7.91020476e+00] [ 2.76881528e-02 -1.15856656e-03 9.99615938e-01 3.06143616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.710714057 meters Centerline goodness [0,1] 0.9874934266181952 Centerline is valid? [True, True] Translation: X:239.38, Y:-7.91, Z:3.06 [[ 9.99591852e-01 6.99619446e-03 -2.76980507e-02 2.39381263e+02] [-6.96469851e-03 9.99974986e-01 1.23342860e-03 -7.90888638e+00] [ 2.77059872e-02 -1.04001660e-03 9.99615574e-01 3.06291468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.740714057 meters Centerline goodness [0,1] 0.9873339582523606 Centerline is valid? [True, True] Translation: X:239.41, Y:-7.91, Z:3.06 [[ 9.99578247e-01 9.80537638e-03 -2.73346255e-02 2.39409681e+02] [-9.77578233e-03 9.99951476e-01 1.21608485e-03 -7.91065075e+00] [ 2.73452233e-02 -9.48354618e-04 9.99625600e-01 3.06304112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.770714057 meters Centerline goodness [0,1] 0.9882756256427837 Centerline is valid? [True, True] Translation: X:239.44, Y:-7.91, Z:3.06 [[ 9.99517018e-01 1.49324514e-02 -2.72535027e-02 2.39439967e+02] [-1.49049707e-02 9.99888181e-01 1.21121305e-03 -7.91150079e+00] [ 2.72685416e-02 -8.04415394e-04 9.99627821e-01 3.06354774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.800714057 meters Centerline goodness [0,1] 0.9884225429302156 Centerline is valid? [True, True] Translation: X:239.47, Y:-7.91, Z:3.06 [[ 9.99498495e-01 1.62064135e-02 -2.72049904e-02 2.39469112e+02] [-1.61795878e-02 9.99868375e-01 1.20590678e-03 -7.91303475e+00] [ 2.72209529e-02 -7.65136479e-04 9.99629148e-01 3.06410968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.830714057 meters Centerline goodness [0,1] 0.9892237942268699 Centerline is valid? [True, True] Translation: X:239.50, Y:-7.92, Z:3.06 [[ 9.99447736e-01 1.83883962e-02 -2.76783452e-02 2.39497498e+02] [-1.83616513e-02 9.99830666e-01 1.22014386e-03 -7.91595837e+00] [ 2.76960948e-02 -7.11249899e-04 9.99616137e-01 3.06420332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.860714057 meters Centerline goodness [0,1] 0.9896510064054344 Centerline is valid? [True, True] Translation: X:239.52, Y:-7.92, Z:3.06 [[ 9.99442711e-01 1.84996613e-02 -2.77854448e-02 2.39524700e+02] [-1.84729018e-02 9.99828618e-01 1.21947763e-03 -7.91983794e+00] [ 2.78032428e-02 -7.05520238e-04 9.99613166e-01 3.06430443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.890714057 meters Centerline goodness [0,1] 0.9893534913284301 Centerline is valid? [True, True] Translation: X:239.55, Y:-7.93, Z:3.06 [[ 9.99444107e-01 1.81287586e-02 -2.79789997e-02 2.39552712e+02] [-1.81015651e-02 9.99835403e-01 1.22491841e-03 -7.92656841e+00] [ 2.79966007e-02 -7.17773799e-04 9.99607761e-01 3.06458487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92071405699997 meters Centerline goodness [0,1] 0.9895259470856288 Centerline is valid? [True, True] Translation: X:239.58, Y:-7.93, Z:3.06 [[ 9.99463936e-01 1.73069189e-02 -2.77904986e-02 2.39580866e+02] [-1.72799017e-02 9.99849957e-01 1.21205180e-03 -7.93114093e+00] [ 2.78073057e-02 -7.31184975e-04 9.99613035e-01 3.06492993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95071405699997 meters Centerline goodness [0,1] 0.9895517662490388 Centerline is valid? [True, True] Translation: X:239.61, Y:-7.94, Z:3.07 [[ 9.99476183e-01 1.66353103e-02 -2.77601455e-02 2.39608684e+02] [-1.66082283e-02 9.99861347e-01 1.20586729e-03 -7.93602237e+00] [ 2.77763564e-02 -7.44188798e-04 9.99613886e-01 3.06540565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98071405699997 meters Centerline goodness [0,1] 0.9891996927109223 Centerline is valid? [True, True] Translation: X:239.64, Y:-7.94, Z:3.07 [[ 9.99482796e-01 1.51318886e-02 -2.83754672e-02 2.39636766e+02] [-1.51031223e-02 9.99885187e-01 1.22783486e-03 -7.94329020e+00] [ 2.83907888e-02 -7.98641671e-04 9.99596581e-01 3.06575365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01071405699997 meters Centerline goodness [0,1] 0.9901676229047137 Centerline is valid? [True, True] Translation: X:239.67, Y:-7.95, Z:3.07 [[ 9.99513728e-01 1.42392546e-02 -2.77407785e-02 2.39665305e+02] [-1.42116099e-02 9.99898298e-01 1.19344890e-03 -7.94987943e+00] [ 2.77549510e-02 -7.98627435e-04 9.99614438e-01 3.06650935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04071405699997 meters Centerline goodness [0,1] 0.9899242066437263 Centerline is valid? [True, True] Translation: X:239.69, Y:-7.96, Z:3.07 [[ 9.99527149e-01 1.37643600e-02 -2.74958203e-02 2.39692664e+02] [-1.37371564e-02 9.99904947e-01 1.17803255e-03 -7.95617292e+00] [ 2.75094216e-02 -7.99761136e-04 9.99621224e-01 3.06622244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07071405699998 meters Centerline goodness [0,1] 0.9899118972358598 Centerline is valid? [True, True] Translation: X:239.72, Y:-7.96, Z:3.07 [[ 9.99559452e-01 1.21573574e-02 -2.70758340e-02 2.39721328e+02] [-1.21305097e-02 9.99925755e-01 1.15560973e-03 -7.96249016e+00] [ 2.70878730e-02 -8.26656960e-04 9.99632714e-01 3.06783759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10071405699998 meters Centerline goodness [0,1] 0.9903186768858411 Centerline is valid? [True, True] Translation: X:239.75, Y:-7.97, Z:3.07 [[ 9.99571312e-01 1.13813850e-02 -2.69751129e-02 2.39748649e+02] [-1.13545834e-02 9.99934877e-01 1.14653699e-03 -7.96733479e+00] [ 2.69864054e-02 -8.39754317e-04 9.99635448e-01 3.06843957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13071405699998 meters Centerline goodness [0,1] 0.9893341663691538 Centerline is valid? [True, True] Translation: X:239.78, Y:-7.98, Z:3.07 [[ 9.99584134e-01 8.95624453e-03 -2.74106694e-02 2.39776099e+02] [-8.92772636e-03 9.99959471e-01 1.16260998e-03 -7.97572933e+00] [ 2.74199711e-02 -9.17411537e-04 9.99623581e-01 3.06744981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16071405699998 meters Centerline goodness [0,1] 0.9903460269330242 Centerline is valid? [True, True] Translation: X:239.80, Y:-7.98, Z:3.07 [[ 9.99589140e-01 7.49174455e-03 -2.76663045e-02 2.39804850e+02] [-7.46225638e-03 9.99971474e-01 1.16894528e-03 -7.97912076e+00] [ 2.76742727e-02 -9.62011949e-04 9.99616531e-01 3.06806114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19071405699998 meters Centerline goodness [0,1] 0.9899039100208121 Centerline is valid? [True, True] Translation: X:239.83, Y:-7.99, Z:3.07 [[ 9.99591935e-01 3.19633180e-03 -2.83856853e-02 2.39834158e+02] [-3.16367361e-03 9.99994281e-01 1.19535254e-03 -7.98884244e+00] [ 2.83893437e-02 -1.10506172e-03 9.99596331e-01 3.06734410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22071405699998 meters Centerline goodness [0,1] 0.9884820239680426 Centerline is valid? [True, True] Translation: X:239.86, Y:-8.00, Z:3.07 [[ 9.99585654e-01 3.87283185e-04 -2.87814383e-02 2.39862447e+02] [-3.52574649e-04 9.99999205e-01 1.21099978e-03 -7.99734100e+00] [ 2.87818844e-02 -1.20035040e-03 9.99584995e-01 3.06607962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25071405699998 meters Centerline goodness [0,1] 0.9879782146652497 Centerline is valid? [True, True] Translation: X:239.89, Y:-8.00, Z:3.07 [[ 9.99572601e-01 -4.67241845e-03 -2.88580106e-02 2.39892557e+02] [ 4.70938666e-03 9.99988175e-01 1.21320464e-03 -8.00194137e+00] [ 2.88520008e-02 -1.34858965e-03 9.99582785e-01 3.06824352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28071405699998 meters Centerline goodness [0,1] 0.9882381552475072 Centerline is valid? [True, True] Translation: X:239.92, Y:-8.01, Z:3.07 [[ 9.99561322e-01 -7.05721599e-03 -2.87638402e-02 2.39921042e+02] [ 7.09489922e-03 9.99974101e-01 1.20824026e-03 -8.00756714e+00] [ 2.87545685e-02 -1.41178678e-03 9.99585505e-01 3.06878098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31071405699998 meters Centerline goodness [0,1] 0.9864543935262556 Centerline is valid? [True, True] Translation: X:239.95, Y:-8.02, Z:3.07 [[ 9.99541150e-01 -1.03165136e-02 -2.84791119e-02 2.39949587e+02] [ 1.03547312e-02 9.99945675e-01 1.19479649e-03 -8.01626744e+00] [ 2.84652387e-02 -1.48914180e-03 9.99593674e-01 3.06936702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34071405699999 meters Centerline goodness [0,1] 0.9854189575544315 Centerline is valid? [True, True] Translation: X:239.98, Y:-8.02, Z:3.07 [[ 9.99526767e-01 -1.18938546e-02 -2.83686127e-02 2.39978208e+02] [ 1.19322924e-02 9.99928104e-01 1.18603603e-03 -8.01877285e+00] [ 2.83524665e-02 -1.52397734e-03 9.99596826e-01 3.07021422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.370714057 meters Centerline goodness [0,1] 0.9844887901256298 Centerline is valid? [True, True] Translation: X:240.01, Y:-8.02, Z:3.07 [[ 9.99521066e-01 -1.35291807e-02 -2.78316263e-02 2.40005450e+02] [ 1.35666781e-02 9.99907297e-01 1.15889778e-03 -8.02484748e+00] [ 2.78133673e-02 -1.53592546e-03 9.99611953e-01 3.07088373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.400714057 meters Centerline goodness [0,1] 0.9839202161544713 Centerline is valid? [True, True] Translation: X:240.03, Y:-8.03, Z:3.07 [[ 9.99545499e-01 -1.39436992e-02 -2.67276900e-02 2.40032499e+02] [ 1.39783558e-02 9.99901682e-01 1.11024650e-03 -8.02990088e+00] [ 2.67095812e-02 -1.48335105e-03 9.99642135e-01 3.07154223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.430714057 meters Centerline goodness [0,1] 0.9853865424339647 Centerline is valid? [True, True] Translation: X:240.06, Y:-8.03, Z:3.07 [[ 9.99543596e-01 -1.40332942e-02 -2.67519438e-02 2.40060037e+02] [ 1.40679063e-02 9.99900430e-01 1.10604181e-03 -8.02815973e+00] [ 2.67337587e-02 -1.48188085e-03 9.99641491e-01 3.07282294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.460714057 meters Centerline goodness [0,1] 0.9851809507057737 Centerline is valid? [True, True] Translation: X:240.09, Y:-8.03, Z:3.07 [[ 9.99537161e-01 -1.37279771e-02 -2.71478725e-02 2.40089017e+02] [ 1.37633094e-02 9.99904659e-01 1.11503929e-03 -8.02872449e+00] [ 2.71299770e-02 -1.48816778e-03 9.99630807e-01 3.07325712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.490714057 meters Centerline goodness [0,1] 0.9855428558892569 Centerline is valid? [True, True] Translation: X:240.12, Y:-8.03, Z:3.07 [[ 9.99544050e-01 -1.24792066e-02 -2.74947463e-02 2.40117912e+02] [ 1.25147872e-02 9.99921057e-01 1.12238381e-03 -8.02964813e+00] [ 2.74785693e-02 -1.46596296e-03 9.99621318e-01 3.07382956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.520714057 meters Centerline goodness [0,1] 0.9841732611411912 Centerline is valid? [True, True] Translation: X:240.15, Y:-8.03, Z:3.07 [[ 9.99572199e-01 -1.11286075e-02 -2.70476123e-02 2.40145742e+02] [ 1.11624074e-02 9.99937094e-01 1.09897366e-03 -8.03399709e+00] [ 2.70336808e-02 -1.40041999e-03 9.99633542e-01 3.07407388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.550714057 meters Centerline goodness [0,1] 0.9840889611673955 Centerline is valid? [True, True] Translation: X:240.17, Y:-8.03, Z:3.07 [[ 9.99582206e-01 -1.04495830e-02 -2.69484791e-02 2.40174147e+02] [ 1.04827575e-02 9.99944460e-01 1.09005386e-03 -8.03397344e+00] [ 2.69355918e-02 -1.37209282e-03 9.99636229e-01 3.07458904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.580714057 meters Centerline goodness [0,1] 0.9845481881433682 Centerline is valid? [True, True] Translation: X:240.20, Y:-8.04, Z:3.07 [[ 9.99605903e-01 -8.61517687e-03 -2.67173544e-02 2.40202301e+02] [ 8.64701319e-03 9.99962035e-01 1.07629087e-03 -8.04066808e+00] [ 2.67070676e-02 -1.30689203e-03 9.99642448e-01 3.07321188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.610714057 meters Centerline goodness [0,1] 0.9851430828651685 Centerline is valid? [True, True] Translation: X:240.23, Y:-8.03, Z:3.07 [[ 9.99611446e-01 -7.89584951e-03 -2.67322545e-02 2.40231447e+02] [ 7.92735917e-03 9.99968002e-01 1.07293977e-03 -8.03495394e+00] [ 2.67229274e-02 -1.28443905e-03 9.99642054e-01 3.07489935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.640714057 meters Centerline goodness [0,1] 0.9862446610447925 Centerline is valid? [True, True] Translation: X:240.26, Y:-8.03, Z:3.08 [[ 9.99605966e-01 -7.04260254e-03 -2.71719420e-02 2.40260128e+02] [ 7.07465895e-03 9.99974387e-01 1.08380666e-03 -8.03039432e+00] [ 2.71636133e-02 -1.27561182e-03 9.99630187e-01 3.07636837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67071405699997 meters Centerline goodness [0,1] 0.9857738748627881 Centerline is valid? [True, True] Translation: X:240.29, Y:-8.03, Z:3.08 [[ 9.99608047e-01 -6.92787722e-03 -2.71248416e-02 2.40288429e+02] [ 6.95959498e-03 9.99975204e-01 1.07509252e-03 -8.03127389e+00] [ 2.71167209e-02 -1.26344905e-03 9.99631476e-01 3.07699338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70071405699997 meters Centerline goodness [0,1] 0.9862663966898495 Centerline is valid? [True, True] Translation: X:240.32, Y:-8.03, Z:3.08 [[ 9.99626722e-01 -6.60883079e-03 -2.65092259e-02 2.40316237e+02] [ 6.63887542e-03 9.99977416e-01 1.04551295e-03 -8.03341431e+00] [ 2.65017176e-02 -1.22111413e-03 9.99648022e-01 3.07810777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73071405699997 meters Centerline goodness [0,1] 0.9862663966898495 Centerline is valid? [True, True] Translation: X:240.34, Y:-8.03, Z:3.08 [[ 9.99624792e-01 -6.89377681e-03 -2.65094346e-02 2.40343646e+02] [ 6.92378083e-03 9.99975489e-01 1.04020075e-03 -8.03442089e+00] [ 2.65016139e-02 -1.22335597e-03 9.99648022e-01 3.07851129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76071405699997 meters Centerline goodness [0,1] 0.9856085074594072 Centerline is valid? [True, True] Translation: X:240.37, Y:-8.04, Z:3.08 [[ 9.99620475e-01 -7.46625573e-03 -2.65171887e-02 2.40372657e+02] [ 7.49628935e-03 9.99971368e-01 1.03338068e-03 -8.03547635e+00] [ 2.65087140e-02 -1.23176900e-03 9.99647823e-01 3.07940908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79071405699997 meters Centerline goodness [0,1] 0.9856659191839248 Centerline is valid? [True, True] Translation: X:240.40, Y:-8.03, Z:3.08 [[ 9.99611842e-01 -7.87156784e-03 -2.67245851e-02 2.40401912e+02] [ 7.90203912e-03 9.99968243e-01 1.03477836e-03 -8.03443099e+00] [ 2.67155910e-02 -1.24555542e-03 9.99642299e-01 3.08113814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82071405699998 meters Centerline goodness [0,1] 0.9866474039050871 Centerline is valid? [True, True] Translation: X:240.43, Y:-8.04, Z:3.08 [[ 9.99616246e-01 -8.32952927e-03 -2.64193219e-02 2.40429485e+02] [ 8.35934417e-03 9.99964542e-01 1.01828210e-03 -8.03797365e+00] [ 2.64099033e-02 -1.23873953e-03 9.99650430e-01 3.08103852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85071405699998 meters Centerline goodness [0,1] 0.9858466685743215 Centerline is valid? [True, True] Translation: X:240.46, Y:-8.04, Z:3.08 [[ 9.99609874e-01 -1.02549873e-02 -2.59795212e-02 2.40457545e+02] [ 1.02844127e-02 9.99946615e-01 9.99274222e-04 -8.04092788e+00] [ 2.59678867e-02 -1.26606850e-03 9.99661976e-01 3.08180857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88071405699998 meters Centerline goodness [0,1] 0.9846255216340875 Centerline is valid? [True, True] Translation: X:240.49, Y:-8.04, Z:3.08 [[ 9.99572616e-01 -1.33551392e-02 -2.60043456e-02 2.40487283e+02] [ 1.33856302e-02 9.99909910e-01 9.98808745e-04 -8.03942678e+00] [ 2.59886637e-02 -1.34646642e-03 9.99661331e-01 3.08318928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91071405699998 meters Centerline goodness [0,1] 0.9858312065475666 Centerline is valid? [True, True] Translation: X:240.52, Y:-8.05, Z:3.08 [[ 9.99551586e-01 -1.51079131e-02 -2.58529989e-02 2.40515300e+02] [ 1.51386011e-02 9.99884913e-01 9.91697013e-04 -8.04538007e+00] [ 2.58350411e-02 -1.38263056e-03 9.99665263e-01 3.08314980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94071405699998 meters Centerline goodness [0,1] 0.9851560794586335 Centerline is valid? [True, True] Translation: X:240.55, Y:-8.04, Z:3.08 [[ 9.99535205e-01 -1.69962222e-02 -2.53081639e-02 2.40545276e+02] [ 1.70261986e-02 9.99854574e-01 9.69426355e-04 -8.04452470e+00] [ 2.52880068e-02 -1.39987759e-03 9.99679227e-01 3.08469036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97071405699998 meters Centerline goodness [0,1] 0.9854259352604703 Centerline is valid? [True, True] Translation: X:240.57, Y:-8.05, Z:3.09 [[ 9.99481517e-01 -2.07719499e-02 -2.46012879e-02 2.40573989e+02] [ 2.08013932e-02 9.99783184e-01 9.41489714e-04 -8.04843194e+00] [ 2.45763974e-02 -1.45274263e-03 9.99696899e-01 3.08603595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00071405699998 meters Centerline goodness [0,1] 0.9840982462263328 Centerline is valid? [True, True] Translation: X:240.60, Y:-8.05, Z:3.09 [[ 9.99464040e-01 -2.24852014e-02 -2.37917561e-02 2.40602203e+02] [ 2.25131986e-02 9.99746132e-01 9.09528233e-04 -8.05304848e+00] [ 2.37652652e-02 -1.44466929e-03 9.99716522e-01 3.08620649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03071405699998 meters Centerline goodness [0,1] 0.9848481521333362 Centerline is valid? [True, True] Translation: X:240.63, Y:-8.05, Z:3.09 [[ 9.99416230e-01 -2.59475827e-02 -2.22243511e-02 2.40632471e+02] [ 2.59728451e-02 9.99662288e-01 8.48753772e-04 -8.05153984e+00] [ 2.21948226e-02 -1.42548793e-03 9.99752648e-01 3.08873341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06071405699998 meters Centerline goodness [0,1] 0.983649372311474 Centerline is valid? [True, True] Translation: X:240.66, Y:-8.05, Z:3.09 [[ 9.99370999e-01 -2.86882635e-02 -2.08468026e-02 2.40662018e+02] [ 2.87110766e-02 9.99587435e-01 7.95788183e-04 -8.05483164e+00] [ 2.08153722e-02 -1.39382178e-03 9.99782365e-01 3.08966584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09071405699999 meters Centerline goodness [0,1] 0.9833527076524905 Centerline is valid? [True, True] Translation: X:240.69, Y:-8.06, Z:3.09 [[ 9.99320426e-01 -3.01833811e-02 -2.11577374e-02 2.40692786e+02] [ 3.02072079e-02 9.99543332e-01 8.07392443e-04 -8.05680423e+00] [ 2.11237055e-02 -1.44595993e-03 9.99775824e-01 3.08960811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.120714057 meters Centerline goodness [0,1] 0.9826755442638749 Centerline is valid? [True, True] Translation: X:240.72, Y:-8.06, Z:3.09 [[ 9.99217767e-01 -3.31592982e-02 -2.15479798e-02 2.40723138e+02] [ 3.31846981e-02 9.99448898e-01 8.22160538e-04 -8.05580659e+00] [ 2.15088424e-02 -1.53658062e-03 9.99767477e-01 3.08927285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.150714057 meters Centerline goodness [0,1] 0.9826400334014547 Centerline is valid? [True, True] Translation: X:240.75, Y:-8.06, Z:3.09 [[ 9.99158441e-01 -3.47132689e-02 -2.18494627e-02 2.40754524e+02] [ 3.47397542e-02 9.99396045e-01 8.33657787e-04 -8.05541618e+00] [ 2.18073276e-02 -1.59200118e-03 9.99760924e-01 3.08907225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.180714057 meters Centerline goodness [0,1] 0.9820002200462097 Centerline is valid? [True, True] Translation: X:240.78, Y:-8.06, Z:3.09 [[ 9.99030243e-01 -3.85255625e-02 -2.13155808e-02 2.40784196e+02] [ 3.85516407e-02 9.99256278e-01 8.13714575e-04 -8.06031264e+00] [ 2.12683791e-02 -1.63467608e-03 9.99772466e-01 3.08841465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.210714057 meters Centerline goodness [0,1] 0.9809846827133479 Centerline is valid? [True, True] Translation: X:240.82, Y:-8.06, Z:3.09 [[ 9.98904271e-01 -4.19427365e-02 -2.07620843e-02 2.40815002e+02] [ 4.19682071e-02 9.99118632e-01 7.92398270e-04 -8.06168167e+00] [ 2.07105499e-02 -1.66287747e-03 9.99784131e-01 3.08891347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.240714057 meters Centerline goodness [0,1] 0.9803003533568905 Centerline is valid? [True, True] Translation: X:240.85, Y:-8.06, Z:3.09 [[ 9.98812419e-01 -4.39148494e-02 -2.11006673e-02 2.40845827e+02] [ 4.39415985e-02 9.99033777e-01 8.05493670e-04 -8.06012447e+00] [ 2.10449062e-02 -1.73173413e-03 9.99777032e-01 3.08961417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.270714057 meters Centerline goodness [0,1] 0.9806069708883686 Centerline is valid? [True, True] Translation: X:240.88, Y:-8.06, Z:3.09 [[ 9.98740473e-01 -4.53201192e-02 -2.15303029e-02 2.40877446e+02] [ 4.53483045e-02 9.98970898e-01 8.22417065e-04 -8.06095600e+00] [ 2.14708739e-02 -1.79774394e-03 9.99767858e-01 3.08974418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.300714057 meters Centerline goodness [0,1] 0.9793211511299436 Centerline is valid? [True, True] Translation: X:240.91, Y:-8.06, Z:3.09 [[ 9.98598807e-01 -4.77438375e-02 -2.28243013e-02 2.40906967e+02] [ 4.77761658e-02 9.98857686e-01 8.72892575e-04 -8.06175003e+00] [ 2.27565535e-02 -1.96212709e-03 9.99739111e-01 3.08934693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.330714057 meters Centerline goodness [0,1] 0.9687224086173406 Centerline is valid? [True, True] Translation: X:240.94, Y:-8.07, Z:3.09 [[ 9.98558432e-01 -4.87228930e-02 -2.25197231e-02 2.40937606e+02] [ 4.87546397e-02 9.98810413e-01 8.62521518e-04 -8.07419205e+00] [ 2.24509094e-02 -1.95921912e-03 9.99746027e-01 3.08854861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.360714057 meters Centerline goodness [0,1] 0.977273231192213 Centerline is valid? [True, True] Translation: X:240.97, Y:-8.06, Z:3.09 [[ 9.98452566e-01 -5.04759805e-02 -2.33377132e-02 2.40969072e+02] [ 5.05105789e-02 9.98723125e-01 8.95038547e-04 -8.06412063e+00] [ 2.32627359e-02 -2.07245494e-03 9.99727238e-01 3.08958456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.390714057 meters Centerline goodness [0,1] 0.9774665987193406 Centerline is valid? [True, True] Translation: X:241.00, Y:-8.06, Z:3.09 [[ 9.98431340e-01 -5.09906577e-02 -2.31260054e-02 2.41001599e+02] [ 5.10247962e-02 9.98696992e-01 8.88139830e-04 -8.06334292e+00] [ 2.30505852e-02 -2.06674635e-03 9.99732164e-01 3.08990097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42071405699997 meters Centerline goodness [0,1] 0.9514543719908589 Centerline is valid? [True, True] Translation: X:241.03, Y:-8.07, Z:3.09 [[ 9.98396794e-01 -5.17747500e-02 -2.28739496e-02 2.41032110e+02] [ 5.18083823e-02 9.98656656e-01 8.79778445e-04 -8.07212985e+00] [ 2.27976717e-02 -2.06343031e-03 9.99737970e-01 3.09010699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45071405699997 meters Centerline goodness [0,1] 0.975016143757376 Centerline is valid? [True, True] Translation: X:241.06, Y:-8.06, Z:3.09 [[ 9.98399353e-01 -5.19256362e-02 -2.24156241e-02 2.41064897e+02] [ 5.19579949e-02 9.98648898e-01 8.63197286e-04 -8.06313738e+00] [ 2.23405162e-02 -2.02648649e-03 9.99748366e-01 3.09185707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48071405699997 meters Centerline goodness [0,1] 0.9718805309734513 Centerline is valid? [True, True] Translation: X:241.10, Y:-8.06, Z:3.09 [[ 9.98392723e-01 -5.20776391e-02 -2.23582201e-02 2.41096368e+02] [ 5.21099017e-02 9.98640984e-01 8.62407559e-04 -8.06245712e+00] [ 2.22829227e-02 -2.02610608e-03 9.99749652e-01 3.09242071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51071405699997 meters Centerline goodness [0,1] 0.9736748329621381 Centerline is valid? [True, True] Translation: X:241.13, Y:-8.06, Z:3.09 [[ 9.98337951e-01 -5.29940187e-02 -2.26488435e-02 2.41128860e+02] [ 5.30273894e-02 9.98592675e-01 8.74940355e-04 -8.06106542e+00] [ 2.25706026e-02 -2.07449520e-03 9.99743099e-01 3.09303470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54071405699997 meters Centerline goodness [0,1] 0.9696813977389517 Centerline is valid? [True, True] Translation: X:241.16, Y:-8.06, Z:3.09 [[ 9.98293875e-01 -5.38037773e-02 -2.26824516e-02 2.41160970e+02] [ 5.38374898e-02 9.98549325e-01 8.77805300e-04 -8.06177902e+00] [ 2.26023174e-02 -2.09747391e-03 9.99742335e-01 3.09343667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57071405699998 meters Centerline goodness [0,1] 0.9659392937707993 Centerline is valid? [True, True] Translation: X:241.19, Y:-8.06, Z:3.09 [[ 9.98227914e-01 -5.49212848e-02 -2.29059883e-02 2.41193346e+02] [ 5.49559929e-02 9.98488383e-01 8.88034478e-04 -8.06291121e+00] [ 2.28225912e-02 -2.14528214e-03 9.99737229e-01 3.09377901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60071405699998 meters Centerline goodness [0,1] 0.975409470254831 Centerline is valid? [True, True] Translation: X:241.22, Y:-8.06, Z:3.10 [[ 9.98098479e-01 -5.72432529e-02 -2.28612179e-02 2.41224843e+02] [ 5.72784547e-02 9.98357847e-01 8.87432608e-04 -8.05676430e+00] [ 2.27728768e-02 -2.19520037e-03 9.99738254e-01 3.09508745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63071405699998 meters Centerline goodness [0,1] 0.976829404535806 Centerline is valid? [True, True] Translation: X:241.26, Y:-8.05, Z:3.10 [[ 9.97976752e-01 -5.92422700e-02 -2.30814860e-02 2.41255595e+02] [ 5.92786965e-02 9.98241069e-01 8.96563464e-04 -8.05391795e+00] [ 2.29877728e-02 -2.26298990e-03 9.99733185e-01 3.09518751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66071405699998 meters Centerline goodness [0,1] 0.9741075018989321 Centerline is valid? [True, True] Translation: X:241.29, Y:-8.06, Z:3.09 [[ 9.97917457e-01 -6.00499832e-02 -2.35530959e-02 2.41286629e+02] [ 6.00881614e-02 9.98192654e-01 9.15938216e-04 -8.05712797e+00] [ 2.34555252e-02 -2.32929296e-03 9.99722168e-01 3.09496049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69071405699998 meters Centerline goodness [0,1] 0.9729253551595709 Centerline is valid? [True, True] Translation: X:241.32, Y:-8.06, Z:3.09 [[ 9.97843743e-01 -6.10501176e-02 -2.40986872e-02 2.41319076e+02] [ 6.10904100e-02 9.98131795e-01 9.38636170e-04 -8.05734525e+00] [ 2.39963621e-02 -2.40881091e-03 9.99709144e-01 3.09432467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72071405699998 meters Centerline goodness [0,1] 0.9619975366700257 Centerline is valid? [True, True] Translation: X:241.35, Y:-8.06, Z:3.09 [[ 9.97830937e-01 -6.12627621e-02 -2.40893047e-02 2.41350575e+02] [ 6.13031215e-02 9.98118752e-01 9.39816426e-04 -8.06173329e+00] [ 2.39864110e-02 -2.41452748e-03 9.99709369e-01 3.09426188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75071405699998 meters Centerline goodness [0,1] 0.9771560517407581 Centerline is valid? [True, True] Translation: X:241.38, Y:-8.05, Z:3.10 [[ 9.97835196e-01 -6.10157600e-02 -2.45356520e-02 2.41383547e+02] [ 6.10575925e-02 9.98133784e-01 9.58739885e-04 -8.05362662e+00] [ 2.44313649e-02 -2.45475224e-03 9.99698496e-01 3.09569848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78071405699998 meters Centerline goodness [0,1] 0.9659681174995522 Centerline is valid? [True, True] Translation: X:241.41, Y:-8.06, Z:3.10 [[ 9.97851109e-01 -6.08264632e-02 -2.43578543e-02 2.41414127e+02] [ 6.08676740e-02 9.98145389e-01 9.53375291e-04 -8.06024462e+00] [ 2.42546895e-02 -2.43393253e-03 9.99702849e-01 3.09569036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81071405699998 meters Centerline goodness [0,1] 0.9730953768889288 Centerline is valid? [True, True] Translation: X:241.45, Y:-8.06, Z:3.10 [[ 9.97865439e-01 -6.06727291e-02 -2.41533937e-02 2.41446454e+02] [ 6.07132414e-02 9.98154801e-01 9.46841751e-04 -8.05626936e+00] [ 2.40513784e-02 -2.41125148e-03 9.99707816e-01 3.09768160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84071405699999 meters Centerline goodness [0,1] 0.956831300676055 Centerline is valid? [True, True] Translation: X:241.48, Y:-8.06, Z:3.10 [[ 9.97872565e-01 -6.05619449e-02 -2.41370046e-02 2.41478617e+02] [ 6.06024160e-02 9.98161534e-01 9.48103389e-04 -8.06263542e+00] [ 2.40352105e-02 -2.40884715e-03 9.99708210e-01 3.09805576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.870714057 meters Centerline goodness [0,1] 0.9555302166476625 Centerline is valid? [True, True] Translation: X:241.51, Y:-8.06, Z:3.10 [[ 9.97891974e-01 -6.05761010e-02 -2.32839796e-02 2.41510456e+02] [ 6.06138082e-02 9.98160872e-01 9.16464266e-04 -8.06328539e+00] [ 2.31856416e-02 -2.32586301e-03 9.99728471e-01 3.09831038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.900714057 meters Centerline goodness [0,1] 0.9776306932914517 Centerline is valid? [True, True] Translation: X:241.54, Y:-8.05, Z:3.10 [[ 9.97879326e-01 -6.08304110e-02 -2.31627128e-02 2.41542582e+02] [ 6.08678438e-02 9.98145415e-01 9.13846837e-04 -8.05421360e+00] [ 2.30641659e-02 -2.32177325e-03 9.99731291e-01 3.09934558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.930714057 meters Centerline goodness [0,1] 0.970065671104714 Centerline is valid? [True, True] Translation: X:241.57, Y:-8.06, Z:3.10 [[ 9.97860208e-01 -6.10119728e-02 -2.35062763e-02 2.41573658e+02] [ 6.10506330e-02 9.98134237e-01 9.29895612e-04 -8.06015297e+00] [ 2.34056844e-02 -2.36297888e-03 9.99723257e-01 3.09878385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.960714057 meters Centerline goodness [0,1] 0.9222147197839298 Centerline is valid? [True, False] Translation: X:241.57, Y:-8.06, Z:3.10 [[ 9.97865658e-01 -6.08274983e-02 -2.37517326e-02 2.41574416e+02] [ 6.08683154e-02 9.98145305e-01 9.98649254e-04 -8.05981929e+00] [ 2.36469351e-02 -2.44224575e-03 9.99717389e-01 3.09844038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.990714057 meters Centerline goodness [0,1] 0.9237385192337921 Centerline is valid? [False, False] Translation: X:241.58, Y:-8.06, Z:3.10 [[ 9.97865773e-01 -6.07155620e-02 -2.40316393e-02 2.41575225e+02] [ 6.07576048e-02 9.98152026e-01 1.02252626e-03 -8.05935249e+00] [ 2.39251462e-02 -2.48044880e-03 9.99710676e-01 3.09807643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.020714057 meters Centerline goodness [0,1] 0.9744125913434514 Centerline is valid? [False, True] Translation: X:241.57, Y:-8.06, Z:3.10 [[ 9.98047461e-01 -5.76039500e-02 -2.41464558e-02 2.41574949e+02] [ 5.77365492e-02 9.98320169e-01 4.83016040e-03 -8.06038861e+00] [ 2.38276576e-02 -6.21486236e-03 9.99696763e-01 3.09767740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.050714057 meters Centerline goodness [0,1] 0.9719506439215158 Centerline is valid? [True, True] Translation: X:241.61, Y:-8.06, Z:3.10 [[ 9.98108676e-01 -5.65402461e-02 -2.41302918e-02 2.41605203e+02] [ 5.65814432e-02 9.98397458e-01 1.02739714e-03 -8.06116220e+00] [ 2.40335327e-02 -2.39078074e-03 9.99708294e-01 3.09837592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.080714057 meters Centerline goodness [0,1] 0.9694840438709096 Centerline is valid? [True, True] Translation: X:241.64, Y:-8.06, Z:3.10 [[ 9.98127246e-01 -5.62703866e-02 -2.39925894e-02 2.41637831e+02] [ 5.63110695e-02 9.98412749e-01 1.02287382e-03 -8.06336600e+00] [ 2.38969497e-02 -2.37200660e-03 9.99711613e-01 3.09873277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.110714057 meters Centerline goodness [0,1] 0.9698871331828443 Centerline is valid? [True, True] Translation: X:241.67, Y:-8.06, Z:3.10 [[ 9.98152719e-01 -5.57914677e-02 -2.40512463e-02 2.41669940e+02] [ 5.58322618e-02 9.98439634e-01 1.02744473e-03 -8.06407754e+00] [ 2.39563949e-02 -2.36838223e-03 9.99710199e-01 3.09964960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.140714057 meters Centerline goodness [0,1] 0.9686182564195054 Centerline is valid? [True, True] Translation: X:241.70, Y:-8.06, Z:3.10 [[ 9.98262662e-01 -5.39458898e-02 -2.36959624e-02 2.41700780e+02] [ 5.39849978e-02 9.98541233e-01 1.01334780e-03 -8.06382950e+00] [ 2.36067295e-02 -2.29081374e-03 9.99718698e-01 3.10036270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17071405699997 meters Centerline goodness [0,1] 0.9660144878478099 Centerline is valid? [True, True] Translation: X:241.73, Y:-8.06, Z:3.10 [[ 9.98322437e-01 -5.27442612e-02 -2.38820972e-02 2.41732704e+02] [ 5.27836645e-02 9.98605448e-01 1.02210660e-03 -8.06492796e+00] [ 2.37948821e-02 -2.28097656e-03 9.99714260e-01 3.10079140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20071405699997 meters Centerline goodness [0,1] 0.9670007222824124 Centerline is valid? [True, True] Translation: X:241.76, Y:-8.07, Z:3.10 [[ 9.98477609e-01 -4.97351152e-02 -2.38512813e-02 2.41762012e+02] [ 4.97735774e-02 9.98760005e-01 1.02127234e-03 -8.06529084e+00] [ 2.37709127e-02 -2.20688116e-03 9.99714996e-01 3.10079351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23071405699997 meters Centerline goodness [0,1] 0.9671975815548437 Centerline is valid? [True, True] Translation: X:241.79, Y:-8.06, Z:3.10 [[ 9.98654454e-01 -4.63401816e-02 -2.32780939e-02 2.41791955e+02] [ 4.63758972e-02 9.98923562e-01 9.96518489e-04 -8.06421831e+00] [ 2.32068576e-02 -2.07472012e-03 9.99728532e-01 3.10188368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26071405699997 meters Centerline goodness [0,1] 0.9657685711706833 Centerline is valid? [True, True] Translation: X:241.82, Y:-8.06, Z:3.10 [[ 9.98735683e-01 -4.45775246e-02 -2.32353325e-02 2.41823515e+02] [ 4.46126477e-02 9.99003864e-01 9.95201608e-04 -8.06445765e+00] [ 2.31678233e-02 -2.03053306e-03 9.99729528e-01 3.10287191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29071405699997 meters Centerline goodness [0,1] 0.963298400939561 Centerline is valid? [True, True] Translation: X:241.86, Y:-8.06, Z:3.10 [[ 9.98811522e-01 -4.28893155e-02 -2.31527716e-02 2.41855405e+02] [ 4.29237660e-02 9.99077857e-01 9.92826636e-04 -8.06479242e+00] [ 2.30888397e-02 -1.98545083e-03 9.99731446e-01 3.10344002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32071405699998 meters Centerline goodness [0,1] 0.9673234996059002 Centerline is valid? [True, True] Translation: X:241.89, Y:-8.06, Z:3.10 [[ 9.98943543e-01 -3.95341789e-02 -2.34274666e-02 2.41885133e+02] [ 3.95685473e-02 9.99216353e-01 1.00509323e-03 -8.06226335e+00] [ 2.33693722e-02 -1.93102221e-03 9.99725034e-01 3.10413978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35071405699998 meters Centerline goodness [0,1] 0.9712295304442233 Centerline is valid? [True, True] Translation: X:241.92, Y:-8.06, Z:3.10 [[ 9.99005959e-01 -3.77990240e-02 -2.36289507e-02 2.41916567e+02] [ 3.78335079e-02 9.99283542e-01 1.01389227e-03 -8.06155276e+00] [ 2.35736974e-02 -1.90685051e-03 9.99720283e-01 3.10467796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38071405699998 meters Centerline goodness [0,1] 0.9774565168285521 Centerline is valid? [True, True] Translation: X:241.95, Y:-8.06, Z:3.11 [[ 9.99186939e-01 -3.29660708e-02 -2.32098722e-02 2.41946336e+02] [ 3.29980554e-02 9.99454919e-01 9.96314904e-04 -8.05977592e+00] [ 2.31643763e-02 -1.76138549e-03 9.99730118e-01 3.10522496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41071405699998 meters Centerline goodness [0,1] 0.976176996761702 Centerline is valid? [True, True] Translation: X:241.98, Y:-8.06, Z:3.11 [[ 9.99230700e-01 -3.11108124e-02 -2.38772885e-02 2.41976633e+02] [ 3.11441364e-02 9.99514378e-01 1.02494587e-03 -8.05922208e+00] [ 2.38338063e-02 -1.76779492e-03 9.99714371e-01 3.10552246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44071405699998 meters Centerline goodness [0,1] 0.976403305338527 Centerline is valid? [True, True] Translation: X:242.01, Y:-8.06, Z:3.11 [[ 9.99354549e-01 -2.69889432e-02 -2.37082925e-02 2.42005932e+02] [ 2.70206389e-02 9.99634358e-01 1.01751007e-03 -8.05775317e+00] [ 2.36721622e-02 -1.65746653e-03 9.99718401e-01 3.10698255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47071405699998 meters Centerline goodness [0,1] 0.9790410371073017 Centerline is valid? [True, True] Translation: X:242.04, Y:-8.06, Z:3.11 [[ 9.99400504e-01 -2.51618595e-02 -2.37805129e-02 2.42036088e+02] [ 2.51932247e-02 9.99682080e-01 1.02022189e-03 -8.05701798e+00] [ 2.37472819e-02 -1.61871807e-03 9.99716683e-01 3.10762718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50071405699998 meters Centerline goodness [0,1] 0.979886679157543 Centerline is valid? [True, True] Translation: X:242.07, Y:-8.06, Z:3.11 [[ 9.99444345e-01 -2.33337874e-02 -2.38020079e-02 2.42066072e+02] [ 2.33646844e-02 9.99726487e-01 1.02076867e-03 -8.05654645e+00] [ 2.37716794e-02 -1.57632788e-03 9.99716171e-01 3.10772157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53071405699998 meters Centerline goodness [0,1] 0.9854329279361046 Centerline is valid? [True, True] Translation: X:242.10, Y:-8.05, Z:3.11 [[ 9.99503951e-01 -1.96619892e-02 -2.46019849e-02 2.42096537e+02] [ 1.96938847e-02 9.99805500e-01 1.05481750e-03 -8.04596786e+00] [ 2.45764600e-02 -1.53880291e-03 9.99696769e-01 3.10907898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56071405699998 meters Centerline goodness [0,1] 0.986924233450271 Centerline is valid? [True, True] Translation: X:242.13, Y:-8.03, Z:3.11 [[ 9.99570820e-01 -1.59154493e-02 -2.45941746e-02 2.42127133e+02] [ 1.59461884e-02 9.99872296e-01 1.05422233e-03 -8.03409657e+00] [ 2.45742554e-02 -1.44595322e-03 9.99696962e-01 3.11174846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59071405699999 meters Centerline goodness [0,1] 0.9872965281730222 Centerline is valid? [True, True] Translation: X:242.15, Y:-8.03, Z:3.11 [[ 9.99593063e-01 -1.44178389e-02 -2.46137042e-02 2.42154583e+02] [ 1.44481429e-02 9.99895065e-01 1.05377905e-03 -8.03424918e+00] [ 2.45959282e-02 -1.40897255e-03 9.99696481e-01 3.11222497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.620714057 meters Centerline goodness [0,1] 0.9870935490467859 Centerline is valid? [True, True] Translation: X:242.18, Y:-8.03, Z:3.11 [[ 9.99620671e-01 -1.32407589e-02 -2.41494731e-02 2.42183830e+02] [ 1.32694973e-02 9.99911426e-01 1.03015335e-03 -8.03379991e+00] [ 2.41336941e-02 -1.35021396e-03 9.99707828e-01 3.11270214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.650714057 meters Centerline goodness [0,1] 0.9870935490467859 Centerline is valid? [True, True] Translation: X:242.21, Y:-8.03, Z:3.11 [[ 9.99616857e-01 -1.35251739e-02 -2.41497358e-02 2.42211227e+02] [ 1.35538460e-02 9.99907618e-01 1.02396707e-03 -8.03489156e+00] [ 2.41336555e-02 -1.35089655e-03 9.99707828e-01 3.11305521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.680714057 meters Centerline goodness [0,1] 0.9872284036646942 Centerline is valid? [True, True] Translation: X:242.24, Y:-8.03, Z:3.11 [[ 9.99644968e-01 -1.15360350e-02 -2.40178711e-02 2.42240476e+02] [ 1.15636725e-02 9.99932626e-01 1.01213242e-03 -8.03321451e+00] [ 2.40045769e-02 -1.28950787e-03 9.99711017e-01 3.11458478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.710714057 meters Centerline goodness [0,1] 0.9867837380527736 Centerline is valid? [True, True] Translation: X:242.27, Y:-8.03, Z:3.12 [[ 9.99674377e-01 -1.07447836e-02 -2.31449510e-02 2.42269119e+02] [ 1.07701101e-02 9.99941530e-01 9.69876837e-04 -8.03397005e+00] [ 2.31331766e-02 -1.21883469e-03 9.99731649e-01 3.11507259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.740714057 meters Centerline goodness [0,1] 0.9876283953435289 Centerline is valid? [True, True] Translation: X:242.30, Y:-8.03, Z:3.12 [[ 9.99688342e-01 -1.06163721e-02 -2.25944888e-02 2.42297927e+02] [ 1.06403486e-02 9.99942947e-01 9.41207071e-04 -8.03442992e+00] [ 2.25832076e-02 -1.18132698e-03 9.99744269e-01 3.11590502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.770714057 meters Centerline goodness [0,1] 0.9880365296803653 Centerline is valid? [True, True] Translation: X:242.33, Y:-8.04, Z:3.12 [[ 9.99705294e-01 -1.04036185e-02 -2.19337383e-02 2.42325895e+02] [ 1.04260752e-02 9.99945233e-01 9.09733875e-04 -8.03748151e+00] [ 2.19230725e-02 -1.13814858e-03 9.99759013e-01 3.11638223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.800714057 meters Centerline goodness [0,1] 0.9882016691437064 Centerline is valid? [True, True] Translation: X:242.35, Y:-8.04, Z:3.12 [[ 9.99699020e-01 -1.08028537e-02 -2.20265118e-02 2.42353558e+02] [ 1.08255149e-02 9.99940988e-01 9.09832472e-04 -8.03877238e+00] [ 2.20153832e-02 -1.14800696e-03 9.99756973e-01 3.11717214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.830714057 meters Centerline goodness [0,1] 0.9878897073916117 Centerline is valid? [True, True] Translation: X:242.38, Y:-8.04, Z:3.12 [[ 9.99714174e-01 -1.00198214e-02 -2.17065493e-02 2.42381296e+02] [ 1.00415503e-02 9.99949184e-01 8.92263195e-04 -8.04082123e+00] [ 2.16965059e-02 -1.10997557e-03 9.99763987e-01 3.11666203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.860714057 meters Centerline goodness [0,1] 0.9878266033254157 Centerline is valid? [True, True] Translation: X:242.41, Y:-8.04, Z:3.12 [[ 9.99714237e-01 -9.86719017e-03 -2.17734221e-02 2.42410145e+02] [ 9.88894357e-03 9.99950706e-01 8.91633311e-04 -8.04052362e+00] [ 2.17635509e-02 -1.10669466e-03 9.99762533e-01 3.11735257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.890714057 meters Centerline goodness [0,1] 0.9885780726352507 Centerline is valid? [True, True] Translation: X:242.44, Y:-8.04, Z:3.12 [[ 9.99712460e-01 -9.60812635e-03 -2.19700116e-02 2.42438821e+02] [ 9.63008981e-03 9.99953230e-01 8.94118839e-04 -8.04063348e+00] [ 2.19603933e-02 -1.10543493e-03 9.99758230e-01 3.11834690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92071405699997 meters Centerline goodness [0,1] 0.9888157445160702 Centerline is valid? [True, True] Translation: X:242.47, Y:-8.04, Z:3.12 [[ 9.99715977e-01 -8.72358860e-03 -2.21780320e-02 2.42467393e+02] [ 8.74562780e-03 9.99961354e-01 8.96940381e-04 -8.04056143e+00] [ 2.21693504e-02 -1.09064644e-03 9.99753635e-01 3.11942023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95071405699997 meters Centerline goodness [0,1] 0.9890624286431932 Centerline is valid? [True, True] Translation: X:242.50, Y:-8.04, Z:3.12 [[ 9.99729466e-01 -8.09636904e-03 -2.18046672e-02 2.42496019e+02] [ 8.11740381e-03 9.99966669e-01 8.76353672e-04 -8.04118273e+00] [ 2.17968452e-02 -1.05311388e-03 9.99761866e-01 3.12023660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98071405699997 meters Centerline goodness [0,1] 0.988608346269747 Centerline is valid? [True, True] Translation: X:242.52, Y:-8.04, Z:3.12 [[ 9.99734853e-01 -7.68781976e-03 -2.17053390e-02 2.42524144e+02] [ 7.70847909e-03 9.99969912e-01 8.68300839e-04 -8.04361376e+00] [ 2.16980106e-02 -1.03538576e-03 9.99764034e-01 3.12041101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01071405699997 meters Centerline goodness [0,1] 0.9896211136202925 Centerline is valid? [True, True] Translation: X:242.55, Y:-8.04, Z:3.12 [[ 9.99738564e-01 -7.48635206e-03 -2.16045812e-02 2.42553002e+02] [ 7.50670026e-03 9.99971454e-01 8.60899902e-04 -8.04476849e+00] [ 2.15975195e-02 -1.02285395e-03 9.99766223e-01 3.12037400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04071405699997 meters Centerline goodness [0,1] 0.9885421412300683 Centerline is valid? [True, True] Translation: X:242.58, Y:-8.05, Z:3.12 [[ 9.99732142e-01 -7.05854826e-03 -2.20413533e-02 2.42580912e+02] [ 7.07950036e-03 9.99974559e-01 8.72694993e-04 -8.05256353e+00] [ 2.20346326e-02 -1.02850300e-03 9.99756679e-01 3.11925168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07071405699998 meters Centerline goodness [0,1] 0.9900360253545534 Centerline is valid? [True, True] Translation: X:242.61, Y:-8.05, Z:3.12 [[ 9.99726533e-01 -6.39375858e-03 -2.24939897e-02 2.42609998e+02] [ 6.41528379e-03 9.99979030e-01 8.84899324e-04 -8.04592577e+00] [ 2.24878602e-02 -1.02896266e-03 9.99746587e-01 3.12079052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10071405699998 meters Centerline goodness [0,1] 0.9888878768558157 Centerline is valid? [True, True] Translation: X:242.64, Y:-8.05, Z:3.12 [[ 9.99715480e-01 -6.64347682e-03 -2.29090060e-02 2.42637246e+02] [ 6.66577301e-03 9.99977381e-01 8.97023284e-04 -8.04893931e+00] [ 2.29025285e-02 -1.04947430e-03 9.99737152e-01 3.12083061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13071405699998 meters Centerline goodness [0,1] 0.9898552376610054 Centerline is valid? [True, True] Translation: X:242.67, Y:-8.05, Z:3.12 [[ 9.99703431e-01 -7.45925160e-03 -2.31820832e-02 2.42665948e+02] [ 7.48221430e-03 9.99971599e-01 9.03954694e-04 -8.04946499e+00] [ 2.31746820e-02 -1.07713992e-03 9.99730851e-01 3.12174298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16071405699998 meters Centerline goodness [0,1] 0.9893251394104928 Centerline is valid? [True, True] Translation: X:242.70, Y:-8.05, Z:3.12 [[ 9.99685982e-01 -9.99221480e-03 -2.29802600e-02 2.42695573e+02] [ 1.00153651e-02 9.99949447e-01 8.92525345e-04 -8.05277940e+00] [ 2.29701800e-02 -1.12240077e-03 9.99735521e-01 3.12186798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19071405699998 meters Centerline goodness [0,1] 0.9891006931776724 Centerline is valid? [True, True] Translation: X:242.72, Y:-8.06, Z:3.12 [[ 9.99665670e-01 -1.18433292e-02 -2.29844406e-02 2.42723552e+02] [ 1.18669487e-02 9.99929188e-01 8.91501548e-04 -8.05740350e+00] [ 2.29722546e-02 -1.16395867e-03 9.99735425e-01 3.12179256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22071405699998 meters Centerline goodness [0,1] 0.9893059055922621 Centerline is valid? [True, True] Translation: X:242.75, Y:-8.06, Z:3.12 [[ 9.99574534e-01 -1.64099826e-02 -2.41135689e-02 2.42753553e+02] [ 1.64372798e-02 9.99864462e-01 9.34240965e-04 -8.06110669e+00] [ 2.40949697e-02 -1.33020496e-03 9.99708789e-01 3.12129873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25071405699998 meters Centerline goodness [0,1] 0.9876773372135322 Centerline is valid? [True, True] Translation: X:242.78, Y:-8.07, Z:3.12 [[ 9.99523561e-01 -1.89710388e-02 -2.43464673e-02 2.42782041e+02] [ 1.89996056e-02 9.99819047e-01 9.42538659e-04 -8.06547806e+00] [ 2.43241808e-02 -1.40466287e-03 9.99703137e-01 3.12060923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28071405699998 meters Centerline goodness [0,1] 0.9881422028748923 Centerline is valid? [True, True] Translation: X:242.81, Y:-8.07, Z:3.12 [[ 9.99421263e-01 -2.35228990e-02 -2.45725835e-02 2.42811841e+02] [ 2.35533519e-02 9.99722129e-01 9.50569837e-04 -8.07060641e+00] [ 2.45433953e-02 -1.52878641e-03 9.99697597e-01 3.12040640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31071405699998 meters Centerline goodness [0,1] 0.9873819898329702 Centerline is valid? [True, True] Translation: X:242.84, Y:-8.07, Z:3.12 [[ 9.99357543e-01 -2.58509281e-02 -2.48240131e-02 2.42840823e+02] [ 2.58827060e-02 9.99664526e-01 9.59622047e-04 -8.07348054e+00] [ 2.47908781e-02 -1.60151816e-03 9.99691376e-01 3.12062914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34071405699999 meters Centerline goodness [0,1] 0.9883789283291884 Centerline is valid? [True, True] Translation: X:242.87, Y:-8.07, Z:3.12 [[ 9.99260998e-01 -2.92221147e-02 -2.49705094e-02 2.42870748e+02] [ 2.92552897e-02 9.99571507e-01 9.64205985e-04 -8.07469804e+00] [ 2.49316336e-02 -1.69401292e-03 9.99687723e-01 3.12195450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.370714057 meters Centerline goodness [0,1] 0.9873950530675055 Centerline is valid? [True, True] Translation: X:242.90, Y:-8.08, Z:3.12 [[ 9.99222309e-01 -3.08121223e-02 -2.46046846e-02 2.42900405e+02] [ 3.08448016e-02 9.99523735e-01 9.49671585e-04 -8.08158827e+00] [ 2.45637049e-02 -1.70785965e-03 9.99696808e-01 3.12201368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.400714057 meters Centerline goodness [0,1] 0.9861067113182785 Centerline is valid? [True, True] Translation: X:242.93, Y:-8.09, Z:3.12 [[ 9.99174751e-01 -3.24860154e-02 -2.43818874e-02 2.42930922e+02] [ 3.25186122e-02 9.99470687e-01 9.41524350e-04 -8.08551024e+00] [ 2.43383954e-02 -1.73361250e-03 9.99702274e-01 3.12279911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.430714057 meters Centerline goodness [0,1] 0.9842903575297941 Centerline is valid? [True, True] Translation: X:242.96, Y:-8.09, Z:3.12 [[ 9.99072429e-01 -3.54051059e-02 -2.45103952e-02 2.42960312e+02] [ 3.54389333e-02 9.99371395e-01 9.46988765e-04 -8.09324674e+00] [ 2.44614596e-02 -1.81473262e-03 9.99699127e-01 3.12306958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.460714057 meters Centerline goodness [0,1] 0.9853543699209996 Centerline is valid? [True, True] Translation: X:242.99, Y:-8.09, Z:3.12 [[ 9.98991572e-01 -3.72769029e-02 -2.50254152e-02 2.42991933e+02] [ 3.73127618e-02 9.99303168e-01 9.67311243e-04 -8.09159880e+00] [ 2.49719183e-02 -1.90010313e-03 9.99686347e-01 3.12389823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.490714057 meters Centerline goodness [0,1] 0.9831022236297419 Centerline is valid? [True, True] Translation: X:243.02, Y:-8.10, Z:3.12 [[ 9.98943431e-01 -3.82059306e-02 -2.55407354e-02 2.43022472e+02] [ 3.82436069e-02 9.99267957e-01 9.88134887e-04 -8.09709644e+00] [ 2.54842859e-02 -1.96386070e-03 9.99673294e-01 3.12317424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.520714057 meters Centerline goodness [0,1] 0.9824489980549147 Centerline is valid? [True, True] Translation: X:243.05, Y:-8.10, Z:3.12 [[ 9.98908553e-01 -3.89443176e-02 -2.57884290e-02 2.43053085e+02] [ 3.89829993e-02 9.99239375e-01 9.98737262e-04 -8.09970067e+00] [ 2.57299186e-02 -2.00295750e-03 9.99666924e-01 3.12307331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.550714057 meters Centerline goodness [0,1] 0.9797011686520943 Centerline is valid? [True, True] Translation: X:243.09, Y:-8.10, Z:3.12 [[ 9.98900255e-01 -3.92187969e-02 -2.56937140e-02 2.43085516e+02] [ 3.92573216e-02 9.99228637e-01 9.96491217e-04 -8.10103591e+00] [ 2.56348136e-02 -2.00406172e-03 9.99669365e-01 3.12377106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.580714057 meters Centerline goodness [0,1] 0.9779569528197484 Centerline is valid? [True, True] Translation: X:243.12, Y:-8.10, Z:3.12 [[ 9.98919991e-01 -3.88923438e-02 -2.54211812e-02 2.43116225e+02] [ 3.89299772e-02 9.99241454e-01 9.86985166e-04 -8.10322867e+00] [ 2.53635119e-02 -1.97556522e-03 9.99676342e-01 3.12440841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.610714057 meters Centerline goodness [0,1] 0.9777412305404736 Centerline is valid? [True, True] Translation: X:243.15, Y:-8.10, Z:3.13 [[ 9.98964285e-01 -3.80574644e-02 -2.49396461e-02 2.43147485e+02] [ 3.80934416e-02 9.99273712e-01 9.68900374e-04 -8.10338715e+00] [ 2.48846589e-02 -1.91793382e-03 9.99688489e-01 3.12545807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.640714057 meters Centerline goodness [0,1] 0.9823749774327496 Centerline is valid? [True, True] Translation: X:243.18, Y:-8.10, Z:3.13 [[ 9.98982214e-01 -3.79030983e-02 -2.44518133e-02 2.43179802e+02] [ 3.79376650e-02 9.99279655e-01 9.51159838e-04 -8.10043436e+00] [ 2.43981477e-02 -1.87783646e-03 9.99700557e-01 3.12663079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67071405699997 meters Centerline goodness [0,1] 0.9804151360122603 Centerline is valid? [True, True] Translation: X:243.21, Y:-8.10, Z:3.13 [[ 9.98973040e-01 -3.81287880e-02 -2.44757018e-02 2.43210618e+02] [ 3.81635256e-02 9.99271052e-01 9.53560820e-04 -8.10387472e+00] [ 2.44215022e-02 -1.88666062e-03 9.99699970e-01 3.12622415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70071405699997 meters Centerline goodness [0,1] 0.9805569323660613 Centerline is valid? [True, True] Translation: X:243.24, Y:-8.11, Z:3.13 [[ 9.98951357e-01 -3.86949835e-02 -2.44720995e-02 2.43241933e+02] [ 3.87299053e-02 9.99249260e-01 9.54468685e-04 -8.10545792e+00] [ 2.44167941e-02 -1.90126988e-03 9.99700058e-01 3.12635349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73071405699997 meters Centerline goodness [0,1] 0.9762882411334717 Centerline is valid? [True, True] Translation: X:243.27, Y:-8.11, Z:3.13 [[ 9.98864640e-01 -3.99905341e-02 -2.58879884e-02 2.43271753e+02] [ 4.00300842e-02 9.99197963e-01 1.01110438e-03 -8.10980835e+00] [ 2.58267907e-02 -2.04625477e-03 9.99664339e-01 3.12523508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76071405699997 meters Centerline goodness [0,1] 0.9745437296711239 Centerline is valid? [True, True] Translation: X:243.30, Y:-8.11, Z:3.12 [[ 9.98792002e-01 -4.10538928e-02 -2.70021095e-02 2.43302863e+02] [ 4.10973469e-02 9.99154589e-01 1.05606840e-03 -8.11151363e+00] [ 2.69359259e-02 -2.16450773e-03 9.99634819e-01 3.12483458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79071405699997 meters Centerline goodness [0,1] 0.965182790350659 Centerline is valid? [True, True] Translation: X:243.33, Y:-8.12, Z:3.12 [[ 9.98641238e-01 -4.36549481e-02 -2.84591410e-02 2.43331960e+02] [ 4.37042766e-02 9.99043891e-01 1.11330253e-03 -8.11666484e+00] [ 2.83833298e-02 -2.35557598e-03 9.99594337e-01 3.12432782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82071405699998 meters Centerline goodness [0,1] 0.9610793980280228 Centerline is valid? [True, True] Translation: X:243.36, Y:-8.12, Z:3.12 [[ 9.98586831e-01 -4.46221066e-02 -2.88653651e-02 2.43363064e+02] [ 4.46732656e-02 9.99001013e-01 1.12955431e-03 -8.11931324e+00] [ 2.87861259e-02 -2.41746818e-03 9.99582670e-01 3.12457382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85071405699998 meters Centerline goodness [0,1] 0.9799574718364022 Centerline is valid? [True, True] Translation: X:243.39, Y:-8.11, Z:3.13 [[ 9.98475992e-01 -4.67077461e-02 -2.93952493e-02 2.43393990e+02] [ 4.67617198e-02 9.98905409e-01 1.15101393e-03 -8.10978052e+00] [ 2.93093123e-02 -2.52383219e-03 9.99567204e-01 3.12799557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88071405699998 meters Centerline goodness [0,1] 0.979645436638214 Centerline is valid? [True, True] Translation: X:243.43, Y:-8.11, Z:3.13 [[ 9.98449369e-01 -4.72689356e-02 -2.94024569e-02 2.43425951e+02] [ 4.73232184e-02 9.98878964e-01 1.15270028e-03 -8.11085726e+00] [ 2.93150088e-02 -2.54233176e-03 9.99566990e-01 3.12909099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91071405699998 meters Centerline goodness [0,1] 0.9784761474112593 Centerline is valid? [True, True] Translation: X:243.46, Y:-8.11, Z:3.13 [[ 9.98471825e-01 -4.70752213e-02 -2.89471702e-02 2.43457124e+02] [ 4.71278051e-02 9.98888221e-01 1.13660227e-03 -8.11313570e+00] [ 2.88614816e-02 -2.49908194e-03 9.99580297e-01 3.12959947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94071405699998 meters Centerline goodness [0,1] 0.9769449202199585 Centerline is valid? [True, True] Translation: X:243.49, Y:-8.11, Z:3.13 [[ 9.98490067e-01 -4.64870453e-02 -2.92667231e-02 2.43488384e+02] [ 4.65405916e-02 9.98915737e-01 1.15070270e-03 -8.11397934e+00] [ 2.91814975e-02 -2.51105582e-03 9.99570975e-01 3.13013179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97071405699998 meters Centerline goodness [0,1] 0.9808031873953004 Centerline is valid? [True, True] Translation: X:243.52, Y:-8.11, Z:3.13 [[ 9.98496297e-01 -4.62371104e-02 -2.94495371e-02 2.43520798e+02] [ 4.62912753e-02 9.98927311e-01 1.15976730e-03 -8.10959089e+00] [ 2.93643226e-02 -2.52127999e-03 9.99565595e-01 3.13128922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00071405699998 meters Centerline goodness [0,1] 0.9521088741423912 Centerline is valid? [True, True] Translation: X:243.55, Y:-8.12, Z:3.13 [[ 9.98520932e-01 -4.56996937e-02 -2.94531089e-02 2.43550803e+02] [ 4.57536842e-02 9.98952077e-01 1.16142364e-03 -8.12277505e+00] [ 2.93691676e-02 -2.50729406e-03 9.99565488e-01 3.12946327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03071405699998 meters Centerline goodness [0,1] 0.9794673714169546 Centerline is valid? [True, True] Translation: X:243.58, Y:-8.11, Z:3.13 [[ 9.98509754e-01 -4.58058420e-02 -2.96664183e-02 2.43583803e+02] [ 4.58607137e-02 9.98947157e-01 1.17150288e-03 -8.11159475e+00] [ 2.95815225e-02 -2.53028016e-03 9.99559168e-01 3.13222490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06071405699998 meters Centerline goodness [0,1] 0.9790369682837933 Centerline is valid? [True, True] Translation: X:243.62, Y:-8.11, Z:3.13 [[ 9.98507370e-01 -4.58590519e-02 -2.96644302e-02 2.43615964e+02] [ 4.59140019e-02 9.98944707e-01 1.17353228e-03 -8.11289382e+00] [ 2.95793085e-02 -2.53379334e-03 9.99559225e-01 3.13266778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09071405699999 meters Centerline goodness [0,1] 0.9782712025531337 Centerline is valid? [True, True] Translation: X:243.65, Y:-8.11, Z:3.13 [[ 9.98507688e-01 -4.57133591e-02 -2.98778561e-02 2.43647655e+02] [ 4.57691013e-02 9.98951344e-01 1.18408865e-03 -8.11397410e+00] [ 2.97923958e-02 -2.54980424e-03 9.99552856e-01 3.13290650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.120714057 meters Centerline goodness [0,1] 0.9777218176455909 Centerline is valid? [True, True] Translation: X:243.68, Y:-8.12, Z:3.13 [[ 9.98532878e-01 -4.50336734e-02 -3.00675861e-02 2.43678574e+02] [ 4.50898748e-02 9.98982222e-01 1.19342333e-03 -8.11562515e+00] [ 2.99832397e-02 -2.54741613e-03 9.99547155e-01 3.13281494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.150714057 meters Centerline goodness [0,1] 0.9780596269909697 Centerline is valid? [True, True] Translation: X:243.71, Y:-8.11, Z:3.13 [[ 9.98593425e-01 -4.29291084e-02 -3.11169323e-02 2.43709861e+02] [ 4.29883205e-02 9.99074810e-01 1.23609038e-03 -8.11273536e+00] [ 3.10350789e-02 -2.57201638e-03 9.99514987e-01 3.13367668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.180714057 meters Centerline goodness [0,1] 0.9783694221253801 Centerline is valid? [True, True] Translation: X:243.74, Y:-8.11, Z:3.13 [[ 9.98632704e-01 -4.16921367e-02 -3.15355191e-02 2.43741777e+02] [ 4.17523779e-02 9.99127202e-01 1.25389180e-03 -8.11307978e+00] [ 3.14557176e-02 -2.56886027e-03 9.99501845e-01 3.13398515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.210714057 meters Centerline goodness [0,1] 0.9778560873024895 Centerline is valid? [True, True] Translation: X:243.77, Y:-8.11, Z:3.13 [[ 9.98681242e-01 -4.02096871e-02 -3.19211126e-02 2.43772643e+02] [ 4.02706907e-02 9.99187999e-01 1.27021073e-03 -8.11341322e+00] [ 3.18441178e-02 -2.55402088e-03 9.99489584e-01 3.13407817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.240714057 meters Centerline goodness [0,1] 0.9789061254242694 Centerline is valid? [True, True] Translation: X:243.80, Y:-8.11, Z:3.13 [[ 9.98748517e-01 -3.76633129e-02 -3.29070638e-02 2.43802343e+02] [ 3.77267797e-02 9.99287233e-01 1.30967288e-03 -8.11372977e+00] [ 3.28342821e-02 -2.54951140e-03 9.99457558e-01 3.13367525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.270714057 meters Centerline goodness [0,1] 0.9727206485107933 Centerline is valid? [True, True] Translation: X:243.83, Y:-8.12, Z:3.13 [[ 9.98766336e-01 -3.66871512e-02 -3.34642817e-02 2.43831867e+02] [ 3.67522542e-02 9.99323520e-01 1.33220216e-03 -8.11809842e+00] [ 3.33927691e-02 -2.56044645e-03 9.99439026e-01 3.13309483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.300714057 meters Centerline goodness [0,1] 0.9796668633413516 Centerline is valid? [True, True] Translation: X:243.86, Y:-8.12, Z:3.14 [[ 9.98886889e-01 -3.45898243e-02 -3.20706551e-02 2.43862348e+02] [ 3.46485363e-02 9.99398744e-01 1.27660807e-03 -8.11537687e+00] [ 3.20072147e-02 -2.38638832e-03 9.99484789e-01 3.13572008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.330714057 meters Centerline goodness [0,1] 0.9803774100916177 Centerline is valid? [True, True] Translation: X:243.89, Y:-8.12, Z:3.14 [[ 9.98939596e-01 -3.36897302e-02 -3.13797093e-02 2.43892536e+02] [ 3.37454572e-02 9.99429681e-01 1.24784840e-03 -8.11649374e+00] [ 3.13197731e-02 -2.30544781e-03 9.99506757e-01 3.13674096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.360714057 meters Centerline goodness [0,1] 0.979890685493054 Centerline is valid? [True, True] Translation: X:243.92, Y:-8.12, Z:3.14 [[ 9.99063435e-01 -3.16591330e-02 -2.94949659e-02 2.43921350e+02] [ 3.17074472e-02 9.99496506e-01 1.17166966e-03 -8.11823885e+00] [ 2.94430213e-02 -2.10578239e-03 9.99564242e-01 3.13789297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.390714057 meters Centerline goodness [0,1] 0.9806292637294942 Centerline is valid? [True, True] Translation: X:243.95, Y:-8.12, Z:3.14 [[ 9.99110066e-01 -3.04491587e-02 -2.91877533e-02 2.43950804e+02] [ 3.04959298e-02 9.99534220e-01 1.15850933e-03 -8.11869904e+00] [ 2.91388826e-02 -2.04758601e-03 9.99573275e-01 3.13870280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42071405699997 meters Centerline goodness [0,1] 0.980818355989417 Centerline is valid? [True, True] Translation: X:243.98, Y:-8.12, Z:3.14 [[ 9.99172891e-01 -2.88470329e-02 -2.86597769e-02 2.43980275e+02] [ 2.88914440e-02 9.99581909e-01 1.13662429e-03 -8.11920973e+00] [ 2.86150062e-02 -1.96370652e-03 9.99588578e-01 3.13956984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45071405699997 meters Centerline goodness [0,1] 0.9823705156567154 Centerline is valid? [True, True] Translation: X:244.01, Y:-8.12, Z:3.14 [[ 9.99264825e-01 -2.59578814e-02 -2.82134191e-02 2.44008971e+02] [ 2.59997407e-02 9.99661325e-01 1.11777496e-03 -8.11863907e+00] [ 2.81748489e-02 -1.85049479e-03 9.99601297e-01 3.13983400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48071405699997 meters Centerline goodness [0,1] 0.985260848700898 Centerline is valid? [True, True] Translation: X:244.04, Y:-8.11, Z:3.14 [[ 9.99308680e-01 -2.33083661e-02 -2.89634577e-02 2.44039189e+02] [ 2.33513475e-02 9.99726663e-01 1.14658991e-03 -8.11213711e+00] [ 2.89288157e-02 -1.82213301e-03 9.99579813e-01 3.14062175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51071405699997 meters Centerline goodness [0,1] 0.9863041840717661 Centerline is valid? [True, True] Translation: X:244.07, Y:-8.10, Z:3.14 [[ 9.99323440e-01 -2.25827839e-02 -2.90289516e-02 2.44068280e+02] [ 2.26255303e-02 9.99743354e-01 1.14487847e-03 -8.10447921e+00] [ 2.89956469e-02 -1.80089931e-03 9.99577916e-01 3.14215602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54071405699997 meters Centerline goodness [0,1] 0.9863041840717661 Centerline is valid? [True, True] Translation: X:244.10, Y:-8.11, Z:3.14 [[ 9.99316888e-01 -2.28704944e-02 -2.90292614e-02 2.44095690e+02] [ 2.29131333e-02 9.99736813e-01 1.13698447e-03 -8.10548705e+00] [ 2.89956179e-02 -1.80135912e-03 9.99577916e-01 3.14250933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57071405699998 meters Centerline goodness [0,1] 0.9853407923278913 Centerline is valid? [True, True] Translation: X:244.12, Y:-8.12, Z:3.14 [[ 9.99332699e-01 -2.22394469e-02 -2.89752203e-02 2.44123407e+02] [ 2.22814968e-02 9.99751099e-01 1.12913225e-03 -8.11617307e+00] [ 2.89428970e-02 -1.77399006e-03 9.99579492e-01 3.13923093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60071405699998 meters Centerline goodness [0,1] 0.9839435397300322 Centerline is valid? [True, True] Translation: X:244.15, Y:-8.12, Z:3.14 [[ 9.99307885e-01 -2.24655243e-02 -2.96487949e-02 2.44150636e+02] [ 2.25095334e-02 9.99745965e-01 1.15137511e-03 -8.11881092e+00] [ 2.96153968e-02 -1.81795876e-03 9.99559715e-01 3.13766189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63071405699998 meters Centerline goodness [0,1] 0.9865200830235157 Centerline is valid? [True, True] Translation: X:244.18, Y:-8.11, Z:3.14 [[ 9.99317972e-01 -2.23984294e-02 -2.93581584e-02 2.44179296e+02] [ 2.24413783e-02 9.99747517e-01 1.13421217e-03 -8.11070367e+00] [ 2.93253414e-02 -1.79227615e-03 9.99568313e-01 3.14006504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66071405699998 meters Centerline goodness [0,1] 0.9854187013104999 Centerline is valid? [True, True] Translation: X:244.21, Y:-8.11, Z:3.14 [[ 9.99325488e-01 -2.27937482e-02 -2.87925941e-02 2.44206714e+02] [ 2.28350906e-02 9.99738632e-01 1.10783453e-03 -8.11388841e+00] [ 2.87598169e-02 -1.76456878e-03 9.99584793e-01 3.14041383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69071405699998 meters Centerline goodness [0,1] 0.9841493964928263 Centerline is valid? [True, True] Translation: X:244.23, Y:-8.12, Z:3.14 [[ 9.99348968e-01 -2.29753874e-02 -2.78167571e-02 2.44234837e+02] [ 2.30139126e-02 9.99734577e-01 1.06556378e-03 -8.11612661e+00] [ 2.77848921e-02 -1.70504248e-03 9.99612471e-01 3.14099775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72071405699998 meters Centerline goodness [0,1] 0.9845683936997105 Centerline is valid? [True, True] Translation: X:244.26, Y:-8.12, Z:3.14 [[ 9.99415206e-01 -2.21308985e-02 -2.60666486e-02 2.44263658e+02] [ 2.21643407e-02 9.99753846e-01 9.94690343e-04 -8.11637234e+00] [ 2.60382188e-02 -1.57185873e-03 9.99659712e-01 3.14283746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75071405699998 meters Centerline goodness [0,1] 0.9845656528865416 Centerline is valid? [True, True] Translation: X:244.29, Y:-8.12, Z:3.14 [[ 9.99442711e-01 -2.16152561e-02 -2.54371460e-02 2.44291004e+02] [ 2.16468858e-02 9.99765209e-01 9.68709442e-04 -8.11764986e+00] [ 2.54102347e-02 -1.51880458e-03 9.99675954e-01 3.14342446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78071405699998 meters Centerline goodness [0,1] 0.9841519587722899 Centerline is valid? [True, True] Translation: X:244.32, Y:-8.11, Z:3.14 [[ 9.99490977e-01 -2.08360373e-02 -2.41587592e-02 2.44319698e+02] [ 2.08642479e-02 9.99781898e-01 9.16213754e-04 -8.11431043e+00] [ 2.41343999e-02 -1.41980172e-03 9.99707715e-01 3.14490286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81071405699998 meters Centerline goodness [0,1] 0.9839490387688936 Centerline is valid? [True, True] Translation: X:244.35, Y:-8.12, Z:3.15 [[ 9.99517839e-01 -2.01717927e-02 -2.36048321e-02 2.44348455e+02] [ 2.01984542e-02 9.99795593e-01 8.91588792e-04 -8.11716729e+00] [ 2.35820222e-02 -1.36794002e-03 9.99720970e-01 3.14539141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84071405699999 meters Centerline goodness [0,1] 0.9843347981511419 Centerline is valid? [True, True] Translation: X:244.38, Y:-8.12, Z:3.15 [[ 9.99523863e-01 -2.05977760e-02 -2.29734572e-02 2.44377456e+02] [ 2.06230699e-02 9.99786948e-01 8.64601434e-04 -8.11845461e+00] [ 2.29507538e-02 -1.33797298e-03 9.99735701e-01 3.14566142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.870714057 meters Centerline goodness [0,1] 0.9850949740979733 Centerline is valid? [True, True] Translation: X:244.41, Y:-8.12, Z:3.15 [[ 9.99526919e-01 -2.08377534e-02 -2.26213789e-02 2.44407342e+02] [ 2.08622613e-02 9.99782000e-01 8.47916524e-04 -8.11962991e+00] [ 2.25987788e-02 -1.31944851e-03 9.99743744e-01 3.14545633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.900714057 meters Centerline goodness [0,1] 0.9850009145783793 Centerline is valid? [True, True] Translation: X:244.44, Y:-8.12, Z:3.15 [[ 9.99485293e-01 -2.20386916e-02 -2.33119218e-02 2.44437265e+02] [ 2.20650249e-02 9.99756157e-01 8.72957885e-04 -8.12108651e+00] [ 2.32869985e-02 -1.38688670e-03 9.99727859e-01 3.14500214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.930714057 meters Centerline goodness [0,1] 0.985054130141219 Centerline is valid? [True, True] Translation: X:244.47, Y:-8.12, Z:3.14 [[ 9.99474265e-01 -2.23680357e-02 -2.34705243e-02 2.44467017e+02] [ 2.23947995e-02 9.99748819e-01 8.78057104e-04 -8.12341361e+00] [ 2.34449886e-02 -1.40321316e-03 9.99724144e-01 3.14455934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.960714057 meters Centerline goodness [0,1] 0.9842102861315201 Centerline is valid? [True, True] Translation: X:244.50, Y:-8.13, Z:3.14 [[ 9.99445928e-01 -2.30792582e-02 -2.39830272e-02 2.44496362e+02] [ 2.31073873e-02 9.99732587e-01 8.96369734e-04 -8.12629408e+00] [ 2.39559263e-02 -1.45005818e-03 9.99711964e-01 3.14399097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.990714057 meters Centerline goodness [0,1] 0.9849820511655383 Centerline is valid? [True, True] Translation: X:244.52, Y:-8.13, Z:3.14 [[ 9.99443100e-01 -2.31865617e-02 -2.39973408e-02 2.44524855e+02] [ 2.32147301e-02 9.99730100e-01 8.95858830e-04 -8.12861989e+00] [ 2.39700920e-02 -1.45245172e-03 9.99711621e-01 3.14338944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.020714057 meters Centerline goodness [0,1] 0.985127994898424 Centerline is valid? [True, True] Translation: X:244.55, Y:-8.13, Z:3.14 [[ 9.99482448e-01 -2.17236342e-02 -2.37259350e-02 2.44554011e+02] [ 2.17507334e-02 9.99763033e-01 8.84676491e-04 -8.13014652e+00] [ 2.37010944e-02 -1.40027511e-03 9.99718109e-01 3.14430392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.050714057 meters Centerline goodness [0,1] 0.9860101744186046 Centerline is valid? [True, True] Translation: X:244.58, Y:-8.13, Z:3.15 [[ 9.99513378e-01 -2.07182726e-02 -2.33186547e-02 2.44583708e+02] [ 2.07441579e-02 9.99784439e-01 8.68692447e-04 -8.13085223e+00] [ 2.32956303e-02 -1.35199558e-03 9.99727706e-01 3.14518163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.080714057 meters Centerline goodness [0,1] 0.9855323809958468 Centerline is valid? [True, True] Translation: X:244.61, Y:-8.13, Z:3.15 [[ 9.99546791e-01 -1.93944494e-02 -2.30232000e-02 2.44612982e+02] [ 1.94192704e-02 9.99811063e-01 8.54979478e-04 -8.13125157e+00] [ 2.30022682e-02 -1.30168574e-03 9.99734565e-01 3.14526213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.110714057 meters Centerline goodness [0,1] 0.9859830152497489 Centerline is valid? [True, True] Translation: X:244.64, Y:-8.13, Z:3.15 [[ 9.99638146e-01 -1.58194289e-02 -2.17559767e-02 2.44643091e+02] [ 1.58406858e-02 9.99874204e-01 8.05062806e-04 -8.12664999e+00] [ 2.17405042e-02 -1.14940108e-03 9.99762987e-01 3.14711092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.140714057 meters Centerline goodness [0,1] 0.9866812625433315 Centerline is valid? [True, True] Translation: X:244.67, Y:-8.13, Z:3.15 [[ 9.99681844e-01 -1.38347379e-02 -2.10905364e-02 2.44670939e+02] [ 1.38542539e-02 9.99903721e-01 7.79501754e-04 -8.12705608e+00] [ 2.10777217e-02 -1.07144740e-03 9.99777266e-01 3.14769795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17071405699997 meters Centerline goodness [0,1] 0.9874226757059051 Centerline is valid? [True, True] Translation: X:244.70, Y:-8.12, Z:3.15 [[ 9.99763485e-01 -9.99180819e-03 -1.93167676e-02 2.44700624e+02] [ 1.00074391e-02 9.99949670e-01 7.12691743e-04 -8.12325555e+00] [ 1.93086743e-02 -9.05834557e-04 9.99813160e-01 3.14928748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20071405699997 meters Centerline goodness [0,1] 0.9857074471722629 Centerline is valid? [True, True] Translation: X:244.73, Y:-8.13, Z:3.15 [[ 9.99785965e-01 -8.47991106e-03 -1.88710103e-02 2.44728368e+02] [ 8.49454146e-03 9.99963679e-01 6.95260978e-04 -8.12786612e+00] [ 1.88644291e-02 -8.55412748e-04 9.99821685e-01 3.14955958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23071405699997 meters Centerline goodness [0,1] 0.9874594545205354 Centerline is valid? [True, True] Translation: X:244.76, Y:-8.12, Z:3.15 [[ 9.99823832e-01 -6.82946445e-03 -1.74832226e-02 2.44757051e+02] [ 6.84174561e-03 9.99976388e-01 6.42737229e-04 -8.12203065e+00] [ 1.74784203e-02 -7.62239761e-04 9.99846950e-01 3.15106838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26071405699997 meters Centerline goodness [0,1] 0.98740427477426 Centerline is valid? [True, True] Translation: X:244.78, Y:-8.12, Z:3.15 [[ 9.99824268e-01 -7.26821387e-03 -1.72802194e-02 2.44784648e+02] [ 7.28023841e-03 9.99973298e-01 6.33049708e-04 -8.12370385e+00] [ 1.72751569e-02 -7.58742578e-04 9.99850485e-01 3.15120570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29071405699997 meters Centerline goodness [0,1] 0.9872955774011815 Centerline is valid? [True, True] Translation: X:244.81, Y:-8.13, Z:3.15 [[ 9.99810839e-01 -9.14949043e-03 -1.71631334e-02 2.44813636e+02] [ 9.16154648e-03 9.99957837e-01 6.23942162e-04 -8.12692180e+00] [ 1.71567010e-02 -7.81064981e-04 9.99852508e-01 3.15066406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32071405699998 meters Centerline goodness [0,1] 0.9870372479781296 Centerline is valid? [True, True] Translation: X:244.84, Y:-8.13, Z:3.15 [[ 9.99783787e-01 -1.09269903e-02 -1.76912359e-02 2.44841061e+02] [ 1.09400103e-02 9.99939952e-01 6.39338484e-04 -8.13022252e+00] [ 1.76831875e-02 -8.32742553e-04 9.99843293e-01 3.15063618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35071405699998 meters Centerline goodness [0,1] 0.9873049096783001 Centerline is valid? [True, True] Translation: X:244.87, Y:-8.13, Z:3.15 [[ 9.99758351e-01 -1.28254053e-02 -1.78535408e-02 2.44869273e+02] [ 1.28389399e-02 9.99917370e-01 6.43676097e-04 -8.13322731e+00] [ 1.78438102e-02 -8.72741091e-04 9.99840406e-01 3.14992746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38071405699998 meters Centerline goodness [0,1] 0.9844489981785064 Centerline is valid? [True, True] Translation: X:244.90, Y:-8.14, Z:3.15 [[ 9.99699147e-01 -1.63137306e-02 -1.83160253e-02 2.44897908e+02] [ 1.63285389e-02 9.99866463e-01 6.59220177e-04 -8.13879122e+00] [ 1.83028251e-02 -9.58095780e-04 9.99832030e-01 3.14991770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41071405699998 meters Centerline goodness [0,1] 0.9841670647648946 Centerline is valid? [True, True] Translation: X:244.93, Y:-8.14, Z:3.15 [[ 9.99683178e-01 -1.78483256e-02 -1.77477087e-02 2.44926956e+02] [ 1.78624577e-02 9.99840250e-01 6.38065683e-04 -8.14065214e+00] [ 1.77334850e-02 -9.54881225e-04 9.99842293e-01 3.15012060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44071405699998 meters Centerline goodness [0,1] 0.9845691656424962 Centerline is valid? [True, True] Translation: X:244.96, Y:-8.14, Z:3.15 [[ 9.99654772e-01 -2.04853891e-02 -1.64525555e-02 2.44956737e+02] [ 2.04978781e-02 9.99789722e-01 5.90801761e-04 -8.14333717e+00] [ 1.64369931e-02 -9.27840277e-04 9.99864473e-01 3.15143664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47071405699998 meters Centerline goodness [0,1] 0.9840944307720354 Centerline is valid? [True, True] Translation: X:244.99, Y:-8.15, Z:3.15 [[ 9.99644384e-01 -2.13695967e-02 -1.59513771e-02 2.44988408e+02] [ 2.13814467e-02 9.99771227e-01 5.72692740e-04 -8.14557821e+00] [ 1.59354896e-02 -9.13552601e-04 9.99872605e-01 3.15230381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50071405699998 meters Centerline goodness [0,1] 0.9823255813953489 Centerline is valid? [True, True] Translation: X:245.02, Y:-8.15, Z:3.15 [[ 9.99631278e-01 -2.21275668e-02 -1.57377923e-02 2.45018127e+02] [ 2.21392032e-02 9.99754738e-01 5.65531139e-04 -8.15266288e+00] [ 1.57214186e-02 -9.13744798e-04 9.99875993e-01 3.15219042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53071405699998 meters Centerline goodness [0,1] 0.9837089020027797 Centerline is valid? [True, True] Translation: X:245.05, Y:-8.15, Z:3.15 [[ 9.99604341e-01 -2.32542464e-02 -1.58240863e-02 2.45049702e+02] [ 2.32661568e-02 9.99729144e-01 5.68968001e-04 -8.15119175e+00] [ 1.58065693e-02 -9.36908556e-04 9.99874629e-01 3.15204199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56071405699998 meters Centerline goodness [0,1] 0.9829504177261169 Centerline is valid? [True, True] Translation: X:245.08, Y:-8.16, Z:3.15 [[ 9.99601546e-01 -2.36888918e-02 -1.53488213e-02 2.45081091e+02] [ 2.37001594e-02 9.99718959e-01 5.52598057e-04 -8.15590980e+00] [ 1.53314172e-02 -9.16147384e-04 9.99882047e-01 3.15149450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59071405699999 meters Centerline goodness [0,1] 0.9823258138531089 Centerline is valid? [True, True] Translation: X:245.11, Y:-8.16, Z:3.15 [[ 9.99588899e-01 -2.41660316e-02 -1.54283835e-02 2.45112661e+02] [ 2.41774961e-02 9.99707526e-01 5.56964121e-04 -8.15810197e+00] [ 1.54104115e-02 -9.29754835e-04 9.99880820e-01 3.15147197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.620714057 meters Centerline goodness [0,1] 0.9828937504259524 Centerline is valid? [True, True] Translation: X:245.15, Y:-8.16, Z:3.15 [[ 9.99606571e-01 -2.39868725e-02 -1.45372774e-02 2.45145174e+02] [ 2.39970397e-02 9.99711892e-01 5.25332583e-04 -8.16007347e+00] [ 1.45204880e-02 -8.73977524e-04 9.99894190e-01 3.15191483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.650714057 meters Centerline goodness [0,1] 0.9830562297275841 Centerline is valid? [True, True] Translation: X:245.18, Y:-8.16, Z:3.15 [[ 9.99621380e-01 -2.32777593e-02 -1.46711582e-02 2.45177198e+02] [ 2.32880536e-02 9.99728655e-01 5.31194402e-04 -8.16128453e+00] [ 1.46548122e-02 -8.72655999e-04 9.99892232e-01 3.15217237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.680714057 meters Centerline goodness [0,1] 0.984546259105453 Centerline is valid? [True, True] Translation: X:245.21, Y:-8.16, Z:3.15 [[ 9.99659580e-01 -2.11228345e-02 -1.53150208e-02 2.45209365e+02] [ 2.11338164e-02 9.99776502e-01 5.55562174e-04 -8.15780630e+00] [ 1.52998628e-02 -8.79037887e-04 9.99882564e-01 3.15166175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.710714057 meters Centerline goodness [0,1] 0.9848164564155018 Centerline is valid? [True, True] Translation: X:245.24, Y:-8.16, Z:3.15 [[ 9.99690152e-01 -1.94632692e-02 -1.55171328e-02 2.45239774e+02] [ 1.94743550e-02 9.99810198e-01 5.63631743e-04 -8.16061038e+00] [ 1.55032175e-02 -8.65643257e-04 9.99879443e-01 3.15157282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.740714057 meters Centerline goodness [0,1] 0.9868250980747862 Centerline is valid? [True, True] Translation: X:245.27, Y:-8.16, Z:3.15 [[ 9.99753705e-01 -1.62993206e-02 -1.50619357e-02 2.45270646e+02] [ 1.63094114e-02 9.99866843e-01 5.47355151e-04 -8.15632520e+00] [ 1.50510086e-02 -7.92871647e-04 9.99886413e-01 3.15164199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.770714057 meters Centerline goodness [0,1] 0.9846255466472303 Centerline is valid? [True, True] Translation: X:245.30, Y:-8.16, Z:3.15 [[ 9.99776174e-01 -1.53223900e-02 -1.45885917e-02 2.45299756e+02] [ 1.53317555e-02 9.99882321e-01 5.30344143e-04 -8.16118946e+00] [ 1.45787488e-02 -7.53894160e-04 9.99893440e-01 3.15168282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.800714057 meters Centerline goodness [0,1] 0.9851782492520611 Centerline is valid? [True, True] Translation: X:245.33, Y:-8.16, Z:3.15 [[ 9.99800517e-01 -1.40414869e-02 -1.42043536e-02 2.45330126e+02] [ 1.40502334e-02 9.99901157e-01 5.16154112e-04 -8.15583757e+00] [ 1.41957020e-02 -7.15625632e-04 9.99898980e-01 3.15198847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.830714057 meters Centerline goodness [0,1] 0.9858792447673491 Centerline is valid? [True, True] Translation: X:245.36, Y:-8.16, Z:3.15 [[ 9.99816895e-01 -1.32066869e-02 -1.38477147e-02 2.45360378e+02] [ 1.32149198e-02 9.99912553e-01 5.03194661e-04 -8.15532287e+00] [ 1.38398582e-02 -6.86098964e-04 9.99903989e-01 3.15186191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.860714057 meters Centerline goodness [0,1] 0.9852317288508725 Centerline is valid? [True, True] Translation: X:245.39, Y:-8.16, Z:3.15 [[ 9.99817821e-01 -1.35578414e-02 -1.34353615e-02 2.45389533e+02] [ 1.35656228e-02 9.99907864e-01 4.88199837e-04 -8.15666012e+00] [ 1.34275047e-02 -6.70369944e-04 9.99909622e-01 3.15144474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.890714057 meters Centerline goodness [0,1] 0.9849118716137439 Centerline is valid? [True, True] Translation: X:245.42, Y:-8.16, Z:3.15 [[ 9.99812395e-01 -1.44054584e-02 -1.29482833e-02 2.45420301e+02] [ 1.44127537e-02 9.99896020e-01 4.70280767e-04 -8.15909588e+00] [ 1.29401623e-02 -6.56812959e-04 9.99916057e-01 3.15140559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92071405699997 meters Centerline goodness [0,1] 0.9843614841793763 Centerline is valid? [True, True] Translation: X:245.45, Y:-8.16, Z:3.15 [[ 9.99775619e-01 -1.72682305e-02 -1.22686922e-02 2.45450986e+02] [ 1.72749948e-02 9.99850677e-01 4.45579125e-04 -8.16286335e+00] [ 1.22591658e-02 -6.57420739e-04 9.99924637e-01 3.15078601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95071405699997 meters Centerline goodness [0,1] 0.9847696031419829 Centerline is valid? [True, True] Translation: X:245.48, Y:-8.17, Z:3.15 [[ 9.99739209e-01 -1.94972847e-02 -1.18899071e-02 2.45482391e+02] [ 1.95037995e-02 9.99809689e-01 4.32211314e-04 -8.16569541e+00] [ 1.18792174e-02 -6.63996961e-04 9.99929219e-01 3.15085515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98071405699997 meters Centerline goodness [0,1] 0.9829479306960075 Centerline is valid? [True, True] Translation: X:245.51, Y:-8.17, Z:3.15 [[ 9.99700599e-01 -2.18600514e-02 -1.09931697e-02 2.45512813e+02] [ 2.18657672e-02 9.99760836e-01 3.99998111e-04 -8.17063941e+00] [ 1.09817965e-02 -6.40252441e-04 9.99939493e-01 3.15102342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01071405699997 meters Centerline goodness [0,1] 0.980827677612486 Centerline is valid? [True, True] Translation: X:245.54, Y:-8.18, Z:3.15 [[ 9.99560131e-01 -2.76908559e-02 -1.06188739e-02 2.45543790e+02] [ 2.76965184e-02 9.99616303e-01 3.86535088e-04 -8.17621211e+00] [ 1.06040960e-02 -6.80470900e-04 9.99943543e-01 3.15092116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04071405699997 meters Centerline goodness [0,1] 0.984290444114625 Centerline is valid? [True, True] Translation: X:245.57, Y:-8.18, Z:3.15 [[ 9.99484157e-01 -3.04861181e-02 -1.01003240e-02 2.45574882e+02] [ 3.04913860e-02 9.99534962e-01 3.67941707e-04 -8.17659849e+00] [ 1.00844098e-02 -6.75724785e-04 9.99948923e-01 3.15100339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07071405699998 meters Centerline goodness [0,1] 0.9815440069352558 Centerline is valid? [True, True] Translation: X:245.60, Y:-8.18, Z:3.15 [[ 9.99285468e-01 -3.64516942e-02 -9.99137501e-03 2.45604346e+02] [ 3.64571460e-02 9.99335151e-01 3.63999422e-04 -8.18487476e+00] [ 9.97146386e-03 -7.27996350e-04 9.99950019e-01 3.15038093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10071405699998 meters Centerline goodness [0,1] 0.978934409411121 Centerline is valid? [True, True] Translation: X:245.64, Y:-8.19, Z:3.15 [[ 9.99075145e-01 -4.17441494e-02 -1.03092537e-02 2.45635058e+02] [ 4.17502430e-02 9.99128008e-01 3.76483006e-04 -8.19105712e+00] [ 1.02845482e-02 -8.06548661e-04 9.99946787e-01 3.14922694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13071405699998 meters Centerline goodness [0,1] 0.977537039987255 Centerline is valid? [True, True] Translation: X:245.67, Y:-8.20, Z:3.15 [[ 9.98997253e-01 -4.35382949e-02 -1.04357799e-02 2.45665234e+02] [ 4.35446375e-02 9.99051410e-01 3.81219105e-04 -8.19817101e+00] [ 1.04092830e-02 -8.35259090e-04 9.99945473e-01 3.14940619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16071405699998 meters Centerline goodness [0,1] 0.9748557670467451 Centerline is valid? [True, True] Translation: X:245.70, Y:-8.20, Z:3.15 [[ 9.98931433e-01 -4.49939884e-02 -1.05609415e-02 2.45695679e+02] [ 4.50005660e-02 9.98986887e-01 3.85903167e-04 -8.20268359e+00] [ 1.05328787e-02 -8.60739149e-04 9.99944157e-01 3.14915045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19071405699998 meters Centerline goodness [0,1] 0.9765635676217373 Centerline is valid? [True, True] Translation: X:245.73, Y:-8.20, Z:3.15 [[ 9.98860866e-01 -4.63074269e-02 -1.15149029e-02 2.45727825e+02] [ 4.63153403e-02 9.98926780e-01 4.21370822e-04 -8.19916935e+00] [ 1.14830323e-02 -9.54207470e-04 9.99933613e-01 3.14837520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22071405699998 meters Centerline goodness [0,1] 0.9759920275412213 Centerline is valid? [True, True] Translation: X:245.76, Y:-8.20, Z:3.15 [[ 9.98887089e-01 -4.56041279e-02 -1.20351987e-02 2.45759338e+02] [ 4.56127324e-02 9.98959100e-01 4.41289073e-04 -8.19958202e+00] [ 1.20025467e-02 -9.89756257e-04 9.99927477e-01 3.14774907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25071405699998 meters Centerline goodness [0,1] 0.9754912028479497 Centerline is valid? [True, True] Translation: X:245.79, Y:-8.20, Z:3.15 [[ 9.98903212e-01 -4.53706046e-02 -1.15707275e-02 2.45791259e+02] [ 4.53785485e-02 9.98969773e-01 4.24810178e-04 -8.20033391e+00] [ 1.15395332e-02 -9.49407073e-04 9.99932967e-01 3.14847354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28071405699998 meters Centerline goodness [0,1] 0.9742634454069621 Centerline is valid? [True, True] Translation: X:245.82, Y:-8.20, Z:3.15 [[ 9.98971724e-01 -4.43067940e-02 -9.61259593e-03 2.45823846e+02] [ 4.43122321e-02 9.99017668e-01 3.53373024e-04 -8.19989120e+00] [ 9.58749634e-03 -7.78965241e-04 9.99953735e-01 3.15009753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31071405699998 meters Centerline goodness [0,1] 0.9738775323964227 Centerline is valid? [True, True] Translation: X:245.86, Y:-8.20, Z:3.15 [[ 9.98993636e-01 -4.39807284e-02 -8.79837564e-03 2.45855749e+02] [ 4.39852779e-02 9.99032127e-01 3.24158190e-04 -8.20113527e+00] [ 8.77560321e-03 -7.10830966e-04 9.99961241e-01 3.15093561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34071405699999 meters Centerline goodness [0,1] 0.9706889467196275 Centerline is valid? [True, True] Translation: X:245.89, Y:-8.20, Z:3.15 [[ 9.98986560e-01 -4.42671378e-02 -8.14084338e-03 2.45886513e+02] [ 4.42710467e-02 9.99019511e-01 3.00494639e-04 -8.20296413e+00] [ 8.11955933e-03 -6.60593763e-04 9.99966818e-01 3.15087845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.370714057 meters Centerline goodness [0,1] 0.9711232638491637 Centerline is valid? [True, True] Translation: X:245.92, Y:-8.20, Z:3.15 [[ 9.98967019e-01 -4.47047548e-02 -8.14734171e-03 2.45918791e+02] [ 4.47086871e-02 9.99000021e-01 3.01067156e-04 -8.20425278e+00] [ 8.12573541e-03 -6.65013111e-04 9.99966765e-01 3.15023504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.400714057 meters Centerline goodness [0,1] 0.9647276803074318 Centerline is valid? [True, True] Translation: X:245.95, Y:-8.21, Z:3.15 [[ 9.98884948e-01 -4.64520889e-02 -8.42996071e-03 2.45949343e+02] [ 4.64563667e-02 9.98920271e-01 3.12243490e-04 -8.20761190e+00] [ 8.40635427e-03 -7.03520668e-04 9.99964419e-01 3.14916334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.430714057 meters Centerline goodness [0,1] 0.9629680490707682 Centerline is valid? [True, True] Translation: X:245.98, Y:-8.21, Z:3.15 [[ 9.98827418e-01 -4.75914324e-02 -8.87949921e-03 2.45981129e+02] [ 4.75962255e-02 9.98866603e-01 3.29141478e-04 -8.21039653e+00] [ 8.85377090e-03 -7.51386179e-04 9.99960522e-01 3.14858851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.460714057 meters Centerline goodness [0,1] 0.9629680490707682 Centerline is valid? [True, True] Translation: X:246.01, Y:-8.21, Z:3.15 [[ 9.98832135e-01 -4.74923161e-02 -8.87949021e-03 2.46013758e+02] [ 4.74971075e-02 9.98871321e-01 3.29384323e-04 -8.21171450e+00] [ 8.85382489e-03 -7.50749747e-04 9.99960522e-01 3.14900747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.490714057 meters Centerline goodness [0,1] 0.9457041528429242 Centerline is valid? [True, False] Translation: X:246.01, Y:-8.21, Z:3.15 [[ 9.98829992e-01 -4.75477971e-02 -8.82349356e-03 2.46014458e+02] [ 4.75584277e-02 9.98867958e-01 9.98806991e-04 -8.21265872e+00] [ 8.76601393e-03 -1.41726986e-03 9.99960573e-01 3.14750341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.520714057 meters Centerline goodness [0,1] 0.9442124717639812 Centerline is valid? [False, False] Translation: X:246.02, Y:-8.21, Z:3.15 [[ 9.98833822e-01 -4.74359058e-02 -8.99059348e-03 2.46015199e+02] [ 4.74504556e-02 9.98872595e-01 1.41187539e-03 -8.21316789e+00] [ 8.91348385e-03 -1.83683665e-03 9.99958587e-01 3.14675014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.550714057 meters Centerline goodness [0,1] 0.9379341864716636 Centerline is valid? [False, False] Translation: X:246.02, Y:-8.21, Z:3.15 [[ 9.98833503e-01 -4.74562781e-02 -8.91828636e-03 2.46015682e+02] [ 4.74748925e-02 9.98870649e-01 1.88712049e-03 -8.21380445e+00] [ 8.81865877e-03 -2.30831386e-03 9.99958451e-01 3.14566248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.580714057 meters Centerline goodness [0,1] 0.9719025283148381 Centerline is valid? [False, True] Translation: X:246.02, Y:-8.21, Z:3.15 [[ 9.98838614e-01 -4.73113525e-02 -9.11372368e-03 2.46016382e+02] [ 4.73324583e-02 9.98876954e-01 2.11410955e-03 -8.21381580e+00] [ 9.00346717e-03 -2.54302920e-03 9.99956234e-01 3.14516759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.610714057 meters Centerline goodness [0,1] 0.9214202160600014 Centerline is valid? [True, False] Translation: X:246.02, Y:-8.22, Z:3.14 [[ 9.98991934e-01 -4.39681589e-02 -9.05078852e-03 2.46016338e+02] [ 4.40264655e-02 9.99010204e-01 6.34691060e-03 -8.21523629e+00] [ 8.76276811e-03 -6.73898672e-03 9.99938898e-01 3.14404078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.640714057 meters Centerline goodness [0,1] 0.9738940595197059 Centerline is valid? [False, True] Translation: X:246.02, Y:-8.21, Z:3.14 [[ 9.99001315e-01 -4.37147458e-02 -9.24086973e-03 2.46017015e+02] [ 4.37747110e-02 9.99020995e-01 6.38955823e-03 -8.21454943e+00] [ 8.95250496e-03 -6.78769347e-03 9.99936888e-01 3.14369560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67071405699997 meters Centerline goodness [0,1] 0.9745234688697098 Centerline is valid? [True, True] Translation: X:246.05, Y:-8.21, Z:3.15 [[ 9.99125100e-01 -4.08488590e-02 -8.96694718e-03 2.46046964e+02] [ 4.08541995e-02 9.99165033e-01 4.13136120e-04 -8.21238123e+00] [ 8.94258394e-03 -7.79112116e-04 9.99959711e-01 3.14638811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70071405699997 meters Centerline goodness [0,1] 0.9697632645541636 Centerline is valid? [True, True] Translation: X:246.08, Y:-8.22, Z:3.15 [[ 9.99193497e-01 -3.91760442e-02 -8.80870030e-03 2.46077682e+02] [ 3.91811323e-02 9.99232042e-01 4.05726838e-04 -8.21712365e+00] [ 8.78604082e-03 -7.50534470e-04 9.99961120e-01 3.14699646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73071405699997 meters Centerline goodness [0,1] 0.9746423627134287 Centerline is valid? [True, True] Translation: X:246.11, Y:-8.21, Z:3.15 [[ 9.99314049e-01 -3.60842608e-02 -8.32814423e-03 2.46108140e+02] [ 3.60887048e-02 9.99348517e-01 3.83895358e-04 -8.20945041e+00] [ 8.30886600e-03 -6.84183963e-04 9.99965247e-01 3.14854796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76071405699997 meters Centerline goodness [0,1] 0.9739236599018681 Centerline is valid? [True, True] Translation: X:246.14, Y:-8.21, Z:3.15 [[ 9.99367667e-01 -3.46380650e-02 -8.02941591e-03 2.46139378e+02] [ 3.46421483e-02 9.99399712e-01 3.69978761e-04 -8.21007725e+00] [ 8.01178060e-03 -6.47901027e-04 9.99967695e-01 3.14897270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79071405699997 meters Centerline goodness [0,1] 0.973244532528288 Centerline is valid? [True, True] Translation: X:246.17, Y:-8.21, Z:3.15 [[ 9.99433940e-01 -3.26865777e-02 -7.96159907e-03 2.46170299e+02] [ 3.26905330e-02 9.99465454e-01 3.67129384e-04 -8.21265567e+00] [ 7.94534303e-03 -6.27190484e-04 9.99968239e-01 3.14955474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82071405699998 meters Centerline goodness [0,1] 0.9747253254547134 Centerline is valid? [True, True] Translation: X:246.20, Y:-8.21, Z:3.15 [[ 9.99524770e-01 -2.95724248e-02 -8.70093333e-03 2.46201145e+02] [ 2.95770344e-02 9.99562423e-01 4.01551498e-04 -8.21045536e+00] [ 8.68525115e-03 -6.58708473e-04 9.99962066e-01 3.14869394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85071405699998 meters Centerline goodness [0,1] 0.9751793499573251 Centerline is valid? [True, True] Translation: X:246.23, Y:-8.21, Z:3.15 [[ 9.99619224e-01 -2.57743383e-02 -9.85346133e-03 2.46231198e+02] [ 2.57800679e-02 9.99667535e-01 4.54883233e-04 -8.21099934e+00] [ 9.83846108e-03 -7.08732926e-04 9.99951350e-01 3.14814577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88071405699998 meters Centerline goodness [0,1] 0.9765235457063712 Centerline is valid? [True, True] Translation: X:246.26, Y:-8.21, Z:3.15 [[ 9.99665118e-01 -2.35943760e-02 -1.06281612e-02 2.46262745e+02] [ 2.36009207e-02 9.99721339e-01 4.90768428e-04 -8.21133111e+00] [ 1.06136202e-02 -7.41438469e-04 9.99943399e-01 3.14784645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91071405699998 meters Centerline goodness [0,1] 0.9821828336679822 Centerline is valid? [True, True] Translation: X:246.29, Y:-8.20, Z:3.15 [[ 9.99769884e-01 -1.82956169e-02 -1.12004439e-02 2.46293623e+02] [ 1.83025613e-02 9.99832360e-01 5.17813055e-04 -8.19841219e+00] [ 1.11890925e-02 -7.22690708e-04 9.99937139e-01 3.14850866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94071405699998 meters Centerline goodness [0,1] 0.9828210390389005 Centerline is valid? [True, True] Translation: X:246.32, Y:-8.20, Z:3.15 [[ 9.99805098e-01 -1.59519186e-02 -1.16319471e-02 2.46324062e+02] [ 1.59592535e-02 9.99872498e-01 5.38024846e-04 -8.20088872e+00] [ 1.16218815e-02 -7.23557177e-04 9.99932202e-01 3.14853749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97071405699998 meters Centerline goodness [0,1] 0.9837178687729509 Centerline is valid? [True, True] Translation: X:246.35, Y:-8.20, Z:3.15 [[ 9.99869294e-01 -1.15138162e-02 -1.13501937e-02 2.46354996e+02] [ 1.15205250e-02 9.99933498e-01 5.25866856e-04 -8.19868623e+00] [ 1.13433841e-02 -6.56558311e-04 9.99935446e-01 3.14909589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00071405699998 meters Centerline goodness [0,1] 0.984215007248211 Centerline is valid? [True, True] Translation: X:246.39, Y:-8.20, Z:3.15 [[ 9.99899166e-01 -9.25232007e-03 -1.07727969e-02 2.46385681e+02] [ 9.25823322e-03 9.99957017e-01 4.99155131e-04 -8.19903233e+00] [ 1.07677155e-02 -5.98841865e-04 9.99941847e-01 3.14958688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03071405699998 meters Centerline goodness [0,1] 0.9809235322681342 Centerline is valid? [True, True] Translation: X:246.41, Y:-8.20, Z:3.15 [[ 9.99920819e-01 -5.80986840e-03 -1.11625100e-02 2.46414325e+02] [ 5.81600241e-03 9.99982953e-01 5.17135913e-04 -8.20380421e+00] [ 1.11593152e-02 -5.82016150e-04 9.99937564e-01 3.14981536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06071405699998 meters Centerline goodness [0,1] 0.9833252387890562 Centerline is valid? [True, True] Translation: X:246.44, Y:-8.20, Z:3.15 [[ 9.99914864e-01 -4.91367024e-03 -1.20880066e-02 2.46443086e+02] [ 4.92078514e-03 9.99987737e-01 5.58919790e-04 -8.19681063e+00] [ 1.20851121e-02 -6.18354690e-04 9.99926781e-01 3.15048529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09071405699999 meters Centerline goodness [0,1] 0.9829654455102277 Centerline is valid? [True, True] Translation: X:246.47, Y:-8.19, Z:3.15 [[ 9.99914153e-01 -3.19874396e-03 -1.27064554e-02 2.46472123e+02] [ 3.20643537e-03 9.99994688e-01 5.84988959e-04 -8.19347900e+00] [ 1.27045167e-02 -6.25681168e-04 9.99919099e-01 3.15146053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.120714057 meters Centerline goodness [0,1] 0.9833653378988039 Centerline is valid? [True, True] Translation: X:246.50, Y:-8.19, Z:3.15 [[ 9.99910187e-01 -3.27708135e-03 -1.29953103e-02 2.46500359e+02] [ 3.28510910e-03 9.99994426e-01 5.96443293e-04 -8.19307496e+00] [ 1.29932832e-02 -6.39080737e-04 9.99915380e-01 3.15165913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.150714057 meters Centerline goodness [0,1] 0.9831555565839099 Centerline is valid? [True, True] Translation: X:246.53, Y:-8.20, Z:3.15 [[ 9.99893830e-01 -4.09553296e-03 -1.39841201e-02 2.46528563e+02] [ 4.10486321e-03 9.99991371e-01 6.38565126e-04 -8.19589859e+00] [ 1.39813842e-02 -6.95900230e-04 9.99902014e-01 3.15219934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.180714057 meters Centerline goodness [0,1] 0.9824423419463786 Centerline is valid? [True, True] Translation: X:246.56, Y:-8.20, Z:3.15 [[ 9.99890884e-01 -5.02362454e-03 -1.38918225e-02 2.46556521e+02] [ 5.03290407e-03 9.99987134e-01 6.33105885e-04 -8.19971950e+00] [ 1.38884632e-02 -7.02953013e-04 9.99903304e-01 3.15231983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.210714057 meters Centerline goodness [0,1] 0.9824852890273451 Centerline is valid? [True, True] Translation: X:246.59, Y:-8.20, Z:3.15 [[ 9.99878387e-01 -6.81542946e-03 -1.40271589e-02 2.46585809e+02] [ 6.82504774e-03 9.99976506e-01 6.37933322e-04 -8.20294751e+00] [ 1.40224816e-02 -7.33591770e-04 9.99901411e-01 3.15255205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.240714057 meters Centerline goodness [0,1] 0.9820470109198594 Centerline is valid? [True, True] Translation: X:246.61, Y:-8.21, Z:3.15 [[ 9.99871739e-01 -7.57870516e-03 -1.41091909e-02 2.46613215e+02] [ 7.58848853e-03 9.99971002e-01 6.39996463e-04 -8.20623641e+00] [ 1.41039314e-02 -7.46981810e-04 9.99900256e-01 3.15295064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.270714057 meters Centerline goodness [0,1] 0.9818614538564628 Centerline is valid? [True, True] Translation: X:246.64, Y:-8.21, Z:3.15 [[ 9.99863435e-01 -9.22246531e-03 -1.37134033e-02 2.46641894e+02] [ 9.23182848e-03 9.99957194e-01 6.19627845e-04 -8.20781818e+00] [ 1.37071017e-02 -7.46143012e-04 9.99905775e-01 3.15360631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.300714057 meters Centerline goodness [0,1] 0.9822220169929812 Centerline is valid? [True, True] Translation: X:246.67, Y:-8.21, Z:3.15 [[ 9.99856083e-01 -1.02263351e-02 -1.35364245e-02 2.46669977e+02] [ 1.02355163e-02 9.99947430e-01 6.09150454e-04 -8.21098414e+00] [ 1.35294835e-02 -7.47615081e-04 9.99908193e-01 3.15437966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.330714057 meters Centerline goodness [0,1] 0.9820388126806441 Centerline is valid? [True, True] Translation: X:246.70, Y:-8.21, Z:3.15 [[ 9.99831152e-01 -1.23629181e-02 -1.35950647e-02 2.46699796e+02] [ 1.23723661e-02 9.99923273e-01 6.11070173e-04 -8.21397190e+00] [ 1.35864670e-02 -7.79170113e-04 9.99907396e-01 3.15486846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.360714057 meters Centerline goodness [0,1] 0.9816886846639862 Centerline is valid? [True, True] Translation: X:246.73, Y:-8.22, Z:3.15 [[ 9.99799309e-01 -1.41353040e-02 -1.41962903e-02 2.46729404e+02] [ 1.41457769e-02 9.99899740e-01 6.37577237e-04 -8.21722740e+00] [ 1.41858546e-02 -8.38266837e-04 9.99899024e-01 3.15495568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.390714057 meters Centerline goodness [0,1] 0.9816808613209063 Centerline is valid? [True, True] Translation: X:246.76, Y:-8.22, Z:3.16 [[ 9.99775814e-01 -1.52014387e-02 -1.47390051e-02 2.46759247e+02] [ 1.52128375e-02 9.99884059e-01 6.61567042e-04 -8.22052594e+00] [ 1.47272395e-02 -8.85640817e-04 9.99891156e-01 3.15510752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42071405699997 meters Centerline goodness [0,1] 0.9811182569290275 Centerline is valid? [True, True] Translation: X:246.79, Y:-8.23, Z:3.15 [[ 9.99721127e-01 -1.78260677e-02 -1.54886602e-02 2.46788558e+02] [ 1.78389664e-02 9.99840631e-01 6.95008688e-04 -8.22705821e+00] [ 1.54738025e-02 -9.71116556e-04 9.99879802e-01 3.15423523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45071405699997 meters Centerline goodness [0,1] 0.9818848047635406 Centerline is valid? [True, True] Translation: X:246.82, Y:-8.23, Z:3.15 [[ 9.99674324e-01 -1.94933220e-02 -1.64698616e-02 2.46818976e+02] [ 1.95081295e-02 9.99809425e-01 7.38871497e-04 -8.22966169e+00] [ 1.64523198e-02 -1.05992706e-03 9.99864090e-01 3.15427637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48071405699997 meters Centerline goodness [0,1] 0.9814412725984504 Centerline is valid? [True, True] Translation: X:246.85, Y:-8.23, Z:3.15 [[ 9.99610132e-01 -2.21183556e-02 -1.70400211e-02 2.46849908e+02] [ 2.21345894e-02 9.99754708e-01 7.64656965e-04 -8.23362467e+00] [ 1.70189284e-02 -1.14153272e-03 9.99854516e-01 3.15392490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51071405699997 meters Centerline goodness [0,1] 0.9803961842165321 Centerline is valid? [True, True] Translation: X:246.88, Y:-8.24, Z:3.15 [[ 9.99569655e-01 -2.35185438e-02 -1.75323267e-02 2.46880311e+02] [ 2.35359505e-02 9.99722681e-01 7.87130918e-04 -8.23877273e+00] [ 1.75089525e-02 -1.19943215e-03 9.99845987e-01 3.15339536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54071405699997 meters Centerline goodness [0,1] 0.980334966389427 Centerline is valid? [True, True] Translation: X:246.91, Y:-8.25, Z:3.15 [[ 9.99502750e-01 -2.56618266e-02 -1.83227540e-02 2.46910346e+02] [ 2.56812027e-02 9.99669845e-01 8.22937985e-04 -8.24592177e+00] [ 1.82955865e-02 -1.29307914e-03 9.99831786e-01 3.15259300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57071405699998 meters Centerline goodness [0,1] 0.9816177308033985 Centerline is valid? [True, True] Translation: X:246.94, Y:-8.24, Z:3.15 [[ 9.99461771e-01 -2.70187330e-02 -1.86053034e-02 2.46941575e+02] [ 2.70389544e-02 9.99634031e-01 8.36119889e-04 -8.24311864e+00] [ 1.85759035e-02 -1.33873781e-03 9.99826557e-01 3.15340967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60071405699998 meters Centerline goodness [0,1] 0.9791818513119533 Centerline is valid? [True, True] Translation: X:246.97, Y:-8.25, Z:3.15 [[ 9.99400297e-01 -2.92754942e-02 -1.84930149e-02 2.46971066e+02] [ 2.92958710e-02 9.99570438e-01 8.31863644e-04 -8.25346596e+00] [ 1.84607178e-02 -1.37313375e-03 9.99828644e-01 3.15306336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63071405699998 meters Centerline goodness [0,1] 0.9769487343507265 Centerline is valid? [True, True] Translation: X:247.00, Y:-8.26, Z:3.15 [[ 9.99367486e-01 -3.06583563e-02 -1.80192528e-02 2.47002343e+02] [ 3.06779391e-02 9.99528992e-01 8.11290356e-04 -8.25597427e+00] [ 1.79858927e-02 -1.36357074e-03 9.99837311e-01 3.15338724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66071405699998 meters Centerline goodness [0,1] 0.9817761457908337 Centerline is valid? [True, True] Translation: X:247.03, Y:-8.25, Z:3.16 [[ 9.99321382e-01 -3.28553470e-02 -1.66523681e-02 2.47033725e+02] [ 3.28723810e-02 9.99459276e-01 7.50156147e-04 -8.25201007e+00] [ 1.66187171e-02 -1.29705006e-03 9.99861058e-01 3.15566146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69071405699998 meters Centerline goodness [0,1] 0.9817578772802653 Centerline is valid? [True, True] Translation: X:247.07, Y:-8.25, Z:3.16 [[ 9.99289134e-01 -3.38464972e-02 -1.66024337e-02 2.47065244e+02] [ 3.38635743e-02 9.99426184e-01 7.48464278e-04 -8.25436276e+00] [ 1.65675740e-02 -1.31014997e-03 9.99861890e-01 3.15596159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72071405699998 meters Centerline goodness [0,1] 0.9797885642832784 Centerline is valid? [True, True] Translation: X:247.10, Y:-8.26, Z:3.16 [[ 9.99236298e-01 -3.54725255e-02 -1.63865912e-02 2.47095025e+02] [ 3.54893862e-02 9.99369780e-01 7.39194775e-04 -8.25940541e+00] [ 1.63500430e-02 -1.32018032e-03 9.99865458e-01 3.15617832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75071405699998 meters Centerline goodness [0,1] 0.9827178460978716 Centerline is valid? [True, True] Translation: X:247.13, Y:-8.25, Z:3.16 [[ 9.99213001e-01 -3.60264402e-02 -1.65974420e-02 2.47127043e+02] [ 3.60438205e-02 9.99349930e-01 7.49122338e-04 -8.25486248e+00] [ 1.65596643e-02 -1.34676800e-03 9.99861972e-01 3.15698075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78071405699998 meters Centerline goodness [0,1] 0.9835931463891288 Centerline is valid? [True, True] Translation: X:247.16, Y:-8.26, Z:3.16 [[ 9.99162984e-01 -3.71378086e-02 -1.71497512e-02 2.47158760e+02] [ 3.71565438e-02 9.99309157e-01 7.74992742e-04 -8.25798153e+00] [ 1.71091219e-02 -1.41156954e-03 9.99852632e-01 3.15666520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81071405699998 meters Centerline goodness [0,1] 0.9739199636198272 Centerline is valid? [True, True] Translation: X:247.19, Y:-8.27, Z:3.15 [[ 9.99136419e-01 -3.78077671e-02 -1.72333931e-02 2.47189349e+02] [ 3.78268004e-02 9.99284006e-01 7.79698150e-04 -8.27199575e+00] [ 1.71915755e-02 -1.43090894e-03 9.99851190e-01 3.15491460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84071405699999 meters Centerline goodness [0,1] 0.9726511206701381 Centerline is valid? [True, True] Translation: X:247.22, Y:-8.27, Z:3.15 [[ 9.99097985e-01 -3.84927673e-02 -1.79310654e-02 2.47221096e+02] [ 3.85134996e-02 9.99257750e-01 8.12209344e-04 -8.27420999e+00] [ 1.78864918e-02 -1.50206480e-03 9.99838896e-01 3.15457302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.870714057 meters Centerline goodness [0,1] 0.9820374239258788 Centerline is valid? [True, True] Translation: X:247.25, Y:-8.27, Z:3.16 [[ 9.98992824e-01 -4.06093132e-02 -1.90845655e-02 2.47252285e+02] [ 4.06331952e-02 9.99173756e-01 8.65116198e-04 -8.26564121e+00] [ 1.90336653e-02 -1.63971175e-03 9.99817499e-01 3.15522088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.900714057 meters Centerline goodness [0,1] 0.9815991287380315 Centerline is valid? [True, True] Translation: X:247.28, Y:-8.27, Z:3.15 [[ 9.98905373e-01 -4.22410342e-02 -2.00935412e-02 2.47282523e+02] [ 4.22678437e-02 9.99105900e-01 9.11221800e-04 -8.26988793e+00] [ 2.00370846e-02 -1.75953501e-03 9.99797689e-01 3.15431680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.930714057 meters Centerline goodness [0,1] 0.9800657670937748 Centerline is valid? [True, True] Translation: X:247.31, Y:-8.27, Z:3.15 [[ 9.98864322e-01 -4.29696232e-02 -2.05834220e-02 2.47314819e+02] [ 4.29979301e-02 9.99074724e-01 9.34431623e-04 -8.27250362e+00] [ 2.05242244e-02 -1.81841495e-03 9.99787702e-01 3.15429311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.960714057 meters Centerline goodness [0,1] 0.9783756828433484 Centerline is valid? [True, True] Translation: X:247.35, Y:-8.28, Z:3.15 [[ 9.98825129e-01 -4.41699885e-02 -1.99342255e-02 2.47345144e+02] [ 4.41967947e-02 9.99022433e-01 9.05966151e-04 -8.27829885e+00] [ 1.98747220e-02 -1.78593063e-03 9.99800883e-01 3.15418775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.990714057 meters Centerline goodness [0,1] 0.9762476768958797 Centerline is valid? [True, True] Translation: X:247.38, Y:-8.28, Z:3.15 [[ 9.98824100e-01 -4.45284014e-02 -1.91739208e-02 2.47377343e+02] [ 4.45532864e-02 9.99006628e-01 8.72439112e-04 -8.28097430e+00] [ 1.91160256e-02 -1.72567440e-03 9.99815783e-01 3.15483195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.020714057 meters Centerline goodness [0,1] 0.9785827484718135 Centerline is valid? [True, True] Translation: X:247.41, Y:-8.28, Z:3.16 [[ 9.98810510e-01 -4.49322939e-02 -1.89381590e-02 2.47409544e+02] [ 4.49566679e-02 9.98988565e-01 8.63052282e-04 -8.27841940e+00] [ 1.88802254e-02 -1.71342222e-03 9.99820284e-01 3.15643610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.050714057 meters Centerline goodness [0,1] 0.9777284867140464 Centerline is valid? [True, True] Translation: X:247.44, Y:-8.28, Z:3.16 [[ 9.98823151e-01 -4.49666647e-02 -1.81745173e-02 2.47441698e+02] [ 4.49891410e-02 9.98987132e-01 8.29522845e-04 -8.28012744e+00] [ 1.81188080e-02 -1.64620254e-03 9.99834486e-01 3.15758989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.080714057 meters Centerline goodness [0,1] 0.9783726249518763 Centerline is valid? [True, True] Translation: X:247.47, Y:-8.28, Z:3.16 [[ 9.98857671e-01 -4.46009535e-02 -1.71495719e-02 2.47474288e+02] [ 4.46209326e-02 9.99003683e-01 7.83925843e-04 -8.28054487e+00] [ 1.70975216e-02 -1.54826023e-03 9.99852628e-01 3.15817729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.110714057 meters Centerline goodness [0,1] 0.9765405209184137 Centerline is valid? [True, True] Translation: X:247.51, Y:-8.29, Z:3.16 [[ 9.98846655e-01 -4.47255584e-02 -1.74637828e-02 2.47505373e+02] [ 4.47463145e-02 9.98998062e-01 7.99390986e-04 -8.28575271e+00] [ 1.74105320e-02 -1.57990893e-03 9.99847177e-01 3.15816504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.140714057 meters Centerline goodness [0,1] 0.9766534316505956 Centerline is valid? [True, True] Translation: X:247.54, Y:-8.29, Z:3.16 [[ 9.98837598e-01 -4.48318601e-02 -1.77075169e-02 2.47537119e+02] [ 4.48532356e-02 9.98993257e-01 8.11644496e-04 -8.28674194e+00] [ 1.76533024e-02 -1.60494047e-03 9.99842880e-01 3.15800196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17071405699997 meters Centerline goodness [0,1] 0.9738735671319941 Centerline is valid? [True, True] Translation: X:247.57, Y:-8.29, Z:3.16 [[ 9.98809114e-01 -4.48652812e-02 -1.91692611e-02 2.47568648e+02] [ 4.48903722e-02 9.98991531e-01 8.80417139e-04 -8.29009825e+00] [ 1.91104293e-02 -1.73988393e-03 9.99815865e-01 3.15721537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20071405699997 meters Centerline goodness [0,1] 0.9723622655220966 Centerline is valid? [True, True] Translation: X:247.60, Y:-8.29, Z:3.16 [[ 9.98779553e-01 -4.48757426e-02 -2.06294255e-02 2.47600462e+02] [ 4.49048426e-02 9.98990818e-01 9.49315835e-04 -8.29165751e+00] [ 2.05660054e-02 -1.87451835e-03 9.99786740e-01 3.15563283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23071405699997 meters Centerline goodness [0,1] 0.9714052102023666 Centerline is valid? [True, True] Translation: X:247.63, Y:-8.29, Z:3.16 [[ 9.98773371e-01 -4.47224121e-02 -2.12522592e-02 2.47632942e+02] [ 4.47532934e-02 9.98997589e-01 9.79466492e-04 -8.29291758e+00] [ 2.11871516e-02 -1.92937364e-03 9.99773665e-01 3.15511946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26071405699997 meters Centerline goodness [0,1] 0.964077714077714 Centerline is valid? [True, True] Translation: X:247.66, Y:-8.30, Z:3.15 [[ 9.98784883e-01 -4.42640910e-02 -2.16667412e-02 2.47664029e+02] [ 4.42961099e-02 9.99017945e-01 9.99856272e-04 -8.29735890e+00] [ 2.16012055e-02 -1.95839368e-03 9.99764749e-01 3.15434933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29071405699997 meters Centerline goodness [0,1] 0.9593804726056995 Centerline is valid? [True, True] Translation: X:247.69, Y:-8.30, Z:3.15 [[ 9.98810881e-01 -4.38031805e-02 -2.14034166e-02 2.47694810e+02] [ 4.38343437e-02 9.99038324e-01 9.88788992e-04 -8.29949802e+00] [ 2.13395213e-02 -1.92581792e-03 9.99770432e-01 3.15435404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32071405699998 meters Centerline goodness [0,1] 0.9596415607985481 Centerline is valid? [True, True] Translation: X:247.73, Y:-8.30, Z:3.16 [[ 9.98831085e-01 -4.33121705e-02 -2.14597040e-02 2.47727017e+02] [ 4.33434132e-02 9.99059740e-01 9.92679900e-04 -8.30044674e+00] [ 2.13965312e-02 -1.92165636e-03 9.99769221e-01 3.15500807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35071405699998 meters Centerline goodness [0,1] 0.9596415607985481 Centerline is valid? [True, True] Translation: X:247.76, Y:-8.30, Z:3.16 [[ 9.98833985e-01 -4.32452764e-02 -2.14596375e-02 2.47758803e+02] [ 4.32765343e-02 9.99062637e-01 9.94115312e-04 -8.30198608e+00] [ 2.13965313e-02 -1.92165490e-03 9.99769221e-01 3.15529183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38071405699998 meters Centerline goodness [0,1] 0.9780706763825753 Centerline is valid? [True, True] Translation: X:247.79, Y:-8.29, Z:3.16 [[ 9.98916412e-01 -4.19418776e-02 -2.01712765e-02 2.47790848e+02] [ 4.19692499e-02 9.99118465e-01 9.35400078e-04 -8.28966093e+00] [ 2.01142624e-02 -1.78095984e-03 9.99796102e-01 3.15788494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41071405699998 meters Centerline goodness [0,1] 0.9627614584523946 Centerline is valid? [True, True] Translation: X:247.82, Y:-8.30, Z:3.16 [[ 9.98958020e-01 -4.13442884e-02 -1.93267747e-02 2.47821105e+02] [ 4.13693220e-02 9.99143520e-01 8.97102023e-04 -8.30247970e+00] [ 1.92731316e-02 -1.69570283e-03 9.99812818e-01 3.15726552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44071405699998 meters Centerline goodness [0,1] 0.9767998905009582 Centerline is valid? [True, True] Translation: X:247.85, Y:-8.29, Z:3.16 [[ 9.99011351e-01 -4.05467232e-02 -1.82286638e-02 2.47854147e+02] [ 4.05688808e-02 9.99176385e-01 8.47242016e-04 -8.29184081e+00] [ 1.81792975e-02 -1.58592088e-03 9.99833485e-01 3.15976130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47071405699998 meters Centerline goodness [0,1] 0.9729655738826911 Centerline is valid? [True, True] Translation: X:247.88, Y:-8.30, Z:3.16 [[ 9.99029985e-01 -4.03419352e-02 -1.76527007e-02 2.47884671e+02] [ 4.03627114e-02 9.99184756e-01 8.22098603e-04 -8.29852490e+00] [ 1.76051444e-02 -1.53381202e-03 9.99843841e-01 3.15936673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50071405699998 meters Centerline goodness [0,1] 0.9761017220481625 Centerline is valid? [True, True] Translation: X:247.92, Y:-8.30, Z:3.16 [[ 9.99001289e-01 -4.09971762e-02 -1.77666944e-02 2.47916833e+02] [ 4.10183539e-02 9.99158049e-01 8.29068894e-04 -8.29683792e+00] [ 1.77177463e-02 -1.55700145e-03 9.99841816e-01 3.15915461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53071405699998 meters Centerline goodness [0,1] 0.9764145542808729 Centerline is valid? [True, True] Translation: X:247.95, Y:-8.30, Z:3.16 [[ 9.98979100e-01 -4.15886007e-02 -1.76393058e-02 2.47948668e+02] [ 4.16095890e-02 9.99133606e-01 8.24360804e-04 -8.29807146e+00] [ 1.75897392e-02 -1.55748348e-03 9.99844076e-01 3.15911464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56071405699998 meters Centerline goodness [0,1] 0.973633704989947 Centerline is valid? [True, True] Translation: X:247.98, Y:-8.30, Z:3.16 [[ 9.98886528e-01 -4.34890843e-02 -1.82866955e-02 2.47978821e+02] [ 4.35119724e-02 9.99052539e-01 8.55430535e-04 -8.30386935e+00] [ 1.82321677e-02 -1.65016823e-03 9.99832418e-01 3.15811031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59071405699999 meters Centerline goodness [0,1] 0.9659335131921899 Centerline is valid? [True, True] Translation: X:248.01, Y:-8.31, Z:3.16 [[ 9.98832354e-01 -4.45600004e-02 -1.86637347e-02 2.48010001e+02] [ 4.45840489e-02 9.99005254e-01 8.74202676e-04 -8.30840003e+00] [ 1.86062145e-02 -1.70528677e-03 9.99825435e-01 3.15717427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.620714057 meters Centerline goodness [0,1] 0.9771568380856561 Centerline is valid? [True, True] Translation: X:248.04, Y:-8.30, Z:3.16 [[ 9.98747773e-01 -4.61230007e-02 -1.93792274e-02 2.48041605e+02] [ 4.61492477e-02 9.98934142e-01 9.09130966e-04 -8.29924521e+00] [ 1.93166400e-02 -1.80232929e-03 9.99811792e-01 3.15805737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.650714057 meters Centerline goodness [0,1] 0.9746245113503875 Centerline is valid? [True, True] Translation: X:248.07, Y:-8.31, Z:3.16 [[ 9.98718125e-01 -4.69646949e-02 -1.88792260e-02 2.48072523e+02] [ 4.69897805e-02 9.98894976e-01 8.87093037e-04 -8.30621677e+00] [ 1.88167019e-02 -1.77308658e-03 9.99821378e-01 3.15733708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.680714057 meters Centerline goodness [0,1] 0.9502255228028612 Centerline is valid? [True, True] Translation: X:248.10, Y:-8.32, Z:3.16 [[ 9.98714114e-01 -4.73106296e-02 -1.82159914e-02 2.48103172e+02] [ 4.73340650e-02 9.98878747e-01 8.57292539e-04 -8.31613036e+00] [ 1.81550076e-02 -1.71842708e-03 9.99833708e-01 3.15675385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.710714057 meters Centerline goodness [0,1] 0.9709244080145719 Centerline is valid? [True, True] Translation: X:248.14, Y:-8.31, Z:3.16 [[ 9.98694982e-01 -4.77965829e-02 -1.79949836e-02 2.48135197e+02] [ 4.78195481e-02 9.98855631e-01 8.47834080e-04 -8.31181410e+00] [ 1.79338671e-02 -1.70723962e-03 9.99837718e-01 3.15783590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.740714057 meters Centerline goodness [0,1] 0.9772183074502292 Centerline is valid? [True, True] Translation: X:248.17, Y:-8.31, Z:3.16 [[ 9.98674846e-01 -4.84807238e-02 -1.72676346e-02 2.48166995e+02] [ 4.85019867e-02 9.98822754e-01 8.14473664e-04 -8.30847100e+00] [ 1.72078201e-02 -1.65090894e-03 9.99850572e-01 3.15917115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.770714057 meters Centerline goodness [0,1] 0.9724002645925047 Centerline is valid? [True, True] Translation: X:248.20, Y:-8.31, Z:3.16 [[ 9.98677343e-01 -4.87591595e-02 -1.63128684e-02 2.48198260e+02] [ 4.87781866e-02 9.98809339e-01 7.70304119e-04 -8.31492007e+00] [ 1.62558859e-02 -1.56499741e-03 9.99866640e-01 3.15962849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.800714057 meters Centerline goodness [0,1] 0.9736213757816942 Centerline is valid? [True, True] Translation: X:248.23, Y:-8.31, Z:3.16 [[ 9.98681689e-01 -4.85233215e-02 -1.67442732e-02 2.48230147e+02] [ 4.85433535e-02 9.98820763e-01 7.91751979e-04 -8.31417478e+00] [ 1.66861093e-02 -1.60353138e-03 9.99859491e-01 3.15998453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.830714057 meters Centerline goodness [0,1] 0.9692206046522225 Centerline is valid? [True, True] Translation: X:248.26, Y:-8.32, Z:3.16 [[ 9.98696458e-01 -4.80829861e-02 -1.71292517e-02 2.48260947e+02] [ 4.81039051e-02 9.98842008e-01 8.11081334e-04 -8.31927444e+00] [ 1.70704170e-02 -1.63400796e-03 9.99852955e-01 3.15937736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.860714057 meters Centerline goodness [0,1] 0.9648958523661612 Centerline is valid? [True, True] Translation: X:248.29, Y:-8.32, Z:3.16 [[ 9.98776418e-01 -4.60740743e-02 -1.79679157e-02 2.48291374e+02] [ 4.60967793e-02 9.98936616e-01 8.51308811e-04 -8.32106436e+00] [ 1.79095856e-02 -1.67853021e-03 9.99838202e-01 3.15866265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.890714057 meters Centerline goodness [0,1] 0.9663683273208822 Centerline is valid? [True, True] Translation: X:248.32, Y:-8.32, Z:3.16 [[ 9.98843335e-01 -4.45745931e-02 -1.80304560e-02 2.48321523e+02] [ 4.45972320e-02 9.99004682e-01 8.55264746e-04 -8.32194977e+00] [ 1.79743869e-02 -1.65838392e-03 9.99837072e-01 3.15893562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92071405699997 meters Centerline goodness [0,1] 0.9783749258634061 Centerline is valid? [True, True] Translation: X:248.35, Y:-8.31, Z:3.16 [[ 9.99030542e-01 -4.02437475e-02 -1.78442225e-02 2.48352834e+02] [ 4.02652556e-02 9.99188666e-01 8.47547779e-04 -8.31123949e+00] [ 1.77956364e-02 -1.56522830e-03 9.99840420e-01 3.15963301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95071405699997 meters Centerline goodness [0,1] 0.9785377250446654 Centerline is valid? [True, True] Translation: X:248.38, Y:-8.31, Z:3.16 [[ 9.99136450e-01 -3.76196712e-02 -1.76384360e-02 2.48384276e+02] [ 3.76402858e-02 9.99291002e-01 8.38087526e-04 -8.30847381e+00] [ 1.75944018e-02 -1.50127957e-03 9.99844079e-01 3.15982772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98071405699997 meters Centerline goodness [0,1] 0.9806555122622049 Centerline is valid? [True, True] Translation: X:248.41, Y:-8.31, Z:3.16 [[ 9.99342994e-01 -3.18147387e-02 -1.73609794e-02 2.48414013e+02] [ 3.18338420e-02 9.99492834e-01 8.25047265e-04 -8.30704753e+00] [ 1.73259259e-02 -1.37717188e-03 9.99848946e-01 3.16073101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01071405699997 meters Centerline goodness [0,1] 0.9800450078074768 Centerline is valid? [True, True] Translation: X:248.44, Y:-8.31, Z:3.16 [[ 9.99440836e-01 -2.89812044e-02 -1.66764933e-02 2.48444279e+02] [ 2.89984385e-02 9.99579143e-01 7.92500621e-04 -8.30666801e+00] [ 1.66465072e-02 -1.27564975e-03 9.99860624e-01 3.16133751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04071405699997 meters Centerline goodness [0,1] 0.9803102625298329 Centerline is valid? [True, True] Translation: X:248.47, Y:-8.30, Z:3.16 [[ 9.99605494e-01 -2.36732280e-02 -1.51140510e-02 2.48474252e+02] [ 2.36867810e-02 9.99719171e-01 7.18311591e-04 -8.30486073e+00] [ 1.50928018e-02 -1.07603143e-03 9.99885518e-01 3.16298457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07071405699998 meters Centerline goodness [0,1] 0.9818796421919195 Centerline is valid? [True, True] Translation: X:248.51, Y:-8.30, Z:3.16 [[ 9.99659670e-01 -2.14849059e-02 -1.47967128e-02 2.48505833e+02] [ 2.14976628e-02 9.99768651e-01 7.03609108e-04 -8.30317554e+00] [ 1.47781726e-02 -1.02146439e-03 9.99890275e-01 3.16386033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10071405699998 meters Centerline goodness [0,1] 0.9820298658567451 Centerline is valid? [True, True] Translation: X:248.54, Y:-8.31, Z:3.16 [[ 9.99740644e-01 -1.79042398e-02 -1.40742008e-02 2.48535593e+02] [ 1.79154332e-02 9.99839282e-01 6.69630876e-04 -8.30517731e+00] [ 1.40599496e-02 -9.21602609e-04 9.99900729e-01 3.16373654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13071405699998 meters Centerline goodness [0,1] 0.9814457166505725 Centerline is valid? [True, True] Translation: X:248.57, Y:-8.30, Z:3.16 [[ 9.99750536e-01 -1.68380223e-02 -1.46746805e-02 2.48566756e+02] [ 1.68500774e-02 9.99857784e-01 6.98222498e-04 -8.30483706e+00] [ 1.46608369e-02 -9.45317819e-04 9.99892077e-01 3.16330343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16071405699998 meters Centerline goodness [0,1] 0.9830106586247381 Centerline is valid? [True, True] Translation: X:248.60, Y:-8.31, Z:3.16 [[ 9.99790380e-01 -1.42680744e-02 -1.46839218e-02 2.48596799e+02] [ 1.42798708e-02 9.99897793e-01 6.98817497e-04 -8.30559143e+00] [ 1.46724502e-02 -9.08355518e-04 9.99891941e-01 3.16367191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19071405699998 meters Centerline goodness [0,1] 0.9828939795096121 Centerline is valid? [True, True] Translation: X:248.63, Y:-8.31, Z:3.16 [[ 9.99801659e-01 -1.30154528e-02 -1.50745275e-02 2.48626460e+02] [ 1.30277402e-02 9.99914878e-01 7.17195008e-04 -8.30655583e+00] [ 1.50639097e-02 -9.13439787e-04 9.99886116e-01 3.16357336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22071405699998 meters Centerline goodness [0,1] 0.9841207651532611 Centerline is valid? [True, True] Translation: X:248.66, Y:-8.30, Z:3.16 [[ 9.99820945e-01 -1.07684124e-02 -1.55601897e-02 2.48656768e+02] [ 1.07812265e-02 9.99941607e-01 7.39865914e-04 -8.30176792e+00] [ 1.55513139e-02 -9.07491366e-04 9.99878659e-01 3.16468970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25071405699998 meters Centerline goodness [0,1] 0.9853592179286176 Centerline is valid? [True, True] Translation: X:248.68, Y:-8.31, Z:3.16 [[ 9.99831819e-01 -9.94689099e-03 -1.54075967e-02 2.48684826e+02] [ 9.95933035e-03 9.99950138e-01 7.30832167e-04 -8.30543783e+00] [ 1.53995590e-02 -8.84158600e-04 9.99881029e-01 3.16482137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28071405699998 meters Centerline goodness [0,1] 0.9827661682372186 Centerline is valid? [True, True] Translation: X:248.71, Y:-8.31, Z:3.16 [[ 9.99840773e-01 -8.25741080e-03 -1.58190992e-02 2.48712454e+02] [ 8.27026725e-03 9.99965521e-01 7.47470517e-04 -8.31237743e+00] [ 1.58123816e-02 -8.78179678e-04 9.99874591e-01 3.16377098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31071405699998 meters Centerline goodness [0,1] 0.9833775828235023 Centerline is valid? [True, True] Translation: X:248.74, Y:-8.31, Z:3.16 [[ 9.99837287e-01 -7.81859383e-03 -1.62563635e-02 2.48741052e+02] [ 7.83207279e-03 9.99969036e-01 7.65649565e-04 -8.31482213e+00] [ 1.62498739e-02 -8.92846006e-04 9.99867563e-01 3.16365102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34071405699999 meters Centerline goodness [0,1] 0.9844569116159294 Centerline is valid? [True, True] Translation: X:248.77, Y:-8.31, Z:3.16 [[ 9.99843349e-01 -7.55890108e-03 -1.60043805e-02 2.48769361e+02] [ 7.57187344e-03 9.99971052e-01 7.50109675e-04 -8.31498871e+00] [ 1.59982471e-02 -8.71175313e-04 9.99871640e-01 3.16355847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.370714057 meters Centerline goodness [0,1] 0.9846302295127163 Centerline is valid? [True, True] Translation: X:248.80, Y:-8.31, Z:3.16 [[ 9.99843798e-01 -6.94708040e-03 -1.62517239e-02 2.48798380e+02] [ 6.96031323e-03 9.99975490e-01 7.57820812e-04 -8.31323103e+00] [ 1.62460610e-02 -8.70819528e-04 9.99867645e-01 3.16442112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.400714057 meters Centerline goodness [0,1] 0.9845430569888775 Centerline is valid? [True, True] Translation: X:248.83, Y:-8.32, Z:3.17 [[ 9.99850700e-01 -6.19010488e-03 -1.61325913e-02 2.48825609e+02] [ 6.20300176e-03 9.99980480e-01 7.49513994e-04 -8.31668687e+00] [ 1.61276368e-02 -8.49472584e-04 9.99869580e-01 3.16516675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.430714057 meters Centerline goodness [0,1] 0.984541638953235 Centerline is valid? [True, True] Translation: X:248.85, Y:-8.32, Z:3.17 [[ 9.99855059e-01 -5.96111563e-03 -1.59475876e-02 2.48854475e+02] [ 5.97365078e-03 9.99981885e-01 7.38501035e-04 -8.31843870e+00] [ 1.59428964e-02 -8.33659315e-04 9.99872556e-01 3.16561849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.460714057 meters Centerline goodness [0,1] 0.9863368561014191 Centerline is valid? [True, True] Translation: X:248.88, Y:-8.32, Z:3.17 [[ 9.99862270e-01 -5.63242008e-03 -1.56114572e-02 2.48883805e+02] [ 5.64433600e-03 9.99983812e-01 7.19324091e-04 -8.31598925e+00] [ 1.56071530e-02 -8.07341328e-04 9.99877875e-01 3.16732833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.490714057 meters Centerline goodness [0,1] 0.9852297968810827 Centerline is valid? [True, True] Translation: X:248.91, Y:-8.32, Z:3.17 [[ 9.99863373e-01 -5.43975463e-03 -1.56091432e-02 2.48912490e+02] [ 5.45158558e-03 9.99984884e-01 7.15500100e-04 -8.31817724e+00] [ 1.56050151e-02 -8.00496923e-04 9.99877914e-01 3.16770528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.520714057 meters Centerline goodness [0,1] 0.9852433137340136 Centerline is valid? [True, True] Translation: X:248.94, Y:-8.32, Z:3.17 [[ 9.99861683e-01 -5.75245700e-03 -1.56052718e-02 2.48940754e+02] [ 5.76425599e-03 9.99983134e-01 7.11215794e-04 -8.32031811e+00] [ 1.56009174e-02 -8.01070202e-04 9.99877977e-01 3.16754778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.550714057 meters Centerline goodness [0,1] 0.9856245000571363 Centerline is valid? [True, True] Translation: X:248.97, Y:-8.32, Z:3.17 [[ 9.99845782e-01 -6.53523558e-03 -1.63004094e-02 2.48968412e+02] [ 6.54815352e-03 9.99978287e-01 7.39244899e-04 -8.32492813e+00] [ 1.62952243e-02 -8.45868477e-04 9.99866866e-01 3.16756777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.580714057 meters Centerline goodness [0,1] 0.9861073090610457 Centerline is valid? [True, True] Translation: X:249.00, Y:-8.33, Z:3.17 [[ 9.99849650e-01 -8.34044123e-03 -1.52024534e-02 2.48997684e+02] [ 8.35186471e-03 9.99964886e-01 6.88089158e-04 -8.32806720e+00] [ 1.51961806e-02 -8.14954538e-04 9.99884199e-01 3.16824483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.610714057 meters Centerline goodness [0,1] 0.985247845318984 Centerline is valid? [True, True] Translation: X:249.03, Y:-8.33, Z:3.17 [[ 9.99838564e-01 -9.43846691e-03 -1.52892375e-02 2.49025472e+02] [ 9.45013582e-03 9.99955108e-01 6.91142167e-04 -8.33421802e+00] [ 1.52820278e-02 -8.35515962e-04 9.99882874e-01 3.16814804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.640714057 meters Centerline goodness [0,1] 0.9859276801165862 Centerline is valid? [True, True] Translation: X:249.05, Y:-8.34, Z:3.17 [[ 9.99808418e-01 -1.11229443e-02 -1.61061357e-02 2.49054530e+02] [ 1.11360922e-02 9.99937728e-01 7.26869012e-04 -8.33598855e+00] [ 1.60970478e-02 -9.06089168e-04 9.99870024e-01 3.16790894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67071405699997 meters Centerline goodness [0,1] 0.9849452554744526 Centerline is valid? [True, True] Translation: X:249.08, Y:-8.34, Z:3.17 [[ 9.99786899e-01 -1.17483002e-02 -1.69745054e-02 2.49082280e+02] [ 1.17629739e-02 9.99930521e-01 7.64865812e-04 -8.34297084e+00] [ 1.69643401e-02 -9.64373482e-04 9.99855630e-01 3.16680178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70071405699997 meters Centerline goodness [0,1] 0.9866617942627444 Centerline is valid? [True, True] Translation: X:249.11, Y:-8.34, Z:3.17 [[ 9.99757074e-01 -1.22974889e-02 -1.82911309e-02 2.49110892e+02] [ 1.23145883e-02 9.99923834e-01 8.22502219e-04 -8.33643109e+00] [ 1.82796231e-02 -1.04755016e-03 9.99832365e-01 3.16716119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73071405699997 meters Centerline goodness [0,1] 0.9865742745777393 Centerline is valid? [True, True] Translation: X:249.14, Y:-8.34, Z:3.17 [[ 9.99746666e-01 -1.22738749e-02 -1.88667999e-02 2.49137919e+02] [ 1.22920240e-02 9.99924092e-01 8.46287775e-04 -8.34223352e+00] [ 1.88549805e-02 -1.07798454e-03 9.99821648e-01 3.16640903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76071405699997 meters Centerline goodness [0,1] 0.9857399123504167 Centerline is valid? [True, True] Translation: X:249.17, Y:-8.34, Z:3.17 [[ 9.99751922e-01 -1.15820266e-02 -1.90250348e-02 2.49165324e+02] [ 1.16003182e-02 9.99932352e-01 8.51369648e-04 -8.34492539e+00] [ 1.90138872e-02 -1.07185490e-03 9.99818645e-01 3.16617295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79071405699997 meters Centerline goodness [0,1] 0.9860449207616008 Centerline is valid? [True, True] Translation: X:249.19, Y:-8.35, Z:3.17 [[ 9.99755847e-01 -1.10153041e-02 -1.91548799e-02 2.49193658e+02] [ 1.10336806e-02 9.99938762e-01 8.53942659e-04 -8.34661799e+00] [ 1.91443005e-02 -1.06508299e-03 9.99816164e-01 3.16661134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82071405699998 meters Centerline goodness [0,1] 0.9856231120397919 Centerline is valid? [True, True] Translation: X:249.22, Y:-8.35, Z:3.17 [[ 9.99774002e-01 -9.76556352e-03 -1.88832732e-02 2.49222744e+02] [ 9.78311872e-03 9.99951793e-01 8.37513673e-04 -8.34772844e+00] [ 1.88741842e-02 -1.02206170e-03 9.99821344e-01 3.16713162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85071405699998 meters Centerline goodness [0,1] 0.9866402658291229 Centerline is valid? [True, True] Translation: X:249.25, Y:-8.35, Z:3.17 [[ 9.99777471e-01 -9.57246465e-03 -1.87983335e-02 2.49251270e+02] [ 9.58974686e-03 9.99953673e-01 8.29417370e-04 -8.34826069e+00] [ 1.87895231e-02 -1.00950406e-03 9.99822952e-01 3.16783924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88071405699998 meters Centerline goodness [0,1] 0.9854092445937054 Centerline is valid? [True, True] Translation: X:249.28, Y:-8.35, Z:3.17 [[ 9.99784695e-01 -9.17434709e-03 -1.86116699e-02 2.49280507e+02] [ 9.19114021e-03 9.99957427e-01 8.16949970e-04 -8.34970281e+00] [ 1.86033826e-02 -9.87836545e-04 9.99826454e-01 3.16849076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91071405699998 meters Centerline goodness [0,1] 0.9870821014327951 Centerline is valid? [True, True] Translation: X:249.31, Y:-8.35, Z:3.17 [[ 9.99800827e-01 -8.99588412e-03 -1.78151906e-02 2.49309175e+02] [ 9.01116959e-03 9.99959096e-01 7.77911649e-04 -8.34591707e+00] [ 1.78074639e-02 -9.38292413e-04 9.99840994e-01 3.17031576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94071405699998 meters Centerline goodness [0,1] 0.9854512389179358 Centerline is valid? [True, True] Translation: X:249.34, Y:-8.35, Z:3.17 [[ 9.99791951e-01 -1.03683116e-02 -1.75656735e-02 2.49337449e+02] [ 1.03833313e-02 9.99945800e-01 7.64070552e-04 -8.34891569e+00] [ 1.75567993e-02 -9.46301796e-04 9.99845420e-01 3.17049795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97071405699998 meters Centerline goodness [0,1] 0.9862998111103525 Centerline is valid? [True, True] Translation: X:249.37, Y:-8.35, Z:3.17 [[ 9.99772320e-01 -1.20421260e-02 -1.76152021e-02 2.49367207e+02] [ 1.20574702e-02 9.99927013e-01 7.65124186e-04 -8.34999919e+00] [ 1.76047027e-02 -9.77344757e-04 9.99844548e-01 3.17139927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00071405699998 meters Centerline goodness [0,1] 0.984736281903209 Centerline is valid? [True, True] Translation: X:249.40, Y:-8.36, Z:3.17 [[ 9.99709979e-01 -1.65688631e-02 -1.74765604e-02 2.49396270e+02] [ 1.65846468e-02 9.99862178e-01 7.58580016e-04 -8.35648047e+00] [ 1.74615829e-02 -1.04820259e-03 9.99846985e-01 3.17103105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03071405699998 meters Centerline goodness [0,1] 0.9852723925543763 Centerline is valid? [True, True] Translation: X:249.43, Y:-8.36, Z:3.17 [[ 9.99636165e-01 -1.97096495e-02 -1.84137645e-02 2.49426782e+02] [ 1.97276984e-02 9.99805071e-01 7.99034017e-04 -8.35965145e+00] [ 1.83944265e-02 -1.16200449e-03 9.99830133e-01 3.17135716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06071405699998 meters Centerline goodness [0,1] 0.9850651558073654 Centerline is valid? [True, True] Translation: X:249.46, Y:-8.37, Z:3.17 [[ 9.99519908e-01 -2.51533780e-02 -1.80903790e-02 2.49455604e+02] [ 2.51716889e-02 9.99682835e-01 7.85160904e-04 -8.36760397e+00] [ 1.80648919e-02 -1.24014934e-03 9.99836047e-01 3.17092000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09071405699999 meters Centerline goodness [0,1] 0.9846285804573054 Centerline is valid? [True, True] Translation: X:249.49, Y:-8.37, Z:3.17 [[ 9.99460115e-01 -2.78709123e-02 -1.73980269e-02 2.49485308e+02] [ 2.78882604e-02 9.99610762e-01 7.55260520e-04 -8.37385171e+00] [ 1.73702051e-02 -1.24005347e-03 9.99848358e-01 3.17142312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.120714057 meters Centerline goodness [0,1] 0.9831821149559853 Centerline is valid? [True, True] Translation: X:249.52, Y:-8.38, Z:3.17 [[ 9.99286088e-01 -3.32418413e-02 -1.79525792e-02 2.49515609e+02] [ 3.32611805e-02 9.99446390e-01 7.79643538e-04 -8.37971907e+00] [ 1.79167237e-02 -1.37621092e-03 9.99838535e-01 3.17194454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.150714057 meters Centerline goodness [0,1] 0.9833054714679438 Centerline is valid? [True, True] Translation: X:249.55, Y:-8.38, Z:3.17 [[ 9.99212110e-01 -3.53498213e-02 -1.80429891e-02 2.49545653e+02] [ 3.53697056e-02 9.99373989e-01 7.84033597e-04 -8.38499831e+00] [ 1.80039785e-02 -1.42159108e-03 9.99836905e-01 3.17204621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.180714057 meters Centerline goodness [0,1] 0.9817241223512402 Centerline is valid? [True, True] Translation: X:249.58, Y:-8.39, Z:3.17 [[ 9.99060123e-01 -3.86834445e-02 -1.95566366e-02 2.49576050e+02] [ 3.87074441e-02 9.99250225e-01 8.50007117e-04 -8.38940929e+00] [ 1.95090923e-02 -1.60619563e-03 9.99808389e-01 3.17071686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.210714057 meters Centerline goodness [0,1] 0.9820238928660148 Centerline is valid? [True, True] Translation: X:249.61, Y:-8.39, Z:3.17 [[ 9.99019297e-01 -3.94977479e-02 -2.00092771e-02 2.49608152e+02] [ 3.95230496e-02 9.99218280e-01 8.70472907e-04 -8.39262096e+00] [ 1.99592538e-02 -1.66044689e-03 9.99799415e-01 3.17058171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.240714057 meters Centerline goodness [0,1] 0.9797245427861819 Centerline is valid? [True, True] Translation: X:249.64, Y:-8.40, Z:3.17 [[ 9.99000294e-01 -3.99358417e-02 -2.00883543e-02 2.49639970e+02] [ 3.99614594e-02 9.99200838e-01 8.75294621e-04 -8.39528641e+00] [ 2.00373448e-02 -1.67717954e-03 9.99797826e-01 3.17053724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.270714057 meters Centerline goodness [0,1] 0.9797245427861819 Centerline is valid? [True, True] Translation: X:249.67, Y:-8.40, Z:3.17 [[ 9.99003026e-01 -3.98674513e-02 -2.00882943e-02 2.49671743e+02] [ 3.98930828e-02 9.99203570e-01 8.76669321e-04 -8.39673754e+00] [ 2.00373448e-02 -1.67717929e-03 9.99797826e-01 3.17082085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.300714057 meters Centerline goodness [0,1] 0.9803367612159566 Centerline is valid? [True, True] Translation: X:249.70, Y:-8.40, Z:3.17 [[ 9.99005682e-01 -3.97952589e-02 -2.00993863e-02 2.49703751e+02] [ 3.98209318e-02 9.99206446e-01 8.78530130e-04 -8.39833357e+00] [ 2.00484750e-02 -1.67803288e-03 9.99797601e-01 3.17156159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.330714057 meters Centerline goodness [0,1] 0.9844249472896688 Centerline is valid? [True, True] Translation: X:249.73, Y:-8.39, Z:3.17 [[ 9.99097591e-01 -3.78387930e-02 -1.92932443e-02 2.49734236e+02] [ 3.78620964e-02 9.99282617e-01 8.43879533e-04 -8.39386430e+00] [ 1.92474723e-02 -1.57360069e-03 9.99813512e-01 3.17401538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.360714057 meters Centerline goodness [0,1] 0.9811742903634062 Centerline is valid? [True, True] Translation: X:249.76, Y:-8.40, Z:3.17 [[ 9.99170766e-01 -3.64091213e-02 -1.82251483e-02 2.49764086e+02] [ 3.64296821e-02 9.99335901e-01 7.97325322e-04 -8.39945206e+00] [ 1.81840150e-02 -1.46060051e-03 9.99833590e-01 3.17459702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.390714057 meters Centerline goodness [0,1] 0.9833061520340672 Centerline is valid? [True, True] Translation: X:249.80, Y:-8.39, Z:3.18 [[ 9.99264301e-01 -3.42184864e-02 -1.73191475e-02 2.49795294e+02] [ 3.42367316e-02 9.99413464e-01 7.57982364e-04 -8.39401189e+00] [ 1.72830521e-02 -1.35037572e-03 9.99849725e-01 3.17678328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42071405699997 meters Centerline goodness [0,1] 0.985647128290146 Centerline is valid? [True, True] Translation: X:249.83, Y:-8.39, Z:3.18 [[ 9.99315214e-01 -3.30090443e-02 -1.67184483e-02 2.49827138e+02] [ 3.30258867e-02 9.99454228e-01 7.32252699e-04 -8.39065040e+00] [ 1.66851529e-02 -1.28389284e-03 9.99859969e-01 3.17775830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45071405699997 meters Centerline goodness [0,1] 0.981068764595189 Centerline is valid? [True, True] Translation: X:249.86, Y:-8.40, Z:3.18 [[ 9.99349015e-01 -3.19389564e-02 -1.67764483e-02 2.49857852e+02] [ 3.19557806e-02 9.99489013e-01 7.35668329e-04 -8.39890742e+00] [ 1.67443792e-02 -1.27129392e-03 9.99858995e-01 3.17703493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48071405699997 meters Centerline goodness [0,1] 0.9779463535397125 Centerline is valid? [True, True] Translation: X:249.89, Y:-8.40, Z:3.18 [[ 9.99376883e-01 -3.08019697e-02 -1.72361346e-02 2.49888019e+02] [ 3.08195710e-02 9.99524678e-01 7.56432624e-04 -8.40254030e+00] [ 1.72046423e-02 -1.28717155e-03 9.99851161e-01 3.17573388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51071405699997 meters Centerline goodness [0,1] 0.985992553577915 Centerline is valid? [True, True] Translation: X:249.92, Y:-8.39, Z:3.18 [[ 9.99386129e-01 -2.99748217e-02 -1.81348990e-02 2.49920401e+02] [ 2.99941859e-02 9.99549756e-01 7.96676510e-04 -8.39305646e+00] [ 1.81028536e-02 -1.34012899e-03 9.99835232e-01 3.17615139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54071405699997 meters Centerline goodness [0,1] 0.9868023533153124 Centerline is valid? [True, True] Translation: X:249.95, Y:-8.39, Z:3.18 [[ 9.99373999e-01 -3.00038796e-02 -1.87450775e-02 2.49953019e+02] [ 3.00245994e-02 9.99548820e-01 8.24829545e-04 -8.39128023e+00] [ 1.87118720e-02 -1.38712664e-03 9.99823955e-01 3.17631757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57071405699998 meters Centerline goodness [0,1] 0.9850556438791733 Centerline is valid? [True, True] Translation: X:249.98, Y:-8.40, Z:3.18 [[ 9.99357206e-01 -3.01736814e-02 -1.93577665e-02 2.49984434e+02] [ 3.01958432e-02 9.99543637e-01 8.53522631e-04 -8.39776530e+00] [ 1.93231785e-02 -1.43749808e-03 9.99812257e-01 3.17518201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60071405699998 meters Centerline goodness [0,1] 0.9876422616478499 Centerline is valid? [True, True] Translation: X:250.02, Y:-8.39, Z:3.17 [[ 9.99336319e-01 -3.01085253e-02 -2.05035980e-02 2.50015789e+02] [ 3.01334037e-02 9.99545476e-01 9.05427588e-04 -8.39478383e+00] [ 2.04670175e-02 -1.52266987e-03 9.99789369e-01 3.17437707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63071405699998 meters Centerline goodness [0,1] 0.9860953333030399 Centerline is valid? [True, True] Translation: X:250.05, Y:-8.40, Z:3.17 [[ 9.99323521e-01 -2.99066594e-02 -2.14030971e-02 2.50045779e+02] [ 2.99337348e-02 9.99551438e-01 9.45698285e-04 -8.40036641e+00] [ 2.13652138e-02 -1.58573317e-03 9.99770480e-01 3.17339203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66071405699998 meters Centerline goodness [0,1] 0.986404115021187 Centerline is valid? [True, True] Translation: X:250.08, Y:-8.40, Z:3.17 [[ 9.99362346e-01 -2.85594433e-02 -2.14303651e-02 2.50077097e+02] [ 2.85862925e-02 9.99590879e-01 9.47500191e-04 -8.39830339e+00] [ 2.13945374e-02 -1.55951070e-03 9.99769894e-01 3.17407946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69071405699998 meters Centerline goodness [0,1] 0.9865033741564608 Centerline is valid? [True, True] Translation: X:250.11, Y:-8.40, Z:3.17 [[ 9.99392772e-01 -2.76541691e-02 -2.11975090e-02 2.50107340e+02] [ 2.76802463e-02 9.99616389e-01 9.37728016e-04 -8.40042962e+00] [ 2.11634453e-02 -1.52391087e-03 9.99774868e-01 3.17466496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72071405699998 meters Centerline goodness [0,1] 0.9873098178344818 Centerline is valid? [True, True] Translation: X:250.14, Y:-8.39, Z:3.18 [[ 9.99473571e-01 -2.54837972e-02 -2.00787460e-02 2.50138135e+02] [ 2.55067611e-02 9.99674255e-01 8.88382881e-04 -8.39300556e+00] [ 2.00495660e-02 -1.40005899e-03 9.99798007e-01 3.17757600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75071405699998 meters Centerline goodness [0,1] 0.984631473650707 Centerline is valid? [True, True] Translation: X:250.17, Y:-8.40, Z:3.18 [[ 9.99522402e-01 -2.39455574e-02 -1.95340118e-02 2.50167286e+02] [ 2.39670052e-02 9.99712376e-01 8.64568536e-04 -8.40270115e+00] [ 1.95076908e-02 -1.33232738e-03 9.99808819e-01 3.17726117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78071405699998 meters Centerline goodness [0,1] 0.9862618647531677 Centerline is valid? [True, True] Translation: X:250.20, Y:-8.40, Z:3.18 [[ 9.99564581e-01 -2.25104510e-02 -1.90768866e-02 2.50198334e+02] [ 2.25306509e-02 9.99745796e-01 8.44571907e-04 -8.39622101e+00] [ 1.90530255e-02 -1.27401884e-03 9.99817663e-01 3.17945449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81071405699998 meters Centerline goodness [0,1] 0.9869707581063258 Centerline is valid? [True, True] Translation: X:250.23, Y:-8.40, Z:3.18 [[ 9.99634298e-01 -2.00056904e-02 -1.81945856e-02 2.50229369e+02] [ 2.00236545e-02 9.99799182e-01 8.05673310e-04 -8.39643916e+00] [ 1.81748138e-02 -1.16970077e-03 9.99834140e-01 3.18051333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84071405699999 meters Centerline goodness [0,1] 0.9868968811847403 Centerline is valid? [True, True] Translation: X:250.26, Y:-8.40, Z:3.18 [[ 9.99662928e-01 -1.89444329e-02 -1.77521407e-02 2.50259629e+02] [ 1.89613699e-02 9.99819908e-01 7.86233847e-04 -8.39701286e+00] [ 1.77340490e-02 -1.12257374e-03 9.99842109e-01 3.18100035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.870714057 meters Centerline goodness [0,1] 0.9868439022169618 Centerline is valid? [True, True] Translation: X:250.29, Y:-8.40, Z:3.18 [[ 9.99706772e-01 -1.62909407e-02 -1.79157710e-02 2.50288884e+02] [ 1.63077613e-02 9.99866705e-01 7.93169896e-04 -8.39791791e+00] [ 1.79004614e-02 -1.08510343e-03 9.99839185e-01 3.18093721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.900714057 meters Centerline goodness [0,1] 0.9872206656188068 Centerline is valid? [True, True] Translation: X:250.32, Y:-8.40, Z:3.18 [[ 9.99725087e-01 -1.47752686e-02 -1.82055719e-02 2.50318874e+02] [ 1.47923759e-02 9.99890262e-01 8.05362971e-04 -8.39677503e+00] [ 1.81916746e-02 -1.07444523e-03 9.99833940e-01 3.18167781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.930714057 meters Centerline goodness [0,1] 0.9864178118092113 Centerline is valid? [True, True] Translation: X:250.35, Y:-8.40, Z:3.18 [[ 9.99727080e-01 -1.21232912e-02 -1.99697790e-02 2.50347958e+02] [ 1.21433338e-02 9.99925877e-01 8.82684172e-04 -8.39586157e+00] [ 1.99575978e-02 -1.12494296e-03 9.99800194e-01 3.18120544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.960714057 meters Centerline goodness [0,1] 0.9876964362875532 Centerline is valid? [True, True] Translation: X:250.38, Y:-8.40, Z:3.18 [[ 9.99743127e-01 -1.04957126e-02 -2.00878322e-02 2.50375655e+02] [ 1.05156402e-02 9.99944316e-01 8.86645900e-04 -8.39679543e+00] [ 2.00774077e-02 -1.09765456e-03 9.99797826e-01 3.18118545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.990714057 meters Centerline goodness [0,1] 0.9877515708951826 Centerline is valid? [True, True] Translation: X:250.40, Y:-8.40, Z:3.18 [[ 9.99762121e-01 -7.07919707e-03 -2.06297386e-02 2.50404490e+02] [ 7.09946516e-03 9.99974385e-01 9.09396487e-04 -8.39650416e+00] [ 2.06227724e-02 -1.05564027e-03 9.99786771e-01 3.18115159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.020714057 meters Centerline goodness [0,1] 0.9884931506849315 Centerline is valid? [True, True] Translation: X:250.43, Y:-8.39, Z:3.18 [[ 9.99773519e-01 -5.34471482e-03 -2.05996117e-02 2.50433899e+02] [ 5.36449453e-03 9.99985201e-01 9.05058319e-04 -8.38970500e+00] [ 2.05944696e-02 -1.01535985e-03 9.99787396e-01 3.18332551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.050714057 meters Centerline goodness [0,1] 0.9891903009804146 Centerline is valid? [True, True] Translation: X:250.46, Y:-8.39, Z:3.18 [[ 9.99794131e-01 -1.38701085e-03 -2.02428306e-02 2.50463111e+02] [ 1.40525258e-03 9.99998619e-01 8.86948505e-04 -8.38919048e+00] [ 2.02415724e-02 -9.15212200e-04 9.99794699e-01 3.18417530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.080714057 meters Centerline goodness [0,1] 0.9890362873814734 Centerline is valid? [True, True] Translation: X:250.49, Y:-8.39, Z:3.18 [[ 9.99805913e-01 3.40004359e-04 -1.96982266e-02 2.50491921e+02] [-3.23086694e-04 9.99999576e-01 8.62018071e-04 -8.38925160e+00] [ 1.96985114e-02 -8.55486530e-04 9.99805600e-01 3.18484400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.110714057 meters Centerline goodness [0,1] 0.988600466968823 Centerline is valid? [True, True] Translation: X:250.52, Y:-8.39, Z:3.19 [[ 9.99818087e-01 3.20519454e-03 -1.88020941e-02 2.50521695e+02] [-3.19030499e-03 9.99994573e-01 8.21850797e-04 -8.38792578e+00] [ 1.88046263e-02 -7.61716877e-04 9.99822887e-01 3.18629795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.140714057 meters Centerline goodness [0,1] 0.9893802069028655 Centerline is valid? [True, True] Translation: X:250.55, Y:-8.39, Z:3.19 [[ 9.99817700e-01 4.54171772e-03 -1.85455900e-02 2.50549230e+02] [-4.52749009e-03 9.99989424e-01 8.09085076e-04 -8.39038373e+00] [ 1.85490685e-02 -7.24972605e-04 9.99827688e-01 3.18672564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17071405699997 meters Centerline goodness [0,1] 0.9890834191555098 Centerline is valid? [True, True] Translation: X:250.58, Y:-8.39, Z:3.19 [[ 9.99822771e-01 5.53599696e-03 -1.79938690e-02 2.50578503e+02] [-5.52279601e-03 9.99984443e-01 7.83245798e-04 -8.38915974e+00] [ 1.79979251e-02 -6.83730516e-04 9.99837790e-01 3.18769623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20071405699997 meters Centerline goodness [0,1] 0.9890663082845493 Centerline is valid? [True, True] Translation: X:250.61, Y:-8.39, Z:3.19 [[ 9.99826965e-01 5.44238466e-03 -1.77882026e-02 2.50605370e+02] [-5.42950004e-03 9.99984962e-01 7.72549869e-04 -8.39163399e+00] [ 1.77921396e-02 -6.75835144e-04 9.99841479e-01 3.18750314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23071405699997 meters Centerline goodness [0,1] 0.9887103777681285 Centerline is valid? [True, True] Translation: X:250.63, Y:-8.40, Z:3.19 [[ 9.99816068e-01 3.89832336e-03 -1.87785453e-02 2.50632466e+02] [-3.88373048e-03 9.99992127e-01 8.13509883e-04 -8.40053879e+00] [ 1.87815688e-02 -7.40429444e-04 9.99823337e-01 3.18543427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26071405699997 meters Centerline goodness [0,1] 0.9879968965359864 Centerline is valid? [True, True] Translation: X:250.66, Y:-8.40, Z:3.18 [[ 9.99807501e-01 2.66084036e-03 -1.94391367e-02 2.50661200e+02] [-2.64499852e-03 9.99996149e-01 8.40610747e-04 -8.40380615e+00] [ 1.94412985e-02 -7.89032443e-04 9.99810689e-01 3.18466070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29071405699997 meters Centerline goodness [0,1] 0.9875175888520721 Centerline is valid? [True, True] Translation: X:250.69, Y:-8.41, Z:3.18 [[ 9.99795031e-01 1.33189815e-03 -2.02020327e-02 2.50690046e+02] [-1.31454482e-03 9.99998756e-01 8.72244870e-04 -8.40751496e+00] [ 2.02031693e-02 -8.45509609e-04 9.99795538e-01 3.18377116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32071405699998 meters Centerline goodness [0,1] 0.98838238297293 Centerline is valid? [True, True] Translation: X:250.72, Y:-8.41, Z:3.18 [[ 9.99754021e-01 -9.64502493e-04 -2.21577733e-02 2.50718390e+02] [ 9.85913523e-04 9.99999058e-01 9.55394986e-04 -8.41302422e+00] [ 2.21568309e-02 -9.77005627e-04 9.99754030e-01 3.18163624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35071405699998 meters Centerline goodness [0,1] 0.9891583517057981 Centerline is valid? [True, True] Translation: X:250.75, Y:-8.41, Z:3.18 [[ 9.99738919e-01 -1.70874906e-03 -2.27853752e-02 2.50747291e+02] [ 1.73155157e-03 9.99998020e-01 9.81059962e-04 -8.41145471e+00] [ 2.27836537e-02 -1.02025788e-03 9.99739898e-01 3.18219448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38071405699998 meters Centerline goodness [0,1] 0.9903282465384703 Centerline is valid? [True, True] Translation: X:250.78, Y:-8.41, Z:3.18 [[ 9.99714247e-01 -1.77826338e-03 -2.38382301e-02 2.50776259e+02] [ 1.80314236e-03 9.99997852e-01 1.02220430e-03 -8.41431431e+00] [ 2.38363612e-02 -1.06489592e-03 9.99715306e-01 3.18186547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41071405699998 meters Centerline goodness [0,1] 0.9891537164471585 Centerline is valid? [True, True] Translation: X:250.80, Y:-8.42, Z:3.18 [[ 9.99714830e-01 -1.64498435e-03 -2.38233661e-02 2.50804104e+02] [ 1.66971411e-03 9.99998088e-01 1.01819173e-03 -8.41601352e+00] [ 2.38216457e-02 -1.05767958e-03 9.99715665e-01 3.18223389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44071405699998 meters Centerline goodness [0,1] 0.9899577407188622 Centerline is valid? [True, True] Translation: X:250.83, Y:-8.41, Z:3.19 [[ 9.99726013e-01 1.01733087e-04 -2.34070114e-02 2.50832936e+02] [-7.83796983e-05 9.99999498e-01 9.98624404e-04 -8.41151587e+00] [ 2.34071012e-02 -9.96516159e-04 9.99725520e-01 3.18536758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47071405699998 meters Centerline goodness [0,1] 0.9904142494561277 Centerline is valid? [True, True] Translation: X:250.86, Y:-8.41, Z:3.19 [[ 9.99745637e-01 4.52138166e-04 -2.25490038e-02 2.50861948e+02] [-4.30646073e-04 9.99999448e-01 9.57975104e-04 -8.41189636e+00] [ 2.25494245e-02 -9.48020790e-04 9.99745280e-01 3.18632153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50071405699998 meters Centerline goodness [0,1] 0.989877161055505 Centerline is valid? [True, True] Translation: X:250.89, Y:-8.41, Z:3.19 [[ 9.99781842e-01 1.09847616e-03 -2.08581390e-02 2.50890055e+02] [-1.08033306e-03 9.99999028e-01 8.81081259e-04 -8.41305164e+00] [ 2.08590865e-02 -8.58355307e-04 9.99782057e-01 3.18878506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53071405699998 meters Centerline goodness [0,1] 0.9891190530389256 Centerline is valid? [True, True] Translation: X:250.92, Y:-8.41, Z:3.19 [[ 9.99806144e-01 1.42720749e-03 -1.96376716e-02 2.50919041e+02] [-1.41124536e-03 9.99998663e-01 8.26666219e-04 -8.41401563e+00] [ 1.96388251e-02 -7.98792391e-04 9.99806821e-01 3.19011455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56071405699998 meters Centerline goodness [0,1] 0.9898980706224972 Centerline is valid? [True, True] Translation: X:250.95, Y:-8.42, Z:3.19 [[ 9.99832961e-01 1.14311553e-03 -1.82412437e-02 2.50947735e+02] [-1.12931881e-03 9.99999068e-01 7.66630848e-04 -8.41576053e+00] [ 1.82421030e-02 -7.45902612e-04 9.99833321e-01 3.19096217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59071405699999 meters Centerline goodness [0,1] 0.98876506297001 Centerline is valid? [True, True] Translation: X:250.98, Y:-8.42, Z:3.19 [[ 9.99859986e-01 6.28982383e-04 -1.67215976e-02 2.50975544e+02] [-6.17338395e-04 9.99999563e-01 7.01496900e-04 -8.41935333e+00] [ 1.67220316e-02 -6.91075797e-04 9.99859938e-01 3.19195065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.620714057 meters Centerline goodness [0,1] 0.9884340628189137 Centerline is valid? [True, True] Translation: X:251.00, Y:-8.42, Z:3.19 [[ 9.99858243e-01 -6.88917201e-04 -1.68231588e-02 2.51004051e+02] [ 7.00866644e-04 9.99999506e-01 7.04411701e-04 -8.42211484e+00] [ 1.68226652e-02 -7.16102637e-04 9.99858233e-01 3.19167895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.650714057 meters Centerline goodness [0,1] 0.9875789091239384 Centerline is valid? [True, True] Translation: X:251.03, Y:-8.43, Z:3.19 [[ 9.99817885e-01 -5.13475519e-03 -1.83801791e-02 2.51034576e+02] [ 5.14975635e-03 9.99986444e-01 7.68921504e-04 -8.42666922e+00] [ 1.83759818e-02 -8.63434916e-04 9.99830775e-01 3.18990912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.680714057 meters Centerline goodness [0,1] 0.9879167802307622 Centerline is valid? [True, True] Translation: X:251.06, Y:-8.43, Z:3.19 [[ 9.99777131e-01 -8.12153534e-03 -1.94866479e-02 2.51062807e+02] [ 8.13894868e-03 9.99966547e-01 8.14460899e-04 -8.43300910e+00] [ 1.94793813e-02 -9.72880208e-04 9.99809786e-01 3.18875762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.710714057 meters Centerline goodness [0,1] 0.9883626154682122 Centerline is valid? [True, True] Translation: X:251.09, Y:-8.44, Z:3.19 [[ 9.99729917e-01 -1.11484096e-02 -2.03913252e-02 2.51092516e+02] [ 1.11680881e-02 9.99937272e-01 8.51415174e-04 -8.43735773e+00] [ 2.03805542e-02 -1.07891734e-03 9.99791713e-01 3.18799660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.740714057 meters Centerline goodness [0,1] 0.9868937212308111 Centerline is valid? [True, True] Translation: X:251.12, Y:-8.45, Z:3.19 [[ 9.99607508e-01 -1.74731674e-02 -2.18978901e-02 2.51122040e+02] [ 1.74973663e-02 9.99846492e-01 9.13951409e-04 -8.44572972e+00] [ 2.18785589e-02 -1.29674809e-03 9.99759795e-01 3.18678250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.770714057 meters Centerline goodness [0,1] 0.9862650438566669 Centerline is valid? [True, True] Translation: X:251.15, Y:-8.45, Z:3.19 [[ 9.99535413e-01 -2.06187305e-02 -2.24460542e-02 2.51152346e+02] [ 2.06449382e-02 9.99786432e-01 9.36457620e-04 -8.44922769e+00] [ 2.24219519e-02 -1.39941996e-03 9.99747617e-01 3.18658490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.800714057 meters Centerline goodness [0,1] 0.9862425536697763 Centerline is valid? [True, True] Translation: X:251.18, Y:-8.45, Z:3.19 [[ 9.99445847e-01 -2.44403581e-02 -2.25979822e-02 2.51182742e+02] [ 2.44678891e-02 9.99700172e-01 9.42556824e-04 -8.45159922e+00] [ 2.25681702e-02 -1.49495942e-03 9.99744189e-01 3.18717099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.830714057 meters Centerline goodness [0,1] 0.9872211686083265 Centerline is valid? [True, True] Translation: X:251.21, Y:-8.45, Z:3.19 [[ 9.99405922e-01 -2.59777866e-02 -2.26485839e-02 2.51212704e+02] [ 2.60058271e-02 9.99661345e-01 9.44367144e-04 -8.44974574e+00] [ 2.26163813e-02 -1.53280127e-03 9.99743042e-01 3.18844304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.860714057 meters Centerline goodness [0,1] 0.986442442623693 Centerline is valid? [True, True] Translation: X:251.24, Y:-8.45, Z:3.19 [[ 9.99394929e-01 -2.69084882e-02 -2.20387935e-02 2.51242325e+02] [ 2.69352555e-02 9.99636758e-01 9.18557277e-04 -8.45251746e+00] [ 2.20060711e-02 -1.51162202e-03 9.99756694e-01 3.18900955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.890714057 meters Centerline goodness [0,1] 0.986292058457007 Centerline is valid? [True, True] Translation: X:251.27, Y:-8.45, Z:3.19 [[ 9.99411616e-01 -2.76191621e-02 -2.03372283e-02 2.51272651e+02] [ 2.76420983e-02 9.99617525e-01 8.47493231e-04 -8.45333711e+00] [ 2.03060427e-02 -1.40915824e-03 9.99792818e-01 3.19058055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92071405699997 meters Centerline goodness [0,1] 0.9858874164684562 Centerline is valid? [True, True] Translation: X:251.30, Y:-8.45, Z:3.19 [[ 9.99423464e-01 -2.73896428e-02 -2.00635755e-02 2.51304146e+02] [ 2.74119275e-02 9.99623873e-01 8.36476284e-04 -8.45409143e+00] [ 2.00331183e-02 -1.38597530e-03 9.99798356e-01 3.19110922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95071405699997 meters Centerline goodness [0,1] 0.9855297856514977 Centerline is valid? [True, True] Translation: X:251.34, Y:-8.45, Z:3.19 [[ 9.99467263e-01 -2.67460534e-02 -1.87039652e-02 2.51336066e+02] [ 2.67653222e-02 9.99641440e-01 7.80586596e-04 -8.45490388e+00] [ 1.86763811e-02 -1.28078840e-03 9.99824761e-01 3.19233013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98071405699997 meters Centerline goodness [0,1] 0.9858151214877154 Centerline is valid? [True, True] Translation: X:251.37, Y:-8.45, Z:3.19 [[ 9.99467465e-01 -2.71843549e-02 -1.80498271e-02 2.51367177e+02] [ 2.72023842e-02 9.99629662e-01 7.54047482e-04 -8.45490642e+00] [ 1.80226443e-02 -1.24464426e-03 9.99836804e-01 3.19282764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.010714057 meters Centerline goodness [0,1] 0.9836897671900379 Centerline is valid? [True, True] Translation: X:251.40, Y:-8.46, Z:3.19 [[ 9.99443392e-01 -2.85101365e-02 -1.73227823e-02 2.51398768e+02] [ 2.85269506e-02 9.99592761e-01 7.24261529e-04 -8.45619145e+00] [ 1.72950790e-02 -1.21802455e-03 9.99849687e-01 3.19352570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.040714057 meters Centerline goodness [0,1] 0.984719478691279 Centerline is valid? [True, True] Translation: X:251.43, Y:-8.46, Z:3.19 [[ 9.99396890e-01 -3.00307235e-02 -1.74359353e-02 2.51430379e+02] [ 3.00479988e-02 9.99548191e-01 7.29600927e-04 -8.45649742e+00] [ 1.74061471e-02 -1.25307586e-03 9.99847716e-01 3.19383025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07071405700003 meters Centerline goodness [0,1] 0.9819074111766968 Centerline is valid? [True, True] Translation: X:251.46, Y:-8.46, Z:3.19 [[ 9.99348635e-01 -3.13440797e-02 -1.78844751e-02 2.51460745e+02] [ 3.13624759e-02 9.99507796e-01 7.49002037e-04 -8.46151655e+00] [ 1.78521955e-02 -1.30941558e-03 9.99839779e-01 3.19383491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.100714057 meters Centerline goodness [0,1] 0.981352510151766 Centerline is valid? [True, True] Translation: X:251.49, Y:-8.47, Z:3.19 [[ 9.99230797e-01 -3.43526296e-02 -1.89132701e-02 2.51490665e+02] [ 3.43737465e-02 9.99408734e-01 7.92458090e-04 -8.46740673e+00] [ 1.88748643e-02 -1.44196848e-03 9.99820814e-01 3.19229156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13071405700003 meters Centerline goodness [0,1] 0.9780529364989208 Centerline is valid? [True, True] Translation: X:251.52, Y:-8.47, Z:3.19 [[ 9.99096613e-01 -3.72655748e-02 -2.04263451e-02 2.51519938e+02] [ 3.72908089e-02 9.99304089e-01 8.55736672e-04 -8.47156465e+00] [ 2.03802407e-02 -1.61667854e-03 9.99790994e-01 3.19023597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.160714057 meters Centerline goodness [0,1] 0.9780529364989208 Centerline is valid? [True, True] Translation: X:251.55, Y:-8.47, Z:3.19 [[ 9.99099064e-01 -3.71998155e-02 -2.04263185e-02 2.51551701e+02] [ 3.72250489e-02 9.99306541e-01 8.56371589e-04 -8.47296314e+00] [ 2.03802968e-02 -1.61597076e-03 9.99790994e-01 3.19051972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19071405700004 meters Centerline goodness [0,1] 0.9783947111343345 Centerline is valid? [True, True] Translation: X:251.58, Y:-8.47, Z:3.19 [[ 9.99020144e-01 -3.88483991e-02 -2.12026645e-02 2.51582720e+02] [ 3.88759789e-02 9.99243647e-01 8.89984525e-04 -8.47331550e+00] [ 2.11520533e-02 -1.71338681e-03 9.99774802e-01 3.19005278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.220714057 meters Centerline goodness [0,1] 0.9712719198876252 Centerline is valid? [True, True] Translation: X:251.61, Y:-8.48, Z:3.19 [[ 9.98962131e-01 -3.99497470e-02 -2.18787247e-02 2.51612979e+02] [ 3.99793885e-02 9.99200082e-01 9.18916643e-04 -8.47657431e+00] [ 2.18245130e-02 -1.79266096e-03 9.99760210e-01 3.18960176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25071405700004 meters Centerline goodness [0,1] 0.9680216678805535 Centerline is valid? [True, True] Translation: X:251.64, Y:-8.48, Z:3.19 [[ 9.98905703e-01 -4.10986536e-02 -2.23225842e-02 2.51643867e+02] [ 4.11298035e-02 9.99153371e-01 9.37929300e-04 -8.47554262e+00] [ 2.22651376e-02 -1.85502643e-03 9.99750380e-01 3.18943997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.280714057 meters Centerline goodness [0,1] 0.9808872163302543 Centerline is valid? [True, True] Translation: X:251.68, Y:-8.46, Z:3.19 [[ 9.98911881e-01 -4.08266400e-02 -2.25441708e-02 2.51676486e+02] [ 4.08583733e-02 9.99164498e-01 9.48595290e-04 -8.46487983e+00] [ 2.24866071e-02 -1.86868125e-03 9.99745398e-01 3.19201252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.310714057 meters Centerline goodness [0,1] 0.9624363860425843 Centerline is valid? [True, True] Translation: X:251.71, Y:-8.47, Z:3.19 [[ 9.98996608e-01 -3.94338087e-02 -2.12309300e-02 2.51707116e+02] [ 3.94616644e-02 9.99220685e-01 8.94520281e-04 -8.47488955e+00] [ 2.11791100e-02 -1.73143056e-03 9.99774198e-01 3.19171513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.340714057 meters Centerline goodness [0,1] 0.9823235206796538 Centerline is valid? [True, True] Translation: X:251.74, Y:-8.46, Z:3.20 [[ 9.99043336e-01 -3.87059273e-02 -2.03534545e-02 2.51739884e+02] [ 3.87314004e-02 9.99249289e-01 8.58682856e-04 -8.45819785e+00] [ 2.03049388e-02 -1.64617918e-03 9.99792478e-01 3.19540766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.370714057 meters Centerline goodness [0,1] 0.9818281310563396 Centerline is valid? [True, True] Translation: X:251.77, Y:-8.46, Z:3.20 [[ 9.99095579e-01 -3.77711437e-02 -1.95285813e-02 2.51771519e+02] [ 3.77944356e-02 9.99285195e-01 8.24885722e-04 -8.45854248e+00] [ 1.94834653e-02 -1.56221139e-03 9.99808959e-01 3.19632495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.400714057 meters Centerline goodness [0,1] 0.9812123847227625 Centerline is valid? [True, True] Translation: X:251.80, Y:-8.46, Z:3.20 [[ 9.99156258e-01 -3.68728283e-02 -1.80877351e-02 2.51803425e+02] [ 3.68926775e-02 9.99318941e-01 7.64818715e-04 -8.45744256e+00] [ 1.80472152e-02 -1.43147838e-03 9.99836111e-01 3.19782712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.430714057 meters Centerline goodness [0,1] 0.9795568752855185 Centerline is valid? [True, True] Translation: X:251.83, Y:-8.46, Z:3.20 [[ 9.99164785e-01 -3.68660794e-02 -1.76245668e-02 2.51834229e+02] [ 3.68849402e-02 9.99319240e-01 7.46171848e-04 -8.46048251e+00] [ 1.75850602e-02 -1.39562973e-03 9.99844397e-01 3.19801190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.460714057 meters Centerline goodness [0,1] 0.9805865250337675 Centerline is valid? [True, True] Translation: X:251.87, Y:-8.46, Z:3.20 [[ 9.99155918e-01 -3.71268850e-02 -1.75796958e-02 2.51866164e+02] [ 3.71457093e-02 9.99309582e-01 7.45368264e-04 -8.46157191e+00] [ 1.75398853e-02 -1.39774938e-03 9.99845187e-01 3.19829248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.490714057 meters Centerline goodness [0,1] 0.9785860349700158 Centerline is valid? [True, True] Translation: X:251.90, Y:-8.46, Z:3.20 [[ 9.99125824e-01 -3.78727474e-02 -1.76986760e-02 2.51897687e+02] [ 3.78919633e-02 9.99281559e-01 7.51520547e-04 -8.46431376e+00] [ 1.76574984e-02 -1.42150117e-03 9.99843084e-01 3.19794261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.520714057 meters Centerline goodness [0,1] 0.9789558417663293 Centerline is valid? [True, True] Translation: X:251.93, Y:-8.47, Z:3.20 [[ 9.99023137e-01 -4.00206930e-02 -1.87380967e-02 2.51928202e+02] [ 4.00426205e-02 9.99197655e-01 7.96331044e-04 -8.46655679e+00] [ 1.86911926e-02 -1.54587563e-03 9.99824109e-01 3.19717148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.550714057 meters Centerline goodness [0,1] 0.9766634478318849 Centerline is valid? [True, True] Translation: X:251.96, Y:-8.47, Z:3.20 [[ 9.98968416e-01 -4.09843851e-02 -1.95546177e-02 2.51960520e+02] [ 4.10084667e-02 9.99158453e-01 8.31938414e-04 -8.46922362e+00] [ 1.95040651e-02 -1.63298509e-03 9.99808444e-01 3.19676549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.580714057 meters Centerline goodness [0,1] 0.9778344358691657 Centerline is valid? [True, True] Translation: X:251.99, Y:-8.47, Z:3.20 [[ 9.98881183e-01 -4.23441673e-02 -2.10559606e-02 2.51991831e+02] [ 4.23724125e-02 9.99101483e-01 8.96904345e-04 -8.47096199e+00] [ 2.09990629e-02 -1.78809272e-03 9.99777896e-01 3.19539307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.610714057 meters Centerline goodness [0,1] 0.9790097372772368 Centerline is valid? [True, True] Translation: X:252.02, Y:-8.47, Z:3.19 [[ 9.98852334e-01 -4.26727312e-02 -2.17497741e-02 2.52024264e+02] [ 4.27029729e-02 9.99087381e-01 9.27682990e-04 -8.47012588e+00] [ 2.16903381e-02 -1.85539834e-03 9.99763015e-01 3.19474947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.640714057 meters Centerline goodness [0,1] 0.9765152386428982 Centerline is valid? [True, True] Translation: X:252.06, Y:-8.47, Z:3.19 [[ 9.98875914e-01 -4.18974179e-02 -2.21701202e-02 2.52055144e+02] [ 4.19287031e-02 9.99120156e-01 9.47987894e-04 -8.47364549e+00] [ 2.21108957e-02 -1.87648666e-03 9.99753763e-01 3.19417819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.670714057 meters Centerline goodness [0,1] 0.9767602551995762 Centerline is valid? [True, True] Translation: X:252.09, Y:-8.47, Z:3.19 [[ 9.98972766e-01 -3.91877992e-02 -2.27536562e-02 2.52085166e+02] [ 3.92200827e-02 9.99230122e-01 9.74137475e-04 -8.47207135e+00] [ 2.26979643e-02 -1.86553708e-03 9.99740627e-01 3.19415269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.700714057 meters Centerline goodness [0,1] 0.9774238227146814 Centerline is valid? [True, True] Translation: X:252.12, Y:-8.47, Z:3.19 [[ 9.99050283e-01 -3.70772473e-02 -2.28868860e-02 2.52115642e+02] [ 3.71093599e-02 9.99310730e-01 9.79841357e-04 -8.47066635e+00] [ 2.28347809e-02 -1.82822848e-03 9.99737581e-01 3.19470522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.730714057 meters Centerline goodness [0,1] 0.9776841520440761 Centerline is valid? [True, True] Translation: X:252.15, Y:-8.47, Z:3.20 [[ 9.99260151e-01 -3.12329491e-02 -2.24422469e-02 2.52145419e+02] [ 3.12623660e-02 9.99510751e-01 9.61051412e-04 -8.46702456e+00] [ 2.24012505e-02 -1.66193811e-03 9.99747679e-01 3.19538317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76071405700003 meters Centerline goodness [0,1] 0.9788170946509688 Centerline is valid? [True, True] Translation: X:252.18, Y:-8.46, Z:3.20 [[ 9.99384261e-01 -2.75240688e-02 -2.17606403e-02 2.52176531e+02] [ 2.75508545e-02 9.99619969e-01 9.32031628e-04 -8.46366492e+00] [ 2.17267173e-02 -1.53098197e-03 9.99762775e-01 3.19607357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.790714057 meters Centerline goodness [0,1] 0.9813144928883518 Centerline is valid? [True, True] Translation: X:252.21, Y:-8.45, Z:3.20 [[ 9.99575985e-01 -2.03548930e-02 -2.08213559e-02 2.52208460e+02] [ 2.03778714e-02 9.99791952e-01 8.91998482e-04 -8.44622980e+00] [ 2.07988675e-02 -1.31591517e-03 9.99782814e-01 3.19962803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82071405700003 meters Centerline goodness [0,1] 0.9820380206877272 Centerline is valid? [True, True] Translation: X:252.24, Y:-8.45, Z:3.20 [[ 9.99668323e-01 -1.65166656e-02 -1.97596391e-02 2.52238001e+02] [ 1.65366107e-02 9.99862903e-01 8.46404433e-04 -8.44552097e+00] [ 1.97429503e-02 -1.17288116e-03 9.99804401e-01 3.20030726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.850714057 meters Centerline goodness [0,1] 0.9827602295525592 Centerline is valid? [True, True] Translation: X:252.27, Y:-8.44, Z:3.20 [[ 9.99741997e-01 -1.28181497e-02 -1.87519033e-02 2.52267961e+02] [ 1.28354567e-02 9.99917300e-01 8.02876966e-04 -8.43966478e+00] [ 1.87400612e-02 -1.04335907e-03 9.99823845e-01 3.20168075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88071405700003 meters Centerline goodness [0,1] 0.984300899427637 Centerline is valid? [True, True] Translation: X:252.30, Y:-8.43, Z:3.20 [[ 9.99831798e-01 -6.76556663e-03 -1.70470669e-02 2.52298550e+02] [ 6.77898919e-03 9.99976756e-01 7.29719660e-04 -8.43431158e+00] [ 1.70417337e-02 -8.45158802e-04 9.99854422e-01 3.20306215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.910714057 meters Centerline goodness [0,1] 0.984336221025521 Centerline is valid? [True, True] Translation: X:252.33, Y:-8.43, Z:3.20 [[ 9.99848404e-01 -4.94911192e-03 -1.66935711e-02 2.52327705e+02] [ 4.96172102e-03 9.99987436e-01 7.13994181e-04 -8.43059144e+00] [ 1.66898278e-02 -7.96714785e-04 9.99860398e-01 3.20407112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94071405700004 meters Centerline goodness [0,1] 0.9846762118659929 Centerline is valid? [True, True] Translation: X:252.36, Y:-8.43, Z:3.20 [[ 9.99859091e-01 -4.28317080e-03 -1.62312526e-02 2.52355496e+02] [ 4.29498246e-03 9.99990536e-01 6.92922035e-04 -8.43294284e+00] [ 1.62281311e-02 -7.62537341e-04 9.99868024e-01 3.20302408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.970714057 meters Centerline goodness [0,1] 0.9850955801492782 Centerline is valid? [True, True] Translation: X:252.38, Y:-8.43, Z:3.20 [[ 9.99846819e-01 -5.21038378e-03 -1.67089897e-02 2.52383864e+02] [ 5.22298388e-03 9.99986108e-01 7.10540780e-04 -8.43494001e+00] [ 1.67050554e-02 -7.97702723e-04 9.99860143e-01 3.20220018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00071405700004 meters Centerline goodness [0,1] 0.9846806118385608 Centerline is valid? [True, True] Translation: X:252.41, Y:-8.44, Z:3.20 [[ 9.99820836e-01 -6.67440716e-03 -1.77129516e-02 2.52412174e+02] [ 6.68874075e-03 9.99977349e-01 7.50094390e-04 -8.43742860e+00] [ 1.77075439e-02 -8.68437341e-04 9.99842832e-01 3.20124024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.030714057 meters Centerline goodness [0,1] 0.9848180501705049 Centerline is valid? [True, True] Translation: X:252.44, Y:-8.44, Z:3.20 [[ 9.99755471e-01 -1.00973635e-02 -1.96733705e-02 2.52442610e+02] [ 1.01156897e-02 9.99948489e-01 8.32230638e-04 -8.44094117e+00] [ 1.96639537e-02 -1.03103685e-03 9.99806114e-01 3.19886106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.060714057 meters Centerline goodness [0,1] 0.9859013561774935 Centerline is valid? [True, True] Translation: X:252.47, Y:-8.44, Z:3.20 [[ 9.99714031e-01 -1.19856392e-02 -2.06929995e-02 2.52472438e+02] [ 1.20063093e-02 9.99927539e-01 8.74941661e-04 -8.44177202e+00] [ 2.06810133e-02 -1.12313801e-03 9.99785494e-01 3.19909087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.090714057 meters Centerline goodness [0,1] 0.9861169541438788 Centerline is valid? [True, True] Translation: X:252.50, Y:-8.44, Z:3.20 [[ 9.99675429e-01 -1.49340356e-02 -2.06400632e-02 2.52502210e+02] [ 1.49552113e-02 9.99887784e-01 8.71970219e-04 -8.44369042e+00] [ 2.06247250e-02 -1.18036371e-03 9.99786591e-01 3.19991050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.120714057 meters Centerline goodness [0,1] 0.9850934579439252 Centerline is valid? [True, True] Translation: X:252.53, Y:-8.45, Z:3.20 [[ 9.99671993e-01 -1.61052054e-02 -1.99130494e-02 2.52530277e+02] [ 1.61251269e-02 9.99869629e-01 8.40253284e-04 -8.44751427e+00] [ 1.98969208e-02 -1.16107812e-03 9.99801362e-01 3.20028137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.150714057 meters Centerline goodness [0,1] 0.9842390795996633 Centerline is valid? [True, True] Translation: X:252.56, Y:-8.45, Z:3.20 [[ 9.99689807e-01 -1.75026785e-02 -1.77185339e-02 2.52559140e+02] [ 1.75186206e-02 9.99846260e-01 7.44916046e-04 -8.44786148e+00] [ 1.77027719e-02 -1.05508925e-03 9.99842737e-01 3.20241867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.180714057 meters Centerline goodness [0,1] 0.9833524014102594 Centerline is valid? [True, True] Translation: X:252.59, Y:-8.45, Z:3.20 [[ 9.99710552e-01 -1.72584732e-02 -1.67617706e-02 2.52588242e+02] [ 1.72726675e-02 9.99850570e-01 7.02411936e-04 -8.45185837e+00] [ 1.67471433e-02 -9.91729114e-04 9.99859265e-01 3.20326067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.210714057 meters Centerline goodness [0,1] 0.983809257185517 Centerline is valid? [True, True] Translation: X:252.62, Y:-8.45, Z:3.20 [[ 9.99726168e-01 -1.72127746e-02 -1.58527446e-02 2.52618584e+02] [ 1.72254627e-02 9.99851410e-01 6.64167215e-04 -8.45009470e+00] [ 1.58389569e-02 -9.37056206e-04 9.99874117e-01 3.20419578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.240714057 meters Centerline goodness [0,1] 0.9842745986868239 Centerline is valid? [True, True] Translation: X:252.65, Y:-8.45, Z:3.20 [[ 9.99727624e-01 -1.74406931e-02 -1.55080619e-02 2.52648570e+02] [ 1.74528627e-02 9.99847476e-01 6.49726376e-04 -8.45176219e+00] [ 1.54943649e-02 -9.20209481e-04 9.99879532e-01 3.20425630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.270714057 meters Centerline goodness [0,1] 0.9845697051878521 Centerline is valid? [True, True] Translation: X:252.68, Y:-8.45, Z:3.20 [[ 9.99723459e-01 -1.78320737e-02 -1.53304461e-02 2.52679799e+02] [ 1.78440155e-02 9.99840576e-01 6.42515313e-04 -8.45141677e+00] [ 1.53165447e-02 -9.15894349e-04 9.99882275e-01 3.20435078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.300714057 meters Centerline goodness [0,1] 0.9831803209755414 Centerline is valid? [True, True] Translation: X:252.71, Y:-8.46, Z:3.20 [[ 9.99706910e-01 -1.83510686e-02 -1.57902863e-02 2.52709956e+02] [ 1.83638092e-02 9.99831152e-01 6.62239859e-04 -8.46258218e+00] [ 1.57754673e-02 -9.52015569e-04 9.99875106e-01 3.20251111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.330714057 meters Centerline goodness [0,1] 0.9811774596576446 Centerline is valid? [True, True] Translation: X:252.74, Y:-8.47, Z:3.20 [[ 9.99673353e-01 -1.92234125e-02 -1.68418269e-02 2.52740781e+02] [ 1.92380387e-02 9.99814682e-01 7.06845463e-04 -8.46563994e+00] [ 1.68251178e-02 -1.03061829e-03 9.99857917e-01 3.20180289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.360714057 meters Centerline goodness [0,1] 0.9835855347525007 Centerline is valid? [True, True] Translation: X:252.77, Y:-8.46, Z:3.20 [[ 9.99612011e-01 -2.07337468e-02 -1.85994150e-02 2.52771955e+02] [ 2.07518569e-02 9.99784352e-01 7.81197376e-04 -8.46185788e+00] [ 1.85792070e-02 -1.16686668e-03 9.99826711e-01 3.20189584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.390714057 meters Centerline goodness [0,1] 0.9819618781961879 Centerline is valid? [True, True] Translation: X:252.80, Y:-8.47, Z:3.20 [[ 9.99585733e-01 -2.12700768e-02 -1.93893537e-02 2.52802156e+02] [ 2.12898654e-02 9.99773013e-01 8.14721924e-04 -8.47231833e+00] [ 1.93676234e-02 -1.22718114e-03 9.99811677e-01 3.20034035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.420714057 meters Centerline goodness [0,1] 0.9831226575412622 Centerline is valid? [True, True] Translation: X:252.83, Y:-8.47, Z:3.20 [[ 9.99581020e-01 -2.16143917e-02 -1.92510357e-02 2.52832326e+02] [ 2.16339655e-02 9.99765631e-01 8.09064163e-04 -8.47244016e+00] [ 1.92290364e-02 -1.22520142e-03 9.99814354e-01 3.20059475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.450714057 meters Centerline goodness [0,1] 0.9832277301528141 Centerline is valid? [True, True] Translation: X:252.86, Y:-8.47, Z:3.20 [[ 9.99571506e-01 -2.21118077e-02 -1.91800054e-02 2.52862991e+02] [ 2.21313285e-02 9.99754747e-01 8.06078972e-04 -8.47184370e+00] [ 1.91574776e-02 -1.23021257e-03 9.99815722e-01 3.20122838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.480714057 meters Centerline goodness [0,1] 0.9815358107478812 Centerline is valid? [True, True] Translation: X:252.89, Y:-8.48, Z:3.20 [[ 9.99577279e-01 -2.18950933e-02 -1.91276804e-02 2.52892514e+02] [ 2.19144715e-02 9.99759526e-01 8.04054470e-04 -8.48228953e+00] [ 1.91054758e-02 -1.22288759e-03 9.99816726e-01 3.20031763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51071405700003 meters Centerline goodness [0,1] 0.9825860827973717 Centerline is valid? [True, True] Translation: X:252.92, Y:-8.48, Z:3.20 [[ 9.99610574e-01 -2.13444601e-02 -1.79753598e-02 2.52922638e+02] [ 2.13614899e-02 9.99771532e-01 7.55904090e-04 -8.48437994e+00] [ 1.79551186e-02 -1.13959019e-03 9.99838144e-01 3.20145601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.540714057 meters Centerline goodness [0,1] 0.9825316337923334 Centerline is valid? [True, True] Translation: X:252.95, Y:-8.48, Z:3.20 [[ 9.99625942e-01 -2.10942459e-02 -1.74071496e-02 2.52953250e+02] [ 2.11101789e-02 9.99776887e-01 7.32051758e-04 -8.47941559e+00] [ 1.73878238e-02 -1.09924597e-03 9.99848216e-01 3.20320525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57071405700003 meters Centerline goodness [0,1] 0.9825146483244169 Centerline is valid? [True, True] Translation: X:252.98, Y:-8.48, Z:3.20 [[ 9.99641685e-01 -2.07978425e-02 -1.68508608e-02 2.52984541e+02] [ 2.08127342e-02 9.99783140e-01 7.08829289e-04 -8.47949205e+00] [ 1.68324644e-02 -1.05928779e-03 9.99857763e-01 3.20492925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.600714057 meters Centerline goodness [0,1] 0.9826327536501441 Centerline is valid? [True, True] Translation: X:253.02, Y:-8.48, Z:3.21 [[ 9.99673202e-01 -2.02410254e-02 -1.56137833e-02 2.53015914e+02] [ 2.02537508e-02 9.99794656e-01 6.57298040e-04 -8.48064678e+00] [ 1.55972727e-02 -9.73320914e-04 9.99877881e-01 3.20689560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63071405700003 meters Centerline goodness [0,1] 0.9817701697899053 Centerline is valid? [True, True] Translation: X:253.05, Y:-8.48, Z:3.21 [[ 9.99685127e-01 -1.97894006e-02 -1.54280799e-02 2.53046252e+02] [ 1.98017777e-02 9.99803714e-01 6.49884848e-04 -8.48311094e+00] [ 1.54121907e-02 -9.55183625e-04 9.99880769e-01 3.20752003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.660714057 meters Centerline goodness [0,1] 0.9829264326697484 Centerline is valid? [True, True] Translation: X:253.08, Y:-8.48, Z:3.21 [[ 9.99689919e-01 -1.96766302e-02 -1.52609245e-02 2.53079123e+02] [ 1.96887365e-02 9.99805951e-01 6.43435618e-04 -8.47876514e+00] [ 1.52453025e-02 -9.43704422e-04 9.99883338e-01 3.20837878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69071405700004 meters Centerline goodness [0,1] 0.9828290328568776 Centerline is valid? [True, True] Translation: X:253.11, Y:-8.48, Z:3.21 [[ 9.99693988e-01 -1.94370482e-02 -1.53013767e-02 2.53110618e+02] [ 1.94492118e-02 9.99810637e-01 6.46510444e-04 -8.48267066e+00] [ 1.52859129e-02 -9.43912319e-04 9.99882718e-01 3.20832424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.720714057 meters Centerline goodness [0,1] 0.9826882966396292 Centerline is valid? [True, True] Translation: X:253.14, Y:-8.49, Z:3.21 [[ 9.99689005e-01 -1.96261319e-02 -1.53853124e-02 2.53141550e+02] [ 1.96384710e-02 9.99806934e-01 6.51319363e-04 -8.48573169e+00] [ 1.53695591e-02 -9.53260817e-04 9.99881427e-01 3.20822692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75071405700004 meters Centerline goodness [0,1] 0.9825570606791613 Centerline is valid? [True, True] Translation: X:253.17, Y:-8.49, Z:3.21 [[ 9.99656893e-01 -2.03939216e-02 -1.64373089e-02 2.53171671e+02] [ 2.04081169e-02 9.99791490e-01 6.96306599e-04 -8.49041534e+00] [ 1.64196811e-02 -1.03152221e-03 9.99864656e-01 3.20749660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.780714057 meters Centerline goodness [0,1] 0.98217427539587 Centerline is valid? [True, True] Translation: X:253.20, Y:-8.49, Z:3.21 [[ 9.99636342e-01 -2.11050463e-02 -1.67857030e-02 2.53202579e+02] [ 2.11199566e-02 9.99776696e-01 7.11485981e-04 -8.49314504e+00] [ 1.67669388e-02 -1.06574056e-03 9.99858857e-01 3.20697680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.810714057 meters Centerline goodness [0,1] 0.9818114585500012 Centerline is valid? [True, True] Translation: X:253.23, Y:-8.50, Z:3.21 [[ 9.99624757e-01 -2.15156676e-02 -1.69534882e-02 2.53233695e+02] [ 2.15309462e-02 9.99767924e-01 7.19173381e-04 -8.49625356e+00] [ 1.69340802e-02 -1.08392816e-03 9.99856021e-01 3.20682761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.840714057 meters Centerline goodness [0,1] 0.982121463459589 Centerline is valid? [True, True] Translation: X:253.26, Y:-8.50, Z:3.21 [[ 9.99595878e-01 -2.24829792e-02 -1.73953193e-02 2.53263881e+02] [ 2.24992207e-02 9.99746588e-01 7.38507066e-04 -8.50225311e+00] [ 1.73743073e-02 -1.12958975e-03 9.99848417e-01 3.20626901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.870714057 meters Centerline goodness [0,1] 0.9826620247619486 Centerline is valid? [True, True] Translation: X:253.30, Y:-8.50, Z:3.21 [[ 9.99570671e-01 -2.29217456e-02 -1.82501036e-02 2.53295213e+02] [ 2.29397071e-02 9.99736550e-01 7.75421790e-04 -8.50497136e+00] [ 1.82275216e-02 -1.19374091e-03 9.99833152e-01 3.20628386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.900714057 meters Centerline goodness [0,1] 0.9825140141641099 Centerline is valid? [True, True] Translation: X:253.32, Y:-8.51, Z:3.21 [[ 9.99585998e-01 -2.23565259e-02 -1.81112820e-02 2.53324996e+02] [ 2.23741309e-02 9.99749371e-01 7.69974315e-04 -8.50980646e+00] [ 1.80895288e-02 -1.17487974e-03 9.99835681e-01 3.20688778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.930714057 meters Centerline goodness [0,1] 0.983466323269023 Centerline is valid? [True, True] Translation: X:253.36, Y:-8.51, Z:3.21 [[ 9.99604173e-01 -2.17963852e-02 -1.77880339e-02 2.53355960e+02] [ 2.18132869e-02 9.99761776e-01 7.56679717e-04 -8.50905987e+00] [ 1.77673035e-02 -1.14439569e-03 9.99841494e-01 3.20792687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.960714057 meters Centerline goodness [0,1] 0.9836073122438642 Centerline is valid? [True, True] Translation: X:253.39, Y:-8.51, Z:3.21 [[ 9.99628662e-01 -2.10640605e-02 -1.72870854e-02 2.53387332e+02] [ 2.10799243e-02 9.99777523e-01 7.35945928e-04 -8.51216738e+00] [ 1.72677374e-02 -1.10008309e-03 9.99850296e-01 3.20860586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.990714057 meters Centerline goodness [0,1] 0.982896735877722 Centerline is valid? [True, True] Translation: X:253.42, Y:-8.52, Z:3.21 [[ 9.99679950e-01 -1.90842869e-02 -1.66068491e-02 2.53417355e+02] [ 1.90986593e-02 9.99817354e-01 7.07275102e-04 -8.51516595e+00] [ 1.65903181e-02 -1.02421729e-03 9.99861847e-01 3.20993307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.020714057 meters Centerline goodness [0,1] 0.9871919135973415 Centerline is valid? [True, True] Translation: X:253.45, Y:-8.51, Z:3.21 [[ 9.99702071e-01 -1.82890823e-02 -1.61641004e-02 2.53448871e+02] [ 1.83025970e-02 9.99832256e-01 6.88546865e-04 -8.50500246e+00] [ 1.61487960e-02 -9.84186742e-04 9.99869115e-01 3.21201239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.050714057 meters Centerline goodness [0,1] 0.9858921543807968 Centerline is valid? [True, True] Translation: X:253.48, Y:-8.51, Z:3.21 [[ 9.99720232e-01 -1.65632355e-02 -1.68854182e-02 2.53478637e+02] [ 1.65777434e-02 9.99862321e-01 7.19576627e-04 -8.51297017e+00] [ 1.68711749e-02 -9.99297443e-04 9.99857172e-01 3.21159865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.080714057 meters Centerline goodness [0,1] 0.9874344103838718 Centerline is valid? [True, True] Translation: X:253.51, Y:-8.51, Z:3.21 [[ 9.99729667e-01 -1.55587308e-02 -1.72777166e-02 2.53509793e+02] [ 1.55737740e-02 9.99878450e-01 7.36453548e-04 -8.50563961e+00] [ 1.72641582e-02 -1.00533371e-03 9.99850458e-01 3.21319769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.110714057 meters Centerline goodness [0,1] 0.9874344103838718 Centerline is valid? [True, True] Translation: X:253.54, Y:-8.51, Z:3.21 [[ 9.99729101e-01 -1.55950442e-02 -1.72777295e-02 2.53538968e+02] [ 1.56100875e-02 9.99877884e-01 7.36149800e-04 -8.50685374e+00] [ 1.72641394e-02 -1.00565725e-03 9.99850458e-01 3.21345826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.140714057 meters Centerline goodness [0,1] 0.9876907473145544 Centerline is valid? [True, True] Translation: X:253.57, Y:-8.51, Z:3.21 [[ 9.99728440e-01 -1.49015331e-02 -1.79161867e-02 2.53567640e+02] [ 1.49175832e-02 9.99888436e-01 7.62528599e-04 -8.51054108e+00] [ 1.79028250e-02 -1.02958773e-03 9.99839201e-01 3.21284929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.170714057 meters Centerline goodness [0,1] 0.9875324914314632 Centerline is valid? [True, True] Translation: X:253.60, Y:-8.52, Z:3.21 [[ 9.99722634e-01 -1.33213157e-02 -1.94215827e-02 2.53595717e+02] [ 1.33398588e-02 9.99910679e-01 8.25521924e-04 -8.52133823e+00] [ 1.94088509e-02 -1.08437412e-03 9.99811042e-01 3.21013743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.200714057 meters Centerline goodness [0,1] 0.9864889705882353 Centerline is valid? [True, True] Translation: X:253.62, Y:-8.53, Z:3.21 [[ 9.99726597e-01 -1.21331469e-02 -1.99879293e-02 2.53623369e+02] [ 1.21525230e-02 9.99925796e-01 8.48206557e-04 -8.52873052e+00] [ 1.99761547e-02 -1.09087842e-03 9.99799862e-01 3.20842928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.230714057 meters Centerline goodness [0,1] 0.9880002758557275 Centerline is valid? [True, True] Translation: X:253.65, Y:-8.52, Z:3.21 [[ 9.99728370e-01 -9.31120247e-03 -2.13655506e-02 2.53653321e+02] [ 9.33267385e-03 9.99956040e-01 9.05460714e-04 -8.51902815e+00] [ 2.13561804e-02 -1.10461248e-03 9.99771321e-01 3.21064874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26071405700003 meters Centerline goodness [0,1] 0.9889551071124508 Centerline is valid? [True, True] Translation: X:253.68, Y:-8.52, Z:3.21 [[ 9.99733798e-01 -8.07548228e-03 -2.16129684e-02 2.53681715e+02] [ 8.09709408e-03 9.99966802e-01 9.12620072e-04 -8.52029074e+00] [ 2.16048811e-02 -1.08737937e-03 9.99765996e-01 3.21095995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.290714057 meters Centerline goodness [0,1] 0.9888350295205495 Centerline is valid? [True, True] Translation: X:253.71, Y:-8.52, Z:3.21 [[ 9.99745401e-01 -6.37494074e-03 -2.16447135e-02 2.53710549e+02] [ 6.39615386e-03 9.99979129e-01 9.10971315e-04 -8.52154105e+00] [ 2.16384544e-02 -1.04918230e-03 9.99765311e-01 3.21109318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32071405700003 meters Centerline goodness [0,1] 0.9901636330207759 Centerline is valid? [True, True] Translation: X:253.74, Y:-8.52, Z:3.21 [[ 9.99770279e-01 -3.19433852e-03 -2.11939765e-02 2.53740411e+02] [ 3.21394703e-03 9.99994438e-01 8.91194774e-04 -8.52280289e+00] [ 2.11910118e-02 -9.59106366e-04 9.99774985e-01 3.21170987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.350714057 meters Centerline goodness [0,1] 0.989105504587156 Centerline is valid? [True, True] Translation: X:253.77, Y:-8.52, Z:3.21 [[ 9.99792255e-01 -1.55295079e-03 -2.03232535e-02 2.53769034e+02] [ 1.57062363e-03 9.99998402e-01 8.53654228e-04 -8.52411411e+00] [ 2.03218953e-02 -8.85397068e-04 9.99793097e-01 3.21219703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38071405700003 meters Centerline goodness [0,1] 0.9885716897899477 Centerline is valid? [True, True] Translation: X:253.80, Y:-8.53, Z:3.21 [[ 9.99792168e-01 -1.15470420e-04 -2.03864535e-02 2.53797192e+02] [ 1.32887571e-04 9.99999627e-01 8.52996608e-04 -8.52721720e+00] [ 2.03863474e-02 -8.55528434e-04 9.99791811e-01 3.21251392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.410714057 meters Centerline goodness [0,1] 0.9895995601576102 Centerline is valid? [True, True] Translation: X:253.83, Y:-8.53, Z:3.21 [[ 9.99809143e-01 1.78513457e-03 -1.94548558e-02 2.53826198e+02] [-1.76968508e-03 9.99998105e-01 8.11307292e-04 -8.52893477e+00] [ 1.94562672e-02 -7.76723480e-04 9.99810407e-01 3.21422272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44071405700004 meters Centerline goodness [0,1] 0.9896606030173692 Centerline is valid? [True, True] Translation: X:253.86, Y:-8.53, Z:3.21 [[ 9.99815909e-01 2.38846360e-03 -1.90379659e-02 2.53855007e+02] [-2.37380246e-03 9.99996868e-01 7.92661150e-04 -8.53186938e+00] [ 1.90397995e-02 -7.47322857e-04 9.99818447e-01 3.21456403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.470714057 meters Centerline goodness [0,1] 0.9898728428701181 Centerline is valid? [True, True] Translation: X:253.88, Y:-8.54, Z:3.21 [[ 9.99817302e-01 2.57334924e-03 -1.89404716e-02 2.53882706e+02] [-2.55889796e-03 9.99996416e-01 7.87180330e-04 -8.53862135e+00] [ 1.89424294e-02 -7.38569779e-04 9.99820303e-01 3.21390701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50071405700004 meters Centerline goodness [0,1] 0.9903898582333697 Centerline is valid? [True, True] Translation: X:253.91, Y:-8.54, Z:3.21 [[ 9.99813353e-01 2.02279641e-03 -1.92137175e-02 2.53911035e+02] [-2.00785089e-03 9.99997667e-01 7.97115725e-04 -8.54270070e+00] [ 1.92152851e-02 -7.58388666e-04 9.99815082e-01 3.21387942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.530714057 meters Centerline goodness [0,1] 0.9906917610733988 Centerline is valid? [True, True] Translation: X:253.94, Y:-8.54, Z:3.22 [[ 9.99804547e-01 1.23265803e-03 -1.97319169e-02 2.53940193e+02] [-1.21676849e-03 9.99998926e-01 8.17256392e-04 -8.54089274e+00] [ 1.97329031e-02 -7.93087482e-04 9.99804973e-01 3.21522882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.560714057 meters Centerline goodness [0,1] 0.9903301250337321 Centerline is valid? [True, True] Translation: X:253.97, Y:-8.55, Z:3.21 [[ 9.99792150e-01 -4.81701468e-04 -2.03819926e-02 2.53966982e+02] [ 4.98973439e-04 9.99999521e-01 8.42336190e-04 -8.55281582e+00] [ 2.03815771e-02 -8.52331183e-04 9.99791911e-01 3.21358758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.590714057 meters Centerline goodness [0,1] 0.9906241507382915 Centerline is valid? [True, True] Translation: X:253.99, Y:-8.56, Z:3.21 [[ 9.99773839e-01 -1.71463749e-03 -2.11974265e-02 2.53994927e+02] [ 1.73355437e-03 9.99998115e-01 8.74070427e-04 -8.55872405e+00] [ 2.11958879e-02 -9.10619637e-04 9.99774927e-01 3.21301472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.620714057 meters Centerline goodness [0,1] 0.989565962049849 Centerline is valid? [True, True] Translation: X:254.02, Y:-8.56, Z:3.21 [[ 9.99754678e-01 -3.71903262e-03 -2.18346616e-02 2.54024379e+02] [ 3.73955587e-03 9.99992604e-01 8.99183214e-04 -8.56438730e+00] [ 2.18311560e-02 -9.80614562e-04 9.99761191e-01 3.21321213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.650714057 meters Centerline goodness [0,1] 0.990626264442746 Centerline is valid? [True, True] Translation: X:254.05, Y:-8.57, Z:3.21 [[ 9.99760808e-01 -4.34263751e-03 -2.14352038e-02 2.54052306e+02] [ 4.36253195e-03 9.99990096e-01 8.81445944e-04 -8.57056550e+00] [ 2.14311637e-02 -9.74746871e-04 9.99769851e-01 3.21282241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.680714057 meters Centerline goodness [0,1] 0.9908933119942295 Centerline is valid? [True, True] Translation: X:254.08, Y:-8.57, Z:3.21 [[ 9.99755302e-01 -5.11365408e-03 -2.15217489e-02 2.54081177e+02] [ 5.13381282e-03 9.99986433e-01 8.81521395e-04 -8.57474902e+00] [ 2.15169491e-02 -9.91794319e-04 9.99767992e-01 3.21306499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.710714057 meters Centerline goodness [0,1] 0.9905774666846143 Centerline is valid? [True, True] Translation: X:254.11, Y:-8.57, Z:3.22 [[ 9.99751121e-01 -5.98860171e-03 -2.14902972e-02 2.54109732e+02] [ 6.00879437e-03 9.99981564e-01 8.75167347e-04 -8.56854690e+00] [ 2.14846600e-02 -1.00408031e-03 9.99768674e-01 3.21674579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.740714057 meters Centerline goodness [0,1] 0.9909444307125362 Centerline is valid? [True, True] Translation: X:254.14, Y:-8.57, Z:3.22 [[ 9.99755367e-01 -6.51598940e-03 -2.11364085e-02 2.54137303e+02] [ 6.53552094e-03 9.99978278e-01 8.55125084e-04 -8.57146920e+00] [ 2.11303774e-02 -9.93053333e-04 9.99776235e-01 3.21710978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.770714057 meters Centerline goodness [0,1] 0.9916098702116652 Centerline is valid? [True, True] Translation: X:254.17, Y:-8.57, Z:3.22 [[ 9.99760214e-01 -6.83795608e-03 -2.08028000e-02 2.54165499e+02] [ 6.85682400e-03 9.99976142e-01 8.35795613e-04 -8.57493417e+00] [ 2.07965886e-02 -9.78236340e-04 9.99783249e-01 3.21741472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.800714057 meters Centerline goodness [0,1] 0.9912890040427955 Centerline is valid? [True, True] Translation: X:254.19, Y:-8.58, Z:3.22 [[ 9.99775402e-01 -7.50538744e-03 -1.98195448e-02 2.54193315e+02] [ 7.52257814e-03 9.99971391e-01 7.92948346e-04 -8.58451400e+00] [ 1.98130264e-02 -9.41864326e-04 9.99803259e-01 3.21670575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.830714057 meters Centerline goodness [0,1] 0.9908790127872664 Centerline is valid? [True, True] Translation: X:254.22, Y:-8.59, Z:3.22 [[ 9.99782841e-01 -7.99131814e-03 -1.92460050e-02 2.54220881e+02] [ 8.00754897e-03 9.99967645e-01 7.66417412e-04 -8.58597821e+00] [ 1.92392576e-02 -9.20364305e-04 9.99814485e-01 3.21769620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.860714057 meters Centerline goodness [0,1] 0.9914273563578575 Centerline is valid? [True, True] Translation: X:254.25, Y:-8.59, Z:3.22 [[ 9.99759334e-01 -1.03830112e-02 -1.93252890e-02 2.54250719e+02] [ 1.03997670e-02 9.99945627e-01 7.66741885e-04 -8.58575822e+00] [ 1.93162771e-02 -9.67535860e-04 9.99812955e-01 3.21996067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.890714057 meters Centerline goodness [0,1] 0.9907575248964977 Centerline is valid? [True, True] Translation: X:254.28, Y:-8.59, Z:3.22 [[ 9.99746585e-01 -1.21338695e-02 -1.89613944e-02 2.54278015e+02] [ 1.21502908e-02 9.99925900e-01 7.51072381e-04 -8.59135655e+00] [ 1.89508760e-02 -9.81268505e-04 9.99819934e-01 3.21986140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.920714057 meters Centerline goodness [0,1] 0.9905700431275278 Centerline is valid? [True, True] Translation: X:254.30, Y:-8.60, Z:3.22 [[ 9.99727548e-01 -1.38312826e-02 -1.88022450e-02 2.54304962e+02] [ 1.38476836e-02 9.99903841e-01 7.42369376e-04 -8.59791866e+00] [ 1.87901691e-02 -1.00253466e-03 9.99822947e-01 3.21894826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.950714057 meters Centerline goodness [0,1] 0.9902503235018517 Centerline is valid? [True, True] Translation: X:254.34, Y:-8.60, Z:3.22 [[ 9.99651896e-01 -1.73078804e-02 -1.99129286e-02 2.54335006e+02] [ 1.73269301e-02 9.99849570e-01 7.84503063e-04 -8.60380791e+00] [ 1.98963550e-02 -1.12925990e-03 9.99801410e-01 3.21877200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.980714057 meters Centerline goodness [0,1] 0.990746108906034 Centerline is valid? [True, True] Translation: X:254.36, Y:-8.61, Z:3.22 [[ 9.99621236e-01 -1.89020102e-02 -2.00024870e-02 2.54364331e+02] [ 1.89215387e-02 9.99820662e-01 7.87479561e-04 -8.60777813e+00] [ 1.99840149e-02 -1.16565912e-03 9.99799620e-01 3.21854815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01071405700003 meters Centerline goodness [0,1] 0.9901677911931818 Centerline is valid? [True, True] Translation: X:254.39, Y:-8.61, Z:3.22 [[ 9.99556083e-01 -2.14362980e-02 -2.06911133e-02 2.54392320e+02] [ 2.14577116e-02 9.99769426e-01 8.13432779e-04 -8.61488022e+00] [ 2.06689054e-02 -1.25705562e-03 9.99785585e-01 3.21765464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.040714057 meters Centerline goodness [0,1] 0.9886736412802554 Centerline is valid? [True, True] Translation: X:254.42, Y:-8.62, Z:3.22 [[ 9.99536182e-01 -2.22728001e-02 -2.07688143e-02 2.54421467e+02] [ 2.22945287e-02 9.99751114e-01 8.15231605e-04 -8.61747994e+00] [ 2.07454877e-02 -1.27788441e-03 9.99783973e-01 3.21798261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07071405700003 meters Centerline goodness [0,1] 0.9894028259130898 Centerline is valid? [True, True] Translation: X:254.45, Y:-8.62, Z:3.22 [[ 9.99515092e-01 -2.29121252e-02 -2.10859017e-02 2.54449753e+02] [ 2.29346364e-02 9.99736625e-01 8.26357794e-04 -8.62115500e+00] [ 2.10614146e-02 -1.30955458e-03 9.99777326e-01 3.21820880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.100714057 meters Centerline goodness [0,1] 0.9898090586145648 Centerline is valid? [True, True] Translation: X:254.48, Y:-8.62, Z:3.22 [[ 9.99503577e-01 -2.34699858e-02 -2.10180526e-02 2.54478824e+02] [ 2.34924002e-02 9.99723679e-01 8.20124266e-04 -8.62286180e+00] [ 2.09929965e-02 -1.31348164e-03 9.99778760e-01 3.21888344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13071405700003 meters Centerline goodness [0,1] 0.9891330972899548 Centerline is valid? [True, True] Translation: X:254.51, Y:-8.63, Z:3.22 [[ 9.99514947e-01 -2.32271139e-02 -2.07453881e-02 2.54507036e+02] [ 2.32488409e-02 9.99729384e-01 8.06719774e-04 -8.62765916e+00] [ 2.07210363e-02 -1.28863470e-03 9.99784466e-01 3.21889126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.160714057 meters Centerline goodness [0,1] 0.9894964951462751 Centerline is valid? [True, True] Translation: X:254.54, Y:-8.63, Z:3.22 [[ 9.99545998e-01 -2.25120066e-02 -2.00251726e-02 2.54537005e+02] [ 2.25320914e-02 9.99745818e-01 7.77886973e-04 -8.62925761e+00] [ 2.00025707e-02 -1.22874283e-03 9.99799174e-01 3.21951110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19071405700004 meters Centerline goodness [0,1] 0.9892745320098595 Centerline is valid? [True, True] Translation: X:254.57, Y:-8.63, Z:3.22 [[ 9.99591013e-01 -2.13238623e-02 -1.90551473e-02 2.54566538e+02] [ 2.13418030e-02 9.99771965e-01 7.38630706e-04 -8.62535564e+00] [ 1.90350516e-02 -1.14499982e-03 9.99818161e-01 3.22121804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.220714057 meters Centerline goodness [0,1] 0.9881877525645011 Centerline is valid? [True, True] Translation: X:254.59, Y:-8.63, Z:3.22 [[ 9.99605740e-01 -2.09205932e-02 -1.87268148e-02 2.54594819e+02] [ 2.09378198e-02 9.99780517e-01 7.24272181e-04 -8.63294834e+00] [ 1.87075524e-02 -1.11608530e-03 9.99824375e-01 3.22099242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25071405700004 meters Centerline goodness [0,1] 0.9890858271035293 Centerline is valid? [True, True] Translation: X:254.62, Y:-8.63, Z:3.22 [[ 9.99612481e-01 -2.06294358e-02 -1.86899686e-02 2.54624215e+02] [ 2.06464937e-02 9.99786579e-01 7.20159827e-04 -8.62930614e+00] [ 1.86711233e-02 -1.10576307e-03 9.99825068e-01 3.22169549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.280714057 meters Centerline goodness [0,1] 0.9893077846441115 Centerline is valid? [True, True] Translation: X:254.65, Y:-8.63, Z:3.22 [[ 9.99619143e-01 -2.01453655e-02 -1.88608705e-02 2.54653885e+02] [ 2.01626060e-02 9.99796452e-01 7.24360401e-04 -8.63128497e+00] [ 1.88424389e-02 -1.10436882e-03 9.99821856e-01 3.22191114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.310714057 meters Centerline goodness [0,1] 0.9895636306993925 Centerline is valid? [True, True] Translation: X:254.68, Y:-8.63, Z:3.22 [[ 9.99629834e-01 -2.01516730e-02 -1.82785246e-02 2.54682402e+02] [ 2.01678519e-02 9.99796362e-01 7.01210553e-04 -8.63422075e+00] [ 1.82606718e-02 -1.06958957e-03 9.99832688e-01 3.22194042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.340714057 meters Centerline goodness [0,1] 0.9889968213039323 Centerline is valid? [True, True] Translation: X:254.71, Y:-8.63, Z:3.22 [[ 9.99656290e-01 -1.99449237e-02 -1.70147819e-02 2.54712078e+02] [ 1.99589004e-02 9.99800589e-01 6.52015398e-04 -8.63315280e+00] [ 1.69983845e-02 -9.91387630e-04 9.99855026e-01 3.22363548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.370714057 meters Centerline goodness [0,1] 0.9887039502885042 Centerline is valid? [True, True] Translation: X:254.74, Y:-8.64, Z:3.22 [[ 9.99672718e-01 -1.97138910e-02 -1.63039426e-02 2.54741620e+02] [ 1.97266890e-02 9.99805215e-01 6.24499363e-04 -8.63803175e+00] [ 1.62884555e-02 -9.45917782e-04 9.99866887e-01 3.22378525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.400714057 meters Centerline goodness [0,1] 0.9893512960739852 Centerline is valid? [True, True] Translation: X:254.77, Y:-8.63, Z:3.22 [[ 9.99684285e-01 -1.88476886e-02 -1.66160833e-02 2.54771731e+02] [ 1.88608582e-02 9.99821916e-01 6.36212727e-04 -8.63459189e+00] [ 1.66011331e-02 -9.49405456e-04 9.99861741e-01 3.22409047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.430714057 meters Centerline goodness [0,1] 0.9893297765921975 Centerline is valid? [True, True] Translation: X:254.80, Y:-8.64, Z:3.22 [[ 9.99699458e-01 -1.80536154e-02 -1.65849802e-02 2.54800027e+02] [ 1.80666137e-02 9.99836584e-01 6.34229195e-04 -8.63616485e+00] [ 1.65708198e-02 -9.33673011e-04 9.99862259e-01 3.22371644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.460714057 meters Centerline goodness [0,1] 0.9889261968824353 Centerline is valid? [True, True] Translation: X:254.83, Y:-8.64, Z:3.22 [[ 9.99701933e-01 -1.73856729e-02 -1.71401206e-02 2.54828239e+02] [ 1.73994410e-02 9.99848404e-01 6.54457595e-04 -8.64202530e+00] [ 1.71261441e-02 -9.52491041e-04 9.99852883e-01 3.22287015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.490714057 meters Centerline goodness [0,1] 0.9284304453308113 Centerline is valid? [True, False] Translation: X:254.91, Y:-8.64, Z:3.22 [[ 9.99694808e-01 -1.89361452e-02 -1.58654539e-02 2.54911679e+02] [ 1.88755825e-02 9.99814005e-01 -3.95836725e-03 -8.64075481e+00] [ 1.59374592e-02 3.65768950e-03 9.99866300e-01 3.22243115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.520714057 meters Centerline goodness [0,1] 0.9893760651601337 Centerline is valid? [False, True] Translation: X:254.82, Y:-8.64, Z:3.22 [[ 9.99827971e-01 -1.39869028e-02 -1.21817191e-02 2.54817977e+02] [ 1.39665786e-02 9.99900928e-01 -1.75189327e-03 -8.64116232e+00] [ 1.22050158e-02 1.58145495e-03 9.99924265e-01 3.21803003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.550714057 meters Centerline goodness [0,1] 0.9898042866325332 Centerline is valid? [True, True] Translation: X:254.85, Y:-8.63, Z:3.22 [[ 9.99845511e-01 -1.34049990e-02 -1.13692537e-02 2.54847692e+02] [ 1.34109093e-02 9.99909971e-01 4.43771790e-04 -8.63367688e+00] [ 1.13622814e-02 -5.96175263e-04 9.99935269e-01 3.21926085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.580714057 meters Centerline goodness [0,1] 0.9896586233737351 Centerline is valid? [True, True] Translation: X:254.88, Y:-8.63, Z:3.22 [[ 9.99850388e-01 -1.31885824e-02 -1.11921219e-02 2.54878042e+02] [ 1.31942948e-02 9.99912856e-01 4.36703396e-04 -8.63459070e+00] [ 1.11853871e-02 -5.84310215e-04 9.99937271e-01 3.21942284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.610714057 meters Centerline goodness [0,1] 0.9900374980585325 Centerline is valid? [True, True] Translation: X:254.91, Y:-8.64, Z:3.22 [[ 9.99838553e-01 -1.35363672e-02 -1.18167285e-02 2.54907562e+02] [ 1.35427576e-02 9.99908186e-01 4.60942740e-04 -8.63645748e+00] [ 1.18094041e-02 -6.20899413e-04 9.99930074e-01 3.21953385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.640714057 meters Centerline goodness [0,1] 0.9906537926158333 Centerline is valid? [True, True] Translation: X:254.94, Y:-8.64, Z:3.22 [[ 9.99825694e-01 -1.45636915e-02 -1.16824662e-02 2.54936858e+02] [ 1.45700051e-02 9.99893748e-01 4.55499905e-04 -8.63935286e+00] [ 1.16745911e-02 -6.25634101e-04 9.99931654e-01 3.21919874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.670714057 meters Centerline goodness [0,1] 0.9903472761566626 Centerline is valid? [True, True] Translation: X:254.97, Y:-8.64, Z:3.22 [[ 9.99816813e-01 -1.54492446e-02 -1.12987083e-02 2.54967015e+02] [ 1.54552043e-02 9.99880464e-01 4.40336852e-04 -8.63747698e+00] [ 1.12905548e-02 -6.14880032e-04 9.99936071e-01 3.21926513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.700714057 meters Centerline goodness [0,1] 0.9895992726143747 Centerline is valid? [True, True] Translation: X:255.00, Y:-8.64, Z:3.22 [[ 9.99807810e-01 -1.62182442e-02 -1.10141102e-02 2.54997529e+02] [ 1.62239544e-02 9.99868291e-01 4.29287695e-04 -8.64366188e+00] [ 1.10056973e-02 -6.07897612e-04 9.99939251e-01 3.21801308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.730714057 meters Centerline goodness [0,1] 0.9900377191036166 Centerline is valid? [True, True] Translation: X:255.03, Y:-8.64, Z:3.22 [[ 9.99806717e-01 -1.64576605e-02 -1.07551986e-02 2.55029178e+02] [ 1.64631224e-02 9.99864386e-01 4.19499078e-04 -8.64335169e+00] [ 1.07468361e-02 -5.96482147e-04 9.99942073e-01 3.21817423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76071405700003 meters Centerline goodness [0,1] 0.9897237421593488 Centerline is valid? [True, True] Translation: X:255.06, Y:-8.64, Z:3.22 [[ 9.99807327e-01 -1.64170111e-02 -1.07606314e-02 2.55060568e+02] [ 1.64224803e-02 9.99865054e-01 4.20094586e-04 -8.64340194e+00] [ 1.07522826e-02 -5.96729903e-04 9.99942014e-01 3.21839650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.790714057 meters Centerline goodness [0,1] 0.9893052894256049 Centerline is valid? [True, True] Translation: X:255.09, Y:-8.65, Z:3.22 [[ 9.99832049e-01 -1.59490226e-02 -9.02791709e-03 2.55090920e+02] [ 1.59528552e-02 9.99872683e-01 3.52664069e-04 -8.64894350e+00] [ 9.02114304e-03 -4.96625893e-04 9.99959185e-01 3.21812570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82071405700003 meters Centerline goodness [0,1] 0.9894518531733643 Centerline is valid? [True, True] Translation: X:255.12, Y:-8.65, Z:3.22 [[ 9.99846666e-01 -1.55354226e-02 -8.08048214e-03 2.55122648e+02] [ 1.55384811e-02 9.99879221e-01 3.15853126e-04 -8.64709826e+00] [ 8.07459927e-03 -4.41363114e-04 9.99967302e-01 3.21904271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.850714057 meters Centerline goodness [0,1] 0.9885070296808748 Centerline is valid? [True, True] Translation: X:255.15, Y:-8.65, Z:3.22 [[ 9.99865423e-01 -1.51444435e-02 -6.30723051e-03 2.55154255e+02] [ 1.51463007e-02 9.99885258e-01 2.46793518e-04 -8.64889421e+00] [ 6.30276925e-03 -3.42291515e-04 9.99980079e-01 3.21933307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88071405700003 meters Centerline goodness [0,1] 0.9882855290514408 Centerline is valid? [True, True] Translation: X:255.19, Y:-8.65, Z:3.22 [[ 9.99867505e-01 -1.51153973e-02 -6.04121359e-03 2.55186592e+02] [ 1.51171031e-02 9.99885702e-01 2.36792144e-04 -8.64989391e+00] [ 6.03694389e-03 -3.28086419e-04 9.99981724e-01 3.21939486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.910714057 meters Centerline goodness [0,1] 0.9887329599964303 Centerline is valid? [True, True] Translation: X:255.22, Y:-8.65, Z:3.22 [[ 9.99865292e-01 -1.53005988e-02 -5.94045425e-03 2.55218799e+02] [ 1.53022539e-02 9.99882886e-01 2.33250275e-04 -8.64910305e+00] [ 5.93618968e-03 -3.24121193e-04 9.99982328e-01 3.21962916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94071405700004 meters Centerline goodness [0,1] 0.9890203269303875 Centerline is valid? [True, True] Translation: X:255.25, Y:-8.65, Z:3.22 [[ 9.99861928e-01 -1.58457724e-02 -5.00373584e-03 2.55251417e+02] [ 1.58469550e-02 9.99874410e-01 1.96773938e-04 -8.64962853e+00] [ 4.99998939e-03 -2.76040746e-04 9.99987462e-01 3.22024473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.970714057 meters Centerline goodness [0,1] 0.9890203269303875 Centerline is valid? [True, True] Translation: X:255.28, Y:-8.65, Z:3.22 [[ 9.99863043e-01 -1.57752092e-02 -5.00372192e-03 2.55283132e+02] [ 1.57763926e-02 9.99875526e-01 1.97127350e-04 -8.65093827e+00] [ 4.99998936e-03 -2.76041034e-04 9.99987462e-01 3.22038401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00071405700004 meters Centerline goodness [0,1] 0.9878703519586399 Centerline is valid? [True, True] Translation: X:255.31, Y:-8.65, Z:3.22 [[ 9.99853955e-01 -1.64034682e-02 -4.79521811e-03 2.55313982e+02] [ 1.64045638e-02 9.99865418e-01 1.89231780e-04 -8.65465263e+00] [ 4.79146871e-03 -2.67867605e-04 9.99988485e-01 3.22105538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.030714057 meters Centerline goodness [0,1] 0.9872549019607844 Centerline is valid? [True, True] Translation: X:255.35, Y:-8.66, Z:3.22 [[ 9.99834394e-01 -1.76657637e-02 -4.37089303e-03 2.55346415e+02] [ 1.76666869e-02 9.99843917e-01 1.72696342e-04 -8.65589136e+00] [ 4.36716000e-03 -2.49886942e-04 9.99990433e-01 3.22135974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.060714057 meters Centerline goodness [0,1] 0.9877374476054579 Centerline is valid? [True, True] Translation: X:255.38, Y:-8.66, Z:3.22 [[ 9.99778485e-01 -2.05136158e-02 -4.70884620e-03 2.55377172e+02] [ 2.05147203e-02 9.99789534e-01 1.86383113e-04 -8.65590831e+00] [ 4.70403176e-03 -2.82942490e-04 9.99988896e-01 3.22046867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.090714057 meters Centerline goodness [0,1] 0.9852172747979099 Centerline is valid? [True, True] Translation: X:255.41, Y:-8.67, Z:3.22 [[ 9.99733943e-01 -2.24197602e-02 -5.42188115e-03 2.55407236e+02] [ 2.24212531e-02 9.99748589e-01 2.14714084e-04 -8.66590109e+00] [ 5.41570420e-03 -3.36222328e-04 9.99985278e-01 3.21963827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.120714057 meters Centerline goodness [0,1] 0.987101381357256 Centerline is valid? [True, True] Translation: X:255.44, Y:-8.66, Z:3.22 [[ 9.99641102e-01 -2.58999213e-02 -6.84559698e-03 2.55437936e+02] [ 2.59023835e-02 9.99664440e-01 2.71234408e-04 -8.66196746e+00] [ 6.83627493e-03 -4.48454341e-04 9.99976532e-01 3.21834178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.150714057 meters Centerline goodness [0,1] 0.9870857320678388 Centerline is valid? [True, True] Translation: X:255.47, Y:-8.67, Z:3.22 [[ 9.99612406e-01 -2.68168683e-02 -7.47618003e-03 2.55468624e+02] [ 2.68198318e-02 9.99640240e-01 2.96408899e-04 -8.66510340e+00] [ 7.46554164e-03 -4.96803904e-04 9.99972009e-01 3.21763627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.180714057 meters Centerline goodness [0,1] 0.986415697416319 Centerline is valid? [True, True] Translation: X:255.50, Y:-8.67, Z:3.22 [[ 9.99596929e-01 -2.73670566e-02 -7.55135410e-03 2.55500659e+02] [ 2.73700985e-02 9.99625324e-01 2.99766246e-04 -8.66674261e+00] [ 7.54032106e-03 -5.06326725e-04 9.99971443e-01 3.21764014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.210714057 meters Centerline goodness [0,1] 0.9862854590127318 Centerline is valid? [True, True] Translation: X:255.53, Y:-8.67, Z:3.22 [[ 9.99593388e-01 -2.75236902e-02 -7.45020747e-03 2.55532194e+02] [ 2.75266589e-02 9.99621026e-01 2.96212615e-04 -8.66822953e+00] [ 7.43923117e-03 -5.01171491e-04 9.99972203e-01 3.21785119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.240714057 meters Centerline goodness [0,1] 0.9858302288451304 Centerline is valid? [True, True] Translation: X:255.56, Y:-8.67, Z:3.22 [[ 9.99617785e-01 -2.65639894e-02 -7.65758479e-03 2.55563789e+02] [ 2.65671012e-02 9.99646986e-01 3.04916341e-04 -8.66910370e+00] [ 7.64678176e-03 -5.08239627e-04 9.99970634e-01 3.21875602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.270714057 meters Centerline goodness [0,1] 0.9875580771979986 Centerline is valid? [True, True] Translation: X:255.60, Y:-8.66, Z:3.22 [[ 9.99662596e-01 -2.51050607e-02 -6.66559967e-03 2.55595496e+02] [ 2.51073885e-02 9.99684725e-01 2.65759095e-04 -8.66327560e+00] [ 6.65682627e-03 -4.33025227e-04 9.99977749e-01 3.21976609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.300714057 meters Centerline goodness [0,1] 0.9862453946633918 Centerline is valid? [True, True] Translation: X:255.63, Y:-8.67, Z:3.22 [[ 9.99689074e-01 -2.40604840e-02 -6.54580640e-03 2.55627035e+02] [ 2.40627085e-02 9.99710417e-01 2.61286935e-04 -8.66514780e+00] [ 6.53762415e-03 -4.18715525e-04 9.99978542e-01 3.22005582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.330714057 meters Centerline goodness [0,1] 0.9856979789162694 Centerline is valid? [True, True] Translation: X:255.66, Y:-8.67, Z:3.22 [[ 9.99706850e-01 -2.33756746e-02 -6.30800739e-03 2.55658546e+02] [ 2.33777294e-02 9.99726672e-01 2.52190105e-04 -8.66630821e+00] [ 6.30038812e-03 -3.99583065e-04 9.99980073e-01 3.22012737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.360714057 meters Centerline goodness [0,1] 0.987332423177637 Centerline is valid? [True, True] Translation: X:255.69, Y:-8.66, Z:3.22 [[ 9.99743403e-01 -2.17639729e-02 -6.28147274e-03 2.55690741e+02] [ 2.17659808e-02 9.99763061e-01 2.51464407e-04 -8.66147460e+00] [ 6.27451156e-03 -3.88122297e-04 9.99980240e-01 3.22034806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.390714057 meters Centerline goodness [0,1] 0.9865429752989829 Centerline is valid? [True, True] Translation: X:255.72, Y:-8.66, Z:3.22 [[ 9.99762718e-01 -2.08316584e-02 -6.36793390e-03 2.55723214e+02] [ 2.08337056e-02 9.99782922e-01 2.55323645e-04 -8.66118765e+00] [ 6.36123275e-03 -3.87930721e-04 9.99979692e-01 3.22057233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.420714057 meters Centerline goodness [0,1] 0.9879070184082053 Centerline is valid? [True, True] Translation: X:255.76, Y:-8.66, Z:3.22 [[ 9.99784357e-01 -1.95568224e-02 -6.98362899e-03 2.55755929e+02] [ 1.95592574e-02 9.99808660e-01 2.80538706e-04 -8.65630742e+00] [ 6.97680630e-03 -4.17072807e-04 9.99975575e-01 3.22099713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.450714057 meters Centerline goodness [0,1] 0.9889836770336535 Centerline is valid? [True, True] Translation: X:255.79, Y:-8.66, Z:3.22 [[ 9.99789814e-01 -1.90639679e-02 -7.54279328e-03 2.55788345e+02] [ 1.90667988e-02 9.99818166e-01 3.03573483e-04 -8.65706126e+00] [ 7.53563443e-03 -4.47326598e-04 9.99971507e-01 3.22061352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.480714057 meters Centerline goodness [0,1] 0.98932392340196 Centerline is valid? [True, True] Translation: X:255.82, Y:-8.66, Z:3.22 [[ 9.99796131e-01 -1.86619181e-02 -7.70904112e-03 2.55821079e+02] [ 1.86648680e-02 9.99825748e-01 3.10888307e-04 -8.65730455e+00] [ 7.70189603e-03 -4.54713162e-04 9.99970237e-01 3.22007883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51071405700003 meters Centerline goodness [0,1] 0.9888941239819614 Centerline is valid? [True, True] Translation: X:255.85, Y:-8.66, Z:3.22 [[ 9.99807523e-01 -1.72523014e-02 -9.34212080e-03 2.55852383e+02] [ 1.72565793e-02 9.99851023e-01 3.77493809e-04 -8.65727030e+00] [ 9.33421640e-03 -5.38634199e-04 9.99956290e-01 3.21947941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.540714057 meters Centerline goodness [0,1] 0.9894791152586477 Centerline is valid? [True, True] Translation: X:255.88, Y:-8.66, Z:3.22 [[ 9.99819106e-01 -1.63942361e-02 -9.64285687e-03 2.55883970e+02] [ 1.63987583e-02 9.99865455e-01 3.90078917e-04 -8.65538891e+00] [ 9.63516443e-03 -5.48139232e-04 9.99953430e-01 3.21960735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57071405700003 meters Centerline goodness [0,1] 0.9888694403303263 Centerline is valid? [True, True] Translation: X:255.92, Y:-8.66, Z:3.22 [[ 9.99829478e-01 -1.54440343e-02 -1.01241076e-02 2.55915650e+02] [ 1.54489743e-02 9.99880573e-01 4.09918219e-04 -8.65540447e+00] [ 1.01165678e-02 -5.66255398e-04 9.99948666e-01 3.21967060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.600714057 meters Centerline goodness [0,1] 0.989206206431302 Centerline is valid? [True, True] Translation: X:255.95, Y:-8.65, Z:3.22 [[ 9.99870660e-01 -1.29754868e-02 -9.50267837e-03 2.55945787e+02] [ 1.29797292e-02 9.99915686e-01 3.84904680e-04 -8.65386137e+00] [ 9.49688284e-03 -5.08197088e-04 9.99954774e-01 3.22039153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63071405700003 meters Centerline goodness [0,1] 0.9888973966309341 Centerline is valid? [True, True] Translation: X:255.98, Y:-8.65, Z:3.22 [[ 9.99885270e-01 -1.17725609e-02 -9.53173302e-03 2.55976975e+02] [ 1.17767756e-02 9.99930577e-01 3.86173246e-04 -8.65165137e+00] [ 9.52652505e-03 -4.98382022e-04 9.99954497e-01 3.22110595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.660714057 meters Centerline goodness [0,1] 0.9898721642059777 Centerline is valid? [True, True] Translation: X:256.01, Y:-8.65, Z:3.22 [[ 9.99910056e-01 -9.81580562e-03 -9.13950261e-03 2.56006911e+02] [ 9.81959979e-03 9.99951718e-01 3.70357231e-04 -8.65055466e+00] [ 9.13542598e-03 -4.60070177e-04 9.99958165e-01 3.22175194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69071405700004 meters Centerline goodness [0,1] 0.9904090204622538 Centerline is valid? [True, True] Translation: X:256.04, Y:-8.65, Z:3.22 [[ 9.99919419e-01 -9.42293309e-03 -8.50674919e-03 2.56037806e+02] [ 9.42620589e-03 9.99955513e-01 3.44716361e-04 -8.64756045e+00] [ 8.50312252e-03 -4.24874952e-04 9.99963758e-01 3.22207450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.720714057 meters Centerline goodness [0,1] 0.9892552714221624 Centerline is valid? [True, True] Translation: X:256.07, Y:-8.65, Z:3.22 [[ 9.99922773e-01 -8.84825518e-03 -8.72675385e-03 2.56067418e+02] [ 8.85167694e-03 9.99960761e-01 3.53553295e-04 -8.65032322e+00] [ 8.72328308e-03 -4.30772397e-04 9.99961859e-01 3.22232764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75071405700004 meters Centerline goodness [0,1] 0.9894371748384045 Centerline is valid? [True, True] Translation: X:256.10, Y:-8.65, Z:3.22 [[ 9.99923236e-01 -8.55677219e-03 -8.96124632e-03 2.56097816e+02] [ 8.56036792e-03 9.99963294e-01 3.62972221e-04 -8.64837419e+00] [ 8.95781151e-03 -4.39655924e-04 9.99959781e-01 3.22337429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.780714057 meters Centerline goodness [0,1] 0.9888186460887759 Centerline is valid? [True, True] Translation: X:256.13, Y:-8.65, Z:3.22 [[ 9.99923103e-01 -8.60228338e-03 -8.93244396e-03 2.56127710e+02] [ 8.60585640e-03 9.99962904e-01 3.61644493e-04 -8.64924347e+00] [ 8.92900163e-03 -4.38488014e-04 9.99960040e-01 3.22339700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.810714057 meters Centerline goodness [0,1] 0.9885495322889666 Centerline is valid? [True, True] Translation: X:256.16, Y:-8.65, Z:3.22 [[ 9.99904677e-01 -9.41670985e-03 -1.00976651e-02 2.56156615e+02] [ 9.42131777e-03 9.99955535e-01 4.08863773e-04 -8.65409042e+00] [ 1.00933659e-02 -5.03958110e-04 9.99948934e-01 3.22249466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.840714057 meters Centerline goodness [0,1] 0.9884006396540462 Centerline is valid? [True, True] Translation: X:256.19, Y:-8.66, Z:3.22 [[ 9.99888553e-01 -1.02905583e-02 -1.08160125e-02 2.56186041e+02] [ 1.02958958e-02 9.99946900e-01 4.37914084e-04 -8.65570451e+00] [ 1.08109318e-02 -5.49225817e-04 9.99941409e-01 3.22176832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.870714057 meters Centerline goodness [0,1] 0.9893096371140531 Centerline is valid? [True, True] Translation: X:256.22, Y:-8.65, Z:3.22 [[ 9.99879290e-01 -1.10903068e-02 -1.08816442e-02 2.56215828e+02] [ 1.10957524e-02 9.99938343e-01 4.40192844e-04 -8.65236624e+00] [ 1.08760914e-02 -5.60879739e-04 9.99940696e-01 3.22230829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.900714057 meters Centerline goodness [0,1] 0.9886524822695035 Centerline is valid? [True, True] Translation: X:256.25, Y:-8.65, Z:3.22 [[ 9.99868563e-01 -1.22013129e-02 -1.06763703e-02 2.56245814e+02] [ 1.22066153e-02 9.99925403e-01 4.31623609e-04 -8.65281968e+00] [ 1.06703075e-02 -5.61889221e-04 9.99942913e-01 3.22253438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.930714057 meters Centerline goodness [0,1] 0.987928243862962 Centerline is valid? [True, True] Translation: X:256.28, Y:-8.66, Z:3.22 [[ 9.99862882e-01 -1.27052065e-02 -1.06205022e-02 2.56275169e+02] [ 1.27104799e-02 9.99919126e-01 4.29174893e-04 -8.65624372e+00] [ 1.06141905e-02 -5.64107725e-04 9.99943509e-01 3.22281787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.960714057 meters Centerline goodness [0,1] 0.987148558158411 Centerline is valid? [True, True] Translation: X:256.31, Y:-8.66, Z:3.22 [[ 9.99855898e-01 -1.33484147e-02 -1.04882512e-02 2.56305568e+02] [ 1.33535954e-02 9.99910747e-01 4.24071723e-04 -8.65861518e+00] [ 1.04816544e-02 -5.64066476e-04 9.99944907e-01 3.22291343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.990714057 meters Centerline goodness [0,1] 0.9876807833758263 Centerline is valid? [True, True] Translation: X:256.34, Y:-8.66, Z:3.22 [[ 9.99849825e-01 -1.36202127e-02 -1.07153090e-02 2.56336584e+02] [ 1.36256382e-02 9.99907073e-01 4.33486499e-04 -8.65570510e+00] [ 1.07084090e-02 -5.79424323e-04 9.99942495e-01 3.22309420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.020714057 meters Centerline goodness [0,1] 0.9882283829277662 Centerline is valid? [True, True] Translation: X:256.37, Y:-8.66, Z:3.22 [[ 9.99847611e-01 -1.36284778e-02 -1.09096128e-02 2.56366600e+02] [ 1.36341023e-02 9.99906954e-01 4.41347039e-04 -8.65651892e+00] [ 1.09025829e-02 -5.90022560e-04 9.99940391e-01 3.22305467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.050714057 meters Centerline goodness [0,1] 0.9876116978066612 Centerline is valid? [True, True] Translation: X:256.40, Y:-8.67, Z:3.22 [[ 9.99844024e-01 -1.38539393e-02 -1.09542997e-02 2.56396888e+02] [ 1.38596248e-02 9.99903853e-01 4.43271945e-04 -8.66547329e+00] [ 1.09471055e-02 -5.95025289e-04 9.99939902e-01 3.22145577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.080714057 meters Centerline goodness [0,1] 0.9872828228550958 Centerline is valid? [True, True] Translation: X:256.43, Y:-8.67, Z:3.22 [[ 9.99845151e-01 -1.38594905e-02 -1.08438214e-02 2.56427515e+02] [ 1.38650631e-02 9.99903779e-01 4.38878820e-04 -8.66527456e+00] [ 1.08366953e-02 -5.89161127e-04 9.99941108e-01 3.22159291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.110714057 meters Centerline goodness [0,1] 0.9877607037595338 Centerline is valid? [True, True] Translation: X:256.46, Y:-8.66, Z:3.22 [[ 9.99819257e-01 -1.47362893e-02 -1.20122663e-02 2.56458518e+02] [ 1.47431906e-02 9.99891195e-01 4.86168950e-04 -8.66131582e+00] [ 1.20037949e-02 -6.63180209e-04 9.99927732e-01 3.22132178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.140714057 meters Centerline goodness [0,1] 0.9882023233738643 Centerline is valid? [True, True] Translation: X:256.49, Y:-8.66, Z:3.22 [[ 9.99802647e-01 -1.52070196e-02 -1.27833702e-02 2.56488851e+02] [ 1.52148739e-02 9.99884113e-01 5.17377614e-04 -8.66174739e+00] [ 1.27740210e-02 -7.11772873e-04 9.99918156e-01 3.22134642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.170714057 meters Centerline goodness [0,1] 0.9875047928366827 Centerline is valid? [True, True] Translation: X:256.52, Y:-8.66, Z:3.22 [[ 9.99798379e-01 -1.53630867e-02 -1.29296799e-02 2.56519748e+02] [ 1.53711348e-02 9.99881720e-01 5.23299165e-04 -8.66193903e+00] [ 1.29201111e-02 -7.21937510e-04 9.99916271e-01 3.22113819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.200714057 meters Centerline goodness [0,1] 0.9869355167955726 Centerline is valid? [True, True] Translation: X:256.55, Y:-8.66, Z:3.22 [[ 9.99776016e-01 -1.59863494e-02 -1.38692109e-02 2.56550670e+02] [ 1.59956696e-02 9.99871904e-01 5.61324527e-04 -8.66267223e+00] [ 1.38584607e-02 -7.83046114e-04 9.99903660e-01 3.22117219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.230714057 meters Centerline goodness [0,1] 0.9880828311205764 Centerline is valid? [True, True] Translation: X:256.58, Y:-8.66, Z:3.22 [[ 9.99771324e-01 -1.62012943e-02 -1.39576840e-02 2.56581220e+02] [ 1.62107546e-02 9.99868438e-01 5.64905274e-04 -8.66205903e+00] [ 1.39466955e-02 -7.91040684e-04 9.99902427e-01 3.22149353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26071405700003 meters Centerline goodness [0,1] 0.9878752100267926 Centerline is valid? [True, True] Translation: X:256.61, Y:-8.66, Z:3.22 [[ 9.99767829e-01 -1.66370596e-02 -1.36929013e-02 2.56612179e+02] [ 1.66462051e-02 9.99861289e-01 5.54188801e-04 -8.66165968e+00] [ 1.36817818e-02 -7.81994978e-04 9.99906094e-01 3.22119698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.290714057 meters Centerline goodness [0,1] 0.9871969490602016 Centerline is valid? [True, True] Translation: X:256.64, Y:-8.66, Z:3.22 [[ 9.99762961e-01 -1.66870351e-02 -1.39844476e-02 2.56643044e+02] [ 1.66965791e-02 9.99860442e-01 5.65988469e-04 -8.66250227e+00] [ 1.39730513e-02 -7.99346742e-04 9.99902053e-01 3.22073494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32071405700003 meters Centerline goodness [0,1] 0.9863029231013447 Centerline is valid? [True, True] Translation: X:256.67, Y:-8.66, Z:3.22 [[ 9.99769472e-01 -1.63816054e-02 -1.38797181e-02 2.56673824e+02] [ 1.63909776e-02 9.99865501e-01 5.61749783e-04 -8.66240157e+00] [ 1.38686489e-02 -7.89122432e-04 9.99903514e-01 3.22051354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.350714057 meters Centerline goodness [0,1] 0.98692230713246 Centerline is valid? [True, True] Translation: X:256.70, Y:-8.66, Z:3.22 [[ 9.99765653e-01 -1.62671967e-02 -1.42834967e-02 2.56704726e+02] [ 1.62771130e-02 9.99867352e-01 5.78265291e-04 -8.66090088e+00] [ 1.42721953e-02 -8.10623866e-04 9.99897818e-01 3.22011094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38071405700003 meters Centerline goodness [0,1] 0.9865483100034141 Centerline is valid? [True, True] Translation: X:256.74, Y:-8.66, Z:3.22 [[ 9.99763037e-01 -1.61704796e-02 -1.45734453e-02 2.56735670e+02] [ 1.61807935e-02 9.99868908e-01 5.90082293e-04 -8.66078187e+00] [ 1.45619929e-02 -8.25752375e-04 9.99893628e-01 3.21973427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.410714057 meters Centerline goodness [0,1] 0.9849524935218439 Centerline is valid? [True, True] Translation: X:256.77, Y:-8.66, Z:3.22 [[ 9.99770777e-01 -1.60171104e-02 -1.42072495e-02 2.56765535e+02] [ 1.60268947e-02 9.99871396e-01 5.75084276e-04 -8.66060068e+00] [ 1.41962112e-02 -8.02650544e-04 9.99898907e-01 3.21950794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44071405700004 meters Centerline goodness [0,1] 0.9859196578863564 Centerline is valid? [True, True] Translation: X:256.80, Y:-8.66, Z:3.22 [[ 9.99776412e-01 -1.60938369e-02 -1.37154868e-02 2.56796236e+02] [ 1.61029616e-02 9.99870185e-01 5.55104989e-04 -8.65731712e+00] [ 1.37047726e-02 -7.75840832e-04 9.99905784e-01 3.22069414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.470714057 meters Centerline goodness [0,1] 0.9862555467061099 Centerline is valid? [True, True] Translation: X:256.83, Y:-8.66, Z:3.22 [[ 9.99781593e-01 -1.63645667e-02 -1.29987449e-02 2.56827284e+02] [ 1.63727854e-02 9.99865819e-01 5.26096394e-04 -8.65536552e+00] [ 1.29883914e-02 -7.38807151e-04 9.99915374e-01 3.22163615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50071405700004 meters Centerline goodness [0,1] 0.9844837784957 Centerline is valid? [True, True] Translation: X:256.86, Y:-8.66, Z:3.22 [[ 9.99763669e-01 -1.78963857e-02 -1.23420605e-02 2.56857637e+02] [ 1.79039130e-02 9.99839587e-01 4.99659331e-04 -8.66057329e+00] [ 1.23311386e-02 -7.20512423e-04 9.99923709e-01 3.22205392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.530714057 meters Centerline goodness [0,1] 0.982716444525731 Centerline is valid? [True, True] Translation: X:256.89, Y:-8.66, Z:3.22 [[ 9.99751380e-01 -1.87782774e-02 -1.20230495e-02 2.56888132e+02] [ 1.87854894e-02 9.99823418e-01 4.87181812e-04 -8.66281590e+00] [ 1.20117780e-02 -7.12919557e-04 9.99927602e-01 3.22232569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.560714057 meters Centerline goodness [0,1] 0.9843358681298666 Centerline is valid? [True, True] Translation: X:256.92, Y:-8.66, Z:3.22 [[ 9.99734831e-01 -2.00904751e-02 -1.12535090e-02 2.56919454e+02] [ 2.00968811e-02 9.99797933e-01 4.56434983e-04 -8.65808230e+00] [ 1.12420651e-02 -6.82474383e-04 9.99936573e-01 3.22309430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.590714057 meters Centerline goodness [0,1] 0.9833554043563633 Centerline is valid? [True, True] Translation: X:256.95, Y:-8.66, Z:3.22 [[ 9.99717848e-01 -2.06828019e-02 -1.16810533e-02 2.56952115e+02] [ 2.06897521e-02 9.99785832e-01 4.74455414e-04 -8.65652278e+00] [ 1.16687385e-02 -7.15999642e-04 9.99931662e-01 3.22333424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.620714057 meters Centerline goodness [0,1] 0.9843910923946627 Centerline is valid? [True, True] Translation: X:256.98, Y:-8.66, Z:3.22 [[ 9.99714305e-01 -2.08432137e-02 -1.16990926e-02 2.56984165e+02] [ 2.08502061e-02 9.99782497e-01 4.76030159e-04 -8.65553753e+00] [ 1.16866260e-02 -7.19822651e-04 9.99931450e-01 3.22332078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.650714057 meters Centerline goodness [0,1] 0.9841367521367521 Centerline is valid? [True, True] Translation: X:257.01, Y:-8.66, Z:3.22 [[ 9.99728043e-01 -2.08082609e-02 -1.05288380e-02 2.57014863e+02] [ 2.08139289e-02 9.99783275e-01 4.29029662e-04 -8.65766495e+00] [ 1.05176287e-02 -6.48059469e-04 9.99944478e-01 3.22295557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.680714057 meters Centerline goodness [0,1] 0.9842546754675467 Centerline is valid? [True, True] Translation: X:257.05, Y:-8.66, Z:3.22 [[ 9.99739446e-01 -2.02594088e-02 -1.05164531e-02 2.57046916e+02] [ 2.02650403e-02 9.99794551e-01 4.29198352e-04 -8.65644777e+00] [ 1.05055972e-02 -6.42202868e-04 9.99944608e-01 3.22286693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.710714057 meters Centerline goodness [0,1] 0.9858498150828108 Centerline is valid? [True, True] Translation: X:257.08, Y:-8.65, Z:3.22 [[ 9.99752894e-01 -1.97089146e-02 -1.02815671e-02 2.57079110e+02] [ 1.97142759e-02 9.99805566e-01 4.20350958e-04 -8.65332713e+00] [ 1.02712833e-02 -6.22940736e-04 9.99947055e-01 3.22299375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.740714057 meters Centerline goodness [0,1] 0.9845842345037044 Centerline is valid? [True, True] Translation: X:257.11, Y:-8.66, Z:3.22 [[ 9.99762542e-01 -1.90715299e-02 -1.05420837e-02 2.57110481e+02] [ 1.90771381e-02 9.99817922e-01 4.31668361e-04 -8.65672949e+00] [ 1.05319317e-02 -6.32678645e-04 9.99944338e-01 3.22236026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.770714057 meters Centerline goodness [0,1] 0.9854137382768394 Centerline is valid? [True, True] Translation: X:257.14, Y:-8.65, Z:3.22 [[ 9.99802758e-01 -1.71525976e-02 -1.00117124e-02 2.57142319e+02] [ 1.71575652e-02 9.99852714e-01 4.10489214e-04 -8.65302187e+00] [ 1.00031969e-02 -5.82184856e-04 9.99949797e-01 3.22221121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.800714057 meters Centerline goodness [0,1] 0.9851327678406786 Centerline is valid? [True, True] Translation: X:257.17, Y:-8.66, Z:3.22 [[ 9.99823226e-01 -1.59762947e-02 -9.91334708e-03 2.57172832e+02] [ 1.59811109e-02 9.99872211e-01 4.06796431e-04 -8.65536995e+00] [ 9.90558117e-03 -5.65150819e-04 9.99950779e-01 3.22207257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.830714057 meters Centerline goodness [0,1] 0.9848745273289791 Centerline is valid? [True, True] Translation: X:257.20, Y:-8.65, Z:3.22 [[ 9.99870355e-01 -1.34816669e-02 -8.80438271e-03 2.57204067e+02] [ 1.34853714e-02 9.99909003e-01 3.61520364e-04 -8.65440984e+00] [ 8.79870764e-03 -4.80203865e-04 9.99961175e-01 3.22280269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.860714057 meters Centerline goodness [0,1] 0.9845919638326337 Centerline is valid? [True, True] Translation: X:257.24, Y:-8.66, Z:3.22 [[ 9.99882366e-01 -1.27113603e-02 -8.58341924e-03 2.57235727e+02] [ 1.27148555e-02 9.99919101e-01 3.52751696e-04 -8.65590931e+00] [ 8.57824090e-03 -4.61847136e-04 9.99963100e-01 3.22302069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.890714057 meters Centerline goodness [0,1] 0.9851887683412802 Centerline is valid? [True, True] Translation: X:257.27, Y:-8.66, Z:3.22 [[ 9.99896761e-01 -1.16887562e-02 -8.35705339e-03 2.57265912e+02] [ 1.16920357e-02 9.99931587e-01 3.43671762e-04 -8.65874294e+00] [ 8.35246456e-03 -4.41347249e-04 9.99965020e-01 3.22260856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.920714057 meters Centerline goodness [0,1] 0.9851887683412802 Centerline is valid? [True, True] Translation: X:257.30, Y:-8.66, Z:3.22 [[ 9.99897167e-01 -1.16540096e-02 -8.35704451e-03 2.57296776e+02] [ 1.16572897e-02 9.99931992e-01 3.43887538e-04 -8.66004350e+00] [ 8.35246850e-03 -4.41272664e-04 9.99965020e-01 3.22274417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.950714057 meters Centerline goodness [0,1] 0.985733680020249 Centerline is valid? [True, True] Translation: X:257.33, Y:-8.66, Z:3.22 [[ 9.99913019e-01 -1.05032390e-02 -7.97721130e-03 2.57328399e+02] [ 1.05061934e-02 9.99944754e-01 3.28532575e-04 -8.65777361e+00] [ 7.97331994e-03 -4.12314123e-04 9.99968128e-01 3.22273685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.980714057 meters Centerline goodness [0,1] 0.9855949028117642 Centerline is valid? [True, True] Translation: X:257.36, Y:-8.66, Z:3.22 [[ 9.99917304e-01 -1.00730362e-02 -7.99493352e-03 2.57359050e+02] [ 1.00759918e-02 9.99949182e-01 3.29484923e-04 -8.66011957e+00] [ 7.99120832e-03 -4.10014560e-04 9.99967986e-01 3.22246759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01071405700003 meters Centerline goodness [0,1] 0.9855296204981682 Centerline is valid? [True, True] Translation: X:257.39, Y:-8.66, Z:3.22 [[ 9.99914375e-01 -1.02040936e-02 -8.19259124e-03 2.57389482e+02] [ 1.02072027e-02 9.99947848e-01 3.37777912e-04 -8.66351585e+00] [ 8.18871727e-03 -4.21372429e-04 9.99966383e-01 3.22233749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.040714057 meters Centerline goodness [0,1] 0.9862115003913263 Centerline is valid? [True, True] Translation: X:257.42, Y:-8.66, Z:3.22 [[ 9.99915974e-01 -9.77907667e-03 -8.50968247e-03 2.57421100e+02] [ 9.78241768e-03 9.99952089e-01 3.51076608e-04 -8.66460885e+00] [ 8.50584156e-03 -4.34292376e-04 9.99963730e-01 3.22231616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07071405700003 meters Centerline goodness [0,1] 0.9854982390718873 Centerline is valid? [True, True] Translation: X:257.45, Y:-8.67, Z:3.22 [[ 9.99916258e-01 -9.66991633e-03 -8.60059427e-03 2.57451855e+02] [ 9.67332642e-03 9.99953149e-01 3.54982990e-04 -8.66545317e+00] [ 8.59675867e-03 -4.38149619e-04 9.99962951e-01 3.22241124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.100714057 meters Centerline goodness [0,1] 0.9864397398643974 Centerline is valid? [True, True] Translation: X:257.48, Y:-8.67, Z:3.22 [[ 9.99918893e-01 -9.08420591e-03 -8.92663311e-03 2.57481792e+02] [ 9.08785878e-03 9.99958637e-01 3.68732043e-04 -8.66807716e+00] [ 8.92291423e-03 -4.49826118e-04 9.99960089e-01 3.22287139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13071405700003 meters Centerline goodness [0,1] 0.9864914707238359 Centerline is valid? [True, True] Translation: X:257.51, Y:-8.67, Z:3.22 [[ 9.99914893e-01 -9.08593103e-03 -9.36224971e-03 2.57512461e+02] [ 9.08995198e-03 9.99958611e-01 3.87022073e-04 -8.66811608e+00] [ 9.35834576e-03 -4.72091535e-04 9.99956098e-01 3.22292664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.160714057 meters Centerline goodness [0,1] 0.9869140760229869 Centerline is valid? [True, True] Translation: X:257.54, Y:-8.67, Z:3.22 [[ 9.99913933e-01 -9.14535099e-03 -9.40688155e-03 2.57543171e+02] [ 9.14941300e-03 9.99958068e-01 3.88867089e-04 -8.66813954e+00] [ 9.40293077e-03 -4.74901065e-04 9.99955679e-01 3.22303073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19071405700004 meters Centerline goodness [0,1] 0.9861607657709607 Centerline is valid? [True, True] Translation: X:257.57, Y:-8.67, Z:3.22 [[ 9.99908672e-01 -9.47270077e-03 -9.63927084e-03 2.57573123e+02] [ 9.47698023e-03 9.99955013e-01 3.98379580e-04 -8.66996868e+00] [ 9.63506347e-03 -4.89694376e-04 9.99953462e-01 3.22286834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.220714057 meters Centerline goodness [0,1] 0.9842890989809767 Centerline is valid? [True, True] Translation: X:257.60, Y:-8.68, Z:3.22 [[ 9.99905477e-01 -9.73217998e-03 -9.71197791e-03 2.57602622e+02] [ 9.73653477e-03 9.99952518e-01 4.01210854e-04 -8.67766128e+00] [ 9.70761211e-03 -4.95733941e-04 9.99952757e-01 3.22179259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25071405700004 meters Centerline goodness [0,1] 0.9848690413226941 Centerline is valid? [True, True] Translation: X:257.63, Y:-8.68, Z:3.22 [[ 9.99898901e-01 -1.01061389e-02 -1.00026755e-02 2.57632356e+02] [ 1.01107761e-02 9.99948799e-01 4.13139749e-04 -8.68004808e+00] [ 9.99798807e-03 -5.14232793e-04 9.99949887e-01 3.22196107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.280714057 meters Centerline goodness [0,1] 0.9851969519073601 Centerline is valid? [True, True] Translation: X:257.66, Y:-8.67, Z:3.22 [[ 9.99877445e-01 -1.10656462e-02 -1.10745523e-02 2.57663241e+02] [ 1.10713893e-02 9.99938606e-01 4.57411396e-04 -8.67312465e+00] [ 1.10688108e-02 -5.79966018e-04 9.99938571e-01 3.22243773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.310714057 meters Centerline goodness [0,1] 0.9834982738780207 Centerline is valid? [True, True] Translation: X:257.69, Y:-8.68, Z:3.22 [[ 9.99872397e-01 -1.17888119e-02 -1.07802666e-02 2.57692643e+02] [ 1.17942957e-02 9.99930346e-01 4.45256536e-04 -8.68485070e+00] [ 1.07742666e-02 -5.72345371e-04 9.99941792e-01 3.22119387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.340714057 meters Centerline goodness [0,1] 0.9832679198512704 Centerline is valid? [True, True] Translation: X:257.72, Y:-8.69, Z:3.22 [[ 9.99862052e-01 -1.25480046e-02 -1.08822638e-02 2.57722765e+02] [ 1.25536375e-02 9.99921099e-01 4.49469321e-04 -8.68760861e+00] [ 1.08757653e-02 -5.86019314e-04 9.99940685e-01 3.22107051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.370714057 meters Centerline goodness [0,1] 0.9816839740503862 Centerline is valid? [True, True] Translation: X:257.75, Y:-8.69, Z:3.22 [[ 9.99829824e-01 -1.51660013e-02 -1.05031370e-02 2.57752855e+02] [ 1.51713936e-02 9.99884814e-01 4.33909699e-04 -8.69245128e+00] [ 1.04953465e-02 -5.93183084e-04 9.99944746e-01 3.22148930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.400714057 meters Centerline goodness [0,1] 0.9838105093710475 Centerline is valid? [True, True] Translation: X:257.78, Y:-8.68, Z:3.22 [[ 9.99823871e-01 -1.58031905e-02 -1.01235028e-02 2.57784408e+02] [ 1.58082354e-02 9.99874954e-01 4.18498767e-04 -8.68459505e+00] [ 1.01156233e-02 -5.78459772e-04 9.99948668e-01 3.22298629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.430714057 meters Centerline goodness [0,1] 0.9845719402162684 Centerline is valid? [True, True] Translation: X:257.82, Y:-8.69, Z:3.22 [[ 9.99798459e-01 -1.72587759e-02 -1.02555270e-02 2.57815993e+02] [ 1.72640344e-02 9.99850875e-01 4.24430660e-04 -8.68672629e+00] [ 1.02466725e-02 -6.01396890e-04 9.99947321e-01 3.22371554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.460714057 meters Centerline goodness [0,1] 0.983565976758578 Centerline is valid? [True, True] Translation: X:257.85, Y:-8.69, Z:3.22 [[ 9.99792902e-01 -1.77449299e-02 -9.96345053e-03 2.57848025e+02] [ 1.77499234e-02 9.99842372e-01 4.12974802e-04 -8.68858095e+00] [ 9.95455181e-03 -5.89739760e-04 9.99950278e-01 3.22386958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.490714057 meters Centerline goodness [0,1] 0.984147376631719 Centerline is valid? [True, True] Translation: X:257.88, Y:-8.69, Z:3.22 [[ 9.99773218e-01 -1.85272478e-02 -1.05002005e-02 2.57880489e+02] [ 1.85328452e-02 9.99828157e-01 4.36010042e-04 -8.68736971e+00] [ 1.04903180e-02 -6.30509752e-04 9.99944776e-01 3.22438512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.520714057 meters Centerline goodness [0,1] 0.9834194511424963 Centerline is valid? [True, True] Translation: X:257.91, Y:-8.69, Z:3.22 [[ 9.99745805e-01 -1.96640982e-02 -1.10294418e-02 2.57911335e+02] [ 1.96703507e-02 9.99806415e-01 4.58693915e-04 -8.69360924e+00] [ 1.10182869e-02 -6.75530306e-04 9.99939069e-01 3.22378520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.550714057 meters Centerline goodness [0,1] 0.9832595684179145 Centerline is valid? [True, True] Translation: X:257.94, Y:-8.70, Z:3.22 [[ 9.99736399e-01 -2.01221688e-02 -1.10558048e-02 2.57943599e+02] [ 2.01284871e-02 9.99797295e-01 4.60506901e-04 -8.69637445e+00] [ 1.10442973e-02 -6.82922134e-04 9.99938777e-01 3.22355275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.580714057 meters Centerline goodness [0,1] 0.9827377277819696 Centerline is valid? [True, True] Translation: X:257.97, Y:-8.70, Z:3.22 [[ 9.99713707e-01 -2.10922741e-02 -1.12969220e-02 2.57974835e+02] [ 2.10989404e-02 9.99777282e-01 4.71235749e-04 -8.70014293e+00] [ 1.12844666e-02 -7.09453922e-04 9.99936077e-01 3.22268060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.610714057 meters Centerline goodness [0,1] 0.9826168395084289 Centerline is valid? [True, True] Translation: X:258.01, Y:-8.70, Z:3.22 [[ 9.99702107e-01 -2.14147842e-02 -1.17091384e-02 2.58006055e+02] [ 2.14219753e-02 9.99770404e-01 4.89056949e-04 -8.70314752e+00] [ 1.16959770e-02 -7.39744137e-04 9.99931326e-01 3.22239224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.640714057 meters Centerline goodness [0,1] 0.9828258277538292 Centerline is valid? [True, True] Translation: X:258.04, Y:-8.71, Z:3.22 [[ 9.99685883e-01 -2.19441597e-02 -1.21074238e-02 2.58036778e+02] [ 2.19518948e-02 9.99758900e-01 5.06332993e-04 -8.70674777e+00] [ 1.20933937e-02 -7.71954840e-04 9.99926574e-01 3.22211478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.670714057 meters Centerline goodness [0,1] 0.9822614889391138 Centerline is valid? [True, True] Translation: X:258.07, Y:-8.71, Z:3.22 [[ 9.99653668e-01 -2.28520090e-02 -1.30510203e-02 2.58067943e+02] [ 2.28610830e-02 9.99738502e-01 5.46489749e-04 -8.71110261e+00] [ 1.30351191e-02 -8.44660940e-04 9.99914682e-01 3.22149927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.700714057 meters Centerline goodness [0,1] 0.9834030587751184 Centerline is valid? [True, True] Translation: X:258.10, Y:-8.71, Z:3.22 [[ 9.99645443e-01 -2.32121479e-02 -1.30454424e-02 2.58100640e+02] [ 2.32212556e-02 9.99730201e-01 5.47100007e-04 -8.70833139e+00] [ 1.30292234e-02 -8.49837583e-04 9.99914755e-01 3.22197955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.730714057 meters Centerline goodness [0,1] 0.9829414581860476 Centerline is valid? [True, True] Translation: X:258.13, Y:-8.72, Z:3.22 [[ 9.99630811e-01 -2.34499223e-02 -1.37238053e-02 2.58131576e+02] [ 2.34600356e-02 9.99724609e-01 5.76370668e-04 -8.71646093e+00] [ 1.37065100e-02 -8.98118838e-04 9.99905658e-01 3.22049255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76071405700003 meters Centerline goodness [0,1] 0.9824012067743926 Centerline is valid? [True, True] Translation: X:258.16, Y:-8.72, Z:3.22 [[ 9.99622842e-01 -2.34320890e-02 -1.43217096e-02 2.58163954e+02] [ 2.34431140e-02 9.99724991e-01 6.02392820e-04 -8.71851317e+00] [ 1.43036557e-02 -9.37911093e-04 9.99897258e-01 3.22005764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.790714057 meters Centerline goodness [0,1] 0.9844729018980105 Centerline is valid? [True, True] Translation: X:258.20, Y:-8.71, Z:3.22 [[ 9.99618693e-01 -2.32009469e-02 -1.49728071e-02 2.58196093e+02] [ 2.32129873e-02 9.99730343e-01 6.30840939e-04 -8.71290865e+00] [ 1.49541334e-02 -9.78163975e-04 9.99887702e-01 3.22096489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82071405700003 meters Centerline goodness [0,1] 0.9838508188157267 Centerline is valid? [True, True] Translation: X:258.23, Y:-8.72, Z:3.22 [[ 9.99648278e-01 -2.20551199e-02 -1.47272426e-02 2.58226145e+02] [ 2.20666612e-02 9.99756308e-01 6.21607528e-04 -8.71692875e+00] [ 1.47099440e-02 -9.46369967e-04 9.99891355e-01 3.22060161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.850714057 meters Centerline goodness [0,1] 0.9827515306588687 Centerline is valid? [True, True] Translation: X:258.26, Y:-8.72, Z:3.22 [[ 9.99659261e-01 -2.15452493e-02 -1.47364969e-02 2.58256795e+02] [ 2.15567601e-02 9.99767432e-01 6.22693963e-04 -8.72333890e+00] [ 1.47196535e-02 -9.40152915e-04 9.99891218e-01 3.22012771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88071405700003 meters Centerline goodness [0,1] 0.9842571859434264 Centerline is valid? [True, True] Translation: X:258.29, Y:-8.71, Z:3.22 [[ 9.99702896e-01 -1.96977956e-02 -1.43567540e-02 2.58288322e+02] [ 1.97085382e-02 9.99805584e-01 6.07149195e-04 -8.71312184e+00] [ 1.43420033e-02 -8.89919443e-04 9.99896752e-01 3.22339692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.910714057 meters Centerline goodness [0,1] 0.9845134764732755 Centerline is valid? [True, True] Translation: X:258.32, Y:-8.71, Z:3.22 [[ 9.99726576e-01 -1.90323292e-02 -1.35846912e-02 2.58319948e+02] [ 1.90418925e-02 9.99818521e-01 5.74969640e-04 -8.71436692e+00] [ 1.35712829e-02 -8.33490659e-04 9.99907559e-01 3.22388090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94071405700004 meters Centerline goodness [0,1] 0.9848266392035702 Centerline is valid? [True, True] Translation: X:258.35, Y:-8.71, Z:3.22 [[ 9.99734695e-01 -1.86372120e-02 -1.35349079e-02 2.58351748e+02] [ 1.86466758e-02 9.99825971e-01 5.73344038e-04 -8.71280851e+00] [ 1.35218669e-02 -8.25572967e-04 9.99908235e-01 3.22492879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.970714057 meters Centerline goodness [0,1] 0.9848709920698403 Centerline is valid? [True, True] Translation: X:258.38, Y:-8.72, Z:3.22 [[ 9.99756890e-01 -1.81877832e-02 -1.24645993e-02 2.58381751e+02] [ 1.81957781e-02 9.99834304e-01 5.28293766e-04 -8.71530652e+00] [ 1.24529255e-02 -7.54968416e-04 9.99922174e-01 3.22482923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00071405700004 meters Centerline goodness [0,1] 0.9839190677188475 Centerline is valid? [True, True] Translation: X:258.41, Y:-8.72, Z:3.22 [[ 9.99751313e-01 -1.82759316e-02 -1.27790119e-02 2.58413449e+02] [ 1.82843508e-02 9.99832680e-01 5.42298546e-04 -8.71724691e+00] [ 1.27669627e-02 -7.75819620e-04 9.99918198e-01 3.22458591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.030714057 meters Centerline goodness [0,1] 0.9844630826344012 Centerline is valid? [True, True] Translation: X:258.45, Y:-8.72, Z:3.22 [[ 9.99750438e-01 -1.77581940e-02 -1.35539061e-02 2.58445169e+02] [ 1.77676268e-02 9.99841977e-01 5.75842656e-04 -8.71777939e+00] [ 1.35415384e-02 -8.16519694e-04 9.99907976e-01 3.22458045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.060714057 meters Centerline goodness [0,1] 0.9645327414941067 Centerline is valid? [True, True] Translation: X:258.47, Y:-8.75, Z:3.22 [[ 9.99804733e-01 -1.63571389e-02 -1.10877943e-02 2.58473763e+02] [ 1.63633668e-02 9.99866000e-01 4.71197454e-04 -8.74661635e+00] [ 1.10786011e-02 -6.52539091e-04 9.99938417e-01 3.22209225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.090714057 meters Centerline goodness [0,1] 0.9846122045887784 Centerline is valid? [True, True] Translation: X:258.51, Y:-8.72, Z:3.22 [[ 9.99740140e-01 -1.72540774e-02 -1.48979351e-02 2.58506024e+02] [ 1.72654236e-02 9.99850741e-01 6.33304639e-04 -8.71800460e+00] [ 1.48847843e-02 -8.90359228e-04 9.99888819e-01 3.22471327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.120714057 meters Centerline goodness [0,1] 0.9839195748694471 Centerline is valid? [True, True] Translation: X:258.54, Y:-8.72, Z:3.22 [[ 9.99731811e-01 -1.70972767e-02 -1.56201343e-02 2.58536487e+02] [ 1.71097351e-02 9.99853397e-01 6.64285839e-04 -8.72214065e+00] [ 1.56064869e-02 -9.31364045e-04 9.99877778e-01 3.22403466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.150714057 meters Centerline goodness [0,1] 0.9843185946517671 Centerline is valid? [True, True] Translation: X:258.57, Y:-8.72, Z:3.22 [[ 9.99734426e-01 -1.63385184e-02 -1.62521069e-02 2.58567060e+02] [ 1.63519069e-02 9.99866060e-01 6.91242789e-04 -8.72215408e+00] [ 1.62386362e-02 -9.56812151e-04 9.99867687e-01 3.22306879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.180714057 meters Centerline goodness [0,1] 0.9850804597701149 Centerline is valid? [True, True] Translation: X:258.60, Y:-8.72, Z:3.22 [[ 9.99743096e-01 -1.57528287e-02 -1.62969293e-02 2.58596760e+02] [ 1.57662066e-02 9.99875466e-01 6.92727368e-04 -8.72266199e+00] [ 1.62839874e-02 -9.49490158e-04 9.99866956e-01 3.22293479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.210714057 meters Centerline goodness [0,1] 0.9845444747643834 Centerline is valid? [True, True] Translation: X:258.63, Y:-8.72, Z:3.22 [[ 9.99761308e-01 -1.43762034e-02 -1.64515152e-02 2.58625811e+02] [ 1.43896411e-02 9.99896220e-01 6.98718886e-04 -8.72443408e+00] [ 1.64397629e-02 -9.35283507e-04 9.99864421e-01 3.22219940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.240714057 meters Centerline goodness [0,1] 0.9852832965415746 Centerline is valid? [True, True] Translation: X:258.66, Y:-8.72, Z:3.22 [[ 9.99782372e-01 -1.31962780e-02 -1.61575535e-02 2.58655768e+02] [ 1.32090770e-02 9.99912521e-01 6.85667041e-04 -8.72336856e+00] [ 1.61470918e-02 -8.98944188e-04 9.99869223e-01 3.22332859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.270714057 meters Centerline goodness [0,1] 0.9847277250529808 Centerline is valid? [True, True] Translation: X:258.68, Y:-8.73, Z:3.22 [[ 9.99825724e-01 -1.08157613e-02 -1.52164979e-02 2.58684484e+02] [ 1.08268269e-02 9.99941180e-01 6.45017866e-04 -8.72659491e+00] [ 1.52086265e-02 -8.09651842e-04 9.99884014e-01 3.22301322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.300714057 meters Centerline goodness [0,1] 0.9847916618733176 Centerline is valid? [True, True] Translation: X:258.71, Y:-8.72, Z:3.22 [[ 9.99843535e-01 -9.42478254e-03 -1.49692723e-02 2.58713214e+02] [ 9.43532152e-03 9.99955286e-01 6.33571667e-04 -8.72393256e+00] [ 1.49626316e-02 -7.74712432e-04 9.99887753e-01 3.22338177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.330714057 meters Centerline goodness [0,1] 0.9849973538277457 Centerline is valid? [True, True] Translation: X:258.74, Y:-8.73, Z:3.22 [[ 9.99852267e-01 -8.44384702e-03 -1.49714663e-02 2.58741316e+02] [ 8.45426103e-03 9.99964062e-01 6.32436127e-04 -8.72600154e+00] [ 1.49655881e-02 -7.58915380e-04 9.99887721e-01 3.22310299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.360714057 meters Centerline goodness [0,1] 0.9866417927635367 Centerline is valid? [True, True] Translation: X:258.77, Y:-8.72, Z:3.22 [[ 9.99857249e-01 -7.24525940e-03 -1.52639414e-02 2.58770004e+02] [ 7.25589871e-03 9.99973470e-01 6.41756520e-04 -8.72471315e+00] [ 1.52588867e-02 -7.52418521e-04 9.99883293e-01 3.22355874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.390714057 meters Centerline goodness [0,1] 0.9855309164519691 Centerline is valid? [True, True] Translation: X:258.80, Y:-8.73, Z:3.22 [[ 9.99853874e-01 -7.14889510e-03 -1.55281605e-02 2.58798679e+02] [ 7.15983561e-03 9.99974157e-01 6.49079673e-04 -8.72553678e+00] [ 1.55231190e-02 -7.60163903e-04 9.99879220e-01 3.22355012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.420714057 meters Centerline goodness [0,1] 0.9858549151294907 Centerline is valid? [True, True] Translation: X:258.83, Y:-8.73, Z:3.22 [[ 9.99842844e-01 -6.67134073e-03 -1.64250164e-02 2.58826501e+02] [ 6.68348200e-03 9.99977431e-01 6.84412153e-04 -8.72796924e+00] [ 1.64200798e-02 -7.94080895e-04 9.99864866e-01 3.22323267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.450714057 meters Centerline goodness [0,1] 0.9864230486008837 Centerline is valid? [True, True] Translation: X:258.85, Y:-8.73, Z:3.22 [[ 9.99832428e-01 -7.05515646e-03 -1.68920374e-02 2.58854959e+02] [ 7.06799564e-03 9.99974776e-01 7.00492454e-04 -8.72930242e+00] [ 1.68866692e-02 -8.19767918e-04 9.99857074e-01 3.22284257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.480714057 meters Centerline goodness [0,1] 0.986710734696688 Centerline is valid? [True, True] Translation: X:258.88, Y:-8.73, Z:3.22 [[ 9.99804269e-01 -8.24955856e-03 -1.79824379e-02 2.58882264e+02] [ 8.26425694e-03 9.99965574e-01 7.43213964e-04 -8.73296350e+00] [ 1.79756877e-02 -8.91679981e-04 9.99838027e-01 3.22221713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51071405700003 meters Centerline goodness [0,1] 0.9856149769426664 Centerline is valid? [True, True] Translation: X:258.91, Y:-8.74, Z:3.22 [[ 9.99779544e-01 -9.67681079e-03 -1.86339329e-02 2.58911237e+02] [ 9.69277041e-03 9.99952730e-01 7.66354492e-04 -8.73547002e+00] [ 1.86256362e-02 -9.46799978e-04 9.99826079e-01 3.22186139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.540714057 meters Centerline goodness [0,1] 0.9856414262084175 Centerline is valid? [True, True] Translation: X:258.94, Y:-8.74, Z:3.22 [[ 9.99738742e-01 -1.21002509e-02 -1.93915517e-02 2.58939185e+02] [ 1.21179451e-02 9.99926259e-01 7.95221041e-04 -8.73997123e+00] [ 1.93804994e-02 -1.02999904e-03 9.99811650e-01 3.22129776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57071405700003 meters Centerline goodness [0,1] 0.9860106126386879 Centerline is valid? [True, True] Translation: X:258.97, Y:-8.74, Z:3.22 [[ 9.99722459e-01 -1.37427103e-02 -1.91348844e-02 2.58968698e+02] [ 1.37602230e-02 9.99905016e-01 7.83859061e-04 -8.74337058e+00] [ 1.91222946e-02 -1.04694178e-03 9.99816604e-01 3.22113869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.600714057 meters Centerline goodness [0,1] 0.9846030289123451 Centerline is valid? [True, True] Translation: X:259.00, Y:-8.75, Z:3.22 [[ 9.99677111e-01 -1.55580138e-02 -2.00903648e-02 2.58998379e+02] [ 1.55776717e-02 9.99878323e-01 8.22336586e-04 -8.74614224e+00] [ 2.00751263e-02 -1.13503217e-03 9.99797830e-01 3.22096168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63071405700003 meters Centerline goodness [0,1] 0.9841138659320477 Centerline is valid? [True, True] Translation: X:259.03, Y:-8.75, Z:3.22 [[ 9.99628393e-01 -1.85174583e-02 -2.00044857e-02 2.59027105e+02] [ 1.85375260e-02 9.99827831e-01 8.18172124e-04 -8.75196280e+00] [ 1.99858910e-02 -1.18870176e-03 9.99799555e-01 3.22118030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.660714057 meters Centerline goodness [0,1] 0.984824867045663 Centerline is valid? [True, True] Translation: X:259.06, Y:-8.75, Z:3.22 [[ 9.99604872e-01 -2.01660715e-02 -1.95813329e-02 2.59056960e+02] [ 2.01856012e-02 9.99795930e-01 8.00209465e-04 -8.74959319e+00] [ 1.95611998e-02 -1.19515426e-03 9.99807947e-01 3.22302209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69071405700004 meters Centerline goodness [0,1] 0.9855611413355371 Centerline is valid? [True, True] Translation: X:259.09, Y:-8.75, Z:3.23 [[ 9.99540745e-01 -2.32361263e-02 -1.94520546e-02 2.59087104e+02] [ 2.32559699e-02 9.99729228e-01 7.94510708e-04 -8.74744993e+00] [ 1.94283261e-02 -1.24652222e-03 9.99810475e-01 3.22553610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.720714057 meters Centerline goodness [0,1] 0.9855524469109755 Centerline is valid? [True, True] Translation: X:259.12, Y:-8.75, Z:3.23 [[ 9.99507559e-01 -2.46237217e-02 -1.94502426e-02 2.59118063e+02] [ 2.46438269e-02 9.99695979e-01 7.94629044e-04 -8.74687125e+00] [ 1.94247626e-02 -1.27356615e-03 9.99810510e-01 3.22674951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75071405700004 meters Centerline goodness [0,1] 0.9863302752293578 Centerline is valid? [True, True] Translation: X:259.15, Y:-8.75, Z:3.23 [[ 9.99474970e-01 -2.59284540e-02 -1.94293576e-02 2.59149503e+02] [ 2.59487735e-02 9.99662958e-01 7.94390036e-04 -8.74920050e+00] [ 1.94022118e-02 -1.29814096e-03 9.99810917e-01 3.22710904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.780714057 meters Centerline goodness [0,1] 0.986142709410548 Centerline is valid? [True, True] Translation: X:259.18, Y:-8.75, Z:3.23 [[ 9.99398885e-01 -2.84677583e-02 -1.97852455e-02 2.59181012e+02] [ 2.84893383e-02 9.99593769e-01 8.09650790e-04 -8.75124762e+00] [ 1.97541591e-02 -1.37283265e-03 9.99803925e-01 3.22753094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.810714057 meters Centerline goodness [0,1] 0.986142709410548 Centerline is valid? [True, True] Translation: X:259.21, Y:-8.75, Z:3.23 [[ 9.99399902e-01 -2.84320421e-02 -1.97852165e-02 2.59211912e+02] [ 2.84536290e-02 9.99594785e-01 8.10357648e-04 -8.75254231e+00] [ 1.97541592e-02 -1.37283257e-03 9.99803925e-01 3.22766668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.840714057 meters Centerline goodness [0,1] 0.9855072463768116 Centerline is valid? [True, True] Translation: X:259.24, Y:-8.76, Z:3.23 [[ 9.99364618e-01 -2.95613593e-02 -1.99119732e-02 2.59242775e+02] [ 2.95834665e-02 9.99561980e-01 8.16538341e-04 -8.75666789e+00] [ 1.98791134e-02 -1.40508472e-03 9.99801404e-01 3.22710744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.870714057 meters Centerline goodness [0,1] 0.9858284716799118 Centerline is valid? [True, True] Translation: X:259.27, Y:-8.76, Z:3.23 [[ 9.99293641e-01 -3.08927987e-02 -2.13975042e-02 2.59273609e+02] [ 3.09186523e-02 9.99521518e-01 8.78400083e-04 -8.75717561e+00] [ 2.13601297e-02 -1.53936161e-03 9.99770661e-01 3.22656170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.900714057 meters Centerline goodness [0,1] 0.9853383890612433 Centerline is valid? [True, True] Translation: X:259.30, Y:-8.76, Z:3.23 [[ 9.99286004e-01 -3.08246710e-02 -2.18476760e-02 2.59304370e+02] [ 3.08516321e-02 9.99523572e-01 8.97986141e-04 -8.75971086e+00] [ 2.18095870e-02 -1.57138144e-03 9.99760908e-01 3.22572963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.930714057 meters Centerline goodness [0,1] 0.9856219374726817 Centerline is valid? [True, True] Translation: X:259.34, Y:-8.76, Z:3.23 [[ 9.99292662e-01 -2.97927729e-02 -2.29470548e-02 2.59336163e+02] [ 2.98222743e-02 9.99554771e-01 9.44416878e-04 -8.75622233e+00] [ 2.29087013e-02 -1.62808222e-03 9.99736236e-01 3.22520373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.960714057 meters Centerline goodness [0,1] 0.9852937791995581 Centerline is valid? [True, True] Translation: X:259.37, Y:-8.76, Z:3.22 [[ 9.99303563e-01 -2.89149089e-02 -2.35863942e-02 2.59366606e+02] [ 2.89458482e-02 9.99580509e-01 9.71317929e-04 -8.76078168e+00] [ 2.35484144e-02 -1.65336965e-03 9.99721330e-01 3.22378251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.990714057 meters Centerline goodness [0,1] 0.985468195845424 Centerline is valid? [True, True] Translation: X:259.40, Y:-8.76, Z:3.23 [[ 9.99320780e-01 -2.78880580e-02 -2.40880796e-02 2.59398187e+02] [ 2.79200501e-02 9.99609666e-01 9.92769794e-04 -8.75548951e+00] [ 2.40509908e-02 -1.66463587e-03 9.99709347e-01 3.22536377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.020714057 meters Centerline goodness [0,1] 0.985037751968413 Centerline is valid? [True, True] Translation: X:259.43, Y:-8.75, Z:3.23 [[ 9.99402746e-01 -2.53265346e-02 -2.35099514e-02 2.59427885e+02] [ 2.53562991e-02 9.99678008e-01 9.68753212e-04 -8.75310449e+00] [ 2.34778463e-02 -1.56429998e-03 9.99723134e-01 3.22620549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.050714057 meters Centerline goodness [0,1] 0.9843197930859294 Centerline is valid? [True, True] Translation: X:259.46, Y:-8.76, Z:3.23 [[ 9.99444108e-01 -2.39661022e-02 -2.31754338e-02 2.59457044e+02] [ 2.39946520e-02 9.99711631e-01 9.54562657e-04 -8.75808372e+00] [ 2.31458736e-02 -1.51011849e-03 9.99730958e-01 3.22530250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.080714057 meters Centerline goodness [0,1] 0.985003124349094 Centerline is valid? [True, True] Translation: X:259.49, Y:-8.75, Z:3.23 [[ 9.99497270e-01 -2.22421927e-02 -2.25940851e-02 2.59487162e+02] [ 2.22688644e-02 9.99751586e-01 9.29523296e-04 -8.75406260e+00] [ 2.25677978e-02 -1.43220061e-03 9.99744289e-01 3.22707885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.110714057 meters Centerline goodness [0,1] 0.9851316612242063 Centerline is valid? [True, True] Translation: X:259.52, Y:-8.75, Z:3.23 [[ 9.99583268e-01 -1.93617953e-02 -2.14105406e-02 2.59516149e+02] [ 1.93850695e-02 9.99811705e-01 8.80013047e-04 -8.75308957e+00] [ 2.13894705e-02 -1.29469114e-03 9.99770381e-01 3.22716954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.140714057 meters Centerline goodness [0,1] 0.9859184384803067 Centerline is valid? [True, True] Translation: X:259.55, Y:-8.75, Z:3.23 [[ 9.99599213e-01 -1.83017346e-02 -2.15976827e-02 2.59545857e+02] [ 1.83251544e-02 9.99831687e-01 8.86934367e-04 -8.74674578e+00] [ 2.15778151e-02 -1.28235976e-03 9.99766349e-01 3.22878496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.170714057 meters Centerline goodness [0,1] 0.9846757528616871 Centerline is valid? [True, True] Translation: X:259.57, Y:-8.75, Z:3.23 [[ 9.99643263e-01 -1.66390373e-02 -2.08923195e-02 2.59574156e+02] [ 1.66605687e-02 9.99860836e-01 8.56941259e-04 -8.74937838e+00] [ 2.08751534e-02 -1.20471348e-03 9.99781364e-01 3.22777713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.200714057 meters Centerline goodness [0,1] 0.9857754807468455 Centerline is valid? [True, True] Translation: X:259.60, Y:-8.74, Z:3.23 [[ 9.99645050e-01 -1.66159017e-02 -2.08251408e-02 2.59602711e+02] [ 1.66371981e-02 9.99861231e-01 8.49780101e-04 -8.74393454e+00] [ 2.08081311e-02 -1.19595046e-03 9.99782772e-01 3.22965702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.230714057 meters Centerline goodness [0,1] 0.9852831420841497 Centerline is valid? [True, True] Translation: X:259.63, Y:-8.75, Z:3.23 [[ 9.99652613e-01 -1.62803416e-02 -2.07268782e-02 2.59630619e+02] [ 1.63013121e-02 9.99866769e-01 8.43193211e-04 -8.74500317e+00] [ 2.07103893e-02 -1.18077561e-03 9.99784820e-01 3.22988913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26071405700003 meters Centerline goodness [0,1] 0.9840236273575033 Centerline is valid? [True, True] Translation: X:259.66, Y:-8.75, Z:3.23 [[ 9.99656257e-01 -1.64747023e-02 -2.03949114e-02 2.59657788e+02] [ 1.64949953e-02 9.99863606e-01 8.27167469e-04 -8.75266698e+00] [ 2.03785023e-02 -1.16329710e-03 9.99791660e-01 3.22793188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.290714057 meters Centerline goodness [0,1] 0.9852002050995199 Centerline is valid? [True, True] Translation: X:259.69, Y:-8.75, Z:3.23 [[ 9.99645680e-01 -1.72074491e-02 -2.03081046e-02 2.59687036e+02] [ 1.72276337e-02 9.99851258e-01 8.19376044e-04 -8.74794927e+00] [ 2.02909845e-02 -1.16894631e-03 9.99793433e-01 3.22933949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32071405700003 meters Centerline goodness [0,1] 0.9837952693394354 Centerline is valid? [True, True] Translation: X:259.72, Y:-8.75, Z:3.23 [[ 9.99612174e-01 -1.85363125e-02 -2.07823887e-02 2.59715386e+02] [ 1.85576976e-02 9.99827441e-01 8.36595950e-04 -8.75013342e+00] [ 2.07632952e-02 -1.22194478e-03 9.99783673e-01 3.22878088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.350714057 meters Centerline goodness [0,1] 0.9847059098232424 Centerline is valid? [True, True] Translation: X:259.75, Y:-8.75, Z:3.23 [[ 9.99609188e-01 -1.90540194e-02 -2.04552120e-02 2.59745015e+02] [ 1.90748275e-02 9.99817721e-01 8.22604711e-04 -8.74630556e+00] [ 2.04358095e-02 -1.21246287e-03 9.99790432e-01 3.22988837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38071405700003 meters Centerline goodness [0,1] 0.983568677792041 Centerline is valid? [True, True] Translation: X:259.77, Y:-8.75, Z:3.23 [[ 9.99593137e-01 -2.02072587e-02 -2.01302428e-02 2.59773788e+02] [ 2.02276491e-02 9.99795072e-01 8.09804024e-04 -8.75222817e+00] [ 2.01097536e-02 -1.21666203e-03 9.99797038e-01 3.22876079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.410714057 meters Centerline goodness [0,1] 0.9839684502835274 Centerline is valid? [True, True] Translation: X:259.80, Y:-8.75, Z:3.23 [[ 9.99581916e-01 -2.08756933e-02 -2.00049678e-02 2.59804239e+02] [ 2.08959664e-02 9.99781331e-01 8.04882522e-04 -8.75313640e+00] [ 1.99837908e-02 -1.22256915e-03 9.99799557e-01 3.22938495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44071405700004 meters Centerline goodness [0,1] 0.9837428758292067 Centerline is valid? [True, True] Translation: X:259.83, Y:-8.75, Z:3.23 [[ 9.99581835e-01 -2.10677921e-02 -1.98066334e-02 2.59834270e+02] [ 2.10877026e-02 9.99777312e-01 7.96902712e-04 -8.75353424e+00] [ 1.97854337e-02 -1.21424587e-03 9.99803512e-01 3.22969562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.470714057 meters Centerline goodness [0,1] 0.9827762540095765 Centerline is valid? [True, True] Translation: X:259.86, Y:-8.76, Z:3.23 [[ 9.99609059e-01 -2.10405680e-02 -1.84125724e-02 2.59864099e+02] [ 2.10577863e-02 9.99777985e-01 7.41737268e-04 -8.75703284e+00] [ 1.83928779e-02 -1.12917531e-03 9.99830199e-01 3.23000021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50071405700004 meters Centerline goodness [0,1] 0.9829017961278284 Centerline is valid? [True, True] Translation: X:259.90, Y:-8.76, Z:3.23 [[ 9.99597581e-01 -2.18354795e-02 -1.81076721e-02 2.59895464e+02] [ 2.18522759e-02 9.99760944e-01 7.30219570e-04 -8.75707981e+00] [ 1.80873986e-02 -1.12561956e-03 9.99835776e-01 3.23056391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.530714057 meters Centerline goodness [0,1] 0.9832800876804328 Centerline is valid? [True, True] Translation: X:259.93, Y:-8.76, Z:3.23 [[ 9.99604305e-01 -2.17614807e-02 -1.78233328e-02 2.59925498e+02] [ 2.17777488e-02 9.99762578e-01 7.19138508e-04 -8.75999243e+00] [ 1.78034517e-02 -1.10700601e-03 9.99840893e-01 3.23040116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.560714057 meters Centerline goodness [0,1] 0.9814263103994042 Centerline is valid? [True, True] Translation: X:259.96, Y:-8.76, Z:3.23 [[ 9.99619277e-01 -2.15007344e-02 -1.72921848e-02 2.59956306e+02] [ 2.15160174e-02 9.99768260e-01 6.98228004e-04 -8.76230078e+00] [ 1.72731651e-02 -1.07002112e-03 9.99850235e-01 3.23019247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.590714057 meters Centerline goodness [0,1] 0.9819780015347767 Centerline is valid? [True, True] Translation: X:259.99, Y:-8.76, Z:3.23 [[ 9.99628063e-01 -2.11571688e-02 -1.72078420e-02 2.59986304e+02] [ 2.11722586e-02 9.99775601e-01 6.95192730e-04 -8.76439066e+00] [ 1.71892723e-02 -1.05926304e-03 9.99851692e-01 3.23041270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.620714057 meters Centerline goodness [0,1] 0.9819897483690587 Centerline is valid? [True, True] Translation: X:260.02, Y:-8.77, Z:3.23 [[ 9.99631734e-01 -2.13650534e-02 -1.67311175e-02 2.60017963e+02] [ 2.13793558e-02 9.99771207e-01 6.76424535e-04 -8.76889281e+00] [ 1.67128377e-02 -1.03387595e-03 9.99859796e-01 3.22929419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.650714057 meters Centerline goodness [0,1] 0.981371087928465 Centerline is valid? [True, True] Translation: X:260.05, Y:-8.77, Z:3.23 [[ 9.99625132e-01 -2.17056499e-02 -1.66871241e-02 2.60047983e+02] [ 2.17199379e-02 9.99763866e-01 6.75451903e-04 -8.77365873e+00] [ 1.66685226e-02 -1.03764200e-03 9.99860532e-01 3.22873128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.680714057 meters Centerline goodness [0,1] 0.982323290980465 Centerline is valid? [True, True] Translation: X:260.08, Y:-8.77, Z:3.23 [[ 9.99571711e-01 -2.39938659e-02 -1.67537903e-02 2.60078919e+02] [ 2.40085960e-02 9.99711522e-01 6.78605229e-04 -8.77257314e+00] [ 1.67326749e-02 -1.08054957e-03 9.99859415e-01 3.22938193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.710714057 meters Centerline goodness [0,1] 0.9810607816774074 Centerline is valid? [True, True] Translation: X:260.11, Y:-8.78, Z:3.23 [[ 9.99543634e-01 -2.49312671e-02 -1.70574237e-02 2.60109507e+02] [ 2.49466847e-02 9.99688544e-01 6.91652062e-04 -8.78470017e+00] [ 1.70348673e-02 -1.11686259e-03 9.99854272e-01 3.22755320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.740714057 meters Centerline goodness [0,1] 0.9830473049859502 Centerline is valid? [True, True] Translation: X:260.14, Y:-8.78, Z:3.23 [[ 9.99498172e-01 -2.64557081e-02 -1.74212701e-02 2.60140727e+02] [ 2.64720293e-02 9.99649305e-01 7.06873897e-04 -8.78000633e+00] [ 1.73964596e-02 -1.16769554e-03 9.99847988e-01 3.22841210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.770714057 meters Centerline goodness [0,1] 0.9829119199777716 Centerline is valid? [True, True] Translation: X:260.17, Y:-8.79, Z:3.23 [[ 9.99445219e-01 -2.82874281e-02 -1.75805633e-02 2.60170206e+02] [ 2.83043325e-02 9.99599098e-01 7.13416015e-04 -8.78687436e+00] [ 1.75533345e-02 -1.21062634e-03 9.99845195e-01 3.22759229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.800714057 meters Centerline goodness [0,1] 0.9815584175783594 Centerline is valid? [True, True] Translation: X:260.20, Y:-8.79, Z:3.23 [[ 9.99392356e-01 -3.01162272e-02 -1.75479640e-02 2.60201156e+02] [ 3.01333576e-02 9.99545633e-01 7.12553483e-04 -8.79321024e+00] [ 1.75185314e-02 -1.24089958e-03 9.99845769e-01 3.22742139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.830714057 meters Centerline goodness [0,1] 0.9821321390645921 Centerline is valid? [True, True] Translation: X:260.23, Y:-8.80, Z:3.23 [[ 9.99378225e-01 -3.06822736e-02 -1.73712881e-02 2.60232818e+02] [ 3.06991709e-02 9.99528419e-01 7.06827149e-04 -8.79676180e+00] [ 1.73414091e-02 -1.23967180e-03 9.99848858e-01 3.22761140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.860714057 meters Centerline goodness [0,1] 0.9819159447597601 Centerline is valid? [True, True] Translation: X:260.26, Y:-8.80, Z:3.23 [[ 9.99387929e-01 -3.05018117e-02 -1.71291130e-02 2.60264065e+02] [ 3.05182334e-02 9.99533966e-01 6.98068815e-04 -8.80107572e+00] [ 1.70998379e-02 -1.22039182e-03 9.99853042e-01 3.22736374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.890714057 meters Centerline goodness [0,1] 0.9830656064529435 Centerline is valid? [True, True] Translation: X:260.30, Y:-8.80, Z:3.23 [[ 9.99378492e-01 -3.06795007e-02 -1.73608204e-02 2.60296599e+02] [ 3.06964168e-02 9.99528503e-01 7.08687163e-04 -8.79953513e+00] [ 1.73308927e-02 -1.24116169e-03 9.99849038e-01 3.22890056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.920714057 meters Centerline goodness [0,1] 0.9812717770034843 Centerline is valid? [True, True] Translation: X:260.33, Y:-8.81, Z:3.23 [[ 9.99393684e-01 -3.02670931e-02 -1.72095116e-02 2.60327112e+02] [ 3.02836722e-02 9.99541097e-01 7.03522676e-04 -8.81098245e+00] [ 1.71803205e-02 -1.22426333e-03 9.99851658e-01 3.22761685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.950714057 meters Centerline goodness [0,1] 0.9811114402242019 Centerline is valid? [True, True] Translation: X:260.36, Y:-8.82, Z:3.23 [[ 9.99422998e-01 -2.92210270e-02 -1.73147864e-02 2.60358249e+02] [ 2.92376651e-02 9.99572237e-01 7.08504527e-04 -8.81683497e+00] [ 1.72866766e-02 -1.21433965e-03 9.99849837e-01 3.22786283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.980714057 meters Centerline goodness [0,1] 0.9806706024480865 Centerline is valid? [True, True] Translation: X:260.39, Y:-8.82, Z:3.23 [[ 9.99434826e-01 -2.89517662e-02 -1.70828544e-02 2.60390272e+02] [ 2.89679397e-02 9.99580096e-01 7.00028070e-04 -8.81973422e+00] [ 1.70554142e-02 -1.19448753e-03 9.99853832e-01 3.22805069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01071405700003 meters Centerline goodness [0,1] 0.9828416273073676 Centerline is valid? [True, True] Translation: X:260.42, Y:-8.82, Z:3.23 [[ 9.99435979e-01 -2.86764101e-02 -1.74753505e-02 2.60422376e+02] [ 2.86933153e-02 9.99588005e-01 7.17363955e-04 -8.81562506e+00] [ 1.74475793e-02 -1.21838509e-03 9.99847037e-01 3.22960345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.040714057 meters Centerline goodness [0,1] 0.9824721147279764 Centerline is valid? [True, True] Translation: X:260.45, Y:-8.82, Z:3.23 [[ 9.99454394e-01 -2.79492962e-02 -1.75997738e-02 2.60452369e+02] [ 2.79663529e-02 9.99608603e-01 7.23725742e-04 -8.82274351e+00] [ 1.75726576e-02 -1.21553236e-03 9.99844850e-01 3.22917914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07071405700003 meters Centerline goodness [0,1] 0.9813770521624449 Centerline is valid? [True, True] Translation: X:260.48, Y:-8.83, Z:3.23 [[ 9.99463619e-01 -2.79558653e-02 -1.70570754e-02 2.60483223e+02] [ 2.79719036e-02 9.99608463e-01 7.02373561e-04 -8.83325054e+00] [ 1.70307615e-02 -1.17911569e-03 9.99854271e-01 3.22788733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.100714057 meters Centerline goodness [0,1] 0.984785270509274 Centerline is valid? [True, True] Translation: X:260.52, Y:-8.83, Z:3.23 [[ 9.99456819e-01 -2.78673328e-02 -1.75919845e-02 2.60515833e+02] [ 2.78844003e-02 9.99610891e-01 7.25595712e-04 -8.82768418e+00] [ 1.75649189e-02 -1.21574352e-03 9.99844986e-01 3.22994322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13071405700003 meters Centerline goodness [0,1] 0.9815242494226328 Centerline is valid? [True, True] Translation: X:260.55, Y:-8.84, Z:3.23 [[ 9.99459669e-01 -2.76690421e-02 -1.77424568e-02 2.60545518e+02] [ 2.76863818e-02 9.99616390e-01 7.32363031e-04 -8.84289807e+00] [ 1.77153868e-02 -1.22319175e-03 9.99842322e-01 3.22760071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.160714057 meters Centerline goodness [0,1] 0.9836593160029916 Centerline is valid? [True, True] Translation: X:260.58, Y:-8.84, Z:3.23 [[ 9.99455520e-01 -2.73911475e-02 -1.83953460e-02 2.60577346e+02] [ 2.74097505e-02 9.99623993e-01 7.59876548e-04 -8.83986360e+00] [ 1.83676153e-02 -1.26367465e-03 9.99830503e-01 3.22872161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19071405700004 meters Centerline goodness [0,1] 0.9854238588415803 Centerline is valid? [True, True] Translation: X:260.61, Y:-8.84, Z:3.23 [[ 9.99463302e-01 -2.67504891e-02 -1.89081942e-02 2.60608410e+02] [ 2.67700426e-02 9.99641313e-01 7.81732044e-04 -8.84066872e+00] [ 1.88805003e-02 -1.28748565e-03 9.99820919e-01 3.22914497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.220714057 meters Centerline goodness [0,1] 0.9850514419505166 Centerline is valid? [True, True] Translation: X:260.64, Y:-8.85, Z:3.23 [[ 9.99499651e-01 -2.58717007e-02 -1.81962078e-02 2.60638370e+02] [ 2.58896852e-02 9.99664522e-01 7.53450219e-04 -8.84710225e+00] [ 1.81706103e-02 -1.22416732e-03 9.99834151e-01 3.22865533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25071405700004 meters Centerline goodness [0,1] 0.9854012956631276 Centerline is valid? [True, True] Translation: X:260.67, Y:-8.85, Z:3.23 [[ 9.99520747e-01 -2.53972682e-02 -1.76989936e-02 2.60669319e+02] [ 2.54142230e-02 9.99676737e-01 7.33653482e-04 -8.84785400e+00] [ 1.76746393e-02 -1.18310805e-03 9.99843091e-01 3.22931535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.280714057 meters Centerline goodness [0,1] 0.9849426063470628 Centerline is valid? [True, True] Translation: X:260.70, Y:-8.85, Z:3.23 [[ 9.99529654e-01 -2.49311372e-02 -1.78580439e-02 2.60700752e+02] [ 2.49483356e-02 9.99688467e-01 7.40891156e-04 -8.85143782e+00] [ 1.78340093e-02 -1.18607115e-03 9.99840258e-01 3.22926775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.310714057 meters Centerline goodness [0,1] 0.9865086681806939 Centerline is valid? [True, True] Translation: X:260.73, Y:-8.86, Z:3.23 [[ 9.99561729e-01 -2.39498358e-02 -1.73998702e-02 2.60730559e+02] [ 2.39660215e-02 9.99712513e-01 7.22269399e-04 -8.85617589e+00] [ 1.73775697e-02 -1.13895851e-03 9.99848350e-01 3.22913524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.340714057 meters Centerline goodness [0,1] 0.9853744018332548 Centerline is valid? [True, True] Translation: X:260.76, Y:-8.86, Z:3.23 [[ 9.99579097e-01 -2.32540891e-02 -1.73457747e-02 2.60761933e+02] [ 2.32700794e-02 9.99728955e-01 7.20562419e-04 -8.85741538e+00] [ 1.73243172e-02 -1.12389669e-03 9.99849291e-01 3.22906700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.370714057 meters Centerline goodness [0,1] 0.9860998650472335 Centerline is valid? [True, True] Translation: X:260.79, Y:-8.86, Z:3.23 [[ 9.99612486e-01 -2.17848318e-02 -1.73291540e-02 2.60791610e+02] [ 2.18005782e-02 9.99762080e-01 7.20255675e-04 -8.86240005e+00] [ 1.73093404e-02 -1.09776214e-03 9.99849580e-01 3.22857158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.400714057 meters Centerline goodness [0,1] 0.9863323698774394 Centerline is valid? [True, True] Translation: X:260.82, Y:-8.86, Z:3.23 [[ 9.99644840e-01 -2.04360172e-02 -1.71044570e-02 2.60822259e+02] [ 2.04511625e-02 9.99790600e-01 7.10992839e-04 -8.85901315e+00] [ 1.70863455e-02 -1.06054635e-03 9.99853455e-01 3.22968761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.430714057 meters Centerline goodness [0,1] 0.9881781813278194 Centerline is valid? [True, True] Translation: X:260.85, Y:-8.86, Z:3.23 [[ 9.99670959e-01 -1.92994990e-02 -1.68968085e-02 2.60852995e+02] [ 1.93141170e-02 9.99813218e-01 7.02361370e-04 -8.85571389e+00] [ 1.68800973e-02 -1.02847720e-03 9.99856992e-01 3.23109739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.460714057 meters Centerline goodness [0,1] 0.9880764904386952 Centerline is valid? [True, True] Translation: X:260.88, Y:-8.86, Z:3.23 [[ 9.99728237e-01 -1.69999001e-02 -1.59516815e-02 2.60882777e+02] [ 1.70126300e-02 9.99855055e-01 6.62658703e-04 -8.85676096e+00] [ 1.59381042e-02 -9.33858671e-04 9.99872544e-01 3.23167050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.490714057 meters Centerline goodness [0,1] 0.9877256480003597 Centerline is valid? [True, True] Translation: X:260.91, Y:-8.86, Z:3.23 [[ 9.99753309e-01 -1.56209632e-02 -1.57894309e-02 2.60912325e+02] [ 1.56332551e-02 9.99877578e-01 6.55353000e-04 -8.85766727e+00] [ 1.57772607e-02 -9.02031532e-04 9.99875124e-01 3.23193650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.520714057 meters Centerline goodness [0,1] 0.9882051627687538 Centerline is valid? [True, True] Translation: X:260.94, Y:-8.86, Z:3.23 [[ 9.99794749e-01 -1.26461001e-02 -1.58283002e-02 2.60941078e+02] [ 1.26580688e-02 9.99919668e-01 6.56196693e-04 -8.85885141e+00] [ 1.58187303e-02 -8.56417720e-04 9.99874509e-01 3.23217956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.550714057 meters Centerline goodness [0,1] 0.9881525111280968 Centerline is valid? [True, True] Translation: X:260.97, Y:-8.86, Z:3.23 [[ 9.99813975e-01 -1.12270656e-02 -1.56833815e-02 2.60970120e+02] [ 1.12386257e-02 9.99936634e-01 6.49152637e-04 -8.85916861e+00] [ 1.56750996e-02 -8.25291533e-04 9.99876797e-01 3.23241764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.580714057 meters Centerline goodness [0,1] 0.9881477150053977 Centerline is valid? [True, True] Translation: X:261.00, Y:-8.86, Z:3.23 [[ 9.99846556e-01 -8.19023633e-03 -1.54849852e-02 2.60999426e+02] [ 8.20113177e-03 9.99966165e-01 6.40241859e-04 -8.85980821e+00] [ 1.54792175e-02 -7.67138022e-04 9.99879895e-01 3.23282179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.610714057 meters Centerline goodness [0,1] 0.9881964117091596 Centerline is valid? [True, True] Translation: X:261.03, Y:-8.86, Z:3.23 [[ 9.99857660e-01 -6.95877167e-03 -1.53699673e-02 2.61028580e+02] [ 6.96931951e-03 9.99975514e-01 6.32806492e-04 -8.85895441e+00] [ 1.53651874e-02 -7.39834631e-04 9.99881675e-01 3.23346804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.640714057 meters Centerline goodness [0,1] 0.9880938984042673 Centerline is valid? [True, True] Translation: X:261.06, Y:-8.86, Z:3.23 [[ 9.99868313e-01 -5.08068992e-03 -1.54124372e-02 2.61057321e+02] [ 5.09104588e-03 9.99986840e-01 6.32761741e-04 -8.85885274e+00] [ 1.54090195e-02 -7.11143839e-04 9.99881021e-01 3.23416277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.670714057 meters Centerline goodness [0,1] 0.9885975170924793 Centerline is valid? [True, True] Translation: X:261.09, Y:-8.86, Z:3.23 [[ 9.99861979e-01 -2.71048591e-03 -1.63913565e-02 2.61085919e+02] [ 2.72186225e-03 9.99996070e-01 6.71775991e-04 -8.85878027e+00] [ 1.63894713e-02 -7.16298286e-04 9.99865427e-01 3.23387895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.700714057 meters Centerline goodness [0,1] 0.9884333228318106 Centerline is valid? [True, True] Translation: X:261.11, Y:-8.86, Z:3.23 [[ 9.99859566e-01 -1.77804706e-03 -1.66639410e-02 2.61113927e+02] [ 1.78965263e-03 9.99998166e-01 6.81561897e-04 -8.86323590e+00] [ 1.66626986e-02 -7.11288848e-04 9.99860915e-01 3.23277543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.730714057 meters Centerline goodness [0,1] 0.9884333228318106 Centerline is valid? [True, True] Translation: X:261.14, Y:-8.86, Z:3.23 [[ 9.99859049e-01 -2.04705973e-03 -1.66640912e-02 2.61141324e+02] [ 2.05864129e-03 9.99997651e-01 6.77876871e-04 -8.86426359e+00] [ 1.66626644e-02 -7.12086710e-04 9.99860915e-01 3.23289595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76071405700003 meters Centerline goodness [0,1] 0.9886205190482615 Centerline is valid? [True, True] Translation: X:261.17, Y:-8.86, Z:3.23 [[ 9.99866599e-01 -7.54880046e-04 -1.63160990e-02 2.61170716e+02] [ 7.65747802e-04 9.99999489e-01 6.59838448e-04 -8.86098214e+00] [ 1.63155926e-02 -6.72244441e-04 9.99866666e-01 3.23455480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.790714057 meters Centerline goodness [0,1] 0.9890360277032058 Centerline is valid? [True, True] Translation: X:261.20, Y:-8.86, Z:3.24 [[ 9.99870693e-01 -5.50268351e-04 -1.60715548e-02 2.61199300e+02] [ 5.60724299e-04 9.99999634e-01 6.46088308e-04 -8.86146831e+00] [ 1.60711934e-02 -6.55016475e-04 9.99870635e-01 3.23538136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82071405700003 meters Centerline goodness [0,1] 0.9874106380108808 Centerline is valid? [True, True] Translation: X:261.23, Y:-8.87, Z:3.23 [[ 9.99886319e-01 -5.16403018e-07 -1.50780770e-02 2.61226825e+02] [ 9.62778300e-06 9.99999817e-01 6.04207391e-04 -8.86732909e+00] [ 1.50780740e-02 -6.04283873e-04 9.99886137e-01 3.23465102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.850714057 meters Centerline goodness [0,1] 0.9879496362366826 Centerline is valid? [True, True] Translation: X:261.26, Y:-8.86, Z:3.24 [[ 9.99906195e-01 5.62712938e-05 -1.36966287e-02 2.61256223e+02] [-4.87916725e-05 9.99999850e-01 5.46425688e-04 -8.86450288e+00] [ 1.36966573e-02 -5.45706150e-04 9.99906047e-01 3.23656360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88071405700003 meters Centerline goodness [0,1] 0.9879055914075545 Centerline is valid? [True, True] Translation: X:261.29, Y:-8.87, Z:3.24 [[ 9.99912375e-01 -3.18273858e-04 -1.32341045e-02 2.61285107e+02] [ 3.25269042e-04 9.99999809e-01 5.26423456e-04 -8.86657684e+00] [ 1.32339344e-02 -5.30681972e-04 9.99912287e-01 3.23682456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.910714057 meters Centerline goodness [0,1] 0.9867002156721782 Centerline is valid? [True, True] Translation: X:261.31, Y:-8.87, Z:3.24 [[ 9.99923758e-01 -1.88349455e-03 -1.22037519e-02 2.61312653e+02] [ 1.88954775e-03 9.99998097e-01 4.84500228e-04 -8.87095471e+00] [ 1.22028161e-02 -5.07522860e-04 9.99925414e-01 3.23674220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94071405700004 meters Centerline goodness [0,1] 0.9876762543009423 Centerline is valid? [True, True] Translation: X:261.34, Y:-8.87, Z:3.24 [[ 9.99920381e-01 -3.18670422e-03 -1.22096897e-02 2.61341572e+02] [ 3.19284917e-03 9.99994786e-01 4.83824535e-04 -8.87134744e+00] [ 1.22080843e-02 -5.22769711e-04 9.99925342e-01 3.23723382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.970714057 meters Centerline goodness [0,1] 0.9871103452905767 Centerline is valid? [True, True] Translation: X:261.37, Y:-8.88, Z:3.24 [[ 9.99907132e-01 -5.66579207e-03 -1.23946081e-02 2.61370180e+02] [ 5.67230574e-03 9.99983792e-01 4.90433603e-04 -8.87904161e+00] [ 1.23916285e-02 -5.60694064e-04 9.99923064e-01 3.23577644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00071405700004 meters Centerline goodness [0,1] 0.9863207229834279 Centerline is valid? [True, True] Translation: X:261.40, Y:-8.88, Z:3.24 [[ 9.99898157e-01 -6.90151662e-03 -1.24917577e-02 2.61399252e+02] [ 6.90820179e-03 9.99976017e-01 4.92095224e-04 -8.87780506e+00] [ 1.24880619e-02 -5.78340690e-04 9.99921854e-01 3.23586337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.030714057 meters Centerline goodness [0,1] 0.986804142157411 Centerline is valid? [True, True] Translation: X:261.43, Y:-8.89, Z:3.24 [[ 9.99891302e-01 -7.72185633e-03 -1.25601584e-02 2.61426825e+02] [ 7.72865248e-03 9.99970012e-01 4.92639221e-04 -8.88526112e+00] [ 1.25559777e-02 -5.89658772e-04 9.99920997e-01 3.23517101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.060714057 meters Centerline goodness [0,1] 0.9861776961333393 Centerline is valid? [True, True] Translation: X:261.45, Y:-8.89, Z:3.24 [[ 9.99880826e-01 -8.80511414e-03 -1.26808654e-02 2.61454684e+02] [ 8.81210830e-03 9.99961050e-01 4.95781505e-04 -8.88969260e+00] [ 1.26760060e-02 -6.07467580e-04 9.99919472e-01 3.23512338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.090714057 meters Centerline goodness [0,1] 0.9866308964900514 Centerline is valid? [True, True] Translation: X:261.48, Y:-8.89, Z:3.24 [[ 9.99884940e-01 -9.01743906e-03 -1.21980819e-02 2.61482961e+02] [ 9.02389891e-03 9.99959171e-01 4.74642936e-04 -8.89205684e+00] [ 1.21933038e-02 -5.84662581e-04 9.99925488e-01 3.23569575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.120714057 meters Centerline goodness [0,1] 0.9880396145849635 Centerline is valid? [True, True] Translation: X:261.51, Y:-8.89, Z:3.24 [[ 9.99894303e-01 -8.31380083e-03 -1.19274101e-02 2.61512127e+02] [ 8.31989408e-03 9.99965283e-01 4.61331824e-04 -8.88735444e+00] [ 1.19231606e-02 -5.60517852e-04 9.99928759e-01 3.23786570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.150714057 meters Centerline goodness [0,1] 0.9878678195589516 Centerline is valid? [True, True] Translation: X:261.54, Y:-8.89, Z:3.24 [[ 9.99908796e-01 -7.15622377e-03 -1.14537383e-02 2.61539865e+02] [ 7.16174834e-03 9.99974257e-01 4.41394363e-04 -8.88945876e+00] [ 1.14502847e-02 -5.23382897e-04 9.99934306e-01 3.23789110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.180714057 meters Centerline goodness [0,1] 0.98795503810141 Centerline is valid? [True, True] Translation: X:261.57, Y:-8.89, Z:3.24 [[ 9.99936359e-01 -3.42705361e-03 -1.07486628e-02 2.61568481e+02] [ 3.43169822e-03 9.99994026e-01 4.13696545e-04 -8.89101257e+00] [ 1.07471808e-02 -4.50556384e-04 9.99942146e-01 3.23818085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.210714057 meters Centerline goodness [0,1] 0.988076364854304 Centerline is valid? [True, True] Translation: X:261.60, Y:-8.89, Z:3.24 [[ 9.99937926e-01 -1.65071458e-03 -1.10190705e-02 2.61597688e+02] [ 1.65547093e-03 9.99998540e-01 4.22539664e-04 -8.89201496e+00] [ 1.10183570e-02 -4.40755186e-04 9.99939199e-01 3.23831359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.240714057 meters Centerline goodness [0,1] 0.9885975677786455 Centerline is valid? [True, True] Translation: X:261.63, Y:-8.89, Z:3.24 [[ 9.99942546e-01 3.94036734e-04 -1.07120842e-02 2.61626556e+02] [-3.89673302e-04 9.99999840e-01 4.09421471e-04 -8.89305176e+00] [ 1.07122438e-02 -4.05223735e-04 9.99942540e-01 3.23849077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.270714057 meters Centerline goodness [0,1] 0.989957564042747 Centerline is valid? [True, True] Translation: X:261.66, Y:-8.89, Z:3.24 [[ 9.99947673e-01 4.59144198e-03 -9.14168303e-03 2.61656089e+02] [-4.58844316e-03 9.99989412e-01 3.48984682e-04 -8.89023697e+00] [ 9.14318859e-03 -3.07020328e-04 9.99958153e-01 3.23998056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.300714057 meters Centerline goodness [0,1] 0.9888470871084794 Centerline is valid? [True, True] Translation: X:261.68, Y:-8.90, Z:3.24 [[ 9.99947624e-01 5.68667925e-03 -8.50944284e-03 2.61683241e+02] [-5.68412477e-03 9.99983793e-01 3.24347829e-04 -8.89636752e+00] [ 8.51114939e-03 -2.75962106e-04 9.99963741e-01 3.24036858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.330714057 meters Centerline goodness [0,1] 0.9898639637236596 Centerline is valid? [True, True] Translation: X:261.71, Y:-8.89, Z:3.24 [[ 9.99947527e-01 6.80251880e-03 -7.65954310e-03 2.61712551e+02] [-6.80048577e-03 9.99976834e-01 2.91437201e-04 -8.89495129e+00] [ 7.66134816e-03 -2.39333295e-04 9.99970623e-01 3.24167222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.360714057 meters Centerline goodness [0,1] 0.9909117234312699 Centerline is valid? [True, True] Translation: X:261.74, Y:-8.90, Z:3.24 [[ 9.99950059e-01 6.60797507e-03 -7.49761281e-03 2.61740948e+02] [-6.60602504e-03 9.99978139e-01 2.84821580e-04 -8.89547549e+00] [ 7.49933100e-03 -2.35277937e-04 9.99971852e-01 3.24165519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.390714057 meters Centerline goodness [0,1] 0.9913175119105926 Centerline is valid? [True, True] Translation: X:261.77, Y:-8.90, Z:3.24 [[ 9.99951373e-01 6.34469986e-03 -7.54963802e-03 2.61768162e+02] [-6.34271980e-03 9.99979844e-01 2.86187578e-04 -8.89919393e+00] [ 7.55130162e-03 -2.38288423e-04 9.99971460e-01 3.24126853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.420714057 meters Centerline goodness [0,1] 0.9905909504471517 Centerline is valid? [True, True] Translation: X:261.80, Y:-8.91, Z:3.24 [[ 9.99956085e-01 5.04922962e-03 -7.89512673e-03 2.61795684e+02] [-5.04702961e-03 9.99987219e-01 2.98552545e-04 -8.90699896e+00] [ 7.89653328e-03 -2.58692495e-04 9.99968788e-01 3.24012664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.450714057 meters Centerline goodness [0,1] 0.9907848392884833 Centerline is valid? [True, True] Translation: X:261.82, Y:-8.91, Z:3.24 [[ 9.99960873e-01 3.54488120e-03 -8.10475484e-03 2.61824725e+02] [-3.54251890e-03 9.99993679e-01 3.05808420e-04 -8.90975030e+00] [ 8.10578766e-03 -2.77085207e-04 9.99967109e-01 3.23988391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.480714057 meters Centerline goodness [0,1] 0.9903703539725057 Centerline is valid? [True, True] Translation: X:261.85, Y:-8.91, Z:3.24 [[ 9.99968128e-01 1.78042767e-03 -7.78292319e-03 2.61852545e+02] [-1.77820084e-03 9.99998376e-01 2.93028065e-04 -8.91484992e+00] [ 7.78343226e-03 -2.79179125e-04 9.99969670e-01 3.23933634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51071405700003 meters Centerline goodness [0,1] 0.9901887291648294 Centerline is valid? [True, True] Translation: X:261.88, Y:-8.92, Z:3.24 [[ 9.99963722e-01 -2.67932148e-03 -8.08556191e-03 2.61882378e+02] [ 2.68186628e-03 9.99996358e-01 3.03907040e-04 -8.92428552e+00] [ 8.08471819e-03 -3.25580410e-04 9.99967265e-01 3.23874750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.540714057 meters Centerline goodness [0,1] 0.9894945928051203 Centerline is valid? [True, True] Translation: X:261.91, Y:-8.93, Z:3.24 [[ 9.99956638e-01 -5.35320793e-03 -7.62002177e-03 2.61911881e+02] [ 5.35554419e-03 9.99985618e-01 2.86222356e-04 -8.92996303e+00] [ 7.61837997e-03 -3.27019308e-04 9.99970926e-01 3.23846161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57071405700003 meters Centerline goodness [0,1] 0.9874733064746934 Centerline is valid? [True, True] Translation: X:261.94, Y:-8.94, Z:3.24 [[ 9.99908993e-01 -1.13908673e-02 -7.22867249e-03 2.61941206e+02] [ 1.13931257e-02 9.99935059e-01 2.71319409e-04 -8.94078389e+00] [ 7.22511249e-03 -3.53651892e-04 9.99973836e-01 3.23855688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.600714057 meters Centerline goodness [0,1] 0.9870898214128618 Centerline is valid? [True, True] Translation: X:261.97, Y:-8.95, Z:3.24 [[ 9.99863696e-01 -1.47503281e-02 -7.41738991e-03 2.61971814e+02] [ 1.47527979e-02 9.99891133e-01 2.78365419e-04 -8.94622182e+00] [ 7.41247642e-03 -3.87754730e-04 9.99972452e-01 3.23849142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63071405700003 meters Centerline goodness [0,1] 0.9857388089264493 Centerline is valid? [True, True] Translation: X:262.00, Y:-8.96, Z:3.24 [[ 9.99752544e-01 -2.11169319e-02 -6.99471567e-03 2.62002152e+02] [ 2.11192842e-02 9.99776929e-01 2.62598784e-04 -8.95688808e+00] [ 6.98761007e-03 -4.10257190e-04 9.99975502e-01 3.23788828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.660714057 meters Centerline goodness [0,1] 0.985017245545816 Centerline is valid? [True, True] Translation: X:262.03, Y:-8.96, Z:3.24 [[ 9.99673786e-01 -2.45477037e-02 -7.05203624e-03 2.62033433e+02] [ 2.45501807e-02 9.99698564e-01 2.64883044e-04 -8.96317335e+00] [ 7.04340823e-03 -4.37925399e-04 9.99975099e-01 3.23770680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69071405700004 meters Centerline goodness [0,1] 0.9831529597336021 Centerline is valid? [True, True] Translation: X:262.06, Y:-8.97, Z:3.24 [[ 9.99475324e-01 -3.15358388e-02 -7.38695293e-03 2.62062397e+02] [ 3.15387484e-02 9.99502491e-01 2.77696116e-04 -8.97349622e+00] [ 7.37452048e-03 -5.10525665e-04 9.99972678e-01 3.23704814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.720714057 meters Centerline goodness [0,1] 0.9821483331142945 Centerline is valid? [True, True] Translation: X:262.09, Y:-8.98, Z:3.24 [[ 9.99348748e-01 -3.51754894e-02 -8.04771201e-03 2.62092716e+02] [ 3.51790613e-02 9.99380979e-01 3.02673699e-04 -8.97897594e+00] [ 8.03208362e-03 -5.85587536e-04 9.99967571e-01 3.23643295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75071405700004 meters Centerline goodness [0,1] 0.9827254017603013 Centerline is valid? [True, True] Translation: X:262.12, Y:-8.98, Z:3.24 [[ 9.99228674e-01 -3.83516676e-02 -8.43843698e-03 2.62122949e+02] [ 3.83557080e-02 9.99264099e-01 3.17437077e-04 -8.97890320e+00] [ 8.42005288e-03 -6.40854455e-04 9.99964345e-01 3.23635514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.780714057 meters Centerline goodness [0,1] 0.9791319961460979 Centerline is valid? [True, True] Translation: X:262.15, Y:-8.99, Z:3.24 [[ 9.99016211e-01 -4.35681318e-02 -8.27209381e-03 2.62152795e+02] [ 4.35721929e-02 9.99050233e-01 3.11275920e-04 -8.99039963e+00] [ 8.25067553e-03 -6.71402957e-04 9.99965737e-01 3.23614948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.810714057 meters Centerline goodness [0,1] 0.9768090063802451 Centerline is valid? [True, True] Translation: X:262.18, Y:-9.00, Z:3.24 [[ 9.98941458e-01 -4.53541324e-02 -7.67893796e-03 2.62182479e+02] [ 4.53576848e-02 9.98970769e-01 2.89006569e-04 -8.99521573e+00] [ 7.65792691e-03 -6.36999490e-04 9.99970475e-01 3.23646322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.840714057 meters Centerline goodness [0,1] 0.9775224557425656 Centerline is valid? [True, True] Translation: X:262.21, Y:-8.99, Z:3.24 [[ 9.98882517e-01 -4.66052090e-02 -7.85310852e-03 2.62214170e+02] [ 4.66089642e-02 9.98913168e-01 2.95738382e-04 -8.99371861e+00] [ 7.83079056e-03 -6.61433153e-04 9.99969120e-01 3.23644646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.870714057 meters Centerline goodness [0,1] 0.9741283805799935 Centerline is valid? [True, True] Translation: X:262.25, Y:-9.00, Z:3.24 [[ 9.98885288e-01 -4.64034630e-02 -8.65452549e-03 2.62245202e+02] [ 4.64080224e-02 9.98922514e-01 3.26631109e-04 -8.99826872e+00] [ 8.63004354e-03 -7.27906421e-04 9.99962496e-01 3.23610972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.900714057 meters Centerline goodness [0,1] 0.9810644159706127 Centerline is valid? [True, True] Translation: X:262.28, Y:-8.99, Z:3.24 [[ 9.98905717e-01 -4.58179932e-02 -9.38513720e-03 2.62277667e+02] [ 4.58233374e-02 9.98949496e-01 3.55074196e-04 -8.99040232e+00] [ 9.35900929e-03 -7.84743953e-04 9.99955896e-01 3.23620038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.930714057 meters Centerline goodness [0,1] 0.978613488606265 Centerline is valid? [True, True] Translation: X:262.31, Y:-8.99, Z:3.23 [[ 9.98984184e-01 -4.39312766e-02 -1.00320800e-02 2.62308370e+02] [ 4.39372937e-02 9.99034219e-01 3.80074950e-04 -8.99482474e+00] [ 1.00056940e-02 -8.20471307e-04 9.99949605e-01 3.23484555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.960714057 meters Centerline goodness [0,1] 0.9819295558958653 Centerline is valid? [True, True] Translation: X:262.34, Y:-8.99, Z:3.24 [[ 9.99050800e-01 -4.24915274e-02 -9.59010463e-03 2.62340218e+02] [ 4.24969640e-02 9.99096530e-01 3.63744726e-04 -8.98927854e+00] [ 9.56598419e-03 -7.70949791e-04 9.99953948e-01 3.23579165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.990714057 meters Centerline goodness [0,1] 0.9827933450087566 Centerline is valid? [True, True] Translation: X:262.37, Y:-8.98, Z:3.24 [[ 9.99179302e-01 -3.97259720e-02 -7.91006398e-03 2.62371192e+02] [ 3.97295864e-02 9.99210423e-01 3.00271137e-04 -8.98071959e+00] [ 7.89188982e-03 -6.14288276e-04 9.99968670e-01 3.23798511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.020714057 meters Centerline goodness [0,1] 0.9821569141957491 Centerline is valid? [True, True] Translation: X:262.40, Y:-8.98, Z:3.24 [[ 9.99246320e-01 -3.80944844e-02 -7.45669996e-03 2.62401475e+02] [ 3.80976522e-02 9.99273981e-01 2.83188790e-04 -8.98100382e+00] [ 7.44049832e-03 -5.67058118e-04 9.99972158e-01 3.23866417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.050714057 meters Centerline goodness [0,1] 0.983530081692547 Centerline is valid? [True, True] Translation: X:262.43, Y:-8.98, Z:3.24 [[ 9.99300239e-01 -3.66613584e-02 -7.41469988e-03 2.62433537e+02] [ 3.66644532e-02 9.99327593e-01 2.81833093e-04 -8.97673729e+00] [ 7.39938180e-03 -5.53491794e-04 9.99972471e-01 3.23947750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.080714057 meters Centerline goodness [0,1] 0.9837708094776711 Centerline is valid? [True, True] Translation: X:262.47, Y:-8.97, Z:3.24 [[ 9.99365520e-01 -3.48971622e-02 -7.12359987e-03 2.62465053e+02] [ 3.48999765e-02 9.99390773e-01 2.71092122e-04 -8.97227033e+00] [ 7.10979963e-03 -5.19533587e-04 9.99974590e-01 3.23931444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.110714057 meters Centerline goodness [0,1] 0.9835596540264542 Centerline is valid? [True, True] Translation: X:262.50, Y:-8.97, Z:3.24 [[ 9.99387081e-01 -3.42280267e-02 -7.34194193e-03 2.62495959e+02] [ 3.42310005e-02 9.99413908e-01 2.79721838e-04 -8.97442551e+00] [ 7.32806456e-03 -5.30872410e-04 9.99973008e-01 3.23926306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.140714057 meters Centerline goodness [0,1] 0.9826257376904783 Centerline is valid? [True, True] Translation: X:262.53, Y:-8.97, Z:3.24 [[ 9.99374318e-01 -3.46657411e-02 -7.01842733e-03 2.62528726e+02] [ 3.46684722e-02 9.99398832e-01 2.67808029e-04 -8.97150328e+00] [ 7.00492432e-03 -5.10958619e-04 9.99975335e-01 3.23921172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.170714057 meters Centerline goodness [0,1] 0.9824657895894751 Centerline is valid? [True, True] Translation: X:262.56, Y:-8.97, Z:3.24 [[ 9.99351741e-01 -3.52876359e-02 -7.13308196e-03 2.62559689e+02] [ 3.52904771e-02 9.99377060e-01 2.72806665e-04 -8.97339523e+00] [ 7.11901178e-03 -5.24359682e-04 9.99974522e-01 3.23909379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.200714057 meters Centerline goodness [0,1] 0.9827761115031757 Centerline is valid? [True, True] Translation: X:262.59, Y:-8.97, Z:3.24 [[ 9.99293471e-01 -3.66693383e-02 -8.24128199e-03 2.62591296e+02] [ 3.66731840e-02 9.99327263e-01 3.15957110e-04 -8.97446726e+00] [ 8.22415183e-03 -6.17967928e-04 9.99965990e-01 3.23838205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.230714057 meters Centerline goodness [0,1] 0.9825867898260888 Centerline is valid? [True, True] Translation: X:262.62, Y:-8.98, Z:3.24 [[ 9.99145414e-01 -3.98084388e-02 -1.11233616e-02 2.62621598e+02] [ 3.98156419e-02 9.99206952e-01 4.26786382e-04 -8.97550579e+00] [ 1.10975505e-02 -8.69305438e-04 9.99938042e-01 3.23580390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26071405700003 meters Centerline goodness [0,1] 0.9817872001416306 Centerline is valid? [True, True] Translation: X:262.65, Y:-8.98, Z:3.23 [[ 9.99051660e-01 -4.17575527e-02 -1.23323728e-02 2.62652854e+02] [ 4.17665581e-02 9.99127284e-01 4.73466738e-04 -8.97700796e+00] [ 1.23018394e-02 -9.88098497e-04 9.99923841e-01 3.23472598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.290714057 meters Centerline goodness [0,1] 0.9830044585706087 Centerline is valid? [True, True] Translation: X:262.68, Y:-8.97, Z:3.23 [[ 9.98858228e-01 -4.55443521e-02 -1.44205744e-02 2.62683877e+02] [ 4.55570607e-02 9.98961585e-01 5.53847360e-04 -8.97364888e+00] [ 1.43803752e-02 -1.21017398e-03 9.99895865e-01 3.23393656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32071405700003 meters Centerline goodness [0,1] 0.9826379661617504 Centerline is valid? [True, True] Translation: X:262.72, Y:-8.97, Z:3.23 [[ 9.98780804e-01 -4.71400550e-02 -1.46533403e-02 2.62715209e+02] [ 4.71533533e-02 9.98887503e-01 5.63169831e-04 -8.97348490e+00] [ 1.46104907e-02 -1.25343735e-03 9.99892475e-01 3.23402822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.350714057 meters Centerline goodness [0,1] 0.9811031664964249 Centerline is valid? [True, True] Translation: X:262.75, Y:-8.98, Z:3.23 [[ 9.98663671e-01 -4.96451190e-02 -1.43608806e-02 2.62745214e+02] [ 4.96581594e-02 9.98766120e-01 5.52679765e-04 -8.97588733e+00] [ 1.43157231e-02 -1.26507610e-03 9.99896724e-01 3.23491920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38071405700003 meters Centerline goodness [0,1] 0.9821539830885625 Centerline is valid? [True, True] Translation: X:262.78, Y:-8.97, Z:3.24 [[ 9.98628042e-01 -5.05541841e-02 -1.36494484e-02 2.62777352e+02] [ 5.05660612e-02 9.98720580e-01 5.26222969e-04 -8.97101095e+00] [ 1.36053822e-02 -1.21569986e-03 9.99906703e-01 3.23595881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.410714057 meters Centerline goodness [0,1] 0.9793938048184745 Centerline is valid? [True, True] Translation: X:262.81, Y:-8.98, Z:3.24 [[ 9.98647289e-01 -5.04825819e-02 -1.24539722e-02 2.62808751e+02] [ 5.04924729e-02 9.98724326e-01 4.80862316e-04 -8.97720272e+00] [ 1.24138098e-02 -1.10904370e-03 9.99922331e-01 3.23636439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44071405700004 meters Centerline goodness [0,1] 0.9798463422781427 Centerline is valid? [True, True] Translation: X:262.84, Y:-8.97, Z:3.24 [[ 9.98706083e-01 -4.98688809e-02 -9.96269696e-03 2.62841488e+02] [ 4.98751859e-02 9.98755384e-01 3.85259717e-04 -8.97056079e+00] [ 9.93108476e-03 -8.81652585e-04 9.99950297e-01 3.23901765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.470714057 meters Centerline goodness [0,1] 0.9809278235934825 Centerline is valid? [True, True] Translation: X:262.87, Y:-8.96, Z:3.24 [[ 9.98784883e-01 -4.86283400e-02 -8.00259388e-03 2.62873308e+02] [ 4.86323716e-02 9.98816698e-01 3.09846138e-04 -8.96413802e+00] [ 7.97805709e-03 -6.98654758e-04 9.99967931e-01 3.24109116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50071405700004 meters Centerline goodness [0,1] 0.9787939474855363 Centerline is valid? [True, True] Translation: X:262.90, Y:-8.97, Z:3.24 [[ 9.98820550e-01 -4.79005546e-02 -7.94010875e-03 2.62903935e+02] [ 4.79045060e-02 9.98851873e-01 3.08100796e-04 -8.97076147e+00] [ 7.91623430e-03 -6.88104394e-04 9.99968429e-01 3.24109441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.530714057 meters Centerline goodness [0,1] 0.9803943435785342 Centerline is valid? [True, True] Translation: X:262.94, Y:-8.96, Z:3.24 [[ 9.98832590e-01 -4.75053633e-02 -8.75767363e-03 2.62936284e+02] [ 4.75101642e-02 9.98870696e-01 3.40841085e-04 -8.96450124e+00] [ 8.73159177e-03 -7.56521696e-04 9.99961593e-01 3.24107307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.560714057 meters Centerline goodness [0,1] 0.9801204819277108 Centerline is valid? [True, True] Translation: X:262.97, Y:-8.96, Z:3.24 [[ 9.98859886e-01 -4.66987059e-02 -9.90749786e-03 2.62967967e+02] [ 4.67048221e-02 9.98908659e-01 3.86741230e-04 -8.96281750e+00] [ 9.87862509e-03 -8.49028227e-04 9.99950845e-01 3.23968049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.590714057 meters Centerline goodness [0,1] 0.9806841046277666 Centerline is valid? [True, True] Translation: X:263.00, Y:-8.96, Z:3.24 [[ 9.98853025e-01 -4.61021854e-02 -1.29314733e-02 2.63000275e+02] [ 4.61125743e-02 9.98936121e-01 5.06211126e-04 -8.96053953e+00] [ 1.28943783e-02 -1.10193404e-03 9.99916257e-01 3.23682457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.620714057 meters Centerline goodness [0,1] 0.9806841046277666 Centerline is valid? [True, True] Translation: X:263.03, Y:-8.96, Z:3.24 [[ 9.98857937e-01 -4.59956594e-02 -1.29314254e-02 2.63032907e+02] [ 4.60060552e-02 9.98941032e-01 5.07433272e-04 -8.96191092e+00] [ 1.28943917e-02 -1.10177762e-03 9.99916257e-01 3.23696788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.650714057 meters Centerline goodness [0,1] 0.9827628718086656 Centerline is valid? [True, True] Translation: X:263.07, Y:-8.96, Z:3.24 [[ 9.98882775e-01 -4.51044465e-02 -1.40992917e-02 2.63065840e+02] [ 4.51167407e-02 9.98981567e-01 5.54960749e-04 -8.95825846e+00] [ 1.40599013e-02 -1.19045482e-03 9.99900446e-01 3.23613520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.680714057 meters Centerline goodness [0,1] 0.981257977115475 Centerline is valid? [True, True] Translation: X:263.10, Y:-8.96, Z:3.24 [[ 9.98910552e-01 -4.41538104e-02 -1.51046364e-02 2.63096983e+02] [ 4.41678301e-02 9.99023948e-01 5.95683152e-04 -8.95979391e+00] [ 1.50635918e-02 -1.26217320e-03 9.99885741e-01 3.23506125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.710714057 meters Centerline goodness [0,1] 0.9815683721347911 Centerline is valid? [True, True] Translation: X:263.13, Y:-8.96, Z:3.23 [[ 9.98936815e-01 -4.33070109e-02 -1.58032552e-02 2.63128459e+02] [ 4.33222658e-02 9.99060955e-01 6.24083115e-04 -8.95915833e+00] [ 1.57613881e-02 -1.30805242e-03 9.99874926e-01 3.23474557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.740714057 meters Centerline goodness [0,1] 0.9825885736110175 Centerline is valid? [True, True] Translation: X:263.16, Y:-8.95, Z:3.24 [[ 9.98990872e-01 -4.21445672e-02 -1.55265226e-02 2.63160152e+02] [ 4.21591627e-02 9.99110719e-01 6.13780837e-04 -8.95434849e+00] [ 1.54868476e-02 -1.26774664e-03 9.99879268e-01 3.23521823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.770714057 meters Centerline goodness [0,1] 0.98155604039677 Centerline is valid? [True, True] Translation: X:263.19, Y:-8.95, Z:3.24 [[ 9.99112089e-01 -3.95109395e-02 -1.46260129e-02 2.63191268e+02] [ 3.95236163e-02 9.99218469e-01 5.78581284e-04 -8.94891087e+00] [ 1.45917219e-02 -1.15614048e-03 9.99892867e-01 3.23613908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.800714057 meters Centerline goodness [0,1] 0.9822485207100592 Centerline is valid? [True, True] Translation: X:263.22, Y:-8.94, Z:3.24 [[ 9.99240016e-01 -3.67299119e-02 -1.30500782e-02 2.63222382e+02] [ 3.67397714e-02 9.99324733e-01 5.16495170e-04 -8.93784401e+00] [ 1.30222951e-02 -9.95559532e-04 9.99914711e-01 3.23900281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.830714057 meters Centerline goodness [0,1] 0.9808833818583971 Centerline is valid? [True, True] Translation: X:263.25, Y:-8.94, Z:3.24 [[ 9.99293490e-01 -3.56627466e-02 -1.18612465e-02 2.63254094e+02] [ 3.56708239e-02 9.99363483e-01 4.70057274e-04 -8.93949526e+00] [ 1.18369331e-02 -8.92825609e-04 9.99929542e-01 3.23930799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.860714057 meters Centerline goodness [0,1] 0.9810138040280606 Centerline is valid? [True, True] Translation: X:263.29, Y:-8.94, Z:3.24 [[ 9.99330972e-01 -3.48699968e-02 -1.10313909e-02 2.63286012e+02] [ 3.48769438e-02 9.99391518e-01 4.37939587e-04 -8.93908191e+00] [ 1.10094075e-02 -8.22387792e-04 9.99939056e-01 3.24020992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.890714057 meters Centerline goodness [0,1] 0.9808723996649841 Centerline is valid? [True, True] Translation: X:263.32, Y:-8.94, Z:3.24 [[ 9.99357135e-01 -3.41779810e-02 -1.08250558e-02 2.63318419e+02] [ 3.41846385e-02 9.99415442e-01 4.30515500e-04 -8.93830616e+00] [ 1.08040138e-02 -8.00289356e-04 9.99941315e-01 3.24039079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.920714057 meters Centerline goodness [0,1] 0.9802628597326082 Centerline is valid? [True, True] Translation: X:263.35, Y:-8.94, Z:3.24 [[ 9.99336372e-01 -3.47683364e-02 -1.08617724e-02 2.63351025e+02] [ 3.47750822e-02 9.99395070e-01 4.32758571e-04 -8.93599260e+00] [ 1.08401555e-02 -8.10190407e-04 9.99940916e-01 3.23974679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.950714057 meters Centerline goodness [0,1] 0.978308715086334 Centerline is valid? [True, True] Translation: X:263.38, Y:-8.94, Z:3.24 [[ 9.99224113e-01 -3.77123190e-02 -1.13557685e-02 2.63380682e+02] [ 3.77198894e-02 9.99288249e-01 4.53148951e-04 -8.94252662e+00] [ 1.13305967e-02 -8.81135691e-04 9.99935419e-01 3.23865446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.980714057 meters Centerline goodness [0,1] 0.9790642636082286 Centerline is valid? [True, True] Translation: X:263.41, Y:-8.95, Z:3.24 [[ 9.99134535e-01 -3.97936886e-02 -1.21096689e-02 2.63411504e+02] [ 3.98024566e-02 9.99207451e-01 4.83811215e-04 -8.94516300e+00] [ 1.20808188e-02 -9.65387064e-04 9.99926558e-01 3.23784206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01071405700003 meters Centerline goodness [0,1] 0.9733099329899257 Centerline is valid? [True, True] Translation: X:263.44, Y:-8.95, Z:3.24 [[ 9.99027378e-01 -4.21002143e-02 -1.31099469e-02 2.63441073e+02] [ 4.21106906e-02 9.99112814e-01 5.23974817e-04 -8.95477601e+00] [ 1.30762565e-02 -1.07553410e-03 9.99913924e-01 3.23602258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.040714057 meters Centerline goodness [0,1] 0.9790429380845109 Centerline is valid? [True, True] Translation: X:263.47, Y:-8.95, Z:3.24 [[ 9.98830460e-01 -4.58230419e-02 -1.54259832e-02 2.63471825e+02] [ 4.58379886e-02 9.98948697e-01 6.16573413e-04 -8.94795004e+00] [ 1.53815126e-02 -1.32294835e-03 9.99880822e-01 3.23562491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07071405700003 meters Centerline goodness [0,1] 0.974586315357615 Centerline is valid? [True, True] Translation: X:263.50, Y:-8.96, Z:3.23 [[ 9.98728505e-01 -4.76381248e-02 -1.64919110e-02 2.63501254e+02] [ 4.76554581e-02 9.98863616e-01 6.59405595e-04 -8.95582609e+00] [ 1.64417570e-02 -1.44449674e-03 9.99863782e-01 3.23401751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.100714057 meters Centerline goodness [0,1] 0.9748261315699465 Centerline is valid? [True, True] Translation: X:263.53, Y:-8.96, Z:3.23 [[ 9.98716425e-01 -4.76167865e-02 -1.72668404e-02 2.63533258e+02] [ 4.76358012e-02 9.98864532e-01 6.91380320e-04 -8.95614297e+00] [ 1.72143131e-02 -1.51301266e-03 9.99850678e-01 3.23418455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13071405700003 meters Centerline goodness [0,1] 0.9726608854404382 Centerline is valid? [True, True] Translation: X:263.56, Y:-8.96, Z:3.23 [[ 9.98757439e-01 -4.67070516e-02 -1.73789875e-02 2.63564464e+02] [ 4.67261947e-02 9.98907492e-01 6.96866048e-04 -8.95788398e+00] [ 1.73274522e-02 -1.50805410e-03 9.99848731e-01 3.23424837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.160714057 meters Centerline goodness [0,1] 0.9775109020753898 Centerline is valid? [True, True] Translation: X:263.60, Y:-8.95, Z:3.24 [[ 9.98829052e-01 -4.50419414e-02 -1.76563925e-02 2.63595976e+02] [ 4.50614548e-02 9.98983965e-01 7.08694883e-04 -8.95385724e+00] [ 1.76065320e-02 -1.50348777e-03 9.99843863e-01 3.23505488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19071405700004 meters Centerline goodness [0,1] 0.9798428659779645 Centerline is valid? [True, True] Translation: X:263.63, Y:-8.95, Z:3.24 [[ 9.99053493e-01 -4.00915468e-02 -1.68756039e-02 2.63626463e+02] [ 4.01086730e-02 9.99195094e-01 6.77483880e-04 -8.94781767e+00] [ 1.68348593e-02 -1.35370072e-03 9.99857367e-01 3.23649824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.220714057 meters Centerline goodness [0,1] 0.9800426185184337 Centerline is valid? [True, True] Translation: X:263.66, Y:-8.95, Z:3.24 [[ 9.99185436e-01 -3.70652260e-02 -1.59572463e-02 2.63655687e+02] [ 3.70801497e-02 9.99312090e-01 6.40279140e-04 -8.94717250e+00] [ 1.59225370e-02 -1.23145467e-03 9.99872470e-01 3.23708708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25071405700004 meters Centerline goodness [0,1] 0.9806451612903225 Centerline is valid? [True, True] Translation: X:263.69, Y:-8.94, Z:3.24 [[ 9.99440779e-01 -3.04975144e-02 -1.37124008e-02 2.63687006e+02] [ 3.05079191e-02 9.99534374e-01 5.50193842e-04 -8.93794278e+00] [ 1.36892364e-02 -9.68222977e-04 9.99905829e-01 3.24029458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.280714057 meters Centerline goodness [0,1] 0.9807670213010409 Centerline is valid? [True, True] Translation: X:263.72, Y:-8.94, Z:3.24 [[ 9.99539653e-01 -2.72751878e-02 -1.32870811e-02 2.63716918e+02] [ 2.72846742e-02 9.99627562e-01 5.33172084e-04 -8.94207076e+00] [ 1.32675901e-02 -8.95460319e-04 9.99911581e-01 3.24081272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.310714057 meters Centerline goodness [0,1] 0.9802366999885097 Centerline is valid? [True, True] Translation: X:263.75, Y:-8.94, Z:3.24 [[ 9.99697873e-01 -2.14015970e-02 -1.20885823e-02 2.63747224e+02] [ 2.14090213e-02 9.99770683e-01 4.85068227e-04 -8.93896579e+00] [ 1.20754290e-02 -7.43726392e-04 9.99926813e-01 3.24235687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.340714057 meters Centerline goodness [0,1] 0.9809451569898405 Centerline is valid? [True, True] Translation: X:263.78, Y:-8.94, Z:3.24 [[ 9.99752329e-01 -1.88021997e-02 -1.19062237e-02 2.63777628e+02] [ 1.88092179e-02 9.99822977e-01 4.77744386e-04 -8.93773678e+00] [ 1.18951334e-02 -7.01572820e-04 9.99929004e-01 3.24283021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.370714057 meters Centerline goodness [0,1] 0.9817422817560438 Centerline is valid? [True, True] Translation: X:263.81, Y:-8.94, Z:3.24 [[ 9.99800096e-01 -1.62886712e-02 -1.15951222e-02 2.63807903e+02] [ 1.62951590e-02 9.99867117e-01 4.65261251e-04 -8.93768750e+00] [ 1.15860029e-02 -6.54112603e-04 9.99932666e-01 3.24280684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.400714057 meters Centerline goodness [0,1] 0.9822228346999242 Centerline is valid? [True, True] Translation: X:263.84, Y:-8.94, Z:3.24 [[ 9.99832126e-01 -1.31802187e-02 -1.27279849e-02 2.63837733e+02] [ 1.31877851e-02 9.99912907e-01 5.10718046e-04 -8.93834151e+00] [ 1.27201450e-02 -6.78486239e-04 9.99918865e-01 3.24168288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.430714057 meters Centerline goodness [0,1] 0.9831766679690194 Centerline is valid? [True, True] Translation: X:263.87, Y:-8.93, Z:3.24 [[ 9.99837058e-01 -1.20302644e-02 -1.34584836e-02 2.63868113e+02] [ 1.20386204e-02 9.99927387e-01 5.40029748e-04 -8.93182539e+00] [ 1.34510097e-02 -7.01963331e-04 9.99909285e-01 3.24230208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.460714057 meters Centerline goodness [0,1] 0.9842264774762364 Centerline is valid? [True, True] Translation: X:263.90, Y:-8.93, Z:3.24 [[ 9.99833161e-01 -9.74822608e-03 -1.54474163e-02 2.63897915e+02] [ 9.75895702e-03 9.99952188e-01 6.19446111e-04 -8.93268098e+00] [ 1.54406392e-02 -7.70093434e-04 9.99880490e-01 3.24114420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.490714057 meters Centerline goodness [0,1] 0.9842264774762364 Centerline is valid? [True, True] Translation: X:263.93, Y:-8.93, Z:3.24 [[ 9.99830364e-01 -1.00307876e-02 -1.54475473e-02 2.63925305e+02] [ 1.00415016e-02 9.99949393e-01 6.16165949e-04 -8.93370543e+00] [ 1.54405850e-02 -7.71177996e-04 9.99880490e-01 3.24126461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.520714057 meters Centerline goodness [0,1] 0.984261556842202 Centerline is valid? [True, True] Translation: X:263.95, Y:-8.93, Z:3.24 [[ 9.99830782e-01 -7.49023063e-03 -1.68018961e-02 2.63954269e+02] [ 7.50251065e-03 9.99971633e-01 6.67956677e-04 -8.93413383e+00] [ 1.67964163e-02 -7.93900051e-04 9.99858615e-01 3.24057621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.550714057 meters Centerline goodness [0,1] 0.9843714088715237 Centerline is valid? [True, True] Translation: X:263.98, Y:-8.94, Z:3.24 [[ 9.99824834e-01 -7.00094760e-03 -1.73576255e-02 2.63983392e+02] [ 7.01391852e-03 9.99975167e-01 6.86509949e-04 -8.93516580e+00] [ 1.73523882e-02 -8.08134667e-04 9.99849109e-01 3.24063251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.580714057 meters Centerline goodness [0,1] 0.9851068224063153 Centerline is valid? [True, True] Translation: X:264.01, Y:-8.94, Z:3.24 [[ 9.99844026e-01 -4.15114407e-03 -1.71665713e-02 2.64013598e+02] [ 4.16338233e-03 9.99991104e-01 6.77235222e-04 -8.93661136e+00] [ 1.71636073e-02 -7.48600591e-04 9.99852414e-01 3.24109413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.610714057 meters Centerline goodness [0,1] 0.9859488003673517 Centerline is valid? [True, True] Translation: X:264.04, Y:-8.94, Z:3.24 [[ 9.99848586e-01 -3.37306186e-03 -1.70712763e-02 2.64042373e+02] [ 3.38499417e-03 9.99994046e-01 6.70122968e-04 -8.93780065e+00] [ 1.70689143e-02 -7.27807672e-04 9.99854051e-01 3.24155031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.640714057 meters Centerline goodness [0,1] 0.9862084765177549 Centerline is valid? [True, True] Translation: X:264.07, Y:-8.94, Z:3.24 [[ 9.99854678e-01 -1.26821432e-03 -1.70004106e-02 2.64071085e+02] [ 1.27971042e-03 9.99998960e-01 6.65363583e-04 -8.93922877e+00] [ 1.69995491e-02 -6.87022494e-04 9.99855261e-01 3.24223407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.670714057 meters Centerline goodness [0,1] 0.9851655143995238 Centerline is valid? [True, True] Translation: X:264.10, Y:-8.94, Z:3.24 [[ 9.99856401e-01 -2.95054159e-04 -1.69437300e-02 2.64098581e+02] [ 3.06310049e-04 9.99999734e-01 6.61718627e-04 -8.94426175e+00] [ 1.69435302e-02 -6.66813640e-04 9.99856226e-01 3.24165689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.700714057 meters Centerline goodness [0,1] 0.9860093575259614 Centerline is valid? [True, True] Translation: X:264.13, Y:-8.94, Z:3.24 [[ 9.99853723e-01 4.32081624e-04 -1.70981485e-02 2.64127052e+02] [-4.20785809e-04 9.99999691e-01 6.64237539e-04 -8.94375879e+00] [ 1.70984302e-02 -6.56945717e-04 9.99853595e-01 3.24291390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.730714057 meters Centerline goodness [0,1] 0.9863895699195747 Centerline is valid? [True, True] Translation: X:264.15, Y:-8.95, Z:3.24 [[ 9.99858124e-01 7.64937015e-04 -1.68269426e-02 2.64154276e+02] [-7.54079745e-04 9.99999503e-01 6.51566725e-04 -8.95135099e+00] [ 1.68274327e-02 -6.38785427e-04 9.99858205e-01 3.24177671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76071405700003 meters Centerline goodness [0,1] 0.9865828571428571 Centerline is valid? [True, True] Translation: X:264.18, Y:-8.95, Z:3.24 [[ 9.99850795e-01 -1.31758395e-03 -1.72235863e-02 2.64183836e+02] [ 1.32925310e-03 9.99998895e-01 6.66079129e-04 -8.95142497e+00] [ 1.72226896e-02 -6.88874252e-04 9.99851441e-01 3.24394963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.790714057 meters Centerline goodness [0,1] 0.9864279197080292 Centerline is valid? [True, True] Translation: X:264.21, Y:-8.96, Z:3.24 [[ 9.99841883e-01 -3.02643946e-03 -1.75228230e-02 2.64211618e+02] [ 3.03875647e-03 9.99995154e-01 6.76328773e-04 -8.95628434e+00] [ 1.75206912e-02 -7.29469426e-04 9.99846235e-01 3.24362613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82071405700003 meters Centerline goodness [0,1] 0.9856514643213347 Centerline is valid? [True, True] Translation: X:264.24, Y:-8.97, Z:3.24 [[ 9.99814630e-01 -7.48819242e-03 -1.77379107e-02 2.64240212e+02] [ 7.50149921e-03 9.99971630e-01 6.83771566e-04 -8.96654067e+00] [ 1.77322872e-02 -8.16705738e-04 9.99842437e-01 3.24249361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.850714057 meters Centerline goodness [0,1] 0.9865566412006076 Centerline is valid? [True, True] Translation: X:264.27, Y:-8.97, Z:3.24 [[ 9.99780705e-01 -1.04543383e-02 -1.81451994e-02 2.64269951e+02] [ 1.04687390e-02 9.99944957e-01 6.98832846e-04 -8.96921136e+00] [ 1.81368948e-02 -8.88636953e-04 9.99835118e-01 3.24267594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88071405700003 meters Centerline goodness [0,1] 0.9854333741108242 Centerline is valid? [True, True] Translation: X:264.30, Y:-8.98, Z:3.24 [[ 9.99709257e-01 -1.54649992e-02 -1.84996064e-02 2.64299083e+02] [ 1.54808212e-02 9.99879911e-01 7.12351965e-04 -8.97891883e+00] [ 1.84863682e-02 -9.98533952e-04 9.99828614e-01 3.24250447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.910714057 meters Centerline goodness [0,1] 0.9853432700993676 Centerline is valid? [True, True] Translation: X:264.33, Y:-8.98, Z:3.24 [[ 9.99680808e-01 -1.75256696e-02 -1.81970533e-02 2.64328533e+02] [ 1.75413100e-02 9.99845894e-01 7.00232748e-04 -8.98424387e+00] [ 1.81819770e-02 -1.01920939e-03 9.99834175e-01 3.24283750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94071405700004 meters Centerline goodness [0,1] 0.9860855514161317 Centerline is valid? [True, True] Translation: X:264.36, Y:-8.99, Z:3.24 [[ 9.99657625e-01 -1.91540881e-02 -1.78256502e-02 2.64356384e+02] [ 1.91693354e-02 9.99816017e-01 6.84867369e-04 -8.98991307e+00] [ 1.78092526e-02 -1.02633876e-03 9.99840876e-01 3.24320225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.970714057 meters Centerline goodness [0,1] 0.9848041422782531 Centerline is valid? [True, True] Translation: X:264.38, Y:-9.00, Z:3.24 [[ 9.99626715e-01 -2.06357905e-02 -1.79051502e-02 2.64384648e+02] [ 2.06513888e-02 9.99786502e-01 6.86682593e-04 -8.99535453e+00] [ 1.78871573e-02 -1.05619248e-03 9.99839454e-01 3.24337794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00071405700004 meters Centerline goodness [0,1] 0.9853086530685596 Centerline is valid? [True, True] Translation: X:264.41, Y:-9.00, Z:3.24 [[ 9.99607776e-01 -2.18208140e-02 -1.75541149e-02 2.64414442e+02] [ 2.18359756e-02 9.99761340e-01 6.72475532e-04 -8.99987111e+00] [ 1.75352515e-02 -1.05552299e-03 9.99845689e-01 3.24457189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.030714057 meters Centerline goodness [0,1] 0.9851374339690214 Centerline is valid? [True, True] Translation: X:264.44, Y:-9.01, Z:3.24 [[ 9.99614624e-01 -2.21029650e-02 -1.67947184e-02 2.64443571e+02] [ 2.21168768e-02 9.99755185e-01 6.43034018e-04 -9.00550394e+00] [ 1.67763938e-02 -1.01423292e-03 9.99858752e-01 3.24476147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.060714057 meters Centerline goodness [0,1] 0.9864725180890747 Centerline is valid? [True, True] Translation: X:264.47, Y:-9.00, Z:3.25 [[ 9.99619066e-01 -2.23234960e-02 -1.62291428e-02 2.64473832e+02] [ 2.23365142e-02 9.99750316e-01 6.21308392e-04 -8.99953142e+00] [ 1.62112209e-02 -9.83574193e-04 9.99868106e-01 3.24677814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.090714057 meters Centerline goodness [0,1] 0.9862013169427153 Centerline is valid? [True, True] Translation: X:264.51, Y:-9.00, Z:3.25 [[ 9.99636701e-01 -2.20757670e-02 -1.54636891e-02 2.64505057e+02] [ 2.20875626e-02 9.99755865e-01 5.92396732e-04 -9.00279763e+00] [ 1.54468362e-02 -9.33736715e-04 9.99880255e-01 3.24671167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.120714057 meters Centerline goodness [0,1] 0.9848566428859874 Centerline is valid? [True, True] Translation: X:264.53, Y:-9.01, Z:3.25 [[ 9.99652253e-01 -2.15974011e-02 -1.51302800e-02 2.64534891e+02] [ 2.16086440e-02 9.99766338e-01 5.79965836e-04 -9.01389616e+00] [ 1.51142189e-02 -9.06708989e-04 9.99885363e-01 3.24529736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.150714057 meters Centerline goodness [0,1] 0.9847275173805786 Centerline is valid? [True, True] Translation: X:264.56, Y:-9.02, Z:3.25 [[ 9.99684242e-01 -2.08506765e-02 -1.40237645e-02 2.64564742e+02] [ 2.08602627e-02 9.99782256e-01 5.37623196e-04 -9.01852221e+00] [ 1.40095011e-02 -8.29992848e-04 9.99901518e-01 3.24538601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.180714057 meters Centerline goodness [0,1] 0.9841423148626491 Centerline is valid? [True, True] Translation: X:264.59, Y:-9.02, Z:3.24 [[ 9.99693126e-01 -2.04498780e-02 -1.39806050e-02 2.64594648e+02] [ 2.04593683e-02 9.99790541e-01 5.36122367e-04 -9.02318979e+00] [ 1.39667131e-02 -8.21992193e-04 9.99902123e-01 3.24471633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.210714057 meters Centerline goodness [0,1] 0.9860769127456687 Centerline is valid? [True, True] Translation: X:264.63, Y:-9.02, Z:3.25 [[ 9.99702399e-01 -2.02334204e-02 -1.36280263e-02 2.64625974e+02] [ 2.02424233e-02 9.99794964e-01 5.22988828e-04 -9.01660161e+00] [ 1.36146502e-02 -7.98697463e-04 9.99906997e-01 3.24576671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.240714057 meters Centerline goodness [0,1] 0.9861154655797912 Centerline is valid? [True, True] Translation: X:264.66, Y:-9.02, Z:3.25 [[ 9.99699661e-01 -2.02108022e-02 -1.38603924e-02 2.64657705e+02] [ 2.02201193e-02 9.99795411e-01 5.32390868e-04 -9.01753730e+00] [ 1.38467967e-02 -8.12489759e-04 9.99903798e-01 3.24606946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.270714057 meters Centerline goodness [0,1] 0.9860018277868177 Centerline is valid? [True, True] Translation: X:264.69, Y:-9.02, Z:3.25 [[ 9.99710459e-01 -1.97975484e-02 -1.36768472e-02 2.64688549e+02] [ 1.98065861e-02 9.99803692e-01 5.25653120e-04 -9.02197352e+00] [ 1.36637556e-02 -7.96392573e-04 9.99906329e-01 3.24553452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.300714057 meters Centerline goodness [0,1] 0.9850793011654699 Centerline is valid? [True, True] Translation: X:264.72, Y:-9.03, Z:3.24 [[ 9.99707925e-01 -1.95950438e-02 -1.41456491e-02 2.64718234e+02] [ 1.96046950e-02 9.99807662e-01 5.43917861e-04 -9.02715165e+00] [ 1.41322703e-02 -8.21080133e-04 9.99899797e-01 3.24482139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.330714057 meters Centerline goodness [0,1] 0.9866586216143738 Centerline is valid? [True, True] Translation: X:264.75, Y:-9.03, Z:3.25 [[ 9.99709321e-01 -1.89702712e-02 -1.48795909e-02 2.64749002e+02] [ 1.89808822e-02 9.99819683e-01 5.72218386e-04 -9.02548901e+00] [ 1.48660527e-02 -8.54479816e-04 9.99889129e-01 3.24525622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.360714057 meters Centerline goodness [0,1] 0.986173770565394 Centerline is valid? [True, True] Translation: X:264.78, Y:-9.03, Z:3.25 [[ 9.99711238e-01 -1.86853683e-02 -1.51094963e-02 2.64779643e+02] [ 1.86962774e-02 9.99825040e-01 5.81059764e-04 -9.02797603e+00] [ 1.50959954e-02 -8.63383309e-04 9.99885676e-01 3.24528212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.390714057 meters Centerline goodness [0,1] 0.9854680408683405 Centerline is valid? [True, True] Translation: X:264.81, Y:-9.03, Z:3.24 [[ 9.99725076e-01 -1.80799032e-02 -1.49294924e-02 2.64808699e+02] [ 1.80904839e-02 9.99836189e-01 5.73955383e-04 -9.03341091e+00] [ 1.49166697e-02 -8.43879330e-04 9.99888384e-01 3.24465167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.420714057 meters Centerline goodness [0,1] 0.9868182530268782 Centerline is valid? [True, True] Translation: X:264.84, Y:-9.03, Z:3.25 [[ 9.99747843e-01 -1.70123709e-02 -1.46570539e-02 2.64839024e+02] [ 1.70224508e-02 9.99854949e-01 5.63226002e-04 -9.03021366e+00] [ 1.46453461e-02 -8.12582960e-04 9.99892421e-01 3.24716826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.450714057 meters Centerline goodness [0,1] 0.9858235320423953 Centerline is valid? [True, True] Translation: X:264.87, Y:-9.04, Z:3.25 [[ 9.99749465e-01 -1.70248656e-02 -1.45313549e-02 2.64868000e+02] [ 1.70347740e-02 9.99854742e-01 5.58349695e-04 -9.03552119e+00] [ 1.45197383e-02 -8.05748155e-04 9.99894258e-01 3.24733677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.480714057 meters Centerline goodness [0,1] 0.9857591763054089 Centerline is valid? [True, True] Translation: X:264.90, Y:-9.04, Z:3.25 [[ 9.99728150e-01 -1.86013889e-02 -1.40575141e-02 2.64897398e+02] [ 1.86108124e-02 9.99826658e-01 5.39820485e-04 -9.03770613e+00] [ 1.40450360e-02 -8.01295493e-04 9.99901043e-01 3.24917016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51071405700003 meters Centerline goodness [0,1] 0.9854312614341172 Centerline is valid? [True, True] Translation: X:264.93, Y:-9.04, Z:3.25 [[ 9.99697353e-01 -2.03257252e-02 -1.38588562e-02 2.64927581e+02] [ 2.03350472e-02 9.99793080e-01 5.32041863e-04 -9.04133786e+00] [ 1.38451744e-02 -8.13701337e-04 9.99903820e-01 3.24967447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.540714057 meters Centerline goodness [0,1] 0.9854312614341172 Centerline is valid? [True, True] Translation: X:264.96, Y:-9.04, Z:3.25 [[ 9.99698052e-01 -2.02913035e-02 -1.38588437e-02 2.64958458e+02] [ 2.03006268e-02 9.99793779e-01 5.32367953e-04 -9.04255456e+00] [ 1.38451832e-02 -8.13550419e-04 9.99903820e-01 3.24981016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57071405700003 meters Centerline goodness [0,1] 0.9844795290339845 Centerline is valid? [True, True] Translation: X:264.99, Y:-9.05, Z:3.25 [[ 9.99658644e-01 -2.21100417e-02 -1.39191056e-02 2.64989245e+02] [ 2.21196263e-02 9.99755188e-01 5.35000009e-04 -9.04579278e+00] [ 1.39038691e-02 -8.42702797e-04 9.99902981e-01 3.25015602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.600714057 meters Centerline goodness [0,1] 0.9836445474397255 Centerline is valid? [True, True] Translation: X:265.02, Y:-9.05, Z:3.25 [[ 9.99536473e-01 -2.70613993e-02 -1.39470531e-02 2.65018586e+02] [ 2.70715044e-02 9.99633356e-01 5.36213465e-04 -9.05386342e+00] [ 1.39274288e-02 -9.13532625e-04 9.99902591e-01 3.25044744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63071405700003 meters Centerline goodness [0,1] 0.9850829468426686 Centerline is valid? [True, True] Translation: X:265.05, Y:-9.05, Z:3.25 [[ 9.99482413e-01 -2.91680544e-02 -1.35694535e-02 2.65049812e+02] [ 2.91778178e-02 9.99574101e-01 5.22051607e-04 -9.05358169e+00] [ 1.35484470e-02 -9.17708440e-04 9.99907794e-01 3.25158488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.660714057 meters Centerline goodness [0,1] 0.9842744180866466 Centerline is valid? [True, True] Translation: X:265.08, Y:-9.05, Z:3.25 [[ 9.99413926e-01 -3.13546790e-02 -1.37363977e-02 2.65081308e+02] [ 3.13648965e-02 9.99507861e-01 5.28973261e-04 -9.05414487e+00] [ 1.37130517e-02 -9.59503936e-04 9.99905511e-01 3.25203853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69071405700004 meters Centerline goodness [0,1] 0.9823160423525225 Centerline is valid? [True, True] Translation: X:265.11, Y:-9.07, Z:3.25 [[ 9.99284118e-01 -3.49053750e-02 -1.45899520e-02 2.65110857e+02] [ 3.49172819e-02 9.99390048e-01 5.62089767e-04 -9.06888031e+00] [ 1.45614329e-02 -1.07112884e-03 9.99893403e-01 3.25067760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.720714057 meters Centerline goodness [0,1] 0.983436669619132 Centerline is valid? [True, True] Translation: X:265.14, Y:-9.07, Z:3.25 [[ 9.99239939e-01 -3.61128852e-02 -1.46766250e-02 2.65143388e+02] [ 3.61250747e-02 9.99347116e-01 5.66191232e-04 -9.06622065e+00] [ 1.46465960e-02 -1.09595507e-03 9.99892132e-01 3.25148398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75071405700004 meters Centerline goodness [0,1] 0.9834510640188369 Centerline is valid? [True, True] Translation: X:265.17, Y:-9.07, Z:3.25 [[ 9.99151561e-01 -3.83445185e-02 -1.50285401e-02 2.65174361e+02] [ 3.83575582e-02 9.99263910e-01 5.80273540e-04 -9.06929362e+00] [ 1.49952274e-02 -1.15623931e-03 9.99886897e-01 3.25147307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.780714057 meters Centerline goodness [0,1] 0.9842398915242181 Centerline is valid? [True, True] Translation: X:265.21, Y:-9.07, Z:3.25 [[ 9.99130855e-01 -3.87930467e-02 -1.52523384e-02 2.65206321e+02] [ 3.88065429e-02 9.99246568e-01 5.89784395e-04 -9.06705352e+00] [ 1.52179673e-02 -1.18116231e-03 9.99883502e-01 3.25201841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.810714057 meters Centerline goodness [0,1] 0.9838189845474614 Centerline is valid? [True, True] Translation: X:265.24, Y:-9.07, Z:3.25 [[ 9.99141044e-01 -3.85971670e-02 -1.50808535e-02 2.65238701e+02] [ 3.86103555e-02 9.99254171e-01 5.84242367e-04 -9.06931777e+00] [ 1.50470557e-02 -1.16601764e-03 9.99886107e-01 3.25195033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.840714057 meters Centerline goodness [0,1] 0.983860225557233 Centerline is valid? [True, True] Translation: X:265.27, Y:-9.07, Z:3.25 [[ 9.99156274e-01 -3.81612457e-02 -1.51809133e-02 2.65269713e+02] [ 3.81745735e-02 9.99270912e-01 5.89019135e-04 -9.07254450e+00] [ 1.51473674e-02 -1.16804706e-03 9.99884590e-01 3.25123897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.870714057 meters Centerline goodness [0,1] 0.9842216534994993 Centerline is valid? [True, True] Translation: X:265.30, Y:-9.07, Z:3.25 [[ 9.99186322e-01 -3.74959091e-02 -1.48576519e-02 2.65302295e+02] [ 3.75086167e-02 9.99296137e-01 5.77454745e-04 -9.07305855e+00] [ 1.48255420e-02 -1.13427485e-03 9.99889452e-01 3.25135804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.900714057 meters Centerline goodness [0,1] 0.9828379610074918 Centerline is valid? [True, True] Translation: X:265.33, Y:-9.08, Z:3.25 [[ 9.99186924e-01 -3.72333185e-02 -1.54651292e-02 2.65333096e+02] [ 3.72470695e-02 9.99305906e-01 6.01979515e-04 -9.07503335e+00] [ 1.54319813e-02 -1.17752080e-03 9.99880227e-01 3.25118309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.930714057 meters Centerline goodness [0,1] 0.9832094931795498 Centerline is valid? [True, True] Translation: X:265.37, Y:-9.08, Z:3.25 [[ 9.99192987e-01 -3.69385347e-02 -1.57772071e-02 2.65365102e+02] [ 3.69528260e-02 9.99316822e-01 6.15156134e-04 -9.07677889e+00] [ 1.57437055e-02 -1.19767208e-03 9.99875343e-01 3.25087244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.960714057 meters Centerline goodness [0,1] 0.9830797888854393 Centerline is valid? [True, True] Translation: X:265.40, Y:-9.08, Z:3.25 [[ 9.99195004e-01 -3.67885371e-02 -1.59983464e-02 2.65397186e+02] [ 3.68032304e-02 9.99322336e-01 6.24888290e-04 -9.07876657e+00] [ 1.59645162e-02 -1.21317609e-03 9.99871823e-01 3.25013169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.990714057 meters Centerline goodness [0,1] 0.9827367012378722 Centerline is valid? [True, True] Translation: X:265.43, Y:-9.08, Z:3.25 [[ 9.99185265e-01 -3.68342441e-02 -1.64937696e-02 2.65429619e+02] [ 3.68498867e-02 9.99320604e-01 6.45382009e-04 -9.08076413e+00] [ 1.64587917e-02 -1.25264974e-03 9.99863760e-01 3.24899634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.020714057 meters Centerline goodness [0,1] 0.9838828001689527 Centerline is valid? [True, True] Translation: X:265.46, Y:-9.08, Z:3.25 [[ 9.99179167e-01 -3.68804142e-02 -1.67579074e-02 2.65461839e+02] [ 3.68965882e-02 9.99318873e-01 6.56904306e-04 -9.07656396e+00] [ 1.67222663e-02 -1.27467471e-03 9.99859361e-01 3.24973653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.050714057 meters Centerline goodness [0,1] 0.9831756515530168 Centerline is valid? [True, True] Translation: X:265.49, Y:-9.08, Z:3.25 [[ 9.99159181e-01 -3.74867844e-02 -1.66033811e-02 2.65492988e+02] [ 3.75027605e-02 9.99296311e-01 6.51804134e-04 -9.08116246e+00] [ 1.65672635e-02 -1.27392871e-03 9.99861942e-01 3.24969536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.080714057 meters Centerline goodness [0,1] 0.9833701152500056 Centerline is valid? [True, True] Translation: X:265.52, Y:-9.08, Z:3.25 [[ 9.99139180e-01 -3.79381926e-02 -1.67806970e-02 2.65524687e+02] [ 3.79545898e-02 9.99279247e-01 6.59641621e-04 -9.08309843e+00] [ 1.67435766e-02 -1.29597826e-03 9.99858977e-01 3.24948274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.110714057 meters Centerline goodness [0,1] 0.9811942959001783 Centerline is valid? [True, True] Translation: X:265.56, Y:-9.09, Z:3.25 [[ 9.99129110e-01 -3.79436019e-02 -1.73581571e-02 2.65555346e+02] [ 3.79611638e-02 9.99278982e-01 6.83243720e-04 -9.08876088e+00] [ 1.73197168e-02 -1.34158453e-03 9.99849102e-01 3.24868530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.140714057 meters Centerline goodness [0,1] 0.9844031594170654 Centerline is valid? [True, True] Translation: X:265.59, Y:-9.08, Z:3.25 [[ 9.99082165e-01 -3.87241951e-02 -1.83101970e-02 2.65587881e+02] [ 3.87438896e-02 9.99248913e-01 7.21963238e-04 -9.07719195e+00] [ 1.82684870e-02 -1.43070885e-03 9.99832094e-01 3.25008838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.170714057 meters Centerline goodness [0,1] 0.9843551514341111 Centerline is valid? [True, True] Translation: X:265.62, Y:-9.08, Z:3.25 [[ 9.99057047e-01 -3.92083479e-02 -1.86473097e-02 2.65618865e+02] [ 3.92288933e-02 9.99229979e-01 7.37138297e-04 -9.08235220e+00] [ 1.86040489e-02 -1.46795654e-03 9.99825852e-01 3.24885304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.200714057 meters Centerline goodness [0,1] 0.9848006625926174 Centerline is valid? [True, True] Translation: X:265.65, Y:-9.08, Z:3.25 [[ 9.98994330e-01 -4.04569211e-02 -1.93278356e-02 2.65650616e+02] [ 4.04792458e-02 9.99180087e-01 7.65069369e-04 -9.08038845e+00] [ 1.92810361e-02 -1.54667617e-03 9.99812907e-01 3.24926567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.230714057 meters Centerline goodness [0,1] 0.9840949870411803 Centerline is valid? [True, True] Translation: X:265.68, Y:-9.08, Z:3.25 [[ 9.98975644e-01 -4.09519232e-02 -1.92510313e-02 2.65683196e+02] [ 4.09741854e-02 9.99159914e-01 7.63242458e-04 -9.08119145e+00] [ 1.92036025e-02 -1.55125595e-03 9.99814390e-01 3.24936445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26071405700003 meters Centerline goodness [0,1] 0.9855682097867675 Centerline is valid? [True, True] Translation: X:265.72, Y:-9.08, Z:3.25 [[ 9.98947024e-01 -4.16547305e-02 -1.92282895e-02 2.65715679e+02] [ 4.16770957e-02 9.99130841e-01 7.63708318e-04 -9.08205047e+00] [ 1.91797650e-02 -1.56428341e-03 9.99814828e-01 3.24959571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.290714057 meters Centerline goodness [0,1] 0.984564449017941 Centerline is valid? [True, True] Translation: X:265.75, Y:-9.08, Z:3.25 [[ 9.98922946e-01 -4.24657082e-02 -1.86979085e-02 2.65746525e+02] [ 4.24870361e-02 9.99096741e-01 7.44713589e-04 -9.08285674e+00] [ 1.86493946e-02 -1.53833020e-03 9.99824901e-01 3.24978215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32071405700003 meters Centerline goodness [0,1] 0.9835026230606094 Centerline is valid? [True, True] Translation: X:265.78, Y:-9.08, Z:3.25 [[ 9.98939122e-01 -4.25915405e-02 -1.75097650e-02 2.65777431e+02] [ 4.26102983e-02 9.99091524e-01 6.99430162e-04 -9.08345334e+00] [ 1.74640680e-02 -1.44478446e-03 9.99846448e-01 3.25114100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.350714057 meters Centerline goodness [0,1] 0.9829583575613902 Centerline is valid? [True, True] Translation: X:265.81, Y:-9.08, Z:3.25 [[ 9.98943104e-01 -4.27487936e-02 -1.68883168e-02 2.65809408e+02] [ 4.27662885e-02 9.99084875e-01 6.75963980e-04 -9.08395406e+00] [ 1.68439653e-02 -1.39750019e-03 9.99857154e-01 3.25203173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38071405700003 meters Centerline goodness [0,1] 0.9823159402771249 Centerline is valid? [True, True] Translation: X:265.84, Y:-9.08, Z:3.25 [[ 9.98937643e-01 -4.30681240e-02 -1.63927601e-02 2.65841406e+02] [ 4.30846681e-02 9.99071208e-01 6.57249662e-04 -9.08480454e+00] [ 1.63492282e-02 -1.36282806e-03 9.99865414e-01 3.25284190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.410714057 meters Centerline goodness [0,1] 0.9846767328285317 Centerline is valid? [True, True] Translation: X:265.87, Y:-9.07, Z:3.26 [[ 9.98892238e-01 -4.41221853e-02 -1.63563235e-02 2.65873706e+02] [ 4.41388119e-02 9.99025192e-01 6.56747704e-04 -9.07420569e+00] [ 1.63114021e-02 -1.37796887e-03 9.99866011e-01 3.25549804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44071405700004 meters Centerline goodness [0,1] 0.9833665405538516 Centerline is valid? [True, True] Translation: X:265.90, Y:-9.08, Z:3.26 [[ 9.98888160e-01 -4.43527893e-02 -1.59772797e-02 2.65904658e+02] [ 4.43687083e-02 9.99015017e-01 6.43088495e-04 -9.07780205e+00] [ 1.59330196e-02 -1.35126475e-03 9.99872148e-01 3.25504079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.470714057 meters Centerline goodness [0,1] 0.9821536667937134 Centerline is valid? [True, True] Translation: X:265.94, Y:-9.08, Z:3.25 [[ 9.98839877e-01 -4.51036882e-02 -1.68688033e-02 2.65936011e+02] [ 4.51215600e-02 9.98981272e-01 6.80167259e-04 -9.08136658e+00] [ 1.68209406e-02 -1.44052490e-03 9.99857480e-01 3.25402928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50071405700004 meters Centerline goodness [0,1] 0.9829653703911241 Centerline is valid? [True, True] Translation: X:265.97, Y:-9.08, Z:3.25 [[ 9.98818361e-01 -4.54295566e-02 -1.72637291e-02 2.65967864e+02] [ 4.54483392e-02 9.98966447e-01 6.97011248e-04 -9.07911457e+00] [ 1.72142212e-02 -1.48079545e-03 9.99850728e-01 3.25418807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.530714057 meters Centerline goodness [0,1] 0.9843609764853707 Centerline is valid? [True, True] Translation: X:266.00, Y:-9.07, Z:3.25 [[ 9.98803158e-01 -4.55274302e-02 -1.78746729e-02 2.65999998e+02] [ 4.55476033e-02 9.98961908e-01 7.22894567e-04 -9.07321080e+00] [ 1.78232058e-02 -1.53617789e-03 9.99839974e-01 3.25448563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.560714057 meters Centerline goodness [0,1] 0.9845037842208099 Centerline is valid? [True, True] Translation: X:266.03, Y:-9.08, Z:3.25 [[ 9.98802700e-01 -4.53444810e-02 -1.83587770e-02 2.66030766e+02] [ 4.53657510e-02 9.98970168e-01 7.43552058e-04 -9.07526027e+00] [ 1.83061545e-02 -1.57552151e-03 9.99831187e-01 3.25439865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.590714057 meters Centerline goodness [0,1] 0.9842323091457106 Centerline is valid? [True, True] Translation: X:266.06, Y:-9.07, Z:3.25 [[ 9.98793958e-01 -4.52237070e-02 -1.91166541e-02 2.66063443e+02] [ 4.52467723e-02 9.98975539e-01 7.75539986e-04 -9.07485128e+00] [ 1.90619970e-02 -1.63957155e-03 9.99816959e-01 3.25439362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.620714057 meters Centerline goodness [0,1] 0.9852914676997928 Centerline is valid? [True, True] Translation: X:266.10, Y:-9.07, Z:3.25 [[ 9.98787288e-01 -4.46474888e-02 -2.07498015e-02 2.66096340e+02] [ 4.46745727e-02 9.99001237e-01 8.43319204e-04 -9.06932161e+00] [ 2.06914253e-02 -1.76928502e-03 9.99784344e-01 3.25470236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.650714057 meters Centerline goodness [0,1] 0.9838597123111902 Centerline is valid? [True, True] Translation: X:266.13, Y:-9.07, Z:3.25 [[ 9.98803955e-01 -4.41559933e-02 -2.09978067e-02 2.66127671e+02] [ 4.41836463e-02 9.99023060e-01 8.54617629e-04 -9.07461247e+00] [ 2.09395566e-02 -1.78135513e-03 9.99779156e-01 3.25335006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.680714057 meters Centerline goodness [0,1] 0.9852180005876636 Centerline is valid? [True, True] Translation: X:266.16, Y:-9.07, Z:3.25 [[ 9.98841906e-01 -4.31611907e-02 -2.12593282e-02 2.66160503e+02] [ 4.31893442e-02 9.99066529e-01 8.66719362e-04 -9.06792987e+00] [ 2.12020746e-02 -1.78389206e-03 9.99773619e-01 3.25467289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.710714057 meters Centerline goodness [0,1] 0.9846707125196673 Centerline is valid? [True, True] Translation: X:266.19, Y:-9.07, Z:3.26 [[ 9.98891515e-01 -4.22441065e-02 -2.07648189e-02 2.66191992e+02] [ 4.22707870e-02 9.99105831e-01 8.47458859e-04 -9.06700023e+00] [ 2.07104515e-02 -1.72426470e-03 9.99784029e-01 3.25502731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.740714057 meters Centerline goodness [0,1] 0.9849695328368314 Centerline is valid? [True, True] Translation: X:266.22, Y:-9.07, Z:3.26 [[ 9.98953985e-01 -4.06705608e-02 -2.09007625e-02 2.66223568e+02] [ 4.06972655e-02 9.99171158e-01 8.53756924e-04 -9.06679010e+00] [ 2.08487163e-02 -1.70346776e-03 9.99781191e-01 3.25606183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.770714057 meters Centerline goodness [0,1] 0.9849421461404343 Centerline is valid? [True, True] Translation: X:266.25, Y:-9.06, Z:3.26 [[ 9.99043226e-01 -3.84237094e-02 -2.08866035e-02 2.66254400e+02] [ 3.84498993e-02 9.99260165e-01 8.53626212e-04 -9.06435293e+00] [ 2.08383514e-02 -1.65589729e-03 9.99781487e-01 3.25790330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.800714057 meters Centerline goodness [0,1] 0.9842596367260045 Centerline is valid? [True, True] Translation: X:266.28, Y:-9.07, Z:3.26 [[ 9.99101946e-01 -3.71650838e-02 -2.03484057e-02 2.66284839e+02] [ 3.71896890e-02 9.99307878e-01 8.31989989e-04 -9.06501896e+00] [ 2.03034012e-02 -1.58799370e-03 9.99792604e-01 3.25858152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.830714057 meters Centerline goodness [0,1] 0.984891449830993 Centerline is valid? [True, True] Translation: X:266.32, Y:-9.06, Z:3.26 [[ 9.99198415e-01 -3.47227817e-02 -1.99212307e-02 2.66315652e+02] [ 3.47458888e-02 9.99395847e-01 8.14872017e-04 -9.06076091e+00] [ 1.98809006e-02 -1.50639970e-03 9.99801221e-01 3.26017394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.860714057 meters Centerline goodness [0,1] 0.9842884593647564 Centerline is valid? [True, True] Translation: X:266.35, Y:-9.06, Z:3.26 [[ 9.99236141e-01 -3.36732968e-02 -1.98303912e-02 2.66347557e+02] [ 3.36960056e-02 9.99431798e-01 8.12035571e-04 -9.06146831e+00] [ 1.97917796e-02 -1.47962026e-03 9.99803029e-01 3.26011422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.890714057 meters Centerline goodness [0,1] 0.9843402982368672 Centerline is valid? [True, True] Translation: X:266.38, Y:-9.06, Z:3.26 [[ 9.99257733e-01 -3.28706856e-02 -2.00873186e-02 2.66379468e+02] [ 3.28938465e-02 9.99458512e-01 8.23601750e-04 -9.06197277e+00] [ 2.00493691e-02 -1.48373959e-03 9.99797890e-01 3.26022587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.920714057 meters Centerline goodness [0,1] 0.9855075755854894 Centerline is valid? [True, True] Translation: X:266.41, Y:-9.06, Z:3.26 [[ 9.99310452e-01 -3.12053867e-02 -2.01207444e-02 2.66410781e+02] [ 3.12283050e-02 9.99511936e-01 8.25768200e-04 -9.05678269e+00] [ 2.00851558e-02 -1.45353554e-03 9.99797216e-01 3.26121541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.950714057 meters Centerline goodness [0,1] 0.9853365767158478 Centerline is valid? [True, True] Translation: X:266.44, Y:-9.06, Z:3.26 [[ 9.99314680e-01 -3.06178492e-02 -2.08018593e-02 2.66442045e+02] [ 3.06422409e-02 9.99530051e-01 8.54769545e-04 -9.06133736e+00] [ 2.07659123e-02 -1.49159934e-03 9.99783253e-01 3.26013847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.980714057 meters Centerline goodness [0,1] 0.9848174917041683 Centerline is valid? [True, True] Translation: X:266.47, Y:-9.06, Z:3.26 [[ 9.99363182e-01 -2.85765711e-02 -2.13684330e-02 2.66472394e+02] [ 2.86018572e-02 9.99590497e-01 8.78589051e-04 -9.06382445e+00] [ 2.13345755e-02 -1.48920642e-03 9.99771283e-01 3.25896105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01071405700003 meters Centerline goodness [0,1] 0.9859748184239885 Centerline is valid? [True, True] Translation: X:266.50, Y:-9.06, Z:3.26 [[ 9.99383555e-01 -2.75875068e-02 -2.17126401e-02 2.66504108e+02] [ 2.76133968e-02 9.99618278e-01 8.93425712e-04 -9.05871379e+00] [ 2.16797045e-02 -1.49243471e-03 9.99763854e-01 3.26048917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.040714057 meters Centerline goodness [0,1] 0.9848395442785166 Centerline is valid? [True, True] Translation: X:266.53, Y:-9.06, Z:3.26 [[ 9.99413208e-01 -2.62629033e-02 -2.19886160e-02 2.66533615e+02] [ 2.62891334e-02 9.99653972e-01 9.04630813e-04 -9.06363343e+00] [ 2.19572491e-02 -1.48216164e-03 9.99757812e-01 3.25936338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07071405700003 meters Centerline goodness [0,1] 0.9862457516936202 Centerline is valid? [True, True] Translation: X:266.56, Y:-9.05, Z:3.26 [[ 9.99469868e-01 -2.33409258e-02 -2.26976893e-02 2.66564610e+02] [ 2.33681235e-02 9.99726492e-01 9.33723940e-04 -9.05342209e+00] [ 2.26696874e-02 -1.46363135e-03 9.99741938e-01 3.26117171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.100714057 meters Centerline goodness [0,1] 0.9862230723687206 Centerline is valid? [True, True] Translation: X:266.59, Y:-9.05, Z:3.26 [[ 9.99493963e-01 -2.19922053e-02 -2.29817447e-02 2.66594826e+02] [ 2.20197255e-02 9.99757090e-01 9.45077967e-04 -9.05367564e+00] [ 2.29553778e-02 -1.45065143e-03 9.99735438e-01 3.26103356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13071405700003 meters Centerline goodness [0,1] 0.9859196781640723 Centerline is valid? [True, True] Translation: X:266.63, Y:-9.05, Z:3.26 [[ 9.99586642e-01 -1.89364059e-02 -2.16323093e-02 2.66625161e+02] [ 1.89600673e-02 9.99819846e-01 8.89205488e-04 -9.05250726e+00] [ 2.16115738e-02 -1.29898797e-03 9.99765599e-01 3.26130393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.160714057 meters Centerline goodness [0,1] 0.9863352331250429 Centerline is valid? [True, True] Translation: X:266.65, Y:-9.05, Z:3.26 [[ 9.99626557e-01 -1.77278235e-02 -2.07959318e-02 2.66653237e+02] [ 1.77494040e-02 9.99842103e-01 8.53595915e-04 -9.05375265e+00] [ 2.07775158e-02 -1.22239254e-03 9.99783377e-01 3.26151731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19071405700004 meters Centerline goodness [0,1] 0.9861793260993718 Centerline is valid? [True, True] Translation: X:266.68, Y:-9.05, Z:3.26 [[ 9.99697230e-01 -1.54148591e-02 -1.91789231e-02 2.66682862e+02] [ 1.54327738e-02 9.99880598e-01 7.86419784e-04 -9.05210618e+00] [ 1.91645105e-02 -1.08216566e-03 9.99815758e-01 3.26316575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.220714057 meters Centerline goodness [0,1] 0.986093928980527 Centerline is valid? [True, True] Translation: X:266.71, Y:-9.05, Z:3.26 [[ 9.99717780e-01 -1.46751426e-02 -1.86815309e-02 2.66710963e+02] [ 1.46919433e-02 9.99891777e-01 7.62387897e-04 -9.05368868e+00] [ 1.86683209e-02 -1.03664073e-03 9.99825194e-01 3.26331005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25071405700004 meters Centerline goodness [0,1] 0.9862007209606686 Centerline is valid? [True, True] Translation: X:266.74, Y:-9.05, Z:3.26 [[ 9.99728208e-01 -1.39673494e-02 -1.86661012e-02 2.66740114e+02] [ 1.39839146e-02 9.99901934e-01 7.57210886e-04 -9.05210531e+00] [ 1.86536944e-02 -1.01803025e-03 9.99825486e-01 3.26460739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.280714057 meters Centerline goodness [0,1] 0.9854306756324047 Centerline is valid? [True, True] Translation: X:266.77, Y:-9.05, Z:3.26 [[ 9.99770773e-01 -1.25871832e-02 -1.73194684e-02 2.66767647e+02] [ 1.26012011e-02 9.99920356e-01 7.00477291e-04 -9.05361302e+00] [ 1.73092720e-02 -9.18562828e-04 9.99849761e-01 3.26441150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.310714057 meters Centerline goodness [0,1] 0.9858128305357553 Centerline is valid? [True, True] Translation: X:266.80, Y:-9.06, Z:3.26 [[ 9.99777219e-01 -1.24849849e-02 -1.70187547e-02 2.66796483e+02] [ 1.24984480e-02 9.99921657e-01 6.84939844e-04 -9.05523255e+00] [ 1.70088699e-02 -8.97495273e-04 9.99854936e-01 3.26478853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.340714057 meters Centerline goodness [0,1] 0.9858291226458429 Centerline is valid? [True, True] Translation: X:266.82, Y:-9.05, Z:3.26 [[ 9.99789109e-01 -1.23443090e-02 -1.64120525e-02 2.66824945e+02] [ 1.23567462e-02 9.99923437e-01 6.56614376e-04 -9.05496714e+00] [ 1.64026905e-02 -8.59275470e-04 9.99865098e-01 3.26497827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.370714057 meters Centerline goodness [0,1] 0.9854683195592286 Centerline is valid? [True, True] Translation: X:266.85, Y:-9.06, Z:3.26 [[ 9.99783404e-01 -1.25495838e-02 -1.66027886e-02 2.66852593e+02] [ 1.25623049e-02 9.99920872e-01 6.62128945e-04 -9.05749390e+00] [ 1.65931654e-02 -8.70554822e-04 9.99861945e-01 3.26466291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.400714057 meters Centerline goodness [0,1] 0.9870721383879278 Centerline is valid? [True, True] Translation: X:266.88, Y:-9.06, Z:3.27 [[ 9.99783303e-01 -1.23411519e-02 -1.67643426e-02 2.66881148e+02] [ 1.23540364e-02 9.99923465e-01 6.65214928e-04 -9.05676068e+00] [ 1.67548500e-02 -8.72178076e-04 9.99859247e-01 3.26525566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.430714057 meters Centerline goodness [0,1] 0.9870721383879278 Centerline is valid? [True, True] Translation: X:266.91, Y:-9.06, Z:3.27 [[ 9.99780301e-01 -1.25817622e-02 -1.67645020e-02 2.66909393e+02] [ 1.25946129e-02 9.99920466e-01 6.61182759e-04 -9.05782548e+00] [ 1.67548498e-02 -8.72179911e-04 9.99859247e-01 3.26538018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.460714057 meters Centerline goodness [0,1] 0.9861768082663604 Centerline is valid? [True, True] Translation: X:266.94, Y:-9.06, Z:3.26 [[ 9.99792899e-01 -1.21464319e-02 -1.63285976e-02 2.66936861e+02] [ 1.21585316e-02 9.99925876e-01 6.41942013e-04 -9.06196444e+00] [ 1.63195900e-02 -8.40340836e-04 9.99866473e-01 3.26498613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.490714057 meters Centerline goodness [0,1] 0.98635925228494 Centerline is valid? [True, True] Translation: X:266.97, Y:-9.06, Z:3.26 [[ 9.99805824e-01 -1.12350339e-02 -1.61891154e-02 2.66965810e+02] [ 1.12467583e-02 9.99936553e-01 6.33352505e-04 -9.06274891e+00] [ 1.61809725e-02 -8.15304592e-04 9.99868747e-01 3.26465197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.520714057 meters Centerline goodness [0,1] 0.9864189034182151 Centerline is valid? [True, True] Translation: X:266.99, Y:-9.06, Z:3.26 [[ 9.99806316e-01 -1.08117461e-02 -1.64449618e-02 2.66994813e+02] [ 1.08237244e-02 9.99941217e-01 6.39557896e-04 -9.06429121e+00] [ 1.64370804e-02 -8.17429758e-04 9.99864568e-01 3.26475268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.550714057 meters Centerline goodness [0,1] 0.9865220475503993 Centerline is valid? [True, True] Translation: X:267.02, Y:-9.06, Z:3.27 [[ 9.99812560e-01 -1.04111553e-02 -1.63233663e-02 2.67023480e+02] [ 1.04228411e-02 9.99945482e-01 6.30986441e-04 -9.06174777e+00] [ 1.63159071e-02 -8.01004023e-04 9.99866566e-01 3.26548566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.580714057 meters Centerline goodness [0,1] 0.9865810431340054 Centerline is valid? [True, True] Translation: X:267.05, Y:-9.06, Z:3.27 [[ 9.99794118e-01 -1.02963049e-02 -1.74845177e-02 2.67051144e+02] [ 1.03096115e-02 9.99946629e-01 6.71082422e-04 -9.05983054e+00] [ 1.74766749e-02 -8.51202843e-04 9.99846909e-01 3.26552067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.610714057 meters Centerline goodness [0,1] 0.9860751072469087 Centerline is valid? [True, True] Translation: X:267.08, Y:-9.07, Z:3.26 [[ 9.99801508e-01 -9.85057452e-03 -1.73179611e-02 2.67079129e+02] [ 9.86352160e-03 9.99951135e-01 6.62352503e-04 -9.06590026e+00] [ 1.73105904e-02 -8.33037115e-04 9.99849813e-01 3.26426235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.640714057 meters Centerline goodness [0,1] 0.9858833724828389 Centerline is valid? [True, True] Translation: X:267.11, Y:-9.07, Z:3.26 [[ 9.99799965e-01 -1.02651323e-02 -1.71655662e-02 2.67106883e+02] [ 1.02778475e-02 9.99946969e-01 6.52680984e-04 -9.06531245e+00] [ 1.71579560e-02 -8.28975496e-04 9.99852448e-01 3.26492447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.670714057 meters Centerline goodness [0,1] 0.9849273899378284 Centerline is valid? [True, True] Translation: X:267.13, Y:-9.07, Z:3.26 [[ 9.99808970e-01 -1.07200732e-02 -1.63432948e-02 2.67134938e+02] [ 1.07316250e-02 9.99942223e-01 6.19279607e-04 -9.07005083e+00] [ 1.63357118e-02 -7.94551417e-04 9.99866248e-01 3.26446584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.700714057 meters Centerline goodness [0,1] 0.9863867626163084 Centerline is valid? [True, True] Translation: X:267.16, Y:-9.06, Z:3.27 [[ 9.99805264e-01 -1.17232450e-02 -1.58744818e-02 2.67163569e+02] [ 1.17342474e-02 9.99930971e-01 6.00119351e-04 -9.06255171e+00] [ 1.58663507e-02 -7.86277583e-04 9.99873812e-01 3.26620330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.730714057 meters Centerline goodness [0,1] 0.9860502466444878 Centerline is valid? [True, True] Translation: X:267.19, Y:-9.06, Z:3.27 [[ 9.99801446e-01 -1.27147364e-02 -1.53428971e-02 2.67191467e+02] [ 1.27251097e-02 9.99918865e-01 5.78661755e-04 -9.06494774e+00] [ 1.53342947e-02 -7.73786909e-04 9.99882123e-01 3.26609876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76071405700003 meters Centerline goodness [0,1] 0.9863579043906913 Centerline is valid? [True, True] Translation: X:267.22, Y:-9.07, Z:3.27 [[ 9.99795697e-01 -1.34339819e-02 -1.51027422e-02 2.67220263e+02] [ 1.34441005e-02 9.99909462e-01 5.68651053e-04 -9.06777470e+00] [ 1.50937356e-02 -7.71577659e-04 9.99885785e-01 3.26602362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.790714057 meters Centerline goodness [0,1] 0.9863258434687006 Centerline is valid? [True, True] Translation: X:267.25, Y:-9.07, Z:3.27 [[ 9.99781035e-01 -1.61909647e-02 -1.32565027e-02 2.67248709e+02] [ 1.61989932e-02 9.99868663e-01 4.98469004e-04 -9.07180123e+00] [ 1.32466909e-02 -7.13101852e-04 9.99912004e-01 3.26632933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82071405700003 meters Centerline goodness [0,1] 0.9865939455049614 Centerline is valid? [True, True] Translation: X:267.28, Y:-9.07, Z:3.27 [[ 9.99769693e-01 -1.76758727e-02 -1.21706123e-02 2.67280484e+02] [ 1.76827502e-02 9.99843543e-01 4.57706635e-04 -9.07104097e+00] [ 1.21606177e-02 -6.72811118e-04 9.99925831e-01 3.26689308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.850714057 meters Centerline goodness [0,1] 0.9853672945400014 Centerline is valid? [True, True] Translation: X:267.31, Y:-9.08, Z:3.27 [[ 9.99727315e-01 -2.09024397e-02 -1.04107174e-02 2.67310440e+02] [ 2.09076488e-02 9.99781334e-01 3.91763554e-04 -9.08127369e+00] [ 1.04002521e-02 -6.09320349e-04 9.99945730e-01 3.26677798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88071405700003 meters Centerline goodness [0,1] 0.9841084204733076 Centerline is valid? [True, True] Translation: X:267.34, Y:-9.09, Z:3.27 [[ 9.99698612e-01 -2.26079713e-02 -9.56898646e-03 2.67340956e+02] [ 2.26124565e-02 9.99744241e-01 3.60775311e-04 -9.08539687e+00] [ 9.55838271e-03 -5.77044868e-04 9.99954151e-01 3.26708558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.910714057 meters Centerline goodness [0,1] 0.984557919190999 Centerline is valid? [True, True] Translation: X:267.37, Y:-9.09, Z:3.27 [[ 9.99644875e-01 -2.50745802e-02 -9.02164055e-03 2.67372133e+02] [ 2.50786729e-02 9.99685423e-01 3.40786267e-04 -9.08965988e+00] [ 9.01025747e-03 -5.66916017e-04 9.99959246e-01 3.26634664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94071405700004 meters Centerline goodness [0,1] 0.9830063868613139 Centerline is valid? [True, True] Translation: X:267.40, Y:-9.09, Z:3.27 [[ 9.99616883e-01 -2.62170601e-02 -8.87430422e-03 2.67404595e+02] [ 2.62210690e-02 9.99656112e-01 3.35668545e-04 -9.09334450e+00] [ 8.86245222e-03 -5.68233688e-04 9.99960566e-01 3.26574026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.970714057 meters Centerline goodness [0,1] 0.9837600785728969 Centerline is valid? [True, True] Translation: X:267.44, Y:-9.10, Z:3.27 [[ 9.99592457e-01 -2.69574598e-02 -9.39227261e-03 2.67436498e+02] [ 2.69619890e-02 9.99636396e-01 3.55913523e-04 -9.09504257e+00] [ 9.37926302e-03 -6.09002824e-04 9.99955828e-01 3.26553342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00071405700004 meters Centerline goodness [0,1] 0.9851928138230919 Centerline is valid? [True, True] Translation: X:267.47, Y:-9.09, Z:3.27 [[ 9.99566440e-01 -2.80047979e-02 -9.09188985e-03 2.67468574e+02] [ 2.80090908e-02 9.99607609e-01 3.45157825e-04 -9.09000755e+00] [ 9.07865619e-03 -5.99663747e-04 9.99958608e-01 3.26507256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.030714057 meters Centerline goodness [0,1] 0.9853095968147911 Centerline is valid? [True, True] Translation: X:267.50, Y:-9.09, Z:3.26 [[ 9.99573158e-01 -2.78691552e-02 -8.76423238e-03 2.67499885e+02] [ 2.78731438e-02 9.99611413e-01 3.33256134e-04 -9.09232583e+00] [ 8.75153915e-03 -5.77400596e-04 9.99961538e-01 3.26438026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.060714057 meters Centerline goodness [0,1] 0.9864166476103362 Centerline is valid? [True, True] Translation: X:267.53, Y:-9.09, Z:3.26 [[ 9.99578799e-01 -2.75304909e-02 -9.18137254e-03 2.67532049e+02] [ 2.75348593e-02 9.99620783e-01 3.49708093e-04 -9.09037968e+00] [ 9.16826316e-03 -6.02368597e-04 9.99957789e-01 3.26351925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.090714057 meters Centerline goodness [0,1] 0.985432792200379 Centerline is valid? [True, True] Translation: X:267.56, Y:-9.09, Z:3.26 [[ 9.99595570e-01 -2.69502607e-02 -9.07631787e-03 2.67563561e+02] [ 2.69545146e-02 9.99636601e-01 3.46662746e-04 -9.09176358e+00] [ 9.06367690e-03 -5.91170288e-04 9.99958749e-01 3.26339054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.120714057 meters Centerline goodness [0,1] 0.985769283651863 Centerline is valid? [True, True] Translation: X:267.60, Y:-9.09, Z:3.26 [[ 9.99607586e-01 -2.66444147e-02 -8.64575485e-03 2.67595565e+02] [ 2.66482708e-02 9.99644817e-01 3.31092689e-04 -9.09293195e+00] [ 8.63386226e-03 -5.61357180e-04 9.99962570e-01 3.26353481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.150714057 meters Centerline goodness [0,1] 0.9864642022811598 Centerline is valid? [True, True] Translation: X:267.63, Y:-9.09, Z:3.26 [[ 9.99650139e-01 -2.52370729e-02 -7.91772411e-03 2.67626863e+02] [ 2.52402662e-02 9.99681368e-01 3.03625920e-04 -9.08820738e+00] [ 7.90753864e-03 -5.03365157e-04 9.99968608e-01 3.26400980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.180714057 meters Centerline goodness [0,1] 0.9854784120014636 Centerline is valid? [True, True] Translation: X:267.66, Y:-9.09, Z:3.26 [[ 9.99680313e-01 -2.41313450e-02 -7.54654955e-03 2.67657600e+02] [ 2.41342191e-02 9.99708685e-01 2.90000807e-04 -9.09308611e+00] [ 7.53735302e-03 -4.72038178e-04 9.99971482e-01 3.26347523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.210714057 meters Centerline goodness [0,1] 0.9858325118635519 Centerline is valid? [True, True] Translation: X:267.69, Y:-9.09, Z:3.26 [[ 9.99715707e-01 -2.25144571e-02 -7.84879220e-03 2.67689620e+02] [ 2.25175230e-02 9.99746403e-01 3.02456650e-04 -9.08924618e+00] [ 7.83999212e-03 -4.79106022e-04 9.99969152e-01 3.26379970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.240714057 meters Centerline goodness [0,1] 0.9847627340008707 Centerline is valid? [True, True] Translation: X:267.72, Y:-9.09, Z:3.26 [[ 9.99740945e-01 -2.15595245e-02 -7.29585409e-03 2.67720979e+02] [ 2.15621510e-02 9.99767470e-01 2.81516814e-04 -9.09199705e+00] [ 7.28808822e-03 -4.38758193e-04 9.99973345e-01 3.26391540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.270714057 meters Centerline goodness [0,1] 0.9839985286003311 Centerline is valid? [True, True] Translation: X:267.75, Y:-9.09, Z:3.26 [[ 9.99755875e-01 -2.09670686e-02 -6.96946026e-03 2.67751909e+02] [ 2.09694534e-02 9.99780081e-01 2.69274270e-04 -9.09465863e+00] [ 6.96228165e-03 -4.15354306e-04 9.99975677e-01 3.26407803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.300714057 meters Centerline goodness [0,1] 0.9860044730349773 Centerline is valid? [True, True] Translation: X:267.78, Y:-9.08, Z:3.27 [[ 9.99780154e-01 -2.00931516e-02 -5.99242043e-03 2.67784432e+02] [ 2.00949008e-02 9.99798050e-01 2.31835032e-04 -9.08469865e+00] [ 5.98655197e-03 -3.52201158e-04 9.99982018e-01 3.26504935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.330714057 meters Centerline goodness [0,1] 0.9858031399569932 Centerline is valid? [True, True] Translation: X:267.82, Y:-9.09, Z:3.27 [[ 9.99796427e-01 -1.94007070e-02 -5.54225653e-03 2.67815216e+02] [ 1.94021947e-02 9.99811737e-01 2.14778578e-04 -9.08689385e+00] [ 5.53704627e-03 -3.22266795e-04 9.99984619e-01 3.26512801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.360714057 meters Centerline goodness [0,1] 0.9857119774715509 Centerline is valid? [True, True] Translation: X:267.85, Y:-9.09, Z:3.27 [[ 9.99806724e-01 -1.89178860e-02 -5.35054913e-03 2.67847849e+02] [ 1.89192672e-02 9.99820993e-01 2.07648419e-04 -9.08741880e+00] [ 5.34566308e-03 -3.08836755e-04 9.99985664e-01 3.26531143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.390714057 meters Centerline goodness [0,1] 0.9856793653721981 Centerline is valid? [True, True] Translation: X:267.88, Y:-9.09, Z:3.26 [[ 9.99814458e-01 -1.85338569e-02 -5.24839768e-03 2.67879728e+02] [ 1.85351826e-02 9.99828188e-01 2.04053614e-04 -9.08808711e+00] [ 5.24371404e-03 -3.01295763e-04 9.99986206e-01 3.26468829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.420714057 meters Centerline goodness [0,1] 0.985122972629046 Centerline is valid? [True, True] Translation: X:267.91, Y:-9.09, Z:3.26 [[ 9.99807278e-01 -1.88432949e-02 -5.50793027e-03 2.67912328e+02] [ 1.88447619e-02 9.99822399e-01 2.14552561e-04 -9.08912721e+00] [ 5.50290918e-03 -3.18306846e-04 9.99984808e-01 3.26467178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.450714057 meters Centerline goodness [0,1] 0.9850353939449837 Centerline is valid? [True, True] Translation: X:267.94, Y:-9.09, Z:3.26 [[ 9.99808032e-01 -1.87847548e-02 -5.57066623e-03 2.67944061e+02] [ 1.87862566e-02 9.99823499e-01 2.17397647e-04 -9.09112097e+00] [ 5.56559924e-03 -3.22007879e-04 9.99984460e-01 3.26478816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.480714057 meters Centerline goodness [0,1] 0.985372278966585 Centerline is valid? [True, True] Translation: X:267.98, Y:-9.09, Z:3.27 [[ 9.99814182e-01 -1.85844819e-02 -5.12040690e-03 2.67976826e+02] [ 1.85857500e-02 9.99827250e-01 2.00165377e-04 -9.08907359e+00] [ 5.11580238e-03 -2.95294784e-04 9.99986871e-01 3.26521760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51071405700003 meters Centerline goodness [0,1] 0.9852401081006167 Centerline is valid? [True, True] Translation: X:268.01, Y:-9.09, Z:3.27 [[ 9.99820711e-01 -1.82088592e-02 -5.19463340e-03 2.68007746e+02] [ 1.82101611e-02 9.99834161e-01 2.03435501e-04 -9.09275306e+00] [ 5.19006760e-03 -2.97994138e-04 9.99986487e-01 3.26504358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.540714057 meters Centerline goodness [0,1] 0.9847614636405744 Centerline is valid? [True, True] Translation: X:268.04, Y:-9.09, Z:3.26 [[ 9.99835639e-01 -1.72194419e-02 -5.67329992e-03 2.68040273e+02] [ 1.72209809e-02 9.99851683e-01 2.22531950e-04 -9.09349002e+00] [ 5.66862659e-03 -3.20195164e-04 9.99983882e-01 3.26489673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57071405700003 meters Centerline goodness [0,1] 0.9836752651322188 Centerline is valid? [True, True] Translation: X:268.07, Y:-9.10, Z:3.27 [[ 9.99862019e-01 -1.58144145e-02 -5.08393940e-03 2.68071977e+02] [ 1.58156340e-02 9.99874905e-01 1.99743178e-04 -9.09514002e+00] [ 5.08014461e-03 -2.80121342e-04 9.99987057e-01 3.26505895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.600714057 meters Centerline goodness [0,1] 0.9850818538160019 Centerline is valid? [True, True] Translation: X:268.10, Y:-9.09, Z:3.27 [[ 9.99884592e-01 -1.44925989e-02 -4.55710573e-03 2.68103931e+02] [ 1.44935663e-02 9.99894947e-01 1.79334748e-04 -9.09359714e+00] [ 4.55402797e-03 -2.45362765e-04 9.99989600e-01 3.26550551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63071405700003 meters Centerline goodness [0,1] 0.9850601965884763 Centerline is valid? [True, True] Translation: X:268.14, Y:-9.09, Z:3.27 [[ 9.99898426e-01 -1.34358861e-02 -4.75549709e-03 2.68136597e+02] [ 1.34369293e-02 9.99909703e-01 1.87502241e-04 -9.09473528e+00] [ 4.75254842e-03 -2.51382474e-04 9.99988675e-01 3.26528189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.660714057 meters Centerline goodness [0,1] 0.9861499687854054 Centerline is valid? [True, True] Translation: X:268.17, Y:-9.10, Z:3.27 [[ 9.99911664e-01 -1.25416054e-02 -4.40130923e-03 2.68168612e+02] [ 1.25424921e-02 9.99921325e-01 1.73899966e-04 -9.09588377e+00] [ 4.39878197e-03 -2.29087990e-04 9.99990299e-01 3.26563034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69071405700004 meters Centerline goodness [0,1] 0.9861460666374194 Centerline is valid? [True, True] Translation: X:268.20, Y:-9.10, Z:3.27 [[ 9.99935490e-01 -1.03843601e-02 -4.60217414e-03 2.68200290e+02] [ 1.03853082e-02 9.99946055e-01 1.82176202e-04 -9.09665501e+00] [ 4.60003409e-03 -2.29959446e-04 9.99989393e-01 3.26563839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.720714057 meters Centerline goodness [0,1] 0.9849453924126625 Centerline is valid? [True, True] Translation: X:268.23, Y:-9.10, Z:3.27 [[ 9.99946043e-01 -9.43128103e-03 -4.35451779e-03 2.68231830e+02] [ 9.43212193e-03 9.99955502e-01 1.72612257e-04 -9.10041069e+00] [ 4.35269606e-03 -2.13675286e-04 9.99990504e-01 3.26567744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75071405700004 meters Centerline goodness [0,1] 0.9866725181318428 Centerline is valid? [True, True] Translation: X:268.26, Y:-9.10, Z:3.27 [[ 9.99958798e-01 -7.79252041e-03 -4.65597321e-03 2.68263687e+02] [ 7.79346568e-03 9.99969613e-01 1.84913072e-04 -9.09838013e+00] [ 4.65439079e-03 -2.21191621e-04 9.99989144e-01 3.26514604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.780714057 meters Centerline goodness [0,1] 0.9870603159958482 Centerline is valid? [True, True] Translation: X:268.29, Y:-9.10, Z:3.26 [[ 9.99964677e-01 -6.99508518e-03 -4.65978774e-03 2.68294492e+02] [ 6.99602454e-03 9.99975510e-01 1.85317987e-04 -9.10192143e+00] [ 4.65837731e-03 -2.17911431e-04 9.99989126e-01 3.26461257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.810714057 meters Centerline goodness [0,1] 0.985773904221715 Centerline is valid? [True, True] Translation: X:268.33, Y:-9.11, Z:3.26 [[ 9.99966008e-01 -6.30568280e-03 -5.31241552e-03 2.68325079e+02] [ 6.30689552e-03 9.99980089e-01 2.11559259e-04 -9.10548882e+00] [ 5.31097572e-03 -2.45056917e-04 9.99985867e-01 3.26394110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.840714057 meters Centerline goodness [0,1] 0.9857260877547274 Centerline is valid? [True, True] Translation: X:268.36, Y:-9.11, Z:3.26 [[ 9.99972876e-01 -4.42237762e-03 -5.88982555e-03 2.68355087e+02] [ 4.42383620e-03 9.99990187e-01 2.34639088e-04 -9.10845078e+00] [ 5.88873009e-03 -2.60688347e-04 9.99982627e-01 3.26305869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.870714057 meters Centerline goodness [0,1] 0.9881864476762857 Centerline is valid? [True, True] Translation: X:268.39, Y:-9.11, Z:3.26 [[ 9.99968444e-01 -2.86100967e-03 -7.41114814e-03 2.68385296e+02] [ 2.86327587e-03 9.99995857e-01 2.95191267e-04 -9.10625673e+00] [ 7.41027289e-03 -3.16402114e-04 9.99972493e-01 3.26279907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.900714057 meters Centerline goodness [0,1] 0.9861706983112734 Centerline is valid? [True, True] Translation: X:268.41, Y:-9.11, Z:3.26 [[ 9.99964007e-01 -1.80365305e-03 -8.29040838e-03 2.68413726e+02] [ 1.80645017e-03 9.99998314e-01 3.29916087e-04 -9.11091592e+00] [ 8.28979934e-03 -3.44880422e-04 9.99965580e-01 3.26225934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.930714057 meters Centerline goodness [0,1] 0.9871235816533869 Centerline is valid? [True, True] Translation: X:268.44, Y:-9.11, Z:3.26 [[ 9.99957984e-01 -1.51278887e-03 -9.04106030e-03 2.68442102e+02] [ 1.51609091e-03 9.99998787e-01 3.58384614e-04 -9.11099255e+00] [ 9.04050717e-03 -3.72076626e-04 9.99959065e-01 3.26160779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.960714057 meters Centerline goodness [0,1] 0.9873719432539592 Centerline is valid? [True, True] Translation: X:268.47, Y:-9.11, Z:3.26 [[ 9.99953276e-01 -6.48777684e-04 -9.64490416e-03 2.68470334e+02] [ 6.52471856e-04 9.99999715e-01 3.79876291e-04 -9.11403397e+00] [ 9.64465496e-03 -3.86151571e-04 9.99953415e-01 3.26138948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.990714057 meters Centerline goodness [0,1] 0.9875886929342247 Centerline is valid? [True, True] Translation: X:268.50, Y:-9.12, Z:3.26 [[ 9.99958839e-01 -1.92375403e-04 -9.07105342e-03 2.68498854e+02] [ 1.95604736e-04 9.99999918e-01 3.55118312e-04 -9.11623102e+00] [ 9.07098436e-03 -3.56878036e-04 9.99958794e-01 3.26181159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.020714057 meters Centerline goodness [0,1] 0.9898427335600648 Centerline is valid? [True, True] Translation: X:268.53, Y:-9.12, Z:3.26 [[ 9.99960794e-01 1.24099387e-03 -8.76762776e-03 2.68527859e+02] [-1.23805065e-03 9.99999175e-01 3.41110164e-04 -9.11710851e+00] [ 8.76804384e-03 -3.30242023e-04 9.99961505e-01 3.26316590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.050714057 meters Centerline goodness [0,1] 0.9899017654736553 Centerline is valid? [True, True] Translation: X:268.56, Y:-9.12, Z:3.26 [[ 9.99964097e-01 2.03949365e-03 -8.22465793e-03 2.68556725e+02] [-2.03694696e-03 9.99997875e-01 3.18006137e-04 -9.11907232e+00] [ 8.22528902e-03 -3.01241528e-04 9.99966126e-01 3.26328877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.080714057 meters Centerline goodness [0,1] 0.9886633753885536 Centerline is valid? [True, True] Translation: X:268.58, Y:-9.12, Z:3.26 [[ 9.99957733e-01 2.98043586e-03 -8.69770187e-03 2.68584733e+02] [-2.97764255e-03 9.99995511e-01 3.34087354e-04 -9.12348432e+00] [ 8.69865855e-03 -3.08174586e-04 9.99962118e-01 3.26320524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.110714057 meters Centerline goodness [0,1] 0.9892042089919373 Centerline is valid? [True, True] Translation: X:268.61, Y:-9.13, Z:3.26 [[ 9.99950251e-01 4.52311069e-03 -8.89027176e-03 2.68612918e+02] [-4.52027243e-03 9.99989726e-01 3.39322018e-04 -9.12686892e+00] [ 8.89171521e-03 -2.99118687e-04 9.99960423e-01 3.26305432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.140714057 meters Centerline goodness [0,1] 0.9897907911565869 Centerline is valid? [True, True] Translation: X:268.64, Y:-9.13, Z:3.26 [[ 9.99946828e-01 4.57066585e-03 -9.24393570e-03 2.68640610e+02] [-4.56761398e-03 9.99989507e-01 3.51232992e-04 -9.12588441e+00] [ 9.24544407e-03 -3.08991586e-04 9.99957212e-01 3.26345565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.170714057 meters Centerline goodness [0,1] 0.9897387846515986 Centerline is valid? [True, True] Translation: X:268.67, Y:-9.13, Z:3.26 [[ 9.99943853e-01 4.34030872e-03 -9.66710713e-03 2.68667774e+02] [-4.33697040e-03 9.99990528e-01 3.66264961e-04 -9.13235629e+00] [ 9.66860527e-03 -3.24318439e-04 9.99953205e-01 3.26302814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.200714057 meters Centerline goodness [0,1] 0.9904722830051058 Centerline is valid? [True, True] Translation: X:268.70, Y:-9.13, Z:3.26 [[ 9.99941026e-01 3.30444328e-03 -1.03452787e-02 2.68696636e+02] [-3.30057419e-03 9.99994477e-01 3.91046854e-04 -9.13451544e+00] [ 1.03465138e-02 -3.56878433e-04 9.99946410e-01 3.26297663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.230714057 meters Centerline goodness [0,1] 0.9899488345650937 Centerline is valid? [True, True] Translation: X:268.73, Y:-9.14, Z:3.26 [[ 9.99934029e-01 2.83911122e-03 -1.11299885e-02 2.68725516e+02] [-2.83461290e-03 9.99995894e-01 4.19916978e-04 -9.13789778e+00] [ 1.11311350e-02 -3.88340067e-04 9.99937972e-01 3.26329672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26071405700003 meters Centerline goodness [0,1] 0.98881325164511 Centerline is valid? [True, True] Translation: X:268.75, Y:-9.15, Z:3.26 [[ 9.99914029e-01 1.03675718e-03 -1.30713487e-02 2.68752674e+02] [-1.03041317e-03 9.99999348e-01 4.92063145e-04 -9.14727338e+00] [ 1.30718503e-02 -4.78551952e-04 9.99914445e-01 3.26069969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.290714057 meters Centerline goodness [0,1] 0.9896174118502363 Centerline is valid? [True, True] Translation: X:268.78, Y:-9.15, Z:3.26 [[ 9.99903466e-01 -2.25913806e-04 -1.38926906e-02 2.68779965e+02] [ 2.33185588e-04 9.99999837e-01 5.21807372e-04 -9.15281999e+00] [ 1.38925704e-02 -5.24996576e-04 9.99903356e-01 3.25942379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32071405700003 meters Centerline goodness [0,1] 0.9903937866194304 Centerline is valid? [True, True] Translation: X:268.81, Y:-9.15, Z:3.26 [[ 9.99888359e-01 -1.19029569e-03 -1.48947167e-02 2.68808919e+02] [ 1.19874488e-03 9.99999126e-01 5.58345315e-04 -9.15228603e+00] [ 1.48940391e-02 -5.76137946e-04 9.99888912e-01 3.25976647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.350714057 meters Centerline goodness [0,1] 0.9903937866194304 Centerline is valid? [True, True] Translation: X:268.84, Y:-9.15, Z:3.26 [[ 9.99887995e-01 -1.46335949e-03 -1.48948350e-02 2.68836309e+02] [ 1.47179182e-03 9.99998763e-01 5.55178376e-04 -9.15322418e+00] [ 1.48940041e-02 -5.77038290e-04 9.99888912e-01 3.25988691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38071405700003 meters Centerline goodness [0,1] 0.9901573910282578 Centerline is valid? [True, True] Translation: X:268.87, Y:-9.16, Z:3.26 [[ 9.99860802e-01 -3.92564414e-03 -1.62162156e-02 2.68865221e+02] [ 3.93593138e-03 9.99992073e-01 6.02513057e-04 -9.15775347e+00] [ 1.62137218e-02 -6.66255100e-04 9.99868327e-01 3.25918113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.410714057 meters Centerline goodness [0,1] 0.9907902756145459 Centerline is valid? [True, True] Translation: X:268.89, Y:-9.16, Z:3.26 [[ 9.99857680e-01 -4.97733411e-03 -1.61197154e-02 2.68892378e+02] [ 4.98761270e-03 9.99987383e-01 5.97501417e-04 -9.16209579e+00] [ 1.61165381e-02 -6.77815278e-04 9.99869890e-01 3.25894284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44071405700004 meters Centerline goodness [0,1] 0.9903041782227333 Centerline is valid? [True, True] Translation: X:268.92, Y:-9.17, Z:3.26 [[ 9.99839659e-01 -7.88671796e-03 -1.60765897e-02 2.68922030e+02] [ 7.89730346e-03 9.99968639e-01 5.95062399e-04 -9.16908015e+00] [ 1.60713924e-02 -7.21928693e-04 9.99870586e-01 3.25831444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.470714057 meters Centerline goodness [0,1] 0.9896093381013427 Centerline is valid? [True, True] Translation: X:268.95, Y:-9.17, Z:3.26 [[ 9.99841583e-01 -9.40482944e-03 -1.51114962e-02 2.68949337e+02] [ 9.41433944e-03 9.99955528e-01 5.58307649e-04 -9.17374299e+00] [ 1.51055734e-02 -7.00483959e-04 9.99885659e-01 3.25853836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50071405700004 meters Centerline goodness [0,1] 0.9905125899280576 Centerline is valid? [True, True] Translation: X:268.98, Y:-9.18, Z:3.26 [[ 9.99838952e-01 -1.09287343e-02 -1.42349371e-02 2.68977533e+02] [ 1.09373105e-02 9.99940048e-01 5.24758856e-04 -9.17747430e+00] [ 1.42283488e-02 -6.80366271e-04 9.99898540e-01 3.25925451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.530714057 meters Centerline goodness [0,1] 0.9904114522373278 Centerline is valid? [True, True] Translation: X:269.01, Y:-9.18, Z:3.26 [[ 9.99827734e-01 -1.28014000e-02 -1.34397642e-02 2.69006033e+02] [ 1.28091805e-02 9.99917838e-01 4.92997650e-04 -9.18131482e+00] [ 1.34323489e-02 -6.65065089e-04 9.99909561e-01 3.25981873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.560714057 meters Centerline goodness [0,1] 0.9885673294626645 Centerline is valid? [True, True] Translation: X:269.04, Y:-9.19, Z:3.26 [[ 9.99796903e-01 -1.64354240e-02 -1.16631534e-02 2.69036202e+02] [ 1.64415197e-02 9.99864738e-01 4.26943200e-04 -9.18804149e+00] [ 1.16545588e-02 -6.18616456e-04 9.99931892e-01 3.26140653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.590714057 meters Centerline goodness [0,1] 0.9895290300928515 Centerline is valid? [True, True] Translation: X:269.07, Y:-9.19, Z:3.26 [[ 9.99735223e-01 -2.04579324e-02 -1.05335668e-02 2.69067459e+02] [ 2.04631281e-02 9.99790534e-01 3.85690395e-04 -9.18865288e+00] [ 1.05234700e-02 -6.01138001e-04 9.99944446e-01 3.26293649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.620714057 meters Centerline goodness [0,1] 0.9898917613382234 Centerline is valid? [True, True] Translation: X:269.10, Y:-9.19, Z:3.26 [[ 9.99690927e-01 -2.28181628e-02 -9.86825326e-03 2.69098704e+02] [ 2.28228399e-02 9.99739460e-01 3.61585359e-04 -9.19338932e+00] [ 9.85743147e-03 -5.86695168e-04 9.99951242e-01 3.26287546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.650714057 meters Centerline goodness [0,1] 0.9883263261472404 Centerline is valid? [True, True] Translation: X:269.13, Y:-9.20, Z:3.26 [[ 9.99630713e-01 -2.53332442e-02 -9.83179521e-03 2.69129264e+02] [ 2.53380104e-02 9.99678876e-01 3.60496197e-04 -9.19790503e+00] [ 9.81950545e-03 -6.09481201e-04 9.99951602e-01 3.26263865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.680714057 meters Centerline goodness [0,1] 0.9869732314429995 Centerline is valid? [True, True] Translation: X:269.16, Y:-9.21, Z:3.26 [[ 9.99480094e-01 -3.04343587e-02 -1.06438557e-02 2.69159851e+02] [ 3.04402336e-02 9.99536512e-01 3.90345052e-04 -9.20500496e+00] [ 1.06270425e-02 -7.14143563e-04 9.99943276e-01 3.26128785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.710714057 meters Centerline goodness [0,1] 0.9867811849963095 Centerline is valid? [True, True] Translation: X:269.19, Y:-9.21, Z:3.26 [[ 9.99396336e-01 -3.26671603e-02 -1.18245366e-02 2.69190666e+02] [ 3.26745679e-02 9.99465950e-01 4.33764964e-04 -9.20927301e+00] [ 1.18040519e-02 -8.19864740e-04 9.99929994e-01 3.26041260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.740714057 meters Centerline goodness [0,1] 0.9876977936260307 Centerline is valid? [True, True] Translation: X:269.22, Y:-9.21, Z:3.26 [[ 9.99274976e-01 -3.58782969e-02 -1.27385640e-02 2.69221758e+02] [ 3.58871558e-02 9.99355739e-01 4.67466658e-04 -9.20537756e+00] [ 1.27135852e-02 -9.24278566e-04 9.99918752e-01 3.25990640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.770714057 meters Centerline goodness [0,1] 0.98479180583389 Centerline is valid? [True, True] Translation: X:269.25, Y:-9.22, Z:3.26 [[ 9.99238853e-01 -3.67551359e-02 -1.30680607e-02 2.69252366e+02] [ 3.67645404e-02 9.99323840e-01 4.80079819e-04 -9.21742924e+00] [ 1.30415792e-02 -9.60155655e-04 9.99914494e-01 3.25886283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.800714057 meters Centerline goodness [0,1] 0.986726944747567 Centerline is valid? [True, True] Translation: X:269.28, Y:-9.21, Z:3.26 [[ 9.99242150e-01 -3.67495344e-02 -1.28295361e-02 2.69284438e+02] [ 3.67586090e-02 9.99324062e-01 4.72155830e-04 -9.21173792e+00] [ 1.28035126e-02 -9.43393909e-04 9.99917587e-01 3.25948744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.830714057 meters Centerline goodness [0,1] 0.9851288682778917 Centerline is valid? [True, True] Translation: X:269.31, Y:-9.22, Z:3.26 [[ 9.99306250e-01 -3.51628298e-02 -1.22716977e-02 2.69314892e+02] [ 3.51710205e-02 9.99381206e-01 4.52206946e-04 -9.21731854e+00] [ 1.22482032e-02 -8.83501359e-04 9.99924598e-01 3.25932546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.860714057 meters Centerline goodness [0,1] 0.9857324386383396 Centerline is valid? [True, True] Translation: X:269.35, Y:-9.21, Z:3.26 [[ 9.99361977e-01 -3.37208502e-02 -1.17704763e-02 2.69346959e+02] [ 3.37282932e-02 9.99430945e-01 4.34353502e-04 -9.21474710e+00] [ 1.17491315e-02 -8.31074450e-04 9.99930631e-01 3.25996147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.890714057 meters Centerline goodness [0,1] 0.9879504580169769 Centerline is valid? [True, True] Translation: X:269.38, Y:-9.20, Z:3.26 [[ 9.99520873e-01 -2.88060830e-02 -1.13240408e-02 2.69378320e+02] [ 2.88126624e-02 9.99584742e-01 4.18267585e-04 -9.20498694e+00] [ 1.13072897e-02 -7.44342947e-04 9.99935794e-01 3.26147509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.920714057 meters Centerline goodness [0,1] 0.987611729653442 Centerline is valid? [True, True] Translation: X:269.41, Y:-9.21, Z:3.26 [[ 9.99593483e-01 -2.62951289e-02 -1.10197595e-02 2.69408027e+02] [ 2.63012084e-02 9.99653980e-01 4.07103431e-04 -9.20694334e+00] [ 1.10052416e-02 -6.96770926e-04 9.99939198e-01 3.26154034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.950714057 meters Centerline goodness [0,1] 0.9879275203261138 Centerline is valid? [True, True] Translation: X:269.44, Y:-9.21, Z:3.26 [[ 9.99664020e-01 -2.36004857e-02 -1.07174582e-02 2.69438602e+02] [ 2.36060819e-02 9.99721259e-01 3.95935502e-04 -9.20557885e+00] [ 1.07051265e-02 -6.48799671e-04 9.99942488e-01 3.26170538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.980714057 meters Centerline goodness [0,1] 0.9879898720562863 Centerline is valid? [True, True] Translation: X:269.47, Y:-9.20, Z:3.26 [[ 9.99781102e-01 -1.81911764e-02 -1.03357940e-02 2.69469821e+02] [ 1.81960930e-02 9.99834364e-01 3.81839160e-04 -9.19971009e+00] [ 1.03271359e-02 -5.69826645e-04 9.99946511e-01 3.26218712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01071405700003 meters Centerline goodness [0,1] 0.9882543176050487 Centerline is valid? [True, True] Translation: X:269.50, Y:-9.20, Z:3.26 [[ 9.99826086e-01 -1.56048534e-02 -1.02120772e-02 2.69501055e+02] [ 1.56095206e-02 9.99878093e-01 3.77477651e-04 -9.19807774e+00] [ 1.02049418e-02 -5.36817631e-04 9.99947784e-01 3.26226608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.040714057 meters Centerline goodness [0,1] 0.9873872667202429 Centerline is valid? [True, True] Translation: X:269.53, Y:-9.19, Z:3.26 [[ 9.99892110e-01 -1.06726572e-02 -1.00927537e-02 2.69530992e+02] [ 1.06769663e-02 9.99942930e-01 3.73163366e-04 -9.19495153e+00] [ 1.00881951e-02 -4.80883097e-04 9.99948997e-01 3.26244646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07071405700003 meters Centerline goodness [0,1] 0.9887926984766123 Centerline is valid? [True, True] Translation: X:269.56, Y:-9.19, Z:3.26 [[ 9.99916654e-01 -8.70376616e-03 -9.53564727e-03 2.69561194e+02] [ 8.70752207e-03 9.99962027e-01 3.52434158e-04 -9.19423364e+00] [ 9.53221766e-03 -4.35436644e-04 9.99954473e-01 3.26234810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.100714057 meters Centerline goodness [0,1] 0.9890888638920134 Centerline is valid? [True, True] Translation: X:269.59, Y:-9.19, Z:3.26 [[ 9.99936589e-01 -6.79784466e-03 -8.97816535e-03 2.69591374e+02] [ 6.80109619e-03 9.99976817e-01 3.31678240e-04 -9.19324816e+00] [ 8.97570251e-03 -3.92718574e-04 9.99959640e-01 3.26234987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13071405700003 meters Centerline goodness [0,1] 0.9879463782809508 Centerline is valid? [True, True] Translation: X:269.62, Y:-9.19, Z:3.26 [[ 9.99960413e-01 -3.41374469e-03 -8.21693282e-03 2.69620272e+02] [ 3.41635250e-03 9.99994118e-01 3.03354539e-04 -9.19208516e+00] [ 8.21584891e-03 -3.31414469e-04 9.99966194e-01 3.26230928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.160714057 meters Centerline goodness [0,1] 0.9886990387429369 Centerline is valid? [True, True] Translation: X:269.65, Y:-9.19, Z:3.26 [[ 9.99967593e-01 -2.33902852e-03 -7.70339392e-03 2.69648123e+02] [ 2.34128544e-03 9.99997219e-01 2.83971791e-04 -9.19255290e+00] [ 7.70270827e-03 -3.01998432e-04 9.99970288e-01 3.26211710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19071405700004 meters Centerline goodness [0,1] 0.9893223170346291 Centerline is valid? [True, True] Translation: X:269.68, Y:-9.19, Z:3.26 [[ 9.99980289e-01 1.50483096e-04 -6.27689712e-03 2.69676782e+02] [-1.49036347e-04 9.99999962e-01 2.30955076e-04 -9.19096737e+00] [ 6.27693164e-03 -2.30015038e-04 9.99980273e-01 3.26210532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.220714057 meters Centerline goodness [0,1] 0.9890171973514723 Centerline is valid? [True, True] Translation: X:269.71, Y:-9.19, Z:3.26 [[ 9.99981577e-01 9.16958003e-04 -6.00035444e-03 2.69705906e+02] [-9.15653691e-04 9.99999557e-01 2.20116123e-04 -9.19036935e+00] [ 6.00055362e-03 -2.14617821e-04 9.99981973e-01 3.26189712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25071405700004 meters Centerline goodness [0,1] 0.9881989259443116 Centerline is valid? [True, True] Translation: X:269.73, Y:-9.19, Z:3.26 [[ 9.99986014e-01 2.10209405e-03 -4.85307869e-03 2.69733642e+02] [-2.10125903e-03 9.99997777e-01 1.77151360e-04 -9.19052196e+00] [ 4.85344029e-03 -1.66951307e-04 9.99988208e-01 3.26165310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.280714057 meters Centerline goodness [0,1] 0.988759733664372 Centerline is valid? [True, True] Translation: X:269.76, Y:-9.19, Z:3.26 [[ 9.99990716e-01 2.15575986e-03 -3.73109457e-03 2.69762259e+02] [-2.15526757e-03 9.99997668e-01 1.35956956e-04 -9.19072921e+00] [ 3.73137896e-03 -1.27914186e-04 9.99993030e-01 3.26192358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.310714057 meters Centerline goodness [0,1] 0.9897772662649786 Centerline is valid? [True, True] Translation: X:269.79, Y:-9.19, Z:3.26 [[ 9.99994721e-01 1.83481410e-03 -2.68152247e-03 2.69791018e+02] [-1.83455891e-03 9.99998312e-01 9.76243080e-05 -9.18664039e+00] [ 2.68169707e-03 -9.27043818e-05 9.99996400e-01 3.26187597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.340714057 meters Centerline goodness [0,1] 0.9891854059423824 Centerline is valid? [True, True] Translation: X:269.82, Y:-9.19, Z:3.26 [[ 9.99999267e-01 4.18004668e-05 -1.20977817e-03 2.69820439e+02] [-4.17472489e-05 9.99999998e-01 4.40150600e-05 -9.18852210e+00] [ 1.20978001e-03 -4.39645228e-05 9.99999267e-01 3.26234015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.370714057 meters Centerline goodness [0,1] 0.9888524590163934 Centerline is valid? [True, True] Translation: X:269.85, Y:-9.19, Z:3.26 [[ 9.99998620e-01 -1.39649168e-03 -8.99926057e-04 2.69850314e+02] [ 1.39652166e-03 9.99999024e-01 3.26875745e-05 -9.19094633e+00] [ 8.99879531e-04 -3.39442956e-05 9.99999595e-01 3.26215150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.400714057 meters Centerline goodness [0,1] 0.9878164342764316 Centerline is valid? [True, True] Translation: X:269.88, Y:-9.20, Z:3.26 [[ 9.99986427e-01 -5.20894547e-03 1.09512333e-04 2.69880605e+02] [ 5.20894593e-03 9.99986433e-01 -3.96833202e-06 -9.19531817e+00] [-1.09490177e-04 4.53872198e-06 9.99999994e-01 3.26089726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.430714057 meters Centerline goodness [0,1] 0.9880255694607004 Centerline is valid? [True, True] Translation: X:269.91, Y:-9.20, Z:3.26 [[ 9.99973304e-01 -7.30569597e-03 -1.35103573e-04 2.69912409e+02] [ 7.30569662e-03 9.99973313e-01 4.36249926e-06 -9.19828584e+00] [ 1.35068096e-04 -5.34940851e-06 9.99999991e-01 3.26025806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.460714057 meters Centerline goodness [0,1] 0.988823794502028 Centerline is valid? [True, True] Translation: X:269.94, Y:-9.20, Z:3.26 [[ 9.99955627e-01 -9.41948799e-03 -1.28482485e-04 2.69944600e+02] [ 9.41948863e-03 9.99955636e-01 4.36365304e-06 -9.19903246e+00] [ 1.28435681e-04 -5.57369872e-06 9.99999992e-01 3.25959050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.490714057 meters Centerline goodness [0,1] 0.985346009484638 Centerline is valid? [True, True] Translation: X:269.97, Y:-9.21, Z:3.26 [[ 9.99925733e-01 -1.21809802e-02 -3.90161899e-04 2.69974106e+02] [ 1.21809866e-02 9.99925809e-01 1.42152016e-05 -9.20592189e+00] [ 3.89959797e-04 -1.89667027e-05 9.99999924e-01 3.25931617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.520714057 meters Centerline goodness [0,1] 0.9866060429592134 Centerline is valid? [True, True] Translation: X:270.00, Y:-9.21, Z:3.26 [[ 9.99857787e-01 -1.68351956e-02 -9.90760136e-04 2.70004848e+02] [ 1.68352396e-02 9.99858277e-01 3.60670562e-05 -9.20566402e+00] [ 9.90012526e-04 -5.27416112e-05 9.99999509e-01 3.25894955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.550714057 meters Centerline goodness [0,1] 0.9849974133471289 Centerline is valid? [True, True] Translation: X:270.03, Y:-9.21, Z:3.26 [[ 9.99809469e-01 -1.95136686e-02 -4.92033945e-04 2.70034159e+02] [ 1.95136797e-02 9.99809590e-01 1.79312229e-05 -9.21490376e+00] [ 4.91590353e-04 -2.75291993e-05 9.99999879e-01 3.25969704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.580714057 meters Centerline goodness [0,1] 0.9841058706826585 Centerline is valid? [True, True] Translation: X:270.06, Y:-9.22, Z:3.26 [[ 9.99694239e-01 -2.47190677e-02 -6.28823597e-04 2.70064932e+02] [ 2.47190870e-02 9.99694436e-01 2.29048946e-05 -9.21675327e+00] [ 6.28065264e-04 -3.84418364e-05 9.99999802e-01 3.25848762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.610714057 meters Centerline goodness [0,1] 0.9846261041558967 Centerline is valid? [True, True] Translation: X:270.10, Y:-9.22, Z:3.26 [[ 9.99636220e-01 -2.69548212e-02 -9.30607800e-04 2.70096357e+02] [ 2.69548643e-02 9.99636651e-01 3.37964459e-05 -9.22021241e+00] [ 9.29358687e-04 -5.88685584e-05 9.99999566e-01 3.25838022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.640714057 meters Centerline goodness [0,1] 0.9841834094539564 Centerline is valid? [True, True] Translation: X:270.13, Y:-9.22, Z:3.26 [[ 9.99568148e-01 -2.93506645e-02 -1.43354649e-03 2.70127066e+02] [ 2.93507695e-02 9.99569172e-01 5.22446162e-05 -9.22059265e+00] [ 1.43139546e-03 -9.42977469e-05 9.99998971e-01 3.25765058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.670714057 meters Centerline goodness [0,1] 0.9830120508965239 Centerline is valid? [True, True] Translation: X:270.16, Y:-9.22, Z:3.26 [[ 9.99464181e-01 -3.26338530e-02 -2.52620187e-03 2.70157885e+02] [ 3.26341897e-02 9.99467359e-01 9.21705648e-05 -9.22393708e+00] [ 2.52184843e-03 -1.74561729e-04 9.99996805e-01 3.25615030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.700714057 meters Centerline goodness [0,1] 0.9806606849715532 Centerline is valid? [True, True] Translation: X:270.19, Y:-9.23, Z:3.26 [[ 9.99415684e-01 -3.40490766e-02 -2.99170371e-03 2.70188670e+02] [ 3.40495552e-02 9.99420140e-01 1.09171729e-04 -9.23099930e+00] [ 2.98625174e-03 -2.10974118e-04 9.99995519e-01 3.25540874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.730714057 meters Centerline goodness [0,1] 0.9815368028570787 Centerline is valid? [True, True] Translation: X:270.22, Y:-9.23, Z:3.25 [[ 9.99377660e-01 -3.50852017e-02 -3.64981985e-03 2.70221248e+02] [ 3.50859218e-02 9.99384291e-01 1.33419295e-04 -9.22913557e+00] [ 3.64289158e-03 -2.61393557e-04 9.99993330e-01 3.25492539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76071405700003 meters Centerline goodness [0,1] 0.9811926296653725 Centerline is valid? [True, True] Translation: X:270.25, Y:-9.23, Z:3.26 [[ 9.99307210e-01 -3.69570092e-02 -4.39083753e-03 2.70251230e+02] [ 3.69580709e-02 9.99316804e-01 1.60878615e-04 -9.23109306e+00] [ 4.38189214e-03 -3.23044045e-04 9.99990347e-01 3.25526648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.790714057 meters Centerline goodness [0,1] 0.9814422296383152 Centerline is valid? [True, True] Translation: X:270.28, Y:-9.23, Z:3.26 [[ 9.99283523e-01 -3.76477132e-02 -3.88472016e-03 2.70283281e+02] [ 3.76485493e-02 9.99291032e-01 1.42299259e-04 -9.22991260e+00] [ 3.87660877e-03 -2.88451382e-04 9.99992444e-01 3.25586055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82071405700003 meters Centerline goodness [0,1] 0.9810709221454456 Centerline is valid? [True, True] Translation: X:270.31, Y:-9.23, Z:3.26 [[ 9.99263176e-01 -3.82009220e-02 -3.71415090e-03 2.70314481e+02] [ 3.82016910e-02 9.99270040e-01 1.36311011e-04 -9.23169853e+00] [ 3.70623251e-03 -2.78097419e-04 9.99993093e-01 3.25664126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.850714057 meters Centerline goodness [0,1] 0.9827940943724706 Centerline is valid? [True, True] Translation: X:270.35, Y:-9.23, Z:3.26 [[ 9.99268630e-01 -3.80758924e-02 -3.52575685e-03 2.70347638e+02] [ 3.80765850e-02 9.99274816e-01 1.29522040e-04 -9.22839554e+00] [ 3.51826836e-03 -2.63676092e-04 9.99993776e-01 3.25680958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88071405700003 meters Centerline goodness [0,1] 0.9817869182560691 Centerline is valid? [True, True] Translation: X:270.38, Y:-9.23, Z:3.26 [[ 9.99271548e-01 -3.80137123e-02 -3.36619031e-03 2.70380748e+02] [ 3.80143445e-02 9.99277186e-01 1.24003153e-04 -9.23091795e+00] [ 3.35904336e-03 -2.51876341e-04 9.99994327e-01 3.25689944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.910714057 meters Centerline goodness [0,1] 0.9811312237620187 Centerline is valid? [True, True] Translation: X:270.41, Y:-9.24, Z:3.26 [[ 9.99284641e-01 -3.76346045e-02 -3.72064960e-03 2.70412193e+02] [ 3.76353761e-02 9.99291529e-01 1.37547736e-04 -9.23594922e+00] [ 3.71283708e-03 -2.77477387e-04 9.99993069e-01 3.25693634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94071405700004 meters Centerline goodness [0,1] 0.983901600795876 Centerline is valid? [True, True] Translation: X:270.44, Y:-9.23, Z:3.26 [[ 9.99291208e-01 -3.74515416e-02 -3.80304834e-03 2.70444786e+02] [ 3.74523471e-02 9.99298405e-01 1.40792257e-04 -9.22902332e+00] [ 3.79510725e-03 -2.83125552e-04 9.99992758e-01 3.25736359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.970714057 meters Centerline goodness [0,1] 0.9821586252179229 Centerline is valid? [True, True] Translation: X:270.48, Y:-9.23, Z:3.26 [[ 9.99338742e-01 -3.60597620e-02 -4.66603899e-03 2.70475121e+02] [ 3.60609615e-02 9.99349577e-01 1.73156474e-04 -9.23131765e+00] [ 4.65676011e-03 -3.41303825e-04 9.99989099e-01 3.25716582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00071405700004 meters Centerline goodness [0,1] 0.9825348284063881 Centerline is valid? [True, True] Translation: X:270.51, Y:-9.23, Z:3.26 [[ 9.99377181e-01 -3.48580262e-02 -5.49256749e-03 2.70507396e+02] [ 3.48596736e-02 9.99392196e-01 2.04450732e-04 -9.22973524e+00] [ 5.48210233e-03 -3.95792506e-04 9.99984895e-01 3.25725162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.030714057 meters Centerline goodness [0,1] 0.9822838217947555 Centerline is valid? [True, True] Translation: X:270.54, Y:-9.23, Z:3.26 [[ 9.99422561e-01 -3.34953376e-02 -5.71031651e-03 2.70538504e+02] [ 3.34970981e-02 9.99438792e-01 2.12919330e-04 -9.23103013e+00] [ 5.69998003e-03 -4.04075415e-04 9.99983673e-01 3.25716582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.060714057 meters Centerline goodness [0,1] 0.9852441180470556 Centerline is valid? [True, True] Translation: X:270.57, Y:-9.23, Z:3.26 [[ 9.99513674e-01 -3.04627210e-02 -6.66612399e-03 2.70569981e+02] [ 3.04650547e-02 9.99535802e-01 2.48790481e-04 -9.22595004e+00] [ 6.65545075e-03 -4.51753320e-04 9.99977750e-01 3.25675549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.090714057 meters Centerline goodness [0,1] 0.9834761321909424 Centerline is valid? [True, True] Translation: X:270.60, Y:-9.23, Z:3.26 [[ 9.99569791e-01 -2.84137063e-02 -7.27281395e-03 2.70600784e+02] [ 2.84164316e-02 9.99596135e-01 2.71646429e-04 -9.22901923e+00] [ 7.26215823e-03 -4.78196984e-04 9.99973516e-01 3.25628081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.120714057 meters Centerline goodness [0,1] 0.9851732437219018 Centerline is valid? [True, True] Translation: X:270.63, Y:-9.22, Z:3.26 [[ 9.99676228e-01 -2.35572688e-02 -9.61736392e-03 2.70631284e+02] [ 2.35618128e-02 9.99722317e-01 3.59427817e-04 -9.21969776e+00] [ 9.60622621e-03 -5.85913973e-04 9.99953687e-01 3.25626339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.150714057 meters Centerline goodness [0,1] 0.9861250341747927 Centerline is valid? [True, True] Translation: X:270.66, Y:-9.22, Z:3.26 [[ 9.99738334e-01 -2.03591852e-02 -1.04291162e-02 2.70662152e+02] [ 2.03643566e-02 9.99792549e-01 3.89892591e-04 -9.21706579e+00] [ 1.04190148e-02 -6.02172810e-04 9.99945539e-01 3.25667677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.180714057 meters Centerline goodness [0,1] 0.9849013570532558 Centerline is valid? [True, True] Translation: X:270.69, Y:-9.22, Z:3.26 [[ 9.99799455e-01 -1.68660768e-02 -1.07974785e-02 2.70692436e+02] [ 1.68714178e-02 9.99857586e-01 4.03755920e-04 -9.21797611e+00] [ 1.07891310e-02 -5.85843721e-04 9.99941624e-01 3.25621245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.210714057 meters Centerline goodness [0,1] 0.9862184028888787 Centerline is valid? [True, True] Translation: X:270.72, Y:-9.21, Z:3.26 [[ 9.99881149e-01 -9.81521035e-03 -1.18890778e-02 2.70723729e+02] [ 9.82119034e-03 9.99951672e-01 4.44699595e-04 -9.20948383e+00] [ 1.18841384e-02 -5.61411638e-04 9.99929224e-01 3.25700723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.240714057 meters Centerline goodness [0,1] 0.9862184028888787 Centerline is valid? [True, True] Translation: X:270.75, Y:-9.21, Z:3.26 [[ 9.99878688e-01 -1.00626457e-02 -1.18891442e-02 2.70751968e+02] [ 1.00686220e-02 9.99949212e-01 4.42916347e-04 -9.21049684e+00] [ 1.18840835e-02 -5.62569916e-04 9.99929224e-01 3.25713128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.270714057 meters Centerline goodness [0,1] 0.9876890689000252 Centerline is valid? [True, True] Translation: X:270.78, Y:-9.20, Z:3.26 [[ 9.99925741e-01 -2.21965324e-03 -1.19827072e-02 2.70783223e+02] [ 2.22515010e-03 9.99997425e-01 4.45420469e-04 -9.20438045e+00] [ 1.19816877e-02 -4.72050715e-04 9.99928106e-01 3.25806811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.300714057 meters Centerline goodness [0,1] 0.9872370490234064 Centerline is valid? [True, True] Translation: X:270.81, Y:-9.20, Z:3.26 [[ 9.99933440e-01 1.20824896e-03 -1.14741658e-02 2.70811690e+02] [-1.20343775e-03 9.99999185e-01 4.26203584e-04 -9.20496255e+00] [ 1.14746714e-02 -4.12366771e-04 9.99934079e-01 3.25827958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.330714057 meters Centerline goodness [0,1] 0.9873536837273353 Centerline is valid? [True, True] Translation: X:270.84, Y:-9.20, Z:3.26 [[ 9.99923143e-01 3.91849124e-03 -1.17623854e-02 2.70840939e+02] [-3.91363586e-03 9.99992247e-01 4.35778220e-04 -9.20107475e+00] [ 1.17640018e-02 -3.89711034e-04 9.99930726e-01 3.25945325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.360714057 meters Centerline goodness [0,1] 0.9880613463127927 Centerline is valid? [True, True] Translation: X:270.87, Y:-9.20, Z:3.26 [[ 9.99914297e-01 6.48889067e-03 -1.13707218e-02 2.70870260e+02] [-6.48454362e-03 9.99978887e-01 4.19129050e-04 -9.19930649e+00] [ 1.13732014e-02 -3.45359188e-04 9.99935263e-01 3.26017390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.390714057 meters Centerline goodness [0,1] 0.9878339913690203 Centerline is valid? [True, True] Translation: X:270.90, Y:-9.20, Z:3.26 [[ 9.99891853e-01 9.91424071e-03 -1.08622933e-02 2.70898461e+02] [-9.91049126e-03 9.99950810e-01 3.98953979e-04 -9.19853146e+00] [ 1.08657143e-02 -2.91260170e-04 9.99940924e-01 3.26095555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.420714057 meters Centerline goodness [0,1] 0.987575076796112 Centerline is valid? [True, True] Translation: X:270.93, Y:-9.20, Z:3.26 [[ 9.99894710e-01 1.01035611e-02 -1.04156842e-02 2.70927198e+02] [-1.01001314e-02 9.99948919e-01 3.81832302e-04 -9.20080974e+00] [ 1.04190100e-02 -2.76592321e-04 9.99945682e-01 3.26155094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.450714057 meters Centerline goodness [0,1] 0.9883478220978508 Centerline is valid? [True, True] Translation: X:270.96, Y:-9.20, Z:3.26 [[ 9.99903774e-01 8.96878933e-03 -1.05832143e-02 2.70956039e+02] [-8.96519285e-03 9.99959737e-01 3.87221927e-04 -9.20225747e+00] [ 1.05862611e-02 -2.92304109e-04 9.99943921e-01 3.26191324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.480714057 meters Centerline goodness [0,1] 0.9879785675032057 Centerline is valid? [True, True] Translation: X:270.98, Y:-9.21, Z:3.26 [[ 9.99913516e-01 7.20858710e-03 -1.09998597e-02 2.70983961e+02] [-7.20460544e-03 9.99973966e-01 4.01557777e-04 -9.20584337e+00] [ 1.10024679e-02 -3.22273400e-04 9.99939419e-01 3.26134076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51071405700003 meters Centerline goodness [0,1] 0.9878377760504778 Centerline is valid? [True, True] Translation: X:271.01, Y:-9.21, Z:3.26 [[ 9.99915722e-01 1.82443127e-03 -1.28538101e-02 2.71013700e+02] [-1.81855761e-03 9.99998237e-01 4.68631877e-04 -9.21028663e+00] [ 1.28546425e-02 -4.45216987e-04 9.99917277e-01 3.26097254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.540714057 meters Centerline goodness [0,1] 0.9869988428289429 Centerline is valid? [True, True] Translation: X:271.04, Y:-9.22, Z:3.26 [[ 9.99890123e-01 -4.69219455e-03 -1.40614949e-02 2.71042665e+02] [ 4.69986261e-03 9.99988824e-01 5.12327461e-04 -9.21894438e+00] [ 1.40589338e-02 -5.78358262e-04 9.99901001e-01 3.25996672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57071405700003 meters Centerline goodness [0,1] 0.9868343396740364 Centerline is valid? [True, True] Translation: X:271.07, Y:-9.22, Z:3.26 [[ 9.99857201e-01 -8.23388446e-03 -1.47574247e-02 2.71072379e+02] [ 8.24270834e-03 9.99965884e-01 5.37202500e-04 -9.22425346e+00] [ 1.47524980e-02 -6.58766935e-04 9.99890959e-01 3.26013709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.600714057 meters Centerline goodness [0,1] 0.9874495029730834 Centerline is valid? [True, True] Translation: X:271.10, Y:-9.23, Z:3.26 [[ 9.99810665e-01 -1.18368395e-02 -1.54441822e-02 2.71102567e+02] [ 1.18469272e-02 9.99929665e-01 5.61846270e-04 -9.22939299e+00] [ 1.54364455e-02 -7.44705996e-04 9.99880574e-01 3.26047987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63071405700003 meters Centerline goodness [0,1] 0.986330772706733 Centerline is valid? [True, True] Translation: X:271.13, Y:-9.23, Z:3.26 [[ 9.99760913e-01 -1.54186480e-02 -1.55042426e-02 2.71132355e+02] [ 1.54292398e-02 9.99880803e-01 5.63757793e-04 -9.23458399e+00] [ 1.54937022e-02 -8.02841682e-04 9.99879643e-01 3.26067594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.660714057 meters Centerline goodness [0,1] 0.9862722482303187 Centerline is valid? [True, True] Translation: X:271.16, Y:-9.24, Z:3.26 [[ 9.99621782e-01 -2.24340475e-02 -1.59061653e-02 2.71161401e+02] [ 2.24460766e-02 9.99747888e-01 5.78107516e-04 -9.24458537e+00] [ 1.58891858e-02 -9.34919869e-04 9.99873322e-01 3.26124321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69071405700004 meters Centerline goodness [0,1] 0.9856558298484644 Centerline is valid? [True, True] Translation: X:271.19, Y:-9.25, Z:3.26 [[ 9.99567561e-01 -2.51370199e-02 -1.52584511e-02 2.71192808e+02] [ 2.51484076e-02 9.99683575e-01 5.54877686e-04 -9.24884125e+00] [ 1.52396749e-02 -9.38363483e-04 9.99883429e-01 3.26189394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.720714057 meters Centerline goodness [0,1] 0.9853269825503962 Centerline is valid? [True, True] Translation: X:271.22, Y:-9.26, Z:3.26 [[ 9.99423165e-01 -3.00986554e-02 -1.57292330e-02 2.71223213e+02] [ 3.01113710e-02 9.99546386e-01 5.72152352e-04 -9.25622938e+00] [ 1.57048770e-02 -1.04545109e-03 9.99876124e-01 3.26328507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75071405700004 meters Centerline goodness [0,1] 0.9861884054705631 Centerline is valid? [True, True] Translation: X:271.25, Y:-9.26, Z:3.26 [[ 9.99379665e-01 -3.15076397e-02 -1.57338216e-02 2.71254425e+02] [ 3.15205427e-02 9.99502940e-01 5.72712659e-04 -9.25984745e+00] [ 1.57079561e-02 -1.06829598e-03 9.99876052e-01 3.26365583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.780714057 meters Centerline goodness [0,1] 0.9849791690124986 Centerline is valid? [True, True] Translation: X:271.29, Y:-9.26, Z:3.26 [[ 9.99337661e-01 -3.25175957e-02 -1.63353946e-02 2.71286179e+02] [ 3.25316518e-02 9.99470528e-01 5.95412099e-04 -9.25844939e+00] [ 1.63073841e-02 -1.12643510e-03 9.99866391e-01 3.26442372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.810714057 meters Centerline goodness [0,1] 0.9854593671341244 Centerline is valid? [True, True] Translation: X:271.32, Y:-9.27, Z:3.26 [[ 9.99315210e-01 -3.29379322e-02 -1.68583206e-02 2.71316768e+02] [ 3.29529776e-02 9.99456714e-01 6.15382589e-04 -9.26759876e+00] [ 1.68288923e-02 -1.17049304e-03 9.99857699e-01 3.26364366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.840714057 meters Centerline goodness [0,1] 0.9866708695456388 Centerline is valid? [True, True] Translation: X:271.35, Y:-9.27, Z:3.26 [[ 9.99309157e-01 -3.27451937e-02 -1.75772964e-02 2.71347517e+02] [ 3.27615365e-02 9.99462990e-01 6.42545608e-04 -9.27069806e+00] [ 1.75468170e-02 -1.21796095e-03 9.99845301e-01 3.26364580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.870714057 meters Centerline goodness [0,1] 0.9861489606089953 Centerline is valid? [True, True] Translation: X:271.38, Y:-9.28, Z:3.26 [[ 9.99306019e-01 -3.23505282e-02 -1.84641212e-02 2.71378685e+02] [ 3.23685125e-02 9.99475774e-01 6.75913537e-04 -9.27669697e+00] [ 1.84325757e-02 -1.27310060e-03 9.99829295e-01 3.26308272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.900714057 meters Centerline goodness [0,1] 0.988133498145859 Centerline is valid? [True, True] Translation: X:271.41, Y:-9.27, Z:3.27 [[ 9.99315084e-01 -3.15181973e-02 -1.93898432e-02 2.71410453e+02] [ 3.15378896e-02 9.99502304e-01 7.10575276e-04 -9.26613417e+00] [ 1.93577969e-02 -1.32160333e-03 9.99811747e-01 3.26594924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.930714057 meters Centerline goodness [0,1] 0.9882392624241061 Centerline is valid? [True, True] Translation: X:271.44, Y:-9.27, Z:3.26 [[ 9.99341150e-01 -3.03280432e-02 -1.99367707e-02 2.71441100e+02] [ 3.03486409e-02 9.99539106e-01 7.31335837e-04 -9.27335349e+00] [ 1.99054020e-02 -1.33590789e-03 9.99800975e-01 3.26490108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.960714057 meters Centerline goodness [0,1] 0.9887159620712178 Centerline is valid? [True, True] Translation: X:271.47, Y:-9.27, Z:3.27 [[ 9.99382727e-01 -2.75834900e-02 -2.17558480e-02 2.71471938e+02] [ 2.76073752e-02 9.99618525e-01 7.98235509e-04 -9.26707971e+00] [ 2.17255306e-02 -1.39836464e-03 9.99762995e-01 3.26608300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.990714057 meters Centerline goodness [0,1] 0.988784459747426 Centerline is valid? [True, True] Translation: X:271.50, Y:-9.27, Z:3.27 [[ 9.99436240e-01 -2.55515017e-02 -2.17789536e-02 2.71501142e+02] [ 2.55749504e-02 9.99672588e-01 7.98773598e-04 -9.27042149e+00] [ 2.17514131e-02 -1.35531894e-03 9.99762491e-01 3.26549426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.020714057 meters Centerline goodness [0,1] 0.9897940792141666 Centerline is valid? [True, True] Translation: X:271.53, Y:-9.27, Z:3.27 [[ 9.99497467e-01 -2.32610777e-02 -2.15345225e-02 2.71531271e+02] [ 2.32834651e-02 9.99728592e-01 7.89424881e-04 -9.26696904e+00] [ 2.15103150e-02 -1.29042647e-03 9.99767794e-01 3.26690482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.050714057 meters Centerline goodness [0,1] 0.9895936126312013 Centerline is valid? [True, True] Translation: X:271.56, Y:-9.27, Z:3.27 [[ 9.99632959e-01 -1.77917897e-02 -2.04303506e-02 2.71560974e+02] [ 1.78107926e-02 9.99841095e-01 7.48536808e-04 -9.26736714e+00] [ 2.04137863e-02 -1.11214280e-03 9.99790998e-01 3.26672837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.080714057 meters Centerline goodness [0,1] 0.9894051627384961 Centerline is valid? [True, True] Translation: X:271.59, Y:-9.27, Z:3.27 [[ 9.99674857e-01 -1.54344453e-02 -2.02967596e-02 2.71591142e+02] [ 1.54527087e-02 9.99880324e-01 7.43277688e-04 -9.26600191e+00] [ 2.02828585e-02 -1.05667593e-03 9.99793723e-01 3.26700957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.110714057 meters Centerline goodness [0,1] 0.9900881057268722 Centerline is valid? [True, True] Translation: X:271.62, Y:-9.26, Z:3.27 [[ 9.99732020e-01 -1.09862136e-02 -2.03762624e-02 2.71621400e+02] [ 1.10036917e-02 9.99939179e-01 7.45842715e-04 -9.26195437e+00] [ 2.03668292e-02 -9.69856954e-04 9.99792104e-01 3.26727073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.140714057 meters Centerline goodness [0,1] 0.9909887640449438 Centerline is valid? [True, True] Translation: X:271.65, Y:-9.26, Z:3.27 [[ 9.99756534e-01 -9.05540418e-03 -2.01214244e-02 2.71650072e+02] [ 9.07203411e-03 9.99958578e-01 7.35350348e-04 -9.26258615e+00] [ 2.01139320e-02 -9.17713564e-04 9.99797273e-01 3.26680967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.170714057 meters Centerline goodness [0,1] 0.9914157303370786 Centerline is valid? [True, True] Translation: X:271.68, Y:-9.26, Z:3.27 [[ 9.99757916e-01 -6.94411443e-03 -2.08779559e-02 2.71677828e+02] [ 6.96151158e-03 9.99975479e-01 7.60713977e-04 -9.26312108e+00] [ 2.08721615e-02 -9.05871952e-04 9.99781742e-01 3.26661351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.200714057 meters Centerline goodness [0,1] 0.9908824122404176 Centerline is valid? [True, True] Translation: X:271.71, Y:-9.27, Z:3.27 [[ 9.99764705e-01 -6.05738136e-03 -2.08289086e-02 2.71705530e+02] [ 6.07446482e-03 9.99981264e-01 7.57008678e-04 -9.26574335e+00] [ 2.08239328e-02 -8.83355030e-04 9.99782768e-01 3.26615294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.230714057 meters Centerline goodness [0,1] 0.9908277505507845 Centerline is valid? [True, True] Translation: X:271.73, Y:-9.27, Z:3.27 [[ 9.99763797e-01 -6.35055018e-03 -2.07851257e-02 2.71733188e+02] [ 6.36758919e-03 9.99979443e-01 7.53688988e-04 -9.26751666e+00] [ 2.07799121e-02 -8.85862106e-04 9.99783682e-01 3.26631182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26071405700003 meters Centerline goodness [0,1] 0.9911741528762805 Centerline is valid? [True, True] Translation: X:271.76, Y:-9.27, Z:3.27 [[ 9.99764869e-01 -7.79545411e-03 -2.02345523e-02 2.71762255e+02] [ 7.81181462e-03 9.99969221e-01 7.29625978e-04 -9.26835457e+00] [ 2.02282418e-02 -8.87522992e-04 9.99794994e-01 3.26806830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.290714057 meters Centerline goodness [0,1] 0.9911011235955056 Centerline is valid? [True, True] Translation: X:271.79, Y:-9.27, Z:3.27 [[ 9.99757365e-01 -9.14931527e-03 -2.00375122e-02 2.71790998e+02] [ 9.16553581e-03 9.99957738e-01 7.17819990e-04 -9.27163328e+00] [ 2.00300978e-02 -9.01300357e-04 9.99798971e-01 3.26816049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32071405700003 meters Centerline goodness [0,1] 0.9897242601691683 Centerline is valid? [True, True] Translation: X:271.82, Y:-9.28, Z:3.27 [[ 9.99733217e-01 -1.10917445e-02 -2.02600279e-02 2.71819884e+02] [ 1.11086290e-02 9.99938037e-01 7.21036870e-04 -9.27510350e+00] [ 2.02507750e-02 -9.45905643e-04 9.99794485e-01 3.26811906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.350714057 meters Centerline goodness [0,1] 0.9898887765419616 Centerline is valid? [True, True] Translation: X:271.85, Y:-9.28, Z:3.27 [[ 9.99666495e-01 -1.61068556e-02 -2.01858186e-02 2.71848833e+02] [ 1.61246160e-02 9.99869733e-01 7.17380912e-04 -9.28287542e+00] [ 2.01716343e-02 -1.04263024e-03 9.99795988e-01 3.26788378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38071405700003 meters Centerline goodness [0,1] 0.989023569023569 Centerline is valid? [True, True] Translation: X:271.88, Y:-9.29, Z:3.27 [[ 9.99612049e-01 -1.93526505e-02 -2.00306211e-02 2.71877943e+02] [ 1.93707782e-02 9.99812116e-01 7.11353745e-04 -9.28828499e+00] [ 2.00130911e-02 -1.09908649e-03 9.99799114e-01 3.26772704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.410714057 meters Centerline goodness [0,1] 0.9883739234073174 Centerline is valid? [True, True] Translation: X:271.91, Y:-9.29, Z:3.27 [[ 9.99477494e-01 -2.58425623e-02 -1.94139197e-02 2.71907992e+02] [ 2.58608030e-02 9.99665316e-01 6.89059544e-04 -9.28588944e+00] [ 1.93896151e-02 -1.19075906e-03 9.99811295e-01 3.27019631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44071405700004 meters Centerline goodness [0,1] 0.9888931443891229 Centerline is valid? [True, True] Translation: X:271.94, Y:-9.29, Z:3.27 [[ 9.99409860e-01 -2.85446217e-02 -1.91085172e-02 2.71939078e+02] [ 2.85627883e-02 9.99591770e-01 6.78410403e-04 -9.28771457e+00] [ 1.90813516e-02 -1.22380258e-03 9.99817185e-01 3.27123453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.470714057 meters Centerline goodness [0,1] 0.9867457115163537 Centerline is valid? [True, True] Translation: X:271.97, Y:-9.30, Z:3.27 [[ 9.99334583e-01 -3.11255483e-02 -1.90155364e-02 2.71968360e+02] [ 3.11440052e-02 9.99514680e-01 6.75187422e-04 -9.30406703e+00] [ 1.89852922e-02 -1.26695811e-03 9.99818960e-01 3.26897412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50071405700004 meters Centerline goodness [0,1] 0.9810487414651734 Centerline is valid? [True, True] Translation: X:272.00, Y:-9.31, Z:3.27 [[ 9.99211442e-01 -3.52789209e-02 -1.82179120e-02 2.71997187e+02] [ 3.52965614e-02 9.99376672e-01 6.47572617e-04 -9.31125214e+00] [ 1.81837107e-02 -1.29009162e-03 9.99833830e-01 3.26806529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.530714057 meters Centerline goodness [0,1] 0.9731572219855135 Centerline is valid? [True, True] Translation: X:272.03, Y:-9.32, Z:3.27 [[ 9.99082130e-01 -3.88071174e-02 -1.81357389e-02 2.72026149e+02] [ 3.88251779e-02 9.99245811e-01 6.44692839e-04 -9.31699301e+00] [ 1.80970425e-02 -1.34822439e-03 9.99835326e-01 3.26748258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.560714057 meters Centerline goodness [0,1] 0.9632049209770115 Centerline is valid? [True, True] Translation: X:272.06, Y:-9.32, Z:3.27 [[ 9.98990006e-01 -4.10803053e-02 -1.82037220e-02 2.72056009e+02] [ 4.10988757e-02 9.99154875e-01 6.47051204e-04 -9.32074318e+00] [ 1.81617565e-02 -1.39455019e-03 9.99834089e-01 3.26685891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.590714057 meters Centerline goodness [0,1] 0.953771015732259 Centerline is valid? [True, True] Translation: X:272.09, Y:-9.32, Z:3.27 [[ 9.98914724e-01 -4.27430194e-02 -1.85043039e-02 2.72087293e+02] [ 4.27624999e-02 9.99085049e-01 6.58178171e-04 -9.32359865e+00] [ 1.84592409e-02 -1.44875416e-03 9.99828564e-01 3.26660570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.620714057 meters Centerline goodness [0,1] 0.9865759718906257 Centerline is valid? [True, True] Translation: X:272.12, Y:-9.31, Z:3.27 [[ 9.98823711e-01 -4.46803339e-02 -1.88378050e-02 2.72119304e+02] [ 4.47008774e-02 9.99000191e-01 6.70682654e-04 -9.30983182e+00] [ 1.87890045e-02 -1.51196015e-03 9.99822328e-01 3.26915809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.650714057 meters Centerline goodness [0,1] 0.9862506728871344 Centerline is valid? [True, True] Translation: X:272.15, Y:-9.31, Z:3.27 [[ 9.98701050e-01 -4.71934737e-02 -1.92091014e-02 2.72150097e+02] [ 4.72153048e-02 9.98884501e-01 6.84315068e-04 -9.31248216e+00] [ 1.91553785e-02 -1.59038976e-03 9.99815254e-01 3.26913707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.680714057 meters Centerline goodness [0,1] 0.9824948249482495 Centerline is valid? [True, True] Translation: X:272.18, Y:-9.32, Z:3.27 [[ 9.98668430e-01 -4.79292588e-02 -1.90827809e-02 2.72181186e+02] [ 4.79509531e-02 9.98849460e-01 6.80656478e-04 -9.31716336e+00] [ 1.90282021e-02 -1.59478767e-03 9.99817675e-01 3.26830334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.710714057 meters Centerline goodness [0,1] 0.9869245804407899 Centerline is valid? [True, True] Translation: X:272.21, Y:-9.31, Z:3.27 [[ 9.98708573e-01 -4.76438142e-02 -1.76423563e-02 2.72214116e+02] [ 4.76623367e-02 9.98863306e-01 6.30670647e-04 -9.31091562e+00] [ 1.75922547e-02 -1.47073211e-03 9.99844163e-01 3.27071341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.740714057 meters Centerline goodness [0,1] 0.9869549598096008 Centerline is valid? [True, True] Translation: X:272.25, Y:-9.31, Z:3.27 [[ 9.98771141e-01 -4.66500553e-02 -1.67325900e-02 2.72245977e+02] [ 4.66665951e-02 9.98910341e-01 5.99178582e-04 -9.31082542e+00] [ 1.66864054e-02 -1.37929528e-03 9.99859821e-01 3.27145270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.770714057 meters Centerline goodness [0,1] 0.9868005288752437 Centerline is valid? [True, True] Translation: X:272.28, Y:-9.31, Z:3.27 [[ 9.98830254e-01 -4.55415161e-02 -1.62509914e-02 2.72277807e+02] [ 4.55569855e-02 9.98961572e-01 5.82790421e-04 -9.31094106e+00] [ 1.62075747e-02 -1.32245488e-03 9.99867774e-01 3.27205752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.800714057 meters Centerline goodness [0,1] 0.9873431950002248 Centerline is valid? [True, True] Translation: X:272.31, Y:-9.31, Z:3.27 [[ 9.98965519e-01 -4.27259864e-02 -1.55686497e-02 2.72307222e+02] [ 4.27398445e-02 9.99086079e-01 5.58340950e-04 -9.31016656e+00] [ 1.55305655e-02 -1.22316502e-03 9.99878645e-01 3.27216124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.830714057 meters Centerline goodness [0,1] 0.9868341370416059 Centerline is valid? [True, True] Translation: X:272.34, Y:-9.31, Z:3.27 [[ 9.99020026e-01 -4.13145243e-02 -1.58775564e-02 2.72337294e+02] [ 4.13287783e-02 9.99145438e-01 5.70530888e-04 -9.31072678e+00] [ 1.58404168e-02 -1.22617179e-03 9.99873781e-01 3.27201978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.860714057 meters Centerline goodness [0,1] 0.9862979795707151 Centerline is valid? [True, True] Translation: X:272.37, Y:-9.31, Z:3.27 [[ 9.99108701e-01 -3.90248100e-02 -1.60893809e-02 2.72367774e+02] [ 3.90391591e-02 9.99237514e-01 5.78603973e-04 -9.30838801e+00] [ 1.60545330e-02 -1.20620416e-03 9.99870390e-01 3.27120803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.890714057 meters Centerline goodness [0,1] 0.9864139588152074 Centerline is valid? [True, True] Translation: X:272.40, Y:-9.31, Z:3.27 [[ 9.99130595e-01 -3.83984124e-02 -1.62362402e-02 2.72398742e+02] [ 3.84129663e-02 9.99261778e-01 5.85359664e-04 -9.31054772e+00] [ 1.62017774e-02 -1.20853290e-03 9.99868012e-01 3.27059739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.920714057 meters Centerline goodness [0,1] 0.9857962858750704 Centerline is valid? [True, True] Translation: X:272.43, Y:-9.31, Z:3.27 [[ 9.99148868e-01 -3.79617685e-02 -1.61382803e-02 2.72431316e+02] [ 3.79761123e-02 9.99278477e-01 5.83172797e-04 -9.30969882e+00] [ 1.61044979e-02 -1.19554559e-03 9.99869599e-01 3.27114334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.950714057 meters Centerline goodness [0,1] 0.9858513945838778 Centerline is valid? [True, True] Translation: X:272.46, Y:-9.31, Z:3.27 [[ 9.99160586e-01 -3.77388145e-02 -1.59343799e-02 2.72462749e+02] [ 3.77527839e-02 9.99286943e-01 5.76685572e-04 -9.31180803e+00] [ 1.59012543e-02 -1.17776869e-03 9.99872873e-01 3.27115563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.980714057 meters Centerline goodness [0,1] 0.9851389139455169 Centerline is valid? [True, True] Translation: X:272.49, Y:-9.31, Z:3.27 [[ 9.99152883e-01 -3.79290092e-02 -1.59657838e-02 2.72494925e+02] [ 3.79430738e-02 9.99279735e-01 5.78819934e-04 -9.31303055e+00] [ 1.59323301e-02 -1.18412052e-03 9.99872371e-01 3.27112259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01071405700003 meters Centerline goodness [0,1] 0.9855473762409671 Centerline is valid? [True, True] Translation: X:272.53, Y:-9.31, Z:3.27 [[ 9.99128275e-01 -3.83460179e-02 -1.65006885e-02 2.72526702e+02] [ 3.83611124e-02 9.99263762e-01 5.99123892e-04 -9.31356811e+00] [ 1.64655660e-02 -1.23158639e-03 9.99863675e-01 3.27029489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.040714057 meters Centerline goodness [0,1] 0.9853935623478496 Centerline is valid? [True, True] Translation: X:272.56, Y:-9.31, Z:3.27 [[ 9.99128349e-01 -3.82722088e-02 -1.66667479e-02 2.72558571e+02] [ 3.82876159e-02 9.99266577e-01 6.06196324e-04 -9.31444878e+00] [ 1.66313237e-02 -1.24379798e-03 9.99860916e-01 3.26965925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07071405700003 meters Centerline goodness [0,1] 0.9848703820793063 Centerline is valid? [True, True] Translation: X:272.59, Y:-9.31, Z:3.27 [[ 9.99118414e-01 -3.82708815e-02 -1.72549646e-02 2.72590696e+02] [ 3.82874154e-02 9.99266570e-01 6.28764017e-04 -9.31220339e+00] [ 1.72182459e-02 -1.28885770e-03 9.99850924e-01 3.26926944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.100714057 meters Centerline goodness [0,1] 0.986107340030772 Centerline is valid? [True, True] Translation: X:272.62, Y:-9.31, Z:3.27 [[ 9.99123975e-01 -3.81041220e-02 -1.73019669e-02 2.72622939e+02] [ 3.81207416e-02 9.99272941e-01 6.31651992e-04 -9.31139423e+00] [ 1.72653188e-02 -1.29066246e-03 9.99850110e-01 3.27031766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13071405700003 meters Centerline goodness [0,1] 0.9855268497227107 Centerline is valid? [True, True] Translation: X:272.65, Y:-9.31, Z:3.27 [[ 9.99150469e-01 -3.77061742e-02 -1.66308130e-02 2.72654869e+02] [ 3.77214928e-02 9.99288106e-01 6.08263028e-04 -9.31218889e+00] [ 1.65960384e-02 -1.23508538e-03 9.99861513e-01 3.27065134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.160714057 meters Centerline goodness [0,1] 0.9855268497227107 Centerline is valid? [True, True] Translation: X:272.69, Y:-9.31, Z:3.27 [[ 9.99153005e-01 -3.76389424e-02 -1.66307720e-02 2.72686630e+02] [ 3.76542704e-02 9.99290641e-01 6.09382553e-04 -9.31341708e+00] [ 1.65960383e-02 -1.23508600e-03 9.99861513e-01 3.27079081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19071405700004 meters Centerline goodness [0,1] 0.9828777206531832 Centerline is valid? [True, True] Translation: X:272.72, Y:-9.32, Z:3.27 [[ 9.99166868e-01 -3.76379645e-02 -1.57782655e-02 2.72717973e+02] [ 3.76517744e-02 9.99290753e-01 5.78997693e-04 -9.31845735e+00] [ 1.57452825e-02 -1.17259500e-03 9.99875348e-01 3.27125958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.220714057 meters Centerline goodness [0,1] 0.9851128432883168 Centerline is valid? [True, True] Translation: X:272.75, Y:-9.31, Z:3.27 [[ 9.99223289e-01 -3.67820057e-02 -1.41386961e-02 2.72750525e+02] [ 3.67930211e-02 9.99322772e-01 5.19684038e-04 -9.31234576e+00] [ 1.41100059e-02 -1.03948574e-03 9.99899909e-01 3.27408257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.250714057 meters Centerline goodness [0,1] 0.9847936278059377 Centerline is valid? [True, True] Translation: X:272.78, Y:-9.31, Z:3.28 [[ 9.99247729e-01 -3.64145053e-02 -1.33401897e-02 2.72783179e+02] [ 3.64242909e-02 9.99336295e-01 4.91229740e-04 -9.30862022e+00] [ 1.33134478e-02 -9.76767150e-04 9.99910895e-01 3.27594577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.280714057 meters Centerline goodness [0,1] 0.9828250328544886 Centerline is valid? [True, True] Translation: X:272.81, Y:-9.31, Z:3.28 [[ 9.99260872e-01 -3.66200486e-02 -1.16911008e-02 2.72813801e+02] [ 3.66275856e-02 9.99328892e-01 4.31146188e-04 -9.31408650e+00] [ 1.16674662e-02 -8.59044310e-04 9.99931564e-01 3.27708525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.310714057 meters Centerline goodness [0,1] 0.9847378596610941 Centerline is valid? [True, True] Translation: X:272.85, Y:-9.31, Z:3.28 [[ 9.99262574e-01 -3.68050155e-02 -1.09407109e-02 2.72846008e+02] [ 3.68116344e-02 9.99322140e-01 4.04146386e-04 -9.30557835e+00] [ 1.09184200e-02 -8.06593806e-04 9.99940067e-01 3.27837975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.340714057 meters Centerline goodness [0,1] 0.9845615151997453 Centerline is valid? [True, True] Translation: X:272.88, Y:-9.31, Z:3.28 [[ 9.99255680e-01 -3.69708816e-02 -1.10109176e-02 2.72876999e+02] [ 3.69776085e-02 9.99316011e-01 4.07900720e-04 -9.30759582e+00] [ 1.09883058e-02 -8.14754510e-04 9.99939295e-01 3.27805354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.370714057 meters Centerline goodness [0,1] 0.9849166325927945 Centerline is valid? [True, True] Translation: X:272.91, Y:-9.31, Z:3.28 [[ 9.99217561e-01 -3.79888781e-02 -1.10050342e-02 2.72908460e+02] [ 3.79956735e-02 9.99277820e-01 4.08986060e-04 -9.31060509e+00] [ 1.09815497e-02 -8.26809741e-04 9.99939359e-01 3.27674432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.400714057 meters Centerline goodness [0,1] 0.9858722358722358 Centerline is valid? [True, True] Translation: X:272.94, Y:-9.30, Z:3.28 [[ 9.99181555e-01 -3.87075671e-02 -1.17449546e-02 2.72940559e+02] [ 3.87153689e-02 9.99250183e-01 4.37543806e-04 -9.30438868e+00] [ 1.17192118e-02 -8.91895951e-04 9.99930930e-01 3.27692283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.430714057 meters Centerline goodness [0,1] 0.9856241314104754 Centerline is valid? [True, True] Translation: X:272.97, Y:-9.31, Z:3.27 [[ 9.99090449e-01 -4.05145116e-02 -1.32984369e-02 2.72970952e+02] [ 4.05246799e-02 9.99178415e-01 4.95939115e-04 -9.30753931e+00] [ 1.32674183e-02 -1.03440293e-03 9.99911449e-01 3.27497322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.460714057 meters Centerline goodness [0,1] 0.9805496637934925 Centerline is valid? [True, True] Translation: X:273.00, Y:-9.32, Z:3.27 [[ 9.99061207e-01 -4.08953614e-02 -1.42924512e-02 2.73001493e+02] [ 4.09071544e-02 9.99162810e-01 5.33629265e-04 -9.32109074e+00] [ 1.42586627e-02 -1.11779181e-03 9.99897715e-01 3.27298170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.490714057 meters Centerline goodness [0,1] 0.9850480922642112 Centerline is valid? [True, True] Translation: X:273.03, Y:-9.31, Z:3.27 [[ 9.99008736e-01 -4.19660403e-02 -1.48458011e-02 2.73033725e+02] [ 4.19788937e-02 9.99118344e-01 5.55095049e-04 -9.31131183e+00] [ 1.48094170e-02 -1.17775511e-03 9.99889641e-01 3.27390055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.520714057 meters Centerline goodness [0,1] 0.986628701594533 Centerline is valid? [True, True] Translation: X:273.07, Y:-9.31, Z:3.27 [[ 9.98958621e-01 -4.33402031e-02 -1.42583612e-02 2.73065504e+02] [ 4.33522090e-02 9.99059708e-01 5.33883338e-04 -9.31360726e+00] [ 1.42218155e-02 -1.15145882e-03 9.99898202e-01 3.27428069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.550714057 meters Centerline goodness [0,1] 0.9864855625697942 Centerline is valid? [True, True] Translation: X:273.10, Y:-9.31, Z:3.27 [[ 9.98953840e-01 -4.35374519e-02 -1.39898382e-02 2.73097786e+02] [ 4.35490420e-02 9.99051153e-01 5.24750693e-04 -9.31291160e+00] [ 1.39537177e-02 -1.13344577e-03 9.99902000e-01 3.27487050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.580714057 meters Centerline goodness [0,1] 0.9856845628477091 Centerline is valid? [True, True] Translation: X:273.13, Y:-9.32, Z:3.28 [[ 9.98964983e-01 -4.35659281e-02 -1.30756280e-02 2.73129423e+02] [ 4.35760691e-02 9.99049991e-01 4.91534330e-04 -9.31834134e+00] [ 1.30417919e-02 -1.06081005e-03 9.99914390e-01 3.27561282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.610714057 meters Centerline goodness [0,1] 0.9861430294204646 Centerline is valid? [True, True] Translation: X:273.16, Y:-9.31, Z:3.28 [[ 9.98991000e-01 -4.31887282e-02 -1.23172679e-02 2.73161610e+02] [ 4.31977101e-02 9.99066436e-01 4.63966834e-04 -9.31423572e+00] [ 1.22857308e-02 -9.95576459e-04 9.99924032e-01 3.27675651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.640714057 meters Centerline goodness [0,1] 0.9856411650133623 Centerline is valid? [True, True] Translation: X:273.19, Y:-9.32, Z:3.28 [[ 9.99025538e-01 -4.25693713e-02 -1.16542804e-02 2.73192764e+02] [ 4.25773783e-02 9.99093076e-01 4.39680101e-04 -9.31928540e+00] [ 1.16249939e-02 -9.35460353e-04 9.99931990e-01 3.27682869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.670714057 meters Centerline goodness [0,1] 0.9858235106721885 Centerline is valid? [True, True] Translation: X:273.23, Y:-9.32, Z:3.28 [[ 9.99075767e-01 -4.14897770e-02 -1.12343346e-02 2.73225455e+02] [ 4.14971587e-02 9.99138532e-01 4.24666681e-04 -9.31730677e+00] [ 1.12070372e-02 -8.90467154e-04 9.99936803e-01 3.27673838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.700714057 meters Centerline goodness [0,1] 0.9851215375918598 Centerline is valid? [True, True] Translation: X:273.26, Y:-9.32, Z:3.28 [[ 9.99088772e-01 -4.11231009e-02 -1.14243855e-02 2.73256195e+02] [ 4.11307195e-02 9.99153680e-01 4.32618174e-04 -9.32350417e+00] [ 1.13969262e-02 -9.02117155e-04 9.99934646e-01 3.27633432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.730714057 meters Centerline goodness [0,1] 0.9848115549537351 Centerline is valid? [True, True] Translation: X:273.29, Y:-9.33, Z:3.28 [[ 9.99109912e-01 -4.05672456e-02 -1.15621282e-02 2.73287942e+02] [ 4.05750204e-02 9.99176399e-01 4.38563298e-04 -9.32560790e+00] [ 1.15348143e-02 -9.07306527e-04 9.99933060e-01 3.27579828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76071405700003 meters Centerline goodness [0,1] 0.9854514140681654 Centerline is valid? [True, True] Translation: X:273.32, Y:-9.32, Z:3.28 [[ 9.99091264e-01 -4.09553361e-02 -1.18027811e-02 2.73320086e+02] [ 4.09634747e-02 9.99160544e-01 4.48519403e-04 -9.32409693e+00] [ 1.17745039e-02 -9.31594741e-04 9.99930244e-01 3.27583404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.790714057 meters Centerline goodness [0,1] 0.9847958493119784 Centerline is valid? [True, True] Translation: X:273.35, Y:-9.33, Z:3.28 [[ 9.99047086e-01 -4.19590804e-02 -1.20148376e-02 2.73350610e+02] [ 4.19676010e-02 9.99118867e-01 4.57816937e-04 -9.32854520e+00] [ 1.19850413e-02 -9.61614588e-04 9.99927714e-01 3.27557733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82071405700003 meters Centerline goodness [0,1] 0.9861010009099181 Centerline is valid? [True, True] Translation: X:273.38, Y:-9.33, Z:3.28 [[ 9.99007564e-01 -4.29004622e-02 -1.19765099e-02 2.73382608e+02] [ 4.29090083e-02 9.99078880e-01 4.57411692e-04 -9.33105461e+00] [ 1.19458549e-02 -9.70857904e-04 9.99928174e-01 3.27576567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.850714057 meters Centerline goodness [0,1] 0.9857025771787633 Centerline is valid? [True, True] Translation: X:273.41, Y:-9.33, Z:3.28 [[ 9.98878685e-01 -4.57274038e-02 -1.22628182e-02 2.73413165e+02] [ 4.57365799e-02 9.98953425e-01 4.68750412e-04 -9.32619159e+00] [ 1.22285495e-02 -1.02908416e-03 9.99924699e-01 3.27674923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88071405700003 meters Centerline goodness [0,1] 0.9854842367883874 Centerline is valid? [True, True] Translation: X:273.44, Y:-9.33, Z:3.28 [[ 9.98818193e-01 -4.70027205e-02 -1.23677599e-02 2.73443666e+02] [ 4.70121557e-02 9.98894205e-01 4.73106069e-04 -9.33442440e+00] [ 1.23318464e-02 -1.05398200e-03 9.99923404e-01 3.27642231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.910714057 meters Centerline goodness [0,1] 0.9806131957544489 Centerline is valid? [True, True] Translation: X:273.47, Y:-9.34, Z:3.28 [[ 9.98764497e-01 -4.80982843e-02 -1.24913766e-02 2.73474479e+02] [ 4.81080077e-02 9.98842025e-01 4.78924464e-04 -9.34484015e+00] [ 1.24538765e-02 -1.07926799e-03 9.99921865e-01 3.27562585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94071405700004 meters Centerline goodness [0,1] 0.9853893521779636 Centerline is valid? [True, True] Translation: X:273.51, Y:-9.34, Z:3.27 [[ 9.98660565e-01 -5.00101112e-02 -1.32689277e-02 2.73505494e+02] [ 5.00212595e-02 9.98748023e-01 5.09426856e-04 -9.34232395e+00] [ 1.32268388e-02 -1.17247299e-03 9.99911834e-01 3.27477397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.970714057 meters Centerline goodness [0,1] 0.9652489508903255 Centerline is valid? [True, True] Translation: X:273.54, Y:-9.36, Z:3.27 [[ 9.98647189e-01 -5.01908870e-02 -1.35892150e-02 2.73536005e+02] [ 5.02026144e-02 9.98738917e-01 5.23028371e-04 -9.35605007e+00] [ 1.35458266e-02 -1.20453493e-03 9.99907526e-01 3.27292398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.000714057 meters Centerline goodness [0,1] 0.6459580207367446 Centerline is valid? [True, False] Translation: X:273.59, Y:-9.35, Z:3.27 [[ 9.98528208e-01 -5.25241519e-02 -1.35141020e-02 2.73594064e+02] [ 5.24628563e-02 9.98611093e-01 -4.85114089e-03 -9.35461063e+00] [ 1.37501343e-02 4.13501263e-03 9.99896912e-01 3.27380735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.030714057 meters Centerline goodness [0,1] 0.9846167829307642 Centerline is valid? [False, True] Translation: X:273.52, Y:-9.36, Z:3.27 [[ 9.98830525e-01 -4.70164488e-02 -1.12710037e-02 2.73519921e+02] [ 4.70151420e-02 9.98894104e-01 -3.81021203e-04 -9.35730558e+00] [ 1.12764534e-02 -1.49332231e-04 9.99936408e-01 3.27035349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.060714057 meters Centerline goodness [0,1] 0.985194268456071 Centerline is valid? [True, True] Translation: X:273.55, Y:-9.36, Z:3.27 [[ 9.98900494e-01 -4.56307095e-02 -1.07536497e-02 2.73551457e+02] [ 4.56380135e-02 9.98957948e-01 4.34663338e-04 -9.35723307e+00] [ 1.07226098e-02 -9.24960632e-04 9.99942083e-01 3.27116340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.090714057 meters Centerline goodness [0,1] 0.9851262224243803 Centerline is valid? [True, True] Translation: X:273.58, Y:-9.36, Z:3.27 [[ 9.99067627e-01 -4.21907007e-02 -9.15544769e-03 2.73580461e+02] [ 4.21958509e-02 9.99109290e-01 3.70019083e-04 -9.35891229e+00] [ 9.13168147e-03 -7.55995993e-04 9.99958020e-01 3.27266827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.120714057 meters Centerline goodness [0,1] 0.9852446344125136 Centerline is valid? [True, True] Translation: X:273.61, Y:-9.36, Z:3.27 [[ 9.99151384e-01 -4.03228795e-02 -8.40105685e-03 2.73612253e+02] [ 4.03271527e-02 9.99186472e-01 3.39808466e-04 -9.35862810e+00] [ 8.38052029e-03 -6.78310801e-04 9.99964653e-01 3.27324929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.150714057 meters Centerline goodness [0,1] 0.9850051118936726 Centerline is valid? [True, True] Translation: X:273.64, Y:-9.36, Z:3.27 [[ 9.99231254e-01 -3.85010702e-02 -7.38710365e-03 2.73643121e+02] [ 3.85043268e-02 9.99258389e-01 2.99082533e-04 -9.36186419e+00] [ 7.37011029e-03 -5.83288068e-04 9.99972670e-01 3.27324783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.180714057 meters Centerline goodness [0,1] 0.9836851553091414 Centerline is valid? [True, True] Translation: X:273.67, Y:-9.36, Z:3.27 [[ 9.99354071e-01 -3.53129302e-02 -6.66615722e-03 2.73672988e+02] [ 3.53155118e-02 9.99376176e-01 2.69915422e-04 -9.36363825e+00] [ 6.65246721e-03 -5.05159829e-04 9.99977744e-01 3.27284386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.210714057 meters Centerline goodness [0,1] 0.9841226575809199 Centerline is valid? [True, True] Translation: X:273.70, Y:-9.37, Z:3.27 [[ 9.99401774e-01 -3.38378225e-02 -7.14814332e-03 2.73703707e+02] [ 3.38407542e-02 9.99427196e-01 2.89559637e-04 -9.36547291e+00] [ 7.13425077e-03 -5.31284976e-04 9.99974410e-01 3.27226389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.240714057 meters Centerline goodness [0,1] 0.9869888053770521 Centerline is valid? [True, True] Translation: X:273.74, Y:-9.36, Z:3.27 [[ 9.99451076e-01 -3.20939765e-02 -8.21719956e-03 2.73735915e+02] [ 3.20977955e-02 9.99484677e-01 3.33267958e-04 -9.36126000e+00] [ 8.20226916e-03 -5.96839011e-04 9.99966183e-01 3.27123098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.270714057 meters Centerline goodness [0,1] 0.9845399441531022 Centerline is valid? [True, True] Translation: X:273.77, Y:-9.37, Z:3.27 [[ 9.99453790e-01 -3.17915487e-02 -9.02324102e-03 2.73767094e+02] [ 3.17961501e-02 9.99494307e-01 3.66921860e-04 -9.37161584e+00] [ 9.00701302e-03 -6.53625769e-04 9.99959222e-01 3.26941231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.300714057 meters Centerline goodness [0,1] 0.986937294477832 Centerline is valid? [True, True] Translation: X:273.80, Y:-9.37, Z:3.27 [[ 9.99451370e-01 -3.18007932e-02 -9.25574878e-03 2.73799090e+02] [ 3.18056426e-02 9.99494001e-01 3.77163264e-04 -9.36710698e+00] [ 9.23907129e-03 -6.71341378e-04 9.99957094e-01 3.26931207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.330714057 meters Centerline goodness [0,1] 0.9841478327822818 Centerline is valid? [True, True] Translation: X:273.83, Y:-9.38, Z:3.27 [[ 9.99430652e-01 -3.23369446e-02 -9.62777539e-03 2.73830018e+02] [ 3.23422216e-02 9.99476776e-01 3.92875049e-04 -9.37966075e+00] [ 9.61003353e-03 -7.04035012e-04 9.99953575e-01 3.26720774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.360714057 meters Centerline goodness [0,1] 0.9837115127932493 Centerline is valid? [True, True] Translation: X:273.86, Y:-9.38, Z:3.27 [[ 9.99422509e-01 -3.25873923e-02 -9.62863688e-03 2.73862460e+02] [ 3.25926876e-02 9.99468640e-01 3.93509589e-04 -9.38273569e+00] [ 9.61069715e-03 -7.07105494e-04 9.99953566e-01 3.26694828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.390714057 meters Centerline goodness [0,1] 0.9863186887614576 Centerline is valid? [True, True] Translation: X:273.90, Y:-9.37, Z:3.27 [[ 9.99411326e-01 -3.28031810e-02 -1.00475755e-02 2.73895522e+02] [ 3.28089652e-02 9.99461556e-01 4.11352163e-04 -9.37045741e+00] [ 1.00286718e-02 -7.40760565e-04 9.99949437e-01 3.26814422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.420714057 meters Centerline goodness [0,1] 0.9865225453394239 Centerline is valid? [True, True] Translation: X:273.93, Y:-9.38, Z:3.27 [[ 9.99390054e-01 -3.33656305e-02 -1.03079802e-02 2.73926382e+02] [ 3.33717545e-02 9.99442919e-01 4.22621625e-04 -9.37563839e+00] [ 1.02881367e-02 -7.66359232e-04 9.99946782e-01 3.26741944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.450714057 meters Centerline goodness [0,1] 0.9862440326704224 Centerline is valid? [True, True] Translation: X:273.96, Y:-9.38, Z:3.27 [[ 9.99390012e-01 -3.33623392e-02 -1.03227381e-02 2.73958134e+02] [ 3.33684878e-02 9.99443027e-01 4.23926139e-04 -9.37818750e+00] [ 1.03028455e-02 -7.68121710e-04 9.99946629e-01 3.26746297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.480714057 meters Centerline goodness [0,1] 0.9868902852493107 Centerline is valid? [True, True] Translation: X:273.99, Y:-9.38, Z:3.27 [[ 9.99378719e-01 -3.38504210e-02 -9.81453159e-03 2.73989525e+02] [ 3.38560079e-02 9.99426640e-01 4.03615748e-04 -9.38269873e+00] [ 9.79524176e-03 -7.35645849e-04 9.99951755e-01 3.26827351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51071405700003 meters Centerline goodness [0,1] 0.985748966013307 Centerline is valid? [True, True] Translation: X:274.02, Y:-9.39, Z:3.27 [[ 9.99385224e-01 -3.37925627e-02 -9.34003187e-03 2.74020955e+02] [ 3.37976268e-02 9.99428623e-01 3.84837964e-04 -9.38652798e+00] [ 9.32169052e-03 -7.00272286e-04 9.99956307e-01 3.26867949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.540714057 meters Centerline goodness [0,1] 0.9867294520547946 Centerline is valid? [True, True] Translation: X:274.05, Y:-9.39, Z:3.27 [[ 9.99390136e-01 -3.39214788e-02 -8.28786471e-03 2.74053482e+02] [ 3.39254755e-02 9.99424307e-01 3.42087951e-04 -9.38951352e+00] [ 8.27148932e-03 -6.23049076e-04 9.99965597e-01 3.26938196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57071405700003 meters Centerline goodness [0,1] 0.985986030947515 Centerline is valid? [True, True] Translation: X:274.08, Y:-9.40, Z:3.27 [[ 9.99419809e-01 -3.35061741e-02 -6.11405217e-03 2.74084521e+02] [ 3.35083433e-02 9.99438406e-01 2.52681308e-04 -9.39521508e+00] [ 6.10215217e-03 -4.57406464e-04 9.99981277e-01 3.27092883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.600714057 meters Centerline goodness [0,1] 0.9853655261921278 Centerline is valid? [True, True] Translation: X:274.12, Y:-9.40, Z:3.27 [[ 9.99436214e-01 -3.31283645e-02 -5.45582915e-03 2.74116619e+02] [ 3.31300880e-02 9.99451022e-01 2.25801683e-04 -9.39781126e+00] [ 5.44535358e-03 -4.06426479e-04 9.99985091e-01 3.27209775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63071405700003 meters Centerline goodness [0,1] 0.9857040100701313 Centerline is valid? [True, True] Translation: X:274.15, Y:-9.40, Z:3.27 [[ 9.99465157e-01 -3.26160194e-02 -2.36545642e-03 2.74147718e+02] [ 3.26163421e-02 9.99467941e-01 9.79658311e-05 -9.40343978e+00] [ 2.36100260e-03 -1.75065971e-04 9.99997198e-01 3.27465251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.660714057 meters Centerline goodness [0,1] 0.9852713699643554 Centerline is valid? [True, True] Translation: X:274.18, Y:-9.41, Z:3.28 [[ 9.99478960e-01 -3.22418390e-02 -1.50732371e-03 2.74179657e+02] [ 3.22419699e-02 9.99480091e-01 6.25754048e-05 -9.40568761e+00] [ 1.50452249e-03 -1.11141886e-04 9.99998862e-01 3.27539294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69071405700004 meters Centerline goodness [0,1] 0.9839320529771642 Centerline is valid? [True, True] Translation: X:274.21, Y:-9.41, Z:3.28 [[ 9.99476250e-01 -3.23196883e-02 -1.63215459e-03 2.74211545e+02] [ 3.23198420e-02 9.99477575e-01 6.78834488e-05 -9.40898428e+00] [ 1.62910794e-03 -1.20598873e-04 9.99998666e-01 3.27533290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.720714057 meters Centerline goodness [0,1] 0.9852372975991066 Centerline is valid? [True, True] Translation: X:274.24, Y:-9.41, Z:3.27 [[ 9.99480324e-01 -3.21543617e-02 -2.27572467e-03 2.74243729e+02] [ 3.21546606e-02 9.99482901e-01 9.48704646e-05 -9.41253700e+00] [ 2.27149740e-03 -1.67996317e-04 9.99997406e-01 3.27442076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.750714057 meters Centerline goodness [0,1] 0.9863204162181557 Centerline is valid? [True, True] Translation: X:274.28, Y:-9.41, Z:3.28 [[ 9.99490456e-01 -3.18631163e-02 -1.88971625e-03 2.74275899e+02] [ 3.18633221e-02 9.99492232e-01 7.88790883e-05 -9.41052637e+00] [ 1.88624338e-03 -1.39051534e-04 9.99998211e-01 3.27569851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.780714057 meters Centerline goodness [0,1] 0.9822303375790505 Centerline is valid? [True, True] Translation: X:274.31, Y:-9.42, Z:3.28 [[ 9.99519855e-01 -3.09847950e-02 -3.82973467e-05 2.74307255e+02] [ 3.09847951e-02 9.99519856e-01 1.43571517e-06 -9.42056620e+00] [ 3.82344731e-05 -2.62166126e-06 9.99999999e-01 3.27818946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.810714057 meters Centerline goodness [0,1] 0.9828066190062582 Centerline is valid? [True, True] Translation: X:274.34, Y:-9.42, Z:3.28 [[ 9.99603490e-01 -2.78998467e-02 3.80281074e-03 2.74338147e+02] [ 2.79006542e-02 9.99610688e-01 -1.59448530e-04 -9.41771679e+00] [-3.79688167e-03 2.65486214e-04 9.99992757e-01 3.28220118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.840714057 meters Centerline goodness [0,1] 0.9835393696402718 Centerline is valid? [True, True] Translation: X:274.37, Y:-9.42, Z:3.28 [[ 9.99660827e-01 -2.55674902e-02 4.95325430e-03 2.74370105e+02] [ 2.55688342e-02 9.99673042e-01 -2.08181454e-04 -9.41668979e+00] [-4.94631212e-03 3.34759782e-04 9.99987711e-01 3.28328042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.870714057 meters Centerline goodness [0,1] 0.984904484125217 Centerline is valid? [True, True] Translation: X:274.40, Y:-9.41, Z:3.28 [[ 9.99783134e-01 -2.05242199e-02 3.52716968e-03 2.74401009e+02] [ 2.05248697e-02 9.99789332e-01 -1.48113491e-04 -9.41389077e+00] [-3.52338670e-03 2.20476068e-04 9.99993769e-01 3.28067730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.900714057 meters Centerline goodness [0,1] 0.985228688378715 Centerline is valid? [True, True] Translation: X:274.43, Y:-9.42, Z:3.28 [[ 9.99846080e-01 -1.75012157e-02 1.23408310e-03 2.74430541e+02] [ 1.75012929e-02 9.99846839e-01 -5.18222182e-05 -9.41733383e+00] [-1.23298714e-03 7.34122916e-05 9.99999237e-01 3.27928701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.930714057 meters Centerline goodness [0,1] 0.9855612586476233 Centerline is valid? [True, True] Translation: X:274.46, Y:-9.41, Z:3.28 [[ 9.99904025e-01 -1.38540584e-02 -7.12352203e-05 2.74461785e+02] [ 1.38540586e-02 9.99904028e-01 2.95078344e-06 -9.41319831e+00] [ 7.11875034e-05 -3.93739716e-06 9.99999997e-01 3.27800460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.960714057 meters Centerline goodness [0,1] 0.98458732735805 Centerline is valid? [True, True] Translation: X:274.49, Y:-9.41, Z:3.28 [[ 9.99976209e-01 -6.89647622e-03 -1.40068238e-04 2.74491335e+02] [ 6.89647711e-03 9.99976219e-01 5.92623809e-06 -9.41258376e+00] [ 1.40024037e-04 -6.89207450e-06 9.99999990e-01 3.27678091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.990714057 meters Centerline goodness [0,1] 0.9853177078691738 Centerline is valid? [True, True] Translation: X:274.52, Y:-9.41, Z:3.28 [[ 9.99993045e-01 -3.64609773e-03 7.84402271e-04 2.74522538e+02] [ 3.64612477e-03 9.99993352e-01 -3.30448481e-05 -9.41036999e+00] [-7.84276572e-04 3.59046469e-05 9.99999692e-01 3.27867717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.020714057 meters Centerline goodness [0,1] 0.9859161226862202 Centerline is valid? [True, True] Translation: X:274.55, Y:-9.41, Z:3.28 [[ 9.99996824e-01 1.91611645e-03 1.63715199e-03 2.74553726e+02] [-1.91600628e-03 9.99998162e-01 -6.88599580e-05 -9.40675303e+00] [-1.63728092e-03 6.57229458e-05 9.99998657e-01 3.28020501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.050714057 meters Centerline goodness [0,1] 0.9859161226862202 Centerline is valid? [True, True] Translation: X:274.58, Y:-9.41, Z:3.28 [[ 9.99996824e-01 1.91611654e-03 1.63715346e-03 2.74583724e+02] [-1.91600642e-03 9.99998162e-01 -6.88248499e-05 -9.40801413e+00] [-1.63728233e-03 6.56878348e-05 9.99998657e-01 3.28027742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.080714057 meters Centerline goodness [0,1] 0.9847338526816783 Centerline is valid? [True, True] Translation: X:274.61, Y:-9.41, Z:3.28 [[ 9.99990502e-01 4.19351131e-03 1.18744006e-03 2.74614643e+02] [-4.19345498e-03 9.99991206e-01 -4.99173008e-05 -9.40886650e+00] [-1.18763894e-03 4.49373503e-05 9.99999294e-01 3.28001493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.110714057 meters Centerline goodness [0,1] 0.9838227694519963 Centerline is valid? [True, True] Translation: X:274.64, Y:-9.41, Z:3.28 [[ 9.99986111e-01 5.17972346e-03 9.73750976e-04 2.74644495e+02] [-5.17968610e-03 9.99986585e-01 -4.08768836e-05 -9.41078078e+00] [-9.73949644e-04 3.58325915e-05 9.99999525e-01 3.27846492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.140714057 meters Centerline goodness [0,1] 0.9819413604024109 Centerline is valid? [True, True] Translation: X:274.67, Y:-9.42, Z:3.28 [[ 9.99982071e-01 5.98781483e-03 -6.53028738e-05 2.74673152e+02] [-5.98781466e-03 9.99982073e-01 2.87700513e-06 -9.42095415e+00] [ 6.53189301e-05 -2.48593204e-06 9.99999998e-01 3.27640865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.170714057 meters Centerline goodness [0,1] 0.9807081304715536 Centerline is valid? [True, True] Translation: X:274.70, Y:-9.42, Z:3.27 [[ 9.99983479e-01 5.72719476e-03 -4.91187444e-04 2.74701764e+02] [-5.72718525e-03 9.99983599e-01 2.07596666e-05 -9.41913090e+00] [ 4.91298283e-04 -1.79462022e-05 9.99999879e-01 3.27449206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.200714057 meters Centerline goodness [0,1] 0.9805297557619539 Centerline is valid? [True, True] Translation: X:274.73, Y:-9.42, Z:3.27 [[ 9.99985288e-01 5.23725226e-03 -1.41235056e-03 2.74729566e+02] [-5.23717379e-03 9.99986284e-01 5.92493541e-05 -9.42242750e+00] [ 1.41264149e-03 -5.18517571e-05 9.99999001e-01 3.27335635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.230714057 meters Centerline goodness [0,1] 0.9749293379598778 Centerline is valid? [True, True] Translation: X:274.76, Y:-9.44, Z:3.27 [[ 9.99997535e-01 1.23557485e-03 -1.84491275e-03 2.74757441e+02] [-1.23543464e-03 9.99999234e-01 7.71378465e-05 -9.44223039e+00] [ 1.84500664e-03 -7.48583872e-05 9.99998295e-01 3.26994223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26071405700003 meters Centerline goodness [0,1] 0.9769532258443052 Centerline is valid? [True, True] Translation: X:274.79, Y:-9.44, Z:3.27 [[ 9.99993988e-01 -4.98323720e-04 -3.43143217e-03 2.74786690e+02] [ 4.98818184e-04 9.99999865e-01 1.43244266e-04 -9.44205086e+00] [ 3.43136032e-03 -1.44955065e-04 9.99994102e-01 3.26890001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.290714057 meters Centerline goodness [0,1] 0.9762195982499883 Centerline is valid? [True, True] Translation: X:274.82, Y:-9.46, Z:3.27 [[ 9.99959306e-01 -6.51151680e-03 -6.24396178e-03 2.74815782e+02] [ 6.51326896e-03 9.99978755e-01 2.60323022e-04 -9.45712392e+00] [ 6.24213402e-03 -3.00981031e-04 9.99980472e-01 3.26699002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32071405700003 meters Centerline goodness [0,1] 0.9726529731802603 Centerline is valid? [True, True] Translation: X:274.85, Y:-9.46, Z:3.27 [[ 9.99928974e-01 -9.37745889e-03 -7.35600397e-03 2.74845213e+02] [ 9.37996645e-03 9.99955960e-01 3.06459620e-04 -9.46364600e+00] [ 7.35280620e-03 -3.75436924e-04 9.99972897e-01 3.26511409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.350714057 meters Centerline goodness [0,1] 0.9765917148268661 Centerline is valid? [True, True] Translation: X:274.88, Y:-9.47, Z:3.27 [[ 9.99885516e-01 -1.17253801e-02 -9.56402062e-03 2.74875826e+02] [ 1.17297251e-02 9.99931125e-01 3.98340468e-04 -9.46726398e+00] [ 9.55869120e-03 -5.10478197e-04 9.99954184e-01 3.26527011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38071405700003 meters Centerline goodness [0,1] 0.9686381498260456 Centerline is valid? [True, True] Translation: X:274.90, Y:-9.49, Z:3.27 [[ 9.99857469e-01 -1.30511746e-02 -1.07101915e-02 2.74903135e+02] [ 1.30566948e-02 9.99914658e-01 4.45658191e-04 -9.48506697e+00] [ 1.07034611e-02 -5.85434373e-04 9.99942545e-01 3.26542490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.410714057 meters Centerline goodness [0,1] 0.9671100790064872 Centerline is valid? [True, True] Translation: X:274.93, Y:-9.50, Z:3.26 [[ 9.99840867e-01 -1.36170062e-02 -1.15246292e-02 2.74930780e+02] [ 1.36234302e-02 9.99907082e-01 4.79087053e-04 -9.50182371e+00] [ 1.15170347e-02 -6.36015796e-04 9.99933474e-01 3.26447457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44071405700004 meters Centerline goodness [0,1] 0.9644092805535769 Centerline is valid? [True, True] Translation: X:274.96, Y:-9.50, Z:3.26 [[ 9.99792167e-01 -1.63166696e-02 -1.22224756e-02 2.74959720e+02] [ 1.63240887e-02 9.99866624e-01 5.07479879e-04 -9.49865638e+00] [ 1.22125650e-02 -7.06895184e-04 9.99925174e-01 3.26435561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.470714057 meters Centerline goodness [0,1] 0.9766589556312218 Centerline is valid? [True, True] Translation: X:274.99, Y:-9.50, Z:3.27 [[ 9.99853055e-01 -1.32007210e-02 -1.09365633e-02 2.74989017e+02] [ 1.32064710e-02 9.99912688e-01 4.53705525e-04 -9.50390707e+00] [ 1.09296192e-02 -5.98072262e-04 9.99940091e-01 3.26996815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.500714057 meters Centerline goodness [0,1] 0.9784031587036596 Centerline is valid? [True, True] Translation: X:275.02, Y:-9.51, Z:3.27 [[ 9.99872285e-01 -1.23400163e-02 -1.01556625e-02 2.75018938e+02] [ 1.23449270e-02 9.99923710e-01 4.20997470e-04 -9.50687626e+00] [ 1.01496926e-02 -5.46314615e-04 9.99948341e-01 3.26946330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.530714057 meters Centerline goodness [0,1] 0.973236585429976 Centerline is valid? [True, True] Translation: X:275.05, Y:-9.51, Z:3.27 [[ 9.99876192e-01 -1.19038801e-02 -1.02906667e-02 2.75047120e+02] [ 1.19088946e-02 9.99928996e-01 4.26151607e-04 -9.51365132e+00] [ 1.02848632e-02 -5.48649312e-04 9.99946959e-01 3.26753087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.560714057 meters Centerline goodness [0,1] 0.9703664783922238 Centerline is valid? [True, True] Translation: X:275.08, Y:-9.51, Z:3.26 [[ 9.99868009e-01 -1.23307520e-02 -1.05791315e-02 2.75076441e+02] [ 1.23360700e-02 9.99923812e-01 4.37582802e-04 -9.50963479e+00] [ 1.05729298e-02 -5.68029952e-04 9.99943944e-01 3.26403550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.590714057 meters Centerline goodness [0,1] 0.9637957518936384 Centerline is valid? [True, True] Translation: X:275.10, Y:-9.52, Z:3.26 [[ 9.99832462e-01 -1.43727885e-02 -1.13345228e-02 2.75104248e+02] [ 1.43790176e-02 9.99896507e-01 4.68264722e-04 -9.52140395e+00] [ 1.13266195e-02 -6.31165572e-04 9.99935653e-01 3.25719147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.620714057 meters Centerline goodness [0,1] 0.9698677248677249 Centerline is valid? [True, True] Translation: X:275.13, Y:-9.53, Z:3.26 [[ 9.99840550e-01 -1.29512551e-02 -1.22938706e-02 2.75132249e+02] [ 1.29584689e-02 9.99915907e-01 5.07304867e-04 -9.53108649e+00] [ 1.22862666e-02 -6.66533719e-04 9.99924299e-01 3.26075243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.650714057 meters Centerline goodness [0,1] 0.975429576511974 Centerline is valid? [True, True] Translation: X:275.16, Y:-9.53, Z:3.26 [[ 9.99830487e-01 -1.35909579e-02 -1.24211152e-02 2.75160973e+02] [ 1.35983411e-02 9.99907408e-01 5.10142105e-04 -9.52654182e+00] [ 1.24130318e-02 -6.78962190e-04 9.99922725e-01 3.26137372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.680714057 meters Centerline goodness [0,1] 0.9685018172028537 Centerline is valid? [True, True] Translation: X:275.19, Y:-9.53, Z:3.26 [[ 9.99668131e-01 -2.03828555e-02 -1.57533091e-02 2.75190658e+02] [ 2.03955582e-02 9.99791780e-01 6.46094211e-04 -9.52938069e+00] [ 1.57368597e-02 -9.67177325e-04 9.99875700e-01 3.25554759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.710714057 meters Centerline goodness [0,1] 0.9534294313321717 Centerline is valid? [True, True] Translation: X:275.22, Y:-9.55, Z:3.25 [[ 9.99626155e-01 -2.23820986e-02 -1.57032768e-02 2.75218280e+02] [ 2.23949521e-02 9.99748995e-01 6.43130617e-04 -9.54875617e+00] [ 1.56849406e-02 -9.94564317e-04 9.99876489e-01 3.25341833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.740714057 meters Centerline goodness [0,1] 0.9614378221223735 Centerline is valid? [True, True] Translation: X:275.25, Y:-9.54, Z:3.25 [[ 9.99557058e-01 -2.47605907e-02 -1.65106193e-02 2.75249101e+02] [ 2.47751204e-02 9.99692821e-01 6.76028610e-04 -9.54377318e+00] [ 1.64888087e-02 -1.08478175e-03 9.99863462e-01 3.25387511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.770714057 meters Centerline goodness [0,1] 0.9607661333050758 Centerline is valid? [True, True] Translation: X:275.28, Y:-9.55, Z:3.25 [[ 9.99559300e-01 -2.51222610e-02 -1.58138222e-02 2.75276590e+02] [ 2.51356182e-02 9.99683841e-01 6.46432725e-04 -9.54764809e+00] [ 1.57925827e-02 -1.04363804e-03 9.99874745e-01 3.25107352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.800714057 meters Centerline goodness [0,1] 0.9601163713303359 Centerline is valid? [True, True] Translation: X:275.30, Y:-9.55, Z:3.25 [[ 9.99581469e-01 -2.49218278e-02 -1.46898014e-02 2.75304581e+02] [ 2.49333208e-02 9.99688937e-01 5.99726657e-04 -9.55381030e+00] [ 1.46702857e-02 -9.65741183e-04 9.99891919e-01 3.25176254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.830714057 meters Centerline goodness [0,1] 0.9533984111324576 Centerline is valid? [True, True] Translation: X:275.33, Y:-9.56, Z:3.25 [[ 9.99626762e-01 -2.52929101e-02 -1.03249651e-02 2.75333929e+02] [ 2.52986039e-02 9.99679850e-01 4.21198972e-04 -9.55833168e+00] [ 1.03110062e-02 -6.82248968e-04 9.99946607e-01 3.24941228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.860714057 meters Centerline goodness [0,1] 0.9691550493467673 Centerline is valid? [True, True] Translation: X:275.37, Y:-9.55, Z:3.25 [[ 9.99676095e-01 -2.38136600e-02 -8.97856260e-03 2.75365510e+02] [ 2.38179065e-02 9.99716246e-01 3.66320904e-04 -9.54746758e+00] [ 8.96729146e-03 -5.80052815e-04 9.99959625e-01 3.25033034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.890714057 meters Centerline goodness [0,1] 0.9615819492952085 Centerline is valid? [True, True] Translation: X:275.40, Y:-9.55, Z:3.25 [[ 9.99717912e-01 -2.27370736e-02 -6.86448138e-03 2.75395808e+02] [ 2.27395313e-02 9.99741384e-01 2.80175250e-04 -9.55351825e+00] [ 6.85633575e-03 -4.36191305e-04 9.99976400e-01 3.24651431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.920714057 meters Centerline goodness [0,1] 0.9602372253640958 Centerline is valid? [True, True] Translation: X:275.42, Y:-9.56, Z:3.24 [[ 9.99772487e-01 -2.05168605e-02 -5.83376240e-03 2.75424943e+02] [ 2.05185978e-02 9.99789443e-01 2.38084259e-04 -9.55725219e+00] [ 5.82764932e-03 -3.57730716e-04 9.99982955e-01 3.24498656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.950714057 meters Centerline goodness [0,1] 0.9545038016692672 Centerline is valid? [True, True] Translation: X:275.46, Y:-9.57, Z:3.25 [[ 9.99760890e-01 -2.15940738e-02 -3.44368153e-03 2.75455249e+02] [ 2.15946855e-02 9.99766798e-01 1.40557715e-04 -9.56567889e+00] [ 3.43984324e-03 -2.14889326e-04 9.99994061e-01 3.24628578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.980714057 meters Centerline goodness [0,1] 0.965340511997515 Centerline is valid? [True, True] Translation: X:275.49, Y:-9.57, Z:3.25 [[ 9.99789823e-01 -2.05010256e-02 -1.29917621e-04 2.75486587e+02] [ 2.05010264e-02 9.99789832e-01 5.22763119e-06 -9.56623313e+00] [ 1.29783145e-04 -7.88997705e-06 9.99999992e-01 3.25160841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01071405700003 meters Centerline goodness [0,1] 0.9544492298707935 Centerline is valid? [True, True] Translation: X:275.52, Y:-9.57, Z:3.25 [[ 9.99732299e-01 -2.30871270e-02 1.52138537e-03 2.75516465e+02] [ 2.30872483e-02 9.99733452e-01 -6.21904692e-05 -9.57184511e+00] [-1.51954404e-03 9.72984225e-05 9.99998841e-01 3.24896215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.040714057 meters Centerline goodness [0,1] 0.9517046812987138 Centerline is valid? [True, True] Translation: X:275.55, Y:-9.58, Z:3.25 [[ 9.99673281e-01 -2.54328649e-02 2.54976102e-03 2.75547641e+02] [ 2.54332136e-02 9.99676518e-01 -1.04395301e-04 -9.57723593e+00] [-2.54628114e-03 1.69209809e-04 9.99996744e-01 3.25040479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07071405700003 meters Centerline goodness [0,1] 0.9504428113811947 Centerline is valid? [True, True] Translation: X:275.58, Y:-9.59, Z:3.25 [[ 9.99498418e-01 -3.13241881e-02 4.65909993e-03 2.75577574e+02] [ 3.13254151e-02 9.99509221e-01 -1.90581317e-04 -9.58757767e+00] [-4.65084354e-03 3.36433964e-04 9.99989128e-01 3.25205442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.100714057 meters Centerline goodness [0,1] 0.9477122658018152 Centerline is valid? [True, False] Translation: X:275.58, Y:-9.59, Z:3.25 [[ 9.99506028e-01 -3.10952580e-02 4.55907926e-03 2.75578276e+02] [ 3.10871936e-02 9.99515003e-01 1.82920071e-03 -9.59324062e+00] [-4.61374759e-03 -1.68656816e-03 9.99987934e-01 3.25083790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13071405700003 meters Centerline goodness [0,1] 0.9466408690381836 Centerline is valid? [False, False] Translation: X:275.58, Y:-9.60, Z:3.25 [[ 9.99415533e-01 -3.39132086e-02 4.29970401e-03 2.75580140e+02] [ 3.39117121e-02 9.99424744e-01 4.20486710e-04 -9.59900045e+00] [-4.31149063e-03 -2.74430625e-04 9.99990668e-01 3.24923746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.160714057 meters Centerline goodness [0,1] 0.9468680089485458 Centerline is valid? [False, False] Translation: X:275.58, Y:-9.60, Z:3.25 [[ 9.99427886e-01 -3.35564801e-02 4.22655915e-03 2.75580677e+02] [ 3.35499750e-02 9.99435759e-01 1.60072493e-03 -9.60133731e+00] [-4.27788905e-03 -1.45800818e-03 9.99989787e-01 3.24856255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19071405700004 meters Centerline goodness [0,1] 0.9447364156229019 Centerline is valid? [False, False] Translation: X:275.58, Y:-9.60, Z:3.25 [[ 9.99446501e-01 -3.30102680e-02 4.12469928e-03 2.75581512e+02] [ 3.29989566e-02 9.99451517e-01 2.78098505e-03 -9.60369893e+00] [-4.21423801e-03 -2.64333501e-03 9.99987626e-01 3.24768067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.220714057 meters Centerline goodness [0,1] 0.9451479697178252 Centerline is valid? [False, False] Translation: X:275.58, Y:-9.61, Z:3.25 [[ 9.99470289e-01 -3.22800353e-02 4.14016712e-03 2.75582296e+02] [ 3.22608822e-02 9.99468839e-01 4.61241666e-03 -9.60842657e+00] [-4.28685700e-03 -4.47640797e-03 9.99980792e-01 3.24653945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.250714057 meters Centerline goodness [0,1] 0.9462621637092158 Centerline is valid? [False, False] Translation: X:275.58, Y:-9.61, Z:3.25 [[ 9.99492697e-01 -3.16026181e-02 3.95253099e-03 2.75583288e+02] [ 3.15799335e-02 9.99485114e-01 5.67572520e-03 -9.61026894e+00] [-4.12986367e-03 -5.54802522e-03 9.99976082e-01 3.24572943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.280714057 meters Centerline goodness [0,1] 0.9518914380375337 Centerline is valid? [False, True] Translation: X:275.58, Y:-9.61, Z:3.25 [[ 9.99514172e-01 -3.09320710e-02 3.82462120e-03 2.75584396e+02] [ 3.09073850e-02 9.99502060e-01 6.35341458e-03 -9.61164035e+00] [-4.01924104e-03 -6.23211887e-03 9.99972503e-01 3.24502730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.310714057 meters Centerline goodness [0,1] 0.9516864175022789 Centerline is valid? [True, True] Translation: X:275.61, Y:-9.61, Z:3.25 [[ 9.99561795e-01 -2.92649687e-02 4.44752286e-03 2.75614657e+02] [ 2.92661679e-02 9.99571633e-01 -2.04786743e-04 -9.61183970e+00] [-4.43962461e-03 3.34858956e-04 9.99990089e-01 3.24755648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.340714057 meters Centerline goodness [0,1] 0.9504779637156286 Centerline is valid? [True, True] Translation: X:275.65, Y:-9.62, Z:3.25 [[ 9.99574721e-01 -2.85974544e-02 5.70636759e-03 2.75647068e+02] [ 2.85994226e-02 9.99590918e-01 -2.63591141e-04 -9.61558339e+00] [-5.69649518e-03 4.26677859e-04 9.99983684e-01 3.24921469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.370714057 meters Centerline goodness [0,1] 0.9510519633626553 Centerline is valid? [True, True] Translation: X:275.68, Y:-9.62, Z:3.25 [[ 9.99581595e-01 -2.81266447e-02 6.74730516e-03 2.75678320e+02] [ 2.81293862e-02 9.99604242e-01 -3.11734360e-04 -9.61936112e+00] [-6.73586681e-03 5.01401481e-04 9.99977188e-01 3.24946200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.400714057 meters Centerline goodness [0,1] 0.9469310329253421 Centerline is valid? [True, False] Translation: X:275.68, Y:-9.62, Z:3.25 [[ 9.99589292e-01 -2.78071701e-02 6.92883575e-03 2.75678193e+02] [ 2.78037928e-02 9.99613230e-01 5.83282856e-04 -9.62109350e+00] [-6.94237533e-03 -3.90395384e-04 9.99975825e-01 3.24917427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.430714057 meters Centerline goodness [0,1] 0.9456404736275565 Centerline is valid? [False, False] Translation: X:275.68, Y:-9.62, Z:3.25 [[ 9.99592982e-01 -2.76806649e-02 6.90302910e-03 2.75678831e+02] [ 2.76688455e-02 9.99615520e-01 1.80187906e-03 -9.62417248e+00] [-6.95025223e-03 -1.61014682e-03 9.99974550e-01 3.24824880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.460714057 meters Centerline goodness [0,1] 0.9500962700935834 Centerline is valid? [False, True] Translation: X:275.68, Y:-9.63, Z:3.25 [[ 9.99600334e-01 -2.74196422e-02 6.88009630e-03 2.75679334e+02] [ 2.74005184e-02 9.99620448e-01 2.85863218e-03 -9.62641609e+00] [-6.95586761e-03 -2.66897148e-03 9.99972246e-01 3.24752844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.490714057 meters Centerline goodness [0,1] 0.9513739224137931 Centerline is valid? [True, True] Translation: X:275.71, Y:-9.63, Z:3.25 [[ 9.99569649e-01 -2.83963215e-02 7.35976083e-03 2.75711244e+02] [ 2.83997585e-02 9.99596580e-01 -3.62883702e-04 -9.62614828e+00] [-7.34648719e-03 5.71742965e-04 9.99972851e-01 3.24784788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.520714057 meters Centerline goodness [0,1] 0.9498090196341218 Centerline is valid? [True, False] Translation: X:275.71, Y:-9.63, Z:3.25 [[ 9.99579631e-01 -2.81205957e-02 7.05647322e-03 2.75712506e+02] [ 2.81173554e-02 9.99604473e-01 5.58006303e-04 -9.62810535e+00] [-7.06937367e-03 -3.59362369e-04 9.99974947e-01 3.24685819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.550714057 meters Centerline goodness [0,1] 0.9468153787929384 Centerline is valid? [False, False] Translation: X:275.71, Y:-9.63, Z:3.25 [[ 9.99580083e-01 -2.80872282e-02 7.12502431e-03 2.75712930e+02] [ 2.80761294e-02 9.99604421e-01 1.65300082e-03 -9.63079977e+00] [-7.16863401e-03 -1.45226359e-03 9.99973250e-01 3.24590471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.580714057 meters Centerline goodness [0,1] 0.9515299275297486 Centerline is valid? [False, True] Translation: X:275.71, Y:-9.63, Z:3.25 [[ 9.99590860e-01 -2.77123807e-02 7.08071082e-03 2.75713434e+02] [ 2.76966733e-02 9.99613712e-01 2.30687190e-03 -9.63189887e+00] [-7.14190453e-03 -2.10981593e-03 9.99972271e-01 3.24541980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.610714057 meters Centerline goodness [0,1] 0.9494255938492989 Centerline is valid? [True, False] Translation: X:275.71, Y:-9.63, Z:3.24 [[ 9.99613345e-01 -2.69711794e-02 6.76141166e-03 2.75714513e+02] [ 2.69529204e-02 9.99632846e-01 2.77722194e-03 -9.63182616e+00] [-6.83383413e-03 -2.59390832e-03 9.99973285e-01 3.24487832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.640714057 meters Centerline goodness [0,1] 0.9481934112646121 Centerline is valid? [False, False] Translation: X:275.72, Y:-9.63, Z:3.24 [[ 9.99629143e-01 -2.64323090e-02 6.55055265e-03 2.75715313e+02] [ 2.64133796e-02 9.99646725e-01 2.95960916e-03 -9.63117183e+00] [-6.62646780e-03 -2.78548933e-03 9.99974165e-01 3.24456300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.670714057 meters Centerline goodness [0,1] 0.9508313170103665 Centerline is valid? [False, True] Translation: X:275.72, Y:-9.63, Z:3.24 [[ 9.99637520e-01 -2.61498273e-02 6.40437432e-03 2.75715628e+02] [ 2.61325997e-02 9.99654678e-01 2.75905224e-03 -9.63002574e+00] [-6.47431149e-03 -2.59068918e-03 9.99975686e-01 3.24478336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.700714057 meters Centerline goodness [0,1] 0.9518502105029913 Centerline is valid? [True, True] Translation: X:275.75, Y:-9.63, Z:3.25 [[ 9.99733299e-01 -2.22116416e-02 6.32244258e-03 2.75746471e+02] [ 2.22139882e-02 9.99753194e-01 -3.01171930e-04 -9.62727728e+00] [-6.31419264e-03 4.41538272e-04 9.99979968e-01 3.24669295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.730714057 meters Centerline goodness [0,1] 0.9533460888137403 Centerline is valid? [True, True] Translation: X:275.78, Y:-9.63, Z:3.25 [[ 9.99750134e-01 -2.11784461e-02 7.15137517e-03 2.75778517e+02] [ 2.11814322e-02 9.99775590e-01 -3.42063509e-04 -9.62679326e+00] [-7.14252596e-03 4.93454407e-04 9.99974370e-01 3.24627645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76071405700003 meters Centerline goodness [0,1] 0.9531478770131772 Centerline is valid? [True, True] Translation: X:275.81, Y:-9.63, Z:3.25 [[ 9.99779253e-01 -1.95620569e-02 7.66625082e-03 2.75810051e+02] [ 1.95654393e-02 9.99808511e-01 -3.66450272e-04 -9.62687354e+00] [-7.65761430e-03 5.16362944e-04 9.99970547e-01 3.24632902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.790714057 meters Centerline goodness [0,1] 0.9513000044597065 Centerline is valid? [True, True] Translation: X:275.84, Y:-9.63, Z:3.25 [[ 9.99751357e-01 -2.05594928e-02 8.63317311e-03 2.75841105e+02] [ 2.05638247e-02 9.99788457e-01 -4.13299095e-04 -9.63391540e+00] [-8.62284960e-03 5.90727389e-04 9.99962648e-01 3.24822053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82071405700003 meters Centerline goodness [0,1] 0.9539941354185179 Centerline is valid? [True, True] Translation: X:275.87, Y:-9.63, Z:3.25 [[ 9.99709764e-01 -2.28558546e-02 7.61566702e-03 2.75872409e+02] [ 2.28592927e-02 9.99738626e-01 -3.64706710e-04 -9.63309015e+00] [-7.60534080e-03 5.38689620e-04 9.99970934e-01 3.24707458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.850714057 meters Centerline goodness [0,1] 0.9520999421012782 Centerline is valid? [True, True] Translation: X:275.90, Y:-9.64, Z:3.25 [[ 9.99690727e-01 -2.36870067e-02 7.57470545e-03 2.75902842e+02] [ 2.36904337e-02 9.99719276e-01 -3.63017754e-04 -9.63709847e+00] [-7.56398025e-03 5.42353540e-04 9.99971246e-01 3.24855097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88071405700003 meters Centerline goodness [0,1] 0.9552598678335417 Centerline is valid? [True, True] Translation: X:275.93, Y:-9.64, Z:3.25 [[ 9.99625026e-01 -2.65135816e-02 6.84371313e-03 2.75933816e+02] [ 2.65164475e-02 9.99648323e-01 -3.28339880e-04 -9.63806707e+00] [-6.83260089e-03 5.09687721e-04 9.99976528e-01 3.24732407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.910714057 meters Centerline goodness [0,1] 0.9523078634189746 Centerline is valid? [True, True] Translation: X:275.96, Y:-9.65, Z:3.25 [[ 9.99532469e-01 -3.00986984e-02 5.37693398e-03 2.75963193e+02] [ 3.01005155e-02 9.99546844e-01 -2.57314639e-04 -9.65002747e+00] [-5.36675255e-03 4.19042821e-04 9.99985511e-01 3.24842514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94071405700004 meters Centerline goodness [0,1] 0.9533196867212531 Centerline is valid? [True, True] Translation: X:276.00, Y:-9.65, Z:3.25 [[ 9.99511437e-01 -3.08964225e-02 4.72208422e-03 2.75995495e+02] [ 3.08978395e-02 9.99522522e-01 -2.27400805e-04 -9.64883590e+00] [-4.71280366e-03 3.73191905e-04 9.99988825e-01 3.24816373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.970714057 meters Centerline goodness [0,1] 0.9533196867212531 Centerline is valid? [True, True] Translation: X:276.03, Y:-9.65, Z:3.25 [[ 9.99514734e-01 -3.07895856e-02 4.72203744e-03 2.76028081e+02] [ 3.07910060e-02 9.99525818e-01 -2.28374175e-04 -9.65049267e+00] [-4.71276679e-03 3.73659636e-04 9.99988825e-01 3.24859037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.000714057 meters Centerline goodness [0,1] 0.9553316354777986 Centerline is valid? [True, True] Translation: X:276.06, Y:-9.66, Z:3.25 [[ 9.99419631e-01 -3.37780968e-02 4.40922748e-03 2.76057541e+02] [ 3.37793574e-02 9.99429292e-01 -2.11722162e-04 -9.65588010e+00] [-4.39955953e-03 3.60540156e-04 9.99990257e-01 3.25007076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.030714057 meters Centerline goodness [0,1] 0.9573478785711093 Centerline is valid? [True, True] Translation: X:276.09, Y:-9.66, Z:3.25 [[ 9.99361087e-01 -3.54080146e-02 4.86717057e-03 2.76088528e+02] [ 3.54095722e-02 9.99372857e-01 -2.34204719e-04 -9.65693667e+00] [-4.85582544e-03 4.06399511e-04 9.99988128e-01 3.25023571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.060714057 meters Centerline goodness [0,1] 0.9523809523809523 Centerline is valid? [True, True] Translation: X:276.12, Y:-9.67, Z:3.25 [[ 9.99367522e-01 -3.52111840e-02 4.97270491e-03 2.76119314e+02] [ 3.52128110e-02 9.99379808e-01 -2.39993228e-04 -9.67285873e+00] [-4.96117044e-03 4.14944356e-04 9.99987607e-01 3.25455823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.090714057 meters Centerline goodness [0,1] 0.9565985026259918 Centerline is valid? [True, True] Translation: X:276.15, Y:-9.65, Z:3.25 [[ 9.99411950e-01 -3.41150139e-02 3.45252182e-03 2.76151677e+02] [ 3.41157921e-02 9.99417873e-01 -1.66745510e-04 -9.65189962e+00] [-3.44482349e-03 2.84432972e-04 9.99994026e-01 3.25145660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.120714057 meters Centerline goodness [0,1] 0.9573919670073516 Centerline is valid? [True, True] Translation: X:276.18, Y:-9.65, Z:3.25 [[ 9.99448236e-01 -3.30319713e-02 3.48042537e-03 2.76183775e+02] [ 3.30327580e-02 9.99454255e-01 -1.68787826e-04 -9.65250636e+00] [-3.47295056e-03 2.83662744e-04 9.99993929e-01 3.25291780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.150714057 meters Centerline goodness [0,1] 0.958003665459747 Centerline is valid? [True, True] Translation: X:276.22, Y:-9.65, Z:3.25 [[ 9.99470688e-01 -3.22593451e-02 4.20459100e-03 2.76215682e+02] [ 3.22604869e-02 9.99479474e-01 -2.04015657e-04 -9.65312921e+00] [-4.19582099e-03 3.39549822e-04 9.99991140e-01 3.25419380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.180714057 meters Centerline goodness [0,1] 0.9585971529929498 Centerline is valid? [True, True] Translation: X:276.25, Y:-9.65, Z:3.25 [[ 9.99441552e-01 -3.33238280e-02 2.47134209e-03 2.76248199e+02] [ 3.33242271e-02 9.99444586e-01 -1.20466840e-04 -9.65498327e+00] [-2.46595505e-03 2.02755131e-04 9.99996939e-01 3.25373812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.210714057 meters Centerline goodness [0,1] 0.9508595668676044 Centerline is valid? [True, True] Translation: X:276.28, Y:-9.68, Z:3.26 [[ 9.99406958e-01 -3.42977689e-02 3.06526307e-03 2.76277884e+02] [ 3.42983856e-02 9.99411626e-01 -1.48841588e-04 -9.67716375e+00] [-3.05835462e-03 2.53886893e-04 9.99995291e-01 3.25758883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.240714057 meters Centerline goodness [0,1] 0.9445374400178551 Centerline is valid? [True, False] Translation: X:276.28, Y:-9.68, Z:3.26 [[ 9.99503799e-01 -3.13733269e-02 2.80546841e-03 2.76278387e+02] [ 3.13624505e-02 9.99500700e-01 3.84027033e-03 -9.67769051e+00] [-2.92454969e-03 -3.75037842e-03 9.99988691e-01 3.25672928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.270714057 meters Centerline goodness [0,1] 0.9361692640403094 Centerline is valid? [False, False] Translation: X:276.28, Y:-9.68, Z:3.26 [[ 9.99507076e-01 -3.12964158e-02 2.47784399e-03 2.76279329e+02] [ 3.12865981e-02 9.99502821e-01 3.90647688e-03 -9.67699517e+00] [-2.59887078e-03 -3.82702797e-03 9.99989300e-01 3.25622222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.300714057 meters Centerline goodness [0,1] 0.9581502219644411 Centerline is valid? [False, True] Translation: X:276.28, Y:-9.68, Z:3.26 [[ 9.99491882e-01 -3.17989294e-02 2.19236034e-03 2.76279884e+02] [ 3.17915087e-02 9.99488940e-01 3.34038453e-03 -9.67548395e+00] [-2.29746056e-03 -3.26898878e-03 9.99992018e-01 3.25623895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.330714057 meters Centerline goodness [0,1] 0.9566910733759153 Centerline is valid? [True, True] Translation: X:276.31, Y:-9.67, Z:3.26 [[ 9.99463382e-01 -3.27466343e-02 7.78767259e-04 2.76311998e+02] [ 3.27466791e-02 9.99463683e-01 -4.48392588e-05 -9.67114190e+00] [-7.76881258e-04 7.03172387e-05 9.99999696e-01 3.25646252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.360714057 meters Centerline goodness [0,1] 0.9563099202181152 Centerline is valid? [True, True] Translation: X:276.34, Y:-9.68, Z:3.26 [[ 9.99445494e-01 -3.32863497e-02 8.50892737e-04 2.76343148e+02] [ 3.32864034e-02 9.99445853e-01 -4.89805014e-05 -9.67742667e+00] [-8.48790836e-04 7.72765003e-05 9.99999637e-01 3.25721058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.390714057 meters Centerline goodness [0,1] 0.9553595415062237 Centerline is valid? [True, True] Translation: X:276.38, Y:-9.67, Z:3.26 [[ 9.99485630e-01 -3.20685989e-02 2.84486512e-04 2.76375259e+02] [ 3.20686049e-02 9.99485670e-01 -1.67607326e-05 -9.67121040e+00] [-2.83802699e-04 2.58751970e-05 9.99999959e-01 3.25833756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.420714057 meters Centerline goodness [0,1] 0.9541727932985786 Centerline is valid? [True, True] Translation: X:276.41, Y:-9.68, Z:3.26 [[ 9.99525565e-01 -3.07850316e-02 9.63185486e-04 2.76405247e+02] [ 3.07850988e-02 9.99526025e-01 -5.50710026e-05 -9.67613687e+00] [-9.61033598e-04 8.46966353e-05 9.99999535e-01 3.25971795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.450714057 meters Centerline goodness [0,1] 0.9573285101822079 Centerline is valid? [True, True] Translation: X:276.44, Y:-9.67, Z:3.26 [[ 9.99571316e-01 -2.92595343e-02 1.03176210e-03 2.76436849e+02] [ 2.92596109e-02 9.99571844e-01 -5.91975076e-05 -9.67055915e+00] [-1.02958825e-03 8.93610881e-05 9.99999466e-01 3.26013241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.480714057 meters Centerline goodness [0,1] 0.9560073358382537 Centerline is valid? [True, True] Translation: X:276.47, Y:-9.67, Z:3.26 [[ 9.99646490e-01 -2.65862077e-02 -2.61543393e-04 2.76468098e+02] [ 2.65862124e-02 9.99646524e-01 1.47755768e-05 -9.66791233e+00] [ 2.61058117e-04 -2.17238017e-05 9.99999966e-01 3.25962249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51071405700003 meters Centerline goodness [0,1] 0.95554809091927 Centerline is valid? [True, True] Translation: X:276.50, Y:-9.67, Z:3.26 [[ 9.99684876e-01 -2.50626854e-02 -1.41821732e-03 2.76500168e+02] [ 2.50628244e-02 9.99685875e-01 8.03529802e-05 -9.66820542e+00] [ 1.41575796e-03 -1.15872191e-04 9.99998991e-01 3.26004227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.540714057 meters Centerline goodness [0,1] 0.9568586293906169 Centerline is valid? [True, True] Translation: X:276.53, Y:-9.67, Z:3.26 [[ 9.99732588e-01 -2.30925211e-02 -1.22009896e-03 2.76530457e+02] [ 2.30926230e-02 9.99733327e-01 6.95038993e-05 -9.66923894e+00] [ 1.21816857e-03 -9.76605983e-05 9.99999253e-01 3.26052983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57071405700003 meters Centerline goodness [0,1] 0.9568977104708992 Centerline is valid? [True, True] Translation: X:276.56, Y:-9.67, Z:3.26 [[ 9.99768224e-01 -2.14930078e-02 -1.24447989e-03 2.76562577e+02] [ 2.14931122e-02 9.99768994e-01 7.05741787e-05 -9.66554721e+00] [ 1.24267555e-03 -9.73055672e-05 9.99999223e-01 3.26124247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.600714057 meters Centerline goodness [0,1] 0.9593645110763034 Centerline is valid? [True, True] Translation: X:276.59, Y:-9.66, Z:3.26 [[ 9.99775343e-01 -2.11356833e-02 -1.59596448e-03 2.76594788e+02] [ 2.11358548e-02 9.99776609e-01 9.06072779e-05 -9.66235945e+00] [ 1.59369291e-03 -1.24318996e-04 9.99998722e-01 3.26079744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63071405700003 meters Centerline goodness [0,1] 0.959632329919041 Centerline is valid? [True, True] Translation: X:276.62, Y:-9.66, Z:3.26 [[ 9.99834338e-01 -1.81483045e-02 -1.39132131e-03 2.76624625e+02] [ 1.81484328e-02 9.99835300e-01 7.96318282e-05 -9.66183259e+00] [ 1.38964698e-03 -1.04868937e-04 9.99999029e-01 3.26287712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.660714057 meters Centerline goodness [0,1] 0.9585647064070828 Centerline is valid? [True, True] Translation: X:276.66, Y:-9.66, Z:3.26 [[ 9.99845870e-01 -1.74620668e-02 -1.82006680e-03 2.76656675e+02] [ 1.74622841e-02 9.99847517e-01 1.03567922e-04 -9.66238819e+00] [ 1.81798077e-03 -1.35334482e-04 9.99998338e-01 3.26374229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69071405700004 meters Centerline goodness [0,1] 0.9600250402432481 Centerline is valid? [True, True] Translation: X:276.69, Y:-9.67, Z:3.26 [[ 9.99843704e-01 -1.75691632e-02 -1.97292854e-03 2.76687910e+02] [ 1.75694194e-02 9.99845639e-01 1.12617718e-04 -9.66879128e+00] [ 1.97064540e-03 -1.47263326e-04 9.99998047e-01 3.26453271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.720714057 meters Centerline goodness [0,1] 0.9578475736162814 Centerline is valid? [True, True] Translation: X:276.72, Y:-9.67, Z:3.26 [[ 9.99833983e-01 -1.77927048e-02 -3.92753486e-03 2.76719063e+02] [ 1.77937250e-02 9.99841654e-01 2.24949263e-04 -9.67489629e+00] [ 3.92291049e-03 -2.94797393e-04 9.99992262e-01 3.26370603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.750714057 meters Centerline goodness [0,1] 0.9612691025440225 Centerline is valid? [True, True] Translation: X:276.75, Y:-9.67, Z:3.26 [[ 9.99797005e-01 -1.96595406e-02 -4.41037752e-03 2.76750488e+02] [ 1.96608472e-02 9.99806675e-01 2.53091044e-04 -9.67055929e+00] [ 4.40454923e-03 -3.39751426e-04 9.99990242e-01 3.26241480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.780714057 meters Centerline goodness [0,1] 0.9588353413654619 Centerline is valid? [True, True] Translation: X:276.78, Y:-9.68, Z:3.26 [[ 9.99759002e-01 -2.11629555e-02 -5.83665864e-03 2.76780605e+02] [ 2.11652702e-02 9.99775934e-01 3.35098748e-04 -9.67671717e+00] [ 5.82825916e-03 -4.58552448e-04 9.99982910e-01 3.26451205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.810714057 meters Centerline goodness [0,1] 0.9603608039751108 Centerline is valid? [True, True] Translation: X:276.81, Y:-9.67, Z:3.26 [[ 9.99723938e-01 -2.27174838e-02 -5.99700457e-03 2.76812190e+02] [ 2.27199554e-02 9.99741809e-01 3.44337388e-04 -9.67449658e+00] [ 5.98763372e-03 -4.80494006e-04 9.99981959e-01 3.26471030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.840714057 meters Centerline goodness [0,1] 0.9593888218737434 Centerline is valid? [True, True] Translation: X:276.84, Y:-9.68, Z:3.27 [[ 9.99712694e-01 -2.31882242e-02 -6.06923253e-03 2.76843741e+02] [ 2.31907657e-02 9.99730997e-01 3.48699133e-04 -9.67706137e+00] [ 6.05951417e-03 -4.89349100e-04 9.99981521e-01 3.26511686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.870714057 meters Centerline goodness [0,1] 0.9594443700031265 Centerline is valid? [True, True] Translation: X:276.87, Y:-9.68, Z:3.27 [[ 9.99672367e-01 -2.47467581e-02 -6.53885506e-03 2.76873556e+02] [ 2.47497437e-02 9.99693607e-01 3.76065707e-04 -9.68202504e+00] [ 6.52754520e-03 -5.37777483e-04 9.99978551e-01 3.26606169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.900714057 meters Centerline goodness [0,1] 0.9582218058529621 Centerline is valid? [True, True] Translation: X:276.90, Y:-9.69, Z:3.27 [[ 9.99694347e-01 -2.40278165e-02 -5.82029869e-03 2.76903896e+02] [ 2.40301694e-02 9.99711178e-01 3.34663107e-04 -9.68522097e+00] [ 5.81057644e-03 -4.74423580e-04 9.99983006e-01 3.26754200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.930714057 meters Centerline goodness [0,1] 0.9584502963061979 Centerline is valid? [True, True] Translation: X:276.94, Y:-9.69, Z:3.27 [[ 9.99666302e-01 -2.49432553e-02 -6.71697496e-03 2.76935283e+02] [ 2.49464102e-02 9.99688715e-01 3.86301048e-04 -9.68758456e+00] [ 6.70524846e-03 -5.53736553e-04 9.99977366e-01 3.26844558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.960714057 meters Centerline goodness [0,1] 0.9558613295210865 Centerline is valid? [True, True] Translation: X:276.97, Y:-9.69, Z:3.27 [[ 9.99646732e-01 -2.57971905e-02 -6.39659324e-03 2.76965024e+02] [ 2.58000711e-02 9.99667055e-01 3.68206920e-04 -9.68976786e+00] [ 6.38496483e-03 -5.33109405e-04 9.99979474e-01 3.27024636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.990714057 meters Centerline goodness [0,1] 0.9558147834232948 Centerline is valid? [True, True] Translation: X:277.00, Y:-9.69, Z:3.27 [[ 9.99648141e-01 -2.57759532e-02 -6.26054005e-03 2.76995808e+02] [ 2.57787113e-02 9.99667609e-01 3.60239253e-04 -9.69165691e+00] [ 6.24917359e-03 -5.21501153e-04 9.99980338e-01 3.27234516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.020714057 meters Centerline goodness [0,1] 0.9570000446289106 Centerline is valid? [True, True] Translation: X:277.03, Y:-9.69, Z:3.27 [[ 9.99585813e-01 -2.80602888e-02 -6.38927009e-03 2.77027369e+02] [ 2.80632092e-02 9.99606083e-01 3.67863819e-04 -9.69127451e+00] [ 6.37643088e-03 -5.47014878e-04 9.99979521e-01 3.27216663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.050714057 meters Centerline goodness [0,1] 0.9516172146484897 Centerline is valid? [True, True] Translation: X:277.06, Y:-9.70, Z:3.27 [[ 9.99553942e-01 -2.90128935e-02 -7.08297964e-03 2.77057076e+02] [ 2.90165085e-02 9.99578849e-01 4.08136759e-04 -9.70018367e+00] [ 7.06815541e-03 -6.13478046e-04 9.99974832e-01 3.27170342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.080714057 meters Centerline goodness [0,1] 0.956552770095459 Centerline is valid? [True, True] Translation: X:277.09, Y:-9.70, Z:3.27 [[ 9.99549922e-01 -2.90248319e-02 -7.58376633e-03 2.77088425e+02] [ 2.90289773e-02 9.99578475e-01 4.37085496e-04 -9.69854311e+00] [ 7.56788325e-03 -6.57037754e-04 9.99971147e-01 3.27142468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.110714057 meters Centerline goodness [0,1] 0.8464989150392255 Centerline is valid? [True, False] Translation: X:277.14, Y:-9.70, Z:3.27 [[ 9.99480387e-01 -3.13012275e-02 -7.69340704e-03 2.77135943e+02] [ 3.12629769e-02 9.99498472e-01 -5.04285977e-03 -9.69850992e+00] [ 7.84739628e-03 4.79972063e-03 9.99957690e-01 3.27310596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.140714057 meters Centerline goodness [0,1] 0.9470301763437035 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.70, Z:3.27 [[ 9.99472031e-01 -3.09745888e-02 -9.80991616e-03 2.77058407e+02] [ 3.09726244e-02 9.99520171e-01 -3.52140962e-04 -9.69627083e+00] [ 9.81611650e-03 4.81161941e-05 9.99951820e-01 3.27281565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.170714057 meters Centerline goodness [0,1] 0.9392371475953566 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.70, Z:3.27 [[ 9.99470857e-01 -3.08711608e-02 -1.02458089e-02 2.77059435e+02] [ 3.08694635e-02 9.99523372e-01 -3.23795802e-04 -9.69586546e+00] [ 1.02509214e-02 7.34184349e-06 9.99947458e-01 3.27270834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.200714057 meters Centerline goodness [0,1] 0.9253319076895661 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.70, Z:3.27 [[ 9.99468066e-01 -3.09730010e-02 -1.02106935e-02 2.77059286e+02] [ 3.09735569e-02 9.99520199e-01 -1.03717952e-04 -9.69624865e+00] [ 1.02090069e-02 -2.12598716e-04 9.99947864e-01 3.27274326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.230714057 meters Centerline goodness [0,1] 0.9384150540978872 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.70, Z:3.27 [[ 9.99471392e-01 -3.08369668e-02 -1.02964698e-02 2.77059582e+02] [ 3.08415009e-02 9.99524248e-01 2.81829159e-04 -9.69698067e+00] [ 1.02828805e-02 -5.99238765e-04 9.99946950e-01 3.27257684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26071405700003 meters Centerline goodness [0,1] 0.8980611633020188 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.70, Z:3.27 [[ 9.99475619e-01 -3.06683005e-02 -1.03895660e-02 2.77060057e+02] [ 3.06774059e-02 9.99529080e-01 7.18136749e-04 -9.69762989e+00] [ 1.03626493e-02 -1.03648510e-03 9.99945769e-01 3.27216074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.290714057 meters Centerline goodness [0,1] 0.8825916347097119 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.70, Z:3.27 [[ 9.99545338e-01 -2.83469720e-02 -1.02745781e-02 2.77060160e+02] [ 2.83914779e-02 9.99588007e-01 4.21196564e-03 -9.69894483e+00] [ 1.01509486e-02 -4.50176108e-03 9.99938344e-01 3.27085000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32071405700003 meters Centerline goodness [0,1] 0.8465682673256306 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.70, Z:3.27 [[ 9.99546029e-01 -2.82386750e-02 -1.05030524e-02 2.77060838e+02] [ 2.82854515e-02 9.99590500e-01 4.33202222e-03 -9.69877572e+00] [ 1.03764208e-02 -4.62713919e-03 9.99935458e-01 3.27055671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.350714057 meters Centerline goodness [0,1] 0.9439746536067293 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.70, Z:3.27 [[ 9.99535369e-01 -2.86135295e-02 -1.05029898e-02 2.77060601e+02] [ 2.86549022e-02 9.99582103e-01 3.80998097e-03 -9.69758036e+00] [ 1.03895837e-02 -4.10917288e-03 9.99937584e-01 3.27096972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38071405700003 meters Centerline goodness [0,1] 0.8029052124241343 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.70, Z:3.27 [[ 9.99540006e-01 -2.84607105e-02 -1.04768549e-02 2.77060898e+02] [ 2.85059473e-02 9.99584824e-01 4.19404602e-03 -9.69799017e+00] [ 1.03531396e-02 -4.49076946e-03 9.99936321e-01 3.27049480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.410714057 meters Centerline goodness [0,1] 0.7971410786536837 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.70, Z:3.27 [[ 9.99549318e-01 -2.80457472e-02 -1.07049945e-02 2.77061741e+02] [ 2.80983257e-02 9.99593672e-01 4.79316435e-03 -9.69880569e+00] [ 1.05662168e-02 -5.09179658e-03 9.99931212e-01 3.26998856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44071405700004 meters Centerline goodness [0,1] 0.8521603215362287 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.70, Z:3.27 [[ 9.99554647e-01 -2.78511600e-02 -1.07154657e-02 2.77062299e+02] [ 2.79062459e-02 9.99597909e-01 5.02604293e-03 -9.69861008e+00] [ 1.05711759e-02 -5.32283298e-03 9.99929956e-01 3.26927290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.470714057 meters Centerline goodness [0,1] 0.7414818941504178 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.70, Z:3.27 [[ 9.99559993e-01 -2.75695214e-02 -1.09426880e-02 2.77063092e+02] [ 2.76243603e-02 9.99606402e-01 4.89233297e-03 -9.69728398e+00] [ 1.08035017e-02 -5.19246507e-03 9.99928159e-01 3.26899064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.500714057 meters Centerline goodness [0,1] 0.7302706441464557 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.70, Z:3.27 [[ 9.99642317e-01 -2.44359343e-02 -1.08684390e-02 2.77062368e+02] [ 2.45211345e-02 9.99669067e-01 7.77628202e-03 -9.69507874e+00] [ 1.06748216e-02 -8.04000703e-03 9.99910699e-01 3.26942878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.530714057 meters Centerline goodness [0,1] 0.7162981016479216 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.69, Z:3.27 [[ 9.99647162e-01 -2.41726570e-02 -1.10106818e-02 2.77062812e+02] [ 2.42580694e-02 9.99676146e-01 7.69086565e-03 -9.69409470e+00] [ 1.08212073e-02 -7.95524990e-03 9.99909804e-01 3.26937961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.560714057 meters Centerline goodness [0,1] 0.9445465137121348 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.69, Z:3.27 [[ 9.99651027e-01 -2.39881866e-02 -1.10630394e-02 2.77062960e+02] [ 2.40739659e-02 9.99680628e-01 7.68679347e-03 -9.69378549e+00] [ 1.08751140e-02 -7.95044223e-03 9.99909257e-01 3.26948354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.590714057 meters Centerline goodness [0,1] 0.7063019948117005 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.69, Z:3.27 [[ 9.99655707e-01 -2.38368170e-02 -1.09669358e-02 2.77062981e+02] [ 2.39204800e-02 9.99685265e-01 7.56179208e-03 -9.69286427e+00] [ 1.07832350e-02 -7.82152297e-03 9.99911269e-01 3.26936498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.620714057 meters Centerline goodness [0,1] 0.9428238823345049 Centerline is valid? [False, False] Translation: X:277.06, Y:-9.69, Z:3.27 [[ 9.99656788e-01 -2.37045616e-02 -1.11534749e-02 2.77063658e+02] [ 2.37883445e-02 9.99689332e-01 7.44006924e-03 -9.69196699e+00] [ 1.09736463e-02 -7.70283842e-03 9.99910119e-01 3.26901934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.650714057 meters Centerline goodness [0,1] 0.9347997034307668 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.69, Z:3.27 [[ 9.99665624e-01 -2.30589029e-02 -1.17015952e-02 2.77065911e+02] [ 2.31468239e-02 9.99704432e-01 7.43460444e-03 -9.68926615e+00] [ 1.15267027e-02 -7.70297325e-03 9.99903895e-01 3.26761934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.680714057 meters Centerline goodness [0,1] 0.939085608806249 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.69, Z:3.27 [[ 9.99666311e-01 -2.29422985e-02 -1.18708516e-02 2.77066451e+02] [ 2.30269704e-02 9.99710015e-01 7.04591611e-03 -9.68751491e+00] [ 1.17057597e-02 -7.31691471e-03 9.99904714e-01 3.26752967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.710714057 meters Centerline goodness [0,1] 0.9327475498479216 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.69, Z:3.27 [[ 9.99676844e-01 -2.24102903e-02 -1.19994208e-02 2.77067173e+02] [ 2.24928503e-02 9.99723945e-01 6.79014794e-03 -9.68521670e+00] [ 1.18439391e-02 -7.05785484e-03 9.99904949e-01 3.26727220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.740714057 meters Centerline goodness [0,1] 0.9236295065774704 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.68, Z:3.27 [[ 9.99683289e-01 -2.21478746e-02 -1.19496058e-02 2.77067302e+02] [ 2.22288964e-02 9.99730520e-01 6.69059929e-03 -9.68412315e+00] [ 1.17982031e-02 -6.95410685e-03 9.99906217e-01 3.26720936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.770714057 meters Centerline goodness [0,1] 0.933577758783571 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.68, Z:3.27 [[ 9.99683016e-01 -2.20923206e-02 -1.20746502e-02 2.77067534e+02] [ 2.21671715e-02 9.99735664e-01 6.10071317e-03 -9.68216615e+00] [ 1.19366795e-02 -6.36644018e-03 9.99908488e-01 3.26757575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.800714057 meters Centerline goodness [0,1] 0.9361285531024239 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.68, Z:3.27 [[ 9.99742836e-01 -1.91184593e-02 -1.21961930e-02 2.77067211e+02] [ 1.92231327e-02 9.99778884e-01 8.52374368e-03 -9.67919602e+00] [ 1.20305354e-02 -8.75600072e-03 9.99889293e-01 3.26812933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.830714057 meters Centerline goodness [0,1] 0.9353618197471566 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.68, Z:3.27 [[ 9.99741607e-01 -1.91207185e-02 -1.22929707e-02 2.77067436e+02] [ 1.92173123e-02 9.99784997e-01 7.78812431e-03 -9.67665277e+00] [ 1.21414131e-02 -8.02234977e-03 9.99894108e-01 3.26837331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.860714057 meters Centerline goodness [0,1] 0.9353618197471566 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.68, Z:3.27 [[ 9.99741607e-01 -1.91207185e-02 -1.22929707e-02 2.77067436e+02] [ 1.92173123e-02 9.99784997e-01 7.78812431e-03 -9.67665277e+00] [ 1.21414131e-02 -8.02234977e-03 9.99894108e-01 3.26837331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.890714057 meters Centerline goodness [0,1] 0.9115959449345701 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.67, Z:3.27 [[ 9.99794013e-01 -1.61432522e-02 -1.23015038e-02 2.77067066e+02] [ 1.62704009e-02 9.99814503e-01 1.03070051e-02 -9.67382010e+00] [ 1.21328333e-02 -1.05050324e-02 9.99871211e-01 3.26870483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.920714057 meters Centerline goodness [0,1] 0.9045782476518899 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.67, Z:3.27 [[ 9.99789773e-01 -1.62473383e-02 -1.25073339e-02 2.77067459e+02] [ 1.63656809e-02 9.99821713e-01 9.41837390e-03 -9.67119776e+00] [ 1.23520805e-02 -9.62108494e-03 9.99877423e-01 3.26898401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.950714057 meters Centerline goodness [0,1] 0.9442706207772185 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.67, Z:3.27 [[ 9.99788715e-01 -1.62731099e-02 -1.25583406e-02 2.77067673e+02] [ 1.63841687e-02 9.99827117e-01 8.79179607e-03 -9.66903481e+00] [ 1.24130996e-02 -8.99569646e-03 9.99882489e-01 3.26902973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.980714057 meters Centerline goodness [0,1] 0.9420250346441309 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.67, Z:3.27 [[ 9.99792638e-01 -1.57968295e-02 -1.28507480e-02 2.77068687e+02] [ 1.59009045e-02 9.99841269e-01 8.03729137e-03 -9.66523767e+00] [ 1.27217445e-02 -8.23996326e-03 9.99885124e-01 3.26891377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01071405700003 meters Centerline goodness [0,1] 0.9425386715195633 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.66, Z:3.27 [[ 9.99792480e-01 -1.57077587e-02 -1.29716145e-02 2.77069046e+02] [ 1.58057586e-02 9.99847047e-01 7.48730697e-03 -9.66307881e+00] [ 1.28520217e-02 -7.69077942e-03 9.99887832e-01 3.26896853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.040714057 meters Centerline goodness [0,1] 0.9346338124572211 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.66, Z:3.27 [[ 9.99791080e-01 -1.57707679e-02 -1.30030094e-02 2.77069152e+02] [ 1.58526640e-02 9.99854996e-01 6.21940093e-03 -9.65881024e+00] [ 1.29030392e-02 -6.42423391e-03 9.99896115e-01 3.26935449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07071405700003 meters Centerline goodness [0,1] 0.9429675177726473 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.66, Z:3.27 [[ 9.99789216e-01 -1.56519737e-02 -1.32868055e-02 2.77069783e+02] [ 1.57294753e-02 9.99859759e-01 5.74864302e-03 -9.65677953e+00] [ 1.31949645e-02 -5.95642578e-03 9.99895201e-01 3.26950287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.100714057 meters Centerline goodness [0,1] 0.9377487078625989 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.66, Z:3.27 [[ 9.99789093e-01 -1.55217830e-02 -1.34478261e-02 2.77070141e+02] [ 1.55954618e-02 9.99863848e-01 5.39142855e-03 -9.65515455e+00] [ 1.33623106e-02 -5.60001652e-03 9.99895039e-01 3.26968824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13071405700003 meters Centerline goodness [0,1] 0.9201331496786043 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.65, Z:3.27 [[ 9.99786013e-01 -1.57829315e-02 -1.33726166e-02 2.77069827e+02] [ 1.58431880e-02 9.99864754e-01 4.41206730e-03 -9.65234315e+00] [ 1.33011727e-02 -4.62298805e-03 9.99900848e-01 3.27025705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.160714057 meters Centerline goodness [0,1] 0.9248166819431713 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.65, Z:3.27 [[ 9.99788947e-01 -1.56645655e-02 -1.32922258e-02 2.77070125e+02] [ 1.57228876e-02 9.99867165e-01 4.29458231e-03 -9.65127173e+00] [ 1.32231874e-02 -4.50266810e-03 9.99902432e-01 3.26987500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19071405700004 meters Centerline goodness [0,1] 0.9160314080992605 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.65, Z:3.27 [[ 9.99790864e-01 -1.56528414e-02 -1.31612181e-02 2.77070053e+02] [ 1.57111583e-02 9.99867156e-01 4.33930698e-03 -9.65116372e+00] [ 1.30915472e-02 -4.54517745e-03 9.99903972e-01 3.26966832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.220714057 meters Centerline goodness [0,1] 0.9445336882687718 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.65, Z:3.27 [[ 9.99791715e-01 -1.55514044e-02 -1.32166649e-02 2.77070233e+02] [ 1.56100893e-02 9.99868698e-01 4.34870740e-03 -9.65083821e+00] [ 1.31473010e-02 -4.55411495e-03 9.99903200e-01 3.26964907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.250714057 meters Centerline goodness [0,1] 0.9485994204498414 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.65, Z:3.27 [[ 9.99790710e-01 -1.57255054e-02 -1.30860398e-02 2.77070102e+02] [ 1.57779600e-02 9.99867856e-01 3.91489948e-03 -9.64942621e+00] [ 1.30227467e-02 -4.12055114e-03 9.99906710e-01 3.26969427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.280714057 meters Centerline goodness [0,1] 0.94593227741891 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.65, Z:3.27 [[ 9.99791689e-01 -1.55836658e-02 -1.31806264e-02 2.77070412e+02] [ 1.56378987e-02 9.99869633e-01 4.02158411e-03 -9.64924518e+00] [ 1.31162370e-02 -4.22686367e-03 9.99905044e-01 3.26959143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.310714057 meters Centerline goodness [0,1] 0.9170592038422463 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.65, Z:3.27 [[ 9.99792780e-01 -1.56404098e-02 -1.30297963e-02 2.77069978e+02] [ 1.56920102e-02 9.99869393e-01 3.86740358e-03 -9.64893722e+00] [ 1.29676067e-02 -4.07106588e-03 9.99907630e-01 3.26990671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.340714057 meters Centerline goodness [0,1] 0.8594059862565143 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.65, Z:3.27 [[ 9.99795140e-01 -1.54272847e-02 -1.31025334e-02 2.77070194e+02] [ 1.54822571e-02 9.99871718e-01 4.10453053e-03 -9.64911918e+00] [ 1.30375308e-02 -4.30654647e-03 9.99905734e-01 3.26985006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.370714057 meters Centerline goodness [0,1] 0.9573795458741 Centerline is valid? [False, True] Translation: X:277.07, Y:-9.65, Z:3.27 [[ 9.99799272e-01 -1.50793682e-02 -1.31920144e-02 2.77070511e+02] [ 1.51390673e-02 9.99875552e-01 4.43729272e-03 -9.64937341e+00] [ 1.31234611e-02 -4.63611682e-03 9.99903136e-01 3.26982751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.400714057 meters Centerline goodness [0,1] 0.8429263789522271 Centerline is valid? [True, False] Translation: X:277.07, Y:-9.65, Z:3.27 [[ 9.99801615e-01 -1.48465871e-02 -1.32781339e-02 2.77070845e+02] [ 1.49067379e-02 9.99879019e-01 4.44262089e-03 -9.64897236e+00] [ 1.32105697e-02 -4.63967320e-03 9.99901972e-01 3.26976830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.430714057 meters Centerline goodness [0,1] 0.8375942276216602 Centerline is valid? [False, False] Translation: X:277.07, Y:-9.65, Z:3.27 [[ 9.99802665e-01 -1.46571043e-02 -1.34089692e-02 2.77071274e+02] [ 1.47196974e-02 9.99881164e-01 4.58127369e-03 -9.64882428e+00] [ 1.33402275e-02 -4.77774562e-03 9.99899601e-01 3.26955166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.460714057 meters Centerline goodness [0,1] 0.9611580941818014 Centerline is valid? [False, True] Translation: X:277.07, Y:-9.65, Z:3.27 [[ 9.99811089e-01 -1.42098227e-02 -1.32614939e-02 2.77070979e+02] [ 1.42747120e-02 9.99886536e-01 4.81129804e-03 -9.64897859e+00] [ 1.31916215e-02 -4.99969314e-03 9.99900487e-01 3.26994038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.490714057 meters Centerline goodness [0,1] 0.9590124141757403 Centerline is valid? [True, True] Translation: X:277.10, Y:-9.65, Z:3.27 [[ 9.99841599e-01 -1.30337090e-02 -1.21201743e-02 2.77099439e+02] [ 1.30455127e-02 9.99914503e-01 8.95334794e-04 -9.65161623e+00] [ 1.21074685e-02 -1.05330686e-03 9.99926147e-01 3.27211115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.520714057 meters Centerline goodness [0,1] 0.9589060049810904 Centerline is valid? [True, True] Translation: X:277.13, Y:-9.65, Z:3.27 [[ 9.99892591e-01 -1.03203538e-02 -1.04065455e-02 2.77130316e+02] [ 1.03289053e-02 9.99946360e-01 7.68325880e-04 -9.65214573e+00] [ 1.03980579e-02 -8.75731578e-04 9.99945555e-01 3.27390304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.550714057 meters Centerline goodness [0,1] 0.9627185899506299 Centerline is valid? [True, True] Translation: X:277.16, Y:-9.65, Z:3.28 [[ 9.99922975e-01 -8.27877874e-03 -9.24696250e-03 2.77160690e+02] [ 8.28544352e-03 9.99965442e-01 6.82677255e-04 -9.64902672e+00] [ 9.24099121e-03 -7.59239857e-04 9.99957013e-01 3.27544635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.580714057 meters Centerline goodness [0,1] 0.9637274595368382 Centerline is valid? [True, True] Translation: X:277.19, Y:-9.65, Z:3.28 [[ 9.99946511e-01 -5.71157708e-03 -8.62280131e-03 2.77190497e+02] [ 5.71727410e-03 9.99983454e-01 6.36187002e-04 -9.65059348e+00] [ 8.61902501e-03 -6.85451892e-04 9.99962621e-01 3.27614521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.610714057 meters Centerline goodness [0,1] 0.9637335545263934 Centerline is valid? [True, True] Translation: X:277.22, Y:-9.65, Z:3.28 [[ 9.99971819e-01 -1.13195413e-04 -7.50661193e-03 2.77220158e+02] [ 1.17355139e-04 9.99999840e-01 5.53703364e-04 -9.65218402e+00] [ 7.50654805e-03 -5.54568699e-04 9.99971672e-01 3.27703467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.640714057 meters Centerline goodness [0,1] 0.9644234989719778 Centerline is valid? [True, True] Translation: X:277.25, Y:-9.65, Z:3.28 [[ 9.99971162e-01 2.77818797e-03 -7.06808413e-03 2.77250705e+02] [-2.77457202e-03 9.99996015e-01 5.21342051e-04 -9.65109895e+00] [ 7.06950435e-03 -5.01716108e-04 9.99974885e-01 3.27725080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.670714057 meters Centerline goodness [0,1] 0.9666890126910007 Centerline is valid? [True, True] Translation: X:277.28, Y:-9.65, Z:3.28 [[ 9.99924190e-01 9.84750486e-03 -7.39190298e-03 2.77280154e+02] [-9.84374325e-03 9.99951401e-01 5.45093547e-04 -9.65100813e+00] [ 7.39691155e-03 -4.72288229e-04 9.99972531e-01 3.27674371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.700714057 meters Centerline goodness [0,1] 0.9674629419790486 Centerline is valid? [True, True] Translation: X:277.31, Y:-9.65, Z:3.28 [[ 9.99873248e-01 1.38425426e-02 -7.86588711e-03 2.77310097e+02] [-1.38384076e-02 9.99904077e-01 5.79870431e-04 -9.65215170e+00] [ 7.87315947e-03 -4.70945579e-04 9.99968895e-01 3.27562256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.730714057 meters Centerline goodness [0,1] 0.9699275863659426 Centerline is valid? [True, True] Translation: X:277.34, Y:-9.65, Z:3.28 [[ 9.99808231e-01 1.77367176e-02 -8.30123542e-03 2.77340109e+02] [-1.77322463e-02 9.99842584e-01 6.11921618e-04 -9.65104264e+00] [ 8.31078216e-03 -4.64604719e-04 9.99965357e-01 3.27512387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76071405700003 meters Centerline goodness [0,1] 0.9718306615072784 Centerline is valid? [True, True] Translation: X:277.37, Y:-9.65, Z:3.28 [[ 9.99618040e-01 2.59146193e-02 -9.60247351e-03 2.77369701e+02] [-2.59090152e-02 9.99664055e-01 7.07570376e-04 -9.65034803e+00] [ 9.61758402e-03 -4.58509479e-04 9.99953645e-01 3.27559922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.790714057 meters Centerline goodness [0,1] 0.9765271231863968 Centerline is valid? [True, True] Translation: X:277.40, Y:-9.65, Z:3.28 [[ 9.99394559e-01 3.35325740e-02 -9.27808101e-03 2.77400593e+02] [-3.35276711e-02 9.99437556e-01 6.83513740e-04 -9.64626819e+00] [ 9.29578258e-03 -3.72027463e-04 9.99956724e-01 3.27610104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82071405700003 meters Centerline goodness [0,1] 0.9762814903514024 Centerline is valid? [True, True] Translation: X:277.43, Y:-9.65, Z:3.28 [[ 9.99267314e-01 3.72955418e-02 -8.59527340e-03 2.77429668e+02] [-3.72914732e-02 9.99304230e-01 6.33195148e-04 -9.64934819e+00] [ 8.61290842e-03 -3.12200807e-04 9.99962859e-01 3.27708454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.850714057 meters Centerline goodness [0,1] 0.9774632276537281 Centerline is valid? [True, True] Translation: X:277.46, Y:-9.65, Z:3.28 [[ 9.99158409e-01 4.03296193e-02 -7.48301900e-03 2.77458696e+02] [-4.03266197e-02 9.99186399e-01 5.51373796e-04 -9.65078462e+00] [ 7.49916750e-03 -2.49144904e-04 9.99971850e-01 3.27735646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88071405700003 meters Centerline goodness [0,1] 0.973117118673346 Centerline is valid? [True, True] Translation: X:277.49, Y:-9.66, Z:3.28 [[ 9.98780473e-01 4.86160097e-02 -8.60525876e-03 2.77487487e+02] [-4.86123700e-02 9.98817520e-01 6.31749506e-04 -9.66490408e+00] [ 8.62579635e-03 -2.12657048e-04 9.99962775e-01 3.27753446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.910714057 meters Centerline goodness [0,1] 0.9798388027990116 Centerline is valid? [True, True] Translation: X:277.52, Y:-9.66, Z:3.28 [[ 9.98938500e-01 4.55758812e-02 -6.68666209e-03 2.77517120e+02] [-4.55736123e-02 9.98960862e-01 4.91382975e-04 -9.65508842e+00] [ 6.70210894e-03 -1.86126027e-04 9.99977523e-01 3.27682567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94071405700004 meters Centerline goodness [0,1] 0.9800123776560387 Centerline is valid? [True, True] Translation: X:277.54, Y:-9.66, Z:3.28 [[ 9.98920839e-01 4.60778847e-02 -5.82979693e-03 2.77544341e+02] [-4.60761783e-02 9.98937838e-01 4.26740204e-04 -9.66211393e+00] [ 5.84326803e-03 -1.57664920e-04 9.99982916e-01 3.27636058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.970714057 meters Centerline goodness [0,1] 0.9797266305843501 Centerline is valid? [True, True] Translation: X:277.57, Y:-9.67, Z:3.28 [[ 9.98987730e-01 4.45514699e-02 -6.21951490e-03 2.77572281e+02] [-4.45495019e-02 9.99007075e-01 4.54673813e-04 -9.66766504e+00] [ 6.23359577e-03 -1.77137270e-04 9.99980555e-01 3.27677361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.000714057 meters Centerline goodness [0,1] 0.9776273047536258 Centerline is valid? [True, True] Translation: X:277.60, Y:-9.67, Z:3.28 [[ 9.99080144e-01 4.24861309e-02 -5.81323159e-03 2.77600949e+02] [-4.24843797e-02 9.99097041e-01 4.24468274e-04 -9.67405612e+00] [ 5.82601650e-03 -1.77106286e-04 9.99983013e-01 3.27642368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.030714057 meters Centerline goodness [0,1] 0.9746896111009676 Centerline is valid? [True, True] Translation: X:277.63, Y:-9.69, Z:3.28 [[ 9.99262616e-01 3.78923352e-02 -6.19634950e-03 2.77629013e+02] [-3.78902604e-02 9.99281804e-01 4.51926158e-04 -9.68642846e+00] [ 6.20902385e-03 -2.16811619e-04 9.99980700e-01 3.27652426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.060714057 meters Centerline goodness [0,1] 0.9696265408891016 Centerline is valid? [True, True] Translation: X:277.66, Y:-9.70, Z:3.28 [[ 9.99362765e-01 3.52468592e-02 -5.63227829e-03 2.77657075e+02] [-3.52451045e-02 9.99378614e-01 4.10541692e-04 -9.69928726e+00] [ 5.64324878e-03 -2.11769844e-04 9.99984054e-01 3.27654087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.090714057 meters Centerline goodness [0,1] 0.9718098529110873 Centerline is valid? [True, True] Translation: X:277.69, Y:-9.70, Z:3.28 [[ 9.99566768e-01 2.89619277e-02 -5.24237379e-03 2.77687651e+02] [-2.89603234e-02 9.99580489e-01 3.81706128e-04 -9.70391840e+00] [ 5.25122950e-03 -2.29719920e-04 9.99986186e-01 3.27647504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.120714057 meters Centerline goodness [0,1] 0.9684272646798465 Centerline is valid? [True, True] Translation: X:277.72, Y:-9.71, Z:3.28 [[ 9.99635996e-01 2.65034717e-02 -5.04393875e-03 2.77715497e+02] [-2.65019544e-02 9.99648694e-01 3.67436193e-04 -9.71378177e+00] [ 5.05190512e-03 -2.33628210e-04 9.99987212e-01 3.27769908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.150714057 meters Centerline goodness [0,1] 0.9673507251623413 Centerline is valid? [True, True] Translation: X:277.75, Y:-9.72, Z:3.28 [[ 9.99763193e-01 2.11277346e-02 -5.21322554e-03 2.77745300e+02] [-2.11260433e-02 9.99776748e-01 3.79286460e-04 -9.72173028e+00] [ 5.22007514e-03 -2.69061813e-04 9.99986339e-01 3.27673764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.180714057 meters Centerline goodness [0,1] 0.9655211446164992 Centerline is valid? [True, True] Translation: X:277.77, Y:-9.73, Z:3.28 [[ 9.99809190e-01 1.85580944e-02 -6.09757665e-03 2.77774409e+02] [-1.85557325e-02 9.99827729e-01 4.43707502e-04 -9.72859439e+00] [ 6.10476058e-03 -3.30477837e-04 9.99981311e-01 3.27659479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.210714057 meters Centerline goodness [0,1] 0.9651196961819292 Centerline is valid? [True, True] Translation: X:277.80, Y:-9.74, Z:3.28 [[ 9.99884777e-01 1.36886459e-02 -6.56151785e-03 2.77804641e+02] [-1.36858085e-02 9.99906231e-01 4.77136124e-04 -9.73506434e+00] [ 6.56743394e-03 -3.87281470e-04 9.99978359e-01 3.27542902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.240714057 meters Centerline goodness [0,1] 0.965004512635379 Centerline is valid? [True, True] Translation: X:277.83, Y:-9.74, Z:3.28 [[ 9.99911276e-01 1.14250769e-02 -6.84893412e-03 2.77833578e+02] [-1.14219318e-02 9.99934644e-01 4.98141604e-04 -9.73873177e+00] [ 6.85417780e-03 -4.19869348e-04 9.99976422e-01 3.27581219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.270714057 meters Centerline goodness [0,1] 0.8055958633938973 Centerline is valid? [True, False] Translation: X:277.89, Y:-9.74, Z:3.28 [[ 9.99942697e-01 9.23351168e-03 -5.41709216e-03 2.77885504e+02] [-9.26908553e-03 9.99935398e-01 -6.57902893e-03 -9.74144903e+00] [ 5.35599467e-03 6.62886343e-03 9.99963685e-01 3.27607296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.300714057 meters Centerline goodness [0,1] 0.9636433218522771 Centerline is valid? [False, True] Translation: X:277.82, Y:-9.74, Z:3.27 [[ 9.99961559e-01 4.73491895e-03 -7.37975821e-03 2.77820965e+02] [-4.71416481e-03 9.99984892e-01 2.82716826e-03 -9.74373364e+00] [ 7.39303313e-03 -2.79227018e-03 9.99968773e-01 3.27451719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.330714057 meters Centerline goodness [0,1] 0.9615747819048476 Centerline is valid? [True, True] Translation: X:277.85, Y:-9.75, Z:3.28 [[ 9.99959285e-01 3.77972883e-03 -8.19398365e-03 2.77848092e+02] [-3.77508166e-03 9.99992705e-01 5.82536407e-04 -9.74846255e+00] [ 8.19612570e-03 -5.51579731e-04 9.99966259e-01 3.27556115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.360714057 meters Centerline goodness [0,1] 0.9611988586577995 Centerline is valid? [True, True] Translation: X:277.88, Y:-9.75, Z:3.27 [[ 9.99950478e-01 3.18932934e-03 -9.42707153e-03 2.77876431e+02] [-3.18316290e-03 9.99994710e-01 6.69052912e-04 -9.75240321e+00] [ 9.42915549e-03 -6.39011875e-04 9.99955340e-01 3.27421501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.390714057 meters Centerline goodness [0,1] 0.9612455348116196 Centerline is valid? [True, True] Translation: X:277.91, Y:-9.76, Z:3.27 [[ 9.99948825e-01 3.38985716e-03 -9.53186790e-03 2.77905506e+02] [-3.38356815e-03 9.99994047e-01 6.75835943e-04 -9.75631898e+00] [ 9.53410215e-03 -6.43549632e-04 9.99954342e-01 3.27374060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.420714057 meters Centerline goodness [0,1] 0.960020651881117 Centerline is valid? [True, True] Translation: X:277.93, Y:-9.76, Z:3.27 [[ 9.99944718e-01 3.98944361e-03 -9.72855524e-03 2.77933183e+02] [-3.98293320e-03 9.99991831e-01 6.88488759e-04 -9.76022426e+00] [ 9.73122245e-03 -6.49702513e-04 9.99952439e-01 3.27386341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.450714057 meters Centerline goodness [0,1] 0.9566687567180222 Centerline is valid? [True, True] Translation: X:277.96, Y:-9.77, Z:3.27 [[ 9.99924416e-01 5.43146258e-03 -1.10300637e-02 2.77960102e+02] [-5.42319248e-03 9.99984991e-01 7.79550146e-04 -9.76980966e+00] [ 1.10341322e-02 -7.19673066e-04 9.99938863e-01 3.27407616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.480714057 meters Centerline goodness [0,1] 0.9613682815623386 Centerline is valid? [True, True] Translation: X:277.99, Y:-9.76, Z:3.27 [[ 9.99907063e-01 5.67481097e-03 -1.23960551e-02 2.77989223e+02] [-5.66439765e-03 9.99983574e-01 8.74999398e-04 -9.76437980e+00] [ 1.24008170e-02 -8.04701893e-04 9.99922783e-01 3.27417234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51071405700003 meters Centerline goodness [0,1] 0.960503296999058 Centerline is valid? [True, True] Translation: X:278.02, Y:-9.77, Z:3.27 [[ 9.99894621e-01 6.85292384e-03 -1.27977940e-02 2.78017173e+02] [-6.84193342e-03 9.99976187e-01 9.02359955e-04 -9.76722219e+00] [ 1.28036731e-02 -8.14703211e-04 9.99917698e-01 3.27341931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.540714057 meters Centerline goodness [0,1] 0.9615583017471461 Centerline is valid? [True, True] Translation: X:278.05, Y:-9.77, Z:3.27 [[ 9.99889743e-01 7.70132558e-03 -1.26960864e-02 2.78045820e+02] [-7.69059283e-03 9.99970027e-01 8.93965115e-04 -9.76927920e+00] [ 1.27025905e-02 -7.96226119e-04 9.99919002e-01 3.27416471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57071405700003 meters Centerline goodness [0,1] 0.9607997127855316 Centerline is valid? [True, True] Translation: X:278.07, Y:-9.77, Z:3.28 [[ 9.99882780e-01 9.11243515e-03 -1.23040959e-02 2.78074938e+02] [-9.10247059e-03 9.99958197e-01 8.65616294e-04 -9.77061347e+00] [ 1.23114694e-02 -7.53517155e-04 9.99923927e-01 3.27507167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.600714057 meters Centerline goodness [0,1] 0.9621622832564183 Centerline is valid? [True, True] Translation: X:278.10, Y:-9.77, Z:3.28 [[ 9.99864710e-01 1.09924253e-02 -1.22363702e-02 2.78103305e+02] [-1.09827178e-02 9.99939318e-01 8.60253088e-04 -9.77144221e+00] [ 1.22450840e-02 -7.25748104e-04 9.99924763e-01 3.27648934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63071405700003 meters Centerline goodness [0,1] 0.9700217982426571 Centerline is valid? [True, True] Translation: X:278.13, Y:-9.76, Z:3.28 [[ 9.99797711e-01 1.56351085e-02 -1.26522584e-02 2.78134294e+02] [-1.56251066e-02 9.99877525e-01 8.88992849e-04 -9.75830534e+00] [ 1.26646083e-02 -6.91120130e-04 9.99919562e-01 3.27833627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.660714057 meters Centerline goodness [0,1] 0.9699720670391061 Centerline is valid? [True, True] Translation: X:278.16, Y:-9.76, Z:3.28 [[ 9.99692174e-01 2.07521960e-02 -1.35979578e-02 2.78163452e+02] [-2.07411165e-02 9.99784423e-01 9.55323273e-04 -9.76055535e+00] [ 1.36148514e-02 -6.72992372e-04 9.99907087e-01 3.27835708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69071405700004 meters Centerline goodness [0,1] 0.9730070749402912 Centerline is valid? [True, True] Translation: X:278.19, Y:-9.76, Z:3.28 [[ 9.99628866e-01 2.36569796e-02 -1.35084386e-02 2.78193572e+02] [-2.36463147e-02 9.99719937e-01 9.48692486e-04 -9.75750969e+00] [ 1.35270986e-02 -6.28915604e-04 9.99908307e-01 3.27893318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.720714057 meters Centerline goodness [0,1] 0.9690867775102932 Centerline is valid? [True, True] Translation: X:278.22, Y:-9.77, Z:3.28 [[ 9.99574124e-01 2.59035144e-02 -1.34379253e-02 2.78220926e+02] [-2.58931722e-02 9.99664271e-01 9.43073159e-04 -9.76808646e+00] [ 1.34578427e-02 -5.94721014e-04 9.99909262e-01 3.27796485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.750714057 meters Centerline goodness [0,1] 0.9690867775102932 Centerline is valid? [True, True] Translation: X:278.25, Y:-9.77, Z:3.28 [[ 9.99576543e-01 2.58099745e-02 -1.34380089e-02 2.78248365e+02] [-2.57996398e-02 9.99666690e-01 9.41880274e-04 -9.76990361e+00] [ 1.34578398e-02 -5.94785639e-04 9.99909262e-01 3.27823203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.780714057 meters Centerline goodness [0,1] 0.973482299098129 Centerline is valid? [True, True] Translation: X:278.28, Y:-9.76, Z:3.28 [[ 9.99506995e-01 2.85864663e-02 -1.29838976e-02 2.78279077e+02] [-2.85770644e-02 9.99591179e-01 9.09113777e-04 -9.76088628e+00] [ 1.30045779e-02 -5.37623900e-04 9.99915292e-01 3.27941236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.810714057 meters Centerline goodness [0,1] 0.9746082349243411 Centerline is valid? [True, True] Translation: X:278.31, Y:-9.76, Z:3.28 [[ 9.99390614e-01 3.24322254e-02 -1.29054630e-02 2.78308908e+02] [-3.24232604e-02 9.99473820e-01 9.03341588e-04 -9.75996560e+00] [ 1.29279697e-02 -4.84353918e-04 9.99916313e-01 3.28055047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.840714057 meters Centerline goodness [0,1] 0.9755184396368121 Centerline is valid? [True, True] Translation: X:278.34, Y:-9.76, Z:3.28 [[ 9.99333210e-01 3.43087279e-02 -1.24918570e-02 2.78337460e+02] [-3.43004813e-02 9.99411183e-01 8.73868880e-04 -9.76088279e+00] [ 1.25144829e-02 -4.44809485e-04 9.99921592e-01 3.28115988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.870714057 meters Centerline goodness [0,1] 0.9760358342665174 Centerline is valid? [True, True] Translation: X:278.37, Y:-9.76, Z:3.28 [[ 9.99248114e-01 3.66454933e-02 -1.26615438e-02 2.78365174e+02] [-3.66372204e-02 9.99328240e-01 8.84801334e-04 -9.76274503e+00] [ 1.26854623e-02 -4.20252292e-04 9.99919448e-01 3.28119864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.900714057 meters Centerline goodness [0,1] 0.9756622293935727 Centerline is valid? [True, True] Translation: X:278.39, Y:-9.77, Z:3.28 [[ 9.99215600e-01 3.77278757e-02 -1.20329668e-02 2.78392789e+02] [-3.77204953e-02 9.99287976e-01 8.39788166e-04 -9.76598307e+00] [ 1.20560824e-02 -3.85239970e-04 9.99927249e-01 3.28071386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.930714057 meters Centerline goodness [0,1] 0.9762774131403866 Centerline is valid? [True, True] Translation: X:278.42, Y:-9.77, Z:3.28 [[ 9.99207409e-01 3.78930636e-02 -1.21930386e-02 2.78420461e+02] [-3.78855155e-02 9.99281725e-01 8.49512101e-04 -9.77009012e+00] [ 1.22164713e-02 -3.86899232e-04 9.99925301e-01 3.28049657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.960714057 meters Centerline goodness [0,1] 0.9764429530201342 Centerline is valid? [True, True] Translation: X:278.45, Y:-9.77, Z:3.28 [[ 9.99211501e-01 3.75832984e-02 -1.28012734e-02 2.78449532e+02] [-3.75749669e-02 9.99293415e-01 8.90812262e-04 -9.77399368e+00] [ 1.28257079e-02 -4.09102431e-04 9.99917664e-01 3.28068590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.990714057 meters Centerline goodness [0,1] 0.9721054387721054 Centerline is valid? [True, True] Translation: X:278.48, Y:-9.78, Z:3.28 [[ 9.99243980e-01 3.67968333e-02 -1.25483887e-02 2.78477009e+02] [-3.67887787e-02 9.99322683e-01 8.72184857e-04 -9.78449150e+00] [ 1.25719831e-02 -4.09885573e-04 9.99920885e-01 3.28046724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.020714057 meters Centerline goodness [0,1] 0.9747523313281302 Centerline is valid? [True, True] Translation: X:278.51, Y:-9.78, Z:3.28 [[ 9.99356091e-01 3.39888158e-02 -1.14962569e-02 2.78506644e+02] [-3.39818836e-02 9.99422131e-01 7.97855598e-04 -9.78251391e+00] [ 1.15167318e-02 -4.06677386e-04 9.99933598e-01 3.28427219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.050714057 meters Centerline goodness [0,1] 0.9738444043079805 Centerline is valid? [True, True] Translation: X:278.54, Y:-9.79, Z:3.28 [[ 9.99416322e-01 3.23567491e-02 -1.09569671e-02 2.78535270e+02] [-3.23503586e-02 9.99476301e-01 7.60015270e-04 -9.78715230e+00] [ 1.09758205e-02 -4.05109853e-04 9.99939682e-01 3.28440255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.080714057 meters Centerline goodness [0,1] 0.9728484632675316 Centerline is valid? [True, True] Translation: X:278.56, Y:-9.80, Z:3.28 [[ 9.99535499e-01 2.81277462e-02 -1.17309781e-02 2.78564959e+02] [-2.81201390e-02 9.99604220e-01 8.12940423e-04 -9.79706137e+00] [ 1.17492014e-02 -4.82686077e-04 9.99930859e-01 3.28413063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.110714057 meters Centerline goodness [0,1] 0.9713117486278082 Centerline is valid? [True, True] Translation: X:278.59, Y:-9.81, Z:3.28 [[ 9.99593360e-01 2.56891741e-02 -1.23766456e-02 2.78592702e+02] [-2.56805244e-02 9.99669833e-01 8.57318297e-04 -9.80523484e+00] [ 1.23945831e-02 -5.39130928e-04 9.99923039e-01 3.28275677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.140714057 meters Centerline goodness [0,1] 0.9696454964593766 Centerline is valid? [True, True] Translation: X:278.62, Y:-9.82, Z:3.28 [[ 9.99670041e-01 2.16596295e-02 -1.38082867e-02 2.78621283e+02] [-2.16484915e-02 9.99765187e-01 9.55596472e-04 -9.81614745e+00] [ 1.38257422e-02 -6.56352588e-04 9.99904204e-01 3.28235202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.170714057 meters Centerline goodness [0,1] 0.9700512456463385 Centerline is valid? [True, True] Translation: X:278.65, Y:-9.82, Z:3.28 [[ 9.99725496e-01 1.88787081e-02 -1.38753961e-02 2.78650603e+02] [-1.88672032e-02 9.99821538e-01 9.59599431e-04 -9.81818815e+00] [ 1.38910358e-02 -6.97546100e-04 9.99903272e-01 3.28361629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.200714057 meters Centerline goodness [0,1] 0.9668497276230126 Centerline is valid? [True, True] Translation: X:278.68, Y:-9.83, Z:3.28 [[ 9.99761242e-01 1.70167053e-02 -1.37073091e-02 2.78678607e+02] [-1.70053157e-02 9.99854951e-01 9.47053170e-04 -9.82642323e+00] [ 1.37214366e-02 -7.13729934e-04 9.99905602e-01 3.28476421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.230714057 meters Centerline goodness [0,1] 0.968301686597847 Centerline is valid? [True, True] Translation: X:278.71, Y:-9.83, Z:3.29 [[ 9.99832346e-01 1.39246987e-02 -1.18904174e-02 2.78707902e+02] [-1.39159170e-02 9.99902832e-01 8.20971847e-04 -9.82876405e+00] [ 1.19006938e-02 -6.55368146e-04 9.99928969e-01 3.28712961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26071405700003 meters Centerline goodness [0,1] 0.9670838823012736 Centerline is valid? [True, True] Translation: X:278.74, Y:-9.83, Z:3.29 [[ 9.99857282e-01 1.23284772e-02 -1.15509648e-02 2.78736612e+02] [-1.23200904e-02 9.99923787e-01 7.96944614e-04 -9.83429805e+00] [ 1.15599096e-02 -6.54521945e-04 9.99932968e-01 3.28760633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.290714057 meters Centerline goodness [0,1] 0.9666100610899147 Centerline is valid? [True, True] Translation: X:278.77, Y:-9.84, Z:3.29 [[ 9.99885711e-01 9.54100269e-03 -1.17275189e-02 2.78766726e+02] [-9.53217254e-03 9.99954241e-01 8.08609871e-04 -9.84033200e+00] [ 1.17346972e-02 -6.96728722e-04 9.99930903e-01 3.28664949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32071405700003 meters Centerline goodness [0,1] 0.9679964636976461 Centerline is valid? [True, True] Translation: X:278.80, Y:-9.84, Z:3.29 [[ 9.99892703e-01 7.80031911e-03 -1.23990629e-02 2.78796605e+02] [-7.79031654e-03 9.99969290e-01 8.54813699e-04 -9.84008423e+00] [ 1.24053500e-02 -7.58129355e-04 9.99922763e-01 3.28697453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.350714057 meters Centerline goodness [0,1] 0.9629179465647169 Centerline is valid? [True, True] Translation: X:278.82, Y:-9.85, Z:3.29 [[ 9.99894048e-01 6.68227524e-03 -1.29321136e-02 2.78823652e+02] [-6.67130950e-03 9.99977350e-01 8.90900759e-04 -9.85460573e+00] [ 1.29377739e-02 -8.04532234e-04 9.99915980e-01 3.28656367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38071405700003 meters Centerline goodness [0,1] 0.9652805280528053 Centerline is valid? [True, True] Translation: X:278.85, Y:-9.85, Z:3.29 [[ 9.99910925e-01 3.68249019e-03 -1.28288956e-02 2.78854383e+02] [-3.67146408e-03 9.99992870e-01 8.82920194e-04 -9.85300625e+00] [ 1.28320554e-02 -8.35740719e-04 9.99917317e-01 3.28780911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.410714057 meters Centerline goodness [0,1] 0.9646622155846438 Centerline is valid? [True, True] Translation: X:278.88, Y:-9.86, Z:3.29 [[ 9.99911330e-01 -2.36921916e-04 -1.33145139e-02 2.78884643e+02] [ 2.49144200e-04 9.99999549e-01 9.16315715e-04 -9.85804161e+00] [ 1.33142908e-02 -9.19551699e-04 9.99910938e-01 3.28772826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44071405700004 meters Centerline goodness [0,1] 0.9600176133861735 Centerline is valid? [True, True] Translation: X:278.91, Y:-9.87, Z:3.29 [[ 9.99906224e-01 -1.94935086e-03 -1.35552062e-02 2.78912632e+02] [ 1.96217191e-03 9.99997640e-01 9.32604395e-04 -9.86976768e+00] [ 1.35533562e-02 -9.59114584e-04 9.99907689e-01 3.28773642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.470714057 meters Centerline goodness [0,1] 0.9637108317001739 Centerline is valid? [True, True] Translation: X:278.94, Y:-9.87, Z:3.29 [[ 9.99895200e-01 -4.07289591e-03 -1.38924449e-02 2.78942023e+02] [ 4.08655510e-03 9.99991194e-01 9.54964082e-04 -9.86539150e+00] [ 1.38884331e-02 -1.01163624e-03 9.99903039e-01 3.28882637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.500714057 meters Centerline goodness [0,1] 0.9629115124253048 Centerline is valid? [True, True] Translation: X:278.97, Y:-9.87, Z:3.29 [[ 9.99889921e-01 -5.27542887e-03 -1.38678139e-02 2.78971443e+02] [ 5.28914254e-03 9.99985559e-01 9.52394417e-04 -9.86655008e+00] [ 1.38625893e-02 -1.02563842e-03 9.99903384e-01 3.28955752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.530714057 meters Centerline goodness [0,1] 0.9636739905772533 Centerline is valid? [True, True] Translation: X:279.00, Y:-9.87, Z:3.29 [[ 9.99869877e-01 -6.76211054e-03 -1.46459044e-02 2.79000838e+02] [ 6.77755707e-03 9.99976527e-01 1.00528788e-03 -9.86864177e+00] [ 1.46387627e-02 -1.10442052e-03 9.99892238e-01 3.28962461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.560714057 meters Centerline goodness [0,1] 0.9632416023229724 Centerline is valid? [True, True] Translation: X:279.03, Y:-9.87, Z:3.29 [[ 9.99868670e-01 -7.39670051e-03 -1.44198565e-02 2.79028418e+02] [ 7.41172510e-03 9.99972044e-01 9.88774533e-04 -9.87171543e+00] [ 1.44121398e-02 -1.09552069e-03 9.99895540e-01 3.28973238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.590714057 meters Centerline goodness [0,1] 0.9645000329721056 Centerline is valid? [True, True] Translation: X:279.06, Y:-9.87, Z:3.29 [[ 9.99856171e-01 -8.39215795e-03 -1.47380019e-02 2.79057124e+02] [ 8.40792157e-03 9.99964145e-01 1.00795321e-03 -9.87164032e+00] [ 1.47290146e-02 -1.13172420e-03 9.99890882e-01 3.29044992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.620714057 meters Centerline goodness [0,1] 0.9628837803883538 Centerline is valid? [True, True] Translation: X:279.09, Y:-9.87, Z:3.29 [[ 9.99839852e-01 -9.31900340e-03 -1.52783352e-02 2.79085920e+02] [ 9.33599199e-03 9.99955877e-01 1.04099245e-03 -9.87331490e+00] [ 1.52679601e-02 -1.18346415e-03 9.99882738e-01 3.29062384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.650714057 meters Centerline goodness [0,1] 0.9631501136388712 Centerline is valid? [True, True] Translation: X:279.11, Y:-9.88, Z:3.29 [[ 9.99834228e-01 -1.01571601e-02 -1.51112093e-02 2.79112993e+02] [ 1.01738292e-02 9.99947718e-01 1.02662734e-03 -9.87749984e+00] [ 1.50999916e-02 -1.18019601e-03 9.99885292e-01 3.29145287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.680714057 meters Centerline goodness [0,1] 0.9638586058804096 Centerline is valid? [True, True] Translation: X:279.14, Y:-9.87, Z:3.29 [[ 9.99831016e-01 -1.05522963e-02 -1.50528435e-02 2.79141652e+02] [ 1.05688455e-02 9.99943628e-01 1.02027777e-03 -9.87490833e+00] [ 1.50412287e-02 -1.17919654e-03 9.99886179e-01 3.29245159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.710714057 meters Centerline goodness [0,1] 0.9635226221419446 Centerline is valid? [True, True] Translation: X:279.17, Y:-9.88, Z:3.29 [[ 9.99826729e-01 -1.09970328e-02 -1.50191988e-02 2.79169481e+02] [ 1.10135142e-02 9.99938834e-01 1.01507763e-03 -9.88018073e+00] [ 1.50071173e-02 -1.18031591e-03 9.99886690e-01 3.29315583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.740714057 meters Centerline goodness [0,1] 0.8332161469104145 Centerline is valid? [True, False] Translation: X:279.22, Y:-9.88, Z:3.29 [[ 9.99817515e-01 -1.26373122e-02 -1.43260196e-02 2.79217973e+02] [ 1.25750965e-02 9.99911141e-01 -4.42464445e-03 -9.88107540e+00] [ 1.43806622e-02 4.24368594e-03 9.99887588e-01 3.29379499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.770714057 meters Centerline goodness [0,1] 0.9632855567805954 Centerline is valid? [False, True] Translation: X:279.15, Y:-9.88, Z:3.29 [[ 9.99834972e-01 -1.11428453e-02 -1.43480533e-02 2.79146911e+02] [ 1.11662481e-02 9.99936451e-01 1.55199454e-03 -9.88054124e+00] [ 1.43298479e-02 -1.71195234e-03 9.99895857e-01 3.29132958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.800714057 meters Centerline goodness [0,1] 0.9627809607756721 Centerline is valid? [True, True] Translation: X:279.18, Y:-9.88, Z:3.29 [[ 9.99792118e-01 -1.33949716e-02 -1.53719261e-02 2.79177021e+02] [ 1.34131914e-02 9.99909453e-01 1.08277075e-03 -9.88163971e+00] [ 1.53560305e-02 -1.28873224e-03 9.99881259e-01 3.29195257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.830714057 meters Centerline goodness [0,1] 0.9627581039687961 Centerline is valid? [True, True] Translation: X:279.21, Y:-9.88, Z:3.29 [[ 9.99763773e-01 -1.46259832e-02 -1.60772733e-02 2.79206100e+02] [ 1.46460390e-02 9.99892102e-01 1.13042208e-03 -9.88011093e+00] [ 1.60590051e-02 -1.36562341e-03 9.99870113e-01 3.29256972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.860714057 meters Centerline goodness [0,1] 0.9595315578579177 Centerline is valid? [True, True] Translation: X:279.23, Y:-9.89, Z:3.29 [[ 9.99739761e-01 -1.58487381e-02 -1.64081357e-02 2.79234311e+02] [ 1.58697479e-02 9.99873405e-01 1.15102928e-03 -9.89054731e+00] [ 1.63878162e-02 -1.41112272e-03 9.99864715e-01 3.29157844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.890714057 meters Centerline goodness [0,1] 0.9611723391567463 Centerline is valid? [True, True] Translation: X:279.26, Y:-9.89, Z:3.29 [[ 9.99723969e-01 -1.64672241e-02 -1.67575901e-02 2.79263031e+02] [ 1.64891833e-02 9.99863356e-01 1.17306786e-03 -9.88683577e+00] [ 1.67359831e-02 -1.44906304e-03 9.99858894e-01 3.29227628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.920714057 meters Centerline goodness [0,1] 0.9601381876162636 Centerline is valid? [True, True] Translation: X:279.29, Y:-9.89, Z:3.29 [[ 9.99723435e-01 -1.68612891e-02 -1.63935885e-02 2.79291902e+02] [ 1.68822917e-02 9.99856830e-01 1.14359253e-03 -9.88865559e+00] [ 1.63719590e-02 -1.42003760e-03 9.99864962e-01 3.29310431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.950714057 meters Centerline goodness [0,1] 0.9618340901539484 Centerline is valid? [True, True] Translation: X:279.32, Y:-9.89, Z:3.29 [[ 9.99722755e-01 -1.67475243e-02 -1.65509281e-02 2.79320944e+02] [ 1.67688490e-02 9.99858731e-01 1.15048398e-03 -9.88740124e+00] [ 1.65293222e-02 -1.42770503e-03 9.99862362e-01 3.29309859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.980714057 meters Centerline goodness [0,1] 0.9591471102165402 Centerline is valid? [True, True] Translation: X:279.35, Y:-9.89, Z:3.29 [[ 9.99725967e-01 -1.67552682e-02 -1.63478436e-02 2.79348754e+02] [ 1.67760286e-02 9.99858630e-01 1.13359652e-03 -9.89166577e+00] [ 1.63265388e-02 -1.40753777e-03 9.99865722e-01 3.29287709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01071405700003 meters Centerline goodness [0,1] 0.957668793195109 Centerline is valid? [True, True] Translation: X:279.38, Y:-9.89, Z:3.29 [[ 9.99720910e-01 -1.71195305e-02 -1.62795556e-02 2.79377741e+02] [ 1.71401241e-02 9.99852463e-01 1.12629976e-03 -9.89185881e+00] [ 1.62578721e-02 -1.40501902e-03 9.99866845e-01 3.29380781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.040714057 meters Centerline goodness [0,1] 0.9541426672574214 Centerline is valid? [True, True] Translation: X:279.41, Y:-9.89, Z:3.30 [[ 9.99748028e-01 -1.60243370e-02 -1.57194218e-02 2.79405779e+02] [ 1.60433625e-02 9.99870708e-01 1.08495613e-03 -9.89248819e+00] [ 1.57000037e-02 -1.33687514e-03 9.99875854e-01 3.29506427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07071405700003 meters Centerline goodness [0,1] 0.9574274558523382 Centerline is valid? [True, True] Translation: X:279.43, Y:-9.89, Z:3.30 [[ 9.99772206e-01 -1.50298564e-02 -1.51538292e-02 2.79434481e+02] [ 1.50474067e-02 9.99886236e-01 1.04477951e-03 -9.89160718e+00] [ 1.51364023e-02 -1.27256734e-03 9.99884628e-01 3.29639908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.100714057 meters Centerline goodness [0,1] 0.9563095001435734 Centerline is valid? [True, True] Translation: X:279.46, Y:-9.89, Z:3.30 [[ 9.99814522e-01 -1.31822698e-02 -1.40410052e-02 2.79463300e+02] [ 1.31971446e-02 9.99912446e-01 9.67251088e-04 -9.89129289e+00] [ 1.40270252e-02 -1.15237286e-03 9.99900952e-01 3.29656229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13071405700003 meters Centerline goodness [0,1] 0.962839932677828 Centerline is valid? [True, True] Translation: X:279.49, Y:-9.89, Z:3.30 [[ 9.99818279e-01 -1.25521479e-02 -1.43475738e-02 2.79492757e+02] [ 1.25675893e-02 9.99920538e-01 9.86575502e-04 -9.88569559e+00] [ 1.43340501e-02 -1.16671064e-03 9.99896582e-01 3.29772393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.160714057 meters Centerline goodness [0,1] 0.9613489032945565 Centerline is valid? [True, True] Translation: X:279.52, Y:-9.89, Z:3.30 [[ 9.99821105e-01 -1.20332662e-02 -1.45931144e-02 2.79521985e+02] [ 1.20491345e-02 9.99926907e-01 9.99949971e-04 -9.88515932e+00] [ 1.45800151e-02 -1.17560548e-03 9.99893015e-01 3.29811948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19071405700004 meters Centerline goodness [0,1] 0.9648188583396462 Centerline is valid? [True, True] Translation: X:279.55, Y:-9.88, Z:3.30 [[ 9.99824423e-01 -1.04836995e-02 -1.55310777e-02 2.79552047e+02] [ 1.05014501e-02 9.99944295e-01 1.06179428e-03 -9.87862888e+00] [ 1.55190810e-02 -1.22470670e-03 9.99878822e-01 3.29808164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.220714057 meters Centerline goodness [0,1] 0.9675358044551691 Centerline is valid? [True, True] Translation: X:279.58, Y:-9.87, Z:3.30 [[ 9.99834749e-01 -8.97056830e-03 -1.58115291e-02 2.79582297e+02] [ 8.98876896e-03 9.99959017e-01 1.08040793e-03 -9.87358995e+00] [ 1.58011892e-02 -1.22235557e-03 9.99874406e-01 3.29862311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.250714057 meters Centerline goodness [0,1] 0.9631445251570926 Centerline is valid? [True, True] Translation: X:279.61, Y:-9.88, Z:3.30 [[ 9.99844872e-01 -7.76607586e-03 -1.58088860e-02 2.79610001e+02] [ 7.78410788e-03 9.99969121e-01 1.07941132e-03 -9.88288349e+00] [ 1.58000151e-02 -1.20230195e-03 9.99874449e-01 3.29764561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.280714057 meters Centerline goodness [0,1] 0.9628762019498918 Centerline is valid? [True, True] Translation: X:279.64, Y:-9.88, Z:3.30 [[ 9.99838930e-01 -7.63981310e-03 -1.62403252e-02 2.79639242e+02] [ 7.65878762e-03 9.99970059e-01 1.10648386e-03 -9.88293861e+00] [ 1.62313856e-02 -1.23068684e-03 9.99867505e-01 3.29780403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.310714057 meters Centerline goodness [0,1] 0.9632359470739721 Centerline is valid? [True, True] Translation: X:279.67, Y:-9.88, Z:3.30 [[ 9.99835306e-01 -6.93771980e-03 -1.67698914e-02 2.79666683e+02] [ 6.95780795e-03 9.99975145e-01 1.13982128e-03 -9.88484192e+00] [ 1.67615668e-02 -1.25631524e-03 9.99858726e-01 3.29771172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.340714057 meters Centerline goodness [0,1] 0.9641123168139613 Centerline is valid? [True, True] Translation: X:279.70, Y:-9.88, Z:3.30 [[ 9.99838198e-01 -6.92332485e-03 -1.66025424e-02 2.79695109e+02] [ 6.94297011e-03 9.99975263e-01 1.12591984e-03 -9.88424664e+00] [ 1.65943366e-02 -1.24100862e-03 9.99861534e-01 3.29862812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.370714057 meters Centerline goodness [0,1] 0.9691884272001074 Centerline is valid? [True, True] Translation: X:279.72, Y:-9.87, Z:3.30 [[ 9.99845631e-01 -6.77537088e-03 -1.62113739e-02 2.79724402e+02] [ 6.79402017e-03 9.99976320e-01 1.09558524e-03 -9.87219253e+00] [ 1.62035671e-02 -1.20555652e-03 9.99867987e-01 3.30118815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.400714057 meters Centerline goodness [0,1] 0.9661442006269593 Centerline is valid? [True, True] Translation: X:279.75, Y:-9.88, Z:3.30 [[ 9.99846638e-01 -6.70300352e-03 -1.61793330e-02 2.79751694e+02] [ 6.72152455e-03 9.99976816e-01 1.09062654e-03 -9.87553301e+00] [ 1.61716474e-02 -1.19920907e-03 9.99868511e-01 3.30097231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.430714057 meters Centerline goodness [0,1] 0.9674694746275344 Centerline is valid? [True, True] Translation: X:279.78, Y:-9.88, Z:3.30 [[ 9.99853587e-01 -6.46700016e-03 -1.58424101e-02 2.79779112e+02] [ 6.48470686e-03 9.99978405e-01 1.06656148e-03 -9.87701301e+00] [ 1.58351705e-02 -1.16913871e-03 9.99873932e-01 3.30144678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.460714057 meters Centerline goodness [0,1] 0.967496077112755 Centerline is valid? [True, True] Translation: X:279.81, Y:-9.87, Z:3.30 [[ 9.99853751e-01 -7.07467158e-03 -1.55699945e-02 2.79808396e+02] [ 7.09181006e-03 9.99974306e-01 1.04579970e-03 -9.87338745e+00] [ 1.55621958e-02 -1.15606620e-03 9.99878233e-01 3.30218018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.490714057 meters Centerline goodness [0,1] 0.9669101173940318 Centerline is valid? [True, True] Translation: X:279.84, Y:-9.88, Z:3.30 [[ 9.99851630e-01 -7.21428682e-03 -1.56420003e-02 2.79835695e+02] [ 7.23155444e-03 9.99973303e-01 1.04764547e-03 -9.87674448e+00] [ 1.56340247e-02 -1.16060601e-03 9.99877108e-01 3.30147343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.520714057 meters Centerline goodness [0,1] 0.9645976084911998 Centerline is valid? [True, True] Translation: X:279.86, Y:-9.88, Z:3.30 [[ 9.99840533e-01 -7.82598890e-03 -1.60518629e-02 2.79863155e+02] [ 7.84422432e-03 9.99968658e-01 1.07338411e-03 -9.88223010e+00] [ 1.60429595e-02 -1.19912735e-03 9.99870584e-01 3.30115500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.550714057 meters Centerline goodness [0,1] 0.9654252935376894 Centerline is valid? [True, True] Translation: X:279.89, Y:-9.88, Z:3.30 [[ 9.99832504e-01 -7.99386001e-03 -1.64639731e-02 2.79890977e+02] [ 8.01302016e-03 9.99967292e-01 1.09812244e-03 -9.88350165e+00] [ 1.64546564e-02 -1.22986466e-03 9.99863857e-01 3.30157507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.580714057 meters Centerline goodness [0,1] 0.967068219036723 Centerline is valid? [True, True] Translation: X:279.92, Y:-9.88, Z:3.30 [[ 9.99805478e-01 -8.87102116e-03 -1.76156587e-02 2.79920306e+02] [ 8.89301074e-03 9.99959772e-01 1.17035370e-03 -9.87836973e+00] [ 1.76045679e-02 -1.32678228e-03 9.99844147e-01 3.30254953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.610714057 meters Centerline goodness [0,1] 0.9686818007964542 Centerline is valid? [True, True] Translation: X:279.95, Y:-9.88, Z:3.30 [[ 9.99802005e-01 -9.06633032e-03 -1.77130700e-02 2.79948278e+02] [ 9.08851365e-03 9.99958011e-01 1.17227125e-03 -9.87777885e+00] [ 1.77016980e-02 -1.33302463e-03 9.99842424e-01 3.30282997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.640714057 meters Centerline goodness [0,1] 0.9659223649923623 Centerline is valid? [True, True] Translation: X:279.98, Y:-9.88, Z:3.30 [[ 9.99814197e-01 -8.30394398e-03 -1.73958676e-02 2.79975974e+02] [ 8.32517152e-03 9.99964686e-01 1.14820015e-03 -9.88100077e+00] [ 1.73857187e-02 -1.29281040e-03 9.99848021e-01 3.30309527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.670714057 meters Centerline goodness [0,1] 0.9659223649923623 Centerline is valid? [True, True] Translation: X:280.00, Y:-9.88, Z:3.30 [[ 9.99811950e-01 -8.56978038e-03 -1.73960685e-02 2.80003419e+02] [ 8.59099514e-03 9.99962441e-01 1.14514919e-03 -9.88270828e+00] [ 1.73856015e-02 -1.29438338e-03 9.99848021e-01 3.30333468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.700714057 meters Centerline goodness [0,1] 0.9666621645957141 Centerline is valid? [True, True] Translation: X:280.03, Y:-9.88, Z:3.30 [[ 9.99826071e-01 -8.26086598e-03 -1.67208494e-02 2.80032793e+02] [ 8.28035602e-03 9.99965116e-01 1.09671580e-03 -9.88185469e+00] [ 1.67112063e-02 -1.23497964e-03 9.99859595e-01 3.30441693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.730714057 meters Centerline goodness [0,1] 0.9658848134571705 Centerline is valid? [True, True] Translation: X:280.06, Y:-9.88, Z:3.30 [[ 9.99833832e-01 -7.15092748e-03 -1.67681903e-02 2.80060274e+02] [ 7.17032962e-03 9.99973691e-01 1.09724404e-03 -9.88418188e+00] [ 1.67599029e-02 -1.21729516e-03 9.99858802e-01 3.30483320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76071405700003 meters Centerline goodness [0,1] 0.9666516143599007 Centerline is valid? [True, True] Translation: X:280.09, Y:-9.88, Z:3.31 [[ 9.99835280e-01 -6.17112202e-03 -1.70684099e-02 2.80088481e+02] [ 6.19105893e-03 9.99980213e-01 1.11546546e-03 -9.88115776e+00] [ 1.70611885e-02 -1.22095326e-03 9.99853702e-01 3.30608706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.790714057 meters Centerline goodness [0,1] 0.9668503296901816 Centerline is valid? [True, True] Translation: X:280.12, Y:-9.88, Z:3.31 [[ 9.99837869e-01 -5.92023767e-03 -1.70054637e-02 2.80117469e+02] [ 5.93994743e-03 9.99981744e-01 1.10874897e-03 -9.88153670e+00] [ 1.69985892e-02 -1.20958077e-03 9.99854782e-01 3.30683565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82071405700003 meters Centerline goodness [0,1] 0.9664355250378335 Centerline is valid? [True, True] Translation: X:280.15, Y:-9.88, Z:3.31 [[ 9.99849964e-01 -5.62703584e-03 -1.63824881e-02 2.80146029e+02] [ 5.64522883e-03 9.99983499e-01 1.06448174e-03 -9.88239588e+00] [ 1.63762279e-02 -1.15680492e-03 9.99865231e-01 3.30743708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.850714057 meters Centerline goodness [0,1] 0.9704996717154566 Centerline is valid? [True, True] Translation: X:280.18, Y:-9.87, Z:3.31 [[ 9.99846529e-01 -6.25801191e-03 -1.63632258e-02 2.80175142e+02] [ 6.27618305e-03 9.99979743e-01 1.05936860e-03 -9.87095406e+00] [ 1.63562648e-02 -1.16190462e-03 9.99865552e-01 3.30888830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88071405700003 meters Centerline goodness [0,1] 0.9719183821364676 Centerline is valid? [True, True] Translation: X:280.20, Y:-9.87, Z:3.31 [[ 9.99847151e-01 -6.85982760e-03 -1.60816157e-02 2.80204003e+02] [ 6.87739298e-03 9.99975813e-01 1.03721476e-03 -9.87337689e+00] [ 1.60741116e-02 -1.14765581e-03 9.99870144e-01 3.30882008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.910714057 meters Centerline goodness [0,1] 0.967980015896446 Centerline is valid? [True, True] Translation: X:280.23, Y:-9.88, Z:3.31 [[ 9.99822132e-01 -9.24241405e-03 -1.64402679e-02 2.80234461e+02] [ 9.26105632e-03 9.99956556e-01 1.05816730e-03 -9.87568486e+00] [ 1.64297736e-02 -1.21023333e-03 9.99864290e-01 3.30936759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94071405700004 meters Centerline goodness [0,1] 0.9684933992650728 Centerline is valid? [True, True] Translation: X:280.26, Y:-9.88, Z:3.31 [[ 9.99797664e-01 -1.10792722e-02 -1.67892780e-02 2.80263326e+02] [ 1.10989650e-02 9.99937821e-01 1.08021031e-03 -9.87753527e+00] [ 1.67762661e-02 -1.26633536e-03 9.99858467e-01 3.30956306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.970714057 meters Centerline goodness [0,1] 0.9681003015394382 Centerline is valid? [True, True] Translation: X:280.29, Y:-9.88, Z:3.31 [[ 9.99774066e-01 -1.23091686e-02 -1.73291887e-02 2.80293235e+02] [ 1.23303190e-02 9.99923358e-01 1.11418557e-03 -9.87936661e+00] [ 1.73141458e-02 -1.32760827e-03 9.99849218e-01 3.31035656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.000714057 meters Centerline goodness [0,1] 0.9664362606232295 Centerline is valid? [True, True] Translation: X:280.32, Y:-9.88, Z:3.31 [[ 9.99718578e-01 -1.56773511e-02 -1.78040806e-02 2.80323177e+02] [ 1.57002017e-02 9.99876089e-01 1.14439412e-03 -9.88271995e+00] [ 1.77839334e-02 -1.42359972e-03 9.99840840e-01 3.30985008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.030714057 meters Centerline goodness [0,1] 0.9646582876883566 Centerline is valid? [True, True] Translation: X:280.35, Y:-9.89, Z:3.31 [[ 9.99703917e-01 -1.69796204e-02 -1.74290204e-02 2.80351146e+02] [ 1.70017043e-02 9.99854834e-01 1.11967568e-03 -9.88681854e+00] [ 1.74074787e-02 -1.41566721e-03 9.99847476e-01 3.30952524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.060714057 meters Centerline goodness [0,1] 0.9622375715713897 Centerline is valid? [True, True] Translation: X:280.38, Y:-9.89, Z:3.31 [[ 9.99657229e-01 -1.94288794e-02 -1.75483138e-02 2.80379661e+02] [ 1.94516258e-02 9.99810165e-01 1.12644821e-03 -9.89199705e+00] [ 1.75230969e-02 -1.46740533e-03 9.99845382e-01 3.30904165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.090714057 meters Centerline goodness [0,1] 0.9614038277946992 Centerline is valid? [True, True] Translation: X:280.41, Y:-9.89, Z:3.31 [[ 9.99613729e-01 -2.10068297e-02 -1.81963336e-02 2.80409557e+02] [ 2.10315357e-02 9.99778131e-01 1.16742425e-03 -9.89307883e+00] [ 1.81677725e-02 -1.54967014e-03 9.99833751e-01 3.30980028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.120714057 meters Centerline goodness [0,1] 0.9572598998634502 Centerline is valid? [True, True] Translation: X:280.44, Y:-9.90, Z:3.31 [[ 9.99587387e-01 -2.21589966e-02 -1.82766232e-02 2.80437906e+02] [ 2.21840982e-02 9.99753216e-01 1.17180485e-03 -9.89697183e+00] [ 1.82461468e-02 -1.57677175e-03 9.99832282e-01 3.31039866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.150714057 meters Centerline goodness [0,1] 0.9592437166446198 Centerline is valid? [True, True] Translation: X:280.47, Y:-9.89, Z:3.31 [[ 9.99538273e-01 -2.43389707e-02 -1.81894218e-02 2.80468509e+02] [ 2.43641807e-02 9.99702470e-01 1.16562267e-03 -9.89356420e+00] [ 1.81556399e-02 -1.60825483e-03 9.99833879e-01 3.31232510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.180714057 meters Centerline goodness [0,1] 0.946160333705637 Centerline is valid? [True, False] Translation: X:280.47, Y:-9.89, Z:3.31 [[ 9.99538594e-01 -2.43328223e-02 -1.81800281e-02 2.80468598e+02] [ 2.43569380e-02 9.99702714e-01 1.10621725e-03 -9.89314712e+00] [ 1.81477060e-02 -1.54851665e-03 9.99834118e-01 3.31227454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.210714057 meters Centerline goodness [0,1] 0.9368306160038202 Centerline is valid? [False, False] Translation: X:280.47, Y:-9.89, Z:3.31 [[ 9.99530052e-01 -2.47393191e-02 -1.81008405e-02 2.80468231e+02] [ 2.47537248e-02 9.99693416e-01 5.72207456e-04 -9.89178116e+00] [ 1.80811351e-02 -1.02000177e-03 9.99836003e-01 3.31256962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.240714057 meters Centerline goodness [0,1] 0.9581182918474538 Centerline is valid? [False, True] Translation: X:280.47, Y:-9.89, Z:3.31 [[ 9.99525877e-01 -2.48832256e-02 -1.81341331e-02 2.80468166e+02] [ 2.48925796e-02 9.99690090e-01 2.90250982e-04 -9.89086555e+00] [ 1.81212908e-02 -7.41518719e-04 9.99835521e-01 3.31275557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.270714057 meters Centerline goodness [0,1] 0.9669342114289634 Centerline is valid? [True, True] Translation: X:280.50, Y:-9.88, Z:3.31 [[ 9.99515169e-01 -2.54052707e-02 -1.79999835e-02 2.80497580e+02] [ 2.54308620e-02 9.99675870e-01 1.19423430e-03 -9.88387393e+00] [ 1.79638093e-02 -1.65141039e-03 9.99837274e-01 3.31406687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.300714057 meters Centerline goodness [0,1] 0.9668561474282571 Centerline is valid? [True, True] Translation: X:280.53, Y:-9.88, Z:3.31 [[ 9.99473325e-01 -2.67180340e-02 -1.84179329e-02 2.80527056e+02] [ 2.67449902e-02 9.99641546e-01 1.21878231e-03 -9.88263722e+00] [ 1.83787675e-02 -1.71072784e-03 9.99829633e-01 3.31495101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.330714057 meters Centerline goodness [0,1] 0.9660057306590257 Centerline is valid? [True, True] Translation: X:280.56, Y:-9.88, Z:3.32 [[ 9.99485204e-01 -2.65350208e-02 -1.80338275e-02 2.80556594e+02] [ 2.65608161e-02 9.99646488e-01 1.19233351e-03 -9.88340099e+00] [ 1.79958138e-02 -1.67071288e-03 9.99836666e-01 3.31555946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.360714057 meters Centerline goodness [0,1] 0.9157074919015783 Centerline is valid? [True, False] Translation: X:280.56, Y:-9.88, Z:3.32 [[ 9.99561452e-01 -2.38002033e-02 -1.76196962e-02 2.80555343e+02] [ 2.38822403e-02 9.99704829e-01 4.46027194e-03 -9.88324201e+00] [ 1.75083400e-02 -4.87911372e-03 9.99834812e-01 3.31548793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.390714057 meters Centerline goodness [0,1] 0.9642177214028488 Centerline is valid? [False, True] Translation: X:280.56, Y:-9.88, Z:3.32 [[ 9.99560069e-01 -2.37881479e-02 -1.77142156e-02 2.80555840e+02] [ 2.38684462e-02 9.99705707e-01 4.33541866e-03 -9.88242206e+00] [ 1.76058708e-02 -4.75632218e-03 9.99833692e-01 3.31510111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.420714057 meters Centerline goodness [0,1] 0.9643867111162202 Centerline is valid? [True, True] Translation: X:280.59, Y:-9.88, Z:3.32 [[ 9.99535827e-01 -2.43699811e-02 -1.82820852e-02 2.80585009e+02] [ 2.43971899e-02 9.99701542e-01 1.26668678e-03 -9.88115309e+00] [ 1.82457596e-02 -1.71213032e-03 9.99832066e-01 3.31600648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.450714057 meters Centerline goodness [0,1] 0.9646974892412492 Centerline is valid? [True, True] Translation: X:280.61, Y:-9.88, Z:3.32 [[ 9.99487786e-01 -2.55478549e-02 -1.92736125e-02 2.80614237e+02] [ 2.55782567e-02 9.99671935e-01 1.33247258e-03 -9.87917405e+00] [ 1.92332477e-02 -1.82477548e-03 9.99813359e-01 3.31742763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.480714057 meters Centerline goodness [0,1] 0.967497866254527 Centerline is valid? [True, True] Translation: X:280.64, Y:-9.87, Z:3.32 [[ 9.99460484e-01 -2.61402600e-02 -1.98853700e-02 2.80644494e+02] [ 2.61727213e-02 9.99656492e-01 1.37387940e-03 -9.87266510e+00] [ 1.98426256e-02 -1.89359242e-03 9.99801323e-01 3.31848935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51071405700003 meters Centerline goodness [0,1] 0.9682616623964176 Centerline is valid? [True, True] Translation: X:280.67, Y:-9.88, Z:3.32 [[ 9.99431646e-01 -2.66708073e-02 -2.06168048e-02 2.80672451e+02] [ 2.67057888e-02 9.99642324e-01 1.42324200e-03 -9.87603510e+00] [ 2.05714717e-02 -1.97302113e-03 9.99786438e-01 3.31842149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.540714057 meters Centerline goodness [0,1] 0.9593492177208754 Centerline is valid? [True, True] Translation: X:280.70, Y:-9.88, Z:3.32 [[ 9.99419381e-01 -2.74535945e-02 -2.01792211e-02 2.80700297e+02] [ 2.74872355e-02 9.99621186e-01 1.39158921e-03 -9.88414712e+00] [ 2.01333728e-02 -1.94545223e-03 9.99795410e-01 3.31770813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57071405700003 meters Centerline goodness [0,1] 0.9639641724720531 Centerline is valid? [True, True] Translation: X:280.73, Y:-9.88, Z:3.32 [[ 9.99425589e-01 -2.76036262e-02 -1.96604326e-02 2.80729865e+02] [ 2.76355682e-02 9.99617147e-01 1.35480030e-03 -9.88232797e+00] [ 1.96155081e-02 -1.89734931e-03 9.99805797e-01 3.31914921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.600714057 meters Centerline goodness [0,1] 0.9598852542451303 Centerline is valid? [True, True] Translation: X:280.76, Y:-9.88, Z:3.32 [[ 9.99460256e-01 -2.73318108e-02 -1.82254979e-02 2.80758678e+02] [ 2.73592009e-02 9.99624879e-01 1.25515315e-03 -9.88448591e+00] [ 1.81843555e-02 -1.75311074e-03 9.99833114e-01 3.32095619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63071405700003 meters Centerline goodness [0,1] 0.9663575237653605 Centerline is valid? [True, True] Translation: X:280.79, Y:-9.88, Z:3.32 [[ 9.99478856e-01 -2.69941894e-02 -1.77011104e-02 2.80789895e+02] [ 2.70199650e-02 9.99634151e-01 1.21857642e-03 -9.87800160e+00] [ 1.76617400e-02 -1.69622475e-03 9.99842580e-01 3.32295285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.660714057 meters Centerline goodness [0,1] 0.9658282137475368 Centerline is valid? [True, True] Translation: X:280.82, Y:-9.88, Z:3.32 [[ 9.99486479e-01 -2.66790605e-02 -1.77484068e-02 2.80820865e+02] [ 2.67049248e-02 9.99642613e-01 1.22183239e-03 -9.87736758e+00] [ 1.77094665e-02 -1.69517483e-03 9.99841738e-01 3.32353914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69071405700004 meters Centerline goodness [0,1] 0.9687049523366659 Centerline is valid? [True, True] Translation: X:280.85, Y:-9.88, Z:3.32 [[ 9.99519793e-01 -2.56751642e-02 -1.73484525e-02 2.80851121e+02] [ 2.56997235e-02 9.99668994e-01 1.19415306e-03 -9.87687364e+00] [ 1.73120500e-02 -1.63943005e-03 9.99848791e-01 3.32411894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.720714057 meters Centerline goodness [0,1] 0.9679912470610145 Centerline is valid? [True, True] Translation: X:280.88, Y:-9.88, Z:3.32 [[ 9.99490667e-01 -2.63230542e-02 -1.80417176e-02 2.80881472e+02] [ 2.63497174e-02 9.99652015e-01 1.24170217e-03 -9.87936969e+00] [ 1.80027540e-02 -1.71646389e-03 9.99836464e-01 3.32219404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.750714057 meters Centerline goodness [0,1] 0.9615268522603264 Centerline is valid? [True, True] Translation: X:280.91, Y:-9.89, Z:3.32 [[ 9.99462842e-01 -2.69887440e-02 -1.85912622e-02 2.80910200e+02] [ 2.70171675e-02 9.99634151e-01 1.27935816e-03 -9.88798475e+00] [ 1.85499323e-02 -1.78095419e-03 9.99826349e-01 3.32095994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.780714057 meters Centerline goodness [0,1] 0.968659908862643 Centerline is valid? [True, True] Translation: X:280.94, Y:-9.88, Z:3.32 [[ 9.99419764e-01 -2.76925493e-02 -1.98307174e-02 2.80940096e+02] [ 2.77250163e-02 9.99614657e-01 1.36409820e-03 -9.88256379e+00] [ 1.97853005e-02 -1.91311366e-03 9.99802421e-01 3.32164811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.810714057 meters Centerline goodness [0,1] 0.9661907988504405 Centerline is valid? [True, True] Translation: X:280.97, Y:-9.89, Z:3.32 [[ 9.99374696e-01 -2.88446752e-02 -2.04499799e-02 2.80969035e+02] [ 2.88794347e-02 9.99581913e-01 1.40638890e-03 -9.88749147e+00] [ 2.04008632e-02 -1.99609334e-03 9.99789888e-01 3.32127911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.840714057 meters Centerline goodness [0,1] 0.9570935547057178 Centerline is valid? [True, True] Translation: X:281.00, Y:-9.89, Z:3.32 [[ 9.99298034e-01 -3.07043165e-02 -2.14635412e-02 2.80997622e+02] [ 3.07430279e-02 9.99526232e-01 1.47587867e-03 -9.89289163e+00] [ 2.14080566e-02 -2.13469691e-03 9.99768542e-01 3.32044933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.870714057 meters Centerline goodness [0,1] 0.9676786089882914 Centerline is valid? [True, True] Translation: X:281.03, Y:-9.88, Z:3.32 [[ 9.99296367e-01 -3.05472857e-02 -2.17631596e-02 2.81028121e+02] [ 3.05870351e-02 9.99530988e-01 1.49584679e-03 -9.88499541e+00] [ 2.17072584e-02 -2.16046479e-03 9.99762035e-01 3.32197571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.900714057 meters Centerline goodness [0,1] 0.9686477899261752 Centerline is valid? [True, True] Translation: X:281.06, Y:-9.89, Z:3.32 [[ 9.99321569e-01 -2.97034731e-02 -2.17739592e-02 2.81057594e+02] [ 2.97430467e-02 9.99556458e-01 1.49580971e-03 -9.88537878e+00] [ 2.17198708e-02 -2.14241879e-03 9.99761800e-01 3.32201527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.930714057 meters Centerline goodness [0,1] 0.9680426098535286 Centerline is valid? [True, True] Translation: X:281.09, Y:-9.89, Z:3.32 [[ 9.99357463e-01 -2.81867167e-02 -2.21397895e-02 2.81086365e+02] [ 2.82272454e-02 9.99600376e-01 1.52014758e-03 -9.88926326e+00] [ 2.20880939e-02 -2.14411610e-03 9.99753729e-01 3.32259045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.960714057 meters Centerline goodness [0,1] 0.9627981736861722 Centerline is valid? [True, True] Translation: X:281.11, Y:-9.89, Z:3.32 [[ 9.99405244e-01 -2.63659355e-02 -2.22260042e-02 2.81114788e+02] [ 2.64063121e-02 9.99650129e-01 1.52505963e-03 -9.89237755e+00] [ 2.21780183e-02 -2.11105940e-03 9.99751809e-01 3.32242745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.990714057 meters Centerline goodness [0,1] 0.9704219735885347 Centerline is valid? [True, True] Translation: X:281.15, Y:-9.88, Z:3.32 [[ 9.99494613e-01 -2.24558688e-02 -2.25000704e-02 2.81145963e+02] [ 2.24962425e-02 9.99745737e-01 1.54284274e-03 -9.88164907e+00] [ 2.24597036e-02 -2.04823005e-03 9.99745651e-01 3.32482910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.020714057 meters Centerline goodness [0,1] 0.9712883838858108 Centerline is valid? [True, True] Translation: X:281.17, Y:-9.88, Z:3.33 [[ 9.99544679e-01 -2.04743931e-02 -2.21637833e-02 2.81174893e+02] [ 2.05130674e-02 9.99788431e-01 1.51896291e-03 -9.88214668e+00] [ 2.21279943e-02 -1.97291848e-03 9.99753199e-01 3.32563144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.050714057 meters Centerline goodness [0,1] 0.97113760090107 Centerline is valid? [True, True] Translation: X:281.20, Y:-9.88, Z:3.33 [[ 9.99661596e-01 -1.63213834e-02 -2.02560291e-02 2.81203444e+02] [ 1.63528226e-02 9.99865321e-01 1.38741253e-03 -9.88220412e+00] [ 2.02306566e-02 -1.71818628e-03 9.99793863e-01 3.32691570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.080714057 meters Centerline goodness [0,1] 0.9691677396699052 Centerline is valid? [True, True] Translation: X:281.23, Y:-9.89, Z:3.33 [[ 9.99707407e-01 -1.41391447e-02 -1.96261169e-02 2.81231641e+02] [ 1.41682224e-02 9.99898723e-01 1.34331925e-03 -9.88717090e+00] [ 1.96051358e-02 -1.62099339e-03 9.99806487e-01 3.32730468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.110714057 meters Centerline goodness [0,1] 0.9727390332823709 Centerline is valid? [True, True] Translation: X:281.26, Y:-9.88, Z:3.33 [[ 9.99730421e-01 -1.26151638e-02 -1.94921453e-02 2.81262238e+02] [ 1.26435454e-02 9.99919178e-01 1.33350174e-03 -9.88214278e+00] [ 1.94737475e-02 -1.57959208e-03 9.99809121e-01 3.32884991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.140714057 meters Centerline goodness [0,1] 0.9710553519406071 Centerline is valid? [True, True] Translation: X:281.29, Y:-9.88, Z:3.33 [[ 9.99776701e-01 -9.10020418e-03 -1.90718465e-02 2.81291747e+02] [ 9.12673262e-03 9.99957500e-01 1.30439407e-03 -9.88368745e+00] [ 1.90591657e-02 -1.47816644e-03 9.99817265e-01 3.32992465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.170714057 meters Centerline goodness [0,1] 0.9731714205026829 Centerline is valid? [True, True] Translation: X:281.32, Y:-9.88, Z:3.33 [[ 9.99785623e-01 -7.96340720e-03 -1.91125928e-02 2.81321384e+02] [ 7.98982574e-03 9.99967228e-01 1.30629480e-03 -9.87563491e+00] [ 1.91015638e-02 -1.45872104e-03 9.99816484e-01 3.33086899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.200714057 meters Centerline goodness [0,1] 0.9750188714851858 Centerline is valid? [True, True] Translation: X:281.35, Y:-9.88, Z:3.33 [[ 9.99782570e-01 -4.99892171e-03 -2.02440963e-02 2.81350642e+02] [ 5.02793555e-03 9.99986404e-01 1.38255529e-03 -9.87662970e+00] [ 2.02369098e-02 -1.48404069e-03 9.99794111e-01 3.32904465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.230714057 meters Centerline goodness [0,1] 0.9757492672780561 Centerline is valid? [True, True] Translation: X:281.38, Y:-9.88, Z:3.33 [[ 9.99768635e-01 -3.33535318e-03 -2.12497311e-02 2.81379450e+02] [ 3.36692311e-03 9.99993281e-01 1.45005863e-03 -9.87799494e+00] [ 2.12447519e-02 -1.52126935e-03 9.99773147e-01 3.32878249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26071405700003 meters Centerline goodness [0,1] 0.9745930644019816 Centerline is valid? [True, True] Translation: X:281.41, Y:-9.88, Z:3.33 [[ 9.99773201e-01 -9.80246787e-04 -2.12740489e-02 2.81407762e+02] [ 1.01133155e-03 9.99998437e-01 1.45044916e-03 -9.88391140e+00] [ 2.12725938e-02 -1.47163532e-03 9.99772630e-01 3.32765644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.290714057 meters Centerline goodness [0,1] 0.9765671182994018 Centerline is valid? [True, True] Translation: X:281.44, Y:-9.87, Z:3.33 [[ 9.99753716e-01 5.11904112e-03 -2.15940541e-02 2.81437929e+02] [-5.08844869e-03 9.99985971e-01 1.47141509e-03 -9.87482178e+00] [ 2.16012834e-02 -1.36117247e-03 9.99765738e-01 3.33009960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32071405700003 meters Centerline goodness [0,1] 0.9764483329392292 Centerline is valid? [True, True] Translation: X:281.47, Y:-9.87, Z:3.33 [[ 9.99738830e-01 8.50172973e-03 -2.12130024e-02 2.81467541e+02] [-8.47298048e-03 9.99963060e-01 1.44477826e-03 -9.87395434e+00] [ 2.12245019e-02 -1.26466358e-03 9.99773935e-01 3.33156163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.350714057 meters Centerline goodness [0,1] 0.9766912479548526 Centerline is valid? [True, True] Translation: X:281.50, Y:-9.87, Z:3.33 [[ 9.99702535e-01 1.50596260e-02 -1.91845856e-02 2.81497437e+02] [-1.50373272e-02 9.99886080e-01 1.30606248e-03 -9.86916239e+00] [ 1.92020689e-02 -1.01718909e-03 9.99815106e-01 3.33355690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38071405700003 meters Centerline goodness [0,1] 0.9769094138543517 Centerline is valid? [True, True] Translation: X:281.53, Y:-9.87, Z:3.33 [[ 9.99677943e-01 1.71428939e-02 -1.87117753e-02 2.81525961e+02] [-1.71220566e-02 9.99852596e-01 1.27324102e-03 -9.87003163e+00] [ 1.87308441e-02 -9.52446888e-04 9.99824109e-01 3.33345589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.410714057 meters Centerline goodness [0,1] 0.9778446519122317 Centerline is valid? [True, True] Translation: X:281.55, Y:-9.87, Z:3.33 [[ 9.99667878e-01 1.83975969e-02 -1.80460880e-02 2.81554509e+02] [-1.83784369e-02 9.99830349e-01 1.22700528e-03 -9.87189060e+00] [ 1.80656004e-02 -8.94938871e-04 9.99836403e-01 3.33372452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44071405700004 meters Centerline goodness [0,1] 0.9785797218207236 Centerline is valid? [True, True] Translation: X:281.58, Y:-9.87, Z:3.34 [[ 9.99683328e-01 1.86184940e-02 -1.69291142e-02 2.81583567e+02] [-1.86016832e-02 9.99826312e-01 1.14994620e-03 -9.86860422e+00] [ 1.69475841e-02 -8.34672024e-04 9.99856031e-01 3.33531052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.470714057 meters Centerline goodness [0,1] 0.9778277863318725 Centerline is valid? [True, True] Translation: X:281.61, Y:-9.87, Z:3.34 [[ 9.99710986e-01 1.63756455e-02 -1.76006334e-02 2.81613233e+02] [-1.63571448e-02 9.99865499e-01 1.19459660e-03 -9.87047882e+00] [ 1.76178284e-02 -9.06355234e-04 9.99844383e-01 3.33656905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.500714057 meters Centerline goodness [0,1] 0.9770245624008148 Centerline is valid? [True, True] Translation: X:281.64, Y:-9.87, Z:3.34 [[ 9.99752210e-01 1.46473618e-02 -1.67622646e-02 2.81641817e+02] [-1.46303535e-02 9.99892324e-01 1.13686143e-03 -9.87349340e+00] [ 1.67771117e-02 -8.91341874e-04 9.99858857e-01 3.33734844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.530714057 meters Centerline goodness [0,1] 0.9770863940097626 Centerline is valid? [True, True] Translation: X:281.67, Y:-9.88, Z:3.34 [[ 9.99781453e-01 1.26688984e-02 -1.66296630e-02 2.81671143e+02] [-1.26519002e-02 9.99919326e-01 1.12697331e-03 -9.87704686e+00] [ 1.66425990e-02 -9.16330172e-04 9.99861082e-01 3.33778292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.560714057 meters Centerline goodness [0,1] 0.9770863940097626 Centerline is valid? [True, True] Translation: X:281.70, Y:-9.88, Z:3.34 [[ 9.99782775e-01 1.25640594e-02 -1.66297376e-02 2.81698586e+02] [-1.25470650e-02 9.99920649e-01 1.12587199e-03 -9.87881370e+00] [ 1.66425635e-02 -9.16973022e-04 9.99861082e-01 3.33803633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.590714057 meters Centerline goodness [0,1] 0.9757959675703785 Centerline is valid? [True, True] Translation: X:281.73, Y:-9.89, Z:3.34 [[ 9.99834454e-01 8.01638661e-03 -1.63340573e-02 2.81727293e+02] [-7.99940458e-03 9.99967394e-01 1.10474161e-03 -9.88818829e+00] [ 1.63423808e-02 -9.73895990e-04 9.99865980e-01 3.33740348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.620714057 meters Centerline goodness [0,1] 0.9752653525398028 Centerline is valid? [True, True] Translation: X:281.76, Y:-9.89, Z:3.34 [[ 9.99845523e-01 5.22670869e-03 -1.67812857e-02 2.81757007e+02] [-5.20839823e-03 9.99985792e-01 1.13464335e-03 -9.89171795e+00] [ 1.67869778e-02 -1.04706445e-03 9.99858541e-01 3.33741796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.650714057 meters Centerline goodness [0,1] 0.9753252262443439 Centerline is valid? [True, True] Translation: X:281.79, Y:-9.90, Z:3.34 [[ 9.99845218e-01 5.46511227e-04 -1.75852675e-02 2.81785660e+02] [-5.25679632e-04 9.99999155e-01 1.18920565e-03 -9.89942374e+00] [ 1.75859026e-02 -1.17977736e-03 9.99844660e-01 3.33658330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.680714057 meters Centerline goodness [0,1] 0.9758376592732421 Centerline is valid? [True, True] Translation: X:281.81, Y:-9.90, Z:3.34 [[ 9.99815504e-01 -9.08325617e-04 -1.91868004e-02 2.81813355e+02] [ 9.33386997e-04 9.99998723e-01 1.29726336e-03 -9.90472644e+00] [ 1.91855976e-02 -1.31493273e-03 9.99815075e-01 3.33608109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.710714057 meters Centerline goodness [0,1] 0.9747837595122182 Centerline is valid? [True, True] Translation: X:281.84, Y:-9.90, Z:3.34 [[ 9.99790234e-01 -2.60816146e-03 -2.03146692e-02 2.81842601e+02] [ 2.63658005e-03 9.99995583e-01 1.37226175e-03 -9.90435564e+00] [ 2.03110004e-02 -1.42553515e-03 9.99792694e-01 3.33586059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.740714057 meters Centerline goodness [0,1] 0.9753101004134672 Centerline is valid? [True, True] Translation: X:281.87, Y:-9.91, Z:3.34 [[ 9.99781253e-01 -4.43204884e-03 -2.04402228e-02 2.81871686e+02] [ 4.46117690e-03 9.99989097e-01 1.37965770e-03 -9.90859438e+00] [ 2.04338852e-02 -1.47054335e-03 9.99790125e-01 3.33571778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.770714057 meters Centerline goodness [0,1] 0.9733878013648493 Centerline is valid? [True, True] Translation: X:281.90, Y:-9.91, Z:3.34 [[ 9.99774722e-01 -5.23140910e-03 -2.05703092e-02 2.81900075e+02] [ 5.26100940e-03 9.99985201e-01 1.38512881e-03 -9.91112862e+00] [ 2.05627586e-02 -1.49303736e-03 9.99787449e-01 3.33590176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.800714057 meters Centerline goodness [0,1] 0.9728249321213552 Centerline is valid? [True, True] Translation: X:281.93, Y:-9.92, Z:3.34 [[ 9.99778873e-01 -6.70186891e-03 -1.99321550e-02 2.81928734e+02] [ 6.72989615e-03 9.99976457e-01 1.33938625e-03 -9.91673814e+00] [ 1.99227094e-02 -1.47323141e-03 9.99800438e-01 3.33640041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.830714057 meters Centerline goodness [0,1] 0.973987758945386 Centerline is valid? [True, True] Translation: X:281.96, Y:-9.92, Z:3.34 [[ 9.99791263e-01 -7.22950816e-03 -1.91092583e-02 2.81957097e+02] [ 7.25530849e-03 9.99972859e-01 1.28116396e-03 -9.91622198e+00] [ 1.90994775e-02 -1.41954009e-03 9.99816581e-01 3.33796982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.860714057 meters Centerline goodness [0,1] 0.9703607639707617 Centerline is valid? [True, True] Translation: X:281.98, Y:-9.92, Z:3.34 [[ 9.99806278e-01 -7.70511333e-03 -1.81118112e-02 2.81984144e+02] [ 7.72831439e-03 9.99969402e-01 1.21134595e-03 -9.92459778e+00] [ 1.81019235e-02 -1.35108506e-03 9.99835234e-01 3.33855436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.890714057 meters Centerline goodness [0,1] 0.969901401141671 Centerline is valid? [True, True] Translation: X:282.01, Y:-9.93, Z:3.34 [[ 9.99805836e-01 -9.41568185e-03 -1.73099868e-02 2.82013220e+02] [ 9.43710817e-03 9.99954801e-01 1.15653245e-03 -9.92672599e+00] [ 1.72983148e-02 -1.31966411e-03 9.99849502e-01 3.33962733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.920714057 meters Centerline goodness [0,1] 0.9687301025822427 Centerline is valid? [True, True] Translation: X:282.04, Y:-9.93, Z:3.34 [[ 9.99806235e-01 -1.03292995e-02 -1.67570373e-02 2.82040615e+02] [ 1.03494878e-02 9.99945817e-01 1.11849662e-03 -9.93245353e+00] [ 1.67445760e-02 -1.29170665e-03 9.99858965e-01 3.33996382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.950714057 meters Centerline goodness [0,1] 0.9718625968625969 Centerline is valid? [True, True] Translation: X:282.07, Y:-9.93, Z:3.34 [[ 9.99795493e-01 -1.26152556e-02 -1.58059036e-02 2.82071307e+02] [ 1.26334874e-02 9.99919639e-01 1.05416268e-03 -9.92582849e+00] [ 1.57913349e-02 -1.25363078e-03 9.99874523e-01 3.34182832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.980714057 meters Centerline goodness [0,1] 0.9713522584915026 Centerline is valid? [True, True] Translation: X:282.10, Y:-9.93, Z:3.34 [[ 9.99779627e-01 -1.39365840e-02 -1.56993219e-02 2.82099727e+02] [ 1.39547047e-02 9.99902082e-01 1.04527378e-03 -9.92946644e+00] [ 1.56832171e-02 -1.26412283e-03 9.99876212e-01 3.34201408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01071405700003 meters Centerline goodness [0,1] 0.9709273537525642 Centerline is valid? [True, True] Translation: X:282.13, Y:-9.93, Z:3.34 [[ 9.99757465e-01 -1.54389687e-02 -1.57050534e-02 2.82129193e+02] [ 1.54572473e-02 9.99879985e-01 1.04314016e-03 -9.93280878e+00] [ 1.56870636e-02 -1.28564406e-03 9.99876124e-01 3.34178439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.040714057 meters Centerline goodness [0,1] 0.9695258265678315 Centerline is valid? [True, True] Translation: X:282.16, Y:-9.94, Z:3.34 [[ 9.99677975e-01 -1.82960601e-02 -1.75841180e-02 2.82159006e+02] [ 1.83194065e-02 9.99831504e-01 1.16752073e-03 -9.93725887e+00] [ 1.75597941e-02 -1.48927536e-03 9.99844706e-01 3.34049369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07071405700003 meters Centerline goodness [0,1] 0.9694327260729184 Centerline is valid? [True, True] Translation: X:282.19, Y:-9.94, Z:3.34 [[ 9.99653609e-01 -1.94437717e-02 -1.77369924e-02 2.82187876e+02] [ 1.94676958e-02 9.99809793e-01 1.17714970e-03 -9.94099010e+00] [ 1.77107305e-02 -1.52204032e-03 9.99841994e-01 3.33983851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.100714057 meters Centerline goodness [0,1] 0.9700284658997341 Centerline is valid? [True, True] Translation: X:282.22, Y:-9.94, Z:3.34 [[ 9.99625866e-01 -2.04428844e-02 -1.81718741e-02 2.82216620e+02] [ 2.04681104e-02 9.99789782e-01 1.20327262e-03 -9.94181722e+00] [ 1.81434557e-02 -1.57476636e-03 9.99834154e-01 3.33981586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13071405700003 meters Centerline goodness [0,1] 0.9682034601423656 Centerline is valid? [True, True] Translation: X:282.25, Y:-9.95, Z:3.34 [[ 9.99597277e-01 -2.12779516e-02 -1.87758434e-02 2.82245320e+02] [ 2.13049750e-02 9.99772254e-01 1.24038790e-03 -9.94701410e+00] [ 1.87451744e-02 -1.63990724e-03 9.99822949e-01 3.33885007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.160714057 meters Centerline goodness [0,1] 0.9673057897960146 Centerline is valid? [True, True] Translation: X:282.27, Y:-9.95, Z:3.34 [[ 9.99613643e-01 -2.04425676e-02 -1.88325763e-02 2.82274189e+02] [ 2.04695855e-02 9.99789703e-01 1.24297100e-03 -9.94899827e+00] [ 1.88032063e-02 -1.62798580e-03 9.99821879e-01 3.33840514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19071405700004 meters Centerline goodness [0,1] 0.9691868152625613 Centerline is valid? [True, True] Translation: X:282.31, Y:-9.95, Z:3.34 [[ 9.99684713e-01 -1.68847175e-02 -1.85844504e-02 2.82305029e+02] [ 1.69104055e-02 9.99856257e-01 1.22593896e-03 -9.94637844e+00] [ 1.85610793e-02 -1.53982303e-03 9.99826543e-01 3.33976295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.220714057 meters Centerline goodness [0,1] 0.9684580541662735 Centerline is valid? [True, True] Translation: X:282.33, Y:-9.95, Z:3.34 [[ 9.99729853e-01 -1.40173689e-02 -1.85400969e-02 2.82334363e+02] [ 1.40424402e-02 9.99900652e-01 1.22277641e-03 -9.94708440e+00] [ 1.85211148e-02 -1.48279428e-03 9.99827370e-01 3.34044156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.250714057 meters Centerline goodness [0,1] 0.9730248654798872 Centerline is valid? [True, True] Translation: X:282.37, Y:-9.94, Z:3.34 [[ 9.99764183e-01 -1.13282071e-02 -1.85270324e-02 2.82365177e+02] [ 1.13527739e-02 9.99934809e-01 1.22135867e-03 -9.94111221e+00] [ 1.85119888e-02 -1.43140386e-03 9.99827614e-01 3.34235939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.280714057 meters Centerline goodness [0,1] 0.9728790314953183 Centerline is valid? [True, True] Translation: X:282.40, Y:-9.94, Z:3.34 [[ 9.99828284e-01 -5.64429869e-03 -1.76506092e-02 2.82396045e+02] [ 5.66570859e-03 9.99983273e-01 1.16321289e-03 -9.93677491e+00] [ 1.76437484e-02 -1.26301636e-03 9.99843539e-01 3.34325014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.310714057 meters Centerline goodness [0,1] 0.9714238284955417 Centerline is valid? [True, True] Translation: X:282.42, Y:-9.94, Z:3.34 [[ 9.99838240e-01 -3.43299536e-03 -1.76552712e-02 2.82424702e+02] [ 3.45406733e-03 9.99993358e-01 1.16316752e-03 -9.94146430e+00] [ 1.76511608e-02 -1.22396187e-03 9.99843457e-01 3.34293085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.340714057 meters Centerline goodness [0,1] 0.970749368777095 Centerline is valid? [True, True] Translation: X:282.45, Y:-9.94, Z:3.34 [[ 9.99857897e-01 1.42959661e-03 -1.67970591e-02 2.82453867e+02] [-1.41121732e-03 9.99998393e-01 1.10599896e-03 -9.94136846e+00] [ 1.67986133e-02 -1.08213749e-03 9.99858308e-01 3.34369169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.370714057 meters Centerline goodness [0,1] 0.9709363117870723 Centerline is valid? [True, True] Translation: X:282.48, Y:-9.94, Z:3.34 [[ 9.99861470e-01 3.06457437e-03 -1.63599897e-02 2.82483046e+02] [-3.04736721e-03 9.99994777e-01 1.07660869e-03 -9.94096333e+00] [ 1.63632036e-02 -1.02660465e-03 9.99865587e-01 3.34438874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.400714057 meters Centerline goodness [0,1] 0.973937096120371 Centerline is valid? [True, True] Translation: X:282.51, Y:-9.93, Z:3.35 [[ 9.99853929e-01 5.01484360e-03 -1.63392793e-02 2.82513337e+02] [-4.99794848e-03 9.99986933e-01 1.07468887e-03 -9.93100117e+00] [ 1.63444552e-02 -9.92869013e-04 9.99865928e-01 3.34613287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.430714057 meters Centerline goodness [0,1] 0.9755735783152707 Centerline is valid? [True, True] Translation: X:282.54, Y:-9.93, Z:3.35 [[ 9.99819017e-01 7.80435464e-03 -1.73500639e-02 2.82543340e+02] [-7.78573119e-03 9.99969040e-01 1.14068235e-03 -9.92980026e+00] [ 1.73584291e-02 -1.00539297e-03 9.99848826e-01 3.34597692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.460714057 meters Centerline goodness [0,1] 0.9759888699656983 Centerline is valid? [True, True] Translation: X:282.57, Y:-9.93, Z:3.35 [[ 9.99803026e-01 8.40021061e-03 -1.79818049e-02 2.82572146e+02] [-8.38031636e-03 9.99964187e-01 1.18142286e-03 -9.92883212e+00] [ 1.79910851e-02 -1.03049694e-03 9.99837616e-01 3.34513969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.490714057 meters Centerline goodness [0,1] 0.9756747031306225 Centerline is valid? [True, True] Translation: X:282.60, Y:-9.93, Z:3.34 [[ 9.99762061e-01 1.08173382e-02 -1.89421747e-02 2.82600380e+02] [-1.07957153e-02 9.99940951e-01 1.24340919e-03 -9.93176939e+00] [ 1.89545066e-02 -1.03861901e-03 9.99819808e-01 3.34374791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.520714057 meters Centerline goodness [0,1] 0.9752274418493003 Centerline is valid? [True, True] Translation: X:282.63, Y:-9.93, Z:3.34 [[ 9.99759756e-01 1.14920921e-02 -1.86644472e-02 2.82629590e+02] [-1.14712356e-02 9.99933454e-01 1.22412589e-03 -9.93198153e+00] [ 1.86772729e-02 -1.00972753e-03 9.99825055e-01 3.34435932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.550714057 meters Centerline goodness [0,1] 0.9753234021185528 Centerline is valid? [True, True] Translation: X:282.66, Y:-9.93, Z:3.35 [[ 9.99747473e-01 1.27682698e-02 -1.84921783e-02 2.82659092e+02] [-1.27480656e-02 9.99918008e-01 1.21004993e-03 -9.93009225e+00] [ 1.85061124e-02 -9.74004859e-04 9.99828273e-01 3.34612678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.580714057 meters Centerline goodness [0,1] 0.9757385231935879 Centerline is valid? [True, True] Translation: X:282.69, Y:-9.93, Z:3.35 [[ 9.99740319e-01 1.48262875e-02 -1.73053691e-02 2.82688656e+02] [-1.48089406e-02 9.99889703e-01 1.13012482e-03 -9.92879661e+00] [ 1.73202159e-02 -8.73557162e-04 9.99849612e-01 3.34740333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.610714057 meters Centerline goodness [0,1] 0.9732690832374377 Centerline is valid? [True, True] Translation: X:282.72, Y:-9.93, Z:3.35 [[ 9.99737385e-01 1.62003390e-02 -1.62083055e-02 2.82715895e+02] [-1.61853208e-02 9.99868450e-01 1.05733194e-03 -9.93401473e+00] [ 1.62233024e-02 -7.94717642e-04 9.99868078e-01 3.34768568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.640714057 meters Centerline goodness [0,1] 0.9763447051485054 Centerline is valid? [True, True] Translation: X:282.75, Y:-9.93, Z:3.35 [[ 9.99740054e-01 1.74455253e-02 -1.46791410e-02 2.82745240e+02] [-1.74333618e-02 9.99847570e-01 9.56184931e-04 -9.93069472e+00] [ 1.46935846e-02 -7.00029600e-04 9.99891798e-01 3.34914284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.670714057 meters Centerline goodness [0,1] 0.974699344679421 Centerline is valid? [True, True] Translation: X:282.77, Y:-9.94, Z:3.35 [[ 9.99735738e-01 1.73872072e-02 -1.50379331e-02 2.82772351e+02] [-1.73744560e-02 9.99848574e-01 9.78170774e-04 -9.93622120e+00] [ 1.50526636e-02 -7.16636373e-04 9.99886445e-01 3.34857762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.700714057 meters Centerline goodness [0,1] 0.9756688081311727 Centerline is valid? [True, True] Translation: X:282.80, Y:-9.94, Z:3.35 [[ 9.99724263e-01 1.70861956e-02 -1.61077680e-02 2.82800935e+02] [-1.70715538e-02 9.99853723e-01 1.04606472e-03 -9.93513381e+00] [ 1.61232851e-02 -7.70791649e-04 9.99869714e-01 3.34856806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.730714057 meters Centerline goodness [0,1] 0.9771588811926276 Centerline is valid? [True, True] Translation: X:282.83, Y:-9.94, Z:3.35 [[ 9.99716576e-01 1.59870235e-02 -1.76403718e-02 2.82829386e+02] [-1.59693146e-02 9.99871828e-01 1.14429887e-03 -9.93716369e+00] [ 1.76564048e-02 -8.62269897e-04 9.99843742e-01 3.34820518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76071405700003 meters Centerline goodness [0,1] 0.9775577241230489 Centerline is valid? [True, True] Translation: X:282.86, Y:-9.94, Z:3.35 [[ 9.99718406e-01 1.53646369e-02 -1.80841711e-02 2.82857651e+02] [-1.53459502e-02 9.99881558e-01 1.17164267e-03 -9.93871024e+00] [ 1.81000311e-02 -8.93793957e-04 9.99835782e-01 3.34792515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.790714057 meters Centerline goodness [0,1] 0.9777271637497003 Centerline is valid? [True, True] Translation: X:282.89, Y:-9.94, Z:3.35 [[ 9.99730787e-01 1.41909937e-02 -1.83566949e-02 2.82886373e+02] [-1.41715693e-02 9.99898873e-01 1.18782000e-03 -9.94231404e+00] [ 1.83716949e-02 -9.27357048e-04 9.99830796e-01 3.34729519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82071405700003 meters Centerline goodness [0,1] 0.9770536613436915 Centerline is valid? [True, True] Translation: X:282.91, Y:-9.95, Z:3.35 [[ 9.99742235e-01 1.19627882e-02 -1.92964884e-02 2.82914187e+02] [-1.19409368e-02 9.99927927e-01 1.24722725e-03 -9.94727782e+00] [ 1.93100180e-02 -1.01648761e-03 9.99813027e-01 3.34739207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.850714057 meters Centerline goodness [0,1] 0.976563061659757 Centerline is valid? [True, True] Translation: X:282.94, Y:-9.95, Z:3.35 [[ 9.99748139e-01 1.13039697e-02 -1.93875848e-02 2.82942463e+02] [-1.12818142e-02 9.99935575e-01 1.25176447e-03 -9.95017485e+00] [ 1.94004857e-02 -1.03272207e-03 9.99811260e-01 3.34772102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88071405700003 meters Centerline goodness [0,1] 0.9763198017914999 Centerline is valid? [True, True] Translation: X:282.97, Y:-9.95, Z:3.35 [[ 9.99748130e-01 1.06045564e-02 -1.97793024e-02 2.82970875e+02] [-1.05813871e-02 9.99943202e-01 1.27568022e-03 -9.95156438e+00] [ 1.97917070e-02 -1.06606646e-03 9.99803557e-01 3.34799465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.910714057 meters Centerline goodness [0,1] 0.9766182741603181 Centerline is valid? [True, True] Translation: X:283.00, Y:-9.95, Z:3.35 [[ 9.99756335e-01 1.00306127e-02 -1.96635998e-02 2.82999167e+02] [-1.00076298e-02 9.99949120e-01 1.26685770e-03 -9.95412822e+00] [ 1.96753066e-02 -1.06976298e-03 9.99805850e-01 3.34813135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94071405700004 meters Centerline goodness [0,1] 0.9775994250119789 Centerline is valid? [True, True] Translation: X:283.03, Y:-9.95, Z:3.35 [[ 9.99762530e-01 1.00486111e-02 -1.93367373e-02 2.83028309e+02] [-1.00264154e-02 9.99948960e-01 1.24445778e-03 -9.95436128e+00] [ 1.93482555e-02 -1.05028410e-03 9.99812253e-01 3.34853264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.970714057 meters Centerline goodness [0,1] 0.9748019813826605 Centerline is valid? [True, True] Translation: X:283.06, Y:-9.96, Z:3.35 [[ 9.99766941e-01 1.02723471e-02 -1.89879834e-02 2.83055821e+02] [-1.02510136e-02 9.99946712e-01 1.22052059e-03 -9.96410344e+00] [ 1.89995092e-02 -1.02559006e-03 9.99818967e-01 3.34694497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.000714057 meters Centerline goodness [0,1] 0.9763446512628133 Centerline is valid? [True, True] Translation: X:283.08, Y:-9.96, Z:3.35 [[ 9.99778626e-01 1.05016434e-02 -1.82322342e-02 2.83084706e+02] [-1.04820383e-02 9.99944377e-01 1.17053243e-03 -9.95810979e+00] [ 1.82435126e-02 -9.79162327e-04 9.99833094e-01 3.34879331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.030714057 meters Centerline goodness [0,1] 0.9747643081611275 Centerline is valid? [True, True] Translation: X:283.11, Y:-9.96, Z:3.35 [[ 9.99791809e-01 1.11416814e-02 -1.70939214e-02 2.83112707e+02] [-1.11245639e-02 9.99937519e-01 1.09614942e-03 -9.96019112e+00] [ 1.71050663e-02 -9.05758795e-04 9.99853287e-01 3.34989876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.060714057 meters Centerline goodness [0,1] 0.9758531565596132 Centerline is valid? [True, True] Translation: X:283.14, Y:-9.96, Z:3.35 [[ 9.99801686e-01 1.11018202e-02 -1.65329508e-02 2.83141970e+02] [-1.10858239e-02 9.99937990e-01 1.05887736e-03 -9.96150182e+00] [ 1.65436811e-02 -8.75385994e-04 9.99862761e-01 3.34998531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.090714057 meters Centerline goodness [0,1] 0.9724348427403009 Centerline is valid? [True, True] Translation: X:283.17, Y:-9.97, Z:3.35 [[ 9.99819412e-01 1.02205152e-02 -1.60213933e-02 2.83169298e+02] [-1.02054052e-02 9.99947399e-01 1.02459027e-03 -9.97269402e+00] [ 1.60310224e-02 -8.60900428e-04 9.99871124e-01 3.35060036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.120714057 meters Centerline goodness [0,1] 0.9747843239774698 Centerline is valid? [True, True] Translation: X:283.20, Y:-9.97, Z:3.35 [[ 9.99828259e-01 9.45130944e-03 -1.59412821e-02 2.83198430e+02] [-9.43627928e-03 9.99954959e-01 1.01780107e-03 -9.96948793e+00] [ 1.59501836e-02 -8.67199879e-04 9.99872412e-01 3.35163727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.150714057 meters Centerline goodness [0,1] 0.9740638135269393 Centerline is valid? [True, True] Translation: X:283.23, Y:-9.98, Z:3.35 [[ 9.99835757e-01 6.38769858e-03 -1.69604055e-02 2.83226985e+02] [-6.37025839e-03 9.99979124e-01 1.08211493e-03 -9.97676431e+00] [ 1.69669636e-02 -9.73895038e-04 9.99855576e-01 3.35208819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.180714057 meters Centerline goodness [0,1] 0.9735571232422707 Centerline is valid? [True, True] Translation: X:283.26, Y:-9.98, Z:3.35 [[ 9.99843350e-01 4.75690641e-03 -1.70484069e-02 2.83255749e+02] [-4.73905687e-03 9.99988180e-01 1.08723826e-03 -9.98128087e+00] [ 1.70533773e-02 -1.00627458e-03 9.99854074e-01 3.35214077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.210714057 meters Centerline goodness [0,1] 0.973247649648935 Centerline is valid? [True, True] Translation: X:283.29, Y:-9.99, Z:3.35 [[ 9.99840040e-01 2.29322159e-03 -1.77379814e-02 2.83285245e+02] [-2.27352632e-03 9.99996777e-01 1.13043046e-03 -9.98514761e+00] [ 1.77405166e-02 -1.08992187e-03 9.99842031e-01 3.35242417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.240714057 meters Centerline goodness [0,1] 0.9728741092636579 Centerline is valid? [True, True] Translation: X:283.32, Y:-9.99, Z:3.35 [[ 9.99836893e-01 -1.08801319e-03 -1.80278689e-02 2.83315389e+02] [ 1.10889650e-03 9.99998726e-01 1.14843466e-03 -9.99071425e+00] [ 1.80265965e-02 -1.16823839e-03 9.99836825e-01 3.35276439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.270714057 meters Centerline goodness [0,1] 0.9720499834335211 Centerline is valid? [True, True] Translation: X:283.34, Y:-10.00, Z:3.35 [[ 9.99846588e-01 -2.34360077e-03 -1.73581970e-02 2.83342440e+02] [ 2.36312827e-03 9.99996598e-01 1.10454730e-03 -9.99603353e+00] [ 1.73555493e-02 -1.14539750e-03 9.99848725e-01 3.35320026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.300714057 meters Centerline goodness [0,1] 0.9696028452874926 Centerline is valid? [True, True] Translation: X:283.37, Y:-10.00, Z:3.35 [[ 9.99864487e-01 -4.64847876e-03 -1.57923494e-02 2.83370425e+02] [ 4.66490267e-03 9.99988616e-01 1.00331361e-03 -1.00019901e+01] [ 1.57875058e-02 -1.07684742e-03 9.99874790e-01 3.35481931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.330714057 meters Centerline goodness [0,1] 0.9724794543258414 Centerline is valid? [True, True] Translation: X:283.40, Y:-10.00, Z:3.36 [[ 9.99870371e-01 -5.74762343e-03 -1.50401528e-02 2.83399431e+02] [ 5.76261192e-03 9.99982942e-01 9.53417018e-04 -9.99717668e+00] [ 1.50344163e-02 -1.03996399e-03 9.99886436e-01 3.35650539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.360714057 meters Centerline goodness [0,1] 0.9721841470907974 Centerline is valid? [True, True] Translation: X:283.43, Y:-10.00, Z:3.36 [[ 9.99868985e-01 -7.14741181e-03 -1.45233366e-02 2.83427798e+02] [ 7.16148352e-03 9.99973936e-01 9.17126463e-04 -1.00009473e+01] [ 1.45164030e-02 -1.02101494e-03 9.99894110e-01 3.35748168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.390714057 meters Centerline goodness [0,1] 0.9666721740977647 Centerline is valid? [True, True] Translation: X:283.46, Y:-10.01, Z:3.36 [[ 9.99844049e-01 -8.83881993e-03 -1.52890077e-02 2.83455539e+02] [ 8.85456976e-03 9.99960334e-01 9.62753693e-04 -1.00138801e+01] [ 1.52798916e-02 -1.09798113e-03 9.99882653e-01 3.35634953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.420714057 meters Centerline goodness [0,1] 0.9689869381392163 Centerline is valid? [True, True] Translation: X:283.48, Y:-10.01, Z:3.36 [[ 9.99831715e-01 -1.01648252e-02 -1.52714906e-02 2.83484104e+02] [ 1.01806634e-02 9.99947715e-01 9.59723955e-04 -1.00129518e+01] [ 1.52609367e-02 -1.11503635e-03 9.99882923e-01 3.35670161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.450714057 meters Centerline goodness [0,1] 0.9689094689094689 Centerline is valid? [True, True] Translation: X:283.51, Y:-10.02, Z:3.36 [[ 9.99799869e-01 -1.26898735e-02 -1.54657446e-02 2.83513642e+02] [ 1.27063819e-02 9.99918801e-01 9.69617767e-04 -1.00169950e+01] [ 1.54521845e-02 -1.16593737e-03 9.99879928e-01 3.35638362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.480714057 meters Centerline goodness [0,1] 0.9689094689094689 Centerline is valid? [True, True] Translation: X:283.54, Y:-10.02, Z:3.36 [[ 9.99796372e-01 -1.29623557e-02 -1.54658614e-02 2.83541066e+02] [ 1.29788678e-02 9.99915303e-01 9.67751855e-04 -1.00186208e+01] [ 1.54520071e-02 -1.16828416e-03 9.99879928e-01 3.35663672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51071405700003 meters Centerline goodness [0,1] 0.9702071313723636 Centerline is valid? [True, True] Translation: X:283.57, Y:-10.02, Z:3.36 [[ 9.99778192e-01 -1.40929637e-02 -1.56510446e-02 2.83569417e+02] [ 1.41099627e-02 9.99899973e-01 9.76227591e-04 -1.00172376e+01] [ 1.56357211e-02 -1.19684671e-03 9.99877038e-01 3.35690502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.540714057 meters Centerline goodness [0,1] 0.9717660956881276 Centerline is valid? [True, True] Translation: X:283.60, Y:-10.02, Z:3.36 [[ 9.99765274e-01 -1.52857803e-02 -1.53538560e-02 2.83598030e+02] [ 1.53022442e-02 9.99882457e-01 9.55384946e-04 -1.00215806e+01] [ 1.53374474e-02 -1.19010915e-03 9.99881666e-01 3.35707294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57071405700003 meters Centerline goodness [0,1] 0.9685524243777469 Centerline is valid? [True, True] Translation: X:283.63, Y:-10.03, Z:3.36 [[ 9.99708814e-01 -1.79153870e-02 -1.61656107e-02 2.83627307e+02] [ 1.79339386e-02 9.99838671e-01 1.00334469e-03 -1.00286164e+01] [ 1.61450274e-02 -1.29296560e-03 9.99868825e-01 3.35712935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.600714057 meters Centerline goodness [0,1] 0.9681366180881971 Centerline is valid? [True, True] Translation: X:283.66, Y:-10.03, Z:3.36 [[ 9.99690510e-01 -1.95622049e-02 -1.53689548e-02 2.83657002e+02] [ 1.95791595e-02 9.99807855e-01 9.53471007e-04 -1.00331266e+01] [ 1.53473497e-02 -1.25408713e-03 9.99881436e-01 3.35783183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63071405700003 meters Centerline goodness [0,1] 0.9684158578713604 Centerline is valid? [True, True] Translation: X:283.69, Y:-10.03, Z:3.36 [[ 9.99664133e-01 -2.24547209e-02 -1.29386010e-02 2.83687322e+02] [ 2.24669731e-02 9.99747264e-01 8.02362971e-04 -1.00330798e+01] [ 1.29173141e-02 -1.09278468e-03 9.99915971e-01 3.35941322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.660714057 meters Centerline goodness [0,1] 0.9676637405568238 Centerline is valid? [True, True] Translation: X:283.72, Y:-10.04, Z:3.36 [[ 9.99639329e-01 -2.37613279e-02 -1.25144746e-02 2.83718496e+02] [ 2.37728911e-02 9.99717084e-01 7.76021464e-04 -1.00372266e+01] [ 1.24924948e-02 -1.07324682e-03 9.99921390e-01 3.35996359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69071405700004 meters Centerline goodness [0,1] 0.9664205427268024 Centerline is valid? [True, True] Translation: X:283.75, Y:-10.04, Z:3.36 [[ 9.99600621e-01 -2.53253688e-02 -1.25388754e-02 2.83748656e+02] [ 2.53371042e-02 9.99678661e-01 7.77921888e-04 -1.00422751e+01] [ 1.25151450e-02 -1.09531000e-03 9.99921083e-01 3.35956982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.720714057 meters Centerline goodness [0,1] 0.9669458429398202 Centerline is valid? [True, True] Translation: X:283.78, Y:-10.05, Z:3.36 [[ 9.99508432e-01 -2.82699187e-02 -1.35537879e-02 2.83778825e+02] [ 2.82839021e-02 9.99599577e-01 8.41090785e-04 -1.00462973e+01] [ 1.35245831e-02 -1.22403134e-03 9.99907789e-01 3.35902151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.750714057 meters Centerline goodness [0,1] 0.964378025283143 Centerline is valid? [True, True] Translation: X:283.81, Y:-10.05, Z:3.36 [[ 9.99462376e-01 -2.95116140e-02 -1.42836811e-02 2.83808617e+02] [ 2.95272709e-02 9.99563582e-01 8.86446053e-04 -1.00505119e+01] [ 1.42512870e-02 -1.30772760e-03 9.99897590e-01 3.35856186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.780714057 meters Centerline goodness [0,1] 0.9661725668913999 Centerline is valid? [True, True] Translation: X:283.84, Y:-10.05, Z:3.36 [[ 9.99377183e-01 -3.20435623e-02 -1.47802384e-02 2.83839020e+02] [ 3.20606017e-02 9.99485506e-01 9.17290061e-04 -1.00510871e+01] [ 1.47432408e-02 -1.39058209e-03 9.99890346e-01 3.35789082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.810714057 meters Centerline goodness [0,1] 0.965064170244715 Centerline is valid? [True, True] Translation: X:283.87, Y:-10.06, Z:3.36 [[ 9.99347602e-01 -3.31715037e-02 -1.42836439e-02 2.83868934e+02] [ 3.31875359e-02 9.99448749e-01 8.86784528e-04 -1.00564978e+01] [ 1.42463540e-02 -1.36024494e-03 9.99897590e-01 3.35757525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.840714057 meters Centerline goodness [0,1] 0.956368754398311 Centerline is valid? [True, True] Translation: X:283.90, Y:-10.07, Z:3.36 [[ 9.99297691e-01 -3.47298229e-02 -1.40699898e-02 2.83898682e+02] [ 3.47455400e-02 9.99395809e-01 8.74085681e-04 -1.00662753e+01] [ 1.40311320e-02 -1.36234120e-03 9.99900631e-01 3.35687630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.870714057 meters Centerline goodness [0,1] 0.9549490453320839 Centerline is valid? [True, True] Translation: X:283.93, Y:-10.07, Z:3.36 [[ 9.99222195e-01 -3.68892831e-02 -1.39350862e-02 2.83929517e+02] [ 3.69049115e-02 9.99318407e-01 8.65943504e-04 -1.00703734e+01] [ 1.38936441e-02 -1.37954309e-03 9.99902527e-01 3.35729720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.900714057 meters Centerline goodness [0,1] 0.9650886878891107 Centerline is valid? [True, True] Translation: X:283.96, Y:-10.06, Z:3.36 [[ 9.99198047e-01 -3.73910383e-02 -1.43238995e-02 2.83962608e+02] [ 3.74076096e-02 9.99299694e-01 8.90633668e-04 -1.00627424e+01] [ 1.42805667e-02 -1.42574226e-03 9.99897011e-01 3.35769427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.930714057 meters Centerline goodness [0,1] 0.9624903596718782 Centerline is valid? [True, True] Translation: X:283.99, Y:-10.07, Z:3.36 [[ 9.99224751e-01 -3.66572312e-02 -1.43577294e-02 2.83994040e+02] [ 3.66738207e-02 9.99326889e-01 8.93770610e-04 -1.00659514e+01] [ 1.43153019e-02 -1.41963051e-03 9.99896523e-01 3.35673097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.960714057 meters Centerline goodness [0,1] 0.9541172610957491 Centerline is valid? [True, True] Translation: X:284.02, Y:-10.08, Z:3.36 [[ 9.99248222e-01 -3.60812155e-02 -1.41822510e-02 2.84024331e+02] [ 3.60973574e-02 9.99347887e-01 8.83760650e-04 -1.00759014e+01] [ 1.41411154e-02 -1.39503804e-03 9.99899036e-01 3.35646833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.990714057 meters Centerline goodness [0,1] 0.9619181286549707 Centerline is valid? [True, True] Translation: X:284.06, Y:-10.07, Z:3.36 [[ 9.99279435e-01 -3.54001139e-02 -1.36909614e-02 2.84057097e+02] [ 3.54151042e-02 9.99372324e-01 8.53936662e-04 -1.00704510e+01] [ 1.36521384e-02 -1.33818817e-03 9.99905910e-01 3.35732787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.020714057 meters Centerline goodness [0,1] 0.9625079283046348 Centerline is valid? [True, True] Translation: X:284.09, Y:-10.07, Z:3.36 [[ 9.99357142e-01 -3.33075274e-02 -1.32631339e-02 2.84088255e+02] [ 3.33214221e-02 9.99444344e-01 8.27954894e-04 -1.00681859e+01] [ 1.32281871e-02 -1.26936912e-03 9.99911698e-01 3.35843581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.050714057 meters Centerline goodness [0,1] 0.9584897691008072 Centerline is valid? [True, True] Translation: X:284.12, Y:-10.07, Z:3.36 [[ 9.99399733e-01 -3.22200636e-02 -1.27295320e-02 2.84118385e+02] [ 3.22327781e-02 9.99480073e-01 7.94864371e-04 -1.00734879e+01] [ 1.26973030e-02 -1.20469542e-03 9.99918660e-01 3.35881580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.080714057 meters Centerline goodness [0,1] 0.960523231281354 Centerline is valid? [True, True] Translation: X:284.15, Y:-10.07, Z:3.36 [[ 9.99496591e-01 -2.93364310e-02 -1.20804994e-02 2.84149452e+02] [ 2.93476750e-02 9.99568979e-01 7.54498209e-04 -1.00713902e+01] [ 1.20531581e-02 -1.10865296e-03 9.99926743e-01 3.35995491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.110714057 meters Centerline goodness [0,1] 0.9632397875240916 Centerline is valid? [True, True] Translation: X:284.18, Y:-10.07, Z:3.36 [[ 9.99523194e-01 -2.81577128e-02 -1.26699906e-02 2.84181202e+02] [ 2.81699889e-02 9.99602834e-01 7.91455807e-04 -1.00677921e+01] [ 1.26426729e-02 -1.14799193e-03 9.99919419e-01 3.36023606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.140714057 meters Centerline goodness [0,1] 0.9645441901034914 Centerline is valid? [True, True] Translation: X:284.21, Y:-10.07, Z:3.36 [[ 9.99557089e-01 -2.68169776e-02 -1.29025709e-02 2.84212985e+02] [ 2.68296054e-02 9.99639696e-01 8.06579942e-04 -1.00683118e+01] [ 1.28762920e-02 -1.15239359e-03 9.99916433e-01 3.35958661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.170714057 meters Centerline goodness [0,1] 0.9658618408618409 Centerline is valid? [True, True] Translation: X:284.24, Y:-10.07, Z:3.36 [[ 9.99627702e-01 -2.35807132e-02 -1.37261869e-02 2.84242334e+02] [ 2.35947106e-02 9.99721237e-01 8.58691123e-04 -1.00656184e+01] [ 1.37021120e-02 -1.18223684e-03 9.99905423e-01 3.35838523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.200714057 meters Centerline goodness [0,1] 0.9673627699075279 Centerline is valid? [True, True] Translation: X:284.27, Y:-10.06, Z:3.36 [[ 9.99667646e-01 -2.10720722e-02 -1.48514621e-02 2.84273246e+02] [ 2.10881830e-02 9.99777188e-01 9.29014359e-04 -1.00649519e+01] [ 1.48285767e-02 -1.24189595e-03 9.99889279e-01 3.35780286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.230714057 meters Centerline goodness [0,1] 0.9686224247602773 Centerline is valid? [True, True] Translation: X:284.30, Y:-10.06, Z:3.36 [[ 9.99739272e-01 -1.59512960e-02 -1.63384162e-02 2.84304321e+02] [ 1.59701186e-02 9.99871947e-01 1.02221357e-03 -1.00585272e+01] [ 1.63200184e-02 -1.28287349e-03 9.99865997e-01 3.35719221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26071405700003 meters Centerline goodness [0,1] 0.9681906201294102 Centerline is valid? [True, True] Translation: X:284.33, Y:-10.06, Z:3.36 [[ 9.99779212e-01 -1.25639202e-02 -1.68426605e-02 2.84334455e+02] [ 1.25834452e-02 9.99920270e-01 1.05377913e-03 -1.00564251e+01] [ 1.68280780e-02 -1.26548517e-03 9.99857597e-01 3.35754700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.290714057 meters Centerline goodness [0,1] 0.9693433449710651 Centerline is valid? [True, True] Translation: X:284.36, Y:-10.06, Z:3.36 [[ 9.99822242e-01 -9.21192697e-03 -1.64506807e-02 2.84364394e+02] [ 9.23009942e-03 9.99956872e-01 1.02907669e-03 -1.00562079e+01] [ 1.64404914e-02 -1.18073519e-03 9.99864149e-01 3.35850564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32071405700003 meters Centerline goodness [0,1] 0.9681925996204933 Centerline is valid? [True, True] Translation: X:284.39, Y:-10.05, Z:3.36 [[ 9.99880576e-01 -4.22329478e-03 -1.48659556e-02 2.84393580e+02] [ 4.23757938e-03 9.99990589e-01 9.29524998e-04 -1.00509306e+01] [ 1.48618900e-02 -9.92409657e-04 9.99889064e-01 3.36006970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.350714057 meters Centerline goodness [0,1] 0.9669318806298234 Centerline is valid? [True, True] Translation: X:284.42, Y:-10.05, Z:3.36 [[ 9.99901666e-01 -2.58257500e-03 -1.37836132e-02 2.84422595e+02] [ 2.59469264e-03 9.99996263e-01 8.61323601e-04 -1.00496406e+01] [ 1.37813373e-02 -8.97003144e-04 9.99904631e-01 3.36131744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38071405700003 meters Centerline goodness [0,1] 0.9670445810914681 Centerline is valid? [True, True] Translation: X:284.45, Y:-10.04, Z:3.36 [[ 9.99924770e-01 -6.85538959e-04 -1.22468340e-02 2.84452413e+02] [ 6.94958712e-04 9.99999466e-01 7.64919109e-04 -1.00444388e+01] [ 1.22463031e-02 -7.73372608e-04 9.99924712e-01 3.36341622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.410714057 meters Centerline goodness [0,1] 0.9652483471774878 Centerline is valid? [True, True] Translation: X:284.48, Y:-10.05, Z:3.36 [[ 9.99935139e-01 -5.11049045e-04 -1.13778931e-02 2.84480511e+02] [ 5.19162877e-04 9.99999613e-01 7.10180360e-04 -1.00459065e+01] [ 1.13775257e-02 -7.16041277e-04 9.99935017e-01 3.36399146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44071405700004 meters Centerline goodness [0,1] 0.9639932966243716 Centerline is valid? [True, True] Translation: X:284.51, Y:-10.05, Z:3.36 [[ 9.99938055e-01 -6.61305364e-04 -1.11107809e-02 2.84509184e+02] [ 6.69042244e-04 9.99999536e-01 6.92637466e-04 -1.00462164e+01] [ 1.11103177e-02 -7.00028142e-04 9.99938033e-01 3.36370146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.470714057 meters Centerline goodness [0,1] 0.962316132432562 Centerline is valid? [True, True] Translation: X:284.54, Y:-10.05, Z:3.36 [[ 9.99928978e-01 -1.70102930e-03 -1.17959789e-02 2.84537000e+02] [ 1.70981189e-03 9.99998269e-01 7.34495398e-04 -1.00498110e+01] [ 1.17947091e-02 -7.54612138e-04 9.99930155e-01 3.36230553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.500714057 meters Centerline goodness [0,1] 0.9639685297808669 Centerline is valid? [True, True] Translation: X:284.57, Y:-10.05, Z:3.36 [[ 9.99897785e-01 -4.81590093e-03 -1.34620616e-02 2.84567503e+02] [ 4.82760850e-03 9.99987996e-01 8.37310621e-04 -1.00490162e+01] [ 1.34578676e-02 -9.02214599e-04 9.99909032e-01 3.36100792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.530714057 meters Centerline goodness [0,1] 0.962972790428406 Centerline is valid? [True, True] Translation: X:284.60, Y:-10.05, Z:3.36 [[ 9.99879926e-01 -6.24589254e-03 -1.41817814e-02 2.84596014e+02] [ 6.25902299e-03 9.99980023e-01 8.81671692e-04 -1.00523124e+01] [ 1.41759913e-02 -9.70329921e-04 9.99899045e-01 3.36069897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.560714057 meters Centerline goodness [0,1] 0.962405109049283 Centerline is valid? [True, True] Translation: X:284.63, Y:-10.06, Z:3.36 [[ 9.99856695e-01 -8.09264623e-03 -1.48693803e-02 2.84625011e+02] [ 8.10727303e-03 9.99966709e-01 9.23670260e-04 -1.00553237e+01] [ 1.48614104e-02 -1.04408802e-03 9.99889018e-01 3.36084269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.590714057 meters Centerline goodness [0,1] 0.9637604025546739 Centerline is valid? [True, True] Translation: X:284.66, Y:-10.05, Z:3.36 [[ 9.99801933e-01 -1.21311035e-02 -1.57775779e-02 2.84655197e+02] [ 1.21480628e-02 9.99925730e-01 9.79497677e-04 -1.00539252e+01] [ 1.57645238e-02 -1.17097068e-03 9.99875047e-01 3.35952607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.620714057 meters Centerline goodness [0,1] 0.9619570428612523 Centerline is valid? [True, True] Translation: X:284.68, Y:-10.06, Z:3.36 [[ 9.99785672e-01 -1.34399523e-02 -1.57472934e-02 2.84683221e+02] [ 1.34569982e-02 9.99908973e-01 9.77002872e-04 -1.00603867e+01] [ 1.57327291e-02 -1.18870477e-03 9.99875526e-01 3.35873810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.650714057 meters Centerline goodness [0,1] 0.9631201592211591 Centerline is valid? [True, True] Translation: X:284.71, Y:-10.06, Z:3.36 [[ 9.99757355e-01 -1.58368907e-02 -1.53108829e-02 2.84713581e+02] [ 1.58532731e-02 9.99873878e-01 9.49199465e-04 -1.00590457e+01] [ 1.52939195e-02 -1.19169676e-03 9.99882331e-01 3.36051943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.680714057 meters Centerline goodness [0,1] 0.9617428776633947 Centerline is valid? [True, True] Translation: X:284.74, Y:-10.06, Z:3.36 [[ 9.99753020e-01 -1.64955193e-02 -1.48928464e-02 2.84742614e+02] [ 1.65110852e-02 9.99863257e-01 9.22835077e-04 -1.00606287e+01] [ 1.48755873e-02 -1.16850421e-03 9.99888670e-01 3.36189171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.710714057 meters Centerline goodness [0,1] 0.9605485537688927 Centerline is valid? [True, True] Translation: X:284.77, Y:-10.07, Z:3.36 [[ 9.99727051e-01 -1.78555417e-02 -1.50666348e-02 2.84771833e+02] [ 1.78716178e-02 9.99839855e-01 9.33024038e-04 -1.00655389e+01] [ 1.50475623e-02 -1.20203451e-03 9.99886056e-01 3.36257864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.740714057 meters Centerline goodness [0,1] 0.9619231698477894 Centerline is valid? [True, True] Translation: X:284.80, Y:-10.06, Z:3.36 [[ 9.99736651e-01 -1.85653473e-02 -1.34891237e-02 2.84802121e+02] [ 1.85782953e-02 9.99827060e-01 8.35194101e-04 -1.00637936e+01] [ 1.34712852e-02 -1.08557908e-03 9.99908669e-01 3.36487820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.770714057 meters Centerline goodness [0,1] 0.9620766627463216 Centerline is valid? [True, True] Translation: X:284.83, Y:-10.07, Z:3.37 [[ 9.99751863e-01 -1.84265957e-02 -1.25169075e-02 2.84833202e+02] [ 1.84377350e-02 9.99829710e-01 7.75113542e-04 -1.00652897e+01] [ 1.25004933e-02 -1.00570463e-03 9.99921360e-01 3.36584791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.800714057 meters Centerline goodness [0,1] 0.9626770247774373 Centerline is valid? [True, True] Translation: X:284.86, Y:-10.07, Z:3.37 [[ 9.99762163e-01 -1.83407976e-02 -1.17996681e-02 2.84864531e+02] [ 1.83506954e-02 9.99831345e-01 7.31089025e-04 -1.00689179e+01] [ 1.17842692e-02 -9.47447260e-04 9.99930114e-01 3.36714713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.830714057 meters Centerline goodness [0,1] 0.961570633080802 Centerline is valid? [True, True] Translation: X:284.90, Y:-10.08, Z:3.37 [[ 9.99774521e-01 -1.79700775e-02 -1.13129784e-02 2.84895074e+02] [ 1.79791563e-02 9.99838116e-01 7.01312102e-04 -1.00750908e+01] [ 1.12985444e-02 -9.04551778e-04 9.99935760e-01 3.36726052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.860714057 meters Centerline goodness [0,1] 0.9617918949578818 Centerline is valid? [True, True] Translation: X:284.93, Y:-10.08, Z:3.37 [[ 9.99772230e-01 -1.78553298e-02 -1.16908196e-02 2.84926345e+02] [ 1.78650227e-02 9.99840145e-01 7.25187207e-04 -1.00796509e+01] [ 1.16760023e-02 -9.33878788e-04 9.99931397e-01 3.36789060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.890714057 meters Centerline goodness [0,1] 0.9641257753191081 Centerline is valid? [True, True] Translation: X:284.96, Y:-10.08, Z:3.37 [[ 9.99769333e-01 -1.77103402e-02 -1.21500473e-02 2.84957823e+02] [ 1.77208061e-02 9.99842690e-01 7.54260997e-04 -1.00757678e+01] [ 1.21347777e-02 -9.69395646e-04 9.99925901e-01 3.36787546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.920714057 meters Centerline goodness [0,1] 0.9625874796280318 Centerline is valid? [True, True] Translation: X:284.99, Y:-10.09, Z:3.37 [[ 9.99741898e-01 -1.78742127e-02 -1.40232272e-02 2.84987238e+02] [ 1.78881771e-02 9.99839614e-01 8.70999407e-04 -1.00866992e+01] [ 1.40054097e-02 -1.12162457e-03 9.99901290e-01 3.36637909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.950714057 meters Centerline goodness [0,1] 0.965772988022946 Centerline is valid? [True, True] Translation: X:285.02, Y:-10.08, Z:3.37 [[ 9.99730344e-01 -1.82228885e-02 -1.43932368e-02 2.85018097e+02] [ 1.82376379e-02 9.99833281e-01 8.94144454e-04 -1.00817838e+01] [ 1.43745433e-02 -1.15640198e-03 9.99896012e-01 3.36655107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.980714057 meters Centerline goodness [0,1] 0.9646443016892696 Centerline is valid? [True, True] Translation: X:285.05, Y:-10.09, Z:3.37 [[ 9.99725912e-01 -1.83129514e-02 -1.45854619e-02 2.85047674e+02] [ 1.83281112e-02 9.99831615e-01 9.06375826e-04 -1.00878091e+01] [ 1.45664075e-02 -1.17345137e-03 9.99893216e-01 3.36585569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01071405700003 meters Centerline goodness [0,1] 0.9643338467462457 Centerline is valid? [True, True] Translation: X:285.08, Y:-10.09, Z:3.37 [[ 9.99719156e-01 -1.85700027e-02 -1.47229116e-02 2.85076913e+02] [ 1.85854832e-02 9.99826856e-01 9.15321687e-04 -1.00924977e+01] [ 1.47033649e-02 -1.18869705e-03 9.99891193e-01 3.36597328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.040714057 meters Centerline goodness [0,1] 0.9675536769297276 Centerline is valid? [True, True] Translation: X:285.11, Y:-10.09, Z:3.37 [[ 9.99706160e-01 -1.87574244e-02 -1.53542293e-02 2.85107856e+02] [ 1.87742806e-02 9.99823292e-01 9.54407120e-04 -1.00890866e+01] [ 1.53336138e-02 -1.24239129e-03 9.99881661e-01 3.36666343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07071405700003 meters Centerline goodness [0,1] 0.9675340233850872 Centerline is valid? [True, True] Translation: X:285.14, Y:-10.09, Z:3.37 [[ 9.99718885e-01 -1.79386383e-02 -1.55034337e-02 2.85137944e+02] [ 1.79557260e-02 9.99838319e-01 9.63681550e-04 -1.00921994e+01] [ 1.54836399e-02 -1.24178605e-03 9.99879350e-01 3.36746424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.100714057 meters Centerline goodness [0,1] 0.9643319740945071 Centerline is valid? [True, True] Translation: X:285.17, Y:-10.10, Z:3.37 [[ 9.99710193e-01 -1.79203773e-02 -1.60745123e-02 2.85166759e+02] [ 1.79387429e-02 9.99838589e-01 9.99057878e-04 -1.01013588e+01] [ 1.60540142e-02 -1.28712489e-03 9.99870298e-01 3.36659042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13071405700003 meters Centerline goodness [0,1] 0.9634754664492302 Centerline is valid? [True, True] Translation: X:285.20, Y:-10.10, Z:3.37 [[ 9.99731472e-01 -1.74036315e-02 -1.53002186e-02 2.85196776e+02] [ 1.74202062e-02 9.99847805e-01 9.50676579e-04 -1.01039076e+01] [ 1.52813448e-02 -1.21695426e-03 9.99882493e-01 3.36719960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.160714057 meters Centerline goodness [0,1] 0.9635554285986336 Centerline is valid? [True, True] Translation: X:285.23, Y:-10.10, Z:3.37 [[ 9.99751340e-01 -1.67331184e-02 -1.47397694e-02 2.85226156e+02] [ 1.67484235e-02 9.99859316e-01 9.15512324e-04 -1.01028693e+01] [ 1.47223764e-02 -1.16215257e-03 9.99890945e-01 3.36804070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19071405700004 meters Centerline goodness [0,1] 0.9636393863107395 Centerline is valid? [True, True] Translation: X:285.26, Y:-10.11, Z:3.37 [[ 9.99780571e-01 -1.53170390e-02 -1.42898254e-02 2.85256197e+02] [ 1.53312744e-02 9.99882076e-01 8.87171262e-04 -1.01070361e+01] [ 1.42745514e-02 -1.10605782e-03 9.99897502e-01 3.36872704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.220714057 meters Centerline goodness [0,1] 0.9673476222371065 Centerline is valid? [True, True] Translation: X:285.29, Y:-10.11, Z:3.37 [[ 9.99785319e-01 -1.48358270e-02 -1.44642654e-02 2.85285782e+02] [ 1.48503570e-02 9.99889324e-01 8.97656798e-04 -1.01067707e+01] [ 1.44493471e-02 -1.11226359e-03 9.99894984e-01 3.36854669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.250714057 meters Centerline goodness [0,1] 0.9667864195474769 Centerline is valid? [True, True] Translation: X:285.32, Y:-10.11, Z:3.37 [[ 9.99803607e-01 -1.37910070e-02 -1.42321825e-02 2.85315179e+02] [ 1.38049623e-02 9.99904317e-01 8.82759200e-04 -1.01100360e+01] [ 1.42186465e-02 -1.07906057e-03 9.99898328e-01 3.36944777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.280714057 meters Centerline goodness [0,1] 0.9668755381230268 Centerline is valid? [True, True] Translation: X:285.34, Y:-10.11, Z:3.37 [[ 9.99807835e-01 -1.29916237e-02 -1.46802626e-02 2.85343647e+02] [ 1.30063764e-02 9.99915000e-01 9.09903195e-04 -1.01125755e+01] [ 1.46671937e-02 -1.10066536e-03 9.99891825e-01 3.36950434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.310714057 meters Centerline goodness [0,1] 0.9664016657202347 Centerline is valid? [True, True] Translation: X:285.37, Y:-10.12, Z:3.37 [[ 9.99816752e-01 -1.10628017e-02 -1.56229871e-02 2.85371820e+02] [ 1.10792621e-02 9.99938155e-01 9.67440254e-04 -1.01171871e+01] [ 1.56113183e-02 -1.14035414e-03 9.99877486e-01 3.36720506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.340714057 meters Centerline goodness [0,1] 0.9694629192591003 Centerline is valid? [True, True] Translation: X:285.40, Y:-10.12, Z:3.37 [[ 9.99808492e-01 -1.04395708e-02 -1.65527989e-02 2.85400879e+02] [ 1.04579264e-02 9.99944791e-01 1.02273837e-03 -1.01184889e+01] [ 1.65412081e-02 -1.19565046e-03 9.99862470e-01 3.36714190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.370714057 meters Centerline goodness [0,1] 0.9694629192591003 Centerline is valid? [True, True] Translation: X:285.43, Y:-10.12, Z:3.37 [[ 9.99805564e-01 -1.07158717e-02 -1.65530606e-02 2.85428293e+02] [ 1.07341950e-02 9.99941868e-01 1.01848957e-03 -1.01200886e+01] [ 1.65411843e-02 -1.19597532e-03 9.99862470e-01 3.36739559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.400714057 meters Centerline goodness [0,1] 0.9680954758338682 Centerline is valid? [True, True] Translation: X:285.46, Y:-10.12, Z:3.37 [[ 9.99816164e-01 -9.25629805e-03 -1.67916523e-02 2.85456940e+02] [ 9.27489648e-03 9.99956457e-01 1.03006073e-03 -1.01228401e+01] [ 1.67813866e-02 -1.18561220e-03 9.99858480e-01 3.36690706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.430714057 meters Centerline goodness [0,1] 0.9700040247164943 Centerline is valid? [True, True] Translation: X:285.49, Y:-10.13, Z:3.37 [[ 9.99842384e-01 -6.13786203e-03 -1.66593276e-02 2.85486775e+02] [ 6.15572516e-03 9.99980532e-01 1.02119268e-03 -1.01255885e+01] [ 1.66527353e-02 -1.12358197e-03 9.99860702e-01 3.36705646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.460714057 meters Centerline goodness [0,1] 0.9695142219478607 Centerline is valid? [True, True] Translation: X:285.51, Y:-10.13, Z:3.37 [[ 9.99848756e-01 -4.68539158e-03 -1.67484839e-02 2.85514477e+02] [ 4.70323029e-03 9.99988414e-01 1.02586374e-03 -1.01287046e+01] [ 1.67434833e-02 -1.10448057e-03 9.99859208e-01 3.36704601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.490714057 meters Centerline goodness [0,1] 0.9701797288634583 Centerline is valid? [True, True] Translation: X:285.55, Y:-10.13, Z:3.37 [[ 9.99868935e-01 -1.11793382e-03 -1.61512763e-02 2.85545111e+02] [ 1.13404675e-03 9.99998868e-01 9.88501776e-04 -1.01307793e+01] [ 1.61501529e-02 -1.00668852e-03 9.99869071e-01 3.36769771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.520714057 meters Centerline goodness [0,1] 0.9709443670781505 Centerline is valid? [True, True] Translation: X:285.57, Y:-10.13, Z:3.37 [[ 9.99884728e-01 8.24950532e-04 -1.51608113e-02 2.85573488e+02] [-8.10981028e-04 9.99999241e-01 9.27546751e-04 -1.01333071e+01] [ 1.51615650e-02 -9.15144701e-04 9.99884638e-01 3.36836130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.550714057 meters Centerline goodness [0,1] 0.9707394508019996 Centerline is valid? [True, True] Translation: X:285.60, Y:-10.14, Z:3.37 [[ 9.99877186e-01 2.41031209e-03 -1.54856093e-02 2.85602143e+02] [-2.39594074e-03 9.99996682e-01 9.46530546e-04 -1.01352987e+01] [ 1.54878393e-02 -9.09311697e-04 9.99879643e-01 3.36801108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.580714057 meters Centerline goodness [0,1] 0.9731026495544683 Centerline is valid? [True, True] Translation: X:285.63, Y:-10.14, Z:3.37 [[ 9.99863606e-01 5.81996448e-03 -1.54562949e-02 2.85631451e+02] [-5.80606613e-03 9.99982699e-01 9.43923881e-04 -1.01384993e+01] [ 1.54615211e-02 -8.54054865e-04 9.99880099e-01 3.36807307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.610714057 meters Centerline goodness [0,1] 0.9721520779741817 Centerline is valid? [True, True] Translation: X:285.66, Y:-10.14, Z:3.37 [[ 9.99854271e-01 6.72242200e-03 -1.56922054e-02 2.85658722e+02] [-6.70822004e-03 9.99977041e-01 9.57494453e-04 -1.01417811e+01] [ 1.56982818e-02 -8.52088152e-04 9.99876411e-01 3.36852235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.640714057 meters Centerline goodness [0,1] 0.9748403877985339 Centerline is valid? [True, True] Translation: X:285.69, Y:-10.14, Z:3.37 [[ 9.99846809e-01 7.63273204e-03 -1.57511696e-02 2.85687953e+02] [-7.61855455e-03 9.99970518e-01 9.59900083e-04 -1.01417676e+01] [ 1.57580319e-02 -8.39751891e-04 9.99875482e-01 3.36883299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.670714057 meters Centerline goodness [0,1] 0.9755443097563846 Centerline is valid? [True, True] Translation: X:285.72, Y:-10.15, Z:3.37 [[ 9.99855999e-01 7.56409581e-03 -1.51909804e-02 2.85716955e+02] [-7.55091619e-03 9.99971064e-01 9.24764855e-04 -1.01456337e+01] [ 1.51975358e-02 -8.09925869e-04 9.99884183e-01 3.36880735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.700714057 meters Centerline goodness [0,1] 0.9755724472266021 Centerline is valid? [True, True] Translation: X:285.75, Y:-10.15, Z:3.37 [[ 9.99861531e-01 7.60076536e-03 -1.48036280e-02 2.85745909e+02] [-7.58826781e-03 9.99970803e-01 9.00210012e-04 -1.01493376e+01] [ 1.48100381e-02 -7.87751467e-04 9.99890015e-01 3.36911386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.730714057 meters Centerline goodness [0,1] 0.9749215566899265 Centerline is valid? [True, True] Translation: X:285.77, Y:-10.16, Z:3.37 [[ 9.99859609e-01 7.44512575e-03 -1.50110502e-02 2.85774503e+02] [-7.43227320e-03 9.99971965e-01 9.11810958e-04 -1.01550802e+01] [ 1.50174179e-02 -8.00116722e-04 9.99886912e-01 3.36850509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76071405700003 meters Centerline goodness [0,1] 0.9728094559555234 Centerline is valid? [True, True] Translation: X:285.80, Y:-10.17, Z:3.37 [[ 9.99858440e-01 7.24553414e-03 -1.51855895e-02 2.85801255e+02] [-7.23237497e-03 9.99973422e-01 9.21295394e-04 -1.01662686e+01] [ 1.51918611e-02 -8.11337098e-04 9.99884268e-01 3.36746359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.790714057 meters Centerline goodness [0,1] 0.9743810298733 Centerline is valid? [True, True] Translation: X:285.83, Y:-10.16, Z:3.37 [[ 9.99847026e-01 8.13135843e-03 -1.54856407e-02 2.85830733e+02] [-8.11780365e-03 9.99966610e-01 9.37971815e-04 -1.01634119e+01] [ 1.54927506e-02 -8.12118939e-04 9.99879650e-01 3.36885158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82071405700003 meters Centerline goodness [0,1] 0.9776025383789837 Centerline is valid? [True, True] Translation: X:285.86, Y:-10.16, Z:3.37 [[ 9.99846073e-01 8.53162622e-03 -1.53310815e-02 2.85859384e+02] [-8.51841081e-03 9.99963288e-01 9.27097378e-04 -1.01602834e+01] [ 1.53384283e-02 -7.96358222e-04 9.99882042e-01 3.36960599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.850714057 meters Centerline goodness [0,1] 0.9749668473582579 Centerline is valid? [True, True] Translation: X:285.89, Y:-10.17, Z:3.37 [[ 9.99845832e-01 9.13417556e-03 -1.49959958e-02 2.85886804e+02] [-9.12161946e-03 9.99957987e-01 9.05482422e-04 -1.01683298e+01] [ 1.50036366e-02 -7.68555058e-04 9.99887144e-01 3.36918561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88071405700003 meters Centerline goodness [0,1] 0.9769110326937908 Centerline is valid? [True, True] Translation: X:285.92, Y:-10.17, Z:3.37 [[ 9.99844701e-01 1.06497069e-02 -1.40412891e-02 2.85915965e+02] [-1.06388677e-02 9.99943047e-01 8.46424455e-04 -1.01683148e+01] [ 1.40495036e-02 -6.96909589e-04 9.99901058e-01 3.36988567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.910714057 meters Centerline goodness [0,1] 0.9778823968117091 Centerline is valid? [True, True] Translation: X:285.94, Y:-10.17, Z:3.37 [[ 9.99844915e-01 1.13058333e-02 -1.35027701e-02 2.85944410e+02] [-1.12958816e-02 9.99935869e-01 8.13057471e-04 -1.01720407e+01] [ 1.35110964e-02 -6.60405685e-04 9.99908503e-01 3.36998728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94071405700004 meters Centerline goodness [0,1] 0.976770603917932 Centerline is valid? [True, True] Translation: X:285.97, Y:-10.18, Z:3.37 [[ 9.99855251e-01 1.18678921e-02 -1.21913584e-02 2.85971640e+02] [-1.18598314e-02 9.99929401e-01 7.33269459e-04 -1.01766738e+01] [ 1.21992001e-02 -5.88575865e-04 9.99925414e-01 3.36970747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.970714057 meters Centerline goodness [0,1] 0.9778050077451275 Centerline is valid? [True, True] Translation: X:286.00, Y:-10.18, Z:3.37 [[ 9.99857749e-01 1.16329933e-02 -1.22129112e-02 2.86000073e+02] [-1.16248987e-02 9.99932159e-01 7.33574646e-04 -1.01775906e+01] [ 1.22206163e-02 -5.91496439e-04 9.99925151e-01 3.36985948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.000714057 meters Centerline goodness [0,1] 0.9756667360581037 Centerline is valid? [True, True] Translation: X:286.03, Y:-10.18, Z:3.37 [[ 9.99863139e-01 1.06553073e-02 -1.26557361e-02 2.86027240e+02] [-1.06465506e-02 9.99943036e-01 7.59086422e-04 -1.01840940e+01] [ 1.26631035e-02 -6.24242598e-04 9.99919625e-01 3.36946818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.030714057 meters Centerline goodness [0,1] 0.9774376811594203 Centerline is valid? [True, True] Translation: X:286.06, Y:-10.19, Z:3.37 [[ 9.99873897e-01 8.33221095e-03 -1.35190405e-02 2.86056476e+02] [-8.32202642e-03 9.99965044e-01 8.09428828e-04 -1.01869898e+01] [ 1.35253123e-02 -6.96820945e-04 9.99908286e-01 3.36784423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.060714057 meters Centerline goodness [0,1] 0.9752786080025949 Centerline is valid? [True, True] Translation: X:286.08, Y:-10.20, Z:3.37 [[ 9.99876611e-01 7.00525126e-03 -1.40602152e-02 2.86083301e+02] [-6.99411821e-03 9.99975187e-01 8.40828080e-04 -1.01956821e+01] [ 1.40657566e-02 -7.42385524e-04 9.99900797e-01 3.36664546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.090714057 meters Centerline goodness [0,1] 0.9557337199880592 Centerline is valid? [True, True] Translation: X:286.11, Y:-10.23, Z:3.36 [[ 9.99869003e-01 7.54206598e-03 -1.43211067e-02 2.86108884e+02] [-7.53059351e-03 9.99971279e-01 8.54845499e-04 -1.02293727e+01] [ 1.43271427e-02 -7.46887083e-04 9.99897082e-01 3.36324096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.120714057 meters Centerline goodness [0,1] 0.9760976397572849 Centerline is valid? [True, True] Translation: X:286.14, Y:-10.20, Z:3.37 [[ 9.99886627e-01 2.20959217e-03 -1.48946877e-02 2.86141572e+02] [-2.19660950e-03 9.99997193e-01 8.87933796e-04 -1.02004244e+01] [ 1.48966079e-02 -8.55115315e-04 9.99888674e-01 3.36603665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.150714057 meters Centerline goodness [0,1] 0.97609690693051 Centerline is valid? [True, True] Translation: X:286.17, Y:-10.20, Z:3.37 [[ 9.99888011e-01 1.73701227e-04 -1.49644644e-02 2.86171322e+02] [-1.60372513e-04 9.99999589e-01 8.91886441e-04 -1.02017807e+01] [ 1.49646132e-02 -8.89386671e-04 9.99887628e-01 3.36627478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.180714057 meters Centerline goodness [0,1] 0.9738493966136242 Centerline is valid? [True, True] Translation: X:286.20, Y:-10.21, Z:3.37 [[ 9.99894141e-01 -3.20993670e-03 -1.41916781e-02 2.86201563e+02] [ 3.22225937e-03 9.99994451e-01 8.45521817e-04 -1.02069638e+01] [ 1.41888853e-02 -8.91161579e-04 9.99898936e-01 3.36651316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.210714057 meters Centerline goodness [0,1] 0.9737977165263522 Centerline is valid? [True, True] Translation: X:286.23, Y:-10.21, Z:3.37 [[ 9.99889138e-01 -4.91991479e-03 -1.40536804e-02 2.86229516e+02] [ 4.93216257e-03 9.99987487e-01 8.36973631e-04 -1.02121618e+01] [ 1.40493867e-02 -9.06195879e-04 9.99900892e-01 3.36677305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.240714057 meters Centerline goodness [0,1] 0.9702254947077773 Centerline is valid? [True, True] Translation: X:286.26, Y:-10.22, Z:3.37 [[ 9.99877091e-01 -8.03257691e-03 -1.34640264e-02 2.86258550e+02] [ 8.04409052e-03 9.99967325e-01 8.01200502e-04 -1.02179320e+01] [ 1.34571508e-02 -9.09407874e-04 9.99909035e-01 3.36672581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.270714057 meters Centerline goodness [0,1] 0.9715153467396807 Centerline is valid? [True, True] Translation: X:286.29, Y:-10.22, Z:3.37 [[ 9.99876591e-01 -8.90260769e-03 -1.29439411e-02 2.86286833e+02] [ 8.91330809e-03 9.99959980e-01 7.69217422e-04 -1.02206099e+01] [ 1.29365750e-02 -8.84495829e-04 9.99915928e-01 3.36723823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.300714057 meters Centerline goodness [0,1] 0.9703924718843241 Centerline is valid? [True, True] Translation: X:286.31, Y:-10.22, Z:3.37 [[ 9.99872456e-01 -9.96872889e-03 -1.24778650e-02 2.86314196e+02] [ 9.97872509e-03 9.99949938e-01 7.39110276e-04 -1.02241330e+01] [ 1.24698724e-02 -8.63529191e-04 9.99921875e-01 3.36762226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.330714057 meters Centerline goodness [0,1] 0.9710011295267513 Centerline is valid? [True, True] Translation: X:286.34, Y:-10.22, Z:3.37 [[ 9.99871361e-01 -1.07216559e-02 -1.19292901e-02 2.86343530e+02] [ 1.07308288e-02 9.99942174e-01 7.05194999e-04 -1.02202185e+01] [ 1.19210394e-02 -8.33115452e-04 9.99928595e-01 3.36880952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.360714057 meters Centerline goodness [0,1] 0.9711033477546677 Centerline is valid? [True, True] Translation: X:286.37, Y:-10.22, Z:3.37 [[ 9.99864858e-01 -1.15353960e-02 -1.17132860e-02 2.86371378e+02] [ 1.15442666e-02 9.99933125e-01 6.89982545e-04 -1.02228137e+01] [ 1.17045435e-02 -8.25110596e-04 9.99931159e-01 3.36926750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.390714057 meters Centerline goodness [0,1] 0.967906923165534 Centerline is valid? [True, True] Translation: X:286.40, Y:-10.23, Z:3.37 [[ 9.99865245e-01 -1.23455393e-02 -1.08203506e-02 2.86399841e+02] [ 1.23531472e-02 9.99923494e-01 6.36558422e-04 -1.02321658e+01] [ 1.08116641e-02 -7.70138026e-04 9.99941256e-01 3.36904411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.420714057 meters Centerline goodness [0,1] 0.9691088468381045 Centerline is valid? [True, True] Translation: X:286.43, Y:-10.23, Z:3.37 [[ 9.99849287e-01 -1.36254606e-02 -1.07586811e-02 2.86429266e+02] [ 1.36330498e-02 9.99906866e-01 6.32376224e-04 -1.02288523e+01] [ 1.07490627e-02 -7.78954553e-04 9.99941924e-01 3.36875573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.450714057 meters Centerline goodness [0,1] 0.9657859547194172 Centerline is valid? [True, True] Translation: X:286.46, Y:-10.24, Z:3.37 [[ 9.99836990e-01 -1.46566700e-02 -1.05439454e-02 2.86457598e+02] [ 1.46640109e-02 9.99892286e-01 6.19242347e-04 -1.02392796e+01] [ 1.05337337e-02 -7.73757936e-04 9.99944219e-01 3.36868548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.480714057 meters Centerline goodness [0,1] 0.9671324633329483 Centerline is valid? [True, True] Translation: X:286.49, Y:-10.24, Z:3.37 [[ 9.99781576e-01 -1.77159052e-02 -1.10881197e-02 2.86488191e+02] [ 1.77242065e-02 9.99842702e-01 6.50840150e-04 -1.02374823e+01] [ 1.10748453e-02 -8.47226114e-04 9.99938313e-01 3.36780661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51071405700003 meters Centerline goodness [0,1] 0.9650167301257644 Centerline is valid? [True, True] Translation: X:286.52, Y:-10.24, Z:3.37 [[ 9.99747475e-01 -1.99857971e-02 -1.02739525e-02 2.86517504e+02] [ 1.99930416e-02 9.99799937e-01 6.02894060e-04 -1.02422832e+01] [ 1.02598478e-02 -8.08149374e-04 9.99947040e-01 3.36788315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.540714057 meters Centerline goodness [0,1] 0.9635444323875049 Centerline is valid? [True, True] Translation: X:286.55, Y:-10.25, Z:3.37 [[ 9.99724554e-01 -2.10487280e-02 -1.03810588e-02 2.86547341e+02] [ 2.10561798e-02 9.99778109e-01 6.09042154e-04 -1.02473447e+01] [ 1.03659357e-02 -8.27459836e-04 9.99945930e-01 3.36819114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57071405700003 meters Centerline goodness [0,1] 0.9636031283261604 Centerline is valid? [True, True] Translation: X:286.58, Y:-10.25, Z:3.37 [[ 9.99705288e-01 -2.18966931e-02 -1.04820211e-02 2.86578110e+02] [ 2.19043391e-02 9.99759882e-01 6.15170481e-04 -1.02477021e+01] [ 1.04660340e-02 -8.44590928e-04 9.99944873e-01 3.36814566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.600714057 meters Centerline goodness [0,1] 0.963440215762661 Centerline is valid? [True, True] Translation: X:286.61, Y:-10.25, Z:3.37 [[ 9.99697946e-01 -2.22600545e-02 -1.04166935e-02 2.86607953e+02] [ 2.22676297e-02 9.99751858e-01 6.11789109e-04 -1.02502777e+01] [ 1.04004902e-02 -8.43559388e-04 9.99945558e-01 3.36801751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63071405700003 meters Centerline goodness [0,1] 0.9620191527349456 Centerline is valid? [True, True] Translation: X:286.64, Y:-10.25, Z:3.37 [[ 9.99692862e-01 -2.24040151e-02 -1.05944366e-02 2.86638944e+02] [ 2.24118678e-02 9.99748628e-01 6.23049390e-04 -1.02517427e+01] [ 1.05778147e-02 -8.60299140e-04 9.99943683e-01 3.36801291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.660714057 meters Centerline goodness [0,1] 0.961760495081513 Centerline is valid? [True, True] Translation: X:286.67, Y:-10.25, Z:3.37 [[ 9.99712815e-01 -2.17974149e-02 -9.95792844e-03 2.86669088e+02] [ 2.18043253e-02 9.99762086e-01 5.85914254e-04 -1.02539358e+01] [ 9.94278789e-03 -8.02871899e-04 9.99950247e-01 3.36897685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69071405700004 meters Centerline goodness [0,1] 0.9618478564121641 Centerline is valid? [True, True] Translation: X:286.70, Y:-10.26, Z:3.37 [[ 9.99720156e-01 -2.16226751e-02 -9.59531249e-03 2.86700470e+02] [ 2.16290849e-02 9.99765904e-01 5.64736445e-04 -1.02554482e+01] [ 9.58085516e-03 -7.72116235e-04 9.99953804e-01 3.36992575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.720714057 meters Centerline goodness [0,1] 0.9599433401449006 Centerline is valid? [True, True] Translation: X:286.73, Y:-10.26, Z:3.37 [[ 9.99731714e-01 -2.14271268e-02 -8.79647200e-03 2.86731873e+02] [ 2.14325085e-02 9.99770163e-01 5.17981037e-04 -1.02573131e+01] [ 8.78335140e-03 -7.06372530e-04 9.99961176e-01 3.37045109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.750714057 meters Centerline goodness [0,1] 0.9670910013375766 Centerline is valid? [True, True] Translation: X:286.76, Y:-10.25, Z:3.37 [[ 9.99734971e-01 -2.15560457e-02 -8.08234086e-03 2.86764408e+02] [ 2.15605948e-02 9.99767430e-01 4.76124542e-04 -1.02460083e+01] [ 8.07019779e-03 -6.50258431e-04 9.99967224e-01 3.37120349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.780714057 meters Centerline goodness [0,1] 0.9565681902638424 Centerline is valid? [True, True] Translation: X:286.79, Y:-10.26, Z:3.37 [[ 9.99733444e-01 -2.17045819e-02 -7.87095861e-03 2.86794506e+02] [ 2.17089045e-02 9.99764226e-01 4.64158711e-04 -1.02634621e+01] [ 7.85902848e-03 -6.34904876e-04 9.99968916e-01 3.37171441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.810714057 meters Centerline goodness [0,1] 0.9664276930929677 Centerline is valid? [True, True] Translation: X:286.83, Y:-10.25, Z:3.37 [[ 9.99718558e-01 -2.24285693e-02 -7.73072205e-03 2.86827283e+02] [ 2.24327671e-02 9.99748249e-01 4.56713000e-04 -1.02485069e+01] [ 7.71853241e-03 -6.30005950e-04 9.99970013e-01 3.37046537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.840714057 meters Centerline goodness [0,1] 0.9658012575114266 Centerline is valid? [True, True] Translation: X:286.86, Y:-10.25, Z:3.37 [[ 9.99696463e-01 -2.31023393e-02 -8.55941547e-03 2.86859501e+02] [ 2.31075186e-02 9.99732857e-01 5.06691947e-04 -1.02505851e+01] [ 8.54542311e-03 -7.04324999e-04 9.99963239e-01 3.37021401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.870714057 meters Centerline goodness [0,1] 0.9638747471929702 Centerline is valid? [True, True] Translation: X:286.89, Y:-10.26, Z:3.37 [[ 9.99697530e-01 -2.29957227e-02 -8.72044036e-03 2.86890598e+02] [ 2.30011003e-02 9.99735306e-01 5.16868632e-04 -1.02576104e+01] [ 8.70624635e-03 -7.17292018e-04 9.99961843e-01 3.37007828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.900714057 meters Centerline goodness [0,1] 0.9664296998420221 Centerline is valid? [True, True] Translation: X:286.92, Y:-10.25, Z:3.37 [[ 9.99675530e-01 -2.38432773e-02 -8.96290731e-03 2.86923056e+02] [ 2.38489964e-02 9.99715431e-01 5.31726550e-04 -1.02548074e+01] [ 8.94767864e-03 -7.45310364e-04 9.99959691e-01 3.36938216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.930714057 meters Centerline goodness [0,1] 0.9631807721810278 Centerline is valid? [True, True] Translation: X:286.95, Y:-10.26, Z:3.37 [[ 9.99678377e-01 -2.36454416e-02 -9.16714646e-03 2.86954142e+02] [ 2.36514222e-02 9.99720118e-01 5.44519154e-04 -1.02621049e+01] [ 9.15170535e-03 -7.61160076e-04 9.99957833e-01 3.36992708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.960714057 meters Centerline goodness [0,1] 0.9690365109207808 Centerline is valid? [True, True] Translation: X:286.99, Y:-10.26, Z:3.37 [[ 9.99707858e-01 -2.23089909e-02 -9.30092557e-03 2.86985905e+02] [ 2.23150946e-02 9.99750834e-01 5.52970240e-04 -1.02573324e+01] [ 9.28627189e-03 -7.60359727e-04 9.99956593e-01 3.37076258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.990714057 meters Centerline goodness [0,1] 0.9669604551389666 Centerline is valid? [True, True] Translation: X:287.02, Y:-10.26, Z:3.37 [[ 9.99729888e-01 -2.14025667e-02 -9.05983583e-03 2.87016937e+02] [ 2.14083240e-02 9.99770670e-01 5.38955561e-04 -1.02581458e+01] [ 9.04622311e-03 -7.32765883e-04 9.99958814e-01 3.37146370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.020714057 meters Centerline goodness [0,1] 0.9644992352968439 Centerline is valid? [True, True] Translation: X:287.05, Y:-10.26, Z:3.37 [[ 9.99755170e-01 -2.00900022e-02 -9.27318425e-03 2.87047398e+02] [ 2.00959809e-02 9.99797903e-01 5.51986647e-04 -1.02639373e+01] [ 9.26022076e-03 -7.38205238e-04 9.99956851e-01 3.37205880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.050714057 meters Centerline goodness [0,1] 0.9685396921500594 Centerline is valid? [True, True] Translation: X:287.08, Y:-10.26, Z:3.37 [[ 9.99809581e-01 -1.73602146e-02 -8.91201393e-03 2.87078524e+02] [ 1.73656316e-02 9.99849065e-01 5.30798315e-04 -1.02590045e+01] [ 8.90145403e-03 -6.85459992e-04 9.99960146e-01 3.37340109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.080714057 meters Centerline goodness [0,1] 0.96977382725242 Centerline is valid? [True, True] Translation: X:287.11, Y:-10.26, Z:3.37 [[ 9.99837818e-01 -1.58781659e-02 -8.49830264e-03 2.87110348e+02] [ 1.58830394e-02 9.99873728e-01 5.06275194e-04 -1.02577955e+01] [ 8.48919082e-03 -6.41171961e-04 9.99963761e-01 3.37330535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.110714057 meters Centerline goodness [0,1] 0.9688789425833975 Centerline is valid? [True, True] Translation: X:287.14, Y:-10.26, Z:3.37 [[ 9.99897515e-01 -1.18096374e-02 -8.09267450e-03 2.87140282e+02] [ 1.18139280e-02 9.99930097e-01 4.82580108e-04 -1.02600578e+01] [ 8.08640970e-03 -5.78136925e-04 9.99967137e-01 3.37328377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.140714057 meters Centerline goodness [0,1] 0.9681996882778514 Centerline is valid? [True, True] Translation: X:287.17, Y:-10.26, Z:3.37 [[ 9.99919243e-01 -9.59425206e-03 -8.33414891e-03 2.87170132e+02] [ 9.59872633e-03 9.99953808e-01 4.97025734e-04 -1.02606997e+01] [ 8.32899535e-03 -5.76982810e-04 9.99965147e-01 3.37334027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.170714057 meters Centerline goodness [0,1] 0.9503770213136904 Centerline is valid? [True, True] Translation: X:287.20, Y:-10.29, Z:3.37 [[ 9.99947126e-01 -5.02591285e-03 -8.97133658e-03 2.87197841e+02] [ 5.03091039e-03 9.99987202e-01 5.34576644e-04 -1.02890794e+01] [ 8.96853503e-03 -5.79682370e-04 9.99959614e-01 3.37419482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.200714057 meters Centerline goodness [0,1] 0.972663447857626 Centerline is valid? [True, True] Translation: X:287.23, Y:-10.26, Z:3.37 [[ 9.99952224e-01 -4.72984737e-03 -8.55437268e-03 2.87229099e+02] [ 4.73438009e-03 9.99988663e-01 5.09699010e-04 -1.02552720e+01] [ 8.55186490e-03 -5.50174311e-04 9.99963281e-01 3.37487393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.230714057 meters Centerline goodness [0,1] 0.9727577535624476 Centerline is valid? [True, True] Translation: X:287.26, Y:-10.26, Z:3.38 [[ 9.99959803e-01 -2.68427894e-03 -8.55496497e-03 2.87258350e+02] [ 2.68871980e-03 9.99996257e-01 5.07638119e-04 -1.02578191e+01] [ 8.55357030e-03 -5.30619617e-04 9.99963277e-01 3.37531471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26071405700003 meters Centerline goodness [0,1] 0.9747382688352964 Centerline is valid? [True, True] Translation: X:287.29, Y:-10.26, Z:3.38 [[ 9.99961457e-01 -3.86587365e-04 -8.77129635e-03 2.87287995e+02] [ 3.91164824e-04 9.99999788e-01 5.20158397e-04 -1.02561627e+01] [ 8.77109341e-03 -5.23569371e-04 9.99961396e-01 3.37501065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.290714057 meters Centerline goodness [0,1] 0.9747382688352964 Centerline is valid? [True, True] Translation: X:287.32, Y:-10.26, Z:3.38 [[ 9.99961410e-01 -4.92423809e-04 -8.77131293e-03 2.87315461e+02] [ 4.97002880e-04 9.99999741e-01 5.19878809e-04 -1.02576991e+01] [ 8.77105466e-03 -5.24218115e-04 9.99961396e-01 3.37526413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32071405700003 meters Centerline goodness [0,1] 0.9739102025576403 Centerline is valid? [True, True] Translation: X:287.34, Y:-10.26, Z:3.38 [[ 9.99960836e-01 4.07067970e-05 -8.85013737e-03 2.87344233e+02] [-3.60738254e-05 9.99999862e-01 5.23650497e-04 -1.02595123e+01] [ 8.85015747e-03 -5.23310730e-04 9.99960700e-01 3.37503474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.350714057 meters Centerline goodness [0,1] 0.9739288884735785 Centerline is valid? [True, True] Translation: X:287.37, Y:-10.26, Z:3.38 [[ 9.99962261e-01 9.54152240e-04 -8.63521716e-03 2.87371938e+02] [-9.49794230e-04 9.99999420e-01 5.08765576e-04 -1.02629450e+01] [ 8.63569759e-03 -5.00544696e-04 9.99962586e-01 3.37563511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38071405700003 meters Centerline goodness [0,1] 0.9760617220642395 Centerline is valid? [True, True] Translation: X:287.40, Y:-10.26, Z:3.38 [[ 9.99955228e-01 3.16573969e-03 -8.91738038e-03 2.87402056e+02] [-3.16118722e-03 9.99994866e-01 5.24565263e-04 -1.02604239e+01] [ 8.91899523e-03 -4.96352269e-04 9.99960102e-01 3.37648419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.410714057 meters Centerline goodness [0,1] 0.9748645569325923 Centerline is valid? [True, True] Translation: X:287.43, Y:-10.26, Z:3.38 [[ 9.99948548e-01 4.33034445e-03 -9.17327536e-03 2.87429820e+02] [-4.32557732e-03 9.99990499e-01 5.39453100e-04 -1.02643300e+01] [ 9.17552422e-03 -4.99745632e-04 9.99957779e-01 3.37664024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44071405700004 meters Centerline goodness [0,1] 0.9785182244845542 Centerline is valid? [True, True] Translation: X:287.46, Y:-10.26, Z:3.38 [[ 9.99920445e-01 6.83367311e-03 -1.06021380e-02 2.87460042e+02] [-6.82745559e-03 9.99976499e-01 6.22524323e-04 -1.02616527e+01] [ 1.06061430e-02 -5.50089172e-04 9.99943602e-01 3.37662947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.470714057 meters Centerline goodness [0,1] 0.9777839812036196 Centerline is valid? [True, True] Translation: X:287.49, Y:-10.26, Z:3.38 [[ 9.99905284e-01 7.63446882e-03 -1.14515159e-02 2.87489174e+02] [-7.62727128e-03 9.99970686e-01 6.72065741e-04 -1.02625955e+01] [ 1.14563111e-02 -5.84658267e-04 9.99934203e-01 3.37667918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.500714057 meters Centerline goodness [0,1] 0.9794494984837882 Centerline is valid? [True, True] Translation: X:287.52, Y:-10.26, Z:3.38 [[ 9.99889330e-01 9.05375870e-03 -1.18049906e-02 2.87518162e+02] [-9.04621857e-03 9.99958843e-01 6.91965987e-04 -1.02633263e+01] [ 1.18107696e-02 -5.85098882e-04 9.99930079e-01 3.37660001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.530714057 meters Centerline goodness [0,1] 0.9788441330998249 Centerline is valid? [True, True] Translation: X:287.55, Y:-10.27, Z:3.38 [[ 9.99887207e-01 9.19283942e-03 -1.18770666e-02 2.87546652e+02] [-9.18522666e-03 9.99957573e-01 6.95354169e-04 -1.02651036e+01] [ 1.18829549e-02 -5.86182189e-04 9.99929223e-01 3.37679445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.560714057 meters Centerline goodness [0,1] 0.9789828146771946 Centerline is valid? [True, True] Translation: X:287.57, Y:-10.27, Z:3.38 [[ 9.99882832e-01 8.61191126e-03 -1.26553555e-02 2.87574836e+02] [-8.60323408e-03 9.99962718e-01 7.39934383e-04 -1.02674163e+01] [ 1.26612559e-02 -6.30970701e-04 9.99919644e-01 3.37740675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.590714057 meters Centerline goodness [0,1] 0.9778307286191511 Centerline is valid? [True, True] Translation: X:287.60, Y:-10.27, Z:3.38 [[ 9.99888258e-01 7.70524197e-03 -1.28101828e-02 2.87603520e+02] [-7.69629051e-03 9.99970103e-01 7.47928625e-04 -1.02700336e+01] [ 1.28155628e-02 -6.49254162e-04 9.99917667e-01 3.37785160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.620714057 meters Centerline goodness [0,1] 0.9787412392018069 Centerline is valid? [True, True] Translation: X:287.63, Y:-10.27, Z:3.38 [[ 9.99896608e-01 7.11962582e-03 -1.24933774e-02 2.87632414e+02] [-7.11107667e-03 9.99974451e-01 7.28584278e-04 -1.02727783e+01] [ 1.24982455e-02 -6.39667583e-04 9.99921689e-01 3.37755825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.650714057 meters Centerline goodness [0,1] 0.9789390118613991 Centerline is valid? [True, True] Translation: X:287.66, Y:-10.27, Z:3.38 [[ 9.99901030e-01 5.04161524e-03 -1.31343916e-02 2.87661745e+02] [-5.03199892e-03 9.99987047e-01 7.65093007e-04 -1.02739267e+01] [ 1.31380787e-02 -6.98925042e-04 9.99913447e-01 3.37779233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.680714057 meters Centerline goodness [0,1] 0.9788315382104723 Centerline is valid? [True, True] Translation: X:287.69, Y:-10.28, Z:3.38 [[ 9.99898591e-01 2.12983524e-03 -1.40808625e-02 2.87692054e+02] [-2.11850242e-03 9.99997420e-01 8.19705161e-04 -1.02769334e+01] [ 1.40825720e-02 -7.89791695e-04 9.99900524e-01 3.37824015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.710714057 meters Centerline goodness [0,1] 0.9775898618585039 Centerline is valid? [True, True] Translation: X:287.72, Y:-10.28, Z:3.38 [[ 9.99902650e-01 3.27135166e-04 -1.39493397e-02 2.87720778e+02] [-3.15841738e-04 9.99999621e-01 8.11798354e-04 -1.02812761e+01] [ 1.39496000e-02 -8.07313542e-04 9.99902374e-01 3.37876322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.740714057 meters Centerline goodness [0,1] 0.9759327793682937 Centerline is valid? [True, True] Translation: X:287.75, Y:-10.28, Z:3.38 [[ 9.99901404e-01 -1.49360040e-03 -1.39625296e-02 2.87750200e+02] [ 1.50508298e-03 9.99998538e-01 8.11913350e-04 -1.02839492e+01] [ 1.39612965e-02 -8.32848063e-04 9.99902189e-01 3.37919252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.770714057 meters Centerline goodness [0,1] 0.9759934739540846 Centerline is valid? [True, True] Translation: X:287.78, Y:-10.29, Z:3.38 [[ 9.99903796e-01 -3.71163070e-03 -1.33649644e-02 2.87778496e+02] [ 3.72234054e-03 9.99992771e-01 7.76549984e-04 -1.02885084e+01] [ 1.33619855e-02 -8.26224226e-04 9.99910383e-01 3.38101685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.800714057 meters Centerline goodness [0,1] 0.9744138942565129 Centerline is valid? [True, True] Translation: X:287.81, Y:-10.29, Z:3.38 [[ 9.99907716e-01 -4.05142637e-03 -1.29671069e-02 2.87805668e+02] [ 4.06152377e-03 9.99991469e-01 7.52454367e-04 -1.02928087e+01] [ 1.29639478e-02 -8.05051140e-04 9.99915640e-01 3.38119805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.830714057 meters Centerline goodness [0,1] 0.974176437744277 Centerline is valid? [True, True] Translation: X:287.83, Y:-10.29, Z:3.38 [[ 9.99893398e-01 -5.05048608e-03 -1.36998606e-02 2.87834434e+02] [ 5.06182396e-03 9.99986874e-01 7.93042481e-04 -1.02929348e+01] [ 1.36956755e-02 -8.62304223e-04 9.99905838e-01 3.38174056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.860714057 meters Centerline goodness [0,1] 0.9739239857385874 Centerline is valid? [True, True] Translation: X:287.86, Y:-10.29, Z:3.38 [[ 9.99889719e-01 -5.34975578e-03 -1.38539039e-02 2.87862104e+02] [ 5.36132971e-03 9.99985309e-01 7.98422858e-04 -1.02946656e+01] [ 1.38494290e-02 -8.72610153e-04 9.99903711e-01 3.38180052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.890714057 meters Centerline goodness [0,1] 0.9751869714125952 Centerline is valid? [True, True] Translation: X:287.89, Y:-10.29, Z:3.38 [[ 9.99878639e-01 -4.74686789e-03 -1.48382549e-02 2.87891452e+02] [ 4.76001966e-03 9.99988309e-01 8.51150486e-04 -1.02923366e+01] [ 1.48340411e-02 -9.21677575e-04 9.99889545e-01 3.38181047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.920714057 meters Centerline goodness [0,1] 0.9763884037722669 Centerline is valid? [True, True] Translation: X:287.92, Y:-10.29, Z:3.38 [[ 9.99864044e-01 -4.98771117e-03 -1.57167460e-02 2.87919111e+02] [ 5.00243214e-03 9.99987085e-01 8.97468057e-04 -1.02928928e+01] [ 1.57120667e-02 -9.75967997e-04 9.99876082e-01 3.38162350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.950714057 meters Centerline goodness [0,1] 0.9742581170720354 Centerline is valid? [True, True] Translation: X:287.95, Y:-10.30, Z:3.38 [[ 9.99832924e-01 -6.15995984e-03 -1.72098455e-02 2.87946534e+02] [ 6.17772290e-03 9.99980438e-01 9.79172993e-04 -1.03013626e+01] [ 1.72034772e-02 -1.08532705e-03 9.99851420e-01 3.38029510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.980714057 meters Centerline goodness [0,1] 0.9760423221235638 Centerline is valid? [True, True] Translation: X:287.98, Y:-10.29, Z:3.38 [[ 9.99814115e-01 -7.62433962e-03 -1.77089087e-02 2.87975832e+02] [ 7.64332466e-03 9.99970285e-01 1.00462530e-03 -1.02949958e+01] [ 1.77007229e-02 -1.13979349e-03 9.99842680e-01 3.38130491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01071405700003 meters Centerline goodness [0,1] 0.9775854830433363 Centerline is valid? [True, True] Translation: X:288.00, Y:-10.30, Z:3.38 [[ 9.99799699e-01 -8.93459751e-03 -1.79090948e-02 2.88004873e+02] [ 8.95414374e-03 9.99959399e-01 1.01152224e-03 -1.02972893e+01] [ 1.78993301e-02 -1.17168024e-03 9.99839108e-01 3.38179233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.040714057 meters Centerline goodness [0,1] 0.9749439566598169 Centerline is valid? [True, True] Translation: X:288.03, Y:-10.30, Z:3.38 [[ 9.99780062e-01 -1.04106915e-02 -1.82056194e-02 2.88034437e+02] [ 1.04310864e-02 9.99945069e-01 1.02564618e-03 -1.02994050e+01] [ 1.81939416e-02 -1.21532499e-03 9.99833738e-01 3.38179634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07071405700003 meters Centerline goodness [0,1] 0.799107428839871 Centerline is valid? [True, False] Translation: X:288.09, Y:-10.30, Z:3.38 [[ 9.99768143e-01 -1.36548372e-02 -1.66495198e-02 2.88089133e+02] [ 1.35532260e-02 9.99888925e-01 -6.20059293e-03 -1.02978804e+01] [ 1.67323385e-02 5.97350057e-03 9.99842161e-01 3.38243449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.100714057 meters Centerline goodness [0,1] 0.9721826795173975 Centerline is valid? [False, True] Translation: X:288.01, Y:-10.30, Z:3.38 [[ 9.99787034e-01 -1.25465998e-02 -1.63850262e-02 2.88012294e+02] [ 1.25354391e-02 9.99921121e-01 -7.83686126e-04 -1.02978930e+01] [ 1.63935664e-02 5.78125730e-04 9.99865449e-01 3.37846216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13071405700003 meters Centerline goodness [0,1] 0.9733208955223881 Centerline is valid? [True, True] Translation: X:288.04, Y:-10.30, Z:3.38 [[ 9.99712968e-01 -1.69026848e-02 -1.69788065e-02 2.88042330e+02] [ 1.69225699e-02 9.99856274e-01 1.02817305e-03 -1.03026172e+01] [ 1.69589873e-02 -1.31520298e-03 9.99855321e-01 3.37721005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.160714057 meters Centerline goodness [0,1] 0.9706246062670617 Centerline is valid? [True, True] Translation: X:288.07, Y:-10.31, Z:3.38 [[ 9.99653559e-01 -1.94539186e-02 -1.77287100e-02 2.88070968e+02] [ 1.94759907e-02 9.99809749e-01 1.07317332e-03 -1.03062907e+01] [ 1.77044597e-02 -1.41808572e-03 9.99842258e-01 3.37700417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19071405700004 meters Centerline goodness [0,1] 0.9709550339168745 Centerline is valid? [True, True] Translation: X:288.10, Y:-10.31, Z:3.38 [[ 9.99621748e-01 -2.11183643e-02 -1.76174867e-02 2.88100329e+02] [ 2.11403966e-02 9.99775949e-01 1.06527083e-03 -1.03074074e+01] [ 1.75910427e-02 -1.43730855e-03 9.99844233e-01 3.37760026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.220714057 meters Centerline goodness [0,1] 0.9721053123830902 Centerline is valid? [True, True] Translation: X:288.13, Y:-10.30, Z:3.38 [[ 9.99575939e-01 -2.37416159e-02 -1.68605337e-02 2.88130512e+02] [ 2.37621548e-02 9.99717121e-01 1.01885145e-03 -1.03020704e+01] [ 1.68315750e-02 -1.41906201e-03 9.99857332e-01 3.38074370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.250714057 meters Centerline goodness [0,1] 0.9722300337457818 Centerline is valid? [True, True] Translation: X:288.16, Y:-10.30, Z:3.38 [[ 9.99576704e-01 -2.48101172e-02 -1.51944215e-02 2.88161022e+02] [ 2.48269182e-02 9.99691343e-01 9.18078559e-04 -1.03037904e+01] [ 1.51669540e-02 -1.29492060e-03 9.99884137e-01 3.38228992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.280714057 meters Centerline goodness [0,1] 0.9699132021617575 Centerline is valid? [True, True] Translation: X:288.19, Y:-10.31, Z:3.38 [[ 9.99578714e-01 -2.52577530e-02 -1.42982828e-02 2.88190866e+02] [ 2.52726781e-02 9.99680221e-01 8.64084450e-04 -1.03076226e+01] [ 1.42718857e-02 -1.22507632e-03 9.99897401e-01 3.38245016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.310714057 meters Centerline goodness [0,1] 0.9692145862552595 Centerline is valid? [True, True] Translation: X:288.22, Y:-10.31, Z:3.38 [[ 9.99563217e-01 -2.60676693e-02 -1.39230393e-02 2.88222207e+02] [ 2.60819046e-02 9.99659455e-01 8.41795198e-04 -1.03100803e+01] [ 1.38963542e-02 -1.20456690e-03 9.99902715e-01 3.38302612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.340714057 meters Centerline goodness [0,1] 0.968768373274382 Centerline is valid? [True, True] Translation: X:288.25, Y:-10.31, Z:3.38 [[ 9.99531625e-01 -2.69960212e-02 -1.44133821e-02 2.88253736e+02] [ 2.70113800e-02 9.99634746e-01 8.71954850e-04 -1.03102250e+01] [ 1.43845782e-02 -1.26087179e-03 9.99895742e-01 3.38401164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.370714057 meters Centerline goodness [0,1] 0.9692448878744382 Centerline is valid? [True, True] Translation: X:288.28, Y:-10.31, Z:3.38 [[ 9.99497654e-01 -2.78966033e-02 -1.50405537e-02 2.88284689e+02] [ 2.79134348e-02 9.99609930e-01 9.10270878e-04 -1.03092091e+01] [ 1.50092934e-02 -1.32964712e-03 9.99886470e-01 3.38379604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.400714057 meters Centerline goodness [0,1] 0.9681269273322191 Centerline is valid? [True, True] Translation: X:288.32, Y:-10.31, Z:3.38 [[ 9.99444964e-01 -2.94809718e-02 -1.55124449e-02 2.88315521e+02] [ 2.94990698e-02 9.99564367e-01 9.39107040e-04 -1.03111040e+01] [ 1.54780014e-02 -1.39618850e-03 9.99879234e-01 3.38343490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.430714057 meters Centerline goodness [0,1] 0.9687757747142689 Centerline is valid? [True, True] Translation: X:288.35, Y:-10.31, Z:3.38 [[ 9.99404155e-01 -3.05801108e-02 -1.60059887e-02 2.88346515e+02] [ 3.05995232e-02 9.99531255e-01 9.69272790e-04 -1.03109368e+01] [ 1.59688455e-02 -1.45847088e-03 9.99871426e-01 3.38305450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.460714057 meters Centerline goodness [0,1] 0.9570604169120245 Centerline is valid? [True, True] Translation: X:288.38, Y:-10.32, Z:3.38 [[ 9.99373641e-01 -3.13012309e-02 -1.65093535e-02 2.88375644e+02] [ 3.13219830e-02 9.99508846e-01 9.99860513e-04 -1.03239103e+01] [ 1.64699480e-02 -1.51633993e-03 9.99863211e-01 3.38040193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.490714057 meters Centerline goodness [0,1] 0.9687293651542307 Centerline is valid? [True, True] Translation: X:288.41, Y:-10.31, Z:3.38 [[ 9.99271466e-01 -3.34009296e-02 -1.84638849e-02 2.88407746e+02] [ 3.34272510e-02 9.99440527e-01 1.11869312e-03 -1.03126969e+01] [ 1.84161894e-02 -1.73507502e-03 9.99828902e-01 3.38050953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.520714057 meters Centerline goodness [0,1] 0.9707558098300196 Centerline is valid? [True, True] Translation: X:288.44, Y:-10.31, Z:3.38 [[ 9.99254487e-01 -3.36135508e-02 -1.89894770e-02 2.88439616e+02] [ 3.36414436e-02 9.99433303e-01 1.15123289e-03 -1.03122957e+01] [ 1.89400187e-02 -1.78920805e-03 9.99819021e-01 3.38074724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.550714057 meters Centerline goodness [0,1] 0.9666595729587856 Centerline is valid? [True, True] Translation: X:288.47, Y:-10.31, Z:3.38 [[ 9.99242719e-01 -3.35952329e-02 -1.96303276e-02 2.88470850e+02] [ 3.36250559e-02 9.99433808e-01 1.19105106e-03 -1.03148768e+01] [ 1.95791994e-02 -1.85021996e-03 9.99806597e-01 3.37960052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.580714057 meters Centerline goodness [0,1] 0.9682929710572947 Centerline is valid? [True, True] Translation: X:288.50, Y:-10.31, Z:3.38 [[ 9.99258790e-01 -3.33212582e-02 -1.92760176e-02 2.88502263e+02] [ 3.33499835e-02 9.99443049e-01 1.17058898e-03 -1.03133745e+01] [ 1.92262763e-02 -1.81257619e-03 9.99813515e-01 3.38007006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.610714057 meters Centerline goodness [0,1] 0.9680073993264715 Centerline is valid? [True, True] Translation: X:288.53, Y:-10.31, Z:3.38 [[ 9.99302534e-01 -3.24097580e-02 -1.85486446e-02 2.88532408e+02] [ 3.24362101e-02 9.99473172e-01 1.12694613e-03 -1.03139487e+01] [ 1.85023486e-02 -1.72780786e-03 9.99827324e-01 3.38075885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.640714057 meters Centerline goodness [0,1] 0.9662033962622142 Centerline is valid? [True, True] Translation: X:288.56, Y:-10.32, Z:3.38 [[ 9.99334055e-01 -3.17778767e-02 -1.79335571e-02 2.88563023e+02] [ 3.18025080e-02 9.99493578e-01 1.08989035e-03 -1.03160114e+01] [ 1.78898407e-02 -1.65949663e-03 9.99838587e-01 3.38109817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.670714057 meters Centerline goodness [0,1] 0.9670580405951419 Centerline is valid? [True, True] Translation: X:288.59, Y:-10.32, Z:3.38 [[ 9.99362818e-01 -3.11970861e-02 -1.73406968e-02 2.88594090e+02] [ 3.12200376e-02 9.99511980e-01 1.05436804e-03 -1.03151276e+01] [ 1.72993410e-02 -1.59507342e-03 9.99849083e-01 3.38263128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.700714057 meters Centerline goodness [0,1] 0.9668334524660471 Centerline is valid? [True, True] Translation: X:288.63, Y:-10.31, Z:3.38 [[ 9.99405989e-01 -3.01561041e-02 -1.66816955e-02 2.88625885e+02] [ 3.01772132e-02 9.99544049e-01 1.01507639e-03 -1.03137234e+01] [ 1.66434787e-02 -1.51788050e-03 9.99860336e-01 3.38472261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.730714057 meters Centerline goodness [0,1] 0.9671842255667746 Centerline is valid? [True, True] Translation: X:288.66, Y:-10.31, Z:3.39 [[ 9.99412490e-01 -3.01187995e-02 -1.63564155e-02 2.88657690e+02] [ 3.01390993e-02 9.99545218e-01 9.95958073e-04 -1.03149797e+01] [ 1.63189798e-02 -1.48834057e-03 9.99865729e-01 3.38531358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76071405700003 meters Centerline goodness [0,1] 0.968527797661656 Centerline is valid? [True, True] Translation: X:288.69, Y:-10.32, Z:3.39 [[ 9.99436964e-01 -2.96857830e-02 -1.56367905e-02 2.88688841e+02] [ 2.97042916e-02 9.99558276e-01 9.52686525e-04 -1.03157357e+01] [ 1.56016021e-02 -1.41662991e-03 9.99877284e-01 3.38618715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.790714057 meters Centerline goodness [0,1] 0.96670239371204 Centerline is valid? [True, True] Translation: X:288.72, Y:-10.32, Z:3.39 [[ 9.99430698e-01 -2.96452078e-02 -1.61071919e-02 2.88720209e+02] [ 2.96648540e-02 9.99559419e-01 9.82110915e-04 -1.03208891e+01] [ 1.60709805e-02 -1.45936929e-03 9.99869788e-01 3.38554857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82071405700003 meters Centerline goodness [0,1] 0.9654474448730771 Centerline is valid? [True, True] Translation: X:288.75, Y:-10.32, Z:3.39 [[ 9.99430229e-01 -2.98200452e-02 -1.58108250e-02 2.88751435e+02] [ 2.98390069e-02 9.99554252e-01 9.64692090e-04 -1.03237002e+01] [ 1.57750102e-02 -1.43592175e-03 9.99874536e-01 3.38511729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.850714057 meters Centerline goodness [0,1] 0.9679786524349566 Centerline is valid? [True, True] Translation: X:288.78, Y:-10.32, Z:3.38 [[ 9.99396259e-01 -3.04572627e-02 -1.67174180e-02 2.88783136e+02] [ 3.04785601e-02 9.99534900e-01 1.02060881e-03 -1.03221111e+01] [ 1.66785578e-02 -1.52951545e-03 9.99859733e-01 3.38475782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88071405700003 meters Centerline goodness [0,1] 0.9659142481786696 Centerline is valid? [True, True] Translation: X:288.81, Y:-10.33, Z:3.38 [[ 9.99350145e-01 -3.15461107e-02 -1.74393477e-02 2.88812978e+02] [ 3.15694708e-02 9.99500992e-01 1.06576878e-03 -1.03263849e+01] [ 1.73970244e-02 -1.61562717e-03 9.99847355e-01 3.38452615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.910714057 meters Centerline goodness [0,1] 0.966652344122983 Centerline is valid? [True, True] Translation: X:288.85, Y:-10.33, Z:3.38 [[ 9.99338247e-01 -3.20189239e-02 -1.72585244e-02 2.88845240e+02] [ 3.20418932e-02 9.99485969e-01 1.05595542e-03 -1.03278137e+01] [ 1.72158425e-02 -1.60825244e-03 9.99850503e-01 3.38478086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94071405700004 meters Centerline goodness [0,1] 0.9653682753353382 Centerline is valid? [True, True] Translation: X:288.88, Y:-10.33, Z:3.38 [[ 9.99331047e-01 -3.23390599e-02 -1.70775861e-02 2.88877339e+02] [ 3.23616169e-02 9.99475678e-01 1.04608647e-03 -1.03316811e+01] [ 1.70348025e-02 -1.59804499e-03 9.99853620e-01 3.38458606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.970714057 meters Centerline goodness [0,1] 0.9664138161347264 Centerline is valid? [True, True] Translation: X:288.91, Y:-10.33, Z:3.38 [[ 9.99305395e-01 -3.29999960e-02 -1.73126417e-02 2.88908921e+02] [ 3.30232907e-02 9.99454019e-01 1.06130419e-03 -1.03331105e+01] [ 1.72681663e-02 -1.63228741e-03 9.99849562e-01 3.38460118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.000714057 meters Centerline goodness [0,1] 0.9662550463072904 Centerline is valid? [True, True] Translation: X:288.94, Y:-10.33, Z:3.38 [[ 9.99287287e-01 -3.31653245e-02 -1.80271712e-02 2.88941037e+02] [ 3.31906282e-02 9.99448427e-01 1.10618141e-03 -1.03348798e+01] [ 1.79805411e-02 -1.70372616e-03 9.99836885e-01 3.38467733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.030714057 meters Centerline goodness [0,1] 0.9650880533079486 Centerline is valid? [True, True] Translation: X:288.97, Y:-10.34, Z:3.38 [[ 9.99287141e-01 -3.31383963e-02 -1.80847134e-02 2.88972912e+02] [ 3.31638803e-02 9.99449310e-01 1.11098430e-03 -1.03361578e+01] [ 1.80379381e-02 -1.70995160e-03 9.99835841e-01 3.38479808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.060714057 meters Centerline goodness [0,1] 0.9674922600619195 Centerline is valid? [True, True] Translation: X:289.00, Y:-10.33, Z:3.39 [[ 9.99313742e-01 -3.24452640e-02 -1.78703370e-02 2.89004172e+02] [ 3.24700523e-02 9.99472105e-01 1.09864463e-03 -1.03338747e+01] [ 1.78252576e-02 -1.67814146e-03 9.99839709e-01 3.38615399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.090714057 meters Centerline goodness [0,1] 0.9665324789785855 Centerline is valid? [True, True] Translation: X:289.03, Y:-10.34, Z:3.39 [[ 9.99347899e-01 -3.13898188e-02 -1.78453606e-02 2.89034908e+02] [ 3.14143823e-02 9.99505844e-01 1.09774214e-03 -1.03379980e+01] [ 1.78020843e-02 -1.65762728e-03 9.99840156e-01 3.38592920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.120714057 meters Centerline goodness [0,1] 0.9682842949942683 Centerline is valid? [True, True] Translation: X:289.07, Y:-10.34, Z:3.39 [[ 9.99440372e-01 -2.84986161e-02 -1.75148880e-02 2.89066175e+02] [ 2.85218419e-02 9.99592589e-01 1.07764930e-03 -1.03357142e+01] [ 1.74770407e-02 -1.57660309e-03 9.99846022e-01 3.38671723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.150714057 meters Centerline goodness [0,1] 0.9688239088368092 Centerline is valid? [True, True] Translation: X:289.10, Y:-10.33, Z:3.39 [[ 9.99502448e-01 -2.64497819e-02 -1.71832640e-02 2.89097301e+02] [ 2.64718398e-02 9.99649000e-01 1.05746411e-03 -1.03349747e+01] [ 1.71492630e-02 -1.51181057e-03 9.99851798e-01 3.38724091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.180714057 meters Centerline goodness [0,1] 0.9688239088368092 Centerline is valid? [True, True] Translation: X:289.13, Y:-10.34, Z:3.39 [[ 9.99503379e-01 -2.64146285e-02 -1.71832330e-02 2.89128209e+02] [ 2.64366899e-02 9.99649930e-01 1.05796722e-03 -1.03369085e+01] [ 1.71492719e-02 -1.51170962e-03 9.99851798e-01 3.38741907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.210714057 meters Centerline goodness [0,1] 0.9679340028694404 Centerline is valid? [True, True] Translation: X:289.16, Y:-10.34, Z:3.39 [[ 9.99604702e-01 -2.31802343e-02 -1.59096176e-02 2.89157907e+02] [ 2.31987397e-02 9.99730393e-01 9.79565484e-04 -1.03387319e+01] [ 1.58826217e-02 -1.34826134e-03 9.99872954e-01 3.38841033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.240714057 meters Centerline goodness [0,1] 0.9690753653644092 Centerline is valid? [True, True] Translation: X:289.19, Y:-10.34, Z:3.39 [[ 9.99644621e-01 -2.13688955e-02 -1.59374093e-02 2.89188478e+02] [ 2.13872355e-02 9.99770785e-01 9.81178600e-04 -1.03369427e+01] [ 1.59127895e-02 -1.32168704e-03 9.99872510e-01 3.38937403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.270714057 meters Centerline goodness [0,1] 0.9713813187603365 Centerline is valid? [True, True] Translation: X:289.22, Y:-10.34, Z:3.39 [[ 9.99672231e-01 -2.01561113e-02 -1.57848468e-02 2.89218884e+02] [ 2.01739516e-02 9.99796013e-01 9.71786163e-04 -1.03360834e+01] [ 1.57620394e-02 -1.28991038e-03 9.99874939e-01 3.39020469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.300714057 meters Centerline goodness [0,1] 0.970529698103254 Centerline is valid? [True, True] Translation: X:289.25, Y:-10.34, Z:3.39 [[ 9.99709854e-01 -1.82798943e-02 -1.56860685e-02 2.89249547e+02] [ 1.82972825e-02 9.99832124e-01 9.65704930e-04 -1.03362220e+01] [ 1.56657822e-02 -1.25243716e-03 9.99876500e-01 3.39005588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.330714057 meters Centerline goodness [0,1] 0.9667983243566727 Centerline is valid? [True, True] Translation: X:289.28, Y:-10.34, Z:3.39 [[ 9.99714957e-01 -1.79222908e-02 -1.57733001e-02 2.89278587e+02] [ 1.79398260e-02 9.99838597e-01 9.70900979e-04 -1.03449386e+01] [ 1.57533534e-02 -1.25359449e-03 9.99875122e-01 3.38870796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.360714057 meters Centerline goodness [0,1] 0.9669004611837049 Centerline is valid? [True, True] Translation: X:289.31, Y:-10.35, Z:3.39 [[ 9.99725348e-01 -1.72774661e-02 -1.58340687e-02 2.89307545e+02] [ 1.72950495e-02 9.99849955e-01 9.74207409e-04 -1.03475365e+01] [ 1.58148611e-02 -1.24779084e-03 9.99874159e-01 3.38890182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.390714057 meters Centerline goodness [0,1] 0.9714661879114302 Centerline is valid? [True, True] Translation: X:289.34, Y:-10.34, Z:3.39 [[ 9.99731197e-01 -1.69738753e-02 -1.57930628e-02 2.89338120e+02] [ 1.69913215e-02 9.99855165e-01 9.71138916e-04 -1.03379263e+01] [ 1.57742914e-02 -1.23922288e-03 9.99874810e-01 3.39094336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.420714057 meters Centerline goodness [0,1] 0.9659229499964129 Centerline is valid? [True, True] Translation: X:289.37, Y:-10.35, Z:3.39 [[ 9.99769206e-01 -1.48248646e-02 -1.55485722e-02 2.89366029e+02] [ 1.48415052e-02 9.99889402e-01 9.55387411e-04 -1.03487966e+01] [ 1.55326891e-02 -1.18593113e-03 9.99878657e-01 3.39079405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.450714057 meters Centerline goodness [0,1] 0.9673617625129278 Centerline is valid? [True, True] Translation: X:289.39, Y:-10.34, Z:3.39 [[ 9.99781319e-01 -1.42069071e-02 -1.53452759e-02 2.89394773e+02] [ 1.42230036e-02 9.99898406e-01 9.40323379e-04 -1.03438039e+01] [ 1.53303579e-02 -1.15837366e-03 9.99881812e-01 3.39101950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.480714057 meters Centerline goodness [0,1] 0.9686401079050051 Centerline is valid? [True, True] Translation: X:289.42, Y:-10.35, Z:3.39 [[ 9.99789668e-01 -1.31367751e-02 -1.57494177e-02 2.89422790e+02] [ 1.31535662e-02 9.99913024e-01 9.63022579e-04 -1.03468192e+01] [ 1.57353968e-02 -1.16998103e-03 9.99875506e-01 3.39102596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51071405700003 meters Centerline goodness [0,1] 0.9702829620710416 Centerline is valid? [True, True] Translation: X:289.45, Y:-10.34, Z:3.39 [[ 9.99814349e-01 -1.06639736e-02 -1.60483079e-02 2.89452583e+02] [ 1.06810794e-02 9.99942475e-01 9.80553782e-04 -1.03426538e+01] [ 1.60369281e-02 -1.15178499e-03 9.99870737e-01 3.39096839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.540714057 meters Centerline goodness [0,1] 0.9680262744813929 Centerline is valid? [True, True] Translation: X:289.48, Y:-10.34, Z:3.39 [[ 9.99827202e-01 -9.76761536e-03 -1.58164299e-02 2.89480578e+02] [ 9.78410219e-03 9.99951669e-01 9.65340147e-04 -1.03443170e+01] [ 1.58062363e-02 -1.11992290e-03 9.99874446e-01 3.39102769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57071405700003 meters Centerline goodness [0,1] 0.9687794732896423 Centerline is valid? [True, True] Translation: X:289.51, Y:-10.34, Z:3.39 [[ 9.99827704e-01 -9.64021111e-03 -1.58627793e-02 2.89509833e+02] [ 9.65673558e-03 9.99952907e-01 9.65445841e-04 -1.03446105e+01] [ 1.58527252e-02 -1.11846216e-03 9.99873712e-01 3.39146649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.600714057 meters Centerline goodness [0,1] 0.9705733007713325 Centerline is valid? [True, True] Translation: X:289.54, Y:-10.34, Z:3.39 [[ 9.99829072e-01 -9.43225381e-03 -1.59015295e-02 2.89539295e+02] [ 9.44877607e-03 9.99954894e-01 9.64225427e-04 -1.03424485e+01] [ 1.58917174e-02 -1.11431061e-03 9.99873098e-01 3.39225280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63071405700003 meters Centerline goodness [0,1] 0.96985957025113 Centerline is valid? [True, True] Translation: X:289.57, Y:-10.34, Z:3.39 [[ 9.99830725e-01 -8.30337869e-03 -1.64187600e-02 2.89568385e+02] [ 8.32080753e-03 9.99964888e-01 9.93490440e-04 -1.03427705e+01] [ 1.64099342e-02 -1.12993961e-03 9.99864709e-01 3.39182879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.660714057 meters Centerline goodness [0,1] 0.9672352643134605 Centerline is valid? [True, True] Translation: X:289.60, Y:-10.35, Z:3.39 [[ 9.99857352e-01 -5.36894648e-03 -1.60140570e-02 2.89597064e+02] [ 5.38513986e-03 9.99985031e-01 9.68246864e-04 -1.03514609e+01] [ 1.60086188e-02 -1.05434668e-03 9.99871298e-01 3.39112050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69071405700004 meters Centerline goodness [0,1] 0.9722067815453029 Centerline is valid? [True, True] Translation: X:289.63, Y:-10.34, Z:3.39 [[ 9.99868641e-01 -3.97984465e-03 -1.57118037e-02 2.89626186e+02] [ 3.99524739e-03 9.99991569e-01 9.49062747e-04 -1.03416638e+01] [ 1.57078941e-02 -1.01171062e-03 9.99876112e-01 3.39368515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.720714057 meters Centerline goodness [0,1] 0.9684813061539947 Centerline is valid? [True, True] Translation: X:289.65, Y:-10.35, Z:3.39 [[ 9.99880837e-01 -2.14936966e-03 -1.52869843e-02 2.89654154e+02] [ 2.16372378e-03 9.99997234e-01 9.22499542e-04 -1.03488396e+01] [ 1.52849592e-02 -9.55466426e-04 9.99882722e-01 3.39390345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.750714057 meters Centerline goodness [0,1] 0.9729016321983823 Centerline is valid? [True, True] Translation: X:289.68, Y:-10.34, Z:3.40 [[ 9.99887068e-01 1.92284771e-03 -1.49048539e-02 2.89684817e+02] [-1.90965803e-03 9.99997772e-01 8.99106797e-04 -1.03401497e+01] [ 1.49065495e-02 -8.70542085e-04 9.99888512e-01 3.39568295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.780714057 meters Centerline goodness [0,1] 0.9706616275407612 Centerline is valid? [True, True] Translation: X:289.71, Y:-10.35, Z:3.39 [[ 9.99884704e-01 4.05277481e-03 -1.46340199e-02 2.89713392e+02] [-4.04029244e-03 9.99991449e-01 8.82433122e-04 -1.03470186e+01] [ 1.46374711e-02 -8.23205661e-04 9.99892528e-01 3.39471563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.810714057 meters Centerline goodness [0,1] 0.9754614602005717 Centerline is valid? [True, True] Translation: X:289.74, Y:-10.34, Z:3.40 [[ 9.99857391e-01 8.15604457e-03 -1.47877015e-02 2.89743676e+02] [-8.14375134e-03 9.99966442e-01 8.91342001e-04 -1.03423275e+01] [ 1.47944751e-02 -7.70787524e-04 9.99890259e-01 3.39545408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.840714057 meters Centerline goodness [0,1] 0.9744211419566008 Centerline is valid? [True, True] Translation: X:289.77, Y:-10.34, Z:3.40 [[ 9.99844696e-01 9.42344276e-03 -1.48923364e-02 2.89772630e+02] [-9.41112603e-03 9.99955312e-01 8.96917587e-04 -1.03436878e+01] [ 1.49001229e-02 -7.56624638e-04 9.99888701e-01 3.39508907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.870714057 meters Centerline goodness [0,1] 0.9738951943974885 Centerline is valid? [True, True] Translation: X:289.80, Y:-10.35, Z:3.39 [[ 9.99818475e-01 1.10542178e-02 -1.55184008e-02 2.89800737e+02] [-1.10410564e-02 9.99938610e-01 9.33538287e-04 -1.03498878e+01] [ 1.55277677e-02 -7.62029288e-04 9.99879147e-01 3.39397009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.900714057 meters Centerline goodness [0,1] 0.9756993979253814 Centerline is valid? [True, True] Translation: X:289.83, Y:-10.35, Z:3.39 [[ 9.99824953e-01 1.04792733e-02 -1.54999137e-02 2.89829332e+02] [-1.04660907e-02 9.99944795e-01 9.31366665e-04 -1.03488502e+01] [ 1.55088181e-02 -7.68980129e-04 9.99879435e-01 3.39455537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.930714057 meters Centerline goodness [0,1] 0.9755997687638501 Centerline is valid? [True, True] Translation: X:289.86, Y:-10.35, Z:3.39 [[ 9.99838074e-01 9.66151877e-03 -1.51815658e-02 2.89856920e+02] [-9.64879618e-03 9.99953034e-01 9.11053256e-04 -1.03538667e+01] [ 1.51896549e-02 -7.64421899e-04 9.99884338e-01 3.39493803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.960714057 meters Centerline goodness [0,1] 0.9737521514629949 Centerline is valid? [True, True] Translation: X:289.88, Y:-10.36, Z:3.39 [[ 9.99842483e-01 9.12582172e-03 -1.52226422e-02 2.89884292e+02] [-9.11299363e-03 9.99958060e-01 9.11852607e-04 -1.03595169e+01] [ 1.52303252e-02 -7.72985133e-04 9.99883713e-01 3.39442126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.990714057 meters Centerline goodness [0,1] 0.9748509328717061 Centerline is valid? [True, True] Translation: X:289.91, Y:-10.36, Z:3.40 [[ 9.99842670e-01 8.28909938e-03 -1.56820229e-02 2.89913394e+02] [-8.27540494e-03 9.99965318e-01 9.37948202e-04 -1.03565997e+01] [ 1.56892538e-02 -8.08025544e-04 9.99876590e-01 3.39511629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.020714057 meters Centerline goodness [0,1] 0.9757650292989944 Centerline is valid? [True, True] Translation: X:289.94, Y:-10.36, Z:3.40 [[ 9.99828062e-01 8.55633131e-03 -1.64509943e-02 2.89941829e+02] [-8.54131602e-03 9.99963039e-01 9.82774413e-04 -1.03574981e+01] [ 1.64587952e-02 -8.42092295e-04 9.99864190e-01 3.39509010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.050714057 meters Centerline goodness [0,1] 0.9767800737829431 Centerline is valid? [True, True] Translation: X:289.97, Y:-10.36, Z:3.39 [[ 9.99809522e-01 9.50181278e-03 -1.70480058e-02 2.89970267e+02] [-9.48584545e-03 9.99954491e-01 1.01723089e-03 -1.03591079e+01] [ 1.70568955e-02 -8.55322387e-04 9.99854155e-01 3.39395115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.080714057 meters Centerline goodness [0,1] 0.9754409573701158 Centerline is valid? [True, True] Translation: X:290.00, Y:-10.36, Z:3.39 [[ 9.99804157e-01 1.00779163e-02 -1.70318454e-02 2.89997766e+02] [-1.00620861e-02 9.99948861e-01 1.01488446e-03 -1.03619576e+01] [ 1.70412024e-02 -8.43309807e-04 9.99854433e-01 3.39389645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.110714057 meters Centerline goodness [0,1] 0.975415954347355 Centerline is valid? [True, True] Translation: X:290.03, Y:-10.36, Z:3.39 [[ 9.99807487e-01 1.01354920e-02 -1.68005991e-02 2.90026916e+02] [-1.01201180e-02 9.99948290e-01 9.99855116e-04 -1.03638036e+01] [ 1.68098643e-02 -8.29638585e-04 9.99858360e-01 3.39397582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.140714057 meters Centerline goodness [0,1] 0.9748448848059257 Centerline is valid? [True, True] Translation: X:290.05, Y:-10.37, Z:3.39 [[ 9.99812718e-01 9.27716789e-03 -1.69841778e-02 2.90054649e+02] [-9.26135552e-03 9.99956603e-01 1.00942496e-03 -1.03681379e+01] [ 1.69928054e-02 -8.51939406e-04 9.99855249e-01 3.39412641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.170714057 meters Centerline goodness [0,1] 0.9744940927356288 Centerline is valid? [True, True] Translation: X:290.08, Y:-10.37, Z:3.39 [[ 9.99827800e-01 8.65573630e-03 -1.64148744e-02 2.90083161e+02] [-8.64090244e-03 9.99962192e-01 9.74394394e-04 -1.03711116e+01] [ 1.64226879e-02 -8.32387275e-04 9.99864792e-01 3.39457373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.200714057 meters Centerline goodness [0,1] 0.9740359098190164 Centerline is valid? [True, True] Translation: X:290.11, Y:-10.38, Z:3.40 [[ 9.99848345e-01 5.99784968e-03 -1.63497092e-02 2.90112447e+02] [-5.98279126e-03 9.99981633e-01 9.69777325e-04 -1.03750667e+01] [ 1.63552255e-02 -8.71813356e-04 9.99865864e-01 3.39618050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.230714057 meters Centerline goodness [0,1] 0.9743454493142802 Centerline is valid? [True, True] Translation: X:290.14, Y:-10.38, Z:3.40 [[ 9.99853338e-01 4.48081404e-03 -1.65295195e-02 2.90141721e+02] [-4.46522521e-03 9.99989551e-01 9.79876781e-04 -1.03791421e+01] [ 1.65337374e-02 -9.05925043e-04 9.99862898e-01 3.39651113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26071405700003 meters Centerline goodness [0,1] 0.973583826053786 Centerline is valid? [True, True] Translation: X:290.17, Y:-10.38, Z:3.40 [[ 9.99868015e-01 8.73267295e-04 -1.62231184e-02 2.90171916e+02] [-8.57783884e-04 9.99999170e-01 9.61338037e-04 -1.03833476e+01] [ 1.62239444e-02 -9.47295225e-04 9.99867934e-01 3.39668067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.290714057 meters Centerline goodness [0,1] 0.9699677457890336 Centerline is valid? [True, True] Translation: X:290.20, Y:-10.40, Z:3.40 [[ 9.99875569e-01 -1.24639878e-03 -1.57255623e-02 2.90200105e+02] [ 1.26119504e-03 9.99998771e-01 9.31023012e-04 -1.03958440e+01] [ 1.57243825e-02 -9.50740165e-04 9.99875912e-01 3.39571686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32071405700003 meters Centerline goodness [0,1] 0.9750303491942587 Centerline is valid? [True, True] Translation: X:290.23, Y:-10.39, Z:3.40 [[ 9.99858558e-01 -5.53352622e-03 -1.58821934e-02 2.90230476e+02] [ 5.54914994e-03 9.99984162e-01 9.39824682e-04 -1.03908598e+01] [ 1.58767413e-02 -1.02782442e-03 9.99873428e-01 3.39814193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.350714057 meters Centerline goodness [0,1] 0.9721792890262752 Centerline is valid? [True, True] Translation: X:290.26, Y:-10.40, Z:3.40 [[ 9.99837145e-01 -7.75245906e-03 -1.62967421e-02 2.90258354e+02] [ 7.76919291e-03 9.99969355e-01 9.63761321e-04 -1.04021180e+01] [ 1.62887711e-02 -1.09021690e-03 9.99866735e-01 3.39708452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38071405700003 meters Centerline goodness [0,1] 0.9724389838950689 Centerline is valid? [True, True] Translation: X:290.29, Y:-10.40, Z:3.40 [[ 9.99817207e-01 -9.29959058e-03 -1.67054030e-02 2.90287482e+02] [ 9.31737015e-03 9.99956105e-01 9.86783971e-04 -1.04007412e+01] [ 1.66954930e-02 -1.14225402e-03 9.99859968e-01 3.39866268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.410714057 meters Centerline goodness [0,1] 0.9738198845899158 Centerline is valid? [True, True] Translation: X:290.32, Y:-10.41, Z:3.40 [[ 9.99759647e-01 -1.36206817e-02 -1.71792370e-02 2.90317290e+02] [ 1.36401078e-02 9.99906455e-01 1.01411937e-03 -1.04054137e+01] [ 1.71638169e-02 -1.24820227e-03 9.99851912e-01 3.39852153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44071405700004 meters Centerline goodness [0,1] 0.9730279657407845 Centerline is valid? [True, True] Translation: X:290.35, Y:-10.41, Z:3.40 [[ 9.99738500e-01 -1.51957344e-02 -1.70886179e-02 2.90345139e+02] [ 1.52151695e-02 9.99883735e-01 1.00786686e-03 -1.04106176e+01] [ 1.70713158e-02 -1.26760952e-03 9.99853471e-01 3.39840531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.470714057 meters Centerline goodness [0,1] 0.970550667045132 Centerline is valid? [True, True] Translation: X:290.37, Y:-10.42, Z:3.40 [[ 9.99705351e-01 -1.79374033e-02 -1.63542476e-02 2.90374974e+02] [ 1.79555590e-02 9.99838321e-01 9.63981782e-04 -1.04175300e+01] [ 1.63343122e-02 -1.25734740e-03 9.99865796e-01 3.39791860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.500714057 meters Centerline goodness [0,1] 0.9715907746895328 Centerline is valid? [True, True] Translation: X:290.40, Y:-10.42, Z:3.40 [[ 9.99682933e-01 -1.85953623e-02 -1.69777881e-02 2.90403913e+02] [ 1.86150116e-02 9.99826226e-01 1.00004463e-03 -1.04209793e+01] [ 1.69562416e-02 -1.31576927e-03 9.99855367e-01 3.39799369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.530714057 meters Centerline goodness [0,1] 0.9716100994355086 Centerline is valid? [True, True] Translation: X:290.43, Y:-10.42, Z:3.40 [[ 9.99647207e-01 -1.92186566e-02 -1.83331672e-02 2.90433507e+02] [ 1.92416593e-02 9.99814280e-01 1.07911856e-03 -1.04229849e+01] [ 1.83090232e-02 -1.43149841e-03 9.99831351e-01 3.39743438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.560714057 meters Centerline goodness [0,1] 0.9719646017699115 Centerline is valid? [True, True] Translation: X:290.46, Y:-10.43, Z:3.40 [[ 9.99650979e-01 -1.89835216e-02 -1.83724020e-02 2.90462510e+02] [ 1.90065235e-02 9.99818778e-01 1.07816222e-03 -1.04252971e+01] [ 1.83486052e-02 -1.42698141e-03 9.99830632e-01 3.39721396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.590714057 meters Centerline goodness [0,1] 0.9722563569335476 Centerline is valid? [True, True] Translation: X:290.49, Y:-10.43, Z:3.40 [[ 9.99660647e-01 -1.83175976e-02 -1.85217687e-02 2.90490757e+02] [ 1.83408231e-02 9.99831204e-01 1.08485332e-03 -1.04288667e+01] [ 1.84987704e-02 -1.42418965e-03 9.99827869e-01 3.39678144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.620714057 meters Centerline goodness [0,1] 0.9718529363149071 Centerline is valid? [True, True] Translation: X:290.52, Y:-10.43, Z:3.40 [[ 9.99681700e-01 -1.64743464e-02 -1.91074651e-02 2.90520797e+02] [ 1.64987193e-02 9.99863261e-01 1.11862091e-03 -1.04304325e+01] [ 1.90864238e-02 -1.43351356e-03 9.99816810e-01 3.39634242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.650714057 meters Centerline goodness [0,1] 0.9735105580693816 Centerline is valid? [True, True] Translation: X:290.55, Y:-10.43, Z:3.40 [[ 9.99701937e-01 -1.52367317e-02 -1.90755945e-02 2.90549521e+02] [ 1.52607802e-02 9.99882925e-01 1.11575340e-03 -1.04312238e+01] [ 1.90563608e-02 -1.40652929e-03 9.99817422e-01 3.39640227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.680714057 meters Centerline goodness [0,1] 0.9745644516937333 Centerline is valid? [True, True] Translation: X:290.58, Y:-10.43, Z:3.40 [[ 9.99741765e-01 -1.14147094e-02 -1.96496192e-02 2.90579688e+02] [ 1.14394842e-02 9.99933907e-01 1.14888628e-03 -1.04289536e+01] [ 1.96352062e-02 -1.37337110e-03 9.99806267e-01 3.39719182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.710714057 meters Centerline goodness [0,1] 0.9740201408916837 Centerline is valid? [True, True] Translation: X:290.61, Y:-10.43, Z:3.40 [[ 9.99760360e-01 -9.83728631e-03 -1.95563351e-02 2.90608781e+02] [ 9.86151660e-03 9.99950721e-01 1.14294701e-03 -1.04319778e+01] [ 1.95441279e-02 -1.33552823e-03 9.99808103e-01 3.39684571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.740714057 meters Centerline goodness [0,1] 0.977253320683112 Centerline is valid? [True, True] Translation: X:290.64, Y:-10.43, Z:3.40 [[ 9.99805595e-01 -4.96222809e-03 -1.90826774e-02 2.90638727e+02] [ 4.98440474e-03 9.99986956e-01 1.11474790e-03 -1.04262888e+01] [ 1.90768969e-02 -1.20964697e-03 9.99817288e-01 3.39822450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.770714057 meters Centerline goodness [0,1] 0.9771054006554886 Centerline is valid? [True, True] Translation: X:290.67, Y:-10.42, Z:3.40 [[ 9.99821870e-01 -2.81076311e-03 -1.86635490e-02 2.90669240e+02] [ 2.83159602e-03 9.99995397e-01 1.08990278e-03 -1.04228671e+01] [ 1.86603997e-02 -1.14255627e-03 9.99825227e-01 3.39927391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.800714057 meters Centerline goodness [0,1] 0.9798314125154777 Centerline is valid? [True, True] Translation: X:290.70, Y:-10.42, Z:3.40 [[ 9.99835257e-01 1.27012849e-03 -1.81064988e-02 2.90699938e+02] [-1.25119029e-03 9.99998658e-01 1.05722373e-03 -1.04166383e+01] [ 1.81078173e-02 -1.03439488e-03 9.99835505e-01 3.40211057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.830714057 meters Centerline goodness [0,1] 0.9784283879560481 Centerline is valid? [True, True] Translation: X:290.73, Y:-10.42, Z:3.40 [[ 9.99837439e-01 2.80757137e-03 -1.78104909e-02 2.90727571e+02] [-2.78951019e-03 9.99995570e-01 1.03883710e-03 -1.04184433e+01] [ 1.78133286e-02 -9.88985678e-04 9.99840841e-01 3.40218757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.860714057 meters Centerline goodness [0,1] 0.9787492265955928 Centerline is valid? [True, True] Translation: X:290.76, Y:-10.42, Z:3.40 [[ 9.99839335e-01 4.23623345e-03 -1.74171642e-02 2.90755317e+02] [-4.21920396e-03 9.99990585e-01 1.01437159e-03 -1.04200738e+01] [ 1.74212973e-02 -9.40722045e-04 9.99847795e-01 3.40224859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.890714057 meters Centerline goodness [0,1] 0.9791029805120367 Centerline is valid? [True, True] Translation: X:290.78, Y:-10.42, Z:3.40 [[ 9.99838880e-01 3.56154967e-03 -1.75934628e-02 2.90784382e+02] [-3.54409313e-03 9.99993196e-01 1.02329668e-03 -1.04195349e+01] [ 1.75969877e-02 -9.60778933e-04 9.99844699e-01 3.40240464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.920714057 meters Centerline goodness [0,1] 0.9779054038018843 Centerline is valid? [True, True] Translation: X:290.81, Y:-10.42, Z:3.40 [[ 9.99855812e-01 1.34440329e-03 -1.69277140e-02 2.90813635e+02] [-1.32794289e-03 9.99998635e-01 9.83596026e-04 -1.04226895e+01] [ 1.69290133e-02 -9.60975165e-04 9.99856232e-01 3.40180191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.950714057 meters Centerline goodness [0,1] 0.9785561115082202 Centerline is valid? [True, True] Translation: X:290.84, Y:-10.42, Z:3.40 [[ 9.99856625e-01 -5.97161392e-04 -1.69225506e-02 2.90842778e+02] [ 6.13869340e-04 9.99999329e-01 9.82141257e-04 -1.04226776e+01] [ 1.69219528e-02 -9.92388678e-04 9.99856321e-01 3.40307027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.980714057 meters Centerline goodness [0,1] 0.9748976872561149 Centerline is valid? [True, True] Translation: X:290.87, Y:-10.43, Z:3.40 [[ 9.99871949e-01 -2.93067587e-03 -1.57320150e-02 2.90870704e+02] [ 2.94538483e-03 9.99995247e-01 9.11881544e-04 -1.04300268e+01] [ 1.57292677e-02 -9.58101615e-04 9.99875828e-01 3.40237545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01071405700003 meters Centerline goodness [0,1] 0.9733736258506639 Centerline is valid? [True, True] Translation: X:290.90, Y:-10.44, Z:3.40 [[ 9.99870497e-01 -6.67293378e-03 -1.46444904e-02 2.90899219e+02] [ 6.68606853e-03 9.99977288e-01 8.48130464e-04 -1.04355394e+01] [ 1.46384983e-02 -9.45934695e-04 9.99892404e-01 3.40369954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.040714057 meters Centerline goodness [0,1] 0.9737004656466787 Centerline is valid? [True, True] Translation: X:290.93, Y:-10.44, Z:3.40 [[ 9.99859020e-01 -8.39386924e-03 -1.45424610e-02 2.90928867e+02] [ 8.40699551e-03 9.99964306e-01 8.41718463e-04 -1.04372265e+01] [ 1.45348766e-02 -9.63858202e-04 9.99893899e-01 3.40447814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07071405700003 meters Centerline goodness [0,1] 0.9732435903534224 Centerline is valid? [True, True] Translation: X:290.96, Y:-10.44, Z:3.40 [[ 9.99830591e-01 -1.13768972e-02 -1.44691425e-02 2.90958440e+02] [ 1.13901966e-02 9.99934779e-01 8.37080840e-04 -1.04420996e+01] [ 1.44586754e-02 -1.00174541e-03 9.99894966e-01 3.40428248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.100714057 meters Centerline goodness [0,1] 0.9732435903534224 Centerline is valid? [True, True] Translation: X:290.99, Y:-10.44, Z:3.40 [[ 9.99827820e-01 -1.16177161e-02 -1.44692712e-02 2.90986700e+02] [ 1.16310085e-02 9.99932009e-01 8.34850948e-04 -1.04436789e+01] [ 1.44585884e-02 -1.00299942e-03 9.99894966e-01 3.40444540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13071405700003 meters Centerline goodness [0,1] 0.9732716708170284 Centerline is valid? [True, True] Translation: X:291.02, Y:-10.45, Z:3.40 [[ 9.99814415e-01 -1.29275319e-02 -1.42833659e-02 2.91015979e+02] [ 1.29405920e-02 9.99915929e-01 8.22308370e-04 -1.04454463e+01] [ 1.42715347e-02 -1.00699097e-03 9.99897649e-01 3.40422491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.160714057 meters Centerline goodness [0,1] 0.9722044349579034 Centerline is valid? [True, True] Translation: X:291.05, Y:-10.45, Z:3.40 [[ 9.99773702e-01 -1.45060989e-02 -1.55601358e-02 2.91045879e+02] [ 1.45217782e-02 9.99894153e-01 8.95141308e-04 -1.04473080e+01] [ 1.55455038e-02 -1.12089958e-03 9.99878533e-01 3.40374177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19071405700004 meters Centerline goodness [0,1] 0.9724707501720579 Centerline is valid? [True, True] Translation: X:291.07, Y:-10.45, Z:3.40 [[ 9.99764534e-01 -1.49901959e-02 -1.56897931e-02 2.91074978e+02] [ 1.50061554e-02 9.99886996e-01 8.99953185e-04 -1.04498317e+01] [ 1.56745296e-02 -1.13518475e-03 9.99876503e-01 3.40357921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.220714057 meters Centerline goodness [0,1] 0.9723759530652478 Centerline is valid? [True, True] Translation: X:291.10, Y:-10.45, Z:3.40 [[ 9.99754174e-01 -1.48918922e-02 -1.64262684e-02 2.91103910e+02] [ 1.49093389e-02 9.99888408e-01 9.40162750e-04 -1.04525943e+01] [ 1.64104346e-02 -1.18483644e-03 9.99864638e-01 3.40345393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.250714057 meters Centerline goodness [0,1] 0.9728832056178975 Centerline is valid? [True, True] Translation: X:291.13, Y:-10.45, Z:3.40 [[ 9.99748912e-01 -1.45563725e-02 -1.70359958e-02 2.91133196e+02] [ 1.45750598e-02 9.99893304e-01 9.73276137e-04 -1.04537788e+01] [ 1.70200108e-02 -1.22133242e-03 9.99854403e-01 3.40349150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.280714057 meters Centerline goodness [0,1] 0.971024515882858 Centerline is valid? [True, True] Translation: X:291.16, Y:-10.46, Z:3.40 [[ 9.99755150e-01 -1.33553037e-02 -1.76430017e-02 2.91161128e+02] [ 1.33751289e-02 9.99910043e-01 1.00616264e-03 -1.04554077e+01] [ 1.76279770e-02 -1.24189371e-03 9.99843844e-01 3.40404572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.310714057 meters Centerline goodness [0,1] 0.9713243707093822 Centerline is valid? [True, True] Translation: X:291.19, Y:-10.45, Z:3.41 [[ 9.99779530e-01 -1.25667873e-02 -1.68216175e-02 2.91190637e+02] [ 1.25846486e-02 9.99920353e-01 9.56366971e-04 -1.04534156e+01] [ 1.68082592e-02 -1.16785027e-03 9.99858049e-01 3.40510346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.340714057 meters Centerline goodness [0,1] 0.9726468413898361 Centerline is valid? [True, True] Translation: X:291.22, Y:-10.45, Z:3.41 [[ 9.99791478e-01 -1.18747649e-02 -1.66129749e-02 2.91219316e+02] [ 1.18920260e-02 9.99928845e-01 9.40606528e-04 -1.04532370e+01] [ 1.66006233e-02 -1.13797232e-03 9.99861553e-01 3.40580733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.370714057 meters Centerline goodness [0,1] 0.9721885185449528 Centerline is valid? [True, True] Translation: X:291.25, Y:-10.46, Z:3.41 [[ 9.99807307e-01 -1.13105214e-02 -1.60443180e-02 2.91248285e+02] [ 1.13264873e-02 9.99935444e-01 9.04587195e-04 -1.04552016e+01] [ 1.60330509e-02 -1.08613865e-03 9.99870872e-01 3.40583739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.400714057 meters Centerline goodness [0,1] 0.9728485195524061 Centerline is valid? [True, True] Translation: X:291.28, Y:-10.45, Z:3.41 [[ 9.99815824e-01 -1.11706839e-02 -1.56055704e-02 2.91277080e+02] [ 1.11857125e-02 9.99937054e-01 8.76069504e-04 -1.04527541e+01] [ 1.55948018e-02 -1.05046758e-03 9.99877842e-01 3.40715167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.430714057 meters Centerline goodness [0,1] 0.972268043701738 Centerline is valid? [True, True] Translation: X:291.30, Y:-10.45, Z:3.41 [[ 9.99810157e-01 -1.15180958e-02 -1.57156985e-02 2.91304724e+02] [ 1.15333136e-02 9.99933104e-01 8.78028976e-04 -1.04538662e+01] [ 1.57045339e-02 -1.05911637e-03 9.99876115e-01 3.40756715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.460714057 meters Centerline goodness [0,1] 0.9708366228857149 Centerline is valid? [True, True] Translation: X:291.33, Y:-10.46, Z:3.41 [[ 9.99803968e-01 -1.16879947e-02 -1.59817377e-02 2.91332466e+02] [ 1.17037053e-02 9.99931113e-01 8.89854735e-04 -1.04576789e+01] [ 1.59702362e-02 -1.07672584e-03 9.99871888e-01 3.40703013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.490714057 meters Centerline goodness [0,1] 0.970788774851073 Centerline is valid? [True, True] Translation: X:291.36, Y:-10.46, Z:3.41 [[ 9.99786665e-01 -1.27689666e-02 -1.62350593e-02 2.91360805e+02] [ 1.27852855e-02 9.99917858e-01 9.01762049e-04 -1.04598789e+01] [ 1.62222111e-02 -1.10913954e-03 9.99867796e-01 3.40629826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.520714057 meters Centerline goodness [0,1] 0.9695762145652381 Centerline is valid? [True, True] Translation: X:291.39, Y:-10.46, Z:3.41 [[ 9.99755708e-01 -1.43467618e-02 -1.68135117e-02 2.91390588e+02] [ 1.43644667e-02 9.99896391e-01 9.32717224e-04 -1.04631315e+01] [ 1.67983881e-02 -1.17400650e-03 9.99858208e-01 3.40620715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.550714057 meters Centerline goodness [0,1] 0.9683278438111604 Centerline is valid? [True, True] Translation: X:291.42, Y:-10.47, Z:3.41 [[ 9.99735041e-01 -1.52354594e-02 -1.72548006e-02 2.91418190e+02] [ 1.52542173e-02 9.99883191e-01 9.56011975e-04 -1.04680973e+01] [ 1.72382198e-02 -1.21896715e-03 9.99850668e-01 3.40589965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.580714057 meters Centerline goodness [0,1] 0.9685539110025387 Centerline is valid? [True, True] Translation: X:291.45, Y:-10.47, Z:3.41 [[ 9.99727491e-01 -1.54466341e-02 -1.75027157e-02 2.91446568e+02] [ 1.54659098e-02 9.99879929e-01 9.66467859e-04 -1.04694623e+01] [ 1.74856854e-02 -1.23689991e-03 9.99846349e-01 3.40653714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.610714057 meters Centerline goodness [0,1] 0.9673337327741163 Centerline is valid? [True, True] Translation: X:291.48, Y:-10.47, Z:3.41 [[ 9.99706100e-01 -1.66840166e-02 -1.75885557e-02 2.91475376e+02] [ 1.67035992e-02 9.99860018e-01 9.67041243e-04 -1.04712516e+01] [ 1.75699595e-02 -1.26054922e-03 9.99844842e-01 3.40756640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.640714057 meters Centerline goodness [0,1] 0.9670950295546462 Centerline is valid? [True, True] Translation: X:291.50, Y:-10.47, Z:3.41 [[ 9.99687948e-01 -1.74650619e-02 -1.78599369e-02 2.91503691e+02] [ 1.74853347e-02 9.99846640e-01 9.79564546e-04 -1.04738385e+01] [ 1.78400897e-02 -1.29154585e-03 9.99840019e-01 3.40774629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.670714057 meters Centerline goodness [0,1] 0.9680675878857307 Centerline is valid? [True, True] Translation: X:291.53, Y:-10.47, Z:3.41 [[ 9.99679403e-01 -1.79118891e-02 -1.78956842e-02 2.91532421e+02] [ 1.79322538e-02 9.99838726e-01 9.78133584e-04 -1.04740581e+01] [ 1.78752779e-02 -1.29872995e-03 9.99839381e-01 3.40736643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.700714057 meters Centerline goodness [0,1] 0.9683991783308652 Centerline is valid? [True, True] Translation: X:291.56, Y:-10.48, Z:3.41 [[ 9.99643793e-01 -1.91408739e-02 -1.85987500e-02 2.91561100e+02] [ 1.91629979e-02 9.99815861e-01 1.01203581e-03 -1.04755163e+01] [ 1.85759540e-02 -1.36808312e-03 9.99826516e-01 3.40697448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.730714057 meters Centerline goodness [0,1] 0.9691668854258645 Centerline is valid? [True, True] Translation: X:291.59, Y:-10.47, Z:3.41 [[ 9.99616814e-01 -2.01863403e-02 -1.89403522e-02 2.91590125e+02] [ 2.02093830e-02 9.99795243e-01 1.02595922e-03 -1.04745558e+01] [ 1.89157637e-02 -1.40833892e-03 9.99820089e-01 3.40805677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76071405700003 meters Centerline goodness [0,1] 0.9688104506483892 Centerline is valid? [True, True] Translation: X:291.62, Y:-10.48, Z:3.41 [[ 9.99592442e-01 -2.13100259e-02 -1.89956017e-02 2.91618794e+02] [ 2.13333649e-02 9.99771891e-01 1.02683642e-03 -1.04780572e+01] [ 1.89693867e-02 -1.43165802e-03 9.99819040e-01 3.40838615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.790714057 meters Centerline goodness [0,1] 0.9672809956917185 Centerline is valid? [True, True] Translation: X:291.65, Y:-10.48, Z:3.41 [[ 9.99546247e-01 -2.33311976e-02 -1.90514001e-02 2.91648872e+02] [ 2.33550287e-02 9.99726704e-01 1.02932079e-03 -1.04814381e+01] [ 1.90221782e-02 -1.47379973e-03 9.99817976e-01 3.40894079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82071405700003 meters Centerline goodness [0,1] 0.9677273052777313 Centerline is valid? [True, True] Translation: X:291.68, Y:-10.48, Z:3.41 [[ 9.99526611e-01 -2.42498324e-02 -1.89340592e-02 2.91678461e+02] [ 2.42735240e-02 9.99704832e-01 1.02242256e-03 -1.04827563e+01] [ 1.89036769e-02 -1.48153490e-03 9.99820212e-01 3.40943650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.850714057 meters Centerline goodness [0,1] 0.9665166818247092 Centerline is valid? [True, True] Translation: X:291.71, Y:-10.49, Z:3.41 [[ 9.99448654e-01 -2.66695466e-02 -1.97768331e-02 2.91708469e+02] [ 2.66958612e-02 9.99643032e-01 1.06772242e-03 -1.04868367e+01] [ 1.97412977e-02 -1.59509332e-03 9.99803849e-01 3.40896344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88071405700003 meters Centerline goodness [0,1] 0.968431893846854 Centerline is valid? [True, True] Translation: X:291.74, Y:-10.49, Z:3.41 [[ 9.99409512e-01 -2.78335621e-02 -2.01474600e-02 2.91739519e+02] [ 2.78611126e-02 9.99611212e-01 1.08798803e-03 -1.04878389e+01] [ 2.01093444e-02 -1.64867624e-03 9.99796427e-01 3.40894655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.910714057 meters Centerline goodness [0,1] 0.9664562712188591 Centerline is valid? [True, True] Translation: X:291.77, Y:-10.49, Z:3.41 [[ 9.99313803e-01 -3.06246126e-02 -2.08340282e-02 2.91769321e+02] [ 3.06546837e-02 9.99529401e-01 1.12545901e-03 -1.04920386e+01] [ 2.07897570e-02 -1.76334727e-03 9.99782315e-01 3.40922567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94071405700004 meters Centerline goodness [0,1] 0.9666555199923565 Centerline is valid? [True, True] Translation: X:291.80, Y:-10.49, Z:3.41 [[ 9.99299635e-01 -3.12272568e-02 -2.06179098e-02 2.91800257e+02] [ 3.12568474e-02 9.99510764e-01 1.11441409e-03 -1.04934403e+01] [ 2.05730227e-02 -1.75808445e-03 9.99786807e-01 3.41000137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.970714057 meters Centerline goodness [0,1] 0.9640102213837078 Centerline is valid? [True, True] Translation: X:291.83, Y:-10.50, Z:3.41 [[ 9.99258318e-01 -3.24347199e-02 -2.07557954e-02 2.91829757e+02] [ 3.24649931e-02 9.99472242e-01 1.12316538e-03 -1.04977946e+01] [ 2.07084118e-02 -1.79616910e-03 9.99783944e-01 3.40969976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.000714057 meters Centerline goodness [0,1] 0.9651636901213667 Centerline is valid? [True, True] Translation: X:291.86, Y:-10.50, Z:3.41 [[ 9.99226579e-01 -3.31243051e-02 -2.11901956e-02 2.91861202e+02] [ 3.31560333e-02 9.99449529e-01 1.14763172e-03 -1.05004770e+01] [ 2.11405165e-02 -1.84932695e-03 9.99774804e-01 3.41036361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.030714057 meters Centerline goodness [0,1] 0.9664156806501734 Centerline is valid? [True, True] Translation: X:291.89, Y:-10.50, Z:3.41 [[ 9.99196359e-01 -3.40107978e-02 -2.12108930e-02 2.91892696e+02] [ 3.40428019e-02 9.99419715e-01 1.14949865e-03 -1.04975614e+01] [ 2.11594893e-02 -1.87065310e-03 9.99774363e-01 3.41114517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.060714057 meters Centerline goodness [0,1] 0.9645512130990798 Centerline is valid? [True, True] Translation: X:291.92, Y:-10.50, Z:3.41 [[ 9.99206734e-01 -3.43875121e-02 -2.00848685e-02 2.91922804e+02] [ 3.44162921e-02 9.99406991e-01 1.08892010e-03 -1.05009008e+01] [ 2.00355127e-02 -1.77930300e-03 9.99797686e-01 3.41189356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.090714057 meters Centerline goodness [0,1] 0.9651942701097111 Centerline is valid? [True, True] Translation: X:291.95, Y:-10.50, Z:3.41 [[ 9.99235395e-01 -3.41009936e-02 -1.91245357e-02 2.91954405e+02] [ 3.41270455e-02 9.99416964e-01 1.03742308e-03 -1.05017217e+01] [ 1.90780083e-02 -1.68929376e-03 9.99816571e-01 3.41354901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.120714057 meters Centerline goodness [0,1] 0.9638306519088714 Centerline is valid? [True, True] Translation: X:291.99, Y:-10.51, Z:3.41 [[ 9.99237646e-01 -3.39459580e-02 -1.92821030e-02 2.91985127e+02] [ 3.39724300e-02 9.99422222e-01 1.04688897e-03 -1.05054864e+01] [ 1.92354246e-02 -1.70115077e-03 9.99813535e-01 3.41303661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.150714057 meters Centerline goodness [0,1] 0.965287593129387 Centerline is valid? [True, True] Translation: X:292.02, Y:-10.51, Z:3.41 [[ 9.99228055e-01 -3.40040913e-02 -1.96727362e-02 2.92017285e+02] [ 3.40316835e-02 9.99420182e-01 1.06938659e-03 -1.05065007e+01] [ 1.96249661e-02 -1.73805741e-03 9.99805901e-01 3.41272912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.180714057 meters Centerline goodness [0,1] 0.9650342942107535 Centerline is valid? [True, True] Translation: X:292.05, Y:-10.51, Z:3.41 [[ 9.99187023e-01 -3.40877879e-02 -2.15247611e-02 2.92049036e+02] [ 3.41208736e-02 9.99417027e-01 1.17160600e-03 -1.05082189e+01] [ 2.14722753e-02 -1.90509717e-03 9.99767629e-01 3.41258079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.210714057 meters Centerline goodness [0,1] 0.962894692744117 Centerline is valid? [True, True] Translation: X:292.08, Y:-10.51, Z:3.41 [[ 9.99161715e-01 -3.37276051e-02 -2.32016236e-02 2.92079479e+02] [ 3.37659690e-02 9.99428968e-01 1.26361341e-03 -1.05129111e+01] [ 2.31457561e-02 -2.04597944e-03 9.99730008e-01 3.41096512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.240714057 meters Centerline goodness [0,1] 0.9671373926432025 Centerline is valid? [True, True] Translation: X:292.11, Y:-10.51, Z:3.41 [[ 9.99158241e-01 -3.30650095e-02 -2.42799076e-02 2.92110709e+02] [ 3.31068317e-02 9.99450944e-01 1.32244312e-03 -1.05075306e+01] [ 2.42228499e-02 -2.12516076e-03 9.99704325e-01 3.41196415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.270714057 meters Centerline goodness [0,1] 0.9658311059741386 Centerline is valid? [True, True] Translation: X:292.14, Y:-10.51, Z:3.41 [[ 9.99128005e-01 -3.28392027e-02 -2.57840212e-02 2.92141673e+02] [ 3.28862945e-02 9.99458113e-01 1.40436703e-03 -1.05081737e+01] [ 2.57239309e-02 -2.25108334e-03 9.99666550e-01 3.41085907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.300714057 meters Centerline goodness [0,1] 0.965457352373601 Centerline is valid? [True, True] Translation: X:292.17, Y:-10.51, Z:3.41 [[ 9.99140846e-01 -3.23959074e-02 -2.58471585e-02 2.92171172e+02] [ 3.24430739e-02 9.99472594e-01 1.40745575e-03 -1.05119090e+01] [ 2.57879307e-02 -2.24480780e-03 9.99664916e-01 3.41055820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.330714057 meters Centerline goodness [0,1] 0.9617587601078167 Centerline is valid? [True, True] Translation: X:292.20, Y:-10.52, Z:3.41 [[ 9.99167157e-01 -3.20678067e-02 -2.52318810e-02 2.92200489e+02] [ 3.21126388e-02 9.99483312e-01 1.37351538e-03 -1.05190187e+01] [ 2.51747984e-02 -2.18263374e-03 9.99680682e-01 3.40960818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.360714057 meters Centerline goodness [0,1] 0.9602382330246914 Centerline is valid? [True, True] Translation: X:292.23, Y:-10.52, Z:3.41 [[ 9.99226436e-01 -3.08933470e-02 -2.43337174e-02 2.92229997e+02] [ 3.09346802e-02 9.99520531e-01 1.32390831e-03 -1.05193374e+01] [ 2.42811502e-02 -2.07563994e-03 9.99703015e-01 3.41054437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.390714057 meters Centerline goodness [0,1] 0.9682551143200963 Centerline is valid? [True, True] Translation: X:292.26, Y:-10.51, Z:3.42 [[ 9.99329776e-01 -2.86783410e-02 -2.27497547e-02 2.92260866e+02] [ 2.87138861e-02 9.99586906e-01 1.23725350e-03 -1.05092281e+01] [ 2.27048746e-02 -1.88965813e-03 9.99740425e-01 3.41526044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.420714057 meters Centerline goodness [0,1] 0.9664491177181532 Centerline is valid? [True, True] Translation: X:292.29, Y:-10.51, Z:3.42 [[ 9.99356240e-01 -2.81940749e-02 -2.21855899e-02 2.92290368e+02] [ 2.82277624e-02 9.99600789e-01 1.20668684e-03 -1.05138538e+01] [ 2.21427117e-02 -1.83215959e-03 9.99753141e-01 3.41526352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.450714057 meters Centerline goodness [0,1] 0.9678224419083618 Centerline is valid? [True, True] Translation: X:292.32, Y:-10.51, Z:3.42 [[ 9.99380280e-01 -2.77250768e-02 -2.16881528e-02 2.92320802e+02] [ 2.77571622e-02 9.99614000e-01 1.17970405e-03 -1.05111826e+01] [ 2.16470737e-02 -1.78097454e-03 9.99764088e-01 3.41673412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.480714057 meters Centerline goodness [0,1] 0.9656906598322009 Centerline is valid? [True, True] Translation: X:292.35, Y:-10.52, Z:3.42 [[ 9.99393593e-01 -2.73524674e-02 -2.15473522e-02 2.92350490e+02] [ 2.73840454e-02 9.99624300e-01 1.17176952e-03 -1.05151739e+01] [ 2.15072061e-02 -1.76111262e-03 9.99767142e-01 3.41657482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51071405700003 meters Centerline goodness [0,1] 0.9677489649161037 Centerline is valid? [True, True] Translation: X:292.38, Y:-10.51, Z:3.42 [[ 9.99388848e-01 -2.74478194e-02 -2.16459448e-02 2.92381466e+02] [ 2.74797072e-02 9.99621669e-01 1.17703036e-03 -1.05145208e+01] [ 2.16054486e-02 -1.77113524e-03 9.99765006e-01 3.41711954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.540714057 meters Centerline goodness [0,1] 0.9657780892766513 Centerline is valid? [True, True] Translation: X:292.41, Y:-10.52, Z:3.42 [[ 9.99375625e-01 -2.79984565e-02 -2.15510091e-02 2.92410870e+02] [ 2.80301864e-02 9.99606391e-01 1.17159267e-03 -1.05231007e+01] [ 2.15097236e-02 -1.77493996e-03 9.99767064e-01 3.41522044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57071405700003 meters Centerline goodness [0,1] 0.9692553887932498 Centerline is valid? [True, True] Translation: X:292.44, Y:-10.52, Z:3.42 [[ 9.99349506e-01 -2.84570130e-02 -2.21531594e-02 2.92441302e+02] [ 2.84906509e-02 9.99593334e-01 1.20422489e-03 -1.05189147e+01] [ 2.21098818e-02 -1.83459947e-03 9.99753863e-01 3.41541955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.600714057 meters Centerline goodness [0,1] 0.9682682269537983 Centerline is valid? [True, True] Translation: X:292.47, Y:-10.52, Z:3.41 [[ 9.99329721e-01 -2.86409535e-02 -2.27992241e-02 2.92471085e+02] [ 2.86766233e-02 9.99587973e-01 1.23904573e-03 -1.05215041e+01] [ 2.27543428e-02 -1.89201998e-03 9.99739296e-01 3.41489940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63071405700003 meters Centerline goodness [0,1] 0.9648104524370401 Centerline is valid? [True, True] Translation: X:292.50, Y:-10.53, Z:3.41 [[ 9.99314437e-01 -2.89112948e-02 -2.31256133e-02 2.92500538e+02] [ 2.89480560e-02 9.99580128e-01 1.25637905e-03 -1.05284745e+01] [ 2.30795800e-02 -1.92495927e-03 9.99731778e-01 3.41350945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.660714057 meters Centerline goodness [0,1] 0.9681482378587865 Centerline is valid? [True, True] Translation: X:292.53, Y:-10.53, Z:3.41 [[ 9.99297119e-01 -2.91769993e-02 -2.35365815e-02 2.92530639e+02] [ 2.92151426e-02 9.99572329e-01 1.27829476e-03 -1.05265744e+01] [ 2.34892187e-02 -1.96502085e-03 9.99722159e-01 3.41394774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69071405700004 meters Centerline goodness [0,1] 0.9691862444671433 Centerline is valid? [True, True] Translation: X:292.56, Y:-10.53, Z:3.41 [[ 9.99300603e-01 -2.90294290e-02 -2.35710941e-02 2.92559919e+02] [ 2.90676266e-02 9.99576628e-01 1.27944941e-03 -1.05277894e+01] [ 2.35239731e-02 -1.96371033e-03 9.99721344e-01 3.41463877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.720714057 meters Centerline goodness [0,1] 0.9718491484184915 Centerline is valid? [True, True] Translation: X:292.59, Y:-10.52, Z:3.42 [[ 9.99357592e-01 -2.80493001e-02 -2.23078321e-02 2.92590425e+02] [ 2.80832588e-02 9.99604855e-01 1.21039685e-03 -1.05248009e+01] [ 2.22650665e-02 -1.83609590e-03 9.99750417e-01 3.41617731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.750714057 meters Centerline goodness [0,1] 0.9677466611324071 Centerline is valid? [True, True] Translation: X:292.62, Y:-10.53, Z:3.41 [[ 9.99347255e-01 -2.82770968e-02 -2.24826678e-02 2.92619348e+02] [ 2.83116384e-02 9.99598401e-01 1.21948727e-03 -1.05335617e+01] [ 2.24391552e-02 -1.85521241e-03 9.99746489e-01 3.41499819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.780714057 meters Centerline goodness [0,1] 0.9706069350026899 Centerline is valid? [True, True] Translation: X:292.65, Y:-10.53, Z:3.42 [[ 9.99382624e-01 -2.79011321e-02 -2.13517634e-02 2.92650128e+02] [ 2.79321980e-02 9.99609149e-01 1.15804997e-03 -1.05267599e+01] [ 2.13111071e-02 -1.75373670e-03 9.99771354e-01 3.41757204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.810714057 meters Centerline goodness [0,1] 0.9696361723471411 Centerline is valid? [True, True] Translation: X:292.68, Y:-10.53, Z:3.42 [[ 9.99384504e-01 -2.78101392e-02 -2.13824712e-02 2.92680874e+02] [ 2.78412738e-02 9.99611684e-01 1.15971547e-03 -1.05281164e+01] [ 2.13419162e-02 -1.75431690e-03 9.99770696e-01 3.41761522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.840714057 meters Centerline goodness [0,1] 0.9686415407928827 Centerline is valid? [True, True] Translation: X:292.71, Y:-10.53, Z:3.42 [[ 9.99414444e-01 -2.74396850e-02 -2.04409614e-02 2.92711418e+02] [ 2.74680659e-02 9.99622066e-01 1.10890639e-03 -1.05320325e+01] [ 2.04028081e-02 -1.66973074e-03 9.99790447e-01 3.41802834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.870714057 meters Centerline goodness [0,1] 0.971590490910429 Centerline is valid? [True, True] Translation: X:292.74, Y:-10.53, Z:3.42 [[ 9.99442853e-01 -2.68970005e-02 -1.97619574e-02 2.92743041e+02] [ 2.69234332e-02 9.99636923e-01 1.07266977e-03 -1.05264263e+01] [ 1.97259307e-02 -1.60413188e-03 9.99804138e-01 3.42093472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.900714057 meters Centerline goodness [0,1] 0.9694040287557966 Centerline is valid? [True, True] Translation: X:292.77, Y:-10.53, Z:3.42 [[ 9.99478764e-01 -2.62778298e-02 -1.87530322e-02 2.92772997e+02] [ 2.63015316e-02 9.99653536e-01 1.01833259e-03 -1.05324371e+01] [ 1.87197754e-02 -1.51103527e-03 9.99823628e-01 3.42237086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.930714057 meters Centerline goodness [0,1] 0.9713948397569914 Centerline is valid? [True, True] Translation: X:292.80, Y:-10.53, Z:3.42 [[ 9.99483267e-01 -2.62333894e-02 -1.85743929e-02 2.92804845e+02] [ 2.62566444e-02 9.99654725e-01 1.00918934e-03 -1.05301705e+01] [ 1.85415052e-02 -1.49636908e-03 9.99826972e-01 3.42318154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.960714057 meters Centerline goodness [0,1] 0.9712379029279223 Centerline is valid? [True, True] Translation: X:292.84, Y:-10.54, Z:3.42 [[ 9.99464019e-01 -2.61705365e-02 -1.96666854e-02 2.92835127e+02] [ 2.61966046e-02 9.99656238e-01 1.06899659e-03 -1.05359704e+01] [ 1.96319485e-02 -1.58362401e-03 9.99806021e-01 3.42231739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.990714057 meters Centerline goodness [0,1] 0.9712379029279223 Centerline is valid? [True, True] Translation: X:292.87, Y:-10.54, Z:3.42 [[ 9.99464921e-01 -2.61360912e-02 -1.96666538e-02 2.92866030e+02] [ 2.61621640e-02 9.99657140e-01 1.06957681e-03 -1.05376826e+01] [ 1.96319564e-02 -1.58352673e-03 9.99806021e-01 3.42249545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.020714057 meters Centerline goodness [0,1] 0.970892482409579 Centerline is valid? [True, True] Translation: X:292.90, Y:-10.54, Z:3.42 [[ 9.99464667e-01 -2.61006411e-02 -1.97265336e-02 2.92897203e+02] [ 2.61268796e-02 9.99658058e-01 1.07351706e-03 -1.05392602e+01] [ 1.96917688e-02 -1.58833514e-03 9.99804837e-01 3.42240713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.050714057 meters Centerline goodness [0,1] 0.9732440645304741 Centerline is valid? [True, True] Translation: X:292.93, Y:-10.54, Z:3.42 [[ 9.99438288e-01 -2.64646984e-02 -2.05603691e-02 2.92928924e+02] [ 2.64932940e-02 9.99648364e-01 1.11962635e-03 -1.05369478e+01] [ 2.05235088e-02 -1.66370935e-03 9.99787986e-01 3.42235798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.080714057 meters Centerline goodness [0,1] 0.9716929911154986 Centerline is valid? [True, True] Translation: X:292.96, Y:-10.54, Z:3.42 [[ 9.99444599e-01 -2.62469977e-02 -2.05326097e-02 2.92959568e+02] [ 2.62754799e-02 9.99654114e-01 1.11857681e-03 -1.05392613e+01] [ 2.04961485e-02 -1.65745973e-03 9.99788558e-01 3.42274806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.110714057 meters Centerline goodness [0,1] 0.9693962970258027 Centerline is valid? [True, True] Translation: X:292.99, Y:-10.54, Z:3.42 [[ 9.99456141e-01 -2.59616271e-02 -2.03326594e-02 2.92989326e+02] [ 2.59895005e-02 9.99661602e-01 1.10778355e-03 -1.05434823e+01] [ 2.02970190e-02 -1.63561674e-03 9.99792656e-01 3.42319963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.140714057 meters Centerline goodness [0,1] 0.9697871816951654 Centerline is valid? [True, True] Translation: X:293.02, Y:-10.55, Z:3.42 [[ 9.99435650e-01 -2.65289532e-02 -2.06057166e-02 2.93019569e+02] [ 2.65577003e-02 9.99646652e-01 1.12266052e-03 -1.05461630e+01] [ 2.05686526e-02 -1.66926739e-03 9.99787049e-01 3.42264119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.170714057 meters Centerline goodness [0,1] 0.9686714940150731 Centerline is valid? [True, True] Translation: X:293.05, Y:-10.55, Z:3.42 [[ 9.99438509e-01 -2.65777883e-02 -2.04031503e-02 2.93049341e+02] [ 2.66059880e-02 9.99645380e-01 1.11187298e-03 -1.05515880e+01] [ 2.03663638e-02 -1.65409464e-03 9.99791216e-01 3.42190799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.200714057 meters Centerline goodness [0,1] 0.9703350223840213 Centerline is valid? [True, True] Translation: X:293.08, Y:-10.55, Z:3.42 [[ 9.99420739e-01 -2.77877405e-02 -1.96475925e-02 2.93080580e+02] [ 2.78141288e-02 9.99612538e-01 1.07103574e-03 -1.05471830e+01] [ 1.96102182e-02 -1.61689600e-03 9.99806394e-01 3.42373889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.230714057 meters Centerline goodness [0,1] 0.9673363131784469 Centerline is valid? [True, True] Translation: X:293.11, Y:-10.55, Z:3.42 [[ 9.99415528e-01 -2.81242227e-02 -1.94327175e-02 2.93110666e+02] [ 2.81501159e-02 9.99603145e-01 1.06014087e-03 -1.05544170e+01] [ 1.93951899e-02 -1.60655449e-03 9.99810605e-01 3.42413060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26071405700003 meters Centerline goodness [0,1] 0.9678784003148212 Centerline is valid? [True, True] Translation: X:293.14, Y:-10.55, Z:3.43 [[ 9.99396479e-01 -2.88776187e-02 -1.93070232e-02 2.93142112e+02] [ 2.89033323e-02 9.99581656e-01 1.05405250e-03 -1.05526141e+01] [ 1.92685077e-02 -1.61145366e-03 9.99813046e-01 3.42538867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.290714057 meters Centerline goodness [0,1] 0.9669033637190103 Centerline is valid? [True, True] Translation: X:293.17, Y:-10.56, Z:3.43 [[ 9.99375968e-01 -2.97055314e-02 -1.91116711e-02 2.93172622e+02] [ 2.97308927e-02 9.99557394e-01 1.04418685e-03 -1.05561772e+01] [ 1.90721940e-02 -1.61174228e-03 9.99816810e-01 3.42613691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32071405700003 meters Centerline goodness [0,1] 0.9661282811695792 Centerline is valid? [True, True] Translation: X:293.20, Y:-10.56, Z:3.43 [[ 9.99354691e-01 -3.02957008e-02 -1.92969467e-02 2.93203388e+02] [ 3.03216829e-02 9.99539635e-01 1.05520783e-03 -1.05596142e+01] [ 1.92560948e-02 -1.63964280e-03 9.99813240e-01 3.42613664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.350714057 meters Centerline goodness [0,1] 0.9648527184798007 Centerline is valid? [True, True] Translation: X:293.23, Y:-10.56, Z:3.43 [[ 9.99358700e-01 -3.04539173e-02 -1.88347278e-02 2.93233862e+02] [ 3.04787063e-02 9.99534885e-01 1.03041759e-03 -1.05642056e+01] [ 1.87945872e-02 -1.60381492e-03 9.99822080e-01 3.42672567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38071405700003 meters Centerline goodness [0,1] 0.9637633384611628 Centerline is valid? [True, True] Translation: X:293.27, Y:-10.57, Z:3.43 [[ 9.99389365e-01 -3.00117269e-02 -1.78939654e-02 2.93265032e+02] [ 3.00340396e-02 9.99548397e-01 9.79450646e-04 -1.05657950e+01] [ 1.78564894e-02 -1.51628062e-03 9.99839410e-01 3.42777287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.410714057 meters Centerline goodness [0,1] 0.9659218696523737 Centerline is valid? [True, True] Translation: X:293.30, Y:-10.56, Z:3.43 [[ 9.99387009e-01 -3.00119789e-02 -1.80246326e-02 2.93297478e+02] [ 3.00346376e-02 9.99548371e-01 9.87648979e-04 -1.05623325e+01] [ 1.79868509e-02 -1.52840687e-03 9.99837055e-01 3.42834088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44071405700004 meters Centerline goodness [0,1] 0.9651075203498968 Centerline is valid? [True, True] Translation: X:293.33, Y:-10.56, Z:3.43 [[ 9.99389424e-01 -2.94405321e-02 -1.88158012e-02 2.93328071e+02] [ 2.94651355e-02 9.99565276e-01 1.03164108e-03 -1.05648842e+01] [ 1.87772495e-02 -1.58542132e-03 9.99822435e-01 3.42837226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.470714057 meters Centerline goodness [0,1] 0.9684931840905211 Centerline is valid? [True, True] Translation: X:293.36, Y:-10.56, Z:3.43 [[ 9.99413475e-01 -2.83924941e-02 -1.91460777e-02 2.93359980e+02] [ 2.84177890e-02 9.99595581e-01 1.05032928e-03 -1.05598199e+01] [ 1.91085132e-02 -1.59380243e-03 9.99816145e-01 3.42939889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.500714057 meters Centerline goodness [0,1] 0.9623603454164024 Centerline is valid? [True, True] Translation: X:293.39, Y:-10.57, Z:3.43 [[ 9.99424652e-01 -2.78666673e-02 -1.93342702e-02 2.93389958e+02] [ 2.78923730e-02 9.99610369e-01 1.06109995e-03 -1.05722792e+01] [ 1.92971677e-02 -1.59976812e-03 9.99812512e-01 3.42779170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.530714057 meters Centerline goodness [0,1] 0.9675956404067003 Centerline is valid? [True, True] Translation: X:293.42, Y:-10.56, Z:3.43 [[ 9.99434199e-01 -2.72005820e-02 -1.97840822e-02 2.93421515e+02] [ 2.72273801e-02 9.99628676e-01 1.08638166e-03 -1.05640366e+01] [ 1.97471857e-02 -1.62443571e-03 9.99803686e-01 3.42873590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.560714057 meters Centerline goodness [0,1] 0.96692242114237 Centerline is valid? [True, True] Translation: X:293.45, Y:-10.57, Z:3.43 [[ 9.99436574e-01 -2.66768210e-02 -2.03686382e-02 2.93452657e+02] [ 2.67051330e-02 9.99642728e-01 1.11919673e-03 -1.05664713e+01] [ 2.03315045e-02 -1.66251334e-03 9.99791911e-01 3.42974404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.590714057 meters Centerline goodness [0,1] 0.9649640375472388 Centerline is valid? [True, True] Translation: X:293.48, Y:-10.57, Z:3.43 [[ 9.99419962e-01 -2.73331482e-02 -2.03135267e-02 2.93482675e+02] [ 2.73614510e-02 9.99624982e-01 1.11661948e-03 -1.05703303e+01] [ 2.02753881e-02 -1.67177937e-03 9.99793035e-01 3.42953489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.620714057 meters Centerline goodness [0,1] 0.9657464212678937 Centerline is valid? [True, True] Translation: X:293.51, Y:-10.57, Z:3.43 [[ 9.99382104e-01 -2.86622325e-02 -2.03441937e-02 2.93513341e+02] [ 2.86909014e-02 9.99587705e-01 1.11865609e-03 -1.05734428e+01] [ 2.03037428e-02 -1.70165813e-03 9.99792410e-01 3.42989046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.650714057 meters Centerline goodness [0,1] 0.9645089882993991 Centerline is valid? [True, True] Translation: X:293.54, Y:-10.58, Z:3.43 [[ 9.99380197e-01 -2.89403571e-02 -2.00418780e-02 2.93543674e+02] [ 2.89682424e-02 9.99579725e-01 1.10237401e-03 -1.05782913e+01] [ 2.00015518e-02 -1.68226874e-03 9.99798534e-01 3.42993774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.680714057 meters Centerline goodness [0,1] 0.9646518633691269 Centerline is valid? [True, True] Translation: X:293.58, Y:-10.58, Z:3.43 [[ 9.99352966e-01 -2.98761832e-02 -2.00265453e-02 2.93575276e+02] [ 2.99042242e-02 9.99552161e-01 1.10212212e-03 -1.05784037e+01] [ 1.99846494e-02 -1.70028731e-03 9.99798841e-01 3.43047622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.710714057 meters Centerline goodness [0,1] 0.9612363636363637 Centerline is valid? [True, True] Translation: X:293.61, Y:-10.59, Z:3.43 [[ 9.99311437e-01 -3.11153355e-02 -2.02110672e-02 2.93605118e+02] [ 3.11441563e-02 9.99514284e-01 1.11272553e-03 -1.05855426e+01] [ 2.01666276e-02 -1.74141599e-03 9.99795116e-01 3.42938086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.740714057 meters Centerline goodness [0,1] 0.961687306501548 Centerline is valid? [True, True] Translation: X:293.64, Y:-10.59, Z:3.43 [[ 9.99299694e-01 -3.12983515e-02 -2.05069249e-02 2.93636295e+02] [ 3.13280729e-02 9.99508517e-01 1.12960682e-03 -1.05895180e+01] [ 2.04614913e-02 -1.77125819e-03 9.99789073e-01 3.42895590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.770714057 meters Centerline goodness [0,1] 0.9585657370517928 Centerline is valid? [True, True] Translation: X:293.67, Y:-10.59, Z:3.43 [[ 9.99268795e-01 -3.21316525e-02 -2.07227680e-02 2.93666796e+02] [ 3.21621900e-02 9.99482011e-01 1.14193888e-03 -1.05925052e+01] [ 2.06753415e-02 -1.80759349e-03 9.99784608e-01 3.42889236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.800714057 meters Centerline goodness [0,1] 0.9629282140107776 Centerline is valid? [True, True] Translation: X:293.70, Y:-10.59, Z:3.43 [[ 9.99257158e-01 -3.24271793e-02 -2.08232913e-02 2.93697741e+02] [ 3.24580848e-02 9.99472438e-01 1.14783019e-03 -1.05907951e+01] [ 2.07750848e-02 -1.82286169e-03 9.99782513e-01 3.42989132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.830714057 meters Centerline goodness [0,1] 0.9654141141285997 Centerline is valid? [True, True] Translation: X:293.73, Y:-10.59, Z:3.43 [[ 9.99234318e-01 -3.29671414e-02 -2.10700192e-02 2.93729288e+02] [ 3.29989162e-02 9.99454712e-01 1.16206331e-03 -1.05887798e+01] [ 2.10202201e-02 -1.85646133e-03 9.99777327e-01 3.43074310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.860714057 meters Centerline goodness [0,1] 0.9632685461368229 Centerline is valid? [True, True] Translation: X:293.76, Y:-10.59, Z:3.43 [[ 9.99219239e-01 -3.36734105e-02 -2.06642914e-02 2.93759699e+02] [ 3.37041416e-02 9.99431203e-01 1.14059230e-03 -1.05942197e+01] [ 2.06141300e-02 -1.83617397e-03 9.99785820e-01 3.43067803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.890714057 meters Centerline goodness [0,1] 0.9645777222008465 Centerline is valid? [True, True] Translation: X:293.79, Y:-10.59, Z:3.43 [[ 9.99208786e-01 -3.42198374e-02 -2.02683422e-02 2.93791447e+02] [ 3.42495395e-02 9.99412685e-01 1.12003161e-03 -1.05938862e+01] [ 2.02181110e-02 -1.81332681e-03 9.99793949e-01 3.43122267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.920714057 meters Centerline goodness [0,1] 0.9609021833221122 Centerline is valid? [True, True] Translation: X:293.82, Y:-10.60, Z:3.43 [[ 9.99203347e-01 -3.42498367e-02 -2.04846094e-02 2.93822657e+02] [ 3.42802068e-02 9.99411619e-01 1.13317546e-03 -1.06014876e+01] [ 2.04337455e-02 -1.83448936e-03 9.99789526e-01 3.43001656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.950714057 meters Centerline goodness [0,1] 0.9647736823148036 Centerline is valid? [True, True] Translation: X:293.85, Y:-10.60, Z:3.43 [[ 9.99222848e-01 -3.35336700e-02 -2.07169601e-02 2.93854532e+02] [ 3.35645976e-02 9.99435892e-01 1.14686068e-03 -1.05974946e+01] [ 2.06668150e-02 -1.84132582e-03 9.99784723e-01 3.43101700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.980714057 meters Centerline goodness [0,1] 0.9647376413025139 Centerline is valid? [True, True] Translation: X:293.89, Y:-10.60, Z:3.43 [[ 9.99255276e-01 -3.21986959e-02 -2.12635227e-02 2.93886558e+02] [ 3.22309991e-02 9.99479752e-01 1.17813715e-03 -1.05978359e+01] [ 2.12145259e-02 -1.86260435e-03 9.99773212e-01 3.43122224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01071405700003 meters Centerline goodness [0,1] 0.9655114279521206 Centerline is valid? [True, True] Translation: X:293.92, Y:-10.60, Z:3.43 [[ 9.99279024e-01 -3.12503021e-02 -2.15604054e-02 2.93917993e+02] [ 3.12833133e-02 9.99509842e-01 1.19544302e-03 -1.05991752e+01] [ 2.15124794e-02 -1.86906205e-03 9.99766833e-01 3.43100167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.040714057 meters Centerline goodness [0,1] 0.9623933272262668 Centerline is valid? [True, True] Translation: X:293.95, Y:-10.60, Z:3.43 [[ 9.99324082e-01 -3.00397015e-02 -2.11895266e-02 2.93948022e+02] [ 3.00713262e-02 9.99547064e-01 1.17534498e-03 -1.06035420e+01] [ 2.11446221e-02 -1.81174771e-03 9.99774786e-01 3.42973035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07071405700003 meters Centerline goodness [0,1] 0.963928580034216 Centerline is valid? [True, True] Translation: X:293.98, Y:-10.60, Z:3.43 [[ 9.99351927e-01 -2.95622912e-02 -2.05377138e-02 2.93979508e+02] [ 2.95919122e-02 9.99561414e-01 1.13979905e-03 -1.06002937e+01] [ 2.04950112e-02 -1.74681060e-03 9.99788429e-01 3.43112053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.100714057 meters Centerline goodness [0,1] 0.9632014275724035 Centerline is valid? [True, True] Translation: X:294.01, Y:-10.60, Z:3.43 [[ 9.99373301e-01 -2.91790794e-02 -2.00396437e-02 2.94009449e+02] [ 2.92072131e-02 9.99572759e-01 1.11259639e-03 -1.06037353e+01] [ 1.99986175e-02 -1.69720128e-03 9.99798567e-01 3.43116214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13071405700003 meters Centerline goodness [0,1] 0.9597467865081666 Centerline is valid? [True, True] Translation: X:294.04, Y:-10.61, Z:3.43 [[ 9.99376243e-01 -2.90966126e-02 -2.00127800e-02 2.94040001e+02] [ 2.91246661e-02 9.99575169e-01 1.11168550e-03 -1.06100704e+01] [ 1.99719317e-02 -1.69385761e-03 9.99799106e-01 3.43043382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.160714057 meters Centerline goodness [0,1] 0.9619819559029286 Centerline is valid? [True, True] Translation: X:294.07, Y:-10.61, Z:3.43 [[ 9.99406361e-01 -2.86869638e-02 -1.90783547e-02 2.94070867e+02] [ 2.87123876e-02 9.99587152e-01 1.05996438e-03 -1.06056535e+01] [ 1.90400711e-02 -1.60712026e-03 9.99817430e-01 3.43272991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19071405700004 meters Centerline goodness [0,1] 0.9667141030897995 Centerline is valid? [True, True] Translation: X:294.10, Y:-10.60, Z:3.44 [[ 9.99426424e-01 -2.81881916e-02 -1.87683078e-02 2.94102351e+02] [ 2.82127169e-02 9.99601398e-01 1.04319914e-03 -1.05992457e+01] [ 1.87314208e-02 -1.57210574e-03 9.99823316e-01 3.43505580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.220714057 meters Centerline goodness [0,1] 0.9628882323268718 Centerline is valid? [True, True] Translation: X:294.13, Y:-10.61, Z:3.43 [[ 9.99493312e-01 -2.62508188e-02 -1.80003902e-02 2.94131690e+02] [ 2.62730694e-02 9.99654302e-01 1.00071078e-03 -1.06073511e+01] [ 1.79678980e-02 -1.47312923e-03 9.99837479e-01 3.43376729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.250714057 meters Centerline goodness [0,1] 0.9624590637642073 Centerline is valid? [True, True] Translation: X:294.16, Y:-10.61, Z:3.43 [[ 9.99528996e-01 -2.50984381e-02 -1.76594288e-02 2.94162710e+02] [ 2.51196750e-02 9.99683969e-01 9.81760684e-04 -1.06092965e+01] [ 1.76292072e-02 -1.42489738e-03 9.99843578e-01 3.43407543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.280714057 meters Centerline goodness [0,1] 0.9662320133047314 Centerline is valid? [True, True] Translation: X:294.19, Y:-10.60, Z:3.44 [[ 9.99546413e-01 -2.45241353e-02 -1.74795413e-02 2.94194642e+02] [ 2.45448617e-02 9.99698257e-01 9.72174232e-04 -1.06016577e+01] [ 1.74504253e-02 -1.40076619e-03 9.99846749e-01 3.43543505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.310714057 meters Centerline goodness [0,1] 0.9660747415849457 Centerline is valid? [True, True] Translation: X:294.22, Y:-10.60, Z:3.44 [[ 9.99626602e-01 -2.15241378e-02 -1.68335442e-02 2.94224505e+02] [ 2.15429391e-02 9.99767485e-01 9.36336226e-04 -1.06034053e+01] [ 1.68094763e-02 -1.29863062e-03 9.99857867e-01 3.43587343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.340714057 meters Centerline goodness [0,1] 0.9702286401925391 Centerline is valid? [True, True] Translation: X:294.26, Y:-10.60, Z:3.44 [[ 9.99709009e-01 -1.75745919e-02 -1.65236516e-02 2.94255102e+02] [ 1.75921695e-02 9.99844823e-01 9.19021122e-04 -1.05973883e+01] [ 1.65049361e-02 -1.20944057e-03 9.99863053e-01 3.43670034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.370714057 meters Centerline goodness [0,1] 0.9687983372003094 Centerline is valid? [True, True] Translation: X:294.29, Y:-10.60, Z:3.44 [[ 9.99734580e-01 -1.55998927e-02 -1.69532669e-02 2.94285270e+02] [ 1.56181039e-02 9.99877586e-01 9.42321746e-04 -1.05984567e+01] [ 1.69364915e-02 -1.20684952e-03 9.99855839e-01 3.43647618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.400714057 meters Centerline goodness [0,1] 0.9713435867672664 Centerline is valid? [True, True] Translation: X:294.32, Y:-10.60, Z:3.44 [[ 9.99760724e-01 -1.36675804e-02 -1.70790101e-02 2.94315210e+02] [ 1.36857702e-02 9.99905895e-01 9.48610079e-04 -1.05964715e+01] [ 1.70644377e-02 -1.18212251e-03 9.99853693e-01 3.43631260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.430714057 meters Centerline goodness [0,1] 0.9712788666796042 Centerline is valid? [True, True] Translation: X:294.34, Y:-10.60, Z:3.44 [[ 9.99792959e-01 -9.01140486e-03 -1.82437524e-02 2.94344339e+02] [ 9.03138038e-03 9.99958703e-01 1.01282845e-03 -1.05988431e+01] [ 1.82338719e-02 -1.17738502e-03 9.99833056e-01 3.43592755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.460714057 meters Centerline goodness [0,1] 0.9750133813439735 Centerline is valid? [True, True] Translation: X:294.38, Y:-10.59, Z:3.44 [[ 9.99812590e-01 -4.67828911e-03 -1.87855991e-02 2.94375018e+02] [ 4.69870333e-03 9.99988417e-01 1.04270458e-03 -1.05904167e+01] [ 1.87805035e-02 -1.13077712e-03 9.99822991e-01 3.43745799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.490714057 meters Centerline goodness [0,1] 0.9741819419458355 Centerline is valid? [True, True] Translation: X:294.40, Y:-10.59, Z:3.44 [[ 9.99821811e-01 -3.31019064e-03 -1.85846467e-02 2.94403962e+02] [ 3.32991745e-03 9.99993925e-01 1.03061278e-03 -1.05904409e+01] [ 1.85811223e-02 -1.09231448e-03 9.99826759e-01 3.43712800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.520714057 meters Centerline goodness [0,1] 0.9732086316917531 Centerline is valid? [True, True] Translation: X:294.43, Y:-10.59, Z:3.44 [[ 9.99818070e-01 -1.46753964e-03 -1.90177334e-02 2.94431648e+02] [ 1.48783474e-03 9.99998339e-01 1.05306240e-03 -1.05948962e+01] [ 1.90161564e-02 -1.08116606e-03 9.99818592e-01 3.43556931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.550714057 meters Centerline goodness [0,1] 0.9743008866803079 Centerline is valid? [True, True] Translation: X:294.46, Y:-10.60, Z:3.43 [[ 9.99815858e-01 1.76591693e-03 -1.91084066e-02 2.94461299e+02] [-1.74603467e-03 9.99997917e-01 1.05713151e-03 -1.05950897e+01] [ 1.91102336e-02 -1.02357291e-03 9.99816859e-01 3.43422072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.580714057 meters Centerline goodness [0,1] 0.9762160054586217 Centerline is valid? [True, True] Translation: X:294.49, Y:-10.59, Z:3.44 [[ 9.99810096e-01 3.42938439e-03 -1.91836439e-02 2.94490885e+02] [-3.40968401e-03 9.99993626e-01 1.05955009e-03 -1.05929516e+01] [ 1.91871552e-02 -9.93938711e-04 9.99815416e-01 3.43530373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.610714057 meters Centerline goodness [0,1] 0.9757046388725779 Centerline is valid? [True, True] Translation: X:294.52, Y:-10.59, Z:3.44 [[ 9.99794121e-01 5.99418780e-03 -1.93851957e-02 2.94520803e+02] [-5.97457417e-03 9.99981580e-01 1.06954096e-03 -1.05897676e+01] [ 1.93912496e-02 -9.53502474e-04 9.99811517e-01 3.43655559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.640714057 meters Centerline goodness [0,1] 0.9757784621400988 Centerline is valid? [True, True] Translation: X:294.55, Y:-10.59, Z:3.44 [[ 9.99787246e-01 7.22371899e-03 -1.93204574e-02 2.94548234e+02] [-7.20449152e-03 9.99973481e-01 1.06460676e-03 -1.05932909e+01] [ 1.93276355e-02 -9.25186186e-04 9.99812776e-01 3.43697398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.670714057 meters Centerline goodness [0,1] 0.9741935483870968 Centerline is valid? [True, True] Translation: X:294.58, Y:-10.59, Z:3.44 [[ 9.99787329e-01 8.80603828e-03 -1.86480715e-02 2.94577306e+02] [-8.78842571e-03 9.99960854e-01 1.02621308e-03 -1.05936855e+01] [ 1.86563784e-02 -8.62107645e-04 9.99825583e-01 3.43889419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.700714057 meters Centerline goodness [0,1] 0.974989030276437 Centerline is valid? [True, True] Translation: X:294.61, Y:-10.60, Z:3.44 [[ 9.99818694e-01 8.96210173e-03 -1.68005712e-02 2.94605022e+02] [-8.94784990e-03 9.99959541e-01 9.23273891e-04 -1.05982768e+01] [ 1.68081659e-02 -7.72777508e-04 9.99858434e-01 3.44029022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.730714057 meters Centerline goodness [0,1] 0.9750213440663495 Centerline is valid? [True, True] Translation: X:294.63, Y:-10.60, Z:3.44 [[ 9.99835541e-01 8.23925571e-03 -1.61556817e-02 2.94633968e+02] [-8.22600160e-03 9.99965773e-01 8.86681863e-04 -1.06012583e+01] [ 1.61624344e-02 -7.53639376e-04 9.99869095e-01 3.44125002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76071405700003 meters Centerline goodness [0,1] 0.9724645450558019 Centerline is valid? [True, True] Translation: X:294.66, Y:-10.61, Z:3.44 [[ 9.99844283e-01 7.13651938e-03 -1.61393730e-02 2.94661082e+02] [-7.12317141e-03 9.99974239e-01 8.84379152e-04 -1.06067624e+01] [ 1.61452686e-02 -7.69277919e-04 9.99869361e-01 3.44081760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.790714057 meters Centerline goodness [0,1] 0.9716222454384217 Centerline is valid? [True, True] Translation: X:294.69, Y:-10.61, Z:3.44 [[ 9.99844495e-01 3.62133574e-03 -1.72589396e-02 2.94690760e+02] [-3.60556279e-03 9.99993053e-01 9.44929632e-04 -1.06105564e+01] [ 1.72622417e-02 -8.82554500e-04 9.99850607e-01 3.44083706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82071405700003 meters Centerline goodness [0,1] 0.9722047053116663 Centerline is valid? [True, True] Translation: X:294.72, Y:-10.61, Z:3.44 [[ 9.99839184e-01 1.34159145e-03 -1.78831349e-02 2.94720373e+02] [-1.32430220e-03 9.99998644e-01 9.78598195e-04 -1.06144022e+01] [ 1.78844235e-02 -9.54758146e-04 9.99839605e-01 3.44023156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.850714057 meters Centerline goodness [0,1] 0.9717979700338327 Centerline is valid? [True, True] Translation: X:294.75, Y:-10.62, Z:3.44 [[ 9.99814652e-01 -2.55875125e-03 -1.90818066e-02 2.94749027e+02] [ 2.57913297e-03 9.99996129e-01 1.04359019e-03 -1.06231003e+01] [ 1.90790624e-02 -1.09261127e-03 9.99817381e-01 3.43853063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88071405700003 meters Centerline goodness [0,1] 0.9697963910064653 Centerline is valid? [True, True] Translation: X:294.78, Y:-10.63, Z:3.44 [[ 9.99800337e-01 -6.19766034e-03 -1.89967144e-02 2.94777435e+02] [ 6.21850360e-03 9.99980126e-01 1.03832821e-03 -1.06312199e+01] [ 1.89899017e-02 -1.15625203e-03 9.99819007e-01 3.43876290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.910714057 meters Centerline goodness [0,1] 0.9697963910064653 Centerline is valid? [True, True] Translation: X:294.80, Y:-10.63, Z:3.44 [[ 9.99798663e-01 -6.46149175e-03 -1.89969154e-02 2.94804841e+02] [ 6.48231267e-03 9.99978454e-01 1.03464223e-03 -1.06326173e+01] [ 1.89898207e-02 -1.15757787e-03 9.99819007e-01 3.43892087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94071405700004 meters Centerline goodness [0,1] 0.969040396745149 Centerline is valid? [True, True] Translation: X:294.83, Y:-10.64, Z:3.44 [[ 9.99787722e-01 -8.44118578e-03 -1.87951173e-02 2.94833630e+02] [ 8.46187470e-03 9.99963676e-01 1.02150313e-03 -1.06369937e+01] [ 1.87858119e-02 -1.18032821e-03 9.99822834e-01 3.43993127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.970714057 meters Centerline goodness [0,1] 0.9680270964952317 Centerline is valid? [True, True] Translation: X:294.86, Y:-10.65, Z:3.44 [[ 9.99761573e-01 -1.22681823e-02 -1.80634759e-02 2.94862398e+02] [ 1.22879036e-02 9.99924019e-01 9.81189017e-04 -1.06457370e+01] [ 1.80500661e-02 -1.20291733e-03 9.99836361e-01 3.44095468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.000714057 meters Centerline goodness [0,1] 0.9689783207569769 Centerline is valid? [True, True] Translation: X:294.89, Y:-10.65, Z:3.44 [[ 9.99734247e-01 -1.43211997e-02 -1.80648439e-02 2.94891399e+02] [ 1.43412440e-02 9.99896678e-01 9.80514125e-04 -1.06457706e+01] [ 1.80489353e-02 -1.23932589e-03 9.99836337e-01 3.44143050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.030714057 meters Centerline goodness [0,1] 0.9700098210649867 Centerline is valid? [True, True] Translation: X:294.92, Y:-10.65, Z:3.44 [[ 9.99700989e-01 -1.58668003e-02 -1.86058217e-02 2.94921112e+02] [ 1.58883162e-02 9.99873263e-01 1.00914827e-03 -1.06500101e+01] [ 1.85874517e-02 -1.30446171e-03 9.99826387e-01 3.44103956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.060714057 meters Centerline goodness [0,1] 0.9717460013408677 Centerline is valid? [True, True] Translation: X:294.95, Y:-10.65, Z:3.44 [[ 9.99628604e-01 -1.90139886e-02 -1.95223344e-02 2.94951111e+02] [ 1.90382670e-02 9.99818195e-01 1.05850262e-03 -1.06521789e+01] [ 1.94986588e-02 -1.42978091e-03 9.99808861e-01 3.44151289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.090714057 meters Centerline goodness [0,1] 0.9698288227981257 Centerline is valid? [True, True] Translation: X:294.98, Y:-10.66, Z:3.44 [[ 9.99591678e-01 -2.05586607e-02 -1.98448542e-02 2.94979667e+02] [ 2.05840351e-02 9.99787548e-01 1.07520345e-03 -1.06566655e+01] [ 1.98185333e-02 -1.48325159e-03 9.99802493e-01 3.44070184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.120714057 meters Centerline goodness [0,1] 0.9717361724475424 Centerline is valid? [True, True] Translation: X:295.01, Y:-10.66, Z:3.44 [[ 9.99570746e-01 -2.15109497e-02 -1.98897571e-02 2.95009174e+02] [ 2.15366111e-02 9.99767480e-01 1.07685853e-03 -1.06607490e+01] [ 1.98619681e-02 -1.50475424e-03 9.99801599e-01 3.44037595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.150714057 meters Centerline goodness [0,1] 0.9719994270982526 Centerline is valid? [True, True] Translation: X:295.04, Y:-10.66, Z:3.44 [[ 9.99585584e-01 -2.17215233e-02 -1.88901028e-02 2.95039069e+02] [ 2.17446949e-02 9.99763034e-01 1.02210093e-03 -1.06630158e+01] [ 1.88634249e-02 -1.43243687e-03 9.99821044e-01 3.44110830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.180714057 meters Centerline goodness [0,1] 0.9719588219839014 Centerline is valid? [True, True] Translation: X:295.07, Y:-10.66, Z:3.44 [[ 9.99607423e-01 -2.12898866e-02 -1.82137638e-02 2.95068876e+02] [ 2.13113459e-02 9.99772402e-01 9.84882078e-04 -1.06621572e+01] [ 1.81886503e-02 -1.37265525e-03 9.99833631e-01 3.44260778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.210714057 meters Centerline goodness [0,1] 0.970116148727611 Centerline is valid? [True, True] Translation: X:295.10, Y:-10.67, Z:3.44 [[ 9.99635096e-01 -2.08284821e-02 -1.72002953e-02 2.95098335e+02] [ 2.08475447e-02 9.99782234e-01 9.29692869e-04 -1.06699682e+01] [ 1.71771855e-02 -1.28793755e-03 9.99851632e-01 3.44214109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.240714057 meters Centerline goodness [0,1] 0.9724671972467197 Centerline is valid? [True, True] Translation: X:295.13, Y:-10.67, Z:3.44 [[ 9.99661535e-01 -2.03144289e-02 -1.62523709e-02 2.95128901e+02] [ 2.03313789e-02 9.99792910e-01 8.78362656e-04 -1.06671679e+01] [ 1.62311617e-02 -1.20849847e-03 9.99867536e-01 3.44395241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.270714057 meters Centerline goodness [0,1] 0.9736596345872943 Centerline is valid? [True, True] Translation: X:295.16, Y:-10.67, Z:3.44 [[ 9.99668293e-01 -1.98299288e-02 -1.64340588e-02 2.95159152e+02] [ 1.98471949e-02 9.99802631e-01 8.88182017e-04 -1.06684321e+01] [ 1.64132026e-02 -1.21405737e-03 9.99864557e-01 3.44399546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.300714057 meters Centerline goodness [0,1] 0.9736085143103697 Centerline is valid? [True, True] Translation: X:295.19, Y:-10.67, Z:3.44 [[ 9.99664991e-01 -1.95960573e-02 -1.69085781e-02 2.95188514e+02] [ 1.96142985e-02 9.99807204e-01 9.13635467e-04 -1.06733939e+01] [ 1.68874145e-02 -1.24497929e-03 9.99856622e-01 3.44338407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.330714057 meters Centerline goodness [0,1] 0.9743773260807329 Centerline is valid? [True, True] Translation: X:295.22, Y:-10.68, Z:3.44 [[ 9.99639122e-01 -1.99074514e-02 -1.80366083e-02 2.95218136e+02] [ 1.99282491e-02 9.99800938e-01 9.74063876e-04 -1.06753587e+01] [ 1.80136268e-02 -1.33315038e-03 9.99836853e-01 3.44233332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.360714057 meters Centerline goodness [0,1] 0.9734015834668835 Centerline is valid? [True, True] Translation: X:295.25, Y:-10.68, Z:3.44 [[ 9.99615558e-01 -2.06501886e-02 -1.85015205e-02 2.95248077e+02] [ 2.06721913e-02 9.99785809e-01 9.98753523e-04 -1.06773296e+01] [ 1.84769332e-02 -1.38083653e-03 9.99828333e-01 3.44202771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.390714057 meters Centerline goodness [0,1] 0.975038926817583 Centerline is valid? [True, True] Translation: X:295.28, Y:-10.68, Z:3.44 [[ 9.99617947e-01 -2.08086366e-02 -1.81923004e-02 2.95277569e+02] [ 2.08299264e-02 9.99782552e-01 9.81537353e-04 -1.06772543e+01] [ 1.81679200e-02 -1.36010663e-03 9.99834025e-01 3.44326096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.420714057 meters Centerline goodness [0,1] 0.9727584470396393 Centerline is valid? [True, True] Translation: X:295.31, Y:-10.68, Z:3.44 [[ 9.99623335e-01 -2.04866410e-02 -1.82615702e-02 2.95306576e+02] [ 2.05080323e-02 9.99789203e-01 9.84864270e-04 -1.06817945e+01] [ 1.82375441e-02 -1.35900218e-03 9.99832759e-01 3.44220579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.450714057 meters Centerline goodness [0,1] 0.9743153148832078 Centerline is valid? [True, True] Translation: X:295.34, Y:-10.68, Z:3.44 [[ 9.99645102e-01 -1.95069923e-02 -1.81424080e-02 2.95336142e+02] [ 1.95279356e-02 9.99808833e-01 9.77927411e-04 -1.06817258e+01] [ 1.81198634e-02 -1.33186412e-03 9.99834935e-01 3.44297460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.480714057 meters Centerline goodness [0,1] 0.9737987067618566 Centerline is valid? [True, True] Translation: X:295.37, Y:-10.68, Z:3.44 [[ 9.99666218e-01 -1.76615430e-02 -1.88553164e-02 2.95365586e+02] [ 1.76838265e-02 9.99843113e-01 1.01572221e-03 -1.06810710e+01] [ 1.88344190e-02 -1.34881733e-03 9.99821707e-01 3.44173910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51071405700003 meters Centerline goodness [0,1] 0.9739975990396158 Centerline is valid? [True, True] Translation: X:295.40, Y:-10.68, Z:3.44 [[ 9.99697137e-01 -1.53376539e-02 -1.92455543e-02 2.95395845e+02] [ 1.53604329e-02 9.99881485e-01 1.03632641e-03 -1.06767476e+01] [ 1.92273785e-02 -1.33163259e-03 9.99814250e-01 3.44258821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.540714057 meters Centerline goodness [0,1] 0.9755591978403394 Centerline is valid? [True, True] Translation: X:295.43, Y:-10.67, Z:3.44 [[ 9.99722025e-01 -1.43977858e-02 -1.86702185e-02 2.95425423e+02] [ 1.44190045e-02 9.99895538e-01 1.00237838e-03 -1.06710449e+01] [ 1.86538362e-02 -1.27130570e-03 9.99825194e-01 3.44421431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57071405700003 meters Centerline goodness [0,1] 0.9749522034800706 Centerline is valid? [True, True] Translation: X:295.45, Y:-10.67, Z:3.45 [[ 9.99776042e-01 -1.13255420e-02 -1.78773200e-02 2.95454421e+02] [ 1.13444784e-02 9.99935190e-01 9.58180195e-04 -1.06716572e+01] [ 1.78653095e-02 -1.16077447e-03 9.99839729e-01 3.44518701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.600714057 meters Centerline goodness [0,1] 0.9759972790437782 Centerline is valid? [True, True] Translation: X:295.48, Y:-10.67, Z:3.45 [[ 9.99802945e-01 -9.68547662e-03 -1.73281038e-02 2.95484292e+02] [ 9.70301179e-03 9.99952494e-01 9.28160487e-04 -1.06666809e+01] [ 1.73182909e-02 -1.09611238e-03 9.99849426e-01 3.44685442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63071405700003 meters Centerline goodness [0,1] 0.9761847019449968 Centerline is valid? [True, True] Translation: X:295.52, Y:-10.66, Z:3.45 [[ 9.99865029e-01 -4.80673505e-03 -1.57104701e-02 2.95515387e+02] [ 4.82054504e-03 9.99988027e-01 8.41280563e-04 -1.06629933e+01] [ 1.57062382e-02 -9.16900043e-04 9.99876229e-01 3.44852511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.660714057 meters Centerline goodness [0,1] 0.9769086799056902 Centerline is valid? [True, True] Translation: X:295.54, Y:-10.66, Z:3.45 [[ 9.99876310e-01 -2.14170791e-03 -1.55813265e-02 2.95544186e+02] [ 2.15496417e-03 9.99997330e-01 8.34039108e-04 -1.06622995e+01] [ 1.55794986e-02 -8.67513146e-04 9.99878256e-01 3.44874825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69071405700004 meters Centerline goodness [0,1] 0.9795005863956215 Centerline is valid? [True, True] Translation: X:295.57, Y:-10.65, Z:3.45 [[ 9.99864086e-01 4.49384668e-03 -1.58623809e-02 2.95574729e+02] [-4.48094827e-03 9.99989600e-01 8.48592807e-04 -1.06540486e+01] [ 1.58660294e-02 -7.77398963e-04 9.99873824e-01 3.44950390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.720714057 meters Centerline goodness [0,1] 0.9814610731516176 Centerline is valid? [True, True] Translation: X:295.61, Y:-10.65, Z:3.45 [[ 9.99832341e-01 7.63031043e-03 -1.66453846e-02 2.95605035e+02] [-7.61654693e-03 9.99970598e-01 8.90104527e-04 -1.06511745e+01] [ 1.66516869e-02 -7.63174940e-04 9.99861060e-01 3.44996399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.750714057 meters Centerline goodness [0,1] 0.9823747453175246 Centerline is valid? [True, True] Translation: X:295.64, Y:-10.65, Z:3.45 [[ 9.99767528e-01 1.40032898e-02 -1.63950474e-02 2.95636176e+02] [-1.39907966e-02 9.99901740e-01 8.76467667e-04 -1.06479732e+01] [ 1.64057099e-02 -6.46884140e-04 9.99865208e-01 3.44958798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.780714057 meters Centerline goodness [0,1] 0.9812033765213978 Centerline is valid? [True, True] Translation: X:295.67, Y:-10.65, Z:3.45 [[ 9.99723049e-01 1.71442672e-02 -1.61213783e-02 2.95665535e+02] [-1.71326024e-02 9.99852855e-01 8.61402933e-04 -1.06480448e+01] [ 1.61337742e-02 -5.84963203e-04 9.99869671e-01 3.44926604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.810714057 meters Centerline goodness [0,1] 0.981802085382648 Centerline is valid? [True, True] Translation: X:295.70, Y:-10.65, Z:3.45 [[ 9.99649798e-01 2.11955539e-02 -1.58438988e-02 2.95695409e+02] [-2.11848038e-02 9.99775219e-01 8.46042813e-04 -1.06464862e+01] [ 1.58582697e-02 -5.10096639e-04 9.99874120e-01 3.44949277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.840714057 meters Centerline goodness [0,1] 0.9781572312628926 Centerline is valid? [True, True] Translation: X:295.72, Y:-10.66, Z:3.45 [[ 9.99544534e-01 2.64105329e-02 -1.46016847e-02 2.95723425e+02] [-2.64019676e-02 9.99651104e-01 7.79086550e-04 -1.06596368e+01] [ 1.46171663e-02 -3.93218496e-04 9.99893086e-01 3.44647423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.870714057 meters Centerline goodness [0,1] 0.9827501474346373 Centerline is valid? [True, True] Translation: X:295.75, Y:-10.65, Z:3.45 [[ 9.99578814e-01 2.40848842e-02 -1.61899001e-02 2.95753704e+02] [-2.40740601e-02 9.99709805e-01 8.63159361e-04 -1.06479602e+01] [ 1.62059909e-02 -4.73039183e-04 9.99868562e-01 3.45033641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.900714057 meters Centerline goodness [0,1] 0.9819586356680982 Centerline is valid? [True, True] Translation: X:295.78, Y:-10.65, Z:3.45 [[ 9.99572135e-01 2.39696952e-02 -1.67631018e-02 2.95781668e+02] [-2.39581271e-02 9.99712566e-01 8.90600113e-04 -1.06501079e+01] [ 1.67796309e-02 -4.88606533e-04 9.99859093e-01 3.44966385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.930714057 meters Centerline goodness [0,1] 0.9805044743829285 Centerline is valid? [True, True] Translation: X:295.81, Y:-10.65, Z:3.45 [[ 9.99601731e-01 2.32689303e-02 -1.59667052e-02 2.95809554e+02] [-2.32584125e-02 9.99729130e-01 8.44137416e-04 -1.06544582e+01] [ 1.59820224e-02 -4.72441008e-04 9.99872168e-01 3.44925072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.960714057 meters Centerline goodness [0,1] 0.9827814569536424 Centerline is valid? [True, True] Translation: X:295.84, Y:-10.65, Z:3.45 [[ 9.99633051e-01 2.22286390e-02 -1.54806585e-02 2.95838191e+02] [-2.22186868e-02 9.99752803e-01 8.14595126e-04 -1.06545282e+01] [ 1.54949390e-02 -4.70336310e-04 9.99879836e-01 3.45132232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.990714057 meters Centerline goodness [0,1] 0.9784885574824008 Centerline is valid? [True, True] Translation: X:295.87, Y:-10.66, Z:3.45 [[ 9.99693184e-01 1.99305348e-02 -1.47075360e-02 2.95865143e+02] [-1.99213367e-02 9.99801253e-01 7.71655490e-04 -1.06637524e+01] [ 1.47199925e-02 -4.78424956e-04 9.99891541e-01 3.45080280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.020714057 meters Centerline goodness [0,1] 0.9800704259793612 Centerline is valid? [True, True] Translation: X:295.89, Y:-10.66, Z:3.45 [[ 9.99727372e-01 1.82935091e-02 -1.45096484e-02 2.95893764e+02] [-1.82844022e-02 9.99832537e-01 7.60067732e-04 -1.06617841e+01] [ 1.45211228e-02 -4.94560270e-04 9.99894441e-01 3.45227454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.050714057 meters Centerline goodness [0,1] 0.976814124951494 Centerline is valid? [True, True] Translation: X:295.92, Y:-10.67, Z:3.45 [[ 9.99797207e-01 1.40893126e-02 -1.43887183e-02 2.95921749e+02] [-1.40799365e-02 9.99900589e-01 7.52723050e-04 -1.06715179e+01] [ 1.43978932e-02 -5.49978163e-04 9.99896194e-01 3.45119595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.080714057 meters Centerline goodness [0,1] 0.9756677999028655 Centerline is valid? [True, True] Translation: X:295.95, Y:-10.68, Z:3.45 [[ 9.99833502e-01 1.11746723e-02 -1.44255253e-02 2.95951237e+02] [-1.11649554e-02 9.99937386e-01 7.53948739e-04 -1.06762473e+01] [ 1.44330472e-02 -5.92762862e-04 9.99895662e-01 3.45137033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.110714057 meters Centerline goodness [0,1] 0.972450260768785 Centerline is valid? [True, True] Translation: X:295.98, Y:-10.69, Z:3.45 [[ 9.99887449e-01 5.59336876e-03 -1.39212992e-02 2.95979566e+02] [-5.58378228e-03 9.99984146e-01 7.27393673e-04 -1.06894342e+01] [ 1.39251470e-02 -6.49578301e-04 9.99902829e-01 3.45036695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.140714057 meters Centerline goodness [0,1] 0.9729742784687839 Centerline is valid? [True, True] Translation: X:296.01, Y:-10.69, Z:3.45 [[ 9.99900708e-01 2.22467636e-03 -1.39149005e-02 2.96009796e+02] [-2.21477558e-03 9.99997283e-01 7.26893465e-04 -1.06912582e+01] [ 1.39164798e-02 -6.96002909e-04 9.99902919e-01 3.45124903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.170714057 meters Centerline goodness [0,1] 0.970504009163803 Centerline is valid? [True, True] Translation: X:296.04, Y:-10.70, Z:3.45 [[ 9.99902569e-01 -3.81902502e-03 -1.34263971e-02 2.96038308e+02] [ 3.82878865e-03 9.99992424e-01 7.01567083e-04 -1.07021350e+01] [ 1.34236161e-02 -7.52905566e-04 9.99909616e-01 3.45140095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.200714057 meters Centerline goodness [0,1] 0.9691467445982849 Centerline is valid? [True, True] Translation: X:296.07, Y:-10.71, Z:3.45 [[ 9.99892866e-01 -6.93894113e-03 -1.28882978e-02 2.96066707e+02] [ 6.94819574e-03 9.99975634e-01 6.73424150e-04 -1.07087693e+01] [ 1.28833109e-02 -7.62902419e-04 9.99916716e-01 3.45179178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.230714057 meters Centerline goodness [0,1] 0.9690572310615055 Centerline is valid? [True, True] Translation: X:296.10, Y:-10.71, Z:3.45 [[ 9.99851864e-01 -1.15908461e-02 -1.27241130e-02 2.96096759e+02] [ 1.16002390e-02 9.99932494e-01 6.64641897e-04 -1.07108833e+01] [ 1.27155503e-02 -8.12146191e-04 9.99918824e-01 3.45174413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26071405700003 meters Centerline goodness [0,1] 0.9673486846795466 Centerline is valid? [True, True] Translation: X:296.13, Y:-10.72, Z:3.45 [[ 9.99829850e-01 -1.33857044e-02 -1.26923118e-02 2.96125207e+02] [ 1.33951946e-02 9.99910061e-01 6.62993805e-04 -1.07240599e+01] [ 1.26822956e-02 -8.32896983e-04 9.99919230e-01 3.45107414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.290714057 meters Centerline goodness [0,1] 0.966797385620915 Centerline is valid? [True, True] Translation: X:296.16, Y:-10.73, Z:3.45 [[ 9.99796423e-01 -1.56341299e-02 -1.27548720e-02 2.96155038e+02] [ 1.56438948e-02 9.99877405e-01 6.66163128e-04 -1.07279300e+01] [ 1.27428934e-02 -8.65563387e-04 9.99918431e-01 3.45128109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32071405700003 meters Centerline goodness [0,1] 0.9686253087592628 Centerline is valid? [True, True] Translation: X:296.19, Y:-10.73, Z:3.45 [[ 9.99791513e-01 -1.61262942e-02 -1.25248732e-02 2.96185481e+02] [ 1.61357474e-02 9.99869596e-01 6.54055660e-04 -1.07269742e+01] [ 1.25126924e-02 -8.56017488e-04 9.99921347e-01 3.45209064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.350714057 meters Centerline goodness [0,1] 0.9668812810339502 Centerline is valid? [True, True] Translation: X:296.22, Y:-10.73, Z:3.45 [[ 9.99783544e-01 -1.62507488e-02 -1.29914902e-02 2.96215896e+02] [ 1.62609315e-02 9.99867552e-01 6.78546822e-04 -1.07319471e+01] [ 1.29787426e-02 -8.89653680e-04 9.99915377e-01 3.45100398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38071405700003 meters Centerline goodness [0,1] 0.9679134232010632 Centerline is valid? [True, True] Translation: X:296.25, Y:-10.74, Z:3.45 [[ 9.99777855e-01 -1.65519631e-02 -1.30489085e-02 2.96246688e+02] [ 1.65622629e-02 9.99862604e-01 6.81644696e-04 -1.07350772e+01] [ 1.30358331e-02 -8.97612725e-04 9.99914627e-01 3.45048312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.410714057 meters Centerline goodness [0,1] 0.9673452980539594 Centerline is valid? [True, True] Translation: X:296.28, Y:-10.74, Z:3.45 [[ 9.99778264e-01 -1.65320531e-02 -1.30427744e-02 2.96277160e+02] [ 1.65423415e-02 9.99862934e-01 6.81324267e-04 -1.07381982e+01] [ 1.30297230e-02 -8.96931222e-04 9.99914707e-01 3.45031003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44071405700004 meters Centerline goodness [0,1] 0.9671459364710898 Centerline is valid? [True, True] Translation: X:296.31, Y:-10.74, Z:3.45 [[ 9.99750784e-01 -1.73569234e-02 -1.40394669e-02 2.96306354e+02] [ 1.73689235e-02 9.99848880e-01 7.33249152e-04 -1.07427025e+01] [ 1.40246183e-02 -9.76916842e-04 9.99901173e-01 3.44912123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.470714057 meters Centerline goodness [0,1] 0.9696826484557763 Centerline is valid? [True, True] Translation: X:296.34, Y:-10.74, Z:3.45 [[ 9.99729130e-01 -1.83910236e-02 -1.42631437e-02 2.96337242e+02] [ 1.84035125e-02 9.99830364e-01 7.44832721e-04 -1.07384180e+01] [ 1.42470260e-02 -1.00712291e-03 9.99897999e-01 3.44932731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.500714057 meters Centerline goodness [0,1] 0.965048681349844 Centerline is valid? [True, True] Translation: X:296.37, Y:-10.75, Z:3.45 [[ 9.99718885e-01 -1.87688105e-02 -1.44873187e-02 2.96366323e+02] [ 1.87817323e-02 9.99823322e-01 7.56385736e-04 -1.07493860e+01] [ 1.44705627e-02 -1.02827005e-03 9.99894767e-01 3.44882127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.530714057 meters Centerline goodness [0,1] 0.9684758188482914 Centerline is valid? [True, True] Translation: X:296.40, Y:-10.74, Z:3.45 [[ 9.99703558e-01 -1.96423594e-02 -1.43865748e-02 2.96397663e+02] [ 1.96551929e-02 9.99806536e-01 7.51179466e-04 -1.07416318e+01] [ 1.43690366e-02 -1.03372769e-03 9.99896226e-01 3.44995114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.560714057 meters Centerline goodness [0,1] 0.967638076750077 Centerline is valid? [True, True] Translation: X:296.43, Y:-10.74, Z:3.45 [[ 9.99693253e-01 -2.00563502e-02 -1.45307252e-02 2.96427745e+02] [ 2.00694871e-02 9.99798300e-01 7.58809457e-04 -1.07444048e+01] [ 1.45125754e-02 -1.05020090e-03 9.99894136e-01 3.45000925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.590714057 meters Centerline goodness [0,1] 0.9604182932311259 Centerline is valid? [True, True] Translation: X:296.46, Y:-10.76, Z:3.45 [[ 9.99697971e-01 -2.04699578e-02 -1.35995775e-02 2.96457696e+02] [ 2.04815048e-02 9.99789980e-01 7.10322280e-04 -1.07591161e+01] [ 1.35821811e-02 -9.88647554e-04 9.99907269e-01 3.45031836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.620714057 meters Centerline goodness [0,1] 0.9665165413001957 Centerline is valid? [True, True] Translation: X:296.49, Y:-10.75, Z:3.45 [[ 9.99711422e-01 -2.03094080e-02 -1.28296478e-02 2.96489789e+02] [ 2.03196757e-02 9.99793309e-01 6.70452844e-04 -1.07483977e+01] [ 1.28133795e-02 -9.30953649e-04 9.99917472e-01 3.45266467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.650714057 meters Centerline goodness [0,1] 0.9667511908429509 Centerline is valid? [True, True] Translation: X:296.52, Y:-10.75, Z:3.45 [[ 9.99700042e-01 -2.14342361e-02 -1.18490606e-02 2.96521450e+02] [ 2.14430775e-02 9.99769879e-01 6.19612704e-04 -1.07487181e+01] [ 1.18330529e-02 -8.73507170e-04 9.99929605e-01 3.45366338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.680714057 meters Centerline goodness [0,1] 0.965049234784672 Centerline is valid? [True, True] Translation: X:296.55, Y:-10.75, Z:3.45 [[ 9.99684451e-01 -2.20114193e-02 -1.21035290e-02 2.96552226e+02] [ 2.20206933e-02 9.99757314e-01 6.33464833e-04 -1.07540415e+01] [ 1.20866482e-02 -8.99793043e-04 9.99926549e-01 3.45316124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.710714057 meters Centerline goodness [0,1] 0.9645339596232771 Centerline is valid? [True, True] Translation: X:296.58, Y:-10.76, Z:3.45 [[ 9.99670735e-01 -2.26365541e-02 -1.20834075e-02 2.96583909e+02] [ 2.26458489e-02 9.99743350e-01 6.32939011e-04 -1.07555432e+01] [ 1.20659787e-02 -9.06369627e-04 9.99926793e-01 3.45302249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.740714057 meters Centerline goodness [0,1] 0.9643712787911853 Centerline is valid? [True, True] Translation: X:296.62, Y:-10.76, Z:3.45 [[ 9.99642174e-01 -2.38668039e-02 -1.20789262e-02 2.96615073e+02] [ 2.38761876e-02 9.99714723e-01 6.33239299e-04 -1.07610146e+01] [ 1.20603670e-02 -9.21411418e-04 9.99926847e-01 3.45239559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.770714057 meters Centerline goodness [0,1] 0.9643636708740628 Centerline is valid? [True, True] Translation: X:296.65, Y:-10.76, Z:3.45 [[ 9.99625697e-01 -2.43926644e-02 -1.23880872e-02 2.96646701e+02] [ 2.44025829e-02 9.99702001e-01 6.50105429e-04 -1.07626121e+01] [ 1.23685377e-02 -9.52163417e-04 9.99923053e-01 3.45232893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.800714057 meters Centerline goodness [0,1] 0.9643636708740628 Centerline is valid? [True, True] Translation: X:296.68, Y:-10.76, Z:3.45 [[ 9.99627393e-01 -2.43230590e-02 -1.23880471e-02 2.96678441e+02] [ 2.43329816e-02 9.99703697e-01 6.50868647e-04 -1.07643421e+01] [ 1.23685454e-02 -9.52064251e-04 9.99923053e-01 3.45251174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.830714057 meters Centerline goodness [0,1] 0.9687804183186534 Centerline is valid? [True, True] Translation: X:296.71, Y:-10.76, Z:3.45 [[ 9.99600600e-01 -2.48507516e-02 -1.34566172e-02 2.96710618e+02] [ 2.48625210e-02 9.99690629e-01 7.08008965e-04 -1.07601104e+01] [ 1.34348596e-02 -1.04229161e-03 9.99909205e-01 3.45245530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.860714057 meters Centerline goodness [0,1] 0.9677915926583778 Centerline is valid? [True, True] Translation: X:296.74, Y:-10.76, Z:3.45 [[ 9.99606925e-01 -2.40048521e-02 -1.44831612e-02 2.96740380e+02] [ 2.40184064e-02 9.99711226e-01 7.62627678e-04 -1.07647054e+01] [ 1.44606720e-02 -1.11019036e-03 9.99894823e-01 3.45150760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.890714057 meters Centerline goodness [0,1] 0.9667086771455069 Centerline is valid? [True, True] Translation: X:296.77, Y:-10.77, Z:3.45 [[ 9.99598379e-01 -2.38700770e-02 -1.52741906e-02 2.96770384e+02] [ 2.38851411e-02 9.99714386e-01 8.04555880e-04 -1.07697293e+01] [ 1.52506233e-02 -1.16905895e-03 9.99883019e-01 3.45102486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.920714057 meters Centerline goodness [0,1] 0.9650501154679427 Centerline is valid? [True, True] Translation: X:296.80, Y:-10.77, Z:3.45 [[ 9.99599876e-01 -2.35458020e-02 -1.56742808e-02 2.96800849e+02] [ 2.35616303e-02 9.99722045e-01 8.25901964e-04 -1.07731959e+01] [ 1.56504775e-02 -1.19488311e-03 9.99876810e-01 3.45045969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.950714057 meters Centerline goodness [0,1] 0.9649561059167797 Centerline is valid? [True, True] Translation: X:296.83, Y:-10.78, Z:3.45 [[ 9.99605437e-01 -2.33226726e-02 -1.56532390e-02 2.96830721e+02] [ 2.33384354e-02 9.99727281e-01 8.25056108e-04 -1.07760244e+01] [ 1.56297275e-02 -1.19005268e-03 9.99877140e-01 3.45106185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.980714057 meters Centerline goodness [0,1] 0.968075989144408 Centerline is valid? [True, True] Translation: X:296.86, Y:-10.77, Z:3.45 [[ 9.99609320e-01 -2.35250799e-02 -1.50922872e-02 2.96862651e+02] [ 2.35397623e-02 9.99722585e-01 7.95910818e-04 -1.07676024e+01] [ 1.50693765e-02 -1.15086873e-03 9.99885788e-01 3.45246585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01071405700003 meters Centerline goodness [0,1] 0.9666500273360432 Centerline is valid? [True, True] Translation: X:296.89, Y:-10.77, Z:3.45 [[ 9.99609018e-01 -2.36394418e-02 -1.49328113e-02 2.96893448e+02] [ 2.36538336e-02 9.99719898e-01 7.87861467e-04 -1.07691351e+01] [ 1.49100040e-02 -1.14077166e-03 9.99888189e-01 3.45268013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.040714057 meters Centerline goodness [0,1] 0.9650354643690199 Centerline is valid? [True, True] Translation: X:296.92, Y:-10.77, Z:3.45 [[ 9.99575804e-01 -2.47554878e-02 -1.53420342e-02 2.96923893e+02] [ 2.47708141e-02 9.99692828e-01 8.09721754e-04 -1.07718842e+01] [ 1.53172765e-02 -1.18941295e-03 9.99881976e-01 3.45282270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07071405700003 meters Centerline goodness [0,1] 0.9634669285868289 Centerline is valid? [True, True] Translation: X:296.95, Y:-10.77, Z:3.45 [[ 9.99547632e-01 -2.59726480e-02 -1.51642092e-02 2.96954992e+02] [ 2.59877666e-02 9.99661940e-01 8.00759074e-04 -1.07744697e+01] [ 1.51382850e-02 -1.19448077e-03 9.99884696e-01 3.45261232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.100714057 meters Centerline goodness [0,1] 0.9630904570663607 Centerline is valid? [True, True] Translation: X:296.99, Y:-10.78, Z:3.45 [[ 9.99498970e-01 -2.76607995e-02 -1.53846786e-02 2.96986180e+02] [ 2.76765679e-02 9.99616600e-01 8.12932963e-04 -1.07767900e+01] [ 1.53562937e-02 -1.23832076e-03 9.99881318e-01 3.45257098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13071405700003 meters Centerline goodness [0,1] 0.9603353293413174 Centerline is valid? [True, True] Translation: X:297.02, Y:-10.78, Z:3.45 [[ 9.99410068e-01 -3.09883258e-02 -1.48067156e-02 2.97015653e+02] [ 3.10032989e-02 9.99518976e-01 7.82716228e-04 -1.07804485e+01] [ 1.47753382e-02 -1.24131151e-03 9.99890068e-01 3.45384576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.160714057 meters Centerline goodness [0,1] 0.9611176287499701 Centerline is valid? [True, True] Translation: X:297.05, Y:-10.78, Z:3.45 [[ 9.99327866e-01 -3.38126722e-02 -1.41604660e-02 2.97046974e+02] [ 3.38266521e-02 9.99427435e-01 7.48829599e-04 -1.07782150e+01] [ 1.41270383e-02 -1.22732744e-03 9.99899455e-01 3.45474185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19071405700004 meters Centerline goodness [0,1] 0.9590046029919448 Centerline is valid? [True, True] Translation: X:297.08, Y:-10.78, Z:3.45 [[ 9.99275466e-01 -3.50776731e-02 -1.47682153e-02 2.97076949e+02] [ 3.50930202e-02 9.99383745e-01 7.81264862e-04 -1.07834775e+01] [ 1.47317094e-02 -1.29896009e-03 9.99890639e-01 3.45430260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.220714057 meters Centerline goodness [0,1] 0.9528927400244154 Centerline is valid? [True, True] Translation: X:297.11, Y:-10.79, Z:3.45 [[ 9.99223431e-01 -3.63777702e-02 -1.51391320e-02 2.97106330e+02] [ 3.63940477e-02 9.99337196e-01 8.00989941e-04 -1.07913387e+01] [ 1.50999595e-02 -1.35134221e-03 9.99885076e-01 3.45301912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.250714057 meters Centerline goodness [0,1] 0.9597133681637349 Centerline is valid? [True, True] Translation: X:297.14, Y:-10.78, Z:3.45 [[ 9.99179165e-01 -3.71210511e-02 -1.62180137e-02 2.97138947e+02] [ 3.71398407e-02 9.99309709e-01 8.58814085e-04 -1.07828867e+01] [ 1.61749385e-02 -1.46044359e-03 9.99868111e-01 3.45439836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.280714057 meters Centerline goodness [0,1] 0.9569541979244062 Centerline is valid? [True, True] Translation: X:297.17, Y:-10.79, Z:3.45 [[ 9.99132501e-01 -3.80183551e-02 -1.69955679e-02 2.97169906e+02] [ 3.80391359e-02 9.99275844e-01 9.01009810e-04 -1.07862047e+01] [ 1.69490056e-02 -1.54672490e-03 9.99855159e-01 3.45263207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.310714057 meters Centerline goodness [0,1] 0.9584522068519096 Centerline is valid? [True, True] Translation: X:297.20, Y:-10.78, Z:3.45 [[ 9.99112646e-01 -3.82825978e-02 -1.75602745e-02 2.97201753e+02] [ 3.83048398e-02 9.99265666e-01 9.31890909e-04 -1.07838990e+01] [ 1.75117042e-02 -1.60370749e-03 9.99845372e-01 3.45271757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.340714057 meters Centerline goodness [0,1] 0.9543449069633608 Centerline is valid? [True, True] Translation: X:297.23, Y:-10.79, Z:3.45 [[ 9.99126153e-01 -3.78307003e-02 -1.77698763e-02 2.97233181e+02] [ 3.78534262e-02 9.99282856e-01 9.44169382e-04 -1.07897030e+01] [ 1.77214142e-02 -1.61599502e-03 9.99841657e-01 3.45233540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.370714057 meters Centerline goodness [0,1] 0.9592859379893517 Centerline is valid? [True, True] Translation: X:297.27, Y:-10.78, Z:3.45 [[ 9.99129622e-01 -3.76356505e-02 -1.79876883e-02 2.97265674e+02] [ 3.76589285e-02 9.99290193e-01 9.57017315e-04 -1.07842939e+01] [ 1.79389025e-02 -1.63358142e-03 9.99837750e-01 3.45326592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.400714057 meters Centerline goodness [0,1] 0.9551672826765228 Centerline is valid? [True, True] Translation: X:297.30, Y:-10.79, Z:3.45 [[ 9.99176685e-01 -3.68054305e-02 -1.70679005e-02 2.97296266e+02] [ 3.68262816e-02 9.99321269e-01 9.08864929e-04 -1.07882658e+01] [ 1.70228648e-02 -1.53666396e-03 9.99853920e-01 3.45293725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.430714057 meters Centerline goodness [0,1] 0.5629814519946637 Centerline is valid? [True, False] Translation: X:297.35, Y:-10.79, Z:3.46 [[ 9.99161624e-01 -3.76552893e-02 -1.60663423e-02 2.97353362e+02] [ 3.75584376e-02 9.99274649e-01 -6.28808172e-03 -1.07868019e+01] [ 1.62914681e-02 5.67938323e-03 9.99851155e-01 3.45537847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.460714057 meters Centerline goodness [0,1] 0.9541331010958706 Centerline is valid? [False, True] Translation: X:297.26, Y:-10.78, Z:3.45 [[ 9.99389890e-01 -3.25401083e-02 -1.26881790e-02 2.97257866e+02] [ 3.25174088e-02 9.99469186e-01 -1.99129439e-03 -1.07848279e+01] [ 1.27462409e-02 1.57749278e-03 9.99917519e-01 3.44951794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.490714057 meters Centerline goodness [0,1] 0.956742573780752 Centerline is valid? [True, True] Translation: X:297.29, Y:-10.78, Z:3.45 [[ 9.99399119e-01 -3.22729438e-02 -1.26434921e-02 2.97290169e+02] [ 3.22846171e-02 9.99478456e-01 7.20197390e-04 -1.07823021e+01] [ 1.26136550e-02 -1.12795494e-03 9.99919808e-01 3.44896993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.520714057 meters Centerline goodness [0,1] 0.9587691264768545 Centerline is valid? [True, True] Translation: X:297.32, Y:-10.78, Z:3.45 [[ 9.99418360e-01 -3.14197702e-02 -1.32567072e-02 2.97322680e+02] [ 3.14325413e-02 9.99505590e-01 7.56063494e-04 -1.07780456e+01] [ 1.32263976e-02 -1.17231573e-03 9.99911840e-01 3.44956642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.550714057 meters Centerline goodness [0,1] 0.9581439210755393 Centerline is valid? [True, True] Translation: X:297.36, Y:-10.78, Z:3.45 [[ 9.99437619e-01 -3.10908894e-02 -1.25619021e-02 2.97355118e+02] [ 3.11023419e-02 9.99515948e-01 7.17311145e-04 -1.07802922e+01] [ 1.25335197e-02 -1.10761232e-03 9.99920839e-01 3.44924091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.580714057 meters Centerline goodness [0,1] 0.9597766443472165 Centerline is valid? [True, True] Translation: X:297.39, Y:-10.78, Z:3.45 [[ 9.99446842e-01 -3.07669831e-02 -1.26255098e-02 2.97387827e+02] [ 3.07785375e-02 9.99525968e-01 7.21838964e-04 -1.07780667e+01] [ 1.25973161e-02 -1.11003440e-03 9.99920035e-01 3.45028060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.610714057 meters Centerline goodness [0,1] 0.9580019398642095 Centerline is valid? [True, True] Translation: X:297.42, Y:-10.78, Z:3.45 [[ 9.99456283e-01 -3.04903201e-02 -1.25490547e-02 2.97418899e+02] [ 3.05017220e-02 9.99534456e-01 7.18156039e-04 -1.07802406e+01] [ 1.25213158e-02 -1.10053334e-03 9.99921000e-01 3.45041353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.640714057 meters Centerline goodness [0,1] 0.9570954698433451 Centerline is valid? [True, True] Translation: X:297.45, Y:-10.78, Z:3.45 [[ 9.99484093e-01 -2.96314670e-02 -1.23905048e-02 2.97451572e+02] [ 2.96425319e-02 9.99560311e-01 7.10279871e-04 -1.07817789e+01] [ 1.23640102e-02 -1.07719937e-03 9.99922982e-01 3.44995481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.670714057 meters Centerline goodness [0,1] 0.9581507926903062 Centerline is valid? [True, True] Translation: X:297.48, Y:-10.78, Z:3.45 [[ 9.99497338e-01 -2.90886812e-02 -1.26063527e-02 2.97483682e+02] [ 2.91001039e-02 9.99576240e-01 7.23585207e-04 -1.07822413e+01] [ 1.25799625e-02 -1.09006766e-03 9.99920275e-01 3.44975620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.700714057 meters Centerline goodness [0,1] 0.9576987336255115 Centerline is valid? [True, True] Translation: X:297.52, Y:-10.78, Z:3.45 [[ 9.99516266e-01 -2.85225530e-02 -1.23974957e-02 2.97515679e+02] [ 2.85335677e-02 9.99592581e-01 7.12455882e-04 -1.07845393e+01] [ 1.23721237e-02 -1.06585603e-03 9.99922894e-01 3.44915298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.730714057 meters Centerline goodness [0,1] 0.9567844317189168 Centerline is valid? [True, True] Translation: X:297.55, Y:-10.78, Z:3.45 [[ 9.99554670e-01 -2.67288122e-02 -1.32676836e-02 2.97546071e+02] [ 2.67412879e-02 9.99642096e-01 7.63758168e-04 -1.07845193e+01] [ 1.32425207e-02 -1.11821299e-03 9.99911689e-01 3.44842231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76071405700003 meters Centerline goodness [0,1] 0.9585081358973737 Centerline is valid? [True, True] Translation: X:297.58, Y:-10.78, Z:3.45 [[ 9.99604373e-01 -2.48042198e-02 -1.32607513e-02 2.97576884e+02] [ 2.48165191e-02 9.99691731e-01 7.63724911e-04 -1.07830376e+01] [ 1.32377198e-02 -1.09250845e-03 9.99911781e-01 3.44832091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.790714057 meters Centerline goodness [0,1] 0.9586119689711354 Centerline is valid? [True, True] Translation: X:297.61, Y:-10.78, Z:3.45 [[ 9.99610666e-01 -2.41489127e-02 -1.39766461e-02 2.97608790e+02] [ 2.41625216e-02 9.99707719e-01 8.05618390e-04 -1.07840264e+01] [ 1.39531062e-02 -1.14301575e-03 9.99901997e-01 3.44828819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82071405700003 meters Centerline goodness [0,1] 0.9627474373645638 Centerline is valid? [True, True] Translation: X:297.64, Y:-10.77, Z:3.45 [[ 9.99644805e-01 -2.25798265e-02 -1.41567894e-02 2.97640925e+02] [ 2.25936397e-02 9.99744398e-01 8.16530125e-04 -1.07746602e+01] [ 1.41347338e-02 -1.13609350e-03 9.99899454e-01 3.44902975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.850714057 meters Centerline goodness [0,1] 0.957506529008323 Centerline is valid? [True, True] Translation: X:297.67, Y:-10.79, Z:3.45 [[ 9.99653430e-01 -2.22588370e-02 -1.40557736e-02 2.97671141e+02] [ 2.22724323e-02 9.99751609e-01 8.11425912e-04 -1.07864388e+01] [ 1.40342209e-02 -1.12420096e-03 9.99900883e-01 3.44746910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88071405700003 meters Centerline goodness [0,1] 0.9640683434773044 Centerline is valid? [True, True] Translation: X:297.70, Y:-10.78, Z:3.45 [[ 9.99669198e-01 -2.14532967e-02 -1.41862726e-02 2.97702940e+02] [ 2.14670726e-02 9.99769220e-01 8.19489676e-04 -1.07765532e+01] [ 1.41654180e-02 -1.12375633e-03 9.99899034e-01 3.44890750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.910714057 meters Centerline goodness [0,1] 0.9647778729653653 Centerline is valid? [True, True] Translation: X:297.73, Y:-10.78, Z:3.45 [[ 9.99695592e-01 -2.04229029e-02 -1.38429885e-02 2.97732903e+02] [ 2.04359256e-02 9.99790845e-01 7.99927337e-04 -1.07779503e+01] [ 1.38237563e-02 -1.08257811e-03 9.99903861e-01 3.44789628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94071405700004 meters Centerline goodness [0,1] 0.9650028124923573 Centerline is valid? [True, True] Translation: X:297.76, Y:-10.78, Z:3.45 [[ 9.99723768e-01 -1.92409417e-02 -1.34972102e-02 2.97764120e+02] [ 1.92532208e-02 9.99814335e-01 7.80392989e-04 -1.07790350e+01] [ 1.34796888e-02 -1.04004219e-03 9.99908604e-01 3.44760599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.970714057 meters Centerline goodness [0,1] 0.9660575695058453 Centerline is valid? [True, True] Translation: X:297.80, Y:-10.78, Z:3.45 [[ 9.99746405e-01 -1.83049964e-02 -1.31168647e-02 2.97795640e+02] [ 1.83165191e-02 9.99831951e-01 7.58860350e-04 -1.07788281e+01] [ 1.31007695e-02 -9.98923209e-04 9.99913682e-01 3.44816625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.000714057 meters Centerline goodness [0,1] 0.9658409515383859 Centerline is valid? [True, True] Translation: X:297.83, Y:-10.78, Z:3.45 [[ 9.99799703e-01 -1.63547295e-02 -1.15359009e-02 2.97826073e+02] [ 1.63635132e-02 9.99865886e-01 6.67439252e-04 -1.07780489e+01] [ 1.15234379e-02 -8.56073432e-04 9.99933237e-01 3.44967907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.030714057 meters Centerline goodness [0,1] 0.8236414540113824 Centerline is valid? [True, False] Translation: X:297.88, Y:-10.78, Z:3.45 [[ 9.99790086e-01 -1.72110121e-02 -1.11159699e-02 2.97875882e+02] [ 1.71735334e-02 9.99846543e-01 -3.45832013e-03 -1.07774749e+01] [ 1.11737853e-02 3.26669370e-03 9.99932235e-01 3.45320206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.060714057 meters Centerline goodness [0,1] 0.9651932206725211 Centerline is valid? [False, True] Translation: X:297.80, Y:-10.78, Z:3.45 [[ 9.99867038e-01 -1.30192659e-02 -9.81863769e-03 2.97801731e+02] [ 1.30196675e-02 9.99915240e-01 -2.30243508e-05 -1.07765548e+01] [ 9.81810522e-03 -1.04814109e-04 9.99951796e-01 3.45009467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.090714057 meters Centerline goodness [0,1] 0.965056146572104 Centerline is valid? [True, True] Translation: X:297.83, Y:-10.78, Z:3.45 [[ 9.99896454e-01 -1.14761782e-02 -8.68208055e-03 2.97832270e+02] [ 1.14811072e-02 9.99933956e-01 5.18090146e-04 -1.07776800e+01] [ 8.67556145e-03 -6.17716397e-04 9.99962176e-01 3.45037648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.120714057 meters Centerline goodness [0,1] 0.9632074077722504 Centerline is valid? [True, True] Translation: X:297.86, Y:-10.78, Z:3.45 [[ 9.99915538e-01 -1.00729872e-02 -8.21287526e-03 2.97862310e+02] [ 1.00773517e-02 9.99949102e-01 4.90212244e-04 -1.07808901e+01] [ 8.20751934e-03 -5.72934872e-04 9.99966154e-01 3.45035193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.150714057 meters Centerline goodness [0,1] 0.9684967610039656 Centerline is valid? [True, True] Translation: X:297.89, Y:-10.78, Z:3.45 [[ 9.99920517e-01 -9.52018167e-03 -8.26595054e-03 2.97893348e+02] [ 9.52458413e-03 9.99954518e-01 4.93399168e-04 -1.07760072e+01] [ 8.26087734e-03 -5.72089693e-04 9.99965715e-01 3.45095136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.180714057 meters Centerline goodness [0,1] 0.9653301770478868 Centerline is valid? [True, True] Translation: X:297.92, Y:-10.78, Z:3.45 [[ 9.99918406e-01 -9.33161326e-03 -8.72361257e-03 2.97923289e+02] [ 9.33651076e-03 9.99956278e-01 5.20849509e-04 -1.07791892e+01] [ 8.71837079e-03 -6.02255114e-04 9.99961813e-01 3.45044000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.210714057 meters Centerline goodness [0,1] 0.9636103998424266 Centerline is valid? [True, True] Translation: X:297.95, Y:-10.79, Z:3.45 [[ 9.99927652e-01 -8.20303656e-03 -8.79773855e-03 2.97951975e+02] [ 8.20797317e-03 9.99966176e-01 5.25162203e-04 -1.07878061e+01] [ 8.79313305e-03 -5.97335811e-04 9.99961161e-01 3.44957969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.240714057 meters Centerline goodness [0,1] 0.9665421112149073 Centerline is valid? [True, True] Translation: X:297.98, Y:-10.78, Z:3.45 [[ 9.99922964e-01 -7.96327571e-03 -9.52113998e-03 2.97981555e+02] [ 7.96904384e-03 9.99968085e-01 5.68038255e-04 -1.07849655e+01] [ 9.51631267e-03 -6.43868878e-04 9.99954512e-01 3.45001148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.270714057 meters Centerline goodness [0,1] 0.9694255256144507 Centerline is valid? [True, True] Translation: X:298.01, Y:-10.78, Z:3.45 [[ 9.99902640e-01 -8.99620416e-03 -1.06667435e-02 2.98011903e+02] [ 9.00350085e-03 9.99959265e-01 6.36235701e-04 -1.07819951e+01] [ 1.06605852e-02 -7.32211791e-04 9.99942906e-01 3.44942384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.300714057 meters Centerline goodness [0,1] 0.9665567477113889 Centerline is valid? [True, True] Translation: X:298.04, Y:-10.79, Z:3.45 [[ 9.99891733e-01 -9.91910531e-03 -1.08689404e-02 2.98040380e+02] [ 9.92672971e-03 9.99950519e-01 6.47760543e-04 -1.07886895e+01] [ 1.08619773e-02 -7.55583445e-04 9.99940722e-01 3.44846914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.330714057 meters Centerline goodness [0,1] 0.96709701217263 Centerline is valid? [True, True] Translation: X:298.07, Y:-10.79, Z:3.45 [[ 9.99882408e-01 -1.05639589e-02 -1.11163554e-02 2.98070076e+02] [ 1.05719695e-02 9.99943896e-01 6.62095956e-04 -1.07900088e+01] [ 1.11087373e-02 -7.79539869e-04 9.99937992e-01 3.44907008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.360714057 meters Centerline goodness [0,1] 0.965440110119706 Centerline is valid? [True, True] Translation: X:298.10, Y:-10.80, Z:3.45 [[ 9.99870752e-01 -1.15667693e-02 -1.11664143e-02 2.98099323e+02] [ 1.15749121e-02 9.99932787e-01 6.64864876e-04 -1.07950006e+01] [ 1.11579734e-02 -7.94029208e-04 9.99937433e-01 3.44882043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.390714057 meters Centerline goodness [0,1] 0.965786491945416 Centerline is valid? [True, True] Translation: X:298.13, Y:-10.80, Z:3.45 [[ 9.99850500e-01 -1.38447383e-02 -1.03585904e-02 2.98129433e+02] [ 1.38518652e-02 9.99903868e-01 6.16588133e-04 -1.07984205e+01] [ 1.03490581e-02 -7.59981752e-04 9.99946158e-01 3.44933253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.420714057 meters Centerline goodness [0,1] 0.9624874180639776 Centerline is valid? [True, True] Translation: X:298.16, Y:-10.80, Z:3.45 [[ 9.99845457e-01 -1.48489847e-02 -9.41119593e-03 2.98159189e+02] [ 1.48549129e-02 9.99889503e-01 5.60320357e-04 -1.08042084e+01] [ 9.40183583e-03 -7.00036259e-04 9.99955557e-01 3.45003023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.450714057 meters Centerline goodness [0,1] 0.9594481810594531 Centerline is valid? [True, True] Translation: X:298.19, Y:-10.81, Z:3.45 [[ 9.99807391e-01 -1.76214704e-02 -8.64089961e-03 2.98189133e+02] [ 1.76265740e-02 9.99844507e-01 5.14834143e-04 -1.08105087e+01] [ 8.63048387e-03 -6.67044437e-04 9.99962534e-01 3.45113572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.480714057 meters Centerline goodness [0,1] 0.9607314442592411 Centerline is valid? [True, True] Translation: X:298.22, Y:-10.81, Z:3.45 [[ 9.99781420e-01 -1.89760555e-02 -8.77621696e-03 2.98220677e+02] [ 1.89813748e-02 9.99819701e-01 5.23209594e-04 -1.08119863e+01] [ 8.76470615e-03 -6.89679895e-04 9.99961351e-01 3.45116319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51071405700003 meters Centerline goodness [0,1] 0.9603366855073527 Centerline is valid? [True, True] Translation: X:298.25, Y:-10.82, Z:3.45 [[ 9.99733086e-01 -2.12944365e-02 -8.96118056e-03 2.98251252e+02] [ 2.13000780e-02 9.99772985e-01 5.34564392e-04 -1.08150269e+01] [ 8.94776299e-03 -7.25295554e-04 9.99959705e-01 3.45078364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.540714057 meters Centerline goodness [0,1] 0.961917332746694 Centerline is valid? [True, True] Translation: X:298.28, Y:-10.81, Z:3.45 [[ 9.99669756e-01 -2.40360776e-02 -9.09099410e-03 2.98282569e+02] [ 2.40419978e-02 9.99710802e-01 5.42473329e-04 -1.08147201e+01] [ 9.07532607e-03 -7.60859840e-04 9.99958529e-01 3.45011909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57071405700003 meters Centerline goodness [0,1] 0.959724974919866 Centerline is valid? [True, True] Translation: X:298.31, Y:-10.82, Z:3.45 [[ 9.99634653e-01 -2.54380670e-02 -9.13593535e-03 2.98311987e+02] [ 2.54441041e-02 9.99676098e-01 5.45172247e-04 -1.08199141e+01] [ 9.11910808e-03 -7.77428760e-04 9.99958118e-01 3.44958123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.600714057 meters Centerline goodness [0,1] 0.9584298427404608 Centerline is valid? [True, True] Translation: X:298.34, Y:-10.83, Z:3.45 [[ 9.99616458e-01 -2.62342035e-02 -8.87147739e-03 2.98342965e+02] [ 2.62399308e-02 9.99655533e-01 5.29797342e-04 -1.08251924e+01] [ 8.85452265e-03 -7.62381095e-04 9.99960507e-01 3.44957419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63071405700003 meters Centerline goodness [0,1] 0.9550649413943515 Centerline is valid? [True, True] Translation: X:298.37, Y:-10.83, Z:3.45 [[ 9.99574197e-01 -2.78409041e-02 -8.73548576e-03 2.98372970e+02] [ 2.78465198e-02 9.99612074e-01 5.21864530e-04 -1.08301007e+01] [ 8.71756786e-03 -7.64895195e-04 9.99961709e-01 3.44964680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.660714057 meters Centerline goodness [0,1] 0.9565143454072832 Centerline is valid? [True, True] Translation: X:298.40, Y:-10.83, Z:3.45 [[ 9.99562630e-01 -2.81012305e-02 -9.21249470e-03 2.98404913e+02] [ 2.81074926e-02 9.99604755e-01 5.50945339e-04 -1.08300501e+01] [ 9.19337126e-03 -8.09644499e-04 9.99957412e-01 3.45013407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69071405700004 meters Centerline goodness [0,1] 0.9567307692307693 Centerline is valid? [True, True] Translation: X:298.44, Y:-10.83, Z:3.45 [[ 9.99569684e-01 -2.80456422e-02 -8.59585965e-03 2.98436546e+02] [ 2.80510981e-02 9.99606358e-01 5.14786890e-04 -1.08336953e+01] [ 8.57803843e-03 -7.55688672e-04 9.99962922e-01 3.45050049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.720714057 meters Centerline goodness [0,1] 0.9567307692307693 Centerline is valid? [True, True] Translation: X:298.47, Y:-10.84, Z:3.45 [[ 9.99571602e-01 -2.79772196e-02 -8.59582322e-03 2.98468305e+02] [ 2.79826783e-02 9.99608275e-01 5.15394746e-04 -1.08356634e+01] [ 8.57803672e-03 -7.55708107e-04 9.99962922e-01 3.45053566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.750714057 meters Centerline goodness [0,1] 0.9574120572389752 Centerline is valid? [True, True] Translation: X:298.50, Y:-10.84, Z:3.45 [[ 9.99591909e-01 -2.73956602e-02 -8.09279212e-03 2.98500916e+02] [ 2.74004841e-02 9.99624418e-01 4.85790653e-04 -1.08359441e+01] [ 8.07644406e-03 -7.07338829e-04 9.99967135e-01 3.45045351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.780714057 meters Centerline goodness [0,1] 0.9531482339175584 Centerline is valid? [True, True] Translation: X:298.53, Y:-10.84, Z:3.45 [[ 9.99595790e-01 -2.73477281e-02 -7.76907054e-03 2.98532236e+02] [ 2.73521775e-02 9.99625750e-01 4.67010192e-04 -1.08431109e+01] [ 7.75339130e-03 -6.79322418e-04 9.99969711e-01 3.44976867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.810714057 meters Centerline goodness [0,1] 0.9586326118185581 Centerline is valid? [True, True] Translation: X:298.56, Y:-10.84, Z:3.45 [[ 9.99606712e-01 -2.69743390e-02 -7.66856088e-03 2.98564401e+02] [ 2.69786674e-02 9.99635903e-01 4.61523299e-04 -1.08374420e+01] [ 7.65331950e-03 -6.68229340e-04 9.99970490e-01 3.45039614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.840714057 meters Centerline goodness [0,1] 0.9574499195788858 Centerline is valid? [True, True] Translation: X:298.60, Y:-10.84, Z:3.45 [[ 9.99614837e-01 -2.64743806e-02 -8.32378535e-03 2.98596063e+02] [ 2.64794678e-02 9.99649232e-01 5.01541154e-04 -1.08393413e+01] [ 8.30758763e-03 -7.21757385e-04 9.99965231e-01 3.45060038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.870714057 meters Centerline goodness [0,1] 0.9592848594387319 Centerline is valid? [True, True] Translation: X:298.63, Y:-10.84, Z:3.45 [[ 9.99638732e-01 -2.55033757e-02 -8.48435329e-03 2.98628270e+02] [ 2.55086314e-02 9.99674471e-01 5.11802942e-04 -1.08407966e+01] [ 8.46853868e-03 -7.28042284e-04 9.99963876e-01 3.45057065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.900714057 meters Centerline goodness [0,1] 0.9618147170917619 Centerline is valid? [True, True] Translation: X:298.66, Y:-10.84, Z:3.45 [[ 9.99657254e-01 -2.45898323e-02 -8.98417824e-03 2.98660873e+02] [ 2.45956946e-02 9.99697333e-01 5.42598281e-04 -1.08363231e+01] [ 8.96811662e-03 -7.63384412e-04 9.99959494e-01 3.45043593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.930714057 meters Centerline goodness [0,1] 0.9593737807257121 Centerline is valid? [True, True] Translation: X:298.69, Y:-10.84, Z:3.45 [[ 9.99667063e-01 -2.43115585e-02 -8.64352995e-03 2.98691835e+02] [ 2.43169785e-02 9.99704162e-01 5.22502480e-04 -1.08430694e+01] [ 8.62827002e-03 -7.32513052e-04 9.99962507e-01 3.44977997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.960714057 meters Centerline goodness [0,1] 0.9612775717353114 Centerline is valid? [True, True] Translation: X:298.72, Y:-10.84, Z:3.45 [[ 9.99705817e-01 -2.29164083e-02 -7.94462913e-03 2.98724108e+02] [ 2.29209468e-02 9.99737165e-01 4.80674638e-04 -1.08397663e+01] [ 7.93152567e-03 -6.62631654e-04 9.99968325e-01 3.45157899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.990714057 meters Centerline goodness [0,1] 0.9614014541550774 Centerline is valid? [True, True] Translation: X:298.76, Y:-10.84, Z:3.45 [[ 9.99725952e-01 -2.22181944e-02 -7.37379536e-03 2.98756186e+02] [ 2.22220889e-02 9.99752959e-01 4.46639044e-04 -1.08411454e+01] [ 7.36205022e-03 -6.10377779e-04 9.99972713e-01 3.45169977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.020714057 meters Centerline goodness [0,1] 0.9614436060850243 Centerline is valid? [True, True] Translation: X:298.79, Y:-10.84, Z:3.45 [[ 9.99771529e-01 -2.00435764e-02 -7.42593565e-03 2.98786537e+02] [ 2.00474672e-02 9.99798928e-01 4.49876466e-04 -1.08416075e+01] [ 7.41542537e-03 -5.98644884e-04 9.99972326e-01 3.45223424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.050714057 meters Centerline goodness [0,1] 0.9566013327149796 Centerline is valid? [True, True] Translation: X:298.82, Y:-10.85, Z:3.45 [[ 9.99784741e-01 -1.91830208e-02 -7.90464395e-03 2.98816749e+02] [ 1.91874056e-02 9.99815790e-01 4.79235818e-04 -1.08534087e+01] [ 7.89399464e-03 -6.30802268e-04 9.99968643e-01 3.45066970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.080714057 meters Centerline goodness [0,1] 0.9619416812951044 Centerline is valid? [True, True] Translation: X:298.85, Y:-10.85, Z:3.45 [[ 9.99803408e-01 -1.74974353e-02 -9.32653601e-03 2.98849076e+02] [ 1.75034712e-02 9.99846642e-01 5.65938635e-04 -1.08468112e+01] [ 9.31520324e-03 -7.29074131e-04 9.99956347e-01 3.44913689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.110714057 meters Centerline goodness [0,1] 0.9610643709645862 Centerline is valid? [True, True] Translation: X:298.88, Y:-10.85, Z:3.45 [[ 9.99805841e-01 -1.68227552e-02 -1.02603701e-02 2.98880599e+02] [ 1.68300322e-02 9.99858171e-01 6.23298134e-04 -1.08505938e+01] [ 1.02484293e-02 -7.95859474e-04 9.99947167e-01 3.44844340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.140714057 meters Centerline goodness [0,1] 0.9619789504529804 Centerline is valid? [True, True] Translation: X:298.91, Y:-10.85, Z:3.45 [[ 9.99815707e-01 -1.61082717e-02 -1.04439086e-02 2.98912399e+02] [ 1.61157778e-02 9.99869931e-01 6.34940046e-04 -1.08514116e+01] [ 1.04323224e-02 -8.03134742e-04 9.99945259e-01 3.44796659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.170714057 meters Centerline goodness [0,1] 0.962863359655771 Centerline is valid? [True, True] Translation: X:298.94, Y:-10.85, Z:3.45 [[ 9.99826759e-01 -1.57388883e-02 -9.93680202e-03 2.98943440e+02] [ 1.57456684e-02 9.99875847e-01 6.04461037e-04 -1.08522617e+01] [ 9.92605479e-03 -7.60817909e-04 9.99950446e-01 3.44887034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.200714057 meters Centerline goodness [0,1] 0.9620451157220715 Centerline is valid? [True, True] Translation: X:298.97, Y:-10.85, Z:3.45 [[ 9.99859957e-01 -1.38290269e-02 -9.42469362e-03 2.98973075e+02] [ 1.38350422e-02 9.99904127e-01 5.73345251e-04 -1.08548066e+01] [ 9.41586124e-03 -7.03655992e-04 9.99955422e-01 3.45014206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.230714057 meters Centerline goodness [0,1] 0.9627807957715461 Centerline is valid? [True, True] Translation: X:299.00, Y:-10.86, Z:3.45 [[ 9.99885773e-01 -1.16573119e-02 -9.62021567e-03 2.99003737e+02] [ 1.16634793e-02 9.99931808e-01 5.85239711e-04 -1.08550345e+01] [ 9.61273732e-03 -6.97378047e-04 9.99953553e-01 3.44940593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26071405700003 meters Centerline goodness [0,1] 0.9624067506420447 Centerline is valid? [True, True] Translation: X:299.03, Y:-10.86, Z:3.45 [[ 9.99895010e-01 -1.05014308e-02 -9.98448124e-03 2.99034224e+02] [ 1.05080233e-02 9.99944604e-01 6.08038784e-04 -1.08582656e+01] [ 9.97754287e-03 -7.12892107e-04 9.99949969e-01 3.44880493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.290714057 meters Centerline goodness [0,1] 0.9624523320621883 Centerline is valid? [True, True] Translation: X:299.06, Y:-10.86, Z:3.45 [[ 9.99898289e-01 -9.94299896e-03 -1.02249147e-02 2.99064543e+02] [ 9.94988455e-03 9.99950305e-01 6.22762187e-04 -1.08601084e+01] [ 1.02182144e-02 -7.24435566e-04 9.99947530e-01 3.44799196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32071405700003 meters Centerline goodness [0,1] 0.9638571918311377 Centerline is valid? [True, True] Translation: X:299.09, Y:-10.86, Z:3.45 [[ 9.99904680e-01 -8.97086544e-03 -1.04954150e-02 2.99094487e+02] [ 8.97806364e-03 9.99959492e-01 6.38927413e-04 -1.08617245e+01] [ 1.04892581e-02 -7.33095015e-04 9.99944717e-01 3.44726639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.350714057 meters Centerline goodness [0,1] 0.9635624556162303 Centerline is valid? [True, True] Translation: X:299.12, Y:-10.86, Z:3.45 [[ 9.99908433e-01 -8.82729146e-03 -1.02569308e-02 2.99124336e+02] [ 8.83415528e-03 9.99960783e-01 6.24073578e-04 -1.08639961e+01] [ 1.02510197e-02 -7.14627752e-04 9.99947202e-01 3.44703569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38071405700003 meters Centerline goodness [0,1] 0.9659188427117813 Centerline is valid? [True, True] Translation: X:299.15, Y:-10.86, Z:3.45 [[ 9.99916786e-01 -8.55254437e-03 -9.65788455e-03 2.99154323e+02] [ 8.55861395e-03 9.99963202e-01 5.87302851e-04 -1.08623708e+01] [ 9.65250622e-03 -6.69912085e-04 9.99953189e-01 3.44916675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.410714057 meters Centerline goodness [0,1] 0.9656418646675294 Centerline is valid? [True, True] Translation: X:299.18, Y:-10.86, Z:3.45 [[ 9.99920811e-01 -8.74073917e-03 -9.05377582e-03 2.99183788e+02] [ 8.74607803e-03 9.99961601e-01 5.50256914e-04 -1.08608499e+01] [ 9.04861851e-03 -6.29398369e-04 9.99958862e-01 3.44945779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44071405700004 meters Centerline goodness [0,1] 0.9677600703949941 Centerline is valid? [True, True] Translation: X:299.21, Y:-10.86, Z:3.45 [[ 9.99911395e-01 -9.96924728e-03 -8.82129793e-03 2.99214215e+02] [ 9.97436272e-03 9.99950111e-01 5.36090532e-04 -1.08616771e+01] [ 8.81551343e-03 -6.24029857e-04 9.99960948e-01 3.44959896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.470714057 meters Centerline goodness [0,1] 0.9628259123110257 Centerline is valid? [True, True] Translation: X:299.24, Y:-10.87, Z:3.45 [[ 9.99883575e-01 -1.22063027e-02 -9.15660512e-03 2.99243790e+02] [ 1.22119078e-02 9.99925277e-01 5.56467919e-04 -1.08717343e+01] [ 9.14912850e-03 -6.68222750e-04 9.99957923e-01 3.44839483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.500714057 meters Centerline goodness [0,1] 0.9637446808510638 Centerline is valid? [True, True] Translation: X:299.27, Y:-10.88, Z:3.45 [[ 9.99865197e-01 -1.32638879e-02 -9.67770542e-03 2.99274914e+02] [ 1.32702012e-02 9.99911774e-01 5.88429829e-04 -1.08751176e+01] [ 9.66904673e-03 -7.16775605e-04 9.99952997e-01 3.44799499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.530714057 meters Centerline goodness [0,1] 0.9647167833020409 Centerline is valid? [True, True] Translation: X:299.31, Y:-10.88, Z:3.45 [[ 9.99846449e-01 -1.42609352e-02 -1.01835537e-02 2.99306087e+02] [ 1.42679808e-02 9.99898015e-01 6.19540791e-04 -1.08774005e+01] [ 1.01736799e-02 -7.64744408e-04 9.99947954e-01 3.44748680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.560714057 meters Centerline goodness [0,1] 0.9642303218301668 Centerline is valid? [True, True] Translation: X:299.34, Y:-10.88, Z:3.45 [[ 9.99792970e-01 -1.69650159e-02 -1.12340807e-02 2.99337075e+02] [ 1.69737636e-02 9.99855701e-01 6.83781720e-04 -1.08830648e+01] [ 1.12208592e-02 -8.74324786e-04 9.99936662e-01 3.44545644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.590714057 meters Centerline goodness [0,1] 0.9638469211493078 Centerline is valid? [True, True] Translation: X:299.37, Y:-10.89, Z:3.45 [[ 9.99767824e-01 -1.80439793e-02 -1.17776458e-02 2.99368396e+02] [ 1.80536732e-02 9.99836762e-01 7.17268741e-04 -1.08877960e+01] [ 1.17627809e-02 -9.29731977e-04 9.99930384e-01 3.44523802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.620714057 meters Centerline goodness [0,1] 0.9630790157642887 Centerline is valid? [True, True] Translation: X:299.40, Y:-10.90, Z:3.44 [[ 9.99725934e-01 -2.00458834e-02 -1.20921626e-02 2.99398526e+02] [ 2.00562502e-02 9.99798582e-01 7.36651028e-04 -1.08959240e+01] [ 1.20749602e-02 -9.78972575e-04 9.99926616e-01 3.44388304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.650714057 meters Centerline goodness [0,1] 0.9633984082057236 Centerline is valid? [True, True] Translation: X:299.43, Y:-10.90, Z:3.44 [[ 9.99708420e-01 -2.04035846e-02 -1.29139307e-02 2.99430053e+02] [ 2.04154436e-02 9.99791273e-01 7.87134370e-04 -1.08991646e+01] [ 1.28951749e-02 -1.05054848e-03 9.99916302e-01 3.44332729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.680714057 meters Centerline goodness [0,1] 0.9634988729731695 Centerline is valid? [True, True] Translation: X:299.46, Y:-10.90, Z:3.44 [[ 9.99698725e-01 -2.08609269e-02 -1.29337397e-02 2.99461306e+02] [ 2.08728661e-02 9.99781827e-01 7.88785959e-04 -1.08996586e+01] [ 1.29144631e-02 -1.05851253e-03 9.99916045e-01 3.44356502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.710714057 meters Centerline goodness [0,1] 0.9625808326672963 Centerline is valid? [True, True] Translation: X:299.49, Y:-10.91, Z:3.44 [[ 9.99711363e-01 -2.07872384e-02 -1.20449538e-02 2.99491604e+02] [ 2.07975960e-02 9.99783436e-01 7.35286371e-04 -1.09059302e+01] [ 1.20270607e-02 -9.85580223e-04 9.99927187e-01 3.44340159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.740714057 meters Centerline goodness [0,1] 0.9608583109562862 Centerline is valid? [True, True] Translation: X:299.52, Y:-10.91, Z:3.44 [[ 9.99733675e-01 -2.03585509e-02 -1.08678122e-02 2.99522383e+02] [ 2.03669637e-02 9.99792351e-01 6.63978809e-04 -1.09123680e+01] [ 1.08520379e-02 -8.85146313e-04 9.99940723e-01 3.44330088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.770714057 meters Centerline goodness [0,1] 0.959769143464297 Centerline is valid? [True, True] Translation: X:299.55, Y:-10.92, Z:3.44 [[ 9.99727801e-01 -2.08773046e-02 -1.04144806e-02 2.99552950e+02] [ 2.08850634e-02 9.99781680e-01 6.36795709e-04 -1.09170259e+01] [ 1.03989123e-02 -8.54129461e-04 9.99945565e-01 3.44432258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.800714057 meters Centerline goodness [0,1] 0.9610017112969703 Centerline is valid? [True, True] Translation: X:299.59, Y:-10.92, Z:3.45 [[ 9.99730161e-01 -2.09283413e-02 -1.00801166e-02 2.99585392e+02] [ 2.09356191e-02 9.99780636e-01 6.17007335e-04 -1.09167169e+01] [ 1.00649925e-02 -8.27874325e-04 9.99949004e-01 3.44536275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.830714057 meters Centerline goodness [0,1] 0.959280280159401 Centerline is valid? [True, True] Translation: X:299.62, Y:-10.92, Z:3.45 [[ 9.99714149e-01 -2.17242059e-02 -9.98397398e-03 2.99616882e+02] [ 2.17313902e-02 9.99763658e-01 6.11648587e-04 -1.09193380e+01] [ 9.96832678e-03 -8.28439381e-04 9.99949972e-01 3.44579009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.860714057 meters Centerline goodness [0,1] 0.9616708799807392 Centerline is valid? [True, True] Translation: X:299.65, Y:-10.92, Z:3.45 [[ 9.99694967e-01 -2.29232384e-02 -9.19228729e-03 2.99648737e+02] [ 2.29293843e-02 9.99736928e-01 5.63746828e-04 -1.09206236e+01] [ 9.17694615e-03 -7.74348354e-04 9.99957591e-01 3.44695000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.890714057 meters Centerline goodness [0,1] 0.9610164597170083 Centerline is valid? [True, True] Translation: X:299.68, Y:-10.93, Z:3.45 [[ 9.99656323e-01 -2.45393549e-02 -9.22262045e-03 2.99679607e+02] [ 2.45456117e-02 9.99698551e-01 5.65822608e-04 -1.09252182e+01] [ 9.20595538e-03 -7.92003007e-04 9.99957311e-01 3.44636538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.920714057 meters Centerline goodness [0,1] 0.9578308920480426 Centerline is valid? [True, True] Translation: X:299.71, Y:-10.94, Z:3.44 [[ 9.99580084e-01 -2.74603471e-02 -9.25116599e-03 2.99708816e+02] [ 2.74667684e-02 9.99622556e-01 5.67745646e-04 -1.09373339e+01] [ 9.23208370e-03 -8.21606874e-04 9.99957046e-01 3.44481148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.950714057 meters Centerline goodness [0,1] 0.9585271131994055 Centerline is valid? [True, True] Translation: X:299.74, Y:-10.94, Z:3.44 [[ 9.99534876e-01 -2.90497422e-02 -9.28138767e-03 2.99739693e+02] [ 2.90562750e-02 9.99577615e-01 5.69760710e-04 -1.09400085e+01] [ 9.26091595e-03 -8.39178252e-04 9.99956765e-01 3.44427343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.980714057 meters Centerline goodness [0,1] 0.9579291891633619 Centerline is valid? [True, True] Translation: X:299.77, Y:-10.95, Z:3.44 [[ 9.99440982e-01 -3.17499384e-02 -1.04720854e-02 2.99770347e+02] [ 3.17584025e-02 9.99495368e-01 6.42907559e-04 -1.09471253e+01] [ 1.04463886e-02 -9.75124866e-04 9.99944960e-01 3.44337009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01071405700003 meters Centerline goodness [0,1] 0.9552926020469023 Centerline is valid? [True, True] Translation: X:299.80, Y:-10.96, Z:3.44 [[ 9.99351982e-01 -3.41004756e-02 -1.15227747e-02 2.99799797e+02] [ 3.41108767e-02 9.99417804e-01 7.07277089e-04 -1.09550155e+01] [ 1.14919477e-02 -1.09987071e-03 9.99933360e-01 3.44211983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.040714057 meters Centerline goodness [0,1] 0.9569287943397575 Centerline is valid? [True, True] Translation: X:299.83, Y:-10.96, Z:3.44 [[ 9.99310494e-01 -3.51245865e-02 -1.20332767e-02 2.99832290e+02] [ 3.51360122e-02 9.99382266e-01 7.39348935e-04 -1.09562334e+01] [ 1.19998740e-02 -1.16164051e-03 9.99927324e-01 3.44152062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07071405700003 meters Centerline goodness [0,1] 0.9552841665082684 Centerline is valid? [True, True] Translation: X:299.86, Y:-10.96, Z:3.44 [[ 9.99283883e-01 -3.56876323e-02 -1.25743627e-02 2.99863038e+02] [ 3.57001613e-02 9.99362247e-01 7.73265593e-04 -1.09626341e+01] [ 1.25387473e-02 -1.22161862e-03 9.99920641e-01 3.44078467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.100714057 meters Centerline goodness [0,1] 0.9574629699962021 Centerline is valid? [True, True] Translation: X:299.89, Y:-10.96, Z:3.44 [[ 9.99211336e-01 -3.73427623e-02 -1.34990545e-02 2.99893808e+02] [ 3.73573552e-02 9.99301625e-01 8.30408147e-04 -1.09642659e+01] [ 1.34586174e-02 -1.33404221e-03 9.99908539e-01 3.43980646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13071405700003 meters Centerline goodness [0,1] 0.9458830789679809 Centerline is valid? [True, False] Translation: X:299.89, Y:-10.97, Z:3.44 [[ 9.99222598e-01 -3.69975919e-02 -1.36153188e-02 2.99894367e+02] [ 3.70228442e-02 9.99313127e-01 1.60725893e-03 -1.09661694e+01] [ 1.35465021e-02 -2.11008728e-03 9.99906015e-01 3.43929760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.160714057 meters Centerline goodness [0,1] 0.9426943541931535 Centerline is valid? [False, False] Translation: X:299.89, Y:-10.97, Z:3.44 [[ 9.99240461e-01 -3.65176915e-02 -1.35999661e-02 2.99894466e+02] [ 3.65556291e-02 9.99328363e-01 2.55138776e-03 -1.09685496e+01] [ 1.34976611e-02 -3.04660520e-03 9.99904261e-01 3.43923404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19071405700004 meters Centerline goodness [0,1] 0.9573504434799018 Centerline is valid? [False, True] Translation: X:299.89, Y:-10.97, Z:3.44 [[ 9.99365554e-01 -3.30328922e-02 -1.33160685e-02 2.99893061e+02] [ 3.31221286e-02 9.99429931e-01 6.53745784e-03 -1.09702692e+01] [ 1.30925263e-02 -6.97436671e-03 9.99889966e-01 3.43983322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.220714057 meters Centerline goodness [0,1] 0.9542997426999976 Centerline is valid? [True, True] Translation: X:299.92, Y:-10.97, Z:3.44 [[ 9.99424603e-01 -3.11297406e-02 -1.34685300e-02 2.99923100e+02] [ 3.11441865e-02 9.99514529e-01 8.64108602e-04 -1.09729859e+01] [ 1.34350920e-02 -1.28307781e-03 9.99908922e-01 3.44150251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.250714057 meters Centerline goodness [0,1] 0.9613267499822816 Centerline is valid? [True, True] Translation: X:299.95, Y:-10.97, Z:3.44 [[ 9.99489972e-01 -2.88941484e-02 -1.35986519e-02 2.99954562e+02] [ 2.89086725e-02 9.99581676e-01 8.72652543e-04 -1.09672851e+01] [ 1.35677487e-02 -1.26532644e-03 9.99907153e-01 3.44261001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.280714057 meters Centerline goodness [0,1] 0.9619984431391975 Centerline is valid? [True, True] Translation: X:299.99, Y:-10.97, Z:3.44 [[ 9.99620432e-01 -2.43829519e-02 -1.28243370e-02 2.99985205e+02] [ 2.43955010e-02 9.99702047e-01 8.22989267e-04 -1.09650742e+01] [ 1.28004491e-02 -1.13553301e-03 9.99917426e-01 3.44304119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.310714057 meters Centerline goodness [0,1] 0.9639254411868932 Centerline is valid? [True, True] Translation: X:300.02, Y:-10.96, Z:3.44 [[ 9.99687677e-01 -2.18206035e-02 -1.21823620e-02 3.00015746e+02] [ 2.18317386e-02 9.99761354e-01 7.81787405e-04 -1.09638500e+01] [ 1.21623957e-02 -1.04750538e-03 9.99925487e-01 3.44396694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.340714057 meters Centerline goodness [0,1] 0.9633458424791711 Centerline is valid? [True, True] Translation: X:300.05, Y:-10.96, Z:3.44 [[ 9.99791697e-01 -1.69912765e-02 -1.13074454e-02 3.00045823e+02] [ 1.70005627e-02 9.99855217e-01 7.25626162e-04 -1.09634444e+01] [ 1.12934789e-02 -9.17707946e-04 9.99935806e-01 3.44430635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.370714057 meters Centerline goodness [0,1] 0.9636522313425795 Centerline is valid? [True, True] Translation: X:300.07, Y:-10.97, Z:3.44 [[ 9.99827393e-01 -1.46767780e-02 -1.13919838e-02 3.00074981e+02] [ 1.46860525e-02 9.99891887e-01 7.30892056e-04 -1.09694272e+01] [ 1.13800251e-02 -8.98069171e-04 9.99934842e-01 3.44426578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.400714057 meters Centerline goodness [0,1] 0.9665737503543419 Centerline is valid? [True, True] Translation: X:300.11, Y:-10.96, Z:3.44 [[ 9.99870678e-01 -1.08707330e-02 -1.18513646e-02 3.00106075e+02] [ 1.08805040e-02 9.99940517e-01 7.60291288e-04 -1.09622150e+01] [ 1.18423947e-02 -8.89141785e-04 9.99929481e-01 3.44457914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.430714057 meters Centerline goodness [0,1] 0.9673634204275534 Centerline is valid? [True, True] Translation: X:300.14, Y:-10.96, Z:3.44 [[ 9.99892103e-01 -7.83135346e-03 -1.24278570e-02 3.00135357e+02] [ 7.84186040e-03 9.99968935e-01 7.96928546e-04 -1.09628718e+01] [ 1.24212299e-02 -8.94300080e-04 9.99922454e-01 3.44331269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.460714057 meters Centerline goodness [0,1] 0.9678101894776883 Centerline is valid? [True, True] Translation: X:300.16, Y:-10.96, Z:3.44 [[ 9.99901763e-01 -7.12218345e-03 -1.20722371e-02 3.00163940e+02] [ 7.13201758e-03 9.99974269e-01 7.71750906e-04 -1.09631258e+01] [ 1.20664300e-02 -8.57774499e-04 9.99926830e-01 3.44344296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.490714057 meters Centerline goodness [0,1] 0.9668320710368242 Centerline is valid? [True, True] Translation: X:300.19, Y:-10.96, Z:3.44 [[ 9.99911907e-01 -6.01804620e-03 -1.18304936e-02 3.00192243e+02] [ 6.02739895e-03 9.99981550e-01 7.55066980e-04 -1.09637772e+01] [ 1.18257313e-02 -8.26307569e-04 9.99929732e-01 3.44421983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.520714057 meters Centerline goodness [0,1] 0.9689716947330705 Centerline is valid? [True, True] Translation: X:300.22, Y:-10.96, Z:3.44 [[ 9.99914518e-01 -5.38453682e-03 -1.19148048e-02 3.00221863e+02] [ 5.39395065e-03 9.99985165e-01 7.58100785e-04 -1.09569082e+01] [ 1.19105460e-02 -8.22303851e-04 9.99928729e-01 3.44478984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.550714057 meters Centerline goodness [0,1] 0.966488319877705 Centerline is valid? [True, True] Translation: X:300.25, Y:-10.97, Z:3.44 [[ 9.99915408e-01 -5.48748878e-03 -1.17925203e-02 3.00248695e+02] [ 5.49669711e-03 9.99984613e-01 7.48592465e-04 -1.09650229e+01] [ 1.17882309e-02 -8.13349052e-04 9.99930186e-01 3.44259507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.580714057 meters Centerline goodness [0,1] 0.9668855198758506 Centerline is valid? [True, True] Translation: X:300.28, Y:-10.96, Z:3.44 [[ 9.99910005e-01 -6.67172637e-03 -1.16391808e-02 3.00277490e+02] [ 6.68074720e-03 9.99977412e-01 7.36331341e-04 -1.09614649e+01] [ 1.16340053e-02 -8.14023499e-04 9.99931991e-01 3.44338002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.610714057 meters Centerline goodness [0,1] 0.9668855198758506 Centerline is valid? [True, True] Translation: X:300.30, Y:-10.96, Z:3.44 [[ 9.99908113e-01 -6.94912634e-03 -1.16393789e-02 3.00304895e+02] [ 6.95812949e-03 9.99975523e-01 7.33190920e-04 -1.09631118e+01] [ 1.16339990e-02 -8.14111855e-04 9.99931991e-01 3.44344977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.640714057 meters Centerline goodness [0,1] 0.9673879332967531 Centerline is valid? [True, True] Translation: X:300.33, Y:-10.96, Z:3.44 [[ 9.99909801e-01 -8.37409857e-03 -1.05007266e-02 3.00334369e+02] [ 8.38149487e-03 9.99964656e-01 6.60551412e-04 -1.09648481e+01] [ 1.04948240e-02 -7.48503617e-04 9.99944648e-01 3.44368942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.670714057 meters Centerline goodness [0,1] 0.9684152901413814 Centerline is valid? [True, True] Translation: X:300.36, Y:-10.96, Z:3.44 [[ 9.99908650e-01 -8.67534220e-03 -1.03648599e-02 3.00363633e+02] [ 8.68254337e-03 9.99962095e-01 6.49971529e-04 -1.09639330e+01] [ 1.03588283e-02 -7.39905499e-04 9.99946072e-01 3.44427851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.700714057 meters Centerline goodness [0,1] 0.9673359017923377 Centerline is valid? [True, True] Translation: X:300.39, Y:-10.96, Z:3.45 [[ 9.99910585e-01 -8.63511118e-03 -1.02106189e-02 3.00392952e+02] [ 8.64208845e-03 9.99962452e-01 6.39409942e-04 -1.09628126e+01] [ 1.02047142e-02 -7.27593842e-04 9.99947666e-01 3.44552665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.730714057 meters Centerline goodness [0,1] 0.9650735735375309 Centerline is valid? [True, True] Translation: X:300.42, Y:-10.97, Z:3.45 [[ 9.99917522e-01 -8.62947753e-03 -9.51214733e-03 3.00421408e+02] [ 8.63552830e-03 9.99962536e-01 5.95221226e-04 -1.09702938e+01] [ 9.50665452e-03 -6.77314551e-04 9.99954581e-01 3.44590629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76071405700003 meters Centerline goodness [0,1] 0.9664811171361389 Centerline is valid? [True, True] Translation: X:300.45, Y:-10.96, Z:3.45 [[ 9.99925003e-01 -8.79620053e-03 -8.52145445e-03 3.00451862e+02] [ 8.80105972e-03 9.99961128e-01 5.32897681e-04 -1.09639744e+01] [ 8.51643572e-03 -6.07855545e-04 9.99963550e-01 3.44721621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.790714057 meters Centerline goodness [0,1] 0.9639754542173024 Centerline is valid? [True, True] Translation: X:300.48, Y:-10.97, Z:3.45 [[ 9.99918762e-01 -9.37070490e-03 -8.64055622e-03 3.00480665e+02] [ 9.37571957e-03 9.99955901e-01 5.40039846e-04 -1.09678422e+01] [ 8.63511463e-03 -6.21007406e-04 9.99962524e-01 3.44694540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82071405700003 meters Centerline goodness [0,1] 0.9646835229869849 Centerline is valid? [True, True] Translation: X:300.51, Y:-10.97, Z:3.45 [[ 9.99920342e-01 -9.63652751e-03 -8.15155881e-03 3.00511510e+02] [ 9.64099874e-03 9.99953395e-01 5.09393293e-04 -1.09663740e+01] [ 8.14627012e-03 -5.87941884e-04 9.99966646e-01 3.44712995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.850714057 meters Centerline goodness [0,1] 0.9633109296331093 Centerline is valid? [True, True] Translation: X:300.54, Y:-10.97, Z:3.45 [[ 9.99917477e-01 -9.69898055e-03 -8.42434078e-03 3.00541059e+02] [ 9.70375739e-03 9.99952779e-01 5.26337259e-04 -1.09710410e+01] [ 8.41883804e-03 -6.08041583e-04 9.99964376e-01 3.44693867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88071405700003 meters Centerline goodness [0,1] 0.9643614457831325 Centerline is valid? [True, True] Translation: X:300.57, Y:-10.97, Z:3.45 [[ 9.99908675e-01 -9.31507935e-03 -9.79135884e-03 3.00571348e+02] [ 9.32151352e-03 9.99956367e-01 6.11695076e-04 -1.09689448e+01] [ 9.78523362e-03 -7.02909497e-04 9.99951876e-01 3.44568156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.910714057 meters Centerline goodness [0,1] 0.9642346555525939 Centerline is valid? [True, True] Translation: X:300.60, Y:-10.97, Z:3.45 [[ 9.99904130e-01 -9.02779270e-03 -1.04990564e-02 3.00601047e+02] [ 9.03517345e-03 9.99958967e-01 6.55771364e-04 -1.09714916e+01] [ 1.04927054e-02 -7.50569290e-04 9.99944668e-01 3.44513387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94071405700004 meters Centerline goodness [0,1] 0.9641608391608392 Centerline is valid? [True, True] Translation: X:300.63, Y:-10.97, Z:3.45 [[ 9.99905628e-01 -8.49331177e-03 -1.07980579e-02 3.00630761e+02] [ 8.50108442e-03 9.99963638e-01 6.74124174e-04 -1.09692816e+01] [ 1.07919397e-02 -7.65855758e-04 9.99941472e-01 3.44515540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.970714057 meters Centerline goodness [0,1] 0.9633882307149634 Centerline is valid? [True, True] Translation: X:300.66, Y:-10.97, Z:3.45 [[ 9.99919740e-01 -7.60789578e-03 -1.01307973e-02 3.00660630e+02] [ 7.61468885e-03 9.99970808e-01 6.32132710e-04 -1.09701303e+01] [ 1.01256923e-02 -7.09224845e-04 9.99948482e-01 3.44544596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.000714057 meters Centerline goodness [0,1] 0.962991819244254 Centerline is valid? [True, True] Translation: X:300.69, Y:-10.97, Z:3.45 [[ 9.99944866e-01 -5.17824787e-03 -9.13509849e-03 3.00689612e+02] [ 5.18366760e-03 9.99986402e-01 5.69708559e-04 -1.09692443e+01] [ 9.13202418e-03 -6.17030463e-04 9.99958112e-01 3.44609654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.030714057 meters Centerline goodness [0,1] 0.9636746958755392 Centerline is valid? [True, True] Translation: X:300.72, Y:-10.97, Z:3.45 [[ 9.99950982e-01 -3.71552581e-03 -9.17763243e-03 3.00718067e+02] [ 3.72093001e-03 9.99992914e-01 5.71839752e-04 -1.09702053e+01] [ 9.17544271e-03 -6.05961049e-04 9.99957721e-01 3.44624412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.060714057 meters Centerline goodness [0,1] 0.9632284808583272 Centerline is valid? [True, True] Translation: X:300.75, Y:-10.97, Z:3.45 [[ 9.99964758e-01 -1.59851569e-03 -8.24178321e-03 3.00747072e+02] [ 1.60279954e-03 9.99998584e-01 5.13193278e-04 -1.09685602e+01] [ 8.24095119e-03 -5.26385118e-04 9.99965904e-01 3.44623647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.090714057 meters Centerline goodness [0,1] 0.9656586365966171 Centerline is valid? [True, True] Translation: X:300.78, Y:-10.96, Z:3.45 [[ 9.99971907e-01 9.10111137e-06 -7.49573115e-03 3.00776412e+02] [-5.60576519e-06 9.99999891e-01 4.66332451e-04 -1.09636746e+01] [ 7.49573458e-03 -4.66277331e-04 9.99971798e-01 3.44778942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.120714057 meters Centerline goodness [0,1] 0.9679771718452759 Centerline is valid? [True, True] Translation: X:300.81, Y:-10.96, Z:3.45 [[ 9.99977602e-01 1.82119084e-03 -6.44035478e-03 3.00806602e+02] [-1.81864973e-03 9.99998266e-01 4.00394999e-04 -1.09585169e+01] [ 6.44107281e-03 -3.88673281e-04 9.99979181e-01 3.44886317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.150714057 meters Centerline goodness [0,1] 0.965347624990823 Centerline is valid? [True, True] Translation: X:300.83, Y:-10.96, Z:3.45 [[ 9.99978644e-01 2.73217824e-03 -5.93681350e-03 3.00834161e+02] [-2.73003715e-03 9.99996205e-01 3.68719802e-04 -1.09634738e+01] [ 5.93779838e-03 -3.52504206e-04 9.99982309e-01 3.44886835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.180714057 meters Centerline goodness [0,1] 0.9638574938574939 Centerline is valid? [True, True] Translation: X:300.86, Y:-10.96, Z:3.45 [[ 9.99971424e-01 4.13389455e-03 -6.32949953e-03 3.00862445e+02] [-4.13149187e-03 9.99991388e-01 3.92629187e-04 -1.09643276e+01] [ 6.33106811e-03 -3.66467691e-04 9.99979891e-01 3.44807328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.210714057 meters Centerline goodness [0,1] 0.9678631974644357 Centerline is valid? [True, True] Translation: X:300.89, Y:-10.96, Z:3.45 [[ 9.99968299e-01 4.01693726e-03 -6.87503087e-03 3.00891249e+02] [-4.01410310e-03 9.99991853e-01 4.25989162e-04 -1.09599183e+01] [ 6.87668603e-03 -3.98378575e-04 9.99976276e-01 3.44738427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.240714057 meters Centerline goodness [0,1] 0.9660027472527473 Centerline is valid? [True, True] Translation: X:300.92, Y:-10.96, Z:3.45 [[ 9.99959345e-01 2.57752613e-03 -8.64083310e-03 3.00920643e+02] [-2.57299923e-03 9.99996547e-01 5.34971235e-04 -1.09623261e+01] [ 8.64218217e-03 -5.12716629e-04 9.99962524e-01 3.44528877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.270714057 meters Centerline goodness [0,1] 0.9664073810517018 Centerline is valid? [True, True] Translation: X:300.95, Y:-10.97, Z:3.44 [[ 9.99954775e-01 6.67482851e-04 -9.48697783e-03 3.00948559e+02] [-6.61944794e-04 9.99999609e-01 5.86881651e-04 -1.09678723e+01] [ 9.48736586e-03 -5.80575254e-04 9.99954825e-01 3.44433763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.300714057 meters Centerline goodness [0,1] 0.9678985702724575 Centerline is valid? [True, True] Translation: X:300.98, Y:-10.97, Z:3.44 [[ 9.99959294e-01 -3.99210929e-04 -9.01397577e-03 3.00977848e+02] [ 4.04248370e-04 9.99999763e-01 5.57032783e-04 -1.09672728e+01] [ 9.01375126e-03 -5.60653994e-04 9.99959218e-01 3.44468373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.330714057 meters Centerline goodness [0,1] 0.9642944485204207 Centerline is valid? [True, True] Translation: X:301.01, Y:-10.97, Z:3.44 [[ 9.99952929e-01 -3.20316175e-03 -9.15862563e-03 3.01006291e+02] [ 3.20847715e-03 9.99994693e-01 5.65736963e-04 -1.09730133e+01] [ 9.15676487e-03 -5.95095574e-04 9.99957899e-01 3.44466164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.360714057 meters Centerline goodness [0,1] 0.9629142300194932 Centerline is valid? [True, True] Translation: X:301.03, Y:-10.98, Z:3.45 [[ 9.99956688e-01 -4.17895595e-03 -8.31610377e-03 3.01033688e+02] [ 4.18336767e-03 9.99991118e-01 5.13178153e-04 -1.09788578e+01] [ 8.31388536e-03 -5.47945246e-04 9.99965289e-01 3.44516471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.390714057 meters Centerline goodness [0,1] 0.9614432433757384 Centerline is valid? [True, True] Translation: X:301.06, Y:-10.98, Z:3.45 [[ 9.99941124e-01 -7.71328663e-03 -7.63241867e-03 3.01063391e+02] [ 7.71710328e-03 9.99970112e-01 4.70732952e-04 -1.09817934e+01] [ 7.62855965e-03 -5.29605400e-04 9.99970762e-01 3.44603743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.420714057 meters Centerline goodness [0,1] 0.9601787196640461 Centerline is valid? [True, True] Translation: X:301.09, Y:-10.99, Z:3.45 [[ 9.99930660e-01 -8.86646810e-03 -7.74986672e-03 3.01093482e+02] [ 8.87043736e-03 9.99960543e-01 4.77948169e-04 -1.09859352e+01] [ 7.74532322e-03 -5.46659736e-04 9.99969855e-01 3.44616135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.450714057 meters Centerline goodness [0,1] 0.9570985316752584 Centerline is valid? [True, True] Translation: X:301.12, Y:-10.99, Z:3.45 [[ 9.99905000e-01 -1.21800414e-02 -6.45269071e-03 3.01123022e+02] [ 1.21828616e-02 9.99925707e-01 3.97940715e-04 -1.09935688e+01] [ 6.44736439e-03 -4.76515149e-04 9.99979102e-01 3.44624138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.480714057 meters Centerline goodness [0,1] 0.9563848481890072 Centerline is valid? [True, True] Translation: X:301.15, Y:-11.00, Z:3.45 [[ 9.99878417e-01 -1.39449238e-02 -6.97788405e-03 3.01153517e+02] [ 1.39482656e-02 9.99902626e-01 4.30471611e-04 -1.09982656e+01] [ 6.97120169e-03 -5.27748653e-04 9.99975562e-01 3.44540246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51071405700003 meters Centerline goodness [0,1] 0.9565969262245171 Centerline is valid? [True, True] Translation: X:301.18, Y:-11.00, Z:3.44 [[ 9.99826640e-01 -1.64000186e-02 -8.81645778e-03 3.01183844e+02] [ 1.64054503e-02 9.99865273e-01 5.44105653e-04 -1.10031183e+01] [ 8.80634663e-03 -6.88649286e-04 9.99960986e-01 3.44378184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.540714057 meters Centerline goodness [0,1] 0.9595437707155391 Centerline is valid? [True, True] Translation: X:301.22, Y:-11.00, Z:3.44 [[ 9.99809130e-01 -1.72264063e-02 -9.21710119e-03 3.01215762e+02] [ 1.72323803e-02 9.99851350e-01 5.69106907e-04 -1.10012158e+01] [ 9.20592740e-03 -7.27830874e-04 9.99957360e-01 3.44362695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57071405700003 meters Centerline goodness [0,1] 0.9583605842598648 Centerline is valid? [True, True] Translation: X:301.25, Y:-11.01, Z:3.44 [[ 9.99786869e-01 -1.81830167e-02 -9.77726693e-03 3.01246825e+02] [ 1.81897890e-02 9.99834370e-01 6.04165012e-04 -1.10084710e+01] [ 9.76466198e-03 -7.81882668e-04 9.99952019e-01 3.44348880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.600714057 meters Centerline goodness [0,1] 0.9561090476537276 Centerline is valid? [True, True] Translation: X:301.28, Y:-11.02, Z:3.44 [[ 9.99780700e-01 -1.84683304e-02 -9.87286009e-03 3.01277931e+02] [ 1.84752583e-02 9.99829131e-01 6.10964529e-04 -1.10156618e+01] [ 9.85988963e-03 -7.93234184e-04 9.99951075e-01 3.44273860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63071405700003 meters Centerline goodness [0,1] 0.9615058298790391 Centerline is valid? [True, True] Translation: X:301.31, Y:-11.01, Z:3.44 [[ 9.99790453e-01 -1.80742941e-02 -9.61087849e-03 3.01310198e+02] [ 1.80808483e-02 9.99836351e-01 5.95504238e-04 -1.10083940e+01] [ 9.59854235e-03 -7.69152288e-04 9.99953637e-01 3.44409902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.660714057 meters Centerline goodness [0,1] 0.9603426165646398 Centerline is valid? [True, True] Translation: X:301.34, Y:-11.01, Z:3.44 [[ 9.99798572e-01 -1.72606839e-02 -1.02412579e-02 3.01341439e+02] [ 1.72680885e-02 9.99850694e-01 6.35021043e-04 -1.10106740e+01] [ 1.02287679e-02 -8.11740080e-04 9.99947355e-01 3.44388050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69071405700004 meters Centerline goodness [0,1] 0.9617277068133893 Centerline is valid? [True, True] Translation: X:301.37, Y:-11.01, Z:3.44 [[ 9.99799030e-01 -1.69425727e-02 -1.07167287e-02 3.01374135e+02] [ 1.69506698e-02 9.99856106e-01 6.65173763e-04 -1.10111884e+01] [ 1.07039169e-02 -8.46695813e-04 9.99942353e-01 3.44350057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.720714057 meters Centerline goodness [0,1] 0.9601094749079636 Centerline is valid? [True, True] Translation: X:301.40, Y:-11.02, Z:3.44 [[ 9.99809854e-01 -1.62149380e-02 -1.08319780e-02 3.01403754e+02] [ 1.62231713e-02 9.99868169e-01 6.72652838e-04 -1.10180549e+01] [ 1.08196430e-02 -8.48253970e-04 9.99941106e-01 3.44186514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.750714057 meters Centerline goodness [0,1] 0.9606767371601208 Centerline is valid? [True, True] Translation: X:301.44, Y:-11.02, Z:3.44 [[ 9.99811915e-01 -1.60412089e-02 -1.09001675e-02 3.01435379e+02] [ 1.60495395e-02 9.99870969e-01 6.77219276e-04 -1.10189784e+01] [ 1.08878976e-02 -8.52034570e-04 9.99940362e-01 3.44214446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.780714057 meters Centerline goodness [0,1] 0.9606832643778278 Centerline is valid? [True, True] Translation: X:301.47, Y:-11.02, Z:3.44 [[ 9.99813721e-01 -1.60400482e-02 -1.07349918e-02 3.01466921e+02] [ 1.60481322e-02 9.99870998e-01 6.67328548e-04 -1.10186622e+01] [ 1.07229030e-02 -8.39480807e-04 9.99942156e-01 3.44280716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.810714057 meters Centerline goodness [0,1] 0.960015490366928 Centerline is valid? [True, True] Translation: X:301.50, Y:-11.02, Z:3.44 [[ 9.99825524e-01 -1.60549688e-02 -9.54776652e-03 3.01497518e+02] [ 1.60613684e-02 9.99870831e-01 5.93969688e-04 -1.10228035e+01] [ 9.53699708e-03 -7.47216250e-04 9.99954243e-01 3.44362088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.840714057 meters Centerline goodness [0,1] 0.960984131605765 Centerline is valid? [True, True] Translation: X:301.53, Y:-11.02, Z:3.44 [[ 9.99816905e-01 -1.64129178e-02 -9.83734881e-03 3.01530220e+02] [ 1.64197352e-02 9.99864999e-01 6.12635508e-04 -1.10204033e+01] [ 9.82596562e-03 -7.74049999e-04 9.99951424e-01 3.44491894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.870714057 meters Centerline goodness [0,1] 0.9569024058983314 Centerline is valid? [True, True] Translation: X:301.56, Y:-11.03, Z:3.44 [[ 9.99809733e-01 -1.64190064e-02 -1.05315262e-02 3.01560369e+02] [ 1.64268267e-02 9.99864855e-01 6.56477753e-04 -1.10310158e+01] [ 1.05193242e-02 -8.29352402e-04 9.99944326e-01 3.44368318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.900714057 meters Centerline goodness [0,1] 0.9588436446535542 Centerline is valid? [True, True] Translation: X:301.59, Y:-11.03, Z:3.44 [[ 9.99797982e-01 -1.66366392e-02 -1.12790590e-02 3.01592020e+02] [ 1.66456277e-02 9.99861204e-01 7.03511944e-04 -1.10307151e+01] [ 1.12657895e-02 -8.91116840e-04 9.99936142e-01 3.44333186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.930714057 meters Centerline goodness [0,1] 0.9578955049620549 Centerline is valid? [True, True] Translation: X:301.62, Y:-11.03, Z:3.44 [[ 9.99789808e-01 -1.64675635e-02 -1.22130453e-02 3.01623574e+02] [ 1.64780971e-02 9.99863936e-01 7.62350793e-04 -1.10329535e+01] [ 1.21988295e-02 -9.63438299e-04 9.99925127e-01 3.44231463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.960714057 meters Centerline goodness [0,1] 0.9565491642203838 Centerline is valid? [True, True] Translation: X:301.65, Y:-11.04, Z:3.44 [[ 9.99791580e-01 -1.62342030e-02 -1.23793429e-02 3.01653404e+02] [ 1.62450166e-02 9.99867742e-01 7.73457168e-04 -1.10360377e+01] [ 1.23651492e-02 -9.74398594e-04 9.99923074e-01 3.44240519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.990714057 meters Centerline goodness [0,1] 0.9583029596151043 Centerline is valid? [True, True] Translation: X:301.68, Y:-11.04, Z:3.44 [[ 9.99807674e-01 -1.59749799e-02 -1.13760416e-02 3.01684032e+02] [ 1.59840965e-02 9.99871993e-01 7.10911777e-04 -1.10354561e+01] [ 1.13632286e-02 -8.92610797e-04 9.99935038e-01 3.44263596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.020714057 meters Centerline goodness [0,1] 0.9602383268482491 Centerline is valid? [True, True] Translation: X:301.72, Y:-11.03, Z:3.44 [[ 9.99801887e-01 -1.59865463e-02 -1.18582081e-02 3.01715350e+02] [ 1.59964567e-02 9.99871774e-01 7.41359846e-04 -1.10331375e+01] [ 1.18448358e-02 -9.30902285e-04 9.99929414e-01 3.44294270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.050714057 meters Centerline goodness [0,1] 0.9614757886032541 Centerline is valid? [True, True] Translation: X:301.75, Y:-11.03, Z:3.44 [[ 9.99808815e-01 -1.51064421e-02 -1.24148479e-02 3.01747117e+02] [ 1.51172427e-02 9.99885426e-01 7.76587758e-04 -1.10328895e+01] [ 1.24016940e-02 -9.64117555e-04 9.99922631e-01 3.44241476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.080714057 meters Centerline goodness [0,1] 0.9627873039036848 Centerline is valid? [True, True] Translation: X:301.78, Y:-11.03, Z:3.44 [[ 9.99817139e-01 -1.42568989e-02 -1.27447842e-02 3.01778049e+02] [ 1.42682160e-02 9.99897886e-01 7.97488607e-04 -1.10337676e+01] [ 1.27321131e-02 -9.79188112e-04 9.99918464e-01 3.44220214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.110714057 meters Centerline goodness [0,1] 0.9620687975053596 Centerline is valid? [True, True] Translation: X:301.81, Y:-11.03, Z:3.44 [[ 9.99856912e-01 -1.17532017e-02 -1.21662290e-02 3.01808117e+02] [ 1.17633308e-02 9.99930520e-01 7.61327263e-04 -1.10338766e+01] [ 1.21564356e-02 -9.04333702e-04 9.99925699e-01 3.44275559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.140714057 meters Centerline goodness [0,1] 0.9617340701256785 Centerline is valid? [True, True] Translation: X:301.84, Y:-11.03, Z:3.44 [[ 9.99867531e-01 -1.03297053e-02 -1.25784436e-02 3.01837913e+02] [ 1.03404162e-02 9.99946227e-01 7.86784318e-04 -1.10337359e+01] [ 1.25696400e-02 -9.16746436e-04 9.99920579e-01 3.44319988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.170714057 meters Centerline goodness [0,1] 0.9632266588373458 Centerline is valid? [True, True] Translation: X:301.87, Y:-11.03, Z:3.44 [[ 9.99906558e-01 -6.22575015e-03 -1.21702381e-02 3.01867366e+02] [ 6.23547125e-03 9.99980270e-01 7.60977748e-04 -1.10337942e+01] [ 1.21652603e-02 -8.36793811e-04 9.99925650e-01 3.44391355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.200714057 meters Centerline goodness [0,1] 0.965471739608533 Centerline is valid? [True, True] Translation: X:301.90, Y:-11.03, Z:3.44 [[ 9.99918968e-01 -4.15022703e-03 -1.20346289e-02 3.01897405e+02] [ 4.15957857e-03 9.99991066e-01 7.52126436e-04 -1.10292384e+01] [ 1.20313999e-02 -8.02124474e-04 9.99927298e-01 3.44423343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.230714057 meters Centerline goodness [0,1] 0.9659570293338565 Centerline is valid? [True, True] Translation: X:301.93, Y:-11.03, Z:3.44 [[ 9.99911919e-01 -1.04470727e-04 -1.32719065e-02 3.01926462e+02] [ 1.15482686e-04 9.99999650e-01 8.28955831e-04 -1.10273355e+01] [ 1.32718153e-02 -8.30415491e-04 9.99911581e-01 3.44387472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26071405700003 meters Centerline goodness [0,1] 0.9678823500479552 Centerline is valid? [True, True] Translation: X:301.96, Y:-11.03, Z:3.44 [[ 9.99909396e-01 2.39517154e-03 -1.32462091e-02 3.01956459e+02] [-2.38442431e-03 9.99996815e-01 8.27076670e-04 -1.10262140e+01] [ 1.32481479e-02 -7.95417151e-04 9.99911923e-01 3.44404967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.290714057 meters Centerline goodness [0,1] 0.968413247652002 Centerline is valid? [True, True] Translation: X:301.99, Y:-11.02, Z:3.44 [[ 9.99871416e-01 7.25623868e-03 -1.43003186e-02 3.01987046e+02] [-7.24420941e-03 9.99973362e-01 8.92809518e-04 -1.10228374e+01] [ 1.43064161e-02 -7.89100214e-04 9.99897347e-01 3.44405621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32071405700003 meters Centerline goodness [0,1] 0.9722772277227723 Centerline is valid? [True, True] Translation: X:302.02, Y:-11.01, Z:3.45 [[ 9.99846171e-01 9.64609336e-03 -1.46487851e-02 3.02017929e+02] [-9.63373595e-03 9.99953177e-01 9.13912036e-04 -1.10142156e+01] [ 1.46569149e-02 -7.72648923e-04 9.99892283e-01 3.44613215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.350714057 meters Centerline goodness [0,1] 0.9690196563234021 Centerline is valid? [True, True] Translation: X:302.05, Y:-11.02, Z:3.45 [[ 9.99804479e-01 1.43036172e-02 -1.36532213e-02 3.02046718e+02] [-1.42933208e-02 9.99897483e-01 8.51424105e-04 -1.10184150e+01] [ 1.36640001e-02 -6.56107762e-04 9.99906428e-01 3.44634595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38071405700003 meters Centerline goodness [0,1] 0.970898815130633 Centerline is valid? [True, True] Translation: X:302.08, Y:-11.01, Z:3.45 [[ 9.99782516e-01 1.66613733e-02 -1.25427373e-02 3.02076716e+02] [-1.66528740e-02 9.99861026e-01 7.81766959e-04 -1.10122960e+01] [ 1.25540195e-02 -5.72724313e-04 9.99921031e-01 3.44981372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.410714057 meters Centerline goodness [0,1] 0.9720868080473138 Centerline is valid? [True, True] Translation: X:302.11, Y:-11.01, Z:3.45 [[ 9.99755925e-01 1.98745096e-02 -9.64858388e-03 3.02106728e+02] [-1.98696315e-02 9.99802399e-01 6.01185612e-04 -1.10133975e+01] [ 9.65862557e-03 -4.09325071e-04 9.99953271e-01 3.45300548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44071405700004 meters Centerline goodness [0,1] 0.9707877407535772 Centerline is valid? [True, True] Translation: X:302.14, Y:-11.02, Z:3.45 [[ 9.99763638e-01 2.01351446e-02 -8.20019174e-03 3.02135704e+02] [-2.01316334e-02 9.99797208e-01 5.10503036e-04 -1.10165904e+01] [ 8.20880785e-03 -3.45299119e-04 9.99966248e-01 3.45429512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.470714057 meters Centerline goodness [0,1] 0.9705367489336522 Centerline is valid? [True, True] Translation: X:302.16, Y:-11.02, Z:3.45 [[ 9.99786767e-01 1.91959294e-02 -7.61157564e-03 3.02164111e+02] [-1.91928811e-02 9.99815688e-01 4.73338120e-04 -1.10200025e+01] [ 7.61925889e-03 -3.27149123e-04 9.99970920e-01 3.45472497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.500714057 meters Centerline goodness [0,1] 0.9705367489336522 Centerline is valid? [True, True] Translation: X:302.19, Y:-11.02, Z:3.45 [[ 9.99788767e-01 1.90914750e-02 -7.61161958e-03 3.02191541e+02] [-1.90884290e-02 9.99817688e-01 4.72630708e-04 -1.10216166e+01] [ 7.61925511e-03 -3.27237013e-04 9.99970920e-01 3.45479464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.530714057 meters Centerline goodness [0,1] 0.9697320461038321 Centerline is valid? [True, True] Translation: X:302.22, Y:-11.03, Z:3.45 [[ 9.99829818e-01 1.62794811e-02 -8.67832073e-03 3.02220405e+02] [-1.62754213e-02 9.99867402e-01 5.38234822e-04 -1.10265473e+01] [ 8.68593218e-03 -3.96899898e-04 9.99962198e-01 3.45387994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.560714057 meters Centerline goodness [0,1] 0.9675903140072841 Centerline is valid? [True, True] Translation: X:302.25, Y:-11.03, Z:3.45 [[ 9.99846194e-01 1.48670852e-02 -9.30366106e-03 3.02247778e+02] [-1.48623651e-02 9.99889383e-01 5.76274078e-04 -1.10342552e+01] [ 9.31119944e-03 -4.37911036e-04 9.99956554e-01 3.45270862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.590714057 meters Centerline goodness [0,1] 0.967154980557118 Centerline is valid? [True, True] Translation: X:302.28, Y:-11.04, Z:3.45 [[ 9.99860508e-01 1.20868930e-02 -1.15270152e-02 3.02276454e+02] [-1.20794716e-02 9.99926786e-01 7.13235440e-04 -1.10400942e+01] [ 1.15347921e-02 -5.73895696e-04 9.99933307e-01 3.45084740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.620714057 meters Centerline goodness [0,1] 0.9653277988035649 Centerline is valid? [True, True] Translation: X:302.30, Y:-11.05, Z:3.45 [[ 9.99853767e-01 1.14899468e-02 -1.26659635e-02 3.02303999e+02] [-1.14809565e-02 9.99933786e-01 7.82279175e-04 -1.10493929e+01] [ 1.26741132e-02 -6.36747403e-04 9.99919477e-01 3.44867275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.650714057 meters Centerline goodness [0,1] 0.9658183935372747 Centerline is valid? [True, True] Translation: X:302.33, Y:-11.05, Z:3.45 [[ 9.99834378e-01 1.08822880e-02 -1.45874163e-02 3.02332609e+02] [-1.08703156e-02 9.99940512e-01 8.99770343e-04 -1.10538727e+01] [ 1.45963401e-02 -7.41051502e-04 9.99893193e-01 3.44740659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.680714057 meters Centerline goodness [0,1] 0.9682805484771265 Centerline is valid? [True, True] Translation: X:302.36, Y:-11.05, Z:3.45 [[ 9.99820973e-01 1.18003890e-02 -1.47909450e-02 3.02361912e+02] [-1.17881959e-02 9.99930102e-01 9.11280783e-04 -1.10526511e+01] [ 1.48006646e-02 -7.36759083e-04 9.99890193e-01 3.44910161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.710714057 meters Centerline goodness [0,1] 0.9657609091571355 Centerline is valid? [True, True] Translation: X:302.39, Y:-11.06, Z:3.45 [[ 9.99813508e-01 1.25115994e-02 -1.47108508e-02 3.02389596e+02] [-1.24996300e-02 9.99921467e-01 9.05311401e-04 -1.10635432e+01] [ 1.47210224e-02 -7.21262376e-04 9.99891380e-01 3.44746578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.740714057 meters Centerline goodness [0,1] 0.9672154928555886 Centerline is valid? [True, True] Translation: X:302.42, Y:-11.06, Z:3.45 [[ 9.99821100e-01 1.29118352e-02 -1.38221809e-02 3.02418879e+02] [-1.29013427e-02 9.99916415e-01 8.48009293e-04 -1.10643534e+01] [ 1.38319750e-02 -6.69532891e-04 9.99904109e-01 3.44818899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.770714057 meters Centerline goodness [0,1] 0.9667539647897571 Centerline is valid? [True, True] Translation: X:302.45, Y:-11.07, Z:3.45 [[ 9.99831041e-01 1.24956220e-02 -1.34813938e-02 3.02447972e+02] [-1.24856200e-02 9.99921711e-01 8.25824883e-04 -1.10676500e+01] [ 1.34906575e-02 -6.57361793e-04 9.99908781e-01 3.44869337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.800714057 meters Centerline goodness [0,1] 0.9697137892755442 Centerline is valid? [True, True] Translation: X:302.48, Y:-11.07, Z:3.45 [[ 9.99841056e-01 1.22076683e-02 -1.29936573e-02 3.02476640e+02] [-1.21983646e-02 9.99925281e-01 7.95036753e-04 -1.10656777e+01] [ 1.30023919e-02 -6.36409019e-04 9.99915263e-01 3.45021137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.830714057 meters Centerline goodness [0,1] 0.968444433713996 Centerline is valid? [True, True] Translation: X:302.50, Y:-11.07, Z:3.45 [[ 9.99866596e-01 1.10437444e-02 -1.20343806e-02 3.02504114e+02] [-1.10356917e-02 9.99938835e-01 7.35337301e-04 -1.10731560e+01] [ 1.20417654e-02 -6.02431489e-04 9.99927314e-01 3.45119871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.860714057 meters Centerline goodness [0,1] 0.9631155439915197 Centerline is valid? [True, True] Translation: X:302.53, Y:-11.09, Z:3.45 [[ 9.99900899e-01 7.70799270e-03 -1.17804239e-02 3.02532447e+02] [-7.70004918e-03 9.99970095e-01 7.19506716e-04 -1.10886535e+01] [ 1.17856176e-02 -6.28725569e-04 9.99930350e-01 3.44940100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.890714057 meters Centerline goodness [0,1] 0.9644500910921469 Centerline is valid? [True, True] Translation: X:302.56, Y:-11.09, Z:3.45 [[ 9.99912778e-01 5.84466211e-03 -1.18438465e-02 3.02561615e+02] [-5.83650835e-03 9.99982706e-01 7.22885976e-04 -1.10895856e+01] [ 1.18478667e-02 -6.53696216e-04 9.99929598e-01 3.44975412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.920714057 meters Centerline goodness [0,1] 0.9647878889501043 Centerline is valid? [True, True] Translation: X:302.59, Y:-11.09, Z:3.45 [[ 9.99917163e-01 3.12140707e-03 -1.24869343e-02 3.02591637e+02] [-3.11213587e-03 9.99994867e-01 7.61834245e-04 -1.10939132e+01] [ 1.24892482e-02 -7.22910101e-04 9.99921745e-01 3.44934230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.950714057 meters Centerline goodness [0,1] 0.9662811025696291 Centerline is valid? [True, True] Translation: X:302.62, Y:-11.10, Z:3.45 [[ 9.99897626e-01 -2.64142415e-03 -1.40626989e-02 3.02621601e+02] [ 2.65375049e-03 9.99996111e-01 8.57939661e-04 -1.10997754e+01] [ 1.40603780e-02 -8.95170725e-04 9.99900747e-01 3.44895675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.980714057 meters Centerline goodness [0,1] 0.9655870927766259 Centerline is valid? [True, True] Translation: X:302.65, Y:-11.11, Z:3.45 [[ 9.99885743e-01 -5.21553570e-03 -1.41879658e-02 3.02650590e+02] [ 5.22833976e-03 9.99985958e-01 8.65517047e-04 -1.11060674e+01] [ 1.41832524e-02 -9.39597662e-04 9.99898971e-01 3.44803313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01071405700003 meters Centerline goodness [0,1] 0.9625059326056004 Centerline is valid? [True, True] Translation: X:302.68, Y:-11.12, Z:3.45 [[ 9.99829416e-01 -1.02694710e-02 -1.53517879e-02 3.02678795e+02] [ 1.02850584e-02 9.99946669e-01 9.36744150e-04 -1.11198794e+01] [ 1.53413493e-02 -1.09447839e-03 9.99881716e-01 3.44599519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.040714057 meters Centerline goodness [0,1] 0.9635664982566 Centerline is valid? [True, True] Translation: X:302.71, Y:-11.12, Z:3.45 [[ 9.99809026e-01 -1.21041484e-02 -1.53428126e-02 3.02708484e+02] [ 1.21199267e-02 9.99926113e-01 9.35815461e-04 -1.11225728e+01] [ 1.53303518e-02 -1.12159051e-03 9.99881854e-01 3.44642306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07071405700003 meters Centerline goodness [0,1] 0.9671001022178906 Centerline is valid? [True, True] Translation: X:302.74, Y:-11.12, Z:3.45 [[ 9.99777869e-01 -1.48176107e-02 -1.49883396e-02 3.02738929e+02] [ 1.48329669e-02 9.99889568e-01 9.13891066e-04 -1.11193112e+01] [ 1.49731427e-02 -1.13600961e-03 9.99887251e-01 3.44849954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.100714057 meters Centerline goodness [0,1] 0.9644597646499465 Centerline is valid? [True, True] Translation: X:302.77, Y:-11.12, Z:3.45 [[ 9.99774046e-01 -1.54309105e-02 -1.46199701e-02 3.02766979e+02] [ 1.54455763e-02 9.99880313e-01 8.90747724e-04 -1.11235791e+01] [ 1.46044752e-02 -1.11636032e-03 9.99892726e-01 3.44856842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13071405700003 meters Centerline goodness [0,1] 0.9656933786320115 Centerline is valid? [True, True] Translation: X:302.80, Y:-11.12, Z:3.45 [[ 9.99774729e-01 -1.62958696e-02 -1.35990936e-02 3.02796672e+02] [ 1.63086312e-02 9.99866663e-01 8.28034001e-04 -1.11240426e+01] [ 1.35837868e-02 -1.04963007e-03 9.99907185e-01 3.44937601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.160714057 meters Centerline goodness [0,1] 0.9634704278772075 Centerline is valid? [True, True] Translation: X:302.83, Y:-11.13, Z:3.45 [[ 9.99782294e-01 -1.57817551e-02 -1.36492352e-02 3.02825574e+02] [ 1.57945594e-02 9.99874913e-01 8.30801582e-04 -1.11286339e+01] [ 1.36344164e-02 -1.04620437e-03 9.99906500e-01 3.44958515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19071405700004 meters Centerline goodness [0,1] 0.9652155305642074 Centerline is valid? [True, True] Translation: X:302.86, Y:-11.12, Z:3.45 [[ 9.99775686e-01 -1.61668112e-02 -1.36825098e-02 3.02856810e+02] [ 1.61797133e-02 9.99868753e-01 8.32782293e-04 -1.11247247e+01] [ 1.36672505e-02 -1.05397457e-03 9.99906043e-01 3.45026061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.220714057 meters Centerline goodness [0,1] 0.9658042423665938 Centerline is valid? [True, True] Translation: X:302.89, Y:-11.12, Z:3.45 [[ 9.99783996e-01 -1.59398488e-02 -1.33372749e-02 3.02887693e+02] [ 1.59520878e-02 9.99872428e-01 8.11769668e-04 -1.11242615e+01] [ 1.33226340e-02 -1.02435170e-03 9.99910725e-01 3.45070895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.250714057 meters Centerline goodness [0,1] 0.9644281041850693 Centerline is valid? [True, True] Translation: X:302.92, Y:-11.13, Z:3.45 [[ 9.99781815e-01 -1.64144616e-02 -1.29184913e-02 3.02916583e+02] [ 1.64259811e-02 9.99864775e-01 7.86097308e-04 -1.11288698e+01] [ 1.29038411e-02 -9.98124688e-04 9.99916244e-01 3.45064338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.280714057 meters Centerline goodness [0,1] 0.9646345249182129 Centerline is valid? [True, True] Translation: X:302.95, Y:-11.13, Z:3.45 [[ 9.99773037e-01 -1.70546782e-02 -1.27676347e-02 3.02947290e+02] [ 1.70659815e-02 9.99854064e-01 7.76873545e-04 -1.11258999e+01] [ 1.27525221e-02 -9.94589440e-04 9.99918189e-01 3.45066194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.310714057 meters Centerline goodness [0,1] 0.9653253731343283 Centerline is valid? [True, True] Translation: X:302.98, Y:-11.13, Z:3.45 [[ 9.99753862e-01 -1.74694404e-02 -1.36760038e-02 3.02977065e+02] [ 1.74824480e-02 9.99846824e-01 8.32145170e-04 -1.11268417e+01] [ 1.36593718e-02 -1.07103037e-03 9.99906133e-01 3.44960495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.340714057 meters Centerline goodness [0,1] 0.9650151330997832 Centerline is valid? [True, True] Translation: X:303.01, Y:-11.13, Z:3.45 [[ 9.99751251e-01 -1.70852125e-02 -1.43363835e-02 3.03007540e+02] [ 1.70994777e-02 9.99853412e-01 8.73036068e-04 -1.11292673e+01] [ 1.43193659e-02 -1.11796357e-03 9.99896848e-01 3.44933335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.370714057 meters Centerline goodness [0,1] 0.9657289493248915 Centerline is valid? [True, True] Translation: X:303.04, Y:-11.13, Z:3.45 [[ 9.99765403e-01 -1.62374148e-02 -1.43347691e-02 3.03038037e+02] [ 1.62515923e-02 9.99867553e-01 8.73089454e-04 -1.11277070e+01] [ 1.43186938e-02 -1.10584745e-03 9.99896871e-01 3.44964926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.400714057 meters Centerline goodness [0,1] 0.9635110139566168 Centerline is valid? [True, True] Translation: X:303.07, Y:-11.13, Z:3.45 [[ 9.99792902e-01 -1.44907020e-02 -1.42888800e-02 3.03067230e+02] [ 1.45046086e-02 9.99894424e-01 8.70092079e-04 -1.11298937e+01] [ 1.42747632e-02 -1.07716650e-03 9.99897530e-01 3.44950574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.430714057 meters Centerline goodness [0,1] 0.9666811112716067 Centerline is valid? [True, True] Translation: X:303.10, Y:-11.12, Z:3.45 [[ 9.99836434e-01 -1.15497991e-02 -1.39179118e-02 3.03097838e+02] [ 1.15627065e-02 9.99932791e-01 8.47278085e-04 -1.11240395e+01] [ 1.39071905e-02 -1.00806823e-03 9.99902782e-01 3.45093419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.460714057 meters Centerline goodness [0,1] 0.9678298405961366 Centerline is valid? [True, True] Translation: X:303.13, Y:-11.12, Z:3.45 [[ 9.99871922e-01 -9.22432972e-03 -1.30786866e-02 3.03128040e+02] [ 9.23552213e-03 9.99957035e-01 7.95634794e-04 -1.11206981e+01] [ 1.30707855e-02 -9.16321391e-04 9.99914154e-01 3.45188658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.490714057 meters Centerline goodness [0,1] 0.9672944708046868 Centerline is valid? [True, True] Translation: X:303.16, Y:-11.12, Z:3.45 [[ 9.99927175e-01 -4.98783035e-03 -1.09893528e-02 3.03158033e+02] [ 4.99547626e-03 9.99987299e-01 6.68416551e-04 -1.11189937e+01] [ 1.09858793e-02 -7.23264925e-04 9.99939392e-01 3.45399103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.520714057 meters Centerline goodness [0,1] 0.9639905978142341 Centerline is valid? [True, True] Translation: X:303.19, Y:-11.12, Z:3.45 [[ 9.99948190e-01 -2.86587167e-03 -9.76745229e-03 3.03186621e+02] [ 2.87180845e-03 9.99995700e-01 5.93841742e-04 -1.11241654e+01] [ 9.76570842e-03 -6.21861228e-04 9.99952121e-01 3.45391798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.550714057 meters Centerline goodness [0,1] 0.9685539162245318 Centerline is valid? [True, True] Translation: X:303.22, Y:-11.11, Z:3.46 [[ 9.99955905e-01 -8.48553668e-04 -9.35248316e-03 3.03216941e+02] [ 8.53905766e-04 9.99999474e-01 5.68286552e-04 -1.11147040e+01] [ 9.35199602e-03 -5.76247632e-04 9.99956103e-01 3.45575670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.580714057 meters Centerline goodness [0,1] 0.9690696541646371 Centerline is valid? [True, True] Translation: X:303.25, Y:-11.11, Z:3.46 [[ 9.99951817e-01 2.35486919e-03 -9.52989213e-03 3.03246240e+02] [-2.34946027e-03 9.99997073e-01 5.78729027e-04 -1.11135836e+01] [ 9.53122707e-03 -5.56311039e-04 9.99954422e-01 3.45557135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.610714057 meters Centerline goodness [0,1] 0.9701074378151875 Centerline is valid? [True, True] Translation: X:303.28, Y:-11.11, Z:3.46 [[ 9.99937915e-01 4.25542713e-03 -1.02984464e-02 3.03275361e+02] [-4.24922989e-03 9.99990778e-01 6.23570608e-04 -1.11128830e+01] [ 1.03010050e-02 -5.79771427e-04 9.99946775e-01 3.45547003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.640714057 meters Centerline goodness [0,1] 0.9687043351193375 Centerline is valid? [True, True] Translation: X:303.30, Y:-11.11, Z:3.45 [[ 9.99935469e-01 4.47789135e-03 -1.04406192e-02 3.03302829e+02] [-4.47154693e-03 9.99989804e-01 6.30931690e-04 -1.11147294e+01] [ 1.04433380e-02 -5.84205256e-04 9.99945296e-01 3.45469475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.670714057 meters Centerline goodness [0,1] 0.9690005605244559 Centerline is valid? [True, True] Translation: X:303.33, Y:-11.12, Z:3.45 [[ 9.99942125e-01 4.17742161e-03 -9.91446905e-03 3.03331107e+02] [-4.17169283e-03 9.99991119e-01 5.98430577e-04 -1.11163858e+01] [ 9.91688091e-03 -5.57035823e-04 9.99950671e-01 3.45429297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.700714057 meters Centerline goodness [0,1] 0.9673979355279534 Centerline is valid? [True, True] Translation: X:303.36, Y:-11.12, Z:3.45 [[ 9.99937406e-01 3.55639337e-03 -1.06083307e-02 3.03358226e+02] [-3.54980895e-03 9.99993495e-01 6.39448653e-04 -1.11218273e+01] [ 1.06105359e-02 -6.01751079e-04 9.99943526e-01 3.45319632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.730714057 meters Centerline goodness [0,1] 0.9699389499389499 Centerline is valid? [True, True] Translation: X:303.39, Y:-11.12, Z:3.45 [[ 9.99936563e-01 1.95509262e-03 -1.10926759e-02 3.03387601e+02] [-1.94780394e-03 9.99997880e-01 6.67836940e-04 -1.11175735e+01] [ 1.10939581e-02 -6.46188217e-04 9.99938251e-01 3.45325730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76071405700003 meters Centerline goodness [0,1] 0.9688459850811759 Centerline is valid? [True, True] Translation: X:303.41, Y:-11.12, Z:3.45 [[ 9.99941674e-01 1.29617083e-03 -1.07223693e-02 3.03414662e+02] [-1.28933387e-03 9.99998961e-01 6.44523693e-04 -1.11223900e+01] [ 1.07231936e-02 -6.30661386e-04 9.99942306e-01 3.45283898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.790714057 meters Centerline goodness [0,1] 0.9687004850937279 Centerline is valid? [True, True] Translation: X:303.44, Y:-11.12, Z:3.45 [[ 9.99942657e-01 1.91497341e-04 -1.07072712e-02 3.03443168e+02] [-1.84625442e-04 9.99999776e-01 6.42782184e-04 -1.11224847e+01] [ 1.07073919e-02 -6.40768490e-04 9.99942469e-01 3.45386826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82071405700003 meters Centerline goodness [0,1] 0.9687781373956635 Centerline is valid? [True, True] Translation: X:303.47, Y:-11.13, Z:3.45 [[ 9.99952822e-01 -1.53981124e-03 -9.59080506e-03 3.03472871e+02] [ 1.54540015e-03 9.99998640e-01 5.75353438e-04 -1.11263080e+01] [ 9.58990608e-03 -5.90147926e-04 9.99953842e-01 3.45476857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.850714057 meters Centerline goodness [0,1] 0.9673653424323666 Centerline is valid? [True, True] Translation: X:303.50, Y:-11.13, Z:3.45 [[ 9.99948944e-01 -2.82992047e-03 -9.70052969e-03 3.03500755e+02] [ 2.83569279e-03 9.99995810e-01 5.81349643e-04 -1.11302848e+01] [ 9.69884387e-03 -6.08827683e-04 9.99952780e-01 3.45456569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88071405700003 meters Centerline goodness [0,1] 0.9684455996307723 Centerline is valid? [True, True] Translation: X:303.53, Y:-11.13, Z:3.45 [[ 9.99937262e-01 -4.92990754e-03 -1.00581989e-02 3.03529956e+02] [ 4.93621336e-03 9.99987635e-01 6.02204721e-04 -1.11327052e+01] [ 1.00551057e-02 -6.51816356e-04 9.99949234e-01 3.45412645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.910714057 meters Centerline goodness [0,1] 0.9664388872734322 Centerline is valid? [True, True] Translation: X:303.56, Y:-11.14, Z:3.45 [[ 9.99928156e-01 -6.22371436e-03 -1.02444255e-02 3.03557434e+02] [ 6.23031521e-03 9.99980404e-01 6.12547549e-04 -1.11404637e+01] [ 1.02404124e-02 -6.76329541e-04 9.99947337e-01 3.45323757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94071405700004 meters Centerline goodness [0,1] 0.9662845092953923 Centerline is valid? [True, True] Translation: X:303.59, Y:-11.14, Z:3.45 [[ 9.99901788e-01 -8.46856551e-03 -1.11668163e-02 3.03587365e+02] [ 8.47654196e-03 9.99963851e-01 6.67162610e-04 -1.11406014e+01] [ 1.11607627e-02 -7.61753074e-04 9.99937427e-01 3.45318727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.970714057 meters Centerline goodness [0,1] 0.9649835558135036 Centerline is valid? [True, True] Translation: X:303.62, Y:-11.15, Z:3.45 [[ 9.99886956e-01 -9.37882556e-03 -1.17521348e-02 3.03615691e+02] [ 9.38771603e-03 9.99955688e-01 7.01561218e-04 -1.11456751e+01] [ 1.17450343e-02 -8.11807615e-04 9.99930695e-01 3.45269431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.000714057 meters Centerline goodness [0,1] 0.9644662683534506 Centerline is valid? [True, True] Translation: X:303.65, Y:-11.15, Z:3.45 [[ 9.99867947e-01 -1.04404182e-02 -1.24533857e-02 3.03645046e+02] [ 1.04504774e-02 9.99945116e-01 7.42943056e-04 -1.11493995e+01] [ 1.24449455e-02 -8.72988774e-04 9.99922178e-01 3.45187791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.030714057 meters Centerline goodness [0,1] 0.9660436512721573 Centerline is valid? [True, True] Translation: X:303.67, Y:-11.15, Z:3.45 [[ 9.99843384e-01 -1.20191964e-02 -1.29902321e-02 3.03674619e+02] [ 1.20302683e-02 9.99927334e-01 7.74513955e-04 -1.11506850e+01] [ 1.29799791e-02 -9.30668631e-04 9.99915323e-01 3.45240938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.060714057 meters Centerline goodness [0,1] 0.9664502688823216 Centerline is valid? [True, True] Translation: X:303.70, Y:-11.15, Z:3.45 [[ 9.99836817e-01 -1.28622059e-02 -1.26847930e-02 3.03704342e+02] [ 1.28728251e-02 9.99916856e-01 7.55862745e-04 -1.11534926e+01] [ 1.26740162e-02 -9.19028522e-04 9.99919259e-01 3.45275121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.090714057 meters Centerline goodness [0,1] 0.965009786627359 Centerline is valid? [True, True] Translation: X:303.73, Y:-11.16, Z:3.45 [[ 9.99833533e-01 -1.34696489e-02 -1.23075424e-02 3.03733997e+02] [ 1.34796884e-02 9.99908876e-01 7.33128567e-04 -1.11569093e+01] [ 1.22965459e-02 -8.98908362e-04 9.99923991e-01 3.45283384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.120714057 meters Centerline goodness [0,1] 0.9664351571763908 Centerline is valid? [True, True] Translation: X:303.76, Y:-11.16, Z:3.45 [[ 9.99835887e-01 -1.34131342e-02 -1.21773245e-02 3.03764633e+02] [ 1.34229577e-02 9.99909645e-01 7.25328574e-04 -1.11566830e+01] [ 1.21664953e-02 -8.88665250e-04 9.99925591e-01 3.45375975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.150714057 meters Centerline goodness [0,1] 0.9633629561469356 Centerline is valid? [True, True] Translation: X:303.79, Y:-11.16, Z:3.45 [[ 9.99826594e-01 -1.43706674e-02 -1.18434256e-02 3.03794223e+02] [ 1.43800361e-02 9.99896353e-01 7.06260996e-04 -1.11631457e+01] [ 1.18320486e-02 -8.76447413e-04 9.99929615e-01 3.45400747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.180714057 meters Centerline goodness [0,1] 0.9634237673036504 Centerline is valid? [True, True] Translation: X:303.82, Y:-11.16, Z:3.45 [[ 9.99825525e-01 -1.48216493e-02 -1.13683027e-02 3.03824892e+02] [ 1.48303127e-02 9.99889795e-01 6.78141719e-04 -1.11645129e+01] [ 1.13569987e-02 -8.46618884e-04 9.99935149e-01 3.45410885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.210714057 meters Centerline goodness [0,1] 0.9625831418551215 Centerline is valid? [True, True] Translation: X:303.86, Y:-11.17, Z:3.45 [[ 9.99803853e-01 -1.64313661e-02 -1.10573623e-02 3.03855544e+02] [ 1.64396630e-02 9.99864642e-01 6.59870836e-04 -1.11679280e+01] [ 1.10450230e-02 -8.41520714e-04 9.99938648e-01 3.45474947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.240714057 meters Centerline goodness [0,1] 0.9618603076327754 Centerline is valid? [True, True] Translation: X:303.89, Y:-11.17, Z:3.45 [[ 9.99794384e-01 -1.73075590e-02 -1.05659319e-02 3.03887022e+02] [ 1.73151871e-02 9.99849882e-01 6.30897210e-04 -1.11719971e+01] [ 1.05534265e-02 -8.13718576e-04 9.99943980e-01 3.45461839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.270714057 meters Centerline goodness [0,1] 0.9644562334217507 Centerline is valid? [True, True] Translation: X:303.92, Y:-11.17, Z:3.46 [[ 9.99762447e-01 -1.89585024e-02 -1.07528757e-02 3.03918051e+02] [ 1.89665003e-02 9.99819913e-01 6.42293359e-04 -1.11703892e+01] [ 1.07387623e-02 -8.46085200e-04 9.99941980e-01 3.45523080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.300714057 meters Centerline goodness [0,1] 0.9607279924690434 Centerline is valid? [True, True] Translation: X:303.95, Y:-11.18, Z:3.45 [[ 9.99734212e-01 -1.99168366e-02 -1.16113759e-02 3.03948931e+02] [ 1.99262328e-02 9.99801212e-01 6.94082837e-04 -1.11781931e+01] [ 1.15952437e-02 -9.25269337e-04 9.99932345e-01 3.45388091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.330714057 meters Centerline goodness [0,1] 0.9606327650967929 Centerline is valid? [True, True] Translation: X:303.98, Y:-11.19, Z:3.45 [[ 9.99694976e-01 -2.13868535e-02 -1.23514168e-02 3.03978751e+02] [ 2.13976008e-02 9.99770772e-01 7.38623202e-04 -1.11850350e+01] [ 1.23327887e-02 -1.00268859e-03 9.99923446e-01 3.45294957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.360714057 meters Centerline goodness [0,1] 0.9594704782003933 Centerline is valid? [True, True] Translation: X:304.01, Y:-11.19, Z:3.45 [[ 9.99678818e-01 -2.20851232e-02 -1.24301495e-02 3.04010220e+02] [ 2.20960684e-02 9.99755575e-01 7.43872588e-04 -1.11892928e+01] [ 1.24106828e-02 -1.01829110e-03 9.99922466e-01 3.45224298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.390714057 meters Centerline goodness [0,1] 0.9589634909931606 Centerline is valid? [True, True] Translation: X:304.04, Y:-11.20, Z:3.45 [[ 9.99616958e-01 -2.44440133e-02 -1.29779948e-02 3.04039538e+02] [ 2.44561500e-02 9.99700601e-01 7.77272841e-04 -1.11971588e+01] [ 1.29551095e-02 -1.09436690e-03 9.99915480e-01 3.45165083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.420714057 meters Centerline goodness [0,1] 0.9589634909931606 Centerline is valid? [True, True] Translation: X:304.07, Y:-11.20, Z:3.45 [[ 9.99618570e-01 -2.43780073e-02 -1.29779465e-02 3.04071285e+02] [ 2.43901489e-02 9.99702213e-01 7.78079038e-04 -1.11991290e+01] [ 1.29551138e-02 -1.09431630e-03 9.99915480e-01 3.45173135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.450714057 meters Centerline goodness [0,1] 0.9625096190842631 Centerline is valid? [True, True] Translation: X:304.10, Y:-11.19, Z:3.45 [[ 9.99586309e-01 -2.53292322e-02 -1.36250255e-02 3.04103528e+02] [ 2.53427130e-02 9.99678487e-01 8.17642232e-04 -1.11908008e+01] [ 1.35999346e-02 -1.16259909e-03 9.99906841e-01 3.45255873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.480714057 meters Centerline goodness [0,1] 0.9598539269154074 Centerline is valid? [True, True] Translation: X:304.13, Y:-11.20, Z:3.45 [[ 9.99561935e-01 -2.60888728e-02 -1.39753264e-02 3.04134237e+02] [ 2.61031399e-02 9.99658903e-01 8.39407688e-04 -1.12021386e+01] [ 1.39486603e-02 -1.20383987e-03 9.99901988e-01 3.45226069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51071405700003 meters Centerline goodness [0,1] 0.9595622645131873 Centerline is valid? [True, True] Translation: X:304.17, Y:-11.20, Z:3.45 [[ 9.99551156e-01 -2.66144676e-02 -1.37534464e-02 3.04166287e+02] [ 2.66283467e-02 9.99645061e-01 8.26973549e-04 -1.12047763e+01] [ 1.37265553e-02 -1.19283391e-03 9.99905075e-01 3.45282384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.540714057 meters Centerline goodness [0,1] 0.9626670505530363 Centerline is valid? [True, True] Translation: X:304.20, Y:-11.20, Z:3.45 [[ 9.99564147e-01 -2.62983540e-02 -1.34131670e-02 3.04198398e+02] [ 2.63115391e-02 9.99653465e-01 8.07445980e-04 -1.12017784e+01] [ 1.33872843e-02 -1.16001512e-03 9.99909713e-01 3.45364707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57071405700003 meters Centerline goodness [0,1] 0.9620611144397843 Centerline is valid? [True, True] Translation: X:304.23, Y:-11.21, Z:3.45 [[ 9.99588276e-01 -2.55989647e-02 -1.29603966e-02 3.04229995e+02] [ 2.56112255e-02 9.99671674e-01 7.80908310e-04 -1.12065262e+01] [ 1.29361509e-02 -1.11251843e-03 9.99915706e-01 3.45231389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.600714057 meters Centerline goodness [0,1] 0.9636655794320799 Centerline is valid? [True, True] Translation: X:304.26, Y:-11.21, Z:3.45 [[ 9.99596320e-01 -2.52418452e-02 -1.30402183e-02 3.04262524e+02] [ 2.52542387e-02 9.99680751e-01 7.86590558e-04 -1.12077486e+01] [ 1.30162003e-02 -1.11559381e-03 9.99914663e-01 3.45169352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63071405700003 meters Centerline goodness [0,1] 0.9628638979772168 Centerline is valid? [True, True] Translation: X:304.29, Y:-11.21, Z:3.45 [[ 9.99618157e-01 -2.40696479e-02 -1.35717304e-02 3.04292963e+02] [ 2.40829795e-02 9.99709627e-01 8.19710349e-04 -1.12119681e+01] [ 1.35480594e-02 -1.14624505e-03 9.99907564e-01 3.45110312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.660714057 meters Centerline goodness [0,1] 0.9618459476279382 Centerline is valid? [True, True] Translation: X:304.32, Y:-11.22, Z:3.45 [[ 9.99622332e-01 -2.37642125e-02 -1.38005491e-02 3.04323543e+02] [ 2.37779794e-02 9.99716916e-01 8.34314555e-04 -1.12157228e+01] [ 1.37768155e-02 -1.16214863e-03 9.99904420e-01 3.45102892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69071405700004 meters Centerline goodness [0,1] 0.9626434715932236 Centerline is valid? [True, True] Translation: X:304.35, Y:-11.22, Z:3.45 [[ 9.99634888e-01 -2.37496061e-02 -1.28859021e-02 3.04354812e+02] [ 2.37616133e-02 9.99717349e-01 7.79493799e-04 -1.12193055e+01] [ 1.28637472e-02 -1.08539902e-03 9.99916669e-01 3.45225946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.720714057 meters Centerline goodness [0,1] 0.9605278915475078 Centerline is valid? [True, True] Translation: X:304.39, Y:-11.22, Z:3.45 [[ 9.99625996e-01 -2.41417086e-02 -1.28470375e-02 3.04385586e+02] [ 2.41536836e-02 9.99707955e-01 7.77754878e-04 -1.12243417e+01] [ 1.28245093e-02 -1.08776727e-03 9.99917171e-01 3.45244321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.750714057 meters Centerline goodness [0,1] 0.964572192513369 Centerline is valid? [True, True] Translation: X:304.42, Y:-11.22, Z:3.45 [[ 9.99583068e-01 -2.56644251e-02 -1.32297929e-02 3.04416992e+02] [ 2.56772634e-02 9.99669963e-01 8.01437416e-04 -1.12213009e+01] [ 1.32048582e-02 -1.14080815e-03 9.99912161e-01 3.45261425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.780714057 meters Centerline goodness [0,1] 0.9642388529713481 Centerline is valid? [True, True] Translation: X:304.45, Y:-11.23, Z:3.45 [[ 9.99546829e-01 -2.67983981e-02 -1.37106905e-02 3.04447530e+02] [ 2.68122966e-02 9.99640140e-01 8.30859273e-04 -1.12251894e+01] [ 1.36834909e-02 -1.19809785e-03 9.99905659e-01 3.45204024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.810714057 meters Centerline goodness [0,1] 0.9542245989304813 Centerline is valid? [True, True] Translation: X:304.48, Y:-11.24, Z:3.45 [[ 9.99452226e-01 -2.99244443e-02 -1.41341829e-02 3.04476060e+02] [ 2.99395231e-02 9.99551345e-01 8.56396537e-04 -1.12419093e+01] [ 1.41022144e-02 -1.27909812e-03 9.99899741e-01 3.45009855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.840714057 meters Centerline goodness [0,1] 0.9617590367179878 Centerline is valid? [True, True] Translation: X:304.51, Y:-11.23, Z:3.45 [[ 9.99405636e-01 -3.14036685e-02 -1.42191495e-02 3.04507445e+02] [ 3.14190800e-02 9.99505927e-01 8.61712811e-04 -1.12339539e+01] [ 1.41850633e-02 -1.30795324e-03 9.99898531e-01 3.45168321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.870714057 meters Centerline goodness [0,1] 0.9635191090381229 Centerline is valid? [True, True] Translation: X:304.54, Y:-11.24, Z:3.45 [[ 9.99360783e-01 -3.28082585e-02 -1.42001190e-02 3.04538290e+02] [ 3.28237728e-02 9.99460784e-01 8.60810553e-04 -1.12373464e+01] [ 1.41642203e-02 -1.32636179e-03 9.99898803e-01 3.45213023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.900714057 meters Centerline goodness [0,1] 0.9619522807349429 Centerline is valid? [True, True] Translation: X:304.57, Y:-11.24, Z:3.45 [[ 9.99307183e-01 -3.46818164e-02 -1.35027737e-02 3.04568702e+02] [ 3.46960170e-02 9.99397577e-01 8.18773454e-04 -1.12442974e+01] [ 1.34662428e-02 -1.28669866e-03 9.99908498e-01 3.45205842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.930714057 meters Centerline goodness [0,1] 0.9607565011820332 Centerline is valid? [True, True] Translation: X:304.60, Y:-11.25, Z:3.45 [[ 9.99267949e-01 -3.59381693e-02 -1.31153856e-02 3.04599734e+02] [ 3.59516792e-02 9.99353213e-01 7.95697580e-04 -1.12488130e+01] [ 1.30783069e-02 -1.26663523e-03 9.99913673e-01 3.45211627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.960714057 meters Centerline goodness [0,1] 0.9600951125341369 Centerline is valid? [True, True] Translation: X:304.63, Y:-11.25, Z:3.45 [[ 9.99217786e-01 -3.74078295e-02 -1.28245757e-02 3.04630211e+02] [ 3.74208702e-02 9.99299291e-01 7.78321294e-04 -1.12533167e+01] [ 1.27864741e-02 -1.25761926e-03 9.99917459e-01 3.45250631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.990714057 meters Centerline goodness [0,1] 0.9595203814289424 Centerline is valid? [True, True] Translation: X:304.66, Y:-11.26, Z:3.45 [[ 9.99175863e-01 -3.83934381e-02 -1.31734219e-02 3.04661798e+02] [ 3.84072908e-02 9.99261847e-01 8.00099659e-04 -1.12564713e+01] [ 1.31329793e-02 -1.30539571e-03 9.99912907e-01 3.45272343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.020714057 meters Centerline goodness [0,1] 0.9566576565988953 Centerline is valid? [True, True] Translation: X:304.69, Y:-11.26, Z:3.45 [[ 9.99137396e-01 -3.94714638e-02 -1.29022239e-02 3.04692588e+02] [ 3.94848496e-02 9.99219861e-01 7.84299853e-04 -1.12631324e+01] [ 1.28612009e-02 -1.29306568e-03 9.99916455e-01 3.45225438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.050714057 meters Centerline goodness [0,1] 0.9607127724683395 Centerline is valid? [True, True] Translation: X:304.72, Y:-11.26, Z:3.45 [[ 9.99114943e-01 -3.99939008e-02 -1.30314474e-02 3.04724312e+02] [ 4.00076090e-02 9.99199061e-01 7.92845997e-04 -1.12632436e+01] [ 1.29893010e-02 -1.31350134e-03 9.99914773e-01 3.45274872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.080714057 meters Centerline goodness [0,1] 0.9604635310156783 Centerline is valid? [True, True] Translation: X:304.75, Y:-11.27, Z:3.45 [[ 9.99048296e-01 -4.14824941e-02 -1.34797762e-02 3.04754929e+02] [ 4.14973044e-02 9.99138279e-01 8.20748741e-04 -1.12690981e+01] [ 1.34341136e-02 -1.37934201e-03 9.99908807e-01 3.45191083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.110714057 meters Centerline goodness [0,1] 0.9581847193542331 Centerline is valid? [True, True] Translation: X:304.79, Y:-11.27, Z:3.45 [[ 9.99036477e-01 -4.18462190e-02 -1.32291899e-02 3.04786971e+02] [ 4.18605268e-02 9.99123139e-01 8.06359866e-04 -1.12743062e+01] [ 1.31838466e-02 -1.35936378e-03 9.99912165e-01 3.45170834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.140714057 meters Centerline goodness [0,1] 0.9069663973773563 Centerline is valid? [True, False] Translation: X:304.79, Y:-11.28, Z:3.45 [[ 9.99054847e-01 -4.13395217e-02 -1.34334202e-02 3.04788012e+02] [ 4.13675013e-02 9.99142356e-01 1.81157228e-03 -1.12765920e+01] [ 1.33470096e-02 -2.36556710e-03 9.99908126e-01 3.45077785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.170714057 meters Centerline goodness [0,1] 0.9448349954457341 Centerline is valid? [False, False] Translation: X:304.79, Y:-11.28, Z:3.45 [[ 9.99070147e-01 -4.08862732e-02 -1.36804592e-02 3.04788875e+02] [ 4.09221558e-02 9.99159567e-01 2.35322236e-03 -1.12772217e+01] [ 1.35727472e-02 -2.91086809e-03 9.99903649e-01 3.45023240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.200714057 meters Centerline goodness [0,1] 0.9408131755018013 Centerline is valid? [False, False] Translation: X:304.79, Y:-11.28, Z:3.45 [[ 9.99094247e-01 -4.02297404e-02 -1.38655253e-02 3.04789615e+02] [ 4.02759598e-02 9.99183877e-01 3.07032812e-03 -1.12781590e+01] [ 1.37306908e-02 -3.62599450e-03 9.99899155e-01 3.44982219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.230714057 meters Centerline goodness [0,1] 0.964402351404311 Centerline is valid? [False, True] Translation: X:304.79, Y:-11.28, Z:3.45 [[ 9.99115001e-01 -3.96251904e-02 -1.41088639e-02 3.04790593e+02] [ 3.96821562e-02 9.99205201e-01 3.78068835e-03 -1.12791256e+01] [ 1.39478397e-02 -4.33721259e-03 9.99893317e-01 3.44919333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26071405700003 meters Centerline goodness [0,1] 0.9648872461869561 Centerline is valid? [True, True] Translation: X:304.82, Y:-11.28, Z:3.45 [[ 9.99197454e-01 -3.75836762e-02 -1.38533547e-02 3.04821773e+02] [ 3.75987911e-02 9.99292569e-01 8.32146947e-04 -1.12810057e+01] [ 1.38122792e-02 -1.35234850e-03 9.99903691e-01 3.44972647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.290714057 meters Centerline goodness [0,1] 0.9614979766555168 Centerline is valid? [True, True] Translation: X:304.85, Y:-11.29, Z:3.45 [[ 9.99230542e-01 -3.68090371e-02 -1.35432299e-02 3.04852790e+02] [ 3.68234213e-02 9.99321456e-01 8.14177495e-04 -1.12865713e+01] [ 1.35040711e-02 -1.31225908e-03 9.99907955e-01 3.44958663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32071405700003 meters Centerline goodness [0,1] 0.9658928863641677 Centerline is valid? [True, True] Translation: X:304.88, Y:-11.28, Z:3.45 [[ 9.99297872e-01 -3.50727797e-02 -1.31781322e-02 3.04883323e+02] [ 3.50862504e-02 9.99383974e-01 7.92328001e-04 -1.12840583e+01] [ 1.31422249e-02 -1.25414293e-03 9.99912851e-01 3.45025930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.350714057 meters Centerline goodness [0,1] 0.9605422811274967 Centerline is valid? [True, True] Translation: X:304.91, Y:-11.29, Z:3.45 [[ 9.99339773e-01 -3.39245881e-02 -1.30053925e-02 3.04913453e+02] [ 3.39376141e-02 9.99423647e-01 7.82139284e-04 -1.12916508e+01] [ 1.29713631e-02 -1.22299489e-03 9.99915120e-01 3.44963574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38071405700003 meters Centerline goodness [0,1] 0.9665736866573686 Centerline is valid? [True, True] Translation: X:304.95, Y:-11.29, Z:3.45 [[ 9.99368120e-01 -3.31575831e-02 -1.28036979e-02 3.04946185e+02] [ 3.31701560e-02 9.99449422e-01 7.70808765e-04 -1.12887456e+01] [ 1.27710903e-02 -1.19502236e-03 9.99917732e-01 3.45061432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.410714057 meters Centerline goodness [0,1] 0.9656905134737187 Centerline is valid? [True, True] Translation: X:304.98, Y:-11.29, Z:3.45 [[ 9.99401724e-01 -3.21464233e-02 -1.27593353e-02 3.04976592e+02] [ 3.21588425e-02 9.99482475e-01 7.69309955e-04 -1.12927342e+01] [ 1.27280015e-02 -1.17917515e-03 9.99918300e-01 3.44998938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44071405700004 meters Centerline goodness [0,1] 0.965792980897379 Centerline is valid? [True, True] Translation: X:305.01, Y:-11.29, Z:3.45 [[ 9.99483033e-01 -2.93875218e-02 -1.30399489e-02 3.05007049e+02] [ 2.94002638e-02 9.99567409e-01 7.86491241e-04 -1.12935299e+01] [ 1.30111949e-02 -1.16946259e-03 9.99914667e-01 3.45011954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.470714057 meters Centerline goodness [0,1] 0.9686050325664215 Centerline is valid? [True, True] Translation: X:305.04, Y:-11.29, Z:3.45 [[ 9.99531122e-01 -2.76178533e-02 -1.32208134e-02 3.05039174e+02] [ 2.76308051e-02 9.99617878e-01 7.97970298e-04 -1.12927193e+01] [ 1.31937233e-02 -1.16289787e-03 9.99912283e-01 3.45051759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.500714057 meters Centerline goodness [0,1] 0.9670427414446889 Centerline is valid? [True, True] Translation: X:305.07, Y:-11.30, Z:3.45 [[ 9.99574521e-01 -2.60820689e-02 -1.30576470e-02 3.05069762e+02] [ 2.60945793e-02 9.99659167e-01 7.88601998e-04 -1.12978812e+01] [ 1.30326282e-02 -1.12900027e-03 9.99914434e-01 3.45039807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.530714057 meters Centerline goodness [0,1] 0.9672523399563677 Centerline is valid? [True, True] Translation: X:305.10, Y:-11.30, Z:3.45 [[ 9.99672926e-01 -2.22864270e-02 -1.25441955e-02 3.05100159e+02] [ 2.22976767e-02 9.99751089e-01 7.57650724e-04 -1.12978411e+01] [ 1.25241877e-02 -1.03710933e-03 9.99921031e-01 3.45079079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.560714057 meters Centerline goodness [0,1] 0.9700227704875701 Centerline is valid? [True, True] Translation: X:305.13, Y:-11.29, Z:3.45 [[ 9.99724206e-01 -2.01243828e-02 -1.21046038e-02 3.05131268e+02] [ 2.01347026e-02 9.99797009e-01 7.31273950e-04 -1.12946504e+01] [ 1.20874303e-02 -9.74794867e-04 9.99926469e-01 3.45189064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.590714057 meters Centerline goodness [0,1] 0.9706441840257392 Centerline is valid? [True, True] Translation: X:305.16, Y:-11.29, Z:3.45 [[ 9.99774961e-01 -1.70543525e-02 -1.26165075e-02 3.05163002e+02] [ 1.70653233e-02 9.99854086e-01 7.62411485e-04 -1.12882094e+01] [ 1.26016642e-02 -9.77544692e-04 9.99920118e-01 3.45218194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.620714057 meters Centerline goodness [0,1] 0.9682569496619083 Centerline is valid? [True, True] Translation: X:305.19, Y:-11.30, Z:3.45 [[ 9.99815435e-01 -1.50647772e-02 -1.19225807e-02 3.05192330e+02] [ 1.50744341e-02 9.99886115e-01 7.20507835e-04 -1.12998996e+01] [ 1.19103686e-02 -9.00101012e-04 9.99928664e-01 3.45122637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.650714057 meters Centerline goodness [0,1] 0.968517996428907 Centerline is valid? [True, True] Translation: X:305.22, Y:-11.30, Z:3.45 [[ 9.99846623e-01 -1.30003475e-02 -1.17354825e-02 3.05222736e+02] [ 1.30095603e-02 9.99915121e-01 7.09038123e-04 -1.12954450e+01] [ 1.17252687e-02 -8.61602840e-04 9.99930885e-01 3.45184289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.680714057 meters Centerline goodness [0,1] 0.9685454631068419 Centerline is valid? [True, True] Translation: X:305.25, Y:-11.30, Z:3.45 [[ 9.99859616e-01 -1.18007331e-02 -1.18950341e-02 3.05252708e+02] [ 1.18101113e-02 9.99930000e-01 7.18481020e-04 -1.12961183e+01] [ 1.18857228e-02 -8.58861833e-04 9.99928993e-01 3.45199993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.710714057 meters Centerline goodness [0,1] 0.9717888990847274 Centerline is valid? [True, True] Translation: X:305.28, Y:-11.29, Z:3.45 [[ 9.99883927e-01 -9.96415299e-03 -1.15259394e-02 3.05283195e+02] [ 9.97283058e-03 9.99950028e-01 6.95643424e-04 -1.12873398e+01] [ 1.15184319e-02 -8.10508920e-04 9.99933332e-01 3.45322648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.740714057 meters Centerline goodness [0,1] 0.9705426720495728 Centerline is valid? [True, True] Translation: X:305.31, Y:-11.29, Z:3.45 [[ 9.99882183e-01 -9.73407365e-03 -1.18687515e-02 3.05311956e+02] [ 9.74322901e-03 9.99952279e-01 7.13804297e-04 -1.12880118e+01] [ 1.18612369e-02 -8.29360163e-04 9.99929309e-01 3.45361538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.770714057 meters Centerline goodness [0,1] 0.971081891362338 Centerline is valid? [True, True] Translation: X:305.34, Y:-11.29, Z:3.45 [[ 9.99883792e-01 -9.65225903e-03 -1.17998881e-02 3.05340450e+02] [ 9.66126872e-03 9.99953079e-01 7.06775182e-04 -1.12866366e+01] [ 1.17925125e-02 -8.20694939e-04 9.99930129e-01 3.45416558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.800714057 meters Centerline goodness [0,1] 0.9684857075360265 Centerline is valid? [True, True] Translation: X:305.37, Y:-11.29, Z:3.45 [[ 9.99885873e-01 -9.85482681e-03 -1.14509252e-02 3.05369348e+02] [ 9.86331376e-03 9.99951122e-01 6.84920019e-04 -1.12899972e+01] [ 1.14436157e-02 -7.97785920e-04 9.99934201e-01 3.45408834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.830714057 meters Centerline goodness [0,1] 0.969997156128543 Centerline is valid? [True, True] Translation: X:305.40, Y:-11.29, Z:3.45 [[ 9.99879230e-01 -1.06554133e-02 -1.13131926e-02 3.05398475e+02] [ 1.06637208e-02 9.99942914e-01 6.74249790e-04 -1.12856583e+01] [ 1.13053624e-02 -7.94809088e-04 9.99935776e-01 3.45459370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.860714057 meters Centerline goodness [0,1] 0.9694213505767545 Centerline is valid? [True, True] Translation: X:305.43, Y:-11.29, Z:3.45 [[ 9.99876172e-01 -1.09476262e-02 -1.13044468e-02 3.05428483e+02] [ 1.09559303e-02 9.99939756e-01 6.72921551e-04 -1.12879945e+01] [ 1.12963988e-02 -7.96688955e-04 9.99935876e-01 3.45468912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.890714057 meters Centerline goodness [0,1] 0.9674910487752828 Centerline is valid? [True, True] Translation: X:305.46, Y:-11.29, Z:3.46 [[ 9.99858721e-01 -1.21699767e-02 -1.15943998e-02 3.05457314e+02] [ 1.21787874e-02 9.99925598e-01 6.89604052e-04 -1.12901149e+01] [ 1.15851447e-02 -8.30712356e-04 9.99932545e-01 3.45505848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.920714057 meters Centerline goodness [0,1] 0.96620287786895 Centerline is valid? [True, True] Translation: X:305.49, Y:-11.29, Z:3.46 [[ 9.99853287e-01 -1.27287549e-02 -1.14622161e-02 3.05486444e+02] [ 1.27373993e-02 9.99918644e-01 6.81476687e-04 -1.12942919e+01] [ 1.14526092e-02 -8.27375530e-04 9.99934074e-01 3.45536227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.950714057 meters Centerline goodness [0,1] 0.9651099357225872 Centerline is valid? [True, True] Translation: X:305.52, Y:-11.29, Z:3.46 [[ 9.99850716e-01 -1.37630251e-02 -1.04463297e-02 3.05516214e+02] [ 1.37702578e-02 9.99904993e-01 6.20752262e-04 -1.12941537e+01] [ 1.04367938e-02 -7.64508246e-04 9.99945243e-01 3.45650431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.980714057 meters Centerline goodness [0,1] 0.9644936663735533 Centerline is valid? [True, True] Translation: X:305.55, Y:-11.30, Z:3.46 [[ 9.99849496e-01 -1.41599581e-02 -1.00240572e-02 3.05546416e+02] [ 1.41666371e-02 9.99899471e-01 5.95595734e-04 -1.12967140e+01] [ 1.00146159e-02 -7.37513274e-04 9.99949581e-01 3.45659598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01071405700003 meters Centerline goodness [0,1] 0.9612707946041279 Centerline is valid? [True, True] Translation: X:305.58, Y:-11.30, Z:3.46 [[ 9.99860456e-01 -1.38442640e-02 -9.34906963e-03 3.05576775e+02] [ 1.38500612e-02 9.99903929e-01 5.55617445e-04 -1.13023254e+01] [ 9.34047934e-03 -6.85025098e-04 9.99956142e-01 3.45724275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.040714057 meters Centerline goodness [0,1] 0.9616035061810733 Centerline is valid? [True, True] Translation: X:305.61, Y:-11.30, Z:3.46 [[ 9.99868759e-01 -1.32067093e-02 -9.38332678e-03 3.05608232e+02] [ 1.32125238e-02 9.99912555e-01 5.57937257e-04 -1.13022252e+01] [ 9.37513774e-03 -6.81841461e-04 9.99955820e-01 3.45736159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07071405700003 meters Centerline goodness [0,1] 0.9607347930714064 Centerline is valid? [True, True] Translation: X:305.64, Y:-11.30, Z:3.46 [[ 9.99886559e-01 -1.14350819e-02 -9.80342434e-03 3.05639089e+02] [ 1.14413460e-02 9.99934376e-01 5.83116141e-04 -1.13011573e+01] [ 9.79611302e-03 -6.95214361e-04 9.99951775e-01 3.45734359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.100714057 meters Centerline goodness [0,1] 0.9627065227771942 Centerline is valid? [True, True] Translation: X:305.67, Y:-11.30, Z:3.46 [[ 9.99894697e-01 -1.06533310e-02 -9.85403121e-03 3.05670210e+02] [ 1.06596224e-02 9.99943013e-01 5.86158655e-04 -1.12972304e+01] [ 9.84722511e-03 -6.91137182e-04 9.99951276e-01 3.45782870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13071405700003 meters Centerline goodness [0,1] 0.9599686028257457 Centerline is valid? [True, True] Translation: X:305.70, Y:-11.30, Z:3.46 [[ 9.99902978e-01 -9.84547403e-03 -9.85396035e-03 3.05699059e+02] [ 9.85172363e-03 9.99951299e-01 5.85881772e-04 -1.13046577e+01] [ 9.84771217e-03 -6.82903422e-04 9.99951277e-01 3.45690594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.160714057 meters Centerline goodness [0,1] 0.9614459552782607 Centerline is valid? [True, True] Translation: X:305.73, Y:-11.30, Z:3.46 [[ 9.99910971e-01 -8.76653433e-03 -1.00597462e-02 3.05728854e+02] [ 8.77298990e-03 9.99961338e-01 5.97773108e-04 -1.13004903e+01] [ 1.00541169e-02 -6.85973941e-04 9.99949221e-01 3.45729407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19071405700004 meters Centerline goodness [0,1] 0.9598561013961023 Centerline is valid? [True, True] Translation: X:305.76, Y:-11.30, Z:3.46 [[ 9.99911894e-01 -8.29864644e-03 -1.03603375e-02 3.05757387e+02] [ 8.30546346e-03 9.99965320e-01 6.15139911e-04 -1.13041032e+01] [ 1.03548734e-02 -7.01133119e-04 9.99946141e-01 3.45591164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.220714057 meters Centerline goodness [0,1] 0.9637457906426883 Centerline is valid? [True, True] Translation: X:305.79, Y:-11.30, Z:3.46 [[ 9.99907647e-01 -8.49739314e-03 -1.06062260e-02 3.05786282e+02] [ 8.50452518e-03 9.99963639e-01 6.27517720e-04 -1.13004564e+01] [ 1.06005080e-02 -7.17660682e-04 9.99943556e-01 3.45638053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.250714057 meters Centerline goodness [0,1] 0.9635150007177377 Centerline is valid? [True, True] Translation: X:305.81, Y:-11.30, Z:3.46 [[ 9.99896074e-01 -9.56747006e-03 -1.07844346e-02 3.05814983e+02] [ 9.57487721e-03 9.99953958e-01 6.35414114e-04 -1.13018241e+01] [ 1.07778587e-02 -7.38607715e-04 9.99941644e-01 3.45544738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.280714057 meters Centerline goodness [0,1] 0.960316890452598 Centerline is valid? [True, True] Translation: X:305.84, Y:-11.31, Z:3.45 [[ 9.99899009e-01 -9.79774956e-03 -1.02944136e-02 3.05843525e+02] [ 9.80450338e-03 9.99951751e-01 6.05803073e-04 -1.13100027e+01] [ 1.02879814e-02 -7.06673505e-04 9.99946828e-01 3.45491806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.310714057 meters Centerline goodness [0,1] 0.960316890452598 Centerline is valid? [True, True] Translation: X:305.87, Y:-11.31, Z:3.45 [[ 9.99898686e-01 -9.83069846e-03 -1.02944337e-02 3.05872699e+02] [ 9.83745051e-03 9.99951428e-01 6.05460770e-04 -1.13116853e+01] [ 1.02879816e-02 -7.06670410e-04 9.99946828e-01 3.45497430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.340714057 meters Centerline goodness [0,1] 0.9606927277953435 Centerline is valid? [True, True] Translation: X:305.90, Y:-11.31, Z:3.45 [[ 9.99881362e-01 -1.04945260e-02 -1.12750839e-02 3.05902093e+02] [ 1.05026636e-02 9.99944626e-01 6.62759298e-04 -1.13137706e+01] [ 1.12675042e-02 -7.81099083e-04 9.99936215e-01 3.45459039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.370714057 meters Centerline goodness [0,1] 0.9608282837921657 Centerline is valid? [True, True] Translation: X:305.93, Y:-11.31, Z:3.45 [[ 9.99870886e-01 -1.09420435e-02 -1.17678983e-02 3.05931847e+02] [ 1.09509342e-02 9.99939798e-01 6.91334032e-04 -1.13139155e+01] [ 1.17596252e-02 -8.20114251e-04 9.99930517e-01 3.45463513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.400714057 meters Centerline goodness [0,1] 0.9620101848088555 Centerline is valid? [True, True] Translation: X:305.96, Y:-11.31, Z:3.46 [[ 9.99856676e-01 -1.18396063e-02 -1.21016835e-02 3.05961602e+02] [ 1.18490690e-02 9.99929545e-01 7.10530169e-04 -1.13119845e+01] [ 1.20924185e-02 -8.53822016e-04 9.99926520e-01 3.45517365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.430714057 meters Centerline goodness [0,1] 0.9631826989784933 Centerline is valid? [True, True] Translation: X:305.99, Y:-11.31, Z:3.46 [[ 9.99850659e-01 -1.21957416e-02 -1.22443343e-02 3.05991472e+02] [ 1.22054502e-02 9.99925253e-01 7.18487839e-04 -1.13140742e+01] [ 1.22346566e-02 -8.67828152e-04 9.99924777e-01 3.45560523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.460714057 meters Centerline goodness [0,1] 0.9610172327254476 Centerline is valid? [True, True] Translation: X:306.02, Y:-11.32, Z:3.46 [[ 9.99839187e-01 -1.30043567e-02 -1.23485749e-02 3.06020511e+02] [ 1.30142853e-02 9.99915048e-01 7.24007787e-04 -1.13163728e+01] [ 1.23381106e-02 -8.84599234e-04 9.99923491e-01 3.45528753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.490714057 meters Centerline goodness [0,1] 0.959709930583717 Centerline is valid? [True, True] Translation: X:306.05, Y:-11.32, Z:3.45 [[ 9.99819379e-01 -1.42654291e-02 -1.25581771e-02 3.06049997e+02] [ 1.42757931e-02 9.99897825e-01 7.36018272e-04 -1.13224753e+01] [ 1.25463943e-02 -9.15163268e-04 9.99920872e-01 3.45423902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.520714057 meters Centerline goodness [0,1] 0.9636037329504666 Centerline is valid? [True, True] Translation: X:306.08, Y:-11.32, Z:3.46 [[ 9.99824809e-01 -1.42742240e-02 -1.21077883e-02 3.06081318e+02] [ 1.42838581e-02 9.99897729e-01 7.09590379e-04 -1.13170302e+01] [ 1.20964212e-02 -8.82411995e-04 9.99926446e-01 3.45584303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.550714057 meters Centerline goodness [0,1] 0.9600675852549916 Centerline is valid? [True, True] Translation: X:306.11, Y:-11.32, Z:3.46 [[ 9.99845308e-01 -1.33017042e-02 -1.15076280e-02 3.06110518e+02] [ 1.33103408e-02 9.99911186e-01 6.74250779e-04 -1.13246888e+01] [ 1.14976373e-02 -8.27316929e-04 9.99933558e-01 3.45560808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.580714057 meters Centerline goodness [0,1] 0.9627582892839981 Centerline is valid? [True, True] Translation: X:306.14, Y:-11.32, Z:3.46 [[ 9.99865601e-01 -1.21602265e-02 -1.09958876e-02 3.06140859e+02] [ 1.21680414e-02 9.99925759e-01 6.44080124e-04 -1.13191767e+01] [ 1.09872391e-02 -7.77791975e-04 9.99939336e-01 3.45790520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.610714057 meters Centerline goodness [0,1] 0.961048005571432 Centerline is valid? [True, True] Translation: X:306.17, Y:-11.32, Z:3.46 [[ 9.99871272e-01 -1.17097301e-02 -1.09690933e-02 3.06171044e+02] [ 1.17174796e-02 9.99931142e-01 6.42477925e-04 -1.13204370e+01] [ 1.09608147e-02 -7.70925347e-04 9.99939631e-01 3.45775661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.640714057 meters Centerline goodness [0,1] 0.9615883539925051 Centerline is valid? [True, True] Translation: X:306.20, Y:-11.32, Z:3.46 [[ 9.99883920e-01 -1.10550236e-02 -1.04848729e-02 3.06200449e+02] [ 1.10620651e-02 9.99938625e-01 6.13826594e-04 -1.13223207e+01] [ 1.04774435e-02 -7.29739688e-04 9.99944844e-01 3.45778089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.670714057 meters Centerline goodness [0,1] 0.9618361098387136 Centerline is valid? [True, True] Translation: X:306.23, Y:-11.32, Z:3.46 [[ 9.99883605e-01 -1.09820231e-02 -1.05911128e-02 3.06230500e+02] [ 1.09892002e-02 9.99939425e-01 6.19689112e-04 -1.13244712e+01] [ 1.05836658e-02 -7.36004842e-04 9.99943721e-01 3.45696846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.700714057 meters Centerline goodness [0,1] 0.9603318141262147 Centerline is valid? [True, True] Translation: X:306.26, Y:-11.33, Z:3.46 [[ 9.99885265e-01 -1.12730069e-02 -1.01181413e-02 3.06260128e+02] [ 1.12795712e-02 9.99936208e-01 5.91928015e-04 -1.13272699e+01] [ 1.01108231e-02 -7.05988396e-04 9.99948635e-01 3.45637481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.730714057 meters Centerline goodness [0,1] 0.9596723981033575 Centerline is valid? [True, True] Translation: X:306.29, Y:-11.33, Z:3.46 [[ 9.99872067e-01 -1.22123381e-02 -1.03299788e-02 3.06289291e+02] [ 1.22192285e-02 9.99925160e-01 6.04175790e-04 -1.13309742e+01] [ 1.03218273e-02 -7.30322867e-04 9.99946462e-01 3.45653281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76071405700003 meters Centerline goodness [0,1] 0.9622274517337431 Centerline is valid? [True, True] Translation: X:306.32, Y:-11.33, Z:3.46 [[ 9.99819292e-01 -1.49540459e-02 -1.17371025e-02 3.06319549e+02] [ 1.49631269e-02 9.99887811e-01 6.86268442e-04 -1.13265490e+01] [ 1.17255232e-02 -8.61768182e-04 9.99930882e-01 3.45626018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.790714057 meters Centerline goodness [0,1] 0.9638400077244309 Centerline is valid? [True, True] Translation: X:306.35, Y:-11.33, Z:3.46 [[ 9.99792764e-01 -1.61757832e-02 -1.23601538e-02 3.06349937e+02] [ 1.61859464e-02 9.99868738e-01 7.22663113e-04 -1.13256552e+01] [ 1.23468417e-02 -9.22574138e-04 9.99923349e-01 3.45639250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82071405700003 meters Centerline goodness [0,1] 0.9614865516244095 Centerline is valid? [True, True] Translation: X:306.38, Y:-11.33, Z:3.46 [[ 9.99760799e-01 -1.74618832e-02 -1.31691561e-02 3.06379354e+02] [ 1.74735315e-02 9.99847030e-01 7.69963182e-04 -1.13316734e+01] [ 1.31536966e-02 -9.99890670e-04 9.99912986e-01 3.45556687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.850714057 meters Centerline goodness [0,1] 0.961727561939651 Centerline is valid? [True, True] Translation: X:306.41, Y:-11.33, Z:3.45 [[ 9.99719400e-01 -1.92773496e-02 -1.37660549e-02 3.06410180e+02] [ 1.92902518e-02 9.99813602e-01 8.05066192e-04 -1.13347581e+01] [ 1.37479694e-02 -1.07039096e-03 9.99904919e-01 3.45462334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88071405700003 meters Centerline goodness [0,1] 0.8419000113365831 Centerline is valid? [True, False] Translation: X:306.46, Y:-11.34, Z:3.46 [[ 9.99696485e-01 -2.04561267e-02 -1.37290082e-02 3.06463400e+02] [ 2.04108982e-02 9.99785804e-01 -3.42645733e-03 -1.13353349e+01] [ 1.37961595e-02 3.14519596e-03 9.99899882e-01 3.45625152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.910714057 meters Centerline goodness [0,1] 0.9603337271828507 Centerline is valid? [False, True] Translation: X:306.38, Y:-11.33, Z:3.45 [[ 9.99733836e-01 -1.93421253e-02 -1.25753810e-02 3.06383002e+02] [ 1.93449394e-02 9.99812864e-01 1.02169927e-04 -1.13338201e+01] [ 1.25710516e-02 -3.45412718e-04 9.99920922e-01 3.45299236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94071405700004 meters Centerline goodness [0,1] 0.9601516651773855 Centerline is valid? [True, True] Translation: X:306.41, Y:-11.33, Z:3.45 [[ 9.99720290e-01 -2.00726750e-02 -1.25072019e-02 3.06414135e+02] [ 2.00836361e-02 9.99798021e-01 7.51385068e-04 -1.13342273e+01] [ 1.24895934e-02 -1.00236499e-03 9.99921500e-01 3.45253875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.970714057 meters Centerline goodness [0,1] 0.9580240963855422 Centerline is valid? [True, True] Translation: X:306.44, Y:-11.34, Z:3.45 [[ 9.99703500e-01 -2.09758904e-02 -1.23662362e-02 3.06444683e+02] [ 2.09866918e-02 9.99779478e-01 7.44323539e-04 -1.13383583e+01] [ 1.23478963e-02 -1.00362923e-03 9.99923258e-01 3.45196816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.000714057 meters Centerline goodness [0,1] 0.9581172042751332 Centerline is valid? [True, True] Translation: X:306.48, Y:-11.34, Z:3.45 [[ 9.99685813e-01 -2.18421095e-02 -1.22962098e-02 3.06475524e+02] [ 2.18528575e-02 9.99760924e-01 7.40395955e-04 -1.13398894e+01] [ 1.22770983e-02 -1.00887065e-03 9.99924125e-01 3.45227134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.030714057 meters Centerline goodness [0,1] 0.9505229671759773 Centerline is valid? [True, True] Translation: X:306.51, Y:-11.35, Z:3.45 [[ 9.99641922e-01 -2.39031124e-02 -1.20278335e-02 3.06505165e+02] [ 2.39135516e-02 9.99713767e-01 7.24830668e-04 -1.13493508e+01] [ 1.20070650e-02 -1.01219934e-03 9.99927400e-01 3.45163047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.060714057 meters Centerline goodness [0,1] 0.9571990065346869 Centerline is valid? [True, True] Translation: X:306.54, Y:-11.35, Z:3.45 [[ 9.99628954e-01 -2.45696647e-02 -1.17595063e-02 3.06537780e+02] [ 2.45796983e-02 9.99697622e-01 7.09448453e-04 -1.13463106e+01] [ 1.17385196e-02 -9.98230334e-04 9.99930603e-01 3.45233125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.090714057 meters Centerline goodness [0,1] 0.9567137169743033 Centerline is valid? [True, True] Translation: X:306.57, Y:-11.35, Z:3.45 [[ 9.99593985e-01 -2.60847346e-02 -1.14652204e-02 3.06568663e+02] [ 2.60943739e-02 9.99659244e-01 6.91928769e-04 -1.13461992e+01] [ 1.14432648e-02 -9.90825582e-04 9.99934033e-01 3.45321648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.120714057 meters Centerline goodness [0,1] 0.9574299312533051 Centerline is valid? [True, True] Translation: X:306.60, Y:-11.35, Z:3.45 [[ 9.99592236e-01 -2.63188727e-02 -1.10760320e-02 3.06601075e+02] [ 2.63278909e-02 9.99653137e-01 6.69166059e-04 -1.13472698e+01] [ 1.10545784e-02 -9.60501759e-04 9.99938435e-01 3.45365472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.150714057 meters Centerline goodness [0,1] 0.9509928686339952 Centerline is valid? [True, True] Translation: X:306.63, Y:-11.36, Z:3.45 [[ 9.99590950e-01 -2.63441920e-02 -1.11317476e-02 3.06632020e+02] [ 2.63533093e-02 9.99652465e-01 6.73119379e-04 -1.13570286e+01] [ 1.11101462e-02 -9.66202427e-04 9.99937814e-01 3.45205563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.180714057 meters Centerline goodness [0,1] 0.9548683861956024 Centerline is valid? [True, True] Translation: X:306.66, Y:-11.35, Z:3.45 [[ 9.99609340e-01 -2.56837984e-02 -1.10231898e-02 3.06664909e+02] [ 2.56927069e-02 9.99669665e-01 6.67291635e-04 -1.13523440e+01] [ 1.10024099e-02 -9.50246535e-04 9.99939020e-01 3.45246903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.210714057 meters Centerline goodness [0,1] 0.9503014227152158 Centerline is valid? [True, True] Translation: X:306.70, Y:-11.36, Z:3.45 [[ 9.99635518e-01 -2.45457977e-02 -1.12398571e-02 3.06695264e+02] [ 2.45549931e-02 9.99698249e-01 6.80815918e-04 -1.13592187e+01] [ 1.12197542e-02 -9.56562386e-04 9.99936599e-01 3.45217264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.240714057 meters Centerline goodness [0,1] 0.9559018968225202 Centerline is valid? [True, True] Translation: X:306.73, Y:-11.35, Z:3.45 [[ 9.99676027e-01 -2.26907680e-02 -1.15312580e-02 3.06727065e+02] [ 2.27003283e-02 9.99742070e-01 6.98853226e-04 -1.13541031e+01] [ 1.15124263e-02 -9.60390160e-04 9.99933269e-01 3.45311779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.270714057 meters Centerline goodness [0,1] 0.9610464975699398 Centerline is valid? [True, True] Translation: X:306.76, Y:-11.34, Z:3.46 [[ 9.99713632e-01 -2.13097171e-02 -1.08880510e-02 3.06759328e+02] [ 2.13181634e-02 9.99772524e-01 6.60257148e-04 -1.13428194e+01] [ 1.08715043e-02 -8.92181321e-04 9.99940505e-01 3.45517447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.300714057 meters Centerline goodness [0,1] 0.9538368725868726 Centerline is valid? [True, True] Translation: X:306.79, Y:-11.36, Z:3.45 [[ 9.99735175e-01 -2.04757980e-02 -1.05034145e-02 3.06789073e+02] [ 2.04836144e-02 9.99789986e-01 6.37130464e-04 -1.13559314e+01] [ 1.04881629e-02 -8.52109627e-04 9.99944635e-01 3.45366056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.330714057 meters Centerline goodness [0,1] 0.9604543032886134 Centerline is valid? [True, True] Translation: X:306.82, Y:-11.34, Z:3.46 [[ 9.99759311e-01 -1.94692715e-02 -1.01127693e-02 3.06821398e+02] [ 1.94764696e-02 9.99810127e-01 6.13777856e-04 -1.13437674e+01] [ 1.00988994e-02 -8.10591171e-04 9.99948676e-01 3.45542787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.360714057 meters Centerline goodness [0,1] 0.9602870581389711 Centerline is valid? [True, True] Translation: X:306.85, Y:-11.35, Z:3.45 [[ 9.99768087e-01 -1.90354400e-02 -1.00709178e-02 3.06853029e+02] [ 1.90425636e-02 9.99818487e-01 6.11914183e-04 -1.13456468e+01] [ 1.00574417e-02 -8.03548363e-04 9.99949100e-01 3.45482001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.390714057 meters Centerline goodness [0,1] 0.9614458417455183 Centerline is valid? [True, True] Translation: X:306.89, Y:-11.34, Z:3.45 [[ 9.99775500e-01 -1.85003851e-02 -1.03288930e-02 3.06885197e+02] [ 1.85078558e-02 9.99828518e-01 6.28151470e-04 -1.13424663e+01] [ 1.03155007e-02 -8.19176111e-04 9.99946458e-01 3.45478718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.420714057 meters Centerline goodness [0,1] 0.9619890147280417 Centerline is valid? [True, True] Translation: X:306.92, Y:-11.34, Z:3.45 [[ 9.99772078e-01 -1.84644451e-02 -1.07171177e-02 3.06917234e+02] [ 1.84724939e-02 9.99829156e-01 6.52512091e-04 -1.13420064e+01] [ 1.07032385e-02 -8.50335261e-04 9.99942357e-01 3.45499159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.450714057 meters Centerline goodness [0,1] 0.9626546901315629 Centerline is valid? [True, True] Translation: X:306.95, Y:-11.34, Z:3.45 [[ 9.99775647e-01 -1.83780293e-02 -1.05310621e-02 3.06948684e+02] [ 1.83858023e-02 9.99830761e-01 6.41755189e-04 -1.13445906e+01] [ 1.05174856e-02 -8.35233235e-04 9.99944341e-01 3.45490580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.480714057 meters Centerline goodness [0,1] 0.9587167129156322 Centerline is valid? [True, True] Translation: X:306.98, Y:-11.35, Z:3.45 [[ 9.99775164e-01 -1.89808352e-02 -9.45245006e-03 3.06979948e+02] [ 1.89871333e-02 9.99819562e-01 5.76993577e-04 -1.13484220e+01] [ 9.43979265e-03 -7.56338777e-04 9.99955158e-01 3.45450132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51071405700003 meters Centerline goodness [0,1] 0.9606134371957157 Centerline is valid? [True, True] Translation: X:307.01, Y:-11.35, Z:3.45 [[ 9.99771131e-01 -1.91356879e-02 -9.56615183e-03 3.07011681e+02] [ 1.91421506e-02 9.99816601e-01 5.84476628e-04 -1.13485462e+01] [ 9.55321305e-03 -7.67459579e-04 9.99954073e-01 3.45415236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.540714057 meters Centerline goodness [0,1] 0.9599648257163096 Centerline is valid? [True, True] Translation: X:307.04, Y:-11.35, Z:3.45 [[ 9.99773323e-01 -1.87465015e-02 -1.00931726e-02 3.07043425e+02] [ 1.87536833e-02 9.99823944e-01 6.17365193e-04 -1.13511842e+01] [ 1.00798222e-02 -8.06509412e-04 9.99948872e-01 3.45300985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57071405700003 meters Centerline goodness [0,1] 0.9610516542051508 Centerline is valid? [True, True] Translation: X:307.07, Y:-11.35, Z:3.45 [[ 9.99839808e-01 -1.46304070e-02 -1.03106127e-02 3.07072858e+02] [ 1.46376829e-02 9.99892665e-01 6.30552367e-04 -1.13504058e+01] [ 1.03002808e-02 -7.81374837e-04 9.99946645e-01 3.45364449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.600714057 meters Centerline goodness [0,1] 0.9621546489794923 Centerline is valid? [True, True] Translation: X:307.10, Y:-11.35, Z:3.45 [[ 9.99869237e-01 -1.21324957e-02 -1.06916881e-02 3.07104029e+02] [ 1.21401782e-02 9.99926091e-01 6.53933348e-04 -1.13503622e+01] [ 1.06829641e-02 -7.83646837e-04 9.99942628e-01 3.45394167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63071405700003 meters Centerline goodness [0,1] 0.9673378513933404 Centerline is valid? [True, True] Translation: X:307.13, Y:-11.35, Z:3.45 [[ 9.99886664e-01 -9.79300410e-03 -1.14348714e-02 3.07134782e+02] [ 9.80163884e-03 9.99951718e-01 6.99324885e-04 -1.13451936e+01] [ 1.14274708e-02 -8.11326106e-04 9.99934375e-01 3.45389432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.660714057 meters Centerline goodness [0,1] 0.9646938177556402 Centerline is valid? [True, True] Translation: X:307.16, Y:-11.35, Z:3.45 [[ 9.99883584e-01 -9.46137478e-03 -1.19708467e-02 3.07163163e+02] [ 9.47080563e-03 9.99954883e-01 7.31373367e-04 -1.13492282e+01] [ 1.19633868e-02 -8.44661786e-04 9.99928079e-01 3.45269585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69071405700004 meters Centerline goodness [0,1] 0.9686819505272687 Centerline is valid? [True, True] Translation: X:307.19, Y:-11.35, Z:3.45 [[ 9.99896594e-01 -5.03587019e-03 -1.34699998e-02 3.07193609e+02] [ 5.04741033e-03 9.99986923e-01 8.22870806e-04 -1.13498764e+01] [ 1.34656797e-02 -8.90774332e-04 9.99908937e-01 3.44999619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.720714057 meters Centerline goodness [0,1] 0.9694911942157844 Centerline is valid? [True, True] Translation: X:307.22, Y:-11.35, Z:3.45 [[ 9.99912955e-01 -3.62921780e-03 -1.26850775e-02 3.07223025e+02] [ 3.63930458e-03 9.99993080e-01 7.72175986e-04 -1.13501030e+01] [ 1.26821874e-02 -8.18273633e-04 9.99919243e-01 3.45021603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.750714057 meters Centerline goodness [0,1] 0.9668060957412979 Centerline is valid? [True, True] Translation: X:307.25, Y:-11.35, Z:3.45 [[ 9.99929848e-01 -1.72273623e-03 -1.17188802e-02 3.07251411e+02] [ 1.73120580e-03 9.99998248e-01 7.12622370e-04 -1.13548943e+01] [ 1.17176320e-02 -7.32860171e-04 9.99931078e-01 3.45086525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.780714057 meters Centerline goodness [0,1] 0.9690216725847924 Centerline is valid? [True, True] Translation: X:307.28, Y:-11.35, Z:3.45 [[ 9.99927724e-01 -1.32085964e-03 -1.19500092e-02 3.07280411e+02] [ 1.32960490e-03 9.99998854e-01 7.23905092e-04 -1.13511921e+01] [ 1.19490394e-02 -7.39741562e-04 9.99928334e-01 3.45255753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.810714057 meters Centerline goodness [0,1] 0.9680668981368282 Centerline is valid? [True, True] Translation: X:307.31, Y:-11.35, Z:3.45 [[ 9.99935834e-01 3.96382213e-04 -1.13212192e-02 3.07309387e+02] [-3.88648931e-04 9.99999690e-01 6.85270447e-04 -1.13545212e+01] [ 1.13214873e-02 -6.80826497e-04 9.99935678e-01 3.45300716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.840714057 meters Centerline goodness [0,1] 0.9680634811785164 Centerline is valid? [True, True] Translation: X:307.34, Y:-11.36, Z:3.45 [[ 9.99939103e-01 6.89519384e-04 -1.10143081e-02 3.07336899e+02] [-6.82227286e-04 9.99999546e-01 6.65800371e-04 -1.13584183e+01] [ 1.10147621e-02 -6.58245564e-04 9.99939119e-01 3.45284431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.870714057 meters Centerline goodness [0,1] 0.965597951968792 Centerline is valid? [True, True] Translation: X:307.37, Y:-11.36, Z:3.45 [[ 9.99949481e-01 -9.28692801e-04 -1.00086899e-02 3.07365351e+02] [ 9.34789597e-04 9.99999380e-01 6.04489344e-04 -1.13635659e+01] [ 1.00081223e-02 -6.13814825e-04 9.99949729e-01 3.45356248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.900714057 meters Centerline goodness [0,1] 0.9673761638278634 Centerline is valid? [True, True] Translation: X:307.40, Y:-11.36, Z:3.46 [[ 9.99947558e-01 -2.72617982e-03 -9.87160669e-03 3.07395171e+02] [ 2.73219447e-03 9.99996090e-01 5.95852783e-04 -1.13606239e+01] [ 9.86994369e-03 -6.22792685e-04 9.99951097e-01 3.45540224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.930714057 meters Centerline goodness [0,1] 0.9621975561072976 Centerline is valid? [True, True] Translation: X:307.42, Y:-11.37, Z:3.46 [[ 9.99939796e-01 -6.53056343e-03 -8.81789654e-03 3.07423884e+02] [ 6.53550719e-03 9.99978502e-01 5.31951568e-04 -1.13718353e+01] [ 8.81423303e-03 -5.89548969e-04 9.99960980e-01 3.45600305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.960714057 meters Centerline goodness [0,1] 0.9607909989771565 Centerline is valid? [True, True] Translation: X:307.45, Y:-11.38, Z:3.46 [[ 9.99927923e-01 -8.80031818e-03 -8.16716422e-03 3.07452423e+02] [ 8.80463486e-03 9.99961117e-01 4.92735230e-04 -1.13790467e+01] [ 8.16251043e-03 -5.64608614e-04 9.99966527e-01 3.45579638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.990714057 meters Centerline goodness [0,1] 0.961591619989816 Centerline is valid? [True, True] Translation: X:307.48, Y:-11.39, Z:3.46 [[ 9.99866629e-01 -1.40980077e-02 -8.24442760e-03 3.07482906e+02] [ 1.41025854e-02 9.99900430e-01 4.97373764e-04 -1.13856327e+01] [ 8.23659472e-03 -6.13575173e-04 9.99965890e-01 3.45550307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.020714057 meters Centerline goodness [0,1] 0.9586441660027523 Centerline is valid? [True, True] Translation: X:307.51, Y:-11.39, Z:3.46 [[ 9.99831323e-01 -1.67299857e-02 -7.57842512e-03 3.07512883e+02] [ 1.67339299e-02 9.99859873e-01 4.57337709e-04 -1.13939747e+01] [ 7.56971193e-03 -5.84077401e-04 9.99971179e-01 3.45517605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.050714057 meters Centerline goodness [0,1] 0.9577689243027888 Centerline is valid? [True, True] Translation: X:307.54, Y:-11.40, Z:3.45 [[ 9.99717860e-01 -2.25905153e-02 -7.33957965e-03 3.07543241e+02] [ 2.25943718e-02 9.99744616e-01 4.42947313e-04 -1.14023341e+01] [ 7.32769884e-03 -6.08655532e-04 9.99972967e-01 3.45494551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.080714057 meters Centerline goodness [0,1] 0.9561209262022818 Centerline is valid? [True, True] Translation: X:307.57, Y:-11.41, Z:3.45 [[ 9.99638243e-01 -2.57705859e-02 -7.69811873e-03 3.07573441e+02] [ 2.57749232e-02 9.99667663e-01 4.64726806e-04 -1.14071161e+01] [ 7.68358409e-03 -6.62977107e-04 9.99970261e-01 3.45416081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.110714057 meters Centerline goodness [0,1] 0.9601843185254518 Centerline is valid? [True, True] Translation: X:307.60, Y:-11.41, Z:3.45 [[ 9.99495059e-01 -3.07076479e-02 -8.16500500e-03 3.07603926e+02] [ 3.07126905e-02 9.99528133e-01 4.92889849e-04 -1.14081396e+01] [ 8.14601671e-03 -7.43410241e-04 9.99966544e-01 3.45388829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.140714057 meters Centerline goodness [0,1] 0.9473923010793772 Centerline is valid? [True, False] Translation: X:307.60, Y:-11.41, Z:3.45 [[ 9.99502930e-01 -3.04174001e-02 -8.28704369e-03 3.07604812e+02] [ 3.04338397e-02 9.99535044e-01 1.86490519e-03 -1.14116242e+01] [ 8.22646501e-03 -2.11618476e-03 9.99963923e-01 3.45257987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.170714057 meters Centerline goodness [0,1] 0.9505821598489014 Centerline is valid? [False, True] Translation: X:307.60, Y:-11.42, Z:3.45 [[ 9.99499055e-01 -3.05853960e-02 -8.13464092e-03 3.07604940e+02] [ 3.06122993e-02 9.99526200e-01 3.20352557e-03 -1.14164851e+01] [ 8.03280563e-03 -3.45094085e-03 9.99961782e-01 3.45139920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.200714057 meters Centerline goodness [0,1] 0.8858336316982933 Centerline is valid? [True, False] Translation: X:307.61, Y:-11.42, Z:3.45 [[ 9.99507560e-01 -3.02499785e-02 -8.34126691e-03 3.07605715e+02] [ 3.02849753e-02 9.99532889e-01 4.10170576e-03 -1.14186271e+01] [ 8.21329410e-03 -4.35230098e-03 9.99956799e-01 3.45073095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.230714057 meters Centerline goodness [0,1] 0.8858336316982933 Centerline is valid? [False, False] Translation: X:307.61, Y:-11.42, Z:3.45 [[ 9.99507560e-01 -3.02499785e-02 -8.34126691e-03 3.07605715e+02] [ 3.02849753e-02 9.99532889e-01 4.10170576e-03 -1.14186271e+01] [ 8.21329410e-03 -4.35230098e-03 9.99956799e-01 3.45073095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26071405700003 meters Centerline goodness [0,1] 0.9583808167141501 Centerline is valid? [False, True] Translation: X:307.61, Y:-11.42, Z:3.45 [[ 9.99513430e-01 -3.00278300e-02 -8.43989918e-03 3.07606109e+02] [ 3.00703957e-02 9.99535464e-01 4.96253849e-03 -1.14211770e+01] [ 8.28696428e-03 -5.21391498e-03 9.99952070e-01 3.45035678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.290714057 meters Centerline goodness [0,1] 0.958450536352801 Centerline is valid? [True, True] Translation: X:307.64, Y:-11.42, Z:3.45 [[ 9.99508133e-01 -3.00346225e-02 -9.02291097e-03 3.07638345e+02] [ 3.00413504e-02 9.99548470e-01 6.11014902e-04 -1.14216892e+01] [ 9.00048526e-03 -8.81774794e-04 9.99959106e-01 3.45205904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32071405700003 meters Centerline goodness [0,1] 0.9597862232779097 Centerline is valid? [True, True] Translation: X:307.67, Y:-11.42, Z:3.45 [[ 9.99535085e-01 -2.92569902e-02 -8.58150224e-03 3.07670903e+02] [ 2.92630543e-02 9.99571576e-01 5.81912285e-04 -1.14242093e+01] [ 8.56080072e-03 -8.32762712e-04 9.99963009e-01 3.45186691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.350714057 meters Centerline goodness [0,1] 0.9566257639645616 Centerline is valid? [True, True] Translation: X:307.70, Y:-11.43, Z:3.45 [[ 9.99605562e-01 -2.71034481e-02 -7.35682564e-03 3.07699900e+02] [ 2.71078451e-02 9.99632391e-01 4.98591590e-04 -1.14311227e+01] [ 7.34060765e-03 -6.97822616e-04 9.99972814e-01 3.45081765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38071405700003 meters Centerline goodness [0,1] 0.9617807144724645 Centerline is valid? [True, True] Translation: X:307.73, Y:-11.43, Z:3.45 [[ 9.99657308e-01 -2.52821402e-02 -6.78814955e-03 3.07730776e+02] [ 2.52858431e-02 9.99680156e-01 4.60222662e-04 -1.14300024e+01] [ 6.77434299e-03 -6.31709032e-04 9.99976854e-01 3.45145193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.410714057 meters Centerline goodness [0,1] 0.9651659780595526 Centerline is valid? [True, True] Translation: X:307.76, Y:-11.43, Z:3.45 [[ 9.99760579e-01 -2.07538194e-02 -6.93279073e-03 3.07761445e+02] [ 2.07575736e-02 9.99784428e-01 4.69987909e-04 -1.14272060e+01] [ 6.92154217e-03 -6.13783297e-04 9.99975857e-01 3.45217393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44071405700004 meters Centerline goodness [0,1] 0.9609608896069952 Centerline is valid? [True, True] Translation: X:307.79, Y:-11.44, Z:3.45 [[ 9.99800856e-01 -1.84568204e-02 -7.58905097e-03 3.07791173e+02] [ 1.84612534e-02 9.99829444e-01 5.14479741e-04 -1.14355184e+01] [ 7.57826095e-03 -6.54480679e-04 9.99971070e-01 3.45119626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.470714057 meters Centerline goodness [0,1] 0.9632239907291347 Centerline is valid? [True, True] Translation: X:307.82, Y:-11.44, Z:3.45 [[ 9.99861362e-01 -1.43771896e-02 -8.39963727e-03 3.07820612e+02] [ 1.43824757e-02 9.99896405e-01 5.69256933e-04 -1.14374287e+01] [ 8.39058279e-03 -6.89985591e-04 9.99964560e-01 3.45051913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.500714057 meters Centerline goodness [0,1] 0.961425108142796 Centerline is valid? [True, True] Translation: X:307.85, Y:-11.44, Z:3.45 [[ 9.99882619e-01 -1.29199155e-02 -8.23559047e-03 3.07851332e+02] [ 1.29249496e-02 9.99916313e-01 5.58328891e-04 -1.14404901e+01] [ 8.22768770e-03 -6.64707945e-04 9.99965931e-01 3.45029203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.530714057 meters Centerline goodness [0,1] 0.9698923711535726 Centerline is valid? [True, True] Translation: X:307.88, Y:-11.43, Z:3.45 [[ 9.99914372e-01 -1.04460179e-02 -7.88221546e-03 3.07882366e+02] [ 1.04505526e-02 9.99945249e-01 5.34346904e-04 -1.14323511e+01] [ 7.87620210e-03 -6.16674657e-04 9.99968792e-01 3.45123573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.560714057 meters Centerline goodness [0,1] 0.9694399696768692 Centerline is valid? [True, True] Translation: X:307.91, Y:-11.43, Z:3.45 [[ 9.99920882e-01 -9.31711771e-03 -8.45111975e-03 3.07913303e+02] [ 9.32229213e-03 9.99956382e-01 5.73089140e-04 -1.14347144e+01] [ 8.44541159e-03 -6.51827605e-04 9.99964124e-01 3.45102575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.590714057 meters Centerline goodness [0,1] 0.9706042977561439 Centerline is valid? [True, True] Translation: X:307.94, Y:-11.44, Z:3.45 [[ 9.99941374e-01 -6.50087846e-03 -8.65956780e-03 3.07943210e+02] [ 6.50620389e-03 9.99978662e-01 5.86947824e-04 -1.14354221e+01] [ 8.65556735e-03 -6.43254327e-04 9.99962333e-01 3.45187222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.620714057 meters Centerline goodness [0,1] 0.971009687122522 Centerline is valid? [True, True] Translation: X:307.97, Y:-11.44, Z:3.45 [[ 9.99952019e-01 -5.32762499e-03 -8.22050836e-03 3.07972996e+02] [ 5.33238210e-03 9.99985628e-01 5.56878889e-04 -1.14351353e+01] [ 8.21742337e-03 -6.00687061e-04 9.99966056e-01 3.45220667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.650714057 meters Centerline goodness [0,1] 0.9709332700071241 Centerline is valid? [True, True] Translation: X:308.00, Y:-11.44, Z:3.45 [[ 9.99960349e-01 -3.08733341e-03 -8.35271953e-03 3.08001259e+02] [ 3.09216314e-03 9.99995059e-01 5.65369227e-04 -1.14387162e+01] [ 8.35093278e-03 -5.91174781e-04 9.99964956e-01 3.45141084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.680714057 meters Centerline goodness [0,1] 0.9707324037500595 Centerline is valid? [True, True] Translation: X:308.03, Y:-11.44, Z:3.45 [[ 9.99962029e-01 -2.38288341e-03 -8.38230628e-03 3.08029773e+02] [ 2.38770338e-03 9.99996990e-01 5.65057044e-04 -1.14407395e+01] [ 8.38093458e-03 -5.85050049e-04 9.99964708e-01 3.45145353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.710714057 meters Centerline goodness [0,1] 0.9725411882176735 Centerline is valid? [True, True] Translation: X:308.06, Y:-11.44, Z:3.45 [[ 9.99971900e-01 -1.08682618e-03 -7.41742958e-03 3.08058717e+02] [ 1.09056264e-03 9.99999280e-01 4.99714070e-04 -1.14390723e+01] [ 7.41688114e-03 -5.07789199e-04 9.99972366e-01 3.45300841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.740714057 meters Centerline goodness [0,1] 0.9723616297600076 Centerline is valid? [True, True] Translation: X:308.09, Y:-11.44, Z:3.45 [[ 9.99977916e-01 -7.99563489e-04 -6.59754709e-03 3.08085970e+02] [ 8.02506752e-04 9.99999580e-01 4.43479451e-04 -1.14421664e+01] [ 6.59718973e-03 -4.48764233e-04 9.99978138e-01 3.45302500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.770714057 meters Centerline goodness [0,1] 0.9708093032050676 Centerline is valid? [True, True] Translation: X:308.11, Y:-11.45, Z:3.45 [[ 9.99975971e-01 1.19667952e-04 -6.93138454e-03 3.08113358e+02] [-1.16444879e-04 9.99999885e-01 4.65398581e-04 -1.14472479e+01] [ 6.93143944e-03 -4.64580274e-04 9.99975869e-01 3.45234343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.800714057 meters Centerline goodness [0,1] 0.9710000710782571 Centerline is valid? [True, True] Translation: X:308.14, Y:-11.45, Z:3.45 [[ 9.99971219e-01 4.08442438e-04 -7.57591995e-03 3.08140951e+02] [-4.04605068e-04 9.99999789e-01 5.08047727e-04 -1.14514355e+01] [ 7.57612586e-03 -5.04967849e-04 9.99971173e-01 3.45138913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.830714057 meters Centerline goodness [0,1] 0.9721736665564322 Centerline is valid? [True, True] Translation: X:308.17, Y:-11.45, Z:3.45 [[ 9.99960572e-01 1.39548535e-03 -8.76964596e-03 3.08170203e+02] [-1.39039998e-03 9.99998862e-01 5.85952408e-04 -1.14500759e+01] [ 8.77045367e-03 -5.73735990e-04 9.99961374e-01 3.45114375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.860714057 meters Centerline goodness [0,1] 0.9740327557559934 Centerline is valid? [True, True] Translation: X:308.20, Y:-11.45, Z:3.45 [[ 9.99960078e-01 1.54832507e-03 -8.80025035e-03 3.08199643e+02] [-1.54321173e-03 9.99998636e-01 5.87805369e-04 -1.14491096e+01] [ 8.80114847e-03 -5.74201253e-04 9.99961104e-01 3.45175211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.890714057 meters Centerline goodness [0,1] 0.9294904220457895 Centerline is valid? [True, False] Translation: X:308.26, Y:-11.45, Z:3.45 [[ 9.99967481e-01 2.31386176e-03 -7.72546397e-03 3.08256555e+02] [-2.34686448e-03 9.99988148e-01 -4.26561141e-03 -1.14510411e+01] [ 7.71550238e-03 4.28360332e-03 9.99961060e-01 3.45283540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.920714057 meters Centerline goodness [0,1] 0.9710587344408159 Centerline is valid? [False, True] Translation: X:308.17, Y:-11.45, Z:3.45 [[ 9.99967964e-01 2.01406225e-03 -7.74696409e-03 3.08169641e+02] [-2.00390116e-03 9.99997122e-01 1.31916060e-03 -1.14485277e+01] [ 7.74959867e-03 -1.30359419e-03 9.99969122e-01 3.45154927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.950714057 meters Centerline goodness [0,1] 0.9755635985144182 Centerline is valid? [True, True] Translation: X:308.20, Y:-11.44, Z:3.45 [[ 9.99968306e-01 3.39806869e-03 -7.20005375e-03 3.08199500e+02] [-3.39483921e-03 9.99994131e-01 4.60710495e-04 -1.14402947e+01] [ 7.20157702e-03 -4.36252869e-04 9.99973973e-01 3.45381224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.980714057 meters Centerline goodness [0,1] 0.9747346072186837 Centerline is valid? [True, True] Translation: X:308.23, Y:-11.45, Z:3.45 [[ 9.99963864e-01 5.08976072e-03 -6.80920371e-03 3.08227197e+02] [-5.08691423e-03 9.99986967e-01 4.35290117e-04 -1.14461705e+01] [ 6.81133049e-03 -4.00636552e-04 9.99976722e-01 3.45449125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01071405700003 meters Centerline goodness [0,1] 0.9768061913076306 Centerline is valid? [True, True] Translation: X:308.26, Y:-11.44, Z:3.46 [[ 9.99962324e-01 6.11744972e-03 -6.15855831e-03 3.08256172e+02] [-6.11514325e-03 9.99981225e-01 3.93275585e-04 -1.14441074e+01] [ 6.16084853e-03 -3.55600301e-04 9.99980959e-01 3.45583420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.040714057 meters Centerline goodness [0,1] 0.9756465212680767 Centerline is valid? [True, True] Translation: X:308.28, Y:-11.45, Z:3.46 [[ 9.99958718e-01 6.78150985e-03 -6.04759829e-03 3.08284042e+02] [-6.77930115e-03 9.99976946e-01 3.85643440e-04 -1.14466889e+01] [ 6.05007411e-03 -3.44629029e-04 9.99981639e-01 3.45578405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07071405700003 meters Centerline goodness [0,1] 0.9738800697159546 Centerline is valid? [True, True] Translation: X:308.31, Y:-11.45, Z:3.46 [[ 9.99957686e-01 8.09400887e-03 -4.37191088e-03 3.08311727e+02] [-8.09286932e-03 9.99967213e-01 2.78279057e-04 -1.14524621e+01] [ 4.37401993e-03 -2.42885979e-04 9.99990404e-01 3.45618017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.100714057 meters Centerline goodness [0,1] 0.9764200995071801 Centerline is valid? [True, True] Translation: X:308.34, Y:-11.45, Z:3.46 [[ 9.99951449e-01 8.92123020e-03 -4.18457480e-03 3.08340625e+02] [-8.92019451e-03 9.99960179e-01 2.66100238e-04 -1.14508386e+01] [ 4.18678210e-03 -2.28760097e-04 9.99991209e-01 3.45710936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13071405700003 meters Centerline goodness [0,1] 0.9754763252216563 Centerline is valid? [True, True] Translation: X:308.37, Y:-11.45, Z:3.46 [[ 9.99931437e-01 1.09844090e-02 -4.05757381e-03 3.08369657e+02] [-1.09834533e-02 9.99939647e-01 2.57730873e-04 -1.14512903e+01] [ 4.06015995e-03 -2.13147030e-04 9.99991735e-01 3.45771445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.160714057 meters Centerline goodness [0,1] 0.977772034117343 Centerline is valid? [True, True] Translation: X:308.40, Y:-11.45, Z:3.46 [[ 9.99894481e-01 1.38620426e-02 -4.34408182e-03 3.08398211e+02] [-1.38609752e-02 9.99903894e-01 2.75730360e-04 -1.14537085e+01] [ 4.34748652e-03 -2.15488055e-04 9.99990526e-01 3.45822044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19071405700004 meters Centerline goodness [0,1] 0.9769052033703383 Centerline is valid? [True, True] Translation: X:308.43, Y:-11.46, Z:3.46 [[ 9.99868232e-01 1.56325081e-02 -4.37540330e-03 3.08425796e+02] [-1.56314446e-02 9.99877783e-01 2.77173202e-04 -1.14570799e+01] [ 4.37920147e-03 -2.08742805e-04 9.99990389e-01 3.45813422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.220714057 meters Centerline goodness [0,1] 0.9784224968923705 Centerline is valid? [True, True] Translation: X:308.46, Y:-11.46, Z:3.46 [[ 9.99819015e-01 1.83261714e-02 -5.10777380e-03 3.08455826e+02] [-1.83247567e-02 9.99832035e-01 3.23631428e-04 -1.14579798e+01] [ 5.11284680e-03 -2.29974143e-04 9.99986903e-01 3.45720591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.250714057 meters Centerline goodness [0,1] 0.9736225347130096 Centerline is valid? [True, True] Translation: X:308.48, Y:-11.48, Z:3.45 [[ 9.99724043e-01 2.29807548e-02 -4.87065604e-03 3.08483261e+02] [-2.29795251e-02 9.99735888e-01 3.08303608e-04 -1.14763854e+01] [ 4.87645469e-03 -1.96293167e-04 9.99988091e-01 3.45488947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.280714057 meters Centerline goodness [0,1] 0.9783909340465967 Centerline is valid? [True, True] Translation: X:308.51, Y:-11.47, Z:3.46 [[ 9.99757722e-01 2.11886651e-02 -5.96136396e-03 3.08513731e+02] [-2.11867920e-02 9.99775464e-01 3.77190616e-04 -1.14656954e+01] [ 5.96801758e-03 -2.50797053e-04 9.99982160e-01 3.45652978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.310714057 meters Centerline goodness [0,1] 0.9806036008400387 Centerline is valid? [True, True] Translation: X:308.54, Y:-11.46, Z:3.46 [[ 9.99694766e-01 2.40340761e-02 -5.72172215e-03 3.08543461e+02] [-2.40323983e-02 9.99711115e-01 3.61820535e-04 -1.14610464e+01] [ 5.72876525e-03 -2.24203389e-04 9.99983565e-01 3.45820829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.340714057 meters Centerline goodness [0,1] 0.9787858165348603 Centerline is valid? [True, True] Translation: X:308.57, Y:-11.47, Z:3.46 [[ 9.99662778e-01 2.55087160e-02 -4.86166485e-03 3.08570775e+02] [-2.55075245e-02 9.99674583e-01 3.06925810e-04 -1.14671366e+01] [ 4.86791206e-03 -1.82813273e-04 9.99988135e-01 3.45786819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.370714057 meters Centerline goodness [0,1] 0.9802642386126299 Centerline is valid? [True, True] Translation: X:308.60, Y:-11.47, Z:3.46 [[ 9.99624957e-01 2.71324638e-02 -3.71131038e-03 3.08599220e+02] [-2.71317815e-02 9.99631838e-01 2.34054079e-04 -1.14701101e+01] [ 3.71629448e-03 -1.33271837e-04 9.99993086e-01 3.45866820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.400714057 meters Centerline goodness [0,1] 0.9801477160464788 Centerline is valid? [True, True] Translation: X:308.63, Y:-11.47, Z:3.46 [[ 9.99612821e-01 2.76189873e-02 -3.37637815e-03 3.08627963e+02] [-2.76184263e-02 9.99618516e-01 2.12695139e-04 -1.14726109e+01] [ 3.38096454e-03 -1.19362537e-04 9.99994277e-01 3.45950927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.430714057 meters Centerline goodness [0,1] 0.9806246046435348 Centerline is valid? [True, True] Translation: X:308.66, Y:-11.48, Z:3.46 [[ 9.99629503e-01 2.70455763e-02 -3.06474044e-03 3.08656665e+02] [-2.70451120e-02 9.99634195e-01 1.92849527e-04 -1.14779845e+01] [ 3.06883507e-03 -1.09891829e-04 9.99995285e-01 3.45961208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.460714057 meters Centerline goodness [0,1] 0.9791398704426931 Centerline is valid? [True, True] Translation: X:308.68, Y:-11.48, Z:3.46 [[ 9.99656522e-01 2.59698285e-02 -3.52228402e-03 3.08684053e+02] [-2.59692096e-02 9.99662719e-01 2.21339102e-04 -1.14829243e+01] [ 3.52684415e-03 -1.29792145e-04 9.99993772e-01 3.45903127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.490714057 meters Centerline goodness [0,1] 0.9789255524765387 Centerline is valid? [True, True] Translation: X:308.71, Y:-11.49, Z:3.46 [[ 9.99686153e-01 2.48462368e-02 -3.20299649e-03 3.08713037e+02] [-2.48457199e-02 9.99691277e-01 2.01080352e-04 -1.14878448e+01] [ 3.20700374e-03 -1.21436490e-04 9.99994850e-01 3.45905315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.520714057 meters Centerline goodness [0,1] 0.9813619737669781 Centerline is valid? [True, True] Translation: X:308.74, Y:-11.49, Z:3.46 [[ 9.99758180e-01 2.17711622e-02 -3.09811738e-03 3.08742870e+02] [-2.17706640e-02 9.99762972e-01 1.94426698e-04 -1.14904191e+01] [ 3.10161594e-03 -1.26931609e-04 9.99995182e-01 3.45920925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.550714057 meters Centerline goodness [0,1] 0.9783585041770414 Centerline is valid? [True, True] Translation: X:308.77, Y:-11.50, Z:3.46 [[ 9.99821577e-01 1.83620427e-02 -4.43277580e-03 3.08770268e+02] [-1.83609911e-02 9.99831384e-01 2.77823920e-04 -1.15048637e+01] [ 4.43712978e-03 -1.96384193e-04 9.99990137e-01 3.45664374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.580714057 meters Centerline goodness [0,1] 0.9780704794916233 Centerline is valid? [True, True] Translation: X:308.80, Y:-11.51, Z:3.46 [[ 9.99848999e-01 1.65834153e-02 -5.19320946e-03 3.08799613e+02] [-1.65819484e-02 9.99862457e-01 3.25392096e-04 -1.15105231e+01] [ 5.19789128e-03 -2.39229430e-04 9.99986462e-01 3.45608050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.610714057 meters Centerline goodness [0,1] 0.9796573381361411 Centerline is valid? [True, True] Translation: X:308.83, Y:-11.51, Z:3.46 [[ 9.99877312e-01 1.46982879e-02 -5.41489965e-03 3.08829207e+02] [-1.46966665e-02 9.99891941e-01 3.39093279e-04 -1.15097746e+01] [ 5.41929861e-03 -2.59470702e-04 9.99985282e-01 3.45609952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.640714057 meters Centerline goodness [0,1] 0.9792734155010848 Centerline is valid? [True, True] Translation: X:308.86, Y:-11.52, Z:3.45 [[ 9.99926441e-01 1.05354292e-02 -6.00984396e-03 3.08858895e+02] [-1.05333574e-02 9.99944452e-01 3.76276202e-04 -1.15182140e+01] [ 6.01347436e-03 -3.12944689e-04 9.99981870e-01 3.45489154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.670714057 meters Centerline goodness [0,1] 0.979022750299346 Centerline is valid? [True, True] Translation: X:308.89, Y:-11.53, Z:3.45 [[ 9.99954936e-01 7.33464295e-03 -6.02733189e-03 3.08888440e+02] [-7.33250190e-03 9.99973046e-01 3.77245026e-04 -1.15252283e+01] [ 6.02993638e-03 -3.33032604e-04 9.99981764e-01 3.45457021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.700714057 meters Centerline goodness [0,1] 0.9769964380098817 Centerline is valid? [True, True] Translation: X:308.92, Y:-11.53, Z:3.45 [[ 9.99966612e-01 5.74133951e-03 -5.81477581e-03 3.08917682e+02] [-5.73932126e-03 9.99983464e-01 3.63718305e-04 -1.15298923e+01] [ 5.81676788e-03 -3.30333295e-04 9.99983028e-01 3.45402849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.730714057 meters Centerline goodness [0,1] 0.978413135836491 Centerline is valid? [True, True] Translation: X:308.95, Y:-11.53, Z:3.45 [[ 9.99981469e-01 2.07556426e-03 -5.72314711e-03 3.08947985e+02] [-2.07354900e-03 9.99997786e-01 3.58035432e-04 -1.15336990e+01] [ 5.72387756e-03 -3.46161571e-04 9.99983559e-01 3.45454651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76071405700003 meters Centerline goodness [0,1] 0.9768129902298059 Centerline is valid? [True, True] Translation: X:308.98, Y:-11.54, Z:3.45 [[ 9.99981903e-01 -2.47162839e-04 -6.01106270e-03 3.08976390e+02] [ 2.49425394e-04 9.99999898e-01 3.75651711e-04 -1.15402012e+01] [ 6.01096924e-03 -3.77144224e-04 9.99981863e-01 3.45426883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.790714057 meters Centerline goodness [0,1] 0.9758494031221304 Centerline is valid? [True, True] Translation: X:309.01, Y:-11.54, Z:3.45 [[ 9.99979681e-01 -2.56106349e-03 -5.83775300e-03 3.09005251e+02] [ 2.56323481e-03 9.99996648e-01 3.64493331e-04 -1.15435802e+01] [ 5.83679994e-03 -3.79449456e-04 9.99982894e-01 3.45431772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82071405700003 meters Centerline goodness [0,1] 0.973443831414116 Centerline is valid? [True, True] Translation: X:309.03, Y:-11.55, Z:3.45 [[ 9.99951874e-01 -8.07396621e-03 -5.57318572e-03 3.09034042e+02] [ 8.07603018e-03 9.99967328e-01 3.47933809e-04 -1.15529143e+01] [ 5.57019443e-03 -3.92926280e-04 9.99984409e-01 3.45377319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.850714057 meters Centerline goodness [0,1] 0.9720950462411867 Centerline is valid? [True, True] Translation: X:309.06, Y:-11.56, Z:3.45 [[ 9.99923702e-01 -1.10237160e-02 -5.57385627e-03 3.09064396e+02] [ 1.10258262e-02 9.99939153e-01 3.47999235e-04 -1.15566197e+01] [ 5.56968087e-03 -4.09429054e-04 9.99984405e-01 3.45410180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88071405700003 meters Centerline goodness [0,1] 0.9728449853587116 Centerline is valid? [True, True] Translation: X:309.09, Y:-11.56, Z:3.45 [[ 9.99857466e-01 -1.59861829e-02 -5.43035950e-03 3.09094962e+02] [ 1.59882602e-02 9.99872122e-01 3.39347848e-04 -1.15584319e+01] [ 5.42424020e-03 -4.26121480e-04 9.99985198e-01 3.45490829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.910714057 meters Centerline goodness [0,1] 0.9717552887364208 Centerline is valid? [True, True] Translation: X:309.13, Y:-11.56, Z:3.45 [[ 9.99807628e-01 -1.88073844e-02 -5.56680550e-03 3.09125902e+02] [ 1.88096112e-02 9.99823023e-01 3.47930762e-04 -1.15624804e+01] [ 5.55927663e-03 -4.52573277e-04 9.99984445e-01 3.45442352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94071405700004 meters Centerline goodness [0,1] 0.7273816530732364 Centerline is valid? [True, False] Translation: X:309.17, Y:-11.56, Z:3.46 [[ 9.99728594e-01 -2.27375682e-02 -5.07360055e-03 3.09173867e+02] [ 2.27200027e-02 9.99735764e-01 -3.49333584e-03 -1.15637380e+01] [ 5.15168988e-03 3.37711551e-03 9.99981027e-01 3.45532586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.970714057 meters Centerline goodness [0,1] 0.9702458250746132 Centerline is valid? [False, True] Translation: X:309.11, Y:-11.56, Z:3.45 [[ 9.99781395e-01 -2.02895319e-02 -5.04950687e-03 3.09106825e+02] [ 2.02849145e-02 9.99793775e-01 -9.63975376e-04 -1.15628359e+01] [ 5.06802414e-03 8.61335831e-04 9.99986787e-01 3.45369021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.000714057 meters Centerline goodness [0,1] 0.9690304898937993 Centerline is valid? [True, True] Translation: X:309.14, Y:-11.57, Z:3.45 [[ 9.99765778e-01 -2.09909498e-02 -5.26963214e-03 3.09138037e+02] [ 2.09930639e-02 9.99779561e-01 3.46192369e-04 -1.15668585e+01] [ 5.26120360e-03 -4.56737008e-04 9.99986055e-01 3.45339930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.030714057 meters Centerline goodness [0,1] 0.9706616014829393 Centerline is valid? [True, True] Translation: X:309.17, Y:-11.56, Z:3.45 [[ 9.99782924e-01 -2.02721003e-02 -4.81117437e-03 3.09170435e+02] [ 2.02738563e-02 9.99794414e-01 3.16487932e-04 -1.15636949e+01] [ 4.80376939e-03 -4.13960288e-04 9.99988376e-01 3.45410450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.060714057 meters Centerline goodness [0,1] 0.9705929505530999 Centerline is valid? [True, True] Translation: X:309.20, Y:-11.57, Z:3.45 [[ 9.99812036e-01 -1.87864276e-02 -4.79202047e-03 3.09201274e+02] [ 1.87881530e-02 9.99823437e-01 3.15299099e-04 -1.15656968e+01] [ 4.78525104e-03 -4.05273048e-04 9.99988468e-01 3.45466007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.090714057 meters Centerline goodness [0,1] 0.9714659265545794 Centerline is valid? [True, True] Translation: X:309.23, Y:-11.56, Z:3.45 [[ 9.99871461e-01 -1.52526033e-02 -4.94161726e-03 3.09232090e+02] [ 1.52543948e-02 9.99883592e-01 3.25048869e-04 -1.15634250e+01] [ 4.93608418e-03 -4.00388469e-04 9.99987737e-01 3.45425024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.120714057 meters Centerline goodness [0,1] 0.9714659265545794 Centerline is valid? [True, True] Translation: X:309.26, Y:-11.57, Z:3.45 [[ 9.99872539e-01 -1.51817833e-02 -4.94158144e-03 3.09263814e+02] [ 1.51835766e-02 9.99884670e-01 3.25593121e-04 -1.15655738e+01] [ 4.93606845e-03 -4.00582501e-04 9.99987737e-01 3.45416115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.150714057 meters Centerline goodness [0,1] 0.9712866072859662 Centerline is valid? [True, True] Translation: X:309.30, Y:-11.56, Z:3.45 [[ 9.99911571e-01 -1.24235719e-02 -4.74402150e-03 3.09295213e+02] [ 1.24251936e-02 9.99922755e-01 3.12518724e-04 -1.15646168e+01] [ 4.73977245e-03 -3.71436473e-04 9.99988698e-01 3.45391717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.180714057 meters Centerline goodness [0,1] 0.9729145092624554 Centerline is valid? [True, True] Translation: X:309.33, Y:-11.56, Z:3.45 [[ 9.99934062e-01 -1.02634404e-02 -5.15110040e-03 3.09326593e+02] [ 1.02653243e-02 9.99947253e-01 3.39423143e-04 -1.15620355e+01] [ 5.14734504e-03 -3.92278478e-04 9.99986675e-01 3.45456849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.210714057 meters Centerline goodness [0,1] 0.9747821464068603 Centerline is valid? [True, True] Translation: X:309.36, Y:-11.56, Z:3.46 [[ 9.99982522e-01 -3.79279286e-03 -4.53554999e-03 3.09357350e+02] [ 3.79418725e-03 9.99992757e-01 2.98870189e-04 -1.15563541e+01] [ 4.53438358e-03 -3.16073691e-04 9.99989670e-01 3.45657811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.240714057 meters Centerline goodness [0,1] 0.9750412110236586 Centerline is valid? [True, True] Translation: X:309.39, Y:-11.55, Z:3.46 [[ 9.99987317e-01 2.15751646e-03 -4.55096735e-03 3.09386762e+02] [-2.15617470e-03 9.99997631e-01 2.99714166e-04 -1.15531285e+01] [ 4.55160320e-03 -2.89897684e-04 9.99989599e-01 3.45718547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.270714057 meters Centerline goodness [0,1] 0.975906416428289 Centerline is valid? [True, True] Translation: X:309.42, Y:-11.55, Z:3.46 [[ 9.99974942e-01 5.19165510e-03 -4.81263982e-03 3.09416880e+02] [-5.19018995e-03 9.99986481e-01 3.16876268e-04 -1.15510876e+01] [ 4.81421987e-03 -2.91889813e-04 9.99988369e-01 3.45713674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.300714057 meters Centerline goodness [0,1] 0.9778558302900607 Centerline is valid? [True, True] Translation: X:309.45, Y:-11.55, Z:3.46 [[ 9.99954498e-01 8.34374237e-03 -4.62421955e-03 3.09446009e+02] [-8.34242426e-03 9.99965155e-01 3.04261459e-04 -1.15517227e+01] [ 4.62659710e-03 -2.65670413e-04 9.99989262e-01 3.45696230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.330714057 meters Centerline goodness [0,1] 0.9781762223413929 Centerline is valid? [True, True] Translation: X:309.48, Y:-11.55, Z:3.46 [[ 9.99899406e-01 1.33111692e-02 -4.89804110e-03 3.09476543e+02] [-1.33097494e-02 9.99911369e-01 3.22355952e-04 -1.15467143e+01] [ 4.90189792e-03 -2.57131826e-04 9.99987953e-01 3.45595980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.360714057 meters Centerline goodness [0,1] 0.9773928430071477 Centerline is valid? [True, True] Translation: X:309.51, Y:-11.55, Z:3.46 [[ 9.99862055e-01 1.56574210e-02 -5.54219116e-03 3.09505350e+02] [-1.56556414e-02 9.99877377e-01 3.64331735e-04 -1.15474143e+01] [ 5.54721605e-03 -2.77514920e-04 9.99984576e-01 3.45513876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.390714057 meters Centerline goodness [0,1] 0.9796985112241564 Centerline is valid? [True, True] Translation: X:309.54, Y:-11.54, Z:3.46 [[ 9.99783888e-01 1.97567701e-02 -6.46890910e-03 3.09535528e+02] [-1.97544323e-02 9.99804772e-01 4.25087641e-04 -1.15379784e+01] [ 6.47604454e-03 -2.97206148e-04 9.99978986e-01 3.45603337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.420714057 meters Centerline goodness [0,1] 0.9804786923525978 Centerline is valid? [True, True] Translation: X:309.56, Y:-11.54, Z:3.46 [[ 9.99742022e-01 2.18769974e-02 -6.10621441e-03 3.09564681e+02] [-2.18749563e-02 9.99760634e-01 4.00873251e-04 -1.15387926e+01] [ 6.11352269e-03 -2.67196661e-04 9.99981277e-01 3.45598182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.450714057 meters Centerline goodness [0,1] 0.9788444942038113 Centerline is valid? [True, True] Translation: X:309.59, Y:-11.54, Z:3.45 [[ 9.99659078e-01 2.53414253e-02 -6.28812699e-03 3.09593746e+02] [-2.53393302e-02 9.99678822e-01 4.12648311e-04 -1.15444546e+01] [ 6.29656448e-03 -2.53170703e-04 9.99980144e-01 3.45450656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.480714057 meters Centerline goodness [0,1] 0.9809722189716105 Centerline is valid? [True, True] Translation: X:309.62, Y:-11.54, Z:3.46 [[ 9.99644862e-01 2.58974861e-02 -6.28251005e-03 3.09622744e+02] [-2.58954090e-02 9.99664573e-01 4.11740107e-04 -1.15408785e+01] [ 6.29106576e-03 -2.48905715e-04 9.99980180e-01 3.45595785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51071405700003 meters Centerline goodness [0,1] 0.9800485368927054 Centerline is valid? [True, True] Translation: X:309.65, Y:-11.54, Z:3.46 [[ 9.99653736e-01 2.58122528e-02 -5.11234077e-03 3.09651215e+02] [-2.58108784e-02 9.99666788e-01 3.34650257e-04 -1.15424385e+01] [ 5.11927535e-03 -2.02580374e-04 9.99986876e-01 3.45619568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.540714057 meters Centerline goodness [0,1] 0.9788342559426897 Centerline is valid? [True, True] Translation: X:309.68, Y:-11.55, Z:3.46 [[ 9.99688081e-01 2.45504894e-02 -4.58408303e-03 3.09678764e+02] [-2.45493747e-02 9.99698574e-01 2.99302370e-04 -1.15473450e+01] [ 4.59004929e-03 -1.86672640e-04 9.99989448e-01 3.45586190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57071405700003 meters Centerline goodness [0,1] 0.9790126623603759 Centerline is valid? [True, True] Translation: X:309.71, Y:-11.55, Z:3.46 [[ 9.99804579e-01 1.93183935e-02 -4.19564987e-03 3.09708484e+02] [-1.93174128e-02 9.99813364e-01 2.74146467e-04 -1.15516659e+01] [ 4.20016288e-03 -1.93043792e-04 9.99991161e-01 3.45524196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.600714057 meters Centerline goodness [0,1] 0.9788850956367208 Centerline is valid? [True, True] Translation: X:309.74, Y:-11.56, Z:3.45 [[ 9.99860575e-01 1.60781608e-02 -4.50810697e-03 3.09736406e+02] [-1.60769978e-02 9.99870713e-01 2.94106894e-04 -1.15577781e+01] [ 4.51225283e-03 -2.21589062e-04 9.99989795e-01 3.45493828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63071405700003 meters Centerline goodness [0,1] 0.9745979362275727 Centerline is valid? [True, True] Translation: X:309.76, Y:-11.57, Z:3.45 [[ 9.99944825e-01 9.10935813e-03 -5.23125612e-03 3.09764818e+02] [-9.10769509e-03 9.99958466e-01 3.41638553e-04 -1.15664067e+01] [ 5.23415095e-03 -2.93975018e-04 9.99986259e-01 3.45315464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.660714057 meters Centerline goodness [0,1] 0.9754544186695179 Centerline is valid? [True, True] Translation: X:309.80, Y:-11.57, Z:3.45 [[ 9.99967316e-01 6.15652117e-03 -5.24067667e-03 3.09795106e+02] [-6.15481196e-03 9.99981000e-01 3.42209145e-04 -1.15719412e+01] [ 5.24268392e-03 -3.09942581e-04 9.99986209e-01 3.45265905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69071405700004 meters Centerline goodness [0,1] 0.9747944059842959 Centerline is valid? [True, True] Translation: X:309.83, Y:-11.58, Z:3.45 [[ 9.99980149e-01 1.24431105e-03 -6.17677425e-03 3.09825442e+02] [-1.24184331e-03 9.99999148e-01 4.03338029e-04 -1.15784165e+01] [ 6.17727087e-03 -3.95659437e-04 9.99980842e-01 3.45141087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.720714057 meters Centerline goodness [0,1] 0.9755972973600502 Centerline is valid? [True, True] Translation: X:309.85, Y:-11.58, Z:3.45 [[ 9.99977638e-01 -5.15817871e-04 -6.66763504e-03 3.09854660e+02] [ 5.18729037e-04 9.99999771e-01 4.34889578e-04 -1.15764724e+01] [ 6.66740919e-03 -4.38338549e-04 9.99977677e-01 3.45176266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.750714057 meters Centerline goodness [0,1] 0.9716168859801806 Centerline is valid? [True, True] Translation: X:309.88, Y:-11.59, Z:3.45 [[ 9.99977689e-01 -3.49187426e-03 -5.69464312e-03 3.09883299e+02] [ 3.49404609e-03 9.99993827e-01 3.71478262e-04 -1.15877925e+01] [ 5.69331081e-03 -3.91367319e-04 9.99983716e-01 3.45141936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.780714057 meters Centerline goodness [0,1] 0.9740455536484669 Centerline is valid? [True, True] Translation: X:309.91, Y:-11.58, Z:3.45 [[ 9.99980178e-01 -4.57537366e-03 -4.32546914e-03 3.09913625e+02] [ 4.57663577e-03 9.99989487e-01 2.81932001e-04 -1.15820371e+01] [ 4.32413373e-03 -3.01722509e-04 9.99990605e-01 3.45402987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.810714057 meters Centerline goodness [0,1] 0.9737746806039489 Centerline is valid? [True, True] Translation: X:309.94, Y:-11.58, Z:3.45 [[ 9.99981100e-01 -4.49303579e-03 -4.19667976e-03 3.09944413e+02] [ 4.49422354e-03 9.99989863e-01 2.73632735e-04 -1.15836502e+01] [ 4.19540778e-03 -2.92488380e-04 9.99991156e-01 3.45391859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.840714057 meters Centerline goodness [0,1] 0.9728047562646601 Centerline is valid? [True, True] Translation: X:309.97, Y:-11.59, Z:3.45 [[ 9.99986524e-01 -3.61342789e-03 -3.72756393e-03 3.09973463e+02] [ 3.61435844e-03 9.99993439e-01 2.42932389e-04 -1.15870382e+01] [ 3.72666165e-03 -2.56401867e-04 9.99993023e-01 3.45322759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.870714057 meters Centerline goodness [0,1] 0.9748235787316301 Centerline is valid? [True, True] Translation: X:310.00, Y:-11.59, Z:3.45 [[ 9.99990389e-01 -1.66256027e-03 -4.05681365e-03 3.10003842e+02] [ 1.66364525e-03 9.99998581e-01 2.64086258e-04 -1.15855744e+01] [ 4.05636883e-03 -2.70832818e-04 9.99991736e-01 3.45257049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.900714057 meters Centerline goodness [0,1] 0.9742001583383785 Centerline is valid? [True, True] Translation: X:310.03, Y:-11.59, Z:3.45 [[ 9.99991074e-01 1.38440364e-04 -4.22283816e-03 3.10034103e+02] [-1.37281700e-04 9.99999953e-01 2.74668942e-04 -1.15859330e+01] [ 4.22287599e-03 -2.74086772e-04 9.99991046e-01 3.45248578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.930714057 meters Centerline goodness [0,1] 0.9761865851096118 Centerline is valid? [True, True] Translation: X:310.06, Y:-11.58, Z:3.45 [[ 9.99983503e-01 4.67555424e-03 -3.33646708e-03 3.10064945e+02] [-4.67485578e-03 9.99989049e-01 2.17110151e-04 -1.15781841e+01] [ 3.33744566e-03 -2.01509067e-04 9.99994410e-01 3.45417773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.960714057 meters Centerline goodness [0,1] 0.9773657259101644 Centerline is valid? [True, True] Translation: X:310.09, Y:-11.58, Z:3.45 [[ 9.99970892e-01 7.17020942e-03 -2.60827641e-03 3.10093745e+02] [-7.16979176e-03 9.99974282e-01 1.69445408e-04 -1.15787231e+01] [ 2.60942429e-03 -1.50739677e-04 9.99996584e-01 3.45461962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.990714057 meters Centerline goodness [0,1] 0.9783782514790121 Centerline is valid? [True, True] Translation: X:310.12, Y:-11.58, Z:3.45 [[ 9.99929190e-01 1.16577591e-02 -2.38998378e-03 3.10123748e+02] [-1.16574211e-02 9.99932038e-01 1.55286994e-04 -1.15776536e+01] [ 2.39163165e-03 -1.27414951e-04 9.99997132e-01 3.45490116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.020714057 meters Centerline goodness [0,1] 0.9768833607134475 Centerline is valid? [True, True] Translation: X:310.15, Y:-11.58, Z:3.45 [[ 9.99924040e-01 1.20327430e-02 -2.66980930e-03 3.10152832e+02] [-1.20323235e-02 9.99927594e-01 1.73154630e-04 -1.15785466e+01] [ 2.67169952e-03 -1.41017468e-04 9.99996421e-01 3.45403668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.050714057 meters Centerline goodness [0,1] 0.9761003034508715 Centerline is valid? [True, True] Translation: X:310.18, Y:-11.58, Z:3.45 [[ 9.99920110e-01 1.23462260e-02 -2.71001437e-03 3.10180221e+02] [-1.23457956e-02 9.99923772e-01 1.75482750e-04 -1.15810064e+01] [ 2.71197434e-03 -1.42011447e-04 9.99996313e-01 3.45346763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.080714057 meters Centerline goodness [0,1] 0.9759135236752438 Centerline is valid? [True, True] Translation: X:310.21, Y:-11.58, Z:3.45 [[ 9.99930274e-01 1.15012895e-02 -2.67734021e-03 3.10208847e+02] [-1.15008667e-02 9.99933848e-01 1.73229217e-04 -1.15834916e+01] [ 2.67915546e-03 -1.42425405e-04 9.99996401e-01 3.45358496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.110714057 meters Centerline goodness [0,1] 0.9755203683691209 Centerline is valid? [True, True] Translation: X:310.24, Y:-11.59, Z:3.45 [[ 9.99947362e-01 1.00192049e-02 -2.21101089e-03 3.10237869e+02] [-1.00189134e-02 9.99949799e-01 1.42871254e-04 -1.15859436e+01] [ 2.21233135e-03 -1.20711807e-04 9.99997546e-01 3.45358317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.140714057 meters Centerline goodness [0,1] 0.9725461670225497 Centerline is valid? [True, True] Translation: X:310.27, Y:-11.59, Z:3.45 [[ 9.99982517e-01 5.72494744e-03 -1.48003661e-03 3.10266751e+02] [-5.72481211e-03 9.99983609e-01 9.56525483e-05 -1.15922284e+01] [ 1.48055995e-03 -8.71779445e-05 9.99998900e-01 3.45350255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.170714057 meters Centerline goodness [0,1] 0.970116720573759 Centerline is valid? [True, True] Translation: X:310.30, Y:-11.60, Z:3.45 [[ 9.99997736e-01 6.27442281e-04 -2.03325341e-03 3.10295704e+02] [-6.27176345e-04 9.99999795e-01 1.31428342e-04 -1.15996036e+01] [ 2.03333546e-03 -1.30152836e-04 9.99997924e-01 3.45221005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.200714057 meters Centerline goodness [0,1] 0.9706799896793563 Centerline is valid? [True, True] Translation: X:310.32, Y:-11.60, Z:3.45 [[ 9.99997013e-01 -1.50356637e-03 -1.92704715e-03 3.10324486e+02] [ 1.50380897e-03 9.99998862e-01 1.24449079e-04 -1.16048330e+01] [ 1.92685784e-03 -1.27346618e-04 9.99998135e-01 3.45174957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.230714057 meters Centerline goodness [0,1] 0.9688679466441615 Centerline is valid? [True, True] Translation: X:310.35, Y:-11.61, Z:3.45 [[ 9.99992282e-01 -3.39338126e-03 -1.97989982e-03 3.10354479e+02] [ 3.39364107e-03 9.99994233e-01 1.27878954e-04 -1.16085859e+01] [ 1.97945446e-03 -1.34597037e-04 9.99998032e-01 3.45118098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26071405700003 meters Centerline goodness [0,1] 0.9661552875043916 Centerline is valid? [True, True] Translation: X:310.38, Y:-11.61, Z:3.45 [[ 9.99973298e-01 -6.89307151e-03 -2.42655887e-03 3.10383515e+02] [ 6.89347199e-03 9.99976227e-01 1.56715523e-04 -1.16144999e+01] [ 2.42542093e-03 -1.73438754e-04 9.99997044e-01 3.45063160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.290714057 meters Centerline goodness [0,1] 0.9652210546024762 Centerline is valid? [True, True] Translation: X:310.41, Y:-11.62, Z:3.45 [[ 9.99963084e-01 -8.22215888e-03 -2.49518565e-03 3.10414082e+02] [ 8.22258702e-03 9.99966181e-01 1.61377456e-04 -1.16179212e+01] [ 2.49377440e-03 -1.81888380e-04 9.99996874e-01 3.45029848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32071405700003 meters Centerline goodness [0,1] 0.9687390070589339 Centerline is valid? [True, True] Translation: X:310.45, Y:-11.61, Z:3.45 [[ 9.99945102e-01 -1.02691051e-02 -2.08306900e-03 3.10445917e+02] [ 1.02694081e-02 9.99947259e-01 1.34809806e-04 -1.16126754e+01] [ 2.08157476e-03 -1.56194291e-04 9.99997821e-01 3.45065926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.350714057 meters Centerline goodness [0,1] 0.9665941978165837 Centerline is valid? [True, True] Translation: X:310.48, Y:-11.62, Z:3.45 [[ 9.99939368e-01 -1.08267523e-02 -2.01065542e-03 3.10476203e+02] [ 1.08270367e-02 9.99941377e-01 1.30614863e-04 -1.16200740e+01] [ 2.00912342e-03 -1.52376384e-04 9.99997970e-01 3.45058102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38071405700003 meters Centerline goodness [0,1] 0.9697005202230866 Centerline is valid? [True, True] Translation: X:310.51, Y:-11.62, Z:3.45 [[ 9.99913960e-01 -1.27301440e-02 -3.16485255e-03 3.10507772e+02] [ 1.27308571e-02 9.99918938e-01 2.05269118e-04 -1.16157274e+01] [ 3.16198289e-03 -2.45542742e-04 9.99994971e-01 3.45004928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.410714057 meters Centerline goodness [0,1] 0.9669390526586902 Centerline is valid? [True, True] Translation: X:310.54, Y:-11.62, Z:3.45 [[ 9.99911062e-01 -1.28480204e-02 -3.57717931e-03 3.10538143e+02] [ 1.28489329e-02 9.99917422e-01 2.32239236e-04 -1.16235047e+01] [ 3.57390010e-03 -2.78181518e-04 9.99993575e-01 3.44885395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44071405700004 meters Centerline goodness [0,1] 0.9698723204872907 Centerline is valid? [True, True] Translation: X:310.57, Y:-11.62, Z:3.45 [[ 9.99901106e-01 -1.33059530e-02 -4.55306418e-03 3.10570323e+02] [ 1.33074376e-02 9.99911408e-01 2.95929817e-04 -1.16202462e+01] [ 4.54872319e-03 -3.56490169e-04 9.99989591e-01 3.44693425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.470714057 meters Centerline goodness [0,1] 0.9673826571201273 Centerline is valid? [True, True] Translation: X:310.60, Y:-11.63, Z:3.45 [[ 9.99901781e-01 -1.30074435e-02 -5.21862999e-03 3.10600673e+02] [ 1.30093909e-02 9.99915317e-01 3.39386492e-04 -1.16269189e+01] [ 5.21377351e-03 -4.07244356e-04 9.99986325e-01 3.44563376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.500714057 meters Centerline goodness [0,1] 0.9702413057242689 Centerline is valid? [True, True] Translation: X:310.63, Y:-11.62, Z:3.45 [[ 9.99914557e-01 -1.16330555e-02 -5.96249676e-03 3.10632577e+02] [ 1.16355742e-02 9.99932229e-01 3.87906214e-04 -1.16209703e+01] [ 5.95758014e-03 -4.57250144e-04 9.99982149e-01 3.44628291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.530714057 meters Centerline goodness [0,1] 0.9702766057196437 Centerline is valid? [True, True] Translation: X:310.66, Y:-11.62, Z:3.45 [[ 9.99928346e-01 -1.05958318e-02 -5.57055740e-03 3.10663819e+02] [ 1.05980153e-02 9.99943774e-01 3.62611427e-04 -1.16213069e+01] [ 5.56640202e-03 -4.21622297e-04 9.99984419e-01 3.44629163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.560714057 meters Centerline goodness [0,1] 0.9700239245672468 Centerline is valid? [True, True] Translation: X:310.69, Y:-11.62, Z:3.45 [[ 9.99956554e-01 -7.91304366e-03 -4.92684605e-03 3.10694494e+02] [ 7.91471892e-03 9.99968627e-01 3.20621635e-04 -1.16186872e+01] [ 4.92415438e-03 -3.59602307e-04 9.99987812e-01 3.44812986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.590714057 meters Centerline goodness [0,1] 0.9707675288911902 Centerline is valid? [True, True] Translation: X:310.73, Y:-11.62, Z:3.45 [[ 9.99967312e-01 -6.80099397e-03 -4.37278059e-03 3.10725456e+02] [ 6.80230360e-03 9.99976824e-01 2.84691215e-04 -1.16189000e+01] [ 4.37074306e-03 -3.14426890e-04 9.99990399e-01 3.44845414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.620714057 meters Centerline goodness [0,1] 0.9690073892784864 Centerline is valid? [True, True] Translation: X:310.76, Y:-11.62, Z:3.45 [[ 9.99982846e-01 -5.05037970e-03 -2.96658672e-03 3.10756699e+02] [ 5.05097499e-03 9.99987225e-01 1.93208260e-04 -1.16173726e+01] [ 2.96557304e-03 -2.08189101e-04 9.99995581e-01 3.44981927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.650714057 meters Centerline goodness [0,1] 0.969498242551485 Centerline is valid? [True, True] Translation: X:310.79, Y:-11.62, Z:3.45 [[ 9.99987188e-01 -4.41749827e-03 -2.47161431e-03 3.10787819e+02] [ 4.41790969e-03 9.99990228e-01 1.61023729e-04 -1.16172168e+01] [ 2.47087883e-03 -1.71941035e-04 9.99996933e-01 3.44999656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.680714057 meters Centerline goodness [0,1] 0.9432628812473773 Centerline is valid? [True, False] Translation: X:310.84, Y:-11.62, Z:3.45 [[ 9.99975700e-01 -6.26450419e-03 -3.05872049e-03 3.10835977e+02] [ 6.25460736e-03 9.99975209e-01 -3.23452360e-03 -1.16160986e+01] [ 3.07890735e-03 3.21531391e-03 9.99990091e-01 3.45229156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.710714057 meters Centerline goodness [0,1] 0.9676496322746944 Centerline is valid? [False, True] Translation: X:310.78, Y:-11.62, Z:3.45 [[ 9.99978124e-01 -5.71566639e-03 -3.32898261e-03 3.10778006e+02] [ 5.72550620e-03 9.99979247e-01 2.95380841e-03 -1.16152925e+01] [ 3.31203054e-03 -2.97280391e-03 9.99990096e-01 3.45047706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.740714057 meters Centerline goodness [0,1] 0.9657760574018127 Centerline is valid? [True, True] Translation: X:310.81, Y:-11.62, Z:3.45 [[ 9.99978755e-01 -5.99148602e-03 -2.56754808e-03 3.10808698e+02] [ 5.99193106e-03 9.99982034e-01 1.65673865e-04 -1.16167321e+01] [ 2.56650932e-03 -1.81054916e-04 9.99996690e-01 3.45254917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.770714057 meters Centerline goodness [0,1] 0.9623862343572241 Centerline is valid? [True, True] Translation: X:310.84, Y:-11.62, Z:3.45 [[ 9.99976935e-01 -6.18145463e-03 -2.81409030e-03 3.10838923e+02] [ 6.18199052e-03 9.99980875e-01 1.81774887e-04 -1.16248198e+01] [ 2.81291285e-03 -1.99167374e-04 9.99996024e-01 3.45253151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.800714057 meters Centerline goodness [0,1] 0.9671913206561736 Centerline is valid? [True, True] Translation: X:310.87, Y:-11.62, Z:3.45 [[ 9.99982116e-01 -5.11030289e-03 -3.10669226e-03 3.10870444e+02] [ 5.11095090e-03 9.99986919e-01 2.00681634e-04 -1.16177705e+01] [ 3.10562608e-03 -2.16556196e-04 9.99995154e-01 3.45292793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.830714057 meters Centerline goodness [0,1] 0.9685536082718713 Centerline is valid? [True, True] Translation: X:310.90, Y:-11.62, Z:3.45 [[ 9.99985096e-01 -4.52666967e-03 -3.05230951e-03 3.10901132e+02] [ 4.52729243e-03 9.99989732e-01 1.97148807e-04 -1.16166214e+01] [ 3.05138574e-03 -2.10964566e-04 9.99995322e-01 3.45277443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.860714057 meters Centerline goodness [0,1] 0.9682690480714421 Centerline is valid? [True, True] Translation: X:310.93, Y:-11.62, Z:3.45 [[ 9.99987399e-01 -3.24647246e-03 -3.82904927e-03 3.10931598e+02] [ 3.24744316e-03 9.99994696e-01 2.47318463e-04 -1.16184506e+01] [ 3.82822605e-03 -2.59749966e-04 9.99992639e-01 3.45200873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.890714057 meters Centerline goodness [0,1] 0.9683008091385055 Centerline is valid? [True, True] Translation: X:310.96, Y:-11.62, Z:3.45 [[ 9.99986756e-01 -2.87811874e-03 -4.26670380e-03 3.10960923e+02] [ 2.87932027e-03 9.99995817e-01 2.75491602e-04 -1.16203522e+01] [ 4.26589305e-03 -2.87773160e-04 9.99990860e-01 3.45138255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.920714057 meters Centerline goodness [0,1] 0.9715187620155222 Centerline is valid? [True, True] Translation: X:310.99, Y:-11.62, Z:3.45 [[ 9.99984583e-01 -1.81376558e-03 -5.24831975e-03 3.10991167e+02] [ 1.81556853e-03 9.99998294e-01 3.38784694e-04 -1.16206378e+01] [ 5.24769633e-03 -3.48308155e-04 9.99986170e-01 3.45068911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.950714057 meters Centerline goodness [0,1] 0.9700870972347818 Centerline is valid? [True, True] Translation: X:311.02, Y:-11.62, Z:3.45 [[ 9.99982885e-01 -1.27986774e-03 -5.70886486e-03 3.11019756e+02] [ 1.28199041e-03 9.99999110e-01 3.68176576e-04 -1.16239791e+01] [ 5.70838856e-03 -3.75488985e-04 9.99983637e-01 3.45011279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.980714057 meters Centerline goodness [0,1] 0.9697315547946834 Centerline is valid? [True, True] Translation: X:311.05, Y:-11.63, Z:3.45 [[ 9.99974456e-01 -1.26453607e-04 -7.14646839e-03 3.11048076e+02] [ 1.29748132e-04 9.99999886e-01 4.60538694e-04 -1.16273813e+01] [ 7.14640933e-03 -4.61454171e-04 9.99974358e-01 3.44878030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01071405700003 meters Centerline goodness [0,1] 0.9713418105902448 Centerline is valid? [True, True] Translation: X:311.08, Y:-11.63, Z:3.45 [[ 9.99973237e-01 1.99255399e-04 -7.31343395e-03 3.11077356e+02] [-1.95827191e-04 9.99999871e-01 4.69468007e-04 -1.16281878e+01] [ 7.31352655e-03 -4.68023273e-04 9.99973146e-01 3.44832389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.040714057 meters Centerline goodness [0,1] 0.9713418105902448 Centerline is valid? [True, True] Translation: X:311.10, Y:-11.63, Z:3.45 [[ 9.99973252e-01 9.68668783e-05 -7.31347314e-03 3.11104822e+02] [-9.34403917e-05 9.99999886e-01 4.68857248e-04 -1.16298563e+01] [ 7.31351772e-03 -4.68161333e-04 9.99973146e-01 3.44829212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07071405700003 meters Centerline goodness [0,1] 0.9704046517147265 Centerline is valid? [True, True] Translation: X:311.13, Y:-11.63, Z:3.45 [[ 9.99967976e-01 3.45616454e-04 -7.99544397e-03 3.11133796e+02] [-3.41545540e-04 9.99999811e-01 5.10514033e-04 -1.16318209e+01] [ 7.99561891e-03 -5.07766876e-04 9.99967906e-01 3.44787336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.100714057 meters Centerline goodness [0,1] 0.971992119816762 Centerline is valid? [True, True] Translation: X:311.16, Y:-11.63, Z:3.45 [[ 9.99969554e-01 7.47927572e-04 -7.76734273e-03 3.11162295e+02] [-7.44112629e-04 9.99999601e-01 4.94029991e-04 -1.16318006e+01] [ 7.76770913e-03 -4.88235172e-04 9.99969712e-01 3.44789052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13071405700003 meters Centerline goodness [0,1] 0.971084795738812 Centerline is valid? [True, True] Translation: X:311.19, Y:-11.64, Z:3.45 [[ 9.99963416e-01 3.14398440e-04 -8.54791853e-03 3.11190034e+02] [-3.09767953e-04 9.99999805e-01 5.43027864e-04 -1.16398525e+01] [ 8.54808758e-03 -5.40360127e-04 9.99963318e-01 3.44700923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.160714057 meters Centerline goodness [0,1] 0.9705603038936372 Centerline is valid? [True, True] Translation: X:311.22, Y:-11.64, Z:3.45 [[ 9.99967342e-01 2.61722976e-04 -8.07746641e-03 3.11218837e+02] [-2.57590578e-04 9.99999835e-01 5.12631896e-04 -1.16423588e+01] [ 8.07759925e-03 -5.10534476e-04 9.99967245e-01 3.44675461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19071405700004 meters Centerline goodness [0,1] 0.9732673501764023 Centerline is valid? [True, True] Translation: X:311.25, Y:-11.64, Z:3.45 [[ 9.99970174e-01 -4.64334334e-05 -7.72323238e-03 3.11248029e+02] [ 5.02162523e-05 9.99999879e-01 4.89604177e-04 -1.16391068e+01] [ 7.72320871e-03 -4.89977406e-04 9.99970056e-01 3.44791534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.220714057 meters Centerline goodness [0,1] 0.9711859194246647 Centerline is valid? [True, True] Translation: X:311.28, Y:-11.64, Z:3.45 [[ 9.99975217e-01 -1.14647428e-03 -6.94635069e-03 3.11276516e+02] [ 1.14955736e-03 9.99999243e-01 4.39864935e-04 -1.16433935e+01] [ 6.94584113e-03 -4.47839262e-04 9.99975777e-01 3.44876611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.250714057 meters Centerline goodness [0,1] 0.9684468883487126 Centerline is valid? [True, True] Translation: X:311.30, Y:-11.65, Z:3.45 [[ 9.99976841e-01 -1.94687405e-03 -6.52132636e-03 3.11303538e+02] [ 1.94960451e-03 9.99998014e-01 4.12365122e-04 -1.16525340e+01] [ 6.52051059e-03 -4.25069579e-04 9.99978651e-01 3.44819039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.280714057 meters Centerline goodness [0,1] 0.9673678979625642 Centerline is valid? [True, True] Translation: X:311.33, Y:-11.66, Z:3.45 [[ 9.99966835e-01 -4.98971698e-03 -6.43667831e-03 3.11333815e+02] [ 4.99243958e-03 9.99987455e-01 4.06984235e-04 -1.16557509e+01] [ 6.43456682e-03 -4.39105465e-04 9.99979202e-01 3.44885618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.310714057 meters Centerline goodness [0,1] 0.9666611729804817 Centerline is valid? [True, True] Translation: X:311.36, Y:-11.66, Z:3.45 [[ 9.99949292e-01 -8.38233878e-03 -5.58113650e-03 3.11363429e+02] [ 8.38443790e-03 9.99964788e-01 3.52818272e-04 -1.16591586e+01] [ 5.57798253e-03 -3.99595074e-04 9.99984363e-01 3.44915741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.340714057 meters Centerline goodness [0,1] 0.9659351302827714 Centerline is valid? [True, True] Translation: X:311.39, Y:-11.66, Z:3.45 [[ 9.99938934e-01 -9.89438724e-03 -4.92242608e-03 3.11393935e+02] [ 9.89603839e-03 9.99950985e-01 3.11190280e-04 -1.16637905e+01] [ 4.91910577e-03 -3.59883794e-04 9.99987836e-01 3.44963811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.370714057 meters Centerline goodness [0,1] 0.9649643985476494 Centerline is valid? [True, True] Translation: X:311.43, Y:-11.67, Z:3.45 [[ 9.99921235e-01 -1.13589800e-02 -5.33822695e-03 3.11425208e+02] [ 1.13609438e-02 9.99935405e-01 3.37692841e-04 -1.16675643e+01] [ 5.33404629e-03 -3.98313539e-04 9.99985695e-01 3.44932862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.400714057 meters Centerline goodness [0,1] 0.9625386048046773 Centerline is valid? [True, True] Translation: X:311.45, Y:-11.67, Z:3.45 [[ 9.99872358e-01 -1.45332076e-02 -6.63733292e-03 3.11454360e+02] [ 1.45363136e-02 9.99894254e-01 4.19951057e-04 -1.16743394e+01] [ 6.63052781e-03 -5.16379807e-04 9.99977884e-01 3.44749274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.430714057 meters Centerline goodness [0,1] 0.9659782147404159 Centerline is valid? [True, True] Translation: X:311.48, Y:-11.67, Z:3.45 [[ 9.99803551e-01 -1.80642726e-02 -8.15730106e-03 3.11484923e+02] [ 1.80690809e-02 9.99836608e-01 5.16126529e-04 -1.16727082e+01] [ 8.14664477e-03 -6.63420069e-04 9.99966595e-01 3.44616833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.460714057 meters Centerline goodness [0,1] 0.9653374233128834 Centerline is valid? [True, True] Translation: X:311.52, Y:-11.68, Z:3.45 [[ 9.99770362e-01 -1.95002332e-02 -8.88614002e-03 3.11516156e+02] [ 1.95059984e-02 9.99809582e-01 5.62578831e-04 -1.16758561e+01] [ 8.87347752e-03 -7.35782675e-04 9.99960359e-01 3.44500890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.490714057 meters Centerline goodness [0,1] 0.9635398313247351 Centerline is valid? [True, True] Translation: X:311.55, Y:-11.68, Z:3.44 [[ 9.99719975e-01 -2.17029242e-02 -9.43161715e-03 3.11545852e+02] [ 2.17095211e-02 9.99764142e-01 5.97622805e-04 -1.16805234e+01] [ 9.41642247e-03 -8.02211347e-04 9.99955343e-01 3.44396524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.520714057 meters Centerline goodness [0,1] 0.9625837501179579 Centerline is valid? [True, True] Translation: X:311.58, Y:-11.68, Z:3.44 [[ 9.99715031e-01 -2.19245729e-02 -9.44299643e-03 3.11578219e+02] [ 2.19312017e-02 9.99759303e-01 5.98996266e-04 -1.16841408e+01] [ 9.42759079e-03 -8.05921830e-04 9.99955235e-01 3.44397082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.550714057 meters Centerline goodness [0,1] 0.962385902339442 Centerline is valid? [True, True] Translation: X:311.61, Y:-11.68, Z:3.44 [[ 9.99723314e-01 -2.15777724e-02 -9.36456992e-03 3.11610553e+02] [ 2.15842823e-02 9.99766855e-01 5.94651299e-04 -1.16849107e+01] [ 9.34955537e-03 -7.96614289e-04 9.99955975e-01 3.44375395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.580714057 meters Centerline goodness [0,1] 0.9627235407917709 Centerline is valid? [True, True] Translation: X:311.64, Y:-11.68, Z:3.44 [[ 9.99755101e-01 -1.96150934e-02 -1.02462934e-02 3.11641329e+02] [ 1.96227839e-02 9.99807243e-01 6.50556356e-04 -1.16827988e+01] [ 1.02315576e-02 -8.51457836e-04 9.99947294e-01 3.44390638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.610714057 meters Centerline goodness [0,1] 0.9620241169363436 Centerline is valid? [True, True] Translation: X:311.67, Y:-11.68, Z:3.44 [[ 9.99776740e-01 -1.77560412e-02 -1.14539613e-02 3.11671831e+02] [ 1.77655327e-02 9.99841916e-01 7.27444100e-04 -1.16806838e+01] [ 1.14392341e-02 -9.30767415e-04 9.99934137e-01 3.44375412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.640714057 meters Centerline goodness [0,1] 0.9627232353774922 Centerline is valid? [True, True] Translation: X:311.70, Y:-11.68, Z:3.44 [[ 9.99792742e-01 -1.69650856e-02 -1.12542858e-02 3.11702855e+02] [ 1.69742037e-02 9.99855672e-01 7.15151432e-04 -1.16807410e+01] [ 1.12405289e-02 -9.06035751e-04 9.99936413e-01 3.44349258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.670714057 meters Centerline goodness [0,1] 0.9614748286457102 Centerline is valid? [True, True] Translation: X:311.73, Y:-11.68, Z:3.44 [[ 9.99791630e-01 -1.67649055e-02 -1.16462241e-02 3.11733227e+02] [ 1.67746582e-02 9.99859022e-01 7.40226820e-04 -1.16827520e+01] [ 1.16321724e-02 -9.35434007e-04 9.99931906e-01 3.44220198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.700714057 meters Centerline goodness [0,1] 0.9671377086494689 Centerline is valid? [True, True] Translation: X:311.76, Y:-11.67, Z:3.44 [[ 9.99765499e-01 -1.76794687e-02 -1.25053542e-02 3.11764834e+02] [ 1.76907872e-02 9.99843190e-01 7.95048820e-04 -1.16737696e+01] [ 1.24893372e-02 -1.01609194e-03 9.99921489e-01 3.44349976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.730714057 meters Centerline goodness [0,1] 0.9542653182629387 Centerline is valid? [True, True] Translation: X:311.79, Y:-11.69, Z:3.44 [[ 9.99721214e-01 -1.94901531e-02 -1.33276895e-02 3.11794691e+02] [ 1.95031721e-02 9.99809436e-01 8.47557160e-04 -1.16858907e+01] [ 1.33086307e-02 -1.10725309e-03 9.99910823e-01 3.44202688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76071405700003 meters Centerline goodness [0,1] 0.9593827893175074 Centerline is valid? [True, True] Translation: X:311.83, Y:-11.68, Z:3.44 [[ 9.99713033e-01 -2.04198548e-02 -1.25252299e-02 3.11825351e+02] [ 2.04314254e-02 9.99790939e-01 7.96507268e-04 -1.16834077e+01] [ 1.25063468e-02 -1.05218700e-03 9.99921239e-01 3.44308367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.790714057 meters Centerline goodness [0,1] 0.9398885067014588 Centerline is valid? [True, False] Translation: X:311.82, Y:-11.68, Z:3.44 [[ 9.99703999e-01 -2.10103381e-02 -1.22670240e-02 3.11824611e+02] [ 2.10207258e-02 9.99778782e-01 7.18466871e-04 -1.16838486e+01] [ 1.22492151e-02 -9.76115952e-04 9.99924499e-01 3.44324606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82071405700003 meters Centerline goodness [0,1] 0.9639813359996191 Centerline is valid? [False, True] Translation: X:311.82, Y:-11.69, Z:3.44 [[ 9.99696109e-01 -2.15733252e-02 -1.19281869e-02 3.11823750e+02] [ 2.15869290e-02 9.99766462e-01 1.01288331e-03 -1.16856216e+01] [ 1.19035499e-02 -1.27006843e-03 9.99928344e-01 3.44320504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.850714057 meters Centerline goodness [0,1] 0.9624889988344711 Centerline is valid? [True, True] Translation: X:311.85, Y:-11.69, Z:3.44 [[ 9.99631958e-01 -2.45469783e-02 -1.15496538e-02 3.11852557e+02] [ 2.45578574e-02 9.99698089e-01 8.01047201e-04 -1.16928770e+01] [ 1.15265036e-02 -1.08438713e-03 9.99932980e-01 3.44389745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88071405700003 meters Centerline goodness [0,1] 0.8632642892732578 Centerline is valid? [True, False] Translation: X:311.85, Y:-11.69, Z:3.44 [[ 9.99622782e-01 -2.49332919e-02 -1.15162876e-02 3.11852054e+02] [ 2.49414051e-02 9.99688757e-01 5.61396204e-04 -1.16925558e+01] [ 1.14987058e-02 -8.48416829e-04 9.99933528e-01 3.44447138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.910714057 meters Centerline goodness [0,1] 0.8632642892732578 Centerline is valid? [False, False] Translation: X:311.85, Y:-11.69, Z:3.44 [[ 9.99622782e-01 -2.49332919e-02 -1.15162876e-02 3.11852054e+02] [ 2.49414051e-02 9.99688757e-01 5.61396204e-04 -1.16925558e+01] [ 1.14987058e-02 -8.48416829e-04 9.99933528e-01 3.44447138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94071405700004 meters Centerline goodness [0,1] 0.9556533674097212 Centerline is valid? [False, True] Translation: X:311.85, Y:-11.69, Z:3.44 [[ 9.99623924e-01 -2.47991240e-02 -1.17052665e-02 3.11852597e+02] [ 2.48099932e-02 9.99691877e-01 7.84258375e-04 -1.16926951e+01] [ 1.16822109e-02 -1.07437102e-03 9.99931183e-01 3.44419618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.970714057 meters Centerline goodness [0,1] 0.9605763743579988 Centerline is valid? [True, True] Translation: X:311.88, Y:-11.69, Z:3.44 [[ 9.99621145e-01 -2.45367938e-02 -1.24704701e-02 3.11884778e+02] [ 2.45497326e-02 9.99698218e-01 8.85513110e-04 -1.16925624e+01] [ 1.24449791e-02 -1.19132434e-03 9.99921849e-01 3.44342137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.000714057 meters Centerline goodness [0,1] 0.963519466603167 Centerline is valid? [True, True] Translation: X:311.92, Y:-11.69, Z:3.44 [[ 9.99654311e-01 -2.28734487e-02 -1.29639696e-02 3.11916390e+02] [ 2.28872994e-02 9.99737627e-01 9.21025229e-04 -1.16891735e+01] [ 1.29395011e-02 -1.21741709e-03 9.99915540e-01 3.44290450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.030714057 meters Centerline goodness [0,1] 0.9581964481264581 Centerline is valid? [True, True] Translation: X:311.95, Y:-11.70, Z:3.44 [[ 9.99684775e-01 -2.14912130e-02 -1.29799557e-02 3.11945902e+02] [ 2.15049854e-02 9.99768316e-01 9.22395209e-04 -1.16985306e+01] [ 1.29571251e-02 -1.20123820e-03 9.99915331e-01 3.44194249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.060714057 meters Centerline goodness [0,1] 0.960728812349849 Centerline is valid? [True, True] Translation: X:311.98, Y:-11.70, Z:3.44 [[ 9.99747908e-01 -1.80286791e-02 -1.33823573e-02 3.11976555e+02] [ 1.80430119e-02 9.99836759e-01 9.51056055e-04 -1.16977252e+01] [ 1.33630265e-02 -1.19227433e-03 9.99910000e-01 3.44297315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.090714057 meters Centerline goodness [0,1] 0.9616145721574518 Centerline is valid? [True, True] Translation: X:312.01, Y:-11.70, Z:3.44 [[ 9.99782655e-01 -1.59325053e-02 -1.34461126e-02 3.12007401e+02] [ 1.59467900e-02 9.99872385e-01 9.55811546e-04 -1.16986973e+01] [ 1.34291682e-02 -1.17002614e-03 9.99909140e-01 3.44308331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.120714057 meters Centerline goodness [0,1] 0.969311109521425 Centerline is valid? [True, True] Translation: X:312.04, Y:-11.69, Z:3.44 [[ 9.99818008e-01 -1.37299286e-02 -1.32453866e-02 3.12038693e+02] [ 1.37435981e-02 9.99905109e-01 9.41545375e-04 -1.16898374e+01] [ 1.32312024e-02 -1.12341329e-03 9.99911833e-01 3.44435520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.150714057 meters Centerline goodness [0,1] 0.9666634826631005 Centerline is valid? [True, True] Translation: X:312.07, Y:-11.69, Z:3.44 [[ 9.99866143e-01 -9.37872619e-03 -1.34065330e-02 3.12067102e+02] [ 9.39233400e-03 9.99955437e-01 9.52410269e-04 -1.16942517e+01] [ 1.33970032e-02 -1.07820142e-03 9.99909675e-01 3.44315755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.180714057 meters Centerline goodness [0,1] 0.9693118412895226 Centerline is valid? [True, True] Translation: X:312.10, Y:-11.69, Z:3.44 [[ 9.99894230e-01 -6.77442111e-03 -1.28699925e-02 3.12097470e+02] [ 6.78674116e-03 9.99976552e-01 9.13835864e-04 -1.16920513e+01] [ 1.28635000e-02 -1.00108451e-03 9.99916761e-01 3.44389373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.210714057 meters Centerline goodness [0,1] 0.9686184007042421 Centerline is valid? [True, True] Translation: X:312.13, Y:-11.69, Z:3.45 [[ 9.99927807e-01 -1.79362656e-03 -1.18812211e-02 3.12126842e+02] [ 1.80377251e-03 9.99998018e-01 8.43287843e-04 -1.16911888e+01] [ 1.18796850e-02 -8.64657984e-04 9.99929060e-01 3.44549637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.240714057 meters Centerline goodness [0,1] 0.9689527229204069 Centerline is valid? [True, True] Translation: X:312.16, Y:-11.69, Z:3.45 [[ 9.99931694e-01 5.23698307e-04 -1.16761529e-02 3.12157133e+02] [-5.14059146e-04 9.99999525e-01 8.28528561e-04 -1.16900915e+01] [ 1.16765812e-02 -8.22469735e-04 9.99931488e-01 3.44625097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.270714057 meters Centerline goodness [0,1] 0.9678400383141762 Centerline is valid? [True, True] Translation: X:312.19, Y:-11.69, Z:3.45 [[ 9.99937588e-01 5.12205894e-03 -9.92894500e-03 3.12185790e+02] [-5.11531863e-03 9.99986669e-01 7.04131581e-04 -1.16908128e+01] [ 9.93241924e-03 -6.53297918e-04 9.99950459e-01 3.44699397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.300714057 meters Centerline goodness [0,1] 0.9658780054710371 Centerline is valid? [True, True] Translation: X:312.21, Y:-11.69, Z:3.45 [[ 9.99932172e-01 7.18520238e-03 -9.16652415e-03 3.12214464e+02] [-7.17954810e-03 9.99974016e-01 6.49598078e-04 -1.16929393e+01] [ 9.17095346e-03 -5.83742515e-04 9.99957776e-01 3.44734832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.330714057 meters Centerline goodness [0,1] 0.9685657684321073 Centerline is valid? [True, True] Translation: X:312.24, Y:-11.69, Z:3.45 [[ 9.99910179e-01 1.05429266e-02 -8.27534094e-03 3.12244274e+02] [-1.05384348e-02 9.99944297e-01 5.86212508e-04 -1.16934118e+01] [ 8.28106038e-03 -4.98950713e-04 9.99965587e-01 3.44714999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.360714057 meters Centerline goodness [0,1] 0.9677496588215577 Centerline is valid? [True, True] Translation: X:312.27, Y:-11.70, Z:3.45 [[ 9.99900048e-01 1.15596229e-02 -8.14058527e-03 3.12271788e+02] [-1.15553152e-02 9.99933069e-01 5.75999935e-04 -1.16967901e+01] [ 8.14669876e-03 -4.81875334e-04 9.99966699e-01 3.44633443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.390714057 meters Centerline goodness [0,1] 0.9679775819122437 Centerline is valid? [True, True] Translation: X:312.30, Y:-11.70, Z:3.44 [[ 9.99868894e-01 1.30678046e-02 -9.56178848e-03 3.12300799e+02] [-1.30619362e-02 9.99914461e-01 6.75926595e-04 -1.16977534e+01] [ 9.56980345e-03 -5.50942506e-04 9.99954057e-01 3.44437083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.420714057 meters Centerline goodness [0,1] 0.9671324495401887 Centerline is valid? [True, True] Translation: X:312.33, Y:-11.70, Z:3.44 [[ 9.99852146e-01 1.34118439e-02 -1.07614433e-02 3.12329031e+02] [-1.34044379e-02 9.99909868e-01 7.60027545e-04 -1.17002698e+01] [ 1.07706667e-02 -6.15664073e-04 9.99941805e-01 3.44301666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.450714057 meters Centerline goodness [0,1] 0.9676185009805328 Centerline is valid? [True, True] Translation: X:312.36, Y:-11.70, Z:3.44 [[ 9.99850444e-01 1.38026713e-02 -1.04199851e-02 3.12357123e+02] [-1.37957561e-02 9.99904564e-01 7.35235524e-04 -1.17045156e+01] [ 1.04291388e-02 -5.91373992e-04 9.99945440e-01 3.44166564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.480714057 meters Centerline goodness [0,1] 0.9659725870385405 Centerline is valid? [True, True] Translation: X:312.38, Y:-11.71, Z:3.44 [[ 9.99864766e-01 1.35066702e-02 -9.38186210e-03 3.12384689e+02] [-1.35010597e-02 9.99908638e-01 6.61086819e-04 -1.17078564e+01] [ 9.38993404e-03 -5.34332337e-04 9.99955771e-01 3.44197626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51071405700003 meters Centerline goodness [0,1] 0.9704812936561095 Centerline is valid? [True, True] Translation: X:312.41, Y:-11.70, Z:3.44 [[ 9.99882900e-01 1.22186432e-02 -9.21363001e-03 3.12413430e+02] [-1.22131850e-02 9.99925206e-01 6.48437125e-04 -1.17038563e+01] [ 9.22086390e-03 -5.35833425e-04 9.99957343e-01 3.44359422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.540714057 meters Centerline goodness [0,1] 0.9700860832137733 Centerline is valid? [True, True] Translation: X:312.44, Y:-11.71, Z:3.44 [[ 9.99888500e-01 1.20059574e-02 -8.87943844e-03 3.12441819e+02] [-1.20008851e-02 9.99927792e-01 6.24305768e-04 -1.17068926e+01] [ 8.88629266e-03 -5.17675037e-04 9.99960382e-01 3.44393993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57071405700003 meters Centerline goodness [0,1] 0.9703339225146898 Centerline is valid? [True, True] Translation: X:312.47, Y:-11.71, Z:3.44 [[ 9.99905289e-01 1.12462836e-02 -7.93313363e-03 3.12470899e+02] [-1.12422153e-02 9.99936649e-01 5.57227409e-04 -1.17095551e+01] [ 7.93889780e-03 -4.67988637e-04 9.99968377e-01 3.44499171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.600714057 meters Centerline goodness [0,1] 0.966796875 Centerline is valid? [True, True] Translation: X:312.50, Y:-11.72, Z:3.45 [[ 9.99923902e-01 1.00790176e-02 -7.11355666e-03 3.12497973e+02] [-1.00757214e-02 9.99949114e-01 4.99057229e-04 -1.17161829e+01] [ 7.11822469e-03 -4.27345037e-04 9.99974574e-01 3.44517073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63071405700003 meters Centerline goodness [0,1] 0.9667436379651011 Centerline is valid? [True, True] Translation: X:312.53, Y:-11.72, Z:3.45 [[ 9.99935521e-01 9.30689534e-03 -6.50664006e-03 3.12526178e+02] [-9.30412487e-03 9.99956612e-01 4.55932858e-04 -1.17196767e+01] [ 6.51060107e-03 -3.95364868e-04 9.99978728e-01 3.44560868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.660714057 meters Centerline goodness [0,1] 0.9678501737185284 Centerline is valid? [True, True] Translation: X:312.56, Y:-11.72, Z:3.45 [[ 9.99950796e-01 7.38423282e-03 -6.62416229e-03 3.12555160e+02] [-7.38132165e-03 9.99972650e-01 4.63817839e-04 -1.17208492e+01] [ 6.62740606e-03 -4.14899945e-04 9.99977952e-01 3.44657296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69071405700004 meters Centerline goodness [0,1] 0.97143536121673 Centerline is valid? [True, True] Translation: X:312.58, Y:-11.72, Z:3.45 [[ 9.99960748e-01 6.06338093e-03 -6.46049295e-03 3.12583945e+02] [-6.06058736e-03 9.99981532e-01 4.51898579e-04 -1.17210446e+01] [ 6.46311367e-03 -4.12726459e-04 9.99979029e-01 3.44685172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.720714057 meters Centerline goodness [0,1] 0.9634369287020109 Centerline is valid? [True, True] Translation: X:312.61, Y:-11.73, Z:3.45 [[ 9.99965451e-01 4.65825844e-03 -6.88451413e-03 3.12611289e+02] [-4.65505549e-03 9.99989049e-01 4.81190714e-04 -1.17348214e+01] [ 6.88668025e-03 -4.49126294e-04 9.99976186e-01 3.44589612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.750714057 meters Centerline goodness [0,1] 0.9670217561507983 Centerline is valid? [True, True] Translation: X:312.64, Y:-11.74, Z:3.44 [[ 9.99972187e-01 1.67958047e-03 -7.26665051e-03 3.12640925e+02] [-1.67593472e-03 9.99998467e-01 5.07770009e-04 -1.17367216e+01] [ 7.26749221e-03 -4.95577454e-04 9.99973469e-01 3.44482188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.780714057 meters Centerline goodness [0,1] 0.9680577508315836 Centerline is valid? [True, True] Translation: X:312.67, Y:-11.74, Z:3.44 [[ 9.99967454e-01 -8.98294802e-04 -8.01775448e-03 3.12670519e+02] [ 9.02814533e-04 9.99999436e-01 5.60113809e-04 -1.17394928e+01] [ 8.01724681e-03 -5.67334124e-04 9.99967700e-01 3.44357565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.810714057 meters Centerline goodness [0,1] 0.9658576814326107 Centerline is valid? [True, True] Translation: X:312.70, Y:-11.75, Z:3.44 [[ 9.99960347e-01 -1.59675808e-03 -8.76100783e-03 3.12698044e+02] [ 1.60217473e-03 9.99998530e-01 6.11283790e-04 -1.17484744e+01] [ 8.76001888e-03 -6.25296216e-04 9.99961435e-01 3.44226899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.840714057 meters Centerline goodness [0,1] 0.9691265951653764 Centerline is valid? [True, True] Translation: X:312.73, Y:-11.75, Z:3.44 [[ 9.99942116e-01 -1.35160814e-03 -1.06741572e-02 3.12727070e+02] [ 1.35960754e-03 9.99998800e-01 7.42196969e-04 -1.17450242e+01] [ 1.06731412e-02 -7.56666672e-04 9.99942754e-01 3.44262257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.870714057 meters Centerline goodness [0,1] 0.9683381054923211 Centerline is valid? [True, True] Translation: X:312.76, Y:-11.75, Z:3.44 [[ 9.99936391e-01 -5.77150298e-04 -1.12641567e-02 3.12756197e+02] [ 5.85981159e-04 9.99999524e-01 7.80694263e-04 -1.17469143e+01] [ 1.12637007e-02 -7.87245188e-04 9.99936253e-01 3.44235237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.900714057 meters Centerline goodness [0,1] 0.9685723049335818 Centerline is valid? [True, True] Translation: X:312.79, Y:-11.75, Z:3.44 [[ 9.99929709e-01 1.47667731e-04 -1.18555702e-02 3.12785017e+02] [-1.37969594e-04 9.99999655e-01 8.18837383e-04 -1.17483395e+01] [ 1.18556870e-02 -8.17144118e-04 9.99929385e-01 3.44182864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.930714057 meters Centerline goodness [0,1] 0.9685723049335818 Centerline is valid? [True, True] Translation: X:312.81, Y:-11.75, Z:3.44 [[ 9.99929718e-01 4.55555659e-05 -1.18556551e-02 3.12812485e+02] [-3.58648009e-05 9.99999665e-01 8.17607322e-04 -1.17501396e+01] [ 1.18556884e-02 -8.17124659e-04 9.99929385e-01 3.44183257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.960714057 meters Centerline goodness [0,1] 0.969332986546237 Centerline is valid? [True, True] Translation: X:312.84, Y:-11.75, Z:3.44 [[ 9.99928457e-01 2.57546705e-03 -1.16811199e-02 3.12842665e+02] [-2.56623383e-03 9.99996383e-01 8.05359313e-04 -1.17507398e+01] [ 1.16831518e-02 -7.75325209e-04 9.99931449e-01 3.44172961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.990714057 meters Centerline goodness [0,1] 0.9685403873405762 Centerline is valid? [True, True] Translation: X:312.87, Y:-11.75, Z:3.44 [[ 9.99930313e-01 4.21025662e-03 -1.10291488e-02 3.12871130e+02] [-4.20213053e-03 9.99990882e-01 7.59852899e-04 -1.17538776e+01] [ 1.10322475e-02 -7.13454024e-04 9.99938888e-01 3.44169344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.020714057 meters Centerline goodness [0,1] 0.972912976738694 Centerline is valid? [True, True] Translation: X:312.90, Y:-11.75, Z:3.44 [[ 9.99915955e-01 7.10570867e-03 -1.08440062e-02 3.12901909e+02] [-7.09802484e-03 9.99974530e-01 7.46901728e-04 -1.17472713e+01] [ 1.08490373e-02 -6.69867929e-04 9.99940923e-01 3.44360782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.050714057 meters Centerline goodness [0,1] 0.9700838504903122 Centerline is valid? [True, True] Translation: X:312.93, Y:-11.75, Z:3.44 [[ 9.99894529e-01 9.18217136e-03 -1.12525084e-02 3.12930691e+02] [-9.17403307e-03 9.99957618e-01 7.74647654e-04 -1.17537791e+01] [ 1.12591444e-02 -6.71335067e-04 9.99936388e-01 3.44304497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.080714057 meters Centerline goodness [0,1] 0.9728628936774805 Centerline is valid? [True, True] Translation: X:312.96, Y:-11.75, Z:3.44 [[ 9.99892068e-01 9.39171359e-03 -1.12981140e-02 3.12959540e+02] [-9.38353130e-03 9.99955672e-01 7.77010536e-04 -1.17504853e+01] [ 1.13049106e-02 -6.70910466e-04 9.99935872e-01 3.44344088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.110714057 meters Centerline goodness [0,1] 0.9719865383703844 Centerline is valid? [True, True] Translation: X:312.99, Y:-11.75, Z:3.44 [[ 9.99895379e-01 8.39745347e-03 -1.17776689e-02 3.12986789e+02] [-8.38851035e-03 9.99964489e-01 8.08524228e-04 -1.17538952e+01] [ 1.17840402e-02 -7.09642542e-04 9.99930314e-01 3.44363414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.140714057 meters Centerline goodness [0,1] 0.9667748123238686 Centerline is valid? [True, True] Translation: X:313.01, Y:-11.76, Z:3.44 [[ 9.99909542e-01 7.03157054e-03 -1.14658184e-02 3.13013844e+02] [-7.02301656e-03 9.99975029e-01 7.86135487e-04 -1.17628400e+01] [ 1.14710599e-02 -7.05539741e-04 9.99933956e-01 3.44266017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.170714057 meters Centerline goodness [0,1] 0.96898055391868 Centerline is valid? [True, True] Translation: X:313.04, Y:-11.76, Z:3.44 [[ 9.99930378e-01 4.55370435e-03 -1.08858713e-02 3.13042910e+02] [-4.54585367e-03 9.99989389e-01 7.45815425e-04 -1.17622100e+01] [ 1.08891520e-02 -6.96277922e-04 9.99940469e-01 3.44438563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.200714057 meters Centerline goodness [0,1] 0.9682472080257429 Centerline is valid? [True, True] Translation: X:313.07, Y:-11.77, Z:3.44 [[ 9.99940958e-01 2.57191714e-03 -1.05577776e-02 3.13071381e+02] [-2.56442820e-03 9.99996451e-01 7.22805471e-04 -1.17675592e+01] [ 1.05595991e-02 -6.95688132e-04 9.99944004e-01 3.44478899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.230714057 meters Centerline goodness [0,1] 0.9676878776435045 Centerline is valid? [True, True] Translation: X:313.10, Y:-11.77, Z:3.44 [[ 9.99940417e-01 -2.18195211e-03 -1.06958521e-02 3.13101707e+02] [ 2.18990892e-03 9.99997334e-01 7.32260731e-04 -1.17747414e+01] [ 1.06942258e-02 -7.55640042e-04 9.99942530e-01 3.44396984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26071405700003 meters Centerline goodness [0,1] 0.9666831952020023 Centerline is valid? [True, True] Translation: X:313.13, Y:-11.78, Z:3.44 [[ 9.99929067e-01 -4.57832132e-03 -1.09954842e-02 3.13131745e+02] [ 4.58687236e-03 9.99989197e-01 7.52593742e-04 -1.17802963e+01] [ 1.09919198e-02 -8.02975240e-04 9.99939265e-01 3.44307993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.290714057 meters Centerline goodness [0,1] 0.9654078443352995 Centerline is valid? [True, True] Translation: X:313.16, Y:-11.79, Z:3.44 [[ 9.99882551e-01 -9.06496781e-03 -1.23576221e-02 3.13160390e+02] [ 9.07611220e-03 9.99958453e-01 8.46039031e-04 -1.17876190e+01] [ 1.23494394e-02 -9.58098829e-04 9.99923284e-01 3.44190591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32071405700003 meters Centerline goodness [0,1] 0.9624719896214177 Centerline is valid? [True, True] Translation: X:313.19, Y:-11.79, Z:3.44 [[ 9.99850573e-01 -1.10681166e-02 -1.32788381e-02 3.13190800e+02] [ 1.10811603e-02 9.99938189e-01 9.09110873e-04 -1.17925606e+01] [ 1.32679552e-02 -1.05611996e-03 9.99911419e-01 3.44093133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.350714057 meters Centerline goodness [0,1] 0.9542832929212082 Centerline is valid? [True, True] Translation: X:313.22, Y:-11.80, Z:3.44 [[ 9.99787510e-01 -1.41575180e-02 -1.49832752e-02 3.13219322e+02] [ 1.41744807e-02 9.99899010e-01 1.02651894e-03 -1.18001262e+01] [ 1.49672291e-02 -1.23868096e-03 9.99887218e-01 3.43943043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38071405700003 meters Centerline goodness [0,1] 0.9472297376779203 Centerline is valid? [True, False] Translation: X:313.22, Y:-11.80, Z:3.44 [[ 9.99785097e-01 -1.42357165e-02 -1.50699970e-02 3.13219508e+02] [ 1.42555528e-02 9.99897653e-01 1.20966665e-03 -1.18007617e+01] [ 1.50512342e-02 -1.42423783e-03 9.99885709e-01 3.43929409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.410714057 meters Centerline goodness [0,1] 0.9664804469273743 Centerline is valid? [False, True] Translation: X:313.22, Y:-11.80, Z:3.44 [[ 9.99784214e-01 -1.43289343e-02 -1.50402143e-02 3.13219534e+02] [ 1.43526231e-02 9.99895918e-01 1.46827080e-03 -1.18015028e+01] [ 1.50176101e-02 -1.68382049e-03 9.99885812e-01 3.43914532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44071405700004 meters Centerline goodness [0,1] 0.950802340060616 Centerline is valid? [True, True] Translation: X:313.25, Y:-11.81, Z:3.44 [[ 9.99773251e-01 -1.53976089e-02 -1.47091882e-02 3.13246844e+02] [ 1.54146740e-02 9.99880638e-01 1.04748735e-03 -1.18141053e+01] [ 1.46913037e-02 -1.27398717e-03 9.99891265e-01 3.43796770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.470714057 meters Centerline goodness [0,1] 0.965415971618542 Centerline is valid? [True, True] Translation: X:313.28, Y:-11.81, Z:3.44 [[ 9.99773899e-01 -1.58694252e-02 -1.41531955e-02 3.13277586e+02] [ 1.58852642e-02 9.99873314e-01 1.00738256e-03 -1.18054286e+01] [ 1.41354159e-02 -1.23198204e-03 9.99899331e-01 3.44048797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.500714057 meters Centerline goodness [0,1] 0.9653628652214892 Centerline is valid? [True, True] Translation: X:313.31, Y:-11.81, Z:3.44 [[ 9.99783542e-01 -1.56231445e-02 -1.37399755e-02 3.13305751e+02] [ 1.56380392e-02 9.99877241e-01 9.77260691e-04 -1.18102229e+01] [ 1.37230209e-02 -1.19191543e-03 9.99905125e-01 3.44008588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.530714057 meters Centerline goodness [0,1] 0.9666290125200038 Centerline is valid? [True, True] Translation: X:313.34, Y:-11.81, Z:3.44 [[ 9.99765068e-01 -1.58896358e-02 -1.47420673e-02 3.13335313e+02] [ 1.59068034e-02 9.99872930e-01 1.04800445e-03 -1.18074850e+01] [ 1.47235416e-02 -1.28225741e-03 9.99890781e-01 3.44011368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.560714057 meters Centerline goodness [0,1] 0.9664119256533635 Centerline is valid? [True, True] Translation: X:313.36, Y:-11.81, Z:3.44 [[ 9.99759442e-01 -1.60650278e-02 -1.49322690e-02 3.13364689e+02] [ 1.60826530e-02 9.99870103e-01 1.06100126e-03 -1.18103902e+01] [ 1.49132844e-02 -1.30089653e-03 9.99887945e-01 3.43966047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.590714057 meters Centerline goodness [0,1] 0.9632319992453008 Centerline is valid? [True, True] Translation: X:313.39, Y:-11.82, Z:3.44 [[ 9.99760677e-01 -1.61590776e-02 -1.47469749e-02 3.13393542e+02] [ 1.61762669e-02 9.99868607e-01 1.04707167e-03 -1.18154545e+01] [ 1.47281176e-02 -1.28537208e-03 9.99890709e-01 3.43995461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.620714057 meters Centerline goodness [0,1] 0.9464745842117592 Centerline is valid? [True, False] Translation: X:313.39, Y:-11.82, Z:3.44 [[ 9.99759438e-01 -1.60310960e-02 -1.49689467e-02 3.13393935e+02] [ 1.60478734e-02 9.99870723e-01 1.00136520e-03 -1.18150627e+01] [ 1.49509586e-02 -1.24134408e-03 9.99887458e-01 3.44014894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.650714057 meters Centerline goodness [0,1] 0.9627485586539593 Centerline is valid? [False, True] Translation: X:313.39, Y:-11.81, Z:3.44 [[ 9.99760966e-01 -1.58217854e-02 -1.50891533e-02 3.13394295e+02] [ 1.58386663e-02 9.99874061e-01 9.99890384e-04 -1.18146002e+01] [ 1.50714329e-02 -1.23864344e-03 9.99885652e-01 3.44013773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.680714057 meters Centerline goodness [0,1] 0.9629725775239534 Centerline is valid? [True, True] Translation: X:313.42, Y:-11.82, Z:3.44 [[ 9.99760234e-01 -1.54772300e-02 -1.54896963e-02 3.13423408e+02] [ 1.54959428e-02 9.99879338e-01 1.08878384e-03 -1.18171028e+01] [ 1.54709759e-02 -1.32855024e-03 9.99879435e-01 3.43996146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.710714057 meters Centerline goodness [0,1] 0.9634045761953013 Centerline is valid? [True, True] Translation: X:313.45, Y:-11.82, Z:3.44 [[ 9.99805927e-01 -1.24504878e-02 -1.52673985e-02 3.13453300e+02] [ 1.24683116e-02 9.99921692e-01 1.07280761e-03 -1.18184361e+01] [ 1.52528459e-02 -1.26295809e-03 9.99882871e-01 3.43988040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.740714057 meters Centerline goodness [0,1] 0.9643692554875599 Centerline is valid? [True, True] Translation: X:313.48, Y:-11.82, Z:3.44 [[ 9.99820910e-01 -1.07610687e-02 -1.55675009e-02 3.13483164e+02] [ 1.07793892e-02 9.99941303e-01 1.09341319e-03 -1.18173542e+01] [ 1.55548209e-02 -1.26102553e-03 9.99878221e-01 3.43984537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.770714057 meters Centerline goodness [0,1] 0.96674567433041 Centerline is valid? [True, True] Translation: X:313.51, Y:-11.81, Z:3.44 [[ 9.99850468e-01 -5.83806743e-03 -1.62775503e-02 3.13512359e+02] [ 5.85743763e-03 9.99982192e-01 1.14257243e-03 -1.18137672e+01] [ 1.62705900e-02 -1.23774631e-03 9.99866859e-01 3.44004151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.800714057 meters Centerline goodness [0,1] 0.9667640700353978 Centerline is valid? [True, True] Translation: X:313.54, Y:-11.81, Z:3.44 [[ 9.99855541e-01 -3.74617678e-03 -1.65789929e-02 3.13542431e+02] [ 3.76597378e-03 9.99992232e-01 1.16304243e-03 -1.18133057e+01] [ 1.65745072e-02 -1.22531047e-03 9.99861883e-01 3.43998013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.830714057 meters Centerline goodness [0,1] 0.9677427006000806 Centerline is valid? [True, True] Translation: X:313.57, Y:-11.81, Z:3.44 [[ 9.99867193e-01 1.45479063e-03 -1.62320411e-02 3.13571850e+02] [-1.43650340e-03 9.99998320e-01 1.13821580e-03 -1.18119066e+01] [ 1.62336697e-02 -1.11474725e-03 9.99867604e-01 3.43958885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.860714057 meters Centerline goodness [0,1] 0.9678257346457256 Centerline is valid? [True, True] Translation: X:313.60, Y:-11.81, Z:3.44 [[ 9.99860404e-01 3.17923795e-03 -1.64032244e-02 3.13601593e+02] [-3.16080256e-03 9.99994344e-01 1.14969150e-03 -1.18125230e+01] [ 1.64067868e-02 -1.09768365e-03 9.99864797e-01 3.43969815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.890714057 meters Centerline goodness [0,1] 0.9743614204965537 Centerline is valid? [True, True] Translation: X:313.63, Y:-11.80, Z:3.44 [[ 9.99838772e-01 6.87738819e-03 -1.65870934e-02 3.13633083e+02] [-6.85904575e-03 9.99975801e-01 1.16246296e-03 -1.17988808e+01] [ 1.65946867e-02 -1.04850390e-03 9.99861749e-01 3.44224095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.920714057 meters Centerline goodness [0,1] 0.972531003784723 Centerline is valid? [True, True] Translation: X:313.66, Y:-11.80, Z:3.44 [[ 9.99825446e-01 8.89482255e-03 -1.64304222e-02 3.13661697e+02] [-8.87710507e-03 9.99959935e-01 1.15095287e-03 -1.18035978e+01] [ 1.64400015e-02 -1.00489738e-03 9.99864349e-01 3.44111425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.950714057 meters Centerline goodness [0,1] 0.9703420234393686 Centerline is valid? [True, True] Translation: X:313.69, Y:-11.81, Z:3.44 [[ 9.99778045e-01 1.29149758e-02 -1.66452666e-02 3.13691091e+02] [-1.28973532e-02 9.99916146e-01 1.16563205e-03 -1.18083744e+01] [ 1.66589250e-02 -9.50693450e-04 9.99860779e-01 3.43901244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.980714057 meters Centerline goodness [0,1] 0.9752612906318918 Centerline is valid? [True, True] Translation: X:313.72, Y:-11.79, Z:3.44 [[ 9.99703441e-01 1.74709550e-02 -1.69645386e-02 3.13722959e+02] [-1.74533053e-02 9.99846974e-01 1.18789511e-03 -1.17943878e+01] [ 1.69826963e-02 -8.91455562e-04 9.99855386e-01 3.44225924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01071405700003 meters Centerline goodness [0,1] 0.9753601303899715 Centerline is valid? [True, True] Translation: X:313.75, Y:-11.79, Z:3.44 [[ 9.99662127e-01 1.93550806e-02 -1.73497373e-02 3.13751989e+02] [-1.93369229e-02 9.99812288e-01 1.21373241e-03 -1.17935845e+01] [ 1.73699724e-02 -8.77831789e-04 9.99848745e-01 3.44231009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.040714057 meters Centerline goodness [0,1] 0.9752649331387699 Centerline is valid? [True, True] Translation: X:313.78, Y:-11.80, Z:3.44 [[ 9.99634742e-01 2.07096831e-02 -1.73635111e-02 3.13779961e+02] [-2.06917216e-02 9.99785167e-01 1.21347605e-03 -1.17987974e+01] [ 1.73849115e-02 -8.53751876e-04 9.99848507e-01 3.44076026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07071405700003 meters Centerline goodness [0,1] 0.9760575194727381 Centerline is valid? [True, True] Translation: X:313.81, Y:-11.80, Z:3.44 [[ 9.99603411e-01 2.27332928e-02 -1.66198328e-02 3.13809101e+02] [-2.27171351e-02 9.99741259e-01 1.16036453e-03 -1.17968994e+01] [ 1.66419114e-02 -7.82349358e-04 9.99861208e-01 3.44254763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.100714057 meters Centerline goodness [0,1] 0.9768557380980933 Centerline is valid? [True, True] Translation: X:313.84, Y:-11.80, Z:3.44 [[ 9.99610763e-01 2.30664737e-02 -1.56926728e-02 3.13838269e+02] [-2.30521269e-02 9.99733665e-01 1.09453076e-03 -1.17966124e+01] [ 1.57137403e-02 -7.32355248e-04 9.99876263e-01 3.44361978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13071405700003 meters Centerline goodness [0,1] 0.9755506502231394 Centerline is valid? [True, True] Translation: X:313.87, Y:-11.80, Z:3.44 [[ 9.99652434e-01 2.20474100e-02 -1.44541542e-02 3.13866685e+02] [-2.20351808e-02 9.99756691e-01 1.00479885e-03 -1.17996630e+01] [ 1.44727906e-02 -6.85949721e-04 9.99895028e-01 3.44481512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.160714057 meters Centerline goodness [0,1] 0.975932495924825 Centerline is valid? [True, True] Translation: X:313.90, Y:-11.80, Z:3.45 [[ 9.99691899e-01 2.10578601e-02 -1.31405479e-02 3.13895040e+02] [-2.10476828e-02 9.99778057e-01 9.12328640e-04 -1.18031781e+01] [ 1.31568432e-02 -6.35469465e-04 9.99913243e-01 3.44528504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19071405700004 meters Centerline goodness [0,1] 0.9749916239888958 Centerline is valid? [True, True] Translation: X:313.92, Y:-11.81, Z:3.45 [[ 9.99762193e-01 1.80154310e-02 -1.22882728e-02 3.13923500e+02] [-1.80063101e-02 9.99837510e-01 8.52485085e-04 -1.18095244e+01] [ 1.23016340e-02 -6.31015908e-04 9.99924133e-01 3.44532255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.220714057 meters Centerline goodness [0,1] 0.974757374384472 Centerline is valid? [True, True] Translation: X:313.95, Y:-11.81, Z:3.44 [[ 9.99793619e-01 1.62889142e-02 -1.21404770e-02 3.13952383e+02] [-1.62798923e-02 9.99867120e-01 8.41589718e-04 -1.18133351e+01] [ 1.21525723e-02 -6.43770373e-04 9.99925948e-01 3.44473900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.250714057 meters Centerline goodness [0,1] 0.9739287927172203 Centerline is valid? [True, True] Translation: X:313.98, Y:-11.82, Z:3.44 [[ 9.99847161e-01 1.27325409e-02 -1.19806612e-02 3.13982399e+02] [-1.27235013e-02 9.99918708e-01 8.30438324e-04 -1.18214254e+01] [ 1.19902608e-02 -6.77875443e-04 9.99927884e-01 3.44456221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.280714057 meters Centerline goodness [0,1] 0.9721637039316401 Centerline is valid? [True, True] Translation: X:314.01, Y:-11.83, Z:3.44 [[ 9.99875321e-01 1.05229241e-02 -1.17733339e-02 3.14010320e+02] [-1.05140505e-02 9.99944393e-01 8.15343882e-04 -1.18288223e+01] [ 1.17812590e-02 -6.91456798e-04 9.99930359e-01 3.44415982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.310714057 meters Centerline goodness [0,1] 0.9727683535618804 Centerline is valid? [True, True] Translation: X:314.04, Y:-11.84, Z:3.44 [[ 9.99905358e-01 6.32477433e-03 -1.22176800e-02 3.14039942e+02] [-6.31490771e-03 9.99979703e-01 8.45978824e-04 -1.18356330e+01] [ 1.22227826e-02 -7.68745238e-04 9.99925003e-01 3.44450231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.340714057 meters Centerline goodness [0,1] 0.9715155986007662 Centerline is valid? [True, True] Translation: X:314.07, Y:-11.84, Z:3.44 [[ 9.99917220e-01 4.04887509e-03 -1.22130710e-02 3.14068233e+02] [-4.03885367e-03 9.99991487e-01 8.45101772e-04 -1.18419124e+01] [ 1.22163887e-02 -7.95705008e-04 9.99925061e-01 3.44421948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.370714057 meters Centerline goodness [0,1] 0.9716003612338989 Centerline is valid? [True, True] Translation: X:314.10, Y:-11.85, Z:3.44 [[ 9.99934367e-01 8.82359365e-04 -1.14229026e-02 3.14097588e+02] [-8.73389826e-04 9.99999306e-01 7.90188807e-04 -1.18491914e+01] [ 1.14235919e-02 -7.80160297e-04 9.99934444e-01 3.44461496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.400714057 meters Centerline goodness [0,1] 0.9711739543726235 Centerline is valid? [True, True] Translation: X:314.13, Y:-11.85, Z:3.44 [[ 9.99944565e-01 -5.28550868e-04 -1.05160773e-02 3.14127387e+02] [ 5.36226921e-04 9.99999592e-01 7.27128767e-04 -1.18528002e+01] [ 1.05156887e-02 -7.32727463e-04 9.99944440e-01 3.44470937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.430714057 meters Centerline goodness [0,1] 0.9709586710461022 Centerline is valid? [True, True] Translation: X:314.16, Y:-11.86, Z:3.45 [[ 9.99955352e-01 -2.42701364e-03 -9.13260673e-03 3.14155339e+02] [ 2.43287645e-03 9.99996842e-01 6.30909957e-04 -1.18602708e+01] [ 9.13104666e-03 -6.53100292e-04 9.99958098e-01 3.44510525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.460714057 meters Centerline goodness [0,1] 0.9686238183459218 Centerline is valid? [True, True] Translation: X:314.18, Y:-11.86, Z:3.44 [[ 9.99951640e-01 -3.91310142e-03 -9.02245446e-03 3.14184839e+02] [ 3.91888070e-03 9.99992127e-01 6.22953763e-04 -1.18645089e+01] [ 9.01994575e-03 -6.58281560e-04 9.99959103e-01 3.44486392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.490714057 meters Centerline goodness [0,1] 0.9697658451121055 Centerline is valid? [True, True] Translation: X:314.21, Y:-11.87, Z:3.44 [[ 9.99948731e-01 -4.88762637e-03 -8.86831185e-03 3.14213861e+02] [ 4.89323194e-03 9.99987842e-01 6.10501002e-04 -1.18668300e+01] [ 8.86522013e-03 -6.53864408e-04 9.99960489e-01 3.44479942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.520714057 meters Centerline goodness [0,1] 0.9727421925171847 Centerline is valid? [True, True] Translation: X:314.24, Y:-11.86, Z:3.45 [[ 9.99942719e-01 -6.72959655e-03 -8.32293625e-03 3.14243547e+02] [ 6.73459164e-03 9.99977159e-01 5.72278549e-04 -1.18633096e+01] [ 8.31889494e-03 -6.28297345e-04 9.99965200e-01 3.44599896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.550714057 meters Centerline goodness [0,1] 0.9645104812378744 Centerline is valid? [True, True] Translation: X:314.27, Y:-11.88, Z:3.44 [[ 9.99930914e-01 -8.28777429e-03 -8.33541383e-03 3.14271156e+02] [ 8.29283452e-03 9.99965450e-01 5.72696236e-04 -1.18780851e+01] [ 8.33037946e-03 -6.41780878e-04 9.99965096e-01 3.44462898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.580714057 meters Centerline goodness [0,1] 0.9650776316414226 Centerline is valid? [True, True] Translation: X:314.30, Y:-11.88, Z:3.44 [[ 9.99927609e-01 -9.01301363e-03 -7.97136400e-03 3.14300543e+02] [ 9.01766211e-03 9.99959190e-01 5.47397311e-04 -1.18816705e+01] [ 7.96610499e-03 -6.19240752e-04 9.99968078e-01 3.44451622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.610714057 meters Centerline goodness [0,1] 0.9634903335860501 Centerline is valid? [True, True] Translation: X:314.33, Y:-11.89, Z:3.44 [[ 9.99923312e-01 -9.44302354e-03 -8.01244008e-03 3.14329989e+02] [ 9.44773254e-03 9.99955218e-01 5.50063883e-04 -1.18868760e+01] [ 8.00688700e-03 -6.25721090e-04 9.99967749e-01 3.44336092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.640714057 meters Centerline goodness [0,1] 0.968349358974359 Centerline is valid? [True, True] Translation: X:314.36, Y:-11.88, Z:3.44 [[ 9.99916423e-01 -9.34824511e-03 -8.93067918e-03 3.14361061e+02] [ 9.35409134e-03 9.99956062e-01 6.13076759e-04 -1.18799136e+01] [ 8.92455559e-03 -6.96563909e-04 9.99959933e-01 3.44360236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.670714057 meters Centerline goodness [0,1] 0.97004347004347 Centerline is valid? [True, True] Translation: X:314.39, Y:-11.88, Z:3.44 [[ 9.99888619e-01 -9.84031880e-03 -1.12212727e-02 3.14391254e+02] [ 9.84957762e-03 9.99951195e-01 7.70146501e-04 -1.18777903e+01] [ 1.12131466e-02 -8.80585518e-04 9.99936743e-01 3.44169181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.700714057 meters Centerline goodness [0,1] 0.9695111925398727 Centerline is valid? [True, True] Translation: X:314.42, Y:-11.88, Z:3.44 [[ 9.99884004e-01 -9.64382288e-03 -1.17887915e-02 3.14420160e+02] [ 9.65399759e-03 9.99953074e-01 8.06480408e-04 -1.18805852e+01] [ 1.17804607e-02 -9.20195824e-04 9.99930185e-01 3.44113842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.730714057 meters Centerline goodness [0,1] 0.9707326283987916 Centerline is valid? [True, True] Translation: X:314.45, Y:-11.88, Z:3.44 [[ 9.99900108e-01 -7.63202495e-03 -1.18964622e-02 3.14449659e+02] [ 7.64223621e-03 9.99970467e-01 8.13120767e-04 -1.18809165e+01] [ 1.18899051e-02 -9.03955117e-04 9.99928904e-01 3.44192658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76071405700003 meters Centerline goodness [0,1] 0.9688053045140281 Centerline is valid? [True, True] Translation: X:314.48, Y:-11.89, Z:3.44 [[ 9.99924655e-01 -5.41496304e-03 -1.10164329e-02 3.14478023e+02] [ 5.42358170e-03 9.99985009e-01 7.52621071e-04 -1.18852533e+01] [ 1.10121923e-02 -8.12312889e-04 9.99939034e-01 3.44176558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.790714057 meters Centerline goodness [0,1] 0.9713109907523474 Centerline is valid? [True, True] Translation: X:314.51, Y:-11.88, Z:3.44 [[ 9.99947391e-01 6.35188969e-04 -1.02377910e-02 3.14509354e+02] [-6.28061664e-04 9.99999558e-01 6.99376082e-04 -1.18809441e+01] [ 1.02382308e-02 -6.92909324e-04 9.99947348e-01 3.44400342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82071405700003 meters Centerline goodness [0,1] 0.9740222935953146 Centerline is valid? [True, True] Translation: X:314.54, Y:-11.88, Z:3.45 [[ 9.99942707e-01 4.60553295e-03 -9.66288365e-03 3.14539942e+02] [-4.59936856e-03 9.99989205e-01 6.60070949e-04 -1.18789091e+01] [ 9.66581932e-03 -6.15589968e-04 9.99953095e-01 3.44540978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.850714057 meters Centerline goodness [0,1] 0.9740222935953146 Centerline is valid? [True, True] Translation: X:314.57, Y:-11.88, Z:3.45 [[ 9.99943187e-01 4.49999121e-03 -9.66294357e-03 3.14567399e+02] [-4.49383036e-03 9.99989685e-01 6.59193118e-04 -1.18806929e+01] [ 9.66581026e-03 -6.15732038e-04 9.99953095e-01 3.44544821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88071405700003 meters Centerline goodness [0,1] 0.9758436944937833 Centerline is valid? [True, True] Translation: X:314.60, Y:-11.88, Z:3.44 [[ 9.99888357e-01 1.12799476e-02 -9.79984306e-03 3.14596844e+02] [-1.12739393e-02 9.99936224e-01 6.68134067e-04 -1.18789847e+01] [ 9.80675458e-03 -5.57576639e-04 9.99951757e-01 3.44451192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.910714057 meters Centerline goodness [0,1] 0.9768475599610165 Centerline is valid? [True, True] Translation: X:314.63, Y:-11.88, Z:3.44 [[ 9.99843294e-01 1.44257763e-02 -1.02608491e-02 3.14627115e+02] [-1.44193565e-02 9.99895791e-01 6.99367153e-04 -1.18800432e+01] [ 1.02698688e-02 -5.51302717e-04 9.99947112e-01 3.44399896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94071405700004 meters Centerline goodness [0,1] 0.9793466105122897 Centerline is valid? [True, True] Translation: X:314.66, Y:-11.88, Z:3.44 [[ 9.99735209e-01 2.06519529e-02 -1.01493695e-02 3.14656659e+02] [-2.06459939e-02 9.99786610e-01 6.91564685e-04 -1.18798659e+01] [ 1.01614859e-02 -4.81837742e-04 9.99948255e-01 3.44369759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.970714057 meters Centerline goodness [0,1] 0.9793306852508147 Centerline is valid? [True, True] Translation: X:314.69, Y:-11.88, Z:3.44 [[ 9.99641727e-01 2.52467976e-02 -8.88911035e-03 3.14686724e+02] [-2.52424093e-02 9.99681176e-01 6.05544296e-04 -1.18810480e+01] [ 8.90156435e-03 -3.80944785e-04 9.99960308e-01 3.44498356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.000714057 meters Centerline goodness [0,1] 0.9795723558610157 Centerline is valid? [True, True] Translation: X:314.71, Y:-11.88, Z:3.45 [[ 9.99586814e-01 2.75901258e-02 -8.06144542e-03 3.14714436e+02] [-2.75865974e-02 9.99619267e-01 5.48578212e-04 -1.18846965e+01] [ 8.07351150e-03 -3.25963698e-04 9.99967356e-01 3.44561851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.030714057 meters Centerline goodness [0,1] 0.9808360710374708 Centerline is valid? [True, True] Translation: X:314.74, Y:-11.89, Z:3.45 [[ 9.99507611e-01 3.07069620e-02 -6.45127213e-03 3.14744180e+02] [-3.07047692e-02 9.99528401e-01 4.38682651e-04 -1.18873028e+01] [ 6.46170033e-03 -2.40381826e-04 9.99979094e-01 3.44689057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.060714057 meters Centerline goodness [0,1] 0.9809609723672965 Centerline is valid? [True, True] Translation: X:314.77, Y:-11.89, Z:3.45 [[ 9.99484778e-01 3.15120014e-02 -6.09694200e-03 3.14772179e+02] [-3.15100606e-02 9.99503349e-01 4.14138976e-04 -1.18907392e+01] [ 6.10696429e-03 -2.21810590e-04 9.99981328e-01 3.44725441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.090714057 meters Centerline goodness [0,1] 0.9835723103219067 Centerline is valid? [True, True] Translation: X:314.80, Y:-11.89, Z:3.45 [[ 9.99468345e-01 3.21987367e-02 -5.12533128e-03 3.14800960e+02] [-3.21973760e-02 9.99481470e-01 3.47784306e-04 -1.18927226e+01] [ 5.13387185e-03 -1.82577187e-04 9.99986805e-01 3.44807323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.120714057 meters Centerline goodness [0,1] 0.9791498456423653 Centerline is valid? [True, True] Translation: X:314.83, Y:-11.90, Z:3.45 [[ 9.99494886e-01 3.13509372e-02 -5.20489764e-03 3.14828290e+02] [-3.13495247e-02 9.99508421e-01 3.52754531e-04 -1.19022833e+01] [ 5.21339821e-03 -1.89405283e-04 9.99986392e-01 3.44715066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.150714057 meters Centerline goodness [0,1] 0.9838774213288771 Centerline is valid? [True, True] Translation: X:314.86, Y:-11.91, Z:3.45 [[ 9.99569118e-01 2.87638883e-02 -5.84948464e-03 3.14857516e+02] [-2.87620618e-02 9.99586208e-01 3.96149105e-04 -1.19070223e+01] [ 5.85845895e-03 -2.27735174e-04 9.99982813e-01 3.44634867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.180714057 meters Centerline goodness [0,1] 0.9817070314329882 Centerline is valid? [True, True] Translation: X:314.88, Y:-11.92, Z:3.45 [[ 9.99602438e-01 2.73703844e-02 -6.76969548e-03 3.14884899e+02] [-2.73679097e-02 9.99625324e-01 4.57946192e-04 -1.19151919e+01] [ 6.77969320e-03 -2.72491716e-04 9.99976980e-01 3.44536711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.210714057 meters Centerline goodness [0,1] 0.9811427761236353 Centerline is valid? [True, True] Translation: X:314.91, Y:-11.92, Z:3.45 [[ 9.99697575e-01 2.35880124e-02 -6.95442428e-03 3.14914442e+02] [-2.35853109e-02 9.99721717e-01 4.70221605e-04 -1.19222679e+01] [ 6.96358057e-03 -3.06057139e-04 9.99975707e-01 3.44533268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.240714057 meters Centerline goodness [0,1] 0.980386147716825 Centerline is valid? [True, True] Translation: X:314.94, Y:-11.93, Z:3.44 [[ 9.99744096e-01 2.15676247e-02 -6.82490142e-03 3.14943258e+02] [-2.15649781e-02 9.99767342e-01 4.61157183e-04 -1.19300415e+01] [ 6.83325962e-03 -3.13860322e-04 9.99976604e-01 3.44486244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.270714057 meters Centerline goodness [0,1] 0.9796105114969498 Centerline is valid? [True, True] Translation: X:314.97, Y:-11.93, Z:3.44 [[ 9.99745112e-01 2.14078000e-02 -7.17062544e-03 3.14972141e+02] [-2.14048778e-02 9.99770772e-01 4.84041299e-04 -1.19347240e+01] [ 7.17934400e-03 -3.30431561e-04 9.99974174e-01 3.44448301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.300714057 meters Centerline goodness [0,1] 0.9801689141897252 Centerline is valid? [True, True] Translation: X:315.00, Y:-11.94, Z:3.44 [[ 9.99726187e-01 2.22102962e-02 -7.36576998e-03 3.14999947e+02] [-2.22072389e-02 9.99753266e-01 4.96601621e-04 -1.19414426e+01] [ 7.37498226e-03 -3.32892231e-04 9.99972749e-01 3.44437684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.330714057 meters Centerline goodness [0,1] 0.979145211122554 Centerline is valid? [True, True] Translation: X:315.03, Y:-11.94, Z:3.44 [[ 9.99712379e-01 2.28625314e-02 -7.24320674e-03 3.15028276e+02] [-2.28595959e-02 9.99738566e-01 4.87822240e-04 -1.19449212e+01] [ 7.25246597e-03 -3.22105153e-04 9.99973649e-01 3.44432576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.360714057 meters Centerline goodness [0,1] 0.9774849626699745 Centerline is valid? [True, True] Translation: X:315.06, Y:-11.95, Z:3.44 [[ 9.99699486e-01 2.34984281e-02 -6.98292338e-03 3.15056519e+02] [-2.34957185e-02 9.99723827e-01 4.69819396e-04 -1.19478138e+01] [ 6.99203490e-03 -3.05609407e-04 9.99975509e-01 3.44482750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.390714057 meters Centerline goodness [0,1] 0.9777575290296956 Centerline is valid? [True, True] Translation: X:315.08, Y:-11.95, Z:3.45 [[ 9.99680751e-01 2.45119828e-02 -6.12850729e-03 3.15083653e+02] [-2.45099178e-02 9.99699502e-01 4.11849157e-04 -1.19543431e+01] [ 6.13676093e-03 -2.61508464e-04 9.99981136e-01 3.44574855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.420714057 meters Centerline goodness [0,1] 0.9770565193060996 Centerline is valid? [True, True] Translation: X:315.11, Y:-11.96, Z:3.45 [[ 9.99696878e-01 2.42137147e-02 -4.45509923e-03 3.15112289e+02] [-2.42126218e-02 9.99706787e-01 2.99093694e-04 -1.19580042e+01] [ 4.46103511e-03 -1.91133399e-04 9.99990031e-01 3.44701700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.450714057 meters Centerline goodness [0,1] 0.9766379109349499 Centerline is valid? [True, True] Translation: X:315.14, Y:-11.96, Z:3.45 [[ 9.99724607e-01 2.31467953e-02 -3.86479620e-03 3.15140692e+02] [-2.31459659e-02 9.99732063e-01 2.59205125e-04 -1.19614629e+01] [ 3.86976044e-03 -1.69679301e-04 9.99992498e-01 3.44711891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.480714057 meters Centerline goodness [0,1] 0.9739211136890952 Centerline is valid? [True, True] Translation: X:315.17, Y:-11.97, Z:3.45 [[ 9.99768688e-01 2.11832045e-02 -3.72052824e-03 3.15168835e+02] [-2.11824231e-02 9.99775596e-01 2.49312406e-04 -1.19705045e+01] [ 3.72497457e-03 -1.70444934e-04 9.99993048e-01 3.44675028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51071405700003 meters Centerline goodness [0,1] 0.9742441469243799 Centerline is valid? [True, True] Translation: X:315.20, Y:-11.98, Z:3.45 [[ 9.99801508e-01 1.95825555e-02 -3.66999110e-03 3.15197707e+02] [-1.95817853e-02 9.99808228e-01 2.45694517e-04 -1.19751115e+01] [ 3.67409863e-03 -1.73780771e-04 9.99993235e-01 3.44690061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.540714057 meters Centerline goodness [0,1] 0.9711692716688821 Centerline is valid? [True, True] Translation: X:315.23, Y:-11.98, Z:3.45 [[ 9.99857186e-01 1.64959892e-02 -3.67273383e-03 3.15227177e+02] [-1.64951977e-02 9.99863915e-01 2.45701184e-04 -1.19826232e+01] [ 3.67628711e-03 -1.85083624e-04 9.99993225e-01 3.44647075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57071405700003 meters Centerline goodness [0,1] 0.9697827487802633 Centerline is valid? [True, True] Translation: X:315.26, Y:-11.99, Z:3.45 [[ 9.99883829e-01 1.47539510e-02 -3.82752447e-03 3.15256494e+02] [-1.47530791e-02 9.99891135e-01 2.55920877e-04 -1.19876623e+01] [ 3.83088363e-03 -1.99423375e-04 9.99992642e-01 3.44582251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.600714057 meters Centerline goodness [0,1] 0.9708113077453459 Centerline is valid? [True, True] Translation: X:315.29, Y:-11.99, Z:3.44 [[ 9.99911635e-01 1.26791964e-02 -3.99490834e-03 3.15285314e+02] [-1.26782309e-02 9.99919592e-01 2.66922525e-04 -1.19927776e+01] [ 3.99797148e-03 -2.16250568e-04 9.99991985e-01 3.44492155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63071405700003 meters Centerline goodness [0,1] 0.9696239151398264 Centerline is valid? [True, True] Translation: X:315.31, Y:-12.00, Z:3.44 [[ 9.99921939e-01 1.17903477e-02 -4.13569390e-03 3.15313628e+02] [-1.17893064e-02 9.99930466e-01 2.76057037e-04 -1.19975666e+01] [ 4.13866114e-03 -2.27278525e-04 9.99991410e-01 3.44452641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.660714057 meters Centerline goodness [0,1] 0.9700416533162448 Centerline is valid? [True, True] Translation: X:315.34, Y:-12.00, Z:3.44 [[ 9.99938007e-01 9.96814366e-03 -4.96163866e-03 3.15342950e+02] [-9.96662385e-03 9.99950277e-01 3.30942703e-04 -1.20027326e+01] [ 4.96469084e-03 -2.81471401e-04 9.99987636e-01 3.44290307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69071405700004 meters Centerline goodness [0,1] 0.9663817533595392 Centerline is valid? [True, True] Translation: X:315.37, Y:-12.01, Z:3.44 [[ 9.99950726e-01 8.74703877e-03 -4.69419725e-03 3.15370477e+02] [-8.74566658e-03 9.99961707e-01 3.12765283e-04 -1.20101137e+01] [ 4.69675327e-03 -2.71695988e-04 9.99988933e-01 3.44271121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.720714057 meters Centerline goodness [0,1] 0.968066192560175 Centerline is valid? [True, True] Translation: X:315.40, Y:-12.01, Z:3.44 [[ 9.99964716e-01 7.08320364e-03 -4.51611200e-03 3.15399928e+02] [-7.08191771e-03 9.99974878e-01 3.00670365e-04 -1.20117992e+01] [ 4.51812825e-03 -2.68677022e-04 9.99989757e-01 3.44299225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.750714057 meters Centerline goodness [0,1] 0.9640525106363615 Centerline is valid? [True, True] Translation: X:315.43, Y:-12.02, Z:3.44 [[ 9.99986893e-01 3.11371289e-03 -4.06442762e-03 3.15428639e+02] [-3.11263920e-03 9.99995119e-01 2.70467897e-04 -1.20199850e+01] [ 4.06524994e-03 -2.57813255e-04 9.99991704e-01 3.44174786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.780714057 meters Centerline goodness [0,1] 0.9639217470427661 Centerline is valid? [True, True] Translation: X:315.46, Y:-12.03, Z:3.44 [[ 9.99993092e-01 9.75826769e-04 -3.58666920e-03 3.15457421e+02] [-9.74977521e-04 9.99999496e-01 2.38519897e-04 -1.20252810e+01] [ 3.58690015e-03 -2.35021327e-04 9.99993539e-01 3.44186615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.810714057 meters Centerline goodness [0,1] 0.9629855879092287 Centerline is valid? [True, True] Translation: X:315.49, Y:-12.03, Z:3.44 [[ 9.99992156e-01 -2.74736438e-03 -2.85314409e-03 3.15487670e+02] [ 2.74791665e-03 9.99996206e-01 1.89661380e-04 -1.20318573e+01] [ 2.85261219e-03 -1.97500094e-04 9.99995912e-01 3.44194090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.840714057 meters Centerline goodness [0,1] 0.9607096730337843 Centerline is valid? [True, True] Translation: X:315.52, Y:-12.04, Z:3.44 [[ 9.99982834e-01 -5.47519065e-03 -2.08686186e-03 3.15516659e+02] [ 5.47549194e-03 9.99985000e-01 1.38685324e-04 -1.20380725e+01] [ 2.08607122e-03 -1.50109539e-04 9.99997813e-01 3.44331796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.870714057 meters Centerline goodness [0,1] 0.9614275660090358 Centerline is valid? [True, True] Translation: X:315.55, Y:-12.04, Z:3.44 [[ 9.99974653e-01 -6.88783984e-03 -1.80306035e-03 3.15547016e+02] [ 6.88806695e-03 9.99976270e-01 1.19782520e-04 -1.20403315e+01] [ 1.80219252e-03 -1.32199084e-04 9.99998367e-01 3.44329923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.900714057 meters Centerline goodness [0,1] 0.9605709632176628 Centerline is valid? [True, True] Translation: X:315.58, Y:-12.05, Z:3.44 [[ 9.99957155e-01 -9.10415436e-03 -1.67388380e-03 3.15577418e+02] [ 9.10435321e-03 9.99958548e-01 1.11214445e-04 -1.20457027e+01] [ 1.67280191e-03 -1.26449310e-04 9.99998593e-01 3.44270963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.930714057 meters Centerline goodness [0,1] 0.9597456668326018 Centerline is valid? [True, True] Translation: X:315.61, Y:-12.05, Z:3.44 [[ 9.99949728e-01 -9.91105305e-03 -1.52054939e-03 3.15607987e+02] [ 9.91121816e-03 9.99950878e-01 1.01092195e-04 -1.20502659e+01] [ 1.51947277e-03 -1.16157609e-04 9.99998839e-01 3.44264463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.960714057 meters Centerline goodness [0,1] 0.9569931252113152 Centerline is valid? [True, True] Translation: X:315.64, Y:-12.06, Z:3.44 [[ 9.99936833e-01 -1.11328694e-02 -1.54592373e-03 3.15638263e+02] [ 1.11330416e-02 9.99938020e-01 1.02847478e-04 -1.20555776e+01] [ 1.54468293e-03 -1.20051815e-04 9.99998800e-01 3.44308752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.990714057 meters Centerline goodness [0,1] 0.9574429595459376 Centerline is valid? [True, True] Translation: X:315.67, Y:-12.06, Z:3.44 [[ 9.99937697e-01 -1.11402082e-02 -7.05085797e-04 3.15670320e+02] [ 1.11402441e-02 9.99937944e-01 4.69379428e-05 -1.20572820e+01] [ 7.04519144e-04 -5.47898463e-05 9.99999750e-01 3.44341735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.020714057 meters Centerline goodness [0,1] 0.9564086323123557 Centerline is valid? [True, True] Translation: X:315.70, Y:-12.06, Z:3.44 [[ 9.99944722e-01 -1.05065828e-02 4.05979394e-04 3.15701842e+02] [ 1.05065947e-02 9.99944804e-01 -2.71423695e-05 -1.20575849e+01] [-4.05671812e-04 3.14063300e-05 9.99999917e-01 3.44463395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.050714057 meters Centerline goodness [0,1] 0.9574168652820338 Centerline is valid? [True, True] Translation: X:315.73, Y:-12.05, Z:3.44 [[ 9.99944200e-01 -1.05349446e-02 7.82543392e-04 3.15733839e+02] [ 1.05349889e-02 9.99944504e-01 -5.24636681e-05 -1.20543897e+01] [-7.81947262e-04 6.07048265e-05 9.99999692e-01 3.44473035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.080714057 meters Centerline goodness [0,1] 0.9583978504417524 Centerline is valid? [True, True] Translation: X:315.77, Y:-12.05, Z:3.44 [[ 9.99945581e-01 -1.04300125e-02 2.25121866e-04 3.15766407e+02] [ 1.04300162e-02 9.99945606e-01 -1.51619914e-05 -1.20547092e+01] [-2.24951481e-04 1.75091910e-05 9.99999975e-01 3.44346139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.110714057 meters Centerline goodness [0,1] 0.9617022245497393 Centerline is valid? [True, True] Translation: X:315.80, Y:-12.05, Z:3.44 [[ 9.99944501e-01 -1.04888698e-02 -9.88824822e-04 3.15798516e+02] [ 1.04889403e-02 9.99944987e-01 6.61416290e-05 -1.20513128e+01] [ 9.88076673e-04 -7.65096827e-05 9.99999509e-01 3.44284742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.140714057 meters Centerline goodness [0,1] 0.9612832615089951 Centerline is valid? [True, True] Translation: X:315.83, Y:-12.05, Z:3.44 [[ 9.99926663e-01 -1.18540145e-02 -2.48015482e-03 3.15829857e+02] [ 1.18544630e-02 9.99929720e-01 1.66184839e-04 -1.20513848e+01] [ 2.47801056e-03 -1.95573555e-04 9.99996911e-01 3.44091821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.170714057 meters Centerline goodness [0,1] 0.9605530332413132 Centerline is valid? [True, True] Translation: X:315.86, Y:-12.05, Z:3.44 [[ 9.99921314e-01 -1.22436215e-02 -2.73118767e-03 3.15861785e+02] [ 1.22441672e-02 9.99925021e-01 1.83155193e-04 -1.20537013e+01] [ 2.72874040e-03 -2.16581900e-04 9.99996254e-01 3.44132420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.200714057 meters Centerline goodness [0,1] 0.960660159553798 Centerline is valid? [True, True] Translation: X:315.89, Y:-12.05, Z:3.44 [[ 9.99894920e-01 -1.42037501e-02 -2.89869340e-03 3.15892934e+02] [ 1.42043733e-02 9.99899094e-01 1.94519991e-04 -1.20537451e+01] [ 2.89563799e-03 -2.35673674e-04 9.99995780e-01 3.44126213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.230714057 meters Centerline goodness [0,1] 0.9590474223965861 Centerline is valid? [True, True] Translation: X:315.92, Y:-12.05, Z:3.44 [[ 9.99860266e-01 -1.63999733e-02 -3.23874593e-03 3.15924400e+02] [ 1.64007630e-02 9.99865475e-01 2.17432507e-04 -1.20545528e+01] [ 3.23474435e-03 -2.70520028e-04 9.99994732e-01 3.44126684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26071405700003 meters Centerline goodness [0,1] 0.9518962857208649 Centerline is valid? [True, True] Translation: X:315.95, Y:-12.07, Z:3.44 [[ 9.99845162e-01 -1.73284194e-02 -3.06238147e-03 3.15954741e+02] [ 1.73291303e-02 9.99849818e-01 2.05727105e-04 -1.20656693e+01] [ 3.05835663e-03 -2.58763658e-04 9.99995290e-01 3.44118670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.290714057 meters Centerline goodness [0,1] 0.9553620912617772 Centerline is valid? [True, True] Translation: X:315.99, Y:-12.06, Z:3.44 [[ 9.99792212e-01 -2.01054208e-02 -3.36230244e-03 3.15986120e+02] [ 2.01062935e-02 9.99797823e-01 2.25963743e-04 -1.20598679e+01] [ 3.35707957e-03 -2.93520230e-04 9.99994322e-01 3.44137264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32071405700003 meters Centerline goodness [0,1] 0.958569388789093 Centerline is valid? [True, True] Translation: X:316.02, Y:-12.06, Z:3.44 [[ 9.99766732e-01 -2.12775780e-02 -3.70748102e-03 3.16018739e+02] [ 2.12786477e-02 9.99773553e-01 2.49328874e-04 -1.20556555e+01] [ 3.70133636e-03 -3.28160896e-04 9.99993096e-01 3.44149647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.350714057 meters Centerline goodness [0,1] 0.959598296927064 Centerline is valid? [True, True] Translation: X:316.05, Y:-12.06, Z:3.44 [[ 9.99718778e-01 -2.34540734e-02 -3.50313811e-03 3.16049416e+02] [ 2.34550422e-02 9.99724865e-01 2.35716503e-04 -1.20550701e+01] [ 3.49664577e-03 -3.17816467e-04 9.99993836e-01 3.44308503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38071405700003 meters Centerline goodness [0,1] 0.9552580996271508 Centerline is valid? [True, True] Translation: X:316.08, Y:-12.06, Z:3.44 [[ 9.99696851e-01 -2.44187675e-02 -3.15112186e-03 3.16080178e+02] [ 2.44195565e-02 9.99701776e-01 2.12146965e-04 -1.20602710e+01] [ 3.14500175e-03 -2.89031652e-04 9.99995013e-01 3.44305699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.410714057 meters Centerline goodness [0,1] 0.9527615605597257 Centerline is valid? [True, True] Translation: X:316.11, Y:-12.06, Z:3.44 [[ 9.99648992e-01 -2.63522169e-02 -2.73009682e-03 3.16110413e+02] [ 2.63528166e-02 9.99652687e-01 1.83919886e-04 -1.20626632e+01] [ 2.72430192e-03 -2.55801070e-04 9.99996256e-01 3.44385263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44071405700004 meters Centerline goodness [0,1] 0.9548964589662129 Centerline is valid? [True, True] Translation: X:316.14, Y:-12.06, Z:3.45 [[ 9.99630697e-01 -2.70637107e-02 -2.45463868e-03 3.16142903e+02] [ 2.70641980e-02 9.99633684e-01 1.65487839e-04 -1.20620970e+01] [ 2.44926079e-03 -2.31859550e-04 9.99996974e-01 3.44523601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.470714057 meters Centerline goodness [0,1] 0.9569702602230483 Centerline is valid? [True, True] Translation: X:316.17, Y:-12.06, Z:3.45 [[ 9.99571270e-01 -2.91588322e-02 -2.65317581e-03 3.16174566e+02] [ 2.91594091e-02 9.99574758e-01 1.79024395e-04 -1.20597276e+01] [ 2.64682743e-03 -2.56312681e-04 9.99996464e-01 3.44517180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.500714057 meters Centerline goodness [0,1] 0.9551789340990265 Centerline is valid? [True, True] Translation: X:316.21, Y:-12.06, Z:3.44 [[ 9.99478301e-01 -3.20192954e-02 -4.22962504e-03 3.16205308e+02] [ 3.20207874e-02 9.99487162e-01 2.85488042e-04 -1.20636628e+01] [ 4.21831481e-03 -4.20775027e-04 9.99991014e-01 3.44359943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.530714057 meters Centerline goodness [0,1] 0.9523753884981189 Centerline is valid? [True, True] Translation: X:316.24, Y:-12.07, Z:3.44 [[ 9.99421081e-01 -3.35415302e-02 -5.69810736e-03 3.16235476e+02] [ 3.35442631e-02 9.99437159e-01 3.84691005e-04 -1.20710175e+01] [ 5.68199711e-03 -5.75607112e-04 9.99983692e-01 3.44264729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.560714057 meters Centerline goodness [0,1] 0.9522966551756266 Centerline is valid? [True, True] Translation: X:316.27, Y:-12.07, Z:3.44 [[ 9.99307068e-01 -3.64609694e-02 -7.48201890e-03 3.16266154e+02] [ 3.64657627e-02 9.99334775e-01 5.05178555e-04 -1.20724543e+01] [ 7.45862238e-03 -7.77666027e-04 9.99971882e-01 3.44028547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.590714057 meters Centerline goodness [0,1] 0.9535139692278869 Centerline is valid? [True, True] Translation: X:316.30, Y:-12.07, Z:3.44 [[ 9.99262915e-01 -3.74705370e-02 -8.34175518e-03 3.16297738e+02] [ 3.74765331e-02 9.99297349e-01 5.63600290e-04 -1.20728960e+01] [ 8.31477544e-03 -8.75804933e-04 9.99965048e-01 3.43979723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.620714057 meters Centerline goodness [0,1] 0.9508227506396564 Centerline is valid? [True, True] Translation: X:316.33, Y:-12.08, Z:3.44 [[ 9.99244802e-01 -3.78441744e-02 -8.81164486e-03 3.16329099e+02] [ 3.78508836e-02 9.99283221e-01 5.95822028e-04 -1.20770731e+01] [ 8.78278046e-03 -9.28900608e-04 9.99960999e-01 3.43915779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.650714057 meters Centerline goodness [0,1] 0.9505652692928868 Centerline is valid? [True, True] Translation: X:316.36, Y:-12.08, Z:3.44 [[ 9.99274892e-01 -3.69850184e-02 -9.04424889e-03 3.16359692e+02] [ 3.69920548e-02 9.99315372e-01 6.11896430e-04 -1.20799465e+01] [ 9.01542595e-03 -9.46018090e-04 9.99958913e-01 3.43925464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.680714057 meters Centerline goodness [0,1] 0.9586078689759037 Centerline is valid? [True, True] Translation: X:316.39, Y:-12.08, Z:3.44 [[ 9.99352956e-01 -3.47299433e-02 -9.35412642e-03 3.16391040e+02] [ 3.47373748e-02 9.99396275e-01 6.33107631e-04 -1.20758072e+01] [ 9.32649130e-03 -9.57635778e-04 9.99956049e-01 3.44125758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.710714057 meters Centerline goodness [0,1] 0.9536160188457008 Centerline is valid? [True, True] Translation: X:316.42, Y:-12.08, Z:3.44 [[ 9.99390619e-01 -3.36318312e-02 -9.34293252e-03 3.16421407e+02] [ 3.36391990e-02 9.99433842e-01 6.32525161e-04 -1.20790683e+01] [ 9.31636996e-03 -9.46428478e-04 9.99956154e-01 3.44112858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.740714057 meters Centerline goodness [0,1] 0.9536160188457008 Centerline is valid? [True, True] Translation: X:316.45, Y:-12.08, Z:3.44 [[ 9.99392943e-01 -3.35627255e-02 -9.34289362e-03 3.16453183e+02] [ 3.35700956e-02 9.99436165e-01 6.33099428e-04 -1.20812852e+01] [ 9.31637723e-03 -9.46356932e-04 9.99956154e-01 3.44117307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.770714057 meters Centerline goodness [0,1] 0.958594375618258 Centerline is valid? [True, True] Translation: X:316.48, Y:-12.08, Z:3.44 [[ 9.99516334e-01 -3.00105177e-02 -8.15268787e-03 3.16484287e+02] [ 3.00160132e-02 9.99549265e-01 5.52525047e-04 -1.20751811e+01] [ 8.13243161e-03 -7.96968996e-04 9.99966614e-01 3.44283083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.800714057 meters Centerline goodness [0,1] 0.9580635286915161 Centerline is valid? [True, True] Translation: X:316.52, Y:-12.07, Z:3.44 [[ 9.99575022e-01 -2.80416538e-02 -7.96503829e-03 3.16515521e+02] [ 2.80468384e-02 9.99606464e-01 5.39951283e-04 -1.20739982e+01] [ 7.94676263e-03 -7.63115957e-04 9.99968133e-01 3.44306608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.830714057 meters Centerline goodness [0,1] 0.9593266563220012 Centerline is valid? [True, True] Translation: X:316.55, Y:-12.07, Z:3.44 [[ 9.99697198e-01 -2.33935754e-02 -7.63239477e-03 3.16546183e+02] [ 2.33982018e-02 9.99726091e-01 5.17419974e-04 -1.20701351e+01] [ 7.61819989e-03 -6.95847611e-04 9.99970739e-01 3.44423443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.860714057 meters Centerline goodness [0,1] 0.9619691527572364 Centerline is valid? [True, True] Translation: X:316.58, Y:-12.07, Z:3.44 [[ 9.99780715e-01 -1.98008132e-02 -6.81538136e-03 3.16576676e+02] [ 1.98044196e-02 9.99803766e-01 4.62060289e-04 -1.20652297e+01] [ 6.80489478e-03 -5.96933638e-04 9.99976668e-01 3.44385047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.890714057 meters Centerline goodness [0,1] 0.9597741707833451 Centerline is valid? [True, True] Translation: X:316.61, Y:-12.07, Z:3.44 [[ 9.99802057e-01 -1.85684463e-02 -7.14554141e-03 3.16607270e+02] [ 1.85723808e-02 9.99827401e-01 4.84656461e-04 -1.20681923e+01] [ 7.13530877e-03 -6.17270243e-04 9.99974353e-01 3.44360345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.920714057 meters Centerline goodness [0,1] 0.9637966389327551 Centerline is valid? [True, True] Translation: X:316.64, Y:-12.06, Z:3.44 [[ 9.99830362e-01 -1.64939802e-02 -8.19734995e-03 3.16638381e+02] [ 1.64990905e-02 9.99863726e-01 5.56174427e-04 -1.20639448e+01] [ 8.18705934e-03 -6.91328897e-04 9.99966246e-01 3.44206202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.950714057 meters Centerline goodness [0,1] 0.9605733923359382 Centerline is valid? [True, True] Translation: X:316.67, Y:-12.07, Z:3.44 [[ 9.99833595e-01 -1.60230742e-02 -8.72023725e-03 3.16668318e+02] [ 1.60288438e-02 9.99871354e-01 5.92145907e-04 -1.20733663e+01] [ 8.70962743e-03 -7.31822692e-04 9.99961803e-01 3.44047118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.980714057 meters Centerline goodness [0,1] 0.9638743947727166 Centerline is valid? [True, True] Translation: X:316.70, Y:-12.07, Z:3.44 [[ 9.99839785e-01 -1.53289991e-02 -9.24265011e-03 3.16700130e+02] [ 1.53354547e-02 9.99882208e-01 6.27992941e-04 -1.20660722e+01] [ 9.23193489e-03 -7.69632570e-04 9.99957089e-01 3.43973389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01071405700003 meters Centerline goodness [0,1] 0.963049259808421 Centerline is valid? [True, True] Translation: X:316.73, Y:-12.07, Z:3.44 [[ 9.99835422e-01 -1.55854198e-02 -9.28561800e-03 3.16730967e+02] [ 1.55919470e-02 9.99878239e-01 6.30962037e-04 -1.20678102e+01] [ 9.27465357e-03 -7.75639059e-04 9.99956689e-01 3.43955821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.040714057 meters Centerline goodness [0,1] 0.964035333707235 Centerline is valid? [True, True] Translation: X:316.76, Y:-12.07, Z:3.44 [[ 9.99843126e-01 -1.50005591e-02 -9.41838297e-03 3.16760963e+02] [ 1.50072499e-02 9.99887180e-01 6.40123960e-04 -1.20705031e+01] [ 9.40771817e-03 -7.81367569e-04 9.99955441e-01 3.43957406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07071405700003 meters Centerline goodness [0,1] 0.9662939707289746 Centerline is valid? [True, True] Translation: X:316.79, Y:-12.07, Z:3.44 [[ 9.99834827e-01 -1.53117356e-02 -9.79133901e-03 3.16791960e+02] [ 1.53189819e-02 9.99882436e-01 6.65497418e-04 -1.20680730e+01] [ 9.77999798e-03 -8.15380841e-04 9.99951842e-01 3.43950784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.100714057 meters Centerline goodness [0,1] 0.9646371391842936 Centerline is valid? [True, True] Translation: X:316.82, Y:-12.07, Z:3.44 [[ 9.99865975e-01 -1.35922403e-02 -9.12594679e-03 3.16821949e+02] [ 1.35984640e-02 9.99907344e-01 6.20272061e-04 -1.20703766e+01] [ 9.11667033e-03 -7.44287788e-04 9.99958165e-01 3.43942701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13071405700003 meters Centerline goodness [0,1] 0.9628954197937856 Centerline is valid? [True, True] Translation: X:316.85, Y:-12.07, Z:3.44 [[ 9.99874068e-01 -1.31845180e-02 -8.83274899e-03 3.16852314e+02] [ 1.31903366e-02 9.99912823e-01 6.00818466e-04 -1.20737105e+01] [ 8.82405748e-03 -7.17249735e-04 9.99960810e-01 3.43887440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.160714057 meters Centerline goodness [0,1] 0.9672369346144832 Centerline is valid? [True, True] Translation: X:316.88, Y:-12.07, Z:3.44 [[ 9.99909797e-01 -1.06898903e-02 -8.13167344e-03 3.16883917e+02] [ 1.06947415e-02 9.99942657e-01 5.53336726e-04 -1.20673157e+01] [ 8.12529203e-03 -6.40252959e-04 9.99966784e-01 3.43962525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19071405700004 meters Centerline goodness [0,1] 0.9671383463922348 Centerline is valid? [True, True] Translation: X:316.91, Y:-12.07, Z:3.44 [[ 9.99924085e-01 -9.41769235e-03 -7.94548176e-03 3.16913365e+02] [ 9.42228335e-03 9.99955463e-01 5.40577171e-04 -1.20699995e+01] [ 7.94003691e-03 -6.15400714e-04 9.99968288e-01 3.43940269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.220714057 meters Centerline goodness [0,1] 0.9681905296124901 Centerline is valid? [True, True] Translation: X:316.94, Y:-12.07, Z:3.44 [[ 9.99959784e-01 -6.00114324e-03 -6.66465256e-03 3.16942915e+02] [ 6.00429705e-03 9.99981871e-01 4.53305937e-04 -1.20712699e+01] [ 6.66181139e-03 -4.93304260e-04 9.99977688e-01 3.43946128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.250714057 meters Centerline goodness [0,1] 0.9717916852299107 Centerline is valid? [True, True] Translation: X:316.97, Y:-12.06, Z:3.44 [[ 9.99967606e-01 -4.06306193e-03 -6.94825107e-03 3.16973836e+02] [ 4.06644244e-03 9.99991620e-01 4.72468815e-04 -1.20642810e+01] [ 6.94627317e-03 -5.00708173e-04 9.99975749e-01 3.44076230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.280714057 meters Centerline goodness [0,1] 0.9715118465588567 Centerline is valid? [True, True] Translation: X:317.00, Y:-12.07, Z:3.44 [[ 9.99973515e-01 -1.84443933e-03 -7.04047681e-03 3.17002722e+02] [ 1.84785393e-03 9.99998178e-01 4.78520676e-04 -1.20664751e+01] [ 7.03958138e-03 -4.91517775e-04 9.99975101e-01 3.44029335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.310714057 meters Centerline goodness [0,1] 0.973134819059249 Centerline is valid? [True, True] Translation: X:317.03, Y:-12.06, Z:3.44 [[ 9.99973714e-01 -1.28358663e-03 -7.13615235e-03 3.17032281e+02] [ 1.28706981e-03 9.99999055e-01 4.83532241e-04 -1.20565243e+01] [ 7.13552495e-03 -4.92704257e-04 9.99974420e-01 3.44072197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.340714057 meters Centerline goodness [0,1] 0.9723742629613099 Centerline is valid? [True, True] Translation: X:317.06, Y:-12.06, Z:3.44 [[ 9.99976571e-01 9.81233136e-04 -6.77455281e-03 3.17060574e+02] [-9.78149945e-04 9.99999417e-01 4.58411808e-04 -1.20598755e+01] [ 6.77499866e-03 -4.51774540e-04 9.99976947e-01 3.44084859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.370714057 meters Centerline goodness [0,1] 0.9751488480455605 Centerline is valid? [True, True] Translation: X:317.09, Y:-12.05, Z:3.44 [[ 9.99975035e-01 1.86559465e-03 -6.81530684e-03 3.17090247e+02] [-1.86250378e-03 9.99998160e-01 4.59836670e-04 -1.20548788e+01] [ 6.81615217e-03 -4.47131656e-04 9.99976670e-01 3.44142266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.400714057 meters Centerline goodness [0,1] 0.9758381366898012 Centerline is valid? [True, True] Translation: X:317.12, Y:-12.05, Z:3.44 [[ 9.99964476e-01 4.64125914e-03 -7.03596798e-03 3.17120370e+02] [-4.63803726e-03 9.99989132e-01 4.74162428e-04 -1.20527631e+01] [ 7.03809222e-03 -4.41512502e-04 9.99975135e-01 3.44222526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.430714057 meters Centerline goodness [0,1] 0.9750330064126744 Centerline is valid? [True, True] Translation: X:317.15, Y:-12.05, Z:3.44 [[ 9.99958229e-01 5.88889758e-03 -6.99003227e-03 3.17148766e+02] [-5.88575116e-03 9.99982568e-01 4.70616328e-04 -1.20538956e+01] [ 6.99268183e-03 -4.29455080e-04 9.99975459e-01 3.44160860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.460714057 meters Centerline goodness [0,1] 0.9763462624741104 Centerline is valid? [True, True] Translation: X:317.18, Y:-12.05, Z:3.44 [[ 9.99922436e-01 1.00273013e-02 -7.38750304e-03 3.17178970e+02] [-1.00239006e-02 9.99949636e-01 4.97214558e-04 -1.20514743e+01] [ 7.39211669e-03 -4.23124395e-04 9.99972588e-01 3.44151903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.490714057 meters Centerline goodness [0,1] 0.9782695892220937 Centerline is valid? [True, True] Translation: X:317.21, Y:-12.05, Z:3.44 [[ 9.99900963e-01 1.17407356e-02 -7.76015360e-03 3.17207795e+02] [-1.17370381e-02 9.99930982e-01 5.21842254e-04 -1.20507596e+01] [ 7.76574482e-03 -4.30709354e-04 9.99969753e-01 3.44177315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.520714057 meters Centerline goodness [0,1] 0.9769493454752419 Centerline is valid? [True, True] Translation: X:317.24, Y:-12.05, Z:3.44 [[ 9.99851456e-01 1.53247546e-02 -7.88787829e-03 3.17238516e+02] [-1.53210472e-02 9.99882485e-01 5.30221008e-04 -1.20463213e+01] [ 7.89507686e-03 -4.09291691e-04 9.99968750e-01 3.44239885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.550714057 meters Centerline goodness [0,1] 0.9766508313539193 Centerline is valid? [True, True] Translation: X:317.27, Y:-12.04, Z:3.44 [[ 9.99817293e-01 1.77087568e-02 -7.19587936e-03 3.17267886e+02] [-1.77057346e-02 9.99843124e-01 4.83483650e-04 -1.20446552e+01] [ 7.20331240e-03 -3.55986984e-04 9.99973992e-01 3.44253122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.580714057 meters Centerline goodness [0,1] 0.9786174016686532 Centerline is valid? [True, True] Translation: X:317.30, Y:-12.04, Z:3.44 [[ 9.99799768e-01 1.87381748e-02 -7.02171351e-03 3.17297260e+02] [-1.87353256e-02 9.99824367e-01 4.71336927e-04 -1.20417227e+01] [ 7.02931226e-03 -3.39688461e-04 9.99975236e-01 3.44385818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.610714057 meters Centerline goodness [0,1] 0.9762345679012345 Centerline is valid? [True, True] Translation: X:317.32, Y:-12.04, Z:3.44 [[ 9.99789443e-01 1.92074429e-02 -7.22107900e-03 3.17324781e+02] [-1.92044462e-02 9.99815460e-01 4.84107110e-04 -1.20435845e+01] [ 7.22904488e-03 -3.45328355e-04 9.99973810e-01 3.44342123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.640714057 meters Centerline goodness [0,1] 0.9784774525693584 Centerline is valid? [True, True] Translation: X:317.35, Y:-12.04, Z:3.44 [[ 9.99759693e-01 2.06770762e-02 -7.28115798e-03 3.17354248e+02] [-2.06740715e-02 9.99786150e-01 4.87698468e-04 -1.20406745e+01] [ 7.28968508e-03 -3.37050090e-04 9.99973373e-01 3.44419089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.670714057 meters Centerline goodness [0,1] 0.9762602090625521 Centerline is valid? [True, True] Translation: X:317.38, Y:-12.05, Z:3.44 [[ 9.99729060e-01 2.22531425e-02 -6.82671586e-03 3.17382212e+02] [-2.22505409e-02 9.99752322e-01 4.56808727e-04 -1.20452199e+01] [ 6.83519046e-03 -3.04786839e-04 9.99976593e-01 3.44468876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.700714057 meters Centerline goodness [0,1] 0.9801222874955041 Centerline is valid? [True, True] Translation: X:317.41, Y:-12.04, Z:3.45 [[ 9.99697880e-01 2.35151778e-02 -7.15435866e-03 3.17411509e+02] [-2.35123564e-02 9.99723432e-01 4.78223605e-04 -1.20402870e+01] [ 7.16362550e-03 -3.09863294e-04 9.99974293e-01 3.44557740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.730714057 meters Centerline goodness [0,1] 0.9800339948768284 Centerline is valid? [True, True] Translation: X:317.44, Y:-12.04, Z:3.44 [[ 9.99596204e-01 2.74548170e-02 -7.32541763e-03 3.17441469e+02] [-2.74519661e-02 9.99623004e-01 4.89452928e-04 -1.20393970e+01] [ 7.33609382e-03 -2.88158172e-04 9.99973049e-01 3.44464755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76071405700003 meters Centerline goodness [0,1] 0.9780477868047068 Centerline is valid? [True, True] Translation: X:317.47, Y:-12.05, Z:3.44 [[ 9.99527143e-01 2.97188482e-02 -7.89185647e-03 3.17468778e+02] [-2.97156145e-02 9.99558255e-01 5.26707839e-04 -1.20455172e+01] [ 7.90402344e-03 -2.91947416e-04 9.99968720e-01 3.44276923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.790714057 meters Centerline goodness [0,1] 0.9800523925112355 Centerline is valid? [True, True] Translation: X:317.50, Y:-12.04, Z:3.44 [[ 9.99377774e-01 3.42875181e-02 -8.27229526e-03 3.17498633e+02] [-3.42841245e-02 9.99411974e-01 5.51738441e-04 -1.20400133e+01] [ 8.28634868e-03 -2.67786735e-04 9.99965632e-01 3.44302901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82071405700003 meters Centerline goodness [0,1] 0.9816379082136067 Centerline is valid? [True, True] Translation: X:317.53, Y:-12.04, Z:3.44 [[ 9.99285591e-01 3.67976380e-02 -8.61636492e-03 3.17527499e+02] [-3.67940541e-02 9.99322705e-01 5.74151859e-04 -1.20408797e+01] [ 8.63165652e-03 -2.56710683e-04 9.99962714e-01 3.44333504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.850714057 meters Centerline goodness [0,1] 0.9816687888907575 Centerline is valid? [True, True] Translation: X:317.56, Y:-12.04, Z:3.44 [[ 9.99151635e-01 4.01977278e-02 -8.95281431e-03 3.17556359e+02] [-4.01940004e-02 9.99191717e-01 5.95948245e-04 -1.20392149e+01] [ 8.96953366e-03 -2.35593241e-04 9.99959745e-01 3.44348869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88071405700003 meters Centerline goodness [0,1] 0.9833814333814334 Centerline is valid? [True, True] Translation: X:317.58, Y:-12.04, Z:3.44 [[ 9.99093678e-01 4.15815611e-02 -9.09929326e-03 3.17583605e+02] [-4.15777779e-02 9.99135087e-01 6.04618704e-04 -1.20419900e+01] [ 9.11656416e-03 -2.25742330e-04 9.99958418e-01 3.44353883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.910714057 meters Centerline goodness [0,1] 0.9816179117371794 Centerline is valid? [True, True] Translation: X:317.61, Y:-12.05, Z:3.44 [[ 9.99058187e-01 4.24400695e-02 -9.03217599e-03 3.17612141e+02] [-4.24363834e-02 9.99098991e-01 5.99455930e-04 -1.20467806e+01] [ 9.04947887e-03 -2.15598471e-04 9.99959029e-01 3.44325901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94071405700004 meters Centerline goodness [0,1] 0.9821996033737127 Centerline is valid? [True, True] Translation: X:317.64, Y:-12.05, Z:3.44 [[ 9.99038400e-01 4.29504880e-02 -8.80515257e-03 3.17639779e+02] [-4.29470111e-02 9.99077181e-01 5.83660630e-04 -1.20535351e+01] [ 8.82209552e-03 -2.04944397e-04 9.99961064e-01 3.44311902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.970714057 meters Centerline goodness [0,1] 0.9827116863269497 Centerline is valid? [True, True] Translation: X:317.67, Y:-12.06, Z:3.44 [[ 9.99058295e-01 4.25668159e-02 -8.40172939e-03 3.17667883e+02] [-4.25636419e-02 9.99093603e-01 5.56310371e-04 -1.20586865e+01] [ 8.41779444e-03 -1.98178289e-04 9.99964550e-01 3.44410985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.000714057 meters Centerline goodness [0,1] 0.9830384004927392 Centerline is valid? [True, True] Translation: X:317.69, Y:-12.06, Z:3.44 [[ 9.99061308e-01 4.24715837e-02 -8.52454032e-03 3.17694656e+02] [-4.24683210e-02 9.99097655e-01 5.63468082e-04 -1.20636903e+01] [ 8.54077963e-03 -2.00916244e-04 9.99963507e-01 3.44401193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.030714057 meters Centerline goodness [0,1] 0.9833179308547191 Centerline is valid? [True, True] Translation: X:317.72, Y:-12.07, Z:3.44 [[ 9.99053776e-01 4.27010243e-02 -8.25684158e-03 3.17723492e+02] [-4.26979765e-02 9.99087877e-01 5.45128004e-04 -1.20685910e+01] [ 8.27258784e-03 -1.92061763e-04 9.99965763e-01 3.44351855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.060714057 meters Centerline goodness [0,1] 0.9822261141220742 Centerline is valid? [True, True] Translation: X:317.75, Y:-12.08, Z:3.44 [[ 9.99068144e-01 4.23142665e-02 -8.50569427e-03 3.17750397e+02] [-4.23110243e-02 9.99104330e-01 5.60840505e-04 -1.20796241e+01] [ 8.52180753e-03 -2.00433245e-04 9.99963669e-01 3.44150184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.090714057 meters Centerline goodness [0,1] 0.9834347611551023 Centerline is valid? [True, True] Translation: X:317.78, Y:-12.08, Z:3.44 [[ 9.99093842e-01 4.17797136e-02 -8.12094608e-03 3.17778863e+02] [-4.17767453e-02 9.99126828e-01 5.34881849e-04 -1.20812947e+01] [ 8.13620230e-03 -1.95130466e-04 9.99966882e-01 3.44222973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.120714057 meters Centerline goodness [0,1] 0.9820044166705821 Centerline is valid? [True, True] Translation: X:317.81, Y:-12.09, Z:3.44 [[ 9.99188518e-01 3.92172037e-02 -9.18243590e-03 3.17805915e+02] [-3.92133078e-02 9.99230680e-01 6.04004201e-04 -1.20902781e+01] [ 9.19905902e-03 -2.43440377e-04 9.99957658e-01 3.44232003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.150714057 meters Centerline goodness [0,1] 0.9823101420302657 Centerline is valid? [True, True] Translation: X:317.83, Y:-12.10, Z:3.44 [[ 9.99338466e-01 3.52566074e-02 -8.92204918e-03 3.17833753e+02] [-3.52527776e-02 9.99378256e-01 5.86200512e-04 -1.21015913e+01] [ 8.93716939e-03 -2.71285705e-04 9.99960026e-01 3.44190668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.180714057 meters Centerline goodness [0,1] 0.9810823419640774 Centerline is valid? [True, True] Translation: X:317.86, Y:-12.11, Z:3.44 [[ 9.99447912e-01 3.21609570e-02 -8.33934260e-03 3.17862931e+02] [-3.21575063e-02 9.99482664e-01 5.47575444e-04 -1.21079768e+01] [ 8.35263890e-03 -2.79100672e-04 9.99965077e-01 3.44171335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.210714057 meters Centerline goodness [0,1] 0.9791540785498489 Centerline is valid? [True, True] Translation: X:317.89, Y:-12.12, Z:3.44 [[ 9.99631376e-01 2.56304234e-02 -8.95504541e-03 3.17891658e+02] [-2.56261851e-02 9.99671423e-01 5.87738789e-04 -1.21230143e+01] [ 8.96716698e-03 -3.58038484e-04 9.99959730e-01 3.44136451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.240714057 meters Centerline goodness [0,1] 0.9793780915445531 Centerline is valid? [True, True] Translation: X:317.92, Y:-12.13, Z:3.44 [[ 9.99721620e-01 2.18774130e-02 -8.83525215e-03 3.17920409e+02] [-2.18731448e-02 9.99760586e-01 5.79442066e-04 -1.21265033e+01] [ 8.84581356e-03 -3.86026011e-04 9.99960801e-01 3.44197773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.270714057 meters Centerline goodness [0,1] 0.9768859537719076 Centerline is valid? [True, True] Translation: X:317.95, Y:-12.14, Z:3.44 [[ 9.99853926e-01 1.47630060e-02 -8.61281581e-03 3.17950663e+02] [-1.47586872e-02 9.99890925e-01 5.64785390e-04 -1.21363853e+01] [ 8.62021429e-03 -4.37589035e-04 9.99962750e-01 3.44224699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.300714057 meters Centerline goodness [0,1] 0.9752998483525573 Centerline is valid? [True, True] Translation: X:317.98, Y:-12.14, Z:3.44 [[ 9.99897230e-01 1.19719520e-02 -7.88684463e-03 3.17978895e+02] [-1.19682467e-02 9.99928244e-01 5.16834952e-04 -1.21445865e+01] [ 7.89246623e-03 -4.22390134e-04 9.99968765e-01 3.44200503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.330714057 meters Centerline goodness [0,1] 0.972387581280337 Centerline is valid? [True, True] Translation: X:318.01, Y:-12.16, Z:3.44 [[ 9.99948256e-01 6.76128110e-03 -7.60062776e-03 3.18007714e+02] [-6.75769032e-03 9.99977043e-01 4.98014266e-04 -1.21556052e+01] [ 7.60382049e-03 -4.46625808e-04 9.99970991e-01 3.44149834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.360714057 meters Centerline goodness [0,1] 0.9721681365250258 Centerline is valid? [True, True] Translation: X:318.04, Y:-12.16, Z:3.44 [[ 9.99962707e-01 4.49093421e-03 -7.37668831e-03 3.18037088e+02] [-4.48749191e-03 9.99989814e-01 4.83131836e-04 -1.21595172e+01] [ 7.37878289e-03 -4.50010990e-04 9.99972675e-01 3.44167388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.390714057 meters Centerline goodness [0,1] 0.968936296567004 Centerline is valid? [True, True] Translation: X:318.07, Y:-12.17, Z:3.44 [[ 9.99966297e-01 -1.49108681e-03 -8.07348516e-03 3.18066203e+02] [ 1.49540334e-03 9.99998742e-01 5.28645563e-04 -1.21695488e+01] [ 8.07268674e-03 -5.40700863e-04 9.99967269e-01 3.44143179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.420714057 meters Centerline goodness [0,1] 0.9675186733365312 Centerline is valid? [True, True] Translation: X:318.09, Y:-12.18, Z:3.44 [[ 9.99951845e-01 -4.77076392e-03 -8.57592837e-03 3.18094882e+02] [ 4.77575224e-03 9.99988439e-01 5.61280601e-04 -1.21773073e+01] [ 8.57315149e-03 -6.02210081e-04 9.99963069e-01 3.44070935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.450714057 meters Centerline goodness [0,1] 0.9655895833808406 Centerline is valid? [True, True] Translation: X:318.12, Y:-12.18, Z:3.44 [[ 9.99925231e-01 -8.10475077e-03 -9.15668811e-03 3.18123431e+02] [ 8.11057445e-03 9.99966929e-01 5.99047830e-04 -1.21846007e+01] [ 9.15153015e-03 -6.73269040e-04 9.99957897e-01 3.43989142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.480714057 meters Centerline goodness [0,1] 0.9672570999795357 Centerline is valid? [True, True] Translation: X:318.15, Y:-12.18, Z:3.44 [[ 9.99864115e-01 -1.41581512e-02 -8.44381319e-03 3.18153910e+02] [ 1.41633167e-02 9.99899543e-01 5.52266350e-04 -1.21842896e+01] [ 8.43514588e-03 -6.71783705e-04 9.99964198e-01 3.44004187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51071405700003 meters Centerline goodness [0,1] 0.965715454173672 Centerline is valid? [True, True] Translation: X:318.18, Y:-12.19, Z:3.44 [[ 9.99823734e-01 -1.65801025e-02 -8.80912308e-03 3.18183639e+02] [ 1.65858207e-02 9.99862280e-01 5.76449759e-04 -1.21907860e+01] [ 8.79835228e-03 -7.22454686e-04 9.99961033e-01 3.44019583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.540714057 meters Centerline goodness [0,1] 0.9587948805074187 Centerline is valid? [True, True] Translation: X:318.21, Y:-12.20, Z:3.44 [[ 9.99739130e-01 -2.03009947e-02 -1.04661939e-02 3.18212703e+02] [ 2.03092684e-02 9.99793511e-01 6.84822282e-04 -1.22028032e+01] [ 1.04501302e-02 -8.97204373e-04 9.99944993e-01 3.43824027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57071405700003 meters Centerline goodness [0,1] 0.9663377566065555 Centerline is valid? [True, True] Translation: X:318.24, Y:-12.20, Z:3.44 [[ 9.99666436e-01 -2.26822417e-02 -1.23503868e-02 3.18244387e+02] [ 2.26939447e-02 9.99742133e-01 8.08238022e-04 -1.21957381e+01] [ 1.23288694e-02 -1.08824742e-03 9.99923404e-01 3.43739530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.600714057 meters Centerline goodness [0,1] 0.9655837379191433 Centerline is valid? [True, True] Translation: X:318.28, Y:-12.20, Z:3.44 [[ 9.99661175e-01 -2.26728242e-02 -1.27858973e-02 3.18276056e+02] [ 2.26853718e-02 9.99742303e-01 8.37162348e-04 -1.21984155e+01] [ 1.27636215e-02 -1.12693153e-03 9.99917907e-01 3.43714519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63071405700003 meters Centerline goodness [0,1] 0.9345427299972755 Centerline is valid? [True, False] Translation: X:318.27, Y:-12.20, Z:3.44 [[ 9.99732264e-01 -1.96119788e-02 -1.22788871e-02 3.18274341e+02] [ 1.96667570e-02 9.99797100e-01 4.35642366e-03 -1.21981942e+01] [ 1.21909577e-02 -4.59674318e-03 9.99915122e-01 3.43775928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.660714057 meters Centerline goodness [0,1] 0.9345427299972755 Centerline is valid? [False, False] Translation: X:318.27, Y:-12.20, Z:3.44 [[ 9.99732264e-01 -1.96119788e-02 -1.22788871e-02 3.18274341e+02] [ 1.96667570e-02 9.99797100e-01 4.35642366e-03 -1.21981942e+01] [ 1.21909577e-02 -4.59674318e-03 9.99915122e-01 3.43775928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69071405700004 meters Centerline goodness [0,1] 0.9611416076350136 Centerline is valid? [False, True] Translation: X:318.27, Y:-12.20, Z:3.44 [[ 9.99733857e-01 -1.94991813e-02 -1.23287160e-02 3.18274326e+02] [ 1.95504824e-02 9.99800651e-01 4.05435375e-03 -1.21968942e+01] [ 1.22472017e-02 -4.29430706e-03 9.99915779e-01 3.43814338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.720714057 meters Centerline goodness [0,1] 0.9681709673752416 Centerline is valid? [True, True] Translation: X:318.31, Y:-12.18, Z:3.44 [[ 9.99778375e-01 -1.73336672e-02 -1.19475537e-02 3.18305773e+02] [ 1.73444917e-02 9.99849251e-01 8.02973981e-04 -1.21847679e+01] [ 1.19318341e-02 -1.01002027e-03 9.99928303e-01 3.44112280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.750714057 meters Centerline goodness [0,1] 0.967664807013549 Centerline is valid? [True, True] Translation: X:318.33, Y:-12.19, Z:3.44 [[ 9.99803065e-01 -1.57490143e-02 -1.20747813e-02 3.18334963e+02] [ 1.57599539e-02 9.99875475e-01 8.11364510e-04 -1.21872553e+01] [ 1.20604995e-02 -1.00150272e-03 9.99926768e-01 3.44177562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.780714057 meters Centerline goodness [0,1] 0.9668284419211575 Centerline is valid? [True, True] Translation: X:318.37, Y:-12.19, Z:3.44 [[ 9.99825089e-01 -1.41815040e-02 -1.21932750e-02 3.18365418e+02] [ 1.41925371e-02 9.99898946e-01 8.18799759e-04 -1.21862000e+01] [ 1.21804310e-02 -9.91710050e-04 9.99925324e-01 3.44182853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.810714057 meters Centerline goodness [0,1] 0.968535782835207 Centerline is valid? [True, True] Translation: X:318.39, Y:-12.19, Z:3.44 [[ 9.99838141e-01 -1.28647937e-02 -1.25773377e-02 3.18394872e+02] [ 1.28764233e-02 9.99916739e-01 8.44096015e-04 -1.21862068e+01] [ 1.25654314e-02 -1.00591051e-03 9.99920546e-01 3.44183852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.840714057 meters Centerline goodness [0,1] 0.9712826619644125 Centerline is valid? [True, True] Translation: X:318.43, Y:-12.18, Z:3.44 [[ 9.99876931e-01 -1.01438748e-02 -1.19676100e-02 3.18425503e+02] [ 1.01542073e-02 9.99948122e-01 8.02924139e-04 -1.21844916e+01] [ 1.19588444e-02 -9.24346918e-04 9.99928063e-01 3.44202390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.870714057 meters Centerline goodness [0,1] 0.9707540683016274 Centerline is valid? [True, True] Translation: X:318.45, Y:-12.19, Z:3.44 [[ 9.99881014e-01 -9.40651725e-03 -1.22260105e-02 3.18454785e+02] [ 9.41722009e-03 9.99955322e-01 8.18140030e-04 -1.21855796e+01] [ 1.22177685e-02 -9.33177715e-04 9.99924925e-01 3.44171975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.900714057 meters Centerline goodness [0,1] 0.9721700059602952 Centerline is valid? [True, True] Translation: X:318.49, Y:-12.18, Z:3.44 [[ 9.99895920e-01 -7.20228183e-03 -1.25010126e-02 3.18485141e+02] [ 7.21328955e-03 9.99973635e-01 8.35680943e-04 -1.21821412e+01] [ 1.24946642e-02 -9.25767389e-04 9.99921510e-01 3.44179329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.930714057 meters Centerline goodness [0,1] 0.9731896138299573 Centerline is valid? [True, True] Translation: X:318.51, Y:-12.18, Z:3.44 [[ 9.99908088e-01 -6.10635491e-03 -1.21048951e-02 3.18513865e+02] [ 6.11658789e-03 9.99980967e-01 8.08517426e-04 -1.21806521e+01] [ 1.20997276e-02 -8.82483767e-04 9.99926406e-01 3.44215856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.960714057 meters Centerline goodness [0,1] 0.9738243938280676 Centerline is valid? [True, True] Translation: X:318.54, Y:-12.18, Z:3.44 [[ 9.99913403e-01 -3.65244968e-03 -1.26430006e-02 3.18544494e+02] [ 3.66340991e-03 9.99992934e-01 8.43850360e-04 -1.21782210e+01] [ 1.26398291e-02 -8.90093779e-04 9.99919718e-01 3.44276593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.990714057 meters Centerline goodness [0,1] 0.9712195569417053 Centerline is valid? [True, True] Translation: X:318.57, Y:-12.19, Z:3.44 [[ 9.99921944e-01 -2.20338638e-03 -1.22984402e-02 3.18572492e+02] [ 2.21363895e-03 9.99997214e-01 8.20097465e-04 -1.21857870e+01] [ 1.22965989e-02 -8.47257757e-04 9.99924035e-01 3.44183362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.020714057 meters Centerline goodness [0,1] 0.9738733154257639 Centerline is valid? [True, True] Translation: X:318.60, Y:-12.17, Z:3.44 [[ 9.99928527e-01 1.60053155e-03 -1.18481848e-02 3.18603226e+02] [-1.59128458e-03 9.99998422e-01 7.89841251e-04 -1.21746890e+01] [ 1.18494303e-02 -7.70930965e-04 9.99929496e-01 3.44337936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.050714057 meters Centerline goodness [0,1] 0.9757917350026565 Centerline is valid? [True, True] Translation: X:318.63, Y:-12.17, Z:3.44 [[ 9.99913048e-01 5.52275071e-03 -1.19747981e-02 3.18634031e+02] [-5.51358570e-03 9.99984481e-01 7.98236541e-04 -1.21704595e+01] [ 1.19790207e-02 -7.32143057e-04 9.99927981e-01 3.44493446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.080714057 meters Centerline goodness [0,1] 0.9771057616781408 Centerline is valid? [True, True] Translation: X:318.66, Y:-12.17, Z:3.45 [[ 9.99904810e-01 7.39396666e-03 -1.16490050e-02 3.18664462e+02] [-7.38542200e-03 9.99972426e-01 7.76357686e-04 -1.21670596e+01] [ 1.16544242e-02 -6.90250967e-04 9.99931847e-01 3.44596100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.110714057 meters Centerline goodness [0,1] 0.9758077610001623 Centerline is valid? [True, True] Translation: X:318.69, Y:-12.16, Z:3.45 [[ 9.99892190e-01 9.12225008e-03 -1.15062440e-02 3.18693228e+02] [-9.11403498e-03 9.99958173e-01 7.66203936e-04 -1.21642223e+01] [ 1.15127522e-02 -6.61253021e-04 9.99933507e-01 3.44698722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.140714057 meters Centerline goodness [0,1] 0.9759248931028072 Centerline is valid? [True, True] Translation: X:318.72, Y:-12.17, Z:3.45 [[ 9.99895788e-01 9.70439339e-03 -1.06882019e-02 3.18720563e+02] [-9.69734720e-03 9.99952727e-01 7.10877877e-04 -1.21691047e+01] [ 1.06945953e-02 -6.07156590e-04 9.99942627e-01 3.44709757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.170714057 meters Centerline goodness [0,1] 0.974902307406029 Centerline is valid? [True, True] Translation: X:318.75, Y:-12.17, Z:3.45 [[ 9.99916170e-01 8.01984485e-03 -1.01653710e-02 3.18749666e+02] [-8.01339059e-03 9.99967664e-01 6.75498644e-04 -1.21698722e+01] [ 1.01704597e-02 -5.93982929e-04 9.99948103e-01 3.44888993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.200714057 meters Centerline goodness [0,1] 0.9772045311809449 Centerline is valid? [True, True] Translation: X:318.78, Y:-12.17, Z:3.45 [[ 9.99925907e-01 6.74401834e-03 -1.01340094e-02 3.18778720e+02] [-6.73754510e-03 9.99977076e-01 6.72768402e-04 -1.21671293e+01] [ 1.01383142e-02 -6.04440209e-04 9.99948423e-01 3.44989626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.230714057 meters Centerline goodness [0,1] 0.9765944041257322 Centerline is valid? [True, True] Translation: X:318.81, Y:-12.17, Z:3.45 [[ 9.99936659e-01 2.14229994e-03 -1.10493866e-02 3.18809033e+02] [-2.13432746e-03 9.99997453e-01 7.33272673e-04 -1.21671017e+01] [ 1.10509294e-02 -7.09643217e-04 9.99938685e-01 3.44972219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26071405700003 meters Centerline goodness [0,1] 0.9732109578829669 Centerline is valid? [True, True] Translation: X:318.84, Y:-12.18, Z:3.45 [[ 9.99938674e-01 -3.18263153e-04 -1.10700940e-02 3.18837067e+02] [ 3.26410827e-04 9.99999677e-01 7.34208746e-04 -1.21785296e+01] [ 1.10698567e-02 -7.37777118e-04 9.99938455e-01 3.44843918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.290714057 meters Centerline goodness [0,1] 0.9748789346246973 Centerline is valid? [True, True] Translation: X:318.87, Y:-12.18, Z:3.45 [[ 9.99898355e-01 -6.75452995e-03 -1.25561065e-02 3.18867813e+02] [ 6.76551497e-03 9.99976767e-01 8.32603923e-04 -1.21792585e+01] [ 1.25501909e-02 -9.17467820e-04 9.99920822e-01 3.44855910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32071405700003 meters Centerline goodness [0,1] 0.9736313058113983 Centerline is valid? [True, True] Translation: X:318.90, Y:-12.18, Z:3.45 [[ 9.99795429e-01 -1.37868274e-02 -1.47994740e-02 3.18898095e+02] [ 1.38028540e-02 9.99904255e-01 9.81313161e-04 -1.21824654e+01] [ 1.47845278e-02 -1.18538739e-03 9.99890000e-01 3.44722236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.350714057 meters Centerline goodness [0,1] 0.9730254538648699 Centerline is valid? [True, True] Translation: X:318.93, Y:-12.19, Z:3.45 [[ 9.99745233e-01 -1.65763151e-02 -1.53197465e-02 3.18927827e+02] [ 1.65938103e-02 9.99861797e-01 1.01558577e-03 -1.21861470e+01] [ 1.53007946e-02 -1.26954000e-03 9.99882130e-01 3.44760914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38071405700003 meters Centerline goodness [0,1] 0.9715033168270578 Centerline is valid? [True, True] Translation: X:318.96, Y:-12.19, Z:3.45 [[ 9.99671478e-01 -2.05555187e-02 -1.53103589e-02 3.18958142e+02] [ 2.05734550e-02 9.99787829e-01 1.01491873e-03 -1.21867861e+01] [ 1.52862483e-02 -1.32957229e-03 9.99882274e-01 3.44881806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.410714057 meters Centerline goodness [0,1] 0.9661711342619689 Centerline is valid? [True, True] Translation: X:318.99, Y:-12.19, Z:3.45 [[ 9.99632306e-01 -2.23075208e-02 -1.54151652e-02 3.18987879e+02] [ 2.23259103e-02 9.99750224e-01 1.02186806e-03 -1.21915850e+01] [ 1.53885195e-02 -1.36564992e-03 9.99880657e-01 3.44776294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44071405700004 meters Centerline goodness [0,1] 0.9606511933847022 Centerline is valid? [True, True] Translation: X:319.02, Y:-12.19, Z:3.45 [[ 9.99628655e-01 -2.28122156e-02 -1.49048300e-02 3.19017579e+02] [ 2.28294631e-02 9.99738886e-01 9.88038052e-04 -1.21943593e+01] [ 1.48783988e-02 -1.32794042e-03 9.99888429e-01 3.44783640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.470714057 meters Centerline goodness [0,1] 0.9597271230298753 Centerline is valid? [True, True] Translation: X:319.05, Y:-12.19, Z:3.45 [[ 9.99694463e-01 -2.04999698e-02 -1.38106015e-02 3.19047975e+02] [ 2.05145586e-02 9.99789135e-01 9.15497218e-04 -1.21919573e+01] [ 1.37889216e-02 -1.19853589e-03 9.99904210e-01 3.44990067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.500714057 meters Centerline goodness [0,1] 0.9660592900302115 Centerline is valid? [True, True] Translation: X:319.08, Y:-12.19, Z:3.45 [[ 9.99716376e-01 -1.93985972e-02 -1.38153023e-02 3.19078555e+02] [ 1.94130916e-02 9.99811129e-01 9.15807522e-04 -1.21873640e+01] [ 1.37949276e-02 -1.18374550e-03 9.99904145e-01 3.45191441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.530714057 meters Centerline goodness [0,1] 0.9649585531273549 Centerline is valid? [True, True] Translation: X:319.11, Y:-12.19, Z:3.45 [[ 9.99756206e-01 -1.79489046e-02 -1.28594655e-02 3.19107869e+02] [ 1.79613476e-02 9.99838318e-01 8.52766468e-04 -1.21869433e+01] [ 1.28420802e-02 -1.08353190e-03 9.99916950e-01 3.45225956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.560714057 meters Centerline goodness [0,1] 0.9654518293695018 Centerline is valid? [True, True] Translation: X:319.14, Y:-12.18, Z:3.45 [[ 9.99808794e-01 -1.49527797e-02 -1.26012171e-02 3.19137730e+02] [ 1.49644911e-02 9.99887677e-01 8.35611626e-04 -1.21828135e+01] [ 1.25873069e-02 -1.02402265e-03 9.99920252e-01 3.45338496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.590714057 meters Centerline goodness [0,1] 0.9669513641755635 Centerline is valid? [True, True] Translation: X:319.17, Y:-12.18, Z:3.45 [[ 9.99813976e-01 -1.39225695e-02 -1.33482239e-02 3.19168245e+02] [ 1.39356167e-02 9.99902503e-01 8.84928541e-04 -1.21783710e+01] [ 1.33346020e-02 -1.07077965e-03 9.99910517e-01 3.45298034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.620714057 meters Centerline goodness [0,1] 0.9680463221102295 Centerline is valid? [True, True] Translation: X:319.20, Y:-12.18, Z:3.45 [[ 9.99813728e-01 -1.16228312e-02 -1.54084388e-02 3.19198435e+02] [ 1.16399417e-02 9.99931732e-01 1.02124153e-03 -1.21753719e+01] [ 1.53955172e-02 -1.20040463e-03 9.99880761e-01 3.45035599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.650714057 meters Centerline goodness [0,1] 0.9678628560513812 Centerline is valid? [True, True] Translation: X:319.23, Y:-12.18, Z:3.45 [[ 9.99803626e-01 -1.11441839e-02 -1.63864565e-02 3.19225919e+02] [ 1.11634524e-02 9.99937098e-01 1.08487964e-03 -1.21762644e+01] [ 1.63733357e-02 -1.26759603e-03 9.99865144e-01 3.44932188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.680714057 meters Centerline goodness [0,1] 0.9721629973887838 Centerline is valid? [True, True] Translation: X:319.26, Y:-12.16, Z:3.45 [[ 9.99793067e-01 -9.86920714e-03 -1.77882528e-02 3.19256078e+02] [ 9.89167637e-03 9.99950385e-01 1.17560547e-03 -1.21646389e+01] [ 1.77757680e-02 -1.35131784e-03 9.99841085e-01 3.45087013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.710714057 meters Centerline goodness [0,1] 0.9714134462678666 Centerline is valid? [True, True] Translation: X:319.29, Y:-12.16, Z:3.45 [[ 9.99789014e-01 -7.58064905e-03 -1.90908515e-02 3.19286527e+02] [ 7.60609325e-03 9.99970279e-01 1.26053741e-03 -1.21606972e+01] [ 1.90807285e-02 -1.40547826e-03 9.99816958e-01 3.45141098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.740714057 meters Centerline goodness [0,1] 0.9723852593091504 Centerline is valid? [True, True] Translation: X:319.32, Y:-12.16, Z:3.45 [[ 9.99807419e-01 -5.78994179e-03 -1.87510655e-02 3.19316486e+02] [ 5.81416704e-03 9.99982332e-01 1.23768176e-03 -1.21603217e+01] [ 1.87435681e-02 -1.34646523e-03 9.99823417e-01 3.45164743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.770714057 meters Centerline goodness [0,1] 0.9739130434782609 Centerline is valid? [True, True] Translation: X:319.35, Y:-12.16, Z:3.45 [[ 9.99825771e-01 -2.12457556e-03 -1.85448895e-02 3.19347156e+02] [ 2.14764055e-03 9.99996945e-01 1.22391149e-03 -1.21565405e+01] [ 1.85422325e-02 -1.26352601e-03 9.99827280e-01 3.45338881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.800714057 meters Centerline goodness [0,1] 0.973064948229672 Centerline is valid? [True, True] Translation: X:319.38, Y:-12.16, Z:3.45 [[ 9.99849414e-01 4.42433160e-05 -1.73536195e-02 3.19375842e+02] [-2.43854849e-05 9.99999345e-01 1.14451479e-03 -1.21569333e+01] [ 1.73536587e-02 -1.14391927e-03 9.99848760e-01 3.45333858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.830714057 meters Centerline goodness [0,1] 0.9730328421458153 Centerline is valid? [True, True] Translation: X:319.41, Y:-12.15, Z:3.45 [[ 9.99859984e-01 3.80226964e-03 -1.62958883e-02 3.19406577e+02] [-3.78526024e-03 9.99992259e-01 1.07450185e-03 -1.21529444e+01] [ 1.62998477e-02 -1.01266722e-03 9.99866636e-01 3.45452067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.860714057 meters Centerline goodness [0,1] 0.9740680713128039 Centerline is valid? [True, True] Translation: X:319.44, Y:-12.15, Z:3.46 [[ 9.99857265e-01 5.31357491e-03 -1.60379488e-02 3.19435505e+02] [-5.29730853e-03 9.99985411e-01 1.05655481e-03 -1.21523602e+01] [ 1.60433289e-02 -9.71446044e-04 9.99870826e-01 3.45524398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.890714057 meters Centerline goodness [0,1] 0.973546645918938 Centerline is valid? [True, True] Translation: X:319.47, Y:-12.15, Z:3.46 [[ 9.99856657e-01 7.81595922e-03 -1.50191816e-02 3.19465540e+02] [-7.80198146e-03 9.99969075e-01 9.89029130e-04 -1.21503312e+01] [ 1.50264474e-02 -8.71707983e-04 9.99886717e-01 3.45632379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.920714057 meters Centerline goodness [0,1] 0.9748146347392731 Centerline is valid? [True, True] Translation: X:319.49, Y:-12.15, Z:3.46 [[ 9.99851487e-01 8.75124365e-03 -1.48465147e-02 3.19494193e+02] [-8.73770132e-03 9.99961348e-01 9.76777511e-04 -1.21509381e+01] [ 1.48544889e-02 -8.46908036e-04 9.99889307e-01 3.45689496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.950714057 meters Centerline goodness [0,1] 0.9729387098347068 Centerline is valid? [True, True] Translation: X:319.52, Y:-12.15, Z:3.46 [[ 9.99841847e-01 7.93118744e-03 -1.59178357e-02 3.19521681e+02] [-7.91553777e-03 9.99968125e-01 1.04591618e-03 -1.21519741e+01] [ 1.59256237e-02 -9.19752540e-04 9.99872756e-01 3.45649287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.980714057 meters Centerline goodness [0,1] 0.9724846595889743 Centerline is valid? [True, True] Translation: X:319.55, Y:-12.16, Z:3.46 [[ 9.99843346e-01 7.31458768e-03 -1.61176871e-02 3.19549296e+02] [-7.29848499e-03 9.99972806e-01 1.05766520e-03 -1.21560172e+01] [ 1.61249852e-02 -9.39864811e-04 9.99869542e-01 3.45541864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01071405700003 meters Centerline goodness [0,1] 0.9712863799370594 Centerline is valid? [True, True] Translation: X:319.58, Y:-12.16, Z:3.45 [[ 9.99850018e-01 4.72832851e-03 -1.66608503e-02 3.19579734e+02] [-4.71076876e-03 9.99988307e-01 1.09304090e-03 -1.21611077e+01] [ 1.66658238e-02 -1.01439155e-03 9.99860601e-01 3.45377440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.040714057 meters Centerline goodness [0,1] 0.9714167659140073 Centerline is valid? [True, True] Translation: X:319.61, Y:-12.16, Z:3.45 [[ 9.99845827e-01 3.13000131e-03 -1.72778845e-02 3.19609353e+02] [-3.11088722e-03 9.99994519e-01 1.13304091e-03 -1.21639882e+01] [ 1.72813362e-02 -1.07911668e-03 9.99850084e-01 3.45312653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07071405700003 meters Centerline goodness [0,1] 0.9719744602037335 Centerline is valid? [True, True] Translation: X:319.64, Y:-12.17, Z:3.45 [[ 9.99829403e-01 -1.80107973e-04 -1.84697481e-02 3.19639468e+02] [ 2.02505575e-04 9.99999246e-01 1.21080110e-03 -1.21683761e+01] [ 1.84695162e-02 -1.21433477e-03 9.99828687e-01 3.45114480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.100714057 meters Centerline goodness [0,1] 0.9698573344714059 Centerline is valid? [True, True] Translation: X:319.67, Y:-12.17, Z:3.45 [[ 9.99815742e-01 -1.40674035e-03 -1.91442789e-02 3.19668867e+02] [ 1.43101653e-03 9.99998189e-01 1.25442426e-03 -1.21717961e+01] [ 1.91424796e-02 -1.28158890e-03 9.99815945e-01 3.45101544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13071405700003 meters Centerline goodness [0,1] 0.968799473902136 Centerline is valid? [True, True] Translation: X:319.70, Y:-12.18, Z:3.45 [[ 9.99810509e-01 -3.02996171e-03 -1.92292974e-02 3.19697701e+02] [ 3.05473536e-03 9.99994542e-01 1.25908610e-03 -1.21763771e+01] [ 1.92253775e-02 -1.31758793e-03 9.99814307e-01 3.45114197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.160714057 meters Centerline goodness [0,1] 0.9718093660153014 Centerline is valid? [True, True] Translation: X:319.73, Y:-12.17, Z:3.45 [[ 9.99807594e-01 -3.94252685e-03 -1.92154223e-02 3.19726360e+02] [ 3.96740276e-03 9.99991340e-01 1.25663137e-03 -1.21727581e+01] [ 1.92103016e-02 -1.33262491e-03 9.99814577e-01 3.45293846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19071405700004 meters Centerline goodness [0,1] 0.9680749798638061 Centerline is valid? [True, True] Translation: X:319.75, Y:-12.18, Z:3.45 [[ 9.99820148e-01 -4.51755837e-03 -1.84190799e-02 3.19753910e+02] [ 4.54048336e-03 9.99988968e-01 1.20300365e-03 -1.21776973e+01] [ 1.84134420e-02 -1.28641882e-03 9.99829631e-01 3.45286977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.220714057 meters Centerline goodness [0,1] 0.9692739475289811 Centerline is valid? [True, True] Translation: X:319.78, Y:-12.18, Z:3.45 [[ 9.99819583e-01 -4.89977491e-03 -1.83519639e-02 3.19781476e+02] [ 4.92251681e-03 9.99987171e-01 1.19424032e-03 -1.21777181e+01] [ 1.83458770e-02 -1.28436271e-03 9.99830875e-01 3.45401528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.250714057 meters Centerline goodness [0,1] 0.9677064489316971 Centerline is valid? [True, True] Translation: X:319.81, Y:-12.18, Z:3.45 [[ 9.99837893e-01 -5.34964178e-03 -1.71921003e-02 3.19809351e+02] [ 5.36958700e-03 9.99984963e-01 1.11418679e-03 -1.21787857e+01] [ 1.71858812e-02 -1.20632066e-03 9.99851584e-01 3.45495888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.280714057 meters Centerline goodness [0,1] 0.9678506041742951 Centerline is valid? [True, True] Translation: X:319.84, Y:-12.18, Z:3.46 [[ 9.99860456e-01 -5.40993077e-03 -1.58050984e-02 3.19838208e+02] [ 5.42673569e-03 9.99984754e-01 1.02056498e-03 -1.21810483e+01] [ 1.57993362e-02 -1.10619266e-03 9.99874571e-01 3.45610181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.310714057 meters Centerline goodness [0,1] 0.9691921163040297 Centerline is valid? [True, True] Translation: X:319.87, Y:-12.18, Z:3.46 [[ 9.99885731e-01 -5.61828575e-03 -1.40342497e-02 3.19867262e+02] [ 5.63151043e-03 9.99983735e-01 9.02972685e-04 -1.21791027e+01] [ 1.40289483e-02 -9.81903526e-04 9.99901107e-01 3.45847240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.340714057 meters Centerline goodness [0,1] 0.9676210536628377 Centerline is valid? [True, True] Translation: X:319.89, Y:-12.19, Z:3.46 [[ 9.99874931e-01 -5.90733100e-03 -1.46705709e-02 3.19894351e+02] [ 5.92178775e-03 9.99982022e-01 9.42180052e-04 -1.21851905e+01] [ 1.46647414e-02 -1.02893822e-03 9.99891937e-01 3.45711263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.370714057 meters Centerline goodness [0,1] 0.9701507120349788 Centerline is valid? [True, True] Translation: X:319.92, Y:-12.18, Z:3.46 [[ 9.99864513e-01 -6.28612719e-03 -1.52131435e-02 3.19923326e+02] [ 6.30166838e-03 9.99979670e-01 9.73841817e-04 -1.21808234e+01] [ 1.52067125e-02 -1.06957806e-03 9.99883799e-01 3.45722975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.400714057 meters Centerline goodness [0,1] 0.9695295619721076 Centerline is valid? [True, True] Translation: X:319.95, Y:-12.19, Z:3.45 [[ 9.99811321e-01 -8.32555008e-03 -1.75501437e-02 3.19952551e+02] [ 8.34652716e-03 9.99964537e-01 1.12235629e-03 -1.21866270e+01] [ 1.75401771e-02 -1.26862727e-03 9.99845354e-01 3.45351824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.430714057 meters Centerline goodness [0,1] 0.9687369430039079 Centerline is valid? [True, True] Translation: X:319.98, Y:-12.19, Z:3.45 [[ 9.99785298e-01 -9.08334314e-03 -1.86239551e-02 3.19980727e+02] [ 9.10707172e-03 9.99957822e-01 1.18967112e-03 -1.21895045e+01] [ 1.86123634e-02 -1.35902539e-03 9.99825851e-01 3.45240429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.460714057 meters Centerline goodness [0,1] 0.9682018618324351 Centerline is valid? [True, True] Translation: X:320.01, Y:-12.19, Z:3.45 [[ 9.99723970e-01 -1.07330989e-02 -2.08993809e-02 3.20010528e+02] [ 1.07633276e-02 9.99941183e-01 1.33443763e-03 -1.21901533e+01] [ 2.08838291e-02 -1.55901617e-03 9.99780694e-01 3.45052957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.490714057 meters Centerline goodness [0,1] 0.9618898332067893 Centerline is valid? [True, True] Translation: X:320.04, Y:-12.20, Z:3.45 [[ 9.99716549e-01 -1.11030883e-02 -2.10604768e-02 3.20037394e+02] [ 1.11338138e-02 9.99937116e-01 1.34221749e-03 -1.21975594e+01] [ 2.10442496e-02 -1.57632047e-03 9.99777303e-01 3.44877644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.520714057 meters Centerline goodness [0,1] 0.9438661252614741 Centerline is valid? [True, False] Translation: X:320.04, Y:-12.20, Z:3.45 [[ 9.99715496e-01 -1.12744535e-02 -2.10193636e-02 3.20037171e+02] [ 1.12978477e-02 9.99935683e-01 9.94561821e-04 -1.21962440e+01] [ 2.10067986e-02 -1.23175243e-03 9.99778574e-01 3.44903354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.550714057 meters Centerline goodness [0,1] 0.9438661252614741 Centerline is valid? [False, False] Translation: X:320.04, Y:-12.20, Z:3.45 [[ 9.99715496e-01 -1.12744535e-02 -2.10193636e-02 3.20037171e+02] [ 1.12978477e-02 9.99935683e-01 9.94561821e-04 -1.21962440e+01] [ 2.10067986e-02 -1.23175243e-03 9.99778574e-01 3.44903354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.580714057 meters Centerline goodness [0,1] 0.9621292177631418 Centerline is valid? [False, True] Translation: X:320.04, Y:-12.20, Z:3.45 [[ 9.99715953e-01 -1.12184173e-02 -2.10275984e-02 3.20037184e+02] [ 1.12389655e-02 9.99936472e-01 8.59273959e-04 -1.21953608e+01] [ 2.10166229e-02 -1.09535834e-03 9.99778526e-01 3.44915558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.610714057 meters Centerline goodness [0,1] 0.966304588782975 Centerline is valid? [True, True] Translation: X:320.07, Y:-12.19, Z:3.45 [[ 9.99743966e-01 -1.06739441e-02 -1.99516554e-02 3.20066432e+02] [ 1.07015465e-02 9.99941921e-01 1.27720641e-03 -1.21941510e+01] [ 1.99368638e-02 -1.49039297e-03 9.99800130e-01 3.45103933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.640714057 meters Centerline goodness [0,1] 0.9580774826761362 Centerline is valid? [True, True] Translation: X:320.09, Y:-12.20, Z:3.45 [[ 9.99763855e-01 -1.10774794e-02 -1.86955391e-02 3.20092790e+02] [ 1.11017397e-02 9.99937660e-01 1.19436351e-03 -1.21997010e+01] [ 1.86811431e-02 -1.40163448e-03 9.99824510e-01 3.45066601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.670714057 meters Centerline goodness [0,1] 0.9627852026877354 Centerline is valid? [True, True] Translation: X:320.12, Y:-12.20, Z:3.45 [[ 9.99775947e-01 -1.14299067e-02 -1.78161084e-02 3.20120910e+02] [ 1.14519191e-02 9.99933782e-01 1.13399736e-03 -1.21977825e+01] [ 1.78019671e-02 -1.33777192e-03 9.99840637e-01 3.45274392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.700714057 meters Centerline goodness [0,1] 0.9540927021696253 Centerline is valid? [True, True] Translation: X:320.15, Y:-12.20, Z:3.45 [[ 9.99771403e-01 -1.17966336e-02 -1.78320482e-02 3.20148701e+02] [ 1.18187070e-02 9.99929515e-01 1.13296615e-03 -1.22047424e+01] [ 1.78174262e-02 -1.34345891e-03 9.99840354e-01 3.45180185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.730714057 meters Centerline goodness [0,1] 0.9593229525968267 Centerline is valid? [True, True] Translation: X:320.18, Y:-12.21, Z:3.45 [[ 9.99731682e-01 -1.37638331e-02 -1.86311575e-02 3.20179040e+02] [ 1.37882639e-02 9.99904237e-01 1.18345954e-03 -1.22051075e+01] [ 1.86130844e-02 -1.44003332e-03 9.99825725e-01 3.45116275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76071405700003 meters Centerline goodness [0,1] 0.9582463465553236 Centerline is valid? [True, True] Translation: X:320.21, Y:-12.21, Z:3.45 [[ 9.99654706e-01 -1.68897258e-02 -2.01297198e-02 3.20209242e+02] [ 1.69188749e-02 9.99856048e-01 1.27862795e-03 -1.22090035e+01] [ 2.01052265e-02 -1.61875865e-03 9.99796559e-01 3.45082024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.790714057 meters Centerline goodness [0,1] 0.9659448818897638 Centerline is valid? [True, True] Translation: X:320.24, Y:-12.20, Z:3.45 [[ 9.99619311e-01 -1.85574988e-02 -2.04169851e-02 3.20239269e+02] [ 1.85878193e-02 9.99826391e-01 1.29627682e-03 -1.22047263e+01] [ 2.03893849e-02 -1.67529057e-03 9.99790711e-01 3.45262097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82071405700003 meters Centerline goodness [0,1] 0.9557639109892531 Centerline is valid? [True, True] Translation: X:320.27, Y:-12.22, Z:3.45 [[ 9.99534123e-01 -2.22798660e-02 -2.08601148e-02 3.20268392e+02] [ 2.23123133e-02 9.99750173e-01 1.32399600e-03 -1.22151796e+01] [ 2.08254049e-02 -1.78881660e-03 9.99781527e-01 3.45178250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.850714057 meters Centerline goodness [0,1] 0.9592826694105542 Centerline is valid? [True, True] Translation: X:320.30, Y:-12.22, Z:3.45 [[ 9.99509049e-01 -2.37549197e-02 -2.04295132e-02 3.20297824e+02] [ 2.37863396e-02 9.99716225e-01 1.29631167e-03 -1.22170436e+01] [ 2.03929221e-02 -1.78161858e-03 9.99790455e-01 3.45264757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88071405700003 meters Centerline goodness [0,1] 0.9565377351548895 Centerline is valid? [True, True] Translation: X:320.33, Y:-12.22, Z:3.45 [[ 9.99455004e-01 -2.59298292e-02 -2.04288508e-02 3.20327165e+02] [ 2.59616905e-02 9.99662099e-01 1.29591286e-03 -1.22225073e+01] [ 2.03883451e-02 -1.82557409e-03 9.99790469e-01 3.45305491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.910714057 meters Centerline goodness [0,1] 0.94002442002442 Centerline is valid? [True, False] Translation: X:320.33, Y:-12.22, Z:3.45 [[ 9.99456440e-01 -2.57265690e-02 -2.06147485e-02 3.20327694e+02] [ 2.57663768e-02 9.99666601e-01 1.66771192e-03 -1.22234360e+01] [ 2.05649710e-02 -2.19797280e-03 9.99786103e-01 3.45283889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94071405700004 meters Centerline goodness [0,1] 0.958981612446959 Centerline is valid? [False, True] Translation: X:320.33, Y:-12.22, Z:3.45 [[ 9.99459774e-01 -2.57758373e-02 -2.03903350e-02 3.20327114e+02] [ 2.58235349e-02 9.99664354e-01 2.07935148e-03 -1.22249286e+01] [ 2.03298940e-02 -2.60477869e-03 9.99789933e-01 3.45293540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.970714057 meters Centerline goodness [0,1] 0.9393303397110504 Centerline is valid? [True, False] Translation: X:320.33, Y:-12.23, Z:3.45 [[ 9.99465996e-01 -2.55533881e-02 -2.03653571e-02 3.20327166e+02] [ 2.56075680e-02 9.99669182e-01 2.40402446e-03 -1.22256882e+01] [ 2.02971889e-02 -2.92424797e-03 9.99789714e-01 3.45288041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.000714057 meters Centerline goodness [0,1] 0.9507258378799688 Centerline is valid? [False, True] Translation: X:320.33, Y:-12.23, Z:3.45 [[ 9.99477292e-01 -2.52434171e-02 -2.01968583e-02 3.20326982e+02] [ 2.53123542e-02 9.99674581e-01 3.16488636e-03 -1.22276453e+01] [ 2.01103934e-02 -3.67446208e-03 9.99791013e-01 3.45260068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.030714057 meters Centerline goodness [0,1] 0.9577991061616236 Centerline is valid? [True, True] Translation: X:320.36, Y:-12.23, Z:3.45 [[ 9.99462060e-01 -2.53997056e-02 -2.07471597e-02 3.20357534e+02] [ 2.54331486e-02 9.99675614e-01 1.34961989e-03 -1.22256142e+01] [ 2.07061497e-02 -1.87655947e-03 9.99783844e-01 3.45426731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.060714057 meters Centerline goodness [0,1] 0.9569740528688025 Centerline is valid? [True, True] Translation: X:320.39, Y:-12.23, Z:3.45 [[ 9.99446751e-01 -2.55244439e-02 -2.13235922e-02 3.20387635e+02] [ 2.55598053e-02 9.99672332e-01 1.38738192e-03 -1.22300443e+01] [ 2.12811930e-02 -1.93164121e-03 9.99771664e-01 3.45381927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.090714057 meters Centerline goodness [0,1] 0.9619289340101522 Centerline is valid? [True, True] Translation: X:320.42, Y:-12.23, Z:3.45 [[ 9.99439124e-01 -2.56358405e-02 -2.15462624e-02 3.20418364e+02] [ 2.56719724e-02 9.99669438e-01 1.40197393e-03 -1.22291051e+01] [ 2.15031993e-02 -1.95432265e-03 9.99766869e-01 3.45443904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.120714057 meters Centerline goodness [0,1] 0.9638721292331647 Centerline is valid? [True, True] Translation: X:320.45, Y:-12.23, Z:3.45 [[ 9.99437280e-01 -2.56034941e-02 -2.16698880e-02 3.20449247e+02] [ 2.56400343e-02 9.99670246e-01 1.41001801e-03 -1.22301379e+01] [ 2.16266409e-02 -1.96484124e-03 9.99764186e-01 3.45390199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.150714057 meters Centerline goodness [0,1] 0.962058048768699 Centerline is valid? [True, True] Translation: X:320.48, Y:-12.23, Z:3.45 [[ 9.99429542e-01 -2.53102957e-02 -2.23602197e-02 3.20478632e+02] [ 2.53491224e-02 9.99677601e-01 1.45464338e-03 -1.22348514e+01] [ 2.23161933e-02 -2.02062551e-03 9.99748921e-01 3.45355879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.180714057 meters Centerline goodness [0,1] 0.9633424352995191 Centerline is valid? [True, True] Translation: X:320.51, Y:-12.24, Z:3.45 [[ 9.99421771e-01 -2.45269794e-02 -2.35489023e-02 3.20508251e+02] [ 2.45698124e-02 9.99696944e-01 1.53124161e-03 -1.22380059e+01] [ 2.35042089e-02 -2.10894831e-03 9.99721513e-01 3.45252189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.210714057 meters Centerline goodness [0,1] 0.9637045097328013 Centerline is valid? [True, True] Translation: X:320.54, Y:-12.24, Z:3.45 [[ 9.99424183e-01 -2.42566956e-02 -2.37258148e-02 3.20538019e+02] [ 2.43000794e-02 9.99703520e-01 1.54190907e-03 -1.22407099e+01] [ 2.36813789e-02 -2.11756039e-03 9.99717314e-01 3.45299689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.240714057 meters Centerline goodness [0,1] 0.9659052412524802 Centerline is valid? [True, True] Translation: X:320.57, Y:-12.24, Z:3.45 [[ 9.99435255e-01 -2.29794456e-02 -2.45176770e-02 3.20567440e+02] [ 2.30253721e-02 9.99733613e-01 1.59250008e-03 -1.22418883e+01] [ 2.44745510e-02 -2.15612935e-03 9.99698128e-01 3.45329153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.270714057 meters Centerline goodness [0,1] 0.9592539938796656 Centerline is valid? [True, True] Translation: X:320.60, Y:-12.25, Z:3.45 [[ 9.99458909e-01 -2.20920271e-02 -2.43686730e-02 3.20595459e+02] [ 2.21370988e-02 9.99753694e-01 1.58132916e-03 -1.22488837e+01] [ 2.43277361e-02 -2.11992524e-03 9.99701789e-01 3.45234276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.300714057 meters Centerline goodness [0,1] 0.9649673076459092 Centerline is valid? [True, True] Translation: X:320.63, Y:-12.25, Z:3.45 [[ 9.99537997e-01 -1.91678903e-02 -2.35877859e-02 3.20626377e+02] [ 1.92092988e-02 9.99814313e-01 1.53015696e-03 -1.22492011e+01] [ 2.35540761e-02 -1.98255485e-03 9.99720598e-01 3.45376812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.330714057 meters Centerline goodness [0,1] 0.9613177060724449 Centerline is valid? [True, True] Translation: X:320.66, Y:-12.25, Z:3.45 [[ 9.99632071e-01 -1.59623742e-02 -2.19300000e-02 3.20655606e+02] [ 1.59973917e-02 9.99871022e-01 1.42227061e-03 -1.22514169e+01] [ 2.19044687e-02 -1.77257012e-03 9.99758497e-01 3.45485659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.360714057 meters Centerline goodness [0,1] 0.9681081862886897 Centerline is valid? [True, True] Translation: X:320.69, Y:-12.24, Z:3.46 [[ 9.99673195e-01 -1.43209446e-02 -2.11757629e-02 3.20685572e+02] [ 1.43532146e-02 9.99896045e-01 1.37270769e-03 -1.22432614e+01] [ 2.11539031e-02 -1.67619935e-03 9.99774826e-01 3.45776290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.390714057 meters Centerline goodness [0,1] 0.967713026207431 Centerline is valid? [True, True] Translation: X:320.71, Y:-12.25, Z:3.46 [[ 9.99737783e-01 -1.09638467e-02 -2.01036921e-02 3.20714543e+02] [ 1.09922468e-02 9.99938735e-01 1.30271873e-03 -1.22461643e+01] [ 2.00881776e-02 -1.52336188e-03 9.99797052e-01 3.45934680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.420714057 meters Centerline goodness [0,1] 0.9697498122986752 Centerline is valid? [True, True] Translation: X:320.74, Y:-12.24, Z:3.46 [[ 9.99754917e-01 -1.00994317e-02 -1.97004323e-02 3.20744072e+02] [ 1.01264717e-02 9.99947915e-01 1.27328163e-03 -1.22411390e+01] [ 1.96865468e-02 -1.47246544e-03 9.99805117e-01 3.46100387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.450714057 meters Centerline goodness [0,1] 0.9673035066505441 Centerline is valid? [True, True] Translation: X:320.77, Y:-12.25, Z:3.46 [[ 9.99779961e-01 -9.58435513e-03 -1.86593024e-02 3.20771016e+02] [ 9.60847745e-03 9.99953113e-01 1.20355280e-03 -1.22499136e+01] [ 1.86468923e-02 -1.38257546e-03 9.99825176e-01 3.46080341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.480714057 meters Centerline goodness [0,1] 0.9656030338897075 Centerline is valid? [True, True] Translation: X:320.80, Y:-12.25, Z:3.46 [[ 9.99770423e-01 -1.06585090e-02 -1.85875802e-02 3.20799717e+02] [ 1.06825654e-02 9.99942225e-01 1.19540316e-03 -1.22536126e+01] [ 1.85737651e-02 -1.39369176e-03 9.99826521e-01 3.46077787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51071405700003 meters Centerline goodness [0,1] 0.9639228496625273 Centerline is valid? [True, True] Translation: X:320.83, Y:-12.26, Z:3.46 [[ 9.99746876e-01 -1.29351708e-02 -1.84082899e-02 3.20829485e+02] [ 1.29591185e-02 9.99915328e-01 1.18222142e-03 -1.22604124e+01] [ 1.83914390e-02 -1.42047739e-03 9.99829854e-01 3.46038341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.540714057 meters Centerline goodness [0,1] 0.9657983981528249 Centerline is valid? [True, True] Translation: X:320.86, Y:-12.26, Z:3.46 [[ 9.99727004e-01 -1.43599315e-02 -1.84312235e-02 3.20858929e+02] [ 1.43841695e-02 9.99895842e-01 1.18314617e-03 -1.22616817e+01] [ 1.84123139e-02 -1.44794102e-03 9.99829431e-01 3.46088518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57071405700003 meters Centerline goodness [0,1] 0.956907083143699 Centerline is valid? [True, True] Translation: X:320.89, Y:-12.28, Z:3.46 [[ 9.99659190e-01 -1.81375605e-02 -1.87758340e-02 3.20887658e+02] [ 1.81633673e-02 9.99834307e-01 1.20483667e-03 -1.22771219e+01] [ 1.87508701e-02 -1.54545842e-03 9.99822993e-01 3.45821727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.600714057 meters Centerline goodness [0,1] 0.9629266660292571 Centerline is valid? [True, True] Translation: X:320.92, Y:-12.27, Z:3.46 [[ 9.99584395e-01 -2.06817426e-02 -2.00824188e-02 3.20918449e+02] [ 2.07117746e-02 9.99784658e-01 1.28857455e-03 -1.22741843e+01] [ 2.00514442e-02 -1.70398154e-03 9.99797498e-01 3.45825396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63071405700003 meters Centerline goodness [0,1] 0.9662562046582666 Centerline is valid? [True, True] Translation: X:320.95, Y:-12.27, Z:3.46 [[ 9.99544987e-01 -2.20142529e-02 -2.06201611e-02 3.20948203e+02] [ 2.20461859e-02 9.99756079e-01 1.32255844e-03 -1.22737254e+01] [ 2.05860163e-02 -1.77655256e-03 9.99786507e-01 3.45886812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.660714057 meters Centerline goodness [0,1] 0.9655517677068682 Centerline is valid? [True, True] Translation: X:320.98, Y:-12.28, Z:3.46 [[ 9.99536965e-01 -2.24315353e-02 -2.05592312e-02 3.20977503e+02] [ 2.24633523e-02 9.99746798e-01 1.31791899e-03 -1.22770363e+01] [ 2.05244626e-02 -1.77913800e-03 9.99787768e-01 3.45871594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69071405700004 meters Centerline goodness [0,1] 0.9665045534735136 Centerline is valid? [True, True] Translation: X:321.01, Y:-12.28, Z:3.46 [[ 9.99560140e-01 -2.16923977e-02 -2.02229288e-02 3.21007616e+02] [ 2.17230086e-02 9.99763189e-01 1.29520674e-03 -1.22800238e+01] [ 2.01900436e-02 -1.73393989e-03 9.99794657e-01 3.45890204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.720714057 meters Centerline goodness [0,1] 0.9593426629726978 Centerline is valid? [True, True] Translation: X:321.04, Y:-12.29, Z:3.46 [[ 9.99611284e-01 -1.89513031e-02 -2.04482183e-02 3.21036458e+02] [ 1.89820147e-02 9.99818969e-01 1.30885368e-03 -1.22904124e+01] [ 2.04197120e-02 -1.69649329e-03 9.99790057e-01 3.45769182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.750714057 meters Centerline goodness [0,1] 0.9596680221635633 Centerline is valid? [True, True] Translation: X:321.07, Y:-12.29, Z:3.46 [[ 9.99651312e-01 -1.67335912e-02 -2.04265082e-02 3.21065021e+02] [ 1.67637599e-02 9.99858625e-01 1.30658916e-03 -1.22914971e+01] [ 2.04017564e-02 -1.64855865e-03 9.99790503e-01 3.45794875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.780714057 meters Centerline goodness [0,1] 0.9666563312423975 Centerline is valid? [True, True] Translation: X:321.10, Y:-12.29, Z:3.46 [[ 9.99685206e-01 -1.41728665e-02 -2.07031241e-02 3.21095038e+02] [ 1.42032957e-02 9.99898252e-01 1.32347803e-03 -1.22858735e+01] [ 2.06822601e-02 -1.61711400e-03 9.99784791e-01 3.45971038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.810714057 meters Centerline goodness [0,1] 0.970555250662149 Centerline is valid? [True, True] Translation: X:321.13, Y:-12.28, Z:3.46 [[ 9.99759377e-01 -7.92814632e-03 -2.04531794e-02 3.21125427e+02] [ 7.95653923e-03 9.99967492e-01 1.30718612e-03 -1.22803935e+01] [ 2.04421510e-02 -1.46960811e-03 9.99789957e-01 3.46090215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.840714057 meters Centerline goodness [0,1] 0.9723262638070472 Centerline is valid? [True, True] Translation: X:321.16, Y:-12.28, Z:3.46 [[ 9.99813928e-01 -4.84401336e-04 -1.92840750e-02 3.21155689e+02] [ 5.08259941e-04 9.99999112e-01 1.23233613e-03 -1.22788621e+01] [ 1.92834609e-02 -1.24190815e-03 9.99813285e-01 3.46142967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.870714057 meters Centerline goodness [0,1] 0.9731262209939486 Centerline is valid? [True, True] Translation: X:321.19, Y:-12.28, Z:3.46 [[ 9.99824823e-01 4.03180589e-03 -1.82775430e-02 3.21186090e+02] [-4.01112613e-03 9.99991273e-01 1.16794913e-03 -1.22787078e+01] [ 1.82820924e-02 -1.09443100e-03 9.99832270e-01 3.46221646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.900714057 meters Centerline goodness [0,1] 0.9745282341967425 Centerline is valid? [True, True] Translation: X:321.22, Y:-12.28, Z:3.46 [[ 9.99750338e-01 1.43074430e-02 -1.71626983e-02 3.21215802e+02] [-1.42907231e-02 9.99897281e-01 1.09645523e-03 -1.22750304e+01] [ 1.71766229e-02 -8.50914120e-04 9.99852109e-01 3.46305390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.930714057 meters Centerline goodness [0,1] 0.9772803769774486 Centerline is valid? [True, True] Translation: X:321.25, Y:-12.27, Z:3.46 [[ 9.99667010e-01 1.92973649e-02 -1.71313003e-02 3.21246706e+02] [-1.92814418e-02 9.99813497e-01 1.09417690e-03 -1.22675050e+01] [ 1.71492200e-02 -7.63496378e-04 9.99852650e-01 3.46467845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.960714057 meters Centerline goodness [0,1] 0.9799038461538462 Centerline is valid? [True, True] Translation: X:321.28, Y:-12.27, Z:3.47 [[ 9.99417241e-01 2.94352312e-02 -1.72842287e-02 3.21275708e+02] [-2.94205461e-02 9.99566513e-01 1.10334037e-03 -1.22650956e+01] [ 1.73092133e-02 -5.94185938e-04 9.99850008e-01 3.46523463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.990714057 meters Centerline goodness [0,1] 0.9802108600110473 Centerline is valid? [True, True] Translation: X:321.30, Y:-12.26, Z:3.47 [[ 9.99334892e-01 3.23659007e-02 -1.67994901e-02 3.21304694e+02] [-3.23524584e-02 9.99475948e-01 1.07138969e-03 -1.22638202e+01] [ 1.68253628e-02 -5.27172295e-04 9.99858305e-01 3.46586602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.020714057 meters Centerline goodness [0,1] 0.9806228539870819 Centerline is valid? [True, True] Translation: X:321.33, Y:-12.27, Z:3.47 [[ 9.99236506e-01 3.54947839e-02 -1.63255837e-02 3.21332752e+02] [-3.54825245e-02 9.99369756e-01 1.04007194e-03 -1.22659053e+01] [ 1.63522117e-02 -4.60004926e-04 9.99866188e-01 3.46501331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.050714057 meters Centerline goodness [0,1] 0.9804587730711773 Centerline is valid? [True, True] Translation: X:321.36, Y:-12.27, Z:3.47 [[ 9.99255801e-01 3.49660439e-02 -1.62855857e-02 3.21360849e+02] [-3.49538277e-02 9.99388393e-01 1.03424651e-03 -1.22662891e+01] [ 1.63117888e-02 -4.64233265e-04 9.99866846e-01 3.46546020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.080714057 meters Centerline goodness [0,1] 0.9821450085540108 Centerline is valid? [True, True] Translation: X:321.39, Y:-12.27, Z:3.46 [[ 9.99334718e-01 3.21302145e-02 -1.72560322e-02 3.21389875e+02] [-3.21161210e-02 9.99483546e-01 1.09329953e-03 -1.22711538e+01] [ 1.72822482e-02 -5.38375360e-04 9.99850506e-01 3.46463356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.110714057 meters Centerline goodness [0,1] 0.9802291781776251 Centerline is valid? [True, True] Translation: X:321.42, Y:-12.28, Z:3.46 [[ 9.99413104e-01 2.93922613e-02 -1.75937986e-02 3.21417840e+02] [-2.93772091e-02 9.99567777e-01 1.11343485e-03 -1.22810911e+01] [ 1.76189205e-02 -5.95924684e-04 9.99844597e-01 3.46243038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.140714057 meters Centerline goodness [0,1] 0.9793868418547081 Centerline is valid? [True, True] Translation: X:321.45, Y:-12.29, Z:3.46 [[ 9.99546747e-01 2.36893795e-02 -1.85772169e-02 3.21446951e+02] [-2.36716257e-02 9.99719097e-01 1.17502084e-03 -1.22918304e+01] [ 1.85998341e-02 -7.34735331e-04 9.99826738e-01 3.46117658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.170714057 meters Centerline goodness [0,1] 0.9805250596658711 Centerline is valid? [True, True] Translation: X:321.48, Y:-12.29, Z:3.46 [[ 9.99626727e-01 2.02907879e-02 -1.82945397e-02 3.21476202e+02] [-2.02730157e-02 9.99793813e-01 1.15640110e-03 -1.22928079e+01] [ 1.83142319e-02 -7.85083951e-04 9.99831972e-01 3.46307743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.200714057 meters Centerline goodness [0,1] 0.9789139499620925 Centerline is valid? [True, True] Translation: X:321.50, Y:-12.30, Z:3.46 [[ 9.99742261e-01 1.39355385e-02 -1.79224040e-02 3.21504900e+02] [-1.39174683e-02 9.99902506e-01 1.13258613e-03 -1.23021400e+01] [ 1.79364399e-02 -8.82859728e-04 9.99838739e-01 3.46455586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.230714057 meters Centerline goodness [0,1] 0.9777677810398712 Centerline is valid? [True, True] Translation: X:321.53, Y:-12.31, Z:3.47 [[ 9.99811966e-01 8.98588440e-03 -1.71839175e-02 3.21534716e+02] [-8.96854562e-03 9.99959192e-01 1.08581047e-03 -1.23103368e+01] [ 1.71929733e-02 -9.31491551e-04 9.99851756e-01 3.46611023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26071405700003 meters Centerline goodness [0,1] 0.978778271978802 Centerline is valid? [True, True] Translation: X:321.56, Y:-12.31, Z:3.47 [[ 9.99847659e-01 6.26062815e-03 -1.62930396e-02 3.21563575e+02] [-6.24468995e-03 9.99979972e-01 1.02891414e-03 -1.23134987e+01] [ 1.62991549e-02 -9.27012418e-04 9.99866730e-01 3.46693367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.290714057 meters Centerline goodness [0,1] 0.975658991150858 Centerline is valid? [True, True] Translation: X:321.59, Y:-12.32, Z:3.47 [[ 9.99881119e-01 3.64780522e-03 -1.49813957e-02 3.21591266e+02] [-3.63405273e-03 9.99992950e-01 9.45091438e-04 -1.23232982e+01] [ 1.49847376e-02 -8.90535902e-04 9.99887326e-01 3.46747836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32071405700003 meters Centerline goodness [0,1] 0.9744504978395642 Centerline is valid? [True, True] Translation: X:321.62, Y:-12.33, Z:3.47 [[ 9.99888314e-01 1.93010020e-03 -1.48200461e-02 3.21619927e+02] [-1.91646797e-03 9.99997727e-01 9.33997568e-04 -1.23285733e+01] [ 1.48218151e-02 -9.05491110e-04 9.99889741e-01 3.46727339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.350714057 meters Centerline goodness [0,1] 0.9763712881762396 Centerline is valid? [True, True] Translation: X:321.65, Y:-12.33, Z:3.47 [[ 9.99890232e-01 1.19583129e-03 -1.47680248e-02 3.21648060e+02] [-1.18223480e-03 9.99998869e-01 9.29367154e-04 -1.23328340e+01] [ 1.47691195e-02 -9.11805866e-04 9.99890515e-01 3.46739972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38071405700003 meters Centerline goodness [0,1] 0.9748645923702783 Centerline is valid? [True, True] Translation: X:321.68, Y:-12.34, Z:3.47 [[ 9.99881357e-01 5.75618214e-05 -1.54034961e-02 3.21676229e+02] [-4.26642763e-05 9.99999531e-01 9.67480353e-04 -1.23366797e+01] [ 1.54035446e-02 -9.66708390e-04 9.99880891e-01 3.46752474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.410714057 meters Centerline goodness [0,1] 0.9736386196563188 Centerline is valid? [True, True] Translation: X:321.70, Y:-12.34, Z:3.47 [[ 9.99883350e-01 -3.64125028e-04 -1.52693749e-02 3.21703429e+02] [ 3.78790274e-04 9.99999470e-01 9.57554122e-04 -1.23404539e+01] [ 1.52690182e-02 -9.63226314e-04 9.99882958e-01 3.46719028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44071405700004 meters Centerline goodness [0,1] 0.9732459540084091 Centerline is valid? [True, True] Translation: X:321.73, Y:-12.34, Z:3.47 [[ 9.99881614e-01 -5.50503998e-04 -1.53770936e-02 3.21731934e+02] [ 5.65381209e-04 9.99999376e-01 9.63161311e-04 -1.23440499e+01] [ 1.53765538e-02 -9.71741206e-04 9.99881302e-01 3.46675324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.470714057 meters Centerline goodness [0,1] 0.9732459540084091 Centerline is valid? [True, True] Translation: X:321.76, Y:-12.35, Z:3.47 [[ 9.99881552e-01 -6.51826300e-04 -1.53771785e-02 3.21759402e+02] [ 6.66694679e-04 9.99999315e-01 9.61805619e-04 -1.23456719e+01] [ 1.53765410e-02 -9.71943578e-04 9.99881302e-01 3.46691847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.500714057 meters Centerline goodness [0,1] 0.9729679169394818 Centerline is valid? [True, True] Translation: X:321.79, Y:-12.35, Z:3.47 [[ 9.99874518e-01 -1.08299169e-04 -1.58409618e-02 3.21786889e+02] [ 1.23980780e-04 9.99999503e-01 9.88961854e-04 -1.23492122e+01] [ 1.58408468e-02 -9.90801733e-04 9.99874035e-01 3.46649435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.530714057 meters Centerline goodness [0,1] 0.9731579811050941 Centerline is valid? [True, True] Translation: X:321.82, Y:-12.35, Z:3.47 [[ 9.99867833e-01 2.01404010e-04 -1.62565546e-02 3.21815952e+02] [-1.84981188e-04 9.99999471e-01 1.01172509e-03 -1.23510953e+01] [ 1.62567498e-02 -1.00858422e-03 9.99867342e-01 3.46656638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.560714057 meters Centerline goodness [0,1] 0.9726687347245723 Centerline is valid? [True, True] Translation: X:321.84, Y:-12.35, Z:3.47 [[ 9.99862358e-01 4.08640225e-04 -1.65860864e-02 3.21844984e+02] [-3.91638131e-04 9.99999395e-01 1.02831689e-03 -1.23532178e+01] [ 1.65864966e-02 -1.02167961e-03 9.99861913e-01 3.46603176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.590714057 meters Centerline goodness [0,1] 0.9716064698860045 Centerline is valid? [True, True] Translation: X:321.87, Y:-12.36, Z:3.47 [[ 9.99846560e-01 9.73601903e-04 -1.74902228e-02 3.21872396e+02] [-9.54823977e-04 9.99998959e-01 1.08194277e-03 -1.23560036e+01] [ 1.74912580e-02 -1.06507667e-03 9.99846449e-01 3.46534457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.620714057 meters Centerline goodness [0,1] 0.9721532624478898 Centerline is valid? [True, True] Translation: X:321.90, Y:-12.36, Z:3.47 [[ 9.99850607e-01 8.83636034e-04 -1.72621856e-02 3.21900593e+02] [-8.65358874e-04 9.99999057e-01 1.06623841e-03 -1.23575998e+01] [ 1.72631115e-02 -1.05114114e-03 9.99850429e-01 3.46578467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.650714057 meters Centerline goodness [0,1] 0.9732472756185399 Centerline is valid? [True, True] Translation: X:321.93, Y:-12.36, Z:3.47 [[ 9.99871225e-01 1.74948474e-04 -1.60469117e-02 3.21929041e+02] [-1.59086031e-04 9.99999498e-01 9.89775589e-04 -1.23565608e+01] [ 1.60470767e-02 -9.87095291e-04 9.99870750e-01 3.46769208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.680714057 meters Centerline goodness [0,1] 0.9723081248242902 Centerline is valid? [True, True] Translation: X:321.96, Y:-12.36, Z:3.47 [[ 9.99893484e-01 -1.59513824e-03 -1.45078250e-02 3.21958597e+02] [ 1.60827825e-03 9.99998307e-01 8.94096651e-04 -1.23609493e+01] [ 1.45063742e-02 -9.17334035e-04 9.99894356e-01 3.46881534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.710714057 meters Centerline goodness [0,1] 0.9699824253075571 Centerline is valid? [True, True] Translation: X:321.99, Y:-12.37, Z:3.47 [[ 9.99891491e-01 -2.97193384e-03 -1.44282056e-02 3.21987341e+02] [ 2.98506364e-03 9.99995150e-01 8.88558740e-04 -1.23657000e+01] [ 1.44254949e-02 -9.31531436e-04 9.99895513e-01 3.46839020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.740714057 meters Centerline goodness [0,1] 0.9719424797414399 Centerline is valid? [True, True] Translation: X:322.02, Y:-12.37, Z:3.47 [[ 9.99863399e-01 -4.18866675e-03 -1.59887251e-02 3.22016870e+02] [ 4.20493480e-03 9.99990675e-01 9.83987744e-04 -1.23672007e+01] [ 1.59844544e-02 -1.05108488e-03 9.99871688e-01 3.46757754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.770714057 meters Centerline goodness [0,1] 0.971305326331583 Centerline is valid? [True, True] Translation: X:322.05, Y:-12.37, Z:3.47 [[ 9.99846441e-01 -4.86601683e-03 -1.68349973e-02 3.22046011e+02] [ 4.88410147e-03 9.99987539e-01 1.03328084e-03 -1.23686822e+01] [ 1.68297596e-02 -1.11534600e-03 9.99857747e-01 3.46715315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.800714057 meters Centerline goodness [0,1] 0.9729875363133726 Centerline is valid? [True, True] Translation: X:322.07, Y:-12.37, Z:3.47 [[ 9.99841060e-01 -5.70355528e-03 -1.68915362e-02 3.22074342e+02] [ 5.72183265e-03 9.99983096e-01 1.03391203e-03 -1.23687140e+01] [ 1.68853536e-02 -1.13039824e-03 9.99856793e-01 3.46682728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.830714057 meters Centerline goodness [0,1] 0.9706866300152065 Centerline is valid? [True, True] Translation: X:322.10, Y:-12.37, Z:3.47 [[ 9.99839557e-01 -5.84266929e-03 -1.69329040e-02 3.22101505e+02] [ 5.86102091e-03 9.99982289e-01 1.03436106e-03 -1.23740125e+01] [ 1.69265607e-02 -1.13343921e-03 9.99856093e-01 3.46639580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.860714057 meters Centerline goodness [0,1] 0.9700742886511237 Centerline is valid? [True, True] Translation: X:322.13, Y:-12.38, Z:3.47 [[ 9.99841935e-01 -6.16244111e-03 -1.66771837e-02 3.22128975e+02] [ 6.18026035e-03 9.99980385e-01 1.01715245e-03 -1.23769263e+01] [ 1.66705885e-02 -1.12006101e-03 9.99860409e-01 3.46648267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.890714057 meters Centerline goodness [0,1] 0.970199218109886 Centerline is valid? [True, True] Translation: X:322.16, Y:-12.37, Z:3.47 [[ 9.99846178e-01 -7.19954830e-03 -1.59933332e-02 3.22157621e+02] [ 7.21604673e-03 9.99973490e-01 9.74112445e-04 -1.23738811e+01] [ 1.59858961e-02 -1.08937125e-03 9.99871624e-01 3.46788008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.920714057 meters Centerline goodness [0,1] 0.9733805525587504 Centerline is valid? [True, True] Translation: X:322.19, Y:-12.37, Z:3.47 [[ 9.99844701e-01 -8.16056456e-03 -1.56198031e-02 3.22187113e+02] [ 8.17637218e-03 9.99966123e-01 9.48430086e-04 -1.23681894e+01] [ 1.56115342e-02 -1.07599612e-03 9.99877554e-01 3.47007534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.950714057 meters Centerline goodness [0,1] 0.9712879409351928 Centerline is valid? [True, True] Translation: X:322.21, Y:-12.37, Z:3.47 [[ 9.99842669e-01 -8.57093802e-03 -1.55298425e-02 3.22214312e+02] [ 8.58657678e-03 9.99962692e-01 9.40613809e-04 -1.23746241e+01] [ 1.55212012e-02 -1.07381401e-03 9.99878962e-01 3.46934979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.980714057 meters Centerline goodness [0,1] 0.968976433345058 Centerline is valid? [True, True] Translation: X:322.24, Y:-12.38, Z:3.47 [[ 9.99838027e-01 -8.46642393e-03 -1.58820750e-02 3.22241577e+02] [ 8.48274501e-03 9.99963560e-01 9.60555814e-04 -1.23790391e+01] [ 1.58733638e-02 -1.09512382e-03 9.99873411e-01 3.46817774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01071405700003 meters Centerline goodness [0,1] 0.9697446988574921 Centerline is valid? [True, True] Translation: X:322.27, Y:-12.38, Z:3.47 [[ 9.99821769e-01 -8.86778417e-03 -1.66671326e-02 3.22270681e+02] [ 8.88576367e-03 9.99960016e-01 1.00499324e-03 -1.23804889e+01] [ 1.66575542e-02 -1.15291432e-03 9.99860589e-01 3.46779658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.040714057 meters Centerline goodness [0,1] 0.971888306005787 Centerline is valid? [True, True] Translation: X:322.30, Y:-12.37, Z:3.47 [[ 9.99817946e-01 -9.05160111e-03 -1.67971175e-02 3.22299484e+02] [ 9.06981314e-03 9.99958360e-01 1.00837254e-03 -1.23739926e+01] [ 1.67872907e-02 -1.16053568e-03 9.99858410e-01 3.46848446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07071405700003 meters Centerline goodness [0,1] 0.9691919668112389 Centerline is valid? [True, True] Translation: X:322.33, Y:-12.38, Z:3.47 [[ 9.99823363e-01 -9.30214069e-03 -1.63313194e-02 3.22326682e+02] [ 9.31934838e-03 9.99956096e-01 9.77872944e-04 -1.23794327e+01] [ 1.63215060e-02 -1.12989747e-03 9.99866157e-01 3.46869821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.100714057 meters Centerline goodness [0,1] 0.9687278734953977 Centerline is valid? [True, True] Translation: X:322.35, Y:-12.38, Z:3.47 [[ 9.99823055e-01 -9.23615030e-03 -1.63875375e-02 3.22354109e+02] [ 9.25344525e-03 9.99956706e-01 9.79859143e-04 -1.23825988e+01] [ 1.63777779e-02 -1.13132694e-03 9.99865235e-01 3.46894341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13071405700003 meters Centerline goodness [0,1] 0.9704304869442484 Centerline is valid? [True, True] Translation: X:322.38, Y:-12.38, Z:3.47 [[ 9.99820401e-01 -9.95198427e-03 -1.61283590e-02 3.22383593e+02] [ 9.96878205e-03 9.99949848e-01 9.61443503e-04 -1.23774086e+01] [ 1.61179818e-02 -1.12205092e-03 9.99869467e-01 3.46953962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.160714057 meters Centerline goodness [0,1] 0.972995283018868 Centerline is valid? [True, True] Translation: X:322.41, Y:-12.38, Z:3.47 [[ 9.99799185e-01 -1.10309743e-02 -1.67304180e-02 3.22411967e+02] [ 1.10491509e-02 9.99938462e-01 9.94393105e-04 -1.23753095e+01] [ 1.67184193e-02 -1.17905033e-03 9.99859542e-01 3.46989455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19071405700004 meters Centerline goodness [0,1] 0.9731109115826284 Centerline is valid? [True, True] Translation: X:322.44, Y:-12.38, Z:3.47 [[ 9.99782963e-01 -1.23620650e-02 -1.67692236e-02 3.22441114e+02] [ 1.23804851e-02 9.99922864e-01 9.95075004e-04 -1.23774561e+01] [ 1.67556289e-02 -1.20247016e-03 9.99858892e-01 3.46920339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.220714057 meters Centerline goodness [0,1] 0.973471850817616 Centerline is valid? [True, True] Translation: X:322.47, Y:-12.38, Z:3.47 [[ 9.99735726e-01 -1.49977076e-02 -1.74226214e-02 3.22471185e+02] [ 1.50179777e-02 9.99886690e-01 1.03317690e-03 -1.23800445e+01] [ 1.74051519e-02 -1.29455640e-03 9.99847681e-01 3.46824282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.250714057 meters Centerline goodness [0,1] 0.9724848513427486 Centerline is valid? [True, True] Translation: X:322.50, Y:-12.38, Z:3.47 [[ 9.99708895e-01 -1.61334551e-02 -1.79397981e-02 3.22499521e+02] [ 1.61551154e-02 9.99868932e-01 1.06311412e-03 -1.23838455e+01] [ 1.79202951e-02 -1.35262415e-03 9.99838504e-01 3.46758440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.280714057 meters Centerline goodness [0,1] 0.9728951220663928 Centerline is valid? [True, True] Translation: X:322.53, Y:-12.39, Z:3.47 [[ 9.99681840e-01 -1.78820909e-02 -1.77890113e-02 3.22527550e+02] [ 1.79036439e-02 9.99839162e-01 1.05305670e-03 -1.23872240e+01] [ 1.77673193e-02 -1.37120978e-03 9.99841208e-01 3.46782899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.310714057 meters Centerline goodness [0,1] 0.9680533696647953 Centerline is valid? [True, True] Translation: X:322.56, Y:-12.39, Z:3.47 [[ 9.99676322e-01 -1.89804803e-02 -1.69408436e-02 3.22555563e+02] [ 1.90001648e-02 9.99818979e-01 1.00174760e-03 -1.23925626e+01] [ 1.69187633e-02 -1.32330217e-03 9.99855992e-01 3.46853613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.340714057 meters Centerline goodness [0,1] 0.9714515480498592 Centerline is valid? [True, True] Translation: X:322.59, Y:-12.38, Z:3.47 [[ 9.99666086e-01 -1.94030875e-02 -1.70656513e-02 3.22585833e+02] [ 1.94231110e-02 9.99810845e-01 1.00834438e-03 -1.23847323e+01] [ 1.70428583e-02 -1.33947572e-03 9.99853863e-01 3.47022605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.370714057 meters Centerline goodness [0,1] 0.9684188115064345 Centerline is valid? [True, True] Translation: X:322.62, Y:-12.39, Z:3.47 [[ 9.99652037e-01 -1.97664318e-02 -1.74669389e-02 3.22615081e+02] [ 1.97874560e-02 9.99803677e-01 1.03163453e-03 -1.23917851e+01] [ 1.74431180e-02 -1.37690185e-03 9.99846909e-01 3.46907378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.400714057 meters Centerline goodness [0,1] 0.9710435171877577 Centerline is valid? [True, True] Translation: X:322.65, Y:-12.39, Z:3.47 [[ 9.99662425e-01 -1.94499951e-02 -1.72259502e-02 3.22645096e+02] [ 1.94703879e-02 9.99809917e-01 1.01690777e-03 -1.23902785e+01] [ 1.72028970e-02 -1.35196042e-03 9.99851105e-01 3.46973449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.430714057 meters Centerline goodness [0,1] 0.9725259122533012 Centerline is valid? [True, True] Translation: X:322.67, Y:-12.39, Z:3.47 [[ 9.99627745e-01 -2.01130809e-02 -1.84346360e-02 3.22674903e+02] [ 2.01365363e-02 9.99796648e-01 1.08760207e-03 -1.23892560e+01] [ 1.84090122e-02 -1.45840692e-03 9.99829476e-01 3.46906361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.460714057 meters Centerline goodness [0,1] 0.9700350577979913 Centerline is valid? [True, True] Translation: X:322.70, Y:-12.39, Z:3.47 [[ 9.99626455e-01 -1.98148659e-02 -1.88234312e-02 3.22703495e+02] [ 1.98392522e-02 9.99802567e-01 1.10965520e-03 -1.23934231e+01] [ 1.87977272e-02 -1.48268349e-03 9.99822208e-01 3.46820755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.490714057 meters Centerline goodness [0,1] 0.9721695429546747 Centerline is valid? [True, True] Translation: X:322.73, Y:-12.39, Z:3.47 [[ 9.99650855e-01 -1.69082037e-02 -2.03046983e-02 3.22733929e+02] [ 1.69359720e-02 9.99855860e-01 1.19639288e-03 -1.23889156e+01] [ 2.02815427e-02 -1.53985496e-03 9.99793123e-01 3.46896951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.520714057 meters Centerline goodness [0,1] 0.9729517369461178 Centerline is valid? [True, True] Translation: X:322.76, Y:-12.39, Z:3.47 [[ 9.99664965e-01 -1.52347390e-02 -2.09251131e-02 3.22763762e+02] [ 1.52638531e-02 9.99882741e-01 1.23232867e-03 -1.23877252e+01] [ 2.09038852e-02 -1.55131365e-03 9.99780286e-01 3.46960687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.550714057 meters Centerline goodness [0,1] 0.9723605518358789 Centerline is valid? [True, True] Translation: X:322.79, Y:-12.39, Z:3.47 [[ 9.99705560e-01 -1.26528960e-02 -2.07049960e-02 3.22792663e+02] [ 1.26808353e-02 9.99918852e-01 1.21865917e-03 -1.23872945e+01] [ 2.06878963e-02 -1.48085699e-03 9.99784886e-01 3.47007636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.580714057 meters Centerline goodness [0,1] 0.9743089121169551 Centerline is valid? [True, True] Translation: X:322.82, Y:-12.38, Z:3.47 [[ 9.99796383e-01 -6.10690231e-03 -1.92327602e-02 3.22823910e+02] [ 6.12979995e-03 9.99980572e-01 1.13182702e-03 -1.23793740e+01] [ 1.92254746e-02 -1.24948954e-03 9.99814393e-01 3.47227692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.610714057 meters Centerline goodness [0,1] 0.9746168582375478 Centerline is valid? [True, True] Translation: X:322.85, Y:-12.38, Z:3.47 [[ 9.99827013e-01 -3.15844535e-03 -1.83294263e-02 3.22854013e+02] [ 3.17874501e-03 9.99994366e-01 1.07846146e-03 -1.23784600e+01] [ 1.83259167e-02 -1.13653947e-03 9.99831420e-01 3.47333275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.640714057 meters Centerline goodness [0,1] 0.9761298076923077 Centerline is valid? [True, True] Translation: X:322.89, Y:-12.37, Z:3.48 [[ 9.99848509e-01 2.18493791e-03 -1.72680322e-02 3.22885614e+02] [-2.16771429e-03 9.99997134e-01 1.01608264e-03 -1.23671203e+01] [ 1.72702028e-02 -9.78496557e-04 9.99850380e-01 3.47650689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.670714057 meters Centerline goodness [0,1] 0.9767267991510709 Centerline is valid? [True, True] Translation: X:322.92, Y:-12.36, Z:3.48 [[ 9.99822539e-01 6.65327077e-03 -1.76245229e-02 3.22915362e+02] [-6.63602385e-03 9.99977444e-01 1.03687777e-03 -1.23645560e+01] [ 1.76310240e-02 -9.19737013e-04 9.99844138e-01 3.47662282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.700714057 meters Centerline goodness [0,1] 0.9767094223165204 Centerline is valid? [True, True] Translation: X:322.94, Y:-12.36, Z:3.48 [[ 9.99802650e-01 8.13752184e-03 -1.81229531e-02 3.22944559e+02] [-8.11958188e-03 9.99966470e-01 1.06326536e-03 -1.23636972e+01] [ 1.81309978e-02 -9.15904723e-04 9.99835200e-01 3.47688642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.730714057 meters Centerline goodness [0,1] 0.9706619123919569 Centerline is valid? [True, True] Translation: X:322.97, Y:-12.38, Z:3.47 [[ 9.99761234e-01 1.29101199e-02 -1.76296121e-02 3.22973236e+02] [-1.28939121e-02 9.99916337e-01 1.03271194e-03 -1.23834613e+01] [ 1.76414696e-02 -8.05150692e-04 9.99844053e-01 3.47134313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76071405700003 meters Centerline goodness [0,1] 0.978377200416475 Centerline is valid? [True, True] Translation: X:323.00, Y:-12.36, Z:3.48 [[ 9.99751350e-01 9.49264050e-03 -2.01774039e-02 3.23004895e+02] [-9.47071740e-03 9.99954453e-01 1.18179882e-03 -1.23634901e+01] [ 2.01877033e-02 -9.90410471e-04 9.99795717e-01 3.47559789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.790714057 meters Centerline goodness [0,1] 0.977519941986947 Centerline is valid? [True, True] Translation: X:323.03, Y:-12.36, Z:3.48 [[ 9.99767602e-01 8.10453449e-03 -1.99764492e-02 3.23034050e+02] [-8.08278959e-03 9.99966650e-01 1.16902867e-03 -1.23637279e+01] [ 1.99852574e-02 -1.00729155e-03 9.99799767e-01 3.47656775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82071405700003 meters Centerline goodness [0,1] 0.9757968874797299 Centerline is valid? [True, True] Translation: X:323.06, Y:-12.37, Z:3.48 [[ 9.99780858e-01 6.88388459e-03 -1.97698570e-02 3.23061645e+02] [-6.86239388e-03 9.99975787e-01 1.15468052e-03 -1.23705778e+01] [ 1.97773270e-02 -1.01875893e-03 9.99803891e-01 3.47606236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.850714057 meters Centerline goodness [0,1] 0.9742839879154078 Centerline is valid? [True, True] Translation: X:323.09, Y:-12.37, Z:3.48 [[ 9.99801782e-01 4.88959233e-03 -1.92999663e-02 3.23089586e+02] [-4.86877306e-03 9.99987514e-01 1.12556162e-03 -1.23746361e+01] [ 1.93052288e-02 -1.03137136e-03 9.99813105e-01 3.47618556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88071405700003 meters Centerline goodness [0,1] 0.9739889283728576 Centerline is valid? [True, True] Translation: X:323.12, Y:-12.38, Z:3.48 [[ 9.99804172e-01 3.78371191e-03 -1.94242412e-02 3.23118368e+02] [-3.76244086e-03 9.99992282e-01 1.13150555e-03 -1.23765919e+01] [ 1.94283726e-02 -1.05820141e-03 9.99810691e-01 3.47646301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.910714057 meters Centerline goodness [0,1] 0.9745668106586419 Centerline is valid? [True, True] Translation: X:323.15, Y:-12.38, Z:3.48 [[ 9.99807888e-01 2.66968828e-03 -1.94180064e-02 3.23147086e+02] [-2.64824654e-03 9.99995855e-01 1.12985005e-03 -1.23801762e+01] [ 1.94209422e-02 -1.07820932e-03 9.99810814e-01 3.47661502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94071405700004 meters Centerline goodness [0,1] 0.9727202248279873 Centerline is valid? [True, True] Translation: X:323.18, Y:-12.39, Z:3.48 [[ 9.99809550e-01 7.74891593e-04 -1.95003352e-02 3.23175095e+02] [-7.52933561e-04 9.99999074e-01 1.13335031e-03 -1.23850806e+01] [ 1.95011953e-02 -1.11845201e-03 9.99809208e-01 3.47526059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.970714057 meters Centerline goodness [0,1] 0.9727413201989473 Centerline is valid? [True, True] Translation: X:323.20, Y:-12.38, Z:3.48 [[ 9.99807943e-01 -8.71489911e-05 -1.95977020e-02 3.23203514e+02] [ 1.09461413e-04 9.99999347e-01 1.13745253e-03 -1.23835800e+01] [ 1.95975901e-02 -1.13937927e-03 9.99807300e-01 3.47617146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.000714057 meters Centerline goodness [0,1] 0.973542806197441 Centerline is valid? [True, True] Translation: X:323.23, Y:-12.39, Z:3.48 [[ 9.99801042e-01 -2.06922212e-03 -1.98392121e-02 3.23232530e+02] [ 2.09245692e-03 9.99997149e-01 1.15046843e-03 -1.23856043e+01] [ 1.98367750e-02 -1.19175224e-03 9.99802522e-01 3.47690684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.030714057 meters Centerline goodness [0,1] 0.9725593539964218 Centerline is valid? [True, True] Translation: X:323.26, Y:-12.39, Z:3.48 [[ 9.99803394e-01 -2.98185041e-03 -1.96030911e-02 3.23261387e+02] [ 3.00468706e-03 9.99994841e-01 1.13560123e-03 -1.23856839e+01] [ 1.95996038e-02 -1.19427912e-03 9.99807196e-01 3.47757021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.060714057 meters Centerline goodness [0,1] 0.9729213510311646 Centerline is valid? [True, True] Translation: X:323.29, Y:-12.39, Z:3.48 [[ 9.99806240e-01 -3.16993100e-03 -1.94276519e-02 3.23287833e+02] [ 3.19233809e-03 9.99994275e-01 1.12245617e-03 -1.23902774e+01] [ 1.94239825e-02 -1.18425832e-03 9.99810635e-01 3.47742816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.090714057 meters Centerline goodness [0,1] 0.9737574071834563 Centerline is valid? [True, True] Translation: X:323.32, Y:-12.39, Z:3.48 [[ 9.99798249e-01 -3.19462766e-03 -1.98306745e-02 3.23315326e+02] [ 3.21787960e-03 9.99994172e-01 1.14072511e-03 -1.23897870e+01] [ 1.98269148e-02 -1.20430769e-03 9.99802702e-01 3.47706360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.120714057 meters Centerline goodness [0,1] 0.9731279974935532 Centerline is valid? [True, True] Translation: X:323.34, Y:-12.39, Z:3.48 [[ 9.99799469e-01 -2.90197460e-03 -1.98141300e-02 3.23343726e+02] [ 2.92503084e-03 9.99995078e-01 1.13474412e-03 -1.23911035e+01] [ 1.98107395e-02 -1.19247351e-03 9.99803037e-01 3.47737291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.150714057 meters Centerline goodness [0,1] 0.9729194347143375 Centerline is valid? [True, True] Translation: X:323.37, Y:-12.39, Z:3.48 [[ 9.99809378e-01 -2.82177421e-03 -1.93195437e-02 3.23371069e+02] [ 2.84361806e-03 9.99995348e-01 1.10328288e-03 -1.23938754e+01] [ 1.93163406e-02 -1.15800997e-03 9.99812751e-01 3.47729670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.180714057 meters Centerline goodness [0,1] 0.9729991524397626 Centerline is valid? [True, True] Translation: X:323.40, Y:-12.40, Z:3.48 [[ 9.99813398e-01 -2.41805846e-03 -1.91656395e-02 3.23399639e+02] [ 2.43940674e-03 9.99996430e-01 1.09058276e-03 -1.23959847e+01] [ 1.91629340e-02 -1.13713205e-03 9.99815727e-01 3.47759112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.210714057 meters Centerline goodness [0,1] 0.9716171457582864 Centerline is valid? [True, True] Translation: X:323.43, Y:-12.40, Z:3.48 [[ 9.99821030e-01 -2.35603715e-03 -1.87711900e-02 3.23427078e+02] [ 2.37645809e-03 9.99996608e-01 1.06565561e-03 -1.23978497e+01] [ 1.87686156e-02 -1.11007384e-03 9.99823238e-01 3.47778241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.240714057 meters Centerline goodness [0,1] 0.9722188611669046 Centerline is valid? [True, True] Translation: X:323.46, Y:-12.40, Z:3.48 [[ 9.99832097e-01 -2.85008680e-03 -1.81012552e-02 3.23455406e+02] [ 2.86908798e-03 9.99995360e-01 1.02383374e-03 -1.23990468e+01] [ 1.80982532e-02 -1.07559593e-03 9.99835635e-01 3.47893749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.270714057 meters Centerline goodness [0,1] 0.9686395228589981 Centerline is valid? [True, True] Translation: X:323.48, Y:-12.40, Z:3.48 [[ 9.99857789e-01 -4.41217146e-03 -1.62768102e-02 3.23482347e+02] [ 4.42770023e-03 9.99989776e-01 9.18129091e-04 -1.24049722e+01] [ 1.62725929e-02 -9.90067359e-04 9.99867102e-01 3.48027654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.300714057 meters Centerline goodness [0,1] 0.9678732165086661 Centerline is valid? [True, True] Translation: X:323.51, Y:-12.41, Z:3.48 [[ 9.99872736e-01 -5.01415476e-03 -1.51449748e-02 3.23509691e+02] [ 5.02764138e-03 9.99986998e-01 8.52557933e-04 -1.24075001e+01] [ 1.51405030e-02 -9.28592935e-04 9.99884945e-01 3.48088927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.330714057 meters Centerline goodness [0,1] 0.9673088009223674 Centerline is valid? [True, True] Translation: X:323.54, Y:-12.41, Z:3.48 [[ 9.99870127e-01 -6.58430420e-03 -1.47097275e-02 3.23538407e+02] [ 6.59715526e-03 9.99977898e-01 8.25289747e-04 -1.24094675e+01] [ 1.47039684e-02 -9.22224920e-04 9.99891466e-01 3.48159885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.360714057 meters Centerline goodness [0,1] 0.9673088009223674 Centerline is valid? [True, True] Translation: X:323.57, Y:-12.41, Z:3.48 [[ 9.99868342e-01 -6.84956764e-03 -1.47099345e-02 3.23565806e+02] [ 6.86239303e-03 9.99976116e-01 8.21587694e-04 -1.24109028e+01] [ 1.47039556e-02 -9.22424878e-04 9.99891466e-01 3.48176399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.390714057 meters Centerline goodness [0,1] 0.9665139826422372 Centerline is valid? [True, True] Translation: X:323.59, Y:-12.41, Z:3.48 [[ 9.99855625e-01 -7.88723301e-03 -1.50505743e-02 3.23594108e+02] [ 7.90072016e-03 9.99968439e-01 8.36873026e-04 -1.24128017e+01] [ 1.50434987e-02 -9.55662579e-04 9.99886383e-01 3.48169766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.420714057 meters Centerline goodness [0,1] 0.9703726917699244 Centerline is valid? [True, True] Translation: X:323.62, Y:-12.41, Z:3.48 [[ 9.99831644e-01 -8.46849504e-03 -1.62778624e-02 3.23623576e+02] [ 8.48428301e-03 9.99963602e-01 9.01090168e-04 -1.24081242e+01] [ 1.62696390e-02 -1.03904445e-03 9.99867101e-01 3.48147950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.450714057 meters Centerline goodness [0,1] 0.968963436708097 Centerline is valid? [True, True] Translation: X:323.65, Y:-12.41, Z:3.48 [[ 9.99819467e-01 -8.32844460e-03 -1.70783636e-02 3.23650983e+02] [ 8.34576084e-03 9.99964729e-01 9.42906833e-04 -1.24122618e+01] [ 1.70699083e-02 -1.08526855e-03 9.99853710e-01 3.48101790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.480714057 meters Centerline goodness [0,1] 0.97189267236193 Centerline is valid? [True, True] Translation: X:323.68, Y:-12.41, Z:3.48 [[ 9.99815296e-01 -7.49366301e-03 -1.76979673e-02 3.23679660e+02] [ 7.51206751e-03 9.99971310e-01 9.73670107e-04 -1.24086970e+01] [ 1.76901632e-02 -1.10643859e-03 9.99842905e-01 3.48021785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51071405700003 meters Centerline goodness [0,1] 0.9702932098765432 Centerline is valid? [True, True] Translation: X:323.71, Y:-12.41, Z:3.48 [[ 9.99814396e-01 -6.36575267e-03 -1.81837868e-02 3.23707034e+02] [ 6.38494854e-03 9.99979118e-01 9.97797490e-04 -1.24145241e+01] [ 1.81770554e-02 -1.11371484e-03 9.99834163e-01 3.47942960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.540714057 meters Centerline goodness [0,1] 0.9719870970871431 Centerline is valid? [True, True] Translation: X:323.74, Y:-12.41, Z:3.48 [[ 9.99811223e-01 -3.69682520e-03 -1.90748786e-02 3.23737638e+02] [ 3.71745006e-03 9.99992543e-01 1.04591279e-03 -1.24083940e+01] [ 1.90708698e-02 -1.11662525e-03 9.99817511e-01 3.48025420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57071405700003 meters Centerline goodness [0,1] 0.9731620236562796 Centerline is valid? [True, True] Translation: X:323.77, Y:-12.41, Z:3.48 [[ 9.99811908e-01 -1.32907214e-03 -1.93489531e-02 3.23766443e+02] [ 1.34983663e-03 9.99998527e-01 1.06013753e-03 -1.24083247e+01] [ 1.93475156e-02 -1.08605605e-03 9.99812229e-01 3.48069289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.600714057 meters Centerline goodness [0,1] 0.9731801698751491 Centerline is valid? [True, True] Translation: X:323.80, Y:-12.40, Z:3.48 [[ 9.99830410e-01 3.16341665e-03 -1.81423111e-02 3.23796911e+02] [-3.14590576e-03 9.99994558e-01 9.93653935e-04 -1.24047908e+01] [ 1.81453557e-02 -9.36411421e-04 9.99834921e-01 3.48225231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63071405700003 meters Centerline goodness [0,1] 0.9707724425887265 Centerline is valid? [True, True] Translation: X:323.83, Y:-12.41, Z:3.48 [[ 9.99843703e-01 5.20732495e-03 -1.68953669e-02 3.23825958e+02] [-5.19243678e-03 9.99986091e-01 9.24946266e-04 -1.24097300e+01] [ 1.68999484e-02 -8.37073576e-04 9.99856835e-01 3.48195587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.660714057 meters Centerline goodness [0,1] 0.9715829255293377 Centerline is valid? [True, True] Translation: X:323.86, Y:-12.41, Z:3.48 [[ 9.99853690e-01 8.20963963e-03 -1.50066682e-02 3.23856309e+02] [-8.19823981e-03 9.99966057e-01 8.21011330e-04 -1.24084581e+01] [ 1.50128990e-02 -6.97862944e-04 9.99887057e-01 3.48385119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69071405700004 meters Centerline goodness [0,1] 0.974333998928554 Centerline is valid? [True, True] Translation: X:323.89, Y:-12.40, Z:3.49 [[ 9.99863163e-01 8.12332943e-03 -1.44106833e-02 3.23885754e+02] [-8.11282001e-03 9.99966780e-01 7.87589727e-04 -1.24032242e+01] [ 1.44166024e-02 -6.70570675e-04 9.99895851e-01 3.48523435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.720714057 meters Centerline goodness [0,1] 0.9728201519159366 Centerline is valid? [True, True] Translation: X:323.91, Y:-12.40, Z:3.48 [[ 9.99866331e-01 6.61644421e-03 -1.49513297e-02 3.23914376e+02] [-6.60497920e-03 9.99977854e-01 8.16071534e-04 -1.24049148e+01] [ 1.49563981e-02 -7.17209229e-04 9.99887890e-01 3.48447136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.750714057 meters Centerline goodness [0,1] 0.9742748870427052 Centerline is valid? [True, True] Translation: X:323.94, Y:-12.41, Z:3.48 [[ 9.99868046e-01 5.36105447e-03 -1.53346140e-02 3.23943161e+02] [-5.34886354e-03 9.99985345e-01 8.35897915e-04 -1.24077998e+01] [ 1.53388706e-02 -7.53764857e-04 9.99882068e-01 3.48391082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.780714057 meters Centerline goodness [0,1] 0.9716715257531584 Centerline is valid? [True, True] Translation: X:323.97, Y:-12.41, Z:3.48 [[ 9.99862015e-01 7.88865070e-04 -1.65930145e-02 3.23972977e+02] [-7.73972368e-04 9.99999292e-01 9.03930960e-04 -1.24133415e+01] [ 1.65937159e-02 -8.90963696e-04 9.99861918e-01 3.48211145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.810714057 meters Centerline goodness [0,1] 0.9695461058357822 Centerline is valid? [True, True] Translation: X:324.00, Y:-12.42, Z:3.48 [[ 9.99852573e-01 -1.02175475e-03 -1.71402399e-02 3.24000573e+02] [ 1.03789688e-03 9.99999026e-01 9.32898814e-04 -1.24231300e+01] [ 1.71392700e-02 -9.50551081e-04 9.99852660e-01 3.48101164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.840714057 meters Centerline goodness [0,1] 0.9680912782827307 Centerline is valid? [True, True] Translation: X:324.03, Y:-12.43, Z:3.48 [[ 9.99817582e-01 -5.29587198e-03 -1.83509306e-02 3.24031092e+02] [ 5.31508406e-03 9.99985377e-01 9.98312180e-04 -1.24286264e+01] [ 1.83453753e-02 -1.09566681e-03 9.99831109e-01 3.48056326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.870714057 meters Centerline goodness [0,1] 0.971701553497192 Centerline is valid? [True, True] Translation: X:324.06, Y:-12.42, Z:3.48 [[ 9.99796165e-01 -7.51550395e-03 -1.87388765e-02 3.24060955e+02] [ 7.53591664e-03 9.99971085e-01 1.01894669e-03 -1.24237081e+01] [ 1.87306768e-02 -1.15995361e-03 9.99823893e-01 3.48219144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.900714057 meters Centerline goodness [0,1] 0.9689502816080793 Centerline is valid? [True, True] Translation: X:324.09, Y:-12.43, Z:3.48 [[ 9.99759519e-01 -1.09095591e-02 -1.90233103e-02 3.24091249e+02] [ 1.09312040e-02 9.99939718e-01 1.03419619e-03 -1.24294341e+01] [ 1.90108809e-02 -1.24189517e-03 9.99818506e-01 3.48160550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.930714057 meters Centerline goodness [0,1] 0.9693370500545389 Centerline is valid? [True, True] Translation: X:324.12, Y:-12.43, Z:3.48 [[ 9.99738937e-01 -1.22550294e-02 -1.92839655e-02 3.24120726e+02] [ 1.22775117e-02 9.99924079e-01 1.04789330e-03 -1.24325046e+01] [ 1.92696595e-02 -1.28437884e-03 9.99813498e-01 3.48219945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.960714057 meters Centerline goodness [0,1] 0.9683437243245856 Centerline is valid? [True, True] Translation: X:324.15, Y:-12.44, Z:3.48 [[ 9.99714031e-01 -1.43202492e-02 -1.91516895e-02 3.24149574e+02] [ 1.43427839e-02 9.99896596e-01 1.03979254e-03 -1.24354911e+01] [ 1.91348190e-02 -1.31418374e-03 9.99816049e-01 3.48211049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.990714057 meters Centerline goodness [0,1] 0.9651092453241066 Centerline is valid? [True, True] Translation: X:324.18, Y:-12.44, Z:3.48 [[ 9.99704048e-01 -1.55608696e-02 -1.86995978e-02 3.24177316e+02] [ 1.55825420e-02 9.99878071e-01 1.01382206e-03 -1.24431001e+01] [ 1.86815418e-02 -1.30490929e-03 9.99824633e-01 3.48149453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.020714057 meters Centerline goodness [0,1] 0.9655966081162931 Centerline is valid? [True, True] Translation: X:324.21, Y:-12.44, Z:3.48 [[ 9.99697922e-01 -1.62171933e-02 -1.84680265e-02 3.24205851e+02] [ 1.62383791e-02 9.99867651e-01 9.97773227e-04 -1.24436078e+01] [ 1.84494012e-02 -1.29736264e-03 9.99828954e-01 3.48218601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.050714057 meters Centerline goodness [0,1] 0.9680735012484546 Centerline is valid? [True, True] Translation: X:324.23, Y:-12.44, Z:3.48 [[ 9.99697708e-01 -1.65484160e-02 -1.81835867e-02 3.24234622e+02] [ 1.65689288e-02 9.99862248e-01 9.78007632e-04 -1.24414474e+01] [ 1.81648974e-02 -1.27899454e-03 9.99834187e-01 3.48339475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.080714057 meters Centerline goodness [0,1] 0.8945588202133177 Centerline is valid? [True, False] Translation: X:324.29, Y:-12.44, Z:3.49 [[ 9.99681540e-01 -1.78102152e-02 -1.78777750e-02 3.24285530e+02] [ 1.77552272e-02 9.99837147e-01 -3.22981204e-03 -1.24410683e+01] [ 1.79323872e-02 2.91135951e-03 9.99834963e-01 3.48649379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.110714057 meters Centerline goodness [0,1] 0.9687174896571746 Centerline is valid? [False, True] Translation: X:324.23, Y:-12.44, Z:3.48 [[ 9.99727959e-01 -1.60164146e-02 -1.69553009e-02 3.24230820e+02] [ 1.60663655e-02 9.99866968e-01 2.81392239e-03 -1.24416002e+01] [ 1.69079764e-02 -3.08556695e-03 9.99852289e-01 3.48184811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.140714057 meters Centerline goodness [0,1] 0.9677888460699484 Centerline is valid? [True, True] Translation: X:324.26, Y:-12.45, Z:3.48 [[ 9.99733672e-01 -1.56838354e-02 -1.69293590e-02 3.24259725e+02] [ 1.57015175e-02 9.99876308e-01 9.12044769e-04 -1.24458706e+01] [ 1.69129606e-02 -1.17761849e-03 9.99856272e-01 3.48228252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.170714057 meters Centerline goodness [0,1] 0.9701427323041072 Centerline is valid? [True, True] Translation: X:324.29, Y:-12.44, Z:3.48 [[ 9.99730432e-01 -1.57596177e-02 -1.70498798e-02 3.24289637e+02] [ 1.57775532e-02 9.99875105e-01 9.17934411e-04 -1.24427400e+01] [ 1.70332841e-02 -1.18669235e-03 9.99854219e-01 3.48312118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.200714057 meters Centerline goodness [0,1] 0.9687257939581719 Centerline is valid? [True, True] Translation: X:324.32, Y:-12.44, Z:3.48 [[ 9.99719099e-01 -1.58373503e-02 -1.76324063e-02 3.24319296e+02] [ 1.58565335e-02 9.99873827e-01 9.48668500e-04 -1.24444733e+01] [ 1.76151572e-02 -1.22799086e-03 9.99844087e-01 3.48197511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.230714057 meters Centerline goodness [0,1] 0.9669172932330827 Centerline is valid? [True, True] Translation: X:324.35, Y:-12.45, Z:3.48 [[ 9.99697749e-01 -1.67199267e-02 -1.80237192e-02 3.24348055e+02] [ 1.67401022e-02 9.99859405e-01 9.69086767e-04 -1.24494212e+01] [ 1.80049821e-02 -1.27051276e-03 9.99837090e-01 3.48092035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26071405700003 meters Centerline goodness [0,1] 0.9653887113951012 Centerline is valid? [True, True] Translation: X:324.38, Y:-12.45, Z:3.48 [[ 9.99690489e-01 -1.69632642e-02 -1.81981928e-02 3.24376739e+02] [ 1.69838570e-02 9.99855286e-01 9.77624399e-04 -1.24542657e+01] [ 1.81789755e-02 -1.28639732e-03 9.99833921e-01 3.48016968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.290714057 meters Centerline goodness [0,1] 0.9669781476614591 Centerline is valid? [True, True] Translation: X:324.41, Y:-12.45, Z:3.48 [[ 9.99676051e-01 -1.75799338e-02 -1.84048614e-02 3.24406635e+02] [ 1.76010877e-02 9.99844601e-01 9.87997329e-04 -1.24511393e+01] [ 1.83846324e-02 -1.31162285e-03 9.99830128e-01 3.48090177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32071405700003 meters Centerline goodness [0,1] 0.9689033574656236 Centerline is valid? [True, True] Translation: X:324.44, Y:-12.45, Z:3.48 [[ 9.99670115e-01 -1.76130553e-02 -1.86933700e-02 3.24436818e+02] [ 1.76348712e-02 9.99843991e-01 1.00282950e-03 -1.24507835e+01] [ 1.86727907e-02 -1.33215386e-03 9.99824761e-01 3.48162381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.350714057 meters Centerline goodness [0,1] 0.9661820480404552 Centerline is valid? [True, True] Translation: X:324.47, Y:-12.45, Z:3.48 [[ 9.99672513e-01 -1.74916374e-02 -1.86791404e-02 3.24465016e+02] [ 1.75133827e-02 9.99846128e-01 1.00118816e-03 -1.24535651e+01] [ 1.86587538e-02 -1.32799522e-03 9.99825028e-01 3.48138818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38071405700003 meters Centerline goodness [0,1] 0.9694094113629156 Centerline is valid? [True, True] Translation: X:324.50, Y:-12.45, Z:3.48 [[ 9.99690524e-01 -1.73149073e-02 -1.78619986e-02 3.24495023e+02] [ 1.73347507e-02 9.99849284e-01 9.56683696e-04 -1.24489359e+01] [ 1.78427416e-02 -1.26602092e-03 9.99840004e-01 3.48277980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.410714057 meters Centerline goodness [0,1] 0.9633390285574811 Centerline is valid? [True, True] Translation: X:324.52, Y:-12.46, Z:3.48 [[ 9.99696253e-01 -1.71181680e-02 -1.77304661e-02 3.24523010e+02] [ 1.71376746e-02 9.99852689e-01 9.48808814e-04 -1.24579199e+01] [ 1.77116123e-02 -1.25237958e-03 9.99842353e-01 3.48199652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44071405700004 meters Centerline goodness [0,1] 0.9708113133685653 Centerline is valid? [True, True] Translation: X:324.55, Y:-12.45, Z:3.48 [[ 9.99713765e-01 -1.68580034e-02 -1.69763137e-02 3.24553416e+02] [ 1.68758367e-02 9.99857181e-01 9.07768458e-04 -1.24482583e+01] [ 1.69585860e-02 -1.19399812e-03 9.99855480e-01 3.48446099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.470714057 meters Centerline goodness [0,1] 0.9666829506595017 Centerline is valid? [True, True] Translation: X:324.58, Y:-12.46, Z:3.48 [[ 9.99714080e-01 -1.73016197e-02 -1.65049116e-02 3.24582482e+02] [ 1.73185324e-02 9.99849634e-01 8.82317679e-04 -1.24558632e+01] [ 1.64871643e-02 -1.16790625e-03 9.99863395e-01 3.48402014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.500714057 meters Centerline goodness [0,1] 0.965161636354771 Centerline is valid? [True, True] Translation: X:324.61, Y:-12.46, Z:3.48 [[ 9.99703812e-01 -1.81218236e-02 -1.62446509e-02 3.24613317e+02] [ 1.81383143e-02 9.99835110e-01 8.68378231e-04 -1.24572349e+01] [ 1.62262357e-02 -1.16277161e-03 9.99867670e-01 3.48370551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.530714057 meters Centerline goodness [0,1] 0.9694568752598244 Centerline is valid? [True, True] Translation: X:324.64, Y:-12.45, Z:3.48 [[ 9.99657319e-01 -1.94749634e-02 -1.74920246e-02 3.24644490e+02] [ 1.94942990e-02 9.99809530e-01 9.35551713e-04 -1.24519380e+01] [ 1.74704730e-02 -1.27622587e-03 9.99846565e-01 3.48442100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.560714057 meters Centerline goodness [0,1] 0.9658167759616326 Centerline is valid? [True, True] Translation: X:324.67, Y:-12.46, Z:3.48 [[ 9.99591014e-01 -2.16140029e-02 -1.87253592e-02 3.24673791e+02] [ 2.16365351e-02 9.99765401e-01 1.00151842e-03 -1.24573613e+01] [ 1.86993194e-02 -1.40626071e-03 9.99824163e-01 3.48317616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.590714057 meters Centerline goodness [0,1] 0.9655775962660443 Centerline is valid? [True, True] Translation: X:324.70, Y:-12.46, Z:3.48 [[ 9.99571450e-01 -2.22952734e-02 -1.89693910e-02 3.24703905e+02] [ 2.23185282e-02 9.99750395e-01 1.01506635e-03 -1.24600990e+01] [ 1.89420250e-02 -1.43800024e-03 9.99819550e-01 3.48270783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.620714057 meters Centerline goodness [0,1] 0.9661273767046288 Centerline is valid? [True, True] Translation: X:324.73, Y:-12.46, Z:3.48 [[ 9.99539959e-01 -2.32920509e-02 -1.94255038e-02 3.24734735e+02] [ 2.33166295e-02 9.99727590e-01 1.03971864e-03 -1.24609758e+01] [ 1.93959949e-02 -1.49217761e-03 9.99810766e-01 3.48236328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.650714057 meters Centerline goodness [0,1] 0.9673687550338027 Centerline is valid? [True, True] Translation: X:324.77, Y:-12.46, Z:3.48 [[ 9.99461986e-01 -2.55278197e-02 -2.05929568e-02 3.24765141e+02] [ 2.55559137e-02 9.99672787e-01 1.10220468e-03 -1.24624915e+01] [ 2.05580817e-02 -1.62788350e-03 9.99787335e-01 3.48160820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.680714057 meters Centerline goodness [0,1] 0.9633890191481047 Centerline is valid? [True, True] Translation: X:324.80, Y:-12.47, Z:3.48 [[ 9.99451657e-01 -2.57989323e-02 -2.07557315e-02 3.24795499e+02] [ 2.58275360e-02 9.99665796e-01 1.11118546e-03 -1.24691127e+01] [ 2.07201275e-02 -1.64664555e-03 9.99783959e-01 3.48053007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.710714057 meters Centerline goodness [0,1] 0.8139787624244346 Centerline is valid? [True, False] Translation: X:324.85, Y:-12.47, Z:3.48 [[ 9.99464516e-01 -2.62123735e-02 -1.95854986e-02 3.24854477e+02] [ 2.60756170e-02 9.99634004e-01 -7.20563040e-03 -1.24663396e+01] [ 1.97672071e-02 6.69106794e-03 9.99782220e-01 3.48443861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.740714057 meters Centerline goodness [0,1] 0.9641786680312888 Centerline is valid? [False, True] Translation: X:324.79, Y:-12.46, Z:3.48 [[ 9.99595554e-01 -2.13299164e-02 -1.88086138e-02 3.24785397e+02] [ 2.12061641e-02 9.99752306e-01 -6.75465935e-03 -1.24645263e+01] [ 1.89480314e-02 6.35306890e-03 9.99800285e-01 3.48261189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.770714057 meters Centerline goodness [0,1] 0.9658159509202454 Centerline is valid? [True, True] Translation: X:324.82, Y:-12.46, Z:3.48 [[ 9.99680305e-01 -1.79073767e-02 -1.78497773e-02 3.24816337e+02] [ 1.79278729e-02 9.99838794e-01 9.88890429e-04 -1.24633004e+01] [ 1.78291913e-02 -1.30858282e-03 9.99840191e-01 3.48048870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.800714057 meters Centerline goodness [0,1] 0.9661079433739678 Centerline is valid? [True, True] Translation: X:324.85, Y:-12.46, Z:3.48 [[ 9.99733767e-01 -1.54943386e-02 -1.70973833e-02 3.24846114e+02] [ 1.55127844e-02 9.99879221e-01 9.46758969e-04 -1.24622024e+01] [ 1.70806489e-02 -1.21173493e-03 9.99853381e-01 3.48091096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.830714057 meters Centerline goodness [0,1] 0.9669744143790208 Centerline is valid? [True, True] Translation: X:324.88, Y:-12.46, Z:3.48 [[ 9.99812205e-01 -9.78604934e-03 -1.67268392e-02 3.24875460e+02] [ 9.80290049e-03 9.99951522e-01 9.25735820e-04 -1.24602914e+01] [ 1.67169690e-02 -1.08953351e-03 9.99859668e-01 3.48140944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.860714057 meters Centerline goodness [0,1] 0.9670405352223534 Centerline is valid? [True, True] Translation: X:324.91, Y:-12.46, Z:3.48 [[ 9.99834674e-01 -7.77541381e-03 -1.64367769e-02 3.24905370e+02] [ 7.79140620e-03 9.99969233e-01 9.09149596e-04 -1.24598416e+01] [ 1.64292022e-02 -1.03706490e-03 9.99864494e-01 3.48168062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.890714057 meters Centerline goodness [0,1] 0.9691227725688478 Centerline is valid? [True, True] Translation: X:324.94, Y:-12.46, Z:3.48 [[ 9.99855341e-01 -4.09657504e-03 -1.65080469e-02 3.24936068e+02] [ 4.11220340e-03 9.99991128e-01 9.12878253e-04 -1.24581338e+01] [ 1.65041607e-02 -9.80630643e-04 9.99863316e-01 3.48135888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.920714057 meters Centerline goodness [0,1] 0.9705838803612852 Centerline is valid? [True, True] Translation: X:324.97, Y:-12.46, Z:3.48 [[ 9.99853083e-01 -3.35877412e-03 -1.68086736e-02 3.24965046e+02] [ 3.37482353e-03 9.99993876e-01 9.26555029e-04 -1.24583020e+01] [ 1.68054586e-02 -9.83145210e-04 9.99858295e-01 3.48123185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.950714057 meters Centerline goodness [0,1] 0.9700991760003947 Centerline is valid? [True, True] Translation: X:324.99, Y:-12.46, Z:3.48 [[ 9.99851372e-01 -2.72268259e-03 -1.70241194e-02 3.24993145e+02] [ 2.73901132e-03 9.99995811e-01 9.35909918e-04 -1.24603167e+01] [ 1.70214999e-02 -9.82400071e-04 9.99854641e-01 3.48049186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.980714057 meters Centerline goodness [0,1] 0.9705322959120662 Centerline is valid? [True, True] Translation: X:325.02, Y:-12.46, Z:3.48 [[ 9.99839791e-01 -1.28517504e-03 -1.78533164e-02 3.25020913e+02] [ 1.30286670e-03 9.99998672e-01 9.79349390e-04 -1.24593910e+01] [ 1.78520341e-02 -1.00245298e-03 9.99840137e-01 3.47998916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01071405700003 meters Centerline goodness [0,1] 0.9711055587165722 Centerline is valid? [True, True] Translation: X:325.05, Y:-12.46, Z:3.48 [[ 9.99827842e-01 -6.31772824e-04 -1.85442076e-02 3.25049487e+02] [ 6.50678575e-04 9.99999275e-01 1.01348033e-03 -1.24602640e+01] [ 1.85435539e-02 -1.02537217e-03 9.99827528e-01 3.47981397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.040714057 meters Centerline goodness [0,1] 0.9722908839232747 Centerline is valid? [True, True] Translation: X:325.08, Y:-12.46, Z:3.48 [[ 9.99824585e-01 1.61646225e-03 -1.86597554e-02 3.25078205e+02] [-1.59774206e-03 9.99998205e-01 1.01810310e-03 -1.24601033e+01] [ 1.86613676e-02 -9.88111033e-04 9.99825373e-01 3.48008172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07071405700003 meters Centerline goodness [0,1] 0.9731218656587366 Centerline is valid? [True, True] Translation: X:325.11, Y:-12.46, Z:3.48 [[ 9.99836697e-01 4.19646647e-03 -1.75775280e-02 3.25106868e+02] [-4.18026342e-03 9.99990803e-01 9.58446089e-04 -1.24608431e+01] [ 1.75813884e-02 -8.84810875e-04 9.99845044e-01 3.48063520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.100714057 meters Centerline goodness [0,1] 0.9717603458925262 Centerline is valid? [True, True] Translation: X:325.13, Y:-12.46, Z:3.48 [[ 9.99844342e-01 5.73167085e-03 -1.66865359e-02 3.25134669e+02] [-5.71730732e-03 9.99983243e-01 9.08362976e-04 -1.24620060e+01] [ 1.66914628e-02 -8.12819528e-04 9.99860357e-01 3.48176713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13071405700003 meters Centerline goodness [0,1] 0.972649275937314 Centerline is valid? [True, True] Translation: X:325.16, Y:-12.46, Z:3.48 [[ 9.99848582e-01 6.75628778e-03 -1.60363914e-02 3.25163351e+02] [-6.74317256e-03 9.99976885e-01 8.71772668e-04 -1.24627161e+01] [ 1.60419107e-02 -7.63504511e-04 9.99871029e-01 3.48209165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.160714057 meters Centerline goodness [0,1] 0.9721247467009341 Centerline is valid? [True, True] Translation: X:325.19, Y:-12.46, Z:3.48 [[ 9.99844788e-01 1.05860921e-02 -1.40831398e-02 3.25192726e+02] [-1.05763641e-02 9.99943776e-01 7.65051325e-04 -1.24623602e+01] [ 1.40904469e-02 -6.15984165e-04 9.99900535e-01 3.48451844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19071405700004 meters Centerline goodness [0,1] 0.9736366114125722 Centerline is valid? [True, True] Translation: X:325.22, Y:-12.46, Z:3.49 [[ 9.99831474e-01 1.24532517e-02 -1.34884853e-02 3.25221795e+02] [-1.24445069e-02 9.99922296e-01 7.32056098e-04 -1.24627972e+01] [ 1.34965537e-02 -5.64075179e-04 9.99908758e-01 3.48529675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.220714057 meters Centerline goodness [0,1] 0.9741214927812585 Centerline is valid? [True, True] Translation: X:325.25, Y:-12.46, Z:3.49 [[ 9.99777901e-01 1.67398705e-02 -1.28033269e-02 3.25250403e+02] [-1.67323508e-02 9.99859763e-01 6.94227933e-04 -1.24624238e+01] [ 1.28131527e-02 -4.79843989e-04 9.99917793e-01 3.48616317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.250714057 meters Centerline goodness [0,1] 0.974809897703911 Centerline is valid? [True, True] Translation: X:325.28, Y:-12.46, Z:3.49 [[ 9.99742952e-01 1.84999290e-02 -1.31065981e-02 3.25279473e+02] [-1.84922095e-02 9.99828752e-01 7.09935305e-04 -1.24629931e+01] [ 1.31174874e-02 -4.67382860e-04 9.99913853e-01 3.48563588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.280714057 meters Centerline goodness [0,1] 0.9764356435643564 Centerline is valid? [True, True] Translation: X:325.31, Y:-12.46, Z:3.48 [[ 9.99631632e-01 2.30232919e-02 -1.43711169e-02 3.25308501e+02] [-2.30144862e-02 9.99734829e-01 7.77835468e-04 -1.24621485e+01] [ 1.43852144e-02 -4.46805067e-04 9.99896428e-01 3.48442546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.310714057 meters Centerline goodness [0,1] 0.9764356435643564 Centerline is valid? [True, True] Translation: X:325.34, Y:-12.46, Z:3.48 [[ 9.99633692e-01 2.29336358e-02 -1.43711725e-02 3.25335937e+02] [-2.29248356e-02 9.99736890e-01 7.76806654e-04 -1.24635227e+01] [ 1.43852063e-02 -4.47065337e-04 9.99896428e-01 3.48454571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.340714057 meters Centerline goodness [0,1] 0.9828441094803649 Centerline is valid? [True, True] Translation: X:325.37, Y:-12.46, Z:3.49 [[ 9.99580085e-01 2.48698681e-02 -1.48709204e-02 3.25365246e+02] [-2.48606763e-02 9.99690603e-01 8.02677752e-04 -1.24550983e+01] [ 1.48862819e-02 -4.32639558e-04 9.99889100e-01 3.48678678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.370714057 meters Centerline goodness [0,1] 0.9832583213808793 Centerline is valid? [True, True] Translation: X:325.39, Y:-12.46, Z:3.48 [[ 9.99429402e-01 2.92481103e-02 -1.68943054e-02 3.25392625e+02] [-2.92369036e-02 9.99572096e-01 9.10003429e-04 -1.24570328e+01] [ 1.69136922e-02 -4.15547004e-04 9.99856867e-01 3.48495427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.400714057 meters Centerline goodness [0,1] 0.9829216375426959 Centerline is valid? [True, True] Translation: X:325.42, Y:-12.47, Z:3.48 [[ 9.99338948e-01 3.19549003e-02 -1.73363908e-02 3.25420048e+02] [-3.19435348e-02 9.99489240e-01 9.32173121e-04 -1.24651571e+01] [ 1.73573235e-02 -3.77771305e-04 9.99849279e-01 3.48049128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.430714057 meters Centerline goodness [0,1] 0.9849190507873142 Centerline is valid? [True, True] Translation: X:325.45, Y:-12.46, Z:3.48 [[ 9.99146092e-01 3.76256806e-02 -1.70703082e-02 3.25449283e+02] [-3.76155009e-02 9.99291866e-01 9.17135142e-04 -1.24641601e+01] [ 1.70927279e-02 -2.74243800e-04 9.99853871e-01 3.48146815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.460714057 meters Centerline goodness [0,1] 0.9850342145424112 Centerline is valid? [True, True] Translation: X:325.48, Y:-12.46, Z:3.48 [[ 9.99020303e-01 4.08742830e-02 -1.69625287e-02 3.25476855e+02] [-4.08647171e-02 9.99164274e-01 9.10313077e-04 -1.24636764e+01] [ 1.69855610e-02 -2.16252311e-04 9.99855712e-01 3.48205447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.490714057 meters Centerline goodness [0,1] 0.9887009822022007 Centerline is valid? [True, True] Translation: X:325.51, Y:-12.46, Z:3.49 [[ 9.98685753e-01 4.87144562e-02 -1.59269586e-02 3.25505862e+02] [-4.87070370e-02 9.98812743e-01 8.53628690e-04 -1.24585033e+01] [ 1.59496332e-02 -7.67518508e-05 9.99872794e-01 3.48849122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.520714057 meters Centerline goodness [0,1] 0.9907573560138639 Centerline is valid? [True, True] Translation: X:325.53, Y:-12.46, Z:3.48 [[ 9.98504347e-01 5.25604381e-02 -1.50488722e-02 3.25533161e+02] [-5.25542764e-02 9.98617745e-01 8.04887121e-04 -1.24597905e+01] [ 1.50703760e-02 -1.28007020e-05 9.99886435e-01 3.48453139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.550714057 meters Centerline goodness [0,1] 0.9918295457325277 Centerline is valid? [True, True] Translation: X:325.56, Y:-12.46, Z:3.49 [[ 9.98114061e-01 5.97716924e-02 -1.39880534e-02 3.25562088e+02] [-5.97671160e-02 9.98212070e-01 7.45339687e-04 -1.24606714e+01] [ 1.40075939e-02 9.20915865e-05 9.99901885e-01 3.48936195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.580714057 meters Centerline goodness [0,1] 0.9925898842169409 Centerline is valid? [True, True] Translation: X:325.59, Y:-12.46, Z:3.49 [[ 9.97957175e-01 6.23755470e-02 -1.38118901e-02 3.25589770e+02] [-6.23713596e-02 9.98052741e-01 7.34136154e-04 -1.24626342e+01] [ 1.38307870e-02 1.28829925e-04 9.99904342e-01 3.48923120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.610714057 meters Centerline goodness [0,1] 0.9931099965915178 Centerline is valid? [True, True] Translation: X:325.62, Y:-12.47, Z:3.49 [[ 9.97893032e-01 6.34145020e-02 -1.37148766e-02 3.25617734e+02] [-6.34105068e-02 9.97987264e-01 7.26402010e-04 -1.24694638e+01] [ 1.37333366e-02 1.44795773e-04 9.99905683e-01 3.48932416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.640714057 meters Centerline goodness [0,1] 0.9927373627699361 Centerline is valid? [True, True] Translation: X:325.65, Y:-12.48, Z:3.49 [[ 9.97979549e-01 6.19775871e-02 -1.39856581e-02 3.25645418e+02] [-6.19733431e-02 9.98077533e-01 7.37054904e-04 -1.24756898e+01] [ 1.40044520e-02 1.31172265e-04 9.99901924e-01 3.48936878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.670714057 meters Centerline goodness [0,1] 0.9903131281330976 Centerline is valid? [True, True] Translation: X:325.67, Y:-12.49, Z:3.49 [[ 9.98364276e-01 5.50928763e-02 -1.52822567e-02 3.25673162e+02] [-5.50870624e-02 9.98481233e-01 8.01445205e-04 -1.24888770e+01] [ 1.53032004e-02 4.17203659e-05 9.99882898e-01 3.48811701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.700714057 meters Centerline goodness [0,1] 0.9898091934084996 Centerline is valid? [True, True] Translation: X:325.70, Y:-12.50, Z:3.49 [[ 9.98594980e-01 5.06369078e-02 -1.56195445e-02 3.25700150e+02] [-5.06303272e-02 9.98717129e-01 8.16707043e-04 -1.24970428e+01] [ 1.56408621e-02 -2.47369040e-05 9.99877674e-01 3.48726009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.730714057 meters Centerline goodness [0,1] 0.9885234463344802 Centerline is valid? [True, True] Translation: X:325.73, Y:-12.51, Z:3.49 [[ 9.98845245e-01 4.56126465e-02 -1.50884890e-02 3.25727691e+02] [-4.56059538e-02 9.98959197e-01 7.87523915e-04 -1.25067044e+01] [ 1.51087059e-02 -9.84895842e-05 9.99885852e-01 3.48598626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76071405700003 meters Centerline goodness [0,1] 0.986332953032896 Centerline is valid? [True, True] Translation: X:325.76, Y:-12.53, Z:3.49 [[ 9.99305051e-01 3.40407475e-02 -1.51869349e-02 3.25755331e+02] [-3.40326444e-02 9.99420408e-01 7.91755054e-04 -1.25255805e+01] [ 1.52050846e-02 -2.74353271e-04 9.99884358e-01 3.48529476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.790714057 meters Centerline goodness [0,1] 0.9860744754164588 Centerline is valid? [True, True] Translation: X:325.78, Y:-12.53, Z:3.49 [[ 9.99485093e-01 2.82798355e-02 -1.51591424e-02 3.25784174e+02] [-2.82711113e-02 9.99599980e-01 7.89534123e-04 -1.25337084e+01] [ 1.51754063e-02 -3.60561784e-04 9.99884782e-01 3.48658547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82071405700003 meters Centerline goodness [0,1] 0.9840379333818455 Centerline is valid? [True, True] Translation: X:325.81, Y:-12.55, Z:3.49 [[ 9.99739956e-01 1.74070115e-02 -1.47314713e-02 3.25814075e+02] [-1.73975963e-02 9.99848356e-01 7.67042175e-04 -1.25499853e+01] [ 1.47425893e-02 -5.10550519e-04 9.99891192e-01 3.48746544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.850714057 meters Centerline goodness [0,1] 0.9805191768007484 Centerline is valid? [True, True] Translation: X:325.84, Y:-12.56, Z:3.49 [[ 9.99817520e-01 1.21155594e-02 -1.47695612e-02 3.25842269e+02] [-1.21055242e-02 9.99926430e-01 7.68664559e-04 -1.25647492e+01] [ 1.47777874e-02 -5.89731012e-04 9.99890629e-01 3.48564917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88071405700003 meters Centerline goodness [0,1] 0.9826323498639883 Centerline is valid? [True, True] Translation: X:325.87, Y:-12.57, Z:3.49 [[ 9.99862773e-01 7.36644573e-03 -1.48381268e-02 3.25872430e+02] [-7.35580093e-03 9.99972648e-01 7.71844086e-04 -1.25664995e+01] [ 1.48434067e-02 -6.62591861e-04 9.99889611e-01 3.48749790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.910714057 meters Centerline goodness [0,1] 0.9810164911953787 Centerline is valid? [True, True] Translation: X:325.90, Y:-12.58, Z:3.49 [[ 9.99904950e-01 -5.66247985e-04 -1.37757313e-02 3.25901966e+02] [ 5.76171604e-04 9.99999577e-01 7.16411514e-04 -1.25781467e+01] [ 1.37753198e-02 -7.24280604e-04 9.99904853e-01 3.48840210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94071405700004 meters Centerline goodness [0,1] 0.9771456414301956 Centerline is valid? [True, True] Translation: X:325.93, Y:-12.59, Z:3.49 [[ 9.99919596e-01 -5.65467578e-03 -1.13501655e-02 3.25930651e+02] [ 5.66173877e-03 9.99983798e-01 5.90244565e-04 -1.25946810e+01] [ 1.13466440e-02 -6.54458779e-04 9.99935411e-01 3.48886507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.970714057 meters Centerline goodness [0,1] 0.9785227746628979 Centerline is valid? [True, True] Translation: X:325.96, Y:-12.59, Z:3.49 [[ 9.99914094e-01 -7.18058981e-03 -1.09655750e-02 3.25959161e+02] [ 7.18725581e-03 9.99974010e-01 5.68615532e-04 -1.25936958e+01] [ 1.09612070e-02 -6.47379077e-04 9.99939715e-01 3.49033481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.000714057 meters Centerline goodness [0,1] 0.9784604031179374 Centerline is valid? [True, True] Translation: X:325.99, Y:-12.60, Z:3.49 [[ 9.99908461e-01 -8.29235562e-03 -1.06913928e-02 3.25987619e+02] [ 8.29872788e-03 9.99965413e-01 5.51790920e-04 -1.25985694e+01] [ 1.06864474e-02 -6.40465369e-04 9.99942693e-01 3.49014456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.030714057 meters Centerline goodness [0,1] 0.9775086903473836 Centerline is valid? [True, True] Translation: X:326.02, Y:-12.60, Z:3.49 [[ 9.99890174e-01 -9.77581439e-03 -1.11387881e-02 3.26016496e+02] [ 9.78280645e-03 9.99951983e-01 5.73407522e-04 -1.26039045e+01] [ 1.11326477e-02 -6.82313155e-04 9.99937797e-01 3.48955998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.060714057 meters Centerline goodness [0,1] 0.9767576051331763 Centerline is valid? [True, True] Translation: X:326.05, Y:-12.61, Z:3.49 [[ 9.99864593e-01 -1.08505025e-02 -1.23718671e-02 3.26046248e+02] [ 1.08592038e-02 9.99940835e-01 6.36348914e-04 -1.26065191e+01] [ 1.23642304e-02 -7.70611374e-04 9.99923263e-01 3.48906110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.090714057 meters Centerline goodness [0,1] 0.9755687961535807 Centerline is valid? [True, True] Translation: X:326.07, Y:-12.62, Z:3.49 [[ 9.99866377e-01 -1.09374907e-02 -1.21490140e-02 3.26074270e+02] [ 1.09458796e-02 9.99939897e-01 6.24223267e-04 -1.26150044e+01] [ 1.21414564e-02 -7.57121501e-04 9.99926003e-01 3.48790297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.120714057 meters Centerline goodness [0,1] 0.9766360518380407 Centerline is valid? [True, True] Translation: X:326.10, Y:-12.61, Z:3.49 [[ 9.99864369e-01 -1.11489819e-02 -1.21220087e-02 3.26103265e+02] [ 1.11573229e-02 9.99937563e-01 6.20680885e-04 -1.26141690e+01] [ 1.21143318e-02 -7.55845867e-04 9.99926333e-01 3.48865203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.150714057 meters Centerline goodness [0,1] 0.9763122724549519 Centerline is valid? [True, True] Translation: X:326.13, Y:-12.61, Z:3.49 [[ 9.99855437e-01 -1.16948985e-02 -1.23423776e-02 3.26132261e+02] [ 1.17035500e-02 9.99931313e-01 6.28962010e-04 -1.26149290e+01] [ 1.23341742e-02 -7.73320718e-04 9.99923632e-01 3.48869893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.180714057 meters Centerline goodness [0,1] 0.9762283187063783 Centerline is valid? [True, True] Translation: X:326.16, Y:-12.62, Z:3.49 [[ 9.99850339e-01 -1.22474904e-02 -1.22188150e-02 3.26161244e+02] [ 1.22559748e-02 9.99924701e-01 6.19727079e-04 -1.26170524e+01] [ 1.22103048e-02 -7.69387818e-04 9.99925155e-01 3.48858962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.210714057 meters Centerline goodness [0,1] 0.9763817480719794 Centerline is valid? [True, True] Translation: X:326.19, Y:-12.62, Z:3.49 [[ 9.99838052e-01 -1.21601016e-02 -1.32665432e-02 3.26190098e+02] [ 1.21700747e-02 9.99925717e-01 6.71269036e-04 -1.26208890e+01] [ 1.32573950e-02 -8.32615147e-04 9.99911770e-01 3.48786487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.240714057 meters Centerline goodness [0,1] 0.9777982921763213 Centerline is valid? [True, True] Translation: X:326.22, Y:-12.61, Z:3.49 [[ 9.99821963e-01 -1.28152611e-02 -1.38495759e-02 3.26219467e+02] [ 1.28261564e-02 9.99917498e-01 6.98149116e-04 -1.26140365e+01] [ 1.38394863e-02 -8.75661648e-04 9.99903846e-01 3.48885379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.270714057 meters Centerline goodness [0,1] 0.9780686566475056 Centerline is valid? [True, True] Translation: X:326.25, Y:-12.61, Z:3.49 [[ 9.99824491e-01 -1.23286761e-02 -1.41064120e-02 3.26248737e+02] [ 1.23398832e-02 9.99923610e-01 7.07699833e-04 -1.26141708e+01] [ 1.40966094e-02 -8.81647101e-04 9.99900249e-01 3.48997320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.300714057 meters Centerline goodness [0,1] 0.9770517487673379 Centerline is valid? [True, True] Translation: X:326.28, Y:-12.62, Z:3.49 [[ 9.99835450e-01 -1.15076275e-02 -1.40231315e-02 3.26277134e+02] [ 1.15186007e-02 9.99933412e-01 7.01990349e-04 -1.26162272e+01] [ 1.40141195e-02 -8.63401690e-04 9.99901425e-01 3.48992442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.330714057 meters Centerline goodness [0,1] 0.9783090271367916 Centerline is valid? [True, True] Translation: X:326.31, Y:-12.61, Z:3.49 [[ 9.99830465e-01 -1.15141455e-02 -1.43689429e-02 3.26305751e+02] [ 1.15256280e-02 9.99933321e-01 7.16561265e-04 -1.26147963e+01] [ 1.43597342e-02 -8.82050873e-04 9.99896505e-01 3.49038232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.360714057 meters Centerline goodness [0,1] 0.9777865191938357 Centerline is valid? [True, True] Translation: X:326.33, Y:-12.62, Z:3.49 [[ 9.99842654e-01 -1.10623482e-02 -1.38669571e-02 3.26333727e+02] [ 1.10729728e-02 9.99938455e-01 6.89633445e-04 -1.26162112e+01] [ 1.38584746e-02 -8.43073372e-04 9.99903611e-01 3.49088391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.390714057 meters Centerline goodness [0,1] 0.9768572089794029 Centerline is valid? [True, True] Translation: X:326.36, Y:-12.62, Z:3.49 [[ 9.99862294e-01 -1.07291386e-02 -1.26601567e-02 3.26362514e+02] [ 1.07379373e-02 9.99942150e-01 6.27220770e-04 -1.26158313e+01] [ 1.26526948e-02 -7.63078367e-04 9.99919660e-01 3.49176329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.420714057 meters Centerline goodness [0,1] 0.9752966931674156 Centerline is valid? [True, True] Translation: X:326.39, Y:-12.62, Z:3.49 [[ 9.99876052e-01 -9.92641335e-03 -1.22207525e-02 3.26390715e+02] [ 9.93451599e-03 9.99950470e-01 6.02494169e-04 -1.26186904e+01] [ 1.22141666e-02 -7.23826753e-04 9.99925142e-01 3.49188474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.450714057 meters Centerline goodness [0,1] 0.9762037423968055 Centerline is valid? [True, True] Translation: X:326.42, Y:-12.62, Z:3.49 [[ 9.99868026e-01 -1.02297314e-02 -1.26207689e-02 3.26419326e+02] [ 1.02383579e-02 9.99947395e-01 6.19089156e-04 -1.26156618e+01] [ 1.26137719e-02 -7.48223400e-04 9.99920163e-01 3.49261477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.480714057 meters Centerline goodness [0,1] 0.9755808825236183 Centerline is valid? [True, True] Translation: X:326.45, Y:-12.62, Z:3.49 [[ 9.99875662e-01 -1.04282618e-02 -1.18284315e-02 3.26448433e+02] [ 1.04358364e-02 9.99945378e-01 5.78830054e-04 -1.26169462e+01] [ 1.18217493e-02 -7.02197660e-04 9.99929874e-01 3.49241136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51071405700003 meters Centerline goodness [0,1] 0.975912561204836 Centerline is valid? [True, True] Translation: X:326.48, Y:-12.62, Z:3.49 [[ 9.99881628e-01 -1.07197754e-02 -1.10370747e-02 3.26476941e+02] [ 1.07263819e-02 9.99942325e-01 5.39549127e-04 -1.26191630e+01] [ 1.10306543e-02 -6.57873138e-04 9.99938944e-01 3.49224677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.540714057 meters Centerline goodness [0,1] 0.9760538845662524 Centerline is valid? [True, True] Translation: X:326.51, Y:-12.62, Z:3.49 [[ 9.99868792e-01 -1.20457290e-02 -1.08305029e-02 3.26506342e+02] [ 1.20521632e-02 9.99927230e-01 5.29004220e-04 -1.26184923e+01] [ 1.08233425e-02 -6.59465798e-04 9.99941208e-01 3.49204049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57071405700003 meters Centerline goodness [0,1] 0.9740632671020333 Centerline is valid? [True, True] Translation: X:326.54, Y:-12.62, Z:3.49 [[ 9.99829996e-01 -1.49514441e-02 -1.07903964e-02 3.26535081e+02] [ 1.49579952e-02 9.99887984e-01 5.26670529e-04 -1.26234164e+01] [ 1.07813133e-02 -6.87983692e-04 9.99941643e-01 3.49140654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.600714057 meters Centerline goodness [0,1] 0.9727744566476667 Centerline is valid? [True, True] Translation: X:326.57, Y:-12.63, Z:3.49 [[ 9.99802271e-01 -1.66482738e-02 -1.08744859e-02 3.26565347e+02] [ 1.66550257e-02 9.99861155e-01 5.30622145e-04 -1.26258490e+01] [ 1.08641421e-02 -7.11632069e-04 9.99940730e-01 3.49162669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63071405700003 meters Centerline goodness [0,1] 0.9695626068079997 Centerline is valid? [True, True] Translation: X:326.60, Y:-12.63, Z:3.49 [[ 9.99735360e-01 -1.99124616e-02 -1.15197021e-02 3.26595170e+02] [ 1.99202553e-02 9.99801414e-01 5.62197790e-04 -1.26329152e+01] [ 1.15062197e-02 -7.91524418e-04 9.99933488e-01 3.49119948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.660714057 meters Centerline goodness [0,1] 0.9684345196557339 Centerline is valid? [True, True] Translation: X:326.63, Y:-12.64, Z:3.49 [[ 9.99660070e-01 -2.33153387e-02 -1.16678776e-02 3.26625880e+02] [ 2.33235661e-02 9.99727806e-01 5.69533475e-04 -1.26365834e+01] [ 1.16514228e-02 -8.41476388e-04 9.99931766e-01 3.48998843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69071405700004 meters Centerline goodness [0,1] 0.9700929355041576 Centerline is valid? [True, True] Translation: X:326.66, Y:-12.63, Z:3.49 [[ 9.99622648e-01 -2.47328333e-02 -1.19519633e-02 3.26656699e+02] [ 2.47415689e-02 9.99693710e-01 5.83557100e-04 -1.26346458e+01] [ 1.19338695e-02 -8.79047216e-04 9.99928402e-01 3.49016930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.720714057 meters Centerline goodness [0,1] 0.9684394681595522 Centerline is valid? [True, True] Translation: X:326.69, Y:-12.64, Z:3.49 [[ 9.99594843e-01 -2.58587352e-02 -1.18943571e-02 3.26689251e+02] [ 2.58674729e-02 9.99665212e-01 5.81331149e-04 -1.26350245e+01] [ 1.18753425e-02 -8.88772579e-04 9.99929091e-01 3.49018913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.750714057 meters Centerline goodness [0,1] 0.9661423744611441 Centerline is valid? [True, True] Translation: X:326.72, Y:-12.64, Z:3.49 [[ 9.99543137e-01 -2.77227283e-02 -1.20402887e-02 3.26719163e+02] [ 2.77318260e-02 9.99615225e-01 5.89282728e-04 -1.26409785e+01] [ 1.20193194e-02 -9.22912698e-04 9.99927339e-01 3.48893037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.780714057 meters Centerline goodness [0,1] 0.9704898224742077 Centerline is valid? [True, True] Translation: X:326.75, Y:-12.63, Z:3.49 [[ 9.99517408e-01 -2.85743484e-02 -1.21842922e-02 3.26751280e+02] [ 2.85837409e-02 9.99591223e-01 5.97387054e-04 -1.26322845e+01] [ 1.21622416e-02 -9.45371412e-04 9.99925590e-01 3.48943183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.810714057 meters Centerline goodness [0,1] 0.9661733121673359 Centerline is valid? [True, True] Translation: X:326.78, Y:-12.64, Z:3.49 [[ 9.99492809e-01 -2.94280369e-02 -1.21702965e-02 3.26782305e+02] [ 2.94374808e-02 9.99566445e-01 5.97531946e-04 -1.26391384e+01] [ 1.21474358e-02 -9.55491752e-04 9.99925761e-01 3.48860408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.840714057 meters Centerline goodness [0,1] 0.9658528615442069 Centerline is valid? [True, True] Translation: X:326.81, Y:-12.64, Z:3.49 [[ 9.99493213e-01 -2.95284047e-02 -1.18907751e-02 3.26814394e+02] [ 2.95374354e-02 9.99563504e-01 5.84538615e-04 -1.26379447e+01] [ 1.18683243e-02 -9.35465381e-04 9.99929131e-01 3.48903402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.870714057 meters Centerline goodness [0,1] 0.9656272560024219 Centerline is valid? [True, True] Translation: X:326.85, Y:-12.64, Z:3.49 [[ 9.99471983e-01 -3.06068436e-02 -1.09076555e-02 3.26846639e+02] [ 3.06145142e-02 9.99531122e-01 5.36919265e-04 -1.26374126e+01] [ 1.08861077e-02 -8.70568336e-04 9.99940366e-01 3.49061923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.900714057 meters Centerline goodness [0,1] 0.9632856108555014 Centerline is valid? [True, True] Translation: X:326.88, Y:-12.64, Z:3.49 [[ 9.99453313e-01 -3.13350404e-02 -1.05447024e-02 3.26878023e+02] [ 3.13422555e-02 9.99508576e-01 5.19646586e-04 -1.26409537e+01] [ 1.05232374e-02 -8.49857260e-04 9.99944268e-01 3.49084451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.930714057 meters Centerline goodness [0,1] 0.9636141979650209 Centerline is valid? [True, True] Translation: X:326.91, Y:-12.64, Z:3.49 [[ 9.99419072e-01 -3.22832435e-02 -1.09229463e-02 3.26909814e+02] [ 3.22910506e-02 9.99478363e-01 5.39092979e-04 -1.26420351e+01] [ 1.08998448e-02 -8.91493217e-04 9.99940198e-01 3.49084783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.960714057 meters Centerline goodness [0,1] 0.9656674473067915 Centerline is valid? [True, True] Translation: X:326.94, Y:-12.64, Z:3.49 [[ 9.99339302e-01 -3.41862164e-02 -1.23394638e-02 3.26940985e+02] [ 3.41963310e-02 9.99414949e-01 6.09575604e-04 -1.26401404e+01] [ 1.23114055e-02 -1.03113725e-03 9.99923680e-01 3.48896867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.990714057 meters Centerline goodness [0,1] 0.9692831162736126 Centerline is valid? [True, True] Translation: X:326.97, Y:-12.64, Z:3.49 [[ 9.99300582e-01 -3.51114163e-02 -1.28660185e-02 3.26973122e+02] [ 3.51224955e-02 9.99382812e-01 6.36114384e-04 -1.26356346e+01] [ 1.28357429e-02 -1.08755615e-03 9.99917027e-01 3.48841770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.020714057 meters Centerline goodness [0,1] 0.9693104822638502 Centerline is valid? [True, True] Translation: X:327.00, Y:-12.64, Z:3.49 [[ 9.99226095e-01 -3.65183177e-02 -1.46158444e-02 3.27004072e+02] [ 3.65327718e-02 9.99332194e-01 7.23071607e-04 -1.26355835e+01] [ 1.45796785e-02 -1.25646933e-03 9.99892921e-01 3.48648048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.050714057 meters Centerline goodness [0,1] 0.7635821941815633 Centerline is valid? [True, False] Translation: X:327.05, Y:-12.63, Z:3.49 [[ 9.99140983e-01 -3.83546771e-02 -1.56912433e-02 3.27054126e+02] [ 3.83238988e-02 9.99262819e-01 -2.25762139e-03 -1.26344027e+01] [ 1.57662664e-02 1.65433244e-03 9.99874336e-01 3.48864435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.080714057 meters Centerline goodness [0,1] 0.9681883325893381 Centerline is valid? [False, True] Translation: X:326.98, Y:-12.63, Z:3.49 [[ 9.99291165e-01 -3.44422235e-02 -1.51953913e-02 3.26981880e+02] [ 3.44501270e-02 9.99406385e-01 2.58597358e-04 -1.26321413e+01] [ 1.51774644e-02 -7.81897214e-04 9.99884510e-01 3.48509922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.110714057 meters Centerline goodness [0,1] 0.9674756827534605 Centerline is valid? [True, True] Translation: X:327.01, Y:-12.63, Z:3.48 [[ 9.99310120e-01 -3.39123143e-02 -1.51406135e-02 3.27013948e+02] [ 3.39280900e-02 9.99423967e-01 7.86224928e-04 -1.26338590e+01] [ 1.51052293e-02 -1.29937462e-03 9.99885065e-01 3.48497986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.140714057 meters Centerline goodness [0,1] 0.9707513986921933 Centerline is valid? [True, True] Translation: X:327.05, Y:-12.63, Z:3.49 [[ 9.99378321e-01 -3.21456021e-02 -1.44786965e-02 3.27045790e+02] [ 3.21598533e-02 9.99482455e-01 7.52472019e-04 -1.26255508e+01] [ 1.44470145e-02 -1.21763698e-03 9.99894895e-01 3.48751915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.170714057 meters Centerline goodness [0,1] 0.9707513986921933 Centerline is valid? [True, True] Translation: X:327.08, Y:-12.63, Z:3.49 [[ 9.99380618e-01 -3.20741112e-02 -1.44786486e-02 3.27077554e+02] [ 3.20883681e-02 9.99484752e-01 7.53393300e-04 -1.26272635e+01] [ 1.44470241e-02 -1.21752287e-03 9.99894895e-01 3.48762154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.200714057 meters Centerline goodness [0,1] 0.9666352052855121 Centerline is valid? [True, True] Translation: X:327.11, Y:-12.63, Z:3.49 [[ 9.99431204e-01 -3.09713975e-02 -1.33431648e-02 3.27108222e+02] [ 3.09834158e-02 9.99519657e-01 6.94882738e-04 -1.26335223e+01] [ 1.33152340e-02 -1.10790431e-03 9.99910735e-01 3.48771450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.230714057 meters Centerline goodness [0,1] 0.9654395369799327 Centerline is valid? [True, True] Translation: X:327.14, Y:-12.63, Z:3.49 [[ 9.99489704e-01 -2.96705994e-02 -1.18315915e-02 3.27139124e+02] [ 2.96799629e-02 9.99559263e-01 6.16562230e-04 -1.26316696e+01] [ 1.18080831e-02 -9.67408797e-04 9.99929814e-01 3.48906015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26071405700003 meters Centerline goodness [0,1] 0.9662747892174326 Centerline is valid? [True, True] Translation: X:327.17, Y:-12.63, Z:3.49 [[ 9.99505662e-01 -2.90841163e-02 -1.19392424e-02 3.27171567e+02] [ 2.90936179e-02 9.99576497e-01 6.22883523e-04 -1.26301156e+01] [ 1.19160701e-02 -9.69931364e-04 9.99928531e-01 3.48950102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.290714057 meters Centerline goodness [0,1] 0.9669433280220695 Centerline is valid? [True, True] Translation: X:327.20, Y:-12.63, Z:3.49 [[ 9.99506204e-01 -2.91411360e-02 -1.17534241e-02 3.27204244e+02] [ 2.91503576e-02 9.99574849e-01 6.13999714e-04 -1.26285201e+01] [ 1.17305345e-02 -9.56313038e-04 9.99930738e-01 3.48920959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32071405700003 meters Centerline goodness [0,1] 0.9656716773471187 Centerline is valid? [True, True] Translation: X:327.23, Y:-12.63, Z:3.49 [[ 9.99487792e-01 -2.97071972e-02 -1.19011141e-02 3.27234896e+02] [ 2.97166999e-02 9.99558168e-01 6.22391227e-04 -1.26323419e+01] [ 1.18773663e-02 -9.75734269e-04 9.99928986e-01 3.48890831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.350714057 meters Centerline goodness [0,1] 0.9654292730610591 Centerline is valid? [True, True] Translation: X:327.27, Y:-12.63, Z:3.49 [[ 9.99416666e-01 -3.16219559e-02 -1.28988505e-02 3.27265928e+02] [ 3.16332817e-02 9.99499315e-01 6.74916183e-04 -1.26330318e+01] [ 1.28710500e-02 -1.08255545e-03 9.99916579e-01 3.48849689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38071405700003 meters Centerline goodness [0,1] 0.9685050659529727 Centerline is valid? [True, True] Translation: X:327.30, Y:-12.63, Z:3.49 [[ 9.99381355e-01 -3.25441506e-02 -1.33336262e-02 3.27298151e+02] [ 3.25563447e-02 9.99469658e-01 6.98441133e-04 -1.26291851e+01] [ 1.33038246e-02 -1.13210318e-03 9.99910859e-01 3.48842836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.410714057 meters Centerline goodness [0,1] 0.9682912226080709 Centerline is valid? [True, True] Translation: X:327.33, Y:-12.63, Z:3.49 [[ 9.99280454e-01 -3.49193514e-02 -1.48058611e-02 3.27329092e+02] [ 3.49346528e-02 9.99389297e-01 7.76017949e-04 -1.26294887e+01] [ 1.47697211e-02 -1.29269718e-03 9.99890086e-01 3.48726859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44071405700004 meters Centerline goodness [0,1] 0.9644170607059273 Centerline is valid? [True, True] Translation: X:327.36, Y:-12.64, Z:3.49 [[ 9.99227616e-01 -3.62326549e-02 -1.52107422e-02 3.27358859e+02] [ 3.62489598e-02 9.99342472e-01 7.97510433e-04 -1.26396456e+01] [ 1.51718448e-02 -1.34826803e-03 9.99883992e-01 3.48540586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.470714057 meters Centerline goodness [0,1] 0.9661311850510058 Centerline is valid? [True, True] Translation: X:327.39, Y:-12.64, Z:3.49 [[ 9.99176786e-01 -3.74624349e-02 -1.55664937e-02 3.27389934e+02] [ 3.74796638e-02 9.99297057e-01 8.16436641e-04 -1.26379278e+01] [ 1.55249656e-02 -1.39919149e-03 9.99878501e-01 3.48585674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.500714057 meters Centerline goodness [0,1] 0.9588913334608762 Centerline is valid? [True, True] Translation: X:327.42, Y:-12.65, Z:3.48 [[ 9.99119978e-01 -3.90662337e-02 -1.52675722e-02 3.27419241e+02] [ 3.90829937e-02 9.99235647e-01 8.00813713e-04 -1.26469949e+01] [ 1.52246176e-02 -1.39681141e-03 9.99883123e-01 3.48463303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.530714057 meters Centerline goodness [0,1] 0.9665369835549085 Centerline is valid? [True, True] Translation: X:327.45, Y:-12.64, Z:3.49 [[ 9.99124296e-01 -3.91581729e-02 -1.47403629e-02 3.27451998e+02] [ 3.91738172e-02 9.99232112e-01 7.73982790e-04 -1.26385649e+01] [ 1.46987362e-02 -1.35074129e-03 9.99891055e-01 3.48568071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.560714057 meters Centerline goodness [0,1] 0.9603840106722569 Centerline is valid? [True, True] Translation: X:327.48, Y:-12.65, Z:3.49 [[ 9.99146274e-01 -3.87138180e-02 -1.44209151e-02 3.27482543e+02] [ 3.87287575e-02 9.99249473e-01 7.58030375e-04 -1.26482453e+01] [ 1.43807456e-02 -1.31588735e-03 9.99895726e-01 3.48500297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.590714057 meters Centerline goodness [0,1] 0.9606598075959036 Centerline is valid? [True, True] Translation: X:327.52, Y:-12.65, Z:3.49 [[ 9.99175885e-01 -3.80578732e-02 -1.41120293e-02 3.27515208e+02] [ 3.80721299e-02 9.99274718e-01 7.42881800e-04 -1.26485593e+01] [ 1.40735216e-02 -1.27954459e-03 9.99900144e-01 3.48564174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.620714057 meters Centerline goodness [0,1] 0.9581659012629162 Centerline is valid? [True, True] Translation: X:327.55, Y:-12.65, Z:3.49 [[ 9.99226950e-01 -3.71294442e-02 -1.29192316e-02 3.27546066e+02] [ 3.71413229e-02 9.99309791e-01 6.80665017e-04 -1.26500375e+01] [ 1.28850419e-02 -1.15997618e-03 9.99916312e-01 3.48565338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.650714057 meters Centerline goodness [0,1] 0.9579432521964568 Centerline is valid? [True, True] Translation: X:327.58, Y:-12.65, Z:3.49 [[ 9.99265386e-01 -3.62882740e-02 -1.23227594e-02 3.27577704e+02] [ 3.62990227e-02 9.99340762e-01 6.49646786e-04 -1.26508808e+01] [ 1.22910612e-02 -1.09647367e-03 9.99923861e-01 3.48587481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.680714057 meters Centerline goodness [0,1] 0.9652456975992724 Centerline is valid? [True, True] Translation: X:327.61, Y:-12.64, Z:3.49 [[ 9.99344086e-01 -3.40636261e-02 -1.22909443e-02 3.27609210e+02] [ 3.40741556e-02 9.99419097e-01 6.48236778e-04 -1.26391732e+01] [ 1.22617232e-02 -1.06661514e-03 9.99924253e-01 3.48697773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.710714057 meters Centerline goodness [0,1] 0.9686022228089969 Centerline is valid? [True, True] Translation: X:327.64, Y:-12.64, Z:3.49 [[ 9.99381561e-01 -3.29665401e-02 -1.22353193e-02 3.27641386e+02] [ 3.29768996e-02 9.99455905e-01 6.45845746e-04 -1.26361465e+01] [ 1.22073708e-02 -1.04892923e-03 9.99924937e-01 3.48738538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.740714057 meters Centerline goodness [0,1] 0.9661673119003534 Centerline is valid? [True, True] Translation: X:327.67, Y:-12.64, Z:3.49 [[ 9.99444455e-01 -3.09496476e-02 -1.23652640e-02 3.27670804e+02] [ 3.09600751e-02 9.99520409e-01 6.52718477e-04 -1.26387567e+01] [ 1.23391323e-02 -1.03518536e-03 9.99923334e-01 3.48616295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.770714057 meters Centerline goodness [0,1] 0.9674806547260324 Centerline is valid? [True, True] Translation: X:327.70, Y:-12.64, Z:3.49 [[ 9.99466337e-01 -3.00289997e-02 -1.28569102e-02 3.27703115e+02] [ 3.00402053e-02 9.99548460e-01 6.79287341e-04 -1.26394377e+01] [ 1.28307065e-02 -1.06514905e-03 9.99917116e-01 3.48610060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.800714057 meters Centerline goodness [0,1] 0.9689971070395371 Centerline is valid? [True, True] Translation: X:327.74, Y:-12.63, Z:3.49 [[ 9.99508995e-01 -2.83556714e-02 -1.33313734e-02 3.27735288e+02] [ 2.83675819e-02 9.99597310e-01 7.05133541e-04 -1.26341554e+01] [ 1.33060105e-02 -1.08296614e-03 9.99910885e-01 3.48582878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.830714057 meters Centerline goodness [0,1] 0.9665122563211735 Centerline is valid? [True, True] Translation: X:327.77, Y:-12.64, Z:3.49 [[ 9.99520809e-01 -2.77264515e-02 -1.37621378e-02 3.27766381e+02] [ 2.77391062e-02 9.99614931e-01 7.29463180e-04 -1.26396937e+01] [ 1.37366130e-02 -1.11086303e-03 9.99905031e-01 3.48509431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.860714057 meters Centerline goodness [0,1] 0.9676663202919215 Centerline is valid? [True, True] Translation: X:327.80, Y:-12.64, Z:3.48 [[ 9.99555379e-01 -2.65309141e-02 -1.36071574e-02 3.27798239e+02] [ 2.65431883e-02 9.99647407e-01 7.22205642e-04 -1.26373681e+01] [ 1.35831989e-02 -1.08306188e-03 9.99907158e-01 3.48471252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.890714057 meters Centerline goodness [0,1] 0.9681514799767846 Centerline is valid? [True, True] Translation: X:327.83, Y:-12.63, Z:3.49 [[ 9.99584781e-01 -2.55319917e-02 -1.33560036e-02 3.27830244e+02] [ 2.55437377e-02 9.99673454e-01 7.09578016e-04 -1.26346307e+01] [ 1.33335253e-02 -1.05044564e-03 9.99910553e-01 3.48507162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.920714057 meters Centerline goodness [0,1] 0.9658034849951598 Centerline is valid? [True, True] Translation: X:327.86, Y:-12.64, Z:3.48 [[ 9.99609378e-01 -2.48792454e-02 -1.27324265e-02 3.27861124e+02] [ 2.48898779e-02 9.99689970e-01 6.77274235e-04 -1.26414349e+01] [ 1.27116290e-02 -9.93918217e-04 9.99918710e-01 3.48489435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.950714057 meters Centerline goodness [0,1] 0.9689243607782252 Centerline is valid? [True, True] Translation: X:327.89, Y:-12.63, Z:3.49 [[ 9.99621853e-01 -2.44775128e-02 -1.25300402e-02 3.27893846e+02] [ 2.44877898e-02 9.99699906e-01 6.67397437e-04 -1.26345355e+01] [ 1.25099438e-02 -9.73978054e-04 9.99921273e-01 3.48645780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.980714057 meters Centerline goodness [0,1] 0.9673039084703767 Centerline is valid? [True, True] Translation: X:327.93, Y:-12.64, Z:3.49 [[ 9.99620369e-01 -2.48122359e-02 -1.19779351e-02 3.27925146e+02] [ 2.48216592e-02 9.99691691e-01 6.38675844e-04 -1.26383652e+01] [ 1.19583952e-02 -9.35745604e-04 9.99928058e-01 3.48639434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01071405700003 meters Centerline goodness [0,1] 0.9654496624809465 Centerline is valid? [True, True] Translation: X:327.96, Y:-12.64, Z:3.49 [[ 9.99611657e-01 -2.51464288e-02 -1.20080115e-02 3.27956222e+02] [ 2.51559309e-02 9.99683334e-01 6.40908106e-04 -1.26428610e+01] [ 1.19880924e-02 -9.42731922e-04 9.99927696e-01 3.48595323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.040714057 meters Centerline goodness [0,1] 0.9651546792287893 Centerline is valid? [True, True] Translation: X:327.99, Y:-12.65, Z:3.49 [[ 9.99571528e-01 -2.65937295e-02 -1.22283898e-02 3.27987335e+02] [ 2.66036971e-02 9.99645846e-01 6.53148719e-04 -1.26452953e+01] [ 1.22066894e-02 -9.78189241e-04 9.99925017e-01 3.48615285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07071405700003 meters Centerline goodness [0,1] 0.9650409069942463 Centerline is valid? [True, True] Translation: X:328.02, Y:-12.65, Z:3.49 [[ 9.99556075e-01 -2.73221459e-02 -1.18807787e-02 3.28019091e+02] [ 2.73316174e-02 9.99626220e-01 6.35541769e-04 -1.26465710e+01] [ 1.18589735e-02 -9.59980533e-04 9.99929219e-01 3.48567716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.100714057 meters Centerline goodness [0,1] 0.9665513822042712 Centerline is valid? [True, True] Translation: X:328.05, Y:-12.65, Z:3.48 [[ 9.99581742e-01 -2.50867478e-02 -1.43873608e-02 3.28048949e+02] [ 2.51004297e-02 9.99684637e-01 7.71151825e-04 -1.26537733e+01] [ 1.43634778e-02 -1.13195822e-03 9.99896199e-01 3.48068406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13071405700003 meters Centerline goodness [0,1] 0.9692367131094101 Centerline is valid? [True, True] Translation: X:328.08, Y:-12.66, Z:3.48 [[ 9.99604455e-01 -2.39454423e-02 -1.47495859e-02 3.28080688e+02] [ 2.39597113e-02 9.99712612e-01 7.91444058e-04 -1.26583703e+01] [ 1.47263956e-02 -1.14452683e-03 9.99890906e-01 3.47936774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.160714057 meters Centerline goodness [0,1] 0.9655338868507434 Centerline is valid? [True, True] Translation: X:328.11, Y:-12.66, Z:3.48 [[ 9.99668819e-01 -2.22049608e-02 -1.30073913e-02 3.28110782e+02] [ 2.22159129e-02 9.99752952e-01 6.98092967e-04 -1.26611871e+01] [ 1.29886767e-02 -9.86832845e-04 9.99915157e-01 3.48393022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19071405700004 meters Centerline goodness [0,1] 0.9665038381018841 Centerline is valid? [True, True] Translation: X:328.14, Y:-12.66, Z:3.49 [[ 9.99720343e-01 -2.01266897e-02 -1.24157948e-02 3.28141753e+02] [ 2.01365108e-02 9.99797018e-01 6.66494634e-04 -1.26625188e+01] [ 1.23998602e-02 -9.16319029e-04 9.99922699e-01 3.48504414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.220714057 meters Centerline goodness [0,1] 0.9697787631946787 Centerline is valid? [True, True] Translation: X:328.17, Y:-12.66, Z:3.49 [[ 9.99768916e-01 -1.67119052e-02 -1.35213521e-02 3.28172681e+02] [ 1.67232450e-02 9.99859893e-01 7.26021946e-04 -1.26608723e+01] [ 1.35073244e-02 -9.51975057e-04 9.99908319e-01 3.48542851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.250714057 meters Centerline goodness [0,1] 0.9703776667307322 Centerline is valid? [True, True] Translation: X:328.20, Y:-12.67, Z:3.48 [[ 9.99791441e-01 -1.43154024e-02 -1.45651309e-02 3.28201857e+02] [ 1.43283054e-02 9.99897039e-01 7.81916567e-04 -1.26667682e+01] [ 1.45524379e-02 -9.90447137e-04 9.99893617e-01 3.48317428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.280714057 meters Centerline goodness [0,1] 0.9701311373967679 Centerline is valid? [True, True] Translation: X:328.23, Y:-12.68, Z:3.48 [[ 9.99816765e-01 -1.19640524e-02 -1.49431737e-02 3.28230155e+02] [ 1.19773631e-02 9.99927948e-01 8.01571721e-04 -1.26756836e+01] [ 1.49325069e-02 -9.80404662e-04 9.99888023e-01 3.47934013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.310714057 meters Centerline goodness [0,1] 0.9739687529770411 Centerline is valid? [True, True] Translation: X:328.26, Y:-12.67, Z:3.48 [[ 9.99836060e-01 -1.13906579e-02 -1.40749973e-02 3.28259164e+02] [ 1.14023699e-02 9.99934708e-01 7.52141162e-04 -1.26699255e+01] [ 1.40655109e-02 -9.12506181e-04 9.99900659e-01 3.48206143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.340714057 meters Centerline goodness [0,1] 0.9743968371162502 Centerline is valid? [True, True] Translation: X:328.29, Y:-12.67, Z:3.48 [[ 9.99865191e-01 -1.08208738e-02 -1.23494149e-02 3.28288030e+02] [ 1.08298097e-02 9.99941140e-01 6.56947497e-04 -1.26709449e+01] [ 1.23415792e-02 -7.90600748e-04 9.99923527e-01 3.48480529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.370714057 meters Centerline goodness [0,1] 0.9751960389471939 Centerline is valid? [True, True] Translation: X:328.32, Y:-12.67, Z:3.49 [[ 9.99890409e-01 -8.65072747e-03 -1.20139348e-02 3.28316794e+02] [ 8.65901514e-03 9.99962307e-01 6.37991927e-04 -1.26724031e+01] [ 1.20079629e-02 -7.41950853e-04 9.99927627e-01 3.48772522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.400714057 meters Centerline goodness [0,1] 0.975746623549553 Centerline is valid? [True, True] Translation: X:328.34, Y:-12.68, Z:3.49 [[ 9.99886152e-01 -8.43945181e-03 -1.25083812e-02 3.28344969e+02] [ 8.44838907e-03 9.99964093e-01 6.61833399e-04 -1.26752265e+01] [ 1.25023465e-02 -7.67433721e-04 9.99921548e-01 3.48707957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.430714057 meters Centerline goodness [0,1] 0.9756396940798792 Centerline is valid? [True, True] Translation: X:328.37, Y:-12.68, Z:3.49 [[ 9.99888395e-01 -8.05556242e-03 -1.25819811e-02 3.28373434e+02] [ 8.06453584e-03 9.99967262e-01 6.62622864e-04 -1.26823515e+01] [ 1.25762314e-02 -7.64016750e-04 9.99920624e-01 3.48624851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.460714057 meters Centerline goodness [0,1] 0.9738677600263914 Centerline is valid? [True, True] Translation: X:328.40, Y:-12.69, Z:3.49 [[ 9.99878532e-01 -9.14608597e-03 -1.26202367e-02 3.28401007e+02] [ 9.15518020e-03 9.99957871e-01 6.63021238e-04 -1.26905952e+01] [ 1.26136410e-02 -7.78481243e-04 9.99920142e-01 3.48616549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.490714057 meters Centerline goodness [0,1] 0.9754169910585793 Centerline is valid? [True, True] Translation: X:328.43, Y:-12.69, Z:3.49 [[ 9.99867856e-01 -1.02106341e-02 -1.26496282e-02 3.28429324e+02] [ 1.02198418e-02 9.99947556e-01 6.63471328e-04 -1.26928646e+01] [ 1.26421903e-02 -7.92660854e-04 9.99919770e-01 3.48647889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.520714057 meters Centerline goodness [0,1] 0.9739005488422491 Centerline is valid? [True, True] Translation: X:328.46, Y:-12.70, Z:3.49 [[ 9.99857122e-01 -1.15424098e-02 -1.23494027e-02 3.28458071e+02] [ 1.15512562e-02 9.99933074e-01 6.45251759e-04 -1.26957989e+01] [ 1.23411284e-02 -7.87810682e-04 9.99923535e-01 3.48687220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.550714057 meters Centerline goodness [0,1] 0.9757937902753369 Centerline is valid? [True, True] Translation: X:328.49, Y:-12.70, Z:3.49 [[ 9.99837351e-01 -1.29176516e-02 -1.25859712e-02 3.28487162e+02] [ 1.29269295e-02 9.99916229e-01 6.56084507e-04 -1.26970954e+01] [ 1.25764418e-02 -8.18675758e-04 9.99920578e-01 3.48742959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.580714057 meters Centerline goodness [0,1] 0.975050809447053 Centerline is valid? [True, True] Translation: X:328.52, Y:-12.71, Z:3.49 [[ 9.99821050e-01 -1.38784163e-02 -1.28552757e-02 3.28515134e+02] [ 1.38881647e-02 9.99903331e-01 6.69353498e-04 -1.27118657e+01] [ 1.28447434e-02 -8.47769904e-04 9.99917143e-01 3.48546090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.610714057 meters Centerline goodness [0,1] 0.9762922476817789 Centerline is valid? [True, True] Translation: X:328.54, Y:-12.71, Z:3.49 [[ 9.99820655e-01 -1.42039343e-02 -1.25261835e-02 3.28544842e+02] [ 1.42132092e-02 9.99898775e-01 6.51726937e-04 -1.27094335e+01] [ 1.25156584e-02 -8.29647320e-04 9.99921332e-01 3.48631226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.640714057 meters Centerline goodness [0,1] 0.9775320221180094 Centerline is valid? [True, True] Translation: X:328.58, Y:-12.71, Z:3.49 [[ 9.99837397e-01 -1.28636600e-02 -1.26374789e-02 3.28575258e+02] [ 1.28729924e-02 9.99916923e-01 6.57404229e-04 -1.27074427e+01] [ 1.26279724e-02 -8.19979503e-04 9.99919928e-01 3.48927834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.670714057 meters Centerline goodness [0,1] 0.9753339228370643 Centerline is valid? [True, True] Translation: X:328.60, Y:-12.71, Z:3.49 [[ 9.99853439e-01 -1.14666788e-02 -1.27128021e-02 3.28603331e+02] [ 1.14760040e-02 9.99933930e-01 6.60815932e-04 -1.27134368e+01] [ 1.27043848e-02 -8.06611251e-04 9.99918971e-01 3.48921763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.700714057 meters Centerline goodness [0,1] 0.9773541036968147 Centerline is valid? [True, True] Translation: X:328.63, Y:-12.71, Z:3.49 [[ 9.99869096e-01 -9.86484710e-03 -1.28248121e-02 3.28633153e+02] [ 9.87419950e-03 9.99951027e-01 6.66125799e-04 -1.27096283e+01] [ 1.28176128e-02 -7.92673353e-04 9.99917537e-01 3.49035755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.730714057 meters Centerline goodness [0,1] 0.9755813411622163 Centerline is valid? [True, True] Translation: X:328.66, Y:-12.72, Z:3.49 [[ 9.99898094e-01 -6.07425155e-03 -1.29192124e-02 3.28661763e+02] [ 6.08342171e-03 9.99981271e-01 6.70627880e-04 -1.27160185e+01] [ 1.29148969e-02 -7.49152556e-04 9.99916319e-01 3.48942866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76071405700003 meters Centerline goodness [0,1] 0.9775529707932216 Centerline is valid? [True, True] Translation: X:328.69, Y:-12.71, Z:3.49 [[ 9.99908241e-01 -4.40052530e-03 -1.28118933e-02 3.28691142e+02] [ 4.40937808e-03 9.99990059e-01 6.62815944e-04 -1.27140680e+01] [ 1.28088492e-02 -7.19247606e-04 9.99917705e-01 3.49024624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.790714057 meters Centerline goodness [0,1] 0.9779442655090324 Centerline is valid? [True, True] Translation: X:328.72, Y:-12.72, Z:3.49 [[ 9.99923570e-01 -1.15057142e-03 -1.23097697e-02 3.28719584e+02] [ 1.15848406e-03 9.99999127e-01 6.35682137e-04 -1.27169145e+01] [ 1.23090275e-02 -6.49894223e-04 9.99924030e-01 3.49028644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82071405700003 meters Centerline goodness [0,1] 0.9799948584916685 Centerline is valid? [True, True] Translation: X:328.75, Y:-12.71, Z:3.49 [[ 9.99924927e-01 2.95212789e-03 -1.18922659e-02 3.28749831e+02] [-2.94503783e-03 9.99995475e-01 6.13658899e-04 -1.27119388e+01] [ 1.18940237e-02 -5.78589656e-04 9.99929096e-01 3.49277479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.850714057 meters Centerline goodness [0,1] 0.9812699969639646 Centerline is valid? [True, True] Translation: X:328.78, Y:-12.71, Z:3.49 [[ 9.99918282e-01 4.65840061e-03 -1.19049427e-02 3.28778330e+02] [-4.65142473e-03 9.99988994e-01 6.13586639e-04 -1.27117507e+01] [ 1.19076700e-02 -5.58161553e-04 9.99928945e-01 3.49374330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88071405700003 meters Centerline goodness [0,1] 0.9801290563048897 Centerline is valid? [True, True] Translation: X:328.81, Y:-12.71, Z:3.49 [[ 9.99912001e-01 5.65071434e-03 -1.20024934e-02 3.28806137e+02] [-5.64370697e-03 9.99983883e-01 6.17616433e-04 -1.27140912e+01] [ 1.20057900e-02 -5.49823527e-04 9.99927777e-01 3.49367952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.910714057 meters Centerline goodness [0,1] 0.9818372825960079 Centerline is valid? [True, True] Translation: X:328.83, Y:-12.72, Z:3.49 [[ 9.99904592e-01 6.50549633e-03 -1.21854879e-02 3.28834745e+02] [-6.49834809e-03 9.99978689e-01 6.26121876e-04 -1.27166038e+01] [ 1.21893015e-02 -5.46876596e-04 9.99925558e-01 3.49321259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.940714057 meters Centerline goodness [0,1] 0.9805624579085483 Centerline is valid? [True, True] Translation: X:328.86, Y:-12.72, Z:3.49 [[ 9.99899491e-01 6.35592053e-03 -1.26732395e-02 3.28863011e+02] [-6.34818781e-03 9.99979639e-01 6.50295512e-04 -1.27193773e+01] [ 1.26771147e-02 -5.69778046e-04 9.99919480e-01 3.49294543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.970714057 meters Centerline goodness [0,1] 0.9821004055376871 Centerline is valid? [True, True] Translation: X:328.89, Y:-12.72, Z:3.49 [[ 9.99906660e-01 4.54082993e-03 -1.28860936e-02 3.28892405e+02] [-4.53269223e-03 9.99989509e-01 6.60645957e-04 -1.27217173e+01] [ 1.28889583e-02 -6.02175596e-04 9.99916753e-01 3.49392423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.000714057 meters Centerline goodness [0,1] 0.979006395402725 Centerline is valid? [True, True] Translation: X:328.92, Y:-12.73, Z:3.49 [[ 9.99912450e-01 1.51019758e-03 -1.31458176e-02 3.28920478e+02] [-1.50147570e-03 9.99998646e-01 6.73316202e-04 -1.27332805e+01] [ 1.31468166e-02 -6.53519127e-04 9.99913363e-01 3.49281532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.030714057 meters Centerline goodness [0,1] 0.9803188028627196 Centerline is valid? [True, True] Translation: X:328.95, Y:-12.73, Z:3.49 [[ 9.99906430e-01 -4.28570042e-04 -1.36729036e-02 3.28949750e+02] [ 4.38176201e-04 9.99999659e-01 6.99581085e-04 -1.27306404e+01] [ 1.36725991e-02 -7.05506766e-04 9.99906277e-01 3.49373477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.060714057 meters Centerline goodness [0,1] 0.980775911986103 Centerline is valid? [True, True] Translation: X:328.98, Y:-12.74, Z:3.49 [[ 9.99898269e-01 -2.11212821e-03 -1.41063977e-02 3.28978032e+02] [ 2.12250972e-03 9.99997488e-01 7.21012884e-04 -1.27350320e+01] [ 1.41048394e-02 -7.50880501e-04 9.99900240e-01 3.49337721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.090714057 meters Centerline goodness [0,1] 0.9796685698370701 Centerline is valid? [True, True] Translation: X:329.01, Y:-12.74, Z:3.49 [[ 9.99868738e-01 -5.91903171e-03 -1.50821572e-02 3.29006877e+02] [ 5.93132209e-03 9.99982113e-01 7.70294081e-04 -1.27413915e+01] [ 1.50773280e-02 -8.59650103e-04 9.99885961e-01 3.49206954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.120714057 meters Centerline goodness [0,1] 0.9796685698370701 Centerline is valid? [True, True] Translation: X:329.03, Y:-12.74, Z:3.49 [[ 9.99867064e-01 -6.19490264e-03 -1.50823296e-02 3.29034282e+02] [ 6.20717340e-03 9.99980441e-01 7.66909088e-04 -1.27427069e+01] [ 1.50772837e-02 -8.60425774e-04 9.99885961e-01 3.49215792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.150714057 meters Centerline goodness [0,1] 0.9797731437452158 Centerline is valid? [True, True] Translation: X:329.06, Y:-12.74, Z:3.49 [[ 9.99845084e-01 -7.81797353e-03 -1.57698218e-02 3.29063951e+02] [ 7.83156818e-03 9.99969012e-01 8.00495276e-04 -1.27433373e+01] [ 1.57630749e-02 -9.23873701e-04 9.99875328e-01 3.49269249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.180714057 meters Centerline goodness [0,1] 0.978735698601641 Centerline is valid? [True, True] Translation: X:329.09, Y:-12.75, Z:3.49 [[ 9.99820216e-01 -9.90456185e-03 -1.61689481e-02 3.29092381e+02] [ 9.91911245e-03 9.99950468e-01 8.19960428e-04 -1.27487863e+01] [ 1.61600259e-02 -9.80194627e-04 9.99868938e-01 3.49299166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.210714057 meters Centerline goodness [0,1] 0.9783322541855517 Centerline is valid? [True, True] Translation: X:329.12, Y:-12.75, Z:3.49 [[ 9.99806147e-01 -1.12430344e-02 -1.61635912e-02 3.29120676e+02] [ 1.12577291e-02 9.99936295e-01 8.18418085e-04 -1.27505290e+01] [ 1.61533600e-02 -1.00022476e-03 9.99869026e-01 3.49343594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.240714057 meters Centerline goodness [0,1] 0.9784054690747841 Centerline is valid? [True, True] Translation: X:329.15, Y:-12.75, Z:3.49 [[ 9.99780698e-01 -1.27801022e-02 -1.65898787e-02 3.29150208e+02] [ 1.27957809e-02 9.99917778e-01 8.39264588e-04 -1.27524957e+01] [ 1.65777887e-02 -1.05136099e-03 9.99862026e-01 3.49350527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.270714057 meters Centerline goodness [0,1] 0.9789583333333334 Centerline is valid? [True, True] Translation: X:329.18, Y:-12.75, Z:3.49 [[ 9.99767568e-01 -1.36705537e-02 -1.66711032e-02 3.29178954e+02] [ 1.36864542e-02 9.99905983e-01 8.40050289e-04 -1.27547460e+01] [ 1.66580518e-02 -1.06802332e-03 9.99860675e-01 3.49332910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.300714057 meters Centerline goodness [0,1] 0.9800217356117187 Centerline is valid? [True, True] Translation: X:329.21, Y:-12.75, Z:3.49 [[ 9.99741029e-01 -1.50649542e-02 -1.70564596e-02 3.29209099e+02] [ 1.50817785e-02 9.99885895e-01 8.58184650e-04 -1.27486405e+01] [ 1.70415849e-02 -1.11520415e-03 9.99854160e-01 3.49439867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.330714057 meters Centerline goodness [0,1] 0.9795785911314063 Centerline is valid? [True, True] Translation: X:329.24, Y:-12.75, Z:3.49 [[ 9.99720378e-01 -1.58064902e-02 -1.75875170e-02 3.29237123e+02] [ 1.58244750e-02 9.99874394e-01 8.83884702e-04 -1.27505117e+01] [ 1.75713368e-02 -1.16195077e-03 9.99844937e-01 3.49450805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.360714057 meters Centerline goodness [0,1] 0.9795956137509833 Centerline is valid? [True, True] Translation: X:329.26, Y:-12.75, Z:3.50 [[ 9.99731873e-01 -1.58744303e-02 -1.68577815e-02 3.29264822e+02] [ 1.58909395e-02 9.99873373e-01 8.45811444e-04 -1.27516605e+01] [ 1.68422201e-02 -1.11347065e-03 9.99857540e-01 3.49543453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.390714057 meters Centerline goodness [0,1] 0.9783354186941008 Centerline is valid? [True, True] Translation: X:329.29, Y:-12.75, Z:3.50 [[ 9.99737839e-01 -1.69746494e-02 -1.53660303e-02 3.29294080e+02] [ 1.69884443e-02 9.99855391e-01 7.67662517e-04 -1.27495309e+01] [ 1.53507774e-02 -1.02850622e-03 9.99881641e-01 3.49799697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.420714057 meters Centerline goodness [0,1] 0.9790580767716079 Centerline is valid? [True, True] Translation: X:329.32, Y:-12.75, Z:3.50 [[ 9.99739183e-01 -1.75740410e-02 -1.45849058e-02 3.29323485e+02] [ 1.75865154e-02 9.99845081e-01 7.27471427e-04 -1.27517201e+01] [ 1.45698617e-02 -9.83779361e-04 9.99893370e-01 3.49878887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.450714057 meters Centerline goodness [0,1] 0.9779705036638531 Centerline is valid? [True, True] Translation: X:329.35, Y:-12.75, Z:3.50 [[ 9.99730069e-01 -1.84853672e-02 -1.40740917e-02 3.29353445e+02] [ 1.84970686e-02 9.99828668e-01 7.01690560e-04 -1.27530951e+01] [ 1.40587094e-02 -9.61830593e-04 9.99900709e-01 3.49952988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.480714057 meters Centerline goodness [0,1] 0.9799043950433936 Centerline is valid? [True, True] Translation: X:329.38, Y:-12.75, Z:3.50 [[ 9.99684736e-01 -2.08445718e-02 -1.39975546e-02 3.29384194e+02] [ 2.08563757e-02 9.99782239e-01 6.97817999e-04 -1.27525122e+01] [ 1.39799608e-02 -9.89536260e-04 9.99901786e-01 3.50076835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51071405700003 meters Centerline goodness [0,1] 0.9787914609554274 Centerline is valid? [True, True] Translation: X:329.41, Y:-12.76, Z:3.50 [[ 9.99656667e-01 -2.20959420e-02 -1.40825494e-02 3.29414354e+02] [ 2.21080159e-02 9.99755341e-01 7.02249273e-04 -1.27565479e+01] [ 1.40635872e-02 -1.01334539e-03 9.99900589e-01 3.50003825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.540714057 meters Centerline goodness [0,1] 0.9787741308272765 Centerline is valid? [True, True] Translation: X:329.45, Y:-12.76, Z:3.50 [[ 9.99601625e-01 -2.35272800e-02 -1.55903136e-02 3.29445537e+02] [ 2.35422590e-02 9.99722540e-01 7.77936655e-04 -1.27592893e+01] [ 1.55676852e-02 -1.14465795e-03 9.99878161e-01 3.49798098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57071405700003 meters Centerline goodness [0,1] 0.9781539385261991 Centerline is valid? [True, True] Translation: X:329.48, Y:-12.76, Z:3.50 [[ 9.99582589e-01 -2.36749639e-02 -1.65572720e-02 3.29476936e+02] [ 2.36918888e-02 9.99718966e-01 8.26775030e-04 -1.27613936e+01] [ 1.65330450e-02 -1.21870297e-03 9.99862577e-01 3.49698239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.600714057 meters Centerline goodness [0,1] 0.9783589862284457 Centerline is valid? [True, True] Translation: X:329.51, Y:-12.76, Z:3.50 [[ 9.99580305e-01 -2.31296638e-02 -1.74422695e-02 3.29507136e+02] [ 2.31483705e-02 9.99731661e-01 8.71333253e-04 -1.27635972e+01] [ 1.74174354e-02 -1.27472767e-03 9.99847492e-01 3.49646284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63071405700003 meters Centerline goodness [0,1] 0.979152205099727 Centerline is valid? [True, True] Translation: X:329.54, Y:-12.76, Z:3.50 [[ 9.99585934e-01 -2.24963622e-02 -1.79408508e-02 3.29537570e+02] [ 2.25160534e-02 9.99746080e-01 8.96297616e-04 -1.27611726e+01] [ 1.79161318e-02 -1.29988364e-03 9.99838648e-01 3.49744146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.660714057 meters Centerline goodness [0,1] 0.9788174018183087 Centerline is valid? [True, True] Translation: X:329.57, Y:-12.76, Z:3.50 [[ 9.99601217e-01 -2.17251540e-02 -1.80395511e-02 3.29568046e+02] [ 2.17449375e-02 9.99763145e-01 9.01228533e-04 -1.27611613e+01] [ 1.80156990e-02 -1.29313805e-03 9.99836868e-01 3.49786266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.690714057 meters Centerline goodness [0,1] 0.9805397594854106 Centerline is valid? [True, True] Translation: X:329.60, Y:-12.76, Z:3.50 [[ 9.99658774e-01 -1.93084324e-02 -1.75931581e-02 3.29598839e+02] [ 1.93268765e-02 9.99812832e-01 8.78927417e-04 -1.27579718e+01] [ 1.75728945e-02 -1.21864830e-03 9.99844842e-01 3.49885811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.720714057 meters Centerline goodness [0,1] 0.9796889210176527 Centerline is valid? [True, True] Translation: X:329.63, Y:-12.76, Z:3.50 [[ 9.99737227e-01 -1.65946091e-02 -1.58144098e-02 3.29627884e+02] [ 1.66091668e-02 9.99861746e-01 7.89630576e-04 -1.27598692e+01] [ 1.57991198e-02 -1.05208725e-03 9.99874633e-01 3.49981130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.750714057 meters Centerline goodness [0,1] 0.9797658823804295 Centerline is valid? [True, True] Translation: X:329.66, Y:-12.76, Z:3.50 [[ 9.99761917e-01 -1.57405911e-02 -1.51110212e-02 3.29657573e+02] [ 1.57537777e-02 9.99875617e-01 7.54002778e-04 -1.27591622e+01] [ 1.50972732e-02 -9.91878931e-04 9.99885538e-01 3.50068084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.780714057 meters Centerline goodness [0,1] 0.9780294344743676 Centerline is valid? [True, True] Translation: X:329.69, Y:-12.76, Z:3.50 [[ 9.99784300e-01 -1.47587246e-02 -1.46127852e-02 3.29687362e+02] [ 1.47709443e-02 9.99890638e-01 7.28649111e-04 -1.27572718e+01] [ 1.46004332e-02 -9.44336578e-04 9.99892962e-01 3.50187409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.810714057 meters Centerline goodness [0,1] 0.9791769027397581 Centerline is valid? [True, True] Translation: X:329.72, Y:-12.75, Z:3.50 [[ 9.99814457e-01 -1.36008056e-02 -1.36407048e-02 3.29716920e+02] [ 1.36113398e-02 9.99907130e-01 6.79716753e-04 -1.27545105e+01] [ 1.36301933e-02 -8.65258906e-04 9.99906730e-01 3.50337498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.840714057 meters Centerline goodness [0,1] 0.9767197741958058 Centerline is valid? [True, True] Translation: X:329.75, Y:-12.76, Z:3.50 [[ 9.99811142e-01 -1.44146305e-02 -1.30345155e-02 3.29745569e+02] [ 1.44243123e-02 9.99895754e-01 6.49069439e-04 -1.27615177e+01] [ 1.30238006e-02 -8.36960779e-04 9.99914836e-01 3.50296406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.870714057 meters Centerline goodness [0,1] 0.9791608195341005 Centerline is valid? [True, True] Translation: X:329.78, Y:-12.76, Z:3.50 [[ 9.99785981e-01 -1.61353724e-02 -1.29476542e-02 3.29776169e+02] [ 1.61450679e-02 9.99869452e-01 6.44635019e-04 -1.27564664e+01] [ 1.29355624e-02 -8.53537810e-04 9.99915968e-01 3.50386388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.900714057 meters Centerline goodness [0,1] 0.9791115378310657 Centerline is valid? [True, True] Translation: X:329.81, Y:-12.76, Z:3.50 [[ 9.99767668e-01 -1.75334641e-02 -1.25374519e-02 3.29806462e+02] [ 1.75426693e-02 9.99845920e-01 6.24612286e-04 -1.27628642e+01] [ 1.25245686e-02 -8.44407542e-04 9.99921208e-01 3.50280254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.930714057 meters Centerline goodness [0,1] 0.976417402651877 Centerline is valid? [True, True] Translation: X:329.84, Y:-12.77, Z:3.50 [[ 9.99683974e-01 -2.12198390e-02 -1.34785401e-02 3.29835143e+02] [ 2.12308117e-02 9.99774375e-01 6.71501063e-04 -1.27741778e+01] [ 1.34612499e-02 -9.57449198e-04 9.99908935e-01 3.50101264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.960714057 meters Centerline goodness [0,1] 0.9800645040665608 Centerline is valid? [True, True] Translation: X:329.87, Y:-12.76, Z:3.50 [[ 9.99635498e-01 -2.28288992e-02 -1.44122190e-02 3.29867198e+02] [ 2.28416163e-02 9.99738838e-01 7.18367595e-04 -1.27639848e+01] [ 1.43920555e-02 -1.04730412e-03 9.99895881e-01 3.50231763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.990714057 meters Centerline goodness [0,1] 0.9787801511358585 Centerline is valid? [True, True] Translation: X:329.90, Y:-12.77, Z:3.50 [[ 9.99543729e-01 -2.54890383e-02 -1.62062320e-02 3.29898177e+02] [ 2.55054723e-02 9.99674356e-01 8.08144387e-04 -1.27673626e+01] [ 1.61803557e-02 -1.22112326e-03 9.99868344e-01 3.50146773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.020714057 meters Centerline goodness [0,1] 0.9789444132509826 Centerline is valid? [True, True] Translation: X:329.93, Y:-12.77, Z:3.50 [[ 9.99521447e-01 -2.60700914e-02 -1.66501462e-02 3.29929356e+02] [ 2.60875272e-02 9.99659317e-01 8.30811558e-04 -1.27702396e+01] [ 1.66228144e-02 -1.26477511e-03 9.99861032e-01 3.50087989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.050714057 meters Centerline goodness [0,1] 0.9784191185075954 Centerline is valid? [True, True] Translation: X:329.96, Y:-12.78, Z:3.50 [[ 9.99506893e-01 -2.64809876e-02 -1.68738792e-02 3.29959531e+02] [ 2.64989594e-02 9.99648486e-01 8.42328592e-04 -1.27765284e+01] [ 1.68456421e-02 -1.28905347e-03 9.99857271e-01 3.49961397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.080714057 meters Centerline goodness [0,1] 0.978449587008915 Centerline is valid? [True, True] Translation: X:329.99, Y:-12.78, Z:3.50 [[ 9.99498866e-01 -2.67492687e-02 -1.69261136e-02 3.29990856e+02] [ 2.67673990e-02 9.99641331e-01 8.45462082e-04 -1.27788771e+01] [ 1.68974273e-02 -1.29810643e-03 9.99856386e-01 3.49899439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.110714057 meters Centerline goodness [0,1] 0.978093296783112 Centerline is valid? [True, True] Translation: X:330.02, Y:-12.78, Z:3.50 [[ 9.99510530e-01 -2.64486588e-02 -1.67083338e-02 3.30022345e+02] [ 2.64662932e-02 9.99649357e-01 8.35152761e-04 -1.27805768e+01] [ 1.66803864e-02 -1.27695164e-03 9.99860057e-01 3.49911474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.140714057 meters Centerline goodness [0,1] 0.9794835845309031 Centerline is valid? [True, True] Translation: X:330.05, Y:-12.78, Z:3.50 [[ 9.99560245e-01 -2.47241757e-02 -1.63716841e-02 3.30053979e+02] [ 2.47408857e-02 9.99693562e-01 8.18885793e-04 -1.27788233e+01] [ 1.63464209e-02 -1.22357565e-03 9.99865640e-01 3.50075303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.170714057 meters Centerline goodness [0,1] 0.978207381370826 Centerline is valid? [True, True] Translation: X:330.08, Y:-12.78, Z:3.50 [[ 9.99596893e-01 -2.35130132e-02 -1.59119639e-02 3.30084985e+02] [ 2.35286505e-02 9.99722846e-01 7.96219908e-04 -1.27758765e+01] [ 1.58888323e-02 -1.17028598e-03 9.99873080e-01 3.50160493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.200714057 meters Centerline goodness [0,1] 0.9790690043127696 Centerline is valid? [True, True] Translation: X:330.12, Y:-12.78, Z:3.50 [[ 9.99648986e-01 -2.17227705e-02 -1.51666129e-02 3.30115124e+02] [ 2.17367759e-02 9.99763440e-01 7.59186249e-04 -1.27774059e+01] [ 1.51465335e-02 -1.08859303e-03 9.99884692e-01 3.50197290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.230714057 meters Centerline goodness [0,1] 0.9785454118199977 Centerline is valid? [True, True] Translation: X:330.15, Y:-12.78, Z:3.50 [[ 9.99725098e-01 -1.88117843e-02 -1.39944947e-02 3.30145154e+02] [ 1.88234253e-02 9.99822578e-01 7.00566269e-04 -1.27801509e+01] [ 1.39788329e-02 -9.63798008e-04 9.99901827e-01 3.50178879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26071405700003 meters Centerline goodness [0,1] 0.9793151805539324 Centerline is valid? [True, True] Translation: X:330.18, Y:-12.78, Z:3.50 [[ 9.99744407e-01 -1.80562485e-02 -1.36048904e-02 3.30176926e+02] [ 1.80671856e-02 9.99836543e-01 6.81423881e-04 -1.27758420e+01] [ 1.35903627e-02 -9.27051794e-04 9.99907217e-01 3.50234169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.290714057 meters Centerline goodness [0,1] 0.979187733697058 Centerline is valid? [True, True] Translation: X:330.21, Y:-12.78, Z:3.50 [[ 9.99782311e-01 -1.60967819e-02 -1.32749453e-02 3.30206433e+02] [ 1.61070222e-02 9.99870052e-01 6.64833477e-04 -1.27773040e+01] [ 1.32625186e-02 -8.78508588e-04 9.99911663e-01 3.50261275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32071405700003 meters Centerline goodness [0,1] 0.9774713950678701 Centerline is valid? [True, True] Translation: X:330.24, Y:-12.78, Z:3.50 [[ 9.99784436e-01 -1.57972937e-02 -1.34731942e-02 3.30236568e+02] [ 1.58078143e-02 9.99874821e-01 6.74705798e-04 -1.27778191e+01] [ 1.34608491e-02 -8.87542108e-04 9.99909005e-01 3.50197139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.350714057 meters Centerline goodness [0,1] 0.9796650717703349 Centerline is valid? [True, True] Translation: X:330.27, Y:-12.78, Z:3.50 [[ 9.99798886e-01 -1.44974890e-02 -1.38568050e-02 3.30267316e+02] [ 1.45084929e-02 9.99894505e-01 6.93916121e-04 -1.27757129e+01] [ 1.38452831e-02 -8.94817922e-04 9.99903749e-01 3.50353247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38071405700003 meters Centerline goodness [0,1] 0.9779823390251329 Centerline is valid? [True, True] Translation: X:330.30, Y:-12.78, Z:3.50 [[ 9.99782293e-01 -1.48753808e-02 -1.46317756e-02 3.30296303e+02] [ 1.48876875e-02 9.99888904e-01 7.32525463e-04 -1.27786670e+01] [ 1.46192535e-02 -9.50199289e-04 9.99892682e-01 3.50275623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.410714057 meters Centerline goodness [0,1] 0.979965668869189 Centerline is valid? [True, True] Translation: X:330.33, Y:-12.78, Z:3.50 [[ 9.99791425e-01 -1.45199761e-02 -1.43623484e-02 3.30325719e+02] [ 1.45317907e-02 9.99894150e-01 7.18587572e-04 -1.27780038e+01] [ 1.43503942e-02 -9.27148333e-04 9.99896598e-01 3.50301883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.440714057 meters Centerline goodness [0,1] 0.9797996425547926 Centerline is valid? [True, True] Translation: X:330.35, Y:-12.78, Z:3.50 [[ 9.99788705e-01 -1.40345938e-02 -1.50191846e-02 3.30354789e+02] [ 1.40474545e-02 9.99901048e-01 7.51124741e-04 -1.27810404e+01] [ 1.50071567e-02 -9.61947344e-04 9.99886924e-01 3.50199708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.470714057 meters Centerline goodness [0,1] 0.979104617621538 Centerline is valid? [True, True] Translation: X:330.38, Y:-12.78, Z:3.50 [[ 9.99793800e-01 -1.36320563e-02 -1.50507363e-02 3.30384763e+02] [ 1.36449186e-02 9.99906621e-01 7.52233839e-04 -1.27799938e+01] [ 1.50390763e-02 -9.57444799e-04 9.99886448e-01 3.50256842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.500714057 meters Centerline goodness [0,1] 0.9781205840791333 Centerline is valid? [True, True] Translation: X:330.41, Y:-12.78, Z:3.50 [[ 9.99806745e-01 -1.30700209e-02 -1.46849211e-02 3.30413364e+02] [ 1.30821947e-02 9.99914156e-01 7.33246327e-04 -1.27807805e+01] [ 1.46740770e-02 -9.25215621e-04 9.99891902e-01 3.50219327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.530714057 meters Centerline goodness [0,1] 0.976831795064984 Centerline is valid? [True, True] Translation: X:330.44, Y:-12.78, Z:3.50 [[ 9.99811057e-01 -1.26354669e-02 -1.47714265e-02 3.30442781e+02] [ 1.26477291e-02 9.99919743e-01 7.37004694e-04 -1.27805567e+01] [ 1.47609286e-02 -9.23690444e-04 9.99890625e-01 3.50282427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.560714057 meters Centerline goodness [0,1] 0.9786522148916117 Centerline is valid? [True, True] Translation: X:330.47, Y:-12.78, Z:3.50 [[ 9.99826201e-01 -1.23581069e-02 -1.39586735e-02 3.30472185e+02] [ 1.23689947e-02 9.99923260e-01 6.93941148e-04 -1.27788075e+01] [ 1.39490265e-02 -8.66475301e-04 9.99902332e-01 3.50384702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.590714057 meters Centerline goodness [0,1] 0.9775106448046296 Centerline is valid? [True, True] Translation: X:330.50, Y:-12.78, Z:3.51 [[ 9.99862357e-01 -1.12908487e-02 -1.21566080e-02 3.30501037e+02] [ 1.12990148e-02 9.99935982e-01 6.03266563e-04 -1.27788578e+01] [ 1.21490183e-02 -7.40541220e-04 9.99925924e-01 3.50518759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.620714057 meters Centerline goodness [0,1] 0.9771694871372419 Centerline is valid? [True, True] Translation: X:330.53, Y:-12.78, Z:3.51 [[ 9.99872719e-01 -1.11359911e-02 -1.14252450e-02 3.30530297e+02] [ 1.11431890e-02 9.99937752e-01 5.66539962e-04 -1.27794022e+01] [ 1.14182248e-02 -6.93781517e-04 9.99934569e-01 3.50561738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.650714057 meters Centerline goodness [0,1] 0.9748369936209778 Centerline is valid? [True, True] Translation: X:330.56, Y:-12.78, Z:3.51 [[ 9.99885410e-01 -1.13086734e-02 -1.00638266e-02 3.30559663e+02] [ 1.13142647e-02 9.99935867e-01 4.98820751e-04 -1.27807582e+01] [ 1.00575401e-02 -6.12628389e-04 9.99949234e-01 3.50672825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.680714057 meters Centerline goodness [0,1] 0.9754821066528361 Centerline is valid? [True, True] Translation: X:330.59, Y:-12.78, Z:3.51 [[ 9.99877838e-01 -1.17773131e-02 -1.02763617e-02 3.30589735e+02] [ 1.17831659e-02 9.99930446e-01 5.09182454e-04 -1.27812018e+01] [ 1.02696502e-02 -6.30208327e-04 9.99947067e-01 3.50647850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.710714057 meters Centerline goodness [0,1] 0.9763471919689365 Centerline is valid? [True, True] Translation: X:330.62, Y:-12.78, Z:3.51 [[ 9.99866557e-01 -1.25000582e-02 -1.05174644e-02 3.30619754e+02] [ 1.25062281e-02 9.99921658e-01 5.21074021e-04 -1.27838458e+01] [ 1.05101270e-02 -6.52538296e-04 9.99944554e-01 3.50600803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.740714057 meters Centerline goodness [0,1] 0.9763764661458948 Centerline is valid? [True, True] Translation: X:330.65, Y:-12.79, Z:3.50 [[ 9.99815772e-01 -1.44976638e-02 -1.25793666e-02 3.30649279e+02] [ 1.45066478e-02 9.99894579e-01 6.23228269e-04 -1.27863627e+01] [ 1.25690051e-02 -8.05597892e-04 9.99920682e-01 3.50379306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.770714057 meters Centerline goodness [0,1] 0.9758238118893856 Centerline is valid? [True, True] Translation: X:330.68, Y:-12.79, Z:3.50 [[ 9.99787382e-01 -1.55250355e-02 -1.35707391e-02 3.30679081e+02] [ 1.55355841e-02 9.99879090e-01 6.72225869e-04 -1.27889942e+01] [ 1.35586619e-02 -8.82912301e-04 9.99907687e-01 3.50258668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.800714057 meters Centerline goodness [0,1] 0.9762112666084535 Centerline is valid? [True, True] Translation: X:330.71, Y:-12.79, Z:3.50 [[ 9.99740861e-01 -1.72507103e-02 -1.48534298e-02 3.30709174e+02] [ 1.72635337e-02 9.99850704e-01 7.35534356e-04 -1.27918431e+01] [ 1.48385237e-02 -9.91766436e-04 9.99889411e-01 3.50128707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.830714057 meters Centerline goodness [0,1] 0.9773896624970498 Centerline is valid? [True, True] Translation: X:330.74, Y:-12.78, Z:3.50 [[ 9.99731942e-01 -1.76443493e-02 -1.49906694e-02 3.30739926e+02] [ 1.76574540e-02 9.99843819e-01 7.42277626e-04 -1.27827419e+01] [ 1.49752311e-02 -1.00677571e-03 9.99887358e-01 3.50269124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.860714057 meters Centerline goodness [0,1] 0.9755769185346151 Centerline is valid? [True, True] Translation: X:330.77, Y:-12.79, Z:3.50 [[ 9.99720070e-01 -1.79323190e-02 -1.54341543e-02 3.30770071e+02] [ 1.79462482e-02 9.99838661e-01 7.64450058e-04 -1.27943213e+01] [ 1.54179558e-02 -1.04122123e-03 9.99880594e-01 3.50125503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.890714057 meters Centerline goodness [0,1] 0.9752334455135802 Centerline is valid? [True, True] Translation: X:330.80, Y:-12.79, Z:3.50 [[ 9.99710722e-01 -1.79005333e-02 -1.60637099e-02 3.30799789e+02] [ 1.79156186e-02 9.99839186e-01 7.95670804e-04 -1.27937304e+01] [ 1.60468837e-02 -1.08323194e-03 9.99870654e-01 3.50174040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.920714057 meters Centerline goodness [0,1] 0.9789313846445857 Centerline is valid? [True, True] Translation: X:330.83, Y:-12.78, Z:3.50 [[ 9.99723376e-01 -1.75506695e-02 -1.56571171e-02 3.30831186e+02] [ 1.75649580e-02 9.99845423e-01 7.75526659e-04 -1.27784921e+01] [ 1.56410858e-02 -1.05032873e-03 9.99877119e-01 3.50497145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.950714057 meters Centerline goodness [0,1] 0.978984238178634 Centerline is valid? [True, True] Translation: X:330.86, Y:-12.78, Z:3.51 [[ 9.99720047e-01 -1.80519700e-02 -1.52955519e-02 3.30862113e+02] [ 1.80656645e-02 9.99836516e-01 7.57617649e-04 -1.27793567e+01] [ 1.52793748e-02 -1.03372986e-03 9.99882729e-01 3.50560324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.980714057 meters Centerline goodness [0,1] 0.978984238178634 Centerline is valid? [True, True] Translation: X:330.89, Y:-12.78, Z:3.51 [[ 9.99720691e-01 -1.80162793e-02 -1.52955305e-02 3.30892996e+02] [ 1.80299763e-02 9.99837159e-01 7.58048857e-04 -1.27809164e+01] [ 1.52793825e-02 -1.03361518e-03 9.99882729e-01 3.50570281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01071405700003 meters Centerline goodness [0,1] 0.9783096131605655 Centerline is valid? [True, True] Translation: X:330.92, Y:-12.79, Z:3.51 [[ 9.99708000e-01 -1.90307358e-02 -1.48911548e-02 3.30923011e+02] [ 1.90438347e-02 9.99818377e-01 7.38327313e-04 -1.27852906e+01] [ 1.48743993e-02 -1.02169641e-03 9.99888848e-01 3.50603754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.040714057 meters Centerline goodness [0,1] 0.9776646875883517 Centerline is valid? [True, True] Translation: X:330.95, Y:-12.79, Z:3.51 [[ 9.99668299e-01 -2.18163628e-02 -1.36871659e-02 3.30953818e+02] [ 2.18276920e-02 9.99761517e-01 6.78868247e-04 -1.27874440e+01] [ 1.36690913e-02 -9.77402307e-04 9.99906096e-01 3.50655760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07071405700003 meters Centerline goodness [0,1] 0.9204626019142148 Centerline is valid? [True, False] Translation: X:330.99, Y:-12.78, Z:3.51 [[ 9.99584099e-01 -2.39539995e-02 -1.60572293e-02 3.30985821e+02] [ 2.38389838e-02 9.99689038e-01 -7.31642856e-03 -1.27848559e+01] [ 1.62274938e-02 6.93059762e-03 9.99844306e-01 3.51207674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.100714057 meters Centerline goodness [0,1] 0.9745194351296462 Centerline is valid? [False, True] Translation: X:330.90, Y:-12.78, Z:3.51 [[ 9.99603393e-01 -2.43954338e-02 -1.40684034e-02 3.30899803e+02] [ 2.43757173e-02 9.99701633e-01 -1.57127229e-03 -1.27844045e+01] [ 1.41025378e-02 1.22772169e-03 9.99899801e-01 3.50789338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13071405700003 meters Centerline goodness [0,1] 0.9768098217225646 Centerline is valid? [True, True] Translation: X:330.93, Y:-12.78, Z:3.51 [[ 9.99570813e-01 -2.56828768e-02 -1.40918404e-02 3.30932385e+02] [ 2.56957265e-02 9.99669543e-01 7.31520901e-04 -1.27787546e+01] [ 1.40683961e-02 -1.09330702e-03 9.99900437e-01 3.50825371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.160714057 meters Centerline goodness [0,1] 0.9752644349690216 Centerline is valid? [True, True] Translation: X:330.96, Y:-12.78, Z:3.51 [[ 9.99546316e-01 -2.66582944e-02 -1.40177734e-02 3.30963098e+02] [ 2.66711161e-02 9.99643997e-01 7.28494304e-04 -1.27839587e+01] [ 1.39933626e-02 -1.10203346e-03 9.99901481e-01 3.50849926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.190714057 meters Centerline goodness [0,1] 0.973469676264078 Centerline is valid? [True, True] Translation: X:330.99, Y:-12.79, Z:3.51 [[ 9.99524125e-01 -2.71268849e-02 -1.46852185e-02 3.30994063e+02] [ 2.71410185e-02 9.99631323e-01 7.63963494e-04 -1.27883228e+01] [ 1.46590805e-02 -1.16217173e-03 9.99891875e-01 3.50837534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.220714057 meters Centerline goodness [0,1] 0.9757627198566511 Centerline is valid? [True, True] Translation: X:331.03, Y:-12.78, Z:3.51 [[ 9.99529936e-01 -2.69818176e-02 -1.45563976e-02 3.31026308e+02] [ 2.69957030e-02 9.99635262e-01 7.58226546e-04 -1.27836630e+01] [ 1.45306300e-02 -1.15083032e-03 9.99893763e-01 3.50896838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.250714057 meters Centerline goodness [0,1] 0.973140155702425 Centerline is valid? [True, True] Translation: X:331.06, Y:-12.79, Z:3.51 [[ 9.99558997e-01 -2.55183402e-02 -1.51863744e-02 3.31056367e+02] [ 2.55333054e-02 9.99673658e-01 7.92335779e-04 -1.27931660e+01] [ 1.51611994e-02 -1.17974469e-03 9.99884366e-01 3.50750700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.280714057 meters Centerline goodness [0,1] 0.9744419511042872 Centerline is valid? [True, True] Translation: X:331.09, Y:-12.79, Z:3.51 [[ 9.99572063e-01 -2.45744963e-02 -1.58677146e-02 3.31088035e+02] [ 2.45907314e-02 9.99697259e-01 8.28821050e-04 -1.27892705e+01] [ 1.58425430e-02 -1.21866508e-03 9.99873756e-01 3.50762484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.310714057 meters Centerline goodness [0,1] 0.9754009433962264 Centerline is valid? [True, True] Translation: X:331.12, Y:-12.79, Z:3.51 [[ 9.99611021e-01 -2.26295152e-02 -1.63006463e-02 3.31119898e+02] [ 2.26464053e-02 9.99743174e-01 8.52299124e-04 -1.27851051e+01] [ 1.62771728e-02 -1.22111864e-03 9.99866772e-01 3.50872236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.340714057 meters Centerline goodness [0,1] 0.9755433495904162 Centerline is valid? [True, True] Translation: X:331.15, Y:-12.78, Z:3.51 [[ 9.99696862e-01 -1.79926429e-02 -1.68062191e-02 3.31150765e+02] [ 1.80099491e-02 9.99837421e-01 8.78953065e-04 -1.27820388e+01] [ 1.67876721e-02 -1.18136577e-03 9.99858379e-01 3.50838223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.370714057 meters Centerline goodness [0,1] 0.9763518316667457 Centerline is valid? [True, True] Translation: X:331.18, Y:-12.78, Z:3.51 [[ 9.99737455e-01 -1.54863240e-02 -1.68877136e-02 3.31181200e+02] [ 1.55034386e-02 9.99879425e-01 8.82982242e-04 -1.27790819e+01] [ 1.68720033e-02 -1.14456805e-03 9.99857003e-01 3.50919998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.400714057 meters Centerline goodness [0,1] 0.97570013539514 Centerline is valid? [True, True] Translation: X:331.21, Y:-12.78, Z:3.51 [[ 9.99807717e-01 -1.10241638e-02 -1.62171779e-02 3.31211076e+02] [ 1.10393564e-02 9.99938705e-01 8.47595261e-04 -1.27779684e+01] [ 1.62068399e-02 -1.02645949e-03 9.99868134e-01 3.50974814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.430714057 meters Centerline goodness [0,1] 0.9743042715592851 Centerline is valid? [True, True] Translation: X:331.24, Y:-12.78, Z:3.51 [[ 9.99839710e-01 -8.98383243e-03 -1.54869257e-02 3.31241393e+02] [ 8.99743342e-03 9.99959195e-01 8.08771018e-04 -1.27784883e+01] [ 1.54790279e-02 -9.47983963e-04 9.99879743e-01 3.51017582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.460714057 meters Centerline goodness [0,1] 0.9755233953565742 Centerline is valid? [True, True] Translation: X:331.27, Y:-12.78, Z:3.51 [[ 9.99863858e-01 -6.93605529e-03 -1.49718826e-02 3.31271313e+02] [ 6.94852910e-03 9.99975553e-01 7.81290513e-04 -1.27780200e+01] [ 1.49660976e-02 -8.85216708e-04 9.99887610e-01 3.51092528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.490714057 meters Centerline goodness [0,1] 0.9763050104781863 Centerline is valid? [True, True] Translation: X:331.30, Y:-12.78, Z:3.51 [[ 9.99880948e-01 -3.93325266e-03 -1.49204295e-02 3.31301460e+02] [ 3.94529889e-03 9.99991915e-01 7.78016093e-04 -1.27762573e+01] [ 1.49172488e-02 -8.36789023e-04 9.99888382e-01 3.51116024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.520714057 meters Centerline goodness [0,1] 0.9754088604280239 Centerline is valid? [True, True] Translation: X:331.33, Y:-12.78, Z:3.51 [[ 9.99883449e-01 -2.52623559e-03 -1.50567668e-02 3.31329162e+02] [ 2.53832694e-03 9.99996471e-01 7.83994285e-04 -1.27814489e+01] [ 1.50547331e-02 -8.22121907e-04 9.99886333e-01 3.51030077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.550714057 meters Centerline goodness [0,1] 0.9760007588692847 Centerline is valid? [True, True] Translation: X:331.36, Y:-12.78, Z:3.51 [[ 9.99879028e-01 -1.39039745e-03 -1.54917812e-02 3.31358447e+02] [ 1.40301588e-03 9.99998693e-01 8.03685663e-04 -1.27791541e+01] [ 1.54906435e-02 -8.25323655e-04 9.99879672e-01 3.50977632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.580714057 meters Centerline goodness [0,1] 0.9762612687614471 Centerline is valid? [True, True] Translation: X:331.39, Y:-12.78, Z:3.51 [[ 9.99878047e-01 -9.84979367e-04 -1.55859417e-02 3.31387668e+02] [ 9.97664313e-04 9.99999177e-01 8.06116631e-04 -1.27800568e+01] [ 1.55851349e-02 -8.21567860e-04 9.99878207e-01 3.50980316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.610714057 meters Centerline goodness [0,1] 0.9764915193927174 Centerline is valid? [True, True] Translation: X:331.42, Y:-12.78, Z:3.51 [[ 9.99877808e-01 -1.09305163e-03 -1.55940292e-02 3.31415298e+02] [ 1.10570334e-03 9.99999067e-01 8.02718875e-04 -1.27811988e+01] [ 1.55931373e-02 -8.19863159e-04 9.99878084e-01 3.50961782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.640714057 meters Centerline goodness [0,1] 0.9766392858838612 Centerline is valid? [True, True] Translation: X:331.44, Y:-12.78, Z:3.51 [[ 9.99872370e-01 -2.02198457e-03 -1.58478494e-02 3.31444118e+02] [ 2.03513613e-03 9.99997598e-01 8.13780374e-04 -1.27842877e+01] [ 1.58461659e-02 -8.45929043e-04 9.99874084e-01 3.50931167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.670714057 meters Centerline goodness [0,1] 0.9776867138830329 Centerline is valid? [True, True] Translation: X:331.47, Y:-12.79, Z:3.51 [[ 9.99852444e-01 -4.25243513e-03 -1.66435150e-02 3.31473702e+02] [ 4.26723620e-03 9.99990531e-01 8.53887047e-04 -1.27872779e+01] [ 1.66397263e-02 -9.24782861e-04 9.99861122e-01 3.50882125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.700714057 meters Centerline goodness [0,1] 0.977186943620178 Centerline is valid? [True, True] Translation: X:331.50, Y:-12.79, Z:3.51 [[ 9.99844373e-01 -5.97800178e-03 -1.65979949e-02 3.31503379e+02] [ 5.99294920e-03 9.99981680e-01 8.50962408e-04 -1.27910631e+01] [ 1.65926038e-02 -9.50300916e-04 9.99861882e-01 3.50859438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.730714057 meters Centerline goodness [0,1] 0.9755781334716296 Centerline is valid? [True, True] Translation: X:331.53, Y:-12.80, Z:3.51 [[ 9.99841594e-01 -7.61564987e-03 -1.60869311e-02 3.31530664e+02] [ 7.62987410e-03 9.99970553e-01 8.23019932e-04 -1.27975132e+01] [ 1.60801896e-02 -9.45630820e-04 9.99870258e-01 3.50790704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76071405700003 meters Centerline goodness [0,1] 0.9782065191754328 Centerline is valid? [True, True] Translation: X:331.56, Y:-12.80, Z:3.51 [[ 9.99779064e-01 -1.24906184e-02 -1.69058439e-02 3.31560946e+02] [ 1.25070125e-02 9.99921411e-01 8.64342309e-04 -1.27997236e+01] [ 1.68937191e-02 -1.07559294e-03 9.99856712e-01 3.50806640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.790714057 meters Centerline goodness [0,1] 0.9770310104940455 Centerline is valid? [True, True] Translation: X:331.59, Y:-12.81, Z:3.51 [[ 9.99739539e-01 -1.51616381e-02 -1.70581275e-02 3.31590259e+02] [ 1.51787120e-02 9.99884417e-01 8.71891307e-04 -1.28073211e+01] [ 1.70429366e-02 -1.13058462e-03 9.99854119e-01 3.50718583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82071405700003 meters Centerline goodness [0,1] 0.9764678252700798 Centerline is valid? [True, True] Translation: X:331.62, Y:-12.81, Z:3.51 [[ 9.99636863e-01 -1.99396128e-02 -1.81260778e-02 3.31619917e+02] [ 1.99596677e-02 9.99800357e-01 9.26157885e-04 -1.28146616e+01] [ 1.81039918e-02 -1.28761205e-03 9.99835280e-01 3.50695453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.850714057 meters Centerline goodness [0,1] 0.9776031894934334 Centerline is valid? [True, True] Translation: X:331.65, Y:-12.82, Z:3.51 [[ 9.99582837e-01 -2.22269876e-02 -1.84421267e-02 3.31649985e+02] [ 2.22481293e-02 9.99752036e-01 9.41981507e-04 -1.28190211e+01] [ 1.84166163e-02 -1.35189137e-03 9.99829486e-01 3.50708405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88071405700003 meters Centerline goodness [0,1] 0.9764849166198238 Centerline is valid? [True, True] Translation: X:331.68, Y:-12.82, Z:3.51 [[ 9.99530738e-01 -2.43956185e-02 -1.85245240e-02 3.31680373e+02] [ 2.44173187e-02 9.99701405e-01 9.46118593e-04 -1.28224257e+01] [ 1.84959115e-02 -1.39799382e-03 9.99827959e-01 3.50728094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.910714057 meters Centerline goodness [0,1] 0.9755658856782452 Centerline is valid? [True, True] Translation: X:331.71, Y:-12.83, Z:3.51 [[ 9.99450961e-01 -2.77556518e-02 -1.80941826e-02 3.31709429e+02] [ 2.77768988e-02 9.99613721e-01 9.23937336e-04 -1.28309570e+01] [ 1.80615487e-02 -1.42603034e-03 9.99835860e-01 3.50750466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.940714057 meters Centerline goodness [0,1] 0.9769634729840121 Centerline is valid? [True, True] Translation: X:331.74, Y:-12.83, Z:3.51 [[ 9.99423929e-01 -2.90756874e-02 -1.75047093e-02 3.31740520e+02] [ 2.90957810e-02 9.99576228e-01 8.94260932e-04 -1.28322305e+01] [ 1.74712901e-02 -1.40305896e-03 9.99846381e-01 3.50844783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.970714057 meters Centerline goodness [0,1] 0.9757315373896888 Centerline is valid? [True, True] Translation: X:331.77, Y:-12.84, Z:3.51 [[ 9.99406883e-01 -3.03564418e-02 -1.62593979e-02 3.31771010e+02] [ 3.03739729e-02 9.99538258e-01 8.32293029e-04 -1.28383453e+01] [ 1.62266248e-02 -1.32566189e-03 9.99867461e-01 3.50881549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.000714057 meters Centerline goodness [0,1] 0.9760421769659645 Centerline is valid? [True, True] Translation: X:331.80, Y:-12.84, Z:3.51 [[ 9.99396231e-01 -3.08043820e-02 -1.60705735e-02 3.31803386e+02] [ 3.08215873e-02 9.99524562e-01 8.23974624e-04 -1.28416507e+01] [ 1.60375509e-02 -1.31879772e-03 9.99870520e-01 3.50908860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.030714057 meters Centerline goodness [0,1] 0.9774544776293395 Centerline is valid? [True, True] Translation: X:331.84, Y:-12.84, Z:3.51 [[ 9.99401622e-01 -3.08996898e-02 -1.55437096e-02 3.31835233e+02] [ 3.09158139e-02 9.99521673e-01 7.98069564e-04 -1.28409870e+01] [ 1.55116145e-02 -1.27813845e-03 9.99878871e-01 3.50997804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.060714057 meters Centerline goodness [0,1] 0.9787015892249615 Centerline is valid? [True, True] Translation: X:331.87, Y:-12.84, Z:3.51 [[ 9.99451989e-01 -2.94847379e-02 -1.50456601e-02 3.31866795e+02] [ 2.94996991e-02 9.99564490e-01 7.73372762e-04 -1.28437784e+01] [ 1.50163049e-02 -1.21679139e-03 9.99886509e-01 3.51084699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.090714057 meters Centerline goodness [0,1] 0.9751601820039001 Centerline is valid? [True, True] Translation: X:331.90, Y:-12.85, Z:3.51 [[ 9.99464141e-01 -2.91119154e-02 -1.49641674e-02 3.31898006e+02] [ 2.91266853e-02 9.99575432e-01 7.69980569e-04 -1.28521130e+01] [ 1.49353984e-02 -1.20542456e-03 9.99887734e-01 3.51067047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.120714057 meters Centerline goodness [0,1] 0.977138626003656 Centerline is valid? [True, True] Translation: X:331.93, Y:-12.85, Z:3.51 [[ 9.99482703e-01 -2.87537104e-02 -1.44065893e-02 3.31930726e+02] [ 2.87673765e-02 9.99585858e-01 7.42231300e-04 -1.28508796e+01] [ 1.43792810e-02 -1.15628713e-03 9.99895944e-01 3.51172818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.150714057 meters Centerline goodness [0,1] 0.978994034770095 Centerline is valid? [True, True] Translation: X:331.96, Y:-12.85, Z:3.51 [[ 9.99459548e-01 -2.92254474e-02 -1.50494530e-02 3.31962544e+02] [ 2.92404299e-02 9.99572106e-01 7.76432774e-04 -1.28525111e+01] [ 1.50203218e-02 -1.21606562e-03 9.99886449e-01 3.51125523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.180714057 meters Centerline goodness [0,1] 0.9770441778209307 Centerline is valid? [True, True] Translation: X:331.99, Y:-12.86, Z:3.51 [[ 9.99428323e-01 -2.96327525e-02 -1.62765930e-02 3.31992885e+02] [ 2.96503442e-02 9.99559979e-01 8.40487430e-04 -1.28586628e+01] [ 1.62445250e-02 -1.32261353e-03 9.99867174e-01 3.50925529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.210714057 meters Centerline goodness [0,1] 0.9784459880460619 Centerline is valid? [True, True] Translation: X:332.02, Y:-12.86, Z:3.51 [[ 9.99430660e-01 -2.93098540e-02 -1.67118913e-02 3.32024691e+02] [ 2.93283719e-02 9.99569457e-01 8.64008981e-04 -1.28610672e+01] [ 1.66793722e-02 -1.35364963e-03 9.99859973e-01 3.50856774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.240714057 meters Centerline goodness [0,1] 0.98095723486077 Centerline is valid? [True, True] Translation: X:332.06, Y:-12.86, Z:3.51 [[ 9.99396937e-01 -2.93380072e-02 -1.85753421e-02 3.32057081e+02] [ 2.93609156e-02 9.99568413e-01 9.61696939e-04 -1.28639132e+01] [ 1.85391110e-02 -1.50650603e-03 9.99827001e-01 3.50753023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.270714057 meters Centerline goodness [0,1] 0.9791984468173623 Centerline is valid? [True, True] Translation: X:332.09, Y:-12.87, Z:3.51 [[ 9.99393191e-01 -2.90253671e-02 -1.92555896e-02 3.32088005e+02] [ 2.90499479e-02 9.99577463e-01 9.98014243e-04 -1.28718033e+01] [ 1.92184857e-02 -1.55678251e-03 9.99814096e-01 3.50606334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.300714057 meters Centerline goodness [0,1] 0.9792651705606937 Centerline is valid? [True, True] Translation: X:332.12, Y:-12.87, Z:3.51 [[ 9.99387751e-01 -2.88228096e-02 -1.98335228e-02 3.32119005e+02] [ 2.88488640e-02 9.99583256e-01 1.02873421e-03 -1.28715642e+01] [ 1.97956062e-02 -1.60027897e-03 9.99802767e-01 3.50629624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.330714057 meters Centerline goodness [0,1] 0.9794637895906649 Centerline is valid? [True, True] Translation: X:332.15, Y:-12.87, Z:3.51 [[ 9.99389457e-01 -2.81897966e-02 -2.06409282e-02 3.32150601e+02] [ 2.82178967e-02 9.99601222e-01 1.07133691e-03 -1.28729340e+01] [ 2.06024963e-02 -1.65312639e-03 9.99786379e-01 3.50608188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.360714057 meters Centerline goodness [0,1] 0.9800429135039107 Centerline is valid? [True, True] Translation: X:332.18, Y:-12.88, Z:3.51 [[ 9.99415878e-01 -2.73452598e-02 -2.04972865e-02 3.32180496e+02] [ 2.73727965e-02 9.99624729e-01 1.06402104e-03 -1.28758176e+01] [ 2.04604985e-02 -1.62446757e-03 9.99789342e-01 3.50626099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.390714057 meters Centerline goodness [0,1] 0.9799653379549393 Centerline is valid? [True, True] Translation: X:332.21, Y:-12.88, Z:3.51 [[ 9.99488951e-01 -2.51277123e-02 -1.97594441e-02 3.32211646e+02] [ 2.51528764e-02 9.99683090e-01 1.02598910e-03 -1.28757248e+01] [ 1.97274014e-02 -1.52247163e-03 9.99804237e-01 3.50791577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.420714057 meters Centerline goodness [0,1] 0.9783783783783784 Centerline is valid? [True, True] Translation: X:332.24, Y:-12.88, Z:3.51 [[ 9.99553565e-01 -2.33579272e-02 -1.86300330e-02 3.32241381e+02] [ 2.33799920e-02 9.99726183e-01 9.67410857e-04 -1.28775406e+01] [ 1.86023350e-02 -1.40254899e-03 9.99825978e-01 3.50906767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.450714057 meters Centerline goodness [0,1] 0.9794848099803627 Centerline is valid? [True, True] Translation: X:332.27, Y:-12.88, Z:3.51 [[ 9.99626161e-01 -2.11804952e-02 -1.72894678e-02 3.32272482e+02] [ 2.11991783e-02 9.99774869e-01 8.98023168e-04 -1.28785811e+01] [ 1.72665548e-02 -1.26420996e-03 9.99850123e-01 3.51015277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.480714057 meters Centerline goodness [0,1] 0.9810931671262078 Centerline is valid? [True, True] Translation: X:332.30, Y:-12.87, Z:3.51 [[ 9.99745470e-01 -1.58893074e-02 -1.60164200e-02 3.32303882e+02] [ 1.59046683e-02 9.99873166e-01 8.32142819e-04 -1.28677597e+01] [ 1.60011664e-02 -1.08666686e-03 9.99871383e-01 3.51317992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51071405700003 meters Centerline goodness [0,1] 0.9791656999675189 Centerline is valid? [True, True] Translation: X:332.33, Y:-12.88, Z:3.51 [[ 9.99788085e-01 -1.30001996e-02 -1.59618504e-02 3.32332543e+02] [ 1.30150836e-02 9.99914957e-01 8.28940737e-04 -1.28766460e+01] [ 1.59497166e-02 -1.03650989e-03 9.99872258e-01 3.51193103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.540714057 meters Centerline goodness [0,1] 0.9803179760937681 Centerline is valid? [True, True] Translation: X:332.36, Y:-12.87, Z:3.51 [[ 9.99843636e-01 -6.37029635e-03 -1.64961644e-02 3.32361916e+02] [ 6.38528794e-03 9.99979247e-01 8.56281333e-04 -1.28735301e+01] [ 1.64903673e-02 -9.61480201e-04 9.99863562e-01 3.51214321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57071405700003 meters Centerline goodness [0,1] 0.9787164906580016 Centerline is valid? [True, True] Translation: X:332.39, Y:-12.87, Z:3.51 [[ 9.99857046e-01 -3.64334169e-03 -1.65110161e-02 3.32391174e+02] [ 3.65798158e-03 9.99992943e-01 8.56560240e-04 -1.28735029e+01] [ 1.65077788e-02 -9.16834784e-04 9.99863317e-01 3.51172116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.600714057 meters Centerline goodness [0,1] 0.981312301963596 Centerline is valid? [True, True] Translation: X:332.42, Y:-12.87, Z:3.51 [[ 9.99869769e-01 -4.30737272e-04 -1.61325379e-02 3.32421550e+02] [ 4.44291150e-04 9.99999551e-01 8.36583253e-04 -1.28650032e+01] [ 1.61321703e-02 -8.43641848e-04 9.99869512e-01 3.51384289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63071405700003 meters Centerline goodness [0,1] 0.9818080434934132 Centerline is valid? [True, True] Translation: X:332.45, Y:-12.86, Z:3.51 [[ 9.99869381e-01 4.93800541e-03 -1.53894967e-02 3.32450755e+02] [-4.92631049e-03 9.99987547e-01 7.97745138e-04 -1.28646101e+01] [ 1.53932443e-02 -7.21827499e-04 9.99881256e-01 3.51409434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.660714057 meters Centerline goodness [0,1] 0.9824606294633511 Centerline is valid? [True, True] Translation: X:332.48, Y:-12.86, Z:3.51 [[ 9.99862510e-01 7.08766443e-03 -1.49908527e-02 3.32479982e+02] [-7.07684702e-03 9.99974659e-01 7.74525726e-04 -1.28649230e+01] [ 1.49959623e-02 -6.68331266e-04 9.99887331e-01 3.51480768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.690714057 meters Centerline goodness [0,1] 0.9815158833364295 Centerline is valid? [True, True] Translation: X:332.51, Y:-12.86, Z:3.52 [[ 9.99832893e-01 1.12591263e-02 -1.44020316e-02 3.32508802e+02] [-1.12495918e-02 9.99936445e-01 7.42871756e-04 -1.28642849e+01] [ 1.44094803e-02 -5.80730641e-04 9.99896009e-01 3.51527511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.720714057 meters Centerline goodness [0,1] 0.9810360454577146 Centerline is valid? [True, True] Translation: X:332.54, Y:-12.87, Z:3.52 [[ 9.99818372e-01 1.28739284e-02 -1.40529312e-02 3.32537936e+02] [-1.28650189e-02 9.99916980e-01 7.24219113e-04 -1.28654261e+01] [ 1.40610881e-02 -5.43296349e-04 9.99900990e-01 3.51579121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.750714057 meters Centerline goodness [0,1] 0.9820879530420199 Centerline is valid? [True, True] Translation: X:332.57, Y:-12.87, Z:3.52 [[ 9.99810361e-01 1.38631329e-02 -1.36768432e-02 3.32566525e+02] [-1.38547980e-02 9.99903770e-01 7.03982029e-04 -1.28667726e+01] [ 1.36852865e-02 -5.14358626e-04 9.99906220e-01 3.51577769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.780714057 meters Centerline goodness [0,1] 0.9807866552052599 Centerline is valid? [True, True] Translation: X:332.59, Y:-12.87, Z:3.52 [[ 9.99800251e-01 1.47563716e-02 -1.34799040e-02 3.32593819e+02] [-1.47483705e-02 9.99890997e-01 6.92776529e-04 -1.28697572e+01] [ 1.34886576e-02 -4.93831528e-04 9.99908902e-01 3.51505606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.810714057 meters Centerline goodness [0,1] 0.9806536918044956 Centerline is valid? [True, True] Translation: X:332.62, Y:-12.87, Z:3.51 [[ 9.99800450e-01 1.45030731e-02 -1.37376034e-02 3.32621077e+02] [-1.44947607e-02 9.99894697e-01 7.04466253e-04 -1.28730661e+01] [ 1.37463738e-02 -5.05202402e-04 9.99905387e-01 3.51427583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.840714057 meters Centerline goodness [0,1] 0.9803772014977118 Centerline is valid? [True, True] Translation: X:332.65, Y:-12.88, Z:3.51 [[ 9.99806750e-01 1.28876707e-02 -1.48449029e-02 3.32649805e+02] [-1.28778049e-02 9.99916789e-01 7.59990195e-04 -1.28781010e+01] [ 1.48534621e-02 -5.68673563e-04 9.99889520e-01 3.51301075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.870714057 meters Centerline goodness [0,1] 0.9823462546686154 Centerline is valid? [True, True] Translation: X:332.68, Y:-12.88, Z:3.51 [[ 9.99822957e-01 1.10589843e-02 -1.52234392e-02 3.32678181e+02] [-1.10484128e-02 9.99938661e-01 7.78353582e-04 -1.28816748e+01] [ 1.52311132e-02 -6.10020940e-04 9.99883814e-01 3.51255299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.900714057 meters Centerline goodness [0,1] 0.9820798514391829 Centerline is valid? [True, True] Translation: X:332.71, Y:-12.89, Z:3.51 [[ 9.99833641e-01 9.10663795e-03 -1.58037796e-02 3.32707415e+02] [-9.09501208e-03 9.99958314e-01 8.07356508e-04 -1.28857225e+01] [ 1.58104731e-02 -6.63486630e-04 9.99874787e-01 3.51200727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.930714057 meters Centerline goodness [0,1] 0.9820798514391829 Centerline is valid? [True, True] Translation: X:332.73, Y:-12.89, Z:3.51 [[ 9.99834545e-01 9.00676823e-03 -1.58038464e-02 3.32734867e+02] [-8.99515056e-03 9.99959218e-01 8.06047401e-04 -1.28870260e+01] [ 1.58104618e-02 -6.63756058e-04 9.99874787e-01 3.51211842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.960714057 meters Centerline goodness [0,1] 0.9814951887490747 Centerline is valid? [True, True] Translation: X:332.76, Y:-12.89, Z:3.51 [[ 9.99837925e-01 6.64891859e-03 -1.67307084e-02 3.32763774e+02] [-6.63558636e-03 9.99977621e-01 8.52259366e-04 -1.28915520e+01] [ 1.67360006e-02 -7.41103175e-04 9.99859669e-01 3.51123374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.990714057 meters Centerline goodness [0,1] 0.9815272357817443 Centerline is valid? [True, True] Translation: X:332.79, Y:-12.90, Z:3.51 [[ 9.99837719e-01 2.41317770e-03 -1.78525340e-02 3.32792156e+02] [-2.39733174e-03 9.99996713e-01 9.08950474e-04 -1.28996073e+01] [ 1.78546688e-02 -8.66004521e-04 9.99840218e-01 3.50948818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.020714057 meters Centerline goodness [0,1] 0.9814164201183432 Centerline is valid? [True, True] Translation: X:332.82, Y:-12.90, Z:3.51 [[ 9.99848199e-01 7.06143640e-04 -1.74092071e-02 3.32819650e+02] [-6.90836999e-04 9.99999370e-01 8.85225016e-04 -1.29045608e+01] [ 1.74098212e-02 -8.73063713e-04 9.99848056e-01 3.50953903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.050714057 meters Centerline goodness [0,1] 0.9799543789313611 Centerline is valid? [True, True] Translation: X:332.85, Y:-12.91, Z:3.51 [[ 9.99864267e-01 -2.67335362e-03 -1.62573147e-02 3.32848711e+02] [ 2.68713828e-03 9.99996048e-01 8.26119483e-04 -1.29114408e+01] [ 1.62550420e-02 -8.69693005e-04 9.99867500e-01 3.51131817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.080714057 meters Centerline goodness [0,1] 0.9808836415625144 Centerline is valid? [True, True] Translation: X:332.88, Y:-12.91, Z:3.51 [[ 9.99872249e-01 -4.29804782e-03 -1.53951840e-02 3.32877208e+02] [ 4.31058487e-03 9.99990404e-01 7.81258142e-04 -1.29073853e+01] [ 1.53916783e-02 -8.47520582e-04 9.99881182e-01 3.51380405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.110714057 meters Centerline goodness [0,1] 0.9774921831892588 Centerline is valid? [True, True] Translation: X:332.90, Y:-12.92, Z:3.51 [[ 9.99874149e-01 -7.08524689e-03 -1.41945240e-02 3.32904666e+02] [ 7.09616996e-03 9.99974563e-01 7.19308554e-04 -1.29240538e+01] [ 1.41890664e-02 -8.19944784e-04 9.99898994e-01 3.51335943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.140714057 meters Centerline goodness [0,1] 0.9772868771185463 Centerline is valid? [True, True] Translation: X:332.93, Y:-12.93, Z:3.51 [[ 9.99859414e-01 -8.87006989e-03 -1.42293700e-02 3.32933559e+02] [ 8.88121604e-03 9.99960302e-01 7.20319965e-04 -1.29279237e+01] [ 1.42224158e-02 -8.46592807e-04 9.99898498e-01 3.51345512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.170714057 meters Centerline goodness [0,1] 0.9812316446402349 Centerline is valid? [True, True] Translation: X:332.96, Y:-12.92, Z:3.52 [[ 9.99851574e-01 -1.04238131e-02 -1.37176847e-02 3.32963651e+02] [ 1.04343106e-02 9.99945320e-01 6.93899592e-04 -1.29191637e+01] [ 1.37097016e-02 -8.36931182e-04 9.99905667e-01 3.51606060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.200714057 meters Centerline goodness [0,1] 0.9815751527774599 Centerline is valid? [True, True] Translation: X:332.99, Y:-12.92, Z:3.52 [[ 9.99832313e-01 -1.28120136e-02 -1.30842493e-02 3.32993391e+02] [ 1.28217616e-02 9.99917579e-01 6.61402780e-04 -1.29211946e+01] [ 1.30746970e-02 -8.29054997e-04 9.99914179e-01 3.51720244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.230714057 meters Centerline goodness [0,1] 0.9774803728019834 Centerline is valid? [True, True] Translation: X:333.02, Y:-12.93, Z:3.52 [[ 9.99816464e-01 -1.40233466e-02 -1.30530882e-02 3.33021773e+02] [ 1.40331430e-02 9.99901313e-01 6.59209687e-04 -1.29327455e+01] [ 1.30425557e-02 -8.42264551e-04 9.99914588e-01 3.51627928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26071405700003 meters Centerline goodness [0,1] 0.9766025860299651 Centerline is valid? [True, True] Translation: X:333.05, Y:-12.94, Z:3.52 [[ 9.99795463e-01 -1.51302200e-02 -1.34204272e-02 3.33051040e+02] [ 1.51406678e-02 9.99885144e-01 6.77232487e-04 -1.29353525e+01] [ 1.34086391e-02 -8.80288197e-04 9.99909713e-01 3.51602292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.290714057 meters Centerline goodness [0,1] 0.980471519059706 Centerline is valid? [True, True] Translation: X:333.08, Y:-12.93, Z:3.52 [[ 9.99766925e-01 -1.61346181e-02 -1.43446985e-02 3.33081551e+02] [ 1.61466529e-02 9.99869373e-01 7.23546481e-04 -1.29275893e+01] [ 1.43311506e-02 -9.54996708e-04 9.99896848e-01 3.51650664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32071405700003 meters Centerline goodness [0,1] 0.9797919626082573 Centerline is valid? [True, True] Translation: X:333.11, Y:-12.93, Z:3.52 [[ 9.99733954e-01 -1.67994947e-02 -1.58049813e-02 3.33110463e+02] [ 1.68141914e-02 9.99858313e-01 7.97448028e-04 -1.29312318e+01] [ 1.57893453e-02 -1.06298385e-03 9.99874775e-01 3.51590319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.350714057 meters Centerline goodness [0,1] 0.9736956571507063 Centerline is valid? [True, True] Translation: X:333.14, Y:-12.95, Z:3.51 [[ 9.99665167e-01 -1.83722048e-02 -1.82213060e-02 3.33138865e+02] [ 1.83919929e-02 9.99830431e-01 9.18995365e-04 -1.29496870e+01] [ 1.82013322e-02 -1.25381379e-03 9.99833556e-01 3.51084200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38071405700003 meters Centerline goodness [0,1] 0.9798985750017211 Centerline is valid? [True, True] Translation: X:333.17, Y:-12.94, Z:3.51 [[ 9.99635548e-01 -1.87749740e-02 -1.93977277e-02 3.33169442e+02] [ 1.87974625e-02 9.99822834e-01 9.77636805e-04 -1.29358499e+01] [ 1.93759360e-02 -1.34190856e-03 9.99811368e-01 3.51384062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.410714057 meters Centerline goodness [0,1] 0.9789369717015803 Centerline is valid? [True, True] Translation: X:333.20, Y:-12.94, Z:3.51 [[ 9.99595968e-01 -1.97460107e-02 -2.04449679e-02 3.33197838e+02] [ 1.97711749e-02 9.99804001e-01 1.02940851e-03 -1.29389827e+01] [ 2.04206340e-02 -1.43321363e-03 9.99790450e-01 3.51251604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.440714057 meters Centerline goodness [0,1] 0.9792893307979564 Centerline is valid? [True, True] Translation: X:333.23, Y:-12.94, Z:3.51 [[ 9.99600397e-01 -1.98453779e-02 -2.01297794e-02 3.33226352e+02] [ 1.98697083e-02 9.99802068e-01 1.00937570e-03 -1.29390072e+01] [ 2.01057636e-02 -1.40894519e-03 9.99796866e-01 3.51332811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.470714057 meters Centerline goodness [0,1] 0.9779247413415674 Centerline is valid? [True, True] Translation: X:333.25, Y:-12.94, Z:3.51 [[ 9.99618074e-01 -2.00904082e-02 -1.89758083e-02 3.33254959e+02] [ 2.01120400e-02 9.99797281e-01 9.49798640e-04 -1.29409249e+01] [ 1.89528797e-02 -1.33107810e-03 9.99819492e-01 3.51439237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.500714057 meters Centerline goodness [0,1] 0.9793612360198316 Centerline is valid? [True, True] Translation: X:333.28, Y:-12.94, Z:3.52 [[ 9.99628040e-01 -2.01684281e-02 -1.83580103e-02 3.33284386e+02] [ 2.01886219e-02 9.99795770e-01 9.15321943e-04 -1.29372864e+01] [ 1.83358005e-02 -1.28560441e-03 9.99831059e-01 3.51578340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.530714057 meters Centerline goodness [0,1] 0.9798161332688187 Centerline is valid? [True, True] Translation: X:333.31, Y:-12.94, Z:3.52 [[ 9.99662227e-01 -1.96406845e-02 -1.70198722e-02 3.33314169e+02] [ 1.96579463e-02 9.99806405e-01 8.47495629e-04 -1.29392135e+01] [ 1.69999318e-02 -1.18178510e-03 9.99854792e-01 3.51623417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.560714057 meters Centerline goodness [0,1] 0.9789374338198057 Centerline is valid? [True, True] Translation: X:333.34, Y:-12.94, Z:3.52 [[ 9.99685457e-01 -1.92286881e-02 -1.61011004e-02 3.33343455e+02] [ 1.92440787e-02 9.99814494e-01 8.01464955e-04 -1.29417567e+01] [ 1.60827024e-02 -1.11106370e-03 9.99870048e-01 3.51649212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.590714057 meters Centerline goodness [0,1] 0.9787194756035636 Centerline is valid? [True, True] Translation: X:333.37, Y:-12.94, Z:3.52 [[ 9.99679969e-01 -1.94453097e-02 -1.61814519e-02 3.33374060e+02] [ 1.94608814e-02 9.99810295e-01 8.05393070e-04 -1.29420356e+01] [ 1.61627210e-02 -1.12004063e-03 9.99868747e-01 3.51706406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.620714057 meters Centerline goodness [0,1] 0.9768217250339166 Centerline is valid? [True, True] Translation: X:333.40, Y:-12.95, Z:3.52 [[ 9.99654165e-01 -2.05809927e-02 -1.63698836e-02 3.33403402e+02] [ 2.05970771e-02 9.99787526e-01 8.14557101e-04 -1.29472274e+01] [ 1.63496410e-02 -1.15144715e-03 9.99865673e-01 3.51650111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.650714057 meters Centerline goodness [0,1] 0.9770611625715402 Centerline is valid? [True, True] Translation: X:333.43, Y:-12.95, Z:3.52 [[ 9.99643343e-01 -2.11953943e-02 -1.62462943e-02 3.33433056e+02] [ 2.12113130e-02 9.99774688e-01 8.08131087e-04 -1.29507307e+01] [ 1.62255052e-02 -1.15244810e-03 9.99867694e-01 3.51614405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.680714057 meters Centerline goodness [0,1] 0.9782278481012658 Centerline is valid? [True, True] Translation: X:333.46, Y:-12.95, Z:3.52 [[ 9.99621611e-01 -2.18993188e-02 -1.66449701e-02 3.33464141e+02] [ 2.19161245e-02 9.99759470e-01 8.27892246e-04 -1.29474140e+01] [ 1.66228362e-02 -1.19237222e-03 9.99861120e-01 3.51649209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.710714057 meters Centerline goodness [0,1] 0.9774399779229141 Centerline is valid? [True, True] Translation: X:333.49, Y:-12.95, Z:3.52 [[ 9.99539031e-01 -2.40835373e-02 -1.84853448e-02 3.33494707e+02] [ 2.41046415e-02 9.99709018e-01 9.19682162e-04 -1.29497111e+01] [ 1.84578167e-02 -1.36484083e-03 9.99828708e-01 3.51516014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.740714057 meters Centerline goodness [0,1] 0.977674354307306 Centerline is valid? [True, True] Translation: X:333.53, Y:-12.95, Z:3.52 [[ 9.99503726e-01 -2.45784714e-02 -1.97027947e-02 3.33525490e+02] [ 2.46025502e-02 9.99696831e-01 9.80603817e-04 -1.29507220e+01] [ 1.96727197e-02 -1.46485616e-03 9.99805400e-01 3.51507494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.770714057 meters Centerline goodness [0,1] 0.9773115056490662 Centerline is valid? [True, True] Translation: X:333.56, Y:-12.95, Z:3.52 [[ 9.99483920e-01 -2.46851012e-02 -2.05557440e-02 3.33555824e+02] [ 2.47113343e-02 9.99694105e-01 1.02312907e-03 -1.29495271e+01] [ 2.05242000e-02 -1.53056092e-03 9.99788185e-01 3.51528915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.800714057 meters Centerline goodness [0,1] 0.9770202721466259 Centerline is valid? [True, True] Translation: X:333.59, Y:-12.95, Z:3.52 [[ 9.99500133e-01 -2.41248746e-02 -2.04321744e-02 3.33585873e+02] [ 2.41506768e-02 9.99707813e-01 1.01697860e-03 -1.29508170e+01] [ 2.04016699e-02 -1.50992108e-03 9.99790724e-01 3.51580646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.830714057 meters Centerline goodness [0,1] 0.9755034879139726 Centerline is valid? [True, True] Translation: X:333.62, Y:-12.95, Z:3.52 [[ 9.99568231e-01 -2.15892290e-02 -1.99312766e-02 3.33615235e+02] [ 2.16132714e-02 9.99765914e-01 9.91616942e-04 -1.29512827e+01] [ 1.99052027e-02 -1.42196888e-03 9.99800861e-01 3.51625156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.860714057 meters Centerline goodness [0,1] 0.9778802056793441 Centerline is valid? [True, True] Translation: X:333.65, Y:-12.94, Z:3.52 [[ 9.99623445e-01 -1.96956556e-02 -1.91062722e-02 3.33645100e+02] [ 1.97173920e-02 9.99805142e-01 9.49928746e-04 -1.29441069e+01] [ 1.90838398e-02 -1.32629691e-03 9.99817007e-01 3.51837984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.890714057 meters Centerline goodness [0,1] 0.9779145378541569 Centerline is valid? [True, True] Translation: X:333.67, Y:-12.95, Z:3.52 [[ 9.99663445e-01 -1.78740168e-02 -1.88020422e-02 3.33673870e+02] [ 1.78947333e-02 9.99839440e-01 9.34139716e-04 -1.29469891e+01] [ 1.87823265e-02 -1.27028286e-03 9.99822790e-01 3.51855399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.920714057 meters Centerline goodness [0,1] 0.9763906028079815 Centerline is valid? [True, True] Translation: X:333.70, Y:-12.94, Z:3.52 [[ 9.99728031e-01 -1.41296875e-02 -1.85530735e-02 3.33704395e+02] [ 1.41492120e-02 9.99899470e-01 9.21504347e-04 -1.29404708e+01] [ 1.85381878e-02 -1.18376510e-03 9.99827452e-01 3.51955658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.950714057 meters Centerline goodness [0,1] 0.9778756935701963 Centerline is valid? [True, True] Translation: X:333.73, Y:-12.94, Z:3.52 [[ 9.99761581e-01 -1.20837084e-02 -1.81869583e-02 3.33733802e+02] [ 1.21021229e-02 9.99926359e-01 9.02789211e-04 -1.29401585e+01] [ 1.81747100e-02 -1.12267477e-03 9.99834196e-01 3.51922739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.980714057 meters Centerline goodness [0,1] 0.9795513434020402 Centerline is valid? [True, True] Translation: X:333.76, Y:-12.94, Z:3.52 [[ 9.99792780e-01 -8.84930523e-03 -1.83326870e-02 3.33764319e+02] [ 8.86746145e-03 9.99960270e-01 9.09320716e-04 -1.29352956e+01] [ 1.83239118e-02 -1.07169668e-03 9.99831529e-01 3.51954664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01071405700003 meters Centerline goodness [0,1] 0.9775975906405653 Centerline is valid? [True, True] Translation: X:333.79, Y:-12.94, Z:3.52 [[ 9.99817419e-01 -6.59962736e-03 -1.79324832e-02 3.33793208e+02] [ 6.61662709e-03 9.99977715e-01 8.88818662e-04 -1.29440403e+01] [ 1.79262177e-02 -1.00730893e-03 9.99838805e-01 3.51732936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.040714057 meters Centerline goodness [0,1] 0.9784968830986902 Centerline is valid? [True, True] Translation: X:333.82, Y:-12.94, Z:3.52 [[ 9.99805894e-01 -6.08867182e-03 -1.87377129e-02 3.33822797e+02] [ 6.10707661e-03 9.99980924e-01 9.25167585e-04 -1.29379392e+01] [ 1.87317224e-02 -1.03942065e-03 9.99824006e-01 3.51890307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07071405700003 meters Centerline goodness [0,1] 0.9797146054840515 Centerline is valid? [True, True] Translation: X:333.85, Y:-12.93, Z:3.52 [[ 9.99801605e-01 -4.34616077e-03 -1.94386389e-02 3.33851581e+02] [ 4.36559983e-03 9.99990012e-01 9.57698645e-04 -1.29349741e+01] [ 1.94342824e-02 -1.04236996e-03 9.99810593e-01 3.51953245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.100714057 meters Centerline goodness [0,1] 0.980668658946582 Centerline is valid? [True, True] Translation: X:333.88, Y:-12.94, Z:3.52 [[ 9.99804963e-01 -3.60047084e-03 -1.94183784e-02 3.33879064e+02] [ 3.61969731e-03 9.99992993e-01 9.55060234e-04 -1.29370644e+01] [ 1.94148037e-02 -1.02516261e-03 9.99810989e-01 3.51934913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13071405700003 meters Centerline goodness [0,1] 0.980896038909414 Centerline is valid? [True, True] Translation: X:333.91, Y:-12.94, Z:3.52 [[ 9.99804540e-01 -1.87046192e-03 -1.96820670e-02 3.33908017e+02] [ 1.88985116e-03 9.99997747e-01 9.66568457e-04 -1.29351998e+01] [ 1.96802147e-02 -1.00357571e-03 9.99805822e-01 3.51987158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.160714057 meters Centerline goodness [0,1] 0.9813913206310566 Centerline is valid? [True, True] Translation: X:333.94, Y:-12.94, Z:3.52 [[ 9.99809598e-01 -8.82417073e-04 -1.94933029e-02 3.33935467e+02] [ 9.01216985e-04 9.99999137e-01 9.55665630e-04 -1.29360429e+01] [ 1.94924428e-02 -9.73051365e-04 9.99809531e-01 3.51946939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.190714057 meters Centerline goodness [0,1] 0.9815231663852936 Centerline is valid? [True, True] Translation: X:333.96, Y:-12.93, Z:3.52 [[ 9.99809889e-01 2.12959565e-04 -1.94972111e-02 3.33964322e+02] [-1.94441632e-04 9.99999528e-01 9.51664215e-04 -1.29341844e+01] [ 1.94974046e-02 -9.47692223e-04 9.99809458e-01 3.52007542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.220714057 meters Centerline goodness [0,1] 0.9822904922961293 Centerline is valid? [True, True] Translation: X:333.99, Y:-12.93, Z:3.52 [[ 9.99802650e-01 3.67269329e-03 -1.95236395e-02 3.33994113e+02] [-3.65481370e-03 9.99992869e-01 9.51394352e-04 -1.29304526e+01] [ 1.95269945e-02 -8.79851329e-04 9.99808943e-01 3.52039305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.250714057 meters Centerline goodness [0,1] 0.9816034309015491 Centerline is valid? [True, True] Translation: X:334.02, Y:-12.93, Z:3.52 [[ 9.99796006e-01 5.52219325e-03 -1.94281431e-02 3.34021938e+02] [-5.50486602e-03 9.99984401e-01 9.45229189e-04 -1.29312088e+01] [ 1.94330598e-02 -8.38087042e-04 9.99810809e-01 3.51997086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.280714057 meters Centerline goodness [0,1] 0.9830404673293447 Centerline is valid? [True, True] Translation: X:334.05, Y:-12.93, Z:3.52 [[ 9.99783315e-01 8.26952265e-03 -1.91033491e-02 3.34051756e+02] [-8.25328751e-03 9.99965510e-01 9.28543197e-04 -1.29284604e+01] [ 1.91103689e-02 -7.70676563e-04 9.99817083e-01 3.52088561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.310714057 meters Centerline goodness [0,1] 0.9835872836719338 Centerline is valid? [True, True] Translation: X:334.08, Y:-12.93, Z:3.52 [[ 9.99784764e-01 9.35339116e-03 -1.85186450e-02 3.34080416e+02] [-9.33834177e-03 9.99955993e-01 8.98970811e-04 -1.29285210e+01] [ 1.85262385e-02 -7.25843883e-04 9.99828111e-01 3.52160820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.340714057 meters Centerline goodness [0,1] 0.9840320301460198 Centerline is valid? [True, True] Translation: X:334.11, Y:-12.93, Z:3.52 [[ 9.99785522e-01 9.99079076e-03 -1.81409738e-02 3.34109292e+02] [-9.97647705e-03 9.99949847e-01 8.79356469e-04 -1.29271774e+01] [ 1.81488495e-02 -6.98184857e-04 9.99835052e-01 3.52253310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.370714057 meters Centerline goodness [0,1] 0.9835534866135778 Centerline is valid? [True, True] Translation: X:334.14, Y:-12.93, Z:3.52 [[ 9.99796218e-01 9.91671062e-03 -1.75835696e-02 3.34137389e+02] [-9.90327763e-03 9.99950599e-01 8.50863269e-04 -1.29280679e+01] [ 1.75911387e-02 -6.76554907e-04 9.99845035e-01 3.52289562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.400714057 meters Centerline goodness [0,1] 0.9830484564926057 Centerline is valid? [True, True] Translation: X:334.17, Y:-12.93, Z:3.52 [[ 9.99802131e-01 9.31415594e-03 -1.75768566e-02 3.34165933e+02] [-9.30066319e-03 9.99956387e-01 8.49233719e-04 -1.29302266e+01] [ 1.75839999e-02 -6.85589258e-04 9.99845154e-01 3.52289142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.430714057 meters Centerline goodness [0,1] 0.9816820493501601 Centerline is valid? [True, True] Translation: X:334.19, Y:-12.93, Z:3.52 [[ 9.99813160e-01 6.72569933e-03 -1.81220938e-02 3.34193818e+02] [-6.71095496e-03 9.99977099e-01 8.74304352e-04 -1.29338391e+01] [ 1.81275591e-02 -7.52524442e-04 9.99835399e-01 3.52255056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.460714057 meters Centerline goodness [0,1] 0.9819003459881847 Centerline is valid? [True, True] Translation: X:334.22, Y:-12.94, Z:3.52 [[ 9.99830817e-01 4.65878928e-03 -1.77941864e-02 3.34223113e+02] [-4.64426049e-03 9.99988848e-01 8.57727216e-04 -1.29361814e+01] [ 1.77979839e-02 -7.74941266e-04 9.99841303e-01 3.52263358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.490714057 meters Centerline goodness [0,1] 0.9823408914318005 Centerline is valid? [True, True] Translation: X:334.25, Y:-12.94, Z:3.52 [[ 9.99830475e-01 2.40024177e-03 -1.82554086e-02 3.34253037e+02] [-2.38458618e-03 9.99996770e-01 8.79305403e-04 -1.29375453e+01] [ 1.82574601e-02 -8.35624744e-04 9.99832969e-01 3.52338539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.520714057 meters Centerline goodness [0,1] 0.9812161433295031 Centerline is valid? [True, True] Translation: X:334.28, Y:-12.94, Z:3.52 [[ 9.99825579e-01 -1.99244727e-03 -1.85699402e-02 3.34282285e+02] [ 2.00939539e-03 9.99997581e-01 8.94050028e-04 -1.29446812e+01] [ 1.85681139e-02 -9.31208439e-04 9.99827164e-01 3.52319584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.550714057 meters Centerline goodness [0,1] 0.9794650157691859 Centerline is valid? [True, True] Translation: X:334.31, Y:-12.95, Z:3.52 [[ 9.99785087e-01 -7.33696715e-03 -1.93894120e-02 3.34312848e+02] [ 7.35644366e-03 9.99972505e-01 9.33356631e-04 -1.29519129e+01] [ 1.93820309e-02 -1.07579316e-03 9.99811572e-01 3.52268442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.580714057 meters Centerline goodness [0,1] 0.9802292934019654 Centerline is valid? [True, True] Translation: X:334.34, Y:-12.96, Z:3.52 [[ 9.99743048e-01 -9.86237852e-03 -2.04100668e-02 3.34341665e+02] [ 9.88446645e-03 9.99950666e-01 9.81606781e-04 -1.29558558e+01] [ 2.03993789e-02 -1.18309718e-03 9.99791211e-01 3.52248771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.610714057 meters Centerline goodness [0,1] 0.9787268974575476 Centerline is valid? [True, True] Translation: X:334.37, Y:-12.96, Z:3.52 [[ 9.99692008e-01 -1.23466744e-02 -2.15278718e-02 3.34371298e+02] [ 1.23718110e-02 9.99922931e-01 1.03483385e-03 -1.29595433e+01] [ 2.15134359e-02 -1.30085389e-03 9.99767713e-01 3.52182465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.640714057 meters Centerline goodness [0,1] 0.9769103261503981 Centerline is valid? [True, True] Translation: X:334.40, Y:-12.97, Z:3.52 [[ 9.99608942e-01 -1.66270333e-02 -2.24834532e-02 3.34400675e+02] [ 1.66555202e-02 9.99860704e-01 1.08033455e-03 -1.29660340e+01] [ 2.24623586e-02 -1.45438568e-03 9.99746632e-01 3.52021792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.670714057 meters Centerline goodness [0,1] 0.9780826384683468 Centerline is valid? [True, True] Translation: X:334.43, Y:-12.97, Z:3.52 [[ 9.99549135e-01 -1.90378764e-02 -2.32182079e-02 3.34430879e+02] [ 1.90688938e-02 9.99817550e-01 1.11522012e-03 -1.29682207e+01] [ 2.31927403e-02 -1.55746285e-03 9.99729799e-01 3.52036283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.700714057 meters Centerline goodness [0,1] 0.9765659680848578 Centerline is valid? [True, True] Translation: X:334.46, Y:-12.98, Z:3.52 [[ 9.99466916e-01 -2.25434756e-02 -2.36151377e-02 3.34459787e+02] [ 2.25765343e-02 9.99744474e-01 1.13418353e-03 -1.29751879e+01] [ 2.35835350e-02 -1.66672688e-03 9.99720480e-01 3.52005735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.730714057 meters Centerline goodness [0,1] 0.975040314099418 Centerline is valid? [True, True] Translation: X:334.49, Y:-12.98, Z:3.52 [[ 9.99427539e-01 -2.40482940e-02 -2.37965023e-02 3.34489402e+02] [ 2.40822704e-02 9.99709328e-01 1.14220129e-03 -1.29773404e+01] [ 2.37621173e-02 -1.71462123e-03 9.99716171e-01 3.51982540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76071405700003 meters Centerline goodness [0,1] 0.9757397279483944 Centerline is valid? [True, True] Translation: X:334.52, Y:-12.98, Z:3.52 [[ 9.99421777e-01 -2.46444565e-02 -2.34256718e-02 3.34518848e+02] [ 2.46775259e-02 9.99694832e-01 1.12359654e-03 -1.29794333e+01] [ 2.33908326e-02 -1.70103447e-03 9.99724950e-01 3.52050954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.790714057 meters Centerline goodness [0,1] 0.9757397279483944 Centerline is valid? [True, True] Translation: X:334.55, Y:-12.98, Z:3.52 [[ 9.99420930e-01 -2.46787657e-02 -2.34257104e-02 3.34548050e+02] [ 2.47118257e-02 9.99693986e-01 1.12279250e-03 -1.29808018e+01] [ 2.33908326e-02 -1.70103440e-03 9.99724950e-01 3.52062776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82071405700003 meters Centerline goodness [0,1] 0.9754500818330606 Centerline is valid? [True, True] Translation: X:334.58, Y:-12.98, Z:3.52 [[ 9.99423012e-01 -2.52482938e-02 -2.27193223e-02 3.34576256e+02] [ 2.52795111e-02 9.99679830e-01 1.08784380e-03 -1.29831832e+01] [ 2.26845821e-02 -1.66154949e-03 9.99741291e-01 3.52194020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.850714057 meters Centerline goodness [0,1] 0.9755345970678868 Centerline is valid? [True, True] Translation: X:334.61, Y:-12.98, Z:3.52 [[ 9.99456429e-01 -2.51364526e-02 -2.13308728e-02 3.34605883e+02] [ 2.51639280e-02 9.99682817e-01 1.02058120e-03 -1.29838274e+01] [ 2.12984532e-02 -1.55679499e-03 9.99771950e-01 3.52338894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88071405700003 meters Centerline goodness [0,1] 0.9745538742194261 Centerline is valid? [True, True] Translation: X:334.64, Y:-12.99, Z:3.52 [[ 9.99471308e-01 -2.50321626e-02 -2.07483837e-02 3.34635203e+02] [ 2.50581267e-02 9.99685503e-01 9.92297313e-04 -1.29853349e+01] [ 2.07170191e-02 -1.51168832e-03 9.99784237e-01 3.52431021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.910714057 meters Centerline goodness [0,1] 0.9753889343782899 Centerline is valid? [True, True] Translation: X:334.67, Y:-12.98, Z:3.53 [[ 9.99458255e-01 -2.55540668e-02 -2.07409475e-02 3.34666380e+02] [ 2.55801226e-02 9.99672283e-01 9.91873744e-04 -1.29794415e+01] [ 2.07088039e-02 -1.52189238e-03 9.99784391e-01 3.52595911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.940714057 meters Centerline goodness [0,1] 0.9763341284317852 Centerline is valid? [True, True] Translation: X:334.70, Y:-12.98, Z:3.53 [[ 9.99462407e-01 -2.55343748e-02 -2.05643741e-02 3.34697767e+02] [ 2.55599965e-02 9.99672806e-01 9.84011453e-04 -1.29815087e+01] [ 2.05325194e-02 -1.50910778e-03 9.99788047e-01 3.52615466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.970714057 meters Centerline goodness [0,1] 0.976188248502994 Centerline is valid? [True, True] Translation: X:334.73, Y:-12.98, Z:3.53 [[ 9.99388675e-01 -2.79771053e-02 -2.09656356e-02 3.34728374e+02] [ 2.80042744e-02 9.99607300e-01 1.00335683e-03 -1.29834034e+01] [ 2.09293314e-02 -1.58987086e-03 9.99779693e-01 3.52651766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.000714057 meters Centerline goodness [0,1] 0.9759250169459832 Centerline is valid? [True, True] Translation: X:334.76, Y:-12.99, Z:3.53 [[ 9.99377748e-01 -2.88028283e-02 -2.03595968e-02 3.34759087e+02] [ 2.88286358e-02 9.99583893e-01 9.75164304e-04 -1.29858321e+01] [ 2.03230376e-02 -1.56149691e-03 9.99792246e-01 3.52638408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.030714057 meters Centerline goodness [0,1] 0.973856361308346 Centerline is valid? [True, True] Translation: X:334.79, Y:-12.99, Z:3.53 [[ 9.99296557e-01 -3.12528703e-02 -2.07279751e-02 3.34788627e+02] [ 3.12801658e-02 9.99510162e-01 9.93849685e-04 -1.29907954e+01] [ 2.06867611e-02 -1.64152507e-03 9.99784658e-01 3.52591641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.060714057 meters Centerline goodness [0,1] 0.9730441265551465 Centerline is valid? [True, True] Translation: X:334.82, Y:-12.99, Z:3.53 [[ 9.99260680e-01 -3.22513155e-02 -2.09271558e-02 3.34819396e+02] [ 3.22793661e-02 9.99478381e-01 1.00389843e-03 -1.29938249e+01] [ 2.08838627e-02 -1.67867155e-03 9.99780499e-01 3.52566524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.090714057 meters Centerline goodness [0,1] 0.9735816471796308 Centerline is valid? [True, True] Translation: X:334.85, Y:-13.00, Z:3.53 [[ 9.99209058e-01 -3.35742834e-02 -2.13078760e-02 3.34850043e+02] [ 3.36036709e-02 9.99434714e-01 1.02253230e-03 -1.29971618e+01] [ 2.12615002e-02 -1.73774639e-03 9.99772439e-01 3.52535958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.120714057 meters Centerline goodness [0,1] 0.9726683968109233 Centerline is valid? [True, True] Translation: X:334.88, Y:-13.00, Z:3.52 [[ 9.99097611e-01 -3.59329315e-02 -2.26448054e-02 3.34881023e+02] [ 3.59667338e-02 9.99352396e-01 1.08707465e-03 -1.29990494e+01] [ 2.25910788e-02 -1.90055338e-03 9.99742982e-01 3.52491795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.150714057 meters Centerline goodness [0,1] 0.9692738081361464 Centerline is valid? [True, True] Translation: X:334.91, Y:-13.00, Z:3.52 [[ 9.99077389e-01 -3.61945913e-02 -2.31154123e-02 3.34912115e+02] [ 3.62299317e-02 9.99342862e-01 1.11177397e-03 -1.30049418e+01] [ 2.30599821e-02 -1.94821805e-03 9.99732185e-01 3.52365587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.180714057 meters Centerline goodness [0,1] 0.9736227824463118 Centerline is valid? [True, True] Translation: X:334.94, Y:-13.00, Z:3.52 [[ 9.99048736e-01 -3.62381408e-02 -2.42573592e-02 3.34944677e+02] [ 3.62771188e-02 9.99341085e-01 1.16858021e-03 -1.29993648e+01] [ 2.41990285e-02 -2.04745568e-03 9.99705064e-01 3.52398424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.210714057 meters Centerline goodness [0,1] 0.96911441015314 Centerline is valid? [True, True] Translation: X:334.97, Y:-13.01, Z:3.52 [[ 9.99059979e-01 -3.57302807e-02 -2.45459861e-02 3.34974812e+02] [ 3.57700557e-02 9.99359346e-01 1.18313131e-03 -1.30055608e+01] [ 2.44879870e-02 -2.06003043e-03 9.99698002e-01 3.52249821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.240714057 meters Centerline goodness [0,1] 0.9656400046843893 Centerline is valid? [True, True] Translation: X:335.01, Y:-13.01, Z:3.52 [[ 9.99099595e-01 -3.43967589e-02 -2.48367291e-02 3.35005466e+02] [ 3.44370922e-02 9.99406150e-01 1.19792027e-03 -1.30072566e+01] [ 2.47807752e-02 -2.05214639e-03 9.99690803e-01 3.52233389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.270714057 meters Centerline goodness [0,1] 0.9749812417932846 Centerline is valid? [True, True] Translation: X:335.04, Y:-12.99, Z:3.53 [[ 9.99263727e-01 -3.05429496e-02 -2.32192018e-02 3.35036503e+02] [ 3.05771709e-02 9.99531781e-01 1.12014580e-03 -1.29936883e+01] [ 2.31741175e-02 -1.82929857e-03 9.99729770e-01 3.52699172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.300714057 meters Centerline goodness [0,1] 0.9758098641214914 Centerline is valid? [True, True] Translation: X:335.07, Y:-12.99, Z:3.53 [[ 9.99337262e-01 -2.87007581e-02 -2.23898235e-02 3.35067009e+02] [ 2.87321186e-02 9.99586564e-01 1.08015791e-03 -1.29901474e+01] [ 2.23495653e-02 -1.72274911e-03 9.99748733e-01 3.52896678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.330714057 meters Centerline goodness [0,1] 0.9689759958540435 Centerline is valid? [True, True] Translation: X:335.10, Y:-13.00, Z:3.53 [[ 9.99471844e-01 -2.45356864e-02 -2.13080583e-02 3.35096457e+02] [ 2.45631476e-02 9.99697752e-01 1.02796636e-03 -1.30017383e+01] [ 2.12763961e-02 -1.55081642e-03 9.99772429e-01 3.52759100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.360714057 meters Centerline goodness [0,1] 0.972837353938937 Centerline is valid? [True, True] Translation: X:335.13, Y:-12.99, Z:3.53 [[ 9.99538863e-01 -2.22894787e-02 -2.06213439e-02 3.35127958e+02] [ 2.23147282e-02 9.99750500e-01 9.95115359e-04 -1.29945360e+01] [ 2.05940183e-02 -1.45481616e-03 9.99786862e-01 3.52958519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.390714057 meters Centerline goodness [0,1] 0.973274465137033 Centerline is valid? [True, True] Translation: X:335.16, Y:-12.99, Z:3.53 [[ 9.99595576e-01 -2.03667094e-02 -1.98464558e-02 3.35158158e+02] [ 2.03897156e-02 9.99791650e-01 9.57523836e-04 -1.29944742e+01] [ 1.98228192e-02 -1.36180018e-03 9.99802581e-01 3.52977150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.420714057 meters Centerline goodness [0,1] 0.9759303920177803 Centerline is valid? [True, True] Translation: X:335.19, Y:-12.98, Z:3.53 [[ 9.99637724e-01 -1.83465778e-02 -1.96932278e-02 3.35188920e+02] [ 1.83688329e-02 9.99830828e-01 9.49779452e-04 -1.29820019e+01] [ 1.96724710e-02 -1.31117698e-03 9.99805618e-01 3.53226051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.450714057 meters Centerline goodness [0,1] 0.9761517615176152 Centerline is valid? [True, True] Translation: X:335.22, Y:-12.98, Z:3.53 [[ 9.99662856e-01 -1.72364764e-02 -1.94185133e-02 3.35217433e+02] [ 1.72578894e-02 9.99850634e-01 9.35662786e-04 -1.29845124e+01] [ 1.93994853e-02 -1.27046989e-03 9.99811005e-01 3.53160262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.480714057 meters Centerline goodness [0,1] 0.9758056872037915 Centerline is valid? [True, True] Translation: X:335.25, Y:-12.98, Z:3.53 [[ 9.99661172e-01 -1.67653220e-02 -1.99114500e-02 3.35247534e+02] [ 1.67877274e-02 9.99858617e-01 9.58623652e-04 -1.29810182e+01] [ 1.98925632e-02 -1.29256684e-03 9.99801288e-01 3.53151084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51071405700003 meters Centerline goodness [0,1] 0.9752698585161915 Centerline is valid? [True, True] Translation: X:335.28, Y:-12.99, Z:3.53 [[ 9.99663460e-01 -1.67155132e-02 -1.98383266e-02 3.35275564e+02] [ 1.67377247e-02 9.99859459e-01 9.54102046e-04 -1.29858170e+01] [ 1.98195902e-02 -1.28582940e-03 9.99802746e-01 3.53051592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.540714057 meters Centerline goodness [0,1] 0.9748287549477377 Centerline is valid? [True, True] Translation: X:335.30, Y:-12.99, Z:3.53 [[ 9.99661032e-01 -1.70092272e-02 -1.97105986e-02 3.35304191e+02] [ 1.70311305e-02 9.99854514e-01 9.43902233e-04 -1.29873891e+01] [ 1.96916759e-02 -1.27927606e-03 9.99805282e-01 3.53046301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57071405700003 meters Centerline goodness [0,1] 0.9765663834118399 Centerline is valid? [True, True] Translation: X:335.33, Y:-12.99, Z:3.53 [[ 9.99640888e-01 -1.78187615e-02 -2.00146620e-02 3.35333787e+02] [ 1.78414759e-02 9.99840370e-01 9.56884249e-04 -1.29855499e+01] [ 1.99944166e-02 -1.31363173e-03 9.99799229e-01 3.53193111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.600714057 meters Centerline goodness [0,1] 0.974829079037638 Centerline is valid? [True, True] Translation: X:335.36, Y:-12.99, Z:3.53 [[ 9.99631215e-01 -1.85834070e-02 -1.98012750e-02 3.35362461e+02] [ 1.86057983e-02 9.99826449e-01 9.47155837e-04 -1.29930518e+01] [ 1.97802371e-02 -1.31522507e-03 9.99803487e-01 3.53035018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63071405700003 meters Centerline goodness [0,1] 0.9756305910827421 Centerline is valid? [True, True] Translation: X:335.39, Y:-12.99, Z:3.53 [[ 9.99608299e-01 -2.00047580e-02 -1.95718603e-02 3.35392200e+02] [ 2.00268969e-02 9.99799004e-01 9.35793628e-04 -1.29928208e+01] [ 1.95492061e-02 -1.32739071e-03 9.99808015e-01 3.52993608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.660714057 meters Centerline goodness [0,1] 0.9747190343811628 Centerline is valid? [True, True] Translation: X:335.42, Y:-13.00, Z:3.53 [[ 9.99590472e-01 -2.06182950e-02 -1.98437218e-02 3.35421417e+02] [ 2.06411653e-02 9.99786499e-01 9.48372789e-04 -1.29989700e+01] [ 1.98199313e-02 -1.35758195e-03 9.99802644e-01 3.52817026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.690714057 meters Centerline goodness [0,1] 0.9724938295044617 Centerline is valid? [True, True] Translation: X:335.45, Y:-13.00, Z:3.53 [[ 9.99584519e-01 -2.09411100e-02 -1.98055580e-02 3.35450797e+02] [ 2.09639488e-02 9.99779785e-01 9.46211621e-04 -1.30037560e+01] [ 1.97813817e-02 -1.36102119e-03 9.99803403e-01 3.52713365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.720714057 meters Centerline goodness [0,1] 0.9768603296154487 Centerline is valid? [True, True] Translation: X:335.48, Y:-12.99, Z:3.53 [[ 9.99561407e-01 -2.17400322e-02 -2.01088225e-02 3.35481306e+02] [ 2.17637296e-02 9.99762681e-01 9.60342957e-04 -1.29930095e+01] [ 2.00831724e-02 -1.39756473e-03 9.99797336e-01 3.52990748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.750714057 meters Centerline goodness [0,1] 0.977368458627829 Centerline is valid? [True, True] Translation: X:335.51, Y:-12.99, Z:3.53 [[ 9.99554418e-01 -2.17893512e-02 -2.04007251e-02 3.35512176e+02] [ 2.18137505e-02 9.99761577e-01 9.74210102e-04 -1.29927054e+01] [ 2.03746337e-02 -1.41879234e-03 9.99791409e-01 3.53096207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.780714057 meters Centerline goodness [0,1] 0.9760097103553323 Centerline is valid? [True, True] Translation: X:335.54, Y:-12.99, Z:3.53 [[ 9.99574976e-01 -2.11157629e-02 -2.00995265e-02 3.35543069e+02] [ 2.11393114e-02 9.99776079e-01 9.59826757e-04 -1.29928518e+01] [ 2.00747583e-02 -1.38430896e-03 9.99797523e-01 3.53215608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.810714057 meters Centerline goodness [0,1] 0.9760127804668686 Centerline is valid? [True, True] Translation: X:335.57, Y:-12.99, Z:3.53 [[ 9.99611429e-01 -1.99506905e-02 -1.94669304e-02 3.35573725e+02] [ 1.99725598e-02 9.99800096e-01 9.29617950e-04 -1.29929677e+01] [ 1.94444923e-02 -1.31806116e-03 9.99810069e-01 3.53296625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.840714057 meters Centerline goodness [0,1] 0.9747088661856113 Centerline is valid? [True, True] Translation: X:335.60, Y:-12.99, Z:3.53 [[ 9.99650098e-01 -1.87681555e-02 -1.86397008e-02 3.35602975e+02] [ 1.87879960e-02 9.99823094e-01 8.89860848e-04 -1.29937649e+01] [ 1.86197023e-02 -1.23975211e-03 9.99825870e-01 3.53318102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.870714057 meters Centerline goodness [0,1] 0.9763085136809991 Centerline is valid? [True, True] Translation: X:335.63, Y:-12.99, Z:3.53 [[ 9.99729592e-01 -1.49922216e-02 -1.77757381e-02 3.35633265e+02] [ 1.50096688e-02 9.99886989e-01 8.48503057e-04 -1.29899750e+01] [ 1.77610083e-02 -1.11508156e-03 9.99841639e-01 3.53499611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.900714057 meters Centerline goodness [0,1] 0.9750494012332452 Centerline is valid? [True, True] Translation: X:335.66, Y:-12.99, Z:3.53 [[ 9.99773144e-01 -1.26360904e-02 -1.71461239e-02 3.35662173e+02] [ 1.26519701e-02 9.99919626e-01 8.17979237e-04 -1.29940508e+01] [ 1.71344097e-02 -1.03472592e-03 9.99852660e-01 3.53429034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.930714057 meters Centerline goodness [0,1] 0.9749659603946206 Centerline is valid? [True, True] Translation: X:335.69, Y:-12.99, Z:3.53 [[ 9.99813720e-01 -8.11437770e-03 -1.75123561e-02 3.35692935e+02] [ 8.13024858e-03 9.99966600e-01 8.35261332e-04 -1.29914347e+01] [ 1.75049936e-02 -9.77485548e-04 9.99846298e-01 3.53386908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.960714057 meters Centerline goodness [0,1] 0.9781940373203689 Centerline is valid? [True, True] Translation: X:335.72, Y:-12.99, Z:3.54 [[ 9.99830666e-01 -6.16011374e-03 -1.73404784e-02 3.35722547e+02] [ 6.17535406e-03 9.99980592e-01 8.25477979e-04 -1.29867465e+01] [ 1.73350568e-02 -9.32421791e-04 9.99849302e-01 3.53501536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.990714057 meters Centerline goodness [0,1] 0.9785852412443001 Centerline is valid? [True, True] Translation: X:335.75, Y:-12.99, Z:3.54 [[ 9.99847350e-01 -3.51126384e-03 -1.71157439e-02 3.35752651e+02] [ 3.52571265e-03 9.99993453e-01 8.14080738e-04 -1.29864359e+01] [ 1.71127734e-02 -8.74301663e-04 9.99853184e-01 3.53528293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.020714057 meters Centerline goodness [0,1] 0.9763976636071046 Centerline is valid? [True, True] Translation: X:335.78, Y:-12.99, Z:3.53 [[ 9.99858124e-01 -2.82616473e-03 -1.66055490e-02 3.35779914e+02] [ 2.83965144e-03 9.99995657e-01 7.88658303e-04 -1.29931643e+01] [ 1.66032480e-02 -8.35700382e-04 9.99861807e-01 3.53421688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.050714057 meters Centerline goodness [0,1] 0.9765796768951343 Centerline is valid? [True, True] Translation: X:335.81, Y:-13.00, Z:3.53 [[ 9.99877282e-01 -2.61518875e-03 -1.54460708e-02 3.35807150e+02] [ 2.62681310e-03 9.99996282e-01 7.32335863e-04 -1.29968793e+01] [ 1.54440982e-02 -7.72819934e-04 9.99880434e-01 3.53432166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.080714057 meters Centerline goodness [0,1] 0.97954073968095 Centerline is valid? [True, True] Translation: X:335.83, Y:-12.99, Z:3.54 [[ 9.99886843e-01 -3.19909114e-03 -1.46991978e-02 3.35834994e+02] [ 3.20963231e-03 9.99994609e-01 6.93590715e-04 -1.29898842e+01] [ 1.46968997e-02 -7.40691251e-04 9.99891720e-01 3.53676438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.110714057 meters Centerline goodness [0,1] 0.9758405859133495 Centerline is valid? [True, True] Translation: X:335.86, Y:-13.00, Z:3.54 [[ 9.99885767e-01 -3.83720868e-03 -1.46194785e-02 3.35862441e+02] [ 3.84767368e-03 9.99992361e-01 6.87765471e-04 -1.30009435e+01] [ 1.46167277e-02 -7.43937888e-04 9.99892893e-01 3.53514121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.140714057 meters Centerline goodness [0,1] 0.9784630795649685 Centerline is valid? [True, True] Translation: X:335.89, Y:-13.00, Z:3.54 [[ 9.99866251e-01 -5.30832403e-03 -1.54693509e-02 3.35892215e+02] [ 5.32020483e-03 9.99985583e-01 7.26970604e-04 -1.29952807e+01] [ 1.54652688e-02 -8.09173488e-04 9.99880078e-01 3.53660533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.170714057 meters Centerline goodness [0,1] 0.9797334350635416 Centerline is valid? [True, True] Translation: X:335.92, Y:-13.00, Z:3.54 [[ 9.99857648e-01 -6.30211385e-03 -1.56514112e-02 3.35921065e+02] [ 6.31435052e-03 9.99979796e-01 7.32530467e-04 -1.29982412e+01] [ 1.56464785e-02 -8.31254687e-04 9.99877241e-01 3.53602856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.200714057 meters Centerline goodness [0,1] 0.9782219783889512 Centerline is valid? [True, True] Translation: X:335.95, Y:-13.00, Z:3.53 [[ 9.99825675e-01 -7.84234715e-03 -1.69445111e-02 3.35948824e+02] [ 7.85687630e-03 9.99968821e-01 7.91054055e-04 -1.30040738e+01] [ 1.69377791e-02 -9.24047082e-04 9.99856119e-01 3.53394030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.230714057 meters Centerline goodness [0,1] 0.9793792314293888 Centerline is valid? [True, True] Translation: X:335.98, Y:-13.00, Z:3.53 [[ 9.99815912e-01 -8.33690453e-03 -1.72811291e-02 3.35977963e+02] [ 8.35202898e-03 9.99964799e-01 8.03212101e-04 -1.30034274e+01] [ 1.72738245e-02 -9.47396731e-04 9.99850348e-01 3.53462783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26071405700003 meters Centerline goodness [0,1] 0.97696137993472 Centerline is valid? [True, True] Translation: X:336.01, Y:-13.01, Z:3.53 [[ 9.99810673e-01 -8.78304390e-03 -1.73630877e-02 3.36005488e+02] [ 8.79834177e-03 9.99960970e-01 8.04863204e-04 -1.30096645e+01] [ 1.73553408e-02 -9.57477201e-04 9.99848926e-01 3.53370654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.290714057 meters Centerline goodness [0,1] 0.9792190539450586 Centerline is valid? [True, True] Translation: X:336.03, Y:-13.01, Z:3.54 [[ 9.99834523e-01 -9.07502982e-03 -1.57661192e-02 3.36033863e+02] [ 9.08762829e-03 9.99958442e-01 7.27624296e-04 -1.30082019e+01] [ 1.57588608e-02 -8.70780522e-04 9.99875442e-01 3.53508242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32071405700003 meters Centerline goodness [0,1] 0.9789396205807631 Centerline is valid? [True, True] Translation: X:336.06, Y:-13.01, Z:3.54 [[ 9.99863779e-01 -8.86603296e-03 -1.39218482e-02 3.36062517e+02] [ 8.87578916e-03 9.99960405e-01 6.39151941e-04 -1.30078927e+01] [ 1.39156302e-02 -7.62632264e-04 9.99902882e-01 3.53738381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.350714057 meters Centerline goodness [0,1] 0.9786084804644744 Centerline is valid? [True, True] Translation: X:336.09, Y:-13.01, Z:3.54 [[ 9.99881530e-01 -8.60172987e-03 -1.27646749e-02 3.36090426e+02] [ 8.60988830e-03 9.99962764e-01 5.84324315e-04 -1.30106385e+01] [ 1.27591734e-02 -6.94157516e-04 9.99918357e-01 3.53828435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38071405700003 meters Centerline goodness [0,1] 0.9777540360873694 Centerline is valid? [True, True] Translation: X:336.12, Y:-13.01, Z:3.54 [[ 9.99884350e-01 -9.00246562e-03 -1.22573741e-02 3.36119249e+02] [ 9.00998901e-03 9.99959253e-01 5.58700379e-04 -1.30111083e+01] [ 1.22518450e-02 -6.69074571e-04 9.99924719e-01 3.53920634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.410714057 meters Centerline goodness [0,1] 0.9759250053263262 Centerline is valid? [True, True] Translation: X:336.15, Y:-13.02, Z:3.54 [[ 9.99880743e-01 -9.44996590e-03 -1.22146694e-02 3.36147903e+02] [ 9.45745438e-03 9.99955123e-01 5.55455293e-04 -1.30200332e+01] [ 1.22088722e-02 -6.70908729e-04 9.99925244e-01 3.53836887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.440714057 meters Centerline goodness [0,1] 0.9766375130715848 Centerline is valid? [True, True] Translation: X:336.18, Y:-13.02, Z:3.54 [[ 9.99866964e-01 -1.01806225e-02 -1.27439854e-02 3.36177330e+02] [ 1.01888276e-02 9.99947925e-01 5.79080659e-04 -1.30214338e+01] [ 1.27374264e-02 -7.08849892e-04 9.99918624e-01 3.53827590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.470714057 meters Centerline goodness [0,1] 0.9788308363360516 Centerline is valid? [True, True] Translation: X:336.21, Y:-13.02, Z:3.54 [[ 9.99830563e-01 -1.20765369e-02 -1.38925268e-02 3.36207143e+02] [ 1.20864633e-02 9.99926757e-01 6.30771134e-04 -1.30189641e+01] [ 1.38838917e-02 -7.98575773e-04 9.99903295e-01 3.53782110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.500714057 meters Centerline goodness [0,1] 0.9776740457835302 Centerline is valid? [True, True] Translation: X:336.24, Y:-13.02, Z:3.54 [[ 9.99818300e-01 -1.25694037e-02 -1.43309501e-02 3.36236716e+02] [ 1.25800097e-02 9.99920657e-01 6.50167029e-04 -1.30218362e+01] [ 1.43216408e-02 -8.30332385e-04 9.99897095e-01 3.53726608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.530714057 meters Centerline goodness [0,1] 0.9772458489048678 Centerline is valid? [True, True] Translation: X:336.27, Y:-13.03, Z:3.54 [[ 9.99794734e-01 -1.38698594e-02 -1.47687884e-02 3.36266125e+02] [ 1.38812599e-02 9.99903426e-01 6.69697167e-04 -1.30265470e+01] [ 1.47580735e-02 -8.74569092e-04 9.99890711e-01 3.53592054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.560714057 meters Centerline goodness [0,1] 0.9763928681362916 Centerline is valid? [True, True] Translation: X:336.30, Y:-13.03, Z:3.53 [[ 9.99747568e-01 -1.54780255e-02 -1.62858898e-02 3.36295408e+02] [ 1.54920933e-02 9.99879718e-01 7.37992267e-04 -1.30299971e+01] [ 1.62725082e-02 -9.90108498e-04 9.99867104e-01 3.53461734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.590714057 meters Centerline goodness [0,1] 0.9766934585200465 Centerline is valid? [True, True] Translation: X:336.32, Y:-13.03, Z:3.53 [[ 9.99727407e-01 -1.62508453e-02 -1.67637180e-02 3.36324952e+02] [ 1.62658494e-02 9.99867414e-01 7.59066450e-04 -1.30325846e+01] [ 1.67491599e-02 -1.03153565e-03 9.99859191e-01 3.53406111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.620714057 meters Centerline goodness [0,1] 0.9767744376906885 Centerline is valid? [True, True] Translation: X:336.36, Y:-13.03, Z:3.53 [[ 9.99726679e-01 -1.62142411e-02 -1.68423560e-02 3.36355307e+02] [ 1.62293750e-02 9.99868004e-01 7.62262452e-04 -1.30288751e+01] [ 1.68277733e-02 -1.03539502e-03 9.99857867e-01 3.53488231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.650714057 meters Centerline goodness [0,1] 0.9760825720726065 Centerline is valid? [True, True] Translation: X:336.38, Y:-13.03, Z:3.53 [[ 9.99737643e-01 -1.55929746e-02 -1.67780975e-02 3.36384634e+02] [ 1.56079011e-02 9.99877901e-01 7.59061750e-04 -1.30332017e+01] [ 1.67642129e-02 -1.02073349e-03 9.99858950e-01 3.53486230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.680714057 meters Centerline goodness [0,1] 0.977555991769742 Centerline is valid? [True, True] Translation: X:336.41, Y:-13.03, Z:3.54 [[ 9.99753096e-01 -1.50849692e-02 -1.63153271e-02 3.36414230e+02] [ 1.50990082e-02 9.99885731e-01 7.37631401e-04 -1.30300849e+01] [ 1.63023357e-02 -9.83794535e-04 9.99866624e-01 3.53638322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.710714057 meters Centerline goodness [0,1] 0.9761017632959157 Centerline is valid? [True, True] Translation: X:336.44, Y:-13.03, Z:3.54 [[ 9.99778283e-01 -1.40839421e-02 -1.56533255e-02 3.36443383e+02] [ 1.40967341e-02 9.99900386e-01 7.07167678e-04 -1.30313660e+01] [ 1.56418065e-02 -9.27671655e-04 9.99877229e-01 3.53752010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.740714057 meters Centerline goodness [0,1] 0.9761017632959157 Centerline is valid? [True, True] Translation: X:336.47, Y:-13.03, Z:3.54 [[ 9.99777804e-01 -1.41179327e-02 -1.56533496e-02 3.36472559e+02] [ 1.41307205e-02 9.99899907e-01 7.06634174e-04 -1.30326514e+01] [ 1.56418066e-02 -9.27670271e-04 9.99877229e-01 3.53763821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.770714057 meters Centerline goodness [0,1] 0.9758577176733887 Centerline is valid? [True, True] Translation: X:336.50, Y:-13.03, Z:3.54 [[ 9.99806276e-01 -1.33453386e-02 -1.44676627e-02 3.36502350e+02] [ 1.33561774e-02 9.99910589e-01 6.52805615e-04 -1.30334788e+01] [ 1.44576572e-02 -8.45911819e-04 9.99895125e-01 3.53834247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.800714057 meters Centerline goodness [0,1] 0.976079844483429 Centerline is valid? [True, True] Translation: X:336.53, Y:-13.03, Z:3.54 [[ 9.99817283e-01 -1.26799857e-02 -1.43045236e-02 3.36531732e+02] [ 1.26905077e-02 9.99919264e-01 6.45034871e-04 -1.30344570e+01] [ 1.42951897e-02 -8.26448678e-04 9.99897477e-01 3.53859844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.830714057 meters Centerline goodness [0,1] 0.975448020154965 Centerline is valid? [True, True] Translation: X:336.56, Y:-13.04, Z:3.54 [[ 9.99823122e-01 -1.26388196e-02 -1.39278699e-02 3.36560933e+02] [ 1.26487843e-02 9.99919804e-01 6.27590324e-04 -1.30350831e+01] [ 1.39188209e-02 -8.03649939e-04 9.99902806e-01 3.53840131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.860714057 meters Centerline goodness [0,1] 0.9745601521635758 Centerline is valid? [True, True] Translation: X:336.59, Y:-13.04, Z:3.54 [[ 9.99834913e-01 -1.19657271e-02 -1.36736107e-02 3.36590015e+02] [ 1.19752624e-02 9.99928104e-01 6.15683600e-04 -1.30370696e+01] [ 1.36652606e-02 -7.79327035e-04 9.99906322e-01 3.53837191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.890714057 meters Centerline goodness [0,1] 0.977721711810349 Centerline is valid? [True, True] Translation: X:336.62, Y:-13.03, Z:3.54 [[ 9.99834401e-01 -1.21357525e-02 -1.35607808e-02 3.36620455e+02] [ 1.21451403e-02 9.99926059e-01 6.10132808e-04 -1.30294214e+01] [ 1.35523737e-02 -7.74729356e-04 9.99907862e-01 3.54005015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.920714057 meters Centerline goodness [0,1] 0.9738588520729764 Centerline is valid? [True, True] Translation: X:336.65, Y:-13.04, Z:3.54 [[ 9.99834027e-01 -1.26003136e-02 -1.31586764e-02 3.36649202e+02] [ 1.26091891e-02 9.99920326e-01 5.91742276e-04 -1.30384961e+01] [ 1.31501719e-02 -7.57564301e-04 9.99913246e-01 3.53930526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.950714057 meters Centerline goodness [0,1] 0.9764663890541344 Centerline is valid? [True, True] Translation: X:336.68, Y:-13.03, Z:3.54 [[ 9.99823396e-01 -1.32767281e-02 -1.33006087e-02 3.36680213e+02] [ 1.32858547e-02 9.99911560e-01 5.98053470e-04 -1.30340356e+01] [ 1.32914922e-02 -7.74657806e-04 9.99911364e-01 3.54046337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.980714057 meters Centerline goodness [0,1] 0.9767601956036652 Centerline is valid? [True, True] Translation: X:336.71, Y:-13.03, Z:3.54 [[ 9.99810788e-01 -1.39445231e-02 -1.35624079e-02 3.36710828e+02] [ 1.39540738e-02 9.99902451e-01 6.09825106e-04 -1.30339822e+01] [ 1.35525812e-02 -7.98960560e-04 9.99907840e-01 3.54068336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01071405700003 meters Centerline goodness [0,1] 0.974776568759927 Centerline is valid? [True, True] Translation: X:336.74, Y:-13.04, Z:3.54 [[ 9.99760538e-01 -1.57490520e-02 -1.51932190e-02 3.36740033e+02] [ 1.57612426e-02 9.99875551e-01 6.82957299e-04 -1.30410825e+01] [ 1.51805723e-02 -9.22257768e-04 9.99884343e-01 3.53937055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.040714057 meters Centerline goodness [0,1] 0.9774695470118006 Centerline is valid? [True, True] Translation: X:336.77, Y:-13.04, Z:3.54 [[ 9.99727356e-01 -1.72083007e-02 -1.57825017e-02 3.36770738e+02] [ 1.72216353e-02 9.99851445e-01 7.09372637e-04 -1.30371782e+01] [ 1.57679500e-02 -9.80979720e-04 9.99875197e-01 3.53979585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07071405700003 meters Centerline goodness [0,1] 0.9730063388808433 Centerline is valid? [True, True] Translation: X:336.80, Y:-13.05, Z:3.54 [[ 9.99674318e-01 -2.01305587e-02 -1.56849936e-02 3.36800059e+02] [ 2.01440873e-02 9.99796839e-01 7.04989963e-04 -1.30501911e+01] [ 1.56676152e-02 -1.02072024e-03 9.99876734e-01 3.53763702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.100714057 meters Centerline goodness [0,1] 0.9760966578047854 Centerline is valid? [True, True] Translation: X:336.83, Y:-13.05, Z:3.54 [[ 9.99647150e-01 -2.14230576e-02 -1.57044052e-02 3.36831113e+02] [ 2.14367817e-02 9.99769956e-01 7.06068161e-04 -1.30459455e+01] [ 1.56856664e-02 -1.04247093e-03 9.99876429e-01 3.53892648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13071405700003 meters Centerline goodness [0,1] 0.9761713013406604 Centerline is valid? [True, True] Translation: X:336.86, Y:-13.05, Z:3.54 [[ 9.99625181e-01 -2.28023481e-02 -1.51509327e-02 3.36862396e+02] [ 2.28152864e-02 9.99739465e-01 6.81644744e-04 -1.30482580e+01] [ 1.51314422e-02 -1.02706212e-03 9.99884986e-01 3.53925875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.160714057 meters Centerline goodness [0,1] 0.9721486038807383 Centerline is valid? [True, True] Translation: X:336.89, Y:-13.06, Z:3.54 [[ 9.99620418e-01 -2.33462242e-02 -1.46278672e-02 3.36893065e+02] [ 2.33583526e-02 9.99726939e-01 6.58807541e-04 -1.30584661e+01] [ 1.46084923e-02 -1.00024035e-03 9.99892790e-01 3.53841611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.190714057 meters Centerline goodness [0,1] 0.97433835528961 Centerline is valid? [True, True] Translation: X:336.93, Y:-13.05, Z:3.54 [[ 9.99622235e-01 -2.34002293e-02 -1.44158594e-02 3.36925831e+02] [ 2.34120276e-02 9.99725689e-01 6.50185040e-04 -1.30543685e+01] [ 1.43966905e-02 -9.87443921e-04 9.99895875e-01 3.54026641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.220714057 meters Centerline goodness [0,1] 0.9736692824052189 Centerline is valid? [True, True] Translation: X:336.96, Y:-13.06, Z:3.54 [[ 9.99621813e-01 -2.35287315e-02 -1.42348415e-02 3.36956537e+02] [ 2.35402596e-02 9.99722683e-01 6.42821118e-04 -1.30577952e+01] [ 1.42157692e-02 -9.77669876e-04 9.99898473e-01 3.54021887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.250714057 meters Centerline goodness [0,1] 0.9753797303381436 Centerline is valid? [True, True] Translation: X:336.99, Y:-13.06, Z:3.54 [[ 9.99623626e-01 -2.31571646e-02 -1.47089166e-02 3.36989073e+02] [ 2.31694473e-02 9.99731331e-01 6.65170311e-04 -1.30599748e+01] [ 1.46895613e-02 -1.00571743e-03 9.99891597e-01 3.53993064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.280714057 meters Centerline goodness [0,1] 0.974714864737487 Centerline is valid? [True, True] Translation: X:337.02, Y:-13.06, Z:3.54 [[ 9.99637304e-01 -2.24413194e-02 -1.48878063e-02 3.37019808e+02] [ 2.24538360e-02 9.99747654e-01 6.74087681e-04 -1.30640771e+01] [ 1.48689220e-02 -1.00813155e-03 9.99888943e-01 3.53839472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.310714057 meters Centerline goodness [0,1] 0.9762955967418251 Centerline is valid? [True, True] Translation: X:337.05, Y:-13.06, Z:3.54 [[ 9.99643234e-01 -2.19156013e-02 -1.52680067e-02 3.37052099e+02] [ 2.19287197e-02 9.99759297e-01 6.92309135e-04 -1.30589092e+01] [ 1.52491593e-02 -1.02686998e-03 9.99883198e-01 3.53945831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.340714057 meters Centerline goodness [0,1] 0.9756074456495998 Centerline is valid? [True, True] Translation: X:337.08, Y:-13.07, Z:3.54 [[ 9.99675562e-01 -2.05567082e-02 -1.50396763e-02 3.37082035e+02] [ 2.05692912e-02 9.99788197e-01 6.82432327e-04 -1.30655346e+01] [ 1.50224623e-02 -9.91566402e-04 9.99886665e-01 3.53908344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.370714057 meters Centerline goodness [0,1] 0.9775211919435196 Centerline is valid? [True, True] Translation: X:337.11, Y:-13.06, Z:3.54 [[ 9.99698609e-01 -1.95371964e-02 -1.48656772e-02 3.37113367e+02] [ 1.95493843e-02 9.99808665e-01 6.74982549e-04 -1.30615943e+01] [ 1.48496456e-02 -9.65393952e-04 9.99889272e-01 3.54034465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.400714057 meters Centerline goodness [0,1] 0.9770918451692133 Centerline is valid? [True, True] Translation: X:337.14, Y:-13.06, Z:3.54 [[ 9.99756205e-01 -1.70819601e-02 -1.39906467e-02 3.37144043e+02] [ 1.70925200e-02 9.99853710e-01 6.35552987e-04 -1.30630464e+01] [ 1.39777435e-02 -8.74533450e-04 9.99901924e-01 3.54069877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.430714057 meters Centerline goodness [0,1] 0.9766335227272728 Centerline is valid? [True, True] Translation: X:337.17, Y:-13.07, Z:3.54 [[ 9.99781055e-01 -1.58360412e-02 -1.36770471e-02 3.37174352e+02] [ 1.58460200e-02 9.99874251e-01 6.21538161e-04 -1.30681967e+01] [ 1.36654845e-02 -8.38128840e-04 9.99906272e-01 3.54002432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.460714057 meters Centerline goodness [0,1] 0.9771853249970508 Centerline is valid? [True, True] Translation: X:337.21, Y:-13.07, Z:3.54 [[ 9.99805119e-01 -1.46151186e-02 -1.32710862e-02 3.37206066e+02] [ 1.46244117e-02 9.99892875e-01 6.03470690e-04 -1.30658615e+01] [ 1.32608448e-02 -7.97434914e-04 9.99911753e-01 3.54068448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.490714057 meters Centerline goodness [0,1] 0.9783214471260567 Centerline is valid? [True, True] Translation: X:337.24, Y:-13.06, Z:3.54 [[ 9.99836461e-01 -1.28489750e-02 -1.27261637e-02 3.37236478e+02] [ 1.28573796e-02 9.99917173e-01 5.78823516e-04 -1.30612723e+01] [ 1.27176723e-02 -7.42353974e-04 9.99918852e-01 3.54188147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.520714057 meters Centerline goodness [0,1] 0.9783856885261459 Centerline is valid? [True, True] Translation: X:337.27, Y:-13.06, Z:3.54 [[ 9.99846576e-01 -1.24340050e-02 -1.23377316e-02 3.37266758e+02] [ 1.24418729e-02 9.99922439e-01 5.61156478e-04 -1.30621148e+01] [ 1.23297972e-02 -7.14574872e-04 9.99923730e-01 3.54282273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.550714057 meters Centerline goodness [0,1] 0.9776114098888863 Centerline is valid? [True, True] Translation: X:337.30, Y:-13.07, Z:3.54 [[ 9.99866482e-01 -1.11939773e-02 -1.19042974e-02 3.37296595e+02] [ 1.12012145e-02 9.99937118e-01 5.41442609e-04 -1.30653062e+01] [ 1.18974879e-02 -6.74712905e-04 9.99928995e-01 3.54311016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.580714057 meters Centerline goodness [0,1] 0.9774105983712971 Centerline is valid? [True, True] Translation: X:337.33, Y:-13.07, Z:3.54 [[ 9.99866996e-01 -1.06942834e-02 -1.23135115e-02 3.37327194e+02] [ 1.07019890e-02 9.99942575e-01 5.60054879e-04 -1.30668468e+01] [ 1.23068150e-02 -6.91759454e-04 9.99924029e-01 3.54203323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.610714057 meters Centerline goodness [0,1] 0.9777074609821089 Centerline is valid? [True, True] Translation: X:337.36, Y:-13.07, Z:3.54 [[ 9.99858170e-01 -9.83950242e-03 -1.36683286e-02 3.37356843e+02] [ 9.84891516e-03 9.99951305e-01 6.21510501e-04 -1.30697700e+01] [ 1.36615477e-02 -7.56040561e-04 9.99906391e-01 3.54035907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.640714057 meters Centerline goodness [0,1] 0.9777260638297872 Centerline is valid? [True, True] Translation: X:337.39, Y:-13.07, Z:3.54 [[ 9.99861219e-01 -9.49437087e-03 -1.36894331e-02 3.37385137e+02] [ 9.50377279e-03 9.99954645e-01 6.21909811e-04 -1.30726907e+01] [ 1.36829076e-02 -7.51924764e-04 9.99906102e-01 3.53960772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.670714057 meters Centerline goodness [0,1] 0.9777920441305847 Centerline is valid? [True, True] Translation: X:337.41, Y:-13.07, Z:3.54 [[ 9.99878612e-01 -8.59385298e-03 -1.29964517e-02 3.37414096e+02] [ 8.60222098e-03 9.99962827e-01 5.88102031e-04 -1.30725778e+01] [ 1.29909145e-02 -6.99828992e-04 9.99915370e-01 3.54015296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.700714057 meters Centerline goodness [0,1] 0.9769554567290542 Centerline is valid? [True, True] Translation: X:337.44, Y:-13.07, Z:3.54 [[ 9.99883801e-01 -8.44646092e-03 -1.26902620e-02 3.37442404e+02] [ 8.45438962e-03 9.99964098e-01 5.71269090e-04 -1.30738107e+01] [ 1.26849812e-02 -6.78491128e-04 9.99919312e-01 3.54039905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.730714057 meters Centerline goodness [0,1] 0.977350671620463 Centerline is valid? [True, True] Translation: X:337.47, Y:-13.08, Z:3.54 [[ 9.99895504e-01 -7.64692114e-03 -1.22680356e-02 3.37471448e+02] [ 7.65423592e-03 9.99970555e-01 5.49403596e-04 -1.30750911e+01] [ 1.22634731e-02 -6.43248624e-04 9.99924594e-01 3.54064243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76071405700003 meters Centerline goodness [0,1] 0.9780046757956009 Centerline is valid? [True, True] Translation: X:337.50, Y:-13.08, Z:3.54 [[ 9.99925718e-01 -6.13446583e-03 -1.05321451e-02 3.37500570e+02] [ 6.13974943e-03 9.99981041e-01 4.69404294e-04 -1.30753993e+01] [ 1.05290659e-02 -5.34034158e-04 9.99944425e-01 3.54159554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.790714057 meters Centerline goodness [0,1] 0.9796852646638055 Centerline is valid? [True, True] Translation: X:337.53, Y:-13.08, Z:3.54 [[ 9.99935777e-01 -5.50790947e-03 -9.90477300e-03 3.37528972e+02] [ 5.51254035e-03 9.99984709e-01 4.40299382e-04 -1.30779774e+01] [ 9.90219641e-03 -4.94871565e-04 9.99950850e-01 3.54208593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82071405700003 meters Centerline goodness [0,1] 0.97906209665854 Centerline is valid? [True, True] Translation: X:337.56, Y:-13.08, Z:3.54 [[ 9.99957836e-01 -4.45829479e-03 -8.02808584e-03 3.37556791e+02] [ 4.46129462e-03 9.99989985e-01 3.55798515e-04 -1.30814498e+01] [ 8.02641918e-03 -3.91599169e-04 9.99967711e-01 3.54305230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.850714057 meters Centerline goodness [0,1] 0.9790422751360813 Centerline is valid? [True, True] Translation: X:337.59, Y:-13.08, Z:3.54 [[ 9.99965852e-01 -4.35057932e-03 -7.02616620e-03 3.37586460e+02] [ 4.35286808e-03 9.99990478e-01 3.10488713e-04 -1.30830331e+01] [ 7.02474849e-03 -3.41062085e-04 9.99975268e-01 3.54351856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88071405700003 meters Centerline goodness [0,1] 0.9784083309448743 Centerline is valid? [True, True] Translation: X:337.61, Y:-13.09, Z:3.54 [[ 9.99969710e-01 -4.74607312e-03 -6.16871624e-03 3.37614674e+02] [ 4.74784345e-03 9.99988692e-01 2.72372376e-04 -1.30874956e+01] [ 6.16735378e-03 -3.01652225e-04 9.99980936e-01 3.54324037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.910714057 meters Centerline goodness [0,1] 0.9786755378981883 Centerline is valid? [True, True] Translation: X:337.64, Y:-13.09, Z:3.54 [[ 9.99969651e-01 -5.19039715e-03 -5.81010571e-03 3.37644179e+02] [ 5.19197366e-03 9.99986489e-01 2.56290262e-04 -1.30899276e+01] [ 5.80869696e-03 -2.86448400e-04 9.99983088e-01 3.54295707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.940714057 meters Centerline goodness [0,1] 0.97920057443753 Centerline is valid? [True, True] Translation: X:337.67, Y:-13.09, Z:3.54 [[ 9.99964612e-01 -6.03604036e-03 -5.86017014e-03 3.37674663e+02] [ 6.03765787e-03 9.99981740e-01 2.58364682e-04 -1.30928852e+01] [ 5.85850364e-03 -2.93737241e-04 9.99982796e-01 3.54248855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.970714057 meters Centerline goodness [0,1] 0.9770109448931797 Centerline is valid? [True, True] Translation: X:337.70, Y:-13.10, Z:3.54 [[ 9.99947898e-01 -8.07672351e-03 -6.24234392e-03 3.37703661e+02] [ 8.07859830e-03 9.99967330e-01 2.75178199e-04 -1.30997740e+01] [ 6.23991745e-03 -3.25593251e-04 9.99980479e-01 3.54162710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.000714057 meters Centerline goodness [0,1] 0.9813943490410566 Centerline is valid? [True, True] Translation: X:337.74, Y:-13.09, Z:3.54 [[ 9.99912301e-01 -1.13158173e-02 -6.88065452e-03 3.37735276e+02] [ 1.13181718e-02 9.99935901e-01 3.03347279e-04 -1.30943600e+01] [ 6.87678085e-03 -3.81197105e-04 9.99976282e-01 3.54060215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.030714057 meters Centerline goodness [0,1] 0.9768329635196717 Centerline is valid? [True, True] Translation: X:337.76, Y:-13.11, Z:3.54 [[ 9.99885092e-01 -1.32949018e-02 -7.28348094e-03 3.37764618e+02] [ 1.32975935e-02 9.99911531e-01 3.21261833e-04 -1.31101687e+01] [ 7.27856543e-03 -4.18077687e-04 9.99973423e-01 3.53864487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.060714057 meters Centerline goodness [0,1] 0.9796738303537467 Centerline is valid? [True, True] Translation: X:337.80, Y:-13.11, Z:3.54 [[ 9.99857120e-01 -1.50144437e-02 -7.76570541e-03 3.37796349e+02] [ 1.50175563e-02 9.99887171e-01 3.42658840e-04 -1.31082761e+01] [ 7.75968438e-03 -4.59231799e-04 9.99969788e-01 3.53791551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.090714057 meters Centerline goodness [0,1] 0.9785855506062267 Centerline is valid? [True, True] Translation: X:337.83, Y:-13.11, Z:3.54 [[ 9.99825997e-01 -1.68782194e-02 -7.94359340e-03 3.37826155e+02] [ 1.68815360e-02 9.99857435e-01 3.50648728e-04 -1.31140191e+01] [ 7.93654260e-03 -4.84687772e-04 9.99968388e-01 3.53754120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.120714057 meters Centerline goodness [0,1] 0.9793060895154018 Centerline is valid? [True, True] Translation: X:337.86, Y:-13.11, Z:3.54 [[ 9.99776171e-01 -1.97090821e-02 -7.69154677e-03 3.37857269e+02] [ 1.97122761e-02 9.99805637e-01 3.39671122e-04 -1.31131547e+01] [ 7.68335721e-03 -4.91212988e-04 9.99970362e-01 3.53766998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.150714057 meters Centerline goodness [0,1] 0.979733874392488 Centerline is valid? [True, True] Translation: X:337.89, Y:-13.12, Z:3.54 [[ 9.99759009e-01 -2.10493547e-02 -6.23283978e-03 3.37889066e+02] [ 2.10514798e-02 9.99778355e-01 2.75541077e-04 -1.31167009e+01] [ 6.22565834e-03 -4.06685175e-04 9.99980538e-01 3.53834518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.180714057 meters Centerline goodness [0,1] 0.979529534267323 Centerline is valid? [True, True] Translation: X:337.92, Y:-13.12, Z:3.54 [[ 9.99746067e-01 -2.19359640e-02 -5.15897103e-03 3.37920798e+02] [ 2.19374332e-02 9.99759319e-01 2.28364913e-04 -1.31192145e+01] [ 5.15271996e-03 -3.41481506e-04 9.99986666e-01 3.53901712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.210714057 meters Centerline goodness [0,1] 0.9788845753243064 Centerline is valid? [True, True] Translation: X:337.95, Y:-13.12, Z:3.54 [[ 9.99731456e-01 -2.27602717e-02 -4.35717477e-03 3.37952076e+02] [ 2.27613284e-02 9.99740909e-01 1.93071925e-04 -1.31238200e+01] [ 4.35165149e-03 -2.92195162e-04 9.99990489e-01 3.53953556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.240714057 meters Centerline goodness [0,1] 0.9777133154096505 Centerline is valid? [True, True] Translation: X:337.98, Y:-13.13, Z:3.54 [[ 9.99714693e-01 -2.37325969e-02 -2.70134840e-03 3.37984201e+02] [ 2.37330067e-02 9.99718325e-01 1.19739510e-04 -1.31293602e+01] [ 2.69774577e-03 -1.83816467e-04 9.99996344e-01 3.54021471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.270714057 meters Centerline goodness [0,1] 0.9781634674338537 Centerline is valid? [True, True] Translation: X:338.02, Y:-13.13, Z:3.54 [[ 9.99717131e-01 -2.36416924e-02 -2.59388001e-03 3.38017406e+02] [ 2.36420702e-02 9.99720481e-01 1.15093030e-04 -1.31305225e+01] [ 2.59043397e-03 -1.76385167e-04 9.99996629e-01 3.54050516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.300714057 meters Centerline goodness [0,1] 0.9763288547965835 Centerline is valid? [True, True] Translation: X:338.05, Y:-13.14, Z:3.54 [[ 9.99719937e-01 -2.33787183e-02 -3.67196587e-03 3.38048794e+02] [ 2.33794758e-02 9.99726649e-01 1.63515711e-04 -1.31362907e+01] [ 3.66713935e-03 -2.49318553e-04 9.99993245e-01 3.53955553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.330714057 meters Centerline goodness [0,1] 0.9754484699261343 Centerline is valid? [True, True] Translation: X:338.08, Y:-13.14, Z:3.54 [[ 9.99736360e-01 -2.25353453e-02 -4.40098138e-03 3.38080526e+02] [ 2.25364266e-02 9.99746003e-01 1.96257957e-04 -1.31385385e+01] [ 4.39544081e-03 -2.95388609e-04 9.99990296e-01 3.53860782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.360714057 meters Centerline goodness [0,1] 0.9778044532316528 Centerline is valid? [True, True] Translation: X:338.11, Y:-13.14, Z:3.54 [[ 9.99759657e-01 -2.09821116e-02 -6.35450251e-03 3.38110957e+02] [ 2.09843387e-02 9.99779764e-01 2.84007246e-04 -1.31424971e+01] [ 6.34714395e-03 -4.17284020e-04 9.99979770e-01 3.53656079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.390714057 meters Centerline goodness [0,1] 0.9773846947872191 Centerline is valid? [True, True] Translation: X:338.14, Y:-13.14, Z:3.54 [[ 9.99786985e-01 -1.96060192e-02 -6.44887147e-03 3.38142593e+02] [ 1.96082879e-02 9.99807697e-01 2.88760920e-04 -1.31445342e+01] [ 6.44196988e-03 -4.15150738e-04 9.99979164e-01 3.53615871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.420714057 meters Centerline goodness [0,1] 0.9762044722424699 Centerline is valid? [True, True] Translation: X:338.17, Y:-13.15, Z:3.54 [[ 9.99806956e-01 -1.84762544e-02 -6.68417729e-03 3.38174697e+02] [ 1.84786692e-02 9.99829210e-01 2.99686108e-04 -1.31452484e+01] [ 6.67749863e-03 -4.23142957e-04 9.99977616e-01 3.53645456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.450714057 meters Centerline goodness [0,1] 0.9774239823154528 Centerline is valid? [True, True] Translation: X:338.20, Y:-13.15, Z:3.54 [[ 9.99875754e-01 -1.46901139e-02 -5.71630840e-03 3.38204237e+02] [ 1.46918196e-02 9.99892036e-01 2.56509219e-04 -1.31451842e+01] [ 5.71192309e-03 -3.40460320e-04 9.99983629e-01 3.53805043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.480714057 meters Centerline goodness [0,1] 0.9790708587517597 Centerline is valid? [True, True] Translation: X:338.24, Y:-13.14, Z:3.54 [[ 9.99908538e-01 -1.25913446e-02 -4.93690617e-03 3.38236362e+02] [ 1.25925915e-02 9.99920686e-01 2.21553765e-04 -1.31404888e+01] [ 4.93372494e-03 -2.83701943e-04 9.99987789e-01 3.53901777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51071405700003 meters Centerline goodness [0,1] 0.9786843591191418 Centerline is valid? [True, True] Translation: X:338.27, Y:-13.14, Z:3.54 [[ 9.99932261e-01 -1.08386744e-02 -4.24231713e-03 3.38267429e+02] [ 1.08395802e-02 9.99941232e-01 1.90581611e-04 -1.31413190e+01] [ 4.24000216e-03 -2.36553638e-04 9.99990983e-01 3.53957053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.540714057 meters Centerline goodness [0,1] 0.980147249076753 Centerline is valid? [True, True] Translation: X:338.30, Y:-13.14, Z:3.54 [[ 9.99958416e-01 -8.24210029e-03 -3.90295788e-03 3.38299198e+02] [ 8.24284773e-03 9.99966012e-01 1.75458942e-04 -1.31368006e+01] [ 3.90137907e-03 -2.07623133e-04 9.99992368e-01 3.53942927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57071405700003 meters Centerline goodness [0,1] 0.9802626941422495 Centerline is valid? [True, True] Translation: X:338.33, Y:-13.14, Z:3.54 [[ 9.99963880e-01 -7.62284776e-03 -3.75911821e-03 3.38330628e+02] [ 7.62353724e-03 9.99970926e-01 1.69121473e-04 -1.31379507e+01] [ 3.75771973e-03 -1.97773142e-04 9.99992920e-01 3.53943361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.600714057 meters Centerline goodness [0,1] 0.9802626941422495 Centerline is valid? [True, True] Translation: X:338.36, Y:-13.14, Z:3.54 [[ 9.99964148e-01 -7.58755522e-03 -3.75911223e-03 3.38361486e+02] [ 7.58824495e-03 9.99971195e-01 1.69254219e-04 -1.31393703e+01] [ 3.75771972e-03 -1.97773215e-04 9.99992920e-01 3.53955843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63071405700003 meters Centerline goodness [0,1] 0.9783297724978283 Centerline is valid? [True, True] Translation: X:338.39, Y:-13.15, Z:3.54 [[ 9.99967238e-01 -7.19883294e-03 -3.70130438e-03 3.38391883e+02] [ 7.19949942e-03 9.99974069e-01 1.66774215e-04 -1.31476581e+01] [ 3.70000782e-03 -1.93416290e-04 9.99993136e-01 3.53936943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.660714057 meters Centerline goodness [0,1] 0.9795535986134857 Centerline is valid? [True, True] Translation: X:338.42, Y:-13.15, Z:3.54 [[ 9.99964374e-01 -7.67776067e-03 -3.50755316e-03 3.38423785e+02] [ 7.67836278e-03 9.99970508e-01 1.58228365e-04 -1.31456045e+01] [ 3.50623487e-03 -1.85154993e-04 9.99993836e-01 3.53965041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.690714057 meters Centerline goodness [0,1] 0.9803999161991667 Centerline is valid? [True, True] Translation: X:338.46, Y:-13.15, Z:3.54 [[ 9.99950547e-01 -9.36186709e-03 -3.35538051e-03 3.38455437e+02] [ 9.36242787e-03 9.99956160e-01 1.51460117e-04 -1.31470890e+01] [ 3.35381546e-03 -1.82867135e-04 9.99994359e-01 3.53963537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.720714057 meters Centerline goodness [0,1] 0.9804816401039107 Centerline is valid? [True, True] Translation: X:338.49, Y:-13.15, Z:3.54 [[ 9.99935308e-01 -1.08302188e-02 -3.47660076e-03 3.38487691e+02] [ 1.08308303e-02 9.99941332e-01 1.57112330e-04 -1.31487367e+01] [ 3.47469523e-03 -1.94756639e-04 9.99993944e-01 3.53976319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.750714057 meters Centerline goodness [0,1] 0.979422138135613 Centerline is valid? [True, True] Translation: X:338.52, Y:-13.15, Z:3.54 [[ 9.99913197e-01 -1.25640052e-02 -3.96787075e-03 3.38519566e+02] [ 1.25648166e-02 9.99921043e-01 1.79634996e-04 -1.31490897e+01] [ 3.96530052e-03 -2.29474972e-04 9.99992112e-01 3.53946129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.780714057 meters Centerline goodness [0,1] 0.9806676328954135 Centerline is valid? [True, True] Translation: X:338.55, Y:-13.15, Z:3.54 [[ 9.99864331e-01 -1.60605754e-02 -3.65753626e-03 3.38550702e+02] [ 1.60612889e-02 9.99870995e-01 1.65779921e-04 -1.31518096e+01] [ 3.65440190e-03 -2.24502176e-04 9.99993297e-01 3.53933296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.810714057 meters Centerline goodness [0,1] 0.9791773539150306 Centerline is valid? [True, True] Translation: X:338.58, Y:-13.16, Z:3.54 [[ 9.99836545e-01 -1.77002905e-02 -3.68563235e-03 3.38581594e+02] [ 1.77010262e-02 9.99843311e-01 1.67108013e-04 -1.31581199e+01] [ 3.68209699e-03 -2.32320173e-04 9.99993194e-01 3.53948322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.840714057 meters Centerline goodness [0,1] 0.9761821691903333 Centerline is valid? [True, True] Translation: X:338.61, Y:-13.17, Z:3.54 [[ 9.99740965e-01 -2.24060499e-02 -3.99644367e-03 3.38610406e+02] [ 2.24069534e-02 9.99748916e-01 1.81437970e-04 -1.31671326e+01] [ 3.99137492e-03 -2.70939099e-04 9.99991998e-01 3.53849518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.870714057 meters Centerline goodness [0,1] 0.9738063198923483 Centerline is valid? [True, True] Translation: X:338.64, Y:-13.18, Z:3.54 [[ 9.99697627e-01 -2.41391604e-02 -4.68563090e-03 3.38640013e+02] [ 2.41404212e-02 9.99708555e-01 2.12690378e-04 -1.31804977e+01] [ 4.67913113e-03 -3.25739169e-04 9.99989000e-01 3.53844825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.900714057 meters Centerline goodness [0,1] 0.9770522172050481 Centerline is valid? [True, True] Translation: X:338.67, Y:-13.18, Z:3.54 [[ 9.99588540e-01 -2.79668874e-02 -6.37209576e-03 3.38670600e+02] [ 2.79692982e-02 9.99608741e-01 2.89525622e-04 -1.31779397e+01] [ 6.36150549e-03 -4.67629540e-04 9.99979656e-01 3.53799520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.930714057 meters Centerline goodness [0,1] 0.9782018876237738 Centerline is valid? [True, True] Translation: X:338.70, Y:-13.17, Z:3.54 [[ 9.99526078e-01 -2.97312540e-02 -7.97952011e-03 3.38702041e+02] [ 2.97350917e-02 9.99557749e-01 3.62717430e-04 -1.31734001e+01] [ 7.96520711e-03 -5.99817292e-04 9.99968097e-01 3.53753851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.960714057 meters Centerline goodness [0,1] 0.975934032844602 Centerline is valid? [True, True] Translation: X:338.73, Y:-13.18, Z:3.54 [[ 9.99524822e-01 -2.96148449e-02 -8.54936110e-03 3.38733432e+02] [ 2.96192509e-02 9.99561178e-01 3.89179385e-04 -1.31800547e+01] [ 8.53408396e-03 -6.42220126e-04 9.99963378e-01 3.53674308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.990714057 meters Centerline goodness [0,1] 0.9784292805121306 Centerline is valid? [True, True] Translation: X:338.77, Y:-13.18, Z:3.54 [[ 9.99550489e-01 -2.86628602e-02 -8.78979961e-03 3.38766120e+02] [ 2.86674872e-02 9.99588923e-01 4.00834110e-04 -1.31764412e+01] [ 8.77469727e-03 -6.52635398e-04 9.99961289e-01 3.53716859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.020714057 meters Centerline goodness [0,1] 0.9786331718847767 Centerline is valid? [True, True] Translation: X:338.80, Y:-13.18, Z:3.54 [[ 9.99589929e-01 -2.72279995e-02 -8.86620290e-03 3.38797648e+02] [ 2.72326551e-02 9.99629041e-01 4.04778228e-04 -1.31768803e+01] [ 8.85189260e-03 -6.46062486e-04 9.99960613e-01 3.53697553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.050714057 meters Centerline goodness [0,1] 0.9788238028823802 Centerline is valid? [True, True] Translation: X:338.83, Y:-13.17, Z:3.54 [[ 9.99720271e-01 -2.20033083e-02 -8.67378544e-03 3.38828964e+02] [ 2.20075702e-02 9.99757726e-01 3.96209406e-04 -1.31730446e+01] [ 8.66296608e-03 -5.86987516e-04 9.99962304e-01 3.53824765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.080714057 meters Centerline goodness [0,1] 0.9802931709237431 Centerline is valid? [True, True] Translation: X:338.86, Y:-13.17, Z:3.54 [[ 9.99790516e-01 -1.87865059e-02 -8.12351585e-03 3.38860042e+02] [ 1.87901396e-02 9.99823381e-01 3.71208351e-04 -1.31680649e+01] [ 8.11510737e-03 -5.23772585e-04 9.99966935e-01 3.53928406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.110714057 meters Centerline goodness [0,1] 0.977485141591889 Centerline is valid? [True, True] Translation: X:338.89, Y:-13.17, Z:3.54 [[ 9.99874684e-01 -1.36035063e-02 -8.09699518e-03 3.38889720e+02] [ 1.36069470e-02 9.99907353e-01 3.69995827e-04 -1.31708244e+01] [ 8.09121177e-03 -4.80124845e-04 9.99967150e-01 3.53942396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.140714057 meters Centerline goodness [0,1] 0.9797656833457804 Centerline is valid? [True, True] Translation: X:338.92, Y:-13.16, Z:3.54 [[ 9.99908329e-01 -1.10551423e-02 -7.81774209e-03 3.38921212e+02] [ 1.10582726e-02 9.99938792e-01 3.57300895e-04 -1.31629876e+01] [ 7.81331357e-03 -4.43718864e-04 9.99969377e-01 3.54037594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.170714057 meters Centerline goodness [0,1] 0.9762344740473907 Centerline is valid? [True, True] Translation: X:338.95, Y:-13.17, Z:3.54 [[ 9.99947631e-01 -6.89708011e-03 -7.56083955e-03 3.38950672e+02] [ 6.89989064e-03 9.99976136e-01 3.45699248e-04 -1.31683518e+01] [ 7.55827480e-03 -3.97850110e-04 9.99971357e-01 3.54007611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.200714057 meters Centerline goodness [0,1] 0.9774532710280374 Centerline is valid? [True, True] Translation: X:338.98, Y:-13.17, Z:3.54 [[ 9.99959156e-01 -5.35714388e-03 -7.27929349e-03 3.38980539e+02] [ 5.35970752e-03 9.99985581e-01 3.32720040e-04 -1.31684067e+01] [ 7.27740610e-03 -3.71721334e-04 9.99973450e-01 3.54046955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.230714057 meters Centerline goodness [0,1] 0.9791984240519688 Centerline is valid? [True, True] Translation: X:339.01, Y:-13.16, Z:3.54 [[ 9.99964544e-01 -3.07467898e-03 -7.83950524e-03 3.39010470e+02] [ 3.07758026e-03 9.99995200e-01 3.58048254e-04 -1.31588474e+01] [ 7.83836673e-03 -3.82162265e-04 9.99969207e-01 3.54066036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26071405700003 meters Centerline goodness [0,1] 0.9793290727345085 Centerline is valid? [True, True] Translation: X:339.04, Y:-13.16, Z:3.54 [[ 9.99968608e-01 -2.04117609e-03 -7.65611462e-03 3.39038377e+02] [ 2.04390948e-03 9.99997850e-01 3.49213208e-04 -1.31614702e+01] [ 7.65538536e-03 -3.64850650e-04 9.99970631e-01 3.54049575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.290714057 meters Centerline goodness [0,1] 0.9794402130741554 Centerline is valid? [True, True] Translation: X:339.07, Y:-13.16, Z:3.54 [[ 9.99966710e-01 -7.37929800e-04 -8.12615360e-03 3.39067693e+02] [ 7.40955363e-04 9.99999657e-01 3.69319865e-04 -1.31584695e+01] [ 8.12587829e-03 -3.75328687e-04 9.99966914e-01 3.54033424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32071405700003 meters Centerline goodness [0,1] 0.9794369759707715 Centerline is valid? [True, True] Translation: X:339.09, Y:-13.16, Z:3.54 [[ 9.99960880e-01 -4.67360556e-04 -8.83288554e-03 3.39094935e+02] [ 4.70911919e-04 9.99999809e-01 3.99985953e-04 -1.31611980e+01] [ 8.83269691e-03 -4.04129817e-04 9.99960909e-01 3.53988633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.350714057 meters Centerline goodness [0,1] 0.9787074559040547 Centerline is valid? [True, True] Translation: X:339.12, Y:-13.16, Z:3.54 [[ 9.99954847e-01 -5.49342001e-04 -9.48697178e-03 3.39123040e+02] [ 5.53433279e-04 9.99999755e-01 4.28632336e-04 -1.31605682e+01] [ 9.48673399e-03 -4.33863388e-04 9.99954906e-01 3.53948199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38071405700003 meters Centerline goodness [0,1] 0.9778204108371157 Centerline is valid? [True, True] Translation: X:339.15, Y:-13.17, Z:3.54 [[ 9.99939905e-01 -9.01139684e-04 -1.09258307e-02 3.39150542e+02] [ 9.06574947e-04 9.99999468e-01 4.92526630e-04 -1.31654848e+01] [ 1.09253810e-02 -5.02402116e-04 9.99940190e-01 3.53818209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.410714057 meters Centerline goodness [0,1] 0.9793826441467676 Centerline is valid? [True, True] Translation: X:339.18, Y:-13.17, Z:3.54 [[ 9.99935325e-01 -1.30894657e-03 -1.12974726e-02 3.39179008e+02] [ 1.31477400e-03 9.99999006e-01 5.08405369e-04 -1.31660056e+01] [ 1.12967959e-02 -5.23226111e-04 9.99936052e-01 3.53752193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.440714057 meters Centerline goodness [0,1] 0.9791549559677721 Centerline is valid? [True, True] Translation: X:339.21, Y:-13.17, Z:3.54 [[ 9.99912265e-01 -2.30974879e-03 -1.30433088e-02 3.39207980e+02] [ 2.31758909e-03 9.99997143e-01 5.86014918e-04 -1.31659306e+01] [ 1.30419179e-02 -6.16192534e-04 9.99914761e-01 3.53668787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.470714057 meters Centerline goodness [0,1] 0.9799549866366578 Centerline is valid? [True, True] Translation: X:339.24, Y:-13.17, Z:3.54 [[ 9.99880904e-01 -3.78733068e-03 -1.49610624e-02 3.39237857e+02] [ 3.79780059e-03 9.99992563e-01 6.71461819e-04 -1.31678386e+01] [ 1.49584080e-02 -7.28200982e-04 9.99887852e-01 3.53628215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.500714057 meters Centerline goodness [0,1] 0.9796942412305384 Centerline is valid? [True, True] Translation: X:339.27, Y:-13.17, Z:3.54 [[ 9.99874356e-01 -4.31832387e-03 -1.52520053e-02 3.39265914e+02] [ 4.32924087e-03 9.99990396e-01 6.82830500e-04 -1.31712733e+01] [ 1.52489101e-02 -7.48774311e-04 9.99883448e-01 3.53618749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.530714057 meters Centerline goodness [0,1] 0.9806614941046857 Centerline is valid? [True, True] Translation: X:339.29, Y:-13.17, Z:3.54 [[ 9.99865986e-01 -5.28308047e-03 -1.54951590e-02 3.39294579e+02] [ 5.29441121e-03 9.99985746e-01 6.90313323e-04 -1.31728259e+01] [ 1.54912912e-02 -7.72258555e-04 9.99879705e-01 3.53648749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.560714057 meters Centerline goodness [0,1] 0.9810165196170453 Centerline is valid? [True, True] Translation: X:339.32, Y:-13.17, Z:3.54 [[ 9.99868410e-01 -5.52881586e-03 -1.52510414e-02 3.39322394e+02] [ 5.53975743e-03 9.99984427e-01 6.75278257e-04 -1.31741764e+01] [ 1.52470704e-02 -7.59676468e-04 9.99883468e-01 3.53711454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.590714057 meters Centerline goodness [0,1] 0.9792262602579133 Centerline is valid? [True, True] Translation: X:339.35, Y:-13.18, Z:3.54 [[ 9.99887709e-01 -4.87881019e-03 -1.41692091e-02 3.39350466e+02] [ 4.88816164e-03 9.99987857e-01 6.25426331e-04 -1.31767320e+01] [ 1.41659857e-02 -6.94617485e-04 9.99899416e-01 3.53889365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.620714057 meters Centerline goodness [0,1] 0.9807579765443948 Centerline is valid? [True, True] Translation: X:339.38, Y:-13.17, Z:3.54 [[ 9.99896931e-01 -4.91429042e-03 -1.34898727e-02 3.39379817e+02] [ 4.92273595e-03 9.99987707e-01 5.92930927e-04 -1.31745867e+01] [ 1.34867931e-02 -6.59276896e-04 9.99908832e-01 3.54064449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.650714057 meters Centerline goodness [0,1] 0.9812873724938446 Centerline is valid? [True, True] Translation: X:339.41, Y:-13.18, Z:3.54 [[ 9.99906638e-01 -5.06327690e-03 -1.26916454e-02 3.39408528e+02] [ 5.07072614e-03 9.99986990e-01 5.54830123e-04 -1.31763655e+01] [ 1.26886711e-02 -6.19134181e-04 9.99919304e-01 3.54136865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.680714057 meters Centerline goodness [0,1] 0.9774612248723115 Centerline is valid? [True, True] Translation: X:339.44, Y:-13.18, Z:3.54 [[ 9.99914083e-01 -5.66285964e-03 -1.18219786e-02 3.39436378e+02] [ 5.66934564e-03 9.99983796e-01 5.15198048e-04 -1.31849864e+01] [ 1.18188696e-02 -5.82176666e-04 9.99929985e-01 3.54067991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.710714057 meters Centerline goodness [0,1] 0.9789000912302042 Centerline is valid? [True, True] Translation: X:339.46, Y:-13.18, Z:3.54 [[ 9.99900678e-01 -7.11751797e-03 -1.21644961e-02 3.39464711e+02] [ 7.12447463e-03 9.99974481e-01 5.28643202e-04 -1.31833296e+01] [ 1.21604231e-02 -6.15256340e-04 9.99925870e-01 3.54143151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.740714057 meters Centerline goodness [0,1] 0.9784090110765051 Centerline is valid? [True, True] Translation: X:339.49, Y:-13.19, Z:3.54 [[ 9.99890593e-01 -7.94234819e-03 -1.24788578e-02 3.39491997e+02] [ 7.94971694e-03 9.99968254e-01 5.41005281e-04 -1.31862818e+01] [ 1.24741648e-02 -6.40149478e-04 9.99921990e-01 3.54146548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.770714057 meters Centerline goodness [0,1] 0.9773846476999557 Centerline is valid? [True, True] Translation: X:339.52, Y:-13.19, Z:3.54 [[ 9.99876002e-01 -9.10880726e-03 -1.28456182e-02 3.39520823e+02] [ 9.11667965e-03 9.99958289e-01 5.54421196e-04 -1.31888346e+01] [ 1.28400323e-02 -6.71461836e-04 9.99917338e-01 3.54108422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.800714057 meters Centerline goodness [0,1] 0.9777274002056652 Centerline is valid? [True, True] Translation: X:339.55, Y:-13.19, Z:3.54 [[ 9.99854791e-01 -1.05206795e-02 -1.34056503e-02 3.39549387e+02] [ 1.05293598e-02 9.99944398e-01 5.77095042e-04 -1.31925366e+01] [ 1.33988335e-02 -7.18164158e-04 9.99909974e-01 3.54034235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.830714057 meters Centerline goodness [0,1] 0.9755558142241881 Centerline is valid? [True, True] Translation: X:339.58, Y:-13.20, Z:3.54 [[ 9.99809387e-01 -1.31488235e-02 -1.44325280e-02 3.39578005e+02] [ 1.31591469e-02 9.99913222e-01 6.20553792e-04 -1.32001142e+01] [ 1.44231160e-02 -8.10355262e-04 9.99895653e-01 3.53814698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.860714057 meters Centerline goodness [0,1] 0.9756251460621641 Centerline is valid? [True, True] Translation: X:339.61, Y:-13.20, Z:3.54 [[ 9.99757482e-01 -1.53287828e-02 -1.58115373e-02 3.39607005e+02] [ 1.53414324e-02 9.99882083e-01 6.79033949e-04 -1.32029938e+01] [ 1.57992641e-02 -9.21440902e-04 9.99874759e-01 3.53714762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.890714057 meters Centerline goodness [0,1] 0.9753238598041724 Centerline is valid? [True, True] Translation: X:339.64, Y:-13.20, Z:3.54 [[ 9.99741334e-01 -1.61014109e-02 -1.60626992e-02 3.39636615e+02] [ 1.61145553e-02 9.99869915e-01 6.89215701e-04 -1.32049718e+01] [ 1.60495124e-02 -9.47880680e-04 9.99870749e-01 3.53706957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.920714057 meters Centerline goodness [0,1] 0.9757477016175957 Centerline is valid? [True, True] Translation: X:339.67, Y:-13.20, Z:3.54 [[ 9.99740351e-01 -1.62618574e-02 -1.59618843e-02 3.39666619e+02] [ 1.62748491e-02 9.99867322e-01 6.84353028e-04 -1.32034591e+01] [ 1.59486376e-02 -9.43952594e-04 9.99872367e-01 3.53847556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.950714057 meters Centerline goodness [0,1] 0.9780862969119472 Centerline is valid? [True, True] Translation: X:339.70, Y:-13.20, Z:3.54 [[ 9.99745065e-01 -1.60930495e-02 -1.58372694e-02 3.39696325e+02] [ 1.61058093e-02 9.99870063e-01 6.78457629e-04 -1.31981745e+01] [ 1.58242931e-02 -9.33356707e-04 9.99874352e-01 3.54050894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.980714057 meters Centerline goodness [0,1] 0.9774257425742574 Centerline is valid? [True, True] Translation: X:339.73, Y:-13.20, Z:3.54 [[ 9.99753424e-01 -1.56714439e-02 -1.57320687e-02 3.39726310e+02] [ 1.56839740e-02 9.99876772e-01 6.73396642e-04 -1.31986698e+01] [ 1.57195769e-02 -9.19971953e-04 9.99876017e-01 3.54102316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01071405700003 meters Centerline goodness [0,1] 0.9774873760987469 Centerline is valid? [True, True] Translation: X:339.76, Y:-13.20, Z:3.54 [[ 9.99792557e-01 -1.39481150e-02 -1.48422914e-02 3.39756458e+02] [ 1.39590735e-02 9.99902366e-01 6.34986314e-04 -1.31984873e+01] [ 1.48319854e-02 -8.42039227e-04 9.99889646e-01 3.54136378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.040714057 meters Centerline goodness [0,1] 0.9774944437945958 Centerline is valid? [True, True] Translation: X:339.79, Y:-13.20, Z:3.54 [[ 9.99798963e-01 -1.29142250e-02 -1.53380428e-02 3.39786262e+02] [ 1.29257993e-02 9.99916243e-01 6.55721913e-04 -1.31977784e+01] [ 1.53282900e-02 -8.53846553e-04 9.99882150e-01 3.54233610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07071405700003 meters Centerline goodness [0,1] 0.9787596971679596 Centerline is valid? [True, True] Translation: X:339.82, Y:-13.20, Z:3.54 [[ 9.99837203e-01 -9.42339553e-03 -1.53872167e-02 3.39815405e+02] [ 9.43462376e-03 9.99955277e-01 6.57282038e-04 -1.31962905e+01] [ 1.53803347e-02 -8.02347635e-04 9.99881394e-01 3.54234614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.100714057 meters Centerline goodness [0,1] 0.9787194237874749 Centerline is valid? [True, True] Translation: X:339.84, Y:-13.19, Z:3.54 [[ 9.99846773e-01 -7.90322250e-03 -1.56195379e-02 3.39844065e+02] [ 7.91459239e-03 9.99968457e-01 6.66245597e-04 -1.31949188e+01] [ 1.56137797e-02 -7.89765786e-04 9.99877786e-01 3.54244776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13071405700003 meters Centerline goodness [0,1] 0.9807948723946759 Centerline is valid? [True, True] Translation: X:339.87, Y:-13.19, Z:3.54 [[ 9.99868484e-01 -3.96996889e-03 -1.57243152e-02 3.39874084e+02] [ 3.98099891e-03 9.99991851e-01 6.70223213e-04 -1.31927300e+01] [ 1.57215263e-02 -7.32733550e-04 9.99876141e-01 3.54257347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.160714057 meters Centerline goodness [0,1] 0.9802676290689227 Centerline is valid? [True, True] Translation: X:339.90, Y:-13.20, Z:3.54 [[ 9.99863014e-01 -1.98839191e-03 -1.64316609e-02 3.39902145e+02] [ 2.00015432e-03 9.99997755e-01 6.99435046e-04 -1.31969571e+01] [ 1.64302333e-02 -7.32205091e-04 9.99864747e-01 3.54100549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.190714057 meters Centerline goodness [0,1] 0.9822522564654165 Centerline is valid? [True, True] Translation: X:339.93, Y:-13.19, Z:3.54 [[ 9.99859995e-01 -3.69943590e-05 -1.67328740e-02 3.39931584e+02] [ 4.88656265e-05 9.99999747e-01 7.09049465e-04 -1.31912206e+01] [ 1.67328436e-02 -7.09767856e-04 9.99859744e-01 3.54213773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.220714057 meters Centerline goodness [0,1] 0.9818779342723005 Centerline is valid? [True, True] Translation: X:339.96, Y:-13.19, Z:3.54 [[ 9.99830769e-01 4.41645854e-03 -1.78585507e-02 3.39961520e+02] [-4.40366729e-03 9.99990018e-01 7.55515343e-04 -1.31901383e+01] [ 1.78617091e-02 -6.76744372e-04 9.99840238e-01 3.54090150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.250714057 meters Centerline goodness [0,1] 0.9827055478534671 Centerline is valid? [True, True] Translation: X:339.99, Y:-13.19, Z:3.54 [[ 9.99819415e-01 6.29436487e-03 -1.79309321e-02 3.39989196e+02] [-6.28179427e-03 9.99979983e-01 7.57295166e-04 -1.31915794e+01] [ 1.79353399e-02 -6.44519983e-04 9.99838941e-01 3.54015522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.280714057 meters Centerline goodness [0,1] 0.9842282432146136 Centerline is valid? [True, True] Translation: X:340.02, Y:-13.19, Z:3.54 [[ 9.99777001e-01 1.07262137e-02 -1.81905421e-02 3.40019127e+02] [-1.07140245e-02 9.99942309e-01 7.67408261e-04 -1.31877005e+01] [ 1.81977241e-02 -5.72343216e-04 9.99834244e-01 3.54093415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.310714057 meters Centerline goodness [0,1] 0.9846153846153847 Centerline is valid? [True, True] Translation: X:340.05, Y:-13.19, Z:3.54 [[ 9.99759565e-01 1.30878602e-02 -1.75932073e-02 3.40048046e+02] [-1.30768428e-02 9.99914220e-01 7.41129256e-04 -1.31876115e+01] [ 1.76013979e-02 -5.10887455e-04 9.99844953e-01 3.54105862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.340714057 meters Centerline goodness [0,1] 0.9856257511134152 Centerline is valid? [True, True] Translation: X:340.08, Y:-13.19, Z:3.54 [[ 9.99715690e-01 1.66201046e-02 -1.70971398e-02 3.40076906e+02] [-1.66102361e-02 9.99861782e-01 7.19049879e-04 -1.31861814e+01] [ 1.71067273e-02 -4.34857916e-04 9.99853575e-01 3.54147018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.370714057 meters Centerline goodness [0,1] 0.9864743650269097 Centerline is valid? [True, True] Translation: X:340.11, Y:-13.19, Z:3.54 [[ 9.99716566e-01 1.73186357e-02 -1.63356162e-02 3.40106017e+02] [-1.73097737e-02 9.99849941e-01 6.83747007e-04 -1.31861502e+01] [ 1.63450065e-02 -4.00787391e-04 9.99866331e-01 3.54214831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.400714057 meters Centerline goodness [0,1] 0.9861866101894341 Centerline is valid? [True, True] Translation: X:340.13, Y:-13.19, Z:3.54 [[ 9.99711498e-01 1.79651104e-02 -1.59429086e-02 3.40134141e+02] [-1.79567833e-02 9.99838543e-01 6.65315103e-04 -1.31868435e+01] [ 1.59522869e-02 -3.78839804e-04 9.99872682e-01 3.54269702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.430714057 meters Centerline goodness [0,1] 0.9845398369399215 Centerline is valid? [True, True] Translation: X:340.16, Y:-13.19, Z:3.54 [[ 9.99757091e-01 1.65410780e-02 -1.45654257e-02 3.40162645e+02] [-1.65339922e-02 9.99863120e-01 6.06777592e-04 -1.31873044e+01] [ 1.45734687e-02 -3.65805567e-04 9.99893734e-01 3.54342272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.460714057 meters Centerline goodness [0,1] 0.9839834668044433 Centerline is valid? [True, True] Translation: X:340.19, Y:-13.19, Z:3.54 [[ 9.99815893e-01 1.35772920e-02 -1.35586947e-02 3.40190038e+02] [-1.35708943e-02 9.99907752e-01 5.63750762e-04 -1.31908330e+01] [ 1.35650981e-02 -3.79643360e-04 9.99907918e-01 3.54432187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.490714057 meters Centerline goodness [0,1] 0.9837900242678416 Centerline is valid? [True, True] Translation: X:340.22, Y:-13.19, Z:3.54 [[ 9.99847604e-01 1.10711539e-02 -1.34980829e-02 3.40218737e+02] [-1.10645988e-02 9.99938629e-01 5.60218845e-04 -1.31933202e+01] [ 1.35034567e-02 -4.10782598e-04 9.99908740e-01 3.54463787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.520714057 meters Centerline goodness [0,1] 0.9826919017800605 Centerline is valid? [True, True] Translation: X:340.25, Y:-13.20, Z:3.54 [[ 9.99878314e-01 7.92941302e-03 -1.34343376e-02 3.40246880e+02] [-7.92264897e-03 9.99968460e-01 5.56635842e-04 -1.31977025e+01] [ 1.34383276e-02 -4.50132567e-04 9.99909600e-01 3.54368449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.550714057 meters Centerline goodness [0,1] 0.9826919017800605 Centerline is valid? [True, True] Translation: X:340.27, Y:-13.20, Z:3.54 [[ 9.99879122e-01 7.82681125e-03 -1.34343891e-02 3.40274329e+02] [-7.82005466e-03 9.99969269e-01 5.55390486e-04 -1.31987458e+01] [ 1.34383232e-02 -4.50265695e-04 9.99909600e-01 3.54379565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.580714057 meters Centerline goodness [0,1] 0.9828329195746873 Centerline is valid? [True, True] Translation: X:340.30, Y:-13.21, Z:3.54 [[ 9.99899723e-01 4.88006589e-04 -1.41529260e-02 3.40303820e+02] [-4.79779711e-04 9.99999714e-01 5.84674091e-04 -1.32067375e+01] [ 1.41532073e-02 -5.77825175e-04 9.99899671e-01 3.54239771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.610714057 meters Centerline goodness [0,1] 0.9809577280276979 Centerline is valid? [True, True] Translation: X:340.33, Y:-13.21, Z:3.54 [[ 9.99894446e-01 -3.66450395e-03 -1.40594515e-02 3.40333756e+02] [ 3.67302992e-03 9.99993086e-01 5.80649338e-04 -1.32119693e+01] [ 1.40572265e-02 -6.32228834e-04 9.99900992e-01 3.54157530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.640714057 meters Centerline goodness [0,1] 0.9785761062774815 Centerline is valid? [True, True] Translation: X:340.36, Y:-13.22, Z:3.54 [[ 9.99822676e-01 -1.16992961e-02 -1.47561285e-02 3.40362702e+02] [ 1.17095548e-02 9.99931255e-01 6.09003257e-04 -1.32212214e+01] [ 1.47479892e-02 -7.81682961e-04 9.99890937e-01 3.54039737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.670714057 meters Centerline goodness [0,1] 0.9783146015016555 Centerline is valid? [True, True] Translation: X:340.39, Y:-13.23, Z:3.54 [[ 9.99772750e-01 -1.54334764e-02 -1.47056581e-02 3.40391293e+02] [ 1.54440605e-02 9.99880549e-01 6.06435555e-04 -1.32269862e+01] [ 1.46945421e-02 -8.33412816e-04 9.99891682e-01 3.53992050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.700714057 meters Centerline goodness [0,1] 0.9769997206443803 Centerline is valid? [True, True] Translation: X:340.42, Y:-13.23, Z:3.54 [[ 9.99677213e-01 -2.11448169e-02 -1.40842439e-02 3.40420102e+02] [ 2.11550938e-02 9.99776037e-01 5.81071630e-04 -1.32347501e+01] [ 1.40688029e-02 -8.78837568e-04 9.99900643e-01 3.54022419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.730714057 meters Centerline goodness [0,1] 0.9761268276807922 Centerline is valid? [True, True] Translation: X:340.45, Y:-13.24, Z:3.54 [[ 9.99636860e-01 -2.33638019e-02 -1.34269077e-02 3.40451435e+02] [ 2.33733474e-02 9.99726652e-01 5.54414408e-04 -1.32361437e+01] [ 1.34102843e-02 -8.68044856e-04 9.99909701e-01 3.54108925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76071405700003 meters Centerline goodness [0,1] 0.9761344302794416 Centerline is valid? [True, True] Translation: X:340.48, Y:-13.24, Z:3.54 [[ 9.99598892e-01 -2.51020190e-02 -1.31127317e-02 3.40482396e+02] [ 2.51112755e-02 9.99684515e-01 5.41723475e-04 -1.32398331e+01] [ 1.30949965e-02 -8.70783604e-04 9.99913878e-01 3.54156017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.790714057 meters Centerline goodness [0,1] 0.9740047603490922 Centerline is valid? [True, True] Translation: X:340.51, Y:-13.24, Z:3.54 [[ 9.99548577e-01 -2.76624388e-02 -1.17231250e-02 3.40512378e+02] [ 2.76700132e-02 9.99616995e-01 4.84374813e-04 -1.32446836e+01] [ 1.17052360e-02 -8.08535180e-04 9.99931164e-01 3.54262879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82071405700003 meters Centerline goodness [0,1] 0.9740223398549541 Centerline is valid? [True, True] Translation: X:340.54, Y:-13.25, Z:3.54 [[ 9.99511765e-01 -2.89749972e-02 -1.16910611e-02 3.40544029e+02] [ 2.89826240e-02 9.99579799e-01 4.83428843e-04 -1.32473981e+01] [ 1.16721411e-02 -8.22030443e-04 9.99931540e-01 3.54268358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.850714057 meters Centerline goodness [0,1] 0.975690967937225 Centerline is valid? [True, True] Translation: X:340.58, Y:-13.24, Z:3.54 [[ 9.99440981e-01 -3.09785112e-02 -1.25721142e-02 3.40575582e+02] [ 3.09874951e-02 9.99519637e-01 5.20372579e-04 -1.32423253e+01] [ 1.25499546e-02 -9.09660007e-04 9.99920832e-01 3.54310392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88071405700003 meters Centerline goodness [0,1] 0.971317214339059 Centerline is valid? [True, True] Translation: X:340.61, Y:-13.26, Z:3.54 [[ 9.99399336e-01 -3.21475008e-02 -1.29424262e-02 3.40606023e+02] [ 3.21571271e-02 9.99482682e-01 5.36308814e-04 -1.32551703e+01] [ 1.29184899e-02 -9.52177917e-04 9.99916099e-01 3.54078656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.910714057 meters Centerline goodness [0,1] 0.9747133951294683 Centerline is valid? [True, True] Translation: X:340.64, Y:-13.25, Z:3.54 [[ 9.99350918e-01 -3.31943278e-02 -1.39956629e-02 3.40638291e+02] [ 3.32056996e-02 9.99448370e-01 5.80862853e-04 -1.32496135e+01] [ 1.39686611e-02 -1.04522160e-03 9.99901887e-01 3.54095341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.940714057 meters Centerline goodness [0,1] 0.9743506115317414 Centerline is valid? [True, True] Translation: X:340.67, Y:-13.25, Z:3.54 [[ 9.99281105e-01 -3.45952464e-02 -1.55062006e-02 3.40669780e+02] [ 3.46093842e-02 9.99400708e-01 6.44255389e-04 -1.32506680e+01] [ 1.54746196e-02 -1.18045229e-03 9.99879564e-01 3.53894904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.970714057 meters Centerline goodness [0,1] 0.975201025521501 Centerline is valid? [True, True] Translation: X:340.70, Y:-13.25, Z:3.54 [[ 9.99254392e-01 -3.51658455e-02 -1.59381364e-02 3.40701741e+02] [ 3.51808695e-02 9.99380742e-01 6.63161916e-04 -1.32521550e+01] [ 1.59049459e-02 -1.22338495e-03 9.99872760e-01 3.53869698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.000714057 meters Centerline goodness [0,1] 0.9738460105268061 Centerline is valid? [True, True] Translation: X:340.73, Y:-13.26, Z:3.54 [[ 9.99255913e-01 -3.51455372e-02 -1.58874443e-02 3.40732658e+02] [ 3.51604889e-02 9.99381459e-01 6.62672840e-04 -1.32553680e+01] [ 1.58543272e-02 -1.22079006e-03 9.99873567e-01 3.53787598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.030714057 meters Centerline goodness [0,1] 0.9728971962616823 Centerline is valid? [True, True] Translation: X:340.76, Y:-13.25, Z:3.54 [[ 9.99327427e-01 -3.34459218e-02 -1.50354304e-02 3.40764416e+02] [ 3.34591363e-02 9.99439889e-01 6.28127098e-04 -1.32541737e+01] [ 1.50060006e-02 -1.13077715e-03 9.99886764e-01 3.53894422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.060714057 meters Centerline goodness [0,1] 0.9638495130893721 Centerline is valid? [True, True] Translation: X:340.79, Y:-13.26, Z:3.54 [[ 9.99377250e-01 -3.18541822e-02 -1.51797199e-02 3.40794357e+02] [ 3.18674891e-02 9.99491901e-01 6.35484655e-04 -1.32625515e+01] [ 1.51517643e-02 -1.11882847e-03 9.99884579e-01 3.53847950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.090714057 meters Centerline goodness [0,1] 0.9730204454436872 Centerline is valid? [True, True] Translation: X:340.83, Y:-13.25, Z:3.54 [[ 9.99505026e-01 -2.80263707e-02 -1.42907747e-02 3.40825993e+02] [ 2.80377809e-02 9.99606685e-01 5.98662387e-04 -1.32464661e+01] [ 1.42683756e-02 -9.99047675e-04 9.99897702e-01 3.54166480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.120714057 meters Centerline goodness [0,1] 0.973194568434901 Centerline is valid? [True, True] Translation: X:340.86, Y:-13.24, Z:3.54 [[ 9.99569801e-01 -2.58987225e-02 -1.37647539e-02 3.40858066e+02] [ 2.59091143e-02 9.99664136e-01 5.77140049e-04 -1.32433859e+01] [ 1.37451836e-02 -9.33524347e-04 9.99905095e-01 3.54281652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.150714057 meters Centerline goodness [0,1] 0.9709927247125087 Centerline is valid? [True, True] Translation: X:340.89, Y:-13.25, Z:3.54 [[ 9.99663560e-01 -2.22852981e-02 -1.32714568e-02 3.40887072e+02] [ 2.22946406e-02 9.99751289e-01 5.56408497e-04 -1.32471909e+01] [ 1.32557563e-02 -8.52103659e-04 9.99911776e-01 3.54195644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.180714057 meters Centerline goodness [0,1] 0.9718818945688401 Centerline is valid? [True, True] Translation: X:340.92, Y:-13.24, Z:3.54 [[ 9.99696392e-01 -2.07668720e-02 -1.32612907e-02 3.40918743e+02] [ 2.07760699e-02 9.99783999e-01 5.56187646e-04 -1.32423912e+01] [ 1.32468760e-02 -8.31536285e-04 9.99911911e-01 3.54280563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.210714057 meters Centerline goodness [0,1] 0.972114548828905 Centerline is valid? [True, True] Translation: X:340.95, Y:-13.24, Z:3.54 [[ 9.99734337e-01 -1.91545246e-02 -1.28202877e-02 3.40949998e+02] [ 1.91629944e-02 9.99816228e-01 5.38123267e-04 -1.32427066e+01] [ 1.28076242e-02 -7.83655409e-04 9.99917672e-01 3.54259750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.240714057 meters Centerline goodness [0,1] 0.9747835727596537 Centerline is valid? [True, True] Translation: X:340.98, Y:-13.24, Z:3.54 [[ 9.99786789e-01 -1.62249287e-02 -1.27721427e-02 3.40980935e+02] [ 1.62331004e-02 9.99868091e-01 5.36385609e-04 -1.32408868e+01] [ 1.27617552e-02 -7.43602721e-04 9.99918289e-01 3.54312024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.270714057 meters Centerline goodness [0,1] 0.9751962546108011 Centerline is valid? [True, True] Translation: X:341.01, Y:-13.24, Z:3.54 [[ 9.99816925e-01 -1.38989266e-02 -1.31505481e-02 3.41011866e+02] [ 1.39073900e-02 9.99903135e-01 5.52347154e-04 -1.32360114e+01] [ 1.31415972e-02 -7.35135834e-04 9.99913375e-01 3.54377025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.300714057 meters Centerline goodness [0,1] 0.9744361258529188 Centerline is valid? [True, True] Translation: X:341.04, Y:-13.24, Z:3.54 [[ 9.99824880e-01 -1.27753181e-02 -1.36748342e-02 3.41041656e+02] [ 1.27843630e-02 9.99918112e-01 5.74204970e-04 -1.32363606e+01] [ 1.36663787e-02 -7.48928459e-04 9.99906330e-01 3.54344797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.330714057 meters Centerline goodness [0,1] 0.9759535655058043 Centerline is valid? [True, True] Translation: X:341.07, Y:-13.23, Z:3.54 [[ 9.99846572e-01 -1.04440080e-02 -1.40625105e-02 3.41072006e+02] [ 1.04533396e-02 9.99945188e-01 5.90243253e-04 -1.32346194e+01] [ 1.40555752e-02 -7.37152892e-04 9.99900944e-01 3.54269291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.360714057 meters Centerline goodness [0,1] 0.9759511418454885 Centerline is valid? [True, True] Translation: X:341.10, Y:-13.24, Z:3.54 [[ 9.99853105e-01 -9.58099749e-03 -1.42117392e-02 3.41100566e+02] [ 9.59043308e-03 9.99953833e-01 5.95924393e-04 -1.32377345e+01] [ 1.42053736e-02 -7.32133588e-04 9.99898831e-01 3.54188744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.390714057 meters Centerline goodness [0,1] 0.9754429297487294 Centerline is valid? [True, True] Translation: X:341.13, Y:-13.24, Z:3.54 [[ 9.99860344e-01 -8.09918332e-03 -1.46183080e-02 3.41129712e+02] [ 8.10899524e-03 9.99966934e-01 6.12058316e-04 -1.32357067e+01] [ 1.46128675e-02 -7.30512629e-04 9.99892959e-01 3.54180473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.420714057 meters Centerline goodness [0,1] 0.9765469061876247 Centerline is valid? [True, True] Translation: X:341.16, Y:-13.23, Z:3.54 [[ 9.99877141e-01 -4.63743815e-03 -1.49731929e-02 3.41160011e+02] [ 4.64733434e-03 9.99989005e-01 6.26200204e-04 -1.32309741e+01] [ 1.49701243e-02 -6.95708703e-04 9.99887699e-01 3.54193428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.450714057 meters Centerline goodness [0,1] 0.9805686185576854 Centerline is valid? [True, True] Translation: X:341.19, Y:-13.22, Z:3.54 [[ 9.99896162e-01 1.11325397e-06 -1.44105684e-02 3.41190510e+02] [ 7.56460057e-06 9.99999819e-01 6.02132310e-04 -1.32222514e+01] [ 1.44105665e-02 -6.02178796e-04 9.99895981e-01 3.54376105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.480714057 meters Centerline goodness [0,1] 0.9802782558806655 Centerline is valid? [True, True] Translation: X:341.22, Y:-13.22, Z:3.54 [[ 9.99903447e-01 2.27226953e-03 -1.37089174e-02 3.41218369e+02] [-2.26464297e-03 9.99997272e-01 5.71818904e-04 -1.32226162e+01] [ 1.37101793e-02 -5.40717890e-04 9.99905865e-01 3.54392264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51071405700003 meters Centerline goodness [0,1] 0.9805269461077845 Centerline is valid? [True, True] Translation: X:341.25, Y:-13.22, Z:3.54 [[ 9.99905170e-01 4.84885760e-03 -1.28895005e-02 3.41246018e+02] [-4.84234360e-03 9.99988132e-01 5.36533770e-04 -1.32231709e+01] [ 1.28919491e-02 -4.74067500e-04 9.99916783e-01 3.54424377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.540714057 meters Centerline goodness [0,1] 0.981702941879933 Centerline is valid? [True, True] Translation: X:341.28, Y:-13.22, Z:3.55 [[ 9.99890871e-01 8.71245119e-03 -1.19305847e-02 3.41275914e+02] [-8.70715223e-03 9.99961969e-01 4.96020437e-04 -1.32192385e+01] [ 1.19344526e-02 -3.92084889e-04 9.99928705e-01 3.54522568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57071405700003 meters Centerline goodness [0,1] 0.9822712026832774 Centerline is valid? [True, True] Translation: X:341.31, Y:-13.22, Z:3.55 [[ 9.99879540e-01 1.00650504e-02 -1.18152474e-02 3.41305204e+02] [-1.00599542e-02 9.99949277e-01 4.90677765e-04 -1.32179884e+01] [ 1.18195868e-02 -3.71757810e-04 9.99930077e-01 3.54542135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.600714057 meters Centerline goodness [0,1] 0.9822601524667978 Centerline is valid? [True, True] Translation: X:341.33, Y:-13.22, Z:3.55 [[ 9.99861511e-01 1.10770569e-02 -1.24200427e-02 3.41333956e+02] [-1.10715137e-02 9.99938576e-01 5.14984325e-04 -1.32180299e+01] [ 1.24249844e-02 -3.77404332e-04 9.99922736e-01 3.54533381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63071405700003 meters Centerline goodness [0,1] 0.9839645254074785 Centerline is valid? [True, True] Translation: X:341.36, Y:-13.22, Z:3.55 [[ 9.99868396e-01 1.08835164e-02 -1.20307632e-02 3.41362332e+02] [-1.08783146e-02 9.99940706e-01 4.97729352e-04 -1.32194942e+01] [ 1.20354669e-02 -3.66789423e-04 9.99927504e-01 3.54533944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.660714057 meters Centerline goodness [0,1] 0.9822987680899414 Centerline is valid? [True, True] Translation: X:341.39, Y:-13.22, Z:3.54 [[ 9.99872334e-01 9.43191407e-03 -1.28978377e-02 3.41389575e+02] [-9.42583498e-03 9.99955434e-01 5.32035610e-04 -1.32238062e+01] [ 1.29022810e-02 -4.10394797e-04 9.99916678e-01 3.54434903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.690714057 meters Centerline goodness [0,1] 0.9816544442586532 Centerline is valid? [True, True] Translation: X:341.42, Y:-13.22, Z:3.54 [[ 9.99881328e-01 8.11385552e-03 -1.30955992e-02 3.41418353e+02] [-8.10749071e-03 9.99966988e-01 5.39042758e-04 -1.32248960e+01] [ 1.30995406e-02 -4.32806340e-04 9.99914104e-01 3.54422168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.720714057 meters Centerline goodness [0,1] 0.9809761904761904 Centerline is valid? [True, True] Translation: X:341.45, Y:-13.23, Z:3.54 [[ 9.99887024e-01 4.98626773e-03 -1.41801217e-02 3.41446364e+02] [-4.97850527e-03 9.99987437e-01 5.82665731e-04 -1.32303946e+01] [ 1.41828489e-02 -5.12004094e-04 9.99899287e-01 3.54248286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.750714057 meters Centerline goodness [0,1] 0.981704702463195 Centerline is valid? [True, True] Translation: X:341.47, Y:-13.23, Z:3.54 [[ 9.99889212e-01 3.38238689e-03 -1.44956028e-02 3.41474549e+02] [-3.37413045e-03 9.99994131e-01 5.94000860e-04 -1.32339308e+01] [ 1.44975269e-02 -5.45024998e-04 9.99894757e-01 3.54174929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.780714057 meters Centerline goodness [0,1] 0.9810526816279954 Centerline is valid? [True, True] Translation: X:341.50, Y:-13.24, Z:3.54 [[ 9.99897159e-01 2.11997928e-03 -1.41837178e-02 3.41503453e+02] [-2.11196475e-03 9.99997602e-01 5.80006152e-04 -1.32366750e+01] [ 1.41849134e-02 -5.49990991e-04 9.99899238e-01 3.54153255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.810714057 meters Centerline goodness [0,1] 0.9816995015428436 Centerline is valid? [True, True] Translation: X:341.53, Y:-13.24, Z:3.54 [[ 9.99903840e-01 -1.49874011e-04 -1.38668059e-02 3.41533063e+02] [ 1.57743637e-04 9.99999827e-01 5.66423409e-04 -1.32390348e+01] [ 1.38667186e-02 -5.68556342e-04 9.99903691e-01 3.54273996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.840714057 meters Centerline goodness [0,1] 0.9810236313976962 Centerline is valid? [True, True] Translation: X:341.56, Y:-13.24, Z:3.54 [[ 9.99905462e-01 -8.78097398e-04 -1.37220994e-02 3.41562199e+02] [ 8.85860685e-04 9.99999451e-01 5.59682748e-04 -1.32407087e+01] [ 1.37216004e-02 -5.71785705e-04 9.99905691e-01 3.54332370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.870714057 meters Centerline goodness [0,1] 0.9806098773616175 Centerline is valid? [True, True] Translation: X:341.59, Y:-13.25, Z:3.54 [[ 9.99908229e-01 -1.63340289e-03 -1.34485924e-02 3.41589928e+02] [ 1.64091301e-03 9.99998504e-01 5.47416056e-04 -1.32467037e+01] [ 1.34476781e-02 -5.69433789e-04 9.99909414e-01 3.54292618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.900714057 meters Centerline goodness [0,1] 0.9826433347560108 Centerline is valid? [True, True] Translation: X:341.62, Y:-13.25, Z:3.54 [[ 9.99907284e-01 -2.42697122e-03 -1.33989777e-02 3.41618526e+02] [ 2.43448361e-03 9.99996888e-01 5.44386352e-04 -1.32461246e+01] [ 1.33976148e-02 -5.76955471e-04 9.99910081e-01 3.54356479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.930714057 meters Centerline goodness [0,1] 0.980977229601518 Centerline is valid? [True, True] Translation: X:341.65, Y:-13.25, Z:3.54 [[ 9.99900188e-01 -3.77173014e-03 -1.36157517e-02 3.41645719e+02] [ 3.77959449e-03 9.99992705e-01 5.51906289e-04 -1.32500648e+01] [ 1.36135708e-02 -6.03313222e-04 9.99907149e-01 3.54298705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.960714057 meters Centerline goodness [0,1] 0.9818177508059928 Centerline is valid? [True, True] Translation: X:341.67, Y:-13.25, Z:3.54 [[ 9.99893984e-01 -4.74951239e-03 -1.37645685e-02 3.41674863e+02] [ 4.75762680e-03 9.99988527e-01 5.56828850e-04 -1.32506056e+01] [ 1.37617659e-02 -6.22256497e-04 9.99905109e-01 3.54274541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.990714057 meters Centerline goodness [0,1] 0.9820925219698226 Centerline is valid? [True, True] Translation: X:341.70, Y:-13.25, Z:3.54 [[ 9.99884889e-01 -5.54795953e-03 -1.41218952e-02 3.41703929e+02] [ 5.55654102e-03 9.99984401e-01 5.68508878e-04 -1.32535290e+01] [ 1.41185208e-02 -6.46912326e-04 9.99900119e-01 3.54272511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.020714057 meters Centerline goodness [0,1] 0.9822069095714555 Centerline is valid? [True, True] Translation: X:341.73, Y:-13.26, Z:3.54 [[ 9.99875441e-01 -6.02289875e-03 -1.45886118e-02 3.41731711e+02] [ 6.03207894e-03 9.99981636e-01 5.85350130e-04 -1.32557670e+01] [ 1.45848184e-02 -6.73276878e-04 9.99893409e-01 3.54216898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.050714057 meters Centerline goodness [0,1] 0.9812692398768648 Centerline is valid? [True, True] Translation: X:341.76, Y:-13.26, Z:3.54 [[ 9.99852502e-01 -7.29896537e-03 -1.55467060e-02 3.41760668e+02] [ 7.30949576e-03 9.99973093e-01 6.20622931e-04 -1.32580895e+01] [ 1.55417578e-02 -7.34169972e-04 9.99878950e-01 3.54134706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.080714057 meters Centerline goodness [0,1] 0.9806608909719263 Centerline is valid? [True, True] Translation: X:341.79, Y:-13.26, Z:3.54 [[ 9.99813995e-01 -9.22279082e-03 -1.69385532e-02 3.41789117e+02] [ 9.23553746e-03 9.99957124e-01 6.74451054e-04 -1.32616155e+01] [ 1.69316066e-02 -8.30762246e-04 9.99856305e-01 3.53976242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.110714057 meters Centerline goodness [0,1] 0.9809339073662299 Centerline is valid? [True, True] Translation: X:341.82, Y:-13.26, Z:3.54 [[ 9.99796216e-01 -1.06078541e-02 -1.71755559e-02 3.41816940e+02] [ 1.06211410e-02 9.99943361e-01 6.82556316e-04 -1.32647481e+01] [ 1.71673426e-02 -8.64841223e-04 9.99852256e-01 3.53919004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.140714057 meters Centerline goodness [0,1] 0.9797944075069552 Centerline is valid? [True, True] Translation: X:341.85, Y:-13.27, Z:3.54 [[ 9.99752542e-01 -1.33122521e-02 -1.78223969e-02 3.41845477e+02] [ 1.33269626e-02 9.99910942e-01 7.06872132e-04 -1.32698672e+01] [ 1.78113996e-02 -9.44215627e-04 9.99840919e-01 3.53838968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.170714057 meters Centerline goodness [0,1] 0.9795759350207782 Centerline is valid? [True, True] Translation: X:341.87, Y:-13.27, Z:3.54 [[ 9.99738383e-01 -1.47321762e-02 -1.74965394e-02 3.41873729e+02] [ 1.47465453e-02 9.99891024e-01 6.92517743e-04 -1.32721610e+01] [ 1.74844304e-02 -9.50350080e-04 9.99846684e-01 3.53870748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.200714057 meters Centerline goodness [0,1] 0.97993870815653 Centerline is valid? [True, True] Translation: X:341.90, Y:-13.28, Z:3.54 [[ 9.99729696e-01 -1.56616953e-02 -1.71827282e-02 3.41901985e+02] [ 1.56756691e-02 9.99876899e-01 6.78853723e-04 -1.32756499e+01] [ 1.71699809e-02 -9.48020987e-04 9.99852136e-01 3.53882502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.230714057 meters Centerline goodness [0,1] 0.979966453258995 Centerline is valid? [True, True] Translation: X:341.93, Y:-13.28, Z:3.54 [[ 9.99721224e-01 -1.72379841e-02 -1.61346548e-02 3.41931853e+02] [ 1.72504989e-02 9.99850996e-01 6.36781444e-04 -1.32778512e+01] [ 1.61212738e-02 -9.14934768e-04 9.99869625e-01 3.53987627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26071405700003 meters Centerline goodness [0,1] 0.9787651635176996 Centerline is valid? [True, True] Translation: X:341.96, Y:-13.28, Z:3.54 [[ 9.99721269e-01 -1.76684210e-02 -1.56592319e-02 3.41961064e+02] [ 1.76802567e-02 9.99843501e-01 6.17696282e-04 -1.32801986e+01] [ 1.56458675e-02 -8.94383350e-04 9.99877196e-01 3.54081245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.290714057 meters Centerline goodness [0,1] 0.9776995582433677 Centerline is valid? [True, True] Translation: X:341.99, Y:-13.28, Z:3.54 [[ 9.99744242e-01 -1.76703073e-02 -1.41142070e-02 3.41992011e+02] [ 1.76799240e-02 9.99843543e-01 5.56855018e-04 -1.32816130e+01] [ 1.41021589e-02 -8.06250704e-04 9.99900235e-01 3.54242435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32071405700003 meters Centerline goodness [0,1] 0.9797595711012966 Centerline is valid? [True, True] Translation: X:342.02, Y:-13.28, Z:3.54 [[ 9.99744686e-01 -1.78962858e-02 -1.37944247e-02 3.42023667e+02] [ 1.79054986e-02 9.99839535e-01 5.44643419e-04 -1.32751718e+01] [ 1.37824641e-02 -7.91500416e-04 9.99904704e-01 3.54415620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.350714057 meters Centerline goodness [0,1] 0.9781230109149202 Centerline is valid? [True, True] Translation: X:342.05, Y:-13.28, Z:3.54 [[ 9.99745738e-01 -1.78378549e-02 -1.37938411e-02 3.42054286e+02] [ 1.78470704e-02 9.99840580e-01 5.45271246e-04 -1.32825292e+01] [ 1.37819157e-02 -7.91312258e-04 9.99904712e-01 3.54314457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38071405700003 meters Centerline goodness [0,1] 0.9799271798751655 Centerline is valid? [True, True] Translation: X:342.09, Y:-13.28, Z:3.54 [[ 9.99740531e-01 -1.78135427e-02 -1.41967770e-02 3.42085597e+02] [ 1.78233102e-02 9.99840994e-01 5.61774671e-04 -1.32761394e+01] [ 1.41845124e-02 -8.14662468e-04 9.99899063e-01 3.54394909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.410714057 meters Centerline goodness [0,1] 0.9799271798751655 Centerline is valid? [True, True] Translation: X:342.12, Y:-13.28, Z:3.54 [[ 9.99741156e-01 -1.77784440e-02 -1.41967572e-02 3.42116473e+02] [ 1.77882151e-02 9.99841619e-01 5.62273419e-04 -1.32773919e+01] [ 1.41845124e-02 -8.14662849e-04 9.99899063e-01 3.54407394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.440714057 meters Centerline goodness [0,1] 0.9775222534413147 Centerline is valid? [True, True] Translation: X:342.15, Y:-13.29, Z:3.54 [[ 9.99732275e-01 -1.78385738e-02 -1.47364720e-02 3.42146109e+02] [ 1.78491135e-02 9.99840521e-01 5.83983323e-04 -1.32858015e+01] [ 1.47237044e-02 -8.46859937e-04 9.99891242e-01 3.54226117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.470714057 meters Centerline goodness [0,1] 0.9797370785454201 Centerline is valid? [True, True] Translation: X:342.18, Y:-13.28, Z:3.54 [[ 9.99693956e-01 -1.82771198e-02 -1.66715921e-02 3.42177182e+02] [ 1.82906754e-02 9.99832493e-01 6.60970796e-04 -1.32792100e+01] [ 1.66567188e-02 -9.65703188e-04 9.99860801e-01 3.54334382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.500714057 meters Centerline goodness [0,1] 0.9794515694749522 Centerline is valid? [True, True] Translation: X:342.21, Y:-13.28, Z:3.54 [[ 9.99692736e-01 -1.85178671e-02 -1.64779543e-02 3.42208144e+02] [ 1.85311434e-02 9.99828070e-01 6.53363868e-04 -1.32796823e+01] [ 1.64630224e-02 -9.58518447e-04 9.99864016e-01 3.54325685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.530714057 meters Centerline goodness [0,1] 0.9774092823011781 Centerline is valid? [True, True] Translation: X:342.24, Y:-13.29, Z:3.54 [[ 9.99704831e-01 -1.84479110e-02 -1.58090230e-02 3.42237869e+02] [ 1.84601256e-02 9.99829401e-01 6.27044798e-04 -1.32853048e+01] [ 1.57947583e-02 -9.18696263e-04 9.99874833e-01 3.54315444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.560714057 meters Centerline goodness [0,1] 0.9780232778198334 Centerline is valid? [True, True] Translation: X:342.27, Y:-13.29, Z:3.54 [[ 9.99720666e-01 -1.81206986e-02 -1.51733496e-02 3.42268252e+02] [ 1.81319140e-02 9.99835422e-01 6.01899002e-04 -1.32865008e+01] [ 1.51599456e-02 -8.76852741e-04 9.99884697e-01 3.54349060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.590714057 meters Centerline goodness [0,1] 0.9770956316410861 Centerline is valid? [True, True] Translation: X:342.30, Y:-13.29, Z:3.54 [[ 9.99746800e-01 -1.76880036e-02 -1.39093922e-02 3.42298559e+02] [ 1.76973952e-02 9.99843236e-01 5.52397265e-04 -1.32882886e+01] [ 1.38974409e-02 -7.98417410e-04 9.99903107e-01 3.54484715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.620714057 meters Centerline goodness [0,1] 0.978726932461564 Centerline is valid? [True, True] Translation: X:342.33, Y:-13.28, Z:3.55 [[ 9.99753124e-01 -1.75644160e-02 -1.36082008e-02 3.42329885e+02] [ 1.75734019e-02 9.99845429e-01 5.41022082e-04 -1.32833854e+01] [ 1.35965947e-02 -7.80030898e-04 9.99907258e-01 3.54603286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.650714057 meters Centerline goodness [0,1] 0.9784387675229489 Centerline is valid? [True, True] Translation: X:342.36, Y:-13.28, Z:3.55 [[ 9.99758353e-01 -1.74253776e-02 -1.34011696e-02 3.42361573e+02] [ 1.74340859e-02 9.99847873e-01 5.33258024e-04 -1.32829226e+01] [ 1.33898387e-02 -7.66766306e-04 9.99910058e-01 3.54619215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.680714057 meters Centerline goodness [0,1] 0.9783663518663164 Centerline is valid? [True, True] Translation: X:342.39, Y:-13.29, Z:3.55 [[ 9.99783014e-01 -1.68724587e-02 -1.22165842e-02 3.42391834e+02] [ 1.68796576e-02 9.99857410e-01 4.86393869e-04 -1.32881759e+01] [ 1.22066356e-02 -6.92500087e-04 9.99925256e-01 3.54580412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.710714057 meters Centerline goodness [0,1] 0.9801505330389154 Centerline is valid? [True, True] Translation: X:342.42, Y:-13.29, Z:3.55 [[ 9.99794272e-01 -1.65316292e-02 -1.17524343e-02 3.42424087e+02] [ 1.65382752e-02 9.99863124e-01 4.68525707e-04 -1.32859477e+01] [ 1.17430801e-02 -6.62794309e-04 9.99930828e-01 3.54643418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.740714057 meters Centerline goodness [0,1] 0.9779489716587745 Centerline is valid? [True, True] Translation: X:342.45, Y:-13.29, Z:3.55 [[ 9.99817818e-01 -1.57650314e-02 -1.07607469e-02 3.42453967e+02] [ 1.57705664e-02 9.99875545e-01 4.29703941e-04 -1.32899121e+01] [ 1.07526333e-02 -5.99328729e-04 9.99942009e-01 3.54656204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.770714057 meters Centerline goodness [0,1] 0.9798331674486942 Centerline is valid? [True, True] Translation: X:342.49, Y:-13.29, Z:3.55 [[ 9.99817641e-01 -1.56579665e-02 -1.09322090e-02 3.42485994e+02] [ 1.56636813e-02 9.99877221e-01 4.37314350e-04 -1.32886597e+01] [ 1.09240193e-02 -6.08473239e-04 9.99940146e-01 3.54745011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.800714057 meters Centerline goodness [0,1] 0.9776759348940492 Centerline is valid? [True, True] Translation: X:342.52, Y:-13.30, Z:3.55 [[ 9.99813862e-01 -1.58103841e-02 -1.10577508e-02 3.42516782e+02] [ 1.58162474e-02 9.99874817e-01 4.42993887e-04 -1.32959098e+01] [ 1.10493627e-02 -6.17803552e-04 9.99938763e-01 3.54668585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.830714057 meters Centerline goodness [0,1] 0.9791587812263437 Centerline is valid? [True, True] Translation: X:342.55, Y:-13.29, Z:3.55 [[ 9.99785322e-01 -1.68738329e-02 -1.20242658e-02 3.42548666e+02] [ 1.68808551e-02 9.99857392e-01 4.82742447e-04 -1.32920853e+01] [ 1.20144054e-02 -6.85618702e-04 9.99927589e-01 3.54594609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.860714057 meters Centerline goodness [0,1] 0.9771881038789649 Centerline is valid? [True, True] Translation: X:342.58, Y:-13.30, Z:3.54 [[ 9.99751366e-01 -1.78843266e-02 -1.33175304e-02 3.42578624e+02] [ 1.78930382e-02 9.99839763e-01 5.35276289e-04 -1.33013804e+01] [ 1.33058234e-02 -7.73434282e-04 9.99911174e-01 3.54378041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.890714057 meters Centerline goodness [0,1] 0.9775606993700007 Centerline is valid? [True, True] Translation: X:342.61, Y:-13.31, Z:3.54 [[ 9.99702862e-01 -1.94194514e-02 -1.47333794e-02 3.42610092e+02] [ 1.94302867e-02 9.99811039e-01 5.92627316e-04 -1.33058272e+01] [ 1.47190869e-02 -8.78725010e-04 9.99891282e-01 3.54201785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.920714057 meters Centerline goodness [0,1] 0.9778880760273811 Centerline is valid? [True, True] Translation: X:342.64, Y:-13.31, Z:3.54 [[ 9.99693208e-01 -1.95943933e-02 -1.51509101e-02 3.42641312e+02] [ 1.96058794e-02 9.99807600e-01 6.09936337e-04 -1.33080982e+01] [ 1.51360438e-02 -9.06796129e-04 9.99885032e-01 3.54195087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.950714057 meters Centerline goodness [0,1] 0.9789036466888816 Centerline is valid? [True, True] Translation: X:342.67, Y:-13.30, Z:3.54 [[ 9.99698659e-01 -1.93599866e-02 -1.50924408e-02 3.42672821e+02] [ 1.93713654e-02 9.99812173e-01 6.08104283e-04 -1.33048511e+01] [ 1.50778331e-02 -9.00282222e-04 9.99885918e-01 3.54268354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.980714057 meters Centerline goodness [0,1] 0.9792722899521306 Centerline is valid? [True, True] Translation: X:342.70, Y:-13.31, Z:3.54 [[ 9.99707226e-01 -1.91653560e-02 -1.47699316e-02 3.42704368e+02] [ 1.91762400e-02 9.99815942e-01 5.95621831e-04 -1.33074046e+01] [ 1.47557978e-02 -8.78679202e-04 9.99890741e-01 3.54433628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01071405700003 meters Centerline goodness [0,1] 0.978724403531843 Centerline is valid? [True, True] Translation: X:342.74, Y:-13.31, Z:3.55 [[ 9.99725635e-01 -1.89309108e-02 -1.37940119e-02 3.42735864e+02] [ 1.89403881e-02 9.99820460e-01 5.56739301e-04 -1.33090276e+01] [ 1.37809958e-02 -8.17850491e-04 9.99904703e-01 3.54549063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.040714057 meters Centerline goodness [0,1] 0.9773409645336836 Centerline is valid? [True, True] Translation: X:342.77, Y:-13.31, Z:3.55 [[ 9.99751007e-01 -1.87358592e-02 -1.21198702e-02 3.42765751e+02] [ 1.87431645e-02 9.99824212e-01 4.89434240e-04 -1.33141272e+01] [ 1.21085697e-02 -7.16477095e-04 9.99926432e-01 3.54681118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07071405700003 meters Centerline goodness [0,1] 0.9773732363057772 Centerline is valid? [True, True] Translation: X:342.80, Y:-13.32, Z:3.55 [[ 9.99765427e-01 -1.85842456e-02 -1.11227610e-02 3.42797396e+02] [ 1.85903951e-02 9.99827083e-01 4.49727614e-04 -1.33165968e+01] [ 1.11124798e-02 -6.56398642e-04 9.99938039e-01 3.54748401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.100714057 meters Centerline goodness [0,1] 0.9787010193584588 Centerline is valid? [True, True] Translation: X:342.83, Y:-13.32, Z:3.55 [[ 9.99771677e-01 -1.83940548e-02 -1.08744171e-02 3.42829092e+02] [ 1.83999297e-02 9.99830610e-01 4.40446433e-04 -1.33185504e+01] [ 1.08644735e-02 -6.40434379e-04 9.99940775e-01 3.54770439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13071405700003 meters Centerline goodness [0,1] 0.9776798274406827 Centerline is valid? [True, True] Translation: X:342.86, Y:-13.32, Z:3.55 [[ 9.99773888e-01 -1.80141126e-02 -1.12988872e-02 3.42860505e+02] [ 1.80204387e-02 9.99837514e-01 4.58320239e-04 -1.33218673e+01] [ 1.12887950e-02 -6.61827511e-04 9.99936061e-01 3.54792588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.160714057 meters Centerline goodness [0,1] 0.9778763138138138 Centerline is valid? [True, True] Translation: X:342.89, Y:-13.33, Z:3.55 [[ 9.99773902e-01 -1.78155260e-02 -1.16082801e-02 3.42890915e+02] [ 1.78221971e-02 9.99841061e-01 4.71486313e-04 -1.33321111e+01] [ 1.15980354e-02 -6.78264768e-04 9.99932510e-01 3.54630129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.190714057 meters Centerline goodness [0,1] 0.9796873537395863 Centerline is valid? [True, True] Translation: X:342.92, Y:-13.33, Z:3.55 [[ 9.99766950e-01 -1.78924251e-02 -1.20792109e-02 3.42923461e+02] [ 1.78996636e-02 9.99839667e-01 4.91403315e-04 -1.33272238e+01] [ 1.20684818e-02 -7.07502605e-04 9.99926923e-01 3.54753284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.220714057 meters Centerline goodness [0,1] 0.9791739791739792 Centerline is valid? [True, True] Translation: X:342.96, Y:-13.33, Z:3.55 [[ 9.99758480e-01 -1.77658004e-02 -1.29366827e-02 3.42956052e+02] [ 1.77741048e-02 9.99841889e-01 5.27225131e-04 -1.33295432e+01] [ 1.29252707e-02 -7.57035751e-04 9.99916179e-01 3.54736672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.250714057 meters Centerline goodness [0,1] 0.9793493767393999 Centerline is valid? [True, True] Translation: X:342.99, Y:-13.34, Z:3.55 [[ 9.99717515e-01 -1.83204142e-02 -1.51410712e-02 3.42985700e+02] [ 1.83318586e-02 9.99831767e-01 6.17399166e-04 -1.33369932e+01] [ 1.51272130e-02 -8.94788737e-04 9.99885177e-01 3.54554065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.280714057 meters Centerline goodness [0,1] 0.9798170703252601 Centerline is valid? [True, True] Translation: X:343.02, Y:-13.34, Z:3.54 [[ 9.99704017e-01 -1.84551050e-02 -1.58520224e-02 3.43015989e+02] [ 1.84676665e-02 9.99829249e-01 6.46389230e-04 -1.33395318e+01] [ 1.58373864e-02 -9.38947772e-04 9.99874140e-01 3.54498695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.310714057 meters Centerline goodness [0,1] 0.979335673275842 Centerline is valid? [True, True] Translation: X:343.05, Y:-13.34, Z:3.54 [[ 9.99677113e-01 -1.83288006e-02 -1.75990197e-02 3.43045683e+02] [ 1.83442603e-02 9.99831473e-01 7.17395201e-04 -1.33447334e+01] [ 1.75829048e-02 -1.04000456e-03 9.99844868e-01 3.54300650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.340714057 meters Centerline goodness [0,1] 0.9787422704468557 Centerline is valid? [True, True] Translation: X:343.08, Y:-13.35, Z:3.54 [[ 9.99677360e-01 -1.78629512e-02 -1.80580133e-02 3.43075007e+02] [ 1.78791424e-02 9.99839885e-01 7.35565289e-04 -1.33467497e+01] [ 1.80419826e-02 -1.05818976e-03 9.99836670e-01 3.54286576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.370714057 meters Centerline goodness [0,1] 0.9801582669996965 Centerline is valid? [True, True] Translation: X:343.10, Y:-13.35, Z:3.54 [[ 9.99703077e-01 -1.58255225e-02 -1.85286639e-02 3.43104008e+02] [ 1.58422086e-02 9.99874220e-01 7.54116235e-04 -1.33484685e+01] [ 1.85143991e-02 -1.04742728e-03 9.99828045e-01 3.54292877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.400714057 meters Centerline goodness [0,1] 0.9786271996270831 Centerline is valid? [True, True] Translation: X:343.13, Y:-13.35, Z:3.54 [[ 9.99718260e-01 -1.48929195e-02 -1.84824420e-02 3.43132381e+02] [ 1.49092996e-02 9.99888570e-01 7.48769276e-04 -1.33493608e+01] [ 1.84692311e-02 -1.02411858e-03 9.99828905e-01 3.54348530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.430714057 meters Centerline goodness [0,1] 0.9799696509863429 Centerline is valid? [True, True] Translation: X:343.16, Y:-13.35, Z:3.55 [[ 9.99772256e-01 -1.22205083e-02 -1.74955928e-02 3.43162825e+02] [ 1.22347581e-02 9.99924902e-01 7.07677411e-04 -1.33450251e+01] [ 1.74856307e-02 -9.21570588e-04 9.99846690e-01 3.54639851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.460714057 meters Centerline goodness [0,1] 0.9800524812484035 Centerline is valid? [True, True] Translation: X:343.19, Y:-13.35, Z:3.55 [[ 9.99799565e-01 -1.05743882e-02 -1.70003479e-02 3.43191093e+02] [ 1.05875892e-02 9.99943714e-01 6.86693121e-04 -1.33455151e+01] [ 1.69921297e-02 -8.66548183e-04 9.99855248e-01 3.54749370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.490714057 meters Centerline goodness [0,1] 0.9779036431018809 Centerline is valid? [True, True] Translation: X:343.22, Y:-13.35, Z:3.55 [[ 9.99839598e-01 -8.59662909e-03 -1.57123135e-02 3.43219478e+02] [ 8.60764838e-03 9.99962753e-01 6.33821452e-04 -1.33509863e+01] [ 1.57062795e-02 -7.68965855e-04 9.99876353e-01 3.54725653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.520714057 meters Centerline goodness [0,1] 0.9812676417757249 Centerline is valid? [True, True] Translation: X:343.25, Y:-13.34, Z:3.55 [[ 9.99839531e-01 -8.41212553e-03 -1.58160728e-02 3.43248288e+02] [ 8.42321844e-03 9.99964323e-01 6.34884015e-04 -1.33432293e+01] [ 1.58101678e-02 -7.68004372e-04 9.99874717e-01 3.54950193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.550714057 meters Centerline goodness [0,1] 0.9805397594854106 Centerline is valid? [True, True] Translation: X:343.28, Y:-13.35, Z:3.55 [[ 9.99827113e-01 -7.90755765e-03 -1.68290047e-02 3.43275628e+02] [ 7.92000908e-03 9.99968410e-01 6.73359318e-04 -1.33459515e+01] [ 1.68231485e-02 -8.06528772e-04 9.99858156e-01 3.54840884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.580714057 meters Centerline goodness [0,1] 0.9807303879460451 Centerline is valid? [True, True] Translation: X:343.30, Y:-13.35, Z:3.55 [[ 9.99816421e-01 -7.82205181e-03 -1.74911147e-02 3.43302385e+02] [ 7.83545440e-03 9.99969059e-01 6.97850651e-04 -1.33522471e+01] [ 1.74851149e-02 -8.34773372e-04 9.99846775e-01 3.54639010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.610714057 meters Centerline goodness [0,1] 0.9816673233365008 Centerline is valid? [True, True] Translation: X:343.33, Y:-13.35, Z:3.55 [[ 9.99794797e-01 -8.30826873e-03 -1.84753080e-02 3.43331417e+02] [ 8.32322986e-03 9.99965093e-01 7.33043148e-04 -1.33490803e+01] [ 1.84685728e-02 -8.86666960e-04 9.99829048e-01 3.54766629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.640714057 meters Centerline goodness [0,1] 0.9808366820747485 Centerline is valid? [True, True] Translation: X:343.36, Y:-13.35, Z:3.55 [[ 9.99756409e-01 -9.58116995e-03 -1.98827612e-02 3.43359777e+02] [ 9.59865056e-03 9.99953625e-01 7.83935342e-04 -1.33531652e+01] [ 1.98743281e-02 -9.74592060e-04 9.99802011e-01 3.54698350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.670714057 meters Centerline goodness [0,1] 0.9811745067581666 Centerline is valid? [True, True] Translation: X:343.39, Y:-13.36, Z:3.55 [[ 9.99746937e-01 -1.04257340e-02 -1.99340469e-02 3.43388793e+02] [ 1.04433751e-02 9.99945161e-01 7.81076218e-04 -1.33557031e+01] [ 1.99248104e-02 -9.89057286e-04 9.99800992e-01 3.54695017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.700714057 meters Centerline goodness [0,1] 0.9799047266672833 Centerline is valid? [True, True] Translation: X:343.42, Y:-13.36, Z:3.55 [[ 9.99740047e-01 -1.22681976e-02 -1.92179379e-02 3.43416755e+02] [ 1.22848897e-02 9.99924256e-01 7.50749991e-04 -1.33601562e+01] [ 1.92072719e-02 -9.86645079e-04 9.99815037e-01 3.54740501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.730714057 meters Centerline goodness [0,1] 0.9802037508682565 Centerline is valid? [True, True] Translation: X:343.45, Y:-13.36, Z:3.55 [[ 9.99733781e-01 -1.29488629e-02 -1.90969802e-02 3.43445050e+02] [ 1.29654376e-02 9.99915668e-01 7.44362521e-04 -1.33616768e+01] [ 1.90857311e-02 -9.91765062e-04 9.99817359e-01 3.54790726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76071405700003 meters Centerline goodness [0,1] 0.9806906109250491 Centerline is valid? [True, True] Translation: X:343.47, Y:-13.36, Z:3.55 [[ 9.99731709e-01 -1.37728819e-02 -1.86230336e-02 3.43473370e+02] [ 1.37887132e-02 9.99904671e-01 7.21949399e-04 -1.33634685e+01] [ 1.86113150e-02 -9.78543376e-04 9.99826316e-01 3.54808085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.790714057 meters Centerline goodness [0,1] 0.9790350572717806 Centerline is valid? [True, True] Translation: X:343.50, Y:-13.37, Z:3.55 [[ 9.99698619e-01 -1.58969183e-02 -1.87071814e-02 3.43501530e+02] [ 1.59132235e-02 9.99873115e-01 7.23054772e-04 -1.33689126e+01] [ 1.86933134e-02 -1.02052842e-03 9.99824744e-01 3.54799460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82071405700003 meters Centerline goodness [0,1] 0.9809409538752625 Centerline is valid? [True, True] Translation: X:343.53, Y:-13.37, Z:3.55 [[ 9.99691111e-01 -1.67053687e-02 -1.84014450e-02 3.43530738e+02] [ 1.67212107e-02 9.99859941e-01 7.07371521e-04 -1.33678197e+01] [ 1.83870508e-02 -1.01484746e-03 9.99830429e-01 3.54907076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.850714057 meters Centerline goodness [0,1] 0.9784326827807093 Centerline is valid? [True, True] Translation: X:343.56, Y:-13.37, Z:3.55 [[ 9.99655464e-01 -1.87147212e-02 -1.84041276e-02 3.43558678e+02] [ 1.87308673e-02 9.99824313e-01 7.05308782e-04 -1.33731412e+01] [ 1.83876946e-02 -1.04979105e-03 9.99830381e-01 3.54889543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88071405700003 meters Centerline goodness [0,1] 0.9791637855529434 Centerline is valid? [True, True] Translation: X:343.59, Y:-13.37, Z:3.55 [[ 9.99629750e-01 -1.98981761e-02 -1.85587237e-02 3.43588671e+02] [ 1.99147823e-02 9.99801429e-01 7.10389072e-04 -1.33722308e+01] [ 1.85409030e-02 -1.07971899e-03 9.99827520e-01 3.54939394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.910714057 meters Centerline goodness [0,1] 0.9780910912986385 Centerline is valid? [True, True] Translation: X:343.62, Y:-13.38, Z:3.55 [[ 9.99566423e-01 -2.26324410e-02 -1.88344798e-02 3.43617665e+02] [ 2.26500155e-02 9.99743196e-01 7.20279075e-04 -1.33794206e+01] [ 1.88133413e-02 -1.14656804e-03 9.99822356e-01 3.54831021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.940714057 meters Centerline goodness [0,1] 0.9776531154050373 Centerline is valid? [True, True] Translation: X:343.65, Y:-13.38, Z:3.55 [[ 9.99515146e-01 -2.42994998e-02 -1.94680868e-02 3.43647665e+02] [ 2.43185839e-02 9.99703983e-01 7.44098667e-04 -1.33825863e+01] [ 1.94442427e-02 -1.21717419e-03 9.99810202e-01 3.54794879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.970714057 meters Centerline goodness [0,1] 0.9778402933105818 Centerline is valid? [True, True] Translation: X:343.68, Y:-13.38, Z:3.55 [[ 9.99473205e-01 -2.58997468e-02 -1.95580264e-02 3.43677985e+02] [ 2.59193114e-02 9.99663759e-01 7.47466774e-04 -1.33846601e+01] [ 1.95320910e-02 -1.25400359e-03 9.99808444e-01 3.54770120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.000714057 meters Centerline goodness [0,1] 0.9762887786875792 Centerline is valid? [True, True] Translation: X:343.71, Y:-13.39, Z:3.55 [[ 9.99349550e-01 -2.97764298e-02 -2.03430938e-02 3.43706847e+02] [ 2.97983919e-02 9.99555627e-01 7.77243649e-04 -1.33912462e+01] [ 2.03109103e-02 -1.38292957e-03 9.99792756e-01 3.54664775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.030714057 meters Centerline goodness [0,1] 0.9765504189073788 Centerline is valid? [True, True] Translation: X:343.74, Y:-13.39, Z:3.55 [[ 9.99286147e-01 -3.17513018e-02 -2.04707401e-02 3.43737969e+02] [ 3.17739631e-02 9.99494774e-01 7.82625987e-04 -1.33942410e+01] [ 2.04355484e-02 -1.43250385e-03 9.99790146e-01 3.54679091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.060714057 meters Centerline goodness [0,1] 0.9782843983880253 Centerline is valid? [True, True] Translation: X:343.77, Y:-13.39, Z:3.55 [[ 9.99182205e-01 -3.50687085e-02 -2.01272700e-02 3.43768196e+02] [ 3.50912896e-02 9.99383815e-01 7.69727242e-04 -1.33943989e+01] [ 2.00878745e-02 -1.47538962e-03 9.99797130e-01 3.54838451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.090714057 meters Centerline goodness [0,1] 0.9765025685917667 Centerline is valid? [True, True] Translation: X:343.80, Y:-13.40, Z:3.55 [[ 9.99135432e-01 -3.63617901e-02 -2.01546412e-02 3.43799838e+02] [ 3.63847119e-02 9.99337559e-01 7.71647276e-04 -1.33975171e+01] [ 2.01132315e-02 -1.50430095e-03 9.99796577e-01 3.54832734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.120714057 meters Centerline goodness [0,1] 0.9757533931446974 Centerline is valid? [True, True] Translation: X:343.83, Y:-13.40, Z:3.55 [[ 9.99085569e-01 -3.79209037e-02 -1.97492174e-02 3.43830513e+02] [ 3.79432248e-02 9.99279610e-01 7.56607215e-04 -1.33996346e+01] [ 1.97062990e-02 -1.50526434e-03 9.99804679e-01 3.54930296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.150714057 meters Centerline goodness [0,1] 0.975909413895065 Centerline is valid? [True, True] Translation: X:343.86, Y:-13.40, Z:3.55 [[ 9.99076292e-01 -3.84463089e-02 -1.91949061e-02 3.43862515e+02] [ 3.84675124e-02 9.99259580e-01 7.36507688e-04 -1.33994314e+01] [ 1.91523778e-02 -1.47420766e-03 9.99815490e-01 3.54992497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.180714057 meters Centerline goodness [0,1] 0.975480207880217 Centerline is valid? [True, True] Translation: X:343.89, Y:-13.40, Z:3.55 [[ 9.99061473e-01 -3.95220426e-02 -1.77251878e-02 3.43893903e+02] [ 3.95403085e-02 9.99217744e-01 6.81096846e-04 -1.34035255e+01] [ 1.76844038e-02 -1.38131701e-03 9.99842665e-01 3.55048915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.210714057 meters Centerline goodness [0,1] 0.9757909215955983 Centerline is valid? [True, True] Translation: X:343.93, Y:-13.40, Z:3.55 [[ 9.99063235e-01 -3.96002425e-02 -1.74491865e-02 3.43926422e+02] [ 3.96179758e-02 9.99214674e-01 6.71643855e-04 -1.34022789e+01] [ 1.74088860e-02 -1.36231613e-03 9.99847526e-01 3.55150964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.240714057 meters Centerline goodness [0,1] 0.9740441869554222 Centerline is valid? [True, True] Translation: X:343.96, Y:-13.41, Z:3.55 [[ 9.99065597e-01 -3.97810868e-02 -1.68937506e-02 3.43957816e+02] [ 3.97977506e-02 9.99207543e-01 6.51214185e-04 -1.34072587e+01] [ 1.68544570e-02 -1.32293896e-03 9.99857078e-01 3.55143816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.270714057 meters Centerline goodness [0,1] 0.9756813801963843 Centerline is valid? [True, True] Translation: X:343.99, Y:-13.40, Z:3.55 [[ 9.99058743e-01 -4.00563408e-02 -1.66468741e-02 3.43989625e+02] [ 4.00725735e-02 9.99196565e-01 6.42568700e-04 -1.34039945e+01] [ 1.66077605e-02 -1.30904696e-03 9.99861225e-01 3.55214548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.300714057 meters Centerline goodness [0,1] 0.9770475180900585 Centerline is valid? [True, True] Translation: X:344.02, Y:-13.40, Z:3.55 [[ 9.99043158e-01 -4.03338621e-02 -1.69099885e-02 3.44021449e+02] [ 4.03506793e-02 9.99185365e-01 6.54367950e-04 -1.34028036e+01] [ 1.68698199e-02 -1.33607135e-03 9.99856802e-01 3.55228015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.330714057 meters Centerline goodness [0,1] 0.9748995292226432 Centerline is valid? [True, True] Translation: X:344.05, Y:-13.41, Z:3.55 [[ 9.99008517e-01 -4.09595388e-02 -1.74441983e-02 3.44052124e+02] [ 4.09775507e-02 9.99159839e-01 6.76210240e-04 -1.34089054e+01] [ 1.74018451e-02 -1.39036031e-03 9.99847610e-01 3.55102703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.360714057 meters Centerline goodness [0,1] 0.9748995292226432 Centerline is valid? [True, True] Translation: X:344.08, Y:-13.41, Z:3.55 [[ 9.99011341e-01 -4.08906131e-02 -1.74441542e-02 3.44083896e+02] [ 4.09086342e-02 9.99162662e-01 6.77347918e-04 -1.34102030e+01] [ 1.74018503e-02 -1.39029477e-03 9.99847610e-01 3.55115549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.390714057 meters Centerline goodness [0,1] 0.9749033860875966 Centerline is valid? [True, True] Translation: X:344.12, Y:-13.41, Z:3.55 [[ 9.98941022e-01 -4.21822064e-02 -1.83710719e-02 3.44115284e+02] [ 4.22024254e-02 9.99108826e-01 7.14125748e-04 -1.34105911e+01] [ 1.83245767e-02 -1.48867330e-03 9.99830983e-01 3.55031355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.420714057 meters Centerline goodness [0,1] 0.9765011852977054 Centerline is valid? [True, True] Translation: X:344.15, Y:-13.41, Z:3.55 [[ 9.98904068e-01 -4.28107245e-02 -1.89183504e-02 3.44147615e+02] [ 4.28323008e-02 9.99082004e-01 7.36592811e-04 -1.34067639e+01] [ 1.88694494e-02 -1.54610203e-03 9.99820761e-01 3.55104467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.450714057 meters Centerline goodness [0,1] 0.9756052613392919 Centerline is valid? [True, True] Translation: X:344.18, Y:-13.41, Z:3.55 [[ 9.98909713e-01 -4.24821576e-02 -1.93559045e-02 3.44178399e+02] [ 4.25047037e-02 9.99095982e-01 7.54727289e-04 -1.34094180e+01] [ 1.93063439e-02 -1.57662140e-03 9.99812372e-01 3.55052296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.480714057 meters Centerline goodness [0,1] 0.9775223853041632 Centerline is valid? [True, True] Translation: X:344.21, Y:-13.40, Z:3.55 [[ 9.98913959e-01 -4.22176231e-02 -1.97123018e-02 3.44211097e+02] [ 4.22409826e-02 9.99107155e-01 7.69970720e-04 -1.34043937e+01] [ 1.96621954e-02 -1.60180150e-03 9.99805397e-01 3.55167977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51071405700003 meters Centerline goodness [0,1] 0.9760657326840076 Centerline is valid? [True, True] Translation: X:344.24, Y:-13.40, Z:3.55 [[ 9.98973130e-01 -4.09108018e-02 -1.94676995e-02 3.44241231e+02] [ 4.09333495e-02 9.99161589e-01 7.60982307e-04 -1.34041217e+01] [ 1.94202452e-02 -1.55707903e-03 9.99810197e-01 3.55178468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.540714057 meters Centerline goodness [0,1] 0.9778435635320782 Centerline is valid? [True, True] Translation: X:344.27, Y:-13.40, Z:3.55 [[ 9.99066400e-01 -3.89981380e-02 -1.85869075e-02 3.44270697e+02] [ 3.90183588e-02 9.99238230e-01 7.26366392e-04 -1.34030852e+01] [ 1.85444216e-02 -1.45091888e-03 9.99826985e-01 3.55236011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57071405700003 meters Centerline goodness [0,1] 0.9778435635320782 Centerline is valid? [True, True] Translation: X:344.30, Y:-13.40, Z:3.55 [[ 9.99069132e-01 -3.89281219e-02 -1.85868704e-02 3.44302467e+02] [ 3.89483482e-02 9.99240961e-01 7.27314903e-04 -1.34043893e+01] [ 1.85444492e-02 -1.45056577e-03 9.99826985e-01 3.55248866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.600714057 meters Centerline goodness [0,1] 0.9767732962447844 Centerline is valid? [True, True] Translation: X:344.33, Y:-13.40, Z:3.55 [[ 9.99178553e-01 -3.65105673e-02 -1.75840357e-02 3.44332012e+02] [ 3.65282979e-02 9.99332382e-01 6.88106360e-04 -1.34033834e+01] [ 1.75471731e-02 -1.32985601e-03 9.99845152e-01 3.55332265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63071405700003 meters Centerline goodness [0,1] 0.9776550571965567 Centerline is valid? [True, True] Translation: X:344.36, Y:-13.40, Z:3.55 [[ 9.99224513e-01 -3.54383215e-02 -1.71609602e-02 3.44363945e+02] [ 3.54550653e-02 9.99371045e-01 6.72335756e-04 -1.34026893e+01] [ 1.71263403e-02 -1.28025733e-03 9.99852514e-01 3.55419284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.660714057 meters Centerline goodness [0,1] 0.9763622445429029 Centerline is valid? [True, True] Translation: X:344.40, Y:-13.40, Z:3.56 [[ 9.99293600e-01 -3.37456650e-02 -1.65387667e-02 3.44395803e+02] [ 3.37610008e-02 9.99429724e-01 6.48860789e-04 -1.34002611e+01] [ 1.65074388e-02 -1.20676775e-03 9.99863015e-01 3.55557887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.690714057 meters Centerline goodness [0,1] 0.9766591348505672 Centerline is valid? [True, True] Translation: X:344.43, Y:-13.40, Z:3.56 [[ 9.99319286e-01 -3.29772706e-02 -1.65367432e-02 3.44428405e+02] [ 3.29925159e-02 9.99455387e-01 6.49861984e-04 -1.33986926e+01] [ 1.65063065e-02 -1.19500838e-03 9.99863048e-01 3.55621171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.720714057 meters Centerline goodness [0,1] 0.976988470944451 Centerline is valid? [True, True] Translation: X:344.46, Y:-13.40, Z:3.56 [[ 9.99372643e-01 -3.14375151e-02 -1.63096283e-02 3.44459194e+02] [ 3.14521518e-02 9.99505053e-01 6.41639362e-04 -1.33995767e+01] [ 1.62813843e-02 -1.15420973e-03 9.99866783e-01 3.55504506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.750714057 meters Centerline goodness [0,1] 0.9770497914676484 Centerline is valid? [True, True] Translation: X:344.49, Y:-13.40, Z:3.55 [[ 9.99377444e-01 -3.11053898e-02 -1.66486983e-02 3.44491615e+02] [ 3.11206124e-02 9.99515421e-01 6.55982973e-04 -1.34004432e+01] [ 1.66202261e-02 -1.17369227e-03 9.99861186e-01 3.55477271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.780714057 meters Centerline goodness [0,1] 0.9767202932729353 Centerline is valid? [True, True] Translation: X:344.52, Y:-13.40, Z:3.55 [[ 9.99379983e-01 -3.07974682e-02 -1.70635452e-02 3.44524121e+02] [ 3.08134342e-02 9.99524926e-01 6.73494674e-04 -1.34016196e+01] [ 1.70346969e-02 -1.19886352e-03 9.99854180e-01 3.55455754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.810714057 meters Centerline goodness [0,1] 0.9782669657879978 Centerline is valid? [True, True] Translation: X:344.55, Y:-13.40, Z:3.55 [[ 9.99421140e-01 -2.92299950e-02 -1.74066707e-02 3.44554957e+02] [ 2.92463858e-02 9.99571996e-01 6.87768696e-04 -1.34018863e+01] [ 1.73791171e-02 -1.19645278e-03 9.99848256e-01 3.55493810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.840714057 meters Centerline goodness [0,1] 0.9768897222547755 Centerline is valid? [True, True] Translation: X:344.59, Y:-13.40, Z:3.55 [[ 9.99439900e-01 -2.86393902e-02 -1.73110261e-02 3.44586697e+02] [ 2.86555231e-02 9.99589112e-01 6.84567767e-04 -1.34025738e+01] [ 1.72843076e-02 -1.18024085e-03 9.99849919e-01 3.55458916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.870714057 meters Centerline goodness [0,1] 0.9770776319790424 Centerline is valid? [True, True] Translation: X:344.62, Y:-13.40, Z:3.55 [[ 9.99448633e-01 -2.81167878e-02 -1.76599951e-02 3.44619259e+02] [ 2.81335150e-02 9.99603930e-01 6.99411753e-04 -1.34040975e+01] [ 1.76333353e-02 -1.19586386e-03 9.99843805e-01 3.55456708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.900714057 meters Centerline goodness [0,1] 0.9782461070132303 Centerline is valid? [True, True] Translation: X:344.65, Y:-13.40, Z:3.55 [[ 9.99500690e-01 -2.61174883e-02 -1.77833476e-02 3.44649840e+02] [ 2.61341480e-02 9.99658196e-01 7.05024894e-04 -1.34049419e+01] [ 1.77588557e-02 -1.16942551e-03 9.99841615e-01 3.55438159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.930714057 meters Centerline goodness [0,1] 0.9779049398575266 Centerline is valid? [True, True] Translation: X:344.68, Y:-13.41, Z:3.55 [[ 9.99526206e-01 -2.50121571e-02 -1.79375402e-02 3.44681270e+02] [ 2.50289404e-02 9.99686474e-01 7.11727374e-04 -1.34056638e+01] [ 1.79141145e-02 -1.16034779e-03 9.99838856e-01 3.55399350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.960714057 meters Centerline goodness [0,1] 0.9775721895149986 Centerline is valid? [True, True] Translation: X:344.71, Y:-13.40, Z:3.56 [[ 9.99591622e-01 -2.25429920e-02 -1.75613855e-02 3.44712147e+02] [ 2.25587052e-02 9.99745277e-01 6.97151890e-04 -1.34046702e+01] [ 1.75411964e-02 -1.09302931e-03 9.99845544e-01 3.55500866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.990714057 meters Centerline goodness [0,1] 0.981148423961407 Centerline is valid? [True, True] Translation: X:344.74, Y:-13.39, Z:3.56 [[ 9.99638400e-01 -2.07900654e-02 -1.70541286e-02 3.44742916e+02] [ 2.08046308e-02 9.99783331e-01 6.77078748e-04 -1.33939003e+01] [ 1.70363570e-02 -1.03163876e-03 9.99854339e-01 3.55814723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.020714057 meters Centerline goodness [0,1] 0.980957511594135 Centerline is valid? [True, True] Translation: X:344.77, Y:-13.40, Z:3.56 [[ 9.99678513e-01 -1.92261337e-02 -1.65295919e-02 3.44772317e+02] [ 1.92396001e-02 9.99814687e-01 6.56031957e-04 -1.33955751e+01] [ 1.65139158e-02 -9.73843789e-04 9.99863162e-01 3.55855696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.050714057 meters Centerline goodness [0,1] 0.9807511737089202 Centerline is valid? [True, True] Translation: X:344.80, Y:-13.39, Z:3.56 [[ 9.99763904e-01 -1.53892883e-02 -1.53397057e-02 3.44802870e+02] [ 1.54004347e-02 9.99881221e-01 6.08765492e-04 -1.33936096e+01] [ 1.53285152e-02 -8.44859900e-04 9.99882154e-01 3.55989564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.080714057 meters Centerline goodness [0,1] 0.9805086536880915 Centerline is valid? [True, True] Translation: X:344.83, Y:-13.39, Z:3.56 [[ 9.99799657e-01 -1.33212441e-02 -1.49395231e-02 3.44833051e+02] [ 1.33315834e-02 9.99910955e-01 5.92701787e-04 -1.33942936e+01] [ 1.49302973e-02 -7.91750542e-04 9.99888223e-01 3.56005796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.110714057 meters Centerline goodness [0,1] 0.9809774931726152 Centerline is valid? [True, True] Translation: X:344.86, Y:-13.40, Z:3.56 [[ 9.99846060e-01 -1.02916374e-02 -1.42105163e-02 3.44861891e+02] [ 1.03006811e-02 9.99946788e-01 5.63359484e-04 -1.33970912e+01] [ 1.42039622e-02 -7.09650756e-04 9.99898867e-01 3.55981736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.140714057 meters Centerline goodness [0,1] 0.9819877092604365 Centerline is valid? [True, True] Translation: X:344.89, Y:-13.39, Z:3.56 [[ 9.99855104e-01 -9.57194318e-03 -1.40765113e-02 3.44890711e+02] [ 9.58070939e-03 9.99953950e-01 5.55449825e-04 -1.33947872e+01] [ 1.40705463e-02 -6.90232307e-04 9.99900767e-01 3.56037353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.170714057 meters Centerline goodness [0,1] 0.9825951972152316 Centerline is valid? [True, True] Translation: X:344.92, Y:-13.39, Z:3.56 [[ 9.99843889e-01 -9.05030158e-03 -1.51752960e-02 3.44919945e+02] [ 9.06037479e-03 9.99958777e-01 5.95169449e-04 -1.33946814e+01] [ 1.51692840e-02 -7.32570406e-04 9.99884671e-01 3.55953717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.200714057 meters Centerline goodness [0,1] 0.9820076203019897 Centerline is valid? [True, True] Translation: X:344.95, Y:-13.40, Z:3.56 [[ 9.99826720e-01 -9.37833831e-03 -1.60803129e-02 3.44948992e+02] [ 9.38963031e-03 9.99955720e-01 6.26868303e-04 -1.33969536e+01] [ 1.60737219e-02 -7.77747873e-04 9.99870507e-01 3.55869583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.230714057 meters Centerline goodness [0,1] 0.9833254938852305 Centerline is valid? [True, True] Translation: X:344.98, Y:-13.40, Z:3.56 [[ 9.99805017e-01 -1.05542072e-02 -1.66894013e-02 3.44977087e+02] [ 1.05664992e-02 9.99943963e-01 6.48502211e-04 -1.34001065e+01] [ 1.66816217e-02 -8.24724311e-04 9.99860512e-01 3.55738016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26071405700003 meters Centerline goodness [0,1] 0.9816014268281236 Centerline is valid? [True, True] Translation: X:345.01, Y:-13.40, Z:3.56 [[ 9.99780656e-01 -1.15535424e-02 -1.74686961e-02 3.45005039e+02] [ 1.15671236e-02 9.99932870e-01 6.76616064e-04 -1.34043146e+01] [ 1.74597061e-02 -8.78530220e-04 9.99847182e-01 3.55670720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.290714057 meters Centerline goodness [0,1] 0.9825758641714741 Centerline is valid? [True, True] Translation: X:345.03, Y:-13.41, Z:3.56 [[ 9.99776381e-01 -1.24476315e-02 -1.70951830e-02 3.45033351e+02] [ 1.24607399e-02 9.99922144e-01 6.60482983e-04 -1.34055144e+01] [ 1.70856306e-02 -8.73353915e-04 9.99853649e-01 3.55712220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32071405700003 meters Centerline goodness [0,1] 0.9821099526508525 Centerline is valid? [True, True] Translation: X:345.06, Y:-13.41, Z:3.56 [[ 9.99775415e-01 -1.37918925e-02 -1.60904574e-02 3.45060992e+02] [ 1.38036567e-02 9.99904533e-01 6.20291917e-04 -1.34095823e+01] [ 1.60803663e-02 -8.42259759e-04 9.99870348e-01 3.55781285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.350714057 meters Centerline goodness [0,1] 0.9813186556895305 Centerline is valid? [True, True] Translation: X:345.09, Y:-13.41, Z:3.56 [[ 9.99781201e-01 -1.41922075e-02 -1.53665738e-02 3.45089624e+02] [ 1.42029371e-02 9.99898960e-01 5.89331329e-04 -1.34102446e+01] [ 1.53566573e-02 -8.07452865e-04 9.99881754e-01 3.55877237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38071405700003 meters Centerline goodness [0,1] 0.9810366624525917 Centerline is valid? [True, True] Translation: X:345.12, Y:-13.41, Z:3.56 [[ 9.99774932e-01 -1.51245612e-02 -1.48772631e-02 3.45118270e+02] [ 1.51346991e-02 9.99885302e-01 5.69072611e-04 -1.34135165e+01] [ 1.48669497e-02 -7.94107430e-04 9.99889165e-01 3.56031194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.410714057 meters Centerline goodness [0,1] 0.9793127548048922 Centerline is valid? [True, True] Translation: X:345.15, Y:-13.41, Z:3.56 [[ 9.99780381e-01 -1.54653539e-02 -1.41425566e-02 3.45148261e+02] [ 1.54745414e-02 9.99880116e-01 5.40435216e-04 -1.34138996e+01] [ 1.41325031e-02 -7.59166105e-04 9.99899843e-01 3.56105354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.440714057 meters Centerline goodness [0,1] 0.9808566698533355 Centerline is valid? [True, True] Translation: X:345.18, Y:-13.41, Z:3.56 [[ 9.99776751e-01 -1.60422225e-02 -1.37511923e-02 3.45178846e+02] [ 1.60509611e-02 9.99871037e-01 5.25348488e-04 -1.34095639e+01] [ 1.37409911e-02 -7.45951057e-04 9.99905310e-01 3.56269637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.470714057 meters Centerline goodness [0,1] 0.9813088479241139 Centerline is valid? [True, True] Translation: X:345.21, Y:-13.41, Z:3.56 [[ 9.99753623e-01 -1.77500642e-02 -1.33277125e-02 3.45209380e+02] [ 1.77584242e-02 9.99842177e-01 5.09169930e-04 -1.34124317e+01] [ 1.33165713e-02 -7.45723653e-04 9.99911052e-01 3.56273397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.500714057 meters Centerline goodness [0,1] 0.9807001166861143 Centerline is valid? [True, True] Translation: X:345.24, Y:-13.41, Z:3.56 [[ 9.99736160e-01 -1.85921855e-02 -1.34885515e-02 3.45241071e+02] [ 1.86008294e-02 9.99826857e-01 5.15650857e-04 -1.34131464e+01] [ 1.34766290e-02 -7.66413053e-04 9.99908892e-01 3.56287674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.530714057 meters Centerline goodness [0,1] 0.9806905580101456 Centerline is valid? [True, True] Translation: X:345.27, Y:-13.41, Z:3.56 [[ 9.99701682e-01 -2.04486562e-02 -1.33566140e-02 3.45272393e+02] [ 2.04573033e-02 9.99790597e-01 5.11083694e-04 -1.34133422e+01] [ 1.33433661e-02 -7.84171531e-04 9.99910666e-01 3.56352005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.560714057 meters Centerline goodness [0,1] 0.9795402406479704 Centerline is valid? [True, True] Translation: X:345.30, Y:-13.42, Z:3.56 [[ 9.99646395e-01 -2.27911314e-02 -1.36984853e-02 3.45302284e+02] [ 2.28004481e-02 9.99739899e-01 5.24313855e-04 -1.34169760e+01] [ 1.36829726e-02 -8.36460058e-04 9.99906034e-01 3.56389307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.590714057 meters Centerline goodness [0,1] 0.9800673778775969 Centerline is valid? [True, True] Translation: X:345.33, Y:-13.42, Z:3.56 [[ 9.99621901e-01 -2.37613936e-02 -1.38365921e-02 3.45333907e+02] [ 2.37709989e-02 9.99717289e-01 5.30119248e-04 -1.34195089e+01] [ 1.38200839e-02 -8.58828424e-04 9.99904129e-01 3.56374614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.620714057 meters Centerline goodness [0,1] 0.9806502812594823 Centerline is valid? [True, True] Translation: X:345.37, Y:-13.42, Z:3.56 [[ 9.99593586e-01 -2.47951277e-02 -1.40664642e-02 3.45366122e+02] [ 2.48051697e-02 9.99692159e-01 5.39846020e-04 -1.34225894e+01] [ 1.40487484e-02 -8.88547649e-04 9.99900917e-01 3.56344445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.650714057 meters Centerline goodness [0,1] 0.9796119004704946 Centerline is valid? [True, True] Translation: X:345.40, Y:-13.43, Z:3.56 [[ 9.99525435e-01 -2.64795539e-02 -1.57396920e-02 3.45396527e+02] [ 2.64923488e-02 9.99648833e-01 6.04919473e-04 -1.34254500e+01] [ 1.57181467e-02 -1.02161381e-03 9.99875940e-01 3.56243142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.680714057 meters Centerline goodness [0,1] 0.97908820846296 Centerline is valid? [True, True] Translation: X:345.43, Y:-13.43, Z:3.56 [[ 9.99498542e-01 -2.68664963e-02 -1.67587446e-02 3.45428599e+02] [ 2.68810741e-02 9.99638430e-01 6.45164204e-04 -1.34269750e+01] [ 1.67353518e-02 -1.09533374e-03 9.99859354e-01 3.56159361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.710714057 meters Centerline goodness [0,1] 0.9787358609868622 Centerline is valid? [True, True] Translation: X:345.46, Y:-13.43, Z:3.56 [[ 9.99452742e-01 -2.73786065e-02 -1.85641725e-02 3.45459464e+02] [ 2.73966212e-02 9.99624385e-01 7.16729591e-04 -1.34276412e+01] [ 1.85375765e-02 -1.22493296e-03 9.99827414e-01 3.56031638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.740714057 meters Centerline goodness [0,1] 0.9790903970712476 Centerline is valid? [True, True] Translation: X:345.49, Y:-13.43, Z:3.56 [[ 9.99432987e-01 -2.77950362e-02 -1.90037079e-02 3.45491180e+02] [ 2.78140132e-02 9.99612845e-01 7.34965251e-04 -1.34286217e+01] [ 1.89759221e-02 -1.26311790e-03 9.99819143e-01 3.56013014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.770714057 meters Centerline goodness [0,1] 0.9794829612220917 Centerline is valid? [True, True] Translation: X:345.52, Y:-13.43, Z:3.56 [[ 9.99411332e-01 -2.82188465e-02 -1.95111984e-02 3.45522845e+02] [ 2.82389455e-02 9.99600916e-01 7.55328389e-04 -1.34300086e+01] [ 1.94820973e-02 -1.30585942e-03 9.99809353e-01 3.55960583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.800714057 meters Centerline goodness [0,1] 0.9789106999952926 Centerline is valid? [True, True] Translation: X:345.55, Y:-13.42, Z:3.56 [[ 9.99384219e-01 -2.92356603e-02 -1.94025363e-02 3.45554787e+02] [ 2.92557452e-02 9.99571676e-01 7.52076452e-04 -1.34240621e+01] [ 1.93722382e-02 -1.31924900e-03 9.99811470e-01 3.56138467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.830714057 meters Centerline goodness [0,1] 0.9753208292201382 Centerline is valid? [True, True] Translation: X:345.59, Y:-13.43, Z:3.56 [[ 9.99367870e-01 -2.99578087e-02 -1.91412958e-02 3.45585322e+02] [ 2.99775075e-02 9.99550297e-01 7.42961123e-04 -1.34333285e+01] [ 1.91104304e-02 -1.31629981e-03 9.99816513e-01 3.56038584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.860714057 meters Centerline goodness [0,1] 0.9749103096676737 Centerline is valid? [True, True] Translation: X:345.62, Y:-13.43, Z:3.56 [[ 9.99350320e-01 -3.14859304e-02 -1.75377951e-02 3.45616427e+02] [ 3.15027119e-02 9.99503434e-01 6.81370310e-04 -1.34326995e+01] [ 1.75076329e-02 -1.23341574e-03 9.99845969e-01 3.56224308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.890714057 meters Centerline goodness [0,1] 0.9761257534570382 Centerline is valid? [True, True] Translation: X:345.65, Y:-13.43, Z:3.56 [[ 9.99323508e-01 -3.25796125e-02 -1.70615350e-02 3.45648819e+02] [ 3.25956708e-02 9.99468399e-01 6.63885249e-04 -1.34323649e+01] [ 1.70308360e-02 -1.21956831e-03 9.99854221e-01 3.56344402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.920714057 meters Centerline goodness [0,1] 0.9740850782871157 Centerline is valid? [True, True] Translation: X:345.68, Y:-13.43, Z:3.56 [[ 9.99288818e-01 -3.38591534e-02 -1.65956842e-02 3.45681065e+02] [ 3.38745407e-02 9.99425884e-01 6.46882566e-04 -1.34334831e+01] [ 1.65642535e-02 -1.20859370e-03 9.99862073e-01 3.56344203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.950714057 meters Centerline goodness [0,1] 0.9749151263674085 Centerline is valid? [True, True] Translation: X:345.71, Y:-13.43, Z:3.56 [[ 9.99205140e-01 -3.63059463e-02 -1.64610634e-02 3.45712582e+02] [ 3.63214268e-02 9.99339953e-01 6.42345461e-04 -1.34317207e+01] [ 1.64268774e-02 -1.23972420e-03 9.99864301e-01 3.56419634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.980714057 meters Centerline goodness [0,1] 0.9752378714906613 Centerline is valid? [True, True] Translation: X:345.74, Y:-13.44, Z:3.56 [[ 9.99164202e-01 -3.72988304e-02 -1.67240984e-02 3.45743588e+02] [ 3.73149616e-02 9.99303341e-01 6.53425492e-04 -1.34363616e+01] [ 1.66880754e-02 -1.27693845e-03 9.99859929e-01 3.56331828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01071405700003 meters Centerline goodness [0,1] 0.9728843158540614 Centerline is valid? [True, True] Translation: X:345.77, Y:-13.44, Z:3.56 [[ 9.99104915e-01 -3.82968550e-02 -1.79644109e-02 3.45774089e+02] [ 3.83156412e-02 9.99265439e-01 7.02601422e-04 -1.34428927e+01] [ 1.79243075e-02 -1.39029046e-03 9.99838380e-01 3.56146408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.040714057 meters Centerline goodness [0,1] 0.975317964085986 Centerline is valid? [True, True] Translation: X:345.81, Y:-13.44, Z:3.56 [[ 9.99083105e-01 -3.84941718e-02 -1.87389188e-02 3.45806339e+02] [ 3.85146700e-02 9.99257765e-01 7.34090301e-04 -1.34357837e+01] [ 1.86967519e-02 -1.45514049e-03 9.99824142e-01 3.56296301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07071405700003 meters Centerline goodness [0,1] 0.9755572890811527 Centerline is valid? [True, True] Translation: X:345.84, Y:-13.44, Z:3.56 [[ 9.99052429e-01 -3.88913467e-02 -1.95373184e-02 3.45838312e+02] [ 3.89137319e-02 9.99242280e-01 7.66764506e-04 -1.34377425e+01] [ 1.94926941e-02 -1.52630791e-03 9.99808834e-01 3.56263573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.100714057 meters Centerline goodness [0,1] 0.9752600174524185 Centerline is valid? [True, True] Translation: X:345.87, Y:-13.44, Z:3.56 [[ 9.99047635e-01 -3.86059322e-02 -2.03323653e-02 3.45870867e+02] [ 3.86301476e-02 9.99253258e-01 7.99418042e-04 -1.34377229e+01] [ 2.02863200e-02 -1.58409898e-03 9.99792956e-01 3.56231642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13071405700003 meters Centerline goodness [0,1] 0.976980349653645 Centerline is valid? [True, True] Translation: X:345.90, Y:-13.44, Z:3.56 [[ 9.99053017e-01 -3.81908805e-02 -2.08452829e-02 3.45903300e+02] [ 3.82162747e-02 9.99269154e-01 8.21081505e-04 -1.34366945e+01] [ 2.07986904e-02 -1.61693301e-03 9.99782376e-01 3.56268721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.160714057 meters Centerline goodness [0,1] 0.9763881988312395 Centerline is valid? [True, True] Translation: X:345.94, Y:-13.44, Z:3.56 [[ 9.99100763e-01 -3.68447260e-02 -2.09792913e-02 3.45935013e+02] [ 3.68701779e-02 9.99319721e-01 8.27557066e-04 -1.34367499e+01] [ 2.09345284e-02 -1.60032310e-03 9.99779568e-01 3.56221204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.190714057 meters Centerline goodness [0,1] 0.9766033450829174 Centerline is valid? [True, True] Translation: X:345.97, Y:-13.44, Z:3.56 [[ 9.99149081e-01 -3.54841510e-02 -2.10235292e-02 3.45966830e+02] [ 3.55094344e-02 9.99368996e-01 8.30420264e-04 -1.34373060e+01] [ 2.09807965e-02 -1.57624727e-03 9.99778636e-01 3.56240779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.220714057 meters Centerline goodness [0,1] 0.9766033450829174 Centerline is valid? [True, True] Translation: X:346.00, Y:-13.44, Z:3.56 [[ 9.99151587e-01 -3.54135579e-02 -2.10234733e-02 3.45998595e+02] [ 3.54388553e-02 9.99371500e-01 8.31834121e-04 -1.34386236e+01] [ 2.09808018e-02 -1.57617621e-03 9.99778636e-01 3.56253622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.250714057 meters Centerline goodness [0,1] 0.9759004800983847 Centerline is valid? [True, True] Translation: X:346.03, Y:-13.44, Z:3.56 [[ 9.99210658e-01 -3.37321546e-02 -2.09809855e-02 3.46030437e+02] [ 3.37570060e-02 9.99429724e-01 8.31334384e-04 -1.34378318e+01] [ 2.09409779e-02 -1.53893343e-03 9.99779529e-01 3.56311118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.280714057 meters Centerline goodness [0,1] 0.9754356100905501 Centerline is valid? [True, True] Translation: X:346.06, Y:-13.44, Z:3.56 [[ 9.99372838e-01 -2.92455540e-02 -1.99656700e-02 3.46060152e+02] [ 2.92671653e-02 9.99571312e-01 7.91020158e-04 -1.34388563e+01] [ 1.99339772e-02 -1.37486263e-03 9.99800353e-01 3.56359627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.310714057 meters Centerline goodness [0,1] 0.9767358965828621 Centerline is valid? [True, True] Translation: X:346.09, Y:-13.43, Z:3.57 [[ 9.99440260e-01 -2.69923552e-02 -1.97631040e-02 3.46090763e+02] [ 2.70130902e-02 9.99634773e-01 7.82922547e-04 -1.34331127e+01] [ 1.97347531e-02 -1.31634682e-03 9.99804384e-01 3.56531337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.340714057 meters Centerline goodness [0,1] 0.9773837611115083 Centerline is valid? [True, True] Translation: X:346.12, Y:-13.43, Z:3.57 [[ 9.99566714e-01 -2.25902938e-02 -1.88696371e-02 3.46121957e+02] [ 2.26084161e-02 9.99744118e-01 7.47595484e-04 -1.34266416e+01] [ 1.88479203e-02 -1.17388417e-03 9.99821673e-01 3.56787000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.370714057 meters Centerline goodness [0,1] 0.9757818459191457 Centerline is valid? [True, True] Translation: X:346.15, Y:-13.43, Z:3.57 [[ 9.99650698e-01 -1.90086469e-02 -1.83617547e-02 3.46151362e+02] [ 1.90252233e-02 9.99818739e-01 7.28491085e-04 -1.34290736e+01] [ 1.83445788e-02 -1.07757310e-03 9.99831143e-01 3.56757804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.400714057 meters Centerline goodness [0,1] 0.9763617677286742 Centerline is valid? [True, True] Translation: X:346.18, Y:-13.43, Z:3.57 [[ 9.99682448e-01 -1.74274977e-02 -1.82012369e-02 3.46181966e+02] [ 1.74435294e-02 9.99847589e-01 7.22401970e-04 -1.34295201e+01] [ 1.81858732e-02 -1.03966638e-03 9.99834083e-01 3.56715503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.430714057 meters Centerline goodness [0,1] 0.9777953245758859 Centerline is valid? [True, True] Translation: X:346.21, Y:-13.42, Z:3.57 [[ 9.99690069e-01 -1.65745729e-02 -1.85755182e-02 3.46212503e+02] [ 1.65911241e-02 9.99862086e-01 7.37257090e-04 -1.34234998e+01] [ 1.85607367e-02 -1.04521732e-03 9.99827188e-01 3.56815667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.460714057 meters Centerline goodness [0,1] 0.9768657253134514 Centerline is valid? [True, True] Translation: X:346.24, Y:-13.43, Z:3.57 [[ 9.99701045e-01 -1.56323429e-02 -1.88002889e-02 3.46240504e+02] [ 1.56490662e-02 9.99877270e-01 7.42726227e-04 -1.34287706e+01] [ 1.87863710e-02 -1.03671115e-03 9.99822983e-01 3.56682128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.490714057 meters Centerline goodness [0,1] 0.9787973167225683 Centerline is valid? [True, True] Translation: X:346.27, Y:-13.42, Z:3.57 [[ 9.99713991e-01 -1.38732519e-02 -1.94799788e-02 3.46269883e+02] [ 1.38907834e-02 9.99903226e-01 7.64947893e-04 -1.34217749e+01] [ 1.94674814e-02 -1.03532128e-03 9.99809955e-01 3.56813000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.520714057 meters Centerline goodness [0,1] 0.9791332263242376 Centerline is valid? [True, True] Translation: X:346.30, Y:-13.42, Z:3.57 [[ 9.99713904e-01 -1.28897727e-02 -2.01485557e-02 3.46298422e+02] [ 1.29082291e-02 9.99916376e-01 7.86224129e-04 -1.34209017e+01] [ 2.01367366e-02 -1.04608137e-03 9.99796688e-01 3.56824297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.550714057 meters Centerline goodness [0,1] 0.979083808519814 Centerline is valid? [True, True] Translation: X:346.33, Y:-13.42, Z:3.57 [[ 9.99718295e-01 -1.24941309e-02 -2.01798679e-02 3.46327236e+02] [ 1.25124642e-02 9.99921410e-01 7.82482325e-04 -1.34224063e+01] [ 2.01685056e-02 -1.03476177e-03 9.99796060e-01 3.56828314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.580714057 meters Centerline goodness [0,1] 0.9790891412383261 Centerline is valid? [True, True] Translation: X:346.35, Y:-13.42, Z:3.57 [[ 9.99718174e-01 -1.27610517e-02 -2.00182005e-02 3.46354851e+02] [ 1.27790364e-02 9.99918048e-01 7.70752556e-04 -1.34236839e+01] [ 2.00067243e-02 -1.02634865e-03 9.99799319e-01 3.56828137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.610714057 meters Centerline goodness [0,1] 0.9798938240169113 Centerline is valid? [True, True] Translation: X:346.38, Y:-13.42, Z:3.57 [[ 9.99725877e-01 -1.27664335e-02 -1.96262216e-02 3.46383187e+02] [ 1.27836248e-02 9.99918004e-01 7.50719891e-04 -1.34241960e+01] [ 1.96150284e-02 -1.00140836e-03 9.99807105e-01 3.56875568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.640714057 meters Centerline goodness [0,1] 0.9790226517090439 Centerline is valid? [True, True] Translation: X:346.41, Y:-13.43, Z:3.57 [[ 9.99755023e-01 -1.26707372e-02 -1.81478821e-02 3.46411544e+02] [ 1.26853407e-02 9.99919300e-01 6.89801437e-04 -1.34262900e+01] [ 1.81376773e-02 -9.19844519e-04 9.99835076e-01 3.56875222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.670714057 meters Centerline goodness [0,1] 0.9786887601168527 Centerline is valid? [True, True] Translation: X:346.44, Y:-13.43, Z:3.57 [[ 9.99753821e-01 -1.31533187e-02 -1.78686204e-02 3.46439110e+02] [ 1.31675019e-02 9.99913076e-01 6.76320011e-04 -1.34293671e+01] [ 1.78581714e-02 -9.11438608e-04 9.99840115e-01 3.56854974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.700714057 meters Centerline goodness [0,1] 0.9780429594272076 Centerline is valid? [True, True] Translation: X:346.47, Y:-13.43, Z:3.57 [[ 9.99733183e-01 -1.41043187e-02 -1.82928953e-02 3.46467880e+02] [ 1.41192678e-02 9.99900081e-01 6.88310284e-04 -1.34299489e+01] [ 1.82813594e-02 -9.46408920e-04 9.99832434e-01 3.56878829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.730714057 meters Centerline goodness [0,1] 0.9792650918635171 Centerline is valid? [True, True] Translation: X:346.50, Y:-13.43, Z:3.57 [[ 9.99706736e-01 -1.49450052e-02 -1.90548714e-02 3.46496289e+02] [ 1.49613436e-02 9.99887817e-01 7.15164894e-04 -1.34334792e+01] [ 1.90420457e-02 -1.00004164e-03 9.99818184e-01 3.56813706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76071405700003 meters Centerline goodness [0,1] 0.9778934300993124 Centerline is valid? [True, True] Translation: X:346.53, Y:-13.44, Z:3.57 [[ 9.99660086e-01 -1.71347529e-02 -1.96497534e-02 3.46525756e+02] [ 1.71525345e-02 9.99852613e-01 7.36734498e-04 -1.34372070e+01] [ 1.96342335e-02 -1.07352714e-03 9.99806654e-01 3.56742233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.790714057 meters Centerline goodness [0,1] 0.9769424991663094 Centerline is valid? [True, True] Translation: X:346.55, Y:-13.45, Z:3.57 [[ 9.99626819e-01 -1.83862845e-02 -2.02031651e-02 3.46554509e+02] [ 1.84053227e-02 9.99830321e-01 7.56781277e-04 -1.34453513e+01] [ 2.01858227e-02 -1.12834463e-03 9.99795609e-01 3.56529709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82071405700003 meters Centerline goodness [0,1] 0.9790199809705042 Centerline is valid? [True, True] Translation: X:346.58, Y:-13.44, Z:3.57 [[ 9.99561936e-01 -2.10073157e-02 -2.08477297e-02 3.46584390e+02] [ 2.10281411e-02 9.99778580e-01 7.80189133e-04 -1.34416347e+01] [ 2.08267239e-02 -1.21823636e-03 9.99782358e-01 3.56654492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.850714057 meters Centerline goodness [0,1] 0.9792850857373891 Centerline is valid? [True, True] Translation: X:346.61, Y:-13.45, Z:3.57 [[ 9.99521537e-01 -2.24181076e-02 -2.13102247e-02 3.46614505e+02] [ 2.24401838e-02 9.99747869e-01 7.97351653e-04 -1.34453682e+01] [ 2.12869766e-02 -1.27517551e-03 9.99772593e-01 3.56634740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88071405700003 meters Centerline goodness [0,1] 0.9781359528861973 Centerline is valid? [True, True] Translation: X:346.64, Y:-13.45, Z:3.57 [[ 9.99491990e-01 -2.37058268e-02 -2.13024888e-02 3.46644915e+02] [ 2.37281784e-02 9.99718129e-01 7.97062204e-04 -1.34476352e+01] [ 2.12775893e-02 -1.30212654e-03 9.99772759e-01 3.56587136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.910714057 meters Centerline goodness [0,1] 0.9782913998714622 Centerline is valid? [True, True] Translation: X:346.68, Y:-13.45, Z:3.57 [[ 9.99472405e-01 -2.54621608e-02 -2.01640966e-02 3.46675838e+02] [ 2.54825561e-02 9.99674982e-01 7.55127886e-04 -1.34504574e+01] [ 2.01383157e-02 -1.26856221e-03 9.99796399e-01 3.56689422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.940714057 meters Centerline goodness [0,1] 0.9777223607647548 Centerline is valid? [True, True] Translation: X:346.71, Y:-13.46, Z:3.57 [[ 9.99463977e-01 -2.59953757e-02 -1.98997480e-02 3.46706390e+02] [ 2.60153592e-02 9.99661265e-01 7.45947090e-04 -1.34556747e+01] [ 1.98736160e-02 -1.26324634e-03 9.99801702e-01 3.56703650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.970714057 meters Centerline goodness [0,1] 0.9771389231791853 Centerline is valid? [True, True] Translation: X:346.74, Y:-13.46, Z:3.57 [[ 9.99467788e-01 -2.70042410e-02 -1.83005831e-02 3.46736051e+02] [ 2.70213163e-02 9.99634622e-01 6.86374712e-04 -1.34612274e+01] [ 1.82753614e-02 -1.18051526e-03 9.99832295e-01 3.56764745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.000714057 meters Centerline goodness [0,1] 0.9751846310940134 Centerline is valid? [True, True] Translation: X:346.77, Y:-13.46, Z:3.57 [[ 9.99467644e-01 -2.74655471e-02 -1.76088559e-02 3.46768316e+02] [ 2.74814447e-02 9.99622095e-01 6.61426955e-04 -1.34628698e+01] [ 1.75840349e-02 -1.14499164e-03 9.99844733e-01 3.56824359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.030714057 meters Centerline goodness [0,1] 0.9754948385263756 Centerline is valid? [True, True] Translation: X:346.80, Y:-13.47, Z:3.57 [[ 9.99434659e-01 -2.85228656e-02 -1.77991280e-02 3.46799678e+02] [ 2.85393029e-02 9.99592447e-01 6.70113045e-04 -1.34671947e+01] [ 1.77727603e-02 -1.17770891e-03 9.99841358e-01 3.56876010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.060714057 meters Centerline goodness [0,1] 0.974916743428045 Centerline is valid? [True, True] Translation: X:346.83, Y:-13.47, Z:3.57 [[ 9.99404025e-01 -2.96380509e-02 -1.76969215e-02 3.46830873e+02] [ 2.96544925e-02 9.99559986e-01 6.67317216e-04 -1.34714753e+01] [ 1.76693566e-02 -1.19171274e-03 9.99843175e-01 3.56815496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.090714057 meters Centerline goodness [0,1] 0.9776038217765585 Centerline is valid? [True, True] Translation: X:346.86, Y:-13.47, Z:3.57 [[ 9.99382128e-01 -3.03602584e-02 -1.77092085e-02 3.46863405e+02] [ 3.03768566e-02 9.99538293e-01 6.68957110e-04 -1.34652928e+01] [ 1.76807223e-02 -1.20649387e-03 9.99842956e-01 3.56974851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.120714057 meters Centerline goodness [0,1] 0.9765669246743439 Centerline is valid? [True, True] Translation: X:346.89, Y:-13.47, Z:3.57 [[ 9.99327967e-01 -3.20344291e-02 -1.78159911e-02 3.46893996e+02] [ 3.20515023e-02 9.99485992e-01 6.73524928e-04 -1.34694161e+01] [ 1.77852575e-02 -1.24410158e-03 9.99841056e-01 3.57012229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.150714057 meters Centerline goodness [0,1] 0.9769873489425982 Centerline is valid? [True, True] Translation: X:346.93, Y:-13.47, Z:3.57 [[ 9.99302626e-01 -3.27449113e-02 -1.79452576e-02 3.46926571e+02] [ 3.27623664e-02 9.99462939e-01 6.79487112e-04 -1.34711003e+01] [ 1.79133702e-02 -1.26694236e-03 9.99838740e-01 3.57022207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.180714057 meters Centerline goodness [0,1] 0.977523054789028 Centerline is valid? [True, True] Translation: X:346.96, Y:-13.47, Z:3.57 [[ 9.99237170e-01 -3.40957226e-02 -1.90410276e-02 3.46957683e+02] [ 3.41156400e-02 9.99417631e-01 7.22084388e-04 -1.34746445e+01] [ 1.90053187e-02 -1.37113040e-03 9.99818442e-01 3.56938351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.210714057 meters Centerline goodness [0,1] 0.9775082430522845 Centerline is valid? [True, True] Translation: X:346.99, Y:-13.48, Z:3.57 [[ 9.99210546e-01 -3.44756918e-02 -1.97411054e-02 3.46989810e+02] [ 3.44972011e-02 9.99404513e-01 7.49963950e-04 -1.34780344e+01] [ 1.97034943e-02 -1.43038477e-03 9.99804844e-01 3.56918030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.240714057 meters Centerline goodness [0,1] 0.9769701246765466 Centerline is valid? [True, True] Translation: X:347.02, Y:-13.48, Z:3.57 [[ 9.99230525e-01 -3.41023424e-02 -1.93749250e-02 3.47020980e+02] [ 3.41230332e-02 9.99417367e-01 7.38231970e-04 -1.34831439e+01] [ 1.93384611e-02 -1.39879513e-03 9.99812016e-01 3.56873423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.270714057 meters Centerline goodness [0,1] 0.9785055089933139 Centerline is valid? [True, True] Translation: X:347.05, Y:-13.48, Z:3.57 [[ 9.99260353e-01 -3.38521972e-02 -1.82421557e-02 3.47053866e+02] [ 3.38705294e-02 9.99425986e-01 6.96826378e-04 -1.34785293e+01] [ 1.82080953e-02 -1.31418244e-03 9.99833355e-01 3.57114101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.300714057 meters Centerline goodness [0,1] 0.9772363465160075 Centerline is valid? [True, True] Translation: X:347.08, Y:-13.49, Z:3.57 [[ 9.99286658e-01 -3.32223441e-02 -1.79569167e-02 3.47084891e+02] [ 3.32400262e-02 9.99447162e-01 6.87041822e-04 -1.34881878e+01] [ 1.79241642e-02 -1.28344011e-03 9.99838526e-01 3.57015471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.330714057 meters Centerline goodness [0,1] 0.9760150641402848 Centerline is valid? [True, True] Translation: X:347.12, Y:-13.49, Z:3.57 [[ 9.99309235e-01 -3.27143562e-02 -1.76302188e-02 3.47117537e+02] [ 3.27313465e-02 9.99463957e-01 6.75933085e-04 -1.34881586e+01] [ 1.75986555e-02 -1.25252697e-03 9.99844347e-01 3.57086226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.360714057 meters Centerline goodness [0,1] 0.9774706907104854 Centerline is valid? [True, True] Translation: X:347.15, Y:-13.49, Z:3.57 [[ 9.99405375e-01 -3.04584877e-02 -1.61609680e-02 3.47148023e+02] [ 3.04724754e-02 9.99535414e-01 6.19923358e-04 -1.34854500e+01] [ 1.61345779e-02 -1.11201944e-03 9.99869211e-01 3.57312109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.390714057 meters Centerline goodness [0,1] 0.9766658024371273 Centerline is valid? [True, True] Translation: X:347.18, Y:-13.49, Z:3.57 [[ 9.99450050e-01 -2.89589182e-02 -1.61548482e-02 3.47179600e+02] [ 2.89727072e-02 9.99580011e-01 6.20115834e-04 -1.34863263e+01] [ 1.61301055e-02 -1.08782449e-03 9.99869310e-01 3.57367901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.420714057 meters Centerline goodness [0,1] 0.9765796363121771 Centerline is valid? [True, True] Translation: X:347.21, Y:-13.49, Z:3.57 [[ 9.99500274e-01 -2.71690362e-02 -1.61569226e-02 3.47210383e+02] [ 2.71826051e-02 9.99630292e-01 6.20761955e-04 -1.34877059e+01] [ 1.61340837e-02 -1.05963899e-03 9.99869276e-01 3.57356216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.450714057 meters Centerline goodness [0,1] 0.9767721548837429 Centerline is valid? [True, True] Translation: X:347.24, Y:-13.49, Z:3.57 [[ 9.99585560e-01 -2.37800362e-02 -1.62240219e-02 3.47239879e+02] [ 2.37932724e-02 9.99716706e-01 6.23271832e-04 -1.34885308e+01] [ 1.62046043e-02 -1.00903609e-03 9.99868188e-01 3.57318850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.480714057 meters Centerline goodness [0,1] 0.9780118561205451 Centerline is valid? [True, True] Translation: X:347.27, Y:-13.49, Z:3.57 [[ 9.99617334e-01 -2.24114615e-02 -1.62145759e-02 3.47271552e+02] [ 2.24245110e-02 9.99748345e-01 6.23410436e-04 -1.34897754e+01] [ 1.61965239e-02 -9.86775814e-04 9.99868341e-01 3.57295567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51071405700003 meters Centerline goodness [0,1] 0.9770459317275708 Centerline is valid? [True, True] Translation: X:347.30, Y:-13.49, Z:3.57 [[ 9.99650015e-01 -2.03347445e-02 -1.69217324e-02 3.47302421e+02] [ 2.03486715e-02 9.99792732e-01 6.51233779e-04 -1.34920112e+01] [ 1.69049824e-02 -9.95340632e-04 9.99856605e-01 3.57267828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.540714057 meters Centerline goodness [0,1] 0.9779437838348976 Centerline is valid? [True, True] Translation: X:347.33, Y:-13.49, Z:3.57 [[ 9.99662953e-01 -1.95124980e-02 -1.71243086e-02 3.47333360e+02] [ 1.95266464e-02 9.99809119e-01 6.59388726e-04 -1.34935543e+01] [ 1.71081736e-02 -9.93546801e-04 9.99853151e-01 3.57244914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57071405700003 meters Centerline goodness [0,1] 0.9776350282219021 Centerline is valid? [True, True] Translation: X:347.36, Y:-13.50, Z:3.57 [[ 9.99673513e-01 -1.87563160e-02 -1.73513200e-02 3.47363514e+02] [ 1.87707298e-02 9.99823591e-01 6.68198858e-04 -1.34959787e+01] [ 1.73357262e-02 -9.93677640e-04 9.99849231e-01 3.57203881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.600714057 meters Centerline goodness [0,1] 0.9775031835117672 Centerline is valid? [True, True] Translation: X:347.39, Y:-13.50, Z:3.57 [[ 9.99689830e-01 -1.81424497e-02 -1.70615445e-02 3.47392900e+02] [ 1.81562931e-02 9.99834945e-01 6.56823443e-04 -1.35010003e+01] [ 1.70468120e-02 -9.66394119e-04 9.99854226e-01 3.57053439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63071405700003 meters Centerline goodness [0,1] 0.9778602117718874 Centerline is valid? [True, True] Translation: X:347.42, Y:-13.50, Z:3.57 [[ 9.99687750e-01 -1.81680435e-02 -1.71559087e-02 3.47423603e+02] [ 1.81820432e-02 9.99834475e-01 6.60388798e-04 -1.35031742e+01] [ 1.71410710e-02 -9.72112064e-04 9.99852608e-01 3.57048444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.660714057 meters Centerline goodness [0,1] 0.9779861680928379 Centerline is valid? [True, True] Translation: X:347.45, Y:-13.51, Z:3.57 [[ 9.99696606e-01 -1.86699242e-02 -1.60664192e-02 3.47453603e+02] [ 1.86822666e-02 9.99825280e-01 6.18450672e-04 -1.35080063e+01] [ 1.60520656e-02 -9.18420164e-04 9.99870735e-01 3.57083695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.690714057 meters Centerline goodness [0,1] 0.9778058716111814 Centerline is valid? [True, True] Translation: X:347.48, Y:-13.51, Z:3.57 [[ 9.99685134e-01 -1.91237563e-02 -1.62454820e-02 3.47484436e+02] [ 1.91364350e-02 9.99816686e-01 6.25343403e-04 -1.35104647e+01] [ 1.62305450e-02 -9.36027114e-04 9.99867838e-01 3.57088969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.720714057 meters Centerline goodness [0,1] 0.9765876087925494 Centerline is valid? [True, True] Translation: X:347.51, Y:-13.51, Z:3.57 [[ 9.99671168e-01 -1.96846901e-02 -1.64337896e-02 3.47514834e+02] [ 1.96977400e-02 9.99805781e-01 6.32591997e-04 -1.35135274e+01] [ 1.64181454e-02 -9.56092495e-04 9.99864756e-01 3.57068308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.750714057 meters Centerline goodness [0,1] 0.9761277538174612 Centerline is valid? [True, True] Translation: X:347.54, Y:-13.52, Z:3.57 [[ 9.99630167e-01 -2.14860416e-02 -1.66696991e-02 3.47544971e+02] [ 2.14997220e-02 9.99768648e-01 6.41876050e-04 -1.35199694e+01] [ 1.66520512e-02 -1.00003256e-03 9.99860845e-01 3.56980551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.780714057 meters Centerline goodness [0,1] 0.976218787158145 Centerline is valid? [True, True] Translation: X:347.58, Y:-13.52, Z:3.57 [[ 9.99616962e-01 -2.21277822e-02 -1.66219632e-02 3.47575828e+02] [ 2.21414805e-02 9.99754642e-01 6.40502897e-04 -1.35237580e+01] [ 1.66037120e-02 -1.00829243e-03 9.99861640e-01 3.56948920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.810714057 meters Centerline goodness [0,1] 0.9770841104065647 Centerline is valid? [True, True] Translation: X:347.61, Y:-13.52, Z:3.57 [[ 9.99547351e-01 -2.46307224e-02 -1.72748763e-02 3.47606792e+02] [ 2.46458965e-02 9.99696022e-01 6.66015839e-04 -1.35230648e+01] [ 1.72532206e-02 -1.09146918e-03 9.99850556e-01 3.57050758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.840714057 meters Centerline goodness [0,1] 0.9734554522361276 Centerline is valid? [True, True] Translation: X:347.64, Y:-13.53, Z:3.57 [[ 9.99521138e-01 -2.55097424e-02 -1.75142361e-02 3.47636422e+02] [ 2.55254950e-02 9.99673943e-01 6.76425605e-04 -1.35336255e+01] [ 1.74912700e-02 -1.12316124e-03 9.99846385e-01 3.56858256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.870714057 meters Centerline goodness [0,1] 0.9724742891712038 Centerline is valid? [True, True] Translation: X:347.67, Y:-13.54, Z:3.57 [[ 9.99501661e-01 -2.64511442e-02 -1.72269061e-02 3.47666376e+02] [ 2.64665384e-02 9.99649478e-01 6.66205957e-04 -1.35392032e+01] [ 1.72032458e-02 -1.12181053e-03 9.99851384e-01 3.56820865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.900714057 meters Centerline goodness [0,1] 0.9793344193623458 Centerline is valid? [True, True] Translation: X:347.70, Y:-13.52, Z:3.57 [[ 9.99469108e-01 -2.76150460e-02 -1.72890385e-02 3.47699048e+02] [ 2.76307446e-02 9.99617974e-01 6.69747150e-04 -1.35226283e+01] [ 1.72639386e-02 -1.14710059e-03 9.99850309e-01 3.57221256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.930714057 meters Centerline goodness [0,1] 0.9779401530967293 Centerline is valid? [True, True] Translation: X:347.73, Y:-13.53, Z:3.57 [[ 9.99466151e-01 -2.77152427e-02 -1.72996450e-02 3.47729952e+02] [ 2.77309930e-02 9.99615197e-01 6.71172533e-04 -1.35282628e+01] [ 1.72743863e-02 -1.15055056e-03 9.99850125e-01 3.57207011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.960714057 meters Centerline goodness [0,1] 0.9772020965721973 Centerline is valid? [True, True] Translation: X:347.76, Y:-13.53, Z:3.57 [[ 9.99466903e-01 -2.80448115e-02 -1.67152193e-02 3.47761536e+02] [ 2.80595761e-02 9.99606042e-01 6.49385804e-04 -1.35313496e+01] [ 1.66904223e-02 -1.11806159e-03 9.99860080e-01 3.57314386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.990714057 meters Centerline goodness [0,1] 0.9750098890104009 Centerline is valid? [True, True] Translation: X:347.79, Y:-13.54, Z:3.57 [[ 9.99491256e-01 -2.80436336e-02 -1.51916010e-02 3.47792071e+02] [ 2.80558506e-02 9.99606182e-01 5.91632042e-04 -1.35386982e+01] [ 1.51690268e-02 -1.01754434e-03 9.99884426e-01 3.57355704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.020714057 meters Centerline goodness [0,1] 0.9774133018277851 Centerline is valid? [True, True] Translation: X:347.82, Y:-13.54, Z:3.58 [[ 9.99505853e-01 -2.79347011e-02 -1.44118497e-02 3.47824198e+02] [ 2.79457014e-02 9.99609284e-01 5.62427785e-04 -1.35357529e+01] [ 1.43905076e-02 -9.64899113e-04 9.99895986e-01 3.57508522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.050714057 meters Centerline goodness [0,1] 0.9763000139411683 Centerline is valid? [True, True] Translation: X:347.86, Y:-13.54, Z:3.58 [[ 9.99502007e-01 -2.81352624e-02 -1.42879520e-02 3.47856212e+02] [ 2.81461092e-02 9.99603664e-01 5.58601075e-04 -1.35380871e+01] [ 1.42665728e-02 -9.60473153e-04 9.99897766e-01 3.57509093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.080714057 meters Centerline goodness [0,1] 0.9756533859914044 Centerline is valid? [True, True] Translation: X:347.89, Y:-13.55, Z:3.57 [[ 9.99507898e-01 -2.79724293e-02 -1.41952418e-02 3.47886920e+02] [ 2.79831393e-02 9.99608240e-01 5.56381325e-04 -1.35452862e+01] [ 1.41741173e-02 -9.53334957e-04 9.99899088e-01 3.57418806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.110714057 meters Centerline goodness [0,1] 0.9763368518733325 Centerline is valid? [True, True] Translation: X:347.92, Y:-13.54, Z:3.57 [[ 9.99493392e-01 -2.84549581e-02 -1.42574178e-02 3.47919617e+02] [ 2.84658276e-02 9.99594609e-01 5.59981354e-04 -1.35438932e+01] [ 1.42357037e-02 -9.65546860e-04 9.99898201e-01 3.57445033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.140714057 meters Centerline goodness [0,1] 0.9760255727224294 Centerline is valid? [True, True] Translation: X:347.95, Y:-13.55, Z:3.57 [[ 9.99430260e-01 -2.99527323e-02 -1.55559793e-02 3.47949965e+02] [ 2.99658607e-02 9.99550736e-01 6.11492306e-04 -1.35491386e+01] [ 1.55306747e-02 -1.07729223e-03 9.99878811e-01 3.57271967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.170714057 meters Centerline goodness [0,1] 0.9760255727224294 Centerline is valid? [True, True] Translation: X:347.98, Y:-13.55, Z:3.57 [[ 9.99432325e-01 -2.98837802e-02 -1.55559453e-02 3.47981712e+02] [ 2.98969136e-02 9.99552800e-01 6.12356680e-04 -1.35504504e+01] [ 1.55306892e-02 -1.07708381e-03 9.99878811e-01 3.57284809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.200714057 meters Centerline goodness [0,1] 0.9763901760889713 Centerline is valid? [True, True] Translation: X:348.01, Y:-13.55, Z:3.57 [[ 9.99392458e-01 -3.07842269e-02 -1.63415757e-02 3.48013120e+02] [ 3.07988555e-02 9.99525395e-01 6.44210204e-04 -1.35549619e+01] [ 1.63139884e-02 -1.14712065e-03 9.99866260e-01 3.57152577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.230714057 meters Centerline goodness [0,1] 0.9772769216572852 Centerline is valid? [True, True] Translation: X:348.05, Y:-13.56, Z:3.57 [[ 9.99350514e-01 -3.16644199e-02 -1.72021590e-02 3.48045406e+02] [ 3.16807794e-02 9.99497807e-01 6.79268444e-04 -1.35568844e+01] [ 1.71720115e-02 -1.22380507e-03 9.99851801e-01 3.57093333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26071405700003 meters Centerline goodness [0,1] 0.9786292274707794 Centerline is valid? [True, True] Translation: X:348.08, Y:-13.56, Z:3.57 [[ 9.99246766e-01 -3.38943495e-02 -1.88963847e-02 3.48076848e+02] [ 3.39145029e-02 9.99424459e-01 7.46991694e-04 -1.35599698e+01] [ 1.88601903e-02 -1.38729053e-03 9.99821168e-01 3.56875489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.290714057 meters Centerline goodness [0,1] 0.978357778034415 Centerline is valid? [True, True] Translation: X:348.11, Y:-13.56, Z:3.57 [[ 9.99179489e-01 -3.51523115e-02 -2.01162540e-02 3.48107785e+02] [ 3.51754138e-02 9.99380837e-01 7.95649007e-04 -1.35600358e+01] [ 2.00758298e-02 -1.50259373e-03 9.99797331e-01 3.56896397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32071405700003 meters Centerline goodness [0,1] 0.9762886835495541 Centerline is valid? [True, True] Translation: X:348.14, Y:-13.57, Z:3.57 [[ 9.99172523e-01 -3.52154431e-02 -2.03504860e-02 3.48138870e+02] [ 3.52391392e-02 9.99378583e-01 8.06859562e-04 -1.35674499e+01] [ 2.03094260e-02 -1.52332551e-03 9.99792582e-01 3.56791820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.350714057 meters Centerline goodness [0,1] 0.9797245865338039 Centerline is valid? [True, True] Translation: X:348.17, Y:-13.56, Z:3.57 [[ 9.99170317e-01 -3.55181101e-02 -1.99284280e-02 3.48171242e+02] [ 3.55409249e-02 9.99367908e-01 7.91719395e-04 -1.35637417e+01] [ 1.98877110e-02 -1.49933728e-03 9.99801096e-01 3.56928995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38071405700003 meters Centerline goodness [0,1] 0.9789663045734449 Centerline is valid? [True, True] Translation: X:348.20, Y:-13.57, Z:3.57 [[ 9.99171510e-01 -3.55627702e-02 -1.97884520e-02 3.48202749e+02] [ 3.55852966e-02 9.99366333e-01 7.87290437e-04 -1.35672176e+01] [ 1.97479145e-02 -1.49081611e-03 9.99803879e-01 3.56898268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.410714057 meters Centerline goodness [0,1] 0.9770348635723032 Centerline is valid? [True, True] Translation: X:348.23, Y:-13.57, Z:3.57 [[ 9.99186216e-01 -3.53255955e-02 -1.94681547e-02 3.48233431e+02] [ 3.53473736e-02 9.99374785e-01 7.75575733e-04 -1.35730637e+01] [ 1.94285853e-02 -1.46309272e-03 9.99810177e-01 3.56842927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.440714057 meters Centerline goodness [0,1] 0.9787861338247149 Centerline is valid? [True, True] Translation: X:348.27, Y:-13.57, Z:3.57 [[ 9.99230831e-01 -3.50399440e-02 -1.76053591e-02 3.48265872e+02] [ 3.50577295e-02 9.99385042e-01 7.02528679e-04 -1.35684955e+01] [ 1.75699159e-02 -1.31919223e-03 9.99844767e-01 3.57142775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.470714057 meters Centerline goodness [0,1] 0.9789237978716037 Centerline is valid? [True, True] Translation: X:348.30, Y:-13.57, Z:3.57 [[ 9.99256944e-01 -3.46497845e-02 -1.68805527e-02 3.48298148e+02] [ 3.46661004e-02 9.99398722e-01 6.74810023e-04 -1.35681087e+01] [ 1.68470208e-02 -1.25949154e-03 9.99857286e-01 3.57298353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.500714057 meters Centerline goodness [0,1] 0.9771252358816219 Centerline is valid? [True, True] Translation: X:348.33, Y:-13.57, Z:3.57 [[ 9.99298464e-01 -3.40531047e-02 -1.55873341e-02 3.48329740e+02] [ 3.40669610e-02 9.99419358e-01 6.24209497e-04 -1.35727648e+01] [ 1.55570272e-02 -1.15478470e-03 9.99878315e-01 3.57341185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.530714057 meters Centerline goodness [0,1] 0.9786645776692319 Centerline is valid? [True, True] Translation: X:348.36, Y:-13.57, Z:3.57 [[ 9.99289806e-01 -3.40936320e-02 -1.60470740e-02 3.48361950e+02] [ 3.41083414e-02 9.99417934e-01 6.43770359e-04 -1.35731629e+01] [ 1.60157851e-02 -1.19065224e-03 9.99871030e-01 3.57362614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.560714057 meters Centerline goodness [0,1] 0.9779421933342552 Centerline is valid? [True, True] Translation: X:348.39, Y:-13.58, Z:3.57 [[ 9.99267657e-01 -3.43718774e-02 -1.68143959e-02 3.48392556e+02] [ 3.43880980e-02 9.99408326e-01 6.76423297e-04 -1.35769005e+01] [ 1.67811973e-02 -1.25414302e-03 9.99858399e-01 3.57213489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.590714057 meters Centerline goodness [0,1] 0.9769503546099291 Centerline is valid? [True, True] Translation: X:348.42, Y:-13.58, Z:3.57 [[ 9.99270329e-01 -3.41482897e-02 -1.71086053e-02 3.48424411e+02] [ 3.41650748e-02 9.99415965e-01 6.89689320e-04 -1.35773327e+01] [ 1.70750616e-02 -1.27370285e-03 9.99853399e-01 3.57221806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.620714057 meters Centerline goodness [0,1] 0.9782002534854246 Centerline is valid? [True, True] Translation: X:348.46, Y:-13.58, Z:3.57 [[ 9.99278035e-01 -3.38289255e-02 -1.72919593e-02 3.48455111e+02] [ 3.38460418e-02 9.99426815e-01 6.98067783e-04 -1.35803773e+01] [ 1.72584329e-02 -1.28282818e-03 9.99850239e-01 3.57225879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.650714057 meters Centerline goodness [0,1] 0.9785124729100383 Centerline is valid? [True, True] Translation: X:348.49, Y:-13.58, Z:3.57 [[ 9.99263356e-01 -3.39759285e-02 -1.78432717e-02 3.48487630e+02] [ 3.39941984e-02 9.99421770e-01 7.21513644e-04 -1.35809629e+01] [ 1.78084401e-02 -1.32754986e-03 9.99840536e-01 3.57264975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.680714057 meters Centerline goodness [0,1] 0.9778095260041016 Centerline is valid? [True, True] Translation: X:348.52, Y:-13.58, Z:3.57 [[ 9.99297222e-01 -3.28037888e-02 -1.81376196e-02 3.48518612e+02] [ 3.28224887e-02 9.99460927e-01 7.34198524e-04 -1.35821943e+01] [ 1.81037577e-02 -1.32900436e-03 9.99835230e-01 3.57258455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.710714057 meters Centerline goodness [0,1] 0.9779667657701261 Centerline is valid? [True, True] Translation: X:348.55, Y:-13.59, Z:3.57 [[ 9.99363164e-01 -3.12539244e-02 -1.72179793e-02 3.48548728e+02] [ 3.12705532e-02 9.99510713e-01 6.97336961e-04 -1.35851090e+01] [ 1.71877603e-02 -1.23530861e-03 9.99851516e-01 3.57312922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.740714057 meters Centerline goodness [0,1] 0.9782282801725132 Centerline is valid? [True, True] Translation: X:348.58, Y:-13.59, Z:3.57 [[ 9.99389131e-01 -3.07360969e-02 -1.66330269e-02 3.48580086e+02] [ 3.07515517e-02 9.99526832e-01 6.74143189e-04 -1.35863489e+01] [ 1.66044361e-02 -1.18522276e-03 9.99861434e-01 3.57396504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.770714057 meters Centerline goodness [0,1] 0.9774252873563218 Centerline is valid? [True, True] Translation: X:348.61, Y:-13.59, Z:3.57 [[ 9.99435417e-01 -2.97222228e-02 -1.56664003e-02 3.48610281e+02] [ 2.97358144e-02 9.99557591e-01 6.35291862e-04 -1.35882656e+01] [ 1.56405870e-02 -1.10078636e-03 9.99877073e-01 3.57435265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.800714057 meters Centerline goodness [0,1] 0.9365448646802698 Centerline is valid? [True, False] Translation: X:348.67, Y:-13.59, Z:3.58 [[ 9.99431978e-01 -3.07375561e-02 -1.38175607e-02 3.48667398e+02] [ 3.06701766e-02 9.99516741e-01 -5.06215036e-03 -1.35871555e+01] [ 1.39664813e-02 4.63548792e-03 9.99891719e-01 3.57519506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.830714057 meters Centerline goodness [0,1] 0.9772926570360456 Centerline is valid? [False, True] Translation: X:348.57, Y:-13.59, Z:3.57 [[ 9.99644763e-01 -2.46965506e-02 -1.00213517e-02 3.48571970e+02] [ 2.46801409e-02 9.99693853e-01 -1.75786963e-03 -1.35872367e+01] [ 1.00616970e-02 1.50991679e-03 9.99948240e-01 3.57046535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.860714057 meters Centerline goodness [0,1] 0.9761740012916321 Centerline is valid? [True, True] Translation: X:348.60, Y:-13.59, Z:3.57 [[ 9.99683297e-01 -2.32535930e-02 -9.62167837e-03 3.48602629e+02] [ 2.32586678e-02 9.99729394e-01 4.15859439e-04 -1.35885365e+01] [ 9.60940447e-03 -6.39515156e-04 9.99953624e-01 3.57013437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.890714057 meters Centerline goodness [0,1] 0.9770858357202254 Centerline is valid? [True, True] Translation: X:348.64, Y:-13.59, Z:3.57 [[ 9.99693196e-01 -2.27402327e-02 -9.81811791e-03 3.48635196e+02] [ 2.27454991e-02 9.99741197e-01 4.25046569e-04 -1.35873335e+01] [ 9.80591129e-03 -6.48234155e-04 9.99951711e-01 3.57030173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.920714057 meters Centerline goodness [0,1] 0.9787795339365468 Centerline is valid? [True, True] Translation: X:348.67, Y:-13.58, Z:3.57 [[ 9.99693044e-01 -2.26433272e-02 -1.00546771e-02 3.48667071e+02] [ 2.26488525e-02 9.99743387e-01 4.35986111e-04 -1.35849257e+01] [ 1.00422247e-02 -6.63579180e-04 9.99949355e-01 3.57025797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.950714057 meters Centerline goodness [0,1] 0.9780930812959283 Centerline is valid? [True, True] Translation: X:348.70, Y:-13.59, Z:3.57 [[ 9.99683985e-01 -2.24839210e-02 -1.12429171e-02 3.48699027e+02] [ 2.24908281e-02 9.99746930e-01 4.88278204e-04 -1.35872598e+01] [ 1.12290934e-02 -7.40986416e-04 9.99936677e-01 3.56840691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.980714057 meters Centerline goodness [0,1] 0.979258095810043 Centerline is valid? [True, True] Translation: X:348.73, Y:-13.59, Z:3.57 [[ 9.99672808e-01 -2.24205907e-02 -1.23123193e-02 3.48731331e+02] [ 2.24288801e-02 9.99748298e-01 5.35575755e-04 -1.35872454e+01] [ 1.22972123e-02 -8.11552052e-04 9.99924057e-01 3.56778437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01071405700003 meters Centerline goodness [0,1] 0.9785284590467376 Centerline is valid? [True, True] Translation: X:348.76, Y:-13.59, Z:3.57 [[ 9.99662214e-01 -2.27806888e-02 -1.25099442e-02 3.48762607e+02] [ 2.27892824e-02 9.99740142e-01 5.44803168e-04 -1.35926320e+01] [ 1.24942824e-02 -8.29711792e-04 9.99921599e-01 3.56653624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.040714057 meters Centerline goodness [0,1] 0.9793681198218366 Centerline is valid? [True, True] Translation: X:348.79, Y:-13.59, Z:3.57 [[ 9.99671993e-01 -2.25216758e-02 -1.21934383e-02 3.48794849e+02] [ 2.25298315e-02 9.99746030e-01 5.31890316e-04 -1.35897646e+01] [ 1.21783625e-02 -8.06431962e-04 9.99925516e-01 3.56761512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07071405700003 meters Centerline goodness [0,1] 0.9792663843888071 Centerline is valid? [True, True] Translation: X:348.83, Y:-13.59, Z:3.57 [[ 9.99695442e-01 -2.19998557e-02 -1.11816981e-02 3.48826266e+02] [ 2.20066878e-02 9.99757704e-01 4.88325105e-04 -1.35919170e+01] [ 1.11682458e-02 -7.34248522e-04 9.99937364e-01 3.56866605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.100714057 meters Centerline goodness [0,1] 0.9798738359867828 Centerline is valid? [True, True] Translation: X:348.86, Y:-13.59, Z:3.57 [[ 9.99721794e-01 -2.10008495e-02 -1.07377416e-02 3.48857893e+02] [ 2.10070963e-02 9.99779216e-01 4.69289372e-04 -1.35918324e+01] [ 1.07255154e-02 -6.94727585e-04 9.99942239e-01 3.56913873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13071405700003 meters Centerline goodness [0,1] 0.9803681548375176 Centerline is valid? [True, True] Translation: X:348.89, Y:-13.59, Z:3.57 [[ 9.99732220e-01 -2.07050895e-02 -1.03338529e-02 3.48889846e+02] [ 2.07108673e-02 9.99785405e-01 4.52399464e-04 -1.35900125e+01] [ 1.03222683e-02 -6.66301375e-04 9.99946502e-01 3.56977766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.160714057 meters Centerline goodness [0,1] 0.9797608308468069 Centerline is valid? [True, True] Translation: X:348.92, Y:-13.59, Z:3.57 [[ 9.99771305e-01 -1.92293763e-02 -9.35784157e-03 3.48921587e+02] [ 1.92340527e-02 9.99814924e-01 4.09978156e-04 -1.35867635e+01] [ 9.34822604e-03 -5.89873614e-04 9.99956130e-01 3.57118452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.190714057 meters Centerline goodness [0,1] 0.9803917023988875 Centerline is valid? [True, True] Translation: X:348.95, Y:-13.59, Z:3.57 [[ 9.99778708e-01 -1.89500832e-02 -9.13401140e-03 3.48954180e+02] [ 1.89545333e-02 9.99820266e-01 4.00866236e-04 -1.35862099e+01] [ 9.12477326e-03 -5.73908451e-04 9.99958204e-01 3.57136914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.220714057 meters Centerline goodness [0,1] 0.9787145531442835 Centerline is valid? [True, True] Translation: X:348.99, Y:-13.59, Z:3.57 [[ 9.99787693e-01 -1.81794662e-02 -9.69923609e-03 3.48985294e+02] [ 1.81844527e-02 9.99834558e-01 4.26168061e-04 -1.35878850e+01] [ 9.68988392e-03 -6.02452883e-04 9.99952870e-01 3.57046745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.250714057 meters Centerline goodness [0,1] 0.9802963648992823 Centerline is valid? [True, True] Translation: X:349.02, Y:-13.59, Z:3.57 [[ 9.99772742e-01 -1.84254526e-02 -1.07222408e-02 3.49017035e+02] [ 1.84315667e-02 9.99830013e-01 4.71680787e-04 -1.35879912e+01] [ 1.07117273e-02 -6.69201291e-04 9.99942404e-01 3.56990739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.280714057 meters Centerline goodness [0,1] 0.9776471677156608 Centerline is valid? [True, True] Translation: X:349.05, Y:-13.59, Z:3.57 [[ 9.99750299e-01 -1.87885386e-02 -1.20967231e-02 3.49047786e+02] [ 1.87963549e-02 9.99823191e-01 5.32774159e-04 -1.35901710e+01] [ 1.20845742e-02 -7.60015425e-04 9.99926690e-01 3.56832039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.310714057 meters Centerline goodness [0,1] 0.9790672903255685 Centerline is valid? [True, True] Translation: X:349.08, Y:-13.59, Z:3.57 [[ 9.99742707e-01 -1.90753511e-02 -1.22740006e-02 3.49079569e+02] [ 1.90834278e-02 9.99817748e-01 5.41238324e-04 -1.35880744e+01] [ 1.22614393e-02 -7.75329070e-04 9.99924525e-01 3.56904941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.340714057 meters Centerline goodness [0,1] 0.9779229504019274 Centerline is valid? [True, True] Translation: X:349.11, Y:-13.59, Z:3.57 [[ 9.99709056e-01 -2.06425847e-02 -1.24774924e-02 3.49110873e+02] [ 2.06510582e-02 9.99786593e-01 5.50635721e-04 -1.35891936e+01] [ 1.24634631e-02 -8.08148938e-04 9.99922001e-01 3.56950884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.370714057 meters Centerline goodness [0,1] 0.978426631950902 Centerline is valid? [True, True] Translation: X:349.14, Y:-13.59, Z:3.57 [[ 9.99695666e-01 -2.13041682e-02 -1.24381859e-02 3.49141853e+02] [ 2.13126449e-02 9.99772709e-01 5.49343248e-04 -1.35907369e+01] [ 1.24236555e-02 -8.14266703e-04 9.99922492e-01 3.56943638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.400714057 meters Centerline goodness [0,1] 0.9784468728202743 Centerline is valid? [True, True] Translation: X:349.17, Y:-13.59, Z:3.57 [[ 9.99693470e-01 -2.15503340e-02 -1.21880631e-02 3.49173811e+02] [ 2.15585025e-02 9.99767443e-01 5.39199213e-04 -1.35912202e+01] [ 1.21736088e-02 -8.01790321e-04 9.99925577e-01 3.56934799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.430714057 meters Centerline goodness [0,1] 0.978002639683238 Centerline is valid? [True, True] Translation: X:349.21, Y:-13.59, Z:3.57 [[ 9.99690888e-01 -2.14872949e-02 -1.25070089e-02 3.49205625e+02] [ 2.14959026e-02 9.99768783e-01 5.54195784e-04 -1.35913505e+01] [ 1.24922089e-02 -8.22873919e-04 9.99921631e-01 3.56942158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.460714057 meters Centerline goodness [0,1] 0.97859477124183 Centerline is valid? [True, True] Translation: X:349.24, Y:-13.59, Z:3.57 [[ 9.99705464e-01 -2.09511686e-02 -1.22488545e-02 3.49237147e+02] [ 2.09593923e-02 9.99780180e-01 5.43386322e-04 -1.35919493e+01] [ 1.22347773e-02 -7.99954821e-04 9.99924832e-01 3.56998471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.490714057 meters Centerline goodness [0,1] 0.9766919929865576 Centerline is valid? [True, True] Translation: X:349.27, Y:-13.60, Z:3.57 [[ 9.99719949e-01 -2.03912356e-02 -1.20092072e-02 3.49267856e+02] [ 2.03991079e-02 9.99791774e-01 5.33383710e-04 -1.35957862e+01] [ 1.19958302e-02 -7.78211448e-04 9.99927745e-01 3.56972012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.520714057 meters Centerline goodness [0,1] 0.97894884898495 Centerline is valid? [True, True] Translation: X:349.30, Y:-13.59, Z:3.57 [[ 9.99738639e-01 -1.93375765e-02 -1.21947717e-02 3.49300122e+02] [ 1.93456240e-02 9.99812709e-01 5.42285037e-04 -1.35873439e+01] [ 1.21820012e-02 -7.78058773e-04 9.99925494e-01 3.57139994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.550714057 meters Centerline goodness [0,1] 0.9794374575516991 Centerline is valid? [True, True] Translation: X:349.33, Y:-13.59, Z:3.57 [[ 9.99750219e-01 -1.87434841e-02 -1.21730182e-02 3.49331007e+02] [ 1.87514669e-02 9.99824029e-01 5.41966202e-04 -1.35886312e+01] [ 1.21607178e-02 -7.70092777e-04 9.99925759e-01 3.57131584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.580714057 meters Centerline goodness [0,1] 0.9769825782333718 Centerline is valid? [True, True] Translation: X:349.36, Y:-13.59, Z:3.57 [[ 9.99763886e-01 -1.78923612e-02 -1.23302945e-02 3.49361646e+02] [ 1.79004922e-02 9.99839622e-01 5.49378027e-04 -1.35946544e+01] [ 1.23184873e-02 -7.69966652e-04 9.99923828e-01 3.56943920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.610714057 meters Centerline goodness [0,1] 0.9773926502661757 Centerline is valid? [True, True] Translation: X:349.39, Y:-13.59, Z:3.57 [[ 9.99777026e-01 -1.71690275e-02 -1.22932173e-02 3.49393507e+02] [ 1.71770606e-02 9.99852313e-01 5.48160414e-04 -1.35875817e+01] [ 1.22819904e-02 -7.59199528e-04 9.99924285e-01 3.57100235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.640714057 meters Centerline goodness [0,1] 0.9794992359233572 Centerline is valid? [True, True] Translation: X:349.42, Y:-13.59, Z:3.57 [[ 9.99788111e-01 -1.67578954e-02 -1.19543647e-02 3.49424917e+02] [ 1.67654674e-02 9.99859307e-01 5.33474226e-04 -1.35871454e+01] [ 1.19437429e-02 -7.33781701e-04 9.99928402e-01 3.57096034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.670714057 meters Centerline goodness [0,1] 0.9794604537093807 Centerline is valid? [True, True] Translation: X:349.46, Y:-13.58, Z:3.57 [[ 9.99806686e-01 -1.50450559e-02 -1.26584815e-02 3.49457031e+02] [ 1.50534183e-02 9.99886531e-01 5.65593639e-04 -1.35833830e+01] [ 1.26485358e-02 -7.56037719e-04 9.99919718e-01 3.57085398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.700714057 meters Centerline goodness [0,1] 0.979257719294101 Centerline is valid? [True, True] Translation: X:349.49, Y:-13.58, Z:3.57 [[ 9.99818994e-01 -1.40012356e-02 -1.28819559e-02 3.49487217e+02] [ 1.40098121e-02 9.99901692e-01 5.75767340e-04 -1.35847328e+01] [ 1.28726281e-02 -7.56136904e-04 9.99916858e-01 3.57072045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.730714057 meters Centerline goodness [0,1] 0.9795642907885389 Centerline is valid? [True, True] Translation: X:349.52, Y:-13.58, Z:3.57 [[ 9.99849463e-01 -1.18159440e-02 -1.27057153e-02 3.49518113e+02] [ 1.18241113e-02 9.99929932e-01 5.67872103e-04 -1.35807968e+01] [ 1.26981151e-02 -7.18020409e-04 9.99919118e-01 3.57101837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76071405700003 meters Centerline goodness [0,1] 0.9786253044238999 Centerline is valid? [True, True] Translation: X:349.55, Y:-13.58, Z:3.57 [[ 9.99861735e-01 -1.09739933e-02 -1.24932941e-02 3.49547606e+02] [ 1.09818212e-02 9.99939542e-01 5.58140122e-04 -1.35838060e+01] [ 1.24864137e-02 -6.95262073e-04 9.99921800e-01 3.57054395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.790714057 meters Centerline goodness [0,1] 0.980601657288031 Centerline is valid? [True, True] Translation: X:349.58, Y:-13.58, Z:3.57 [[ 9.99872230e-01 -1.04807407e-02 -1.20696795e-02 3.49577347e+02] [ 1.04880055e-02 9.99944854e-01 5.38758978e-04 -1.35781311e+01] [ 1.20633673e-02 -6.65277005e-04 9.99927014e-01 3.57254017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82071405700003 meters Centerline goodness [0,1] 0.978637550439117 Centerline is valid? [True, True] Translation: X:349.61, Y:-13.58, Z:3.57 [[ 9.99890790e-01 -9.70796264e-03 -1.11428626e-02 3.49606833e+02] [ 9.71410454e-03 9.99952693e-01 4.97204597e-04 -1.35801333e+01] [ 1.11375086e-02 -6.05393230e-04 9.99937793e-01 3.57241596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.850714057 meters Centerline goodness [0,1] 0.9763516712432535 Centerline is valid? [True, True] Translation: X:349.64, Y:-13.59, Z:3.57 [[ 9.99896076e-01 -9.62346525e-03 -1.07343450e-02 3.49635937e+02] [ 9.62915817e-03 9.99953524e-01 4.78788346e-04 -1.35861318e+01] [ 1.07292385e-02 -5.82101295e-04 9.99942271e-01 3.57149298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88071405700003 meters Centerline goodness [0,1] 0.9778829095209935 Centerline is valid? [True, True] Translation: X:349.67, Y:-13.58, Z:3.57 [[ 9.99895572e-01 -1.02728967e-02 -1.01642859e-02 3.49666115e+02] [ 1.02780326e-02 9.99947077e-01 4.53183060e-04 -1.35828514e+01] [ 1.01590925e-02 -5.57604598e-04 9.99948240e-01 3.57320169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.910714057 meters Centerline goodness [0,1] 0.9793523610847715 Centerline is valid? [True, True] Translation: X:349.70, Y:-13.58, Z:3.57 [[ 9.99887254e-01 -1.12445270e-02 -9.95184553e-03 3.49696229e+02] [ 1.12494987e-02 9.99936624e-01 4.43729001e-04 -1.35837153e+01] [ 9.94622530e-03 -5.55632245e-04 9.99950381e-01 3.57349017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.940714057 meters Centerline goodness [0,1] 0.9783546704599336 Centerline is valid? [True, True] Translation: X:349.73, Y:-13.59, Z:3.57 [[ 9.99863837e-01 -1.28082885e-02 -1.04045884e-02 3.49727005e+02] [ 1.28138093e-02 9.99917792e-01 4.64116124e-04 -1.35865079e+01] [ 1.03977885e-02 -5.97375340e-04 9.99945763e-01 3.57304203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.970714057 meters Centerline goodness [0,1] 0.976302194416797 Centerline is valid? [True, True] Translation: X:349.76, Y:-13.59, Z:3.57 [[ 9.99797052e-01 -1.65955018e-02 -1.14211852e-02 3.49757258e+02] [ 1.66024008e-02 9.99862041e-01 5.09501012e-04 -1.35909352e+01] [ 1.14111541e-02 -6.99016704e-04 9.99934646e-01 3.57152541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.000714057 meters Centerline goodness [0,1] 0.9769894307787099 Centerline is valid? [True, True] Translation: X:349.79, Y:-13.60, Z:3.57 [[ 9.99754603e-01 -1.85308263e-02 -1.21384555e-02 3.49787366e+02] [ 1.85387639e-02 9.99827996e-01 5.41724108e-04 -1.35965920e+01] [ 1.21263290e-02 -7.66623131e-04 9.99926179e-01 3.57028208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.030714057 meters Centerline goodness [0,1] 0.9752940620718976 Centerline is valid? [True, True] Translation: X:349.82, Y:-13.60, Z:3.57 [[ 9.99645915e-01 -2.29633205e-02 -1.34435737e-02 3.49816352e+02] [ 2.29734530e-02 9.99735896e-01 5.99739020e-04 -1.36020702e+01] [ 1.34262512e-02 -9.08371969e-04 9.99909451e-01 3.56876242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.060714057 meters Centerline goodness [0,1] 0.9752940620718976 Centerline is valid? [True, True] Translation: X:349.85, Y:-13.60, Z:3.57 [[ 9.99647484e-01 -2.28949512e-02 -1.34435288e-02 3.49848091e+02] [ 2.29050909e-02 9.99737463e-01 6.00744442e-04 -1.36035502e+01] [ 1.34262454e-02 -9.08457920e-04 9.99909451e-01 3.56872940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.090714057 meters Centerline goodness [0,1] 0.9747738384864303 Centerline is valid? [True, True] Translation: X:349.88, Y:-13.61, Z:3.57 [[ 9.99601564e-01 -2.46052762e-02 -1.38308638e-02 3.49877605e+02] [ 2.46161706e-02 9.99696785e-01 6.17979927e-04 -1.36090765e+01] [ 1.38114645e-02 -9.58196606e-04 9.99904158e-01 3.56759852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.120714057 meters Centerline goodness [0,1] 0.9764183265990879 Centerline is valid? [True, True] Translation: X:349.91, Y:-13.61, Z:3.57 [[ 9.99494297e-01 -2.82403952e-02 -1.46160955e-02 3.49907773e+02] [ 2.82529493e-02 9.99600592e-01 6.53111426e-04 -1.36092230e+01] [ 1.45918136e-02 -1.06572895e-03 9.99892966e-01 3.56762385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.150714057 meters Centerline goodness [0,1] 0.97666360229121 Centerline is valid? [True, True] Translation: X:349.94, Y:-13.61, Z:3.57 [[ 9.99442844e-01 -2.98817740e-02 -1.48687966e-02 3.49938827e+02] [ 2.98949548e-02 9.99552825e-01 6.64952418e-04 -1.36126616e+01] [ 1.48422777e-02 -1.10908394e-03 9.99889232e-01 3.56776106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.180714057 meters Centerline goodness [0,1] 0.9724136303568057 Centerline is valid? [True, True] Translation: X:349.97, Y:-13.62, Z:3.57 [[ 9.99404023e-01 -3.11840350e-02 -1.48038882e-02 3.49969837e+02] [ 3.11972547e-02 9.99513027e-01 6.62838407e-04 -1.36218852e+01] [ 1.47760092e-02 -1.12428404e-03 9.99890197e-01 3.56643418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.210714057 meters Centerline goodness [0,1] 0.9712194662775921 Centerline is valid? [True, True] Translation: X:350.00, Y:-13.62, Z:3.57 [[ 9.99362800e-01 -3.26446452e-02 -1.44333428e-02 3.50001019e+02] [ 3.26573731e-02 9.99466396e-01 6.46972283e-04 -1.36246781e+01] [ 1.44045210e-02 -1.11791510e-03 9.99895625e-01 3.56753374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.240714057 meters Centerline goodness [0,1] 0.9733920954019467 Centerline is valid? [True, True] Translation: X:350.03, Y:-13.62, Z:3.57 [[ 9.99360692e-01 -3.30772422e-02 -1.35684818e-02 3.50033620e+02] [ 3.30885432e-02 9.99452239e-01 6.09181938e-04 -1.36207902e+01] [ 1.35408994e-02 -1.05775378e-03 9.99907758e-01 3.56957891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.270714057 meters Centerline goodness [0,1] 0.9727281283825121 Centerline is valid? [True, True] Translation: X:350.07, Y:-13.62, Z:3.57 [[ 9.99376965e-01 -3.33612471e-02 -1.15199273e-02 3.50065310e+02] [ 3.33694237e-02 9.99442951e-01 5.18241620e-04 -1.36245328e+01] [ 1.14962210e-02 -9.02332073e-04 9.99933509e-01 3.57118943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.300714057 meters Centerline goodness [0,1] 0.9729362101313321 Centerline is valid? [True, True] Translation: X:350.10, Y:-13.62, Z:3.57 [[ 9.99384288e-01 -3.34334039e-02 -1.06419658e-02 3.50098019e+02] [ 3.34403980e-02 9.99440598e-01 4.79909091e-04 -1.36223774e+01] [ 1.06199677e-02 -8.35485177e-04 9.99943258e-01 3.57253923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.330714057 meters Centerline goodness [0,1] 0.9706034038164002 Centerline is valid? [True, True] Translation: X:350.13, Y:-13.63, Z:3.57 [[ 9.99400639e-01 -3.32137304e-02 -9.75760060e-03 3.50128955e+02] [ 3.32196045e-02 9.99447980e-01 4.40494429e-04 -1.36308083e+01] [ 9.73758374e-03 -7.64374046e-04 9.99952296e-01 3.57234036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.360714057 meters Centerline goodness [0,1] 0.9717665281982679 Centerline is valid? [True, True] Translation: X:350.16, Y:-13.63, Z:3.57 [[ 9.99399570e-01 -3.31952463e-02 -9.92852395e-03 3.50161465e+02] [ 3.32013339e-02 9.99448583e-01 4.48902172e-04 -1.36321574e+01] [ 9.90814777e-03 -7.78272877e-04 9.99950610e-01 3.57261296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.390714057 meters Centerline goodness [0,1] 0.9746213096715286 Centerline is valid? [True, True] Translation: X:350.19, Y:-13.63, Z:3.57 [[ 9.99392178e-01 -3.33876993e-02 -1.00267981e-02 3.50193798e+02] [ 3.33939246e-02 9.99442164e-01 4.54049112e-04 -1.36296032e+01] [ 1.00060451e-02 -7.88607270e-04 9.99949627e-01 3.57260932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.420714057 meters Centerline goodness [0,1] 0.9733170479635458 Centerline is valid? [True, True] Translation: X:350.23, Y:-13.63, Z:3.57 [[ 9.99378620e-01 -3.35087523e-02 -1.09332918e-02 3.50225983e+02] [ 3.35161697e-02 9.99438052e-01 4.95852184e-04 -1.36324584e+01] [ 1.09105325e-02 -8.61986136e-04 9.99940107e-01 3.57182025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.450714057 meters Centerline goodness [0,1] 0.9736003001031605 Centerline is valid? [True, True] Translation: X:350.26, Y:-13.63, Z:3.57 [[ 9.99384573e-01 -3.31482155e-02 -1.14748028e-02 3.50258253e+02] [ 3.31563714e-02 9.99450040e-01 5.21203637e-04 -1.36338741e+01] [ 1.14512151e-02 -9.01345697e-04 9.99934026e-01 3.57106609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.480714057 meters Centerline goodness [0,1] 0.9726932084309133 Centerline is valid? [True, True] Translation: X:350.29, Y:-13.64, Z:3.57 [[ 9.99394821e-01 -3.22036061e-02 -1.31498960e-02 3.50289552e+02] [ 3.22142444e-02 9.99480808e-01 5.97937259e-04 -1.36371392e+01] [ 1.31238129e-02 -1.02118936e-03 9.99913358e-01 3.56964753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51071405700003 meters Centerline goodness [0,1] 0.9734594264795607 Centerline is valid? [True, True] Translation: X:350.32, Y:-13.64, Z:3.57 [[ 9.99459538e-01 -2.97311735e-02 -1.40245859e-02 3.50319140e+02] [ 2.97430279e-02 9.99557375e-01 6.37396826e-04 -1.36367426e+01] [ 1.39994277e-02 -1.05418599e-03 9.99901448e-01 3.56909121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.540714057 meters Centerline goodness [0,1] 0.974800188058298 Centerline is valid? [True, True] Translation: X:350.35, Y:-13.64, Z:3.57 [[ 9.99492260e-01 -2.81813336e-02 -1.48672325e-02 3.50350262e+02] [ 2.81944933e-02 9.99602228e-01 6.76252158e-04 -1.36368873e+01] [ 1.48422610e-02 -1.09508289e-03 9.99889248e-01 3.56906667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57071405700003 meters Centerline goodness [0,1] 0.9740220048899756 Centerline is valid? [True, True] Translation: X:350.38, Y:-13.64, Z:3.57 [[ 9.99532239e-01 -2.65920231e-02 -1.51052451e-02 3.50381145e+02] [ 2.66054347e-02 9.99645776e-01 6.87587040e-04 -1.36369973e+01] [ 1.50816102e-02 -1.08914703e-03 9.99885673e-01 3.56908675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.600714057 meters Centerline goodness [0,1] 0.9745850378520713 Centerline is valid? [True, True] Translation: X:350.41, Y:-13.64, Z:3.57 [[ 9.99579385e-01 -2.47800804e-02 -1.50665744e-02 3.50413243e+02] [ 2.47932304e-02 9.99692365e-01 6.86600305e-04 -1.36361228e+01] [ 1.50449254e-02 -1.05986056e-03 9.99886257e-01 3.56949819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63071405700003 meters Centerline goodness [0,1] 0.9749788155540909 Centerline is valid? [True, True] Translation: X:350.44, Y:-13.63, Z:3.57 [[ 9.99675028e-01 -2.15315644e-02 -1.36466055e-02 3.50442986e+02] [ 2.15420478e-02 9.99767750e-01 6.21660618e-04 -1.36349432e+01] [ 1.36300507e-02 -9.15434422e-04 9.99906687e-01 3.57048365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.660714057 meters Centerline goodness [0,1] 0.9749014237480226 Centerline is valid? [True, True] Translation: X:350.47, Y:-13.64, Z:3.57 [[ 9.99718856e-01 -1.99190536e-02 -1.28623369e-02 3.50474128e+02] [ 1.99282397e-02 9.99801241e-01 5.86404033e-04 -1.36354502e+01] [ 1.28480998e-02 -8.42562902e-04 9.99917105e-01 3.57124105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.690714057 meters Centerline goodness [0,1] 0.9735592259162118 Centerline is valid? [True, True] Translation: X:350.50, Y:-13.64, Z:3.57 [[ 9.99789032e-01 -1.73399318e-02 -1.10099591e-02 3.50504190e+02] [ 1.73465064e-02 9.99849412e-01 5.01923404e-04 -1.36363611e+01] [ 1.09995978e-02 -6.92801839e-04 9.99939263e-01 3.57275510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.720714057 meters Centerline goodness [0,1] 0.9738704409363093 Centerline is valid? [True, True] Translation: X:350.54, Y:-13.64, Z:3.57 [[ 9.99819627e-01 -1.62633568e-02 -9.80899429e-03 3.50535845e+02] [ 1.62685288e-02 9.99867558e-01 4.47698146e-04 -1.36376028e+01] [ 9.80041409e-03 -6.07195299e-04 9.99951790e-01 3.57368909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.750714057 meters Centerline goodness [0,1] 0.9745510396975425 Centerline is valid? [True, True] Translation: X:350.57, Y:-13.64, Z:3.57 [[ 9.99842605e-01 -1.49827713e-02 -9.50169585e-03 3.50567644e+02] [ 1.49875710e-02 9.99887586e-01 4.34131261e-04 -1.36391996e+01] [ 9.49412323e-03 -5.76470272e-04 9.99954764e-01 3.57373642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.780714057 meters Centerline goodness [0,1] 0.978073976902715 Centerline is valid? [True, True] Translation: X:350.60, Y:-13.63, Z:3.57 [[ 9.99859695e-01 -1.27705249e-02 -1.08399221e-02 3.50599255e+02] [ 1.27766463e-02 9.99918252e-01 4.95637082e-04 -1.36343109e+01] [ 1.08327064e-02 -6.34065391e-04 9.99941123e-01 3.57127589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.810714057 meters Centerline goodness [0,1] 0.977324156138035 Centerline is valid? [True, True] Translation: X:350.63, Y:-13.64, Z:3.57 [[ 9.99898029e-01 -1.05856790e-02 -9.58515318e-03 3.50629606e+02] [ 1.05903648e-02 9.99943824e-01 4.38232492e-04 -1.36367369e+01] [ 9.57997574e-03 -5.39698074e-04 9.99953965e-01 3.57397058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.840714057 meters Centerline goodness [0,1] 0.9771639997172012 Centerline is valid? [True, True] Translation: X:350.66, Y:-13.64, Z:3.58 [[ 9.99920716e-01 -9.16732348e-03 -8.63262251e-03 3.50659517e+02] [ 9.17107150e-03 9.99957867e-01 3.94682860e-04 -1.36391283e+01] [ 8.62864060e-03 -4.73821967e-04 9.99962660e-01 3.57528804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.870714057 meters Centerline goodness [0,1] 0.9782608695652174 Centerline is valid? [True, True] Translation: X:350.69, Y:-13.64, Z:3.58 [[ 9.99933602e-01 -7.48511637e-03 -8.76158018e-03 3.50689863e+02] [ 7.48891282e-03 9.99971877e-01 4.00578796e-04 -1.36407158e+01] [ 8.75833540e-03 -4.66166908e-04 9.99961536e-01 3.57590415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.900714057 meters Centerline goodness [0,1] 0.9780888618381011 Centerline is valid? [True, True] Translation: X:350.72, Y:-13.64, Z:3.57 [[ 9.99942007e-01 -2.73993410e-03 -1.04151367e-02 3.50720098e+02] [ 2.74504135e-03 9.99996119e-01 4.76104107e-04 -1.36438941e+01] [ 1.04137918e-02 -5.04666477e-04 9.99945648e-01 3.57383296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.930714057 meters Centerline goodness [0,1] 0.9802271177673806 Centerline is valid? [True, True] Translation: X:350.75, Y:-13.65, Z:3.57 [[ 9.99929578e-01 -2.09765164e-04 -1.18656759e-02 3.50748644e+02] [ 2.16206097e-04 9.99999830e-01 5.41540445e-04 -1.36459363e+01] [ 1.18655602e-02 -5.44067740e-04 9.99929454e-01 3.57169562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.960714057 meters Centerline goodness [0,1] 0.9819077789510736 Centerline is valid? [True, True] Translation: X:350.78, Y:-13.65, Z:3.57 [[ 9.99893362e-01 6.00105621e-03 -1.33136373e-02 3.50777511e+02] [-5.99349969e-03 9.99981854e-01 6.07404850e-04 -1.36500499e+01] [ 1.33170408e-02 -5.27544796e-04 9.99911185e-01 3.56815462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.990714057 meters Centerline goodness [0,1] 0.9839295335816525 Centerline is valid? [True, True] Translation: X:350.81, Y:-13.64, Z:3.57 [[ 9.99875045e-01 8.77348471e-03 -1.31498951e-02 3.50806900e+02] [-8.76639601e-03 9.99961396e-01 5.96614227e-04 -1.36441191e+01] [ 1.31546219e-02 -4.81262490e-04 9.99913358e-01 3.57096163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.020714057 meters Centerline goodness [0,1] 0.9844708858387595 Centerline is valid? [True, True] Translation: X:350.84, Y:-13.64, Z:3.57 [[ 9.99850843e-01 1.15304660e-02 -1.28584817e-02 3.50835938e+02] [-1.15239255e-02 9.99933428e-01 5.82631744e-04 -1.36434935e+01] [ 1.28643437e-02 -4.34364654e-04 9.99917157e-01 3.57252888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.050714057 meters Centerline goodness [0,1] 0.9854548866888754 Centerline is valid? [True, True] Translation: X:350.86, Y:-13.64, Z:3.57 [[ 9.99772338e-01 1.81452168e-02 -1.12259784e-02 3.50864695e+02] [-1.81406524e-02 9.99835316e-01 5.08293198e-04 -1.36440962e+01] [ 1.12333528e-02 -3.04530906e-04 9.99936858e-01 3.57429198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.080714057 meters Centerline goodness [0,1] 0.9878088807614761 Centerline is valid? [True, True] Translation: X:350.89, Y:-13.65, Z:3.57 [[ 9.99674841e-01 2.37850891e-02 -9.19134887e-03 3.50894208e+02] [-2.37822706e-02 9.99717075e-01 4.15837587e-04 -1.36470058e+01] [ 9.19863915e-03 -1.97111228e-04 9.99957672e-01 3.57434916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.110714057 meters Centerline goodness [0,1] 0.987344432250683 Centerline is valid? [True, True] Translation: X:350.92, Y:-13.65, Z:3.57 [[ 9.99630073e-01 2.60290593e-02 -7.88705371e-03 3.50922518e+02] [-2.60270585e-02 9.99661175e-01 3.56233864e-04 -1.36499034e+01] [ 7.89365381e-03 -1.50825275e-04 9.99968833e-01 3.57480780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.140714057 meters Centerline goodness [0,1] 0.9871543348281017 Centerline is valid? [True, True] Translation: X:350.95, Y:-13.65, Z:3.58 [[ 9.99604218e-01 2.72104407e-02 -7.14140938e-03 3.50951128e+02] [-2.72088340e-02 9.99629719e-01 3.22052533e-04 -1.36527315e+01] [ 7.14752825e-03 -1.27615647e-04 9.99974448e-01 3.57540126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.170714057 meters Centerline goodness [0,1] 0.9878421580752806 Centerline is valid? [True, True] Translation: X:350.98, Y:-13.66, Z:3.58 [[ 9.99599761e-01 2.75517887e-02 -6.41997611e-03 3.50979909e+02] [-2.75505002e-02 9.99620371e-01 2.89057727e-04 -1.36551076e+01] [ 6.42550296e-03 -1.12068481e-04 9.99979350e-01 3.57648223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.200714057 meters Centerline goodness [0,1] 0.9880110381930757 Centerline is valid? [True, True] Translation: X:351.01, Y:-13.66, Z:3.58 [[ 9.99653274e-01 2.56736838e-02 -5.84758851e-03 3.51008585e+02] [-2.56725853e-02 9.99670370e-01 2.62869012e-04 -1.36619018e+01] [ 5.85240979e-03 -1.12655154e-04 9.99982868e-01 3.57725793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.230714057 meters Centerline goodness [0,1] 0.9864952213860289 Centerline is valid? [True, True] Translation: X:351.04, Y:-13.67, Z:3.58 [[ 9.99775658e-01 2.03103207e-02 -6.01033188e-03 3.51036368e+02] [-2.03090661e-02 9.99793713e-01 2.69715069e-04 -1.36742552e+01] [ 6.01457002e-03 -1.47590333e-04 9.99981901e-01 3.57534722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26071405700003 meters Centerline goodness [0,1] 0.9877984328684023 Centerline is valid? [True, True] Translation: X:351.06, Y:-13.68, Z:3.57 [[ 9.99832450e-01 1.71680909e-02 -6.35045724e-03 3.51064436e+02] [-1.71666305e-02 9.99852602e-01 2.84399435e-04 -1.36803684e+01] [ 6.35440379e-03 -1.75335830e-04 9.99979795e-01 3.57456357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.290714057 meters Centerline goodness [0,1] 0.9876009425113811 Centerline is valid? [True, True] Translation: X:351.09, Y:-13.69, Z:3.57 [[ 9.99880344e-01 1.38639070e-02 -6.86225503e-03 3.51092762e+02] [-1.38621262e-02 9.99903869e-01 3.06995981e-04 -1.36890087e+01] [ 6.86585152e-03 -2.11833802e-04 9.99976407e-01 3.57313348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32071405700003 meters Centerline goodness [0,1] 0.9848045814415113 Centerline is valid? [True, True] Translation: X:351.12, Y:-13.71, Z:3.57 [[ 9.99947520e-01 6.60902670e-03 -7.82807835e-03 3.51121244e+02] [-6.60648679e-03 9.99978116e-01 3.50276196e-04 -1.37061378e+01] [ 7.83022202e-03 -2.98541718e-04 9.99969299e-01 3.57087193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.350714057 meters Centerline goodness [0,1] 0.9846027322154703 Centerline is valid? [True, True] Translation: X:351.15, Y:-13.71, Z:3.57 [[ 9.99961585e-01 3.72031494e-03 -7.93644261e-03 3.51150943e+02] [-3.71761577e-03 9.99993027e-01 3.54823973e-04 -1.37124738e+01] [ 7.93770732e-03 -3.25305699e-04 9.99968443e-01 3.57083152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38071405700003 meters Centerline goodness [0,1] 0.9843422849340009 Centerline is valid? [True, True] Translation: X:351.18, Y:-13.72, Z:3.57 [[ 9.99965521e-01 -7.82219890e-04 -8.26714759e-03 3.51180257e+02] [ 7.85301300e-04 9.99999623e-01 3.69489887e-04 -1.37234734e+01] [ 8.26685545e-03 -3.75969349e-04 9.99965758e-01 3.57029164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.410714057 meters Centerline goodness [0,1] 0.9828129605695758 Centerline is valid? [True, True] Translation: X:351.21, Y:-13.73, Z:3.57 [[ 9.99961746e-01 -2.90318888e-03 -8.25097345e-03 3.51209830e+02] [ 2.90632788e-03 9.99995709e-01 3.68476046e-04 -1.37300694e+01] [ 8.24986829e-03 -3.92441984e-04 9.99965892e-01 3.56961142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.440714057 meters Centerline goodness [0,1] 0.9825264253864784 Centerline is valid? [True, True] Translation: X:351.24, Y:-13.74, Z:3.57 [[ 9.99958526e-01 -4.52010165e-03 -7.90669812e-03 3.51238647e+02] [ 4.52303016e-03 9.99989709e-01 3.52541340e-04 -1.37361568e+01] [ 7.90502322e-03 -3.88288953e-04 9.99968679e-01 3.56921816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.470714057 meters Centerline goodness [0,1] 0.9840459188285275 Centerline is valid? [True, True] Translation: X:351.27, Y:-13.74, Z:3.57 [[ 9.99940868e-01 -7.48188949e-03 -7.89183481e-03 3.51268007e+02] [ 7.48489576e-03 9.99971926e-01 3.51467781e-04 -1.37372061e+01] [ 7.88898361e-03 -4.10516559e-04 9.99968797e-01 3.56985781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.500714057 meters Centerline goodness [0,1] 0.9840100894083733 Centerline is valid? [True, True] Translation: X:351.30, Y:-13.74, Z:3.57 [[ 9.99933639e-01 -8.58618829e-03 -7.68076303e-03 3.51296854e+02] [ 8.58906643e-03 9.99963055e-01 3.41812232e-04 -1.37421716e+01] [ 7.67754440e-03 -4.07760134e-04 9.99970444e-01 3.56962469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.530714057 meters Centerline goodness [0,1] 0.982679686971426 Centerline is valid? [True, True] Translation: X:351.33, Y:-13.75, Z:3.57 [[ 9.99927521e-01 -9.97390539e-03 -6.74341333e-03 3.51326258e+02] [ 9.97615465e-03 9.99950192e-01 2.99993811e-04 -1.37514819e+01] [ 6.74008535e-03 -3.67245402e-04 9.99977218e-01 3.57001214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.560714057 meters Centerline goodness [0,1] 0.9844474454197614 Centerline is valid? [True, True] Translation: X:351.36, Y:-13.75, Z:3.57 [[ 9.99925911e-01 -1.07148201e-02 -5.77624373e-03 3.51356953e+02] [ 1.07164829e-02 9.99942544e-01 2.56982992e-04 -1.37492229e+01] [ 5.77315832e-03 -3.18864969e-04 9.99983284e-01 3.57090899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.590714057 meters Centerline goodness [0,1] 0.9822784241498586 Centerline is valid? [True, True] Translation: X:351.39, Y:-13.76, Z:3.57 [[ 9.99919697e-01 -1.12221683e-02 -5.88745413e-03 3.51386908e+02] [ 1.12239052e-02 9.99936976e-01 2.62055438e-04 -1.37557374e+01] [ 5.88414224e-03 -3.28114621e-04 9.99982634e-01 3.57119157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.620714057 meters Centerline goodness [0,1] 0.9831400053951983 Centerline is valid? [True, True] Translation: X:351.42, Y:-13.76, Z:3.57 [[ 9.99914074e-01 -1.18245268e-02 -5.65906044e-03 3.51417327e+02] [ 1.18261418e-02 9.99930037e-01 2.51990788e-04 -1.37604274e+01] [ 5.65568484e-03 -3.18893986e-04 9.99983956e-01 3.57070313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.650714057 meters Centerline goodness [0,1] 0.9829153851334665 Centerline is valid? [True, True] Translation: X:351.45, Y:-13.77, Z:3.57 [[ 9.99907255e-01 -1.19819761e-02 -6.47403156e-03 3.51447761e+02] [ 1.19840945e-02 9.99928147e-01 2.88525169e-04 -1.37664165e+01] [ 6.47010928e-03 -3.66083816e-04 9.99979002e-01 3.56961966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.680714057 meters Centerline goodness [0,1] 0.9826006914821965 Centerline is valid? [True, True] Translation: X:351.48, Y:-13.77, Z:3.57 [[ 9.99898362e-01 -1.24807677e-02 -6.89171453e-03 3.51479155e+02] [ 1.24831818e-02 9.99922035e-01 3.07379026e-04 -1.37692994e+01] [ 6.88734089e-03 -3.93378310e-04 9.99976205e-01 3.56897089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.710714057 meters Centerline goodness [0,1] 0.9829712009666809 Centerline is valid? [True, True] Translation: X:351.51, Y:-13.77, Z:3.57 [[ 9.99889964e-01 -1.28874072e-02 -7.34673186e-03 3.51510637e+02] [ 1.28901634e-02 9.99916865e-01 3.27928031e-04 -1.37724502e+01] [ 7.34189494e-03 -4.22592521e-04 9.99972959e-01 3.56851481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.740714057 meters Centerline goodness [0,1] 0.9837301942529765 Centerline is valid? [True, True] Translation: X:351.54, Y:-13.78, Z:3.57 [[ 9.99870552e-01 -1.36065198e-02 -8.58733374e-03 3.51542241e+02] [ 1.36103144e-02 9.99907302e-01 3.83599057e-04 -1.37762567e+01] [ 8.58131826e-03 -5.00425713e-04 9.99963055e-01 3.56746153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.770714057 meters Centerline goodness [0,1] 0.9842410714285714 Centerline is valid? [True, True] Translation: X:351.57, Y:-13.78, Z:3.57 [[ 9.99854622e-01 -1.43510641e-02 -9.20770633e-03 3.51572889e+02] [ 1.43554579e-02 9.99896871e-01 4.11272215e-04 -1.37752508e+01] [ 9.20085455e-03 -5.43393266e-04 9.99957524e-01 3.56769645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.800714057 meters Centerline goodness [0,1] 0.9828392437632845 Centerline is valid? [True, True] Translation: X:351.60, Y:-13.78, Z:3.57 [[ 9.99832865e-01 -1.53229028e-02 -9.97253406e-03 3.51602807e+02] [ 1.53281070e-02 9.99882418e-01 4.45632392e-04 -1.37810970e+01] [ 9.96453309e-03 -5.98417981e-04 9.99950174e-01 3.56709101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.830714057 meters Centerline goodness [0,1] 0.9828584199351883 Centerline is valid? [True, True] Translation: X:351.63, Y:-13.78, Z:3.57 [[ 9.99818847e-01 -1.62176596e-02 -9.96295496e-03 3.51633602e+02] [ 1.62228979e-02 9.99868301e-01 4.45185665e-04 -1.37817492e+01] [ 9.95442298e-03 -6.06733019e-04 9.99950269e-01 3.56742009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.860714057 meters Centerline goodness [0,1] 0.9830932999373826 Centerline is valid? [True, True] Translation: X:351.66, Y:-13.78, Z:3.57 [[ 9.99816662e-01 -1.66449074e-02 -9.46515652e-03 3.51664625e+02] [ 1.66496580e-02 9.99861295e-01 4.23319526e-04 -1.37829739e+01] [ 9.45679754e-03 -5.80833535e-04 9.99955115e-01 3.56797155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.890714057 meters Centerline goodness [0,1] 0.9827805695142379 Centerline is valid? [True, True] Translation: X:351.70, Y:-13.78, Z:3.57 [[ 9.99812150e-01 -1.72227750e-02 -8.89053491e-03 3.51695783e+02] [ 1.72269918e-02 9.99851525e-01 3.97940052e-04 -1.37849077e+01] [ 8.88236126e-03 -5.51022471e-04 9.99960399e-01 3.56910444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.920714057 meters Centerline goodness [0,1] 0.9834727378449702 Centerline is valid? [True, True] Translation: X:351.73, Y:-13.79, Z:3.57 [[ 9.99819605e-01 -1.69646414e-02 -8.54155947e-03 3.51727575e+02] [ 1.69685269e-02 9.99855951e-01 3.82628143e-04 -1.37853258e+01] [ 8.53383792e-03 -5.27496800e-04 9.99963447e-01 3.56973935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.950714057 meters Centerline goodness [0,1] 0.9816894148232815 Centerline is valid? [True, True] Translation: X:351.76, Y:-13.79, Z:3.57 [[ 9.99828297e-01 -1.67558271e-02 -7.91321846e-03 3.51758610e+02] [ 1.67591638e-02 9.99859492e-01 3.55544073e-04 -1.37874674e+01] [ 7.90614916e-03 -4.88101950e-04 9.99968627e-01 3.57042828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.980714057 meters Centerline goodness [0,1] 0.9816894148232815 Centerline is valid? [True, True] Translation: X:351.79, Y:-13.79, Z:3.57 [[ 9.99829474e-01 -1.66854552e-02 -7.91319585e-03 3.51790329e+02] [ 1.66887937e-02 9.99860669e-01 3.56047048e-04 -1.37889535e+01] [ 7.90615249e-03 -4.88048026e-04 9.99968627e-01 3.57039533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01071405700003 meters Centerline goodness [0,1] 0.983010843668589 Centerline is valid? [True, True] Translation: X:351.82, Y:-13.79, Z:3.57 [[ 9.99836024e-01 -1.67254597e-02 -6.94145060e-03 3.51821075e+02] [ 1.67280321e-02 9.99860028e-01 3.12679484e-04 -1.37912091e+01] [ 6.93524928e-03 -4.28745020e-04 9.99975859e-01 3.57076801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.040714057 meters Centerline goodness [0,1] 0.9808127168924213 Centerline is valid? [True, True] Translation: X:351.85, Y:-13.79, Z:3.57 [[ 9.99819214e-01 -1.78833806e-02 -6.45938737e-03 3.51852725e+02] [ 1.78856343e-02 9.99839997e-01 2.91306374e-04 -1.37921573e+01] [ 6.45314430e-03 -4.06783950e-04 9.99979096e-01 3.57151955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07071405700003 meters Centerline goodness [0,1] 0.9792952329845274 Centerline is valid? [True, True] Translation: X:351.88, Y:-13.80, Z:3.57 [[ 9.99808229e-01 -1.85550929e-02 -6.26214159e-03 3.51883161e+02] [ 1.85572294e-02 9.99827760e-01 2.83239157e-04 -1.38011689e+01] [ 6.25580747e-03 -3.99392838e-04 9.99980352e-01 3.57053799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.100714057 meters Centerline goodness [0,1] 0.9808453096712187 Centerline is valid? [True, True] Translation: X:351.92, Y:-13.80, Z:3.57 [[ 9.99778795e-01 -1.98372410e-02 -6.98889722e-03 3.51915632e+02] [ 1.98399362e-02 9.99803119e-01 3.16512182e-04 -1.37989342e+01] [ 6.98124251e-03 -4.55101444e-04 9.99975527e-01 3.57038195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13071405700003 meters Centerline goodness [0,1] 0.9802908277404921 Centerline is valid? [True, True] Translation: X:351.95, Y:-13.80, Z:3.57 [[ 9.99719622e-01 -2.24661323e-02 -7.48000400e-03 3.51946918e+02] [ 2.24692934e-02 9.99747476e-01 3.38824243e-04 -1.37979837e+01] [ 7.47050305e-03 -5.06799648e-04 9.99971967e-01 3.57009892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.160714057 meters Centerline goodness [0,1] 0.9805354980490649 Centerline is valid? [True, True] Translation: X:351.98, Y:-13.80, Z:3.57 [[ 9.99685619e-01 -2.37998751e-02 -7.88850328e-03 3.51978664e+02] [ 2.38034358e-02 9.99716594e-01 3.57781822e-04 -1.37959969e+01] [ 7.87775246e-03 -5.45442824e-04 9.99968821e-01 3.57003000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.190714057 meters Centerline goodness [0,1] 0.9807256998139806 Centerline is valid? [True, True] Translation: X:352.01, Y:-13.80, Z:3.57 [[ 9.99634934e-01 -2.58871577e-02 -7.73648966e-03 3.52008278e+02] [ 2.58906497e-02 9.99664719e-01 3.51546309e-04 -1.37982586e+01] [ 7.72479523e-03 -5.51720715e-04 9.99970011e-01 3.56960860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.220714057 meters Centerline goodness [0,1] 0.9798687775712654 Centerline is valid? [True, True] Translation: X:352.04, Y:-13.80, Z:3.57 [[ 9.99620805e-01 -2.63883332e-02 -7.86772693e-03 3.52040149e+02] [ 2.63919643e-02 9.99651607e-01 3.58041778e-04 -1.38002194e+01] [ 7.85553775e-03 -5.65550779e-04 9.99968985e-01 3.56968877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.250714057 meters Centerline goodness [0,1] 0.9806967984934086 Centerline is valid? [True, True] Translation: X:352.07, Y:-13.80, Z:3.57 [[ 9.99581527e-01 -2.78502892e-02 -7.81864960e-03 3.52072046e+02] [ 2.78539228e-02 9.99611941e-01 3.56209737e-04 -1.37973029e+01] [ 7.80569495e-03 -5.73840735e-04 9.99969370e-01 3.57034841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.280714057 meters Centerline goodness [0,1] 0.9795694101816551 Centerline is valid? [True, True] Translation: X:352.10, Y:-13.80, Z:3.57 [[ 9.99568078e-01 -2.82780558e-02 -8.00051007e-03 3.52104444e+02] [ 2.82818787e-02 9.99599921e-01 3.65080447e-04 -1.37981691e+01] [ 7.98698547e-03 -5.91192216e-04 9.99967929e-01 3.57054722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.310714057 meters Centerline goodness [0,1] 0.9774615004714228 Centerline is valid? [True, True] Translation: X:352.14, Y:-13.81, Z:3.57 [[ 9.99566958e-01 -2.84287389e-02 -7.59623991e-03 3.52135055e+02] [ 2.84321962e-02 9.99595663e-01 3.47512208e-04 -1.38061676e+01] [ 7.58328914e-03 -5.63339504e-04 9.99971088e-01 3.56984085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.340714057 meters Centerline goodness [0,1] 0.977970297029703 Centerline is valid? [True, True] Translation: X:352.17, Y:-13.81, Z:3.57 [[ 9.99549831e-01 -2.90995165e-02 -7.30433475e-03 3.52166859e+02] [ 2.91027333e-02 9.99576370e-01 3.34471678e-04 -1.38050835e+01] [ 7.29150745e-03 -5.46897215e-04 9.99973267e-01 3.57065370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.370714057 meters Centerline goodness [0,1] 0.9777982104012021 Centerline is valid? [True, True] Translation: X:352.20, Y:-13.81, Z:3.57 [[ 9.99559791e-01 -2.88728981e-02 -6.82490920e-03 3.52199223e+02] [ 2.88757045e-02 9.99582961e-01 3.12998339e-04 -1.38062373e+01] [ 6.81302577e-03 -5.09934616e-04 9.99976661e-01 3.57102916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.400714057 meters Centerline goodness [0,1] 0.9798976855294886 Centerline is valid? [True, True] Translation: X:352.23, Y:-13.80, Z:3.57 [[ 9.99579399e-01 -2.84262640e-02 -5.74216191e-03 3.52231939e+02] [ 2.84282457e-02 9.99595801e-01 2.63768223e-04 -1.37969415e+01] [ 5.73234299e-03 -4.26896871e-04 9.99983479e-01 3.57271617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.430714057 meters Centerline goodness [0,1] 0.9815219103778893 Centerline is valid? [True, True] Translation: X:352.26, Y:-13.80, Z:3.57 [[ 9.99590692e-01 -2.81015624e-02 -5.36198622e-03 3.52264163e+02] [ 2.81032879e-02 9.99604994e-01 2.46700325e-04 -1.37954561e+01] [ 5.35293554e-03 -3.97288791e-04 9.99985594e-01 3.57293859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.460714057 meters Centerline goodness [0,1] 0.9788582084522232 Centerline is valid? [True, True] Translation: X:352.29, Y:-13.80, Z:3.57 [[ 9.99629348e-01 -2.67648617e-02 -4.98090467e-03 3.52294207e+02] [ 2.67663343e-02 9.99641691e-01 2.29205629e-04 -1.37995077e+01] [ 4.97298531e-03 -3.62441232e-04 9.99987569e-01 3.57334625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.490714057 meters Centerline goodness [0,1] 0.9806033509461229 Centerline is valid? [True, True] Translation: X:352.33, Y:-13.80, Z:3.57 [[ 9.99648496e-01 -2.60553775e-02 -4.89914396e-03 3.52326585e+02] [ 2.60567956e-02 9.99660439e-01 2.25852745e-04 -1.37952015e+01] [ 4.89159572e-03 -3.53429350e-04 9.99987974e-01 3.57393435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.520714057 meters Centerline goodness [0,1] 0.9812763653590201 Centerline is valid? [True, True] Translation: X:352.36, Y:-13.79, Z:3.57 [[ 9.99690713e-01 -2.43509979e-02 -5.05049361e-03 3.52358651e+02] [ 2.43524847e-02 9.99703407e-01 2.33085305e-04 -1.37926205e+01] [ 5.04331980e-03 -3.56005283e-04 9.99987219e-01 3.57397721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.550714057 meters Centerline goodness [0,1] 0.9805468521064852 Centerline is valid? [True, True] Translation: X:352.39, Y:-13.79, Z:3.57 [[ 9.99718025e-01 -2.31711738e-02 -5.19297929e-03 3.52390463e+02] [ 2.31727319e-02 9.99731447e-01 2.40053222e-04 -1.37936622e+01] [ 5.18602238e-03 -3.60321050e-04 9.99986488e-01 3.57347102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.580714057 meters Centerline goodness [0,1] 0.980812207950518 Centerline is valid? [True, True] Translation: X:352.42, Y:-13.80, Z:3.57 [[ 9.99742435e-01 -2.21085002e-02 -5.12611243e-03 3.52421683e+02] [ 2.21100057e-02 9.99755516e-01 2.37220330e-04 -1.37960233e+01] [ 5.11961460e-03 -3.50497605e-04 9.99986833e-01 3.57328161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.610714057 meters Centerline goodness [0,1] 0.9806970751774332 Centerline is valid? [True, True] Translation: X:352.45, Y:-13.79, Z:3.57 [[ 9.99775330e-01 -2.04829795e-02 -5.45317475e-03 3.52452914e+02] [ 2.04846602e-02 9.99790135e-01 2.52527527e-04 -1.37947855e+01] [ 5.44685780e-03 -3.64177224e-04 9.99985099e-01 3.57319503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.640714057 meters Centerline goodness [0,1] 0.980883813306852 Centerline is valid? [True, True] Translation: X:352.49, Y:-13.80, Z:3.57 [[ 9.99784815e-01 -1.98518897e-02 -6.01888577e-03 3.52485249e+02] [ 1.98539286e-02 9.99802852e-01 2.79180661e-04 -1.37957991e+01] [ 6.01215689e-03 -3.98619114e-04 9.99981847e-01 3.57324090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.670714057 meters Centerline goodness [0,1] 0.9818288658861818 Centerline is valid? [True, True] Translation: X:352.52, Y:-13.80, Z:3.57 [[ 9.99808361e-01 -1.86443424e-02 -5.96903362e-03 3.52516133e+02] [ 1.86463312e-02 9.99826103e-01 2.77715359e-04 -1.37964527e+01] [ 5.96281780e-03 -3.88962716e-04 9.99982147e-01 3.57302659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.700714057 meters Centerline goodness [0,1] 0.9808054025879847 Centerline is valid? [True, True] Translation: X:352.55, Y:-13.80, Z:3.57 [[ 9.99805825e-01 -1.88322674e-02 -5.80150051e-03 3.52548364e+02] [ 1.88341514e-02 9.99822585e-01 2.70263908e-04 -1.37976448e+01] [ 5.79538155e-03 -3.79477768e-04 9.99983135e-01 3.57316883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.730714057 meters Centerline goodness [0,1] 0.9805184496405325 Centerline is valid? [True, True] Translation: X:352.58, Y:-13.80, Z:3.57 [[ 9.99793883e-01 -1.94472415e-02 -5.83059208e-03 3.52580274e+02] [ 1.94491572e-02 9.99810810e-01 2.72025237e-04 -1.37982405e+01] [ 5.82419885e-03 -3.85369270e-04 9.99982965e-01 3.57318023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76071405700003 meters Centerline goodness [0,1] 0.9801107982926165 Centerline is valid? [True, True] Translation: X:352.61, Y:-13.80, Z:3.57 [[ 9.99767577e-01 -2.08642259e-02 -5.42910330e-03 3.52612312e+02] [ 2.08659097e-02 9.99782251e-01 2.53678819e-04 -1.37990371e+01] [ 5.42262830e-03 -3.66903037e-04 9.99985230e-01 3.57353821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.790714057 meters Centerline goodness [0,1] 0.9773349142648668 Centerline is valid? [True, True] Translation: X:352.64, Y:-13.80, Z:3.57 [[ 9.99692735e-01 -2.41231394e-02 -5.70165640e-03 3.52641464e+02] [ 2.41250484e-02 9.99708913e-01 2.66263628e-04 -1.38047075e+01] [ 5.69357361e-03 -4.03734551e-04 9.99983710e-01 3.57342564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82071405700003 meters Centerline goodness [0,1] 0.9801274925704953 Centerline is valid? [True, True] Translation: X:352.67, Y:-13.80, Z:3.57 [[ 9.99650740e-01 -2.58071196e-02 -5.69134098e-03 3.52672881e+02] [ 2.58090503e-02 9.99666856e-01 2.66032964e-04 -1.37992056e+01] [ 5.68257940e-03 -4.12828155e-04 9.99983769e-01 3.57444045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.850714057 meters Centerline goodness [0,1] 0.9754865141686583 Centerline is valid? [True, True] Translation: X:352.70, Y:-13.81, Z:3.57 [[ 9.99593114e-01 -2.79642468e-02 -5.62212385e-03 3.52702331e+02] [ 2.79661645e-02 9.99608836e-01 2.62761003e-04 -1.38103416e+01] [ 5.61257676e-03 -4.19883330e-04 9.99984161e-01 3.57360099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88071405700003 meters Centerline goodness [0,1] 0.978255419050441 Centerline is valid? [True, True] Translation: X:352.73, Y:-13.80, Z:3.58 [[ 9.99470832e-01 -3.21286515e-02 -5.07999955e-03 3.52733272e+02] [ 3.21302707e-02 9.99483661e-01 2.37443350e-04 -1.38012876e+01] [ 5.06974782e-03 -4.00539463e-04 9.99987069e-01 3.57510286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.910714057 meters Centerline goodness [0,1] 0.974837477837887 Centerline is valid? [True, True] Translation: X:352.76, Y:-13.81, Z:3.57 [[ 9.99403357e-01 -3.42169021e-02 -4.70455509e-03 3.52762961e+02] [ 3.42183138e-02 9.99414358e-01 2.19891689e-04 -1.38077645e+01] [ 4.69427589e-03 -3.80742435e-04 9.99988909e-01 3.57469606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.940714057 meters Centerline goodness [0,1] 0.974880900822867 Centerline is valid? [True, True] Translation: X:352.79, Y:-13.81, Z:3.57 [[ 9.99268801e-01 -3.79729429e-02 -4.46308135e-03 3.52793810e+02] [ 3.79742507e-02 9.99278696e-01 2.08611740e-04 -1.38077725e+01] [ 4.45194051e-03 -3.77941373e-04 9.99990019e-01 3.57458824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.970714057 meters Centerline goodness [0,1] 0.9765105997052488 Centerline is valid? [True, True] Translation: X:352.83, Y:-13.81, Z:3.57 [[ 9.99237868e-01 -3.87684744e-02 -4.54838907e-03 3.52825815e+02] [ 3.87698426e-02 9.99248144e-01 2.12997800e-04 -1.38100095e+01] [ 4.53671174e-03 -3.89175796e-04 9.99989633e-01 3.57463263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.000714057 meters Centerline goodness [0,1] 0.9751310690677 Centerline is valid? [True, True] Translation: X:352.86, Y:-13.81, Z:3.57 [[ 9.99188038e-01 -3.99315716e-02 -5.36038148e-03 3.52857537e+02] [ 3.99334900e-02 9.99202308e-01 2.51277446e-04 -1.38119232e+01] [ 5.34607165e-03 -4.65132158e-04 9.99985601e-01 3.57435642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.030714057 meters Centerline goodness [0,1] 0.9755858484544543 Centerline is valid? [True, True] Translation: X:352.89, Y:-13.81, Z:3.57 [[ 9.99165455e-01 -4.03708805e-02 -6.21170032e-03 3.52889870e+02] [ 4.03734678e-02 9.99184617e-01 2.91638484e-04 -1.38102568e+01] [ 6.19486170e-03 -5.42182981e-04 9.99980665e-01 3.57424807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.060714057 meters Centerline goodness [0,1] 0.9768939220968994 Centerline is valid? [True, True] Translation: X:352.92, Y:-13.81, Z:3.57 [[ 9.99158985e-01 -4.03886818e-02 -7.07657307e-03 3.52922074e+02] [ 4.03920437e-02 9.99183853e-01 3.32741059e-04 -1.38094526e+01] [ 7.05735857e-03 -6.18298467e-04 9.99974905e-01 3.57377812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.090714057 meters Centerline goodness [0,1] 0.9751239255991632 Centerline is valid? [True, True] Translation: X:352.95, Y:-13.81, Z:3.57 [[ 9.99182449e-01 -3.96191894e-02 -8.04691545e-03 3.52953251e+02] [ 3.96235149e-02 9.99214608e-01 3.78765973e-04 -1.38134595e+01] [ 8.02558907e-03 -6.97303387e-04 9.99967551e-01 3.57272346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.120714057 meters Centerline goodness [0,1] 0.9754747197437658 Centerline is valid? [True, True] Translation: X:352.99, Y:-13.81, Z:3.57 [[ 9.99187031e-01 -3.95153442e-02 -7.98837766e-03 3.52985938e+02] [ 3.95196083e-02 9.99218724e-01 3.76579843e-04 -1.38134253e+01] [ 7.96725585e-03 -6.91971251e-04 9.99968021e-01 3.57279104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.150714057 meters Centerline goodness [0,1] 0.9778307072187614 Centerline is valid? [True, True] Translation: X:353.02, Y:-13.81, Z:3.57 [[ 9.99227794e-01 -3.85096212e-02 -7.79908526e-03 3.53017207e+02] [ 3.85136571e-02 9.99258006e-01 3.67901288e-04 -1.38084442e+01] [ 7.77913064e-03 -6.67988487e-04 9.99969519e-01 3.57384286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.180714057 meters Centerline goodness [0,1] 0.9775288620120945 Centerline is valid? [True, True] Translation: X:353.05, Y:-13.81, Z:3.57 [[ 9.99282279e-01 -3.70030518e-02 -8.10561796e-03 3.53047967e+02] [ 3.70073642e-02 9.99314920e-01 3.82645772e-04 -1.38068051e+01] [ 8.08590590e-03 -6.82338695e-04 9.99967076e-01 3.57424535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.210714057 meters Centerline goodness [0,1] 0.9785522788203753 Centerline is valid? [True, True] Translation: X:353.08, Y:-13.80, Z:3.57 [[ 9.99343879e-01 -3.52639401e-02 -8.26227167e-03 3.53079640e+02] [ 3.52683643e-02 9.99377801e-01 3.90331365e-04 -1.38046937e+01] [ 8.24336628e-03 -6.81472068e-04 9.99965791e-01 3.57447498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.240714057 meters Centerline goodness [0,1] 0.9764457402603366 Centerline is valid? [True, True] Translation: X:353.11, Y:-13.81, Z:3.57 [[ 9.99352713e-01 -3.49619053e-02 -8.47467719e-03 3.53111570e+02] [ 3.49665544e-02 9.99388403e-01 4.00992306e-04 -1.38058089e+01] [ 8.45547464e-03 -6.97063009e-04 9.99964009e-01 3.57423696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.270714057 meters Centerline goodness [0,1] 0.974993673652488 Centerline is valid? [True, True] Translation: X:353.14, Y:-13.81, Z:3.57 [[ 9.99370923e-01 -3.43563495e-02 -8.79773329e-03 3.53143102e+02] [ 3.43613403e-02 9.99409388e-01 4.16715810e-04 -1.38079457e+01] [ 8.77822041e-03 -7.18755572e-04 9.99961212e-01 3.57399220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.300714057 meters Centerline goodness [0,1] 0.9750080619155111 Centerline is valid? [True, True] Translation: X:353.17, Y:-13.81, Z:3.57 [[ 9.99397354e-01 -3.35395043e-02 -8.94594964e-03 3.53174649e+02] [ 3.35446362e-02 9.99437130e-01 4.24191579e-04 -1.38073684e+01] [ 8.92668706e-03 -7.24024568e-04 9.99959894e-01 3.57371765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.330714057 meters Centerline goodness [0,1] 0.9750791047878606 Centerline is valid? [True, True] Translation: X:353.21, Y:-13.81, Z:3.57 [[ 9.99402182e-01 -3.32987348e-02 -9.29906686e-03 3.53206574e+02] [ 3.33042756e-02 9.99445161e-01 4.41581152e-04 -1.38074756e+01] [ 9.27920328e-03 -7.51015852e-04 9.99956665e-01 3.57373478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.360714057 meters Centerline goodness [0,1] 0.9747858412801035 Centerline is valid? [True, True] Translation: X:353.24, Y:-13.81, Z:3.57 [[ 9.99371566e-01 -3.39879918e-02 -1.00642958e-02 3.53239029e+02] [ 3.39945235e-02 9.99421905e-01 4.78591963e-04 -1.38082669e+01] [ 1.00422113e-02 -8.20422140e-04 9.99949239e-01 3.57235468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.390714057 meters Centerline goodness [0,1] 0.9738937746693442 Centerline is valid? [True, True] Translation: X:353.27, Y:-13.81, Z:3.57 [[ 9.99354953e-01 -3.43626518e-02 -1.04348875e-02 3.53271623e+02] [ 3.43697010e-02 9.99409064e-01 4.96914157e-04 -1.38096571e+01] [ 1.04116459e-02 -8.55237588e-04 9.99945432e-01 3.57153946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.420714057 meters Centerline goodness [0,1] 0.9756565119985219 Centerline is valid? [True, True] Translation: X:353.30, Y:-13.81, Z:3.57 [[ 9.99356806e-01 -3.42749285e-02 -1.05453357e-02 3.53304632e+02] [ 3.42821346e-02 9.99412068e-01 5.03285510e-04 -1.38092844e+01] [ 1.05218857e-02 -8.64478417e-04 9.99944270e-01 3.57179604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.450714057 meters Centerline goodness [0,1] 0.9777674956622325 Centerline is valid? [True, True] Translation: X:353.34, Y:-13.80, Z:3.57 [[ 9.99335091e-01 -3.48839359e-02 -1.06059652e-02 3.53337440e+02] [ 3.48912667e-02 9.99390986e-01 5.06901746e-04 -1.38010695e+01] [ 1.05818233e-02 -8.76620263e-04 9.99943627e-01 3.57318093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.480714057 meters Centerline goodness [0,1] 0.9724880935867203 Centerline is valid? [True, True] Translation: X:353.37, Y:-13.81, Z:3.57 [[ 9.99334957e-01 -3.48991388e-02 -1.05684859e-02 3.53368095e+02] [ 3.49064245e-02 9.99390457e-01 5.05652574e-04 -1.38122734e+01] [ 1.05443972e-02 -8.74224350e-04 9.99944024e-01 3.57164724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51071405700003 meters Centerline goodness [0,1] 0.9702262985666221 Centerline is valid? [True, True] Translation: X:353.40, Y:-13.81, Z:3.57 [[ 9.99341365e-01 -3.47387240e-02 -1.04907736e-02 3.53399678e+02] [ 3.47458996e-02 9.99396053e-01 5.02453207e-04 -1.38134995e+01] [ 1.04669832e-02 -8.66633642e-04 9.99944844e-01 3.57084996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.540714057 meters Centerline goodness [0,1] 0.9658703862462059 Centerline is valid? [True, True] Translation: X:353.43, Y:-13.82, Z:3.57 [[ 9.99313255e-01 -3.52712319e-02 -1.13559936e-02 3.53431910e+02] [ 3.52796828e-02 9.99377330e-01 5.44648602e-04 -1.38154595e+01] [ 1.13297121e-02 -9.44910419e-04 9.99935370e-01 3.57012057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57071405700003 meters Centerline goodness [0,1] 0.9750405938297378 Centerline is valid? [True, True] Translation: X:353.46, Y:-13.81, Z:3.57 [[ 9.99277910e-01 -3.61772985e-02 -1.16129671e-02 3.53464574e+02] [ 3.61862062e-02 9.99344909e-01 5.57776729e-04 -1.38079730e+01] [ 1.15851807e-02 -9.77603187e-04 9.99932412e-01 3.57104120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.600714057 meters Centerline goodness [0,1] 0.972863366703745 Centerline is valid? [True, True] Translation: X:353.50, Y:-13.81, Z:3.57 [[ 9.99252963e-01 -3.68878113e-02 -1.15241156e-02 3.53496644e+02] [ 3.68966393e-02 9.99318933e-01 5.54308948e-04 -1.38096413e+01] [ 1.14958196e-02 -9.79095994e-04 9.99933442e-01 3.57091345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63071405700003 meters Centerline goodness [0,1] 0.9707645656350548 Centerline is valid? [True, True] Translation: X:353.53, Y:-13.81, Z:3.57 [[ 9.99190130e-01 -3.86192188e-02 -1.12978326e-02 3.53526308e+02] [ 3.86278238e-02 9.99253519e-01 5.44346107e-04 -1.38122510e+01] [ 1.12683767e-02 -9.80315943e-04 9.99936029e-01 3.57042136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.660714057 meters Centerline goodness [0,1] 0.9723194621537035 Centerline is valid? [True, True] Translation: X:353.56, Y:-13.81, Z:3.57 [[ 9.99153845e-01 -3.96742635e-02 -1.08418622e-02 3.53558038e+02] [ 3.96822553e-02 9.99212212e-01 5.22915565e-04 -1.38123775e+01] [ 1.08125748e-02 -9.52702641e-04 9.99941089e-01 3.57075949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.690714057 meters Centerline goodness [0,1] 0.967571714166163 Centerline is valid? [True, True] Translation: X:353.59, Y:-13.82, Z:3.57 [[ 9.99118477e-01 -4.05937668e-02 -1.06965111e-02 3.53588686e+02] [ 4.06016125e-02 9.99175281e-01 5.17262532e-04 -1.38179234e+01] [ 1.06666918e-02 -9.51102152e-04 9.99942657e-01 3.57019879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.720714057 meters Centerline goodness [0,1] 0.954918509218572 Centerline is valid? [True, True] Translation: X:353.62, Y:-13.82, Z:3.57 [[ 9.99028692e-01 -4.28328586e-02 -1.03449506e-02 3.53618703e+02] [ 4.28403148e-02 9.99081807e-01 5.00141087e-04 -1.38230082e+01] [ 1.03140295e-02 -9.42836236e-04 9.99946364e-01 3.57009445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.750714057 meters Centerline goodness [0,1] 0.952649799028833 Centerline is valid? [True, True] Translation: X:353.65, Y:-13.82, Z:3.57 [[ 9.98987003e-01 -4.37892963e-02 -1.03665761e-02 3.53651170e+02] [ 4.37968428e-02 9.99040332e-01 5.01957268e-04 -1.38244432e+01] [ 1.03346473e-02 -9.55472090e-04 9.99946140e-01 3.57009246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.780714057 meters Centerline goodness [0,1] 0.7793189314344379 Centerline is valid? [True, False] Translation: X:353.71, Y:-13.82, Z:3.57 [[ 9.98828318e-01 -4.76309808e-02 -8.56043588e-03 3.53708938e+02] [ 4.75759043e-02 9.98846304e-01 -6.52637648e-03 -1.38238511e+01] [ 8.86141745e-03 6.11145917e-03 9.99942061e-01 3.57021628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.810714057 meters Centerline goodness [0,1] 0.9296411350148368 Centerline is valid? [False, False] Translation: X:353.62, Y:-13.82, Z:3.57 [[ 9.98901222e-01 -4.63357353e-02 -7.02483444e-03 3.53616625e+02] [ 4.62985854e-02 9.98913255e-01 -5.36192351e-03 -1.38227608e+01] [ 7.26564891e-03 5.03079205e-03 9.99960950e-01 3.56706753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.840714057 meters Centerline goodness [0,1] 0.964004916854141 Centerline is valid? [False, True] Translation: X:353.62, Y:-13.82, Z:3.57 [[ 9.98908169e-01 -4.61786518e-02 -7.07125209e-03 3.53617128e+02] [ 4.61458239e-02 9.98923481e-01 -4.73737734e-03 -1.38240612e+01] [ 7.28240545e-03 4.40589617e-03 9.99963777e-01 3.56634529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.870714057 meters Centerline goodness [0,1] 0.964004916854141 Centerline is valid? [True, True] Translation: X:353.65, Y:-13.83, Z:3.56 [[ 9.98913712e-01 -4.60979272e-02 -6.81011187e-03 3.53649664e+02] [ 4.61013792e-02 9.98936705e-01 3.50702951e-04 -1.38279527e+01] [ 6.78670403e-03 -6.64277537e-04 9.99976749e-01 3.56436219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.900714057 meters Centerline goodness [0,1] 0.9569880020382637 Centerline is valid? [True, True] Translation: X:353.68, Y:-13.83, Z:3.56 [[ 9.98812412e-01 -4.81900887e-02 -7.17495876e-03 3.53679747e+02] [ 4.81939714e-02 9.98837927e-01 3.69133554e-04 -1.38331441e+01] [ 7.14883236e-03 -7.14484933e-04 9.99974192e-01 3.56329014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.930714057 meters Centerline goodness [0,1] 0.9519384145918579 Centerline is valid? [True, True] Translation: X:353.71, Y:-13.84, Z:3.56 [[ 9.98787343e-01 -4.86916306e-02 -7.27797213e-03 3.53711815e+02] [ 4.86956444e-02 9.98813593e-01 3.75203121e-04 -1.38367717e+01] [ 7.25106825e-03 -7.29153672e-04 9.99973445e-01 3.56242072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.960714057 meters Centerline goodness [0,1] 0.9541730315233995 Centerline is valid? [True, True] Translation: X:353.74, Y:-13.84, Z:3.56 [[ 9.98787039e-01 -4.86444863e-02 -7.62659146e-03 3.53743804e+02] [ 4.86488964e-02 9.98815864e-01 3.93691395e-04 -1.38390673e+01] [ 7.59840962e-03 -7.64239121e-04 9.99970840e-01 3.56186845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.990714057 meters Centerline goodness [0,1] 0.9548124508579622 Centerline is valid? [True, True] Translation: X:353.78, Y:-13.84, Z:3.56 [[ 9.98807922e-01 -4.81879239e-02 -7.78835094e-03 3.53775736e+02] [ 4.81925135e-02 9.98837985e-01 4.02579135e-04 -1.38411384e+01] [ 7.75990130e-03 -7.77439437e-04 9.99969589e-01 3.56190443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.020714057 meters Centerline goodness [0,1] 0.9427342322547818 Centerline is valid? [True, False] Translation: X:353.78, Y:-13.84, Z:3.56 [[ 9.98823450e-01 -4.78320815e-02 -7.98794918e-03 3.53776391e+02] [ 4.78399002e-02 9.98854704e-01 7.90506185e-04 -1.38416702e+01] [ 7.94098905e-03 -1.17171881e-03 9.99967783e-01 3.56159139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.050714057 meters Centerline goodness [0,1] 0.9704584825037533 Centerline is valid? [False, True] Translation: X:353.78, Y:-13.84, Z:3.56 [[ 9.98983089e-01 -4.44321658e-02 -7.65311467e-03 3.53775131e+02] [ 4.44709493e-02 9.98998294e-01 4.97425290e-03 -1.38439101e+01] [ 7.42443167e-03 -5.30953581e-03 9.99958342e-01 3.56164572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.080714057 meters Centerline goodness [0,1] 0.9400804475472745 Centerline is valid? [True, False] Translation: X:353.78, Y:-13.84, Z:3.56 [[ 9.98999164e-01 -4.40334970e-02 -7.85633594e-03 3.53775606e+02] [ 4.40755211e-02 9.99014362e-01 5.25852330e-03 -1.38440960e+01] [ 7.61704127e-03 -5.59953248e-03 9.99955312e-01 3.56164612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.110714057 meters Centerline goodness [0,1] 0.9655339693686618 Centerline is valid? [False, True] Translation: X:353.78, Y:-13.84, Z:3.56 [[ 9.99039756e-01 -4.30316849e-02 -8.23645571e-03 3.53777037e+02] [ 4.30810949e-02 9.99054048e-01 5.91851392e-03 -1.38443289e+01] [ 7.97398079e-03 -6.26766623e-03 9.99948565e-01 3.56096353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.140714057 meters Centerline goodness [0,1] 0.9602264848624913 Centerline is valid? [True, True] Translation: X:353.81, Y:-13.85, Z:3.56 [[ 9.99097811e-01 -4.15282333e-02 -8.88645331e-03 3.53807461e+02] [ 4.15338237e-02 9.99136999e-01 4.45392008e-04 -1.38461070e+01] [ 8.86028795e-03 -8.14078565e-04 9.99960416e-01 3.56161118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.170714057 meters Centerline goodness [0,1] 0.9729435726519465 Centerline is valid? [True, True] Translation: X:353.84, Y:-13.84, Z:3.56 [[ 9.99163802e-01 -3.98371962e-02 -9.20298015e-03 3.53839925e+02] [ 3.98431292e-02 9.99205840e-01 4.62171856e-04 -1.38395433e+01] [ 9.17725988e-03 -8.28460916e-04 9.99957545e-01 3.56201026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.200714057 meters Centerline goodness [0,1] 0.960195562935289 Centerline is valid? [True, True] Translation: X:353.87, Y:-13.85, Z:3.56 [[ 9.99229447e-01 -3.76776849e-02 -1.09956885e-02 3.53869310e+02] [ 3.76860216e-02 9.99289477e-01 5.51894868e-04 -1.38478493e+01] [ 1.09670817e-02 -9.65853358e-04 9.99939393e-01 3.55899960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.230714057 meters Centerline goodness [0,1] 0.9729823506280215 Centerline is valid? [True, True] Translation: X:353.90, Y:-13.84, Z:3.56 [[ 9.99274539e-01 -3.63648698e-02 -1.13133188e-02 3.53900799e+02] [ 3.63736174e-02 9.99338099e-01 5.68350137e-04 -1.38420918e+01] [ 1.12851625e-02 -9.79444150e-04 9.99935841e-01 3.55945209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26071405700003 meters Centerline goodness [0,1] 0.9707510610813803 Centerline is valid? [True, True] Translation: X:353.93, Y:-13.85, Z:3.56 [[ 9.99319775e-01 -3.49270316e-02 -1.18359677e-02 3.53931382e+02] [ 3.49365109e-02 9.99389357e-01 5.95013403e-04 -1.38452887e+01] [ 1.18079581e-02 -1.00811607e-03 9.99929775e-01 3.55845539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.290714057 meters Centerline goodness [0,1] 0.9728651607217403 Centerline is valid? [True, True] Translation: X:353.96, Y:-13.84, Z:3.56 [[ 9.99327103e-01 -3.46328621e-02 -1.20791685e-02 3.53963841e+02] [ 3.46427251e-02 9.99399576e-01 6.08189412e-04 -1.38447264e+01] [ 1.20508525e-02 -1.02623548e-03 9.99926859e-01 3.55866030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32071405700003 meters Centerline goodness [0,1] 0.9748924954917464 Centerline is valid? [True, True] Translation: X:354.00, Y:-13.84, Z:3.56 [[ 9.99351257e-01 -3.38987085e-02 -1.21631330e-02 3.53995903e+02] [ 3.39086655e-02 9.99424748e-01 6.13271574e-04 -1.38441965e+01] [ 1.21353470e-02 -1.02530933e-03 9.99925838e-01 3.55884319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.350714057 meters Centerline goodness [0,1] 0.9755375037607906 Centerline is valid? [True, True] Translation: X:354.03, Y:-13.84, Z:3.56 [[ 9.99398412e-01 -3.26952304e-02 -1.15687431e-02 3.54027722e+02] [ 3.27041645e-02 9.99464905e-01 5.83875793e-04 -1.38426615e+01] [ 1.15434628e-02 -9.61870619e-04 9.99932909e-01 3.56010486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38071405700003 meters Centerline goodness [0,1] 0.9738828432507525 Centerline is valid? [True, True] Translation: X:354.06, Y:-13.85, Z:3.56 [[ 9.99432987e-01 -3.18712609e-02 -1.08593849e-02 3.54058443e+02] [ 3.18790909e-02 9.99491582e-01 5.48658378e-04 -1.38500918e+01] [ 1.08363773e-02 -8.94534600e-04 9.99940885e-01 3.55918930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.410714057 meters Centerline goodness [0,1] 0.975845298749421 Centerline is valid? [True, True] Translation: X:354.09, Y:-13.85, Z:3.56 [[ 9.99474093e-01 -3.07651110e-02 -1.02492045e-02 3.54090083e+02] [ 3.07720312e-02 9.99526295e-01 5.18139876e-04 -1.38472617e+01] [ 1.02284087e-02 -8.33256221e-04 9.99947341e-01 3.56020636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.440714057 meters Centerline goodness [0,1] 0.9745019551586108 Centerline is valid? [True, True] Translation: X:354.12, Y:-13.85, Z:3.56 [[ 9.99496993e-01 -3.01077741e-02 -9.96411883e-03 3.54122667e+02] [ 3.01142924e-02 9.99546334e-01 5.04762708e-04 -1.38496987e+01] [ 9.94440117e-03 -8.04571197e-04 9.99950230e-01 3.56039121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.470714057 meters Centerline goodness [0,1] 0.9767452622810469 Centerline is valid? [True, True] Translation: X:354.15, Y:-13.85, Z:3.56 [[ 9.99529004e-01 -2.93560789e-02 -8.94374764e-03 3.54154921e+02] [ 2.93613062e-02 9.99568761e-01 4.53698105e-04 -1.38454465e+01] [ 8.92657195e-03 -7.16084528e-04 9.99959901e-01 3.56213792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.500714057 meters Centerline goodness [0,1] 0.9671049585628965 Centerline is valid? [True, True] Translation: X:354.19, Y:-13.86, Z:3.56 [[ 9.99528605e-01 -2.95090226e-02 -8.47261740e-03 3.54185014e+02] [ 2.95137226e-02 9.99564283e-01 4.30205176e-04 -1.38626818e+01] [ 8.45623080e-03 -6.80060859e-04 9.99964014e-01 3.56045994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.530714057 meters Centerline goodness [0,1] 0.9724012101896118 Centerline is valid? [True, True] Translation: X:354.22, Y:-13.86, Z:3.56 [[ 9.99515651e-01 -3.01014877e-02 -7.89702531e-03 3.54217199e+02] [ 3.01055938e-02 9.99546643e-01 4.01579057e-04 -1.38576156e+01] [ 7.88135701e-03 -6.39129190e-04 9.99968737e-01 3.56175443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.560714057 meters Centerline goodness [0,1] 0.9728520355207012 Centerline is valid? [True, True] Translation: X:354.25, Y:-13.86, Z:3.56 [[ 9.99455806e-01 -3.22672545e-02 -6.84958003e-03 3.54248522e+02] [ 3.22703952e-02 9.99479114e-01 3.48468348e-04 -1.38611959e+01] [ 6.83476807e-03 -5.69317368e-04 9.99976481e-01 3.56274123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.590714057 meters Centerline goodness [0,1] 0.9689502558664884 Centerline is valid? [True, True] Translation: X:354.28, Y:-13.87, Z:3.56 [[ 9.99411658e-01 -3.37369027e-02 -6.17733604e-03 3.54278154e+02] [ 3.37394893e-02 9.99430612e-01 3.14973445e-04 -1.38693662e+01] [ 6.16319251e-03 -5.23208297e-04 9.99980870e-01 3.56249318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.620714057 meters Centerline goodness [0,1] 0.9618720302624902 Centerline is valid? [True, True] Translation: X:354.31, Y:-13.88, Z:3.56 [[ 9.99298271e-01 -3.70295218e-02 -5.63733976e-03 3.54306926e+02] [ 3.70317259e-02 9.99314049e-01 2.87059874e-04 -1.38781697e+01] [ 5.62284314e-03 -4.95618856e-04 9.99984069e-01 3.56238314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.650714057 meters Centerline goodness [0,1] 0.9541031760602167 Centerline is valid? [True, True] Translation: X:354.34, Y:-13.88, Z:3.56 [[ 9.99224121e-01 -3.89707348e-02 -5.69537197e-03 3.54337099e+02] [ 3.89730178e-02 9.99240221e-01 2.90380263e-04 -1.38838298e+01] [ 5.67972841e-03 -5.12120797e-04 9.99983739e-01 3.56173426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.680714057 meters Centerline goodness [0,1] 0.9419525673497582 Centerline is valid? [True, False] Translation: X:354.34, Y:-13.89, Z:3.56 [[ 9.99220688e-01 -3.90674273e-02 -5.63502838e-03 3.54337154e+02] [ 3.90737970e-02 9.99235802e-01 1.02469982e-03 -1.38860629e+01] [ 5.59068971e-03 -1.24408321e-03 9.99983598e-01 3.56118116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.710714057 meters Centerline goodness [0,1] 0.9545235527613978 Centerline is valid? [False, True] Translation: X:354.34, Y:-13.89, Z:3.56 [[ 9.99210657e-01 -3.93133696e-02 -5.70281592e-03 3.54337708e+02] [ 3.93274720e-02 9.99223536e-01 2.38213230e-03 -1.38904102e+01] [ 5.60473824e-03 -2.60452931e-03 9.99980901e-01 3.55986785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.740714057 meters Centerline goodness [0,1] 0.9410887910475142 Centerline is valid? [True, False] Translation: X:354.34, Y:-13.89, Z:3.56 [[ 9.99212989e-01 -3.92581294e-02 -5.67458300e-03 3.54338046e+02] [ 3.92772520e-02 9.99222906e-01 3.29860170e-03 -1.38928449e+01] [ 5.54067639e-03 -3.51888769e-03 9.99978459e-01 3.55900467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.770714057 meters Centerline goodness [0,1] 0.9158634584125095 Centerline is valid? [False, False] Translation: X:354.34, Y:-13.90, Z:3.56 [[ 9.99195343e-01 -3.97407666e-02 -5.41645418e-03 3.54337530e+02] [ 3.97636513e-02 9.99200350e-01 4.18488362e-03 -1.38966521e+01] [ 5.24581243e-03 -4.39689422e-03 9.99976574e-01 3.55855907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.800714057 meters Centerline goodness [0,1] 0.9595092586234522 Centerline is valid? [False, True] Translation: X:354.34, Y:-13.90, Z:3.56 [[ 9.99196502e-01 -3.97292006e-02 -5.28595475e-03 3.54337501e+02] [ 3.97546546e-02 9.99197939e-01 4.80072691e-03 -1.38985839e+01] [ 5.09098605e-03 -5.00701084e-03 9.99974506e-01 3.55815319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.830714057 meters Centerline goodness [0,1] 0.9529150548218005 Centerline is valid? [True, True] Translation: X:354.37, Y:-13.90, Z:3.56 [[ 9.99158682e-01 -4.06634410e-02 -5.33041496e-03 3.54369740e+02] [ 4.06658318e-02 9.99172745e-01 3.40852148e-04 -1.39025088e+01] [ 5.31214512e-03 -5.57331141e-04 9.99985735e-01 3.55919379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.860714057 meters Centerline goodness [0,1] 0.9470647495191867 Centerline is valid? [True, False] Translation: X:354.37, Y:-13.91, Z:3.56 [[ 9.99173901e-01 -4.02749859e-02 -5.42596847e-03 3.54370334e+02] [ 4.02833469e-02 9.99187258e-01 1.44049200e-03 -1.39052316e+01] [ 5.36354276e-03 -1.65787818e-03 9.99984242e-01 3.55849100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.890714057 meters Centerline goodness [0,1] 0.9431131580747395 Centerline is valid? [False, False] Translation: X:354.37, Y:-13.91, Z:3.56 [[ 9.99193308e-01 -3.97592186e-02 -5.65140762e-03 3.54371272e+02] [ 3.97724981e-02 9.99206212e-01 2.25708104e-03 -1.39064838e+01] [ 5.55718182e-03 -2.48003087e-03 9.99981483e-01 3.55772551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.920714057 meters Centerline goodness [0,1] 0.9623375434742816 Centerline is valid? [False, True] Translation: X:354.37, Y:-13.91, Z:3.56 [[ 9.99206282e-01 -3.94298077e-02 -5.66528836e-03 3.54371578e+02] [ 3.94461736e-02 9.99217755e-01 2.80666342e-03 -1.39075212e+01] [ 5.55019051e-03 -3.02790967e-03 9.99980013e-01 3.55734297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.950714057 meters Centerline goodness [0,1] 0.9617879493855923 Centerline is valid? [True, True] Translation: X:354.40, Y:-13.91, Z:3.56 [[ 9.99278926e-01 -3.76284445e-02 -5.07221360e-03 3.54401257e+02] [ 3.76305932e-02 9.99291664e-01 3.28809710e-04 -1.39108479e+01] [ 5.05624818e-03 -5.19443020e-04 9.99987082e-01 3.55889318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.980714057 meters Centerline goodness [0,1] 0.9669968503218149 Centerline is valid? [True, True] Translation: X:354.43, Y:-13.91, Z:3.56 [[ 9.99306422e-01 -3.69247666e-02 -4.82046121e-03 3.54433661e+02] [ 3.69267025e-02 9.99317928e-01 3.13184881e-04 -1.39105396e+01] [ 4.80560902e-03 -4.90971400e-04 9.99988332e-01 3.55947266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01071405700003 meters Centerline goodness [0,1] 0.9711137920830393 Centerline is valid? [True, True] Translation: X:354.47, Y:-13.91, Z:3.56 [[ 9.99362674e-01 -3.54521811e-02 -4.16990751e-03 3.54465001e+02] [ 3.54536171e-02 9.99371286e-01 2.70939137e-04 -1.39126072e+01] [ 4.15768045e-03 -4.18604765e-04 9.99991269e-01 3.55979578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.040714057 meters Centerline goodness [0,1] 0.9707940995417341 Centerline is valid? [True, True] Translation: X:354.50, Y:-13.92, Z:3.56 [[ 9.99372502e-01 -3.51523046e-02 -4.34935770e-03 3.54497007e+02] [ 3.51538662e-02 9.99381872e-01 2.83075603e-04 -1.39159455e+01] [ 4.33671848e-03 -4.35794712e-04 9.99990501e-01 3.55917267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07071405700003 meters Centerline goodness [0,1] 0.9678521792622633 Centerline is valid? [True, True] Translation: X:354.53, Y:-13.92, Z:3.56 [[ 9.99371886e-01 -3.51146508e-02 -4.77437441e-03 3.54529416e+02] [ 3.51165334e-02 9.99383176e-01 3.11038202e-04 -1.39203048e+01] [ 4.76050747e-03 -4.78502313e-04 9.99988554e-01 3.55846141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.100714057 meters Centerline goodness [0,1] 0.9651006711409396 Centerline is valid? [True, True] Translation: X:354.56, Y:-13.93, Z:3.56 [[ 9.99386464e-01 -3.46776885e-02 -4.91467035e-03 3.54560150e+02] [ 3.46796790e-02 9.99398428e-01 3.20337719e-04 -1.39264389e+01] [ 4.90060525e-03 -4.90580370e-04 9.99987872e-01 3.55703845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13071405700003 meters Centerline goodness [0,1] 0.9607611070648215 Centerline is valid? [True, True] Translation: X:354.59, Y:-13.93, Z:3.56 [[ 9.99391413e-01 -3.45034470e-02 -5.12984600e-03 3.54591993e+02] [ 3.45056155e-02 9.99404448e-01 3.34787346e-04 -1.39302837e+01] [ 5.11523959e-03 -5.11592093e-04 9.99986786e-01 3.55658100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.160714057 meters Centerline goodness [0,1] 0.9638844666818285 Centerline is valid? [True, True] Translation: X:354.62, Y:-13.93, Z:3.56 [[ 9.99444179e-01 -3.29038290e-02 -5.35458344e-03 3.54623953e+02] [ 3.29061699e-02 9.99458384e-01 3.49631346e-04 -1.39323330e+01] [ 5.34017911e-03 -5.25635846e-04 9.99985603e-01 3.55676591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.190714057 meters Centerline goodness [0,1] 0.9561467388830731 Centerline is valid? [True, True] Translation: X:354.65, Y:-13.94, Z:3.56 [[ 9.99473131e-01 -3.20298939e-02 -5.24842339e-03 3.54654682e+02] [ 3.20321314e-02 9.99486781e-01 3.42797982e-04 -1.39365527e+01] [ 5.23475001e-03 -5.10735560e-04 9.99986168e-01 3.55663972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.220714057 meters Centerline goodness [0,1] 0.9717319297608784 Centerline is valid? [True, True] Translation: X:354.69, Y:-13.93, Z:3.56 [[ 9.99543144e-01 -2.97459054e-02 -5.35584975e-03 3.54686306e+02] [ 2.97482030e-02 9.99557363e-01 3.49819577e-04 -1.39322521e+01] [ 5.34307336e-03 -5.08986665e-04 9.99985596e-01 3.55740003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.250714057 meters Centerline goodness [0,1] 0.9742651237865733 Centerline is valid? [True, True] Translation: X:354.72, Y:-13.93, Z:3.56 [[ 9.99569827e-01 -2.88607725e-02 -5.21696783e-03 3.54718424e+02] [ 2.88629438e-02 9.99583320e-01 3.41384913e-04 -1.39327085e+01] [ 5.20494140e-03 -4.91815108e-04 9.99986333e-01 3.55778715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.280714057 meters Centerline goodness [0,1] 0.9744462599854756 Centerline is valid? [True, True] Translation: X:354.75, Y:-13.93, Z:3.56 [[ 9.99598826e-01 -2.79077605e-02 -4.83166018e-03 3.54749487e+02] [ 2.79096120e-02 9.99610401e-01 3.16193840e-04 -1.39339907e+01] [ 4.82095351e-03 -4.50916753e-04 9.99988277e-01 3.55770711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.310714057 meters Centerline goodness [0,1] 0.974133424252756 Centerline is valid? [True, True] Translation: X:354.78, Y:-13.94, Z:3.56 [[ 9.99655490e-01 -2.58887702e-02 -4.32121272e-03 3.54780522e+02] [ 2.58902325e-02 9.99664752e-01 2.82793746e-04 -1.39357974e+01] [ 4.31244286e-03 -3.94573523e-04 9.99990624e-01 3.55808050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.340714057 meters Centerline goodness [0,1] 0.9759830789874684 Centerline is valid? [True, True] Translation: X:354.81, Y:-13.94, Z:3.56 [[ 9.99685323e-01 -2.47468063e-02 -4.10498032e-03 3.54812014e+02] [ 2.47481174e-02 9.99693682e-01 2.68884188e-04 -1.39353489e+01] [ 4.09706886e-03 -3.70390111e-04 9.99991538e-01 3.55803701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.370714057 meters Centerline goodness [0,1] 0.9705393907682508 Centerline is valid? [True, True] Translation: X:354.84, Y:-13.94, Z:3.56 [[ 9.99739641e-01 -2.23791991e-02 -4.45207377e-03 3.54841870e+02] [ 2.23807170e-02 9.99749478e-01 2.91426008e-04 -1.39428718e+01] [ 4.44443655e-03 -3.90990736e-04 9.99990047e-01 3.55705929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.400714057 meters Centerline goodness [0,1] 0.9764010458110719 Centerline is valid? [True, True] Translation: X:354.87, Y:-13.93, Z:3.56 [[ 9.99769697e-01 -2.09290982e-02 -4.74621950e-03 3.54874252e+02] [ 2.09308097e-02 9.99780878e-01 3.11204246e-04 -1.39338646e+01] [ 4.73866627e-03 -4.10474791e-04 9.99988688e-01 3.55813261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.430714057 meters Centerline goodness [0,1] 0.9786317971615373 Centerline is valid? [True, True] Translation: X:354.91, Y:-13.93, Z:3.56 [[ 9.99806807e-01 -1.90856327e-02 -4.69970225e-03 3.54905681e+02] [ 1.90872910e-02 9.99817774e-01 3.08242932e-04 -1.39311968e+01] [ 4.69296283e-03 -3.97887966e-04 9.99988909e-01 3.55855971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.460714057 meters Centerline goodness [0,1] 0.9682735042735042 Centerline is valid? [True, True] Translation: X:354.94, Y:-13.95, Z:3.56 [[ 9.99840235e-01 -1.70996820e-02 -5.20628606e-03 3.54935746e+02] [ 1.71016912e-02 9.99853697e-01 3.41635232e-04 -1.39472798e+01] [ 5.19968252e-03 -4.30616947e-04 9.99986389e-01 3.55632560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.490714057 meters Centerline goodness [0,1] 0.9777189901708134 Centerline is valid? [True, True] Translation: X:354.97, Y:-13.93, Z:3.56 [[ 9.99903179e-01 -1.24747443e-02 -6.16545541e-03 3.54967073e+02] [ 1.24774732e-02 9.99922072e-01 4.04349143e-04 -1.39308168e+01] [ 6.15993079e-03 -4.81239298e-04 9.99980912e-01 3.55737638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.520714057 meters Centerline goodness [0,1] 0.9795251479627979 Centerline is valid? [True, True] Translation: X:355.00, Y:-13.93, Z:3.56 [[ 9.99929542e-01 -9.97221326e-03 -6.43934787e-03 3.54998067e+02] [ 9.97513983e-03 9.99950158e-01 4.22524604e-04 -1.39281084e+01] [ 6.43481341e-03 -4.86728230e-04 9.99979178e-01 3.55727753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.550714057 meters Centerline goodness [0,1] 0.9794644286400329 Centerline is valid? [True, True] Translation: X:355.03, Y:-13.92, Z:3.56 [[ 9.99967060e-01 -4.32473924e-03 -6.86844077e-03 3.55028622e+02] [ 4.32793554e-03 9.99990533e-01 4.50564732e-04 -1.39245427e+01] [ 6.86642717e-03 -4.80276060e-04 9.99976310e-01 3.55630516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.580714057 meters Centerline goodness [0,1] 0.9795993131081855 Centerline is valid? [True, True] Translation: X:355.06, Y:-13.93, Z:3.56 [[ 9.99977767e-01 -6.42334398e-04 -6.63729118e-03 3.55058337e+02] [ 6.45236812e-04 9.99999697e-01 4.35156729e-04 -1.39257873e+01] [ 6.63700965e-03 -4.39429679e-04 9.99977878e-01 3.55576825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.610714057 meters Centerline goodness [0,1] 0.9796474358974359 Centerline is valid? [True, True] Translation: X:355.09, Y:-13.92, Z:3.56 [[ 9.99974050e-01 3.20716114e-03 -6.45078293e-03 3.55088450e+02] [-3.20450026e-03 9.99994776e-01 4.22783001e-04 -1.39231349e+01] [ 6.45210517e-03 -4.02100494e-04 9.99979104e-01 3.55597459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.640714057 meters Centerline goodness [0,1] 0.9782847718526663 Centerline is valid? [True, True] Translation: X:355.12, Y:-13.92, Z:3.56 [[ 9.99935355e-01 1.01087446e-02 -5.20569855e-03 3.55117164e+02] [-1.01071071e-02 9.99948864e-01 3.40782809e-04 -1.39233034e+01] [ 5.20887724e-03 -2.88146227e-04 9.99986392e-01 3.55610029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.670714057 meters Centerline goodness [0,1] 0.981264960412447 Centerline is valid? [True, True] Translation: X:355.15, Y:-13.92, Z:3.56 [[ 9.99899268e-01 1.35095042e-02 -4.35279288e-03 3.55148096e+02] [-1.35083913e-02 9.99908717e-01 2.84979796e-04 -1.39151355e+01] [ 4.35624548e-03 -2.26151860e-04 9.99990486e-01 3.55813279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.700714057 meters Centerline goodness [0,1] 0.9800693439875089 Centerline is valid? [True, True] Translation: X:355.18, Y:-13.91, Z:3.56 [[ 9.99813819e-01 1.90676341e-02 -2.95836697e-03 3.55177991e+02] [-1.90671446e-02 9.99818187e-01 1.93576542e-04 -1.39136178e+01] [ 2.96152014e-03 -1.37132891e-04 9.99995605e-01 3.55986038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.730714057 meters Centerline goodness [0,1] 0.9812276037452318 Centerline is valid? [True, True] Translation: X:355.21, Y:-13.91, Z:3.56 [[ 9.99770962e-01 2.12878347e-02 -2.20246911e-03 3.55207629e+02] [-2.12875695e-02 9.99773384e-01 1.43806071e-04 -1.39113578e+01] [ 2.20503132e-03 -9.68879195e-05 9.99997564e-01 3.56077342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76071405700003 meters Centerline goodness [0,1] 0.9810078325362168 Centerline is valid? [True, True] Translation: X:355.24, Y:-13.91, Z:3.56 [[ 9.99743081e-01 2.26142162e-02 -1.53934646e-03 3.55236625e+02] [-2.26140886e-02 9.99744264e-01 1.00227698e-04 -1.39122993e+01] [ 1.54121936e-03 -6.53910303e-05 9.99998810e-01 3.56112777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.790714057 meters Centerline goodness [0,1] 0.9810078325362168 Centerline is valid? [True, True] Translation: X:355.26, Y:-13.91, Z:3.56 [[ 9.99745512e-01 2.25064723e-02 -1.53936911e-03 3.55264052e+02] [-2.25063451e-02 9.99746695e-01 9.98804581e-05 -1.39140026e+01] [ 1.54122714e-03 -6.52094673e-05 9.99998810e-01 3.56098988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82071405700003 meters Centerline goodness [0,1] 0.9806232843533021 Centerline is valid? [True, True] Translation: X:355.29, Y:-13.92, Z:3.56 [[ 9.99719099e-01 2.36966527e-02 -4.37625277e-04 3.55291854e+02] [-2.36966426e-02 9.99719195e-01 2.80619491e-05 -1.39171333e+01] [ 4.38167364e-04 -1.76838167e-05 9.99999904e-01 3.56019334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.850714057 meters Centerline goodness [0,1] 0.9802602787055166 Centerline is valid? [True, True] Translation: X:355.32, Y:-13.92, Z:3.56 [[ 9.99726995e-01 2.33364886e-02 -1.15956868e-03 3.55321061e+02] [-2.33364172e-02 9.99727666e-01 7.51099763e-05 -1.39187666e+01] [ 1.16100569e-03 -4.80292924e-05 9.99999325e-01 3.55977340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88071405700003 meters Centerline goodness [0,1] 0.9807701165307908 Centerline is valid? [True, True] Translation: X:355.35, Y:-13.92, Z:3.56 [[ 9.99775569e-01 2.11298050e-02 -1.53096153e-03 3.55350023e+02] [-2.11296779e-02 9.99776739e-01 9.91707413e-05 -1.39231814e+01] [ 1.53271519e-03 -6.67997602e-05 9.99998823e-01 3.55819181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.910714057 meters Centerline goodness [0,1] 0.9802611880139116 Centerline is valid? [True, True] Translation: X:355.38, Y:-13.93, Z:3.56 [[ 9.99802494e-01 1.97879324e-02 -1.84681237e-03 3.55377165e+02] [-1.97877458e-02 9.99804196e-01 1.19263522e-04 -1.39302756e+01] [ 1.84881074e-03 -8.26957132e-05 9.99998288e-01 3.55667250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.940714057 meters Centerline goodness [0,1] 0.9794618215271389 Centerline is valid? [True, True] Translation: X:355.41, Y:-13.93, Z:3.56 [[ 9.99835521e-01 1.79819668e-02 -2.36218160e-03 3.55406924e+02] [-1.79816553e-02 9.99838305e-01 1.53036113e-04 -1.39343067e+01] [ 2.36455154e-03 -1.10535006e-04 9.99997198e-01 3.55601819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.970714057 meters Centerline goodness [0,1] 0.979293684573795 Centerline is valid? [True, True] Translation: X:355.44, Y:-13.94, Z:3.56 [[ 9.99886398e-01 1.47324308e-02 -3.18540278e-03 3.55435663e+02] [-1.47318474e-02 9.99891459e-01 2.06520880e-04 -1.39410926e+01] [ 3.18809958e-03 -1.59570551e-04 9.99994905e-01 3.55538053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.000714057 meters Centerline goodness [0,1] 0.9787322097808843 Centerline is valid? [True, True] Translation: X:355.46, Y:-13.95, Z:3.56 [[ 9.99910735e-01 1.29719740e-02 -3.20151626e-03 3.55464953e+02] [-1.29713765e-02 9.99915847e-01 2.07341582e-04 -1.39455652e+01] [ 3.20393647e-03 -1.65795001e-04 9.99994854e-01 3.55527936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.030714057 meters Centerline goodness [0,1] 0.9779841761265909 Centerline is valid? [True, True] Translation: X:355.50, Y:-13.95, Z:3.55 [[ 9.99957044e-01 8.57963431e-03 -3.50708596e-03 3.55495457e+02] [-8.57888996e-03 9.99963175e-01 2.27229917e-04 -1.39504503e+01] [ 3.50890636e-03 -1.97133252e-04 9.99993824e-01 3.55473811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.060714057 meters Centerline goodness [0,1] 0.980894495412844 Centerline is valid? [True, True] Translation: X:355.53, Y:-13.95, Z:3.56 [[ 9.99976517e-01 6.10925011e-03 -3.10517166e-03 3.55525227e+02] [-6.10865548e-03 9.99981322e-01 2.00942517e-04 -1.39478192e+01] [ 3.10634127e-03 -1.81969374e-04 9.99995159e-01 3.55556333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.090714057 meters Centerline goodness [0,1] 0.9780919861585352 Centerline is valid? [True, True] Translation: X:355.55, Y:-13.96, Z:3.56 [[ 9.99995366e-01 1.72066464e-03 -2.51148780e-03 3.55554264e+02] [-1.72026194e-03 9.99998507e-01 1.62493944e-04 -1.39574828e+01] [ 2.51176365e-03 -1.58172774e-04 9.99996833e-01 3.55500342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.120714057 meters Centerline goodness [0,1] 0.9767841985731 Centerline is valid? [True, True] Translation: X:355.58, Y:-13.96, Z:3.55 [[ 9.99995830e-01 -5.47778578e-04 -2.83558348e-03 3.55583857e+02] [ 5.48300985e-04 9.99999833e-01 1.83458383e-04 -1.39620665e+01] [ 2.83548251e-03 -1.85012371e-04 9.99995963e-01 3.55469350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.150714057 meters Centerline goodness [0,1] 0.9765401923384426 Centerline is valid? [True, True] Translation: X:355.61, Y:-13.96, Z:3.55 [[ 9.99992549e-01 -2.48771791e-03 -2.95190862e-03 3.55613283e+02] [ 2.48829192e-03 9.99996886e-01 1.90798077e-04 -1.39649060e+01] [ 2.95142478e-03 -1.98141866e-04 9.99995625e-01 3.55417993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.180714057 meters Centerline goodness [0,1] 0.9763566867318212 Centerline is valid? [True, True] Translation: X:355.64, Y:-13.97, Z:3.55 [[ 9.99976769e-01 -5.77777499e-03 -3.61642876e-03 3.55642947e+02] [ 5.77865837e-03 9.99983276e-01 2.33867570e-04 -1.39694823e+01] [ 3.61501704e-03 -2.54760244e-04 9.99993433e-01 3.55326257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.210714057 meters Centerline goodness [0,1] 0.9766362618018883 Centerline is valid? [True, True] Translation: X:355.67, Y:-13.97, Z:3.55 [[ 9.99966652e-01 -7.22563177e-03 -3.80582433e-03 3.55673620e+02] [ 7.22662134e-03 9.99973857e-01 2.46325111e-04 -1.39732052e+01] [ 3.80394498e-03 -2.73820148e-04 9.99992727e-01 3.55271819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.240714057 meters Centerline goodness [0,1] 0.9779869923136398 Centerline is valid? [True, True] Translation: X:355.71, Y:-13.97, Z:3.55 [[ 9.99950177e-01 -9.14017326e-03 -4.01246935e-03 3.55705304e+02] [ 9.14128946e-03 9.99958184e-01 2.59930182e-04 -1.39722063e+01] [ 4.00992576e-03 -2.96596375e-04 9.99991916e-01 3.55250946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.270714057 meters Centerline goodness [0,1] 0.9750439929611262 Centerline is valid? [True, True] Translation: X:355.74, Y:-13.98, Z:3.55 [[ 9.99942689e-01 -9.71625255e-03 -4.49597048e-03 3.55736059e+02] [ 9.71766112e-03 9.99952740e-01 2.91557800e-04 -1.39829089e+01] [ 4.49292515e-03 -3.35231408e-04 9.99989851e-01 3.55097154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.300714057 meters Centerline goodness [0,1] 0.9785441139428912 Centerline is valid? [True, True] Translation: X:355.77, Y:-13.98, Z:3.55 [[ 9.99937080e-01 -9.95847039e-03 -5.16379416e-03 3.55768301e+02] [ 9.96033199e-03 9.99950339e-01 3.34919328e-04 -1.39772916e+01] [ 5.16020244e-03 -3.86331359e-04 9.99986611e-01 3.55168558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.330714057 meters Centerline goodness [0,1] 0.9767293155815387 Centerline is valid? [True, True] Translation: X:355.80, Y:-13.98, Z:3.55 [[ 9.99941227e-01 -9.27367180e-03 -5.61610464e-03 3.55799059e+02] [ 9.27586978e-03 9.99956911e-01 3.65450078e-04 -1.39830265e+01] [ 5.61247358e-03 -4.17522855e-04 9.99984163e-01 3.55022416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.360714057 meters Centerline goodness [0,1] 0.9779524671693443 Centerline is valid? [True, True] Translation: X:355.83, Y:-13.98, Z:3.55 [[ 9.99948995e-01 -8.27382612e-03 -5.79232843e-03 3.55830399e+02] [ 8.27614472e-03 9.99965681e-01 3.76432490e-04 -1.39801202e+01] [ 5.78901511e-03 -4.24351438e-04 9.99983153e-01 3.55036751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.390714057 meters Centerline goodness [0,1] 0.9754294709465471 Centerline is valid? [True, True] Translation: X:355.86, Y:-13.99, Z:3.55 [[ 9.99966519e-01 -6.06002427e-03 -5.49889416e-03 3.55859896e+02] [ 6.06208015e-03 9.99981562e-01 3.57279569e-04 -1.39853501e+01] [ 5.49662764e-03 -3.90602344e-04 9.99984817e-01 3.54962527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.420714057 meters Centerline goodness [0,1] 0.9770628537384569 Centerline is valid? [True, True] Translation: X:355.89, Y:-13.99, Z:3.55 [[ 9.99972189e-01 -4.59330972e-03 -5.87568930e-03 3.55890213e+02] [ 4.59563180e-03 9.99989367e-01 3.81761074e-04 -1.39858699e+01] [ 5.87387327e-03 -4.08752961e-04 9.99982665e-01 3.54913886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.450714057 meters Centerline goodness [0,1] 0.9784413559011055 Centerline is valid? [True, True] Translation: X:355.92, Y:-13.98, Z:3.55 [[ 9.99978690e-01 -3.06591780e-03 -5.76365570e-03 3.55920775e+02] [ 3.06812585e-03 9.99995223e-01 3.74296200e-04 -1.39805286e+01] [ 5.76248060e-03 -3.91971845e-04 9.99983320e-01 3.55015978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.480714057 meters Centerline goodness [0,1] 0.9786216210029984 Centerline is valid? [True, True] Translation: X:355.95, Y:-13.98, Z:3.55 [[ 9.99987497e-01 1.11461846e-03 -4.87479332e-03 3.55950217e+02] [-1.11308902e-03 9.99999330e-01 3.16446416e-04 -1.39784221e+01] [ 4.87514277e-03 -3.11016380e-04 9.99988068e-01 3.55160069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51071405700003 meters Centerline goodness [0,1] 0.9780141354145083 Centerline is valid? [True, True] Translation: X:355.98, Y:-13.98, Z:3.55 [[ 9.99985735e-01 3.28505150e-03 -4.21168926e-03 3.55979962e+02] [-3.28392997e-03 9.99994571e-01 2.73176249e-04 -1.39777119e+01] [ 4.21256379e-03 -2.59341460e-04 9.99991093e-01 3.55217631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.540714057 meters Centerline goodness [0,1] 0.9805561939783958 Centerline is valid? [True, True] Translation: X:356.01, Y:-13.97, Z:3.55 [[ 9.99969848e-01 7.40475396e-03 -2.33942708e-03 3.56010933e+02] [-7.40441906e-03 9.99972575e-01 1.51785753e-04 -1.39709103e+01] [ 2.34048686e-03 -1.34459078e-04 9.99997252e-01 3.55389907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57071405700003 meters Centerline goodness [0,1] 0.9785538227638156 Centerline is valid? [True, True] Translation: X:356.04, Y:-13.97, Z:3.55 [[ 9.99956342e-01 9.13424364e-03 -1.96981633e-03 3.56040359e+02] [-9.13401097e-03 9.99958276e-01 1.27080747e-04 -1.39712328e+01] [ 1.97089493e-03 -1.09082875e-04 9.99998052e-01 3.55360016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.600714057 meters Centerline goodness [0,1] 0.980530116034972 Centerline is valid? [True, True] Translation: X:356.07, Y:-13.97, Z:3.55 [[ 9.99921107e-01 1.23406353e-02 -2.34256932e-03 3.56069419e+02] [-1.23403141e-02 9.99923844e-01 1.51514205e-04 -1.39722827e+01] [ 2.34426070e-03 -1.22594211e-04 9.99997245e-01 3.55280094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63071405700003 meters Centerline goodness [0,1] 0.9798710452728155 Centerline is valid? [True, True] Translation: X:356.10, Y:-13.97, Z:3.55 [[ 9.99900851e-01 1.36932179e-02 -3.28390978e-03 3.56097443e+02] [-1.36925955e-02 9.99906230e-01 2.11938838e-04 -1.39735624e+01] [ 3.28650397e-03 -1.66952576e-04 9.99994585e-01 3.55236139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.660714057 meters Centerline goodness [0,1] 0.980151119532315 Centerline is valid? [True, True] Translation: X:356.13, Y:-13.97, Z:3.55 [[ 9.99886560e-01 1.46375760e-02 -3.55087691e-03 3.56126540e+02] [-1.46368546e-02 9.99892849e-01 2.29055204e-04 -1.39744226e+01] [ 3.55384924e-03 -1.77055551e-04 9.99993669e-01 3.55134916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.690714057 meters Centerline goodness [0,1] 0.980649635880245 Centerline is valid? [True, True] Translation: X:356.15, Y:-13.98, Z:3.55 [[ 9.99855607e-01 1.65044304e-02 -4.04574027e-03 3.56154932e+02] [-1.65035101e-02 9.99863774e-01 2.60757437e-04 -1.39751623e+01] [ 4.04949279e-03 -1.93950870e-04 9.99991782e-01 3.55039360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.720714057 meters Centerline goodness [0,1] 0.9808386559289086 Centerline is valid? [True, True] Translation: X:356.18, Y:-13.98, Z:3.55 [[ 9.99839240e-01 1.74312740e-02 -4.20065036e-03 3.56183930e+02] [-1.74302912e-02 9.99848044e-01 2.70472405e-04 -1.39754444e+01] [ 4.20472672e-03 -1.97210365e-04 9.99991141e-01 3.55030253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.750714057 meters Centerline goodness [0,1] 0.9826219936048937 Centerline is valid? [True, True] Translation: X:356.21, Y:-13.97, Z:3.55 [[ 9.99829145e-01 1.80939868e-02 -3.78001546e-03 3.56213084e+02] [-1.80931969e-02 9.99836275e-01 2.43063770e-04 -1.39714751e+01] [ 3.78379457e-03 -1.74629677e-04 9.99992826e-01 3.55108144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.780714057 meters Centerline goodness [0,1] 0.982384353977391 Centerline is valid? [True, True] Translation: X:356.24, Y:-13.98, Z:3.55 [[ 9.99788944e-01 2.03435440e-02 -2.86496721e-03 3.56240560e+02] [-2.03431006e-02 9.99793041e-01 1.83801362e-04 -1.39794195e+01] [ 2.86811345e-03 -1.25480254e-04 9.99995879e-01 3.55038324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.810714057 meters Centerline goodness [0,1] 0.9839968503207578 Centerline is valid? [True, True] Translation: X:356.27, Y:-13.98, Z:3.55 [[ 9.99773003e-01 2.11367157e-02 -2.67998310e-03 3.56269983e+02] [-2.11363309e-02 9.99776588e-01 1.71819371e-04 -1.39765042e+01] [ 2.68301606e-03 -1.15135359e-04 9.99996394e-01 3.55123868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.840714057 meters Centerline goodness [0,1] 0.9832602170399446 Centerline is valid? [True, True] Translation: X:356.30, Y:-13.97, Z:3.55 [[ 9.99718973e-01 2.36361180e-02 -1.81898105e-03 3.56299465e+02] [-2.36359451e-02 9.99720625e-01 1.16497190e-04 -1.39749449e+01] [ 1.82122641e-03 -7.34711153e-05 9.99998339e-01 3.55198012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.870714057 meters Centerline goodness [0,1] 0.9849098525701854 Centerline is valid? [True, True] Translation: X:356.33, Y:-13.98, Z:3.55 [[ 9.99690000e-01 2.48498415e-02 -1.54578446e-03 3.56328398e+02] [-2.48497184e-02 9.99691193e-01 9.87570020e-05 -1.39750224e+01] [ 1.54776120e-03 -6.03140788e-05 9.99998800e-01 3.55188104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.900714057 meters Centerline goodness [0,1] 0.985918749566464 Centerline is valid? [True, True] Translation: X:356.36, Y:-13.98, Z:3.55 [[ 9.99660198e-01 2.60519244e-02 -8.86432725e-04 3.56357198e+02] [-2.60518846e-02 9.99660590e-01 5.64183930e-05 -1.39762886e+01] [ 8.87601669e-04 -3.33059788e-05 9.99999606e-01 3.55210330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.930714057 meters Centerline goodness [0,1] 0.9850615114235501 Centerline is valid? [True, True] Translation: X:356.39, Y:-13.98, Z:3.55 [[ 9.99610305e-01 2.78949047e-02 -1.05434768e-03 3.56385604e+02] [-2.78948494e-02 9.99610861e-01 6.70986655e-05 -1.39782050e+01] [ 1.05580910e-03 -3.76616477e-05 9.99999442e-01 3.55153748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.960714057 meters Centerline goodness [0,1] 0.9845252160214979 Centerline is valid? [True, True] Translation: X:356.41, Y:-13.98, Z:3.55 [[ 9.99607437e-01 2.80029915e-02 -8.97024487e-04 3.56412832e+02] [-2.80029518e-02 9.99607839e-01 5.68701558e-05 -1.39814305e+01] [ 8.98265243e-04 -3.17284972e-05 9.99999596e-01 3.55112624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.990714057 meters Centerline goodness [0,1] 0.9841424172974975 Centerline is valid? [True, True] Translation: X:356.44, Y:-13.98, Z:3.55 [[ 9.99631001e-01 2.71593781e-02 -4.78923195e-04 3.56441679e+02] [-2.71593668e-02 9.99631116e-01 3.02132026e-05 -1.39845124e+01] [ 4.79567099e-04 -1.71948032e-05 9.99999885e-01 3.55131310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.020714057 meters Centerline goodness [0,1] 0.9845886442641947 Centerline is valid? [True, True] Translation: X:356.47, Y:-13.99, Z:3.55 [[ 9.99660564e-01 2.60527814e-02 -9.39210233e-05 3.56470492e+02] [-2.60527810e-02 9.99660569e-01 5.63280302e-06 -1.39868949e+01] [ 9.40358937e-05 -3.18398719e-06 9.99999996e-01 3.55090945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.050714057 meters Centerline goodness [0,1] 0.9830481147937444 Centerline is valid? [True, True] Translation: X:356.50, Y:-13.99, Z:3.55 [[ 9.99689312e-01 2.49235548e-02 3.10690693e-04 3.56499136e+02] [-2.49235498e-02 9.99689360e-01 -2.01379679e-05 -1.39901011e+01] [-3.11096090e-04 1.23881963e-05 9.99999952e-01 3.55044411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.080714057 meters Centerline goodness [0,1] 0.9827933831278926 Centerline is valid? [True, True] Translation: X:356.53, Y:-14.00, Z:3.55 [[ 9.99746769e-01 2.25005843e-02 -3.48642427e-04 3.56527027e+02] [-2.25005781e-02 9.99746830e-01 2.18236433e-05 -1.39964070e+01] [ 3.49045206e-04 -1.39734607e-05 9.99999939e-01 3.54959617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.110714057 meters Centerline goodness [0,1] 0.9828975459700191 Centerline is valid? [True, True] Translation: X:356.56, Y:-14.00, Z:3.55 [[ 9.99774010e-01 2.12577064e-02 -1.98753582e-04 3.56555547e+02] [-2.12577043e-02 9.99774029e-01 1.22737312e-05 -1.39990098e+01] [ 1.98969581e-04 -8.04591259e-06 9.99999980e-01 3.54933661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.140714057 meters Centerline goodness [0,1] 0.9827518979793115 Centerline is valid? [True, True] Translation: X:356.59, Y:-14.00, Z:3.55 [[ 9.99821418e-01 1.88945926e-02 3.56272551e-04 3.56585075e+02] [-1.88945856e-02 9.99821481e-01 -2.27991750e-05 -1.40039793e+01] [-3.56639730e-04 1.60634813e-05 9.99999936e-01 3.55027977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.170714057 meters Centerline goodness [0,1] 0.98001240609277 Centerline is valid? [True, True] Translation: X:356.61, Y:-14.01, Z:3.55 [[ 9.99840203e-01 1.78500333e-02 9.71841986e-04 3.56612358e+02] [-1.78499814e-02 9.99840674e-01 -6.20635862e-05 -1.40118208e+01] [-9.72794984e-04 4.47063073e-05 9.99999526e-01 3.55000172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.200714057 meters Centerline goodness [0,1] 0.9807771806531624 Centerline is valid? [True, True] Translation: X:356.64, Y:-14.01, Z:3.55 [[ 9.99851519e-01 1.72049658e-02 9.63627855e-04 3.56640957e+02] [-1.72049146e-02 9.99851983e-01 -6.13832018e-05 -1.40121066e+01] [-9.64541317e-04 4.47949526e-05 9.99999534e-01 3.55039138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.230714057 meters Centerline goodness [0,1] 0.9815928475064597 Centerline is valid? [True, True] Translation: X:356.67, Y:-14.01, Z:3.55 [[ 9.99863447e-01 1.64791505e-02 1.23520466e-03 3.56669482e+02] [-1.64790660e-02 9.99864208e-01 -7.85101719e-05 -1.40131822e+01] [-1.23633071e-03 5.81444320e-05 9.99999234e-01 3.55007515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26071405700003 meters Centerline goodness [0,1] 0.9813383341718885 Centerline is valid? [True, True] Translation: X:356.70, Y:-14.02, Z:3.55 [[ 9.99866449e-01 1.63137235e-02 9.72636580e-04 3.56697698e+02] [-1.63136711e-02 9.99866921e-01 -6.18274038e-05 -1.40162380e+01] [-9.73515778e-04 4.59518735e-05 9.99999525e-01 3.54918059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.290714057 meters Centerline goodness [0,1] 0.981811534594644 Centerline is valid? [True, True] Translation: X:356.73, Y:-14.02, Z:3.55 [[ 9.99870894e-01 1.60380649e-02 9.87393945e-04 3.56725870e+02] [-1.60380108e-02 9.99871381e-01 -6.26893581e-05 -1.40211681e+01] [-9.88272364e-04 4.68454298e-05 9.99999511e-01 3.54745776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32071405700003 meters Centerline goodness [0,1] 0.9817932296431839 Centerline is valid? [True, True] Translation: X:356.75, Y:-14.02, Z:3.55 [[ 9.99876050e-01 1.57413081e-02 3.09215364e-04 3.56754952e+02] [-1.57413027e-02 9.99876098e-01 -1.98565515e-05 -1.40230654e+01] [-3.09489619e-04 1.49866377e-05 9.99999952e-01 3.54689689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.350714057 meters Centerline goodness [0,1] 0.982086888883805 Centerline is valid? [True, True] Translation: X:356.78, Y:-14.03, Z:3.55 [[ 9.99872681e-01 1.59557389e-02 -1.91810773e-04 3.56782855e+02] [-1.59557370e-02 9.99872699e-01 1.16353747e-05 -1.40262640e+01] [ 1.91972007e-04 -8.57341106e-06 9.99999982e-01 3.54617884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38071405700003 meters Centerline goodness [0,1] 0.9825524227664586 Centerline is valid? [True, True] Translation: X:356.81, Y:-14.03, Z:3.55 [[ 9.99845302e-01 1.75188834e-02 -1.56845817e-03 3.56811634e+02] [-1.75187507e-02 9.99846530e-01 9.83039276e-05 -1.40282346e+01] [ 1.56993964e-03 -7.08112924e-05 9.99998765e-01 3.54520820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.410714057 meters Centerline goodness [0,1] 0.9833020294104173 Centerline is valid? [True, True] Translation: X:356.84, Y:-14.03, Z:3.54 [[ 9.99830681e-01 1.82469712e-02 -2.37840858e-03 3.56840374e+02] [-1.82466681e-02 9.99833505e-01 1.49077364e-04 -1.40288001e+01] [ 2.38073280e-03 -1.05654090e-04 9.99997160e-01 3.54488501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.440714057 meters Centerline goodness [0,1] 0.9839270199826238 Centerline is valid? [True, True] Translation: X:356.87, Y:-14.03, Z:3.55 [[ 9.99781006e-01 2.07820718e-02 -2.45860341e-03 3.56869781e+02] [-2.07817556e-02 9.99784024e-01 1.54064255e-04 -1.40274781e+01] [ 2.46127418e-03 -1.02936421e-04 9.99996966e-01 3.54524494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.470714057 meters Centerline goodness [0,1] 0.9839370294945428 Centerline is valid? [True, True] Translation: X:356.90, Y:-14.03, Z:3.54 [[ 9.99756882e-01 2.19369416e-02 -2.22410336e-03 3.56897858e+02] [-2.19366864e-02 9.99759352e-01 1.39094521e-04 -1.40315089e+01] [ 2.22661944e-03 -9.02712465e-05 9.99997517e-01 3.54496962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.500714057 meters Centerline goodness [0,1] 0.9832109129066107 Centerline is valid? [True, True] Translation: X:356.93, Y:-14.03, Z:3.54 [[ 9.99723704e-01 2.34477185e-02 -1.64902387e-03 3.56925419e+02] [-2.34475807e-02 9.99725062e-01 1.02816484e-04 -1.40336319e+01] [ 1.65098131e-03 -6.41224557e-05 9.99998635e-01 3.54472461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.530714057 meters Centerline goodness [0,1] 0.9853347648308473 Centerline is valid? [True, True] Translation: X:356.95, Y:-14.03, Z:3.54 [[ 9.99729616e-01 2.31980381e-02 -1.59558355e-03 3.56954055e+02] [-2.31979089e-02 9.99730887e-01 9.94438344e-05 -1.40349052e+01] [ 1.59746106e-03 -6.24027445e-05 9.99998722e-01 3.54458888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.560714057 meters Centerline goodness [0,1] 0.9841356924061628 Centerline is valid? [True, True] Translation: X:356.98, Y:-14.04, Z:3.54 [[ 9.99761335e-01 2.17579068e-02 -1.96644177e-03 3.56982628e+02] [-2.17577079e-02 9.99763266e-01 1.22498479e-04 -1.40372280e+01] [ 1.96864156e-03 -7.96839776e-05 9.99998059e-01 3.54434650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.590714057 meters Centerline goodness [0,1] 0.9840330759742336 Centerline is valid? [True, True] Translation: X:357.01, Y:-14.04, Z:3.54 [[ 9.99806529e-01 1.95335593e-02 -2.31202359e-03 3.57012134e+02] [-1.95332780e-02 9.99809197e-01 1.44184428e-04 -1.40406650e+01] [ 2.31439889e-03 -9.89951323e-05 9.99997317e-01 3.54415203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.620714057 meters Centerline goodness [0,1] 0.9838816465377502 Centerline is valid? [True, True] Translation: X:357.04, Y:-14.04, Z:3.54 [[ 9.99854076e-01 1.69616767e-02 -2.03181097e-03 3.57041655e+02] [-1.69614543e-02 9.99856136e-01 1.26617129e-04 -1.40445813e+01] [ 2.03366631e-03 -9.21361837e-05 9.99997928e-01 3.54369211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.650714057 meters Centerline goodness [0,1] 0.9821868442660341 Centerline is valid? [True, True] Translation: X:357.07, Y:-14.06, Z:3.54 [[ 9.99941367e-01 1.05249916e-02 -2.54694976e-03 3.57070157e+02] [-1.05246208e-02 9.99944602e-01 1.58927967e-04 -1.40556782e+01] [ 2.54848138e-03 -1.32112968e-04 9.99996744e-01 3.54219532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.680714057 meters Centerline goodness [0,1] 0.9821868442660341 Centerline is valid? [True, True] Translation: X:357.10, Y:-14.06, Z:3.54 [[ 9.99942069e-01 1.04580555e-02 -2.54698081e-03 3.57098450e+02] [-1.04576858e-02 9.99945304e-01 1.58430138e-04 -1.40573788e+01] [ 2.54849837e-03 -1.31785435e-04 9.99996744e-01 3.54205322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.710714057 meters Centerline goodness [0,1] 0.9816925812776435 Centerline is valid? [True, True] Translation: X:357.13, Y:-14.06, Z:3.54 [[ 9.99967259e-01 7.54888938e-03 -2.91478301e-03 3.57128845e+02] [-7.54839174e-03 9.99971494e-01 1.81693354e-04 -1.40595078e+01] [ 2.91607150e-03 -1.59685481e-04 9.99995736e-01 3.54212247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.740714057 meters Centerline goodness [0,1] 0.9805024713573104 Centerline is valid? [True, True] Translation: X:357.16, Y:-14.07, Z:3.54 [[ 9.99993110e-01 1.32598588e-03 -3.46715455e-03 3.57157645e+02] [-1.32524472e-03 9.99999099e-01 2.16055308e-04 -1.40711337e+01] [ 3.46743791e-03 -2.11458991e-04 9.99993966e-01 3.54158479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.770714057 meters Centerline goodness [0,1] 0.9801134422196406 Centerline is valid? [True, True] Translation: X:357.19, Y:-14.07, Z:3.54 [[ 9.99993823e-01 -1.20293771e-03 -3.30255576e-03 3.57187330e+02] [ 1.20362358e-03 9.99999254e-01 2.05700862e-04 -1.40744134e+01] [ 3.30230585e-03 -2.09674626e-04 9.99994525e-01 3.54159016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.800714057 meters Centerline goodness [0,1] 0.9792852264966992 Centerline is valid? [True, True] Translation: X:357.22, Y:-14.08, Z:3.54 [[ 9.99987917e-01 -3.19160560e-03 -3.73879126e-03 3.57216982e+02] [ 3.19249829e-03 9.99994877e-01 2.32821308e-04 -1.40784861e+01] [ 3.73802904e-03 -2.44754580e-04 9.99992984e-01 3.54181409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.830714057 meters Centerline goodness [0,1] 0.9807866389064904 Centerline is valid? [True, True] Translation: X:357.25, Y:-14.08, Z:3.54 [[ 9.99971397e-01 -6.64639553e-03 -3.60967132e-03 3.57247503e+02] [ 6.64724999e-03 9.99977882e-01 2.24767846e-04 -1.40813556e+01] [ 3.60809758e-03 -2.48755805e-04 9.99993460e-01 3.54181336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.860714057 meters Centerline goodness [0,1] 0.9813791692244731 Centerline is valid? [True, True] Translation: X:357.28, Y:-14.08, Z:3.54 [[ 9.99958578e-01 -8.02683065e-03 -4.29103349e-03 3.57278864e+02] [ 8.02805246e-03 9.99967739e-01 2.67587064e-04 -1.40780403e+01] [ 4.28874718e-03 -3.02024622e-04 9.99990758e-01 3.54232746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.890714057 meters Centerline goodness [0,1] 0.9820251783847657 Centerline is valid? [True, True] Translation: X:357.31, Y:-14.08, Z:3.54 [[ 9.99939386e-01 -9.98309184e-03 -4.64344004e-03 3.57309799e+02] [ 9.98454347e-03 9.99950111e-01 2.89542110e-04 -1.40813638e+01] [ 4.64031785e-03 -3.35887189e-04 9.99989177e-01 3.54149883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.920714057 meters Centerline goodness [0,1] 0.9789047759769044 Centerline is valid? [True, True] Translation: X:357.34, Y:-14.09, Z:3.54 [[ 9.99935655e-01 -1.02740026e-02 -4.80939969e-03 3.57340564e+02] [ 1.02755679e-02 9.99947160e-01 3.00865505e-04 -1.40925635e+01] [ 4.80605446e-03 -3.50265459e-04 9.99988390e-01 3.54030800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.950714057 meters Centerline goodness [0,1] 0.9808791058705697 Centerline is valid? [True, True] Translation: X:357.37, Y:-14.09, Z:3.54 [[ 9.99937097e-01 -1.00731166e-02 -4.93306436e-03 3.57372640e+02] [ 1.00747599e-02 9.99949201e-01 3.08389966e-04 -1.40867725e+01] [ 4.92970732e-03 -3.58070007e-04 9.99987785e-01 3.54106677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.980714057 meters Centerline goodness [0,1] 0.9830335008756169 Centerline is valid? [True, True] Translation: X:357.40, Y:-14.08, Z:3.54 [[ 9.99957942e-01 -7.99672565e-03 -4.49061450e-03 3.57404193e+02] [ 7.99806664e-03 9.99967976e-01 2.80740778e-04 -1.40827359e+01] [ 4.48822568e-03 -3.16645205e-04 9.99989878e-01 3.54224676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01071405700003 meters Centerline goodness [0,1] 0.9813723929310619 Centerline is valid? [True, True] Translation: X:357.43, Y:-14.08, Z:3.54 [[ 9.99968965e-01 -6.58289640e-03 -4.32840727e-03 3.57434866e+02] [ 6.58413015e-03 9.99978288e-01 2.70846177e-04 -1.40844111e+01] [ 4.32653034e-03 -2.99336568e-04 9.99990596e-01 3.54213367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.040714057 meters Centerline goodness [0,1] 0.9803957285001935 Centerline is valid? [True, True] Translation: X:357.47, Y:-14.09, Z:3.54 [[ 9.99977398e-01 -5.02452457e-03 -4.46736798e-03 3.57465362e+02] [ 5.02582602e-03 9.99987331e-01 2.80145107e-04 -1.40877598e+01] [ 4.46590379e-03 -3.02590990e-04 9.99989982e-01 3.54184821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07071405700003 meters Centerline goodness [0,1] 0.9812406203101551 Centerline is valid? [True, True] Translation: X:357.50, Y:-14.08, Z:3.54 [[ 9.99993742e-01 -1.77159019e-03 -3.06229532e-03 3.57496336e+02] [ 1.77218542e-03 9.99998411e-01 1.91671135e-04 -1.40795745e+01] [ 3.06195089e-03 -1.97096891e-04 9.99995293e-01 3.54343962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.100714057 meters Centerline goodness [0,1] 0.9819670267197271 Centerline is valid? [True, True] Translation: X:357.53, Y:-14.08, Z:3.54 [[ 9.99995959e-01 -6.16888730e-04 -2.77522910e-03 3.57525737e+02] [ 6.17372516e-04 9.99999794e-01 1.73469787e-04 -1.40796006e+01] [ 2.77512152e-03 -1.75182436e-04 9.99996134e-01 3.54416583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13071405700003 meters Centerline goodness [0,1] 0.9808148553700156 Centerline is valid? [True, True] Translation: X:357.55, Y:-14.08, Z:3.54 [[ 9.99998037e-01 7.26076744e-04 -1.84367664e-03 3.57554585e+02] [-7.25865732e-04 9.99999730e-01 1.15118257e-04 -1.40823267e+01] [ 1.84375973e-03 -1.13779769e-04 9.99998294e-01 3.54383441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.160714057 meters Centerline goodness [0,1] 0.9803679579476631 Centerline is valid? [True, True] Translation: X:357.58, Y:-14.08, Z:3.54 [[ 9.99998591e-01 8.59967864e-04 -1.44156832e-03 3.57583837e+02] [-8.59839119e-04 9.99999626e-01 8.99261723e-05 -1.40836831e+01] [ 1.44164512e-03 -8.86865288e-05 9.99998957e-01 3.54402630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.190714057 meters Centerline goodness [0,1] 0.9833184595318185 Centerline is valid? [True, True] Translation: X:357.61, Y:-14.08, Z:3.54 [[ 9.99996697e-01 -4.63975059e-04 -2.52804985e-03 3.57613633e+02] [ 4.64375295e-04 9.99999880e-01 1.57733168e-04 -1.40797943e+01] [ 2.52797636e-03 -1.58906611e-04 9.99996792e-01 3.54416129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.220714057 meters Centerline goodness [0,1] 0.9081454713532365 Centerline is valid? [True, False] Translation: X:357.66, Y:-14.08, Z:3.55 [[ 9.99985400e-01 -3.58170143e-03 -4.04601956e-03 3.57660938e+02] [ 3.56967779e-03 9.99989203e-01 -2.97504455e-03 -1.40791023e+01] [ 4.05663160e-03 2.96055813e-03 9.99987389e-01 3.54706733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.250714057 meters Centerline goodness [0,1] 0.983796507907487 Centerline is valid? [False, True] Translation: X:357.60, Y:-14.08, Z:3.55 [[ 9.99965288e-01 -5.04322588e-03 -6.63237193e-03 3.57600475e+02] [ 5.05919222e-03 9.99984340e-01 2.39276463e-03 -1.40772787e+01] [ 6.62020081e-03 -2.42623602e-03 9.99975143e-01 3.54621174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.280714057 meters Centerline goodness [0,1] 0.9829204247060167 Centerline is valid? [True, True] Translation: X:357.63, Y:-14.08, Z:3.55 [[ 9.99953597e-01 -6.01324596e-03 -7.52622585e-03 3.57629993e+02] [ 6.01686374e-03 9.99981794e-01 4.58139503e-04 -1.40781180e+01] [ 7.52333392e-03 -5.03402519e-04 9.99971573e-01 3.54663703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.310714057 meters Centerline goodness [0,1] 0.9815624928425827 Centerline is valid? [True, True] Translation: X:357.66, Y:-14.08, Z:3.55 [[ 9.99946467e-01 -6.72494651e-03 -7.86374824e-03 3.57658786e+02] [ 6.72891443e-03 9.99977246e-01 4.78234033e-04 -1.40824089e+01] [ 7.86035322e-03 -5.31122921e-04 9.99968966e-01 3.54543655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.340714057 meters Centerline goodness [0,1] 0.9825185996622393 Centerline is valid? [True, True] Translation: X:357.69, Y:-14.08, Z:3.55 [[ 9.99937233e-01 -7.53205442e-03 -8.29450838e-03 3.57688489e+02] [ 7.53649453e-03 9.99971473e-01 5.04179528e-04 -1.40805176e+01] [ 8.29047426e-03 -5.66659399e-04 9.99965473e-01 3.54604210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.370714057 meters Centerline goodness [0,1] 0.9830912340191541 Centerline is valid? [True, True] Translation: X:357.72, Y:-14.08, Z:3.55 [[ 9.99920804e-01 -9.03438507e-03 -8.76157069e-03 3.57717968e+02] [ 9.03939574e-03 9.99959002e-01 5.32459177e-04 -1.40843596e+01] [ 8.75640104e-03 -6.11616313e-04 9.99961475e-01 3.54546937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.400714057 meters Centerline goodness [0,1] 0.9831122109942485 Centerline is valid? [True, True] Translation: X:357.75, Y:-14.09, Z:3.55 [[ 9.99896347e-01 -1.11305918e-02 -9.13260514e-03 3.57748032e+02] [ 1.11361207e-02 9.99937838e-01 5.54770789e-04 -1.40854095e+01] [ 9.12586251e-03 -6.56415078e-04 9.99958143e-01 3.54591974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.430714057 meters Centerline goodness [0,1] 0.9833199495239188 Centerline is valid? [True, True] Translation: X:357.78, Y:-14.09, Z:3.55 [[ 9.99886773e-01 -1.21746457e-02 -8.84413472e-03 3.57778741e+02] [ 1.21798719e-02 9.99925678e-01 5.37299989e-04 -1.40865900e+01] [ 8.83693597e-03 -6.44959581e-04 9.99960746e-01 3.54652512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.460714057 meters Centerline goodness [0,1] 0.9821453097102046 Centerline is valid? [True, True] Translation: X:357.81, Y:-14.09, Z:3.55 [[ 9.99870837e-01 -1.34462751e-02 -8.80378200e-03 3.57808513e+02] [ 1.34515105e-02 9.99909381e-01 5.35729588e-04 -1.40904451e+01] [ 8.79578064e-03 -6.54084558e-04 9.99961102e-01 3.54644034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.490714057 meters Centerline goodness [0,1] 0.9822398423356327 Centerline is valid? [True, True] Translation: X:357.84, Y:-14.10, Z:3.55 [[ 9.99839551e-01 -1.57413351e-02 -8.54883509e-03 3.57838331e+02] [ 1.57463536e-02 9.99875883e-01 5.20043064e-04 -1.40959997e+01] [ 8.53958786e-03 -6.54572603e-04 9.99963323e-01 3.54625125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.520714057 meters Centerline goodness [0,1] 0.9816431967812729 Centerline is valid? [True, True] Translation: X:357.87, Y:-14.10, Z:3.55 [[ 9.99832091e-01 -1.63174146e-02 -8.33862069e-03 3.57870829e+02] [ 1.63222154e-02 9.99866655e-01 5.07995293e-04 -1.40971329e+01] [ 8.32921960e-03 -6.44014758e-04 9.99965104e-01 3.54662634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.550714057 meters Centerline goodness [0,1] 0.9807701102117345 Centerline is valid? [True, True] Translation: X:357.90, Y:-14.10, Z:3.55 [[ 9.99818158e-01 -1.71404412e-02 -8.35802675e-03 3.57901814e+02] [ 1.71452962e-02 9.99852879e-01 5.09573157e-04 -1.41005026e+01] [ 8.34806279e-03 -6.52781339e-04 9.99964941e-01 3.54690106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.580714057 meters Centerline goodness [0,1] 0.9813517672186115 Centerline is valid? [True, True] Translation: X:357.93, Y:-14.10, Z:3.55 [[ 9.99818349e-01 -1.71168548e-02 -8.38343483e-03 3.57934286e+02] [ 1.71217438e-02 9.99853281e-01 5.11739161e-04 -1.41020086e+01] [ 8.37344546e-03 -6.55185226e-04 9.99964727e-01 3.54732547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.610714057 meters Centerline goodness [0,1] 0.9803530032821501 Centerline is valid? [True, True] Translation: X:357.97, Y:-14.10, Z:3.55 [[ 9.99828173e-01 -1.67093273e-02 -8.02640828e-03 3.57965488e+02] [ 1.67137972e-02 9.99860195e-01 4.90149793e-04 -1.41035900e+01] [ 8.01709607e-03 -6.24217333e-04 9.99967668e-01 3.54779042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.640714057 meters Centerline goodness [0,1] 0.9803147799752214 Centerline is valid? [True, True] Translation: X:358.00, Y:-14.10, Z:3.55 [[ 9.99851043e-01 -1.54775466e-02 -7.63788574e-03 3.57996941e+02] [ 1.54815606e-02 9.99880045e-01 4.66688935e-04 -1.41049148e+01] [ 7.62974633e-03 -5.84865809e-04 9.99970722e-01 3.54822264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.670714057 meters Centerline goodness [0,1] 0.9801207446686409 Centerline is valid? [True, True] Translation: X:358.03, Y:-14.10, Z:3.55 [[ 9.99861290e-01 -1.47888427e-02 -7.66106080e-03 3.58028981e+02] [ 1.47928640e-02 9.99890470e-01 4.68498658e-04 -1.41021336e+01] [ 7.65329313e-03 -5.81762703e-04 9.99970544e-01 3.54884652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.700714057 meters Centerline goodness [0,1] 0.9823449732534381 Centerline is valid? [True, True] Translation: X:358.06, Y:-14.10, Z:3.55 [[ 9.99886633e-01 -1.30878861e-02 -7.44496891e-03 3.58060646e+02] [ 1.30916387e-02 9.99914197e-01 4.55533802e-04 -1.40983288e+01] [ 7.43836814e-03 -5.52949003e-04 9.99972182e-01 3.54936566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.730714057 meters Centerline goodness [0,1] 0.9832417645571366 Centerline is valid? [True, True] Translation: X:358.09, Y:-14.10, Z:3.55 [[ 9.99888475e-01 -1.26210070e-02 -7.98422919e-03 3.58092771e+02] [ 1.26253133e-02 9.99920178e-01 4.89181104e-04 -1.41000804e+01] [ 7.97741792e-03 -5.89929943e-04 9.99968006e-01 3.54888411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76071405700003 meters Centerline goodness [0,1] 0.9825133849582941 Centerline is valid? [True, True] Translation: X:358.12, Y:-14.10, Z:3.55 [[ 9.99899066e-01 -1.15008973e-02 -8.34185224e-03 3.58122967e+02] [ 1.15055594e-02 9.99933678e-01 5.11112782e-04 -1.41036253e+01] [ 8.33542074e-03 -6.07038870e-04 9.99965076e-01 3.54756152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.790714057 meters Centerline goodness [0,1] 0.9829276149279831 Centerline is valid? [True, True] Translation: X:358.15, Y:-14.10, Z:3.55 [[ 9.99902571e-01 -1.08690574e-02 -8.75860049e-03 3.58154589e+02] [ 1.08741760e-02 9.99940730e-01 5.36995175e-04 -1.41046408e+01] [ 8.75224474e-03 -6.32185419e-04 9.99961499e-01 3.54738030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82071405700003 meters Centerline goodness [0,1] 0.981478918719439 Centerline is valid? [True, True] Translation: X:358.19, Y:-14.11, Z:3.55 [[ 9.99907165e-01 -9.87709442e-03 -9.38642581e-03 3.58185493e+02] [ 9.88293079e-03 9.99950997e-01 5.75606754e-04 -1.41058947e+01] [ 9.38028052e-03 -6.68318714e-04 9.99955781e-01 3.54624011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.850714057 meters Centerline goodness [0,1] 0.9807346637784026 Centerline is valid? [True, True] Translation: X:358.22, Y:-14.11, Z:3.55 [[ 9.99909429e-01 -9.29621114e-03 -9.73209760e-03 3.58215945e+02] [ 9.30245755e-03 9.99956553e-01 5.96764066e-04 -1.41069431e+01] [ 9.72612713e-03 -6.87242441e-04 9.99952464e-01 3.54614229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88071405700003 meters Centerline goodness [0,1] 0.9813077649987323 Centerline is valid? [True, True] Translation: X:358.25, Y:-14.11, Z:3.55 [[ 9.99904698e-01 -8.88943066e-03 -1.05628191e-02 3.58245284e+02] [ 8.89676172e-03 9.99960214e-01 6.47257306e-04 -1.41071312e+01] [ 1.05566451e-02 -7.41170506e-04 9.99944002e-01 3.54590923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.910714057 meters Centerline goodness [0,1] 0.980967101924053 Centerline is valid? [True, True] Translation: X:358.27, Y:-14.11, Z:3.55 [[ 9.99900456e-01 -9.20702700e-03 -1.06914921e-02 3.58274241e+02] [ 9.21454950e-03 9.99957331e-01 6.54549318e-04 -1.41096202e+01] [ 1.06850095e-02 -7.53001446e-04 9.99942630e-01 3.54566841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.940714057 meters Centerline goodness [0,1] 0.982206734208765 Centerline is valid? [True, True] Translation: X:358.30, Y:-14.11, Z:3.55 [[ 9.99888338e-01 -9.59338285e-03 -1.14576777e-02 3.58303542e+02] [ 9.60204351e-03 9.99953654e-01 7.01110910e-04 -1.41119104e+01] [ 1.14504207e-02 -8.11049742e-04 9.99934113e-01 3.54527856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.970714057 meters Centerline goodness [0,1] 0.9798399188060803 Centerline is valid? [True, True] Translation: X:358.33, Y:-14.11, Z:3.54 [[ 9.99861787e-01 -1.11099147e-02 -1.23683412e-02 3.58333106e+02] [ 1.11201172e-02 9.99937883e-01 7.56418339e-04 -1.41143528e+01] [ 1.23591692e-02 -8.93851197e-04 9.99923223e-01 3.54400119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.000714057 meters Centerline goodness [0,1] 0.9798553838334835 Centerline is valid? [True, True] Translation: X:358.36, Y:-14.12, Z:3.54 [[ 9.99850129e-01 -1.20829711e-02 -1.23984566e-02 3.58361919e+02] [ 1.20933028e-02 9.99926586e-01 7.58667142e-04 -1.41180602e+01] [ 1.23883794e-02 -9.08491730e-04 9.99922848e-01 3.54361071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.030714057 meters Centerline goodness [0,1] 0.9797375352340465 Centerline is valid? [True, True] Translation: X:358.39, Y:-14.12, Z:3.54 [[ 9.99837066e-01 -1.31069466e-02 -1.24116481e-02 3.58391771e+02] [ 1.31173720e-02 9.99913676e-01 7.58926235e-04 -1.41202391e+01] [ 1.24006295e-02 -9.21610785e-04 9.99922685e-01 3.54370264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.060714057 meters Centerline goodness [0,1] 0.9800411189909677 Centerline is valid? [True, True] Translation: X:358.42, Y:-14.12, Z:3.55 [[ 9.99809013e-01 -1.55347236e-02 -1.18579215e-02 3.58421656e+02] [ 1.55444071e-02 9.99878916e-01 7.24894368e-04 -1.41195593e+01] [ 1.18452247e-02 -9.09080282e-04 9.99929430e-01 3.54522232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.090714057 meters Centerline goodness [0,1] 0.9799088649544325 Centerline is valid? [True, True] Translation: X:358.45, Y:-14.12, Z:3.55 [[ 9.99797862e-01 -1.66435261e-02 -1.12795574e-02 3.58451892e+02] [ 1.66523586e-02 9.99861102e-01 6.89574905e-04 -1.41215372e+01] [ 1.12665137e-02 -8.77266750e-04 9.99936146e-01 3.54570281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.120714057 meters Centerline goodness [0,1] 0.9783306025430965 Centerline is valid? [True, True] Translation: X:358.48, Y:-14.13, Z:3.55 [[ 9.99770364e-01 -1.89944828e-02 -9.92108790e-03 3.58482719e+02] [ 1.90014328e-02 9.99819272e-01 6.06736046e-04 -1.41264019e+01] [ 9.90777025e-03 -7.95111603e-04 9.99950601e-01 3.54628542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.150714057 meters Centerline goodness [0,1] 0.9805892547660312 Centerline is valid? [True, True] Translation: X:358.51, Y:-14.12, Z:3.55 [[ 9.99760783e-01 -1.96278817e-02 -9.65006669e-03 3.58514610e+02] [ 1.96344923e-02 9.99807050e-01 5.90762373e-04 -1.41249578e+01] [ 9.63660929e-03 -7.80095212e-04 9.99953263e-01 3.54708695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.180714057 meters Centerline goodness [0,1] 0.9763309518322194 Centerline is valid? [True, True] Translation: X:358.55, Y:-14.13, Z:3.55 [[ 9.99760260e-01 -1.98177992e-02 -9.31001515e-03 3.58545367e+02] [ 1.98239650e-02 9.99803323e-01 5.70444837e-04 -1.41333267e+01] [ 9.29687912e-03 -7.54869493e-04 9.99956498e-01 3.54687104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.210714057 meters Centerline goodness [0,1] 0.9786049305699961 Centerline is valid? [True, True] Translation: X:358.58, Y:-14.13, Z:3.55 [[ 9.99763911e-01 -1.96678076e-02 -9.23576477e-03 3.58577879e+02] [ 1.96738754e-02 9.99806290e-01 5.66587215e-04 -1.41302004e+01] [ 9.22283218e-03 -7.48156735e-04 9.99957189e-01 3.54736414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.240714057 meters Centerline goodness [0,1] 0.9760712555091492 Centerline is valid? [True, True] Translation: X:358.61, Y:-14.14, Z:3.55 [[ 9.99770158e-01 -1.92634111e-02 -9.41024665e-03 3.58608574e+02] [ 1.92696968e-02 9.99814155e-01 5.77743422e-04 -1.41353698e+01] [ 9.39736850e-03 -7.58943233e-04 9.99955556e-01 3.54645156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.270714057 meters Centerline goodness [0,1] 0.9765007033646196 Centerline is valid? [True, True] Translation: X:358.64, Y:-14.13, Z:3.55 [[ 9.99775586e-01 -1.85153731e-02 -1.02936537e-02 3.58640793e+02] [ 1.85228627e-02 9.99828237e-01 6.32725579e-04 -1.41346710e+01] [ 1.02801704e-02 -8.23251520e-04 9.99946819e-01 3.54634078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.300714057 meters Centerline goodness [0,1] 0.9775475755543737 Centerline is valid? [True, True] Translation: X:358.67, Y:-14.13, Z:3.55 [[ 9.99773971e-01 -1.83984431e-02 -1.06537922e-02 3.58672995e+02] [ 1.84064676e-02 9.99830372e-01 6.55634562e-04 -1.41315559e+01] [ 1.06399224e-02 -8.51585051e-04 9.99943032e-01 3.54638590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.330714057 meters Centerline goodness [0,1] 0.9769026446471879 Centerline is valid? [True, True] Translation: X:358.70, Y:-14.13, Z:3.54 [[ 9.99776247e-01 -1.79748993e-02 -1.11516168e-02 3.58703697e+02] [ 1.79836685e-02 9.99838045e-01 6.86581636e-04 -1.41348775e+01] [ 1.11374695e-02 -8.86974991e-04 9.99937583e-01 3.54476900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.360714057 meters Centerline goodness [0,1] 0.9753043558764987 Centerline is valid? [True, True] Translation: X:358.74, Y:-14.14, Z:3.54 [[ 9.99765423e-01 -1.80157371e-02 -1.20221798e-02 3.58736204e+02] [ 1.80259431e-02 9.99837245e-01 7.41104806e-04 -1.41371077e+01] [ 1.20068716e-02 -9.57642090e-04 9.99927456e-01 3.54363986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.390714057 meters Centerline goodness [0,1] 0.9779284177405548 Centerline is valid? [True, True] Translation: X:358.77, Y:-14.14, Z:3.54 [[ 9.99763622e-01 -1.77131153e-02 -1.26073280e-02 3.58767488e+02] [ 1.77243197e-02 9.99842610e-01 7.77534392e-04 -1.41393171e+01] [ 1.25915712e-02 -1.00080691e-03 9.99920222e-01 3.54298290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.420714057 meters Centerline goodness [0,1] 0.9768898338379053 Centerline is valid? [True, True] Translation: X:358.80, Y:-14.14, Z:3.54 [[ 9.99749338e-01 -1.82454137e-02 -1.29756052e-02 3.58798730e+02] [ 1.82573327e-02 9.99833000e-01 8.00700587e-04 -1.41415743e+01] [ 1.29588292e-02 -1.03739982e-03 9.99915493e-01 3.54210749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.450714057 meters Centerline goodness [0,1] 0.9736543318580995 Centerline is valid? [True, True] Translation: X:358.83, Y:-14.15, Z:3.54 [[ 9.99740075e-01 -1.84735807e-02 -1.33607036e-02 3.58828365e+02] [ 1.84862405e-02 9.99828775e-01 8.24655958e-04 -1.41509563e+01] [ 1.33431816e-02 -1.07143079e-03 9.99910402e-01 3.54095490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.480714057 meters Centerline goodness [0,1] 0.9741112292543109 Centerline is valid? [True, True] Translation: X:358.86, Y:-14.15, Z:3.54 [[ 9.99735711e-01 -1.88528234e-02 -1.31559808e-02 3.58859779e+02] [ 1.88651372e-02 9.99821707e-01 8.12506793e-04 -1.41495353e+01] [ 1.31383171e-02 -1.06048144e-03 9.99913126e-01 3.54237979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51071405700003 meters Centerline goodness [0,1] 0.9745312644315138 Centerline is valid? [True, True] Translation: X:358.89, Y:-14.15, Z:3.54 [[ 9.99737999e-01 -1.89136253e-02 -1.28922067e-02 3.58891074e+02] [ 1.89254610e-02 9.99820580e-01 7.96659483e-04 -1.41511683e+01] [ 1.28748258e-02 -1.04044171e-03 9.99916575e-01 3.54270849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.540714057 meters Centerline goodness [0,1] 0.9720021252512185 Centerline is valid? [True, True] Translation: X:358.92, Y:-14.16, Z:3.54 [[ 9.99756004e-01 -1.87201504e-02 -1.17255585e-02 3.58921579e+02] [ 1.87299374e-02 9.99824316e-01 7.25405719e-04 -1.41557234e+01] [ 1.17099188e-02 -9.44847699e-04 9.99930990e-01 3.54295859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57071405700003 meters Centerline goodness [0,1] 0.9736300340033772 Centerline is valid? [True, True] Translation: X:358.95, Y:-14.16, Z:3.54 [[ 9.99760994e-01 -1.87146955e-02 -1.13011080e-02 3.58953985e+02] [ 1.87237952e-02 9.99824449e-01 6.99925586e-04 -1.41569427e+01] [ 1.12860252e-02 -9.11357931e-04 9.99935895e-01 3.54387640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.600714057 meters Centerline goodness [0,1] 0.9736300340033772 Centerline is valid? [True, True] Translation: X:358.99, Y:-14.16, Z:3.54 [[ 9.99762257e-01 -1.86471412e-02 -1.13010607e-02 3.58985721e+02] [ 1.86562451e-02 9.99825712e-01 7.00689038e-04 -1.41589740e+01] [ 1.12860252e-02 -9.11357812e-04 9.99935895e-01 3.54380565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63071405700003 meters Centerline goodness [0,1] 0.9715949800078582 Centerline is valid? [True, True] Translation: X:359.02, Y:-14.16, Z:3.54 [[ 9.99782349e-01 -1.81875535e-02 -1.02209668e-02 3.59016109e+02] [ 1.81949772e-02 9.99834257e-01 6.33793531e-04 -1.41632651e+01] [ 1.02077456e-02 -8.19625843e-04 9.99947564e-01 3.54394443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.660714057 meters Centerline goodness [0,1] 0.9744342479369409 Centerline is valid? [True, True] Translation: X:359.05, Y:-14.16, Z:3.54 [[ 9.99784424e-01 -1.80350257e-02 -1.02879727e-02 3.59048522e+02] [ 1.80425476e-02 9.99837016e-01 6.38780008e-04 -1.41600599e+01] [ 1.02747755e-02 -8.24263539e-04 9.99946873e-01 3.54440617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.690714057 meters Centerline goodness [0,1] 0.9756351520199916 Centerline is valid? [True, True] Translation: X:359.08, Y:-14.16, Z:3.54 [[ 9.99787947e-01 -1.79738062e-02 -1.00500373e-02 3.59080681e+02] [ 1.79809883e-02 9.99838134e-01 6.24728292e-04 -1.41591435e+01] [ 1.00371818e-02 -8.05305419e-04 9.99949302e-01 3.54474511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.720714057 meters Centerline goodness [0,1] 0.9759178291345687 Centerline is valid? [True, True] Translation: X:359.11, Y:-14.16, Z:3.54 [[ 9.99770831e-01 -1.81203173e-02 -1.13991057e-02 3.59111128e+02] [ 1.81295837e-02 9.99835393e-01 7.10089311e-04 -1.41643002e+01] [ 1.13843622e-02 -9.16587621e-04 9.99934776e-01 3.54324705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.750714057 meters Centerline goodness [0,1] 0.9755816100443131 Centerline is valid? [True, True] Translation: X:359.14, Y:-14.17, Z:3.54 [[ 9.99764090e-01 -1.83651192e-02 -1.15968045e-02 3.59143041e+02] [ 1.83747343e-02 9.99830909e-01 7.23101345e-04 -1.41653255e+01] [ 1.15815637e-02 -9.36018960e-04 9.99932493e-01 3.54266220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.780714057 meters Centerline goodness [0,1] 0.9764217326104511 Centerline is valid? [True, True] Translation: X:359.17, Y:-14.17, Z:3.54 [[ 9.99738668e-01 -1.93230417e-02 -1.22154074e-02 3.59173702e+02] [ 1.93337821e-02 9.99812795e-01 7.61762540e-04 -1.41679743e+01] [ 1.21984010e-02 -9.97733491e-04 9.99925099e-01 3.54214804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.810714057 meters Centerline goodness [0,1] 0.9754462743291489 Centerline is valid? [True, True] Translation: X:359.20, Y:-14.17, Z:3.54 [[ 9.99726963e-01 -1.99340974e-02 -1.21914406e-02 3.59204226e+02] [ 1.99448619e-02 9.99800791e-01 7.61992143e-04 -1.41727792e+01] [ 1.21738223e-02 -1.00494069e-03 9.99925391e-01 3.54186683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.840714057 meters Centerline goodness [0,1] 0.97562945697076 Centerline is valid? [True, True] Translation: X:359.23, Y:-14.18, Z:3.54 [[ 9.99704297e-01 -2.17738823e-02 -1.08266553e-02 3.59234792e+02] [ 2.17824784e-02 9.99762505e-01 6.76676884e-04 -1.41772486e+01] [ 1.08093502e-02 -9.12308175e-04 9.99941161e-01 3.54207078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.870714057 meters Centerline goodness [0,1] 0.975317169763533 Centerline is valid? [True, True] Translation: X:359.27, Y:-14.18, Z:3.54 [[ 9.99695321e-01 -2.23639302e-02 -1.04460835e-02 3.59266609e+02] [ 2.23719734e-02 9.99749502e-01 6.53740000e-04 -1.41804776e+01] [ 1.04288465e-02 -8.87240320e-04 9.99945224e-01 3.54231267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.900714057 meters Centerline goodness [0,1] 0.9741017480743508 Centerline is valid? [True, True] Translation: X:359.30, Y:-14.18, Z:3.54 [[ 9.99684310e-01 -2.28579354e-02 -1.04305112e-02 3.59298429e+02] [ 2.28659888e-02 9.99738326e-01 6.53489857e-04 -1.41838023e+01] [ 1.04128443e-02 -8.91787508e-04 9.99945387e-01 3.54263595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.930714057 meters Centerline goodness [0,1] 0.9737925956604772 Centerline is valid? [True, True] Translation: X:359.33, Y:-14.19, Z:3.54 [[ 9.99676879e-01 -2.32023597e-02 -1.03820740e-02 3.59330544e+02] [ 2.32103644e-02 9.99730391e-01 6.51174298e-04 -1.41870278e+01] [ 1.03641662e-02 -8.91935612e-04 9.99945893e-01 3.54272394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.960714057 meters Centerline goodness [0,1] 0.9744471631041964 Centerline is valid? [True, True] Translation: X:359.36, Y:-14.19, Z:3.54 [[ 9.99670686e-01 -2.33438306e-02 -1.06576415e-02 3.59362353e+02] [ 2.33522818e-02 9.99727074e-01 6.69191459e-04 -1.41892812e+01] [ 1.06391112e-02 -9.17851331e-04 9.99942982e-01 3.54238575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.990714057 meters Centerline goodness [0,1] 0.9733738713838216 Centerline is valid? [True, True] Translation: X:359.39, Y:-14.19, Z:3.54 [[ 9.99685055e-01 -2.28564470e-02 -1.03621729e-02 3.59392883e+02] [ 2.28644237e-02 9.99738362e-01 6.51960469e-04 -1.41942229e+01] [ 1.03445603e-02 -8.88680248e-04 9.99946099e-01 3.54188083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.020714057 meters Centerline goodness [0,1] 0.9745914844649022 Centerline is valid? [True, True] Translation: X:359.42, Y:-14.20, Z:3.54 [[ 9.99693129e-01 -2.24163569e-02 -1.05430178e-02 3.59424776e+02] [ 2.24245966e-02 9.99748317e-01 6.63955973e-04 -1.41952174e+01] [ 1.05254808e-02 -9.00175145e-04 9.99944200e-01 3.54263562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.050714057 meters Centerline goodness [0,1] 0.9759008386323841 Centerline is valid? [True, True] Translation: X:359.46, Y:-14.19, Z:3.54 [[ 9.99691677e-01 -2.24111029e-02 -1.06907963e-02 3.59456607e+02] [ 2.24195829e-02 9.99748422e-01 6.74012366e-04 -1.41947363e+01] [ 1.06730013e-02 -9.13487746e-04 9.99942625e-01 3.54323924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.080714057 meters Centerline goodness [0,1] 0.9766875674682468 Centerline is valid? [True, True] Translation: X:359.49, Y:-14.19, Z:3.54 [[ 9.99718705e-01 -2.15534889e-02 -9.89735481e-03 3.59487978e+02] [ 2.15607181e-02 9.99767346e-01 6.24278392e-04 -1.41948622e+01] [ 9.88159677e-03 -8.37496862e-04 9.99950825e-01 3.54393149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.110714057 meters Centerline goodness [0,1] 0.9759327498848457 Centerline is valid? [True, True] Translation: X:359.52, Y:-14.20, Z:3.54 [[ 9.99725155e-01 -2.13190070e-02 -9.75262676e-03 3.59519994e+02] [ 2.13260227e-02 9.99772385e-01 6.15921662e-04 -1.41979329e+01] [ 9.73727607e-03 -8.23737119e-04 9.99952252e-01 3.54386456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.140714057 meters Centerline goodness [0,1] 0.9759705103098721 Centerline is valid? [True, True] Translation: X:359.55, Y:-14.20, Z:3.54 [[ 9.99743432e-01 -2.03530704e-02 -9.94099390e-03 3.59551045e+02] [ 2.03603171e-02 9.99792510e-01 6.28298126e-04 -1.42032542e+01] [ 9.92614345e-03 -8.30538712e-04 9.99950390e-01 3.54300614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.170714057 meters Centerline goodness [0,1] 0.9756955621982065 Centerline is valid? [True, True] Translation: X:359.58, Y:-14.21, Z:3.54 [[ 9.99753417e-01 -1.95415108e-02 -1.05467768e-02 3.59581395e+02] [ 1.95496238e-02 9.99808666e-01 6.66682638e-04 -1.42065630e+01] [ 1.05317308e-02 -8.72703764e-04 9.99944159e-01 3.54242867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.200714057 meters Centerline goodness [0,1] 0.9747196175767604 Centerline is valid? [True, True] Translation: X:359.61, Y:-14.21, Z:3.54 [[ 9.99762950e-01 -1.86687538e-02 -1.12036480e-02 3.59612329e+02] [ 1.86778592e-02 9.99825302e-01 7.08626848e-04 -1.42096268e+01] [ 1.11884616e-02 -9.17719027e-04 9.99936986e-01 3.54202276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.230714057 meters Centerline goodness [0,1] 0.9750928005132671 Centerline is valid? [True, True] Translation: X:359.64, Y:-14.21, Z:3.54 [[ 9.99786438e-01 -1.70809913e-02 -1.16326341e-02 3.59642381e+02] [ 1.70907025e-02 9.99853672e-01 7.35921463e-04 -1.42126338e+01] [ 1.16183616e-02 -9.34574187e-04 9.99932068e-01 3.54100449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26071405700003 meters Centerline goodness [0,1] 0.9772293396508499 Centerline is valid? [True, True] Translation: X:359.67, Y:-14.21, Z:3.54 [[ 9.99798012e-01 -1.60891337e-02 -1.20447303e-02 3.59673466e+02] [ 1.60994762e-02 9.99870105e-01 7.62200500e-04 -1.42101104e+01] [ 1.20309026e-02 -9.55960393e-04 9.99927169e-01 3.54141221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.290714057 meters Centerline goodness [0,1] 0.9763602078829968 Centerline is valid? [True, True] Translation: X:359.70, Y:-14.21, Z:3.54 [[ 9.99814511e-01 -1.45970197e-02 -1.25646565e-02 3.59703799e+02] [ 1.46081724e-02 9.99892978e-01 7.96305787e-04 -1.42149268e+01] [ 1.25516881e-02 -9.79704750e-04 9.99920745e-01 3.54029446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32071405700003 meters Centerline goodness [0,1] 0.9756850103615012 Centerline is valid? [True, True] Translation: X:359.73, Y:-14.22, Z:3.54 [[ 9.99811980e-01 -1.43966468e-02 -1.29900768e-02 3.59733674e+02] [ 1.44085483e-02 9.99895853e-01 8.23074207e-04 -1.42180234e+01] [ 1.29768745e-02 -1.01008760e-03 9.99915287e-01 3.53942155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.350714057 meters Centerline goodness [0,1] 0.9753625519983452 Centerline is valid? [True, True] Translation: X:359.76, Y:-14.22, Z:3.54 [[ 9.99809876e-01 -1.43081940e-02 -1.32471438e-02 3.59763055e+02] [ 1.43205567e-02 9.99897104e-01 8.38841901e-04 -1.42200465e+01] [ 1.32337784e-02 -1.02838889e-03 9.99911901e-01 3.53922686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38071405700003 meters Centerline goodness [0,1] 0.9738485288357411 Centerline is valid? [True, True] Translation: X:359.79, Y:-14.22, Z:3.54 [[ 9.99796241e-01 -1.48561730e-02 -1.36664023e-02 3.59792301e+02] [ 1.48693808e-02 9.99889070e-01 8.65338594e-04 -1.42242937e+01] [ 1.36520307e-02 -1.06837321e-03 9.99906236e-01 3.53855364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.410714057 meters Centerline goodness [0,1] 0.9714496223982317 Centerline is valid? [True, True] Translation: X:359.82, Y:-14.23, Z:3.54 [[ 9.99775397e-01 -1.61240974e-02 -1.37538895e-02 3.59821173e+02] [ 1.61375871e-02 9.99869402e-01 8.70368877e-04 -1.42293452e+01] [ 1.37380593e-02 -1.09212798e-03 9.99905032e-01 3.53800374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.440714057 meters Centerline goodness [0,1] 0.9771864866729526 Centerline is valid? [True, True] Translation: X:359.85, Y:-14.22, Z:3.54 [[ 9.99761560e-01 -1.69531828e-02 -1.37627252e-02 3.59851841e+02] [ 1.69667651e-02 9.99855675e-01 8.70720098e-04 -1.42212734e+01] [ 1.37459774e-02 -1.10402141e-03 9.99904910e-01 3.53993566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.470714057 meters Centerline goodness [0,1] 0.9774823469880627 Centerline is valid? [True, True] Translation: X:359.88, Y:-14.23, Z:3.54 [[ 9.99760388e-01 -1.75188415e-02 -1.31246343e-02 3.59881768e+02] [ 1.75312423e-02 9.99845971e-01 8.30387579e-04 -1.42251160e+01] [ 1.31080653e-02 -1.06027975e-03 9.99913523e-01 3.54023106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.500714057 meters Centerline goodness [0,1] 0.9767046498805366 Centerline is valid? [True, True] Translation: X:359.91, Y:-14.23, Z:3.54 [[ 9.99755737e-01 -1.82937400e-02 -1.24018060e-02 3.59911857e+02] [ 1.83048716e-02 9.99832144e-01 7.84654674e-04 -1.42286522e+01] [ 1.23853700e-02 -1.01147648e-03 9.99922787e-01 3.54052640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.530714057 meters Centerline goodness [0,1] 0.9754931261207411 Centerline is valid? [True, True] Translation: X:359.94, Y:-14.23, Z:3.54 [[ 9.99738053e-01 -2.00421779e-02 -1.10515154e-02 3.59943117e+02] [ 2.00511285e-02 9.99798711e-01 6.99679633e-04 -1.42338381e+01] [ 1.10352677e-02 -9.21091710e-04 9.99938685e-01 3.54191175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.560714057 meters Centerline goodness [0,1] 0.9749207661568141 Centerline is valid? [True, True] Translation: X:359.97, Y:-14.24, Z:3.54 [[ 9.99721763e-01 -2.12180770e-02 -1.03048004e-02 3.59974104e+02] [ 2.12259224e-02 9.99774492e-01 6.52552378e-04 -1.42353731e+01] [ 1.02886307e-02 -8.71099708e-04 9.99946691e-01 3.54260927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.590714057 meters Centerline goodness [0,1] 0.976423548876327 Centerline is valid? [True, True] Translation: X:360.00, Y:-14.24, Z:3.54 [[ 9.99674075e-01 -2.35949348e-02 -9.74795247e-03 3.60004912e+02] [ 2.36020690e-02 9.99721242e-01 6.17461449e-04 -1.42417393e+01] [ 9.73066618e-03 -8.47332050e-04 9.99952297e-01 3.54187457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.620714057 meters Centerline goodness [0,1] 0.9708059399567835 Centerline is valid? [True, True] Translation: X:360.03, Y:-14.25, Z:3.54 [[ 9.99629463e-01 -2.52056915e-02 -1.02766189e-02 3.60034942e+02] [ 2.52137068e-02 9.99681872e-01 6.51122781e-04 -1.42507904e+01] [ 1.02569376e-02 -9.09993171e-04 9.99946982e-01 3.54055324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.650714057 meters Centerline goodness [0,1] 0.9622896084888402 Centerline is valid? [True, True] Translation: X:360.07, Y:-14.26, Z:3.54 [[ 9.99540061e-01 -2.83643764e-02 -1.07298214e-02 3.60065067e+02] [ 2.83732948e-02 9.99597166e-01 6.79836315e-04 -1.42575862e+01] [ 1.07062160e-02 -9.83964019e-04 9.99942203e-01 3.53982447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.680714057 meters Centerline goodness [0,1] 0.9731420583449825 Centerline is valid? [True, True] Translation: X:360.10, Y:-14.26, Z:3.54 [[ 9.99482975e-01 -3.01586253e-02 -1.11463068e-02 3.60095782e+02] [ 3.01683626e-02 9.99544582e-01 7.06447936e-04 -1.42565404e+01] [ 1.11199251e-02 -1.04234851e-03 9.99937628e-01 3.54001498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.710714057 meters Centerline goodness [0,1] 0.9765642880029295 Centerline is valid? [True, True] Translation: X:360.13, Y:-14.26, Z:3.54 [[ 9.99438383e-01 -3.15346307e-02 -1.13351570e-02 3.60127161e+02] [ 3.15447934e-02 9.99502081e-01 7.18858259e-04 -1.42556217e+01] [ 1.13068440e-02 -1.07601972e-03 9.99935497e-01 3.54020119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.740714057 meters Centerline goodness [0,1] 0.9775718045542968 Centerline is valid? [True, True] Translation: X:360.16, Y:-14.26, Z:3.54 [[ 9.99349539e-01 -3.40799536e-02 -1.17922080e-02 3.60157481e+02] [ 3.40911277e-02 9.99418449e-01 7.47815831e-04 -1.42588219e+01] [ 1.17598647e-02 -1.14933908e-03 9.99930190e-01 3.53969936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.770714057 meters Centerline goodness [0,1] 0.9769797000731529 Centerline is valid? [True, True] Translation: X:360.19, Y:-14.26, Z:3.54 [[ 9.99310786e-01 -3.51018446e-02 -1.20753155e-02 3.60189715e+02] [ 3.51136479e-02 9.99383032e-01 7.66792730e-04 -1.42633361e+01] [ 1.20409496e-02 -1.19027262e-03 9.99926797e-01 3.53918845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.800714057 meters Centerline goodness [0,1] 0.9784632232159153 Centerline is valid? [True, True] Translation: X:360.22, Y:-14.27, Z:3.54 [[ 9.99271930e-01 -3.60851408e-02 -1.23884171e-02 3.60221374e+02] [ 3.60976469e-02 9.99347957e-01 7.87312054e-04 -1.42660646e+01] [ 1.23519290e-02 -1.23393154e-03 9.99922951e-01 3.53899083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.830714057 meters Centerline goodness [0,1] 0.9754515768080199 Centerline is valid? [True, True] Translation: X:360.25, Y:-14.27, Z:3.54 [[ 9.99263021e-01 -3.63482526e-02 -1.23377311e-02 3.60251799e+02] [ 3.63606847e-02 9.99338424e-01 7.84762042e-04 -1.42725282e+01] [ 1.23010441e-02 -1.23279204e-03 9.99923579e-01 3.53829537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.860714057 meters Centerline goodness [0,1] 0.975857369975017 Centerline is valid? [True, True] Translation: X:360.28, Y:-14.28, Z:3.54 [[ 9.99306802e-01 -3.51492117e-02 -1.22657660e-02 3.60282555e+02] [ 3.51614147e-02 9.99381341e-01 7.80582931e-04 -1.42768270e+01] [ 1.22307408e-02 -1.21132352e-03 9.99924468e-01 3.53810712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.890714057 meters Centerline goodness [0,1] 0.973871679905319 Centerline is valid? [True, True] Translation: X:360.31, Y:-14.28, Z:3.54 [[ 9.99347800e-01 -3.41010212e-02 -1.18783384e-02 3.60312694e+02] [ 3.41123941e-02 9.99417717e-01 7.56101816e-04 -1.42805163e+01] [ 1.18456380e-02 -1.16080725e-03 9.99929164e-01 3.53841000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.920714057 meters Centerline goodness [0,1] 0.9769246570652546 Centerline is valid? [True, True] Translation: X:360.34, Y:-14.28, Z:3.54 [[ 9.99389949e-01 -3.29807493e-02 -1.14891339e-02 3.60344534e+02] [ 3.29913238e-02 9.99455370e-01 7.32032599e-04 -1.42788139e+01] [ 1.14587336e-02 -1.11062776e-03 9.99933730e-01 3.53947755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.950714057 meters Centerline goodness [0,1] 0.9771139977705485 Centerline is valid? [True, True] Translation: X:360.37, Y:-14.28, Z:3.54 [[ 9.99479347e-01 -3.05067436e-02 -1.05059128e-02 3.60373825e+02] [ 3.05154478e-02 9.99534071e-01 6.69168762e-04 -1.42821467e+01] [ 1.04806037e-02 -9.89412992e-04 9.99944587e-01 3.54034798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.980714057 meters Centerline goodness [0,1] 0.977955592030274 Centerline is valid? [True, True] Translation: X:360.41, Y:-14.28, Z:3.54 [[ 9.99520595e-01 -2.93952998e-02 -9.72097300e-03 3.60405339e+02] [ 2.94027041e-02 9.99567455e-01 6.19620691e-04 -1.42830053e+01] [ 9.69855430e-03 -9.05146534e-04 9.99952558e-01 3.54062852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01071405700003 meters Centerline goodness [0,1] 0.9776901690898319 Centerline is valid? [True, True] Translation: X:360.44, Y:-14.29, Z:3.54 [[ 9.99551350e-01 -2.84042960e-02 -9.50236983e-03 3.60435401e+02] [ 2.84113278e-02 9.99596133e-01 6.05816327e-04 -1.42880881e+01] [ 9.48132435e-03 -8.75519472e-04 9.99954668e-01 3.54038166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.040714057 meters Centerline goodness [0,1] 0.9757800418448104 Centerline is valid? [True, True] Translation: X:360.47, Y:-14.29, Z:3.54 [[ 9.99551636e-01 -2.83217004e-02 -9.71643738e-03 3.60466210e+02] [ 2.83290611e-02 9.99598459e-01 6.20729792e-04 -1.42944289e+01] [ 9.69495571e-03 -8.95709026e-04 9.99952602e-01 3.53948720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.07071405700003 meters Centerline goodness [0,1] 0.9727353281984868 Centerline is valid? [True, True] Translation: X:360.50, Y:-14.30, Z:3.54 [[ 9.99522806e-01 -2.92805671e-02 -9.83915131e-03 3.60497147e+02] [ 2.92881647e-02 9.99570812e-01 6.28948694e-04 -1.43012876e+01] [ 9.81651249e-03 -9.16819247e-04 9.99951397e-01 3.53824731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.100714057 meters Centerline goodness [0,1] 0.9743560674768729 Centerline is valid? [True, True] Translation: X:360.53, Y:-14.30, Z:3.54 [[ 9.99511996e-01 -2.97100688e-02 -9.64790283e-03 3.60529447e+02] [ 2.97174006e-02 9.99558150e-01 6.17440330e-04 -1.43029696e+01] [ 9.62529570e-03 -9.03849610e-04 9.99953267e-01 3.53844546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.13071405700003 meters Centerline goodness [0,1] 0.9739482605628996 Centerline is valid? [True, True] Translation: X:360.56, Y:-14.31, Z:3.54 [[ 9.99483000e-01 -3.06129218e-02 -9.82759165e-03 3.60561205e+02] [ 3.06205792e-02 9.99530882e-01 6.29624882e-04 -1.43064240e+01] [ 9.80370669e-03 -9.30225915e-04 9.99951510e-01 3.53825270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.160714057 meters Centerline goodness [0,1] 0.9662951950793255 Centerline is valid? [True, True] Translation: X:360.59, Y:-14.31, Z:3.54 [[ 9.99450343e-01 -3.15287829e-02 -1.02444187e-02 3.60591894e+02] [ 3.15371564e-02 9.99502364e-01 6.56819127e-04 -1.43145015e+01] [ 1.02186120e-02 -9.79537936e-04 9.99947309e-01 3.53762747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.190714057 meters Centerline goodness [0,1] 0.9719301433016146 Centerline is valid? [True, True] Translation: X:360.62, Y:-14.32, Z:3.54 [[ 9.99439415e-01 -3.17978421e-02 -1.04763531e-02 3.60624086e+02] [ 3.18066217e-02 9.99493815e-01 6.72455056e-04 -1.43156492e+01] [ 1.04496675e-02 -1.00529549e-03 9.99944895e-01 3.53716372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.220714057 meters Centerline goodness [0,1] 0.9756312589009201 Centerline is valid? [True, True] Translation: X:360.66, Y:-14.31, Z:3.54 [[ 9.99453913e-01 -3.12417129e-02 -1.07625019e-02 3.60656441e+02] [ 3.12509551e-02 9.99511330e-01 6.91596472e-04 -1.43131837e+01] [ 1.07356360e-02 -1.02755726e-03 9.99941843e-01 3.53776460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.250714057 meters Centerline goodness [0,1] 0.9707653985507246 Centerline is valid? [True, True] Translation: X:360.69, Y:-14.32, Z:3.54 [[ 9.99486298e-01 -3.03927475e-02 -1.01696390e-02 3.60687044e+02] [ 3.04009719e-02 9.99537569e-01 6.55083308e-04 -1.43222448e+01] [ 1.01450264e-02 -9.63913699e-04 9.99948073e-01 3.53710539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.280714057 meters Centerline goodness [0,1] 0.9739493899683688 Centerline is valid? [True, True] Translation: X:360.72, Y:-14.32, Z:3.54 [[ 9.99523998e-01 -2.92323322e-02 -9.86147747e-03 3.60718533e+02] [ 2.92400110e-02 9.99572218e-01 6.35355047e-04 -1.43218121e+01] [ 9.83868599e-03 -9.23402326e-04 9.99951173e-01 3.53790288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.310714057 meters Centerline goodness [0,1] 0.9778271515371362 Centerline is valid? [True, True] Translation: X:360.75, Y:-14.32, Z:3.54 [[ 9.99637960e-01 -2.54380538e-02 -8.76666775e-03 3.60749929e+02] [ 2.54439774e-02 9.99676090e-01 5.64816595e-04 -1.43179692e+01] [ 8.74946031e-03 -7.87671005e-04 9.99961413e-01 3.53937298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.340714057 meters Centerline goodness [0,1] 0.974629830263633 Centerline is valid? [True, True] Translation: X:360.78, Y:-14.32, Z:3.54 [[ 9.99708031e-01 -2.26201582e-02 -8.49589964e-03 3.60779302e+02] [ 2.26256194e-02 9.99743858e-01 5.47230472e-04 -1.43243339e+01] [ 8.48134504e-03 -7.39295690e-04 9.99963759e-01 3.53885602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.370714057 meters Centerline goodness [0,1] 0.9780247080877205 Centerline is valid? [True, True] Translation: X:360.81, Y:-14.32, Z:3.54 [[ 9.99826732e-01 -1.65260588e-02 -8.56705786e-03 3.60810426e+02] [ 1.65313906e-02 9.99863195e-01 5.51923492e-04 -1.43192238e+01] [ 8.55676472e-03 -6.93453241e-04 9.99963150e-01 3.53939539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.400714057 meters Centerline goodness [0,1] 0.9809386151136005 Centerline is valid? [True, True] Translation: X:360.84, Y:-14.31, Z:3.54 [[ 9.99880539e-01 -1.29494863e-02 -8.43913517e-03 3.60840947e+02] [ 1.29545338e-02 9.99915939e-01 5.43714198e-04 -1.43140043e+01] [ 8.43138495e-03 -6.52974307e-04 9.99964242e-01 3.54017668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.430714057 meters Centerline goodness [0,1] 0.9818961625282167 Centerline is valid? [True, True] Translation: X:360.87, Y:-14.31, Z:3.54 [[ 9.99918648e-01 -9.43066420e-03 -8.58839537e-03 3.60872035e+02] [ 9.43576316e-03 9.99955329e-01 5.53375724e-04 -1.43107452e+01] [ 8.58279302e-03 -6.34368770e-04 9.99962966e-01 3.54096045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.460714057 meters Centerline goodness [0,1] 0.982187081089678 Centerline is valid? [True, True] Translation: X:360.90, Y:-14.31, Z:3.54 [[ 9.99966506e-01 -1.96210074e-03 -7.94587197e-03 3.60901550e+02] [ 1.96622887e-03 9.99997936e-01 5.11752339e-04 -1.43077933e+01] [ 7.94485146e-03 -5.27358602e-04 9.99968300e-01 3.54156762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.490714057 meters Centerline goodness [0,1] 0.982187081089678 Centerline is valid? [True, True] Translation: X:360.93, Y:-14.31, Z:3.54 [[ 9.99965907e-01 -2.24606908e-03 -7.94605455e-03 3.60928949e+02] [ 2.25018366e-03 9.99997339e-01 5.08911398e-04 -1.43094798e+01] [ 7.94489035e-03 -5.26774130e-04 9.99968300e-01 3.54150649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.520714057 meters Centerline goodness [0,1] 0.9829162601810468 Centerline is valid? [True, True] Translation: X:360.96, Y:-14.31, Z:3.54 [[ 9.99956232e-01 4.41105146e-03 -8.25082728e-03 3.60959339e+02] [-4.40683651e-03 9.99990150e-01 5.28962136e-04 -1.43054940e+01] [ 8.25307928e-03 -4.92578937e-04 9.99965821e-01 3.54148198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.550714057 meters Centerline goodness [0,1] 0.9833975084937713 Centerline is valid? [True, True] Translation: X:360.99, Y:-14.31, Z:3.54 [[ 9.99945099e-01 6.92971466e-03 -7.85990590e-03 3.60989126e+02] [-6.92596981e-03 9.99975888e-01 5.03568879e-04 -1.43056800e+01] [ 7.86320597e-03 -4.49103762e-04 9.99968984e-01 3.54130503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.580714057 meters Centerline goodness [0,1] 0.9832450496737672 Centerline is valid? [True, True] Translation: X:361.02, Y:-14.31, Z:3.54 [[ 9.99934438e-01 8.42491373e-03 -7.75497680e-03 3.61018555e+02] [-8.42131651e-03 9.99964417e-01 4.96397632e-04 -1.43067732e+01] [ 7.75888296e-03 -4.31057973e-04 9.99969807e-01 3.54119910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.610714057 meters Centerline goodness [0,1] 0.9844758614419493 Centerline is valid? [True, True] Translation: X:361.05, Y:-14.31, Z:3.54 [[ 9.99923645e-01 1.00165713e-02 -7.23694129e-03 3.61046394e+02] [-1.00134854e-02 9.99949757e-01 4.62523073e-04 -1.43085765e+01] [ 7.24121058e-03 -3.90020751e-04 9.99973706e-01 3.54080480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.640714057 meters Centerline goodness [0,1] 0.9837254233435617 Centerline is valid? [True, True] Translation: X:361.08, Y:-14.31, Z:3.54 [[ 9.99905366e-01 1.18113145e-02 -7.05352367e-03 3.61075452e+02] [-1.18084308e-02 9.99930177e-01 4.50341557e-04 -1.43083030e+01] [ 7.05835030e-03 -3.67007893e-04 9.99975022e-01 3.54113101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.670714057 meters Centerline goodness [0,1] 0.9833234745415662 Centerline is valid? [True, True] Translation: X:361.10, Y:-14.31, Z:3.54 [[ 9.99905141e-01 1.22936296e-02 -6.21095138e-03 3.61103012e+02] [-1.22914082e-02 9.99924379e-01 3.95701664e-04 -1.43113318e+01] [ 6.21534632e-03 -3.19322789e-04 9.99980634e-01 3.54111349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.700714057 meters Centerline goodness [0,1] 0.982851821568093 Centerline is valid? [True, True] Translation: X:361.13, Y:-14.31, Z:3.54 [[ 9.99912433e-01 1.19480725e-02 -5.68936987e-03 3.61131134e+02] [-1.19462061e-02 9.99928576e-01 3.61925264e-04 -1.43144952e+01] [ 5.69328783e-03 -2.93927187e-04 9.99983750e-01 3.54109169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.730714057 meters Centerline goodness [0,1] 0.9816329786021922 Centerline is valid? [True, True] Translation: X:361.16, Y:-14.32, Z:3.54 [[ 9.99924922e-01 1.08111811e-02 -5.76789881e-03 3.61158942e+02] [-1.08092465e-02 9.99941511e-01 3.66471642e-04 -1.43185039e+01] [ 5.77152345e-03 -3.04097488e-04 9.99983298e-01 3.54088816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76071405700003 meters Centerline goodness [0,1] 0.9814869567195069 Centerline is valid? [True, True] Translation: X:361.19, Y:-14.32, Z:3.54 [[ 9.99947151e-01 8.66060508e-03 -5.53985045e-03 3.61187492e+02] [-8.65878870e-03 9.99962450e-01 3.51775766e-04 -1.43236189e+01] [ 5.54268902e-03 -3.03788781e-04 9.99984593e-01 3.54066987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.790714057 meters Centerline goodness [0,1] 0.9805542935029532 Centerline is valid? [True, True] Translation: X:361.22, Y:-14.33, Z:3.54 [[ 9.99955146e-01 7.53595614e-03 -5.73724913e-03 3.61215941e+02] [-7.53399191e-03 9.99971553e-01 3.63900643e-04 -1.43271990e+01] [ 5.73982827e-03 -3.20659932e-04 9.99983476e-01 3.54034725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82071405700003 meters Centerline goodness [0,1] 0.9798829719677039 Centerline is valid? [True, True] Translation: X:361.24, Y:-14.33, Z:3.54 [[ 9.99976807e-01 4.87893619e-03 -4.75209642e-03 3.61243611e+02] [-4.87756030e-03 9.99988059e-01 3.01079711e-04 -1.43331854e+01] [ 4.75350863e-03 -2.77894091e-04 9.99988663e-01 3.54063400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.850714057 meters Centerline goodness [0,1] 0.9821456965677032 Centerline is valid? [True, True] Translation: X:361.27, Y:-14.33, Z:3.54 [[ 9.99981252e-01 3.66641384e-03 -4.90448861e-03 3.61272610e+02] [-3.66493550e-03 9.99993236e-01 3.10379129e-04 -1.43268264e+01] [ 4.90559341e-03 -2.92398676e-04 9.99987925e-01 3.54147174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88071405700003 meters Centerline goodness [0,1] 0.9825113834583059 Centerline is valid? [True, True] Translation: X:361.30, Y:-14.33, Z:3.54 [[ 9.99982309e-01 2.63075037e-03 -5.33489347e-03 3.61301492e+02] [-2.62898843e-03 9.99996487e-01 3.37253653e-04 -1.43299536e+01] [ 5.33576196e-03 -3.23222313e-04 9.99985712e-01 3.54133674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.910714057 meters Centerline goodness [0,1] 0.9830843735079462 Centerline is valid? [True, True] Translation: X:361.33, Y:-14.33, Z:3.54 [[ 9.99981678e-01 1.35687621e-03 -5.89941157e-03 3.61331025e+02] [-1.35470026e-03 9.99999013e-01 3.72821872e-04 -1.43313375e+01] [ 5.89991162e-03 -3.64823106e-04 9.99982529e-01 3.54118184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.940714057 meters Centerline goodness [0,1] 0.984254112308565 Centerline is valid? [True, True] Translation: X:361.36, Y:-14.33, Z:3.54 [[ 9.99980318e-01 1.25866896e-03 -6.14648001e-03 3.61359709e+02] [-1.25630831e-03 9.99999136e-01 3.87910503e-04 -1.43325030e+01] [ 6.14696295e-03 -3.80180995e-04 9.99981035e-01 3.54126775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.970714057 meters Centerline goodness [0,1] 0.9836854167139388 Centerline is valid? [True, True] Translation: X:361.39, Y:-14.34, Z:3.54 [[ 9.99980401e-01 1.63783815e-03 -6.04282596e-03 3.61386948e+02] [-1.63556689e-03 9.99998590e-01 3.80782825e-04 -1.43357923e+01] [ 6.04344110e-03 -3.70891916e-04 9.99981669e-01 3.54183587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.000714057 meters Centerline goodness [0,1] 0.9826272824430953 Centerline is valid? [True, True] Translation: X:361.42, Y:-14.34, Z:3.54 [[ 9.99983591e-01 1.92117044e-03 -5.39686339e-03 3.61416017e+02] [-1.91936495e-03 9.99998100e-01 3.39705381e-04 -1.43371205e+01] [ 5.39750577e-03 -3.29341256e-04 9.99985379e-01 3.54216674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.030714057 meters Centerline goodness [0,1] 0.9834295415959253 Centerline is valid? [True, True] Translation: X:361.44, Y:-14.34, Z:3.54 [[ 9.99986557e-01 3.49803255e-03 -3.82751529e-03 3.61443482e+02] [-3.49713757e-03 9.99993856e-01 2.40493897e-04 -1.43401756e+01] [ 3.82833303e-03 -2.27105316e-04 9.99992646e-01 3.54317128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.060714057 meters Centerline goodness [0,1] 0.9829394838797381 Centerline is valid? [True, True] Translation: X:361.47, Y:-14.34, Z:3.54 [[ 9.99986907e-01 3.93148612e-03 -3.27550367e-03 3.61472112e+02] [-3.93083373e-03 9.99992253e-01 2.05587129e-04 -1.43420199e+01] [ 3.27628655e-03 -1.92708977e-04 9.99994614e-01 3.54366596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.090714057 meters Centerline goodness [0,1] 0.9820470444409228 Centerline is valid? [True, True] Translation: X:361.50, Y:-14.34, Z:3.54 [[ 9.99986626e-01 4.08888599e-03 -3.16691333e-03 3.61500388e+02] [-4.08827766e-03 9.99991623e-01 1.98540344e-04 -1.43439637e+01] [ 3.16769861e-03 -1.85590468e-04 9.99994966e-01 3.54405385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.120714057 meters Centerline goodness [0,1] 0.9807092839394624 Centerline is valid? [True, True] Translation: X:361.53, Y:-14.35, Z:3.54 [[ 9.99987869e-01 3.90329362e-03 -3.00441944e-03 3.61527758e+02] [-3.90274621e-03 9.99992367e-01 1.88040752e-04 -1.43493998e+01] [ 3.00513048e-03 -1.76312984e-04 9.99995469e-01 3.54437177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.150714057 meters Centerline goodness [0,1] 0.9828835355913784 Centerline is valid? [True, True] Translation: X:361.56, Y:-14.35, Z:3.54 [[ 9.99988974e-01 3.21739419e-03 -3.42054707e-03 3.61556277e+02] [-3.21668162e-03 9.99994804e-01 2.13800012e-04 -1.43474188e+01] [ 3.42121718e-03 -2.02794844e-04 9.99994127e-01 3.54436665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.180714057 meters Centerline goodness [0,1] 0.9818301126849799 Centerline is valid? [True, True] Translation: X:361.58, Y:-14.35, Z:3.54 [[ 9.99992862e-01 8.51905573e-04 -3.68107037e-03 3.61584370e+02] [-8.51064494e-04 9.99999611e-01 2.30048076e-04 -1.43537844e+01] [ 3.68126492e-03 -2.26913606e-04 9.99993198e-01 3.54381469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.210714057 meters Centerline goodness [0,1] 0.9799833006115587 Centerline is valid? [True, True] Translation: X:361.61, Y:-14.36, Z:3.54 [[ 9.99992304e-01 -4.97232577e-04 -3.89162971e-03 3.61612810e+02] [ 4.98181942e-04 9.99999846e-01 2.42985119e-04 -1.43588711e+01] [ 3.89150829e-03 -2.44921988e-04 9.99992398e-01 3.54325565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.240714057 meters Centerline goodness [0,1] 0.9798956380311279 Centerline is valid? [True, True] Translation: X:361.64, Y:-14.36, Z:3.54 [[ 9.99991573e-01 -1.78950015e-03 -3.69475705e-03 3.61642637e+02] [ 1.79036433e-03 9.99998371e-01 2.30599083e-04 -1.43629118e+01] [ 3.69433837e-03 -2.37212101e-04 9.99993148e-01 3.54323542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.270714057 meters Centerline goodness [0,1] 0.9805570627599928 Centerline is valid? [True, True] Translation: X:361.67, Y:-14.36, Z:3.54 [[ 9.99979163e-01 -4.80702165e-03 -4.30889355e-03 3.61672506e+02] [ 4.80822477e-03 9.99988404e-01 2.68902481e-04 -1.43640392e+01] [ 4.30755096e-03 -2.89615007e-04 9.99990681e-01 3.54288593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.300714057 meters Centerline goodness [0,1] 0.9794156107679127 Centerline is valid? [True, True] Translation: X:361.70, Y:-14.37, Z:3.54 [[ 9.99971063e-01 -6.15419128e-03 -4.47203863e-03 3.61702685e+02] [ 6.15550083e-03 9.99981016e-01 2.79124782e-04 -1.43677190e+01] [ 4.47023594e-03 -3.06644343e-04 9.99989961e-01 3.54253678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.330714057 meters Centerline goodness [0,1] 0.9804058624577227 Centerline is valid? [True, True] Translation: X:361.73, Y:-14.37, Z:3.54 [[ 9.99943709e-01 -8.90853817e-03 -5.76336765e-03 3.61733093e+02] [ 8.91075895e-03 9.99960234e-01 3.59762357e-04 -1.43711342e+01] [ 5.75993351e-03 -4.11098086e-04 9.99983327e-01 3.54148986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.360714057 meters Centerline goodness [0,1] 0.9797540762093505 Centerline is valid? [True, True] Translation: X:361.76, Y:-14.37, Z:3.54 [[ 9.99923125e-01 -1.06013703e-02 -6.43073638e-03 3.61763690e+02] [ 1.06041699e-02 9.99943694e-01 4.01409042e-04 -1.43743572e+01] [ 6.42611881e-03 -4.69570805e-04 9.99979242e-01 3.54088422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.390714057 meters Centerline goodness [0,1] 0.9776894589467979 Centerline is valid? [True, True] Translation: X:361.79, Y:-14.38, Z:3.54 [[ 9.99897477e-01 -1.21126362e-02 -7.63669875e-03 3.61793260e+02] [ 1.21166281e-02 9.99926477e-01 4.76685678e-04 -1.43812051e+01] [ 7.63036336e-03 -5.69167845e-04 9.99970726e-01 3.54009333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.420714057 meters Centerline goodness [0,1] 0.9777481889372842 Centerline is valid? [True, True] Translation: X:361.82, Y:-14.38, Z:3.54 [[ 9.99859964e-01 -1.49448402e-02 -7.53024555e-03 3.61824290e+02] [ 1.49488027e-02 9.99888150e-01 4.70199632e-04 -1.43824164e+01] [ 7.52237623e-03 -5.82701943e-04 9.99971537e-01 3.54083967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.450714057 meters Centerline goodness [0,1] 0.9772378285611056 Centerline is valid? [True, True] Translation: X:361.85, Y:-14.39, Z:3.54 [[ 9.99829814e-01 -1.70418374e-02 -7.06525774e-03 3.61854943e+02] [ 1.70453786e-02 9.99854620e-01 4.41295153e-04 -1.43860728e+01] [ 7.05671011e-03 -5.61650044e-04 9.99974943e-01 3.54131731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.480714057 meters Centerline goodness [0,1] 0.9775623644251626 Centerline is valid? [True, True] Translation: X:361.89, Y:-14.39, Z:3.54 [[ 9.99824677e-01 -1.73826439e-02 -6.96124553e-03 3.61887029e+02] [ 1.73860941e-02 9.99848756e-01 4.35413970e-04 -1.43877136e+01] [ 6.95262403e-03 -5.56366502e-04 9.99975675e-01 3.54143519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51071405700003 meters Centerline goodness [0,1] 0.9763991146844935 Centerline is valid? [True, True] Translation: X:361.92, Y:-14.39, Z:3.54 [[ 9.99815927e-01 -1.78829796e-02 -6.95064529e-03 3.61917761e+02] [ 1.78864336e-02 9.99839930e-01 4.35079646e-04 -1.43917886e+01] [ 6.94175218e-03 -5.59321815e-04 9.99975749e-01 3.54144511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.540714057 meters Centerline goodness [0,1] 0.9751254930082467 Centerline is valid? [True, True] Translation: X:361.95, Y:-14.40, Z:3.54 [[ 9.99809383e-01 -1.84475734e-02 -6.39415924e-03 3.61948378e+02] [ 1.84505092e-02 9.99829695e-01 4.00439529e-04 -1.43953482e+01] [ 6.38568315e-03 -5.18338693e-04 9.99979477e-01 3.54196668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57071405700003 meters Centerline goodness [0,1] 0.9748605244731552 Centerline is valid? [True, True] Translation: X:361.98, Y:-14.40, Z:3.54 [[ 9.99806815e-01 -1.87028020e-02 -6.04460174e-03 3.61980518e+02] [ 1.87054332e-02 9.99824966e-01 3.79055577e-04 -1.43963097e+01] [ 6.03645433e-03 -4.92049244e-04 9.99981659e-01 3.54251151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.600714057 meters Centerline goodness [0,1] 0.9764121102575689 Centerline is valid? [True, True] Translation: X:362.01, Y:-14.40, Z:3.54 [[ 9.99827317e-01 -1.76593821e-02 -5.78646586e-03 3.62011522e+02] [ 1.76617768e-02 9.99843953e-01 3.63001229e-04 -1.43971187e+01] [ 5.77915252e-03 -4.65137813e-04 9.99983192e-01 3.54278946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63071405700003 meters Centerline goodness [0,1] 0.9760541384695471 Centerline is valid? [True, True] Translation: X:362.04, Y:-14.40, Z:3.54 [[ 9.99842262e-01 -1.66939393e-02 -6.06329029e-03 3.62042176e+02] [ 1.66965522e-02 9.99860530e-01 3.80573233e-04 -1.43996166e+01] [ 6.05609138e-03 -4.81749245e-04 9.99981546e-01 3.54222536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.660714057 meters Centerline goodness [0,1] 0.9761387795720813 Centerline is valid? [True, True] Translation: X:362.07, Y:-14.40, Z:3.54 [[ 9.99859146e-01 -1.53575160e-02 -6.77017037e-03 3.62072817e+02] [ 1.53607447e-02 9.99881926e-01 4.25167079e-04 -1.44010670e+01] [ 6.76284148e-03 -5.29102051e-04 9.99976992e-01 3.54157570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.690714057 meters Centerline goodness [0,1] 0.977610757702669 Centerline is valid? [True, True] Translation: X:362.10, Y:-14.40, Z:3.54 [[ 9.99898289e-01 -1.21629437e-02 -7.44813487e-03 3.62103972e+02] [ 1.21667638e-02 9.99925873e-01 4.67799444e-04 -1.44006550e+01] [ 7.44189294e-03 -5.58371561e-04 9.99972153e-01 3.54100937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.720714057 meters Centerline goodness [0,1] 0.9760828284655032 Centerline is valid? [True, True] Translation: X:362.13, Y:-14.40, Z:3.54 [[ 9.99933914e-01 -8.77491717e-03 -7.42754867e-03 3.62133078e+02] [ 8.77862212e-03 9.99961358e-01 4.66355799e-04 -1.44027951e+01] [ 7.42316943e-03 -5.31528622e-04 9.99972307e-01 3.54003786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.750714057 meters Centerline goodness [0,1] 0.9765796315135074 Centerline is valid? [True, True] Translation: X:362.16, Y:-14.40, Z:3.54 [[ 9.99950162e-01 -6.40784289e-03 -7.65586464e-03 3.62163549e+02] [ 6.41171030e-03 9.99979329e-01 4.80719246e-04 -1.44031650e+01] [ 7.65262601e-03 -5.29782474e-04 9.99970578e-01 3.53966013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.780714057 meters Centerline goodness [0,1] 0.9773663014376673 Centerline is valid? [True, True] Translation: X:362.19, Y:-14.40, Z:3.54 [[ 9.99959794e-01 -4.12476475e-03 -7.96217413e-03 3.62193342e+02] [ 4.12887312e-03 9.99991351e-01 4.99616670e-04 -1.44028561e+01] [ 7.96004447e-03 -5.32471389e-04 9.99968177e-01 3.53938550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.810714057 meters Centerline goodness [0,1] 0.9807299931988211 Centerline is valid? [True, True] Translation: X:362.22, Y:-14.39, Z:3.54 [[ 9.99965471e-01 1.48143120e-05 -8.31002343e-03 3.62224653e+02] [-1.04811122e-05 9.99999864e-01 5.21485857e-04 -1.43921445e+01] [ 8.31003002e-03 -5.21380753e-04 9.99965335e-01 3.54060785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.840714057 meters Centerline goodness [0,1] 0.9795270591969528 Centerline is valid? [True, True] Translation: X:362.25, Y:-14.40, Z:3.54 [[ 9.99966366e-01 2.01168225e-03 -7.95109564e-03 3.62253047e+02] [-2.00778236e-03 9.99997860e-01 4.98435923e-04 -1.43973529e+01] [ 7.95208132e-03 -4.82455089e-04 9.99968265e-01 3.53960546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.870714057 meters Centerline goodness [0,1] 0.9824386259472705 Centerline is valid? [True, True] Translation: X:362.28, Y:-14.39, Z:3.54 [[ 9.99951024e-01 5.68177551e-03 -8.10352108e-03 3.62283554e+02] [-5.67784528e-03 9.99983752e-01 5.07926194e-04 -1.43882102e+01] [ 8.10627533e-03 -4.61890779e-04 9.99967037e-01 3.54008459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.900714057 meters Centerline goodness [0,1] 0.9806866465201881 Centerline is valid? [True, True] Translation: X:362.31, Y:-14.40, Z:3.54 [[ 9.99941539e-01 6.86256822e-03 -8.35607589e-03 3.62310844e+02] [-6.85843775e-03 9.99976344e-01 5.22863314e-04 -1.43956668e+01] [ 8.35946641e-03 -4.65523121e-04 9.99964951e-01 3.53846069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.930714057 meters Centerline goodness [0,1] 0.981011365956578 Centerline is valid? [True, True] Translation: X:362.34, Y:-14.39, Z:3.54 [[ 9.99934844e-01 8.44372290e-03 -7.68183313e-03 3.62339734e+02] [-8.44028241e-03 9.99964265e-01 4.80181825e-04 -1.43917569e+01] [ 7.68561314e-03 -4.15313698e-04 9.99970379e-01 3.53966707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.960714057 meters Centerline goodness [0,1] 0.9827135221198681 Centerline is valid? [True, True] Translation: X:362.37, Y:-14.39, Z:3.54 [[ 9.99940736e-01 8.68351243e-03 -6.56669068e-03 3.62369189e+02] [-8.68100674e-03 9.99962235e-01 4.09982700e-04 -1.43888033e+01] [ 6.57000278e-03 -3.52952916e-04 9.99978355e-01 3.54096924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.990714057 meters Centerline goodness [0,1] 0.9814738856986601 Centerline is valid? [True, True] Translation: X:362.40, Y:-14.40, Z:3.54 [[ 9.99940904e-01 8.75270640e-03 -6.44820391e-03 3.62396853e+02] [-8.75029642e-03 9.99961635e-01 4.01861426e-04 -1.43950075e+01] [ 6.45147390e-03 -3.45413982e-04 9.99979129e-01 3.54043143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.020714057 meters Centerline goodness [0,1] 0.9811475037477854 Centerline is valid? [True, True] Translation: X:362.42, Y:-14.40, Z:3.54 [[ 9.99955603e-01 7.21783718e-03 -6.05762144e-03 3.62424066e+02] [-7.21568601e-03 9.99973896e-01 3.76899665e-04 -1.43986910e+01] [ 6.06018371e-03 -3.33173038e-04 9.99981581e-01 3.54028984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.050714057 meters Centerline goodness [0,1] 0.9807351940095302 Centerline is valid? [True, True] Translation: X:362.45, Y:-14.40, Z:3.54 [[ 9.99959678e-01 5.96732249e-03 -6.71065629e-03 3.62453109e+02] [-5.96465678e-03 9.99982124e-01 4.17179307e-04 -1.43999564e+01] [ 6.71302577e-03 -3.77135724e-04 9.99977396e-01 3.53949527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.080714057 meters Centerline goodness [0,1] 0.9808720176496009 Centerline is valid? [True, True] Translation: X:362.48, Y:-14.40, Z:3.54 [[ 9.99961398e-01 3.97344600e-03 -7.83677583e-03 3.62480839e+02] [-3.96975337e-03 9.99992002e-01 4.86691493e-04 -1.44047099e+01] [ 7.83864700e-03 -4.55562638e-04 9.99969174e-01 3.53706057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.110714057 meters Centerline goodness [0,1] 0.9830470008850963 Centerline is valid? [True, True] Translation: X:362.51, Y:-14.40, Z:3.54 [[ 9.99959667e-01 2.98774722e-03 -8.46981624e-03 3.62509581e+02] [-2.98340672e-03 9.99995412e-01 5.25055111e-04 -1.43982080e+01] [ 8.47134611e-03 -4.99765027e-04 9.99963993e-01 3.53761281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.140714057 meters Centerline goodness [0,1] 0.980283552151714 Centerline is valid? [True, True] Translation: X:362.54, Y:-14.41, Z:3.54 [[ 9.99954680e-01 2.41890745e-03 -9.20793895e-03 3.62536457e+02] [-2.41376218e-03 9.99996925e-01 5.69858521e-04 -1.44057910e+01] [ 9.20928906e-03 -5.47606920e-04 9.99957444e-01 3.53565389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.170714057 meters Centerline goodness [0,1] 0.9826241619920646 Centerline is valid? [True, True] Translation: X:362.57, Y:-14.40, Z:3.54 [[ 9.99946028e-01 2.58171081e-03 -1.00635645e-02 3.62565422e+02] [-2.57557914e-03 9.99996490e-01 6.22206425e-04 -1.44009117e+01] [ 1.00651356e-02 -5.96253336e-04 9.99949167e-01 3.53570286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.200714057 meters Centerline goodness [0,1] 0.9829500125367555 Centerline is valid? [True, True] Translation: X:362.59, Y:-14.40, Z:3.54 [[ 9.99945149e-01 3.51809977e-03 -9.86522798e-03 3.62594861e+02] [-3.51227913e-03 9.99993648e-01 6.07278355e-04 -1.43984364e+01] [ 9.86730178e-03 -5.72595611e-04 9.99951153e-01 3.53654625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.230714057 meters Centerline goodness [0,1] 0.9816880801060766 Centerline is valid? [True, True] Translation: X:362.62, Y:-14.40, Z:3.54 [[ 9.99944567e-01 6.13637827e-03 -8.55613653e-03 3.62623876e+02] [-6.13209493e-03 9.99981060e-01 5.26760464e-04 -1.44010096e+01] [ 8.55920688e-03 -4.74264223e-04 9.99963257e-01 3.53692464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26071405700003 meters Centerline goodness [0,1] 0.9824784963364128 Centerline is valid? [True, True] Translation: X:362.65, Y:-14.40, Z:3.54 [[ 9.99941595e-01 8.04588209e-03 -7.21591523e-03 3.62653902e+02] [-8.04288708e-03 9.99967557e-01 4.43978622e-04 -1.43955069e+01] [ 7.21925332e-03 -3.85915900e-04 9.99973866e-01 3.53830521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.290714057 meters Centerline goodness [0,1] 0.9824645523666005 Centerline is valid? [True, True] Translation: X:362.68, Y:-14.40, Z:3.54 [[ 9.99935038e-01 9.78279784e-03 -5.84957049e-03 3.62681552e+02] [-9.78086313e-03 9.99952102e-01 3.59259747e-04 -1.43961213e+01] [ 5.85280487e-03 -3.02022560e-04 9.99982827e-01 3.53902813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32071405700003 meters Centerline goodness [0,1] 0.982844594903701 Centerline is valid? [True, True] Translation: X:362.71, Y:-14.39, Z:3.54 [[ 9.99909084e-01 1.28685098e-02 -4.02801795e-03 3.62711549e+02] [-1.28676173e-02 9.99917178e-01 2.47411552e-04 -1.43942134e+01] [ 4.03086816e-03 -1.95558065e-04 9.99991857e-01 3.54000218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.350714057 meters Centerline goodness [0,1] 0.9819388806226393 Centerline is valid? [True, True] Translation: X:362.74, Y:-14.39, Z:3.54 [[ 9.99901728e-01 1.35661237e-02 -3.53468582e-03 3.62740178e+02] [-1.35654421e-02 9.99907962e-01 2.16730417e-04 -1.43928623e+01] [ 3.53730069e-03 -1.68759542e-04 9.99993729e-01 3.54039792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38071405700003 meters Centerline goodness [0,1] 0.9817290960710687 Centerline is valid? [True, True] Translation: X:362.77, Y:-14.40, Z:3.54 [[ 9.99906886e-01 1.31494337e-02 -3.64862108e-03 3.62768251e+02] [-1.31487060e-02 9.99913527e-01 2.23357564e-04 -1.43954538e+01] [ 3.65124260e-03 -1.75362120e-04 9.99993319e-01 3.53992550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.410714057 meters Centerline goodness [0,1] 0.9817290960710687 Centerline is valid? [True, True] Translation: X:362.80, Y:-14.40, Z:3.54 [[ 9.99908269e-01 1.30437910e-02 -3.64864695e-03 3.62795693e+02] [-1.30430641e-02 9.99914911e-01 2.22934795e-04 -1.43970453e+01] [ 3.65124441e-03 -1.75324809e-04 9.99993319e-01 3.53986422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.440714057 meters Centerline goodness [0,1] 0.9814488642862045 Centerline is valid? [True, True] Translation: X:362.82, Y:-14.40, Z:3.54 [[ 9.99923781e-01 1.17623816e-02 -3.75203643e-03 3.62824839e+02] [-1.17616046e-02 9.99930804e-01 2.29068738e-04 -1.43983892e+01] [ 3.75447120e-03 -1.84921309e-04 9.99992935e-01 3.53940341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.470714057 meters Centerline goodness [0,1] 0.9805160610847815 Centerline is valid? [True, True] Translation: X:362.85, Y:-14.41, Z:3.54 [[ 9.99962535e-01 7.56040455e-03 -4.21529830e-03 3.62853280e+02] [-7.55938641e-03 9.99971394e-01 2.57415698e-04 -1.44062910e+01] [ 4.21712388e-03 -2.25540985e-04 9.99991082e-01 3.53780261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.500714057 meters Centerline goodness [0,1] 0.9801669907354456 Centerline is valid? [True, True] Translation: X:362.88, Y:-14.41, Z:3.54 [[ 9.99974237e-01 5.20038945e-03 -4.94786695e-03 3.62882895e+02] [-5.19895887e-03 9.99986440e-01 3.01949227e-04 -1.44108367e+01] [ 4.94937011e-03 -2.76217691e-04 9.99987714e-01 3.53662141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.530714057 meters Centerline goodness [0,1] 0.9787909953148212 Centerline is valid? [True, True] Translation: X:362.91, Y:-14.42, Z:3.54 [[ 9.99980706e-01 4.08727128e-04 -6.19845966e-03 3.62912095e+02] [-4.06390592e-04 9.99999846e-01 3.78209074e-04 -1.44178608e+01] [ 6.19861329e-03 -3.75682781e-04 9.99980718e-01 3.53506219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.560714057 meters Centerline goodness [0,1] 0.9805211116439451 Centerline is valid? [True, True] Translation: X:362.94, Y:-14.41, Z:3.54 [[ 9.99975451e-01 -1.94851776e-03 -6.73055641e-03 3.62941993e+02] [ 1.95132401e-03 9.99998012e-01 4.10399777e-04 -1.44144810e+01] [ 6.72974335e-03 -4.23523198e-04 9.99977265e-01 3.53569478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.590714057 meters Centerline goodness [0,1] 0.976911482597972 Centerline is valid? [True, True] Translation: X:362.97, Y:-14.43, Z:3.53 [[ 9.99965051e-01 -4.65012115e-03 -6.94783442e-03 3.62970541e+02] [ 4.65317475e-03 9.99989084e-01 4.23403967e-04 -1.44273361e+01] [ 6.94578970e-03 -4.55718657e-04 9.99975774e-01 3.53448521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.620714057 meters Centerline goodness [0,1] 0.9766029811226004 Centerline is valid? [True, True] Translation: X:363.00, Y:-14.43, Z:3.53 [[ 9.99961836e-01 -5.44338796e-03 -6.83352466e-03 3.63000155e+02] [ 5.44635884e-03 9.99985082e-01 4.16215736e-04 -1.44291884e+01] [ 6.83115710e-03 -4.53417678e-04 9.99976565e-01 3.53434234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.650714057 meters Centerline goodness [0,1] 0.9783129779705513 Centerline is valid? [True, True] Translation: X:363.03, Y:-14.43, Z:3.54 [[ 9.99963120e-01 -5.50241019e-03 -6.59409364e-03 3.63030306e+02] [ 5.50517626e-03 9.99984766e-01 4.01399159e-04 -1.44254878e+01] [ 6.59178452e-03 -4.37686003e-04 9.99978178e-01 3.53553030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.680714057 meters Centerline goodness [0,1] 0.9320616505059914 Centerline is valid? [True, False] Translation: X:363.09, Y:-14.42, Z:3.54 [[ 9.99963358e-01 -5.93171926e-03 -6.17237988e-03 3.63085652e+02] [ 5.90892799e-03 9.99975682e-01 -3.70416967e-03 -1.44248433e+01] [ 6.19420188e-03 3.66756179e-03 9.99974090e-01 3.53629195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.710714057 meters Centerline goodness [0,1] 0.9790044875904387 Centerline is valid? [False, True] Translation: X:363.03, Y:-14.42, Z:3.53 [[ 9.99977092e-01 -3.58906893e-03 -5.73883393e-03 3.63028121e+02] [ 3.60583787e-03 9.99989252e-01 2.91433994e-03 -1.44238586e+01] [ 5.72831249e-03 -2.93496648e-03 9.99979286e-01 3.53403813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.740714057 meters Centerline goodness [0,1] 0.9803558360775705 Centerline is valid? [True, True] Translation: X:363.06, Y:-14.42, Z:3.54 [[ 9.99983653e-01 1.68076270e-03 -5.46522927e-03 3.63058858e+02] [-1.67899036e-03 9.99998536e-01 3.28864323e-04 -1.44191125e+01] [ 5.46577402e-03 -3.19682880e-04 9.99985011e-01 3.53551813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.770714057 meters Centerline goodness [0,1] 0.9812709183439549 Centerline is valid? [True, True] Translation: X:363.09, Y:-14.42, Z:3.54 [[ 9.99970316e-01 5.21192628e-03 -5.67471397e-03 3.63088797e+02] [-5.21007379e-03 9.99986369e-01 3.41179207e-04 -1.44154465e+01] [ 5.67641482e-03 -3.11603401e-04 9.99983840e-01 3.53647032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.800714057 meters Centerline goodness [0,1] 0.9796565754085925 Centerline is valid? [True, True] Translation: X:363.12, Y:-14.42, Z:3.54 [[ 9.99938548e-01 9.40271607e-03 -5.87279215e-03 3.63117173e+02] [-9.40080410e-03 9.99955749e-01 3.53083623e-04 -1.44188800e+01] [ 5.87585222e-03 -2.97852957e-04 9.99982693e-01 3.53559757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.830714057 meters Centerline goodness [0,1] 0.9829730290935099 Centerline is valid? [True, True] Translation: X:363.15, Y:-14.41, Z:3.54 [[ 9.99791456e-01 1.97238211e-02 -5.29292473e-03 3.63148478e+02] [-1.97224124e-02 9.99805444e-01 3.18206266e-04 -1.44073046e+01] [ 5.29817120e-03 -2.13750662e-04 9.99985942e-01 3.53738240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.860714057 meters Centerline goodness [0,1] 0.9848709512997544 Centerline is valid? [True, True] Translation: X:363.18, Y:-14.40, Z:3.54 [[ 9.99559941e-01 2.94066626e-02 -3.89526900e-03 3.63178119e+02] [-2.94059739e-02 9.99567523e-01 2.33987282e-04 -1.44027708e+01] [ 3.90046517e-03 -1.19340135e-04 9.99992386e-01 3.53812713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.890714057 meters Centerline goodness [0,1] 0.9860594150965206 Centerline is valid? [True, True] Translation: X:363.21, Y:-14.40, Z:3.54 [[ 9.99423273e-01 3.37979494e-02 -3.28933341e-03 3.63208467e+02] [-3.37974821e-02 9.99428682e-01 1.97554033e-04 -1.43992975e+01] [ 3.29413108e-03 -8.62689116e-05 9.99994571e-01 3.53872049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.920714057 meters Centerline goodness [0,1] 0.9863967686522123 Centerline is valid? [True, True] Translation: X:363.24, Y:-14.40, Z:3.54 [[ 9.99304747e-01 3.71766361e-02 -2.81434981e-03 3.63237119e+02] [-3.71763083e-02 9.99308708e-01 1.68684991e-04 -1.43991487e+01] [ 2.81867541e-03 -6.39405757e-05 9.99996025e-01 3.53823559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.950714057 meters Centerline goodness [0,1] 0.9879001413968151 Centerline is valid? [True, True] Translation: X:363.27, Y:-14.40, Z:3.54 [[ 9.99131710e-01 4.15802261e-02 -2.62867819e-03 3.63266200e+02] [-4.15799581e-02 9.99135167e-01 1.56516298e-04 -1.43995276e+01] [ 2.63291280e-03 -4.70800680e-05 9.99996533e-01 3.53736305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.980714057 meters Centerline goodness [0,1] 0.9873987607621081 Centerline is valid? [True, True] Translation: X:363.29, Y:-14.40, Z:3.54 [[ 9.99139360e-01 4.13772421e-02 -2.90906935e-03 3.63293624e+02] [-4.13769126e-02 9.99143594e-01 1.73395805e-04 -1.44026754e+01] [ 2.91375265e-03 -5.28782658e-05 9.99995754e-01 3.53656780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.01071405700003 meters Centerline goodness [0,1] 0.987557059109762 Centerline is valid? [True, True] Translation: X:363.32, Y:-14.41, Z:3.53 [[ 9.99210093e-01 3.95572389e-02 -3.79671428e-03 3.63321313e+02] [-3.95566654e-02 9.99217303e-01 2.26050316e-04 -1.44084254e+01] [ 3.80268453e-03 -7.56864007e-05 9.99992767e-01 3.53494672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.040714057 meters Centerline goodness [0,1] 0.9871320125902611 Centerline is valid? [True, True] Translation: X:363.35, Y:-14.41, Z:3.53 [[ 9.99314302e-01 3.67540158e-02 -4.47975351e-03 3.63349326e+02] [-3.67531908e-02 9.99324338e-01 2.66369113e-04 -1.44123463e+01] [ 4.48651684e-03 -1.01541228e-04 9.99989930e-01 3.53427107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.07071405700003 meters Centerline goodness [0,1] 0.9862155098642367 Centerline is valid? [True, True] Translation: X:363.38, Y:-14.42, Z:3.53 [[ 9.99422035e-01 3.36150217e-02 -5.06217264e-03 3.63376735e+02] [-3.36139300e-02 9.99434847e-01 3.00598584e-04 -1.44182383e+01] [ 5.06941636e-03 -1.30265332e-04 9.99987142e-01 3.53348439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.100714057 meters Centerline goodness [0,1] 0.984160239438241 Centerline is valid? [True, True] Translation: X:363.40, Y:-14.43, Z:3.53 [[ 9.99649042e-01 2.56988750e-02 -6.43128267e-03 3.63404892e+02] [-2.56969487e-02 9.99669706e-01 3.81976996e-04 -1.44329165e+01] [ 6.43897483e-03 -2.16578597e-04 9.99979246e-01 3.53171286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.13071405700003 meters Centerline goodness [0,1] 0.9838525227574219 Centerline is valid? [True, True] Translation: X:363.43, Y:-14.44, Z:3.53 [[ 9.99834430e-01 1.70092551e-02 -6.46512214e-03 3.63434610e+02] [-1.70071269e-02 9.99855295e-01 3.84019768e-04 -1.44378074e+01] [ 6.47071850e-03 -2.74003033e-04 9.99979027e-01 3.53347698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.160714057 meters Centerline goodness [0,1] 0.9828016009148085 Centerline is valid? [True, True] Translation: X:363.46, Y:-14.44, Z:3.53 [[ 9.99905068e-01 1.22563883e-02 -6.29575733e-03 3.63463483e+02] [-1.22542780e-02 9.99924844e-01 3.73656707e-04 -1.44449975e+01] [ 6.29986384e-03 -2.96471274e-04 9.99980112e-01 3.53371699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.190714057 meters Centerline goodness [0,1] 0.9828628802227141 Centerline is valid? [True, True] Translation: X:363.49, Y:-14.45, Z:3.53 [[ 9.99946872e-01 8.39737648e-03 -5.97813365e-03 3.63493518e+02] [-8.39540536e-03 9.99964695e-01 3.54741081e-04 -1.44497838e+01] [ 5.98090149e-03 -3.04533379e-04 9.99982068e-01 3.53408895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.220714057 meters Centerline goodness [0,1] 0.9803711227261315 Centerline is valid? [True, True] Translation: X:363.52, Y:-14.46, Z:3.53 [[ 9.99984000e-01 1.60032197e-03 -5.42582624e-03 3.63522488e+02] [-1.59859859e-03 9.99998670e-01 3.21947867e-04 -1.44633956e+01] [ 5.42633425e-03 -3.13268997e-04 9.99985228e-01 3.53307167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.250714057 meters Centerline goodness [0,1] 0.9818198387023284 Centerline is valid? [True, True] Translation: X:363.55, Y:-14.47, Z:3.53 [[ 9.99985537e-01 -1.18947433e-03 -5.24501079e-03 3.63552734e+02] [ 1.19112310e-03 9.99999242e-01 3.11238332e-04 -1.44663956e+01] [ 5.24463660e-03 -3.17481284e-04 9.99986196e-01 3.53311628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.280714057 meters Centerline goodness [0,1] 0.9795974194724965 Centerline is valid? [True, True] Translation: X:363.58, Y:-14.48, Z:3.53 [[ 9.99970722e-01 -5.67806856e-03 -5.12978420e-03 3.63581222e+02] [ 5.67970459e-03 9.99983824e-01 3.04416544e-04 -1.44768975e+01] [ 5.12797273e-03 -3.33543290e-04 9.99986796e-01 3.53207722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.310714057 meters Centerline goodness [0,1] 0.9814983594604447 Centerline is valid? [True, True] Translation: X:363.61, Y:-14.47, Z:3.53 [[ 9.99957699e-01 -7.33381231e-03 -5.55123731e-03 3.63612246e+02] [ 7.33575359e-03 9.99973039e-01 3.29421043e-04 -1.44726999e+01] [ 5.54867173e-03 -3.70129617e-04 9.99984538e-01 3.53228436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.340714057 meters Centerline goodness [0,1] 0.9814890710382513 Centerline is valid? [True, True] Translation: X:363.64, Y:-14.48, Z:3.53 [[ 9.99946495e-01 -8.56007283e-03 -5.80801955e-03 3.63642532e+02] [ 8.56221932e-03 9.99963284e-01 3.44808698e-04 -1.44772998e+01] [ 5.80485471e-03 -3.94519786e-04 9.99983074e-01 3.53183486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.370714057 meters Centerline goodness [0,1] 0.9815265612558298 Centerline is valid? [True, True] Translation: X:363.67, Y:-14.48, Z:3.53 [[ 9.99930928e-01 -9.79536512e-03 -6.49532539e-03 3.63672243e+02] [ 9.79807530e-03 9.99951923e-01 3.85560295e-04 -1.44813341e+01] [ 6.49123641e-03 -4.49175351e-04 9.99978831e-01 3.53127170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.400714057 meters Centerline goodness [0,1] 0.9822087566631738 Centerline is valid? [True, True] Translation: X:363.70, Y:-14.48, Z:3.53 [[ 9.99933594e-01 -9.52006265e-03 -6.49429093e-03 3.63703658e+02] [ 9.52276830e-03 9.99954583e-01 3.85823176e-04 -1.44806573e+01] [ 6.49032292e-03 -4.47641183e-04 9.99978837e-01 3.53135936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.430714057 meters Centerline goodness [0,1] 0.981781790888621 Centerline is valid? [True, True] Translation: X:363.73, Y:-14.48, Z:3.53 [[ 9.99960210e-01 -6.09510371e-03 -6.51365343e-03 3.63733198e+02] [ 6.09775249e-03 9.99981334e-01 3.86867910e-04 -1.44829606e+01] [ 6.51117385e-03 -4.26571163e-04 9.99978711e-01 3.53118960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.460714057 meters Centerline goodness [0,1] 0.9819460886986613 Centerline is valid? [True, True] Translation: X:363.76, Y:-14.48, Z:3.53 [[ 9.99968823e-01 -3.88466005e-03 -6.87471510e-03 3.63763074e+02] [ 3.88755631e-03 9.99992360e-01 4.07978399e-04 -1.44772641e+01] [ 6.87307772e-03 -4.34691521e-04 9.99976286e-01 3.53210000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.490714057 meters Centerline goodness [0,1] 0.9821762319369103 Centerline is valid? [True, True] Translation: X:363.79, Y:-14.47, Z:3.53 [[ 9.99975194e-01 1.06225871e-03 -6.96292894e-03 3.63793439e+02] [-1.05940667e-03 9.99999353e-01 4.13278843e-04 -1.44725601e+01] [ 6.96336345e-03 -4.05892018e-04 9.99975673e-01 3.53341708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.520714057 meters Centerline goodness [0,1] 0.9820804894194992 Centerline is valid? [True, True] Translation: X:363.82, Y:-14.47, Z:3.53 [[ 9.99972065e-01 3.60644554e-03 -6.54700565e-03 3.63822239e+02] [-3.60398066e-03 9.99993430e-01 3.88248504e-04 -1.44733427e+01] [ 6.54836283e-03 -3.64642376e-04 9.99978493e-01 3.53336866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.550714057 meters Centerline goodness [0,1] 0.9823572374126991 Centerline is valid? [True, True] Translation: X:363.85, Y:-14.47, Z:3.53 [[ 9.99963972e-01 6.05044445e-03 -5.95368126e-03 3.63851962e+02] [-6.04845052e-03 9.99981646e-01 3.52855723e-04 -1.44728120e+01] [ 5.95570692e-03 -3.16832464e-04 9.99982214e-01 3.53368079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.580714057 meters Centerline goodness [0,1] 0.9833291580313831 Centerline is valid? [True, True] Translation: X:363.88, Y:-14.47, Z:3.53 [[ 9.99939877e-01 9.58599170e-03 -5.32462882e-03 3.63881829e+02] [-9.58444794e-03 9.99954018e-01 3.15370355e-04 -1.44680925e+01] [ 5.32740712e-03 -2.64317766e-04 9.99985774e-01 3.53428253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.610714057 meters Centerline goodness [0,1] 0.9836731897791885 Centerline is valid? [True, True] Translation: X:363.91, Y:-14.47, Z:3.53 [[ 9.99906762e-01 1.26777148e-02 -5.07376863e-03 3.63910771e+02] [-1.26763545e-02 9.99919607e-01 3.00190706e-04 -1.44666500e+01] [ 5.07716647e-03 -2.35845827e-04 9.99987083e-01 3.53409024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.640714057 meters Centerline goodness [0,1] 0.9838147126541592 Centerline is valid? [True, True] Translation: X:363.94, Y:-14.47, Z:3.53 [[ 9.99889725e-01 1.40045474e-02 -4.94069053e-03 3.63938731e+02] [-1.40032762e-02 9.99901907e-01 2.91786571e-04 -1.44679888e+01] [ 4.94429222e-03 -2.22568540e-04 9.99987752e-01 3.53354695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.670714057 meters Centerline goodness [0,1] 0.9835736905656939 Centerline is valid? [True, True] Translation: X:363.97, Y:-14.47, Z:3.53 [[ 9.99864810e-01 1.54321483e-02 -5.67551685e-03 3.63967477e+02] [-1.54304956e-02 9.99880887e-01 3.34864739e-04 -1.44663815e+01] [ 5.68000850e-03 -2.47243431e-04 9.99983838e-01 3.53427241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.700714057 meters Centerline goodness [0,1] 0.983517863257619 Centerline is valid? [True, True] Translation: X:364.00, Y:-14.47, Z:3.53 [[ 9.99842927e-01 1.66397686e-02 -6.10243751e-03 3.63996945e+02] [-1.66378860e-02 9.99861516e-01 3.59135671e-04 -1.44652889e+01] [ 6.10756836e-03 -2.57547600e-04 9.99981315e-01 3.53495814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.730714057 meters Centerline goodness [0,1] 0.9816709874016464 Centerline is valid? [True, True] Translation: X:364.02, Y:-14.47, Z:3.54 [[ 9.99868957e-01 1.52670134e-02 -5.38405140e-03 3.64024245e+02] [-1.52655302e-02 9.99883425e-01 3.16455466e-04 -1.44723464e+01] [ 5.38825509e-03 -2.34223597e-04 9.99985456e-01 3.53535307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76071405700003 meters Centerline goodness [0,1] 0.9833538559766498 Centerline is valid? [True, True] Translation: X:364.05, Y:-14.47, Z:3.54 [[ 9.99899464e-01 1.31937721e-02 -5.19475341e-03 3.64053985e+02] [-1.31923638e-02 9.99912930e-01 3.05275033e-04 -1.44702369e+01] [ 5.19832883e-03 -2.36713265e-04 9.99986461e-01 3.53645407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.790714057 meters Centerline goodness [0,1] 0.9831441504970314 Centerline is valid? [True, True] Translation: X:364.08, Y:-14.48, Z:3.54 [[ 9.99926803e-01 1.11043480e-02 -4.80433933e-03 3.64082522e+02] [-1.11031208e-02 9.99938319e-01 2.82027407e-04 -1.44758887e+01] [ 4.80717472e-03 -2.28663603e-04 9.99988419e-01 3.53611280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82071405700003 meters Centerline goodness [0,1] 0.982018072974757 Centerline is valid? [True, True] Translation: X:364.11, Y:-14.48, Z:3.53 [[ 9.99973818e-01 4.90156940e-03 -5.32338056e-03 3.64112805e+02] [-4.89997424e-03 9.99987946e-01 3.12653112e-04 -1.44837591e+01] [ 5.32484889e-03 -2.86560499e-04 9.99985782e-01 3.53463920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.850714057 meters Centerline goodness [0,1] 0.9811487882986214 Centerline is valid? [True, True] Translation: X:364.14, Y:-14.49, Z:3.53 [[ 9.99980387e-01 2.32956923e-03 -5.81362010e-03 3.64141386e+02] [-2.32762665e-03 9.99997233e-01 3.40886715e-04 -1.44890203e+01] [ 5.81439813e-03 -3.27348092e-04 9.99983043e-01 3.53354590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88071405700003 meters Centerline goodness [0,1] 0.9814148407962465 Centerline is valid? [True, True] Translation: X:364.17, Y:-14.50, Z:3.53 [[ 9.99971235e-01 -2.16238813e-03 -7.27003397e-03 3.64170421e+02] [ 2.16554592e-03 9.99997564e-01 4.26513400e-04 -1.44950090e+01] [ 7.26909398e-03 -4.42244724e-04 9.99973482e-01 3.53173677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.910714057 meters Centerline goodness [0,1] 0.982773942169663 Centerline is valid? [True, True] Translation: X:364.20, Y:-14.49, Z:3.53 [[ 9.99964590e-01 -3.33175459e-03 -7.72769747e-03 3.64199773e+02] [ 3.33535155e-03 9.99994335e-01 4.52621970e-04 -1.44913026e+01] [ 7.72614567e-03 -4.78380530e-04 9.99970038e-01 3.53247868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.940714057 meters Centerline goodness [0,1] 0.9824161288115493 Centerline is valid? [True, True] Translation: X:364.23, Y:-14.49, Z:3.53 [[ 9.99959590e-01 -4.87906424e-03 -7.55063633e-03 3.64228512e+02] [ 4.88253949e-03 9.99987983e-01 4.41894560e-04 -1.44935156e+01] [ 7.54838956e-03 -4.78742983e-04 9.99971396e-01 3.53325185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.970714057 meters Centerline goodness [0,1] 0.9817312968721419 Centerline is valid? [True, True] Translation: X:364.26, Y:-14.49, Z:3.53 [[ 9.99960625e-01 -5.26950669e-03 -7.14014278e-03 3.64258156e+02] [ 5.27262268e-03 9.99986012e-01 4.17649990e-04 -1.44917955e+01] [ 7.13784209e-03 -4.55280823e-04 9.99974422e-01 3.53496040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.000714057 meters Centerline goodness [0,1] 0.9816176470588235 Centerline is valid? [True, True] Translation: X:364.29, Y:-14.49, Z:3.54 [[ 9.99963550e-01 -5.96841146e-03 -6.10543935e-03 3.64286425e+02] [ 5.97070037e-03 9.99982112e-01 3.56738498e-04 -1.44949457e+01] [ 6.10320097e-03 -3.93179244e-04 9.99981298e-01 3.53563885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.030714057 meters Centerline goodness [0,1] 0.980344709508047 Centerline is valid? [True, True] Translation: X:364.32, Y:-14.50, Z:3.54 [[ 9.99957522e-01 -7.74579326e-03 -4.99560554e-03 3.64315969e+02] [ 7.74734776e-03 9.99969946e-01 2.91897798e-04 -1.44989867e+01] [ 4.99319442e-03 -3.30588093e-04 9.99987479e-01 3.53590901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.060714057 meters Centerline goodness [0,1] 0.9797497831149262 Centerline is valid? [True, True] Translation: X:364.35, Y:-14.50, Z:3.54 [[ 9.99948413e-01 -8.82118518e-03 -5.03560795e-03 3.64345963e+02] [ 8.82277911e-03 9.99961035e-01 2.94406394e-04 -1.45030334e+01] [ 5.03281473e-03 -3.38819263e-04 9.99987278e-01 3.53563247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.090714057 meters Centerline goodness [0,1] 0.9796398702070289 Centerline is valid? [True, True] Translation: X:364.38, Y:-14.51, Z:3.53 [[ 9.99925291e-01 -1.10047073e-02 -5.32056560e-03 3.64376662e+02] [ 1.10065186e-02 9.99939378e-01 3.11256832e-04 -1.45069521e+01] [ 5.31681776e-03 -3.69794482e-04 9.99985797e-01 3.53411161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.120714057 meters Centerline goodness [0,1] 0.9800173563533389 Centerline is valid? [True, True] Translation: X:364.41, Y:-14.51, Z:3.53 [[ 9.99909022e-01 -1.21769772e-02 -5.80244322e-03 3.64407148e+02] [ 1.21791514e-02 9.99925774e-01 3.39506141e-04 -1.45114411e+01] [ 5.79787837e-03 -4.10144088e-04 9.99983108e-01 3.53301469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.150714057 meters Centerline goodness [0,1] 0.9801499578386016 Centerline is valid? [True, True] Translation: X:364.44, Y:-14.51, Z:3.53 [[ 9.99872963e-01 -1.40578145e-02 -7.51231271e-03 3.64437827e+02] [ 1.40615125e-02 9.99901035e-01 4.39669891e-04 -1.45124413e+01] [ 7.50538846e-03 -5.45248516e-04 9.99971686e-01 3.53180718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.180714057 meters Centerline goodness [0,1] 0.9806195356906431 Centerline is valid? [True, True] Translation: X:364.47, Y:-14.51, Z:3.53 [[ 9.99866058e-01 -1.43948258e-02 -7.78814426e-03 3.64470188e+02] [ 1.43988160e-02 9.99896227e-01 4.56506225e-04 -1.45119559e+01] [ 7.78076474e-03 -5.68585136e-04 9.99969568e-01 3.53184345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.210714057 meters Centerline goodness [0,1] 0.9791642868565945 Centerline is valid? [True, True] Translation: X:364.50, Y:-14.52, Z:3.53 [[ 9.99858834e-01 -1.45569265e-02 -8.39098168e-03 3.64500472e+02] [ 1.45615672e-02 9.99893854e-01 4.92224023e-04 -1.45214710e+01] [ 8.38292574e-03 -6.14340382e-04 9.99964674e-01 3.53028394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.240714057 meters Centerline goodness [0,1] 0.9809556470050297 Centerline is valid? [True, True] Translation: X:364.53, Y:-14.52, Z:3.53 [[ 9.99863877e-01 -1.42971853e-02 -8.23512562e-03 3.64531914e+02] [ 1.43016484e-02 9.99897609e-01 4.83323367e-04 -1.45157148e+01] [ 8.22737225e-03 -6.01033447e-04 9.99965974e-01 3.53131268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.270714057 meters Centerline goodness [0,1] 0.9783181682748504 Centerline is valid? [True, True] Translation: X:364.56, Y:-14.52, Z:3.53 [[ 9.99879380e-01 -1.36933056e-02 -7.32935900e-03 3.64562099e+02] [ 1.36968291e-02 9.99906101e-01 4.30757612e-04 -1.45228523e+01] [ 7.32277229e-03 -5.31094632e-04 9.99973047e-01 3.53122831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.300714057 meters Centerline goodness [0,1] 0.9783181682748504 Centerline is valid? [True, True] Translation: X:364.59, Y:-14.52, Z:3.53 [[ 9.99880286e-01 -1.36269512e-02 -7.32933060e-03 3.64593819e+02] [ 1.36304765e-02 9.99907008e-01 4.31240691e-04 -1.45247839e+01] [ 7.32277254e-03 -5.31091334e-04 9.99973047e-01 3.53114469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.330714057 meters Centerline goodness [0,1] 0.9803374001419186 Centerline is valid? [True, True] Translation: X:364.63, Y:-14.52, Z:3.53 [[ 9.99880317e-01 -1.39315961e-02 -6.72776975e-03 3.64626763e+02] [ 1.39345766e-02 9.99902831e-01 3.96338218e-04 -1.45187534e+01] [ 6.72159440e-03 -4.90039406e-04 9.99977290e-01 3.53295070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.360714057 meters Centerline goodness [0,1] 0.9776356367789835 Centerline is valid? [True, True] Translation: X:364.66, Y:-14.53, Z:3.53 [[ 9.99874248e-01 -1.44935537e-02 -6.43627724e-03 3.64657656e+02] [ 1.44962950e-02 9.99894851e-01 3.79461462e-04 -1.45272925e+01] [ 6.43010073e-03 -4.72715917e-04 9.99979215e-01 3.53227129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.390714057 meters Centerline goodness [0,1] 0.9800077772948739 Centerline is valid? [True, True] Translation: X:364.69, Y:-14.52, Z:3.53 [[ 9.99841623e-01 -1.67593887e-02 -5.98762624e-03 3.64689196e+02] [ 1.67618017e-02 9.99859449e-01 3.53031600e-04 -1.45221839e+01] [ 5.98086808e-03 -4.53339091e-04 9.99982012e-01 3.53298732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.420714057 meters Centerline goodness [0,1] 0.9787321813264885 Centerline is valid? [True, True] Translation: X:364.72, Y:-14.53, Z:3.53 [[ 9.99783439e-01 -1.99745949e-02 -5.83877576e-03 3.64718218e+02] [ 1.99769446e-02 9.99800382e-01 3.44376668e-04 -1.45277134e+01] [ 5.83073145e-03 -4.60942988e-04 9.99982895e-01 3.53176194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.450714057 meters Centerline goodness [0,1] 0.9808532540317969 Centerline is valid? [True, True] Translation: X:364.75, Y:-14.52, Z:3.53 [[ 9.99743048e-01 -2.18049321e-02 -6.19544423e-03 3.64750208e+02] [ 2.18076142e-02 9.99762119e-01 3.65676364e-04 -1.45220631e+01] [ 6.18599690e-03 -5.00690260e-04 9.99980741e-01 3.53225091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.480714057 meters Centerline goodness [0,1] 0.981492523621686 Centerline is valid? [True, True] Translation: X:364.78, Y:-14.53, Z:3.53 [[ 9.99672742e-01 -2.46911661e-02 -6.68988866e-03 3.64781220e+02] [ 2.46943583e-02 9.99694970e-01 3.94972640e-04 -1.45255181e+01] [ 6.67809571e-03 -5.60045890e-04 9.99977544e-01 3.53198704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.51071405700003 meters Centerline goodness [0,1] 0.9794930611308637 Centerline is valid? [True, True] Translation: X:364.81, Y:-14.53, Z:3.53 [[ 9.99636111e-01 -2.60312644e-02 -7.07236948e-03 3.64811244e+02] [ 2.60348661e-02 9.99660948e-01 4.17663166e-04 -1.45311518e+01] [ 7.05909928e-03 -6.01639376e-04 9.99974903e-01 3.53140874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.540714057 meters Centerline goodness [0,1] 0.980201881165405 Centerline is valid? [True, True] Translation: X:364.84, Y:-14.53, Z:3.53 [[ 9.99605144e-01 -2.69816576e-02 -7.84519836e-03 3.64843727e+02] [ 2.69861240e-02 9.99635701e-01 4.63996877e-04 -1.45311906e+01] [ 7.82982095e-03 -6.75525161e-04 9.99969118e-01 3.53113485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.57071405700003 meters Centerline goodness [0,1] 0.9796612506607221 Centerline is valid? [True, True] Translation: X:364.87, Y:-14.53, Z:3.53 [[ 9.99562416e-01 -2.81710927e-02 -9.02028610e-03 3.64874528e+02] [ 2.81770454e-02 9.99602806e-01 5.33487013e-04 -1.45340517e+01] [ 9.00167438e-03 -7.87418578e-04 9.99959174e-01 3.52983669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.600714057 meters Centerline goodness [0,1] 0.9638925279827162 Centerline is valid? [True, True] Translation: X:364.90, Y:-14.55, Z:3.53 [[ 9.99560607e-01 -2.81708392e-02 -9.21937807e-03 3.64904600e+02] [ 2.81770629e-02 9.99602799e-01 5.45840651e-04 -1.45466870e+01] [ 9.20033933e-03 -8.05375808e-04 9.99957352e-01 3.52797062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.63071405700003 meters Centerline goodness [0,1] 0.9798834755482154 Centerline is valid? [True, True] Translation: X:364.94, Y:-14.54, Z:3.53 [[ 9.99583678e-01 -2.71261525e-02 -9.83069902e-03 3.64937102e+02] [ 2.71331859e-02 9.99631657e-01 5.82758742e-04 -1.45377527e+01] [ 9.81126996e-03 -8.49254311e-04 9.99951508e-01 3.52857386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.660714057 meters Centerline goodness [0,1] 0.980874756055562 Centerline is valid? [True, True] Translation: X:364.97, Y:-14.54, Z:3.53 [[ 9.99588367e-01 -2.68913628e-02 -9.99752618e-03 3.64969166e+02] [ 2.68986322e-02 9.99637990e-01 5.93342897e-04 -1.45385086e+01] [ 9.97795118e-03 -8.62018437e-04 9.99949847e-01 3.52843418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.690714057 meters Centerline goodness [0,1] 0.9794667342658954 Centerline is valid? [True, True] Translation: X:365.00, Y:-14.54, Z:3.53 [[ 9.99628558e-01 -2.55463434e-02 -9.49371303e-03 3.64999658e+02] [ 2.55528387e-02 9.99673314e-01 5.63480349e-04 -1.45403381e+01] [ 9.47621670e-03 -8.05862367e-04 9.99954775e-01 3.52844589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.720714057 meters Centerline goodness [0,1] 0.9777700751010976 Centerline is valid? [True, True] Translation: X:365.03, Y:-14.54, Z:3.53 [[ 9.99644590e-01 -2.48558231e-02 -9.63752026e-03 3.65031615e+02] [ 2.48624925e-02 9.99690716e-01 5.72808550e-04 -1.45416868e+01] [ 9.62030190e-03 -8.12217743e-04 9.99953394e-01 3.52816201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.750714057 meters Centerline goodness [0,1] 0.9780424865213585 Centerline is valid? [True, True] Translation: X:365.06, Y:-14.54, Z:3.53 [[ 9.99694944e-01 -2.28403619e-02 -9.39872576e-03 3.65061250e+02] [ 2.28466128e-02 9.99738826e-01 5.58236175e-04 -1.45412666e+01] [ 9.38352074e-03 -7.72794930e-04 9.99955675e-01 3.52789238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.780714057 meters Centerline goodness [0,1] 0.9775120059106022 Centerline is valid? [True, True] Translation: X:365.09, Y:-14.54, Z:3.53 [[ 9.99714083e-01 -2.20087648e-02 -9.34700527e-03 3.65093761e+02] [ 2.20149189e-02 9.99757488e-01 5.56016427e-04 -1.45421467e+01] [ 9.33250128e-03 -7.61631015e-04 9.99956161e-01 3.52759156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.810714057 meters Centerline goodness [0,1] 0.976477377654663 Centerline is valid? [True, True] Translation: X:365.12, Y:-14.54, Z:3.53 [[ 9.99767898e-01 -1.95649576e-02 -9.02011907e-03 3.65124267e+02] [ 1.95705884e-02 9.99808334e-01 5.36400153e-04 -1.45419289e+01] [ 9.00789557e-03 -7.12804691e-04 9.99959174e-01 3.52781881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.840714057 meters Centerline goodness [0,1] 0.9778738555442523 Centerline is valid? [True, True] Translation: X:365.16, Y:-14.54, Z:3.53 [[ 9.99787815e-01 -1.85954244e-02 -8.86200727e-03 3.65155828e+02] [ 1.86008251e-02 9.99826851e-01 5.27385570e-04 -1.45408792e+01] [ 8.85066586e-03 -6.92114314e-04 9.99960593e-01 3.52863813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.870714057 meters Centerline goodness [0,1] 0.9757414272474514 Centerline is valid? [True, True] Translation: X:365.19, Y:-14.54, Z:3.53 [[ 9.99814704e-01 -1.72195340e-02 -8.60500995e-03 3.65186665e+02] [ 1.72245778e-02 9.99851515e-01 5.12377965e-04 -1.45412832e+01] [ 8.59490932e-03 -6.60500686e-04 9.99962845e-01 3.52968425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.900714057 meters Centerline goodness [0,1] 0.9763856091123767 Centerline is valid? [True, True] Translation: X:365.22, Y:-14.54, Z:3.53 [[ 9.99827175e-01 -1.67216104e-02 -8.12450139e-03 3.65218489e+02] [ 1.67260954e-02 9.99859992e-01 4.84391033e-04 -1.45424927e+01] [ 8.11526410e-03 -6.20198503e-04 9.99966878e-01 3.53024049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.930714057 meters Centerline goodness [0,1] 0.9810446308569309 Centerline is valid? [True, True] Translation: X:365.25, Y:-14.53, Z:3.53 [[ 9.99828261e-01 -1.66275600e-02 -8.18369096e-03 3.65251627e+02] [ 1.66321123e-02 9.99861558e-01 4.88520992e-04 -1.45311436e+01] [ 8.17443508e-03 -6.24549161e-04 9.99966394e-01 3.53228289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.960714057 meters Centerline goodness [0,1] 0.980857917545364 Centerline is valid? [True, True] Translation: X:365.28, Y:-14.53, Z:3.53 [[ 9.99822694e-01 -1.70237636e-02 -8.04807635e-03 3.65284253e+02] [ 1.70281838e-02 9.99854894e-01 4.81006327e-04 -1.45316656e+01] [ 8.03871999e-03 -6.17965165e-04 9.99967498e-01 3.53197696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.990714057 meters Centerline goodness [0,1] 0.981064293329625 Centerline is valid? [True, True] Translation: X:365.32, Y:-14.53, Z:3.53 [[ 9.99813578e-01 -1.78291142e-02 -7.41156824e-03 3.65316731e+02] [ 1.78328888e-02 9.99840883e-01 4.43508251e-04 -1.45347072e+01] [ 7.40248157e-03 -5.75595244e-04 9.99972436e-01 3.53147254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.020714057 meters Centerline goodness [0,1] 0.9803703446198058 Centerline is valid? [True, True] Translation: X:365.35, Y:-14.54, Z:3.53 [[ 9.99807277e-01 -1.82621187e-02 -7.20438207e-03 3.65348831e+02] [ 1.82657001e-02 9.99833075e-01 4.31627809e-04 -1.45380338e+01] [ 7.19529704e-03 -5.63137707e-04 9.99973955e-01 3.53125518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.050714057 meters Centerline goodness [0,1] 0.9799297077321495 Centerline is valid? [True, True] Translation: X:365.38, Y:-14.54, Z:3.53 [[ 9.99786985e-01 -1.92653403e-02 -7.40479819e-03 3.65379213e+02] [ 1.92691523e-02 9.99814234e-01 4.43799124e-04 -1.45433668e+01] [ 7.39487269e-03 -5.86388772e-04 9.99972486e-01 3.53061257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.080714057 meters Centerline goodness [0,1] 0.979724719621837 Centerline is valid? [True, True] Translation: X:365.41, Y:-14.54, Z:3.53 [[ 9.99767608e-01 -2.00341665e-02 -7.96009165e-03 3.65411171e+02] [ 2.00386012e-02 9.99799093e-01 4.77735364e-04 -1.45436649e+01] [ 7.94892138e-03 -6.37133444e-04 9.99968204e-01 3.53073836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.110714057 meters Centerline goodness [0,1] 0.9793315743183817 Centerline is valid? [True, True] Translation: X:365.44, Y:-14.55, Z:3.53 [[ 9.99744642e-01 -2.08315336e-02 -8.75770960e-03 3.65442102e+02] [ 2.08369354e-02 9.99782749e-01 5.26003133e-04 -1.45499503e+01] [ 8.74484952e-03 -7.08352643e-04 9.99961512e-01 3.52992099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.140714057 meters Centerline goodness [0,1] 0.980097312326228 Centerline is valid? [True, True] Translation: X:365.47, Y:-14.55, Z:3.53 [[ 9.99744605e-01 -2.05691285e-02 -9.36134597e-03 3.65474167e+02] [ 2.05752958e-02 9.99788148e-01 5.62963668e-04 -1.45484957e+01] [ 9.34778308e-03 -7.55432353e-04 9.99956023e-01 3.52988820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.170714057 meters Centerline goodness [0,1] 0.9819371848836671 Centerline is valid? [True, True] Translation: X:365.51, Y:-14.55, Z:3.53 [[ 9.99756380e-01 -1.94489252e-02 -1.04364838e-02 3.65505782e+02] [ 1.94565350e-02 9.99810506e-01 6.28107447e-04 -1.45515331e+01] [ 1.04222901e-02 -8.31012239e-04 9.99945341e-01 3.52893027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.200714057 meters Centerline goodness [0,1] 0.981588430973942 Centerline is valid? [True, True] Translation: X:365.54, Y:-14.55, Z:3.53 [[ 9.99765385e-01 -1.86711380e-02 -1.09801698e-02 3.65537619e+02] [ 1.86795237e-02 9.99825304e-01 6.61647898e-04 -1.45537210e+01] [ 1.09658979e-02 -8.66597007e-04 9.99939497e-01 3.52856866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.230714057 meters Centerline goodness [0,1] 0.981202484702392 Centerline is valid? [True, True] Translation: X:365.57, Y:-14.56, Z:3.53 [[ 9.99818346e-01 -1.53731423e-02 -1.12668522e-02 3.65568521e+02] [ 1.53817630e-02 9.99881463e-01 6.78877220e-04 -1.45550223e+01] [ 1.12550802e-02 -8.52057950e-04 9.99936297e-01 3.52824837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26071405700003 meters Centerline goodness [0,1] 0.9813595731411544 Centerline is valid? [True, True] Translation: X:365.60, Y:-14.56, Z:3.53 [[ 9.99853578e-01 -1.27625467e-02 -1.13991456e-02 3.65599099e+02] [ 1.27712020e-02 9.99918209e-01 6.86820554e-04 -1.45557545e+01] [ 1.13894476e-02 -8.32300778e-04 9.99934792e-01 3.52820918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.290714057 meters Centerline goodness [0,1] 0.9824927536231884 Centerline is valid? [True, True] Translation: X:365.63, Y:-14.56, Z:3.53 [[ 9.99884710e-01 -9.51469231e-03 -1.18337188e-02 3.65629102e+02] [ 9.52379244e-03 9.99954394e-01 7.12883935e-04 -1.45560826e+01] [ 1.18263963e-02 -8.25503629e-04 9.99929725e-01 3.52820222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32071405700003 meters Centerline goodness [0,1] 0.9834749106438286 Centerline is valid? [True, True] Translation: X:365.66, Y:-14.55, Z:3.53 [[ 9.99931674e-01 -8.75513319e-04 -1.16568305e-02 3.65660257e+02] [ 8.83758386e-04 9.99999363e-01 7.02184069e-04 -1.45485210e+01] [ 1.16562083e-02 -7.12437912e-04 9.99931810e-01 3.52961157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.350714057 meters Centerline goodness [0,1] 0.9834160597485736 Centerline is valid? [True, True] Translation: X:365.69, Y:-14.55, Z:3.53 [[ 9.99896060e-01 1.02674510e-02 -1.01217017e-02 3.65689576e+02] [-1.02618044e-02 9.99947160e-01 6.09651185e-04 -1.45456763e+01] [ 1.01274264e-02 -5.05720895e-04 9.99948588e-01 3.53077766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38071405700003 meters Centerline goodness [0,1] 0.9846303863298663 Centerline is valid? [True, True] Translation: X:365.72, Y:-14.54, Z:3.53 [[ 9.99828375e-01 1.60022711e-02 -9.33526850e-03 3.65720598e+02] [-1.59977175e-02 9.99871870e-01 5.62257993e-04 -1.45414453e+01] [ 9.34306978e-03 -4.12818508e-04 9.99956267e-01 3.53241161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.410714057 meters Centerline goodness [0,1] 0.986326175275682 Centerline is valid? [True, True] Translation: X:365.75, Y:-14.54, Z:3.53 [[ 9.99599196e-01 2.71041858e-02 -8.17373076e-03 3.65751404e+02] [-2.71010654e-02 9.99632577e-01 4.92295830e-04 -1.45362562e+01] [ 8.18407083e-03 -2.70581704e-04 9.99966473e-01 3.53404708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.440714057 meters Centerline goodness [0,1] 0.9870550161812298 Centerline is valid? [True, True] Translation: X:365.78, Y:-14.54, Z:3.53 [[ 9.99457329e-01 3.21023947e-02 -7.38127423e-03 3.65781576e+02] [-3.20999875e-02 9.99484564e-01 4.44392794e-04 -1.45353837e+01] [ 7.39173573e-03 -2.07212825e-04 9.99972659e-01 3.53439911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.470714057 meters Centerline goodness [0,1] 0.9878906431931442 Centerline is valid? [True, True] Translation: X:365.81, Y:-14.54, Z:3.53 [[ 9.99316440e-01 3.61987543e-02 -7.50348727e-03 3.65810119e+02] [-3.61963871e-02 9.99344594e-01 4.51081682e-04 -1.45354807e+01] [ 7.51489804e-03 -1.79174211e-04 9.99971747e-01 3.53448562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.500714057 meters Centerline goodness [0,1] 0.9895716685330347 Centerline is valid? [True, True] Translation: X:365.84, Y:-14.54, Z:3.53 [[ 9.99112191e-01 4.14045238e-02 -7.77782028e-03 3.65839373e+02] [-4.14021550e-02 9.99142455e-01 4.65392385e-04 -1.45372260e+01] [ 7.79041980e-03 -1.42960686e-04 9.99969644e-01 3.53412071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.530714057 meters Centerline goodness [0,1] 0.9899323397428446 Centerline is valid? [True, True] Translation: X:365.87, Y:-14.54, Z:3.53 [[ 9.99084913e-01 4.19704967e-02 -8.23493135e-03 3.65866590e+02] [-4.19678630e-02 9.99118840e-01 4.92434623e-04 -1.45427545e+01] [ 8.24834278e-03 -1.46381532e-04 9.99965971e-01 3.53311822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.560714057 meters Centerline goodness [0,1] 0.9887450106748352 Centerline is valid? [True, True] Translation: X:365.89, Y:-14.55, Z:3.53 [[ 9.99140107e-01 4.04291694e-02 -9.19400813e-03 3.65894659e+02] [-4.04258452e-02 9.99182392e-01 5.47197073e-04 -1.45475707e+01] [ 9.20861375e-03 -1.75050992e-04 9.99957584e-01 3.53282865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.590714057 meters Centerline goodness [0,1] 0.9882657303889865 Centerline is valid? [True, True] Translation: X:365.92, Y:-14.56, Z:3.53 [[ 9.99327500e-01 3.53549647e-02 -9.72494140e-03 3.65924031e+02] [-3.53510029e-02 9.99374790e-01 5.79033513e-04 -1.45568891e+01] [ 9.73933298e-03 -2.34857681e-04 9.99952544e-01 3.53216478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.620714057 meters Centerline goodness [0,1] 0.9889104518990851 Centerline is valid? [True, True] Translation: X:365.95, Y:-14.56, Z:3.53 [[ 9.99444453e-01 3.17989179e-02 -9.98071405e-03 3.65953584e+02] [-3.17945713e-02 9.99494248e-01 5.93910608e-04 -1.45633792e+01] [ 9.99455201e-03 -2.76248138e-04 9.99950015e-01 3.53207739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.650714057 meters Centerline goodness [0,1] 0.9885751140185194 Centerline is valid? [True, True] Translation: X:365.98, Y:-14.57, Z:3.53 [[ 9.99558995e-01 2.77476487e-02 -1.05775222e-02 3.65982384e+02] [-2.77425465e-02 9.99614904e-01 6.28815763e-04 -1.45697091e+01] [ 1.05908969e-02 -3.35091052e-04 9.99943859e-01 3.53151410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.680714057 meters Centerline goodness [0,1] 0.9869789872545642 Centerline is valid? [True, True] Translation: X:366.01, Y:-14.58, Z:3.53 [[ 9.99754019e-01 1.94336109e-02 -1.06881662e-02 3.66010669e+02] [-1.94279304e-02 9.99811058e-01 6.35048863e-04 -1.45823033e+01] [ 1.06984881e-02 -4.27243703e-04 9.99942678e-01 3.53121214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.710714057 meters Centerline goodness [0,1] 0.9864787702989745 Centerline is valid? [True, True] Translation: X:366.04, Y:-14.59, Z:3.53 [[ 9.99829377e-01 1.53366432e-02 -1.02958516e-02 3.66040373e+02] [-1.53311567e-02 9.99882284e-01 6.11605069e-04 -1.45890360e+01] [ 1.03040195e-02 -4.53653401e-04 9.99946809e-01 3.53179916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.740714057 meters Centerline goodness [0,1] 0.9859531925602251 Centerline is valid? [True, True] Translation: X:366.07, Y:-14.60, Z:3.53 [[ 9.99940035e-01 7.30214071e-03 -8.16124137e-03 3.66069995e+02] [-7.29842605e-03 9.99973249e-01 4.84849553e-04 -1.46002750e+01] [ 8.16456349e-03 -4.25256262e-04 9.99966579e-01 3.53358539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.770714057 meters Centerline goodness [0,1] 0.9861433976024432 Centerline is valid? [True, True] Translation: X:366.10, Y:-14.61, Z:3.53 [[ 9.99979500e-01 -1.41566182e-04 -6.40158384e-03 3.66098600e+02] [ 1.44002773e-04 9.99999917e-01 3.80163864e-04 -1.46149131e+01] [ 6.40152950e-03 -3.81077916e-04 9.99979437e-01 3.53417637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.800714057 meters Centerline goodness [0,1] 0.9848917086975375 Centerline is valid? [True, True] Translation: X:366.13, Y:-14.62, Z:3.53 [[ 9.99974990e-01 -3.68165436e-03 -6.03863122e-03 3.66128499e+02] [ 3.68388611e-03 9.99993150e-01 3.58497313e-04 -1.46198197e+01] [ 6.03727000e-03 -3.80733976e-04 9.99981703e-01 3.53453802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.830714057 meters Centerline goodness [0,1] 0.9837291216907169 Centerline is valid? [True, True] Translation: X:366.16, Y:-14.63, Z:3.53 [[ 9.99961492e-01 -6.85371497e-03 -5.48088694e-03 3.66158391e+02] [ 6.85560039e-03 9.99976447e-01 3.25286113e-04 -1.46264967e+01] [ 5.47852843e-03 -3.62848357e-04 9.99984927e-01 3.53419941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.860714057 meters Centerline goodness [0,1] 0.9843356833586471 Centerline is valid? [True, True] Translation: X:366.19, Y:-14.63, Z:3.53 [[ 9.99912775e-01 -1.20686288e-02 -5.36574749e-03 3.66188667e+02] [ 1.20705109e-02 9.99927098e-01 3.18517214e-04 -1.46345116e+01] [ 5.36151225e-03 -3.83256745e-04 9.99985554e-01 3.53338880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.890714057 meters Centerline goodness [0,1] 0.9819964672313057 Centerline is valid? [True, True] Translation: X:366.22, Y:-14.64, Z:3.53 [[ 9.99852345e-01 -1.61761374e-02 -5.79836844e-03 3.66218791e+02] [ 1.61784040e-02 9.99869062e-01 3.44217498e-04 -1.46414736e+01] [ 5.79204111e-03 -4.37975020e-04 9.99983130e-01 3.53225493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.920714057 meters Centerline goodness [0,1] 0.9825105910604653 Centerline is valid? [True, True] Translation: X:366.25, Y:-14.64, Z:3.53 [[ 9.99819624e-01 -1.77982318e-02 -6.62892003e-03 3.66250066e+02] [ 1.78012319e-02 9.99841468e-01 3.93844997e-04 -1.46437633e+01] [ 6.62085939e-03 -5.11776900e-04 9.99977951e-01 3.53188628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.950714057 meters Centerline goodness [0,1] 0.8800415183867141 Centerline is valid? [True, False] Translation: X:366.30, Y:-14.65, Z:3.53 [[ 9.99712700e-01 -2.24052102e-02 -8.51610983e-03 3.66297260e+02] [ 2.23909925e-02 9.99747739e-01 -1.76121031e-03 -1.46460241e+01] [ 8.55342184e-03 1.57002016e-03 9.99962186e-01 3.53372087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.980714057 meters Centerline goodness [0,1] 0.9823794532647838 Centerline is valid? [False, True] Translation: X:366.23, Y:-14.65, Z:3.53 [[ 9.99776927e-01 -1.98200218e-02 -7.29821450e-03 3.66228622e+02] [ 1.98119848e-02 9.99803037e-01 -1.17188531e-03 -1.46451918e+01] [ 7.32000381e-03 1.02703178e-03 9.99972681e-01 3.53127496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.01071405700003 meters Centerline goodness [0,1] 0.9810377209060258 Centerline is valid? [True, True] Translation: X:366.26, Y:-14.66, Z:3.53 [[ 9.99756923e-01 -2.08607089e-02 -7.13624480e-03 3.66258501e+02] [ 2.08644105e-02 9.99782216e-01 4.44644427e-04 -1.46582565e+01] [ 7.12541504e-03 -5.93429885e-04 9.99974438e-01 3.52972524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.040714057 meters Centerline goodness [0,1] 0.9783398389025518 Centerline is valid? [True, True] Translation: X:366.29, Y:-14.66, Z:3.53 [[ 9.99723758e-01 -2.25796697e-02 -6.52430212e-03 3.66288296e+02] [ 2.25828043e-02 9.99744893e-01 4.07159026e-04 -1.46631253e+01] [ 6.51344421e-03 -5.54383589e-04 9.99978634e-01 3.52948894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.07071405700003 meters Centerline goodness [0,1] 0.9814452025490329 Centerline is valid? [True, True] Translation: X:366.32, Y:-14.66, Z:3.53 [[ 9.99720987e-01 -2.27316046e-02 -6.42052242e-03 3.66320443e+02] [ 2.27346451e-02 9.99741454e-01 4.00955144e-04 -1.46572052e+01] [ 6.40974807e-03 -5.46811571e-04 9.99979308e-01 3.53069486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.100714057 meters Centerline goodness [0,1] 0.9811610918877355 Centerline is valid? [True, True] Translation: X:366.35, Y:-14.66, Z:3.53 [[ 9.99734362e-01 -2.23230157e-02 -5.73480203e-03 3.66352092e+02] [ 2.23254374e-02 9.99750692e-01 3.58610008e-04 -1.46595264e+01] [ 5.72536705e-03 -4.86546712e-04 9.99983492e-01 3.53124339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.13071405700003 meters Centerline goodness [0,1] 0.9805573118959443 Centerline is valid? [True, True] Translation: X:366.38, Y:-14.66, Z:3.53 [[ 9.99768877e-01 -2.05861530e-02 -6.19707077e-03 3.66382313e+02] [ 2.05889473e-02 9.99787950e-01 3.87441671e-04 -1.46596615e+01] [ 6.18778075e-03 -5.14943288e-04 9.99980723e-01 3.53121385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.160714057 meters Centerline goodness [0,1] 0.9807505259110136 Centerline is valid? [True, True] Translation: X:366.41, Y:-14.66, Z:3.53 [[ 9.99784684e-01 -1.96963357e-02 -6.52999375e-03 3.66414267e+02] [ 1.96994224e-02 9.99805864e-01 4.08705673e-04 -1.46597697e+01] [ 6.52067604e-03 -5.37254777e-04 9.99978596e-01 3.53099300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.190714057 meters Centerline goodness [0,1] 0.9807505259110136 Centerline is valid? [True, True] Translation: X:366.45, Y:-14.66, Z:3.53 [[ 9.99786053e-01 -1.96266878e-02 -6.52996186e-03 3.66446003e+02] [ 1.96297763e-02 9.99807234e-01 4.09215106e-04 -1.46618189e+01] [ 6.52067156e-03 -5.37309246e-04 9.99978596e-01 3.53089281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.220714057 meters Centerline goodness [0,1] 0.9802519962901803 Centerline is valid? [True, True] Translation: X:366.48, Y:-14.66, Z:3.53 [[ 9.99795318e-01 -1.92474111e-02 -6.23379084e-03 3.66477966e+02] [ 1.92502212e-02 9.99814621e-01 3.91099333e-04 -1.46631130e+01] [ 6.22510757e-03 -5.11021134e-04 9.99980493e-01 3.53067168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.250714057 meters Centerline goodness [0,1] 0.9824191757855865 Centerline is valid? [True, True] Translation: X:366.51, Y:-14.66, Z:3.53 [[ 9.99815463e-01 -1.82885376e-02 -5.87949448e-03 3.66510401e+02] [ 1.82910235e-02 9.99832637e-01 3.69312145e-04 -1.46594094e+01] [ 5.87175629e-03 -4.76785965e-04 9.99982647e-01 3.53163560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.280714057 meters Centerline goodness [0,1] 0.9801357242371129 Centerline is valid? [True, True] Translation: X:366.54, Y:-14.67, Z:3.53 [[ 9.99820782e-01 -1.81050406e-02 -5.53269731e-03 3.66541549e+02] [ 1.81072405e-02 9.99835990e-01 3.47780958e-04 -1.46651428e+01] [ 5.52549331e-03 -4.47900511e-04 9.99984634e-01 3.53105085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.310714057 meters Centerline goodness [0,1] 0.9816311702465828 Centerline is valid? [True, True] Translation: X:366.57, Y:-14.66, Z:3.53 [[ 9.99818779e-01 -1.80447367e-02 -6.06606233e-03 3.66573798e+02] [ 1.80473831e-02 9.99837060e-01 3.81792843e-04 -1.46602993e+01] [ 6.05818458e-03 -4.91200204e-04 9.99981528e-01 3.53121158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.340714057 meters Centerline goodness [0,1] 0.9812168231931401 Centerline is valid? [True, True] Translation: X:366.61, Y:-14.66, Z:3.53 [[ 9.99825006e-01 -1.74806442e-02 -6.66222904e-03 3.66605394e+02] [ 1.74838269e-02 9.99847058e-01 4.19769247e-04 -1.46626522e+01] [ 6.65387227e-03 -5.36177049e-04 9.99977719e-01 3.53083147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.370714057 meters Centerline goodness [0,1] 0.9769805341783613 Centerline is valid? [True, True] Translation: X:366.64, Y:-14.67, Z:3.53 [[ 9.99834240e-01 -1.70199027e-02 -6.46656226e-03 3.66635493e+02] [ 1.70228934e-02 9.99855017e-01 4.07733365e-04 -1.46739155e+01] [ 6.45868514e-03 -5.17745379e-04 9.99979008e-01 3.53018174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.400714057 meters Centerline goodness [0,1] 0.9800621498400889 Centerline is valid? [True, True] Translation: X:366.67, Y:-14.66, Z:3.53 [[ 9.99846166e-01 -1.65387542e-02 -5.84077587e-03 3.66668009e+02] [ 1.65411879e-02 9.99863117e-01 3.68603391e-04 -1.46637367e+01] [ 5.83388013e-03 -4.65160058e-04 9.99982875e-01 3.53174555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.430714057 meters Centerline goodness [0,1] 0.9803200544773578 Centerline is valid? [True, True] Translation: X:366.70, Y:-14.66, Z:3.53 [[ 9.99852379e-01 -1.63099348e-02 -5.40436771e-03 3.66700519e+02] [ 1.63120175e-02 9.99866892e-01 3.41525402e-04 -1.46630503e+01] [ 5.39807808e-03 -4.29631126e-04 9.99985338e-01 3.53200056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.460714057 meters Centerline goodness [0,1] 0.9795955464667121 Centerline is valid? [True, True] Translation: X:366.73, Y:-14.67, Z:3.53 [[ 9.99842972e-01 -1.70423009e-02 -4.85717901e-03 3.66731702e+02] [ 1.70439930e-02 9.99854693e-01 3.07172051e-04 -1.46662207e+01] [ 4.85123831e-03 -3.89909541e-04 9.99988157e-01 3.53139243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.490714057 meters Centerline goodness [0,1] 0.9802916562719706 Centerline is valid? [True, True] Translation: X:366.76, Y:-14.67, Z:3.53 [[ 9.99848022e-01 -1.67110931e-02 -4.96711387e-03 3.66763459e+02] [ 1.67128605e-02 9.99860281e-01 3.14532547e-04 -1.46672731e+01] [ 4.96116368e-03 -3.97499426e-04 9.99987614e-01 3.53097072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.520714057 meters Centerline goodness [0,1] 0.9798742994577179 Centerline is valid? [True, True] Translation: X:366.79, Y:-14.67, Z:3.53 [[ 9.99848775e-01 -1.65676417e-02 -5.28587754e-03 3.66794060e+02] [ 1.65696424e-02 9.99862658e-01 3.34927149e-04 -1.46705926e+01] [ 5.27960262e-03 -4.22461600e-04 9.99985974e-01 3.53051806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.550714057 meters Centerline goodness [0,1] 0.9795226502241132 Centerline is valid? [True, True] Translation: X:366.83, Y:-14.67, Z:3.53 [[ 9.99839712e-01 -1.68776449e-02 -5.97449170e-03 3.66826511e+02] [ 1.68802090e-02 9.99857447e-01 3.79010194e-04 -1.46714437e+01] [ 5.96724322e-03 -4.79800111e-04 9.99982081e-01 3.53022623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.580714057 meters Centerline goodness [0,1] 0.9762538382804503 Centerline is valid? [True, True] Translation: X:366.86, Y:-14.68, Z:3.53 [[ 9.99845511e-01 -1.67452585e-02 -5.34325196e-03 3.66856949e+02] [ 1.67473089e-02 9.99859696e-01 3.39212261e-04 -1.46782959e+01] [ 5.33682208e-03 -4.28644947e-04 9.99985667e-01 3.52964445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.610714057 meters Centerline goodness [0,1] 0.9790660592255125 Centerline is valid? [True, True] Translation: X:366.89, Y:-14.67, Z:3.53 [[ 9.99841817e-01 -1.70344537e-02 -5.11555596e-03 3.66889228e+02] [ 1.70363389e-02 9.99854818e-01 3.25172525e-04 -1.46737490e+01] [ 5.10927414e-03 -4.12271433e-04 9.99986863e-01 3.53033985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.640714057 meters Centerline goodness [0,1] 0.9788436987050885 Centerline is valid? [True, True] Translation: X:366.92, Y:-14.68, Z:3.53 [[ 9.99831533e-01 -1.74481260e-02 -5.69815245e-03 3.66920250e+02] [ 1.74504729e-02 9.99847663e-01 3.62419959e-04 -1.46763335e+01] [ 5.69096086e-03 -4.61794359e-04 9.99983700e-01 3.52994039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.670714057 meters Centerline goodness [0,1] 0.9778480292933658 Centerline is valid? [True, True] Translation: X:366.95, Y:-14.68, Z:3.53 [[ 9.99799346e-01 -1.89742328e-02 -6.42227452e-03 3.66950034e+02] [ 1.89772493e-02 9.99819832e-01 4.09072217e-04 -1.46787989e+01] [ 6.41335561e-03 -5.30867240e-04 9.99979293e-01 3.52841249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.700714057 meters Centerline goodness [0,1] 0.9761915600673738 Centerline is valid? [True, True] Translation: X:366.98, Y:-14.68, Z:3.53 [[ 9.99765580e-01 -2.05383329e-02 -6.85281608e-03 3.66980776e+02] [ 2.05418032e-02 9.99788900e-01 4.36391554e-04 -1.46811187e+01] [ 6.84240669e-03 -5.77058454e-04 9.99976424e-01 3.52734934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.730714057 meters Centerline goodness [0,1] 0.9749737646575718 Centerline is valid? [True, True] Translation: X:367.01, Y:-14.68, Z:3.53 [[ 9.99756551e-01 -2.09506514e-02 -6.92161741e-03 3.67012377e+02] [ 2.09542047e-02 9.99780339e-01 4.41230304e-04 -1.46840532e+01] [ 6.91085294e-03 -5.86159875e-04 9.99975948e-01 3.52664904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76071405700003 meters Centerline goodness [0,1] 0.9690218011642506 Centerline is valid? [True, True] Translation: X:367.04, Y:-14.69, Z:3.53 [[ 9.99734546e-01 -2.16375717e-02 -7.91534069e-03 3.67043249e+02] [ 2.16422428e-02 9.99765652e-01 5.04952691e-04 -1.46857404e+01] [ 7.90255979e-03 -6.76124375e-04 9.99968546e-01 3.52601626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.790714057 meters Centerline goodness [0,1] 0.9642203932327389 Centerline is valid? [True, True] Translation: X:367.07, Y:-14.69, Z:3.53 [[ 9.99745528e-01 -2.10829034e-02 -8.02437962e-03 3.67074106e+02] [ 2.10876896e-02 9.99777499e-01 5.12304130e-04 -1.46886850e+01] [ 8.01179333e-03 -6.81389390e-04 9.99967673e-01 3.52557002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82071405700003 meters Centerline goodness [0,1] 0.9659492890887098 Centerline is valid? [True, True] Translation: X:367.11, Y:-14.69, Z:3.53 [[ 9.99760315e-01 -2.04258312e-02 -7.88018074e-03 3.67106021e+02] [ 2.04304298e-02 9.99791150e-01 5.03492658e-04 -1.46879297e+01] [ 7.86825071e-03 -6.64367458e-04 9.99968824e-01 3.52573977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.850714057 meters Centerline goodness [0,1] 0.9674288722561744 Centerline is valid? [True, True] Translation: X:367.14, Y:-14.69, Z:3.53 [[ 9.99797513e-01 -1.86582339e-02 -7.53673547e-03 3.67137395e+02] [ 1.86623919e-02 9.99825726e-01 4.81744428e-04 -1.46864189e+01] [ 7.52643352e-03 -6.22300392e-04 9.99971482e-01 3.52616634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88071405700003 meters Centerline goodness [0,1] 0.9806166195384475 Centerline is valid? [True, True] Translation: X:367.17, Y:-14.67, Z:3.53 [[ 9.99822591e-01 -1.73307459e-02 -7.37772159e-03 3.67170081e+02] [ 1.73346965e-02 9.99849632e-01 4.71862575e-04 -1.46697785e+01] [ 7.36843448e-03 -5.99669427e-04 9.99972673e-01 3.52832801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.910714057 meters Centerline goodness [0,1] 0.9778536876131961 Centerline is valid? [True, True] Translation: X:367.20, Y:-14.68, Z:3.53 [[ 9.99823907e-01 -1.74311735e-02 -6.95049612e-03 3.67200535e+02] [ 1.74346852e-02 9.99847905e-01 4.44974542e-04 -1.46752844e+01] [ 6.94168256e-03 -5.66075897e-04 9.99975746e-01 3.52737812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.940714057 meters Centerline goodness [0,1] 0.9783597518952447 Centerline is valid? [True, True] Translation: X:367.23, Y:-14.67, Z:3.53 [[ 9.99811414e-01 -1.82053836e-02 -6.76020825e-03 3.67232743e+02] [ 1.82087268e-02 9.99834113e-01 4.33331813e-04 -1.46738378e+01] [ 6.75119785e-03 -5.56344878e-04 9.99977056e-01 3.52742896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.970714057 meters Centerline goodness [0,1] 0.9789715335169881 Centerline is valid? [True, True] Translation: X:367.26, Y:-14.67, Z:3.53 [[ 9.99803360e-01 -1.86656075e-02 -6.69607459e-03 3.67264752e+02] [ 1.86689012e-02 9.99825629e-01 4.29702263e-04 -1.46746169e+01] [ 6.68688633e-03 -5.54626121e-04 9.99977489e-01 3.52698226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.000714057 meters Centerline goodness [0,1] 0.9774080117671393 Centerline is valid? [True, True] Translation: X:367.30, Y:-14.68, Z:3.53 [[ 9.99782210e-01 -1.95369368e-02 -7.33763668e-03 3.67297150e+02] [ 1.95409188e-02 9.99808947e-01 4.71371094e-04 -1.46776445e+01] [ 7.32702565e-03 -6.14652597e-04 9.99972968e-01 3.52629481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.030714057 meters Centerline goodness [0,1] 0.6597542242703534 Centerline is valid? [True, False] Translation: X:367.34, Y:-14.68, Z:3.53 [[ 9.99693555e-01 -2.31720583e-02 -8.70932753e-03 3.67344607e+02] [ 2.31590133e-02 9.99730521e-01 -1.59571130e-03 -1.46770364e+01] [ 8.74395646e-03 1.39352287e-03 9.99960800e-01 3.52767930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.060714057 meters Centerline goodness [0,1] 0.9782348058655354 Centerline is valid? [False, True] Translation: X:367.27, Y:-14.67, Z:3.53 [[ 9.99740598e-01 -2.09209311e-02 -9.00282164e-03 3.67271993e+02] [ 2.09144067e-02 9.99780935e-01 -8.18253556e-04 -1.46731927e+01] [ 9.01796806e-03 6.29752627e-04 9.99959139e-01 3.52585514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.090714057 meters Centerline goodness [0,1] 0.9776734336877964 Centerline is valid? [True, True] Translation: X:367.30, Y:-14.67, Z:3.53 [[ 9.99728398e-01 -2.13272146e-02 -9.39570385e-03 3.67304414e+02] [ 2.13339974e-02 9.99772211e-01 6.22265458e-04 -1.46747426e+01] [ 9.38029242e-03 -8.22544372e-04 9.99955666e-01 3.52522138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.120714057 meters Centerline goodness [0,1] 0.9742967431754617 Centerline is valid? [True, True] Translation: X:367.34, Y:-14.68, Z:3.52 [[ 9.99721461e-01 -2.16035504e-02 -9.50194329e-03 3.67335035e+02] [ 2.16105040e-02 9.99766267e-01 6.29736474e-04 -1.46803832e+01] [ 9.48611783e-03 -8.34902852e-04 9.99954657e-01 3.52473708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.150714057 meters Centerline goodness [0,1] 0.974648994980686 Centerline is valid? [True, True] Translation: X:367.37, Y:-14.68, Z:3.53 [[ 9.99731578e-01 -2.11675298e-02 -9.41848547e-03 3.67367230e+02] [ 2.11743494e-02 9.99775603e-01 6.24921905e-04 -1.46812109e+01] [ 9.40314393e-03 -8.24184464e-04 9.99955450e-01 3.52502173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.180714057 meters Centerline goodness [0,1] 0.9760639526824084 Centerline is valid? [True, True] Translation: X:367.40, Y:-14.68, Z:3.53 [[ 9.99748869e-01 -2.04139303e-02 -9.24505608e-03 3.67399908e+02] [ 2.04204752e-02 9.99791292e-01 6.14078876e-04 -1.46784601e+01] [ 9.23059080e-03 -8.02713100e-04 9.99957075e-01 3.52548522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.210714057 meters Centerline goodness [0,1] 0.9762820215870663 Centerline is valid? [True, True] Translation: X:367.43, Y:-14.68, Z:3.53 [[ 9.99793180e-01 -1.85367847e-02 -8.36563705e-03 3.67430498e+02] [ 1.85420764e-02 9.99827927e-01 5.55426983e-04 -1.46752154e+01] [ 8.35390172e-03 -7.10428391e-04 9.99964853e-01 3.52658755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.240714057 meters Centerline goodness [0,1] 0.9714729328883945 Centerline is valid? [True, True] Translation: X:367.46, Y:-14.68, Z:3.53 [[ 9.99836868e-01 -1.63265549e-02 -7.72535490e-03 3.67460316e+02] [ 1.63310020e-02 9.99866509e-01 5.12916176e-04 -1.46832711e+01] [ 7.71594948e-03 -6.38995289e-04 9.99970027e-01 3.52625705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.270714057 meters Centerline goodness [0,1] 0.9760916448299052 Centerline is valid? [True, True] Translation: X:367.49, Y:-14.68, Z:3.53 [[ 9.99863043e-01 -1.49303935e-02 -7.13992090e-03 3.67492238e+02] [ 1.49341595e-02 9.99888367e-01 4.74432117e-04 -1.46762606e+01] [ 7.13204039e-03 -5.80995858e-04 9.99974398e-01 3.52759145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.300714057 meters Centerline goodness [0,1] 0.9764132327336041 Centerline is valid? [True, True] Translation: X:367.52, Y:-14.68, Z:3.53 [[ 9.99896178e-01 -1.29283784e-02 -6.36324381e-03 3.67523190e+02] [ 1.29313297e-02 9.99916297e-01 4.22885491e-04 -1.46765962e+01] [ 6.35724397e-03 -5.05126790e-04 9.99979665e-01 3.52784508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.330714057 meters Centerline goodness [0,1] 0.9758963403306706 Centerline is valid? [True, True] Translation: X:367.55, Y:-14.68, Z:3.53 [[ 9.99907319e-01 -1.19639674e-02 -6.49752542e-03 3.67554611e+02] [ 1.19670263e-02 9.99928299e-01 4.32103905e-04 -1.46763373e+01] [ 6.49188986e-03 -5.09819914e-04 9.99978798e-01 3.52789795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.360714057 meters Centerline goodness [0,1] 0.9755071689168777 Centerline is valid? [True, True] Translation: X:367.58, Y:-14.68, Z:3.53 [[ 9.99923795e-01 -1.04006795e-02 -6.65061554e-03 3.67584913e+02] [ 1.04038502e-02 9.99945781e-01 4.42334359e-04 -1.46811281e+01] [ 6.64565437e-03 -5.11492658e-04 9.99977787e-01 3.52709491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.390714057 meters Centerline goodness [0,1] 0.9761234320821018 Centerline is valid? [True, True] Translation: X:367.62, Y:-14.68, Z:3.53 [[ 9.99926793e-01 -9.77049069e-03 -7.13761832e-03 3.67616938e+02] [ 9.77413035e-03 9.99952119e-01 4.75221583e-04 -1.46797879e+01] [ 7.13263341e-03 -5.44950805e-04 9.99974414e-01 3.52696537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.420714057 meters Centerline goodness [0,1] 0.9773071104387292 Centerline is valid? [True, True] Translation: X:367.65, Y:-14.68, Z:3.53 [[ 9.99927206e-01 -9.04188282e-03 -7.98919740e-03 3.67648226e+02] [ 9.04642124e-03 9.99958939e-01 5.32114165e-04 -1.46797688e+01] [ 7.98405804e-03 -6.04349075e-04 9.99967944e-01 3.52671085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.450714057 meters Centerline goodness [0,1] 0.975723970831489 Centerline is valid? [True, True] Translation: X:367.68, Y:-14.68, Z:3.52 [[ 9.99920885e-01 -7.96557509e-03 -9.73516762e-03 3.67678309e+02] [ 7.97227092e-03 9.99968010e-01 6.49184022e-04 -1.46813192e+01] [ 9.72968507e-03 -7.26744055e-04 9.99952401e-01 3.52489163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.480714057 meters Centerline goodness [0,1] 0.9777545084351367 Centerline is valid? [True, True] Translation: X:367.71, Y:-14.68, Z:3.52 [[ 9.99912926e-01 -7.54565647e-03 -1.08260313e-02 3.67707964e+02] [ 7.55390394e-03 9.99971209e-01 7.21129391e-04 -1.46834438e+01] [ 1.08202782e-02 -8.02845399e-04 9.99941137e-01 3.52341205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.51071405700003 meters Centerline goodness [0,1] 0.9770242727441171 Centerline is valid? [True, True] Translation: X:367.74, Y:-14.69, Z:3.52 [[ 9.99912594e-01 -7.50977231e-03 -1.08815194e-02 3.67736104e+02] [ 7.51809555e-03 9.99971476e-01 7.24192323e-04 -1.46868215e+01] [ 1.08757705e-02 -8.05937327e-04 9.99940532e-01 3.52258507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.540714057 meters Centerline goodness [0,1] 0.9780288909599254 Centerline is valid? [True, True] Translation: X:367.77, Y:-14.68, Z:3.52 [[ 9.99892053e-01 -8.72857921e-03 -1.18192541e-02 3.67765827e+02] [ 8.73847954e-03 9.99961510e-01 7.86259625e-04 -1.46848468e+01] [ 1.18119362e-02 -8.89457060e-04 9.99929841e-01 3.52285634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.57071405700003 meters Centerline goodness [0,1] 0.9764755303507666 Centerline is valid? [True, True] Translation: X:367.79, Y:-14.69, Z:3.52 [[ 9.99881633e-01 -8.78311933e-03 -1.26323704e-02 3.67793791e+02] [ 8.79442396e-03 9.99960976e-01 8.39622123e-04 -1.46924824e+01] [ 1.26245029e-02 -9.50617160e-04 9.99919856e-01 3.52131473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.600714057 meters Centerline goodness [0,1] 0.9776942121735881 Centerline is valid? [True, True] Translation: X:367.82, Y:-14.69, Z:3.52 [[ 9.99881272e-01 -8.94582915e-03 -1.25464408e-02 3.67822908e+02] [ 8.95694587e-03 9.99959541e-01 8.30133690e-04 -1.46879001e+01] [ 1.25385069e-02 -9.42412921e-04 9.99920946e-01 3.52254125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.63071405700003 meters Centerline goodness [0,1] 0.9771106590914405 Centerline is valid? [True, True] Translation: X:367.85, Y:-14.70, Z:3.52 [[ 9.99886500e-01 -8.88851723e-03 -1.21647635e-02 3.67850663e+02] [ 8.89896432e-03 9.99960079e-01 8.04938982e-04 -1.46955615e+01] [ 1.21571231e-02 -9.13101418e-04 9.99925683e-01 3.52161709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.660714057 meters Centerline goodness [0,1] 0.976001494070408 Centerline is valid? [True, True] Translation: X:367.88, Y:-14.69, Z:3.52 [[ 9.99912086e-01 -8.48148445e-03 -1.01924253e-02 3.67880037e+02] [ 8.48876780e-03 9.99963744e-01 6.71534414e-04 -1.46936763e+01] [ 1.01863602e-02 -7.57996508e-04 9.99947830e-01 3.52408511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.690714057 meters Centerline goodness [0,1] 0.9750461459379892 Centerline is valid? [True, True] Translation: X:367.91, Y:-14.69, Z:3.53 [[ 9.99928448e-01 -8.19204060e-03 -8.71724440e-03 3.67909528e+02] [ 8.19735965e-03 9.99966236e-01 5.74620542e-04 -1.46939414e+01] [ 8.71224276e-03 -6.46037814e-04 9.99961839e-01 3.52546547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.720714057 meters Centerline goodness [0,1] 0.9757004537162636 Centerline is valid? [True, True] Translation: X:367.94, Y:-14.69, Z:3.53 [[ 9.99936367e-01 -8.30147724e-03 -7.63857260e-03 3.67939960e+02] [ 8.30556536e-03 9.99965381e-01 5.03627460e-04 -1.46897898e+01] [ 7.63412731e-03 -5.67038076e-04 9.99970699e-01 3.52791004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.750714057 meters Centerline goodness [0,1] 0.9749848322210295 Centerline is valid? [True, True] Translation: X:367.97, Y:-14.69, Z:3.53 [[ 9.99933525e-01 -9.01954067e-03 -7.18285756e-03 3.67969807e+02] [ 9.02317260e-03 9.99959178e-01 4.73391723e-04 -1.46923357e+01] [ 7.17829457e-03 -5.38172418e-04 9.99974091e-01 3.52753180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.780714057 meters Centerline goodness [0,1] 0.9739730836746635 Centerline is valid? [True, True] Translation: X:368.00, Y:-14.70, Z:3.53 [[ 9.99908506e-01 -1.10103289e-02 -7.85827081e-03 3.68000094e+02] [ 1.10147393e-02 9.99939202e-01 5.18176093e-04 -1.46968850e+01] [ 7.85208775e-03 -6.04685487e-04 9.99968989e-01 3.52619664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.810714057 meters Centerline goodness [0,1] 0.9731867103416004 Centerline is valid? [True, True] Translation: X:368.03, Y:-14.70, Z:3.52 [[ 9.99886412e-01 -1.25603368e-02 -8.33075978e-03 3.68030824e+02] [ 1.25653480e-02 9.99920902e-01 5.49470006e-04 -1.47018602e+01] [ 8.32319931e-03 -6.54086489e-04 9.99965148e-01 3.52496804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.840714057 meters Centerline goodness [0,1] 0.9718290119131044 Centerline is valid? [True, True] Translation: X:368.06, Y:-14.71, Z:3.52 [[ 9.99829313e-01 -1.58869500e-02 -9.43127126e-03 3.68061178e+02] [ 1.58935195e-02 9.99873497e-01 6.22022025e-04 -1.47061032e+01] [ 9.42019614e-03 -7.71811948e-04 9.99955331e-01 3.52393586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.870714057 meters Centerline goodness [0,1] 0.9724168535127056 Centerline is valid? [True, True] Translation: X:368.09, Y:-14.71, Z:3.52 [[ 9.99797902e-01 -1.74551047e-02 -9.97366409e-03 3.68091818e+02] [ 1.74625313e-02 9.99847302e-01 6.58017933e-04 -1.47082344e+01] [ 9.96065535e-03 -8.32050371e-04 9.99950045e-01 3.52358698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.900714057 meters Centerline goodness [0,1] 0.9650537634408602 Centerline is valid? [True, True] Translation: X:368.12, Y:-14.72, Z:3.52 [[ 9.99775539e-01 -1.81379744e-02 -1.09492232e-02 3.68122194e+02] [ 1.81469841e-02 9.99835068e-01 7.24064807e-04 -1.47160438e+01] [ 1.09342843e-02 -9.22597662e-04 9.99939793e-01 3.52235939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.930714057 meters Centerline goodness [0,1] 0.966689247588124 Centerline is valid? [True, True] Translation: X:368.15, Y:-14.72, Z:3.52 [[ 9.99808549e-01 -1.60919700e-02 -1.11316969e-02 3.68153071e+02] [ 1.61011543e-02 9.99870097e-01 7.35926866e-04 -1.47180794e+01] [ 1.11184083e-02 -9.15019140e-04 9.99937770e-01 3.52102613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.960714057 meters Centerline goodness [0,1] 0.9758790913131975 Centerline is valid? [True, True] Translation: X:368.18, Y:-14.71, Z:3.52 [[ 9.99834857e-01 -1.43132550e-02 -1.11977618e-02 3.68184795e+02] [ 1.43224401e-02 9.99897154e-01 7.40496770e-04 -1.47096754e+01] [ 1.11860112e-02 -9.00753755e-04 9.99937029e-01 3.52270963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.990714057 meters Centerline goodness [0,1] 0.9723549807890545 Centerline is valid? [True, True] Translation: X:368.21, Y:-14.72, Z:3.52 [[ 9.99877936e-01 -1.19928070e-02 -1.00142618e-02 3.68214420e+02] [ 1.20000368e-02 9.99927778e-01 6.62173936e-04 -1.47157212e+01] [ 1.00055972e-02 -7.82264618e-04 9.99949637e-01 3.52200746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.020714057 meters Centerline goodness [0,1] 0.9780686322801586 Centerline is valid? [True, True] Translation: X:368.25, Y:-14.70, Z:3.52 [[ 9.99910668e-01 -9.78599730e-03 -9.10443955e-03 3.68246221e+02] [ 9.79188421e-03 9.99951877e-01 6.02246009e-04 -1.47039138e+01] [ 9.09810784e-03 -6.91341827e-04 9.99958372e-01 3.52435671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.050714057 meters Centerline goodness [0,1] 0.9784860370622637 Centerline is valid? [True, True] Translation: X:368.28, Y:-14.71, Z:3.52 [[ 9.99918794e-01 -8.78758872e-03 -9.22951358e-03 3.68277218e+02] [ 8.79359773e-03 9.99961149e-01 6.10683956e-04 -1.47060339e+01] [ 9.22378857e-03 -6.91794995e-04 9.99957221e-01 3.52401453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.080714057 meters Centerline goodness [0,1] 0.9777366361228937 Centerline is valid? [True, True] Translation: X:368.31, Y:-14.71, Z:3.52 [[ 9.99927736e-01 -7.16563955e-03 -9.65280985e-03 3.68306866e+02] [ 7.17213658e-03 9.99974076e-01 6.38621886e-04 -1.47093591e+01] [ 9.64798347e-03 -7.07807007e-04 9.99953207e-01 3.52295036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.110714057 meters Centerline goodness [0,1] 0.9777366361228937 Centerline is valid? [True, True] Translation: X:368.34, Y:-14.71, Z:3.52 [[ 9.99927483e-01 -7.20081991e-03 -9.65284098e-03 3.68336036e+02] [ 7.20731404e-03 9.99973823e-01 6.38151140e-04 -1.47112582e+01] [ 9.64799309e-03 -7.07675919e-04 9.99953207e-01 3.52284115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.140714057 meters Centerline goodness [0,1] 0.9777219587774074 Centerline is valid? [True, True] Translation: X:368.37, Y:-14.71, Z:3.52 [[ 9.99930669e-01 -6.90236531e-03 -9.54011790e-03 3.68365394e+02] [ 6.90869191e-03 9.99975936e-01 6.30360158e-04 -1.47128804e+01] [ 9.53553735e-03 -6.96226190e-04 9.99954293e-01 3.52263047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.170714057 meters Centerline goodness [0,1] 0.9777585075466392 Centerline is valid? [True, True] Translation: X:368.40, Y:-14.72, Z:3.52 [[ 9.99928913e-01 -7.34696206e-03 -9.39098350e-03 3.68395037e+02] [ 7.35310878e-03 9.99972773e-01 6.20174981e-04 -1.47159782e+01] [ 9.38617141e-03 -6.89183818e-04 9.99955711e-01 3.52252765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.200714057 meters Centerline goodness [0,1] 0.9754796443612541 Centerline is valid? [True, True] Translation: X:368.42, Y:-14.72, Z:3.52 [[ 9.99917259e-01 -8.85382271e-03 -9.33190812e-03 3.68423113e+02] [ 8.85995242e-03 9.99960560e-01 6.15718365e-04 -1.47238327e+01] [ 9.32608861e-03 -6.98347682e-04 9.99956267e-01 3.52205690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.230714057 meters Centerline goodness [0,1] 0.9745425616547335 Centerline is valid? [True, True] Translation: X:368.45, Y:-14.73, Z:3.52 [[ 9.99890388e-01 -1.07679827e-02 -1.01618047e-02 3.68452300e+02] [ 1.07753492e-02 9.99941719e-01 6.70453540e-04 -1.47300243e+01] [ 1.01539930e-02 -7.79877044e-04 9.99948143e-01 3.52067946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26071405700003 meters Centerline goodness [0,1] 0.9774462504098552 Centerline is valid? [True, True] Translation: X:368.48, Y:-14.73, Z:3.52 [[ 9.99871465e-01 -1.19268370e-02 -1.07146940e-02 3.68483071e+02] [ 1.19350939e-02 9.99928524e-01 7.06998284e-04 -1.47282464e+01] [ 1.07054959e-02 -8.34788289e-04 9.99942346e-01 3.52031012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.290714057 meters Centerline goodness [0,1] 0.9760259582613567 Centerline is valid? [True, True] Translation: X:368.51, Y:-14.73, Z:3.52 [[ 9.99848327e-01 -1.34243871e-02 -1.10953979e-02 3.68512562e+02] [ 1.34333328e-02 9.99909501e-01 7.32118648e-04 -1.47330378e+01] [ 1.10845656e-02 -8.81055779e-04 9.99938176e-01 3.51935011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32071405700003 meters Centerline goodness [0,1] 0.9775663448533184 Centerline is valid? [True, True] Translation: X:368.54, Y:-14.73, Z:3.52 [[ 9.99840426e-01 -1.39764092e-02 -1.11257662e-02 3.68543163e+02] [ 1.39854379e-02 9.99901929e-01 7.34122467e-04 -1.47331358e+01] [ 1.11144147e-02 -8.89604031e-04 9.99937837e-01 3.52032912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.350714057 meters Centerline goodness [0,1] 0.9760276370766322 Centerline is valid? [True, True] Translation: X:368.57, Y:-14.74, Z:3.52 [[ 9.99844076e-01 -1.44962062e-02 -1.00838666e-02 3.68573559e+02] [ 1.45036516e-02 9.99894595e-01 6.65616561e-04 -1.47401421e+01] [ 1.00731548e-02 -8.11765663e-04 9.99948935e-01 3.52052033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38071405700003 meters Centerline goodness [0,1] 0.9768639328984157 Centerline is valid? [True, True] Translation: X:368.60, Y:-14.74, Z:3.52 [[ 9.99848432e-01 -1.47960998e-02 -9.17547050e-03 3.68604804e+02] [ 1.48022804e-02 9.99890257e-01 6.06048152e-04 -1.47402937e+01] [ 9.16549640e-03 -7.41774181e-04 9.99957721e-01 3.52159690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.410714057 meters Centerline goodness [0,1] 0.9756392375639238 Centerline is valid? [True, True] Translation: X:368.64, Y:-14.75, Z:3.52 [[ 9.99859168e-01 -1.49699937e-02 -7.58579093e-03 3.68636163e+02] [ 1.49742268e-02 9.99887754e-01 5.01534511e-04 -1.47462245e+01] [ 7.57743149e-03 -6.15055233e-04 9.99971102e-01 3.52181254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.440714057 meters Centerline goodness [0,1] 0.9740826753367394 Centerline is valid? [True, True] Translation: X:368.67, Y:-14.75, Z:3.52 [[ 9.99856334e-01 -1.52291006e-02 -7.44221272e-03 3.68666760e+02] [ 1.52331850e-02 9.99883847e-01 4.92428751e-04 -1.47511164e+01] [ 7.43384904e-03 -6.05726609e-04 9.99972185e-01 3.52171616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.470714057 meters Centerline goodness [0,1] 0.9774804026160768 Centerline is valid? [True, True] Translation: X:368.70, Y:-14.75, Z:3.52 [[ 9.99851137e-01 -1.57701940e-02 -7.00029431e-03 3.68699657e+02] [ 1.57738250e-02 9.99875478e-01 4.63787732e-04 -1.47470602e+01] [ 6.99210860e-03 -5.74140109e-04 9.99975390e-01 3.52238412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.500714057 meters Centerline goodness [0,1] 0.9738621314560535 Centerline is valid? [True, True] Translation: X:368.73, Y:-14.76, Z:3.52 [[ 9.99837377e-01 -1.62895057e-02 -7.73764205e-03 3.68730284e+02] [ 1.62939599e-02 9.99867113e-01 5.12958498e-04 -1.47591939e+01] [ 7.72825798e-03 -6.38951908e-04 9.99969932e-01 3.52078684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.530714057 meters Centerline goodness [0,1] 0.9769050437527563 Centerline is valid? [True, True] Translation: X:368.76, Y:-14.76, Z:3.52 [[ 9.99828921e-01 -1.63667423e-02 -8.61732715e-03 3.68762360e+02] [ 1.63722753e-02 9.99865802e-01 5.71921451e-04 -1.47587964e+01] [ 8.60681023e-03 -7.12908860e-04 9.99962707e-01 3.52080420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.560714057 meters Centerline goodness [0,1] 0.9776875797286327 Centerline is valid? [True, True] Translation: X:368.80, Y:-14.76, Z:3.52 [[ 9.99830193e-01 -1.60013885e-02 -9.14007512e-03 3.68795238e+02] [ 1.60076061e-02 9.99871686e-01 6.07504923e-04 -1.47572149e+01] [ 9.12918139e-03 -7.53712487e-04 9.99958044e-01 3.52123631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.590714057 meters Centerline goodness [0,1] 0.9768526035022614 Centerline is valid? [True, True] Translation: X:368.83, Y:-14.77, Z:3.52 [[ 9.99849716e-01 -1.43098007e-02 -9.78643414e-03 3.68825804e+02] [ 1.43168496e-02 9.99897297e-01 6.50594313e-04 -1.47653481e+01] [ 9.77611917e-03 -7.90607446e-04 9.99951900e-01 3.51957708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.620714057 meters Centerline goodness [0,1] 0.979229449673142 Centerline is valid? [True, True] Translation: X:368.86, Y:-14.76, Z:3.52 [[ 9.99870561e-01 -1.27850193e-02 -9.76750747e-03 3.68857102e+02] [ 1.27919697e-02 9.99917969e-01 6.49442484e-04 -1.47619682e+01] [ 9.75840310e-03 -7.74304081e-04 9.99952086e-01 3.52025487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.650714057 meters Centerline goodness [0,1] 0.9776005194082455 Centerline is valid? [True, True] Translation: X:368.89, Y:-14.77, Z:3.52 [[ 9.99936818e-01 -6.94771207e-03 -8.83680465e-03 3.68886826e+02] [ 6.95317439e-03 9.99975654e-01 5.87560937e-04 -1.47669383e+01] [ 8.83250730e-03 -6.48967658e-04 9.99960782e-01 3.52010234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.680714057 meters Centerline goodness [0,1] 0.979165218197409 Centerline is valid? [True, True] Translation: X:368.92, Y:-14.76, Z:3.52 [[ 9.99958366e-01 -3.51355369e-03 -8.42145447e-03 3.68918034e+02] [ 3.51839244e-03 9.99993654e-01 5.59827630e-04 -1.47606859e+01] [ 8.41943404e-03 -5.89434304e-04 9.99964382e-01 3.52166646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.710714057 meters Centerline goodness [0,1] 0.9799222948607589 Centerline is valid? [True, True] Translation: X:368.95, Y:-14.76, Z:3.52 [[ 9.99967283e-01 4.43975826e-03 -6.76175350e-03 3.68949358e+02] [-4.43681867e-03 9.99990056e-01 4.49676090e-04 -1.47560379e+01] [ 6.76368272e-03 -4.19660704e-04 9.99977038e-01 3.52377394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.740714057 meters Centerline goodness [0,1] 0.9804186046511628 Centerline is valid? [True, True] Translation: X:368.98, Y:-14.75, Z:3.53 [[ 9.99950106e-01 8.10568193e-03 -5.83808485e-03 3.68979763e+02] [-8.10355405e-03 9.99967090e-01 3.88044676e-04 -1.47536082e+01] [ 5.84103808e-03 -3.40716079e-04 9.99982883e-01 3.52506004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.770714057 meters Centerline goodness [0,1] 0.9825471807879366 Centerline is valid? [True, True] Translation: X:369.01, Y:-14.75, Z:3.53 [[ 9.99919804e-01 1.15646942e-02 -5.16180737e-03 3.69009737e+02] [-1.15630781e-02 9.99933087e-01 3.42814832e-04 -1.47530154e+01] [ 5.16542652e-03 -2.83100958e-04 9.99986619e-01 3.52614540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.800714057 meters Centerline goodness [0,1] 0.9821370347943547 Centerline is valid? [True, True] Translation: X:369.04, Y:-14.75, Z:3.53 [[ 9.99852036e-01 1.67326366e-02 -3.99049390e-03 3.69039696e+02] [-1.67317120e-02 9.99859980e-01 2.64966475e-04 -1.47526071e+01] [ 3.99436874e-03 -1.98159474e-04 9.99992003e-01 3.52687673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.830714057 meters Centerline goodness [0,1] 0.9820962327489743 Centerline is valid? [True, True] Translation: X:369.07, Y:-14.75, Z:3.53 [[ 9.99809475e-01 1.90852080e-02 -4.09483703e-03 3.69068868e+02] [-1.90842574e-02 9.99817842e-01 2.71090215e-04 -1.47527587e+01] [ 4.09926493e-03 -1.92891642e-04 9.99991579e-01 3.52565224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.860714057 meters Centerline goodness [0,1] 0.9837483678418205 Centerline is valid? [True, True] Translation: X:369.10, Y:-14.75, Z:3.53 [[ 9.99802305e-01 1.95083382e-02 -3.84399029e-03 3.69097703e+02] [-1.95075043e-02 9.99809678e-01 2.54337078e-04 -1.47545028e+01] [ 3.84822039e-03 -1.79300139e-04 9.99992579e-01 3.52526161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.890714057 meters Centerline goodness [0,1] 0.9832784511548611 Centerline is valid? [True, True] Translation: X:369.13, Y:-14.76, Z:3.52 [[ 9.99819449e-01 1.84825892e-02 -4.41172431e-03 3.69125236e+02] [-1.84814825e-02 9.99829160e-01 2.91481610e-04 -1.47589223e+01] [ 4.41635795e-03 -2.09893777e-04 9.99990226e-01 3.52388800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.920714057 meters Centerline goodness [0,1] 0.9822936783080108 Centerline is valid? [True, True] Translation: X:369.15, Y:-14.76, Z:3.52 [[ 9.99838008e-01 1.72472001e-02 -5.14701866e-03 3.69152471e+02] [-1.72456795e-02 9.99851225e-01 3.39671623e-04 -1.47628837e+01] [ 5.15211129e-03 -2.50852765e-04 9.99986696e-01 3.52278755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.950714057 meters Centerline goodness [0,1] 0.9828996109312024 Centerline is valid? [True, True] Translation: X:369.18, Y:-14.77, Z:3.52 [[ 9.99875157e-01 1.43771355e-02 -6.55507674e-03 3.69181523e+02] [-1.43746085e-02 9.99896586e-01 4.32456946e-04 -1.47653920e+01] [ 6.56061635e-03 -3.38176294e-04 9.99978422e-01 3.52217394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.980714057 meters Centerline goodness [0,1] 0.982302945628129 Centerline is valid? [True, True] Translation: X:369.21, Y:-14.77, Z:3.52 [[ 9.99890742e-01 1.28701178e-02 -7.27072186e-03 3.69210289e+02] [-1.28669718e-02 9.99917102e-01 4.79304498e-04 -1.47700097e+01] [ 7.27628784e-03 -3.85699957e-04 9.99973453e-01 3.52166990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.01071405700003 meters Centerline goodness [0,1] 0.9820569436374201 Centerline is valid? [True, True] Translation: X:369.24, Y:-14.78, Z:3.52 [[ 9.99919854e-01 1.02297502e-02 -7.45908522e-03 3.69237863e+02] [-1.02263702e-02 9.99947589e-01 4.91129852e-04 -1.47793803e+01] [ 7.46371841e-03 -4.14811123e-04 9.99972060e-01 3.52084760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.040714057 meters Centerline goodness [0,1] 0.9804945118967164 Centerline is valid? [True, True] Translation: X:369.27, Y:-14.78, Z:3.52 [[ 9.99930792e-01 9.30583988e-03 -7.19811435e-03 3.69266571e+02] [-9.30267192e-03 9.99956617e-01 4.73465790e-04 -1.47835471e+01] [ 7.20220807e-03 -4.06471326e-04 9.99973981e-01 3.52098329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.07071405700003 meters Centerline goodness [0,1] 0.9803671003717472 Centerline is valid? [True, True] Translation: X:369.30, Y:-14.79, Z:3.52 [[ 9.99954728e-01 8.03700961e-03 -5.09398965e-03 3.69295057e+02] [-8.03540877e-03 9.99967660e-01 3.34648702e-04 -1.47879682e+01] [ 5.09651449e-03 -2.93701263e-04 9.99986970e-01 3.52188925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.100714057 meters Centerline goodness [0,1] 0.9802470859216863 Centerline is valid? [True, True] Translation: X:369.32, Y:-14.79, Z:3.52 [[ 9.99965327e-01 7.13862332e-03 -4.28771349e-03 3.69324092e+02] [-7.13748232e-03 9.99974488e-01 2.81353135e-04 -1.47905797e+01] [ 4.28961258e-03 -2.50739901e-04 9.99990768e-01 3.52237908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.13071405700003 meters Centerline goodness [0,1] 0.9791903491474307 Centerline is valid? [True, True] Translation: X:369.35, Y:-14.80, Z:3.52 [[ 9.99972229e-01 6.41727026e-03 -3.78948118e-03 3.69351673e+02] [-6.41637539e-03 9.99979384e-01 2.48254747e-04 -1.47953212e+01] [ 3.79099617e-03 -2.23933119e-04 9.99992789e-01 3.52263653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.160714057 meters Centerline goodness [0,1] 0.9787248835430716 Centerline is valid? [True, True] Translation: X:369.38, Y:-14.80, Z:3.52 [[ 9.99975645e-01 5.83496215e-03 -3.82928962e-03 3.69380468e+02] [-5.83404486e-03 9.99982950e-01 2.50672798e-04 -1.47980195e+01] [ 3.83068699e-03 -2.28326445e-04 9.99992637e-01 3.52249979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.190714057 meters Centerline goodness [0,1] 0.9806540764624597 Centerline is valid? [True, True] Translation: X:369.41, Y:-14.80, Z:3.52 [[ 9.99977335e-01 5.54370266e-03 -3.82059511e-03 3.69409765e+02] [-5.54278850e-03 9.99984607e-01 2.49817435e-04 -1.47950246e+01] [ 3.82192122e-03 -2.28635022e-04 9.99992670e-01 3.52275631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.220714057 meters Centerline goodness [0,1] 0.9788203195449606 Centerline is valid? [True, True] Translation: X:369.44, Y:-14.81, Z:3.52 [[ 9.99977529e-01 4.88110784e-03 -4.59519603e-03 3.69436319e+02] [-4.87978103e-03 9.99988049e-01 2.99904396e-04 -1.48073036e+01] [ 4.59660498e-03 -2.77474107e-04 9.99989397e-01 3.52093919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.250714057 meters Centerline goodness [0,1] 0.981207960612995 Centerline is valid? [True, True] Translation: X:369.47, Y:-14.80, Z:3.52 [[ 9.99969967e-01 4.22519880e-03 -6.49715757e-03 3.69465346e+02] [-4.22253373e-03 9.99990995e-01 4.23853178e-04 -1.47999403e+01] [ 6.49888992e-03 -3.96405981e-04 9.99978803e-01 3.52084656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.280714057 meters Centerline goodness [0,1] 0.981940787954367 Centerline is valid? [True, True] Translation: X:369.49, Y:-14.80, Z:3.52 [[ 9.99966942e-01 3.92684200e-03 -7.12000656e-03 3.69493517e+02] [-3.92363738e-03 9.99992195e-01 4.63998814e-04 -1.48035120e+01] [ 7.12177304e-03 -4.36047151e-04 9.99974545e-01 3.52023964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.310714057 meters Centerline goodness [0,1] 0.9777321869021 Centerline is valid? [True, True] Translation: X:369.52, Y:-14.82, Z:3.52 [[ 9.99957191e-01 3.87918025e-03 -8.40053274e-03 3.69520434e+02] [-3.87472489e-03 9.99992344e-01 5.46576193e-04 -1.48219255e+01] [ 8.40258869e-03 -5.14003041e-04 9.99964566e-01 3.51588513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.340714057 meters Centerline goodness [0,1] 0.9814486615876815 Centerline is valid? [True, True] Translation: X:369.55, Y:-14.81, Z:3.52 [[ 9.99954265e-01 4.04077918e-03 -8.66833077e-03 3.69549649e+02] [-4.03604568e-03 9.99991696e-01 5.63491743e-04 -1.48109523e+01] [ 8.67053574e-03 -5.28480192e-04 9.99962271e-01 3.51821383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.370714057 meters Centerline goodness [0,1] 0.9815765352887259 Centerline is valid? [True, True] Translation: X:369.58, Y:-14.81, Z:3.52 [[ 9.99945498e-01 6.45289174e-03 -8.20738849e-03 3.69577963e+02] [-6.44873237e-03 9.99979065e-01 5.33146961e-04 -1.48137982e+01] [ 8.21065700e-03 -4.80190652e-04 9.99966177e-01 3.51849506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.400714057 meters Centerline goodness [0,1] 0.9834362329524512 Centerline is valid? [True, True] Translation: X:369.61, Y:-14.81, Z:3.52 [[ 9.99937430e-01 8.37018620e-03 -7.42133735e-03 3.69608196e+02] [-8.36683820e-03 9.99964881e-01 4.82064779e-04 -1.48137766e+01] [ 7.42511169e-03 -4.19941488e-04 9.99972345e-01 3.51924442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.430714057 meters Centerline goodness [0,1] 0.9828467489408731 Centerline is valid? [True, True] Translation: X:369.64, Y:-14.81, Z:3.52 [[ 9.99888981e-01 1.32699696e-02 -6.77743688e-03 3.69637448e+02] [-1.32672907e-02 9.99911889e-01 4.40077375e-04 -1.48141182e+01] [ 6.78267953e-03 -3.50110293e-04 9.99976936e-01 3.52018053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.460714057 meters Centerline goodness [0,1] 0.983234305190917 Centerline is valid? [True, True] Translation: X:369.67, Y:-14.81, Z:3.52 [[ 9.99851251e-01 1.59746412e-02 -6.50284438e-03 3.69667621e+02] [-1.59722349e-02 9.99872347e-01 4.21807557e-04 -1.48116424e+01] [ 6.50875250e-03 -3.17879856e-04 9.99978767e-01 3.52075832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.490714057 meters Centerline goodness [0,1] 0.9831583804360364 Centerline is valid? [True, True] Translation: X:369.70, Y:-14.81, Z:3.52 [[ 9.99763011e-01 2.10711951e-02 -5.47047260e-03 3.69696728e+02] [-2.10695686e-02 9.99777949e-01 3.54787905e-04 -1.48148280e+01] [ 5.47673368e-03 -2.39443327e-04 9.99984974e-01 3.52040866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.520714057 meters Centerline goodness [0,1] 0.9841778720852458 Centerline is valid? [True, True] Translation: X:369.72, Y:-14.82, Z:3.52 [[ 9.99729328e-01 2.26140469e-02 -5.46581466e-03 3.69724951e+02] [-2.26124492e-02 9.99744243e-01 3.53938576e-04 -1.48162798e+01] [ 5.47242073e-03 -2.30247318e-04 9.99985000e-01 3.52032857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.550714057 meters Centerline goodness [0,1] 0.9844131325689552 Centerline is valid? [True, True] Translation: X:369.75, Y:-14.81, Z:3.52 [[ 9.99701765e-01 2.38914246e-02 -5.05784447e-03 3.69754178e+02] [-2.38900748e-02 9.99714538e-01 3.27129468e-04 -1.48149378e+01] [ 5.06421624e-03 -2.06199624e-04 9.99987156e-01 3.52054030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.580714057 meters Centerline goodness [0,1] 0.9844467928689579 Centerline is valid? [True, True] Translation: X:369.78, Y:-14.82, Z:3.52 [[ 9.99744467e-01 2.18971350e-02 -5.61397265e-03 3.69782504e+02] [-2.18954417e-02 9.99760200e-01 3.62897566e-04 -1.48219608e+01] [ 5.62057283e-03 -2.39884422e-04 9.99984176e-01 3.51896455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.610714057 meters Centerline goodness [0,1] 0.9828199188017525 Centerline is valid? [True, True] Translation: X:369.81, Y:-14.83, Z:3.52 [[ 9.99778412e-01 2.02234220e-02 -5.84298731e-03 3.69811015e+02] [-2.02215620e-02 9.99795452e-01 3.77229548e-04 -1.48252748e+01] [ 5.84942101e-03 -2.58991628e-04 9.99982858e-01 3.51849067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.640714057 meters Centerline goodness [0,1] 0.983391066963364 Centerline is valid? [True, True] Translation: X:369.84, Y:-14.83, Z:3.52 [[ 9.99818035e-01 1.80090091e-02 -6.29060607e-03 3.69840352e+02] [-1.80068099e-02 9.99837782e-01 4.06062286e-04 -1.48300292e+01] [ 6.29689840e-03 -2.92714649e-04 9.99980131e-01 3.51803941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.670714057 meters Centerline goodness [0,1] 0.9833897684634392 Centerline is valid? [True, True] Translation: X:369.87, Y:-14.84, Z:3.52 [[ 9.99894823e-01 1.30445711e-02 -6.33893148e-03 3.69870469e+02] [-1.30422387e-02 9.99914863e-01 4.09142431e-04 -1.48367456e+01] [ 6.34372889e-03 -3.26425541e-04 9.99979825e-01 3.51800701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.700714057 meters Centerline goodness [0,1] 0.9834676680710753 Centerline is valid? [True, True] Translation: X:369.90, Y:-14.85, Z:3.52 [[ 9.99946092e-01 8.00228106e-03 -6.61633125e-03 3.69899384e+02] [-7.99962945e-03 9.99967911e-01 4.27134525e-04 -1.48452864e+01] [ 6.61953699e-03 -3.74183301e-04 9.99978021e-01 3.51704406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.730714057 meters Centerline goodness [0,1] 0.9827061649319455 Centerline is valid? [True, True] Translation: X:369.93, Y:-14.85, Z:3.52 [[ 9.99958109e-01 5.46378751e-03 -7.34355408e-03 3.69928688e+02] [-5.46045564e-03 9.99984979e-01 4.73687939e-04 -1.48499573e+01] [ 7.34603191e-03 -4.33568944e-04 9.99972924e-01 3.51584953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76071405700003 meters Centerline goodness [0,1] 0.9816075671723634 Centerline is valid? [True, True] Translation: X:369.96, Y:-14.86, Z:3.51 [[ 9.99964774e-01 3.06953378e-03 -7.81209106e-03 3.69957127e+02] [-3.06569396e-03 9.99995174e-01 5.03450714e-04 -1.48571625e+01] [ 7.81359871e-03 -4.79483499e-04 9.99969358e-01 3.51462327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.790714057 meters Centerline goodness [0,1] 0.9811402706656913 Centerline is valid? [True, True] Translation: X:369.99, Y:-14.86, Z:3.51 [[ 9.99966258e-01 -1.06697629e-03 -8.14521658e-03 3.69987685e+02] [ 1.07128842e-03 9.99999288e-01 5.25061636e-04 -1.48618687e+01] [ 8.14465055e-03 -5.33769796e-04 9.99966689e-01 3.51447549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82071405700003 meters Centerline goodness [0,1] 0.8852990068624526 Centerline is valid? [True, False] Translation: X:370.05, Y:-14.86, Z:3.52 [[ 9.99936672e-01 -7.51026965e-03 -8.38141987e-03 3.70050321e+02] [ 7.48825367e-03 9.99968438e-01 -2.65505865e-03 -1.48628136e+01] [ 8.40109554e-03 2.59212831e-03 9.99961350e-01 3.51633639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.850714057 meters Centerline goodness [0,1] 0.9798614762155119 Centerline is valid? [False, True] Translation: X:369.97, Y:-14.86, Z:3.52 [[ 9.99936722e-01 -8.10360505e-03 -7.80278793e-03 3.69965892e+02] [ 8.11150469e-03 9.99966620e-01 9.81297856e-04 -1.48606215e+01] [ 7.79457542e-03 -1.04452811e-03 9.99969076e-01 3.51502520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88071405700003 meters Centerline goodness [0,1] 0.979742047215386 Centerline is valid? [True, True] Translation: X:370.00, Y:-14.86, Z:3.52 [[ 9.99923196e-01 -9.96056445e-03 -7.37490269e-03 3.69996482e+02] [ 9.96429391e-03 9.99950245e-01 4.69125585e-04 -1.48612342e+01] [ 7.36986300e-03 -5.42575253e-04 9.99972695e-01 3.51552205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.910714057 meters Centerline goodness [0,1] 0.9774696707105719 Centerline is valid? [True, True] Translation: X:370.03, Y:-14.87, Z:3.51 [[ 9.99894700e-01 -1.27168490e-02 -6.99071800e-03 3.70025851e+02] [ 1.27202702e-02 9.99918995e-01 4.45137874e-04 -1.48693393e+01] [ 6.98449096e-03 -5.34014823e-04 9.99975466e-01 3.51464170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.940714057 meters Centerline goodness [0,1] 0.9747828267858364 Centerline is valid? [True, True] Translation: X:370.06, Y:-14.87, Z:3.51 [[ 9.99864405e-01 -1.47617728e-02 -7.29810826e-03 3.70055581e+02] [ 1.47655583e-02 9.99890875e-01 4.65086655e-04 -1.48733887e+01] [ 7.29044635e-03 -5.72784234e-04 9.99973260e-01 3.51420846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.970714057 meters Centerline goodness [0,1] 0.9736662262517655 Centerline is valid? [True, True] Translation: X:370.09, Y:-14.88, Z:3.51 [[ 9.99846545e-01 -1.56819109e-02 -7.80794086e-03 3.70086477e+02] [ 1.56862716e-02 9.99876839e-01 4.97572248e-04 -1.48752119e+01] [ 7.79917634e-03 -6.19973374e-04 9.99969394e-01 3.51425686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.000714057 meters Centerline goodness [0,1] 0.9736662262517655 Centerline is valid? [True, True] Translation: X:370.12, Y:-14.88, Z:3.51 [[ 9.99847582e-01 -1.56156620e-02 -7.80789595e-03 3.70118204e+02] [ 1.56200262e-02 9.99877876e-01 4.98276622e-04 -1.48773010e+01] [ 7.79916150e-03 -6.20160215e-04 9.99969394e-01 3.51413704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.030714057 meters Centerline goodness [0,1] 0.9684196135617936 Centerline is valid? [True, True] Translation: X:370.15, Y:-14.88, Z:3.51 [[ 9.99833099e-01 -1.67754500e-02 -7.23589381e-03 3.70148134e+02] [ 1.67792280e-02 9.99859112e-01 4.61722337e-04 -1.48813396e+01] [ 7.22712876e-03 -5.83057987e-04 9.99973714e-01 3.51406365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.060714057 meters Centerline goodness [0,1] 0.9784270890223922 Centerline is valid? [True, True] Translation: X:370.18, Y:-14.87, Z:3.52 [[ 9.99829909e-01 -1.69495304e-02 -7.27097620e-03 3.70180481e+02] [ 1.69533549e-02 9.99856174e-01 4.64673144e-04 -1.48736269e+01] [ 7.26205445e-03 -5.87861547e-04 9.99973458e-01 3.51518865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.090714057 meters Centerline goodness [0,1] 0.9783427280403478 Centerline is valid? [True, True] Translation: X:370.21, Y:-14.88, Z:3.51 [[ 9.99808098e-01 -1.79909616e-02 -7.75187793e-03 3.70212332e+02] [ 1.79953438e-02 9.99837948e-01 4.95927515e-04 -1.48763892e+01] [ 7.74169951e-03 -6.35330055e-04 9.99969831e-01 3.51430136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.120714057 meters Centerline goodness [0,1] 0.9781979064516865 Centerline is valid? [True, True] Translation: X:370.24, Y:-14.88, Z:3.51 [[ 9.99801250e-01 -1.84183510e-02 -7.63049496e-03 3.70244340e+02] [ 1.84226135e-02 9.99830170e-01 4.88695852e-04 -1.48786875e+01] [ 7.62019810e-03 -6.29172383e-04 9.99970768e-01 3.51383013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.150714057 meters Centerline goodness [0,1] 0.9788847888478884 Centerline is valid? [True, True] Translation: X:370.28, Y:-14.88, Z:3.51 [[ 9.99809956e-01 -1.82271759e-02 -6.91527530e-03 3.70277045e+02] [ 1.82306758e-02 9.99833709e-01 4.43407417e-04 -1.48772441e+01] [ 6.90604329e-03 -5.69393292e-04 9.99975991e-01 3.51472090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.180714057 meters Centerline goodness [0,1] 0.9799195869694339 Centerline is valid? [True, True] Translation: X:370.31, Y:-14.88, Z:3.51 [[ 9.99808316e-01 -1.83416803e-02 -6.84933239e-03 3.70309173e+02] [ 1.83451198e-02 9.99831617e-01 4.39677613e-04 -1.48761549e+01] [ 6.84011465e-03 -5.65245157e-04 9.99976446e-01 3.51482598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.210714057 meters Centerline goodness [0,1] 0.9804020215417686 Centerline is valid? [True, True] Translation: X:370.34, Y:-14.88, Z:3.51 [[ 9.99833046e-01 -1.72041881e-02 -6.15601064e-03 3.70340264e+02] [ 1.72069458e-02 9.99851871e-01 3.95283864e-04 -1.48771677e+01] [ 6.14829822e-03 -5.01144011e-04 9.99980973e-01 3.51485777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.240714057 meters Centerline goodness [0,1] 0.9778684017595308 Centerline is valid? [True, True] Translation: X:370.37, Y:-14.88, Z:3.51 [[ 9.99842725e-01 -1.65177120e-02 -6.45677028e-03 3.70371868e+02] [ 1.65207353e-02 9.99863437e-01 4.15178054e-04 -1.48798789e+01] [ 6.44903073e-03 -5.21783350e-04 9.99979069e-01 3.51421288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.270714057 meters Centerline goodness [0,1] 0.9781292984869326 Centerline is valid? [True, True] Translation: X:370.40, Y:-14.88, Z:3.51 [[ 9.99873340e-01 -1.42573551e-02 -7.07328358e-03 3.70403023e+02] [ 1.42609266e-02 9.99898204e-01 4.54743260e-04 -1.48788144e+01] [ 7.06608011e-03 -5.55557240e-04 9.99974881e-01 3.51362526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.300714057 meters Centerline goodness [0,1] 0.9782394350049299 Centerline is valid? [True, True] Translation: X:370.43, Y:-14.88, Z:3.51 [[ 9.99894501e-01 -1.25565966e-02 -7.30195073e-03 3.70434850e+02] [ 1.25603617e-02 9.99921005e-01 4.69997088e-04 -1.48793978e+01] [ 7.29547235e-03 -5.61662647e-04 9.99973230e-01 3.51314106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.330714057 meters Centerline goodness [0,1] 0.9802970388081663 Centerline is valid? [True, True] Translation: X:370.47, Y:-14.87, Z:3.51 [[ 9.99925024e-01 -9.51253299e-03 -7.71087180e-03 3.70466332e+02] [ 9.51664143e-03 9.99954593e-01 4.96294670e-04 -1.48746039e+01] [ 7.70580065e-03 -5.69639062e-04 9.99970148e-01 3.51354751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.360714057 meters Centerline goodness [0,1] 0.9797238002863609 Centerline is valid? [True, True] Translation: X:370.50, Y:-14.88, Z:3.51 [[ 9.99943646e-01 -7.79031427e-03 -7.21225777e-03 3.70496109e+02] [ 7.79386354e-03 9.99969520e-01 4.64140132e-04 -1.48763956e+01] [ 7.20842214e-03 -5.20325329e-04 9.99973884e-01 3.51356825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.390714057 meters Centerline goodness [0,1] 0.9802681682859846 Centerline is valid? [True, True] Translation: X:370.53, Y:-14.87, Z:3.51 [[ 9.99971495e-01 -4.09187618e-03 -6.34560521e-03 3.70527057e+02] [ 4.09454917e-03 9.99991534e-01 4.08300627e-04 -1.48733646e+01] [ 6.34388077e-03 -4.34271380e-04 9.99979783e-01 3.51410363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.420714057 meters Centerline goodness [0,1] 0.9791113675706866 Centerline is valid? [True, True] Translation: X:370.56, Y:-14.88, Z:3.51 [[ 9.99975878e-01 -3.02087252e-03 -6.25442404e-03 3.70555813e+02] [ 3.02344528e-03 9.99995349e-01 4.01935820e-04 -1.48754145e+01] [ 6.25318076e-03 -4.20836033e-04 9.99980360e-01 3.51349857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.450714057 meters Centerline goodness [0,1] 0.980281624794117 Centerline is valid? [True, True] Translation: X:370.59, Y:-14.87, Z:3.51 [[ 9.99979918e-01 -7.09408420e-04 -6.29759121e-03 3.70586224e+02] [ 7.11971312e-04 9.99999665e-01 4.04731214e-04 -1.48721236e+01] [ 6.29730198e-03 -4.09206791e-04 9.99980088e-01 3.51372066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.480714057 meters Centerline goodness [0,1] 0.9802620897599443 Centerline is valid? [True, True] Translation: X:370.61, Y:-14.87, Z:3.51 [[ 9.99978971e-01 -1.50378732e-04 -6.48347833e-03 3.70613946e+02] [ 1.53075635e-04 9.99999902e-01 4.15471208e-04 -1.48726131e+01] [ 6.48341522e-03 -4.16454934e-04 9.99978896e-01 3.51337066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.51071405700003 meters Centerline goodness [0,1] 0.9791792395896198 Centerline is valid? [True, True] Translation: X:370.64, Y:-14.87, Z:3.51 [[ 9.99980171e-01 1.21722811e-04 -6.29623263e-03 3.70642520e+02] [-1.19197181e-04 9.99999912e-01 4.01507119e-04 -1.48746917e+01] [ 6.29628095e-03 -4.00748664e-04 9.99980098e-01 3.51289599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.540714057 meters Centerline goodness [0,1] 0.9810173582103406 Centerline is valid? [True, True] Translation: X:370.67, Y:-14.87, Z:3.51 [[ 9.99981393e-01 -1.27494432e-04 -6.09888809e-03 3.70671935e+02] [ 1.29869943e-04 9.99999916e-01 3.89104521e-04 -1.48727030e+01] [ 6.09883797e-03 -3.89889344e-04 9.99981326e-01 3.51250656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.57071405700003 meters Centerline goodness [0,1] 0.9793233082706767 Centerline is valid? [True, True] Translation: X:370.70, Y:-14.87, Z:3.51 [[ 9.99972551e-01 -2.43417079e-03 -6.99797159e-03 3.70701012e+02] [ 2.43735272e-03 9.99996930e-01 4.46201339e-04 -1.48737856e+01] [ 6.99686397e-03 -4.63245616e-04 9.99975414e-01 3.51163439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.600714057 meters Centerline goodness [0,1] 0.9783493407130067 Centerline is valid? [True, True] Translation: X:370.73, Y:-14.88, Z:3.51 [[ 9.99967245e-01 -3.95197264e-03 -7.06331992e-03 3.70728872e+02] [ 3.95524803e-03 9.99992077e-01 4.49809820e-04 -1.48816826e+01] [ 7.06148632e-03 -4.77732269e-04 9.99974953e-01 3.51098552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.63071405700003 meters Centerline goodness [0,1] 0.9762691359173608 Centerline is valid? [True, True] Translation: X:370.76, Y:-14.89, Z:3.51 [[ 9.99954429e-01 -7.13402501e-03 -6.34397127e-03 3.70758113e+02] [ 7.13673259e-03 9.99974451e-01 4.04260410e-04 -1.48863880e+01] [ 6.34092519e-03 -4.49517214e-04 9.99979795e-01 3.51229731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.660714057 meters Centerline goodness [0,1] 0.9780536569489003 Centerline is valid? [True, True] Translation: X:370.79, Y:-14.88, Z:3.51 [[ 9.99940084e-01 -9.09386098e-03 -6.09344001e-03 3.70788895e+02] [ 9.09639508e-03 9.99958552e-01 3.88287181e-04 -1.48835686e+01] [ 6.08965642e-03 -4.43692254e-04 9.99981359e-01 3.51333592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.690714057 meters Centerline goodness [0,1] 0.9759872302033451 Centerline is valid? [True, True] Translation: X:370.82, Y:-14.89, Z:3.51 [[ 9.99905397e-01 -1.26860849e-02 -5.31612504e-03 3.70817854e+02] [ 1.26880651e-02 9.99919446e-01 3.38921384e-04 -1.48918328e+01] [ 5.31139722e-03 -4.06340662e-04 9.99985812e-01 3.51282677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.720714057 meters Centerline goodness [0,1] 0.977713358070501 Centerline is valid? [True, True] Translation: X:370.85, Y:-14.89, Z:3.51 [[ 9.99880181e-01 -1.45462590e-02 -5.29435609e-03 3.70849483e+02] [ 1.45482502e-02 9.99894112e-01 3.37786246e-04 -1.48885397e+01] [ 5.28888196e-03 -4.14769390e-04 9.99985928e-01 3.51342547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.750714057 meters Centerline goodness [0,1] 0.9783337572548385 Centerline is valid? [True, True] Translation: X:370.88, Y:-14.89, Z:3.51 [[ 9.99828598e-01 -1.77688655e-02 -5.20025833e-03 3.70880356e+02] [ 1.77708294e-02 9.99842031e-01 3.31685916e-04 -1.48915824e+01] [ 5.19354317e-03 -4.24041968e-04 9.99986424e-01 3.51347092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.780714057 meters Centerline goodness [0,1] 0.9769499849422012 Centerline is valid? [True, True] Translation: X:370.91, Y:-14.90, Z:3.51 [[ 9.99807822e-01 -1.90196743e-02 -4.75090335e-03 3.70911777e+02] [ 1.90213296e-02 9.99819032e-01 3.03468211e-04 -1.48957709e+01] [ 4.74427172e-03 -3.93778389e-04 9.99988668e-01 3.51319740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.810714057 meters Centerline goodness [0,1] 0.9791883454734651 Centerline is valid? [True, True] Translation: X:370.94, Y:-14.89, Z:3.51 [[ 9.99773892e-01 -2.08114451e-02 -4.36453988e-03 3.70943109e+02] [ 2.08128596e-02 9.99783350e-01 2.78902562e-04 -1.48945371e+01] [ 4.35778994e-03 -3.69678056e-04 9.99990436e-01 3.51341795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.840714057 meters Centerline goodness [0,1] 0.9758333333333333 Centerline is valid? [True, True] Translation: X:370.97, Y:-14.90, Z:3.51 [[ 9.99748745e-01 -2.20229849e-02 -4.17560440e-03 3.70973480e+02] [ 2.20242906e-02 9.99757400e-01 2.66986973e-04 -1.49016380e+01] [ 4.16871155e-03 -3.58884616e-04 9.99991246e-01 3.51282447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.870714057 meters Centerline goodness [0,1] 0.9766027789979885 Centerline is valid? [True, True] Translation: X:371.01, Y:-14.91, Z:3.51 [[ 9.99727605e-01 -2.30624009e-02 -3.58340132e-03 3.71005322e+02] [ 2.30633711e-02 9.99733979e-01 2.29663944e-04 -1.49050256e+01] [ 3.57715145e-03 -3.12246699e-04 9.99993553e-01 3.51330095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.900714057 meters Centerline goodness [0,1] 0.9749329386735732 Centerline is valid? [True, True] Translation: X:371.04, Y:-14.91, Z:3.51 [[ 9.99713609e-01 -2.37039299e-02 -3.28998080e-03 3.71037826e+02] [ 2.37047519e-02 9.99718981e-01 2.11058061e-04 -1.49076559e+01] [ 3.28405335e-03 -2.88985795e-04 9.99994566e-01 3.51339250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.930714057 meters Centerline goodness [0,1] 0.9744723199407517 Centerline is valid? [True, True] Translation: X:371.07, Y:-14.91, Z:3.51 [[ 9.99702682e-01 -2.41687050e-02 -3.22823350e-03 3.71070156e+02] [ 2.41694995e-02 9.99707853e-01 2.07330934e-04 -1.49123527e+01] [ 3.22227946e-03 -2.85294079e-04 9.99994768e-01 3.51284009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.960714057 meters Centerline goodness [0,1] 0.9737085083791145 Centerline is valid? [True, True] Translation: X:371.10, Y:-14.92, Z:3.51 [[ 9.99693776e-01 -2.45345666e-02 -3.22643808e-03 3.71102489e+02] [ 2.45353629e-02 9.99698941e-01 2.07448942e-04 -1.49150262e+01] [ 3.22037706e-03 -2.86547245e-04 9.99994774e-01 3.51252590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.990714057 meters Centerline goodness [0,1] 0.9745181765724178 Centerline is valid? [True, True] Translation: X:371.13, Y:-14.92, Z:3.51 [[ 9.99702387e-01 -2.41324871e-02 -3.57217750e-03 3.71134255e+02] [ 2.41334614e-02 9.99708719e-01 2.29905194e-04 -1.49177756e+01] [ 3.56558881e-03 -3.16045780e-04 9.99993593e-01 3.51179555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.020714057 meters Centerline goodness [0,1] 0.9718550697846381 Centerline is valid? [True, True] Translation: X:371.16, Y:-14.93, Z:3.51 [[ 9.99709662e-01 -2.37332483e-02 -4.16222510e-03 3.71164752e+02] [ 2.37345688e-02 9.99718259e-01 2.68128442e-04 -1.49260511e+01] [ 4.15468888e-03 -3.66839212e-04 9.99991302e-01 3.51104016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.050714057 meters Centerline goodness [0,1] 0.9754616805170822 Centerline is valid? [True, True] Translation: X:371.20, Y:-14.92, Z:3.51 [[ 9.99740847e-01 -2.22053629e-02 -5.01613119e-03 3.71196950e+02] [ 2.22072624e-02 9.99753336e-01 3.23292733e-04 -1.49203965e+01] [ 5.00771506e-03 -4.34603492e-04 9.99987367e-01 3.51119952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.080714057 meters Centerline goodness [0,1] 0.9762443438914027 Centerline is valid? [True, True] Translation: X:371.23, Y:-14.92, Z:3.51 [[ 9.99757641e-01 -2.13585093e-02 -5.33596966e-03 3.71229567e+02] [ 2.13606509e-02 9.99771776e-01 3.44672546e-04 -1.49222511e+01] [ 5.32739017e-03 -4.58568797e-04 9.99985704e-01 3.51135562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.110714057 meters Centerline goodness [0,1] 0.9742874916480427 Centerline is valid? [True, True] Translation: X:371.26, Y:-14.93, Z:3.51 [[ 9.99800431e-01 -1.93130613e-02 -5.10917947e-03 3.71258821e+02] [ 1.93149962e-02 9.99813394e-01 3.29633764e-04 -1.49297282e+01] [ 5.10185983e-03 -4.28251762e-04 9.99986894e-01 3.51061259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.140714057 meters Centerline goodness [0,1] 0.9766610548649708 Centerline is valid? [True, True] Translation: X:371.29, Y:-14.92, Z:3.51 [[ 9.99848031e-01 -1.64310067e-02 -5.82560205e-03 3.71289806e+02] [ 1.64334747e-02 9.99864891e-01 3.76026984e-04 -1.49237190e+01] [ 5.81863645e-03 -4.71704723e-04 9.99982960e-01 3.51126692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.170714057 meters Centerline goodness [0,1] 0.9752209122580348 Centerline is valid? [True, True] Translation: X:371.32, Y:-14.93, Z:3.51 [[ 9.99878227e-01 -1.44221453e-02 -5.96098446e-03 3.71320210e+02] [ 1.44246955e-02 9.99895885e-01 3.85042018e-04 -1.49310350e+01] [ 5.95481070e-03 -4.70980516e-04 9.99982159e-01 3.51025772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.200714057 meters Centerline goodness [0,1] 0.9772585741633416 Centerline is valid? [True, True] Translation: X:371.35, Y:-14.93, Z:3.51 [[ 9.99916937e-01 -1.09869068e-02 -6.73851670e-03 3.71351143e+02] [ 1.09900874e-02 9.99939512e-01 4.35164868e-04 -1.49262618e+01] [ 6.73332799e-03 -5.09185609e-04 9.99977201e-01 3.51024374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.230714057 meters Centerline goodness [0,1] 0.9776510516473115 Centerline is valid? [True, True] Translation: X:371.38, Y:-14.92, Z:3.51 [[ 9.99933272e-01 -9.19038691e-03 -6.99920946e-03 3.71381593e+02] [ 9.19377455e-03 9.99957634e-01 4.51981430e-04 -1.49244365e+01] [ 6.99475905e-03 -5.16300424e-04 9.99975403e-01 3.51033532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26071405700003 meters Centerline goodness [0,1] 0.9771459003866905 Centerline is valid? [True, True] Translation: X:371.41, Y:-14.93, Z:3.51 [[ 9.99944091e-01 -7.44156442e-03 -7.51248652e-03 3.71411725e+02] [ 7.44541957e-03 9.99972165e-01 4.85328996e-04 -1.49269483e+01] [ 7.50866580e-03 -5.41235476e-04 9.99971663e-01 3.50974706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.290714057 meters Centerline goodness [0,1] 0.9788888888888889 Centerline is valid? [True, True] Translation: X:371.44, Y:-14.93, Z:3.51 [[ 9.99966689e-01 -3.83216903e-03 -7.20665047e-03 3.71441216e+02] [ 3.83562133e-03 9.99992536e-01 4.65283417e-04 -1.49268729e+01] [ 7.20481363e-03 -4.92909900e-04 9.99973924e-01 3.50986552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32071405700003 meters Centerline goodness [0,1] 0.9792863762743281 Centerline is valid? [True, True] Translation: X:371.47, Y:-14.93, Z:3.51 [[ 9.99975285e-01 -2.13305696e-04 -7.02742756e-03 3.71471381e+02] [ 2.16499672e-04 9.99999874e-01 4.53743936e-04 -1.49259278e+01] [ 7.02732989e-03 -4.55254157e-04 9.99975204e-01 3.51042677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.350714057 meters Centerline goodness [0,1] 0.9793233082706767 Centerline is valid? [True, True] Translation: X:371.50, Y:-14.93, Z:3.51 [[ 9.99978559e-01 1.66559502e-03 -6.33298114e-03 3.71500391e+02] [-1.66304075e-03 9.99998534e-01 4.08572626e-04 -1.49272737e+01] [ 6.33365237e-03 -3.98031860e-04 9.99979863e-01 3.51076336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38071405700003 meters Centerline goodness [0,1] 0.9798137006666822 Centerline is valid? [True, True] Translation: X:371.53, Y:-14.93, Z:3.51 [[ 9.99964951e-01 5.81054120e-03 -6.02773987e-03 3.71530037e+02] [-5.80830272e-03 9.99983056e-01 3.88801557e-04 -1.49266035e+01] [ 6.02989688e-03 -3.53776992e-04 9.99981757e-01 3.51114513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.410714057 meters Centerline goodness [0,1] 0.9801524588639955 Centerline is valid? [True, True] Translation: X:371.56, Y:-14.93, Z:3.51 [[ 9.99951601e-01 7.76128084e-03 -6.04634505e-03 3.71559460e+02] [-7.75906558e-03 9.99969822e-01 3.89751343e-04 -1.49278060e+01] [ 6.04918756e-03 -3.42818491e-04 9.99981645e-01 3.51113313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.440714057 meters Centerline goodness [0,1] 0.9822973944920071 Centerline is valid? [True, True] Translation: X:371.59, Y:-14.92, Z:3.51 [[ 9.99938591e-01 9.47199043e-03 -5.75285539e-03 3.71588521e+02] [-9.47001638e-03 9.99955090e-01 3.70285887e-04 -1.49231567e+01] [ 5.75610437e-03 -3.15783514e-04 9.99983384e-01 3.51215517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.470714057 meters Centerline goodness [0,1] 0.9810136878064651 Centerline is valid? [True, True] Translation: X:371.62, Y:-14.93, Z:3.51 [[ 9.99899533e-01 1.29587205e-02 -5.74419069e-03 3.71616722e+02] [-1.29568094e-02 9.99915989e-01 3.69796146e-04 -1.49281335e+01] [ 5.74850020e-03 -2.95332610e-04 9.99983434e-01 3.51127529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.500714057 meters Centerline goodness [0,1] 0.9819767441860465 Centerline is valid? [True, True] Translation: X:371.65, Y:-14.92, Z:3.51 [[ 9.99879727e-01 1.43573047e-02 -5.86507168e-03 3.71646214e+02] [-1.43553398e-02 9.99896886e-01 3.76974065e-04 -1.49214440e+01] [ 5.86987924e-03 -2.92733628e-04 9.99982729e-01 3.51266968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.530714057 meters Centerline goodness [0,1] 0.9815073272854152 Centerline is valid? [True, True] Translation: X:371.67, Y:-14.93, Z:3.51 [[ 9.99843158e-01 1.68144321e-02 -5.56190297e-03 3.71674398e+02] [-1.68127044e-02 9.99858593e-01 3.57248152e-04 -1.49252547e+01] [ 5.56712340e-03 -2.63681490e-04 9.99984469e-01 3.51265767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.560714057 meters Centerline goodness [0,1] 0.9844795539033457 Centerline is valid? [True, True] Translation: X:371.70, Y:-14.92, Z:3.51 [[ 9.99812118e-01 1.85546676e-02 -5.60834621e-03 3.71703135e+02] [-1.85529409e-02 9.99827815e-01 3.59761734e-04 -1.49216559e+01] [ 5.61405579e-03 -2.55642825e-04 9.99984208e-01 3.51323812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.590714057 meters Centerline goodness [0,1] 0.9845978720438601 Centerline is valid? [True, True] Translation: X:371.73, Y:-14.92, Z:3.51 [[ 9.99791489e-01 1.95271736e-02 -5.97228446e-03 3.71730589e+02] [-1.95252362e-02 9.99809291e-01 3.82531158e-04 -1.49248814e+01] [ 5.97861524e-03 -2.65841131e-04 9.99982093e-01 3.51307192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.620714057 meters Centerline goodness [0,1] 0.9826775320139697 Centerline is valid? [True, True] Translation: X:371.76, Y:-14.93, Z:3.51 [[ 9.99753947e-01 2.12238444e-02 -6.44925689e-03 3.71758464e+02] [-2.12216227e-02 9.99774711e-01 4.12730918e-04 -1.49305356e+01] [ 6.45656368e-03 -2.75765669e-04 9.99979118e-01 3.51146136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.650714057 meters Centerline goodness [0,1] 0.983642413383903 Centerline is valid? [True, True] Translation: X:371.79, Y:-14.93, Z:3.51 [[ 9.99739534e-01 2.19802074e-02 -6.14282362e-03 3.71787649e+02] [-2.19782076e-02 9.99758373e-01 3.92877711e-04 -1.49327566e+01] [ 6.14997488e-03 -2.57767127e-04 9.99981056e-01 3.51119149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.680714057 meters Centerline goodness [0,1] 0.9840251133589117 Centerline is valid? [True, True] Translation: X:371.82, Y:-14.93, Z:3.51 [[ 9.99717065e-01 2.27946084e-02 -6.79672114e-03 3.71817168e+02] [-2.27921826e-02 9.99740130e-01 4.34157256e-04 -1.49289045e+01] [ 6.80485132e-03 -2.79122309e-04 9.99976808e-01 3.51177662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.710714057 meters Centerline goodness [0,1] 0.9856491603479556 Centerline is valid? [True, True] Translation: X:371.85, Y:-14.93, Z:3.51 [[ 9.99665510e-01 2.45548280e-02 -8.11958610e-03 3.71845338e+02] [-2.45514282e-02 9.99698434e-01 5.18142935e-04 -1.49319148e+01] [ 8.12986042e-03 -3.18622187e-04 9.99966901e-01 3.51086365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.740714057 meters Centerline goodness [0,1] 0.985938118408493 Centerline is valid? [True, True] Translation: X:371.87, Y:-14.93, Z:3.51 [[ 9.99642418e-01 2.55188357e-02 -7.98908243e-03 3.71874183e+02] [-2.55155797e-02 9.99674295e-01 5.09234537e-04 -1.49335145e+01] [ 7.99947541e-03 -3.05206374e-04 9.99967957e-01 3.51121737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.770714057 meters Centerline goodness [0,1] 0.9857467321776212 Centerline is valid? [True, True] Translation: X:371.90, Y:-14.94, Z:3.51 [[ 9.99643506e-01 2.56125766e-02 -7.54028654e-03 3.71901836e+02] [-2.56096844e-02 9.99671903e-01 4.79883898e-04 -1.49368278e+01] [ 7.55010366e-03 -2.86608463e-04 9.99971456e-01 3.51082064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.800714057 meters Centerline goodness [0,1] 0.9855437849840404 Centerline is valid? [True, True] Translation: X:371.93, Y:-14.94, Z:3.51 [[ 9.99658516e-01 2.48070369e-02 -8.21352532e-03 3.71930826e+02] [-2.48035820e-02 9.99692207e-01 5.22251116e-04 -1.49411749e+01] [ 8.22395276e-03 -3.18347927e-04 9.99966132e-01 3.51093841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.830714057 meters Centerline goodness [0,1] 0.9859431715719141 Centerline is valid? [True, True] Translation: X:371.96, Y:-14.94, Z:3.51 [[ 9.99680353e-01 2.38451557e-02 -8.40240171e-03 3.71959335e+02] [-2.38415110e-02 9.99715608e-01 5.33679955e-04 -1.49445781e+01] [ 8.41273782e-03 -3.33183413e-04 9.99964557e-01 3.51028172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.860714057 meters Centerline goodness [0,1] 0.9855511374144628 Centerline is valid? [True, True] Translation: X:371.99, Y:-14.95, Z:3.51 [[ 9.99729688e-01 2.14980280e-02 -8.85352646e-03 3.71988902e+02] [-2.14938911e-02 9.99768822e-01 5.62156162e-04 -1.49480255e+01] [ 8.86356496e-03 -3.71707471e-04 9.99960649e-01 3.51039406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.890714057 meters Centerline goodness [0,1] 0.9813562261533125 Centerline is valid? [True, True] Translation: X:372.02, Y:-14.97, Z:3.51 [[ 9.99725471e-01 2.24680332e-02 -6.64609686e-03 3.72015171e+02] [-2.24657289e-02 9.99747525e-01 4.21166397e-04 -1.49731783e+01] [ 6.65388167e-03 -2.71741364e-04 9.99977826e-01 3.50558224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.920714057 meters Centerline goodness [0,1] 0.9813562261533125 Centerline is valid? [True, True] Translation: X:372.04, Y:-14.97, Z:3.51 [[ 9.99727330e-01 2.23851260e-02 -6.64613032e-03 3.72042612e+02] [-2.23828234e-02 9.99749385e-01 4.20638212e-04 -1.49747989e+01] [ 6.65388074e-03 -2.71764356e-04 9.99977826e-01 3.50547851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.950714057 meters Centerline goodness [0,1] 0.9851949068637609 Centerline is valid? [True, True] Translation: X:372.07, Y:-14.96, Z:3.51 [[ 9.99820997e-01 1.64574318e-02 -9.33417798e-03 3.72073886e+02] [-1.64526281e-02 9.99864472e-01 5.91192817e-04 -1.49611366e+01] [ 9.34264245e-03 -4.37515233e-04 9.99956261e-01 3.51004281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.980714057 meters Centerline goodness [0,1] 0.9846716840433611 Centerline is valid? [True, True] Translation: X:372.10, Y:-14.97, Z:3.51 [[ 9.99877955e-01 1.22118908e-02 -9.74395458e-03 3.72104038e+02] [-1.22064549e-02 9.99925308e-01 6.17150665e-04 -1.49670711e+01] [ 9.75076336e-03 -4.98136202e-04 9.99952336e-01 3.51040542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.01071405700003 meters Centerline goodness [0,1] 0.9849889827396254 Centerline is valid? [True, True] Translation: X:372.13, Y:-14.97, Z:3.51 [[ 9.99904669e-01 9.76687776e-03 -9.76016355e-03 3.72132784e+02] [-9.76131747e-03 9.99952167e-01 6.17167935e-04 -1.49716294e+01] [ 9.76572450e-03 -5.21837044e-04 9.99952178e-01 3.51072733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.040714057 meters Centerline goodness [0,1] 0.982871837259494 Centerline is valid? [True, True] Translation: X:372.16, Y:-14.98, Z:3.51 [[ 9.99932972e-01 7.01975339e-03 -9.20735594e-03 3.72160414e+02] [-7.01469500e-03 9.99975228e-01 5.81564786e-04 -1.49831967e+01] [ 9.21121029e-03 -5.16939011e-04 9.99957442e-01 3.50933926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.07071405700003 meters Centerline goodness [0,1] 0.9839452167739275 Centerline is valid? [True, True] Translation: X:372.19, Y:-14.98, Z:3.51 [[ 9.99957713e-01 2.20172305e-03 -8.92887939e-03 3.72191310e+02] [-2.19677256e-03 9.99997428e-01 5.64206435e-04 -1.49822129e+01] [ 8.93009865e-03 -5.44567859e-04 9.99959978e-01 3.51191447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.100714057 meters Centerline goodness [0,1] 0.9831605921248313 Centerline is valid? [True, True] Translation: X:372.22, Y:-14.99, Z:3.51 [[ 9.99962291e-01 -1.64741629e-04 -8.68270338e-03 3.72220993e+02] [ 1.69508011e-04 9.99999835e-01 5.48218257e-04 -1.49863252e+01] [ 8.68261164e-03 -5.49669372e-04 9.99962154e-01 3.51199014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.13071405700003 meters Centerline goodness [0,1] 0.982594574813595 Centerline is valid? [True, True] Translation: X:372.25, Y:-14.99, Z:3.51 [[ 9.99958647e-01 -3.21039048e-03 -8.50864684e-03 3.72249314e+02] [ 3.21507729e-03 9.99994687e-01 5.37208678e-04 -1.49948402e+01] [ 8.50687699e-03 -5.64542420e-04 9.99963657e-01 3.51128135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.160714057 meters Centerline goodness [0,1] 0.9817832735251766 Centerline is valid? [True, True] Translation: X:372.28, Y:-15.00, Z:3.51 [[ 9.99950296e-01 -4.35530669e-03 -8.96867336e-03 3.72277815e+02] [ 4.36055252e-03 9.99990333e-01 5.65433952e-04 -1.49976906e+01] [ 8.96612402e-03 -6.04514219e-04 9.99959621e-01 3.51086768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.190714057 meters Centerline goodness [0,1] 0.981984858159263 Centerline is valid? [True, True] Translation: X:372.31, Y:-14.99, Z:3.51 [[ 9.99937570e-01 -6.07670882e-03 -9.37708707e-03 3.72307186e+02] [ 6.08251447e-03 9.99981327e-01 5.90736259e-04 -1.49937914e+01] [ 9.37332223e-03 -6.47735647e-04 9.99955860e-01 3.51168122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.220714057 meters Centerline goodness [0,1] 0.9816465652857892 Centerline is valid? [True, True] Translation: X:372.34, Y:-15.00, Z:3.51 [[ 9.99921528e-01 -7.62184742e-03 -9.94212950e-03 3.72336513e+02] [ 7.62844710e-03 9.99970707e-01 6.26055838e-04 -1.49976311e+01] [ 9.93706656e-03 -7.01849719e-04 9.99950380e-01 3.51102405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.250714057 meters Centerline goodness [0,1] 0.9818173511809585 Centerline is valid? [True, True] Translation: X:372.37, Y:-15.00, Z:3.51 [[ 9.99905308e-01 -8.59833783e-03 -1.07444374e-02 3.72365037e+02] [ 8.60609503e-03 9.99962738e-01 6.75945678e-04 -1.50019594e+01] [ 1.07382250e-02 -7.68349321e-04 9.99942048e-01 3.51054798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.280714057 meters Centerline goodness [0,1] 0.9777376929399946 Centerline is valid? [True, True] Translation: X:372.39, Y:-15.01, Z:3.51 [[ 9.99886854e-01 -1.01661337e-02 -1.10873666e-02 3.72392869e+02] [ 1.01744835e-02 9.99947996e-01 6.96941235e-04 -1.50139969e+01] [ 1.10797048e-02 -8.09670606e-04 9.99938290e-01 3.50750434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.310714057 meters Centerline goodness [0,1] 0.9818718670603584 Centerline is valid? [True, True] Translation: X:372.42, Y:-15.01, Z:3.51 [[ 9.99884585e-01 -1.01464811e-02 -1.13077628e-02 3.72423474e+02] [ 1.01551611e-02 9.99948183e-01 7.10461059e-04 -1.50050512e+01] [ 1.12999681e-02 -8.25211213e-04 9.99935813e-01 3.50952626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.340714057 meters Centerline goodness [0,1] 0.9809999084332937 Centerline is valid? [True, True] Translation: X:372.45, Y:-15.01, Z:3.51 [[ 9.99891373e-01 -9.83088137e-03 -1.09815994e-02 3.72452735e+02] [ 9.83901307e-03 9.99951360e-01 6.86702761e-04 -1.50058792e+01] [ 1.09743143e-02 -7.94676267e-04 9.99939465e-01 3.50978282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.370714057 meters Centerline goodness [0,1] 0.9811822411698641 Centerline is valid? [True, True] Translation: X:372.48, Y:-15.01, Z:3.51 [[ 9.99894415e-01 -9.62070723e-03 -1.08904366e-02 3.72481508e+02] [ 9.62869302e-03 9.99953411e-01 6.81089185e-04 -1.50076363e+01] [ 1.08833766e-02 -7.85877943e-04 9.99940465e-01 3.50973394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.400714057 meters Centerline goodness [0,1] 0.9785094365615099 Centerline is valid? [True, True] Translation: X:372.51, Y:-15.01, Z:3.51 [[ 9.99918659e-01 -8.08163783e-03 -9.86725687e-03 3.72510670e+02] [ 8.08811601e-03 9.99967100e-01 6.16804276e-04 -1.50094936e+01] [ 9.86194746e-03 -6.96561623e-04 9.99951127e-01 3.50963959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.430714057 meters Centerline goodness [0,1] 0.9793192094934239 Centerline is valid? [True, True] Translation: X:372.54, Y:-15.01, Z:3.51 [[ 9.99933582e-01 -7.16395491e-03 -9.02824095e-03 3.72540162e+02] [ 7.16933807e-03 9.99974141e-01 5.64034928e-04 -1.50095087e+01] [ 9.02396677e-03 -6.28723978e-04 9.99959086e-01 3.51019566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.460714057 meters Centerline goodness [0,1] 0.978494623655914 Centerline is valid? [True, True] Translation: X:372.57, Y:-15.01, Z:3.51 [[ 9.99950007e-01 -5.62530477e-03 -8.26674587e-03 3.72569357e+02] [ 5.62976335e-03 9.99984020e-01 5.16167549e-04 -1.50107844e+01] [ 8.26371016e-03 -5.62681567e-04 9.99965697e-01 3.51077075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.490714057 meters Centerline goodness [0,1] 0.9786881472957423 Centerline is valid? [True, True] Translation: X:372.60, Y:-15.01, Z:3.51 [[ 9.99955737e-01 -4.61834856e-03 -8.19727566e-03 3.72598746e+02] [ 4.62267808e-03 9.99989186e-01 5.09297707e-04 -1.50108893e+01] [ 8.19483490e-03 -5.47168531e-04 9.99966272e-01 3.51101667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.520714057 meters Centerline goodness [0,1] 0.9792829788215752 Centerline is valid? [True, True] Translation: X:372.63, Y:-15.01, Z:3.51 [[ 9.99963198e-01 -2.16641829e-03 -8.30116638e-03 3.72627634e+02] [ 2.17077779e-03 9.99997511e-01 5.16192869e-04 -1.50108241e+01] [ 8.30002742e-03 -5.34193859e-04 9.99965411e-01 3.51050233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.550714057 meters Centerline goodness [0,1] 0.9801825053000277 Centerline is valid? [True, True] Translation: X:372.66, Y:-15.01, Z:3.51 [[ 9.99965920e-01 -2.96758571e-04 -8.25046412e-03 3.72657848e+02] [ 3.00999145e-04 9.99999823e-01 5.12743047e-04 -1.50050501e+01] [ 8.25031050e-03 -5.15208956e-04 9.99965833e-01 3.51121315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.580714057 meters Centerline goodness [0,1] 0.9802813653136532 Centerline is valid? [True, True] Translation: X:372.69, Y:-15.01, Z:3.51 [[ 9.99953100e-01 3.64013526e-03 -8.97478726e-03 3.72686893e+02] [-3.63527697e-03 9.99993237e-01 5.57580176e-04 -1.50067552e+01] [ 8.97675623e-03 -5.24928188e-04 9.99959570e-01 3.50976148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.610714057 meters Centerline goodness [0,1] 0.9819093387551407 Centerline is valid? [True, True] Translation: X:372.72, Y:-15.00, Z:3.51 [[ 9.99916260e-01 8.33501714e-03 -9.89952961e-03 3.72717936e+02] [-8.32933494e-03 9.99965121e-01 6.15078207e-04 -1.49987635e+01] [ 9.90431102e-03 -5.32570202e-04 9.99950809e-01 3.50977811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.640714057 meters Centerline goodness [0,1] 0.9821840672020677 Centerline is valid? [True, True] Translation: X:372.75, Y:-15.00, Z:3.51 [[ 9.99888444e-01 1.08848246e-02 -1.02283843e-02 3.72747853e+02] [-1.08788966e-02 9.99940621e-01 6.35027156e-04 -1.49983450e+01] [ 1.02346891e-02 -5.23682779e-04 9.99947487e-01 3.50957730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.670714057 meters Centerline goodness [0,1] 0.9832200804326723 Centerline is valid? [True, True] Translation: X:372.78, Y:-15.00, Z:3.51 [[ 9.99822980e-01 1.58260537e-02 -1.01757068e-02 3.72778330e+02] [-1.58204412e-02 9.99874649e-01 6.31821049e-04 -1.49956245e+01] [ 1.01844305e-02 -4.70725032e-04 9.99948027e-01 3.50982700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.700714057 meters Centerline goodness [0,1] 0.9833947911593497 Centerline is valid? [True, True] Translation: X:372.81, Y:-15.00, Z:3.51 [[ 9.99792917e-01 1.76621031e-02 -1.01080883e-02 3.72807484e+02] [-1.76566684e-02 9.99843913e-01 6.26655219e-04 -1.49958076e+01] [ 1.01175786e-02 -4.48050286e-04 9.99948716e-01 3.50961793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.730714057 meters Centerline goodness [0,1] 0.9836777339215231 Centerline is valid? [True, True] Translation: X:372.84, Y:-15.00, Z:3.51 [[ 9.99733830e-01 2.07561572e-02 -1.00722590e-02 3.72836319e+02] [-2.07509199e-02 9.99784482e-01 6.24210572e-04 -1.49987508e+01] [ 1.00830445e-02 -4.15035786e-04 9.99949079e-01 3.50812998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76071405700003 meters Centerline goodness [0,1] 0.9847485955708251 Centerline is valid? [True, True] Translation: X:372.87, Y:-15.00, Z:3.51 [[ 9.99710071e-01 2.18741962e-02 -1.00645089e-02 3.72865420e+02] [-2.18690320e-02 9.99760650e-01 6.22894147e-04 -1.49951914e+01] [ 1.00757253e-02 -4.02612485e-04 9.99949158e-01 3.50921353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.790714057 meters Centerline goodness [0,1] 0.984414558799619 Centerline is valid? [True, True] Translation: X:372.89, Y:-14.99, Z:3.51 [[ 9.99704222e-01 2.23562587e-02 -9.57427330e-03 3.72894616e+02] [-2.23516141e-02 9.99749996e-01 5.91858421e-04 -1.49941833e+01] [ 9.58511143e-03 -3.77682901e-04 9.99953990e-01 3.51015978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82071405700003 meters Centerline goodness [0,1] 0.9838496037924384 Centerline is valid? [True, True] Translation: X:372.92, Y:-15.00, Z:3.51 [[ 9.99722464e-01 2.17655606e-02 -9.01414457e-03 3.72923765e+02] [-2.17614254e-02 9.99763037e-01 5.56580244e-04 -1.49956846e+01] [ 9.02412284e-03 -3.60265138e-04 9.99959217e-01 3.51029464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.850714057 meters Centerline goodness [0,1] 0.984857985554704 Centerline is valid? [True, True] Translation: X:372.95, Y:-15.00, Z:3.51 [[ 9.99771249e-01 1.98141580e-02 -8.05283426e-03 3.72952699e+02] [-1.98107995e-02 9.99803624e-01 4.96620737e-04 -1.49978067e+01] [ 8.06109299e-03 -3.36974049e-04 9.99967452e-01 3.51118577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88071405700003 meters Centerline goodness [0,1] 0.9829886978115064 Centerline is valid? [True, True] Translation: X:372.98, Y:-15.01, Z:3.51 [[ 9.99841350e-01 1.59774823e-02 -7.87362600e-03 3.72981186e+02] [-1.59741513e-02 9.99872287e-01 4.85775662e-04 -1.50071687e+01] [ 7.88038190e-03 -3.59924101e-04 9.99968885e-01 3.50984652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.910714057 meters Centerline goodness [0,1] 0.9819961950721544 Centerline is valid? [True, True] Translation: X:373.01, Y:-15.01, Z:3.51 [[ 9.99875544e-01 1.38305175e-02 -7.59032455e-03 3.73011022e+02] [-1.38273629e-02 9.99904288e-01 4.67931340e-04 -1.50103265e+01] [ 7.59606980e-03 -3.62918931e-04 9.99971084e-01 3.51006767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.940714057 meters Centerline goodness [0,1] 0.9820637119113573 Centerline is valid? [True, True] Translation: X:373.04, Y:-15.02, Z:3.51 [[ 9.99907247e-01 1.15620114e-02 -7.19845691e-03 3.73040633e+02] [-1.15591173e-02 9.99933093e-01 4.43526001e-04 -1.50151062e+01] [ 7.20310334e-03 -3.60277055e-04 9.99973992e-01 3.50953457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.970714057 meters Centerline goodness [0,1] 0.9825574652656971 Centerline is valid? [True, True] Translation: X:373.07, Y:-15.02, Z:3.51 [[ 9.99951077e-01 6.56507030e-03 -7.39893280e-03 3.73070653e+02] [-6.56187570e-03 9.99978367e-01 4.55958665e-04 -1.50156557e+01] [ 7.40176613e-03 -4.07385481e-04 9.99972524e-01 3.50978164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.000714057 meters Centerline goodness [0,1] 0.9828322197475873 Centerline is valid? [True, True] Translation: X:373.10, Y:-15.02, Z:3.51 [[ 9.99957446e-01 4.57576734e-03 -8.01052278e-03 3.73099840e+02] [-4.57196399e-03 9.99989427e-01 4.93041863e-04 -1.50197896e+01] [ 8.01269413e-03 -4.56397060e-04 9.99967794e-01 3.50899157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.030714057 meters Centerline goodness [0,1] 0.9830394431554524 Centerline is valid? [True, True] Translation: X:373.13, Y:-15.03, Z:3.51 [[ 9.99963024e-01 1.50414360e-03 -8.46686717e-03 3.73130230e+02] [-1.49978304e-03 9.99998739e-01 5.21340257e-04 -1.50255045e+01] [ 8.46764067e-03 -5.08622517e-04 9.99964020e-01 3.50732610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.060714057 meters Centerline goodness [0,1] 0.9820412145993541 Centerline is valid? [True, True] Translation: X:373.16, Y:-15.03, Z:3.51 [[ 9.99964149e-01 -3.09042372e-04 -8.46198212e-03 3.73157981e+02] [ 3.13455341e-04 9.99999816e-01 5.20184127e-04 -1.50307617e+01] [ 8.46181980e-03 -5.22817932e-04 9.99964061e-01 3.50653953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.090714057 meters Centerline goodness [0,1] 0.980959423236898 Centerline is valid? [True, True] Translation: X:373.19, Y:-15.03, Z:3.51 [[ 9.99963735e-01 -8.20380071e-04 -8.47675386e-03 3.73186169e+02] [ 8.24820000e-04 9.99999524e-01 5.20294343e-04 -1.50334268e+01] [ 8.47632299e-03 -5.27267271e-04 9.99963936e-01 3.50622308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.120714057 meters Centerline goodness [0,1] 0.9819567332190671 Centerline is valid? [True, True] Translation: X:373.21, Y:-15.03, Z:3.51 [[ 9.99955219e-01 -1.41686351e-03 -9.35691258e-03 3.73214614e+02] [ 1.42229197e-03 9.99998824e-01 5.73525601e-04 -1.50329078e+01] [ 9.35608897e-03 -5.86808180e-04 9.99956059e-01 3.50678010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.150714057 meters Centerline goodness [0,1] 0.9824512792093839 Centerline is valid? [True, True] Translation: X:373.24, Y:-15.03, Z:3.51 [[ 9.99957622e-01 -1.50715023e-03 -9.08202044e-03 3.73242954e+02] [ 1.51224186e-03 9.99998703e-01 5.53786570e-04 -1.50325376e+01] [ 9.08117402e-03 -5.67497313e-04 9.99958604e-01 3.50686860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.180714057 meters Centerline goodness [0,1] 0.9805600555426984 Centerline is valid? [True, True] Translation: X:373.27, Y:-15.04, Z:3.51 [[ 9.99957485e-01 -1.59237271e-03 -9.08254788e-03 3.73269548e+02] [ 1.59746249e-03 9.99998571e-01 5.53164223e-04 -1.50366099e+01] [ 9.08165406e-03 -5.67649735e-04 9.99958600e-01 3.50596486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.210714057 meters Centerline goodness [0,1] 0.980965580965581 Centerline is valid? [True, True] Translation: X:373.30, Y:-15.04, Z:3.51 [[ 9.99959144e-01 -1.71225701e-03 -8.87567663e-03 3.73296313e+02] [ 1.71710487e-03 9.99998381e-01 5.38604613e-04 -1.50401543e+01] [ 8.87474003e-03 -5.53823075e-04 9.99960465e-01 3.50530921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.240714057 meters Centerline goodness [0,1] 0.9805706081237553 Centerline is valid? [True, True] Translation: X:373.32, Y:-15.04, Z:3.51 [[ 9.99956793e-01 -1.90707991e-03 -9.09811445e-03 3.73323807e+02] [ 1.91215658e-03 9.99998021e-01 5.49325738e-04 -1.50404497e+01] [ 9.09704883e-03 -5.66699022e-04 9.99958460e-01 3.50530221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.270714057 meters Centerline goodness [0,1] 0.9790243789502928 Centerline is valid? [True, True] Translation: X:373.35, Y:-15.04, Z:3.50 [[ 9.99948078e-01 -2.70372899e-03 -9.82502202e-03 3.73351123e+02] [ 2.70968724e-03 9.99996153e-01 5.93175682e-04 -1.50437910e+01] [ 9.82338043e-03 -6.19767620e-04 9.99951557e-01 3.50499332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.300714057 meters Centerline goodness [0,1] 0.9804444032530875 Centerline is valid? [True, True] Translation: X:373.38, Y:-15.04, Z:3.51 [[ 9.99946270e-01 -3.20508317e-03 -9.85821398e-03 3.73380030e+02] [ 3.21107541e-03 9.99994669e-01 5.92074763e-04 -1.50365213e+01] [ 9.85626378e-03 -6.23698419e-04 9.99951231e-01 3.50675532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.330714057 meters Centerline goodness [0,1] 0.9795644425929784 Centerline is valid? [True, True] Translation: X:373.41, Y:-15.04, Z:3.51 [[ 9.99947657e-01 -3.76245469e-03 -9.51455567e-03 3.73407496e+02] [ 3.76805322e-03 9.99992738e-01 5.70559356e-04 -1.50398567e+01] [ 9.51233987e-03 -6.06380844e-04 9.99954573e-01 3.50623895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.360714057 meters Centerline goodness [0,1] 0.9785277494672473 Centerline is valid? [True, True] Translation: X:373.44, Y:-15.04, Z:3.51 [[ 9.99946683e-01 -5.02471006e-03 -9.02131355e-03 3.73435436e+02] [ 5.02978657e-03 9.99987205e-01 5.40124100e-04 -1.50436081e+01] [ 9.01848415e-03 -5.85470584e-04 9.99959161e-01 3.50642125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.390714057 meters Centerline goodness [0,1] 0.9786839666357738 Centerline is valid? [True, True] Translation: X:373.46, Y:-15.05, Z:3.51 [[ 9.99950369e-01 -5.55779803e-03 -8.26861852e-03 3.73464060e+02] [ 5.56205965e-03 9.99984410e-01 4.92491156e-04 -1.50453732e+01] [ 8.26575245e-03 -5.38457263e-04 9.99965693e-01 3.50694289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.420714057 meters Centerline goodness [0,1] 0.9787711825168998 Centerline is valid? [True, True] Translation: X:373.49, Y:-15.05, Z:3.51 [[ 9.99946423e-01 -6.58675207e-03 -7.98530724e-03 3.73493736e+02] [ 6.59076308e-03 9.99978167e-01 4.76087453e-04 -1.50455665e+01] [ 7.98199703e-03 -5.28691214e-04 9.99968004e-01 3.50742123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.450714057 meters Centerline goodness [0,1] 0.9783521659435254 Centerline is valid? [True, True] Translation: X:373.52, Y:-15.05, Z:3.51 [[ 9.99946757e-01 -7.22212184e-03 -7.37055327e-03 3.73522999e+02] [ 7.22555567e-03 9.99973799e-01 4.39361981e-04 -1.50478716e+01] [ 7.36718703e-03 -4.92594931e-04 9.99972741e-01 3.50692151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.480714057 meters Centerline goodness [0,1] 0.9770937557902538 Centerline is valid? [True, True] Translation: X:373.55, Y:-15.05, Z:3.51 [[ 9.99946658e-01 -7.09961348e-03 -7.50176553e-03 3.73553010e+02] [ 7.10316773e-03 9.99974672e-01 4.47250963e-04 -1.50492807e+01] [ 7.49840022e-03 -5.00513405e-04 9.99971761e-01 3.50694912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.51071405700003 meters Centerline goodness [0,1] 0.9765561655894549 Centerline is valid? [True, True] Translation: X:373.58, Y:-15.05, Z:3.51 [[ 9.99949668e-01 -6.84831028e-03 -7.33220862e-03 3.73582945e+02] [ 6.85169895e-03 9.99976431e-01 4.37142078e-04 -1.50511646e+01] [ 7.32904213e-03 -4.87358162e-04 9.99973023e-01 3.50721335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.540714057 meters Centerline goodness [0,1] 0.9754595524157003 Centerline is valid? [True, True] Translation: X:373.61, Y:-15.06, Z:3.51 [[ 9.99956921e-01 -5.95909813e-03 -7.11648070e-03 3.73612190e+02] [ 5.96226659e-03 9.99982136e-01 4.24096139e-04 -1.50562289e+01] [ 7.11382634e-03 -4.66508225e-04 9.99974588e-01 3.50706700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.57071405700003 meters Centerline goodness [0,1] 0.9748082732976993 Centerline is valid? [True, True] Translation: X:373.64, Y:-15.05, Z:3.51 [[ 9.99960703e-01 -5.32957332e-03 -7.08432937e-03 3.73642079e+02] [ 5.33269535e-03 9.99985692e-01 4.21878171e-04 -1.50520221e+01] [ 7.08197958e-03 -4.59640163e-04 9.99974817e-01 3.50778866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.600714057 meters Centerline goodness [0,1] 0.975838333100786 Centerline is valid? [True, True] Translation: X:373.67, Y:-15.05, Z:3.51 [[ 9.99968678e-01 -3.66923115e-03 -7.01286368e-03 3.73671244e+02] [ 3.67224819e-03 9.99993170e-01 4.17387409e-04 -1.50520219e+01] [ 7.01128429e-03 -4.43127312e-04 9.99975322e-01 3.50750483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.63071405700003 meters Centerline goodness [0,1] 0.97405589035996 Centerline is valid? [True, True] Translation: X:373.70, Y:-15.05, Z:3.51 [[ 9.99972517e-01 -3.19818610e-03 -6.68859030e-03 3.73700404e+02] [ 3.20090583e-03 9.99994799e-01 3.95956948e-04 -1.50531863e+01] [ 6.68728916e-03 -4.17355614e-04 9.99977553e-01 3.50731947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.660714057 meters Centerline goodness [0,1] 0.9753998690487325 Centerline is valid? [True, True] Translation: X:373.73, Y:-15.05, Z:3.51 [[ 9.99973899e-01 -1.81599784e-03 -6.99303135e-03 3.73730242e+02] [ 1.81894058e-03 9.99998260e-01 4.14473307e-04 -1.50534629e+01] [ 6.99226650e-03 -4.27182397e-04 9.99975463e-01 3.50692314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.690714057 meters Centerline goodness [0,1] 0.9751195056546578 Centerline is valid? [True, True] Translation: X:373.76, Y:-15.05, Z:3.51 [[ 9.99971475e-01 -1.30524099e-03 -7.43944008e-03 3.73758660e+02] [ 1.30853922e-03 9.99999048e-01 4.38493807e-04 -1.50544095e+01] [ 7.43886066e-03 -4.48216098e-04 9.99972231e-01 3.50625145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.720714057 meters Centerline goodness [0,1] 0.9777257838090782 Centerline is valid? [True, True] Translation: X:373.79, Y:-15.05, Z:3.51 [[ 9.99963738e-01 -1.12652719e-03 -8.44121700e-03 3.73787856e+02] [ 1.13075035e-03 9.99999238e-01 4.95546748e-04 -1.50461512e+01] [ 8.44065232e-03 -5.05073688e-04 9.99964250e-01 3.50696638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.750714057 meters Centerline goodness [0,1] 0.9749929821278188 Centerline is valid? [True, True] Translation: X:373.82, Y:-15.06, Z:3.50 [[ 9.99964835e-01 -7.05504008e-04 -8.35653923e-03 3.73815612e+02] [ 7.09611392e-04 9.99999629e-01 4.88562525e-04 -1.50550515e+01] [ 8.35619145e-03 -4.94475240e-04 9.99964964e-01 3.50496196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.780714057 meters Centerline goodness [0,1] 0.9761575754736866 Centerline is valid? [True, True] Translation: X:373.84, Y:-15.05, Z:3.51 [[ 9.99969907e-01 -1.04785087e-04 -7.75724972e-03 3.73844714e+02] [ 1.08291675e-04 9.99999892e-01 4.51621506e-04 -1.50495423e+01] [ 7.75720156e-03 -4.52447961e-04 9.99969810e-01 3.50668872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.810714057 meters Centerline goodness [0,1] 0.9761575754736866 Centerline is valid? [True, True] Translation: X:373.87, Y:-15.05, Z:3.51 [[ 9.99969891e-01 -2.06462537e-04 -7.75726586e-03 3.73872176e+02] [ 2.09970028e-04 9.99999876e-01 4.51343862e-04 -1.50510477e+01] [ 7.75717171e-03 -4.52959066e-04 9.99969810e-01 3.50658470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.840714057 meters Centerline goodness [0,1] 0.9742736644798501 Centerline is valid? [True, True] Translation: X:373.90, Y:-15.06, Z:3.51 [[ 9.99973062e-01 -7.27592784e-05 -7.33963932e-03 3.73899410e+02] [ 7.58914603e-05 9.99999906e-01 4.26471137e-04 -1.50598082e+01] [ 7.33960760e-03 -4.27016665e-04 9.99972974e-01 3.50504822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.870714057 meters Centerline goodness [0,1] 0.9758013459328909 Centerline is valid? [True, True] Translation: X:373.93, Y:-15.05, Z:3.51 [[ 9.99974570e-01 2.05114355e-05 -7.13148537e-03 3.73929064e+02] [-1.75597955e-05 9.99999914e-01 4.13950897e-04 -1.50535016e+01] [ 7.13149325e-03 -4.13815143e-04 9.99974485e-01 3.50572505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.900714057 meters Centerline goodness [0,1] 0.973111725819307 Centerline is valid? [True, True] Translation: X:373.96, Y:-15.06, Z:3.50 [[ 9.99973950e-01 1.04938751e-05 -7.21792825e-03 3.73956126e+02] [-7.47474797e-06 9.99999912e-01 4.18308527e-04 -1.50628940e+01] [ 7.21793201e-03 -4.18243679e-04 9.99973863e-01 3.50390425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.930714057 meters Centerline goodness [0,1] 0.9761960765865362 Centerline is valid? [True, True] Translation: X:373.99, Y:-15.06, Z:3.50 [[ 9.99968165e-01 -6.09715116e-04 -7.95598724e-03 3.73985375e+02] [ 6.13399305e-04 9.99999706e-01 4.60639385e-04 -1.50551456e+01] [ 7.95570404e-03 -4.65504918e-04 9.99968245e-01 3.50470897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.960714057 meters Centerline goodness [0,1] 0.9758525736072866 Centerline is valid? [True, True] Translation: X:374.01, Y:-15.06, Z:3.50 [[ 9.99963149e-01 -1.41753997e-03 -8.46707032e-03 3.74013048e+02] [ 1.42173521e-03 9.99998870e-01 4.89479459e-04 -1.50583834e+01] [ 8.46636689e-03 -5.01499354e-04 9.99964034e-01 3.50379032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.990714057 meters Centerline goodness [0,1] 0.9751344243818827 Centerline is valid? [True, True] Translation: X:374.04, Y:-15.06, Z:3.50 [[ 9.99960193e-01 -3.10877229e-03 -8.36343464e-03 3.74040767e+02] [ 3.11292031e-03 9.99995038e-01 4.82998528e-04 -1.50639771e+01] [ 8.36189161e-03 -5.09014007e-04 9.99964909e-01 3.50327419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.020714057 meters Centerline goodness [0,1] 0.9744346807264206 Centerline is valid? [True, True] Translation: X:374.07, Y:-15.07, Z:3.50 [[ 9.99961044e-01 -4.02723250e-03 -7.85435485e-03 3.74069467e+02] [ 4.03089997e-03 9.99991774e-01 4.51161370e-04 -1.50650155e+01] [ 7.85247331e-03 -4.82803913e-04 9.99969052e-01 3.50408853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.050714057 meters Centerline goodness [0,1] 0.9731950557168274 Centerline is valid? [True, True] Translation: X:374.10, Y:-15.07, Z:3.50 [[ 9.99956711e-01 -6.02671624e-03 -7.08910154e-03 3.74098681e+02] [ 6.02975569e-03 9.99981738e-01 4.07453430e-04 -1.50681417e+01] [ 7.08651647e-03 -4.50181342e-04 9.99974789e-01 3.50482691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.080714057 meters Centerline goodness [0,1] 0.9755513843266073 Centerline is valid? [True, True] Translation: X:374.13, Y:-15.06, Z:3.51 [[ 9.99956643e-01 -6.35607589e-03 -6.80525777e-03 3.74128540e+02] [ 6.35888306e-03 9.99979706e-01 3.90943354e-04 -1.50608060e+01] [ 6.80263479e-03 -4.34200243e-04 9.99976768e-01 3.50689467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.110714057 meters Centerline goodness [0,1] 0.9761737089201878 Centerline is valid? [True, True] Translation: X:374.16, Y:-15.06, Z:3.51 [[ 9.99960464e-01 -6.26407002e-03 -6.31128301e-03 3.74157897e+02] [ 6.26648228e-03 9.99980300e-01 3.62512114e-04 -1.50646087e+01] [ 6.30888787e-03 -4.02047325e-04 9.99980018e-01 3.50666953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.140714057 meters Centerline goodness [0,1] 0.974194002864724 Centerline is valid? [True, True] Translation: X:374.19, Y:-15.07, Z:3.51 [[ 9.99964322e-01 -5.67114704e-03 -6.26039598e-03 3.74187430e+02] [ 5.67350833e-03 9.99983841e-01 3.59484052e-04 -1.50672712e+01] [ 6.25825613e-03 -3.94989635e-04 9.99980339e-01 3.50623285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.170714057 meters Centerline goodness [0,1] 0.9749524189948072 Centerline is valid? [True, True] Translation: X:374.22, Y:-15.07, Z:3.51 [[ 9.99968277e-01 -4.47560929e-03 -6.58899396e-03 3.74217317e+02] [ 4.47819957e-03 9.99989901e-01 3.78420230e-04 -1.50680573e+01] [ 6.58723376e-03 -4.07915055e-04 9.99978221e-01 3.50544129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.200714057 meters Centerline goodness [0,1] 0.9766636838882871 Centerline is valid? [True, True] Translation: X:374.25, Y:-15.06, Z:3.51 [[ 9.99971175e-01 -3.78042859e-03 -6.58462800e-03 3.74247556e+02] [ 3.78299800e-03 9.99992773e-01 3.77801810e-04 -1.50624096e+01] [ 6.58315216e-03 -4.02700555e-04 9.99978250e-01 3.50658902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.230714057 meters Centerline goodness [0,1] 0.9745324687529368 Centerline is valid? [True, True] Translation: X:374.28, Y:-15.07, Z:3.50 [[ 9.99971967e-01 -3.38514493e-03 -6.67877913e-03 3.74275600e+02] [ 3.38777678e-03 9.99994188e-01 3.82787379e-04 -1.50710054e+01] [ 6.67744452e-03 -4.05402862e-04 9.99977623e-01 3.50431747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26071405700003 meters Centerline goodness [0,1] 0.9754775425916365 Centerline is valid? [True, True] Translation: X:374.31, Y:-15.07, Z:3.51 [[ 9.99972752e-01 -3.30898042e-03 -6.59897789e-03 3.74306084e+02] [ 3.31154698e-03 9.99994445e-01 3.78044675e-04 -1.50657215e+01] [ 6.59769029e-03 -3.99887200e-04 9.99978155e-01 3.50525296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.290714057 meters Centerline goodness [0,1] 0.976635295219366 Centerline is valid? [True, True] Translation: X:374.34, Y:-15.07, Z:3.51 [[ 9.99969319e-01 -3.52173358e-03 -6.99706236e-03 3.74335532e+02] [ 3.52462265e-03 9.99993708e-01 4.00609711e-04 -1.50666572e+01] [ 6.99560749e-03 -4.25259424e-04 9.99975440e-01 3.50512596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32071405700003 meters Centerline goodness [0,1] 0.9765074577629067 Centerline is valid? [True, True] Translation: X:374.36, Y:-15.07, Z:3.50 [[ 9.99962862e-01 -3.97823652e-03 -7.64520876e-03 3.74364642e+02] [ 3.98169698e-03 9.99991977e-01 4.37464401e-04 -1.50695619e+01] [ 7.64340709e-03 -4.67889059e-04 9.99970679e-01 3.50432579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.350714057 meters Centerline goodness [0,1] 0.9763404335621447 Centerline is valid? [True, True] Translation: X:374.39, Y:-15.07, Z:3.50 [[ 9.99958416e-01 -4.02064986e-03 -8.18545013e-03 3.74393629e+02] [ 4.02459480e-03 9.99991793e-01 4.65530203e-04 -1.50693904e+01] [ 8.18351122e-03 -4.98453964e-04 9.99966390e-01 3.50383730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38071405700003 meters Centerline goodness [0,1] 0.9772646704322548 Centerline is valid? [True, True] Translation: X:374.42, Y:-15.07, Z:3.50 [[ 9.99946762e-01 -3.54561184e-03 -9.69034354e-03 3.74422214e+02] [ 3.55112238e-03 9.99993543e-01 5.51516193e-04 -1.50714082e+01] [ 9.68832551e-03 -5.85898427e-04 9.99952895e-01 3.50253132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.410714057 meters Centerline goodness [0,1] 0.9784814307960927 Centerline is valid? [True, True] Translation: X:374.45, Y:-15.07, Z:3.50 [[ 9.99943308e-01 -2.96315784e-03 -1.02274743e-02 3.74450752e+02] [ 2.96923240e-03 9.99995424e-01 5.78812907e-04 -1.50708754e+01] [ 1.02257124e-02 -6.09147841e-04 9.99947530e-01 3.50324805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.440714057 meters Centerline goodness [0,1] 0.9767518782781269 Centerline is valid? [True, True] Translation: X:374.48, Y:-15.07, Z:3.50 [[ 9.99944727e-01 -3.31681901e-03 -9.97710147e-03 3.74478653e+02] [ 3.32258758e-03 9.99994322e-01 5.61660695e-04 -1.50725352e+01] [ 9.97518189e-03 -5.94779444e-04 9.99950070e-01 3.50317187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.470714057 meters Centerline goodness [0,1] 0.9767689180885759 Centerline is valid? [True, True] Translation: X:374.51, Y:-15.08, Z:3.50 [[ 9.99958176e-01 -3.45316435e-03 -8.46882000e-03 3.74506766e+02] [ 3.45732400e-03 9.99993910e-01 4.76581965e-04 -1.50753844e+01] [ 8.46712271e-03 -5.05841487e-04 9.99964025e-01 3.50397053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.500714057 meters Centerline goodness [0,1] 0.9769841456806992 Centerline is valid? [True, True] Translation: X:374.54, Y:-15.08, Z:3.50 [[ 9.99960160e-01 -4.17552574e-03 -7.88947449e-03 3.74535287e+02] [ 4.17913777e-03 9.99991170e-01 4.41399090e-04 -1.50763902e+01] [ 7.88756175e-03 -4.74352706e-04 9.99968780e-01 3.50436590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.530714057 meters Centerline goodness [0,1] 0.9760710332320591 Centerline is valid? [True, True] Translation: X:374.56, Y:-15.08, Z:3.50 [[ 9.99961165e-01 -5.62172943e-03 -6.78710911e-03 3.74564611e+02] [ 5.62443869e-03 9.99984110e-01 3.80155116e-04 -1.50806983e+01] [ 6.78486414e-03 -4.18314032e-04 9.99976895e-01 3.50444395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.560714057 meters Centerline goodness [0,1] 0.9759809357525423 Centerline is valid? [True, True] Translation: X:374.59, Y:-15.08, Z:3.50 [[ 9.99949681e-01 -7.00800488e-03 -7.17798649e-03 3.74594985e+02] [ 7.01107177e-03 9.99975341e-01 4.02188820e-04 -1.50827792e+01] [ 7.17499095e-03 -4.52493961e-04 9.99974157e-01 3.50383295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.590714057 meters Centerline goodness [0,1] 0.9774613353451528 Centerline is valid? [True, True] Translation: X:374.62, Y:-15.08, Z:3.50 [[ 9.99923805e-01 -1.00126362e-02 -7.22023082e-03 3.74624651e+02] [ 1.00158159e-02 9.99949759e-01 4.04358447e-04 -1.50848526e+01] [ 7.21581937e-03 -4.76644140e-04 9.99973852e-01 3.50340935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.620714057 meters Centerline goodness [0,1] 0.9766417857731522 Centerline is valid? [True, True] Translation: X:374.66, Y:-15.09, Z:3.50 [[ 9.99898099e-01 -1.17398781e-02 -8.12206066e-03 3.74655631e+02] [ 1.17439625e-02 9.99930934e-01 4.55365583e-04 -1.50889620e+01] [ 8.11615376e-03 -5.50704357e-04 9.99966912e-01 3.50254602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.650714057 meters Centerline goodness [0,1] 0.976713005433632 Centerline is valid? [True, True] Translation: X:374.69, Y:-15.09, Z:3.50 [[ 9.99864337e-01 -1.40479947e-02 -8.60002778e-03 3.74686071e+02] [ 1.40526596e-02 9.99901140e-01 4.82241737e-04 -1.50931295e+01] [ 8.59240305e-03 -6.03029578e-04 9.99962903e-01 3.50182514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.680714057 meters Centerline goodness [0,1] 0.9763193029302227 Centerline is valid? [True, True] Translation: X:374.72, Y:-15.10, Z:3.50 [[ 9.99761059e-01 -1.97588063e-02 -9.34960080e-03 3.74715199e+02] [ 1.97645762e-02 9.99804524e-01 5.25129315e-04 -1.51025253e+01] [ 9.33739724e-03 -7.09794738e-04 9.99956154e-01 3.49952249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.710714057 meters Centerline goodness [0,1] 0.9765223084837714 Centerline is valid? [True, True] Translation: X:374.75, Y:-15.11, Z:3.50 [[ 9.99699290e-01 -2.24522269e-02 -9.86037573e-03 3.74746277e+02] [ 2.24587744e-02 9.99747617e-01 5.53781632e-04 -1.51053834e+01] [ 9.84545350e-03 -7.75067058e-04 9.99951232e-01 3.49927906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.740714057 meters Centerline goodness [0,1] 0.9751761467033736 Centerline is valid? [True, True] Translation: X:374.78, Y:-15.11, Z:3.50 [[ 9.99587363e-01 -2.69502799e-02 -9.93909245e-03 3.74777432e+02] [ 2.69571563e-02 9.99636434e-01 5.58510847e-04 -1.51116531e+01] [ 9.92042691e-03 -8.26210054e-04 9.99950450e-01 3.49962461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.770714057 meters Centerline goodness [0,1] 0.9729440003728648 Centerline is valid? [True, True] Translation: X:374.81, Y:-15.12, Z:3.50 [[ 9.99501271e-01 -3.02880663e-02 -8.93547402e-03 3.74807019e+02] [ 3.02937560e-02 9.99540913e-01 5.02062704e-04 -1.51209504e+01] [ 8.91616535e-03 -7.72501381e-04 9.99959952e-01 3.49960144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.800714057 meters Centerline goodness [0,1] 0.971837852897474 Centerline is valid? [True, True] Translation: X:374.84, Y:-15.13, Z:3.50 [[ 9.99481570e-01 -3.11206312e-02 -8.25208742e-03 3.74839086e+02] [ 3.11255190e-02 9.99515376e-01 4.64518453e-04 -1.51255726e+01] [ 8.23363215e-03 -7.21128137e-04 9.99965843e-01 3.49989103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.830714057 meters Centerline goodness [0,1] 0.9732632753650144 Centerline is valid? [True, True] Translation: X:374.87, Y:-15.13, Z:3.50 [[ 9.99469391e-01 -3.16896590e-02 -7.53002231e-03 3.74871354e+02] [ 3.16937491e-02 9.99497537e-01 4.24441816e-04 -1.51284080e+01] [ 7.51278833e-03 -6.62871241e-04 9.99971559e-01 3.50081316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.860714057 meters Centerline goodness [0,1] 0.9713589416270164 Centerline is valid? [True, True] Translation: X:374.90, Y:-15.13, Z:3.50 [[ 9.99445374e-01 -3.25815375e-02 -6.88394466e-03 3.74903693e+02] [ 3.25849804e-02 9.99468893e-01 3.88538953e-04 -1.51332320e+01] [ 6.86762935e-03 -6.12636660e-04 9.99976230e-01 3.50107041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.890714057 meters Centerline goodness [0,1] 0.969393897300551 Centerline is valid? [True, True] Translation: X:374.94, Y:-15.14, Z:3.50 [[ 9.99442004e-01 -3.27213881e-02 -6.70758793e-03 3.74936117e+02] [ 3.27246632e-02 9.99464333e-01 3.79073787e-04 -1.51372389e+01] [ 6.69159108e-03 -5.98365821e-04 9.99977432e-01 3.50090685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.920714057 meters Centerline goodness [0,1] 0.970429297029014 Centerline is valid? [True, True] Translation: X:374.97, Y:-15.14, Z:3.50 [[ 9.99445424e-01 -3.25322037e-02 -7.10630933e-03 3.74968258e+02] [ 3.25358785e-02 9.99470487e-01 4.02103264e-04 -1.51409168e+01] [ 7.08946514e-03 -6.33090284e-04 9.99974669e-01 3.49993727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.950714057 meters Centerline goodness [0,1] 0.9707679184821449 Centerline is valid? [True, True] Translation: X:375.00, Y:-15.15, Z:3.50 [[ 9.99480317e-01 -3.13327713e-02 -7.57326465e-03 3.74998948e+02] [ 3.13369117e-02 9.99508786e-01 4.28640722e-04 -1.51453155e+01] [ 7.55611405e-03 -6.65740690e-04 9.99971231e-01 3.49892914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.980714057 meters Centerline goodness [0,1] 0.9707748598953267 Centerline is valid? [True, True] Translation: X:375.03, Y:-15.15, Z:3.50 [[ 9.99499811e-01 -3.06553182e-02 -7.77041552e-03 3.75031306e+02] [ 3.06596619e-02 9.99529785e-01 4.40467354e-04 -1.51477474e+01] [ 7.75325909e-03 -6.78485349e-04 9.99969713e-01 3.49881628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.01071405700003 meters Centerline goodness [0,1] 0.9712180360814026 Centerline is valid? [True, True] Translation: X:375.06, Y:-15.15, Z:3.50 [[ 9.99578197e-01 -2.80433603e-02 -7.54972617e-03 3.75061762e+02] [ 2.80473863e-02 9.99606503e-01 4.27896089e-04 -1.51498419e+01] [ 7.53475573e-03 -6.39465688e-04 9.99971409e-01 3.49855821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.040714057 meters Centerline goodness [0,1] 0.9715309898242368 Centerline is valid? [True, True] Translation: X:375.09, Y:-15.15, Z:3.50 [[ 9.99620646e-01 -2.64574416e-02 -7.65302813e-03 3.75092646e+02] [ 2.64615349e-02 9.99649738e-01 4.34078705e-04 -1.51521695e+01] [ 7.63886295e-03 -6.36424906e-04 9.99970621e-01 3.49848915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.07071405700003 meters Centerline goodness [0,1] 0.9715779006035938 Centerline is valid? [True, True] Translation: X:375.12, Y:-15.15, Z:3.50 [[ 9.99667853e-01 -2.46470337e-02 -7.53042333e-03 3.75124421e+02] [ 2.46509492e-02 9.99696028e-01 4.27576795e-04 -1.51537389e+01] [ 7.51759579e-03 -6.13066860e-04 9.99971555e-01 3.49865082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.100714057 meters Centerline goodness [0,1] 0.9715568515818463 Centerline is valid? [True, True] Translation: X:375.15, Y:-15.16, Z:3.50 [[ 9.99747082e-01 -2.10711257e-02 -7.86001595e-03 3.75153527e+02] [ 2.10752787e-02 9.99777792e-01 4.45899938e-04 -1.51555568e+01] [ 7.84887378e-03 -6.11439189e-04 9.99969010e-01 3.49815904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.13071405700003 meters Centerline goodness [0,1] 0.9748522424382895 Centerline is valid? [True, True] Translation: X:375.18, Y:-15.15, Z:3.50 [[ 9.99801019e-01 -1.80247424e-02 -8.54580467e-03 3.75184256e+02] [ 1.80295434e-02 9.99837337e-01 4.85079734e-04 -1.51539662e+01] [ 8.53567115e-03 -6.39060169e-04 9.99963366e-01 3.49783446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.160714057 meters Centerline goodness [0,1] 0.9741111574653502 Centerline is valid? [True, True] Translation: X:375.22, Y:-15.16, Z:3.50 [[ 9.99825179e-01 -1.65798798e-02 -8.64398897e-03 3.75215117e+02] [ 1.65847411e-02 9.99862343e-01 4.91010323e-04 -1.51564495e+01] [ 8.63465818e-03 -6.34282803e-04 9.99962519e-01 3.49729333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.190714057 meters Centerline goodness [0,1] 0.974511391233954 Centerline is valid? [True, True] Translation: X:375.25, Y:-15.16, Z:3.50 [[ 9.99850971e-01 -1.48966413e-02 -8.72502516e-03 3.75246403e+02] [ 1.49015330e-02 9.99888843e-01 4.95908524e-04 -1.51566559e+01] [ 8.71666794e-03 -6.25850869e-04 9.99961813e-01 3.49705089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.220714057 meters Centerline goodness [0,1] 0.9750710440588684 Centerline is valid? [True, True] Translation: X:375.28, Y:-15.16, Z:3.50 [[ 9.99904166e-01 -1.14652275e-02 -7.75930914e-03 3.75276688e+02] [ 1.14689930e-02 9.99934132e-01 4.40961617e-04 -1.51555307e+01] [ 7.75374232e-03 -5.29910821e-04 9.99969799e-01 3.49808867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.250714057 meters Centerline goodness [0,1] 0.9756328967464247 Centerline is valid? [True, True] Translation: X:375.31, Y:-15.15, Z:3.50 [[ 9.99925526e-01 -9.97110792e-03 -7.03705239e-03 3.75307851e+02] [ 9.97417069e-03 9.99950177e-01 4.00273231e-04 -1.51548812e+01] [ 7.03271061e-03 -4.70432183e-04 9.99975160e-01 3.49901801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.280714057 meters Centerline goodness [0,1] 0.9777243737868565 Centerline is valid? [True, True] Translation: X:375.34, Y:-15.15, Z:3.50 [[ 9.99959402e-01 -6.48147790e-03 -6.25978677e-03 3.75338500e+02] [ 6.48383311e-03 9.99978916e-01 3.56022369e-04 -1.51512540e+01] [ 6.25734724e-03 -3.96595328e-04 9.99980344e-01 3.50108871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.310714057 meters Centerline goodness [0,1] 0.9763171284518248 Centerline is valid? [True, True] Translation: X:375.37, Y:-15.15, Z:3.50 [[ 9.99965756e-01 -5.06744305e-03 -6.54272764e-03 3.75368833e+02] [ 5.06998564e-03 9.99987078e-01 3.72084463e-04 -1.51514551e+01] [ 6.54075758e-03 -4.05243256e-04 9.99978527e-01 3.50157867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.340714057 meters Centerline goodness [0,1] 0.9769054719467369 Centerline is valid? [True, True] Translation: X:375.40, Y:-15.15, Z:3.50 [[ 9.99971721e-01 -2.67374092e-03 -7.02917557e-03 3.75398708e+02] [ 2.67661538e-03 9.99996338e-01 3.99557804e-04 -1.51537452e+01] [ 7.02808151e-03 -4.18360904e-04 9.99975215e-01 3.50103041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.370714057 meters Centerline goodness [0,1] 0.9780120690851078 Centerline is valid? [True, True] Translation: X:375.43, Y:-15.16, Z:3.50 [[ 9.99969658e-01 -1.85889320e-03 -7.56486875e-03 3.75427881e+02] [ 1.86217995e-03 9.99998175e-01 4.27455789e-04 -1.51550940e+01] [ 7.56406035e-03 -4.41529966e-04 9.99971295e-01 3.50030186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.400714057 meters Centerline goodness [0,1] 0.9767227895850584 Centerline is valid? [True, True] Translation: X:375.46, Y:-15.16, Z:3.50 [[ 9.99958598e-01 2.68529017e-04 -9.09559181e-03 3.75455707e+02] [-2.63863927e-04 9.99999833e-01 5.14091853e-04 -1.51613282e+01] [ 9.09572834e-03 -5.11670570e-04 9.99958502e-01 3.49780919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.430714057 meters Centerline goodness [0,1] 0.9779078375127233 Centerline is valid? [True, True] Translation: X:375.48, Y:-15.16, Z:3.50 [[ 9.99953103e-01 8.13740141e-04 -9.65040366e-03 3.75484812e+02] [-8.08542834e-04 9.99999526e-01 5.42447791e-04 -1.51598643e+01] [ 9.65084050e-03 -5.34619587e-04 9.99953287e-01 3.49788641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.460714057 meters Centerline goodness [0,1] 0.9791065450767632 Centerline is valid? [True, True] Translation: X:375.51, Y:-15.16, Z:3.50 [[ 9.99944904e-01 2.45791552e-03 -1.02052315e-02 3.75513865e+02] [-2.45218895e-03 9.99996829e-01 5.73615691e-04 -1.51597863e+01] [ 1.02066090e-02 -5.48558931e-04 9.99947761e-01 3.49771383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.490714057 meters Centerline goodness [0,1] 0.9792831077647929 Centerline is valid? [True, True] Translation: X:375.54, Y:-15.16, Z:3.50 [[ 9.99940965e-01 3.20638158e-03 -1.03820159e-02 3.75542956e+02] [-3.20052909e-03 9.99994710e-01 5.80279051e-04 -1.51605461e+01] [ 1.03838216e-02 -5.47016850e-04 9.99945937e-01 3.49826542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.520714057 meters Centerline goodness [0,1] 0.979350760215029 Centerline is valid? [True, True] Translation: X:375.57, Y:-15.16, Z:3.50 [[ 9.99936825e-01 3.65653151e-03 -1.06290384e-02 3.75572041e+02] [-3.65042319e-03 9.99993161e-01 5.94026861e-04 -1.51620778e+01] [ 1.06311377e-02 -5.55188845e-04 9.99943334e-01 3.49815928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.550714057 meters Centerline goodness [0,1] 0.9795242396868413 Centerline is valid? [True, True] Translation: X:375.60, Y:-15.16, Z:3.50 [[ 9.99931451e-01 5.00673107e-03 -1.05841973e-02 3.75599575e+02] [-5.00076654e-03 9.99987322e-01 5.89922503e-04 -1.51646489e+01] [ 1.05870167e-02 -5.36952965e-04 9.99943812e-01 3.49865238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.580714057 meters Centerline goodness [0,1] 0.9802906721504656 Centerline is valid? [True, True] Translation: X:375.63, Y:-15.17, Z:3.50 [[ 9.99930863e-01 5.45019482e-03 -1.04194547e-02 3.75627947e+02] [-5.44444394e-03 9.99985011e-01 5.80222626e-04 -1.51657488e+01] [ 1.04224609e-02 -5.23454374e-04 9.99945548e-01 3.49917722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.610714057 meters Centerline goodness [0,1] 0.9796277433095657 Centerline is valid? [True, True] Translation: X:375.66, Y:-15.17, Z:3.50 [[ 9.99931269e-01 6.05366723e-03 -1.00404115e-02 3.75655944e+02] [-6.04836706e-03 9.99981553e-01 5.58164043e-04 -1.51687103e+01] [ 1.00436052e-02 -4.97397585e-04 9.99949438e-01 3.49950496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.640714057 meters Centerline goodness [0,1] 0.9795130298055357 Centerline is valid? [True, True] Translation: X:375.68, Y:-15.17, Z:3.50 [[ 9.99931365e-01 6.53174626e-03 -9.72631421e-03 3.75684768e+02] [-6.52680108e-03 9.99978554e-01 5.40088507e-04 -1.51710950e+01] [ 9.72963335e-03 -4.76569720e-04 9.99952552e-01 3.50003684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.670714057 meters Centerline goodness [0,1] 0.9809990522641641 Centerline is valid? [True, True] Translation: X:375.71, Y:-15.17, Z:3.50 [[ 9.99937371e-01 6.39623617e-03 -9.18379486e-03 3.75713076e+02] [-6.39182771e-03 9.99979442e-01 5.09297149e-04 -1.51723227e+01] [ 9.18686365e-03 -4.50564018e-04 9.99957698e-01 3.50080450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.700714057 meters Centerline goodness [0,1] 0.9806979154670045 Centerline is valid? [True, True] Translation: X:375.74, Y:-15.18, Z:3.50 [[ 9.99937138e-01 5.94255020e-03 -9.50821032e-03 3.75740602e+02] [-5.93781275e-03 9.99982232e-01 5.26400814e-04 -1.51781986e+01] [ 9.51116955e-03 -4.69909751e-04 9.99954657e-01 3.49979494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.730714057 meters Centerline goodness [0,1] 0.9806979154670045 Centerline is valid? [True, True] Translation: X:375.77, Y:-15.18, Z:3.50 [[ 9.99937738e-01 5.84056207e-03 -9.50826705e-03 3.75768058e+02] [-5.83582975e-03 9.99982833e-01 5.25375610e-04 -1.51796240e+01] [ 9.51117231e-03 -4.69854272e-04 9.99954657e-01 3.49969119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76071405700003 meters Centerline goodness [0,1] 0.9795923062764587 Centerline is valid? [True, True] Translation: X:375.80, Y:-15.19, Z:3.50 [[ 9.99945540e-01 3.69313110e-03 -9.76105666e-03 3.75796297e+02] [-3.68804458e-03 9.99993054e-01 5.39051912e-04 -1.51855978e+01] [ 9.76297965e-03 -5.03023343e-04 9.99952214e-01 3.49923223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.790714057 meters Centerline goodness [0,1] 0.9798226419440286 Centerline is valid? [True, True] Translation: X:375.82, Y:-15.19, Z:3.50 [[ 9.99945878e-01 2.28298610e-03 -1.01503701e-02 3.75824762e+02] [-2.27742353e-03 9.99997250e-01 5.59541716e-04 -1.51863289e+01] [ 1.01516197e-02 -5.36394740e-04 9.99948327e-01 3.50002757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82071405700003 meters Centerline goodness [0,1] 0.9817258183155572 Centerline is valid? [True, True] Translation: X:375.85, Y:-15.19, Z:3.50 [[ 9.99944098e-01 7.70545835e-04 -1.05455098e-02 3.75854539e+02] [-7.64459775e-04 9.99999539e-01 5.81142021e-04 -1.51855249e+01] [ 1.05459527e-02 -5.73047915e-04 9.99944226e-01 3.50115292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.850714057 meters Centerline goodness [0,1] 0.9785484611851172 Centerline is valid? [True, True] Translation: X:375.88, Y:-15.20, Z:3.50 [[ 9.99948346e-01 -1.39494243e-03 -1.00677362e-02 3.75882278e+02] [ 1.40059027e-03 9.99998866e-01 5.53954808e-04 -1.51994123e+01] [ 1.00669520e-02 -5.68026968e-04 9.99949166e-01 3.49932907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88071405700003 meters Centerline goodness [0,1] 0.9792689079484475 Centerline is valid? [True, True] Translation: X:375.91, Y:-15.20, Z:3.50 [[ 9.99945689e-01 -2.56703918e-03 -1.01009573e-02 3.75910836e+02] [ 2.57277676e-03 9.99996536e-01 5.55070727e-04 -1.51985337e+01] [ 1.00994974e-02 -5.81028088e-04 9.99948830e-01 3.50106000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.910714057 meters Centerline goodness [0,1] 0.9769202616771124 Centerline is valid? [True, True] Translation: X:375.94, Y:-15.21, Z:3.50 [[ 9.99938316e-01 -3.20322455e-03 -1.06350305e-02 3.75937996e+02] [ 3.20960365e-03 9.99994679e-01 5.82806184e-04 -1.52074979e+01] [ 1.06331071e-02 -6.16904467e-04 9.99943277e-01 3.49944045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.940714057 meters Centerline goodness [0,1] 0.9783493369913123 Centerline is valid? [True, True] Translation: X:375.97, Y:-15.20, Z:3.50 [[ 9.99932280e-01 -3.59054561e-03 -1.10699766e-02 3.75966503e+02] [ 3.59747205e-03 9.99993346e-01 6.05846212e-04 -1.52040694e+01] [ 1.10677276e-02 -6.45629115e-04 9.99938542e-01 3.50084710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.970714057 meters Centerline goodness [0,1] 0.9793571150365432 Centerline is valid? [True, True] Translation: X:376.00, Y:-15.21, Z:3.50 [[ 9.99921602e-01 -4.17082121e-03 -1.18065094e-02 3.75995405e+02] [ 4.17869912e-03 9.99991063e-01 6.42660840e-04 -1.52065004e+01] [ 1.18037235e-02 -6.91946307e-04 9.99930094e-01 3.50034565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.000714057 meters Centerline goodness [0,1] 0.9793600946659384 Centerline is valid? [True, True] Translation: X:376.02, Y:-15.21, Z:3.50 [[ 9.99915073e-01 -4.62009268e-03 -1.21860853e-02 3.76023329e+02] [ 4.62850446e-03 9.99989069e-01 6.62164468e-04 -1.52114077e+01] [ 1.21828929e-02 -7.18511583e-04 9.99925528e-01 3.49918907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.030714057 meters Centerline goodness [0,1] 0.9785348922177567 Centerline is valid? [True, True] Translation: X:376.05, Y:-15.21, Z:3.50 [[ 9.99907079e-01 -5.12052966e-03 -1.26337971e-02 3.76051486e+02] [ 5.12959925e-03 9.99986609e-01 6.85582934e-04 -1.52143391e+01] [ 1.26301174e-02 -7.50325545e-04 9.99919955e-01 3.49811412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.060714057 meters Centerline goodness [0,1] 0.9778143350012567 Centerline is valid? [True, True] Translation: X:376.08, Y:-15.22, Z:3.50 [[ 9.99896071e-01 -5.96966471e-03 -1.31228634e-02 3.76080065e+02] [ 5.97947296e-03 9.99981872e-01 7.08308467e-04 -1.52167544e+01] [ 1.31183971e-02 -7.86702660e-04 9.99913641e-01 3.49850668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.090714057 meters Centerline goodness [0,1] 0.9797875749668086 Centerline is valid? [True, True] Translation: X:376.11, Y:-15.22, Z:3.50 [[ 9.99893973e-01 -6.86593804e-03 -1.28413864e-02 3.76108421e+02] [ 6.87539604e-03 9.99976124e-01 6.92522511e-04 -1.52158350e+01] [ 1.28363250e-02 -7.80738702e-04 9.99917306e-01 3.49934320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.120714057 meters Centerline goodness [0,1] 0.9807309881368717 Centerline is valid? [True, True] Translation: X:376.14, Y:-15.22, Z:3.50 [[ 9.99888425e-01 -7.44090689e-03 -1.29526491e-02 3.76136803e+02] [ 7.45052712e-03 9.99972003e-01 6.94626508e-04 -1.52178675e+01] [ 1.29471178e-02 -7.91053068e-04 9.99915870e-01 3.50018270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.150714057 meters Centerline goodness [0,1] 0.978199333424645 Centerline is valid? [True, True] Translation: X:376.17, Y:-15.22, Z:3.50 [[ 9.99869711e-01 -9.40077610e-03 -1.31219743e-02 3.76165279e+02] [ 9.41081840e-03 9.99955470e-01 7.03765510e-04 -1.52223323e+01] [ 1.31147740e-02 -8.27162335e-04 9.99913656e-01 3.49993508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.180714057 meters Centerline goodness [0,1] 0.9799019048705373 Centerline is valid? [True, True] Translation: X:376.19, Y:-15.23, Z:3.50 [[ 9.99848797e-01 -1.14892590e-02 -1.30530030e-02 3.76194676e+02] [ 1.14993681e-02 9.99933635e-01 6.99669944e-04 -1.52266048e+01] [ 1.30440980e-02 -8.49665437e-04 9.99914561e-01 3.49941907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.210714057 meters Centerline goodness [0,1] 0.9798048869438366 Centerline is valid? [True, True] Translation: X:376.22, Y:-15.23, Z:3.50 [[ 9.99828909e-01 -1.33128799e-02 -1.28421112e-02 3.76223872e+02] [ 1.33228050e-02 9.99911011e-01 6.87611719e-04 -1.52298243e+01] [ 1.28318143e-02 -8.58587019e-04 9.99917300e-01 3.49898632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.240714057 meters Centerline goodness [0,1] 0.9787485510375707 Centerline is valid? [True, True] Translation: X:376.25, Y:-15.24, Z:3.50 [[ 9.99809098e-01 -1.48389252e-02 -1.27111587e-02 3.76252904e+02] [ 1.48487705e-02 9.99889519e-01 6.80507935e-04 -1.52403088e+01] [ 1.26996563e-02 -8.69123102e-04 9.99918978e-01 3.49718119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.270714057 meters Centerline goodness [0,1] 0.9804712423662383 Centerline is valid? [True, True] Translation: X:376.28, Y:-15.24, Z:3.50 [[ 9.99760324e-01 -1.74547906e-02 -1.32145413e-02 3.76283231e+02] [ 1.74656555e-02 9.99847214e-01 7.07225464e-04 -1.52379091e+01] [ 1.32001778e-02 -9.37856585e-04 9.99912434e-01 3.49893782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.300714057 meters Centerline goodness [0,1] 0.9791028520863113 Centerline is valid? [True, True] Translation: X:376.31, Y:-15.24, Z:3.50 [[ 9.99746958e-01 -1.83870820e-02 -1.29590063e-02 3.76313405e+02] [ 1.83976133e-02 9.99830509e-01 6.93908694e-04 -1.52448052e+01] [ 1.29440509e-02 -9.32147892e-04 9.99915788e-01 3.49835453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.330714057 meters Centerline goodness [0,1] 0.9796875711618163 Centerline is valid? [True, True] Translation: X:376.34, Y:-15.24, Z:3.50 [[ 9.99727008e-01 -1.95933439e-02 -1.27283073e-02 3.76344381e+02] [ 1.96036037e-02 9.99807598e-01 6.81779229e-04 -1.52447881e+01] [ 1.27125000e-02 -9.31113800e-04 9.99918759e-01 3.49914842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.360714057 meters Centerline goodness [0,1] 0.9786191333682843 Centerline is valid? [True, True] Translation: X:376.37, Y:-15.25, Z:3.50 [[ 9.99712970e-01 -2.01768459e-02 -1.29179365e-02 3.76374721e+02] [ 2.01874650e-02 9.99795973e-01 6.92158486e-04 -1.52507196e+01] [ 1.29013353e-02 -9.52740206e-04 9.99916320e-01 3.49804275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.390714057 meters Centerline goodness [0,1] 0.9795179075913606 Centerline is valid? [True, True] Translation: X:376.41, Y:-15.25, Z:3.50 [[ 9.99696490e-01 -2.07661120e-02 -1.32550681e-02 3.76405872e+02] [ 2.07773510e-02 9.99783875e-01 7.10740795e-04 -1.52511550e+01] [ 1.32374440e-02 -9.85930280e-04 9.99911895e-01 3.49860310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.420714057 meters Centerline goodness [0,1] 0.9805396044116307 Centerline is valid? [True, True] Translation: X:376.44, Y:-15.25, Z:3.50 [[ 9.99690933e-01 -2.08666413e-02 -1.35137646e-02 3.76436882e+02] [ 2.08783386e-02 9.99781761e-01 7.25072115e-04 -1.52533588e+01] [ 1.34956855e-02 -1.00699297e-03 9.99908422e-01 3.49841727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.450714057 meters Centerline goodness [0,1] 0.9800875872451075 Centerline is valid? [True, True] Translation: X:376.47, Y:-15.25, Z:3.50 [[ 9.99682509e-01 -2.09604184e-02 -1.39836587e-02 3.76468546e+02] [ 2.09729595e-02 9.99779761e-01 7.50778202e-04 -1.52504365e+01] [ 1.39648424e-02 -1.04381854e-03 9.99901942e-01 3.49938698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.480714057 meters Centerline goodness [0,1] 0.9778162437935589 Centerline is valid? [True, True] Translation: X:376.50, Y:-15.26, Z:3.50 [[ 9.99674508e-01 -2.13641414e-02 -1.39446013e-02 3.76498603e+02] [ 2.13766541e-02 9.99771213e-01 7.48859170e-04 -1.52587725e+01] [ 1.39254122e-02 -1.04670434e-03 9.99902489e-01 3.49696737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.51071405700003 meters Centerline goodness [0,1] 0.9799046554595013 Centerline is valid? [True, True] Translation: X:376.53, Y:-15.25, Z:3.50 [[ 9.99685484e-01 -2.08856357e-02 -1.38824787e-02 3.76530456e+02] [ 2.08979989e-02 9.99781335e-01 7.46081041e-04 -1.52530601e+01] [ 1.38638607e-02 -1.03596241e-03 9.99903355e-01 3.49779561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.540714057 meters Centerline goodness [0,1] 0.9807854681545378 Centerline is valid? [True, True] Translation: X:376.56, Y:-15.25, Z:3.50 [[ 9.99687779e-01 -2.04535844e-02 -1.43525564e-02 3.76561957e+02] [ 2.04667621e-02 9.99790236e-01 7.71848277e-04 -1.52535584e+01] [ 1.43337587e-02 -1.06535765e-03 9.99896699e-01 3.49764878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.57071405700003 meters Centerline goodness [0,1] 0.9804863609453982 Centerline is valid? [True, True] Translation: X:376.59, Y:-15.26, Z:3.50 [[ 9.99689485e-01 -2.02280839e-02 -1.45519264e-02 3.76592106e+02] [ 2.02416093e-02 9.99794811e-01 7.82756748e-04 -1.52566199e+01] [ 1.45331068e-02 -1.07706810e-03 9.99893809e-01 3.49674582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.600714057 meters Centerline goodness [0,1] 0.9801212398490221 Centerline is valid? [True, True] Translation: X:376.62, Y:-15.25, Z:3.50 [[ 9.99692212e-01 -1.97506616e-02 -1.50130757e-02 3.76623260e+02] [ 1.97650083e-02 9.99804327e-01 8.07825102e-04 -1.52549546e+01] [ 1.49941829e-02 -1.10431003e-03 9.99886971e-01 3.49763759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.63071405700003 meters Centerline goodness [0,1] 0.9789519391183125 Centerline is valid? [True, True] Translation: X:376.65, Y:-15.26, Z:3.50 [[ 9.99704324e-01 -1.96580184e-02 -1.43117527e-02 3.76653596e+02] [ 1.96710604e-02 9.99806209e-01 7.71063909e-04 -1.52571877e+01] [ 1.42938216e-02 -1.05236328e-03 9.99897284e-01 3.49785869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.660714057 meters Centerline goodness [0,1] 0.9798386175052004 Centerline is valid? [True, True] Translation: X:376.69, Y:-15.26, Z:3.50 [[ 9.99710603e-01 -1.97670806e-02 -1.37103099e-02 3.76685238e+02] [ 1.97790651e-02 9.99804102e-01 7.39061290e-04 -1.52586048e+01] [ 1.36930150e-02 -1.01002452e-03 9.99905736e-01 3.49836605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.690714057 meters Centerline goodness [0,1] 0.9793307086614174 Centerline is valid? [True, True] Translation: X:376.72, Y:-15.26, Z:3.50 [[ 9.99718124e-01 -1.99213973e-02 -1.29155018e-02 3.76716727e+02] [ 1.99320512e-02 9.99801094e-01 6.96680637e-04 -1.52578637e+01] [ 1.28990540e-02 -9.53916703e-04 9.99916349e-01 3.49940227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.720714057 meters Centerline goodness [0,1] 0.977933939158102 Centerline is valid? [True, True] Translation: X:376.75, Y:-15.26, Z:3.50 [[ 9.99711754e-01 -2.08775985e-02 -1.18547283e-02 3.76748113e+02] [ 2.08866460e-02 9.99781645e-01 6.39890709e-04 -1.52582733e+01] [ 1.18387804e-02 -8.87311777e-04 9.99929525e-01 3.50031134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.750714057 meters Centerline goodness [0,1] 0.9774110861903236 Centerline is valid? [True, True] Translation: X:376.78, Y:-15.26, Z:3.50 [[ 9.99697349e-01 -2.14460617e-02 -1.20530875e-02 3.76779722e+02] [ 2.14554640e-02 9.99769593e-01 6.51296629e-04 -1.52614087e+01] [ 1.20363427e-02 -9.09704100e-04 9.99927147e-01 3.50002839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.780714057 meters Centerline goodness [0,1] 0.9767633902970524 Centerline is valid? [True, True] Translation: X:376.81, Y:-15.26, Z:3.50 [[ 9.99633925e-01 -2.38055150e-02 -1.28574539e-02 3.76810526e+02] [ 2.38164093e-02 9.99716108e-01 6.94844973e-04 -1.52609941e+01] [ 1.28372627e-02 -1.00080899e-03 9.99917098e-01 3.49880921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.810714057 meters Centerline goodness [0,1] 0.9770641151830064 Centerline is valid? [True, True] Translation: X:376.84, Y:-15.26, Z:3.50 [[ 9.99605891e-01 -2.47947268e-02 -1.31637151e-02 3.76842479e+02] [ 2.48062465e-02 9.99692024e-01 7.12530403e-04 -1.52630966e+01] [ 1.31419940e-02 -1.03879195e-03 9.99913101e-01 3.49835562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.840714057 meters Centerline goodness [0,1] 0.9769004908932422 Centerline is valid? [True, True] Translation: X:376.87, Y:-15.27, Z:3.50 [[ 9.99544812e-01 -2.68553025e-02 -1.37463443e-02 3.76873552e+02] [ 2.68680586e-02 9.99638712e-01 7.44097747e-04 -1.52655540e+01] [ 1.37213949e-02 -1.11309663e-03 9.99905238e-01 3.49721410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.870714057 meters Centerline goodness [0,1] 0.9764926482358053 Centerline is valid? [True, True] Translation: X:376.90, Y:-15.27, Z:3.50 [[ 9.99516323e-01 -2.79409191e-02 -1.36537215e-02 3.76904821e+02] [ 2.79536161e-02 9.99608947e-01 7.39938775e-04 -1.52692769e+01] [ 1.36277076e-02 -1.12125177e-03 9.99906510e-01 3.49636097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.900714057 meters Centerline goodness [0,1] 0.9731180339850174 Centerline is valid? [True, True] Translation: X:376.93, Y:-15.27, Z:3.50 [[ 9.99466207e-01 -2.98680224e-02 -1.32363893e-02 3.76934338e+02] [ 2.98801203e-02 9.99553232e-01 7.17129322e-04 -1.52743953e+01] [ 1.32090565e-02 -1.11225143e-03 9.99912138e-01 3.49586548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.930714057 meters Centerline goodness [0,1] 0.9738716251803339 Centerline is valid? [True, True] Translation: X:376.97, Y:-15.27, Z:3.50 [[ 9.99441089e-01 -3.07939071e-02 -1.30094464e-02 3.76966041e+02] [ 3.08056830e-02 9.99525143e-01 7.05712357e-04 -1.52739262e+01] [ 1.29815371e-02 -1.10608281e-03 9.99915125e-01 3.49641826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.960714057 meters Centerline goodness [0,1] 0.9723597359735974 Centerline is valid? [True, True] Translation: X:377.00, Y:-15.27, Z:3.50 [[ 9.99418002e-01 -3.15048761e-02 -1.30805488e-02 3.76997987e+02] [ 3.15168542e-02 9.99502968e-01 7.10544304e-04 -1.52744391e+01] [ 1.30516618e-02 -1.12238852e-03 9.99914194e-01 3.49632397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.990714057 meters Centerline goodness [0,1] 0.9707865168539326 Centerline is valid? [True, True] Translation: X:377.03, Y:-15.28, Z:3.50 [[ 9.99416045e-01 -3.17497586e-02 -1.26302226e-02 3.77029449e+02] [ 3.17609530e-02 9.99495258e-01 6.86678816e-04 -1.52782085e+01] [ 1.26020457e-02 -1.08742573e-03 9.99920000e-01 3.49576095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.020714057 meters Centerline goodness [0,1] 0.9698634545538136 Centerline is valid? [True, True] Translation: X:377.06, Y:-15.28, Z:3.50 [[ 9.99430630e-01 -3.16976939e-02 -1.15616376e-02 3.77062198e+02] [ 3.17070808e-02 9.99497006e-01 6.29459246e-04 -1.52775512e+01] [ 1.15358698e-02 -9.95686629e-04 9.99932964e-01 3.49653720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.050714057 meters Centerline goodness [0,1] 0.9742706970552457 Centerline is valid? [True, True] Translation: X:377.09, Y:-15.27, Z:3.50 [[ 9.99434466e-01 -3.17551076e-02 -1.10617153e-02 3.77094912e+02] [ 3.17637126e-02 9.99495224e-01 6.03049009e-04 -1.52728664e+01] [ 1.10369817e-02 -9.54069110e-04 9.99938636e-01 3.49796529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.080714057 meters Centerline goodness [0,1] 0.9643046189961105 Centerline is valid? [True, True] Translation: X:377.13, Y:-15.28, Z:3.50 [[ 9.99437713e-01 -3.20138360e-02 -9.96855002e-03 3.77125762e+02] [ 3.20208510e-02 9.99487053e-01 5.44866708e-04 -1.52819906e+01] [ 9.94599340e-03 -8.63761791e-04 9.99950164e-01 3.49701191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.110714057 meters Centerline goodness [0,1] 0.9732444546603839 Centerline is valid? [True, True] Translation: X:377.16, Y:-15.27, Z:3.50 [[ 9.99445110e-01 -3.20076510e-02 -9.21861053e-03 3.77159726e+02] [ 3.20136589e-02 9.99487304e-01 5.04850110e-04 -1.52742089e+01] [ 9.19772512e-03 -7.99691427e-04 9.99957380e-01 3.49818685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.140714057 meters Centerline goodness [0,1] 0.9740346358179435 Centerline is valid? [True, True] Translation: X:377.19, Y:-15.27, Z:3.50 [[ 9.99440227e-01 -3.21158832e-02 -9.37025935e-03 3.77191819e+02] [ 3.21221002e-02 9.99483820e-01 5.13698417e-04 -1.52723759e+01] [ 9.34892474e-03 -8.14403273e-04 9.99955966e-01 3.49835982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.170714057 meters Centerline goodness [0,1] 0.9733354806055308 Centerline is valid? [True, True] Translation: X:377.22, Y:-15.28, Z:3.50 [[ 9.99421390e-01 -3.25880831e-02 -9.74176940e-03 3.77222962e+02] [ 3.25948294e-02 9.99468504e-01 5.34511646e-04 -1.52758964e+01] [ 9.71917299e-03 -8.51733684e-04 9.99952405e-01 3.49733404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.200714057 meters Centerline goodness [0,1] 0.972400129014422 Centerline is valid? [True, True] Translation: X:377.25, Y:-15.28, Z:3.50 [[ 9.99395600e-01 -3.33016533e-02 -9.97166058e-03 3.77254811e+02] [ 3.33087647e-02 9.99444959e-01 5.47891829e-04 -1.52780048e+01] [ 9.94788020e-03 -8.79704379e-04 9.99950132e-01 3.49686263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.230714057 meters Centerline goodness [0,1] 0.971672889872309 Centerline is valid? [True, True] Translation: X:377.29, Y:-15.28, Z:3.50 [[ 9.99379270e-01 -3.36805763e-02 -1.03292932e-02 3.77286493e+02] [ 3.36882319e-02 9.99432229e-01 5.68017503e-04 -1.52794080e+01] [ 1.03042974e-02 -9.15640543e-04 9.99946490e-01 3.49680043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26071405700003 meters Centerline goodness [0,1] 0.9722799242948806 Centerline is valid? [True, True] Translation: X:377.32, Y:-15.28, Z:3.50 [[ 9.99370697e-01 -3.40393842e-02 -9.97650712e-03 3.77318873e+02] [ 3.40465514e-02 9.99420097e-01 5.49402508e-04 -1.52809556e+01] [ 9.95202039e-03 -8.88722430e-04 9.99950082e-01 3.49685069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.290714057 meters Centerline goodness [0,1] 0.9714331567966619 Centerline is valid? [True, True] Translation: X:377.35, Y:-15.28, Z:3.50 [[ 9.99358367e-01 -3.43346856e-02 -1.01972472e-02 3.77350622e+02] [ 3.43421960e-02 9.99409975e-01 5.62272589e-04 -1.52835462e+01] [ 1.01719252e-02 -9.12107680e-04 9.99947849e-01 3.49617145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32071405700003 meters Centerline goodness [0,1] 0.9708118319203833 Centerline is valid? [True, True] Translation: X:377.38, Y:-15.29, Z:3.50 [[ 9.99364584e-01 -3.41808102e-02 -1.01044297e-02 3.77381646e+02] [ 3.41881814e-02 9.99415258e-01 5.57621109e-04 -1.52863633e+01] [ 1.00794612e-02 -9.02718862e-04 9.99948793e-01 3.49567673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.350714057 meters Centerline goodness [0,1] 0.9706310511357072 Centerline is valid? [True, True] Translation: X:377.41, Y:-15.29, Z:3.50 [[ 9.99362766e-01 -3.41041046e-02 -1.05343156e-02 3.77413753e+02] [ 3.41121206e-02 9.99417843e-01 5.82152782e-04 -1.52851317e+01] [ 1.05083292e-02 -9.41129660e-04 9.99944343e-01 3.49548422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38071405700003 meters Centerline goodness [0,1] 0.9721778949559425 Centerline is valid? [True, True] Translation: X:377.45, Y:-15.29, Z:3.50 [[ 9.99412698e-01 -3.28406790e-02 -9.78512415e-03 3.77445264e+02] [ 3.28475375e-02 9.99460228e-01 5.40983127e-04 -1.52865034e+01] [ 9.76207615e-03 -8.62082639e-04 9.99951978e-01 3.49514000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.410714057 meters Centerline goodness [0,1] 0.9715005547337278 Centerline is valid? [True, True] Translation: X:377.48, Y:-15.29, Z:3.49 [[ 9.99436275e-01 -3.21340292e-02 -9.72293482e-03 3.77477715e+02] [ 3.21407756e-02 9.99483207e-01 5.38365521e-04 -1.52872965e+01] [ 9.70061022e-03 -8.50564698e-04 9.99952586e-01 3.49493375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.440714057 meters Centerline goodness [0,1] 0.9667373565073072 Centerline is valid? [True, True] Translation: X:377.51, Y:-15.29, Z:3.49 [[ 9.99446800e-01 -3.18368999e-02 -9.61797664e-03 3.77508554e+02] [ 3.18435011e-02 9.99492725e-01 5.33953591e-04 -1.52936830e+01] [ 9.59609825e-03 -8.39928258e-04 9.99953604e-01 3.49407514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.470714057 meters Centerline goodness [0,1] 0.9707080055529848 Centerline is valid? [True, True] Translation: X:377.54, Y:-15.29, Z:3.50 [[ 9.99477132e-01 -3.09911104e-02 -9.22025523e-03 3.77541491e+02] [ 3.09971476e-02 9.99519342e-01 5.12563292e-04 -1.52894261e+01] [ 9.19993853e-03 -7.98096901e-04 9.99957361e-01 3.49550528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.500714057 meters Centerline goodness [0,1] 0.9689727560035987 Centerline is valid? [True, True] Translation: X:377.57, Y:-15.29, Z:3.50 [[ 9.99498802e-01 -3.03611745e-02 -8.96342974e-03 3.77573002e+02] [ 3.03668580e-02 9.99538696e-01 4.98631321e-04 -1.52914958e+01] [ 8.94415584e-03 -7.70572606e-04 9.99959703e-01 3.49541415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.530714057 meters Centerline goodness [0,1] 0.9709298298275185 Centerline is valid? [True, True] Translation: X:377.61, Y:-15.29, Z:3.50 [[ 9.99506200e-01 -3.02169103e-02 -8.61941475e-03 3.77605656e+02] [ 3.02221665e-02 9.99543091e-01 4.80174937e-04 -1.52909550e+01] [ 8.60096706e-03 -7.40435214e-04 9.99962737e-01 3.49531186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.560714057 meters Centerline goodness [0,1] 0.9691549426138467 Centerline is valid? [True, True] Translation: X:377.64, Y:-15.29, Z:3.50 [[ 9.99485427e-01 -3.07661952e-02 -9.07314536e-03 3.77637658e+02] [ 3.07720474e-02 9.99526300e-01 5.06073279e-04 -1.52927844e+01] [ 9.05327746e-03 -7.85012126e-04 9.99958710e-01 3.49532221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.590714057 meters Centerline goodness [0,1] 0.9716157710740166 Centerline is valid? [True, True] Translation: X:377.67, Y:-15.29, Z:3.50 [[ 9.99486302e-01 -3.08065405e-02 -8.83680759e-03 3.77670172e+02] [ 3.08120991e-02 9.99525073e-01 4.93545580e-04 -1.52897073e+01] [ 8.81740632e-03 -7.65572638e-04 9.99960833e-01 3.49580268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.620714057 meters Centerline goodness [0,1] 0.9716157710740166 Centerline is valid? [True, True] Translation: X:377.70, Y:-15.29, Z:3.50 [[ 9.99489641e-01 -3.06980494e-02 -8.83674633e-03 3.77702787e+02] [ 3.07036134e-02 9.99528411e-01 4.94641813e-04 -1.52916186e+01] [ 8.81739447e-03 -7.65709410e-04 9.99960833e-01 3.49567964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.650714057 meters Centerline goodness [0,1] 0.9676276484890587 Centerline is valid? [True, True] Translation: X:377.73, Y:-15.30, Z:3.49 [[ 9.99483279e-01 -3.08424935e-02 -9.05074415e-03 3.77733502e+02] [ 3.08483466e-02 9.99523948e-01 5.07780587e-04 -1.52995022e+01] [ 9.03077430e-03 -7.86718698e-04 9.99958912e-01 3.49422023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.680714057 meters Centerline goodness [0,1] 0.9698072110482899 Centerline is valid? [True, True] Translation: X:377.77, Y:-15.30, Z:3.49 [[ 9.99457097e-01 -3.14227412e-02 -9.90565116e-03 3.77766012e+02] [ 3.14297853e-02 9.99505807e-01 5.56211858e-04 -1.52958719e+01] [ 9.88327816e-03 -8.67242379e-04 9.99950783e-01 3.49457647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.710714057 meters Centerline goodness [0,1] 0.9614163557574212 Centerline is valid? [True, True] Translation: X:377.80, Y:-15.31, Z:3.49 [[ 9.99461995e-01 -3.12661177e-02 -9.90709670e-03 3.77796283e+02] [ 3.12731608e-02 9.99510720e-01 5.56751577e-04 -1.53078710e+01] [ 9.88484190e-03 -8.66278270e-04 9.99950769e-01 3.49295536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.740714057 meters Centerline goodness [0,1] 0.9698810545108859 Centerline is valid? [True, True] Translation: X:377.83, Y:-15.30, Z:3.50 [[ 9.99446950e-01 -3.18559616e-02 -9.53900932e-03 3.77828782e+02] [ 3.18625249e-02 9.99492117e-01 5.36820561e-04 -1.52996190e+01] [ 9.51706368e-03 -8.40460593e-04 9.99954359e-01 3.49510351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.770714057 meters Centerline goodness [0,1] 0.9697320580811005 Centerline is valid? [True, True] Translation: X:377.86, Y:-15.30, Z:3.50 [[ 9.99439351e-01 -3.21472068e-02 -9.35632739e-03 3.77860509e+02] [ 3.21535399e-02 9.99482802e-01 5.27207878e-04 -1.53018880e+01] [ 9.33454006e-03 -8.27751346e-04 9.99956090e-01 3.49540571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.800714057 meters Centerline goodness [0,1] 0.9700622445187662 Centerline is valid? [True, True] Translation: X:377.89, Y:-15.30, Z:3.50 [[ 9.99411671e-01 -3.31418698e-02 -8.82771429e-03 3.77892510e+02] [ 3.31475517e-02 9.99450345e-01 4.98076234e-04 -1.53013201e+01] [ 8.80635491e-03 -7.90400318e-04 9.99960911e-01 3.49663871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.830714057 meters Centerline goodness [0,1] 0.9679521369106973 Centerline is valid? [True, True] Translation: X:377.92, Y:-15.31, Z:3.50 [[ 9.99382764e-01 -3.39517298e-02 -9.02059758e-03 3.77922873e+02] [ 3.39576972e-02 9.99423141e-01 5.09141122e-04 -1.53063691e+01] [ 8.99810775e-03 -8.15145583e-04 9.99959184e-01 3.49627075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.860714057 meters Centerline goodness [0,1] 0.9666256928821578 Centerline is valid? [True, True] Translation: X:377.95, Y:-15.31, Z:3.50 [[ 9.99298324e-01 -3.62722456e-02 -9.33726296e-03 3.77954030e+02] [ 3.62787427e-02 9.99341571e-01 5.27333525e-04 -1.53114172e+01] [ 9.31198746e-03 -8.65707668e-04 9.99956268e-01 3.49520674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.890714057 meters Centerline goodness [0,1] 0.96761161802605 Centerline is valid? [True, True] Translation: X:377.99, Y:-15.31, Z:3.49 [[ 9.99265771e-01 -3.72514780e-02 -8.95799857e-03 3.77985596e+02] [ 3.72575019e-02 9.99305570e-01 5.06474513e-04 -1.53134234e+01] [ 8.93291094e-03 -8.39855294e-04 9.99959748e-01 3.49486449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.920714057 meters Centerline goodness [0,1] 0.6715495142284742 Centerline is valid? [True, False] Translation: X:378.02, Y:-15.31, Z:3.50 [[ 9.99212831e-01 -3.81955391e-02 -1.07153806e-02 3.78021576e+02] [ 3.81054973e-02 9.99237697e-01 -8.48506230e-03 -1.53123752e+01] [ 1.10313038e-02 8.07006822e-03 9.99906588e-01 3.49972300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.950714057 meters Centerline goodness [0,1] 0.9637746700990283 Centerline is valid? [False, True] Translation: X:377.94, Y:-15.31, Z:3.49 [[ 9.99221037e-01 -3.82739825e-02 -9.61365332e-03 3.77939197e+02] [ 3.82594034e-02 9.99266402e-01 -1.69593454e-03 -1.53139943e+01] [ 9.67151093e-03 1.32680083e-03 9.99952350e-01 3.49473604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.980714057 meters Centerline goodness [0,1] 0.9663738963175824 Centerline is valid? [True, True] Translation: X:377.97, Y:-15.32, Z:3.49 [[ 9.99087587e-01 -4.17162356e-02 -9.15144679e-03 3.77969131e+02] [ 4.17229317e-02 9.99129072e-01 5.41918304e-04 -1.53166802e+01] [ 9.12086975e-03 -9.23249040e-04 9.99957978e-01 3.49410647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.01071405700003 meters Centerline goodness [0,1] 0.9650172825759158 Centerline is valid? [True, True] Translation: X:378.00, Y:-15.32, Z:3.49 [[ 9.99053311e-01 -4.25891482e-02 -8.86827763e-03 3.78001332e+02] [ 4.25954784e-02 9.99092262e-01 5.26065744e-04 -1.53224942e+01] [ 8.83782287e-03 -9.03316252e-04 9.99960538e-01 3.49413755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.040714057 meters Centerline goodness [0,1] 0.9614575385540218 Centerline is valid? [True, True] Translation: X:378.03, Y:-15.33, Z:3.49 [[ 9.98952259e-01 -4.49916085e-02 -8.37487810e-03 3.78030688e+02] [ 4.49973336e-02 9.98986984e-01 4.96343176e-04 -1.53306913e+01] [ 8.34406293e-03 -8.72670321e-04 9.99964807e-01 3.49372916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.07071405700003 meters Centerline goodness [0,1] 0.9598311107009367 Centerline is valid? [True, True] Translation: X:378.06, Y:-15.33, Z:3.49 [[ 9.98945441e-01 -4.51980141e-02 -8.07131759e-03 3.78062288e+02] [ 4.52033457e-02 9.98977691e-01 4.79272199e-04 -1.53347718e+01] [ 8.04140406e-03 -8.43617337e-04 9.99967312e-01 3.49370773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.100714057 meters Centerline goodness [0,1] 0.9566542733759785 Centerline is valid? [True, True] Translation: X:378.09, Y:-15.34, Z:3.49 [[ 9.98975408e-01 -4.45919736e-02 -7.72587283e-03 3.78094342e+02] [ 4.45968449e-02 9.99004960e-01 4.59309435e-04 -1.53404608e+01] [ 7.69770376e-03 -8.03388383e-04 9.99970050e-01 3.49348797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.13071405700003 meters Centerline goodness [0,1] 0.9631889081455806 Centerline is valid? [True, True] Translation: X:378.13, Y:-15.34, Z:3.49 [[ 9.99080802e-01 -4.22221439e-02 -7.40546055e-03 3.78125008e+02] [ 4.22265537e-02 9.99107964e-01 4.40072948e-04 -1.53416575e+01] [ 7.38027379e-03 -7.52375512e-04 9.99972482e-01 3.49451906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.160714057 meters Centerline goodness [0,1] 0.9666019058192247 Centerline is valid? [True, True] Translation: X:378.16, Y:-15.34, Z:3.49 [[ 9.99149272e-01 -4.06311869e-02 -7.05972189e-03 3.78155335e+02] [ 4.06351550e-02 9.99173963e-01 4.19495554e-04 -1.53424812e+01] [ 7.03684569e-03 -7.06011571e-04 9.99974992e-01 3.49471258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.190714057 meters Centerline goodness [0,1] 0.9716321870891856 Centerline is valid? [True, True] Translation: X:378.19, Y:-15.34, Z:3.50 [[ 9.99271042e-01 -3.76372498e-02 -6.38923983e-03 3.78186615e+02] [ 3.76404393e-02 9.99291275e-01 3.79639595e-04 -1.53392807e+01] [ 6.37042303e-03 -6.19856648e-04 9.99979517e-01 3.49528450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.220714057 meters Centerline goodness [0,1] 0.9620326159665997 Centerline is valid? [True, True] Translation: X:378.22, Y:-15.35, Z:3.49 [[ 9.99349190e-01 -3.55301647e-02 -6.22920320e-03 3.78215866e+02] [ 3.55331559e-02 9.99368429e-01 3.70136329e-04 -1.53513987e+01] [ 6.21211802e-03 -5.91238690e-04 9.99980530e-01 3.49394996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.250714057 meters Centerline goodness [0,1] 0.960706951846981 Centerline is valid? [True, True] Translation: X:378.25, Y:-15.35, Z:3.49 [[ 9.99398477e-01 -3.41037820e-02 -6.29412046e-03 3.78247340e+02] [ 3.41068100e-02 9.99418123e-01 3.74348444e-04 -1.53535403e+01] [ 6.27769136e-03 -5.88795636e-04 9.99980122e-01 3.49398403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.280714057 meters Centerline goodness [0,1] 0.9738170200944531 Centerline is valid? [True, True] Translation: X:378.28, Y:-15.34, Z:3.50 [[ 9.99515294e-01 -3.03886931e-02 -6.76044646e-03 3.78278113e+02] [ 3.03921011e-02 9.99537973e-01 4.01923964e-04 -1.53436457e+01] [ 6.74510900e-03 -6.07193321e-04 9.99977067e-01 3.49562632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.310714057 meters Centerline goodness [0,1] 0.974226923701487 Centerline is valid? [True, True] Translation: X:378.31, Y:-15.35, Z:3.49 [[ 9.99568853e-01 -2.85131318e-02 -7.00776157e-03 3.78307938e+02] [ 2.85167480e-02 9.99593228e-01 4.16630415e-04 -1.53464556e+01] [ 6.99303157e-03 -6.16289357e-04 9.99975359e-01 3.49475314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.340714057 meters Centerline goodness [0,1] 0.9758874127657601 Centerline is valid? [True, True] Translation: X:378.34, Y:-15.35, Z:3.49 [[ 9.99657070e-01 -2.49950638e-02 -7.80950512e-03 3.78338636e+02] [ 2.49994483e-02 9.99687357e-01 4.64305600e-04 -1.53478005e+01] [ 7.79545819e-03 -6.59379695e-04 9.99969398e-01 3.49392069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.370714057 meters Centerline goodness [0,1] 0.9761871508379888 Centerline is valid? [True, True] Translation: X:378.37, Y:-15.35, Z:3.49 [[ 9.99721915e-01 -2.20652107e-02 -8.31977096e-03 3.78370109e+02] [ 2.20700879e-02 9.99756303e-01 4.94854315e-04 -1.53460954e+01] [ 8.30682439e-03 -6.78334780e-04 9.99965268e-01 3.49405992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.400714057 meters Centerline goodness [0,1] 0.9778988798062368 Centerline is valid? [True, True] Translation: X:378.40, Y:-15.35, Z:3.49 [[ 9.99754430e-01 -2.05297407e-02 -8.34327440e-03 3.78401738e+02] [ 2.05345974e-02 9.99789019e-01 4.96847891e-04 -1.53469121e+01] [ 8.33131397e-03 -6.68051661e-04 9.99965071e-01 3.49384252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.430714057 meters Centerline goodness [0,1] 0.9749130708734919 Centerline is valid? [True, True] Translation: X:378.43, Y:-15.36, Z:3.49 [[ 9.99779750e-01 -1.92295554e-02 -8.40687871e-03 3.78432016e+02] [ 1.92344443e-02 9.99814875e-01 5.01066574e-04 -1.53556731e+01] [ 8.39568711e-03 -6.62657854e-04 9.99964536e-01 3.49220754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.460714057 meters Centerline goodness [0,1] 0.9770120323985205 Centerline is valid? [True, True] Translation: X:378.46, Y:-15.35, Z:3.49 [[ 9.99822742e-01 -1.69727746e-02 -8.14922459e-03 3.78463246e+02] [ 1.69772940e-02 9.99855757e-01 4.85716812e-04 -1.53502581e+01] [ 8.13980517e-03 -6.23982496e-04 9.99966677e-01 3.49374117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.490714057 meters Centerline goodness [0,1] 0.9758548956361172 Centerline is valid? [True, True] Translation: X:378.49, Y:-15.35, Z:3.49 [[ 9.99843130e-01 -1.57741423e-02 -8.05554181e-03 3.78493619e+02] [ 1.57785208e-02 9.99875396e-01 4.80272567e-04 -1.53527228e+01] [ 8.04696217e-03 -6.07301761e-04 9.99967438e-01 3.49393104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.520714057 meters Centerline goodness [0,1] 0.9776101870124988 Centerline is valid? [True, True] Translation: X:378.52, Y:-15.35, Z:3.49 [[ 9.99886175e-01 -1.28959125e-02 -7.83150751e-03 3.78524334e+02] [ 1.28999642e-02 9.99916683e-01 4.67053413e-04 -1.53525078e+01] [ 7.82483193e-03 -5.68026417e-04 9.99969224e-01 3.49486465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.550714057 meters Centerline goodness [0,1] 0.976375548927976 Centerline is valid? [True, True] Translation: X:378.55, Y:-15.35, Z:3.50 [[ 9.99916547e-01 -1.02500205e-02 -7.86359600e-03 3.78554396e+02] [ 1.02540234e-02 9.99947316e-01 4.68894293e-04 -1.53522063e+01] [ 7.85837554e-03 -5.49488660e-04 9.99968972e-01 3.49607060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.580714057 meters Centerline goodness [0,1] 0.9768588412908096 Centerline is valid? [True, True] Translation: X:378.59, Y:-15.35, Z:3.50 [[ 9.99923904e-01 -9.68969093e-03 -7.63520796e-03 3.78585380e+02] [ 9.69344999e-03 9.99952914e-01 4.55480031e-04 -1.53521393e+01] [ 7.63043499e-03 -5.29456877e-04 9.99970748e-01 3.49708356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.610714057 meters Centerline goodness [0,1] 0.9788025813745348 Centerline is valid? [True, True] Translation: X:378.62, Y:-15.35, Z:3.50 [[ 9.99948330e-01 -7.86938315e-03 -6.43508997e-03 3.78616086e+02] [ 7.87201544e-03 9.99968942e-01 3.83825855e-04 -1.53503324e+01] [ 6.43186963e-03 -4.34463150e-04 9.99979221e-01 3.49804400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.640714057 meters Centerline goodness [0,1] 0.9783665188260828 Centerline is valid? [True, True] Translation: X:378.65, Y:-15.35, Z:3.50 [[ 9.99952582e-01 -7.13500441e-03 -6.62769487e-03 3.78646556e+02] [ 7.13778057e-03 9.99974448e-01 3.95313921e-04 -1.53513056e+01] [ 6.62470495e-03 -4.42602208e-04 9.99977958e-01 3.49793668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.670714057 meters Centerline goodness [0,1] 0.9783732957216738 Centerline is valid? [True, True] Translation: X:378.68, Y:-15.36, Z:3.50 [[ 9.99959147e-01 -6.16726509e-03 -6.60831597e-03 3.78675968e+02] [ 6.17000275e-03 9.99980888e-01 3.93968362e-04 -1.53557923e+01] [ 6.60575996e-03 -4.34725595e-04 9.99978087e-01 3.49661292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.700714057 meters Centerline goodness [0,1] 0.9787424164040822 Centerline is valid? [True, True] Translation: X:378.71, Y:-15.36, Z:3.50 [[ 9.99966073e-01 -4.72833494e-03 -6.74506537e-03 3.78706308e+02] [ 4.73115369e-03 9.99988727e-01 4.02003267e-04 -1.53551530e+01] [ 6.74308853e-03 -4.33901569e-04 9.99977171e-01 3.49604309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.730714057 meters Centerline goodness [0,1] 0.9774938459735084 Centerline is valid? [True, True] Translation: X:378.74, Y:-15.36, Z:3.50 [[ 9.99976438e-01 -2.74399399e-03 -6.29235140e-03 3.78735042e+02] [ 2.74640489e-03 9.99996158e-01 3.74539088e-04 -1.53563832e+01] [ 6.29129949e-03 -3.91811607e-04 9.99980133e-01 3.49623348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76071405700003 meters Centerline goodness [0,1] 0.9783640293177974 Centerline is valid? [True, True] Translation: X:378.76, Y:-15.36, Z:3.50 [[ 9.99978192e-01 -8.14999802e-04 -6.55376596e-03 3.78763918e+02] [ 8.17572976e-04 9.99999590e-01 3.89955699e-04 -1.53607224e+01] [ 6.55344546e-03 -3.95305377e-04 9.99978448e-01 3.49625323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.790714057 meters Centerline goodness [0,1] 0.9802348290548013 Centerline is valid? [True, True] Translation: X:378.79, Y:-15.36, Z:3.50 [[ 9.99974471e-01 -2.66443829e-04 -7.14043916e-03 3.78792667e+02] [ 2.69465411e-04 9.99999875e-01 4.22206089e-04 -1.53566237e+01] [ 7.14032577e-03 -4.24119412e-04 9.99974418e-01 3.49715096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82071405700003 meters Centerline goodness [0,1] 0.9789723468740456 Centerline is valid? [True, True] Translation: X:378.82, Y:-15.36, Z:3.50 [[ 9.99969910e-01 2.10514659e-03 -7.46641575e-03 3.78822356e+02] [-2.10190366e-03 9.99997693e-01 4.42155346e-04 -1.53583513e+01] [ 7.46732933e-03 -4.26448355e-04 9.99972028e-01 3.49656330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.850714057 meters Centerline goodness [0,1] 0.980747024861553 Centerline is valid? [True, True] Translation: X:378.85, Y:-15.36, Z:3.50 [[ 9.99968449e-01 2.83752584e-03 -7.41955204e-03 3.78851478e+02] [-2.83436419e-03 9.99995888e-01 4.36603520e-04 -1.53588719e+01] [ 7.42076040e-03 -4.15560032e-04 9.99972379e-01 3.49679158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88071405700003 meters Centerline goodness [0,1] 0.9783249604943512 Centerline is valid? [True, True] Translation: X:378.88, Y:-15.36, Z:3.50 [[ 9.99966542e-01 3.16925653e-03 -7.54124106e-03 3.78878893e+02] [-3.16599954e-03 9.99994890e-01 4.43789193e-04 -1.53648947e+01] [ 7.54260900e-03 -4.19898779e-04 9.99971466e-01 3.49626182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.910714057 meters Centerline goodness [0,1] 0.9797289334119034 Centerline is valid? [True, True] Translation: X:378.91, Y:-15.37, Z:3.50 [[ 9.99973158e-01 3.43688021e-03 -6.47080565e-03 3.78907314e+02] [-3.43449051e-03 9.99994030e-01 3.80380960e-04 -1.53685553e+01] [ 6.47207434e-03 -3.58146829e-04 9.99978992e-01 3.49693207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.940714057 meters Centerline goodness [0,1] 0.9801153076832568 Centerline is valid? [True, True] Translation: X:378.94, Y:-15.37, Z:3.50 [[ 9.99978401e-01 2.87569677e-03 -5.91001965e-03 3.78936029e+02] [-2.87369624e-03 9.99995811e-01 3.46960890e-04 -1.53678492e+01] [ 5.91099264e-03 -3.29969795e-04 9.99982475e-01 3.49757574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.970714057 meters Centerline goodness [0,1] 0.979376837154615 Centerline is valid? [True, True] Translation: X:378.96, Y:-15.38, Z:3.50 [[ 9.99980720e-01 2.26267240e-03 -5.78264812e-03 3.78962982e+02] [-2.26075106e-03 9.99997387e-01 3.38773833e-04 -1.53755999e+01] [ 5.78339954e-03 -3.25694174e-04 9.99983223e-01 3.49648373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.000714057 meters Centerline goodness [0,1] 0.9795918367346939 Centerline is valid? [True, True] Translation: X:378.99, Y:-15.38, Z:3.50 [[ 9.99978393e-01 9.42718980e-04 -6.50575693e-03 3.78991638e+02] [-9.40260602e-04 9.99999485e-01 3.80925440e-04 -1.53808171e+01] [ 6.50611269e-03 -3.74800102e-04 9.99978765e-01 3.49585762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.030714057 meters Centerline goodness [0,1] 0.9799574855754631 Centerline is valid? [True, True] Translation: X:379.02, Y:-15.38, Z:3.50 [[ 9.99979812e-01 -6.07194185e-04 -6.32509679e-03 3.79021346e+02] [ 6.09548230e-04 9.99999746e-01 3.70254290e-04 -1.53821342e+01] [ 6.32487036e-03 -3.74102267e-04 9.99979928e-01 3.49517885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.060714057 meters Centerline goodness [0,1] 0.9790535660197115 Centerline is valid? [True, True] Translation: X:379.05, Y:-15.39, Z:3.49 [[ 9.99973931e-01 -2.63625302e-03 -6.72221711e-03 3.79049097e+02] [ 2.63895598e-03 9.99996441e-01 3.93254645e-04 -1.53893038e+01] [ 6.72115646e-03 -4.10984029e-04 9.99977328e-01 3.49328738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.090714057 meters Centerline goodness [0,1] 0.9785922047702152 Centerline is valid? [True, True] Translation: X:379.08, Y:-15.39, Z:3.49 [[ 9.99966369e-01 -4.31385034e-03 -6.97506859e-03 3.79078703e+02] [ 4.31679967e-03 9.99990599e-01 4.07838313e-04 -1.53923334e+01] [ 6.97324367e-03 -4.37934571e-04 9.99975591e-01 3.49293551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.120714057 meters Centerline goodness [0,1] 0.9796022437531872 Centerline is valid? [True, True] Translation: X:379.11, Y:-15.39, Z:3.49 [[ 9.99953632e-01 -7.48991735e-03 -6.05268421e-03 3.79109565e+02] [ 7.49219686e-03 9.99971870e-01 3.54024564e-04 -1.53879855e+01] [ 6.04986234e-03 -3.99356050e-04 9.99981620e-01 3.49421371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.150714057 meters Centerline goodness [0,1] 0.9789115488784462 Centerline is valid? [True, True] Translation: X:379.14, Y:-15.39, Z:3.49 [[ 9.99943100e-01 -9.12009401e-03 -5.53353454e-03 3.79140062e+02] [ 9.12202409e-03 9.99958341e-01 3.23659237e-04 -1.53893194e+01] [ 5.53035222e-03 -3.74117856e-04 9.99984638e-01 3.49473868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.180714057 meters Centerline goodness [0,1] 0.9780156404992041 Centerline is valid? [True, True] Translation: X:379.17, Y:-15.39, Z:3.49 [[ 9.99916948e-01 -1.15673896e-02 -5.68270258e-03 3.79169586e+02] [ 1.15694684e-02 9.99933016e-01 3.33069960e-04 -1.53948623e+01] [ 5.67846918e-03 -3.98788146e-04 9.99983798e-01 3.49402008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.210714057 meters Centerline goodness [0,1] 0.9786738599160788 Centerline is valid? [True, True] Translation: X:379.20, Y:-15.40, Z:3.49 [[ 9.99907150e-01 -1.23148567e-02 -5.83408706e-03 3.79201578e+02] [ 1.23170628e-02 9.99924083e-01 3.42359886e-04 -1.53957845e+01] [ 5.82942804e-03 -4.14186915e-04 9.99982923e-01 3.49371421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.240714057 meters Centerline goodness [0,1] 0.9784792955188191 Centerline is valid? [True, True] Translation: X:379.23, Y:-15.40, Z:3.49 [[ 9.99889729e-01 -1.36117339e-02 -5.93722982e-03 3.79233027e+02] [ 1.36140417e-02 9.99907264e-01 3.48466506e-04 -1.53997989e+01] [ 5.93193599e-03 -4.29257775e-04 9.99982314e-01 3.49286980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.270714057 meters Centerline goodness [0,1] 0.9803058921085365 Centerline is valid? [True, True] Translation: X:379.27, Y:-15.40, Z:3.49 [[ 9.99893595e-01 -1.35049172e-02 -5.51508279e-03 3.79265545e+02] [ 1.35069100e-02 9.99908725e-01 3.24244677e-04 -1.54015151e+01] [ 5.51020050e-03 -3.98701902e-04 9.99984739e-01 3.49271948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.300714057 meters Centerline goodness [0,1] 0.9803425681112772 Centerline is valid? [True, True] Translation: X:379.30, Y:-15.40, Z:3.49 [[ 9.99894915e-01 -1.36584468e-02 -4.85847788e-03 3.79297252e+02] [ 1.36599970e-02 9.99906657e-01 2.86023142e-04 -1.54036589e+01] [ 4.85411775e-03 -3.52359879e-04 9.99988157e-01 3.49248991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.330714057 meters Centerline goodness [0,1] 0.9791345910793483 Centerline is valid? [True, True] Translation: X:379.33, Y:-15.41, Z:3.49 [[ 9.99895258e-01 -1.36337697e-02 -4.85736082e-03 3.79329625e+02] [ 1.36353205e-02 9.99906994e-01 2.86304177e-04 -1.54058861e+01] [ 4.85300565e-03 -3.52505861e-04 9.99988162e-01 3.49215759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.360714057 meters Centerline goodness [0,1] 0.979560938682816 Centerline is valid? [True, True] Translation: X:379.36, Y:-15.41, Z:3.49 [[ 9.99906371e-01 -1.28752432e-02 -4.63427753e-03 3.79362105e+02] [ 1.28766483e-02 9.99917055e-01 2.73500964e-04 -1.54068207e+01] [ 4.63037175e-03 -3.33149319e-04 9.99989224e-01 3.49190369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.390714057 meters Centerline goodness [0,1] 0.9807029634734665 Centerline is valid? [True, True] Translation: X:379.40, Y:-15.40, Z:3.49 [[ 9.99912821e-01 -1.22604242e-02 -4.90227307e-03 3.79395053e+02] [ 1.22619917e-02 9.99924777e-01 2.89828278e-04 -1.54045615e+01] [ 4.89835089e-03 -3.49914643e-04 9.99987942e-01 3.49192608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.420714057 meters Centerline goodness [0,1] 0.9797634087515792 Centerline is valid? [True, True] Translation: X:379.43, Y:-15.41, Z:3.49 [[ 9.99917287e-01 -1.14264898e-02 -5.90383261e-03 3.79426222e+02] [ 1.14287539e-02 9.99934628e-01 3.49901985e-04 -1.54090590e+01] [ 5.89944851e-03 -4.17346493e-04 9.99982511e-01 3.49036755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.450714057 meters Centerline goodness [0,1] 0.9800336227344956 Centerline is valid? [True, True] Translation: X:379.46, Y:-15.41, Z:3.49 [[ 9.99927660e-01 -1.03075533e-02 -6.19911949e-03 3.79458241e+02] [ 1.03100281e-02 9.99946783e-01 3.67380319e-04 -1.54084956e+01] [ 6.19500280e-03 -4.31266839e-04 9.99980718e-01 3.48958342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.480714057 meters Centerline goodness [0,1] 0.9776572269216623 Centerline is valid? [True, True] Translation: X:379.49, Y:-15.41, Z:3.49 [[ 9.99934107e-01 -9.77205755e-03 -6.02397794e-03 3.79488808e+02] [ 9.77438451e-03 9.99952166e-01 3.56963115e-04 -1.54123848e+01] [ 6.02020152e-03 -4.15820270e-04 9.99981792e-01 3.48904251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.51071405700003 meters Centerline goodness [0,1] 0.9787757542310522 Centerline is valid? [True, True] Translation: X:379.52, Y:-15.41, Z:3.49 [[ 9.99954481e-01 -8.18474313e-03 -4.90369603e-03 3.79519989e+02] [ 8.18626592e-03 9.99966450e-01 2.90547682e-04 -1.54101959e+01] [ 4.90115345e-03 -3.30677417e-04 9.99987935e-01 3.49006749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.540714057 meters Centerline goodness [0,1] 0.9787757542310522 Centerline is valid? [True, True] Translation: X:379.55, Y:-15.41, Z:3.49 [[ 9.99954764e-01 -8.15013335e-03 -4.90367817e-03 3.79550851e+02] [ 8.15165720e-03 9.99966732e-01 2.90848974e-04 -1.54120559e+01] [ 4.90114458e-03 -3.30808920e-04 9.99987935e-01 3.48993804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.57071405700003 meters Centerline goodness [0,1] 0.9787606542271367 Centerline is valid? [True, True] Translation: X:379.58, Y:-15.41, Z:3.49 [[ 9.99965587e-01 -7.04268883e-03 -4.38469533e-03 3.79582047e+02] [ 7.04389734e-03 9.99975158e-01 2.60236121e-04 -1.54124871e+01] [ 4.38275364e-03 -2.91112509e-04 9.99990353e-01 3.49020915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.600714057 meters Centerline goodness [0,1] 0.9785430402720026 Centerline is valid? [True, True] Translation: X:379.61, Y:-15.41, Z:3.49 [[ 9.99982095e-01 -4.53228886e-03 -3.90732382e-03 3.79612588e+02] [ 4.53322894e-03 9.99989698e-01 2.31773577e-04 -1.54109284e+01] [ 3.90623310e-03 -2.49482221e-04 9.99992340e-01 3.48986475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.63071405700003 meters Centerline goodness [0,1] 0.9804580504085626 Centerline is valid? [True, True] Translation: X:379.64, Y:-15.41, Z:3.49 [[ 9.99987663e-01 -3.01512193e-03 -3.94742303e-03 3.79643886e+02] [ 3.01607020e-03 9.99995424e-01 2.34296210e-04 -1.54078562e+01] [ 3.94669854e-03 -2.46199024e-04 9.99992181e-01 3.49062394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.660714057 meters Centerline goodness [0,1] 0.9804183560633984 Centerline is valid? [True, True] Translation: X:379.67, Y:-15.41, Z:3.49 [[ 9.99992860e-01 -1.26977183e-03 -3.55917183e-03 3.79674184e+02] [ 1.27053149e-03 9.99999171e-01 2.11185074e-04 -1.54082974e+01] [ 3.55890072e-03 -2.15705606e-04 9.99993644e-01 3.49083929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.690714057 meters Centerline goodness [0,1] 0.978586082105894 Centerline is valid? [True, True] Translation: X:379.70, Y:-15.41, Z:3.49 [[ 9.99994387e-01 2.20993884e-03 -2.51820553e-03 3.79703015e+02] [-2.20957018e-03 9.99997548e-01 1.49171923e-04 -1.54101399e+01] [ 2.51852901e-03 -1.43606933e-04 9.99996818e-01 3.49083088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.720714057 meters Centerline goodness [0,1] 0.97824787307427 Centerline is valid? [True, True] Translation: X:379.73, Y:-15.41, Z:3.49 [[ 9.99976909e-01 6.54892899e-03 -1.81468008e-03 3.79733085e+02] [-6.54874469e-03 9.99978551e-01 1.07485513e-04 -1.54071735e+01] [ 1.81534507e-03 -9.55991548e-05 9.99998348e-01 3.49104133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.750714057 meters Centerline goodness [0,1] 0.9788604001753941 Centerline is valid? [True, True] Translation: X:379.76, Y:-15.41, Z:3.49 [[ 9.99957546e-01 9.01169960e-03 -1.92233584e-03 3.79762805e+02] [-9.01149753e-03 9.99959389e-01 1.13750504e-04 -1.54062690e+01] [ 1.92328286e-03 -9.64225506e-05 9.99998146e-01 3.49063017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.780714057 meters Centerline goodness [0,1] 0.9784537389100126 Centerline is valid? [True, True] Translation: X:379.79, Y:-15.41, Z:3.49 [[ 9.99933128e-01 1.14109312e-02 -1.87906662e-03 3.79792436e+02] [-1.14107424e-02 9.99934889e-01 1.11125734e-04 -1.54053167e+01] [ 1.88021232e-03 -8.96767577e-05 9.99998228e-01 3.49024979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.810714057 meters Centerline goodness [0,1] 0.9809268089440304 Centerline is valid? [True, True] Translation: X:379.82, Y:-15.40, Z:3.49 [[ 9.99874329e-01 1.56646307e-02 -2.43818069e-03 3.79822977e+02] [-1.56643258e-02 9.99877297e-01 1.44118738e-04 -1.53961303e+01] [ 2.44013908e-03 -1.05908170e-04 9.99997017e-01 3.48994116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.840714057 meters Centerline goodness [0,1] 0.9795119918510973 Centerline is valid? [True, True] Translation: X:379.85, Y:-15.40, Z:3.49 [[ 9.99845154e-01 1.74177786e-02 -2.50790988e-03 3.79850864e+02] [-1.74174622e-02 9.99848294e-01 1.47932506e-04 -1.54021385e+01] [ 2.51010607e-03 -1.04228174e-04 9.99996844e-01 3.48825428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.870714057 meters Centerline goodness [0,1] 0.9816421973521953 Centerline is valid? [True, True] Translation: X:379.88, Y:-15.39, Z:3.49 [[ 9.99777837e-01 2.10293126e-02 -1.42972885e-03 3.79880942e+02] [-2.10292135e-02 9.99778858e-01 8.43038302e-05 -1.53941873e+01] [ 1.43118553e-03 -5.42190278e-05 9.99998974e-01 3.48998366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.900714057 meters Centerline goodness [0,1] 0.9833747416815659 Centerline is valid? [True, True] Translation: X:379.91, Y:-15.39, Z:3.49 [[ 9.99738963e-01 2.28372671e-02 -6.81332795e-04 3.79910076e+02] [-2.28372452e-02 9.99739195e-01 3.98968177e-05 -1.53934359e+01] [ 6.82066235e-04 -2.43266390e-05 9.99999767e-01 3.49032748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.930714057 meters Centerline goodness [0,1] 0.9813057970676674 Centerline is valid? [True, True] Translation: X:379.94, Y:-15.40, Z:3.49 [[ 9.99671838e-01 2.56110628e-02 5.38124692e-04 3.79937872e+02] [-2.56110492e-02 9.99671983e-01 -3.20708748e-05 -1.53958874e+01] [-5.38769547e-04 1.82784124e-05 9.99999855e-01 3.49026933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.960714057 meters Centerline goodness [0,1] 0.9820185885759656 Centerline is valid? [True, True] Translation: X:379.97, Y:-15.40, Z:3.49 [[ 9.99645352e-01 2.65920543e-02 1.42600483e-03 3.79967168e+02] [-2.65919613e-02 9.99646368e-01 -8.41441905e-05 -1.53968609e+01] [-1.42773811e-03 4.61940836e-05 9.99998980e-01 3.49012658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.990714057 meters Centerline goodness [0,1] 0.9811759778486167 Centerline is valid? [True, True] Translation: X:379.99, Y:-15.40, Z:3.49 [[ 9.99616288e-01 2.76414244e-02 1.79691020e-03 3.79994980e+02] [-2.76412786e-02 9.99617901e-01 -1.05962610e-04 -1.53992683e+01] [-1.79915256e-03 5.62530552e-05 9.99998380e-01 3.48921417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.020714057 meters Centerline goodness [0,1] 0.9825130743369443 Centerline is valid? [True, True] Translation: X:380.02, Y:-15.40, Z:3.49 [[ 9.99623618e-01 2.73762651e-02 1.77845371e-03 3.80023679e+02] [-2.73761221e-02 9.99625198e-01 -1.04691978e-04 -1.53988948e+01] [-1.78065322e-03 5.59654074e-05 9.99998413e-01 3.48861126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.050714057 meters Centerline goodness [0,1] 0.9833880086549871 Centerline is valid? [True, True] Translation: X:380.05, Y:-15.40, Z:3.49 [[ 9.99665211e-01 2.58296292e-02 1.51508901e-03 3.80052421e+02] [-2.58295237e-02 9.99666358e-01 -8.91251262e-05 -1.54033236e+01] [-1.51688559e-03 4.99612605e-05 9.99998848e-01 3.48736942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.080714057 meters Centerline goodness [0,1] 0.9803944315545243 Centerline is valid? [True, True] Translation: X:380.08, Y:-15.41, Z:3.49 [[ 9.99696482e-01 2.46071315e-02 1.19680519e-03 3.80079739e+02] [-2.46070648e-02 9.99697198e-01 -7.04302086e-05 -1.54114875e+01] [-1.19817588e-03 4.09589690e-05 9.99999281e-01 3.48592943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.110714057 meters Centerline goodness [0,1] 0.9828850290260657 Centerline is valid? [True, True] Translation: X:380.11, Y:-15.41, Z:3.49 [[ 9.99763718e-01 2.17058854e-02 1.16756618e-03 3.80108980e+02] [-2.17058201e-02 9.99764399e-01 -6.85114128e-05 -1.54131694e+01] [-1.16877820e-03 4.31522433e-05 9.99999316e-01 3.48569169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.140714057 meters Centerline goodness [0,1] 0.9813576963108592 Centerline is valid? [True, True] Translation: X:380.14, Y:-15.42, Z:3.49 [[ 9.99833914e-01 1.82149740e-02 5.98760141e-04 3.80138454e+02] [-1.82149562e-02 9.99834093e-01 -3.51467637e-05 -1.54199640e+01] [-5.99301000e-04 2.42345366e-05 9.99999820e-01 3.48510010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.170714057 meters Centerline goodness [0,1] 0.9816095132743363 Centerline is valid? [True, True] Translation: X:380.17, Y:-15.42, Z:3.48 [[ 9.99856480e-01 1.69080245e-02 1.06679778e-03 3.80166723e+02] [-1.69079674e-02 9.99857048e-01 -6.25766242e-05 -1.54243033e+01] [-1.06770332e-03 4.45302612e-05 9.99999429e-01 3.48465504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.200714057 meters Centerline goodness [0,1] 0.98054627175291 Centerline is valid? [True, True] Translation: X:380.19, Y:-15.43, Z:3.48 [[ 9.99889668e-01 1.48272471e-02 8.97049575e-04 3.80194792e+02] [-1.48272059e-02 9.99890070e-01 -5.26017389e-05 -1.54291888e+01] [-8.97730901e-04 3.92951965e-05 9.99999596e-01 3.48437297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.230714057 meters Centerline goodness [0,1] 0.9796368650884854 Centerline is valid? [True, True] Translation: X:380.22, Y:-15.44, Z:3.48 [[ 9.99928543e-01 1.18618538e-02 1.48529097e-03 3.80223062e+02] [-1.18617380e-02 9.99929643e-01 -8.67560191e-05 -1.54363912e+01] [-1.48621555e-03 6.91316874e-05 9.99998893e-01 3.48374313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26071405700003 meters Centerline goodness [0,1] 0.9805060141020323 Centerline is valid? [True, True] Translation: X:380.25, Y:-15.44, Z:3.48 [[ 9.99949227e-01 9.98357914e-03 1.36802924e-03 3.80251693e+02] [-9.98347922e-03 9.99950161e-01 -7.98514973e-05 -1.54422290e+01] [-1.36875827e-03 6.61897515e-05 9.99999061e-01 3.48332295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.290714057 meters Centerline goodness [0,1] 0.9782093467406061 Centerline is valid? [True, True] Translation: X:380.28, Y:-15.45, Z:3.48 [[ 9.99957750e-01 9.13431342e-03 1.03044135e-03 3.80278907e+02] [-9.13425619e-03 9.99958280e-01 -6.02321735e-05 -1.54458802e+01] [-1.03094854e-03 5.08173134e-05 9.99999467e-01 3.48266966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32071405700003 meters Centerline goodness [0,1] 0.9785930616740088 Centerline is valid? [True, True] Translation: X:380.31, Y:-15.45, Z:3.48 [[ 9.99956784e-01 9.21366033e-03 1.24063908e-03 3.80307966e+02] [-9.21357767e-03 9.99957551e-01 -7.23230594e-05 -1.54480619e+01] [-1.24125278e-03 6.08892093e-05 9.99999228e-01 3.48248025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.350714057 meters Centerline goodness [0,1] 0.9775319578638147 Centerline is valid? [True, True] Translation: X:380.34, Y:-15.45, Z:3.48 [[ 9.99962425e-01 8.40020189e-03 2.14143546e-03 3.80335167e+02] [-8.39995447e-03 9.99964712e-01 -1.24507223e-04 -1.54517163e+01] [-2.14240578e-03 1.06514584e-04 9.99997699e-01 3.48330141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38071405700003 meters Centerline goodness [0,1] 0.9770547473727685 Centerline is valid? [True, True] Translation: X:380.36, Y:-15.45, Z:3.48 [[ 9.99966381e-01 7.87162726e-03 2.29661091e-03 3.80364171e+02] [-7.87134179e-03 9.99969012e-01 -1.33313937e-04 -1.54543054e+01] [-2.29758914e-03 1.15232046e-04 9.99997354e-01 3.48333841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.410714057 meters Centerline goodness [0,1] 0.9765117555575885 Centerline is valid? [True, True] Translation: X:380.39, Y:-15.46, Z:3.48 [[ 9.99971270e-01 7.08830539e-03 2.68618090e-03 3.80392819e+02] [-7.08791270e-03 9.99974868e-01 -1.55679060e-04 -1.54587255e+01] [-2.68721689e-03 1.36635172e-04 9.99996380e-01 3.48370358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.440714057 meters Centerline goodness [0,1] 0.9791115570555505 Centerline is valid? [True, True] Translation: X:380.42, Y:-15.45, Z:3.48 [[ 9.99976334e-01 6.56032040e-03 2.07207604e-03 3.80422549e+02] [-6.56008579e-03 9.99978475e-01 -1.20004420e-04 -1.54531220e+01] [-2.07281871e-03 1.06408583e-04 9.99997846e-01 3.48370625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.470714057 meters Centerline goodness [0,1] 0.9736355543381497 Centerline is valid? [True, True] Translation: X:380.45, Y:-15.46, Z:3.48 [[ 9.99984625e-01 5.34036822e-03 1.49360954e-03 3.80450510e+02] [-5.34024491e-03 9.99985737e-01 -8.65368919e-05 -1.54643784e+01] [-1.49405037e-03 7.85593206e-05 9.99998881e-01 3.48258525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.500714057 meters Centerline goodness [0,1] 0.9785527702671738 Centerline is valid? [True, True] Translation: X:380.48, Y:-15.46, Z:3.48 [[ 9.99992932e-01 3.72836108e-03 4.84409440e-04 3.80480459e+02] [-3.72834789e-03 9.99993049e-01 -2.81254681e-05 -1.54576263e+01] [-4.84510935e-04 2.63192224e-05 9.99999882e-01 3.48153186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.530714057 meters Centerline goodness [0,1] 0.9779832471277521 Centerline is valid? [True, True] Translation: X:380.51, Y:-15.46, Z:3.48 [[ 9.99996772e-01 2.52975636e-03 2.37080821e-04 3.80510222e+02] [-2.52975315e-03 9.99996800e-01 -1.38321983e-05 -1.54597558e+01] [-2.37115054e-04 1.32323977e-05 9.99999972e-01 3.48051236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.560714057 meters Centerline goodness [0,1] 0.9766033769735188 Centerline is valid? [True, True] Translation: X:380.54, Y:-15.46, Z:3.48 [[ 9.99998275e-01 1.84500332e-03 2.13172935e-04 3.80539364e+02] [-1.84500071e-03 9.99998298e-01 -1.24442996e-05 -1.54625164e+01] [-2.13195532e-04 1.20509739e-05 9.99999977e-01 3.48024305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.590714057 meters Centerline goodness [0,1] 0.9781917206343395 Centerline is valid? [True, True] Translation: X:380.57, Y:-15.46, Z:3.48 [[ 9.99999716e-01 1.05489678e-04 7.46846866e-04 3.80569637e+02] [-1.05457531e-04 9.99999994e-01 -4.30828029e-05 -1.54624664e+01] [-7.46851406e-04 4.30040301e-05 9.99999720e-01 3.48023343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.620714057 meters Centerline goodness [0,1] 0.976243334172522 Centerline is valid? [True, True] Translation: X:380.60, Y:-15.47, Z:3.48 [[ 9.99997392e-01 -2.20113280e-03 6.08945941e-04 3.80599474e+02] [ 2.20115440e-03 9.99997577e-01 -3.48142472e-05 -1.54661517e+01] [-6.08867834e-04 3.61545404e-05 9.99999814e-01 3.48018081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.650714057 meters Centerline goodness [0,1] 0.976930815309342 Centerline is valid? [True, True] Translation: X:380.63, Y:-15.47, Z:3.48 [[ 9.99994493e-01 -3.25229195e-03 6.60584972e-04 3.80630592e+02] [ 3.25231779e-03 9.99994710e-01 -3.80388725e-05 -1.54681571e+01] [-6.60457765e-04 4.01870953e-05 9.99999781e-01 3.48028610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.680714057 meters Centerline goodness [0,1] 0.9762643075379634 Centerline is valid? [True, True] Translation: X:380.66, Y:-15.47, Z:3.48 [[ 9.99978331e-01 -6.54197227e-03 7.35252679e-04 3.80659919e+02] [ 6.54200528e-03 9.99978600e-01 -4.25048249e-05 -1.54730861e+01] [-7.34958879e-04 4.73139308e-05 9.99999729e-01 3.47981925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.710714057 meters Centerline goodness [0,1] 0.9745915686050497 Centerline is valid? [True, True] Translation: X:380.69, Y:-15.48, Z:3.48 [[ 9.99962575e-01 -8.61610202e-03 7.81504399e-04 3.80691046e+02] [ 8.61613985e-03 9.99962879e-01 -4.50590809e-05 -1.54767665e+01] [-7.81087156e-04 5.17909458e-05 9.99999694e-01 3.47962081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.740714057 meters Centerline goodness [0,1] 0.9726644706743527 Centerline is valid? [True, True] Translation: X:380.72, Y:-15.49, Z:3.48 [[ 9.99931658e-01 -1.16881885e-02 2.56964754e-04 3.80720879e+02] [ 1.16881926e-02 9.99931691e-01 -1.46250816e-05 -1.54853565e+01] [-2.56776261e-04 1.76275356e-05 9.99999967e-01 3.47886879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.770714057 meters Centerline goodness [0,1] 0.9764027987378241 Centerline is valid? [True, True] Translation: X:380.75, Y:-15.48, Z:3.48 [[ 9.99918152e-01 -1.27885399e-02 -3.78252138e-04 3.80753335e+02] [ 1.27885492e-02 9.99918223e-01 2.22288703e-05 -1.54811532e+01] [ 3.77936931e-04 -2.70643470e-05 9.99999928e-01 3.47856886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.800714057 meters Centerline goodness [0,1] 0.974321971779366 Centerline is valid? [True, True] Translation: X:380.78, Y:-15.49, Z:3.48 [[ 9.99900971e-01 -1.39208692e-02 -2.06356245e-03 3.80783926e+02] [ 1.39211460e-02 9.99903089e-01 1.19862225e-04 -1.54859238e+01] [ 2.06169389e-03 -1.48577509e-04 9.99997864e-01 3.47760926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.830714057 meters Centerline goodness [0,1] 0.9750623441396509 Centerline is valid? [True, True] Translation: X:380.82, Y:-15.49, Z:3.48 [[ 9.99909047e-01 -1.32632015e-02 -2.44662632e-03 3.80816030e+02] [ 1.32635894e-02 9.99912025e-01 1.42391804e-04 -1.54876255e+01] [ 2.44452251e-03 -1.74829900e-04 9.99996997e-01 3.47721307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.860714057 meters Centerline goodness [0,1] 0.9756025060593588 Centerline is valid? [True, True] Translation: X:380.85, Y:-15.49, Z:3.48 [[ 9.99920448e-01 -1.23032810e-02 -2.77978404e-03 3.80848776e+02] [ 1.23037788e-02 9.99924293e-01 1.62059363e-04 -1.54868635e+01] [ 2.77757972e-03 -1.96248319e-04 9.99996123e-01 3.47660738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.890714057 meters Centerline goodness [0,1] 0.9764867652114129 Centerline is valid? [True, True] Translation: X:380.88, Y:-15.49, Z:3.48 [[ 9.99956729e-01 -8.73278155e-03 -3.20593622e-03 3.80879854e+02] [ 8.73342434e-03 9.99961846e-01 1.86554770e-04 -1.54853045e+01] [ 3.20418476e-03 -2.14545499e-04 9.99994844e-01 3.47638433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.920714057 meters Centerline goodness [0,1] 0.9770866681911731 Centerline is valid? [True, True] Translation: X:380.91, Y:-15.49, Z:3.48 [[ 9.99980295e-01 -5.54629163e-03 -2.94089826e-03 3.80909393e+02] [ 5.54681870e-03 9.99984602e-01 1.71095858e-04 -1.54861397e+01] [ 2.93990403e-03 -1.87405116e-04 9.99995661e-01 3.47685526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.950714057 meters Centerline goodness [0,1] 0.9775900073475385 Centerline is valid? [True, True] Translation: X:380.94, Y:-15.48, Z:3.48 [[ 9.99995470e-01 4.37892000e-04 -2.97798355e-03 3.80940730e+02] [-4.37377676e-04 9.99999889e-01 1.73357889e-04 -1.54802468e+01] [ 2.97805913e-03 -1.72054600e-04 9.99995551e-01 3.47828833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.980714057 meters Centerline goodness [0,1] 0.9768537672964649 Centerline is valid? [True, True] Translation: X:380.97, Y:-15.48, Z:3.48 [[ 9.99990310e-01 3.61405144e-03 -2.51362810e-03 3.80969719e+02] [-3.61369571e-03 9.99993460e-01 1.46049319e-04 -1.54802240e+01] [ 2.51413949e-03 -1.36964417e-04 9.99996830e-01 3.47912687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.01071405700003 meters Centerline goodness [0,1] 0.981267116194509 Centerline is valid? [True, True] Translation: X:381.00, Y:-15.47, Z:3.48 [[ 9.99962273e-01 8.46181667e-03 -1.96230882e-03 3.81000641e+02] [-8.46160900e-03 9.99964193e-01 1.14105201e-04 -1.54698451e+01] [ 1.96320409e-03 -9.74966063e-05 9.99998068e-01 3.48029887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.040714057 meters Centerline goodness [0,1] 0.9811459578773107 Centerline is valid? [True, True] Translation: X:381.03, Y:-15.47, Z:3.48 [[ 9.99933128e-01 1.14255226e-02 -1.78817910e-03 3.81030342e+02] [-1.14253552e-02 9.99934723e-01 1.03782121e-04 -1.54691521e+01] [ 1.78924814e-03 -8.33445996e-05 9.99998396e-01 3.48011531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.07071405700003 meters Centerline goodness [0,1] 0.9801409943325807 Centerline is valid? [True, True] Translation: X:381.06, Y:-15.47, Z:3.48 [[ 9.99927548e-01 1.19500448e-02 -1.44754438e-03 3.81059568e+02] [-1.19499361e-02 9.99928593e-01 8.37308691e-05 -1.54691108e+01] [ 1.44844161e-03 -6.64267398e-05 9.99998949e-01 3.47994626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.100714057 meters Centerline goodness [0,1] 0.9806699843332412 Centerline is valid? [True, True] Translation: X:381.09, Y:-15.47, Z:3.48 [[ 9.99925169e-01 1.21140457e-02 -1.70484786e-03 3.81086950e+02] [-1.21138954e-02 9.99926619e-01 9.84450786e-05 -1.54715447e+01] [ 1.70591533e-03 -7.77853632e-05 9.99998542e-01 3.47974232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.13071405700003 meters Centerline goodness [0,1] 0.9796343921595885 Centerline is valid? [True, True] Translation: X:381.11, Y:-15.47, Z:3.48 [[ 9.99926765e-01 1.15749545e-02 -3.53343102e-03 3.81114178e+02] [-1.15743050e-02 9.99932995e-01 2.04192290e-04 -1.54741359e+01] [ 3.53555777e-03 -1.63280328e-04 9.99993737e-01 3.47823595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.160714057 meters Centerline goodness [0,1] 0.9806108283202222 Centerline is valid? [True, True] Translation: X:381.14, Y:-15.47, Z:3.48 [[ 9.99932846e-01 1.06450899e-02 -4.58109401e-03 3.81143087e+02] [-1.06439894e-02 9.99943316e-01 2.64546839e-04 -1.54727456e+01] [ 4.58365046e-03 -2.15767957e-04 9.99989472e-01 3.47800708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.190714057 meters Centerline goodness [0,1] 0.9805465493283928 Centerline is valid? [True, True] Translation: X:381.17, Y:-15.48, Z:3.48 [[ 9.99946129e-01 8.39889695e-03 -6.09893121e-03 3.81171618e+02] [-8.39690677e-03 9.99964683e-01 3.51849732e-04 -1.54762553e+01] [ 6.10167096e-03 -3.00618621e-04 9.99981339e-01 3.47592300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.220714057 meters Centerline goodness [0,1] 0.9802149939764618 Centerline is valid? [True, True] Translation: X:381.20, Y:-15.48, Z:3.48 [[ 9.99953745e-01 6.86027217e-03 -6.74123274e-03 3.81200498e+02] [-6.85780868e-03 9.99976409e-01 3.88483941e-04 -1.54786795e+01] [ 6.74373881e-03 -3.42235887e-04 9.99977202e-01 3.47533871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.250714057 meters Centerline goodness [0,1] 0.978431099990733 Centerline is valid? [True, True] Translation: X:381.23, Y:-15.49, Z:3.47 [[ 9.99974309e-01 2.68604191e-03 -6.64580300e-03 3.81229599e+02] [-2.68355634e-03 9.99996326e-01 3.82894288e-04 -1.54857119e+01] [ 6.64680705e-03 -3.65050064e-04 9.99977843e-01 3.47422782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.280714057 meters Centerline goodness [0,1] 0.9787918779375333 Centerline is valid? [True, True] Translation: X:381.26, Y:-15.49, Z:3.47 [[ 9.99979452e-01 4.07178904e-04 -6.39768303e-03 3.81259133e+02] [-4.04830442e-04 9.99999850e-01 3.68370808e-04 -1.54867640e+01] [ 6.39783206e-03 -3.65773262e-04 9.99979467e-01 3.47473969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.310714057 meters Centerline goodness [0,1] 0.9778420261362322 Centerline is valid? [True, True] Translation: X:381.29, Y:-15.49, Z:3.48 [[ 9.99979767e-01 -3.13634844e-03 -5.53442097e-03 3.81288898e+02] [ 3.13815973e-03 9.99995025e-01 3.18623081e-04 -1.54909287e+01] [ 5.53339412e-03 -3.35984531e-04 9.99984634e-01 3.47561326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.340714057 meters Centerline goodness [0,1] 0.9774530271398747 Centerline is valid? [True, True] Translation: X:381.32, Y:-15.49, Z:3.48 [[ 9.99971388e-01 -5.24988302e-03 -5.44632326e-03 3.81318692e+02] [ 5.25166781e-03 9.99986161e-01 3.13455887e-04 -1.54929979e+01] [ 5.44460228e-03 -3.42049199e-04 9.99985120e-01 3.47648812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.370714057 meters Centerline goodness [0,1] 0.9769530706029801 Centerline is valid? [True, True] Translation: X:381.35, Y:-15.50, Z:3.48 [[ 9.99970739e-01 -5.60798449e-03 -5.20307802e-03 3.81348241e+02] [ 5.60961776e-03 9.99984221e-01 2.99364153e-04 -1.54956286e+01] [ 5.20131710e-03 -3.28542672e-04 9.99986419e-01 3.47653038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.400714057 meters Centerline goodness [0,1] 0.976916295471418 Centerline is valid? [True, True] Translation: X:381.38, Y:-15.50, Z:3.48 [[ 9.99972670e-01 -5.87076928e-03 -4.49372861e-03 3.81379192e+02] [ 5.87199049e-03 9.99982726e-01 2.58613014e-04 -1.54963964e+01] [ 4.49213273e-03 -2.84993078e-04 9.99989870e-01 3.47701977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.430714057 meters Centerline goodness [0,1] 0.976916295471418 Centerline is valid? [True, True] Translation: X:381.41, Y:-15.50, Z:3.48 [[ 9.99972670e-01 -5.87076928e-03 -4.49372861e-03 3.81409204e+02] [ 5.87199049e-03 9.99982726e-01 2.58613014e-04 -1.54981236e+01] [ 4.49213273e-03 -2.84993078e-04 9.99989870e-01 3.47689390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.460714057 meters Centerline goodness [0,1] 0.9768474615473575 Centerline is valid? [True, True] Translation: X:381.44, Y:-15.50, Z:3.48 [[ 9.99974151e-01 -6.13315057e-03 -3.75263175e-03 3.81439107e+02] [ 6.13400454e-03 9.99981163e-01 2.16098032e-04 -1.54995133e+01] [ 3.75123570e-03 -2.39111106e-04 9.99992936e-01 3.47741709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.490714057 meters Centerline goodness [0,1] 0.9760326364099949 Centerline is valid? [True, True] Translation: X:381.47, Y:-15.50, Z:3.48 [[ 9.99976782e-01 -5.67791661e-03 -3.76791596e-03 3.81469294e+02] [ 5.67877457e-03 9.99983852e-01 2.17040617e-04 -1.55018876e+01] [ 3.76662277e-03 -2.38432723e-04 9.99992878e-01 3.47704806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.520714057 meters Centerline goodness [0,1] 0.9765679483007114 Centerline is valid? [True, True] Translation: X:381.50, Y:-15.50, Z:3.48 [[ 9.99973597e-01 -4.44729064e-03 -5.74688283e-03 3.81500452e+02] [ 4.44926754e-03 9.99990047e-01 3.31256603e-04 -1.55007017e+01] [ 5.74535243e-03 -3.56817276e-04 9.99983432e-01 3.47583199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.550714057 meters Centerline goodness [0,1] 0.9774246907252522 Centerline is valid? [True, True] Translation: X:381.53, Y:-15.50, Z:3.47 [[ 9.99970633e-01 -4.42957364e-03 -6.25396810e-03 3.81530031e+02] [ 4.43191136e-03 9.99990114e-01 3.59988091e-04 -1.55018182e+01] [ 6.25231168e-03 -3.87694551e-04 9.99980379e-01 3.47451040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.580714057 meters Centerline goodness [0,1] 0.9768687833399334 Centerline is valid? [True, True] Translation: X:381.56, Y:-15.50, Z:3.47 [[ 9.99968893e-01 -3.47316213e-03 -7.08163988e-03 3.81559293e+02] [ 3.47613548e-03 9.99993875e-01 4.07601697e-04 -1.55028610e+01] [ 7.08018084e-03 -4.32205757e-04 9.99974842e-01 3.47306422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.610714057 meters Centerline goodness [0,1] 0.9767278844805832 Centerline is valid? [True, True] Translation: X:381.59, Y:-15.50, Z:3.47 [[ 9.99963292e-01 -3.46865504e-03 -7.83475544e-03 3.81588500e+02] [ 3.47227325e-03 9.99993871e-01 4.48260313e-04 -1.55035467e+01] [ 7.83315256e-03 -4.75448270e-04 9.99969207e-01 3.47202822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.640714057 meters Centerline goodness [0,1] 0.9762648636045699 Centerline is valid? [True, True] Translation: X:381.62, Y:-15.50, Z:3.47 [[ 9.99964313e-01 -2.19595026e-03 -8.15784039e-03 3.81617450e+02] [ 2.19983410e-03 9.99997471e-01 4.67144699e-04 -1.55033610e+01] [ 8.15679393e-03 -4.85073923e-04 9.99966615e-01 3.47197776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.670714057 meters Centerline goodness [0,1] 0.9768979210464844 Centerline is valid? [True, True] Translation: X:381.65, Y:-15.50, Z:3.47 [[ 9.99966236e-01 -1.51829255e-03 -8.07602488e-03 3.81646106e+02] [ 1.52205604e-03 9.99998736e-01 4.59882947e-04 -1.55035137e+01] [ 8.07531643e-03 -4.72159581e-04 9.99967283e-01 3.47215501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.700714057 meters Centerline goodness [0,1] 0.9795746077902586 Centerline is valid? [True, True] Translation: X:381.68, Y:-15.49, Z:3.48 [[ 9.99973478e-01 -2.85723057e-04 -7.27744492e-03 3.81676076e+02] [ 2.88742195e-04 9.99999873e-01 4.13815023e-04 -1.54913308e+01] [ 7.27732575e-03 -4.15905353e-04 9.99973433e-01 3.47576117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.730714057 meters Centerline goodness [0,1] 0.9754650153636855 Centerline is valid? [True, True] Translation: X:381.70, Y:-15.50, Z:3.47 [[ 9.99976680e-01 -3.88823963e-04 -6.81819602e-03 3.81703077e+02] [ 3.91473230e-04 9.99999848e-01 3.87228125e-04 -1.55035635e+01] [ 6.81804442e-03 -3.89888236e-04 9.99976681e-01 3.47354870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76071405700003 meters Centerline goodness [0,1] 0.9788586982026374 Centerline is valid? [True, True] Translation: X:381.73, Y:-15.49, Z:3.48 [[ 9.99984560e-01 -1.11598403e-03 -5.44372552e-03 3.81732979e+02] [ 1.11768142e-03 9.99999328e-01 3.08775103e-04 -1.54927640e+01] [ 5.44337727e-03 -3.14854686e-04 9.99985135e-01 3.47692550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.790714057 meters Centerline goodness [0,1] 0.9781974693071169 Centerline is valid? [True, True] Translation: X:381.76, Y:-15.49, Z:3.48 [[ 9.99983925e-01 -2.43819611e-03 -5.11899229e-03 3.81763017e+02] [ 2.43971402e-03 9.99996982e-01 2.90301742e-04 -1.54935264e+01] [ 5.11826903e-03 -3.02785952e-04 9.99986856e-01 3.47689927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82071405700003 meters Centerline goodness [0,1] 0.9776117655324231 Centerline is valid? [True, True] Translation: X:381.79, Y:-15.50, Z:3.48 [[ 9.99974634e-01 -5.48303141e-03 -4.54623592e-03 3.81792057e+02] [ 5.48425919e-03 9.99984928e-01 2.57642522e-04 -1.54980742e+01] [ 4.54475473e-03 -2.82568723e-04 9.99989633e-01 3.47709087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.850714057 meters Centerline goodness [0,1] 0.9770777668401068 Centerline is valid? [True, True] Translation: X:381.82, Y:-15.50, Z:3.48 [[ 9.99962899e-01 -7.09837731e-03 -4.87982611e-03 3.81822921e+02] [ 7.09981260e-03 9.99974758e-01 2.76868143e-04 -1.54999750e+01] [ 4.87773762e-03 -3.11503722e-04 9.99988055e-01 3.47683549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88071405700003 meters Centerline goodness [0,1] 0.9768009768009768 Centerline is valid? [True, True] Translation: X:381.85, Y:-15.50, Z:3.48 [[ 9.99926000e-01 -1.02870681e-02 -6.49384989e-03 3.81854001e+02] [ 1.02896774e-02 9.99946992e-01 3.68525634e-04 -1.55032872e+01] [ 6.48971461e-03 -4.35317983e-04 9.99978847e-01 3.47545345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.910714057 meters Centerline goodness [0,1] 0.9759191521290564 Centerline is valid? [True, True] Translation: X:381.88, Y:-15.51, Z:3.47 [[ 9.99906297e-01 -1.13974984e-02 -7.58249635e-03 3.81884080e+02] [ 1.14010921e-02 9.99934913e-01 4.30888373e-04 -1.55100095e+01] [ 7.57709178e-03 -5.17296736e-04 9.99971160e-01 3.47346525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.940714057 meters Centerline goodness [0,1] 0.9787604374926496 Centerline is valid? [True, True] Translation: X:381.92, Y:-15.50, Z:3.47 [[ 9.99865189e-01 -1.31969011e-02 -9.76958154e-03 3.81915615e+02] [ 1.32029544e-02 9.99912683e-01 5.55370709e-04 -1.55049047e+01] [ 9.76139931e-03 -6.84283178e-04 9.99952122e-01 3.47255314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.970714057 meters Centerline goodness [0,1] 0.9780398248834911 Centerline is valid? [True, True] Translation: X:381.95, Y:-15.51, Z:3.47 [[ 9.99839068e-01 -1.40913937e-02 -1.11027322e-02 3.81945561e+02] [ 1.40992649e-02 9.99900401e-01 6.30985347e-04 -1.55066820e+01] [ 1.10927349e-02 -7.87424163e-04 9.99938164e-01 3.47168011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.000714057 meters Centerline goodness [0,1] 0.9785603094485589 Centerline is valid? [True, True] Translation: X:381.98, Y:-15.51, Z:3.47 [[ 9.99843763e-01 -1.39456276e-02 -1.08613457e-02 3.81977076e+02] [ 1.39531574e-02 9.99902459e-01 6.17796910e-04 -1.55079678e+01] [ 1.08516707e-02 -7.69250454e-04 9.99940823e-01 3.47198256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.030714057 meters Centerline goodness [0,1] 0.9776140549730802 Centerline is valid? [True, True] Translation: X:382.01, Y:-15.51, Z:3.47 [[ 9.99877850e-01 -1.20813040e-02 -9.91602119e-03 3.82007116e+02] [ 1.20874875e-02 9.99926785e-01 5.63892100e-04 -1.55081275e+01] [ 9.90848264e-03 -6.83683003e-04 9.99950676e-01 3.47252377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.060714057 meters Centerline goodness [0,1] 0.9778272084053101 Centerline is valid? [True, True] Translation: X:382.04, Y:-15.51, Z:3.47 [[ 9.99897217e-01 -1.04976287e-02 -9.76495264e-03 3.82037779e+02] [ 1.05035501e-02 9.99944682e-01 5.55301319e-04 -1.55067270e+01] [ 9.75858311e-03 -6.57810913e-04 9.99952168e-01 3.47246337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.090714057 meters Centerline goodness [0,1] 0.9792052414186013 Centerline is valid? [True, True] Translation: X:382.07, Y:-15.50, Z:3.47 [[ 9.99915061e-01 -8.73596949e-03 -9.67233007e-03 3.82068940e+02] [ 8.74169937e-03 9.99961639e-01 5.50279284e-04 -1.55018451e+01] [ 9.66715181e-03 -6.34785146e-04 9.99953071e-01 3.47321511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.120714057 meters Centerline goodness [0,1] 0.9797706389343971 Centerline is valid? [True, True] Translation: X:382.10, Y:-15.50, Z:3.47 [[ 9.99950151e-01 -4.66234945e-03 -8.82940489e-03 3.82100127e+02] [ 4.66696498e-03 9.99988984e-01 5.02213330e-04 -1.54968785e+01] [ 8.82696613e-03 -5.43394819e-04 9.99960894e-01 3.47459199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.150714057 meters Centerline goodness [0,1] 0.9801150605141916 Centerline is valid? [True, True] Translation: X:382.13, Y:-15.49, Z:3.48 [[ 9.99969458e-01 -1.45693204e-03 -7.67851435e-03 3.82130629e+02] [ 1.46032703e-03 9.99998838e-01 4.36553512e-04 -1.54922772e+01] [ 7.67786940e-03 -4.47753321e-04 9.99970424e-01 3.47600409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.180714057 meters Centerline goodness [0,1] 0.98079862437906 Centerline is valid? [True, True] Translation: X:382.16, Y:-15.49, Z:3.48 [[ 9.99970330e-01 -9.31412867e-04 -7.64667898e-03 3.82159314e+02] [ 9.34742194e-04 9.99999470e-01 4.31832808e-04 -1.54894557e+01] [ 7.64627271e-03 -4.38967669e-04 9.99970670e-01 3.47708517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.210714057 meters Centerline goodness [0,1] 0.9793233983420384 Centerline is valid? [True, True] Translation: X:382.19, Y:-15.49, Z:3.48 [[ 9.99973903e-01 -6.15744625e-04 -7.19820756e-03 3.82187295e+02] [ 6.18686565e-04 9.99999726e-01 4.06485001e-04 -1.54931859e+01] [ 7.19795529e-03 -4.10927827e-04 9.99974010e-01 3.47666522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.240714057 meters Centerline goodness [0,1] 0.9794340164719403 Centerline is valid? [True, True] Translation: X:382.22, Y:-15.49, Z:3.48 [[ 9.99977200e-01 -1.00845185e-03 -6.67705282e-03 3.82216455e+02] [ 1.01098925e-03 9.99999418e-01 3.76654737e-04 -1.54939164e+01] [ 6.67666910e-03 -3.83396578e-04 9.99977637e-01 3.47652797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.270714057 meters Centerline goodness [0,1] 0.9794920939147101 Centerline is valid? [True, True] Translation: X:382.24, Y:-15.50, Z:3.48 [[ 9.99974397e-01 -1.94106671e-03 -6.88748264e-03 3.82243717e+02] [ 1.94378545e-03 9.99998036e-01 3.88064587e-04 -1.54975686e+01] [ 6.88671585e-03 -4.01442440e-04 9.99976206e-01 3.47590486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.300714057 meters Centerline goodness [0,1] 0.9792463657230298 Centerline is valid? [True, True] Translation: X:382.27, Y:-15.50, Z:3.47 [[ 9.99958084e-01 -4.66087355e-03 -7.88082848e-03 3.82273367e+02] [ 4.66451820e-03 9.99989022e-01 4.44153209e-04 -1.54997436e+01] [ 7.87867183e-03 -4.80894859e-04 9.99968847e-01 3.47487557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.330714057 meters Centerline goodness [0,1] 0.979947292764734 Centerline is valid? [True, True] Translation: X:382.30, Y:-15.50, Z:3.47 [[ 9.99944337e-01 -5.86136713e-03 -8.77304645e-03 3.82303186e+02] [ 5.86592664e-03 9.99982673e-01 4.94076202e-04 -1.55019712e+01] [ 8.76999848e-03 -5.45510748e-04 9.99961394e-01 3.47373673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.360714057 meters Centerline goodness [0,1] 0.9806197831718315 Centerline is valid? [True, True] Translation: X:382.33, Y:-15.51, Z:3.47 [[ 9.99912463e-01 -6.61531501e-03 -1.14587814e-02 3.82332850e+02] [ 6.62313911e-03 9.99977859e-01 6.44990309e-04 -1.55052716e+01] [ 1.14542609e-02 -7.20826951e-04 9.99934138e-01 3.47085842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.390714057 meters Centerline goodness [0,1] 0.9814974594957339 Centerline is valid? [True, True] Translation: X:382.36, Y:-15.50, Z:3.47 [[ 9.99902322e-01 -6.49058439e-03 -1.23781835e-02 3.82362081e+02] [ 6.49965494e-03 9.99978637e-01 6.92697130e-04 -1.54977349e+01] [ 1.23734230e-02 -7.73083389e-04 9.99923147e-01 3.47207663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.420714057 meters Centerline goodness [0,1] 0.9832849011743798 Centerline is valid? [True, True] Translation: X:382.39, Y:-15.50, Z:3.47 [[ 9.99903008e-01 -1.79952899e-03 -1.38107163e-02 3.82391901e+02] [ 1.81038571e-03 9.99998062e-01 7.73647000e-04 -1.54985732e+01] [ 1.38092974e-02 -7.98574687e-04 9.99904328e-01 3.46997030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.450714057 meters Centerline goodness [0,1] 0.9828942619992782 Centerline is valid? [True, True] Translation: X:382.42, Y:-15.50, Z:3.47 [[ 9.99909280e-01 7.05853929e-04 -1.34511651e-02 3.82420805e+02] [-6.95788241e-04 9.99999474e-01 7.52978592e-04 -1.55017470e+01] [ 1.34516895e-02 -7.43551120e-04 9.99909245e-01 3.46933128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.480714057 meters Centerline goodness [0,1] 0.9830017384585668 Centerline is valid? [True, True] Translation: X:382.45, Y:-15.49, Z:3.47 [[ 9.99914726e-01 4.89974677e-03 -1.21050971e-02 3.82452119e+02] [-4.89190068e-03 9.99987805e-01 6.77689494e-04 -1.54941797e+01] [ 1.21082700e-02 -6.18414772e-04 9.99926501e-01 3.47280687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.51071405700003 meters Centerline goodness [0,1] 0.9829066028384227 Centerline is valid? [True, True] Translation: X:382.48, Y:-15.49, Z:3.47 [[ 9.99915033e-01 6.89202637e-03 -1.10646187e-02 3.82482113e+02] [-6.88559868e-03 9.99976102e-01 6.18912770e-04 -1.54922791e+01] [ 1.10686199e-02 -5.42673659e-04 9.99938594e-01 3.47393556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.540714057 meters Centerline goodness [0,1] 0.9824998187135916 Centerline is valid? [True, True] Translation: X:382.51, Y:-15.49, Z:3.47 [[ 9.99899702e-01 9.83750367e-03 -1.01886820e-02 3.82511452e+02] [-9.83220977e-03 9.99951500e-01 5.69547165e-04 -1.54928077e+01] [ 1.01937907e-02 -4.69312782e-04 9.99947932e-01 3.47404813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.57071405700003 meters Centerline goodness [0,1] 0.9835577295621852 Centerline is valid? [True, True] Translation: X:382.54, Y:-15.49, Z:3.47 [[ 9.99892021e-01 1.11292040e-02 -9.59622272e-03 3.82540256e+02] [-1.11245752e-02 9.99937977e-01 5.35599279e-04 -1.54938153e+01] [ 9.60158832e-03 -4.28787544e-04 9.99953812e-01 3.47400825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.600714057 meters Centerline goodness [0,1] 0.982416308390899 Centerline is valid? [True, True] Translation: X:382.57, Y:-15.50, Z:3.48 [[ 9.99895218e-01 1.15583369e-02 -8.71542865e-03 3.82567774e+02] [-1.15545426e-02 9.99933126e-01 4.85581535e-04 -1.54954747e+01] [ 8.72045833e-03 -3.84827863e-04 9.99961902e-01 3.47524568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.63071405700003 meters Centerline goodness [0,1] 0.9817155538402161 Centerline is valid? [True, True] Translation: X:382.60, Y:-15.50, Z:3.48 [[ 9.99908401e-01 1.08332952e-02 -8.11358079e-03 3.82595428e+02] [-1.08299889e-02 9.99941252e-01 4.51324120e-04 -1.54979432e+01] [ 8.11799346e-03 -3.63412789e-04 9.99966983e-01 3.47627283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.660714057 meters Centerline goodness [0,1] 0.9814116509547982 Centerline is valid? [True, True] Translation: X:382.62, Y:-15.50, Z:3.48 [[ 9.99945587e-01 7.31737783e-03 -7.43504029e-03 3.82624462e+02] [-7.31450646e-03 9.99973163e-01 4.13314225e-04 -1.55028853e+01] [ 7.43786514e-03 -3.58908085e-04 9.99972274e-01 3.47676774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.690714057 meters Centerline goodness [0,1] 0.9798877568225064 Centerline is valid? [True, True] Translation: X:382.65, Y:-15.51, Z:3.48 [[ 9.99959502e-01 5.50824087e-03 -7.11715356e-03 3.82652605e+02] [-5.50556674e-03 9.99984766e-01 3.95268034e-04 -1.55081582e+01] [ 7.11922237e-03 -3.56068062e-04 9.99974595e-01 3.47572557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.720714057 meters Centerline goodness [0,1] 0.9784853287230466 Centerline is valid? [True, True] Translation: X:382.68, Y:-15.52, Z:3.48 [[ 9.99973718e-01 1.63867114e-03 -7.06237680e-03 3.82682154e+02] [-1.63594162e-03 9.99998585e-01 3.92247457e-04 -1.55163471e+01] [ 7.06300957e-03 -3.80683512e-04 9.99974984e-01 3.47501502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.750714057 meters Centerline goodness [0,1] 0.9798233046800382 Centerline is valid? [True, True] Translation: X:382.71, Y:-15.52, Z:3.47 [[ 9.99975757e-01 -5.44349287e-05 -6.96300472e-03 3.82711835e+02] [ 5.71269676e-05 9.99999924e-01 3.86421981e-04 -1.55218241e+01] [ 6.96298316e-03 -3.86810388e-04 9.99975683e-01 3.47450711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.780714057 meters Centerline goodness [0,1] 0.978576034775132 Centerline is valid? [True, True] Translation: X:382.74, Y:-15.53, Z:3.47 [[ 9.99957146e-01 -4.63279606e-03 -8.01514350e-03 3.82742355e+02] [ 4.63651087e-03 9.99989152e-01 4.44955213e-04 -1.55281076e+01] [ 8.01299517e-03 -4.82098445e-04 9.99967779e-01 3.47392928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.810714057 meters Centerline goodness [0,1] 0.9781825985359689 Centerline is valid? [True, True] Translation: X:382.77, Y:-15.53, Z:3.47 [[ 9.99938267e-01 -7.00194510e-03 -8.62759937e-03 3.82772129e+02] [ 7.00633536e-03 9.99975341e-01 4.78742027e-04 -1.55328766e+01] [ 8.62403449e-03 -5.39160327e-04 9.99962667e-01 3.47324920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.840714057 meters Centerline goodness [0,1] 0.9789516148169242 Centerline is valid? [True, True] Translation: X:382.80, Y:-15.54, Z:3.47 [[ 9.99882828e-01 -1.13706457e-02 -1.02488288e-02 3.82801487e+02] [ 1.13770720e-02 9.99935117e-01 5.68941641e-04 -1.55422868e+01] [ 1.02416946e-02 -6.85476640e-04 9.99947318e-01 3.47159319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.870714057 meters Centerline goodness [0,1] 0.9779455263967439 Centerline is valid? [True, True] Translation: X:382.83, Y:-15.55, Z:3.47 [[ 9.99839741e-01 -1.42926708e-02 -1.07801524e-02 3.82831294e+02] [ 1.42999547e-02 9.99897571e-01 5.98900543e-04 -1.55507323e+01] [ 1.07704883e-02 -7.52960256e-04 9.99941713e-01 3.47056152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.900714057 meters Centerline goodness [0,1] 0.9765665641995743 Centerline is valid? [True, True] Translation: X:382.86, Y:-15.56, Z:3.47 [[ 9.99833019e-01 -1.49707706e-02 -1.04790117e-02 3.82861739e+02] [ 1.49776940e-02 9.99887658e-01 5.82525977e-04 -1.55556120e+01] [ 1.04691136e-02 -7.39380137e-04 9.99944924e-01 3.47063671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.930714057 meters Centerline goodness [0,1] 0.9762585339349413 Centerline is valid? [True, True] Translation: X:382.89, Y:-15.56, Z:3.47 [[ 9.99849871e-01 -1.48552823e-02 -8.91943546e-03 3.82892679e+02] [ 1.48602965e-02 9.99889457e-01 4.96146947e-04 -1.55589256e+01] [ 8.91107907e-03 -6.28617916e-04 9.99960098e-01 3.47222781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.960714057 meters Centerline goodness [0,1] 0.9761364710329836 Centerline is valid? [True, True] Translation: X:382.92, Y:-15.56, Z:3.47 [[ 9.99864063e-01 -1.41747631e-02 -8.42209634e-03 3.82924081e+02] [ 1.41792139e-02 9.99899360e-01 4.68980544e-04 -1.55617654e+01] [ 8.41460105e-03 -5.88335497e-04 9.99964424e-01 3.47306269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.990714057 meters Centerline goodness [0,1] 0.978370209450046 Centerline is valid? [True, True] Translation: X:382.96, Y:-15.56, Z:3.47 [[ 9.99879057e-01 -1.34708545e-02 -7.77219962e-03 3.82955619e+02] [ 1.34746255e-02 9.99909119e-01 4.33018970e-04 -1.55555659e+01] [ 7.76566014e-03 -5.37694078e-04 9.99969702e-01 3.47458969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.020714057 meters Centerline goodness [0,1] 0.978995756718529 Centerline is valid? [True, True] Translation: X:382.99, Y:-15.56, Z:3.47 [[ 9.99891679e-01 -1.23288405e-02 -8.03932181e-03 3.82986941e+02] [ 1.23328407e-02 9.99923847e-01 4.48182265e-04 -1.55573044e+01] [ 8.03318402e-03 -5.47281392e-04 9.99967584e-01 3.47443623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.050714057 meters Centerline goodness [0,1] 0.9793309635349231 Centerline is valid? [True, True] Translation: X:383.02, Y:-15.56, Z:3.47 [[ 9.99895234e-01 -1.20419523e-02 -8.03194543e-03 3.83017650e+02] [ 1.20459398e-02 9.99927345e-01 4.48268531e-04 -1.55624719e+01] [ 8.02596384e-03 -5.44973899e-04 9.99967643e-01 3.47355366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.080714057 meters Centerline goodness [0,1] 0.9765961959980203 Centerline is valid? [True, True] Translation: X:383.05, Y:-15.57, Z:3.47 [[ 9.99891361e-01 -1.19592931e-02 -8.61635539e-03 3.83048743e+02] [ 1.19638896e-02 9.99928314e-01 4.82114278e-04 -1.55736997e+01] [ 8.60997197e-03 -5.85147026e-04 9.99962762e-01 3.47121597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.110714057 meters Centerline goodness [0,1] 0.979334665569531 Centerline is valid? [True, True] Translation: X:383.08, Y:-15.56, Z:3.47 [[ 9.99895965e-01 -1.15866209e-02 -8.59128977e-03 3.83080706e+02] [ 1.15911768e-02 9.99932705e-01 4.80690843e-04 -1.55649517e+01] [ 8.58514203e-03 -5.80223993e-04 9.99962979e-01 3.47349213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.140714057 meters Centerline goodness [0,1] 0.978244032950785 Centerline is valid? [True, True] Translation: X:383.11, Y:-15.57, Z:3.47 [[ 9.99898140e-01 -1.10636509e-02 -9.01693717e-03 3.83110539e+02] [ 1.10686490e-02 9.99938613e-01 5.04583328e-04 -1.55728200e+01] [ 9.01080112e-03 -6.04337244e-04 9.99959219e-01 3.47322285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.170714057 meters Centerline goodness [0,1] 0.9788982831304021 Centerline is valid? [True, True] Translation: X:383.14, Y:-15.57, Z:3.47 [[ 9.99908138e-01 -1.04345417e-02 -8.65081573e-03 3.83142441e+02] [ 1.04391220e-02 9.99945394e-01 4.84477525e-04 -1.55704677e+01] [ 8.64528803e-03 -5.74739941e-04 9.99962464e-01 3.47449315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.200714057 meters Centerline goodness [0,1] 0.979791349197046 Centerline is valid? [True, True] Translation: X:383.17, Y:-15.57, Z:3.47 [[ 9.99928533e-01 -8.92678092e-03 -7.95246407e-03 3.83173456e+02] [ 8.93060468e-03 9.99960022e-01 4.45445225e-04 -1.55725238e+01] [ 7.94816976e-03 -5.16433703e-04 9.99968279e-01 3.47476945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.230714057 meters Centerline goodness [0,1] 0.9785447979928248 Centerline is valid? [True, True] Translation: X:383.20, Y:-15.57, Z:3.48 [[ 9.99962169e-01 -5.33247553e-03 -6.87212970e-03 3.83202733e+02] [ 5.33524413e-03 9.99985694e-01 3.84604185e-04 -1.55738996e+01] [ 6.86998049e-03 -4.21254124e-04 9.99976313e-01 3.47551152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26071405700003 meters Centerline goodness [0,1] 0.9790316521085752 Centerline is valid? [True, True] Translation: X:383.23, Y:-15.57, Z:3.48 [[ 9.99981075e-01 -2.77575666e-04 -6.14596665e-03 3.83232340e+02] [ 2.79694178e-04 9.99999902e-01 3.43842834e-04 -1.55748980e+01] [ 6.14587061e-03 -3.45555318e-04 9.99981054e-01 3.47606749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.290714057 meters Centerline goodness [0,1] 0.9794715208455667 Centerline is valid? [True, True] Translation: X:383.26, Y:-15.57, Z:3.48 [[ 9.99976943e-01 2.53767443e-03 -6.29869554e-03 3.83262061e+02] [-2.53550669e-03 9.99996724e-01 3.52117839e-04 -1.55746919e+01] [ 6.29956846e-03 -3.36139335e-04 9.99980101e-01 3.47596508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32071405700003 meters Centerline goodness [0,1] 0.9803432870914649 Centerline is valid? [True, True] Translation: X:383.29, Y:-15.57, Z:3.48 [[ 9.99946597e-01 7.76060216e-03 -6.82462403e-03 3.83291121e+02] [-7.75817907e-03 9.99969832e-01 3.81452976e-04 -1.55749082e+01] [ 6.82737845e-03 -3.28485950e-04 9.99976639e-01 3.47512748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.350714057 meters Centerline goodness [0,1] 0.9803432870914649 Centerline is valid? [True, True] Translation: X:383.32, Y:-15.58, Z:3.48 [[ 9.99947370e-01 7.66031902e-03 -6.82468101e-03 3.83318571e+02] [-7.65790055e-03 9.99970605e-01 3.80432735e-04 -1.55763453e+01] [ 6.82739464e-03 -3.28149985e-04 9.99976639e-01 3.47501236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38071405700003 meters Centerline goodness [0,1] 0.9815972548650935 Centerline is valid? [True, True] Translation: X:383.35, Y:-15.57, Z:3.48 [[ 9.99923136e-01 9.81335162e-03 -7.57764180e-03 3.83348055e+02] [-9.81043292e-03 9.99951787e-01 4.22247884e-04 -1.55721375e+01] [ 7.58142013e-03 -3.47875482e-04 9.99971200e-01 3.47589899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.410714057 meters Centerline goodness [0,1] 0.9815406294034759 Centerline is valid? [True, True] Translation: X:383.38, Y:-15.58, Z:3.47 [[ 9.99870757e-01 1.37918659e-02 -8.26163510e-03 3.83376351e+02] [-1.37885335e-02 9.99904828e-01 4.60186657e-04 -1.55788495e+01] [ 8.26719565e-03 -3.46211349e-04 9.99965766e-01 3.47358900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.440714057 meters Centerline goodness [0,1] 0.9834103761409766 Centerline is valid? [True, True] Translation: X:383.41, Y:-15.58, Z:3.47 [[ 9.99843187e-01 1.58105309e-02 -7.97670488e-03 3.83405717e+02] [-1.58074923e-02 9.99874955e-01 4.43832973e-04 -1.55777585e+01] [ 7.98272467e-03 -3.17671673e-04 9.99968087e-01 3.47475715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.470714057 meters Centerline goodness [0,1] 0.9847762245976741 Centerline is valid? [True, True] Translation: X:383.44, Y:-15.58, Z:3.48 [[ 9.99782178e-01 1.95774533e-02 -7.23330815e-03 3.83435958e+02] [-1.95750533e-02 9.99808309e-01 4.02458415e-04 -1.55751044e+01] [ 7.23980070e-03 -2.60778358e-04 9.99973758e-01 3.47690942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.500714057 meters Centerline goodness [0,1] 0.9850998032049479 Centerline is valid? [True, True] Translation: X:383.46, Y:-15.58, Z:3.48 [[ 9.99738044e-01 2.20133325e-02 -6.26545745e-03 3.83464847e+02] [-2.20115838e-02 9.99757655e-01 3.47926928e-04 -1.55766169e+01] [ 6.27159808e-03 -2.09923145e-04 9.99980311e-01 3.47684787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.530714057 meters Centerline goodness [0,1] 0.9858242298065452 Centerline is valid? [True, True] Translation: X:383.49, Y:-15.58, Z:3.48 [[ 9.99601487e-01 2.74994668e-02 -6.37540303e-03 3.83494098e+02] [-2.74977681e-02 9.99621802e-01 3.53961982e-04 -1.55797316e+01] [ 6.38272563e-03 -1.78511569e-04 9.99979614e-01 3.47564654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.560714057 meters Centerline goodness [0,1] 0.9867399438727783 Centerline is valid? [True, True] Translation: X:383.52, Y:-15.58, Z:3.47 [[ 9.99518238e-01 3.02637280e-02 -6.88468129e-03 3.83522810e+02] [-3.02618167e-02 9.99541933e-01 3.81632703e-04 -1.55813469e+01] [ 6.89307728e-03 -1.73105883e-04 9.99976227e-01 3.47474579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.590714057 meters Centerline goodness [0,1] 0.9864694039983145 Centerline is valid? [True, True] Translation: X:383.55, Y:-15.58, Z:3.47 [[ 9.99425870e-01 3.30249686e-02 -7.56848616e-03 3.83551645e+02] [-3.30227417e-02 9.99454513e-01 4.19047331e-04 -1.55834560e+01] [ 7.57819667e-03 -1.68874580e-04 9.99971271e-01 3.47426010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.620714057 meters Centerline goodness [0,1] 0.9865174315356575 Centerline is valid? [True, True] Translation: X:383.58, Y:-15.59, Z:3.47 [[ 9.99251337e-01 3.77445986e-02 -8.49178935e-03 3.83580812e+02] [-3.77419867e-02 9.99287408e-01 4.67674791e-04 -1.55865714e+01] [ 8.50339037e-03 -1.46827659e-04 9.99963835e-01 3.47309063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.650714057 meters Centerline goodness [0,1] 0.9873458943940451 Centerline is valid? [True, True] Translation: X:383.61, Y:-15.59, Z:3.47 [[ 9.99124534e-01 4.10304503e-02 -8.16497917e-03 3.83609367e+02] [-4.10281630e-02 9.99157890e-01 4.47509947e-04 -1.55906438e+01] [ 8.17646489e-03 -1.12124071e-04 9.99966566e-01 3.47307228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.680714057 meters Centerline goodness [0,1] 0.9877461808542796 Centerline is valid? [True, True] Translation: X:383.64, Y:-15.59, Z:3.47 [[ 9.99079150e-01 4.22364584e-02 -7.54546641e-03 3.83637759e+02] [-4.22345541e-02 9.99107638e-01 4.11603730e-04 -1.55947478e+01] [ 7.55611781e-03 -9.25452955e-05 9.99971448e-01 3.47300977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.710714057 meters Centerline goodness [0,1] 0.9887338931686215 Centerline is valid? [True, True] Translation: X:383.67, Y:-15.60, Z:3.47 [[ 9.98981726e-01 4.46435499e-02 -6.51642482e-03 3.83665978e+02] [-4.46421922e-02 9.99002978e-01 3.53727728e-04 -1.56015059e+01] [ 6.52571946e-03 -6.24600468e-05 9.99978705e-01 3.47336486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.740714057 meters Centerline goodness [0,1] 0.9889863254587102 Centerline is valid? [True, True] Translation: X:383.69, Y:-15.61, Z:3.47 [[ 9.98941962e-01 4.56051279e-02 -5.92696424e-03 3.83694578e+02] [-4.56040311e-02 9.98959544e-01 3.20131441e-04 -1.56059045e+01] [ 5.93539713e-03 -4.94992680e-05 9.99982384e-01 3.47371317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.770714057 meters Centerline goodness [0,1] 0.9900398865653748 Centerline is valid? [True, True] Translation: X:383.72, Y:-15.61, Z:3.47 [[ 9.98895091e-01 4.67300291e-02 -4.99024026e-03 3.83722772e+02] [-4.67292727e-02 9.98907555e-01 2.68131387e-04 -1.56111374e+01] [ 4.99731849e-03 -3.46448280e-05 9.99987513e-01 3.47391815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.800714057 meters Centerline goodness [0,1] 0.9902536348208962 Centerline is valid? [True, True] Translation: X:383.75, Y:-15.62, Z:3.47 [[ 9.98897509e-01 4.67925611e-02 -3.77141203e-03 3.83751358e+02] [-4.67921286e-02 9.98904628e-01 2.02865955e-04 -1.56218090e+01] [ 3.77677355e-03 -2.61699006e-05 9.99992868e-01 3.47340098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.830714057 meters Centerline goodness [0,1] 0.9904707495429617 Centerline is valid? [True, True] Translation: X:383.78, Y:-15.63, Z:3.47 [[ 9.98926604e-01 4.61824389e-02 -3.58090757e-03 3.83777861e+02] [-4.61820475e-02 9.98933022e-01 1.91943274e-04 -1.56288201e+01] [ 3.58595123e-03 -2.63635988e-05 9.99993570e-01 3.47308426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.860714057 meters Centerline goodness [0,1] 0.9903907314856883 Centerline is valid? [True, True] Translation: X:383.81, Y:-15.64, Z:3.47 [[ 9.99061775e-01 4.32393622e-02 -2.43442921e-03 3.83805047e+02] [-4.32391731e-02 9.99064741e-01 1.30264899e-04 -1.56428771e+01] [ 2.43778495e-03 -2.48799756e-05 9.99997028e-01 3.47216013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.890714057 meters Centerline goodness [0,1] 0.9895939373374053 Centerline is valid? [True, True] Translation: X:383.83, Y:-15.65, Z:3.47 [[ 9.99160511e-01 4.09132467e-02 -2.09272661e-03 3.83833884e+02] [-4.09131022e-02 9.99162702e-01 1.11852524e-04 -1.56507069e+01] [ 2.09555062e-03 -2.61386874e-05 9.99997804e-01 3.47201498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.920714057 meters Centerline goodness [0,1] 0.9890386343216532 Centerline is valid? [True, True] Translation: X:383.86, Y:-15.67, Z:3.47 [[ 9.99365364e-01 3.55545390e-02 -2.17826445e-03 3.83862745e+02] [-3.55543695e-02 9.99367737e-01 1.16507850e-04 -1.56660792e+01] [ 2.18102960e-03 -3.89870910e-05 9.99997621e-01 3.47111134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.950714057 meters Centerline goodness [0,1] 0.9884402145855312 Centerline is valid? [True, True] Translation: X:383.89, Y:-15.67, Z:3.47 [[ 9.99459449e-01 3.27898509e-02 -2.37393105e-03 3.83890929e+02] [-3.27896425e-02 9.99462267e-01 1.26671359e-04 -1.56745568e+01] [ 2.37680804e-03 -4.87625359e-05 9.99997174e-01 3.47031655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.980714057 meters Centerline goodness [0,1] 0.9875619668616855 Centerline is valid? [True, True] Translation: X:383.92, Y:-15.69, Z:3.47 [[ 9.99629156e-01 2.70668587e-02 -2.98928718e-03 3.83919572e+02] [-2.70665026e-02 9.99633622e-01 1.59500358e-04 -1.56899355e+01] [ 2.99250914e-03 -7.85316595e-05 9.99995519e-01 3.46876555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.01071405700003 meters Centerline goodness [0,1] 0.987687580709801 Centerline is valid? [True, True] Translation: X:383.95, Y:-15.70, Z:3.47 [[ 9.99696392e-01 2.44621023e-02 -2.95463048e-03 3.83948035e+02] [-2.44617439e-02 9.99700754e-01 1.57359613e-04 -1.56970299e+01] [ 2.95759567e-03 -8.50364232e-05 9.99995623e-01 3.46850327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.040714057 meters Centerline goodness [0,1] 0.9866666666666667 Centerline is valid? [True, True] Translation: X:383.98, Y:-15.71, Z:3.47 [[ 9.99800841e-01 1.97911719e-02 -2.56680503e-03 3.83975890e+02] [-1.97908864e-02 9.99804132e-01 1.36605154e-04 -1.57124556e+01] [ 2.56900585e-03 -8.57786015e-05 9.99996696e-01 3.46778067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.07071405700003 meters Centerline goodness [0,1] 0.984209008849165 Centerline is valid? [True, True] Translation: X:384.00, Y:-15.72, Z:3.47 [[ 9.99847494e-01 1.72907709e-02 -2.45321071e-03 3.84004141e+02] [-1.72905028e-02 9.99850500e-01 1.30429442e-04 -1.57208137e+01] [ 2.45509918e-03 -8.79923038e-05 9.99996982e-01 3.46768760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.100714057 meters Centerline goodness [0,1] 0.9846126713989684 Centerline is valid? [True, True] Translation: X:384.03, Y:-15.73, Z:3.47 [[ 9.99906643e-01 1.36344955e-02 -8.98074636e-04 3.84033418e+02] [-1.36344582e-02 9.99907045e-01 4.76504400e-05 -1.57322647e+01] [ 8.98640845e-04 -3.54012304e-05 9.99999596e-01 3.46836169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.13071405700003 meters Centerline goodness [0,1] 0.9846821828440447 Centerline is valid? [True, True] Translation: X:384.06, Y:-15.74, Z:3.47 [[ 9.99928219e-01 1.19796260e-02 -2.12344577e-04 3.84061979e+02] [-1.19796239e-02 9.99928242e-01 1.09968288e-05 -1.57390464e+01] [ 2.12461077e-04 -8.45223130e-06 9.99999977e-01 3.46842939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.160714057 meters Centerline goodness [0,1] 0.9822368421052632 Centerline is valid? [True, True] Translation: X:384.09, Y:-15.75, Z:3.47 [[ 9.99952500e-01 9.70927431e-03 8.52930141e-04 3.84091298e+02] [-9.70923907e-03 9.99952863e-01 -4.54489394e-05 -1.57497741e+01] [-8.53331213e-04 3.71654780e-05 9.99999635e-01 3.46831010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.190714057 meters Centerline goodness [0,1] 0.9828853538123972 Centerline is valid? [True, True] Translation: X:384.12, Y:-15.76, Z:3.47 [[ 9.99961966e-01 8.57259146e-03 1.60521755e-03 3.84119848e+02] [-8.57246540e-03 9.99963252e-01 -8.53957020e-05 -1.57604753e+01] [-1.60589062e-03 7.16317822e-05 9.99998708e-01 3.46861372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.220714057 meters Centerline goodness [0,1] 0.9829919331919638 Centerline is valid? [True, True] Translation: X:384.15, Y:-15.76, Z:3.47 [[ 9.99960928e-01 8.62222893e-03 1.94923293e-03 3.84148138e+02] [-8.62204335e-03 9.99962824e-01 -1.03591242e-04 -1.57634448e+01] [-1.95005365e-03 8.67808238e-05 9.99998095e-01 3.46844595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.250714057 meters Centerline goodness [0,1] 0.9834043017796703 Centerline is valid? [True, True] Translation: X:384.18, Y:-15.77, Z:3.47 [[ 9.99961268e-01 8.65102167e-03 1.61928723e-03 3.84177708e+02] [-8.65089388e-03 9.99962577e-01 -8.59049507e-05 -1.57670676e+01] [-1.61996980e-03 7.18933414e-05 9.99998685e-01 3.46829230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.280714057 meters Centerline goodness [0,1] 0.9831525653056326 Centerline is valid? [True, True] Translation: X:384.21, Y:-15.77, Z:3.47 [[ 9.99962541e-01 8.57132870e-03 1.20358096e-03 3.84206242e+02] [-8.57125791e-03 9.99963264e-01 -6.39583761e-05 -1.57715207e+01] [-1.20408495e-03 5.36397775e-05 9.99999274e-01 3.46762714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.310714057 meters Centerline goodness [0,1] 0.983393548948766 Centerline is valid? [True, True] Translation: X:384.24, Y:-15.78, Z:3.47 [[ 9.99959281e-01 8.96870429e-03 9.99450832e-04 3.84235163e+02] [-8.96865570e-03 9.99959779e-01 -5.30875188e-05 -1.57760316e+01] [-9.99886760e-04 4.41216267e-05 9.99999499e-01 3.46665475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.340714057 meters Centerline goodness [0,1] 0.9834730486904399 Centerline is valid? [True, True] Translation: X:384.26, Y:-15.78, Z:3.47 [[ 9.99955178e-01 9.46214926e-03 3.30139563e-04 3.84263785e+02] [-9.46214393e-03 9.99955233e-01 -1.77123853e-05 -1.57823473e+01] [-3.30292381e-04 1.45877633e-05 9.99999945e-01 3.46544909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.370714057 meters Centerline goodness [0,1] 0.9846684304115887 Centerline is valid? [True, True] Translation: X:384.29, Y:-15.79, Z:3.47 [[ 9.99949942e-01 1.00054703e-02 7.03743708e-05 3.84292421e+02] [-1.00054701e-02 9.99949944e-01 -4.00644309e-06 -1.57854795e+01] [-7.04109345e-05 3.30211388e-06 9.99999998e-01 3.46506421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.400714057 meters Centerline goodness [0,1] 0.9826923494538427 Centerline is valid? [True, True] Translation: X:384.32, Y:-15.79, Z:3.46 [[ 9.99945104e-01 1.04771227e-02 -1.40837164e-04 3.84320216e+02] [-1.04771218e-02 9.99945113e-01 7.03375456e-06 -1.57911618e+01] [ 1.40903127e-04 -5.55780032e-06 9.99999990e-01 3.46394762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.430714057 meters Centerline goodness [0,1] 0.9842511132833713 Centerline is valid? [True, True] Translation: X:384.35, Y:-15.79, Z:3.46 [[ 9.99939776e-01 1.09699791e-02 -3.22597935e-04 3.84348858e+02] [-1.09699743e-02 9.99939828e-01 1.66334024e-05 -1.57913613e+01] [ 3.22760992e-04 -1.30935096e-05 9.99999948e-01 3.46434092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.460714057 meters Centerline goodness [0,1] 0.9844279384936148 Centerline is valid? [True, True] Translation: X:384.38, Y:-15.79, Z:3.46 [[ 9.99926324e-01 1.21365432e-02 2.26356653e-04 3.84377414e+02] [-1.21365407e-02 9.99926349e-01 -1.21749625e-05 -1.57947113e+01] [-2.26487743e-04 9.42687880e-06 9.99999974e-01 3.46446020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.490714057 meters Centerline goodness [0,1] 0.9833311657345992 Centerline is valid? [True, True] Translation: X:384.40, Y:-15.80, Z:3.46 [[ 9.99914596e-01 1.30689029e-02 -6.13220878e-05 3.84404959e+02] [-1.30689027e-02 9.99914598e-01 2.83078242e-06 -1.57988782e+01] [ 6.13538460e-05 -2.02912826e-06 9.99999998e-01 3.46387680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.520714057 meters Centerline goodness [0,1] 0.9839535085436725 Centerline is valid? [True, True] Translation: X:384.43, Y:-15.80, Z:3.46 [[ 9.99892550e-01 1.46459136e-02 6.20479410e-04 3.84433478e+02] [-1.46458961e-02 9.99892743e-01 -3.27407968e-05 -1.57992326e+01] [-6.20892378e-04 2.36498019e-05 9.99999807e-01 3.46411813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.550714057 meters Centerline goodness [0,1] 0.9842171443437541 Centerline is valid? [True, True] Translation: X:384.46, Y:-15.80, Z:3.46 [[ 9.99877634e-01 1.56207046e-02 8.42548920e-04 3.84461617e+02] [-1.56206728e-02 9.99877989e-01 -4.42846461e-05 -1.58023759e+01] [-8.43137877e-04 3.11180462e-05 9.99999644e-01 3.46451317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.580714057 meters Centerline goodness [0,1] 0.985301121357752 Centerline is valid? [True, True] Translation: X:384.49, Y:-15.80, Z:3.46 [[ 9.99838619e-01 1.79057839e-02 1.45554500e-03 3.84490628e+02] [-1.79056920e-02 9.99839677e-01 -7.61750993e-05 -1.58044526e+01] [-1.45667562e-03 5.01002657e-05 9.99998938e-01 3.46462250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.610714057 meters Centerline goodness [0,1] 0.9829901716170185 Centerline is valid? [True, True] Translation: X:384.52, Y:-15.81, Z:3.46 [[ 9.99831494e-01 1.83279292e-02 1.03464786e-03 3.84518527e+02] [-1.83278829e-02 9.99832029e-01 -5.42292014e-05 -1.58088994e+01] [-1.03546798e-03 3.52571585e-05 9.99999463e-01 3.46383997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.640714057 meters Centerline goodness [0,1] 0.983361173178298 Centerline is valid? [True, True] Translation: X:384.55, Y:-15.81, Z:3.46 [[ 9.99820546e-01 1.89030154e-02 1.24579858e-03 3.84546409e+02] [-1.89029490e-02 9.99821321e-01 -6.50768301e-05 -1.58131681e+01] [-1.24680613e-03 4.15158849e-05 9.99999222e-01 3.46290811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.670714057 meters Centerline goodness [0,1] 0.9842921742140678 Centerline is valid? [True, True] Translation: X:384.57, Y:-15.82, Z:3.46 [[ 9.99819979e-01 1.89542989e-02 8.62242466e-04 3.84573822e+02] [-1.89542671e-02 9.99820351e-01 -4.50718723e-05 -1.58167605e+01] [-8.62941871e-04 2.87205844e-05 9.99999627e-01 3.46253009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.700714057 meters Centerline goodness [0,1] 0.9839138038995531 Centerline is valid? [True, True] Translation: X:384.60, Y:-15.82, Z:3.46 [[ 9.99829080e-01 1.84659073e-02 9.06187073e-04 3.84603006e+02] [-1.84658721e-02 9.99829490e-01 -4.72271709e-05 -1.58182146e+01] [-9.06904652e-04 3.04855643e-05 9.99999588e-01 3.46233177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.730714057 meters Centerline goodness [0,1] 0.9828114877996114 Centerline is valid? [True, True] Translation: X:384.63, Y:-15.82, Z:3.46 [[ 9.99827402e-01 1.85549027e-02 9.39514417e-04 3.84630943e+02] [-1.85548649e-02 9.99827842e-01 -4.89418490e-05 -1.58232937e+01] [-9.40260784e-04 3.15008386e-05 9.99999557e-01 3.46221598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76071405700003 meters Centerline goodness [0,1] 0.9846692002072897 Centerline is valid? [True, True] Translation: X:384.66, Y:-15.82, Z:3.46 [[ 9.99817995e-01 1.90296361e-02 1.36007263e-03 3.84659593e+02] [-1.90295578e-02 9.99818919e-01 -7.05178552e-05 -1.58243619e+01] [-1.36116827e-03 4.46234399e-05 9.99999073e-01 3.46219596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.790714057 meters Centerline goodness [0,1] 0.9848220253109976 Centerline is valid? [True, True] Translation: X:384.69, Y:-15.82, Z:3.46 [[ 9.99799958e-01 1.99578855e-02 1.31380402e-03 3.84688732e+02] [-1.99578133e-02 9.99800821e-01 -6.80420817e-05 -1.58247172e+01] [-1.31490032e-03 4.18078150e-05 9.99999135e-01 3.46217113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82071405700003 meters Centerline goodness [0,1] 0.984808483012335 Centerline is valid? [True, True] Translation: X:384.72, Y:-15.83, Z:3.46 [[ 9.99734063e-01 2.29970575e-02 1.71448604e-03 3.84717574e+02] [-2.29969394e-02 9.99735531e-01 -8.85776408e-05 -1.58264836e+01] [-1.71606964e-03 4.91261531e-05 9.99998526e-01 3.46161688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.850714057 meters Centerline goodness [0,1] 0.985014210662303 Centerline is valid? [True, True] Translation: X:384.75, Y:-15.83, Z:3.46 [[ 9.99688143e-01 2.49087030e-02 1.78138506e-03 3.84745085e+02] [-2.49085787e-02 9.99689729e-01 -9.19360756e-05 -1.58283793e+01] [-1.78312236e-03 4.75356346e-05 9.99998409e-01 3.46151040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88071405700003 meters Centerline goodness [0,1] 0.984436716469174 Centerline is valid? [True, True] Translation: X:384.77, Y:-15.83, Z:3.46 [[ 9.99586624e-01 2.86748100e-02 2.08228748e-03 3.84773687e+02] [-2.86746489e-02 9.99588792e-01 -1.07179742e-04 -1.58287078e+01] [-2.08450459e-03 4.74265737e-05 9.99997826e-01 3.46107134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.910714057 meters Centerline goodness [0,1] 0.9858182053662011 Centerline is valid? [True, True] Translation: X:384.80, Y:-15.83, Z:3.46 [[ 9.99506326e-01 3.13137552e-02 2.55970930e-03 3.84801919e+02] [-3.13135210e-02 9.99509603e-01 -1.31506348e-04 -1.58316089e+01] [-2.56257199e-03 5.12879159e-05 9.99996715e-01 3.46086861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.940714057 meters Centerline goodness [0,1] 0.9857241587836378 Centerline is valid? [True, True] Translation: X:384.83, Y:-15.83, Z:3.46 [[ 9.99469850e-01 3.24069675e-02 3.13179402e-03 3.84831224e+02] [-3.24066233e-02 9.99474755e-01 -1.60599383e-04 -1.58325418e+01] [-3.13535360e-03 5.90233725e-05 9.99995083e-01 3.46066221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.970714057 meters Centerline goodness [0,1] 0.9861893355775663 Centerline is valid? [True, True] Translation: X:384.86, Y:-15.84, Z:3.46 [[ 9.99455786e-01 3.28034759e-02 3.47319497e-03 3.84858706e+02] [-3.28030556e-02 9.99461819e-01 -1.77920008e-04 -1.58356568e+01] [-3.47716216e-03 6.38917736e-05 9.99993953e-01 3.46083100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.000714057 meters Centerline goodness [0,1] 0.9856794176728514 Centerline is valid? [True, True] Translation: X:384.89, Y:-15.84, Z:3.46 [[ 9.99424631e-01 3.35709002e-02 4.83759783e-03 3.84887796e+02] [-3.35700965e-02 9.99436335e-01 -2.47248238e-04 -1.58395902e+01] [-4.84317139e-03 8.47073532e-05 9.99988268e-01 3.46128262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.030714057 meters Centerline goodness [0,1] 0.9846998506317872 Centerline is valid? [True, True] Translation: X:384.92, Y:-15.85, Z:3.46 [[ 9.99345189e-01 3.60263115e-02 3.36137447e-03 3.84915598e+02] [-3.60259379e-02 9.99350840e-01 -1.71663499e-04 -1.58470451e+01] [-3.36537681e-03 5.04544241e-05 9.99994336e-01 3.46111580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.060714057 meters Centerline goodness [0,1] 0.9852523251808474 Centerline is valid? [True, True] Translation: X:384.94, Y:-15.85, Z:3.46 [[ 9.99488803e-01 3.13874919e-02 6.07925518e-03 3.84944530e+02] [-3.13861888e-02 9.99507284e-01 -3.09658718e-04 -1.58498533e+01] [-6.08597925e-03 1.18695770e-04 9.99981473e-01 3.46053814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.090714057 meters Centerline goodness [0,1] 0.9846547314578005 Centerline is valid? [True, True] Translation: X:384.97, Y:-15.86, Z:3.46 [[ 9.99521894e-01 3.04187328e-02 5.53933354e-03 3.84972081e+02] [-3.04176383e-02 9.99537237e-01 -2.81757062e-04 -1.58553230e+01] [-5.54534084e-03 1.13128908e-04 9.99984618e-01 3.46023012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.120714057 meters Centerline goodness [0,1] 0.9811116074277327 Centerline is valid? [True, True] Translation: X:385.00, Y:-15.87, Z:3.46 [[ 9.99642799e-01 2.62579442e-02 4.97950276e-03 3.85000005e+02] [-2.62570101e-02 9.99655193e-01 -2.52877016e-04 -1.58672420e+01] [-4.98442582e-03 1.22039834e-04 9.99987570e-01 3.45905769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.150714057 meters Centerline goodness [0,1] 0.9808317572305927 Centerline is valid? [True, True] Translation: X:385.03, Y:-15.88, Z:3.46 [[ 9.99790696e-01 1.98537132e-02 4.93900705e-03 3.85030134e+02] [-1.98527172e-02 9.99802884e-01 -2.50608453e-04 -1.58751341e+01] [-4.94300900e-03 1.52503289e-04 9.99987772e-01 3.45838547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.180714057 meters Centerline goodness [0,1] 0.9800982276318599 Centerline is valid? [True, True] Translation: X:385.06, Y:-15.88, Z:3.46 [[ 9.99855775e-01 1.61733455e-02 5.18185879e-03 3.85059413e+02] [-1.61722000e-02 9.99869187e-01 -2.62895999e-04 -1.58800104e+01] [-5.18543284e-03 1.79056026e-04 9.99986540e-01 3.45843500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.210714057 meters Centerline goodness [0,1] 0.9769828595762802 Centerline is valid? [True, True] Translation: X:385.09, Y:-15.89, Z:3.46 [[ 9.99942184e-01 9.37517810e-03 5.26628219e-03 3.85088564e+02] [-9.37390163e-03 9.99956028e-01 -2.67015475e-04 -1.58923501e+01] [-5.26855394e-03 2.17634426e-04 9.99986097e-01 3.45831209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.240714057 meters Centerline goodness [0,1] 0.9769828595762802 Centerline is valid? [True, True] Translation: X:385.12, Y:-15.89, Z:3.46 [[ 9.99942184e-01 9.37517785e-03 5.26628518e-03 3.85118551e+02] [-9.37390170e-03 9.99956028e-01 -2.66956439e-04 -1.58938702e+01] [-5.26855638e-03 2.17575365e-04 9.99986097e-01 3.45818636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.270714057 meters Centerline goodness [0,1] 0.9784810667578425 Centerline is valid? [True, True] Translation: X:385.15, Y:-15.90, Z:3.46 [[ 9.99966398e-01 6.23270599e-03 5.32515126e-03 3.85149698e+02] [-6.23135646e-03 9.99980548e-01 -2.69980780e-04 -1.58960165e+01] [-5.32673039e-03 2.36788792e-04 9.99985785e-01 3.45812898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.300714057 meters Centerline goodness [0,1] 0.9764483118098845 Centerline is valid? [True, True] Translation: X:385.18, Y:-15.91, Z:3.46 [[ 9.99982328e-01 3.62419951e-03 4.71267273e-03 3.85179181e+02] [-3.62311282e-03 9.99993408e-01 -2.39105610e-04 -1.59055063e+01] [-4.71350823e-03 2.22026839e-04 9.99988867e-01 3.45797270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.330714057 meters Centerline goodness [0,1] 0.9754901960784313 Centerline is valid? [True, True] Translation: X:385.21, Y:-15.91, Z:3.46 [[ 9.99988811e-01 -6.21480065e-04 4.68944871e-03 3.85210061e+02] [ 6.22604446e-04 9.99999778e-01 -2.38312354e-04 -1.59087501e+01] [-4.68929956e-03 2.41229360e-04 9.99988976e-01 3.45754772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.360714057 meters Centerline goodness [0,1] 0.9751807950703923 Centerline is valid? [True, True] Translation: X:385.24, Y:-15.92, Z:3.46 [[ 9.99977551e-01 -3.89890315e-03 5.44938918e-03 3.85239924e+02] [ 3.90047159e-03 9.99992355e-01 -2.77222068e-04 -1.59153235e+01] [-5.44826666e-03 2.98471032e-04 9.99985114e-01 3.45808382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.390714057 meters Centerline goodness [0,1] 0.973397900844782 Centerline is valid? [True, True] Translation: X:385.27, Y:-15.92, Z:3.46 [[ 9.99974717e-01 -4.66825434e-03 5.36393624e-03 3.85270408e+02] [ 4.66978693e-03 9.99989059e-01 -2.73234064e-04 -1.59240559e+01] [-5.36260203e-03 2.98275595e-04 9.99985577e-01 3.45875942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.420714057 meters Centerline goodness [0,1] 0.9749311353590571 Centerline is valid? [True, True] Translation: X:385.30, Y:-15.92, Z:3.46 [[ 9.99963656e-01 -5.90062265e-03 6.15377836e-03 3.85302980e+02] [ 5.90266551e-03 9.99982530e-01 -3.13859721e-04 -1.59187026e+01] [-6.15181889e-03 3.50172009e-04 9.99981016e-01 3.45877751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.450714057 meters Centerline goodness [0,1] 0.9759817003431186 Centerline is valid? [True, True] Translation: X:385.33, Y:-15.92, Z:3.46 [[ 9.99963530e-01 -6.30376861e-03 5.76203555e-03 3.85334321e+02] [ 6.30556845e-03 9.99980076e-01 -2.94249670e-04 -1.59225507e+01] [-5.76006587e-03 3.30571848e-04 9.99983356e-01 3.45935228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.480714057 meters Centerline goodness [0,1] 0.9763636751498602 Centerline is valid? [True, True] Translation: X:385.37, Y:-15.92, Z:3.46 [[ 9.99950558e-01 -7.18327167e-03 6.87616790e-03 3.85366091e+02] [ 7.18585951e-03 9.99974120e-01 -3.51716566e-04 -1.59224839e+01] [-6.87346346e-03 4.01110353e-04 9.99976297e-01 3.45901416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.51071405700003 meters Centerline goodness [0,1] 0.9752050271594419 Centerline is valid? [True, True] Translation: X:385.40, Y:-15.93, Z:3.46 [[ 9.99937779e-01 -8.99255206e-03 6.60094748e-03 3.85397840e+02] [ 8.99498031e-03 9.99959487e-01 -3.38266501e-04 -1.59267668e+01] [-6.59763818e-03 3.97620846e-04 9.99978156e-01 3.45780982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.540714057 meters Centerline goodness [0,1] 0.9751778352167133 Centerline is valid? [True, True] Translation: X:385.43, Y:-15.93, Z:3.46 [[ 9.99932828e-01 -1.01564352e-02 5.58439165e-03 3.85429988e+02] [ 1.01581932e-02 9.99948363e-01 -2.86536042e-04 -1.59298597e+01] [-5.58119311e-03 3.43244125e-04 9.99984366e-01 3.45742192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.57071405700003 meters Centerline goodness [0,1] 0.9729683889159794 Centerline is valid? [True, True] Translation: X:385.46, Y:-15.94, Z:3.46 [[ 9.99909097e-01 -1.29005397e-02 3.92097260e-03 3.85459577e+02] [ 1.29014281e-02 9.99916753e-01 -2.01379491e-04 -1.59378885e+01] [-3.91804829e-03 2.51947331e-04 9.99992293e-01 3.45580181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.600714057 meters Centerline goodness [0,1] 0.9733667487893977 Centerline is valid? [True, True] Translation: X:385.49, Y:-15.94, Z:3.46 [[ 9.99885996e-01 -1.47213630e-02 3.35791199e-03 3.85491024e+02] [ 1.47220257e-02 9.99891610e-01 -1.72720862e-04 -1.59395978e+01] [-3.35500534e-03 2.22136437e-04 9.99994347e-01 3.45506767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.63071405700003 meters Centerline goodness [0,1] 0.9745115962670862 Centerline is valid? [True, True] Translation: X:385.52, Y:-15.94, Z:3.45 [[ 9.99833261e-01 -1.81278868e-02 2.19780765e-03 3.85522319e+02] [ 1.81281790e-02 9.99835665e-01 -1.13088504e-04 -1.59404164e+01] [-2.19539641e-03 1.52911898e-04 9.99997578e-01 3.45381755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.660714057 meters Centerline goodness [0,1] 0.9714346439957492 Centerline is valid? [True, True] Translation: X:385.55, Y:-15.95, Z:3.45 [[ 9.99799294e-01 -1.99477288e-02 1.86030794e-03 3.85551630e+02] [ 1.99479410e-02 9.99801015e-01 -9.56191016e-05 -1.59477345e+01] [-1.85803038e-03 1.32709223e-04 9.99998265e-01 3.45366718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.690714057 meters Centerline goodness [0,1] 0.9712726655059662 Centerline is valid? [True, True] Translation: X:385.58, Y:-15.94, Z:3.45 [[ 9.99759869e-01 -2.17930024e-02 2.29573175e-03 3.85583145e+02] [ 2.17933314e-02 9.99762490e-01 -1.18388151e-04 -1.59437691e+01] [-2.29260645e-03 1.68391365e-04 9.99997358e-01 3.45459311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.720714057 meters Centerline goodness [0,1] 0.970961345756135 Centerline is valid? [True, True] Translation: X:385.61, Y:-15.95, Z:3.46 [[ 9.99711205e-01 -2.38210993e-02 3.17206266e-03 3.85612965e+02] [ 2.38217379e-02 9.99716209e-01 -1.63703656e-04 -1.59455004e+01] [-3.16726286e-03 2.39220424e-04 9.99994956e-01 3.45616772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.750714057 meters Centerline goodness [0,1] 0.9710448207383998 Centerline is valid? [True, True] Translation: X:385.65, Y:-15.95, Z:3.46 [[ 9.99696003e-01 -2.44274313e-02 3.34695860e-03 3.85645086e+02] [ 2.44281467e-02 9.99701573e-01 -1.73033455e-04 -1.59456055e+01] [-3.34173302e-03 2.54740849e-04 9.99994384e-01 3.45664367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.780714057 meters Centerline goodness [0,1] 0.9712007844641981 Centerline is valid? [True, True] Translation: X:385.68, Y:-15.94, Z:3.46 [[ 9.99665778e-01 -2.55383587e-02 4.01559201e-03 3.85677616e+02] [ 2.55393988e-02 9.99673795e-01 -2.07943830e-04 -1.59414135e+01] [-4.00897156e-03 3.10430137e-04 9.99991916e-01 3.45783277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.810714057 meters Centerline goodness [0,1] 0.9688715953307393 Centerline is valid? [True, True] Translation: X:385.71, Y:-15.95, Z:3.46 [[ 9.99649284e-01 -2.60577716e-02 4.72241674e-03 3.85708818e+02] [ 2.60592176e-02 9.99660371e-01 -2.44929686e-04 -1.59451457e+01] [-4.71443055e-03 3.67906271e-04 9.99988819e-01 3.45774313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.840714057 meters Centerline goodness [0,1] 0.9719398650380114 Centerline is valid? [True, True] Translation: X:385.74, Y:-15.94, Z:3.46 [[ 9.99609952e-01 -2.76465607e-02 3.95116073e-03 3.85740515e+02] [ 2.76475861e-02 9.99617711e-01 -2.05107892e-04 -1.59397368e+01] [-3.94397972e-03 3.14267946e-04 9.99992173e-01 3.45794692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.870714057 meters Centerline goodness [0,1] 0.9711227657069463 Centerline is valid? [True, True] Translation: X:385.77, Y:-15.94, Z:3.46 [[ 9.99592094e-01 -2.83501205e-02 3.45199386e-03 3.85773105e+02] [ 2.83509075e-02 9.99598016e-01 -1.79274332e-04 -1.59384903e+01] [-3.44552377e-03 2.77068364e-04 9.99994026e-01 3.45790223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.900714057 meters Centerline goodness [0,1] 0.9714243063996758 Centerline is valid? [True, True] Translation: X:385.80, Y:-15.94, Z:3.46 [[ 9.99566996e-01 -2.93044214e-02 2.65925893e-03 3.85804281e+02] [ 2.93048922e-02 9.99570510e-01 -1.38257383e-04 -1.59406178e+01] [-2.65406525e-03 2.16126814e-04 9.99996455e-01 3.45770645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.930714057 meters Centerline goodness [0,1] 0.9722020115557458 Centerline is valid? [True, True] Translation: X:385.84, Y:-15.94, Z:3.46 [[ 9.99500870e-01 -3.15670098e-02 1.23906410e-03 3.85835509e+02] [ 3.15671139e-02 9.99501632e-01 -6.44729333e-05 -1.59367782e+01] [-1.23641138e-03 1.03554431e-04 9.99999230e-01 3.45749263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.960714057 meters Centerline goodness [0,1] 0.9709903087093255 Centerline is valid? [True, True] Translation: X:385.87, Y:-15.94, Z:3.46 [[ 9.99442714e-01 -3.33609990e-02 1.14269123e-03 3.85866725e+02] [ 3.33610886e-02 9.99443362e-01 -5.93895081e-05 -1.59360317e+01] [-1.14007387e-03 9.74778344e-05 9.99999345e-01 3.45808223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.990714057 meters Centerline goodness [0,1] 0.9725285313577287 Centerline is valid? [True, True] Translation: X:385.90, Y:-15.93, Z:3.46 [[ 9.99431019e-01 -3.37167003e-02 9.06737534e-04 3.85899192e+02] [ 3.37167568e-02 9.99431427e-01 -4.70367884e-05 -1.59331542e+01] [-9.04636062e-04 7.75822742e-05 9.99999588e-01 3.45863958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.020714057 meters Centerline goodness [0,1] 0.9730808861411644 Centerline is valid? [True, True] Translation: X:385.93, Y:-15.93, Z:3.46 [[ 9.99457617e-01 -3.29240488e-02 6.92637397e-04 3.85930538e+02] [ 3.29240816e-02 9.99457855e-01 -3.59738995e-05 -1.59323990e+01] [-6.91077481e-04 5.87588380e-05 9.99999759e-01 3.45927891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.050714057 meters Centerline goodness [0,1] 0.9758729885181275 Centerline is valid? [True, True] Translation: X:385.96, Y:-15.92, Z:3.46 [[ 9.99490120e-01 -3.19293749e-02 1.25643292e-04 3.85963467e+02] [ 3.19293760e-02 9.99490127e-01 -6.26397753e-06 -1.59238032e+01] [-1.25379225e-04 1.02724955e-05 9.99999992e-01 3.45917248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.080714057 meters Centerline goodness [0,1] 0.9740181787000515 Centerline is valid? [True, True] Translation: X:385.99, Y:-15.93, Z:3.46 [[ 9.99540019e-01 -3.03239583e-02 -4.55409210e-04 3.85993733e+02] [ 3.03239723e-02 9.99540122e-01 2.39246270e-05 -1.59284292e+01] [ 4.54474288e-04 -3.77234384e-05 9.99999896e-01 3.45800226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.110714057 meters Centerline goodness [0,1] 0.9786369140287148 Centerline is valid? [True, True] Translation: X:386.03, Y:-15.91, Z:3.46 [[ 9.99667340e-01 -2.56512570e-02 -2.68743797e-03 3.86025192e+02] [ 2.56517275e-02 9.99670930e-01 1.40713343e-04 -1.59149829e+01] [ 2.68294414e-03 -2.09603960e-04 9.99996379e-01 3.45697854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.140714057 meters Centerline goodness [0,1] 0.9799485193917501 Centerline is valid? [True, True] Translation: X:386.05, Y:-15.91, Z:3.46 [[ 9.99792329e-01 -2.02192058e-02 -2.54605627e-03 3.86054946e+02] [ 2.02196102e-02 9.99795554e-01 1.33180588e-04 -1.59077314e+01] [ 2.54284293e-03 -1.84633195e-04 9.99996750e-01 3.45679884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.170714057 meters Centerline goodness [0,1] 0.98046875 Centerline is valid? [True, True] Translation: X:386.08, Y:-15.91, Z:3.46 [[ 9.99837350e-01 -1.78495735e-02 -2.58201905e-03 3.86084316e+02] [ 1.78499814e-02 9.99840667e-01 1.35024066e-04 -1.59089003e+01] [ 2.57919753e-03 -1.81091096e-04 9.99996657e-01 3.45674271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.200714057 meters Centerline goodness [0,1] 0.9809147030692983 Centerline is valid? [True, True] Translation: X:386.12, Y:-15.90, Z:3.46 [[ 9.99920282e-01 -1.25001297e-02 -1.78196970e-03 3.86116065e+02] [ 1.25003158e-02 9.99921864e-01 9.33385185e-05 -1.58971101e+01] [ 1.78066372e-03 -1.15606262e-04 9.99998408e-01 3.45800505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.230714057 meters Centerline goodness [0,1] 0.9831151378533033 Centerline is valid? [True, True] Translation: X:386.15, Y:-15.89, Z:3.46 [[ 9.99945695e-01 -1.03077137e-02 -1.53547084e-03 3.86147702e+02] [ 1.03078495e-02 9.99946869e-01 8.05710034e-05 -1.58944265e+01] [ 1.53455875e-03 -9.63940303e-05 9.99998818e-01 3.45863172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26071405700003 meters Centerline goodness [0,1] 0.9834169000021705 Centerline is valid? [True, True] Translation: X:386.18, Y:-15.89, Z:3.46 [[ 9.99979951e-01 -6.30635411e-03 -5.72985943e-04 3.86178833e+02] [ 6.30637237e-03 9.99980114e-01 3.00588457e-05 -1.58882672e+01] [ 5.72784987e-04 -3.36717057e-05 9.99999835e-01 3.45900532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.290714057 meters Centerline goodness [0,1] 0.9837848440598914 Centerline is valid? [True, True] Translation: X:386.21, Y:-15.89, Z:3.46 [[ 9.99989428e-01 -4.53121035e-03 -7.81861918e-04 3.86210667e+02] [ 4.53124396e-03 9.99989733e-01 4.12250049e-05 -1.58859526e+01] [ 7.81667092e-04 -4.47673762e-05 9.99999693e-01 3.45869446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32071405700003 meters Centerline goodness [0,1] 0.9843129554479207 Centerline is valid? [True, True] Translation: X:386.24, Y:-15.88, Z:3.46 [[ 9.99998845e-01 -5.44650113e-04 -1.41889442e-03 3.86242127e+02] [ 5.44756377e-04 9.99999849e-01 7.45065702e-05 -1.58808454e+01] [ 1.41885363e-03 -7.52794359e-05 9.99998991e-01 3.45741519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.350714057 meters Centerline goodness [0,1] 0.9840695621853685 Centerline is valid? [True, True] Translation: X:386.27, Y:-15.88, Z:3.46 [[ 9.99990706e-01 2.79555558e-03 -3.28229665e-03 3.86272377e+02] [-2.79500545e-03 9.99996079e-01 1.72181125e-04 -1.58799862e+01] [ 3.28276513e-03 -1.63005488e-04 9.99994598e-01 3.45588320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38071405700003 meters Centerline goodness [0,1] 0.984788215238012 Centerline is valid? [True, True] Translation: X:386.30, Y:-15.88, Z:3.46 [[ 9.99987362e-01 3.92007526e-03 -3.14793045e-03 3.86301785e+02] [-3.91958009e-03 9.99992305e-01 1.63453970e-04 -1.58782762e+01] [ 3.14854698e-03 -1.51113338e-04 9.99995032e-01 3.45570086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.410714057 meters Centerline goodness [0,1] 0.9842145426796032 Centerline is valid? [True, True] Translation: X:386.33, Y:-15.88, Z:3.46 [[ 9.99982845e-01 5.13719978e-03 -2.81419985e-03 3.86330297e+02] [-5.13680783e-03 9.99986796e-01 1.46486454e-04 -1.58773154e+01] [ 2.81491522e-03 -1.32027937e-04 9.99996029e-01 3.45560581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.440714057 meters Centerline goodness [0,1] 0.9842488764780313 Centerline is valid? [True, True] Translation: X:386.36, Y:-15.88, Z:3.46 [[ 9.99975045e-01 6.48920541e-03 -2.79269577e-03 3.86358474e+02] [-6.48882557e-03 9.99978937e-01 1.45049143e-04 -1.58771619e+01] [ 2.79357820e-03 -1.26924207e-04 9.99996090e-01 3.45564801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.470714057 meters Centerline goodness [0,1] 0.9848336275086619 Centerline is valid? [True, True] Translation: X:386.39, Y:-15.88, Z:3.46 [[ 9.99970519e-01 7.17323128e-03 -2.73973608e-03 3.86387273e+02] [-7.17286860e-03 9.99974265e-01 1.42180123e-04 -1.58772471e+01] [ 2.74068546e-03 -1.22524164e-04 9.99996237e-01 3.45604475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.500714057 meters Centerline goodness [0,1] 0.9857308559297923 Centerline is valid? [True, True] Translation: X:386.42, Y:-15.87, Z:3.46 [[ 9.99966595e-01 7.80566741e-03 -2.42491782e-03 3.86416351e+02] [-7.80538570e-03 9.99969530e-01 1.25615810e-04 -1.58715746e+01] [ 2.42582445e-03 -1.06684195e-04 9.99997052e-01 3.45763685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.530714057 meters Centerline goodness [0,1] 0.9852564242995159 Centerline is valid? [True, True] Translation: X:386.44, Y:-15.87, Z:3.46 [[ 9.99960546e-01 8.66100937e-03 -1.97322326e-03 3.86444420e+02] [-8.66082510e-03 9.99962489e-01 1.01908411e-04 -1.58747224e+01] [ 1.97403187e-03 -8.48146483e-05 9.99998048e-01 3.45770447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.560714057 meters Centerline goodness [0,1] 0.98597752021209 Centerline is valid? [True, True] Translation: X:386.47, Y:-15.87, Z:3.46 [[ 9.99961722e-01 8.59368856e-03 -1.64431901e-03 3.86473618e+02] [-8.59356069e-03 9.99963071e-01 8.48137588e-05 -1.58719254e+01] [ 1.64498715e-03 -7.06799571e-05 9.99998645e-01 3.45824431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.590714057 meters Centerline goodness [0,1] 0.9860106126386879 Centerline is valid? [True, True] Translation: X:386.50, Y:-15.87, Z:3.46 [[ 9.99959165e-01 8.92234384e-03 -1.43529350e-03 3.86502155e+02] [-8.92224695e-03 9.99960193e-01 7.38920633e-05 -1.58728419e+01] [ 1.43589565e-03 -6.10830029e-05 9.99998967e-01 3.45863042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.620714057 meters Centerline goodness [0,1] 0.9851363775666564 Centerline is valid? [True, True] Translation: X:386.53, Y:-15.87, Z:3.46 [[ 9.99959466e-01 8.98441844e-03 -5.89197769e-04 3.86530154e+02] [-8.98440230e-03 9.99959639e-01 3.00300641e-05 -1.58749942e+01] [ 5.89443791e-04 -2.47352571e-05 9.99999826e-01 3.45848707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.650714057 meters Centerline goodness [0,1] 0.9847376858378901 Centerline is valid? [True, True] Translation: X:386.56, Y:-15.88, Z:3.46 [[ 9.99959205e-01 9.03233626e-03 -7.70365982e-05 3.86558830e+02] [-9.03233600e-03 9.99959208e-01 3.67328771e-06 -1.58769213e+01] [ 7.70666340e-05 -2.97731742e-06 9.99999997e-01 3.45874193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.680714057 meters Centerline goodness [0,1] 0.984328553942997 Centerline is valid? [True, True] Translation: X:386.59, Y:-15.88, Z:3.46 [[ 9.99955828e-01 9.38867472e-03 4.41837146e-04 3.86586658e+02] [-9.38866543e-03 9.99955925e-01 -2.30977197e-05 -1.58808285e+01] [-4.42034529e-04 1.89484383e-05 9.99999902e-01 3.45913983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.710714057 meters Centerline goodness [0,1] 0.9853910681823159 Centerline is valid? [True, True] Translation: X:386.62, Y:-15.88, Z:3.46 [[ 9.99962176e-01 8.68501139e-03 4.66597302e-04 3.86615869e+02] [-8.68500101e-03 9.99962284e-01 -2.42693439e-05 -1.58791225e+01] [-4.66790484e-04 2.02160279e-05 9.99999891e-01 3.45927027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.740714057 meters Centerline goodness [0,1] 0.9858145177154598 Centerline is valid? [True, True] Translation: X:386.65, Y:-15.88, Z:3.46 [[ 9.99972909e-01 7.28297637e-03 1.06769653e-03 3.86645054e+02] [-7.28292183e-03 9.99973478e-01 -5.49610751e-05 -1.58819197e+01] [-1.06806850e-03 4.71836357e-05 9.99999429e-01 3.45955017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.770714057 meters Centerline goodness [0,1] 0.9851976561133462 Centerline is valid? [True, True] Translation: X:386.68, Y:-15.89, Z:3.46 [[ 9.99991321e-01 4.04790971e-03 9.85656005e-04 3.86675515e+02] [-4.04786180e-03 9.99991806e-01 -5.06006767e-05 -1.58869869e+01] [-9.85852756e-04 4.66104383e-05 9.99999513e-01 3.45902630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.800714057 meters Centerline goodness [0,1] 0.9841318345520026 Centerline is valid? [True, True] Translation: X:386.71, Y:-15.89, Z:3.46 [[ 9.99998557e-01 1.67831146e-03 2.62029869e-04 3.86705447e+02] [-1.67830797e-03 9.99998592e-01 -1.35214054e-05 -1.58906524e+01] [-2.62052193e-04 1.30816191e-05 9.99999966e-01 3.45803513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.830714057 meters Centerline goodness [0,1] 0.9833982238943086 Centerline is valid? [True, True] Translation: X:386.73, Y:-15.90, Z:3.46 [[ 9.99994057e-01 -3.24255712e-03 -1.17159975e-03 3.86734753e+02] [ 3.24262970e-03 9.99994741e-01 6.00494782e-05 -1.58980823e+01] [ 1.17139887e-03 -6.38481855e-05 9.99999312e-01 3.45640300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.860714057 meters Centerline goodness [0,1] 0.9835051996853972 Centerline is valid? [True, True] Translation: X:386.76, Y:-15.90, Z:3.46 [[ 9.99985025e-01 -5.38024764e-03 -1.00156157e-03 3.86764487e+02] [ 5.38030225e-03 9.99985525e-01 5.18360348e-05 -1.59028779e+01] [ 1.00126818e-03 -5.72239625e-05 9.99999497e-01 3.45700363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.890714057 meters Centerline goodness [0,1] 0.9836180464301358 Centerline is valid? [True, True] Translation: X:386.79, Y:-15.91, Z:3.46 [[ 9.99954299e-01 -9.56024828e-03 3.78128632e-05 3.86794695e+02] [ 9.56024836e-03 9.99954300e-01 -1.90167621e-06 -1.59057667e+01] [-3.77929547e-05 2.26308966e-06 9.99999999e-01 3.45816935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.920714057 meters Centerline goodness [0,1] 0.9831717618224391 Centerline is valid? [True, True] Translation: X:386.83, Y:-15.91, Z:3.46 [[ 9.99942661e-01 -1.07071062e-02 1.78364772e-04 3.86827123e+02] [ 1.07071080e-02 9.99942677e-01 -8.88549110e-06 -1.59084469e+01] [-1.78259409e-04 1.07947525e-05 9.99999984e-01 3.45866586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.950714057 meters Centerline goodness [0,1] 0.9829720348418364 Centerline is valid? [True, True] Translation: X:386.86, Y:-15.91, Z:3.46 [[ 9.99917277e-01 -1.28569286e-02 -3.73070484e-04 3.86858420e+02] [ 1.28569367e-02 9.99917346e-01 1.93647859e-05 -1.59103835e+01] [ 3.72790677e-04 -2.41597276e-05 9.99999930e-01 3.45749452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.980714057 meters Centerline goodness [0,1] 0.9832407123791187 Centerline is valid? [True, True] Translation: X:386.89, Y:-15.91, Z:3.46 [[ 9.99911959e-01 -1.32291440e-02 -1.03146689e-03 3.86890262e+02] [ 1.32292062e-02 9.99912489e-01 5.35034520e-05 -1.59119405e+01] [ 1.03066882e-03 -6.71442297e-05 9.99999467e-01 3.45676268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.01071405700003 meters Centerline goodness [0,1] 0.984084706909726 Centerline is valid? [True, True] Translation: X:386.92, Y:-15.91, Z:3.46 [[ 9.99908580e-01 -1.34425497e-02 -1.45895981e-03 3.86922977e+02] [ 1.34426744e-02 9.99909640e-01 7.56656939e-05 -1.59113859e+01] [ 1.45781084e-03 -9.52710983e-05 9.99998933e-01 3.45652158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.040714057 meters Centerline goodness [0,1] 0.9829156679015036 Centerline is valid? [True, True] Translation: X:386.95, Y:-15.91, Z:3.46 [[ 9.99904110e-01 -1.37265016e-02 -1.83130975e-03 3.86954165e+02] [ 1.37266983e-02 9.99905780e-01 9.49206815e-05 -1.59148895e+01] [ 1.82983428e-03 -1.20049416e-04 9.99998319e-01 3.45643252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.07071405700003 meters Centerline goodness [0,1] 0.9827013803948977 Centerline is valid? [True, True] Translation: X:386.99, Y:-15.92, Z:3.46 [[ 9.99900804e-01 -1.40484202e-02 -1.01234565e-03 3.86986072e+02] [ 1.40484807e-02 9.99901314e-01 5.27178965e-05 -1.59163088e+01] [ 1.01150514e-03 -6.69345854e-05 9.99999486e-01 3.45731592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.100714057 meters Centerline goodness [0,1] 0.9833977761758088 Centerline is valid? [True, True] Translation: X:387.02, Y:-15.92, Z:3.46 [[ 9.99901127e-01 -1.40473130e-02 -6.40387025e-04 3.87018766e+02] [ 1.40473373e-02 9.99901331e-01 3.35078321e-05 -1.59163301e+01] [ 6.39853143e-04 -4.25002516e-05 9.99999794e-01 3.45785447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.13071405700003 meters Centerline goodness [0,1] 0.9835799627315576 Centerline is valid? [True, True] Translation: X:387.05, Y:-15.92, Z:3.46 [[ 9.99900937e-01 -1.40752768e-02 -5.52747945e-05 3.87051311e+02] [ 1.40752770e-02 9.99900938e-01 3.17676198e-06 -1.59156003e+01] [ 5.52246050e-05 -3.95445532e-06 9.99999998e-01 3.45792836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.160714057 meters Centerline goodness [0,1] 0.9835799627315576 Centerline is valid? [True, True] Translation: X:387.08, Y:-15.92, Z:3.46 [[ 9.99901964e-01 -1.40021490e-02 -5.52745732e-05 3.87083024e+02] [ 1.40021492e-02 9.99901965e-01 3.18080505e-06 -1.59173053e+01] [ 5.52246162e-05 -3.95445603e-06 9.99999998e-01 3.45779547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.190714057 meters Centerline goodness [0,1] 0.9832827742738046 Centerline is valid? [True, True] Translation: X:387.11, Y:-15.92, Z:3.46 [[ 9.99898144e-01 -1.42445778e-02 -8.90425447e-04 3.87114059e+02] [ 1.42446249e-02 9.99898539e-01 4.65778019e-05 -1.59188738e+01] [ 8.89671623e-04 -5.92568342e-05 9.99999602e-01 3.45663250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.220714057 meters Centerline goodness [0,1] 0.9833245567842724 Centerline is valid? [True, True] Translation: X:387.15, Y:-15.92, Z:3.46 [[ 9.99889816e-01 -1.47974431e-02 -1.17929772e-03 3.87145911e+02] [ 1.47975262e-02 9.99890509e-01 6.17759883e-05 -1.59189964e+01] [ 1.17825447e-03 -7.92198706e-05 9.99999303e-01 3.45612011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.250714057 meters Centerline goodness [0,1] 0.9829849828752085 Centerline is valid? [True, True] Translation: X:387.18, Y:-15.92, Z:3.46 [[ 9.99858842e-01 -1.67215687e-02 -1.63889672e-03 3.87176149e+02] [ 1.67217313e-02 9.99860178e-01 8.55336297e-05 -1.59241400e+01] [ 1.63723732e-03 -1.12926747e-04 9.99998653e-01 3.45502010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.280714057 meters Centerline goodness [0,1] 0.9827291456625609 Centerline is valid? [True, True] Translation: X:387.21, Y:-15.92, Z:3.46 [[ 9.99832999e-01 -1.82112080e-02 -1.52507776e-03 3.87208257e+02] [ 1.82113511e-02 9.99834156e-01 7.99343186e-05 -1.59226651e+01] [ 1.52336913e-03 -1.07694696e-04 9.99998834e-01 3.45500952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.310714057 meters Centerline goodness [0,1] 0.9814189929444761 Centerline is valid? [True, True] Translation: X:387.24, Y:-15.93, Z:3.45 [[ 9.99749988e-01 -2.22978904e-02 -1.66287916e-03 3.87238052e+02] [ 2.22980656e-02 9.99751363e-01 8.68932790e-05 -1.59260996e+01] [ 1.66052817e-03 -1.23950543e-04 9.99998614e-01 3.45478843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.340714057 meters Centerline goodness [0,1] 0.9813461496258257 Centerline is valid? [True, True] Translation: X:387.27, Y:-15.93, Z:3.45 [[ 9.99691567e-01 -2.47906695e-02 -1.48131474e-03 3.87268548e+02] [ 2.47908115e-02 9.99692658e-01 7.75916250e-05 -1.59282951e+01] [ 1.47893592e-03 -1.14290688e-04 9.99998900e-01 3.45487155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.370714057 meters Centerline goodness [0,1] 0.9808413983804068 Centerline is valid? [True, True] Translation: X:387.30, Y:-15.93, Z:3.46 [[ 9.99545896e-01 -3.01115526e-02 -1.13850748e-03 3.87299454e+02] [ 3.01116399e-02 9.99546540e-01 5.95750527e-05 -1.59310314e+01] [ 1.13619732e-03 -9.38303267e-05 9.99999350e-01 3.45562355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.400714057 meters Centerline goodness [0,1] 0.9787532615607253 Centerline is valid? [True, True] Translation: X:387.33, Y:-15.94, Z:3.46 [[ 9.99444242e-01 -3.33302361e-02 -5.50785705e-04 3.87329031e+02] [ 3.33302570e-02 9.99444392e-01 2.88748989e-05 -1.59360213e+01] [ 5.49517277e-04 -4.72166806e-05 9.99999848e-01 3.45562880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.430714057 meters Centerline goodness [0,1] 0.9772151898734177 Centerline is valid? [True, True] Translation: X:387.36, Y:-15.94, Z:3.46 [[ 9.99242261e-01 -3.89215943e-02 -1.18788021e-04 3.87359983e+02] [ 3.89215953e-02 9.99242268e-01 6.24322453e-06 -1.59362129e+01] [ 1.18455015e-04 -1.08619131e-05 9.99999993e-01 3.45665691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.460714057 meters Centerline goodness [0,1] 0.9767600519377627 Centerline is valid? [True, True] Translation: X:387.39, Y:-15.94, Z:3.46 [[ 9.99155158e-01 -4.10970758e-02 2.00022035e-05 3.87390671e+02] [ 4.10970759e-02 9.99155158e-01 -9.73000183e-07 -1.59383397e+01] [-1.99453173e-05 1.79421023e-06 1.00000000e+00 3.45670165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.490714057 meters Centerline goodness [0,1] 0.974156164625011 Centerline is valid? [True, True] Translation: X:387.42, Y:-15.94, Z:3.46 [[ 9.99049795e-01 -4.35824402e-02 -2.77796954e-04 3.87419956e+02] [ 4.35824459e-02 9.99049834e-01 1.46548237e-05 -1.59402185e+01] [ 2.76894308e-04 -2.67479694e-05 9.99999961e-01 3.45605906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.520714057 meters Centerline goodness [0,1] 0.9735214875668036 Centerline is valid? [True, True] Translation: X:387.45, Y:-15.94, Z:3.46 [[ 9.99032928e-01 -4.39593176e-02 -8.87485452e-04 3.87451981e+02] [ 4.39593763e-02 9.99033318e-01 4.68096511e-05 -1.59401001e+01] [ 8.84569816e-04 -8.57776897e-05 9.99999605e-01 3.45573572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.550714057 meters Centerline goodness [0,1] 0.9777556880936603 Centerline is valid? [True, True] Translation: X:387.48, Y:-15.93, Z:3.46 [[ 9.99094118e-01 -4.25394451e-02 -1.15731704e-03 3.87484102e+02] [ 4.25395439e-02 9.99094782e-01 6.08566780e-05 -1.59298591e+01] [ 1.15368061e-03 -1.10033288e-04 9.99999328e-01 3.45546723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.580714057 meters Centerline goodness [0,1] 0.9731406336853807 Centerline is valid? [True, True] Translation: X:387.51, Y:-15.93, Z:3.45 [[ 9.99206510e-01 -3.97824543e-02 -1.92511930e-03 3.87514001e+02] [ 3.97827220e-02 9.99208349e-01 1.00911106e-04 -1.59338389e+01] [ 1.91958079e-03 -1.77417521e-04 9.99998142e-01 3.45437607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.610714057 meters Centerline goodness [0,1] 0.9783244680851064 Centerline is valid? [True, True] Translation: X:387.55, Y:-15.92, Z:3.45 [[ 9.99281392e-01 -3.78248080e-02 -2.44624821e-03 3.87545560e+02] [ 3.78252348e-02 9.99284361e-01 1.28405352e-04 -1.59232469e+01] [ 2.43964067e-03 -2.20842991e-04 9.99997000e-01 3.45488447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.640714057 meters Centerline goodness [0,1] 0.9746180493871025 Centerline is valid? [True, True] Translation: X:387.58, Y:-15.93, Z:3.45 [[ 9.99335572e-01 -3.63564769e-02 -2.57302579e-03 3.87576045e+02] [ 3.63569447e-02 9.99338859e-01 1.35221698e-04 -1.59303934e+01] [ 2.56640848e-03 -2.28679209e-04 9.99996681e-01 3.45421969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.670714057 meters Centerline goodness [0,1] 0.9756547645515585 Centerline is valid? [True, True] Translation: X:387.61, Y:-15.93, Z:3.45 [[ 9.99486645e-01 -3.19816769e-02 -1.90241513e-03 3.87606067e+02] [ 3.19819245e-02 9.99488442e-01 9.98595093e-05 -1.59266787e+01] [ 1.89824827e-03 -1.60651143e-04 9.99998185e-01 3.45416373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.700714057 meters Centerline goodness [0,1] 0.980437053998177 Centerline is valid? [True, True] Translation: X:387.64, Y:-15.91, Z:3.46 [[ 9.99572828e-01 -2.91762831e-02 -1.70457952e-03 3.87637685e+02] [ 2.91764780e-02 9.99574272e-01 8.95867436e-05 -1.59109703e+01] [ 1.70124002e-03 -1.39282102e-04 9.99998543e-01 3.45506815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.730714057 meters Centerline goodness [0,1] 0.9790167865707434 Centerline is valid? [True, True] Translation: X:387.67, Y:-15.91, Z:3.45 [[ 9.99737653e-01 -2.28652697e-02 -1.34309855e-03 3.87667878e+02] [ 2.28653849e-02 9.99738550e-01 7.05007909e-05 -1.59120911e+01] [ 1.34113537e-03 -1.01192760e-04 9.99999096e-01 3.45457781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76071405700003 meters Centerline goodness [0,1] 0.980467356403853 Centerline is valid? [True, True] Translation: X:387.70, Y:-15.90, Z:3.46 [[ 9.99818463e-01 -1.90476514e-02 -4.77197719e-04 3.87698454e+02] [ 1.90476655e-02 9.99818576e-01 2.50624984e-05 -1.59040173e+01] [ 4.76633763e-04 -3.41474512e-05 9.99999886e-01 3.45536281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.790714057 meters Centerline goodness [0,1] 0.982051855163165 Centerline is valid? [True, True] Translation: X:387.73, Y:-15.89, Z:3.46 [[ 9.99950792e-01 -9.91641911e-03 2.81244144e-04 3.87729187e+02] [ 9.91642366e-03 9.99950831e-01 -1.47729118e-05 -1.58938749e+01] [-2.81083821e-04 1.75611210e-05 9.99999960e-01 3.45626179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82071405700003 meters Centerline goodness [0,1] 0.982225207074099 Centerline is valid? [True, True] Translation: X:387.76, Y:-15.89, Z:3.46 [[ 9.99982377e-01 -5.86944425e-03 8.92331447e-04 3.87760294e+02] [ 5.86948837e-03 9.99982773e-01 -4.68268078e-05 -1.58903939e+01] [-8.92041228e-04 5.20635116e-05 9.99999601e-01 3.45642786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.850714057 meters Centerline goodness [0,1] 0.9835125448028674 Centerline is valid? [True, True] Translation: X:387.79, Y:-15.89, Z:3.46 [[ 9.99997911e-01 1.40571329e-03 1.48380566e-03 3.87789842e+02] [-1.40559913e-03 9.99999009e-01 -7.79739119e-05 -1.58861051e+01] [-1.48391380e-03 7.58881131e-05 9.99998896e-01 3.45584631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88071405700003 meters Centerline goodness [0,1] 0.9822623377789752 Centerline is valid? [True, True] Translation: X:387.82, Y:-15.88, Z:3.46 [[ 9.99990902e-01 4.01432131e-03 1.44279946e-03 3.87821165e+02] [-4.01421626e-03 9.99991940e-01 -7.56949489e-05 -1.58847037e+01] [-1.44309169e-03 6.99025511e-05 9.99998956e-01 3.45550419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.910714057 meters Centerline goodness [0,1] 0.9836091375123662 Centerline is valid? [True, True] Translation: X:387.85, Y:-15.88, Z:3.45 [[ 9.99971335e-01 7.56033703e-03 4.12290967e-04 3.87850795e+02] [-7.56032869e-03 9.99971420e-01 -2.17784667e-05 -1.58827003e+01] [-4.12443836e-04 1.86607872e-05 9.99999915e-01 3.45447578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.940714057 meters Centerline goodness [0,1] 0.9840632959899015 Centerline is valid? [True, True] Translation: X:387.88, Y:-15.88, Z:3.45 [[ 9.99966252e-01 8.20911583e-03 -3.23841860e-04 3.87879751e+02] [-8.20911086e-03 9.99966305e-01 1.66784983e-05 -1.58802278e+01] [ 3.23967863e-04 -1.40194817e-05 9.99999947e-01 3.45371992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.970714057 meters Centerline goodness [0,1] 0.9840755005968872 Centerline is valid? [True, True] Translation: X:387.91, Y:-15.89, Z:3.45 [[ 9.99968039e-01 7.93302272e-03 -9.94114584e-04 3.87907217e+02] [-7.93297528e-03 9.99968532e-01 5.16498393e-05 -1.58863084e+01] [ 9.94493040e-04 -4.37619021e-05 9.99999505e-01 3.45237378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.000714057 meters Centerline goodness [0,1] 0.9839796881319373 Centerline is valid? [True, True] Translation: X:387.94, Y:-15.89, Z:3.45 [[ 9.99980764e-01 6.08593406e-03 -1.19695811e-03 3.87937154e+02] [-6.08586367e-03 9.99981479e-01 6.24422877e-05 -1.58865740e+01] [ 1.19731596e-03 -5.51565626e-05 9.99999282e-01 3.45233802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.030714057 meters Centerline goodness [0,1] 0.9827982167784932 Centerline is valid? [True, True] Translation: X:387.97, Y:-15.89, Z:3.45 [[ 9.99987245e-01 4.88370332e-03 -1.28792505e-03 3.87965360e+02] [-4.88362099e-03 9.99988073e-01 6.70619659e-05 -1.58937637e+01] [ 1.28823720e-03 -6.07713727e-05 9.99999168e-01 3.45196685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.060714057 meters Centerline goodness [0,1] 0.9837649178113037 Centerline is valid? [True, True] Translation: X:388.00, Y:-15.90, Z:3.45 [[ 9.99998305e-01 1.36830006e-03 -1.23184682e-03 3.87995190e+02] [-1.36822194e-03 9.99999062e-01 6.42543882e-05 -1.58951665e+01] [ 1.23193358e-03 -6.25688394e-05 9.99999239e-01 3.45197660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.090714057 meters Centerline goodness [0,1] 0.9811206393391101 Centerline is valid? [True, True] Translation: X:388.02, Y:-15.90, Z:3.45 [[ 9.99999589e-01 -5.04186928e-04 -7.53710996e-04 3.88024617e+02] [ 5.04216672e-04 9.99999872e-01 3.92741197e-05 -1.59037187e+01] [ 7.53691098e-04 -3.96541373e-05 9.99999715e-01 3.45136265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.120714057 meters Centerline goodness [0,1] 0.9808887088060508 Centerline is valid? [True, True] Translation: X:388.06, Y:-15.91, Z:3.45 [[ 9.99983775e-01 -5.66922004e-03 -5.56392726e-04 3.88055182e+02] [ 5.66923708e-03 9.99983929e-01 2.90541652e-05 -1.59082546e+01] [ 5.56219070e-04 -3.22080161e-05 9.99999845e-01 3.45115897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.150714057 meters Centerline goodness [0,1] 0.9799177842172653 Centerline is valid? [True, True] Translation: X:388.08, Y:-15.91, Z:3.45 [[ 9.99962684e-01 -8.60883277e-03 -7.19584127e-04 3.88084856e+02] [ 8.60886202e-03 9.99962942e-01 3.75652840e-05 -1.59138682e+01] [ 7.19234067e-04 -4.37586827e-05 9.99999740e-01 3.45073292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.180714057 meters Centerline goodness [0,1] 0.9818035138042309 Centerline is valid? [True, True] Translation: X:388.12, Y:-15.91, Z:3.45 [[ 9.99895158e-01 -1.44574466e-02 -8.09768274e-04 3.88115505e+02] [ 1.44574856e-02 9.99895484e-01 4.23241745e-05 -1.59124208e+01] [ 8.09071741e-04 -5.40269503e-05 9.99999671e-01 3.45095983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.210714057 meters Centerline goodness [0,1] 0.9800331288892868 Centerline is valid? [True, True] Translation: X:388.15, Y:-15.92, Z:3.45 [[ 9.99784982e-01 -2.07164971e-02 -9.03858415e-04 3.88145594e+02] [ 2.07165482e-02 9.99785388e-01 4.72176118e-05 -1.59191179e+01] [ 9.02686253e-04 -6.59322855e-05 9.99999590e-01 3.45067714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.240714057 meters Centerline goodness [0,1] 0.9806818436191883 Centerline is valid? [True, True] Translation: X:388.18, Y:-15.92, Z:3.45 [[ 9.99731759e-01 -2.31505714e-02 -6.79156129e-04 3.88176953e+02] [ 2.31506009e-02 9.99731988e-01 3.56389207e-05 -1.59227443e+01] [ 6.78149045e-04 -5.13522334e-05 9.99999769e-01 3.45062394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.270714057 meters Centerline goodness [0,1] 0.9790565361526745 Centerline is valid? [True, True] Translation: X:388.21, Y:-15.93, Z:3.45 [[ 9.99668992e-01 -2.57218445e-02 -5.40652694e-04 3.88206464e+02] [ 2.57218635e-02 9.99669138e-01 2.82516713e-05 -1.59284692e+01] [ 5.39747128e-04 -4.21489146e-05 9.99999853e-01 3.45052506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.300714057 meters Centerline goodness [0,1] 0.9776796719180691 Centerline is valid? [True, True] Translation: X:388.24, Y:-15.93, Z:3.45 [[ 9.99554553e-01 -2.98431784e-02 -2.83728408e-04 3.88236567e+02] [ 2.98431838e-02 9.99554593e-01 1.48399986e-05 -1.59328885e+01] [ 2.83159161e-04 -2.33007472e-05 9.99999960e-01 3.45069845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.330714057 meters Centerline goodness [0,1] 0.9779495798319328 Centerline is valid? [True, True] Translation: X:388.27, Y:-15.94, Z:3.45 [[ 9.99515127e-01 -3.11312645e-02 -5.96453911e-04 3.88268645e+02] [ 3.11312888e-02 9.99515303e-01 3.15045856e-05 -1.59365495e+01] [ 5.95184034e-04 -5.00576888e-05 9.99999822e-01 3.45032280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.360714057 meters Centerline goodness [0,1] 0.97712659900979 Centerline is valid? [True, True] Translation: X:388.30, Y:-15.94, Z:3.45 [[ 9.99454549e-01 -3.30103341e-02 -9.59927823e-04 3.88299761e+02] [ 3.30103976e-02 9.99455007e-01 5.04112782e-05 -1.59395758e+01] [ 9.57740576e-04 -8.20713805e-05 9.99999538e-01 3.44961211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.390714057 meters Centerline goodness [0,1] 0.9766738370529713 Centerline is valid? [True, True] Translation: X:388.33, Y:-15.94, Z:3.45 [[ 9.99454623e-01 -3.30056217e-02 -1.04164348e-03 3.88332325e+02] [ 3.30056967e-02 9.99455162e-01 5.49130315e-05 -1.59403456e+01] [ 1.03926352e-03 -8.92632520e-05 9.99999456e-01 3.44930278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.420714057 meters Centerline goodness [0,1] 0.9758180188256387 Centerline is valid? [True, True] Translation: X:388.36, Y:-15.94, Z:3.45 [[ 9.99468319e-01 -3.25686657e-02 -1.53643085e-03 3.88362867e+02] [ 3.25688282e-02 9.99469492e-01 8.08624484e-05 -1.59449496e+01] [ 1.53298217e-03 -1.30859208e-04 9.99998816e-01 3.44879937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.450714057 meters Centerline goodness [0,1] 0.9761808639483246 Centerline is valid? [True, True] Translation: X:388.40, Y:-15.95, Z:3.45 [[ 9.99483345e-01 -3.20796104e-02 -1.98516416e-03 3.88395192e+02] [ 3.20798810e-02 9.99485303e-01 1.04614821e-04 -1.59462576e+01] [ 1.98078639e-03 -1.68244601e-04 9.99998024e-01 3.44894730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.480714057 meters Centerline goodness [0,1] 0.9776986632632498 Centerline is valid? [True, True] Translation: X:388.43, Y:-15.94, Z:3.45 [[ 9.99477581e-01 -3.22467816e-02 -2.17046439e-03 3.88427949e+02] [ 3.22471058e-02 9.99479920e-01 1.14521653e-04 -1.59392363e+01] [ 2.16564262e-03 -1.84453019e-04 9.99997638e-01 3.44961102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.51071405700003 meters Centerline goodness [0,1] 0.9752171863425146 Centerline is valid? [True, True] Translation: X:388.46, Y:-15.95, Z:3.45 [[ 9.99471805e-01 -3.24222260e-02 -2.21598795e-03 3.88458532e+02] [ 3.24225645e-02 9.99474244e-01 1.16960193e-04 -1.59465376e+01] [ 2.21103077e-03 -1.88746428e-04 9.99997538e-01 3.44926114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.540714057 meters Centerline goodness [0,1] 0.9739866229743682 Centerline is valid? [True, True] Translation: X:388.49, Y:-15.95, Z:3.45 [[ 9.99462094e-01 -3.27221601e-02 -2.18705660e-03 3.88489345e+02] [ 3.27224907e-02 9.99464469e-01 1.15537844e-04 -1.59506917e+01] [ 2.18210472e-03 -1.87041635e-04 9.99997602e-01 3.44881641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.57071405700003 meters Centerline goodness [0,1] 0.9769149817514162 Centerline is valid? [True, True] Translation: X:388.52, Y:-15.94, Z:3.45 [[ 9.99433135e-01 -3.35353006e-02 -2.96503350e-03 3.88521816e+02] [ 3.35359124e-02 9.99437501e-01 1.56851343e-04 -1.59433064e+01] [ 2.95810562e-03 -2.56197534e-04 9.99995592e-01 3.44912238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.600714057 meters Centerline goodness [0,1] 0.9774456338786777 Centerline is valid? [True, True] Translation: X:388.55, Y:-15.94, Z:3.45 [[ 9.99422709e-01 -3.38217984e-02 -3.21473749e-03 3.88553631e+02] [ 3.38225197e-02 9.99427840e-01 1.70265577e-04 -1.59438191e+01] [ 3.20713946e-03 -2.78897806e-04 9.99994818e-01 3.44893709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.63071405700003 meters Centerline goodness [0,1] 0.9772257194244605 Centerline is valid? [True, True] Translation: X:388.58, Y:-15.95, Z:3.45 [[ 9.99354989e-01 -3.56284127e-02 -4.49691474e-03 3.88584894e+02] [ 3.56298418e-02 9.99365027e-01 2.38066453e-04 -1.59450211e+01] [ 4.48557740e-03 -3.98137259e-04 9.99989860e-01 3.44791733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.660714057 meters Centerline goodness [0,1] 0.975857487106727 Centerline is valid? [True, True] Translation: X:388.62, Y:-15.95, Z:3.45 [[ 9.99330961e-01 -3.61957016e-02 -5.24418089e-03 3.88615853e+02] [ 3.61976546e-02 9.99344612e-01 2.77952217e-04 -1.59494462e+01] [ 5.23068323e-03 -4.67593304e-04 9.99986211e-01 3.44669413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.690714057 meters Centerline goodness [0,1] 0.9771765553254704 Centerline is valid? [True, True] Translation: X:388.65, Y:-15.95, Z:3.45 [[ 9.99299576e-01 -3.67995396e-02 -6.79352637e-03 3.88648099e+02] [ 3.68028342e-02 9.99322481e-01 3.60552805e-04 -1.59496556e+01] [ 6.77565545e-03 -6.10321290e-04 9.99976859e-01 3.44514614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.720714057 meters Centerline goodness [0,1] 0.9779383796120198 Centerline is valid? [True, True] Translation: X:388.68, Y:-15.94, Z:3.44 [[ 9.99341354e-01 -3.54114968e-02 -7.92998399e-03 3.88680260e+02] [ 3.54159450e-02 9.99372570e-01 4.21175838e-04 -1.59447954e+01] [ 7.91009401e-03 -7.01746309e-04 9.99968468e-01 3.44476569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.750714057 meters Centerline goodness [0,1] 0.9792192571222502 Centerline is valid? [True, True] Translation: X:388.71, Y:-15.94, Z:3.44 [[ 9.99393747e-01 -3.38162120e-02 -8.28260169e-03 3.88712018e+02] [ 3.38210139e-02 9.99427809e-01 4.40337792e-04 -1.59440409e+01] [ 8.26297190e-03 -7.20196823e-04 9.99965602e-01 3.44489251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.780714057 meters Centerline goodness [0,1] 0.9802981176258669 Centerline is valid? [True, True] Translation: X:388.74, Y:-15.94, Z:3.45 [[ 9.99528032e-01 -2.95396019e-02 -8.43356620e-03 3.88742556e+02] [ 2.95444273e-02 9.99563368e-01 4.48120223e-04 -1.59403874e+01] [ 8.41664654e-03 -6.97073608e-04 9.99964336e-01 3.44608946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.810714057 meters Centerline goodness [0,1] 0.9805989319272629 Centerline is valid? [True, True] Translation: X:388.77, Y:-15.94, Z:3.45 [[ 9.99604961e-01 -2.68862784e-02 -8.18842305e-03 3.88772623e+02] [ 2.68907389e-02 9.99638284e-01 4.35099402e-04 -1.59399154e+01] [ 8.17376297e-03 -6.55120267e-04 9.99966380e-01 3.44656345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.840714057 meters Centerline goodness [0,1] 0.9788409916311385 Centerline is valid? [True, True] Translation: X:388.80, Y:-15.94, Z:3.45 [[ 9.99758007e-01 -2.10686818e-02 -6.32761251e-03 3.88803799e+02] [ 2.10712307e-02 9.99777920e-01 3.36420550e-04 -1.59360803e+01] [ 6.31911934e-03 -4.69669722e-04 9.99979924e-01 3.44831168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.870714057 meters Centerline goodness [0,1] 0.9815208540667693 Centerline is valid? [True, True] Translation: X:388.83, Y:-15.93, Z:3.45 [[ 9.99872491e-01 -1.51768550e-02 -4.96633545e-03 3.88834628e+02] [ 1.51783525e-02 9.99884767e-01 2.63967454e-04 -1.59261316e+01] [ 4.96175697e-03 -3.39314586e-04 9.99987633e-01 3.45120585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.900714057 meters Centerline goodness [0,1] 0.9801411381525378 Centerline is valid? [True, True] Translation: X:388.86, Y:-15.93, Z:3.45 [[ 9.99917659e-01 -1.21445593e-02 -4.14541281e-03 3.88864709e+02] [ 1.21455767e-02 9.99926215e-01 2.20340589e-04 -1.59273104e+01] [ 4.14243100e-03 -2.70670875e-04 9.99991383e-01 3.45146487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.930714057 meters Centerline goodness [0,1] 0.9821647101482119 Centerline is valid? [True, True] Translation: X:388.90, Y:-15.92, Z:3.45 [[ 9.99948735e-01 -9.45602215e-03 -3.62082983e-03 3.88895850e+02] [ 9.45678129e-03 9.99955265e-01 1.92596124e-04 -1.59246560e+01] [ 3.61884666e-03 -2.26827646e-04 9.99993426e-01 3.45224333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.960714057 meters Centerline goodness [0,1] 0.9821298819255222 Centerline is valid? [True, True] Translation: X:388.93, Y:-15.92, Z:3.45 [[ 9.99981044e-01 -5.10427813e-03 -3.44361531e-03 3.88926909e+02] [ 5.10493895e-03 9.99986953e-01 1.83135261e-04 -1.59212999e+01] [ 3.44263561e-03 -2.00711235e-04 9.99994054e-01 3.45197509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.990714057 meters Centerline goodness [0,1] 0.9803725806085635 Centerline is valid? [True, True] Translation: X:388.96, Y:-15.93, Z:3.45 [[ 9.99982754e-01 -3.05441656e-03 -5.01614056e-03 3.88956877e+02] [ 3.05579369e-03 9.99995295e-01 2.66896896e-04 -1.59250379e+01] [ 5.01530175e-03 -2.82220584e-04 9.99987383e-01 3.44957148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.020714057 meters Centerline goodness [0,1] 0.98231675481806 Centerline is valid? [True, True] Translation: X:388.99, Y:-15.92, Z:3.45 [[ 9.99973440e-01 -2.54914578e-03 -6.82797372e-03 3.88986718e+02] [ 2.55168241e-03 9.99996679e-01 3.62819732e-04 -1.59232301e+01] [ 6.82702616e-03 -3.80232916e-04 9.99976623e-01 3.44790391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.050714057 meters Centerline goodness [0,1] 0.98231675481806 Centerline is valid? [True, True] Translation: X:389.01, Y:-15.92, Z:3.45 [[ 9.99972792e-01 -2.79130735e-03 -6.82810746e-03 3.89014960e+02] [ 2.79383244e-03 9.99996032e-01 3.60297834e-04 -1.59246781e+01] [ 6.82707466e-03 -3.79364619e-04 9.99976623e-01 3.44778546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.080714057 meters Centerline goodness [0,1] 0.9825738176709193 Centerline is valid? [True, True] Translation: X:389.04, Y:-15.93, Z:3.45 [[ 9.99967982e-01 -3.16757782e-03 -7.34852124e-03 3.89044035e+02] [ 3.17050008e-03 9.99994899e-01 3.86050702e-04 -1.59257482e+01] [ 7.34726091e-03 -4.09336829e-04 9.99972925e-01 3.44661422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.110714057 meters Centerline goodness [0,1] 0.9820245120290513 Centerline is valid? [True, True] Translation: X:389.07, Y:-15.93, Z:3.45 [[ 9.99958558e-01 -3.97448116e-03 -8.19063489e-03 3.89073062e+02] [ 3.97812338e-03 9.99991995e-01 4.28437415e-04 -1.59272961e+01] [ 8.18886651e-03 -4.61003015e-04 9.99966364e-01 3.44594074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.140714057 meters Centerline goodness [0,1] 0.9831846960310436 Centerline is valid? [True, True] Translation: X:389.10, Y:-15.93, Z:3.45 [[ 9.99959315e-01 -4.22335889e-03 -7.97065074e-03 3.89102040e+02] [ 4.22680026e-03 9.99990981e-01 4.14958797e-04 -1.59279399e+01] [ 7.96882633e-03 -4.48632263e-04 9.99968148e-01 3.44631019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.170714057 meters Centerline goodness [0,1] 0.9835069839392147 Centerline is valid? [True, True] Translation: X:389.13, Y:-15.93, Z:3.45 [[ 9.99965586e-01 -3.81302298e-03 -7.36806210e-03 3.89130181e+02] [ 3.81595508e-03 9.99992646e-01 3.83930082e-04 -1.59302434e+01] [ 7.36654398e-03 -4.12033063e-04 9.99972782e-01 3.44629663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.200714057 meters Centerline goodness [0,1] 0.9829925777514685 Centerline is valid? [True, True] Translation: X:389.16, Y:-15.93, Z:3.45 [[ 9.99970816e-01 -3.43458636e-03 -6.82427278e-03 3.89158541e+02] [ 3.43707642e-03 9.99994031e-01 3.53188467e-04 -1.59314608e+01] [ 6.82301899e-03 -3.76633706e-04 9.99976652e-01 3.44639568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.230714057 meters Centerline goodness [0,1] 0.9831787597745044 Centerline is valid? [True, True] Translation: X:389.19, Y:-15.93, Z:3.45 [[ 9.99983230e-01 -1.41424879e-03 -5.61604627e-03 3.89187503e+02] [ 1.41590613e-03 9.99998955e-01 2.91143042e-04 -1.59326393e+01] [ 5.61562865e-03 -2.99089954e-04 9.99984188e-01 3.44668963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26071405700003 meters Centerline goodness [0,1] 0.9828628802227141 Centerline is valid? [True, True] Translation: X:389.22, Y:-15.93, Z:3.45 [[ 9.99983602e-01 -1.31911001e-03 -5.57275642e-03 3.89216679e+02] [ 1.32072841e-03 9.99999087e-01 2.86742038e-04 -1.59323752e+01] [ 5.57237308e-03 -2.94097434e-04 9.99984431e-01 3.44688410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.290714057 meters Centerline goodness [0,1] 0.9823184052430366 Centerline is valid? [True, True] Translation: X:389.24, Y:-15.93, Z:3.45 [[ 9.99986903e-01 -5.63370468e-05 -5.11767608e-03 3.89244978e+02] [ 5.76877739e-05 9.99999964e-01 2.63786446e-04 -1.59340629e+01] [ 5.11766103e-03 -2.64078219e-04 9.99986870e-01 3.44590200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32071405700003 meters Centerline goodness [0,1] 0.9829867674858223 Centerline is valid? [True, True] Translation: X:389.27, Y:-15.93, Z:3.45 [[ 9.99986009e-01 4.07128255e-05 -5.28959941e-03 3.89274048e+02] [-3.92734111e-05 9.99999962e-01 2.72225221e-04 -1.59346740e+01] [ 5.28961029e-03 -2.72013672e-04 9.99985973e-01 3.44515921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.350714057 meters Centerline goodness [0,1] 0.9826350857977364 Centerline is valid? [True, True] Translation: X:389.30, Y:-15.94, Z:3.44 [[ 9.99979958e-01 -1.35459523e-03 -6.18460057e-03 3.89302641e+02] [ 1.35658841e-03 9.99999029e-01 3.18098228e-04 -1.59397371e+01] [ 6.18416368e-03 -3.26481810e-04 9.99980825e-01 3.44366076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38071405700003 meters Centerline goodness [0,1] 0.9817384952520087 Centerline is valid? [True, True] Translation: X:389.33, Y:-15.94, Z:3.44 [[ 9.99974240e-01 -2.87495387e-03 -6.57675089e-03 3.89331905e+02] [ 2.87723861e-03 9.99995804e-01 3.37960127e-04 -1.59418311e+01] [ 6.57575167e-03 -3.56874303e-04 9.99978316e-01 3.44348243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.410714057 meters Centerline goodness [0,1] 0.9817647192906476 Centerline is valid? [True, True] Translation: X:389.36, Y:-15.95, Z:3.44 [[ 9.99960683e-01 -6.22102980e-03 -6.31907138e-03 3.89360290e+02] [ 6.22320469e-03 9.99980583e-01 3.24574712e-04 -1.59491347e+01] [ 6.31692949e-03 -3.63886826e-04 9.99979982e-01 3.44285803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.440714057 meters Centerline goodness [0,1] 0.9833955054135202 Centerline is valid? [True, True] Translation: X:389.39, Y:-15.94, Z:3.44 [[ 9.99927843e-01 -1.00468637e-02 -6.58551344e-03 3.89390526e+02] [ 1.00493084e-02 9.99949447e-01 3.38243270e-04 -1.59449905e+01] [ 6.58178224e-03 -4.04398719e-04 9.99978258e-01 3.44373326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.470714057 meters Centerline goodness [0,1] 0.983872802129063 Centerline is valid? [True, True] Translation: X:389.42, Y:-15.95, Z:3.44 [[ 9.99908338e-01 -1.16881589e-02 -6.83393548e-03 3.89421363e+02] [ 1.16908315e-02 9.99931598e-01 3.51260819e-04 -1.59483674e+01] [ 6.82936243e-03 -4.31123010e-04 9.99976587e-01 3.44315230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.500714057 meters Centerline goodness [0,1] 0.9826678765880218 Centerline is valid? [True, True] Translation: X:389.45, Y:-15.95, Z:3.44 [[ 9.99873294e-01 -1.39783294e-02 -7.61593028e-03 3.89452068e+02] [ 1.39817158e-02 9.99902174e-01 3.91581392e-04 -1.59517127e+01] [ 7.60971160e-03 -4.98015548e-04 9.99970922e-01 3.44283952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.530714057 meters Centerline goodness [0,1] 0.9835841935337183 Centerline is valid? [True, True] Translation: X:389.48, Y:-15.96, Z:3.44 [[ 9.99866698e-01 -1.47880164e-02 -6.92097889e-03 3.89483957e+02] [ 1.47908372e-02 9.99890546e-01 3.56564599e-04 -1.59553549e+01] [ 6.91494848e-03 -4.58884140e-04 9.99975986e-01 3.44309119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.560714057 meters Centerline goodness [0,1] 0.9820750452079566 Centerline is valid? [True, True] Translation: X:389.52, Y:-15.96, Z:3.44 [[ 9.99854786e-01 -1.60316680e-02 -5.77858648e-03 3.89515178e+02] [ 1.60336567e-02 9.99871408e-01 2.97987403e-04 -1.59591987e+01] [ 5.77306616e-03 -3.90596003e-04 9.99983259e-01 3.44424432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.590714057 meters Centerline goodness [0,1] 0.981289592760181 Centerline is valid? [True, True] Translation: X:389.55, Y:-15.96, Z:3.44 [[ 9.99843004e-01 -1.70638464e-02 -4.77419634e-03 3.89547284e+02] [ 1.70652177e-02 9.99854348e-01 2.46637546e-04 -1.59623462e+01] [ 4.76929239e-03 -3.28071525e-04 9.99988573e-01 3.44496712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.620714057 meters Centerline goodness [0,1] 0.982110952800959 Centerline is valid? [True, True] Translation: X:389.58, Y:-15.96, Z:3.44 [[ 9.99832769e-01 -1.76951686e-02 -4.61682430e-03 3.89579264e+02] [ 1.76964593e-02 9.99843377e-01 2.38851242e-04 -1.59629938e+01] [ 4.61187468e-03 -3.20512742e-04 9.99989314e-01 3.44494216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.650714057 meters Centerline goodness [0,1] 0.9822154930850583 Centerline is valid? [True, True] Translation: X:389.61, Y:-15.97, Z:3.44 [[ 9.99792721e-01 -1.98262123e-02 -4.63002258e-03 3.89610703e+02] [ 1.98275332e-02 9.99803386e-01 2.39547717e-04 -1.59669379e+01] [ 4.62436293e-03 -3.31299990e-04 9.99989253e-01 3.44465650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.680714057 meters Centerline goodness [0,1] 0.9812570653402668 Centerline is valid? [True, True] Translation: X:389.64, Y:-15.97, Z:3.44 [[ 9.99765436e-01 -2.10359874e-02 -5.15370954e-03 3.89642636e+02] [ 2.10376425e-02 9.99778649e-01 2.67138152e-04 -1.59706664e+01] [ 5.14694925e-03 -3.75497390e-04 9.99986684e-01 3.44403407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.710714057 meters Centerline goodness [0,1] 0.9808736985061114 Centerline is valid? [True, True] Translation: X:389.67, Y:-15.97, Z:3.44 [[ 9.99685362e-01 -2.44621461e-02 -5.54803863e-03 3.89673372e+02] [ 2.44641153e-02 9.99700667e-01 2.87333327e-04 -1.59733409e+01] [ 5.53934913e-03 -4.22970778e-04 9.99984568e-01 3.44320340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.740714057 meters Centerline goodness [0,1] 0.9804933242815117 Centerline is valid? [True, True] Translation: X:389.70, Y:-15.98, Z:3.44 [[ 9.99647899e-01 -2.59696486e-02 -5.44566843e-03 3.89702834e+02] [ 2.59715724e-02 9.99662642e-01 2.82849019e-04 -1.59799841e+01] [ 5.43648580e-03 -4.24182000e-04 9.99985132e-01 3.44188207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.770714057 meters Centerline goodness [0,1] 0.9788111587010221 Centerline is valid? [True, True] Translation: X:389.73, Y:-15.99, Z:3.44 [[ 9.99580296e-01 -2.84464424e-02 -5.48008825e-03 3.89732419e+02] [ 2.84484256e-02 9.99595221e-01 2.84265853e-04 -1.59865721e+01] [ 5.46978367e-03 -4.40046428e-04 9.99984944e-01 3.44090437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.800714057 meters Centerline goodness [0,1] 0.9790771318706175 Centerline is valid? [True, True] Translation: X:389.76, Y:-15.99, Z:3.44 [[ 9.99550562e-01 -2.95362634e-02 -5.12662641e-03 3.89764399e+02] [ 2.95380166e-02 9.99563622e-01 2.66579318e-04 -1.59884025e+01] [ 5.11651551e-03 -4.17889884e-04 9.99986823e-01 3.44128683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.830714057 meters Centerline goodness [0,1] 0.9779555031945263 Centerline is valid? [True, True] Translation: X:389.80, Y:-15.99, Z:3.44 [[ 9.99483370e-01 -3.18644793e-02 -4.20097222e-03 3.89795704e+02] [ 3.18656772e-02 9.99492136e-01 2.18499479e-04 -1.59917105e+01] [ 4.19187633e-03 -3.52253420e-04 9.99991152e-01 3.44134538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.860714057 meters Centerline goodness [0,1] 0.9776080502232396 Centerline is valid? [True, True] Translation: X:389.83, Y:-15.99, Z:3.44 [[ 9.99416154e-01 -3.38134507e-02 -4.89911967e-03 3.89826748e+02] [ 3.38151030e-02 9.99428073e-01 2.54800108e-04 -1.59944212e+01] [ 4.88770206e-03 -4.20315580e-04 9.99987967e-01 3.44116263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.890714057 meters Centerline goodness [0,1] 0.9770700348589796 Centerline is valid? [True, True] Translation: X:389.86, Y:-16.00, Z:3.44 [[ 9.99377348e-01 -3.49700654e-02 -4.69151411e-03 3.89858870e+02] [ 3.49715958e-02 9.99388277e-01 2.44551971e-04 -1.59975416e+01] [ 4.68009221e-03 -4.08469436e-04 9.99988965e-01 3.44069072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.920714057 meters Centerline goodness [0,1] 0.9776288379675754 Centerline is valid? [True, True] Translation: X:389.89, Y:-16.00, Z:3.44 [[ 9.99287942e-01 -3.74048580e-02 -4.94829520e-03 3.89889803e+02] [ 3.74065894e-02 9.99300095e-01 2.57790367e-04 -1.59990671e+01] [ 4.93518925e-03 -4.42705652e-04 9.99987724e-01 3.44045472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.950714057 meters Centerline goodness [0,1] 0.9733013552956084 Centerline is valid? [True, True] Translation: X:389.92, Y:-16.01, Z:3.44 [[ 9.99254211e-01 -3.83073328e-02 -4.85494590e-03 3.89920260e+02] [ 3.83090121e-02 9.99265908e-01 2.53336275e-04 -1.60085913e+01] [ 4.84167729e-03 -4.39135521e-04 9.99988183e-01 3.43929956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.980714057 meters Centerline goodness [0,1] 0.9768158640226628 Centerline is valid? [True, True] Translation: X:389.95, Y:-16.01, Z:3.44 [[ 9.99232664e-01 -3.88587119e-02 -4.90754666e-03 3.89952480e+02] [ 3.88604365e-02 9.99244615e-01 2.56501321e-04 -1.60060101e+01] [ 4.89387227e-03 -4.47013904e-04 9.99987925e-01 3.43975708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.01071405700003 meters Centerline goodness [0,1] 0.9762759305659015 Centerline is valid? [True, True] Translation: X:389.98, Y:-16.01, Z:3.44 [[ 9.99175553e-01 -4.02651902e-02 -5.18931190e-03 3.89983473e+02] [ 4.02671365e-02 9.99188913e-01 2.71081090e-04 -1.60087388e+01] [ 5.17418779e-03 -4.79816329e-04 9.99986499e-01 3.43977105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.040714057 meters Centerline goodness [0,1] 0.9769033749631678 Centerline is valid? [True, True] Translation: X:390.02, Y:-16.01, Z:3.44 [[ 9.99160854e-01 -4.05524785e-02 -5.75182998e-03 3.90015730e+02] [ 4.05548780e-02 9.99177267e-01 3.01096697e-04 -1.60103064e+01] [ 5.73488754e-03 -5.34108796e-04 9.99983413e-01 3.43890777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.07071405700003 meters Centerline goodness [0,1] 0.9771736921722246 Centerline is valid? [True, True] Translation: X:390.05, Y:-16.01, Z:3.44 [[ 9.99171213e-01 -4.02332686e-02 -6.17824283e-03 3.90048217e+02] [ 4.02360336e-02 9.99190150e-01 3.23847755e-04 -1.60118073e+01] [ 6.16020993e-03 -5.72167341e-04 9.99980862e-01 3.43777221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.100714057 meters Centerline goodness [0,1] 0.976064130066614 Centerline is valid? [True, True] Translation: X:390.08, Y:-16.02, Z:3.44 [[ 9.99197395e-01 -3.95642981e-02 -6.26352361e-03 3.90079308e+02] [ 3.95671286e-02 9.99216861e-01 3.28575453e-04 -1.60184926e+01] [ 6.24561854e-03 -5.76141381e-04 9.99980330e-01 3.43684767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.130714057 meters Centerline goodness [0,1] 0.9767142469961153 Centerline is valid? [True, True] Translation: X:390.11, Y:-16.02, Z:3.44 [[ 9.99255086e-01 -3.81283403e-02 -5.95846746e-03 3.90111326e+02] [ 3.81308784e-02 9.99272705e-01 3.12901336e-04 -1.60179172e+01] [ 5.94220349e-03 -5.39869850e-04 9.99982199e-01 3.43718842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.160714057 meters Centerline goodness [0,1] 0.9776919776919777 Centerline is valid? [True, True] Translation: X:390.14, Y:-16.02, Z:3.44 [[ 9.99352444e-01 -3.55146024e-02 -5.77975964e-03 3.90142495e+02] [ 3.55169469e-02 9.99369028e-01 3.03474354e-04 -1.60182845e+01] [ 5.76533501e-03 -5.08557253e-04 9.99983251e-01 3.43725873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.190714057 meters Centerline goodness [0,1] 0.9777054956969574 Centerline is valid? [True, True] Translation: X:390.17, Y:-16.02, Z:3.44 [[ 9.99408378e-01 -3.39442963e-02 -5.53885461e-03 3.90174414e+02] [ 3.39464279e-02 9.99423611e-01 2.91271484e-04 -1.60201734e+01] [ 5.52577507e-03 -4.79123491e-04 9.99984618e-01 3.43707230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.220714057 meters Centerline goodness [0,1] 0.9780924633556926 Centerline is valid? [True, True] Translation: X:390.21, Y:-16.02, Z:3.44 [[ 9.99505657e-01 -3.09977173e-02 -5.25202016e-03 3.90205070e+02] [ 3.09995927e-02 9.99519359e-01 2.76041934e-04 -1.60198708e+01] [ 5.24093916e-03 -4.38715961e-04 9.99986170e-01 3.43720545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.250714057 meters Centerline goodness [0,1] 0.9785833446052572 Centerline is valid? [True, True] Translation: X:390.24, Y:-16.02, Z:3.44 [[ 9.99541833e-01 -2.98027585e-02 -5.28399814e-03 3.90235404e+02] [ 2.98046410e-02 9.99555704e-01 2.77858954e-04 -1.60214748e+01] [ 5.27336952e-03 -4.35219315e-04 9.99986001e-01 3.43726515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.280714057 meters Centerline goodness [0,1] 0.9785735317433354 Centerline is valid? [True, True] Translation: X:390.27, Y:-16.02, Z:3.44 [[ 9.99620089e-01 -2.71728049e-02 -4.61697609e-03 3.90266359e+02] [ 2.71742150e-02 9.99630683e-01 2.42929650e-04 -1.60211706e+01] [ 4.60866989e-03 -3.68300059e-04 9.99989312e-01 3.43788954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.310714057 meters Centerline goodness [0,1] 0.9796962357681251 Centerline is valid? [True, True] Translation: X:390.30, Y:-16.02, Z:3.44 [[ 9.99650992e-01 -2.61025888e-02 -4.06793048e-03 3.90297963e+02] [ 2.61036755e-02 9.99659218e-01 2.14251762e-04 -1.60166910e+01] [ 4.06095167e-03 -3.20364924e-04 9.99991703e-01 3.43803615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.340714057 meters Centerline goodness [0,1] 0.9785243413451736 Centerline is valid? [True, True] Translation: X:390.33, Y:-16.02, Z:3.44 [[ 9.99655421e-01 -2.59863965e-02 -3.70765617e-03 3.90329698e+02] [ 2.59873028e-02 9.99662254e-01 1.96477362e-04 -1.60204449e+01] [ 3.70129818e-03 -2.92761644e-04 9.99993107e-01 3.43750162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.370714057 meters Centerline goodness [0,1] 0.9790268266775148 Centerline is valid? [True, True] Translation: X:390.36, Y:-16.02, Z:3.44 [[ 9.99641298e-01 -2.65650069e-02 -3.40243511e-03 3.90360916e+02] [ 2.65657727e-02 9.99647051e-01 1.80056178e-04 -1.60242958e+01] [ 3.39645103e-03 -2.70379909e-04 9.99994195e-01 3.43741551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.400714057 meters Centerline goodness [0,1] 0.9785656145428235 Centerline is valid? [True, True] Translation: X:390.39, Y:-16.03, Z:3.44 [[ 9.99625020e-01 -2.72099307e-02 -3.07239254e-03 3.90393276e+02] [ 2.72105590e-02 9.99629711e-01 1.62903101e-04 -1.60261503e+01] [ 3.06682228e-03 -2.46443535e-04 9.99995267e-01 3.43743230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.430714057 meters Centerline goodness [0,1] 0.9778127812781278 Centerline is valid? [True, True] Translation: X:390.42, Y:-16.03, Z:3.44 [[ 9.99583269e-01 -2.86723467e-02 -3.34440589e-03 3.90423646e+02] [ 2.86730988e-02 9.99588826e-01 1.77135071e-04 -1.60320391e+01] [ 3.33795188e-03 -2.72955734e-04 9.99994392e-01 3.43640095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.460714057 meters Centerline goodness [0,1] 0.9785267735797771 Centerline is valid? [True, True] Translation: X:390.45, Y:-16.03, Z:3.44 [[ 9.99503343e-01 -3.11931589e-02 -4.47815642e-03 3.90454499e+02] [ 3.11945327e-02 9.99513304e-01 2.37240050e-04 -1.60321948e+01] [ 4.46857665e-03 -3.76816220e-04 9.99989945e-01 3.43609576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.490714057 meters Centerline goodness [0,1] 0.9790307971014492 Centerline is valid? [True, True] Translation: X:390.49, Y:-16.03, Z:3.44 [[ 9.99452665e-01 -3.27415433e-02 -4.72887463e-03 3.90485293e+02] [ 3.27430928e-02 9.99463770e-01 2.50606614e-04 -1.60323546e+01] [ 4.71813362e-03 -4.05307429e-04 9.99988787e-01 3.43563030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.520714057 meters Centerline goodness [0,1] 0.976924118018587 Centerline is valid? [True, True] Translation: X:390.51, Y:-16.04, Z:3.43 [[ 9.99403334e-01 -3.41752956e-02 -5.00249866e-03 3.90514553e+02] [ 3.41770471e-02 9.99415759e-01 2.65026408e-04 -1.60407921e+01] [ 4.99051864e-03 -4.35838908e-04 9.99987452e-01 3.43483172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.550714057 meters Centerline goodness [0,1] 0.9792502140314514 Centerline is valid? [True, True] Translation: X:390.55, Y:-16.04, Z:3.43 [[ 9.99305439e-01 -3.68100147e-02 -5.80191997e-03 3.90545845e+02] [ 3.68124163e-02 9.99322146e-01 3.07632388e-04 -1.60402734e+01] [ 5.78666316e-03 -5.21001411e-04 9.99983121e-01 3.43474382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.580714057 meters Centerline goodness [0,1] 0.9780497149167287 Centerline is valid? [True, True] Translation: X:390.58, Y:-16.05, Z:3.43 [[ 9.99213034e-01 -3.91896375e-02 -6.12247110e-03 3.90575237e+02] [ 3.91923593e-02 9.99231631e-01 3.25166796e-04 -1.60480835e+01] [ 6.10502362e-03 -5.64864988e-04 9.99981205e-01 3.43341064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.610714057 meters Centerline goodness [0,1] 0.9777442049246866 Centerline is valid? [True, True] Translation: X:390.61, Y:-16.05, Z:3.43 [[ 9.99198337e-01 -3.95541224e-02 -6.17688207e-03 3.90607756e+02] [ 3.95569026e-02 9.99217265e-01 3.28536559e-04 -1.60511561e+01] [ 6.15905224e-03 -5.72611506e-04 9.99980869e-01 3.43272242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.640714057 meters Centerline goodness [0,1] 0.9773537240041503 Centerline is valid? [True, True] Translation: X:390.64, Y:-16.05, Z:3.43 [[ 9.99209418e-01 -3.91105816e-02 -7.13446709e-03 3.90639740e+02] [ 3.91142828e-02 9.99234671e-01 3.79935911e-04 -1.60533059e+01] [ 7.11414737e-03 -6.58695105e-04 9.99974477e-01 3.43223624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.670714057 meters Centerline goodness [0,1] 0.9777932929438526 Centerline is valid? [True, True] Translation: X:390.67, Y:-16.05, Z:3.43 [[ 9.99257628e-01 -3.77841029e-02 -7.52024155e-03 3.90671477e+02] [ 3.77881821e-02 9.99285691e-01 4.01034854e-04 -1.60537929e+01] [ 7.49971703e-03 -6.84913394e-04 9.99971642e-01 3.43203033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.700714057 meters Centerline goodness [0,1] 0.9788975312817044 Centerline is valid? [True, True] Translation: X:390.70, Y:-16.05, Z:3.43 [[ 9.99360187e-01 -3.47362264e-02 -8.52118769e-03 3.90701051e+02] [ 3.47413495e-02 9.99396234e-01 4.53891753e-04 -1.60544351e+01] [ 8.50027640e-03 -7.49638908e-04 9.99963591e-01 3.43208842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.730714057 meters Centerline goodness [0,1] 0.9793888989332851 Centerline is valid? [True, True] Translation: X:390.73, Y:-16.05, Z:3.43 [[ 9.99423388e-01 -3.28400059e-02 -8.62702486e-03 3.90732940e+02] [ 3.28451955e-02 9.99460345e-01 4.60526849e-04 -1.60543408e+01] [ 8.60724554e-03 -7.43617622e-04 9.99962680e-01 3.43269520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76071405700003 meters Centerline goodness [0,1] 0.9803899393829729 Centerline is valid? [True, True] Translation: X:390.76, Y:-16.05, Z:3.43 [[ 9.99602531e-01 -2.70940643e-02 -7.79047234e-03 3.90762814e+02] [ 2.70981203e-02 9.99632692e-01 4.15529928e-04 -1.60532550e+01] [ 7.77635245e-03 -6.26471924e-04 9.99969567e-01 3.43378166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.790714057 meters Centerline goodness [0,1] 0.9802631578947368 Centerline is valid? [True, True] Translation: X:390.79, Y:-16.05, Z:3.43 [[ 9.99676331e-01 -2.44644601e-02 -6.98024040e-03 3.90792533e+02] [ 2.44676527e-02 9.99700553e-01 3.72333188e-04 -1.60535409e+01] [ 6.96904126e-03 -5.43002773e-04 9.99975569e-01 3.43388144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82071405700003 meters Centerline goodness [0,1] 0.9802022761725909 Centerline is valid? [True, True] Translation: X:390.82, Y:-16.05, Z:3.44 [[ 9.99807651e-01 -1.85016004e-02 -6.50778021e-03 3.90824045e+02] [ 1.85042508e-02 9.99828721e-01 3.47295247e-04 -1.60496069e+01] [ 6.50024004e-03 -4.67650042e-04 9.99978764e-01 3.43519862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.850714057 meters Centerline goodness [0,1] 0.9791181721620827 Centerline is valid? [True, True] Translation: X:390.85, Y:-16.05, Z:3.44 [[ 9.99901959e-01 -1.28819845e-02 -5.48871415e-03 3.90854228e+02] [ 1.28837858e-02 9.99916958e-01 2.92954202e-04 -1.60474276e+01] [ 5.48448452e-03 -3.63640898e-04 9.99984894e-01 3.43611641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.880714057 meters Centerline goodness [0,1] 0.9807348784624081 Centerline is valid? [True, True] Translation: X:390.89, Y:-16.05, Z:3.44 [[ 9.99933553e-01 -1.05113977e-02 -4.73292017e-03 3.90885164e+02] [ 1.05127112e-02 9.99944708e-01 2.52729541e-04 -1.60461562e+01] [ 4.73000194e-03 -3.02468571e-04 9.99988768e-01 3.43642721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.910714057 meters Centerline goodness [0,1] 0.9803957119869455 Centerline is valid? [True, True] Translation: X:390.92, Y:-16.05, Z:3.44 [[ 9.99962401e-01 -7.42369464e-03 -4.48156654e-03 3.90915125e+02] [ 7.42484114e-03 9.99972407e-01 2.39240629e-04 -1.60452899e+01] [ 4.47966683e-03 -2.72506554e-04 9.99989929e-01 3.43687350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.940714057 meters Centerline goodness [0,1] 0.9803957119869455 Centerline is valid? [True, True] Translation: X:390.95, Y:-16.05, Z:3.44 [[ 9.99962648e-01 -7.39040512e-03 -4.48155115e-03 3.90945983e+02] [ 7.39155257e-03 9.99972653e-01 2.39529006e-04 -1.60469702e+01] [ 4.47965837e-03 -2.72645681e-04 9.99989929e-01 3.43674411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.970714057 meters Centerline goodness [0,1] 0.9794752528901735 Centerline is valid? [True, True] Translation: X:390.98, Y:-16.05, Z:3.44 [[ 9.99962500e-01 -7.25750708e-03 -4.72525849e-03 3.90975828e+02] [ 7.25878125e-03 9.99973623e-01 2.52555093e-04 -1.60499353e+01] [ 4.72330093e-03 -2.86845239e-04 9.99988804e-01 3.43624646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.000714057 meters Centerline goodness [0,1] 0.9795409181636726 Centerline is valid? [True, True] Translation: X:391.01, Y:-16.05, Z:3.44 [[ 9.99949898e-01 -8.65504688e-03 -5.02903845e-03 3.91006693e+02] [ 8.65650814e-03 9.99962496e-01 2.68868557e-04 -1.60534194e+01] [ 5.02652277e-03 -3.12388998e-04 9.99987318e-01 3.43529849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.030714057 meters Centerline goodness [0,1] 0.980778384749643 Centerline is valid? [True, True] Translation: X:391.04, Y:-16.05, Z:3.44 [[ 9.99908747e-01 -1.20461060e-02 -6.11473281e-03 3.91037070e+02] [ 1.20483294e-02 9.99927363e-01 3.26898624e-04 -1.60515128e+01] [ 6.11035080e-03 -4.00541108e-04 9.99981251e-01 3.43509283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.060714057 meters Centerline goodness [0,1] 0.9802940043942105 Centerline is valid? [True, True] Translation: X:391.07, Y:-16.06, Z:3.43 [[ 9.99880640e-01 -1.39336230e-02 -6.67531155e-03 3.91066903e+02] [ 1.39363144e-02 9.99902821e-01 3.56837210e-04 -1.60568198e+01] [ 6.66969082e-03 -4.49823858e-04 9.99977656e-01 3.43400159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.090714057 meters Centerline goodness [0,1] 0.9804906621009709 Centerline is valid? [True, True] Translation: X:391.10, Y:-16.06, Z:3.43 [[ 9.99787448e-01 -1.92154951e-02 -7.47158070e-03 3.91096300e+02] [ 1.92190132e-02 9.99815218e-01 3.99331984e-04 -1.60637881e+01] [ 7.46252672e-03 -5.42843513e-04 9.99972008e-01 3.43253187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.120714057 meters Centerline goodness [0,1] 0.9811453146220009 Centerline is valid? [True, True] Translation: X:391.13, Y:-16.06, Z:3.43 [[ 9.99715951e-01 -2.23642327e-02 -8.23762133e-03 3.91127186e+02] [ 2.23686161e-02 9.99749694e-01 4.40357838e-04 -1.60613162e+01] [ 8.22571114e-03 -6.24496943e-04 9.99965973e-01 3.43312954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.150714057 meters Centerline goodness [0,1] 0.9806018403382243 Centerline is valid? [True, True] Translation: X:391.16, Y:-16.07, Z:3.43 [[ 9.99574231e-01 -2.77892486e-02 -8.89466029e-03 3.91157487e+02] [ 2.77945714e-02 9.99613543e-01 4.75340235e-04 -1.60665986e+01] [ 8.87801354e-03 -7.22361120e-04 9.99960329e-01 3.43267476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.180714057 meters Centerline goodness [0,1] 0.9809067052755407 Centerline is valid? [True, True] Translation: X:391.19, Y:-16.07, Z:3.43 [[ 9.99505572e-01 -3.01149906e-02 -9.03879310e-03 3.91188573e+02] [ 3.01205842e-02 9.99546155e-01 4.83318089e-04 -1.60697819e+01] [ 9.02013577e-03 -7.55332851e-04 9.99959032e-01 3.43264829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.210714057 meters Centerline goodness [0,1] 0.9679916696848968 Centerline is valid? [True, True] Translation: X:391.22, Y:-16.09, Z:3.43 [[ 9.99381912e-01 -3.39635660e-02 -9.07029818e-03 3.91217694e+02] [ 3.39693559e-02 9.99422757e-01 4.85001351e-04 -1.60853729e+01] [ 9.04859005e-03 -7.92813765e-04 9.99958746e-01 3.43104353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.240714057 meters Centerline goodness [0,1] 0.9636117686844775 Centerline is valid? [True, True] Translation: X:391.25, Y:-16.09, Z:3.43 [[ 9.99363650e-01 -3.46112613e-02 -8.62300150e-03 3.91249958e+02] [ 3.46165253e-02 9.99400562e-01 4.61916397e-04 -1.60878786e+01] [ 8.60184503e-03 -7.60120806e-04 9.99962715e-01 3.43121556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.270714057 meters Centerline goodness [0,1] 0.9805356657300824 Centerline is valid? [True, True] Translation: X:391.28, Y:-16.08, Z:3.43 [[ 9.99347566e-01 -3.51077216e-02 -8.47877077e-03 3.91282742e+02] [ 3.51128340e-02 9.99383251e-01 4.54815081e-04 -1.60778434e+01] [ 8.45757398e-03 -7.52232015e-04 9.99963951e-01 3.43416102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.300714057 meters Centerline goodness [0,1] 0.9780177488001449 Centerline is valid? [True, True] Translation: X:391.31, Y:-16.08, Z:3.43 [[ 9.99386108e-01 -3.40539404e-02 -8.23022164e-03 3.91314042e+02] [ 3.40587232e-02 9.99419736e-01 4.41634992e-04 -1.60776506e+01] [ 8.21040653e-03 -7.21674717e-04 9.99966034e-01 3.43487692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.330714057 meters Centerline goodness [0,1] 0.9789604801268259 Centerline is valid? [True, True] Translation: X:391.35, Y:-16.08, Z:3.44 [[ 9.99436901e-01 -3.26494817e-02 -7.73897513e-03 3.91346078e+02] [ 3.26536726e-02 9.99466640e-01 4.15766117e-04 -1.60779710e+01] [ 7.72127292e-03 -6.68237960e-04 9.99969967e-01 3.43503397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.360714057 meters Centerline goodness [0,1] 0.9798372431351154 Centerline is valid? [True, True] Translation: X:391.38, Y:-16.08, Z:3.44 [[ 9.99541968e-01 -2.92326401e-02 -7.82987800e-03 3.91375361e+02] [ 2.92368227e-02 9.99572424e-01 4.20226457e-04 -1.60769835e+01] [ 7.81424580e-03 -6.48954734e-04 9.99969258e-01 3.43555374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.390714057 meters Centerline goodness [0,1] 0.9815429376733191 Centerline is valid? [True, True] Translation: X:391.41, Y:-16.07, Z:3.44 [[ 9.99685732e-01 -2.37360937e-02 -8.06438105e-03 3.91406519e+02] [ 2.37403550e-02 9.99718064e-01 4.33079024e-04 -1.60701138e+01] [ 8.05182781e-03 -6.24394190e-04 9.99967389e-01 3.43584494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.420714057 meters Centerline goodness [0,1] 0.9813664596273292 Centerline is valid? [True, True] Translation: X:391.44, Y:-16.07, Z:3.44 [[ 9.99753921e-01 -2.06171549e-02 -8.18715699e-03 3.91436479e+02] [ 2.06214424e-02 9.99787259e-01 4.39596968e-04 -1.60728081e+01] [ 8.17635201e-03 -6.08319778e-04 9.99966388e-01 3.43531049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.450714057 meters Centerline goodness [0,1] 0.9829629461137775 Centerline is valid? [True, True] Translation: X:391.47, Y:-16.06, Z:3.44 [[ 9.99867195e-01 -1.38844368e-02 -8.53315671e-03 3.91467954e+02] [ 1.38888521e-02 9.99903440e-01 4.58381822e-04 -1.60626390e+01] [ 8.52596837e-03 -5.76836698e-04 9.99963487e-01 3.43622280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.480714057 meters Centerline goodness [0,1] 0.9839503921211016 Centerline is valid? [True, True] Translation: X:391.50, Y:-16.06, Z:3.44 [[ 9.99913360e-01 -1.00329997e-02 -8.52117675e-03 3.91498349e+02] [ 1.00372617e-02 9.99949521e-01 4.57542172e-04 -1.60592117e+01] [ 8.51615608e-03 -5.43031812e-04 9.99963589e-01 3.43656012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.51071405700003 meters Centerline goodness [0,1] 0.9843721440321697 Centerline is valid? [True, True] Translation: X:391.53, Y:-16.06, Z:3.44 [[ 9.99960696e-01 -2.05717654e-03 -8.62403555e-03 3.91528144e+02] [ 2.06124616e-03 9.99997768e-01 4.63030700e-04 -1.60562692e+01] [ 8.62306376e-03 -4.80788761e-04 9.99962705e-01 3.43656466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.540714057 meters Centerline goodness [0,1] 0.9847731935263278 Centerline is valid? [True, True] Translation: X:391.56, Y:-16.05, Z:3.44 [[ 9.99965453e-01 1.51783974e-03 -8.17250157e-03 3.91558416e+02] [-1.51430577e-03 9.99998757e-01 4.38592812e-04 -1.60513356e+01] [ 8.17315713e-03 -4.26201994e-04 9.99966508e-01 3.43725733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.57071405700003 meters Centerline goodness [0,1] 0.9848415669801844 Centerline is valid? [True, True] Translation: X:391.59, Y:-16.05, Z:3.44 [[ 9.99938510e-01 7.26373946e-03 -8.37935549e-03 3.91588146e+02] [-7.26022715e-03 9.99973543e-01 4.49505573e-04 -1.60475204e+01] [ 8.38239889e-03 -3.88641908e-04 9.99964792e-01 3.43701332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.600714057 meters Centerline goodness [0,1] 0.9855258043125329 Centerline is valid? [True, True] Translation: X:391.62, Y:-16.04, Z:3.44 [[ 9.99898358e-01 1.13575055e-02 -8.61858240e-03 3.91618711e+02] [-1.13539427e-02 9.99935435e-01 4.62202716e-04 -1.60438401e+01] [ 8.62327541e-03 -3.64300846e-04 9.99962753e-01 3.43654905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.630714057 meters Centerline goodness [0,1] 0.9857342401135765 Centerline is valid? [True, True] Translation: X:391.65, Y:-16.05, Z:3.44 [[ 9.99892596e-01 1.17570044e-02 -8.75034584e-03 3.91647626e+02] [-1.17533544e-02 9.99930817e-01 4.68434529e-04 -1.60453318e+01] [ 8.75524785e-03 -3.65538302e-04 9.99961605e-01 3.43586879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.660714057 meters Centerline goodness [0,1] 0.9857633325703823 Centerline is valid? [True, True] Translation: X:391.68, Y:-16.05, Z:3.43 [[ 9.99900209e-01 1.03801980e-02 -9.58245084e-03 3.91675984e+02] [-1.03757639e-02 9.99946039e-01 5.12338400e-04 -1.60483000e+01] [ 9.58725193e-03 -4.12862027e-04 9.99953956e-01 3.43432524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.690714057 meters Centerline goodness [0,1] 0.9850920582577631 Centerline is valid? [True, True] Translation: X:391.71, Y:-16.05, Z:3.43 [[ 9.99909616e-01 8.36808238e-03 -1.05230601e-02 3.91705139e+02] [-8.36262848e-03 9.99964875e-01 5.62176625e-04 -1.60507704e+01] [ 1.05273948e-02 -4.74125371e-04 9.99944473e-01 3.43362921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.720714057 meters Centerline goodness [0,1] 0.9836291099188335 Centerline is valid? [True, True] Translation: X:391.74, Y:-16.05, Z:3.43 [[ 9.99935562e-01 2.65608329e-03 -1.10370786e-02 3.91735948e+02] [-2.64973423e-03 9.99996315e-01 5.89832108e-04 -1.60538516e+01] [ 1.10386046e-02 -5.60548775e-04 9.99938916e-01 3.43387193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.750714057 meters Centerline goodness [0,1] 0.9836073080269243 Centerline is valid? [True, True] Translation: X:391.76, Y:-16.06, Z:3.43 [[ 9.99941562e-01 -3.80253168e-04 -1.08040460e-02 3.91764399e+02] [ 3.86505068e-04 9.99999759e-01 5.76580739e-04 -1.60609597e+01] [ 1.08038241e-02 -5.80722863e-04 9.99941468e-01 3.43331250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.780714057 meters Centerline goodness [0,1] 0.9829221578731361 Centerline is valid? [True, True] Translation: X:391.79, Y:-16.07, Z:3.43 [[ 9.99922044e-01 -7.38078729e-03 -1.00711988e-02 3.91794103e+02] [ 7.38657341e-03 9.99972574e-01 5.37445390e-04 -1.60672912e+01] [ 1.00669558e-02 -6.11795142e-04 9.99949140e-01 3.43397725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.810714057 meters Centerline goodness [0,1] 0.9818861218072865 Centerline is valid? [True, True] Translation: X:391.82, Y:-16.07, Z:3.43 [[ 9.99893845e-01 -1.07231378e-02 -9.86470189e-03 3.91822635e+02] [ 1.07288521e-02 9.99942306e-01 5.26530880e-04 -1.60735403e+01] [ 9.85848669e-03 -6.32311913e-04 9.99951204e-01 3.43417347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.840714057 meters Centerline goodness [0,1] 0.9810024344185835 Centerline is valid? [True, True] Translation: X:391.85, Y:-16.08, Z:3.43 [[ 9.99816787e-01 -1.67301544e-02 -9.30021590e-03 3.91853324e+02] [ 1.67354922e-02 9.99859829e-01 4.96408546e-04 -1.60766389e+01] [ 9.29060728e-03 -6.51961288e-04 9.99956629e-01 3.43499506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.870714057 meters Centerline goodness [0,1] 0.9806763285024155 Centerline is valid? [True, True] Translation: X:391.88, Y:-16.08, Z:3.44 [[ 9.99734995e-01 -2.11936619e-02 -8.98708241e-03 3.91883796e+02] [ 2.11988259e-02 9.99775165e-01 4.79726681e-04 -1.60816467e+01] [ 8.97489463e-03 -6.70115147e-04 9.99959500e-01 3.43543431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.900714057 meters Centerline goodness [0,1] 0.9789831591438091 Centerline is valid? [True, True] Translation: X:391.91, Y:-16.09, Z:3.43 [[ 9.99691733e-01 -2.29970697e-02 -9.35805781e-03 3.91914233e+02] [ 2.30027496e-02 9.99735277e-01 4.99754920e-04 -1.60852941e+01] [ 9.34408762e-03 -7.14861922e-04 9.99956088e-01 3.43471325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.930714057 meters Centerline goodness [0,1] 0.9785000228237549 Centerline is valid? [True, True] Translation: X:391.95, Y:-16.09, Z:3.43 [[ 9.99667355e-01 -2.39033854e-02 -9.68540985e-03 3.91946631e+02] [ 2.39095205e-02 9.99713992e-01 5.18131023e-04 -1.60883862e+01] [ 9.67025466e-03 -7.49532175e-04 9.99952961e-01 3.43374022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.960714057 meters Centerline goodness [0,1] 0.9801785755063825 Centerline is valid? [True, True] Translation: X:391.98, Y:-16.09, Z:3.43 [[ 9.99668358e-01 -2.37197864e-02 -1.00272539e-02 3.91978716e+02] [ 2.37263603e-02 9.99718346e-01 5.37132788e-04 -1.60859756e+01] [ 1.00116891e-02 -7.74864893e-04 9.99949582e-01 3.43357712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.990714057 meters Centerline goodness [0,1] 0.9789312698304001 Centerline is valid? [True, True] Translation: X:392.01, Y:-16.09, Z:3.43 [[ 9.99693111e-01 -2.19795639e-02 -1.14273045e-02 3.92008809e+02] [ 2.19879881e-02 9.99758048e-01 6.12069096e-04 -1.60900656e+01] [ 1.14110866e-02 -8.63144694e-04 9.99934519e-01 3.43224620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.020714057 meters Centerline goodness [0,1] 0.9800462231985538 Centerline is valid? [True, True] Translation: X:392.04, Y:-16.09, Z:3.43 [[ 9.99715227e-01 -2.07233307e-02 -1.18325423e-02 3.92040540e+02] [ 2.07322813e-02 9.99784862e-01 6.34265827e-04 -1.60853833e+01] [ 1.18168526e-02 -8.79400802e-04 9.99929792e-01 3.43298805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.050714057 meters Centerline goodness [0,1] 0.9804644558446317 Centerline is valid? [True, True] Translation: X:392.07, Y:-16.08, Z:3.43 [[ 9.99765084e-01 -1.84786007e-02 -1.13277541e-02 3.92071076e+02] [ 1.84866590e-02 9.99828923e-01 6.07065149e-04 -1.60847779e+01] [ 1.13145984e-02 -8.16334866e-04 9.99935655e-01 3.43276516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.080714057 meters Centerline goodness [0,1] 0.9805319880761293 Centerline is valid? [True, True] Translation: X:392.10, Y:-16.08, Z:3.43 [[ 9.99797733e-01 -1.68608386e-02 -1.09638293e-02 3.92102363e+02] [ 1.68682964e-02 9.99857547e-01 5.88097774e-04 -1.60845071e+01] [ 1.09523517e-02 -7.72919945e-04 9.99939722e-01 3.43305538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.110714057 meters Centerline goodness [0,1] 0.9801129839709732 Centerline is valid? [True, True] Translation: X:392.13, Y:-16.08, Z:3.43 [[ 9.99850245e-01 -1.40126694e-02 -1.01553991e-02 3.92132778e+02] [ 1.40189203e-02 9.99901582e-01 5.44596757e-04 -1.60834651e+01] [ 1.01467684e-02 -6.86882931e-04 9.99948284e-01 3.43333665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.140714057 meters Centerline goodness [0,1] 0.9812636667050294 Centerline is valid? [True, True] Translation: X:392.16, Y:-16.08, Z:3.43 [[ 9.99874874e-01 -1.24314298e-02 -9.78240002e-03 3.92163864e+02] [ 1.24371593e-02 9.99922518e-01 5.25076351e-04 -1.60836499e+01] [ 9.77511460e-03 -6.46675917e-04 9.99952013e-01 3.43365454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.170714057 meters Centerline goodness [0,1] 0.9797951904268783 Centerline is valid? [True, True] Translation: X:392.19, Y:-16.08, Z:3.43 [[ 9.99909770e-01 -1.01044197e-02 -8.85173984e-03 3.92193627e+02] [ 1.01090169e-02 9.99948790e-01 4.74770110e-04 -1.60817610e+01] [ 8.84648926e-03 -5.64209659e-04 9.99960710e-01 3.43432015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.200714057 meters Centerline goodness [0,1] 0.9805620017002504 Centerline is valid? [True, True] Translation: X:392.22, Y:-16.08, Z:3.43 [[ 9.99922404e-01 -9.01882999e-03 -8.59341782e-03 3.92224294e+02] [ 9.02312347e-03 9.99959185e-01 4.60983894e-04 -1.60821434e+01] [ 8.58890954e-03 -5.38487593e-04 9.99962970e-01 3.43459643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.230714057 meters Centerline goodness [0,1] 0.9795287933975748 Centerline is valid? [True, True] Translation: X:392.25, Y:-16.08, Z:3.43 [[ 9.99931326e-01 -8.24669120e-03 -8.32676290e-03 3.92253656e+02] [ 8.25069393e-03 9.99965863e-01 4.46469018e-04 -1.60846819e+01] [ 8.32279676e-03 -5.15139930e-04 9.99965232e-01 3.43372102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26071405700003 meters Centerline goodness [0,1] 0.9784768211920529 Centerline is valid? [True, True] Translation: X:392.28, Y:-16.09, Z:3.43 [[ 9.99928000e-01 -8.81203052e-03 -8.14508410e-03 3.92283920e+02] [ 8.81587972e-03 9.99961044e-01 4.36796481e-04 -1.60871270e+01] [ 8.14091774e-03 -5.08571114e-04 9.99966733e-01 3.43380865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.290714057 meters Centerline goodness [0,1] 0.9783123663209218 Centerline is valid? [True, True] Translation: X:392.31, Y:-16.09, Z:3.43 [[ 9.99919138e-01 -9.44290569e-03 -8.51753674e-03 3.92313895e+02] [ 9.44713598e-03 9.99955271e-01 4.56559033e-04 -1.60892998e+01] [ 8.51284451e-03 -5.36988443e-04 9.99963621e-01 3.43351329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32071405700003 meters Centerline goodness [0,1] 0.9795707088135828 Centerline is valid? [True, True] Translation: X:392.34, Y:-16.09, Z:3.43 [[ 9.99906975e-01 -1.02926991e-02 -8.94996530e-03 3.92344218e+02] [ 1.02974024e-02 9.99946865e-01 4.79580329e-04 -1.60851657e+01] [ 8.94455357e-03 -5.71697109e-04 9.99959833e-01 3.43410355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.350714057 meters Centerline goodness [0,1] 0.9791877472173673 Centerline is valid? [True, True] Translation: X:392.37, Y:-16.10, Z:3.43 [[ 9.99905059e-01 -1.03971152e-02 -9.04285404e-03 3.92373095e+02] [ 1.04019194e-02 9.99945781e-01 4.84401288e-04 -1.60954590e+01] [ 9.03732737e-03 -5.78418337e-04 9.99958995e-01 3.43215142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.380714057 meters Centerline goodness [0,1] 0.9797270955165692 Centerline is valid? [True, True] Translation: X:392.40, Y:-16.09, Z:3.43 [[ 9.99896290e-01 -1.06239447e-02 -9.72323102e-03 3.92403748e+02] [ 1.06295105e-02 9.99943369e-01 5.20925669e-04 -1.60949840e+01] [ 9.71714610e-03 -6.24224830e-04 9.99952593e-01 3.43178641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.410714057 meters Centerline goodness [0,1] 0.9797986746463049 Centerline is valid? [True, True] Translation: X:392.43, Y:-16.10, Z:3.43 [[ 9.99900287e-01 -1.02786600e-02 -9.68324006e-03 3.92433509e+02] [ 1.02841640e-02 9.99946982e-01 5.18783139e-04 -1.61006510e+01] [ 9.67739428e-03 -6.18315438e-04 9.99952982e-01 3.43080154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.440714057 meters Centerline goodness [0,1] 0.98137943702071 Centerline is valid? [True, True] Translation: X:392.46, Y:-16.09, Z:3.43 [[ 9.99911200e-01 -9.18318953e-03 -9.65719763e-03 3.92464597e+02] [ 9.18861309e-03 9.99957650e-01 5.17387906e-04 -1.60932724e+01] [ 9.65203737e-03 -6.06078214e-04 9.99953234e-01 3.43308196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.470714057 meters Centerline goodness [0,1] 0.982517803813462 Centerline is valid? [True, True] Translation: X:392.49, Y:-16.09, Z:3.43 [[ 9.99919998e-01 -8.23570361e-03 -9.60060919e-03 3.92494064e+02] [ 8.24101559e-03 9.99965910e-01 5.13866685e-04 -1.60920188e+01] [ 9.59604986e-03 -5.92944344e-04 9.99953781e-01 3.43370666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.500714057 meters Centerline goodness [0,1] 0.9825803189778003 Centerline is valid? [True, True] Translation: X:392.52, Y:-16.09, Z:3.43 [[ 9.99936204e-01 -5.04525223e-03 -1.01061264e-02 3.92523454e+02] [ 5.05097505e-03 9.99987097e-01 5.40828997e-04 -1.60941703e+01] [ 1.01032674e-02 -5.91840286e-04 9.99948786e-01 3.43338912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.530714057 meters Centerline goodness [0,1] 0.9830185210717405 Centerline is valid? [True, True] Translation: X:392.55, Y:-16.09, Z:3.43 [[ 9.99946388e-01 -3.16974558e-03 -9.85763053e-03 3.92552242e+02] [ 3.17509067e-03 9.99994821e-01 5.26626466e-04 -1.60922328e+01] [ 9.85591021e-03 -5.57897104e-04 9.99951274e-01 3.43378189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.560714057 meters Centerline goodness [0,1] 0.9828768699654775 Centerline is valid? [True, True] Translation: X:392.58, Y:-16.10, Z:3.43 [[ 9.99957932e-01 -3.72999240e-05 -9.17240812e-03 3.92580749e+02] [ 4.17923881e-05 9.99999879e-01 4.89589044e-04 -1.60953747e+01] [ 9.17238875e-03 -4.89951785e-04 9.99957813e-01 3.43366117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.590714057 meters Centerline goodness [0,1] 0.9828313322425276 Centerline is valid? [True, True] Translation: X:392.61, Y:-16.09, Z:3.44 [[ 9.99961028e-01 1.58094644e-03 -8.68581533e-03 3.92610117e+02] [-1.57700306e-03 9.99998650e-01 4.60832340e-04 -1.60907749e+01] [ 8.68653216e-03 -4.47116823e-04 9.99962171e-01 3.43524191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.620714057 meters Centerline goodness [0,1] 0.9826904510137465 Centerline is valid? [True, True] Translation: X:392.64, Y:-16.10, Z:3.44 [[ 9.99958290e-01 4.93632177e-03 -7.68450765e-03 3.92638460e+02] [-4.93333225e-03 9.99987748e-01 4.07938566e-04 -1.60967299e+01] [ 7.68642722e-03 -3.70011322e-04 9.99970391e-01 3.43520878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.650714057 meters Centerline goodness [0,1] 0.9834416553751464 Centerline is valid? [True, True] Translation: X:392.67, Y:-16.09, Z:3.44 [[ 9.99954160e-01 6.22288726e-03 -7.27686301e-03 3.92667266e+02] [-6.22024488e-03 9.99980580e-01 3.85696423e-04 -1.60927876e+01] [ 7.27912183e-03 -3.40414873e-04 9.99973449e-01 3.43689600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.680714057 meters Centerline goodness [0,1] 0.9829875898704035 Centerline is valid? [True, True] Translation: X:392.70, Y:-16.10, Z:3.44 [[ 9.99944702e-01 8.58076991e-03 -6.07969248e-03 3.92696380e+02] [-8.57896964e-03 9.99963148e-01 3.22129733e-04 -1.60967021e+01] [ 6.08223255e-03 -2.69954423e-04 9.99981467e-01 3.43709813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.710714057 meters Centerline goodness [0,1] 0.9845332477888272 Centerline is valid? [True, True] Translation: X:392.73, Y:-16.10, Z:3.44 [[ 9.99932024e-01 1.04428527e-02 -5.18590928e-03 3.92725702e+02] [-1.04415698e-02 9.99945448e-01 2.74405953e-04 -1.60992761e+01] [ 5.18849196e-03 -2.20238267e-04 9.99986515e-01 3.43736547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.740714057 meters Centerline goodness [0,1] 0.9849873939949576 Centerline is valid? [True, True] Translation: X:392.75, Y:-16.10, Z:3.44 [[ 9.99929787e-01 1.08835660e-02 -4.68706959e-03 3.92754491e+02] [-1.08825249e-02 9.99940753e-01 2.47574811e-04 -1.61003595e+01] [ 4.68948639e-03 -1.96550276e-04 9.99988985e-01 3.43756167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.770714057 meters Centerline goodness [0,1] 0.9839915841470944 Centerline is valid? [True, True] Translation: X:392.78, Y:-16.11, Z:3.44 [[ 9.99926636e-01 1.11717021e-02 -4.68143556e-03 3.92781899e+02] [-1.11706689e-02 9.99937576e-01 2.46789590e-04 -1.61091839e+01] [ 4.68390038e-03 -1.94476718e-04 9.99989012e-01 3.43653153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.800714057 meters Centerline goodness [0,1] 0.9850541928123218 Centerline is valid? [True, True] Translation: X:392.81, Y:-16.11, Z:3.44 [[ 9.99932522e-01 1.06006129e-02 -4.75170928e-03 3.92810632e+02] [-1.05995432e-02 9.99943792e-01 2.50244661e-04 -1.61129066e+01] [ 4.75409494e-03 -1.99861828e-04 9.99988679e-01 3.43619840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.830714057 meters Centerline goodness [0,1] 0.9843621961212783 Centerline is valid? [True, True] Translation: X:392.84, Y:-16.12, Z:3.43 [[ 9.99939335e-01 9.75589482e-03 -5.11367279e-03 3.92838165e+02] [-9.75464746e-03 9.99952386e-01 2.68812095e-04 -1.61205377e+01] [ 5.11605181e-03 -2.18913712e-04 9.99986889e-01 3.43477468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.860714057 meters Centerline goodness [0,1] 0.9843621961212783 Centerline is valid? [True, True] Translation: X:392.87, Y:-16.12, Z:3.43 [[ 9.99940306e-01 9.65577954e-03 -5.11370259e-03 3.92865617e+02] [-9.65453376e-03 9.99953358e-01 2.68245046e-04 -1.61218859e+01] [ 5.11605419e-03 -2.18858619e-04 9.99986889e-01 3.43465948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.890714057 meters Centerline goodness [0,1] 0.986190422022523 Centerline is valid? [True, True] Translation: X:392.90, Y:-16.12, Z:3.43 [[ 9.99958822e-01 7.28920915e-03 -5.40572024e-03 3.92895514e+02] [-7.28778199e-03 9.99973404e-01 2.83660292e-04 -1.61230326e+01] [ 5.40764412e-03 -2.44252901e-04 9.99985349e-01 3.43455743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.920714057 meters Centerline goodness [0,1] 0.9854924628811061 Centerline is valid? [True, True] Translation: X:392.92, Y:-16.13, Z:3.43 [[ 9.99968231e-01 5.78533071e-03 -5.48337283e-03 3.92922808e+02] [-5.78384360e-03 9.99983232e-01 2.87021569e-04 -1.61325037e+01] [ 5.48494140e-03 -2.55297480e-04 9.99984925e-01 3.43342273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.950714057 meters Centerline goodness [0,1] 0.9843994112985396 Centerline is valid? [True, True] Translation: X:392.95, Y:-16.14, Z:3.43 [[ 9.99984890e-01 1.05893604e-03 -5.39421164e-03 3.92952439e+02] [-1.05742723e-03 9.99999401e-01 2.82553371e-04 -1.61381257e+01] [ 5.39450761e-03 -2.76845115e-04 9.99985411e-01 3.43434153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.980714057 meters Centerline goodness [0,1] 0.9842111224374221 Centerline is valid? [True, True] Translation: X:392.98, Y:-16.15, Z:3.43 [[ 9.99987252e-01 -1.32419016e-03 -4.87263581e-03 3.92980987e+02] [ 1.32544750e-03 9.99999089e-01 2.54821364e-04 -1.61464065e+01] [ 4.87229394e-03 -2.61276539e-04 9.99988096e-01 3.43372322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.01071405700003 meters Centerline goodness [0,1] 0.9834217955957086 Centerline is valid? [True, True] Translation: X:393.01, Y:-16.16, Z:3.43 [[ 9.99970576e-01 -6.05381209e-03 -4.71149000e-03 3.93009940e+02] [ 6.05504013e-03 9.99981638e-01 2.46426705e-04 -1.61561592e+01] [ 4.70991167e-03 -2.74947715e-04 9.99988871e-01 3.43324842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.040714057 meters Centerline goodness [0,1] 0.9837369073093817 Centerline is valid? [True, True] Translation: X:393.04, Y:-16.16, Z:3.43 [[ 9.99958192e-01 -7.66742548e-03 -4.98235718e-03 3.93040586e+02] [ 7.66881997e-03 9.99970560e-01 2.60841254e-04 -1.61608937e+01] [ 4.98021051e-03 -2.99039149e-04 9.99987554e-01 3.43322253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.07071405700003 meters Centerline goodness [0,1] 0.9828279876829021 Centerline is valid? [True, True] Translation: X:393.07, Y:-16.17, Z:3.43 [[ 9.99922184e-01 -1.09873056e-02 -5.90805190e-03 3.93069625e+02] [ 1.09893272e-02 9.99939568e-01 3.09830831e-04 -1.61721089e+01] [ 5.90429066e-03 -3.74732237e-04 9.99982499e-01 3.43179458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.100714057 meters Centerline goodness [0,1] 0.9827322944267302 Centerline is valid? [True, True] Translation: X:393.10, Y:-16.17, Z:3.43 [[ 9.99907727e-01 -1.23972696e-02 -5.55384588e-03 3.93100484e+02] [ 1.23990774e-02 9.99923086e-01 2.91181795e-04 -1.61747931e+01] [ 5.54980885e-03 -3.60017492e-04 9.99984535e-01 3.43155142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.130714057 meters Centerline goodness [0,1] 0.9842759547541718 Centerline is valid? [True, True] Translation: X:393.13, Y:-16.18, Z:3.43 [[ 9.99902870e-01 -1.33617086e-02 -3.96432073e-03 3.93132321e+02] [ 1.33626393e-02 9.99910694e-01 2.08373816e-04 -1.61757772e+01] [ 3.96118246e-03 -2.61327364e-04 9.99992120e-01 3.43339969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.160714057 meters Centerline goodness [0,1] 0.9828830039879912 Centerline is valid? [True, True] Translation: X:393.16, Y:-16.18, Z:3.43 [[ 9.99899272e-01 -1.37390868e-02 -3.56134448e-03 3.93164627e+02] [ 1.37398412e-02 9.99905586e-01 1.87473828e-04 -1.61800459e+01] [ 3.55843252e-03 -2.36387252e-04 9.99993641e-01 3.43397182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.190714057 meters Centerline goodness [0,1] 0.9826308838999933 Centerline is valid? [True, True] Translation: X:393.20, Y:-16.19, Z:3.43 [[ 9.99898616e-01 -1.40181944e-02 -2.49958848e-03 3.93195811e+02] [ 1.40185673e-02 9.99901726e-01 1.31726198e-04 -1.61866005e+01] [ 2.49749627e-03 -1.66753492e-04 9.99996867e-01 3.43482234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.220714057 meters Centerline goodness [0,1] 0.9824526153640077 Centerline is valid? [True, True] Translation: X:393.23, Y:-16.19, Z:3.43 [[ 9.99904146e-01 -1.35536437e-02 -2.82806562e-03 3.93226425e+02] [ 1.35541196e-02 9.99908128e-01 1.49153615e-04 -1.61920744e+01] [ 2.82578423e-03 -1.87471258e-04 9.99995990e-01 3.43411061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.250714057 meters Centerline goodness [0,1] 0.9828217026592897 Centerline is valid? [True, True] Translation: X:393.26, Y:-16.19, Z:3.43 [[ 9.99909664e-01 -1.30705352e-02 -3.13434453e-03 3.93258604e+02] [ 1.30711182e-02 9.99914556e-01 1.65587695e-04 -1.61920831e+01] [ 3.13191239e-03 -2.06542124e-04 9.99995074e-01 3.43399892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.280714057 meters Centerline goodness [0,1] 0.9843067320552831 Centerline is valid? [True, True] Translation: X:393.29, Y:-16.20, Z:3.43 [[ 9.99921501e-01 -1.19110850e-02 -3.88824081e-03 3.93290007e+02] [ 1.19119731e-02 9.99929029e-01 2.05335091e-04 -1.61956273e+01] [ 3.88551909e-03 -2.51635592e-04 9.99992420e-01 3.43284469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.310714057 meters Centerline goodness [0,1] 0.9848444265880988 Centerline is valid? [True, True] Translation: X:393.32, Y:-16.20, Z:3.43 [[ 9.99929436e-01 -1.10657037e-02 -4.32125521e-03 3.93321812e+02] [ 1.10667941e-02 9.99938735e-01 2.28494324e-04 -1.61982441e+01] [ 4.31846201e-03 -2.76300642e-04 9.99990637e-01 3.43214432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.340714057 meters Centerline goodness [0,1] 0.9841569638254377 Centerline is valid? [True, True] Translation: X:393.35, Y:-16.20, Z:3.43 [[ 9.99941271e-01 -9.84538612e-03 -4.53023142e-03 3.93352339e+02] [ 9.84657165e-03 9.99951493e-01 2.39462603e-04 -1.62018817e+01] [ 4.52765407e-03 -2.84055788e-04 9.99989710e-01 3.43169475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.370714057 meters Centerline goodness [0,1] 0.9832114509943816 Centerline is valid? [True, True] Translation: X:393.38, Y:-16.20, Z:3.43 [[ 9.99953834e-01 -7.92164932e-03 -5.43846139e-03 3.93383883e+02] [ 7.92333088e-03 9.99968569e-01 2.87722001e-04 -1.62035226e+01] [ 5.43601121e-03 -3.30799447e-04 9.99985170e-01 3.43102109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.400714057 meters Centerline goodness [0,1] 0.9847419928825623 Centerline is valid? [True, True] Translation: X:393.41, Y:-16.21, Z:3.43 [[ 9.99971126e-01 -5.16997123e-03 -5.56947028e-03 3.93413578e+02] [ 5.17169142e-03 9.99986583e-01 2.94501386e-04 -1.62061327e+01] [ 5.56787299e-03 -3.23296464e-04 9.99984447e-01 3.43062535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.430714057 meters Centerline goodness [0,1] 0.9845556418506601 Centerline is valid? [True, True] Translation: X:393.44, Y:-16.21, Z:3.43 [[ 9.99978204e-01 -3.89821640e-03 -5.32871776e-03 3.93443660e+02] [ 3.89976998e-03 9.99992356e-01 2.81188604e-04 -1.62075100e+01] [ 5.32758090e-03 -3.01963249e-04 9.99985763e-01 3.43116871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.460714057 meters Centerline goodness [0,1] 0.9852587512247261 Centerline is valid? [True, True] Translation: X:393.47, Y:-16.21, Z:3.43 [[ 9.99989359e-01 -1.36563933e-03 -4.40640116e-03 3.93473096e+02] [ 1.36667674e-03 9.99999039e-01 2.32431430e-04 -1.62087597e+01] [ 4.40607951e-03 -2.38451083e-04 9.99990265e-01 3.43260443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.490714057 meters Centerline goodness [0,1] 0.9855591651461885 Centerline is valid? [True, True] Translation: X:393.50, Y:-16.21, Z:3.43 [[ 9.99992085e-01 1.52866517e-03 -3.67320063e-03 3.93502774e+02] [-1.52796430e-03 9.99998814e-01 1.93604672e-04 -1.62091617e+01] [ 3.67349223e-03 -1.87990620e-04 9.99993235e-01 3.43330248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.520714057 meters Centerline goodness [0,1] 0.9855404533624007 Centerline is valid? [True, True] Translation: X:393.53, Y:-16.21, Z:3.43 [[ 9.99989645e-01 3.09988872e-03 -3.33164481e-03 3.93531590e+02] [-3.09932212e-03 9.99995182e-01 1.75215745e-04 -1.62107113e+01] [ 3.33217191e-03 -1.64888090e-04 9.99994435e-01 3.43313163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.550714057 meters Centerline goodness [0,1] 0.9860281665032534 Centerline is valid? [True, True] Translation: X:393.56, Y:-16.21, Z:3.43 [[ 9.99981986e-01 4.88524709e-03 -3.48749000e-03 3.93559145e+02] [-4.88463831e-03 9.99988053e-01 1.83056779e-04 -1.62125366e+01] [ 3.48834262e-03 -1.66018354e-04 9.99993902e-01 3.43248581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.580714057 meters Centerline goodness [0,1] 0.986016788759992 Centerline is valid? [True, True] Translation: X:393.59, Y:-16.21, Z:3.43 [[ 9.99979864e-01 5.28831061e-03 -3.50785200e-03 3.93587560e+02] [-5.28769779e-03 9.99986003e-01 1.83950582e-04 -1.62127414e+01] [ 3.50877569e-03 -1.65398417e-04 9.99993831e-01 3.43264096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.610714057 meters Centerline goodness [0,1] 0.9858401580220609 Centerline is valid? [True, True] Translation: X:393.62, Y:-16.21, Z:3.43 [[ 9.99984076e-01 4.51421404e-03 -3.38659776e-03 3.93616297e+02] [-4.51363931e-03 9.99989798e-01 1.77332552e-04 -1.62135311e+01] [ 3.38736373e-03 -1.62043847e-04 9.99994250e-01 3.43307309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.640714057 meters Centerline goodness [0,1] 0.9866509706365777 Centerline is valid? [True, True] Translation: X:393.64, Y:-16.22, Z:3.43 [[ 9.99989300e-01 3.55562624e-03 -2.95944091e-03 3.93644961e+02] [-3.55518390e-03 9.99993668e-01 1.54715155e-04 -1.62157548e+01] [ 2.95997228e-03 -1.44192143e-04 9.99995609e-01 3.43282957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.670714057 meters Centerline goodness [0,1] 0.9854035616195623 Centerline is valid? [True, True] Translation: X:393.67, Y:-16.23, Z:3.43 [[ 9.99995097e-01 6.63884291e-04 -3.06012304e-03 3.93673399e+02] [-6.63397674e-04 9.99999767e-01 1.60030952e-04 -1.62268109e+01] [ 3.06022857e-03 -1.58000089e-04 9.99995305e-01 3.43165906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.700714057 meters Centerline goodness [0,1] 0.9838592152619842 Centerline is valid? [True, True] Translation: X:393.70, Y:-16.23, Z:3.43 [[ 9.99987180e-01 -3.63065064e-03 -3.52954476e-03 3.93701983e+02] [ 3.63132460e-03 9.99993390e-01 1.84557818e-04 -1.62341675e+01] [ 3.52885136e-03 -1.97372375e-04 9.99993754e-01 3.43101788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.730714057 meters Centerline goodness [0,1] 0.9850567577155019 Centerline is valid? [True, True] Translation: X:393.73, Y:-16.23, Z:3.43 [[ 9.99978164e-01 -5.59898904e-03 -3.51029977e-03 3.93732897e+02] [ 5.59966812e-03 9.99984305e-01 1.83655643e-04 -1.62307179e+01] [ 3.50921638e-03 -2.03308146e-04 9.99993822e-01 3.43156779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76071405700003 meters Centerline goodness [0,1] 0.9848814010197295 Centerline is valid? [True, True] Translation: X:393.76, Y:-16.24, Z:3.43 [[ 9.99942881e-01 -9.80403958e-03 -4.25623091e-03 3.93762863e+02] [ 9.80507601e-03 9.99951904e-01 2.22708699e-04 -1.62371070e+01] [ 4.25384276e-03 -2.64428645e-04 9.99990917e-01 3.43073179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.790714057 meters Centerline goodness [0,1] 0.9845812534664448 Centerline is valid? [True, True] Translation: X:393.79, Y:-16.24, Z:3.43 [[ 9.99928458e-01 -1.13692244e-02 -3.71744228e-03 3.93793723e+02] [ 1.13700263e-02 9.99935340e-01 1.94641909e-04 -1.62411887e+01] [ 3.71498899e-03 -2.36895401e-04 9.99993071e-01 3.43056758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82071405700003 meters Centerline goodness [0,1] 0.9826710816777042 Centerline is valid? [True, True] Translation: X:393.82, Y:-16.24, Z:3.43 [[ 9.99892998e-01 -1.43835862e-02 -2.66559086e-03 3.93824736e+02] [ 1.43840094e-02 9.99896535e-01 1.39635592e-04 -1.62443140e+01] [ 2.66330661e-03 -1.77962535e-04 9.99996438e-01 3.43158148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.850714057 meters Centerline goodness [0,1] 0.9826425788168615 Centerline is valid? [True, True] Translation: X:393.86, Y:-16.25, Z:3.43 [[ 9.99870875e-01 -1.59497701e-02 -1.95937357e-03 3.93855143e+02] [ 1.59500021e-02 9.99872785e-01 1.02801495e-04 -1.62499341e+01] [ 1.95748465e-03 -1.34040233e-04 9.99998075e-01 3.43150262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.880714057 meters Centerline goodness [0,1] 0.9831374892119764 Centerline is valid? [True, True] Translation: X:393.89, Y:-16.25, Z:3.43 [[ 9.99834347e-01 -1.81583809e-02 -1.24589635e-03 3.93886413e+02] [ 1.81584766e-02 9.99835119e-01 6.55228904e-05 -1.62473504e+01] [ 1.24450113e-03 -8.81356159e-05 9.99999222e-01 3.43262487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.910714057 meters Centerline goodness [0,1] 0.9827891729056838 Centerline is valid? [True, True] Translation: X:393.92, Y:-16.25, Z:3.43 [[ 9.99813696e-01 -1.92754551e-02 -1.01506304e-03 3.93918078e+02] [ 1.92755193e-02 9.99814208e-01 5.35082597e-05 -1.62501633e+01] [ 1.01384305e-03 -7.30641581e-05 9.99999483e-01 3.43266800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.940714057 meters Centerline goodness [0,1] 0.9820963397942514 Centerline is valid? [True, True] Translation: X:393.95, Y:-16.25, Z:3.43 [[ 9.99751070e-01 -2.22476300e-02 -1.68532570e-03 3.93948284e+02] [ 2.22478107e-02 9.99752483e-01 8.85682035e-05 -1.62548253e+01] [ 1.68293812e-03 -1.26040963e-04 9.99998576e-01 3.43182859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.970714057 meters Centerline goodness [0,1] 0.9825204958787263 Centerline is valid? [True, True] Translation: X:393.98, Y:-16.26, Z:3.43 [[ 9.99662998e-01 -2.57752716e-02 -3.08644137e-03 3.93978444e+02] [ 2.57758942e-02 9.99667733e-01 1.62100229e-04 -1.62596524e+01] [ 3.08123767e-03 -2.41601387e-04 9.99995224e-01 3.43102439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.000714057 meters Centerline goodness [0,1] 0.9832607301594322 Centerline is valid? [True, True] Translation: X:394.01, Y:-16.26, Z:3.43 [[ 9.99625998e-01 -2.71547338e-02 -3.23803283e-03 3.94010387e+02] [ 2.71554275e-02 9.99631209e-01 1.70445134e-04 -1.62589830e+01] [ 3.23221028e-03 -2.58311552e-04 9.99994743e-01 3.43074950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.030714057 meters Centerline goodness [0,1] 0.9806768631443812 Centerline is valid? [True, True] Translation: X:394.04, Y:-16.27, Z:3.43 [[ 9.99551220e-01 -2.97096509e-02 -3.83333193e-03 3.94039511e+02] [ 2.97106407e-02 9.99558521e-01 2.01511474e-04 -1.62674020e+01] [ 3.82565276e-03 -3.15311787e-04 9.99992632e-01 3.42944043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.060714057 meters Centerline goodness [0,1] 0.9808943896573786 Centerline is valid? [True, True] Translation: X:394.07, Y:-16.27, Z:3.43 [[ 9.99542168e-01 -3.00092491e-02 -3.85999050e-03 3.94071530e+02] [ 3.00102571e-02 9.99549570e-01 2.03474107e-04 -1.62703268e+01] [ 3.85214574e-03 -3.19220258e-04 9.99992530e-01 3.42892156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.090714057 meters Centerline goodness [0,1] 0.981443435615349 Centerline is valid? [True, True] Translation: X:394.10, Y:-16.27, Z:3.43 [[ 9.99592358e-01 -2.83213906e-02 -3.60798114e-03 3.94102918e+02] [ 2.83222604e-02 9.99598826e-01 1.90190040e-04 -1.62702018e+01] [ 3.60114727e-03 -2.92298692e-04 9.99993473e-01 3.42901278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.120714057 meters Centerline goodness [0,1] 0.9822045917915079 Centerline is valid? [True, True] Translation: X:394.13, Y:-16.26, Z:3.43 [[ 9.99709898e-01 -2.38010124e-02 -3.69202239e-03 3.94134275e+02] [ 2.38018924e-02 9.99716676e-01 1.94604668e-04 -1.62623317e+01] [ 3.68634456e-03 -2.82425332e-04 9.99993166e-01 3.42965097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.150714057 meters Centerline goodness [0,1] 0.9827960322380657 Centerline is valid? [True, True] Translation: X:394.17, Y:-16.26, Z:3.43 [[ 9.99766469e-01 -2.13142837e-02 -3.56495338e-03 3.94165392e+02] [ 2.13150889e-02 9.99772790e-01 1.87994964e-04 -1.62622491e+01] [ 3.56013641e-03 -2.63938359e-04 9.99993628e-01 3.42944578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.180714057 meters Centerline goodness [0,1] 0.9835872868010734 Centerline is valid? [True, True] Translation: X:394.20, Y:-16.26, Z:3.43 [[ 9.99825063e-01 -1.83188095e-02 -3.77697541e-03 3.94195951e+02] [ 1.83196916e-02 9.99832161e-01 1.99085996e-04 -1.62597631e+01] [ 3.77269447e-03 -2.68244193e-04 9.99992847e-01 3.42954844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.210714057 meters Centerline goodness [0,1] 0.9840076302014018 Centerline is valid? [True, True] Translation: X:394.23, Y:-16.26, Z:3.43 [[ 9.99915864e-01 -1.24936655e-02 -3.48901838e-03 3.94226054e+02] [ 1.24943829e-02 9.99921925e-01 1.83895387e-04 -1.62572131e+01] [ 3.48644845e-03 -2.27473047e-04 9.99993896e-01 3.42939837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.240714057 meters Centerline goodness [0,1] 0.9836911963482461 Centerline is valid? [True, True] Translation: X:394.26, Y:-16.25, Z:3.43 [[ 9.99961269e-01 -8.48217934e-03 -2.34804207e-03 3.94255980e+02] [ 8.48249303e-03 9.99964015e-01 1.23671073e-04 -1.62546237e+01] [ 2.34690858e-03 -1.43583534e-04 9.99997236e-01 3.43067270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.270714057 meters Centerline goodness [0,1] 0.9843822999399319 Centerline is valid? [True, True] Translation: X:394.29, Y:-16.25, Z:3.43 [[ 9.99973366e-01 -7.09237849e-03 -1.72199757e-03 3.94287672e+02] [ 7.09254559e-03 9.99974843e-01 9.09518774e-05 -1.62513808e+01] [ 1.72130919e-03 -1.03162801e-04 9.99998513e-01 3.43145318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.300714057 meters Centerline goodness [0,1] 0.9844403882112012 Centerline is valid? [True, True] Translation: X:394.32, Y:-16.25, Z:3.43 [[ 9.99978485e-01 -6.46651033e-03 -1.10190106e-03 3.94319397e+02] [ 6.46657847e-03 9.99979090e-01 5.82914579e-05 -1.62508726e+01] [ 1.10150108e-03 -6.54157334e-05 9.99999391e-01 3.43205325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.330714057 meters Centerline goodness [0,1] 0.9853443306283535 Centerline is valid? [True, True] Translation: X:394.35, Y:-16.25, Z:3.43 [[ 9.99979675e-01 -6.21078987e-03 -1.44096862e-03 3.94351884e+02] [ 6.21090643e-03 9.99980709e-01 7.64318451e-05 -1.62526500e+01] [ 1.44046612e-03 -8.53800128e-05 9.99998959e-01 3.43181547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.360714057 meters Centerline goodness [0,1] 0.9840570028946782 Centerline is valid? [True, True] Translation: X:394.38, Y:-16.25, Z:3.43 [[ 9.99975691e-01 -6.46183042e-03 -2.61949172e-03 3.94383625e+02] [ 6.46221571e-03 9.99979110e-01 1.38647443e-04 -1.62520345e+01] [ 2.61854108e-03 -1.55571793e-04 9.99996560e-01 3.43039602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.390714057 meters Centerline goodness [0,1] 0.9850310087895418 Centerline is valid? [True, True] Translation: X:394.42, Y:-16.25, Z:3.43 [[ 9.99975585e-01 -5.52622299e-03 -4.27668752e-03 3.94415028e+02] [ 5.52724170e-03 9.99984699e-01 2.26419426e-04 -1.62510550e+01] [ 4.27537083e-03 -2.50052184e-04 9.99990829e-01 3.42877581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.420714057 meters Centerline goodness [0,1] 0.9851653859004343 Centerline is valid? [True, True] Translation: X:394.45, Y:-16.25, Z:3.43 [[ 9.99977007e-01 -4.59361356e-03 -4.98842874e-03 3.94445651e+02] [ 4.59498714e-03 9.99989408e-01 2.63927547e-04 -1.62500389e+01] [ 4.98716352e-03 -2.86843245e-04 9.99987523e-01 3.42849936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.450714057 meters Centerline goodness [0,1] 0.9855867147109509 Centerline is valid? [True, True] Translation: X:394.48, Y:-16.25, Z:3.43 [[ 9.99988323e-01 -2.14050260e-03 -4.33264060e-03 3.94475069e+02] [ 2.14151713e-03 9.99997681e-01 2.29533313e-04 -1.62503384e+01] [ 4.33213923e-03 -2.38809056e-04 9.99990588e-01 3.42840145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.480714057 meters Centerline goodness [0,1] 0.98550918196995 Centerline is valid? [True, True] Translation: X:394.50, Y:-16.25, Z:3.43 [[ 9.99991597e-01 -1.11244813e-03 -3.94576703e-03 3.94504731e+02] [ 1.11327992e-03 9.99999359e-01 2.08616202e-04 -1.62501042e+01] [ 3.94553242e-03 -2.13007193e-04 9.99992194e-01 3.42888052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.51071405700003 meters Centerline goodness [0,1] 0.9860317743662977 Centerline is valid? [True, True] Translation: X:394.53, Y:-16.25, Z:3.43 [[ 9.99994790e-01 5.23522727e-04 -3.18525320e-03 3.94534442e+02] [-5.22989401e-04 9.99999849e-01 1.68266558e-04 -1.62485135e+01] [ 3.18534081e-03 -1.66599827e-04 9.99994913e-01 3.43018580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.540714057 meters Centerline goodness [0,1] 0.9842775031869926 Centerline is valid? [True, True] Translation: X:394.56, Y:-16.25, Z:3.43 [[ 9.99998563e-01 1.10587800e-03 -1.28470947e-03 3.94563341e+02] [-1.10579201e-03 9.99999386e-01 6.76398818e-05 -1.62498115e+01] [ 1.28478349e-03 -6.62191632e-05 9.99999172e-01 3.43098965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.57071405700003 meters Centerline goodness [0,1] 0.9851780428738004 Centerline is valid? [True, True] Translation: X:394.59, Y:-16.25, Z:3.43 [[ 9.99998538e-01 1.66344858e-03 -3.95827921e-04 3.94593337e+02] [-1.66344050e-03 9.99998616e-01 2.07426071e-05 -1.62467083e+01] [ 3.95861878e-04 -2.00841406e-05 9.99999921e-01 3.43209155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.600714057 meters Centerline goodness [0,1] 0.9857417852985944 Centerline is valid? [True, True] Translation: X:394.62, Y:-16.25, Z:3.43 [[ 9.99997623e-01 2.02996857e-03 7.96309676e-04 3.94622355e+02] [-2.02993570e-03 9.99997939e-01 -4.20934053e-05 -1.62495730e+01] [-7.96393483e-04 4.04768478e-05 9.99999682e-01 3.43260993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.630714057 meters Centerline goodness [0,1] 0.9844947344835313 Centerline is valid? [True, True] Translation: X:394.65, Y:-16.25, Z:3.43 [[ 9.99995433e-01 2.45599293e-03 1.76138600e-03 3.94653292e+02] [-2.45583302e-03 9.99996980e-01 -9.29422477e-05 -1.62491771e+01] [-1.76160895e-03 8.86161533e-05 9.99998444e-01 3.43260200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.660714057 meters Centerline goodness [0,1] 0.9837791817896671 Centerline is valid? [True, True] Translation: X:394.68, Y:-16.25, Z:3.43 [[ 9.99996505e-01 2.41134652e-03 1.08379877e-03 3.94682234e+02] [-2.41128601e-03 9.99997091e-01 -5.71369122e-05 -1.62528434e+01] [-1.08393340e-03 5.45233638e-05 9.99999411e-01 3.43194259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.690714057 meters Centerline goodness [0,1] 0.9845785932995106 Centerline is valid? [True, True] Translation: X:394.71, Y:-16.25, Z:3.43 [[ 9.99997930e-01 1.86181735e-03 8.20377953e-04 3.94712857e+02] [-1.86178245e-03 9.99998266e-01 -4.33021220e-05 -1.62547603e+01] [-8.20457151e-04 4.17746672e-05 9.99999663e-01 3.43120722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.720714057 meters Centerline goodness [0,1] 0.9843067899438089 Centerline is valid? [True, True] Translation: X:394.74, Y:-16.26, Z:3.43 [[ 9.99999573e-01 -9.17324319e-04 -1.11333111e-04 3.94743336e+02] [ 9.17324979e-04 9.99999579e-01 5.87651087e-06 -1.62591531e+01] [ 1.11327673e-04 -5.97863700e-06 9.99999994e-01 3.42952093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.750714057 meters Centerline goodness [0,1] 0.9843067899438089 Centerline is valid? [True, True] Translation: X:394.77, Y:-16.26, Z:3.43 [[ 9.99999573e-01 -9.17324319e-04 -1.11333111e-04 3.94773337e+02] [ 9.17324978e-04 9.99999579e-01 5.87651086e-06 -1.62607367e+01] [ 1.11327673e-04 -5.97863699e-06 9.99999994e-01 3.42939514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.780714057 meters Centerline goodness [0,1] 0.9838532685373883 Centerline is valid? [True, True] Translation: X:394.80, Y:-16.26, Z:3.43 [[ 9.99996062e-01 -2.80342188e-03 -1.30917583e-04 3.94804167e+02] [ 2.80342282e-03 9.99996070e-01 6.98681072e-06 -1.62613426e+01] [ 1.30897482e-04 -7.35380054e-06 9.99999991e-01 3.42876519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.810714057 meters Centerline goodness [0,1] 0.98391721171938 Centerline is valid? [True, True] Translation: X:394.83, Y:-16.27, Z:3.43 [[ 9.99978879e-01 -6.49311675e-03 -2.86003877e-04 3.94834110e+02] [ 6.49312133e-03 9.99978919e-01 1.51012606e-05 -1.62681791e+01] [ 2.85899793e-04 -1.69579996e-05 9.99999959e-01 3.42735591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.840714057 meters Centerline goodness [0,1] 0.9827336526679291 Centerline is valid? [True, True] Translation: X:394.86, Y:-16.28, Z:3.43 [[ 9.99963526e-01 -8.52792439e-03 -4.70290196e-04 3.94864389e+02] [ 8.52793705e-03 9.99963636e-01 2.49125896e-05 -1.62757082e+01] [ 4.70060642e-04 -2.89222861e-05 9.99999889e-01 3.42631829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.870714057 meters Centerline goodness [0,1] 0.9839193057792092 Centerline is valid? [True, True] Translation: X:394.90, Y:-16.27, Z:3.43 [[ 9.99930645e-01 -1.17738236e-02 -2.85313271e-04 3.94895505e+02] [ 1.17738284e-02 9.99930686e-01 1.51511944e-05 -1.62707641e+01] [ 2.85115108e-04 -1.85093731e-05 9.99999959e-01 3.42727298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.900714057 meters Centerline goodness [0,1] 0.9828130245048674 Centerline is valid? [True, True] Translation: X:394.93, Y:-16.28, Z:3.43 [[ 9.99908088e-01 -1.35543044e-02 3.09326819e-04 3.94925988e+02] [ 1.35543100e-02 9.99908136e-01 -1.62049462e-05 -1.62758576e+01] [-3.09078757e-04 2.03961684e-05 9.99999952e-01 3.42733209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.930714057 meters Centerline goodness [0,1] 0.9826694026854619 Centerline is valid? [True, True] Translation: X:394.96, Y:-16.28, Z:3.43 [[ 9.99905364e-01 -1.37347518e-02 7.86653852e-04 3.94958303e+02] [ 1.37347886e-02 9.99905672e-01 -4.13487743e-05 -1.62782417e+01] [-7.86011734e-04 5.21493856e-05 9.99999690e-01 3.42718754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.960714057 meters Centerline goodness [0,1] 0.9822645133909625 Centerline is valid? [True, True] Translation: X:394.99, Y:-16.28, Z:3.43 [[ 9.99908410e-01 -1.34371560e-02 1.61707254e-03 3.94989200e+02] [ 1.34373117e-02 9.99909712e-01 -8.54775430e-05 -1.62833505e+01] [-1.61577796e-03 1.07198822e-04 9.99998689e-01 3.42749204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.990714057 meters Centerline goodness [0,1] 0.981253061406243 Centerline is valid? [True, True] Translation: X:395.02, Y:-16.29, Z:3.43 [[ 9.99920419e-01 -1.23903158e-02 2.37409684e-03 3.95021368e+02] [ 1.23906491e-02 9.99923225e-01 -1.25695698e-04 -1.62859184e+01] [-2.37235716e-03 1.55102296e-04 9.99997174e-01 3.42796390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.020714057 meters Centerline goodness [0,1] 0.9821141479099679 Centerline is valid? [True, True] Translation: X:395.05, Y:-16.28, Z:3.43 [[ 9.99931283e-01 -1.14343699e-02 2.58548382e-03 3.95053995e+02] [ 1.14347624e-02 9.99934612e-01 -1.37090177e-04 -1.62839817e+01] [-2.58374721e-03 1.66645150e-04 9.99996648e-01 3.42824157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.050714057 meters Centerline goodness [0,1] 0.9820492808562827 Centerline is valid? [True, True] Translation: X:395.09, Y:-16.29, Z:3.43 [[ 9.99940322e-01 -1.06271946e-02 2.53274763e-03 3.95086282e+02] [ 1.06275692e-02 9.99943517e-01 -1.34468319e-04 -1.62856407e+01] [-2.53117555e-03 1.61377245e-04 9.99996784e-01 3.42808232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.080714057 meters Centerline goodness [0,1] 0.983006126738518 Centerline is valid? [True, True] Translation: X:395.12, Y:-16.29, Z:3.43 [[ 9.99955149e-01 -9.31325189e-03 1.72134880e-03 3.95118489e+02] [ 9.31342300e-03 9.99956625e-01 -9.14148170e-05 -1.62862548e+01] [-1.72042276e-03 1.07442366e-04 9.99998514e-01 3.42655816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.110714057 meters Centerline goodness [0,1] 0.9821292945539025 Centerline is valid? [True, True] Translation: X:395.15, Y:-16.29, Z:3.43 [[ 9.99960426e-01 -8.85232085e-03 8.85036062e-04 3.95149014e+02] [ 8.85236588e-03 9.99960816e-01 -4.69793257e-05 -1.62920334e+01] [-8.84585506e-04 5.48121296e-05 9.99999607e-01 3.42531255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.140714057 meters Centerline goodness [0,1] 0.9825545032165832 Centerline is valid? [True, True] Translation: X:395.18, Y:-16.29, Z:3.42 [[ 9.99970219e-01 -7.71496853e-03 1.99660974e-04 3.95181741e+02] [ 7.71497075e-03 9.99970239e-01 -1.03600808e-05 -1.62895287e+01] [-1.99575104e-04 1.19001509e-05 9.99999980e-01 3.42428047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.170714057 meters Centerline goodness [0,1] 0.9826897767070423 Centerline is valid? [True, True] Translation: X:395.21, Y:-16.29, Z:3.42 [[ 9.99981579e-01 -6.06974020e-03 -1.74249260e-05 3.95212495e+02] [ 6.06974022e-03 9.99981579e-01 1.08209169e-06 -1.62933297e+01] [ 1.74180370e-05 -1.18783653e-06 1.00000000e+00 3.42371177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.200714057 meters Centerline goodness [0,1] 0.9822143672117944 Centerline is valid? [True, True] Translation: X:395.24, Y:-16.29, Z:3.42 [[ 9.99985055e-01 -5.46305114e-03 -2.12877608e-04 3.95244645e+02] [ 5.46305375e-03 9.99985077e-01 1.16909606e-05 -1.62937655e+01] [ 2.12810563e-04 -1.28537477e-05 9.99999977e-01 3.42392772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.230714057 meters Centerline goodness [0,1] 0.9820243858705398 Centerline is valid? [True, True] Translation: X:395.28, Y:-16.30, Z:3.42 [[ 9.99995722e-01 -2.90365096e-03 3.53091600e-04 3.95275461e+02] [ 2.90365777e-03 9.99995784e-01 -1.87592642e-05 -1.62958102e+01] [-3.53035641e-04 1.97844412e-05 9.99999937e-01 3.42456162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26071405700003 meters Centerline goodness [0,1] 0.9818071830260121 Centerline is valid? [True, True] Translation: X:395.31, Y:-16.30, Z:3.42 [[ 9.99998658e-01 -1.52476689e-03 5.99881154e-04 3.95306610e+02] [ 1.52478640e-03 9.99998837e-01 -3.20605991e-05 -1.62961626e+01] [-5.99831572e-04 3.29752467e-05 9.99999820e-01 3.42459629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.290714057 meters Centerline goodness [0,1] 0.9814909910915627 Centerline is valid? [True, True] Translation: X:395.34, Y:-16.30, Z:3.43 [[ 9.99998166e-01 9.11407679e-04 1.68465114e-03 3.95336348e+02] [-9.11256942e-04 9.99999581e-01 -9.02421645e-05 -1.62981105e+01] [-1.68473268e-03 8.87068489e-05 9.99998577e-01 3.42525305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32071405700003 meters Centerline goodness [0,1] 0.9830163347505034 Centerline is valid? [True, True] Translation: X:395.37, Y:-16.30, Z:3.43 [[ 9.99994966e-01 1.91822262e-03 2.52759251e-03 3.95366536e+02] [-1.91788650e-03 9.99998152e-01 -1.35396233e-04 -1.62974633e+01] [-2.52784756e-03 1.30547916e-04 9.99996796e-01 3.42568879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.350714057 meters Centerline goodness [0,1] 0.981478999106345 Centerline is valid? [True, True] Translation: X:395.40, Y:-16.30, Z:3.43 [[ 9.99991895e-01 2.78252470e-03 2.90992026e-03 3.95396846e+02] [-2.78208311e-03 9.99996118e-01 -1.55788712e-04 -1.63043176e+01] [-2.91034245e-03 1.47691809e-04 9.99995754e-01 3.42557902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.380714057 meters Centerline goodness [0,1] 0.9824104379578296 Centerline is valid? [True, True] Translation: X:395.43, Y:-16.31, Z:3.43 [[ 9.99993290e-01 2.63909947e-03 2.54066407e-03 3.95426954e+02] [-2.63876175e-03 9.99996509e-01 -1.36271907e-04 -1.63069734e+01] [-2.54101483e-03 1.29566785e-04 9.99996763e-01 3.42511731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.410714057 meters Centerline goodness [0,1] 0.9806121993663826 Centerline is valid? [True, True] Translation: X:395.46, Y:-16.32, Z:3.42 [[ 9.99997824e-01 -1.25801897e-04 2.08247119e-03 3.95456603e+02] [ 1.26034425e-04 9.99999986e-01 -1.11528786e-04 -1.63155334e+01] [-2.08245713e-03 1.11791006e-04 9.99997825e-01 3.42295051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.440714057 meters Centerline goodness [0,1] 0.9812536222192502 Centerline is valid? [True, True] Translation: X:395.49, Y:-16.32, Z:3.42 [[ 9.99996764e-01 -1.34912929e-03 2.15680180e-03 3.95487838e+02] [ 1.34938215e-03 9.99999083e-01 -1.15787213e-04 -1.63198767e+01] [-2.15664361e-03 1.18697189e-04 9.99997667e-01 3.42239525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.470714057 meters Centerline goodness [0,1] 0.9827651557378877 Centerline is valid? [True, True] Translation: X:395.52, Y:-16.32, Z:3.42 [[ 9.99995169e-01 -2.30991886e-03 2.07993966e-03 3.95518983e+02] [ 2.31015622e-03 9.99997325e-01 -1.11721403e-04 -1.63178310e+01] [-2.07967603e-03 1.16525849e-04 9.99997831e-01 3.42199102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.500714057 meters Centerline goodness [0,1] 0.9814036258480703 Centerline is valid? [True, True] Translation: X:395.55, Y:-16.32, Z:3.42 [[ 9.99993454e-01 -2.95518090e-03 2.08762895e-03 3.95549766e+02] [ 2.95542150e-03 9.99995626e-01 -1.12172344e-04 -1.63227458e+01] [-2.08728833e-03 1.18341433e-04 9.99997815e-01 3.42152246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.530714057 meters Centerline goodness [0,1] 0.9823713329046277 Centerline is valid? [True, True] Translation: X:395.58, Y:-16.33, Z:3.42 [[ 9.99986665e-01 -4.87480239e-03 1.70494975e-03 3.95581650e+02] [ 4.87496565e-03 9.99988113e-01 -9.16145769e-05 -1.63255199e+01] [-1.70448288e-03 9.99249266e-05 9.99998542e-01 3.42109380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.560714057 meters Centerline goodness [0,1] 0.9817289761122459 Centerline is valid? [True, True] Translation: X:395.61, Y:-16.33, Z:3.42 [[ 9.99974026e-01 -7.17987336e-03 6.30216919e-04 3.95611070e+02] [ 7.17989600e-03 9.99974224e-01 -3.36748677e-05 -1.63321518e+01] [-6.29958893e-04 3.81988850e-05 9.99999801e-01 3.42032623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.590714057 meters Centerline goodness [0,1] 0.981562423731446 Centerline is valid? [True, True] Translation: X:395.64, Y:-16.33, Z:3.42 [[ 9.99966347e-01 -8.18763720e-03 5.17552917e-04 3.95643631e+02] [ 8.18765262e-03 9.99966480e-01 -2.76812339e-05 -1.63332960e+01] [-5.17308925e-04 3.19178459e-05 9.99999866e-01 3.42009739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.620714057 meters Centerline goodness [0,1] 0.9817246273953159 Centerline is valid? [True, True] Translation: X:395.67, Y:-16.34, Z:3.42 [[ 9.99943750e-01 -1.06061974e-02 7.80206151e-05 3.95672903e+02] [ 1.06061977e-02 9.99943753e-01 -4.21819876e-06 -1.63405459e+01] [-7.79714876e-05 5.04546355e-06 9.99999997e-01 3.41906037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.650714057 meters Centerline goodness [0,1] 0.9810889903782202 Centerline is valid? [True, True] Translation: X:395.71, Y:-16.34, Z:3.42 [[ 9.99930202e-01 -1.18118022e-02 -2.70740816e-04 3.95705210e+02] [ 1.18118067e-02 9.99930238e-01 1.49501590e-05 -1.63446967e+01] [ 2.70545340e-04 -1.81470537e-05 9.99999963e-01 3.41875944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.680714057 meters Centerline goodness [0,1] 0.9799591183789549 Centerline is valid? [True, True] Translation: X:395.73, Y:-16.35, Z:3.42 [[ 9.99883650e-01 -1.52324516e-02 -8.12174545e-04 3.95734320e+02] [ 1.52324922e-02 9.99883978e-01 4.39028749e-05 -1.63521582e+01] [ 8.11411566e-04 -5.62692092e-05 9.99999669e-01 3.41823190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.710714057 meters Centerline goodness [0,1] 0.9798013245033113 Centerline is valid? [True, True] Translation: X:395.77, Y:-16.36, Z:3.42 [[ 9.99859799e-01 -1.67092219e-02 -1.08777898e-03 3.95765945e+02] [ 1.67092961e-02 9.99860388e-01 5.91433248e-05 -1.63557153e+01] [ 1.08663888e-03 -7.73110541e-05 9.99999407e-01 3.41810966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.740714057 meters Centerline goodness [0,1] 0.9797586092348577 Centerline is valid? [True, True] Translation: X:395.80, Y:-16.36, Z:3.42 [[ 9.99826222e-01 -1.86071162e-02 -1.14027487e-03 3.95797467e+02] [ 1.86071989e-02 9.99826869e-01 6.19589467e-05 -1.63559292e+01] [ 1.13892458e-03 -8.31655009e-05 9.99999348e-01 3.41835212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.770714057 meters Centerline goodness [0,1] 0.9790727123275498 Centerline is valid? [True, True] Translation: X:395.83, Y:-16.36, Z:3.42 [[ 9.99752978e-01 -2.22110180e-02 -8.08533125e-04 3.95826564e+02] [ 2.22110606e-02 9.99753303e-01 4.37578077e-05 -1.63622037e+01] [ 8.07361757e-04 -6.17053768e-05 9.99999672e-01 3.41867492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.800714057 meters Centerline goodness [0,1] 0.9792341482894795 Centerline is valid? [True, True] Translation: X:395.86, Y:-16.36, Z:3.42 [[ 9.99670543e-01 -2.56565141e-02 -7.41368994e-04 3.95856629e+02] [ 2.56565510e-02 9.99670816e-01 4.01953165e-05 -1.63646716e+01] [ 7.40093675e-04 -5.92030452e-05 9.99999724e-01 3.41914312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.830714057 meters Centerline goodness [0,1] 0.9774829735785434 Centerline is valid? [True, True] Translation: X:395.89, Y:-16.37, Z:3.42 [[ 9.99636582e-01 -2.69448476e-02 -8.23800582e-04 3.95887830e+02] [ 2.69448937e-02 9.99636919e-01 4.49092616e-05 -1.63706036e+01] [ 8.22291403e-04 -6.70901599e-05 9.99999660e-01 3.41892697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.860714057 meters Centerline goodness [0,1] 0.9791029561671764 Centerline is valid? [True, True] Translation: X:395.92, Y:-16.37, Z:3.42 [[ 9.99584922e-01 -2.87548690e-02 -1.77217447e-03 3.95919260e+02] [ 2.87550847e-02 9.99586482e-01 9.63504098e-05 -1.63680825e+01] [ 1.76867110e-03 -1.47269444e-04 9.99998425e-01 3.41848295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.890714057 meters Centerline goodness [0,1] 0.9808894603822108 Centerline is valid? [True, True] Translation: X:395.95, Y:-16.36, Z:3.42 [[ 9.99576678e-01 -2.90166875e-02 -2.12040509e-03 3.95951676e+02] [ 2.90169975e-02 9.99578912e-01 1.15568938e-04 -1.63644066e+01] [ 2.11615878e-03 -1.77047804e-04 9.99997745e-01 3.41867878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.920714057 meters Centerline goodness [0,1] 0.9789725845089167 Centerline is valid? [True, True] Translation: X:395.98, Y:-16.37, Z:3.42 [[ 9.99574149e-01 -2.90453316e-02 -2.80877698e-03 3.95983048e+02] [ 2.90458756e-02 9.99578068e-01 1.53063631e-04 -1.63673122e+01] [ 2.80314609e-03 -2.34581835e-04 9.99996044e-01 3.41850294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.950714057 meters Centerline goodness [0,1] 0.9781117209631728 Centerline is valid? [True, True] Translation: X:396.02, Y:-16.37, Z:3.42 [[ 9.99592327e-01 -2.84304573e-02 -2.62481773e-03 3.96015292e+02] [ 2.84309310e-02 9.99595749e-01 1.43310689e-04 -1.63693368e+01] [ 2.61968226e-03 -2.17878277e-04 9.99996545e-01 3.41852236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.980714057 meters Centerline goodness [0,1] 0.9799261959807932 Centerline is valid? [True, True] Translation: X:396.05, Y:-16.37, Z:3.42 [[ 9.99637833e-01 -2.67979145e-02 -2.46469471e-03 3.96046809e+02] [ 2.67983271e-02 9.99640851e-01 1.34527368e-04 -1.63675010e+01] [ 2.46020447e-03 -2.00528342e-04 9.99996954e-01 3.41914751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.01071405700003 meters Centerline goodness [0,1] 0.9798754405017842 Centerline is valid? [True, True] Translation: X:396.08, Y:-16.37, Z:3.42 [[ 9.99704906e-01 -2.41227589e-02 -2.86246968e-03 3.96076443e+02] [ 2.41233036e-02 9.99708979e-01 1.55938875e-04 -1.63661901e+01] [ 2.85787496e-03 -2.24945084e-04 9.99995891e-01 3.41933702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.040714057 meters Centerline goodness [0,1] 0.9796566504541719 Centerline is valid? [True, True] Translation: X:396.11, Y:-16.36, Z:3.42 [[ 9.99739494e-01 -2.25722717e-02 -3.38172474e-03 3.96108401e+02] [ 2.25730252e-02 9.99745180e-01 1.84826408e-04 -1.63644829e+01] [ 3.37669106e-03 -2.61114017e-04 9.99994265e-01 3.41936284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.07071405700003 meters Centerline goodness [0,1] 0.9806081876541016 Centerline is valid? [True, True] Translation: X:396.14, Y:-16.36, Z:3.42 [[ 9.99776376e-01 -2.07866752e-02 -3.88755305e-03 3.96139101e+02] [ 2.07876575e-02 9.99783891e-01 2.12433776e-04 -1.63645859e+01] [ 3.88229712e-03 -2.93199392e-04 9.99992421e-01 3.41893976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.100714057 meters Centerline goodness [0,1] 0.9812483317021087 Centerline is valid? [True, True] Translation: X:396.17, Y:-16.36, Z:3.42 [[ 9.99842314e-01 -1.70246077e-02 -5.05071786e-03 3.96169783e+02] [ 1.70262172e-02 9.99855005e-01 2.75831201e-04 -1.63614482e+01] [ 5.04528961e-03 -3.61782326e-04 9.99987207e-01 3.41859010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.130714057 meters Centerline goodness [0,1] 0.9806121313299945 Centerline is valid? [True, True] Translation: X:396.20, Y:-16.36, Z:3.42 [[ 9.99873998e-01 -1.48497326e-02 -5.61007368e-03 3.96200062e+02] [ 1.48516851e-02 9.99889661e-01 3.06536041e-04 -1.63620674e+01] [ 5.60490269e-03 -3.89816465e-04 9.99984216e-01 3.41834214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.160714057 meters Centerline goodness [0,1] 0.9804773684562412 Centerline is valid? [True, True] Translation: X:396.23, Y:-16.36, Z:3.42 [[ 9.99925999e-01 -1.07144645e-02 -5.76170382e-03 3.96230986e+02] [ 1.07164553e-02 9.99942528e-01 3.14759144e-04 -1.63585919e+01] [ 5.75800020e-03 -3.76480893e-04 9.99983352e-01 3.41824918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.190714057 meters Centerline goodness [0,1] 0.983404902487028 Centerline is valid? [True, True] Translation: X:396.26, Y:-16.35, Z:3.42 [[ 9.99960884e-01 -6.21724897e-03 -6.29095382e-03 3.96262560e+02] [ 6.21953382e-03 9.99980599e-01 3.43697351e-04 -1.63494098e+01] [ 6.28869492e-03 -3.82810707e-04 9.99980153e-01 3.41927577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.220714057 meters Centerline goodness [0,1] 0.9827671208318394 Centerline is valid? [True, True] Translation: X:396.29, Y:-16.35, Z:3.42 [[ 9.99968520e-01 -4.19188989e-03 -6.73692013e-03 3.96291801e+02] [ 4.19446166e-03 9.99991136e-01 3.67658562e-04 -1.63493499e+01] [ 6.73531923e-03 -3.95904742e-04 9.99977239e-01 3.41942061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.250714057 meters Centerline goodness [0,1] 0.9845947456679709 Centerline is valid? [True, True] Translation: X:396.32, Y:-16.35, Z:3.42 [[ 9.99976999e-01 -1.68419743e-03 -6.56999171e-03 3.96322172e+02] [ 1.68658907e-03 9.99998513e-01 3.58501105e-04 -1.63470233e+01] [ 6.56937816e-03 -3.69573736e-04 9.99978353e-01 3.41963312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.280714057 meters Centerline goodness [0,1] 0.9846278317152104 Centerline is valid? [True, True] Translation: X:396.35, Y:-16.35, Z:3.42 [[ 9.99973838e-01 2.25256898e-03 -6.87375002e-03 3.96351179e+02] [-2.25004597e-03 9.99997398e-01 3.74760777e-04 -1.63454473e+01] [ 6.87457631e-03 -3.59284719e-04 9.99976305e-01 3.41956648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.310714057 meters Centerline goodness [0,1] 0.9843995158470435 Centerline is valid? [True, True] Translation: X:396.38, Y:-16.35, Z:3.42 [[ 9.99969186e-01 4.16067978e-03 -6.65695540e-03 3.96380243e+02] [-4.15837118e-03 9.99991289e-01 3.60598664e-04 -1.63458072e+01] [ 6.65839774e-03 -3.32905461e-04 9.99977777e-01 3.41986178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.340714057 meters Centerline goodness [0,1] 0.9852057742311485 Centerline is valid? [True, True] Translation: X:396.41, Y:-16.34, Z:3.42 [[ 9.99956410e-01 7.05530408e-03 -6.11559695e-03 3.96410439e+02] [-7.05340731e-03 9.99975069e-01 3.31666297e-04 -1.63425911e+01] [ 6.11778449e-03 -2.88516043e-04 9.99981245e-01 3.42060649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.370714057 meters Centerline goodness [0,1] 0.9838742189074783 Centerline is valid? [True, True] Translation: X:396.44, Y:-16.35, Z:3.42 [[ 9.99951410e-01 7.99366965e-03 -5.76875003e-03 3.96437890e+02] [-7.99200154e-03 9.99968015e-01 3.12157026e-04 -1.63453620e+01] [ 5.77106079e-03 -2.66037999e-04 9.99983312e-01 3.42059936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.400714057 meters Centerline goodness [0,1] 0.9850033624747815 Centerline is valid? [True, True] Translation: X:396.47, Y:-16.35, Z:3.42 [[ 9.99946433e-01 9.06892399e-03 -4.98863523e-03 3.96465355e+02] [-9.06769225e-03 9.99958851e-01 2.69471294e-04 -1.63476784e+01] [ 4.99087377e-03 -2.24221450e-04 9.99987520e-01 3.42103718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.430714057 meters Centerline goodness [0,1] 0.9855936190710909 Centerline is valid? [True, True] Translation: X:396.49, Y:-16.35, Z:3.42 [[ 9.99953169e-01 8.67172319e-03 -4.29666061e-03 3.96494358e+02] [-8.67080706e-03 9.99962381e-01 2.31802237e-04 -1.63476815e+01] [ 4.29850909e-03 -1.94535867e-04 9.99990742e-01 3.42182853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.460714057 meters Centerline goodness [0,1] 0.9842385325220593 Centerline is valid? [True, True] Translation: X:396.52, Y:-16.36, Z:3.42 [[ 9.99965215e-01 7.33329367e-03 -3.97390860e-03 3.96522196e+02] [-7.33250122e-03 9.99973094e-01 2.13946060e-04 -1.63552104e+01] [ 3.97537060e-03 -1.84799928e-04 9.99992081e-01 3.42075269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.490714057 meters Centerline goodness [0,1] 0.9839312490208805 Centerline is valid? [True, True] Translation: X:396.55, Y:-16.36, Z:3.42 [[ 9.99972514e-01 6.16678343e-03 -4.11615327e-03 3.96550753e+02] [-6.16592409e-03 9.99980966e-01 2.21429991e-04 -1.63591002e+01] [ 4.11744044e-03 -1.96044016e-04 9.99991504e-01 3.42015919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.520714057 meters Centerline goodness [0,1] 0.9843883373017656 Centerline is valid? [True, True] Translation: X:396.58, Y:-16.36, Z:3.42 [[ 9.99986477e-01 1.59874831e-03 -4.94875269e-03 3.96581358e+02] [-1.59744869e-03 9.99998689e-01 2.66557960e-04 -1.63593410e+01] [ 4.94917236e-03 -2.58648977e-04 9.99987719e-01 3.42019016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.550714057 meters Centerline goodness [0,1] 0.9833374282459628 Centerline is valid? [True, True] Translation: X:396.61, Y:-16.36, Z:3.42 [[ 9.99986562e-01 -5.04592424e-04 -5.15964813e-03 3.96609796e+02] [ 5.06030543e-04 9.99999833e-01 2.77422593e-04 -1.63637611e+01] [ 5.15950729e-03 -2.80029804e-04 9.99986650e-01 3.41959307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.580714057 meters Centerline goodness [0,1] 0.9826922215753885 Centerline is valid? [True, True] Translation: X:396.64, Y:-16.37, Z:3.42 [[ 9.99976410e-01 -4.28657145e-03 -5.36694220e-03 3.96639947e+02] [ 4.28818298e-03 9.99990764e-01 2.88798497e-04 -1.63704608e+01] [ 5.36565467e-03 -3.11806114e-04 9.99985556e-01 3.41883032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.610714057 meters Centerline goodness [0,1] 0.9830178547456034 Centerline is valid? [True, True] Translation: X:396.67, Y:-16.38, Z:3.42 [[ 9.99955117e-01 -7.71481864e-03 -5.49967160e-03 3.96668561e+02] [ 7.71656270e-03 9.99970183e-01 2.95971928e-04 -1.63785067e+01] [ 5.49722425e-03 -3.38397205e-04 9.99984833e-01 3.41754893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.640714057 meters Centerline goodness [0,1] 0.9822565867393684 Centerline is valid? [True, True] Translation: X:396.70, Y:-16.38, Z:3.42 [[ 9.99944140e-01 -9.28335311e-03 -5.05330252e-03 3.96698881e+02] [ 9.28484544e-03 9.99956858e-01 2.71937627e-04 -1.63826085e+01] [ 5.05056001e-03 -3.18841569e-04 9.99987195e-01 3.41703590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.670714057 meters Centerline goodness [0,1] 0.9822565867393684 Centerline is valid? [True, True] Translation: X:396.73, Y:-16.38, Z:3.42 [[ 9.99944458e-01 -9.24910928e-03 -5.05328549e-03 3.96729743e+02] [ 9.25060277e-03 9.99957175e-01 2.72253851e-04 -1.63843011e+01] [ 5.05055098e-03 -3.18984666e-04 9.99987195e-01 3.41690649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.700714057 meters Centerline goodness [0,1] 0.9813224175725853 Centerline is valid? [True, True] Translation: X:396.76, Y:-16.39, Z:3.42 [[ 9.99915801e-01 -1.21903257e-02 -4.44833774e-03 3.96759782e+02] [ 1.21915125e-02 9.99925652e-01 2.39759156e-04 -1.63919326e+01] [ 4.44508428e-03 -2.93970934e-04 9.99990077e-01 3.41663933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.730714057 meters Centerline goodness [0,1] 0.981271650463739 Centerline is valid? [True, True] Translation: X:396.79, Y:-16.39, Z:3.42 [[ 9.99899382e-01 -1.35714347e-02 -4.12829994e-03 3.96791098e+02] [ 1.35724693e-02 9.99907865e-01 2.22695767e-04 -1.63921454e+01] [ 4.12489728e-03 -2.78704584e-04 9.99991454e-01 3.41684557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76071405700003 meters Centerline goodness [0,1] 0.9816544511977119 Centerline is valid? [True, True] Translation: X:396.82, Y:-16.39, Z:3.42 [[ 9.99865386e-01 -1.59594428e-02 -3.80863614e-03 3.96822199e+02] [ 1.59603407e-02 9.99872605e-01 2.05458366e-04 -1.63941200e+01] [ 3.80487193e-03 -2.66217839e-04 9.99992726e-01 3.41716660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.790714057 meters Centerline goodness [0,1] 0.9817983092056836 Centerline is valid? [True, True] Translation: X:396.85, Y:-16.39, Z:3.42 [[ 9.99850128e-01 -1.68186790e-02 -4.10520152e-03 3.96854116e+02] [ 1.68197309e-02 9.99858514e-01 2.21829926e-04 -1.63920803e+01] [ 4.10088980e-03 -2.90845064e-04 9.99991549e-01 3.41757625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82071405700003 meters Centerline goodness [0,1] 0.981689795736529 Centerline is valid? [True, True] Translation: X:396.88, Y:-16.40, Z:3.42 [[ 9.99815604e-01 -1.86836664e-02 -4.43598958e-03 3.96884553e+02] [ 1.86849124e-02 9.99825393e-01 2.39612954e-04 -1.63953510e+01] [ 4.43073818e-03 -3.22454847e-04 9.99990132e-01 3.41716700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.850714057 meters Centerline goodness [0,1] 0.9822576325656133 Centerline is valid? [True, True] Translation: X:396.92, Y:-16.40, Z:3.42 [[ 9.99797413e-01 -1.95994988e-02 -4.58182710e-03 3.96916207e+02] [ 1.96008395e-02 9.99807854e-01 2.47882198e-04 -1.63974772e+01] [ 4.57608836e-03 -3.37639638e-04 9.99989473e-01 3.41678913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.880714057 meters Centerline goodness [0,1] 0.981273993393447 Centerline is valid? [True, True] Translation: X:396.95, Y:-16.40, Z:3.42 [[ 9.99740279e-01 -2.22796233e-02 -4.79503098e-03 3.96946537e+02] [ 2.22811219e-02 9.99751711e-01 2.59340613e-04 -1.64016145e+01] [ 4.78806242e-03 -3.66111926e-04 9.99988470e-01 3.41589231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.910714057 meters Centerline goodness [0,1] 0.980734887043486 Centerline is valid? [True, True] Translation: X:396.98, Y:-16.40, Z:3.42 [[ 9.99703805e-01 -2.37969046e-02 -5.09999409e-03 3.96976369e+02] [ 2.37986233e-02 9.99716734e-01 2.76563793e-04 -1.64049250e+01] [ 5.09196808e-03 -3.97854715e-04 9.99986957e-01 3.41543647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.940714057 meters Centerline goodness [0,1] 0.9808829106158959 Centerline is valid? [True, True] Translation: X:397.01, Y:-16.40, Z:3.42 [[ 9.99666438e-01 -2.52742869e-02 -5.31255364e-03 3.97007390e+02] [ 2.52761714e-02 9.99680465e-01 2.87879887e-04 -1.64035250e+01] [ 5.30358014e-03 -4.22064878e-04 9.99985847e-01 3.41546876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.970714057 meters Centerline goodness [0,1] 0.9798375366437666 Centerline is valid? [True, True] Translation: X:397.04, Y:-16.41, Z:3.42 [[ 9.99595444e-01 -2.77700243e-02 -6.14602571e-03 3.97036853e+02] [ 2.77725967e-02 9.99614211e-01 3.33589826e-04 -1.64070997e+01] [ 6.13439085e-03 -5.04145964e-04 9.99981057e-01 3.41531779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.000714057 meters Centerline goodness [0,1] 0.9804272853495768 Centerline is valid? [True, True] Translation: X:397.07, Y:-16.40, Z:3.42 [[ 9.99558717e-01 -2.89759312e-02 -6.53956146e-03 3.97069051e+02] [ 2.89788725e-02 9.99579961e-01 3.55436777e-04 -1.64042286e+01] [ 6.52651548e-03 -5.44789047e-04 9.99978554e-01 3.41564162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.030714057 meters Centerline goodness [0,1] 0.9802646333258578 Centerline is valid? [True, True] Translation: X:397.10, Y:-16.41, Z:3.42 [[ 9.99539953e-01 -2.96962318e-02 -6.16569008e-03 3.97100967e+02] [ 2.96988627e-02 9.99558835e-01 3.35562344e-04 -1.64058908e+01] [ 6.15300506e-03 -5.18521953e-04 9.99980936e-01 3.41604871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.060714057 meters Centerline goodness [0,1] 0.9791825393268498 Centerline is valid? [True, True] Translation: X:397.13, Y:-16.40, Z:3.42 [[ 9.99524801e-01 -3.02353303e-02 -5.99982127e-03 3.97133259e+02] [ 3.02378338e-02 9.99542679e-01 3.26970176e-04 -1.64048813e+01] [ 5.98719138e-03 -5.08236398e-04 9.99981947e-01 3.41667273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.090714057 meters Centerline goodness [0,1] 0.9779480973510825 Centerline is valid? [True, True] Translation: X:397.16, Y:-16.41, Z:3.42 [[ 9.99522973e-01 -3.05369386e-02 -4.61761965e-03 3.97164760e+02] [ 3.05384258e-02 9.99533562e-01 2.51880926e-04 -1.64077675e+01] [ 4.60777415e-03 -3.92775607e-04 9.99989307e-01 3.41786790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.120714057 meters Centerline goodness [0,1] 0.9784783882453689 Centerline is valid? [True, True] Translation: X:397.20, Y:-16.41, Z:3.42 [[ 9.99525228e-01 -3.05056661e-02 -4.32689485e-03 3.97198316e+02] [ 3.05069745e-02 9.99534526e-01 2.36699241e-04 -1.64067238e+01] [ 4.31766012e-03 -3.68587334e-04 9.99990611e-01 3.41894648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.150714057 meters Centerline goodness [0,1] 0.9782057324983727 Centerline is valid? [True, True] Translation: X:397.23, Y:-16.40, Z:3.42 [[ 9.99559608e-01 -2.94437329e-02 -3.69535897e-03 3.97229702e+02] [ 2.94446796e-02 9.99566391e-01 2.02053296e-04 -1.64039837e+01] [ 3.68780743e-03 -3.10772975e-04 9.99993152e-01 3.41948856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.180714057 meters Centerline goodness [0,1] 0.9775445723313022 Centerline is valid? [True, True] Translation: X:397.26, Y:-16.41, Z:3.42 [[ 9.99564156e-01 -2.92729936e-02 -3.81974737e-03 3.97261548e+02] [ 2.92740085e-02 9.99571402e-01 2.10041548e-04 -1.64067392e+01] [ 3.81196169e-03 -3.21769319e-04 9.99992683e-01 3.41927729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.210714057 meters Centerline goodness [0,1] 0.9790495541257478 Centerline is valid? [True, True] Translation: X:397.29, Y:-16.41, Z:3.42 [[ 9.99570857e-01 -2.90057810e-02 -4.09460549e-03 3.97294328e+02] [ 2.90069448e-02 9.99579185e-01 2.25106120e-04 -1.64062517e+01] [ 4.08635304e-03 -3.43781513e-04 9.99991592e-01 3.41921898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.240714057 meters Centerline goodness [0,1] 0.9763018185925675 Centerline is valid? [True, True] Translation: X:397.33, Y:-16.41, Z:3.42 [[ 9.99583941e-01 -2.84307585e-02 -4.86184569e-03 3.97325904e+02] [ 2.84323957e-02 9.99595682e-01 2.67949371e-04 -1.64064298e+01] [ 4.85226196e-03 -4.06071809e-04 9.99988145e-01 3.41817827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.270714057 meters Centerline goodness [0,1] 0.7791244649743612 Centerline is valid? [True, False] Translation: X:397.40, Y:-16.41, Z:3.42 [[ 9.99496293e-01 -3.12408596e-02 -5.58289773e-03 3.97398946e+02] [ 3.12303646e-02 9.99510297e-01 -1.95727555e-03 -1.64056024e+01] [ 5.64131074e-03 1.78193372e-03 9.99982500e-01 3.41830052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.300714057 meters Centerline goodness [0,1] 0.978258904357259 Centerline is valid? [False, True] Translation: X:397.31, Y:-16.40, Z:3.42 [[ 9.99630358e-01 -2.66829779e-02 -5.21212822e-03 3.97312790e+02] [ 2.66615256e-02 9.99635934e-01 -4.14286248e-03 -1.63995960e+01] [ 5.32077456e-03 4.00236781e-03 9.99977835e-01 3.41626731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.330714057 meters Centerline goodness [0,1] 0.9694207586004117 Centerline is valid? [True, True] Translation: X:397.34, Y:-16.41, Z:3.41 [[ 9.99632440e-01 -2.65011328e-02 -5.71618129e-03 3.97343926e+02] [ 2.65033862e-02 9.99648673e-01 3.18805780e-04 -1.64051656e+01] [ 5.70572433e-03 -4.70186760e-04 9.99983612e-01 3.41345920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.360714057 meters Centerline goodness [0,1] 0.9671750512178465 Centerline is valid? [True, True] Translation: X:397.37, Y:-16.40, Z:3.41 [[ 9.99664471e-01 -2.51726938e-02 -6.10585089e-03 3.97374957e+02] [ 2.51752406e-02 9.99682995e-01 3.40598882e-04 -1.64032569e+01] [ 6.09534151e-03 -4.94200867e-04 9.99981301e-01 3.41333220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.390714057 meters Centerline goodness [0,1] 0.9763994361329635 Centerline is valid? [True, True] Translation: X:397.41, Y:-16.40, Z:3.41 [[ 9.99675698e-01 -2.47166131e-02 -6.13096354e-03 3.97407107e+02] [ 2.47191763e-02 9.99694376e-01 3.42631518e-04 -1.63989111e+01] [ 6.12062108e-03 -4.94072770e-04 9.99981147e-01 3.41422372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.420714057 meters Centerline goodness [0,1] 0.9806961232898541 Centerline is valid? [True, True] Translation: X:397.44, Y:-16.39, Z:3.42 [[ 9.99688875e-01 -2.42110178e-02 -5.99824365e-03 3.97440020e+02] [ 2.42134648e-02 9.99706755e-01 3.35662763e-04 -1.63894045e+01] [ 5.98835796e-03 -4.80796592e-04 9.99981954e-01 3.41561817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.450714057 meters Centerline goodness [0,1] 0.980451196423276 Centerline is valid? [True, True] Translation: X:397.47, Y:-16.38, Z:3.42 [[ 9.99685150e-01 -2.43540382e-02 -6.03995652e-03 3.97472044e+02] [ 2.43565233e-02 9.99703279e-01 3.38216145e-04 -1.63846973e+01] [ 6.02992741e-03 -4.85222000e-04 9.99981702e-01 3.41610786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.480714057 meters Centerline goodness [0,1] 0.9808008401059264 Centerline is valid? [True, True] Translation: X:397.50, Y:-16.39, Z:3.42 [[ 9.99686644e-01 -2.44122212e-02 -5.53687865e-03 3.97502992e+02] [ 2.44143122e-02 9.99701878e-01 3.10369788e-04 -1.63863273e+01] [ 5.52765117e-03 -4.45451616e-04 9.99984623e-01 3.41576940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.51071405700003 meters Centerline goodness [0,1] 0.9800392819622711 Centerline is valid? [True, True] Translation: X:397.54, Y:-16.38, Z:3.42 [[ 9.99682174e-01 -2.49109947e-02 -3.87222739e-03 3.97535603e+02] [ 2.49120231e-02 9.99689624e-01 2.17560675e-04 -1.63828461e+01] [ 3.86560589e-03 -3.13956546e-04 9.99992479e-01 3.41684153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.540714057 meters Centerline goodness [0,1] 0.9796038884346325 Centerline is valid? [True, True] Translation: X:397.57, Y:-16.38, Z:3.42 [[ 9.99680442e-01 -2.50422215e-02 -3.44966392e-03 3.97566292e+02] [ 2.50430389e-02 9.99686355e-01 1.93933014e-04 -1.63849995e+01] [ 3.44372543e-03 -2.80261108e-04 9.99994031e-01 3.41739586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.57071405700003 meters Centerline goodness [0,1] 0.9797243056033396 Centerline is valid? [True, True] Translation: X:397.60, Y:-16.38, Z:3.42 [[ 9.99643167e-01 -2.65773583e-02 -2.67998284e-03 3.97597937e+02] [ 2.65778572e-02 9.99646735e-01 1.50725460e-04 -1.63799547e+01] [ 2.67503021e-03 -2.21899877e-04 9.99996397e-01 3.41893368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.600714057 meters Centerline goodness [0,1] 0.9787375415282392 Centerline is valid? [True, True] Translation: X:397.63, Y:-16.38, Z:3.42 [[ 9.99617592e-01 -2.75434755e-02 -2.45505094e-03 3.97628730e+02] [ 2.75438994e-02 9.99620585e-01 1.38998983e-04 -1.63822605e+01] [ 2.45029094e-03 -2.06567504e-04 9.99996977e-01 3.41830248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.630714057 meters Centerline goodness [0,1] 0.9778633301251203 Centerline is valid? [True, True] Translation: X:397.66, Y:-16.38, Z:3.42 [[ 9.99537020e-01 -3.02406683e-02 -3.35374575e-03 3.97659630e+02] [ 3.02414707e-02 9.99542604e-01 1.88791112e-04 -1.63840186e+01] [ 3.34650259e-03 -2.90125909e-04 9.99994358e-01 3.41660175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.660714057 meters Centerline goodness [0,1] 0.9772742892488144 Centerline is valid? [True, True] Translation: X:397.69, Y:-16.39, Z:3.42 [[ 9.99483499e-01 -3.18437909e-02 -4.32521775e-03 3.97689336e+02] [ 3.18451402e-02 9.99492785e-01 2.43434009e-04 -1.63878779e+01] [ 4.31527208e-03 -3.81045441e-04 9.99990617e-01 3.41542722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.690714057 meters Centerline goodness [0,1] 0.977659158364586 Centerline is valid? [True, True] Translation: X:397.72, Y:-16.39, Z:3.41 [[ 9.99419543e-01 -3.36831702e-02 -5.10107103e-03 3.97719939e+02] [ 3.36850718e-02 9.99432456e-01 2.87309073e-04 -1.63890982e+01] [ 5.08849847e-03 -4.58972247e-04 9.99986948e-01 3.41422126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.720714057 meters Centerline goodness [0,1] 0.9745502111253901 Centerline is valid? [True, True] Translation: X:397.75, Y:-16.39, Z:3.41 [[ 9.99302349e-01 -3.67311725e-02 -6.75538716e-03 3.97749227e+02] [ 3.67345765e-02 9.99324985e-01 3.80467370e-04 -1.63932471e+01] [ 6.73685216e-03 -6.28358223e-04 9.99977110e-01 3.41201675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.750714057 meters Centerline goodness [0,1] 0.9757748814074517 Centerline is valid? [True, True] Translation: X:397.78, Y:-16.39, Z:3.41 [[ 9.99255059e-01 -3.79291523e-02 -7.12088798e-03 3.97780295e+02] [ 3.79329660e-02 9.99280206e-01 4.01225336e-04 -1.63930532e+01] [ 7.10054427e-03 -6.71042848e-04 9.99974566e-01 3.41181763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.780714057 meters Centerline goodness [0,1] 0.9729368372521899 Centerline is valid? [True, True] Translation: X:397.81, Y:-16.40, Z:3.41 [[ 9.99201273e-01 -3.93628272e-02 -6.88363275e-03 3.97810830e+02] [ 3.93664256e-02 9.99224767e-01 3.87981932e-04 -1.63953705e+01] [ 6.86302427e-03 -6.58656057e-04 9.99976232e-01 3.41250588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.810714057 meters Centerline goodness [0,1] 0.9643817976959691 Centerline is valid? [True, True] Translation: X:397.84, Y:-16.40, Z:3.41 [[ 9.99217709e-01 -3.90534287e-02 -6.22897720e-03 3.97842090e+02] [ 3.90563798e-02 9.99236946e-01 3.52783900e-04 -1.63986092e+01] [ 6.21044674e-03 -5.95789220e-04 9.99980538e-01 3.41209609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.840714057 meters Centerline goodness [0,1] 0.9688574130891139 Centerline is valid? [True, True] Translation: X:397.87, Y:-16.40, Z:3.41 [[ 9.99286074e-01 -3.74371118e-02 -5.07983189e-03 3.97872593e+02] [ 3.74390499e-02 9.99298872e-01 2.86940851e-04 -1.63968640e+01] [ 5.06552804e-03 -4.76920076e-04 9.99987056e-01 3.41320973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.870714057 meters Centerline goodness [0,1] 0.9730384801828212 Centerline is valid? [True, True] Translation: X:397.90, Y:-16.39, Z:3.41 [[ 9.99328005e-01 -3.63782779e-02 -4.48985488e-03 3.97903795e+02] [ 3.63797832e-02 9.99338004e-01 2.54009949e-04 -1.63945455e+01] [ 4.47764217e-03 -4.17179203e-04 9.99989888e-01 3.41379031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.900714057 meters Centerline goodness [0,1] 0.9760562078210224 Centerline is valid? [True, True] Translation: X:397.94, Y:-16.39, Z:3.41 [[ 9.99416199e-01 -3.40290911e-02 -3.04671546e-03 3.97935437e+02] [ 3.40297734e-02 9.99420805e-01 1.72379375e-04 -1.63895395e+01] [ 3.03908490e-03 -2.75957776e-04 9.99995344e-01 3.41448328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.930714057 meters Centerline goodness [0,1] 0.9711994082703465 Centerline is valid? [True, True] Translation: X:397.97, Y:-16.40, Z:3.41 [[ 9.99451447e-01 -3.29472464e-02 -3.35904768e-03 3.97965338e+02] [ 3.29480699e-02 9.99457047e-01 1.90097350e-04 -1.63969882e+01] [ 3.35096069e-03 -3.00667209e-04 9.99994340e-01 3.41340276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.960714057 meters Centerline goodness [0,1] 0.9787140204271123 Centerline is valid? [True, True] Translation: X:398.00, Y:-16.39, Z:3.41 [[ 9.99504315e-01 -3.12488743e-02 -3.82523664e-03 3.97997756e+02] [ 3.12499327e-02 9.99511578e-01 2.17214344e-04 -1.63857645e+01] [ 3.81658060e-03 -3.36645061e-04 9.99992660e-01 3.41356871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.990714057 meters Centerline goodness [0,1] 0.9759443800695249 Centerline is valid? [True, True] Translation: X:398.03, Y:-16.39, Z:3.41 [[ 9.99527143e-01 -3.04433561e-02 -4.32345229e-03 3.98028847e+02] [ 3.04447049e-02 9.99536422e-01 2.46502709e-04 -1.63918683e+01] [ 4.31394366e-03 -3.78012378e-04 9.99990623e-01 3.41238926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.020714057 meters Centerline goodness [0,1] 0.9750718857248863 Centerline is valid? [True, True] Translation: X:398.06, Y:-16.40, Z:3.41 [[ 9.99538906e-01 -2.99109803e-02 -5.22576851e-03 3.98059916e+02] [ 2.99129409e-02 9.99552464e-01 2.97390393e-04 -1.63961331e+01] [ 5.21453455e-03 -4.53571373e-04 9.99986301e-01 3.41111773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.050714057 meters Centerline goodness [0,1] 0.9772505913454849 Centerline is valid? [True, True] Translation: X:398.09, Y:-16.39, Z:3.41 [[ 9.99532055e-01 -2.97799660e-02 -6.98751306e-03 3.98092361e+02] [ 2.97834715e-02 9.99556295e-01 3.98138128e-04 -1.63947071e+01] [ 6.97255612e-03 -6.06064217e-04 9.99975508e-01 3.40948115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.080714057 meters Centerline goodness [0,1] 0.9764306633815257 Centerline is valid? [True, True] Translation: X:398.12, Y:-16.40, Z:3.41 [[ 9.99517276e-01 -2.98651652e-02 -8.56076601e-03 3.98123676e+02] [ 2.98704320e-02 9.99553660e-01 4.88004470e-04 -1.63984785e+01] [ 8.54237067e-03 -7.43482678e-04 9.99963237e-01 3.40694179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.110714057 meters Centerline goodness [0,1] 0.9746188174042395 Centerline is valid? [True, True] Translation: X:398.15, Y:-16.40, Z:3.41 [[ 9.99521990e-01 -2.95320949e-02 -9.14583690e-03 3.98154949e+02] [ 2.95380966e-02 9.99563519e-01 5.21807214e-04 -1.64022713e+01] [ 9.12643486e-03 -7.91708398e-04 9.99958040e-01 3.40567548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.140714057 meters Centerline goodness [0,1] 0.977540355359424 Centerline is valid? [True, True] Translation: X:398.19, Y:-16.40, Z:3.41 [[ 9.99544638e-01 -2.88677801e-02 -8.78457053e-03 3.98186882e+02] [ 2.88733005e-02 9.99582953e-01 5.02216949e-04 -1.64024302e+01] [ 8.76640906e-03 -7.55627803e-04 9.99961289e-01 3.40618736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.170714057 meters Centerline goodness [0,1] 0.9750864088705374 Centerline is valid? [True, True] Translation: X:398.22, Y:-16.40, Z:3.41 [[ 9.99570947e-01 -2.80735245e-02 -8.35461030e-03 3.98217964e+02] [ 2.80784921e-02 9.99605607e-01 4.77873578e-04 -1.64042944e+01] [ 8.33789970e-03 -7.12253404e-04 9.99964985e-01 3.40624930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.200714057 meters Centerline goodness [0,1] 0.9752139136904762 Centerline is valid? [True, True] Translation: X:398.25, Y:-16.41, Z:3.41 [[ 9.99628956e-01 -2.60892654e-02 -7.82941855e-03 3.98247293e+02] [ 2.60935727e-02 9.99659404e-01 4.48474803e-04 -1.64051625e+01] [ 7.81505150e-03 -6.52605901e-04 9.99969249e-01 3.40722261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.230714057 meters Centerline goodness [0,1] 0.9763387876534028 Centerline is valid? [True, True] Translation: X:398.28, Y:-16.40, Z:3.41 [[ 9.99687899e-01 -2.42444802e-02 -6.02582252e-03 3.98277287e+02] [ 2.42469962e-02 9.99705939e-01 3.44820837e-04 -1.64049475e+01] [ 6.01569055e-03 -4.90821314e-04 9.99981785e-01 3.40841555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26071405700003 meters Centerline goodness [0,1] 0.9754334588388416 Centerline is valid? [True, True] Translation: X:398.31, Y:-16.41, Z:3.41 [[ 9.99706485e-01 -2.36390850e-02 -5.30445240e-03 3.98309688e+02] [ 2.36410305e-02 9.99720465e-01 3.04351943e-04 -1.64070576e+01] [ 5.29577503e-03 -4.29665333e-04 9.99985885e-01 3.40865829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.290714057 meters Centerline goodness [0,1] 0.973899349220686 Centerline is valid? [True, True] Translation: X:398.34, Y:-16.41, Z:3.41 [[ 9.99715953e-01 -2.34047644e-02 -4.49791643e-03 3.98342287e+02] [ 2.34061641e-02 9.99726005e-01 2.58786191e-04 -1.64098470e+01] [ 4.49062719e-03 -3.63991654e-04 9.99989851e-01 3.40881020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32071405700003 meters Centerline goodness [0,1] 0.9761877078343372 Centerline is valid? [True, True] Translation: X:398.38, Y:-16.41, Z:3.41 [[ 9.99718970e-01 -2.34173133e-02 -3.68922018e-03 3.98375182e+02] [ 2.34182571e-02 9.99725732e-01 2.12824474e-04 -1.64052150e+01] [ 3.68322457e-03 -2.99159770e-04 9.99993172e-01 3.40977776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.350714057 meters Centerline goodness [0,1] 0.9755230951440979 Centerline is valid? [True, True] Translation: X:398.41, Y:-16.41, Z:3.41 [[ 9.99711591e-01 -2.36917312e-02 -3.92889687e-03 3.98407431e+02] [ 2.36928037e-02 9.99719260e-01 2.26646497e-04 -1.64081204e+01] [ 3.92242423e-03 -3.19667713e-04 9.99992256e-01 3.40946599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.380714057 meters Centerline goodness [0,1] 0.975372080642548 Centerline is valid? [True, True] Translation: X:398.44, Y:-16.41, Z:3.41 [[ 9.99684142e-01 -2.45989914e-02 -5.14846073e-03 3.98438100e+02] [ 2.46008493e-02 9.99697309e-01 2.97839393e-04 -1.64110512e+01] [ 5.13957579e-03 -4.24401825e-04 9.99986702e-01 3.40742689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.410714057 meters Centerline goodness [0,1] 0.9762375776758908 Centerline is valid? [True, True] Translation: X:398.47, Y:-16.41, Z:3.41 [[ 9.99658110e-01 -2.54072868e-02 -6.17513716e-03 3.98470013e+02] [ 2.54099743e-02 9.99677051e-01 3.57146148e-04 -1.64129795e+01] [ 6.16406879e-03 -5.13934121e-04 9.99980870e-01 3.40655143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.440714057 meters Centerline goodness [0,1] 0.9313698185025299 Centerline is valid? [True, False] Translation: X:398.47, Y:-16.41, Z:3.40 [[ 9.99666453e-01 -2.50533744e-02 -6.26981026e-03 3.98471251e+02] [ 2.50624565e-02 9.99684943e-01 1.37418917e-03 -1.64146288e+01] [ 6.23340684e-03 -1.53086766e-03 9.99979400e-01 3.40476959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.470714057 meters Centerline goodness [0,1] 0.9716059718152644 Centerline is valid? [False, True] Translation: X:398.47, Y:-16.42, Z:3.40 [[ 9.99671139e-01 -2.48183855e-02 -6.45457007e-03 3.98471976e+02] [ 2.48307004e-02 9.99689987e-01 1.83484659e-03 -1.64153957e+01] [ 6.40703114e-03 -1.99451468e-03 9.99977486e-01 3.40417552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.500714057 meters Centerline goodness [0,1] 0.9720918343635265 Centerline is valid? [True, True] Translation: X:398.50, Y:-16.42, Z:3.40 [[ 9.99656789e-01 -2.51690514e-02 -7.26789871e-03 3.98502634e+02] [ 2.51728831e-02 9.99683018e-01 4.36185951e-04 -1.64156800e+01] [ 7.25461653e-03 -6.18990212e-04 9.99973493e-01 3.40477808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.530714057 meters Centerline goodness [0,1] 0.9722629094882704 Centerline is valid? [True, True] Translation: X:398.53, Y:-16.42, Z:3.40 [[ 9.99668023e-01 -2.48088729e-02 -6.95434458e-03 3.98534965e+02] [ 2.48123777e-02 9.99692038e-01 4.18135664e-04 -1.64155678e+01] [ 6.94182943e-03 -5.90550677e-04 9.99975731e-01 3.40478629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.560714057 meters Centerline goodness [0,1] 0.9722629094882704 Centerline is valid? [True, True] Translation: X:398.57, Y:-16.42, Z:3.40 [[ 9.99669735e-01 -2.47398104e-02 -6.95431556e-03 3.98566718e+02] [ 2.47433168e-02 9.99693750e-01 4.18618347e-04 -1.64175399e+01] [ 6.94182926e-03 -5.90552925e-04 9.99975731e-01 3.40452990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.590714057 meters Centerline goodness [0,1] 0.9724858126337333 Centerline is valid? [True, True] Translation: X:398.60, Y:-16.42, Z:3.40 [[ 9.99699854e-01 -2.36619586e-02 -6.34927558e-03 3.98597165e+02] [ 2.36648582e-02 9.99719875e-01 3.81935103e-04 -1.64191098e+01] [ 6.33845966e-03 -5.32075173e-04 9.99979770e-01 3.40440607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.620714057 meters Centerline goodness [0,1] 0.9707437516014069 Centerline is valid? [True, True] Translation: X:398.63, Y:-16.42, Z:3.40 [[ 9.99717175e-01 -2.31501592e-02 -5.44434374e-03 3.98628165e+02] [ 2.31522867e-02 9.99731896e-01 3.28069117e-04 -1.64220437e+01] [ 5.43528924e-03 -4.54025338e-04 9.99985126e-01 3.40409567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.650714057 meters Centerline goodness [0,1] 0.9744318181818182 Centerline is valid? [True, True] Translation: X:398.66, Y:-16.42, Z:3.41 [[ 9.99734009e-01 -2.26975984e-02 -4.09028280e-03 3.98660289e+02] [ 2.26987976e-02 9.99742319e-01 2.47016495e-04 -1.64178955e+01] [ 4.08362213e-03 -3.39795292e-04 9.99991604e-01 3.40549773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.680714057 meters Centerline goodness [0,1] 0.9738260200153964 Centerline is valid? [True, True] Translation: X:398.69, Y:-16.42, Z:3.41 [[ 9.99737439e-01 -2.26020357e-02 -3.76854824e-03 3.98692673e+02] [ 2.26030543e-02 9.99744492e-01 2.27912566e-04 -1.64174018e+01] [ 3.76243406e-03 -3.13033425e-04 9.99992873e-01 3.40583636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.710714057 meters Centerline goodness [0,1] 0.974867446803541 Centerline is valid? [True, True] Translation: X:398.72, Y:-16.42, Z:3.41 [[ 9.99728410e-01 -2.30398089e-02 -3.50345456e-03 3.98724761e+02] [ 2.30406929e-02 9.99734505e-01 2.12180159e-04 -1.64165822e+01] [ 3.49763583e-03 -2.92844554e-04 9.99993840e-01 3.40595835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.740714057 meters Centerline goodness [0,1] 0.9763056431826148 Centerline is valid? [True, True] Translation: X:398.76, Y:-16.42, Z:3.41 [[ 9.99720861e-01 -2.33499485e-02 -3.60264024e-03 3.98756661e+02] [ 2.33508861e-02 9.99727307e-01 2.18425182e-04 -1.64189708e+01] [ 3.59655761e-03 -3.02489053e-04 9.99993487e-01 3.40537328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.770714057 meters Centerline goodness [0,1] 0.9747609853683501 Centerline is valid? [True, True] Translation: X:398.79, Y:-16.42, Z:3.40 [[ 9.99707142e-01 -2.38654560e-02 -4.00866521e-03 3.98788592e+02] [ 2.38666239e-02 9.99715122e-01 2.43754040e-04 -1.64223519e+01] [ 4.00170593e-03 -3.39355960e-04 9.99991936e-01 3.40459821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.800714057 meters Centerline goodness [0,1] 0.9709992521966723 Centerline is valid? [True, True] Translation: X:398.82, Y:-16.43, Z:3.40 [[ 9.99642661e-01 -2.62662037e-02 -4.96346787e-03 3.98817823e+02] [ 2.62680220e-02 9.99654891e-01 3.01490865e-04 -1.64311323e+01] [ 4.95383591e-03 -4.31763614e-04 9.99987636e-01 3.40218900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.830714057 meters Centerline goodness [0,1] 0.9740326460079863 Centerline is valid? [True, True] Translation: X:398.85, Y:-16.43, Z:3.40 [[ 9.99571832e-01 -2.86664371e-02 -5.86412864e-03 3.98848885e+02] [ 2.86690141e-02 9.99588896e-01 3.55853185e-04 -1.64323554e+01] [ 5.85151683e-03 -5.23819607e-04 9.99982743e-01 3.40124047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.860714057 meters Centerline goodness [0,1] 0.9753692278930641 Centerline is valid? [True, True] Translation: X:398.88, Y:-16.43, Z:3.40 [[ 9.99525328e-01 -3.01752136e-02 -6.21088971e-03 3.98880501e+02] [ 3.01781356e-02 9.99544465e-01 3.77264520e-04 -1.64328808e+01] [ 6.19667640e-03 -5.64518515e-04 9.99980641e-01 3.40094116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.890714057 meters Centerline goodness [0,1] 0.972843375748503 Centerline is valid? [True, True] Translation: X:398.91, Y:-16.44, Z:3.40 [[ 9.99489070e-01 -3.13140272e-02 -6.40549441e-03 3.98910950e+02] [ 3.13171681e-02 9.99509421e-01 3.90600049e-04 -1.64379853e+01] [ 6.39012074e-03 -5.91002424e-04 9.99979408e-01 3.39994228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.920714057 meters Centerline goodness [0,1] 0.9700170198876221 Centerline is valid? [True, True] Translation: X:398.94, Y:-16.44, Z:3.40 [[ 9.99412618e-01 -3.36671130e-02 -6.39881044e-03 3.98941613e+02] [ 3.36702902e-02 9.99432919e-01 3.89433448e-04 -1.64423259e+01] [ 6.38207070e-03 -6.04654506e-04 9.99979452e-01 3.39917607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.950714057 meters Centerline goodness [0,1] 0.958607692128714 Centerline is valid? [True, True] Translation: X:398.97, Y:-16.45, Z:3.40 [[ 9.99383795e-01 -3.45727750e-02 -6.06241200e-03 3.98972141e+02] [ 3.45756528e-02 9.99402015e-01 3.70503972e-04 -1.64497575e+01] [ 6.04597742e-03 -5.79887518e-04 9.99981555e-01 3.39882538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.980714057 meters Centerline goodness [0,1] 0.9731537368040829 Centerline is valid? [True, True] Translation: X:399.00, Y:-16.45, Z:3.40 [[ 9.99355282e-01 -3.55037082e-02 -5.33925989e-03 3.99004275e+02] [ 3.55059578e-02 9.99369411e-01 3.27114014e-04 -1.64454088e+01] [ 5.32427926e-03 -5.16478654e-04 9.99985693e-01 3.40029583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.01071405700003 meters Centerline goodness [0,1] 0.9639330485328104 Centerline is valid? [True, True] Translation: X:399.04, Y:-16.45, Z:3.40 [[ 9.99358756e-01 -3.54697772e-02 -4.89616014e-03 3.99036090e+02] [ 3.54716698e-02 9.99370637e-01 3.00229799e-04 -1.64535875e+01] [ 4.88242959e-03 -4.73712255e-04 9.99987969e-01 3.39965170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.040714057 meters Centerline goodness [0,1] 0.9707485211234803 Centerline is valid? [True, True] Translation: X:399.07, Y:-16.45, Z:3.40 [[ 9.99367120e-01 -3.53712117e-02 -3.77308209e-03 3.99068113e+02] [ 3.53723360e-02 9.99374176e-01 2.31653415e-04 -1.64527062e+01] [ 3.76252695e-03 -3.64969534e-04 9.99992855e-01 3.40035183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.07071405700003 meters Centerline goodness [0,1] 0.9701811922871165 Centerline is valid? [True, True] Translation: X:399.10, Y:-16.46, Z:3.40 [[ 9.99374172e-01 -3.51694339e-02 -3.79141867e-03 3.99100673e+02] [ 3.51705688e-02 9.99381297e-01 2.33042153e-04 -1.64556270e+01] [ 3.78087695e-03 -3.66242660e-04 9.99992785e-01 3.40005564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.100714057 meters Centerline goodness [0,1] 0.9627233804914371 Centerline is valid? [True, True] Translation: X:399.13, Y:-16.46, Z:3.40 [[ 9.99397583e-01 -3.45190270e-02 -3.59272479e-03 3.99132034e+02] [ 3.45200428e-02 9.99403981e-01 2.21111310e-04 -1.64612790e+01] [ 3.58295091e-03 -3.44999123e-04 9.99993522e-01 3.39947989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.130714057 meters Centerline goodness [0,1] 0.9725855830782076 Centerline is valid? [True, True] Translation: X:399.16, Y:-16.46, Z:3.40 [[ 9.99453864e-01 -3.28477748e-02 -3.60517039e-03 3.99163784e+02] [ 3.28487864e-02 9.99460308e-01 2.21728470e-04 -1.64567600e+01] [ 3.59594142e-03 -3.40032848e-04 9.99993477e-01 3.39973658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.160714057 meters Centerline goodness [0,1] 0.9725265778025914 Centerline is valid? [True, True] Translation: X:399.19, Y:-16.46, Z:3.40 [[ 9.99531068e-01 -3.03614550e-02 -3.97820808e-03 3.99194687e+02] [ 3.03626668e-02 9.99538918e-01 2.44564379e-04 -1.64597561e+01] [ 3.96894847e-03 -3.65238702e-04 9.99992057e-01 3.39836039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.190714057 meters Centerline goodness [0,1] 0.9746016978718456 Centerline is valid? [True, True] Translation: X:399.23, Y:-16.46, Z:3.40 [[ 9.99579875e-01 -2.86818749e-02 -4.17422774e-03 3.99226003e+02] [ 2.86831958e-02 9.99588519e-01 2.56910383e-04 -1.64582475e+01] [ 4.16514145e-03 -3.76532640e-04 9.99991255e-01 3.39806264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.220714057 meters Centerline goodness [0,1] 0.9722570751428969 Centerline is valid? [True, True] Translation: X:399.26, Y:-16.46, Z:3.40 [[ 9.99675709e-01 -2.49833939e-02 -4.93029597e-03 3.99255479e+02] [ 2.49851892e-02 9.99687776e-01 3.02864667e-04 -1.64596844e+01] [ 4.92119003e-03 -4.25950828e-04 9.99987800e-01 3.39669136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.250714057 meters Centerline goodness [0,1] 0.9718352513628105 Centerline is valid? [True, True] Translation: X:399.29, Y:-16.46, Z:3.40 [[ 9.99724550e-01 -2.30438942e-02 -4.45012721e-03 3.99285554e+02] [ 2.30453383e-02 9.99734384e-01 2.73497610e-04 -1.64634108e+01] [ 4.44264273e-03 -3.75976962e-04 9.99990061e-01 3.39618916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.280714057 meters Centerline goodness [0,1] 0.9755024101716229 Centerline is valid? [True, True] Translation: X:399.32, Y:-16.46, Z:3.40 [[ 9.99828653e-01 -1.81089661e-02 -3.83802218e-03 3.99316425e+02] [ 1.81100040e-02 9.99835973e-01 2.35858152e-04 -1.64575607e+01] [ 3.83312149e-03 -3.05324335e-04 9.99992607e-01 3.39681336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.310714057 meters Centerline goodness [0,1] 0.9759923770568002 Centerline is valid? [True, True] Translation: X:399.35, Y:-16.46, Z:3.40 [[ 9.99880388e-01 -1.51291199e-02 -3.21229569e-03 3.99347309e+02] [ 1.51298323e-02 9.99885518e-01 1.97590040e-04 -1.64571331e+01] [ 3.20893858e-03 -2.46167901e-04 9.99994821e-01 3.39705530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.340714057 meters Centerline goodness [0,1] 0.9758062632820346 Centerline is valid? [True, True] Translation: X:399.38, Y:-16.46, Z:3.40 [[ 9.99946151e-01 -1.01095103e-02 -2.34366079e-03 3.99377533e+02] [ 1.01098756e-02 9.99948884e-01 1.44055450e-04 -1.64568393e+01] [ 2.34208466e-03 -1.67741812e-04 9.99997243e-01 3.39768649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.370714057 meters Centerline goodness [0,1] 0.975682683547852 Centerline is valid? [True, True] Translation: X:399.41, Y:-16.46, Z:3.40 [[ 9.99969226e-01 -7.62377994e-03 -1.85088828e-03 3.99408200e+02] [ 7.62400384e-03 9.99970930e-01 1.13945290e-04 -1.64570011e+01] [ 1.84996578e-03 -1.28052963e-04 9.99998281e-01 3.39775535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.400714057 meters Centerline goodness [0,1] 0.9759402008876431 Centerline is valid? [True, True] Translation: X:399.44, Y:-16.46, Z:3.40 [[ 9.99984397e-01 -5.48890439e-03 -1.03765734e-03 3.99438465e+02] [ 5.48897370e-03 9.99984933e-01 6.39561130e-05 -1.64583166e+01] [ 1.03729066e-03 -6.96507890e-05 9.99999460e-01 3.39776108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.430714057 meters Centerline goodness [0,1] 0.9770071969342929 Centerline is valid? [True, True] Translation: X:399.47, Y:-16.46, Z:3.40 [[ 9.99998545e-01 -1.69430475e-03 -1.98943905e-04 3.99467721e+02] [ 1.69430720e-03 9.99998565e-01 1.21221467e-05 -1.64579733e+01] [ 1.98923080e-04 -1.24592012e-05 9.99999980e-01 3.39824535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.460714057 meters Centerline goodness [0,1] 0.9766659659449233 Centerline is valid? [True, True] Translation: X:399.50, Y:-16.46, Z:3.40 [[ 9.99999927e-01 -1.06706102e-04 -3.66643329e-04 3.99498884e+02] [ 1.06714373e-04 9.99999994e-01 2.25392381e-05 -1.64586691e+01] [ 3.66640922e-04 -2.25783625e-05 9.99999933e-01 3.39764159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.490714057 meters Centerline goodness [0,1] 0.9778146624275295 Centerline is valid? [True, True] Translation: X:399.53, Y:-16.46, Z:3.40 [[ 9.99997125e-01 2.34947262e-03 -4.79613381e-04 3.99529089e+02] [-2.34945882e-03 9.99997240e-01 2.93492707e-05 -1.64594614e+01] [ 4.79681012e-04 -2.82223545e-05 9.99999885e-01 3.39672967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.520714057 meters Centerline goodness [0,1] 0.976791426369983 Centerline is valid? [True, True] Translation: X:399.56, Y:-16.46, Z:3.40 [[ 9.99995545e-01 2.89007792e-03 -7.46956868e-04 3.99557878e+02] [-2.89004475e-03 9.99995823e-01 4.54818887e-05 -1.64622771e+01] [ 7.47085194e-04 -4.33229473e-05 9.99999720e-01 3.39549711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.550714057 meters Centerline goodness [0,1] 0.9769114042255165 Centerline is valid? [True, True] Translation: X:399.59, Y:-16.46, Z:3.39 [[ 9.99995225e-01 2.91197948e-03 -1.03488702e-03 3.99587152e+02] [-2.91191556e-03 9.99995758e-01 6.32684355e-05 -1.64648046e+01] [ 1.03506686e-03 -6.02546298e-05 9.99999463e-01 3.39493663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.580714057 meters Centerline goodness [0,1] 0.9782441592322564 Centerline is valid? [True, True] Translation: X:399.62, Y:-16.46, Z:3.40 [[ 9.99995787e-01 2.58131928e-03 -1.32769065e-03 3.99616296e+02] [-2.58121420e-03 9.99996665e-01 8.08506453e-05 -1.64598201e+01] [ 1.32789492e-03 -7.74232507e-05 9.99999115e-01 3.39553867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.610714057 meters Centerline goodness [0,1] 0.9759539136113443 Centerline is valid? [True, True] Translation: X:399.64, Y:-16.47, Z:3.39 [[ 9.99997147e-01 1.70109038e-03 -1.67700315e-03 3.99644008e+02] [-1.70092116e-03 9.99998548e-01 1.02326693e-04 -1.64721159e+01] [ 1.67717478e-03 -9.94739512e-05 9.99998589e-01 3.39309115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.640714057 meters Centerline goodness [0,1] 0.974724788791398 Centerline is valid? [True, True] Translation: X:399.67, Y:-16.48, Z:3.39 [[ 9.99998318e-01 1.00974889e-03 -1.53097037e-03 3.99672108e+02] [-1.00960717e-03 9.99999486e-01 9.33401344e-05 -1.64773699e+01] [ 1.53106384e-03 -9.17942987e-05 9.99998824e-01 3.39224928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.670714057 meters Centerline goodness [0,1] 0.9775709632387157 Centerline is valid? [True, True] Translation: X:399.70, Y:-16.47, Z:3.39 [[ 9.99999291e-01 4.28428393e-04 -1.11084061e-03 3.99702672e+02] [-4.28353471e-04 9.99999906e-01 6.76833910e-05 -1.64680487e+01] [ 1.11086950e-03 -6.72075106e-05 9.99999381e-01 3.39372251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.700714057 meters Centerline goodness [0,1] 0.9764960749143935 Centerline is valid? [True, True] Translation: X:399.73, Y:-16.48, Z:3.39 [[ 9.99999340e-01 -1.07296388e-03 4.11646275e-04 3.99731412e+02] [ 1.07297445e-03 9.99999424e-01 -2.54541836e-05 -1.64750136e+01] [-4.11618727e-04 2.58958528e-05 9.99999915e-01 3.39334326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.730714057 meters Centerline goodness [0,1] 0.9775827552493133 Centerline is valid? [True, True] Translation: X:399.76, Y:-16.47, Z:3.39 [[ 9.99998237e-01 -1.55381190e-03 1.05453965e-03 3.99763280e+02] [ 1.55388050e-03 9.99998791e-01 -6.42362269e-05 -1.64734388e+01] [-1.05443857e-03 6.58747422e-05 9.99999442e-01 3.39427353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76071405700003 meters Centerline goodness [0,1] 0.9774858416117352 Centerline is valid? [True, True] Translation: X:399.79, Y:-16.48, Z:3.39 [[ 9.99995102e-01 -2.42424993e-03 1.97962532e-03 3.99794055e+02] [ 2.42449402e-03 9.99997054e-01 -1.20910935e-04 -1.64784589e+01] [-1.97932637e-03 1.25709933e-04 9.99998033e-01 3.39446093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.790714057 meters Centerline goodness [0,1] 0.9778381768764374 Centerline is valid? [True, True] Translation: X:399.83, Y:-16.48, Z:3.39 [[ 9.99992133e-01 -3.19311275e-03 2.35337276e-03 3.99826062e+02] [ 3.19345966e-03 9.99994891e-01 -1.43667865e-04 -1.64806278e+01] [-2.35290199e-03 1.51182135e-04 9.99997220e-01 3.39449549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82071405700003 meters Centerline goodness [0,1] 0.9764383306998792 Centerline is valid? [True, True] Translation: X:399.86, Y:-16.49, Z:3.39 [[ 9.99988840e-01 -3.75188525e-03 2.87126019e-03 3.99857049e+02] [ 3.75240517e-03 9.99992944e-01 -1.75711308e-04 -1.64882854e+01] [-2.87058069e-03 1.86483478e-04 9.99995862e-01 3.39379273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.850714057 meters Centerline goodness [0,1] 0.9771361198446459 Centerline is valid? [True, True] Translation: X:399.89, Y:-16.49, Z:3.39 [[ 9.99980604e-01 -5.66736919e-03 2.58297043e-03 3.99888430e+02] [ 5.66779681e-03 9.99983925e-01 -1.58264367e-04 -1.64914817e+01] [-2.58203196e-03 1.72901048e-04 9.99996652e-01 3.39343440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.880714057 meters Centerline goodness [0,1] 0.9765945132538488 Centerline is valid? [True, True] Translation: X:399.92, Y:-16.50, Z:3.39 [[ 9.99965461e-01 -8.14323961e-03 1.66284161e-03 3.99917537e+02] [ 8.14342055e-03 9.99966837e-01 -1.02067509e-04 -1.65027269e+01] [-1.66195530e-03 1.15605203e-04 9.99998612e-01 3.39107083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.910714057 meters Centerline goodness [0,1] 0.9762394545244424 Centerline is valid? [True, True] Translation: X:399.95, Y:-16.50, Z:3.39 [[ 9.99953670e-01 -9.53586837e-03 1.31371227e-03 3.99949426e+02] [ 9.53598188e-03 9.99954528e-01 -8.01705830e-05 -1.65044792e+01] [-1.31288804e-03 9.26944050e-05 9.99999134e-01 3.39013830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.940714057 meters Centerline goodness [0,1] 0.9762729877090842 Centerline is valid? [True, True] Translation: X:399.98, Y:-16.51, Z:3.39 [[ 9.99921662e-01 -1.25148115e-02 2.21782225e-04 3.99978413e+02] [ 1.25148149e-02 9.99921687e-01 -1.37124564e-05 -1.65132749e+01] [-2.21593248e-04 1.64869457e-05 9.99999975e-01 3.38791269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.970714057 meters Centerline goodness [0,1] 0.9773161688506091 Centerline is valid? [True, True] Translation: X:400.01, Y:-16.52, Z:3.39 [[ 9.99909634e-01 -1.34417220e-02 -2.09902228e-04 4.00010184e+02] [ 1.34417251e-02 9.99909656e-01 1.33286311e-05 -1.65155933e+01] [ 2.09704105e-04 -1.61488747e-05 9.99999978e-01 3.38708877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.000714057 meters Centerline goodness [0,1] 0.9774500103545871 Centerline is valid? [True, True] Translation: X:400.04, Y:-16.52, Z:3.39 [[ 9.99887691e-01 -1.49691504e-02 -7.27628360e-04 4.00041674e+02] [ 1.49691871e-02 9.99887954e-01 4.50489133e-05 -1.65191255e+01] [ 7.26872489e-04 -5.59358590e-05 9.99999734e-01 3.38670018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.030714057 meters Centerline goodness [0,1] 0.9742190916833552 Centerline is valid? [True, True] Translation: X:400.07, Y:-16.53, Z:3.39 [[ 9.99879941e-01 -1.54670804e-02 -9.33933089e-04 4.00072703e+02] [ 1.54671413e-02 9.99880375e-01 5.79278128e-05 -1.65285652e+01] [ 9.32925393e-04 -7.23661330e-05 9.99999562e-01 3.38573796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.060714057 meters Centerline goodness [0,1] 0.9785701132492404 Centerline is valid? [True, True] Translation: X:400.11, Y:-16.52, Z:3.39 [[ 9.99870856e-01 -1.60679189e-02 -3.04357506e-04 4.00105192e+02] [ 1.60679255e-02 9.99870902e-01 1.93376008e-05 -1.65222627e+01] [ 3.04007499e-04 -2.42254972e-05 9.99999953e-01 3.38725444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.090714057 meters Centerline goodness [0,1] 0.9770697117598306 Centerline is valid? [True, True] Translation: X:400.14, Y:-16.53, Z:3.39 [[ 9.99867036e-01 -1.63066597e-02 5.19445357e-05 4.00137563e+02] [ 1.63066599e-02 9.99867038e-01 -2.63433560e-06 -1.65263927e+01] [-5.18946718e-05 3.48102720e-06 9.99999999e-01 3.38662081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.120714057 meters Centerline goodness [0,1] 0.9747345294763823 Centerline is valid? [True, True] Translation: X:400.17, Y:-16.54, Z:3.39 [[ 9.99866293e-01 -1.63024631e-02 1.27512228e-03 4.00168409e+02] [ 1.63025762e-02 9.99867101e-01 -7.83431688e-05 -1.65377964e+01] [-1.27367563e-03 9.91204719e-05 9.99999184e-01 3.38603876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.150714057 meters Centerline goodness [0,1] 0.9774651109585907 Centerline is valid? [True, True] Translation: X:400.20, Y:-16.53, Z:3.39 [[ 9.99856914e-01 -1.68779989e-02 1.13366067e-03 4.00201337e+02] [ 1.68780885e-02 9.99857553e-01 -6.95421779e-05 -1.65336498e+01] [-1.13232545e-03 8.86662526e-05 9.99999355e-01 3.38655853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.180714057 meters Centerline goodness [0,1] 0.978781907336969 Centerline is valid? [True, True] Translation: X:400.23, Y:-16.54, Z:3.39 [[ 9.99846390e-01 -1.74866167e-02 1.18916371e-03 4.00233122e+02] [ 1.74867159e-02 9.99847093e-01 -7.30570468e-05 -1.65370321e+01] [-1.18770436e-03 9.38403925e-05 9.99999290e-01 3.38617532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.210714057 meters Centerline goodness [0,1] 0.9724139507245052 Centerline is valid? [True, True] Translation: X:400.26, Y:-16.55, Z:3.38 [[ 9.99837466e-01 -1.80014134e-02 9.95652024e-04 4.00262947e+02] [ 1.80014832e-02 9.99837958e-01 -6.12733681e-05 -1.65547982e+01] [-9.94387680e-04 7.91866224e-05 9.99999502e-01 3.38461762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.240714057 meters Centerline goodness [0,1] 0.9774926233445412 Centerline is valid? [True, True] Translation: X:400.29, Y:-16.55, Z:3.38 [[ 9.99810891e-01 -1.94409435e-02 4.82500772e-04 4.00294731e+02] [ 1.94409601e-02 9.99811006e-01 -2.96368447e-05 -1.65479709e+01] [-4.81833414e-04 3.90115184e-05 9.99999883e-01 3.38453444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.270714057 meters Centerline goodness [0,1] 0.9797233754616144 Centerline is valid? [True, True] Translation: X:400.33, Y:-16.55, Z:3.38 [[ 9.99798285e-01 -2.00693774e-02 -7.80302399e-04 4.00327100e+02] [ 2.00694217e-02 9.99798588e-01 4.90087659e-05 -1.65494779e+01] [ 7.79161662e-04 -6.46590980e-05 9.99999694e-01 3.38333506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.300714057 meters Centerline goodness [0,1] 0.9786606285165363 Centerline is valid? [True, True] Translation: X:400.36, Y:-16.55, Z:3.38 [[ 9.99793122e-01 -2.03267094e-02 -7.33258332e-04 4.00358799e+02] [ 2.03267486e-02 9.99793389e-01 4.61371954e-05 -1.65534168e+01] [ 7.32169015e-04 -6.10324084e-05 9.99999730e-01 3.38267824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.330714057 meters Centerline goodness [0,1] 0.9778787325358415 Centerline is valid? [True, True] Translation: X:400.39, Y:-16.56, Z:3.38 [[ 9.99797868e-01 -2.00912659e-02 -7.51233517e-04 4.00390654e+02] [ 2.00913071e-02 9.99798148e-01 4.73105121e-05 -1.65554232e+01] [ 7.50131351e-04 -6.23942124e-05 9.99999717e-01 3.38269731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.360714057 meters Centerline goodness [0,1] 0.9761594848256491 Centerline is valid? [True, True] Translation: X:400.42, Y:-16.56, Z:3.38 [[ 9.99799720e-01 -2.00024577e-02 -6.49676032e-04 4.00422711e+02] [ 2.00024887e-02 9.99799929e-01 4.11921067e-05 -1.65630613e+01] [ 6.48722107e-04 -5.41789942e-05 9.99999788e-01 3.38203200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.390714057 meters Centerline goodness [0,1] 0.9779932181789217 Centerline is valid? [True, True] Translation: X:400.45, Y:-16.56, Z:3.38 [[ 9.99811827e-01 -1.93878517e-02 -6.50124121e-04 4.00454786e+02] [ 1.93878825e-02 9.99812036e-01 4.11198173e-05 -1.65599215e+01] [ 6.49204696e-04 -5.37166097e-05 9.99999788e-01 3.38233800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.420714057 meters Centerline goodness [0,1] 0.9793513019643673 Centerline is valid? [True, True] Translation: X:400.49, Y:-16.56, Z:3.38 [[ 9.99829851e-01 -1.84378196e-02 -5.62773661e-04 4.00487213e+02] [ 1.84378426e-02 9.99830008e-01 3.57137112e-05 -1.65612668e+01] [ 5.62019511e-04 -4.60839668e-05 9.99999841e-01 3.38245606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.450714057 meters Centerline goodness [0,1] 0.9796216093002051 Centerline is valid? [True, True] Translation: X:400.52, Y:-16.56, Z:3.38 [[ 9.99835059e-01 -1.81540664e-02 -5.33924281e-04 4.00519186e+02] [ 1.81540871e-02 9.99835200e-01 3.39486321e-05 -1.65635278e+01] [ 5.33219984e-04 -4.36359404e-05 9.99999857e-01 3.38211419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.480714057 meters Centerline goodness [0,1] 0.9796216093002051 Centerline is valid? [True, True] Translation: X:400.55, Y:-16.57, Z:3.38 [[ 9.99836975e-01 -1.80482185e-02 -5.33902872e-04 4.00551766e+02] [ 1.80482393e-02 9.99837117e-01 3.42903093e-05 -1.65656580e+01] [ 5.33197029e-04 -4.39207260e-05 9.99999857e-01 3.38185105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.51071405700003 meters Centerline goodness [0,1] 0.9788956213558935 Centerline is valid? [True, True] Translation: X:400.58, Y:-16.57, Z:3.38 [[ 9.99837476e-01 -1.80008352e-02 -9.95611765e-04 4.00582877e+02] [ 1.80009066e-02 9.99837969e-01 6.28247044e-05 -1.65696548e+01] [ 9.94319548e-04 -8.07364083e-05 9.99999502e-01 3.38152275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.540714057 meters Centerline goodness [0,1] 0.9776902588385276 Centerline is valid? [True, True] Translation: X:400.62, Y:-16.57, Z:3.38 [[ 9.99839290e-01 -1.79096618e-02 -7.99432232e-04 4.00616027e+02] [ 1.79097083e-02 9.99839607e-01 5.10345458e-05 -1.65727139e+01] [ 7.98389997e-04 -6.53439421e-05 9.99999679e-01 3.38102337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.57071405700003 meters Centerline goodness [0,1] 0.9778452131057771 Centerline is valid? [True, True] Translation: X:400.65, Y:-16.58, Z:3.38 [[ 9.99843024e-01 -1.76866694e-02 -1.05353804e-03 4.00647186e+02] [ 1.76867499e-02 9.99843575e-01 6.71710035e-05 -1.65761004e+01] [ 1.05218521e-03 -8.57941230e-05 9.99999443e-01 3.38058385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.600714057 meters Centerline goodness [0,1] 0.9771578827026409 Centerline is valid? [True, True] Translation: X:400.68, Y:-16.58, Z:3.38 [[ 9.99845676e-01 -1.75155426e-02 -1.35272225e-03 4.00679318e+02] [ 1.75156745e-02 9.99846585e-01 8.57245905e-05 -1.65781500e+01] [ 1.35101321e-03 -1.09405204e-04 9.99999081e-01 3.38017809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.630714057 meters Centerline goodness [0,1] 0.9770017620540515 Centerline is valid? [True, True] Translation: X:400.71, Y:-16.58, Z:3.38 [[ 9.99841415e-01 -1.77092019e-02 -1.87857904e-03 4.00711563e+02] [ 1.77094565e-02 9.99843168e-01 1.18960163e-04 -1.65801211e+01] [ 1.87617773e-03 -1.52209912e-04 9.99998228e-01 3.37974357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.660714057 meters Centerline goodness [0,1] 0.9785088822332472 Centerline is valid? [True, True] Translation: X:400.74, Y:-16.58, Z:3.38 [[ 9.99842412e-01 -1.76233610e-02 -2.13729840e-03 4.00743974e+02] [ 1.76236905e-02 9.99844682e-01 1.35427469e-04 -1.65789546e+01] [ 2.13457975e-03 -1.73073212e-04 9.99997707e-01 3.37988608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.690714057 meters Centerline goodness [0,1] 0.9758890209342719 Centerline is valid? [True, True] Translation: X:400.77, Y:-16.59, Z:3.38 [[ 9.99839750e-01 -1.76756890e-02 -2.83642711e-03 4.00774256e+02] [ 1.76762685e-02 9.99843746e-01 1.79359978e-04 -1.65861277e+01] [ 2.83281359e-03 -2.29468683e-04 9.99995961e-01 3.37855451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.720714057 meters Centerline goodness [0,1] 0.9790050205385669 Centerline is valid? [True, True] Translation: X:400.81, Y:-16.58, Z:3.38 [[ 9.99834610e-01 -1.79908335e-02 -2.66119662e-03 4.00807292e+02] [ 1.79913460e-02 9.99838128e-01 1.68778065e-04 -1.65809066e+01] [ 2.65772939e-03 -2.16628660e-04 9.99996445e-01 3.37958395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.750714057 meters Centerline goodness [0,1] 0.9785506848688573 Centerline is valid? [True, True] Translation: X:400.84, Y:-16.58, Z:3.38 [[ 9.99836629e-01 -1.79389706e-02 -2.21532028e-03 4.00839559e+02] [ 1.79393262e-02 9.99839067e-01 1.40750422e-04 -1.65835251e+01] [ 2.21243884e-03 -1.80468780e-04 9.99997536e-01 3.37966597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.780714057 meters Centerline goodness [0,1] 0.9787734771283645 Centerline is valid? [True, True] Translation: X:400.87, Y:-16.58, Z:3.38 [[ 9.99840129e-01 -1.78116088e-02 -1.56914207e-03 4.00871678e+02] [ 1.78117875e-02 9.99841353e-01 9.99775655e-05 -1.65846481e+01] [ 1.56711237e-03 -1.27910807e-04 9.99998764e-01 3.38018887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.810714057 meters Centerline goodness [0,1] 0.977351756954612 Centerline is valid? [True, True] Translation: X:400.90, Y:-16.59, Z:3.38 [[ 9.99854000e-01 -1.70425010e-02 -1.23791928e-03 4.00902633e+02] [ 1.70426117e-02 9.99854761e-01 7.89149486e-05 -1.65882578e+01] [ 1.23639458e-03 -1.00000805e-04 9.99999231e-01 3.38035484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.840714057 meters Centerline goodness [0,1] 0.9746336996336996 Centerline is valid? [True, True] Translation: X:400.93, Y:-16.60, Z:3.38 [[ 9.99857313e-01 -1.67750697e-02 -1.98764778e-03 4.00933749e+02] [ 1.67753554e-02 9.99859276e-01 1.27161436e-04 -1.65968970e+01] [ 1.98523493e-03 -1.60486790e-04 9.99998017e-01 3.37923169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.870714057 meters Centerline goodness [0,1] 0.9780480569563927 Centerline is valid? [True, True] Translation: X:400.97, Y:-16.59, Z:3.38 [[ 9.99888669e-01 -1.48679146e-02 -1.26278147e-03 4.00966396e+02] [ 1.48680283e-02 9.99889462e-01 8.06988582e-05 -1.65892031e+01] [ 1.26144206e-03 -9.94649446e-05 9.99999199e-01 3.38011149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.900714057 meters Centerline goodness [0,1] 0.9781379484009798 Centerline is valid? [True, True] Translation: X:401.00, Y:-16.59, Z:3.38 [[ 9.99893976e-01 -1.44582010e-02 -1.73150008e-03 4.00998830e+02] [ 1.44584143e-02 9.99895466e-01 1.10755439e-04 -1.65913811e+01] [ 1.72971776e-03 -1.35778442e-04 9.99998495e-01 3.37939060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.930714057 meters Centerline goodness [0,1] 0.977868122330585 Centerline is valid? [True, True] Translation: X:401.03, Y:-16.59, Z:3.38 [[ 9.99916066e-01 -1.28970303e-02 -1.23633590e-03 4.01029746e+02] [ 1.28971378e-02 9.99916825e-01 7.90035924e-05 -1.65934763e+01] [ 1.23521415e-03 -9.49421556e-05 9.99999233e-01 3.37932086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.960714057 meters Centerline goodness [0,1] 0.9775676974843776 Centerline is valid? [True, True] Translation: X:401.06, Y:-16.60, Z:3.38 [[ 9.99923958e-01 -1.22432377e-02 -1.47690966e-03 4.01061833e+02] [ 1.22433909e-02 9.99925042e-01 9.46968021e-05 -1.65953570e+01] [ 1.47563956e-03 -1.12771984e-04 9.99998905e-01 3.37895127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.990714057 meters Centerline goodness [0,1] 0.9793455611275217 Centerline is valid? [True, True] Translation: X:401.09, Y:-16.59, Z:3.38 [[ 9.99944955e-01 -1.04093390e-02 -1.31632920e-03 4.01093749e+02] [ 1.04094589e-02 9.99945817e-01 8.42420976e-05 -1.65896840e+01] [ 1.31538097e-03 -9.79397351e-05 9.99999130e-01 3.37968878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.020714057 meters Centerline goodness [0,1] 0.9802150045745655 Centerline is valid? [True, True] Translation: X:401.13, Y:-16.59, Z:3.38 [[ 9.99956353e-01 -9.32118280e-03 -6.37927022e-04 4.01125369e+02] [ 9.32121084e-03 9.99956556e-01 4.09974901e-05 -1.65900041e+01] [ 6.37517163e-04 -4.69419530e-05 9.99999796e-01 3.37958259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.050714057 meters Centerline goodness [0,1] 0.9770088621218713 Centerline is valid? [True, True] Translation: X:401.16, Y:-16.60, Z:3.38 [[ 9.99971354e-01 -7.54530469e-03 -5.99985713e-04 4.01155176e+02] [ 7.54532911e-03 9.99971533e-01 3.84426150e-05 -1.65999170e+01] [ 5.99678572e-04 -4.29686034e-05 9.99999819e-01 3.37800588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.080714057 meters Centerline goodness [0,1] 0.9782259912903966 Centerline is valid? [True, True] Translation: X:401.19, Y:-16.60, Z:3.38 [[ 9.99978815e-01 -6.46158131e-03 -7.85509746e-04 4.01186897e+02] [ 6.46162292e-03 9.99979122e-01 5.04424092e-05 -1.65986109e+01] [ 7.85167408e-04 -5.55170084e-05 9.99999690e-01 3.37812604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.110714057 meters Centerline goodness [0,1] 0.9792986709975524 Centerline is valid? [True, True] Translation: X:401.22, Y:-16.59, Z:3.38 [[ 9.99993871e-01 -3.41498524e-03 -7.72180302e-04 4.01218021e+02] [ 3.41502446e-03 9.99994168e-01 4.94763127e-05 -1.65923003e+01] [ 7.72006838e-04 -5.21130241e-05 9.99999701e-01 3.37822473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.140714057 meters Centerline goodness [0,1] 0.9803678445959909 Centerline is valid? [True, True] Translation: X:401.25, Y:-16.59, Z:3.38 [[ 9.99998441e-01 -1.70867602e-04 -1.75729255e-03 4.01249155e+02] [ 1.71065398e-04 9.99999979e-01 1.12407704e-04 -1.65900992e+01] [ 1.75727330e-03 -1.12708140e-04 9.99998450e-01 3.37789240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.170714057 meters Centerline goodness [0,1] 0.980083881465863 Centerline is valid? [True, True] Translation: X:401.28, Y:-16.59, Z:3.38 [[ 9.99997000e-01 1.68485380e-03 -1.77773777e-03 4.01279221e+02] [-1.68465481e-03 9.99998575e-01 1.13422345e-04 -1.65912897e+01] [ 1.77792634e-03 -1.10427130e-04 9.99998413e-01 3.37758245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.200714057 meters Centerline goodness [0,1] 0.9813731562406809 Centerline is valid? [True, True] Translation: X:401.31, Y:-16.59, Z:3.38 [[ 9.99990199e-01 3.95985494e-03 -1.98038821e-03 4.01309408e+02] [-3.95961249e-03 9.99992153e-01 1.26330611e-04 -1.65896904e+01] [ 1.98087292e-03 -1.18487803e-04 9.99998031e-01 3.37726953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.230714057 meters Centerline goodness [0,1] 0.9813341282762732 Centerline is valid? [True, True] Translation: X:401.34, Y:-16.59, Z:3.38 [[ 9.99985326e-01 5.05694594e-03 -1.94313343e-03 4.01336851e+02] [-5.05671601e-03 9.99987207e-01 1.23224226e-04 -1.65925304e+01] [ 1.94373171e-03 -1.13396544e-04 9.99998105e-01 3.37673432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26071405700003 meters Centerline goodness [0,1] 0.9819794970808624 Centerline is valid? [True, True] Translation: X:401.37, Y:-16.59, Z:3.38 [[ 9.99974179e-01 6.65164521e-03 -2.71973254e-03 4.01365818e+02] [-6.65120004e-03 9.99977866e-01 1.72693317e-04 -1.65937183e+01] [ 2.72082103e-03 -1.54599372e-04 9.99996287e-01 3.37650933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.290714057 meters Centerline goodness [0,1] 0.9819095938841571 Centerline is valid? [True, True] Translation: X:401.40, Y:-16.60, Z:3.38 [[ 9.99970374e-01 7.06796801e-03 -3.04871355e-03 4.01395007e+02] [-7.06741100e-03 9.99975007e-01 1.93436497e-04 -1.65954129e+01] [ 3.05000456e-03 -1.71884254e-04 9.99995334e-01 3.37591403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32071405700003 meters Centerline goodness [0,1] 0.981618235442054 Centerline is valid? [True, True] Translation: X:401.42, Y:-16.60, Z:3.38 [[ 9.99961501e-01 8.25553391e-03 -2.97382005e-03 4.01423019e+02] [-8.25500982e-03 9.99965909e-01 1.88467421e-04 -1.66002522e+01] [ 2.97527457e-03 -1.63911251e-04 9.99995560e-01 3.37513441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.350714057 meters Centerline goodness [0,1] 0.9824002566629236 Centerline is valid? [True, True] Translation: X:401.45, Y:-16.60, Z:3.38 [[ 9.99959714e-01 8.36205763e-03 -3.26288370e-03 4.01451747e+02] [-8.36142788e-03 9.99965021e-01 2.06596467e-04 -1.65980417e+01] [ 3.26449714e-03 -1.79305778e-04 9.99994655e-01 3.37566977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.380714057 meters Centerline goodness [0,1] 0.9819985304922851 Centerline is valid? [True, True] Translation: X:401.48, Y:-16.60, Z:3.37 [[ 9.99963078e-01 8.10517797e-03 -2.85465276e-03 4.01479622e+02] [-8.10469623e-03 9.99967140e-01 1.80285202e-04 -1.66033708e+01] [ 2.85602020e-03 -1.57142452e-04 9.99995909e-01 3.37499529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.410714057 meters Centerline goodness [0,1] 0.9837385321100918 Centerline is valid? [True, True] Translation: X:401.51, Y:-16.61, Z:3.38 [[ 9.99968286e-01 7.52821152e-03 -2.59855755e-03 4.01507902e+02] [-7.52781062e-03 9.99971652e-01 1.64027019e-04 -1.66065086e+01] [ 2.59971872e-03 -1.44460368e-04 9.99996610e-01 3.37536822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.440714057 meters Centerline goodness [0,1] 0.9802759092463801 Centerline is valid? [True, True] Translation: X:401.53, Y:-16.61, Z:3.37 [[ 9.99970835e-01 7.34002205e-03 -2.11036847e-03 4.01534840e+02] [-7.33975809e-03 9.99973055e-01 1.32792899e-04 -1.66134365e+01] [ 2.11128631e-03 -1.17299432e-04 9.99997764e-01 3.37451498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.470714057 meters Centerline goodness [0,1] 0.9838176559702521 Centerline is valid? [True, True] Translation: X:401.56, Y:-16.61, Z:3.38 [[ 9.99972578e-01 7.15577681e-03 -1.90715467e-03 4.01564055e+02] [-7.15556106e-03 9.99974391e-01 1.19923215e-04 -1.66080625e+01] [ 1.90796397e-03 -1.06273165e-04 9.99998174e-01 3.37603598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.500714057 meters Centerline goodness [0,1] 0.9829324169530355 Centerline is valid? [True, True] Translation: X:401.59, Y:-16.61, Z:3.38 [[ 9.99972031e-01 7.30703234e-03 -1.59539317e-03 4.01592622e+02] [-7.30688188e-03 9.99973299e-01 1.00113298e-04 -1.66098929e+01] [ 1.59608210e-03 -8.84531480e-05 9.99998722e-01 3.37639701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.530714057 meters Centerline goodness [0,1] 0.9836050537708376 Centerline is valid? [True, True] Translation: X:401.62, Y:-16.61, Z:3.38 [[ 9.99975621e-01 6.95719130e-03 -5.96537400e-04 4.01621447e+02] [-6.95717044e-03 9.99975798e-01 3.70362390e-05 -1.66125701e+01] [ 5.96780631e-04 -3.28851237e-05 9.99999821e-01 3.37696197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.560714057 meters Centerline goodness [0,1] 0.9835998078638578 Centerline is valid? [True, True] Translation: X:401.65, Y:-16.61, Z:3.38 [[ 9.99979228e-01 6.44429335e-03 1.21067645e-04 4.01650477e+02] [-6.44429241e-03 9.99979235e-01 -8.19800460e-06 -1.66137354e+01] [-1.21117961e-04 7.41763901e-06 9.99999993e-01 3.37761624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.590714057 meters Centerline goodness [0,1] 0.9832723112128147 Centerline is valid? [True, True] Translation: X:401.68, Y:-16.62, Z:3.38 [[ 9.99983193e-01 5.71508559e-03 9.75415403e-04 4.01679095e+02] [-5.71502790e-03 9.99983667e-01 -6.19231881e-05 -1.66162615e+01] [-9.75753368e-04 5.63476211e-05 9.99999522e-01 3.37789197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.620714057 meters Centerline goodness [0,1] 0.983056273294766 Centerline is valid? [True, True] Translation: X:401.71, Y:-16.62, Z:3.38 [[ 9.99987158e-01 5.04453492e-03 4.86899893e-04 4.01707476e+02] [-5.04452034e-03 9.99987276e-01 -3.11681996e-05 -1.66173509e+01] [-4.87050926e-04 2.87116229e-05 9.99999881e-01 3.37757535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.650714057 meters Centerline goodness [0,1] 0.9826343606287322 Centerline is valid? [True, True] Translation: X:401.74, Y:-16.62, Z:3.38 [[ 9.99989993e-01 4.35217582e-03 -1.03529590e-03 4.01735630e+02] [-4.35211132e-03 9.99990527e-01 6.45540188e-05 -1.66211224e+01] [ 1.03556704e-03 -6.00476499e-05 9.99999462e-01 3.37583133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.680714057 meters Centerline goodness [0,1] 0.9828149637788798 Centerline is valid? [True, True] Translation: X:401.76, Y:-16.62, Z:3.38 [[ 9.99992295e-01 3.51362196e-03 -1.75050248e-03 4.01764091e+02] [-3.51343589e-03 9.99993822e-01 1.09358557e-04 -1.66243141e+01] [ 1.75087591e-03 -1.03207436e-04 9.99998462e-01 3.37500560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.710714057 meters Centerline goodness [0,1] 0.9837049939266151 Centerline is valid? [True, True] Translation: X:401.79, Y:-16.63, Z:3.37 [[ 9.99991688e-01 3.27350130e-03 -2.43073813e-03 4.01792810e+02] [-3.27314217e-03 9.99994632e-01 1.51705929e-04 -1.66256666e+01] [ 2.43122169e-03 -1.43748517e-04 9.99997034e-01 3.37429866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.740714057 meters Centerline goodness [0,1] 0.9820740876581698 Centerline is valid? [True, True] Translation: X:401.82, Y:-16.63, Z:3.37 [[ 9.99990525e-01 3.57680529e-03 -2.48120127e-03 4.01820591e+02] [-3.57643288e-03 9.99993593e-01 1.54513037e-04 -1.66281412e+01] [ 2.48173804e-03 -1.45637723e-04 9.99996910e-01 3.37319691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.770714057 meters Centerline goodness [0,1] 0.982288797322831 Centerline is valid? [True, True] Translation: X:401.85, Y:-16.63, Z:3.37 [[ 9.99987996e-01 4.00195638e-03 -2.82699590e-03 4.01849528e+02] [-4.00147450e-03 9.99991979e-01 1.76092936e-04 -1.66296730e+01] [ 2.82767794e-03 -1.64778670e-04 9.99995989e-01 3.37266149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.800714057 meters Centerline goodness [0,1] 0.9827023798584948 Centerline is valid? [True, True] Translation: X:401.88, Y:-16.63, Z:3.37 [[ 9.99984151e-01 4.47789930e-03 -3.41268428e-03 4.01876966e+02] [-4.47720088e-03 9.99989955e-01 2.12264925e-04 -1.66308728e+01] [ 3.41360050e-03 -1.96982288e-04 9.99994154e-01 3.37151765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.830714057 meters Centerline goodness [0,1] 0.9823954154727794 Centerline is valid? [True, True] Translation: X:401.91, Y:-16.63, Z:3.37 [[ 9.99983207e-01 4.54023182e-03 -3.60158780e-03 4.01905620e+02] [-4.53945458e-03 9.99989672e-01 2.23949708e-04 -1.66324192e+01] [ 3.60256739e-03 -2.07596703e-04 9.99993489e-01 3.37152024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.860714057 meters Centerline goodness [0,1] 0.9818060692380143 Centerline is valid? [True, True] Translation: X:401.93, Y:-16.63, Z:3.37 [[ 9.99985068e-01 4.21044193e-03 -3.48354096e-03 4.01934840e+02] [-4.20971369e-03 9.99991116e-01 2.16356032e-04 -1.66341114e+01] [ 3.48442097e-03 -2.01688091e-04 9.99993909e-01 3.37130273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.890714057 meters Centerline goodness [0,1] 0.9813633233876521 Centerline is valid? [True, True] Translation: X:401.96, Y:-16.64, Z:3.37 [[ 9.99993075e-01 2.56631972e-03 -2.69525695e-03 4.01964722e+02] [-2.56587767e-03 9.99996694e-01 1.67455560e-04 -1.66359579e+01] [ 2.69567779e-03 -1.60538701e-04 9.99996354e-01 3.37172946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.920714057 meters Centerline goodness [0,1] 0.9824061084151698 Centerline is valid? [True, True] Translation: X:401.99, Y:-16.64, Z:3.37 [[ 9.99998679e-01 -3.40482959e-05 -1.62505455e-03 4.01994395e+02] [ 3.42121275e-05 9.99999994e-01 1.00788360e-04 -1.66356006e+01] [ 1.62505111e-03 -1.00843823e-04 9.99998675e-01 3.37299811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.950714057 meters Centerline goodness [0,1] 0.9800110283981252 Centerline is valid? [True, True] Translation: X:402.02, Y:-16.64, Z:3.37 [[ 9.99997673e-01 -1.84094117e-03 -1.12505994e-03 4.02023459e+02] [ 1.84102103e-03 9.99998303e-01 6.99517777e-05 -1.66443096e+01] [ 1.12492926e-03 -7.20228739e-05 9.99999365e-01 3.37193115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.980714057 meters Centerline goodness [0,1] 0.9801251380198749 Centerline is valid? [True, True] Translation: X:402.05, Y:-16.64, Z:3.37 [[ 9.99982109e-01 -5.85086005e-03 -1.24470071e-03 4.02054140e+02] [ 5.85096096e-03 9.99982880e-01 7.74452702e-05 -1.66446328e+01] [ 1.24422628e-03 -8.47265799e-05 9.99999222e-01 3.37223903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.01071405700003 meters Centerline goodness [0,1] 0.9790323690670093 Centerline is valid? [True, True] Translation: X:402.08, Y:-16.65, Z:3.37 [[ 9.99966970e-01 -8.06417641e-03 -1.01413623e-03 4.02083470e+02] [ 8.06424451e-03 9.99967481e-01 6.30765070e-05 -1.66501230e+01] [ 1.01359459e-03 -7.12526661e-05 9.99999484e-01 3.37187419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.040714057 meters Centerline goodness [0,1] 0.9783053340381036 Centerline is valid? [True, True] Translation: X:402.11, Y:-16.65, Z:3.37 [[ 9.99916207e-01 -1.29147108e-02 -8.88141181e-04 4.02114299e+02] [ 1.29147652e-02 9.99916599e-01 5.54771221e-05 -1.66536512e+01] [ 8.87350639e-04 -6.69426083e-05 9.99999604e-01 3.37164447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.07071405700003 meters Centerline goodness [0,1] 0.9787068590901814 Centerline is valid? [True, True] Translation: X:402.15, Y:-16.66, Z:3.37 [[ 9.99886905e-01 -1.49781599e-02 -1.35336812e-03 4.02145729e+02] [ 1.49782879e-02 9.99887816e-01 8.45426379e-05 -1.66566143e+01] [ 1.35195000e-03 -1.04804214e-04 9.99999081e-01 3.37099745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.100714057 meters Centerline goodness [0,1] 0.9766598581690497 Centerline is valid? [True, True] Translation: X:402.18, Y:-16.66, Z:3.37 [[ 9.99847736e-01 -1.72616017e-02 -2.55779585e-03 4.02175927e+02] [ 1.72620657e-02 9.99850987e-01 1.59430538e-04 -1.66619637e+01] [ 2.55466268e-03 -2.03559102e-04 9.99996716e-01 3.36972762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.130714057 meters Centerline goodness [0,1] 0.9764143353026368 Centerline is valid? [True, True] Translation: X:402.21, Y:-16.67, Z:3.37 [[ 9.99772033e-01 -2.09306923e-02 -4.21760682e-03 4.02206074e+02] [ 2.09319854e-02 9.99780867e-01 2.62695873e-04 -1.66667315e+01] [ 4.21118420e-03 -3.50918871e-04 9.99991071e-01 3.36734308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.160714057 meters Centerline goodness [0,1] 0.9768922477957174 Centerline is valid? [True, True] Translation: X:402.24, Y:-16.67, Z:3.37 [[ 9.99701239e-01 -2.37144639e-02 -5.92090463e-03 4.02236044e+02] [ 2.37170610e-02 9.99718643e-01 3.68795468e-04 -1.66715208e+01] [ 5.91049296e-03 -5.09111743e-04 9.99982403e-01 3.36553659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.190714057 meters Centerline goodness [0,1] 0.9755671501137748 Centerline is valid? [True, True] Translation: X:402.27, Y:-16.67, Z:3.36 [[ 9.99686360e-01 -2.43112183e-02 -6.01212742e-03 4.02268314e+02] [ 2.43139124e-02 9.99704303e-01 3.75425881e-04 -1.66745722e+01] [ 6.00122259e-03 -5.21486472e-04 9.99981857e-01 3.36489976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.220714057 meters Centerline goodness [0,1] 0.9746035394162261 Centerline is valid? [True, True] Translation: X:402.30, Y:-16.68, Z:3.36 [[ 9.99713693e-01 -2.33100454e-02 -5.40122108e-03 4.02298958e+02] [ 2.33122052e-02 9.99728177e-01 3.37241278e-04 -1.66765620e+01] [ 5.39189179e-03 -4.63059098e-04 9.99985356e-01 3.36463670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.250714057 meters Centerline goodness [0,1] 0.9751644207331095 Centerline is valid? [True, True] Translation: X:402.33, Y:-16.68, Z:3.37 [[ 9.99741577e-01 -2.22863570e-02 -4.48310033e-03 4.02330737e+02] [ 2.22878365e-02 9.99751556e-01 2.80327919e-04 -1.66777509e+01] [ 4.47573904e-03 -3.80174083e-04 9.99989912e-01 3.36521524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.280714057 meters Centerline goodness [0,1] 0.9740268687564588 Centerline is valid? [True, True] Translation: X:402.36, Y:-16.68, Z:3.37 [[ 9.99827052e-01 -1.84121832e-02 -2.61852142e-03 4.02360042e+02] [ 1.84126736e-02 9.99830459e-01 1.63302076e-04 -1.66765332e+01] [ 2.61507072e-03 -2.11487814e-04 9.99996558e-01 3.36685143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.310714057 meters Centerline goodness [0,1] 0.973496689959544 Centerline is valid? [True, True] Translation: X:402.39, Y:-16.68, Z:3.37 [[ 9.99873780e-01 -1.57684903e-02 -1.94391348e-03 4.02391363e+02] [ 1.57687561e-02 9.99875658e-01 1.21506377e-04 -1.66757665e+01] [ 1.94175579e-03 -1.52144138e-04 9.99998103e-01 3.36728052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.340714057 meters Centerline goodness [0,1] 0.9750063406423647 Centerline is valid? [True, True] Translation: X:402.42, Y:-16.67, Z:3.37 [[ 9.99945940e-01 -1.03537543e-02 -9.57433355e-04 4.02420895e+02] [ 1.03538161e-02 9.99946396e-01 5.96138674e-05 -1.66729435e+01] [ 9.56764805e-04 -6.95237336e-05 9.99999540e-01 3.36743441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.370714057 meters Centerline goodness [0,1] 0.9750063406423647 Centerline is valid? [True, True] Translation: X:402.45, Y:-16.67, Z:3.37 [[ 9.99946625e-01 -1.02873942e-02 -9.57386856e-04 4.02452608e+02] [ 1.02874567e-02 9.99947081e-01 6.03584945e-05 -1.66749903e+01] [ 9.56715261e-04 -7.02043487e-05 9.99999540e-01 3.36717804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.400714057 meters Centerline goodness [0,1] 0.9780483859786954 Centerline is valid? [True, True] Translation: X:402.48, Y:-16.67, Z:3.37 [[ 9.99970856e-01 -7.58451407e-03 -8.73521907e-04 4.02484226e+02] [ 7.58456477e-03 9.99971235e-01 5.47384797e-05 -1.66665191e+01] [ 8.73081616e-04 -6.13621679e-05 9.99999617e-01 3.36775593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.430714057 meters Centerline goodness [0,1] 0.9760588045532053 Centerline is valid? [True, True] Translation: X:402.51, Y:-16.67, Z:3.37 [[ 9.99996261e-01 -2.58339992e-03 -8.96833774e-04 4.02513843e+02] [ 2.58345128e-03 9.99996661e-01 5.61085010e-05 -1.66716930e+01] [ 8.96685829e-04 -5.84252175e-05 9.99999596e-01 3.36610612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.460714057 meters Centerline goodness [0,1] 0.976438824018092 Centerline is valid? [True, True] Translation: X:402.54, Y:-16.67, Z:3.37 [[ 9.99998405e-01 1.44711076e-03 -1.04638803e-03 4.02544074e+02] [-1.44704308e-03 9.99998951e-01 6.54315342e-05 -1.66700919e+01] [ 1.04648162e-03 -6.39172613e-05 9.99999450e-01 3.36589446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.490714057 meters Centerline goodness [0,1] 0.9775901942645698 Centerline is valid? [True, True] Translation: X:402.57, Y:-16.67, Z:3.37 [[ 9.99995473e-01 2.81802108e-03 -1.05464165e-03 4.02573484e+02] [-2.81795342e-03 9.99996027e-01 6.56322636e-05 -1.66705384e+01] [ 1.05482242e-03 -6.26600354e-05 9.99999442e-01 3.36541207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.520714057 meters Centerline goodness [0,1] 0.9808379343942839 Centerline is valid? [True, True] Translation: X:402.60, Y:-16.66, Z:3.37 [[ 9.99982712e-01 5.54684642e-03 -1.95150912e-03 4.02603815e+02] [-5.54661971e-03 9.99984610e-01 1.21566109e-04 -1.66570150e+01] [ 1.95215339e-03 -1.10739729e-04 9.99998088e-01 3.36648162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.550714057 meters Centerline goodness [0,1] 0.9800965018094089 Centerline is valid? [True, True] Translation: X:402.63, Y:-16.66, Z:3.37 [[ 9.99975538e-01 6.53540703e-03 -2.49244733e-03 4.02631426e+02] [-6.53504169e-03 9.99978634e-01 1.54695056e-04 -1.66615064e+01] [ 2.49340507e-03 -1.38403024e-04 9.99996882e-01 3.36520280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.580714057 meters Centerline goodness [0,1] 0.9813655958837436 Centerline is valid? [True, True] Translation: X:402.66, Y:-16.66, Z:3.36 [[ 9.99959383e-01 8.65326821e-03 -2.52065843e-03 4.02661249e+02] [-8.65290037e-03 9.99962551e-01 1.56800135e-04 -1.66602757e+01] [ 2.52192087e-03 -1.34982760e-04 9.99996811e-01 3.36489623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.610714057 meters Centerline goodness [0,1] 0.9814957235078888 Centerline is valid? [True, True] Translation: X:402.69, Y:-16.66, Z:3.36 [[ 9.99951010e-01 9.52163069e-03 -2.70475974e-03 4.02690661e+02] [-9.52121287e-03 9.99954658e-01 1.67308212e-04 -1.66589563e+01] [ 2.70623015e-03 -1.41547423e-04 9.99996328e-01 3.36486630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.640714057 meters Centerline goodness [0,1] 0.9813153787013955 Centerline is valid? [True, True] Translation: X:402.72, Y:-16.66, Z:3.36 [[ 9.99929398e-01 1.16352790e-02 -2.41237472e-03 4.02718659e+02] [-1.16349530e-02 9.99932301e-01 1.49131342e-04 -1.66597805e+01] [ 2.41394658e-03 -1.21052947e-04 9.99997079e-01 3.36490229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.670714057 meters Centerline goodness [0,1] 0.9799907578558226 Centerline is valid? [True, True] Translation: X:402.75, Y:-16.66, Z:3.36 [[ 9.99921113e-01 1.24243275e-02 -1.84488068e-03 4.02745966e+02] [-1.24241388e-02 9.99922811e-01 1.13711662e-04 -1.66636820e+01] [ 1.84615107e-03 -9.07816380e-05 9.99998292e-01 3.36451004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.700714057 meters Centerline goodness [0,1] 0.9816063621988652 Centerline is valid? [True, True] Translation: X:402.77, Y:-16.66, Z:3.37 [[ 9.99917854e-01 1.28042571e-02 -5.80383838e-04 4.02774975e+02] [-1.28042387e-02 9.99918022e-01 3.53806457e-05 -1.66590722e+01] [ 5.80789282e-04 -2.79463661e-05 9.99999831e-01 3.36599245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.730714057 meters Centerline goodness [0,1] 0.9802949934859483 Centerline is valid? [True, True] Translation: X:402.80, Y:-16.66, Z:3.37 [[ 9.99921962e-01 1.24898670e-02 -2.69260615e-04 4.02802202e+02] [-1.24898632e-02 9.99921998e-01 1.58708017e-05 -1.66623209e+01] [ 2.69437837e-04 -1.25065350e-05 9.99999964e-01 3.36561809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76071405700003 meters Centerline goodness [0,1] 0.9812955673056766 Centerline is valid? [True, True] Translation: X:402.83, Y:-16.66, Z:3.37 [[ 9.99931551e-01 1.17001311e-02 2.99910221e-05 4.02831493e+02] [-1.17001311e-02 9.99931551e-01 -2.43800301e-06 -1.66616148e+01] [-3.00174942e-05 2.08693724e-06 1.00000000e+00 3.36565728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.790714057 meters Centerline goodness [0,1] 0.9818647421720406 Centerline is valid? [True, True] Translation: X:402.86, Y:-16.66, Z:3.36 [[ 9.99958715e-01 9.08566489e-03 -1.38828437e-04 4.02861062e+02] [-9.08566383e-03 9.99958724e-01 8.28051923e-06 -1.66643757e+01] [ 1.38897941e-04 -7.01882886e-06 9.99999990e-01 3.36487030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82071405700003 meters Centerline goodness [0,1] 0.9795234549516009 Centerline is valid? [True, True] Translation: X:402.89, Y:-16.67, Z:3.36 [[ 9.99987195e-01 4.95964858e-03 -1.00613448e-03 4.02889979e+02] [-4.95958890e-03 9.99987699e-01 6.17999061e-05 -1.66705317e+01] [ 1.00642861e-03 -5.68091013e-05 9.99999492e-01 3.36452347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.850714057 meters Centerline goodness [0,1] 0.978994923385031 Centerline is valid? [True, True] Translation: X:402.92, Y:-16.67, Z:3.36 [[ 9.99995129e-01 2.95207200e-03 -1.01365760e-03 4.02919720e+02] [-2.95201043e-03 9.99995641e-01 6.22294670e-05 -1.66720450e+01] [ 1.01383689e-03 -5.92368361e-05 9.99999484e-01 3.36436366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.880714057 meters Centerline goodness [0,1] 0.9770472761064003 Centerline is valid? [True, True] Translation: X:402.95, Y:-16.68, Z:3.36 [[ 9.99998900e-01 -8.33743106e-04 -1.22647218e-03 4.02947977e+02] [ 8.33836101e-04 9.99999650e-01 7.53130700e-05 -1.66805125e+01] [ 1.22640896e-03 -7.63356639e-05 9.99999245e-01 3.36336846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.910714057 meters Centerline goodness [0,1] 0.9758747997306523 Centerline is valid? [True, True] Translation: X:402.98, Y:-16.69, Z:3.36 [[ 9.99997594e-01 -1.87182881e-03 -1.14376900e-03 4.02976982e+02] [ 1.87191049e-03 9.99998245e-01 7.03446103e-05 -1.66878879e+01] [ 1.14363532e-03 -7.24854742e-05 9.99999343e-01 3.36233653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.940714057 meters Centerline goodness [0,1] 0.9788956883914652 Centerline is valid? [True, True] Translation: X:403.01, Y:-16.68, Z:3.36 [[ 9.99991903e-01 -3.64876031e-03 -1.69748274e-03 4.03007898e+02] [ 3.64894311e-03 9.99993337e-01 1.04603220e-04 -1.66831953e+01] [ 1.69708976e-03 -1.10796391e-04 9.99998554e-01 3.36251087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.970714057 meters Centerline goodness [0,1] 0.9760338455101234 Centerline is valid? [True, True] Translation: X:403.04, Y:-16.69, Z:3.36 [[ 9.99990370e-01 -4.14433583e-03 -1.44404126e-03 4.03038409e+02] [ 4.14446888e-03 9.99991408e-01 8.91524469e-05 -1.66866638e+01] [ 1.44365938e-03 -9.51363724e-05 9.99998953e-01 3.36230202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.000714057 meters Centerline goodness [0,1] 0.9782578332324596 Centerline is valid? [True, True] Translation: X:403.07, Y:-16.68, Z:3.36 [[ 9.99991194e-01 -4.04786957e-03 -1.10799394e-03 4.03070046e+02] [ 4.04794808e-03 9.99991805e-01 6.86244347e-05 -1.66846288e+01] [ 1.10770708e-03 -7.31089323e-05 9.99999384e-01 3.36334641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.030714057 meters Centerline goodness [0,1] 0.9784160910957626 Centerline is valid? [True, True] Translation: X:403.10, Y:-16.69, Z:3.36 [[ 9.99991934e-01 -3.97851478e-03 -5.51379728e-04 4.03101591e+02] [ 3.97853430e-03 9.99992085e-01 3.43144731e-05 -1.66860667e+01] [ 5.51238843e-04 -3.65078795e-05 9.99999847e-01 3.36405550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.060714057 meters Centerline goodness [0,1] 0.9759897531439218 Centerline is valid? [True, True] Translation: X:403.13, Y:-16.69, Z:3.36 [[ 9.99994929e-01 -3.15412466e-03 4.39918470e-04 4.03132258e+02] [ 3.15413678e-03 9.99995025e-01 -2.68780171e-05 -1.66893650e+01] [-4.39831505e-04 2.82654438e-05 9.99999903e-01 3.36457803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.090714057 meters Centerline goodness [0,1] 0.9764420298231419 Centerline is valid? [True, True] Translation: X:403.16, Y:-16.69, Z:3.36 [[ 9.99996093e-01 -2.76175994e-03 4.33014070e-04 4.03163736e+02] [ 2.76177166e-03 9.99996186e-01 -2.64682336e-05 -1.66904616e+01] [-4.32939319e-04 2.76640162e-05 9.99999906e-01 3.36427164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.120714057 meters Centerline goodness [0,1] 0.9762038204661155 Centerline is valid? [True, True] Translation: X:403.19, Y:-16.69, Z:3.36 [[ 9.99993442e-01 -3.61653112e-03 -1.92560143e-04 4.03194733e+02] [ 3.61653353e-03 9.99993460e-01 1.21923265e-05 -1.66920859e+01] [ 1.92514790e-04 -1.28886468e-05 9.99999981e-01 3.36347448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.150714057 meters Centerline goodness [0,1] 0.9746374289360715 Centerline is valid? [True, True] Translation: X:403.23, Y:-16.70, Z:3.36 [[ 9.99992355e-01 -3.87671939e-03 -5.10093426e-04 4.03225526e+02] [ 3.87673613e-03 9.99992485e-01 3.18401251e-05 -1.66950708e+01] [ 5.09966157e-04 -3.38173793e-05 9.99999869e-01 3.36252234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.180714057 meters Centerline goodness [0,1] 0.9772690068052665 Centerline is valid? [True, True] Translation: X:403.26, Y:-16.70, Z:3.36 [[ 9.99983298e-01 -5.44659379e-03 -1.93326101e-03 4.03256443e+02] [ 5.44683617e-03 9.99985159e-01 1.20131814e-04 -1.66971467e+01] [ 1.93257801e-03 -1.30659963e-04 9.99998124e-01 3.36061961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.210714057 meters Centerline goodness [0,1] 0.9771781321610625 Centerline is valid? [True, True] Translation: X:403.29, Y:-16.70, Z:3.36 [[ 9.99971635e-01 -6.34131366e-03 -4.06408482e-03 4.03286916e+02] [ 6.34239441e-03 9.99979855e-01 2.53093070e-04 -1.67015654e+01] [ 4.06239800e-03 -2.78861920e-04 9.99991710e-01 3.35809848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.240714057 meters Centerline goodness [0,1] 0.9761115262469643 Centerline is valid? [True, True] Translation: X:403.32, Y:-16.70, Z:3.36 [[ 9.99965205e-01 -6.56763857e-03 -5.14350818e-03 4.03318279e+02] [ 6.56936855e-03 9.99978370e-01 3.19519498e-04 -1.67037725e+01] [ 5.14129844e-03 -3.53297982e-04 9.99986721e-01 3.35652398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.270714057 meters Centerline goodness [0,1] 0.9759471671880431 Centerline is valid? [True, True] Translation: X:403.35, Y:-16.70, Z:3.36 [[ 9.99960918e-01 -6.80543176e-03 -5.64352632e-03 4.03348413e+02] [ 6.80751650e-03 9.99976767e-01 3.50275843e-04 -1.67039749e+01] [ 5.64101142e-03 -3.88680552e-04 9.99984014e-01 3.35590668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.300714057 meters Centerline goodness [0,1] 0.9756217162872154 Centerline is valid? [True, True] Translation: X:403.38, Y:-16.71, Z:3.36 [[ 9.99957352e-01 -7.21289775e-03 -5.76784009e-03 4.03378242e+02] [ 7.21508615e-03 9.99973907e-01 3.58696262e-04 -1.67067035e+01] [ 5.76510235e-03 -4.00296427e-04 9.99983302e-01 3.35540397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.330714057 meters Centerline goodness [0,1] 0.9745752837267834 Centerline is valid? [True, True] Translation: X:403.41, Y:-16.71, Z:3.36 [[ 9.99959787e-01 -7.22800760e-03 -5.30860323e-03 4.03408911e+02] [ 7.22986080e-03 9.99973810e-01 3.29985665e-04 -1.67088715e+01] [ 5.30607905e-03 -3.68352858e-04 9.99985855e-01 3.35598846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.360714057 meters Centerline goodness [0,1] 0.975253984527915 Centerline is valid? [True, True] Translation: X:403.44, Y:-16.71, Z:3.36 [[ 9.99964030e-01 -7.02818411e-03 -4.74797263e-03 4.03440217e+02] [ 7.02966578e-03 9.99975248e-01 2.95446291e-04 -1.67103960e+01] [ 4.74577866e-03 -3.28812325e-04 9.99988685e-01 3.35705106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.390714057 meters Centerline goodness [0,1] 0.974530426505073 Centerline is valid? [True, True] Translation: X:403.47, Y:-16.71, Z:3.36 [[ 9.99975736e-01 -6.55364683e-03 -2.36143887e-03 4.03470811e+02] [ 6.55401211e-03 9.99978511e-01 1.46981627e-04 -1.67131733e+01] [ 2.36042486e-03 -1.62454959e-04 9.99997201e-01 3.35810061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.420714057 meters Centerline goodness [0,1] 0.9733302085774549 Centerline is valid? [True, True] Translation: X:403.50, Y:-16.72, Z:3.36 [[ 9.99976910e-01 -6.54419672e-03 -1.83113586e-03 4.03501579e+02] [ 6.54441706e-03 9.99978579e-01 1.14363077e-04 -1.67162906e+01] [ 1.83034822e-03 -1.26344153e-04 9.99998317e-01 3.35831403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.450714057 meters Centerline goodness [0,1] 0.9717142388835553 Centerline is valid? [True, True] Translation: X:403.53, Y:-16.72, Z:3.36 [[ 9.99981898e-01 -5.98937980e-03 -5.75092946e-04 4.03532602e+02] [ 5.98940162e-03 9.99982063e-01 3.62187475e-05 -1.67191187e+01] [ 5.74865702e-04 -3.96625545e-05 9.99999834e-01 3.35828644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.480714057 meters Centerline goodness [0,1] 0.9759278772977403 Centerline is valid? [True, True] Translation: X:403.56, Y:-16.71, Z:3.36 [[ 9.99982946e-01 -5.75704384e-03 -9.82044983e-04 4.03564680e+02] [ 5.75710728e-03 9.99983426e-01 6.17903862e-05 -1.67149157e+01] [ 9.81672976e-04 -6.74430708e-05 9.99999516e-01 3.35867623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.51071405700003 meters Centerline goodness [0,1] 0.9747108134688334 Centerline is valid? [True, True] Translation: X:403.60, Y:-16.72, Z:3.36 [[ 9.99982990e-01 -5.30136935e-03 -2.43194471e-03 4.03595183e+02] [ 5.30175672e-03 9.99985934e-01 1.52868361e-04 -1.67213998e+01] [ 2.43110009e-03 -1.65759340e-04 9.99997031e-01 3.35580739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.540714057 meters Centerline goodness [0,1] 0.9772727272727273 Centerline is valid? [True, True] Translation: X:403.63, Y:-16.72, Z:3.36 [[ 9.99979678e-01 -5.53717154e-03 -3.15952028e-03 4.03626700e+02] [ 5.53782394e-03 9.99984647e-01 1.97776029e-04 -1.67162385e+01] [ 3.15837665e-03 -2.15268877e-04 9.99994989e-01 3.35555715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.57071405700003 meters Centerline goodness [0,1] 0.9768147750356068 Centerline is valid? [True, True] Translation: X:403.66, Y:-16.72, Z:3.35 [[ 9.99968022e-01 -6.04071480e-03 -5.24073683e-03 4.03656543e+02] [ 6.04251540e-03 9.99981690e-01 3.27813045e-04 -1.67218438e+01] [ 5.23866065e-03 -3.59469795e-04 9.99986214e-01 3.35261213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.600714057 meters Centerline goodness [0,1] 0.9762825470482083 Centerline is valid? [True, True] Translation: X:403.69, Y:-16.72, Z:3.35 [[ 9.99962535e-01 -6.35872567e-03 -5.87327531e-03 4.03686537e+02] [ 6.36099169e-03 9.99979701e-01 3.67220701e-04 -1.67243324e+01] [ 5.87082104e-03 -4.04566799e-04 9.99982685e-01 3.35131122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.630714057 meters Centerline goodness [0,1] 0.9760509912358813 Centerline is valid? [True, True] Translation: X:403.72, Y:-16.73, Z:3.35 [[ 9.99952335e-01 -6.46419421e-03 -7.31723267e-03 4.03716315e+02] [ 6.46771233e-03 9.99978980e-01 4.57238443e-04 -1.67277184e+01] [ 7.31412318e-03 -5.04542405e-04 9.99973124e-01 3.34988877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.660714057 meters Centerline goodness [0,1] 0.9775254594404776 Centerline is valid? [True, True] Translation: X:403.75, Y:-16.73, Z:3.35 [[ 9.99962328e-01 -5.39989694e-03 -6.79585973e-03 4.03746488e+02] [ 5.40290188e-03 9.99985314e-01 4.23890937e-04 -1.67289270e+01] [ 6.79347096e-03 -4.60592331e-04 9.99976818e-01 3.34979272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.690714057 meters Centerline goodness [0,1] 0.9755217727389848 Centerline is valid? [True, True] Translation: X:403.78, Y:-16.73, Z:3.35 [[ 9.99966458e-01 -4.21540836e-03 -7.02236584e-03 4.03776664e+02] [ 4.21858509e-03 9.99991006e-01 4.37621964e-04 -1.67294082e+01] [ 7.02045792e-03 -4.67231733e-04 9.99975247e-01 3.35011613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.720714057 meters Centerline goodness [0,1] 0.9774965496268918 Centerline is valid? [True, True] Translation: X:403.81, Y:-16.72, Z:3.35 [[ 9.99987299e-01 -8.34830619e-04 -4.97047759e-03 4.03807258e+02] [ 8.36381954e-04 9.99999602e-01 3.10039493e-04 -1.67228575e+01] [ 4.97021679e-03 -3.14192773e-04 9.99987599e-01 3.35309149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.750714057 meters Centerline goodness [0,1] 0.9777981392726247 Centerline is valid? [True, True] Translation: X:403.84, Y:-16.72, Z:3.35 [[ 9.99992395e-01 2.71697103e-04 -3.89058075e-03 4.03836234e+02] [-2.70758172e-04 9.99999934e-01 2.41859233e-04 -1.67230314e+01] [ 3.89064620e-03 -2.40803987e-04 9.99992402e-01 3.35357310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.780714057 meters Centerline goodness [0,1] 0.9782827691226426 Centerline is valid? [True, True] Translation: X:403.87, Y:-16.72, Z:3.35 [[ 9.99992401e-01 3.58136123e-03 -1.53993770e-03 4.03866041e+02] [-3.58121821e-03 9.99993583e-01 9.56215520e-05 -1.67217592e+01] [ 1.54027028e-03 -9.01059724e-05 9.99998810e-01 3.35487115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.810714057 meters Centerline goodness [0,1] 0.9773111612175873 Centerline is valid? [True, True] Translation: X:403.89, Y:-16.73, Z:3.35 [[ 9.99988487e-01 4.68678777e-03 -1.02917013e-03 4.03894759e+02] [-4.68672477e-03 9.99989015e-01 6.36151412e-05 -1.67260568e+01] [ 1.02945697e-03 -5.87909717e-05 9.99999468e-01 3.35448460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.840714057 meters Centerline goodness [0,1] 0.9776987339994851 Centerline is valid? [True, True] Translation: X:403.93, Y:-16.72, Z:3.36 [[ 9.99972855e-01 7.35612439e-03 4.19260966e-04 4.03925296e+02] [-7.35611404e-03 9.99972943e-01 -2.62226749e-05 -1.67219288e+01] [-4.19442519e-04 2.31378316e-05 9.99999912e-01 3.35567700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.870714057 meters Centerline goodness [0,1] 0.9775531266125628 Centerline is valid? [True, True] Translation: X:403.95, Y:-16.73, Z:3.36 [[ 9.99969371e-01 7.78193789e-03 8.35303584e-04 4.03953294e+02] [-7.78189665e-03 9.99969719e-01 -5.26107478e-05 -1.67255989e+01] [-8.35687704e-04 4.61088902e-05 9.99999650e-01 3.35508963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.900714057 meters Centerline goodness [0,1] 0.9782710718978788 Centerline is valid? [True, True] Translation: X:403.98, Y:-16.72, Z:3.35 [[ 9.99969094e-01 7.80355268e-03 -9.56717572e-04 4.03981788e+02] [-7.80349999e-03 9.99969551e-01 5.87902198e-05 -1.67243836e+01] [ 9.57147213e-04 -5.13226573e-05 9.99999541e-01 3.35350223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.930714057 meters Centerline goodness [0,1] 0.9764981822446347 Centerline is valid? [True, True] Translation: X:404.01, Y:-16.73, Z:3.35 [[ 9.99966851e-01 7.96470149e-03 -1.69134055e-03 4.04008791e+02] [-7.96453690e-03 9.99968277e-01 1.04029271e-04 -1.67300712e+01] [ 1.69211546e-03 -9.05550783e-05 9.99998564e-01 3.35150163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.960714057 meters Centerline goodness [0,1] 0.9783478851150488 Centerline is valid? [True, True] Translation: X:404.04, Y:-16.73, Z:3.35 [[ 9.99965893e-01 7.72553806e-03 -2.92049089e-03 4.04037495e+02] [-7.72504472e-03 9.99970145e-01 1.80165021e-04 -1.67294639e+01] [ 2.92179557e-03 -1.57597954e-04 9.99995719e-01 3.34945872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.990714057 meters Centerline goodness [0,1] 0.977994880345694 Centerline is valid? [True, True] Translation: X:404.06, Y:-16.73, Z:3.35 [[ 9.99961458e-01 8.08159078e-03 -3.43079157e-03 4.04064668e+02] [-8.08091321e-03 9.99967327e-01 2.11310677e-04 -1.67343232e+01] [ 3.43238720e-03 -1.83578603e-04 9.99994092e-01 3.34813980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.020714057 meters Centerline goodness [0,1] 0.9787684775444874 Centerline is valid? [True, True] Translation: X:404.09, Y:-16.73, Z:3.35 [[ 9.99950585e-01 8.84114812e-03 -4.54560463e-03 4.04094129e+02] [-8.83996525e-03 9.99960887e-01 2.80248495e-04 -1.67334319e+01] [ 4.54790456e-03 -2.40051660e-04 9.99989629e-01 3.34735435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.050714057 meters Centerline goodness [0,1] 0.9778159809716694 Centerline is valid? [True, True] Translation: X:404.12, Y:-16.73, Z:3.35 [[ 9.99942972e-01 9.47339505e-03 -4.93026262e-03 4.04123202e+02] [-9.47201334e-03 9.99955093e-01 3.03526525e-04 -1.67347323e+01] [ 4.93291664e-03 -2.56809702e-04 9.99987800e-01 3.34676732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.080714057 meters Centerline goodness [0,1] 0.9784612490594432 Centerline is valid? [True, True] Translation: X:404.15, Y:-16.73, Z:3.35 [[ 9.99917340e-01 1.22047714e-02 -4.04433433e-03 4.04152135e+02] [-1.22038638e-02 9.99925499e-01 2.49026130e-04 -1.67341612e+01] [ 4.04707233e-03 -1.99649040e-04 9.99991791e-01 3.34691090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.110714057 meters Centerline goodness [0,1] 0.9803146828476681 Centerline is valid? [True, True] Translation: X:404.18, Y:-16.73, Z:3.35 [[ 9.99899889e-01 1.36178749e-02 -3.84261257e-03 4.04181441e+02] [-1.36170702e-02 9.99907256e-01 2.35498807e-04 -1.67342002e+01] [ 3.84546319e-03 -1.83150106e-04 9.99992589e-01 3.34721200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.140714057 meters Centerline goodness [0,1] 0.9790437532449143 Centerline is valid? [True, True] Translation: X:404.21, Y:-16.73, Z:3.35 [[ 9.99855408e-01 1.68315129e-02 -2.42133268e-03 4.04210268e+02] [-1.68312021e-02 9.99858334e-01 1.48668475e-04 -1.67338651e+01] [ 2.42349198e-03 -1.07893039e-04 9.99997058e-01 3.34763548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.170714057 meters Centerline goodness [0,1] 0.9805463087565219 Centerline is valid? [True, True] Translation: X:404.24, Y:-16.73, Z:3.35 [[ 9.99839016e-01 1.77862564e-02 -2.36462114e-03 4.04239895e+02] [-1.77859635e-02 9.99841807e-01 1.44875552e-04 -1.67304901e+01] [ 2.36682386e-03 -1.02795164e-04 9.99997194e-01 3.34901297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.200714057 meters Centerline goodness [0,1] 0.981614254276993 Centerline is valid? [True, True] Translation: X:404.27, Y:-16.73, Z:3.35 [[ 9.99802064e-01 1.98671807e-02 -1.06220488e-03 4.04268438e+02] [-1.98671232e-02 9.99802627e-01 6.46373990e-05 -1.67311231e+01] [ 1.06327939e-03 -4.35216497e-05 9.99999434e-01 3.34978273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.230714057 meters Centerline goodness [0,1] 0.981085681861169 Centerline is valid? [True, True] Translation: X:404.30, Y:-16.73, Z:3.35 [[ 9.99795413e-01 2.02123256e-02 -7.70166771e-04 4.04297345e+02] [-2.02122957e-02 9.99795710e-01 4.66626808e-05 -1.67329367e+01] [ 7.70952595e-04 -3.10862958e-05 9.99999702e-01 3.34978335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26071405700003 meters Centerline goodness [0,1] 0.9808189297484411 Centerline is valid? [True, True] Translation: X:404.33, Y:-16.74, Z:3.35 [[ 9.99810051e-01 1.94463904e-02 -1.30373523e-03 4.04326249e+02] [-1.94463035e-02 9.99810900e-01 7.92925813e-05 -1.67359866e+01] [ 1.30503065e-03 -5.39246888e-05 9.99999147e-01 3.34904920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.290714057 meters Centerline goodness [0,1] 0.9808189297484411 Centerline is valid? [True, True] Translation: X:404.35, Y:-16.74, Z:3.35 [[ 9.99812024e-01 1.93446832e-02 -1.30376007e-03 4.04353680e+02] [-1.93445968e-02 9.99812873e-01 7.88862581e-05 -1.67375714e+01] [ 1.30504213e-03 -5.36507166e-05 9.99999147e-01 3.34882736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32071405700003 meters Centerline goodness [0,1] 0.9804725225543542 Centerline is valid? [True, True] Translation: X:404.38, Y:-16.74, Z:3.35 [[ 9.99824962e-01 1.86415281e-02 -1.59345985e-03 4.04381144e+02] [-1.86413978e-02 9.99826229e-01 9.66050805e-05 -1.67416903e+01] [ 1.59498382e-03 -6.68838521e-05 9.99998726e-01 3.34810397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.350714057 meters Centerline goodness [0,1] 0.9806978119455944 Centerline is valid? [True, True] Translation: X:404.41, Y:-16.74, Z:3.35 [[ 9.99869977e-01 1.60305116e-02 -1.74707986e-03 4.04410105e+02] [-1.60303505e-02 9.99871500e-01 1.06160341e-04 -1.67447818e+01] [ 1.74855716e-03 -7.81402353e-05 9.99998468e-01 3.34711918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.380714057 meters Centerline goodness [0,1] 0.979052002277472 Centerline is valid? [True, True] Translation: X:404.44, Y:-16.75, Z:3.35 [[ 9.99896356e-01 1.42201377e-02 -2.25044080e-03 4.04438118e+02] [-1.42198660e-02 9.99898883e-01 1.36683110e-04 -1.67498720e+01] [ 2.25215690e-03 -1.04667977e-04 9.99997458e-01 3.34636563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.410714057 meters Centerline goodness [0,1] 0.9787491115849325 Centerline is valid? [True, True] Translation: X:404.47, Y:-16.75, Z:3.35 [[ 9.99941281e-01 1.05035139e-02 -2.66651824e-03 4.04468475e+02] [-1.05031183e-02 9.99944828e-01 1.62319435e-04 -1.67512593e+01] [ 2.66807605e-03 -1.34303147e-04 9.99996432e-01 3.34771944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.440714057 meters Centerline goodness [0,1] 0.9768662565612902 Centerline is valid? [True, True] Translation: X:404.50, Y:-16.76, Z:3.35 [[ 9.99974881e-01 6.66681138e-03 -2.40650148e-03 4.04497305e+02] [-6.66647822e-03 9.99977768e-01 1.46436844e-04 -1.67624323e+01] [ 2.40742425e-03 -1.30390276e-04 9.99997094e-01 3.34645943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.470714057 meters Centerline goodness [0,1] 0.9784303965488634 Centerline is valid? [True, True] Translation: X:404.53, Y:-16.76, Z:3.35 [[ 9.99984574e-01 5.13825332e-03 -2.10963418e-03 4.04526430e+02] [-5.13799508e-03 9.99986792e-01 1.27810361e-04 -1.67629238e+01] [ 2.11026304e-03 -1.16969100e-04 9.99997767e-01 3.34743021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.500714057 meters Centerline goodness [0,1] 0.9747585653231329 Centerline is valid? [True, True] Translation: X:404.55, Y:-16.77, Z:3.35 [[ 9.99993746e-01 1.07492433e-03 -3.36928137e-03 4.04554919e+02] [-1.07423970e-03 9.99999402e-01 2.05000875e-04 -1.67727432e+01] [ 3.36949972e-03 -2.01380177e-04 9.99994303e-01 3.34520628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.530714057 meters Centerline goodness [0,1] 0.9781042654028436 Centerline is valid? [True, True] Translation: X:404.58, Y:-16.77, Z:3.35 [[ 9.99991693e-01 -6.01582846e-04 -4.03131798e-03 4.04584527e+02] [ 6.02573972e-04 9.99999789e-01 2.44646370e-04 -1.67684925e+01] [ 4.03116995e-03 -2.47073505e-04 9.99991844e-01 3.34642324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.560714057 meters Centerline goodness [0,1] 0.9744573065359942 Centerline is valid? [True, True] Translation: X:404.61, Y:-16.78, Z:3.34 [[ 9.99986705e-01 -2.48009172e-03 -4.52103888e-03 4.04612230e+02] [ 2.48135659e-03 9.99996884e-01 2.74186949e-04 -1.67810999e+01] [ 4.52034478e-03 -2.85401613e-04 9.99989742e-01 3.34369171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.590714057 meters Centerline goodness [0,1] 0.9777404153543773 Centerline is valid? [True, True] Translation: X:404.64, Y:-16.78, Z:3.34 [[ 9.99968635e-01 -5.93012571e-03 -5.24999453e-03 4.04642734e+02] [ 5.93188012e-03 9.99982355e-01 3.18665719e-04 -1.67767548e+01] [ 5.24801217e-03 -3.49798063e-04 9.99986168e-01 3.34464108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.620714057 meters Centerline goodness [0,1] 0.9723151377126183 Centerline is valid? [True, True] Translation: X:404.67, Y:-16.79, Z:3.34 [[ 9.99954480e-01 -7.73549440e-03 -5.58566098e-03 4.04671562e+02] [ 7.73750783e-03 9.99970008e-01 3.38944367e-04 -1.67914358e+01] [ 5.58287155e-03 -3.82148033e-04 9.99984343e-01 3.34200876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.650714057 meters Centerline goodness [0,1] 0.9754022166607079 Centerline is valid? [True, True] Translation: X:404.70, Y:-16.78, Z:3.34 [[ 9.99933603e-01 -1.01483506e-02 -5.45906544e-03 4.04702822e+02] [ 1.01503116e-02 9.99948429e-01 3.31631126e-04 -1.67832717e+01] [ 5.45541840e-03 -3.87020321e-04 9.99985044e-01 3.34460158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.680714057 meters Centerline goodness [0,1] 0.9765361803084223 Centerline is valid? [True, True] Translation: X:404.73, Y:-16.79, Z:3.34 [[ 9.99920723e-01 -1.15466485e-02 -5.02225563e-03 4.04733408e+02] [ 1.15483274e-02 9.99933269e-01 3.05424952e-04 -1.67881028e+01] [ 5.01839386e-03 -3.63399391e-04 9.99987342e-01 3.34445686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.710714057 meters Centerline goodness [0,1] 0.9737130078979922 Centerline is valid? [True, True] Translation: X:404.76, Y:-16.79, Z:3.34 [[ 9.99913205e-01 -1.21168770e-02 -5.17341882e-03 4.04764841e+02] [ 1.21186680e-02 9.99926517e-01 3.14989224e-04 -1.67920942e+01] [ 5.16922197e-03 -3.77656830e-04 9.99986568e-01 3.34440369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.740714057 meters Centerline goodness [0,1] 0.9741889651906228 Centerline is valid? [True, True] Translation: X:404.80, Y:-16.79, Z:3.34 [[ 9.99916304e-01 -1.21659905e-02 -4.40153984e-03 4.04796298e+02] [ 1.21672887e-02 9.99925940e-01 2.68272251e-04 -1.67946951e+01] [ 4.39795006e-03 -3.21804604e-04 9.99990277e-01 3.34489952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.770714057 meters Centerline goodness [0,1] 0.9757834757834758 Centerline is valid? [True, True] Translation: X:404.83, Y:-16.79, Z:3.35 [[ 9.99916867e-01 -1.19805885e-02 -4.76702094e-03 4.04828280e+02] [ 1.19821112e-02 9.99928170e-01 2.90990536e-04 -1.67919780e+01] [ 4.76319228e-03 -3.48085320e-04 9.99988595e-01 3.34506712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.800714057 meters Centerline goodness [0,1] 0.9750309730296388 Centerline is valid? [True, True] Translation: X:404.86, Y:-16.79, Z:3.34 [[ 9.99916406e-01 -1.17432398e-02 -5.41087082e-03 4.04859133e+02] [ 1.17451985e-02 9.99930968e-01 3.30358979e-04 -1.67943651e+01] [ 5.40661781e-03 -3.93883115e-04 9.99985307e-01 3.34464117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.830714057 meters Centerline goodness [0,1] 0.9723342665970673 Centerline is valid? [True, True] Translation: X:404.89, Y:-16.80, Z:3.34 [[ 9.99929093e-01 -1.07259980e-02 -5.17311245e-03 4.04888977e+02] [ 1.07277780e-02 9.99942406e-01 3.16463583e-04 -1.68001150e+01] [ 5.16942012e-03 -3.71937146e-04 9.99986569e-01 3.34387713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.860714057 meters Centerline goodness [0,1] 0.973001235858922 Centerline is valid? [True, True] Translation: X:404.92, Y:-16.80, Z:3.34 [[ 9.99929126e-01 -1.02953273e-02 -5.97903229e-03 4.04920831e+02] [ 1.02976974e-02 9.99946910e-01 3.65748643e-04 -1.67973827e+01] [ 5.97494936e-03 -4.27292986e-04 9.99982059e-01 3.34409971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.890714057 meters Centerline goodness [0,1] 0.9736471150400191 Centerline is valid? [True, True] Translation: X:404.95, Y:-16.80, Z:3.34 [[ 9.99930476e-01 -9.97283106e-03 -6.29166548e-03 4.04952580e+02] [ 9.97544950e-03 9.99950170e-01 3.84930632e-04 -1.67989152e+01] [ 6.28751312e-03 -4.47666062e-04 9.99980133e-01 3.34378140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.920714057 meters Centerline goodness [0,1] 0.9740818668706962 Centerline is valid? [True, True] Translation: X:404.98, Y:-16.80, Z:3.34 [[ 9.99930713e-01 -9.67298374e-03 -6.70842607e-03 4.04983635e+02] [ 9.67595688e-03 9.99953102e-01 4.10879899e-04 -1.68011589e+01] [ 6.70413703e-03 -4.75761871e-04 9.99977414e-01 3.34312114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.950714057 meters Centerline goodness [0,1] 0.9761047385114349 Centerline is valid? [True, True] Translation: X:405.02, Y:-16.80, Z:3.34 [[ 9.99932606e-01 -9.27753967e-03 -6.97936509e-03 4.05015336e+02] [ 9.28074893e-03 9.99956842e-01 4.27573034e-04 -1.67968250e+01] [ 6.97509705e-03 -4.92317953e-04 9.99975553e-01 3.34394710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.980714057 meters Centerline goodness [0,1] 0.9747108269272218 Centerline is valid? [True, True] Translation: X:405.05, Y:-16.80, Z:3.34 [[ 9.99929453e-01 -8.78420740e-03 -7.99539953e-03 4.05045054e+02] [ 8.78840303e-03 9.99961261e-01 4.89771845e-04 -1.68027528e+01] [ 7.99078754e-03 -5.60004086e-04 9.99967916e-01 3.34185761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.01071405700003 meters Centerline goodness [0,1] 0.9744551710953928 Centerline is valid? [True, True] Translation: X:405.08, Y:-16.80, Z:3.34 [[ 9.99926386e-01 -8.10587331e-03 -9.02872533e-03 4.05075380e+02] [ 8.11119465e-03 9.99966951e-01 5.52916115e-04 -1.68027397e+01] [ 9.02394507e-03 -6.26109161e-04 9.99959087e-01 3.34171781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.040714057 meters Centerline goodness [0,1] 0.9760885679443342 Centerline is valid? [True, True] Translation: X:405.11, Y:-16.80, Z:3.34 [[ 9.99929594e-01 -7.48348308e-03 -9.20895306e-03 4.05105830e+02] [ 7.48899009e-03 9.99971798e-01 5.63666646e-04 -1.67986830e+01] [ 9.20447516e-03 -6.32592719e-04 9.99957438e-01 3.34274080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.07071405700003 meters Centerline goodness [0,1] 0.9737423195084486 Centerline is valid? [True, True] Translation: X:405.14, Y:-16.81, Z:3.34 [[ 9.99934566e-01 -5.96322426e-03 -9.76236229e-03 4.05135226e+02] [ 5.96933947e-03 9.99982005e-01 5.97388090e-04 -1.68053263e+01] [ 9.75862426e-03 -6.55623855e-04 9.99952169e-01 3.34189647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.100714057 meters Centerline goodness [0,1] 0.9773000529024191 Centerline is valid? [True, True] Translation: X:405.16, Y:-16.79, Z:3.35 [[ 9.99943407e-01 -5.65697228e-03 -9.01006081e-03 4.05164942e+02] [ 5.66213277e-03 9.99983820e-01 5.47341047e-04 -1.67944061e+01] [ 9.00681873e-03 -5.98326232e-04 9.99959259e-01 3.34517549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.130714057 meters Centerline goodness [0,1] 0.9756660020658675 Centerline is valid? [True, True] Translation: X:405.19, Y:-16.80, Z:3.35 [[ 9.99957507e-01 -4.30087668e-03 -8.15393795e-03 4.05193841e+02] [ 4.30506801e-03 9.99990610e-01 4.96543709e-04 -1.67975910e+01] [ 8.15172581e-03 -5.31625867e-04 9.99966633e-01 3.34566740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.160714057 meters Centerline goodness [0,1] 0.974886557345562 Centerline is valid? [True, True] Translation: X:405.22, Y:-16.79, Z:3.35 [[ 9.99963976e-01 -4.06902746e-03 -7.44916896e-03 4.05222795e+02] [ 4.07249472e-03 9.99991606e-01 4.50346752e-04 -1.67928908e+01] [ 7.44727396e-03 -4.80667230e-04 9.99972153e-01 3.34765314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.190714057 meters Centerline goodness [0,1] 0.9756602049160614 Centerline is valid? [True, True] Translation: X:405.25, Y:-16.79, Z:3.35 [[ 9.99969349e-01 -3.30800073e-03 -7.09639796e-03 4.05252609e+02] [ 3.31113686e-03 9.99994426e-01 4.30229260e-04 -1.67929266e+01] [ 7.09493520e-03 -4.53713218e-04 9.99974728e-01 3.34751483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.220714057 meters Centerline goodness [0,1] 0.9736747205192932 Centerline is valid? [True, True] Translation: X:405.28, Y:-16.80, Z:3.35 [[ 9.99969832e-01 -2.51958265e-03 -7.34760544e-03 4.05281315e+02] [ 2.52291978e-03 9.99996718e-01 4.44944638e-04 -1.67975209e+01] [ 7.34646026e-03 -4.63468634e-04 9.99972907e-01 3.34640598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.250714057 meters Centerline goodness [0,1] 0.9766641807202829 Centerline is valid? [True, True] Translation: X:405.31, Y:-16.79, Z:3.35 [[ 9.99958584e-01 -2.79156799e-03 -8.66238617e-03 4.05309792e+02] [ 2.79618491e-03 9.99995955e-01 5.20920158e-04 -1.67948480e+01] [ 8.66089694e-03 -5.45120217e-04 9.99962345e-01 3.34629214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.280714057 meters Centerline goodness [0,1] 0.9770579323281149 Centerline is valid? [True, True] Translation: X:405.34, Y:-16.80, Z:3.35 [[ 9.99949270e-01 -3.45614600e-03 -9.46114057e-03 4.05338585e+02] [ 3.46166282e-03 9.99993848e-01 5.66789107e-04 -1.67966625e+01] [ 9.45912345e-03 -5.99511632e-04 9.99955082e-01 3.34505896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.310714057 meters Centerline goodness [0,1] 0.9745758627337575 Centerline is valid? [True, True] Translation: X:405.37, Y:-16.81, Z:3.34 [[ 9.99933926e-01 -3.78052669e-03 -1.08558949e-02 4.05365078e+02] [ 3.78781603e-03 9.99992614e-01 6.50981156e-04 -1.68131839e+01] [ 1.08533537e-02 -6.92058276e-04 9.99940861e-01 3.33934348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.340714057 meters Centerline goodness [0,1] 0.9790056578788973 Centerline is valid? [True, True] Translation: X:405.39, Y:-16.80, Z:3.34 [[ 9.99929081e-01 -4.07337750e-03 -1.11910519e-02 4.05393803e+02] [ 4.08108967e-03 9.99991450e-01 6.66386732e-04 -1.68011863e+01] [ 1.11882418e-02 -7.12011159e-04 9.99937156e-01 3.34294594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.370714057 meters Centerline goodness [0,1] 0.9775421686746988 Centerline is valid? [True, True] Translation: X:405.42, Y:-16.80, Z:3.34 [[ 9.99912085e-01 -4.27067915e-03 -1.25532469e-02 4.05421468e+02] [ 4.28040792e-03 9.99990559e-01 7.48234506e-04 -1.68043744e+01] [ 1.25499329e-02 -8.01901742e-04 9.99920925e-01 3.34195573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.400714057 meters Centerline goodness [0,1] 0.9774837623286023 Centerline is valid? [True, True] Translation: X:405.45, Y:-16.80, Z:3.34 [[ 9.99914175e-01 -2.67990362e-03 -1.28241991e-02 4.05450151e+02] [ 2.68991753e-03 9.99996091e-01 7.63675409e-04 -1.68042234e+01] [ 1.28221024e-02 -7.98105905e-04 9.99917475e-01 3.34168872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.430714057 meters Centerline goodness [0,1] 0.9772591119311782 Centerline is valid? [True, True] Translation: X:405.48, Y:-16.81, Z:3.34 [[ 9.99921617e-01 -1.43186180e-03 -1.24382548e-02 4.05477822e+02] [ 1.44117075e-03 9.99998688e-01 7.39481877e-04 -1.68072186e+01] [ 1.24371796e-02 -7.57349563e-04 9.99922368e-01 3.34148896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.460714057 meters Centerline goodness [0,1] 0.9785414960743702 Centerline is valid? [True, True] Translation: X:405.51, Y:-16.81, Z:3.34 [[ 9.99926852e-01 -3.96085788e-04 -1.20885416e-02 4.05507251e+02] [ 4.04757748e-04 9.99999663e-01 7.14932160e-04 -1.68070486e+01] [ 1.20882544e-02 -7.19772796e-04 9.99926675e-01 3.34230974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.490714057 meters Centerline goodness [0,1] 0.9786008627129672 Centerline is valid? [True, True] Translation: X:405.54, Y:-16.81, Z:3.34 [[ 9.99939222e-01 3.12883749e-03 -1.05718243e-02 4.05536935e+02] [-3.12238931e-03 9.99994929e-01 6.26389629e-04 -1.68074703e+01] [ 1.05737306e-02 -5.93342206e-04 9.99943921e-01 3.34328095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.520714057 meters Centerline goodness [0,1] 0.9794741919922817 Centerline is valid? [True, True] Translation: X:405.57, Y:-16.81, Z:3.34 [[ 9.99935817e-01 5.21927514e-03 -1.00558707e-02 4.05566549e+02] [-5.21355091e-03 9.99986232e-01 5.95372986e-04 -1.68063703e+01] [ 1.00588396e-02 -5.42907980e-04 9.99949261e-01 3.34469849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.550714057 meters Centerline goodness [0,1] 0.9789030550878037 Centerline is valid? [True, True] Translation: X:405.60, Y:-16.81, Z:3.34 [[ 9.99911194e-01 9.59902539e-03 -9.24457815e-03 4.05596212e+02] [-9.59437515e-03 9.99953823e-01 5.47241831e-04 -1.68051569e+01] [ 9.24940425e-03 -4.58497282e-04 9.99957118e-01 3.34494428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.580714057 meters Centerline goodness [0,1] 0.9795535456557298 Centerline is valid? [True, True] Translation: X:405.63, Y:-16.81, Z:3.34 [[ 9.99894206e-01 1.11790453e-02 -9.30617130e-03 4.05625199e+02] [-1.11744103e-02 9.99937413e-01 5.49909283e-04 -1.68056429e+01] [ 9.31173632e-03 -4.45860130e-04 9.99956545e-01 3.34446626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.610714057 meters Centerline goodness [0,1] 0.9812407716699344 Centerline is valid? [True, True] Translation: X:405.66, Y:-16.81, Z:3.34 [[ 9.99853716e-01 1.38838865e-02 -9.98916968e-03 4.05655279e+02] [-1.38786781e-02 9.99903512e-01 5.90541767e-04 -1.68068564e+01] [ 9.99640487e-03 -4.51818910e-04 9.99949933e-01 3.34357366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.640714057 meters Centerline goodness [0,1] 0.9822613732351877 Centerline is valid? [True, True] Translation: X:405.68, Y:-16.81, Z:3.34 [[ 9.99841977e-01 1.48960653e-02 -9.70200892e-03 4.05684098e+02] [-1.48912095e-02 9.99888956e-01 5.72544685e-04 -1.68093019e+01] [ 9.70946023e-03 -4.27979562e-04 9.99952770e-01 3.34265255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.670714057 meters Centerline goodness [0,1] 0.9839843938153268 Centerline is valid? [True, True] Translation: X:405.71, Y:-16.81, Z:3.34 [[ 9.99820400e-01 1.56655871e-02 -1.06657119e-02 4.05713112e+02] [-1.56597698e-02 9.99877181e-01 6.28720468e-04 -1.68083990e+01] [ 1.06742512e-02 -4.61584956e-04 9.99942922e-01 3.34355947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.700714057 meters Centerline goodness [0,1] 0.9825936015815232 Centerline is valid? [True, True] Translation: X:405.74, Y:-16.82, Z:3.34 [[ 9.99818013e-01 1.50086650e-02 -1.17763259e-02 4.05740380e+02] [-1.50015401e-02 9.99887230e-01 6.93122875e-04 -1.68175749e+01] [ 1.17854008e-02 -5.16333709e-04 9.99930416e-01 3.33966260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.730714057 meters Centerline goodness [0,1] 0.9837011394778595 Centerline is valid? [True, True] Translation: X:405.77, Y:-16.82, Z:3.34 [[ 9.99825467e-01 1.47857119e-02 -1.14201015e-02 4.05766940e+02] [-1.47790265e-02 9.99890560e-01 6.69585104e-04 -1.68219284e+01] [ 1.14287520e-02 -5.00690256e-04 9.99934564e-01 3.33949070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76071405700003 meters Centerline goodness [0,1] 0.9846394230769231 Centerline is valid? [True, True] Translation: X:405.80, Y:-16.83, Z:3.34 [[ 9.99838623e-01 1.38317950e-02 -1.14633635e-02 4.05795185e+02] [-1.38249949e-02 9.99904204e-01 6.72238491e-04 -1.68259325e+01] [ 1.14715637e-02 -5.13649065e-04 9.99934068e-01 3.33950098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.790714057 meters Centerline goodness [0,1] 0.9834990632656002 Centerline is valid? [True, True] Translation: X:405.82, Y:-16.83, Z:3.34 [[ 9.99868749e-01 1.15632311e-02 -1.13479664e-02 4.05823392e+02] [-1.15564261e-02 9.99933001e-01 6.65066936e-04 -1.68340208e+01] [ 1.13548964e-02 -5.33837710e-04 9.99935389e-01 3.33980959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82071405700003 meters Centerline goodness [0,1] 0.9856690191559845 Centerline is valid? [True, True] Translation: X:405.85, Y:-16.83, Z:3.35 [[ 9.99898822e-01 9.10006463e-03 -1.09331497e-02 4.05853471e+02] [-9.09360440e-03 9.99958447e-01 6.40451888e-04 -1.68287065e+01] [ 1.09385236e-02 -5.40965350e-04 9.99940026e-01 3.34512808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.850714057 meters Centerline goodness [0,1] 0.9857241757979421 Centerline is valid? [True, True] Translation: X:405.88, Y:-16.83, Z:3.35 [[ 9.99910669e-01 8.00401244e-03 -1.07046286e-02 4.05882276e+02] [-7.99776825e-03 9.99967821e-01 6.25998193e-04 -1.68303866e+01] [ 1.07092946e-02 -5.40329134e-04 9.99942508e-01 3.34577637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.880714057 meters Centerline goodness [0,1] 0.9826658412305348 Centerline is valid? [True, True] Translation: X:405.91, Y:-16.84, Z:3.34 [[ 9.99925596e-01 6.31555793e-03 -1.04362521e-02 4.05909523e+02] [-6.30954945e-03 9.99979909e-01 6.08557277e-04 -1.68429915e+01] [ 1.04398858e-02 -5.42663949e-04 9.99945356e-01 3.34379861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.910714057 meters Centerline goodness [0,1] 0.9812033648590847 Centerline is valid? [True, True] Translation: X:405.94, Y:-16.86, Z:3.34 [[ 9.99932009e-01 5.64307025e-03 -1.02045623e-02 4.05936447e+02] [-5.63729606e-03 9.99983934e-01 5.94519617e-04 -1.68584500e+01] [ 1.02077532e-02 -5.36953056e-04 9.99947755e-01 3.33984747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.940714057 meters Centerline goodness [0,1] 0.9811628071666313 Centerline is valid? [True, True] Translation: X:405.97, Y:-16.85, Z:3.35 [[ 9.99939253e-01 4.37610370e-03 -1.01163504e-02 4.05965634e+02] [-4.37037031e-03 9.99990277e-01 5.88781813e-04 -1.68480434e+01] [ 1.01188286e-02 -5.44533849e-04 9.99948655e-01 3.34514971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.970714057 meters Centerline goodness [0,1] 0.9821504262233316 Centerline is valid? [True, True] Translation: X:405.99, Y:-16.86, Z:3.34 [[ 9.99941697e-01 4.23513369e-03 -9.93311838e-03 4.05992188e+02] [-4.22961526e-03 9.99990889e-01 5.76500263e-04 -1.68580763e+01] [ 9.93546944e-03 -5.34453382e-04 9.99950499e-01 3.34319092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.000714057 meters Centerline goodness [0,1] 0.9818430484814186 Centerline is valid? [True, True] Translation: X:406.02, Y:-16.85, Z:3.35 [[ 9.99937967e-01 4.02825497e-03 -1.03843310e-02 4.06021371e+02] [-4.02221563e-03 9.99991729e-01 6.02400643e-04 -1.68532163e+01] [ 1.03866717e-02 -5.60595256e-04 9.99945900e-01 3.34539339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.030714057 meters Centerline goodness [0,1] 0.9805904610641379 Centerline is valid? [True, True] Translation: X:406.05, Y:-16.86, Z:3.34 [[ 9.99935414e-01 4.48546136e-03 -1.04426340e-02 4.06048345e+02] [-4.47938975e-03 9.99989785e-01 6.04741308e-04 -1.68626453e+01] [ 1.04452398e-02 -5.57925623e-04 9.99945291e-01 3.34331690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.060714057 meters Centerline goodness [0,1] 0.9823066688452651 Centerline is valid? [True, True] Translation: X:406.08, Y:-16.86, Z:3.35 [[ 9.99928512e-01 5.92094047e-03 -1.03881723e-02 4.06077165e+02] [-5.91501567e-03 9.99982326e-01 6.00972057e-04 -1.68613538e+01] [ 1.03915470e-02 -5.39482893e-04 9.99945861e-01 3.34571087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.090714057 meters Centerline goodness [0,1] 0.9814232837488651 Centerline is valid? [True, True] Translation: X:406.11, Y:-16.87, Z:3.35 [[ 9.99925585e-01 7.10293260e-03 -9.91826856e-03 4.06105060e+02] [-7.09760003e-03 9.99974648e-01 5.72747068e-04 -1.68657143e+01] [ 9.92208529e-03 -5.02308544e-04 9.99950649e-01 3.34517055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.120714057 meters Centerline goodness [0,1] 0.9828543662362904 Centerline is valid? [True, True] Translation: X:406.13, Y:-16.87, Z:3.34 [[ 9.99902382e-01 9.41600658e-03 -1.03230299e-02 4.06133822e+02] [-9.41035844e-03 9.99955544e-01 5.95577559e-04 -1.68700907e+01] [ 1.03281789e-02 -4.98376009e-04 9.99946539e-01 3.34488394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.150714057 meters Centerline goodness [0,1] 0.9830896111996673 Centerline is valid? [True, True] Translation: X:406.16, Y:-16.87, Z:3.34 [[ 9.99889508e-01 1.07403359e-02 -1.02770442e-02 4.06162322e+02] [-1.07348152e-02 9.99942205e-01 5.92201403e-04 -1.68729753e+01] [ 1.02828107e-02 -4.81813799e-04 9.99947014e-01 3.34453834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.180714057 meters Centerline goodness [0,1] 0.9830896111996673 Centerline is valid? [True, True] Translation: X:406.19, Y:-16.87, Z:3.34 [[ 9.99890626e-01 1.06356748e-02 -1.02771224e-02 4.06189769e+02] [-1.06301625e-02 9.99943324e-01 5.90844747e-04 -1.68744666e+01] [ 1.02828239e-02 -4.81532642e-04 9.99947014e-01 3.34431642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.210714057 meters Centerline goodness [0,1] 0.9842876532701466 Centerline is valid? [True, True] Translation: X:406.22, Y:-16.88, Z:3.34 [[ 9.99855450e-01 1.31477799e-02 -1.07802722e-02 4.06218465e+02] [-1.31418649e-02 9.99913450e-01 6.19348192e-04 -1.68785440e+01] [ 1.07874822e-02 -4.77585785e-04 9.99941699e-01 3.34395825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.240714057 meters Centerline goodness [0,1] 0.983468012688416 Centerline is valid? [True, True] Translation: X:406.25, Y:-16.88, Z:3.34 [[ 9.99846030e-01 1.40631070e-02 -1.04949858e-02 4.06245821e+02] [-1.40575623e-02 9.99901006e-01 6.01903777e-04 -1.68823783e+01] [ 1.05024115e-02 -4.54277185e-04 9.99944745e-01 3.34388704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.270714057 meters Centerline goodness [0,1] 0.9862975842295557 Centerline is valid? [True, True] Translation: X:406.27, Y:-16.88, Z:3.35 [[ 9.99822109e-01 1.59926678e-02 -9.99923264e-03 4.06274478e+02] [-1.59877371e-02 9.99872024e-01 5.72854243e-04 -1.68844857e+01] [ 1.00071144e-02 -4.12887236e-04 9.99949842e-01 3.34560366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.300714057 meters Centerline goodness [0,1] 0.9858869575227351 Centerline is valid? [True, True] Translation: X:406.30, Y:-16.89, Z:3.34 [[ 9.99812813e-01 1.63555420e-02 -1.03361397e-02 4.06302157e+02] [-1.63503034e-02 9.99866150e-01 5.91130457e-04 -1.68891456e+01] [ 1.03444245e-02 -4.22020785e-04 9.99946406e-01 3.34469931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.330714057 meters Centerline goodness [0,1] 0.9867338023635444 Centerline is valid? [True, True] Translation: X:406.33, Y:-16.89, Z:3.34 [[ 9.99801549e-01 1.70004862e-02 -1.03849253e-02 4.06330921e+02] [-1.69952390e-02 9.99855394e-01 5.93320679e-04 -1.68937193e+01] [ 1.03935103e-02 -4.16708647e-04 9.99945899e-01 3.34445203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.360714057 meters Centerline goodness [0,1] 0.9865615358244773 Centerline is valid? [True, True] Translation: X:406.36, Y:-16.90, Z:3.34 [[ 9.99794913e-01 1.72711163e-02 -1.05754216e-02 4.06358454e+02] [-1.72657011e-02 9.99850755e-01 6.03143944e-04 -1.68986316e+01] [ 1.05842602e-02 -4.20428179e-04 9.99943897e-01 3.34377813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.390714057 meters Centerline goodness [0,1] 0.9857641502977209 Centerline is valid? [True, True] Translation: X:406.39, Y:-16.90, Z:3.34 [[ 9.99781838e-01 1.81388674e-02 -1.03565156e-02 4.06385686e+02] [-1.81337298e-02 9.99835396e-01 5.89770707e-04 -1.69043677e+01] [ 1.03655086e-02 -4.01839786e-04 9.99946196e-01 3.34312373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.420714057 meters Centerline goodness [0,1] 0.9857703183435191 Centerline is valid? [True, True] Translation: X:406.41, Y:-16.91, Z:3.34 [[ 9.99780220e-01 1.84456641e-02 -9.96338442e-03 4.06414860e+02] [-1.84409303e-02 9.99829791e-01 5.66789692e-04 -1.69062999e+01] [ 9.97214337e-03 -3.82931045e-04 9.99950204e-01 3.34390317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.450714057 meters Centerline goodness [0,1] 0.9853228962818004 Centerline is valid? [True, True] Translation: X:406.44, Y:-16.91, Z:3.34 [[ 9.99774141e-01 1.89169206e-02 -9.68590123e-03 4.06442338e+02] [-1.89124785e-02 9.99820992e-01 5.50012762e-04 -1.69146364e+01] [ 9.69457193e-03 -3.66704138e-04 9.99952939e-01 3.34288564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.480714057 meters Centerline goodness [0,1] 0.9858006179571065 Centerline is valid? [True, True] Translation: X:406.47, Y:-16.92, Z:3.34 [[ 9.99789350e-01 1.88824606e-02 -8.04416080e-03 4.06469445e+02] [-1.88794018e-02 9.99821664e-01 4.56025915e-04 -1.69219498e+01] [ 8.05133713e-03 -3.04060909e-04 9.99967541e-01 3.34332644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.51071405700003 meters Centerline goodness [0,1] 0.986474506148985 Centerline is valid? [True, True] Translation: X:406.50, Y:-16.92, Z:3.35 [[ 9.99807168e-01 1.83114875e-02 -7.09342873e-03 4.06498741e+02] [-1.83090980e-02 9.99832294e-01 4.01654404e-04 -1.69213858e+01] [ 7.09959401e-03 -2.71702670e-04 9.99974761e-01 3.34558971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.540714057 meters Centerline goodness [0,1] 0.9871762919999094 Centerline is valid? [True, True] Translation: X:406.53, Y:-16.92, Z:3.35 [[ 9.99825036e-01 1.76106132e-02 -6.30590492e-03 4.06527823e+02] [-1.76087142e-02 9.99844891e-01 3.56544071e-04 -1.69249890e+01] [ 6.31120578e-03 -2.45442811e-04 9.99980054e-01 3.34585633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.57071405700003 meters Centerline goodness [0,1] 0.9863711484910914 Centerline is valid? [True, True] Translation: X:406.56, Y:-16.93, Z:3.35 [[ 9.99868031e-01 1.52098215e-02 -5.70798115e-03 4.06556291e+02] [-1.52082277e-02 9.99884296e-01 3.22527751e-04 -1.69341873e+01] [ 5.71222631e-03 -2.35676910e-04 9.99983657e-01 3.34548178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.600714057 meters Centerline goodness [0,1] 0.9850513717963193 Centerline is valid? [True, True] Translation: X:406.59, Y:-16.94, Z:3.34 [[ 9.99891464e-01 1.36763991e-02 -5.47871123e-03 4.06585031e+02] [-1.36749107e-02 9.99906446e-01 3.09041953e-04 -1.69394845e+01] [ 5.48242526e-03 -2.34087524e-04 9.99984944e-01 3.34477015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.630714057 meters Centerline goodness [0,1] 0.9856385976778266 Centerline is valid? [True, True] Translation: X:406.62, Y:-16.95, Z:3.34 [[ 9.99932415e-01 1.01352091e-02 -5.69583347e-03 4.06615065e+02] [-1.01335397e-02 9.99948603e-01 3.21870644e-04 -1.69477707e+01] [ 5.69880295e-03 -2.64129935e-04 9.99983727e-01 3.34379952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.660714057 meters Centerline goodness [0,1] 0.9851477326591879 Centerline is valid? [True, True] Translation: X:406.64, Y:-16.95, Z:3.34 [[ 9.99949323e-01 7.98129812e-03 -6.13600263e-03 4.06643434e+02] [-7.97932482e-03 9.99968105e-01 3.46007886e-04 -1.69542495e+01] [ 6.13856851e-03 -2.97029193e-04 9.99981115e-01 3.34330024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.690714057 meters Centerline goodness [0,1] 0.9841269841269842 Centerline is valid? [True, True] Translation: X:406.67, Y:-16.96, Z:3.34 [[ 9.99972895e-01 4.41379553e-03 -5.89303888e-03 4.06672964e+02] [-4.41191266e-03 9.99990212e-01 3.32469479e-04 -1.69621709e+01] [ 5.89444865e-03 -3.06460895e-04 9.99982581e-01 3.34309100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.720714057 meters Centerline goodness [0,1] 0.9839263665955775 Centerline is valid? [True, True] Translation: X:406.70, Y:-16.96, Z:3.34 [[ 9.99977846e-01 2.60671657e-03 -6.12475461e-03 4.06702394e+02] [-2.60465113e-03 9.99996548e-01 3.45180297e-04 -1.69626305e+01] [ 6.12563326e-03 -3.29219801e-04 9.99981184e-01 3.34373272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.750714057 meters Centerline goodness [0,1] 0.9843571412563591 Centerline is valid? [True, True] Translation: X:406.73, Y:-16.97, Z:3.34 [[ 9.99978837e-01 2.00844968e-04 -6.50276653e-03 4.06730135e+02] [-1.98470708e-04 9.99999913e-01 3.65758512e-04 -1.69704640e+01] [ 6.50283943e-03 -3.64460162e-04 9.99978790e-01 3.34284639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.780714057 meters Centerline goodness [0,1] 0.9830754784475049 Centerline is valid? [True, True] Translation: X:406.76, Y:-16.98, Z:3.34 [[ 9.99977889e-01 -6.30943045e-04 -6.61992622e-03 4.06757027e+02] [ 6.33415502e-04 9.99999730e-01 3.71397106e-04 -1.69788052e+01] [ 6.61969011e-03 -3.75582058e-04 9.99978019e-01 3.34132740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.810714057 meters Centerline goodness [0,1] 0.984157260507596 Centerline is valid? [True, True] Translation: X:406.79, Y:-16.98, Z:3.34 [[ 9.99976738e-01 -2.21287439e-03 -6.45194713e-03 4.06786147e+02] [ 2.21525621e-03 9.99997481e-01 3.62039908e-04 -1.69804697e+01] [ 6.45112972e-03 -3.76324202e-04 9.99979120e-01 3.34161286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.840714057 meters Centerline goodness [0,1] 0.9833113353168833 Centerline is valid? [True, True] Translation: X:406.81, Y:-16.98, Z:3.34 [[ 9.99976660e-01 -2.75040253e-03 -6.25412781e-03 4.06814547e+02] [ 2.75264739e-03 9.99996150e-01 3.50360260e-04 -1.69837862e+01] [ 6.25314010e-03 -3.67567491e-04 9.99980381e-01 3.34145112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.870714057 meters Centerline goodness [0,1] 0.9832633178405434 Centerline is valid? [True, True] Translation: X:406.84, Y:-16.99, Z:3.34 [[ 9.99979270e-01 -3.35244792e-03 -5.49737601e-03 4.06842828e+02] [ 3.35417610e-03 9.99994328e-01 3.05174910e-04 -1.69866351e+01] [ 5.49632175e-03 -3.23607750e-04 9.99984843e-01 3.34221567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.900714057 meters Centerline goodness [0,1] 0.9835824224849431 Centerline is valid? [True, True] Translation: X:406.87, Y:-16.99, Z:3.34 [[ 9.99982956e-01 -3.16530745e-03 -4.90587696e-03 4.06872831e+02] [ 3.16668780e-03 9.99994949e-01 2.73624584e-04 -1.69878916e+01] [ 4.90498607e-03 -2.89155301e-04 9.99987929e-01 3.34316620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.930714057 meters Centerline goodness [0,1] 0.9825481870122941 Centerline is valid? [True, True] Translation: X:406.90, Y:-16.99, Z:3.34 [[ 9.99982594e-01 -3.23450232e-03 -4.93462986e-03 4.06901567e+02] [ 3.23589780e-03 9.99994727e-01 2.74835545e-04 -1.69945071e+01] [ 4.93371488e-03 -2.90798719e-04 9.99987787e-01 3.34253840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.960714057 meters Centerline goodness [0,1] 0.9833625024923015 Centerline is valid? [True, True] Translation: X:406.93, Y:-17.00, Z:3.34 [[ 9.99984853e-01 -3.35536912e-03 -4.36301872e-03 4.06931336e+02] [ 3.35646096e-03 9.99994338e-01 2.42949473e-04 -1.69961338e+01] [ 4.36217883e-03 -2.57590095e-04 9.99990452e-01 3.34213515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.990714057 meters Centerline goodness [0,1] 0.9829513881170953 Centerline is valid? [True, True] Translation: X:406.96, Y:-17.00, Z:3.34 [[ 9.99983509e-01 -4.10103603e-03 -4.02036458e-03 4.06960523e+02] [ 4.10196845e-03 9.99991562e-01 2.23706411e-04 -1.69984438e+01] [ 4.01941323e-03 -2.40194130e-04 9.99991893e-01 3.34205199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.020714057 meters Centerline goodness [0,1] 0.983140944374013 Centerline is valid? [True, True] Translation: X:406.99, Y:-17.00, Z:3.34 [[ 9.99973507e-01 -4.92045484e-03 -5.36409761e-03 4.06990591e+02] [ 4.92212719e-03 9.99987842e-01 2.98611236e-04 -1.70000008e+01] [ 5.36256309e-03 -3.25006096e-04 9.99985569e-01 3.34118060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.050714057 meters Centerline goodness [0,1] 0.9837951095557587 Centerline is valid? [True, True] Translation: X:407.02, Y:-17.01, Z:3.34 [[ 9.99965127e-01 -5.53270238e-03 -6.25579303e-03 4.07020082e+02] [ 5.53498838e-03 9.99984621e-01 3.48166961e-04 -1.70074627e+01] [ 6.25377052e-03 -3.82780561e-04 9.99980372e-01 3.33942377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.080714057 meters Centerline goodness [0,1] 0.983439575625195 Centerline is valid? [True, True] Translation: X:407.05, Y:-17.01, Z:3.34 [[ 9.99962379e-01 -6.05950821e-03 -6.20666787e-03 4.07049265e+02] [ 6.06176648e-03 9.99981568e-01 3.45097522e-04 -1.70101758e+01] [ 6.20446235e-03 -3.82707910e-04 9.99980679e-01 3.33898179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.110714057 meters Centerline goodness [0,1] 0.9833036112349531 Centerline is valid? [True, True] Translation: X:407.08, Y:-17.01, Z:3.34 [[ 9.99961931e-01 -6.28858463e-03 -6.04891311e-03 4.07078932e+02] [ 6.29073236e-03 9.99980157e-01 3.36098914e-04 -1.70072394e+01] [ 6.04667950e-03 -3.74138212e-04 9.99981649e-01 3.34014544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.140714057 meters Centerline goodness [0,1] 0.9835275210928084 Centerline is valid? [True, True] Translation: X:407.11, Y:-17.01, Z:3.34 [[ 9.99973359e-01 -5.49782629e-03 -4.80158029e-03 4.07107986e+02] [ 5.49917049e-03 9.99984844e-01 2.66792906e-04 -1.70105060e+01] [ 4.80004073e-03 -2.93190507e-04 9.99988437e-01 3.34118303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.170714057 meters Centerline goodness [0,1] 0.9831904708894579 Centerline is valid? [True, True] Translation: X:407.14, Y:-17.01, Z:3.34 [[ 9.99980069e-01 -4.60219861e-03 -4.32218499e-03 4.07138272e+02] [ 4.60328000e-03 9.99989376e-01 2.40280560e-04 -1.70117636e+01] [ 4.32103325e-03 -2.60171998e-04 9.99990630e-01 3.34168200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.200714057 meters Centerline goodness [0,1] 0.9831938370001998 Centerline is valid? [True, True] Translation: X:407.17, Y:-17.01, Z:3.34 [[ 9.99985009e-01 -3.61158053e-03 -4.11568251e-03 4.07168174e+02] [ 3.61255269e-03 9.99993449e-01 2.28800595e-04 -1.70141197e+01] [ 4.11482921e-03 -2.43665285e-04 9.99991504e-01 3.34150399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.230714057 meters Centerline goodness [0,1] 0.9832768462361755 Centerline is valid? [True, True] Translation: X:407.20, Y:-17.01, Z:3.34 [[ 9.99991812e-01 -1.56073813e-03 -3.73361750e-03 4.07197702e+02] [ 1.56152319e-03 9.99998759e-01 2.07363988e-04 -1.70146764e+01] [ 3.73328923e-03 -2.13192420e-04 9.99993009e-01 3.34148867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26071405700003 meters Centerline goodness [0,1] 0.9823848238482384 Centerline is valid? [True, True] Translation: X:407.23, Y:-17.02, Z:3.34 [[ 9.99992760e-01 1.14997214e-03 -3.62733589e-03 4.07226264e+02] [-1.14925053e-03 9.99999319e-01 2.01013812e-04 -1.70152775e+01] [ 3.62756458e-03 -1.96843639e-04 9.99993401e-01 3.34121747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.290714057 meters Centerline goodness [0,1] 0.9832345169098217 Centerline is valid? [True, True] Translation: X:407.26, Y:-17.02, Z:3.34 [[ 9.99991471e-01 2.58732309e-03 -3.21914160e-03 4.07255080e+02] [-2.58676342e-03 9.99996638e-01 1.78008108e-04 -1.70163825e+01] [ 3.21959134e-03 -1.69679432e-04 9.99994803e-01 3.34131778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32071405700003 meters Centerline goodness [0,1] 0.9837043633125556 Centerline is valid? [True, True] Translation: X:407.28, Y:-17.01, Z:3.34 [[ 9.99986050e-01 4.36814642e-03 -2.96972100e-03 4.07283835e+02] [-4.36767872e-03 9.99990448e-01 1.63957871e-04 -1.70129797e+01] [ 2.97040883e-03 -1.50984796e-04 9.99995577e-01 3.34259330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.350714057 meters Centerline goodness [0,1] 0.9843182678814069 Centerline is valid? [True, True] Translation: X:407.31, Y:-17.02, Z:3.34 [[ 9.99982556e-01 5.12406125e-03 -2.93793470e-03 4.07311314e+02] [-5.12360788e-03 9.99986861e-01 1.61819949e-04 -1.70186280e+01] [ 2.93872527e-03 -1.46764301e-04 9.99995671e-01 3.34134857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.380714057 meters Centerline goodness [0,1] 0.9851263153221151 Centerline is valid? [True, True] Translation: X:407.34, Y:-17.01, Z:3.34 [[ 9.99977439e-01 5.56010577e-03 -3.76920569e-03 4.07340912e+02] [-5.55936248e-03 9.99984525e-01 2.07650091e-04 -1.70129806e+01] [ 3.77030192e-03 -1.86691026e-04 9.99992875e-01 3.34258805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.410714057 meters Centerline goodness [0,1] 0.9847716864523587 Centerline is valid? [True, True] Translation: X:407.37, Y:-17.02, Z:3.34 [[ 9.99982627e-01 4.30662499e-03 -4.02471427e-03 4.07368608e+02] [-4.30576916e-03 9.99990706e-01 2.21282354e-04 -1.70173239e+01] [ 4.02562984e-03 -2.03949019e-04 9.99991876e-01 3.34117306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.440714057 meters Centerline goodness [0,1] 0.9843115499833573 Centerline is valid? [True, True] Translation: X:407.40, Y:-17.02, Z:3.34 [[ 9.99986771e-01 2.46280477e-03 -4.51582505e-03 4.07396598e+02] [-2.46170893e-03 9.99996939e-01 2.48208550e-04 -1.70246857e+01] [ 4.51642252e-03 -2.37088620e-04 9.99989773e-01 3.34042979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.470714057 meters Centerline goodness [0,1] 0.9836645672445641 Centerline is valid? [True, True] Translation: X:407.42, Y:-17.03, Z:3.34 [[ 9.99989900e-01 7.18287180e-04 -4.43662997e-03 4.07424888e+02] [-7.17212674e-04 9.99999713e-01 2.43775882e-04 -1.70339252e+01] [ 4.43680380e-03 -2.40591413e-04 9.99990128e-01 3.33880249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.500714057 meters Centerline goodness [0,1] 0.9839538868982708 Centerline is valid? [True, True] Translation: X:407.45, Y:-17.04, Z:3.34 [[ 9.99989917e-01 -7.19973712e-04 -4.43261879e-03 4.07453516e+02] [ 7.21059537e-04 9.99999710e-01 2.43369082e-04 -1.70390354e+01] [ 4.43244229e-03 -2.46562810e-04 9.99990146e-01 3.33872525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.530714057 meters Centerline goodness [0,1] 0.9816807019090869 Centerline is valid? [True, True] Translation: X:407.48, Y:-17.05, Z:3.34 [[ 9.99986774e-01 -3.33809118e-03 -3.91267464e-03 4.07482601e+02] [ 3.33895776e-03 9.99994403e-01 2.14969922e-04 -1.70459681e+01] [ 3.91193515e-03 -2.28031334e-04 9.99992322e-01 3.33866984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.560714057 meters Centerline goodness [0,1] 0.9845986551563436 Centerline is valid? [True, True] Translation: X:407.51, Y:-17.03, Z:3.34 [[ 9.99982402e-01 -4.86869715e-03 -3.38980566e-03 4.07513823e+02] [ 4.86935673e-03 9.99988127e-01 1.86350243e-04 -1.70319382e+01] [ 3.38885813e-03 -2.02853137e-04 9.99994237e-01 3.34215889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.590714057 meters Centerline goodness [0,1] 0.9841877128577116 Centerline is valid? [True, True] Translation: X:407.54, Y:-17.04, Z:3.34 [[ 9.99972873e-01 -6.68545018e-03 -3.09167821e-03 4.07544100e+02] [ 6.68600811e-03 9.99977634e-01 1.70159368e-04 -1.70370349e+01] [ 3.09047147e-03 -1.90825737e-04 9.99995206e-01 3.34236735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.620714057 meters Centerline goodness [0,1] 0.9829884445627343 Centerline is valid? [True, True] Translation: X:407.57, Y:-17.05, Z:3.34 [[ 9.99967682e-01 -7.41025175e-03 -3.11829109e-03 4.07573549e+02] [ 7.41082300e-03 9.99972525e-01 1.71676387e-04 -1.70487791e+01] [ 3.11693324e-03 -1.94779942e-04 9.99995123e-01 3.34068251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.650714057 meters Centerline goodness [0,1] 0.9835815618508861 Centerline is valid? [True, True] Translation: X:407.61, Y:-17.04, Z:3.34 [[ 9.99959007e-01 -8.19385455e-03 -3.85280048e-03 4.07605435e+02] [ 8.19473332e-03 9.99966400e-01 2.12355859e-04 -1.70432423e+01] [ 3.85093101e-03 -2.43919826e-04 9.99992555e-01 3.34235335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.680714057 meters Centerline goodness [0,1] 0.984048563262955 Centerline is valid? [True, True] Translation: X:407.64, Y:-17.04, Z:3.34 [[ 9.99955792e-01 -8.49227524e-03 -4.03675529e-03 4.07636591e+02] [ 8.49324288e-03 9.99963907e-01 2.22625949e-04 -1.70440717e+01] [ 4.03471899e-03 -2.56901250e-04 9.99991827e-01 3.34216021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.710714057 meters Centerline goodness [0,1] 0.9815889975496148 Centerline is valid? [True, True] Translation: X:407.67, Y:-17.06, Z:3.34 [[ 9.99944682e-01 -9.41377240e-03 -4.69180386e-03 4.07666615e+02] [ 9.41508917e-03 9.99955644e-01 2.58644251e-04 -1.70572922e+01] [ 4.68916093e-03 -3.02803695e-04 9.99988960e-01 3.34060472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.740714057 meters Centerline goodness [0,1] 0.9839879688605804 Centerline is valid? [True, True] Translation: X:407.70, Y:-17.05, Z:3.34 [[ 9.99942569e-01 -9.80282633e-03 -4.33169096e-03 4.07698269e+02] [ 9.80395368e-03 9.99951912e-01 2.39100376e-04 -1.70476337e+01] [ 4.32913879e-03 -2.81554341e-04 9.99990590e-01 3.34295939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.770714057 meters Centerline goodness [0,1] 0.9832516249251314 Centerline is valid? [True, True] Translation: X:407.73, Y:-17.05, Z:3.34 [[ 9.99933532e-01 -1.08513410e-02 -3.89610865e-03 4.07730139e+02] [ 1.08522617e-02 9.99941089e-01 2.15235843e-04 -1.70458911e+01] [ 3.89354353e-03 -2.57503127e-04 9.99992387e-01 3.34449869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.800714057 meters Centerline goodness [0,1] 0.982832713095871 Centerline is valid? [True, True] Translation: X:407.76, Y:-17.05, Z:3.34 [[ 9.99938542e-01 -1.04093194e-02 -3.81551847e-03 4.07761323e+02] [ 1.04102005e-02 9.99945790e-01 2.11142527e-04 -1.70526957e+01] [ 3.81311378e-03 -2.50849863e-04 9.99992699e-01 3.34360223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.830714057 meters Centerline goodness [0,1] 0.9825868433927857 Centerline is valid? [True, True] Translation: X:407.79, Y:-17.05, Z:3.34 [[ 9.99938875e-01 -1.01879950e-02 -4.29548432e-03 4.07792995e+02] [ 1.01891113e-02 9.99948061e-01 2.38064760e-04 -1.70541769e+01] [ 4.29283581e-03 -2.81817376e-04 9.99990746e-01 3.34248899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.860714057 meters Centerline goodness [0,1] 0.9826177917250896 Centerline is valid? [True, True] Translation: X:407.82, Y:-17.06, Z:3.34 [[ 9.99937554e-01 -1.01388767e-02 -4.70023901e-03 4.07824350e+02] [ 1.01402119e-02 9.99948553e-01 2.60327052e-04 -1.70551039e+01] [ 4.69735777e-03 -3.07972215e-04 9.99988920e-01 3.34167182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.890714057 meters Centerline goodness [0,1] 0.9830034614360522 Centerline is valid? [True, True] Translation: X:407.86, Y:-17.05, Z:3.34 [[ 9.99941431e-01 -9.47244062e-03 -5.23522590e-03 4.07855843e+02] [ 9.47408884e-03 9.99955078e-01 2.90121164e-04 -1.70519198e+01] [ 5.23224256e-03 -3.39703167e-04 9.99986254e-01 3.34173442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.920714057 meters Centerline goodness [0,1] 0.9830726852674605 Centerline is valid? [True, True] Translation: X:407.89, Y:-17.05, Z:3.34 [[ 9.99942557e-01 -8.84391148e-03 -6.05544573e-03 4.07886138e+02] [ 8.84610465e-03 9.99960816e-01 3.35492777e-04 -1.70526596e+01] [ 6.05224138e-03 -3.89040612e-04 9.99981609e-01 3.34089370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.950714057 meters Centerline goodness [0,1] 0.984484718785528 Centerline is valid? [True, True] Translation: X:407.92, Y:-17.05, Z:3.34 [[ 9.99942733e-01 -8.68491165e-03 -6.25317180e-03 4.07917306e+02] [ 8.68724798e-03 9.99962205e-01 3.46556635e-04 -1.70505272e+01] [ 6.24992565e-03 -4.00859643e-04 9.99980389e-01 3.34167280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.980714057 meters Centerline goodness [0,1] 0.9838487514440594 Centerline is valid? [True, True] Translation: X:407.95, Y:-17.05, Z:3.34 [[ 9.99944879e-01 -8.32726714e-03 -6.39504020e-03 4.07947207e+02] [ 8.32970409e-03 9.99965245e-01 3.54528459e-04 -1.70528848e+01] [ 6.39186569e-03 -4.07777709e-04 9.99979489e-01 3.34143586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.01071405700003 meters Centerline goodness [0,1] 0.9832059712102363 Centerline is valid? [True, True] Translation: X:407.98, Y:-17.05, Z:3.34 [[ 9.99947599e-01 -8.04789945e-03 -6.32693896e-03 4.07977475e+02] [ 8.05027831e-03 9.99967535e-01 3.50611552e-04 -1.70524137e+01] [ 6.32391187e-03 -4.01526799e-04 9.99979923e-01 3.34191994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.040714057 meters Centerline goodness [0,1] 0.9843274125780851 Centerline is valid? [True, True] Translation: X:408.01, Y:-17.05, Z:3.34 [[ 9.99951828e-01 -7.57620123e-03 -6.24048049e-03 4.08006641e+02] [ 7.57850480e-03 9.99971223e-01 3.45569551e-04 -1.70519839e+01] [ 6.23768281e-03 -3.92846416e-04 9.99980468e-01 3.34270577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.07071405700003 meters Centerline goodness [0,1] 0.9835751376167235 Centerline is valid? [True, True] Translation: X:408.04, Y:-17.05, Z:3.34 [[ 9.99949932e-01 -7.49237447e-03 -6.63305476e-03 4.08037619e+02] [ 7.49497615e-03 9.99971845e-01 3.67458748e-04 -1.70526004e+01] [ 6.63011487e-03 -4.17154938e-04 9.99977934e-01 3.34253282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.100714057 meters Centerline goodness [0,1] 0.9835751376167235 Centerline is valid? [True, True] Translation: X:408.07, Y:-17.05, Z:3.34 [[ 9.99949932e-01 -7.49237447e-03 -6.63305476e-03 4.08067635e+02] [ 7.49497615e-03 9.99971845e-01 3.67458748e-04 -1.70542633e+01] [ 6.63011487e-03 -4.17154938e-04 9.99977934e-01 3.34229035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.130714057 meters Centerline goodness [0,1] 0.9825396472341467 Centerline is valid? [True, True] Translation: X:408.10, Y:-17.05, Z:3.34 [[ 9.99949704e-01 -6.95256939e-03 -7.22847695e-03 4.08097084e+02] [ 6.95564317e-03 9.99975729e-01 4.00179344e-04 -1.70543033e+01] [ 7.22551923e-03 -4.50437923e-04 9.99973794e-01 3.34150459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.160714057 meters Centerline goodness [0,1] 0.9844505101127617 Centerline is valid? [True, True] Translation: X:408.13, Y:-17.05, Z:3.34 [[ 9.99947332e-01 -6.73098335e-03 -7.74771195e-03 4.08127292e+02] [ 6.73450463e-03 9.99977231e-01 4.28492894e-04 -1.70463604e+01] [ 7.74465137e-03 -4.80647328e-04 9.99969894e-01 3.34315209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.190714057 meters Centerline goodness [0,1] 0.9834620363344195 Centerline is valid? [True, True] Translation: X:408.16, Y:-17.05, Z:3.34 [[ 9.99958367e-01 -4.57939417e-03 -7.89264459e-03 4.08156013e+02] [ 4.58297944e-03 9.99989403e-01 4.36227362e-04 -1.70518107e+01] [ 7.89056330e-03 -4.72381029e-04 9.99968757e-01 3.34137818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.220714057 meters Centerline goodness [0,1] 0.9835387264878889 Centerline is valid? [True, True] Translation: X:408.18, Y:-17.05, Z:3.34 [[ 9.99960771e-01 -2.84144845e-03 -8.38948481e-03 4.08184579e+02] [ 2.84543479e-03 9.99995844e-01 4.63261170e-04 -1.70529044e+01] [ 8.38813361e-03 -4.87114728e-04 9.99964700e-01 3.34105628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.250714057 meters Centerline goodness [0,1] 0.9853241478356484 Centerline is valid? [True, True] Translation: X:408.22, Y:-17.04, Z:3.34 [[ 9.99959774e-01 2.08423260e-04 -8.96704497e-03 4.08215429e+02] [-2.03990637e-04 9.99999857e-01 4.95235485e-04 -1.70417551e+01] [ 8.96714690e-03 -4.93386370e-04 9.99959673e-01 3.34303930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.280714057 meters Centerline goodness [0,1] 0.9846566763587564 Centerline is valid? [True, True] Translation: X:408.24, Y:-17.05, Z:3.34 [[ 9.99953261e-01 1.96447555e-03 -9.46661351e-03 4.08242619e+02] [-1.95963300e-03 9.99997944e-01 5.20788723e-04 -1.70494851e+01] [ 9.46761713e-03 -5.02213294e-04 9.99955055e-01 3.34031268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.310714057 meters Centerline goodness [0,1] 0.9851738700691886 Centerline is valid? [True, True] Translation: X:408.27, Y:-17.04, Z:3.34 [[ 9.99951644e-01 2.95259602e-03 -9.38034815e-03 4.08271876e+02] [-2.94791634e-03 9.99995523e-01 5.12669118e-04 -1.70408351e+01] [ 9.38181986e-03 -4.84991846e-04 9.99955872e-01 3.34365730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.340714057 meters Centerline goodness [0,1] 0.9866962305986696 Centerline is valid? [True, True] Translation: X:408.30, Y:-17.04, Z:3.35 [[ 9.99947903e-01 5.42772632e-03 -8.64477089e-03 4.08301761e+02] [-5.42383310e-03 9.99985179e-01 4.73736604e-04 -1.70394669e+01] [ 8.64721408e-03 -4.26824129e-04 9.99962521e-01 3.34541141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.370714057 meters Centerline goodness [0,1] 0.9861780199000495 Centerline is valid? [True, True] Translation: X:408.33, Y:-17.04, Z:3.35 [[ 9.99947062e-01 6.14234026e-03 -8.25496120e-03 4.08330224e+02] [-6.13882191e-03 9.99981055e-01 4.51482257e-04 -1.70389240e+01] [ 8.25757797e-03 -4.00782620e-04 9.99965825e-01 3.34643329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.400714057 meters Centerline goodness [0,1] 0.9865512200607219 Centerline is valid? [True, True] Translation: X:408.36, Y:-17.04, Z:3.35 [[ 9.99937763e-01 7.62965036e-03 -8.13991779e-03 4.08359327e+02] [-7.62628336e-03 9.99970821e-01 4.44599689e-04 -1.70388178e+01] [ 8.14307241e-03 -3.82494699e-04 9.99966771e-01 3.34703440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.430714057 meters Centerline goodness [0,1] 0.9869072257716188 Centerline is valid? [True, True] Translation: X:408.39, Y:-17.04, Z:3.35 [[ 9.99936382e-01 7.83507360e-03 -8.11436605e-03 4.08387910e+02] [-7.83173914e-03 9.99969233e-01 4.42628203e-04 -1.70405019e+01] [ 8.11758442e-03 -3.79050446e-04 9.99966980e-01 3.34667938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.460714057 meters Centerline goodness [0,1] 0.9855346336415379 Centerline is valid? [True, True] Translation: X:408.42, Y:-17.04, Z:3.35 [[ 9.99934286e-01 7.88406462e-03 -8.32252732e-03 4.08415520e+02] [-7.88056768e-03 9.99968845e-01 4.52887960e-04 -1.70429094e+01] [ 8.32583863e-03 -3.87271959e-04 9.99965265e-01 3.34547510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.490714057 meters Centerline goodness [0,1] 0.9855927243257845 Centerline is valid? [True, True] Translation: X:408.44, Y:-17.05, Z:3.34 [[ 9.99927209e-01 7.87709106e-03 -9.13938909e-03 4.08443161e+02] [-7.87288139e-03 9.99968885e-01 4.96493463e-04 -1.70485280e+01] [ 9.14301564e-03 -4.24503997e-04 9.99958112e-01 3.34346611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.520714057 meters Centerline goodness [0,1] 0.9852330617832536 Centerline is valid? [True, True] Translation: X:408.47, Y:-17.05, Z:3.34 [[ 9.99926745e-01 7.43293546e-03 -9.55278837e-03 4.08472054e+02] [-7.42831919e-03 9.99972275e-01 5.18629581e-04 -1.70512726e+01] [ 9.55637846e-03 -4.47630428e-04 9.99954237e-01 3.34277127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.550714057 meters Centerline goodness [0,1] 0.9858084249825698 Centerline is valid? [True, True] Translation: X:408.50, Y:-17.05, Z:3.34 [[ 9.99930229e-01 6.75001505e-03 -9.69402398e-03 4.08501342e+02] [-6.74523607e-03 9.99977113e-01 5.25593378e-04 -1.70499376e+01] [ 9.69734987e-03 -4.60168227e-04 9.99952874e-01 3.34397003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.580714057 meters Centerline goodness [0,1] 0.9856107007746352 Centerline is valid? [True, True] Translation: X:408.53, Y:-17.05, Z:3.34 [[ 9.99935204e-01 5.81440775e-03 -9.78670108e-03 4.08530060e+02] [-5.80949890e-03 9.99982984e-01 5.29938244e-04 -1.70527834e+01] [ 9.78961583e-03 -4.73048078e-04 9.99951969e-01 3.34314686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.610714057 meters Centerline goodness [0,1] 0.9857950068661219 Centerline is valid? [True, True] Translation: X:408.56, Y:-17.05, Z:3.34 [[ 9.99936635e-01 5.08162139e-03 -1.00451000e-02 4.08559077e+02] [-5.07642013e-03 9.99986967e-01 5.43220522e-04 -1.70543417e+01] [ 1.00477295e-02 -4.92192953e-04 9.99949399e-01 3.34362540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.640714057 meters Centerline goodness [0,1] 0.9850846697319726 Centerline is valid? [True, True] Translation: X:408.59, Y:-17.06, Z:3.34 [[ 9.99946866e-01 3.48252858e-03 -9.70248178e-03 4.08587682e+02] [-3.47760789e-03 9.99993816e-01 5.23983194e-04 -1.70579848e+01] [ 9.70424656e-03 -4.90213925e-04 9.99952793e-01 3.34346633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.670714057 meters Centerline goodness [0,1] 0.9862224223322827 Centerline is valid? [True, True] Translation: X:408.62, Y:-17.06, Z:3.34 [[ 9.99953764e-01 3.48819328e-03 -8.96120589e-03 4.08616181e+02] [-3.48400208e-03 9.99993814e-01 4.83273313e-04 -1.70608722e+01] [ 8.96283620e-03 -4.52030108e-04 9.99959731e-01 3.34343600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.700714057 meters Centerline goodness [0,1] 0.9855336573074154 Centerline is valid? [True, True] Translation: X:408.64, Y:-17.06, Z:3.34 [[ 9.99961782e-01 4.46579592e-03 -7.51604010e-03 4.08644944e+02] [-4.46287984e-03 9.99989959e-01 4.04708022e-04 -1.70635778e+01] [ 7.51777198e-03 -3.71149371e-04 9.99971672e-01 3.34371138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.730714057 meters Centerline goodness [0,1] 0.9852776156919072 Centerline is valid? [True, True] Translation: X:408.67, Y:-17.07, Z:3.34 [[ 9.99963215e-01 5.50447759e-03 -6.57801455e-03 4.08672306e+02] [-5.50227159e-03 9.99984800e-01 3.53410290e-04 -1.70696533e+01] [ 6.57985990e-03 -3.17203267e-04 9.99978302e-01 3.34218226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76071405700003 meters Centerline goodness [0,1] 0.9858899008479519 Centerline is valid? [True, True] Translation: X:408.70, Y:-17.07, Z:3.34 [[ 9.99952285e-01 7.64645996e-03 -6.07935097e-03 4.08701413e+02] [-7.64461730e-03 9.99970726e-01 3.26280121e-04 -1.70677309e+01] [ 6.08166789e-03 -2.79790241e-04 9.99981467e-01 3.34273909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.790714057 meters Centerline goodness [0,1] 0.9872036215319797 Centerline is valid? [True, True] Translation: X:408.73, Y:-17.07, Z:3.34 [[ 9.99945840e-01 8.24570463e-03 -6.35018573e-03 4.08730678e+02] [-8.24370734e-03 9.99965962e-01 3.40636680e-04 -1.70688015e+01] [ 6.35277837e-03 -2.88269159e-04 9.99979779e-01 3.34241980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82071405700003 meters Centerline goodness [0,1] 0.9862919044222539 Centerline is valid? [True, True] Translation: X:408.76, Y:-17.07, Z:3.34 [[ 9.99941312e-01 8.65533528e-03 -6.51591806e-03 4.08759349e+02] [-8.65324490e-03 9.99962499e-01 3.48935419e-04 -1.70717009e+01] [ 6.51869386e-03 -2.92531106e-04 9.99978710e-01 3.34143913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.850714057 meters Centerline goodness [0,1] 0.9864443996325424 Centerline is valid? [True, True] Translation: X:408.79, Y:-17.08, Z:3.34 [[ 9.99945605e-01 8.22734771e-03 -6.41082472e-03 4.08787843e+02] [-8.22531838e-03 9.99966113e-01 3.42849219e-04 -1.70764838e+01] [ 6.41342822e-03 -2.90099495e-04 9.99979392e-01 3.34061123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.880714057 meters Centerline goodness [0,1] 0.9849706335559079 Centerline is valid? [True, True] Translation: X:408.82, Y:-17.08, Z:3.34 [[ 9.99953957e-01 7.31416158e-03 -6.21184228e-03 4.08815212e+02] [-7.31224305e-03 9.99973210e-01 3.31506652e-04 -1.70800721e+01] [ 6.21410056e-03 -2.86068887e-04 9.99980651e-01 3.34049611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.910714057 meters Centerline goodness [0,1] 0.9853092437726398 Centerline is valid? [True, True] Translation: X:408.84, Y:-17.09, Z:3.34 [[ 9.99968746e-01 5.19334321e-03 -5.96116146e-03 4.08844831e+02] [-5.19153766e-03 9.99986473e-01 3.18319691e-04 -1.70862218e+01] [ 5.96273396e-03 -2.87362148e-04 9.99982181e-01 3.33911014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.940714057 meters Centerline goodness [0,1] 0.985901624669919 Centerline is valid? [True, True] Translation: X:408.87, Y:-17.09, Z:3.34 [[ 9.99974557e-01 3.41763065e-03 -6.26139146e-03 4.08874546e+02] [-3.41560517e-03 9.99994111e-01 3.34151878e-04 -1.70906386e+01] [ 6.26249660e-03 -3.12756935e-04 9.99980341e-01 3.33795290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.970714057 meters Centerline goodness [0,1] 0.983823397980159 Centerline is valid? [True, True] Translation: X:408.90, Y:-17.10, Z:3.34 [[ 9.99973578e-01 1.65528019e-03 -7.07840541e-03 4.08904106e+02] [-1.65264904e-03 9.99998563e-01 3.77547849e-04 -1.70950311e+01] [ 7.07902018e-03 -3.65839753e-04 9.99974877e-01 3.33739866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.000714057 meters Centerline goodness [0,1] 0.9830741586991726 Centerline is valid? [True, True] Translation: X:408.93, Y:-17.10, Z:3.34 [[ 9.99979160e-01 -1.50297025e-03 -6.27866510e-03 4.08934402e+02] [ 1.50510404e-03 9.99998811e-01 3.35136626e-04 -1.71016558e+01] [ 6.27815394e-03 -3.44579685e-04 9.99980233e-01 3.33662629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.030714057 meters Centerline goodness [0,1] 0.9831936519258202 Centerline is valid? [True, True] Translation: X:408.96, Y:-17.10, Z:3.34 [[ 9.99981035e-01 -2.70808189e-03 -5.53141937e-03 4.08963504e+02] [ 2.70975119e-03 9.99996285e-01 2.94312773e-04 -1.71039449e+01] [ 5.53060180e-03 -3.09295961e-04 9.99984658e-01 3.33727985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.060714057 meters Centerline goodness [0,1] 0.9833582106177735 Centerline is valid? [True, True] Translation: X:408.99, Y:-17.11, Z:3.34 [[ 9.99984107e-01 -3.60436392e-03 -4.33527671e-03 4.08993026e+02] [ 3.60539771e-03 9.99993474e-01 2.30668623e-04 -1.71059846e+01] [ 4.33441701e-03 -2.46295354e-04 9.99990576e-01 3.33833672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.090714057 meters Centerline goodness [0,1] 0.9828171075094783 Centerline is valid? [True, True] Translation: X:409.02, Y:-17.11, Z:3.34 [[ 9.99984610e-01 -3.73220009e-03 -4.10486459e-03 4.09022864e+02] [ 3.73312732e-03 9.99993008e-01 2.18248216e-04 -1.71075421e+01] [ 4.10402134e-03 -2.33568839e-04 9.99991551e-01 3.33871289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.120714057 meters Centerline goodness [0,1] 0.9832737288700326 Centerline is valid? [True, True] Translation: X:409.05, Y:-17.11, Z:3.34 [[ 9.99991934e-01 -2.86150559e-03 -2.81842820e-03 4.09053772e+02] [ 2.86193981e-03 9.99995893e-01 1.50045978e-04 -1.71074136e+01] [ 2.81798727e-03 -1.58110940e-04 9.99996017e-01 3.33986690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.150714057 meters Centerline goodness [0,1] 0.9829574491723142 Centerline is valid? [True, True] Translation: X:409.08, Y:-17.11, Z:3.34 [[ 9.99994672e-01 -2.49811291e-03 -2.10128290e-03 4.09083012e+02] [ 2.49835309e-03 9.99996873e-01 1.11686852e-04 -1.71114006e+01] [ 2.10099732e-03 -1.16936003e-04 9.99997786e-01 3.33982247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.180714057 meters Centerline goodness [0,1] 0.9828460819650247 Centerline is valid? [True, True] Translation: X:409.11, Y:-17.11, Z:3.34 [[ 9.99996902e-01 -2.19463009e-03 -1.17444995e-03 4.09113751e+02] [ 2.19470501e-03 9.99997590e-01 6.25039077e-05 -1.71126357e+01] [ 1.17430994e-03 -6.50812852e-05 9.99999308e-01 3.34038863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.210714057 meters Centerline goodness [0,1] 0.9831494483450351 Centerline is valid? [True, True] Translation: X:409.14, Y:-17.11, Z:3.34 [[ 9.99997027e-01 -2.28370706e-03 -8.55212954e-04 4.09144486e+02] [ 2.28374682e-03 9.99997391e-01 4.55142015e-05 -1.71145400e+01] [ 8.55106782e-04 -4.74671560e-05 9.99999633e-01 3.34071299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.240714057 meters Centerline goodness [0,1] 0.9829531545565817 Centerline is valid? [True, True] Translation: X:409.17, Y:-17.12, Z:3.34 [[ 9.99996208e-01 -2.73034207e-03 -3.59213414e-04 4.09174511e+02] [ 2.73034926e-03 9.99996272e-01 1.95336080e-05 -1.71180941e+01] [ 3.59158741e-04 -2.05143121e-05 9.99999935e-01 3.33999581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.270714057 meters Centerline goodness [0,1] 0.982527806762427 Centerline is valid? [True, True] Translation: X:409.21, Y:-17.12, Z:3.34 [[ 9.99990769e-01 -4.29615769e-03 -7.69176600e-05 4.09205570e+02] [ 4.29615804e-03 9.99990771e-01 4.37870181e-06 -1.71220773e+01] [ 7.68981385e-05 -4.70911181e-06 9.99999997e-01 3.33946254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.300714057 meters Centerline goodness [0,1] 0.9826057906458797 Centerline is valid? [True, True] Translation: X:409.24, Y:-17.12, Z:3.34 [[ 9.99984652e-01 -5.54025317e-03 3.52702510e-05 4.09237246e+02] [ 5.54025321e-03 9.99984653e-01 -9.82272625e-07 -1.71218066e+01] [-3.52642676e-05 1.17766367e-06 9.99999999e-01 3.33939187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.330714057 meters Centerline goodness [0,1] 0.9832166277648104 Centerline is valid? [True, True] Translation: X:409.27, Y:-17.13, Z:3.34 [[ 9.99967906e-01 -7.99807325e-03 4.65752501e-04 4.09267209e+02] [ 7.99808564e-03 9.99968014e-01 -2.47440337e-05 -1.71263594e+01] [-4.65539700e-04 2.84683679e-05 9.99999891e-01 3.33794335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.360714057 meters Centerline goodness [0,1] 0.9817410426708723 Centerline is valid? [True, True] Translation: X:409.30, Y:-17.13, Z:3.34 [[ 9.99961141e-01 -8.81414230e-03 -1.65119316e-04 4.09298970e+02] [ 8.81414401e-03 9.99961155e-01 9.64746634e-06 -1.71284837e+01] [ 1.65027868e-04 -1.11024769e-05 9.99999986e-01 3.33756129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.390714057 meters Centerline goodness [0,1] 0.9821746483888196 Centerline is valid? [True, True] Translation: X:409.33, Y:-17.13, Z:3.34 [[ 9.99956301e-01 -9.32721238e-03 6.32478842e-04 4.09331357e+02] [ 9.32723532e-03 9.99956500e-01 -3.33292820e-05 -1.71287619e+01] [-6.32140460e-04 3.92271045e-05 9.99999799e-01 3.33729276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.420714057 meters Centerline goodness [0,1] 0.9825907150480256 Centerline is valid? [True, True] Translation: X:409.36, Y:-17.13, Z:3.34 [[ 9.99955508e-01 -9.43037290e-03 2.22168510e-04 4.09363162e+02] [ 9.43037565e-03 9.99955533e-01 -1.13516464e-05 -1.71298853e+01] [-2.22051581e-04 1.34462739e-05 9.99999975e-01 3.33622033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.450714057 meters Centerline goodness [0,1] 0.9821503990041568 Centerline is valid? [True, True] Translation: X:409.39, Y:-17.13, Z:3.34 [[ 9.99960857e-01 -8.82520358e-03 6.32672805e-04 4.09393983e+02] [ 8.82522657e-03 9.99961056e-01 -3.35656786e-05 -1.71340487e+01] [-6.32351942e-04 3.91478456e-05 9.99999799e-01 3.33546161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.480714057 meters Centerline goodness [0,1] 0.982966579715961 Centerline is valid? [True, True] Translation: X:409.43, Y:-17.13, Z:3.34 [[ 9.99973124e-01 -7.30692190e-03 6.00626131e-04 4.09426242e+02] [ 7.30694235e-03 9.99973303e-01 -3.18724580e-05 -1.71298280e+01] [-6.00377207e-04 3.62603419e-05 9.99999819e-01 3.33557232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.51071405700003 meters Centerline goodness [0,1] 0.9834537973979762 Centerline is valid? [True, True] Translation: X:409.46, Y:-17.13, Z:3.34 [[ 9.99978091e-01 -6.59817019e-03 5.30432164e-04 4.09458455e+02] [ 6.59818596e-03 9.99978231e-01 -2.79855552e-05 -1.71287296e+01] [-5.30235963e-04 3.14848321e-05 9.99999859e-01 3.33566430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.540714057 meters Centerline goodness [0,1] 0.9827821076844057 Centerline is valid? [True, True] Translation: X:409.49, Y:-17.13, Z:3.34 [[ 9.99990050e-01 -4.15567424e-03 1.62199656e-03 4.09489373e+02] [ 4.15582100e-03 9.99991361e-01 -8.71220304e-05 -1.71309853e+01] [-1.62162050e-03 9.38618909e-05 9.99998681e-01 3.33524098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.57071405700003 meters Centerline goodness [0,1] 0.9842463619776601 Centerline is valid? [True, True] Translation: X:409.52, Y:-17.13, Z:3.34 [[ 9.99994538e-01 -2.54224553e-03 2.11211193e-03 4.09521367e+02] [ 2.54249093e-03 9.99996761e-01 -1.13508346e-04 -1.71272951e+01] [-2.11181652e-03 1.18877752e-04 9.99997763e-01 3.33555439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.600714057 meters Centerline goodness [0,1] 0.9852229983879635 Centerline is valid? [True, True] Translation: X:409.55, Y:-17.12, Z:3.34 [[ 9.99996813e-01 9.26947710e-04 2.34835049e-03 4.09552731e+02] [-9.26653010e-04 9.99999563e-01 -1.26577338e-04 -1.71229330e+01] [-2.34846679e-03 1.24400828e-04 9.99997235e-01 3.33534746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.630714057 meters Centerline goodness [0,1] 0.9851639362631944 Centerline is valid? [True, True] Translation: X:409.58, Y:-17.12, Z:3.33 [[ 9.99993017e-01 2.88389836e-03 2.37688273e-03 4.09584210e+02] [-2.88360211e-03 9.99995834e-01 -1.28056458e-04 -1.71219873e+01] [-2.37724213e-03 1.21201579e-04 9.99997167e-01 3.33498308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.660714057 meters Centerline goodness [0,1] 0.9842687551895155 Centerline is valid? [True, True] Translation: X:409.61, Y:-17.12, Z:3.33 [[ 9.99986067e-01 4.89637751e-03 1.97266061e-03 4.09614964e+02] [-4.89617688e-03 9.99988008e-01 -1.06520526e-04 -1.71220444e+01] [-1.97315852e-03 9.68605464e-05 9.99998049e-01 3.33438495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.690714057 meters Centerline goodness [0,1] 0.9846071236799714 Centerline is valid? [True, True] Translation: X:409.64, Y:-17.12, Z:3.33 [[ 9.99966871e-01 8.02195787e-03 1.38020613e-03 4.09644556e+02] [-8.02186230e-03 9.99967822e-01 -7.47659878e-05 -1.71196597e+01] [-1.38076148e-03 6.36916873e-05 9.99999045e-01 3.33392739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.720714057 meters Centerline goodness [0,1] 0.9847421009991898 Centerline is valid? [True, True] Translation: X:409.67, Y:-17.12, Z:3.33 [[ 9.99953005e-01 9.59910369e-03 1.35802811e-03 4.09673542e+02] [-9.59901235e-03 9.99953926e-01 -7.37618111e-05 -1.71185266e+01] [-1.35867359e-03 6.07226161e-05 9.99999075e-01 3.33421389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.750714057 meters Centerline goodness [0,1] 0.984968496849685 Centerline is valid? [True, True] Translation: X:409.70, Y:-17.12, Z:3.33 [[ 9.99920130e-01 1.24804454e-02 1.99315464e-03 4.09703596e+02] [-1.24802558e-02 9.99922113e-01 -1.07521812e-04 -1.71168703e+01] [-1.99434132e-03 8.26381448e-05 9.99998008e-01 3.33423054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.780714057 meters Centerline goodness [0,1] 0.9847309361577729 Centerline is valid? [True, True] Translation: X:409.73, Y:-17.12, Z:3.33 [[ 9.99914317e-01 1.29585714e-02 1.85328714e-03 4.09730909e+02] [-1.29584075e-02 9.99916031e-01 -1.00391155e-04 -1.71179603e+01] [-1.85443245e-03 7.63669032e-05 9.99998278e-01 3.33354431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.810714057 meters Centerline goodness [0,1] 0.9852057015469837 Centerline is valid? [True, True] Translation: X:409.76, Y:-17.12, Z:3.33 [[ 9.99915733e-01 1.29154817e-02 1.31018501e-03 4.09759777e+02] [-1.29153998e-02 9.99916590e-01 -7.09431658e-05 -1.71184287e+01] [-1.31099199e-03 5.40156246e-05 9.99999139e-01 3.33284942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.840714057 meters Centerline goodness [0,1] 0.9854435656504202 Centerline is valid? [True, True] Translation: X:409.79, Y:-17.12, Z:3.33 [[ 9.99921324e-01 1.25431329e-02 1.24501601e-04 4.09788396e+02] [-1.25431321e-02 9.99921332e-01 -7.24940106e-06 -1.71187561e+01] [-1.24582737e-04 5.68719068e-06 9.99999992e-01 3.33161222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.870714057 meters Centerline goodness [0,1] 0.9850870484502227 Centerline is valid? [True, True] Translation: X:409.82, Y:-17.12, Z:3.33 [[ 9.99928521e-01 1.19439527e-02 -5.42580776e-04 4.09817004e+02] [-1.19439390e-02 9.99928668e-01 2.84990478e-05 -1.71206888e+01] [ 5.42882464e-04 -2.20164590e-05 9.99999852e-01 3.33087399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.900714057 meters Centerline goodness [0,1] 0.984304882173864 Centerline is valid? [True, True] Translation: X:409.85, Y:-17.12, Z:3.33 [[ 9.99945974e-01 1.02968506e-02 -1.42254993e-03 4.09845223e+02] [-1.02967538e-02 9.99946984e-01 7.53770097e-05 -1.71223980e+01] [ 1.42325066e-03 -6.07252910e-05 9.99998985e-01 3.33029471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.930714057 meters Centerline goodness [0,1] 0.9845834835917778 Centerline is valid? [True, True] Translation: X:409.87, Y:-17.13, Z:3.33 [[ 9.99950744e-01 9.81088365e-03 -1.50190048e-03 4.09872643e+02] [-9.81077529e-03 9.99951870e-01 7.94960968e-05 -1.71263852e+01] [ 1.50260812e-03 -6.47573730e-05 9.99998869e-01 3.32994175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.960714057 meters Centerline goodness [0,1] 0.9835319561152538 Centerline is valid? [True, True] Translation: X:409.90, Y:-17.13, Z:3.33 [[ 9.99962811e-01 8.36630240e-03 -2.09339075e-03 4.09901415e+02] [-8.36608817e-03 9.99964998e-01 1.11070296e-04 -1.71253090e+01] [ 2.09424673e-03 -9.35526739e-05 9.99997803e-01 3.33043585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.990714057 meters Centerline goodness [0,1] 0.9835319561152538 Centerline is valid? [True, True] Translation: X:409.93, Y:-17.13, Z:3.33 [[ 9.99963394e-01 8.29631973e-03 -2.09339851e-03 4.09929713e+02] [-8.29610566e-03 9.99965581e-01 1.10924312e-04 -1.71267572e+01] [ 2.09424672e-03 -9.35531963e-05 9.99997803e-01 3.33020712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.020714057 meters Centerline goodness [0,1] 0.985494535150452 Centerline is valid? [True, True] Translation: X:409.96, Y:-17.13, Z:3.33 [[ 9.99977454e-01 6.62658852e-03 -1.08602587e-03 4.09958489e+02] [-6.62653031e-03 9.99978043e-01 5.71922441e-05 -1.71276936e+01] [ 1.08638101e-03 -4.99943713e-05 9.99999409e-01 3.33152917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.050714057 meters Centerline goodness [0,1] 0.9845445725502583 Centerline is valid? [True, True] Translation: X:409.99, Y:-17.13, Z:3.33 [[ 9.99985684e-01 5.23587069e-03 -1.10301639e-03 4.09987345e+02] [-5.23580987e-03 9.99986291e-01 5.80173004e-05 -1.71295418e+01] [ 1.10330504e-03 -5.22412858e-05 9.99999390e-01 3.33152704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.080714057 meters Centerline goodness [0,1] 0.984226277536509 Centerline is valid? [True, True] Translation: X:410.02, Y:-17.13, Z:3.33 [[ 9.99991818e-01 4.03472677e-03 2.92976981e-04 4.10015525e+02] [-4.03472218e-03 9.99991860e-01 -1.62491632e-05 -1.71317833e+01] [-2.93040157e-04 1.50669496e-05 9.99999957e-01 3.33243502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.110714057 meters Centerline goodness [0,1] 0.9835962428654892 Centerline is valid? [True, True] Translation: X:410.05, Y:-17.13, Z:3.33 [[ 9.99993232e-01 3.60664199e-03 7.26553942e-04 4.10045366e+02] [-3.60661476e-03 9.99993495e-01 -3.87865045e-05 -1.71334869e+01] [-7.26689105e-04 3.61658418e-05 9.99999735e-01 3.33228156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.140714057 meters Centerline goodness [0,1] 0.983702109534378 Centerline is valid? [True, True] Translation: X:410.08, Y:-17.14, Z:3.33 [[ 9.99994991e-01 2.98162093e-03 1.06158684e-03 4.10075345e+02] [-2.98156276e-03 9.99995554e-01 -5.63788422e-05 -1.71351101e+01] [-1.06175022e-03 5.32133721e-05 9.99999435e-01 3.33208781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.170714057 meters Centerline goodness [0,1] 0.9840866120464572 Centerline is valid? [True, True] Translation: X:410.11, Y:-17.14, Z:3.33 [[ 9.99997679e-01 2.07675822e-03 5.74503846e-04 4.10105287e+02] [-2.07674093e-03 9.99997843e-01 -3.06988581e-05 -1.71362301e+01] [-5.74566361e-04 2.95056912e-05 9.99999835e-01 3.33158414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.200714057 meters Centerline goodness [0,1] 0.9838680564956455 Centerline is valid? [True, True] Translation: X:410.14, Y:-17.14, Z:3.33 [[ 9.99998189e-01 1.81424985e-03 5.74807099e-04 4.10135354e+02] [-1.81423266e-03 9.99998354e-01 -3.04297595e-05 -1.71392510e+01] [-5.74861360e-04 2.93868706e-05 9.99999834e-01 3.33102959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.230714057 meters Centerline goodness [0,1] 0.9827873278732787 Centerline is valid? [True, True] Translation: X:410.16, Y:-17.14, Z:3.33 [[ 9.99999808e-01 -2.61507405e-04 -5.62550176e-04 4.10164970e+02] [ 2.61524199e-04 9.99999965e-01 2.97808893e-05 -1.71434055e+01] [ 5.62542369e-04 -2.99280041e-05 9.99999841e-01 3.32905113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26071405700003 meters Centerline goodness [0,1] 0.9827334247622473 Centerline is valid? [True, True] Translation: X:410.20, Y:-17.15, Z:3.33 [[ 9.99998677e-01 -1.31505128e-03 -9.57591173e-04 4.10195302e+02] [ 1.31510042e-03 9.99999134e-01 5.06939966e-05 -1.71468671e+01] [ 9.57523678e-04 -5.19532581e-05 9.99999540e-01 3.32825612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.290714057 meters Centerline goodness [0,1] 0.9816981428667669 Centerline is valid? [True, True] Translation: X:410.23, Y:-17.15, Z:3.33 [[ 9.99988964e-01 -4.31487908e-03 -1.85822987e-03 4.10225225e+02] [ 4.31506942e-03 9.99990685e-01 9.84354189e-05 -1.71517896e+01] [ 1.85778782e-03 -1.06452723e-04 9.99998269e-01 3.32717759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32071405700003 meters Centerline goodness [0,1] 0.9811519497982967 Centerline is valid? [True, True] Translation: X:410.26, Y:-17.15, Z:3.33 [[ 9.99981128e-01 -5.71670440e-03 -2.24991248e-03 4.10255870e+02] [ 5.71698810e-03 9.99983651e-01 1.19683737e-04 -1.71548535e+01] [ 2.24919150e-03 -1.32544201e-04 9.99997462e-01 3.32650008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.350714057 meters Centerline goodness [0,1] 0.9813516134124067 Centerline is valid? [True, True] Translation: X:410.29, Y:-17.16, Z:3.33 [[ 9.99970011e-01 -7.34115797e-03 -2.46661896e-03 4.10286433e+02] [ 7.34150365e-03 9.99973042e-01 1.31114611e-04 -1.71580387e+01] [ 2.46558993e-03 -1.49219371e-04 9.99996949e-01 3.32571973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.380714057 meters Centerline goodness [0,1] 0.9800729532558767 Centerline is valid? [True, True] Translation: X:410.32, Y:-17.16, Z:3.32 [[ 9.99944145e-01 -9.94553647e-03 -3.57682377e-03 4.10316428e+02] [ 9.94628125e-03 9.99950516e-01 1.90497071e-04 -1.71624179e+01] [ 3.57475218e-03 -2.26062525e-04 9.99993585e-01 3.32430290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.410714057 meters Centerline goodness [0,1] 0.9808770862896141 Centerline is valid? [True, True] Translation: X:410.35, Y:-17.17, Z:3.32 [[ 9.99919591e-01 -1.19082137e-02 -4.35958769e-03 4.10347242e+02] [ 1.19093367e-02 9.99929054e-01 2.31720861e-04 -1.71659243e+01] [ 4.35651902e-03 -2.83622027e-04 9.99990470e-01 3.32306140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.440714057 meters Centerline goodness [0,1] 0.9802227472156598 Centerline is valid? [True, True] Translation: X:410.38, Y:-17.17, Z:3.32 [[ 9.99915118e-01 -1.24056748e-02 -3.98195917e-03 4.10378831e+02] [ 1.24066175e-02 9.99923012e-01 2.12129632e-04 -1.71678934e+01] [ 3.97902100e-03 -2.61514270e-04 9.99992049e-01 3.32313646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.470714057 meters Centerline goodness [0,1] 0.9807480128796919 Centerline is valid? [True, True] Translation: X:410.41, Y:-17.16, Z:3.32 [[ 9.99900206e-01 -1.35606391e-02 -3.96066341e-03 4.10410889e+02] [ 1.35615817e-02 9.99908015e-01 2.11239678e-04 -1.71607587e+01] [ 3.95743454e-03 -2.64931458e-04 9.99992134e-01 3.32492757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.500714057 meters Centerline goodness [0,1] 0.9811835226248422 Centerline is valid? [True, True] Translation: X:410.44, Y:-17.16, Z:3.33 [[ 9.99883640e-01 -1.51411856e-02 -1.85781229e-03 4.10443310e+02] [ 1.51413966e-02 9.99885358e-01 9.95921285e-05 -1.71623634e+01] [ 1.85609136e-03 -1.27710413e-04 9.99998269e-01 3.32671477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.530714057 meters Centerline goodness [0,1] 0.9799095592701748 Centerline is valid? [True, True] Translation: X:410.47, Y:-17.17, Z:3.33 [[ 9.99873915e-01 -1.58721724e-02 -4.78595830e-04 4.10474606e+02] [ 1.58721868e-02 9.99874029e-01 2.64366475e-05 -1.71680923e+01] [ 4.78115934e-04 -3.40296767e-05 9.99999885e-01 3.32698711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.560714057 meters Centerline goodness [0,1] 0.9800201816347124 Centerline is valid? [True, True] Translation: X:410.51, Y:-17.17, Z:3.33 [[ 9.99843761e-01 -1.76759909e-02 -1.14669924e-04 4.10506136e+02] [ 1.76759918e-02 9.99843767e-01 6.41251000e-06 -1.71662189e+01] [ 1.14538661e-04 -8.43841274e-06 9.99999993e-01 3.32803775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.590714057 meters Centerline goodness [0,1] 0.9796736072031513 Centerline is valid? [True, True] Translation: X:410.54, Y:-17.17, Z:3.33 [[ 9.99824939e-01 -1.87104024e-02 -1.14383052e-04 4.10537920e+02] [ 1.87104032e-02 9.99824945e-01 6.54611464e-06 -1.71682380e+01] [ 1.14240548e-04 -8.68512169e-06 9.99999993e-01 3.32739169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.620714057 meters Centerline goodness [0,1] 0.9799716452505794 Centerline is valid? [True, True] Translation: X:410.57, Y:-17.17, Z:3.33 [[ 9.99811237e-01 -1.94278036e-02 2.23798051e-04 4.10570236e+02] [ 1.94278066e-02 9.99811262e-01 -1.14211835e-05 -1.71704675e+01] [-2.23533923e-04 1.57669329e-05 9.99999975e-01 3.32730002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.650714057 meters Centerline goodness [0,1] 0.9814764737696052 Centerline is valid? [True, True] Translation: X:410.60, Y:-17.16, Z:3.33 [[ 9.99792243e-01 -2.03830469e-02 3.65688495e-05 4.10602729e+02] [ 2.03830469e-02 9.99792244e-01 -1.36612013e-06 -1.71647118e+01] [-3.65334064e-05 2.11122089e-06 9.99999999e-01 3.32778669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.680714057 meters Centerline goodness [0,1] 0.9810274898602974 Centerline is valid? [True, True] Translation: X:410.63, Y:-17.17, Z:3.33 [[ 9.99773912e-01 -2.12631376e-02 6.70283368e-05 4.10633986e+02] [ 2.12631378e-02 9.99773914e-01 -2.62296453e-06 -1.71682960e+01] [-6.69574102e-05 4.04760427e-06 9.99999998e-01 3.32744336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.710714057 meters Centerline goodness [0,1] 0.9799316054715623 Centerline is valid? [True, True] Translation: X:410.67, Y:-17.17, Z:3.33 [[ 9.99757699e-01 -2.20012717e-02 6.98255672e-04 4.10665698e+02] [ 2.20013029e-02 9.99757941e-01 -3.71392167e-05 -1.71684985e+01] [-6.97269543e-04 5.24927524e-05 9.99999756e-01 3.32814889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.740714057 meters Centerline goodness [0,1] 0.9782334384858045 Centerline is valid? [True, True] Translation: X:410.70, Y:-17.17, Z:3.33 [[ 9.99750825e-01 -2.23210996e-02 2.39539308e-04 4.10696324e+02] [ 2.23211031e-02 9.99750853e-01 -1.19111026e-05 -1.71703718e+01] [-2.39213759e-04 1.72549162e-05 9.99999971e-01 3.32799366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.770714057 meters Centerline goodness [0,1] 0.9801448523273392 Centerline is valid? [True, True] Translation: X:410.73, Y:-17.17, Z:3.33 [[ 9.99752004e-01 -2.22542275e-02 -8.24216919e-04 4.10728623e+02] [ 2.22542722e-02 9.99752342e-01 4.50930919e-05 -1.71700423e+01] [ 8.23009283e-04 -6.34242566e-05 9.99999659e-01 3.32649812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.800714057 meters Centerline goodness [0,1] 0.9811804384485666 Centerline is valid? [True, True] Translation: X:410.76, Y:-17.17, Z:3.33 [[ 9.99765197e-01 -2.16398275e-02 -1.12656599e-03 4.10761378e+02] [ 2.16399106e-02 9.99765828e-01 6.16704249e-05 -1.71703252e+01] [ 1.12496765e-03 -8.60347320e-05 9.99999364e-01 3.32551325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.830714057 meters Centerline goodness [0,1] 0.9802053776516687 Centerline is valid? [True, True] Translation: X:410.79, Y:-17.17, Z:3.32 [[ 9.99763159e-01 -2.16748212e-02 -1.95643042e-03 4.10794016e+02] [ 2.16750710e-02 9.99765062e-01 1.06564636e-04 -1.71710918e+01] [ 1.95366101e-03 -1.48945165e-04 9.99998081e-01 3.32457386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.860714057 meters Centerline goodness [0,1] 0.9796047573825352 Centerline is valid? [True, True] Translation: X:410.83, Y:-17.17, Z:3.32 [[ 9.99768440e-01 -2.13349681e-02 -2.80799687e-03 4.10825288e+02] [ 2.13354806e-02 9.99772361e-01 1.52699164e-04 -1.71718393e+01] [ 2.80409983e-03 -2.12573768e-04 9.99996046e-01 3.32361560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.890714057 meters Centerline goodness [0,1] 0.9798789575899914 Centerline is valid? [True, True] Translation: X:410.86, Y:-17.17, Z:3.32 [[ 9.99780249e-01 -2.07598389e-02 -2.91259475e-03 4.10856109e+02] [ 2.07603883e-02 9.99784467e-01 1.58522409e-04 -1.71735817e+01] [ 2.90867609e-03 -2.18954172e-04 9.99995746e-01 3.32297110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.920714057 meters Centerline goodness [0,1] 0.9800652410293584 Centerline is valid? [True, True] Translation: X:410.89, Y:-17.17, Z:3.32 [[ 9.99808059e-01 -1.93820416e-02 -2.86022793e-03 4.10888340e+02] [ 1.93825663e-02 9.99812128e-01 1.55834220e-04 -1.71703330e+01] [ 2.85667019e-03 -2.11242867e-04 9.99995897e-01 3.32345690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.950714057 meters Centerline goodness [0,1] 0.9796458974823401 Centerline is valid? [True, True] Translation: X:410.92, Y:-17.17, Z:3.32 [[ 9.99825593e-01 -1.84583312e-02 -2.84152444e-03 4.10920443e+02] [ 1.84588463e-02 9.99829609e-01 1.55156019e-04 -1.71713959e+01] [ 2.83817635e-03 -2.07580221e-04 9.99995951e-01 3.32304567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.980714057 meters Centerline goodness [0,1] 0.9789721743859331 Centerline is valid? [True, True] Translation: X:410.95, Y:-17.17, Z:3.32 [[ 9.99865768e-01 -1.61530193e-02 -2.74322653e-03 4.10951236e+02] [ 1.61534893e-02 9.99869513e-01 1.49240801e-04 -1.71688414e+01] [ 2.74045788e-03 -1.93533448e-04 9.99996226e-01 3.32330297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.01071405700003 meters Centerline goodness [0,1] 0.9792002543200345 Centerline is valid? [True, True] Translation: X:410.98, Y:-17.17, Z:3.32 [[ 9.99896868e-01 -1.40656474e-02 -2.90009951e-03 4.10982355e+02] [ 1.40661650e-02 9.99901054e-01 1.58159559e-04 -1.71675503e+01] [ 2.89758794e-03 -1.98936526e-04 9.99995782e-01 3.32381369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.040714057 meters Centerline goodness [0,1] 0.9792002543200345 Centerline is valid? [True, True] Translation: X:411.01, Y:-17.17, Z:3.32 [[ 9.99897843e-01 -1.39961779e-02 -2.90007340e-03 4.11014076e+02] [ 1.39966966e-02 9.99902029e-01 1.58638821e-04 -1.71693402e+01] [ 2.89756893e-03 -1.99214062e-04 9.99995782e-01 3.32355754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.07071405700003 meters Centerline goodness [0,1] 0.9801211403588669 Centerline is valid? [True, True] Translation: X:411.05, Y:-17.17, Z:3.32 [[ 9.99922348e-01 -1.20786827e-02 -3.06633650e-03 4.11045924e+02] [ 1.20792536e-02 9.99927029e-01 1.67731734e-04 -1.71657772e+01] [ 3.06408677e-03 -2.04757766e-04 9.99995285e-01 3.32448013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.100714057 meters Centerline goodness [0,1] 0.9791078743741466 Centerline is valid? [True, True] Translation: X:411.08, Y:-17.17, Z:3.32 [[ 9.99931740e-01 -1.12799962e-02 -3.04572574e-03 4.11077416e+02] [ 1.12805569e-02 9.99936359e-01 1.66957062e-04 -1.71704411e+01] [ 3.04364863e-03 -2.01303148e-04 9.99995348e-01 3.32372514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.130714057 meters Centerline goodness [0,1] 0.9780970217431025 Centerline is valid? [True, True] Translation: X:411.11, Y:-17.17, Z:3.32 [[ 9.99925370e-01 -1.15757964e-02 -3.90580108e-03 4.11109229e+02] [ 1.15767210e-02 9.99932965e-01 2.14196277e-04 -1.71714131e+01] [ 3.90305976e-03 -2.59396661e-04 9.99992349e-01 3.32324345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.160714057 meters Centerline goodness [0,1] 0.9789656591522247 Centerline is valid? [True, True] Translation: X:411.14, Y:-17.17, Z:3.32 [[ 9.99925431e-01 -1.14793020e-02 -4.16626099e-03 4.11140643e+02] [ 1.14803533e-02 9.99934072e-01 2.28518258e-04 -1.71729915e+01] [ 4.16336309e-03 -2.76331366e-04 9.99991295e-01 3.32291817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.190714057 meters Centerline goodness [0,1] 0.9779846810072008 Centerline is valid? [True, True] Translation: X:411.17, Y:-17.18, Z:3.32 [[ 9.99920704e-01 -1.18312726e-02 -4.31352019e-03 4.11171361e+02] [ 1.18324037e-02 9.99929967e-01 2.36788780e-04 -1.71759355e+01] [ 4.31041659e-03 -2.87809316e-04 9.99990669e-01 3.32265855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.220714057 meters Centerline goodness [0,1] 0.9813732651570489 Centerline is valid? [True, True] Translation: X:411.20, Y:-17.17, Z:3.32 [[ 9.99916519e-01 -1.21128393e-02 -4.49817582e-03 4.11204076e+02] [ 1.21140743e-02 9.99926591e-01 2.47408417e-04 -1.71674157e+01] [ 4.49484880e-03 -3.01879000e-04 9.99989853e-01 3.32416455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.250714057 meters Centerline goodness [0,1] 0.9810919079775666 Centerline is valid? [True, True] Translation: X:411.24, Y:-17.17, Z:3.32 [[ 9.99911662e-01 -1.24479777e-02 -4.65999080e-03 4.11236504e+02] [ 1.24493082e-02 9.99922471e-01 2.56614120e-04 -1.71699833e+01] [ 4.65643519e-03 -3.14605113e-04 9.99989109e-01 3.32395776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.280714057 meters Centerline goodness [0,1] 0.981142401094516 Centerline is valid? [True, True] Translation: X:411.27, Y:-17.17, Z:3.32 [[ 9.99895282e-01 -1.38726279e-02 -4.12011292e-03 4.11268319e+02] [ 1.38736806e-02 9.99903730e-01 2.27031016e-04 -1.71710850e+01] [ 4.11656676e-03 -2.84168373e-04 9.99991487e-01 3.32426607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.310714057 meters Centerline goodness [0,1] 0.9811903617766183 Centerline is valid? [True, True] Translation: X:411.30, Y:-17.17, Z:3.32 [[ 9.99885654e-01 -1.47032275e-02 -3.53458323e-03 4.11300079e+02] [ 1.47040083e-02 9.99891871e-01 1.95019629e-04 -1.71728572e+01] [ 3.53133362e-03 -2.46969870e-04 9.99993734e-01 3.32454141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.340714057 meters Centerline goodness [0,1] 0.9817549161000847 Centerline is valid? [True, True] Translation: X:411.33, Y:-17.17, Z:3.32 [[ 9.99870125e-01 -1.56021294e-02 -4.03806575e-03 4.11332201e+02] [ 1.56031573e-02 9.99878238e-01 2.23178956e-04 -1.71738255e+01] [ 4.03409200e-03 -2.86156546e-04 9.99991822e-01 3.32471494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.370714057 meters Centerline goodness [0,1] 0.9806987595311255 Centerline is valid? [True, True] Translation: X:411.36, Y:-17.18, Z:3.32 [[ 9.99863786e-01 -1.59101457e-02 -4.39044273e-03 4.11363340e+02] [ 1.59113640e-02 9.99873377e-01 2.42692812e-04 -1.71786214e+01] [ 4.38602552e-03 -3.12517686e-04 9.99990333e-01 3.32326899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.400714057 meters Centerline goodness [0,1] 0.9817616675046853 Centerline is valid? [True, True] Translation: X:411.40, Y:-17.18, Z:3.32 [[ 9.99852037e-01 -1.64511794e-02 -5.02620828e-03 4.11395940e+02] [ 1.64527852e-02 9.99864605e-01 2.78289638e-04 -1.71765359e+01] [ 5.02094957e-03 -3.60943587e-04 9.99987330e-01 3.32302739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.430714057 meters Centerline goodness [0,1] 0.9802843255824567 Centerline is valid? [True, True] Translation: X:411.43, Y:-17.18, Z:3.32 [[ 9.99840845e-01 -1.69989358e-02 -5.41490858e-03 4.11426954e+02] [ 1.70008081e-02 9.99855431e-01 2.99910702e-04 -1.71804552e+01] [ 5.40902759e-03 -3.91920791e-04 9.99985294e-01 3.32124736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.460714057 meters Centerline goodness [0,1] 0.981217750257998 Centerline is valid? [True, True] Translation: X:411.46, Y:-17.18, Z:3.32 [[ 9.99836153e-01 -1.72818136e-02 -5.38575367e-03 4.11458758e+02] [ 1.72836727e-02 9.99850582e-01 2.98822097e-04 -1.71818804e+01] [ 5.37978475e-03 -3.91858739e-04 9.99985452e-01 3.32046785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.490714057 meters Centerline goodness [0,1] 0.9806033499155675 Centerline is valid? [True, True] Translation: X:411.49, Y:-17.18, Z:3.32 [[ 9.99840152e-01 -1.69639246e-02 -5.64758030e-03 4.11489690e+02] [ 1.69659645e-02 9.99856019e-01 3.13476226e-04 -1.71838677e+01] [ 5.64144937e-03 -4.09242764e-04 9.99984003e-01 3.32050936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.520714057 meters Centerline goodness [0,1] 0.9811415639929595 Centerline is valid? [True, True] Translation: X:411.52, Y:-17.18, Z:3.32 [[ 9.99841587e-01 -1.68839038e-02 -5.63342661e-03 4.11522151e+02] [ 1.68859353e-02 9.99857373e-01 3.13242422e-04 -1.71835558e+01] [ 5.62733438e-03 -4.08318477e-04 9.99984083e-01 3.32060959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.550714057 meters Centerline goodness [0,1] 0.9811039169766267 Centerline is valid? [True, True] Translation: X:411.55, Y:-17.18, Z:3.32 [[ 9.99843426e-01 -1.68758578e-02 -5.32252006e-03 4.11554566e+02] [ 1.68776733e-02 9.99857518e-01 2.96365141e-04 -1.71842074e+01] [ 5.31676028e-03 -3.86150492e-04 9.99985791e-01 3.32124929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.580714057 meters Centerline goodness [0,1] 0.9805460828965739 Centerline is valid? [True, True] Translation: X:411.59, Y:-17.19, Z:3.32 [[ 9.99847648e-01 -1.68492922e-02 -4.55876321e-03 4.11586486e+02] [ 1.68506257e-02 9.99857986e-01 2.54248369e-04 -1.71852242e+01] [ 4.55383190e-03 -3.31027646e-04 9.99989576e-01 3.32155936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.610714057 meters Centerline goodness [0,1] 0.9790294826201675 Centerline is valid? [True, True] Translation: X:411.62, Y:-17.19, Z:3.32 [[ 9.99835197e-01 -1.76793683e-02 -4.12539239e-03 4.11617921e+02] [ 1.76804678e-02 9.99843662e-01 2.30206172e-04 -1.71891551e+01] [ 4.12067754e-03 -3.03107101e-04 9.99991464e-01 3.32166300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.640714057 meters Centerline goodness [0,1] 0.975737719941349 Centerline is valid? [True, True] Translation: X:411.65, Y:-17.20, Z:3.32 [[ 9.99833716e-01 -1.78099150e-02 -3.91755132e-03 4.11649002e+02] [ 1.78109084e-02 9.99841349e-01 2.18832651e-04 -1.71987758e+01] [ 3.91303241e-03 -2.88571411e-04 9.99992302e-01 3.31996568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.670714057 meters Centerline goodness [0,1] 0.9788498153373248 Centerline is valid? [True, True] Translation: X:411.68, Y:-17.19, Z:3.32 [[ 9.99810544e-01 -1.89366201e-02 -4.50334727e-03 4.11680849e+02] [ 1.89379450e-02 9.99820629e-01 2.51728633e-04 -1.71944685e+01] [ 4.49777262e-03 -3.36965085e-04 9.99989828e-01 3.32022316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.700714057 meters Centerline goodness [0,1] 0.9793359966937595 Centerline is valid? [True, True] Translation: X:411.71, Y:-17.19, Z:3.32 [[ 9.99801391e-01 -1.93232485e-02 -4.87754999e-03 4.11713210e+02] [ 1.93248096e-02 9.99813221e-01 2.73116855e-04 -1.71930083e+01] [ 4.87136146e-03 -3.67320336e-04 9.99988067e-01 3.32011180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.730714057 meters Centerline goodness [0,1] 0.9790613057507037 Centerline is valid? [True, True] Translation: X:411.74, Y:-17.20, Z:3.32 [[ 9.99798742e-01 -1.94064117e-02 -5.08598222e-03 4.11744336e+02] [ 1.94081145e-02 9.99811604e-01 2.85656874e-04 -1.71957668e+01] [ 5.07948046e-03 -3.84308709e-04 9.99987026e-01 3.31925820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76071405700003 meters Centerline goodness [0,1] 0.9793689041881813 Centerline is valid? [True, True] Translation: X:411.78, Y:-17.20, Z:3.32 [[ 9.99771734e-01 -2.02436594e-02 -6.83183744e-03 4.11776019e+02] [ 2.02467485e-02 9.99794940e-01 3.83291239e-04 -1.71969547e+01] [ 6.82267728e-03 -5.21526241e-04 9.99976589e-01 3.31827233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.790714057 meters Centerline goodness [0,1] 0.9793582199337992 Centerline is valid? [True, True] Translation: X:411.81, Y:-17.20, Z:3.32 [[ 9.99760578e-01 -2.02595050e-02 -8.26671521e-03 4.11806953e+02] [ 2.02640314e-02 9.99794556e-01 4.64135068e-04 -1.71995396e+01] [ 8.25561371e-03 -6.31540920e-04 9.99965722e-01 3.31634223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82071405700003 meters Centerline goodness [0,1] 0.9781508739650414 Centerline is valid? [True, True] Translation: X:411.84, Y:-17.20, Z:3.32 [[ 9.99750016e-01 -2.05156024e-02 -8.88912454e-03 4.11838183e+02] [ 2.05208499e-02 9.99789300e-01 4.99515324e-04 -1.72026089e+01] [ 8.87700375e-03 -6.81802844e-04 9.99960366e-01 3.31532711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.850714057 meters Centerline goodness [0,1] 0.9797556879615358 Centerline is valid? [True, True] Translation: X:411.87, Y:-17.20, Z:3.32 [[ 9.99753252e-01 -2.05196835e-02 -8.50752967e-03 4.11870665e+02] [ 2.05244966e-02 9.99789236e-01 4.78824819e-04 -1.72022517e+01] [ 8.49591125e-03 -6.53319434e-04 9.99963696e-01 3.31583586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.880714057 meters Centerline goodness [0,1] 0.9786901090808672 Centerline is valid? [True, True] Translation: X:411.90, Y:-17.20, Z:3.32 [[ 9.99766502e-01 -2.00558173e-02 -8.04403972e-03 4.11901541e+02] [ 2.00601078e-02 9.99798673e-01 4.53040038e-04 -1.72048319e+01] [ 8.03333415e-03 -6.14298558e-04 9.99967544e-01 3.31647561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.910714057 meters Centerline goodness [0,1] 0.9786901090808672 Centerline is valid? [True, True] Translation: X:411.93, Y:-17.21, Z:3.32 [[ 9.99767877e-01 -1.99871735e-02 -8.04400091e-03 4.11933279e+02] [ 1.99914673e-02 9.99800048e-01 4.53729246e-04 -1.72066833e+01] [ 8.03332372e-03 -6.14435306e-04 9.99967544e-01 3.31621935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.940714057 meters Centerline goodness [0,1] 0.9816644783820515 Centerline is valid? [True, True] Translation: X:411.97, Y:-17.20, Z:3.32 [[ 9.99781621e-01 -1.95468543e-02 -7.39120125e-03 4.11966361e+02] [ 1.95504721e-02 9.99808784e-01 4.17527796e-04 -1.71980759e+01] [ 7.38162658e-03 -5.61938090e-04 9.99972598e-01 3.31838328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.970714057 meters Centerline goodness [0,1] 0.9807479479848751 Centerline is valid? [True, True] Translation: X:412.00, Y:-17.20, Z:3.32 [[ 9.99809376e-01 -1.81050861e-02 -7.30872083e-03 4.11996586e+02] [ 1.81085831e-02 9.99835941e-01 4.12565988e-04 -1.72004173e+01] [ 7.30005223e-03 -5.44837922e-04 9.99973206e-01 3.31832114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.000714057 meters Centerline goodness [0,1] 0.9793058948241692 Centerline is valid? [True, True] Translation: X:412.03, Y:-17.20, Z:3.32 [[ 9.99827124e-01 -1.72315301e-02 -6.98538108e-03 4.12028768e+02] [ 1.72347098e-02 9.99851393e-01 3.95253271e-04 -1.72004410e+01] [ 6.97753219e-03 -5.15575957e-04 9.99975524e-01 3.31832104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.030714057 meters Centerline goodness [0,1] 0.9807665634102363 Centerline is valid? [True, True] Translation: X:412.06, Y:-17.20, Z:3.32 [[ 9.99845983e-01 -1.61308635e-02 -6.91418829e-03 4.12059740e+02] [ 1.61339523e-02 9.99869763e-01 3.91187847e-04 -1.72000094e+01] [ 6.90697761e-03 -5.02680782e-04 9.99976020e-01 3.31817449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.060714057 meters Centerline goodness [0,1] 0.9797912298085121 Centerline is valid? [True, True] Translation: X:412.09, Y:-17.20, Z:3.32 [[ 9.99857155e-01 -1.54762537e-02 -6.79372788e-03 4.12091854e+02] [ 1.54792260e-02 9.99880115e-01 3.85139708e-04 -1.72009309e+01] [ 6.78695290e-03 -4.90246342e-04 9.99976848e-01 3.31815904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.090714057 meters Centerline goodness [0,1] 0.9792296508273522 Centerline is valid? [True, True] Translation: X:412.12, Y:-17.20, Z:3.32 [[ 9.99858390e-01 -1.55332247e-02 -6.47440572e-03 4.12122628e+02] [ 1.55359268e-02 9.99879243e-01 3.67260572e-04 -1.72040268e+01] [ 6.46791915e-03 -4.67794458e-04 9.99978973e-01 3.31751060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.120714057 meters Centerline goodness [0,1] 0.9803926102337627 Centerline is valid? [True, True] Translation: X:412.16, Y:-17.20, Z:3.32 [[ 9.99859194e-01 -1.55768530e-02 -6.24136948e-03 4.12155035e+02] [ 1.55793687e-02 9.99878571e-01 3.54652308e-04 -1.72022440e+01] [ 6.23508723e-03 -4.51838967e-04 9.99980460e-01 3.31833324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.150714057 meters Centerline goodness [0,1] 0.9797322338552765 Centerline is valid? [True, True] Translation: X:412.19, Y:-17.21, Z:3.32 [[ 9.99844970e-01 -1.62313211e-02 -6.82495838e-03 4.12185590e+02] [ 1.62343501e-02 9.99868139e-01 3.88652315e-04 -1.72085182e+01] [ 6.81775009e-03 -4.99390826e-04 9.99976634e-01 3.31657521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.180714057 meters Centerline goodness [0,1] 0.9790078546768924 Centerline is valid? [True, True] Translation: X:412.22, Y:-17.21, Z:3.32 [[ 9.99799905e-01 -1.80674495e-02 -8.58587050e-03 4.12216977e+02] [ 1.80723070e-02 9.99836563e-01 4.88509032e-04 -1.72076560e+01] [ 8.57564114e-03 -6.43577772e-04 9.99963021e-01 3.31561973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.210714057 meters Centerline goodness [0,1] 0.9794734287233304 Centerline is valid? [True, True] Translation: X:412.25, Y:-17.21, Z:3.31 [[ 9.99770040e-01 -1.93254259e-02 -9.29489182e-03 4.12247128e+02] [ 1.93311784e-02 9.99812995e-01 5.29442359e-04 -1.72113081e+01] [ 9.28292193e-03 -7.09001820e-04 9.99956661e-01 3.31424206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.240714057 meters Centerline goodness [0,1] 0.9777365491651206 Centerline is valid? [True, True] Translation: X:412.28, Y:-17.22, Z:3.31 [[ 9.99745671e-01 -2.03515278e-02 -9.71640178e-03 4.12278354e+02] [ 2.03578668e-02 9.99792604e-01 5.53932297e-04 -1.72165850e+01] [ 9.70311327e-03 -7.51596629e-04 9.99952641e-01 3.31295210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.270714057 meters Centerline goodness [0,1] 0.979011572624597 Centerline is valid? [True, True] Translation: X:412.31, Y:-17.22, Z:3.31 [[ 9.99694652e-01 -2.24667920e-02 -1.02881103e-02 4.12309147e+02] [ 2.24740089e-02 9.99747256e-01 5.86398626e-04 -1.72167508e+01] [ 1.02723355e-02 -8.17434654e-04 9.99946904e-01 3.31275671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.300714057 meters Centerline goodness [0,1] 0.9755602714488935 Centerline is valid? [True, True] Translation: X:412.34, Y:-17.22, Z:3.31 [[ 9.99658308e-01 -2.39995868e-02 -1.03579655e-02 4.12339234e+02] [ 2.40069913e-02 9.99711616e-01 5.91104543e-04 -1.72190953e+01] [ 1.03407922e-02 -8.39566156e-04 9.99946180e-01 3.31309648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.330714057 meters Centerline goodness [0,1] 0.9755842586999953 Centerline is valid? [True, True] Translation: X:412.37, Y:-17.22, Z:3.31 [[ 9.99654898e-01 -2.43657495e-02 -9.81811754e-03 4.12371422e+02] [ 2.43724282e-02 9.99702791e-01 5.61150051e-04 -1.72193818e+01] [ 9.80152667e-03 -8.00247762e-04 9.99951644e-01 3.31366495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.360714057 meters Centerline goodness [0,1] 0.9749388610690579 Centerline is valid? [True, True] Translation: X:412.40, Y:-17.22, Z:3.31 [[ 9.99663743e-01 -2.41561555e-02 -9.42767431e-03 4.12402309e+02] [ 2.41623076e-02 9.99707903e-01 5.39193949e-04 -1.72216864e+01] [ 9.41189567e-03 -7.66807008e-04 9.99955413e-01 3.31364536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.390714057 meters Centerline goodness [0,1] 0.963814260481547 Centerline is valid? [True, True] Translation: X:412.43, Y:-17.22, Z:3.31 [[ 9.99667834e-01 -2.43204185e-02 -8.52871357e-03 4.12433257e+02] [ 2.43254632e-02 9.99703973e-01 4.88244065e-04 -1.72249036e+01] [ 8.51431454e-03 -6.95546795e-04 9.99963511e-01 3.31415475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.420714057 meters Centerline goodness [0,1] 0.9518505545826036 Centerline is valid? [True, True] Translation: X:412.46, Y:-17.23, Z:3.31 [[ 9.99676677e-01 -2.40363301e-02 -8.29433710e-03 4.12464453e+02] [ 2.40411033e-02 9.99710857e-01 4.76241089e-04 -1.72274436e+01] [ 8.28049176e-03 -6.75492124e-04 9.99965488e-01 3.31394177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.450714057 meters Centerline goodness [0,1] 0.9737248479176416 Centerline is valid? [True, True] Translation: X:412.50, Y:-17.22, Z:3.31 [[ 9.99681049e-01 -2.38428644e-02 -8.32570878e-03 4.12497225e+02] [ 2.38476690e-02 9.99715489e-01 4.78267610e-04 -1.72226841e+01] [ 8.31193676e-03 -6.76663814e-04 9.99965226e-01 3.31461828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.480714057 meters Centerline goodness [0,1] 0.9750937207122774 Centerline is valid? [True, True] Translation: X:412.53, Y:-17.22, Z:3.31 [[ 9.99682607e-01 -2.37239476e-02 -8.47697792e-03 4.12529698e+02] [ 2.37289290e-02 9.99718310e-01 4.87535709e-04 -1.72228018e+01] [ 8.46302377e-03 -6.88530576e-04 9.99963951e-01 3.31444248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.51071405700003 meters Centerline goodness [0,1] 0.9694756554307116 Centerline is valid? [True, True] Translation: X:412.56, Y:-17.23, Z:3.31 [[ 9.99662088e-01 -2.43446918e-02 -9.11289433e-03 4.12560265e+02] [ 2.43504876e-02 9.99703345e-01 5.25570434e-04 -1.72266559e+01] [ 9.09739609e-03 -7.47296258e-04 9.99958339e-01 3.31297279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.540714057 meters Centerline goodness [0,1] 0.9789709799523342 Centerline is valid? [True, True] Translation: X:412.59, Y:-17.22, Z:3.31 [[ 9.99649717e-01 -2.46733977e-02 -9.57428801e-03 4.12592552e+02] [ 2.46798095e-02 9.99695255e-01 5.52105142e-04 -1.72185271e+01] [ 9.55774798e-03 -7.88203353e-04 9.99954013e-01 3.31439757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.57071405700003 meters Centerline goodness [0,1] 0.977979032107086 Centerline is valid? [True, True] Translation: X:412.62, Y:-17.22, Z:3.31 [[ 9.99640003e-01 -2.46170054e-02 -1.06709005e-02 4.12624207e+02] [ 2.46249796e-02 9.99696569e-01 6.16514919e-04 -1.72218467e+01] [ 1.06524859e-02 -8.79063682e-04 9.99942874e-01 3.31238794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.600714057 meters Centerline goodness [0,1] 0.9797248201017275 Centerline is valid? [True, True] Translation: X:412.66, Y:-17.22, Z:3.31 [[ 9.99670352e-01 -2.29422418e-02 -1.15256473e-02 4.12655744e+02] [ 2.29514334e-02 9.99736359e-01 6.65842975e-04 -1.72187346e+01] [ 1.15073328e-02 -9.30153608e-04 9.99933356e-01 3.31217639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.630714057 meters Centerline goodness [0,1] 0.9789349947102386 Centerline is valid? [True, True] Translation: X:412.69, Y:-17.22, Z:3.31 [[ 9.99757429e-01 -1.82705875e-02 -1.22990982e-02 4.12685258e+02] [ 1.82806944e-02 9.99832642e-01 7.09830220e-04 -1.72209510e+01] [ 1.22840708e-02 -9.34494091e-04 9.99924111e-01 3.31075228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.660714057 meters Centerline goodness [0,1] 0.9801429144164328 Centerline is valid? [True, True] Translation: X:412.72, Y:-17.21, Z:3.31 [[ 9.99806646e-01 -1.49352235e-02 -1.27910089e-02 4.12716187e+02] [ 1.49458857e-02 9.99888031e-01 7.38377999e-04 -1.72124677e+01] [ 1.27785489e-02 -9.29408187e-04 9.99917919e-01 3.31262302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.690714057 meters Centerline goodness [0,1] 0.9799419496424947 Centerline is valid? [True, True] Translation: X:412.75, Y:-17.21, Z:3.31 [[ 9.99884652e-01 -8.43687980e-03 -1.26294112e-02 4.12745611e+02] [ 8.44675317e-03 9.99964060e-01 7.28638374e-04 -1.72100110e+01] [ 1.26228099e-02 -8.35231846e-04 9.99919980e-01 3.31305778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.720714057 meters Centerline goodness [0,1] 0.9798345153664303 Centerline is valid? [True, True] Translation: X:412.78, Y:-17.21, Z:3.31 [[ 9.99902987e-01 -5.76839377e-03 -1.26784093e-02 4.12775709e+02] [ 5.77812765e-03 9.99983039e-01 7.31256054e-04 -1.72088268e+01] [ 1.26739761e-02 -8.04442580e-04 9.99919358e-01 3.31335311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.750714057 meters Centerline goodness [0,1] 0.9792933715124121 Centerline is valid? [True, True] Translation: X:412.81, Y:-17.21, Z:3.31 [[ 9.99911501e-01 -1.38208838e-03 -1.32318102e-02 4.12806314e+02] [ 1.39230904e-03 9.99998739e-01 7.63250908e-04 -1.72079788e+01] [ 1.32307387e-02 -7.81606130e-04 9.99912164e-01 3.31228582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.780714057 meters Centerline goodness [0,1] 0.9802701615764945 Centerline is valid? [True, True] Translation: X:412.83, Y:-17.21, Z:3.31 [[ 9.99914538e-01 3.39223476e-04 -1.30691364e-02 4.12834224e+02] [-3.29422990e-04 9.99999663e-01 7.52040927e-04 -1.72108568e+01] [ 1.30693871e-02 -7.47671382e-04 9.99914312e-01 3.31092604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.810714057 meters Centerline goodness [0,1] 0.979926531579571 Centerline is valid? [True, True] Translation: X:412.86, Y:-17.21, Z:3.31 [[ 9.99916598e-01 9.61829536e-04 -1.28790944e-02 4.12863467e+02] [-9.52416408e-04 9.99999275e-01 7.36997751e-04 -1.72102187e+01] [ 1.28797939e-02 -7.24670023e-04 9.99916789e-01 3.31164087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.840714057 meters Centerline goodness [0,1] 0.9788235850842324 Centerline is valid? [True, True] Translation: X:412.89, Y:-17.21, Z:3.31 [[ 9.99928235e-01 1.66791284e-03 -1.18635432e-02 4.12891168e+02] [-1.65997580e-03 9.99998392e-01 6.78843715e-04 -1.72112406e+01] [ 1.18646564e-02 -6.59101803e-04 9.99929395e-01 3.31295235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.870714057 meters Centerline goodness [0,1] 0.9781846605713203 Centerline is valid? [True, True] Translation: X:412.92, Y:-17.22, Z:3.31 [[ 9.99937508e-01 1.49717508e-03 -1.10787629e-02 4.12918525e+02] [-1.49025401e-03 9.99998689e-01 6.32943500e-04 -1.72155798e+01] [ 1.10796960e-02 -6.16393776e-04 9.99938428e-01 3.31276197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.900714057 meters Centerline goodness [0,1] 0.9797888957258485 Centerline is valid? [True, True] Translation: X:412.95, Y:-17.21, Z:3.32 [[ 9.99947910e-01 1.50225982e-03 -1.00955790e-02 4.12947500e+02] [-1.49651948e-03 9.99998714e-01 5.76129352e-04 -1.72125407e+01] [ 1.00964316e-02 -5.60991111e-04 9.99948872e-01 3.31577180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.930714057 meters Centerline goodness [0,1] 0.9787738083957168 Centerline is valid? [True, True] Translation: X:412.98, Y:-17.21, Z:3.32 [[ 9.99950342e-01 1.35483693e-03 -9.87309217e-03 4.12975104e+02] [-1.34935306e-03 9.99998932e-01 5.62075900e-04 -1.72139353e+01] [ 9.87384315e-03 -5.48725701e-04 9.99951102e-01 3.31596392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.960714057 meters Centerline goodness [0,1] 0.9796613376217955 Centerline is valid? [True, True] Translation: X:413.00, Y:-17.22, Z:3.31 [[ 9.99951419e-01 -6.91680616e-05 -9.85673775e-03 4.13002557e+02] [ 7.46955841e-05 9.99999840e-01 5.60419172e-04 -1.72196671e+01] [ 9.85669741e-03 -5.61128201e-04 9.99951264e-01 3.31409971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.990714057 meters Centerline goodness [0,1] 0.9790229680722463 Centerline is valid? [True, True] Translation: X:413.03, Y:-17.22, Z:3.31 [[ 9.99943425e-01 -1.21205427e-03 -1.05677576e-02 4.13031400e+02] [ 1.21846598e-03 9.99999077e-01 6.00306421e-04 -1.72227335e+01] [ 1.05670203e-02 -6.13148912e-04 9.99943979e-01 3.31377937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.020714057 meters Centerline goodness [0,1] 0.9795571101080046 Centerline is valid? [True, True] Translation: X:413.06, Y:-17.23, Z:3.31 [[ 9.99939921e-01 -2.42612521e-03 -1.06896077e-02 4.13059754e+02] [ 2.43274689e-03 9.99996857e-01 6.06490439e-04 -1.72256062e+01] [ 1.06881027e-02 -6.32459112e-04 9.99942681e-01 3.31363501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.050714057 meters Centerline goodness [0,1] 0.9772389205014993 Centerline is valid? [True, True] Translation: X:413.09, Y:-17.24, Z:3.31 [[ 9.99922798e-01 -4.81390893e-03 -1.14552970e-02 4.13087265e+02] [ 4.82166088e-03 9.99988165e-01 6.49191274e-04 -1.72355164e+01] [ 1.14520363e-02 -7.04374713e-04 9.99934175e-01 3.31126787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.080714057 meters Centerline goodness [0,1] 0.9793270702361612 Centerline is valid? [True, True] Translation: X:413.12, Y:-17.23, Z:3.31 [[ 9.99905320e-01 -7.08271649e-03 -1.17977605e-02 4.13116429e+02] [ 7.09109032e-03 9.99974635e-01 6.68101232e-04 -1.72331461e+01] [ 1.17927293e-02 -7.51696961e-04 9.99930181e-01 3.31354478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.110714057 meters Centerline goodness [0,1] 0.9776906277152855 Centerline is valid? [True, True] Translation: X:413.14, Y:-17.24, Z:3.31 [[ 9.99893073e-01 -8.53146643e-03 -1.18767429e-02 4.13144525e+02] [ 8.54004205e-03 9.99963308e-01 6.71522665e-04 -1.72423000e+01] [ 1.18705780e-02 -7.72878744e-04 9.99929244e-01 3.31208389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.140714057 meters Centerline goodness [0,1] 0.978044661287296 Centerline is valid? [True, True] Translation: X:413.17, Y:-17.24, Z:3.31 [[ 9.99890607e-01 -9.40968816e-03 -1.14119037e-02 4.13174284e+02] [ 9.41766132e-03 9.99955445e-01 6.45131743e-04 -1.72435098e+01] [ 1.14053248e-02 -7.52534614e-04 9.99934674e-01 3.31298330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.170714057 meters Centerline goodness [0,1] 0.9770007479431563 Centerline is valid? [True, True] Translation: X:413.20, Y:-17.26, Z:3.31 [[ 9.99872130e-01 -1.12906103e-02 -1.13245513e-02 4.13203091e+02] [ 1.12985810e-02 9.99935964e-01 6.40111277e-04 -1.72556415e+01] [ 1.13165989e-02 -7.67980786e-04 9.99935670e-01 3.31194213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.200714057 meters Centerline goodness [0,1] 0.9776269599812778 Centerline is valid? [True, True] Translation: X:413.23, Y:-17.25, Z:3.31 [[ 9.99855714e-01 -1.19218505e-02 -1.21004145e-02 4.13233983e+02] [ 1.19309989e-02 9.99928589e-01 6.84127901e-04 -1.72510093e+01] [ 1.20913943e-02 -8.28399223e-04 9.99926553e-01 3.31434285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.230714057 meters Centerline goodness [0,1] 0.9789022657941923 Centerline is valid? [True, True] Translation: X:413.26, Y:-17.26, Z:3.31 [[ 9.99848076e-01 -1.17423903e-02 -1.28817955e-02 4.13264091e+02] [ 1.17527484e-02 9.99930669e-01 7.28675609e-04 -1.72569815e+01] [ 1.28723460e-02 -8.79961407e-04 9.99916761e-01 3.31346021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26071405700003 meters Centerline goodness [0,1] 0.9753560457972633 Centerline is valid? [True, True] Translation: X:413.29, Y:-17.27, Z:3.31 [[ 9.99842809e-01 -1.11242405e-02 -1.38060946e-02 4.13292500e+02] [ 1.11360801e-02 9.99937687e-01 7.80977116e-04 -1.72706702e+01] [ 1.37965465e-02 -9.34600129e-04 9.99904386e-01 3.30853997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.290714057 meters Centerline goodness [0,1] 0.9793816834797195 Centerline is valid? [True, True] Translation: X:413.32, Y:-17.26, Z:3.31 [[ 9.99869994e-01 -6.74096147e-03 -1.46476563e-02 4.13323150e+02] [ 6.75381816e-03 9.99976850e-01 8.28440436e-04 -1.72630841e+01] [ 1.46417327e-02 -9.27260341e-04 9.99892374e-01 3.31056228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32071405700003 meters Centerline goodness [0,1] 0.9786400111322417 Centerline is valid? [True, True] Translation: X:413.35, Y:-17.26, Z:3.31 [[ 9.99893230e-01 -4.39101533e-03 -1.39372659e-02 4.13353258e+02] [ 4.40242268e-03 9.99989999e-01 7.87903533e-04 -1.72635231e+01] [ 1.39336668e-02 -8.49177144e-04 9.99902561e-01 3.31192337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.350714057 meters Centerline goodness [0,1] 0.9792898031367804 Centerline is valid? [True, True] Translation: X:413.38, Y:-17.26, Z:3.31 [[ 9.99912249e-01 -6.96050456e-05 -1.32472672e-02 4.13382303e+02] [ 7.95287829e-05 9.99999717e-01 7.48590485e-04 -1.72649077e+01] [ 1.32472114e-02 -7.49578334e-04 9.99911971e-01 3.31242172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.380714057 meters Centerline goodness [0,1] 0.9784903637761879 Centerline is valid? [True, True] Translation: X:413.41, Y:-17.27, Z:3.31 [[ 9.99912427e-01 2.17322942e-03 -1.30543199e-02 4.13412419e+02] [-2.16378582e-03 9.99997387e-01 7.37489166e-04 -1.72665610e+01] [ 1.30558885e-02 -7.09177830e-04 9.99914517e-01 3.31237474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.410714057 meters Centerline goodness [0,1] 0.9802891239870151 Centerline is valid? [True, True] Translation: X:413.44, Y:-17.27, Z:3.31 [[ 9.99909031e-01 3.90277028e-03 -1.29111647e-02 4.13441697e+02] [-3.89373716e-03 9.99992157e-01 7.24700418e-04 -1.72653019e+01] [ 1.29138918e-02 -6.74361811e-04 9.99916385e-01 3.31362775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.440714057 meters Centerline goodness [0,1] 0.9807042483279346 Centerline is valid? [True, True] Translation: X:413.47, Y:-17.27, Z:3.31 [[ 9.99898123e-01 5.99967045e-03 -1.29517545e-02 4.13469068e+02] [-5.99075564e-03 9.99981791e-01 7.26996753e-04 -1.72692624e+01] [ 1.29558804e-02 -6.49331893e-04 9.99915858e-01 3.31139168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.470714057 meters Centerline goodness [0,1] 0.9806090970240995 Centerline is valid? [True, True] Translation: X:413.50, Y:-17.27, Z:3.31 [[ 9.99902892e-01 6.46538415e-03 -1.23452442e-02 4.13496865e+02] [-6.45733387e-03 9.99978912e-01 6.91844902e-04 -1.72728257e+01] [ 1.23494569e-02 -6.12060355e-04 9.99923555e-01 3.31113108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.500714057 meters Centerline goodness [0,1] 0.9799189302520617 Centerline is valid? [True, True] Translation: X:413.52, Y:-17.28, Z:3.31 [[ 9.99910630e-01 5.33334626e-03 -1.22591753e-02 4.13524676e+02] [-5.32533587e-03 9.99985585e-01 6.85970309e-04 -1.72776023e+01] [ 1.22626571e-02 -6.20624778e-04 9.99924618e-01 3.31103462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.530714057 meters Centerline goodness [0,1] 0.9805224990702863 Centerline is valid? [True, True] Translation: X:413.55, Y:-17.28, Z:3.31 [[ 9.99918798e-01 3.79905930e-03 -1.21640469e-02 4.13552777e+02] [-3.79107211e-03 9.99992583e-01 6.79614354e-04 -1.72812837e+01] [ 1.21665386e-02 -6.33444390e-04 9.99925784e-01 3.31098445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.560714057 meters Centerline goodness [0,1] 0.9803208506916473 Centerline is valid? [True, True] Translation: X:413.58, Y:-17.29, Z:3.31 [[ 9.99934450e-01 -1.20533555e-04 -1.14490623e-02 4.13582275e+02] [ 1.27867974e-04 9.99999787e-01 6.39883301e-04 -1.72905782e+01] [ 1.14489827e-02 -6.41305325e-04 9.99934253e-01 3.30903109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.590714057 meters Centerline goodness [0,1] 0.9796794901399344 Centerline is valid? [True, True] Translation: X:413.61, Y:-17.30, Z:3.31 [[ 9.99919575e-01 -3.20379724e-03 -1.22710614e-02 4.13611492e+02] [ 3.21245226e-03 9.99994605e-01 6.85673349e-04 -1.72980006e+01] [ 1.22687984e-02 -7.25038403e-04 9.99924473e-01 3.30710884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.620714057 meters Centerline goodness [0,1] 0.9792632574446982 Centerline is valid? [True, True] Translation: X:413.64, Y:-17.30, Z:3.31 [[ 9.99900234e-01 -6.25798464e-03 -1.26633049e-02 4.13640215e+02] [ 6.26744410e-03 9.99980109e-01 7.07450655e-04 -1.73044775e+01] [ 1.26586258e-02 -7.86746631e-04 9.99919567e-01 3.30536362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.650714057 meters Centerline goodness [0,1] 0.9777691197029771 Centerline is valid? [True, True] Translation: X:413.67, Y:-17.31, Z:3.30 [[ 9.99845477e-01 -1.14278347e-02 -1.33576094e-02 4.13669938e+02] [ 1.14388188e-02 9.99934296e-01 7.46197307e-04 -1.73126310e+01] [ 1.33482044e-02 -8.98877277e-04 9.99910505e-01 3.30386811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.680714057 meters Centerline goodness [0,1] 0.9769458399284289 Centerline is valid? [True, True] Translation: X:413.70, Y:-17.32, Z:3.30 [[ 9.99815225e-01 -1.37819912e-02 -1.34004333e-02 4.13699119e+02] [ 1.37932524e-02 9.99904589e-01 7.48294827e-04 -1.73183396e+01] [ 1.33888417e-02 -9.32992119e-04 9.99909930e-01 3.30291795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.710714057 meters Centerline goodness [0,1] 0.9793835710682016 Centerline is valid? [True, True] Translation: X:413.73, Y:-17.31, Z:3.31 [[ 9.99764211e-01 -1.78065929e-02 -1.24277286e-02 4.13729831e+02] [ 1.78165883e-02 9.99841031e-01 6.94025834e-04 -1.73148960e+01] [ 1.24133948e-02 -9.15281915e-04 9.99922532e-01 3.30604165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.740714057 meters Centerline goodness [0,1] 0.9807767123601162 Centerline is valid? [True, True] Translation: X:413.76, Y:-17.32, Z:3.31 [[ 9.99751783e-01 -1.89509067e-02 -1.17147430e-02 4.13760941e+02] [ 1.89598748e-02 9.99820031e-01 6.54945533e-04 -1.73164698e+01] [ 1.17002229e-02 -8.76893025e-04 9.99931166e-01 3.30657023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.770714057 meters Centerline goodness [0,1] 0.9806878246344645 Centerline is valid? [True, True] Translation: X:413.79, Y:-17.32, Z:3.31 [[ 9.99738086e-01 -2.01853522e-02 -1.07847401e-02 4.13791660e+02] [ 2.01930323e-02 9.99795918e-01 6.03696420e-04 -1.73235084e+01] [ 1.07703533e-02 -8.21314908e-04 9.99941661e-01 3.30595316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.800714057 meters Centerline goodness [0,1] 0.9806878246344645 Centerline is valid? [True, True] Translation: X:413.82, Y:-17.33, Z:3.31 [[ 9.99739497e-01 -2.01153888e-02 -1.07846904e-02 4.13823399e+02] [ 2.01230743e-02 9.99797328e-01 6.04583756e-04 -1.73253466e+01] [ 1.07703432e-02 -8.21447386e-04 9.99941661e-01 3.30569689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.830714057 meters Centerline goodness [0,1] 0.9780144593700824 Centerline is valid? [True, True] Translation: X:413.85, Y:-17.33, Z:3.31 [[ 9.99717295e-01 -2.18305147e-02 -9.42119021e-03 4.13854040e+02] [ 2.18364564e-02 9.99761417e-01 5.28258316e-04 -1.73297365e+01] [ 9.40741032e-03 -7.33834384e-04 9.99955480e-01 3.30654376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.860714057 meters Centerline goodness [0,1] 0.9788187931744362 Centerline is valid? [True, True] Translation: X:413.89, Y:-17.33, Z:3.31 [[ 9.99704723e-01 -2.24466820e-02 -9.30658991e-03 4.13886480e+02] [ 2.24525155e-02 9.99747774e-01 5.22792377e-04 -1.73276567e+01] [ 9.29250759e-03 -7.31594363e-04 9.99956556e-01 3.30755594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.890714057 meters Centerline goodness [0,1] 0.9784537968892956 Centerline is valid? [True, True] Translation: X:413.92, Y:-17.33, Z:3.31 [[ 9.99709728e-01 -2.26931248e-02 -8.09208869e-03 4.13918286e+02] [ 2.26975484e-02 9.99742274e-01 4.55231296e-04 -1.73270518e+01] [ 8.07967252e-03 -6.38769730e-04 9.99967155e-01 3.30746802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.920714057 meters Centerline goodness [0,1] 0.9781157100388749 Centerline is valid? [True, True] Translation: X:413.95, Y:-17.33, Z:3.31 [[ 9.99703406e-01 -2.29398076e-02 -8.17714996e-03 4.13949298e+02] [ 2.29443352e-02 9.99736638e-01 4.60301332e-04 -1.73327484e+01] [ 8.16443719e-03 -6.47784079e-04 9.99966461e-01 3.30616436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.950714057 meters Centerline goodness [0,1] 0.978005161820798 Centerline is valid? [True, True] Translation: X:413.98, Y:-17.33, Z:3.31 [[ 9.99681603e-01 -2.39047635e-02 -8.07809518e-03 4.13981022e+02] [ 2.39092168e-02 9.99714030e-01 4.55149017e-04 -1.73328859e+01] [ 8.06490486e-03 -6.48145028e-04 9.99967268e-01 3.30567708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.980714057 meters Centerline goodness [0,1] 0.9775435380384968 Centerline is valid? [True, True] Translation: X:414.01, Y:-17.33, Z:3.31 [[ 9.99657768e-01 -2.48395236e-02 -8.20645359e-03 4.14012929e+02] [ 2.48441607e-02 9.99691229e-01 4.63583101e-04 -1.73316594e+01] [ 8.19240449e-03 -6.67306900e-04 9.99966219e-01 3.30597380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.01071405700003 meters Centerline goodness [0,1] 0.9756393525196327 Centerline is valid? [True, True] Translation: X:414.04, Y:-17.34, Z:3.30 [[ 9.99592978e-01 -2.73449426e-02 -8.13212707e-03 4.14042491e+02] [ 2.73495804e-02 9.99625825e-01 4.59627869e-04 -1.73384352e+01] [ 8.11651573e-03 -6.81851053e-04 9.99966828e-01 3.30443325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.040714057 meters Centerline goodness [0,1] 0.9750384641881186 Centerline is valid? [True, True] Translation: X:414.07, Y:-17.34, Z:3.30 [[ 9.99558836e-01 -2.85638841e-02 -8.13864990e-03 4.14074659e+02] [ 2.85685744e-02 9.99591729e-01 4.60595697e-04 -1.73411135e+01] [ 8.12217072e-03 -6.92902124e-04 9.99966775e-01 3.30387565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.07071405700003 meters Centerline goodness [0,1] 0.9740916054972445 Centerline is valid? [True, True] Translation: X:414.11, Y:-17.34, Z:3.30 [[ 9.99464155e-01 -3.16588803e-02 -8.31368239e-03 4.14105241e+02] [ 3.16638765e-02 9.99498463e-01 4.69990387e-04 -1.73423613e+01] [ 8.29463340e-03 -7.32981958e-04 9.99965330e-01 3.30298504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.100714057 meters Centerline goodness [0,1] 0.9729173338213093 Centerline is valid? [True, True] Translation: X:414.14, Y:-17.34, Z:3.30 [[ 9.99418217e-01 -3.30515493e-02 -8.41564286e-03 4.14136744e+02] [ 3.30567224e-02 9.99453364e-01 4.76308303e-04 -1.73442057e+01] [ 8.39529983e-03 -7.54224765e-04 9.99964474e-01 3.30232690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.130714057 meters Centerline goodness [0,1] 0.9647056132485475 Centerline is valid? [True, True] Translation: X:414.17, Y:-17.35, Z:3.30 [[ 9.99336837e-01 -3.55018942e-02 -8.09327611e-03 4.14166200e+02] [ 3.55067637e-02 9.99369331e-01 4.58735729e-04 -1.73497384e+01] [ 8.07188594e-03 -7.45797555e-04 9.99967144e-01 3.30107600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.160714057 meters Centerline goodness [0,1] 0.9603082324510407 Centerline is valid? [True, True] Translation: X:414.20, Y:-17.35, Z:3.30 [[ 9.99308661e-01 -3.62650285e-02 -8.18831235e-03 4.14197984e+02] [ 3.62700437e-02 9.99341917e-01 4.64773202e-04 -1.73527656e+01] [ 8.16606875e-03 -7.61442333e-04 9.99966367e-01 3.30083301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.190714057 meters Centerline goodness [0,1] 0.9721396900854778 Centerline is valid? [True, True] Translation: X:414.23, Y:-17.35, Z:3.30 [[ 9.99261967e-01 -3.75424920e-02 -8.12911616e-03 4.14229011e+02] [ 3.75474747e-02 9.99294739e-01 4.61147624e-04 -1.73488362e+01] [ 8.10607038e-03 -7.66035065e-04 9.99966852e-01 3.30128379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.220714057 meters Centerline goodness [0,1] 0.9716573258606885 Centerline is valid? [True, True] Translation: X:414.26, Y:-17.35, Z:3.30 [[ 9.99223846e-01 -3.86679874e-02 -7.51613357e-03 4.14260773e+02] [ 3.86722839e-02 9.99251856e-01 4.27078990e-04 -1.73497683e+01] [ 7.49399613e-03 -7.17413561e-04 9.99971662e-01 3.30098889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.250714057 meters Centerline goodness [0,1] 0.9727486260290529 Centerline is valid? [True, True] Translation: X:414.29, Y:-17.35, Z:3.30 [[ 9.99219180e-01 -3.88604721e-02 -7.13404170e-03 4.14293445e+02] [ 3.88643525e-02 9.99244413e-01 4.06046418e-04 -1.73506002e+01] [ 7.11287215e-03 -6.82989280e-04 9.99974470e-01 3.30115016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.280714057 meters Centerline goodness [0,1] 0.9670249590089269 Centerline is valid? [True, True] Translation: X:414.32, Y:-17.36, Z:3.30 [[ 9.99218598e-01 -3.91245726e-02 -5.60906572e-03 4.14324185e+02] [ 3.91269833e-02 9.99234195e-01 3.20661177e-04 -1.73550523e+01] [ 5.59222454e-03 -5.39876433e-04 9.99984218e-01 3.30068367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.310714057 meters Centerline goodness [0,1] 0.9721663159820694 Centerline is valid? [True, True] Translation: X:414.36, Y:-17.35, Z:3.30 [[ 9.99232545e-01 -3.88565117e-02 -4.94905356e-03 4.14356231e+02] [ 3.88583850e-02 9.99244688e-01 2.82890768e-04 -1.73534809e+01] [ 4.93432333e-03 -4.74985891e-04 9.99987713e-01 3.30096178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.340714057 meters Centerline goodness [0,1] 0.9706818025770718 Centerline is valid? [True, True] Translation: X:414.39, Y:-17.35, Z:3.30 [[ 9.99275195e-01 -3.77722851e-02 -4.72647127e-03 4.14386556e+02] [ 3.77739801e-02 9.99286272e-01 2.69846637e-04 -1.73542176e+01] [ 4.71290513e-03 -4.48188683e-04 9.99988794e-01 3.30063670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.370714057 meters Centerline goodness [0,1] 0.9721293454861907 Centerline is valid? [True, True] Translation: X:414.42, Y:-17.35, Z:3.30 [[ 9.99311221e-01 -3.67895591e-02 -4.85913744e-03 4.14418327e+02] [ 3.67913407e-02 9.99322931e-01 2.77736130e-04 -1.73523403e+01] [ 4.84562968e-03 -4.56319012e-04 9.99988156e-01 3.30048256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.400714057 meters Centerline goodness [0,1] 0.9698889194895804 Centerline is valid? [True, True] Translation: X:414.45, Y:-17.35, Z:3.30 [[ 9.99392095e-01 -3.46003432e-02 -4.27278471e-03 4.14448652e+02] [ 3.46016998e-02 9.99401152e-01 2.43967151e-04 -1.73523342e+01] [ 4.26178461e-03 -3.91664455e-04 9.99990842e-01 3.29977970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.430714057 meters Centerline goodness [0,1] 0.9605691243183797 Centerline is valid? [True, True] Translation: X:414.48, Y:-17.36, Z:3.30 [[ 9.99447759e-01 -3.29961689e-02 -3.92798761e-03 4.14478447e+02] [ 3.29973040e-02 9.99455415e-01 2.24492171e-04 -1.73581317e+01] [ 3.91844110e-03 -3.53981198e-04 9.99992260e-01 3.29859972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.460714057 meters Centerline goodness [0,1] 0.9713701901001011 Centerline is valid? [True, True] Translation: X:414.51, Y:-17.35, Z:3.30 [[ 9.99500183e-01 -3.14358562e-02 -3.34218247e-03 4.14510113e+02] [ 3.14366702e-02 9.99505727e-01 1.91295572e-04 -1.73510522e+01] [ 3.33451698e-03 -2.96267047e-04 9.99994397e-01 3.29937561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.490714057 meters Centerline goodness [0,1] 0.9710539051877117 Centerline is valid? [True, True] Translation: X:414.54, Y:-17.35, Z:3.30 [[ 9.99584703e-01 -2.87184303e-02 -2.38166182e-03 4.14539751e+02] [ 2.87188353e-02 9.99587520e-01 1.36008956e-04 -1.73499782e+01] [ 2.37677347e-03 -2.04351025e-04 9.99997155e-01 3.29873957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.520714057 meters Centerline goodness [0,1] 0.970011320841901 Centerline is valid? [True, True] Translation: X:414.57, Y:-17.35, Z:3.30 [[ 9.99629229e-01 -2.71554413e-02 -1.99656925e-03 4.14571784e+02] [ 2.71557240e-02 9.99631209e-01 1.14613066e-04 -1.73497573e+01] [ 1.99272056e-03 -1.68788854e-04 9.99998000e-01 3.29860035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.550714057 meters Centerline goodness [0,1] 0.9702086544433964 Centerline is valid? [True, True] Translation: X:414.60, Y:-17.35, Z:3.30 [[ 9.99716815e-01 -2.37929384e-02 -4.30974926e-04 4.14602882e+02] [ 2.37929512e-02 9.99716907e-01 2.46554126e-05 -1.73458287e+01] [ 4.30266296e-04 -3.49025959e-05 9.99999907e-01 3.29866574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.580714057 meters Centerline goodness [0,1] 0.9704401644265854 Centerline is valid? [True, True] Translation: X:414.63, Y:-17.34, Z:3.30 [[ 9.99749144e-01 -2.23956486e-02 2.90206657e-04 4.14634548e+02] [ 2.23956543e-02 9.99749186e-01 -1.63216433e-05 -1.73419397e+01] [-2.89768336e-04 2.28169168e-05 9.99999958e-01 3.29934450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.610714057 meters Centerline goodness [0,1] 0.9667841900167007 Centerline is valid? [True, True] Translation: X:414.66, Y:-17.35, Z:3.30 [[ 9.99803786e-01 -1.97531320e-02 1.48461460e-03 4.14664298e+02] [ 1.97532798e-02 9.99804881e-01 -8.49642842e-05 -1.73454816e+01] [-1.48264662e-03 1.14273621e-04 9.99998894e-01 3.29840154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.640714057 meters Centerline goodness [0,1] 0.9657790263041812 Centerline is valid? [True, True] Translation: X:414.69, Y:-17.35, Z:3.30 [[ 9.99821843e-01 -1.87520727e-02 2.15454952e-03 4.14694516e+02] [ 1.87523815e-02 9.99824151e-01 -1.23206136e-04 -1.73475218e+01] [-2.15186027e-03 1.63587121e-04 9.99997671e-01 3.29791281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.670714057 meters Centerline goodness [0,1] 0.9704422014499172 Centerline is valid? [True, True] Translation: X:414.73, Y:-17.34, Z:3.30 [[ 9.99830627e-01 -1.82616836e-02 2.28667192e-03 4.14727601e+02] [ 1.82620295e-02 9.99833227e-01 -1.30488053e-04 -1.73357030e+01] [-2.28390764e-03 1.72225222e-04 9.99997377e-01 3.29832675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.700714057 meters Centerline goodness [0,1] 0.9686287343961849 Centerline is valid? [True, True] Translation: X:414.76, Y:-17.34, Z:3.30 [[ 9.99838224e-01 -1.77185902e-02 3.09461201e-03 4.14758937e+02] [ 1.77192228e-02 9.99842987e-01 -1.77112680e-04 -1.73366416e+01] [-3.09098793e-03 2.31918147e-04 9.99995196e-01 3.29754432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.730714057 meters Centerline goodness [0,1] 0.9690014972861688 Centerline is valid? [True, True] Translation: X:414.79, Y:-17.34, Z:3.30 [[ 9.99823300e-01 -1.83627417e-02 4.02212869e-03 4.14790739e+02] [ 1.83638169e-02 9.99831344e-01 -2.30542002e-04 -1.73373756e+01] [-4.01721695e-03 3.04362900e-04 9.99991885e-01 3.29659810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76071405700003 meters Centerline goodness [0,1] 0.9649455123707965 Centerline is valid? [True, True] Translation: X:414.82, Y:-17.35, Z:3.30 [[ 9.99815227e-01 -1.88422344e-02 3.80550476e-03 4.14821176e+02] [ 1.88431997e-02 9.99822427e-01 -2.17978140e-04 -1.73486096e+01] [-3.80072181e-03 2.89645750e-04 9.99992735e-01 3.29562630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.790714057 meters Centerline goodness [0,1] 0.9682254336609624 Centerline is valid? [True, True] Translation: X:414.85, Y:-17.34, Z:3.29 [[ 9.99809926e-01 -1.90731297e-02 4.04086295e-03 4.14853975e+02] [ 1.90742234e-02 9.99818043e-01 -2.32299727e-04 -1.73445761e+01] [-4.03569700e-03 3.09331895e-04 9.99991809e-01 3.29497869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82071405700003 meters Centerline goodness [0,1] 0.9637402355135828 Centerline is valid? [True, True] Translation: X:414.88, Y:-17.35, Z:3.29 [[ 9.99812529e-01 -1.89673864e-02 3.89169402e-03 4.14884913e+02] [ 1.89684013e-02 9.99820059e-01 -2.24053423e-04 -1.73549358e+01] [-3.88674403e-03 2.97830633e-04 9.99992402e-01 3.29351307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.850714057 meters Centerline goodness [0,1] 0.9708076851333707 Centerline is valid? [True, True] Translation: X:414.92, Y:-17.34, Z:3.29 [[ 9.99834651e-01 -1.77070223e-02 4.13896918e-03 4.14916610e+02] [ 1.77081609e-02 9.99843170e-01 -2.38600796e-04 -1.73447198e+01] [-4.13409515e-03 3.11854876e-04 9.99991406e-01 3.29394442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.880714057 meters Centerline goodness [0,1] 0.9712559203005063 Centerline is valid? [True, True] Translation: X:414.95, Y:-17.35, Z:3.29 [[ 9.99851944e-01 -1.67186565e-02 4.07133821e-03 4.14949344e+02] [ 1.67197492e-02 9.99860188e-01 -2.34497283e-04 -1.73460783e+01] [-4.06684851e-03 3.02534318e-04 9.99991685e-01 3.29356309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.910714057 meters Centerline goodness [0,1] 0.9710570469798657 Centerline is valid? [True, True] Translation: X:414.98, Y:-17.35, Z:3.29 [[ 9.99867800e-01 -1.56879580e-02 4.27438397e-03 4.14981878e+02] [ 1.56891560e-02 9.99876887e-01 -2.46897514e-04 -1.73483690e+01] [-4.26998442e-03 3.13926351e-04 9.99990834e-01 3.29339152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.940714057 meters Centerline goodness [0,1] 0.9705511737527419 Centerline is valid? [True, True] Translation: X:415.01, Y:-17.35, Z:3.29 [[ 9.99889743e-01 -1.37404280e-02 5.63053345e-03 4.15012676e+02] [ 1.37424810e-02 9.99905514e-01 -3.26089487e-04 -1.73512947e+01] [-5.62552084e-03 4.03431032e-04 9.99984095e-01 3.29392896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.970714057 meters Centerline goodness [0,1] 0.9720818683493608 Centerline is valid? [True, True] Translation: X:415.04, Y:-17.35, Z:3.29 [[ 9.99902758e-01 -1.25462013e-02 6.08832603e-03 4.15044697e+02] [ 1.25485807e-02 9.99921201e-01 -3.52768621e-04 -1.73496179e+01] [-6.08342037e-03 4.29134167e-04 9.99981404e-01 3.29404807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.000714057 meters Centerline goodness [0,1] 0.969493109086662 Centerline is valid? [True, True] Translation: X:415.07, Y:-17.36, Z:3.29 [[ 9.99925306e-01 -1.01359682e-02 6.82968792e-03 4.15074178e+02] [ 1.01389109e-02 9.99948521e-01 -3.96379957e-04 -1.73573049e+01] [-6.82531864e-03 4.65595947e-04 9.99976599e-01 3.29384525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.030714057 meters Centerline goodness [0,1] 0.9721219461070871 Centerline is valid? [True, True] Translation: X:415.11, Y:-17.35, Z:3.29 [[ 9.99944722e-01 -8.27807087e-03 6.48285119e-03 4.15106236e+02] [ 8.28068284e-03 9.99965644e-01 -3.76165383e-04 -1.73536556e+01] [-6.47951454e-03 4.29827024e-04 9.99978915e-01 3.29368828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.060714057 meters Centerline goodness [0,1] 0.9712531398269606 Centerline is valid? [True, True] Translation: X:415.14, Y:-17.36, Z:3.29 [[ 9.99960833e-01 -6.34546406e-03 6.16989175e-03 4.15136957e+02] [ 6.34779543e-03 9.99979788e-01 -3.58353855e-04 -1.73567679e+01] [-6.16749313e-03 3.97505030e-04 9.99980902e-01 3.29320287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.090714057 meters Centerline goodness [0,1] 0.9736903376018626 Centerline is valid? [True, True] Translation: X:415.17, Y:-17.36, Z:3.29 [[ 9.99976694e-01 -3.02800286e-03 6.11905884e-03 4.15167737e+02] [ 3.03023564e-03 9.99995346e-01 -3.55651076e-04 -1.73551780e+01] [-6.11795345e-03 3.74184978e-04 9.99981215e-01 3.29300737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.120714057 meters Centerline goodness [0,1] 0.9719308853282482 Centerline is valid? [True, True] Translation: X:415.20, Y:-17.36, Z:3.29 [[ 9.99981388e-01 -1.43227055e-03 5.93070427e-03 4.15197767e+02] [ 1.43434063e-03 9.99998912e-01 -3.44806140e-04 -1.73583336e+01] [-5.93020396e-03 3.53306373e-04 9.99982354e-01 3.29234792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.150714057 meters Centerline goodness [0,1] 0.9734503005407412 Centerline is valid? [True, True] Translation: X:415.23, Y:-17.36, Z:3.29 [[ 9.99987322e-01 1.39594411e-03 4.83808522e-03 4.15229173e+02] [-1.39459950e-03 9.99998988e-01 -2.81284296e-04 -1.73596489e+01] [-4.83847298e-03 2.74533539e-04 9.99988257e-01 3.29143018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.180714057 meters Centerline goodness [0,1] 0.9757568700512342 Centerline is valid? [True, True] Translation: X:415.26, Y:-17.36, Z:3.29 [[ 9.99985735e-01 2.95310485e-03 4.45067253e-03 4.15260547e+02] [-2.95198174e-03 9.99995609e-01 -2.58892785e-04 -1.73602320e+01] [-4.45141753e-03 2.45750787e-04 9.99990062e-01 3.29098073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.210714057 meters Centerline goodness [0,1] 0.9753155159613957 Centerline is valid? [True, True] Translation: X:415.29, Y:-17.36, Z:3.29 [[ 9.99975131e-01 6.02176424e-03 3.67093787e-03 4.15290438e+02] [-6.02101991e-03 9.99981851e-01 -2.13778646e-04 -1.73642983e+01] [-3.67215857e-03 1.91670539e-04 9.99993239e-01 3.29051142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.240714057 meters Centerline goodness [0,1] 0.9755836417382399 Centerline is valid? [True, True] Translation: X:415.32, Y:-17.37, Z:3.29 [[ 9.99969003e-01 6.96603047e-03 3.66967066e-03 4.15319640e+02] [-6.96529242e-03 9.99975719e-01 -2.13861287e-04 -1.73660351e+01] [-3.67107132e-03 1.88294329e-04 9.99993244e-01 3.29053809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.270714057 meters Centerline goodness [0,1] 0.9754631134221644 Centerline is valid? [True, True] Translation: X:415.35, Y:-17.37, Z:3.29 [[ 9.99963334e-01 7.86141722e-03 3.39541276e-03 4.15348939e+02] [-7.86079086e-03 9.99969084e-01 -1.97778472e-04 -1.73683749e+01] [-3.39686261e-03 1.71080591e-04 9.99994216e-01 3.29047021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.300714057 meters Centerline goodness [0,1] 0.976052215924928 Centerline is valid? [True, True] Translation: X:415.38, Y:-17.37, Z:3.29 [[ 9.99949455e-01 9.60320761e-03 2.97758671e-03 4.15377428e+02] [-9.60273357e-03 9.99953878e-01 -1.73456695e-04 -1.73728008e+01] [-2.97911511e-03 1.44854956e-04 9.99995552e-01 3.28985791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.330714057 meters Centerline goodness [0,1] 0.975321789054542 Centerline is valid? [True, True] Translation: X:415.41, Y:-17.38, Z:3.29 [[ 9.99944034e-01 1.01560524e-02 2.96369118e-03 4.15405363e+02] [-1.01555852e-02 9.99948416e-01 -1.72667064e-04 -1.73777952e+01] [-2.96529192e-03 1.42559383e-04 9.99995593e-01 3.28922163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.360714057 meters Centerline goodness [0,1] 0.9770479653519235 Centerline is valid? [True, True] Translation: X:415.43, Y:-17.38, Z:3.29 [[ 9.99941861e-01 1.05578729e-02 2.19224237e-03 4.15433912e+02] [-1.05576184e-02 9.99944259e-01 -1.27631533e-04 -1.73758791e+01] [-2.19346768e-03 1.04479254e-04 9.99997589e-01 3.28950577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.390714057 meters Centerline goodness [0,1] 0.9768356744498183 Centerline is valid? [True, True] Translation: X:415.46, Y:-17.38, Z:3.29 [[ 9.99944622e-01 1.02432595e-02 2.41423915e-03 4.15460894e+02] [-1.02429500e-02 9.99947530e-01 -1.40522397e-04 -1.73817679e+01] [-2.41555188e-03 1.15785684e-04 9.99997076e-01 3.28895340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.420714057 meters Centerline goodness [0,1] 0.9777305979276764 Centerline is valid? [True, True] Translation: X:415.49, Y:-17.38, Z:3.29 [[ 9.99944505e-01 1.01957577e-02 2.65189252e-03 4.15490123e+02] [-1.01953856e-02 9.99948014e-01 -1.53783344e-04 -1.73824852e+01] [-2.65332259e-03 1.26737743e-04 9.99996472e-01 3.28963123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.450714057 meters Centerline goodness [0,1] 0.9748624571257568 Centerline is valid? [True, True] Translation: X:415.52, Y:-17.40, Z:3.29 [[ 9.99961522e-01 8.40477523e-03 2.51274154e-03 4.15517664e+02] [-8.40443594e-03 9.99964672e-01 -1.45558015e-04 -1.73959160e+01] [-2.51387615e-03 1.24434239e-04 9.99996832e-01 3.28875561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.480714057 meters Centerline goodness [0,1] 0.9782033890511117 Centerline is valid? [True, True] Translation: X:415.55, Y:-17.39, Z:3.29 [[ 9.99985222e-01 4.98814895e-03 2.16203101e-03 4.15548196e+02] [-4.98789088e-03 9.99987553e-01 -1.24741027e-04 -1.73948483e+01] [-2.16262633e-03 1.13955209e-04 9.99997655e-01 3.28882280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.51071405700003 meters Centerline goodness [0,1] 0.9745506236243581 Centerline is valid? [True, True] Translation: X:415.58, Y:-17.41, Z:3.29 [[ 9.99994654e-01 2.53960031e-03 2.05949311e-03 4.15576536e+02] [-2.53936052e-03 9.99996769e-01 -1.19041859e-04 -1.74088984e+01] [-2.05978878e-03 1.13811427e-04 9.99997872e-01 3.28702552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.540714057 meters Centerline goodness [0,1] 0.9744544727521992 Centerline is valid? [True, True] Translation: X:415.61, Y:-17.42, Z:3.29 [[ 9.99998300e-01 -3.71901150e-04 1.80608269e-03 4.15606920e+02] [ 3.72089838e-04 9.99999925e-01 -1.04138784e-04 -1.74154394e+01] [-1.80604382e-03 1.04810632e-04 9.99998364e-01 3.28639210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.57071405700003 meters Centerline goodness [0,1] 0.9764810751508503 Centerline is valid? [True, True] Translation: X:415.64, Y:-17.42, Z:3.29 [[ 9.99977689e-01 -6.57665503e-03 1.17048758e-03 4.15637834e+02] [ 6.57673828e-03 9.99978371e-01 -6.72921181e-05 -1.74194773e+01] [-1.17001971e-03 7.49886072e-05 9.99999313e-01 3.28617353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.600714057 meters Centerline goodness [0,1] 0.9765463272594918 Centerline is valid? [True, True] Translation: X:415.67, Y:-17.43, Z:3.29 [[ 9.99925752e-01 -1.21604128e-02 7.84223373e-04 4.15668299e+02] [ 1.21604518e-02 9.99926058e-01 -4.49575113e-05 -1.74260770e+01] [-7.83618684e-04 5.44906838e-05 9.99999691e-01 3.28673698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.630714057 meters Centerline goodness [0,1] 0.9760613555399242 Centerline is valid? [True, True] Translation: X:415.70, Y:-17.43, Z:3.29 [[ 9.99894946e-01 -1.44767470e-02 7.20957144e-04 4.15698400e+02] [ 1.44767806e-02 9.99895205e-01 -4.14895852e-05 -1.74342068e+01] [-7.20280957e-04 5.19223650e-05 9.99999739e-01 3.28635176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.660714057 meters Centerline goodness [0,1] 0.9752772800471773 Centerline is valid? [True, True] Translation: X:415.73, Y:-17.44, Z:3.29 [[ 9.99863632e-01 -1.65138634e-02 1.03092319e-04 4.15729046e+02] [ 1.65138641e-02 9.99863637e-01 -5.81396277e-06 -1.74378587e+01] [-1.02982251e-04 7.51562249e-06 9.99999995e-01 3.28643692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.690714057 meters Centerline goodness [0,1] 0.9747416502724826 Centerline is valid? [True, True] Translation: X:415.76, Y:-17.45, Z:3.29 [[ 9.99821458e-01 -1.88957255e-02 6.53363292e-05 4.15758333e+02] [ 1.88957258e-02 9.99821460e-01 -3.77402494e-06 -1.74472204e+01] [-6.52533511e-05 5.00792848e-06 9.99999998e-01 3.28575036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.720714057 meters Centerline goodness [0,1] 0.9747416502724826 Centerline is valid? [True, True] Translation: X:415.79, Y:-17.45, Z:3.29 [[ 9.99822758e-01 -1.88267846e-02 6.53681593e-05 4.15790064e+02] [ 1.88267848e-02 9.99822760e-01 -3.22330791e-06 -1.74491174e+01] [-6.52958890e-05 4.45340888e-06 9.99999998e-01 3.28549397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.750714057 meters Centerline goodness [0,1] 0.9749887031179394 Centerline is valid? [True, True] Translation: X:415.82, Y:-17.45, Z:3.28 [[ 9.99818770e-01 -1.90374900e-02 -1.43929981e-05 4.15822028e+02] [ 1.90374900e-02 9.99818771e-01 1.39022961e-06 -1.74531477e+01] [ 1.43639232e-05 -1.66398421e-06 1.00000000e+00 3.28487156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.780714057 meters Centerline goodness [0,1] 0.9769420496458715 Centerline is valid? [True, True] Translation: X:415.85, Y:-17.45, Z:3.28 [[ 9.99835244e-01 -1.81463279e-02 -4.43000217e-04 4.15854094e+02] [ 1.81463413e-02 9.99835341e-01 2.62564182e-05 -1.74525914e+01] [ 4.42450815e-04 -3.42909254e-05 9.99999902e-01 3.28486574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.810714057 meters Centerline goodness [0,1] 0.9774953726694054 Centerline is valid? [True, True] Translation: X:415.88, Y:-17.46, Z:3.28 [[ 9.99856566e-01 -1.69281869e-02 -5.32769733e-04 4.15883948e+02] [ 1.69282058e-02 9.99856707e-01 3.10374832e-05 -1.74556774e+01] [ 5.32167982e-04 -4.00518671e-05 9.99999858e-01 3.28463578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.840714057 meters Centerline goodness [0,1] 0.9777136805101742 Centerline is valid? [True, True] Translation: X:415.91, Y:-17.46, Z:3.29 [[ 9.99894060e-01 -1.45411463e-02 -6.51673538e-04 4.15913918e+02] [ 1.45411740e-02 9.99894271e-01 3.77907903e-05 -1.74581351e+01] [ 6.51055115e-04 -4.72628850e-05 9.99999787e-01 3.28516518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.870714057 meters Centerline goodness [0,1] 0.9783682584079579 Centerline is valid? [True, True] Translation: X:415.94, Y:-17.46, Z:3.29 [[ 9.99910449e-01 -1.33813743e-02 -1.83091567e-04 4.15944903e+02] [ 1.33813765e-02 9.99910465e-01 1.09062599e-05 -1.74595505e+01] [ 1.82929233e-04 -1.33553004e-05 9.99999983e-01 3.28558020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.900714057 meters Centerline goodness [0,1] 0.9791163934056517 Centerline is valid? [True, True] Translation: X:415.98, Y:-17.46, Z:3.29 [[ 9.99936756e-01 -1.12174484e-02 8.07700386e-04 4.15976264e+02] [ 1.12174897e-02 9.99937081e-01 -4.66108461e-05 -1.74594727e+01] [-8.07126711e-04 5.56682690e-05 9.99999673e-01 3.28689333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.930714057 meters Centerline goodness [0,1] 0.9777742749054225 Centerline is valid? [True, True] Translation: X:416.01, Y:-17.47, Z:3.29 [[ 9.99946922e-01 -1.00460497e-02 2.28706878e-03 4.16006834e+02] [ 1.00463791e-02 9.99949525e-01 -1.32585061e-04 -1.74669689e+01] [-2.28562138e-03 1.55554784e-04 9.99997376e-01 3.28691360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.960714057 meters Centerline goodness [0,1] 0.9792722766700462 Centerline is valid? [True, True] Translation: X:416.04, Y:-17.46, Z:3.29 [[ 9.99955311e-01 -9.13245754e-03 2.44442042e-03 4.16039244e+02] [ 9.13283088e-03 9.99958285e-01 -1.41610926e-04 -1.74641924e+01] [-2.44302520e-03 1.63929076e-04 9.99997002e-01 3.28766354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.990714057 meters Centerline goodness [0,1] 0.9801777016056287 Centerline is valid? [True, True] Translation: X:416.07, Y:-17.47, Z:3.29 [[ 9.99963256e-01 -8.21554298e-03 2.44768328e-03 4.16071681e+02] [ 8.21591500e-03 9.99966239e-01 -1.41973031e-04 -1.74661492e+01] [-2.44643426e-03 1.62077772e-04 9.99996994e-01 3.28777267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.020714057 meters Centerline goodness [0,1] 0.9807869901119445 Centerline is valid? [True, True] Translation: X:416.10, Y:-17.47, Z:3.29 [[ 9.99969532e-01 -7.59158623e-03 1.81745265e-03 4.16103627e+02] [ 7.59179028e-03 9.99971176e-01 -1.05398938e-04 -1.74681693e+01] [-1.81660012e-03 1.19193446e-04 9.99998343e-01 3.28715060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.050714057 meters Centerline goodness [0,1] 0.981386031645997 Centerline is valid? [True, True] Translation: X:416.14, Y:-17.47, Z:3.29 [[ 9.99973656e-01 -7.25758177e-03 1.19023673e-04 4.16135214e+02] [ 7.25758258e-03 9.99973663e-01 -6.36925568e-06 -1.74716194e+01] [-1.18974313e-04 7.23291203e-06 9.99999993e-01 3.28635072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.080714057 meters Centerline goodness [0,1] 0.9810274372446001 Centerline is valid? [True, True] Translation: X:416.17, Y:-17.48, Z:3.29 [[ 9.99976584e-01 -6.84299658e-03 -7.57389065e-05 4.16166963e+02] [ 6.84299698e-03 9.99976586e-01 5.00504155e-06 -1.74750005e+01] [ 7.57028837e-05 -5.52320546e-06 9.99999997e-01 3.28541394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.110714057 meters Centerline goodness [0,1] 0.9817036120175537 Centerline is valid? [True, True] Translation: X:416.20, Y:-17.48, Z:3.29 [[ 9.99977011e-01 -6.76443387e-03 -4.69456438e-04 4.16199523e+02] [ 6.76444779e-03 9.99977120e-01 2.80611453e-05 -1.74763813e+01] [ 4.69255880e-04 -3.12361138e-05 9.99999889e-01 3.28518691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.140714057 meters Centerline goodness [0,1] 0.981736392262708 Centerline is valid? [True, True] Translation: X:416.23, Y:-17.48, Z:3.29 [[ 9.99980530e-01 -6.24006495e-03 -2.25068041e-05 4.16230257e+02] [ 6.24006500e-03 9.99980531e-01 2.35206173e-06 -1.74822720e+01] [ 2.24916889e-05 -2.49245986e-06 1.00000000e+00 3.28533941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.170714057 meters Centerline goodness [0,1] 0.9817514983451113 Centerline is valid? [True, True] Translation: X:416.26, Y:-17.48, Z:3.29 [[ 9.99982146e-01 -5.94774495e-03 5.75603846e-04 4.16262905e+02] [ 5.94776494e-03 9.99982311e-01 -3.30194695e-05 -1.74845551e+01] [-5.75397273e-04 3.64424363e-05 9.99999834e-01 3.28554826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.200714057 meters Centerline goodness [0,1] 0.9820001343273558 Centerline is valid? [True, True] Translation: X:416.29, Y:-17.49, Z:3.29 [[ 9.99982854e-01 -5.84388976e-03 3.75878241e-04 4.16294813e+02] [ 5.84389826e-03 9.99982924e-01 -2.15257787e-05 -1.74855212e+01] [-3.75746028e-04 2.37220038e-05 9.99999929e-01 3.28541382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.230714057 meters Centerline goodness [0,1] 0.9812929356217414 Centerline is valid? [True, True] Translation: X:416.33, Y:-17.49, Z:3.28 [[ 9.99985777e-01 -5.33226798e-03 1.13464724e-04 4.16327356e+02] [ 5.33226868e-03 9.99985783e-01 -5.87906125e-06 -1.74897632e+01] [-1.13431762e-04 6.48400203e-06 9.99999994e-01 3.28448003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26071405700003 meters Centerline goodness [0,1] 0.9818695233186168 Centerline is valid? [True, True] Translation: X:416.36, Y:-17.49, Z:3.28 [[ 9.99986856e-01 -5.12139840e-03 -2.43174173e-04 4.16358729e+02] [ 5.12140215e-03 9.99986885e-01 1.47773171e-05 -1.74944895e+01] [ 2.43095303e-04 -1.60225156e-05 9.99999970e-01 3.28375676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.290714057 meters Centerline goodness [0,1] 0.981332439078918 Centerline is valid? [True, True] Translation: X:416.39, Y:-17.50, Z:3.28 [[ 9.99986084e-01 -5.22126071e-03 -7.54499777e-04 4.16390648e+02] [ 5.22129623e-03 9.99986368e-01 4.51222817e-05 -1.74981567e+01] [ 7.54253896e-04 -4.90611206e-05 9.99999714e-01 3.28319338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32071405700003 meters Centerline goodness [0,1] 0.9816977670380812 Centerline is valid? [True, True] Translation: X:416.42, Y:-17.50, Z:3.28 [[ 9.99984296e-01 -5.44554613e-03 -1.32424732e-03 4.16421712e+02] [ 5.44565487e-03 9.99985169e-01 7.85280839e-05 -1.75009065e+01] [ 1.32380005e-03 -8.57382446e-05 9.99999120e-01 3.28269747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.350714057 meters Centerline goodness [0,1] 0.981948814066091 Centerline is valid? [True, True] Translation: X:416.45, Y:-17.51, Z:3.28 [[ 9.99982075e-01 -5.73169557e-03 -1.73119415e-03 4.16452696e+02] [ 5.73188210e-03 9.99983567e-01 1.02803236e-04 -1.75051483e+01] [ 1.73057647e-03 -1.12724394e-04 9.99998496e-01 3.28184595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.380714057 meters Centerline goodness [0,1] 0.9816068834506648 Centerline is valid? [True, True] Translation: X:416.48, Y:-17.51, Z:3.28 [[ 9.99978731e-01 -6.09965908e-03 -2.30906314e-03 4.16484081e+02] [ 6.09999183e-03 9.99981385e-01 1.37091980e-04 -1.75085623e+01] [ 2.30818394e-03 -1.51174330e-04 9.99997325e-01 3.28091111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.410714057 meters Centerline goodness [0,1] 0.9809751626388857 Centerline is valid? [True, True] Translation: X:416.52, Y:-17.51, Z:3.28 [[ 9.99980003e-01 -5.96631995e-03 -2.09667364e-03 4.16515434e+02] [ 5.96659431e-03 9.99982192e-01 1.24622658e-04 -1.75113374e+01] [ 2.09589276e-03 -1.37130167e-04 9.99997794e-01 3.27997944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.440714057 meters Centerline goodness [0,1] 0.982512459031114 Centerline is valid? [True, True] Translation: X:416.55, Y:-17.51, Z:3.28 [[ 9.99982656e-01 -5.05173879e-03 -3.02764681e-03 4.16547184e+02] [ 5.05230607e-03 9.99987221e-01 1.79750566e-04 -1.75080001e+01] [ 3.02670006e-03 -1.95044047e-04 9.99995401e-01 3.28024249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.470714057 meters Centerline goodness [0,1] 0.9828919930940155 Centerline is valid? [True, True] Translation: X:416.58, Y:-17.51, Z:3.28 [[ 9.99986089e-01 -4.65247400e-03 -2.48540038e-03 4.16578306e+02] [ 4.65285494e-03 9.99989165e-01 1.47512649e-04 -1.75072904e+01] [ 2.48468715e-03 -1.59074805e-04 9.99996901e-01 3.28004090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.500714057 meters Centerline goodness [0,1] 0.9832739176251654 Centerline is valid? [True, True] Translation: X:416.61, Y:-17.51, Z:3.28 [[ 9.99987529e-01 -4.31216070e-03 -2.51941671e-03 4.16609611e+02] [ 4.31255164e-03 9.99990690e-01 1.49758061e-04 -1.75083877e+01] [ 2.51874747e-03 -1.60621308e-04 9.99996815e-01 3.27963983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.530714057 meters Centerline goodness [0,1] 0.9836175491138278 Centerline is valid? [True, True] Translation: X:416.64, Y:-17.51, Z:3.28 [[ 9.99990622e-01 -3.82873605e-03 -2.02420542e-03 4.16640363e+02] [ 3.82898696e-03 9.99992662e-01 1.20095764e-04 -1.75082731e+01] [ 2.02373075e-03 -1.27845294e-04 9.99997944e-01 3.27931963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.560714057 meters Centerline goodness [0,1] 0.9830234800744545 Centerline is valid? [True, True] Translation: X:416.67, Y:-17.51, Z:3.28 [[ 9.99990853e-01 -3.97418222e-03 -1.58137966e-03 4.16670816e+02] [ 3.97433638e-03 9.99992098e-01 9.43558225e-05 -1.75112001e+01] [ 1.58099218e-03 -1.00639894e-04 9.99998745e-01 3.27850604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.590714057 meters Centerline goodness [0,1] 0.9820663030547887 Centerline is valid? [True, True] Translation: X:416.70, Y:-17.51, Z:3.28 [[ 9.99985435e-01 -5.24236439e-03 -1.28312921e-03 4.16701436e+02] [ 5.24246791e-03 9.99986255e-01 7.73223754e-05 -1.75135070e+01] [ 1.28270622e-03 -8.40480129e-05 9.99999174e-01 3.27821889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.620714057 meters Centerline goodness [0,1] 0.9821516549469252 Centerline is valid? [True, True] Translation: X:416.73, Y:-17.52, Z:3.28 [[ 9.99978895e-01 -6.46423200e-03 -6.50593015e-04 4.16731982e+02] [ 6.46425874e-03 9.99979106e-01 3.90120675e-05 -1.75172990e+01] [ 6.50327238e-04 -4.32168458e-05 9.99999788e-01 3.27769189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.650714057 meters Centerline goodness [0,1] 0.9811214616803924 Centerline is valid? [True, True] Translation: X:416.76, Y:-17.52, Z:3.28 [[ 9.99943503e-01 -1.06118341e-02 -6.16671291e-04 4.16761622e+02] [ 1.06118587e-02 9.99943692e-01 3.65963070e-05 -1.75217886e+01] [ 6.16248214e-04 -4.31382680e-05 9.99999809e-01 3.27690492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.680714057 meters Centerline goodness [0,1] 0.9810866187827888 Centerline is valid? [True, True] Translation: X:416.79, Y:-17.52, Z:3.28 [[ 9.99921117e-01 -1.25450791e-02 -6.16268150e-04 4.16792796e+02] [ 1.25451041e-02 9.99921306e-01 3.68306751e-05 -1.75221062e+01] [ 6.15757610e-04 -4.45589179e-05 9.99999809e-01 3.27698035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.710714057 meters Centerline goodness [0,1] 0.9800342141988926 Centerline is valid? [True, True] Translation: X:416.82, Y:-17.53, Z:3.28 [[ 9.99889798e-01 -1.48209512e-02 -8.54595172e-04 4.16822247e+02] [ 1.48210001e-02 9.99890162e-01 5.08850386e-05 -1.75264293e+01] [ 8.53747140e-04 -6.35453861e-05 9.99999634e-01 3.27604226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.740714057 meters Centerline goodness [0,1] 0.9788147077423435 Centerline is valid? [True, True] Translation: X:416.85, Y:-17.53, Z:3.28 [[ 9.99834801e-01 -1.81276555e-02 -1.32602903e-03 4.16852700e+02] [ 1.81277761e-02 9.99835675e-01 7.89860329e-05 -1.75302699e+01] [ 1.32437930e-03 -1.03010942e-04 9.99999118e-01 3.27535267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.770714057 meters Centerline goodness [0,1] 0.9771813587871983 Centerline is valid? [True, True] Translation: X:416.88, Y:-17.53, Z:3.27 [[ 9.99805924e-01 -1.96222458e-02 -1.75559091e-03 4.16882483e+02] [ 1.96224608e-02 9.99807455e-01 1.05335158e-04 -1.75330537e+01] [ 1.75318597e-03 -1.39763729e-04 9.99998453e-01 3.27453594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.800714057 meters Centerline goodness [0,1] 0.9812817904374365 Centerline is valid? [True, True] Translation: X:416.91, Y:-17.52, Z:3.27 [[ 9.99767513e-01 -2.14080540e-02 -2.57217452e-03 4.16914346e+02] [ 2.14085200e-02 9.99770800e-01 1.53745808e-04 -1.75237187e+01] [ 2.56829358e-03 -2.08776514e-04 9.99996680e-01 3.27498590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.830714057 meters Centerline goodness [0,1] 0.9699125470116453 Centerline is valid? [True, True] Translation: X:416.94, Y:-17.54, Z:3.27 [[ 9.99752504e-01 -2.19973549e-02 -3.32358553e-03 4.16944979e+02] [ 2.19981368e-02 9.99757992e-01 1.98891310e-04 -1.75361619e+01] [ 3.31840612e-03 -2.71954774e-04 9.99994457e-01 3.27271386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.860714057 meters Centerline goodness [0,1] 0.9787656998283184 Centerline is valid? [True, True] Translation: X:416.98, Y:-17.53, Z:3.27 [[ 9.99763124e-01 -2.16339580e-02 -2.38076498e-03 4.16977852e+02] [ 2.16343592e-02 9.99765940e-01 1.42897467e-04 -1.75253575e+01] [ 2.37711630e-03 -1.94369943e-04 9.99997156e-01 3.27340449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.890714057 meters Centerline goodness [0,1] 0.9793999409480115 Centerline is valid? [True, True] Translation: X:417.01, Y:-17.52, Z:3.27 [[ 9.99769542e-01 -2.13390610e-02 -2.34681818e-03 4.17009974e+02] [ 2.13394505e-02 9.99772278e-01 1.41035460e-04 -1.75248013e+01] [ 2.34327419e-03 -1.91082768e-04 9.99997236e-01 3.27318049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.920714057 meters Centerline goodness [0,1] 0.9789456984860847 Centerline is valid? [True, True] Translation: X:417.04, Y:-17.52, Z:3.27 [[ 9.99822070e-01 -1.87162110e-02 -2.35176968e-03 4.17039715e+02] [ 1.87165935e-02 9.99824819e-01 1.40765988e-04 -1.75240821e+01] [ 2.34872309e-03 -1.84758059e-04 9.99997225e-01 3.27295369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.950714057 meters Centerline goodness [0,1] 0.978140085617998 Centerline is valid? [True, True] Translation: X:417.07, Y:-17.52, Z:3.27 [[ 9.99881005e-01 -1.53560925e-02 -1.47170377e-03 4.17070724e+02] [ 1.53562387e-02 9.99882082e-01 8.81145088e-05 -1.75179915e+01] [ 1.47017714e-03 -1.10703858e-04 9.99998913e-01 3.27373295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.980714057 meters Centerline goodness [0,1] 0.9781258562425792 Centerline is valid? [True, True] Translation: X:417.10, Y:-17.52, Z:3.27 [[ 9.99905810e-01 -1.36976070e-02 -8.64194588e-04 4.17102877e+02] [ 1.36976572e-02 9.99906181e-01 5.21899505e-05 -1.75170826e+01] [ 8.63398633e-04 -6.40224759e-05 9.99999625e-01 3.27391802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.01071405700003 meters Centerline goodness [0,1] 0.9778475969309929 Centerline is valid? [True, True] Translation: X:417.13, Y:-17.52, Z:3.27 [[ 9.99922367e-01 -1.24603339e-02 -1.90840741e-05 4.17133022e+02] [ 1.24603339e-02 9.99922367e-01 1.28071953e-06 -1.75201054e+01] [ 1.90666343e-05 -1.51841404e-06 1.00000000e+00 3.27382618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.040714057 meters Centerline goodness [0,1] 0.9776187855439369 Centerline is valid? [True, True] Translation: X:417.17, Y:-17.52, Z:3.27 [[ 9.99937166e-01 -1.11471575e-02 1.18506446e-03 4.17165138e+02] [ 1.11472490e-02 9.99937865e-01 -7.06687136e-05 -1.75167785e+01] [-1.18420307e-03 8.38744819e-05 9.99999295e-01 3.27491013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.07071405700003 meters Centerline goodness [0,1] 0.9779127047771795 Centerline is valid? [True, True] Translation: X:417.20, Y:-17.51, Z:3.28 [[ 9.99940419e-01 -1.08163534e-02 1.47149467e-03 4.17197631e+02] [ 1.08164943e-02 9.99941496e-01 -8.78023913e-05 -1.75143106e+01] [-1.47045888e-03 1.03713574e-04 9.99998913e-01 3.27517171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.100714057 meters Centerline goodness [0,1] 0.9795899562312831 Centerline is valid? [True, True] Translation: X:417.23, Y:-17.51, Z:3.27 [[ 9.99935047e-01 -1.12179982e-02 2.01429097e-03 4.17229682e+02] [ 1.12182632e-02 9.99937066e-01 -1.20296212e-04 -1.75098379e+01] [-2.01281472e-03 1.42885244e-04 9.99997964e-01 3.27495981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.130714057 meters Centerline goodness [0,1] 0.9766289763996239 Centerline is valid? [True, True] Translation: X:417.26, Y:-17.52, Z:3.27 [[ 9.99928293e-01 -1.17931336e-02 2.08127399e-03 4.17260377e+02] [ 1.17934189e-02 9.99930447e-01 -1.24882023e-04 -1.75191053e+01] [-2.07965648e-03 1.49418404e-04 9.99997826e-01 3.27354220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.160714057 meters Centerline goodness [0,1] 0.9766582781151155 Centerline is valid? [True, True] Translation: X:417.29, Y:-17.52, Z:3.27 [[ 9.99907620e-01 -1.35855404e-02 4.29921453e-04 4.17291234e+02] [ 1.35855527e-02 9.99907712e-01 -2.56223404e-05 -1.75170446e+01] [-4.29533683e-04 3.14606940e-05 9.99999907e-01 3.27167414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.190714057 meters Centerline goodness [0,1] 0.9775852933723421 Centerline is valid? [True, True] Translation: X:417.32, Y:-17.51, Z:3.27 [[ 9.99900012e-01 -1.41369890e-02 -3.33124825e-04 4.17323444e+02] [ 1.41369967e-02 9.99900067e-01 2.06710210e-05 -1.75136991e+01] [ 3.32799309e-04 -2.53783387e-05 9.99999944e-01 3.27130402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.220714057 meters Centerline goodness [0,1] 0.9788265718441894 Centerline is valid? [True, True] Translation: X:417.36, Y:-17.51, Z:3.27 [[ 9.99889425e-01 -1.48444636e-02 -8.82632435e-04 4.17355465e+02] [ 1.48445169e-02 9.99889813e-01 5.38730723e-05 -1.75146620e+01] [ 8.81735463e-04 -6.69693674e-05 9.99999609e-01 3.27064512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.250714057 meters Centerline goodness [0,1] 0.9769006659267481 Centerline is valid? [True, True] Translation: X:417.39, Y:-17.52, Z:3.27 [[ 9.99867865e-01 -1.62397961e-02 -7.21595107e-04 4.17387083e+02] [ 1.62398321e-02 9.99868124e-01 4.40388103e-05 -1.75153116e+01] [ 7.20784764e-04 -5.57515746e-05 9.99999739e-01 3.27061034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.280714057 meters Centerline goodness [0,1] 0.9762484069053412 Centerline is valid? [True, True] Translation: X:417.42, Y:-17.52, Z:3.27 [[ 9.99860409e-01 -1.66997509e-02 -5.29462163e-04 4.17418768e+02] [ 1.66997704e-02 9.99860549e-01 3.24533672e-05 -1.75168216e+01] [ 5.28846366e-04 -4.12907336e-05 9.99999859e-01 3.27076284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.310714057 meters Centerline goodness [0,1] 0.9755230951440979 Centerline is valid? [True, True] Translation: X:417.45, Y:-17.52, Z:3.27 [[ 9.99857655e-01 -1.68675627e-02 3.94998813e-04 4.17451207e+02] [ 1.68675732e-02 9.99857732e-01 -2.33555481e-05 -1.75163824e+01] [-3.94548666e-04 3.00148949e-05 9.99999922e-01 3.27135852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.340714057 meters Centerline goodness [0,1] 0.9752451150824004 Centerline is valid? [True, True] Translation: X:417.48, Y:-17.52, Z:3.27 [[ 9.99864779e-01 -1.64225135e-02 8.50965501e-04 4.17483081e+02] [ 1.64225629e-02 9.99865139e-01 -5.10291165e-05 -1.75163204e+01] [-8.50012713e-04 6.49972508e-05 9.99999637e-01 3.27154037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.370714057 meters Centerline goodness [0,1] 0.9765563344320134 Centerline is valid? [True, True] Translation: X:417.52, Y:-17.51, Z:3.27 [[ 9.99871118e-01 -1.60230022e-02 1.00498031e-03 4.17515722e+02] [ 1.60230710e-02 9.99871621e-01 -6.04275678e-05 -1.75138476e+01] [-1.00388306e-03 7.65226507e-05 9.99999493e-01 3.27151472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.400714057 meters Centerline goodness [0,1] 0.9744769874476987 Centerline is valid? [True, True] Translation: X:417.55, Y:-17.52, Z:3.27 [[ 9.99897521e-01 -1.42237659e-02 1.62216729e-03 4.17546355e+02] [ 1.42239439e-02 9.99898830e-01 -9.82423801e-05 -1.75174840e+01] [-1.62060580e-03 1.21305929e-04 9.99998679e-01 3.27126067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.430714057 meters Centerline goodness [0,1] 0.9757920389926888 Centerline is valid? [True, True] Translation: X:417.58, Y:-17.51, Z:3.27 [[ 9.99913157e-01 -1.30572432e-02 1.78537842e-03 4.17579372e+02] [ 1.30574566e-02 9.99914742e-01 -1.07891887e-04 -1.75141422e+01] [-1.78381743e-03 1.31195019e-04 9.99998400e-01 3.27141298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.460714057 meters Centerline goodness [0,1] 0.9752859239244369 Centerline is valid? [True, True] Translation: X:417.61, Y:-17.51, Z:3.27 [[ 9.99936791e-01 -1.09867849e-02 2.38826323e-03 4.17609684e+02] [ 1.09871628e-02 9.99939629e-01 -1.45172922e-04 -1.75143388e+01] [-2.38652407e-03 1.71403982e-04 9.99997138e-01 3.27101739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.490714057 meters Centerline goodness [0,1] 0.9753688830780725 Centerline is valid? [True, True] Translation: X:417.64, Y:-17.52, Z:3.27 [[ 9.99948272e-01 -9.85091064e-03 2.53237013e-03 4.17642138e+02] [ 9.85133131e-03 9.99951463e-01 -1.53699140e-04 -1.75151643e+01] [-2.53073314e-03 1.78638407e-04 9.99996782e-01 3.27077031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.520714057 meters Centerline goodness [0,1] 0.9763151741875146 Centerline is valid? [True, True] Translation: X:417.67, Y:-17.51, Z:3.27 [[ 9.99958634e-01 -8.79851348e-03 2.30579149e-03 4.17674316e+02] [ 8.79885968e-03 9.99961279e-01 -1.40042455e-04 -1.75104346e+01] [-2.30447004e-03 1.60324998e-04 9.99997332e-01 3.27097019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.550714057 meters Centerline goodness [0,1] 0.9758253062751333 Centerline is valid? [True, True] Translation: X:417.70, Y:-17.51, Z:3.27 [[ 9.99974497e-01 -6.85485565e-03 2.00431575e-03 4.17704824e+02] [ 6.85511393e-03 9.99976496e-01 -1.22023433e-04 -1.75132051e+01] [-2.00343219e-03 1.35760134e-04 9.99997984e-01 3.26958222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.580714057 meters Centerline goodness [0,1] 0.9755059824639759 Centerline is valid? [True, True] Translation: X:417.74, Y:-17.51, Z:3.27 [[ 9.99981347e-01 -6.06729915e-03 7.02129397e-04 4.17736317e+02] [ 6.06733045e-03 9.99981593e-01 -4.24642148e-05 -1.75144031e+01] [-7.01858830e-04 4.67234738e-05 9.99999753e-01 3.26765935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.610714057 meters Centerline goodness [0,1] 0.9755059824639759 Centerline is valid? [True, True] Translation: X:417.77, Y:-17.52, Z:3.27 [[ 9.99981759e-01 -5.99903542e-03 7.02134530e-04 4.17768024e+02] [ 5.99906665e-03 9.99982005e-01 -4.23804457e-05 -1.75164036e+01] [-7.01867653e-04 4.65918245e-05 9.99999753e-01 3.26740328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.640714057 meters Centerline goodness [0,1] 0.9768212698935095 Centerline is valid? [True, True] Translation: X:417.80, Y:-17.51, Z:3.27 [[ 9.99985907e-01 -5.26826722e-03 6.56587966e-04 4.17800946e+02] [ 5.26829419e-03 9.99986122e-01 -3.93641907e-05 -1.75147859e+01] [-6.56371472e-04 4.28227345e-05 9.99999784e-01 3.26703166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.670714057 meters Centerline goodness [0,1] 0.975723249747362 Centerline is valid? [True, True] Translation: X:417.83, Y:-17.52, Z:3.27 [[ 9.99986364e-01 -5.18621201e-03 6.12690172e-04 4.17832729e+02] [ 5.18623565e-03 9.99986551e-01 -3.69990761e-05 -1.75157056e+01] [-6.12490047e-04 4.01761272e-05 9.99999812e-01 3.26631125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.700714057 meters Centerline goodness [0,1] 0.9757193609862833 Centerline is valid? [True, True] Translation: X:417.86, Y:-17.52, Z:3.27 [[ 9.99982913e-01 -5.78387391e-03 8.49072151e-04 4.17864412e+02] [ 5.78391958e-03 9.99983272e-01 -5.13504932e-05 -1.75168837e+01] [-8.48760943e-04 5.62605809e-05 9.99999638e-01 3.26565311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.730714057 meters Centerline goodness [0,1] 0.9743130086095059 Centerline is valid? [True, True] Translation: X:417.90, Y:-17.52, Z:3.26 [[ 9.99980562e-01 -6.21566305e-03 4.91746998e-04 4.17895701e+02] [ 6.21567826e-03 9.99980682e-01 -2.94125111e-05 -1.75211369e+01] [-4.91554680e-04 3.24684805e-05 9.99999879e-01 3.26457761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76071405700003 meters Centerline goodness [0,1] 0.9734756742775178 Centerline is valid? [True, True] Translation: X:417.93, Y:-17.52, Z:3.26 [[ 9.99969182e-01 -7.74680582e-03 1.27355551e-03 4.17927817e+02] [ 7.74691126e-03 9.99969989e-01 -7.78846895e-05 -1.75232511e+01] [-1.27291393e-03 8.77484108e-05 9.99999186e-01 3.26436400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.790714057 meters Centerline goodness [0,1] 0.9742078460958129 Centerline is valid? [True, True] Translation: X:417.96, Y:-17.53, Z:3.26 [[ 9.99961878e-01 -8.55727331e-03 1.73650958e-03 4.17958561e+02] [ 8.55747081e-03 9.99963379e-01 -1.06338332e-04 -1.75266243e+01] [-1.73553602e-03 1.21194408e-04 9.99998487e-01 3.26421034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82071405700003 meters Centerline goodness [0,1] 0.9736061405161047 Centerline is valid? [True, True] Translation: X:417.99, Y:-17.53, Z:3.26 [[ 9.99954836e-01 -9.26004870e-03 2.13940468e-03 4.17990512e+02] [ 9.26035132e-03 9.99957113e-01 -1.31584469e-04 -1.75289970e+01] [-2.13809445e-03 1.51390165e-04 9.99997703e-01 3.26410695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.850714057 meters Centerline goodness [0,1] 0.9725697559133185 Centerline is valid? [True, True] Translation: X:418.02, Y:-17.53, Z:3.26 [[ 9.99945698e-01 -1.03301388e-02 1.37441566e-03 4.18021399e+02] [ 1.03302647e-02 9.99946638e-01 -8.45462076e-05 -1.75327825e+01] [-1.37346894e-03 9.87396943e-05 9.99999052e-01 3.26351992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.880714057 meters Centerline goodness [0,1] 0.9722864831688778 Centerline is valid? [True, True] Translation: X:418.05, Y:-17.54, Z:3.26 [[ 9.99941657e-01 -1.07705713e-02 8.22980025e-04 4.18053351e+02] [ 1.07706163e-02 9.99941994e-01 -5.02599875e-05 -1.75364488e+01] [-8.22390958e-04 5.91210573e-05 9.99999660e-01 3.26233069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.910714057 meters Centerline goodness [0,1] 0.9720702019248915 Centerline is valid? [True, True] Translation: X:418.09, Y:-17.54, Z:3.26 [[ 9.99941554e-01 -1.08075309e-02 2.92501403e-04 4.18085835e+02] [ 1.08075365e-02 9.99941597e-01 -1.75792600e-05 -1.75393587e+01] [-2.92294332e-04 2.07394521e-05 9.99999957e-01 3.26074699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.940714057 meters Centerline goodness [0,1] 0.972906113794322 Centerline is valid? [True, True] Translation: X:418.12, Y:-17.54, Z:3.26 [[ 9.99942675e-01 -1.06752149e-02 -8.28201483e-04 4.18116689e+02] [ 1.06752614e-02 9.99943016e-01 5.17684605e-05 -1.75425077e+01] [ 8.27601650e-04 -6.06067602e-05 9.99999656e-01 3.25939609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.970714057 meters Centerline goodness [0,1] 0.9722137404580152 Centerline is valid? [True, True] Translation: X:418.15, Y:-17.55, Z:3.26 [[ 9.99945548e-01 -1.03600730e-02 -1.25288436e-03 4.18147312e+02] [ 1.03601790e-02 9.99946329e-01 7.81651810e-05 -1.75452160e+01] [ 1.25200732e-03 -9.11410310e-05 9.99999212e-01 3.25897632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.000714057 meters Centerline goodness [0,1] 0.9715614084772963 Centerline is valid? [True, True] Translation: X:418.18, Y:-17.55, Z:3.26 [[ 9.99957914e-01 -9.10772132e-03 -1.10426789e-03 4.18178357e+02] [ 9.10780287e-03 9.99958521e-01 6.88411544e-05 -1.75478807e+01] [ 1.10359510e-03 -7.88957114e-05 9.99999388e-01 3.25878410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.030714057 meters Centerline goodness [0,1] 0.9718717634874305 Centerline is valid? [True, True] Translation: X:418.21, Y:-17.55, Z:3.26 [[ 9.99967041e-01 -8.09129130e-03 -6.68585993e-04 4.18209790e+02] [ 8.09132106e-03 9.99967264e-01 4.18076997e-05 -1.75486478e+01] [ 6.68225828e-04 -4.72160657e-05 9.99999776e-01 3.25895660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.060714057 meters Centerline goodness [0,1] 0.9772394233041835 Centerline is valid? [True, True] Translation: X:418.24, Y:-17.53, Z:3.26 [[ 9.99988292e-01 -4.79798042e-03 -6.29402506e-04 4.18241100e+02] [ 4.79800598e-03 9.99988489e-01 3.91069639e-05 -1.75347834e+01] [ 6.29207626e-04 -4.21263830e-05 9.99999801e-01 3.25989790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.090714057 meters Centerline goodness [0,1] 0.9759470410855635 Centerline is valid? [True, True] Translation: X:418.27, Y:-17.54, Z:3.26 [[ 9.99996061e-01 -2.78909288e-03 -3.13621834e-04 4.18271307e+02] [ 2.78909922e-03 9.99996110e-01 1.97861791e-05 -1.75444730e+01] [ 3.13565428e-04 -2.06608236e-05 9.99999951e-01 3.25836442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.120714057 meters Centerline goodness [0,1] 0.9776912181303116 Centerline is valid? [True, True] Translation: X:418.30, Y:-17.54, Z:3.26 [[ 9.99999139e-01 -1.23639046e-03 -4.39092192e-04 4.18302586e+02] [ 1.23640263e-03 9.99999235e-01 2.74472210e-05 -1.75393053e+01] [ 4.39057921e-04 -2.79900921e-05 9.99999903e-01 3.25831624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.150714057 meters Centerline goodness [0,1] 0.9789797609184518 Centerline is valid? [True, True] Translation: X:418.33, Y:-17.53, Z:3.26 [[ 9.99997180e-01 2.29426752e-03 6.13319963e-04 4.18334046e+02] [-2.29424464e-03 9.99997367e-01 -3.80060031e-05 -1.75349474e+01] [-6.13405544e-04 3.65987899e-05 9.99999811e-01 3.25772977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.180714057 meters Centerline goodness [0,1] 0.9798338422211177 Centerline is valid? [True, True] Translation: X:418.36, Y:-17.53, Z:3.26 [[ 9.99991098e-01 3.92851430e-03 1.53968141e-03 4.18364117e+02] [-3.92837129e-03 9.99992279e-01 -9.58934537e-05 -1.75345100e+01] [-1.54004625e-03 8.98441598e-05 9.99998810e-01 3.25761185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.210714057 meters Centerline goodness [0,1] 0.9793126301836773 Centerline is valid? [True, True] Translation: X:418.39, Y:-17.54, Z:3.26 [[ 9.99969520e-01 7.16254563e-03 3.10763561e-03 4.18393754e+02] [-7.16197897e-03 9.99974334e-01 -1.93431623e-04 -1.75353729e+01] [-3.10894131e-03 1.71168906e-04 9.99995153e-01 3.25823687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.240714057 meters Centerline goodness [0,1] 0.9789101606054136 Centerline is valid? [True, True] Translation: X:418.42, Y:-17.53, Z:3.26 [[ 9.99950002e-01 9.03619942e-03 4.28253576e-03 4.18423049e+02] [-9.03514127e-03 9.99959147e-01 -2.66368511e-04 -1.75345340e+01] [-4.28476776e-03 2.27661878e-04 9.99990794e-01 3.25909359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.270714057 meters Centerline goodness [0,1] 0.9794523798225218 Centerline is valid? [True, True] Translation: X:418.45, Y:-17.54, Z:3.26 [[ 9.99948000e-01 9.01101458e-03 4.77483685e-03 4.18451874e+02] [-9.00970009e-03 9.99959368e-01 -2.96735146e-04 -1.75368166e+01] [-4.77731672e-03 2.53699868e-04 9.99988556e-01 3.25867867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.300714057 meters Centerline goodness [0,1] 0.9787908914453439 Centerline is valid? [True, True] Translation: X:418.48, Y:-17.54, Z:3.26 [[ 9.99942993e-01 9.46985306e-03 4.93276900e-03 4.18480191e+02] [-9.46845785e-03 9.99955126e-01 -3.06122715e-04 -1.75406724e+01] [-4.93544659e-03 2.59399549e-04 9.99987787e-01 3.25768517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.330714057 meters Centerline goodness [0,1] 0.9780932103146439 Centerline is valid? [True, True] Translation: X:418.51, Y:-17.54, Z:3.26 [[ 9.99948558e-01 9.55695724e-03 3.39791168e-03 4.18509157e+02] [-9.55629560e-03 9.99954315e-01 -2.10900169e-04 -1.75435386e+01] [-3.39977202e-03 1.78417871e-04 9.99994205e-01 3.25503463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.360714057 meters Centerline goodness [0,1] 0.9778514745943385 Centerline is valid? [True, True] Translation: X:418.54, Y:-17.55, Z:3.25 [[ 9.99948142e-01 9.83352457e-03 2.64846939e-03 4.18536639e+02] [-9.83312350e-03 9.99951640e-01 -1.64414431e-04 -1.75472084e+01] [-2.64995809e-03 1.38363178e-04 9.99996479e-01 3.25319131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.390714057 meters Centerline goodness [0,1] 0.9791834034308398 Centerline is valid? [True, True] Translation: X:418.56, Y:-17.55, Z:3.25 [[ 9.99954507e-01 9.47857126e-03 1.06813048e-03 4.18563782e+02] [-9.47850566e-03 9.99955076e-01 -6.64601200e-05 -1.75507207e+01] [-1.06871244e-03 5.63328158e-05 9.99999427e-01 3.25111536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.420714057 meters Centerline goodness [0,1] 0.9787103183990159 Centerline is valid? [True, True] Translation: X:418.59, Y:-17.55, Z:3.25 [[ 9.99955603e-01 9.41243532e-03 4.45520606e-04 4.18591650e+02] [-9.41242369e-03 9.99955702e-01 -2.82076918e-05 -1.75540335e+01] [-4.45766373e-04 2.40130108e-05 9.99999900e-01 3.24994396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.450714057 meters Centerline goodness [0,1] 0.9784553802684248 Centerline is valid? [True, True] Translation: X:418.62, Y:-17.56, Z:3.25 [[ 9.99958070e-01 9.14808169e-03 4.13231131e-04 4.18620033e+02] [-9.14807172e-03 9.99958155e-01 -2.59910565e-05 -1.75570358e+01] [-4.13451607e-04 2.22096987e-05 9.99999914e-01 3.24958602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.480714057 meters Centerline goodness [0,1] 0.9769089539591376 Centerline is valid? [True, True] Translation: X:418.65, Y:-17.56, Z:3.25 [[ 9.99963020e-01 8.58067442e-03 5.74863956e-04 4.18647624e+02] [-8.58065512e-03 9.99963185e-01 -3.60291966e-05 -1.75621839e+01] [-5.75151948e-04 3.10951548e-05 9.99999834e-01 3.24880132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.51071405700003 meters Centerline goodness [0,1] 0.9762505006714888 Centerline is valid? [True, True] Translation: X:418.68, Y:-17.57, Z:3.25 [[ 9.99966836e-01 8.12643245e-03 5.36410406e-04 4.18675863e+02] [-8.12641566e-03 9.99966980e-01 -3.34878182e-05 -1.75655018e+01] [-5.36664830e-04 2.91276137e-05 9.99999856e-01 3.24795827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.540714057 meters Centerline goodness [0,1] 0.9766955131220016 Centerline is valid? [True, True] Translation: X:418.71, Y:-17.57, Z:3.25 [[ 9.99968320e-01 7.92835492e-03 7.06674888e-04 4.18705025e+02] [-7.92832586e-03 9.99968569e-01 -4.39039331e-05 -1.75684667e+01] [-7.07000763e-04 3.82997935e-05 9.99999749e-01 3.24768171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.57071405700003 meters Centerline goodness [0,1] 0.9764090973301314 Centerline is valid? [True, True] Translation: X:418.73, Y:-17.57, Z:3.25 [[ 9.99974120e-01 7.17160980e-03 5.71297709e-04 4.18733929e+02] [-7.17159066e-03 9.99974283e-01 -3.55531479e-05 -1.75717275e+01] [-5.71537990e-04 3.14551145e-05 9.99999836e-01 3.24705162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.600714057 meters Centerline goodness [0,1] 0.9768143972450881 Centerline is valid? [True, True] Translation: X:418.76, Y:-17.58, Z:3.25 [[ 9.99979405e-01 6.38467188e-03 6.53010044e-04 4.18761782e+02] [-6.38464665e-03 9.99979617e-01 -4.07199166e-05 -1.75758984e+01] [-6.53256717e-04 3.65498395e-05 9.99999786e-01 3.24673443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.630714057 meters Centerline goodness [0,1] 0.9784147287733076 Centerline is valid? [True, True] Translation: X:418.79, Y:-17.57, Z:3.25 [[ 9.99984585e-01 5.54352152e-03 3.15255173e-04 4.18790800e+02] [-5.54351554e-03 9.99984634e-01 -1.98555584e-05 -1.75683866e+01] [-3.15360398e-04 1.81076303e-05 9.99999950e-01 3.24806582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.660714057 meters Centerline goodness [0,1] 0.9784395697308469 Centerline is valid? [True, True] Translation: X:418.82, Y:-17.57, Z:3.25 [[ 9.99987924e-01 4.81457089e-03 9.85576011e-04 4.18818733e+02] [-4.81451332e-03 9.99988408e-01 -6.07745266e-05 -1.75725995e+01] [-9.85857190e-04 5.60287239e-05 9.99999512e-01 3.24865986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.690714057 meters Centerline goodness [0,1] 0.9768993960472823 Centerline is valid? [True, True] Translation: X:418.85, Y:-17.57, Z:3.25 [[ 9.99991100e-01 4.07203452e-03 1.10414963e-03 4.18847509e+02] [-4.07196198e-03 9.99991707e-01 -6.79399662e-05 -1.75742537e+01] [-1.10441712e-03 6.34433062e-05 9.99999388e-01 3.24856476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.720714057 meters Centerline goodness [0,1] 0.9782710939704637 Centerline is valid? [True, True] Translation: X:418.88, Y:-17.58, Z:3.25 [[ 9.99993030e-01 3.44214477e-03 1.44611162e-03 4.18877369e+02] [-3.44202042e-03 9.99994072e-01 -8.84685574e-05 -1.75753150e+01] [-1.44640757e-03 8.34903950e-05 9.99998950e-01 3.24852502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.750714057 meters Centerline goodness [0,1] 0.9776949930882595 Centerline is valid? [True, True] Translation: X:418.91, Y:-17.58, Z:3.25 [[ 9.99996859e-01 2.28742100e-03 1.02479500e-03 4.18906374e+02] [-2.28735820e-03 9.99997382e-01 -6.24467066e-05 -1.75810450e+01] [-1.02493516e-03 6.01024371e-05 9.99999473e-01 3.24748285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.780714057 meters Centerline goodness [0,1] 0.9776145587237726 Centerline is valid? [True, True] Translation: X:418.94, Y:-17.58, Z:3.25 [[ 9.99998071e-01 1.85694968e-03 6.40804097e-04 4.18936698e+02] [-1.85692502e-03 9.99998275e-01 -3.90764496e-05 -1.75845009e+01] [-6.40875555e-04 3.78864491e-05 9.99999794e-01 3.24640835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.810714057 meters Centerline goodness [0,1] 0.9773206010391798 Centerline is valid? [True, True] Translation: X:418.97, Y:-17.59, Z:3.24 [[ 9.99999300e-01 9.19631352e-04 -7.44241517e-04 4.18966565e+02] [-9.19597829e-04 9.99999576e-01 4.53840983e-05 -1.75897336e+01] [ 7.44282938e-04 -4.46996637e-05 9.99999722e-01 3.24433701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.840714057 meters Centerline goodness [0,1] 0.978181052828512 Centerline is valid? [True, True] Translation: X:419.00, Y:-17.59, Z:3.24 [[ 9.99998769e-01 5.58277167e-04 -1.46663945e-03 4.18995783e+02] [-5.58147089e-04 9.99999840e-01 8.90984265e-05 -1.75928008e+01] [ 1.46668896e-03 -8.82797162e-05 9.99998921e-01 3.24383135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.870714057 meters Centerline goodness [0,1] 0.9775372629516457 Centerline is valid? [True, True] Translation: X:419.03, Y:-17.60, Z:3.24 [[ 9.99997100e-01 -4.29619167e-05 -2.40790042e-03 4.19025410e+02] [ 4.33145019e-05 9.99999988e-01 1.46376509e-04 -1.75956103e+01] [ 2.40789411e-03 -1.46480381e-04 9.99997090e-01 3.24375401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.900714057 meters Centerline goodness [0,1] 0.9779478682939351 Centerline is valid? [True, True] Translation: X:419.05, Y:-17.60, Z:3.24 [[ 9.99997540e-01 -3.54575157e-04 -2.18973692e-03 4.19054555e+02] [ 3.54867261e-04 9.99999928e-01 1.33010168e-04 -1.75977558e+01] [ 2.18968960e-03 -1.33786906e-04 9.99997594e-01 3.24378701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.930714057 meters Centerline goodness [0,1] 0.9780450286673192 Centerline is valid? [True, True] Translation: X:419.08, Y:-17.60, Z:3.24 [[ 9.99997250e-01 -3.99298300e-04 -2.31107274e-03 4.19083639e+02] [ 3.99624070e-04 9.99999910e-01 1.40500221e-04 -1.76038247e+01] [ 2.31101644e-03 -1.41423395e-04 9.99997320e-01 3.24290922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.960714057 meters Centerline goodness [0,1] 0.977899781324152 Centerline is valid? [True, True] Translation: X:419.11, Y:-17.60, Z:3.24 [[ 9.99998114e-01 -2.17102507e-04 -1.93015670e-03 4.19113598e+02] [ 2.17328951e-04 9.99999970e-01 1.17109987e-04 -1.76045152e+01] [ 1.93013122e-03 -1.17529245e-04 9.99998130e-01 3.24332831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.990714057 meters Centerline goodness [0,1] 0.9773245267221731 Centerline is valid? [True, True] Translation: X:419.14, Y:-17.61, Z:3.24 [[ 9.99998588e-01 -7.08647101e-05 -1.67907128e-03 4.19143134e+02] [ 7.10359948e-05 9.99999992e-01 1.01952168e-04 -1.76107990e+01] [ 1.67906404e-03 -1.02071299e-04 9.99998585e-01 3.24255998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.020714057 meters Centerline goodness [0,1] 0.9771776517616436 Centerline is valid? [True, True] Translation: X:419.17, Y:-17.61, Z:3.24 [[ 9.99998945e-01 5.30778162e-04 -1.35235851e-03 4.19173351e+02] [-5.30667666e-04 9.99999856e-01 8.20636142e-05 -1.76103541e+01] [ 1.35240187e-03 -8.13458747e-05 9.99999082e-01 3.24272573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.050714057 meters Centerline goodness [0,1] 0.9781104921077066 Centerline is valid? [True, True] Translation: X:419.20, Y:-17.61, Z:3.24 [[ 9.99998561e-01 9.64731283e-04 -1.39516905e-03 4.19203106e+02] [-9.64614353e-04 9.99999531e-01 8.44810363e-05 -1.76132722e+01] [ 1.39524990e-03 -8.31351147e-05 9.99999023e-01 3.24273354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.080714057 meters Centerline goodness [0,1] 0.9768804949527841 Centerline is valid? [True, True] Translation: X:419.23, Y:-17.62, Z:3.24 [[ 9.99997591e-01 1.15063817e-03 -1.86905945e-03 4.19232244e+02] [-1.15042858e-03 9.99999332e-01 1.13207179e-04 -1.76159684e+01] [ 1.86918847e-03 -1.11056687e-04 9.99998247e-01 3.24257890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.110714057 meters Centerline goodness [0,1] 0.9766007281834836 Centerline is valid? [True, True] Translation: X:419.26, Y:-17.62, Z:3.24 [[ 9.99995151e-01 4.83397408e-04 -3.07646779e-03 4.19260916e+02] [-4.82826773e-04 9.99999866e-01 1.86224060e-04 -1.76203592e+01] [ 3.07655740e-03 -1.84737756e-04 9.99995250e-01 3.24114492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.140714057 meters Centerline goodness [0,1] 0.9770626259817892 Centerline is valid? [True, True] Translation: X:419.29, Y:-17.62, Z:3.24 [[ 9.99992706e-01 -2.06316241e-04 -3.81395740e-03 4.19290690e+02] [ 2.07198683e-04 9.99999952e-01 2.30978200e-04 -1.76241726e+01] [ 3.81390957e-03 -2.31766762e-04 9.99992700e-01 3.23986588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.170714057 meters Centerline goodness [0,1] 0.9755344583459066 Centerline is valid? [True, True] Translation: X:419.32, Y:-17.63, Z:3.24 [[ 9.99980021e-01 -2.70971642e-03 -5.71099760e-03 4.19320705e+02] [ 2.71173671e-03 9.99996263e-01 3.46040042e-04 -1.76303144e+01] [ 5.71003859e-03 -3.61519850e-04 9.99983632e-01 3.23850436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.200714057 meters Centerline goodness [0,1] 0.9758191410588671 Centerline is valid? [True, True] Translation: X:419.35, Y:-17.63, Z:3.24 [[ 9.99972987e-01 -4.34354269e-03 -5.92953510e-03 4.19349531e+02] [ 4.34574723e-03 9.99990493e-01 3.58956146e-04 -1.76348714e+01] [ 5.92791958e-03 -3.84714710e-04 9.99982356e-01 3.23788105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.230714057 meters Centerline goodness [0,1] 0.9738092478850389 Centerline is valid? [True, True] Translation: X:419.38, Y:-17.64, Z:3.24 [[ 9.99944537e-01 -7.99665046e-03 -6.85387280e-03 4.19378250e+02] [ 7.99968152e-03 9.99967916e-01 4.14939322e-04 -1.76427973e+01] [ 6.85033477e-03 -4.69745108e-04 9.99976426e-01 3.23684341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26071405700003 meters Centerline goodness [0,1] 0.9731269981003567 Centerline is valid? [True, True] Translation: X:419.41, Y:-17.65, Z:3.24 [[ 9.99928553e-01 -9.51094707e-03 -7.24091535e-03 4.19407955e+02] [ 9.51437082e-03 9.99954641e-01 4.38532772e-04 -1.76481965e+01] [ 7.23641605e-03 -5.07394194e-04 9.99973688e-01 3.23639452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.290714057 meters Centerline goodness [0,1] 0.97356204447333 Centerline is valid? [True, True] Translation: X:419.44, Y:-17.65, Z:3.24 [[ 9.99914993e-01 -1.07867116e-02 -7.32492415e-03 4.19438299e+02] [ 1.07902494e-02 9.99941685e-01 4.43620611e-04 -1.76522277e+01] [ 7.31971179e-03 -5.22620659e-04 9.99973074e-01 3.23666054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32071405700003 meters Centerline goodness [0,1] 0.9764493591819738 Centerline is valid? [True, True] Translation: X:419.47, Y:-17.64, Z:3.24 [[ 9.99901603e-01 -1.20724013e-02 -7.14429190e-03 4.19470265e+02] [ 1.20758032e-02 9.99926991e-01 4.33218508e-04 -1.76446897e+01] [ 7.13854031e-03 -5.19448944e-04 9.99974385e-01 3.23937585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.350714057 meters Centerline goodness [0,1] 0.9771250144558806 Centerline is valid? [True, True] Translation: X:419.50, Y:-17.65, Z:3.24 [[ 9.99897759e-01 -1.22699293e-02 -7.34306149e-03 4.19501859e+02] [ 1.22735323e-02 9.99924578e-01 4.45797758e-04 -1.76479673e+01] [ 7.33703776e-03 -5.35877481e-04 9.99972940e-01 3.23935714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.380714057 meters Centerline goodness [0,1] 0.9765522025667708 Centerline is valid? [True, True] Translation: X:419.53, Y:-17.65, Z:3.24 [[ 9.99900672e-01 -1.19562475e-02 -7.46279794e-03 4.19533152e+02] [ 1.19599631e-02 9.99928374e-01 4.53450379e-04 -1.76527303e+01] [ 7.45684185e-03 -5.42660127e-04 9.99972050e-01 3.23944602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.410714057 meters Centerline goodness [0,1] 0.9760166358595194 Centerline is valid? [True, True] Translation: X:419.56, Y:-17.66, Z:3.24 [[ 9.99906415e-01 -1.17263304e-02 -7.04660147e-03 4.19563964e+02] [ 1.17296401e-02 9.99931114e-01 4.28547680e-04 -1.76566306e+01] [ 7.04109076e-03 -5.11161674e-04 9.99975081e-01 3.23949038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.440714057 meters Centerline goodness [0,1] 0.9750783121429888 Centerline is valid? [True, True] Translation: X:419.60, Y:-17.66, Z:3.24 [[ 9.99910875e-01 -1.17684669e-02 -6.30432023e-03 4.19595221e+02] [ 1.17711176e-02 9.99930644e-01 3.83520713e-04 -1.76611832e+01] [ 6.29936954e-03 -4.57695427e-04 9.99980054e-01 3.24039768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.470714057 meters Centerline goodness [0,1] 0.9752515136864884 Centerline is valid? [True, True] Translation: X:419.63, Y:-17.66, Z:3.24 [[ 9.99913544e-01 -1.16739801e-02 -6.05171258e-03 4.19627613e+02] [ 1.16764251e-02 9.99931760e-01 3.68856151e-04 -1.76639536e+01] [ 6.04699359e-03 -4.39486629e-04 9.99981620e-01 3.24055701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.500714057 meters Centerline goodness [0,1] 0.9761312321445028 Centerline is valid? [True, True] Translation: X:419.66, Y:-17.66, Z:3.24 [[ 9.99907413e-01 -1.20042843e-02 -6.40793657e-03 4.19660144e+02] [ 1.20070352e-02 9.99927837e-01 3.90999429e-04 -1.76630197e+01] [ 6.40278048e-03 -4.67903547e-04 9.99979393e-01 3.24179569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.530714057 meters Centerline goodness [0,1] 0.9769530080814127 Centerline is valid? [True, True] Translation: X:419.69, Y:-17.67, Z:3.24 [[ 9.99903887e-01 -1.22019842e-02 -6.58247686e-03 4.19692658e+02] [ 1.22048942e-02 9.99925437e-01 4.02094925e-04 -1.76660635e+01] [ 6.57707969e-03 -4.82394712e-04 9.99978254e-01 3.24129830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.560714057 meters Centerline goodness [0,1] 0.9769530080814127 Centerline is valid? [True, True] Translation: X:419.72, Y:-17.67, Z:3.24 [[ 9.99904739e-01 -1.21319893e-02 -6.58244866e-03 4.19724380e+02] [ 1.21349008e-02 9.99926288e-01 4.02556622e-04 -1.76680611e+01] [ 6.57707964e-03 -4.82395636e-04 9.99978254e-01 3.24104215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.590714057 meters Centerline goodness [0,1] 0.9765185731403816 Centerline is valid? [True, True] Translation: X:419.76, Y:-17.67, Z:3.24 [[ 9.99892494e-01 -1.25393528e-02 -7.60037286e-03 4.19755900e+02] [ 1.25432475e-02 9.99921222e-01 4.64979554e-04 -1.76708606e+01] [ 7.59394358e-03 -5.60262923e-04 9.99971009e-01 3.24045588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.620714057 meters Centerline goodness [0,1] 0.976262695895951 Centerline is valid? [True, True] Translation: X:419.79, Y:-17.68, Z:3.24 [[ 9.99873778e-01 -1.33674657e-02 -8.58707940e-03 4.19786473e+02] [ 1.33724686e-02 9.99910446e-01 5.25446413e-04 -1.76763115e+01] [ 8.57928651e-03 -6.40210540e-04 9.99962992e-01 3.23935107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.650714057 meters Centerline goodness [0,1] 0.9764159617506436 Centerline is valid? [True, True] Translation: X:419.82, Y:-17.68, Z:3.24 [[ 9.99865845e-01 -1.37132775e-02 -8.95753756e-03 4.19817357e+02] [ 1.37187377e-02 9.99905743e-01 5.48401352e-04 -1.76796389e+01] [ 8.94917287e-03 -6.71213890e-04 9.99959730e-01 3.23859438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.680714057 meters Centerline goodness [0,1] 0.9732339955849889 Centerline is valid? [True, True] Translation: X:419.85, Y:-17.69, Z:3.24 [[ 9.99840850e-01 -1.47048671e-02 -1.01015422e-02 4.19846955e+02] [ 1.47118583e-02 9.99891584e-01 6.18130763e-04 -1.76852547e+01] [ 1.00913575e-02 -7.66644845e-04 9.99948787e-01 3.23701035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.710714057 meters Centerline goodness [0,1] 0.9775045474430706 Centerline is valid? [True, True] Translation: X:419.88, Y:-17.68, Z:3.24 [[ 9.99834988e-01 -1.46705028e-02 -1.07131779e-02 4.19878624e+02] [ 1.46783715e-02 9.99892052e-01 6.56225803e-04 -1.76773622e+01] [ 1.07023942e-02 -8.13369523e-04 9.99942397e-01 3.23918005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.740714057 meters Centerline goodness [0,1] 0.9762260937607881 Centerline is valid? [True, True] Translation: X:419.91, Y:-17.68, Z:3.24 [[ 9.99838908e-01 -1.40362224e-02 -1.11867001e-02 4.19909769e+02] [ 1.40447670e-02 9.99901132e-01 6.85617236e-04 -1.76769911e+01] [ 1.11759707e-02 -8.42621386e-04 9.99937192e-01 3.23998008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.770714057 meters Centerline goodness [0,1] 0.9743631123919309 Centerline is valid? [True, True] Translation: X:419.94, Y:-17.69, Z:3.24 [[ 9.99836917e-01 -1.41028963e-02 -1.12804354e-02 4.19939229e+02] [ 1.41115895e-02 9.99900188e-01 6.91414457e-04 -1.76875388e+01] [ 1.12695586e-02 -8.50486574e-04 9.99936135e-01 3.23732312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.800714057 meters Centerline goodness [0,1] 0.9764233643997416 Centerline is valid? [True, True] Translation: X:419.97, Y:-17.68, Z:3.24 [[ 9.99838710e-01 -1.37536764e-02 -1.15494909e-02 4.19971437e+02] [ 1.37627724e-02 9.99905038e-01 7.08451917e-04 -1.76798960e+01] [ 1.15386503e-02 -8.67290665e-04 9.99933051e-01 3.23963976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.830714057 meters Centerline goodness [0,1] 0.9767811851510261 Centerline is valid? [True, True] Translation: X:420.00, Y:-17.68, Z:3.24 [[ 9.99847316e-01 -1.37947667e-02 -1.07260581e-02 4.20001703e+02] [ 1.38026114e-02 9.99904523e-01 6.57678256e-04 -1.76788289e+01] [ 1.07159615e-02 -8.05625451e-04 9.99942258e-01 3.24085963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.860714057 meters Centerline goodness [0,1] 0.9766368085695817 Centerline is valid? [True, True] Translation: X:420.03, Y:-17.68, Z:3.24 [[ 9.99842057e-01 -1.40308422e-02 -1.09085512e-02 4.20033349e+02] [ 1.40389773e-02 9.99901225e-01 6.69540569e-04 -1.76804845e+01] [ 1.08980795e-02 -8.22579722e-04 9.99940276e-01 3.24073409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.890714057 meters Centerline goodness [0,1] 0.9764054830045383 Centerline is valid? [True, True] Translation: X:420.06, Y:-17.68, Z:3.24 [[ 9.99830963e-01 -1.46978064e-02 -1.10462814e-02 4.20064832e+02] [ 1.47061931e-02 9.99891628e-01 6.78382422e-04 -1.76808026e+01] [ 1.10351136e-02 -8.40716497e-04 9.99938758e-01 3.24069145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.920714057 meters Centerline goodness [0,1] 0.9764038439272895 Centerline is valid? [True, True] Translation: X:420.10, Y:-17.68, Z:3.24 [[ 9.99822160e-01 -1.50083765e-02 -1.14191673e-02 4.20096484e+02] [ 1.50173636e-02 9.99886987e-01 7.01675647e-04 -1.76823619e+01] [ 1.14073458e-02 -8.73036648e-04 9.99934553e-01 3.24053190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.950714057 meters Centerline goodness [0,1] 0.9776680116877696 Centerline is valid? [True, True] Translation: X:420.13, Y:-17.68, Z:3.24 [[ 9.99802236e-01 -1.63022803e-02 -1.13896658e-02 4.20127868e+02] [ 1.63113091e-02 9.99866717e-01 7.00267895e-04 -1.76823654e+01] [ 1.13767317e-02 -8.85909766e-04 9.99934890e-01 3.24040763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.980714057 meters Centerline goodness [0,1] 0.9783153207477155 Centerline is valid? [True, True] Translation: X:420.16, Y:-17.68, Z:3.24 [[ 9.99796172e-01 -1.67515888e-02 -1.12693836e-02 4.20160420e+02] [ 1.67604689e-02 9.99859293e-01 6.93990213e-04 -1.76808486e+01] [ 1.12561724e-02 -8.82728911e-04 9.99936258e-01 3.24102246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.01071405700003 meters Centerline goodness [0,1] 0.9751889315195907 Centerline is valid? [True, True] Translation: X:420.19, Y:-17.69, Z:3.24 [[ 9.99790972e-01 -1.75459416e-02 -1.04953226e-02 4.20190607e+02] [ 1.75537058e-02 9.99845712e-01 6.48109302e-04 -1.76894347e+01] [ 1.04823316e-02 -8.32205635e-04 9.99944713e-01 3.23956856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.040714057 meters Centerline goodness [0,1] 0.9757343255298006 Centerline is valid? [True, True] Translation: X:420.22, Y:-17.69, Z:3.24 [[ 9.99792457e-01 -1.76821143e-02 -1.01185849e-02 4.20223458e+02] [ 1.76893412e-02 9.99843336e-01 6.25160101e-04 -1.76856806e+01] [ 1.01059455e-02 -8.04021454e-04 9.99948610e-01 3.24100569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.07071405700003 meters Centerline goodness [0,1] 0.9765264775744027 Centerline is valid? [True, True] Translation: X:420.26, Y:-17.68, Z:3.24 [[ 9.99772744e-01 -1.83730883e-02 -1.08116029e-02 4.20255207e+02] [ 1.83813835e-02 9.99830825e-01 6.68378801e-04 -1.76846706e+01] [ 1.07974937e-02 -8.66959127e-04 9.99941330e-01 3.24090562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.100714057 meters Centerline goodness [0,1] 0.9749036102348405 Centerline is valid? [True, True] Translation: X:420.28, Y:-17.69, Z:3.24 [[ 9.99740532e-01 -1.95948971e-02 -1.16150235e-02 4.20284715e+02] [ 1.96045678e-02 9.99807553e-01 7.19322436e-04 -1.76898506e+01] [ 1.15986932e-02 -9.46843311e-04 9.99932285e-01 3.23913909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.130714057 meters Centerline goodness [0,1] 0.9763055302658916 Centerline is valid? [True, True] Translation: X:420.32, Y:-17.69, Z:3.24 [[ 9.99724771e-01 -2.02795288e-02 -1.17950704e-02 4.20316567e+02] [ 2.02895532e-02 9.99793879e-01 7.30822226e-04 -1.76870122e+01] [ 1.17778184e-02 -9.69937790e-04 9.99930169e-01 3.23923072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.160714057 meters Centerline goodness [0,1] 0.9762829208962904 Centerline is valid? [True, True] Translation: X:420.35, Y:-17.69, Z:3.24 [[ 9.99716743e-01 -2.01103826e-02 -1.27281436e-02 4.20348159e+02] [ 2.01220552e-02 9.99797219e-01 7.89655120e-04 -1.76896344e+01] [ 1.27096823e-02 -1.04554785e-03 9.99918682e-01 3.23822910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.190714057 meters Centerline goodness [0,1] 0.9758261359369133 Centerline is valid? [True, True] Translation: X:420.38, Y:-17.69, Z:3.24 [[ 9.99722307e-01 -1.92935162e-02 -1.35303298e-02 4.20379371e+02] [ 1.93066397e-02 9.99813257e-01 8.39971758e-04 -1.76917669e+01] [ 1.35115971e-02 -1.10096370e-03 9.99908108e-01 3.23700886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.220714057 meters Centerline goodness [0,1] 0.9768875917906232 Centerline is valid? [True, True] Translation: X:420.41, Y:-17.69, Z:3.24 [[ 9.99759314e-01 -1.73618744e-02 -1.34119263e-02 4.20409894e+02] [ 1.73745955e-02 9.99848704e-01 8.32540303e-04 -1.76909640e+01] [ 1.33954427e-02 -1.06536672e-03 9.99909709e-01 3.23689878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.250714057 meters Centerline goodness [0,1] 0.9769674155981649 Centerline is valid? [True, True] Translation: X:420.44, Y:-17.69, Z:3.24 [[ 9.99794723e-01 -1.57560962e-02 -1.27380482e-02 4.20441050e+02] [ 1.57674444e-02 9.99875373e-01 7.90945806e-04 -1.76906052e+01] [ 1.27239985e-02 -9.91629909e-04 9.99918555e-01 3.23737331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.280714057 meters Centerline goodness [0,1] 0.9781090771843745 Centerline is valid? [True, True] Translation: X:420.47, Y:-17.69, Z:3.24 [[ 9.99829939e-01 -1.38721268e-02 -1.21514383e-02 4.20471719e+02] [ 1.38823138e-02 9.99903351e-01 7.54388201e-04 -1.76854383e+01] [ 1.21397989e-02 -9.22949989e-04 9.99925884e-01 3.23910449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.310714057 meters Centerline goodness [0,1] 0.9769141886952626 Centerline is valid? [True, True] Translation: X:420.50, Y:-17.69, Z:3.24 [[ 9.99894817e-01 -1.00350910e-02 -1.04715055e-02 4.20501582e+02] [ 1.00424465e-02 9.99949362e-01 6.50090536e-04 -1.76896467e+01] [ 1.04644516e-02 -7.55181692e-04 9.99944961e-01 3.23816369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.340714057 meters Centerline goodness [0,1] 0.9777352788402512 Centerline is valid? [True, True] Translation: X:420.53, Y:-17.69, Z:3.24 [[ 9.99914528e-01 -8.42088017e-03 -1.00012968e-02 4.20531668e+02] [ 8.42750655e-03 9.99964295e-01 6.20591940e-04 -1.76874004e+01] [ 9.99571375e-03 -7.04824891e-04 9.99949793e-01 3.23887759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.370714057 meters Centerline goodness [0,1] 0.9785320362612133 Centerline is valid? [True, True] Translation: X:420.56, Y:-17.69, Z:3.24 [[ 9.99939535e-01 -6.07898631e-03 -9.16366324e-03 4.20562047e+02] [ 6.08444576e-03 9.99981328e-01 5.68010633e-04 -1.76850168e+01] [ 9.16003921e-03 -6.23732100e-04 9.99957851e-01 3.23946344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.400714057 meters Centerline goodness [0,1] 0.9796639093645564 Centerline is valid? [True, True] Translation: X:420.59, Y:-17.68, Z:3.24 [[ 9.99938340e-01 -4.32467417e-03 -1.02280699e-02 4.20591236e+02] [ 4.33134616e-03 9.99990421e-01 6.30260786e-04 -1.76841395e+01] [ 1.02252462e-02 -6.74523235e-04 9.99947493e-01 3.23817629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.430714057 meters Centerline goodness [0,1] 0.980036986106501 Centerline is valid? [True, True] Translation: X:420.62, Y:-17.69, Z:3.24 [[ 9.99930588e-01 -2.81202157e-03 -1.14416668e-02 4.20619277e+02] [ 2.82028027e-03 9.99995774e-01 7.05738572e-04 -1.76884782e+01] [ 1.14396339e-02 -7.37958293e-04 9.99934293e-01 3.23542614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.460714057 meters Centerline goodness [0,1] 0.9790382244143033 Centerline is valid? [True, True] Translation: X:420.65, Y:-17.69, Z:3.23 [[ 9.99927545e-01 -1.73531563e-03 -1.19119192e-02 4.20647055e+02] [ 1.74417825e-03 9.99998210e-01 7.33664420e-04 -1.76914644e+01] [ 1.19106247e-02 -7.54387773e-04 9.99928781e-01 3.23354943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.490714057 meters Centerline goodness [0,1] 0.9805079319911788 Centerline is valid? [True, True] Translation: X:420.68, Y:-17.69, Z:3.23 [[ 9.99920382e-01 -1.50422676e-03 -1.25286624e-02 4.20675449e+02] [ 1.51396237e-03 9.99998559e-01 7.67619345e-04 -1.76920352e+01] [ 1.25274896e-02 -7.86526152e-04 9.99921219e-01 3.23317206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.520714057 meters Centerline goodness [0,1] 0.9799177698029803 Centerline is valid? [True, True] Translation: X:420.70, Y:-17.69, Z:3.23 [[ 9.99911297e-01 -1.79469918e-03 -1.31975897e-02 4.20704545e+02] [ 1.80548602e-03 9.99998046e-01 8.05464884e-04 -1.76870625e+01] [ 1.31961183e-02 -8.29221501e-04 9.99912584e-01 3.23473138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.550714057 meters Centerline goodness [0,1] 0.9826696778794722 Centerline is valid? [True, True] Translation: X:420.73, Y:-17.68, Z:3.24 [[ 9.99903786e-01 -2.22206517e-03 -1.36923700e-02 4.20733918e+02] [ 2.23366772e-03 9.99997159e-01 8.32138672e-04 -1.76806476e+01] [ 1.36904821e-02 -8.62642814e-04 9.99905909e-01 3.23673697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.580714057 meters Centerline goodness [0,1] 0.9818281283447898 Centerline is valid? [True, True] Translation: X:420.76, Y:-17.68, Z:3.24 [[ 9.99904959e-01 -1.97334319e-03 -1.36447743e-02 4.20761194e+02] [ 1.98484347e-03 9.99997686e-01 8.29343159e-04 -1.76838606e+01] [ 1.36431061e-02 -8.56347079e-04 9.99906562e-01 3.23548318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.610714057 meters Centerline goodness [0,1] 0.9819691577698695 Centerline is valid? [True, True] Translation: X:420.79, Y:-17.69, Z:3.23 [[ 9.99909133e-01 -1.49251398e-03 -1.33976678e-02 4.20788766e+02] [ 1.50353205e-03 9.99998540e-01 8.12352029e-04 -1.76863786e+01] [ 1.33964358e-02 -8.32422036e-04 9.99909917e-01 3.23450097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.640714057 meters Centerline goodness [0,1] 0.9819079728382164 Centerline is valid? [True, True] Translation: X:420.82, Y:-17.69, Z:3.24 [[ 9.99932276e-01 -8.73680641e-04 -1.16052166e-02 4.20817361e+02] [ 8.81899936e-04 9.99999364e-01 7.03142822e-04 -1.76855108e+01] [ 1.16045949e-02 -7.13329842e-04 9.99932410e-01 3.23586354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.670714057 meters Centerline goodness [0,1] 0.9814757567831071 Centerline is valid? [True, True] Translation: X:420.85, Y:-17.69, Z:3.24 [[ 9.99941751e-01 -1.21980017e-03 -1.07241517e-02 4.20845587e+02] [ 1.22682286e-03 9.99999037e-01 6.48293893e-04 -1.76870708e+01] [ 1.07233506e-02 -6.61412764e-04 9.99942284e-01 3.23679528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.700714057 meters Centerline goodness [0,1] 0.9812881903992011 Centerline is valid? [True, True] Translation: X:420.87, Y:-17.69, Z:3.24 [[ 9.99951767e-01 -2.84508461e-03 -9.40053015e-03 4.20873810e+02] [ 2.85054465e-03 9.99995776e-01 5.67474012e-04 -1.76882573e+01] [ 9.39887593e-03 -5.94243272e-04 9.99955653e-01 3.23835738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.730714057 meters Centerline goodness [0,1] 0.9794592030360532 Centerline is valid? [True, True] Translation: X:420.90, Y:-17.69, Z:3.24 [[ 9.99950405e-01 -3.69458554e-03 -9.24865188e-03 4.20901748e+02] [ 3.69989916e-03 9.99993000e-01 5.57485371e-04 -1.76933695e+01] [ 9.24652746e-03 -5.91676802e-04 9.99957075e-01 3.23760151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76071405700003 meters Centerline goodness [0,1] 0.9792461323414438 Centerline is valid? [True, True] Translation: X:420.93, Y:-17.70, Z:3.24 [[ 9.99939365e-01 -7.12034810e-03 -8.40039939e-03 4.20931257e+02] [ 7.12485439e-03 9.99974490e-01 5.06632415e-04 -1.76983362e+01] [ 8.39657769e-03 -5.66453318e-04 9.99964588e-01 3.23717128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.790714057 meters Centerline goodness [0,1] 0.9794434872908357 Centerline is valid? [True, True] Translation: X:420.96, Y:-17.70, Z:3.24 [[ 9.99929792e-01 -8.78185186e-03 -7.95556408e-03 4.20961350e+02] [ 8.78594721e-03 9.99961288e-01 4.79974397e-04 -1.77025318e+01] [ 7.95104104e-03 -5.49837865e-04 9.99968239e-01 3.23687961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82071405700003 meters Centerline goodness [0,1] 0.9776957827763192 Centerline is valid? [True, True] Translation: X:420.99, Y:-17.71, Z:3.24 [[ 9.99908983e-01 -1.04918787e-02 -8.48215891e-03 4.20990674e+02] [ 1.04965954e-02 9.99944778e-01 5.11744870e-04 -1.77085344e+01] [ 8.47632135e-03 -6.00732083e-04 9.99963895e-01 3.23539136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.850714057 meters Centerline goodness [0,1] 0.9775349835995941 Centerline is valid? [True, True] Translation: X:421.02, Y:-17.72, Z:3.23 [[ 9.99869467e-01 -1.32520545e-02 -9.24296800e-03 4.21020362e+02] [ 1.32577726e-02 9.99911956e-01 5.57644983e-04 -1.77168097e+01] [ 9.23476427e-03 -6.80113359e-04 9.99957127e-01 3.23373500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.880714057 meters Centerline goodness [0,1] 0.9779133014669523 Centerline is valid? [True, True] Translation: X:421.05, Y:-17.72, Z:3.23 [[ 9.99861276e-01 -1.38855013e-02 -9.19896738e-03 4.21052330e+02] [ 1.38912031e-02 9.99903358e-01 5.56219645e-04 -1.77162029e+01] [ 9.19035498e-03 -6.83927208e-04 9.99957534e-01 3.23474452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.910714057 meters Centerline goodness [0,1] 0.977936679681987 Centerline is valid? [True, True] Translation: X:421.08, Y:-17.72, Z:3.23 [[ 9.99832227e-01 -1.58625443e-02 -9.15956757e-03 4.21083142e+02] [ 1.58682810e-02 9.99873937e-01 5.53962623e-04 -1.77214833e+01] [ 9.14962563e-03 -6.99216275e-04 9.99957897e-01 3.23423365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.940714057 meters Centerline goodness [0,1] 0.976936835168973 Centerline is valid? [True, True] Translation: X:421.12, Y:-17.73, Z:3.23 [[ 9.99812084e-01 -1.68661368e-02 -9.55671676e-03 4.21115288e+02] [ 1.68724362e-02 9.99857483e-01 5.78911344e-04 -1.77254457e+01] [ 9.54559076e-03 -7.40047651e-04 9.99954166e-01 3.23344868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.970714057 meters Centerline goodness [0,1] 0.9755398388120021 Centerline is valid? [True, True] Translation: X:421.15, Y:-17.73, Z:3.23 [[ 9.99789650e-01 -1.81309069e-02 -9.58778427e-03 4.21146049e+02] [ 1.81373087e-02 9.99835337e-01 5.81164728e-04 -1.77346802e+01] [ 9.57566847e-03 -7.54939083e-04 9.99953867e-01 3.23119311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.000714057 meters Centerline goodness [0,1] 0.9770536511966897 Centerline is valid? [True, True] Translation: X:421.18, Y:-17.73, Z:3.23 [[ 9.99785086e-01 -1.83330315e-02 -9.67890361e-03 4.21178650e+02] [ 1.83395731e-02 9.99831643e-01 5.87533081e-04 -1.77326181e+01] [ 9.66650284e-03 -7.64913773e-04 9.99952986e-01 3.23174990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.030714057 meters Centerline goodness [0,1] 0.9771264017980474 Centerline is valid? [True, True] Translation: X:421.21, Y:-17.74, Z:3.23 [[ 9.99783788e-01 -1.87782080e-02 -8.93060668e-03 4.21210281e+02] [ 1.87838009e-02 9.99823422e-01 5.42785713e-04 -1.77387444e+01] [ 8.91883718e-03 -7.10419094e-04 9.99959974e-01 3.23116422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.060714057 meters Centerline goodness [0,1] 0.9779009400869931 Centerline is valid? [True, True] Translation: X:421.24, Y:-17.74, Z:3.23 [[ 9.99790079e-01 -1.88052612e-02 -8.13391055e-03 4.21242326e+02] [ 1.88099070e-02 9.99822955e-01 4.95033746e-04 -1.77371325e+01] [ 8.12316125e-03 -6.47927929e-04 9.99966797e-01 3.23197821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.090714057 meters Centerline goodness [0,1] 0.9761028981093175 Centerline is valid? [True, True] Translation: X:421.27, Y:-17.74, Z:3.23 [[ 9.99793358e-01 -1.89300757e-02 -7.40900030e-03 4.21272790e+02] [ 1.89339434e-02 9.99820635e-01 4.52221911e-04 -1.77448821e+01] [ 7.39911078e-03 -5.92410056e-04 9.99972451e-01 3.23093382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.120714057 meters Centerline goodness [0,1] 0.9753566192725664 Centerline is valid? [True, True] Translation: X:421.30, Y:-17.75, Z:3.23 [[ 9.99801905e-01 -1.89338998e-02 -6.13664970e-03 4.21304027e+02] [ 1.89365529e-02 9.99820617e-01 3.74523597e-04 -1.77504117e+01] [ 6.12845770e-03 -4.90656397e-04 9.99981100e-01 3.23088722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.150714057 meters Centerline goodness [0,1] 0.9760070745386423 Centerline is valid? [True, True] Translation: X:421.34, Y:-17.75, Z:3.23 [[ 9.99806647e-01 -1.89519623e-02 -5.24333198e-03 4.21336319e+02] [ 1.89539026e-02 9.99820307e-01 3.20587883e-04 -1.77511270e+01] [ 5.23631402e-03 -4.19907500e-04 9.99986202e-01 3.23099472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.180714057 meters Centerline goodness [0,1] 0.97580081130228 Centerline is valid? [True, True] Translation: X:421.37, Y:-17.76, Z:3.23 [[ 9.99789417e-01 -2.00446926e-02 -4.39684144e-03 4.21367170e+02] [ 2.00460682e-02 9.99799021e-01 2.69008794e-04 -1.77582649e+01] [ 4.39056557e-03 -3.57091528e-04 9.99990298e-01 3.23067033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.210714057 meters Centerline goodness [0,1] 0.9750318176559065 Centerline is valid? [True, True] Translation: X:421.40, Y:-17.77, Z:3.23 [[ 9.99779884e-01 -2.06036214e-02 -3.95901577e-03 4.21398429e+02] [ 2.06047421e-02 9.99787670e-01 2.42471069e-04 -1.77651212e+01] [ 3.95317938e-03 -3.23992196e-04 9.99992134e-01 3.22989591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.240714057 meters Centerline goodness [0,1] 0.9749403064654473 Centerline is valid? [True, True] Translation: X:421.43, Y:-17.77, Z:3.23 [[ 9.99719065e-01 -2.32667388e-02 -4.52214296e-03 4.21428715e+02] [ 2.32682267e-02 9.99729220e-01 2.76685905e-04 -1.77708696e+01] [ 4.51448087e-03 -3.81830421e-04 9.99989737e-01 3.22851006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.270714057 meters Centerline goodness [0,1] 0.9739241092086997 Centerline is valid? [True, True] Translation: X:421.46, Y:-17.78, Z:3.23 [[ 9.99688638e-01 -2.43258404e-02 -5.55693672e-03 4.21459673e+02] [ 2.43281064e-02 9.99703970e-01 3.40542607e-04 -1.77764898e+01] [ 5.54700772e-03 -4.75626323e-04 9.99984502e-01 3.22687321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.300714057 meters Centerline goodness [0,1] 0.97260558984673 Centerline is valid? [True, True] Translation: X:421.49, Y:-17.78, Z:3.23 [[ 9.99644500e-01 -2.58788960e-02 -6.41537367e-03 4.21490898e+02] [ 2.58819480e-02 9.99664929e-01 3.93163258e-04 -1.77834543e+01] [ 6.40304943e-03 -5.59065856e-04 9.99979344e-01 3.22540017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.330714057 meters Centerline goodness [0,1] 0.9765523932729625 Centerline is valid? [True, True] Translation: X:421.52, Y:-17.78, Z:3.23 [[ 9.99637822e-01 -2.60352483e-02 -6.81109507e-03 4.21522990e+02] [ 2.60386973e-02 9.99660848e-01 4.18176981e-04 -1.77822257e+01] [ 6.79789773e-03 -5.95377569e-04 9.99976717e-01 3.22558278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.360714057 meters Centerline goodness [0,1] 0.9704837071909905 Centerline is valid? [True, True] Translation: X:421.55, Y:-17.79, Z:3.22 [[ 9.99634154e-01 -2.61740878e-02 -6.81734055e-03 4.21553733e+02] [ 2.61775548e-02 9.99657221e-01 4.19816491e-04 -1.77917194e+01] [ 6.80401539e-03 -5.98124209e-04 9.99976674e-01 3.22422148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.390714057 meters Centerline goodness [0,1] 0.9679128371685901 Centerline is valid? [True, True] Translation: X:421.58, Y:-17.80, Z:3.22 [[ 9.99655139e-01 -2.55696766e-02 -5.98290951e-03 4.21584499e+02] [ 2.55723352e-02 9.99672907e-01 3.68275592e-04 -1.77972667e+01] [ 5.97153585e-03 -5.21145556e-04 9.99982034e-01 3.22463101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.420714057 meters Centerline goodness [0,1] 0.9679128371685901 Centerline is valid? [True, True] Translation: X:421.62, Y:-17.80, Z:3.22 [[ 9.99656859e-01 -2.55023321e-02 -5.98287640e-03 4.21616252e+02] [ 2.55049926e-02 9.99674627e-01 3.68813499e-04 -1.77992859e+01] [ 5.97152413e-03 -5.21280163e-04 9.99982034e-01 3.22437453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.450714057 meters Centerline goodness [0,1] 0.9709928229665071 Centerline is valid? [True, True] Translation: X:421.65, Y:-17.80, Z:3.22 [[ 9.99670359e-01 -2.49806553e-02 -5.92784176e-03 4.21648810e+02] [ 2.49832605e-02 9.99687803e-01 3.65831182e-04 -1.78011824e+01] [ 5.91685240e-03 -5.13807404e-04 9.99982363e-01 3.22430838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.480714057 meters Centerline goodness [0,1] 0.9620064279155188 Centerline is valid? [True, True] Translation: X:421.68, Y:-17.81, Z:3.22 [[ 9.99702281e-01 -2.38390840e-02 -5.20073921e-03 4.21679058e+02] [ 2.38410738e-02 9.99715710e-01 3.20926386e-04 -1.78083696e+01] [ 5.19161010e-03 -4.44822048e-04 9.99986425e-01 3.22450503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.51071405700003 meters Centerline goodness [0,1] 0.9763974585407252 Centerline is valid? [True, True] Translation: X:421.71, Y:-17.80, Z:3.23 [[ 9.99712080e-01 -2.34029910e-02 -5.29681504e-03 4.21711979e+02] [ 2.34050524e-02 9.99726011e-01 3.27520620e-04 -1.78009014e+01] [ 5.28769880e-03 -4.51398554e-04 9.99985918e-01 3.22617603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.540714057 meters Centerline goodness [0,1] 0.9769457722480159 Centerline is valid? [True, True] Translation: X:421.74, Y:-17.80, Z:3.23 [[ 9.99747423e-01 -2.20189191e-02 -4.50087310e-03 4.21742897e+02] [ 2.20203934e-02 9.99757483e-01 2.78265705e-04 -1.78042682e+01] [ 4.49365445e-03 -3.77306417e-04 9.99989832e-01 3.22636200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.57071405700003 meters Centerline goodness [0,1] 0.9765071529777413 Centerline is valid? [True, True] Translation: X:421.77, Y:-17.81, Z:3.23 [[ 9.99769371e-01 -2.10022239e-02 -4.48468089e-03 4.21774233e+02] [ 2.10036782e-02 9.99779360e-01 2.77422508e-04 -1.78074378e+01] [ 4.47786490e-03 -3.71553321e-04 9.99989905e-01 3.22614911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.600714057 meters Centerline goodness [0,1] 0.976634766918667 Centerline is valid? [True, True] Translation: X:421.81, Y:-17.81, Z:3.23 [[ 9.99790490e-01 -1.99855571e-02 -4.42202021e-03 4.21806633e+02] [ 1.99869647e-02 9.99800203e-01 2.74350486e-04 -1.78115213e+01] [ 4.41565365e-03 -3.62675768e-04 9.99990185e-01 3.22567851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.630714057 meters Centerline goodness [0,1] 0.9773599561363429 Centerline is valid? [True, True] Translation: X:421.84, Y:-17.82, Z:3.23 [[ 9.99833980e-01 -1.77015720e-02 -4.32053838e-03 4.21835967e+02] [ 1.77028953e-02 9.99843255e-01 2.68222361e-04 -1.78158169e+01] [ 4.31511320e-03 -3.44663869e-04 9.99990630e-01 3.22527669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.660714057 meters Centerline goodness [0,1] 0.9778310502283105 Centerline is valid? [True, True] Translation: X:421.87, Y:-17.82, Z:3.22 [[ 9.99864379e-01 -1.59604429e-02 -4.06054946e-03 4.21867030e+02] [ 1.59615970e-02 9.99872574e-01 2.51986676e-04 -1.78168511e+01] [ 4.05601022e-03 -3.16765355e-04 9.99991724e-01 3.22463379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.690714057 meters Centerline goodness [0,1] 0.9778370005922281 Centerline is valid? [True, True] Translation: X:421.90, Y:-17.82, Z:3.22 [[ 9.99879741e-01 -1.49662447e-02 -4.06390409e-03 4.21897899e+02] [ 1.49673940e-02 9.99887950e-01 2.52544734e-04 -1.78228858e+01] [ 4.05966909e-03 -3.13340418e-04 9.99991710e-01 3.22352639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.720714057 meters Centerline goodness [0,1] 0.9784373933810986 Centerline is valid? [True, True] Translation: X:421.93, Y:-17.83, Z:3.22 [[ 9.99907101e-01 -1.30790101e-02 -3.83774057e-03 4.21928446e+02] [ 1.30800213e-02 9.99914424e-01 2.38499337e-04 -1.78276415e+01] [ 3.83429282e-03 -2.88674909e-04 9.99992607e-01 3.22285538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.750714057 meters Centerline goodness [0,1] 0.981302444363371 Centerline is valid? [True, True] Translation: X:421.96, Y:-17.82, Z:3.22 [[ 9.99912880e-01 -1.25025757e-02 -4.23305164e-03 4.21961522e+02] [ 1.25038032e-02 9.99921790e-01 2.63650423e-04 -1.78204322e+01] [ 4.22942426e-03 -3.16556699e-04 9.99991006e-01 3.22390834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.780714057 meters Centerline goodness [0,1] 0.9797418796804225 Centerline is valid? [True, True] Translation: X:421.99, Y:-17.83, Z:3.22 [[ 9.99928140e-01 -1.14833127e-02 -3.44209055e-03 4.21991136e+02] [ 1.14841202e-02 9.99934032e-01 2.14921972e-04 -1.78305062e+01] [ 3.43939546e-03 -2.54435909e-04 9.99994053e-01 3.22275738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.810714057 meters Centerline goodness [0,1] 0.9787867764085307 Centerline is valid? [True, True] Translation: X:422.02, Y:-17.84, Z:3.22 [[ 9.99933083e-01 -1.12261949e-02 -2.79314063e-03 4.22022134e+02] [ 1.12267276e-02 9.99936963e-01 1.75118718e-04 -1.78350775e+01] [ 2.79099864e-03 -2.06464829e-04 9.99996084e-01 3.22319793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.840714057 meters Centerline goodness [0,1] 0.9806510357386752 Centerline is valid? [True, True] Translation: X:422.05, Y:-17.83, Z:3.22 [[ 9.99932784e-01 -1.13691578e-02 -2.27381313e-03 4.22054761e+02] [ 1.13695112e-02 9.99935355e-01 1.42520363e-04 -1.78300353e+01] [ 2.27204581e-03 -1.68362927e-04 9.99997405e-01 3.22459168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.870714057 meters Centerline goodness [0,1] 0.980611687602403 Centerline is valid? [True, True] Translation: X:422.09, Y:-17.84, Z:3.22 [[ 9.99928261e-01 -1.19268432e-02 -1.10589058e-03 4.22085582e+02] [ 1.19269280e-02 9.99928869e-01 7.00486335e-05 -1.78372643e+01] [ 1.10497646e-03 -8.32334856e-05 9.99999386e-01 3.22461740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.900714057 meters Centerline goodness [0,1] 0.9795895328622067 Centerline is valid? [True, True] Translation: X:422.12, Y:-17.84, Z:3.22 [[ 9.99926446e-01 -1.21278637e-02 -1.33786339e-04 4.22117981e+02] [ 1.21278650e-02 9.99926455e-01 8.94206463e-06 -1.78420173e+01] [ 1.33668051e-04 -1.05639496e-05 9.99999991e-01 3.22477664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.930714057 meters Centerline goodness [0,1] 0.9788692563516662 Centerline is valid? [True, True] Translation: X:422.15, Y:-17.85, Z:3.23 [[ 9.99910966e-01 -1.32784277e-02 1.32046426e-03 4.22149054e+02] [ 1.32785475e-02 9.99911833e-01 -8.20128984e-05 -1.78496219e+01] [-1.31925883e-03 9.95394438e-05 9.99999125e-01 3.22566780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.960714057 meters Centerline goodness [0,1] 0.9792227779915352 Centerline is valid? [True, True] Translation: X:422.18, Y:-17.85, Z:3.23 [[ 9.99910742e-01 -1.32508365e-02 1.70973334e-03 4.22180504e+02] [ 1.32510379e-02 9.99912195e-01 -1.06524724e-04 -1.78543050e+01] [-1.70817168e-03 1.29170957e-04 9.99998533e-01 3.22585171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.990714057 meters Centerline goodness [0,1] 0.9790276238094161 Centerline is valid? [True, True] Translation: X:422.21, Y:-17.86, Z:3.23 [[ 9.99909756e-01 -1.31223182e-02 2.87827221e-03 4.22211509e+02] [ 1.31228909e-02 9.99913875e-01 -1.80181652e-04 -1.78609820e+01] [-2.87565992e-03 2.17936644e-04 9.99995842e-01 3.22617755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.020714057 meters Centerline goodness [0,1] 0.9796189532474552 Centerline is valid? [True, True] Translation: X:422.24, Y:-17.87, Z:3.23 [[ 9.99912102e-01 -1.29395034e-02 2.89084638e-03 4.22243283e+02] [ 1.29400821e-02 9.99916257e-01 -1.81563392e-04 -1.78651335e+01] [-2.88825495e-03 2.18955222e-04 9.99995805e-01 3.22530643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.050714057 meters Centerline goodness [0,1] 0.9789238275955543 Centerline is valid? [True, True] Translation: X:422.27, Y:-17.87, Z:3.22 [[ 9.99913006e-01 -1.29611618e-02 2.44725905e-03 4.22273839e+02] [ 1.29615762e-02 9.99915983e-01 -1.53534759e-04 -1.78706686e+01] [-2.44506345e-03 1.85241737e-04 9.99996994e-01 3.22455270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.080714057 meters Centerline goodness [0,1] 0.9795082889083834 Centerline is valid? [True, True] Translation: X:422.30, Y:-17.88, Z:3.22 [[ 9.99914835e-01 -1.28233982e-02 2.42558256e-03 4.22304990e+02] [ 1.28238064e-02 9.99917760e-01 -1.52793330e-04 -1.78773986e+01] [-2.42342375e-03 1.83885518e-04 9.99997047e-01 3.22314352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.110714057 meters Centerline goodness [0,1] 0.9786450497383963 Centerline is valid? [True, True] Translation: X:422.34, Y:-17.88, Z:3.22 [[ 9.99915589e-01 -1.28467691e-02 1.94324609e-03 4.22335981e+02] [ 1.28470311e-02 9.99917466e-01 -1.22431300e-04 -1.78842625e+01] [-1.94151286e-03 1.47385908e-04 9.99998104e-01 3.22205408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.140714057 meters Centerline goodness [0,1] 0.9777359673878959 Centerline is valid? [True, True] Translation: X:422.37, Y:-17.89, Z:3.22 [[ 9.99919631e-01 -1.25439528e-02 1.83853895e-03 4.22368378e+02] [ 1.25441868e-02 9.99921312e-01 -1.15804766e-04 -1.78887925e+01] [-1.83694163e-03 1.38858435e-04 9.99998303e-01 3.22179517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.170714057 meters Centerline goodness [0,1] 0.9774341454643531 Centerline is valid? [True, True] Translation: X:422.40, Y:-17.89, Z:3.22 [[ 9.99923374e-01 -1.22537468e-02 1.75850544e-03 4.22400096e+02] [ 1.22539606e-02 9.99924911e-01 -1.10857861e-04 -1.78925225e+01] [-1.75701497e-03 1.32398023e-04 9.99998448e-01 3.22140263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.200714057 meters Centerline goodness [0,1] 0.9779159279125614 Centerline is valid? [True, True] Translation: X:422.43, Y:-17.90, Z:3.22 [[ 9.99940612e-01 -1.06810375e-02 2.16534438e-03 4.22429917e+02] [ 1.06813592e-02 9.99942943e-01 -1.37057121e-04 -1.78975914e+01] [-2.16375692e-03 1.60177803e-04 9.99997646e-01 3.22109716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.230714057 meters Centerline goodness [0,1] 0.9823417366946778 Centerline is valid? [True, True] Translation: X:422.46, Y:-17.88, Z:3.22 [[ 9.99954876e-01 -9.25752605e-03 2.13183319e-03 4.22462855e+02] [ 9.25783408e-03 9.99957136e-01 -1.34669097e-04 -1.78840984e+01] [-2.13049511e-03 1.54399178e-04 9.99997719e-01 3.22209033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26071405700003 meters Centerline goodness [0,1] 0.9816777238523532 Centerline is valid? [True, True] Translation: X:422.49, Y:-17.89, Z:3.22 [[ 9.99979962e-01 -5.82198918e-03 2.48579457e-03 4.22492281e+02] [ 5.82239909e-03 9.99983037e-01 -1.57694665e-04 -1.78930121e+01] [-2.48483431e-03 1.72164793e-04 9.99996898e-01 3.22232378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.290714057 meters Centerline goodness [0,1] 0.9827593917710197 Centerline is valid? [True, True] Translation: X:422.52, Y:-17.88, Z:3.22 [[ 9.99988251e-01 -3.99919008e-03 2.73928416e-03 4.22524438e+02] [ 3.99968036e-03 9.99991986e-01 -1.73525464e-04 -1.78848556e+01] [-2.73856824e-03 1.84479687e-04 9.99996233e-01 3.22352904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32071405700003 meters Centerline goodness [0,1] 0.9836837150925636 Centerline is valid? [True, True] Translation: X:422.55, Y:-17.88, Z:3.22 [[ 9.99992186e-01 4.40703284e-04 3.92860492e-03 4.22554791e+02] [-4.39727349e-04 9.99999872e-01 -2.49278093e-04 -1.78834433e+01] [-3.92871428e-03 2.47548630e-04 9.99992252e-01 3.22456421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.350714057 meters Centerline goodness [0,1] 0.9832926474211103 Centerline is valid? [True, True] Translation: X:422.59, Y:-17.88, Z:3.22 [[ 9.99987483e-01 2.38182543e-03 4.40005876e-03 4.22586221e+02] [-2.38062045e-03 9.99997127e-01 -2.79070609e-04 -1.78842756e+01] [-4.40071082e-03 2.68592246e-04 9.99990281e-01 3.22465328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.380714057 meters Centerline goodness [0,1] 0.9825835189309576 Centerline is valid? [True, True] Translation: X:422.62, Y:-17.89, Z:3.22 [[ 9.99972416e-01 5.65097719e-03 4.82013729e-03 4.22617320e+02] [-5.64956774e-03 9.99983994e-01 -3.05975239e-04 -1.78854871e+01] [-4.82178920e-03 2.78735107e-04 9.99988336e-01 3.22414665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.410714057 meters Centerline goodness [0,1] 0.9842166621827638 Centerline is valid? [True, True] Translation: X:422.65, Y:-17.89, Z:3.22 [[ 9.99969186e-01 6.52609146e-03 4.36322685e-03 4.22648177e+02] [-6.52494430e-03 9.99978674e-01 -2.77101143e-04 -1.78860201e+01] [-4.36494219e-03 2.48622792e-04 9.99990443e-01 3.22363761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.440714057 meters Centerline goodness [0,1] 0.9839686098654709 Centerline is valid? [True, True] Translation: X:422.68, Y:-17.89, Z:3.22 [[ 9.99963017e-01 7.57355201e-03 4.07509285e-03 4.22678541e+02] [-7.57256002e-03 9.99971294e-01 -2.58802241e-04 -1.78877206e+01] [-4.07693592e-03 2.27933784e-04 9.99991663e-01 3.22274597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.470714057 meters Centerline goodness [0,1] 0.9841397849462366 Centerline is valid? [True, True] Translation: X:422.71, Y:-17.89, Z:3.22 [[ 9.99948859e-01 9.60606107e-03 3.16270898e-03 4.22707955e+02] [-9.60547314e-03 9.99953846e-01 -2.01032442e-04 -1.78893350e+01] [-3.16449413e-03 1.70642845e-04 9.99994978e-01 3.22165125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.500714057 meters Centerline goodness [0,1] 0.9836975994267287 Centerline is valid? [True, True] Translation: X:422.74, Y:-17.89, Z:3.22 [[ 9.99932272e-01 1.13030205e-02 2.77353322e-03 4.22736217e+02] [-1.13025745e-02 9.99936108e-01 -1.76415763e-04 -1.78923770e+01] [-2.77535005e-03 1.45055748e-04 9.99996138e-01 3.22101217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.530714057 meters Centerline goodness [0,1] 0.9841543771572011 Centerline is valid? [True, True] Translation: X:422.77, Y:-17.89, Z:3.22 [[ 9.99914818e-01 1.27031531e-02 2.99780305e-03 4.22765800e+02] [-1.27026394e-02 9.99919300e-01 -1.90341142e-04 -1.78903810e+01] [-2.99997906e-03 1.52244918e-04 9.99995488e-01 3.22153113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.560714057 meters Centerline goodness [0,1] 0.9847785150645624 Centerline is valid? [True, True] Translation: X:422.79, Y:-17.89, Z:3.22 [[ 9.99895962e-01 1.40949996e-02 3.06542410e-03 4.22793336e+02] [-1.40944689e-02 9.99900649e-01 -1.94635325e-04 -1.78938422e+01] [-3.06786293e-03 1.51409550e-04 9.99995283e-01 3.22136125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.590714057 meters Centerline goodness [0,1] 0.9847475495143889 Centerline is valid? [True, True] Translation: X:422.82, Y:-17.89, Z:3.22 [[ 9.99871797e-01 1.56464439e-02 3.40256755e-03 4.22821960e+02] [-1.56458007e-02 9.99877574e-01 -2.15566289e-04 -1.78945816e+01] [-3.40552383e-03 1.62302759e-04 9.99994188e-01 3.22154126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.620714057 meters Centerline goodness [0,1] 0.9851488460251979 Centerline is valid? [True, True] Translation: X:422.85, Y:-17.90, Z:3.22 [[ 9.99809761e-01 1.91856761e-02 3.51454970e-03 4.22850506e+02] [-1.91850129e-02 9.99815926e-01 -2.22313784e-04 -1.78976212e+01] [-3.51816800e-03 1.54844810e-04 9.99993799e-01 3.22202971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.650714057 meters Centerline goodness [0,1] 0.986547685443391 Centerline is valid? [True, True] Translation: X:422.88, Y:-17.89, Z:3.22 [[ 9.99740976e-01 2.26027126e-02 2.66433884e-03 4.22880403e+02] [-2.26023439e-02 9.99744520e-01 -1.68405895e-04 -1.78917788e+01] [-2.66746458e-03 1.08141971e-04 9.99996436e-01 3.22246014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.680714057 meters Centerline goodness [0,1] 0.986024496388353 Centerline is valid? [True, True] Translation: X:422.91, Y:-17.89, Z:3.22 [[ 9.99704616e-01 2.42178685e-02 2.04324758e-03 4.22908909e+02] [-2.42176546e-02 9.99706701e-01 -1.29354083e-04 -1.78930009e+01] [-2.04578098e-03 7.98332101e-05 9.99997904e-01 3.22210744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.710714057 meters Centerline goodness [0,1] 0.9870692558087327 Centerline is valid? [True, True] Translation: X:422.94, Y:-17.89, Z:3.22 [[ 9.99657050e-01 2.61059824e-02 2.06398881e-03 4.22938077e+02] [-2.61057685e-02 9.99659178e-01 -1.30520328e-04 -1.78933071e+01] [-2.06669272e-03 7.65935524e-05 9.99997861e-01 3.22199377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.740714057 meters Centerline goodness [0,1] 0.9874650251818691 Centerline is valid? [True, True] Translation: X:422.97, Y:-17.89, Z:3.22 [[ 9.99553901e-01 2.98107246e-02 1.82215217e-03 4.22968414e+02] [-2.98105647e-02 9.99555560e-01 -1.14829088e-04 -1.78940019e+01] [-1.82476547e-03 6.04584772e-05 9.99998333e-01 3.22212787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.770714057 meters Centerline goodness [0,1] 0.9875981161695447 Centerline is valid? [True, True] Translation: X:423.00, Y:-17.90, Z:3.22 [[ 9.99448621e-01 3.31490846e-02 1.89522954e-03 4.22996468e+02] [-3.31489171e-02 9.99450416e-01 -1.19718979e-04 -1.78960430e+01] [-1.89815652e-03 5.68281615e-05 9.99998197e-01 3.22208879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.800714057 meters Centerline goodness [0,1] 0.9880149979913404 Centerline is valid? [True, True] Translation: X:423.02, Y:-17.90, Z:3.22 [[ 9.99399277e-01 3.46213991e-02 1.56330355e-03 4.23024944e+02] [-3.46212870e-02 9.99400499e-01 -9.87428971e-05 -1.78970693e+01] [-1.56578496e-03 4.45599992e-05 9.99998773e-01 3.22213353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.830714057 meters Centerline goodness [0,1] 0.9882374028185423 Centerline is valid? [True, True] Translation: X:423.05, Y:-17.90, Z:3.22 [[ 9.99369510e-01 3.54997112e-02 5.94350639e-04 4.23053981e+02] [-3.54996950e-02 9.99369686e-01 -3.78649230e-05 -1.78978266e+01] [-5.95320206e-04 1.67417831e-05 9.99999823e-01 3.22182126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.860714057 meters Centerline goodness [0,1] 0.9888677343487513 Centerline is valid? [True, True] Translation: X:423.08, Y:-17.90, Z:3.22 [[ 9.99335665e-01 3.64447273e-02 1.05673778e-04 4.23081872e+02] [-3.64447267e-02 9.99335670e-01 -7.34251264e-06 -1.79016223e+01] [-1.05871171e-04 3.48638280e-06 9.99999994e-01 3.22082649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.890714057 meters Centerline goodness [0,1] 0.9873769024171889 Centerline is valid? [True, True] Translation: X:423.11, Y:-17.91, Z:3.22 [[ 9.99317831e-01 3.69297464e-02 -2.58807255e-04 4.23110254e+02] [-3.69297436e-02 9.99317864e-01 1.56243708e-05 -1.79070172e+01] [ 2.59207718e-04 -6.05602678e-06 9.99999966e-01 3.21996721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.920714057 meters Centerline goodness [0,1] 0.9878334113242864 Centerline is valid? [True, True] Translation: X:423.14, Y:-17.91, Z:3.22 [[ 9.99349777e-01 3.60432633e-02 -9.52470775e-04 4.23137939e+02] [-3.60432236e-02 9.99350230e-01 5.88034807e-05 -1.79140249e+01] [ 9.53971358e-04 -2.44351282e-05 9.99999545e-01 3.21942219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.950714057 meters Centerline goodness [0,1] 0.987348291459537 Centerline is valid? [True, True] Translation: X:423.17, Y:-17.92, Z:3.22 [[ 9.99392038e-01 3.48421251e-02 -1.25752451e-03 4.23166908e+02] [-3.48420547e-02 9.99392828e-01 7.78866376e-05 -1.79156991e+01] [ 1.25947472e-03 -3.40245476e-05 9.99999206e-01 3.22014468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.980714057 meters Centerline goodness [0,1] 0.9870989379541644 Centerline is valid? [True, True] Translation: X:423.19, Y:-17.93, Z:3.22 [[ 9.99429384e-01 3.37527255e-02 -1.28856564e-03 4.23194066e+02] [-3.37526509e-02 9.99430214e-01 7.95651487e-05 -1.79252113e+01] [ 1.29051698e-03 -3.60272411e-05 9.99999167e-01 3.21862863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.01071405700003 meters Centerline goodness [0,1] 0.98670017570002 Centerline is valid? [True, True] Translation: X:423.22, Y:-17.93, Z:3.22 [[ 9.99525132e-01 3.07783280e-02 -1.48479143e-03 4.23223416e+02] [-3.07782250e-02 9.99526234e-01 9.21913024e-05 -1.79303820e+01] [ 1.48692548e-03 -4.64482792e-05 9.99998893e-01 3.21964380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.040714057 meters Centerline goodness [0,1] 0.9879534198902423 Centerline is valid? [True, True] Translation: X:423.25, Y:-17.93, Z:3.22 [[ 9.99585337e-01 2.87604132e-02 -1.41185625e-03 4.23251770e+02] [-2.87603187e-02 9.99586333e-01 8.72436108e-05 -1.79330679e+01] [ 1.41378138e-03 -4.66019983e-05 9.99999000e-01 3.22013989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.07071405700003 meters Centerline goodness [0,1] 0.9869739478957916 Centerline is valid? [True, True] Translation: X:423.28, Y:-17.94, Z:3.22 [[ 9.99695664e-01 2.46438660e-02 -1.12210247e-03 4.23279712e+02] [-2.46438039e-02 9.99696293e-01 6.91418180e-05 -1.79416911e+01] [ 1.12346560e-03 -4.14679026e-05 9.99999368e-01 3.21914029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.100714057 meters Centerline goodness [0,1] 0.9867113319726684 Centerline is valid? [True, True] Translation: X:423.31, Y:-17.95, Z:3.22 [[ 9.99748294e-01 2.23962827e-02 -1.32479737e-03 4.23309050e+02] [-2.23961937e-02 9.99749170e-01 8.19813923e-05 -1.79468739e+01] [ 1.32630115e-03 -5.22903386e-05 9.99999119e-01 3.21872210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.130714057 meters Centerline goodness [0,1] 0.9855633180049522 Centerline is valid? [True, True] Translation: X:423.34, Y:-17.96, Z:3.22 [[ 9.99840838e-01 1.77421567e-02 -1.87487782e-03 4.23337577e+02] [-1.77419702e-02 9.99842592e-01 1.16076482e-04 -1.79574817e+01] [ 1.87664215e-03 -8.27939802e-05 9.99998236e-01 3.21692656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.160714057 meters Centerline goodness [0,1] 0.9862252242276602 Centerline is valid? [True, True] Translation: X:423.37, Y:-17.96, Z:3.22 [[ 9.99880622e-01 1.52936842e-02 -2.20091965e-03 4.23366952e+02] [-1.52934213e-02 9.99883040e-01 1.36233022e-04 -1.79596006e+01] [ 2.20274573e-03 -1.02557168e-04 9.99997569e-01 3.21701471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.190714057 meters Centerline goodness [0,1] 0.9853095948079285 Centerline is valid? [True, True] Translation: X:423.40, Y:-17.97, Z:3.22 [[ 9.99935039e-01 1.10701409e-02 -2.71484022e-03 4.23395487e+02] [-1.10697254e-02 9.99938715e-01 1.68016660e-04 -1.79704358e+01] [ 2.71653381e-03 -1.37953210e-04 9.99996301e-01 3.21546406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.220714057 meters Centerline goodness [0,1] 0.984813702984284 Centerline is valid? [True, True] Translation: X:423.43, Y:-17.97, Z:3.22 [[ 9.99956970e-01 8.67778780e-03 -3.27948094e-03 4.23425043e+02] [-8.67716889e-03 9.99962332e-01 2.02902504e-04 -1.79709373e+01] [ 3.28111816e-03 -1.74437163e-04 9.99994602e-01 3.21615474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.250714057 meters Centerline goodness [0,1] 0.985491884730043 Centerline is valid? [True, True] Translation: X:423.45, Y:-17.97, Z:3.22 [[ 9.99970803e-01 6.77540926e-03 -3.53374713e-03 4.23454258e+02] [-6.77468011e-03 9.99977028e-01 2.18268209e-04 -1.79739932e+01] [ 3.53514481e-03 -1.94321830e-04 9.99993732e-01 3.21585548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.280714057 meters Centerline goodness [0,1] 0.9845675610132498 Centerline is valid? [True, True] Translation: X:423.48, Y:-17.98, Z:3.22 [[ 9.99984702e-01 2.75209332e-03 -4.79811565e-03 4.23483490e+02] [-2.75070183e-03 9.99996173e-01 2.96581797e-04 -1.79788197e+01] [ 4.79891351e-03 -2.83379075e-04 9.99988445e-01 3.21598890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.310714057 meters Centerline goodness [0,1] 0.985450169565693 Centerline is valid? [True, True] Translation: X:423.51, Y:-17.98, Z:3.22 [[ 9.99990113e-01 1.06344095e-03 -4.31774257e-03 4.23511295e+02] [-1.06230119e-03 9.99999400e-01 2.66256349e-04 -1.79839041e+01] [ 4.31802313e-03 -2.61666974e-04 9.99990643e-01 3.21569790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.340714057 meters Centerline goodness [0,1] 0.9844725257878715 Centerline is valid? [True, True] Translation: X:423.54, Y:-17.99, Z:3.22 [[ 9.99984012e-01 -2.50071235e-03 -5.07164870e-03 4.23541070e+02] [ 2.50233275e-03 9.99996820e-01 3.13180260e-04 -1.79855886e+01] [ 5.07084940e-03 -3.25866206e-04 9.99987090e-01 3.21622501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.370714057 meters Centerline goodness [0,1] 0.9844725257878715 Centerline is valid? [True, True] Translation: X:423.57, Y:-17.99, Z:3.22 [[ 9.99983924e-01 -2.53582850e-03 -5.07166848e-03 4.23570232e+02] [ 2.53744773e-03 9.99996732e-01 3.12860000e-04 -1.79873595e+01] [ 5.07085854e-03 -3.25724064e-04 9.99987090e-01 3.21598933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.400714057 meters Centerline goodness [0,1] 0.9836465545664359 Centerline is valid? [True, True] Translation: X:423.60, Y:-17.99, Z:3.22 [[ 9.99976944e-01 -4.23233634e-03 -5.31020777e-03 4.23599087e+02] [ 4.23413915e-03 9.99990982e-01 3.28302666e-04 -1.79908728e+01] [ 5.30877040e-03 -3.50779255e-04 9.99985847e-01 3.21579329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.430714057 meters Centerline goodness [0,1] 0.983598958103395 Centerline is valid? [True, True] Translation: X:423.63, Y:-17.99, Z:3.22 [[ 9.99963237e-01 -6.81615085e-03 -5.20247211e-03 4.23629675e+02] [ 6.81791474e-03 9.99976706e-01 3.21387742e-04 -1.79891200e+01] [ 5.20016029e-03 -3.56845938e-04 9.99986415e-01 3.21723880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.460714057 meters Centerline goodness [0,1] 0.9825252547483329 Centerline is valid? [True, True] Translation: X:423.66, Y:-17.99, Z:3.22 [[ 9.99960516e-01 -7.59493251e-03 -4.61338483e-03 4.23659067e+02] [ 7.59632741e-03 9.99971107e-01 2.84912407e-04 -1.79914536e+01] [ 4.61108765e-03 -3.19945940e-04 9.99989318e-01 3.21723147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.490714057 meters Centerline goodness [0,1] 0.9819545554820207 Centerline is valid? [True, True] Translation: X:423.69, Y:-17.99, Z:3.22 [[ 9.99958004e-01 -8.59009662e-03 -3.19386230e-03 4.23689988e+02] [ 8.59077034e-03 9.99963079e-01 1.97282769e-04 -1.79909768e+01] [ 3.19204970e-03 -2.24712221e-04 9.99994880e-01 3.21827153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.520714057 meters Centerline goodness [0,1] 0.9821776048116044 Centerline is valid? [True, True] Translation: X:423.72, Y:-17.99, Z:3.22 [[ 9.99958234e-01 -8.85266448e-03 -2.27187516e-03 4.23721139e+02] [ 8.85300728e-03 9.99960801e-01 1.40877448e-04 -1.79930890e+01] [ 2.27053897e-03 -1.60984492e-04 9.99997409e-01 3.21844173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.550714057 meters Centerline goodness [0,1] 0.9812185776616243 Centerline is valid? [True, True] Translation: X:423.75, Y:-18.00, Z:3.22 [[ 9.99952453e-01 -9.73928770e-03 -4.88460158e-04 4.23752365e+02] [ 9.73930382e-03 9.99952571e-01 3.06440812e-05 -1.79980542e+01] [ 4.88138539e-04 -3.53998861e-05 9.99999880e-01 3.21917570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.580714057 meters Centerline goodness [0,1] 0.9819130588599478 Centerline is valid? [True, True] Translation: X:423.78, Y:-17.99, Z:3.22 [[ 9.99942939e-01 -1.06784684e-02 -2.98887220e-04 4.23784559e+02] [ 1.06784746e-02 9.99942983e-01 1.90729111e-05 -1.79948642e+01] [ 2.98666509e-04 -2.22634823e-05 9.99999955e-01 3.21966310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.610714057 meters Centerline goodness [0,1] 0.9795909322578501 Centerline is valid? [True, True] Translation: X:423.81, Y:-18.00, Z:3.22 [[ 9.99903582e-01 -1.38862210e-02 4.74052358e-06 4.23813760e+02] [ 1.38862210e-02 9.99903582e-01 -3.98571843e-07 -1.80007617e+01] [-4.73453185e-06 4.64361372e-07 1.00000000e+00 3.21940144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.640714057 meters Centerline goodness [0,1] 0.9807862778122507 Centerline is valid? [True, True] Translation: X:423.84, Y:-18.00, Z:3.22 [[ 9.99869500e-01 -1.61549705e-02 -1.83898913e-05 4.23844599e+02] [ 1.61549705e-02 9.99869500e-01 1.44198809e-06 -1.80000790e+01] [ 1.83641962e-05 -1.73888807e-06 1.00000000e+00 3.21897744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.670714057 meters Centerline goodness [0,1] 0.9804008612079107 Centerline is valid? [True, True] Translation: X:423.88, Y:-18.00, Z:3.22 [[ 9.99832353e-01 -1.83074959e-02 -3.17556742e-04 4.23875351e+02] [ 1.83075032e-02 9.99832403e-01 1.98217888e-05 -1.80000493e+01] [ 3.17140633e-04 -2.56321368e-05 9.99999949e-01 3.21829307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.700714057 meters Centerline goodness [0,1] 0.9771202894713618 Centerline is valid? [True, True] Translation: X:423.91, Y:-18.01, Z:3.22 [[ 9.99795497e-01 -2.02158669e-02 -5.32080285e-04 4.23905156e+02] [ 2.02158873e-02 9.99795638e-01 3.29812659e-05 -1.80056285e+01] [ 5.31304803e-04 -4.37309962e-05 9.99999858e-01 3.21635857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.730714057 meters Centerline goodness [0,1] 0.9773983594864479 Centerline is valid? [True, True] Translation: X:423.94, Y:-18.01, Z:3.21 [[ 9.99708593e-01 -2.39991154e-02 -2.60233999e-03 4.23936262e+02] [ 2.39996167e-02 9.99711955e-01 1.61577166e-04 -1.80050147e+01] [ 2.59771269e-03 -2.23985243e-04 9.99996601e-01 3.21346522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76071405700003 meters Centerline goodness [0,1] 0.9675166767061554 Centerline is valid? [True, True] Translation: X:423.97, Y:-18.01, Z:3.21 [[ 9.99641494e-01 -2.65151414e-02 -3.71887425e-03 4.23967272e+02] [ 2.65161815e-02 9.99648358e-01 2.30658228e-04 -1.80056165e+01] [ 3.71145060e-03 -3.29185881e-04 9.99993058e-01 3.21214256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.790714057 meters Centerline goodness [0,1] 0.9409973099753229 Centerline is valid? [True, False] Translation: X:423.97, Y:-18.00, Z:3.21 [[ 9.99635592e-01 -2.66843857e-02 -4.07754889e-03 4.23968062e+02] [ 2.66826882e-02 9.99643843e-01 -4.70134647e-04 -1.80031615e+01] [ 4.08864190e-03 3.61163360e-04 9.99991576e-01 3.21212712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82071405700003 meters Centerline goodness [0,1] 0.9820943747615949 Centerline is valid? [False, True] Translation: X:423.97, Y:-18.00, Z:3.21 [[ 9.99712155e-01 -2.37094413e-02 -3.67018892e-03 4.23967031e+02] [ 2.37187970e-02 9.99715476e-01 2.52692592e-03 -1.80008174e+01] [ 3.60923266e-03 -2.61325103e-03 9.99990072e-01 3.21201105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.850714057 meters Centerline goodness [0,1] 0.9824242831842536 Centerline is valid? [True, True] Translation: X:424.00, Y:-18.00, Z:3.21 [[ 9.99722276e-01 -2.33269247e-02 -3.35034390e-03 4.23999698e+02] [ 2.33277951e-02 9.99727846e-01 2.20965506e-04 -1.80009860e+01] [ 3.34427764e-03 -2.99060274e-04 9.99994363e-01 3.21242478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.880714057 meters Centerline goodness [0,1] 0.9805312914018818 Centerline is valid? [True, True] Translation: X:424.03, Y:-18.01, Z:3.21 [[ 9.99731427e-01 -2.29739769e-02 -3.04457202e-03 4.24030312e+02] [ 2.29746943e-02 9.99736027e-01 2.00859406e-04 -1.80053426e+01] [ 3.03915379e-03 -2.70753572e-04 9.99995345e-01 3.21135534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.910714057 meters Centerline goodness [0,1] 0.9799394822369158 Centerline is valid? [True, True] Translation: X:424.06, Y:-18.01, Z:3.21 [[ 9.99752806e-01 -2.20220494e-02 -3.05881090e-03 4.24060537e+02] [ 2.20227683e-02 9.99757449e-01 2.01535551e-04 -1.80057424e+01] [ 3.05363076e-03 -2.68849216e-04 9.99995302e-01 3.21061083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.940714057 meters Centerline goodness [0,1] 0.9804098786632623 Centerline is valid? [True, True] Translation: X:424.09, Y:-18.00, Z:3.21 [[ 9.99780788e-01 -2.07942183e-02 -2.44468176e-03 4.24092659e+02] [ 2.07946750e-02 9.99783754e-01 1.61536289e-04 -1.80005827e+01] [ 2.44079409e-03 -2.12337241e-04 9.99996999e-01 3.21169331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.970714057 meters Centerline goodness [0,1] 0.9802434688688373 Centerline is valid? [True, True] Translation: X:424.13, Y:-18.00, Z:3.21 [[ 9.99797533e-01 -2.00839712e-02 -1.23541171e-03 4.24125388e+02] [ 2.00840881e-02 9.99798291e-01 8.22736898e-05 -1.79992605e+01] [ 1.23351013e-03 -1.07069150e-04 9.99999233e-01 3.21223605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.000714057 meters Centerline goodness [0,1] 0.979917599117455 Centerline is valid? [True, True] Translation: X:424.16, Y:-18.00, Z:3.21 [[ 9.99808635e-01 -1.95384482e-02 -9.70346282e-04 4.24157981e+02] [ 1.95385202e-02 9.99809103e-01 6.47088203e-05 -1.79979476e+01] [ 9.68896735e-04 -8.36555677e-05 9.99999527e-01 3.21280243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.030714057 meters Centerline goodness [0,1] 0.9807294011706439 Centerline is valid? [True, True] Translation: X:424.19, Y:-18.00, Z:3.21 [[ 9.99823227e-01 -1.87972180e-02 4.22380009e-04 4.24190274e+02] [ 1.87972312e-02 9.99823316e-01 -2.73083209e-05 -1.79967177e+01] [-4.21792060e-04 3.52430682e-05 9.99999910e-01 3.21315214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.060714057 meters Centerline goodness [0,1] 0.7943318119095637 Centerline is valid? [True, False] Translation: X:424.24, Y:-18.00, Z:3.21 [[ 9.99787834e-01 -2.05674526e-02 -1.12584597e-03 4.24237115e+02] [ 2.05672952e-02 9.99788459e-01 -1.51213315e-04 -1.79973810e+01] [ 1.12871788e-03 1.28025626e-04 9.99999355e-01 3.21486441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.090714057 meters Centerline goodness [0,1] 0.9808905674031525 Centerline is valid? [False, True] Translation: X:424.17, Y:-17.99, Z:3.21 [[ 9.99879276e-01 -1.55021974e-02 1.05611944e-03 4.24173356e+02] [ 1.55033286e-02 9.99879242e-01 -1.07139461e-03 -1.79937697e+01] [-1.03938294e-03 1.08763863e-03 9.99998868e-01 3.21115935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.120714057 meters Centerline goodness [0,1] 0.978626884535524 Centerline is valid? [True, True] Translation: X:424.20, Y:-18.00, Z:3.21 [[ 9.99895812e-01 -1.44110084e-02 8.29445830e-04 4.24203563e+02] [ 1.44110601e-02 9.99896154e-01 -5.63522705e-05 -1.79995373e+01] [-8.28547602e-04 6.82995930e-05 9.99999654e-01 3.20947275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.150714057 meters Centerline goodness [0,1] 0.9801375441136548 Centerline is valid? [True, True] Translation: X:424.24, Y:-17.99, Z:3.21 [[ 9.99927124e-01 -1.20662322e-02 3.89572605e-04 4.24235349e+02] [ 1.20662434e-02 9.99927200e-01 -2.63879076e-05 -1.79932776e+01] [-3.89225841e-04 3.10866624e-05 9.99999924e-01 3.20865667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.180714057 meters Centerline goodness [0,1] 0.9805897807573836 Centerline is valid? [True, True] Translation: X:424.27, Y:-18.00, Z:3.21 [[ 9.99940593e-01 -1.08905829e-02 4.53784524e-04 4.24265395e+02] [ 1.08905979e-02 9.99940695e-01 -3.07737208e-05 -1.79952236e+01] [-4.53422469e-04 3.57138774e-05 9.99999897e-01 3.20800256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.210714057 meters Centerline goodness [0,1] 0.9797379991840806 Centerline is valid? [True, True] Translation: X:424.30, Y:-18.00, Z:3.21 [[ 9.99951715e-01 -9.80826190e-03 6.04866775e-04 4.24297507e+02] [ 9.80828827e-03 9.99951897e-01 -4.06331959e-05 -1.79955462e+01] [-6.04439138e-04 4.65639416e-05 9.99999816e-01 3.20740239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.240714057 meters Centerline goodness [0,1] 0.979870645637127 Centerline is valid? [True, True] Translation: X:424.33, Y:-17.99, Z:3.21 [[ 9.99967104e-01 -7.99342684e-03 1.37707645e-03 4.24329146e+02] [ 7.99356340e-03 9.99968047e-01 -9.36933118e-05 -1.79916003e+01] [-1.37628352e-03 1.04697978e-04 9.99999047e-01 3.20750305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.270714057 meters Centerline goodness [0,1] 0.9794554792963956 Centerline is valid? [True, True] Translation: X:424.36, Y:-17.99, Z:3.21 [[ 9.99972006e-01 -7.26516209e-03 1.79027208e-03 4.24360488e+02] [ 7.26539078e-03 9.99973599e-01 -1.21270412e-04 -1.79937519e+01] [-1.78934376e-03 1.34274043e-04 9.99998390e-01 3.20708451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.300714057 meters Centerline goodness [0,1] 0.9786529680365297 Centerline is valid? [True, True] Translation: X:424.39, Y:-17.99, Z:3.21 [[ 9.99974809e-01 -5.93499675e-03 3.89323454e-03 4.24391983e+02] [ 5.93607769e-03 9.99982346e-01 -2.66148733e-04 -1.79933137e+01] [-3.89158622e-03 2.89252571e-04 9.99992386e-01 3.20711681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.330714057 meters Centerline goodness [0,1] 0.9771238099586768 Centerline is valid? [True, True] Translation: X:424.42, Y:-18.00, Z:3.21 [[ 9.99975963e-01 -5.31100852e-03 4.45723841e-03 4.24422860e+02] [ 5.31241812e-03 9.99985843e-01 -3.04469714e-04 -1.79963688e+01] [-4.45555827e-03 3.28141110e-04 9.99990020e-01 3.20671843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.360714057 meters Centerline goodness [0,1] 0.9782096718875043 Centerline is valid? [True, True] Translation: X:424.46, Y:-17.99, Z:3.21 [[ 9.99974627e-01 -4.89039514e-03 5.17965296e-03 4.24455017e+02] [ 4.89229880e-03 9.99987970e-01 -3.54918723e-04 -1.79936917e+01] [-5.17785495e-03 3.80250127e-04 9.99986523e-01 3.20628417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.390714057 meters Centerline goodness [0,1] 0.9778219813887555 Centerline is valid? [True, True] Translation: X:424.49, Y:-18.00, Z:3.21 [[ 9.99974759e-01 -4.80544114e-03 5.23346051e-03 4.24487069e+02] [ 4.80738540e-03 9.99988380e-01 -3.58990357e-04 -1.79953892e+01] [-5.23167459e-03 3.84140557e-04 9.99986241e-01 3.20509790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.420714057 meters Centerline goodness [0,1] 0.9754257186495543 Centerline is valid? [True, True] Translation: X:424.52, Y:-18.00, Z:3.20 [[ 9.99975977e-01 -5.50312236e-03 4.21428580e-03 4.24517491e+02] [ 5.50438920e-03 9.99984809e-01 -2.89066999e-04 -1.80033778e+01] [-4.21263101e-03 3.12257124e-04 9.99991078e-01 3.20258359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.450714057 meters Centerline goodness [0,1] 0.976192114498039 Centerline is valid? [True, True] Translation: X:424.55, Y:-18.00, Z:3.20 [[ 9.99972195e-01 -6.43910022e-03 3.76138446e-03 4.24550106e+02] [ 6.44011795e-03 9.99979229e-01 -2.58524547e-04 -1.80018717e+01] [-3.75964166e-03 2.82741118e-04 9.99992893e-01 3.20139778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.480714057 meters Centerline goodness [0,1] 0.9760921439060206 Centerline is valid? [True, True] Translation: X:424.58, Y:-18.00, Z:3.20 [[ 9.99959799e-01 -8.44925595e-03 3.00163371e-03 4.24581207e+02] [ 8.44991377e-03 9.99964278e-01 -2.06541440e-04 -1.80014838e+01] [-2.99978137e-03 2.31896683e-04 9.99995474e-01 3.19964043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.51071405700003 meters Centerline goodness [0,1] 0.9747488584474886 Centerline is valid? [True, True] Translation: X:424.61, Y:-18.01, Z:3.20 [[ 9.99953362e-01 -9.21455378e-03 2.89239215e-03 4.24611373e+02] [ 9.21516669e-03 9.99957520e-01 -1.98646307e-04 -1.80104113e+01] [-2.89043884e-03 2.25290918e-04 9.99995797e-01 3.19831893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.540714057 meters Centerline goodness [0,1] 0.9757411780891019 Centerline is valid? [True, True] Translation: X:424.64, Y:-18.01, Z:3.20 [[ 9.99932419e-01 -1.10564076e-02 3.59362112e-03 4.24643192e+02] [ 1.10573699e-02 9.99938835e-01 -2.48029487e-04 -1.80064915e+01] [-3.59065899e-03 2.87748723e-04 9.99993512e-01 3.19819995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.57071405700003 meters Centerline goodness [0,1] 0.9746768843646345 Centerline is valid? [True, True] Translation: X:424.68, Y:-18.01, Z:3.20 [[ 9.99928532e-01 -1.13974050e-02 3.60980974e-03 4.24675376e+02] [ 1.13983779e-02 9.99935005e-01 -2.49079062e-04 -1.80084068e+01] [-3.60673627e-03 2.90207236e-04 9.99993454e-01 3.19793970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.600714057 meters Centerline goodness [0,1] 0.9740710307678262 Centerline is valid? [True, True] Translation: X:424.71, Y:-18.01, Z:3.20 [[ 9.99923486e-01 -1.19146491e-02 3.32626059e-03 4.24707170e+02] [ 1.19154787e-02 9.99928982e-01 -2.29701187e-04 -1.80105005e+01] [-3.32328756e-03 2.69317598e-04 9.99994442e-01 3.19733772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.630714057 meters Centerline goodness [0,1] 0.974252377233681 Centerline is valid? [True, True] Translation: X:424.74, Y:-18.01, Z:3.20 [[ 9.99914994e-01 -1.25906928e-02 3.38795443e-03 4.24738447e+02] [ 1.25915586e-02 9.99920696e-01 -2.34315460e-04 -1.80126482e+01] [-3.38473555e-03 2.76955168e-04 9.99994233e-01 3.19571628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.660714057 meters Centerline goodness [0,1] 0.9746028835354253 Centerline is valid? [True, True] Translation: X:424.77, Y:-18.01, Z:3.20 [[ 9.99914456e-01 -1.26908577e-02 3.16602994e-03 4.24770286e+02] [ 1.26916143e-02 9.99919434e-01 -2.18996349e-04 -1.80125591e+01] [-3.16299561e-03 2.59159646e-04 9.99994964e-01 3.19545677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.690714057 meters Centerline goodness [0,1] 0.9725869615296014 Centerline is valid? [True, True] Translation: X:424.80, Y:-18.01, Z:3.20 [[ 9.99912160e-01 -1.26970421e-02 3.80235912e-03 4.24801179e+02] [ 1.26981339e-02 9.99919341e-01 -2.63129118e-04 -1.80129423e+01] [-3.79871146e-03 3.11388870e-04 9.99992736e-01 3.19564219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.720714057 meters Centerline goodness [0,1] 0.9712905452035887 Centerline is valid? [True, True] Translation: X:424.83, Y:-18.02, Z:3.20 [[ 9.99911966e-01 -1.25153023e-02 4.40759178e-03 4.24831982e+02] [ 1.25167722e-02 9.99921615e-01 -3.06061650e-04 -1.80163232e+01] [-4.40341584e-03 3.61203528e-04 9.99990240e-01 3.19552338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.750714057 meters Centerline goodness [0,1] 0.9726195435819099 Centerline is valid? [True, True] Translation: X:424.87, Y:-18.01, Z:3.20 [[ 9.99914847e-01 -1.23790448e-02 4.13008545e-03 4.24865001e+02] [ 1.23803346e-02 9.99923320e-01 -2.86876110e-04 -1.80079495e+01] [-4.12621750e-03 3.37983522e-04 9.99991430e-01 3.19566258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.780714057 meters Centerline goodness [0,1] 0.9684532357437347 Centerline is valid? [True, True] Translation: X:424.90, Y:-18.02, Z:3.19 [[ 9.99911745e-01 -1.27331295e-02 3.79067945e-03 4.24895180e+02] [ 1.27342183e-02 9.99918882e-01 -2.63235439e-04 -1.80170156e+01] [-3.78702014e-03 3.11483547e-04 9.99992781e-01 3.19492880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.810714057 meters Centerline goodness [0,1] 0.9714385312572624 Centerline is valid? [True, True] Translation: X:424.93, Y:-18.01, Z:3.20 [[ 9.99908730e-01 -1.29113715e-02 3.97838673e-03 4.24927779e+02] [ 1.29125755e-02 9.99916591e-01 -2.77094663e-04 -1.80116342e+01] [-3.97447722e-03 3.28440592e-04 9.99992048e-01 3.19503064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.840714057 meters Centerline goodness [0,1] 0.9657334567329939 Centerline is valid? [True, True] Translation: X:424.96, Y:-18.02, Z:3.19 [[ 9.99899751e-01 -1.36868301e-02 3.62739288e-03 4.24958163e+02] [ 1.36878372e-02 9.99906285e-01 -2.52946871e-04 -1.80211950e+01] [-3.62359090e-03 3.02572677e-04 9.99993389e-01 3.19353895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.870714057 meters Centerline goodness [0,1] 0.9708538970108949 Centerline is valid? [True, True] Translation: X:424.99, Y:-18.01, Z:3.19 [[ 9.99888329e-01 -1.47406482e-02 2.45823843e-03 4.24990428e+02] [ 1.47411138e-02 9.99891329e-01 -1.71389053e-04 -1.80138208e+01] [-2.45544490e-03 2.07607086e-04 9.99996964e-01 3.19295936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.900714057 meters Centerline goodness [0,1] 0.9686589770476524 Centerline is valid? [True, True] Translation: X:425.02, Y:-18.02, Z:3.19 [[ 9.99882853e-01 -1.51562435e-02 2.13764137e-03 4.25021134e+02] [ 1.51565966e-02 9.99885121e-01 -1.49090764e-04 -1.80183302e+01] [-2.13513615e-03 1.81472667e-04 9.99997704e-01 3.19213053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.930714057 meters Centerline goodness [0,1] 0.9680712524998837 Centerline is valid? [True, True] Translation: X:425.05, Y:-18.02, Z:3.19 [[ 9.99886028e-01 -1.49820472e-02 1.86235739e-03 4.25053076e+02] [ 1.49823148e-02 9.99887750e-01 -1.29809101e-04 -1.80208883e+01] [-1.86020354e-03 1.57696731e-04 9.99998257e-01 3.19186473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.960714057 meters Centerline goodness [0,1] 0.966494664829905 Centerline is valid? [True, True] Translation: X:425.08, Y:-18.02, Z:3.19 [[ 9.99907659e-01 -1.35518916e-02 1.00943335e-03 4.25084065e+02] [ 1.35519695e-02 9.99908165e-01 -7.04205923e-05 -1.80215673e+01] [-1.00838631e-03 8.40938996e-05 9.99999488e-01 3.19192627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.990714057 meters Centerline goodness [0,1] 0.9664961099039742 Centerline is valid? [True, True] Translation: X:425.12, Y:-18.02, Z:3.19 [[ 9.99920410e-01 -1.25831586e-02 9.15678417e-04 4.25116763e+02] [ 1.25832220e-02 9.99920826e-01 -6.34663585e-05 -1.80220393e+01] [-9.14807312e-04 7.49834919e-05 9.99999579e-01 3.19204496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.020714057 meters Centerline goodness [0,1] 0.9668428190618716 Centerline is valid? [True, True] Translation: X:425.15, Y:-18.02, Z:3.19 [[ 9.99950734e-01 -9.84567952e-03 1.26179862e-03 4.25146795e+02] [ 9.84579902e-03 9.99951525e-01 -8.85312224e-05 -1.80212101e+01] [-1.26086580e-03 1.00950276e-04 9.99999200e-01 3.19185026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.050714057 meters Centerline goodness [0,1] 0.9671761109804844 Centerline is valid? [True, True] Translation: X:425.18, Y:-18.02, Z:3.19 [[ 9.99963711e-01 -8.33662179e-03 1.75452823e-03 4.25178796e+02] [ 8.33684987e-03 9.99965240e-01 -1.22721177e-04 -1.80204030e+01] [-1.75344416e-03 1.37343962e-04 9.99998453e-01 3.19169589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.080714057 meters Centerline goodness [0,1] 0.9729309125206319 Centerline is valid? [True, True] Translation: X:425.21, Y:-18.01, Z:3.19 [[ 9.99982972e-01 -5.21759435e-03 2.61394779e-03 4.25210301e+02] [ 5.21809151e-03 9.99986369e-01 -1.83413241e-04 -1.80086521e+01] [-2.61295518e-03 1.97049937e-04 9.99996567e-01 3.19253554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.110714057 meters Centerline goodness [0,1] 0.9683911420050255 Centerline is valid? [True, True] Translation: X:425.24, Y:-18.02, Z:3.19 [[ 9.99988916e-01 -3.54343968e-03 3.10020637e-03 4.25240637e+02] [ 3.54413091e-03 9.99993696e-01 -2.17495600e-04 -1.80189742e+01] [-3.09941614e-03 2.28480727e-04 9.99995171e-01 3.19222817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.140714057 meters Centerline goodness [0,1] 0.9744001891029429 Centerline is valid? [True, True] Translation: X:425.27, Y:-18.01, Z:3.19 [[ 9.99993248e-01 -2.00817513e-03 3.07740018e-03 4.25272889e+02] [ 2.00884931e-03 9.99997959e-01 -2.15999173e-04 -1.80068410e+01] [-3.07696013e-03 2.22179748e-04 9.99995241e-01 3.19286323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.170714057 meters Centerline goodness [0,1] 0.9735946290955511 Centerline is valid? [True, True] Translation: X:425.30, Y:-18.01, Z:3.19 [[ 9.99995544e-01 -1.23932416e-03 2.71580021e-03 4.25304441e+02] [ 1.23984593e-03 9.99999213e-01 -1.90449521e-04 -1.80107402e+01] [-2.71556204e-03 1.93815846e-04 9.99996294e-01 3.19182892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.200714057 meters Centerline goodness [0,1] 0.9735860636389387 Centerline is valid? [True, True] Translation: X:425.34, Y:-18.01, Z:3.19 [[ 9.99997291e-01 -8.17669922e-04 2.17953408e-03 4.25335718e+02] [ 8.18005532e-04 9.99999654e-01 -1.53095715e-04 -1.80132001e+01] [-2.17940815e-03 1.54878171e-04 9.99997613e-01 3.19083710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.230714057 meters Centerline goodness [0,1] 0.9735860636389387 Centerline is valid? [True, True] Translation: X:425.37, Y:-18.02, Z:3.19 [[ 9.99997319e-01 -7.82643609e-04 2.17952624e-03 4.25366566e+02] [ 7.82979378e-04 9.99999682e-01 -1.53207214e-04 -1.80154041e+01] [-2.17940564e-03 1.54913327e-04 9.99997613e-01 3.19055301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26071405700003 meters Centerline goodness [0,1] 0.9748970803955899 Centerline is valid? [True, True] Translation: X:425.40, Y:-18.02, Z:3.19 [[ 9.99999552e-01 -2.36592133e-04 9.16808232e-04 4.25397848e+02] [ 2.36651177e-04 9.99999970e-01 -6.42935619e-05 -1.80169200e+01] [-9.16792993e-04 6.45104969e-05 9.99999578e-01 3.18930129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.290714057 meters Centerline goodness [0,1] 0.9754991139988186 Centerline is valid? [True, True] Translation: X:425.43, Y:-18.02, Z:3.19 [[ 9.99999263e-01 1.07494804e-03 5.64247965e-04 4.25428132e+02] [-1.07492615e-03 9.99999422e-01 -3.90885532e-05 -1.80180457e+01] [-5.64289657e-04 3.84819995e-05 9.99999840e-01 3.18854616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32071405700003 meters Centerline goodness [0,1] 0.9749367507625375 Centerline is valid? [True, True] Translation: X:425.46, Y:-18.02, Z:3.19 [[ 9.99997635e-01 2.16883987e-03 1.62753680e-04 4.25457692e+02] [-2.16883800e-03 9.99997648e-01 -1.16363292e-05 -1.80207015e+01] [-1.62778534e-04 1.12833153e-05 9.99999987e-01 3.18776158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.350714057 meters Centerline goodness [0,1] 0.9767359303261229 Centerline is valid? [True, True] Translation: X:425.49, Y:-18.02, Z:3.19 [[ 9.99993248e-01 3.67068111e-03 -1.71976659e-04 4.25488190e+02] [-3.67067910e-03 9.99993263e-01 1.19671166e-05 -1.80163520e+01] [ 1.72019428e-04 -1.13357646e-05 9.99999985e-01 3.18773191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.380714057 meters Centerline goodness [0,1] 0.9754170117118183 Centerline is valid? [True, True] Translation: X:425.52, Y:-18.02, Z:3.19 [[ 9.99986380e-01 5.20269417e-03 -4.13649219e-04 4.25517441e+02] [-5.20268344e-03 9.99986466e-01 2.70056974e-05 -1.80171091e+01] [ 4.13784123e-04 -2.48532436e-05 9.99999914e-01 3.18680882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.410714057 meters Centerline goodness [0,1] 0.9785188167586386 Centerline is valid? [True, True] Translation: X:425.55, Y:-18.02, Z:3.19 [[ 9.99958524e-01 8.95333222e-03 -1.66983895e-03 4.25546367e+02] [-8.95314944e-03 9.99959913e-01 1.16902460e-04 -1.80154600e+01] [ 1.67081868e-03 -1.01947293e-04 9.99998599e-01 3.18513770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.440714057 meters Centerline goodness [0,1] 0.9816345925397957 Centerline is valid? [True, True] Translation: X:425.58, Y:-18.01, Z:3.18 [[ 9.99895202e-01 1.40234455e-02 -3.59560725e-03 4.25577726e+02] [-1.40226283e-02 9.99901646e-01 2.52378518e-04 -1.80099521e+01] [ 3.59879282e-03 -2.01932205e-04 9.99993504e-01 3.18344630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.470714057 meters Centerline goodness [0,1] 0.9801296203974076 Centerline is valid? [True, True] Translation: X:425.61, Y:-18.01, Z:3.18 [[ 9.99876806e-01 1.54868606e-02 -2.55548421e-03 4.25605960e+02] [-1.54864544e-02 9.99880062e-01 1.78650894e-04 -1.80114506e+01] [ 2.55794445e-03 -1.39053496e-04 9.99996719e-01 3.18390443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.500714057 meters Centerline goodness [0,1] 0.9780316344463972 Centerline is valid? [True, True] Translation: X:425.63, Y:-18.02, Z:3.18 [[ 9.99870089e-01 1.60562275e-02 -1.41491733e-03 4.25633148e+02] [-1.60561044e-02 9.99871088e-01 9.83502647e-05 -1.80198019e+01] [ 1.41631406e-03 -7.56194276e-05 9.99998994e-01 3.18384689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.530714057 meters Centerline goodness [0,1] 0.9801806500557123 Centerline is valid? [True, True] Translation: X:425.66, Y:-18.01, Z:3.19 [[ 9.99859602e-01 1.67472629e-02 5.52296817e-04 4.25662544e+02] [-1.67472438e-02 9.99859754e-01 -3.93090581e-05 -1.80122985e+01] [-5.52877679e-04 3.00540898e-05 9.99999847e-01 3.18735744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.560714057 meters Centerline goodness [0,1] 0.9820310826570198 Centerline is valid? [True, True] Translation: X:425.69, Y:-18.02, Z:3.18 [[ 9.99816945e-01 1.91035414e-02 -1.06365239e-03 4.25691034e+02] [-1.91034737e-02 9.99817509e-01 7.37417604e-05 -1.80152467e+01] [ 1.06486701e-03 -5.34088062e-05 9.99999432e-01 3.18388395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.590714057 meters Centerline goodness [0,1] 0.9819058248046921 Centerline is valid? [True, True] Translation: X:425.72, Y:-18.02, Z:3.18 [[ 9.99791468e-01 2.03641675e-02 -1.52327435e-03 4.25718709e+02] [-2.03640307e-02 9.99792626e-01 1.05261661e-04 -1.80207377e+01] [ 1.52510202e-03 -7.42197047e-05 9.99998834e-01 3.18145213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.620714057 meters Centerline goodness [0,1] 0.9824902262765075 Centerline is valid? [True, True] Translation: X:425.75, Y:-18.02, Z:3.18 [[ 9.99776732e-01 2.10781186e-02 -1.48302231e-03 4.25747652e+02] [-2.10779893e-02 9.99777829e-01 1.02796679e-04 -1.80224103e+01] [ 1.48485959e-03 -7.15145991e-05 9.99998895e-01 3.18179201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.650714057 meters Centerline goodness [0,1] 0.9820387659352637 Centerline is valid? [True, True] Translation: X:425.78, Y:-18.02, Z:3.18 [[ 9.99756200e-01 2.20228305e-02 -1.59224446e-03 4.25775177e+02] [-2.20226830e-02 9.99757465e-01 1.10122623e-04 -1.80246225e+01] [ 1.59428350e-03 -7.50302795e-05 9.99998726e-01 3.18338303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.680714057 meters Centerline goodness [0,1] 0.9818858619626811 Centerline is valid? [True, True] Translation: X:425.80, Y:-18.03, Z:3.18 [[ 9.99753378e-01 2.21392370e-02 -1.74306237e-03 4.25804063e+02] [-2.21390602e-02 9.99754894e-01 1.20673540e-04 -1.80262139e+01] [ 1.74530676e-03 -8.20540162e-05 9.99998474e-01 3.18358990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.710714057 meters Centerline goodness [0,1] 0.9819698154334588 Centerline is valid? [True, True] Translation: X:425.83, Y:-18.03, Z:3.18 [[ 9.99772962e-01 2.11145689e-02 -2.86339216e-03 4.25832210e+02] [-2.11140876e-02 9.99777053e-01 1.98208057e-04 -1.80288245e+01] [ 2.86693885e-03 -1.37705143e-04 9.99995881e-01 3.18347784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.740714057 meters Centerline goodness [0,1] 0.9805008016599076 Centerline is valid? [True, True] Translation: X:425.86, Y:-18.04, Z:3.18 [[ 9.99785917e-01 2.04773720e-02 -2.96591703e-03 4.25859755e+02] [-2.04768535e-02 9.99790306e-01 2.05082594e-04 -1.80385165e+01] [ 2.96949465e-03 -1.44306041e-04 9.99995581e-01 3.18031658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.770714057 meters Centerline goodness [0,1] 0.9809232218558643 Centerline is valid? [True, True] Translation: X:425.89, Y:-18.04, Z:3.18 [[ 9.99830109e-01 1.81101327e-02 -3.43161109e-03 4.25888797e+02] [-1.81094238e-02 9.99835983e-01 2.37546691e-04 -1.80425548e+01] [ 3.43535024e-03 -1.75361835e-04 9.99994084e-01 3.18017240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.800714057 meters Centerline goodness [0,1] 0.9796755590979418 Centerline is valid? [True, True] Translation: X:425.92, Y:-18.05, Z:3.18 [[ 9.99854235e-01 1.68132776e-02 -2.97027015e-03 4.25917491e+02] [-1.68127421e-02 9.99858635e-01 2.05181299e-04 -1.80460480e+01] [ 2.97330002e-03 -1.55213005e-04 9.99995568e-01 3.18088077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.830714057 meters Centerline goodness [0,1] 0.9792257067241258 Centerline is valid? [True, True] Translation: X:425.95, Y:-18.05, Z:3.18 [[ 9.99883141e-01 1.49987925e-02 -2.95631073e-03 4.25946959e+02] [-1.49982534e-02 9.99887499e-01 2.04428734e-04 -1.80488832e+01] [ 2.95904433e-03 -1.60065347e-04 9.99995609e-01 3.18147700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.860714057 meters Centerline goodness [0,1] 0.9796161668108184 Centerline is valid? [True, True] Translation: X:425.98, Y:-18.05, Z:3.18 [[ 9.99921322e-01 1.21057101e-02 -3.28661206e-03 4.25976023e+02] [-1.21050293e-02 9.99926706e-01 2.26974646e-04 -1.80535415e+01] [ 3.28911886e-03 -1.87172252e-04 9.99994573e-01 3.18176632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.890714057 meters Centerline goodness [0,1] 0.9769676846092691 Centerline is valid? [True, True] Translation: X:426.00, Y:-18.07, Z:3.18 [[ 9.99951409e-01 9.31868250e-03 -3.21583968e-03 4.26003205e+02] [-9.31801757e-03 9.99956562e-01 2.21687335e-04 -1.80684934e+01] [ 3.21776582e-03 -1.91711312e-04 9.99994805e-01 3.17935060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.920714057 meters Centerline goodness [0,1] 0.9791452592246613 Centerline is valid? [True, True] Translation: X:426.03, Y:-18.06, Z:3.18 [[ 9.99966527e-01 7.64207657e-03 -2.92296178e-03 4.26033091e+02] [-7.64151967e-03 9.99970783e-01 2.01644945e-04 -1.80637896e+01] [ 2.92441737e-03 -1.79302326e-04 9.99995708e-01 3.18057407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.950714057 meters Centerline goodness [0,1] 0.9786047596826878 Centerline is valid? [True, True] Translation: X:426.06, Y:-18.07, Z:3.18 [[ 9.99985885e-01 4.33883317e-03 -3.06652809e-03 4.26061805e+02] [-4.33820423e-03 9.99990568e-01 2.11718577e-04 -1.80720710e+01] [ 3.06741778e-03 -1.98412363e-04 9.99995276e-01 3.17992948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.980714057 meters Centerline goodness [0,1] 0.9766270118964311 Centerline is valid? [True, True] Translation: X:426.09, Y:-18.08, Z:3.18 [[ 9.99989939e-01 2.80392493e-03 -3.50148070e-03 4.26089688e+02] [-2.80309720e-03 9.99996042e-01 2.41278386e-04 -1.80833798e+01] [ 3.50214337e-03 -2.31460967e-04 9.99993841e-01 3.17838252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.01071405700003 meters Centerline goodness [0,1] 0.9779130515906335 Centerline is valid? [True, True] Translation: X:426.12, Y:-18.08, Z:3.18 [[ 9.99989843e-01 1.29945535e-03 -4.31575131e-03 4.26119699e+02] [-1.29818361e-03 9.99999113e-01 2.97460295e-04 -1.80797280e+01] [ 4.31613402e-03 -2.91854636e-04 9.99990643e-01 3.17912893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.040714057 meters Centerline goodness [0,1] 0.9779825908858167 Centerline is valid? [True, True] Translation: X:426.15, Y:-18.09, Z:3.18 [[ 9.99981043e-01 -7.43333694e-04 -6.11231985e-03 4.26148303e+02] [ 7.45922130e-04 9.99999633e-01 4.21209803e-04 -1.80878100e+01] [ 6.11200450e-03 -4.25761133e-04 9.99981231e-01 3.17680408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.07071405700003 meters Centerline goodness [0,1] 0.9782749826107118 Centerline is valid? [True, True] Translation: X:426.18, Y:-18.09, Z:3.17 [[ 9.99976061e-01 -1.14665470e-03 -6.82361884e-03 4.26175472e+02] [ 1.14988294e-03 9.99999229e-01 4.69194390e-04 -1.80932858e+01] [ 6.82307557e-03 -4.77029521e-04 9.99976609e-01 3.17487221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.100714057 meters Centerline goodness [0,1] 0.9783516636502854 Centerline is valid? [True, True] Translation: X:426.20, Y:-18.10, Z:3.17 [[ 9.99974691e-01 -1.36183989e-03 -6.98304231e-03 4.26203630e+02] [ 1.36520411e-03 9.99998954e-01 4.77026472e-04 -1.80958972e+01] [ 6.98238537e-03 -4.86547677e-04 9.99975504e-01 3.17432820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.130714057 meters Centerline goodness [0,1] 0.9772842815547442 Centerline is valid? [True, True] Translation: X:426.23, Y:-18.10, Z:3.17 [[ 9.99980045e-01 -1.12026611e-03 -6.21732844e-03 4.26231559e+02] [ 1.12291758e-03 9.99999280e-01 4.22990970e-04 -1.80997420e+01] [ 6.21685010e-03 -4.29964076e-04 9.99980583e-01 3.17393509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.160714057 meters Centerline goodness [0,1] 0.9783614903957417 Centerline is valid? [True, True] Translation: X:426.26, Y:-18.10, Z:3.17 [[ 9.99983647e-01 -7.11798700e-04 -5.67446413e-03 4.26258954e+02] [ 7.14005092e-04 9.99999670e-01 3.86811948e-04 -1.81031660e+01] [ 5.67418692e-03 -3.90857219e-04 9.99983825e-01 3.17360658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.190714057 meters Centerline goodness [0,1] 0.9768487404695141 Centerline is valid? [True, True] Translation: X:426.29, Y:-18.11, Z:3.18 [[ 9.99989841e-01 1.17796190e-04 -4.50597674e-03 4.26287300e+02] [-1.16413491e-04 9.99999946e-01 3.07119888e-04 -1.81053236e+01] [ 4.50601268e-03 -3.06592211e-04 9.99989801e-01 3.17523523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.220714057 meters Centerline goodness [0,1] 0.9766554069686734 Centerline is valid? [True, True] Translation: X:426.32, Y:-18.11, Z:3.18 [[ 9.99995490e-01 1.08917190e-03 -2.79900588e-03 4.26316471e+02] [-1.08864872e-03 9.99999390e-01 1.88434339e-04 -1.81072647e+01] [ 2.79920941e-03 -1.85386355e-04 9.99996065e-01 3.17620230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.250714057 meters Centerline goodness [0,1] 0.9760803183122051 Centerline is valid? [True, True] Translation: X:426.34, Y:-18.11, Z:3.18 [[ 9.99996681e-01 1.43994133e-03 -2.13644647e-03 4.26344780e+02] [-1.43963567e-03 9.99998953e-01 1.44599832e-04 -1.81092759e+01] [ 2.13665245e-03 -1.41523648e-04 9.99997707e-01 3.17623743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.280714057 meters Centerline goodness [0,1] 0.9763784998031542 Centerline is valid? [True, True] Translation: X:426.37, Y:-18.11, Z:3.18 [[ 9.99998352e-01 1.46411512e-03 -1.07312100e-03 4.26373561e+02] [-1.46403824e-03 9.99998926e-01 7.24291061e-05 -1.81134713e+01] [ 1.07322589e-03 -7.08578966e-05 9.99999422e-01 3.17618035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.310714057 meters Centerline goodness [0,1] 0.9753345639132441 Centerline is valid? [True, True] Translation: X:426.40, Y:-18.12, Z:3.18 [[ 9.99998416e-01 6.99920995e-04 -1.63658782e-03 4.26402619e+02] [-6.99740298e-04 9.99999749e-01 1.10980744e-04 -1.81190438e+01] [ 1.63666508e-03 -1.09835381e-04 9.99998655e-01 3.17535191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.340714057 meters Centerline goodness [0,1] 0.9755951144051165 Centerline is valid? [True, True] Translation: X:426.43, Y:-18.12, Z:3.17 [[ 9.99997216e-01 -1.06492585e-04 -2.35732745e-03 4.26431886e+02] [ 1.06869339e-04 9.99999982e-01 1.59697204e-04 -1.81228078e+01] [ 2.35731040e-03 -1.59948686e-04 9.99997209e-01 3.17446587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.370714057 meters Centerline goodness [0,1] 0.9766115626154415 Centerline is valid? [True, True] Translation: X:426.46, Y:-18.13, Z:3.17 [[ 9.99991926e-01 -1.78563761e-03 -3.59991723e-03 4.26461159e+02] [ 1.78652797e-03 9.99998374e-01 2.44126007e-04 -1.81292484e+01] [ 3.59947546e-03 -2.50555388e-04 9.99993490e-01 3.17252747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.400714057 meters Centerline goodness [0,1] 0.9755238314529128 Centerline is valid? [True, True] Translation: X:426.49, Y:-18.13, Z:3.17 [[ 9.99987061e-01 -2.18533755e-03 -4.59362129e-03 4.26490950e+02] [ 2.18679033e-03 9.99997561e-01 3.11259652e-04 -1.81332501e+01] [ 4.59292988e-03 -3.21300911e-04 9.99989401e-01 3.17167343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.430714057 meters Centerline goodness [0,1] 0.9800865601547033 Centerline is valid? [True, True] Translation: X:426.52, Y:-18.13, Z:3.17 [[ 9.99982240e-01 -1.74810280e-03 -5.69762399e-03 4.26521077e+02] [ 1.75032988e-03 9.99998394e-01 3.85915454e-04 -1.81266020e+01] [ 5.69694022e-03 -3.95881322e-04 9.99983694e-01 3.17174008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.460714057 meters Centerline goodness [0,1] 0.9753916014953099 Centerline is valid? [True, True] Translation: X:426.55, Y:-18.14, Z:3.17 [[ 9.99979711e-01 -8.58237132e-04 -6.31204946e-03 4.26548825e+02] [ 8.60949979e-04 9.99999538e-01 4.27084023e-04 -1.81415027e+01] [ 6.31168001e-03 -4.32509716e-04 9.99979988e-01 3.16822356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.490714057 meters Centerline goodness [0,1] 0.9752881894111962 Centerline is valid? [True, True] Translation: X:426.58, Y:-18.14, Z:3.17 [[ 9.99977953e-01 1.90764233e-04 -6.63751256e-03 4.26577792e+02] [-1.87790727e-04 9.99999882e-01 4.48605446e-04 -1.81436278e+01] [ 6.63759736e-03 -4.47349092e-04 9.99977871e-01 3.16758555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.520714057 meters Centerline goodness [0,1] 0.9815537995038133 Centerline is valid? [True, True] Translation: X:426.61, Y:-18.13, Z:3.17 [[ 9.99970953e-01 3.91016682e-03 -6.54241376e-03 4.26608961e+02] [-3.90735379e-03 9.99992268e-01 4.42694524e-04 -1.81316195e+01] [ 6.54409419e-03 -4.17118140e-04 9.99978500e-01 3.17092848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.550714057 meters Centerline goodness [0,1] 0.980264065878456 Centerline is valid? [True, True] Translation: X:426.64, Y:-18.13, Z:3.17 [[ 9.99952572e-01 7.90186511e-03 -5.69334114e-03 4.26638542e+02] [-7.89980090e-03 9.99968722e-01 3.84963393e-04 -1.81326410e+01] [ 5.69620499e-03 -3.39968874e-04 9.99983719e-01 3.17159824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.580714057 meters Centerline goodness [0,1] 0.9821871269855844 Centerline is valid? [True, True] Translation: X:426.67, Y:-18.13, Z:3.17 [[ 9.99939743e-01 9.79315255e-03 -4.96033284e-03 4.26668707e+02] [-9.79161050e-03 9.99952005e-01 3.35066779e-04 -1.81295765e+01] [ 4.96337612e-03 -2.86476942e-04 9.99987641e-01 3.17279697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.610714057 meters Centerline goodness [0,1] 0.9821296978629329 Centerline is valid? [True, True] Translation: X:426.70, Y:-18.13, Z:3.17 [[ 9.99921673e-01 1.16584354e-02 -4.55291459e-03 4.26696498e+02] [-1.16571596e-02 9.99932006e-01 3.06654665e-04 -1.81321547e+01] [ 4.55618013e-03 -2.53556594e-04 9.99989588e-01 3.17290517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.640714057 meters Centerline goodness [0,1] 0.9830683935678299 Centerline is valid? [True, True] Translation: X:426.73, Y:-18.13, Z:3.17 [[ 9.99868556e-01 1.56665688e-02 -4.17488305e-03 4.26726310e+02] [-1.56655298e-02 9.99877248e-01 2.81446888e-04 -1.81293457e+01] [ 4.17877989e-03 -2.16008138e-04 9.99991246e-01 3.17445241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.670714057 meters Centerline goodness [0,1] 0.9824166743182444 Centerline is valid? [True, True] Translation: X:426.75, Y:-18.13, Z:3.17 [[ 9.99836945e-01 1.76556253e-02 -3.78984763e-03 4.26753906e+02] [-1.76547866e-02 9.99844110e-01 2.54635905e-04 -1.81339115e+01] [ 3.79375258e-03 -1.87685434e-04 9.99992786e-01 3.17381599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.700714057 meters Centerline goodness [0,1] 0.9819528526875803 Centerline is valid? [True, True] Translation: X:426.78, Y:-18.13, Z:3.18 [[ 9.99771769e-01 2.12017798e-02 -2.62580743e-03 4.26784202e+02] [-2.12013885e-02 9.99775210e-01 1.76779995e-04 -1.81320816e+01] [ 2.62896523e-03 -1.21068885e-04 9.99996537e-01 3.17543770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.730714057 meters Centerline goodness [0,1] 0.9825533284295697 Centerline is valid? [True, True] Translation: X:426.81, Y:-18.14, Z:3.17 [[ 9.99728305e-01 2.32471875e-02 -1.69812147e-03 4.26812259e+02] [-2.32470279e-02 9.99729745e-01 1.13665745e-04 -1.81380769e+01] [ 1.70030495e-03 -7.41585859e-05 9.99998552e-01 3.17483940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76071405700003 meters Centerline goodness [0,1] 0.9834207137601177 Centerline is valid? [True, True] Translation: X:426.84, Y:-18.14, Z:3.18 [[ 9.99641132e-01 2.67642585e-02 -1.13225270e-03 4.26841979e+02] [-2.67641897e-02 9.99641772e-01 7.58606398e-05 -1.81366948e+01] [ 1.13387745e-03 -4.55295897e-05 9.99999356e-01 3.17543368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.790714057 meters Centerline goodness [0,1] 0.9845476638085194 Centerline is valid? [True, True] Translation: X:426.87, Y:-18.14, Z:3.17 [[ 9.99598104e-01 2.83348956e-02 -8.74169473e-04 4.26870701e+02] [-2.83348556e-02 9.99598486e-01 5.81062320e-05 -1.81373731e+01] [ 8.75464916e-04 -3.33134136e-05 9.99999616e-01 3.17472801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82071405700003 meters Centerline goodness [0,1] 0.9853062723849757 Centerline is valid? [True, True] Translation: X:426.90, Y:-18.14, Z:3.17 [[ 9.99538337e-01 3.02912001e-02 -2.35715387e-03 4.26899960e+02] [-3.02909121e-02 9.99541113e-01 1.57810797e-04 -1.81392280e+01] [ 2.36085248e-03 -8.63376012e-05 9.99997209e-01 3.17401459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.850714057 meters Centerline goodness [0,1] 0.9849174925045202 Centerline is valid? [True, True] Translation: X:426.93, Y:-18.14, Z:3.17 [[ 9.99521934e-01 3.08126469e-02 -2.54626219e-03 4.26928595e+02] [-3.08123133e-02 9.99525173e-01 1.70168301e-04 -1.81418863e+01] [ 2.55029649e-03 -9.16307209e-05 9.99996744e-01 3.17344699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.880714057 meters Centerline goodness [0,1] 0.9863393614339087 Centerline is valid? [True, True] Translation: X:426.96, Y:-18.15, Z:3.17 [[ 9.99522731e-01 3.07573008e-02 -2.88060181e-03 4.26956092e+02] [-3.07568752e-02 9.99526877e-01 1.91952177e-04 -1.81464175e+01] [ 2.88514286e-03 -1.03262254e-04 9.99995833e-01 3.17317284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.910714057 meters Centerline goodness [0,1] 0.9859299696215253 Centerline is valid? [True, True] Translation: X:426.98, Y:-18.15, Z:3.17 [[ 9.99541543e-01 3.01619824e-02 -2.63783741e-03 4.26983318e+02] [-3.01616252e-02 9.99545019e-01 1.75109282e-04 -1.81510395e+01] [ 2.64191889e-03 -9.54675385e-05 9.99996506e-01 3.17261188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.940714057 meters Centerline goodness [0,1] 0.9855243991260014 Centerline is valid? [True, True] Translation: X:427.01, Y:-18.16, Z:3.17 [[ 9.99560004e-01 2.95944858e-02 -1.99098088e-03 4.27011077e+02] [-2.95942813e-02 9.99561985e-01 1.32105791e-04 -1.81574230e+01] [ 1.99401840e-03 -7.31260164e-05 9.99998009e-01 3.17179772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.970714057 meters Centerline goodness [0,1] 0.9854630820974696 Centerline is valid? [True, True] Translation: X:427.04, Y:-18.16, Z:3.17 [[ 9.99580339e-01 2.89658261e-02 -3.55868054e-04 4.27039838e+02] [-2.89658197e-02 9.99580402e-01 2.31052613e-05 -1.81637224e+01] [ 3.56387996e-04 -1.27875550e-05 9.99999936e-01 3.17275551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.000714057 meters Centerline goodness [0,1] 0.9851841783335599 Centerline is valid? [True, True] Translation: X:427.07, Y:-18.17, Z:3.17 [[ 9.99594164e-01 2.84791852e-02 6.65239120e-04 4.27068357e+02] [-2.84791616e-02 9.99594385e-01 -4.49534344e-05 -1.81663183e+01] [-6.66249526e-04 2.59897383e-05 9.99999778e-01 3.17374873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.030714057 meters Centerline goodness [0,1] 0.9852718264292664 Centerline is valid? [True, True] Translation: X:427.10, Y:-18.17, Z:3.17 [[ 9.99609670e-01 2.78502943e-02 2.20637621e-03 4.27096982e+02] [-2.78500365e-02 9.99612102e-01 -1.47483056e-04 -1.81700348e+01] [-2.20962781e-03 8.59778305e-05 9.99997555e-01 3.17498962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.060714057 meters Centerline goodness [0,1] 0.9848046309696092 Centerline is valid? [True, True] Translation: X:427.12, Y:-18.18, Z:3.17 [[ 9.99626881e-01 2.71839859e-02 2.67014214e-03 4.27123816e+02] [-2.71836065e-02 9.99630442e-01 -1.78266829e-04 -1.81792893e+01] [-2.67400137e-03 1.05616221e-04 9.99996419e-01 3.17429816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.090714057 meters Centerline goodness [0,1] 0.9851150814266031 Centerline is valid? [True, True] Translation: X:427.15, Y:-18.18, Z:3.17 [[ 9.99645794e-01 2.63776000e-02 3.53689031e-03 4.27152856e+02] [-2.63769318e-02 9.99652040e-01 -2.35445391e-04 -1.81818323e+01] [-3.54187010e-03 1.42069680e-04 9.99993717e-01 3.17497334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.120714057 meters Centerline goodness [0,1] 0.9856295260225145 Centerline is valid? [True, True] Translation: X:427.18, Y:-18.19, Z:3.18 [[ 9.99685060e-01 2.45002852e-02 5.43290219e-03 4.27180988e+02] [-2.44986843e-02 9.99699797e-01 -3.61038515e-04 -1.81856637e+01] [-5.44011676e-03 2.27825854e-04 9.99985177e-01 3.17585499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.150714057 meters Centerline goodness [0,1] 0.9851798463929368 Centerline is valid? [True, True] Translation: X:427.21, Y:-18.19, Z:3.18 [[ 9.99758677e-01 2.11786039e-02 5.83561795e-03 4.27209577e+02] [-2.11767044e-02 9.99775674e-01 -3.87109616e-04 -1.81921774e+01] [-5.84250730e-03 2.63437042e-04 9.99982898e-01 3.17553931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.180714057 meters Centerline goodness [0,1] 0.9851798463929368 Centerline is valid? [True, True] Translation: X:427.24, Y:-18.19, Z:3.18 [[ 9.99760195e-01 2.11068423e-02 5.83563475e-03 4.27237851e+02] [-2.11049431e-02 9.99777191e-01 -3.86856152e-04 -1.81939922e+01] [-5.84249983e-03 2.63602643e-04 9.99982898e-01 3.17527875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.210714057 meters Centerline goodness [0,1] 0.9855495220571736 Centerline is valid? [True, True] Translation: X:427.27, Y:-18.20, Z:3.17 [[ 9.99799448e-01 1.92705343e-02 5.45078434e-03 4.27265080e+02] [-1.92688516e-02 9.99814273e-01 -3.61057125e-04 -1.82006547e+01] [-5.45672975e-03 2.55954359e-04 9.99985079e-01 3.17410808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.240714057 meters Centerline goodness [0,1] 0.9847846178121408 Centerline is valid? [True, True] Translation: X:427.29, Y:-18.20, Z:3.17 [[ 9.99847075e-01 1.68650044e-02 4.62571780e-03 4.27294200e+02] [-1.68637689e-02 9.99857750e-01 -3.05956730e-04 -1.82049686e+01] [-4.63021975e-03 2.27902906e-04 9.99989255e-01 3.17275492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.270714057 meters Centerline goodness [0,1] 0.9847785150645624 Centerline is valid? [True, True] Translation: X:427.32, Y:-18.22, Z:3.17 [[ 9.99923308e-01 1.18829315e-02 3.48919729e-03 4.27323180e+02] [-1.18821992e-02 9.99929378e-01 -2.30543570e-04 -1.82164135e+01] [-3.49169041e-03 1.89066552e-04 9.99993886e-01 3.16963262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.300714057 meters Centerline goodness [0,1] 0.9848750056101612 Centerline is valid? [True, True] Translation: X:427.35, Y:-18.22, Z:3.17 [[ 9.99944418e-01 9.84034971e-03 3.78541664e-03 4.27351926e+02] [-9.83947287e-03 9.99951560e-01 -2.50189895e-04 -1.82229082e+01] [-3.78769523e-03 2.12929485e-04 9.99992804e-01 3.16839005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.330714057 meters Centerline goodness [0,1] 0.9839416711397387 Centerline is valid? [True, True] Translation: X:427.38, Y:-18.23, Z:3.17 [[ 9.99972257e-01 6.69442321e-03 3.26657853e-03 4.27381273e+02] [-6.69375465e-03 9.99977573e-01 -2.15558066e-04 -1.82296748e+01] [-3.26794831e-03 1.93686410e-04 9.99994641e-01 3.16777957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.360714057 meters Centerline goodness [0,1] 0.9832636918195429 Centerline is valid? [True, True] Translation: X:427.41, Y:-18.23, Z:3.17 [[ 9.99980025e-01 5.69112043e-03 2.74963459e-03 4.27410899e+02] [-5.69064270e-03 9.99983792e-01 -1.81535582e-04 -1.82341602e+01] [-2.75062316e-03 1.65884768e-04 9.99996203e-01 3.16676766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.390714057 meters Centerline goodness [0,1] 0.983903286134117 Centerline is valid? [True, True] Translation: X:427.44, Y:-18.24, Z:3.17 [[ 9.99989590e-01 4.12095661e-03 1.95872913e-03 4.27440034e+02] [-4.12071113e-03 9.99991501e-01 -1.29343426e-04 -1.82390242e+01] [-1.95924550e-03 1.21270723e-04 9.99998073e-01 3.16623541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.420714057 meters Centerline goodness [0,1] 0.9834447415329768 Centerline is valid? [True, True] Translation: X:427.47, Y:-18.24, Z:3.17 [[ 9.99991404e-01 3.58496840e-03 2.08302463e-03 4.27468794e+02] [-3.58469113e-03 9.99993566e-01 -1.36829277e-04 -1.82447638e+01] [-2.08350176e-03 1.29361101e-04 9.99997821e-01 3.16543725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.450714057 meters Centerline goodness [0,1] 0.9822698965005208 Centerline is valid? [True, True] Translation: X:427.50, Y:-18.25, Z:3.17 [[ 9.99991452e-01 2.80661373e-03 3.03629514e-03 4.27499063e+02] [-2.80601888e-03 9.99996043e-01 -2.00154802e-04 -1.82511418e+01] [-3.03684489e-03 1.91633190e-04 9.99995370e-01 3.16504672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.480714057 meters Centerline goodness [0,1] 0.9825250038808684 Centerline is valid? [True, True] Translation: X:427.53, Y:-18.25, Z:3.17 [[ 9.99991525e-01 2.14552665e-03 3.51376238e-03 4.27529778e+02] [-2.14472629e-03 9.99997673e-01 -2.31531113e-04 -1.82548241e+01] [-3.51425096e-03 2.23993092e-04 9.99993800e-01 3.16505139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.51071405700003 meters Centerline goodness [0,1] 0.9815325738697045 Centerline is valid? [True, True] Translation: X:427.56, Y:-18.26, Z:3.17 [[ 9.99992308e-01 9.88521426e-04 3.79573496e-03 4.27559693e+02] [-9.87578851e-04 9.99999481e-01 -2.50190872e-04 -1.82610102e+01] [-3.79598031e-03 2.46440360e-04 9.99992765e-01 3.16501701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.540714057 meters Centerline goodness [0,1] 0.9827259978184895 Centerline is valid? [True, True] Translation: X:427.59, Y:-18.26, Z:3.17 [[ 9.99993854e-01 5.96623790e-04 3.45497973e-03 4.27591236e+02] [-5.95840708e-04 9.99999797e-01 -2.27678023e-04 -1.82640982e+01] [-3.45511486e-03 2.25618006e-04 9.99994006e-01 3.16501256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.57071405700003 meters Centerline goodness [0,1] 0.9823988990988591 Centerline is valid? [True, True] Translation: X:427.62, Y:-18.27, Z:3.16 [[ 9.99997100e-01 8.37619609e-04 2.25816570e-03 4.27622393e+02] [-8.37286034e-04 9.99999638e-01 -1.48660738e-04 -1.82677538e+01] [-2.25828940e-03 1.46769576e-04 9.99997439e-01 3.16343816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.600714057 meters Centerline goodness [0,1] 0.9824918656898116 Centerline is valid? [True, True] Translation: X:427.65, Y:-18.27, Z:3.16 [[ 9.99998662e-01 8.52444053e-04 1.39585423e-03 4.27653429e+02] [-8.52316572e-04 9.99999633e-01 -9.19208364e-05 -1.82698324e+01] [-1.39593208e-03 9.07310038e-05 9.99999022e-01 3.16248611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.630714057 meters Centerline goodness [0,1] 0.9817980268262942 Centerline is valid? [True, True] Translation: X:427.68, Y:-18.27, Z:3.16 [[ 9.99998738e-01 1.15135640e-03 1.09499310e-03 4.27683915e+02] [-1.15127787e-03 9.99999335e-01 -7.23519035e-05 -1.82728937e+01] [-1.09507567e-03 7.10911708e-05 9.99999398e-01 3.16145314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.660714057 meters Centerline goodness [0,1] 0.9839393263439661 Centerline is valid? [True, True] Translation: X:427.72, Y:-18.27, Z:3.16 [[ 9.99999248e-01 1.04241235e-03 6.46378733e-04 4.27715020e+02] [-1.04238496e-03 9.99999456e-01 -4.27096131e-05 -1.82696148e+01] [-6.46422902e-04 4.20358055e-05 9.99999790e-01 3.16126593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.690714057 meters Centerline goodness [0,1] 0.981863094178387 Centerline is valid? [True, True] Translation: X:427.74, Y:-18.28, Z:3.16 [[ 9.99999281e-01 1.02944465e-03 6.14888330e-04 4.27744063e+02] [-1.02941977e-03 9.99999469e-01 -4.07770371e-05 -1.82778685e+01] [-6.14929982e-04 4.01440296e-05 9.99999810e-01 3.16011575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.720714057 meters Centerline goodness [0,1] 0.9817780846940367 Centerline is valid? [True, True] Translation: X:427.77, Y:-18.28, Z:3.16 [[ 9.99999135e-01 9.37960124e-05 1.31183187e-03 4.27774023e+02] [-9.36822440e-05 9.99999992e-01 -8.67859796e-05 -1.82807762e+01] [-1.31184000e-03 8.66630092e-05 9.99999136e-01 3.15991451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.750714057 meters Centerline goodness [0,1] 0.9804772717154179 Centerline is valid? [True, True] Translation: X:427.80, Y:-18.28, Z:3.16 [[ 9.99997525e-01 -1.05656837e-03 1.95818865e-03 4.27803808e+02] [ 1.05682247e-03 9.99999433e-01 -1.28732363e-04 -1.82831960e+01] [-1.95805153e-03 1.30801502e-04 9.99998074e-01 3.15977595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.780714057 meters Centerline goodness [0,1] 0.9813617514602934 Centerline is valid? [True, True] Translation: X:427.84, Y:-18.29, Z:3.16 [[ 9.99996933e-01 -1.53430712e-03 1.94442636e-03 4.27835515e+02] [ 1.53455955e-03 9.99998814e-01 -1.28335950e-04 -1.82850236e+01] [-1.94422714e-03 1.31319395e-04 9.99998101e-01 3.15939829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.810714057 meters Centerline goodness [0,1] 0.9819389939350696 Centerline is valid? [True, True] Translation: X:427.87, Y:-18.28, Z:3.16 [[ 9.99991637e-01 -3.41225977e-03 2.25441089e-03 4.27867516e+02] [ 3.41260408e-03 9.99994166e-01 -1.48902041e-04 -1.82791577e+01] [-2.25388964e-03 1.56594207e-04 9.99997448e-01 3.15934173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.840714057 meters Centerline goodness [0,1] 0.9821951869283367 Centerline is valid? [True, True] Translation: X:427.90, Y:-18.28, Z:3.16 [[ 9.99985892e-01 -4.48077420e-03 2.85279917e-03 4.27899736e+02] [ 4.48132979e-03 9.99989941e-01 -1.88387921e-04 -1.82815070e+01] [-2.85192635e-03 2.01169597e-04 9.99995913e-01 3.15926997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.870714057 meters Centerline goodness [0,1] 0.982354906984516 Centerline is valid? [True, True] Translation: X:427.93, Y:-18.28, Z:3.16 [[ 9.99971420e-01 -6.32849183e-03 4.13639755e-03 4.27931271e+02] [ 6.32967867e-03 9.99979930e-01 -2.73898747e-04 -1.82790277e+01] [-4.13458116e-03 3.00072986e-04 9.99991408e-01 3.16048347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.900714057 meters Centerline goodness [0,1] 0.9815087109566457 Centerline is valid? [True, True] Translation: X:427.96, Y:-18.28, Z:3.16 [[ 9.99965767e-01 -6.41471384e-03 5.22655745e-03 4.27961940e+02] [ 6.41661096e-03 9.99979353e-01 -3.46289006e-04 -1.82844277e+01] [-5.22422820e-03 3.79813937e-04 9.99986281e-01 3.16021262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.930714057 meters Centerline goodness [0,1] 0.9831996266583702 Centerline is valid? [True, True] Translation: X:427.99, Y:-18.28, Z:3.16 [[ 9.99962828e-01 -6.87323324e-03 5.20586456e-03 4.27994804e+02] [ 6.87512259e-03 9.99976307e-01 -3.45118617e-04 -1.82813903e+01] [-5.20336913e-03 3.80896745e-04 9.99986390e-01 3.16023479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.960714057 meters Centerline goodness [0,1] 0.9825161619976451 Centerline is valid? [True, True] Translation: X:428.03, Y:-18.29, Z:3.16 [[ 9.99969975e-01 -5.83659787e-03 5.09729579e-03 4.28026077e+02] [ 5.83839804e-03 9.99982899e-01 -3.38352995e-04 -1.82854173e+01] [-5.09523379e-03 3.68102878e-04 9.99986951e-01 3.15873784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.990714057 meters Centerline goodness [0,1] 0.9833892242342946 Centerline is valid? [True, True] Translation: X:428.06, Y:-18.28, Z:3.16 [[ 9.99974167e-01 -5.29103230e-03 4.86514826e-03 4.28058842e+02] [ 5.29266662e-03 9.99985942e-01 -3.23110171e-04 -1.82835784e+01] [-4.86337028e-03 3.48851432e-04 9.99988113e-01 3.15795068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.020714057 meters Centerline goodness [0,1] 0.9846894430701344 Centerline is valid? [True, True] Translation: X:428.09, Y:-18.28, Z:3.16 [[ 9.99983703e-01 -4.14109591e-03 3.92998775e-03 4.28090970e+02] [ 4.14215408e-03 9.99991387e-01 -2.61153593e-04 -1.82819671e+01] [-3.92887244e-03 2.77427952e-04 9.99992243e-01 3.15726334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.050714057 meters Centerline goodness [0,1] 0.9839750773230534 Centerline is valid? [True, True] Translation: X:428.12, Y:-18.28, Z:3.16 [[ 9.99991045e-01 -2.15761333e-03 3.64067499e-03 4.28122274e+02] [ 2.15850986e-03 9.99997641e-01 -2.42342652e-04 -1.82795082e+01] [-3.64014352e-03 2.50198915e-04 9.99993343e-01 3.15636744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.080714057 meters Centerline goodness [0,1] 0.9841472425606234 Centerline is valid? [True, True] Translation: X:428.15, Y:-18.28, Z:3.16 [[ 9.99992114e-01 2.75358901e-04 3.96176904e-03 4.28151957e+02] [-2.74314824e-04 9.99999928e-01 -2.64079189e-04 -1.82798494e+01] [-3.96184147e-03 2.62990335e-04 9.99992117e-01 3.15587026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.110714057 meters Centerline goodness [0,1] 0.9854623771705479 Centerline is valid? [True, True] Translation: X:428.18, Y:-18.28, Z:3.16 [[ 9.99987290e-01 2.16860663e-03 4.55158238e-03 4.28183142e+02] [-2.16724880e-03 9.99997606e-01 -3.03230563e-04 -1.82806950e+01] [-4.55222907e-03 2.93362297e-04 9.99989596e-01 3.15603091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.140714057 meters Centerline goodness [0,1] 0.984748143688541 Centerline is valid? [True, True] Translation: X:428.21, Y:-18.28, Z:3.16 [[ 9.99980217e-01 3.81092892e-03 5.00414579e-03 4.28214806e+02] [-3.80930708e-03 9.99992689e-01 -3.33590104e-04 -1.82804858e+01] [-5.00538050e-03 3.14521176e-04 9.99987424e-01 3.15550899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.170714057 meters Centerline goodness [0,1] 0.9854060345599427 Centerline is valid? [True, True] Translation: X:428.25, Y:-18.28, Z:3.16 [[ 9.99960400e-01 6.75895362e-03 5.78914173e-03 4.28245518e+02] [-6.75683041e-03 9.99977098e-01 -3.86237808e-04 -1.82802031e+01] [-5.79161971e-03 3.47106264e-04 9.99983168e-01 3.15537785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.200714057 meters Centerline goodness [0,1] 0.9843806104129263 Centerline is valid? [True, True] Translation: X:428.28, Y:-18.28, Z:3.15 [[ 9.99944574e-01 8.63351734e-03 6.02584935e-03 4.28275628e+02] [-8.63125184e-03 9.99962669e-01 -4.01868072e-04 -1.82829056e+01] [-6.02909394e-03 3.49835174e-04 9.99981764e-01 3.15498653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.230714057 meters Centerline goodness [0,1] 0.9847178771578402 Centerline is valid? [True, True] Translation: X:428.31, Y:-18.28, Z:3.15 [[ 9.99899780e-01 1.26889494e-02 6.27865361e-03 4.28306033e+02] [-1.26865630e-02 9.99919434e-01 -4.19774339e-04 -1.82812447e+01] [-6.28347426e-03 3.40077735e-04 9.99980201e-01 3.15451822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26071405700003 meters Centerline goodness [0,1] 0.9862233527677104 Centerline is valid? [True, True] Translation: X:428.34, Y:-18.28, Z:3.15 [[ 9.99868857e-01 1.51576748e-02 5.70207345e-03 4.28335955e+02] [-1.51557466e-02 9.99885072e-01 -3.81227053e-04 -1.82773736e+01] [-5.70719664e-03 2.94757877e-04 9.99983670e-01 3.15418860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.290714057 meters Centerline goodness [0,1] 0.9864238112391931 Centerline is valid? [True, True] Translation: X:428.37, Y:-18.28, Z:3.15 [[ 9.99828358e-01 1.76728573e-02 5.56105283e-03 4.28366119e+02] [-1.76710635e-02 9.99843786e-01 -3.71541782e-04 -1.82779580e+01] [-5.56675031e-03 2.73208292e-04 9.99984468e-01 3.15407208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32071405700003 meters Centerline goodness [0,1] 0.9850803452705597 Centerline is valid? [True, True] Translation: X:428.40, Y:-18.28, Z:3.15 [[ 9.99745939e-01 2.18504429e-02 5.53305557e-03 4.28395017e+02] [-2.18487311e-02 9.99761220e-01 -3.69637123e-04 -1.82824813e+01] [-5.53981112e-03 2.48652969e-04 9.99984624e-01 3.15341742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.350714057 meters Centerline goodness [0,1] 0.9858333333333333 Centerline is valid? [True, True] Translation: X:428.42, Y:-18.28, Z:3.15 [[ 9.99688554e-01 2.42133230e-02 6.04240312e-03 4.28424387e+02] [-2.42113247e-02 9.99706781e-01 -4.03647659e-04 -1.82787652e+01] [-6.05040502e-03 2.57227360e-04 9.99981663e-01 3.15344397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.380714057 meters Centerline goodness [0,1] 0.9855189782334952 Centerline is valid? [True, True] Translation: X:428.45, Y:-18.29, Z:3.15 [[ 9.99669209e-01 2.48859245e-02 6.49340603e-03 4.28451570e+02] [-2.48836364e-02 9.99690261e-01 -4.32944303e-04 -1.82867887e+01] [-6.50216899e-03 2.71221534e-04 9.99978824e-01 3.15248131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.410714057 meters Centerline goodness [0,1] 0.9864051053885219 Centerline is valid? [True, True] Translation: X:428.48, Y:-18.28, Z:3.15 [[ 9.99669237e-01 2.49473387e-02 6.24873365e-03 4.28480418e+02] [-2.49452245e-02 9.99688733e-01 -4.16058493e-04 -1.82838204e+01] [-6.25716818e-03 2.60044813e-04 9.99980390e-01 3.15220543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.440714057 meters Centerline goodness [0,1] 0.9867818671454219 Centerline is valid? [True, True] Translation: X:428.51, Y:-18.29, Z:3.15 [[ 9.99691847e-01 2.40253608e-02 6.24452235e-03 4.28508431e+02] [-2.40232340e-02 9.99711314e-01 -4.15387470e-04 -1.82886495e+01] [-6.25269948e-03 2.65245845e-04 9.99980417e-01 3.15114791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.470714057 meters Centerline goodness [0,1] 0.9861629003998382 Centerline is valid? [True, True] Translation: X:428.54, Y:-18.29, Z:3.15 [[ 9.99715564e-01 2.29511629e-02 6.48349097e-03 4.28536519e+02] [-2.29488513e-02 9.99736548e-01 -4.30717970e-04 -1.82920038e+01] [-6.49166835e-03 2.81806788e-04 9.99978889e-01 3.15076956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.500714057 meters Centerline goodness [0,1] 0.986427261750369 Centerline is valid? [True, True] Translation: X:428.57, Y:-18.30, Z:3.15 [[ 9.99771168e-01 2.04859127e-02 6.15946625e-03 4.28565858e+02] [-2.04837846e-02 9.99790102e-01 -4.08394071e-04 -1.82984508e+01] [-6.16653971e-03 2.82131437e-04 9.99980947e-01 3.14956374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.530714057 meters Centerline goodness [0,1] 0.9847546025943922 Centerline is valid? [True, True] Translation: X:428.59, Y:-18.31, Z:3.15 [[ 9.99831024e-01 1.71907333e-02 6.51170900e-03 4.28593825e+02] [-1.71882863e-02 9.99852177e-01 -4.31567297e-04 -1.83094317e+01] [-6.51816538e-03 3.19569254e-04 9.99978705e-01 3.14858885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.560714057 meters Centerline goodness [0,1] 0.984929216363839 Centerline is valid? [True, True] Translation: X:428.62, Y:-18.31, Z:3.15 [[ 9.99864251e-01 1.51899108e-02 6.38325856e-03 4.28623177e+02] [-1.51875216e-02 9.99884574e-01 -4.22595449e-04 -1.83122046e+01] [-6.38894095e-03 3.25592204e-04 9.99979538e-01 3.14853594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.590714057 meters Centerline goodness [0,1] 0.9847423600267677 Centerline is valid? [True, True] Translation: X:428.65, Y:-18.32, Z:3.15 [[ 9.99894059e-01 1.31357739e-02 6.27079968e-03 4.28650991e+02] [-1.31334286e-02 9.99913667e-01 -4.15036870e-04 -1.83196911e+01] [-6.27571013e-03 3.32635801e-04 9.99980252e-01 3.14805489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.620714057 meters Centerline goodness [0,1] 0.984345815173886 Centerline is valid? [True, True] Translation: X:428.68, Y:-18.33, Z:3.15 [[ 9.99928890e-01 9.54783178e-03 7.14513627e-03 4.28680806e+02] [-9.54470048e-03 9.99954337e-01 -4.72215518e-04 -1.83250058e+01] [-7.14931864e-03 4.03983753e-04 9.99974362e-01 3.14808453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.650714057 meters Centerline goodness [0,1] 0.9842658513178745 Centerline is valid? [True, True] Translation: X:428.71, Y:-18.33, Z:3.15 [[ 9.99932603e-01 8.14258561e-03 8.27575472e-03 4.28711113e+02] [-8.13833844e-03 9.99966734e-01 -5.46753818e-04 -1.83291718e+01] [-8.27993140e-03 4.79366076e-04 9.99965606e-01 3.14827032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.680714057 meters Centerline goodness [0,1] 0.9842588057175936 Centerline is valid? [True, True] Translation: X:428.74, Y:-18.33, Z:3.15 [[ 9.99935457e-01 6.36702973e-03 9.40975302e-03 4.28742281e+02] [-6.36146038e-03 9.99979572e-01 -6.21682359e-04 -1.83291743e+01] [-9.41351907e-03 5.61782463e-04 9.99955534e-01 3.14829213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.710714057 meters Centerline goodness [0,1] 0.9850802602073666 Centerline is valid? [True, True] Translation: X:428.77, Y:-18.34, Z:3.15 [[ 9.99938144e-01 5.92904678e-03 9.41036970e-03 4.28773535e+02] [-5.92345370e-03 9.99982263e-01 -6.22113820e-04 -1.83350297e+01] [-9.41389133e-03 5.66333449e-04 9.99955528e-01 3.14760711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.740714057 meters Centerline goodness [0,1] 0.9825760770647903 Centerline is valid? [True, True] Translation: X:428.80, Y:-18.34, Z:3.15 [[ 9.99944354e-01 5.01819304e-03 9.27933950e-03 4.28804033e+02] [-5.01269580e-03 9.99987247e-01 -6.15579546e-04 -1.83403187e+01] [-9.28231026e-03 5.69030786e-04 9.99956757e-01 3.14639553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.770714057 meters Centerline goodness [0,1] 0.9828195497077323 Centerline is valid? [True, True] Translation: X:428.84, Y:-18.34, Z:3.15 [[ 9.99946019e-01 4.62664824e-03 9.30340133e-03 4.28835914e+02] [-4.62110223e-03 9.99989132e-01 -6.17535509e-04 -1.83399137e+01] [-9.30615734e-03 5.74510205e-04 9.99956532e-01 3.14568363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.800714057 meters Centerline goodness [0,1] 0.9823745626854435 Centerline is valid? [True, True] Translation: X:428.87, Y:-18.35, Z:3.15 [[ 9.99944041e-01 4.85535450e-03 9.39893615e-03 4.28867330e+02] [-4.84968279e-03 9.99988044e-01 -6.26139261e-04 -1.83468759e+01] [-9.40186391e-03 5.80522364e-04 9.99955633e-01 3.14521991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.830714057 meters Centerline goodness [0,1] 0.9827704573136973 Centerline is valid? [True, True] Translation: X:428.90, Y:-18.35, Z:3.14 [[ 9.99940186e-01 4.94897426e-03 9.75360775e-03 4.28899346e+02] [-4.94284408e-03 9.99987571e-01 -6.52509959e-04 -1.83512566e+01] [-9.75671578e-03 6.04260367e-04 9.99952220e-01 3.14440626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.860714057 meters Centerline goodness [0,1] 0.9832123109719539 Centerline is valid? [True, True] Translation: X:428.93, Y:-18.35, Z:3.14 [[ 9.99940071e-01 5.17178356e-03 9.64917149e-03 4.28932216e+02] [-5.16576980e-03 9.99986447e-01 -6.48060326e-04 -1.83528800e+01] [-9.65239235e-03 5.98176090e-04 9.99953236e-01 3.14363532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.890714057 meters Centerline goodness [0,1] 0.982523841206476 Centerline is valid? [True, True] Translation: X:428.96, Y:-18.36, Z:3.14 [[ 9.99953178e-01 4.55947232e-03 8.53534370e-03 4.28964380e+02] [-4.55472625e-03 9.99989462e-01 -5.75405551e-04 -1.83565282e+01] [-8.53787730e-03 5.36502456e-04 9.99963408e-01 3.14171895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.920714057 meters Centerline goodness [0,1] 0.9819724049343344 Centerline is valid? [True, True] Translation: X:429.00, Y:-18.36, Z:3.14 [[ 9.99964375e-01 4.59708461e-03 7.07919536e-03 4.28995098e+02] [-4.59381075e-03 9.99989334e-01 -4.78653715e-04 -1.83619936e+01] [-7.08132026e-03 4.46116179e-04 9.99974828e-01 3.13983026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.950714057 meters Centerline goodness [0,1] 0.9811270541793262 Centerline is valid? [True, True] Translation: X:429.03, Y:-18.37, Z:3.14 [[ 9.99969342e-01 4.84902611e-03 6.14838575e-03 4.29026469e+02] [-4.84655429e-03 9.99988168e-01 -4.16863421e-04 -1.83656369e+01] [-6.15033438e-03 3.87052156e-04 9.99981012e-01 3.13897367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.980714057 meters Centerline goodness [0,1] 0.9803269235034489 Centerline is valid? [True, True] Translation: X:429.06, Y:-18.37, Z:3.14 [[ 9.99973356e-01 4.93061379e-03 5.38300929e-03 4.29057132e+02] [-4.92871506e-03 9.99987787e-01 -3.65934449e-04 -1.83695400e+01] [-5.38474782e-03 3.39393380e-04 9.99985445e-01 3.13822258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.01071405700003 meters Centerline goodness [0,1] 0.9803556795783226 Centerline is valid? [True, True] Translation: X:429.09, Y:-18.37, Z:3.14 [[ 9.99976600e-01 5.09258990e-03 4.56771305e-03 4.29088027e+02] [-5.09121688e-03 9.99986991e-01 -3.12169448e-04 -1.83722873e+01] [-4.56924338e-03 2.88906925e-04 9.99989519e-01 3.13744586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.040714057 meters Centerline goodness [0,1] 0.9803556795783226 Centerline is valid? [True, True] Translation: X:429.12, Y:-18.37, Z:3.14 [[ 9.99976601e-01 5.09259133e-03 4.56770240e-03 4.29118016e+02] [-5.09121760e-03 9.99986991e-01 -3.12325285e-04 -1.83743378e+01] [-4.56923352e-03 2.89062810e-04 9.99989519e-01 3.13716966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.07071405700003 meters Centerline goodness [0,1] 0.9803079524720751 Centerline is valid? [True, True] Translation: X:429.15, Y:-18.38, Z:3.14 [[ 9.99977085e-01 5.39366034e-03 4.09126045e-03 4.29148656e+02] [-5.39256076e-03 9.99985421e-01 -2.79747666e-04 -1.83776622e+01] [-4.09270966e-03 2.57678885e-04 9.99991592e-01 3.13648775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.100714057 meters Centerline goodness [0,1] 0.9807072525616234 Centerline is valid? [True, True] Translation: X:429.18, Y:-18.38, Z:3.14 [[ 9.99971881e-01 6.75058982e-03 3.26591331e-03 4.29178842e+02] [-6.74989667e-03 9.99977194e-01 -2.23213715e-04 -1.83808540e+01] [-3.26734565e-03 2.01162861e-04 9.99994642e-01 3.13579759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.130714057 meters Centerline goodness [0,1] 0.9809229410465886 Centerline is valid? [True, True] Translation: X:429.21, Y:-18.38, Z:3.14 [[ 9.99964338e-01 7.67650805e-03 3.52048300e-03 4.29208578e+02] [-7.67570708e-03 9.99970512e-01 -2.40971276e-04 -1.83809493e+01] [-3.52222900e-03 2.13940486e-04 9.99993774e-01 3.13543205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.160714057 meters Centerline goodness [0,1] 0.9801422840805833 Centerline is valid? [True, True] Translation: X:429.24, Y:-18.38, Z:3.14 [[ 9.99952986e-01 8.98918541e-03 3.63590176e-03 4.29238651e+02] [-8.98834054e-03 9.99959573e-01 -2.48642366e-04 -1.83837990e+01] [-3.63798987e-03 2.15949953e-04 9.99993359e-01 3.13585443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.190714057 meters Centerline goodness [0,1] 0.9785412472623498 Centerline is valid? [True, True] Translation: X:429.27, Y:-18.39, Z:3.14 [[ 9.99945488e-01 9.69532733e-03 3.87577580e-03 4.29267525e+02] [-9.69437254e-03 9.99952973e-01 -2.65058706e-04 -1.83882116e+01] [-3.87816337e-03 2.27471042e-04 9.99992454e-01 3.13553722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.220714057 meters Centerline goodness [0,1] 0.980655621196642 Centerline is valid? [True, True] Translation: X:429.30, Y:-18.39, Z:3.14 [[ 9.99946322e-01 9.98125004e-03 2.77983432e-03 4.29297054e+02] [-9.98075866e-03 9.99950173e-01 -1.90583918e-04 -1.83861719e+01] [-2.78159808e-03 1.62828832e-04 9.99996118e-01 3.13574465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.250714057 meters Centerline goodness [0,1] 0.9791985452287495 Centerline is valid? [True, True] Translation: X:429.32, Y:-18.39, Z:3.13 [[ 9.99951578e-01 9.54894965e-03 2.37897953e-03 4.29324807e+02] [-9.54858975e-03 9.99954398e-01 -1.62594937e-04 -1.83944685e+01] [-2.38042366e-03 1.39871164e-04 9.99997157e-01 3.13466157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.280714057 meters Centerline goodness [0,1] 0.9756408381557231 Centerline is valid? [True, True] Translation: X:429.35, Y:-18.41, Z:3.13 [[ 9.99916777e-01 1.24540185e-02 3.36684703e-03 4.29352564e+02] [-1.24533154e-02 9.99922428e-01 -2.29729286e-04 -1.84082753e+01] [-3.36944691e-03 1.87781759e-04 9.99994306e-01 3.13400259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.310714057 meters Centerline goodness [0,1] 0.9795308034824217 Centerline is valid? [True, True] Translation: X:429.38, Y:-18.40, Z:3.14 [[ 9.99949378e-01 9.58577307e-03 3.05834639e-03 4.29383907e+02] [-9.58518074e-03 9.99954039e-01 -2.08275307e-04 -1.83959534e+01] [-3.06020231e-03 1.78949960e-04 9.99995302e-01 3.13537044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.340714057 meters Centerline goodness [0,1] 0.9798553833226455 Centerline is valid? [True, True] Translation: X:429.41, Y:-18.40, Z:3.14 [[ 9.99945182e-01 9.81418695e-03 3.64881811e-03 4.29412285e+02] [-9.81334398e-03 9.99951817e-01 -2.48857439e-04 -1.83977073e+01] [-3.65108463e-03 2.13036690e-04 9.99993312e-01 3.13628294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.370714057 meters Centerline goodness [0,1] 0.9801723564988147 Centerline is valid? [True, True] Translation: X:429.44, Y:-18.40, Z:3.14 [[ 9.99939521e-01 1.00450200e-02 4.47798467e-03 4.29440903e+02] [-1.00437551e-02 9.99949514e-01 -3.04886996e-04 -1.83998440e+01] [-4.48082119e-03 2.59892776e-04 9.99989927e-01 3.13690144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.400714057 meters Centerline goodness [0,1] 0.9822084531976101 Centerline is valid? [True, True] Translation: X:429.47, Y:-18.39, Z:3.14 [[ 9.99942540e-01 9.85843210e-03 4.21055890e-03 4.29471006e+02] [-9.85731312e-03 9.99951374e-01 -2.86426117e-04 -1.83933490e+01] [-4.21317788e-03 2.44904862e-04 9.99991095e-01 3.13704829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.430714057 meters Centerline goodness [0,1] 0.979634970608309 Centerline is valid? [True, True] Translation: X:429.50, Y:-18.40, Z:3.13 [[ 9.99955060e-01 9.11504748e-03 2.60647069e-03 4.29498930e+02] [-9.11461579e-03 9.99958445e-01 -1.77453320e-04 -1.84044793e+01] [-2.60797987e-03 1.53688366e-04 9.99996587e-01 3.13444040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.460714057 meters Centerline goodness [0,1] 0.9820365929478639 Centerline is valid? [True, True] Translation: X:429.53, Y:-18.40, Z:3.13 [[ 9.99967372e-01 7.93653762e-03 1.50567591e-03 4.29529518e+02] [-7.93639225e-03 9.99968501e-01 -1.02500382e-04 -1.83968246e+01] [-1.50644198e-03 9.05474026e-05 9.99998861e-01 3.13452538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.490714057 meters Centerline goodness [0,1] 0.9820727296931508 Centerline is valid? [True, True] Translation: X:429.56, Y:-18.40, Z:3.13 [[ 9.99981580e-01 6.05751659e-03 3.82106758e-04 4.29558659e+02] [-6.05750694e-03 9.99981653e-01 -2.64004859e-05 -1.83987744e+01] [-3.82259669e-04 2.40853853e-05 9.99999927e-01 3.13357909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.520714057 meters Centerline goodness [0,1] 0.9833125944360501 Centerline is valid? [True, True] Translation: X:429.59, Y:-18.40, Z:3.13 [[ 9.99986060e-01 5.21690496e-03 8.14242144e-04 4.29587775e+02] [-5.21686124e-03 9.99986391e-01 -5.58149057e-05 -1.83994422e+01] [-8.14522244e-04 5.15663394e-05 9.99999667e-01 3.13348419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.550714057 meters Centerline goodness [0,1] 0.9824955016993581 Centerline is valid? [True, True] Translation: X:429.62, Y:-18.40, Z:3.13 [[ 9.99993190e-01 3.60465325e-03 7.91298452e-04 4.29616561e+02] [-3.60461220e-03 9.99993502e-01 -5.32872561e-05 -1.84031110e+01] [-7.91485392e-04 5.04345692e-05 9.99999686e-01 3.13399283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.580714057 meters Centerline goodness [0,1] 0.9814209836211303 Centerline is valid? [True, True] Translation: X:429.65, Y:-18.41, Z:3.13 [[ 9.99995810e-01 2.86754758e-03 3.95184510e-04 4.29646249e+02] [-2.86753710e-03 9.99995888e-01 -2.70912409e-05 -1.84054537e+01] [-3.95260571e-04 2.59579212e-05 9.99999922e-01 3.13367835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.610714057 meters Centerline goodness [0,1] 0.9818391723280494 Centerline is valid? [True, True] Translation: X:429.68, Y:-18.41, Z:3.13 [[ 9.99998690e-01 1.52337708e-03 -5.46875373e-04 4.29675847e+02] [-1.52335723e-03 9.99998839e-01 3.67011309e-05 -1.84066032e+01] [ 5.46930648e-04 -3.58679963e-05 9.99999850e-01 3.13292015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.640714057 meters Centerline goodness [0,1] 0.9818060794319947 Centerline is valid? [True, True] Translation: X:429.71, Y:-18.41, Z:3.13 [[ 9.99999240e-01 1.12955972e-03 -4.93974122e-04 4.29705334e+02] [-1.12954350e-03 9.99999362e-01 3.31040616e-05 -1.84085142e+01] [ 4.94011199e-04 -3.25460712e-05 9.99999877e-01 3.13221383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.670714057 meters Centerline goodness [0,1] 0.9813096559378468 Centerline is valid? [True, True] Translation: X:429.73, Y:-18.41, Z:3.13 [[ 9.99999852e-01 4.18781057e-04 -3.47939381e-04 4.29734548e+02] [-4.18772948e-04 9.99999912e-01 2.33782730e-05 -1.84109499e+01] [ 3.47949141e-04 -2.32325620e-05 9.99999939e-01 3.13184921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.700714057 meters Centerline goodness [0,1] 0.9807483068724325 Centerline is valid? [True, True] Translation: X:429.77, Y:-18.41, Z:3.13 [[ 9.99999767e-01 -5.12539225e-04 -4.49916737e-04 4.29765321e+02] [ 5.12552971e-04 9.99999868e-01 3.04355912e-05 -1.84114655e+01] [ 4.49901079e-04 -3.06661902e-05 9.99999898e-01 3.13254605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.730714057 meters Centerline goodness [0,1] 0.9817934964054397 Centerline is valid? [True, True] Translation: X:429.80, Y:-18.41, Z:3.13 [[ 9.99999719e-01 -6.80269367e-04 3.14919066e-04 4.29796518e+02] [ 6.80276109e-04 9.99999768e-01 -2.13033816e-05 -1.84063518e+01] [-3.14904502e-04 2.15176076e-05 9.99999950e-01 3.13474089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76071405700003 meters Centerline goodness [0,1] 0.9810785031387946 Centerline is valid? [True, True] Translation: X:429.83, Y:-18.41, Z:3.13 [[ 9.99999661e-01 -3.61488521e-04 7.39212857e-04 4.29826694e+02] [ 3.61525473e-04 9.99999933e-01 -4.98555049e-05 -1.84106282e+01] [-7.39194785e-04 5.01227323e-05 9.99999726e-01 3.13464984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.790714057 meters Centerline goodness [0,1] 0.9814851859260741 Centerline is valid? [True, True] Translation: X:429.86, Y:-18.41, Z:3.13 [[ 9.99999931e-01 -1.38062324e-04 3.44906927e-04 4.29856911e+02] [ 1.38070382e-04 9.99999990e-01 -2.33381189e-05 -1.84108452e+01] [-3.44903701e-04 2.33857387e-05 9.99999940e-01 3.13463985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82071405700003 meters Centerline goodness [0,1] 0.9819657147952473 Centerline is valid? [True, True] Translation: X:429.89, Y:-18.41, Z:3.13 [[ 9.99999846e-01 -4.12485610e-04 -3.70420107e-04 4.29887875e+02] [ 4.12494922e-04 9.99999915e-01 2.50644676e-05 -1.84078926e+01] [ 3.70409737e-04 -2.52172602e-05 9.99999931e-01 3.13476053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.850714057 meters Centerline goodness [0,1] 0.9817751901670794 Centerline is valid? [True, True] Translation: X:429.92, Y:-18.41, Z:3.13 [[ 9.99998948e-01 -5.73636483e-04 -1.33241140e-03 4.29917219e+02] [ 5.73756868e-04 9.99999831e-01 8.99705849e-05 -1.84114503e+01] [ 1.33235956e-03 -9.07349704e-05 9.99999108e-01 3.13397070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.880714057 meters Centerline goodness [0,1] 0.794749060131068 Centerline is valid? [True, False] Translation: X:429.97, Y:-18.41, Z:3.13 [[ 9.99999011e-01 -9.80150857e-04 -1.00813860e-03 4.29974422e+02] [ 9.75263737e-04 9.99987827e-01 -4.83678801e-03 -1.84110739e+01] [ 1.01286711e-03 4.83580003e-03 9.99987794e-01 3.13295330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.910714057 meters Centerline goodness [0,1] 0.982607140461872 Centerline is valid? [False, True] Translation: X:429.93, Y:-18.41, Z:3.13 [[ 9.99999165e-01 9.20885762e-04 -9.07116016e-04 4.29925146e+02] [-9.21022278e-04 9.99999565e-01 -1.50088460e-04 -1.84081264e+01] [ 9.06977407e-04 1.50923809e-04 9.99999577e-01 3.12958204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.940714057 meters Centerline goodness [0,1] 0.9823028623779412 Centerline is valid? [True, True] Translation: X:429.95, Y:-18.41, Z:3.13 [[ 9.99997836e-01 1.71733084e-03 -1.17382381e-03 4.29954565e+02] [-1.71723719e-03 9.99998522e-01 8.07814224e-05 -1.84147218e+01] [ 1.17396080e-03 -7.87655138e-05 9.99999308e-01 3.12819201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.970714057 meters Centerline goodness [0,1] 0.9830184864889149 Centerline is valid? [True, True] Translation: X:429.98, Y:-18.41, Z:3.13 [[ 9.99995626e-01 2.27257236e-03 -1.89289841e-03 4.29984871e+02] [-2.27233132e-03 9.99997410e-01 1.29479016e-04 -1.84097113e+01] [ 1.89318776e-03 -1.25177157e-04 9.99998200e-01 3.12928233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.000714057 meters Centerline goodness [0,1] 0.9834860740773936 Centerline is valid? [True, True] Translation: X:430.01, Y:-18.41, Z:3.13 [[ 9.99994275e-01 3.15623384e-03 -1.21970067e-03 4.30014626e+02] [-3.15613466e-03 9.99995016e-01 8.32277482e-05 -1.84092430e+01] [ 1.21995728e-03 -7.93777321e-05 9.99999253e-01 3.12982881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.030714057 meters Centerline goodness [0,1] 0.9825548677546426 Centerline is valid? [True, True] Translation: X:430.04, Y:-18.42, Z:3.13 [[ 9.99990359e-01 4.39086761e-03 5.42074108e-05 4.30043205e+02] [-4.39086739e-03 9.99990360e-01 -4.15568163e-06 -1.84158322e+01] [-5.42251353e-05 3.91762401e-06 9.99999999e-01 3.12950118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.060714057 meters Centerline goodness [0,1] 0.9827590072416653 Centerline is valid? [True, True] Translation: X:430.07, Y:-18.41, Z:3.13 [[ 9.99983820e-01 5.61729774e-03 8.97575065e-04 4.30072860e+02] [-5.61724421e-03 9.99984221e-01 -6.21453819e-05 -1.84107481e+01] [-8.97909992e-04 5.71024780e-05 9.99999595e-01 3.13109764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.090714057 meters Centerline goodness [0,1] 0.9826925232597242 Centerline is valid? [True, True] Translation: X:430.10, Y:-18.41, Z:3.13 [[ 9.99980556e-01 6.10582225e-03 1.26765943e-03 4.30102503e+02] [-6.10571655e-03 9.99981356e-01 -8.72366266e-05 -1.84120313e+01] [-1.26816844e-03 7.94949612e-05 9.99999193e-01 3.13130645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.120714057 meters Centerline goodness [0,1] 0.9832325638893259 Centerline is valid? [True, True] Translation: X:430.13, Y:-18.41, Z:3.13 [[ 9.99978497e-01 6.44160334e-03 1.22916614e-03 4.30131176e+02] [-6.44150402e-03 9.99979250e-01 -8.47468292e-05 -1.84143424e+01] [-1.22968654e-03 7.68273282e-05 9.99999241e-01 3.13133862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.150714057 meters Centerline goodness [0,1] 0.9825948301030836 Centerline is valid? [True, True] Translation: X:430.16, Y:-18.42, Z:3.13 [[ 9.99978650e-01 6.12577339e-03 2.27464318e-03 4.30159822e+02] [-6.12543356e-03 9.99981227e-01 -1.56335767e-04 -1.84153760e+01] [-2.27555816e-03 1.42399254e-04 9.99997401e-01 3.13191517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.180714057 meters Centerline goodness [0,1] 0.9828698603961064 Centerline is valid? [True, True] Translation: X:430.19, Y:-18.41, Z:3.13 [[ 9.99985429e-01 4.86468190e-03 2.34022525e-03 4.30189028e+02] [-4.86431956e-03 9.99988156e-01 -1.60496075e-04 -1.84147179e+01] [-2.34097829e-03 1.49110132e-04 9.99997249e-01 3.13228544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.210714057 meters Centerline goodness [0,1] 0.9826083058786615 Centerline is valid? [True, True] Translation: X:430.22, Y:-18.42, Z:3.13 [[ 9.99995421e-01 2.43519138e-03 1.79670853e-03 4.30217518e+02] [-2.43497518e-03 9.99997028e-01 -1.22508180e-04 -1.84207696e+01] [-1.79700153e-03 1.18132678e-04 9.99998378e-01 3.13119829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.240714057 meters Centerline goodness [0,1] 0.9839811278364412 Centerline is valid? [True, True] Translation: X:430.25, Y:-18.42, Z:3.13 [[ 9.99998927e-01 7.06996629e-04 1.28319231e-03 4.30248338e+02] [-7.06884713e-04 9.99999746e-01 -8.76678636e-05 -1.84208711e+01] [-1.28325397e-03 8.67607004e-05 9.99999173e-01 3.13100169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.270714057 meters Centerline goodness [0,1] 0.9815593008180965 Centerline is valid? [True, True] Translation: X:430.28, Y:-18.43, Z:3.13 [[ 9.99999209e-01 -4.14603693e-04 1.18708689e-03 4.30277738e+02] [ 4.14700259e-04 9.99999911e-01 -8.11019286e-05 -1.84292612e+01] [-1.18705315e-03 8.15941497e-05 9.99999292e-01 3.12976788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.300714057 meters Centerline goodness [0,1] 0.9824093577734953 Centerline is valid? [True, True] Translation: X:430.31, Y:-18.43, Z:3.13 [[ 9.99997310e-01 -2.31092407e-03 1.97237924e-04 4.30309289e+02] [ 2.31092669e-03 9.99997330e-01 -1.30429314e-05 -1.84291638e+01] [-1.97207256e-04 1.34986987e-05 9.99999980e-01 3.12973611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.330714057 meters Centerline goodness [0,1] 0.9837754140298909 Centerline is valid? [True, True] Translation: X:430.34, Y:-18.43, Z:3.13 [[ 9.99997709e-01 -1.99711822e-03 -7.70359256e-04 4.30340946e+02] [ 1.99715973e-03 9.99998004e-01 5.31234289e-05 -1.84318222e+01] [ 7.70251625e-04 -5.46618377e-05 9.99999702e-01 3.12884924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.360714057 meters Centerline goodness [0,1] 0.9850057153103078 Centerline is valid? [True, True] Translation: X:430.37, Y:-18.43, Z:3.13 [[ 9.99998469e-01 -9.79351069e-05 -1.74699392e-03 4.30371857e+02] [ 9.81440069e-05 9.99999988e-01 1.19491455e-04 -1.84313015e+01] [ 1.74698220e-03 -1.19662729e-04 9.99998467e-01 3.12833219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.390714057 meters Centerline goodness [0,1] 0.9851775327329485 Centerline is valid? [True, True] Translation: X:430.40, Y:-18.43, Z:3.13 [[ 9.99996932e-01 1.65044375e-03 -1.84696790e-03 4.30401424e+02] [-1.65021419e-03 9.99998630e-01 1.25811405e-04 -1.84318160e+01] [ 1.84717302e-03 -1.22763127e-04 9.99998286e-01 3.12803749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.420714057 meters Centerline goodness [0,1] 0.9850259684780898 Centerline is valid? [True, True] Translation: X:430.43, Y:-18.43, Z:3.13 [[ 9.99978607e-01 6.33965694e-03 -1.61052062e-03 4.30432261e+02] [-6.33948789e-03 9.99979899e-01 1.10050458e-04 -1.84301240e+01] [ 1.61118592e-03 -9.98382281e-05 9.99998697e-01 3.12905220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.450714057 meters Centerline goodness [0,1] 0.9849595323741007 Centerline is valid? [True, True] Translation: X:430.46, Y:-18.43, Z:3.13 [[ 9.99958637e-01 9.01306024e-03 -1.22041521e-03 4.30461630e+02] [-9.01296570e-03 9.99959379e-01 8.29383625e-05 -1.84309398e+01] [ 1.22111317e-03 -7.19353714e-05 9.99999252e-01 3.12887331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.480714057 meters Centerline goodness [0,1] 0.9859584995653822 Centerline is valid? [True, True] Translation: X:430.49, Y:-18.43, Z:3.13 [[ 9.99899248e-01 1.41932313e-02 2.15217129e-04 4.30492252e+02] [-1.41932284e-02 9.99899271e-01 -1.47431722e-05 -1.84289125e+01] [-2.15404704e-04 1.16870609e-05 9.99999977e-01 3.13104161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.51071405700003 meters Centerline goodness [0,1] 0.9861847425644712 Centerline is valid? [True, True] Translation: X:430.52, Y:-18.43, Z:3.13 [[ 9.99875370e-01 1.57860873e-02 2.11059712e-04 4.30521628e+02] [-1.57860845e-02 9.99875392e-01 -1.50673105e-05 -1.84281567e+01] [-2.11271266e-04 1.17336262e-05 9.99999978e-01 3.13137004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.540714057 meters Centerline goodness [0,1] 0.9878312114804985 Centerline is valid? [True, True] Translation: X:430.55, Y:-18.43, Z:3.13 [[ 9.99834355e-01 1.81988992e-02 2.48993183e-04 4.30551968e+02] [-1.81988955e-02 9.99834386e-01 -1.72153797e-05 -1.84279575e+01] [-2.49265247e-04 1.26811272e-05 9.99999969e-01 3.13060663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.57071405700003 meters Centerline goodness [0,1] 0.9864776982934541 Centerline is valid? [True, True] Translation: X:430.58, Y:-18.43, Z:3.13 [[ 9.99836284e-01 1.80943384e-02 -3.09819651e-05 4.30579442e+02] [-1.80943384e-02 9.99836284e-01 1.00440768e-06 -1.84329427e+01] [ 3.09950670e-05 -4.43645082e-07 1.00000000e+00 3.12903080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.600714057 meters Centerline goodness [0,1] 0.9861517500167519 Centerline is valid? [True, True] Translation: X:430.61, Y:-18.44, Z:3.13 [[ 9.99833745e-01 1.82186637e-02 -7.50681680e-04 4.30606694e+02] [-1.82186313e-02 9.99834026e-01 5.00222003e-05 -1.84366685e+01] [ 7.51468424e-04 -3.63374911e-05 9.99999717e-01 3.12829292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.630714057 meters Centerline goodness [0,1] 0.9868756998880179 Centerline is valid? [True, True] Translation: X:430.64, Y:-18.44, Z:3.13 [[ 9.99855098e-01 1.69774076e-02 -1.24556470e-03 4.30635576e+02] [-1.69773163e-02 9.99855871e-01 8.38207274e-05 -1.84365924e+01] [ 1.24680824e-03 -6.26622356e-05 9.99999221e-01 3.12938077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.660714057 meters Centerline goodness [0,1] 0.9869744879626302 Centerline is valid? [True, True] Translation: X:430.66, Y:-18.44, Z:3.13 [[ 9.99868553e-01 1.61873628e-02 -9.19820592e-04 4.30664562e+02] [-1.61873130e-02 9.99868975e-01 6.15918405e-05 -1.84378040e+01] [ 9.20697082e-04 -4.66943207e-05 9.99999575e-01 3.12961864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.690714057 meters Centerline goodness [0,1] 0.9849423275436471 Centerline is valid? [True, True] Translation: X:430.69, Y:-18.44, Z:3.13 [[ 9.99912272e-01 1.31084471e-02 -1.90203716e-03 4.30693853e+02] [-1.31082255e-02 9.99914075e-01 1.28937930e-04 -1.84431678e+01] [ 1.90356391e-03 -1.03994287e-04 9.99998183e-01 3.12853504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.720714057 meters Centerline goodness [0,1] 0.986391049929377 Centerline is valid? [True, True] Translation: X:430.72, Y:-18.45, Z:3.13 [[ 9.99929780e-01 1.15865351e-02 -2.48724394e-03 4.30722765e+02] [-1.15861527e-02 9.99932864e-01 1.68106744e-04 -1.84473008e+01] [ 2.48902473e-03 -1.39277352e-04 9.99996893e-01 3.12738590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.750714057 meters Centerline goodness [0,1] 0.9855027000380918 Centerline is valid? [True, True] Translation: X:430.75, Y:-18.45, Z:3.13 [[ 9.99951930e-01 9.24343418e-03 -3.27062083e-03 4.30751798e+02] [-9.24276032e-03 9.99957260e-01 2.21088354e-04 -1.84517102e+01] [ 3.27252466e-03 -1.90848162e-04 9.99994627e-01 3.12619402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.780714057 meters Centerline goodness [0,1] 0.9848722545943523 Centerline is valid? [True, True] Translation: X:430.78, Y:-18.46, Z:3.12 [[ 9.99979943e-01 4.49404557e-03 -4.46276760e-03 4.30781762e+02] [-4.49274024e-03 9.99989862e-01 3.02475074e-04 -1.84579746e+01] [ 4.46408170e-03 -2.82418952e-04 9.99989996e-01 3.12494491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.810714057 meters Centerline goodness [0,1] 0.9844912454204221 Centerline is valid? [True, True] Translation: X:430.81, Y:-18.46, Z:3.12 [[ 9.99985605e-01 2.20094765e-03 -4.89339601e-03 4.30810883e+02] [-2.19935499e-03 9.99997527e-01 3.30828418e-04 -1.84618327e+01] [ 4.89411205e-03 -3.20061341e-04 9.99987973e-01 3.12423555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.840714057 meters Centerline goodness [0,1] 0.9836436557549685 Centerline is valid? [True, True] Translation: X:430.84, Y:-18.47, Z:3.12 [[ 9.99990479e-01 -7.51372995e-04 -4.29844974e-03 4.30839428e+02] [ 7.52629029e-04 9.99999675e-01 2.90596091e-04 -1.84665449e+01] [ 4.29822999e-03 -2.93828463e-04 9.99990719e-01 3.12497802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.870714057 meters Centerline goodness [0,1] 0.9843589399830183 Centerline is valid? [True, True] Translation: X:430.87, Y:-18.47, Z:3.13 [[ 9.99994741e-01 -1.26956243e-03 -2.98442880e-03 4.30867738e+02] [ 1.27016790e-03 9.99999173e-01 2.00988188e-04 -1.84679633e+01] [ 2.98417117e-03 -2.04777857e-04 9.99995526e-01 3.12604316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.900714057 meters Centerline goodness [0,1] 0.9838724168912848 Centerline is valid? [True, True] Translation: X:430.90, Y:-18.47, Z:3.13 [[ 9.99995676e-01 -1.81996412e-03 -2.31008345e-03 4.30897553e+02] [ 1.82032870e-03 9.99998331e-01 1.55729762e-04 -1.84701177e+01] [ 2.30979617e-03 -1.59934200e-04 9.99997320e-01 3.12665963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.930714057 meters Centerline goodness [0,1] 0.9832145012404729 Centerline is valid? [True, True] Translation: X:430.93, Y:-18.47, Z:3.13 [[ 9.99998116e-01 -1.67128779e-03 -9.87753844e-04 4.30927888e+02] [ 1.67135455e-03 9.99998601e-01 6.67717628e-05 -1.84708847e+01] [ 9.87640868e-04 -6.84225239e-05 9.99999510e-01 3.12766537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.960714057 meters Centerline goodness [0,1] 0.9840230428227458 Centerline is valid? [True, True] Translation: X:430.96, Y:-18.47, Z:3.13 [[ 9.99998272e-01 -1.75046021e-03 -6.26531273e-04 4.30958697e+02] [ 1.75048709e-03 9.99998467e-01 4.23532622e-05 -1.84693147e+01] [ 6.26456174e-04 -4.34499239e-05 9.99999803e-01 3.12838843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.990714057 meters Centerline goodness [0,1] 0.9840230428227458 Centerline is valid? [True, True] Translation: X:430.99, Y:-18.47, Z:3.13 [[ 9.99998272e-01 -1.75046021e-03 -6.26531273e-04 4.30988701e+02] [ 1.75048709e-03 9.99998467e-01 4.23532622e-05 -1.84713430e+01] [ 6.26456174e-04 -4.34499239e-05 9.99999803e-01 3.12801790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.020714057 meters Centerline goodness [0,1] 0.9816988173928684 Centerline is valid? [True, True] Translation: X:431.02, Y:-18.48, Z:3.13 [[ 9.99996479e-01 -2.65340323e-03 -3.09272991e-05 4.31018888e+02] [ 2.65340330e-03 9.99996480e-01 2.31016803e-06 -1.84806504e+01] [ 3.09210604e-05 -2.39222249e-06 1.00000000e+00 3.12740780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.050714057 meters Centerline goodness [0,1] 0.982508073196986 Centerline is valid? [True, True] Translation: X:431.05, Y:-18.48, Z:3.13 [[ 9.99994457e-01 -3.32944941e-03 -3.41490874e-05 4.31050460e+02] [ 3.32944951e-03 9.99994457e-01 2.74474811e-06 -1.84775728e+01] [ 3.41397596e-05 -2.85843056e-06 9.99999999e-01 3.12792356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.080714057 meters Centerline goodness [0,1] 0.9811129848229342 Centerline is valid? [True, True] Translation: X:431.08, Y:-18.49, Z:3.13 [[ 9.99988908e-01 -4.70180849e-03 -2.76263919e-04 4.31080353e+02] [ 4.70181389e-03 9.99988946e-01 1.89106165e-05 -1.84886868e+01] [ 2.76171951e-04 -2.02093483e-05 9.99999962e-01 3.12556920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.110714057 meters Centerline goodness [0,1] 0.9817577282530554 Centerline is valid? [True, True] Translation: X:431.11, Y:-18.49, Z:3.13 [[ 9.99962955e-01 -8.48000109e-03 -1.47588420e-03 4.31110908e+02] [ 8.48015774e-03 9.99964038e-01 9.99170157e-05 -1.84864642e+01] [ 1.47498382e-03 -1.12429045e-04 9.99998906e-01 3.12504926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.140714057 meters Centerline goodness [0,1] 0.9805763987471552 Centerline is valid? [True, True] Translation: X:431.14, Y:-18.49, Z:3.12 [[ 9.99939155e-01 -1.06693933e-02 -2.80184844e-03 4.31141263e+02] [ 1.06699669e-02 9.99943056e-01 1.89874646e-04 -1.84908614e+01] [ 2.79966305e-03 -2.19758724e-04 9.99996057e-01 3.12337103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.170714057 meters Centerline goodness [0,1] 0.9676853143705837 Centerline is valid? [True, True] Translation: X:431.17, Y:-18.51, Z:3.12 [[ 9.99885710e-01 -1.42681496e-02 -4.99866974e-03 4.31170119e+02] [ 1.42700171e-02 9.99898121e-01 3.38115503e-04 -1.85051040e+01] [ 4.99333619e-03 -4.09407962e-04 9.99987449e-01 3.11934979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.200714057 meters Centerline goodness [0,1] 0.9809315833314572 Centerline is valid? [True, True] Translation: X:431.20, Y:-18.50, Z:3.12 [[ 9.99862059e-01 -1.55156499e-02 -5.92678547e-03 4.31201912e+02] [ 1.55183019e-02 9.99879503e-01 4.01733287e-04 -1.84991073e+01] [ 5.91983815e-03 -4.93651518e-04 9.99982356e-01 3.11981090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.230714057 meters Centerline goodness [0,1] 0.9811087093578312 Centerline is valid? [True, True] Translation: X:431.23, Y:-18.50, Z:3.12 [[ 9.99839658e-01 -1.64476781e-02 -7.08047145e-03 4.31233560e+02] [ 1.64514876e-02 9.99864550e-01 4.80117455e-04 -1.84967342e+01] [ 7.07161558e-03 -5.96524760e-04 9.99974818e-01 3.11940443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26071405700003 meters Centerline goodness [0,1] 0.981989901722117 Centerline is valid? [True, True] Translation: X:431.27, Y:-18.50, Z:3.12 [[ 9.99837894e-01 -1.63203376e-02 -7.60480064e-03 4.31266409e+02] [ 1.63247360e-02 9.99866609e-01 5.16650744e-04 -1.84950361e+01] [ 7.59535431e-03 -6.40713355e-04 9.99970950e-01 3.12000473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.290714057 meters Centerline goodness [0,1] 0.9824636441402909 Centerline is valid? [True, True] Translation: X:431.30, Y:-18.50, Z:3.12 [[ 9.99851085e-01 -1.56991596e-02 -7.16544954e-03 4.31297377e+02] [ 1.57030501e-02 9.99876581e-01 4.87011317e-04 -1.84962604e+01] [ 7.15691951e-03 -5.99458207e-04 9.99974209e-01 3.12022296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32071405700003 meters Centerline goodness [0,1] 0.981366599742832 Centerline is valid? [True, True] Translation: X:431.33, Y:-18.50, Z:3.12 [[ 9.99860827e-01 -1.52312303e-02 -6.80705247e-03 4.31328782e+02] [ 1.52347332e-02 9.99883838e-01 4.63042262e-04 -1.84982878e+01] [ 6.79920904e-03 -5.66681447e-04 9.99976725e-01 3.12037606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.350714057 meters Centerline goodness [0,1] 0.9817623690863128 Centerline is valid? [True, True] Translation: X:431.36, Y:-18.50, Z:3.12 [[ 9.99870787e-01 -1.48826298e-02 -6.07588340e-03 4.31360524e+02] [ 1.48854146e-02 9.99889121e-01 4.13369561e-04 -1.84991627e+01] [ 6.06905768e-03 -5.03758192e-04 9.99981456e-01 3.12086520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.380714057 meters Centerline goodness [0,1] 0.9818296729341128 Centerline is valid? [True, True] Translation: X:431.39, Y:-18.50, Z:3.12 [[ 9.99881579e-01 -1.46124147e-02 -4.82752923e-03 4.31392255e+02] [ 1.46141708e-02 9.99893153e-01 3.28706068e-04 -1.84977090e+01] [ 4.82221024e-03 -3.99217479e-04 9.99988293e-01 3.12242666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.410714057 meters Centerline goodness [0,1] 0.9824814555948865 Centerline is valid? [True, True] Translation: X:431.42, Y:-18.50, Z:3.12 [[ 9.99883872e-01 -1.46387508e-02 -4.23678637e-03 4.31423684e+02] [ 1.46401058e-02 9.99892786e-01 2.88981226e-04 -1.85013065e+01] [ 4.23210180e-03 -3.50974667e-04 9.99990983e-01 3.12216349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.440714057 meters Centerline goodness [0,1] 0.9804067628270242 Centerline is valid? [True, True] Translation: X:431.46, Y:-18.51, Z:3.12 [[ 9.99854888e-01 -1.65446352e-02 -4.05941694e-03 4.31455004e+02] [ 1.65458945e-02 9.99863069e-01 2.76830202e-04 -1.85054024e+01] [ 4.05428103e-03 -3.43956715e-04 9.99991722e-01 3.12091465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.470714057 meters Centerline goodness [0,1] 0.9809551648153978 Centerline is valid? [True, True] Translation: X:431.49, Y:-18.51, Z:3.12 [[ 9.99835346e-01 -1.75765776e-02 -4.51054476e-03 4.31487225e+02] [ 1.75781460e-02 9.99845445e-01 3.08304290e-04 -1.85082627e+01] [ 4.50442869e-03 -3.87540541e-04 9.99989780e-01 3.12002238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.500714057 meters Centerline goodness [0,1] 0.9811865553801038 Centerline is valid? [True, True] Translation: X:431.52, Y:-18.51, Z:3.12 [[ 9.99821358e-01 -1.82854416e-02 -4.78480126e-03 4.31519519e+02] [ 1.82872159e-02 9.99832721e-01 3.27330655e-04 -1.85118515e+01] [ 4.77801548e-03 -4.14772874e-04 9.99988499e-01 3.11905583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.530714057 meters Centerline goodness [0,1] 0.9799833006115587 Centerline is valid? [True, True] Translation: X:431.55, Y:-18.52, Z:3.12 [[ 9.99783560e-01 -1.97618514e-02 -6.50396157e-03 4.31550426e+02] [ 1.97651582e-02 9.99804551e-01 4.44539459e-04 -1.85158736e+01] [ 6.49390546e-03 -5.72995072e-04 9.99978750e-01 3.11775061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.560714057 meters Centerline goodness [0,1] 0.9797338377355942 Centerline is valid? [True, True] Translation: X:431.58, Y:-18.52, Z:3.12 [[ 9.99765109e-01 -2.05686597e-02 -6.83062833e-03 4.31582418e+02] [ 2.05723312e-02 9.99788258e-01 4.67667186e-04 -1.85194903e+01] [ 6.81956271e-03 -6.08079283e-04 9.99976562e-01 3.11692960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.590714057 meters Centerline goodness [0,1] 0.9771356273016877 Centerline is valid? [True, True] Translation: X:431.61, Y:-18.52, Z:3.12 [[ 9.99727809e-01 -2.20046846e-02 -7.75257965e-03 4.31613508e+02] [ 2.20094547e-02 9.99757622e-01 5.30507794e-04 -1.85236865e+01] [ 7.73902694e-03 -7.00993445e-04 9.99969808e-01 3.11529835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.620714057 meters Centerline goodness [0,1] 0.9734832270709892 Centerline is valid? [True, True] Translation: X:431.65, Y:-18.53, Z:3.11 [[ 9.99723809e-01 -2.21849239e-02 -7.75464704e-03 4.31645289e+02] [ 2.21897094e-02 9.99753637e-01 5.31606407e-04 -1.85271833e+01] [ 7.74094294e-03 -7.03532946e-04 9.99969791e-01 3.11453040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.650714057 meters Centerline goodness [0,1] 0.9796621621621622 Centerline is valid? [True, True] Translation: X:431.68, Y:-18.52, Z:3.11 [[ 9.99714611e-01 -2.24084207e-02 -8.28008253e-03 4.31678125e+02] [ 2.24138888e-02 9.99748616e-01 5.68179747e-04 -1.85243748e+01] [ 8.26526904e-03 -7.53606444e-04 9.99965558e-01 3.11472839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.680714057 meters Centerline goodness [0,1] 0.9662334151780686 Centerline is valid? [True, True] Translation: X:431.71, Y:-18.53, Z:3.11 [[ 9.99718373e-01 -2.21597302e-02 -8.49243398e-03 4.31708410e+02] [ 2.21654752e-02 9.99754146e-01 5.82954318e-04 -1.85329290e+01] [ 8.47742796e-03 -7.71028977e-04 9.99963769e-01 3.11294788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.710714057 meters Centerline goodness [0,1] 0.9796543032048973 Centerline is valid? [True, True] Translation: X:431.74, Y:-18.53, Z:3.11 [[ 9.99736381e-01 -2.13833303e-02 -8.36186546e-03 4.31741144e+02] [ 2.13888799e-02 9.99771067e-01 5.74803908e-04 -1.85287903e+01] [ 8.34765992e-03 -7.53503315e-04 9.99964874e-01 3.11358939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.740714057 meters Centerline goodness [0,1] 0.9799337136157644 Centerline is valid? [True, True] Translation: X:431.77, Y:-18.53, Z:3.12 [[ 9.99765854e-01 -2.02133626e-02 -7.72380872e-03 4.31772520e+02] [ 2.02180623e-02 9.99795453e-01 5.30860847e-04 -1.85264456e+01] [ 7.71149836e-03 -6.86896994e-04 9.99970030e-01 3.11522885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.770714057 meters Centerline goodness [0,1] 0.9788753078330811 Centerline is valid? [True, True] Translation: X:431.80, Y:-18.53, Z:3.12 [[ 9.99784652e-01 -1.94146469e-02 -7.32952727e-03 4.31803340e+02] [ 1.94188623e-02 9.99811309e-01 5.04385675e-04 -1.85294621e+01] [ 7.31835178e-03 -6.46608137e-04 9.99973011e-01 3.11529429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.800714057 meters Centerline goodness [0,1] 0.9802252252252253 Centerline is valid? [True, True] Translation: X:431.84, Y:-18.53, Z:3.12 [[ 9.99803235e-01 -1.86321804e-02 -6.80686163e-03 4.31835067e+02] [ 1.86357986e-02 9.99826229e-01 4.68503137e-04 -1.85266256e+01] [ 6.79694955e-03 -5.95262254e-04 9.99976723e-01 3.11640829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.830714057 meters Centerline goodness [0,1] 0.9785867721876766 Centerline is valid? [True, True] Translation: X:431.87, Y:-18.53, Z:3.12 [[ 9.99817855e-01 -1.78119023e-02 -6.85517961e-03 4.31865665e+02] [ 1.78155675e-02 9.99841178e-01 4.73958760e-04 -1.85319452e+01] [ 6.84564875e-03 -5.96001345e-04 9.99976391e-01 3.11533498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.860714057 meters Centerline goodness [0,1] 0.9776114355286001 Centerline is valid? [True, True] Translation: X:431.90, Y:-18.53, Z:3.12 [[ 9.99841063e-01 -1.68322495e-02 -5.87580358e-03 4.31895582e+02] [ 1.68349189e-02 9.99858201e-01 4.05142058e-04 -1.85343657e+01] [ 5.86815094e-03 -5.03996343e-04 9.99982655e-01 3.11587203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.890714057 meters Centerline goodness [0,1] 0.9796740606609325 Centerline is valid? [True, True] Translation: X:431.93, Y:-18.53, Z:3.12 [[ 9.99840834e-01 -1.71769608e-02 -4.82262983e-03 4.31928310e+02] [ 1.71787682e-02 9.99852378e-01 3.33586515e-04 -1.85299086e+01] [ 4.81618790e-03 -4.16380259e-04 9.99988315e-01 3.11769916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.920714057 meters Centerline goodness [0,1] 0.978972596545175 Centerline is valid? [True, True] Translation: X:431.96, Y:-18.53, Z:3.12 [[ 9.99837244e-01 -1.74182158e-02 -4.70005570e-03 4.31960729e+02] [ 1.74199368e-02 9.99848208e-01 3.25473831e-04 -1.85320391e+01] [ 4.69367310e-03 -4.07295532e-04 9.99988902e-01 3.11732338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.950714057 meters Centerline goodness [0,1] 0.9792312391122373 Centerline is valid? [True, True] Translation: X:431.99, Y:-18.53, Z:3.12 [[ 9.99827913e-01 -1.79088877e-02 -4.83894559e-03 4.31992675e+02] [ 1.79107192e-02 9.99839534e-01 3.35414457e-04 -1.85348881e+01] [ 4.83216220e-03 -4.22025733e-04 9.99988236e-01 3.11689281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.980714057 meters Centerline goodness [0,1] 0.9789033352176371 Centerline is valid? [True, True] Translation: X:432.02, Y:-18.54, Z:3.12 [[ 9.99814895e-01 -1.85367414e-02 -5.15414038e-03 4.32024207e+02] [ 1.85388275e-02 9.99828077e-01 3.57265847e-04 -1.85369963e+01] [ 5.14663173e-03 -4.52751435e-04 9.99986654e-01 3.11668628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.01071405700003 meters Centerline goodness [0,1] 0.9794635183426064 Centerline is valid? [True, True] Translation: X:432.06, Y:-18.54, Z:3.12 [[ 9.99785846e-01 -1.98719847e-02 -5.77638869e-03 4.32055219e+02] [ 1.98746265e-02 9.99802400e-01 4.00303147e-04 -1.85400945e+01] [ 5.76729246e-03 -5.15020988e-04 9.99983236e-01 3.11510085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.040714057 meters Centerline goodness [0,1] 0.9603996121146516 Centerline is valid? [True, True] Translation: X:432.09, Y:-18.56, Z:3.11 [[ 9.99768569e-01 -2.06744256e-02 -5.94790024e-03 4.32085227e+02] [ 2.06772439e-02 9.99786118e-01 4.12720744e-04 -1.85573518e+01] [ 5.93809532e-03 -5.35611411e-04 9.99982226e-01 3.11115876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.07071405700003 meters Centerline goodness [0,1] 0.9785974704055453 Centerline is valid? [True, True] Translation: X:432.12, Y:-18.55, Z:3.11 [[ 9.99727762e-01 -2.23403829e-02 -6.73120091e-03 4.32116984e+02] [ 2.23440293e-02 9.99750232e-01 4.66998449e-04 -1.85508554e+01] [ 6.71908674e-03 -6.17273465e-04 9.99977236e-01 3.11161949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.100714057 meters Centerline goodness [0,1] 0.9757295774647887 Centerline is valid? [True, True] Translation: X:432.15, Y:-18.56, Z:3.11 [[ 9.99702375e-01 -2.31815801e-02 -7.60109014e-03 4.32148143e+02] [ 2.31862584e-02 9.99731023e-01 5.27914135e-04 -1.85568092e+01] [ 7.58680774e-03 -7.03997854e-04 9.99970972e-01 3.11020326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.130714057 meters Centerline goodness [0,1] 0.977247153080974 Centerline is valid? [True, True] Translation: X:432.18, Y:-18.56, Z:3.11 [[ 9.99675793e-01 -2.42376715e-02 -7.80027268e-03 4.32179719e+02] [ 2.42426332e-02 9.99705957e-01 5.42149324e-04 -1.85601320e+01] [ 7.78483863e-03 -7.31072705e-04 9.99969430e-01 3.10992229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.160714057 meters Centerline goodness [0,1] 0.9788802460202605 Centerline is valid? [True, True] Translation: X:432.21, Y:-18.56, Z:3.11 [[ 9.99663284e-01 -2.45812755e-02 -8.31136465e-03 4.32211716e+02] [ 2.45869271e-02 9.99697528e-01 5.78475222e-04 -1.85586784e+01] [ 8.29463104e-03 -7.82631357e-04 9.99965293e-01 3.11033388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.190714057 meters Centerline goodness [0,1] 0.9787334806729512 Centerline is valid? [True, True] Translation: X:432.24, Y:-18.56, Z:3.11 [[ 9.99693134e-01 -2.31932608e-02 -8.70113441e-03 4.32242782e+02] [ 2.31994013e-02 9.99730674e-01 6.05433010e-04 -1.85607894e+01] [ 8.68474901e-03 -8.07108332e-04 9.99961961e-01 3.10987516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.220714057 meters Centerline goodness [0,1] 0.9775630897024965 Centerline is valid? [True, True] Translation: X:432.27, Y:-18.57, Z:3.11 [[ 9.99715242e-01 -2.23626668e-02 -8.32748271e-03 4.32273112e+02] [ 2.23682622e-02 9.99749631e-01 5.79375135e-04 -1.85654233e+01] [ 8.31244140e-03 -7.65481470e-04 9.99965158e-01 3.10858804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.250714057 meters Centerline goodness [0,1] 0.9785983864042125 Centerline is valid? [True, True] Translation: X:432.30, Y:-18.57, Z:3.11 [[ 9.99736541e-01 -2.13910487e-02 -8.32290624e-03 4.32304578e+02] [ 2.13966088e-02 9.99770898e-01 5.79574432e-04 -1.85673158e+01] [ 8.30860175e-03 -7.57503707e-04 9.99965196e-01 3.10834555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.280714057 meters Centerline goodness [0,1] 0.9789943428970678 Centerline is valid? [True, True] Translation: X:432.34, Y:-18.57, Z:3.11 [[ 9.99776590e-01 -1.95903490e-02 -7.93649928e-03 4.32335729e+02] [ 1.95953481e-02 9.99807840e-01 5.52607762e-04 -1.85680102e+01] [ 7.92414842e-03 -7.08002770e-04 9.99968353e-01 3.10885653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.310714057 meters Centerline goodness [0,1] 0.9792118582791034 Centerline is valid? [True, True] Translation: X:432.37, Y:-18.57, Z:3.11 [[ 9.99827205e-01 -1.69726171e-02 -7.58223974e-03 4.32366758e+02] [ 1.69771062e-02 9.99855739e-01 5.28081809e-04 -1.85691739e+01] [ 7.57218299e-03 -6.56715048e-04 9.99971115e-01 3.10862861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.340714057 meters Centerline goodness [0,1] 0.9796241077075991 Centerline is valid? [True, True] Translation: X:432.40, Y:-18.57, Z:3.11 [[ 9.99840541e-01 -1.59402756e-02 -8.04987001e-03 4.32397968e+02] [ 1.59453063e-02 9.99872708e-01 5.61149305e-04 -1.85716609e+01] [ 8.03990045e-03 -6.89417468e-04 9.99967442e-01 3.10831816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.370714057 meters Centerline goodness [0,1] 0.9797653958944281 Centerline is valid? [True, True] Translation: X:432.43, Y:-18.57, Z:3.11 [[ 9.99862423e-01 -1.47163787e-02 -7.65263951e-03 4.32428071e+02] [ 1.47208891e-02 9.99891500e-01 5.33398348e-04 -1.85743937e+01] [ 7.64395950e-03 -6.45978622e-04 9.99970576e-01 3.10787349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.400714057 meters Centerline goodness [0,1] 0.9807904764052037 Centerline is valid? [True, True] Translation: X:432.46, Y:-18.57, Z:3.11 [[ 9.99887715e-01 -1.29284622e-02 -7.57714644e-03 4.32459244e+02] [ 1.29328341e-02 9.99916228e-01 5.28269897e-04 -1.85742738e+01] [ 7.56968197e-03 -6.26204558e-04 9.99971153e-01 3.10832213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.430714057 meters Centerline goodness [0,1] 0.9812179082965499 Centerline is valid? [True, True] Translation: X:432.49, Y:-18.58, Z:3.11 [[ 9.99898853e-01 -1.20235737e-02 -7.59719810e-03 4.32490567e+02] [ 1.20279465e-02 9.99927521e-01 5.30154281e-04 -1.85761772e+01] [ 7.59027312e-03 -6.21479350e-04 9.99971000e-01 3.10837202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.460714057 meters Centerline goodness [0,1] 0.9801922122456346 Centerline is valid? [True, True] Translation: X:432.52, Y:-18.58, Z:3.11 [[ 9.99910660e-01 -1.09804839e-02 -7.62236283e-03 4.32521993e+02] [ 1.09848577e-02 9.99939523e-01 5.32178892e-04 -1.85785314e+01] [ 7.61605827e-03 -6.15861918e-04 9.99970808e-01 3.10817805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.490714057 meters Centerline goodness [0,1] 0.9812392892576892 Centerline is valid? [True, True] Translation: X:432.55, Y:-18.58, Z:3.11 [[ 9.99916636e-01 -1.04244327e-02 -7.61920536e-03 4.32552889e+02] [ 1.04287862e-02 9.99945477e-01 5.31872189e-04 -1.85812969e+01] [ 7.61324547e-03 -6.11286914e-04 9.99970832e-01 3.10778067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.520714057 meters Centerline goodness [0,1] 0.9786590185406834 Centerline is valid? [True, True] Translation: X:432.58, Y:-18.59, Z:3.11 [[ 9.99910965e-01 -1.04052959e-02 -8.35417988e-03 4.32582593e+02] [ 1.04105302e-02 9.99945639e-01 5.83301599e-04 -1.85875491e+01] [ 8.34765631e-03 -6.70221106e-04 9.99964933e-01 3.10515379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.550714057 meters Centerline goodness [0,1] 0.9798344348453748 Centerline is valid? [True, True] Translation: X:432.61, Y:-18.59, Z:3.10 [[ 9.99910551e-01 -1.00704235e-02 -8.80203139e-03 4.32613028e+02] [ 1.00762192e-02 9.99949045e-01 6.14345876e-04 -1.85886123e+01] [ 8.79539616e-03 -7.02982121e-04 9.99961073e-01 3.10466844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.580714057 meters Centerline goodness [0,1] 0.9758965579383673 Centerline is valid? [True, True] Translation: X:432.64, Y:-18.59, Z:3.10 [[ 9.99914615e-01 -9.73358823e-03 -8.71888748e-03 4.32642654e+02] [ 9.73925906e-03 9.99952387e-01 6.08184427e-04 -1.85925516e+01] [ 8.71255254e-03 -6.93048001e-04 9.99961805e-01 3.10395259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.610714057 meters Centerline goodness [0,1] 0.9804511953981665 Centerline is valid? [True, True] Translation: X:432.67, Y:-18.59, Z:3.10 [[ 9.99923901e-01 -9.26697696e-03 -8.14344350e-03 4.32673705e+02] [ 9.27191014e-03 9.99956853e-01 5.68240213e-04 -1.85901756e+01] [ 8.13782627e-03 -6.43702247e-04 9.99966680e-01 3.10483374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.640714057 meters Centerline goodness [0,1] 0.9819639278557114 Centerline is valid? [True, True] Translation: X:432.70, Y:-18.59, Z:3.11 [[ 9.99926626e-01 -8.65443171e-03 -8.47604529e-03 4.32704640e+02] [ 8.65975423e-03 9.99962329e-01 5.91448787e-04 -1.85890321e+01] [ 8.47060734e-03 -6.64805860e-04 9.99963903e-01 3.10539038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.670714057 meters Centerline goodness [0,1] 0.9815241450964449 Centerline is valid? [True, True] Translation: X:432.73, Y:-18.59, Z:3.10 [[ 9.99939616e-01 -7.10009473e-03 -8.38772376e-03 4.32733470e+02] [ 7.10524647e-03 9.99974587e-01 5.84561333e-04 -1.85937523e+01] [ 8.38336016e-03 -6.44122879e-04 9.99964652e-01 3.10407114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.700714057 meters Centerline goodness [0,1] 0.9813658998219958 Centerline is valid? [True, True] Translation: X:432.76, Y:-18.59, Z:3.10 [[ 9.99942955e-01 -6.57107505e-03 -8.42063644e-03 4.32762674e+02] [ 6.57623008e-03 9.99978205e-01 5.84647977e-04 -1.85945760e+01] [ 8.41661115e-03 -6.39990668e-04 9.99964375e-01 3.10394857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.730714057 meters Centerline goodness [0,1] 0.9821840379832693 Centerline is valid? [True, True] Translation: X:432.79, Y:-18.59, Z:3.11 [[ 9.99949771e-01 -6.44119921e-03 -7.67895695e-03 4.32792345e+02] [ 6.44548783e-03 9.99979085e-01 5.33873545e-04 -1.85909603e+01] [ 7.67535756e-03 -5.83341353e-04 9.99970374e-01 3.10572189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76071405700003 meters Centerline goodness [0,1] 0.9822875064870598 Centerline is valid? [True, True] Translation: X:432.82, Y:-18.59, Z:3.11 [[ 9.99947042e-01 -6.72273498e-03 -7.79223264e-03 4.32821992e+02] [ 6.72715752e-03 9.99977226e-01 5.41485032e-04 -1.85943676e+01] [ 7.78841491e-03 -5.93875932e-04 9.99969493e-01 3.10544903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.790714057 meters Centerline goodness [0,1] 0.9806569838468847 Centerline is valid? [True, True] Translation: X:432.85, Y:-18.60, Z:3.10 [[ 9.99942068e-01 -7.58533916e-03 -7.63693515e-03 4.32851166e+02] [ 7.58961004e-03 9.99971058e-01 5.30414383e-04 -1.85970204e+01] [ 7.63269075e-03 -5.88345015e-04 9.99970698e-01 3.10489462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82071405700003 meters Centerline goodness [0,1] 0.9806915841472492 Centerline is valid? [True, True] Translation: X:432.88, Y:-18.60, Z:3.10 [[ 9.99928224e-01 -9.57954866e-03 -7.19578297e-03 4.32881204e+02] [ 9.58339193e-03 9.99953953e-01 4.99809497e-04 -1.86014749e+01] [ 7.19066368e-03 -5.68733631e-04 9.99973985e-01 3.10373765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.850714057 meters Centerline goodness [0,1] 0.9806915841472492 Centerline is valid? [True, True] Translation: X:432.91, Y:-18.60, Z:3.10 [[ 9.99928224e-01 -9.57955156e-03 -7.19576669e-03 4.32911228e+02] [ 9.58339651e-03 9.99953953e-01 5.00043774e-04 -1.86035615e+01] [ 7.19064515e-03 -5.68967768e-04 9.99973985e-01 3.10336674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.880714057 meters Centerline goodness [0,1] 0.9807362240289069 Centerline is valid? [True, True] Translation: X:432.94, Y:-18.61, Z:3.10 [[ 9.99913660e-01 -1.06346102e-02 -7.71863287e-03 4.32941466e+02] [ 1.06390654e-02 9.99943260e-01 5.36378467e-04 -1.86058701e+01] [ 7.71249073e-03 -6.18451197e-04 9.99970067e-01 3.10310599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.910714057 meters Centerline goodness [0,1] 0.9801141511143323 Centerline is valid? [True, True] Translation: X:432.97, Y:-18.61, Z:3.10 [[ 9.99882007e-01 -1.27535341e-02 -8.56265720e-03 4.32972015e+02] [ 1.27590942e-02 9.99918422e-01 5.95030885e-04 -1.86087820e+01] [ 8.55436993e-03 -7.04212426e-04 9.99963163e-01 3.10154942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.940714057 meters Centerline goodness [0,1] 0.9798534798534798 Centerline is valid? [True, True] Translation: X:433.00, Y:-18.61, Z:3.10 [[ 9.99872153e-01 -1.33962408e-02 -8.73036329e-03 4.33003049e+02] [ 1.34020516e-02 9.99910004e-01 6.07425849e-04 -1.86108340e+01] [ 8.72144037e-03 -7.24352971e-04 9.99961705e-01 3.10110228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.970714057 meters Centerline goodness [0,1] 0.9805262442824147 Centerline is valid? [True, True] Translation: X:433.03, Y:-18.61, Z:3.10 [[ 9.99869919e-01 -1.35500101e-02 -8.74887191e-03 4.33033903e+02] [ 1.35558510e-02 9.99907930e-01 6.08654086e-04 -1.86119585e+01] [ 8.73981914e-03 -7.27173315e-04 9.99961543e-01 3.10068649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.000714057 meters Centerline goodness [0,1] 0.9819450422490542 Centerline is valid? [True, True] Translation: X:433.07, Y:-18.61, Z:3.10 [[ 9.99876780e-01 -1.31691891e-02 -8.54390201e-03 4.33065570e+02] [ 1.31747503e-02 9.99913032e-01 5.94938429e-04 -1.86092846e+01] [ 8.53532411e-03 -7.07428896e-04 9.99963323e-01 3.10109800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.030714057 meters Centerline goodness [0,1] 0.9813921901528013 Centerline is valid? [True, True] Translation: X:433.10, Y:-18.61, Z:3.10 [[ 9.99882647e-01 -1.27040303e-02 -8.56155972e-03 4.33096017e+02] [ 1.27096055e-02 9.99919051e-01 5.97102441e-04 -1.86120190e+01] [ 8.55328107e-03 -7.05846416e-04 9.99963171e-01 3.10026398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.060714057 meters Centerline goodness [0,1] 0.981447082276187 Centerline is valid? [True, True] Translation: X:433.13, Y:-18.61, Z:3.10 [[ 9.99902903e-01 -1.16186700e-02 -7.69359739e-03 4.33127574e+02] [ 1.16231401e-02 9.99932305e-01 5.36553681e-04 -1.86129244e+01] [ 7.68684253e-03 -6.25925343e-04 9.99970260e-01 3.10035566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.090714057 meters Centerline goodness [0,1] 0.9819300269127259 Centerline is valid? [True, True] Translation: X:433.16, Y:-18.62, Z:3.10 [[ 9.99917472e-01 -1.06620176e-02 -7.16731996e-03 4.33158084e+02] [ 1.06658804e-02 9.99942992e-01 5.00940950e-04 -1.86150106e+01] [ 7.16157033e-03 -5.77345386e-04 9.99974189e-01 3.10031079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.120714057 meters Centerline goodness [0,1] 0.9807239286037872 Centerline is valid? [True, True] Translation: X:433.19, Y:-18.62, Z:3.10 [[ 9.99928046e-01 -9.99053542e-03 -6.64020843e-03 4.33189709e+02] [ 9.99383483e-03 9.99949953e-01 4.63887946e-04 -1.86161477e+01] [ 6.63524162e-03 -5.30215714e-04 9.99977846e-01 3.10048366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.150714057 meters Centerline goodness [0,1] 0.9811440198959982 Centerline is valid? [True, True] Translation: X:433.22, Y:-18.61, Z:3.10 [[ 9.99953080e-01 -8.58526256e-03 -4.48686067e-03 4.33220866e+02] [ 8.58675497e-03 9.99963084e-01 3.13460121e-04 -1.86143869e+01] [ 4.48400389e-03 -3.51972986e-04 9.99989885e-01 3.10161420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.180714057 meters Centerline goodness [0,1] 0.9814360929557008 Centerline is valid? [True, True] Translation: X:433.25, Y:-18.62, Z:3.10 [[ 9.99962694e-01 -7.88480030e-03 -3.52700164e-03 4.33251855e+02] [ 7.88571952e-03 9.99968877e-01 2.46793371e-04 -1.86166150e+01] [ 3.52494595e-03 -2.74597110e-04 9.99993750e-01 3.10146111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.210714057 meters Centerline goodness [0,1] 0.9789992280797348 Centerline is valid? [True, True] Translation: X:433.28, Y:-18.62, Z:3.10 [[ 9.99969294e-01 -7.25953057e-03 -2.95125170e-03 4.33282578e+02] [ 7.26017198e-03 9.99973623e-01 2.06680284e-04 -1.86196833e+01] [ 2.94967345e-03 -2.28100532e-04 9.99995624e-01 3.10159727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.240714057 meters Centerline goodness [0,1] 0.9793341508834082 Centerline is valid? [True, True] Translation: X:433.31, Y:-18.62, Z:3.10 [[ 9.99970974e-01 -7.13173092e-03 -2.68139165e-03 4.33313419e+02] [ 7.13226028e-03 9.99974547e-01 1.87909497e-04 -1.86216661e+01] [ 2.67998328e-03 -2.07028426e-04 9.99996387e-01 3.10067987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.270714057 meters Centerline goodness [0,1] 0.9781900452488688 Centerline is valid? [True, True] Translation: X:433.34, Y:-18.63, Z:3.10 [[ 9.99970611e-01 -6.76566094e-03 -3.60592920e-03 4.33344490e+02] [ 6.76661683e-03 9.99977074e-01 2.52953433e-04 -1.86256151e+01] [ 3.60413513e-03 -2.77345940e-04 9.99993467e-01 3.09854077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.300714057 meters Centerline goodness [0,1] 0.9802825859797374 Centerline is valid? [True, True] Translation: X:433.38, Y:-18.62, Z:3.10 [[ 9.99970028e-01 -6.76110416e-03 -3.77235676e-03 4.33376563e+02] [ 6.76214990e-03 9.99977101e-01 2.64524590e-04 -1.86233302e+01] [ 3.77048190e-03 -2.90025904e-04 9.99992850e-01 3.09852382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.330714057 meters Centerline goodness [0,1] 0.9809037238873751 Centerline is valid? [True, True] Translation: X:433.41, Y:-18.62, Z:3.10 [[ 9.99961565e-01 -7.48305802e-03 -4.56854894e-03 4.33408057e+02] [ 7.48459961e-03 9.99971939e-01 3.20432270e-04 -1.86241565e+01] [ 4.56602293e-03 -3.54613714e-04 9.99989513e-01 3.09841233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.360714057 meters Centerline goodness [0,1] 0.9801339539107731 Centerline is valid? [True, True] Translation: X:433.44, Y:-18.63, Z:3.10 [[ 9.99958671e-01 -7.82212482e-03 -4.63371630e-03 4.33439429e+02] [ 7.82371506e-03 9.99969341e-01 3.25161295e-04 -1.86269447e+01] [ 4.63103078e-03 -3.61400732e-04 9.99989211e-01 3.09800519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.390714057 meters Centerline goodness [0,1] 0.979418446160836 Centerline is valid? [True, True] Translation: X:433.47, Y:-18.63, Z:3.10 [[ 9.99954062e-01 -8.16831781e-03 -5.01513718e-03 4.33470229e+02] [ 8.17018566e-03 9.99966561e-01 3.52066918e-04 -1.86299874e+01] [ 5.01209369e-03 -3.93025347e-04 9.99987362e-01 3.09760942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.420714057 meters Centerline goodness [0,1] 0.9794428652643548 Centerline is valid? [True, True] Translation: X:433.50, Y:-18.63, Z:3.10 [[ 9.99943203e-01 -9.23425538e-03 -5.32161474e-03 4.33501217e+02] [ 9.23637439e-03 9.99957274e-01 3.73749052e-04 -1.86323795e+01] [ 5.31793607e-03 -4.22880250e-04 9.99985770e-01 3.09702393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.450714057 meters Centerline goodness [0,1] 0.9786581208236738 Centerline is valid? [True, True] Translation: X:433.53, Y:-18.63, Z:3.10 [[ 9.99938109e-01 -9.65883313e-03 -5.52126752e-03 4.33531784e+02] [ 9.66112158e-03 9.99953255e-01 3.87957075e-04 -1.86348455e+01] [ 5.51726222e-03 -4.41274701e-04 9.99984682e-01 3.09663027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.480714057 meters Centerline goodness [0,1] 0.976783356853462 Centerline is valid? [True, True] Translation: X:433.56, Y:-18.64, Z:3.10 [[ 9.99932949e-01 -9.95507498e-03 -5.91552310e-03 4.33562045e+02] [ 9.95770616e-03 9.99950334e-01 4.15505748e-04 -1.86389428e+01] [ 5.91109292e-03 -4.74382929e-04 9.99982417e-01 3.09574918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.51071405700003 meters Centerline goodness [0,1] 0.9792749642476108 Centerline is valid? [True, True] Translation: X:433.59, Y:-18.64, Z:3.10 [[ 9.99940054e-01 -9.55084920e-03 -5.35449100e-03 4.33593899e+02] [ 9.55300152e-03 9.99954298e-01 3.76533690e-04 -1.86374205e+01] [ 5.35065007e-03 -4.27662579e-04 9.99985594e-01 3.09695903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.540714057 meters Centerline goodness [0,1] 0.9750652297220647 Centerline is valid? [True, True] Translation: X:433.62, Y:-18.64, Z:3.10 [[ 9.99953644e-01 -8.44626532e-03 -4.62277673e-03 4.33624134e+02] [ 8.44786239e-03 9.99964263e-01 3.26059901e-04 -1.86434970e+01] [ 4.61985754e-03 -3.65097368e-04 9.99989262e-01 3.09693485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.57071405700003 meters Centerline goodness [0,1] 0.9747644073939833 Centerline is valid? [True, True] Translation: X:433.65, Y:-18.64, Z:3.10 [[ 9.99979703e-01 -5.94589531e-03 -2.28901717e-03 4.33653979e+02] [ 5.94627923e-03 9.99982308e-01 1.60952985e-04 -1.86441964e+01] [ 2.28801966e-03 -1.74560853e-04 9.99997367e-01 3.09920064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.600714057 meters Centerline goodness [0,1] 0.9756742703411481 Centerline is valid? [True, True] Translation: X:433.69, Y:-18.64, Z:3.10 [[ 9.99988948e-01 -4.39492109e-03 -1.66972513e-03 4.33685216e+02] [ 4.39512404e-03 9.99990334e-01 1.17896793e-04 -1.86433526e+01] [ 1.66919084e-03 -1.25234139e-04 9.99998599e-01 3.10050888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.630714057 meters Centerline goodness [0,1] 0.9764668396376712 Centerline is valid? [True, True] Translation: X:433.72, Y:-18.64, Z:3.10 [[ 9.99996735e-01 -2.49740689e-03 5.41902556e-04 4.33716529e+02] [ 2.49742780e-03 9.99996881e-01 -3.79179722e-05 -1.86403353e+01] [-5.41806169e-04 3.92712109e-05 9.99999852e-01 3.10248876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.660714057 meters Centerline goodness [0,1] 0.9755123346118059 Centerline is valid? [True, True] Translation: X:433.75, Y:-18.64, Z:3.10 [[ 9.99998263e-01 -1.68520493e-03 7.95849390e-04 4.33747857e+02] [ 1.68524971e-03 9.99998578e-01 -5.56021553e-05 -1.86423530e+01] [-7.95754558e-04 5.69432637e-05 9.99999682e-01 3.10225878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.690714057 meters Centerline goodness [0,1] 0.9759941693618184 Centerline is valid? [True, True] Translation: X:433.78, Y:-18.65, Z:3.10 [[ 9.99998971e-01 -1.42876534e-03 1.32752537e-04 4.33779047e+02] [ 1.42876653e-03 9.99998979e-01 -8.92282098e-06 -1.86451819e+01] [-1.32739652e-04 9.11248418e-06 9.99999991e-01 3.10120401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.720714057 meters Centerline goodness [0,1] 0.9754746655118182 Centerline is valid? [True, True] Translation: X:433.81, Y:-18.65, Z:3.10 [[ 9.99995930e-01 -1.65020246e-03 -2.32738056e-03 4.33810514e+02] [ 1.65058964e-03 9.99998624e-01 1.64448441e-04 -1.86493119e+01] [ 2.32710598e-03 -1.68289322e-04 9.99997278e-01 3.09841146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.750714057 meters Centerline goodness [0,1] 0.9761845131030714 Centerline is valid? [True, True] Translation: X:433.84, Y:-18.65, Z:3.10 [[ 9.99990083e-01 -2.36600589e-03 -3.77306559e-03 4.33840916e+02] [ 2.36702594e-03 9.99997163e-01 2.65908892e-04 -1.86522681e+01] [ 3.77242574e-03 -2.74837199e-04 9.99992847e-01 3.09723623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.780714057 meters Centerline goodness [0,1] 0.974676318133035 Centerline is valid? [True, True] Translation: X:433.87, Y:-18.66, Z:3.10 [[ 9.99976290e-01 -3.92660232e-03 -5.65699265e-03 4.33871258e+02] [ 3.92892018e-03 9.99992202e-01 3.98679698e-04 -1.86554956e+01] [ 5.65538309e-03 -4.20896117e-04 9.99983920e-01 3.09568558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.810714057 meters Centerline goodness [0,1] 0.9772093448543867 Centerline is valid? [True, True] Translation: X:433.90, Y:-18.65, Z:3.10 [[ 9.99973047e-01 -4.10601472e-03 -6.08655915e-03 4.33900911e+02] [ 4.10869727e-03 9.99991468e-01 4.28294256e-04 -1.86517874e+01] [ 6.08474864e-03 -4.53290541e-04 9.99981385e-01 3.09685541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.840714057 meters Centerline goodness [0,1] 0.9732092049256823 Centerline is valid? [True, True] Translation: X:433.93, Y:-18.66, Z:3.09 [[ 9.99967271e-01 -4.51098812e-03 -6.71625824e-03 4.33929034e+02] [ 4.51426226e-03 9.99989699e-01 4.72414803e-04 -1.86643471e+01] [ 6.71405800e-03 -5.02718292e-04 9.99977334e-01 3.09387412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.870714057 meters Centerline goodness [0,1] 0.9720826098875994 Centerline is valid? [True, True] Translation: X:433.96, Y:-18.67, Z:3.09 [[ 9.99962229e-01 -4.87197654e-03 -7.19750476e-03 4.33957738e+02] [ 4.87574019e-03 9.99987986e-01 5.05455228e-04 -1.86675312e+01] [ 7.19495572e-03 -5.40529300e-04 9.99973970e-01 3.09299742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.900714057 meters Centerline goodness [0,1] 0.9783884617134537 Centerline is valid? [True, True] Translation: X:433.99, Y:-18.66, Z:3.10 [[ 9.99966032e-01 -4.60106834e-03 -6.83843791e-03 4.33987834e+02] [ 4.60444704e-03 9.99989285e-01 4.78412931e-04 -1.86575378e+01] [ 6.83616343e-03 -5.09883905e-04 9.99976503e-01 3.09594841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.930714057 meters Centerline goodness [0,1] 0.9773755656108597 Centerline is valid? [True, True] Translation: X:434.02, Y:-18.66, Z:3.09 [[ 9.99967575e-01 -3.59045285e-03 -7.20810636e-03 4.34016030e+02] [ 3.59418518e-03 9.99993413e-01 5.04908846e-04 -1.86618801e+01] [ 7.20624603e-03 -5.30799744e-04 9.99973894e-01 3.09490810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.960714057 meters Centerline goodness [0,1] 0.9791652388458639 Centerline is valid? [True, True] Translation: X:434.04, Y:-18.66, Z:3.10 [[ 9.99968658e-01 -2.71330696e-03 -7.43786802e-03 4.34044727e+02] [ 2.71722658e-03 9.99996175e-01 5.16927855e-04 -1.86597447e+01] [ 7.43643698e-03 -5.37122026e-04 9.99972205e-01 3.09519476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.990714057 meters Centerline goodness [0,1] 0.9794902247396309 Centerline is valid? [True, True] Translation: X:434.08, Y:-18.66, Z:3.10 [[ 9.99975484e-01 1.10145881e-03 -6.91501103e-03 4.34075694e+02] [-1.09814315e-03 9.99999280e-01 4.83265637e-04 -1.86575409e+01] [ 6.91553836e-03 -4.75660118e-04 9.99975974e-01 3.09561880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.020714057 meters Centerline goodness [0,1] 0.977930750583177 Centerline is valid? [True, True] Translation: X:434.10, Y:-18.66, Z:3.09 [[ 9.99972693e-01 3.13402159e-03 -6.69265913e-03 4.34104776e+02] [-3.13096516e-03 9.99994989e-01 4.67113850e-04 -1.86624079e+01] [ 6.69408954e-03 -4.46146612e-04 9.99977495e-01 3.09434255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.050714057 meters Centerline goodness [0,1] 0.9800538591446437 Centerline is valid? [True, True] Translation: X:434.14, Y:-18.66, Z:3.10 [[ 9.99964700e-01 5.70598112e-03 -6.16773387e-03 4.34135462e+02] [-5.70343357e-03 9.99983643e-01 4.30555669e-04 -1.86597249e+01] [ 6.17008973e-03 -3.95363210e-04 9.99980887e-01 3.09522334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.080714057 meters Centerline goodness [0,1] 0.979658221468823 Centerline is valid? [True, True] Translation: X:434.17, Y:-18.66, Z:3.10 [[ 9.99934413e-01 9.90384446e-03 -5.75179764e-03 4.34165842e+02] [-9.90169729e-03 9.99950896e-01 4.01659845e-04 -1.86577619e+01] [ 5.75549318e-03 -3.44680942e-04 9.99983378e-01 3.09599496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.110714057 meters Centerline goodness [0,1] 0.980681089009075 Centerline is valid? [True, True] Translation: X:434.20, Y:-18.66, Z:3.10 [[ 9.99914307e-01 1.15962282e-02 -6.07500105e-03 4.34195254e+02] [-1.15938771e-02 9.99932700e-01 4.22092346e-04 -1.86562097e+01] [ 6.07948688e-03 -3.51623360e-04 9.99981458e-01 3.09637016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.140714057 meters Centerline goodness [0,1] 0.980236339486099 Centerline is valid? [True, True] Translation: X:434.22, Y:-18.66, Z:3.10 [[ 9.99876191e-01 1.42240078e-02 -6.72912765e-03 4.34224495e+02] [-1.42211761e-02 9.99898764e-01 4.68483234e-04 -1.86574412e+01] [ 6.73511013e-03 -3.72729123e-04 9.99977249e-01 3.09542833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.170714057 meters Centerline goodness [0,1] 0.9809606826627517 Centerline is valid? [True, True] Translation: X:434.25, Y:-18.66, Z:3.09 [[ 9.99862229e-01 1.48257385e-02 -7.46455911e-03 4.34253137e+02] [-1.48222774e-02 9.99890009e-01 5.18779687e-04 -1.86591493e+01] [ 7.47142937e-03 -4.08066448e-04 9.99972005e-01 3.09469592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.200714057 meters Centerline goodness [0,1] 0.9808734386480529 Centerline is valid? [True, True] Translation: X:434.28, Y:-18.66, Z:3.09 [[ 9.99839753e-01 1.58024062e-02 -8.41145381e-03 4.34280420e+02] [-1.57980527e-02 9.99875033e-01 5.83756160e-04 -1.86613202e+01] [ 8.41962740e-03 -4.50778024e-04 9.99964453e-01 3.09335621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.230714057 meters Centerline goodness [0,1] 0.9811164713990351 Centerline is valid? [True, True] Translation: X:434.31, Y:-18.66, Z:3.09 [[ 9.99823186e-01 1.64341601e-02 -9.13871487e-03 4.34309296e+02] [-1.64290506e-02 9.99864833e-01 6.33910094e-04 -1.86625290e+01] [ 9.14789739e-03 -4.83657601e-04 9.99958040e-01 3.09298799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26071405700003 meters Centerline goodness [0,1] 0.9798765149782758 Centerline is valid? [True, True] Translation: X:434.34, Y:-18.66, Z:3.09 [[ 9.99807549e-01 1.74602029e-02 -8.94460087e-03 4.34337180e+02] [-1.74553579e-02 9.99847452e-01 6.19456122e-04 -1.86648287e+01] [ 8.95405221e-03 -4.63205698e-04 9.99959804e-01 3.09248180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.290714057 meters Centerline goodness [0,1] 0.9807060661046926 Centerline is valid? [True, True] Translation: X:434.37, Y:-18.66, Z:3.09 [[ 9.99817390e-01 1.68861707e-02 -8.94673625e-03 4.34366521e+02] [-1.68813042e-02 9.99857309e-01 6.19183329e-04 -1.86647594e+01] [ 8.95591526e-03 -4.68037683e-04 9.99959785e-01 3.09347746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32071405700003 meters Centerline goodness [0,1] 0.9807503032800018 Centerline is valid? [True, True] Translation: X:434.40, Y:-18.66, Z:3.10 [[ 9.99830019e-01 1.64081652e-02 -8.40860792e-03 4.34395304e+02] [-1.64038555e-02 9.99865279e-01 5.81249469e-04 -1.86641120e+01] [ 8.41701234e-03 -4.43217079e-04 9.99964478e-01 3.09514468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.350714057 meters Centerline goodness [0,1] 0.9802769905841484 Centerline is valid? [True, True] Translation: X:434.42, Y:-18.67, Z:3.09 [[ 9.99844062e-01 1.59131846e-02 -7.65656277e-03 4.34422238e+02] [-1.59096044e-02 9.99873295e-01 5.28284504e-04 -1.86728307e+01] [ 7.66399933e-03 -4.06389239e-04 9.99970549e-01 3.09327091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.380714057 meters Centerline goodness [0,1] 0.9824685876456183 Centerline is valid? [True, True] Translation: X:434.45, Y:-18.67, Z:3.09 [[ 9.99856617e-01 1.47648836e-02 -8.29115210e-03 4.34451074e+02] [-1.47606484e-02 9.99890892e-01 5.71774047e-04 -1.86716819e+01] [ 8.29868965e-03 -4.49309284e-04 9.99965464e-01 3.09432460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.410714057 meters Centerline goodness [0,1] 0.9827901449010377 Centerline is valid? [True, True] Translation: X:434.48, Y:-18.68, Z:3.09 [[ 9.99837673e-01 1.55163572e-02 -9.15806951e-03 4.34478381e+02] [-1.55112300e-02 9.99879495e-01 6.30625158e-04 -1.86773625e+01] [ 9.16675092e-03 -4.88469868e-04 9.99957865e-01 3.09188506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.440714057 meters Centerline goodness [0,1] 0.981675691731213 Centerline is valid? [True, True] Translation: X:434.51, Y:-18.68, Z:3.09 [[ 9.99827729e-01 1.58576146e-02 -9.64617577e-03 4.34507515e+02] [-1.58519459e-02 9.99874130e-01 6.63850409e-04 -1.86785856e+01] [ 9.65548869e-03 -5.10825391e-04 9.99953254e-01 3.09149641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.470714057 meters Centerline goodness [0,1] 0.9820233445259142 Centerline is valid? [True, True] Translation: X:434.53, Y:-18.68, Z:3.09 [[ 9.99810063e-01 1.66328193e-02 -1.01581284e-02 4.34534910e+02] [-1.66265833e-02 9.99861525e-01 6.98035573e-04 -1.86828922e+01] [ 1.01683320e-02 -5.29008022e-04 9.99948161e-01 3.08988693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.500714057 meters Centerline goodness [0,1] 0.9837811943975546 Centerline is valid? [True, True] Translation: X:434.56, Y:-18.68, Z:3.09 [[ 9.99799885e-01 1.78939829e-02 -8.94403442e-03 4.34564585e+02] [-1.78892006e-02 9.99839787e-01 6.14412942e-04 -1.86810507e+01] [ 8.95359576e-03 -4.54288363e-04 9.99959813e-01 3.09170522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.530714057 meters Centerline goodness [0,1] 0.9850913242009133 Centerline is valid? [True, True] Translation: X:434.59, Y:-18.68, Z:3.09 [[ 9.99793068e-01 1.84441524e-02 -8.58109289e-03 4.34593041e+02] [-1.84397781e-02 9.99829800e-01 5.88610864e-04 -1.86826152e+01] [ 8.59048881e-03 -4.30255613e-04 9.99963009e-01 3.09234861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.560714057 meters Centerline goodness [0,1] 0.984791048184517 Centerline is valid? [True, True] Translation: X:434.62, Y:-18.69, Z:3.09 [[ 9.99780913e-01 1.88728441e-02 -9.05216277e-03 4.34621792e+02] [-1.88679993e-02 9.99821791e-01 6.20318123e-04 -1.86854163e+01] [ 9.06225676e-03 -4.49386019e-04 9.99958836e-01 3.09187026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.590714057 meters Centerline goodness [0,1] 0.9846276474607151 Centerline is valid? [True, True] Translation: X:434.65, Y:-18.69, Z:3.09 [[ 9.99787669e-01 1.85470534e-02 -8.97904553e-03 4.34650490e+02] [-1.85422793e-02 9.99827888e-01 6.14662506e-04 -1.86882260e+01] [ 8.98890031e-03 -4.48040024e-04 9.99959499e-01 3.09091527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.620714057 meters Centerline goodness [0,1] 0.9848225493552436 Centerline is valid? [True, True] Translation: X:434.68, Y:-18.69, Z:3.09 [[ 9.99802299e-01 1.78053118e-02 -8.85066508e-03 4.34678179e+02] [-1.78006609e-02 9.99841373e-01 6.03989562e-04 -1.86929584e+01] [ 8.86001535e-03 -4.46322465e-04 9.99960650e-01 3.08988116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.650714057 meters Centerline goodness [0,1] 0.9824884583020628 Centerline is valid? [True, True] Translation: X:434.71, Y:-18.71, Z:3.09 [[ 9.99869116e-01 1.38572667e-02 -8.35023414e-03 4.34706627e+02] [-1.38529830e-02 9.99903880e-01 5.70628609e-04 -1.87061658e+01] [ 8.35733887e-03 -4.54878272e-04 9.99964973e-01 3.08662012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.680714057 meters Centerline goodness [0,1] 0.983754594545537 Centerline is valid? [True, True] Translation: X:434.74, Y:-18.71, Z:3.09 [[ 9.99937597e-01 7.78400218e-03 -8.01320146e-03 4.34736790e+02] [-7.77986244e-03 9.99969586e-01 5.47657013e-04 -1.87063932e+01] [ 8.01722071e-03 -4.85281233e-04 9.99967744e-01 3.08904329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.710714057 meters Centerline goodness [0,1] 0.9831969076853115 Centerline is valid? [True, True] Translation: X:434.77, Y:-18.71, Z:3.09 [[ 9.99961726e-01 4.63785695e-03 -7.41867797e-03 4.34766953e+02] [-4.63422101e-03 9.99989133e-01 5.07221495e-04 -1.87117800e+01] [ 7.42094978e-03 -4.72822289e-04 9.99972353e-01 3.08870943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.740714057 meters Centerline goodness [0,1] 0.9809852283814754 Centerline is valid? [True, True] Translation: X:434.80, Y:-18.72, Z:3.09 [[ 9.99971390e-01 1.22715203e-03 -7.46408250e-03 4.34795180e+02] [-1.22338210e-03 9.99999122e-01 5.09620970e-04 -1.87203579e+01] [ 7.46470133e-03 -5.00474965e-04 9.99972013e-01 3.08773302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.770714057 meters Centerline goodness [0,1] 0.9796411240266336 Centerline is valid? [True, True] Translation: X:434.82, Y:-18.73, Z:3.09 [[ 9.99966160e-01 -4.33624246e-03 -6.99115988e-03 4.34824079e+02] [ 4.33968579e-03 9.99990470e-01 4.77431423e-04 -1.87289211e+01] [ 6.98902299e-03 -5.07754704e-04 9.99975448e-01 3.08763078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.800714057 meters Centerline goodness [0,1] 0.9796411240266336 Centerline is valid? [True, True] Translation: X:434.85, Y:-18.73, Z:3.09 [[ 9.99966010e-01 -4.37053362e-03 -6.99119157e-03 4.34853246e+02] [ 4.37397456e-03 9.99990320e-01 4.76967403e-04 -1.87308818e+01] [ 6.98903930e-03 -5.07530485e-04 9.99975448e-01 3.08727052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.830714057 meters Centerline goodness [0,1] 0.9808778988291669 Centerline is valid? [True, True] Translation: X:434.88, Y:-18.73, Z:3.09 [[ 9.99958857e-01 -6.03430705e-03 -6.77283366e-03 4.34883311e+02] [ 6.03757253e-03 9.99981667e-01 4.61801111e-04 -1.87300811e+01] [ 6.76992284e-03 -5.02673586e-04 9.99976957e-01 3.08833648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.860714057 meters Centerline goodness [0,1] 0.978438477639486 Centerline is valid? [True, True] Translation: X:434.91, Y:-18.74, Z:3.09 [[ 9.99957424e-01 -7.10288904e-03 -5.89058727e-03 4.34912374e+02] [ 7.10537796e-03 9.99974676e-01 4.01705244e-04 -1.87407177e+01] [ 5.88758483e-03 -4.43542990e-04 9.99982570e-01 3.08652701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.890714057 meters Centerline goodness [0,1] 0.981450100544522 Centerline is valid? [True, True] Translation: X:434.94, Y:-18.73, Z:3.09 [[ 9.99957416e-01 -6.97342711e-03 -6.04467547e-03 4.34943611e+02] [ 6.97604694e-03 9.99975582e-01 4.12436112e-04 -1.87340997e+01] [ 6.04165178e-03 -4.54586489e-04 9.99981646e-01 3.08844119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.920714057 meters Centerline goodness [0,1] 0.9801608821402747 Centerline is valid? [True, True] Translation: X:434.97, Y:-18.74, Z:3.09 [[ 9.99965718e-01 -6.08301285e-03 -5.61775390e-03 4.34972506e+02] [ 6.08525990e-03 9.99981411e-01 3.82984131e-04 -1.87390305e+01] [ 5.61531978e-03 -4.17156495e-04 9.99984147e-01 3.08736293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.950714057 meters Centerline goodness [0,1] 0.9833908785232325 Centerline is valid? [True, True] Translation: X:435.00, Y:-18.73, Z:3.09 [[ 9.99980603e-01 -4.07490299e-03 -4.71060285e-03 4.35003183e+02] [ 4.07646016e-03 9.99991640e-01 3.21012434e-04 -1.87344571e+01] [ 4.70925538e-03 -3.40208792e-04 9.99988854e-01 3.08913858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.980714057 meters Centerline goodness [0,1] 0.9832263314947102 Centerline is valid? [True, True] Translation: X:435.03, Y:-18.74, Z:3.09 [[ 9.99986025e-01 -2.90647991e-03 -4.41616571e-03 4.35033130e+02] [ 2.90783674e-03 9.99995727e-01 3.00853398e-04 -1.87362585e+01] [ 4.41527242e-03 -3.13690682e-04 9.99990203e-01 3.08925196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.01071405700003 meters Centerline goodness [0,1] 0.9816333889214405 Centerline is valid? [True, True] Translation: X:435.06, Y:-18.74, Z:3.09 [[ 9.99992003e-01 -3.16875622e-04 -3.98674599e-03 4.35061796e+02] [ 3.17959392e-04 9.99999913e-01 2.71212365e-04 -1.87413552e+01] [ 3.98665970e-03 -2.72477819e-04 9.99992016e-01 3.08804862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.040714057 meters Centerline goodness [0,1] 0.9819540771665207 Centerline is valid? [True, True] Translation: X:435.09, Y:-18.74, Z:3.09 [[ 9.99991326e-01 1.43825902e-03 -3.90879999e-03 4.35090327e+02] [-1.43723218e-03 9.99998932e-01 2.65495023e-04 -1.87441498e+01] [ 3.90917767e-03 -2.59874867e-04 9.99992325e-01 3.08730442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.07071405700003 meters Centerline goodness [0,1] 0.9834955182768508 Centerline is valid? [True, True] Translation: X:435.12, Y:-18.74, Z:3.09 [[ 9.99986636e-01 2.96044462e-03 -4.23829482e-03 4.35120032e+02] [-2.95926461e-03 9.99995581e-01 2.84660115e-04 -1.87400271e+01] [ 4.23911881e-03 -2.72114076e-04 9.99990978e-01 3.08793716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.100714057 meters Centerline goodness [0,1] 0.9844878973988439 Centerline is valid? [True, True] Translation: X:435.15, Y:-18.74, Z:3.09 [[ 9.99965685e-01 7.66321073e-03 -3.14707491e-03 4.35149895e+02] [-7.66257756e-03 9.99970619e-01 2.13199810e-04 -1.87404554e+01] [ 3.14861624e-03 -1.89077789e-04 9.99995025e-01 3.08806320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.130714057 meters Centerline goodness [0,1] 0.9838760741745817 Centerline is valid? [True, True] Translation: X:435.18, Y:-18.74, Z:3.09 [[ 9.99945949e-01 9.96621672e-03 -2.96189345e-03 4.35179475e+02] [-9.96566682e-03 9.99950321e-01 2.00361147e-04 -1.87413722e+01] [ 2.96374315e-03 -1.70833074e-04 9.99995594e-01 3.08850211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.160714057 meters Centerline goodness [0,1] 0.9843820427296494 Centerline is valid? [True, True] Translation: X:435.21, Y:-18.74, Z:3.09 [[ 9.99874882e-01 1.57355927e-02 -1.61580413e-03 4.35209258e+02] [-1.57354367e-02 9.99876184e-01 1.09254206e-04 -1.87393443e+01] [ 1.61732325e-03 -8.38151528e-05 9.99998689e-01 3.09016274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.190714057 meters Centerline goodness [0,1] 0.9845055514267054 Centerline is valid? [True, True] Translation: X:435.24, Y:-18.74, Z:3.09 [[ 9.99827934e-01 1.84953157e-02 -1.42349729e-03 4.35238803e+02] [-1.84951977e-02 9.99828945e-01 9.59971568e-05 -1.87397763e+01] [ 1.42502929e-03 -6.96527751e-05 9.99998982e-01 3.09042617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.220714057 meters Centerline goodness [0,1] 0.9848252536640361 Centerline is valid? [True, True] Translation: X:435.27, Y:-18.74, Z:3.09 [[ 9.99736275e-01 2.29363118e-02 -1.14320241e-03 4.35268324e+02] [-2.29362387e-02 9.99736927e-01 7.69766912e-05 -1.87403043e+01] [ 1.14466723e-03 -5.07356271e-05 9.99999344e-01 3.08969371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.250714057 meters Centerline goodness [0,1] 0.985901491188432 Centerline is valid? [True, True] Translation: X:435.30, Y:-18.74, Z:3.09 [[ 9.99691177e-01 2.48432642e-02 -6.01869414e-04 4.35297875e+02] [-2.48432446e-02 9.99691358e-01 4.00717722e-05 -1.87398807e+01] [ 6.02679165e-04 -2.51070080e-05 9.99999818e-01 3.08977899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.280714057 meters Centerline goodness [0,1] 0.9872210263962842 Centerline is valid? [True, True] Translation: X:435.33, Y:-18.74, Z:3.09 [[ 9.99647336e-01 2.65552454e-02 1.50166209e-04 4.35326486e+02] [-2.65552440e-02 9.99647347e-01 -1.10058687e-05 -1.87413782e+01] [-1.50405516e-04 7.01428696e-06 9.99999989e-01 3.08927792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.310714057 meters Centerline goodness [0,1] 0.9879184894711789 Centerline is valid? [True, True] Translation: X:435.36, Y:-18.74, Z:3.09 [[ 9.99569032e-01 2.93527043e-02 -4.12225780e-04 4.35355330e+02] [-2.93526956e-02 9.99569116e-01 2.69478431e-05 -1.87401970e+01] [ 4.12839150e-04 -1.48362916e-05 9.99999915e-01 3.08930016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.340714057 meters Centerline goodness [0,1] 0.9882432432432432 Centerline is valid? [True, True] Translation: X:435.38, Y:-18.74, Z:3.09 [[ 9.99522969e-01 3.08823003e-02 -3.42952401e-04 4.35382648e+02] [-3.08822945e-02 9.99523028e-01 2.20286176e-05 -1.87425976e+01] [ 3.43469116e-04 -1.14269522e-05 9.99999941e-01 3.08813232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.370714057 meters Centerline goodness [0,1] 0.9878431815614055 Centerline is valid? [True, True] Translation: X:435.41, Y:-18.74, Z:3.09 [[ 9.99442674e-01 3.33814281e-02 1.43944527e-04 4.35411053e+02] [-3.33814269e-02 9.99442685e-01 -1.05635163e-05 -1.87444986e+01] [-1.44216930e-04 5.75255522e-06 9.99999990e-01 3.08819473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.400714057 meters Centerline goodness [0,1] 0.9882568973725374 Centerline is valid? [True, True] Translation: X:435.44, Y:-18.75, Z:3.09 [[ 9.99390442e-01 3.48963463e-02 9.95088814e-04 4.35439530e+02] [-3.48962960e-02 9.99390936e-01 -6.78252185e-05 -1.87458115e+01] [-9.96849594e-04 3.30589613e-05 9.99999503e-01 3.08848394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.430714057 meters Centerline goodness [0,1] 0.9875839152203687 Centerline is valid? [True, True] Translation: X:435.47, Y:-18.75, Z:3.09 [[ 9.99266524e-01 3.81701583e-02 3.07459443e-03 4.35468215e+02] [-3.81697014e-02 9.99271250e-01 -2.07180745e-04 -1.87533748e+01] [-3.08026194e-03 8.96724320e-05 9.99995252e-01 3.08797787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.460714057 meters Centerline goodness [0,1] 0.987980714819258 Centerline is valid? [True, True] Translation: X:435.50, Y:-18.75, Z:3.09 [[ 9.99216259e-01 3.93935726e-02 3.87473341e-03 4.35497559e+02] [-3.93928559e-02 9.99223766e-01 -2.61149367e-04 -1.87499947e+01] [-3.88201331e-03 1.08307879e-04 9.99992459e-01 3.09033468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.490714057 meters Centerline goodness [0,1] 0.988925376514551 Centerline is valid? [True, True] Translation: X:435.53, Y:-18.75, Z:3.09 [[ 9.99080648e-01 4.27586541e-02 3.09123979e-03 4.35525569e+02] [-4.27582142e-02 9.99085428e-01 -2.08294334e-04 -1.87530312e+01] [-3.09731901e-03 7.59269452e-05 9.99995200e-01 3.08896842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.520714057 meters Centerline goodness [0,1] 0.9901849925369759 Centerline is valid? [True, True] Translation: X:435.55, Y:-18.75, Z:3.09 [[ 9.98997954e-01 4.46913303e-02 2.40254283e-03 4.35554240e+02] [-4.46910700e-02 9.99000842e-01 -1.61940233e-04 -1.87535126e+01] [-2.40737963e-03 5.44057514e-05 9.99997101e-01 3.08856238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.550714057 meters Centerline goodness [0,1] 0.9897145680343147 Centerline is valid? [True, True] Translation: X:435.58, Y:-18.76, Z:3.09 [[ 9.98915721e-01 4.65327756e-02 1.44353725e-03 4.35582195e+02] [-4.65326829e-02 9.98916763e-01 -9.77429301e-05 -1.87572080e+01] [-1.44652180e-03 3.04652885e-05 9.99998953e-01 3.08662213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.580714057 meters Centerline goodness [0,1] 0.9911014748063328 Centerline is valid? [True, True] Translation: X:435.61, Y:-18.76, Z:3.08 [[ 9.98811040e-01 4.87488914e-02 2.27323174e-04 4.35610171e+02] [-4.87488885e-02 9.98811066e-01 -1.82853196e-05 -1.87624550e+01] [-2.27944291e-04 7.18182706e-06 9.99999974e-01 3.08462528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.610714057 meters Centerline goodness [0,1] 0.9912397252561649 Centerline is valid? [True, True] Translation: X:435.64, Y:-18.77, Z:3.08 [[ 9.98762905e-01 4.97248537e-02 3.13567222e-04 4.35638796e+02] [-4.97248493e-02 9.98762954e-01 -2.17736206e-05 -1.87664267e+01] [-3.14262015e-04 6.15460173e-06 9.99999951e-01 3.08424140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.640714057 meters Centerline goodness [0,1] 0.9911170081183799 Centerline is valid? [True, True] Translation: X:435.67, Y:-18.77, Z:3.08 [[ 9.98744773e-01 5.00534827e-02 1.87799133e-03 4.35666656e+02] [-5.00533345e-02 9.98746538e-01 -1.25841343e-04 -1.87738867e+01] [-1.88193614e-03 3.16836547e-05 9.99998229e-01 3.08460032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.670714057 meters Centerline goodness [0,1] 0.9904482163277204 Centerline is valid? [True, True] Translation: X:435.69, Y:-18.78, Z:3.08 [[ 9.98763926e-01 4.96496455e-02 2.35219345e-03 4.35694155e+02] [-4.96494120e-02 9.98766695e-01 -1.57572666e-04 -1.87790235e+01] [-2.35711590e-03 4.05928735e-05 9.99997221e-01 3.08428395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.700714057 meters Centerline goodness [0,1] 0.9906537866732411 Centerline is valid? [True, True] Translation: X:435.72, Y:-18.78, Z:3.08 [[ 9.98813460e-01 4.86164712e-02 2.84799314e-03 4.35722881e+02] [-4.86161274e-02 9.98817519e-01 -1.89874934e-04 -1.87847885e+01] [-2.85385650e-03 5.11912426e-05 9.99995926e-01 3.08387914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.730714057 meters Centerline goodness [0,1] 0.9896651785714285 Centerline is valid? [True, True] Translation: X:435.75, Y:-18.80, Z:3.08 [[ 9.98908145e-01 4.65745649e-02 3.65061647e-03 4.35751514e+02] [-4.65739882e-02 9.98914814e-01 -2.42888224e-04 -1.87950097e+01] [-3.65796729e-03 7.25992570e-05 9.99993307e-01 3.08330198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76071405700003 meters Centerline goodness [0,1] 0.9890231733008094 Centerline is valid? [True, True] Translation: X:435.78, Y:-18.81, Z:3.08 [[ 9.99014655e-01 4.40442124e-02 5.46143905e-03 4.35778223e+02] [-4.40428876e-02 9.99029575e-01 -3.62653738e-04 -1.88073907e+01] [-5.47211194e-03 1.21758852e-04 9.99985020e-01 3.08329351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.790714057 meters Centerline goodness [0,1] 0.9887493921577295 Centerline is valid? [True, True] Translation: X:435.81, Y:-18.81, Z:3.08 [[ 9.99093608e-01 4.20744594e-02 6.45771771e-03 4.35806971e+02] [-4.20725719e-02 9.99114466e-01 -4.27921835e-04 -1.88146386e+01] [-6.47000376e-03 1.55841177e-04 9.99979057e-01 3.08279872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82071405700003 meters Centerline goodness [0,1] 0.9887705026747424 Centerline is valid? [True, True] Translation: X:435.84, Y:-18.82, Z:3.08 [[ 9.99195489e-01 3.94739223e-02 7.08412705e-03 4.35835301e+02] [-3.94715897e-02 9.99220583e-01 -4.68845570e-04 -1.88219603e+01] [-7.09711273e-03 1.88846622e-04 9.99974797e-01 3.08243980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.850714057 meters Centerline goodness [0,1] 0.9877968046606055 Centerline is valid? [True, True] Translation: X:435.86, Y:-18.83, Z:3.08 [[ 9.99283337e-01 3.70596079e-02 7.70695704e-03 4.35862295e+02] [-3.70567784e-02 9.99313032e-01 -5.09662315e-04 -1.88325779e+01] [-7.72055049e-03 2.23702060e-04 9.99970171e-01 3.08157150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.880714057 meters Centerline goodness [0,1] 0.9881649023604445 Centerline is valid? [True, True] Translation: X:435.89, Y:-18.84, Z:3.08 [[ 9.99489286e-01 3.09885794e-02 7.80220466e-03 4.35891344e+02] [-3.09855057e-02 9.99519701e-01 -5.14544553e-04 -1.88438606e+01] [-7.81440227e-03 2.72526511e-04 9.99969430e-01 3.07970596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.910714057 meters Centerline goodness [0,1] 0.987190696861065 Centerline is valid? [True, True] Translation: X:435.92, Y:-18.86, Z:3.08 [[ 9.99647908e-01 2.53775651e-02 7.74849828e-03 4.35921147e+02] [-2.53743670e-02 9.99677888e-01 -5.10785905e-04 -1.88568952e+01] [-7.75896490e-03 3.13992822e-04 9.99969849e-01 3.07756508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.940714057 meters Centerline goodness [0,1] 0.9855466202999348 Centerline is valid? [True, True] Translation: X:435.95, Y:-18.87, Z:3.08 [[ 9.99698475e-01 2.33385282e-02 7.63361710e-03 4.35949144e+02] [-2.33353629e-02 9.99727567e-01 -5.03460863e-04 -1.88698709e+01] [-7.64328748e-03 3.25175832e-04 9.99970737e-01 3.07553875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.970714057 meters Centerline goodness [0,1] 0.9860444926749864 Centerline is valid? [True, True] Translation: X:435.98, Y:-18.87, Z:3.08 [[ 9.99747842e-01 2.12527110e-02 7.25086632e-03 4.35978853e+02] [-2.12498037e-02 9.99774083e-01 -4.77772647e-04 -1.88711543e+01] [-7.25938219e-03 3.23572686e-04 9.99973598e-01 3.07506162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.000714057 meters Centerline goodness [0,1] 0.9859924541393816 Centerline is valid? [True, True] Translation: X:436.01, Y:-18.88, Z:3.07 [[ 9.99823106e-01 1.76085962e-02 6.61008719e-03 4.36008725e+02] [-1.76061025e-02 9.99844906e-01 -4.35258005e-04 -1.88795432e+01] [-6.61672629e-03 3.18803137e-04 9.99978058e-01 3.07418664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.030714057 meters Centerline goodness [0,1] 0.9845173636027573 Centerline is valid? [True, True] Translation: X:436.04, Y:-18.89, Z:3.07 [[ 9.99857053e-01 1.58108220e-02 5.99093715e-03 4.36036504e+02] [-1.58087399e-02 9.99874956e-01 -3.94733813e-04 -1.88857874e+01] [-5.99642908e-03 2.99968220e-04 9.99981976e-01 3.07365528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.060714057 meters Centerline goodness [0,1] 0.9854233096895946 Centerline is valid? [True, True] Translation: X:436.07, Y:-18.89, Z:3.07 [[ 9.99905203e-01 1.28210525e-02 5.02060630e-03 4.36066678e+02] [-1.28195563e-02 9.99917772e-01 -3.30077217e-04 -1.88937537e+01] [-5.02442541e-03 2.65683981e-04 9.99987342e-01 3.07178059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.090714057 meters Centerline goodness [0,1] 0.9851098365977708 Centerline is valid? [True, True] Translation: X:436.10, Y:-18.90, Z:3.07 [[ 9.99920990e-01 1.14913194e-02 5.09539173e-03 4.36095918e+02] [-1.14897599e-02 9.99933934e-01 -3.35243604e-04 -1.88984371e+01] [-5.09890749e-03 2.76672289e-04 9.99986962e-01 3.07163406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.120714057 meters Centerline goodness [0,1] 0.9847631019983528 Centerline is valid? [True, True] Translation: X:436.13, Y:-18.90, Z:3.07 [[ 9.99926741e-01 1.06831713e-02 5.69051462e-03 4.36125659e+02] [-1.06812145e-02 9.99942884e-01 -3.74158396e-04 -1.88994342e+01] [-5.69418680e-03 3.13349379e-04 9.99983739e-01 3.07213195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.150714057 meters Centerline goodness [0,1] 0.9849284262422696 Centerline is valid? [True, True] Translation: X:436.16, Y:-18.90, Z:3.07 [[ 9.99931422e-01 9.47297008e-03 6.88578714e-03 4.36156234e+02] [-9.47007989e-03 9.99955056e-01 -4.52217904e-04 -1.89030644e+01] [-6.88976150e-03 3.86977937e-04 9.99976190e-01 3.07342310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.180714057 meters Centerline goodness [0,1] 0.9842688362833774 Centerline is valid? [True, True] Translation: X:436.19, Y:-18.91, Z:3.07 [[ 9.99929306e-01 9.31312199e-03 7.39246001e-03 4.36185857e+02] [-9.30978970e-03 9.99956545e-01 -4.85053220e-04 -1.89077351e+01] [-7.39665613e-03 4.16196681e-04 9.99972558e-01 3.07337464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.210714057 meters Centerline goodness [0,1] 0.9836756756756757 Centerline is valid? [True, True] Translation: X:436.22, Y:-18.91, Z:3.07 [[ 9.99923357e-01 9.50954456e-03 7.92776787e-03 4.36216289e+02] [-9.50570956e-03 9.99954684e-01 -5.21283984e-04 -1.89123469e+01] [-7.93236579e-03 4.45884972e-04 9.99968439e-01 3.07329731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.240714057 meters Centerline goodness [0,1] 0.9849291735840107 Centerline is valid? [True, True] Translation: X:436.25, Y:-18.91, Z:3.07 [[ 9.99921141e-01 9.55596892e-03 8.14833607e-03 4.36247496e+02] [-9.55191847e-03 9.99954236e-01 -5.35861946e-04 -1.89125786e+01] [-8.15308385e-03 4.57987446e-04 9.99966658e-01 3.07330308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.270714057 meters Centerline goodness [0,1] 0.9836905069283071 Centerline is valid? [True, True] Translation: X:436.28, Y:-18.92, Z:3.07 [[ 9.99917436e-01 9.63344396e-03 8.50395489e-03 4.36278334e+02] [-9.62903228e-03 9.99953483e-01 -5.59571048e-04 -1.89160313e+01] [-8.50894991e-03 4.77639991e-04 9.99963684e-01 3.07335020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.300714057 meters Centerline goodness [0,1] 0.9841283422459893 Centerline is valid? [True, True] Translation: X:436.31, Y:-18.92, Z:3.07 [[ 9.99914761e-01 9.87725800e-03 8.53872294e-03 4.36308729e+02] [-9.87281588e-03 9.99951105e-01 -5.62228496e-04 -1.89199947e+01] [-8.54385871e-03 4.77879333e-04 9.99963386e-01 3.07328129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.330714057 meters Centerline goodness [0,1] 0.9843483884876576 Centerline is valid? [True, True] Translation: X:436.34, Y:-18.92, Z:3.07 [[ 9.99925911e-01 8.41354152e-03 8.79681909e-03 4.36339888e+02] [-8.40876945e-03 9.99964478e-01 -5.79322933e-04 -1.89239415e+01] [-8.80138076e-03 5.05309588e-04 9.99961139e-01 3.07269947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.360714057 meters Centerline goodness [0,1] 0.9836829336367735 Centerline is valid? [True, True] Translation: X:436.37, Y:-18.93, Z:3.07 [[ 9.99932962e-01 6.99133979e-03 9.22995382e-03 4.36371074e+02] [-6.98602265e-03 9.99975412e-01 -6.08190196e-04 -1.89282152e+01] [-9.23397894e-03 5.43668758e-04 9.99957218e-01 3.07220149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.390714057 meters Centerline goodness [0,1] 0.9827864443249059 Centerline is valid? [True, True] Translation: X:436.40, Y:-18.93, Z:3.07 [[ 9.99954873e-01 2.89430328e-03 9.04850855e-03 4.36400673e+02] [-2.88902285e-03 9.99995649e-01 -5.96585041e-04 -1.89348853e+01] [-9.05019587e-03 5.70416771e-04 9.99958883e-01 3.07202005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.420714057 meters Centerline goodness [0,1] 0.9842917311328864 Centerline is valid? [True, True] Translation: X:436.43, Y:-18.93, Z:3.07 [[ 9.99957576e-01 6.49928411e-04 9.18823251e-03 4.36432452e+02] [-6.44388023e-04 9.99999609e-01 -6.05934958e-04 -1.89330499e+01] [-9.18862273e-03 5.99988465e-04 9.99957604e-01 3.07163712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.450714057 meters Centerline goodness [0,1] 0.9824670320260318 Centerline is valid? [True, True] Translation: X:436.46, Y:-18.94, Z:3.07 [[ 9.99960229e-01 -2.13650079e-03 8.65889306e-03 4.36462214e+02] [ 2.14152876e-03 9.99997544e-01 -5.71440777e-04 -1.89383293e+01] [-8.65765090e-03 5.89961319e-04 9.99962348e-01 3.07087310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.480714057 meters Centerline goodness [0,1] 0.9826904583823058 Centerline is valid? [True, True] Translation: X:436.49, Y:-18.94, Z:3.07 [[ 9.99940358e-01 -7.37051349e-03 8.05947592e-03 4.36493701e+02] [ 7.37503760e-03 9.99972663e-01 -5.31763509e-04 -1.89390689e+01] [-8.05533622e-03 5.91170732e-04 9.99967381e-01 3.06985809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.51071405700003 meters Centerline goodness [0,1] 0.9825687875719118 Centerline is valid? [True, True] Translation: X:436.52, Y:-18.94, Z:3.07 [[ 9.99919261e-01 -9.98185559e-03 7.86342744e-03 4.36524765e+02] [ 9.98624456e-03 9.99950001e-01 -5.19083544e-04 -1.89408951e+01] [-7.85785287e-03 5.97567743e-04 9.99968948e-01 3.06947177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.540714057 meters Centerline goodness [0,1] 0.9822360194886388 Centerline is valid? [True, True] Translation: X:436.55, Y:-18.95, Z:3.07 [[ 9.99871711e-01 -1.41363709e-02 7.53158268e-03 4.36554013e+02] [ 1.41405165e-02 9.99899894e-01 -4.97466681e-04 -1.89468683e+01] [-7.52379635e-03 6.03903331e-04 9.99971513e-01 3.06940962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.57071405700003 meters Centerline goodness [0,1] 0.9818597528094735 Centerline is valid? [True, True] Translation: X:436.58, Y:-18.95, Z:3.07 [[ 9.99849521e-01 -1.56536135e-02 7.47655816e-03 4.36585000e+02] [ 1.56577389e-02 9.99877288e-01 -4.93558705e-04 -1.89461519e+01] [-7.46791472e-03 6.10550431e-04 9.99971928e-01 3.06965015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.600714057 meters Centerline goodness [0,1] 0.9817753881367278 Centerline is valid? [True, True] Translation: X:436.62, Y:-18.95, Z:3.07 [[ 9.99815018e-01 -1.74999902e-02 7.97993120e-03 4.36615273e+02] [ 1.75047495e-02 9.99846641e-01 -5.26951649e-04 -1.89501201e+01] [-7.96948575e-03 6.66540869e-04 9.99968021e-01 3.07021208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.630714057 meters Centerline goodness [0,1] 0.9808321847002067 Centerline is valid? [True, True] Translation: X:436.65, Y:-18.95, Z:3.07 [[ 9.99807667e-01 -1.79418174e-02 7.91958814e-03 4.36647298e+02] [ 1.79465181e-02 9.99838812e-01 -5.22872747e-04 -1.89513305e+01] [-7.90893031e-03 6.64901213e-04 9.99968503e-01 3.06981480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.660714057 meters Centerline goodness [0,1] 0.9808321847002067 Centerline is valid? [True, True] Translation: X:436.68, Y:-18.95, Z:3.07 [[ 9.99809614e-01 -1.78330350e-02 7.91956084e-03 4.36679866e+02] [ 1.78377355e-02 9.99840758e-01 -5.23285953e-04 -1.89535749e+01] [-7.90896793e-03 6.64453358e-04 9.99968503e-01 3.06941278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.690714057 meters Centerline goodness [0,1] 0.9820405869767241 Centerline is valid? [True, True] Translation: X:436.71, Y:-18.95, Z:3.07 [[ 9.99817248e-01 -1.75697206e-02 7.53501366e-03 4.36712127e+02] [ 1.75739753e-02 9.99845441e-01 -4.98807076e-04 -1.89538934e+01] [-7.52508516e-03 6.31136062e-04 9.99971487e-01 3.06913505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.720714057 meters Centerline goodness [0,1] 0.9826222617061385 Centerline is valid? [True, True] Translation: X:436.74, Y:-18.95, Z:3.07 [[ 9.99844868e-01 -1.62902502e-02 6.69836087e-03 4.36743835e+02] [ 1.62935879e-02 9.99867152e-01 -4.44013787e-04 -1.89516236e+01] [-6.69023792e-03 5.53085238e-04 9.99977467e-01 3.06852052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.750714057 meters Centerline goodness [0,1] 0.9815968167466805 Centerline is valid? [True, True] Translation: X:436.77, Y:-18.96, Z:3.07 [[ 9.99885643e-01 -1.37042823e-02 6.39476284e-03 4.36773541e+02] [ 1.37072745e-02 9.99905961e-01 -4.24324539e-04 -1.89558892e+01] [-6.38834642e-03 5.11930785e-04 9.99979463e-01 3.06772265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.780714057 meters Centerline goodness [0,1] 0.982249290188344 Centerline is valid? [True, True] Translation: X:436.81, Y:-18.95, Z:3.07 [[ 9.99909735e-01 -1.18916782e-02 6.25385119e-03 4.36805661e+02] [ 1.18945020e-02 9.99929172e-01 -4.14532263e-04 -1.89536613e+01] [-6.24847876e-03 4.88881291e-04 9.99980359e-01 3.06726781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.810714057 meters Centerline goodness [0,1] 0.9839224109874374 Centerline is valid? [True, True] Translation: X:436.84, Y:-18.95, Z:3.07 [[ 9.99937703e-01 -9.17617783e-03 6.35512467e-03 4.36836238e+02] [ 9.17904514e-03 9.99957783e-01 -4.22159551e-04 -1.89515583e+01] [-6.35098256e-03 4.80467228e-04 9.99979717e-01 3.06719885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.840714057 meters Centerline goodness [0,1] 0.9828833329713057 Centerline is valid? [True, True] Translation: X:436.87, Y:-18.95, Z:3.07 [[ 9.99974123e-01 -3.28050720e-03 6.40252962e-03 4.36866185e+02] [ 3.28329731e-03 9.99994520e-01 -4.25319354e-04 -1.89491329e+01] [-6.40109927e-03 4.46329756e-04 9.99979413e-01 3.06714183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.870714057 meters Centerline goodness [0,1] 0.9834538918005804 Centerline is valid? [True, True] Translation: X:436.90, Y:-18.95, Z:3.07 [[ 9.99975199e-01 1.07650825e-03 6.96003501e-03 4.36897160e+02] [-1.07331633e-03 9.99999317e-01 -4.62325443e-04 -1.89477535e+01] [-6.96052795e-03 4.54843658e-04 9.99975672e-01 3.06727000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.900714057 meters Centerline goodness [0,1] 0.9855182595857397 Centerline is valid? [True, True] Translation: X:436.93, Y:-18.94, Z:3.07 [[ 9.99923332e-01 9.96192609e-03 7.35454213e-03 4.36926980e+02] [-9.95860084e-03 9.99950293e-01 -4.88619429e-04 -1.89417738e+01] [-7.35904414e-03 4.15341019e-04 9.99972836e-01 3.06756874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.930714057 meters Centerline goodness [0,1] 0.984792606733773 Centerline is valid? [True, True] Translation: X:436.96, Y:-18.94, Z:3.07 [[ 9.99860050e-01 1.47063062e-02 7.97526078e-03 4.36957507e+02] [-1.47025482e-02 9.99891771e-01 -5.29642191e-04 -1.89396156e+01] [-7.98218671e-03 4.12311412e-04 9.99968057e-01 3.06768346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.960714057 meters Centerline goodness [0,1] 0.9862965796087859 Centerline is valid? [True, True] Translation: X:436.99, Y:-18.93, Z:3.07 [[ 9.99692015e-01 2.32140780e-02 8.77386971e-03 4.36988469e+02] [-2.32098551e-02 9.99730445e-01 -5.82828110e-04 -1.89309894e+01] [-8.78503449e-03 3.79008363e-04 9.99961339e-01 3.06892278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.990714057 meters Centerline goodness [0,1] 0.987603937059427 Centerline is valid? [True, True] Translation: X:437.02, Y:-18.93, Z:3.07 [[ 9.99591782e-01 2.69492183e-02 9.48727201e-03 4.37019184e+02] [-2.69444528e-02 9.99636734e-01 -6.29782927e-04 -1.89270294e+01] [-9.50079777e-03 3.73896486e-04 9.99954796e-01 3.06894697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.020714057 meters Centerline goodness [0,1] 0.9864300854402028 Centerline is valid? [True, True] Translation: X:437.05, Y:-18.93, Z:3.07 [[ 9.99430490e-01 3.22005659e-02 1.00905640e-02 4.37048473e+02] [-3.21954439e-02 9.99481368e-01 -6.69675505e-04 -1.89287025e+01] [-1.01068946e-02 3.44423932e-04 9.99948865e-01 3.06864188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.050714057 meters Centerline goodness [0,1] 0.9875739774191435 Centerline is valid? [True, True] Translation: X:437.08, Y:-18.93, Z:3.07 [[ 9.99400137e-01 3.32306784e-02 9.75134670e-03 4.37077807e+02] [-3.32259463e-02 9.99447656e-01 -6.46923946e-04 -1.89250076e+01] [-9.76745833e-03 3.22538158e-04 9.99952245e-01 3.06817539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.080714057 meters Centerline goodness [0,1] 0.9876094570928197 Centerline is valid? [True, True] Translation: X:437.11, Y:-18.93, Z:3.07 [[ 9.99379085e-01 3.40932284e-02 8.89360708e-03 4.37106190e+02] [-3.40893313e-02 9.99418616e-01 -5.89467872e-04 -1.89255735e+01] [-8.90853334e-03 2.85924745e-04 9.99960277e-01 3.06779639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.110714057 meters Centerline goodness [0,1] 0.9881347059849939 Centerline is valid? [True, True] Translation: X:437.13, Y:-18.93, Z:3.07 [[ 9.99424611e-01 3.28517229e-02 8.43864869e-03 4.37133668e+02] [-3.28481743e-02 9.99460197e-01 -5.58818086e-04 -1.89294179e+01] [-8.45245162e-03 2.81302346e-04 9.99964238e-01 3.06642295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.140714057 meters Centerline goodness [0,1] 0.9877047390259882 Centerline is valid? [True, True] Translation: X:437.16, Y:-18.93, Z:3.07 [[ 9.99472115e-01 3.14978248e-02 7.96105403e-03 4.37161428e+02] [-3.14946288e-02 9.99503782e-01 -5.26539085e-04 -1.89335703e+01] [-7.97368845e-03 2.75530691e-04 9.99968172e-01 3.06629127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.170714057 meters Centerline goodness [0,1] 0.9866405570060922 Centerline is valid? [True, True] Translation: X:437.19, Y:-18.94, Z:3.07 [[ 9.99605997e-01 2.69970235e-02 7.68183745e-03 4.37189740e+02] [-2.69939217e-02 9.99635469e-01 -5.07188581e-04 -1.89407830e+01] [-7.69272976e-03 2.99625829e-04 9.99970366e-01 3.06583991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.200714057 meters Centerline goodness [0,1] 0.9870790318004234 Centerline is valid? [True, True] Translation: X:437.22, Y:-18.94, Z:3.07 [[ 9.99674082e-01 2.43923084e-02 7.53299672e-03 4.37218903e+02] [-2.43892532e-02 9.99702414e-01 -4.97191231e-04 -1.89436487e+01] [-7.54288265e-03 3.13305023e-04 9.99971503e-01 3.06610947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.230714057 meters Centerline goodness [0,1] 0.985220813292523 Centerline is valid? [True, True] Translation: X:437.25, Y:-18.95, Z:3.06 [[ 9.99809667e-01 1.85098199e-02 6.16569503e-03 4.37248149e+02] [-1.85076640e-02 9.99828636e-01 -4.06544747e-04 -1.89538230e+01] [-6.17216352e-03 2.92354756e-04 9.99980909e-01 3.06484129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26071405700003 meters Centerline goodness [0,1] 0.9857052304867653 Centerline is valid? [True, True] Translation: X:437.28, Y:-18.96, Z:3.06 [[ 9.99869072e-01 1.55043050e-02 4.63195624e-03 4.37277724e+02] [-1.55030564e-02 9.99879774e-01 -3.05354302e-04 -1.89582239e+01] [-4.63613367e-03 2.33504844e-04 9.99989226e-01 3.06412794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.290714057 meters Centerline goodness [0,1] 0.98348439951194 Centerline is valid? [True, True] Translation: X:437.31, Y:-18.97, Z:3.06 [[ 9.99919759e-01 1.19756239e-02 4.13041917e-03 4.37306585e+02] [-1.19746006e-02 9.99928265e-01 -2.72381479e-04 -1.89650559e+01] [-4.13338481e-03 2.22899503e-04 9.99991433e-01 3.06287257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32071405700003 meters Centerline goodness [0,1] 0.9839729611862189 Centerline is valid? [True, True] Translation: X:437.34, Y:-18.97, Z:3.06 [[ 9.99979042e-01 5.23198274e-03 3.81327546e-03 4.37336530e+02] [-5.23106265e-03 9.99986286e-01 -2.51219092e-04 -1.89683803e+01] [-3.81453754e-03 2.31266345e-04 9.99992698e-01 3.06324083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.350714057 meters Centerline goodness [0,1] 0.9839275213973039 Centerline is valid? [True, True] Translation: X:437.37, Y:-18.97, Z:3.06 [[ 9.99988294e-01 2.47049590e-03 4.16036015e-03 4.37366725e+02] [-2.46937780e-03 9.99996914e-01 -2.73865653e-04 -1.89724078e+01] [-4.16102390e-03 2.63588946e-04 9.99991308e-01 3.06355185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.380714057 meters Centerline goodness [0,1] 0.9841356316328532 Centerline is valid? [True, True] Translation: X:437.40, Y:-18.98, Z:3.06 [[ 9.99986925e-01 -1.89755860e-03 4.74869278e-03 4.37397350e+02] [ 1.89906421e-03 9.99998148e-01 -3.12569300e-04 -1.89757906e+01] [-4.74809087e-03 3.21583285e-04 9.99988676e-01 3.06450985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.410714057 meters Centerline goodness [0,1] 0.983817499781907 Centerline is valid? [True, True] Translation: X:437.43, Y:-18.98, Z:3.06 [[ 9.99983582e-01 -3.58644078e-03 4.46916569e-03 4.37428829e+02] [ 3.58779005e-03 9.99993521e-01 -2.93925990e-04 -1.89774702e+01] [-4.46808258e-03 3.09955592e-04 9.99989970e-01 3.06400640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.440714057 meters Centerline goodness [0,1] 0.9828998544206158 Centerline is valid? [True, True] Translation: X:437.46, Y:-18.98, Z:3.06 [[ 9.99980092e-01 -4.90355572e-03 3.97127325e-03 4.37459301e+02] [ 4.90462885e-03 9.99987938e-01 -2.60530033e-04 -1.89821538e+01] [-3.96994783e-03 2.80002467e-04 9.99992081e-01 3.06325882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.470714057 meters Centerline goodness [0,1] 0.9831313747711621 Centerline is valid? [True, True] Translation: X:437.49, Y:-18.98, Z:3.06 [[ 9.99962460e-01 -8.05131598e-03 3.20232500e-03 4.37490105e+02] [ 8.05203360e-03 9.99967560e-01 -2.11262255e-04 -1.89829233e+01] [-3.20052018e-03 2.37039553e-04 9.99994850e-01 3.06206999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.500714057 meters Centerline goodness [0,1] 0.9809838058437893 Centerline is valid? [True, True] Translation: X:437.52, Y:-18.99, Z:3.06 [[ 9.99933343e-01 -1.13681199e-02 2.01852825e-03 4.37519822e+02] [ 1.13684122e-02 9.99935369e-01 -1.33370572e-04 -1.89885371e+01] [-2.01688162e-03 1.56309143e-04 9.99997954e-01 3.06025562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.530714057 meters Centerline goodness [0,1] 0.9811809805928863 Centerline is valid? [True, True] Translation: X:437.55, Y:-18.99, Z:3.06 [[ 9.99916829e-01 -1.27319652e-02 2.05709222e-03 4.37552088e+02] [ 1.27322698e-02 9.99918932e-01 -1.35028766e-04 -1.89915303e+01] [-2.05520627e-03 1.61208988e-04 9.99997875e-01 3.05933401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.560714057 meters Centerline goodness [0,1] 0.9820863607601842 Centerline is valid? [True, True] Translation: X:437.58, Y:-18.99, Z:3.06 [[ 9.99903961e-01 -1.36651550e-02 2.30925019e-03 4.37584817e+02] [ 1.36655418e-02 9.99906611e-01 -1.51826774e-04 -1.89901788e+01] [-2.30695980e-03 1.83369348e-04 9.99997322e-01 3.05925540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.590714057 meters Centerline goodness [0,1] 0.9804696024091127 Centerline is valid? [True, True] Translation: X:437.62, Y:-18.99, Z:3.06 [[ 9.99870841e-01 -1.58001745e-02 2.94207065e-03 4.37615964e+02] [ 1.58008144e-02 9.99875140e-01 -1.94378675e-04 -1.89883223e+01] [-2.93863209e-03 2.40840682e-04 9.99995653e-01 3.05914571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.620714057 meters Centerline goodness [0,1] 0.9805066946705172 Centerline is valid? [True, True] Translation: X:437.65, Y:-18.99, Z:3.06 [[ 9.99849043e-01 -1.71395461e-02 2.85090217e-03 4.37648546e+02] [ 1.71401511e-02 9.99853079e-01 -1.87897962e-04 -1.89873070e+01] [-2.84726283e-03 2.36734491e-04 9.99995919e-01 3.05882913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.650714057 meters Centerline goodness [0,1] 0.9813913541368451 Centerline is valid? [True, True] Translation: X:437.68, Y:-18.98, Z:3.06 [[ 9.99833044e-01 -1.80960978e-02 2.53275192e-03 4.37681010e+02] [ 1.80965785e-02 9.99836230e-01 -1.66989288e-04 -1.89846072e+01] [-2.52931528e-03 2.12795552e-04 9.99996779e-01 3.05814088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.680714057 meters Centerline goodness [0,1] 0.9799494338793009 Centerline is valid? [True, True] Translation: X:437.71, Y:-18.99, Z:3.06 [[ 9.99825506e-01 -1.85302619e-02 2.36373516e-03 4.37711469e+02] [ 1.85306824e-02 9.99828280e-01 -1.56143863e-04 -1.89906771e+01] [-2.36043588e-03 1.99918242e-04 9.99997194e-01 3.05701118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.710714057 meters Centerline goodness [0,1] 0.9796179186038825 Centerline is valid? [True, True] Translation: X:437.74, Y:-18.99, Z:3.06 [[ 9.99801682e-01 -1.98367018e-02 1.76150366e-03 4.37742787e+02] [ 1.98369376e-02 9.99803222e-01 -1.16491849e-04 -1.89890953e+01] [-1.75884622e-03 1.51411585e-04 9.99998442e-01 3.05600745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.740714057 meters Centerline goodness [0,1] 0.9803604998341259 Centerline is valid? [True, True] Translation: X:437.78, Y:-18.99, Z:3.06 [[ 9.99787214e-01 -2.06064198e-02 9.49836578e-04 4.37775133e+02] [ 2.06064882e-02 9.99787662e-01 -6.22403109e-05 -1.89877239e+01] [-9.48352342e-04 8.17998632e-05 9.99999547e-01 3.05504740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.770714057 meters Centerline goodness [0,1] 0.9760986892829607 Centerline is valid? [True, True] Translation: X:437.81, Y:-18.99, Z:3.05 [[ 9.99772840e-01 -2.13060605e-02 -5.65851256e-04 4.37806402e+02] [ 2.13060855e-02 9.99772999e-01 3.82820390e-05 -1.89892210e+01] [ 5.64907168e-04 -5.03294181e-05 9.99999839e-01 3.05305889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.800714057 meters Centerline goodness [0,1] 0.9793538393449879 Centerline is valid? [True, True] Translation: X:437.84, Y:-18.98, Z:3.05 [[ 9.99764402e-01 -2.16801447e-02 -1.05417643e-03 4.37838863e+02] [ 2.16802316e-02 9.99764954e-01 7.10538462e-05 -1.89837162e+01] [ 1.05238819e-03 -9.38918952e-05 9.99999442e-01 3.05360007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.830714057 meters Centerline goodness [0,1] 0.9784054629301171 Centerline is valid? [True, True] Translation: X:437.87, Y:-18.98, Z:3.05 [[ 9.99785776e-01 -2.06849494e-02 -7.30873877e-04 4.37871058e+02] [ 2.06849909e-02 9.99786041e-01 4.93530956e-05 -1.89801988e+01] [ 7.29696634e-04 -6.44606425e-05 9.99999732e-01 3.05377725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.860714057 meters Centerline goodness [0,1] 0.9787210437561019 Centerline is valid? [True, True] Translation: X:437.90, Y:-18.98, Z:3.05 [[ 9.99798524e-01 -2.00723877e-02 1.01798746e-04 4.37903547e+02] [ 2.00723884e-02 9.99798529e-01 -5.90848903e-06 -1.89787598e+01] [-1.01659639e-04 7.95064257e-06 9.99999995e-01 3.05404869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.890714057 meters Centerline goodness [0,1] 0.9777486329080158 Centerline is valid? [True, True] Translation: X:437.93, Y:-18.98, Z:3.05 [[ 9.99821281e-01 -1.88975329e-02 5.38008886e-04 4.37934430e+02] [ 1.88975547e-02 9.99821425e-01 -3.54649094e-05 -1.89802582e+01] [-5.37242611e-04 4.56256235e-05 9.99999855e-01 3.05401964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.920714057 meters Centerline goodness [0,1] 0.9778820375335121 Centerline is valid? [True, True] Translation: X:437.97, Y:-18.97, Z:3.05 [[ 9.99873048e-01 -1.59211139e-02 6.37552987e-04 4.37965575e+02] [ 1.59211442e-02 9.99873250e-01 -4.24318352e-05 -1.89742579e+01] [-6.36796614e-04 5.25770214e-05 9.99999796e-01 3.05488975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.950714057 meters Centerline goodness [0,1] 0.9801953640163623 Centerline is valid? [True, True] Translation: X:438.00, Y:-18.97, Z:3.06 [[ 9.99901580e-01 -1.40044498e-02 8.40024383e-04 4.37997772e+02] [ 1.40045013e-02 9.99901931e-01 -5.54398764e-05 -1.89671083e+01] [-8.39165597e-04 6.71985426e-05 9.99999646e-01 3.05588507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.980714057 meters Centerline goodness [0,1] 0.97996104157804 Centerline is valid? [True, True] Translation: X:438.03, Y:-18.96, Z:3.06 [[ 9.99940822e-01 -1.07497936e-02 1.67189959e-03 4.38028703e+02] [ 1.07499952e-02 9.99942211e-01 -1.11595645e-04 -1.89622367e+01] [-1.67060335e-03 1.29561954e-04 9.99998596e-01 3.05545492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.01071405700003 meters Centerline goodness [0,1] 0.978584229390681 Centerline is valid? [True, True] Translation: X:438.06, Y:-18.97, Z:3.05 [[ 9.99955943e-01 -9.09658415e-03 2.31603930e-03 4.38059294e+02] [ 9.09696594e-03 9.99958610e-01 -1.54365268e-04 -1.89689531e+01] [-2.31453925e-03 1.75427398e-04 9.99997306e-01 3.05455338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.040714057 meters Centerline goodness [0,1] 0.9812240314430095 Centerline is valid? [True, True] Translation: X:438.09, Y:-18.96, Z:3.06 [[ 9.99964277e-01 -7.88777830e-03 3.03763538e-03 4.38091062e+02] [ 7.88843026e-03 9.99968865e-01 -2.02708720e-04 -1.89627103e+01] [-3.03594188e-03 2.26663654e-04 9.99995366e-01 3.05563262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.07071405700003 meters Centerline goodness [0,1] 0.9786619098155215 Centerline is valid? [True, True] Translation: X:438.12, Y:-18.96, Z:3.06 [[ 9.99964395e-01 -7.55036420e-03 3.76841879e-03 4.38122454e+02] [ 7.55136558e-03 9.99971456e-01 -2.51570191e-04 -1.89624981e+01] [-3.76641178e-03 2.80017942e-04 9.99992868e-01 3.05550022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.100714057 meters Centerline goodness [0,1] 0.9780867053327617 Centerline is valid? [True, True] Translation: X:438.15, Y:-18.96, Z:3.06 [[ 9.99961093e-01 -7.77555128e-03 4.16577321e-03 4.38153424e+02] [ 7.77677815e-03 9.99969722e-01 -2.78392779e-04 -1.89643871e+01] [-4.16348242e-03 3.10778242e-04 9.99991284e-01 3.05503171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.130714057 meters Centerline goodness [0,1] 0.976938965431146 Centerline is valid? [True, True] Translation: X:438.18, Y:-18.96, Z:3.05 [[ 9.99938326e-01 -9.75092515e-03 5.31633972e-03 4.38184599e+02] [ 9.75295377e-03 9.99952376e-01 -3.55788774e-04 -1.89647415e+01] [-5.31261726e-03 4.07616846e-04 9.99985805e-01 3.05400736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.160714057 meters Centerline goodness [0,1] 0.9769651988957777 Centerline is valid? [True, True] Translation: X:438.22, Y:-18.97, Z:3.05 [[ 9.99920151e-01 -1.13960018e-02 5.46107484e-03 4.38215963e+02] [ 1.13981686e-02 9.99934972e-01 -3.65815355e-04 -1.89674008e+01] [-5.45655088e-03 4.28032397e-04 9.99985021e-01 3.05306508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.190714057 meters Centerline goodness [0,1] 0.9743013972055888 Centerline is valid? [True, True] Translation: X:438.25, Y:-18.97, Z:3.05 [[ 9.99862481e-01 -1.59222037e-02 4.63708104e-03 4.38245931e+02] [ 1.59238156e-02 9.99873160e-01 -3.10900079e-04 -1.89711093e+01] [-4.63154266e-03 3.84697348e-04 9.99989200e-01 3.05050166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.220714057 meters Centerline goodness [0,1] 0.973095594573749 Centerline is valid? [True, True] Translation: X:438.28, Y:-18.98, Z:3.05 [[ 9.99835152e-01 -1.76649321e-02 4.19761126e-03 4.38275726e+02] [ 1.76662660e-02 9.99843900e-01 -2.80914561e-04 -1.89750433e+01] [-4.19199368e-03 3.55024370e-04 9.99991151e-01 3.04926837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.250714057 meters Centerline goodness [0,1] 0.973300034056079 Centerline is valid? [True, True] Translation: X:438.31, Y:-18.98, Z:3.05 [[ 9.99803800e-01 -1.92415364e-02 4.70380406e-03 4.38307084e+02] [ 1.92432327e-02 9.99814782e-01 -3.15615300e-04 -1.89771054e+01] [-4.69685991e-03 4.06069772e-04 9.99988887e-01 3.04863124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.280714057 meters Centerline goodness [0,1] 0.9516824849007766 Centerline is valid? [True, True] Translation: X:438.34, Y:-18.99, Z:3.05 [[ 9.99748430e-01 -2.18382420e-02 5.11547218e-03 4.38336294e+02] [ 2.18402846e-02 9.99761413e-01 -3.43775005e-04 -1.89873337e+01] [-5.10674425e-03 4.55411890e-04 9.99986857e-01 3.04755143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.310714057 meters Centerline goodness [0,1] 0.9735132433783108 Centerline is valid? [True, True] Translation: X:438.37, Y:-18.98, Z:3.05 [[ 9.99740781e-01 -2.22005617e-02 5.05041764e-03 4.38369129e+02] [ 2.22025541e-02 9.99753436e-01 -3.38771025e-04 -1.89776778e+01] [-5.04165148e-03 4.50815379e-04 9.99987189e-01 3.04781745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.340714057 meters Centerline goodness [0,1] 0.9753785715917137 Centerline is valid? [True, True] Translation: X:438.40, Y:-18.97, Z:3.05 [[ 9.99751158e-01 -2.16927274e-02 5.20070616e-03 4.38401899e+02] [ 2.16948352e-02 9.99764578e-01 -3.49218637e-04 -1.89716400e+01] [-5.19190630e-03 4.61960200e-04 9.99986415e-01 3.04722367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.370714057 meters Centerline goodness [0,1] 0.9755585955312358 Centerline is valid? [True, True] Translation: X:438.43, Y:-18.98, Z:3.05 [[ 9.99771368e-01 -2.07066484e-02 5.33351854e-03 4.38433114e+02] [ 2.07088508e-02 9.99785485e-01 -3.58047138e-04 -1.89764318e+01] [-5.32496046e-03 4.68416316e-04 9.99985713e-01 3.04633524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.400714057 meters Centerline goodness [0,1] 0.9763244578643975 Centerline is valid? [True, True] Translation: X:438.46, Y:-18.97, Z:3.05 [[ 9.99814897e-01 -1.81500572e-02 6.38341929e-03 4.38464957e+02] [ 1.81531732e-02 9.99835125e-01 -4.30534357e-04 -1.89702032e+01] [-6.37455260e-03 5.46333980e-04 9.99979533e-01 3.04713827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.430714057 meters Centerline goodness [0,1] 0.9757528710701158 Centerline is valid? [True, True] Translation: X:438.50, Y:-18.97, Z:3.05 [[ 9.99840113e-01 -1.63071095e-02 7.33666183e-03 4.38496515e+02] [ 1.63111769e-02 9.99866841e-01 -4.94902132e-04 -1.89703476e+01] [-7.32761447e-03 6.14492593e-04 9.99972964e-01 3.04748091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.460714057 meters Centerline goodness [0,1] 0.9762504004026907 Centerline is valid? [True, True] Translation: X:438.53, Y:-18.97, Z:3.05 [[ 9.99861534e-01 -1.43061436e-02 8.49982163e-03 4.38527489e+02] [ 1.43115349e-02 9.99897420e-01 -5.73797152e-04 -1.89686230e+01] [-8.49074089e-03 6.95363195e-04 9.99963711e-01 3.04778507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.490714057 meters Centerline goodness [0,1] 0.9765641060782567 Centerline is valid? [True, True] Translation: X:438.56, Y:-18.97, Z:3.05 [[ 9.99909118e-01 -9.86858571e-03 9.18515051e-03 4.38557644e+02] [ 9.87469801e-03 9.99951052e-01 -6.20339948e-04 -1.89679227e+01] [-9.17857903e-03 7.10984158e-04 9.99957623e-01 3.04738227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.520714057 meters Centerline goodness [0,1] 0.9764965112008814 Centerline is valid? [True, True] Translation: X:438.59, Y:-18.97, Z:3.05 [[ 9.99920467e-01 -7.79686486e-03 9.91302346e-03 4.38589120e+02] [ 7.80388216e-03 9.99969325e-01 -6.69401969e-04 -1.89680943e+01] [-9.90750014e-03 7.46708796e-04 9.99950641e-01 3.04678226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.550714057 meters Centerline goodness [0,1] 0.9759132970540286 Centerline is valid? [True, True] Translation: X:438.62, Y:-18.97, Z:3.05 [[ 9.99932611e-01 -4.32255304e-03 1.07744892e-02 4.38620432e+02] [ 4.33064747e-03 9.99990358e-01 -7.28041613e-04 -1.89663584e+01] [-1.07712383e-02 7.74653065e-04 9.99941688e-01 3.04661765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.580714057 meters Centerline goodness [0,1] 0.9753864556496136 Centerline is valid? [True, True] Translation: X:438.65, Y:-18.97, Z:3.05 [[ 9.99935014e-01 -2.87383535e-03 1.10321632e-02 4.38650528e+02] [ 2.88223450e-03 9.99995568e-01 -7.45509406e-04 -1.89683280e+01] [-1.10299719e-02 7.77258240e-04 9.99938866e-01 3.04657037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.610714057 meters Centerline goodness [0,1] 0.9753864556496136 Centerline is valid? [True, True] Translation: X:438.68, Y:-18.97, Z:3.05 [[ 9.99935311e-01 -2.76877156e-03 1.10321576e-02 4.38683069e+02] [ 2.77716526e-03 9.99995866e-01 -7.45592064e-04 -1.89706219e+01] [-1.10300477e-02 7.76181957e-04 9.99938866e-01 3.04616849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.640714057 meters Centerline goodness [0,1] 0.9767677698902922 Centerline is valid? [True, True] Translation: X:438.72, Y:-18.97, Z:3.05 [[ 9.99930698e-01 -1.46959744e-03 1.16807202e-02 4.38715033e+02] [ 1.47893457e-03 9.99998594e-01 -7.90764830e-04 -1.89677743e+01] [-1.16795416e-02 8.07985049e-04 9.99931465e-01 3.04632307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.670714057 meters Centerline goodness [0,1] 0.9742899850523169 Centerline is valid? [True, True] Translation: X:438.75, Y:-18.97, Z:3.05 [[ 9.99939284e-01 -4.34504924e-04 1.10108461e-02 4.38746343e+02] [ 4.42745462e-04 9.99999624e-01 -7.45975381e-04 -1.89698504e+01] [-1.10105178e-02 7.50805091e-04 9.99939101e-01 3.04539459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.700714057 meters Centerline goodness [0,1] 0.9751813053988718 Centerline is valid? [True, True] Translation: X:438.78, Y:-18.97, Z:3.04 [[ 9.99943176e-01 -2.22489081e-04 1.06581199e-02 4.38778086e+02] [ 2.30201916e-04 9.99999713e-01 -7.22436824e-04 -1.89735186e+01] [-1.06579561e-02 7.24849292e-04 9.99942940e-01 3.04416790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.730714057 meters Centerline goodness [0,1] 0.9769092914254205 Centerline is valid? [True, True] Translation: X:438.81, Y:-18.97, Z:3.04 [[ 9.99955376e-01 -1.74460365e-03 9.28449618e-03 4.38809972e+02] [ 1.75053267e-03 9.99998269e-01 -6.30505430e-04 -1.89732551e+01] [-9.28338013e-03 6.46730108e-04 9.99956699e-01 3.04138381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76071405700003 meters Centerline goodness [0,1] 0.9770818995182381 Centerline is valid? [True, True] Translation: X:438.84, Y:-18.98, Z:3.04 [[ 9.99957239e-01 -3.22373402e-03 8.66761113e-03 4.38842376e+02] [ 3.22897742e-03 9.99994612e-01 -5.91016261e-04 -1.89754381e+01] [-8.66565915e-03 6.18978509e-04 9.99962261e-01 3.03963554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.790714057 meters Centerline goodness [0,1] 0.9752745990164989 Centerline is valid? [True, True] Translation: X:438.87, Y:-18.99, Z:3.04 [[ 9.99956285e-01 -6.55281659e-03 6.67005480e-03 4.38871458e+02] [ 6.55599895e-03 9.99978406e-01 -4.55358930e-04 -1.89853307e+01] [-6.66692688e-03 4.99067896e-04 9.99977651e-01 3.03707567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82071405700003 meters Centerline goodness [0,1] 0.9771936695155382 Centerline is valid? [True, True] Translation: X:438.90, Y:-18.99, Z:3.04 [[ 9.99949088e-01 -7.93529664e-03 6.23316386e-03 4.38903102e+02] [ 7.93810219e-03 9.99968402e-01 -4.25490451e-04 -1.89854998e+01] [-6.22959051e-03 4.74948280e-04 9.99980483e-01 3.03680513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.850714057 meters Centerline goodness [0,1] 0.9752777522725186 Centerline is valid? [True, True] Translation: X:438.93, Y:-18.99, Z:3.04 [[ 9.99942861e-01 -8.84472714e-03 6.00377609e-03 4.38933833e+02] [ 8.84734812e-03 9.99960777e-01 -4.10137204e-04 -1.89907694e+01] [-5.99991306e-03 4.63231266e-04 9.99981893e-01 3.03628737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.880714057 meters Centerline goodness [0,1] 0.9746271057893406 Centerline is valid? [True, True] Translation: X:438.97, Y:-18.99, Z:3.04 [[ 9.99934179e-01 -8.84575916e-03 7.30692502e-03 4.38966383e+02] [ 8.84964478e-03 9.99960716e-01 -4.99610640e-04 -1.89936407e+01] [-7.30221854e-03 5.64241446e-04 9.99973179e-01 3.03790091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.910714057 meters Centerline goodness [0,1] 0.9726412269995164 Centerline is valid? [True, True] Translation: X:439.00, Y:-19.00, Z:3.04 [[ 9.99922837e-01 -8.37736616e-03 9.17275544e-03 4.38997482e+02] [ 8.38347862e-03 9.99964661e-01 -6.28122015e-04 -1.89976312e+01] [-9.16716927e-03 7.04973146e-04 9.99957732e-01 3.03894376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.940714057 meters Centerline goodness [0,1] 0.9724493791896063 Centerline is valid? [True, True] Translation: X:439.03, Y:-19.00, Z:3.04 [[ 9.99926240e-01 -7.57101748e-03 9.49708279e-03 4.39029793e+02] [ 7.57753822e-03 9.99971078e-01 -6.50809018e-04 -1.90000871e+01] [-9.49188083e-03 7.22725523e-04 9.99954690e-01 3.03924691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.970714057 meters Centerline goodness [0,1] 0.9733844696532126 Centerline is valid? [True, True] Translation: X:439.06, Y:-19.00, Z:3.04 [[ 9.99931513e-01 -7.15804697e-03 9.25910246e-03 4.39062455e+02] [ 7.16423317e-03 9.99974135e-01 -6.35125830e-04 -1.89968623e+01] [-9.25431671e-03 7.01416701e-04 9.99956932e-01 3.03920886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.000714057 meters Centerline goodness [0,1] 0.9724821387416456 Centerline is valid? [True, True] Translation: X:439.09, Y:-19.01, Z:3.04 [[ 9.99943083e-01 -7.26576961e-03 7.81278363e-03 4.39092647e+02] [ 7.27018140e-03 9.99973428e-01 -5.36435108e-04 -1.90070471e+01] [-7.80867841e-03 5.93204929e-04 9.99969336e-01 3.03699999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.030714057 meters Centerline goodness [0,1] 0.974142711895739 Centerline is valid? [True, True] Translation: X:439.12, Y:-19.01, Z:3.04 [[ 9.99944850e-01 -7.99495025e-03 6.81007586e-03 4.39124586e+02] [ 7.99832104e-03 9.99967903e-01 -4.67878600e-04 -1.90056162e+01] [-6.80611661e-03 5.22321970e-04 9.99976702e-01 3.03505951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.060714057 meters Centerline goodness [0,1] 0.9743418013856813 Centerline is valid? [True, True] Translation: X:439.16, Y:-19.01, Z:3.03 [[ 9.99929369e-01 -1.10131873e-02 4.46840294e-03 4.39155080e+02] [ 1.10146696e-02 9.99939289e-01 -3.07260154e-04 -1.90135288e+01] [-4.46474775e-03 3.56456434e-04 9.99989969e-01 3.03183782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.090714057 meters Centerline goodness [0,1] 0.973308418114287 Centerline is valid? [True, True] Translation: X:439.19, Y:-19.02, Z:3.03 [[ 9.99913851e-01 -1.26078924e-02 3.65119576e-03 4.39186384e+02] [ 1.26088924e-02 9.99920473e-01 -2.50977639e-04 -1.90161617e+01] [-3.64774110e-03 2.96993552e-04 9.99993303e-01 3.03089148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.120714057 meters Centerline goodness [0,1] 0.9691780821917808 Centerline is valid? [True, True] Translation: X:439.22, Y:-19.03, Z:3.03 [[ 9.99889844e-01 -1.45374761e-02 2.99374174e-03 4.39215568e+02] [ 1.45381580e-02 9.99894294e-01 -2.06147864e-04 -1.90299803e+01] [-2.99042842e-03 2.49648646e-04 9.99995497e-01 3.02898574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.150714057 meters Centerline goodness [0,1] 0.9717540178468491 Centerline is valid? [True, True] Translation: X:439.25, Y:-19.03, Z:3.03 [[ 9.99832429e-01 -1.81193012e-02 2.60848267e-03 4.39245828e+02] [ 1.81198313e-02 9.99835806e-01 -1.79760462e-04 -1.90291510e+01] [-2.60479724e-03 2.26995605e-04 9.99996582e-01 3.02913062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.180714057 meters Centerline goodness [0,1] 0.973614715135371 Centerline is valid? [True, True] Translation: X:439.28, Y:-19.03, Z:3.03 [[ 9.99804365e-01 -1.95995122e-02 2.66296495e-03 4.39276928e+02] [ 1.96000686e-02 9.99807883e-01 -1.82990389e-04 -1.90317441e+01] [-2.65886683e-03 2.35148885e-04 9.99996438e-01 3.02950129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.210714057 meters Centerline goodness [0,1] 0.9740659138896539 Centerline is valid? [True, True] Translation: X:439.31, Y:-19.03, Z:3.03 [[ 9.99797693e-01 -1.99749610e-02 2.36107395e-03 4.39308834e+02] [ 1.99753987e-02 9.99800459e-01 -1.61923259e-04 -1.90335703e+01] [-2.35736840e-03 2.09053894e-04 9.99997200e-01 3.02942230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.240714057 meters Centerline goodness [0,1] 0.9745786128764852 Centerline is valid? [True, True] Translation: X:439.34, Y:-19.04, Z:3.03 [[ 9.99798720e-01 -1.98970380e-02 2.57450736e-03 4.39342134e+02] [ 1.98975579e-02 9.99802008e-01 -1.76482452e-04 -1.90374429e+01] [-2.57048616e-03 2.27673339e-04 9.99996670e-01 3.02948168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.270714057 meters Centerline goodness [0,1] 0.974709108851812 Centerline is valid? [True, True] Translation: X:439.37, Y:-19.04, Z:3.03 [[ 9.99793805e-01 -1.98348999e-02 4.35017870e-03 4.39374425e+02] [ 1.98363908e-02 9.99803194e-01 -2.99853680e-04 -1.90406825e+01] [-4.34337499e-03 3.86083697e-04 9.99990493e-01 3.02999454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.300714057 meters Centerline goodness [0,1] 0.973360843649702 Centerline is valid? [True, True] Translation: X:439.41, Y:-19.05, Z:3.03 [[ 9.99784912e-01 -2.01437074e-02 4.93562900e-03 4.39405473e+02] [ 2.01456334e-02 9.99796998e-01 -3.40807261e-04 -1.90462291e+01] [-4.92776193e-03 4.40165330e-04 9.99987762e-01 3.02995460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.330714057 meters Centerline goodness [0,1] 0.9723397479641509 Centerline is valid? [True, True] Translation: X:439.44, Y:-19.05, Z:3.03 [[ 9.99754373e-01 -2.13334479e-02 6.00640170e-03 4.39436963e+02] [ 2.13363243e-02 9.99772269e-01 -4.15204576e-04 -1.90509245e+01] [-5.99617610e-03 5.43257125e-04 9.99981875e-01 3.02911837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.360714057 meters Centerline goodness [0,1] 0.9747473595364646 Centerline is valid? [True, True] Translation: X:439.47, Y:-19.05, Z:3.03 [[ 9.99737886e-01 -2.20192382e-02 6.26999915e-03 4.39468949e+02] [ 2.20223881e-02 9.99757384e-01 -4.33772057e-04 -1.90490383e+01] [-6.25892662e-03 5.71738714e-04 9.99980249e-01 3.02847469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.390714057 meters Centerline goodness [0,1] 0.9753221326776852 Centerline is valid? [True, True] Translation: X:439.50, Y:-19.06, Z:3.03 [[ 9.99708291e-01 -2.35835263e-02 5.21065936e-03 4.39498606e+02] [ 2.35857257e-02 9.99721753e-01 -3.61040387e-04 -1.90567637e+01] [-5.20069491e-03 4.83832250e-04 9.99986359e-01 3.02653882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.420714057 meters Centerline goodness [0,1] 0.9740528494110156 Centerline is valid? [True, True] Translation: X:439.53, Y:-19.06, Z:3.03 [[ 9.99687325e-01 -2.46063977e-02 4.44712530e-03 4.39530613e+02] [ 2.46080072e-02 9.99697130e-01 -3.07570116e-04 -1.90596668e+01] [-4.43821020e-03 4.16908838e-04 9.99990064e-01 3.02579006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.450714057 meters Centerline goodness [0,1] 0.9511841030759459 Centerline is valid? [True, True] Translation: X:439.56, Y:-19.08, Z:3.02 [[ 9.99672776e-01 -2.52105648e-02 4.33226032e-03 4.39560406e+02] [ 2.52120998e-02 9.99682079e-01 -3.00062398e-04 -1.90755797e+01] [-4.32331827e-03 4.09189590e-04 9.99990571e-01 3.02408515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.480714057 meters Centerline goodness [0,1] 0.9718437577928408 Centerline is valid? [True, True] Translation: X:439.59, Y:-19.07, Z:3.02 [[ 9.99641523e-01 -2.65008192e-02 3.81214765e-03 4.39591769e+02] [ 2.65020187e-02 9.99648725e-01 -2.64469009e-04 -1.90723043e+01] [-3.80379989e-03 3.65403811e-04 9.99992699e-01 3.02388653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.51071405700003 meters Centerline goodness [0,1] 0.9379363496237193 Centerline is valid? [True, False] Translation: X:439.59, Y:-19.07, Z:3.02 [[ 9.99651685e-01 -2.61216860e-02 3.76368031e-03 4.39592279e+02] [ 2.61192496e-02 9.99658593e-01 6.95058860e-04 -1.90744279e+01] [-3.78055147e-03 -5.96512255e-04 9.99992676e-01 3.02317221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.540714057 meters Centerline goodness [0,1] 0.9758719811683756 Centerline is valid? [False, True] Translation: X:439.59, Y:-19.08, Z:3.02 [[ 9.99668278e-01 -2.54968047e-02 3.63950536e-03 4.39593236e+02] [ 2.54898438e-02 9.99673186e-01 1.94634687e-03 -1.90771170e+01] [-3.68794155e-03 -1.85293080e-03 9.99991483e-01 3.02205785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.57071405700003 meters Centerline goodness [0,1] 0.9762508489925289 Centerline is valid? [True, True] Translation: X:439.63, Y:-19.08, Z:3.02 [[ 9.99696228e-01 -2.44465963e-02 3.13283956e-03 4.39625020e+02] [ 2.44474076e-02 9.99701093e-01 -2.20938188e-04 -1.90775704e+01] [-3.12650195e-03 2.97460879e-04 9.99995068e-01 3.02226976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.600714057 meters Centerline goodness [0,1] 0.9727091993493584 Centerline is valid? [True, True] Translation: X:439.65, Y:-19.08, Z:3.02 [[ 9.99740657e-01 -2.26139964e-02 2.68821524e-03 4.39654535e+02] [ 2.26145889e-02 9.99744239e-01 -1.90178806e-04 -1.90837415e+01] [-2.68322700e-03 2.50922367e-04 9.99996369e-01 3.02097910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.630714057 meters Centerline goodness [0,1] 0.9774580879021296 Centerline is valid? [True, True] Translation: X:439.69, Y:-19.08, Z:3.02 [[ 9.99860732e-01 -1.66310182e-02 1.38752370e-03 4.39685510e+02] [ 1.66311702e-02 9.99861688e-01 -9.80859766e-05 -1.90780742e+01] [-1.38570052e-03 1.21148459e-04 9.99999033e-01 3.02045101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.660714057 meters Centerline goodness [0,1] 0.980375291428054 Centerline is valid? [True, True] Translation: X:439.72, Y:-19.08, Z:3.02 [[ 9.99963114e-01 -8.45332636e-03 1.52023074e-03 4.39715779e+02] [ 8.45349944e-03 9.99964263e-01 -1.07461426e-04 -1.90769551e+01] [-1.51926801e-03 1.20308732e-04 9.99998839e-01 3.02089348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.690714057 meters Centerline goodness [0,1] 0.9792869498798104 Centerline is valid? [True, True] Translation: X:439.75, Y:-19.08, Z:3.02 [[ 9.99988721e-01 -3.98386838e-03 2.58572893e-03 4.39745896e+02] [ 3.98435476e-03 9.99992046e-01 -1.82975817e-04 -1.90766042e+01] [-2.58497941e-03 1.93276215e-04 9.99996640e-01 3.02162165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.720714057 meters Centerline goodness [0,1] 0.9788618252217369 Centerline is valid? [True, True] Translation: X:439.78, Y:-19.08, Z:3.02 [[ 9.99993132e-01 4.84960244e-04 3.67420392e-03 4.39776950e+02] [-4.84008807e-04 9.99999849e-01 -2.59835412e-04 -1.90754668e+01] [-3.67432938e-03 2.58055281e-04 9.99993216e-01 3.02293511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.750714057 meters Centerline goodness [0,1] 0.979436250113112 Centerline is valid? [True, True] Translation: X:439.81, Y:-19.07, Z:3.03 [[ 9.99945253e-01 8.14834753e-03 6.56469028e-03 4.39808005e+02] [-8.14547236e-03 9.99966717e-01 -4.64592583e-04 -1.90672348e+01] [-6.56825745e-03 4.11094645e-04 9.99978344e-01 3.02658098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.780714057 meters Centerline goodness [0,1] 0.9798411591333498 Centerline is valid? [True, True] Translation: X:439.84, Y:-19.07, Z:3.03 [[ 9.99900471e-01 1.16164848e-02 8.00658907e-03 4.39838056e+02] [-1.16123180e-02 9.99932414e-01 -5.66724731e-04 -1.90720351e+01] [-8.01263129e-03 4.73693267e-04 9.99967786e-01 3.02696119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.810714057 meters Centerline goodness [0,1] 0.9797135235704199 Centerline is valid? [True, True] Translation: X:439.87, Y:-19.07, Z:3.03 [[ 9.99833676e-01 1.62139716e-02 8.35033119e-03 4.39869321e+02] [-1.62095988e-02 9.99868441e-01 -5.91084630e-04 -1.90678718e+01] [-8.35881646e-03 4.55630799e-04 9.99964961e-01 3.02763288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.840714057 meters Centerline goodness [0,1] 0.9791835266612715 Centerline is valid? [True, True] Translation: X:439.90, Y:-19.07, Z:3.03 [[ 9.99811683e-01 1.76954355e-02 7.96681807e-03 4.39897650e+02] [-1.76915007e-02 9.99843334e-01 -5.64105986e-04 -1.90749922e+01] [-7.97555204e-03 4.23054787e-04 9.99968105e-01 3.02658461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.870714057 meters Centerline goodness [0,1] 0.981568063297968 Centerline is valid? [True, True] Translation: X:439.93, Y:-19.07, Z:3.03 [[ 9.99814772e-01 1.80046242e-02 6.80107515e-03 4.39926337e+02] [-1.80017649e-02 9.99837839e-01 -4.81411358e-04 -1.90725439e+01] [-6.80863991e-03 3.58890832e-04 9.99976757e-01 3.02571634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.900714057 meters Centerline goodness [0,1] 0.9793324516374885 Centerline is valid? [True, True] Translation: X:439.95, Y:-19.08, Z:3.02 [[ 9.99813771e-01 1.87143955e-02 4.71121085e-03 4.39953046e+02] [-1.87130310e-02 9.99824840e-01 -3.33561102e-04 -1.90840522e+01] [-4.71662803e-03 2.45337948e-04 9.99988847e-01 3.02267798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.930714057 meters Centerline goodness [0,1] 0.9808549228598938 Centerline is valid? [True, True] Translation: X:439.98, Y:-19.08, Z:3.02 [[ 9.99821286e-01 1.85634279e-02 3.57702233e-03 4.39982413e+02] [-1.85626411e-02 9.99827667e-01 -2.53050721e-04 -1.90808217e+01] [-3.58110339e-03 1.86606515e-04 9.99993570e-01 3.02252725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.960714057 meters Centerline goodness [0,1] 0.9811984582287558 Centerline is valid? [True, True] Translation: X:440.01, Y:-19.08, Z:3.02 [[ 9.99838008e-01 1.79414769e-02 1.43600501e-03 4.40011138e+02] [-1.79413488e-02 9.99839036e-01 -1.02019081e-04 -1.90847503e+01] [-1.43760423e-03 7.62386879e-05 9.99998964e-01 3.02130937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.990714057 meters Centerline goodness [0,1] 0.9817649556414668 Centerline is valid? [True, True] Translation: X:440.04, Y:-19.09, Z:3.02 [[ 9.99834582e-01 1.81446446e-02 1.25724928e-03 4.40039622e+02] [-1.81445466e-02 9.99835370e-01 -8.93394394e-05 -1.90882850e+01] [-1.25866334e-03 6.65124428e-05 9.99999206e-01 3.02072277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.020714057 meters Centerline goodness [0,1] 0.9822187430105122 Centerline is valid? [True, True] Translation: X:440.07, Y:-19.09, Z:3.02 [[ 9.99838846e-01 1.79262345e-02 9.65293683e-04 4.40068100e+02] [-1.79261765e-02 9.99839311e-01 -6.87259428e-05 -1.90917359e+01] [-9.66370568e-04 5.14108423e-05 9.99999532e-01 3.01981078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.050714057 meters Centerline goodness [0,1] 0.9821288778545707 Centerline is valid? [True, True] Translation: X:440.10, Y:-19.10, Z:3.02 [[ 9.99810040e-01 1.94604230e-02 1.08406362e-03 4.40095425e+02] [-1.94603507e-02 9.99810626e-01 -7.71455127e-05 -1.90954601e+01] [-1.08535961e-03 5.60345999e-05 9.99999409e-01 3.01962520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.080714057 meters Centerline goodness [0,1] 0.9837227970032109 Centerline is valid? [True, True] Translation: X:440.12, Y:-19.09, Z:3.02 [[ 9.99796257e-01 2.01645591e-02 9.13872611e-04 4.40124905e+02] [-2.01645083e-02 9.99796674e-01 -6.47858020e-05 -1.90941264e+01] [-9.14993174e-04 4.63448105e-05 9.99999580e-01 3.02005543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.110714057 meters Centerline goodness [0,1] 0.9828284176342365 Centerline is valid? [True, True] Translation: X:440.15, Y:-19.10, Z:3.02 [[ 9.99742317e-01 2.26886481e-02 7.24236949e-04 4.40153637e+02] [-2.26886169e-02 9.99742579e-01 -5.12284565e-05 -1.90983364e+01] [-7.25212819e-04 3.47833212e-05 9.99999736e-01 3.01922176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.140714057 meters Centerline goodness [0,1] 0.9832639708009703 Centerline is valid? [True, True] Translation: X:440.18, Y:-19.10, Z:3.02 [[ 9.99708337e-01 2.41330996e-02 9.13152344e-04 4.40182322e+02] [-2.41330504e-02 9.99708753e-01 -6.48631277e-05 -1.90977612e+01] [-9.14451740e-04 4.28070580e-05 9.99999581e-01 3.01938794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.170714057 meters Centerline goodness [0,1] 0.984399758966233 Centerline is valid? [True, True] Translation: X:440.21, Y:-19.10, Z:3.02 [[ 9.99665188e-01 2.58631278e-02 7.81818733e-04 4.40211274e+02] [-2.58630922e-02 9.99665493e-01 -5.56023257e-05 -1.91001313e+01] [-7.82995259e-04 3.53634593e-05 9.99999693e-01 3.01970105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.200714057 meters Centerline goodness [0,1] 0.985105198708672 Centerline is valid? [True, True] Translation: X:440.24, Y:-19.10, Z:3.02 [[ 9.99568607e-01 2.92677212e-02 2.44963217e-03 4.40240856e+02] [-2.92673880e-02 9.99571603e-01 -1.71781359e-04 -1.91011807e+01] [-2.45361041e-03 1.00012919e-04 9.99996985e-01 3.02037162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.230714057 meters Centerline goodness [0,1] 0.9853274139844617 Centerline is valid? [True, True] Translation: X:440.27, Y:-19.10, Z:3.02 [[ 9.99546783e-01 2.99197769e-02 3.32183130e-03 4.40270005e+02] [-2.99191656e-02 9.99552294e-01 -2.33576674e-04 -1.91042474e+01] [-3.32733266e-03 1.34084393e-04 9.99994455e-01 3.02095595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.26071405700003 meters Centerline goodness [0,1] 0.9856116707807948 Centerline is valid? [True, True] Translation: X:440.30, Y:-19.11, Z:3.02 [[ 9.99519996e-01 3.05723469e-02 5.01087871e-03 4.40298855e+02] [-3.05709741e-02 9.99532537e-01 -3.50339546e-04 -1.91091354e+01] [-5.01924701e-03 1.96983938e-04 9.99987384e-01 3.02208000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.290714057 meters Centerline goodness [0,1] 0.9849170101370168 Centerline is valid? [True, True] Translation: X:440.33, Y:-19.11, Z:3.02 [[ 9.99536069e-01 3.00554430e-02 4.93126116e-03 4.40327299e+02] [-3.00541089e-02 9.99548214e-01 -3.44435533e-04 -1.91132127e+01] [-4.93938545e-03 1.96071078e-04 9.99987782e-01 3.02212725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.32071405700003 meters Centerline goodness [0,1] 0.984370490420265 Centerline is valid? [True, True] Translation: X:440.36, Y:-19.12, Z:3.02 [[ 9.99566674e-01 2.90227894e-02 4.91345552e-03 4.40355546e+02] [-2.90214542e-02 9.99578730e-01 -3.42846115e-04 -1.91176030e+01] [-4.92133598e-03 2.00101927e-04 9.99987870e-01 3.02191519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.350714057 meters Centerline goodness [0,1] 0.9846484903609379 Centerline is valid? [True, True] Translation: X:440.38, Y:-19.13, Z:3.02 [[ 9.99625611e-01 2.70919700e-02 3.82929442e-03 4.40384097e+02] [-2.70911457e-02 9.99632932e-01 -2.66964344e-04 -1.91260959e+01] [-3.83512140e-03 1.63124422e-04 9.99992633e-01 3.02019046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.380714057 meters Centerline goodness [0,1] 0.9835458476549507 Centerline is valid? [True, True] Translation: X:440.41, Y:-19.13, Z:3.02 [[ 9.99653260e-01 2.61715776e-02 2.89985571e-03 4.40412685e+02] [-2.61711006e-02 9.99657458e-01 -2.02348084e-04 -1.91308802e+01] [-2.90415815e-03 1.26385506e-04 9.99995775e-01 3.01868791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.410714057 meters Centerline goodness [0,1] 0.9851722150804557 Centerline is valid? [True, True] Translation: X:440.44, Y:-19.14, Z:3.02 [[ 9.99666405e-01 2.57770410e-02 1.61922927e-03 4.40441674e+02] [-2.57768912e-02 9.99667714e-01 -1.13295847e-04 -1.91351609e+01] [-1.62161165e-03 7.15193554e-05 9.99998683e-01 3.01781783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.440714057 meters Centerline goodness [0,1] 0.9847049448846784 Centerline is valid? [True, True] Translation: X:440.47, Y:-19.14, Z:3.02 [[ 9.99671059e-01 2.56041982e-02 1.48297474e-03 4.40469521e+02] [-2.56040722e-02 9.99672157e-01 -1.03927750e-04 -1.91400128e+01] [-1.48514954e-03 6.59233713e-05 9.99998895e-01 3.01731778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.470714057 meters Centerline goodness [0,1] 0.9847049448846784 Centerline is valid? [True, True] Translation: X:440.50, Y:-19.14, Z:3.02 [[ 9.99673814e-01 2.54964001e-02 1.48297008e-03 4.40496948e+02] [-2.54962738e-02 9.99674912e-01 -1.03995883e-04 -1.91418268e+01] [-1.48513950e-03 6.61517494e-05 9.99998895e-01 3.01696696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.500714057 meters Centerline goodness [0,1] 0.9832792888183002 Centerline is valid? [True, True] Translation: X:440.52, Y:-19.15, Z:3.02 [[ 9.99679658e-01 2.52365569e-02 1.92288935e-03 4.40523531e+02] [-2.52363449e-02 9.99681504e-01 -1.34413312e-04 -1.91496600e+01] [-1.92566904e-03 8.58435554e-05 9.99998142e-01 3.01741976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.530714057 meters Centerline goodness [0,1] 0.9847133196766449 Centerline is valid? [True, True] Translation: X:440.55, Y:-19.15, Z:3.02 [[ 9.99675357e-01 2.53289914e-02 2.76086795e-03 4.40552502e+02] [-2.53285592e-02 9.99679162e-01 -1.91406662e-04 -1.91525549e+01] [-2.76483030e-03 1.21415716e-04 9.99996170e-01 3.01787837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.560714057 meters Centerline goodness [0,1] 0.9843853089949417 Centerline is valid? [True, True] Translation: X:440.58, Y:-19.16, Z:3.02 [[ 9.99666992e-01 2.55689084e-02 3.48373233e-03 4.40579470e+02] [-2.55682228e-02 9.99673050e-01 -2.41195039e-04 -1.91595239e+01] [-3.48876042e-03 1.52041875e-04 9.99993903e-01 3.01684500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.590714057 meters Centerline goodness [0,1] 0.9847326572185837 Centerline is valid? [True, True] Translation: X:440.61, Y:-19.16, Z:3.02 [[ 9.99655121e-01 2.60682938e-02 3.17548154e-03 4.40607320e+02] [-2.60677273e-02 9.99660155e-01 -2.19665959e-04 -1.91646924e+01] [-3.18012868e-03 1.36812613e-04 9.99994934e-01 3.01544253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.620714057 meters Centerline goodness [0,1] 0.9859185774040251 Centerline is valid? [True, True] Translation: X:440.64, Y:-19.17, Z:3.01 [[ 9.99634751e-01 2.69260002e-02 2.31390311e-03 4.40636186e+02] [-2.69257019e-02 9.99637425e-01 -1.59976687e-04 -1.91684118e+01] [-2.31737168e-03 9.76147909e-05 9.99997310e-01 3.01435183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.650714057 meters Centerline goodness [0,1] 0.9862794520547945 Centerline is valid? [True, True] Translation: X:440.67, Y:-19.17, Z:3.01 [[ 9.99576732e-01 2.90246000e-02 1.98210684e-03 4.40665296e+02] [-2.90243856e-02 9.99578694e-01 -1.36850097e-04 -1.91717486e+01] [-1.98524378e-03 7.92627395e-05 9.99998026e-01 3.01335163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.680714057 meters Centerline goodness [0,1] 0.9860636339731791 Centerline is valid? [True, True] Translation: X:440.69, Y:-19.18, Z:3.01 [[ 9.99556485e-01 2.96929808e-02 2.27142621e-03 4.40693836e+02] [-2.96927010e-02 9.99559062e-01 -1.56789385e-04 -1.91754873e+01] [-2.27508020e-03 8.92750673e-05 9.99997408e-01 3.01362718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.710714057 meters Centerline goodness [0,1] 0.9851787080555252 Centerline is valid? [True, True] Translation: X:440.72, Y:-19.18, Z:3.01 [[ 9.99531936e-01 3.02996403e-02 4.22386639e-03 4.40722913e+02] [-3.02986835e-02 9.99540847e-01 -2.90342729e-04 -1.91806969e+01] [-4.23072427e-03 1.62229239e-04 9.99991037e-01 3.01475701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.740714057 meters Centerline goodness [0,1] 0.9848167081749465 Centerline is valid? [True, True] Translation: X:440.75, Y:-19.19, Z:3.02 [[ 9.99552027e-01 2.94989258e-02 5.05553850e-03 4.40750371e+02] [-2.94975449e-02 9.99564792e-01 -3.47514171e-04 -1.91854498e+01] [-5.06358958e-03 1.98232520e-04 9.99987160e-01 3.01515590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.770714057 meters Centerline goodness [0,1] 0.9851574571807874 Centerline is valid? [True, True] Translation: X:440.78, Y:-19.19, Z:3.02 [[ 9.99617737e-01 2.69792684e-02 6.04143661e-03 4.40779496e+02] [-2.69772587e-02 9.99635962e-01 -4.13918031e-04 -1.91937729e+01] [-6.05040450e-03 2.50778407e-04 9.99981665e-01 3.01510376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.800714057 meters Centerline goodness [0,1] 0.985048430085159 Centerline is valid? [True, True] Translation: X:440.81, Y:-19.20, Z:3.01 [[ 9.99670222e-01 2.49175656e-02 6.20992170e-03 4.40808855e+02] [-2.49154038e-02 9.99689473e-01 -4.25240942e-04 -1.91976368e+01] [-6.21858932e-03 2.70377999e-04 9.99980628e-01 3.01456491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.830714057 meters Centerline goodness [0,1] 0.9856121343445287 Centerline is valid? [True, True] Translation: X:440.84, Y:-19.20, Z:3.01 [[ 9.99730621e-01 2.24132632e-02 6.02759903e-03 4.40837774e+02] [-2.24111814e-02 9.99748753e-01 -4.12706819e-04 -1.92039571e+01] [-6.03533471e-03 2.77510029e-04 9.99981749e-01 3.01369832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.860714057 meters Centerline goodness [0,1] 0.9852481098461806 Centerline is valid? [True, True] Translation: X:440.87, Y:-19.21, Z:3.01 [[ 9.99859712e-01 1.59229272e-02 5.19779408e-03 4.40867277e+02] [-1.59212949e-02 9.99873185e-01 -3.55269017e-04 -1.92122937e+01] [-5.20279184e-03 2.72463565e-04 9.99986428e-01 3.01253048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.890714057 meters Centerline goodness [0,1] 0.984916552726957 Centerline is valid? [True, True] Translation: X:440.90, Y:-19.22, Z:3.01 [[ 9.99958018e-01 8.34316401e-03 3.78861151e-03 4.40896976e+02] [-8.34224226e-03 9.99965169e-01 -2.59033089e-04 -1.92231734e+01] [-3.79064071e-03 2.27416700e-04 9.99992790e-01 3.01104390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.920714057 meters Centerline goodness [0,1] 0.9850044423256117 Centerline is valid? [True, True] Translation: X:440.93, Y:-19.23, Z:3.01 [[ 9.99985302e-01 4.37220797e-03 3.20614877e-03 4.40926173e+02] [-4.37152874e-03 9.99990421e-01 -2.18828763e-04 -1.92303036e+01] [-3.20707482e-03 2.04809775e-04 9.99994836e-01 3.00971563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.950714057 meters Centerline goodness [0,1] 0.9845800667042058 Centerline is valid? [True, True] Translation: X:440.96, Y:-19.23, Z:3.01 [[ 9.99996477e-01 5.87243117e-04 2.58849539e-03 4.40956670e+02] [-5.86787264e-04 9.99999812e-01 -1.76863595e-04 -1.92338599e+01] [-2.58859877e-03 1.75344076e-04 9.99996634e-01 3.00950295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.980714057 meters Centerline goodness [0,1] 0.982811554094958 Centerline is valid? [True, True] Translation: X:440.99, Y:-19.24, Z:3.01 [[ 9.99978453e-01 -6.08915420e-03 2.45254531e-03 4.40986162e+02] [ 6.08958379e-03 9.99981444e-01 -1.67732198e-04 -1.92424437e+01] [-2.45147845e-03 1.82663564e-04 9.99996978e-01 3.00904127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.01071405700003 meters Centerline goodness [0,1] 0.9833527659023189 Centerline is valid? [True, True] Translation: X:441.02, Y:-19.25, Z:3.01 [[ 9.99963164e-01 -8.23804755e-03 2.40922044e-03 4.41016420e+02] [ 8.23846771e-03 9.99966050e-01 -1.64524395e-04 -1.92477579e+01] [-2.40778329e-03 1.84366620e-04 9.99997084e-01 3.00894124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.040714057 meters Centerline goodness [0,1] 0.9820407279029463 Centerline is valid? [True, True] Translation: X:441.05, Y:-19.25, Z:3.01 [[ 9.99918823e-01 -1.25206382e-02 2.36235324e-03 4.41046914e+02] [ 1.25210545e-02 9.99921595e-01 -1.61514501e-04 -1.92533764e+01] [-2.36014576e-03 1.91080543e-04 9.99997197e-01 3.00932474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.07071405700003 meters Centerline goodness [0,1] 0.9811521046816439 Centerline is valid? [True, True] Translation: X:441.08, Y:-19.26, Z:3.01 [[ 9.99899380e-01 -1.38551962e-02 3.04374607e-03 4.41078759e+02] [ 1.38558915e-02 9.99903981e-01 -2.07465245e-04 -1.92573415e+01] [-3.04057935e-03 2.49618185e-04 9.99995346e-01 3.00965135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.100714057 meters Centerline goodness [0,1] 0.9815745030961763 Centerline is valid? [True, True] Translation: X:441.11, Y:-19.26, Z:3.01 [[ 9.99885627e-01 -1.47834744e-02 3.19074024e-03 4.41110839e+02] [ 1.47842440e-02 9.99890683e-01 -2.17749434e-04 -1.92587939e+01] [-3.18717234e-03 2.64897211e-04 9.99994886e-01 3.01003312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.130714057 meters Centerline goodness [0,1] 0.9801251618472162 Centerline is valid? [True, True] Translation: X:441.14, Y:-19.26, Z:3.01 [[ 9.99880080e-01 -1.51658002e-02 3.13431901e-03 4.41141491e+02] [ 1.51665459e-02 9.99884958e-01 -2.14281778e-04 -1.92633302e+01] [-3.13070867e-03 2.61792874e-04 9.99995065e-01 3.00902645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.160714057 meters Centerline goodness [0,1] 0.981149187018203 Centerline is valid? [True, True] Translation: X:441.17, Y:-19.26, Z:3.01 [[ 9.99887734e-01 -1.47065710e-02 2.86976656e-03 4.41174766e+02] [ 1.47071934e-02 9.99891824e-01 -1.95909233e-04 -1.92563923e+01] [-2.86657497e-03 2.38093451e-04 9.99995863e-01 3.00920424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.190714057 meters Centerline goodness [0,1] 0.9809059954312314 Centerline is valid? [True, True] Translation: X:441.21, Y:-19.26, Z:3.01 [[ 9.99908713e-01 -1.30259187e-02 3.59029582e-03 4.41206429e+02] [ 1.30268852e-02 9.99915116e-01 -2.45935754e-04 -1.92565793e+01] [-3.58678752e-03 2.92683675e-04 9.99993525e-01 3.00932230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.220714057 meters Centerline goodness [0,1] 0.9804704359085024 Centerline is valid? [True, True] Translation: X:441.24, Y:-19.26, Z:3.01 [[ 9.99921657e-01 -1.17146977e-02 4.40970320e-03 4.41236514e+02] [ 1.17161471e-02 9.99931318e-01 -3.02986027e-04 -1.92586149e+01] [-4.40585095e-03 3.54627022e-04 9.99990231e-01 3.00890252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.250714057 meters Centerline goodness [0,1] 0.9807319281003491 Centerline is valid? [True, True] Translation: X:441.27, Y:-19.26, Z:3.01 [[ 9.99933818e-01 -1.04063799e-02 4.90574356e-03 4.41267263e+02] [ 1.04081579e-02 9.99945777e-01 -3.37047670e-04 -1.92610232e+01] [-4.90197011e-03 3.88085117e-04 9.99987910e-01 3.00899947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.280714057 meters Centerline goodness [0,1] 0.9816372877690062 Centerline is valid? [True, True] Translation: X:441.30, Y:-19.26, Z:3.01 [[ 9.99952926e-01 -7.68648113e-03 5.92146859e-03 4.41298711e+02] [ 7.68902682e-03 9.99970356e-01 -4.07262526e-04 -1.92568634e+01] [-5.91816263e-03 4.52773686e-04 9.99982385e-01 3.00974874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.310714057 meters Centerline goodness [0,1] 0.9805553749105808 Centerline is valid? [True, True] Translation: X:441.33, Y:-19.26, Z:3.01 [[ 9.99960025e-01 -6.52109610e-03 6.11741958e-03 4.41329514e+02] [ 6.52378714e-03 9.99978632e-01 -4.20046450e-04 -1.92607588e+01] [-6.11454969e-03 4.59938402e-04 9.99981200e-01 3.00912070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.340714057 meters Centerline goodness [0,1] 0.9790074281408118 Centerline is valid? [True, True] Translation: X:441.36, Y:-19.26, Z:3.01 [[ 9.99961167e-01 -6.14546659e-03 6.31642494e-03 4.41362090e+02] [ 6.14833695e-03 9.99981004e-01 -4.35109066e-04 -1.92592610e+01] [-6.31363101e-03 4.73927678e-04 9.99979957e-01 3.00772914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.370714057 meters Centerline goodness [0,1] 0.981582270213785 Centerline is valid? [True, True] Translation: X:441.39, Y:-19.26, Z:3.01 [[ 9.99963565e-01 -6.45948261e-03 5.58073986e-03 4.41394013e+02] [ 6.46172777e-03 9.99979049e-01 -3.84367730e-04 -1.92578020e+01] [-5.57814012e-03 4.20414947e-04 9.99984354e-01 3.00745660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.400714057 meters Centerline goodness [0,1] 0.981560808019309 Centerline is valid? [True, True] Translation: X:441.43, Y:-19.26, Z:3.01 [[ 9.99960284e-01 -7.79759948e-03 4.31609458e-03 4.41426109e+02] [ 7.79895787e-03 9.99969543e-01 -2.97983854e-04 -1.92557354e+01] [-4.31363957e-03 3.31633059e-04 9.99990641e-01 3.00542941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.430714057 meters Centerline goodness [0,1] 0.981743845380209 Centerline is valid? [True, True] Translation: X:441.46, Y:-19.25, Z:3.01 [[ 9.99955247e-01 -8.67234860e-03 3.78068046e-03 4.41458358e+02] [ 8.67339686e-03 9.99962351e-01 -2.60960733e-04 -1.92547471e+01] [-3.77827498e-03 2.93740396e-04 9.99992819e-01 3.00508699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.460714057 meters Centerline goodness [0,1] 0.9812788081350897 Centerline is valid? [True, True] Translation: X:441.49, Y:-19.26, Z:3.00 [[ 9.99944713e-01 -9.86323365e-03 3.64516121e-03 4.41489150e+02] [ 9.86421744e-03 9.99951316e-01 -2.52009166e-04 -1.92575503e+01] [-3.64249812e-03 2.87951896e-04 9.99993325e-01 3.00428315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.490714057 meters Centerline goodness [0,1] 0.9788590456995137 Centerline is valid? [True, True] Translation: X:441.52, Y:-19.26, Z:3.00 [[ 9.99928264e-01 -1.15924647e-02 3.01366647e-03 4.41520719e+02] [ 1.15931456e-02 9.99932775e-01 -2.08573455e-04 -1.92571196e+01] [-3.01104600e-03 2.43496367e-04 9.99995437e-01 3.00395646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.520714057 meters Centerline goodness [0,1] 0.9791516580435304 Centerline is valid? [True, True] Translation: X:441.55, Y:-19.26, Z:3.00 [[ 9.99941793e-01 -1.06053327e-02 1.98418105e-03 4.41552460e+02] [ 1.06056250e-02 9.99943749e-01 -1.36855639e-04 -1.92558988e+01] [-1.98261803e-03 1.57891153e-04 9.99998022e-01 3.00324405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.550714057 meters Centerline goodness [0,1] 0.9796501406469761 Centerline is valid? [True, True] Translation: X:441.58, Y:-19.25, Z:3.00 [[ 9.99943407e-01 -1.05185774e-02 1.59455358e-03 4.41584481e+02] [ 1.05187660e-02 9.99944670e-01 -1.09921348e-04 -1.92547044e+01] [-1.59330913e-03 1.26687863e-04 9.99998723e-01 3.00262385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.580714057 meters Centerline goodness [0,1] 0.9790172876435138 Centerline is valid? [True, True] Translation: X:441.62, Y:-19.25, Z:3.00 [[ 9.99951203e-01 -9.78170287e-03 1.38220315e-03 4.41617229e+02] [ 9.78184356e-03 9.99952152e-01 -9.50649994e-05 -1.92543204e+01] [-1.38120712e-03 1.08580855e-04 9.99999040e-01 3.00221807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.610714057 meters Centerline goodness [0,1] 0.9777973957183844 Centerline is valid? [True, True] Translation: X:441.65, Y:-19.25, Z:3.00 [[ 9.99960962e-01 -8.80475482e-03 7.42781250e-04 4.41649707e+02] [ 8.80479500e-03 9.99961236e-01 -5.08465525e-05 -1.92513773e+01] [-7.42304766e-04 5.73846041e-05 9.99999723e-01 3.00046843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.640714057 meters Centerline goodness [0,1] 0.9774377994127647 Centerline is valid? [True, True] Translation: X:441.68, Y:-19.25, Z:3.00 [[ 9.99961590e-01 -8.73980723e-03 6.58429871e-04 4.41680403e+02] [ 8.73983842e-03 9.99961806e-01 -4.44956404e-05 -1.92527191e+01] [-6.58015840e-04 5.02485020e-05 9.99999782e-01 2.99980176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.670714057 meters Centerline goodness [0,1] 0.9765757435660348 Centerline is valid? [True, True] Translation: X:441.71, Y:-19.25, Z:3.00 [[ 9.99950518e-01 -9.86783318e-03 1.25965128e-03 4.41711195e+02] [ 9.86794994e-03 9.99951307e-01 -8.65081921e-05 -1.92543691e+01] [-1.25873629e-03 9.89340873e-05 9.99999203e-01 2.99931538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.700714057 meters Centerline goodness [0,1] 0.9769626085415559 Centerline is valid? [True, True] Translation: X:441.74, Y:-19.26, Z:3.00 [[ 9.99936158e-01 -1.11914101e-02 1.55968580e-03 4.41743285e+02] [ 1.11915925e-02 9.99937366e-01 -1.08249582e-04 -1.92553155e+01] [-1.55837665e-03 1.25698038e-04 9.99998778e-01 2.99940904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.730714057 meters Centerline goodness [0,1] 0.9713418147967552 Centerline is valid? [True, True] Translation: X:441.77, Y:-19.26, Z:3.00 [[ 9.99897828e-01 -1.40140838e-02 2.81754209e-03 4.41773108e+02] [ 1.40146947e-02 9.99901770e-01 -1.97177912e-04 -1.92578426e+01] [-2.81450205e-03 2.36644759e-04 9.99996011e-01 2.99996453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.76071405700003 meters Centerline goodness [0,1] 0.9713468953596596 Centerline is valid? [True, True] Translation: X:441.80, Y:-19.26, Z:3.00 [[ 9.99882743e-01 -1.48803163e-02 3.61626443e-03 4.41804960e+02] [ 1.48813258e-02 9.99889235e-01 -2.52383320e-04 -1.92600072e+01] [-3.61210834e-03 3.06168535e-04 9.99993429e-01 3.00015557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.790714057 meters Centerline goodness [0,1] 0.9652626911992906 Centerline is valid? [True, True] Translation: X:441.83, Y:-19.26, Z:3.00 [[ 9.99853487e-01 -1.66918251e-02 3.79296194e-03 4.41834603e+02] [ 1.66929493e-02 9.99860628e-01 -2.64945150e-04 -1.92613643e+01] [-3.78801089e-03 3.28222053e-04 9.99992772e-01 2.99989306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.82071405700003 meters Centerline goodness [0,1] 0.9638893821022727 Centerline is valid? [True, True] Translation: X:441.87, Y:-19.26, Z:3.00 [[ 9.99846006e-01 -1.71344880e-02 3.79123556e-03 4.41866948e+02] [ 1.71356158e-02 9.99853139e-01 -2.65190511e-04 -1.92627713e+01] [-3.78613487e-03 3.30114829e-04 9.99992778e-01 2.99969761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.850714057 meters Centerline goodness [0,1] 0.9596909863644413 Centerline is valid? [True, True] Translation: X:441.90, Y:-19.26, Z:3.00 [[ 9.99842175e-01 -1.73809277e-02 3.67797100e-03 4.41898838e+02] [ 1.73819916e-02 9.99848889e-01 -2.57491365e-04 -1.92629117e+01] [-3.67293977e-03 3.21381188e-04 9.99993203e-01 2.99862038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.880714057 meters Centerline goodness [0,1] 0.9741063702323105 Centerline is valid? [True, True] Translation: X:441.93, Y:-19.25, Z:3.00 [[ 9.99843540e-01 -1.73481113e-02 3.45519109e-03 4.41931455e+02] [ 1.73490505e-02 9.99849465e-01 -2.42033462e-04 -1.92531783e+01] [-3.45047214e-03 3.01939878e-04 9.99994002e-01 2.99878432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.910714057 meters Centerline goodness [0,1] 0.9743470252757251 Centerline is valid? [True, True] Translation: X:441.96, Y:-19.25, Z:3.00 [[ 9.99858415e-01 -1.65021674e-02 3.29062504e-03 4.41963652e+02] [ 1.65030154e-02 9.99863789e-01 -2.30697369e-04 -1.92538502e+01] [-3.28636982e-03 2.84969941e-04 9.99994559e-01 2.99795232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.940714057 meters Centerline goodness [0,1] 0.9752694849842524 Centerline is valid? [True, True] Translation: X:441.99, Y:-19.25, Z:3.00 [[ 9.99896996e-01 -1.41248051e-02 2.54697463e-03 4.41993692e+02] [ 1.41253072e-02 9.99900217e-01 -1.79262846e-04 -1.92533619e+01] [-2.54418843e-03 2.15221181e-04 9.99996740e-01 2.99636974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.970714057 meters Centerline goodness [0,1] 0.9765332501337137 Centerline is valid? [True, True] Translation: X:442.02, Y:-19.25, Z:3.00 [[ 9.99931120e-01 -1.16695086e-02 1.25648883e-03 4.42024961e+02] [ 1.16696286e-02 9.99931904e-01 -8.82327681e-05 -1.92497673e+01] [-1.25537363e-03 1.02889449e-04 9.99999207e-01 2.99538941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.000714057 meters Centerline goodness [0,1] 0.9769889840881273 Centerline is valid? [True, True] Translation: X:442.06, Y:-19.25, Z:3.00 [[ 9.99951527e-01 -9.78618683e-03 1.08346727e-03 4.42056725e+02] [ 9.78627451e-03 9.99952110e-01 -7.56549737e-05 -1.92487151e+01] [-1.08267501e-03 8.62544147e-05 9.99999410e-01 2.99508799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.030714057 meters Centerline goodness [0,1] 0.9766499507477389 Centerline is valid? [True, True] Translation: X:442.09, Y:-19.25, Z:2.99 [[ 9.99966456e-01 -8.18177526e-03 3.80513428e-04 4.42087109e+02] [ 8.18178560e-03 9.99966528e-01 -2.56293189e-05 -1.92501240e+01] [-3.80290999e-04 2.87417385e-05 9.99999927e-01 2.99473698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.060714057 meters Centerline goodness [0,1] 0.9778883484314338 Centerline is valid? [True, True] Translation: X:442.12, Y:-19.25, Z:2.99 [[ 9.99993005e-01 -3.72911134e-03 2.88181301e-04 4.42117111e+02] [ 3.72911736e-03 9.99993047e-01 -2.03415741e-05 -1.92485138e+01] [-2.88103441e-04 2.14160937e-05 9.99999958e-01 2.99434607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.090714057 meters Centerline goodness [0,1] 0.9774848369553054 Centerline is valid? [True, True] Translation: X:442.15, Y:-19.25, Z:2.99 [[ 9.99999100e-01 -1.28541364e-03 3.83337966e-04 4.42146591e+02] [ 1.28542378e-03 9.99999173e-01 -2.61994956e-05 -1.92493151e+01] [-3.83303972e-04 2.66922238e-05 9.99999926e-01 2.99383586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.120714057 meters Centerline goodness [0,1] 0.9805228318186918 Centerline is valid? [True, True] Translation: X:442.18, Y:-19.24, Z:3.00 [[ 9.99996816e-01 2.38062422e-03 8.37497981e-04 4.42178378e+02] [-2.38057559e-03 9.99997165e-01 -5.90512987e-05 -1.92385845e+01] [-8.37636185e-04 5.70573834e-05 9.99999648e-01 2.99557882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.150714057 meters Centerline goodness [0,1] 0.9800157003476505 Centerline is valid? [True, True] Translation: X:442.21, Y:-19.24, Z:2.99 [[ 9.99994488e-01 3.24873926e-03 6.84608487e-04 4.42207681e+02] [-3.24870677e-03 9.99994722e-01 -4.85690778e-05 -1.92420477e+01] [-6.84762662e-04 4.63447179e-05 9.99999764e-01 2.99495525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.180714057 meters Centerline goodness [0,1] 0.977679374213271 Centerline is valid? [True, True] Translation: X:442.24, Y:-19.25, Z:2.99 [[ 9.99994134e-01 3.37034579e-03 6.10771818e-04 4.42237104e+02] [-3.37031994e-03 9.99994320e-01 -4.33392559e-05 -1.92459577e+01] [-6.10914416e-04 4.12805052e-05 9.99999813e-01 2.99442796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.210714057 meters Centerline goodness [0,1] 0.9788877908543707 Centerline is valid? [True, True] Translation: X:442.27, Y:-19.25, Z:2.99 [[ 9.99997586e-01 1.91610011e-03 1.07555435e-03 4.42267167e+02] [-1.91601911e-03 9.99998162e-01 -7.63379645e-05 -1.92461977e+01] [-1.07569865e-03 7.42769975e-05 9.99999419e-01 2.99472396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.240714057 meters Centerline goodness [0,1] 0.9793307086614174 Centerline is valid? [True, True] Translation: X:442.30, Y:-19.25, Z:2.99 [[ 9.99999499e-01 2.63783676e-04 9.65675972e-04 4.42297886e+02] [-2.63718006e-04 9.99999963e-01 -6.81311796e-05 -1.92467316e+01] [-9.65693908e-04 6.78764793e-05 9.99999531e-01 2.99436344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.270714057 meters Centerline goodness [0,1] 0.9784652578796562 Centerline is valid? [True, True] Translation: X:442.33, Y:-19.25, Z:2.99 [[ 9.99992819e-01 -3.78648019e-03 1.59211510e-04 4.42327005e+02] [ 3.78648200e-03 9.99992831e-01 -1.10851384e-05 -1.92532639e+01] [-1.59168395e-04 1.16879104e-05 9.99999987e-01 2.99320321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.300714057 meters Centerline goodness [0,1] 0.977772798565987 Centerline is valid? [True, True] Translation: X:442.36, Y:-19.26, Z:2.99 [[ 9.99979901e-01 -6.33292625e-03 -3.02925589e-04 4.42358026e+02] [ 6.33293308e-03 9.99979947e-01 2.16075445e-05 -1.92569885e+01] [ 3.02782675e-04 -2.35255177e-05 9.99999954e-01 2.99205008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.330714057 meters Centerline goodness [0,1] 0.9776398628817243 Centerline is valid? [True, True] Translation: X:442.39, Y:-19.26, Z:2.99 [[ 9.99937777e-01 -1.11077471e-02 -1.03001810e-03 4.42387774e+02] [ 1.11078280e-02 9.99938304e-01 7.28535559e-05 -1.92624136e+01] [ 1.02914531e-03 -8.42902865e-05 9.99999467e-01 2.99057024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.360714057 meters Centerline goodness [0,1] 0.9769389217266703 Centerline is valid? [True, True] Translation: X:442.42, Y:-19.26, Z:2.99 [[ 9.99910440e-01 -1.33123087e-02 -1.37602568e-03 4.42418437e+02] [ 1.33124552e-02 9.99911381e-01 9.73882242e-05 -1.92645023e+01] [ 1.37460727e-03 -1.15697782e-04 9.99999049e-01 2.98989895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.390714057 meters Centerline goodness [0,1] 0.976804701870878 Centerline is valid? [True, True] Translation: X:442.45, Y:-19.27, Z:2.99 [[ 9.99886491e-01 -1.50029941e-02 -1.38405282e-03 4.42449630e+02] [ 1.50031443e-02 9.99887442e-01 9.82271847e-05 -1.92672992e+01] [ 1.38242333e-03 -1.18981179e-04 9.99999037e-01 2.98931998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.420714057 meters Centerline goodness [0,1] 0.976804701870878 Centerline is valid? [True, True] Translation: X:442.48, Y:-19.27, Z:2.99 [[ 9.99887545e-01 -1.49325622e-02 -1.38401415e-03 4.42481357e+02] [ 1.49327132e-02 9.99888496e-01 9.87740247e-05 -1.92696034e+01] [ 1.38238488e-03 -1.19430003e-04 9.99999037e-01 2.98891452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.450714057 meters Centerline goodness [0,1] 0.9769626682848987 Centerline is valid? [True, True] Translation: X:442.51, Y:-19.27, Z:2.99 [[ 9.99846593e-01 -1.75102803e-02 -4.25898262e-04 4.42512186e+02] [ 1.75102948e-02 9.99846683e-01 3.03518471e-05 -1.92688884e+01] [ 4.25301495e-04 -3.78047950e-05 9.99999909e-01 2.98983312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.480714057 meters Centerline goodness [0,1] 0.975528639805847 Centerline is valid? [True, True] Translation: X:442.54, Y:-19.27, Z:2.99 [[ 9.99833258e-01 -1.82124622e-02 1.32752494e-03 4.42543114e+02] [ 1.82126020e-02 9.99834132e-01 -9.32974989e-05 -1.92712627e+01] [-1.32560557e-03 1.17459626e-04 9.99999114e-01 2.99001531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.51071405700003 meters Centerline goodness [0,1] 0.9733224998307265 Centerline is valid? [True, True] Translation: X:442.58, Y:-19.27, Z:2.99 [[ 9.99835776e-01 -1.80566574e-02 1.54236670e-03 4.42575558e+02] [ 1.80568459e-02 9.99836956e-01 -1.08402679e-04 -1.92729739e+01] [-1.54015784e-03 1.36235154e-04 9.99998805e-01 2.98973919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.540714057 meters Centerline goodness [0,1] 0.9721255138024752 Centerline is valid? [True, True] Translation: X:442.61, Y:-19.27, Z:2.99 [[ 9.99839781e-01 -1.78164269e-02 1.72838956e-03 4.42606371e+02] [ 1.78166640e-02 9.99841263e-01 -1.21898993e-04 -1.92733290e+01] [-1.72594340e-03 1.52673598e-04 9.99998499e-01 2.98909322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.57071405700003 meters Centerline goodness [0,1] 0.9704568023833168 Centerline is valid? [True, True] Translation: X:442.64, Y:-19.27, Z:2.99 [[ 9.99836793e-01 -1.80079184e-02 1.45011975e-03 4.42638483e+02] [ 1.80080852e-02 9.99837836e-01 -1.02054702e-04 -1.92743130e+01] [-1.44804680e-03 1.28151926e-04 9.99998943e-01 2.98835134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.600714057 meters Centerline goodness [0,1] 0.9686416676107398 Centerline is valid? [True, True] Translation: X:442.67, Y:-19.28, Z:2.99 [[ 9.99822605e-01 -1.88199280e-02 7.54296433e-04 4.42670140e+02] [ 1.88199732e-02 9.99822887e-01 -5.29265979e-05 -1.92755280e+01] [-7.53166762e-04 6.71130476e-05 9.99999714e-01 2.98713614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.630714057 meters Centerline goodness [0,1] 0.9614429545351935 Centerline is valid? [True, True] Translation: X:442.70, Y:-19.28, Z:2.99 [[ 9.99815946e-01 -1.91827347e-02 3.12606753e-04 4.42700838e+02] [ 1.91827424e-02 9.99815994e-01 -2.15744504e-05 -1.92789665e+01] [-3.12135374e-04 2.75671344e-05 9.99999951e-01 2.98574105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.660714057 meters Centerline goodness [0,1] 0.9764748626186476 Centerline is valid? [True, True] Translation: X:442.73, Y:-19.27, Z:2.98 [[ 9.99795629e-01 -2.00868588e-02 -2.28446450e-03 4.42732749e+02] [ 2.00872837e-02 9.99798217e-01 1.63177373e-04 -1.92687186e+01] [ 2.28072581e-03 -2.09032711e-04 9.99997377e-01 2.98488459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.690714057 meters Centerline goodness [0,1] 0.9452120165431986 Centerline is valid? [True, False] Translation: X:442.73, Y:-19.27, Z:2.98 [[ 9.99796931e-01 -1.99867038e-02 -2.57458636e-03 4.42733740e+02] [ 1.99872657e-02 9.99800216e-01 1.92735321e-04 -1.92680053e+01] [ 2.57021986e-03 -2.44155124e-04 9.99996667e-01 2.98418106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.720714057 meters Centerline goodness [0,1] 0.9445111317464272 Centerline is valid? [False, False] Translation: X:442.74, Y:-19.27, Z:2.98 [[ 9.99801614e-01 -1.96807945e-02 -3.06581035e-03 4.42735066e+02] [ 1.96818644e-02 9.99806242e-01 3.19194461e-04 -1.92674135e+01] [ 3.05893433e-03 -3.79472001e-04 9.99995249e-01 2.98365665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.750714057 meters Centerline goodness [0,1] 0.9747334996597868 Centerline is valid? [False, True] Translation: X:442.74, Y:-19.27, Z:2.98 [[ 9.99866971e-01 -1.60399790e-02 -2.95962604e-03 4.42735274e+02] [ 1.60526727e-02 9.99861831e-01 4.31624594e-03 -1.92670471e+01] [ 2.88998462e-03 -4.36318166e-03 9.99986305e-01 2.98252146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.780714057 meters Centerline goodness [0,1] 0.9755603134110787 Centerline is valid? [True, True] Translation: X:442.77, Y:-19.26, Z:2.98 [[ 9.99888347e-01 -1.43599329e-02 -4.13362246e-03 4.42766758e+02] [ 1.43613205e-02 9.99896824e-01 3.06197349e-04 -1.92645562e+01] [ 4.12879900e-03 -3.65527438e-04 9.99991410e-01 2.98336705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.810714057 meters Centerline goodness [0,1] 0.9761486316846598 Centerline is valid? [True, True] Translation: X:442.80, Y:-19.26, Z:2.98 [[ 9.99946181e-01 -9.59204450e-03 -3.95325699e-03 4.42797530e+02] [ 9.59327459e-03 9.99953941e-01 2.92314114e-04 -1.92604566e+01] [ 3.95027102e-03 -3.30223061e-04 9.99992143e-01 2.98354954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.840714057 meters Centerline goodness [0,1] 0.9473888167042787 Centerline is valid? [True, False] Translation: X:442.80, Y:-19.26, Z:2.98 [[ 9.99975886e-01 -5.67759568e-03 -3.99897586e-03 4.42797591e+02] [ 5.69402360e-03 9.99975348e-01 4.10869740e-03 -1.92598382e+01] [ 3.97554976e-03 -4.13136859e-03 9.99983563e-01 2.98343329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.870714057 meters Centerline goodness [0,1] 0.9772502926930052 Centerline is valid? [False, True] Translation: X:442.80, Y:-19.25, Z:2.99 [[ 9.99991675e-01 -1.52984868e-03 -3.78279494e-03 4.42796631e+02] [ 1.55352773e-03 9.99979170e-01 6.26467626e-03 -1.92546310e+01] [ 3.77313214e-03 -6.27050079e-03 9.99973222e-01 2.98531664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.900714057 meters Centerline goodness [0,1] 0.97751465685711 Centerline is valid? [True, True] Translation: X:442.83, Y:-19.25, Z:2.99 [[ 9.99991910e-01 2.42935244e-03 -3.20601761e-03 4.42827588e+02] [-2.42863912e-03 9.99997025e-01 2.26368121e-04 -1.92486878e+01] [ 3.20655800e-03 -2.18580030e-04 9.99994835e-01 2.98879625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.930714057 meters Centerline goodness [0,1] 0.9775811617243843 Centerline is valid? [True, True] Translation: X:442.86, Y:-19.24, Z:2.99 [[ 9.99973968e-01 6.91794909e-03 -2.05083404e-03 4.42858489e+02] [-6.91766664e-03 9.99976062e-01 1.44787056e-04 -1.92430149e+01] [ 2.05178658e-03 -1.30596301e-04 9.99997887e-01 2.99051464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.960714057 meters Centerline goodness [0,1] 0.9790787258090559 Centerline is valid? [True, True] Translation: X:442.89, Y:-19.24, Z:2.99 [[ 9.99882587e-01 1.53232007e-02 1.12560654e-04 4.42889983e+02] [-1.53231999e-02 9.99882593e-01 -7.98579954e-06 -1.92359114e+01] [-1.12669807e-04 6.26007250e-06 9.99999994e-01 2.99252122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.990714057 meters Centerline goodness [0,1] 0.9802546296296296 Centerline is valid? [True, True] Translation: X:442.92, Y:-19.24, Z:2.99 [[ 9.99817018e-01 1.91089950e-02 8.80822631e-04 4.42920289e+02] [-1.91089474e-02 9.99817405e-01 -6.23963167e-05 -1.92353900e+01] [-8.81854129e-04 4.55533060e-05 9.99999610e-01 2.99247498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.020714057 meters Centerline goodness [0,1] 0.9799347358189266 Centerline is valid? [True, True] Translation: X:442.95, Y:-19.23, Z:2.99 [[ 9.99672296e-01 2.55468319e-02 1.63091241e-03 4.42951447e+02] [-2.55466779e-02 9.99673624e-01 -1.15213172e-04 -1.92321772e+01] [-1.63332345e-03 7.35110221e-05 9.99998663e-01 2.99208311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.050714057 meters Centerline goodness [0,1] 0.9809808418467811 Centerline is valid? [True, True] Translation: X:442.98, Y:-19.23, Z:2.99 [[ 9.99561889e-01 2.95640945e-02 1.41204317e-03 4.42981374e+02] [-2.95639829e-02 9.99562885e-01 -9.98602739e-05 -1.92324717e+01] [-1.41437822e-03 5.80709039e-05 9.99998998e-01 2.99058582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.080714057 meters Centerline goodness [0,1] 0.981203879890472 Centerline is valid? [True, True] Translation: X:443.01, Y:-19.23, Z:2.99 [[ 9.99524536e-01 3.08068395e-02 1.28119967e-03 4.43009766e+02] [-3.08067479e-02 9.99525355e-01 -9.11671527e-05 -1.92342636e+01] [-1.28340013e-03 5.16542107e-05 9.99999175e-01 2.99002379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.110714057 meters Centerline goodness [0,1] 0.9828891158989599 Centerline is valid? [True, True] Translation: X:443.04, Y:-19.23, Z:2.99 [[ 9.99486911e-01 3.20150433e-02 9.75415871e-04 4.43039214e+02] [-3.20149908e-02 9.99487386e-01 -6.93636434e-05 -1.92336838e+01] [-9.77136540e-04 3.81001235e-05 9.99999522e-01 2.99012298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.140714057 meters Centerline goodness [0,1] 0.9829301667555721 Centerline is valid? [True, True] Translation: X:443.07, Y:-19.24, Z:2.99 [[ 9.99431647e-01 3.37011578e-02 -7.83933616e-04 4.43067178e+02] [-3.37011257e-02 9.99431954e-01 5.40824731e-05 -1.92364102e+01] [ 7.85310947e-04 -2.76322899e-05 9.99999691e-01 2.98857494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.170714057 meters Centerline goodness [0,1] 0.9826307887746853 Centerline is valid? [True, True] Translation: X:443.10, Y:-19.24, Z:2.99 [[ 9.99404023e-01 3.44975090e-02 -1.23298480e-03 4.43095065e+02] [-3.44974296e-02 9.99404783e-01 8.55877316e-05 -1.92408594e+01] [ 1.23520347e-03 -4.30019170e-05 9.99999236e-01 2.98640670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.200714057 meters Centerline goodness [0,1] 0.9827470725454419 Centerline is valid? [True, True] Translation: X:443.12, Y:-19.24, Z:2.99 [[ 9.99400682e-01 3.46094082e-02 -6.83090631e-04 4.43123359e+02] [-3.46093841e-02 9.99400915e-01 4.71124893e-05 -1.92442106e+01] [ 6.84311937e-04 -2.34429079e-05 9.99999766e-01 2.98583182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.230714057 meters Centerline goodness [0,1] 0.9825036450739429 Centerline is valid? [True, True] Translation: X:443.15, Y:-19.25, Z:2.99 [[ 9.99409205e-01 3.43649653e-02 -5.39059760e-04 4.43151507e+02] [-3.43649504e-02 9.99409350e-01 3.69673695e-05 -1.92478566e+01] [ 5.40011747e-04 -1.84207674e-05 9.99999854e-01 2.98520448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.26071405700003 meters Centerline goodness [0,1] 0.9830528014756744 Centerline is valid? [True, True] Translation: X:443.18, Y:-19.25, Z:2.99 [[ 9.99389048e-01 3.49493910e-02 2.66532701e-04 4.43180521e+02] [-3.49493866e-02 9.99389083e-01 -2.13576056e-05 -1.92515381e+01] [-2.67116307e-04 1.20294027e-05 9.99999964e-01 2.98524336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.290714057 meters Centerline goodness [0,1] 0.9834767800432641 Centerline is valid? [True, True] Translation: X:443.21, Y:-19.25, Z:2.99 [[ 9.99376721e-01 3.52979197e-02 4.75662721e-04 4.43209413e+02] [-3.52979075e-02 9.99376834e-01 -3.40721933e-05 -1.92527104e+01] [-4.76568982e-04 1.72610581e-05 9.99999886e-01 2.98532385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.32071405700003 meters Centerline goodness [0,1] 0.9842481437790577 Centerline is valid? [True, True] Translation: X:443.24, Y:-19.26, Z:2.98 [[ 9.99268182e-01 3.82461043e-02 5.78947150e-04 4.43238681e+02] [-3.82460865e-02 9.99268350e-01 -4.17705395e-05 -1.92557027e+01] [-5.80121123e-04 1.95975083e-05 9.99999832e-01 2.98469155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.350714057 meters Centerline goodness [0,1] 0.9843472648055511 Centerline is valid? [True, True] Translation: X:443.27, Y:-19.26, Z:2.98 [[ 9.99180619e-01 4.04707258e-02 4.59612508e-04 4.43266185e+02] [-4.04707149e-02 9.99180724e-01 -3.30547365e-05 -1.92597503e+01] [-4.60573708e-04 1.44268052e-05 9.99999894e-01 2.98308619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.380714057 meters Centerline goodness [0,1] 0.9862960062646828 Centerline is valid? [True, True] Translation: X:443.30, Y:-19.26, Z:2.98 [[ 9.98958573e-01 4.56264052e-02 3.95131496e-05 4.43295942e+02] [-4.56264051e-02 9.98958573e-01 -3.17766995e-06 -1.92595645e+01] [-3.96169852e-05 1.37151767e-06 9.99999999e-01 2.98279849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.410714057 meters Centerline goodness [0,1] 0.9863691833022495 Centerline is valid? [True, True] Translation: X:443.32, Y:-19.26, Z:2.98 [[ 9.98846055e-01 4.80265667e-02 8.29038691e-05 4.43323590e+02] [-4.80265663e-02 9.98846059e-01 -6.82148028e-06 -1.92633522e+01] [-8.31358152e-05 2.83202050e-06 9.99999997e-01 2.98202555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.440714057 meters Centerline goodness [0,1] 0.9864557746608205 Centerline is valid? [True, True] Translation: X:443.35, Y:-19.27, Z:2.98 [[ 9.98783092e-01 4.93033841e-02 1.22935457e-03 4.43352762e+02] [-4.93033132e-02 9.98783848e-01 -8.79330326e-05 -1.92660687e+01] [-1.23219489e-03 2.72147726e-05 9.99999240e-01 2.98188685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.470714057 meters Centerline goodness [0,1] 0.9875684306569343 Centerline is valid? [True, True] Translation: X:443.38, Y:-19.27, Z:2.98 [[ 9.98677097e-01 5.13345617e-02 2.96977721e-03 4.43381047e+02] [-5.13341699e-02 9.98681511e-01 -2.08069000e-04 -1.92717693e+01] [-2.97654272e-03 5.53426971e-05 9.99995569e-01 2.98328442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.500714057 meters Centerline goodness [0,1] 0.9858222201993537 Centerline is valid? [True, True] Translation: X:443.41, Y:-19.29, Z:2.98 [[ 9.98725325e-01 5.02913021e-02 4.30225239e-03 4.43408296e+02] [-5.02904864e-02 9.98734589e-01 -2.97643094e-04 -1.92850755e+01] [-4.31177713e-03 8.09013304e-05 9.99990701e-01 2.98200620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.530714057 meters Centerline goodness [0,1] 0.9864895549500454 Centerline is valid? [True, True] Translation: X:443.44, Y:-19.29, Z:2.98 [[ 9.98789118e-01 4.89567393e-02 4.85126094e-03 4.43436658e+02] [-4.89556899e-02 9.98800895e-01 -3.34902981e-04 -1.92880090e+01] [-4.86183953e-03 9.70006267e-05 9.99988176e-01 2.98266696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.560714057 meters Centerline goodness [0,1] 0.9864399873228596 Centerline is valid? [True, True] Translation: X:443.46, Y:-19.30, Z:2.98 [[ 9.98857170e-01 4.75501252e-02 4.83110268e-03 4.43464255e+02] [-4.75490691e-02 9.98868848e-01 -3.33295277e-04 -1.92951570e+01] [-4.84148620e-03 1.03199942e-04 9.99988275e-01 2.98175021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.590714057 meters Centerline goodness [0,1] 0.9860688442550889 Centerline is valid? [True, True] Translation: X:443.49, Y:-19.31, Z:2.98 [[ 9.99018572e-01 4.41496278e-02 3.56421932e-03 4.43493375e+02] [-4.41490330e-02 9.99024926e-01 -2.45412806e-04 -1.93072448e+01] [-3.57157883e-03 8.78151149e-05 9.99993618e-01 2.97985539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.620714057 meters Centerline goodness [0,1] 0.9857088286182953 Centerline is valid? [True, True] Translation: X:443.52, Y:-19.31, Z:2.98 [[ 9.99084190e-01 4.27025354e-02 2.69701770e-03 4.43521485e+02] [-4.27021886e-02 9.99087828e-01 -1.86039940e-04 -1.93143000e+01] [-2.70250194e-03 7.07010037e-05 9.99996346e-01 2.97861300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.650714057 meters Centerline goodness [0,1] 0.9861905082161992 Centerline is valid? [True, True] Translation: X:443.55, Y:-19.32, Z:2.98 [[ 9.99207279e-01 3.98084305e-02 3.21556790e-04 4.43550273e+02] [-3.98084253e-02 9.99207330e-01 -2.25009035e-05 -1.93244744e+01] [-3.22197628e-04 9.68239708e-06 9.99999948e-01 2.97754034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.680714057 meters Centerline goodness [0,1] 0.9864816472694719 Centerline is valid? [True, True] Translation: X:443.58, Y:-19.33, Z:2.98 [[ 9.99260450e-01 3.84513163e-02 -2.23952414e-04 4.43578708e+02] [-3.84513140e-02 9.99260475e-01 1.44851383e-05 -1.93307924e+01] [ 2.24343768e-04 -5.86316127e-06 9.99999975e-01 2.97683779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.710714057 meters Centerline goodness [0,1] 0.9861303435029258 Centerline is valid? [True, True] Translation: X:443.61, Y:-19.34, Z:2.98 [[ 9.99340522e-01 3.63033258e-02 -7.67351853e-04 4.43605718e+02] [-3.63032970e-02 9.99340817e-01 5.14622782e-05 -1.93430382e+01] [ 7.68714280e-04 -2.35709377e-05 9.99999704e-01 2.97588193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.740714057 meters Centerline goodness [0,1] 0.9852055161333512 Centerline is valid? [True, True] Translation: X:443.63, Y:-19.35, Z:2.98 [[ 9.99369645e-01 3.54680217e-02 -1.52689756e-03 4.43633958e+02] [-3.54679048e-02 9.99370811e-01 1.03574320e-04 -1.93483943e+01] [ 1.52961043e-03 -4.93531738e-05 9.99998829e-01 2.97522709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.770714057 meters Centerline goodness [0,1] 0.985888175494917 Centerline is valid? [True, True] Translation: X:443.66, Y:-19.35, Z:2.97 [[ 9.99377371e-01 3.52296824e-02 -1.93405490e-03 4.43662176e+02] [-3.52294942e-02 9.99379240e-01 1.31289358e-04 -1.93546798e+01] [ 1.93747960e-03 -6.30718374e-05 9.99998121e-01 2.97462802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.800714057 meters Centerline goodness [0,1] 0.9849697399632003 Centerline is valid? [True, True] Translation: X:443.69, Y:-19.36, Z:2.97 [[ 9.99420388e-01 3.40190677e-02 -1.26153985e-03 4.43689222e+02] [-3.40189875e-02 9.99421183e-01 8.50224016e-05 -1.93638896e+01] [ 1.26370203e-03 -4.20568133e-05 9.99999201e-01 2.97400897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.830714057 meters Centerline goodness [0,1] 0.986023434558221 Centerline is valid? [True, True] Translation: X:443.72, Y:-19.37, Z:2.98 [[ 9.99451082e-01 3.31274795e-02 -3.23155481e-04 4.43717986e+02] [-3.31274743e-02 9.99451134e-01 2.11681067e-05 -1.93708399e+01] [ 3.23679358e-04 -1.04511623e-05 9.99999948e-01 2.97518769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.860714057 meters Centerline goodness [0,1] 0.9851878053633409 Centerline is valid? [True, True] Translation: X:443.75, Y:-19.38, Z:2.98 [[ 9.99466478e-01 3.26575247e-02 4.95019517e-04 4.43745101e+02] [-3.26575113e-02 9.99466601e-01 -3.51759068e-05 -1.93765163e+01] [-4.95904232e-04 1.89910342e-05 9.99999877e-01 2.97507096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.890714057 meters Centerline goodness [0,1] 0.9861422726672826 Centerline is valid? [True, True] Translation: X:443.77, Y:-19.38, Z:2.98 [[ 9.99487952e-01 3.19429497e-02 1.86613212e-03 4.43773848e+02] [-3.19427669e-02 9.99489691e-01 -1.27698295e-04 -1.93809280e+01] [-1.86925888e-03 6.80234839e-05 9.99998251e-01 2.97573612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.920714057 meters Centerline goodness [0,1] 0.9848294967350438 Centerline is valid? [True, True] Translation: X:443.80, Y:-19.39, Z:2.98 [[ 9.99568508e-01 2.92284606e-02 2.91455770e-03 4.43801544e+02] [-2.92280053e-02 9.99572751e-01 -1.98687937e-04 -1.93899764e+01] [-2.91911980e-03 1.13415497e-04 9.99995733e-01 2.97609142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.950714057 meters Centerline goodness [0,1] 0.9847103534632368 Centerline is valid? [True, True] Translation: X:443.83, Y:-19.40, Z:2.98 [[ 9.99709733e-01 2.38338000e-02 3.52129248e-03 4.43830766e+02] [-2.38331048e-02 9.99715923e-01 -2.39271664e-04 -1.93981889e+01] [-3.52599492e-03 1.55278879e-04 9.99993772e-01 2.97653757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.980714057 meters Centerline goodness [0,1] 0.9831699203361639 Centerline is valid? [True, True] Translation: X:443.86, Y:-19.41, Z:2.98 [[ 9.99787609e-01 2.01887965e-02 4.14120849e-03 4.43859197e+02] [-2.01878031e-02 9.99796166e-01 -2.81561233e-04 -1.94056789e+01] [-4.14604876e-03 1.97899530e-04 9.99991386e-01 2.97621322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.01071405700003 meters Centerline goodness [0,1] 0.983350812794966 Centerline is valid? [True, True] Translation: X:443.89, Y:-19.41, Z:2.98 [[ 9.99865670e-01 1.58070970e-02 4.33337118e-03 4.43888718e+02] [-1.58059705e-02 9.99875035e-01 -2.94093164e-04 -1.94117592e+01] [-4.33747842e-03 2.25560521e-04 9.99990568e-01 2.97583652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.040714057 meters Centerline goodness [0,1] 0.9836731130222203 Centerline is valid? [True, True] Translation: X:443.92, Y:-19.42, Z:2.97 [[ 9.99971141e-01 6.76839467e-03 3.45047099e-03 4.43918803e+02] [-6.76762722e-03 9.99977072e-01 -2.34048370e-04 -1.94228293e+01] [-3.45197601e-03 2.10690114e-04 9.99994020e-01 2.97439579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.07071405700003 meters Centerline goodness [0,1] 0.9822898967455235 Centerline is valid? [True, True] Translation: X:443.95, Y:-19.43, Z:2.97 [[ 9.99993263e-01 2.70056191e-03 2.48612124e-03 4.43948228e+02] [-2.70015165e-03 9.99996340e-01 -1.68363615e-04 -1.94301429e+01] [-2.48656682e-03 1.61649577e-04 9.99996895e-01 2.97284584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.100714057 meters Centerline goodness [0,1] 0.962983918351359 Centerline is valid? [True, True] Translation: X:443.98, Y:-19.46, Z:2.97 [[ 9.99993417e-01 -3.62577292e-03 1.42645970e-04 4.43975449e+02] [ 3.62577431e-03 9.99993427e-01 -9.49836725e-06 -1.94582852e+01] [-1.42610593e-04 1.00155068e-05 9.99999990e-01 2.96719129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.130714057 meters Centerline goodness [0,1] 0.9832779575063391 Centerline is valid? [True, True] Translation: X:444.01, Y:-19.44, Z:2.97 [[ 9.99977811e-01 -6.61214632e-03 -8.10661468e-04 4.44007999e+02] [ 6.61219326e-03 9.99978138e-01 5.52343003e-05 -1.94389085e+01] [ 8.10278528e-04 -6.05933250e-05 9.99999670e-01 2.97070333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.160714057 meters Centerline goodness [0,1] 0.9148114195914091 Centerline is valid? [True, False] Translation: X:444.01, Y:-19.44, Z:2.97 [[ 9.99976547e-01 -6.78317327e-03 -9.45653013e-04 4.44008483e+02] [ 6.78404827e-03 9.99976560e-01 9.25174768e-04 -1.94415290e+01] [ 9.39355227e-04 -9.31568426e-04 9.99999125e-01 2.97000922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.190714057 meters Centerline goodness [0,1] 0.9811481126318542 Centerline is valid? [False, True] Translation: X:444.01, Y:-19.44, Z:2.97 [[ 9.99977720e-01 -6.57654021e-03 -1.14419398e-03 4.44009101e+02] [ 6.57807611e-03 9.99977461e-01 1.34380225e-03 -1.94423924e+01] [ 1.13533062e-03 -1.35129890e-03 9.99998443e-01 2.96963767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.220714057 meters Centerline goodness [0,1] 0.9811929304596073 Centerline is valid? [True, True] Translation: X:444.04, Y:-19.45, Z:2.97 [[ 9.99979221e-01 -6.15511320e-03 -1.91653820e-03 4.44040499e+02] [ 6.15538905e-03 9.99981046e-01 1.38063576e-04 -1.94460608e+01] [ 1.91565208e-03 -1.49857745e-04 9.99998154e-01 2.96939560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.250714057 meters Centerline goodness [0,1] 0.9818783760236975 Centerline is valid? [True, True] Translation: X:444.07, Y:-19.44, Z:2.97 [[ 9.99983754e-01 -5.28442893e-03 -2.13691481e-03 4.44072310e+02] [ 5.28476751e-03 9.99986024e-01 1.52830038e-04 -1.94394956e+01] [ 2.13607732e-03 -1.64120653e-04 9.99997705e-01 2.97083767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.280714057 meters Centerline goodness [0,1] 0.983187421054924 Centerline is valid? [True, True] Translation: X:444.10, Y:-19.44, Z:2.97 [[ 9.99993311e-01 -3.03544748e-03 -2.04049280e-03 4.44103339e+02] [ 3.03575120e-03 9.99995381e-01 1.45767528e-04 -1.94399196e+01] [ 2.04004091e-03 -1.51960982e-04 9.99997908e-01 2.97106222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.310714057 meters Centerline goodness [0,1] 0.983187421054924 Centerline is valid? [True, True] Translation: X:444.13, Y:-19.44, Z:2.97 [[ 9.99993311e-01 -3.03544476e-03 -2.04050853e-03 4.44133346e+02] [ 3.03574803e-03 9.99995382e-01 1.45547089e-04 -1.94420599e+01] [ 2.04005730e-03 -1.51740585e-04 9.99997908e-01 2.97069174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.340714057 meters Centerline goodness [0,1] 0.982183257918552 Centerline is valid? [True, True] Translation: X:444.16, Y:-19.44, Z:2.97 [[ 9.99995790e-01 -2.15696817e-03 -1.94115066e-03 4.44163517e+02] [ 2.15724099e-03 9.99997664e-01 1.38460009e-04 -1.94433519e+01] [ 1.94084747e-03 -1.42646955e-04 9.99998106e-01 2.97018034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.370714057 meters Centerline goodness [0,1] 0.9824702756848569 Centerline is valid? [True, True] Translation: X:444.19, Y:-19.44, Z:2.97 [[ 9.99998923e-01 -1.70027266e-04 -1.45784439e-03 4.44193369e+02] [ 1.70179042e-04 9.99999980e-01 1.03986337e-04 -1.94441132e+01] [ 1.45782668e-03 -1.04234320e-04 9.99998932e-01 2.97097307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.400714057 meters Centerline goodness [0,1] 0.9826068003487358 Centerline is valid? [True, True] Translation: X:444.22, Y:-19.45, Z:2.97 [[ 9.99999538e-01 2.15878010e-04 -9.36905281e-04 4.44222803e+02] [-2.15815930e-04 9.99999975e-01 6.63608843e-05 -1.94454619e+01] [ 9.36919583e-04 -6.61586546e-05 9.99999559e-01 2.97130999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.430714057 meters Centerline goodness [0,1] 0.9824048824827945 Centerline is valid? [True, True] Translation: X:444.25, Y:-19.45, Z:2.97 [[ 9.99999969e-01 -7.45305093e-05 2.38995697e-04 4.44252907e+02] [ 7.45345836e-05 9.99999997e-01 -1.70388330e-05 -1.94471621e+01] [-2.38994427e-04 1.70566460e-05 9.99999971e-01 2.97155580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.460714057 meters Centerline goodness [0,1] 0.9824060347082934 Centerline is valid? [True, True] Translation: X:444.28, Y:-19.45, Z:2.97 [[ 9.99999226e-01 -1.15743056e-03 4.55796586e-04 4.44283388e+02] [ 1.15744549e-03 9.99999330e-01 -3.24953212e-05 -1.94502225e+01] [-4.55758669e-04 3.30228557e-05 9.99999896e-01 2.97139877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.490714057 meters Centerline goodness [0,1] 0.9812801669783016 Centerline is valid? [True, True] Translation: X:444.31, Y:-19.45, Z:2.97 [[ 9.99997444e-01 -2.20493696e-03 4.99725044e-04 4.44313864e+02] [ 2.20495493e-03 9.99997568e-01 -3.54229055e-05 -1.94534645e+01] [-4.99645724e-04 3.65246861e-05 9.99999875e-01 2.97113228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.520714057 meters Centerline goodness [0,1] 0.9831653488574159 Centerline is valid? [True, True] Translation: X:444.35, Y:-19.45, Z:2.97 [[ 9.99987689e-01 -4.90637510e-03 7.40580136e-04 4.44345435e+02] [ 4.90641524e-03 9.99987962e-01 -5.24001935e-05 -1.94527454e+01] [-7.40314126e-04 5.60331421e-05 9.99999724e-01 2.97135378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.550714057 meters Centerline goodness [0,1] 0.9818515363952041 Centerline is valid? [True, True] Translation: X:444.38, Y:-19.46, Z:2.97 [[ 9.99965153e-01 -8.33297911e-03 -5.05031175e-04 4.44375508e+02] [ 8.33299838e-03 9.99965279e-01 3.60710555e-05 -1.94558904e+01] [ 5.04713060e-04 -4.02782225e-05 9.99999872e-01 2.97058929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.580714057 meters Centerline goodness [0,1] 0.9827152940148155 Centerline is valid? [True, True] Translation: X:444.41, Y:-19.46, Z:2.97 [[ 9.99955311e-01 -9.37649197e-03 -1.20724368e-03 4.44407764e+02] [ 9.37660393e-03 9.99956035e-01 8.71114814e-05 -1.94557457e+01] [ 1.20637380e-03 -9.84274343e-05 9.99999267e-01 2.97055374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.610714057 meters Centerline goodness [0,1] 0.9818662471870835 Centerline is valid? [True, True] Translation: X:444.44, Y:-19.46, Z:2.97 [[ 9.99940051e-01 -1.08436011e-02 -1.52040179e-03 4.44439119e+02] [ 1.08437794e-02 9.99941199e-01 1.09084863e-04 -1.94569005e+01] [ 1.51912951e-03 -1.25565225e-04 9.99998838e-01 2.97037900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.640714057 meters Centerline goodness [0,1] 0.9817719744106563 Centerline is valid? [True, True] Translation: X:444.47, Y:-19.46, Z:2.97 [[ 9.99937461e-01 -1.10012155e-02 -2.01187543e-03 4.44470481e+02] [ 1.10015284e-02 9.99939471e-01 1.44532733e-04 -1.94586020e+01] [ 2.01016362e-03 -1.66657399e-04 9.99997966e-01 2.96982685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.670714057 meters Centerline goodness [0,1] 0.981016106885203 Centerline is valid? [True, True] Translation: X:444.50, Y:-19.46, Z:2.97 [[ 9.99940718e-01 -1.07489753e-02 -1.73797247e-03 4.44502881e+02] [ 1.07492092e-02 9.99942218e-01 1.25280438e-04 -1.94602819e+01] [ 1.73652541e-03 -1.43954841e-04 9.99998482e-01 2.96949738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.700714057 meters Centerline goodness [0,1] 0.9805207581819374 Centerline is valid? [True, True] Translation: X:444.53, Y:-19.46, Z:2.97 [[ 9.99943829e-01 -1.04026537e-02 -2.03059703e-03 4.44534509e+02] [ 1.04029717e-02 9.99945877e-01 1.46113497e-04 -1.94609743e+01] [ 2.02896716e-03 -1.67229533e-04 9.99997928e-01 2.96877228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.730714057 meters Centerline goodness [0,1] 0.9809037293635308 Centerline is valid? [True, True] Translation: X:444.57, Y:-19.46, Z:2.97 [[ 9.99950439e-01 -9.74055832e-03 -2.05929416e-03 4.44566417e+02] [ 9.74088418e-03 9.99952545e-01 1.48267659e-04 -1.94615088e+01] [ 2.05775223e-03 -1.68319656e-04 9.99997869e-01 2.96865655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.76071405700003 meters Centerline goodness [0,1] 0.9791272599304975 Centerline is valid? [True, True] Translation: X:444.60, Y:-19.46, Z:2.97 [[ 9.99950304e-01 -9.59882873e-03 -2.69310772e-03 4.44597811e+02] [ 9.59938765e-03 9.99953906e-01 1.94685981e-04 -1.94612798e+01] [ 2.69111483e-03 -2.20528491e-04 9.99996355e-01 2.96836138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.790714057 meters Centerline goodness [0,1] 0.9804467436813609 Centerline is valid? [True, True] Translation: X:444.63, Y:-19.46, Z:2.97 [[ 9.99956086e-01 -8.86281532e-03 -3.04584229e-03 4.44629240e+02] [ 8.86352387e-03 9.99960694e-01 2.19206695e-04 -1.94626221e+01] [ 3.04377978e-03 -2.46193964e-04 9.99995337e-01 2.96754438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.82071405700003 meters Centerline goodness [0,1] 0.9771755893368583 Centerline is valid? [True, True] Translation: X:444.66, Y:-19.46, Z:2.97 [[ 9.99949865e-01 -9.07657284e-03 -4.22884309e-03 4.44660702e+02] [ 9.07794169e-03 9.99958748e-01 3.04610279e-04 -1.94645809e+01] [ 4.22590383e-03 -3.42984198e-04 9.99991012e-01 2.96503196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.850714057 meters Centerline goodness [0,1] 0.9805549438449681 Centerline is valid? [True, True] Translation: X:444.69, Y:-19.46, Z:2.97 [[ 9.99944576e-01 -9.37156092e-03 -4.79775941e-03 4.44692791e+02] [ 9.37332566e-03 9.99956010e-01 3.45472905e-04 -1.94607231e+01] [ 4.79431073e-03 -3.90424719e-04 9.99988431e-01 2.96553602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.880714057 meters Centerline goodness [0,1] 0.9749097631833789 Centerline is valid? [True, True] Translation: X:444.72, Y:-19.47, Z:2.96 [[ 9.99934862e-01 -1.02235172e-02 -5.07452536e-03 4.44722224e+02] [ 1.02255000e-02 9.99947652e-01 3.64945248e-04 -1.94666780e+01] [ 5.07052870e-03 -4.16811036e-04 9.99987058e-01 2.96421301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.910714057 meters Centerline goodness [0,1] 0.9800321777268419 Centerline is valid? [True, True] Translation: X:444.75, Y:-19.46, Z:2.96 [[ 9.99929181e-01 -1.09319469e-02 -4.70381867e-03 4.44753557e+02] [ 1.09336612e-02 9.99940168e-01 3.38876876e-04 -1.94641134e+01] [ 4.69983265e-03 -3.90282836e-04 9.99988880e-01 2.96492817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.940714057 meters Centerline goodness [0,1] 0.9761396403336928 Centerline is valid? [True, True] Translation: X:444.78, Y:-19.47, Z:2.96 [[ 9.99901692e-01 -1.30779694e-02 -5.05705744e-03 4.44783185e+02] [ 1.30799799e-02 9.99914387e-01 3.64702715e-04 -1.94683081e+01] [ 5.05185492e-03 -4.30813072e-04 9.99987146e-01 2.96359089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.970714057 meters Centerline goodness [0,1] 0.9374135014608642 Centerline is valid? [True, False] Translation: X:444.78, Y:-19.47, Z:2.96 [[ 9.99900899e-01 -1.30605520e-02 -5.25498987e-03 4.44783957e+02] [ 1.30629376e-02 9.99914588e-01 4.19900675e-04 -1.94679149e+01] [ 5.24905690e-03 -4.88504667e-04 9.99986104e-01 2.96298736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.000714057 meters Centerline goodness [0,1] 0.9279723512448543 Centerline is valid? [False, False] Translation: X:444.78, Y:-19.47, Z:2.96 [[ 9.99900286e-01 -1.30388890e-02 -5.42272536e-03 4.44784491e+02] [ 1.30408754e-02 9.99914909e-01 3.31095605e-04 -1.94672912e+01] [ 5.41794681e-03 -4.01779675e-04 9.99985242e-01 2.96273850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.030714057 meters Centerline goodness [0,1] 0.9823595729159759 Centerline is valid? [False, True] Translation: X:444.78, Y:-19.47, Z:2.96 [[ 9.99935305e-01 -1.01910263e-02 -5.05270050e-03 4.44783465e+02] [ 1.02100256e-02 9.99940849e-01 3.74880102e-03 -1.94668623e+01] [ 5.01419750e-03 -3.80014669e-03 9.99980208e-01 2.96267316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.060714057 meters Centerline goodness [0,1] 0.9117179215270413 Centerline is valid? [True, False] Translation: X:444.78, Y:-19.46, Z:2.96 [[ 9.99933562e-01 -1.02491510e-02 -5.27514370e-03 4.44783949e+02] [ 1.02654969e-02 9.99942562e-01 3.08096169e-03 -1.94644272e+01] [ 5.24326346e-03 -3.13490897e-03 9.99981340e-01 2.96291920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.090714057 meters Centerline goodness [0,1] 0.9784521935755615 Centerline is valid? [False, True] Translation: X:444.78, Y:-19.46, Z:2.96 [[ 9.99931777e-01 -1.02966996e-02 -5.51545683e-03 4.44784092e+02] [ 1.03105195e-02 9.99943762e-01 2.48311877e-03 -1.94627400e+01] [ 5.48957873e-03 -2.53981659e-03 9.99981707e-01 2.96360038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.120714057 meters Centerline goodness [0,1] 0.9021995719990292 Centerline is valid? [True, False] Translation: X:444.78, Y:-19.46, Z:2.96 [[ 9.99932067e-01 -1.00997440e-02 -5.81861070e-03 4.44784731e+02] [ 1.01127903e-02 9.99946406e-01 2.21713029e-03 -1.94612925e+01] [ 5.79590641e-03 -2.27582207e-03 9.99980614e-01 2.96373946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.150714057 meters Centerline goodness [0,1] 0.9824891942812811 Centerline is valid? [False, True] Translation: X:444.78, Y:-19.46, Z:2.96 [[ 9.99961231e-01 -6.76123289e-03 -5.64110447e-03 4.44784016e+02] [ 6.79065183e-03 9.99963359e-01 5.21235160e-03 -1.94589979e+01] [ 5.60565585e-03 -5.25045629e-03 9.99970504e-01 2.96417801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.180714057 meters Centerline goodness [0,1] 0.9818999512605787 Centerline is valid? [True, True] Translation: X:444.81, Y:-19.46, Z:2.97 [[ 9.99966840e-01 -5.33952723e-03 -6.14884976e-03 4.44814917e+02] [ 5.34254423e-03 9.99985616e-01 4.74339868e-04 -1.94576713e+01] [ 6.14622856e-03 -5.07174641e-04 9.99980983e-01 2.96510968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.210714057 meters Centerline goodness [0,1] 0.9832352614633063 Centerline is valid? [True, True] Translation: X:444.85, Y:-19.46, Z:2.97 [[ 9.99977786e-01 -2.51892060e-03 -6.17108800e-03 4.44845315e+02] [ 2.52190441e-03 9.99996707e-01 4.75780744e-04 -1.94563119e+01] [ 6.16986922e-03 -4.91333069e-04 9.99980845e-01 2.96567499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.240714057 meters Centerline goodness [0,1] 0.9829745727016782 Centerline is valid? [True, True] Translation: X:444.87, Y:-19.46, Z:2.97 [[ 9.99978719e-01 -1.19058331e-03 -6.41434931e-03 4.44874473e+02] [ 1.19377267e-03 9.99999166e-01 4.93416778e-04 -1.94556636e+01] [ 6.41375650e-03 -5.01063552e-04 9.99979306e-01 2.96602705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.270714057 meters Centerline goodness [0,1] 0.9837351276681074 Centerline is valid? [True, True] Translation: X:444.91, Y:-19.45, Z:2.97 [[ 9.99969552e-01 2.45436686e-03 -7.40756752e-03 4.44905416e+02] [-2.45020601e-03 9.99996835e-01 5.70724538e-04 -1.94506671e+01] [ 7.40894484e-03 -5.52557094e-04 9.99972401e-01 2.96675251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.300714057 meters Centerline goodness [0,1] 0.9829609744192754 Centerline is valid? [True, True] Translation: X:444.93, Y:-19.46, Z:2.97 [[ 9.99954363e-01 5.06930089e-03 -8.09782078e-03 4.44933511e+02] [-5.06441818e-03 9.99986981e-01 6.23358416e-04 -1.94564234e+01] [ 8.10087535e-03 -5.82319217e-04 9.99967018e-01 2.96506187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.330714057 meters Centerline goodness [0,1] 0.9844423115555456 Centerline is valid? [True, True] Translation: X:444.96, Y:-19.45, Z:2.96 [[ 9.99903416e-01 9.81689458e-03 -9.83800135e-03 4.44964339e+02] [-9.80991281e-03 9.99951595e-01 7.57680370e-04 -1.94510858e+01] [ 9.84496321e-03 -6.61097255e-04 9.99951319e-01 2.96468781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.360714057 meters Centerline goodness [0,1] 0.9851200465418093 Centerline is valid? [True, True] Translation: X:444.99, Y:-19.45, Z:2.97 [[ 9.99868889e-01 1.25228900e-02 -1.02655357e-02 4.44994278e+02] [-1.25154378e-02 9.99921367e-01 7.89864095e-04 -1.94482266e+01] [ 1.02746199e-02 -6.61282862e-04 9.99946996e-01 2.96507803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.390714057 meters Centerline goodness [0,1] 0.9850118562927833 Centerline is valid? [True, True] Translation: X:445.02, Y:-19.45, Z:2.96 [[ 9.99779320e-01 1.80991430e-02 -1.06645379e-02 4.45024941e+02] [-1.80914124e-02 9.99836000e-01 8.20926496e-04 -1.94450231e+01] [ 1.06776470e-02 -6.27808781e-04 9.99942795e-01 2.96436152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.420714057 meters Centerline goodness [0,1] 0.9855456300219958 Centerline is valid? [True, True] Translation: X:445.06, Y:-19.44, Z:2.96 [[ 9.99729585e-01 2.07513252e-02 -1.04947655e-02 4.45055183e+02] [-2.07439881e-02 9.99784494e-01 8.07499898e-04 -1.94434839e+01] [ 1.05092605e-02 -5.89578247e-04 9.99944602e-01 2.96437433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.450714057 meters Centerline goodness [0,1] 0.9863367716128453 Centerline is valid? [True, True] Translation: X:445.09, Y:-19.44, Z:2.97 [[ 9.99626492e-01 2.56051854e-02 -9.55252224e-03 4.45085646e+02] [-2.55993269e-02 9.99672013e-01 7.35081910e-04 -1.94394117e+01] [ 9.56821105e-03 -4.90269212e-04 9.99954103e-01 2.96605640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.480714057 meters Centerline goodness [0,1] 0.9851094890510949 Centerline is valid? [True, True] Translation: X:445.11, Y:-19.44, Z:2.97 [[ 9.99586514e-01 2.72811940e-02 -9.08499304e-03 4.45113875e+02] [-2.72759769e-02 9.99627698e-01 6.97680343e-04 -1.94401650e+01] [ 9.10064423e-03 -4.49589801e-04 9.99958487e-01 2.96613469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.51071405700003 meters Centerline goodness [0,1] 0.9847122302158273 Centerline is valid? [True, True] Translation: X:445.14, Y:-19.44, Z:2.97 [[ 9.99572282e-01 2.82490537e-02 -7.56604261e-03 4.45143303e+02] [-2.82454751e-02 9.99600849e-01 5.79442999e-04 -1.94395685e+01] [ 7.57939133e-03 -3.65488693e-04 9.99971209e-01 2.96683777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.540714057 meters Centerline goodness [0,1] 0.9852201328175659 Centerline is valid? [True, True] Translation: X:445.17, Y:-19.44, Z:2.97 [[ 9.99582100e-01 2.79530702e-02 -7.36547816e-03 4.45171900e+02] [-2.79496707e-02 9.99609172e-01 5.64091325e-04 -1.94421830e+01] [ 7.37836762e-03 -3.57992902e-04 9.99972715e-01 2.96691006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.57071405700003 meters Centerline goodness [0,1] 0.9852207897219353 Centerline is valid? [True, True] Translation: X:445.20, Y:-19.45, Z:2.97 [[ 9.99652498e-01 2.54873698e-02 -6.72886582e-03 4.45201604e+02] [-2.54844763e-02 9.99675085e-01 5.15430411e-04 -1.94452382e+01] [ 6.73981647e-03 -3.43769676e-04 9.99977228e-01 2.96677414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.600714057 meters Centerline goodness [0,1] 0.983573261912733 Centerline is valid? [True, True] Translation: X:445.23, Y:-19.46, Z:2.96 [[ 9.99690589e-01 2.40481626e-02 -6.35710248e-03 4.45228914e+02] [-2.40455586e-02 9.99710746e-01 4.85739951e-04 -1.94556008e+01] [ 6.36694482e-03 -3.32729577e-04 9.99979675e-01 2.96422784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.630714057 meters Centerline goodness [0,1] 0.984899479447137 Centerline is valid? [True, True] Translation: X:445.26, Y:-19.46, Z:2.97 [[ 9.99792207e-01 1.97673309e-02 -4.97942665e-03 4.45258890e+02] [-1.97656778e-02 9.99804567e-01 3.80996359e-04 -1.94569650e+01] [ 4.98598479e-03 -2.82495448e-04 9.99987530e-01 2.96621060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.660714057 meters Centerline goodness [0,1] 0.9837221311659444 Centerline is valid? [True, True] Translation: X:445.29, Y:-19.46, Z:2.97 [[ 9.99840790e-01 1.72945218e-02 -4.39257730e-03 4.45288143e+02] [-1.72932133e-02 9.99850405e-01 3.35707245e-04 -1.94619275e+01] [ 4.39772609e-03 -2.59692021e-04 9.99990296e-01 2.96603471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.690714057 meters Centerline goodness [0,1] 0.9839872436948368 Centerline is valid? [True, True] Translation: X:445.32, Y:-19.47, Z:2.97 [[ 9.99910780e-01 1.27721269e-02 -3.91216328e-03 4.45318685e+02] [-1.27710534e-02 9.99918402e-01 2.99260242e-04 -1.94664059e+01] [ 3.91566625e-03 -2.49271095e-04 9.99992303e-01 2.96632134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.720714057 meters Centerline goodness [0,1] 0.9834981278446672 Centerline is valid? [True, True] Translation: X:445.35, Y:-19.47, Z:2.97 [[ 9.99931606e-01 1.08870129e-02 -4.27269284e-03 4.45347926e+02] [-1.08857174e-02 9.99940696e-01 3.26345393e-04 -1.94709956e+01] [ 4.27599237e-03 -2.79811746e-04 9.99990819e-01 2.96530249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.750714057 meters Centerline goodness [0,1] 0.9832231257260299 Centerline is valid? [True, True] Translation: X:445.38, Y:-19.48, Z:2.96 [[ 9.99963335e-01 6.94915662e-03 -5.00384381e-03 4.45377555e+02] [-6.94732842e-03 9.99975794e-01 3.82648657e-04 -1.94778199e+01] [ 5.00638177e-03 -3.47871281e-04 9.99987407e-01 2.96352754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.780714057 meters Centerline goodness [0,1] 0.9825573594525694 Centerline is valid? [True, True] Translation: X:445.41, Y:-19.48, Z:2.96 [[ 9.99973517e-01 4.90315360e-03 -5.37821413e-03 4.45406010e+02] [-4.90101692e-03 9.99987906e-01 4.10392590e-04 -1.94827685e+01] [ 5.38016130e-03 -3.84023003e-04 9.99985453e-01 2.96262613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.810714057 meters Centerline goodness [0,1] 0.9820534596817451 Centerline is valid? [True, True] Translation: X:445.44, Y:-19.49, Z:2.96 [[ 9.99985259e-01 1.66362613e-03 -5.16859733e-03 4.45435892e+02] [-1.66160813e-03 9.99998542e-01 3.94703634e-04 -1.94868219e+01] [ 5.16924643e-03 -3.86109633e-04 9.99986565e-01 2.96280707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.840714057 meters Centerline goodness [0,1] 0.9822253980305027 Centerline is valid? [True, True] Translation: X:445.46, Y:-19.49, Z:2.96 [[ 9.99988196e-01 6.08052938e-04 -4.82051561e-03 4.45463267e+02] [-6.06291287e-04 9.99999749e-01 3.66901576e-04 -1.94913323e+01] [ 4.82073750e-03 -3.63974608e-04 9.99988314e-01 2.96242200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.870714057 meters Centerline goodness [0,1] 0.9818717628147884 Centerline is valid? [True, True] Translation: X:445.49, Y:-19.49, Z:2.96 [[ 9.99989789e-01 -5.89188840e-04 -4.48055405e-03 4.45493108e+02] [ 5.90724339e-04 9.99999767e-01 3.41387290e-04 -1.94912851e+01] [ 4.48035186e-03 -3.44030576e-04 9.99989904e-01 2.96276010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.900714057 meters Centerline goodness [0,1] 0.9821073113998793 Centerline is valid? [True, True] Translation: X:445.52, Y:-19.49, Z:2.96 [[ 9.99985853e-01 -1.13910471e-03 -5.19580002e-03 4.45522321e+02] [ 1.14117321e-03 9.99999271e-01 3.95162574e-04 -1.94919512e+01] [ 5.19534610e-03 -4.01086291e-04 9.99986424e-01 2.96184578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.930714057 meters Centerline goodness [0,1] 0.9824608501118568 Centerline is valid? [True, True] Translation: X:445.55, Y:-19.49, Z:2.96 [[ 9.99980290e-01 -1.71447513e-03 -6.03990857e-03 4.45551439e+02] [ 1.71727897e-03 9.99998420e-01 4.59062846e-04 -1.94922720e+01] [ 6.03911197e-03 -4.69426006e-04 9.99981654e-01 2.96023280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.960714057 meters Centerline goodness [0,1] 0.9821941155364191 Centerline is valid? [True, True] Translation: X:445.58, Y:-19.50, Z:2.96 [[ 9.99983096e-01 -1.78288643e-03 -5.53434069e-03 4.45579460e+02] [ 1.78524074e-03 9.99998318e-01 4.20488894e-04 -1.94973325e+01] [ 5.53358170e-03 -4.30361917e-04 9.99984597e-01 2.95947555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.990714057 meters Centerline goodness [0,1] 0.9801678108314263 Centerline is valid? [True, True] Translation: X:445.61, Y:-19.50, Z:2.96 [[ 9.99990678e-01 -1.38739302e-03 -4.08881850e-03 4.45608390e+02] [ 1.38867334e-03 9.99998988e-01 3.10304374e-04 -1.94979012e+01] [ 4.08838384e-03 -3.15979514e-04 9.99991593e-01 2.96082542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.020714057 meters Centerline goodness [0,1] 0.9810510302243898 Centerline is valid? [True, True] Translation: X:445.64, Y:-19.49, Z:2.96 [[ 9.99994478e-01 -1.21270173e-03 -3.09405940e-03 4.45638014e+02] [ 1.21342938e-03 9.99999237e-01 2.33309237e-04 -1.94941556e+01] [ 3.09377411e-03 -2.37062371e-04 9.99995186e-01 2.96258561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.050714057 meters Centerline goodness [0,1] 0.9810439253381021 Centerline is valid? [True, True] Translation: X:445.67, Y:-19.49, Z:2.96 [[ 9.99999028e-01 -5.94215502e-04 -1.26150829e-03 4.45668035e+02] [ 5.94336180e-04 9.99999819e-01 9.52889760e-05 -1.94899349e+01] [ 1.26145143e-03 -9.60386434e-05 9.99999200e-01 2.96413151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.080714057 meters Centerline goodness [0,1] 0.9801769037356322 Centerline is valid? [True, True] Translation: X:445.70, Y:-19.49, Z:2.96 [[ 9.99999040e-01 -9.03925325e-04 -1.05005268e-03 4.45698483e+02] [ 9.04009478e-04 9.99999588e-01 7.96692938e-05 -1.94900683e+01] [ 1.04998023e-03 -8.06184749e-05 9.99999446e-01 2.96405211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.110714057 meters Centerline goodness [0,1] 0.9812581559645412 Centerline is valid? [True, True] Translation: X:445.73, Y:-19.49, Z:2.96 [[ 9.99998113e-01 -1.37669260e-03 -1.37063847e-03 4.45728298e+02] [ 1.37683642e-03 9.99999047e-01 1.03992686e-04 -1.94912657e+01] [ 1.37049400e-03 -1.05879635e-04 9.99999055e-01 2.96307684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.140714057 meters Centerline goodness [0,1] 0.9811384456098494 Centerline is valid? [True, True] Translation: X:445.76, Y:-19.49, Z:2.96 [[ 9.99995671e-01 -2.13096731e-03 -2.02880201e-03 4.45758869e+02] [ 2.13128396e-03 9.99997717e-01 1.53928681e-04 -1.94911182e+01] [ 2.02846936e-03 -1.58251968e-04 9.99997930e-01 2.96203564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.170714057 meters Centerline goodness [0,1] 0.9795789852464916 Centerline is valid? [True, True] Translation: X:445.79, Y:-19.49, Z:2.96 [[ 9.99984259e-01 -3.95106269e-03 -3.98389691e-03 4.45788704e+02] [ 3.95230357e-03 9.99992144e-01 3.03648489e-04 -1.94948296e+01] [ 3.98266588e-03 -3.19389279e-04 9.99992018e-01 2.95946634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.200714057 meters Centerline goodness [0,1] 0.9791821060432527 Centerline is valid? [True, True] Translation: X:445.82, Y:-19.50, Z:2.96 [[ 9.99979710e-01 -4.78214067e-03 -4.20849624e-03 4.45818525e+02] [ 4.78352692e-03 9.99988508e-01 3.19390257e-04 -1.94969264e+01] [ 4.20692051e-03 -3.39515232e-04 9.99991093e-01 2.95906095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.230714057 meters Centerline goodness [0,1] 0.9791821060432527 Centerline is valid? [True, True] Translation: X:445.85, Y:-19.50, Z:2.96 [[ 9.99979710e-01 -4.78214315e-03 -4.20848041e-03 4.45848538e+02] [ 4.78353027e-03 9.99988508e-01 3.19598772e-04 -1.94992057e+01] [ 4.20690368e-03 -3.39723681e-04 9.99991093e-01 2.95870479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.26071405700003 meters Centerline goodness [0,1] 0.9780224739383546 Centerline is valid? [True, True] Translation: X:445.88, Y:-19.50, Z:2.96 [[ 9.99956412e-01 -7.78913379e-03 -5.14807318e-03 4.45878385e+02] [ 7.79124778e-03 9.99969571e-01 3.90709714e-04 -1.95018808e+01] [ 5.14487324e-03 -4.30802598e-04 9.99986672e-01 2.95744364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.290714057 meters Centerline goodness [0,1] 0.9786236132407324 Centerline is valid? [True, True] Translation: X:445.91, Y:-19.50, Z:2.96 [[ 9.99946684e-01 -8.78108186e-03 -5.43340184e-03 4.45909296e+02] [ 8.78345385e-03 9.99961340e-01 4.12846952e-04 -1.95036319e+01] [ 5.42956654e-03 -4.60548975e-04 9.99985154e-01 2.95699124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.32071405700003 meters Centerline goodness [0,1] 0.9766524688436662 Centerline is valid? [True, True] Translation: X:445.94, Y:-19.50, Z:2.96 [[ 9.99920938e-01 -1.05749058e-02 -6.80366758e-03 4.45940474e+02] [ 1.05786667e-02 9.99943911e-01 5.17029504e-04 -1.95048547e+01] [ 6.79781843e-03 -5.88962358e-04 9.99976721e-01 2.95626667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.350714057 meters Centerline goodness [0,1] 0.9778627671541057 Centerline is valid? [True, True] Translation: X:445.97, Y:-19.51, Z:2.96 [[ 9.99925333e-01 -1.03438806e-02 -6.50637196e-03 4.45971830e+02] [ 1.03473181e-02 9.99946343e-01 4.94884373e-04 -1.95051859e+01] [ 6.50090382e-03 -5.62170922e-04 9.99978711e-01 2.95622794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.380714057 meters Centerline goodness [0,1] 0.9788601692997149 Centerline is valid? [True, True] Translation: X:446.00, Y:-19.50, Z:2.96 [[ 9.99936878e-01 -9.74158190e-03 -5.59838038e-03 4.46003696e+02] [ 9.74411900e-03 9.99952434e-01 4.26086096e-04 -1.95019942e+01] [ 5.59396334e-03 -4.80610485e-04 9.99984238e-01 2.95751227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.410714057 meters Centerline goodness [0,1] 0.9760010877693929 Centerline is valid? [True, True] Translation: X:446.03, Y:-19.50, Z:2.96 [[ 9.99961467e-01 -7.63394464e-03 -4.33452176e-03 4.46033173e+02] [ 7.63544443e-03 9.99970795e-01 3.29568511e-04 -1.95044253e+01] [ 4.33187927e-03 -3.62651812e-04 9.99990552e-01 2.95812246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.440714057 meters Centerline goodness [0,1] 0.9772154771360491 Centerline is valid? [True, True] Translation: X:446.07, Y:-19.50, Z:2.96 [[ 9.99973146e-01 -6.45483338e-03 -3.47035680e-03 4.46065113e+02] [ 6.45578960e-03 9.99979126e-01 2.64407361e-04 -1.95009618e+01] [ 3.46857765e-03 -2.86804154e-04 9.99993943e-01 2.95968498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.470714057 meters Centerline goodness [0,1] 0.9770002502445572 Centerline is valid? [True, True] Translation: X:446.10, Y:-19.50, Z:2.96 [[ 9.99984056e-01 -5.02767441e-03 -2.57090324e-03 4.46096419e+02] [ 5.02819501e-03 9.99987339e-01 1.96072889e-04 -1.95022171e+01] [ 2.56988490e-03 -2.08996766e-04 9.99996676e-01 2.96030732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.500714057 meters Centerline goodness [0,1] 0.9757096069868996 Centerline is valid? [True, True] Translation: X:446.13, Y:-19.50, Z:2.96 [[ 9.99997514e-01 -1.95714654e-03 -1.06881668e-03 4.46126088e+02] [ 1.95723440e-03 9.99998081e-01 8.11559745e-05 -1.95020954e+01] [ 1.06865580e-03 -8.32476975e-05 9.99999426e-01 2.96089826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.530714057 meters Centerline goodness [0,1] 0.9748547567175018 Centerline is valid? [True, True] Translation: X:446.16, Y:-19.50, Z:2.96 [[ 9.99999564e-01 -7.18838655e-04 -5.96883394e-04 4.46156953e+02] [ 7.18866018e-04 9.99999741e-01 4.56304235e-05 -1.95034129e+01] [ 5.96850438e-04 -4.60594828e-05 9.99999821e-01 2.96045422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.560714057 meters Centerline goodness [0,1] 0.9737345664950567 Centerline is valid? [True, True] Translation: X:446.19, Y:-19.50, Z:2.96 [[ 9.99998699e-01 1.29200644e-03 -9.65765699e-04 4.46186329e+02] [-1.29193627e-03 9.99999163e-01 7.32828466e-05 -1.95044883e+01] [ 9.65859572e-04 -7.20350435e-05 9.99999531e-01 2.95823486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.590714057 meters Centerline goodness [0,1] 0.9774088497187493 Centerline is valid? [True, True] Translation: X:446.22, Y:-19.50, Z:2.96 [[ 9.99996871e-01 1.79529498e-03 -1.74215817e-03 4.46216413e+02] [-1.79506760e-03 9.99998380e-01 1.32069968e-04 -1.94963328e+01] [ 1.74239245e-03 -1.28942263e-04 9.99998474e-01 2.95907336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.620714057 meters Centerline goodness [0,1] 0.9767505658048145 Centerline is valid? [True, True] Translation: X:446.25, Y:-19.50, Z:2.96 [[ 9.99993270e-01 2.03299445e-03 -3.05385567e-03 4.46245773e+02] [-2.03229975e-03 9.99997908e-01 2.30567820e-04 -1.94964014e+01] [ 3.05431802e-03 -2.24359918e-04 9.99995310e-01 2.95874625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.650714057 meters Centerline goodness [0,1] 0.9764410455427462 Centerline is valid? [True, True] Translation: X:446.27, Y:-19.50, Z:2.96 [[ 9.99991949e-01 1.70599584e-03 -3.63196678e-03 4.46274369e+02] [-1.70500829e-03 9.99998509e-01 2.74984077e-04 -1.94992250e+01] [ 3.63243049e-03 -2.68789330e-04 9.99993367e-01 2.95759476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.680714057 meters Centerline goodness [0,1] 0.972609014290949 Centerline is valid? [True, True] Translation: X:446.30, Y:-19.51, Z:2.95 [[ 9.99985904e-01 4.49961742e-04 -5.29052733e-03 4.46301510e+02] [-4.47847125e-04 9.99999819e-01 4.00876464e-04 -1.95128058e+01] [ 5.29070675e-03 -3.98501466e-04 9.99985925e-01 2.95335280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.710714057 meters Centerline goodness [0,1] 0.975678953028119 Centerline is valid? [True, True] Translation: X:446.33, Y:-19.51, Z:2.95 [[ 9.99982844e-01 -3.60601466e-04 -5.84650951e-03 4.46330536e+02] [ 3.63191210e-04 9.99999836e-01 4.41899925e-04 -1.95054441e+01] [ 5.84634921e-03 -4.44015745e-04 9.99982811e-01 2.95448172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.740714057 meters Centerline goodness [0,1] 0.9756192393019693 Centerline is valid? [True, True] Translation: X:446.36, Y:-19.51, Z:2.95 [[ 9.99977145e-01 -1.35520437e-03 -6.62360610e-03 4.46358492e+02] [ 1.35854927e-03 9.99998952e-01 5.00523897e-04 -1.95090460e+01] [ 6.62292084e-03 -5.09510953e-04 9.99977938e-01 2.95343167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.770714057 meters Centerline goodness [0,1] 0.9757974290476517 Centerline is valid? [True, True] Translation: X:446.39, Y:-19.51, Z:2.95 [[ 9.99976818e-01 -1.75375063e-03 -6.57940219e-03 4.46387477e+02] [ 1.75705659e-03 9.99998333e-01 4.96724611e-04 -1.95109680e+01] [ 6.57852009e-03 -5.08273478e-04 9.99978232e-01 2.95315067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.800714057 meters Centerline goodness [0,1] 0.9754627833192577 Centerline is valid? [True, True] Translation: X:446.42, Y:-19.51, Z:2.95 [[ 9.99981149e-01 -2.22169302e-03 -5.72417637e-03 4.46415800e+02] [ 2.22418276e-03 9.99997435e-01 4.28623688e-04 -1.95129932e+01] [ 5.72320941e-03 -4.41347222e-04 9.99983525e-01 2.95407754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.830714057 meters Centerline goodness [0,1] 0.9770149117189644 Centerline is valid? [True, True] Translation: X:446.45, Y:-19.51, Z:2.96 [[ 9.99986878e-01 -1.95183622e-03 -4.73639830e-03 4.46445448e+02] [ 1.95353069e-03 9.99998029e-01 3.53156226e-04 -1.95087077e+01] [ 4.73569966e-03 -3.62404291e-04 9.99988721e-01 2.95563681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.860714057 meters Centerline goodness [0,1] 0.973929491123721 Centerline is valid? [True, True] Translation: X:446.47, Y:-19.52, Z:2.95 [[ 9.99985392e-01 -1.14865247e-03 -5.28175225e-03 4.46473884e+02] [ 1.15075994e-03 9.99999259e-01 3.95987817e-04 -1.95162950e+01] [ 5.28129349e-03 -4.02060061e-04 9.99985973e-01 2.95437040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.890714057 meters Centerline goodness [0,1] 0.9767788373372456 Centerline is valid? [True, True] Translation: X:446.50, Y:-19.51, Z:2.96 [[ 9.99984617e-01 -9.95871669e-04 -5.45662527e-03 4.46503431e+02] [ 9.98098646e-04 9.99999420e-01 4.05415615e-04 -1.95094044e+01] [ 5.45621836e-03 -4.10855629e-04 9.99985030e-01 2.95611619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.920714057 meters Centerline goodness [0,1] 0.9757432230473869 Centerline is valid? [True, True] Translation: X:446.53, Y:-19.51, Z:2.96 [[ 9.99983883e-01 -7.17970159e-04 -5.63191529e-03 4.46531898e+02] [ 7.20330799e-04 9.99999654e-01 4.17136815e-04 -1.95091302e+01] [ 5.63161384e-03 -4.21186934e-04 9.99984054e-01 2.95682518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.950714057 meters Centerline goodness [0,1] 0.9760622381807301 Centerline is valid? [True, True] Translation: X:446.56, Y:-19.51, Z:2.96 [[ 9.99985304e-01 -7.88019069e-04 -5.36378095e-03 4.46560273e+02] [ 7.90153208e-04 9.99999610e-01 3.95772121e-04 -1.95094293e+01] [ 5.36346698e-03 -4.00004513e-04 9.99985537e-01 2.95695527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.980714057 meters Centerline goodness [0,1] 0.976425400768187 Centerline is valid? [True, True] Translation: X:446.59, Y:-19.51, Z:2.96 [[ 9.99986289e-01 -3.55225405e-04 -5.22455120e-03 4.46588912e+02] [ 3.57254665e-04 9.99999861e-01 3.87480229e-04 -1.95120149e+01] [ 5.22441283e-03 -3.89341411e-04 9.99986277e-01 2.95588512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.01071405700003 meters Centerline goodness [0,1] 0.9764987788581171 Centerline is valid? [True, True] Translation: X:446.62, Y:-19.51, Z:2.95 [[ 9.99984192e-01 -7.55601907e-04 -5.57171623e-03 4.46617495e+02] [ 7.57912801e-04 9.99999628e-01 4.12654581e-04 -1.95125232e+01] [ 5.57140235e-03 -4.16870933e-04 9.99984393e-01 2.95477281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.040714057 meters Centerline goodness [0,1] 0.9754714371340311 Centerline is valid? [True, True] Translation: X:446.65, Y:-19.52, Z:2.95 [[ 9.99978583e-01 -1.11671914e-03 -6.44869815e-03 4.46646171e+02] [ 1.11982227e-03 9.99999259e-01 4.77612545e-04 -1.95167369e+01] [ 6.44816001e-03 -4.84823712e-04 9.99979093e-01 2.95273295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.07071405700003 meters Centerline goodness [0,1] 0.9756777941718923 Centerline is valid? [True, True] Translation: X:446.67, Y:-19.52, Z:2.95 [[ 9.99975550e-01 -1.54087172e-03 -6.82087366e-03 4.46674897e+02] [ 1.54434866e-03 9.99998680e-01 5.04511841e-04 -1.95173195e+01] [ 6.82008727e-03 -5.15033313e-04 9.99976610e-01 2.95211124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.100714057 meters Centerline goodness [0,1] 0.9766093976402401 Centerline is valid? [True, True] Translation: X:446.70, Y:-19.52, Z:2.95 [[ 9.99975811e-01 -9.96238517e-04 -6.88362427e-03 4.46702952e+02] [ 9.99761368e-04 9.99999371e-01 5.08350641e-04 -1.95196348e+01] [ 6.88311350e-03 -5.15220326e-04 9.99976178e-01 2.95122977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.130714057 meters Centerline goodness [0,1] 0.9752969886729902 Centerline is valid? [True, True] Translation: X:446.73, Y:-19.52, Z:2.95 [[ 9.99974673e-01 -7.18348719e-04 -7.08079220e-03 4.46731006e+02] [ 7.22065333e-04 9.99999603e-01 5.22344215e-04 -1.95228481e+01] [ 7.08041416e-03 -5.27443780e-04 9.99974794e-01 2.95028276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.160714057 meters Centerline goodness [0,1] 0.975408132634447 Centerline is valid? [True, True] Translation: X:446.76, Y:-19.52, Z:2.95 [[ 9.99973539e-01 1.59316542e-03 -7.09808099e-03 4.46761069e+02] [-1.58948356e-03 9.99998599e-01 5.24321903e-04 -1.95221171e+01] [ 7.09890638e-03 -5.13025746e-04 9.99974671e-01 2.95068634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.190714057 meters Centerline goodness [0,1] 0.9759892875282818 Centerline is valid? [True, True] Translation: X:446.79, Y:-19.52, Z:2.95 [[ 9.99973073e-01 3.08565989e-03 -6.65823723e-03 4.46790695e+02] [-3.08245610e-03 9.99995128e-01 4.91386097e-04 -1.95222338e+01] [ 6.65972104e-03 -4.70849141e-04 9.99977713e-01 2.95093117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.220714057 meters Centerline goodness [0,1] 0.976736642105751 Centerline is valid? [True, True] Translation: X:446.82, Y:-19.52, Z:2.95 [[ 9.99958727e-01 6.69732693e-03 -6.13920737e-03 4.46820057e+02] [-6.69467088e-03 9.99977488e-01 4.53086979e-04 -1.95214223e+01] [ 6.14210363e-03 -4.11968306e-04 9.99981052e-01 2.95097020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.250714057 meters Centerline goodness [0,1] 0.978210929342151 Centerline is valid? [True, True] Translation: X:446.85, Y:-19.51, Z:2.95 [[ 9.99942821e-01 8.86332454e-03 -5.98298259e-03 4.46850129e+02] [-8.86084298e-03 9.99960645e-01 4.41149515e-04 -1.95137628e+01] [ 5.98665718e-03 -3.88110021e-04 9.99982004e-01 2.95290862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.280714057 meters Centerline goodness [0,1] 0.9777603288607654 Centerline is valid? [True, True] Translation: X:446.88, Y:-19.52, Z:2.95 [[ 9.99921752e-01 1.09382179e-02 -6.07001002e-03 4.46878733e+02] [-1.09357029e-02 9.99940103e-01 4.47357919e-04 -1.95183237e+01] [ 6.07453974e-03 -3.80943087e-04 9.99981477e-01 2.95107238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.310714057 meters Centerline goodness [0,1] 0.9796387978523116 Centerline is valid? [True, True] Translation: X:446.91, Y:-19.51, Z:2.95 [[ 9.99861936e-01 1.54755002e-02 -6.05126958e-03 4.46909353e+02] [-1.54730815e-02 9.99880185e-01 4.46309296e-04 -1.95129940e+01] [ 6.05745141e-03 -3.52615889e-04 9.99981591e-01 2.95165890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.340714057 meters Centerline goodness [0,1] 0.9804582210242587 Centerline is valid? [True, True] Translation: X:446.94, Y:-19.51, Z:2.95 [[ 9.99772641e-01 2.05064254e-02 -5.84398747e-03 4.46940083e+02] [-2.05042553e-02 9.99789673e-01 4.31017221e-04 -1.95097134e+01] [ 5.85159694e-03 -3.11092614e-04 9.99982831e-01 2.95179719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.370714057 meters Centerline goodness [0,1] 0.9799465551295458 Centerline is valid? [True, True] Translation: X:446.97, Y:-19.51, Z:2.95 [[ 9.99715605e-01 2.31905827e-02 -5.55928264e-03 4.46969108e+02] [-2.31886635e-02 9.99731023e-01 4.09442735e-04 -1.95147059e+01] [ 5.56728254e-03 -2.80413957e-04 9.99984463e-01 2.94990330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.400714057 meters Centerline goodness [0,1] 0.9807113702623906 Centerline is valid? [True, True] Translation: X:447.00, Y:-19.51, Z:2.95 [[ 9.99599152e-01 2.76683669e-02 -5.99974604e-03 4.46997923e+02] [-2.76662128e-02 9.99617119e-01 4.41743553e-04 -1.95140801e+01] [ 6.00967118e-03 -2.75576230e-04 9.99981904e-01 2.94924705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.430714057 meters Centerline goodness [0,1] 0.9826740156747832 Centerline is valid? [True, True] Translation: X:447.03, Y:-19.51, Z:2.95 [[ 9.99550424e-01 2.94758989e-02 -5.48837266e-03 4.47027589e+02] [-2.94741434e-02 9.99565463e-01 4.00474346e-04 -1.95103681e+01] [ 5.49779210e-03 -2.38529219e-04 9.99984859e-01 2.95126825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.460714057 meters Centerline goodness [0,1] 0.9834782202280801 Centerline is valid? [True, True] Translation: X:447.06, Y:-19.51, Z:2.95 [[ 9.99488868e-01 3.14865058e-02 -5.53203460e-03 4.47056857e+02] [-3.14847449e-02 9.99504150e-01 4.05139517e-04 -1.95091045e+01] [ 5.54204797e-03 -2.30757739e-04 9.99984616e-01 2.95301797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.490714057 meters Centerline goodness [0,1] 0.9834123776370816 Centerline is valid? [True, True] Translation: X:447.08, Y:-19.51, Z:2.95 [[ 9.99466479e-01 3.21755391e-02 -5.61175639e-03 4.47084962e+02] [-3.21737400e-02 9.99482207e-01 4.10594325e-04 -1.95131016e+01] [ 5.62206176e-03 -2.29824073e-04 9.99984170e-01 2.95266184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.520714057 meters Centerline goodness [0,1] 0.9836502078759284 Centerline is valid? [True, True] Translation: X:447.11, Y:-19.52, Z:2.95 [[ 9.99493247e-01 3.12591992e-02 -6.00929409e-03 4.47112028e+02] [-3.12571255e-02 9.99511280e-01 4.38715805e-04 -1.95167634e+01] [ 6.02007113e-03 -2.50660225e-04 9.99981848e-01 2.95182437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.550714057 meters Centerline goodness [0,1] 0.9828020721519578 Centerline is valid? [True, True] Translation: X:447.14, Y:-19.52, Z:2.95 [[ 9.99540299e-01 2.96670992e-02 -6.24932975e-03 4.47140565e+02] [-2.96648459e-02 9.99559799e-01 4.52974114e-04 -1.95178083e+01] [ 6.26001722e-03 -2.67380477e-04 9.99980370e-01 2.95199209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.580714057 meters Centerline goodness [0,1] 0.9829163272431048 Centerline is valid? [True, True] Translation: X:447.17, Y:-19.52, Z:2.95 [[ 9.99639808e-01 2.58351035e-02 -7.26651320e-03 4.47170148e+02] [-2.58319332e-02 9.99666160e-01 5.29824002e-04 -1.95248578e+01] [ 7.27777540e-03 -3.41925080e-04 9.99973458e-01 2.95064380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.610714057 meters Centerline goodness [0,1] 0.9821969520436221 Centerline is valid? [True, True] Translation: X:447.20, Y:-19.53, Z:2.95 [[ 9.99707288e-01 2.29138176e-02 -7.76498951e-03 4.47197704e+02] [-2.29101186e-02 9.99737369e-01 5.65000054e-04 -1.95314162e+01] [ 7.77589649e-03 -3.86937842e-04 9.99969692e-01 2.94949195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.640714057 meters Centerline goodness [0,1] 0.9813055897447807 Centerline is valid? [True, True] Translation: X:447.23, Y:-19.54, Z:2.95 [[ 9.99830305e-01 1.66929416e-02 -7.79150894e-03 4.47227358e+02] [-1.66890226e-02 9.99860567e-01 5.67737211e-04 -1.95384545e+01] [ 7.79989975e-03 -4.37608200e-04 9.99969485e-01 2.94988832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.670714057 meters Centerline goodness [0,1] 0.9807763572355012 Centerline is valid? [True, True] Translation: X:447.26, Y:-19.54, Z:2.95 [[ 9.99880901e-01 1.32169156e-02 -7.96845359e-03 4.47257726e+02] [-1.32127064e-02 9.99912540e-01 5.80653307e-04 -1.95432372e+01] [ 7.97543111e-03 -4.75299315e-04 9.99968083e-01 2.94970617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.700714057 meters Centerline goodness [0,1] 0.9811185578923042 Centerline is valid? [True, True] Translation: X:447.29, Y:-19.55, Z:2.95 [[ 9.99931834e-01 7.28595252e-03 -9.12370795e-03 4.47287842e+02] [-7.28018802e-03 9.99973278e-01 6.64868231e-04 -1.95509365e+01] [ 9.12830834e-03 -5.98400601e-04 9.99958157e-01 2.94945431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.730714057 meters Centerline goodness [0,1] 0.98027876972699 Centerline is valid? [True, True] Translation: X:447.32, Y:-19.56, Z:2.95 [[ 9.99946604e-01 3.63440204e-03 -9.67369331e-03 4.47318281e+02] [-3.62775304e-03 9.99993171e-01 7.04786236e-04 -1.95571671e+01] [ 9.67618873e-03 -6.69654833e-04 9.99952960e-01 2.94909032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.76071405700003 meters Centerline goodness [0,1] 0.9794197810320137 Centerline is valid? [True, True] Translation: X:447.35, Y:-19.56, Z:2.95 [[ 9.99947549e-01 2.19680896e-03 -1.00036749e-02 4.47347225e+02] [-2.18964205e-03 9.99997338e-01 7.27324403e-04 -1.95611785e+01] [ 1.00052461e-02 -7.05381787e-04 9.99949697e-01 2.94855191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.790714057 meters Centerline goodness [0,1] 0.979281895280236 Centerline is valid? [True, True] Translation: X:447.37, Y:-19.57, Z:2.95 [[ 9.99949844e-01 1.43776782e-03 -9.91171035e-03 4.47374472e+02] [-1.43070550e-03 9.99998718e-01 7.19577430e-04 -1.95654083e+01] [ 9.91273223e-03 -7.05360601e-04 9.99950619e-01 2.94773597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.82071405700003 meters Centerline goodness [0,1] 0.977715493475464 Centerline is valid? [True, True] Translation: X:447.40, Y:-19.57, Z:2.95 [[ 9.99952488e-01 6.44435883e-04 -9.72657300e-03 4.47402153e+02] [-6.37605983e-04 9.99999548e-01 7.05274322e-04 -1.95695064e+01] [ 9.72702311e-03 -6.99039092e-04 9.99952447e-01 2.94778557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.850714057 meters Centerline goodness [0,1] 0.9789553752535497 Centerline is valid? [True, True] Translation: X:447.43, Y:-19.57, Z:2.95 [[ 9.99951049e-01 6.97162889e-04 -9.86981668e-03 4.47431038e+02] [-6.90137548e-04 9.99999506e-01 7.15188568e-04 -1.95704076e+01] [ 9.87031040e-03 -7.08342028e-04 9.99951036e-01 2.94821222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.880714057 meters Centerline goodness [0,1] 0.9786635944700461 Centerline is valid? [True, True] Translation: X:447.46, Y:-19.57, Z:2.95 [[ 9.99955757e-01 6.98184115e-04 -9.38060283e-03 4.47458847e+02] [-6.91847898e-04 9.99999530e-01 6.78687495e-04 -1.95738735e+01] [ 9.38107227e-03 -6.72167518e-04 9.99955771e-01 2.94785041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.910714057 meters Centerline goodness [0,1] 0.9764767980906045 Centerline is valid? [True, True] Translation: X:447.49, Y:-19.58, Z:2.95 [[ 9.99967212e-01 5.31656208e-04 -8.08037279e-03 4.47486981e+02] [-5.26953234e-04 9.99999691e-01 5.84142292e-04 -1.95776010e+01] [ 8.08068085e-03 -5.79865161e-04 9.99967183e-01 2.94783519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.940714057 meters Centerline goodness [0,1] 0.9760523164778484 Centerline is valid? [True, True] Translation: X:447.51, Y:-19.58, Z:2.95 [[ 9.99972656e-01 2.99242873e-05 -7.39506221e-03 4.47514461e+02] [-2.59781670e-05 9.99999857e-01 5.33711042e-04 -1.95804801e+01] [ 7.39507713e-03 -5.33504338e-04 9.99972514e-01 2.94769530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.970714057 meters Centerline goodness [0,1] 0.9753764800551787 Centerline is valid? [True, True] Translation: X:447.54, Y:-19.59, Z:2.95 [[ 9.99969829e-01 -1.72812729e-03 -7.57325122e-03 4.47542972e+02] [ 1.73231639e-03 9.99998350e-01 5.46619330e-04 -1.95850632e+01] [ 7.57229410e-03 -5.59722106e-04 9.99971173e-01 2.94744637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.000714057 meters Centerline goodness [0,1] 0.9762611275964391 Centerline is valid? [True, True] Translation: X:447.57, Y:-19.59, Z:2.95 [[ 9.99961790e-01 -3.22834408e-03 -8.12378219e-03 4.47572321e+02] [ 3.23321054e-03 9.99994601e-01 5.85976747e-04 -1.95853005e+01] [ 8.12184660e-03 -6.12220255e-04 9.99966830e-01 2.94754741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.030714057 meters Centerline goodness [0,1] 0.9739831777854592 Centerline is valid? [True, True] Translation: X:447.60, Y:-19.59, Z:2.95 [[ 9.99933117e-01 -6.10126614e-03 -9.82528437e-03 4.47601974e+02] [ 6.10852841e-03 9.99981091e-01 7.09300665e-04 -1.95905089e+01] [ 9.82077095e-03 -7.69271253e-04 9.99951479e-01 2.94631643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.060714057 meters Centerline goodness [0,1] 0.9727210103329507 Centerline is valid? [True, True] Translation: X:447.63, Y:-19.59, Z:2.95 [[ 9.99919930e-01 -7.47595138e-03 -1.02100024e-02 4.47630908e+02] [ 7.48385414e-03 9.99971725e-01 7.36033792e-04 -1.95936685e+01] [ 1.02042111e-02 -8.12385026e-04 9.99947606e-01 2.94548715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.090714057 meters Centerline goodness [0,1] 0.9749706146719215 Centerline is valid? [True, True] Translation: X:447.66, Y:-19.59, Z:2.95 [[ 9.99884414e-01 -1.01154564e-02 -1.13506267e-02 4.47661199e+02] [ 1.01253954e-02 9.99948402e-01 8.18507930e-04 -1.95928204e+01] [ 1.13417614e-02 -9.33342905e-04 9.99935245e-01 2.94587895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.120714057 meters Centerline goodness [0,1] 0.9749706146719215 Centerline is valid? [True, True] Translation: X:447.69, Y:-19.59, Z:2.95 [[ 9.99884063e-01 -1.01499865e-02 -1.13506690e-02 4.47690382e+02] [ 1.01599211e-02 9.99948052e-01 8.17920589e-04 -1.95948934e+01] [ 1.13417775e-02 -9.33147664e-04 9.99935245e-01 2.94553276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.150714057 meters Centerline goodness [0,1] 0.9614170870476585 Centerline is valid? [True, True] Translation: X:447.72, Y:-19.60, Z:2.94 [[ 9.99867278e-01 -1.13079628e-02 -1.17284391e-02 4.47718576e+02] [ 1.13186443e-02 9.99935585e-01 8.44754601e-04 -1.96048646e+01] [ 1.17181312e-02 -9.77392515e-04 9.99930863e-01 2.94312504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.180714057 meters Centerline goodness [0,1] 0.971901702019853 Centerline is valid? [True, True] Translation: X:447.75, Y:-19.60, Z:2.94 [[ 9.99853803e-01 -1.18043325e-02 -1.23705349e-02 4.47749599e+02] [ 1.18162587e-02 9.99929788e-01 8.91431187e-04 -1.96018859e+01] [ 1.23591436e-02 -1.03747430e-03 9.99923085e-01 2.94419411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.210714057 meters Centerline goodness [0,1] 0.9697715047584019 Centerline is valid? [True, True] Translation: X:447.78, Y:-19.60, Z:2.94 [[ 9.99851306e-01 -1.16935753e-02 -1.26738552e-02 4.47779648e+02] [ 1.17060847e-02 9.99931064e-01 9.13288700e-04 -1.96035702e+01] [ 1.26623019e-02 -1.06151412e-03 9.99919266e-01 2.94408036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.240714057 meters Centerline goodness [0,1] 0.9721921437622394 Centerline is valid? [True, True] Translation: X:447.81, Y:-19.60, Z:2.94 [[ 9.99870524e-01 -9.67625496e-03 -1.28570742e-02 4.47809713e+02] [ 9.68895770e-03 9.99952632e-01 9.26074505e-04 -1.96036120e+01] [ 1.28475043e-02 -1.05052625e-03 9.99916916e-01 2.94430073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.270714057 meters Centerline goodness [0,1] 0.9691923015162985 Centerline is valid? [True, True] Translation: X:447.84, Y:-19.61, Z:2.94 [[ 9.99882361e-01 -8.33367495e-03 -1.28768705e-02 4.47838083e+02] [ 8.34629283e-03 9.99964740e-01 9.26457602e-04 -1.96052007e+01] [ 1.28686956e-02 -1.03382275e-03 9.99916660e-01 2.94405854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.300714057 meters Centerline goodness [0,1] 0.9726405969324305 Centerline is valid? [True, True] Translation: X:447.87, Y:-19.60, Z:2.94 [[ 9.99894389e-01 -4.47736095e-03 -1.38261805e-02 4.47869264e+02] [ 4.49154673e-03 9.99989418e-01 9.95127019e-04 -1.96025229e+01] [ 1.38215786e-02 -1.05712286e-03 9.99903919e-01 2.94421147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.330714057 meters Centerline goodness [0,1] 0.9733835880970662 Centerline is valid? [True, True] Translation: X:447.90, Y:-19.60, Z:2.94 [[ 9.99889684e-01 -2.57515461e-03 -1.46283421e-02 4.47898329e+02] [ 2.59082104e-03 9.99996090e-01 1.05211466e-03 -1.96026982e+01] [ 1.46255756e-02 -1.08989801e-03 9.99892447e-01 2.94404059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.360714057 meters Centerline goodness [0,1] 0.9753680831763311 Centerline is valid? [True, True] Translation: X:447.93, Y:-19.60, Z:2.94 [[ 9.99891742e-01 2.06087850e-03 -1.45690152e-02 4.47927181e+02] [-2.04583892e-03 9.99997359e-01 1.04712734e-03 -1.96006615e+01] [ 1.45711347e-02 -1.01720813e-03 9.99893318e-01 2.94445999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.390714057 meters Centerline goodness [0,1] 0.979411077354522 Centerline is valid? [True, True] Translation: X:447.96, Y:-19.59, Z:2.95 [[ 9.99864292e-01 6.91637165e-03 -1.49519862e-02 4.47958945e+02] [-6.90106493e-03 9.99975609e-01 1.07507871e-03 -1.95873765e+01] [ 1.49590572e-02 -9.71748190e-04 9.99887635e-01 2.94844981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.420714057 meters Centerline goodness [0,1] 0.9785271045545019 Centerline is valid? [True, True] Translation: X:447.99, Y:-19.59, Z:2.95 [[ 9.99842307e-01 9.06497554e-03 -1.52704686e-02 4.47987641e+02] [-9.04928018e-03 9.99958453e-01 1.09660991e-03 -1.95892910e+01] [ 1.52797749e-02 -9.58250233e-04 9.99882798e-01 2.94729041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.450714057 meters Centerline goodness [0,1] 0.9801532441361858 Centerline is valid? [True, True] Translation: X:448.02, Y:-19.59, Z:2.95 [[ 9.99831422e-01 1.04837389e-02 -1.50737535e-02 4.48017193e+02] [-1.04686897e-02 9.99944622e-01 1.07692857e-03 -1.95851220e+01] [ 1.50842090e-02 -9.18944577e-04 9.99885805e-01 2.94892633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.480714057 meters Centerline goodness [0,1] 0.9806612308198416 Centerline is valid? [True, True] Translation: X:448.05, Y:-19.59, Z:2.95 [[ 9.99791884e-01 1.46492156e-02 -1.41982233e-02 4.48046816e+02] [-1.46362541e-02 9.99892368e-01 1.01638662e-03 -1.95856476e+01] [ 1.42115844e-02 -8.08366295e-04 9.99898684e-01 2.94826008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.51071405700003 meters Centerline goodness [0,1] 0.9813556532574707 Centerline is valid? [True, True] Translation: X:448.08, Y:-19.58, Z:2.95 [[ 9.99771653e-01 1.63999837e-02 -1.36997266e-02 4.48076309e+02] [-1.63881020e-02 9.99865227e-01 9.79120165e-04 -1.95804007e+01] [ 1.37139378e-02 -7.54384070e-04 9.99905675e-01 2.95080801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.540714057 meters Centerline goodness [0,1] 0.981086358182973 Centerline is valid? [True, True] Translation: X:448.10, Y:-19.58, Z:2.95 [[ 9.99726852e-01 1.91565411e-02 -1.33883694e-02 4.48104539e+02] [-1.91454468e-02 9.99816252e-01 9.56342668e-04 -1.95835780e+01] [ 1.34042295e-02 -6.99755131e-04 9.99909914e-01 2.94947061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.57071405700003 meters Centerline goodness [0,1] 0.9808996702779086 Centerline is valid? [True, True] Translation: X:448.13, Y:-19.58, Z:2.95 [[ 9.99692335e-01 2.12876288e-02 -1.27307607e-02 4.48133343e+02] [-2.12777783e-02 9.99773189e-01 9.08715848e-04 -1.95836576e+01] [ 1.27472177e-02 -6.37553963e-04 9.99918548e-01 2.95010562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.600714057 meters Centerline goodness [0,1] 0.9823892263502378 Centerline is valid? [True, True] Translation: X:448.16, Y:-19.58, Z:2.95 [[ 9.99655597e-01 2.29544847e-02 -1.27192128e-02 4.48162036e+02] [-2.29448000e-02 9.99736322e-01 9.06840440e-04 -1.95835621e+01] [ 1.27366751e-02 -6.14688327e-04 9.99918696e-01 2.94987609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.630714057 meters Centerline goodness [0,1] 0.9825325443786982 Centerline is valid? [True, True] Translation: X:448.19, Y:-19.58, Z:2.95 [[ 9.99608739e-01 2.42579798e-02 -1.39255112e-02 4.48191526e+02] [-2.42465104e-02 9.99705518e-01 9.91890809e-04 -1.95786165e+01] [ 1.39454717e-02 -6.53857667e-04 9.99902543e-01 2.95191534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.660714057 meters Centerline goodness [0,1] 0.9838774687625957 Centerline is valid? [True, True] Translation: X:448.22, Y:-19.58, Z:2.95 [[ 9.99503855e-01 2.77087766e-02 -1.49755898e-02 4.48220602e+02] [-2.76958992e-02 9.99615826e-01 1.06664498e-03 -1.95790022e+01] [ 1.49993920e-02 -6.51353343e-04 9.99887291e-01 2.94945228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.690714057 meters Centerline goodness [0,1] 0.9838070137949047 Centerline is valid? [True, True] Translation: X:448.25, Y:-19.58, Z:2.95 [[ 9.99468560e-01 2.84531282e-02 -1.59065092e-02 4.48249325e+02] [-2.84387963e-02 9.99594901e-01 1.12652259e-03 -1.95797517e+01] [ 1.59321186e-02 -6.73561938e-04 9.99872849e-01 2.94849422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.720714057 meters Centerline goodness [0,1] 0.985110368210162 Centerline is valid? [True, True] Translation: X:448.28, Y:-19.58, Z:2.95 [[ 9.99421730e-01 3.00475221e-02 -1.59170519e-02 4.48277674e+02] [-3.00334373e-02 9.99548263e-01 1.12323593e-03 -1.95808185e+01] [ 1.59436120e-02 -6.44542620e-04 9.99872685e-01 2.94789074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.750714057 meters Centerline goodness [0,1] 0.9855893436988932 Centerline is valid? [True, True] Translation: X:448.31, Y:-19.59, Z:2.94 [[ 9.99387995e-01 3.09219721e-02 -1.63544029e-02 4.48305490e+02] [-3.09072841e-02 9.99521594e-01 1.15016059e-03 -1.95864391e+01] [ 1.63821441e-02 -6.43986507e-04 9.99865596e-01 2.94436503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.780714057 meters Centerline goodness [0,1] 0.9860066634935745 Centerline is valid? [True, True] Translation: X:448.33, Y:-19.59, Z:2.94 [[ 9.99335918e-01 3.19621094e-02 -1.74970353e-02 4.48334327e+02] [-3.19455278e-02 9.99488859e-01 1.22643228e-03 -1.95852639e+01] [ 1.75272912e-02 -6.66665802e-04 9.99846163e-01 2.94473655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.810714057 meters Centerline goodness [0,1] 0.9846769609700644 Centerline is valid? [True, True] Translation: X:448.36, Y:-19.59, Z:2.94 [[ 9.99296484e-01 3.32466057e-02 -1.73551172e-02 4.48363556e+02] [-3.32305511e-02 9.99446977e-01 1.21270978e-03 -1.95870328e+01] [ 1.73858379e-02 -6.35136511e-04 9.99848653e-01 2.94496617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.840714057 meters Centerline goodness [0,1] 0.9867259794942551 Centerline is valid? [True, True] Translation: X:448.39, Y:-19.59, Z:2.95 [[ 9.99292560e-01 3.39700004e-02 -1.61375133e-02 4.48392704e+02] [-3.39562769e-02 9.99422688e-01 1.12372956e-03 -1.95888669e+01] [ 1.61663700e-02 -5.74964720e-04 9.99869150e-01 2.94508102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.870714057 meters Centerline goodness [0,1] 0.9860355029585799 Centerline is valid? [True, True] Translation: X:448.42, Y:-19.59, Z:2.95 [[ 9.99288783e-01 3.45226297e-02 -1.51696138e-02 4.48421785e+02] [-3.45106222e-02 9.99403777e-01 1.05268810e-03 -1.95918569e+01] [ 1.51969108e-02 -5.28426600e-04 9.99884381e-01 2.94538001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.900714057 meters Centerline goodness [0,1] 0.9840005688686625 Centerline is valid? [True, True] Translation: X:448.45, Y:-19.60, Z:2.94 [[ 9.99317699e-01 3.37710648e-02 -1.49549682e-02 4.48448470e+02] [-3.37593057e-02 9.99429453e-01 1.03812459e-03 -1.96024107e+01] [ 1.49814943e-02 -5.32546935e-04 9.99887629e-01 2.93903743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.930714057 meters Centerline goodness [0,1] 0.9832026082026082 Centerline is valid? [True, True] Translation: X:448.48, Y:-19.61, Z:2.94 [[ 9.99418323e-01 3.12146827e-02 -1.37353586e-02 4.48475240e+02] [-3.12045427e-02 9.99512566e-01 9.51984450e-04 -1.96099228e+01] [ 1.37583794e-02 -5.22825118e-04 9.99905212e-01 2.93796002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.960714057 meters Centerline goodness [0,1] 0.9847720522370468 Centerline is valid? [True, True] Translation: X:448.50, Y:-19.61, Z:2.94 [[ 9.99470384e-01 2.95511883e-02 -1.36264286e-02 4.48504045e+02] [-2.95410854e-02 9.99563123e-01 9.42144502e-04 -1.96052373e+01] [ 1.36483170e-02 -5.39106035e-04 9.99906712e-01 2.94412735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.990714057 meters Centerline goodness [0,1] 0.9834424607847756 Centerline is valid? [True, True] Translation: X:448.53, Y:-19.61, Z:2.94 [[ 9.99593320e-01 2.54215786e-02 -1.29204505e-02 4.48533160e+02] [-2.54121432e-02 9.99676660e-01 8.93944580e-04 -1.96122771e+01] [ 1.29389982e-02 -5.65244693e-04 9.99916128e-01 2.94370161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.020714057 meters Centerline goodness [0,1] 0.9817225015270403 Centerline is valid? [True, True] Translation: X:448.56, Y:-19.62, Z:2.94 [[ 9.99636504e-01 2.32916018e-02 -1.35779428e-02 4.48562398e+02] [-2.32809918e-02 9.99728520e-01 9.38972315e-04 -1.96170397e+01] [ 1.35961269e-02 -6.22523026e-04 9.99907375e-01 2.94299117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.050714057 meters Centerline goodness [0,1] 0.9805237469495025 Centerline is valid? [True, True] Translation: X:448.59, Y:-19.62, Z:2.94 [[ 9.99722752e-01 1.94192457e-02 -1.33158339e-02 4.48591945e+02] [-1.94086992e-02 9.99811209e-01 9.20806520e-04 -1.96235781e+01] [ 1.33312014e-02 -6.62108214e-04 9.99910916e-01 2.94290036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.080714057 meters Centerline goodness [0,1] 0.9801477809474817 Centerline is valid? [True, True] Translation: X:448.62, Y:-19.63, Z:2.94 [[ 9.99764553e-01 1.74497512e-02 -1.28975022e-02 4.48619814e+02] [-1.74397138e-02 9.99847520e-01 8.90313042e-04 -1.96302868e+01] [ 1.29110713e-02 -6.65174674e-04 9.99916427e-01 2.94181096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.110714057 meters Centerline goodness [0,1] 0.9786519213270806 Centerline is valid? [True, True] Translation: X:448.65, Y:-19.64, Z:2.94 [[ 9.99848219e-01 1.34566409e-02 -1.10660414e-02 4.48649766e+02] [-1.34490046e-02 9.99909266e-01 7.64200611e-04 -1.96357983e+01] [ 1.10753209e-02 -6.15257379e-04 9.99938477e-01 2.94317930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.140714057 meters Centerline goodness [0,1] 0.97686423140419 Centerline is valid? [True, True] Translation: X:448.68, Y:-19.64, Z:2.94 [[ 9.99887598e-01 1.12581827e-02 -9.90170361e-03 4.48677486e+02] [-1.12519747e-02 9.99936462e-01 6.82447499e-04 -1.96442191e+01] [ 9.90875759e-03 -5.70957072e-04 9.99950744e-01 2.94162619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.170714057 meters Centerline goodness [0,1] 0.9774201799874427 Centerline is valid? [True, True] Translation: X:448.71, Y:-19.65, Z:2.94 [[ 9.99897768e-01 1.05137201e-02 -9.69093759e-03 4.48705580e+02] [-1.05077493e-02 9.99944570e-01 6.66834435e-04 -1.96477235e+01] [ 9.69741133e-03 -5.64936321e-04 9.99952819e-01 2.94109203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.200714057 meters Centerline goodness [0,1] 0.9787076295729942 Centerline is valid? [True, True] Translation: X:448.73, Y:-19.65, Z:2.94 [[ 9.99915494e-01 9.96071379e-03 -8.35396365e-03 4.48733340e+02] [-9.95626847e-03 9.99950271e-01 5.73540998e-04 -1.96495817e+01] [ 8.35926109e-03 -4.90318226e-04 9.99964941e-01 2.94064070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.230714057 meters Centerline goodness [0,1] 0.9759823808971833 Centerline is valid? [True, True] Translation: X:448.76, Y:-19.65, Z:2.94 [[ 9.99922525e-01 9.27846368e-03 -8.29789340e-03 4.48760932e+02] [-9.27405886e-03 9.99956833e-01 5.69157506e-04 -1.96540187e+01] [ 8.30281611e-03 -4.92158258e-04 9.99965410e-01 2.93992101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.26071405700003 meters Centerline goodness [0,1] 0.9766952581323839 Centerline is valid? [True, True] Translation: X:448.79, Y:-19.66, Z:2.94 [[ 9.99929085e-01 9.13743466e-03 -7.63752913e-03 4.48788345e+02] [-9.13370470e-03 9.99958150e-01 5.23110842e-04 -1.96601222e+01] [ 7.64198939e-03 -4.53314810e-04 9.99970697e-01 2.93843357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.290714057 meters Centerline goodness [0,1] 0.9770983545941948 Centerline is valid? [True, True] Translation: X:448.82, Y:-19.66, Z:2.94 [[ 9.99929951e-01 9.42788513e-03 -7.15597401e-03 4.48817740e+02] [-9.42461839e-03 9.99955467e-01 4.90091179e-04 -1.96605055e+01] [ 7.16027585e-03 -4.22614524e-04 9.99974276e-01 2.93877424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.32071405700003 meters Centerline goodness [0,1] 0.9761718390275348 Centerline is valid? [True, True] Translation: X:448.84, Y:-19.67, Z:2.94 [[ 9.99928897e-01 9.60275391e-03 -7.07026358e-03 4.48844776e+02] [-9.59957676e-03 9.99953806e-01 4.83168023e-04 -1.96665594e+01] [ 7.07457672e-03 -4.15262131e-04 9.99974889e-01 2.93675836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.350714057 meters Centerline goodness [0,1] 0.976041282712864 Centerline is valid? [True, True] Translation: X:448.87, Y:-19.67, Z:2.93 [[ 9.99936604e-01 8.30671546e-03 -7.60173361e-03 4.48874275e+02] [-8.30300200e-03 9.99965394e-01 5.19931393e-04 -1.96688394e+01] [ 7.60578947e-03 -4.56781222e-04 9.99970971e-01 2.93485493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.380714057 meters Centerline goodness [0,1] 0.9745856608651493 Centerline is valid? [True, True] Translation: X:448.90, Y:-19.68, Z:2.93 [[ 9.99954387e-01 6.37777178e-03 -7.10970115e-03 4.48902203e+02] [-6.37447922e-03 9.99979565e-01 4.85672692e-04 -1.96772476e+01] [ 7.11265337e-03 -4.40329897e-04 9.99974608e-01 2.93163511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.410714057 meters Centerline goodness [0,1] 0.9750322164948454 Centerline is valid? [True, True] Translation: X:448.93, Y:-19.68, Z:2.93 [[ 9.99963503e-01 4.86915311e-03 -7.02026997e-03 4.48931349e+02] [-4.86590853e-03 9.99988047e-01 4.79178447e-04 -1.96772312e+01] [ 7.02251925e-03 -4.45000967e-04 9.99975243e-01 2.93198229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.440714057 meters Centerline goodness [0,1] 0.9745557629814008 Centerline is valid? [True, True] Translation: X:448.96, Y:-19.68, Z:2.93 [[ 9.99971927e-01 2.27024610e-03 -7.14082879e-03 4.48961927e+02] [-2.26681859e-03 9.99997312e-01 4.88044354e-04 -1.96803607e+01] [ 7.14191758e-03 -4.71843689e-04 9.99974385e-01 2.93094491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.470714057 meters Centerline goodness [0,1] 0.9734444393571723 Centerline is valid? [True, True] Translation: X:448.99, Y:-19.68, Z:2.93 [[ 9.99973839e-01 1.43061107e-03 -7.09049909e-03 4.48989270e+02] [-1.42722249e-03 9.99998865e-01 4.82941853e-04 -1.96842342e+01] [ 7.09118195e-03 -4.72809499e-04 9.99974745e-01 2.93001877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.500714057 meters Centerline goodness [0,1] 0.9742633517495396 Centerline is valid? [True, True] Translation: X:449.02, Y:-19.68, Z:2.93 [[ 9.99978241e-01 7.86027353e-04 -6.54977510e-03 4.49017638e+02] [-7.83126581e-04 9.99999594e-01 4.45434079e-04 -1.96839037e+01] [ 6.55012256e-03 -4.40295083e-04 9.99978451e-01 2.93039634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.530714057 meters Centerline goodness [0,1] 0.9751093714022565 Centerline is valid? [True, True] Translation: X:449.05, Y:-19.69, Z:2.93 [[ 9.99990042e-01 1.16498526e-03 -4.30809576e-03 4.49046594e+02] [-1.16373575e-03 9.99999280e-01 2.92532879e-04 -1.96861197e+01] [ 4.30843345e-03 -2.87516480e-04 9.99990677e-01 2.93066405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.560714057 meters Centerline goodness [0,1] 0.9745106129372393 Centerline is valid? [True, True] Translation: X:449.08, Y:-19.69, Z:2.93 [[ 9.99991572e-01 3.40395235e-03 -2.29550001e-03 4.49075597e+02] [-3.40360358e-03 9.99994196e-01 1.55822675e-04 -1.96866918e+01] [ 2.29601709e-03 -1.48008390e-04 9.99997353e-01 2.93094337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.590714057 meters Centerline goodness [0,1] 0.9738322497348642 Centerline is valid? [True, True] Translation: X:449.10, Y:-19.69, Z:2.93 [[ 9.99988316e-01 4.26365530e-03 -2.27779583e-03 4.49103716e+02] [-4.26331541e-03 9.99990900e-01 1.54052461e-04 -1.96888053e+01] [ 2.27843192e-03 -1.44339699e-04 9.99997394e-01 2.93030454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.620714057 meters Centerline goodness [0,1] 0.9744959027713839 Centerline is valid? [True, True] Translation: X:449.13, Y:-19.69, Z:2.93 [[ 9.99975559e-01 6.60453513e-03 -2.29388392e-03 4.49134073e+02] [-6.60419610e-03 9.99978180e-01 1.55342700e-04 -1.96877847e+01] [ 2.29485984e-03 -1.40189644e-04 9.99997357e-01 2.92973796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.650714057 meters Centerline goodness [0,1] 0.9766411227033515 Centerline is valid? [True, True] Translation: X:449.16, Y:-19.68, Z:2.93 [[ 9.99970509e-01 7.38698600e-03 -2.10093471e-03 4.49163662e+02] [-7.38670443e-03 9.99972708e-01 1.41746991e-04 -1.96829218e+01] [ 2.10192446e-03 -1.26223827e-04 9.99997783e-01 2.93066643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.680714057 meters Centerline goodness [0,1] 0.9772606352217261 Centerline is valid? [True, True] Translation: X:449.19, Y:-19.68, Z:2.93 [[ 9.99951543e-01 9.78905337e-03 -1.04230738e-03 4.49193007e+02] [-9.78898541e-03 9.99952084e-01 7.02888548e-05 -1.96843156e+01] [ 1.04294550e-03 -6.00823170e-05 9.99999454e-01 2.93023603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.710714057 meters Centerline goodness [0,1] 0.9774805986696231 Centerline is valid? [True, True] Translation: X:449.22, Y:-19.69, Z:2.93 [[ 9.99936117e-01 1.12568271e-02 -1.02306448e-03 4.49220526e+02] [-1.12567631e-02 9.99936638e-01 6.83038201e-05 -1.96863019e+01] [ 1.02376854e-03 -5.67830621e-05 9.99999474e-01 2.92904326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.740714057 meters Centerline goodness [0,1] 0.9790609871910685 Centerline is valid? [True, True] Translation: X:449.25, Y:-19.68, Z:2.93 [[ 9.99890860e-01 1.46310028e-02 -2.04988782e-03 4.49250809e+02] [-1.46307493e-02 9.99892955e-01 1.38641353e-04 -1.96824313e+01] [ 2.05169685e-03 -1.08634827e-04 9.99997889e-01 2.92797886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.770714057 meters Centerline goodness [0,1] 0.9780979559638987 Centerline is valid? [True, True] Translation: X:449.28, Y:-19.69, Z:2.93 [[ 9.99854359e-01 1.68665753e-02 -2.60385262e-03 4.49278990e+02] [-1.68661756e-02 9.99857741e-01 1.75356961e-04 -1.96871275e+01] [ 2.60643986e-03 -1.31414386e-04 9.99996595e-01 2.92561101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.800714057 meters Centerline goodness [0,1] 0.9792596726190477 Centerline is valid? [True, True] Translation: X:449.31, Y:-19.68, Z:2.92 [[ 9.99769713e-01 2.11517908e-02 -3.62253759e-03 4.49308403e+02] [-2.11510430e-02 9.99776262e-01 2.44603848e-04 -1.96849248e+01] [ 3.62690089e-03 -1.67927071e-04 9.99993409e-01 2.92414557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.830714057 meters Centerline goodness [0,1] 0.9795671398650221 Centerline is valid? [True, True] Translation: X:449.34, Y:-19.69, Z:2.92 [[ 9.99727905e-01 2.30098856e-02 -3.82908598e-03 4.49337167e+02] [-2.30090662e-02 9.99735223e-01 2.57928832e-04 -1.96850955e+01] [ 3.83400704e-03 -1.69754958e-04 9.99992636e-01 2.92332598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.860714057 meters Centerline goodness [0,1] 0.9796730930427494 Centerline is valid? [True, True] Translation: X:449.37, Y:-19.69, Z:2.92 [[ 9.99690673e-01 2.46179346e-02 -3.53776075e-03 4.49366361e+02] [-2.46172453e-02 9.99696921e-01 2.38267296e-04 -1.96854140e+01] [ 3.54255418e-03 -1.51103669e-04 9.99993714e-01 2.92307186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.890714057 meters Centerline goodness [0,1] 0.9817668207498716 Centerline is valid? [True, True] Translation: X:449.40, Y:-19.68, Z:2.93 [[ 9.99619843e-01 2.74527597e-02 -2.55235675e-03 4.49396261e+02] [-2.74524103e-02 9.99623097e-01 1.71815941e-04 -1.96788921e+01] [ 2.55611158e-03 -1.01682279e-04 9.99996728e-01 2.92579749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.920714057 meters Centerline goodness [0,1] 0.9815806631892697 Centerline is valid? [True, True] Translation: X:449.43, Y:-19.68, Z:2.93 [[ 9.99528324e-01 3.07062440e-02 -5.06312745e-04 4.49425328e+02] [-3.07062308e-02 9.99528452e-01 3.37337014e-05 -1.96798362e+01] [ 5.07109829e-04 -1.81708340e-05 9.99999871e-01 2.92625639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.950714057 meters Centerline goodness [0,1] 0.9817148736175089 Centerline is valid? [True, True] Translation: X:449.45, Y:-19.68, Z:2.93 [[ 9.99496408e-01 3.17312017e-02 2.48308997e-04 4.49454076e+02] [-3.17311984e-02 9.99496439e-01 -1.75457593e-05 -1.96805679e+01] [-2.48740706e-04 9.65778138e-06 9.99999969e-01 2.92671043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.980714057 meters Centerline goodness [0,1] 0.9810884099303381 Centerline is valid? [True, True] Translation: X:449.48, Y:-19.68, Z:2.93 [[ 9.99465432e-01 3.26644996e-02 1.37124104e-03 4.49481542e+02] [-3.26644024e-02 9.99466372e-01 -9.32830575e-05 -1.96829948e+01] [-1.37355635e-03 4.84424223e-05 9.99999055e-01 2.92706669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.01071405700003 meters Centerline goodness [0,1] 0.9812577411137856 Centerline is valid? [True, True] Translation: X:449.51, Y:-19.69, Z:2.93 [[ 9.99463209e-01 3.26944266e-02 2.09020539e-03 4.49510776e+02] [-3.26942028e-02 9.99465392e-01 -1.41147161e-04 -1.96852440e+01] [-2.09370268e-03 7.27337951e-05 9.99997806e-01 2.92787779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.040714057 meters Centerline goodness [0,1] 0.9812577411137856 Centerline is valid? [True, True] Translation: X:449.54, Y:-19.69, Z:2.93 [[ 9.99466529e-01 3.25927654e-02 2.09017939e-03 4.49538189e+02] [-3.25925406e-02 9.99468712e-01 -1.41534628e-04 -1.96869927e+01] [-2.09368191e-03 7.33348669e-05 9.99997806e-01 2.92755257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.07071405700003 meters Centerline goodness [0,1] 0.9804410667661321 Centerline is valid? [True, True] Translation: X:449.57, Y:-19.69, Z:2.93 [[ 9.99517438e-01 3.08074484e-02 3.97403934e-03 4.49567003e+02] [-3.08066286e-02 9.99525327e-01 -2.67348029e-04 -1.96908742e+01] [-3.98038928e-03 1.44792263e-04 9.99992068e-01 2.92948561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.100714057 meters Centerline goodness [0,1] 0.9798116060006977 Centerline is valid? [True, True] Translation: X:449.60, Y:-19.70, Z:2.93 [[ 9.99560308e-01 2.92291819e-02 4.98461632e-03 4.49595241e+02] [-2.92278753e-02 9.99572718e-01 -3.34778422e-04 -1.96953567e+01] [-4.99227178e-03 1.88941478e-04 9.99987521e-01 2.92994984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.130714057 meters Centerline goodness [0,1] 0.9786063995173678 Centerline is valid? [True, True] Translation: X:449.62, Y:-19.71, Z:2.93 [[ 9.99685162e-01 2.47731316e-02 3.98359335e-03 4.49623407e+02] [-2.47722640e-02 9.99693085e-01 -2.67002540e-04 -1.97050425e+01] [-3.98898521e-03 1.68235852e-04 9.99992030e-01 2.92845144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.160714057 meters Centerline goodness [0,1] 0.9789854905307837 Centerline is valid? [True, True] Translation: X:449.65, Y:-19.71, Z:2.93 [[ 9.99810927e-01 1.94353948e-02 6.13249533e-04 4.49653068e+02] [-1.94353732e-02 9.99811114e-01 -4.11105883e-05 -1.97114872e+01] [-6.13932700e-04 2.91840818e-05 9.99999811e-01 2.92577711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.190714057 meters Centerline goodness [0,1] 0.9792436276320651 Centerline is valid? [True, True] Translation: X:449.68, Y:-19.72, Z:2.92 [[ 9.99858113e-01 1.68160974e-02 -9.86262639e-04 4.49682132e+02] [-1.68160411e-02 9.99858598e-01 6.53798383e-05 -1.97155523e+01] [ 9.87222613e-04 -4.87855287e-05 9.99999512e-01 2.92415855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.220714057 meters Centerline goodness [0,1] 0.9791057154046396 Centerline is valid? [True, True] Translation: X:449.71, Y:-19.72, Z:2.92 [[ 9.99889335e-01 1.47545603e-02 -1.90284766e-03 4.49710339e+02] [-1.47543460e-02 9.99891141e-01 1.26628893e-04 -1.97235825e+01] [ 1.90450887e-03 -9.85396069e-05 9.99998182e-01 2.92145993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.250714057 meters Centerline goodness [0,1] 0.9791920259066168 Centerline is valid? [True, True] Translation: X:449.74, Y:-19.73, Z:2.92 [[ 9.99928390e-01 1.14280211e-02 -3.55189300e-03 4.49740211e+02] [-1.14272502e-02 9.99934679e-01 2.37263548e-04 -1.97285626e+01] [ 3.55437244e-03 -1.96658187e-04 9.99993664e-01 2.91965299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.280714057 meters Centerline goodness [0,1] 0.978685977977795 Centerline is valid? [True, True] Translation: X:449.77, Y:-19.73, Z:2.92 [[ 9.99934462e-01 1.08399676e-02 -3.68337582e-03 4.49769030e+02] [-1.08391378e-02 9.99941225e-01 2.45170632e-04 -1.97323184e+01] [ 3.68581697e-03 -2.05229946e-04 9.99993186e-01 2.91889752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.310714057 meters Centerline goodness [0,1] 0.9798800585973265 Centerline is valid? [True, True] Translation: X:449.80, Y:-19.74, Z:2.92 [[ 9.99930261e-01 1.15036305e-02 -2.67188282e-03 4.49796596e+02] [-1.15031980e-02 9.99933820e-01 1.77183159e-04 -1.97355063e+01] [ 2.67374424e-03 -1.46435606e-04 9.99996415e-01 2.91885009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.340714057 meters Centerline goodness [0,1] 0.9799220719688287 Centerline is valid? [True, True] Translation: X:449.83, Y:-19.74, Z:2.92 [[ 9.99911714e-01 1.31826014e-02 -1.66857117e-03 4.49825425e+02] [-1.31824356e-02 9.99913102e-01 1.10360921e-04 -1.97371137e+01] [ 1.66988102e-03 -8.83553454e-05 9.99998602e-01 2.91988466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.370714057 meters Centerline goodness [0,1] 0.978163237248522 Centerline is valid? [True, True] Translation: X:449.85, Y:-19.74, Z:2.92 [[ 9.99904726e-01 1.37457871e-02 -1.26195419e-03 4.49852891e+02] [-1.37456933e-02 9.99905520e-01 8.29585609e-05 -1.97436470e+01] [ 1.26297529e-03 -6.56042218e-05 9.99999200e-01 2.91854356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.400714057 meters Centerline goodness [0,1] 0.9793273963508161 Centerline is valid? [True, True] Translation: X:449.88, Y:-19.74, Z:2.92 [[ 9.99891204e-01 1.47397773e-02 -5.64479323e-04 4.49882170e+02] [-1.47397591e-02 9.99891363e-01 3.62540629e-05 -1.97426672e+01] [ 5.64952376e-04 -2.79298294e-05 9.99999840e-01 2.91941364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.430714057 meters Centerline goodness [0,1] 0.9795488377418985 Centerline is valid? [True, True] Translation: X:449.91, Y:-19.75, Z:2.92 [[ 9.99890718e-01 1.47828327e-02 1.43415996e-04 4.49910417e+02] [-1.47828314e-02 9.99890728e-01 -1.03130635e-05 -1.97450875e+01] [-1.43552781e-04 8.19184196e-06 9.99999990e-01 2.91968631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.460714057 meters Centerline goodness [0,1] 0.9782618644455632 Centerline is valid? [True, True] Translation: X:449.94, Y:-19.75, Z:2.92 [[ 9.99893937e-01 1.45222026e-02 1.10466895e-03 4.49938172e+02] [-1.45221294e-02 9.99894546e-01 -7.42752857e-05 -1.97478024e+01] [-1.10563110e-03 5.82252624e-05 9.99999387e-01 2.92015350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.490714057 meters Centerline goodness [0,1] 0.9777009546921862 Centerline is valid? [True, True] Translation: X:449.97, Y:-19.75, Z:2.92 [[ 9.99905681e-01 1.34338894e-02 2.85661636e-03 4.49965042e+02] [-1.34334005e-02 9.99909750e-01 -1.90231238e-04 -1.97547008e+01] [-2.85891410e-03 1.51839224e-04 9.99995902e-01 2.92073819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.520714057 meters Centerline goodness [0,1] 0.9787112542543228 Centerline is valid? [True, True] Translation: X:449.99, Y:-19.75, Z:2.92 [[ 9.99915168e-01 1.25731287e-02 3.40190151e-03 4.49993551e+02] [-1.25724334e-02 9.99920938e-01 -2.25702051e-04 -1.97544522e+01] [-3.40447033e-03 1.82912724e-04 9.99994188e-01 2.92161012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.550714057 meters Centerline goodness [0,1] 0.9776543940290356 Centerline is valid? [True, True] Translation: X:450.02, Y:-19.76, Z:2.92 [[ 9.99940499e-01 9.74586289e-03 4.90075235e-03 4.50021835e+02] [-9.74438986e-03 9.99952470e-01 -3.24360551e-04 -1.97611866e+01] [-4.90368058e-03 2.76586410e-04 9.99987939e-01 2.92230101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.580714057 meters Centerline goodness [0,1] 0.9802009523592536 Centerline is valid? [True, True] Translation: X:450.05, Y:-19.76, Z:2.92 [[ 9.99969483e-01 5.99584257e-03 5.00822228e-03 4.50052070e+02] [-5.99425972e-03 9.99981979e-01 -3.31001630e-04 -1.97582360e+01] [-5.01011666e-03 3.00970944e-04 9.99987404e-01 2.92288812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.610714057 meters Centerline goodness [0,1] 0.9788250278618055 Centerline is valid? [True, True] Translation: X:450.08, Y:-19.77, Z:2.92 [[ 9.99981049e-01 3.82993062e-03 4.82011884e-03 4.50080851e+02] [-3.82844013e-03 9.99992621e-01 -3.18410051e-04 -1.97675187e+01] [-4.82130276e-03 2.99950481e-04 9.99988332e-01 2.92123240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.640714057 meters Centerline goodness [0,1] 0.9802845759817871 Centerline is valid? [True, True] Translation: X:450.11, Y:-19.77, Z:2.92 [[ 9.99995077e-01 5.66717273e-04 3.08620653e-03 4.50111620e+02] [-5.66091397e-04 9.99999819e-01 -2.03667743e-04 -1.97658892e+01] [-3.08632140e-03 2.01919665e-04 9.99995217e-01 2.92072177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.670714057 meters Centerline goodness [0,1] 0.9799130395398342 Centerline is valid? [True, True] Translation: X:450.14, Y:-19.77, Z:2.92 [[ 9.99996426e-01 2.37645884e-05 2.67328985e-03 4.50141966e+02] [-2.32930011e-05 9.99999984e-01 -1.76438094e-04 -1.97704143e+01] [-2.67329400e-03 1.76375195e-04 9.99996411e-01 2.91999345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.700714057 meters Centerline goodness [0,1] 0.9789917872861745 Centerline is valid? [True, True] Translation: X:450.17, Y:-19.77, Z:2.92 [[ 9.99996931e-01 -8.42574302e-04 2.32972214e-03 4.50173262e+02] [ 8.42934446e-04 9.99999633e-01 -1.53609139e-04 -1.97730202e+01] [-2.32959186e-03 1.55572471e-04 9.99997274e-01 2.91932619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.730714057 meters Centerline goodness [0,1] 0.9794475389337274 Centerline is valid? [True, True] Translation: X:450.20, Y:-19.78, Z:2.92 [[ 9.99998054e-01 -7.33367104e-04 1.83137681e-03 4.50204602e+02] [ 7.33589426e-04 9.99999724e-01 -1.20727345e-04 -1.97753461e+01] [-1.83128777e-03 1.22070589e-04 9.99998316e-01 2.91889841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.76071405700003 meters Centerline goodness [0,1] 0.9793531718151531 Centerline is valid? [True, True] Translation: X:450.24, Y:-19.78, Z:2.92 [[ 9.99998424e-01 3.17101383e-05 1.77486256e-03 4.50235475e+02] [-3.15021188e-05 9.99999993e-01 -1.17230991e-04 -1.97774772e+01] [-1.77486626e-03 1.17174895e-04 9.99998418e-01 2.91872426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.790714057 meters Centerline goodness [0,1] 0.9799631977100798 Centerline is valid? [True, True] Translation: X:450.27, Y:-19.78, Z:2.92 [[ 9.99998265e-01 3.78150129e-04 1.82388370e-03 4.50267186e+02] [-3.77931285e-04 9.99999921e-01 -1.20331231e-04 -1.97793247e+01] [-1.82392906e-03 1.19641719e-04 9.99998329e-01 2.91801853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.820714057 meters Centerline goodness [0,1] 0.9801851809723139 Centerline is valid? [True, True] Translation: X:450.30, Y:-19.78, Z:2.92 [[ 9.99998155e-01 1.63729889e-03 1.00448964e-03 4.50298064e+02] [-1.63723291e-03 9.99998658e-01 -6.65011175e-05 -1.97795436e+01] [-1.00459717e-03 6.48564113e-05 9.99999493e-01 2.91746645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.850714057 meters Centerline goodness [0,1] 0.980244228460092 Centerline is valid? [True, True] Translation: X:450.33, Y:-19.78, Z:2.92 [[ 9.99996515e-01 2.44259461e-03 1.00156522e-03 4.50327923e+02] [-2.44252942e-03 9.99997015e-01 -6.63075100e-05 -1.97817982e+01] [-1.00172420e-03 6.38609265e-05 9.99999496e-01 2.91716176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.880714057 meters Centerline goodness [0,1] 0.9787610619469027 Centerline is valid? [True, True] Translation: X:450.36, Y:-19.79, Z:2.92 [[ 9.99995986e-01 1.90441800e-03 2.09786658e-03 4.50357645e+02] [-1.90413045e-03 9.99998177e-01 -1.39054590e-04 -1.97851867e+01] [-2.09812758e-03 1.35059420e-04 9.99997790e-01 2.91757865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.910714057 meters Centerline goodness [0,1] 0.9790659128578889 Centerline is valid? [True, True] Translation: X:450.39, Y:-19.79, Z:2.92 [[ 9.99993994e-01 1.01819008e-03 3.31295280e-03 4.50388451e+02] [-1.01746919e-03 9.99999458e-01 -2.19273116e-04 -1.97865939e+01] [-3.31317427e-03 2.15900971e-04 9.99994488e-01 2.91849826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.940714057 meters Centerline goodness [0,1] 0.9783210750930719 Centerline is valid? [True, True] Translation: X:450.42, Y:-19.79, Z:2.92 [[ 9.99984607e-01 -1.63565637e-03 5.30189972e-03 4.50419533e+02] [ 1.63753860e-03 9.99998598e-01 -3.50689538e-04 -1.97909445e+01] [-5.30131868e-03 3.59366206e-04 9.99985883e-01 2.92001136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.970714057 meters Centerline goodness [0,1] 0.9765399205202312 Centerline is valid? [True, True] Translation: X:450.45, Y:-19.80, Z:2.92 [[ 9.99977887e-01 -3.92630693e-03 5.36750046e-03 4.50449352e+02] [ 3.92826847e-03 9.99992221e-01 -3.54954190e-04 -1.97970554e+01] [-5.36606505e-03 3.76031323e-04 9.99985532e-01 2.91931565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.000714057 meters Centerline goodness [0,1] 0.9782381298890304 Centerline is valid? [True, True] Translation: X:450.48, Y:-19.80, Z:2.92 [[ 9.99952491e-01 -8.84191594e-03 4.10308039e-03 4.50480350e+02] [ 8.84310526e-03 9.99960862e-01 -2.71809095e-04 -1.97964846e+01] [-4.10051649e-03 3.08080153e-04 9.99991545e-01 2.91868168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.030714057 meters Centerline goodness [0,1] 0.9723206176203452 Centerline is valid? [True, True] Translation: X:450.51, Y:-19.81, Z:2.92 [[ 9.99933417e-01 -1.07933180e-02 4.08236582e-03 4.50510009e+02] [ 1.07945123e-02 9.99941701e-01 -2.70625342e-04 -1.98092299e+01] [-4.07920687e-03 3.14674471e-04 9.99991630e-01 2.91689334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.060714057 meters Centerline goodness [0,1] 0.9770364834567565 Centerline is valid? [True, True] Translation: X:450.54, Y:-19.81, Z:2.92 [[ 9.99889631e-01 -1.44980793e-02 3.24535698e-03 4.50541276e+02] [ 1.44988539e-02 9.99894863e-01 -2.15279508e-04 -1.98057867e+01] [-3.24189463e-03 2.62309705e-04 9.99994711e-01 2.91665123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.090714057 meters Centerline goodness [0,1] 0.9765362621403286 Centerline is valid? [True, True] Translation: X:450.57, Y:-19.81, Z:2.92 [[ 9.99875757e-01 -1.55926418e-02 2.31105791e-03 4.50572961e+02] [ 1.55930364e-02 9.99878410e-01 -1.52818426e-04 -1.98097774e+01] [-2.30839406e-03 1.88835849e-04 9.99997318e-01 2.91555655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.120714057 meters Centerline goodness [0,1] 0.9764066568549756 Centerline is valid? [True, True] Translation: X:450.60, Y:-19.81, Z:2.91 [[ 9.99888656e-01 -1.49205680e-02 -2.27420330e-04 4.50603804e+02] [ 1.49205719e-02 9.99888682e-01 1.57424676e-05 -1.98130113e+01] [ 2.27160127e-04 -1.91339562e-05 9.99999974e-01 2.91287749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.150714057 meters Centerline goodness [0,1] 0.9769508785488601 Centerline is valid? [True, True] Translation: X:450.63, Y:-19.81, Z:2.91 [[ 9.99925023e-01 -1.19612090e-02 -2.62243627e-03 4.50634214e+02] [ 1.19617070e-02 9.99928441e-01 1.74268013e-04 -1.98126450e+01] [ 2.62016416e-03 -2.05623762e-04 9.99996546e-01 2.91148531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.180714057 meters Centerline goodness [0,1] 0.9766613744613291 Centerline is valid? [True, True] Translation: X:450.67, Y:-19.81, Z:2.91 [[ 9.99951904e-01 -9.53833334e-03 -2.28249485e-03 4.50665429e+02] [ 9.53870483e-03 9.99954494e-01 1.51924659e-04 -1.98117776e+01] [ 2.28094188e-03 -1.73689397e-04 9.99997384e-01 2.91190364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.210714057 meters Centerline goodness [0,1] 0.9771551036228084 Centerline is valid? [True, True] Translation: X:450.70, Y:-19.81, Z:2.91 [[ 9.99992908e-01 -3.63440458e-03 -9.87046149e-04 4.50695797e+02] [ 3.63447126e-03 9.99993393e-01 6.57727894e-05 -1.98101926e+01] [ 9.86800582e-04 -6.93597138e-05 9.99999511e-01 2.91313853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.240714057 meters Centerline goodness [0,1] 0.9768136427887465 Centerline is valid? [True, True] Translation: X:450.73, Y:-19.81, Z:2.91 [[ 9.99999978e-01 -9.29325771e-05 -1.90062576e-04 4.50726925e+02] [ 9.29349919e-05 9.99999996e-01 1.26962507e-05 -1.98092750e+01] [ 1.90061396e-04 -1.27139139e-05 9.99999982e-01 2.91332796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.270714057 meters Centerline goodness [0,1] 0.9763672274058435 Centerline is valid? [True, True] Translation: X:450.76, Y:-19.81, Z:2.91 [[ 9.99980737e-01 6.16093394e-03 7.54296326e-04 4.50756709e+02] [-6.16089770e-03 9.99981020e-01 -5.03639555e-05 -1.98057330e+01] [-7.54592298e-04 4.57158428e-05 9.99999714e-01 2.91386083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.300714057 meters Centerline goodness [0,1] 0.9770617024196131 Centerline is valid? [True, True] Translation: X:450.79, Y:-19.81, Z:2.91 [[ 9.99963489e-01 8.51822397e-03 6.79342163e-04 4.50785226e+02] [-8.51819487e-03 9.99963718e-01 -4.57170680e-05 -1.98063456e+01] [-6.79706944e-04 3.99286299e-05 9.99999768e-01 2.91304215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.330714057 meters Centerline goodness [0,1] 0.9776664149561795 Centerline is valid? [True, True] Translation: X:450.81, Y:-19.81, Z:2.91 [[ 9.99923906e-01 1.22390205e-02 1.54532575e-03 4.50814053e+02] [-1.22388758e-02 9.99925097e-01 -1.03079368e-04 -1.98055239e+01] [-1.54647159e-03 8.41584740e-05 9.99998801e-01 2.91226005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.360714057 meters Centerline goodness [0,1] 0.9782791830787095 Centerline is valid? [True, True] Translation: X:450.84, Y:-19.81, Z:2.91 [[ 9.99910875e-01 1.31486797e-02 2.31413488e-03 4.50842465e+02] [-1.31483579e-02 9.99913545e-01 -1.54226124e-04 -1.98073136e+01] [-2.31596268e-03 1.23785305e-04 9.99997310e-01 2.91158051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.390714057 meters Centerline goodness [0,1] 0.9765185151279352 Centerline is valid? [True, True] Translation: X:450.87, Y:-19.81, Z:2.91 [[ 9.99919846e-01 1.25940653e-02 1.30019211e-03 4.50869695e+02] [-1.25939627e-02 9.99920689e-01 -8.70726137e-05 -1.98103629e+01] [-1.30118559e-03 7.06910635e-05 9.99999151e-01 2.90970691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.420714057 meters Centerline goodness [0,1] 0.9783122033976019 Centerline is valid? [True, True] Translation: X:450.90, Y:-19.81, Z:2.91 [[ 9.99951475e-01 9.84032691e-03 4.63644869e-04 4.50899678e+02] [-9.84031355e-03 9.99951582e-01 -3.10979733e-05 -1.98063445e+01] [-4.63928434e-04 2.65340534e-05 9.99999892e-01 2.91006197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.450714057 meters Centerline goodness [0,1] 0.9788613045071455 Centerline is valid? [True, True] Translation: X:450.93, Y:-19.81, Z:2.91 [[ 9.99965749e-01 8.27278040e-03 2.49341059e-04 4.50929426e+02] [-8.27277644e-03 9.99965780e-01 -1.69156976e-05 -1.98080107e+01] [-2.49472466e-04 1.48523754e-05 9.99999969e-01 2.90983659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.480714057 meters Centerline goodness [0,1] 0.9776741847763991 Centerline is valid? [True, True] Translation: X:450.96, Y:-19.81, Z:2.91 [[ 9.99980877e-01 6.18240818e-03 -1.50346714e-04 4.50959072e+02] [-6.18240682e-03 9.99980889e-01 9.52435606e-06 -1.98122076e+01] [ 1.50402724e-04 -8.59466939e-06 9.99999989e-01 2.90905707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.51071405700003 meters Centerline goodness [0,1] 0.9784514243973703 Centerline is valid? [True, True] Translation: X:450.99, Y:-19.81, Z:2.91 [[ 9.99986133e-01 5.26000574e-03 -2.58085947e-04 4.50987759e+02] [-5.26000174e-03 9.99986166e-01 1.62128735e-05 -1.98145710e+01] [ 2.58167656e-04 -1.48551162e-05 9.99999967e-01 2.90869123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.540714057 meters Centerline goodness [0,1] 0.9795656849957667 Centerline is valid? [True, True] Translation: X:451.02, Y:-19.81, Z:2.91 [[ 9.99990268e-01 4.40414484e-03 2.59912658e-04 4.51016204e+02] [-4.40414023e-03 9.99990302e-01 -1.83075854e-05 -1.98141040e+01] [-2.59990766e-04 1.71627154e-05 9.99999966e-01 2.90941241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.570714057 meters Centerline goodness [0,1] 0.9771832662028561 Centerline is valid? [True, True] Translation: X:451.04, Y:-19.82, Z:2.91 [[ 9.99995785e-01 2.89319305e-03 -2.42267089e-04 4.51044706e+02] [-2.89318942e-03 9.99995815e-01 1.53333606e-05 -1.98223600e+01] [ 2.42310437e-04 -1.46323714e-05 9.99999971e-01 2.90861472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.600714057 meters Centerline goodness [0,1] 0.9792689079484475 Centerline is valid? [True, True] Translation: X:451.07, Y:-19.82, Z:2.91 [[ 9.99997587e-01 2.10412488e-03 -6.31692840e-04 4.51074919e+02] [-2.10409929e-03 9.99997786e-01 4.11778678e-05 -1.98172030e+01] [ 6.31778084e-04 -3.98486239e-05 9.99999800e-01 2.90935855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.630714057 meters Centerline goodness [0,1] 0.9766903506761403 Centerline is valid? [True, True] Translation: X:451.10, Y:-19.83, Z:2.91 [[ 9.99997971e-01 1.69891052e-03 -1.08221584e-03 4.51102647e+02] [-1.69883512e-03 9.99998554e-01 7.05830467e-05 -1.98262693e+01] [ 1.08233419e-03 -6.87443972e-05 9.99999412e-01 2.90757233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.660714057 meters Centerline goodness [0,1] 0.9792028521802725 Centerline is valid? [True, True] Translation: X:451.13, Y:-19.82, Z:2.91 [[ 9.99996001e-01 2.58239886e-03 -1.15265061e-03 4.51132924e+02] [-2.58231367e-03 9.99996663e-01 7.53918656e-05 -1.98234516e+01] [ 1.15284145e-03 -7.24150587e-05 9.99999333e-01 2.90775688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.690714057 meters Centerline goodness [0,1] 0.9806295399515739 Centerline is valid? [True, True] Translation: X:451.16, Y:-19.82, Z:2.91 [[ 9.99991701e-01 3.96269843e-03 -9.45568941e-04 4.51162585e+02] [-3.96264182e-03 9.99992147e-01 6.17314954e-05 -1.98230656e+01] [ 9.45806139e-04 -5.79840321e-05 9.99999551e-01 2.90807696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.720714057 meters Centerline goodness [0,1] 0.9791252257813751 Centerline is valid? [True, True] Translation: X:451.19, Y:-19.83, Z:2.91 [[ 9.99975654e-01 6.88177057e-03 -1.15452116e-03 4.51191635e+02] [-6.88168805e-03 9.99976318e-01 7.54305373e-05 -1.98252312e+01] [ 1.15501291e-03 -6.74836464e-05 9.99999331e-01 2.90851198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.750714057 meters Centerline goodness [0,1] 0.9797274159304157 Centerline is valid? [True, True] Translation: X:451.22, Y:-19.83, Z:2.91 [[ 9.99963501e-01 8.48307173e-03 -1.01654235e-03 4.51220296e+02] [-8.48300912e-03 9.99964016e-01 6.58846507e-05 -1.98259712e+01] [ 1.01706467e-03 -5.72589080e-05 9.99999481e-01 2.90860740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.780714057 meters Centerline goodness [0,1] 0.9805428832116788 Centerline is valid? [True, True] Translation: X:451.25, Y:-19.83, Z:2.91 [[ 9.99923138e-01 1.23590556e-02 -9.85494742e-04 4.51250226e+02] [-1.23589980e-02 9.99923623e-01 6.44547437e-05 -1.98264547e+01] [ 9.86216072e-04 -5.22700620e-05 9.99999512e-01 2.90844393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.810714057 meters Centerline goodness [0,1] 0.9807991578176493 Centerline is valid? [True, True] Translation: X:451.28, Y:-19.83, Z:2.91 [[ 9.99897274e-01 1.42386689e-02 -1.64381042e-03 4.51279006e+02] [-1.42385123e-02 9.99898622e-01 1.06895783e-04 -1.98262436e+01] [ 1.64516583e-03 -8.34793870e-05 9.99998643e-01 2.90812520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.840714057 meters Centerline goodness [0,1] 0.9812114285714286 Centerline is valid? [True, True] Translation: X:451.31, Y:-19.83, Z:2.91 [[ 9.99832778e-01 1.81395218e-02 -2.31800593e-03 4.51307512e+02] [-1.81392190e-02 9.99835459e-01 1.51612290e-04 -1.98289369e+01] [ 2.32037470e-03 -1.09540120e-04 9.99997302e-01 2.90672041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.870714057 meters Centerline goodness [0,1] 0.981159486085259 Centerline is valid? [True, True] Translation: X:451.34, Y:-19.83, Z:2.91 [[ 9.99802552e-01 1.97015473e-02 -2.58968243e-03 4.51335676e+02] [-1.97011764e-02 9.99805899e-01 1.68667137e-04 -1.98307612e+01] [ 2.59250277e-03 -1.17614044e-04 9.99996633e-01 2.90650646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.900714057 meters Centerline goodness [0,1] 0.9828235992782257 Centerline is valid? [True, True] Translation: X:451.36, Y:-19.83, Z:2.91 [[ 9.99761067e-01 2.16130451e-02 -3.26890559e-03 4.51364756e+02] [-2.16124644e-02 9.99766401e-01 2.12869116e-04 -1.98312707e+01] [ 3.27274273e-03 -1.42169148e-04 9.99994634e-01 2.90680296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.930714057 meters Centerline goodness [0,1] 0.9828235992782257 Centerline is valid? [True, True] Translation: X:451.39, Y:-19.83, Z:2.91 [[ 9.99763374e-01 2.15060310e-02 -3.26895594e-03 4.51392184e+02] [-2.15054522e-02 9.99768709e-01 2.12097658e-04 -1.98329756e+01] [ 3.27276124e-03 -1.41747095e-04 9.99994634e-01 2.90647753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.960714057 meters Centerline goodness [0,1] 0.9825033647375505 Centerline is valid? [True, True] Translation: X:451.42, Y:-19.84, Z:2.91 [[ 9.99762339e-01 2.15860662e-02 -3.05076298e-03 4.51420788e+02] [-2.15855621e-02 9.99766985e-01 1.98063783e-04 -1.98363853e+01] [ 3.05432752e-03 -1.32164278e-04 9.99995327e-01 2.90650548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.990714057 meters Centerline goodness [0,1] 0.9813022537259178 Centerline is valid? [True, True] Translation: X:451.45, Y:-19.85, Z:2.90 [[ 9.99770816e-01 2.13210238e-02 -1.93099262e-03 4.51447871e+02] [-2.13208236e-02 9.99772678e-01 1.24186906e-04 -1.98491975e+01] [ 1.93320145e-03 -8.29880915e-05 9.99998128e-01 2.90462680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.020714057 meters Centerline goodness [0,1] 0.9826787741203178 Centerline is valid? [True, True] Translation: X:451.48, Y:-19.85, Z:2.91 [[ 9.99783974e-01 2.07367133e-02 -1.41242723e-03 4.51476785e+02] [-2.07366054e-02 9.99784969e-01 9.09751703e-05 -1.98477588e+01] [ 1.41401005e-03 -6.16665710e-05 9.99998998e-01 2.90690405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.050714057 meters Centerline goodness [0,1] 0.9844444444444445 Centerline is valid? [True, True] Translation: X:451.50, Y:-19.85, Z:2.91 [[ 9.99822487e-01 1.88286238e-02 -6.90265775e-04 4.51505000e+02] [-1.88285979e-02 9.99822725e-01 4.39735924e-05 -1.98539995e+01] [ 6.90971371e-04 -3.09690498e-05 9.99999761e-01 2.90760906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.080714057 meters Centerline goodness [0,1] 0.9839731307621216 Centerline is valid? [True, True] Translation: X:451.53, Y:-19.86, Z:2.91 [[ 9.99873359e-01 1.58724917e-02 -1.15311010e-03 4.51533778e+02] [-1.58724170e-02 9.99874023e-01 7.38958412e-05 -1.98628129e+01] [ 1.15413774e-03 -5.55838387e-05 9.99999332e-01 2.90725251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.110714057 meters Centerline goodness [0,1] 0.9842133669155347 Centerline is valid? [True, True] Translation: X:451.56, Y:-19.87, Z:2.91 [[ 9.99900149e-01 1.40809311e-02 -1.19180602e-03 4.51562967e+02] [-1.40808495e-02 9.99900857e-01 7.68321870e-05 -1.98679560e+01] [ 1.19276973e-03 -6.00428740e-05 9.99999287e-01 2.90691349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.140714057 meters Centerline goodness [0,1] 0.9847290529767118 Centerline is valid? [True, True] Translation: X:451.59, Y:-19.88, Z:2.91 [[ 9.99938980e-01 1.09258455e-02 -1.63161162e-03 4.51591484e+02] [-1.09256882e-02 9.99940307e-01 1.05285850e-04 -1.98796001e+01] [ 1.63266456e-03 -8.74529453e-05 9.99998663e-01 2.90528771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.170714057 meters Centerline goodness [0,1] 0.983722338064169 Centerline is valid? [True, True] Translation: X:451.62, Y:-19.88, Z:2.90 [[ 9.99956211e-01 9.02655314e-03 -2.46941739e-03 4.51620923e+02] [-9.02618676e-03 9.99959250e-01 1.59470027e-04 -1.98826710e+01] [ 2.47075623e-03 -1.37173621e-04 9.99996938e-01 2.90490889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.200714057 meters Centerline goodness [0,1] 0.9841088398780706 Centerline is valid? [True, True] Translation: X:451.65, Y:-19.89, Z:2.90 [[ 9.99975111e-01 6.27845943e-03 -3.21842610e-03 4.51651156e+02] [-6.27782113e-03 9.99980273e-01 2.08390914e-04 -1.98910463e+01] [ 3.21967098e-03 -1.88181024e-04 9.99994799e-01 2.90413894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.230714057 meters Centerline goodness [0,1] 0.9830208543332661 Centerline is valid? [True, True] Translation: X:451.68, Y:-19.90, Z:2.90 [[ 9.99981131e-01 4.99598608e-03 -3.57463554e-03 4.51680095e+02] [-4.99519343e-03 9.99987497e-01 2.30635763e-04 -1.98955284e+01] [ 3.57574310e-03 -2.12775415e-04 9.99993584e-01 2.90368838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.26071405700003 meters Centerline goodness [0,1] 0.9833157906523637 Centerline is valid? [True, True] Translation: X:451.71, Y:-19.90, Z:2.90 [[ 9.99983980e-01 3.91125108e-03 -4.09167628e-03 4.51708551e+02] [-3.91020515e-03 9.99992320e-01 2.63591537e-04 -1.99001149e+01] [ 4.09267583e-03 -2.47588020e-04 9.99991594e-01 2.90340415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.290714057 meters Centerline goodness [0,1] 0.9829833615090311 Centerline is valid? [True, True] Translation: X:451.74, Y:-19.91, Z:2.90 [[ 9.99987321e-01 2.32090147e-03 -4.46891107e-03 4.51736535e+02] [-2.31963773e-03 9.99997268e-01 2.87948214e-04 -1.99079457e+01] [ 4.46956716e-03 -2.77578309e-04 9.99989973e-01 2.90217519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.320714057 meters Centerline goodness [0,1] 0.9830240381402188 Centerline is valid? [True, True] Translation: X:451.77, Y:-19.91, Z:2.90 [[ 9.99987214e-01 8.26429051e-04 -4.98891841e-03 4.51765092e+02] [-8.24836434e-04 9.99999608e-01 3.21280069e-04 -1.99145549e+01] [ 4.98918197e-03 -3.17160919e-04 9.99987504e-01 2.90109647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.350714057 meters Centerline goodness [0,1] 0.9834227097750384 Centerline is valid? [True, True] Translation: X:451.79, Y:-19.92, Z:2.90 [[ 9.99985618e-01 -1.05081351e-04 -5.36223033e-03 4.51793415e+02] [ 1.06930072e-04 9.99999935e-01 3.44481680e-04 -1.99160245e+01] [ 5.36219378e-03 -3.45050109e-04 9.99985564e-01 2.90175165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.380714057 meters Centerline goodness [0,1] 0.9824675034618305 Centerline is valid? [True, True] Translation: X:451.82, Y:-19.92, Z:2.90 [[ 9.99979972e-01 -2.37397164e-03 -5.86682468e-03 4.51822416e+02] [ 2.37622836e-03 9.99997105e-01 3.77717247e-04 -1.99232324e+01] [ 5.86591101e-03 -3.91650597e-04 9.99982719e-01 2.90132109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.410714057 meters Centerline goodness [0,1] 0.9821085976888413 Centerline is valid? [True, True] Translation: X:451.85, Y:-19.92, Z:2.90 [[ 9.99975982e-01 -3.67843174e-03 -5.87401556e-03 4.51851886e+02] [ 3.68071401e-03 9.99993155e-01 3.77773075e-04 -1.99240769e+01] [ 5.87258573e-03 -3.99384573e-04 9.99982676e-01 2.90169300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.440714057 meters Centerline goodness [0,1] 0.9830413923909406 Centerline is valid? [True, True] Translation: X:451.88, Y:-19.93, Z:2.90 [[ 9.99974093e-01 -5.83751697e-03 -4.21147698e-03 4.51881481e+02] [ 5.83870807e-03 9.99982918e-01 2.70582310e-04 -1.99272884e+01] [ 4.20982551e-03 -2.95164885e-04 9.99991095e-01 2.90253990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.470714057 meters Centerline goodness [0,1] 0.9805064755885887 Centerline is valid? [True, True] Translation: X:451.91, Y:-19.94, Z:2.90 [[ 9.99963968e-01 -7.90066255e-03 -3.10514111e-03 4.51910961e+02] [ 7.90132170e-03 9.99968764e-01 2.00066087e-04 -1.99395812e+01] [ 3.10346347e-03 -2.24593597e-04 9.99995159e-01 2.90147966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.500714057 meters Centerline goodness [0,1] 0.9819417605117612 Centerline is valid? [True, True] Translation: X:451.94, Y:-19.93, Z:2.90 [[ 9.99962472e-01 -8.29247325e-03 -2.50807820e-03 4.51943235e+02] [ 8.29290536e-03 9.99965600e-01 1.61938316e-04 -1.99335304e+01] [ 2.50664905e-03 -1.82731493e-04 9.99996842e-01 2.90307750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.530714057 meters Centerline goodness [0,1] 0.9816223913140213 Centerline is valid? [True, True] Translation: X:451.97, Y:-19.94, Z:2.90 [[ 9.99955755e-01 -8.93655694e-03 -2.93703359e-03 4.51973774e+02] [ 8.93715616e-03 9.99960045e-01 1.90962618e-04 -1.99375670e+01] [ 2.93520969e-03 -2.17202896e-04 9.99995669e-01 2.90260561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.560714057 meters Centerline goodness [0,1] 0.9820477543049885 Centerline is valid? [True, True] Translation: X:452.01, Y:-19.94, Z:2.90 [[ 9.99954240e-01 -9.10839179e-03 -2.92506110e-03 4.52005234e+02] [ 9.10898489e-03 9.99958494e-01 1.89506839e-04 -1.99410970e+01] [ 2.92321359e-03 -2.16142504e-04 9.99995704e-01 2.90203677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.590714057 meters Centerline goodness [0,1] 0.9826065708510119 Centerline is valid? [True, True] Translation: X:452.04, Y:-19.94, Z:2.90 [[ 9.99952654e-01 -9.26336074e-03 -2.97995073e-03 4.52037609e+02] [ 9.26397826e-03 9.99957070e-01 1.93489541e-04 -1.99402578e+01] [ 2.97803044e-03 -2.21086579e-04 9.99995541e-01 2.90190379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.620714057 meters Centerline goodness [0,1] 0.9821885784259157 Centerline is valid? [True, True] Translation: X:452.07, Y:-19.94, Z:2.90 [[ 9.99938567e-01 -1.00831390e-02 -4.60350075e-03 4.52070038e+02] [ 1.00846208e-02 9.99949104e-01 2.98788315e-04 -1.99419219e+01] [ 4.60025373e-03 -3.45194519e-04 9.99989359e-01 2.90084492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.650714057 meters Centerline goodness [0,1] 0.9818747915045035 Centerline is valid? [True, True] Translation: X:452.10, Y:-19.94, Z:2.90 [[ 9.99928092e-01 -1.06763040e-02 -5.46153183e-03 4.52101017e+02] [ 1.06783963e-02 9.99942922e-01 3.54085642e-04 -1.99446918e+01] [ 5.45743977e-03 -4.12380582e-04 9.99985023e-01 2.89961309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.680714057 meters Centerline goodness [0,1] 0.9808166803743303 Centerline is valid? [True, True] Translation: X:452.13, Y:-19.95, Z:2.90 [[ 9.99904580e-01 -1.21160287e-02 -6.63567060e-03 4.52130491e+02] [ 1.21191455e-02 9.99926468e-01 4.29694355e-04 -1.99540196e+01] [ 6.62997648e-03 -5.10072011e-04 9.99977891e-01 2.89594283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.710714057 meters Centerline goodness [0,1] 0.7201166180758017 Centerline is valid? [True, False] Translation: X:452.18, Y:-19.95, Z:2.90 [[ 9.99864573e-01 -1.50351808e-02 -6.69178494e-03 4.52181348e+02] [ 1.50205859e-02 9.99884707e-01 -2.22595675e-03 -1.99549281e+01] [ 6.72448108e-03 2.12514076e-03 9.99975132e-01 2.89597217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.740714057 meters Centerline goodness [0,1] 0.9813073725856283 Centerline is valid? [False, True] Translation: X:452.11, Y:-19.95, Z:2.89 [[ 9.99910313e-01 -1.24335187e-02 -4.97738043e-03 4.52114201e+02] [ 1.24231676e-02 9.99920613e-01 -2.10517630e-03 -1.99530112e+01] [ 5.00316004e-03 2.04315266e-03 9.99985397e-01 2.89439132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.770714057 meters Centerline goodness [0,1] 0.9771497294046904 Centerline is valid? [True, True] Translation: X:452.14, Y:-19.96, Z:2.89 [[ 9.99894118e-01 -1.38578978e-02 -4.43983706e-03 4.52143595e+02] [ 1.38593717e-02 9.99903909e-01 3.01371964e-04 -1.99634445e+01] [ 4.43523405e-03 -3.62873406e-04 9.99990098e-01 2.89078139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.800714057 meters Centerline goodness [0,1] 0.9770909252510888 Centerline is valid? [True, True] Translation: X:452.18, Y:-19.97, Z:2.89 [[ 9.99898473e-01 -1.35595415e-02 -4.37976852e-03 4.52175823e+02] [ 1.35609731e-02 9.99908002e-01 2.97326053e-04 -1.99654685e+01] [ 4.37533399e-03 -3.56689789e-04 9.99990365e-01 2.89013501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.830714057 meters Centerline goodness [0,1] 0.9761687951138257 Centerline is valid? [True, True] Translation: X:452.21, Y:-19.97, Z:2.89 [[ 9.99910893e-01 -1.28441784e-02 -3.63766743e-03 4.52207444e+02] [ 1.28451606e-02 9.99917467e-01 2.46748152e-04 -1.99659963e+01] [ 3.63419793e-03 -2.93452587e-04 9.99993353e-01 2.89032560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.860714057 meters Centerline goodness [0,1] 0.9814323015465644 Centerline is valid? [True, True] Translation: X:452.24, Y:-19.96, Z:2.89 [[ 9.99919937e-01 -1.22991190e-02 -2.97510899e-03 4.52240490e+02] [ 1.22997760e-02 9.99924334e-01 2.02636247e-04 -1.99595216e+01] [ 2.97239163e-03 -2.39213197e-04 9.99995554e-01 2.89166233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.890714057 meters Centerline goodness [0,1] 0.9796054682281694 Centerline is valid? [True, True] Translation: X:452.27, Y:-19.96, Z:2.89 [[ 9.99939463e-01 -1.09137824e-02 -1.39961678e-03 4.52270813e+02] [ 1.09139262e-02 9.99940437e-01 9.51313189e-05 -1.99624005e+01] [ 1.39849517e-03 -1.10400874e-04 9.99999016e-01 2.89200444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.920714057 meters Centerline goodness [0,1] 0.9801373386717963 Centerline is valid? [True, True] Translation: X:452.30, Y:-19.96, Z:2.89 [[ 9.99946103e-01 -1.03490201e-02 -8.30380767e-04 4.52303358e+02] [ 1.03490712e-02 9.99946445e-01 5.73406986e-05 -1.99619781e+01] [ 8.29742876e-04 -6.59312778e-05 9.99999654e-01 2.89247429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.950714057 meters Centerline goodness [0,1] 0.9803405261865976 Centerline is valid? [True, True] Translation: X:452.34, Y:-19.96, Z:2.89 [[ 9.99955451e-01 -9.24426139e-03 1.90777118e-03 4.52335519e+02] [ 9.24452386e-03 9.99957260e-01 -1.28805391e-04 -1.99597697e+01] [-1.90649893e-03 1.46436089e-04 9.99998172e-01 2.89332925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.980714057 meters Centerline goodness [0,1] 0.9799759175846229 Centerline is valid? [True, True] Translation: X:452.37, Y:-19.96, Z:2.89 [[ 9.99959454e-01 -8.48501566e-03 3.01564882e-03 4.52367902e+02] [ 8.48566927e-03 9.99963975e-01 -2.04008777e-04 -1.99609871e+01] [-3.01380916e-03 2.29590304e-04 9.99995432e-01 2.89322716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.01071405700003 meters Centerline goodness [0,1] 0.9791825393268498 Centerline is valid? [True, True] Translation: X:452.40, Y:-19.96, Z:2.89 [[ 9.99969855e-01 -6.77884645e-03 3.78621683e-03 4.52399663e+02] [ 6.77986671e-03 9.99976983e-01 -2.56695894e-04 -1.99601024e+01] [-3.78438959e-03 2.82358202e-04 9.99992799e-01 2.89208130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.040714057 meters Centerline goodness [0,1] 0.9809382848941515 Centerline is valid? [True, True] Translation: X:452.43, Y:-19.96, Z:2.89 [[ 9.99975316e-01 -5.91839240e-03 3.78687103e-03 4.52431678e+02] [ 5.91940768e-03 9.99982447e-01 -2.56952907e-04 -1.99585116e+01] [-3.78528381e-03 2.79362597e-04 9.99992797e-01 2.89137679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.070714057 meters Centerline goodness [0,1] 0.9783866194341061 Centerline is valid? [True, True] Translation: X:452.46, Y:-19.96, Z:2.89 [[ 9.99983965e-01 -4.30430652e-03 3.68000856e-03 4.52461772e+02] [ 4.30525740e-03 9.99990701e-01 -2.50508083e-04 -1.99639655e+01] [-3.67889608e-03 2.66347450e-04 9.99993197e-01 2.88860090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.100714057 meters Centerline goodness [0,1] 0.9810925788371936 Centerline is valid? [True, True] Translation: X:452.49, Y:-19.96, Z:2.89 [[ 9.99987439e-01 -3.17728637e-03 3.87631604e-03 4.52494588e+02] [ 3.17833109e-03 9.99994914e-01 -2.63384487e-04 -1.99552245e+01] [-3.87545948e-03 2.75701395e-04 9.99992452e-01 2.88893163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.130714057 meters Centerline goodness [0,1] 0.9814161479517314 Centerline is valid? [True, True] Translation: X:452.53, Y:-19.96, Z:2.89 [[ 9.99986172e-01 -2.46731817e-03 4.64422882e-03 4.52526939e+02] [ 2.46881279e-03 9.99996903e-01 -3.16116918e-04 -1.99571870e+01] [-4.64343447e-03 3.27578279e-04 9.99989166e-01 2.88802830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.160714057 meters Centerline goodness [0,1] 0.979380515036917 Centerline is valid? [True, True] Translation: X:452.56, Y:-19.96, Z:2.89 [[ 9.99990298e-01 -1.20704516e-03 4.23639194e-03 4.52558225e+02] [ 1.20827926e-03 9.99999228e-01 -2.88761916e-04 -1.99604208e+01] [-4.23604012e-03 2.93877859e-04 9.99990985e-01 2.88618727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.190714057 meters Centerline goodness [0,1] 0.9799860420090502 Centerline is valid? [True, True] Translation: X:452.59, Y:-19.96, Z:2.89 [[ 9.99991682e-01 -1.89063168e-04 4.07427419e-03 4.52590695e+02] [ 1.90196289e-04 9.99999943e-01 -2.77730301e-04 -1.99598079e+01] [-4.07422145e-03 2.78502903e-04 9.99991662e-01 2.88558455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.220714057 meters Centerline goodness [0,1] 0.980537743278209 Centerline is valid? [True, True] Translation: X:452.62, Y:-19.96, Z:2.88 [[ 9.99992639e-01 2.17355928e-03 3.16175673e-03 4.52622544e+02] [-2.17288796e-03 9.99997616e-01 -2.15745459e-04 -1.99576983e+01] [-3.16221813e-03 2.08873727e-04 9.99994978e-01 2.88397108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.250714057 meters Centerline goodness [0,1] 0.9819720216606498 Centerline is valid? [True, True] Translation: X:452.65, Y:-19.96, Z:2.88 [[ 9.99989574e-01 3.74340836e-03 2.61505712e-03 4.52653657e+02] [-3.74295342e-03 9.99992979e-01 -1.78839658e-04 -1.99566362e+01] [-2.61570823e-03 1.69049756e-04 9.99996565e-01 2.88320319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.280714057 meters Centerline goodness [0,1] 0.980288233834773 Centerline is valid? [True, True] Translation: X:452.68, Y:-19.96, Z:2.88 [[ 9.99966930e-01 7.86592086e-03 2.06554747e-03 4.52683189e+02] [-7.86564497e-03 9.99969055e-01 -1.41657167e-04 -1.99581620e+01] [-2.06659782e-03 1.25405619e-04 9.99997857e-01 2.88139817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.310714057 meters Centerline goodness [0,1] 0.9810428684537948 Centerline is valid? [True, True] Translation: X:452.71, Y:-19.96, Z:2.88 [[ 9.99951791e-01 9.53255825e-03 2.35507750e-03 4.52712309e+02] [-9.53220290e-03 9.99954554e-01 -1.62065515e-04 -1.99561374e+01] [-2.35651537e-03 1.39608625e-04 9.99997214e-01 2.88169954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.340714057 meters Centerline goodness [0,1] 0.9802359013832606 Centerline is valid? [True, True] Translation: X:452.74, Y:-19.95, Z:2.88 [[ 9.99910584e-01 1.26237247e-02 4.41191853e-03 4.52742710e+02] [-1.26225149e-02 9.99920287e-01 -3.01950133e-04 -1.99541544e+01] [-4.41537858e-03 2.46233626e-04 9.99990222e-01 2.88337866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.370714057 meters Centerline goodness [0,1] 0.9811247986569568 Centerline is valid? [True, True] Translation: X:452.77, Y:-19.95, Z:2.88 [[ 9.99885455e-01 1.39646530e-02 5.83663140e-03 4.52771887e+02] [-1.39625569e-02 9.99902439e-01 -3.99715155e-04 -1.99528075e+01] [-5.84164386e-03 3.18175071e-04 9.99982887e-01 2.88437927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.400714057 meters Centerline goodness [0,1] 0.9811590259828594 Centerline is valid? [True, True] Translation: X:452.80, Y:-19.95, Z:2.88 [[ 9.99881851e-01 1.41466873e-02 6.01293501e-03 4.52800221e+02] [-1.41444688e-02 9.99899877e-01 -4.11328970e-04 -1.99547091e+01] [-6.01815192e-03 3.26230601e-04 9.99981838e-01 2.88382249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.430714057 meters Centerline goodness [0,1] 0.9791192794104268 Centerline is valid? [True, True] Translation: X:452.83, Y:-19.96, Z:2.88 [[ 9.99897858e-01 1.30137493e-02 5.90897156e-03 4.52827804e+02] [-1.30115922e-02 9.99915264e-01 -4.03344111e-04 -1.99639853e+01] [-5.91371988e-03 3.26417784e-04 9.99982461e-01 2.88177070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.460714057 meters Centerline goodness [0,1] 0.9825255972696245 Centerline is valid? [True, True] Translation: X:452.86, Y:-19.96, Z:2.88 [[ 9.99911001e-01 1.20538142e-02 5.71807163e-03 4.52857038e+02] [-1.20517761e-02 9.99927298e-01 -3.90748829e-04 -1.99572644e+01] [-5.72236593e-03 3.21801134e-04 9.99983575e-01 2.88253166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.490714057 meters Centerline goodness [0,1] 0.9808419574718631 Centerline is valid? [True, True] Translation: X:452.89, Y:-19.96, Z:2.88 [[ 9.99953311e-01 8.70926711e-03 4.18619671e-03 4.52885609e+02] [-8.70814719e-03 9.99962043e-01 -2.85679839e-04 -1.99615440e+01] [-4.18852588e-03 2.49212483e-04 9.99991197e-01 2.88130710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.520714057 meters Centerline goodness [0,1] 0.9799863698318946 Centerline is valid? [True, True] Translation: X:452.91, Y:-19.97, Z:2.88 [[ 9.99970227e-01 6.62896333e-03 3.94985498e-03 4.52914195e+02] [-6.62795059e-03 9.99977999e-01 -2.69435423e-04 -1.99660543e+01] [-3.95155415e-03 2.43247957e-04 9.99992163e-01 2.88010289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.550714057 meters Centerline goodness [0,1] 0.9803551962209303 Centerline is valid? [True, True] Translation: X:452.94, Y:-19.97, Z:2.88 [[ 9.99984503e-01 4.64660334e-03 3.06645811e-03 4.52943797e+02] [-4.64598365e-03 9.99989185e-01 -2.09178332e-04 -1.99685910e+01] [-3.06739692e-03 1.94928376e-04 9.99995277e-01 2.87931800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.580714057 meters Centerline goodness [0,1] 0.9796057258229169 Centerline is valid? [True, True] Translation: X:452.97, Y:-19.97, Z:2.88 [[ 9.99997316e-01 1.37575426e-03 1.86396636e-03 4.52972753e+02] [-1.37552097e-03 9.99999046e-01 -1.26434151e-04 -1.99742024e+01] [-1.86413852e-03 1.23869887e-04 9.99998255e-01 2.87815549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.610714057 meters Centerline goodness [0,1] 0.9774052312787822 Centerline is valid? [True, True] Translation: X:453.00, Y:-19.98, Z:2.88 [[ 9.99997761e-01 -1.35327141e-03 1.62692835e-03 4.53003035e+02] [ 1.35345341e-03 9.99999078e-01 -1.10771324e-04 -1.99783686e+01] [-1.62677695e-03 1.12973047e-04 9.99998670e-01 2.87731249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.640714057 meters Centerline goodness [0,1] 0.9783911385509352 Centerline is valid? [True, True] Translation: X:453.03, Y:-19.98, Z:2.88 [[ 9.99996799e-01 -1.92797284e-03 1.63856078e-03 4.53034675e+02] [ 1.92815751e-03 9.99998135e-01 -1.11133334e-04 -1.99812044e+01] [-1.63834346e-03 1.14292381e-04 9.99998651e-01 2.87700273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.670714057 meters Centerline goodness [0,1] 0.9778990450204639 Centerline is valid? [True, True] Translation: X:453.07, Y:-19.98, Z:2.88 [[ 9.99995593e-01 -2.80659651e-03 9.67698420e-04 4.53066171e+02] [ 2.80665878e-03 9.99996059e-01 -6.29938559e-05 -1.99833025e+01] [-9.67517809e-04 6.57095776e-05 9.99999530e-01 2.87614052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.700714057 meters Centerline goodness [0,1] 0.9771032287403365 Centerline is valid? [True, True] Translation: X:453.10, Y:-19.99, Z:2.88 [[ 9.99994749e-01 -3.20356342e-03 4.88203479e-04 4.53097659e+02] [ 3.20357986e-03 9.99994868e-01 -3.29025181e-05 -1.99852058e+01] [-4.88095568e-04 3.44663441e-05 9.99999880e-01 2.87583885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.730714057 meters Centerline goodness [0,1] 0.9775134987355615 Centerline is valid? [True, True] Translation: X:453.13, Y:-19.99, Z:2.87 [[ 9.99990032e-01 -4.46454291e-03 -6.76126969e-05 4.53128787e+02] [ 4.46454328e-03 9.99990034e-01 5.34220540e-06 -1.99892167e+01] [ 6.75881726e-05 -5.64401196e-06 9.99999998e-01 2.87432702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.76071405700003 meters Centerline goodness [0,1] 0.9752866880970293 Centerline is valid? [True, True] Translation: X:453.16, Y:-19.99, Z:2.87 [[ 9.99976596e-01 -6.64840565e-03 -1.61442331e-03 4.53158614e+02] [ 6.64859261e-03 9.99977892e-01 1.10470755e-04 -1.99935459e+01] [ 1.61365317e-03 -1.21201813e-04 9.99998691e-01 2.87266689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.790714057 meters Centerline goodness [0,1] 0.9741440189534593 Centerline is valid? [True, True] Translation: X:453.19, Y:-20.00, Z:2.87 [[ 9.99968647e-01 -7.72050089e-03 -1.76027040e-03 4.53190344e+02] [ 7.72072734e-03 9.99970187e-01 1.21886339e-04 -1.99970905e+01] [ 1.75927690e-03 -1.35473086e-04 9.99998443e-01 2.87220247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.820714057 meters Centerline goodness [0,1] 0.9741440189534593 Centerline is valid? [True, True] Translation: X:453.22, Y:-20.00, Z:2.87 [[ 9.99969159e-01 -7.65387786e-03 -1.76028488e-03 4.53222052e+02] [ 7.65410384e-03 9.99970700e-01 1.21674497e-04 -1.99993309e+01] [ 1.75930202e-03 -1.35144147e-04 9.99998443e-01 2.87175251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.850714057 meters Centerline goodness [0,1] 0.9720217431025032 Centerline is valid? [True, True] Translation: X:453.25, Y:-20.00, Z:2.87 [[ 9.99956527e-01 -9.10813531e-03 -1.99633396e-03 4.53253326e+02] [ 9.10842776e-03 9.99958508e-01 1.37452373e-04 -2.00019776e+01] [ 1.99499919e-03 -1.55629862e-04 9.99997998e-01 2.87183171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.880714057 meters Centerline goodness [0,1] 0.9616612689869087 Centerline is valid? [True, True] Translation: X:453.28, Y:-20.01, Z:2.87 [[ 9.99929012e-01 -1.18113467e-02 -1.56919024e-03 4.53284178e+02] [ 1.18115305e-02 9.99930236e-01 1.07923206e-04 -2.00054987e+01] [ 1.56780604e-03 -1.26450084e-04 9.99998763e-01 2.87241167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.910714057 meters Centerline goodness [0,1] 0.9601646466956323 Centerline is valid? [True, True] Translation: X:453.32, Y:-20.01, Z:2.87 [[ 9.99910316e-01 -1.33000958e-02 -1.57072509e-03 4.53315379e+02] [ 1.33002822e-02 9.99911541e-01 1.08321084e-04 -2.00082448e+01] [ 1.56914546e-03 -1.29202457e-04 9.99998761e-01 2.87228065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.940714057 meters Centerline goodness [0,1] 0.9475208684942754 Centerline is valid? [True, False] Translation: X:453.32, Y:-20.01, Z:2.87 [[ 9.99908998e-01 -1.34037431e-02 -1.52787512e-03 4.53315667e+02] [ 1.34045729e-02 9.99910012e-01 5.34139943e-04 -2.00091328e+01] [ 1.52057815e-03 -5.54571849e-04 9.99998690e-01 2.87155648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.970714057 meters Centerline goodness [0,1] 0.9761012611953939 Centerline is valid? [False, True] Translation: X:453.32, Y:-20.01, Z:2.87 [[ 9.99910594e-01 -1.32840982e-02 -1.52867638e-03 4.53316120e+02] [ 1.32854718e-02 9.99911346e-01 8.91898243e-04 -2.00096034e+01] [ 1.51669279e-03 -9.12127689e-04 9.99998434e-01 2.87085449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.000714057 meters Centerline goodness [0,1] 0.9741931059705586 Centerline is valid? [True, True] Translation: X:453.35, Y:-20.01, Z:2.87 [[ 9.99885348e-01 -1.48384912e-02 -3.01842704e-03 4.53347200e+02] [ 1.48392184e-02 9.99889869e-01 2.18660451e-04 -2.00124349e+01] [ 3.01485003e-03 -2.63426479e-04 9.99995421e-01 2.87009872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.030714057 meters Centerline goodness [0,1] 0.9699181040398956 Centerline is valid? [True, True] Translation: X:453.38, Y:-20.02, Z:2.87 [[ 9.99860671e-01 -1.60850086e-02 -4.46208378e-03 4.53377125e+02] [ 1.60866066e-02 9.99870550e-01 3.22469385e-04 -2.00150917e+01] [ 4.45631924e-03 -3.94204242e-04 9.99989993e-01 2.86924894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.060714057 meters Centerline goodness [0,1] 0.9683722205717681 Centerline is valid? [True, True] Translation: X:453.41, Y:-20.02, Z:2.87 [[ 9.99859522e-01 -1.60788743e-02 -4.73352231e-03 4.53409614e+02] [ 1.60806790e-02 9.99870639e-01 3.43447045e-04 -2.00170578e+01] [ 4.72738773e-03 -4.19517050e-04 9.99988738e-01 2.86882918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.090714057 meters Centerline goodness [0,1] 0.9679042847665454 Centerline is valid? [True, True] Translation: X:453.44, Y:-20.02, Z:2.87 [[ 9.99869065e-01 -1.54583048e-02 -4.78464130e-03 4.53442234e+02] [ 1.54601448e-02 9.99880424e-01 3.47809216e-04 -2.00194376e+01] [ 4.77869263e-03 -4.21734923e-04 9.99988493e-01 2.86847547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.120714057 meters Centerline goodness [0,1] 0.9760606129761062 Centerline is valid? [True, True] Translation: X:453.47, Y:-20.01, Z:2.87 [[ 9.99890637e-01 -1.40441889e-02 -4.63418069e-03 4.53473905e+02] [ 1.40458973e-02 9.99901295e-01 3.36322612e-04 -2.00147503e+01] [ 4.62899989e-03 -4.01377057e-04 9.99989206e-01 2.86968142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.150714057 meters Centerline goodness [0,1] 0.9765453044754219 Centerline is valid? [True, True] Translation: X:453.51, Y:-20.01, Z:2.87 [[ 9.99912759e-01 -1.19643677e-02 -5.59708964e-03 4.53505340e+02] [ 1.19668280e-02 9.99928312e-01 4.06296472e-04 -2.00119395e+01] [ 5.59182732e-03 -4.73240436e-04 9.99984254e-01 2.87013029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.180714057 meters Centerline goodness [0,1] 0.9736457142857143 Centerline is valid? [True, True] Translation: X:453.54, Y:-20.01, Z:2.87 [[ 9.99932976e-01 -1.01823589e-02 -5.51023166e-03 4.53536226e+02] [ 1.01847177e-02 9.99948054e-01 4.00190400e-04 -2.00148463e+01] [ 5.50587055e-03 -4.56283731e-04 9.99984738e-01 2.86975360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.210714057 meters Centerline goodness [0,1] 0.9771683204704152 Centerline is valid? [True, True] Translation: X:453.57, Y:-20.01, Z:2.87 [[ 9.99942636e-01 -8.79370329e-03 -6.11515256e-03 4.53567751e+02] [ 8.79658369e-03 9.99961211e-01 4.44288757e-04 -2.00117090e+01] [ 6.11100842e-03 -4.98055722e-04 9.99981204e-01 2.87044946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.240714057 meters Centerline goodness [0,1] 0.9785996689959544 Centerline is valid? [True, True] Translation: X:453.60, Y:-20.01, Z:2.87 [[ 9.99971891e-01 -4.89639215e-03 -5.67831537e-03 4.53598126e+02] [ 4.89881049e-03 9.99987916e-01 4.12060356e-04 -2.00094372e+01] [ 5.67622914e-03 -4.39865764e-04 9.99983793e-01 2.87039441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.270714057 meters Centerline goodness [0,1] 0.9787963900911686 Centerline is valid? [True, True] Translation: X:453.63, Y:-20.01, Z:2.87 [[ 9.99979415e-01 -2.96229161e-03 -5.69166395e-03 4.53628811e+02] [ 2.96469018e-03 9.99995520e-01 4.13027170e-04 -2.00085873e+01] [ 5.69041494e-03 -4.29892687e-04 9.99983717e-01 2.86999337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.300714057 meters Centerline goodness [0,1] 0.9800924116686973 Centerline is valid? [True, True] Translation: X:453.66, Y:-20.01, Z:2.87 [[ 9.99982045e-01 1.41976773e-03 -5.82188294e-03 4.53658497e+02] [-1.41733455e-03 9.99998907e-01 4.22040644e-04 -2.00088912e+01] [ 5.82247577e-03 -4.13781511e-04 9.99982964e-01 2.86951477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.330714057 meters Centerline goodness [0,1] 0.9806689734717416 Centerline is valid? [True, True] Translation: X:453.69, Y:-20.01, Z:2.87 [[ 9.99975554e-01 2.94812793e-03 -6.34041029e-03 4.53688007e+02] [-2.94530178e-03 9.99995559e-01 4.55027493e-04 -2.00059061e+01] [ 6.34172361e-03 -4.36341948e-04 9.99979796e-01 2.87022034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.360714057 meters Centerline goodness [0,1] 0.9803676725633022 Centerline is valid? [True, True] Translation: X:453.72, Y:-20.00, Z:2.87 [[ 9.99946777e-01 7.67375757e-03 -6.89618240e-03 4.53718383e+02] [-7.67050044e-03 9.99970457e-01 4.98634677e-04 -2.00043479e+01] [ 6.89980507e-03 -4.45710968e-04 9.99976097e-01 2.87015170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.390714057 meters Centerline goodness [0,1] 0.9814128975510393 Centerline is valid? [True, True] Translation: X:453.75, Y:-20.01, Z:2.87 [[ 9.99925123e-01 9.91883294e-03 -7.16693620e-03 4.53748512e+02] [-9.91537504e-03 9.99950707e-01 5.17851200e-04 -2.00052143e+01] [ 7.17171940e-03 -4.46749565e-04 9.99974183e-01 2.86948972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.420714057 meters Centerline goodness [0,1] 0.9818771726535341 Centerline is valid? [True, True] Translation: X:453.78, Y:-20.01, Z:2.87 [[ 9.99866853e-01 1.39400844e-02 -8.48239832e-03 4.53777462e+02] [-1.39353891e-02 9.99902710e-01 6.12385967e-04 -2.00066087e+01] [ 8.49010978e-03 -4.94098908e-04 9.99963836e-01 2.86821991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.450714057 meters Centerline goodness [0,1] 0.982259073117632 Centerline is valid? [True, True] Translation: X:453.81, Y:-20.01, Z:2.87 [[ 9.99843034e-01 1.55951595e-02 -8.40823927e-03 4.53806196e+02] [-1.55906139e-02 9.99878275e-01 6.05887406e-04 -2.00062736e+01] [ 8.41666469e-03 -4.74702690e-04 9.99964467e-01 2.86862148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.480714057 meters Centerline goodness [0,1] 0.9816443859527603 Centerline is valid? [True, True] Translation: X:453.83, Y:-20.01, Z:2.87 [[ 9.99790707e-01 1.85528933e-02 -8.62158713e-03 4.53834550e+02] [-1.85482215e-02 9.99827774e-01 6.21520095e-04 -2.00132934e+01] [ 8.63163326e-03 -4.61474908e-04 9.99962640e-01 2.86565699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.51071405700003 meters Centerline goodness [0,1] 0.9808558298501259 Centerline is valid? [True, True] Translation: X:453.86, Y:-20.01, Z:2.87 [[ 9.99763705e-01 1.95663368e-02 -9.47058670e-03 4.53863448e+02] [-1.95607554e-02 9.99808438e-01 6.81625068e-04 -2.00122740e+01] [ 9.48210940e-03 -4.96212175e-04 9.99954921e-01 2.86651987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.540714057 meters Centerline goodness [0,1] 0.9823743828726987 Centerline is valid? [True, True] Translation: X:453.89, Y:-20.01, Z:2.87 [[ 9.99736955e-01 2.06956851e-02 -9.88480663e-03 4.53892789e+02] [-2.06897067e-02 9.99785695e-01 7.06703587e-04 -2.00103074e+01] [ 9.89731399e-03 -5.02003942e-04 9.99950894e-01 2.86774229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.570714057 meters Centerline goodness [0,1] 0.9808170024841292 Centerline is valid? [True, True] Translation: X:453.92, Y:-20.02, Z:2.87 [[ 9.99725987e-01 2.12807130e-02 -9.75103193e-03 4.53920400e+02] [-2.12749109e-02 9.99773420e-01 6.98379238e-04 -2.00156058e+01] [ 9.76368455e-03 -4.90735537e-04 9.99952214e-01 2.86627309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.600714057 meters Centerline goodness [0,1] 0.9812014524061222 Centerline is valid? [True, True] Translation: X:453.95, Y:-20.02, Z:2.87 [[ 9.99731478e-01 2.12516132e-02 -9.23796575e-03 4.53949237e+02] [-2.12464085e-02 9.99774051e-01 6.61196933e-04 -2.00182312e+01] [ 9.24992994e-03 -4.64745793e-04 9.99957110e-01 2.86637984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.630714057 meters Centerline goodness [0,1] 0.98168076134295 Centerline is valid? [True, True] Translation: X:453.98, Y:-20.02, Z:2.87 [[ 9.99743973e-01 2.04695366e-02 -9.64290339e-03 4.53978160e+02] [-2.04638357e-02 9.99790356e-01 6.89510283e-04 -2.00184852e+01] [ 9.65499577e-03 -4.92002959e-04 9.99953268e-01 2.86736840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.660714057 meters Centerline goodness [0,1] 0.9800450595429675 Centerline is valid? [True, True] Translation: X:454.01, Y:-20.02, Z:2.87 [[ 9.99771908e-01 1.92649313e-02 -9.21924391e-03 4.54007083e+02] [-1.92596758e-02 9.99814298e-01 6.58511615e-04 -2.00231543e+01] [ 9.23021806e-03 -4.80801765e-04 9.99957285e-01 2.86673143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.690714057 meters Centerline goodness [0,1] 0.9796930993292291 Centerline is valid? [True, True] Translation: X:454.04, Y:-20.03, Z:2.86 [[ 9.99808697e-01 1.73678563e-02 -8.99597567e-03 4.54035354e+02] [-1.73627777e-02 9.99849049e-01 6.42330877e-04 -2.00295394e+01] [ 9.00577364e-03 -4.86012871e-04 9.99959329e-01 2.86483639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.720714057 meters Centerline goodness [0,1] 0.9796166368597239 Centerline is valid? [True, True] Translation: X:454.06, Y:-20.03, Z:2.86 [[ 9.99830932e-01 1.62316777e-02 -8.63942393e-03 4.54062717e+02] [-1.62269628e-02 9.99868145e-01 6.15564539e-04 -2.00340080e+01] [ 8.64827642e-03 -4.75268855e-04 9.99962490e-01 2.86410641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.750714057 meters Centerline goodness [0,1] 0.9789519391183125 Centerline is valid? [True, True] Translation: X:454.09, Y:-20.04, Z:2.86 [[ 9.99876792e-01 1.39035751e-02 -7.28637597e-03 4.54091469e+02] [-1.39001603e-02 9.99903253e-01 5.19091780e-04 -2.00392735e+01] [ 7.29288827e-03 -4.17746030e-04 9.99973319e-01 2.86491045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.780714057 meters Centerline goodness [0,1] 0.9786013122699527 Centerline is valid? [True, True] Translation: X:454.12, Y:-20.04, Z:2.86 [[ 9.99899861e-01 1.26795569e-02 -6.28467932e-03 4.54119665e+02] [-1.26769999e-02 9.99919544e-01 4.46536684e-04 -2.00426380e+01] [ 6.28983557e-03 -3.66821089e-04 9.99980152e-01 2.86493264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.810714057 meters Centerline goodness [0,1] 0.9788766093198131 Centerline is valid? [True, True] Translation: X:454.15, Y:-20.05, Z:2.86 [[ 9.99928498e-01 1.05218041e-02 -5.68241924e-03 4.54148903e+02] [-1.05196764e-02 9.99944585e-01 4.04210588e-04 -2.00483896e+01] [ 5.68635738e-03 -3.44404475e-04 9.99983773e-01 2.86467690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.840714057 meters Centerline goodness [0,1] 0.9786193563061526 Centerline is valid? [True, True] Translation: X:454.18, Y:-20.05, Z:2.86 [[ 9.99939582e-01 9.50752423e-03 -5.51721748e-03 4.54177620e+02] [-9.50550813e-03 9.99954745e-01 3.91527237e-04 -2.00521833e+01] [ 5.52069025e-03 -3.39059626e-04 9.99984703e-01 2.86371284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.870714057 meters Centerline goodness [0,1] 0.9785513602412116 Centerline is valid? [True, True] Translation: X:454.21, Y:-20.06, Z:2.86 [[ 9.99963411e-01 6.42648474e-03 -5.64605576e-03 4.54207580e+02] [-6.42432048e-03 9.99979283e-01 4.01375643e-04 -2.00562425e+01] [ 5.64851822e-03 -3.65088886e-04 9.99983980e-01 2.86312803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.900714057 meters Centerline goodness [0,1] 0.9777109942399198 Centerline is valid? [True, True] Translation: X:454.24, Y:-20.06, Z:2.86 [[ 9.99970748e-01 4.79893348e-03 -5.95595740e-03 4.54235417e+02] [-4.79650146e-03 9.99988407e-01 4.22550790e-04 -2.00628173e+01] [ 5.95791615e-03 -3.93970671e-04 9.99982174e-01 2.86126627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.930714057 meters Centerline goodness [0,1] 0.9775444338379017 Centerline is valid? [True, True] Translation: X:454.27, Y:-20.07, Z:2.86 [[ 9.99978914e-01 1.34461921e-03 -6.35323026e-03 4.54265258e+02] [-1.34177935e-03 9.99998998e-01 4.51236015e-04 -2.00659055e+01] [ 6.35383063e-03 -4.42701867e-04 9.99979716e-01 2.86040349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.960714057 meters Centerline goodness [0,1] 0.9770517928286853 Centerline is valid? [True, True] Translation: X:454.29, Y:-20.07, Z:2.86 [[ 9.99969899e-01 -1.82381398e-03 -7.54159735e-03 4.54293609e+02] [ 1.82790283e-03 9.99998186e-01 5.35315111e-04 -2.00736077e+01] [ 7.54060735e-03 -5.49084304e-04 9.99971418e-01 2.85845407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.990714057 meters Centerline goodness [0,1] 0.9775671621437338 Centerline is valid? [True, True] Translation: X:454.32, Y:-20.08, Z:2.86 [[ 9.99966297e-01 -2.77495962e-03 -7.72692335e-03 4.54321999e+02] [ 2.77927119e-03 9.99995988e-01 5.47310635e-04 -2.00780946e+01] [ 7.72537359e-03 -5.68767404e-04 9.99969997e-01 2.85724823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.020714057 meters Centerline goodness [0,1] 0.9779276517473943 Centerline is valid? [True, True] Translation: X:454.35, Y:-20.08, Z:2.86 [[ 9.99959260e-01 -4.24630838e-03 -7.96537581e-03 4.54351429e+02] [ 4.25093880e-03 9.99990805e-01 5.64476897e-04 -2.00816674e+01] [ 7.96290563e-03 -5.98314226e-04 9.99968117e-01 2.85631330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.050714057 meters Centerline goodness [0,1] 0.9776479148665241 Centerline is valid? [True, True] Translation: X:454.38, Y:-20.08, Z:2.86 [[ 9.99945391e-01 -6.69783917e-03 -8.02205133e-03 4.54381971e+02] [ 6.70261835e-03 9.99977375e-01 5.69018334e-04 -2.00822852e+01] [ 8.01805864e-03 -6.22756009e-04 9.99967661e-01 2.85707774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.080714057 meters Centerline goodness [0,1] 0.9777389885067894 Centerline is valid? [True, True] Translation: X:454.41, Y:-20.09, Z:2.86 [[ 9.99940166e-01 -7.62033809e-03 -7.84819177e-03 4.54410640e+02] [ 7.62493423e-03 9.99970775e-01 5.55875328e-04 -2.00862737e+01] [ 7.84372645e-03 -6.15684014e-04 9.99969048e-01 2.85644600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.110714057 meters Centerline goodness [0,1] 0.9760751471253961 Centerline is valid? [True, True] Translation: X:454.44, Y:-20.09, Z:2.86 [[ 9.99927129e-01 -9.50150451e-03 -7.44704275e-03 4.54440752e+02] [ 9.50569838e-03 9.99954680e-01 5.27966225e-04 -2.00908088e+01] [ 7.44168878e-03 -5.98717094e-04 9.99972131e-01 2.85593360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.140714057 meters Centerline goodness [0,1] 0.9756280209680713 Centerline is valid? [True, True] Translation: X:454.47, Y:-20.09, Z:2.86 [[ 9.99921929e-01 -1.04396724e-02 -6.86649888e-03 4.54471273e+02] [ 1.04432598e-02 9.99945349e-01 4.86807933e-04 -2.00941809e+01] [ 6.86104150e-03 -5.58478559e-04 9.99976307e-01 2.85513124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.170714057 meters Centerline goodness [0,1] 0.9763246387348905 Centerline is valid? [True, True] Translation: X:454.50, Y:-20.10, Z:2.86 [[ 9.99910455e-01 -1.20267894e-02 -5.86842911e-03 4.54502850e+02] [ 1.20294412e-02 9.99927557e-01 4.16785280e-04 -2.00952140e+01] [ 5.86299139e-03 -4.87341882e-04 9.99982694e-01 2.85551769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.200714057 meters Centerline goodness [0,1] 0.974659666825754 Centerline is valid? [True, True] Translation: X:454.53, Y:-20.10, Z:2.86 [[ 9.99906759e-01 -1.29868564e-02 -4.22079845e-03 4.54534998e+02] [ 1.29882408e-02 9.99915604e-01 3.00747585e-04 -2.00967217e+01] [ 4.21653646e-03 -3.55540289e-04 9.99991047e-01 2.85661958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.230714057 meters Centerline goodness [0,1] 0.9742900735545282 Centerline is valid? [True, True] Translation: X:454.57, Y:-20.10, Z:2.86 [[ 9.99911873e-01 -1.29156654e-02 -3.07108134e-03 4.54567247e+02] [ 1.29163995e-02 9.99916556e-01 2.19332463e-04 -2.00980773e+01] [ 3.06799225e-03 -2.58980447e-04 9.99995260e-01 2.85682999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.26071405700003 meters Centerline goodness [0,1] 0.9727312043338721 Centerline is valid? [True, True] Translation: X:454.60, Y:-20.10, Z:2.86 [[ 9.99928848e-01 -1.18806765e-02 -1.07156641e-03 4.54597995e+02] [ 1.18807655e-02 9.99929418e-01 7.67253725e-05 -2.00999810e+01] [ 1.07057923e-03 -8.94509427e-05 9.99999423e-01 2.85712358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.290714057 meters Centerline goodness [0,1] 0.9720319504813053 Centerline is valid? [True, True] Translation: X:454.63, Y:-20.10, Z:2.86 [[ 9.99937877e-01 -1.11361042e-02 -4.79756307e-04 4.54629127e+02] [ 1.11361222e-02 9.99937991e-01 3.49163904e-05 -2.01026051e+01] [ 4.79337725e-04 -4.02568461e-05 9.99999884e-01 2.85668553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.320714057 meters Centerline goodness [0,1] 0.9724516026297232 Centerline is valid? [True, True] Translation: X:454.66, Y:-20.10, Z:2.86 [[ 9.99944908e-01 -1.04966967e-02 -9.18718536e-06 4.54661942e+02] [ 1.04966967e-02 9.99944908e-01 1.94248689e-06 -2.01023627e+01] [ 9.16628952e-06 -2.03881497e-06 1.00000000e+00 2.85632537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.350714057 meters Centerline goodness [0,1] 0.9720225462677712 Centerline is valid? [True, True] Translation: X:454.69, Y:-20.11, Z:2.86 [[ 9.99943932e-01 -1.05892189e-02 -2.30333535e-05 4.54693881e+02] [ 1.05892190e-02 9.99943933e-01 2.66712024e-06 -2.01051410e+01] [ 2.30038193e-05 -2.91087593e-06 1.00000000e+00 2.85510529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.380714057 meters Centerline goodness [0,1] 0.9685138251478411 Centerline is valid? [True, True] Translation: X:454.72, Y:-20.11, Z:2.85 [[ 9.99935847e-01 -1.13264787e-02 -1.10647943e-04 4.54724445e+02] [ 1.13264798e-02 9.99935853e-01 9.67943348e-06 -2.01094341e+01] [ 1.10531211e-04 -1.09320642e-05 9.99999994e-01 2.85251393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.410714057 meters Centerline goodness [0,1] 0.9685318686348553 Centerline is valid? [True, True] Translation: X:454.76, Y:-20.11, Z:2.85 [[ 9.99918553e-01 -1.27145538e-02 -1.10767189e-03 4.54755306e+02] [ 1.27146495e-02 9.99919162e-01 7.93989160e-05 -2.01118375e+01] [ 1.10657283e-03 -9.34761090e-05 9.99999383e-01 2.85109716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.440714057 meters Centerline goodness [0,1] 0.966241732085231 Centerline is valid? [True, True] Translation: X:454.79, Y:-20.12, Z:2.85 [[ 9.99906594e-01 -1.36170453e-02 -1.17427762e-03 4.54786963e+02] [ 1.36171541e-02 9.99907279e-01 8.47197488e-05 -2.01153115e+01] [ 1.17301511e-03 -1.00702155e-04 9.99999307e-01 2.84944369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.470714057 meters Centerline goodness [0,1] 0.9601861190061428 Centerline is valid? [True, True] Translation: X:454.82, Y:-20.12, Z:2.85 [[ 9.99884473e-01 -1.51589800e-02 -1.11611644e-03 4.54816832e+02] [ 1.51590787e-02 9.99885091e-01 8.00737125e-05 -2.01203935e+01] [ 1.11477435e-03 -9.69837587e-05 9.99999374e-01 2.84810045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.500714057 meters Centerline goodness [0,1] 0.9642922457937089 Centerline is valid? [True, True] Translation: X:454.85, Y:-20.12, Z:2.85 [[ 9.99874952e-01 -1.57770250e-02 -1.07945805e-03 4.54849490e+02] [ 1.57771187e-02 9.99875530e-01 7.82844759e-05 -2.01200748e+01] [ 1.07808859e-03 -9.53054243e-05 9.99999414e-01 2.84791051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.530714057 meters Centerline goodness [0,1] 0.9563080159129361 Centerline is valid? [True, True] Translation: X:454.88, Y:-20.13, Z:2.85 [[ 9.99851414e-01 -1.71973688e-02 -1.18339363e-03 4.54879639e+02] [ 1.71974819e-02 9.99852109e-01 8.54548908e-05 -2.01255595e+01] [ 1.18174901e-03 -1.05793584e-04 9.99999296e-01 2.84586829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.560714057 meters Centerline goodness [0,1] 0.9517942857142857 Centerline is valid? [True, True] Translation: X:454.91, Y:-20.13, Z:2.84 [[ 9.99839166e-01 -1.78981236e-02 -1.14024698e-03 4.54911960e+02] [ 1.78982295e-02 9.99839810e-01 8.27407985e-05 -2.01292257e+01] [ 1.13858342e-03 -1.03135893e-04 9.99999346e-01 2.84448710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.590714057 meters Centerline goodness [0,1] 0.9420359336118531 Centerline is valid? [True, False] Translation: X:454.91, Y:-20.13, Z:2.84 [[ 9.99840506e-01 -1.78229410e-02 -1.14281577e-03 4.54912355e+02] [ 1.78233763e-02 9.99841082e-01 3.71845261e-04 -2.01295664e+01] [ 1.13600678e-03 -3.92154789e-04 9.99999278e-01 2.84387479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.620714057 meters Centerline goodness [0,1] 0.9689260361804443 Centerline is valid? [False, True] Translation: X:454.91, Y:-20.13, Z:2.84 [[ 9.99840733e-01 -1.78025111e-02 -1.25701627e-03 4.54912655e+02] [ 1.78029930e-02 9.99841445e-01 3.73218884e-04 -2.01293645e+01] [ 1.25017273e-03 -3.95538094e-04 9.99999140e-01 2.84377089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.650714057 meters Centerline goodness [0,1] 0.9293785958236872 Centerline is valid? [True, False] Translation: X:454.91, Y:-20.13, Z:2.84 [[ 9.99838326e-01 -1.79287529e-02 -1.37141526e-03 4.54912751e+02] [ 1.79289486e-02 9.99839255e-01 1.30507998e-04 -2.01286097e+01] [ 1.36885496e-03 -1.55074932e-04 9.99999051e-01 2.84402848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.680714057 meters Centerline goodness [0,1] 0.9684845980810723 Centerline is valid? [False, True] Translation: X:454.91, Y:-20.13, Z:2.84 [[ 9.99839416e-01 -1.78615348e-02 -1.45204914e-03 4.54912993e+02] [ 1.78618400e-02 9.99840445e-01 1.97469702e-04 -2.01285633e+01] [ 1.44829034e-03 -2.23374260e-04 9.99998926e-01 2.84394726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.710714057 meters Centerline goodness [0,1] 0.9672940096396603 Centerline is valid? [True, True] Translation: X:454.94, Y:-20.13, Z:2.84 [[ 9.99841269e-01 -1.78088128e-02 -5.31677616e-04 4.54944972e+02] [ 1.78088368e-02 9.99841409e-01 4.04521776e-05 -2.01310285e+01] [ 5.30872891e-04 -4.99143165e-05 9.99999858e-01 2.84291433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.740714057 meters Centerline goodness [0,1] 0.9672940096396603 Centerline is valid? [True, True] Translation: X:454.98, Y:-20.13, Z:2.84 [[ 9.99843181e-01 -1.77011639e-02 -5.31634666e-04 4.54977560e+02] [ 1.77011882e-02 9.99843321e-01 4.10304478e-05 -2.01335360e+01] [ 5.30825083e-04 -5.04345787e-05 9.99999858e-01 2.84244031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.770714057 meters Centerline goodness [0,1] 0.967124294044722 Centerline is valid? [True, True] Translation: X:455.01, Y:-20.14, Z:2.84 [[ 9.99844967e-01 -1.76040637e-02 3.73343613e-04 4.55009204e+02] [ 1.76040749e-02 9.99845036e-01 -2.67022242e-05 -2.01371426e+01] [-3.72815690e-04 3.32704534e-05 9.99999930e-01 2.84201710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.800714057 meters Centerline goodness [0,1] 0.9653927036664534 Centerline is valid? [True, True] Translation: X:455.04, Y:-20.14, Z:2.84 [[ 9.99841636e-01 -1.75896621e-02 2.70302029e-03 4.55040046e+02] [ 1.75902670e-02 9.99845259e-01 -2.00210369e-04 -2.01410593e+01] [-2.69908039e-03 2.47725512e-04 9.99996327e-01 2.84273781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.830714057 meters Centerline goodness [0,1] 0.9657368517165814 Centerline is valid? [True, True] Translation: X:455.07, Y:-20.14, Z:2.84 [[ 9.99838221e-01 -1.75845533e-02 3.78360815e-03 4.55072050e+02] [ 1.75857399e-02 9.99845320e-01 -2.80563262e-04 -2.01416452e+01] [-3.77808932e-03 3.47055421e-04 9.99992803e-01 2.84323017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.860714057 meters Centerline goodness [0,1] 0.9636105968136415 Centerline is valid? [True, True] Translation: X:455.10, Y:-20.15, Z:2.84 [[ 9.99814633e-01 -1.84344920e-02 5.55597316e-03 4.55102489e+02] [ 1.84370703e-02 9.99829937e-01 -4.13199956e-04 -2.01479454e+01] [-5.54741117e-03 5.15559230e-04 9.99984480e-01 2.84322822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.890714057 meters Centerline goodness [0,1] 0.9641009276776149 Centerline is valid? [True, True] Translation: X:455.13, Y:-20.15, Z:2.84 [[ 9.99800822e-01 -1.91433203e-02 5.64351657e-03 4.55134676e+02] [ 1.91459911e-02 9.99816611e-01 -4.19602226e-04 -2.01500592e+01] [-5.63444902e-03 5.27569369e-04 9.99983987e-01 2.84281881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.920714057 meters Centerline goodness [0,1] 0.9646610884384761 Centerline is valid? [True, True] Translation: X:455.17, Y:-20.15, Z:2.84 [[ 9.99793172e-01 -1.97386909e-02 4.89865529e-03 4.55166630e+02] [ 1.97407114e-02 9.99805067e-01 -3.64433921e-04 -2.01537752e+01] [-4.89050693e-03 4.61061486e-04 9.99987935e-01 2.84088731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.950714057 meters Centerline goodness [0,1] 0.9651371559737278 Centerline is valid? [True, True] Translation: X:455.20, Y:-20.16, Z:2.84 [[ 9.99787341e-01 -2.01139479e-02 4.54986292e-03 4.55198529e+02] [ 2.01156959e-02 9.99797602e-01 -3.38749424e-04 -2.01581684e+01] [-4.54212845e-03 4.30201045e-04 9.99989592e-01 2.83902744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.980714057 meters Centerline goodness [0,1] 0.9533601143868727 Centerline is valid? [True, True] Translation: X:455.23, Y:-20.17, Z:2.84 [[ 9.99777677e-01 -2.06677230e-02 4.17622565e-03 4.55228574e+02] [ 2.06692022e-02 9.99786321e-01 -3.11333266e-04 -2.01742838e+01] [-4.16889873e-03 3.97583302e-04 9.99991231e-01 2.83517778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.01071405700003 meters Centerline goodness [0,1] 0.9634757263867383 Centerline is valid? [True, True] Translation: X:455.26, Y:-20.17, Z:2.84 [[ 9.99781699e-01 -2.05509270e-02 3.77007935e-03 4.55262125e+02] [ 2.05521300e-02 9.99788743e-01 -2.80610930e-04 -2.01682722e+01] [-3.76351608e-03 3.58032833e-04 9.99992854e-01 2.83551101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.040714057 meters Centerline goodness [0,1] 0.9612245828394274 Centerline is valid? [True, True] Translation: X:455.29, Y:-20.17, Z:2.83 [[ 9.99796294e-01 -1.99008678e-02 3.36552639e-03 4.55293686e+02] [ 1.99018248e-02 9.99801908e-01 -2.51098636e-04 -2.01716930e+01] [-3.35986262e-03 3.18027602e-04 9.99994305e-01 2.83462973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.070714057 meters Centerline goodness [0,1] 0.9615996364462622 Centerline is valid? [True, True] Translation: X:455.33, Y:-20.17, Z:2.83 [[ 9.99813270e-01 -1.89173549e-02 3.94440459e-03 4.55325235e+02] [ 1.89186644e-02 9.99820983e-01 -2.94927059e-04 -2.01743259e+01] [-3.93811923e-03 3.69494854e-04 9.99992177e-01 2.83425553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.100714057 meters Centerline goodness [0,1] 0.9673544600404941 Centerline is valid? [True, True] Translation: X:455.36, Y:-20.17, Z:2.83 [[ 9.99842470e-01 -1.71565924e-02 4.54815430e-03 4.55356668e+02] [ 1.71583185e-02 9.99852727e-01 -3.40764901e-04 -2.01679383e+01] [-4.54163812e-03 4.18749901e-04 9.99989599e-01 2.83462789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.130714057 meters Centerline goodness [0,1] 0.9594689662997844 Centerline is valid? [True, True] Translation: X:455.39, Y:-20.18, Z:2.83 [[ 9.99857857e-01 -1.60120253e-02 5.28026854e-03 4.55386473e+02] [ 1.60143358e-02 9.99871684e-01 -3.95589497e-04 -2.01818209e+01] [-5.27325681e-03 4.80093260e-04 9.99985981e-01 2.83339505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.160714057 meters Centerline goodness [0,1] 0.9588188529244748 Centerline is valid? [True, True] Translation: X:455.42, Y:-20.18, Z:2.83 [[ 9.99881204e-01 -1.40802527e-02 6.27096596e-03 4.55415862e+02] [ 1.40834787e-02 9.99900712e-01 -4.70574874e-04 -2.01845388e+01] [-6.26371751e-03 5.58835987e-04 9.99980227e-01 2.83339334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.190714057 meters Centerline goodness [0,1] 0.9664304533478696 Centerline is valid? [True, True] Translation: X:455.45, Y:-20.18, Z:2.83 [[ 9.99895719e-01 -1.28759543e-02 6.53913172e-03 4.55448259e+02] [ 1.28794331e-02 9.99916937e-01 -4.90157705e-04 -2.01755485e+01] [-6.53227731e-03 5.74326901e-04 9.99978500e-01 2.83445878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.220714057 meters Centerline goodness [0,1] 0.9584720995038402 Centerline is valid? [True, True] Translation: X:455.48, Y:-20.19, Z:2.83 [[ 9.99905644e-01 -1.15125160e-02 7.49433687e-03 4.55477801e+02] [ 1.15170509e-02 9.99933519e-01 -5.62230037e-04 -2.01886797e+01] [-7.48736595e-03 6.48489646e-04 9.99971759e-01 2.83341401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.250714057 meters Centerline goodness [0,1] 0.9657183047463472 Centerline is valid? [True, True] Translation: X:455.51, Y:-20.18, Z:2.83 [[ 9.99910271e-01 -1.08540045e-02 7.85111165e-03 4.55510583e+02] [ 1.08589598e-02 9.99940866e-01 -5.88799118e-04 -2.01816827e+01] [-7.84425656e-03 6.74001192e-04 9.99969006e-01 2.83363655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.280714057 meters Centerline goodness [0,1] 0.9684548289420165 Centerline is valid? [True, True] Translation: X:455.54, Y:-20.18, Z:2.83 [[ 9.99924714e-01 -9.20070051e-03 8.11867093e-03 4.55542472e+02] [ 9.20595099e-03 9.99957439e-01 -6.09582454e-04 -2.01812527e+01] [-8.11271681e-03 6.84276648e-04 9.99966857e-01 2.83302196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.310714057 meters Centerline goodness [0,1] 0.9659189152295582 Centerline is valid? [True, True] Translation: X:455.57, Y:-20.19, Z:2.83 [[ 9.99932802e-01 -8.71432295e-03 7.64540071e-03 4.55573126e+02] [ 8.71896782e-03 9.99961824e-01 -5.74417227e-04 -2.01852141e+01] [-7.64010318e-03 6.41038630e-04 9.99970609e-01 2.83170126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.340714057 meters Centerline goodness [0,1] 0.96625 Centerline is valid? [True, True] Translation: X:455.61, Y:-20.19, Z:2.83 [[ 9.99949252e-01 -7.62789474e-03 6.58099682e-03 4.55605687e+02] [ 7.63131271e-03 9.99970759e-01 -4.94414602e-04 -2.01864324e+01] [-6.57703304e-03 5.44611155e-04 9.99978223e-01 2.83058752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.370714057 meters Centerline goodness [0,1] 0.9666016687828768 Centerline is valid? [True, True] Translation: X:455.64, Y:-20.19, Z:2.83 [[ 9.99954623e-01 -7.47623192e-03 5.90409444e-03 4.55639046e+02] [ 7.47898169e-03 9.99971934e-01 -4.43798457e-04 -2.01890206e+01] [-5.90061079e-03 4.87934933e-04 9.99982472e-01 2.82959217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.400714057 meters Centerline goodness [0,1] 0.966360507783121 Centerline is valid? [True, True] Translation: X:455.67, Y:-20.19, Z:2.83 [[ 9.99955721e-01 -7.67232803e-03 5.44901537e-03 4.55669758e+02] [ 7.67467829e-03 9.99970465e-01 -4.10539251e-04 -2.01928714e+01] [-5.44570464e-03 4.52340513e-04 9.99985070e-01 2.82753515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.430714057 meters Centerline goodness [0,1] 0.9673343956294105 Centerline is valid? [True, True] Translation: X:455.70, Y:-20.19, Z:2.83 [[ 9.99959731e-01 -7.65041626e-03 4.69123516e-03 4.55701461e+02] [ 7.65215788e-03 9.99970659e-01 -3.53412931e-04 -2.01943022e+01] [-4.68839376e-03 3.89296772e-04 9.99988934e-01 2.82624882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.460714057 meters Centerline goodness [0,1] 0.9675255026358429 Centerline is valid? [True, True] Translation: X:455.73, Y:-20.20, Z:2.83 [[ 9.99965351e-01 -7.26457312e-03 4.06488760e-03 4.55733396e+02] [ 7.26587819e-03 9.99973556e-01 -3.06382282e-04 -2.01969614e+01] [-4.06255437e-03 3.35906644e-04 9.99991691e-01 2.82516251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.490714057 meters Centerline goodness [0,1] 0.9636944856718803 Centerline is valid? [True, True] Translation: X:455.76, Y:-20.20, Z:2.82 [[ 9.99972001e-01 -6.34662197e-03 3.96450685e-03 4.55764273e+02] [ 6.34785796e-03 9.99979807e-01 -2.99258567e-04 -2.02030746e+01] [-3.96252751e-03 3.24416315e-04 9.99992097e-01 2.82404069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.520714057 meters Centerline goodness [0,1] 0.967601801678213 Centerline is valid? [True, True] Translation: X:455.80, Y:-20.20, Z:2.82 [[ 9.99981720e-01 -4.03525509e-03 4.50282447e-03 4.55795393e+02] [ 4.03682934e-03 9.99991794e-01 -3.40580985e-04 -2.01985016e+01] [-4.50141319e-03 3.58751893e-04 9.99989804e-01 2.82445991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.550714057 meters Centerline goodness [0,1] 0.9656607224508459 Centerline is valid? [True, True] Translation: X:455.83, Y:-20.20, Z:2.82 [[ 9.99981564e-01 -2.62598754e-03 5.47502622e-03 4.55826138e+02] [ 2.62829396e-03 9.99996460e-01 -4.14109846e-04 -2.02019182e+01] [-5.47391939e-03 4.28492189e-04 9.99984926e-01 2.82389298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.580714057 meters Centerline goodness [0,1] 0.9650475690721179 Centerline is valid? [True, True] Translation: X:455.86, Y:-20.20, Z:2.82 [[ 9.99968559e-01 1.46057414e-03 7.79404668e-03 4.55856010e+02] [-1.45601697e-03 9.99998766e-01 -5.90341439e-04 -2.02015944e+01] [-7.79489930e-03 5.78974614e-04 9.99969452e-01 2.82484204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.610714057 meters Centerline goodness [0,1] 0.9702591148819079 Centerline is valid? [True, True] Translation: X:455.89, Y:-20.19, Z:2.83 [[ 9.99940284e-01 5.44665709e-03 9.47432704e-03 4.55887709e+02] [-5.44010407e-03 9.99984945e-01 -7.17295234e-04 -2.01895959e+01] [-9.47809127e-03 6.65711074e-04 9.99954860e-01 2.82695802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.640714057 meters Centerline goodness [0,1] 0.9725511796566603 Centerline is valid? [True, True] Translation: X:455.92, Y:-20.19, Z:2.83 [[ 9.99913451e-01 7.67988103e-03 1.06822423e-02 4.55919434e+02] [-7.67167860e-03 9.99970245e-01 -8.08621831e-04 -2.01876768e+01] [-1.06881345e-02 7.26601116e-04 9.99942616e-01 2.82738065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.670714057 meters Centerline goodness [0,1] 0.9731566740912535 Centerline is valid? [True, True] Translation: X:455.95, Y:-20.19, Z:2.83 [[ 9.99858849e-01 1.14575022e-02 1.22885374e-02 4.55949433e+02] [-1.14469236e-02 9.99934049e-01 -9.30846284e-04 -2.01875699e+01] [-1.22983921e-02 7.90048946e-04 9.99924060e-01 2.82667735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.700714057 meters Centerline goodness [0,1] 0.9731486585814039 Centerline is valid? [True, True] Translation: X:455.98, Y:-20.19, Z:2.83 [[ 9.99846855e-01 1.22750486e-02 1.24735765e-02 4.55979585e+02] [-1.22642142e-02 9.99924345e-01 -9.44710878e-04 -2.01899924e+01] [-1.24842291e-02 7.91587586e-04 9.99921756e-01 2.82553489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.730714057 meters Centerline goodness [0,1] 0.9742603279289181 Centerline is valid? [True, True] Translation: X:456.01, Y:-20.19, Z:2.82 [[ 9.99845313e-01 1.31270525e-02 1.17060222e-02 4.56010264e+02] [-1.31175687e-02 9.99913568e-01 -8.86578644e-04 -2.01922821e+01] [-1.17166486e-02 7.32886951e-04 9.99931089e-01 2.82329392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.76071405700003 meters Centerline goodness [0,1] 0.9731270545504701 Centerline is valid? [True, True] Translation: X:456.04, Y:-20.20, Z:2.82 [[ 9.99854786e-01 1.26764515e-02 1.13891843e-02 4.56040196e+02] [-1.26674438e-02 9.99919393e-01 -8.62692272e-04 -2.01950638e+01] [-1.13992021e-02 7.18295146e-04 9.99934769e-01 2.82173865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.790714057 meters Centerline goodness [0,1] 0.973889618014782 Centerline is valid? [True, True] Translation: X:456.07, Y:-20.20, Z:2.82 [[ 9.99869607e-01 1.21457860e-02 1.06418696e-02 4.56070396e+02] [-1.21378969e-02 9.99926008e-01 -8.05603310e-04 -2.01966228e+01] [-1.06508669e-02 6.76328349e-04 9.99943049e-01 2.82024018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.820714057 meters Centerline goodness [0,1] 0.9733468131060153 Centerline is valid? [True, True] Translation: X:456.10, Y:-20.20, Z:2.82 [[ 9.99904500e-01 1.03759290e-02 9.12855904e-03 4.56099848e+02] [-1.03700507e-02 9.99945991e-01 -6.91043738e-04 -2.02037536e+01] [-9.13523623e-03 5.96314123e-04 9.99958095e-01 2.81641944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.850714057 meters Centerline goodness [0,1] 0.9722355851831489 Centerline is valid? [True, True] Translation: X:456.13, Y:-20.20, Z:2.82 [[ 9.99913723e-01 9.98979938e-03 8.52934694e-03 4.56130687e+02] [-9.98465352e-03 9.99949944e-01 -6.45682607e-04 -2.02046803e+01] [-8.53537023e-03 5.60464325e-04 9.99963416e-01 2.81565847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.880714057 meters Centerline goodness [0,1] 0.9726439580127249 Centerline is valid? [True, True] Translation: X:456.16, Y:-20.21, Z:2.82 [[ 9.99918668e-01 9.44453353e-03 8.57075482e-03 4.56161353e+02] [-9.43931764e-03 9.99955238e-01 -6.48817237e-04 -2.02080127e+01] [-8.57649895e-03 5.67862390e-04 9.99963060e-01 2.81500813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.910714057 meters Centerline goodness [0,1] 0.9712795533396136 Centerline is valid? [True, True] Translation: X:456.19, Y:-20.21, Z:2.81 [[ 9.99923010e-01 9.32866444e-03 8.18228168e-03 4.56191513e+02] [-9.32390681e-03 9.99956340e-01 -6.19409317e-04 -2.02095678e+01] [-8.18770270e-03 5.43070797e-04 9.99966333e-01 2.81477546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.940714057 meters Centerline goodness [0,1] 0.97250567543397 Centerline is valid? [True, True] Translation: X:456.22, Y:-20.21, Z:2.81 [[ 9.99919320e-01 9.87473755e-03 7.99020077e-03 4.56221642e+02] [-9.87021804e-03 9.99951105e-01 -6.04868543e-04 -2.02113017e+01] [-7.99578300e-03 5.25954719e-04 9.99967895e-01 2.81426471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.970714057 meters Centerline goodness [0,1] 0.9733468597251683 Centerline is valid? [True, True] Translation: X:456.25, Y:-20.21, Z:2.81 [[ 9.99895497e-01 1.15767422e-02 8.65879069e-03 4.56251751e+02] [-1.15714964e-02 9.99932833e-01 -6.55689685e-04 -2.02089126e+01] [-8.66579986e-03 5.55425998e-04 9.99962297e-01 2.81385450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.000714057 meters Centerline goodness [0,1] 0.973269173209311 Centerline is valid? [True, True] Translation: X:456.28, Y:-20.21, Z:2.81 [[ 9.99853762e-01 1.38313615e-02 1.00571898e-02 4.56280265e+02] [-1.38244017e-02 9.99904149e-01 -7.61217329e-04 -2.02106099e+01] [-1.00667545e-02 6.22071378e-04 9.99949135e-01 2.81323681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.030714057 meters Centerline goodness [0,1] 0.9742271606076673 Centerline is valid? [True, True] Translation: X:456.31, Y:-20.21, Z:2.81 [[ 9.99844454e-01 1.43825074e-02 1.02083624e-02 4.56310362e+02] [-1.43753718e-02 9.99896371e-01 -7.72027882e-04 -2.02103656e+01] [-1.02184082e-02 6.25158791e-04 9.99947595e-01 2.81309201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.060714057 meters Centerline goodness [0,1] 0.9752308402585411 Centerline is valid? [True, True] Translation: X:456.34, Y:-20.21, Z:2.81 [[ 9.99845553e-01 1.44234681e-02 1.00416169e-02 4.56339362e+02] [-1.44165677e-02 9.99895788e-01 -7.59233927e-04 -2.02084180e+01] [-1.00515213e-02 6.14351015e-04 9.99949293e-01 2.81294438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.090714057 meters Centerline goodness [0,1] 0.9747813613437601 Centerline is valid? [True, True] Translation: X:456.37, Y:-20.21, Z:2.81 [[ 9.99845410e-01 1.41923744e-02 1.03794208e-02 4.56367891e+02] [-1.41849976e-02 9.99899081e-01 -7.83994885e-04 -2.02100427e+01] [-1.03895000e-02 6.36641628e-04 9.99945825e-01 2.81220385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.120714057 meters Centerline goodness [0,1] 0.9726613052320207 Centerline is valid? [True, True] Translation: X:456.40, Y:-20.22, Z:2.81 [[ 9.99860413e-01 1.29578982e-02 1.05473744e-02 4.56396464e+02] [-1.29502219e-02 9.99915826e-01 -7.95762834e-04 -2.02168595e+01] [-1.05567980e-02 6.59060917e-04 9.99944058e-01 2.81085607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.150714057 meters Centerline goodness [0,1] 0.971360106909979 Centerline is valid? [True, True] Translation: X:456.43, Y:-20.22, Z:2.81 [[ 9.99870047e-01 1.20140589e-02 1.07494485e-02 4.56425657e+02] [-1.20060364e-02 9.99927596e-01 -8.10546271e-04 -2.02226066e+01] [-1.07584081e-02 6.81382669e-04 9.99941894e-01 2.81020162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.180714057 meters Centerline goodness [0,1] 0.9741128697337456 Centerline is valid? [True, True] Translation: X:456.46, Y:-20.22, Z:2.81 [[ 9.99885336e-01 9.98251827e-03 1.13870381e-02 4.56456639e+02] [-9.97338754e-03 9.99949896e-01 -8.58358058e-04 -2.02203606e+01] [-1.13950362e-02 7.44692291e-04 9.99934797e-01 2.81019631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.210714057 meters Centerline goodness [0,1] 0.9727004199935385 Centerline is valid? [True, True] Translation: X:456.49, Y:-20.22, Z:2.81 [[ 9.99896944e-01 9.33160469e-03 1.09097351e-02 4.56487773e+02] [-9.32318624e-03 9.99956200e-01 -8.22251164e-04 -2.02230313e+01] [-1.09169302e-02 7.20452934e-04 9.99940149e-01 2.80946387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.240714057 meters Centerline goodness [0,1] 0.9725421542430664 Centerline is valid? [True, True] Translation: X:456.52, Y:-20.22, Z:2.81 [[ 9.99914859e-01 8.54122494e-03 9.86522703e-03 4.56519113e+02] [-8.53430010e-03 9.99963306e-01 -7.43829913e-04 -2.02237437e+01] [-9.87121825e-03 6.59573774e-04 9.99951061e-01 2.80719386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.270714057 meters Centerline goodness [0,1] 0.9718430231215208 Centerline is valid? [True, True] Translation: X:456.55, Y:-20.23, Z:2.81 [[ 9.99925600e-01 7.98905040e-03 9.21789672e-03 4.56549913e+02] [-7.98297842e-03 9.99967894e-01 -6.95322770e-04 -2.02271755e+01] [-9.22315574e-03 6.21684768e-04 9.99957273e-01 2.80548895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.300714057 meters Centerline goodness [0,1] 0.9718055972822445 Centerline is valid? [True, True] Translation: X:456.58, Y:-20.23, Z:2.80 [[ 9.99926448e-01 8.05869420e-03 9.06401069e-03 4.56579888e+02] [-8.05282234e-03 9.99967341e-01 -6.84131355e-04 -2.02329368e+01] [-9.06922788e-03 6.11090168e-04 9.99958687e-01 2.80370664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.330714057 meters Centerline goodness [0,1] 0.9734940315393318 Centerline is valid? [True, True] Translation: X:456.61, Y:-20.23, Z:2.80 [[ 9.99922247e-01 8.64076895e-03 8.99097299e-03 4.56610583e+02] [-8.63501245e-03 9.99962487e-01 -6.78876029e-04 -2.02307843e+01] [-8.99650173e-03 6.01186080e-04 9.99959350e-01 2.80394655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.360714057 meters Centerline goodness [0,1] 0.9689330277565572 Centerline is valid? [True, True] Translation: X:456.64, Y:-20.24, Z:2.80 [[ 9.99906845e-01 9.39466578e-03 9.90164468e-03 4.56640521e+02] [-9.38772531e-03 9.99955655e-01 -7.47186785e-04 -2.02407630e+01] [-9.90822516e-03 6.54163260e-04 9.99950698e-01 2.80344120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.390714057 meters Centerline goodness [0,1] 0.971818245076891 Centerline is valid? [True, True] Translation: X:456.67, Y:-20.24, Z:2.80 [[ 9.99904311e-01 9.50032524e-03 1.00554865e-02 4.56671266e+02] [-9.49315815e-03 9.99954650e-01 -7.60245444e-04 -2.02350398e+01] [-1.00622531e-02 6.64714373e-04 9.99949153e-01 2.80397054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.420714057 meters Centerline goodness [0,1] 0.9726686980996022 Centerline is valid? [True, True] Translation: X:456.70, Y:-20.23, Z:2.80 [[ 9.99902875e-01 9.16059335e-03 1.05034947e-02 4.56702277e+02] [-9.15275470e-03 9.99957797e-01 -7.94117118e-04 -2.02341968e+01] [-1.05103260e-02 6.97904079e-04 9.99944521e-01 2.80426653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.450714057 meters Centerline goodness [0,1] 0.9721886897576376 Centerline is valid? [True, True] Translation: X:456.73, Y:-20.24, Z:2.80 [[ 9.99909959e-01 8.49953023e-03 1.03841877e-02 4.56732995e+02] [-8.49183317e-03 9.99963636e-01 -7.85096906e-04 -2.02350804e+01] [-1.03904830e-02 6.96845426e-04 9.99945775e-01 2.80402356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.480714057 meters Centerline goodness [0,1] 0.9710895760575433 Centerline is valid? [True, True] Translation: X:456.76, Y:-20.24, Z:2.80 [[ 9.99922327e-01 6.97657227e-03 1.03279915e-02 4.56763225e+02] [-6.96887820e-03 9.99975412e-01 -7.80774182e-04 -2.02402263e+01] [-1.03331846e-02 7.08739022e-04 9.99946360e-01 2.80257184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.51071405700003 meters Centerline goodness [0,1] 0.9712466004974315 Centerline is valid? [True, True] Translation: X:456.79, Y:-20.24, Z:2.80 [[ 9.99945324e-01 4.42558145e-03 9.47434201e-03 4.56793711e+02] [-4.41899141e-03 9.99989980e-01 -7.16388676e-04 -2.02424648e+01] [-9.47741751e-03 6.74482471e-04 9.99954861e-01 2.80135649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.540714057 meters Centerline goodness [0,1] 0.9730709356630033 Centerline is valid? [True, True] Translation: X:456.83, Y:-20.24, Z:2.80 [[ 9.99955083e-01 3.74203431e-03 8.70799977e-03 4.56825847e+02] [-3.73645207e-03 9.99992803e-01 -6.57228016e-04 -2.02429535e+01] [-8.71039647e-03 6.24661471e-04 9.99961869e-01 2.80080939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.570714057 meters Centerline goodness [0,1] 0.9712607656057757 Centerline is valid? [True, True] Translation: X:456.86, Y:-20.25, Z:2.80 [[ 9.99961684e-01 3.08035984e-03 8.19397726e-03 4.56857099e+02] [-3.07537895e-03 9.99995079e-01 -6.20402402e-04 -2.02487427e+01] [-8.19584800e-03 5.95179045e-04 9.99966236e-01 2.79966838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.600714057 meters Centerline goodness [0,1] 0.9693444610220067 Centerline is valid? [True, True] Translation: X:456.89, Y:-20.25, Z:2.80 [[ 9.99964408e-01 8.30066633e-04 8.39601827e-03 4.56887167e+02] [-8.24730177e-04 9.99999456e-01 -6.39036036e-04 -2.02541446e+01] [-8.39654414e-03 6.32088842e-04 9.99964549e-01 2.79868605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.630714057 meters Centerline goodness [0,1] 0.9693444610220067 Centerline is valid? [True, True] Translation: X:456.92, Y:-20.26, Z:2.80 [[ 9.99964141e-01 1.10523835e-03 8.39612677e-03 4.56919782e+02] [-1.09992341e-03 9.99999192e-01 -6.37614100e-04 -2.02567163e+01] [-8.39682470e-03 6.28356139e-04 9.99964549e-01 2.79821128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.660714057 meters Centerline goodness [0,1] 0.971413915314307 Centerline is valid? [True, True] Translation: X:456.95, Y:-20.25, Z:2.80 [[ 9.99966133e-01 -1.69911595e-04 8.22824428e-03 4.56952497e+02] [ 1.75087623e-04 9.99999787e-01 -6.28339871e-04 -2.02534356e+01] [-8.22813577e-03 6.29759255e-04 9.99965950e-01 2.79854801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.690714057 meters Centerline goodness [0,1] 0.9708762766403954 Centerline is valid? [True, True] Translation: X:456.98, Y:-20.26, Z:2.80 [[ 9.99966389e-01 -5.39842159e-04 8.18104672e-03 4.56983621e+02] [ 5.44972876e-04 9.99999656e-01 -6.24930396e-04 -2.02567102e+01] [-8.18070655e-03 6.29367840e-04 9.99966339e-01 2.79826528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.720714057 meters Centerline goodness [0,1] 0.9699434394428084 Centerline is valid? [True, True] Translation: X:457.01, Y:-20.26, Z:2.80 [[ 9.99969713e-01 -8.00927743e-04 7.74149670e-03 4.57014169e+02] [ 8.05542088e-04 9.99999500e-01 -5.92953708e-04 -2.02593285e+01] [-7.74101791e-03 5.99171851e-04 9.99969858e-01 2.79763002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.750714057 meters Centerline goodness [0,1] 0.9719231038751722 Centerline is valid? [True, True] Translation: X:457.05, Y:-20.26, Z:2.80 [[ 9.99967761e-01 -5.92363817e-04 8.00784325e-03 4.57046878e+02] [ 5.97295026e-04 9.99999633e-01 -6.13419939e-04 -2.02567423e+01] [-8.00747695e-03 6.18183208e-04 9.99967749e-01 2.79762509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.780714057 meters Centerline goodness [0,1] 0.9685904342530567 Centerline is valid? [True, True] Translation: X:457.08, Y:-20.26, Z:2.80 [[ 9.99960165e-01 -1.16931686e-04 8.92494813e-03 4.57077929e+02] [ 1.23046020e-04 9.99999758e-01 -6.84537466e-04 -2.02628030e+01] [-8.92486592e-03 6.85608377e-04 9.99959938e-01 2.79789581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.810714057 meters Centerline goodness [0,1] 0.9688770503294546 Centerline is valid? [True, True] Translation: X:457.11, Y:-20.27, Z:2.80 [[ 9.99952398e-01 5.04639580e-04 9.74409574e-03 4.57110436e+02] [-4.97375551e-04 9.99999597e-01 -7.47889003e-04 -2.02653203e+01] [-9.74446923e-03 7.43006927e-04 9.99952245e-01 2.79814260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.840714057 meters Centerline goodness [0,1] 0.9690364015657595 Centerline is valid? [True, True] Translation: X:457.14, Y:-20.27, Z:2.80 [[ 9.99937950e-01 8.09912279e-04 1.11103248e-02 4.57142374e+02] [-8.00476975e-04 9.99999315e-01 -8.53658128e-04 -2.02670620e+01] [-1.11110086e-02 8.44711600e-04 9.99937914e-01 2.79855294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.870714057 meters Centerline goodness [0,1] 0.9670582166889404 Centerline is valid? [True, True] Translation: X:457.17, Y:-20.27, Z:2.80 [[ 9.99933045e-01 1.08984393e-03 1.15203449e-02 4.57174232e+02] [-1.07971461e-03 9.99999025e-01 -8.85438012e-04 -2.02701921e+01] [-1.15212986e-02 8.72940043e-04 9.99933247e-01 2.79771054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.900714057 meters Centerline goodness [0,1] 0.9709903222775533 Centerline is valid? [True, True] Translation: X:457.21, Y:-20.26, Z:2.80 [[ 9.99941397e-01 9.65465860e-04 1.07828320e-02 4.57207207e+02] [-9.56557523e-04 9.99999197e-01 -8.31286111e-04 -2.02645335e+01] [-1.07836259e-02 8.20922997e-04 9.99941518e-01 2.79706155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.930714057 meters Centerline goodness [0,1] 0.9709766259444954 Centerline is valid? [True, True] Translation: X:457.24, Y:-20.27, Z:2.80 [[ 9.99955727e-01 8.91831938e-05 9.40936753e-03 4.57238525e+02] [-8.23350223e-05 9.99999731e-01 -7.28188453e-04 -2.02687096e+01] [-9.40942994e-03 7.27381494e-04 9.99955466e-01 2.79584386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.960714057 meters Centerline goodness [0,1] 0.9672181300449486 Centerline is valid? [True, True] Translation: X:457.27, Y:-20.28, Z:2.79 [[ 9.99958394e-01 2.23573119e-04 9.11925008e-03 4.57270370e+02] [-2.17141562e-04 9.99999727e-01 -7.06256565e-04 -2.02783624e+01] [-9.11940549e-03 7.04247012e-04 9.99958169e-01 2.79483089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.990714057 meters Centerline goodness [0,1] 0.9724003476381744 Centerline is valid? [True, True] Translation: X:457.30, Y:-20.27, Z:2.79 [[ 9.99958284e-01 2.06586229e-04 9.13164833e-03 4.57303600e+02] [-2.00128239e-04 9.99999729e-01 -7.08117793e-04 -2.02685285e+01] [-9.13179215e-03 7.06260753e-04 9.99958055e-01 2.79488559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.020714057 meters Centerline goodness [0,1] 0.9632054440924557 Centerline is valid? [True, True] Translation: X:457.33, Y:-20.29, Z:2.79 [[ 9.99959456e-01 4.49470350e-04 8.99359110e-03 4.57333350e+02] [-4.43209306e-04 9.99999658e-01 -6.98148292e-04 -2.02879984e+01] [-8.99390182e-03 6.94133943e-04 9.99959313e-01 2.79243984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.050714057 meters Centerline goodness [0,1] 0.9723980516271736 Centerline is valid? [True, True] Translation: X:457.37, Y:-20.28, Z:2.79 [[ 9.99965319e-01 3.17281434e-04 8.32221886e-03 4.57366222e+02] [-3.11921770e-04 9.99999743e-01 -6.45308671e-04 -2.02756542e+01] [-8.32242147e-03 6.42690410e-04 9.99965162e-01 2.79262352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.080714057 meters Centerline goodness [0,1] 0.9721661107718326 Centerline is valid? [True, True] Translation: X:457.40, Y:-20.28, Z:2.79 [[ 9.99972307e-01 4.56333405e-05 7.44201383e-03 4.57398757e+02] [-4.13305633e-05 9.99999832e-01 -5.78326538e-04 -2.02783905e+01] [-7.44203897e-03 5.78002940e-04 9.99972141e-01 2.79238964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.110714057 meters Centerline goodness [0,1] 0.9722137260899231 Centerline is valid? [True, True] Translation: X:457.43, Y:-20.28, Z:2.79 [[ 9.99973938e-01 -2.71758109e-04 7.21449030e-03 4.57430534e+02] [ 2.75828766e-04 9.99999803e-01 -5.63244492e-04 -2.02834174e+01] [-7.21433581e-03 5.65219777e-04 9.99973817e-01 2.79198514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.140714057 meters Centerline goodness [0,1] 0.9729723383271498 Centerline is valid? [True, True] Translation: X:457.46, Y:-20.29, Z:2.79 [[ 9.99973699e-01 -5.34853244e-04 7.23296165e-03 4.57462383e+02] [ 5.38951927e-04 9.99999695e-01 -5.64730080e-04 -2.02856518e+01] [-7.23265740e-03 5.68613446e-04 9.99973682e-01 2.79151995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.170714057 meters Centerline goodness [0,1] 0.969254527586691 Centerline is valid? [True, True] Translation: X:457.49, Y:-20.30, Z:2.79 [[ 9.99971710e-01 -1.37137690e-03 7.39587015e-03 4.57492693e+02] [ 1.37570067e-03 9.99998886e-01 -5.79564306e-04 -2.02970153e+01] [-7.39506711e-03 5.89722413e-04 9.99972482e-01 2.79121782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.200714057 meters Centerline goodness [0,1] 0.9706176806127913 Centerline is valid? [True, True] Translation: X:457.52, Y:-20.30, Z:2.79 [[ 9.99969082e-01 -2.83870885e-03 7.33322221e-03 4.57523682e+02] [ 2.84302083e-03 9.99995792e-01 -5.77648802e-04 -2.02976984e+01] [-7.33155157e-03 5.98479446e-04 9.99972945e-01 2.79151885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.230714057 meters Centerline goodness [0,1] 0.9702044518875166 Centerline is valid? [True, True] Translation: X:457.56, Y:-20.30, Z:2.79 [[ 9.99967100e-01 -3.46405801e-03 7.33480339e-03 4.57555783e+02] [ 3.46839035e-03 9.99993818e-01 -5.78017712e-04 -2.03030723e+01] [-7.33275576e-03 6.03438657e-04 9.99972933e-01 2.79127311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.26071405700003 meters Centerline goodness [0,1] 0.9703508406762413 Centerline is valid? [True, True] Translation: X:457.59, Y:-20.31, Z:2.79 [[ 9.99962794e-01 -4.60151219e-03 7.29636681e-03 4.57587284e+02] [ 4.60583402e-03 9.99989227e-01 -5.75633431e-04 -2.03076130e+01] [-7.29363942e-03 6.09217868e-04 9.99973215e-01 2.79099616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.290714057 meters Centerline goodness [0,1] 0.9723097599406804 Centerline is valid? [True, True] Translation: X:457.62, Y:-20.31, Z:2.79 [[ 9.99964987e-01 -4.60960860e-03 6.98394351e-03 4.57619737e+02] [ 4.61356985e-03 9.99989206e-01 -5.51188431e-04 -2.03088262e+01] [-6.98132736e-03 5.83390044e-04 9.99975460e-01 2.79058843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.320714057 meters Centerline goodness [0,1] 0.9716168859801806 Centerline is valid? [True, True] Translation: X:457.65, Y:-20.32, Z:2.79 [[ 9.99976690e-01 -3.85978143e-03 5.63223771e-03 4.57650465e+02] [ 3.86234420e-03 9.99992442e-01 -4.44211895e-04 -2.03164281e+01] [-5.63048058e-03 4.65955181e-04 9.99984040e-01 2.78970427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.350714057 meters Centerline goodness [0,1] 0.9712107208872458 Centerline is valid? [True, True] Translation: X:457.68, Y:-20.32, Z:2.79 [[ 9.99982234e-01 -2.97259038e-03 5.16678844e-03 4.57682848e+02] [ 2.97473996e-03 9.99995492e-01 -4.08401309e-04 -2.03201501e+01] [-5.16555114e-03 4.23763905e-04 9.99986569e-01 2.78863912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.380714057 meters Centerline goodness [0,1] 0.9726221109488374 Centerline is valid? [True, True] Translation: X:457.71, Y:-20.32, Z:2.79 [[ 9.99990092e-01 -1.29508427e-03 4.25903737e-03 4.57713787e+02] [ 1.29653270e-03 9.99999103e-01 -3.37340672e-04 -2.03229534e+01] [-4.25859667e-03 3.42859310e-04 9.99990873e-01 2.78774485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.410714057 meters Centerline goodness [0,1] 0.9729429206819866 Centerline is valid? [True, True] Translation: X:457.74, Y:-20.33, Z:2.79 [[ 9.99992808e-01 7.76209238e-04 3.71235335e-03 4.57744935e+02] [-7.75122685e-04 9.99999656e-01 -2.94115698e-04 -2.03263129e+01] [-3.71258037e-03 2.91236054e-04 9.99993066e-01 2.78728955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.440714057 meters Centerline goodness [0,1] 0.9733342568222746 Centerline is valid? [True, True] Translation: X:457.77, Y:-20.33, Z:2.79 [[ 9.99992482e-01 2.29834012e-03 3.12316003e-03 4.57774950e+02] [-2.29757779e-03 9.99997330e-01 -2.47655791e-04 -2.03296539e+01] [-3.12372089e-03 2.40478226e-04 9.99995092e-01 2.78672200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.470714057 meters Centerline goodness [0,1] 0.9763368304293571 Centerline is valid? [True, True] Translation: X:457.81, Y:-20.33, Z:2.79 [[ 9.99982389e-01 5.37783615e-03 2.50992425e-03 4.57806242e+02] [-5.37735332e-03 9.99985522e-01 -1.99076978e-04 -2.03272280e+01] [-2.51095851e-03 1.85576722e-04 9.99996830e-01 2.78752830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.500714057 meters Centerline goodness [0,1] 0.9745470532429368 Centerline is valid? [True, True] Translation: X:457.83, Y:-20.34, Z:2.79 [[ 9.99965454e-01 8.06533889e-03 2.01044560e-03 4.57834573e+02] [-8.06503333e-03 9.99967464e-01 -1.60047194e-04 -2.03353294e+01] [-2.01167103e-03 1.43827355e-04 9.99997966e-01 2.78609231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.530714057 meters Centerline goodness [0,1] 0.9773739985685591 Centerline is valid? [True, True] Translation: X:457.86, Y:-20.33, Z:2.79 [[ 9.99949993e-01 9.69226707e-03 2.46413376e-03 4.57864765e+02] [-9.69181343e-03 9.99953014e-01 -1.95973956e-04 -2.03294308e+01] [-2.46591741e-03 1.72082231e-04 9.99996945e-01 2.78715658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.560714057 meters Centerline goodness [0,1] 0.9772732532574232 Centerline is valid? [True, True] Translation: X:457.89, Y:-20.33, Z:2.79 [[ 9.99915121e-01 1.26805533e-02 2.99240122e-03 4.57894837e+02] [-1.26798982e-02 9.99919579e-01 -2.37765991e-04 -2.03316760e+01] [-2.99517557e-03 1.99802466e-04 9.99995494e-01 2.78708497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.590714057 meters Centerline goodness [0,1] 0.9769703409405894 Centerline is valid? [True, True] Translation: X:457.92, Y:-20.33, Z:2.79 [[ 9.99894937e-01 1.41493541e-02 3.14814019e-03 4.57922712e+02] [-1.41486349e-02 9.99899872e-01 -2.50597804e-04 -2.03348993e+01] [-3.15137077e-03 2.06029589e-04 9.99995013e-01 2.78676030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.620714057 meters Centerline goodness [0,1] 0.9786149303312724 Centerline is valid? [True, True] Translation: X:457.95, Y:-20.33, Z:2.79 [[ 9.99851999e-01 1.68907649e-02 3.26850808e-03 4.57953447e+02] [-1.68900080e-02 9.99857320e-01 -2.59053808e-04 -2.03320898e+01] [-3.27241735e-03 2.03810340e-04 9.99994625e-01 2.78798059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.650714057 meters Centerline goodness [0,1] 0.9782363112391931 Centerline is valid? [True, True] Translation: X:457.98, Y:-20.34, Z:2.79 [[ 9.99834279e-01 1.78357953e-02 3.64689625e-03 4.57981355e+02] [-1.78348574e-02 9.99840904e-01 -2.89529732e-04 -2.03368825e+01] [-3.65148004e-03 2.24439876e-04 9.99993308e-01 2.78720849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.680714057 meters Centerline goodness [0,1] 0.9781781273788379 Centerline is valid? [True, True] Translation: X:458.01, Y:-20.34, Z:2.79 [[ 9.99851693e-01 1.71004224e-02 2.04145490e-03 4.58008804e+02] [-1.71001260e-02 9.99853769e-01 -1.62588832e-04 -2.03411969e+01] [-2.04393672e-03 1.27655583e-04 9.99997903e-01 2.78630823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.710714057 meters Centerline goodness [0,1] 0.9780719900703351 Centerline is valid? [True, True] Translation: X:458.04, Y:-20.35, Z:2.79 [[ 9.99867548e-01 1.62164945e-02 1.38254819e-03 4.58037500e+02] [-1.62163577e-02 9.99868500e-01 -1.10164990e-04 -2.03454508e+01] [-1.38415288e-03 8.77305025e-05 9.99999038e-01 2.78514817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.740714057 meters Centerline goodness [0,1] 0.9788704718311487 Centerline is valid? [True, True] Translation: X:458.07, Y:-20.35, Z:2.78 [[ 9.99889842e-01 1.48266218e-02 6.88906366e-04 4.58066313e+02] [-1.48265873e-02 9.99890079e-01 -5.51172687e-05 -2.03491566e+01] [-6.89647843e-04 4.48970667e-05 9.99999761e-01 2.78429777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.770714057 meters Centerline goodness [0,1] 0.9783008882139077 Centerline is valid? [True, True] Translation: X:458.09, Y:-20.36, Z:2.78 [[ 9.99920827e-01 1.25832123e-02 5.38673076e-05 4.58094950e+02] [-1.25832120e-02 9.99920828e-01 -5.00873079e-06 -2.03556391e+01] [-5.39260687e-05 4.33051048e-06 9.99999999e-01 2.78295174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.800714057 meters Centerline goodness [0,1] 0.9782178217821782 Centerline is valid? [True, True] Translation: X:458.12, Y:-20.36, Z:2.78 [[ 9.99929501e-01 1.18733942e-02 1.20610688e-04 4.58122342e+02] [-1.18733930e-02 9.99929509e-01 -1.07597980e-05 -2.03600290e+01] [-1.20729941e-04 9.32698135e-06 9.99999993e-01 2.78220804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.830714057 meters Centerline goodness [0,1] 0.976365678655755 Centerline is valid? [True, True] Translation: X:458.15, Y:-20.36, Z:2.78 [[ 9.99931824e-01 1.16738554e-02 -2.62244749e-04 4.58149677e+02] [-1.16738508e-02 9.99931858e-01 1.93774660e-05 -2.03632942e+01] [ 2.62453089e-04 -1.63147389e-05 9.99999965e-01 2.78252117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.860714057 meters Centerline goodness [0,1] 0.9756822107081174 Centerline is valid? [True, True] Translation: X:458.18, Y:-20.37, Z:2.78 [[ 9.99935329e-01 1.13552892e-02 -6.29108727e-04 4.58178177e+02] [-1.13552609e-02 9.99935526e-01 4.84508942e-05 -2.03660358e+01] [ 6.29618339e-04 -4.13040671e-05 9.99999801e-01 2.78236410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.890714057 meters Centerline goodness [0,1] 0.9751374226638148 Centerline is valid? [True, True] Translation: X:458.21, Y:-20.37, Z:2.78 [[ 9.99925436e-01 1.22014754e-02 4.96638287e-04 4.58206395e+02] [-1.22014570e-02 9.99925559e-01 -3.99880977e-05 -2.03694759e+01] [-4.97089231e-04 3.39254053e-05 9.99999876e-01 2.78254497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.920714057 meters Centerline goodness [0,1] 0.9749281196089706 Centerline is valid? [True, True] Translation: X:458.23, Y:-20.37, Z:2.78 [[ 9.99907469e-01 1.34519818e-02 2.02445465e-03 4.58234590e+02] [-1.34516857e-02 9.99909509e-01 -1.59820014e-04 -2.03728081e+01] [-2.02642135e-03 1.32572898e-04 9.99997938e-01 2.78216248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.950714057 meters Centerline goodness [0,1] 0.9741908770961286 Centerline is valid? [True, True] Translation: X:458.26, Y:-20.38, Z:2.78 [[ 9.99898273e-01 1.39416883e-02 3.01228925e-03 4.58262453e+02] [-1.39410364e-02 9.99902791e-01 -2.37309289e-04 -2.03759713e+01] [-3.01530492e-03 1.95290714e-04 9.99995435e-01 2.78199198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.980714057 meters Centerline goodness [0,1] 0.9759884414273919 Centerline is valid? [True, True] Translation: X:458.29, Y:-20.37, Z:2.78 [[ 9.99905049e-01 1.34291457e-02 3.09037889e-03 4.58291694e+02] [-1.34284585e-02 9.99909805e-01 -2.43018381e-04 -2.03716004e+01] [-3.09336368e-03 2.01496282e-04 9.99995195e-01 2.78346300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.01071405700003 meters Centerline goodness [0,1] 0.9763587394396999 Centerline is valid? [True, True] Translation: X:458.32, Y:-20.37, Z:2.78 [[ 9.99915181e-01 1.27455802e-02 2.67990911e-03 4.58319824e+02] [-1.27450606e-02 9.99918756e-01 -2.10886328e-04 -2.03749292e+01] [-2.68237926e-03 1.76712837e-04 9.99996387e-01 2.78228897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.040714057 meters Centerline goodness [0,1] 0.9752984199268613 Centerline is valid? [True, True] Translation: X:458.35, Y:-20.38, Z:2.78 [[ 9.99944813e-01 1.01986390e-02 2.52155718e-03 4.58348315e+02] [-1.01981737e-02 9.99947978e-01 -1.97323602e-04 -2.03809104e+01] [-2.52343843e-03 1.71597434e-04 9.99996801e-01 2.78081970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.070714057 meters Centerline goodness [0,1] 0.9746579280211567 Centerline is valid? [True, True] Translation: X:458.38, Y:-20.39, Z:2.78 [[ 9.99965325e-01 7.91493870e-03 2.58901030e-03 4.58377665e+02] [-7.91443978e-03 9.99968660e-01 -2.02896147e-04 -2.03861227e+01] [-2.59053507e-03 1.82398545e-04 9.99996628e-01 2.77923015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.100714057 meters Centerline goodness [0,1] 0.9747492137823383 Centerline is valid? [True, True] Translation: X:458.41, Y:-20.39, Z:2.78 [[ 9.99990232e-01 3.90854961e-03 2.06358132e-03 4.58406968e+02] [-3.90822451e-03 9.99992350e-01 -1.61549082e-04 -2.03942194e+01] [-2.06419695e-03 1.53482565e-04 9.99997858e-01 2.77709721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.130714057 meters Centerline goodness [0,1] 0.9754088959236574 Centerline is valid? [True, True] Translation: X:458.44, Y:-20.40, Z:2.78 [[ 9.99996266e-01 2.16118521e-03 1.67271496e-03 4.58436861e+02] [-2.16096916e-03 9.99997657e-01 -1.30962223e-04 -2.03976945e+01] [-1.67299407e-03 1.27347048e-04 9.99998592e-01 2.77642772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.160714057 meters Centerline goodness [0,1] 0.9772909553381149 Centerline is valid? [True, True] Translation: X:458.47, Y:-20.39, Z:2.78 [[ 9.99999745e-01 6.41272825e-04 3.15496827e-04 4.58467318e+02] [-6.41264997e-04 9.99999794e-01 -2.49111367e-05 -2.03912126e+01] [-3.15512737e-04 2.47088132e-05 9.99999950e-01 2.77714597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.190714057 meters Centerline goodness [0,1] 0.9740217941054761 Centerline is valid? [True, True] Translation: X:458.50, Y:-20.40, Z:2.77 [[ 9.99999101e-01 1.21212803e-03 -5.73976965e-04 4.58496000e+02] [-1.21210264e-03 9.99999264e-01 4.45725687e-05 -2.04040602e+01] [ 5.74030571e-04 -4.38768097e-05 9.99999834e-01 2.77365788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.220714057 meters Centerline goodness [0,1] 0.9739012254676126 Centerline is valid? [True, True] Translation: X:458.53, Y:-20.41, Z:2.77 [[ 9.99996099e-01 2.74648962e-03 -5.09106913e-04 4.58525558e+02] [-2.74646998e-03 9.99996228e-01 3.92696855e-05 -2.04065381e+01] [ 5.09212846e-04 -3.78712854e-05 9.99999870e-01 2.77266640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.250714057 meters Centerline goodness [0,1] 0.977996007617649 Centerline is valid? [True, True] Translation: X:458.56, Y:-20.40, Z:2.77 [[ 9.99986277e-01 5.20104168e-03 -6.27733690e-04 4.58556092e+02] [-5.20101210e-03 9.99986473e-01 4.87463565e-05 -2.03989102e+01] [ 6.27978731e-04 -4.54808371e-05 9.99999802e-01 2.77345898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.280714057 meters Centerline goodness [0,1] 0.9794191367535126 Centerline is valid? [True, True] Translation: X:458.59, Y:-20.40, Z:2.77 [[ 9.99979000e-01 6.43272445e-03 -7.87060711e-04 4.58585642e+02] [-6.43267872e-03 9.99979308e-01 6.06203751e-05 -2.03977839e+01] [ 7.87434380e-04 -5.55561934e-05 9.99999688e-01 2.77371840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.310714057 meters Centerline goodness [0,1] 0.978079427680455 Centerline is valid? [True, True] Translation: X:458.61, Y:-20.40, Z:2.77 [[ 9.99963877e-01 8.49328555e-03 3.29809502e-04 4.58614123e+02] [-8.49327727e-03 9.99963931e-01 -2.64777400e-05 -2.04025825e+01] [-3.30022489e-04 2.36756200e-05 9.99999945e-01 2.77384168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.340714057 meters Centerline goodness [0,1] 0.9783413422849654 Centerline is valid? [True, True] Translation: X:458.64, Y:-20.40, Z:2.77 [[ 9.99949981e-01 9.96866403e-03 8.12757971e-04 4.58643518e+02] [-9.96861524e-03 9.99950310e-01 -6.40553393e-05 -2.04018885e+01] [-8.13356131e-04 5.59500639e-05 9.99999668e-01 2.77406088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.370714057 meters Centerline goodness [0,1] 0.9797091492041681 Centerline is valid? [True, True] Translation: X:458.67, Y:-20.40, Z:2.77 [[ 9.99921936e-01 1.24698004e-02 7.90863613e-04 4.58673868e+02] [-1.24697553e-02 9.99922248e-01 -6.18541104e-05 -2.03996834e+01] [-7.91573430e-04 5.19874061e-05 9.99999685e-01 2.77381181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.400714057 meters Centerline goodness [0,1] 0.9783802412406662 Centerline is valid? [True, True] Translation: X:458.70, Y:-20.41, Z:2.77 [[ 9.99916137e-01 1.29486626e-02 2.24015656e-04 4.58701201e+02] [-1.29486587e-02 9.99916162e-01 -1.87202742e-05 -2.04071417e+01] [-2.24239277e-04 1.58180020e-05 9.99999975e-01 2.77188774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.430714057 meters Centerline goodness [0,1] 0.9782748484291751 Centerline is valid? [True, True] Translation: X:458.73, Y:-20.41, Z:2.77 [[ 9.99906088e-01 1.37028402e-02 -2.15766462e-04 4.58728382e+02] [-1.37028372e-02 9.99906112e-01 1.55478101e-05 -2.04113733e+01] [ 2.15959253e-04 -1.25897373e-05 9.99999977e-01 2.77084502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.460714057 meters Centerline goodness [0,1] 0.980166846689495 Centerline is valid? [True, True] Translation: X:458.76, Y:-20.42, Z:2.77 [[ 9.99914981e-01 1.30382182e-02 -1.90832463e-04 4.58756822e+02] [-1.30382158e-02 9.99914999e-01 1.38537537e-05 -2.04159060e+01] [ 1.90996870e-04 -1.13644610e-05 9.99999982e-01 2.77049678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.490714057 meters Centerline goodness [0,1] 0.9804672275843096 Centerline is valid? [True, True] Translation: X:458.79, Y:-20.41, Z:2.77 [[ 9.99920099e-01 1.26340395e-02 -4.21383454e-04 4.58786578e+02] [-1.26340273e-02 9.99920187e-01 3.16505938e-05 -2.04101663e+01] [ 4.21749697e-04 -2.63242948e-05 9.99999911e-01 2.77156651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.520714057 meters Centerline goodness [0,1] 0.9810676384973298 Centerline is valid? [True, True] Translation: X:458.82, Y:-20.41, Z:2.77 [[ 9.99939657e-01 1.09317298e-02 -1.08642409e-03 4.58815302e+02] [-1.09316455e-02 9.99940244e-01 8.34391046e-05 -2.04143539e+01] [ 1.08727131e-03 -7.15576665e-05 9.99999406e-01 2.77040734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.550714057 meters Centerline goodness [0,1] 0.9810676384973298 Centerline is valid? [True, True] Translation: X:458.84, Y:-20.42, Z:2.77 [[ 9.99940433e-01 1.08604728e-02 -1.08645004e-03 4.58843587e+02] [-1.08603888e-02 9.99941021e-01 8.31039488e-05 -2.04164866e+01] [ 1.08728851e-03 -7.12997287e-05 9.99999406e-01 2.76999533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.580714057 meters Centerline goodness [0,1] 0.9812727231152677 Centerline is valid? [True, True] Translation: X:458.87, Y:-20.42, Z:2.77 [[ 9.99947873e-01 1.01417566e-02 -1.18132075e-03 4.58871399e+02] [-1.01416572e-02 9.99948568e-01 9.00968123e-05 -2.04218224e+01] [ 1.18217373e-03 -7.81115658e-05 9.99999298e-01 2.76870884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.610714057 meters Centerline goodness [0,1] 0.9805109840920047 Centerline is valid? [True, True] Translation: X:458.90, Y:-20.42, Z:2.77 [[ 9.99965754e-01 8.17245260e-03 -1.30441260e-03 4.58900545e+02] [-8.17232930e-03 9.99966601e-01 9.98281855e-05 -2.04234442e+01] [ 1.30518487e-03 -8.91646776e-05 9.99999144e-01 2.76897748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.640714057 meters Centerline goodness [0,1] 0.980849598163031 Centerline is valid? [True, True] Translation: X:458.93, Y:-20.43, Z:2.77 [[ 9.99971898e-01 7.26136944e-03 -1.86450656e-03 4.58929100e+02] [-7.26111550e-03 9.99973628e-01 1.42928712e-04 -2.04262046e+01] [ 1.86549525e-03 -1.29386298e-04 9.99998252e-01 2.76883047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.670714057 meters Centerline goodness [0,1] 0.9798301243160329 Centerline is valid? [True, True] Translation: X:458.96, Y:-20.43, Z:2.77 [[ 9.99986247e-01 4.84994581e-03 -1.99618737e-03 4.58957329e+02] [-4.84964891e-03 9.99988229e-01 1.53549395e-04 -2.04334857e+01] [ 1.99690858e-03 -1.43866475e-04 9.99997996e-01 2.76754630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.700714057 meters Centerline goodness [0,1] 0.9796871779604736 Centerline is valid? [True, True] Translation: X:458.99, Y:-20.44, Z:2.77 [[ 9.99994807e-01 2.32057529e-03 -2.23608201e-03 4.58987583e+02] [-2.32019515e-03 9.99997293e-01 1.72582823e-04 -2.04401113e+01] [ 2.23647645e-03 -1.67393780e-04 9.99997485e-01 2.76615870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.730714057 meters Centerline goodness [0,1] 0.9801993749572279 Centerline is valid? [True, True] Translation: X:459.02, Y:-20.44, Z:2.77 [[ 9.99996704e-01 8.57405360e-04 -2.42023384e-03 4.59016717e+02] [-8.56957962e-04 9.99999616e-01 1.85888134e-04 -2.04405756e+01] [ 2.42039229e-03 -1.83813483e-04 9.99997054e-01 2.76618819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.76071405700003 meters Centerline goodness [0,1] 0.9802334380517783 Centerline is valid? [True, True] Translation: X:459.05, Y:-20.44, Z:2.77 [[ 9.99996597e-01 -7.42643579e-04 -2.50080368e-03 4.59046228e+02] [ 7.43126728e-04 9.99999705e-01 1.92273559e-04 -2.04449620e+01] [ 2.50066015e-03 -1.94131319e-04 9.99996855e-01 2.76579403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.790714057 meters Centerline goodness [0,1] 0.9771006336787683 Centerline is valid? [True, True] Translation: X:459.07, Y:-20.46, Z:2.76 [[ 9.99991523e-01 -3.45739063e-03 -2.23599175e-03 4.59074545e+02] [ 3.45778462e-03 9.99994007e-01 1.72363423e-04 -2.04567729e+01] [ 2.23538242e-03 -1.80093540e-04 9.99997485e-01 2.76381370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.820714057 meters Centerline goodness [0,1] 0.9785867727044197 Centerline is valid? [True, True] Translation: X:459.11, Y:-20.46, Z:2.76 [[ 9.99985169e-01 -4.92309072e-03 -2.32908937e-03 4.59105720e+02] [ 4.92352425e-03 9.99987863e-01 1.80440293e-04 -2.04561903e+01] [ 2.32817278e-03 -1.91904945e-04 9.99997271e-01 2.76387302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.850714057 meters Centerline goodness [0,1] 0.9794160650644248 Centerline is valid? [True, True] Translation: X:459.14, Y:-20.46, Z:2.76 [[ 9.99971848e-01 -7.07688222e-03 -2.49411738e-03 4.59136231e+02] [ 7.07738473e-03 9.99974936e-01 1.92708921e-04 -2.04598792e+01] [ 2.49269109e-03 -2.10355324e-04 9.99996871e-01 2.76280842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.880714057 meters Centerline goodness [0,1] 0.9779313166208323 Centerline is valid? [True, True] Translation: X:459.17, Y:-20.47, Z:2.76 [[ 9.99965942e-01 -8.00907405e-03 -1.99248790e-03 4.59167346e+02] [ 8.00939947e-03 9.99967912e-01 1.55398901e-04 -2.04650967e+01] [ 1.99117936e-03 -1.71352240e-04 9.99998003e-01 2.76259487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.910714057 meters Centerline goodness [0,1] 0.9775094750697865 Centerline is valid? [True, True] Translation: X:459.20, Y:-20.47, Z:2.76 [[ 9.99963660e-01 -8.34052626e-03 -1.76458266e-03 4.59199235e+02] [ 8.34078176e-03 9.99965206e-01 1.37485740e-04 -2.04688588e+01] [ 1.76337456e-03 -1.52198743e-04 9.99998434e-01 2.76256105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.940714057 meters Centerline goodness [0,1] 0.9764791519756147 Centerline is valid? [True, True] Translation: X:459.23, Y:-20.47, Z:2.76 [[ 9.99963669e-01 -8.32575290e-03 -1.82829119e-03 4.59231472e+02] [ 8.32602733e-03 9.99965328e-01 1.42542084e-04 -2.04720520e+01] [ 1.82704103e-03 -1.57759307e-04 9.99998319e-01 2.76215740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.970714057 meters Centerline goodness [0,1] 0.9762024162297698 Centerline is valid? [True, True] Translation: X:459.26, Y:-20.48, Z:2.76 [[ 9.99965508e-01 -8.04365776e-03 -2.06951437e-03 4.59264008e+02] [ 8.04400940e-03 9.99967633e-01 1.61644278e-04 -2.04755346e+01] [ 2.06814717e-03 -1.78285895e-04 9.99997845e-01 2.76134981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.000714057 meters Centerline goodness [0,1] 0.977069224126176 Centerline is valid? [True, True] Translation: X:459.30, Y:-20.48, Z:2.76 [[ 9.99960628e-01 -8.34704874e-03 -3.01153892e-03 4.59296343e+02] [ 8.34779294e-03 9.99965129e-01 2.34631264e-04 -2.04757663e+01] [ 3.00947542e-03 -2.59761730e-04 9.99995438e-01 2.76036755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.030714057 meters Centerline goodness [0,1] 0.9782093362509118 Centerline is valid? [True, True] Translation: X:459.33, Y:-20.48, Z:2.76 [[ 9.99959965e-01 -8.37396710e-03 -3.15354522e-03 4.59328326e+02] [ 8.37478387e-03 9.99964901e-01 2.45884530e-04 -2.04773431e+01] [ 3.15137551e-03 -2.72284946e-04 9.99994997e-01 2.76006571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.060714057 meters Centerline goodness [0,1] 0.9680171060712904 Centerline is valid? [True, True] Translation: X:459.36, Y:-20.49, Z:2.76 [[ 9.99954112e-01 -8.68401417e-03 -4.04489075e-03 4.59358899e+02] [ 8.68535903e-03 9.99962232e-01 3.15036453e-04 -2.04893360e+01] [ 4.04200220e-03 -3.50153325e-04 9.99991770e-01 2.75756387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.090714057 meters Centerline goodness [0,1] 0.963530187007203 Centerline is valid? [True, True] Translation: X:459.39, Y:-20.49, Z:2.76 [[ 9.99951903e-01 -8.87091233e-03 -4.18310611e-03 4.59390437e+02] [ 8.87235711e-03 9.99960586e-01 3.26954310e-04 -2.04927371e+01] [ 4.18004086e-03 -3.64052595e-04 9.99991197e-01 2.75665002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.120714057 meters Centerline goodness [0,1] 0.9758997722095673 Centerline is valid? [True, True] Translation: X:459.42, Y:-20.49, Z:2.76 [[ 9.99953146e-01 -8.98242558e-03 -3.60856570e-03 4.59422065e+02] [ 8.98350019e-03 9.99959608e-01 2.81697274e-04 -2.04893333e+01] [ 3.60588962e-03 -3.14101626e-04 9.99993449e-01 2.75772220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.150714057 meters Centerline goodness [0,1] 0.9756863816418522 Centerline is valid? [True, True] Translation: X:459.45, Y:-20.49, Z:2.76 [[ 9.99958386e-01 -8.40227555e-03 -3.55362248e-03 4.59454504e+02] [ 8.40331594e-03 9.99964653e-01 2.77938005e-04 -2.04924027e+01] [ 3.55116156e-03 -3.07788651e-04 9.99993647e-01 2.75745859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.180714057 meters Centerline goodness [0,1] 0.9768378421423858 Centerline is valid? [True, True] Translation: X:459.49, Y:-20.49, Z:2.76 [[ 9.99963371e-01 -7.99675546e-03 -3.05098221e-03 4.59486424e+02] [ 7.99752063e-03 9.99967991e-01 2.38678697e-04 -2.04923125e+01] [ 3.04897590e-03 -2.63070248e-04 9.99995317e-01 2.75742875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.210714057 meters Centerline goodness [0,1] 0.9539962613413577 Centerline is valid? [True, True] Translation: X:459.52, Y:-20.51, Z:2.75 [[ 9.99966179e-01 -7.52568074e-03 -3.31747690e-03 4.59516361e+02] [ 7.52658320e-03 9.99971641e-01 2.59628955e-04 -2.05053796e+01] [ 3.31542893e-03 -2.84589440e-04 9.99994463e-01 2.75490536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.240714057 meters Centerline goodness [0,1] 0.9757070258198309 Centerline is valid? [True, True] Translation: X:459.55, Y:-20.50, Z:2.76 [[ 9.99969985e-01 -6.48099227e-03 -4.24557321e-03 4.59548174e+02] [ 6.48245955e-03 9.99978934e-01 3.31933631e-04 -2.04977070e+01] [ 4.24333251e-03 -3.59445425e-04 9.99990932e-01 2.75580109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.270714057 meters Centerline goodness [0,1] 0.9759528648747402 Centerline is valid? [True, True] Translation: X:459.58, Y:-20.50, Z:2.76 [[ 9.99974154e-01 -5.73814459e-03 -4.33182543e-03 4.59578862e+02] [ 5.73966578e-03 9.99983471e-01 3.38815079e-04 -2.05015040e+01] [ 4.32980966e-03 -3.63669553e-04 9.99990560e-01 2.75509605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.300714057 meters Centerline goodness [0,1] 0.9733469665985004 Centerline is valid? [True, True] Translation: X:459.61, Y:-20.51, Z:2.75 [[ 9.99978097e-01 -5.31368228e-03 -3.94596751e-03 4.59609668e+02] [ 5.31493896e-03 9.99985828e-01 3.08056046e-04 -2.05052306e+01] [ 3.94427468e-03 -3.29021875e-04 9.99992167e-01 2.75468586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.330714057 meters Centerline goodness [0,1] 0.9712706428278968 Centerline is valid? [True, True] Translation: X:459.64, Y:-20.51, Z:2.75 [[ 9.99979023e-01 -5.13985826e-03 -3.94139553e-03 4.59639724e+02] [ 5.14111106e-03 9.99986737e-01 3.07791936e-04 -2.05082585e+01] [ 3.93976125e-03 -3.28048632e-04 9.99992185e-01 2.75471067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.360714057 meters Centerline goodness [0,1] 0.9714285714285714 Centerline is valid? [True, True] Translation: X:459.67, Y:-20.51, Z:2.76 [[ 9.99985609e-01 -4.42789517e-03 -3.02908778e-03 4.59669597e+02] [ 4.42863569e-03 9.99990165e-01 2.37807508e-04 -2.05108954e+01] [ 3.02800500e-03 -2.51218812e-04 9.99995384e-01 2.75525328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.390714057 meters Centerline goodness [0,1] 0.9713373617603466 Centerline is valid? [True, True] Translation: X:459.70, Y:-20.51, Z:2.76 [[ 9.99985411e-01 -4.44837689e-03 -3.06416953e-03 4.59699866e+02] [ 4.44913153e-03 9.99990074e-01 2.39508101e-04 -2.05133477e+01] [ 3.06307369e-03 -2.53137500e-04 9.99995277e-01 2.75512322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.420714057 meters Centerline goodness [0,1] 0.9708290569050063 Centerline is valid? [True, True] Translation: X:459.73, Y:-20.52, Z:2.76 [[ 9.99989753e-01 -3.21646883e-03 -3.18554104e-03 4.59730179e+02] [ 3.21728291e-03 9.99994793e-01 2.50464755e-04 -2.05154635e+01] [ 3.18471885e-03 -2.60710975e-04 9.99994895e-01 2.75507475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.450714057 meters Centerline goodness [0,1] 0.9687435879898776 Centerline is valid? [True, True] Translation: X:459.76, Y:-20.52, Z:2.75 [[ 9.99991931e-01 -2.09440022e-03 -3.42815476e-03 4.59760094e+02] [ 2.09533204e-03 9.99997769e-01 2.68244116e-04 -2.05172866e+01] [ 3.42758530e-03 -2.75425074e-04 9.99994088e-01 2.75457252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.480714057 meters Centerline goodness [0,1] 0.9679929024773084 Centerline is valid? [True, True] Translation: X:459.79, Y:-20.52, Z:2.75 [[ 9.99993595e-01 5.05923772e-04 -3.54327682e-03 4.59789660e+02] [-5.04946192e-04 9.99999834e-01 2.76786393e-04 -2.05182513e+01] [ 3.54341627e-03 -2.74995456e-04 9.99993684e-01 2.75380770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.51071405700003 meters Centerline goodness [0,1] 0.9686444545869466 Centerline is valid? [True, True] Translation: X:459.82, Y:-20.52, Z:2.75 [[ 9.99991178e-01 2.58710887e-03 -3.30912682e-03 4.59819212e+02] [-2.58626833e-03 9.99996622e-01 2.58262827e-04 -2.05180637e+01] [ 3.30978379e-03 -2.49702259e-04 9.99994491e-01 2.75429800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.540714057 meters Centerline goodness [0,1] 0.9678237619689664 Centerline is valid? [True, True] Translation: X:459.85, Y:-20.52, Z:2.75 [[ 9.99987561e-01 3.62345211e-03 -3.42748108e-03 4.59848298e+02] [-3.62255873e-03 9.99993403e-01 2.66825460e-04 -2.05190749e+01] [ 3.42842530e-03 -2.54405890e-04 9.99994091e-01 2.75427796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.570714057 meters Centerline goodness [0,1] 0.9779881386861314 Centerline is valid? [True, True] Translation: X:459.88, Y:-20.50, Z:2.76 [[ 9.99981104e-01 5.92058035e-03 -1.65461318e-03 4.59879301e+02] [-5.92037549e-03 9.99982466e-01 1.28685711e-04 -2.05042445e+01] [ 1.65534606e-03 -1.18887348e-04 9.99998623e-01 2.75837855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.600714057 meters Centerline goodness [0,1] 0.9774596266177986 Centerline is valid? [True, True] Translation: X:459.91, Y:-20.51, Z:2.76 [[ 9.99976170e-01 6.87467960e-03 -6.31150231e-04 4.59907139e+02] [-6.87465070e-03 9.99976368e-01 4.79422100e-05 -2.05072972e+01] [ 6.31464903e-04 -4.36021302e-05 9.99999800e-01 2.75802533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.630714057 meters Centerline goodness [0,1] 0.9790589096901177 Centerline is valid? [True, True] Translation: X:459.94, Y:-20.50, Z:2.76 [[ 9.99958147e-01 9.13122365e-03 5.69295517e-04 4.59937013e+02] [-9.13119956e-03 9.99958309e-01 -4.49106675e-05 -2.05040223e+01] [-5.69681872e-04 3.97104369e-05 9.99999837e-01 2.75915525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.660714057 meters Centerline goodness [0,1] 0.9789586958512684 Centerline is valid? [True, True] Translation: X:459.96, Y:-20.51, Z:2.76 [[ 9.99951658e-01 9.79212406e-03 8.92560016e-04 4.59964509e+02] [-9.79206473e-03 9.99952054e-01 -7.08134058e-05 -2.05068210e+01] [-8.93210635e-04 6.20699770e-05 9.99999599e-01 2.75848059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.690714057 meters Centerline goodness [0,1] 0.9789840774560639 Centerline is valid? [True, True] Translation: X:459.99, Y:-20.51, Z:2.76 [[ 9.99942628e-01 1.06956077e-02 5.87795089e-04 4.59993552e+02] [-1.06955820e-02 9.99942800e-01 -4.67648232e-05 -2.05079658e+01] [-5.88261645e-04 4.04753296e-05 9.99999826e-01 2.75819650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.720714057 meters Centerline goodness [0,1] 0.9777299672701472 Centerline is valid? [True, True] Translation: X:460.02, Y:-20.51, Z:2.76 [[ 9.99940728e-01 1.08797124e-02 4.16343422e-04 4.60020773e+02] [-1.08796993e-02 9.99940814e-01 -3.36352620e-05 -2.05112883e+01] [-4.16684722e-04 2.91035771e-05 9.99999913e-01 2.75717120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.750714057 meters Centerline goodness [0,1] 0.9786466302783932 Centerline is valid? [True, True] Translation: X:460.05, Y:-20.52, Z:2.76 [[ 9.99932664e-01 1.15685025e-02 9.14521767e-04 4.60048132e+02] [-1.15684412e-02 9.99933081e-01 -7.22577162e-05 -2.05157965e+01] [-9.15296482e-04 6.16732594e-05 9.99999579e-01 2.75671654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.780714057 meters Centerline goodness [0,1] 0.9781737397796761 Centerline is valid? [True, True] Translation: X:460.08, Y:-20.52, Z:2.76 [[ 9.99930405e-01 1.17502675e-02 1.05620200e-03 4.60076365e+02] [-1.17501865e-02 9.99930961e-01 -8.29247967e-05 -2.05182080e+01] [-1.05710347e-03 7.05084551e-05 9.99999439e-01 2.75639865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.810714057 meters Centerline goodness [0,1] 0.9781026908292147 Centerline is valid? [True, True] Translation: X:460.10, Y:-20.52, Z:2.76 [[ 9.99909401e-01 1.33749810e-02 1.51637427e-03 4.60104891e+02] [-1.33748169e-02 9.99910546e-01 -1.18278367e-04 -2.05213328e+01] [-1.51782060e-03 9.79864228e-05 9.99998843e-01 2.75579250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.840714057 meters Centerline goodness [0,1] 0.9798174395669923 Centerline is valid? [True, True] Translation: X:460.13, Y:-20.52, Z:2.76 [[ 9.99899501e-01 1.40794841e-02 1.66013930e-03 4.60134682e+02] [-1.40792887e-02 9.99900874e-01 -1.29362505e-04 -2.05173726e+01] [-1.66179609e-03 1.05975924e-04 9.99998614e-01 2.75659074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.870714057 meters Centerline goodness [0,1] 0.979955150794014 Centerline is valid? [True, True] Translation: X:460.16, Y:-20.52, Z:2.76 [[ 9.99881309e-01 1.53190966e-02 1.64084267e-03 4.60162304e+02] [-1.53189067e-02 9.99882650e-01 -1.28221802e-04 -2.05218015e+01] [-1.64261436e-03 1.03070667e-04 9.99998646e-01 2.75543601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.900714057 meters Centerline goodness [0,1] 0.9789998627442009 Centerline is valid? [True, True] Translation: X:460.19, Y:-20.53, Z:2.75 [[ 9.99825842e-01 1.85768163e-02 1.78531147e-03 4.60190756e+02] [-1.85765984e-02 9.99827431e-01 -1.38555518e-04 -2.05296036e+01] [-1.78757730e-03 1.05366373e-04 9.99998397e-01 2.75297808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.930714057 meters Centerline goodness [0,1] 0.980540293040293 Centerline is valid? [True, True] Translation: X:460.22, Y:-20.53, Z:2.75 [[ 9.99775960e-01 2.11552570e-02 6.95927635e-04 4.60219273e+02] [-2.11552241e-02 9.99776202e-01 -5.44984823e-05 -2.05310634e+01] [-6.96924817e-04 3.97637674e-05 9.99999756e-01 2.75168226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.960714057 meters Centerline goodness [0,1] 0.9805502737623422 Centerline is valid? [True, True] Translation: X:460.25, Y:-20.53, Z:2.75 [[ 9.99748752e-01 2.24062853e-02 6.25659536e-04 4.60248289e+02] [-2.24062589e-02 9.99748947e-01 -4.92625481e-05 -2.05319407e+01] [-6.26606253e-04 3.52314815e-05 9.99999803e-01 2.75154900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.990714057 meters Centerline goodness [0,1] 0.9815769574482711 Centerline is valid? [True, True] Translation: X:460.28, Y:-20.53, Z:2.75 [[ 9.99722333e-01 2.35627258e-02 -2.36218675e-04 4.60276131e+02] [-2.35627225e-02 9.99722360e-01 1.70301402e-05 -2.05348363e+01] [ 2.36554367e-04 -1.14594564e-05 9.99999972e-01 2.75120475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.020714057 meters Centerline goodness [0,1] 0.9824577453514168 Centerline is valid? [True, True] Translation: X:460.31, Y:-20.53, Z:2.75 [[ 9.99728834e-01 2.32737345e-02 -7.69523786e-04 4.60305341e+02] [-2.32736966e-02 9.99729129e-01 5.82714447e-05 -2.05289858e+01] [ 7.70671539e-04 -4.03459804e-05 9.99999702e-01 2.75340853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.050714057 meters Centerline goodness [0,1] 0.9827444159648481 Centerline is valid? [True, True] Translation: X:460.33, Y:-20.53, Z:2.75 [[ 9.99763054e-01 2.17457937e-02 -9.77933762e-04 4.60334304e+02] [-2.17457314e-02 9.99763531e-01 7.42595650e-05 -2.05325627e+01] [ 9.79317344e-04 -5.29760845e-05 9.99999519e-01 2.75355014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.080714057 meters Centerline goodness [0,1] 0.9816257970153347 Centerline is valid? [True, True] Translation: X:460.36, Y:-20.54, Z:2.75 [[ 9.99787282e-01 2.06072630e-02 -8.55507312e-04 4.60361674e+02] [-2.06072153e-02 9.99787647e-01 6.44917912e-05 -2.05403929e+01] [ 8.56654642e-04 -4.68484493e-05 9.99999632e-01 2.75205877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.110714057 meters Centerline goodness [0,1] 0.9812793936349938 Centerline is valid? [True, True] Translation: X:460.39, Y:-20.54, Z:2.75 [[ 9.99826122e-01 1.86353253e-02 -6.70944300e-04 4.60391285e+02] [-1.86352952e-02 9.99826347e-01 5.10496469e-05 -2.05414141e+01] [ 6.71779115e-04 -3.85375254e-05 9.99999774e-01 2.75392565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.140714057 meters Centerline goodness [0,1] 0.9807845911590862 Centerline is valid? [True, True] Translation: X:460.42, Y:-20.55, Z:2.75 [[ 9.99838882e-01 1.79327474e-02 -7.91893811e-04 4.60418792e+02] [-1.79327063e-02 9.99839194e-01 5.90493045e-05 -2.05513592e+01] [ 7.92825386e-04 -4.48389915e-05 9.99999685e-01 2.75284328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.170714057 meters Centerline goodness [0,1] 0.9808997235486303 Centerline is valid? [True, True] Translation: X:460.45, Y:-20.55, Z:2.76 [[ 9.99847308e-01 1.74578035e-02 -7.65855602e-04 4.60447836e+02] [-1.74577644e-02 9.99847600e-01 5.76848417e-05 -2.05480580e+01] [ 7.66745936e-04 -4.43059070e-05 9.99999705e-01 2.75507178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.200714057 meters Centerline goodness [0,1] 0.9794785457523775 Centerline is valid? [True, True] Translation: X:460.47, Y:-20.56, Z:2.75 [[ 9.99852687e-01 1.71623754e-02 2.39907538e-04 4.60474531e+02] [-1.71623711e-02 9.99852715e-01 -1.96541569e-05 -2.05570645e+01] [-2.40209515e-04 1.55338794e-05 9.99999971e-01 2.75442201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.230714057 meters Centerline goodness [0,1] 0.9820295261709242 Centerline is valid? [True, True] Translation: X:460.50, Y:-20.56, Z:2.76 [[ 9.99863782e-01 1.64493681e-02 1.35488673e-03 4.60503282e+02] [-1.64492413e-02 9.99864697e-01 -1.04694367e-04 -2.05559191e+01] [-1.35642557e-03 8.23932466e-05 9.99999077e-01 2.75686217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.26071405700003 meters Centerline goodness [0,1] 0.980643550875919 Centerline is valid? [True, True] Translation: X:460.53, Y:-20.57, Z:2.76 [[ 9.99876793e-01 1.56359679e-02 1.38369758e-03 4.60530028e+02] [-1.56358347e-02 9.99877747e-01 -1.07023624e-04 -2.05659122e+01] [-1.38520184e-03 8.53751714e-05 9.99999037e-01 2.75555982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.290714057 meters Centerline goodness [0,1] 0.9816943476490021 Centerline is valid? [True, True] Translation: X:460.56, Y:-20.56, Z:2.76 [[ 9.99905516e-01 1.37439392e-02 2.50023066e-04 4.60559829e+02] [-1.37439348e-02 9.99905547e-01 -1.96160149e-05 -2.05638303e+01] [-2.50269052e-04 1.61778608e-05 9.99999969e-01 2.75592581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.320714057 meters Centerline goodness [0,1] 0.9803130876056274 Centerline is valid? [True, True] Translation: X:460.59, Y:-20.57, Z:2.75 [[ 9.99927905e-01 1.18979697e-02 -1.61949810e-03 4.60588358e+02] [-1.18977863e-02 9.99929211e-01 1.22844647e-04 -2.05694018e+01] [ 1.62084506e-03 -1.03567348e-04 9.99998681e-01 2.75385557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.350714057 meters Centerline goodness [0,1] 0.9810511100571403 Centerline is valid? [True, True] Translation: X:460.62, Y:-20.57, Z:2.75 [[ 9.99935765e-01 1.10271398e-02 -2.62082688e-03 4.60616943e+02] [-1.10266563e-02 9.99939185e-01 1.98845612e-04 -2.05740294e+01] [ 2.62286019e-03 -1.69933882e-04 9.99996546e-01 2.75232086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.380714057 meters Centerline goodness [0,1] 0.9810582058477415 Centerline is valid? [True, True] Translation: X:460.65, Y:-20.58, Z:2.75 [[ 9.99949964e-01 8.81884113e-03 -4.72201610e-03 4.60646127e+02] [-8.81724012e-03 9.99961063e-01 3.59764887e-04 -2.05792490e+01] [ 4.72500495e-03 -3.18111736e-04 9.99988787e-01 2.75026102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.410714057 meters Centerline goodness [0,1] 0.9809543220780397 Centerline is valid? [True, True] Translation: X:460.68, Y:-20.58, Z:2.75 [[ 9.99959331e-01 7.47535061e-03 -5.04528660e-03 4.60675474e+02] [-7.47350791e-03 9.99971999e-01 3.83986533e-04 -2.05829880e+01] [ 5.04801577e-03 -3.46264927e-04 9.99987199e-01 2.74978593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.440714057 meters Centerline goodness [0,1] 0.9809543220780397 Centerline is valid? [True, True] Translation: X:460.70, Y:-20.58, Z:2.75 [[ 9.99960102e-01 7.37143669e-03 -5.04540292e-03 4.60702926e+02] [-7.36960035e-03 9.99972771e-01 3.82458770e-04 -2.05849851e+01] [ 5.04808481e-03 -3.45260908e-04 9.99987199e-01 2.74938624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.470714057 meters Centerline goodness [0,1] 0.9812756130142414 Centerline is valid? [True, True] Translation: X:460.73, Y:-20.59, Z:2.75 [[ 9.99973906e-01 4.24779077e-03 -5.84322579e-03 4.60731672e+02] [-4.24526850e-03 9.99990890e-01 4.43991807e-04 -2.05901089e+01] [ 5.84505855e-03 -4.19174159e-04 9.99982830e-01 2.74940225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.500714057 meters Centerline goodness [0,1] 0.9813320106416558 Centerline is valid? [True, True] Translation: X:460.76, Y:-20.59, Z:2.75 [[ 9.99977286e-01 2.46021306e-03 -6.27498365e-03 4.60760498e+02] [-2.45727264e-03 9.99996867e-01 4.76260144e-04 -2.05936532e+01] [ 6.27613569e-03 -4.60829980e-04 9.99980199e-01 2.74890600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.530714057 meters Centerline goodness [0,1] 0.9794563986409967 Centerline is valid? [True, True] Translation: X:460.79, Y:-20.60, Z:2.75 [[ 9.99968142e-01 -1.77345876e-03 -7.78272545e-03 4.60789795e+02] [ 1.77811549e-03 9.99998244e-01 5.91462996e-04 -2.06003983e+01] [ 7.78166285e-03 -6.05282738e-04 9.99969539e-01 2.74662557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.560714057 meters Centerline goodness [0,1] 0.9766403842668117 Centerline is valid? [True, True] Translation: X:460.82, Y:-20.61, Z:2.75 [[ 9.99960241e-01 -3.95454757e-03 -7.99234375e-03 4.60819384e+02] [ 3.95952557e-03 9.99991977e-01 6.07118649e-04 -2.06056943e+01] [ 7.98987875e-03 -6.38740401e-04 9.99967876e-01 2.74516605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.590714057 meters Centerline goodness [0,1] 0.9702218718324136 Centerline is valid? [True, True] Translation: X:460.85, Y:-20.61, Z:2.74 [[ 9.99945536e-01 -6.96983565e-03 -7.76824033e-03 4.60848147e+02] [ 6.97462623e-03 9.99975503e-01 5.89767992e-04 -2.06109021e+01] [ 7.76393945e-03 -6.43916444e-04 9.99969653e-01 2.74486753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.620714057 meters Centerline goodness [0,1] 0.968110164884943 Centerline is valid? [True, True] Translation: X:460.88, Y:-20.61, Z:2.74 [[ 9.99935620e-01 -8.32284830e-03 -7.71278118e-03 4.60877921e+02] [ 8.32761065e-03 9.99965153e-01 5.85552251e-04 -2.06136987e+01] [ 7.70763895e-03 -6.49743592e-04 9.99970085e-01 2.74497474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.650714057 meters Centerline goodness [0,1] 0.9620198727959983 Centerline is valid? [True, True] Translation: X:460.91, Y:-20.62, Z:2.75 [[ 9.99928973e-01 -9.23762915e-03 -7.53092069e-03 4.60907701e+02] [ 9.24219709e-03 9.99957126e-01 5.71981455e-04 -2.06153812e+01] [ 7.52531406e-03 -6.41543083e-04 9.99971479e-01 2.74528684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.680714057 meters Centerline goodness [0,1] 0.9600917639576614 Centerline is valid? [True, True] Translation: X:460.94, Y:-20.62, Z:2.75 [[ 9.99929811e-01 -9.21514588e-03 -7.44671614e-03 4.60937971e+02] [ 9.21961162e-03 9.99957339e-01 5.65586030e-04 -2.06171204e+01] [ 7.44118649e-03 -6.34202163e-04 9.99972113e-01 2.74515405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.710714057 meters Centerline goodness [0,1] 0.9545009450504407 Centerline is valid? [True, True] Translation: X:460.97, Y:-20.62, Z:2.74 [[ 9.99929311e-01 -9.27625318e-03 -7.43805452e-03 4.60968261e+02] [ 9.28071290e-03 9.99956773e-01 5.65289038e-04 -2.06175397e+01] [ 7.43248923e-03 -6.34279527e-04 9.99972178e-01 2.74489426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.740714057 meters Centerline goodness [0,1] 0.951400592120246 Centerline is valid? [True, True] Translation: X:461.00, Y:-20.62, Z:2.74 [[ 9.99927859e-01 -9.59814225e-03 -7.22171602e-03 4.60998289e+02] [ 9.60235297e-03 9.99953746e-01 5.48615997e-04 -2.06195503e+01] [ 7.21611630e-03 -6.17921886e-04 9.99973773e-01 2.74427943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.770714057 meters Centerline goodness [0,1] 0.9791244564846222 Centerline is valid? [True, True] Translation: X:461.03, Y:-20.60, Z:2.75 [[ 9.99909188e-01 -1.10298859e-02 -7.74315330e-03 4.61030500e+02] [ 1.10347751e-02 9.99938942e-01 5.88975550e-04 -2.06044093e+01] [ 7.73618418e-03 -6.74366019e-04 9.99969848e-01 2.74758990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.800714057 meters Centerline goodness [0,1] 0.9777144810299647 Centerline is valid? [True, True] Translation: X:461.06, Y:-20.61, Z:2.75 [[ 9.99890892e-01 -1.23181545e-02 -8.15270144e-03 4.61060630e+02] [ 1.23236161e-02 9.99923869e-01 6.20021514e-04 -2.06100923e+01] [ 8.14444325e-03 -7.20424628e-04 9.99966574e-01 2.74612670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.830714057 meters Centerline goodness [0,1] 0.9770575382374362 Centerline is valid? [True, True] Translation: X:461.09, Y:-20.61, Z:2.75 [[ 9.99847699e-01 -1.50936031e-02 -8.76142834e-03 4.61090590e+02] [ 1.51000148e-02 9.99885766e-01 6.66110897e-04 -2.06131805e+01] [ 8.75037348e-03 -7.98307145e-04 9.99961396e-01 2.74517777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.860714057 meters Centerline goodness [0,1] 0.9769243071580342 Centerline is valid? [True, True] Translation: X:461.12, Y:-20.61, Z:2.74 [[ 9.99808780e-01 -1.71884975e-02 -9.32513131e-03 4.61122006e+02] [ 1.71958585e-02 9.99851888e-01 7.09767845e-04 -2.06140626e+01] [ 9.31155030e-03 -8.69985762e-04 9.99956268e-01 2.74467692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.890714057 meters Centerline goodness [0,1] 0.9749064695683913 Centerline is valid? [True, True] Translation: X:461.15, Y:-20.62, Z:2.74 [[ 9.99740786e-01 -2.07627665e-02 -9.34176424e-03 4.61152495e+02] [ 2.07703043e-02 9.99784021e-01 7.10594720e-04 -2.06154645e+01] [ 9.32499271e-03 -9.04441810e-04 9.99956112e-01 2.74436424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.920714057 meters Centerline goodness [0,1] 0.7836965661432175 Centerline is valid? [True, False] Translation: X:461.15, Y:-20.62, Z:2.74 [[ 9.99738315e-01 -2.08582300e-02 -9.39343120e-03 4.61152670e+02] [ 2.08658767e-02 9.99782027e-01 7.16769750e-04 -2.06154124e+01] [ 9.37643313e-03 -9.12584360e-04 9.99955624e-01 2.74427082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.950714057 meters Centerline goodness [0,1] 0.9715774622246496 Centerline is valid? [False, True] Translation: X:461.15, Y:-20.61, Z:2.74 [[ 9.99732639e-01 -2.11390571e-02 -9.36966530e-03 4.61152625e+02] [ 2.11418997e-02 9.99776464e-01 2.04434836e-04 -2.06139862e+01] [ 9.36324928e-03 -4.02472703e-04 9.99956083e-01 2.74446073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.980714057 meters Centerline goodness [0,1] 0.9753695706811067 Centerline is valid? [True, True] Translation: X:461.19, Y:-20.61, Z:2.74 [[ 9.99744813e-01 -2.05565179e-02 -9.36693361e-03 4.61185270e+02] [ 2.05642596e-02 9.99788266e-01 7.30911443e-04 -2.06124114e+01] [ 9.34992532e-03 -9.23348978e-04 9.99955862e-01 2.74463648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.01071405700003 meters Centerline goodness [0,1] 0.9725249564978478 Centerline is valid? [True, True] Translation: X:461.21, Y:-20.61, Z:2.74 [[ 9.99796734e-01 -1.78303594e-02 -9.41108689e-03 4.61214792e+02] [ 1.78380426e-02 9.99840621e-01 7.33091986e-04 -2.06124783e+01] [ 9.39651566e-03 -9.00818343e-04 9.99955446e-01 2.74384978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.040714057 meters Centerline goodness [0,1] 0.9744189781356827 Centerline is valid? [True, True] Translation: X:461.25, Y:-20.61, Z:2.74 [[ 9.99841351e-01 -1.54409948e-02 -8.87966096e-03 4.61245483e+02] [ 1.54477428e-02 9.99880437e-01 6.91855310e-04 -2.06102371e+01] [ 8.86791635e-03 -8.28916267e-04 9.99960336e-01 2.74378104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.070714057 meters Centerline goodness [0,1] 0.9784726370445251 Centerline is valid? [True, True] Translation: X:461.28, Y:-20.60, Z:2.74 [[ 9.99928831e-01 -9.18782027e-03 -7.61027014e-03 4.61277082e+02] [ 9.19259735e-03 9.99957571e-01 5.92972862e-04 -2.06041224e+01] [ 7.60449912e-03 -6.62888810e-04 9.99970866e-01 2.74468709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.100714057 meters Centerline goodness [0,1] 0.979926419866636 Centerline is valid? [True, True] Translation: X:461.31, Y:-20.60, Z:2.75 [[ 9.99962784e-01 -5.52562490e-03 -6.62562585e-03 4.61307650e+02] [ 5.52916586e-03 9.99984581e-01 5.16235756e-04 -2.06012172e+01] [ 6.62267116e-03 -5.52850728e-04 9.99977917e-01 2.74559705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.130714057 meters Centerline goodness [0,1] 0.978487915338047 Centerline is valid? [True, True] Translation: X:461.34, Y:-20.60, Z:2.75 [[ 9.99987820e-01 1.03156084e-03 -4.82661921e-03 4.61337825e+02] [-1.02975950e-03 9.99999399e-01 3.75680666e-04 -2.05972626e+01] [ 4.82700385e-03 -3.70705833e-04 9.99988281e-01 2.74671925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.160714057 meters Centerline goodness [0,1] 0.980469744301747 Centerline is valid? [True, True] Translation: X:461.37, Y:-20.60, Z:2.75 [[ 9.99985014e-01 4.56027303e-03 -3.02925780e-03 4.61368033e+02] [-4.55957919e-03 9.99989577e-01 2.35910772e-04 -2.05958738e+01] [ 3.03030204e-03 -2.22095096e-04 9.99995384e-01 2.74758664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.190714057 meters Centerline goodness [0,1] 0.9803658564788048 Centerline is valid? [True, True] Translation: X:461.40, Y:-20.59, Z:2.75 [[ 9.99947628e-01 1.01457774e-02 -1.34340266e-03 4.61397360e+02] [-1.01456465e-02 9.99948526e-01 1.04198744e-04 -2.05947919e+01] [ 1.34439068e-03 -9.05635988e-05 9.99999092e-01 2.74764610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.220714057 meters Centerline goodness [0,1] 0.9802071558744146 Centerline is valid? [True, True] Translation: X:461.43, Y:-20.60, Z:2.75 [[ 9.99918184e-01 1.27809666e-02 -5.21923300e-04 4.61426078e+02] [-1.27809475e-02 9.99918320e-01 3.99258060e-05 -2.05958597e+01] [ 5.22390959e-04 -3.32518651e-05 9.99999863e-01 2.74707271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.250714057 meters Centerline goodness [0,1] 0.9800106424820119 Centerline is valid? [True, True] Translation: X:461.46, Y:-20.60, Z:2.74 [[ 9.99858315e-01 1.68196202e-02 -6.71627320e-04 4.61455436e+02] [-1.68195891e-02 9.99858539e-01 5.19675544e-05 -2.05989465e+01] [ 6.72406385e-04 -4.06636958e-05 9.99999773e-01 2.74485666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.280714057 meters Centerline goodness [0,1] 0.9808401568045279 Centerline is valid? [True, True] Translation: X:461.49, Y:-20.59, Z:2.75 [[ 9.99844748e-01 1.76012978e-02 -8.21638654e-04 4.61485064e+02] [-1.76012520e-02 9.99845084e-01 6.29157951e-05 -2.05923247e+01] [ 8.22618769e-04 -4.84441582e-05 9.99999660e-01 2.74563032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.310714057 meters Centerline goodness [0,1] 0.9819857464540241 Centerline is valid? [True, True] Translation: X:461.51, Y:-20.59, Z:2.74 [[ 9.99813198e-01 1.93276428e-02 -1.09535121e-04 4.61514128e+02] [-1.93276421e-02 9.99813204e-01 7.57958806e-06 -2.05930010e+01] [ 1.09661156e-04 -5.46111656e-06 9.99999994e-01 2.74469932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.340714057 meters Centerline goodness [0,1] 0.9813341989936699 Centerline is valid? [True, True] Translation: X:461.54, Y:-20.59, Z:2.74 [[ 9.99809872e-01 1.94986235e-02 1.51139318e-04 4.61542657e+02] [-1.94986218e-02 9.99809884e-01 -1.26607657e-05 -2.05945448e+01] [-1.51357451e-04 9.71135017e-06 9.99999988e-01 2.74397724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.370714057 meters Centerline goodness [0,1] 0.9808071665622317 Centerline is valid? [True, True] Translation: X:461.57, Y:-20.60, Z:2.74 [[ 9.99838430e-01 1.79752227e-02 7.74940845e-05 4.61571247e+02] [-1.79752223e-02 9.99838433e-01 -6.70428424e-06 -2.05997027e+01] [-7.76020750e-05 5.31022763e-06 9.99999997e-01 2.74119336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.400714057 meters Centerline goodness [0,1] 0.9809528233955076 Centerline is valid? [True, True] Translation: X:461.60, Y:-20.60, Z:2.74 [[ 9.99859195e-01 1.67747501e-02 -4.43779648e-04 4.61599305e+02] [-1.67747370e-02 9.99859294e-01 3.32076069e-05 -2.06027118e+01] [ 4.44274254e-04 -2.57586443e-05 9.99999901e-01 2.73999848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.430714057 meters Centerline goodness [0,1] 0.9773174401110982 Centerline is valid? [True, True] Translation: X:461.63, Y:-20.61, Z:2.74 [[ 9.99916816e-01 1.27776663e-02 -1.75836268e-03 4.61628181e+02] [-1.27774465e-02 9.99918356e-01 1.36191413e-04 -2.06142600e+01] [ 1.75995933e-03 -1.13712699e-04 9.99998445e-01 2.73588801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.460714057 meters Centerline goodness [0,1] 0.9762953639605622 Centerline is valid? [True, True] Translation: X:461.66, Y:-20.62, Z:2.74 [[ 9.99960156e-01 8.50464695e-03 -2.71226865e-03 4.61658280e+02] [-8.50410865e-03 9.99963817e-01 2.09940828e-04 -2.06166582e+01] [ 2.71395599e-03 -1.86867036e-04 9.99996300e-01 2.73500225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.490714057 meters Centerline goodness [0,1] 0.9785354712407942 Centerline is valid? [True, True] Translation: X:461.69, Y:-20.62, Z:2.74 [[ 9.99973185e-01 6.78879937e-03 -2.74610605e-03 4.61687685e+02] [-6.78824386e-03 9.99976937e-01 2.11559225e-04 -2.06151673e+01] [ 2.74747895e-03 -1.92912315e-04 9.99996207e-01 2.73574001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.520714057 meters Centerline goodness [0,1] 0.9769959404600812 Centerline is valid? [True, True] Translation: X:461.72, Y:-20.62, Z:2.74 [[ 9.99986502e-01 4.81403638e-03 -1.95455962e-03 4.61716577e+02] [-4.81375156e-03 9.99988403e-01 1.50397781e-04 -2.06200719e+01] [ 1.95526098e-03 -1.40986987e-04 9.99998079e-01 2.73620631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.550714057 meters Centerline goodness [0,1] 0.975368888477728 Centerline is valid? [True, True] Translation: X:461.74, Y:-20.63, Z:2.74 [[ 9.99989209e-01 4.53125233e-03 -1.02410286e-03 4.61743566e+02] [-4.53117490e-03 9.99989731e-01 7.79145132e-05 -2.06275539e+01] [ 1.02444539e-03 -7.32732833e-05 9.99999473e-01 2.73575965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.580714057 meters Centerline goodness [0,1] 0.976847210240388 Centerline is valid? [True, True] Translation: X:461.77, Y:-20.62, Z:2.74 [[ 9.99985985e-01 5.28577120e-03 3.02277508e-04 4.61772695e+02] [-5.28576411e-03 9.99986030e-01 -2.42608130e-05 -2.06241008e+01] [-3.02401522e-04 2.26627054e-05 9.99999954e-01 2.73704865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.610714057 meters Centerline goodness [0,1] 0.9726677577741407 Centerline is valid? [True, True] Translation: X:461.80, Y:-20.63, Z:2.74 [[ 9.99956323e-01 9.20932295e-03 1.59373597e-03 4.61801509e+02] [-9.20913824e-03 9.99957587e-01 -1.23196306e-04 -2.06306607e+01] [-1.59480293e-03 1.08513991e-04 9.99998722e-01 2.73711703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.640714057 meters Centerline goodness [0,1] 0.9755373831775701 Centerline is valid? [True, True] Translation: X:461.83, Y:-20.63, Z:2.74 [[ 9.99930221e-01 1.17468168e-02 1.25119018e-03 4.61832093e+02] [-1.17467049e-02 9.99931000e-01 -9.67065007e-05 -2.06264127e+01] [-1.25223984e-03 8.20023908e-05 9.99999213e-01 2.73800525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.670714057 meters Centerline goodness [0,1] 0.9780679217078526 Centerline is valid? [True, True] Translation: X:461.86, Y:-20.62, Z:2.74 [[ 9.99854691e-01 1.70023005e-02 1.23223857e-03 4.61862765e+02] [-1.70021963e-02 9.99855448e-01 -9.50482715e-05 -2.06227527e+01] [-1.23367649e-03 7.40836981e-05 9.99999236e-01 2.73821065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.700714057 meters Centerline goodness [0,1] 0.9775249332771456 Centerline is valid? [True, True] Translation: X:461.89, Y:-20.63, Z:2.74 [[ 9.99815663e-01 1.91372978e-02 1.55018258e-03 4.61891906e+02] [-1.91371347e-02 9.99816861e-01 -1.19936072e-04 -2.06256273e+01] [-1.55219393e-03 9.02479101e-05 9.99998791e-01 2.73776761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.730714057 meters Centerline goodness [0,1] 0.9795498151527914 Centerline is valid? [True, True] Translation: X:461.92, Y:-20.63, Z:2.74 [[ 9.99740866e-01 2.27214254e-02 1.39226827e-03 4.61921515e+02] [-2.27212973e-02 9.99741832e-01 -1.07717848e-04 -2.06256534e+01] [-1.39435634e-03 7.60557927e-05 9.99999025e-01 2.73719584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.76071405700003 meters Centerline goodness [0,1] 0.977437966133496 Centerline is valid? [True, True] Translation: X:461.95, Y:-20.63, Z:2.74 [[ 9.99657262e-01 2.60826533e-02 2.24807870e-03 4.61950616e+02] [-2.60823287e-02 9.99659783e-01 -1.73560477e-04 -2.06286457e+01] [-2.25184079e-03 1.14865864e-04 9.99997458e-01 2.73704131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.790714057 meters Centerline goodness [0,1] 0.9784508951526201 Centerline is valid? [True, True] Translation: X:461.98, Y:-20.63, Z:2.74 [[ 9.99615854e-01 2.76118162e-02 2.39423999e-03 4.61979938e+02] [-2.76114506e-02 9.99618714e-01 -1.85608121e-04 -2.06298648e+01] [-2.39845207e-03 1.19428381e-04 9.99997117e-01 2.73781346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.820714057 meters Centerline goodness [0,1] 0.9791270902225662 Centerline is valid? [True, True] Translation: X:462.01, Y:-20.63, Z:2.74 [[ 9.99562372e-01 2.95002841e-02 2.19047054e-03 4.62007505e+02] [-2.94999837e-02 9.99564766e-01 -1.69353043e-04 -2.06323356e+01] [-2.19451314e-03 1.04660084e-04 9.99997587e-01 2.73811151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.850714057 meters Centerline goodness [0,1] 0.9687404496834753 Centerline is valid? [True, True] Translation: X:462.03, Y:-20.66, Z:2.73 [[ 9.99388931e-01 3.48657596e-02 2.47858411e-03 4.62034289e+02] [-3.48653940e-02 9.99391999e-01 -1.90566238e-04 -2.06624726e+01] [-2.48372137e-03 1.04032977e-04 9.99996910e-01 2.73152037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.880714057 meters Centerline goodness [0,1] 0.9799588419624901 Centerline is valid? [True, True] Translation: X:462.07, Y:-20.63, Z:2.74 [[ 9.99292225e-01 3.75445626e-02 2.33536121e-03 4.62065203e+02] [-3.75442442e-02 9.99294950e-01 -1.80036697e-04 -2.06338228e+01] [-2.34047406e-03 9.22298997e-05 9.99997257e-01 2.73917524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.910714057 meters Centerline goodness [0,1] 0.9786064861564474 Centerline is valid? [True, True] Translation: X:462.09, Y:-20.64, Z:2.74 [[ 9.99257850e-01 3.84777138e-02 1.79286394e-03 4.62093126e+02] [-3.84775263e-02 9.99259456e-01 -1.38947555e-04 -2.06368843e+01] [-1.79688263e-03 6.98594654e-05 9.99998383e-01 2.73849440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.940714057 meters Centerline goodness [0,1] 0.9791910217442132 Centerline is valid? [True, True] Translation: X:462.12, Y:-20.64, Z:2.74 [[ 9.99188769e-01 4.02570936e-02 1.08195635e-03 4.62121169e+02] [-4.02570266e-02 9.99189354e-01 -8.36743565e-05 -2.06411126e+01] [-1.08444775e-03 4.00501319e-05 9.99999411e-01 2.73798986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.970714057 meters Centerline goodness [0,1] 0.9792676927401786 Centerline is valid? [True, True] Translation: X:462.15, Y:-20.64, Z:2.74 [[ 9.99176420e-01 4.05731216e-02 5.51429549e-04 4.62150211e+02] [-4.05731030e-02 9.99176572e-01 -4.49655976e-05 -2.06444277e+01] [-5.52799881e-04 2.25553569e-05 9.99999847e-01 2.73762661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.000714057 meters Centerline goodness [0,1] 0.9784303655632849 Centerline is valid? [True, True] Translation: X:462.18, Y:-20.65, Z:2.74 [[ 9.99177432e-01 4.05387768e-02 -1.03282935e-03 4.62177397e+02] [-4.05387183e-02 9.99177965e-01 7.75982859e-05 -2.06501853e+01] [ 1.03512607e-03 -3.56648781e-05 9.99999464e-01 2.73635315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.030714057 meters Centerline goodness [0,1] 0.9795823124489558 Centerline is valid? [True, True] Translation: X:462.20, Y:-20.65, Z:2.74 [[ 9.99162374e-01 4.08861573e-02 -1.69471960e-03 4.62204851e+02] [-4.08859991e-02 9.99163810e-01 1.27912440e-04 -2.06545766e+01] [ 1.69853234e-03 -5.85149933e-05 9.99998556e-01 2.73562627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.060714057 meters Centerline goodness [0,1] 0.9807458640994485 Centerline is valid? [True, True] Translation: X:462.23, Y:-20.66, Z:2.74 [[ 9.99187281e-01 4.00930008e-02 -4.16271332e-03 4.62233508e+02] [-4.00920333e-02 9.99195941e-01 3.15631489e-04 -2.06550173e+01] [ 4.17202086e-03 -1.48483329e-04 9.99991286e-01 2.73652506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.090714057 meters Centerline goodness [0,1] 0.9825019831085811 Centerline is valid? [True, True] Translation: X:462.26, Y:-20.66, Z:2.74 [[ 9.99192972e-01 3.98918976e-02 -4.69485799e-03 4.62261201e+02] [-3.98906672e-02 9.99203987e-01 3.55458065e-04 -2.06607302e+01] [ 4.70530072e-03 -1.67890183e-04 9.99988916e-01 2.73526449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.120714057 meters Centerline goodness [0,1] 0.9784026839383066 Centerline is valid? [True, True] Translation: X:462.29, Y:-20.67, Z:2.74 [[ 9.99236333e-01 3.85676515e-02 -6.26794425e-03 4.62289724e+02] [-3.85654312e-02 9.99255964e-01 4.74746108e-04 -2.06654218e+01] [ 6.28159052e-03 -2.32657587e-04 9.99980244e-01 2.73527515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.150714057 meters Centerline goodness [0,1] 0.9795060064595581 Centerline is valid? [True, True] Translation: X:462.32, Y:-20.67, Z:2.74 [[ 9.99276672e-01 3.75273701e-02 -6.15053470e-03 4.62318196e+02] [-3.75252153e-02 9.99295573e-01 4.65400383e-04 -2.06700760e+01] [ 6.16366735e-03 -2.34263607e-04 9.99980977e-01 2.73544852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.180714057 meters Centerline goodness [0,1] 0.9806839551459151 Centerline is valid? [True, True] Translation: X:462.35, Y:-20.68, Z:2.74 [[ 9.99391652e-01 3.43382878e-02 -6.09989887e-03 4.62347206e+02] [-3.43361077e-02 9.99410235e-01 4.61803168e-04 -2.06781955e+01] [ 6.11215889e-03 -2.52075446e-04 9.99981289e-01 2.73619467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.210714057 meters Centerline goodness [0,1] 0.9816944270216276 Centerline is valid? [True, True] Translation: X:462.38, Y:-20.68, Z:2.74 [[ 9.99469350e-01 3.20173875e-02 -5.99211366e-03 4.62376084e+02] [-3.20152455e-02 9.99487278e-01 4.53081621e-04 -2.06840640e+01] [ 6.00354786e-03 -2.61002204e-04 9.99981944e-01 2.73647103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.240714057 meters Centerline goodness [0,1] 0.9803145047360986 Centerline is valid? [True, True] Translation: X:462.40, Y:-20.69, Z:2.74 [[ 9.99537479e-01 2.97106434e-02 -6.48894186e-03 4.62404352e+02] [-2.97080848e-02 9.99558497e-01 4.90366893e-04 -2.06904194e+01] [ 6.50064609e-03 -2.97366053e-04 9.99978826e-01 2.73637366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.270714057 meters Centerline goodness [0,1] 0.9811346927451796 Centerline is valid? [True, True] Translation: X:462.43, Y:-20.70, Z:2.74 [[ 9.99668253e-01 2.45999858e-02 -7.63055923e-03 4.62434385e+02] [-2.45962934e-02 9.99697299e-01 5.77380551e-04 -2.06979238e+01] [ 7.64245300e-03 -3.89505533e-04 9.99970720e-01 2.73643035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.300714057 meters Centerline goodness [0,1] 0.9812346020123874 Centerline is valid? [True, True] Translation: X:462.46, Y:-20.70, Z:2.74 [[ 9.99737114e-01 2.09190508e-02 -9.38594391e-03 4.62464243e+02] [-2.09133056e-02 9.99781041e-01 7.09854450e-04 -2.07030935e+01] [ 9.39873825e-03 -5.13376726e-04 9.99955699e-01 2.73682567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.330714057 meters Centerline goodness [0,1] 0.9809136636119341 Centerline is valid? [True, True] Translation: X:462.49, Y:-20.71, Z:2.74 [[ 9.99754760e-01 2.00122840e-02 -9.48306289e-03 4.62491308e+02] [-2.00063996e-02 9.99799596e-01 7.14989610e-04 -2.07081212e+01] [ 9.49547102e-03 -5.25092320e-04 9.99954779e-01 2.73635305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.360714057 meters Centerline goodness [0,1] 0.9809136636119341 Centerline is valid? [True, True] Translation: X:462.52, Y:-20.71, Z:2.74 [[ 9.99756907e-01 1.99046730e-02 -9.48313956e-03 4.62518739e+02] [-1.98987933e-02 9.99801744e-01 7.13972915e-04 -2.07101027e+01] [ 9.49547087e-03 -5.25096320e-04 9.99954779e-01 2.73599153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.390714057 meters Centerline goodness [0,1] 0.9790587911836136 Centerline is valid? [True, True] Translation: X:462.55, Y:-20.72, Z:2.74 [[ 9.99780042e-01 1.86347855e-02 -9.62350399e-03 4.62545785e+02] [-1.86286815e-02 9.99826209e-01 7.23537854e-04 -2.07163520e+01] [ 9.63531449e-03 -5.44105516e-04 9.99953431e-01 2.73776766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.420714057 meters Centerline goodness [0,1] 0.9795862321493958 Centerline is valid? [True, True] Translation: X:462.57, Y:-20.72, Z:2.74 [[ 9.99787772e-01 1.85221428e-02 -9.01897813e-03 4.62574821e+02] [-1.85167791e-02 9.99828320e-01 6.77856362e-04 -2.07185466e+01] [ 9.02998511e-03 -5.10710075e-04 9.99959098e-01 2.73867393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.450714057 meters Centerline goodness [0,1] 0.9818939272552476 Centerline is valid? [True, True] Translation: X:462.60, Y:-20.72, Z:2.74 [[ 9.99789005e-01 1.82922310e-02 -9.34562345e-03 4.62603810e+02] [-1.82864680e-02 9.99832542e-01 7.01738559e-04 -2.07174951e+01] [ 9.35689482e-03 -5.30692051e-04 9.99956082e-01 2.74078471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.480714057 meters Centerline goodness [0,1] 0.9797286512370311 Centerline is valid? [True, True] Translation: X:462.63, Y:-20.73, Z:2.74 [[ 9.99784748e-01 1.83969691e-02 -9.59209577e-03 4.62630917e+02] [-1.83909131e-02 9.99830614e-01 7.19188089e-04 -2.07254552e+01] [ 9.60370189e-03 -5.42625883e-04 9.99953736e-01 2.73986684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.51071405700003 meters Centerline goodness [0,1] 0.9795540731941335 Centerline is valid? [True, True] Translation: X:462.66, Y:-20.72, Z:2.74 [[ 9.99777281e-01 1.79261158e-02 -1.11374327e-02 4.62659890e+02] [-1.79179258e-02 9.99839113e-01 8.34715444e-04 -2.07239635e+01] [ 1.11506040e-02 -6.34969845e-04 9.99937628e-01 2.73999766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.540714057 meters Centerline goodness [0,1] 0.9803248112091711 Centerline is valid? [True, True] Translation: X:462.69, Y:-20.73, Z:2.74 [[ 9.99767249e-01 1.79016146e-02 -1.20407318e-02 4.62689142e+02] [-1.78920499e-02 9.99839518e-01 9.01626000e-04 -2.07251273e+01] [ 1.20549400e-02 -6.85982773e-04 9.99927101e-01 2.73981835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.570714057 meters Centerline goodness [0,1] 0.9810177061732334 Centerline is valid? [True, True] Translation: X:462.72, Y:-20.73, Z:2.74 [[ 9.99766134e-01 1.61619813e-02 -1.43689578e-02 4.62718930e+02] [-1.61481786e-02 9.99869031e-01 1.07610519e-03 -2.07269253e+01] [ 1.43844679e-02 -8.43821027e-04 9.99896182e-01 2.73921707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.600714057 meters Centerline goodness [0,1] 0.9793256997455471 Centerline is valid? [True, True] Translation: X:462.75, Y:-20.73, Z:2.74 [[ 9.99773381e-01 1.50314313e-02 -1.50745899e-02 4.62745806e+02] [-1.50161683e-02 9.99886618e-01 1.12518549e-03 -2.07342269e+01] [ 1.50897939e-02 -8.98567926e-04 9.99885739e-01 2.73663882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.630714057 meters Centerline goodness [0,1] 0.9792621500204202 Centerline is valid? [True, True] Translation: X:462.77, Y:-20.74, Z:2.74 [[ 9.99786936e-01 1.35309565e-02 -1.55883135e-02 4.62774864e+02] [-1.35144446e-02 9.99907998e-01 1.16410712e-03 -2.07383459e+01] [ 1.56026309e-02 -9.53191696e-04 9.99877817e-01 2.73592883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.660714057 meters Centerline goodness [0,1] 0.9792371161909915 Centerline is valid? [True, True] Translation: X:462.81, Y:-20.74, Z:2.74 [[ 9.99816946e-01 9.66570610e-03 -1.65120719e-02 4.62805342e+02] [-9.64664447e-03 9.99952709e-01 1.23366619e-03 -2.07433029e+01] [ 1.65232152e-02 -1.07415427e-03 9.99862905e-01 2.73654619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.690714057 meters Centerline goodness [0,1] 0.9789949003661852 Centerline is valid? [True, True] Translation: X:462.83, Y:-20.75, Z:2.74 [[ 9.99857475e-01 4.73083463e-03 -1.62064406e-02 4.62834920e+02] [-4.71183400e-03 9.99988167e-01 1.21039530e-03 -2.07511524e+01] [ 1.62119750e-02 -1.13386073e-03 9.99867934e-01 2.73664452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.720714057 meters Centerline goodness [0,1] 0.9783685937323227 Centerline is valid? [True, True] Translation: X:462.87, Y:-20.75, Z:2.74 [[ 9.99845107e-01 -2.20654950e-03 -1.74612030e-02 4.62865465e+02] [ 2.22965977e-03 9.99996664e-01 1.30416433e-03 -2.07533522e+01] [ 1.74582671e-02 -1.34289487e-03 9.99846691e-01 2.73867639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.750714057 meters Centerline goodness [0,1] 0.9778088809625934 Centerline is valid? [True, True] Translation: X:462.89, Y:-20.76, Z:2.74 [[ 9.99841189e-01 -4.07640187e-03 -1.73487897e-02 4.62893376e+02] [ 4.09945673e-03 9.99990761e-01 1.29354754e-03 -2.07613684e+01] [ 1.73433564e-02 -1.36446272e-03 9.99848662e-01 2.73743996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.780714057 meters Centerline goodness [0,1] 0.9753918530748875 Centerline is valid? [True, True] Translation: X:462.92, Y:-20.77, Z:2.74 [[ 9.99810993e-01 -8.79197908e-03 -1.73400812e-02 4.62923622e+02] [ 8.81573308e-03 9.99960304e-01 1.29392595e-03 -2.07664100e+01] [ 1.73280167e-02 -1.44654692e-03 9.99848812e-01 2.73780562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.810714057 meters Centerline goodness [0,1] 0.9677607782345937 Centerline is valid? [True, True] Translation: X:462.95, Y:-20.77, Z:2.74 [[ 9.99807768e-01 -9.80398661e-03 -1.69796351e-02 4.62951071e+02] [ 9.82684001e-03 9.99950918e-01 1.26301733e-03 -2.07719399e+01] [ 1.69664191e-02 -1.42963069e-03 9.99855038e-01 2.73643370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.840714057 meters Centerline goodness [0,1] 0.9703653585926928 Centerline is valid? [True, True] Translation: X:462.98, Y:-20.77, Z:2.74 [[ 9.99783907e-01 -1.13851198e-02 -1.73930727e-02 4.62980400e+02] [ 1.14093260e-02 9.99934075e-01 1.29312156e-03 -2.07725870e+01] [ 1.73772038e-02 -1.49128536e-03 9.99847893e-01 2.73687365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.870714057 meters Centerline goodness [0,1] 0.967169059189752 Centerline is valid? [True, True] Translation: X:463.01, Y:-20.78, Z:2.74 [[ 9.99805887e-01 -1.19857503e-02 -1.56374289e-02 4.63007985e+02] [ 1.20053646e-02 9.99927259e-01 1.16104679e-03 -2.07771140e+01] [ 1.56223754e-02 -1.34855445e-03 9.99877054e-01 2.73602473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.900714057 meters Centerline goodness [0,1] 0.8932425775827325 Centerline is valid? [True, False] Translation: X:463.01, Y:-20.78, Z:2.74 [[ 9.99805779e-01 -1.21213768e-02 -1.55394882e-02 4.63007744e+02] [ 1.21391255e-02 9.99925769e-01 1.04835146e-03 -2.07768408e+01] [ 1.55256272e-02 -1.23678365e-03 9.99878705e-01 2.73623699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.930714057 meters Centerline goodness [0,1] 0.9577086949660722 Centerline is valid? [False, True] Translation: X:463.01, Y:-20.78, Z:2.74 [[ 9.99835656e-01 -1.03266593e-02 -1.49003725e-02 4.63005748e+02] [ 1.03741379e-02 9.99941343e-01 3.11262984e-03 -2.07765776e+01] [ 1.48673554e-02 -3.26669682e-03 9.99884139e-01 2.73710192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.960714057 meters Centerline goodness [0,1] 0.9551750586536726 Centerline is valid? [True, True] Translation: X:463.03, Y:-20.78, Z:2.74 [[ 9.99845669e-01 -9.88824431e-03 -1.45210188e-02 4.63034163e+02] [ 9.90537588e-03 9.99950326e-01 1.10832843e-03 -2.07777977e+01] [ 1.45093381e-02 -1.25199353e-03 9.99893950e-01 2.73708479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.990714057 meters Centerline goodness [0,1] 0.9766183793571752 Centerline is valid? [True, True] Translation: X:463.06, Y:-20.77, Z:2.74 [[ 9.99850558e-01 -9.03758957e-03 -1.47371621e-02 4.63064301e+02] [ 9.05509377e-03 9.99958373e-01 1.12146401e-03 -2.07682635e+01] [ 1.47264133e-02 -1.25474280e-03 9.99890773e-01 2.73886297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.020714057 meters Centerline goodness [0,1] 0.9773995977128392 Centerline is valid? [True, True] Translation: X:463.09, Y:-20.77, Z:2.74 [[ 9.99868106e-01 -8.04706636e-03 -1.41072603e-02 4.63093161e+02] [ 8.06302022e-03 9.99966916e-01 1.07438517e-03 -2.07706430e+01] [ 1.40981480e-02 -1.18799059e-03 9.99899910e-01 2.73823152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.050714057 meters Centerline goodness [0,1] 0.9767684322658144 Centerline is valid? [True, True] Translation: X:463.12, Y:-20.77, Z:2.74 [[ 9.99887508e-01 -7.98540186e-03 -1.26966521e-02 4.63121739e+02] [ 7.99825068e-03 9.99967551e-01 9.61528838e-04 -2.07722401e+01] [ 1.26885620e-02 -1.06297168e-03 9.99918932e-01 2.73795205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.080714057 meters Centerline goodness [0,1] 0.9762614627094909 Centerline is valid? [True, True] Translation: X:463.15, Y:-20.77, Z:2.74 [[ 9.99911434e-01 -7.91764126e-03 -1.06974413e-02 4.63150636e+02] [ 7.92672587e-03 9.99968257e-01 8.07098890e-04 -2.07729853e+01] [ 1.06907115e-02 -8.91823093e-04 9.99942455e-01 2.73835441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.110714057 meters Centerline goodness [0,1] 0.9757710753005887 Centerline is valid? [True, True] Translation: X:463.18, Y:-20.78, Z:2.74 [[ 9.99912750e-01 -7.94816003e-03 -1.05507747e-02 4.63180083e+02] [ 7.95702150e-03 9.99968024e-01 7.98175991e-04 -2.07751065e+01] [ 1.05440933e-02 -8.82059092e-04 9.99944020e-01 2.73761986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.140714057 meters Centerline goodness [0,1] 0.9749135534612516 Centerline is valid? [True, True] Translation: X:463.21, Y:-20.78, Z:2.74 [[ 9.99915958e-01 -7.96516097e-03 -1.02290455e-02 4.63209803e+02] [ 7.97348725e-03 9.99967912e-01 7.73459919e-04 -2.07770846e+01] [ 1.02225566e-02 -8.54956080e-04 9.99947383e-01 2.73701714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.170714057 meters Centerline goodness [0,1] 0.9759936406995231 Centerline is valid? [True, True] Translation: X:463.24, Y:-20.78, Z:2.74 [[ 9.99920260e-01 -7.74930489e-03 -9.97106249e-03 4.63240008e+02] [ 7.75720210e-03 9.99969629e-01 7.53580904e-04 -2.07764819e+01] [ 9.96491993e-03 -8.30868360e-04 9.99950004e-01 2.73644083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.200714057 meters Centerline goodness [0,1] 0.9694491382223724 Centerline is valid? [True, True] Translation: X:463.27, Y:-20.79, Z:2.73 [[ 9.99925589e-01 -7.36102392e-03 -9.72784745e-03 4.63267611e+02] [ 7.36851513e-03 9.99972582e-01 7.34462506e-04 -2.07851838e+01] [ 9.72217434e-03 -8.06087646e-04 9.99952414e-01 2.73414653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.230714057 meters Centerline goodness [0,1] 0.9739602169981917 Centerline is valid? [True, True] Translation: X:463.30, Y:-20.78, Z:2.73 [[ 9.99925086e-01 -7.02858088e-03 -1.00210663e-02 4.63297845e+02] [ 7.03651287e-03 9.99974957e-01 7.56492943e-04 -2.07820893e+01] [ 1.00154982e-02 -8.26949633e-04 9.99949502e-01 2.73459512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.26071405700003 meters Centerline goodness [0,1] 0.9751177019127982 Centerline is valid? [True, True] Translation: X:463.33, Y:-20.78, Z:2.73 [[ 9.99926962e-01 -6.43945906e-03 -1.02275908e-02 4.63327577e+02] [ 6.44768710e-03 9.99978916e-01 7.71724635e-04 -2.07796543e+01] [ 1.02224056e-02 -8.37612575e-04 9.99947399e-01 2.73431620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.290714057 meters Centerline goodness [0,1] 0.9727219309347315 Centerline is valid? [True, True] Translation: X:463.36, Y:-20.78, Z:2.73 [[ 9.99926611e-01 -5.62936582e-03 -1.07276221e-02 4.63355531e+02] [ 5.63836371e-03 9.99983777e-01 8.08699441e-04 -2.07849104e+01] [ 1.07228956e-02 -8.69126326e-04 9.99942130e-01 2.73242839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.320714057 meters Centerline goodness [0,1] 0.9753600436830251 Centerline is valid? [True, True] Translation: X:463.39, Y:-20.78, Z:2.73 [[ 9.99933489e-01 -4.69551906e-03 -1.05341742e-02 4.63385155e+02] [ 4.70409601e-03 9.99988624e-01 7.89572168e-04 -2.07815043e+01] [ 1.05303469e-02 -8.39073420e-04 9.99944202e-01 2.73247930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.350714057 meters Centerline goodness [0,1] 0.9768562942654786 Centerline is valid? [True, True] Translation: X:463.41, Y:-20.78, Z:2.73 [[ 9.99939977e-01 -4.03871006e-03 -1.01848061e-02 4.63414489e+02] [ 4.04666905e-03 9.99991523e-01 7.60970369e-04 -2.07818744e+01] [ 1.01816464e-02 -8.02139233e-04 9.99947844e-01 2.73285454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.380714057 meters Centerline goodness [0,1] 0.9747670543426512 Centerline is valid? [True, True] Translation: X:463.44, Y:-20.78, Z:2.73 [[ 9.99952467e-01 -2.49776366e-03 -9.42466343e-03 4.63442960e+02] [ 2.50452461e-03 9.99996615e-01 7.05633228e-04 -2.07823477e+01] [ 9.42286902e-03 -7.29203989e-04 9.99955338e-01 2.73230399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.410714057 meters Centerline goodness [0,1] 0.9770588639329625 Centerline is valid? [True, True] Translation: X:463.47, Y:-20.78, Z:2.73 [[ 9.99960410e-01 -1.77466544e-03 -8.71941572e-03 4.63471685e+02] [ 1.78041732e-03 9.99998203e-01 6.51946200e-04 -2.07803053e+01] [ 8.71824306e-03 -6.67444588e-04 9.99961773e-01 2.73320510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.440714057 meters Centerline goodness [0,1] 0.9759331348752004 Centerline is valid? [True, True] Translation: X:463.50, Y:-20.78, Z:2.73 [[ 9.99973273e-01 9.54550129e-04 -7.24852779e-03 4.63502072e+02] [-9.50642019e-04 9.99999401e-01 5.42585328e-04 -2.07790291e+01] [ 7.24904138e-03 -5.35680071e-04 9.99973582e-01 2.73370027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.470714057 meters Centerline goodness [0,1] 0.9736347379522216 Centerline is valid? [True, True] Translation: X:463.53, Y:-20.78, Z:2.73 [[ 9.99975205e-01 2.42741738e-03 -6.61036695e-03 4.63531068e+02] [-2.42420308e-03 9.99996939e-01 4.94220017e-04 -2.07832225e+01] [ 6.61154640e-03 -4.78182891e-04 9.99978029e-01 2.73246347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.500714057 meters Centerline goodness [0,1] 0.9742888025205253 Centerline is valid? [True, True] Translation: X:463.56, Y:-20.78, Z:2.73 [[ 9.99974120e-01 5.42860299e-03 -4.72114902e-03 4.63562338e+02] [-5.42699558e-03 9.99985211e-01 3.53213271e-04 -2.07784123e+01] [ 4.72299665e-03 -3.27582475e-04 9.99988793e-01 2.73391963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.530714057 meters Centerline goodness [0,1] 0.974099694344219 Centerline is valid? [True, True] Translation: X:463.59, Y:-20.78, Z:2.73 [[ 9.99969139e-01 6.84394851e-03 -3.85757270e-03 4.63592083e+02] [-6.84288782e-03 9.99976546e-01 2.88093933e-04 -2.07794342e+01] [ 3.85945392e-03 -2.61688105e-04 9.99992518e-01 2.73374404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.560714057 meters Centerline goodness [0,1] 0.9740066755063783 Centerline is valid? [True, True] Translation: X:463.62, Y:-20.78, Z:2.73 [[ 9.99955735e-01 9.05702561e-03 -2.54901704e-03 4.63622421e+02] [-9.05656957e-03 9.99958970e-01 1.90392374e-04 -2.07795101e+01] [ 2.55063684e-03 -1.67298596e-04 9.99996733e-01 2.73320233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.590714057 meters Centerline goodness [0,1] 0.973268080980632 Centerline is valid? [True, True] Translation: X:463.65, Y:-20.78, Z:2.73 [[ 9.99951189e-01 9.67408053e-03 -2.00808890e-03 4.63651445e+02] [-9.67380042e-03 9.99953197e-01 1.49156955e-04 -2.07768952e+01] [ 2.00943787e-03 -1.29723823e-04 9.99997973e-01 2.73372362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.620714057 meters Centerline goodness [0,1] 0.9740475640729623 Centerline is valid? [True, True] Translation: X:463.68, Y:-20.78, Z:2.73 [[ 9.99931108e-01 1.16991861e-02 -9.53054653e-04 4.63681521e+02] [-1.16991237e-02 9.99931560e-01 7.09679955e-05 -2.07764134e+01] [ 9.53819694e-04 -5.98132021e-05 9.99999543e-01 2.73324759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.650714057 meters Centerline goodness [0,1] 0.9746247979681367 Centerline is valid? [True, True] Translation: X:463.71, Y:-20.78, Z:2.73 [[ 9.99912030e-01 1.32442428e-02 -7.22356178e-04 4.63710720e+02] [-1.32442082e-02 9.99912290e-01 5.26008043e-05 -2.07783153e+01] [ 7.22989478e-04 -4.30291413e-05 9.99999738e-01 2.73248343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.680714057 meters Centerline goodness [0,1] 0.9728960281455421 Centerline is valid? [True, True] Translation: X:463.74, Y:-20.78, Z:2.73 [[ 9.99875676e-01 1.57678103e-02 9.74090330e-05 4.63739392e+02] [-1.57678096e-02 9.99875680e-01 -7.89296866e-06 -2.07800651e+01] [-9.75213779e-05 6.35606028e-06 9.99999995e-01 2.73170658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.710714057 meters Centerline goodness [0,1] 0.9736744530960326 Centerline is valid? [True, True] Translation: X:463.77, Y:-20.78, Z:2.73 [[ 9.99853610e-01 1.70863862e-02 9.02513865e-04 4.63768782e+02] [-1.70863319e-02 9.99854016e-01 -6.78602557e-05 -2.07776095e+01] [-9.03541599e-04 5.24296702e-05 9.99999590e-01 2.73185109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.740714057 meters Centerline goodness [0,1] 0.9738087579837339 Centerline is valid? [True, True] Translation: X:463.80, Y:-20.78, Z:2.73 [[ 9.99793763e-01 2.02110674e-02 1.98601712e-03 4.63797883e+02] [-2.02108127e-02 9.99795730e-01 -1.48272700e-04 -2.07815455e+01] [-1.98860818e-03 1.08103101e-04 9.99998017e-01 2.73136407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.770714057 meters Centerline goodness [0,1] 0.9742014458276554 Centerline is valid? [True, True] Translation: X:463.83, Y:-20.78, Z:2.73 [[ 9.99757230e-01 2.18542705e-02 2.80575568e-03 4.63827032e+02] [-2.18537683e-02 9.99761156e-01 -2.09531700e-04 -2.07786495e+01] [-2.80966471e-03 1.48164498e-04 9.99996042e-01 2.73218300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.800714057 meters Centerline goodness [0,1] 0.9760671050491437 Centerline is valid? [True, True] Translation: X:463.86, Y:-20.78, Z:2.73 [[ 9.99688684e-01 2.45931669e-02 4.20845546e-03 4.63857076e+02] [-2.45920654e-02 9.99697520e-01 -3.13291600e-04 -2.07756310e+01] [-4.21488732e-03 2.09699455e-04 9.99991095e-01 2.73189859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.830714057 meters Centerline goodness [0,1] 0.9747932256794013 Centerline is valid? [True, True] Translation: X:463.89, Y:-20.78, Z:2.73 [[ 9.99622855e-01 2.71287812e-02 4.26346916e-03 4.63885737e+02] [-2.71276744e-02 9.99631927e-01 -3.17226771e-04 -2.07822353e+01] [-4.27050586e-03 2.01449127e-04 9.99990861e-01 2.72915754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.860714057 meters Centerline goodness [0,1] 0.9756449660054018 Centerline is valid? [True, True] Translation: X:463.91, Y:-20.78, Z:2.73 [[ 9.99604775e-01 2.77923534e-02 4.22843844e-03 4.63914272e+02] [-2.77912702e-02 9.99613699e-01 -3.14727297e-04 -2.07843321e+01] [-4.23555200e-03 1.97089233e-04 9.99991011e-01 2.72847408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.890714057 meters Centerline goodness [0,1] 0.9755499525803243 Centerline is valid? [True, True] Translation: X:463.94, Y:-20.79, Z:2.73 [[ 9.99586875e-01 2.84018598e-02 4.40617493e-03 4.63942694e+02] [-2.84006909e-02 9.99596565e-01 -3.27625005e-04 -2.07866992e+01] [-4.41370248e-03 2.02351242e-04 9.99990239e-01 2.72734838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.920714057 meters Centerline goodness [0,1] 0.9781148679944419 Centerline is valid? [True, True] Translation: X:463.97, Y:-20.78, Z:2.73 [[ 9.99570637e-01 2.88580906e-02 5.07460163e-03 4.63971838e+02] [-2.88565483e-02 9.99583492e-01 -3.76900181e-04 -2.07838423e+01] [-5.08336464e-03 2.30302868e-04 9.99987053e-01 2.72778363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.950714057 meters Centerline goodness [0,1] 0.9771244853587454 Centerline is valid? [True, True] Translation: X:464.00, Y:-20.79, Z:2.73 [[ 9.99564352e-01 2.90631929e-02 5.14160203e-03 4.64000370e+02] [-2.90616142e-02 9.99577549e-01 -3.81498896e-04 -2.07864539e+01] [-5.15051753e-03 2.31909442e-04 9.99986709e-01 2.72734529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.980714057 meters Centerline goodness [0,1] 0.978399335364165 Centerline is valid? [True, True] Translation: X:464.03, Y:-20.79, Z:2.73 [[ 9.99558180e-01 2.93403894e-02 4.75258742e-03 4.64028956e+02] [-2.93390451e-02 9.99569455e-01 -3.52358050e-04 -2.07903094e+01] [-4.76087954e-03 2.12765994e-04 9.99988644e-01 2.72616989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.01071405700003 meters Centerline goodness [0,1] 0.9777369749827863 Centerline is valid? [True, True] Translation: X:464.06, Y:-20.79, Z:2.72 [[ 9.99561181e-01 2.93024484e-02 4.33716678e-03 4.64056068e+02] [-2.93013276e-02 9.99570572e-01 -3.21740619e-04 -2.07938400e+01] [-4.34473207e-03 1.94514688e-04 9.99990543e-01 2.72498013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.040714057 meters Centerline goodness [0,1] 0.9780591688730287 Centerline is valid? [True, True] Translation: X:464.08, Y:-20.80, Z:2.72 [[ 9.99581559e-01 2.85703964e-02 4.52105465e-03 4.64084476e+02] [-2.85691758e-02 9.99591762e-01 -3.34346195e-04 -2.07992076e+01] [-4.52876139e-03 2.05043486e-04 9.99989724e-01 2.72441058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.070714057 meters Centerline goodness [0,1] 0.9775562819391372 Centerline is valid? [True, True] Translation: X:464.11, Y:-20.80, Z:2.72 [[ 9.99604423e-01 2.77101569e-02 4.81079716e-03 4.64112353e+02] [-2.77087650e-02 9.99615975e-01 -3.55747213e-04 -2.08042251e+01] [-4.81880751e-03 2.22305239e-04 9.99988365e-01 2.72377821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.100714057 meters Centerline goodness [0,1] 0.9791843767949454 Centerline is valid? [True, True] Translation: X:464.14, Y:-20.81, Z:2.72 [[ 9.99644742e-01 2.61103285e-02 5.35168489e-03 4.64140431e+02] [-2.61085886e-02 9.99659035e-01 -3.94744409e-04 -2.08077755e+01] [-5.36016706e-03 2.54879234e-04 9.99985602e-01 2.72444546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.130714057 meters Centerline goodness [0,1] 0.9782434627439317 Centerline is valid? [True, True] Translation: X:464.17, Y:-20.81, Z:2.72 [[ 9.99676747e-01 2.49091475e-02 5.09263560e-03 4.64168548e+02] [-2.49075575e-02 9.99689688e-01 -3.75427033e-04 -2.08119267e+01] [-5.10040686e-03 2.48460561e-04 9.99986962e-01 2.72415182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.160714057 meters Centerline goodness [0,1] 0.9774550925503784 Centerline is valid? [True, True] Translation: X:464.20, Y:-20.82, Z:2.72 [[ 9.99734728e-01 2.26709118e-02 4.06239858e-03 4.64196511e+02] [-2.26698843e-02 9.99742960e-01 -2.98791405e-04 -2.08206748e+01] [-4.06812825e-03 2.06618038e-04 9.99991704e-01 2.72303571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.190714057 meters Centerline goodness [0,1] 0.9779678707569431 Centerline is valid? [True, True] Translation: X:464.23, Y:-20.82, Z:2.72 [[ 9.99772109e-01 2.09834989e-02 3.92712026e-03 4.64226107e+02] [-2.09825270e-02 9.99779801e-01 -2.88509931e-04 -2.08245331e+01] [-3.93230946e-03 2.06043275e-04 9.99992247e-01 2.72257663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.220714057 meters Centerline goodness [0,1] 0.9773714699493121 Centerline is valid? [True, True] Translation: X:464.25, Y:-20.83, Z:2.72 [[ 9.99826787e-01 1.82125660e-02 3.83381778e-03 4.64254784e+02] [-1.82116194e-02 9.99834115e-01 -2.81679833e-04 -2.08319300e+01] [-3.83831192e-03 2.11811012e-04 9.99992611e-01 2.72264126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.250714057 meters Centerline goodness [0,1] 0.9773714699493121 Centerline is valid? [True, True] Translation: X:464.28, Y:-20.83, Z:2.72 [[ 9.99828051e-01 1.81430498e-02 3.83382170e-03 4.64283058e+02] [-1.81421029e-02 9.99835379e-01 -2.81626668e-04 -2.08339410e+01] [-3.83830014e-03 2.12024654e-04 9.99992611e-01 2.72229212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.280714057 meters Centerline goodness [0,1] 0.9767626749045974 Centerline is valid? [True, True] Translation: X:464.31, Y:-20.84, Z:2.72 [[ 9.99865859e-01 1.61142993e-02 2.93134422e-03 4.64312056e+02] [-1.61137371e-02 9.99870142e-01 -2.15327478e-04 -2.08357016e+01] [-2.93443342e-03 1.68063683e-04 9.99995680e-01 2.72267647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.310714057 meters Centerline goodness [0,1] 0.9763984431571325 Centerline is valid? [True, True] Translation: X:464.34, Y:-20.85, Z:2.72 [[ 9.99901445e-01 1.37938406e-02 2.61349344e-03 4.64339668e+02] [-1.37933864e-02 9.99904848e-01 -1.91732405e-04 -2.08477831e+01] [-2.61588949e-03 1.55664584e-04 9.99996566e-01 2.72120865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.340714057 meters Centerline goodness [0,1] 0.9763564579808235 Centerline is valid? [True, True] Translation: X:464.37, Y:-20.85, Z:2.72 [[ 9.99916729e-01 1.26710989e-02 2.44497611e-03 4.64367823e+02] [-1.26706974e-02 9.99919707e-01 -1.79609826e-04 -2.08503830e+01] [-2.44705565e-03 1.48615317e-04 9.99996995e-01 2.72137688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.370714057 meters Centerline goodness [0,1] 0.9763744059818472 Centerline is valid? [True, True] Translation: X:464.40, Y:-20.86, Z:2.72 [[ 9.99946318e-01 1.01748173e-02 1.95815151e-03 4.64395911e+02] [-1.01745566e-02 9.99948228e-01 -1.43027798e-04 -2.08604490e+01] [-1.95950541e-03 1.23096797e-04 9.99998073e-01 2.71989514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.400714057 meters Centerline goodness [0,1] 0.9756669598358253 Centerline is valid? [True, True] Translation: X:464.43, Y:-20.87, Z:2.72 [[ 9.99958893e-01 8.98339771e-03 1.22947412e-03 4.64425271e+02] [-8.98329363e-03 9.99959645e-01 -9.01484703e-05 -2.08650508e+01] [-1.23023435e-03 7.91000375e-05 9.99999240e-01 2.71926100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.430714057 meters Centerline goodness [0,1] 0.9768783521882183 Centerline is valid? [True, True] Translation: X:464.45, Y:-20.87, Z:2.72 [[ 9.99982807e-01 5.84377828e-03 -4.86050846e-04 4.64454037e+02] [-5.84376193e-03 9.99982924e-01 3.50571840e-05 -2.08718879e+01] [ 4.86247412e-04 -3.22162158e-05 9.99999881e-01 2.71741289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.460714057 meters Centerline goodness [0,1] 0.9789301261051025 Centerline is valid? [True, True] Translation: X:464.48, Y:-20.87, Z:2.72 [[ 9.99992960e-01 3.68258392e-03 -7.20223711e-04 4.64484195e+02] [-3.68254736e-03 9.99993218e-01 5.20771116e-05 -2.08664071e+01] [ 7.20410605e-04 -4.94244871e-05 9.99999739e-01 2.71840354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.490714057 meters Centerline goodness [0,1] 0.9773396578468179 Centerline is valid? [True, True] Translation: X:464.51, Y:-20.88, Z:2.72 [[ 9.99998455e-01 -7.19991646e-04 -1.60393097e-03 4.64513099e+02] [ 7.20179763e-04 9.99999734e-01 1.16709992e-04 -2.08803784e+01] [ 1.60384651e-03 -1.17864931e-04 9.99998707e-01 2.71580581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.520714057 meters Centerline goodness [0,1] 0.9795188044383426 Centerline is valid? [True, True] Translation: X:464.54, Y:-20.88, Z:2.72 [[ 9.99988770e-01 -4.28672010e-03 -2.02077362e-03 4.64543824e+02] [ 4.28702641e-03 9.99990800e-01 1.47275406e-04 -2.08798412e+01] [ 2.02012370e-03 -1.55936862e-04 9.99997947e-01 2.71686577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.550714057 meters Centerline goodness [0,1] 0.9780853775799996 Centerline is valid? [True, True] Translation: X:464.57, Y:-20.89, Z:2.72 [[ 9.99983125e-01 -5.67572172e-03 -1.23935287e-03 4.64574055e+02] [ 5.67583833e-03 9.99983888e-01 9.05861971e-05 -2.08861903e+01] [ 1.23881876e-03 -9.76190350e-05 9.99999228e-01 2.71633530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.580714057 meters Centerline goodness [0,1] 0.9786894817210096 Centerline is valid? [True, True] Translation: X:464.61, Y:-20.89, Z:2.72 [[ 9.99975944e-01 -6.80445299e-03 -1.34600660e-03 4.64605602e+02] [ 6.80459187e-03 9.99976844e-01 9.86265824e-05 -2.08888948e+01] [ 1.34530433e-03 -1.07783235e-04 9.99999089e-01 2.71586655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.610714057 meters Centerline goodness [0,1] 0.9783975387907973 Centerline is valid? [True, True] Translation: X:464.64, Y:-20.89, Z:2.72 [[ 9.99978165e-01 -6.55774026e-03 -8.15396625e-04 4.64636228e+02] [ 6.55779149e-03 9.99978496e-01 6.01771544e-05 -2.08929428e+01] [ 8.14984465e-04 -6.55230415e-05 9.99999666e-01 2.71560287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.640714057 meters Centerline goodness [0,1] 0.977788237403622 Centerline is valid? [True, True] Translation: X:464.67, Y:-20.90, Z:2.72 [[ 9.99976145e-01 -6.79221902e-03 -1.25509826e-03 4.64668648e+02] [ 6.79234052e-03 9.99976928e-01 9.25693223e-05 -2.08957812e+01] [ 1.25444055e-03 -1.01092169e-04 9.99999208e-01 2.71595477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.670714057 meters Centerline goodness [0,1] 0.9780185272413252 Centerline is valid? [True, True] Translation: X:464.70, Y:-20.90, Z:2.72 [[ 9.99978692e-01 -6.43093115e-03 -1.12221316e-03 4.64700301e+02] [ 6.43102824e-03 9.99979317e-01 8.29324860e-05 -2.08989629e+01] [ 1.12165662e-03 -9.01477034e-05 9.99999367e-01 2.71533264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.700714057 meters Centerline goodness [0,1] 0.9796802429439085 Centerline is valid? [True, True] Translation: X:464.73, Y:-20.90, Z:2.71 [[ 9.99983667e-01 -5.43933886e-03 -1.75476153e-03 4.64731822e+02] [ 5.43957328e-03 9.99985197e-01 1.28845261e-04 -2.08978099e+01] [ 1.75403472e-03 -1.38388310e-04 9.99998452e-01 2.71414440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.730714057 meters Centerline goodness [0,1] 0.9799028713380928 Centerline is valid? [True, True] Translation: X:464.76, Y:-20.90, Z:2.71 [[ 9.99983618e-01 -5.15957526e-03 -2.47849556e-03 4.64763374e+02] [ 5.16004184e-03 9.99986670e-01 1.81895256e-04 -2.09001464e+01] [ 2.47752402e-03 -1.94681416e-04 9.99996912e-01 2.71312466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.76071405700003 meters Centerline goodness [0,1] 0.9759194786645242 Centerline is valid? [True, True] Translation: X:464.79, Y:-20.91, Z:2.71 [[ 9.99988910e-01 -3.96303388e-03 -2.54439823e-03 4.64793189e+02] [ 3.96352128e-03 9.99992128e-01 1.86546484e-04 -2.09092485e+01] [ 2.54363891e-03 -1.96629191e-04 9.99996746e-01 2.71167164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.790714057 meters Centerline goodness [0,1] 0.9793159025787965 Centerline is valid? [True, True] Translation: X:464.82, Y:-20.90, Z:2.71 [[ 9.99989084e-01 -3.56972301e-03 -3.01472584e-03 4.64824615e+02] [ 3.57040472e-03 9.99993602e-01 2.20773125e-04 -2.09029455e+01] [ 3.01391846e-03 -2.31534506e-04 9.99995431e-01 2.71256549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.820714057 meters Centerline goodness [0,1] 0.979895222316751 Centerline is valid? [True, True] Translation: X:464.85, Y:-20.91, Z:2.71 [[ 9.99988203e-01 -3.12443076e-03 -3.71915107e-03 4.64854821e+02] [ 3.12546520e-03 9.99995079e-01 2.72359294e-04 -2.09051521e+01] [ 3.71828179e-03 -2.83980158e-04 9.99993047e-01 2.71167996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.850714057 meters Centerline goodness [0,1] 0.9734061604584527 Centerline is valid? [True, True] Translation: X:464.88, Y:-20.92, Z:2.71 [[ 9.99979415e-01 -2.02661972e-03 -6.08794698e-03 4.64883738e+02] [ 2.02936936e-03 9.99997842e-01 4.45509063e-04 -2.09159740e+01] [ 6.08703096e-03 -4.57854585e-04 9.99981369e-01 2.70749230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.880714057 meters Centerline goodness [0,1] 0.9801738974943561 Centerline is valid? [True, True] Translation: X:464.91, Y:-20.91, Z:2.71 [[ 9.99970133e-01 -6.46466399e-04 -7.70169251e-03 4.64912838e+02] [ 6.50817678e-04 9.99999630e-01 5.62484154e-04 -2.09087648e+01] [ 7.70132603e-03 -5.67479752e-04 9.99970183e-01 2.70845184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.910714057 meters Centerline goodness [0,1] 0.9803838048693001 Centerline is valid? [True, True] Translation: X:464.94, Y:-20.91, Z:2.71 [[ 9.99965497e-01 5.75013148e-05 -8.30673079e-03 4.64940817e+02] [-5.24779961e-05 9.99999816e-01 6.04945423e-04 -2.09101756e+01] [ 8.30676405e-03 -6.04488630e-04 9.99965316e-01 2.70885593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.940714057 meters Centerline goodness [0,1] 0.9807420692747449 Centerline is valid? [True, True] Translation: X:464.97, Y:-20.90, Z:2.71 [[ 9.99968412e-01 2.03367151e-03 -7.68371875e-03 4.64971260e+02] [-2.02942727e-03 9.99997784e-01 5.60124113e-04 -2.09036859e+01] [ 7.68484083e-03 -5.44512871e-04 9.99970323e-01 2.71157185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.970714057 meters Centerline goodness [0,1] 0.9820835949412503 Centerline is valid? [True, True] Translation: X:465.00, Y:-20.91, Z:2.71 [[ 9.99963970e-01 2.69361188e-03 -8.05006708e-03 4.64999934e+02] [-2.68898161e-03 9.99996213e-01 5.85952405e-04 -2.09052309e+01] [ 8.05161492e-03 -5.64284810e-04 9.99967426e-01 2.71144237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.000714057 meters Centerline goodness [0,1] 0.9806061151483789 Centerline is valid? [True, True] Translation: X:465.03, Y:-20.91, Z:2.71 [[ 9.99963722e-01 3.40699414e-03 -7.80688928e-03 4.65028016e+02] [-3.40266549e-03 9.99994050e-01 5.67679651e-04 -2.09084638e+01] [ 7.80877691e-03 -5.41094824e-04 9.99969365e-01 2.71051968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.030714057 meters Centerline goodness [0,1] 0.9803131890383836 Centerline is valid? [True, True] Translation: X:465.06, Y:-20.91, Z:2.71 [[ 9.99962197e-01 5.12622447e-03 -7.02322909e-03 4.65057780e+02] [-5.12276275e-03 9.99986748e-01 5.10797030e-04 -2.09089572e+01] [ 7.02575448e-03 -4.74799384e-04 9.99975206e-01 2.71093721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.060714057 meters Centerline goodness [0,1] 0.9809423094230942 Centerline is valid? [True, True] Translation: X:465.09, Y:-20.91, Z:2.71 [[ 9.99963583e-01 6.13403529e-03 -5.93344610e-03 4.65086709e+02] [-6.13158777e-03 9.99981109e-01 4.30598703e-04 -2.09072655e+01] [ 5.93597532e-03 -3.94201576e-04 9.99982304e-01 2.71273188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.090714057 meters Centerline goodness [0,1] 0.9795982776888569 Centerline is valid? [True, True] Translation: X:465.11, Y:-20.91, Z:2.71 [[ 9.99963626e-01 6.61047588e-03 -5.38964624e-03 4.65114591e+02] [-6.60846750e-03 9.99978088e-01 3.90359872e-04 -2.09106478e+01] [ 5.39210860e-03 -3.54728371e-04 9.99985400e-01 2.71216636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.120714057 meters Centerline goodness [0,1] 0.9806525807833675 Centerline is valid? [True, True] Translation: X:465.14, Y:-20.91, Z:2.71 [[ 9.99967787e-01 5.90754988e-03 -5.43369264e-03 4.65142849e+02] [-5.90550083e-03 9.99982485e-01 3.93068842e-04 -2.09112736e+01] [ 5.43591954e-03 -3.60967504e-04 9.99985160e-01 2.71179511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.150714057 meters Centerline goodness [0,1] 0.9800418984975109 Centerline is valid? [True, True] Translation: X:465.17, Y:-20.92, Z:2.71 [[ 9.99968370e-01 5.14112716e-03 -6.06851814e-03 4.65170516e+02] [-5.13855976e-03 9.99986701e-01 4.38583634e-04 -2.09173251e+01] [ 6.07069225e-03 -4.07386319e-04 9.99981490e-01 2.70981613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.180714057 meters Centerline goodness [0,1] 0.9803802452469345 Centerline is valid? [True, True] Translation: X:465.20, Y:-20.92, Z:2.71 [[ 9.99979425e-01 2.32817817e-03 -5.97741481e-03 4.65201076e+02] [-2.32563083e-03 9.99997202e-01 4.33076668e-04 -2.09187577e+01] [ 5.97840636e-03 -4.19166497e-04 9.99982041e-01 2.70993128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.210714057 meters Centerline goodness [0,1] 0.9803612449889645 Centerline is valid? [True, True] Translation: X:465.23, Y:-20.92, Z:2.71 [[ 9.99978969e-01 5.09912334e-04 -6.46544264e-03 4.65230277e+02] [-5.06900682e-04 9.99999762e-01 4.67437574e-04 -2.09209070e+01] [ 6.46567945e-03 -4.64150406e-04 9.99978990e-01 2.71019799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.240714057 meters Centerline goodness [0,1] 0.9796321663560217 Centerline is valid? [True, True] Translation: X:465.26, Y:-20.93, Z:2.71 [[ 9.99977039e-01 -1.34406070e-03 -6.64188850e-03 4.65258258e+02] [ 1.34727526e-03 9.99998977e-01 4.79532202e-04 -2.09275083e+01] [ 6.64123719e-03 -4.88469644e-04 9.99977827e-01 2.70899361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.270714057 meters Centerline goodness [0,1] 0.9764046965675469 Centerline is valid? [True, True] Translation: X:465.29, Y:-20.94, Z:2.71 [[ 9.99955934e-01 -4.94058140e-03 -7.98258648e-03 4.65286829e+02] [ 4.94534407e-03 9.99987605e-01 5.77004775e-04 -2.09354643e+01] [ 7.97963680e-03 -6.16455986e-04 9.99967972e-01 2.70684359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.300714057 meters Centerline goodness [0,1] 0.978772892532123 Centerline is valid? [True, True] Translation: X:465.32, Y:-20.93, Z:2.71 [[ 9.99923524e-01 -7.24037279e-03 -1.00261558e-02 4.65317475e+02] [ 7.24800393e-03 9.99973470e-01 7.24996368e-04 -2.09349917e+01] [ 1.00206405e-02 -7.97610539e-04 9.99949474e-01 2.70579462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.330714057 meters Centerline goodness [0,1] 0.9768177504631931 Centerline is valid? [True, True] Translation: X:465.35, Y:-20.94, Z:2.70 [[ 9.99908091e-01 -7.77372549e-03 -1.11076311e-02 4.65347309e+02] [ 7.78311548e-03 9.99969389e-01 8.02385753e-04 -2.09375614e+01] [ 1.11010535e-02 -8.88763982e-04 9.99937986e-01 2.70450058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.360714057 meters Centerline goodness [0,1] 0.9733478132989434 Centerline is valid? [True, True] Translation: X:465.38, Y:-20.94, Z:2.70 [[ 9.99921263e-01 -6.68197591e-03 -1.06215968e-02 4.65375852e+02] [ 6.69049262e-03 9.99977325e-01 7.66498905e-04 -2.09403330e+01] [ 1.06162343e-02 -8.37502269e-04 9.99943295e-01 2.70341806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.390714057 meters Centerline goodness [0,1] 0.973726977248104 Centerline is valid? [True, True] Translation: X:465.41, Y:-20.94, Z:2.70 [[ 9.99932615e-01 -5.78643472e-03 -1.00639003e-02 4.65405100e+02] [ 5.79399163e-03 9.99982954e-01 7.21898992e-04 -2.09406257e+01] [ 1.00595515e-02 -7.80160501e-04 9.99949097e-01 2.70377333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.420714057 meters Centerline goodness [0,1] 0.973570682530312 Centerline is valid? [True, True] Translation: X:465.43, Y:-20.94, Z:2.70 [[ 9.99955754e-01 -2.95330223e-03 -8.93124291e-03 4.65434737e+02] [ 2.95915904e-03 9.99995415e-01 6.42622479e-04 -2.09407133e+01] [ 8.92930411e-03 -6.69023014e-04 9.99959909e-01 2.70491875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.450714057 meters Centerline goodness [0,1] 0.9800551138417058 Centerline is valid? [True, True] Translation: X:465.47, Y:-20.93, Z:2.71 [[ 9.99972711e-01 5.96107393e-05 -7.38734145e-03 4.65465720e+02] [-5.56845751e-05 9.99999857e-01 5.31676422e-04 -2.09347150e+01] [ 7.38737209e-03 -5.31250552e-04 9.99972572e-01 2.70705446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.480714057 meters Centerline goodness [0,1] 0.9773355069510483 Centerline is valid? [True, True] Translation: X:465.49, Y:-20.94, Z:2.71 [[ 9.99978027e-01 1.16917152e-03 -6.52527382e-03 4.65493635e+02] [-1.16613996e-03 9.99999210e-01 4.68372295e-04 -2.09406047e+01] [ 6.52581627e-03 -4.60752620e-04 9.99978600e-01 2.70555797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.51071405700003 meters Centerline goodness [0,1] 0.9780509418100021 Centerline is valid? [True, True] Translation: X:465.52, Y:-20.94, Z:2.71 [[ 9.99974652e-01 2.03636492e-03 -6.82260602e-03 4.65522816e+02] [-2.03309310e-03 9.99997815e-01 4.86456162e-04 -2.09415136e+01] [ 6.82358172e-03 -4.72572838e-04 9.99976607e-01 2.70501462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.540714057 meters Centerline goodness [0,1] 0.9756025533268213 Centerline is valid? [True, True] Translation: X:465.55, Y:-20.94, Z:2.70 [[ 9.99971405e-01 2.13597324e-03 -7.25449326e-03 4.65551687e+02] [-2.13226551e-03 9.99997592e-01 5.18789416e-04 -2.09436169e+01] [ 7.25558391e-03 -5.03306075e-04 9.99973551e-01 2.70406728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.570714057 meters Centerline goodness [0,1] 0.9728626810854928 Centerline is valid? [True, True] Translation: X:465.58, Y:-20.95, Z:2.70 [[ 9.99964498e-01 1.77743047e-03 -8.23677255e-03 4.65579310e+02] [-1.77264483e-03 9.99998256e-01 5.88273686e-04 -2.09464194e+01] [ 8.23780380e-03 -5.73651928e-04 9.99965904e-01 2.70208258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.600714057 meters Centerline goodness [0,1] 0.9809240819289133 Centerline is valid? [True, True] Translation: X:465.61, Y:-20.94, Z:2.70 [[ 9.99957492e-01 1.35695774e-03 -9.11993138e-03 4.65609252e+02] [-1.35107712e-03 9.99998875e-01 6.50939249e-04 -2.09374052e+01] [ 9.12080442e-03 -6.38589848e-04 9.99958201e-01 2.70434008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.630714057 meters Centerline goodness [0,1] 0.9799668008277054 Centerline is valid? [True, True] Translation: X:465.64, Y:-20.94, Z:2.70 [[ 9.99951552e-01 6.96390765e-04 -9.81875475e-03 4.65636800e+02] [-6.89552600e-04 9.99999517e-01 6.99807334e-04 -2.09408633e+01] [ 9.81923735e-03 -6.93002882e-04 9.99951550e-01 2.70281068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.660714057 meters Centerline goodness [0,1] 0.97321732809341 Centerline is valid? [True, True] Translation: X:465.66, Y:-20.95, Z:2.70 [[ 9.99957674e-01 2.35193216e-04 -9.19752535e-03 4.65663501e+02] [-2.29181538e-04 9.99999759e-01 6.54667504e-04 -2.09506718e+01] [ 9.19767711e-03 -6.52531892e-04 9.99957488e-01 2.70002215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.690714057 meters Centerline goodness [0,1] 0.9786818625559062 Centerline is valid? [True, True] Translation: X:465.69, Y:-20.94, Z:2.70 [[ 9.99960747e-01 3.75170091e-05 -8.86021379e-03 4.65691687e+02] [-3.19410768e-05 9.99999801e-01 6.29463208e-04 -2.09435609e+01] [ 8.86023565e-03 -6.29155495e-04 9.99960549e-01 2.70264410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.720714057 meters Centerline goodness [0,1] 0.9783754315827731 Centerline is valid? [True, True] Translation: X:465.72, Y:-20.94, Z:2.70 [[ 9.99957055e-01 1.57053735e-04 -9.26626216e-03 4.65720151e+02] [-1.50961766e-04 9.99999772e-01 6.58131135e-04 -2.09425361e+01] [ 9.26636341e-03 -6.56704020e-04 9.99956851e-01 2.70270494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.750714057 meters Centerline goodness [0,1] 0.9787292064357785 Centerline is valid? [True, True] Translation: X:465.75, Y:-20.94, Z:2.70 [[ 9.99952810e-01 3.57167485e-04 -9.70820967e-03 4.65749177e+02] [-3.50534817e-04 9.99999704e-01 6.84894944e-04 -2.09426348e+01] [ 9.70845142e-03 -6.81459558e-04 9.99952640e-01 2.70163836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.780714057 meters Centerline goodness [0,1] 0.9779353284704706 Centerline is valid? [True, True] Translation: X:465.78, Y:-20.95, Z:2.70 [[ 9.99955562e-01 5.03173673e-05 -9.42721889e-03 4.65776685e+02] [-4.40420037e-05 9.99999777e-01 6.65870779e-04 -2.09452980e+01] [ 9.42725029e-03 -6.65425995e-04 9.99955341e-01 2.70092048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.810714057 meters Centerline goodness [0,1] 0.9773043181041358 Centerline is valid? [True, True] Translation: X:465.80, Y:-20.95, Z:2.70 [[ 9.99972421e-01 2.65053773e-04 -7.42205870e-03 4.65804017e+02] [-2.61175620e-04 9.99999829e-01 5.23481398e-04 -2.09481008e+01] [ 7.42219618e-03 -5.21528500e-04 9.99972319e-01 2.70084924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.840714057 meters Centerline goodness [0,1] 0.9773217407096321 Centerline is valid? [True, True] Translation: X:465.83, Y:-20.95, Z:2.70 [[ 9.99980481e-01 4.84108426e-04 -6.22914873e-03 4.65832483e+02] [-4.81383418e-04 9.99999788e-01 4.38952714e-04 -2.09480394e+01] [ 6.22935990e-03 -4.35945538e-04 9.99980502e-01 2.70160874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.870714057 meters Centerline goodness [0,1] 0.9748260938526726 Centerline is valid? [True, True] Translation: X:465.86, Y:-20.95, Z:2.70 [[ 9.99989821e-01 3.37376619e-04 -4.49937678e-03 4.65859721e+02] [-3.35957209e-04 9.99999894e-01 3.16220249e-04 -2.09515750e+01] [ 4.49948298e-03 -3.14705432e-04 9.99989828e-01 2.70103766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.900714057 meters Centerline goodness [0,1] 0.9736002915584712 Centerline is valid? [True, True] Translation: X:465.89, Y:-20.96, Z:2.70 [[ 9.99992104e-01 -1.43010668e-04 -3.97128820e-03 4.65887606e+02] [ 1.44124552e-04 9.99999950e-01 2.80199381e-04 -2.09566807e+01] [ 3.97124794e-03 -2.80769529e-04 9.99992075e-01 2.69946979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.930714057 meters Centerline goodness [0,1] 0.9748318705117975 Centerline is valid? [True, True] Translation: X:465.92, Y:-20.95, Z:2.70 [[ 9.99990317e-01 -1.56736139e-03 -4.11205144e-03 4.65917910e+02] [ 1.56856472e-03 9.99998728e-01 2.89427103e-04 -2.09513340e+01] [ 4.11159257e-03 -2.95874319e-04 9.99991504e-01 2.69947775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.960714057 meters Centerline goodness [0,1] 0.9751251706873009 Centerline is valid? [True, True] Translation: X:465.95, Y:-20.95, Z:2.70 [[ 9.99986174e-01 -2.23805724e-03 -4.75852577e-03 4.65947192e+02] [ 2.23967577e-03 9.99997436e-01 3.34830809e-04 -2.09534233e+01] [ 4.75776420e-03 -3.45483735e-04 9.99988622e-01 2.69817804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.990714057 meters Centerline goodness [0,1] 0.9742941136254871 Centerline is valid? [True, True] Translation: X:465.98, Y:-20.95, Z:2.70 [[ 9.99983654e-01 -2.83373583e-03 -4.96601735e-03 4.65977231e+02] [ 2.83550504e-03 9.99995919e-01 3.49258407e-04 -2.09516591e+01] [ 4.96500738e-03 -3.63333865e-04 9.99987608e-01 2.69763069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.020714057 meters Centerline goodness [0,1] 0.9737604672918521 Centerline is valid? [True, True] Translation: X:466.01, Y:-20.96, Z:2.70 [[ 9.99986194e-01 -2.50950630e-03 -4.61677611e-03 4.66006419e+02] [ 2.51103248e-03 9.99996795e-01 3.24806262e-04 -2.09576174e+01] [ 4.61594621e-03 -3.36394653e-04 9.99989290e-01 2.69604771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.050714057 meters Centerline goodness [0,1] 0.9743120106231971 Centerline is valid? [True, True] Translation: X:466.04, Y:-20.95, Z:2.70 [[ 9.99990533e-01 -1.38213079e-03 -4.12596770e-03 4.66036379e+02] [ 1.38333859e-03 9.99999001e-01 2.89892029e-04 -2.09541949e+01] [ 4.12556291e-03 -2.95596895e-04 9.99991446e-01 2.69600440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.080714057 meters Centerline goodness [0,1] 0.974522147190111 Centerline is valid? [True, True] Translation: X:466.07, Y:-20.95, Z:2.70 [[ 9.99994262e-01 6.29198253e-05 -3.38693975e-03 4.66065996e+02] [-6.21148845e-05 9.99999970e-01 2.37764878e-04 -2.09532162e+01] [ 3.38695460e-03 -2.37553134e-04 9.99994236e-01 2.69619138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.110714057 meters Centerline goodness [0,1] 0.9743942415698141 Centerline is valid? [True, True] Translation: X:466.10, Y:-20.95, Z:2.70 [[ 9.99991785e-01 2.99236913e-03 -2.73422799e-03 4.66096683e+02] [-2.99185623e-03 9.99995506e-01 1.91654697e-04 -2.09509127e+01] [ 2.73478920e-03 -1.83472706e-04 9.99996244e-01 2.69580439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.140714057 meters Centerline goodness [0,1] 0.9721801404765184 Centerline is valid? [True, True] Translation: X:466.13, Y:-20.96, Z:2.69 [[ 9.99985792e-01 4.81427722e-03 -2.28866218e-03 4.66125188e+02] [-4.81392337e-03 9.99988400e-01 1.60094458e-04 -2.09552834e+01] [ 2.28940637e-03 -1.49074739e-04 9.99997368e-01 2.69466771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.170714057 meters Centerline goodness [0,1] 0.9721801404765184 Centerline is valid? [True, True] Translation: X:466.15, Y:-20.96, Z:2.69 [[ 9.99986116e-01 4.74657588e-03 -2.28868606e-03 4.66153488e+02] [-4.74622263e-03 9.99988724e-01 1.59753959e-04 -2.09572065e+01] [ 2.28941854e-03 -1.48889128e-04 9.99997368e-01 2.69431832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.200714057 meters Centerline goodness [0,1] 0.9735503326350683 Centerline is valid? [True, True] Translation: X:466.18, Y:-20.95, Z:2.70 [[ 9.99975433e-01 6.96151483e-03 -8.18458384e-04 4.66183416e+02] [-6.96147053e-03 9.99975767e-01 5.69703201e-05 -2.09513827e+01] [ 8.18835151e-04 -5.12712467e-05 9.99999663e-01 2.69541902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.230714057 meters Centerline goodness [0,1] 0.9737847541889155 Centerline is valid? [True, True] Translation: X:466.21, Y:-20.95, Z:2.70 [[ 9.99972429e-01 7.38423630e-03 -7.83755022e-04 4.66212155e+02] [-7.38419619e-03 9.99972735e-01 5.40465460e-05 -2.09508218e+01] [ 7.84132745e-04 -4.82576550e-05 9.99999691e-01 2.69514189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.26071405700003 meters Centerline goodness [0,1] 0.9748152581781349 Centerline is valid? [True, True] Translation: X:466.24, Y:-20.95, Z:2.70 [[ 9.99971380e-01 7.54287197e-03 -5.86743410e-04 4.66241364e+02] [-7.54284969e-03 9.99971551e-01 4.01904809e-05 -2.09486766e+01] [ 5.87029870e-04 -3.57636133e-05 9.99999827e-01 2.69536916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.290714057 meters Centerline goodness [0,1] 0.9732739934510907 Centerline is valid? [True, True] Translation: X:466.27, Y:-20.95, Z:2.69 [[ 9.99974012e-01 7.20890460e-03 -7.98126539e-05 4.66269324e+02] [-7.20890428e-03 9.99974016e-01 4.33191036e-06 -2.09510603e+01] [ 7.98418083e-05 -3.75643600e-06 9.99999997e-01 2.69497071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.320714057 meters Centerline goodness [0,1] 0.9729567861420805 Centerline is valid? [True, True] Translation: X:466.30, Y:-20.95, Z:2.70 [[ 9.99973947e-01 6.95226633e-03 1.94183633e-03 4.66297519e+02] [-6.95201410e-03 9.99975825e-01 -1.36613240e-04 -2.09527295e+01] [-1.94273916e-03 1.23110008e-04 9.99998105e-01 2.69584213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.350714057 meters Centerline goodness [0,1] 0.9712789517394113 Centerline is valid? [True, True] Translation: X:466.33, Y:-20.96, Z:2.69 [[ 9.99978020e-01 6.19834516e-03 2.35364464e-03 4.66325527e+02] [-6.19797541e-03 9.99980779e-01 -1.64358356e-04 -2.09560765e+01] [-2.35461815e-03 1.49766912e-04 9.99997217e-01 2.69390070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.380714057 meters Centerline goodness [0,1] 0.9726817563046538 Centerline is valid? [True, True] Translation: X:466.35, Y:-20.96, Z:2.69 [[ 9.99981684e-01 5.88446504e-03 1.41606344e-03 4.66354671e+02] [-5.88433017e-03 9.99982682e-01 -9.93907531e-05 -2.09571785e+01] [-1.41662378e-03 9.10563478e-05 9.99998992e-01 2.69248514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.410714057 meters Centerline goodness [0,1] 0.9721624933527548 Centerline is valid? [True, True] Translation: X:466.38, Y:-20.96, Z:2.69 [[ 9.99985298e-01 5.36524844e-03 -7.85546510e-04 4.66382873e+02] [-5.36520753e-03 9.99985606e-01 5.41704534e-05 -2.09589245e+01] [ 7.85825840e-04 -4.99550370e-05 9.99999690e-01 2.68950910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.440714057 meters Centerline goodness [0,1] 0.9728449272012942 Centerline is valid? [True, True] Translation: X:466.41, Y:-20.96, Z:2.69 [[ 9.99985954e-01 4.99294886e-03 -1.77805143e-03 4.66411919e+02] [-4.99273808e-03 9.99987529e-01 1.22964282e-04 -2.09597166e+01] [ 1.77864321e-03 -1.14085210e-04 9.99998412e-01 2.68796790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.470714057 meters Centerline goodness [0,1] 0.9717035834396381 Centerline is valid? [True, True] Translation: X:466.44, Y:-20.96, Z:2.69 [[ 9.99986572e-01 4.30993495e-03 -2.87740093e-03 4.66439419e+02] [-4.30937992e-03 9.99990695e-01 1.99064136e-04 -2.09639366e+01] [ 2.87823211e-03 -1.86661649e-04 9.99995840e-01 2.68597940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.500714057 meters Centerline goodness [0,1] 0.9729365263892118 Centerline is valid? [True, True] Translation: X:466.47, Y:-20.96, Z:2.69 [[ 9.99989405e-01 2.93804925e-03 -3.54373619e-03 4.66469172e+02] [-2.93719726e-03 9.99995656e-01 2.45601393e-04 -2.09580571e+01] [ 3.54444239e-03 -2.35190139e-04 9.99993691e-01 2.68671074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.530714057 meters Centerline goodness [0,1] 0.9715980460572227 Centerline is valid? [True, True] Translation: X:466.50, Y:-20.96, Z:2.69 [[ 9.99998077e-01 8.83474209e-04 -1.75107504e-03 4.66498057e+02] [-8.83263795e-04 9.99999603e-01 1.20932663e-04 -2.09604471e+01] [ 1.75118118e-03 -1.19385769e-04 9.99998460e-01 2.68652003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.560714057 meters Centerline goodness [0,1] 0.9717883661925932 Centerline is valid? [True, True] Translation: X:466.53, Y:-20.96, Z:2.69 [[ 9.99999211e-01 1.84861372e-04 -1.24236993e-03 4.66527986e+02] [-1.84754935e-04 9.99999979e-01 8.57864803e-05 -2.09632619e+01] [ 1.24238576e-03 -8.55568787e-05 9.99999225e-01 2.68593817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.590714057 meters Centerline goodness [0,1] 0.9698994319769066 Centerline is valid? [True, True] Translation: X:466.56, Y:-20.97, Z:2.69 [[ 9.99998466e-01 -1.65558990e-03 5.72155336e-04 4.66556679e+02] [ 1.65561266e-03 9.99998629e-01 -3.93023882e-05 -2.09677976e+01] [-5.72089483e-04 4.02495955e-05 9.99999836e-01 2.68581966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.620714057 meters Centerline goodness [0,1] 0.9696418578623391 Centerline is valid? [True, True] Translation: X:466.59, Y:-20.97, Z:2.69 [[ 9.99995621e-01 -2.57204269e-03 1.46350419e-03 4.66587396e+02] [ 2.57219388e-03 9.99996687e-01 -1.01430051e-04 -2.09699992e+01] [-1.46323846e-03 1.05194023e-04 9.99998924e-01 2.68603361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.650714057 meters Centerline goodness [0,1] 0.967400635745609 Centerline is valid? [True, True] Translation: X:466.62, Y:-20.97, Z:2.69 [[ 9.99984931e-01 -4.33491128e-03 3.36838982e-03 4.66617072e+02] [ 4.33572116e-03 9.99990574e-01 -2.33172159e-04 -2.09747793e+01] [-3.36734729e-03 2.47773045e-04 9.99994300e-01 2.68671433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.680714057 meters Centerline goodness [0,1] 0.9663412366341236 Centerline is valid? [True, True] Translation: X:466.65, Y:-20.98, Z:2.69 [[ 9.99975342e-01 -5.32997896e-03 4.57237874e-03 4.66649245e+02] [ 5.33148579e-03 9.99985737e-01 -3.17425540e-04 -2.09781674e+01] [-4.57062165e-03 3.41795285e-04 9.99989496e-01 2.68709523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.710714057 meters Centerline goodness [0,1] 0.9654892501797435 Centerline is valid? [True, True] Translation: X:466.68, Y:-20.98, Z:2.69 [[ 9.99960910e-01 -7.04048241e-03 5.34881060e-03 4.66680514e+02] [ 7.04257284e-03 9.99975132e-01 -3.72087318e-04 -2.09818449e+01] [-5.34605791e-03 4.09742161e-04 9.99985626e-01 2.68718575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.740714057 meters Centerline goodness [0,1] 0.9656348617041025 Centerline is valid? [True, True] Translation: X:466.71, Y:-20.98, Z:2.69 [[ 9.99928152e-01 -1.05599169e-02 5.67256879e-03 4.66711095e+02] [ 1.05623267e-02 9.99944139e-01 -3.95038099e-04 -2.09848707e+01] [-5.66808034e-03 4.54925242e-04 9.99983833e-01 2.68653597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.770714057 meters Centerline goodness [0,1] 0.9645835739863694 Centerline is valid? [True, True] Translation: X:466.74, Y:-20.99, Z:2.69 [[ 9.99917952e-01 -1.17729642e-02 5.04843792e-03 4.66741411e+02] [ 1.17748840e-02 9.99930612e-01 -3.50725920e-04 -2.09902063e+01] [-5.04395854e-03 4.10141914e-04 9.99987195e-01 2.68516038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.800714057 meters Centerline goodness [0,1] 0.9611058502898584 Centerline is valid? [True, True] Translation: X:466.77, Y:-21.00, Z:2.68 [[ 9.99887559e-01 -1.46006302e-02 3.41924295e-03 4.66770829e+02] [ 1.46015306e-02 9.99893364e-01 -2.38523652e-04 -2.09996936e+01] [-3.41539573e-03 2.88423013e-04 9.99994126e-01 2.68169849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.830714057 meters Centerline goodness [0,1] 0.9599592177217536 Centerline is valid? [True, True] Translation: X:466.80, Y:-21.00, Z:2.68 [[ 9.99873894e-01 -1.56058568e-02 2.94160332e-03 4.66802880e+02] [ 1.56065258e-02 9.99878190e-01 -2.04604924e-04 -2.10033822e+01] [-2.93805197e-03 2.50487330e-04 9.99995653e-01 2.68021209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.860714057 meters Centerline goodness [0,1] 0.9570299940287539 Centerline is valid? [True, True] Translation: X:466.83, Y:-21.01, Z:2.68 [[ 9.99871881e-01 -1.59636160e-02 1.17700762e-03 4.66833407e+02] [ 1.59637233e-02 9.99872568e-01 -8.18272175e-05 -2.10075843e+01] [-1.17555137e-03 1.00606158e-04 9.99999304e-01 2.67762419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.890714057 meters Centerline goodness [0,1] 0.9590120253017911 Centerline is valid? [True, True] Translation: X:466.87, Y:-21.01, Z:2.68 [[ 9.99872444e-01 -1.59663796e-02 4.11982429e-04 4.66865961e+02] [ 1.59663925e-02 9.99872529e-01 -2.79830498e-05 -2.10094277e+01] [-4.11483125e-04 3.45573535e-05 9.99999915e-01 2.67648142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.920714057 meters Centerline goodness [0,1] 0.9593000438626867 Centerline is valid? [True, True] Translation: X:466.90, Y:-21.01, Z:2.68 [[ 9.99882265e-01 -1.53366453e-02 -4.94133586e-04 4.66898246e+02] [ 1.53366647e-02 9.99882386e-01 3.54260182e-05 -2.10107151e+01] [ 4.93532153e-04 -4.30002084e-05 9.99999877e-01 2.67545667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.950714057 meters Centerline goodness [0,1] 0.9671765825576267 Centerline is valid? [True, True] Translation: X:466.93, Y:-21.00, Z:2.68 [[ 9.99899537e-01 -1.41522688e-02 -7.93410557e-04 4.66930912e+02] [ 1.41523179e-02 9.99899849e-01 5.62506268e-05 -2.10013702e+01] [ 7.92535022e-04 -6.74735741e-05 9.99999684e-01 2.67618189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.980714057 meters Centerline goodness [0,1] 0.9676871934351535 Centerline is valid? [True, True] Translation: X:466.96, Y:-21.00, Z:2.68 [[ 9.99911487e-01 -1.33026273e-02 -2.40509610e-04 4.66962039e+02] [ 1.33026319e-02 9.99911516e-01 1.75207519e-05 -2.10030763e+01] [ 2.40255257e-04 -2.07186119e-05 9.99999971e-01 2.67647086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.01071405700003 meters Centerline goodness [0,1] 0.9663836221937885 Centerline is valid? [True, True] Translation: X:466.99, Y:-21.00, Z:2.68 [[ 9.99932960e-01 -1.14212077e-02 1.90549654e-03 4.66993403e+02] [ 1.14214825e-02 9.99934764e-01 -1.33427395e-04 -2.10023842e+01] [-1.90384833e-03 1.55182045e-04 9.99998176e-01 2.67771312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.040714057 meters Centerline goodness [0,1] 0.962083983510725 Centerline is valid? [True, True] Translation: X:467.02, Y:-21.01, Z:2.68 [[ 9.99943334e-01 -9.56657284e-03 4.66999040e-03 4.67022584e+02] [ 9.56820618e-03 9.99954170e-01 -3.27535525e-04 -2.10100221e+01] [-4.66664298e-03 3.72200396e-04 9.99989042e-01 2.67797706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.070714057 meters Centerline goodness [0,1] 0.9659061779031017 Centerline is valid? [True, True] Translation: X:467.06, Y:-21.00, Z:2.68 [[ 9.99943185e-01 -9.06283762e-03 5.61167015e-03 4.67055195e+02] [ 9.06518557e-03 9.99958833e-01 -3.93110127e-04 -2.10043946e+01] [-5.60787644e-03 4.43958624e-04 9.99984177e-01 2.67882560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.100714057 meters Centerline goodness [0,1] 0.9635131673923674 Centerline is valid? [True, True] Translation: X:467.09, Y:-21.01, Z:2.68 [[ 9.99935978e-01 -9.54470736e-03 6.07777145e-03 4.67085865e+02] [ 9.54747413e-03 9.99954331e-01 -4.26375832e-04 -2.10111823e+01] [-6.07342425e-03 4.84375900e-04 9.99981439e-01 2.67822618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.130714057 meters Centerline goodness [0,1] 0.9669639521852821 Centerline is valid? [True, True] Translation: X:467.12, Y:-21.01, Z:2.68 [[ 9.99939349e-01 -9.84994579e-03 4.92724987e-03 4.67118616e+02] [ 9.85176785e-03 9.99951410e-01 -3.45658357e-04 -2.10065578e+01] [-4.92360574e-03 3.94179514e-04 9.99987801e-01 2.67782902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.160714057 meters Centerline goodness [0,1] 0.9675503810726143 Centerline is valid? [True, True] Translation: X:467.15, Y:-21.01, Z:2.68 [[ 9.99939982e-01 -1.06002676e-02 2.76885041e-03 4.67149438e+02] [ 1.06008458e-02 9.99943791e-01 -1.94231618e-04 -2.10098803e+01] [-2.76663587e-03 2.23572116e-04 9.99996148e-01 2.67535882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.190714057 meters Centerline goodness [0,1] 0.9671153756579254 Centerline is valid? [True, True] Translation: X:467.18, Y:-21.01, Z:2.67 [[ 9.99938804e-01 -1.08833172e-02 1.98553793e-03 4.67181885e+02] [ 1.08836145e-02 9.99940762e-01 -1.39026877e-04 -2.10134449e+01] [-1.98390723e-03 1.60628198e-04 9.99998019e-01 2.67417447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.220714057 meters Centerline goodness [0,1] 0.9689204942877128 Centerline is valid? [True, True] Translation: X:467.21, Y:-21.01, Z:2.67 [[ 9.99937898e-01 -1.09567094e-02 2.03716886e-03 4.67214193e+02] [ 1.09570229e-02 9.99939960e-01 -1.42800045e-04 -2.10143504e+01] [-2.03548193e-03 1.65112483e-04 9.99997915e-01 2.67343089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.250714057 meters Centerline goodness [0,1] 0.9685186047594654 Centerline is valid? [True, True] Translation: X:467.25, Y:-21.02, Z:2.67 [[ 9.99944126e-01 -1.04636667e-02 1.50222258e-03 4.67246656e+02] [ 1.04638364e-02 9.99945247e-01 -1.05178525e-04 -2.10172316e+01] [-1.50103977e-03 1.20891660e-04 9.99998866e-01 2.67279443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.280714057 meters Centerline goodness [0,1] 0.9698172226242443 Centerline is valid? [True, True] Translation: X:467.28, Y:-21.02, Z:2.67 [[ 9.99965732e-01 -8.27104371e-03 3.53764459e-04 4.67277378e+02] [ 8.27105291e-03 9.99965794e-01 -2.45588100e-05 -2.10182968e+01] [-3.53549231e-04 2.74839729e-05 9.99999937e-01 2.67153012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.310714057 meters Centerline goodness [0,1] 0.970533295974596 Centerline is valid? [True, True] Translation: X:467.31, Y:-21.02, Z:2.67 [[ 9.99975889e-01 -6.93450372e-03 3.66136128e-04 4.67309119e+02] [ 6.93451343e-03 9.99975956e-01 -2.52372998e-05 -2.10202028e+01] [-3.65952316e-04 2.77756672e-05 9.99999933e-01 2.67082584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.340714057 meters Centerline goodness [0,1] 0.9744765469645572 Centerline is valid? [True, True] Translation: X:467.34, Y:-21.01, Z:2.67 [[ 9.99995591e-01 -2.84478559e-03 8.51593063e-04 4.67340054e+02] [ 2.84483788e-03 9.99995952e-01 -6.01901323e-05 -2.10144955e+01] [-8.51418387e-04 6.26125112e-05 9.99999636e-01 2.67122123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.370714057 meters Centerline goodness [0,1] 0.9747592783023278 Centerline is valid? [True, True] Translation: X:467.37, Y:-21.01, Z:2.67 [[ 9.99999408e-01 -1.38486795e-04 1.07968716e-03 4.67370462e+02] [ 1.38569274e-04 9.99999987e-01 -7.63173060e-05 -2.10143876e+01] [-1.07967658e-03 7.64668723e-05 9.99999414e-01 2.67127274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.400714057 meters Centerline goodness [0,1] 0.9762100274499683 Centerline is valid? [True, True] Translation: X:467.40, Y:-21.01, Z:2.67 [[ 9.99979057e-01 6.21387975e-03 1.80929279e-03 4.67400568e+02] [-6.21365844e-03 9.99980687e-01 -1.27913239e-04 -2.10123446e+01] [-1.81005269e-03 1.16668233e-04 9.99998355e-01 2.67154181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.430714057 meters Centerline goodness [0,1] 0.9772695285010556 Centerline is valid? [True, True] Translation: X:467.43, Y:-21.01, Z:2.67 [[ 9.99915275e-01 1.27977016e-02 2.37937293e-03 4.67430553e+02] [-1.27973368e-02 9.99918097e-01 -1.68475826e-04 -2.10088601e+01] [-2.38133415e-03 1.38011915e-04 9.99997155e-01 2.67211011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.460714057 meters Centerline goodness [0,1] 0.9769344366048616 Centerline is valid? [True, True] Translation: X:467.46, Y:-21.01, Z:2.67 [[ 9.99867288e-01 1.61248425e-02 2.32307244e-03 4.67459841e+02] [-1.61245037e-02 9.99869978e-01 -1.64480187e-04 -2.10108644e+01] [-2.32542261e-03 1.26999968e-04 9.99997288e-01 2.67147362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.490714057 meters Centerline goodness [0,1] 0.9778509287561721 Centerline is valid? [True, True] Translation: X:467.49, Y:-21.01, Z:2.67 [[ 9.99760149e-01 2.16950890e-02 2.99465861e-03 4.67490771e+02] [-2.16945526e-02 9.99764623e-01 -2.11501867e-04 -2.10072890e+01] [-2.99854229e-03 1.46483359e-04 9.99995494e-01 2.67249776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.520714057 meters Centerline goodness [0,1] 0.9775514053952085 Centerline is valid? [True, True] Translation: X:467.52, Y:-21.01, Z:2.67 [[ 9.99712670e-01 2.37235640e-02 3.43068962e-03 4.67518850e+02] [-2.37228699e-02 9.99718544e-01 -2.42877811e-04 -2.10084076e+01] [-3.43548596e-03 1.61422221e-04 9.99994086e-01 2.67266326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.550714057 meters Centerline goodness [0,1] 0.9795793535030348 Centerline is valid? [True, True] Translation: X:467.55, Y:-21.01, Z:2.67 [[ 9.99636984e-01 2.66433740e-02 4.00389438e-03 4.67549323e+02] [-2.66424554e-02 9.99644987e-01 -2.82600113e-04 -2.10062086e+01] [-4.01000237e-03 1.75823947e-04 9.99991944e-01 2.67376639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.580714057 meters Centerline goodness [0,1] 0.9789726220716907 Centerline is valid? [True, True] Translation: X:467.58, Y:-21.01, Z:2.67 [[ 9.99616589e-01 2.74043614e-02 3.95921021e-03 4.67577148e+02] [-2.74034670e-02 9.99624415e-01 -2.79971755e-04 -2.10111851e+01] [-3.96539564e-03 1.71368325e-04 9.99992123e-01 2.67188772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.610714057 meters Centerline goodness [0,1] 0.9801826762779121 Centerline is valid? [True, True] Translation: X:467.61, Y:-21.01, Z:2.67 [[ 9.99605480e-01 2.79332770e-02 2.93537353e-03 4.67605917e+02] [-2.79327881e-02 9.99609782e-01 -2.07428541e-04 -2.10120470e+01] [-2.94002225e-03 1.25353540e-04 9.99995670e-01 2.67075652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.640714057 meters Centerline goodness [0,1] 0.979192108971348 Centerline is valid? [True, True] Translation: X:467.63, Y:-21.02, Z:2.67 [[ 9.99618139e-01 2.75161440e-02 2.53747573e-03 4.67633399e+02] [-2.75157770e-02 9.99621353e-01 -1.79418368e-04 -2.10181165e+01] [-2.54145182e-03 1.09529239e-04 9.99996765e-01 2.66978642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.670714057 meters Centerline goodness [0,1] 0.9797698023863664 Centerline is valid? [True, True] Translation: X:467.66, Y:-21.02, Z:2.67 [[ 9.99653345e-01 2.60876982e-02 3.55259663e-03 4.67661805e+02] [-2.60869713e-02 9.99659646e-01 -2.50814270e-04 -2.10182648e+01] [-3.55793065e-03 1.58050838e-04 9.99993658e-01 2.67144490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.700714057 meters Centerline goodness [0,1] 0.979791822955739 Centerline is valid? [True, True] Translation: X:467.69, Y:-21.02, Z:2.67 [[ 9.99678339e-01 2.50214232e-02 4.14078723e-03 4.67690699e+02] [-2.50204319e-02 9.99686898e-01 -2.91042727e-04 -2.10215440e+01] [-4.14677305e-03 1.87344825e-04 9.99991385e-01 2.67166540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.730714057 meters Centerline goodness [0,1] 0.9805088319355292 Centerline is valid? [True, True] Translation: X:467.72, Y:-21.02, Z:2.67 [[ 9.99712918e-01 2.36411792e-02 3.89554807e-03 4.67719278e+02] [-2.36402922e-02 9.99720492e-01 -2.73581415e-04 -2.10240058e+01] [-3.90092702e-03 1.81410980e-04 9.99992375e-01 2.67177232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.76071405700003 meters Centerline goodness [0,1] 0.9759861575513831 Centerline is valid? [True, True] Translation: X:467.75, Y:-21.04, Z:2.67 [[ 9.99801990e-01 1.95749952e-02 3.57787945e-03 4.67747543e+02] [-1.95742229e-02 9.99808375e-01 -2.50758862e-04 -2.10365393e+01] [-3.58210245e-03 1.80674999e-04 9.99993568e-01 2.67049521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.790714057 meters Centerline goodness [0,1] 0.9787708977608296 Centerline is valid? [True, True] Translation: X:467.78, Y:-21.04, Z:2.67 [[ 9.99884255e-01 1.49932666e-02 2.58434793e-03 4.67777622e+02] [-1.49928490e-02 9.99887585e-01 -1.80910869e-04 -2.10381492e+01] [-2.58676985e-03 1.42143191e-04 9.99996644e-01 2.67014320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.820714057 meters Centerline goodness [0,1] 0.9773002986188877 Centerline is valid? [True, True] Translation: X:467.81, Y:-21.04, Z:2.67 [[ 9.99919510e-01 1.24635791e-02 2.37318891e-03 4.67805730e+02] [-1.24632189e-02 9.99922317e-01 -1.66487111e-04 -2.10433413e+01] [-2.37507958e-03 1.36896137e-04 9.99997170e-01 2.66892621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.850714057 meters Centerline goodness [0,1] 0.9772271688965549 Centerline is valid? [True, True] Translation: X:467.84, Y:-21.05, Z:2.67 [[ 9.99942195e-01 1.05198333e-02 2.22233956e-03 4.67835291e+02] [-1.05195131e-02 9.99944656e-01 -1.55701309e-04 -2.10468096e+01] [-2.22385452e-03 1.32314378e-04 9.99997518e-01 2.66806827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.880714057 meters Centerline goodness [0,1] 0.9777421155456322 Centerline is valid? [True, True] Translation: X:467.86, Y:-21.05, Z:2.67 [[ 9.99972493e-01 7.22800928e-03 1.66434698e-03 4.67864915e+02] [-7.22782540e-03 9.99973872e-01 -1.16468174e-04 -2.10521463e+01] [-1.66514532e-03 1.04435361e-04 9.99998608e-01 2.66671331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.910714057 meters Centerline goodness [0,1] 0.9781147122919275 Centerline is valid? [True, True] Translation: X:467.89, Y:-21.05, Z:2.67 [[ 9.99979252e-01 6.28601263e-03 1.40759089e-03 4.67894107e+02] [-6.28587990e-03 9.99980239e-01 -9.87052890e-05 -2.10545699e+01] [-1.40818354e-03 8.98552938e-05 9.99999004e-01 2.66666230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.940714057 meters Centerline goodness [0,1] 0.9780714999186974 Centerline is valid? [True, True] Translation: X:467.92, Y:-21.06, Z:2.67 [[ 9.99980781e-01 6.17834848e-03 5.14563429e-04 4.67922997e+02] [-6.17833038e-03 9.99980913e-01 -3.67659967e-05 -2.10562062e+01] [-5.14780761e-04 3.35861473e-05 9.99999867e-01 2.66683423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.970714057 meters Centerline goodness [0,1] 0.9780911667673435 Centerline is valid? [True, True] Translation: X:467.95, Y:-21.06, Z:2.67 [[ 9.99964536e-01 8.24667152e-03 1.70853297e-03 4.67953318e+02] [-8.24647961e-03 9.99965990e-01 -1.19339757e-04 -2.10570558e+01] [-1.70945902e-03 1.05246143e-04 9.99998533e-01 2.66764125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.000714057 meters Centerline goodness [0,1] 0.9785774097506513 Centerline is valid? [True, True] Translation: X:467.98, Y:-21.06, Z:2.67 [[ 9.99954559e-01 9.41266354e-03 1.51051101e-03 4.67982685e+02] [-9.41251429e-03 9.99955696e-01 -1.05886203e-04 -2.10585039e+01] [-1.51144076e-03 9.16636845e-05 9.99998854e-01 2.66754401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.030714057 meters Centerline goodness [0,1] 0.979658807922359 Centerline is valid? [True, True] Translation: X:468.01, Y:-21.06, Z:2.67 [[ 9.99942680e-01 1.05897637e-02 1.57905038e-03 4.68011227e+02] [-1.05896019e-02 9.99943922e-01 -1.10767624e-04 -2.10592557e+01] [-1.58013484e-03 9.40397598e-05 9.99998747e-01 2.66749037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.060714057 meters Centerline goodness [0,1] 0.979658807922359 Centerline is valid? [True, True] Translation: X:468.04, Y:-21.06, Z:2.67 [[ 9.99943427e-01 1.05190230e-02 1.57905808e-03 4.68039512e+02] [-1.05188613e-02 9.99944669e-01 -1.10657359e-04 -2.10611637e+01] [-1.58013472e-03 9.40412055e-05 9.99998747e-01 2.66714106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.090714057 meters Centerline goodness [0,1] 0.978760032569501 Centerline is valid? [True, True] Translation: X:468.07, Y:-21.06, Z:2.67 [[ 9.99918775e-01 1.26778821e-02 1.30966057e-03 4.68069800e+02] [-1.26777734e-02 9.99919630e-01 -9.12507192e-05 -2.10608156e+01] [-1.31071218e-03 7.46397274e-05 9.99999138e-01 2.66629894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.120714057 meters Centerline goodness [0,1] 0.9787456932675296 Centerline is valid? [True, True] Translation: X:468.10, Y:-21.06, Z:2.67 [[ 9.99915252e-01 1.29333778e-02 1.48866403e-03 4.68097338e+02] [-1.29332366e-02 9.99916357e-01 -1.04428174e-04 -2.10639412e+01] [-1.48989012e-03 8.51660800e-05 9.99998886e-01 2.66510133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.150714057 meters Centerline goodness [0,1] 0.9787604053145361 Centerline is valid? [True, True] Translation: X:468.13, Y:-21.07, Z:2.66 [[ 9.99917438e-01 1.27795292e-02 1.34231453e-03 4.68126147e+02] [-1.27794145e-02 9.99918336e-01 -9.39577507e-05 -2.10657856e+01] [-1.34340565e-03 7.67959995e-05 9.99999095e-01 2.66464351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.180714057 meters Centerline goodness [0,1] 0.9794895699801888 Centerline is valid? [True, True] Translation: X:468.15, Y:-21.07, Z:2.66 [[ 9.99929120e-01 1.18993634e-02 4.00563738e-04 4.68154608e+02] [-1.18993529e-02 9.99929200e-01 -2.86204035e-05 -2.10678358e+01] [-4.00875942e-04 2.38519256e-05 9.99999919e-01 2.66416896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.210714057 meters Centerline goodness [0,1] 0.9796873908080784 Centerline is valid? [True, True] Translation: X:468.18, Y:-21.07, Z:2.66 [[ 9.99936041e-01 1.12541971e-02 -1.12093193e-03 4.68183219e+02] [-1.12541182e-02 9.99936667e-01 7.67097140e-05 -2.10709399e+01] [ 1.12172424e-03 -6.40897074e-05 9.99999369e-01 2.66340332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.240714057 meters Centerline goodness [0,1] 0.9785818934443385 Centerline is valid? [True, True] Translation: X:468.21, Y:-21.07, Z:2.66 [[ 9.99940189e-01 1.07085039e-02 -2.22414300e-03 4.68211448e+02] [-1.07081908e-02 9.99942654e-01 1.52640209e-04 -2.10720396e+01] [ 2.22565000e-03 -1.28814532e-04 9.99997515e-01 2.66230225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.270714057 meters Centerline goodness [0,1] 0.9794407703909966 Centerline is valid? [True, True] Translation: X:468.24, Y:-21.07, Z:2.66 [[ 9.99943465e-01 1.02214905e-02 -2.93043833e-03 4.68239915e+02] [-1.02209439e-02 9.99947744e-01 2.01454511e-04 -2.10723367e+01] [ 2.93234436e-03 -1.71491276e-04 9.99995686e-01 2.66234662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.300714057 meters Centerline goodness [0,1] 0.9798400223224666 Centerline is valid? [True, True] Translation: X:468.27, Y:-21.08, Z:2.66 [[ 9.99944610e-01 1.00503205e-02 -3.12548605e-03 4.68267682e+02] [-1.00496994e-02 9.99949478e-01 2.14351381e-04 -2.10756486e+01] [ 3.12748244e-03 -1.82929313e-04 9.99995093e-01 2.66172835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.330714057 meters Centerline goodness [0,1] 0.9798238665486231 Centerline is valid? [True, True] Translation: X:468.30, Y:-21.08, Z:2.66 [[ 9.99945999e-01 9.62987237e-03 -3.90702982e-03 4.68296818e+02] [-9.62889759e-03 9.99953605e-01 2.68229010e-04 -2.10754239e+01] [ 3.90943156e-03 -2.30594136e-04 9.99992332e-01 2.66155267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.360714057 meters Centerline goodness [0,1] 0.9798154018273354 Centerline is valid? [True, True] Translation: X:468.32, Y:-21.08, Z:2.66 [[ 9.99947119e-01 9.34706016e-03 -4.28852973e-03 4.68324041e+02] [-9.34588586e-03 9.99956283e-01 2.93782599e-04 -2.10779918e+01] [ 4.29108826e-03 -2.53686954e-04 9.99990761e-01 2.66100878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.390714057 meters Centerline goodness [0,1] 0.9793233520385591 Centerline is valid? [True, True] Translation: X:468.35, Y:-21.08, Z:2.66 [[ 9.99944814e-01 9.67050562e-03 -4.10501014e-03 4.68352596e+02] [-9.66943252e-03 9.99953210e-01 2.81179035e-04 -2.10776419e+01] [ 4.10753721e-03 -2.41470399e-04 9.99991535e-01 2.66213784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.420714057 meters Centerline goodness [0,1] 0.979885863972308 Centerline is valid? [True, True] Translation: X:468.38, Y:-21.08, Z:2.66 [[ 9.99947769e-01 9.59310769e-03 -3.52579827e-03 4.68381188e+02] [-9.59231692e-03 9.99953964e-01 2.41122093e-04 -2.10790445e+01] [ 3.52794906e-03 -2.07288925e-04 9.99993755e-01 2.66269373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.450714057 meters Centerline goodness [0,1] 0.9794303797468354 Centerline is valid? [True, True] Translation: X:468.41, Y:-21.08, Z:2.66 [[ 9.99953609e-01 9.55375443e-03 -1.22704837e-03 4.68409364e+02] [-9.55365943e-03 9.99954359e-01 8.32596682e-05 -2.10820089e+01] [ 1.22778781e-03 -7.15330035e-05 9.99999244e-01 2.66363030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.480714057 meters Centerline goodness [0,1] 0.979808342465434 Centerline is valid? [True, True] Translation: X:468.44, Y:-21.08, Z:2.66 [[ 9.99958272e-01 9.11871608e-03 -5.50317018e-04 4.68437948e+02] [-9.11869720e-03 9.99958423e-01 3.68198658e-05 -2.10830064e+01] [ 5.50629888e-04 -3.18001552e-05 9.99999848e-01 2.66478249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.51071405700003 meters Centerline goodness [0,1] 0.978806430507524 Centerline is valid? [True, True] Translation: X:468.47, Y:-21.09, Z:2.66 [[ 9.99960541e-01 8.88344073e-03 2.36424118e-05 4.68465348e+02] [-8.88344067e-03 9.99960541e-01 -2.70253143e-06 -2.10868509e+01] [-2.36654867e-05 2.49239883e-06 1.00000000e+00 2.66480923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.540714057 meters Centerline goodness [0,1] 0.9778155803602638 Centerline is valid? [True, True] Translation: X:468.49, Y:-21.09, Z:2.67 [[ 9.99964249e-01 8.32409364e-03 1.48689425e-03 4.68493152e+02] [-8.32395016e-03 9.99965350e-01 -1.02659699e-04 -2.10889399e+01] [-1.48769728e-03 9.02791956e-05 9.99998889e-01 2.66569051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.570714057 meters Centerline goodness [0,1] 0.9784966255527112 Centerline is valid? [True, True] Translation: X:468.52, Y:-21.09, Z:2.67 [[ 9.99975435e-01 6.73461552e-03 1.94271022e-03 4.68522695e+02] [-6.73436961e-03 9.99977315e-01 -1.33096146e-04 -2.10894277e+01] [-1.94356250e-03 1.20009948e-04 9.99998104e-01 2.66523737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.600714057 meters Centerline goodness [0,1] 0.9766951117707078 Centerline is valid? [True, True] Translation: X:468.55, Y:-21.10, Z:2.66 [[ 9.99982412e-01 5.55149361e-03 2.08740032e-03 4.68550352e+02] [-5.55120661e-03 9.99984582e-01 -1.43260147e-04 -2.10986019e+01] [-2.08816344e-03 1.31670036e-04 9.99997811e-01 2.66348873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.630714057 meters Centerline goodness [0,1] 0.9776976744186047 Centerline is valid? [True, True] Translation: X:468.58, Y:-21.10, Z:2.66 [[ 9.99996071e-01 2.54176552e-03 1.18243754e-03 4.68580754e+02] [-2.54167169e-03 9.99996767e-01 -8.08568532e-05 -2.10985462e+01] [-1.18263924e-03 7.78511674e-05 9.99999298e-01 2.66305854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.660714057 meters Centerline goodness [0,1] 0.9788065604280562 Centerline is valid? [True, True] Translation: X:468.61, Y:-21.10, Z:2.66 [[ 9.99999529e-01 8.23902839e-04 5.13890437e-04 4.68611193e+02] [-8.23884938e-04 9.99999660e-01 -3.50451702e-05 -2.11007096e+01] [-5.13919136e-04 3.46217671e-05 9.99999867e-01 2.66232222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.690714057 meters Centerline goodness [0,1] 0.9772827679215011 Centerline is valid? [True, True] Translation: X:468.64, Y:-21.11, Z:2.66 [[ 9.99994464e-01 -2.79874048e-03 -1.79974815e-03 4.68640882e+02] [ 2.79896551e-03 9.99996075e-01 1.22528353e-04 -2.11056992e+01] [ 1.79939816e-03 -1.27565107e-04 9.99998373e-01 2.66070197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.720714057 meters Centerline goodness [0,1] 0.9765199452981944 Centerline is valid? [True, True] Translation: X:468.67, Y:-21.11, Z:2.66 [[ 9.99989686e-01 -3.90332480e-03 -2.32198900e-03 4.68670833e+02] [ 3.90370348e-03 9.99992368e-01 1.58574116e-04 -2.11106749e+01] [ 2.32135231e-03 -1.67636837e-04 9.99997292e-01 2.65933372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.750714057 meters Centerline goodness [0,1] 0.9768888063857435 Centerline is valid? [True, True] Translation: X:468.70, Y:-21.11, Z:2.66 [[ 9.99982978e-01 -5.28968863e-03 -2.46212883e-03 4.68702495e+02] [ 5.29011931e-03 9.99985993e-01 1.68440966e-04 -2.11118823e+01] [ 2.46120334e-03 -1.81463054e-04 9.99996955e-01 2.65834937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.780714057 meters Centerline goodness [0,1] 0.9772642477380842 Centerline is valid? [True, True] Translation: X:468.73, Y:-21.12, Z:2.66 [[ 9.99980779e-01 -5.81961902e-03 -2.13873575e-03 4.68734073e+02] [ 5.81994548e-03 9.99983053e-01 1.46448995e-04 -2.11150430e+01] [ 2.13784723e-03 -1.58893505e-04 9.99997702e-01 2.65801112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.810714057 meters Centerline goodness [0,1] 0.9763064091512709 Centerline is valid? [True, True] Translation: X:468.76, Y:-21.12, Z:2.66 [[ 9.99987474e-01 -4.88960099e-03 -1.06976487e-03 4.68764868e+02] [ 4.88968241e-03 9.99988043e-01 7.35084076e-05 -2.11177253e+01] [ 1.06939265e-03 -7.87382973e-05 9.99999425e-01 2.65895835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.840714057 meters Centerline goodness [0,1] 0.9771951162464331 Centerline is valid? [True, True] Translation: X:468.80, Y:-21.11, Z:2.66 [[ 9.99990893e-01 -4.24981548e-03 -3.89935582e-04 4.68796544e+02] [ 4.24982636e-03 9.99990969e-01 2.70896412e-05 -2.11142184e+01] [ 3.89816934e-04 -2.87465530e-05 9.99999924e-01 2.66038709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.870714057 meters Centerline goodness [0,1] 0.9760954315194809 Centerline is valid? [True, True] Translation: X:468.83, Y:-21.12, Z:2.66 [[ 9.99995757e-01 -2.87823792e-03 4.48677371e-04 4.68826697e+02] [ 2.87825187e-03 9.99995857e-01 -3.04497376e-05 -2.11186411e+01] [-4.48587871e-04 3.17410149e-05 9.99999899e-01 2.66064757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.900714057 meters Centerline goodness [0,1] 0.9751769746646796 Centerline is valid? [True, True] Translation: X:468.86, Y:-21.12, Z:2.66 [[ 9.99996901e-01 -2.43442585e-03 5.21186986e-04 4.68857581e+02] [ 2.43444403e-03 9.99997036e-01 -3.42574320e-05 -2.11226954e+01] [-5.21102044e-04 3.55261264e-05 9.99999864e-01 2.65956865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.930714057 meters Centerline goodness [0,1] 0.9754224628886192 Centerline is valid? [True, True] Translation: X:468.89, Y:-21.12, Z:2.66 [[ 9.99994937e-01 -2.87842478e-03 1.35645917e-03 4.68889082e+02] [ 2.87855290e-03 9.99995853e-01 -9.25106177e-05 -2.11245415e+01] [-1.35618726e-03 9.64147888e-05 9.99999076e-01 2.65888515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.960714057 meters Centerline goodness [0,1] 0.9762909430003497 Centerline is valid? [True, True] Translation: X:468.92, Y:-21.12, Z:2.66 [[ 9.99986675e-01 -5.05241276e-03 1.05994881e-03 4.68920525e+02] [ 5.05249214e-03 9.99987233e-01 -7.22213033e-05 -2.11242372e+01] [-1.05957039e-03 7.75757240e-05 9.99999436e-01 2.65829760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.990714057 meters Centerline goodness [0,1] 0.9768757859438312 Centerline is valid? [True, True] Translation: X:468.95, Y:-21.13, Z:2.66 [[ 9.99979870e-01 -6.30504219e-03 7.11656360e-04 4.68952056e+02] [ 6.30507805e-03 9.99980122e-01 -4.81544717e-05 -2.11257314e+01] [-7.11338598e-04 5.26405512e-05 9.99999746e-01 2.65765609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.020714057 meters Centerline goodness [0,1] 0.9720708129513161 Centerline is valid? [True, True] Translation: X:468.98, Y:-21.14, Z:2.65 [[ 9.99963165e-01 -8.53979888e-03 -8.60078437e-04 4.68981083e+02] [ 8.53985277e-03 9.99963533e-01 5.90014860e-05 -2.11401567e+01] [ 8.59543212e-04 -6.63442560e-05 9.99999628e-01 2.65405759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.050714057 meters Centerline goodness [0,1] 0.9771283650154726 Centerline is valid? [True, True] Translation: X:469.01, Y:-21.13, Z:2.66 [[ 9.99955045e-01 -9.34450461e-03 -1.60905734e-03 4.69013469e+02] [ 9.34469546e-03 9.99956331e-01 1.11132586e-04 -2.11327011e+01] [ 1.60794859e-03 -1.26163741e-04 9.99998699e-01 2.65510735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.080714057 meters Centerline goodness [0,1] 0.9679521493238997 Centerline is valid? [True, True] Translation: X:469.04, Y:-21.15, Z:2.65 [[ 9.99951530e-01 -9.65621528e-03 -1.92227854e-03 4.69043371e+02] [ 9.65648950e-03 9.99953366e-01 1.33425115e-04 -2.11474792e+01] [ 1.92090051e-03 -1.51981111e-04 9.99998144e-01 2.65197895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.110714057 meters Centerline goodness [0,1] 0.9777907112094052 Centerline is valid? [True, True] Translation: X:469.08, Y:-21.14, Z:2.65 [[ 9.99948137e-01 -9.72864166e-03 -3.01280907e-03 4.69076494e+02] [ 9.72931303e-03 9.99952647e-01 2.08262371e-04 -2.11374485e+01] [ 3.01064029e-03 -2.37564132e-04 9.99995440e-01 2.65303515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.140714057 meters Centerline goodness [0,1] 0.9771564157439285 Centerline is valid? [True, True] Translation: X:469.11, Y:-21.14, Z:2.65 [[ 9.99953609e-01 -8.92292064e-03 -3.62774883e-03 4.69108953e+02] [ 8.92388901e-03 9.99960150e-01 2.50834262e-04 -2.11395762e+01] [ 3.62536609e-03 -2.83196254e-04 9.99993388e-01 2.65203239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.170714057 meters Centerline goodness [0,1] 0.9779437425839325 Centerline is valid? [True, True] Translation: X:469.14, Y:-21.14, Z:2.65 [[ 9.99954244e-01 -8.63187471e-03 -4.12322588e-03 4.69141295e+02] [ 8.63312390e-03 9.99962693e-01 2.85262957e-04 -2.11415495e+01] [ 4.12060971e-03 -3.20846224e-04 9.99991459e-01 2.65121117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.200714057 meters Centerline goodness [0,1] 0.9805240134028295 Centerline is valid? [True, True] Translation: X:469.17, Y:-21.14, Z:2.65 [[ 9.99963033e-01 -7.34214118e-03 -4.47493754e-03 4.69173049e+02] [ 7.34359823e-03 9.99972988e-01 3.09258151e-04 -2.11398248e+01] [ 4.47254604e-03 -3.42108862e-04 9.99989940e-01 2.65150175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.230714057 meters Centerline goodness [0,1] 0.9773599832468529 Centerline is valid? [True, True] Translation: X:469.20, Y:-21.15, Z:2.65 [[ 9.99965510e-01 -7.14901345e-03 -4.22723690e-03 4.69203494e+02] [ 7.15031395e-03 9.99974393e-01 2.92612390e-04 -2.11471412e+01] [ 4.22503677e-03 -3.22828369e-04 9.99991022e-01 2.65033128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.26071405700003 meters Centerline goodness [0,1] 0.9780007449483192 Centerline is valid? [True, True] Translation: X:469.23, Y:-21.15, Z:2.65 [[ 9.99972989e-01 -6.53100499e-03 -3.37159166e-03 4.69234738e+02] [ 6.53182885e-03 9.99978640e-01 2.33398348e-04 -2.11486028e+01] [ 3.36999531e-03 -2.55414703e-04 9.99994289e-01 2.65098091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.290714057 meters Centerline goodness [0,1] 0.9778284438033641 Centerline is valid? [True, True] Translation: X:469.27, Y:-21.15, Z:2.65 [[ 9.99976919e-01 -6.14225210e-03 -2.90431308e-03 4.69265871e+02] [ 6.14286225e-03 9.99981112e-01 2.01208522e-04 -2.11508449e+01] [ 2.90302235e-03 -2.19044673e-04 9.99995762e-01 2.65110418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.320714057 meters Centerline goodness [0,1] 0.9776289474908144 Centerline is valid? [True, True] Translation: X:469.30, Y:-21.15, Z:2.65 [[ 9.99981830e-01 -5.54632798e-03 -2.36158770e-03 4.69297339e+02] [ 5.54673015e-03 9.99984603e-01 1.63781118e-04 -2.11495136e+01] [ 2.36064296e-03 -1.76877231e-04 9.99997198e-01 2.65201429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.350714057 meters Centerline goodness [0,1] 0.9775534940096032 Centerline is valid? [True, True] Translation: X:469.33, Y:-21.15, Z:2.65 [[ 9.99986815e-01 -4.82107690e-03 -1.76811872e-03 4.69329243e+02] [ 4.82130196e-03 9.99988370e-01 1.23047397e-04 -2.11507792e+01] [ 1.76750494e-03 -1.31570409e-04 9.99998429e-01 2.65210574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.380714057 meters Centerline goodness [0,1] 0.9783192139839902 Centerline is valid? [True, True] Translation: X:469.36, Y:-21.15, Z:2.65 [[ 9.99988881e-01 -4.41416298e-03 -1.65907130e-03 4.69360773e+02] [ 4.41436039e-03 9.99990250e-01 1.15344950e-04 -2.11500784e+01] [ 1.65854597e-03 -1.22667406e-04 9.99998617e-01 2.65258709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.410714057 meters Centerline goodness [0,1] 0.9779370694470304 Centerline is valid? [True, True] Translation: X:469.39, Y:-21.15, Z:2.65 [[ 9.99989680e-01 -4.35326622e-03 -1.29979462e-03 4.69392244e+02] [ 4.35338784e-03 9.99990520e-01 9.07480924e-05 -2.11540374e+01] [ 1.29938725e-03 -9.64056660e-05 9.99999151e-01 2.65174378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.440714057 meters Centerline goodness [0,1] 0.9770517036311481 Centerline is valid? [True, True] Translation: X:469.42, Y:-21.16, Z:2.65 [[ 9.99982386e-01 -5.74379265e-03 -1.49527870e-03 4.69423958e+02] [ 5.74395512e-03 9.99983498e-01 1.04380761e-04 -2.11566999e+01] [ 1.49465448e-03 -1.12967736e-04 9.99998877e-01 2.65030757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.470714057 meters Centerline goodness [0,1] 0.9765795967779485 Centerline is valid? [True, True] Translation: X:469.45, Y:-21.16, Z:2.65 [[ 9.99974152e-01 -6.96733104e-03 -1.77508157e-03 4.69454551e+02] [ 6.96756185e-03 9.99975719e-01 1.23879371e-04 -2.11627091e+01] [ 1.77417536e-03 -1.36244160e-04 9.99998417e-01 2.64854747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.500714057 meters Centerline goodness [0,1] 0.9758698746820378 Centerline is valid? [True, True] Translation: X:469.48, Y:-21.17, Z:2.65 [[ 9.99944136e-01 -1.01812784e-02 -2.84022641e-03 4.69484398e+02] [ 1.01818794e-02 9.99948144e-01 1.97219004e-04 -2.11670353e+01] [ 2.83807118e-03 -2.26126829e-04 9.99995947e-01 2.64701080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.530714057 meters Centerline goodness [0,1] 0.9740296006702038 Centerline is valid? [True, True] Translation: X:469.51, Y:-21.17, Z:2.65 [[ 9.99905765e-01 -1.34764492e-02 -2.61640564e-03 4.69514478e+02] [ 1.34769705e-02 9.99909165e-01 1.81688087e-04 -2.11724930e+01] [ 2.61371947e-03 -2.16932187e-04 9.99996561e-01 2.64636407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.560714057 meters Centerline goodness [0,1] 0.9748742548435171 Centerline is valid? [True, True] Translation: X:469.55, Y:-21.17, Z:2.65 [[ 9.99895855e-01 -1.42734745e-02 -2.13250894e-03 4.69546354e+02] [ 1.42738247e-02 9.99898113e-01 1.49089094e-04 -2.11745615e+01] [ 2.13016365e-03 -1.79512626e-04 9.99997715e-01 2.64642287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.590714057 meters Centerline goodness [0,1] 0.9741758369587976 Centerline is valid? [True, True] Translation: X:469.58, Y:-21.18, Z:2.65 [[ 9.99889189e-01 -1.47784365e-02 -1.79106750e-03 4.69577662e+02] [ 1.47786844e-02 9.99890781e-01 1.25232287e-04 -2.11800299e+01] [ 1.78902114e-03 -1.51688032e-04 9.99998388e-01 2.64611748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.620714057 meters Centerline goodness [0,1] 0.9743029739776952 Centerline is valid? [True, True] Translation: X:469.61, Y:-21.18, Z:2.65 [[ 9.99906097e-01 -1.36745700e-02 -8.96460069e-04 4.69609078e+02] [ 1.36746318e-02 9.99906496e-01 6.28220125e-05 -2.11816323e+01] [ 8.95517182e-04 -7.50748747e-05 9.99999596e-01 2.64669223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.650714057 meters Centerline goodness [0,1] 0.9737599851383987 Centerline is valid? [True, True] Translation: X:469.64, Y:-21.18, Z:2.65 [[ 9.99920143e-01 -1.25942883e-02 -1.04473125e-03 4.69640857e+02] [ 1.25943721e-02 9.99920685e-01 7.36271284e-05 -2.11823086e+01] [ 1.04372111e-03 -8.67789829e-05 9.99999452e-01 2.64616369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.680714057 meters Centerline goodness [0,1] 0.9760077662721893 Centerline is valid? [True, True] Translation: X:469.67, Y:-21.18, Z:2.64 [[ 9.99967044e-01 -7.97220894e-03 -1.53421729e-03 4.69670909e+02] [ 7.97238220e-03 9.99968214e-01 1.06853367e-04 -2.11835064e+01] [ 1.53331666e-03 -1.19081212e-04 9.99998817e-01 2.64476172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.710714057 meters Centerline goodness [0,1] 0.977251030339721 Centerline is valid? [True, True] Translation: X:469.70, Y:-21.18, Z:2.64 [[ 9.99983554e-01 -5.46746532e-03 -1.73168925e-03 4.69702490e+02] [ 5.46768279e-03 9.99985045e-01 1.20872450e-04 -2.11797465e+01] [ 1.73100249e-03 -1.30338789e-04 9.99998493e-01 2.64457415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.740714057 meters Centerline goodness [0,1] 0.9780750910619221 Centerline is valid? [True, True] Translation: X:469.73, Y:-21.18, Z:2.64 [[ 9.99993445e-01 1.33027470e-03 -3.36759384e-03 4.69733843e+02] [-1.32949171e-03 9.99999089e-01 2.34736380e-04 -2.11768340e+01] [ 3.36790303e-03 -2.30257653e-04 9.99994302e-01 2.64363913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.770714057 meters Centerline goodness [0,1] 0.9774735909334702 Centerline is valid? [True, True] Translation: X:469.76, Y:-21.18, Z:2.64 [[ 9.99980218e-01 5.16775393e-03 -3.58574243e-03 4.69763195e+02] [-5.16689231e-03 9.99986620e-01 2.49513142e-04 -2.11823442e+01] [ 3.58698388e-03 -2.30981061e-04 9.99993540e-01 2.64124255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.800714057 meters Centerline goodness [0,1] 0.9789774323438524 Centerline is valid? [True, True] Translation: X:469.79, Y:-21.18, Z:2.64 [[ 9.99910232e-01 1.30852732e-02 -2.88141777e-03 4.69794156e+02] [-1.30847491e-02 9.99914371e-01 2.00681106e-04 -2.11783057e+01] [ 2.88379700e-03 -1.62960463e-04 9.99995829e-01 2.64120384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.830714057 meters Centerline goodness [0,1] 0.9796564089343052 Centerline is valid? [True, True] Translation: X:469.82, Y:-21.18, Z:2.64 [[ 9.99857538e-01 1.66940983e-02 -2.49213719e-03 4.69823042e+02] [-1.66937185e-02 9.99860635e-01 1.73103011e-04 -2.11773744e+01] [ 2.49467967e-03 -1.31475314e-04 9.99996880e-01 2.64110792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.860714057 meters Centerline goodness [0,1] 0.9799736743136518 Centerline is valid? [True, True] Translation: X:469.85, Y:-21.17, Z:2.64 [[ 9.99755008e-01 2.20810166e-02 -1.53359669e-03 4.69854593e+02] [-2.20808784e-02 9.99756182e-01 1.06971816e-04 -2.11695691e+01] [ 1.53558482e-03 -7.30824470e-05 9.99998818e-01 2.64325302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.890714057 meters Centerline goodness [0,1] 0.9806234402222536 Centerline is valid? [True, True] Translation: X:469.88, Y:-21.17, Z:2.64 [[ 9.99719739e-01 2.36684561e-02 -4.96799972e-04 4.69882270e+02] [-2.36684423e-02 9.99719863e-01 3.34866683e-05 -2.11719187e+01] [ 4.97453377e-04 -2.17188018e-05 9.99999876e-01 2.64321427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.920714057 meters Centerline goodness [0,1] 0.9809134287661895 Centerline is valid? [True, True] Translation: X:469.91, Y:-21.17, Z:2.64 [[ 9.99714954e-01 2.38687273e-02 5.43523636e-04 4.69910840e+02] [-2.38687098e-02 9.99715101e-01 -3.86182551e-05 -2.11743457e+01] [-5.44290555e-04 2.56340391e-05 9.99999852e-01 2.64355276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.950714057 meters Centerline goodness [0,1] 0.9799107142857143 Centerline is valid? [True, True] Translation: X:469.94, Y:-21.18, Z:2.64 [[ 9.99757270e-01 2.20145331e-02 8.73120328e-04 4.69938566e+02] [-2.20144877e-02 9.99757650e-01 -6.16455858e-05 -2.11798782e+01] [-8.74265826e-04 4.24093259e-05 9.99999617e-01 2.64265447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.980714057 meters Centerline goodness [0,1] 0.9799107142857143 Centerline is valid? [True, True] Translation: X:469.97, Y:-21.18, Z:2.64 [[ 9.99759504e-01 2.19128370e-02 8.73112757e-04 4.69965989e+02] [-2.19127914e-02 9.99759884e-01 -6.17555371e-05 -2.11816859e+01] [-8.74256347e-04 4.26083475e-05 9.99999617e-01 2.64231575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.01071405700003 meters Centerline goodness [0,1] 0.9785080095833137 Centerline is valid? [True, True] Translation: X:470.00, Y:-21.19, Z:2.64 [[ 9.99870425e-01 1.60861071e-02 6.08547793e-04 4.69995139e+02] [-1.60860844e-02 9.99870610e-01 -4.21701252e-05 -2.11919153e+01] [-6.09147406e-04 3.23755099e-05 9.99999814e-01 2.64084835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.040714057 meters Centerline goodness [0,1] 0.9784743114345017 Centerline is valid? [True, True] Translation: X:470.02, Y:-21.20, Z:2.64 [[ 9.99960080e-01 8.92924854e-03 -3.25729553e-04 4.70024802e+02] [-8.92924172e-03 9.99960133e-01 2.23727130e-05 -2.11994964e+01] [ 3.25916338e-04 -1.94633020e-05 9.99999947e-01 2.63972783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.070714057 meters Centerline goodness [0,1] 0.9780345471521942 Centerline is valid? [True, True] Translation: X:470.05, Y:-21.21, Z:2.64 [[ 9.99986906e-01 4.96168199e-03 -1.25288246e-03 4.70054695e+02] [-4.96157718e-03 9.99987688e-01 8.67485093e-05 -2.12054162e+01] [ 1.25329745e-03 -8.05311003e-05 9.99999211e-01 2.63905941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.100714057 meters Centerline goodness [0,1] 0.9758295494236815 Centerline is valid? [True, True] Translation: X:470.08, Y:-21.22, Z:2.64 [[ 9.99996697e-01 -1.87447513e-03 -1.75875049e-03 4.70082865e+02] [ 1.87469220e-03 9.99998235e-01 1.21783071e-04 -2.12157152e+01] [ 1.75851910e-03 -1.25079784e-04 9.99998446e-01 2.63743460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.130714057 meters Centerline goodness [0,1] 0.9784412436489069 Centerline is valid? [True, True] Translation: X:470.11, Y:-21.21, Z:2.64 [[ 9.99987867e-01 -4.47235257e-03 -2.06511140e-03 4.70113488e+02] [ 4.47265763e-03 9.99989987e-01 1.43127433e-04 -2.12133052e+01] [ 2.06445060e-03 -1.52362232e-04 9.99997857e-01 2.63828503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.160714057 meters Centerline goodness [0,1] 0.9741537319319737 Centerline is valid? [True, True] Translation: X:470.14, Y:-21.23, Z:2.63 [[ 9.99961475e-01 -8.25680324e-03 -2.97899316e-03 4.70141943e+02] [ 8.25745379e-03 9.99965885e-01 2.06145846e-04 -2.12295792e+01] [ 2.97718943e-03 -2.30736802e-04 9.99995542e-01 2.63475378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.190714057 meters Centerline goodness [0,1] 0.9742723612974874 Centerline is valid? [True, True] Translation: X:470.17, Y:-21.23, Z:2.63 [[ 9.99949389e-01 -9.49193955e-03 -3.33508809e-03 4.70173049e+02] [ 9.49276421e-03 9.99954916e-01 2.31524310e-04 -2.12304642e+01] [ 3.33274011e-03 -2.63171797e-04 9.99994412e-01 2.63480104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.220714057 meters Centerline goodness [0,1] 0.9761160869263348 Centerline is valid? [True, True] Translation: X:470.20, Y:-21.23, Z:2.64 [[ 9.99933174e-01 -1.11232343e-02 -3.14985497e-03 4.70204524e+02] [ 1.11239785e-02 9.99938103e-01 2.18819111e-04 -2.12286240e+01] [ 3.14722603e-03 -2.53843407e-04 9.99995015e-01 2.63528952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.250714057 meters Centerline goodness [0,1] 0.9756221667129245 Centerline is valid? [True, True] Translation: X:470.24, Y:-21.23, Z:2.64 [[ 9.99930934e-01 -1.12583511e-02 -3.37306009e-03 4.70235033e+02] [ 1.12592065e-02 9.99936586e-01 2.34692362e-04 -2.12333255e+01] [ 3.37020394e-03 -2.72654132e-04 9.99994284e-01 2.63503344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.280714057 meters Centerline goodness [0,1] 0.975464236986333 Centerline is valid? [True, True] Translation: X:470.27, Y:-21.24, Z:2.63 [[ 9.99934087e-01 -1.08360301e-02 -3.79488789e-03 4.70267550e+02] [ 1.08371111e-02 9.99941242e-01 2.64434359e-04 -2.12356964e+01] [ 3.79179949e-03 -3.05542552e-04 9.99992764e-01 2.63428052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.310714057 meters Centerline goodness [0,1] 0.9740981640372728 Centerline is valid? [True, True] Translation: X:470.30, Y:-21.24, Z:2.63 [[ 9.99945394e-01 -9.96574209e-03 -3.14531683e-03 4.70298394e+02] [ 9.96648481e-03 9.99950309e-01 2.20551063e-04 -2.12413045e+01] [ 3.14296258e-03 -2.51886772e-04 9.99995029e-01 2.63354582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.340714057 meters Centerline goodness [0,1] 0.9749671832899616 Centerline is valid? [True, True] Translation: X:470.33, Y:-21.24, Z:2.63 [[ 9.99959591e-01 -8.61690522e-03 -2.56243604e-03 4.70329914e+02] [ 8.61739161e-03 9.99962854e-01 1.78833013e-04 -2.12428870e+01] [ 2.56079987e-03 -2.00907301e-04 9.99996701e-01 2.63415742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.370714057 meters Centerline goodness [0,1] 0.973807101904938 Centerline is valid? [True, True] Translation: X:470.36, Y:-21.25, Z:2.63 [[ 9.99964921e-01 -8.01021940e-03 -2.44825247e-03 4.70361150e+02] [ 8.01066183e-03 9.99967900e-01 1.70960776e-04 -2.12460043e+01] [ 2.44680445e-03 -1.90566902e-04 9.99996988e-01 2.63358533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.400714057 meters Centerline goodness [0,1] 0.9736744873452798 Centerline is valid? [True, True] Translation: X:470.39, Y:-21.25, Z:2.63 [[ 9.99975875e-01 -6.74538803e-03 -1.65806830e-03 4.70392490e+02] [ 6.74558956e-03 9.99977242e-01 1.15978651e-04 -2.12477676e+01] [ 1.65724824e-03 -1.27160501e-04 9.99998619e-01 2.63354815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.430714057 meters Centerline goodness [0,1] 0.9739905756259817 Centerline is valid? [True, True] Translation: X:470.42, Y:-21.25, Z:2.63 [[ 9.99978066e-01 -6.35118503e-03 -1.87855502e-03 4.70423231e+02] [ 6.35144349e-03 9.99979821e-01 1.31646775e-04 -2.12511598e+01] [ 1.87768100e-03 -1.43575424e-04 9.99998227e-01 2.63306807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.460714057 meters Centerline goodness [0,1] 0.9741395220079357 Centerline is valid? [True, True] Translation: X:470.46, Y:-21.25, Z:2.63 [[ 9.99978649e-01 -5.94579457e-03 -2.71084871e-03 4.70455295e+02] [ 5.94633157e-03 9.99982302e-01 1.90077921e-04 -2.12538734e+01] [ 2.70967057e-03 -2.06193468e-04 9.99996308e-01 2.63169114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.490714057 meters Centerline goodness [0,1] 0.9752639586887363 Centerline is valid? [True, True] Translation: X:470.49, Y:-21.25, Z:2.63 [[ 9.99975633e-01 -6.27306672e-03 -3.06295885e-03 4.70486744e+02] [ 6.27375257e-03 9.99980297e-01 2.14360096e-04 -2.12529004e+01] [ 3.06155380e-03 -2.33571119e-04 9.99995286e-01 2.63141694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.520714057 meters Centerline goodness [0,1] 0.9773142051886248 Centerline is valid? [True, True] Translation: X:470.52, Y:-21.25, Z:2.63 [[ 9.99969722e-01 -6.88216826e-03 -3.63181239e-03 4.70518407e+02] [ 6.88313674e-03 9.99976279e-01 2.54233883e-04 -2.12524752e+01] [ 3.62997655e-03 -2.79224447e-04 9.99993373e-01 2.63101228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.550714057 meters Centerline goodness [0,1] 0.9773972287437278 Centerline is valid? [True, True] Translation: X:470.55, Y:-21.25, Z:2.63 [[ 9.99967475e-01 -7.30992094e-03 -3.40804655e-03 4.70549393e+02] [ 7.31077674e-03 9.99973247e-01 2.38721731e-04 -2.12541303e+01] [ 3.40621034e-03 -2.63629434e-04 9.99994164e-01 2.63046458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.580714057 meters Centerline goodness [0,1] 0.9775459444521211 Centerline is valid? [True, True] Translation: X:470.58, Y:-21.26, Z:2.63 [[ 9.99959020e-01 -8.48227199e-03 -3.16388431e-03 4.70580978e+02] [ 8.48301677e-03 9.99963994e-01 2.22056514e-04 -2.12553855e+01] [ 3.16188685e-03 -2.48886698e-04 9.99994970e-01 2.63124563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.610714057 meters Centerline goodness [0,1] 0.9733605616997844 Centerline is valid? [True, True] Translation: X:470.61, Y:-21.27, Z:2.63 [[ 9.99952056e-01 -9.30395728e-03 -3.05332076e-03 4.70610952e+02] [ 9.30465529e-03 9.99956688e-01 2.14479983e-04 -2.12708170e+01] [ 3.05119300e-03 -2.42879797e-04 9.99995316e-01 2.62818462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.640714057 meters Centerline goodness [0,1] 0.9766182907164248 Centerline is valid? [True, True] Translation: X:470.64, Y:-21.27, Z:2.63 [[ 9.99933238e-01 -1.11622680e-02 -2.98718884e-03 4.70642886e+02] [ 1.11629440e-02 9.99937670e-01 2.09726446e-04 -2.12657045e+01] [ 2.98466163e-03 -2.43058266e-04 9.99995516e-01 2.63002135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.670714057 meters Centerline goodness [0,1] 0.9775298951089078 Centerline is valid? [True, True] Translation: X:470.68, Y:-21.27, Z:2.63 [[ 9.99925815e-01 -1.18982554e-02 -2.60703840e-03 4.70675540e+02] [ 1.18987746e-02 9.99929190e-01 1.83741350e-04 -2.12657543e+01] [ 2.60466760e-03 -2.14748282e-04 9.99996585e-01 2.63048509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.700714057 meters Centerline goodness [0,1] 0.9761205670505115 Centerline is valid? [True, True] Translation: X:470.71, Y:-21.27, Z:2.63 [[ 9.99911977e-01 -1.32020819e-02 -1.32010441e-03 4.70706130e+02] [ 1.32022165e-02 9.99912843e-01 9.33240910e-05 -2.12749831e+01] [ 1.31875728e-03 -1.10744181e-04 9.99999124e-01 2.63000210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.730714057 meters Centerline goodness [0,1] 0.9754440721531188 Centerline is valid? [True, True] Translation: X:470.74, Y:-21.28, Z:2.63 [[ 9.99913565e-01 -1.31468185e-02 -1.54370007e-04 4.70738218e+02] [ 1.31468205e-02 9.99913577e-01 1.17094174e-05 -2.12793274e+01] [ 1.54202724e-04 -1.37378801e-05 9.99999988e-01 2.63013483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.76071405700003 meters Centerline goodness [0,1] 0.9742146566911478 Centerline is valid? [True, True] Translation: X:470.77, Y:-21.28, Z:2.63 [[ 9.99916149e-01 -1.29394033e-02 5.15747049e-04 4.70770202e+02] [ 1.29394233e-02 9.99916282e-01 -3.54132414e-05 -2.12831475e+01] [-5.15245645e-04 4.20837413e-05 9.99999866e-01 2.62989257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.790714057 meters Centerline goodness [0,1] 0.9755471525151828 Centerline is valid? [True, True] Translation: X:470.80, Y:-21.28, Z:2.63 [[ 9.99924660e-01 -1.22504401e-02 7.74817296e-04 4.70802147e+02] [ 1.22504854e-02 9.99924959e-01 -5.36780785e-05 -2.12844497e+01] [-7.74101573e-04 6.31659224e-05 9.99999698e-01 2.62935355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.820714057 meters Centerline goodness [0,1] 0.9756432875833467 Centerline is valid? [True, True] Translation: X:470.83, Y:-21.29, Z:2.63 [[ 9.99942074e-01 -1.07616223e-02 -1.88029271e-04 4.70831994e+02] [ 1.07616250e-02 9.99942092e-01 1.34589756e-05 -2.12909248e+01] [ 1.87873542e-04 -1.54816965e-05 9.99999982e-01 2.62760810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.850714057 meters Centerline goodness [0,1] 0.9760040183565835 Centerline is valid? [True, True] Translation: X:470.86, Y:-21.29, Z:2.63 [[ 9.99952395e-01 -9.71624889e-03 -8.96120156e-04 4.70863048e+02] [ 9.71630993e-03 9.99952794e-01 6.37839238e-05 -2.12948779e+01] [ 8.95458113e-04 -7.24878685e-05 9.99999596e-01 2.62597653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.880714057 meters Centerline goodness [0,1] 0.975840768702814 Centerline is valid? [True, True] Translation: X:470.89, Y:-21.30, Z:2.62 [[ 9.99963747e-01 -8.25907677e-03 -2.07198508e-03 4.70893806e+02] [ 8.25939796e-03 9.99965880e-01 1.46504217e-04 -2.12988820e+01] [ 2.07070440e-03 -1.63612255e-04 9.99997843e-01 2.62369976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.910714057 meters Centerline goodness [0,1] 0.9765466212975862 Centerline is valid? [True, True] Translation: X:470.93, Y:-21.30, Z:2.62 [[ 9.99969365e-01 -7.56931214e-03 -1.99372370e-03 4.70926570e+02] [ 7.56960938e-03 9.99971340e-01 1.41580663e-04 -2.12963193e+01] [ 1.99259490e-03 -1.56668035e-04 9.99998003e-01 2.62382900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.940714057 meters Centerline goodness [0,1] 0.9758984046063861 Centerline is valid? [True, True] Translation: X:470.96, Y:-21.31, Z:2.62 [[ 9.99972659e-01 -6.79194126e-03 -2.92434263e-03 4.70957335e+02] [ 6.79257605e-03 9.99976909e-01 2.07196537e-04 -2.13072381e+01] [ 2.92286784e-03 -2.27054692e-04 9.99995703e-01 2.62062855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.970714057 meters Centerline goodness [0,1] 0.9787078830985273 Centerline is valid? [True, True] Translation: X:470.99, Y:-21.30, Z:2.62 [[ 9.99975190e-01 -6.17031909e-03 -3.39816717e-03 4.70989271e+02] [ 6.17117203e-03 9.99980929e-01 2.40571536e-04 -2.13004824e+01] [ 3.39661796e-03 -2.61536242e-04 9.99994197e-01 2.62139156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.000714057 meters Centerline goodness [0,1] 0.9784221787226294 Centerline is valid? [True, True] Translation: X:471.02, Y:-21.30, Z:2.62 [[ 9.99976641e-01 -5.19889557e-03 -4.43713232e-03 4.71020116e+02] [ 5.20034040e-03 9.99986429e-01 3.14147992e-04 -2.13031921e+01] [ 4.43543888e-03 -3.37215252e-04 9.99990107e-01 2.62030695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.030714057 meters Centerline goodness [0,1] 0.976291682767713 Centerline is valid? [True, True] Translation: X:471.05, Y:-21.32, Z:2.62 [[ 9.99977259e-01 -4.64184772e-03 -4.89231304e-03 4.71049748e+02] [ 4.64359669e-03 9.99989159e-01 3.46193829e-04 -2.13172330e+01] [ 4.89065302e-03 -3.68903885e-04 9.99987973e-01 2.61719258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.060714057 meters Centerline goodness [0,1] 0.9785273980392603 Centerline is valid? [True, True] Translation: X:471.08, Y:-21.31, Z:2.62 [[ 9.99980565e-01 -4.40884094e-03 -4.40811515e-03 4.71080945e+02] [ 4.41025772e-03 9.99990226e-01 3.11734315e-04 -2.13098477e+01] [ 4.40669767e-03 -3.31169181e-04 9.99990236e-01 2.61920475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.090714057 meters Centerline goodness [0,1] 0.9778182646322022 Centerline is valid? [True, True] Translation: X:471.11, Y:-21.31, Z:2.62 [[ 9.99985175e-01 -3.99855972e-03 -3.69603390e-03 4.71111102e+02] [ 3.99955295e-03 9.99991968e-01 2.61377155e-04 -2.13122804e+01] [ 3.69495908e-03 -2.76155764e-04 9.99993135e-01 2.61917385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.120714057 meters Centerline goodness [0,1] 0.9790874091623574 Centerline is valid? [True, True] Translation: X:471.14, Y:-21.32, Z:2.62 [[ 9.99994044e-01 -2.36431186e-03 -2.51428415e-03 4.71141030e+02] [ 2.36476635e-03 9.99997188e-01 1.77805847e-04 -2.13154430e+01] [ 2.51385669e-03 -1.83750482e-04 9.99996823e-01 2.62013559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.150714057 meters Centerline goodness [0,1] 0.9787137165623221 Centerline is valid? [True, True] Translation: X:471.17, Y:-21.32, Z:2.62 [[ 9.99996663e-01 -1.71083641e-03 -1.93590699e-03 4.71170340e+02] [ 1.71110502e-03 9.99998527e-01 1.37104763e-04 -2.13182264e+01] [ 1.93566957e-03 -1.40416845e-04 9.99998117e-01 2.62002888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.180714057 meters Centerline goodness [0,1] 0.9771775734959498 Centerline is valid? [True, True] Translation: X:471.20, Y:-21.32, Z:2.62 [[ 9.99997849e-01 -1.66296020e-03 -1.23982463e-03 4.71200506e+02] [ 1.66307020e-03 9.99998613e-01 8.76957768e-05 -2.13200595e+01] [ 1.23967708e-03 -8.97575035e-05 9.99999228e-01 2.61978870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.210714057 meters Centerline goodness [0,1] 0.9774478952889132 Centerline is valid? [True, True] Translation: X:471.23, Y:-21.32, Z:2.62 [[ 9.99996679e-01 -2.37879639e-03 -9.91888875e-04 4.71230494e+02] [ 2.37886737e-03 9.99997168e-01 7.03864910e-05 -2.13249800e+01] [ 9.91718631e-04 -7.27458293e-05 9.99999506e-01 2.61941387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.240714057 meters Centerline goodness [0,1] 0.977075080817739 Centerline is valid? [True, True] Translation: X:471.26, Y:-21.33, Z:2.62 [[ 9.99995012e-01 -3.04006614e-03 -8.56676652e-04 4.71261098e+02] [ 3.04011966e-03 9.99995377e-01 6.11756924e-05 -2.13286241e+01] [ 8.56486714e-04 -6.37797868e-05 9.99999631e-01 2.61874200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.270714057 meters Centerline goodness [0,1] 0.9781430718091162 Centerline is valid? [True, True] Translation: X:471.29, Y:-21.33, Z:2.62 [[ 9.99987427e-01 -4.64696965e-03 -1.88461919e-03 4.71292508e+02] [ 4.64723024e-03 9.99989193e-01 1.33915801e-04 -2.13286957e+01] [ 1.88397652e-03 -1.42672376e-04 9.99998215e-01 2.61775406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.300714057 meters Centerline goodness [0,1] 0.9784696617961673 Centerline is valid? [True, True] Translation: X:471.32, Y:-21.33, Z:2.62 [[ 9.99982576e-01 -5.50565702e-03 -2.12956961e-03 4.71323849e+02] [ 5.50599173e-03 9.99984830e-01 1.51337812e-04 -2.13325985e+01] [ 2.12870409e-03 -1.63060567e-04 9.99997721e-01 2.61662856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.330714057 meters Centerline goodness [0,1] 0.9782015729417648 Centerline is valid? [True, True] Translation: X:471.36, Y:-21.34, Z:2.62 [[ 9.99973033e-01 -6.73619183e-03 -2.92534928e-03 4.71355038e+02] [ 6.73682848e-03 9.99977286e-01 2.07831893e-04 -2.13361598e+01] [ 2.92388283e-03 -2.27533864e-04 9.99995700e-01 2.61564151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.360714057 meters Centerline goodness [0,1] 0.9772520886305848 Centerline is valid? [True, True] Translation: X:471.39, Y:-21.34, Z:2.62 [[ 9.99970772e-01 -6.88748113e-03 -3.31929942e-03 4.71386241e+02] [ 6.88830272e-03 9.99976247e-01 2.36150284e-04 -2.13400423e+01] [ 3.31759410e-03 -2.59007721e-04 9.99994463e-01 2.61523857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.390714057 meters Centerline goodness [0,1] 0.9777797973372109 Centerline is valid? [True, True] Translation: X:471.42, Y:-21.34, Z:2.62 [[ 9.99970664e-01 -6.87162715e-03 -3.38405626e-03 4.71417839e+02] [ 6.87248063e-03 9.99976355e-01 2.40643529e-04 -2.13421144e+01] [ 3.38232263e-03 -2.63893330e-04 9.99994245e-01 2.61505316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.420714057 meters Centerline goodness [0,1] 0.9774126843456723 Centerline is valid? [True, True] Translation: X:471.45, Y:-21.35, Z:2.61 [[ 9.99975373e-01 -6.34875779e-03 -2.99119805e-03 4.71448443e+02] [ 6.34942352e-03 9.99979819e-01 2.13122280e-04 -2.13461078e+01] [ 2.98978463e-03 -2.32109414e-04 9.99995504e-01 2.61418476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.450714057 meters Centerline goodness [0,1] 0.9771605359539571 Centerline is valid? [True, True] Translation: X:471.48, Y:-21.34, Z:2.61 [[ 9.99983056e-01 -5.40275844e-03 -2.16767051e-03 4.71479900e+02] [ 5.40310596e-03 9.99985391e-01 1.54495539e-04 -2.13440735e+01] [ 2.16680414e-03 -1.66205074e-04 9.99997639e-01 2.61485476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.480714057 meters Centerline goodness [0,1] 0.9778765094554568 Centerline is valid? [True, True] Translation: X:471.51, Y:-21.34, Z:2.61 [[ 9.99993711e-01 -3.15058727e-03 -1.62870948e-03 4.71509506e+02] [ 3.15077957e-03 9.99995030e-01 1.15514092e-04 -2.13444524e+01] [ 1.62833744e-03 -1.20645070e-04 9.99998667e-01 2.61481126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.51071405700003 meters Centerline goodness [0,1] 0.9791138228102648 Centerline is valid? [True, True] Translation: X:471.54, Y:-21.34, Z:2.62 [[ 9.99996713e-01 -1.53955470e-03 -2.05024030e-03 4.71540983e+02] [ 1.53985714e-03 9.99998804e-01 1.45939431e-04 -2.13376345e+01] [ 2.05001317e-03 -1.49096028e-04 9.99997888e-01 2.61599965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.540714057 meters Centerline goodness [0,1] 0.9780310500607701 Centerline is valid? [True, True] Translation: X:471.57, Y:-21.33, Z:2.62 [[ 9.99997030e-01 1.43072586e-03 -1.97319807e-03 4.71571284e+02] [-1.43045307e-03 9.99998967e-01 1.39651482e-04 -2.13335017e+01] [ 1.97339584e-03 -1.36828500e-04 9.99998043e-01 2.61601563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.570714057 meters Centerline goodness [0,1] 0.9789365115746046 Centerline is valid? [True, True] Translation: X:471.60, Y:-21.33, Z:2.62 [[ 9.99994844e-01 2.78539397e-03 -1.59781977e-03 4.71600426e+02] [-2.78522142e-03 9.99996115e-01 1.10209919e-04 -2.13340717e+01] [ 1.59812054e-03 -1.05759069e-04 9.99998717e-01 2.61523483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.600714057 meters Centerline goodness [0,1] 0.9787375567686591 Centerline is valid? [True, True] Translation: X:471.63, Y:-21.33, Z:2.61 [[ 9.99982016e-01 5.67030255e-03 -1.95315206e-03 4.71629847e+02] [-5.67004425e-03 9.99983916e-01 1.37758413e-04 -2.13330928e+01] [ 1.95390178e-03 -1.26681477e-04 9.99998083e-01 2.61448173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.630714057 meters Centerline goodness [0,1] 0.9794374036847069 Centerline is valid? [True, True] Translation: X:471.66, Y:-21.33, Z:2.61 [[ 9.99974364e-01 6.64158148e-03 -2.67611979e-03 4.71658298e+02] [-6.64110127e-03 9.99977930e-01 1.88290195e-04 -2.13342216e+01] [ 2.67731127e-03 -1.70512985e-04 9.99996401e-01 2.61325375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.660714057 meters Centerline goodness [0,1] 0.9791008561095088 Centerline is valid? [True, True] Translation: X:471.69, Y:-21.34, Z:2.61 [[ 9.99965639e-01 7.73512008e-03 -2.98150169e-03 4.71687518e+02] [-7.73452837e-03 9.99970066e-01 2.09940164e-04 -2.13354809e+01] [ 2.98303635e-03 -1.86872440e-04 9.99995533e-01 2.61205650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.690714057 meters Centerline goodness [0,1] 0.9794593100907291 Centerline is valid? [True, True] Translation: X:471.72, Y:-21.33, Z:2.61 [[ 9.99951449e-01 8.77969358e-03 -4.47397603e-03 4.71715371e+02] [-8.77837384e-03 9.99961420e-01 3.14535418e-04 -2.13348642e+01] [ 4.47656495e-03 -2.75245913e-04 9.99989942e-01 2.61082587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.720714057 meters Centerline goodness [0,1] 0.9797777162885076 Centerline is valid? [True, True] Translation: X:471.74, Y:-21.34, Z:2.61 [[ 9.99941170e-01 9.70671102e-03 -4.84104995e-03 4.71744036e+02] [-9.70517677e-03 9.99952846e-01 3.40315949e-04 -2.13357896e+01] [ 4.84412502e-03 -2.93312683e-04 9.99988224e-01 2.61043637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.750714057 meters Centerline goodness [0,1] 0.9786070340625865 Centerline is valid? [True, True] Translation: X:471.77, Y:-21.34, Z:2.61 [[ 9.99914711e-01 1.18768358e-02 -5.43236069e-03 4.71772940e+02] [-1.18749338e-02 9.99929417e-01 3.82233228e-04 -2.13366450e+01] [ 5.43651698e-03 -3.17691704e-04 9.99985172e-01 2.61032811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.780714057 meters Centerline goodness [0,1] 0.9799367395470182 Centerline is valid? [True, True] Translation: X:471.80, Y:-21.34, Z:2.61 [[ 9.99897594e-01 1.34276700e-02 -4.94960893e-03 4.71801835e+02] [-1.34261139e-02 9.99909805e-01 3.47469660e-04 -2.13378399e+01] [ 4.95382821e-03 -2.80980064e-04 9.99987690e-01 2.61023345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.810714057 meters Centerline goodness [0,1] 0.980681686886193 Centerline is valid? [True, True] Translation: X:471.83, Y:-21.34, Z:2.61 [[ 9.99830567e-01 1.79084910e-02 -4.25717436e-03 4.71831295e+02] [-1.79073787e-02 9.99839605e-01 2.99247745e-04 -2.13369383e+01] [ 4.26185061e-03 -2.22962209e-04 9.99990893e-01 2.61138394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.840714057 meters Centerline goodness [0,1] 0.9798220270426442 Centerline is valid? [True, True] Translation: X:471.86, Y:-21.34, Z:2.61 [[ 9.99778294e-01 2.06411655e-02 -4.16003931e-03 4.71861234e+02] [-2.06401271e-02 9.99786927e-01 2.92388419e-04 -2.13367777e+01] [ 4.16518815e-03 -2.06459854e-04 9.99991304e-01 2.61206372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.870714057 meters Centerline goodness [0,1] 0.9798220270426442 Centerline is valid? [True, True] Translation: X:471.89, Y:-21.34, Z:2.61 [[ 9.99780361e-01 2.05407675e-02 -4.16014085e-03 4.71888663e+02] [-2.05397343e-02 9.99788995e-01 2.90943460e-04 -2.13386095e+01] [ 4.16523925e-03 -2.05431370e-04 9.99991304e-01 2.61172527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.900714057 meters Centerline goodness [0,1] 0.9811255530973452 Centerline is valid? [True, True] Translation: X:471.92, Y:-21.34, Z:2.61 [[ 9.99723645e-01 2.32622534e-02 -3.39122253e-03 4.71918839e+02] [-2.32615799e-02 9.99729385e-01 2.37916193e-04 -2.13387007e+01] [ 3.39583928e-03 -1.58965250e-04 9.99994221e-01 2.61255629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.930714057 meters Centerline goodness [0,1] 0.9812183796520896 Centerline is valid? [True, True] Translation: X:471.95, Y:-21.34, Z:2.61 [[ 9.99570224e-01 2.91800153e-02 -2.80977623e-03 4.71948511e+02] [-2.91795766e-02 9.99574166e-01 1.96996810e-04 -2.13376913e+01] [ 2.81432811e-03 -1.14924065e-04 9.99996033e-01 2.61323575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.960714057 meters Centerline goodness [0,1] 0.9826691380908248 Centerline is valid? [True, True] Translation: X:471.98, Y:-21.34, Z:2.61 [[ 9.99387149e-01 3.48166721e-02 -3.62292893e-03 4.71977654e+02] [-3.48159805e-02 9.99393708e-01 2.53797896e-04 -2.13365146e+01] [ 3.62956878e-03 -1.27506532e-04 9.99993405e-01 2.61266396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.990714057 meters Centerline goodness [0,1] 0.9833623794585802 Centerline is valid? [True, True] Translation: X:472.01, Y:-21.34, Z:2.61 [[ 9.99307484e-01 3.69933337e-02 -4.00566633e-03 4.72006011e+02] [-3.69925082e-02 9.99315504e-01 2.79999291e-04 -2.13376150e+01] [ 4.01328257e-03 -1.31625743e-04 9.99991938e-01 2.61226289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.020714057 meters Centerline goodness [0,1] 0.9835185271281789 Centerline is valid? [True, True] Translation: X:472.03, Y:-21.34, Z:2.61 [[ 9.99187119e-01 4.01143594e-02 -3.99244268e-03 4.72034458e+02] [-4.01135653e-02 9.99195088e-01 2.78821063e-04 -2.13384347e+01] [ 4.00041384e-03 -1.18443305e-04 9.99991991e-01 2.61218953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.050714057 meters Centerline goodness [0,1] 0.9839043084426896 Centerline is valid? [True, True] Translation: X:472.06, Y:-21.34, Z:2.61 [[ 9.99158473e-01 4.08654955e-02 -3.51537336e-03 4.72062143e+02] [-4.08648864e-02 9.99164652e-01 2.44943124e-04 -2.13414845e+01] [ 3.52244652e-03 -1.01081664e-04 9.99993791e-01 2.61210623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.080714057 meters Centerline goodness [0,1] 0.9836167997223186 Centerline is valid? [True, True] Translation: X:472.09, Y:-21.34, Z:2.61 [[ 9.99139045e-01 4.13655935e-02 -3.17117059e-03 4.72090468e+02] [-4.13651007e-02 9.99144074e-01 2.20860144e-04 -2.13443539e+01] [ 3.17759231e-03 -8.94942024e-05 9.99994947e-01 2.61188359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.110714057 meters Centerline goodness [0,1] 0.9869724897789481 Centerline is valid? [True, True] Translation: X:472.12, Y:-21.34, Z:2.62 [[ 9.99123950e-01 4.17775975e-02 -2.44219612e-03 4.72119462e+02] [-4.17773141e-02 9.99126933e-01 1.66966346e-04 -2.13424793e+01] [ 2.44703937e-03 -6.47916808e-05 9.99997004e-01 2.61695793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.140714057 meters Centerline goodness [0,1] 0.9855369994463923 Centerline is valid? [True, True] Translation: X:472.15, Y:-21.35, Z:2.62 [[ 9.99112167e-01 4.20955287e-02 -1.68641443e-03 4.72146844e+02] [-4.20953935e-02 9.99113589e-01 1.15577209e-04 -2.13466003e+01] [ 1.68978486e-03 -4.44843161e-05 9.99998571e-01 2.61673499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.170714057 meters Centerline goodness [0,1] 0.987010897052738 Centerline is valid? [True, True] Translation: X:472.17, Y:-21.35, Z:2.62 [[ 9.99053172e-01 4.35058060e-02 -5.97050733e-05 4.72174359e+02] [-4.35058059e-02 9.99053174e-01 3.05589206e-06 -2.13528738e+01] [ 5.97814921e-05 -4.55481325e-07 9.99999998e-01 2.61798194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.200714057 meters Centerline goodness [0,1] 0.9866045828841434 Centerline is valid? [True, True] Translation: X:472.20, Y:-21.36, Z:2.62 [[ 9.99013157e-01 4.44142668e-02 2.91409589e-04 4.72202612e+02] [-4.44142626e-02 9.99013200e-01 -2.10759853e-05 -2.13564415e+01] [-2.92058101e-04 8.11244454e-06 9.99999957e-01 2.61894158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.230714057 meters Centerline goodness [0,1] 0.9875071371474249 Centerline is valid? [True, True] Translation: X:472.23, Y:-21.36, Z:2.62 [[ 9.98960852e-01 4.55756324e-02 2.80872385e-04 4.72231045e+02] [-4.55756285e-02 9.98960891e-01 -2.03178579e-05 -2.13640340e+01] [-2.81506528e-04 7.49580915e-06 9.99999960e-01 2.61826149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.26071405700003 meters Centerline goodness [0,1] 0.9884701271476097 Centerline is valid? [True, True] Translation: X:472.26, Y:-21.37, Z:2.62 [[ 9.98938889e-01 4.60553453e-02 2.39199992e-05 4.72260026e+02] [-4.60553452e-02 9.98938890e-01 -4.49189162e-06 -2.13686500e+01] [-2.41014930e-05 3.38548141e-06 1.00000000e+00 2.61787317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.290714057 meters Centerline goodness [0,1] 0.9885754519851004 Centerline is valid? [True, True] Translation: X:472.29, Y:-21.38, Z:2.62 [[ 9.98913560e-01 4.65720376e-02 -1.65662605e-03 4.72287833e+02] [-4.65719135e-02 9.98914933e-01 1.13397742e-04 -2.13776453e+01] [ 1.66010967e-03 -3.61222969e-05 9.99998621e-01 2.61629433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.320714057 meters Centerline goodness [0,1] 0.9892786862997897 Centerline is valid? [True, True] Translation: X:472.32, Y:-21.38, Z:2.62 [[ 9.98908773e-01 4.66532490e-02 -2.17652405e-03 4.72315864e+02] [-4.66530348e-02 9.98911143e-01 1.49100090e-04 -2.13831502e+01] [ 2.18111013e-03 -4.73959353e-05 9.99997620e-01 2.61584872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.350714057 meters Centerline goodness [0,1] 0.9890393586666063 Centerline is valid? [True, True] Translation: X:472.34, Y:-21.39, Z:2.62 [[ 9.98918365e-01 4.64115837e-02 -2.83985528e-03 4.72344006e+02] [-4.64112180e-02 9.98922400e-01 1.94594961e-04 -2.13884674e+01] [ 2.84582651e-03 -6.25833380e-05 9.99995949e-01 2.61561498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.380714057 meters Centerline goodness [0,1] 0.9889019218623116 Centerline is valid? [True, True] Translation: X:472.37, Y:-21.40, Z:2.62 [[ 9.99003840e-01 4.44107534e-02 -4.36035544e-03 4.72371794e+02] [-4.44098846e-02 9.99013351e-01 2.95937552e-04 -2.13986791e+01] [ 4.36919611e-03 -1.01999869e-04 9.99990450e-01 2.61537814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.410714057 meters Centerline goodness [0,1] 0.9879867067858266 Centerline is valid? [True, True] Translation: X:472.40, Y:-21.41, Z:2.61 [[ 9.99160872e-01 4.03936868e-02 -6.77516646e-03 4.72399770e+02] [-4.03914710e-02 9.99183824e-01 4.63620185e-04 -2.14113757e+01] [ 6.78836406e-03 -1.89572208e-04 9.99976941e-01 2.61334633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.440714057 meters Centerline goodness [0,1] 0.9879661168877734 Centerline is valid? [True, True] Translation: X:472.43, Y:-21.42, Z:2.61 [[ 9.99264956e-01 3.75592702e-02 -7.67124748e-03 4.72428661e+02] [-3.75563484e-02 9.99294374e-01 5.24620021e-04 -2.14184510e+01] [ 7.68553879e-03 -2.36130359e-04 9.99970438e-01 2.61273464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.470714057 meters Centerline goodness [0,1] 0.9883146770337601 Centerline is valid? [True, True] Translation: X:472.46, Y:-21.43, Z:2.61 [[ 9.99353230e-01 3.50599754e-02 -7.99504766e-03 4.72457623e+02] [-3.50567221e-02 9.99385175e-01 5.46730876e-04 -2.14259429e+01] [ 8.00930047e-03 -2.66097103e-04 9.99967890e-01 2.61227665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.500714057 meters Centerline goodness [0,1] 0.9868074467610162 Centerline is valid? [True, True] Translation: X:472.49, Y:-21.44, Z:2.61 [[ 9.99510721e-01 3.00702270e-02 -8.60811169e-03 4.72487376e+02] [-3.00662668e-02 9.99547734e-01 5.89120458e-04 -2.14372622e+01] [ 8.62193352e-03 -3.30018431e-04 9.99962776e-01 2.61253860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.530714057 meters Centerline goodness [0,1] 0.9872063477912004 Centerline is valid? [True, True] Translation: X:472.52, Y:-21.44, Z:2.61 [[ 9.99583825e-01 2.74635261e-02 -8.82786298e-03 4.72516906e+02] [-2.74592662e-02 9.99622741e-01 6.03416807e-04 -2.14433462e+01] [ 8.84110454e-03 -3.60759040e-04 9.99960852e-01 2.61266929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.560714057 meters Centerline goodness [0,1] 0.9854419564590222 Centerline is valid? [True, True] Translation: X:472.55, Y:-21.45, Z:2.61 [[ 9.99699291e-01 2.29506373e-02 -8.63693709e-03 4.72545344e+02] [-2.29463942e-02 9.99736523e-01 5.90058360e-04 -2.14547436e+01] [ 8.64820367e-03 -3.91694360e-04 9.99962527e-01 2.61228926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.590714057 meters Centerline goodness [0,1] 0.9858256870542756 Centerline is valid? [True, True] Translation: X:472.57, Y:-21.46, Z:2.61 [[ 9.99747355e-01 2.04410136e-02 -9.34834109e-03 4.72574563e+02] [-2.04359358e-02 9.99790961e-01 6.38378340e-04 -2.14609067e+01] [ 9.35943602e-03 -4.47174958e-04 9.99956100e-01 2.61150736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.620714057 meters Centerline goodness [0,1] 0.9846204766107679 Centerline is valid? [True, True] Translation: X:472.60, Y:-21.47, Z:2.61 [[ 9.99824202e-01 1.60599762e-02 -9.67688526e-03 4.72604018e+02] [-1.60543299e-02 9.99870903e-01 6.60878962e-04 -2.14706319e+01] [ 9.68624970e-03 -5.05406872e-04 9.99952959e-01 2.61122707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.650714057 meters Centerline goodness [0,1] 0.984575215025452 Centerline is valid? [True, True] Translation: X:472.63, Y:-21.48, Z:2.61 [[ 9.99858077e-01 1.43421974e-02 -8.83900375e-03 4.72631010e+02] [-1.43374385e-02 9.99897033e-01 6.01529787e-04 -2.14764820e+01] [ 8.84672089e-03 -4.74715743e-04 9.99960754e-01 2.61129828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.680714057 meters Centerline goodness [0,1] 0.9848337674952536 Centerline is valid? [True, True] Translation: X:472.66, Y:-21.48, Z:2.61 [[ 9.99879213e-01 1.25532303e-02 -9.16379588e-03 4.72660500e+02] [-1.25480341e-02 9.99921075e-01 6.24305188e-04 -2.14820275e+01] [ 9.17090968e-03 -5.09242157e-04 9.99957817e-01 2.61135819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.710714057 meters Centerline goodness [0,1] 0.9852052144474488 Centerline is valid? [True, True] Translation: X:472.69, Y:-21.48, Z:2.61 [[ 9.99900538e-01 1.11462915e-02 -8.64137491e-03 4.72689333e+02] [-1.11416279e-02 9.99937757e-01 5.87644119e-04 -2.14836221e+01] [ 8.64738710e-03 -4.91306687e-04 9.99962490e-01 2.61375825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.740714057 meters Centerline goodness [0,1] 0.9844559585492227 Centerline is valid? [True, True] Translation: X:472.72, Y:-21.48, Z:2.61 [[ 9.99901836e-01 1.10019253e-02 -8.67622938e-03 4.72717724e+02] [-1.09972241e-02 9.99939355e-01 5.89373870e-04 -2.14839053e+01] [ 8.68218746e-03 -4.93901576e-04 9.99962187e-01 2.61458184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.770714057 meters Centerline goodness [0,1] 0.984106397010332 Centerline is valid? [True, True] Translation: X:472.75, Y:-21.49, Z:2.61 [[ 9.99885624e-01 1.24621516e-02 -8.56937707e-03 4.72745352e+02] [-1.24576242e-02 9.99922232e-01 5.81497212e-04 -2.14946187e+01] [ 8.57595735e-03 -4.74676624e-04 9.99963113e-01 2.61159768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.800714057 meters Centerline goodness [0,1] 0.9854505494505494 Centerline is valid? [True, True] Translation: X:472.77, Y:-21.49, Z:2.61 [[ 9.99874712e-01 1.32379047e-02 -8.67857440e-03 4.72774395e+02] [-1.32332955e-02 9.99912263e-01 5.88318531e-04 -2.14906792e+01] [ 8.68560107e-03 -4.73398683e-04 9.99962167e-01 2.61377188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.830714057 meters Centerline goodness [0,1] 0.9856428775901174 Centerline is valid? [True, True] Translation: X:472.80, Y:-21.49, Z:2.61 [[ 9.99842702e-01 1.53477665e-02 -8.88913687e-03 4.72803909e+02] [-1.53430283e-02 9.99882108e-01 6.00991712e-04 -2.14903347e+01] [ 8.89731279e-03 -4.64510899e-04 9.99960310e-01 2.61445888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.860714057 meters Centerline goodness [0,1] 0.9857569896254615 Centerline is valid? [True, True] Translation: X:472.83, Y:-21.49, Z:2.61 [[ 9.99815080e-01 1.68822267e-02 -9.20844439e-03 4.72833259e+02] [-1.68772039e-02 9.99857376e-01 6.22902397e-04 -2.14911810e+01] [ 9.21764702e-03 -4.67374417e-04 9.99957407e-01 2.61421172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.890714057 meters Centerline goodness [0,1] 0.9867682349573985 Centerline is valid? [True, True] Translation: X:472.86, Y:-21.49, Z:2.61 [[ 9.99774735e-01 1.87779658e-02 -9.89275632e-03 4.72861006e+02] [-1.87722739e-02 9.99823562e-01 6.67912083e-04 -2.14931600e+01] [ 9.90355290e-03 -4.82052095e-04 9.99950842e-01 2.61358012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.920714057 meters Centerline goodness [0,1] 0.985943111463635 Centerline is valid? [True, True] Translation: X:472.89, Y:-21.49, Z:2.61 [[ 9.99700277e-01 2.18331723e-02 -1.10755881e-02 4.72889820e+02] [-2.18262250e-02 9.99761500e-01 7.47761143e-04 -2.14946062e+01] [ 1.10892725e-02 -5.05798745e-04 9.99938384e-01 2.61231933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.950714057 meters Centerline goodness [0,1] 0.987154346149609 Centerline is valid? [True, True] Translation: X:472.92, Y:-21.50, Z:2.61 [[ 9.99630008e-01 2.48635875e-02 -1.10294516e-02 4.72918913e+02] [-2.48568839e-02 9.99690743e-01 7.44480557e-04 -2.14986815e+01] [ 1.10445511e-02 -4.70047309e-04 9.99938897e-01 2.61126641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.980714057 meters Centerline goodness [0,1] 0.9870876760020272 Centerline is valid? [True, True] Translation: X:472.95, Y:-21.50, Z:2.61 [[ 9.99598605e-01 2.60947262e-02 -1.10314728e-02 4.72947544e+02] [-2.60881080e-02 9.99659371e-01 7.43441694e-04 -2.15005306e+01] [ 1.10471151e-02 -4.55353027e-04 9.99938875e-01 2.61105075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.01071405700003 meters Centerline goodness [0,1] 0.9888662414798255 Centerline is valid? [True, True] Translation: X:472.98, Y:-21.50, Z:2.61 [[ 9.99557909e-01 2.78228833e-02 -1.04820348e-02 4.72976576e+02] [-2.78170112e-02 9.99612783e-01 7.05605602e-04 -2.14999725e+01] [ 1.04976080e-02 -4.13714780e-04 9.99944813e-01 2.61233328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.040714057 meters Centerline goodness [0,1] 0.988909915064032 Centerline is valid? [True, True] Translation: X:473.01, Y:-21.50, Z:2.61 [[ 9.99459500e-01 3.12659851e-02 -1.01561271e-02 4.73006299e+02] [-3.12606495e-02 9.99511033e-01 6.83713609e-04 -2.15006034e+01] [ 1.01725381e-02 -3.65856931e-04 9.99948191e-01 2.61240890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.070714057 meters Centerline goodness [0,1] 0.9889314229465165 Centerline is valid? [True, True] Translation: X:473.03, Y:-21.50, Z:2.61 [[ 9.99395200e-01 3.36028207e-02 -8.94897416e-03 4.73034582e+02] [-3.35987816e-02 9.99435221e-01 6.01341263e-04 -2.15034790e+01] [ 8.96412672e-03 -3.00302944e-04 9.99959776e-01 2.61218359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.100714057 meters Centerline goodness [0,1] 0.9887101017186952 Centerline is valid? [True, True] Translation: X:473.06, Y:-21.50, Z:2.61 [[ 9.99279049e-01 3.72439482e-02 -7.36688417e-03 4.73064539e+02] [-3.72413073e-02 9.99306179e-01 4.95390272e-04 -2.15034241e+01] [ 7.38022317e-03 -2.20680723e-04 9.99972741e-01 2.61435174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.130714057 meters Centerline goodness [0,1] 0.9896786971830986 Centerline is valid? [True, True] Translation: X:473.09, Y:-21.51, Z:2.61 [[ 9.99217829e-01 3.89409395e-02 -6.87999688e-03 4.73093816e+02] [-3.89386917e-02 9.99241495e-01 4.60417743e-04 -2.15056014e+01] [ 6.89270747e-03 -1.92159540e-04 9.99976227e-01 2.61415207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.160714057 meters Centerline goodness [0,1] 0.9902944599371994 Centerline is valid? [True, True] Translation: X:473.12, Y:-21.51, Z:2.62 [[ 9.99121700e-01 4.15324633e-02 -5.55733059e-03 4.73123024e+02] [-4.15310529e-02 9.99137145e-01 3.69009295e-04 -2.15076514e+01] [ 5.56786128e-03 -1.37883404e-04 9.99984490e-01 2.61527524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.190714057 meters Centerline goodness [0,1] 0.9898624978104746 Centerline is valid? [True, True] Translation: X:473.15, Y:-21.51, Z:2.61 [[ 9.99114287e-01 4.18335299e-02 -4.53850945e-03 4.73150233e+02] [-4.18325884e-02 9.99124588e-01 3.02202900e-04 -2.15105093e+01] [ 4.54717860e-03 -1.12077637e-04 9.99989655e-01 2.61457088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.220714057 meters Centerline goodness [0,1] 0.9896177132740268 Centerline is valid? [True, True] Translation: X:473.18, Y:-21.52, Z:2.61 [[ 9.99109669e-01 4.19914276e-02 -4.07303733e-03 4.73179191e+02] [-4.19906821e-02 9.99117966e-01 2.68404834e-04 -2.15154969e+01] [ 4.08071548e-03 -9.71362489e-05 9.99991669e-01 2.61373783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.250714057 meters Centerline goodness [0,1] 0.9894651716827312 Centerline is valid? [True, True] Translation: X:473.21, Y:-21.52, Z:2.61 [[ 9.99133829e-01 4.13649128e-02 -4.53167830e-03 4.73207819e+02] [-4.13639746e-02 9.99144099e-01 3.00594863e-04 -2.15196825e+01] [ 4.54023372e-03 -1.12886271e-04 9.99989687e-01 2.61261402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.280714057 meters Centerline goodness [0,1] 0.9892365565678749 Centerline is valid? [True, True] Translation: X:473.24, Y:-21.53, Z:2.61 [[ 9.99230889e-01 3.89610986e-02 -4.43430786e-03 4.73235657e+02] [-3.89601794e-02 9.99240721e-01 2.93500069e-04 -2.15272121e+01] [ 4.44237607e-03 -1.20512905e-04 9.99990125e-01 2.61036188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.310714057 meters Centerline goodness [0,1] 0.989248249841886 Centerline is valid? [True, True] Translation: X:473.26, Y:-21.53, Z:2.61 [[ 9.99298543e-01 3.72156689e-02 -4.17314636e-03 4.73264243e+02] [-3.72148403e-02 9.99307250e-01 2.76073323e-04 -2.15323088e+01] [ 4.18052967e-03 -1.20576695e-04 9.99991254e-01 2.60949059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.340714057 meters Centerline goodness [0,1] 0.9892454353090029 Centerline is valid? [True, True] Translation: X:473.29, Y:-21.54, Z:2.61 [[ 9.99352880e-01 3.57816478e-02 -3.67346631e-03 4.73292789e+02] [-3.57809974e-02 9.99359626e-01 2.42630495e-04 -2.15363665e+01] [ 3.67979564e-03 -1.11033195e-04 9.99993223e-01 2.60951041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.370714057 meters Centerline goodness [0,1] 0.9878001213487042 Centerline is valid? [True, True] Translation: X:473.32, Y:-21.55, Z:2.61 [[ 9.99473499e-01 3.22070204e-02 -3.92847912e-03 4.73320974e+02] [-3.22062487e-02 9.99481211e-01 2.59551736e-04 -2.15450832e+01] [ 3.93480045e-03 -1.32893506e-04 9.99992250e-01 2.60846955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.400714057 meters Centerline goodness [0,1] 0.9885327078446703 Centerline is valid? [True, True] Translation: X:473.35, Y:-21.55, Z:2.61 [[ 9.99532926e-01 3.04050932e-02 -3.07561174e-03 4.73349478e+02] [-3.04046134e-02 9.99537652e-01 2.02629778e-04 -2.15508525e+01] [ 3.08035071e-03 -1.09022349e-04 9.99995250e-01 2.60745068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.430714057 meters Centerline goodness [0,1] 0.9878690377842515 Centerline is valid? [True, True] Translation: X:473.38, Y:-21.56, Z:2.61 [[ 9.99618455e-01 2.73788384e-02 -3.65277003e-03 4.73378944e+02] [-2.73781398e-02 9.99625119e-01 2.41122220e-04 -2.15582444e+01] [ 3.65800232e-03 -1.41024173e-04 9.99993300e-01 2.60630147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.460714057 meters Centerline goodness [0,1] 0.9884791129783226 Centerline is valid? [True, True] Translation: X:473.41, Y:-21.56, Z:2.61 [[ 9.99647290e-01 2.62478314e-02 -4.04302483e-03 4.73407468e+02] [-2.62469692e-02 9.99655454e-01 2.66179445e-04 -2.15607396e+01] [ 4.04861845e-03 -1.59968413e-04 9.99991792e-01 2.60578509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.490714057 meters Centerline goodness [0,1] 0.9874547700041167 Centerline is valid? [True, True] Translation: X:473.44, Y:-21.57, Z:2.60 [[ 9.99685956e-01 2.47608552e-02 -3.85880793e-03 4.73435040e+02] [-2.47600611e-02 9.99693391e-01 2.53447314e-04 -2.15679555e+01] [ 3.86390035e-03 -1.57823400e-04 9.99992523e-01 2.60412114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.520714057 meters Centerline goodness [0,1] 0.9876537871089105 Centerline is valid? [True, True] Translation: X:473.46, Y:-21.57, Z:2.60 [[ 9.99703728e-01 2.40990089e-02 -3.41977722e-03 4.73463316e+02] [-2.40983818e-02 9.99709567e-01 2.24476130e-04 -2.15712821e+01] [ 3.42419366e-03 -1.41998527e-04 9.99994127e-01 2.60389343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.550714057 meters Centerline goodness [0,1] 0.987271074165476 Centerline is valid? [True, True] Translation: X:473.49, Y:-21.58, Z:2.60 [[ 9.99717723e-01 2.35590718e-02 -3.07303925e-03 4.73492138e+02] [-2.35585638e-02 9.99722438e-01 2.01411899e-04 -2.15750398e+01] [ 3.07693137e-03 -1.28958654e-04 9.99995258e-01 2.60398103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.580714057 meters Centerline goodness [0,1] 0.9878986240606361 Centerline is valid? [True, True] Translation: X:473.52, Y:-21.58, Z:2.61 [[ 9.99763522e-01 2.17272403e-02 -9.09638664e-04 4.73521112e+02] [-2.17271957e-02 9.99763935e-01 5.89272326e-05 -2.15795625e+01] [ 9.10704256e-04 -3.91494003e-05 9.99999585e-01 2.60502841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.610714057 meters Centerline goodness [0,1] 0.9865000534016874 Centerline is valid? [True, True] Translation: X:473.55, Y:-21.59, Z:2.60 [[ 9.99823127e-01 1.88027916e-02 4.11182982e-04 4.73549113e+02] [-1.88027817e-02 9.99823212e-01 -2.78850952e-05 -2.15855839e+01] [-4.11634608e-04 2.01487792e-05 9.99999915e-01 2.60455775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.640714057 meters Centerline goodness [0,1] 0.9861968136569844 Centerline is valid? [True, True] Translation: X:473.58, Y:-21.59, Z:2.60 [[ 9.99855690e-01 1.69790487e-02 5.57022380e-04 4.73577958e+02] [-1.69790305e-02 9.99855845e-01 -3.74128965e-05 -2.15894933e+01] [-5.57577317e-04 2.79497974e-05 9.99999844e-01 2.60386820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.670714057 meters Centerline goodness [0,1] 0.98572472803887 Centerline is valid? [True, True] Translation: X:473.61, Y:-21.60, Z:2.60 [[ 9.99913799e-01 1.30324401e-02 1.59677851e-03 4.73606288e+02] [-1.30322887e-02 9.99915071e-01 -1.05144065e-04 -2.15981315e+01] [-1.59801318e-03 8.43253231e-05 9.99998720e-01 2.60258302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.700714057 meters Centerline goodness [0,1] 0.9851977571057211 Centerline is valid? [True, True] Translation: X:473.64, Y:-21.60, Z:2.60 [[ 9.99938706e-01 1.08449999e-02 2.22945204e-03 4.73635403e+02] [-1.08446996e-02 9.99941184e-01 -1.46750542e-04 -2.16000365e+01] [-2.23091243e-03 1.22563809e-04 9.99997504e-01 2.60235796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.730714057 meters Centerline goodness [0,1] 0.9852903336478257 Centerline is valid? [True, True] Translation: X:473.66, Y:-21.61, Z:2.60 [[ 9.99965493e-01 7.67186852e-03 3.18674447e-03 4.73663988e+02] [-7.67124093e-03 9.99970554e-01 -2.09114553e-04 -2.16051785e+01] [-3.18825493e-03 1.84661053e-04 9.99994900e-01 2.60243524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.76071405700003 meters Centerline goodness [0,1] 0.984181568088033 Centerline is valid? [True, True] Translation: X:473.69, Y:-21.60, Z:2.60 [[ 9.99975452e-01 6.12035321e-03 3.41139254e-03 4.73694124e+02] [-6.11962549e-03 9.99981250e-01 -2.23716899e-04 -2.16040257e+01] [-3.41269780e-03 2.02834962e-04 9.99994156e-01 2.60247243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.790714057 meters Centerline goodness [0,1] 0.984181568088033 Centerline is valid? [True, True] Translation: X:473.72, Y:-21.61, Z:2.60 [[ 9.99975451e-01 6.12034783e-03 3.41142112e-03 4.73724112e+02] [-6.11962160e-03 9.99981250e-01 -2.23280276e-04 -2.16059886e+01] [-3.41272371e-03 2.02398189e-04 9.99994156e-01 2.60210241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.820714057 meters Centerline goodness [0,1] 0.9846749059645352 Centerline is valid? [True, True] Translation: X:473.75, Y:-21.61, Z:2.60 [[ 9.99978118e-01 5.49576084e-03 3.68237124e-03 4.73754398e+02] [-5.49491045e-03 9.99984874e-01 -2.41014181e-04 -2.16081081e+01] [-3.68364010e-03 2.20774607e-04 9.99993191e-01 2.60211902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.850714057 meters Centerline goodness [0,1] 0.9832505140507197 Centerline is valid? [True, True] Translation: X:473.78, Y:-21.61, Z:2.60 [[ 9.99982655e-01 3.71063042e-03 4.57387764e-03 4.73783954e+02] [-3.70929980e-03 9.99993076e-01 -2.99363998e-04 -2.16116579e+01] [-4.57495680e-03 2.82392922e-04 9.99989495e-01 2.60176311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.880714057 meters Centerline goodness [0,1] 0.9841600309072568 Centerline is valid? [True, True] Translation: X:473.82, Y:-21.61, Z:2.60 [[ 9.99978154e-01 2.95803816e-03 5.91111357e-03 4.73815286e+02] [-2.95580399e-03 9.99995557e-01 -3.86660629e-04 -2.16120757e+01] [-5.91223106e-03 3.69180089e-04 9.99982454e-01 2.60177949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.910714057 meters Centerline goodness [0,1] 0.9827705179626515 Centerline is valid? [True, True] Translation: X:473.85, Y:-21.61, Z:2.60 [[ 9.99981166e-01 8.01407864e-04 6.08481284e-03 4.73845081e+02] [-7.99001167e-04 9.99999602e-01 -3.97945734e-04 -2.16144736e+01] [-6.08512933e-03 3.93076466e-04 9.99981408e-01 2.60123696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.940714057 meters Centerline goodness [0,1] 0.9835026201720903 Centerline is valid? [True, True] Translation: X:473.88, Y:-21.61, Z:2.60 [[ 9.99979989e-01 8.40638605e-05 6.32573989e-03 4.73877523e+02] [-8.14511699e-05 9.99999911e-01 -4.13281784e-04 -2.16139530e+01] [-6.32577407e-03 4.12758275e-04 9.99979907e-01 2.60067256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.970714057 meters Centerline goodness [0,1] 0.984411334079752 Centerline is valid? [True, True] Translation: X:473.91, Y:-21.62, Z:2.60 [[ 9.99980767e-01 -1.27374077e-03 6.06984738e-03 4.73909925e+02] [ 1.27618660e-03 9.99999106e-01 -3.99091812e-04 -2.16159463e+01] [-6.06933361e-03 4.06830394e-04 9.99981499e-01 2.59983270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.000714057 meters Centerline goodness [0,1] 0.9821274948382657 Centerline is valid? [True, True] Translation: X:473.94, Y:-21.62, Z:2.60 [[ 9.99973367e-01 -4.71751989e-03 5.56871187e-03 4.73939454e+02] [ 4.71963672e-03 9.99988795e-01 -3.67049752e-04 -2.16191809e+01] [-5.56691791e-03 3.93322273e-04 9.99984427e-01 2.59845145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.030714057 meters Centerline goodness [0,1] 0.9825764436968991 Centerline is valid? [True, True] Translation: X:473.97, Y:-21.62, Z:2.60 [[ 9.99961664e-01 -6.70415963e-03 5.63246075e-03 4.73970069e+02] [ 6.70635495e-03 9.99977443e-01 -3.70966431e-04 -2.16224450e+01] [-5.62984668e-03 4.08725491e-04 9.99984069e-01 2.59685563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.060714057 meters Centerline goodness [0,1] 0.981042756473996 Centerline is valid? [True, True] Translation: X:474.00, Y:-21.63, Z:2.60 [[ 9.99920194e-01 -1.14241708e-02 5.39381489e-03 4.74000055e+02] [ 1.14262531e-02 9.99934655e-01 -3.55397706e-04 -2.16268609e+01] [-5.38940231e-03 4.17000437e-04 9.99985390e-01 2.59576085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.090714057 meters Centerline goodness [0,1] 0.978743961352657 Centerline is valid? [True, True] Translation: X:474.03, Y:-21.63, Z:2.60 [[ 9.99863672e-01 -1.54732062e-02 5.76345793e-03 4.74029200e+02] [ 1.54756510e-02 9.99880173e-01 -3.79824727e-04 -2.16309452e+01] [-5.75689020e-03 4.68966210e-04 9.99983319e-01 2.59581405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.120714057 meters Centerline goodness [0,1] 0.979982254539159 Centerline is valid? [True, True] Translation: X:474.06, Y:-21.63, Z:2.60 [[ 9.99821642e-01 -1.77347507e-02 6.49336011e-03 4.74060873e+02] [ 1.77379006e-02 9.99842580e-01 -4.27814046e-04 -2.16303738e+01] [-6.48475075e-03 5.42916318e-04 9.99978826e-01 2.59624483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.150714057 meters Centerline goodness [0,1] 0.9787920102144604 Centerline is valid? [True, True] Translation: X:474.09, Y:-21.63, Z:2.60 [[ 9.99795106e-01 -1.90353769e-02 6.88477247e-03 4.74092573e+02] [ 1.90389477e-02 9.99818640e-01 -4.53466537e-04 -2.16328071e+01] [-6.87489194e-03 5.84452447e-04 9.99976197e-01 2.59657392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.180714057 meters Centerline goodness [0,1] 0.9768182507528652 Centerline is valid? [True, True] Translation: X:474.12, Y:-21.64, Z:2.60 [[ 9.99761429e-01 -2.08057963e-02 6.64864506e-03 4.74122120e+02] [ 2.08091708e-02 9.99783369e-01 -4.38774517e-04 -2.16365906e+01] [-6.63807571e-03 5.77022629e-04 9.99977801e-01 2.59597414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.210714057 meters Centerline goodness [0,1] 0.9786814140099761 Centerline is valid? [True, True] Translation: X:474.15, Y:-21.63, Z:2.60 [[ 9.99751738e-01 -2.12306474e-02 6.76174516e-03 4.74154327e+02] [ 2.12341515e-02 9.99774430e-01 -4.46848590e-04 -2.16313319e+01] [-6.75073303e-03 5.90317576e-04 9.99977039e-01 2.59582285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.240714057 meters Centerline goodness [0,1] 0.9802580140734949 Centerline is valid? [True, True] Translation: X:474.19, Y:-21.63, Z:2.60 [[ 9.99751582e-01 -2.10654289e-02 7.28163065e-03 4.74187155e+02] [ 2.10694925e-02 9.99777898e-01 -4.81790351e-04 -2.16285434e+01] [-7.26986426e-03 6.35090928e-04 9.99973373e-01 2.59568963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.270714057 meters Centerline goodness [0,1] 0.979702712100139 Centerline is valid? [True, True] Translation: X:474.22, Y:-21.63, Z:2.60 [[ 9.99753851e-01 -2.07393920e-02 7.88130039e-03 4.74219443e+02] [ 2.07441476e-02 9.99784681e-01 -5.22117850e-04 -2.16292103e+01] [-7.86877498e-03 6.85480190e-04 9.99968806e-01 2.59541740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.300714057 meters Centerline goodness [0,1] 0.9800756949580197 Centerline is valid? [True, True] Translation: X:474.25, Y:-21.63, Z:2.60 [[ 9.99801821e-01 -1.81871351e-02 8.09604643e-03 4.74250546e+02] [ 1.81920770e-02 9.99834366e-01 -5.37187756e-04 -2.16270485e+01] [-8.08493554e-03 6.84365198e-04 9.99967082e-01 2.59552676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.330714057 meters Centerline goodness [0,1] 0.9807415798875866 Centerline is valid? [True, True] Translation: X:474.28, Y:-21.62, Z:2.60 [[ 9.99830365e-01 -1.66980207e-02 7.77281286e-03 4.74282281e+02] [ 1.67025316e-02 9.99860370e-01 -5.15785565e-04 -2.16222222e+01] [-7.76311494e-03 6.45523722e-04 9.99969658e-01 2.59601058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.360714057 meters Centerline goodness [0,1] 0.9795326103558882 Centerline is valid? [True, True] Translation: X:474.31, Y:-21.62, Z:2.60 [[ 9.99879854e-01 -1.33644911e-02 7.85290296e-03 4.74311583e+02] [ 1.33689974e-02 9.99910495e-01 -5.21622145e-04 -2.16226330e+01] [-7.84522887e-03 6.26544914e-04 9.99969029e-01 2.59602230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.390714057 meters Centerline goodness [0,1] 0.9792976537340898 Centerline is valid? [True, True] Translation: X:474.34, Y:-21.62, Z:2.60 [[ 9.99900562e-01 -1.15489918e-02 8.09239952e-03 4.74342880e+02] [ 1.15537154e-02 9.99933109e-01 -5.37203714e-04 -2.16226149e+01] [-8.08565405e-03 6.30647576e-04 9.99967112e-01 2.59541721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.420714057 meters Centerline goodness [0,1] 0.981460784958254 Centerline is valid? [True, True] Translation: X:474.37, Y:-21.61, Z:2.59 [[ 9.99934315e-01 -8.20338692e-03 8.00431942e-03 4.74374161e+02] [ 8.20790481e-03 9.99966173e-01 -5.31743601e-04 -2.16138263e+01] [-7.99968657e-03 5.97407365e-04 9.99967824e-01 2.59405434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.450714057 meters Centerline goodness [0,1] 0.9815339349625628 Centerline is valid? [True, True] Translation: X:474.41, Y:-21.61, Z:2.59 [[ 9.99949295e-01 -6.49540935e-03 7.69531689e-03 4.74406024e+02] [ 6.49953314e-03 9.99978747e-01 -5.10995937e-04 -2.16138672e+01] [-7.69183421e-03 5.60985994e-04 9.99970260e-01 2.59322073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.480714057 meters Centerline goodness [0,1] 0.9803839915837461 Centerline is valid? [True, True] Translation: X:474.44, Y:-21.62, Z:2.59 [[ 9.99963527e-01 -4.80325038e-03 7.06208657e-03 4.74436833e+02] [ 4.80668590e-03 9.99988338e-01 -4.69581957e-04 -2.16168643e+01] [-7.05974869e-03 5.03510062e-04 9.99974953e-01 2.59240387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.51071405700003 meters Centerline goodness [0,1] 0.9817720401633013 Centerline is valid? [True, True] Translation: X:474.47, Y:-21.61, Z:2.59 [[ 9.99973891e-01 -2.23000600e-03 6.87341213e-03 4.74468580e+02] [ 2.23320219e-03 9.99997402e-01 -4.57368911e-04 -2.16080753e+01] [-6.87237434e-03 4.72706689e-04 9.99976273e-01 2.59297180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.540714057 meters Centerline goodness [0,1] 0.9827803165772567 Centerline is valid? [True, True] Translation: X:474.50, Y:-21.61, Z:2.59 [[ 9.99974782e-01 -2.87312903e-04 7.09597205e-03 4.74499456e+02] [ 2.90671050e-04 9.99999846e-01 -4.72220028e-04 -2.16077457e+01] [-7.09583529e-03 4.74270713e-04 9.99974712e-01 2.59313096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.570714057 meters Centerline goodness [0,1] 0.9832872775505692 Centerline is valid? [True, True] Translation: X:474.53, Y:-21.60, Z:2.59 [[ 9.99968106e-01 2.97283418e-03 7.41277324e-03 4.74530684e+02] [-2.96925591e-03 9.99995470e-01 -4.93674253e-04 -2.16018880e+01] [-7.41420727e-03 4.71648087e-04 9.99972403e-01 2.59347550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.600714057 meters Centerline goodness [0,1] 0.9833958103638368 Centerline is valid? [True, True] Translation: X:474.56, Y:-21.60, Z:2.59 [[ 9.99960450e-01 4.79373688e-03 7.49117472e-03 4.74562736e+02] [-4.79013368e-03 9.99988403e-01 -4.98859755e-04 -2.15994474e+01] [-7.49347924e-03 4.62956297e-04 9.99971816e-01 2.59307862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.630714057 meters Centerline goodness [0,1] 0.9833857604891232 Centerline is valid? [True, True] Translation: X:474.59, Y:-21.60, Z:2.59 [[ 9.99957807e-01 5.60205778e-03 7.28023400e-03 4.74594524e+02] [-5.59867327e-03 9.99984210e-01 -4.85188061e-04 -2.16000949e+01] [-7.28283709e-03 4.44407938e-04 9.99973381e-01 2.59238815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.660714057 meters Centerline goodness [0,1] 0.9829446031851508 Centerline is valid? [True, True] Translation: X:474.62, Y:-21.60, Z:2.59 [[ 9.99957419e-01 6.26172691e-03 6.77871275e-03 4.74624938e+02] [-6.25880424e-03 9.99980311e-01 -4.52282133e-04 -2.16005467e+01] [-6.78141135e-03 4.09836239e-04 9.99976922e-01 2.59133020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.690714057 meters Centerline goodness [0,1] 0.9826608795783692 Centerline is valid? [True, True] Translation: X:474.66, Y:-21.60, Z:2.59 [[ 9.99958877e-01 6.19186705e-03 6.62614614e-03 4.74656561e+02] [-6.18907284e-03 9.99980750e-01 -4.42116380e-04 -2.16017214e+01] [-6.62875612e-03 4.01088498e-04 9.99977949e-01 2.59049131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.720714057 meters Centerline goodness [0,1] 0.9826048565121412 Centerline is valid? [True, True] Translation: X:474.69, Y:-21.60, Z:2.59 [[ 9.99961943e-01 5.80564350e-03 6.51203029e-03 4.74687485e+02] [-5.80293510e-03 9.99983068e-01 -4.34725458e-04 -2.16042135e+01] [-6.51444390e-03 3.96920025e-04 9.99978702e-01 2.59004918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.750714057 meters Centerline goodness [0,1] 0.9804536519645737 Centerline is valid? [True, True] Translation: X:474.72, Y:-21.61, Z:2.59 [[ 9.99970666e-01 3.66040386e-03 6.72812853e-03 4.74717202e+02] [-3.65746453e-03 9.99993211e-01 -4.49124895e-04 -2.16115986e+01] [-6.72972683e-03 4.24503829e-04 9.99977265e-01 2.58881112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.780714057 meters Centerline goodness [0,1] 0.9813892761512758 Centerline is valid? [True, True] Translation: X:474.75, Y:-21.61, Z:2.59 [[ 9.99974910e-01 2.15180733e-03 6.74893778e-03 4.74748883e+02] [-2.14880981e-03 9.99997589e-01 -4.51366619e-04 -2.16108913e+01] [-6.74989276e-03 4.36853110e-04 9.99977124e-01 2.58907729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.810714057 meters Centerline goodness [0,1] 0.9817481061445089 Centerline is valid? [True, True] Translation: X:474.78, Y:-21.61, Z:2.59 [[ 9.99979375e-01 -1.22606863e-03 6.30442413e-03 4.74779963e+02] [ 1.22875306e-03 9.99999156e-01 -4.21946398e-04 -2.16109973e+01] [-6.30390147e-03 4.29684276e-04 9.99980038e-01 2.58878855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.840714057 meters Centerline goodness [0,1] 0.9816187828236022 Centerline is valid? [True, True] Translation: X:474.81, Y:-21.61, Z:2.59 [[ 9.99976617e-01 -3.17499715e-03 6.05675616e-03 4.74811495e+02] [ 3.17751008e-03 9.99994870e-01 -4.05319676e-04 -2.16119551e+01] [-6.05543820e-03 4.24555602e-04 9.99981576e-01 2.58828776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.870714057 meters Centerline goodness [0,1] 0.9810693385352013 Centerline is valid? [True, True] Translation: X:474.84, Y:-21.62, Z:2.59 [[ 9.99967492e-01 -6.45180675e-03 4.83630479e-03 4.74841182e+02] [ 6.45344930e-03 9.99979124e-01 -3.24100574e-04 -2.16165441e+01] [-4.83411279e-03 3.55300886e-04 9.99988252e-01 2.58714397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.900714057 meters Centerline goodness [0,1] 0.9805226496295311 Centerline is valid? [True, True] Translation: X:474.87, Y:-21.62, Z:2.59 [[ 9.99961104e-01 -8.06137587e-03 3.57845126e-03 4.74871769e+02] [ 8.06228437e-03 9.99967471e-01 -2.39529256e-04 -2.16187077e+01] [-3.57640392e-03 2.68370431e-04 9.99993569e-01 2.58619132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.930714057 meters Centerline goodness [0,1] 0.9821092069966968 Centerline is valid? [True, True] Translation: X:474.90, Y:-21.62, Z:2.59 [[ 9.99936973e-01 -1.09230071e-02 2.59562568e-03 4.74902574e+02] [ 1.09234947e-02 9.99940322e-01 -1.73733222e-04 -2.16196886e+01] [-2.59357309e-03 2.02075576e-04 9.99996616e-01 2.58525945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.960714057 meters Centerline goodness [0,1] 0.981147577385975 Centerline is valid? [True, True] Translation: X:474.93, Y:-21.62, Z:2.58 [[ 9.99921515e-01 -1.23082052e-02 2.33920089e-03 4.74934761e+02] [ 1.23086037e-02 9.99924234e-01 -1.56053775e-04 -2.16223325e+01] [-2.33710292e-03 1.84833824e-04 9.99997252e-01 2.58468128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.990714057 meters Centerline goodness [0,1] 0.9798442714126807 Centerline is valid? [True, True] Translation: X:474.97, Y:-21.62, Z:2.58 [[ 9.99897701e-01 -1.42239975e-02 1.50546159e-03 4.74966146e+02] [ 1.42241650e-02 9.99898826e-01 -1.00610123e-04 -2.16240188e+01] [-1.50387820e-03 1.22013764e-04 9.99998862e-01 2.58425380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.020714057 meters Centerline goodness [0,1] 0.9799050703100741 Centerline is valid? [True, True] Translation: X:475.00, Y:-21.63, Z:2.58 [[ 9.99884841e-01 -1.51224392e-02 1.27167611e-03 4.74998162e+02] [ 1.51225589e-02 9.99885644e-01 -8.45644863e-05 -2.16250456e+01] [-1.27025187e-03 1.03785745e-04 9.99999188e-01 2.58382762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.050714057 meters Centerline goodness [0,1] 0.9796249749760882 Centerline is valid? [True, True] Translation: X:475.03, Y:-21.62, Z:2.58 [[ 9.99857560e-01 -1.67625382e-02 1.96921524e-03 4.75029755e+02] [ 1.67628304e-02 9.99859485e-01 -1.31946917e-04 -2.16248630e+01] [-1.96672677e-03 1.64937743e-04 9.99998052e-01 2.58391984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.080714057 meters Centerline goodness [0,1] 0.9788146837682441 Centerline is valid? [True, True] Translation: X:475.06, Y:-21.63, Z:2.58 [[ 9.99847319e-01 -1.73062710e-02 2.41500112e-03 4.75061648e+02] [ 1.73067115e-02 9.99850215e-01 -1.61645756e-04 -2.16268198e+01] [-2.41184190e-03 2.03416804e-04 9.99997071e-01 2.58407217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.110714057 meters Centerline goodness [0,1] 0.9783615316117542 Centerline is valid? [True, True] Translation: X:475.09, Y:-21.63, Z:2.58 [[ 9.99828461e-01 -1.84099540e-02 2.03040302e-03 4.75092935e+02] [ 1.84102681e-02 9.99830507e-01 -1.36097405e-04 -2.16287711e+01] [-2.02755334e-03 1.73454323e-04 9.99997929e-01 2.58403403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.140714057 meters Centerline goodness [0,1] 0.974518320525671 Centerline is valid? [True, True] Translation: X:475.12, Y:-21.64, Z:2.58 [[ 9.99830167e-01 -1.83812511e-02 1.32927996e-03 4.75123570e+02] [ 1.83813844e-02 9.99831044e-01 -8.81078753e-05 -2.16368724e+01] [-1.32743583e-03 1.12526918e-04 9.99999113e-01 2.58264495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.170714057 meters Centerline goodness [0,1] 0.9772656354477778 Centerline is valid? [True, True] Translation: X:475.16, Y:-21.63, Z:2.58 [[ 9.99836036e-01 -1.81065723e-02 2.31917198e-04 4.75156290e+02] [ 1.81065763e-02 9.99836062e-01 -1.47955108e-05 -2.16319113e+01] [-2.31611283e-04 1.89923113e-05 9.99999973e-01 2.58237348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.200714057 meters Centerline goodness [0,1] 0.9773527707190941 Centerline is valid? [True, True] Translation: X:475.19, Y:-21.63, Z:2.58 [[ 9.99844041e-01 -1.76578656e-02 -3.05851210e-04 4.75188326e+02] [ 1.76578730e-02 9.99844087e-01 2.15527353e-05 -2.16336818e+01] [ 3.05422948e-04 -2.69500558e-05 9.99999953e-01 2.58167786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.230714057 meters Centerline goodness [0,1] 0.9776841448189763 Centerline is valid? [True, True] Translation: X:475.22, Y:-21.64, Z:2.58 [[ 9.99848195e-01 -1.74039392e-02 -8.30861327e-04 4.75220653e+02] [ 1.74039926e-02 9.99848537e-01 5.71125764e-05 -2.16353448e+01] [ 8.29741498e-04 -7.15642108e-05 9.99999653e-01 2.58110938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.26071405700003 meters Centerline goodness [0,1] 0.967909433289506 Centerline is valid? [True, True] Translation: X:475.25, Y:-21.64, Z:2.58 [[ 9.99877174e-01 -1.55813917e-02 -1.69012579e-03 4.75250599e+02] [ 1.55816077e-02 9.99878593e-01 1.14667410e-04 -2.16426046e+01] [ 1.68813391e-03 -1.40988202e-04 9.99998565e-01 2.57936105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.290714057 meters Centerline goodness [0,1] 0.9791708570790032 Centerline is valid? [True, True] Translation: X:475.28, Y:-21.63, Z:2.58 [[ 9.99907351e-01 -1.32394440e-02 -3.16319012e-03 4.75282669e+02] [ 1.32401883e-02 9.99912322e-01 2.14480170e-04 -2.16268336e+01] [ 3.16007317e-03 -2.56341532e-04 9.99994974e-01 2.58122014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.320714057 meters Centerline goodness [0,1] 0.9804364857302742 Centerline is valid? [True, True] Translation: X:475.31, Y:-21.63, Z:2.58 [[ 9.99925124e-01 -1.18125003e-02 -3.19540942e-03 4.75314133e+02] [ 1.18132537e-02 9.99930198e-01 2.17005794e-04 -2.16258049e+01] [ 3.19262299e-03 -2.54737728e-04 9.99994871e-01 2.58050920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.350714057 meters Centerline goodness [0,1] 0.9764569233174741 Centerline is valid? [True, True] Translation: X:475.34, Y:-21.64, Z:2.58 [[ 9.99942866e-01 -1.03261820e-02 -2.76296727e-03 4.75344403e+02] [ 1.03267401e-02 9.99946660e-01 1.87794134e-04 -2.16356891e+01] [ 2.76088070e-03 -2.16315849e-04 9.99996165e-01 2.57812640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.380714057 meters Centerline goodness [0,1] 0.9805169970078067 Centerline is valid? [True, True] Translation: X:475.38, Y:-21.62, Z:2.58 [[ 9.99975017e-01 -6.40276083e-03 -2.99499227e-03 4.75376220e+02] [ 6.40339786e-03 9.99979477e-01 2.03156137e-04 -2.16222241e+01] [ 2.99363005e-03 -2.22329189e-04 9.99995494e-01 2.58041983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.410714057 meters Centerline goodness [0,1] 0.9802658074909384 Centerline is valid? [True, True] Translation: X:475.41, Y:-21.62, Z:2.58 [[ 9.99987722e-01 -3.91567729e-03 -3.03710986e-03 4.75405812e+02] [ 3.91631994e-03 9.99992310e-01 2.05679714e-04 -2.16229750e+01] [ 3.03628113e-03 -2.17571483e-04 9.99995367e-01 2.57976000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.440714057 meters Centerline goodness [0,1] 0.9811884748505416 Centerline is valid? [True, True] Translation: X:475.44, Y:-21.62, Z:2.58 [[ 9.99993399e-01 5.22948084e-04 -3.59551841e-03 4.75436405e+02] [-5.22075101e-04 9.99999834e-01 2.43731622e-04 -2.16177796e+01] [ 3.59564527e-03 -2.41852883e-04 9.99993506e-01 2.57984888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.470714057 meters Centerline goodness [0,1] 0.9814777350686718 Centerline is valid? [True, True] Translation: X:475.47, Y:-21.62, Z:2.58 [[ 9.99990405e-01 2.63359944e-03 -3.50044107e-03 4.75466122e+02] [-2.63278680e-03 9.99996506e-01 2.36739949e-04 -2.16156059e+01] [ 3.50105232e-03 -2.27521762e-04 9.99993845e-01 2.58019965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.500714057 meters Centerline goodness [0,1] 0.9802655346820809 Centerline is valid? [True, True] Translation: X:475.50, Y:-21.61, Z:2.58 [[ 9.99975656e-01 6.18234635e-03 -3.23512709e-03 4.75496312e+02] [-6.18167003e-03 9.99980869e-01 2.19011204e-04 -2.16118516e+01] [ 3.23641920e-03 -1.99007384e-04 9.99994743e-01 2.58098631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.530714057 meters Centerline goodness [0,1] 0.9810056622075842 Centerline is valid? [True, True] Translation: X:475.53, Y:-21.61, Z:2.58 [[ 9.99966245e-01 7.69744748e-03 -2.87386854e-03 4.75525357e+02] [-7.69692274e-03 9.99970360e-01 1.93604939e-04 -2.16101820e+01] [ 2.87527362e-03 -1.71478459e-04 9.99995852e-01 2.58130365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.560714057 meters Centerline goodness [0,1] 0.9800253646163601 Centerline is valid? [True, True] Translation: X:475.55, Y:-21.61, Z:2.58 [[ 9.99948941e-01 9.64785644e-03 -3.00567328e-03 4.75553375e+02] [-9.64729251e-03 9.99953443e-01 2.02063473e-04 -2.16093819e+01] [ 3.00748282e-03 -1.73056547e-04 9.99995463e-01 2.58066837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.590714057 meters Centerline goodness [0,1] 0.980215990561757 Centerline is valid? [True, True] Translation: X:475.58, Y:-21.61, Z:2.58 [[ 9.99941857e-01 1.03434702e-02 -3.04870536e-03 4.75582190e+02] [-1.03428932e-02 9.99946490e-01 2.04952190e-04 -2.16086797e+01] [ 3.05066214e-03 -1.73407840e-04 9.99995332e-01 2.58045627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.620714057 meters Centerline goodness [0,1] 0.9803384148413256 Centerline is valid? [True, True] Translation: X:475.61, Y:-21.61, Z:2.58 [[ 9.99936263e-01 1.10486337e-02 -2.32338794e-03 4.75611321e+02] [-1.10483014e-02 9.99938954e-01 1.55824402e-04 -2.16080406e+01] [ 2.32496775e-03 -1.30144980e-04 9.99997289e-01 2.58034307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.650714057 meters Centerline goodness [0,1] 0.98057591504232 Centerline is valid? [True, True] Translation: X:475.64, Y:-21.61, Z:2.58 [[ 9.99930294e-01 1.16452690e-02 -1.94791382e-03 4.75640681e+02] [-1.16450366e-02 9.99932186e-01 1.30618296e-04 -2.16087495e+01] [ 1.94930281e-03 -1.07925663e-04 9.99998094e-01 2.58019922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.680714057 meters Centerline goodness [0,1] 0.98057591504232 Centerline is valid? [True, True] Translation: X:475.67, Y:-21.61, Z:2.58 [[ 9.99931112e-01 1.15748104e-02 -1.94793764e-03 4.75668968e+02] [-1.15745785e-02 9.99933004e-01 1.30264368e-04 -2.16105954e+01] [ 1.94931492e-03 -1.07708837e-04 9.99998094e-01 2.57985004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.710714057 meters Centerline goodness [0,1] 0.9800390589517667 Centerline is valid? [True, True] Translation: X:475.70, Y:-21.61, Z:2.58 [[ 9.99929297e-01 1.15998754e-02 -2.61597225e-03 4.75698105e+02] [-1.15994570e-02 9.99932709e-01 1.75037369e-04 -2.16088933e+01] [ 2.61782663e-03 -1.44681135e-04 9.99996563e-01 2.57940271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.740714057 meters Centerline goodness [0,1] 0.9792045868219876 Centerline is valid? [True, True] Translation: X:475.73, Y:-21.61, Z:2.58 [[ 9.99933499e-01 1.10748526e-02 -3.21632571e-03 4.75725786e+02] [-1.10742184e-02 9.99938656e-01 2.14912563e-04 -2.16115707e+01] [ 3.21850853e-03 -1.79279978e-04 9.99994805e-01 2.57783343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.770714057 meters Centerline goodness [0,1] 0.9795681554458374 Centerline is valid? [True, True] Translation: X:475.76, Y:-21.61, Z:2.58 [[ 9.99951422e-01 8.99475267e-03 -4.03099516e-03 4.75755556e+02] [-8.99373653e-03 9.99959519e-01 2.70138561e-04 -2.16127387e+01] [ 4.03326181e-03 -2.33871729e-04 9.99991839e-01 2.57697756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.800714057 meters Centerline goodness [0,1] 0.9813252462604889 Centerline is valid? [True, True] Translation: X:475.79, Y:-21.61, Z:2.58 [[ 9.99966633e-01 7.13317503e-03 -3.98117266e-03 4.75785478e+02] [-7.13216979e-03 9.99974530e-01 2.66639628e-04 -2.16121333e+01] [ 3.98297325e-03 -2.38236332e-04 9.99992040e-01 2.57747755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.830714057 meters Centerline goodness [0,1] 0.9813026505033902 Centerline is valid? [True, True] Translation: X:475.81, Y:-21.62, Z:2.58 [[ 9.99986996e-01 3.46048736e-03 -3.74614703e-03 4.75814414e+02] [-3.45957105e-03 9.99993984e-01 2.51052286e-04 -2.16160779e+01] [ 3.74699325e-03 -2.38088960e-04 9.99992952e-01 2.57705211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.860714057 meters Centerline goodness [0,1] 0.9795667886446803 Centerline is valid? [True, True] Translation: X:475.84, Y:-21.62, Z:2.58 [[ 9.99989512e-01 2.13776370e-03 -4.05051550e-03 4.75844299e+02] [-2.13668312e-03 9.99997681e-01 2.71085735e-04 -2.16187756e+01] [ 4.05108562e-03 -2.62428224e-04 9.99991760e-01 2.57638336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.890714057 meters Centerline goodness [0,1] 0.9801168789663517 Centerline is valid? [True, True] Translation: X:475.87, Y:-21.62, Z:2.58 [[ 9.99992740e-01 -4.29463067e-05 -3.81021533e-03 4.75873435e+02] [ 4.39165048e-05 9.99999967e-01 2.54547480e-04 -2.16197554e+01] [ 3.81020427e-03 -2.54712963e-04 9.99992709e-01 2.57657956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.920714057 meters Centerline goodness [0,1] 0.979807670344229 Centerline is valid? [True, True] Translation: X:475.90, Y:-21.62, Z:2.58 [[ 9.99992852e-01 -8.11554792e-04 -3.69289829e-03 4.75901832e+02] [ 8.12470591e-04 9.99999640e-01 2.46495939e-04 -2.16220765e+01] [ 3.69269692e-03 -2.49494548e-04 9.99993151e-01 2.57669689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.950714057 meters Centerline goodness [0,1] 0.9803128925431084 Centerline is valid? [True, True] Translation: X:475.93, Y:-21.62, Z:2.58 [[ 9.99994826e-01 -1.15365157e-03 -3.00277784e-03 4.75930463e+02] [ 1.15425777e-03 9.99999314e-01 2.00154157e-04 -2.16244922e+01] [ 3.00254487e-03 -2.03619101e-04 9.99995472e-01 2.57651871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.980714057 meters Centerline goodness [0,1] 0.9787463316214233 Centerline is valid? [True, True] Translation: X:475.96, Y:-21.62, Z:2.58 [[ 9.99996566e-01 -1.55312791e-03 -2.11082425e-03 4.75959744e+02] [ 1.55342825e-03 9.99998784e-01 1.40651699e-04 -2.16248115e+01] [ 2.11060324e-03 -1.43930230e-04 9.99997762e-01 2.57728829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.01071405700003 meters Centerline goodness [0,1] 0.9798656184294725 Centerline is valid? [True, True] Translation: X:475.99, Y:-21.63, Z:2.58 [[ 9.99997984e-01 -1.20243293e-03 -1.60797813e-03 4.75989930e+02] [ 1.20260729e-03 9.99999271e-01 1.07474951e-04 -2.16273905e+01] [ 1.60784772e-03 -1.09408501e-04 9.99998701e-01 2.57700829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.040714057 meters Centerline goodness [0,1] 0.9796610169491525 Centerline is valid? [True, True] Translation: X:476.02, Y:-21.63, Z:2.58 [[ 9.99998183e-01 -1.14388472e-03 -1.52491557e-03 4.76020225e+02] [ 1.14404109e-03 9.99999340e-01 1.01676314e-04 -2.16264324e+01] [ 1.52479826e-03 -1.03420696e-04 9.99998832e-01 2.57651913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.070714057 meters Centerline goodness [0,1] 0.978769308453258 Centerline is valid? [True, True] Translation: X:476.05, Y:-21.63, Z:2.58 [[ 9.99998872e-01 -4.60905899e-04 -1.42975840e-03 4.76049208e+02] [ 4.61043196e-04 9.99999889e-01 9.57005187e-05 -2.16326797e+01] [ 1.42971413e-03 -9.63595911e-05 9.99998973e-01 2.57507811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.100714057 meters Centerline goodness [0,1] 0.9792120781038478 Centerline is valid? [True, True] Translation: X:476.08, Y:-21.63, Z:2.58 [[ 9.99998425e-01 -6.52429607e-04 -1.65052436e-03 4.76079381e+02] [ 6.52612559e-04 9.99999781e-01 1.10308800e-04 -2.16317096e+01] [ 1.65045203e-03 -1.11385779e-04 9.99998632e-01 2.57510942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.130714057 meters Centerline goodness [0,1] 0.9784577892219974 Centerline is valid? [True, True] Translation: X:476.11, Y:-21.63, Z:2.58 [[ 9.99998523e-01 -5.83157605e-04 -1.61701548e-03 4.76109350e+02] [ 5.83333114e-04 9.99999824e-01 1.08069315e-04 -2.16341724e+01] [ 1.61695218e-03 -1.09012414e-04 9.99998687e-01 2.57502665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.160714057 meters Centerline goodness [0,1] 0.9783701866776883 Centerline is valid? [True, True] Translation: X:476.14, Y:-21.64, Z:2.57 [[ 9.99999511e-01 -2.35739121e-04 -9.60288983e-04 4.76138719e+02] [ 2.35800938e-04 9.99999970e-01 6.42609924e-05 -2.16382526e+01] [ 9.60273806e-04 -6.44873980e-05 9.99999537e-01 2.57490103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.190714057 meters Centerline goodness [0,1] 0.9779175465981085 Centerline is valid? [True, True] Translation: X:476.17, Y:-21.64, Z:2.57 [[ 9.99999507e-01 6.42626973e-05 -9.90971819e-04 4.76168832e+02] [-6.41970913e-05 9.99999996e-01 6.62353700e-05 -2.16397072e+01] [ 9.90976071e-04 -6.61717198e-05 9.99999507e-01 2.57487237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.220714057 meters Centerline goodness [0,1] 0.9778648518594899 Centerline is valid? [True, True] Translation: X:476.20, Y:-21.64, Z:2.57 [[ 9.99999385e-01 9.78970433e-05 -1.10449266e-03 4.76197912e+02] [-9.78158187e-05 9.99999993e-01 7.35939457e-05 -2.16441416e+01] [ 1.10449986e-03 -7.34858636e-05 9.99999387e-01 2.57420000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.250714057 meters Centerline goodness [0,1] 0.9766048436892538 Centerline is valid? [True, True] Translation: X:476.23, Y:-21.65, Z:2.57 [[ 9.99999567e-01 2.46029165e-04 -8.97530153e-04 4.76226968e+02] [-2.45975634e-04 9.99999968e-01 5.97520756e-05 -2.16473165e+01] [ 8.97544825e-04 -5.95312792e-05 9.99999595e-01 2.57343931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.280714057 meters Centerline goodness [0,1] 0.9775088480420139 Centerline is valid? [True, True] Translation: X:476.26, Y:-21.65, Z:2.57 [[ 9.99997791e-01 7.98488767e-05 -2.10051266e-03 4.76257432e+02] [-7.95542983e-05 9.99999987e-01 1.40324356e-04 -2.16496965e+01] [ 2.10052384e-03 -1.40156941e-04 9.99997784e-01 2.57196835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.310714057 meters Centerline goodness [0,1] 0.9776042736798849 Centerline is valid? [True, True] Translation: X:476.29, Y:-21.65, Z:2.57 [[ 9.99996209e-01 2.43967595e-05 -2.75332647e-03 4.76287164e+02] [-2.38918082e-05 9.99999983e-01 1.83429555e-04 -2.16526997e+01] [ 2.75333090e-03 -1.83363077e-04 9.99996193e-01 2.57069938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.340714057 meters Centerline goodness [0,1] 0.9773588350755467 Centerline is valid? [True, True] Translation: X:476.32, Y:-21.66, Z:2.57 [[ 9.99991949e-01 1.74653133e-04 -4.00892284e-03 4.76315858e+02] [-1.73584685e-04 9.99999949e-01 2.66863760e-04 -2.16578557e+01] [ 4.00896925e-03 -2.66165724e-04 9.99991929e-01 2.56932497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.370714057 meters Centerline goodness [0,1] 0.9765201548622182 Centerline is valid? [True, True] Translation: X:476.34, Y:-21.66, Z:2.57 [[ 9.99992415e-01 1.03644664e-03 -3.75448329e-03 4.76344876e+02] [-1.03551539e-03 9.99999433e-01 2.49973531e-04 -2.16613989e+01] [ 3.75474024e-03 -2.46083810e-04 9.99992921e-01 2.56989673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.400714057 meters Centerline goodness [0,1] 0.9785918821871733 Centerline is valid? [True, True] Translation: X:476.37, Y:-21.65, Z:2.57 [[ 9.99994050e-01 1.51926966e-03 -3.09720255e-03 4.76374389e+02] [-1.51864057e-03 9.99998826e-01 2.05456439e-04 -2.16533970e+01] [ 3.09751105e-03 -2.00751679e-04 9.99995183e-01 2.57316342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.430714057 meters Centerline goodness [0,1] 0.9776863823308869 Centerline is valid? [True, True] Translation: X:476.40, Y:-21.66, Z:2.57 [[ 9.99994301e-01 2.02193731e-03 -2.70348619e-03 4.76403434e+02] [-2.02146064e-03 9.99997941e-01 1.79038449e-04 -2.16550616e+01] [ 2.70384263e-03 -1.73572438e-04 9.99996330e-01 2.57363579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.460714057 meters Centerline goodness [0,1] 0.97763265677619 Centerline is valid? [True, True] Translation: X:476.43, Y:-21.66, Z:2.57 [[ 9.99994155e-01 2.79495959e-03 -1.96923338e-03 4.76432283e+02] [-2.79471365e-03 9.99996087e-01 1.27632832e-04 -2.16583318e+01] [ 1.96958240e-03 -1.22128642e-04 9.99998053e-01 2.57415045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.490714057 meters Centerline goodness [0,1] 0.9778328483084758 Centerline is valid? [True, True] Translation: X:476.46, Y:-21.66, Z:2.57 [[ 9.99992875e-01 3.77218725e-03 -1.46637564e-04 4.76460311e+02] [-3.77218599e-03 9.99992885e-01 8.85718848e-06 -2.16633597e+01] [ 1.46669932e-04 -8.30398120e-06 9.99999989e-01 2.57405173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.520714057 meters Centerline goodness [0,1] 0.978342215670711 Centerline is valid? [True, True] Translation: X:476.49, Y:-21.66, Z:2.57 [[ 9.99981041e-01 6.05333289e-03 1.12873361e-03 4.76490250e+02] [-6.05325212e-03 9.99981676e-01 -7.49599977e-05 -2.16648896e+01] [-1.12916669e-03 6.81260674e-05 9.99999360e-01 2.57438736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.550714057 meters Centerline goodness [0,1] 0.9797462618939737 Centerline is valid? [True, True] Translation: X:476.52, Y:-21.67, Z:2.57 [[ 9.99971359e-01 7.43363060e-03 1.42173668e-03 4.76518829e+02] [-7.43350314e-03 9.99972367e-01 -9.49140711e-05 -2.16662618e+01] [-1.42240295e-03 8.43428687e-05 9.99998985e-01 2.57438863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.580714057 meters Centerline goodness [0,1] 0.9788443321755604 Centerline is valid? [True, True] Translation: X:476.55, Y:-21.67, Z:2.57 [[ 9.99951464e-01 9.83041278e-03 6.58468040e-04 4.76547157e+02] [-9.83038590e-03 9.99951680e-01 -4.40391283e-05 -2.16701100e+01] [-6.58869145e-04 3.75639959e-05 9.99999782e-01 2.57398002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.610714057 meters Centerline goodness [0,1] 0.9797269717447503 Centerline is valid? [True, True] Translation: X:476.58, Y:-21.67, Z:2.57 [[ 9.99944617e-01 1.05079580e-02 5.88680729e-04 4.76576519e+02] [-1.05079366e-02 9.99944789e-01 -3.95380936e-05 -2.16698744e+01] [-5.89063692e-04 3.33500841e-05 9.99999826e-01 2.57375738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.640714057 meters Centerline goodness [0,1] 0.9796694589087616 Centerline is valid? [True, True] Translation: X:476.61, Y:-21.67, Z:2.57 [[ 9.99942738e-01 1.07014170e-02 1.34794225e-05 4.76605352e+02] [-1.07014169e-02 9.99942738e-01 -1.76360818e-06 -2.16725054e+01] [-1.34975238e-05 1.61925827e-06 1.00000000e+00 2.57290172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.670714057 meters Centerline goodness [0,1] 0.9815129092842758 Centerline is valid? [True, True] Translation: X:476.63, Y:-21.68, Z:2.57 [[ 9.99947404e-01 1.02119907e-02 -9.51338596e-04 4.76633378e+02] [-1.02119365e-02 9.99947855e-01 6.18384709e-05 -2.16792670e+01] [ 9.51920482e-04 -5.21202090e-05 9.99999546e-01 2.57059131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.700714057 meters Centerline goodness [0,1] 0.9815618221258134 Centerline is valid? [True, True] Translation: X:476.66, Y:-21.68, Z:2.57 [[ 9.99951160e-01 9.76458455e-03 -1.52635555e-03 4.76662143e+02] [-9.76444386e-03 9.99952322e-01 9.95968018e-05 -2.16794351e+01] [ 1.52725529e-03 -8.46879245e-05 9.99998830e-01 2.57017294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.730714057 meters Centerline goodness [0,1] 0.9814019705324053 Centerline is valid? [True, True] Translation: X:476.69, Y:-21.69, Z:2.57 [[ 9.99951535e-01 9.43342241e-03 -2.81730601e-03 4.76689828e+02] [-9.43294098e-03 9.99955492e-01 1.84123103e-04 -2.16856950e+01] [ 2.81891753e-03 -1.57538698e-04 9.99996014e-01 2.56851282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.76071405700003 meters Centerline goodness [0,1] 0.9788205139735144 Centerline is valid? [True, True] Translation: X:476.72, Y:-21.70, Z:2.57 [[ 9.99943805e-01 1.01927838e-02 -2.91445702e-03 4.76716483e+02] [-1.01922724e-02 9.99948039e-01 1.90275239e-04 -2.16998014e+01] [ 2.91624501e-03 -1.60559607e-04 9.99995735e-01 2.56508541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.790714057 meters Centerline goodness [0,1] 0.9821311881745871 Centerline is valid? [True, True] Translation: X:476.75, Y:-21.69, Z:2.57 [[ 9.99940295e-01 1.05956988e-02 -2.67159167e-03 4.76746224e+02] [-1.05952706e-02 9.99943853e-01 1.74358409e-04 -2.16924619e+01] [ 2.67328912e-03 -1.46041762e-04 9.99996416e-01 2.56759426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.820714057 meters Centerline goodness [0,1] 0.9822579558470141 Centerline is valid? [True, True] Translation: X:476.78, Y:-21.70, Z:2.57 [[ 9.99924791e-01 1.21745390e-02 -1.48103404e-03 4.76775422e+02] [-1.21744095e-02 9.99925884e-01 9.64066020e-05 -2.16960449e+01] [ 1.48209798e-03 -7.83686365e-05 9.99998899e-01 2.56784827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.850714057 meters Centerline goodness [0,1] 0.9810411600468342 Centerline is valid? [True, True] Translation: X:476.80, Y:-21.70, Z:2.57 [[ 9.99927161e-01 1.20037436e-02 -1.25839881e-03 4.76802611e+02] [-1.20036508e-02 9.99927950e-01 8.12761671e-05 -2.16997908e+01] [ 1.25928376e-03 -6.61648672e-05 9.99999205e-01 2.56774162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.880714057 meters Centerline goodness [0,1] 0.9815743886251659 Centerline is valid? [True, True] Translation: X:476.83, Y:-21.70, Z:2.57 [[ 9.99930068e-01 1.18016673e-02 -7.60921057e-04 4.76831374e+02] [-1.18016335e-02 9.99930357e-01 4.88851573e-05 -2.17033182e+01] [ 7.61444991e-04 -3.99016273e-05 9.99999709e-01 2.56803381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.910714057 meters Centerline goodness [0,1] 0.9809708039048091 Centerline is valid? [True, True] Translation: X:476.86, Y:-21.71, Z:2.57 [[ 9.99941767e-01 1.07907714e-02 -1.47103983e-04 4.76859583e+02] [-1.07907702e-02 9.99941778e-01 8.75074230e-06 -2.17100871e+01] [ 1.47189845e-04 -7.16286745e-06 9.99999989e-01 2.56720683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.940714057 meters Centerline goodness [0,1] 0.9810062638916953 Centerline is valid? [True, True] Translation: X:476.89, Y:-21.71, Z:2.57 [[ 9.99952757e-01 9.71573689e-03 -2.95736249e-04 4.76887996e+02] [-9.71573186e-03 9.99952801e-01 1.84407460e-05 -2.17148390e+01] [ 2.95901456e-04 -1.55665807e-05 9.99999956e-01 2.56640415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.970714057 meters Centerline goodness [0,1] 0.981981375518905 Centerline is valid? [True, True] Translation: X:476.92, Y:-21.72, Z:2.57 [[ 9.99969569e-01 7.77073112e-03 -6.90618667e-04 4.76915951e+02] [-7.77070235e-03 9.99969807e-01 4.43404750e-05 -2.17226960e+01] [ 6.90942372e-04 -3.89725335e-05 9.99999761e-01 2.56525460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.000714057 meters Centerline goodness [0,1] 0.9819373078735387 Centerline is valid? [True, True] Translation: X:476.94, Y:-21.73, Z:2.56 [[ 9.99975550e-01 6.96696086e-03 -6.01473212e-04 4.76944279e+02] [-6.96693906e-03 9.99975730e-01 3.83264456e-05 -2.17265789e+01] [ 6.01725633e-04 -3.41350812e-05 9.99999818e-01 2.56495317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.030714057 meters Centerline goodness [0,1] 0.9821420609087261 Centerline is valid? [True, True] Translation: X:476.97, Y:-21.73, Z:2.56 [[ 9.99979959e-01 6.23404711e-03 -1.10411851e-03 4.76971508e+02] [-6.23397276e-03 9.99980566e-01 7.07611629e-05 -2.17323512e+01] [ 1.10453818e-03 -6.38767000e-05 9.99999388e-01 2.56415545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.060714057 meters Centerline goodness [0,1] 0.9824687261803344 Centerline is valid? [True, True] Translation: X:477.00, Y:-21.74, Z:2.56 [[ 9.99976867e-01 6.43356925e-03 -2.20768446e-03 4.76998830e+02] [-6.43327079e-03 9.99979296e-01 1.42265160e-04 -2.17375721e+01] [ 2.20855403e-03 -1.28059237e-04 9.99997553e-01 2.56332587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.090714057 meters Centerline goodness [0,1] 0.9819011576135351 Centerline is valid? [True, True] Translation: X:477.03, Y:-21.74, Z:2.56 [[ 9.99974576e-01 6.73983535e-03 -2.32846296e-03 4.77027444e+02] [-6.73950372e-03 9.99977278e-01 1.50241673e-04 -2.17398613e+01] [ 2.32942265e-03 -1.34545168e-04 9.99997278e-01 2.56265930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.120714057 meters Centerline goodness [0,1] 0.9818682425626217 Centerline is valid? [True, True] Translation: X:477.06, Y:-21.74, Z:2.56 [[ 9.99972594e-01 6.91220230e-03 -2.65196016e-03 4.77055884e+02] [-6.91177288e-03 9.99976099e-01 1.71059184e-04 -2.17430378e+01] [ 2.65307918e-03 -1.52724750e-04 9.99996469e-01 2.56160574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.150714057 meters Centerline goodness [0,1] 0.9836585965618224 Centerline is valid? [True, True] Translation: X:477.08, Y:-21.75, Z:2.56 [[ 9.99955191e-01 9.05096470e-03 -2.77415739e-03 4.77084316e+02] [-9.05050270e-03 9.99959027e-01 1.79049088e-04 -2.17460600e+01] [ 2.77566430e-03 -1.53933546e-04 9.99996136e-01 2.56039263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.180714057 meters Centerline goodness [0,1] 0.9831977835374028 Centerline is valid? [True, True] Translation: X:477.11, Y:-21.75, Z:2.56 [[ 9.99941226e-01 1.05213316e-02 -2.61667176e-03 4.77113549e+02] [-1.05209260e-02 9.99944639e-01 1.68725689e-04 -2.17474630e+01] [ 2.61830212e-03 -1.41185962e-04 9.99996562e-01 2.56011178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.210714057 meters Centerline goodness [0,1] 0.9827008180233338 Centerline is valid? [True, True] Translation: X:477.14, Y:-21.75, Z:2.56 [[ 9.99898480e-01 1.42081815e-02 -1.07604449e-03 4.77142427e+02] [-1.42081153e-02 9.99899057e-01 6.91123037e-05 -2.17477320e+01] [ 1.07691783e-03 -5.38167232e-05 9.99999419e-01 2.56105189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.240714057 meters Centerline goodness [0,1] 0.9834555575189963 Centerline is valid? [True, True] Translation: X:477.17, Y:-21.75, Z:2.56 [[ 9.99866046e-01 1.63647711e-02 -2.91958297e-04 4.77171946e+02] [-1.63647664e-02 9.99866088e-01 1.84788006e-05 -2.17487905e+01] [ 2.92221602e-04 -1.36984960e-05 9.99999957e-01 2.56173688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.270714057 meters Centerline goodness [0,1] 0.9828060368921185 Centerline is valid? [True, True] Translation: X:477.20, Y:-21.75, Z:2.56 [[ 9.99853325e-01 1.71125054e-02 -7.00424286e-04 4.77200242e+02] [-1.71124784e-02 9.99853570e-01 4.44484432e-05 -2.17514067e+01] [ 7.01082347e-04 -3.24559282e-05 9.99999754e-01 2.56149962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.300714057 meters Centerline goodness [0,1] 0.9825017787264319 Centerline is valid? [True, True] Translation: X:477.23, Y:-21.75, Z:2.56 [[ 9.99850999e-01 1.72574372e-02 -4.01676674e-04 4.77228876e+02] [-1.72574285e-02 9.99851079e-01 2.51316789e-05 -2.17539848e+01] [ 4.02050565e-04 -1.81960277e-05 9.99999919e-01 2.56120187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.330714057 meters Centerline goodness [0,1] 0.9842403348928835 Centerline is valid? [True, True] Translation: X:477.26, Y:-21.75, Z:2.56 [[ 9.99869918e-01 1.61048504e-02 -8.83694012e-04 4.77258062e+02] [-1.61048071e-02 9.99870308e-01 5.60783296e-05 -2.17490945e+01] [ 8.84482537e-04 -4.18393132e-05 9.99999608e-01 2.56360942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.360714057 meters Centerline goodness [0,1] 0.9833452242932311 Centerline is valid? [True, True] Translation: X:477.29, Y:-21.75, Z:2.56 [[ 9.99880983e-01 1.54146677e-02 -6.38428086e-04 4.77286005e+02] [-1.54146454e-02 9.99881187e-01 3.98660073e-05 -2.17539680e+01] [ 6.38966753e-04 -3.00201200e-05 9.99999795e-01 2.56254225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.390714057 meters Centerline goodness [0,1] 0.9834407646143587 Centerline is valid? [True, True] Translation: X:477.31, Y:-21.76, Z:2.56 [[ 9.99908977e-01 1.34747660e-02 -6.83827808e-04 4.77314232e+02] [-1.34747395e-02 9.99909211e-01 4.33246362e-05 -2.17621907e+01] [ 6.84349513e-04 -3.41062911e-05 9.99999765e-01 2.56099262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.420714057 meters Centerline goodness [0,1] 0.9833663630898039 Centerline is valid? [True, True] Translation: X:477.34, Y:-21.77, Z:2.56 [[ 9.99916660e-01 1.28814945e-02 -8.60010972e-04 4.77343278e+02] [-1.28814525e-02 9.99917029e-01 5.43856089e-05 -2.17652198e+01] [ 8.60640185e-04 -4.33028860e-05 9.99999629e-01 2.56080122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.450714057 meters Centerline goodness [0,1] 0.983387078839097 Centerline is valid? [True, True] Translation: X:477.37, Y:-21.77, Z:2.56 [[ 9.99939883e-01 1.09360087e-02 -7.96892844e-04 4.77371684e+02] [-1.09359719e-02 9.99940199e-01 5.05070594e-05 -2.17722681e+01] [ 7.97397535e-04 -4.17892253e-05 9.99999681e-01 2.56036771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.480714057 meters Centerline goodness [0,1] 0.9837014369345396 Centerline is valid? [True, True] Translation: X:477.40, Y:-21.77, Z:2.56 [[ 9.99947571e-01 1.02327597e-02 -3.81961790e-04 4.77400447e+02] [-1.02327514e-02 9.99947644e-01 2.36073693e-05 -2.17714713e+01] [ 3.82183360e-04 -1.96976116e-05 9.99999927e-01 2.56143960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.51071405700003 meters Centerline goodness [0,1] 0.9832440568418257 Centerline is valid? [True, True] Translation: X:477.43, Y:-21.77, Z:2.56 [[ 9.99955207e-01 9.46312751e-03 -1.80981268e-04 4.77429530e+02] [-9.46312572e-03 9.99955224e-01 1.07085961e-05 -2.17747533e+01] [ 1.81074501e-04 -8.99546791e-06 9.99999984e-01 2.56106723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.540714057 meters Centerline goodness [0,1] 0.983643667191904 Centerline is valid? [True, True] Translation: X:477.46, Y:-21.78, Z:2.56 [[ 9.99962332e-01 8.67773677e-03 -1.76126941e-04 4.77457988e+02] [-8.67773508e-03 9.99962348e-01 1.03777441e-05 -2.17788830e+01] [ 1.76210365e-04 -8.84897024e-06 9.99999984e-01 2.56075975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.570714057 meters Centerline goodness [0,1] 0.983643667191904 Centerline is valid? [True, True] Translation: X:477.49, Y:-21.78, Z:2.56 [[ 9.99962954e-01 8.60582162e-03 -1.76127743e-04 4.77486283e+02] [-8.60581993e-03 9.99962969e-01 1.03647049e-05 -2.17806342e+01] [ 1.76210418e-04 -8.84859733e-06 9.99999984e-01 2.56041051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.600714057 meters Centerline goodness [0,1] 0.9820851233447008 Centerline is valid? [True, True] Translation: X:477.51, Y:-21.79, Z:2.56 [[ 9.99966387e-01 8.17898904e-03 5.72916172e-04 4.77513649e+02] [-8.17896880e-03 9.99966551e-01 -3.76485575e-05 -2.17933162e+01] [-5.73204936e-04 3.29614285e-05 9.99999835e-01 2.55814930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.630714057 meters Centerline goodness [0,1] 0.9826490066225165 Centerline is valid? [True, True] Translation: X:477.54, Y:-21.79, Z:2.56 [[ 9.99965545e-01 8.10899424e-03 1.77550453e-03 4.77543337e+02] [-8.10880486e-03 9.99967117e-01 -1.13835472e-04 -2.17886399e+01] [-1.77636923e-03 9.94343304e-05 9.99998417e-01 2.55989091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.660714057 meters Centerline goodness [0,1] 0.9833922261484099 Centerline is valid? [True, True] Translation: X:477.57, Y:-21.79, Z:2.56 [[ 9.99968591e-01 7.46365054e-03 2.66646793e-03 4.77571515e+02] [-7.46322194e-03 9.99972135e-01 -1.70653368e-04 -2.17933224e+01] [-2.66766732e-03 1.50747566e-04 9.99996430e-01 2.55954102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.690714057 meters Centerline goodness [0,1] 0.9831834611654765 Centerline is valid? [True, True] Translation: X:477.60, Y:-21.80, Z:2.56 [[ 9.99972659e-01 6.71074607e-03 3.10608923e-03 4.77600951e+02] [-6.71016304e-03 9.99977467e-01 -1.98087908e-04 -2.17971851e+01] [-3.10734856e-03 1.77240127e-04 9.99995156e-01 2.55893982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.720714057 meters Centerline goodness [0,1] 0.9819489028626709 Centerline is valid? [True, True] Translation: X:477.63, Y:-21.80, Z:2.56 [[ 9.99978897e-01 5.51449811e-03 3.43455484e-03 4.77630756e+02] [-5.51378001e-03 9.99984775e-01 -2.18516193e-04 -2.18021944e+01] [-3.43570756e-03 1.99574202e-04 9.99994078e-01 2.55796331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.750714057 meters Centerline goodness [0,1] 0.9816719903073026 Centerline is valid? [True, True] Translation: X:477.66, Y:-21.81, Z:2.56 [[ 9.99992766e-01 2.68424694e-03 2.69498119e-03 4.77660800e+02] [-2.68379401e-03 9.99996384e-01 -1.71666732e-04 -2.18078146e+01] [-2.69543224e-03 1.64432716e-04 9.99996354e-01 2.55720823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.780714057 meters Centerline goodness [0,1] 0.9816818401724062 Centerline is valid? [True, True] Translation: X:477.69, Y:-21.81, Z:2.56 [[ 9.99996273e-01 1.38775152e-03 2.35103256e-03 4.77690335e+02] [-1.38740371e-03 9.99999026e-01 -1.49564055e-04 -2.18136993e+01] [-2.35123783e-03 1.46301666e-04 9.99997225e-01 2.55614963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.810714057 meters Centerline goodness [0,1] 0.981409776917323 Centerline is valid? [True, True] Translation: X:477.72, Y:-21.82, Z:2.56 [[ 9.99997088e-01 -1.62112706e-03 1.78746153e-03 4.77721115e+02] [ 1.62133255e-03 9.99998679e-01 -1.13519949e-04 -2.18168318e+01] [-1.78727514e-03 1.16417688e-04 9.99998396e-01 2.55548708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.840714057 meters Centerline goodness [0,1] 0.9814480633802817 Centerline is valid? [True, True] Translation: X:477.75, Y:-21.82, Z:2.55 [[ 9.99993304e-01 -3.49318017e-03 1.09100018e-03 4.77751390e+02] [ 3.49325776e-03 9.99993896e-01 -6.92225192e-05 -2.18231131e+01] [-1.09075171e-03 7.30332005e-05 9.99999402e-01 2.55415989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.870714057 meters Centerline goodness [0,1] 0.9805167857064849 Centerline is valid? [True, True] Translation: X:477.78, Y:-21.83, Z:2.55 [[ 9.99975837e-01 -6.93480502e-03 -4.83501255e-04 4.77780496e+02] [ 6.93482062e-03 9.99975953e-01 3.05942694e-05 -2.18307470e+01] [ 4.83277464e-04 -3.39465246e-05 9.99999883e-01 2.55203611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.900714057 meters Centerline goodness [0,1] 0.8110686184008088 Centerline is valid? [True, False] Translation: X:477.78, Y:-21.83, Z:2.55 [[ 9.99975801e-01 -6.94906376e-03 -3.28156078e-04 4.77780289e+02] [ 6.94925097e-03 9.99975690e-01 5.72838801e-04 -2.18323560e+01] [ 3.24167407e-04 -5.75105378e-04 9.99999782e-01 2.55177207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.930714057 meters Centerline goodness [0,1] 0.9804020430979679 Centerline is valid? [False, True] Translation: X:477.78, Y:-21.83, Z:2.55 [[ 9.99976583e-01 -6.83097226e-03 -4.13444090e-04 4.77780711e+02] [ 6.83141918e-03 9.99976072e-01 1.08939071e-03 -2.18335271e+01] [ 4.05992600e-04 -1.09218961e-03 9.99999321e-01 2.55132958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.960714057 meters Centerline goodness [0,1] 0.9800140406300732 Centerline is valid? [True, True] Translation: X:477.81, Y:-21.84, Z:2.55 [[ 9.99960498e-01 -8.88832732e-03 -8.89814782e-06 4.77811657e+02] [ 8.88832733e-03 9.99960498e-01 8.22966811e-07 -2.18371463e+01] [ 8.89048153e-06 -9.02023953e-07 1.00000000e+00 2.55234464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.990714057 meters Centerline goodness [0,1] 0.9797628423908288 Centerline is valid? [True, True] Translation: X:477.84, Y:-21.84, Z:2.55 [[ 9.99946320e-01 -1.03359897e-02 7.23828858e-04 4.77844052e+02] [ 1.03360269e-02 9.99946581e-01 -4.76712695e-05 -2.18387689e+01] [-7.23297462e-04 5.51502251e-05 9.99999737e-01 2.55311323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.020714057 meters Centerline goodness [0,1] 0.9811640072091081 Centerline is valid? [True, True] Translation: X:477.88, Y:-21.83, Z:2.55 [[ 9.99939807e-01 -1.08753408e-02 1.45265427e-03 4.77876692e+02] [ 1.08754926e-02 9.99940855e-01 -9.66254309e-05 -2.18341865e+01] [-1.45151752e-03 1.12417945e-04 9.99998940e-01 2.55438874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.050714057 meters Centerline goodness [0,1] 0.9796588644873114 Centerline is valid? [True, True] Translation: X:477.91, Y:-21.84, Z:2.55 [[ 9.99924558e-01 -1.19471227e-02 2.85391734e-03 4.77907271e+02] [ 1.19477172e-02 9.99928605e-01 -1.91349960e-04 -2.18384097e+01] [-2.85142750e-03 2.25433322e-04 9.99995909e-01 2.55409858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.080714057 meters Centerline goodness [0,1] 0.9790223543036951 Centerline is valid? [True, True] Translation: X:477.94, Y:-21.84, Z:2.55 [[ 9.99919848e-01 -1.22506059e-02 3.19702923e-03 4.77939305e+02] [ 1.22513530e-02 9.99924926e-01 -2.14175955e-04 -2.18404034e+01] [-3.19416544e-03 2.53326722e-04 9.99994867e-01 2.55435497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.110714057 meters Centerline goodness [0,1] 0.9787098615043568 Centerline is valid? [True, True] Translation: X:477.97, Y:-21.85, Z:2.55 [[ 9.99911879e-01 -1.29497942e-02 2.92176377e-03 4.77970101e+02] [ 1.29504220e-02 9.99916121e-01 -1.96056373e-04 -2.18469665e+01] [-2.91897981e-03 2.33877170e-04 9.99995712e-01 2.55355261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.140714057 meters Centerline goodness [0,1] 0.9794749088993283 Centerline is valid? [True, True] Translation: X:478.00, Y:-21.85, Z:2.55 [[ 9.99900288e-01 -1.39123335e-02 2.42078219e-03 4.78001969e+02] [ 1.39127674e-02 9.99903200e-01 -1.62456614e-04 -2.18471625e+01] [-2.41828771e-03 1.96120195e-04 9.99997057e-01 2.55314114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.170714057 meters Centerline goodness [0,1] 0.9796437101474681 Centerline is valid? [True, True] Translation: X:478.03, Y:-21.85, Z:2.55 [[ 9.99879676e-01 -1.54762817e-02 1.05705385e-03 4.78033295e+02] [ 1.54763652e-02 9.99880231e-01 -7.08086579e-05 -2.18474426e+01] [-1.05583140e-03 8.71594894e-05 9.99999439e-01 2.55146789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.200714057 meters Centerline goodness [0,1] 0.97895523043803 Centerline is valid? [True, True] Translation: X:478.06, Y:-21.85, Z:2.55 [[ 9.99864019e-01 -1.64853687e-02 4.20681914e-04 4.78064104e+02] [ 1.64853815e-02 9.99864106e-01 -2.71785594e-05 -2.18531643e+01] [-4.20176697e-04 3.41099655e-05 9.99999911e-01 2.54984064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.230714057 meters Centerline goodness [0,1] 0.979346445310789 Centerline is valid? [True, True] Translation: X:478.10, Y:-21.85, Z:2.55 [[ 9.99847816e-01 -1.74454523e-02 -1.26907031e-05 4.78096228e+02] [ 1.74454523e-02 9.99847817e-01 1.80818520e-06 -2.18535979e+01] [ 1.26572272e-05 -2.02930508e-06 1.00000000e+00 2.54908662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.26071405700003 meters Centerline goodness [0,1] 0.9786444844387867 Centerline is valid? [True, True] Translation: X:478.13, Y:-21.85, Z:2.55 [[ 9.99808639e-01 -1.95244705e-02 -1.21652395e-03 4.78127476e+02] [ 1.95245852e-02 9.99809374e-01 8.25056255e-05 -2.18542868e+01] [ 1.21468117e-03 -1.06241963e-04 9.99999257e-01 2.54819973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.290714057 meters Centerline goodness [0,1] 0.9783491798599064 Centerline is valid? [True, True] Translation: X:478.16, Y:-21.86, Z:2.55 [[ 9.99801336e-01 -1.98346666e-02 -1.96829186e-03 4.78158677e+02] [ 1.98349684e-02 9.99803259e-01 1.33929870e-04 -2.18595038e+01] [ 1.96524817e-03 -1.72944269e-04 9.99998054e-01 2.54708414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.320714057 meters Centerline goodness [0,1] 0.9785595154494382 Centerline is valid? [True, True] Translation: X:478.19, Y:-21.86, Z:2.55 [[ 9.99818997e-01 -1.89294265e-02 -1.91070951e-03 4.78190870e+02] [ 1.89297099e-02 9.99820808e-01 1.30387917e-04 -2.18607207e+01] [ 1.90789895e-03 -1.66533493e-04 9.99998166e-01 2.54679379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.350714057 meters Centerline goodness [0,1] 0.9788380651945321 Centerline is valid? [True, True] Translation: X:478.22, Y:-21.86, Z:2.55 [[ 9.99849751e-01 -1.72555591e-02 -1.64979922e-03 4.78222165e+02] [ 1.72557677e-02 9.99851102e-01 1.12302206e-04 -2.18597609e+01] [ 1.64761573e-03 -1.40753885e-04 9.99998633e-01 2.54738291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.380714057 meters Centerline goodness [0,1] 0.9794229674707763 Centerline is valid? [True, True] Translation: X:478.25, Y:-21.86, Z:2.55 [[ 9.99869071e-01 -1.60474989e-02 -2.07805496e-03 4.78254128e+02] [ 1.60478278e-02 9.99871215e-01 1.41687131e-04 -2.18574104e+01] [ 2.07551362e-03 -1.75016848e-04 9.99997831e-01 2.54766053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.410714057 meters Centerline goodness [0,1] 0.9785002736726874 Centerline is valid? [True, True] Translation: X:478.28, Y:-21.86, Z:2.55 [[ 9.99888793e-01 -1.46902273e-02 -2.56883038e-03 4.78284950e+02] [ 1.46907247e-02 9.99892070e-01 1.74836911e-04 -2.18601191e+01] [ 2.56598474e-03 -2.12555448e-04 9.99996685e-01 2.54665639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.440714057 meters Centerline goodness [0,1] 0.9795473078703194 Centerline is valid? [True, True] Translation: X:478.32, Y:-21.85, Z:2.55 [[ 9.99918196e-01 -1.24817007e-02 -2.79437441e-03 4.78315973e+02] [ 1.24822792e-02 9.99922075e-01 1.89677724e-04 -2.18532305e+01] [ 2.79178916e-03 -2.24542369e-04 9.99996078e-01 2.54696220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.470714057 meters Centerline goodness [0,1] 0.979900602542112 Centerline is valid? [True, True] Translation: X:478.35, Y:-21.86, Z:2.55 [[ 9.99941007e-01 -1.05389387e-02 -2.62927766e-03 4.78346756e+02] [ 1.05394457e-02 9.99944442e-01 1.79040568e-04 -2.18566311e+01] [ 2.62724469e-03 -2.06741135e-04 9.99996527e-01 2.54662605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.500714057 meters Centerline goodness [0,1] 0.9795458561583319 Centerline is valid? [True, True] Translation: X:478.38, Y:-21.85, Z:2.55 [[ 9.99969901e-01 -7.60866976e-03 -1.51854814e-03 4.78377623e+02] [ 7.60883548e-03 9.99971047e-01 1.03381537e-04 -2.18539164e+01] [ 1.51771758e-03 -1.14932808e-04 9.99998842e-01 2.54817353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.530714057 meters Centerline goodness [0,1] 0.9800632141988816 Centerline is valid? [True, True] Translation: X:478.41, Y:-21.85, Z:2.55 [[ 9.99979879e-01 -6.31478417e-03 -6.03929543e-04 4.78409661e+02] [ 6.31481053e-03 9.99980061e-01 4.17527400e-05 -2.18549299e+01] [ 6.03653841e-04 -4.55656006e-05 9.99999817e-01 2.54885516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.560714057 meters Centerline goodness [0,1] 0.9798222594658963 Centerline is valid? [True, True] Translation: X:478.44, Y:-21.86, Z:2.55 [[ 9.99989568e-01 -4.56582411e-03 1.32918993e-04 4.78441226e+02] [ 4.56582529e-03 9.99989577e-01 -8.57749354e-06 -2.18551784e+01] [-1.32878444e-04 9.18428895e-06 9.99999991e-01 2.54898405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.590714057 meters Centerline goodness [0,1] 0.9794622109107004 Centerline is valid? [True, True] Translation: X:478.47, Y:-21.85, Z:2.55 [[ 9.99998983e-01 -1.28273443e-03 6.23074136e-04 4.78470920e+02] [ 1.28276110e-03 9.99999176e-01 -4.24096572e-05 -2.18542816e+01] [-6.23019223e-04 4.32088693e-05 9.99999805e-01 2.54922818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.620714057 meters Centerline goodness [0,1] 0.9811023622047244 Centerline is valid? [True, True] Translation: X:478.50, Y:-21.85, Z:2.55 [[ 9.99996565e-01 2.55935909e-03 5.65601576e-04 4.78502042e+02] [-2.55933778e-03 9.99996724e-01 -3.84025220e-05 -2.18502855e+01] [-5.65698009e-04 3.69548246e-05 9.99999839e-01 2.54942363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.650714057 meters Centerline goodness [0,1] 0.9810028028651511 Centerline is valid? [True, True] Translation: X:478.53, Y:-21.85, Z:2.55 [[ 9.99991759e-01 3.97558359e-03 8.22007623e-04 4.78531860e+02] [-3.97553861e-03 9.99992096e-01 -5.63438506e-05 -2.18505016e+01] [-8.22225126e-04 5.30754632e-05 9.99999661e-01 2.54925852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.680714057 meters Centerline goodness [0,1] 0.9800791527559751 Centerline is valid? [True, True] Translation: X:478.56, Y:-21.85, Z:2.55 [[ 9.99985869e-01 5.24724832e-03 8.53572486e-04 4.78561483e+02] [-5.24720033e-03 9.99986232e-01 -5.84598156e-05 -2.18497436e+01] [-8.53867487e-04 5.39801236e-05 9.99999634e-01 2.54915534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.710714057 meters Centerline goodness [0,1] 0.9803362088033621 Centerline is valid? [True, True] Translation: X:478.59, Y:-21.85, Z:2.55 [[ 9.99976002e-01 6.86322202e-03 9.44500689e-04 4.78589999e+02] [-6.86316385e-03 9.99976446e-01 -6.48115986e-05 -2.18493548e+01] [-9.44923258e-04 5.83277803e-05 9.99999552e-01 2.54839852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.740714057 meters Centerline goodness [0,1] 0.9793344307514348 Centerline is valid? [True, True] Translation: X:478.62, Y:-21.85, Z:2.55 [[ 9.99978208e-01 6.54363488e-03 8.74731484e-04 4.78618796e+02] [-6.54358469e-03 9.99978589e-01 -6.02303465e-05 -2.18513183e+01] [-8.75106880e-04 5.45051544e-05 9.99999616e-01 2.54798363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.770714057 meters Centerline goodness [0,1] 0.9800831351279259 Centerline is valid? [True, True] Translation: X:478.65, Y:-21.85, Z:2.55 [[ 9.99986602e-01 4.94829186e-03 1.52024055e-03 4.78648221e+02] [-4.94813984e-03 9.99987752e-01 -1.03741281e-04 -2.18473434e+01] [-1.52073527e-03 9.62175277e-05 9.99998839e-01 2.54851952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.800714057 meters Centerline goodness [0,1] 0.9788894090372054 Centerline is valid? [True, True] Translation: X:478.68, Y:-21.86, Z:2.55 [[ 9.99991876e-01 3.72240121e-03 1.54662830e-03 4.78676516e+02] [-3.72224288e-03 9.99993067e-01 -1.05236651e-04 -2.18572853e+01] [-1.54700931e-03 9.94788697e-05 9.99998798e-01 2.54658842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.830714057 meters Centerline goodness [0,1] 0.9809498315822347 Centerline is valid? [True, True] Translation: X:478.71, Y:-21.85, Z:2.55 [[ 9.99999226e-01 7.46258546e-04 9.95169193e-04 4.78707562e+02] [-7.46191824e-04 9.99999719e-01 -6.74157963e-05 -2.18522811e+01] [-9.95219223e-04 6.66731570e-05 9.99999503e-01 2.54660703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.860714057 meters Centerline goodness [0,1] 0.9802977623250424 Centerline is valid? [True, True] Translation: X:478.74, Y:-21.85, Z:2.55 [[ 9.99999753e-01 -6.54415609e-04 2.57408657e-04 4.78738319e+02] [ 6.54420060e-04 9.99999786e-01 -1.72067650e-05 -2.18537683e+01] [-2.57397341e-04 1.73752141e-05 9.99999967e-01 2.54554170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.890714057 meters Centerline goodness [0,1] 0.9781599235708414 Centerline is valid? [True, True] Translation: X:478.77, Y:-21.87, Z:2.54 [[ 9.99996144e-01 -2.77646900e-03 5.89953391e-05 4.78767288e+02] [ 2.77646918e-03 9.99996146e-01 -2.89116579e-06 -2.18656292e+01] [-5.89870845e-05 3.05495338e-06 9.99999998e-01 2.54386264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.920714057 meters Centerline goodness [0,1] 0.9803777287220996 Centerline is valid? [True, True] Translation: X:478.80, Y:-21.86, Z:2.55 [[ 9.99992554e-01 -3.85890020e-03 1.70427072e-05 4.78799021e+02] [ 3.85890021e-03 9.99992554e-01 -6.92719563e-07 -2.18591318e+01] [-1.70399072e-05 7.58480511e-07 1.00000000e+00 2.54529997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.950714057 meters Centerline goodness [0,1] 0.9803637498328356 Centerline is valid? [True, True] Translation: X:478.83, Y:-21.86, Z:2.54 [[ 9.99989681e-01 -4.53316371e-03 -2.97013303e-04 4.78830270e+02] [ 4.53317003e-03 9.99989725e-01 2.06340667e-05 -2.18619952e+01] [ 2.96916713e-04 -2.19802656e-05 9.99999956e-01 2.54478970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.980714057 meters Centerline goodness [0,1] 0.9796324450008943 Centerline is valid? [True, True] Translation: X:478.86, Y:-21.87, Z:2.54 [[ 9.99979267e-01 -6.42315994e-03 4.56115540e-04 4.78860218e+02] [ 6.42317463e-03 9.99979371e-01 -3.07582350e-05 -2.18662249e+01] [-4.55908566e-04 3.36873070e-05 9.99999896e-01 2.54421753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.01071405700003 meters Centerline goodness [0,1] 0.9785054463307165 Centerline is valid? [True, True] Translation: X:478.89, Y:-21.87, Z:2.54 [[ 9.99972320e-01 -7.43841550e-03 1.72859789e-04 4.78892236e+02] [ 7.43841749e-03 9.99972335e-01 -1.08372552e-05 -2.18686037e+01] [-1.72774395e-04 1.21227585e-05 9.99999985e-01 2.54397002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.040714057 meters Centerline goodness [0,1] 0.9788867135356412 Centerline is valid? [True, True] Translation: X:478.92, Y:-21.87, Z:2.54 [[ 9.99953902e-01 -9.58619653e-03 5.45765261e-04 4.78921801e+02] [ 9.58621767e-03 9.99954051e-01 -3.61305982e-05 -2.18733846e+01] [-5.45393829e-04 4.13607573e-05 9.99999850e-01 2.54307285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.070714057 meters Centerline goodness [0,1] 0.9783681214421253 Centerline is valid? [True, True] Translation: X:478.95, Y:-21.88, Z:2.54 [[ 9.99940407e-01 -1.09159455e-02 1.56118487e-04 4.78952708e+02] [ 1.09159472e-02 9.99940419e-01 -9.97048570e-06 -2.18775833e+01] [-1.56000348e-04 1.16740727e-05 9.99999988e-01 2.54211622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.100714057 meters Centerline goodness [0,1] 0.9775593265573916 Centerline is valid? [True, True] Translation: X:478.98, Y:-21.88, Z:2.54 [[ 9.99916222e-01 -1.29388603e-02 -3.66246008e-04 4.78983722e+02] [ 1.29388704e-02 9.99916289e-01 2.51849011e-05 -2.18807698e+01] [ 3.65889485e-04 -2.99216009e-05 9.99999933e-01 2.54111566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.130714057 meters Centerline goodness [0,1] 0.9793072625698324 Centerline is valid? [True, True] Translation: X:479.02, Y:-21.88, Z:2.54 [[ 9.99906155e-01 -1.36972908e-02 -2.55710398e-04 4.79016466e+02] [ 1.36972959e-02 9.99906187e-01 1.83761468e-05 -2.18778108e+01] [ 2.55434706e-04 -2.18769632e-05 9.99999967e-01 2.54119869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.160714057 meters Centerline goodness [0,1] 0.9798322327324648 Centerline is valid? [True, True] Translation: X:479.05, Y:-21.88, Z:2.54 [[ 9.99904361e-01 -1.38265273e-02 3.08782322e-04 4.79048445e+02] [ 1.38265341e-02 9.99904409e-01 -2.01327646e-05 -2.18757960e+01] [-3.08474439e-04 2.44002284e-05 9.99999952e-01 2.54127697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.190714057 meters Centerline goodness [0,1] 0.9768760323199858 Centerline is valid? [True, True] Translation: X:479.08, Y:-21.89, Z:2.54 [[ 9.99913045e-01 -1.31826417e-02 3.48399900e-04 4.79078518e+02] [ 1.31826505e-02 9.99913105e-01 -2.30998503e-05 -2.18876862e+01] [-3.48065108e-04 2.76906757e-05 9.99999939e-01 2.53968046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.220714057 meters Centerline goodness [0,1] 0.9769902024237285 Centerline is valid? [True, True] Translation: X:479.11, Y:-21.89, Z:2.54 [[ 9.99938211e-01 -1.11090953e-02 -4.03845694e-04 4.79108081e+02] [ 1.11091073e-02 9.99938292e-01 2.73793308e-05 -2.18864333e+01] [ 4.03516613e-04 -3.18640042e-05 9.99999918e-01 2.53992691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.250714057 meters Centerline goodness [0,1] 0.9798031760232611 Centerline is valid? [True, True] Translation: X:479.14, Y:-21.88, Z:2.54 [[ 9.99954168e-01 -9.56360729e-03 -4.45688790e-04 4.79140029e+02] [ 9.56362203e-03 9.99954267e-01 3.09499869e-05 -2.18758418e+01] [ 4.45372414e-04 -3.52109675e-05 9.99999900e-01 2.54161061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.280714057 meters Centerline goodness [0,1] 0.9800263634129449 Centerline is valid? [True, True] Translation: X:479.17, Y:-21.88, Z:2.54 [[ 9.99977926e-01 -6.63976555e-03 -2.48633371e-04 4.79170155e+02] [ 6.63976999e-03 9.99977956e-01 1.70009371e-05 -2.18771461e+01] [ 2.48515008e-04 -1.86514302e-05 9.99999969e-01 2.54060679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.310714057 meters Centerline goodness [0,1] 0.9800863669925939 Centerline is valid? [True, True] Translation: X:479.20, Y:-21.88, Z:2.54 [[ 9.99985088e-01 -5.45733325e-03 -2.01207725e-04 4.79200294e+02] [ 5.45733618e-03 9.99985109e-01 1.39893495e-05 -2.18791990e+01] [ 2.01128385e-04 -1.50871991e-05 9.99999980e-01 2.53997073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.340714057 meters Centerline goodness [0,1] 0.9800961645980096 Centerline is valid? [True, True] Translation: X:479.23, Y:-21.88, Z:2.54 [[ 9.99989729e-01 -4.52942699e-03 1.59067931e-04 4.79232195e+02] [ 4.52942867e-03 9.99989742e-01 -1.01968055e-05 -2.18787159e+01] [-1.59020113e-04 1.09171876e-05 9.99999987e-01 2.53991403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.370714057 meters Centerline goodness [0,1] 0.979139183901621 Centerline is valid? [True, True] Translation: X:479.26, Y:-21.88, Z:2.54 [[ 9.99994129e-01 -3.42653697e-03 -1.33828167e-05 4.79263956e+02] [ 3.42653699e-03 9.99994129e-01 1.58609571e-06 -2.18798959e+01] [ 1.33773033e-05 -1.63194311e-06 1.00000000e+00 2.53961996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.400714057 meters Centerline goodness [0,1] 0.9799919520701064 Centerline is valid? [True, True] Translation: X:479.29, Y:-21.88, Z:2.54 [[ 9.99999499e-01 -7.82821242e-04 6.24561126e-04 4.79294533e+02] [ 7.82848114e-04 9.99999693e-01 -4.27827307e-05 -2.18780352e+01] [-6.24527443e-04 4.32716458e-05 9.99999804e-01 2.54008895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.430714057 meters Centerline goodness [0,1] 0.9816022671044937 Centerline is valid? [True, True] Translation: X:479.33, Y:-21.87, Z:2.54 [[ 9.99999664e-01 -2.94354267e-04 7.65560702e-04 4.79325084e+02] [ 2.94394500e-04 9.99999955e-01 -5.24412679e-05 -2.18735638e+01] [-7.65545231e-04 5.26666272e-05 9.99999706e-01 2.54024086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.460714057 meters Centerline goodness [0,1] 0.9812918294928805 Centerline is valid? [True, True] Translation: X:479.36, Y:-21.88, Z:2.54 [[ 9.99999438e-01 -4.68658258e-04 9.51217138e-04 4.79355022e+02] [ 4.68720243e-04 9.99999888e-01 -6.49419649e-05 -2.18789671e+01] [-9.51186596e-04 6.53877831e-05 9.99999545e-01 2.53915232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.490714057 meters Centerline goodness [0,1] 0.9812918294928805 Centerline is valid? [True, True] Translation: X:479.39, Y:-21.88, Z:2.54 [[ 9.99999454e-01 -4.33364924e-04 9.51230126e-04 4.79385868e+02] [ 4.33426714e-04 9.99999904e-01 -6.47525230e-05 -2.18811113e+01] [-9.51201973e-04 6.51647762e-05 9.99999545e-01 2.53875192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.520714057 meters Centerline goodness [0,1] 0.9802777715452444 Centerline is valid? [True, True] Translation: X:479.42, Y:-21.88, Z:2.54 [[ 9.99996945e-01 -2.30900796e-03 8.82132866e-04 4.79416622e+02] [ 2.30906202e-03 9.99997332e-01 -6.02616307e-05 -2.18843442e+01] [-8.81991368e-04 6.22983461e-05 9.99999609e-01 2.53752335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.550714057 meters Centerline goodness [0,1] 0.9798464922123973 Centerline is valid? [True, True] Translation: X:479.45, Y:-21.89, Z:2.54 [[ 9.99991264e-01 -4.17885005e-03 -9.48275167e-05 4.79447567e+02] [ 4.17885071e-03 9.99991269e-01 6.73092991e-06 -2.18876700e+01] [ 9.47985612e-05 -7.12714114e-06 9.99999995e-01 2.53608358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.580714057 meters Centerline goodness [0,1] 0.9814710836608647 Centerline is valid? [True, True] Translation: X:479.48, Y:-21.89, Z:2.53 [[ 9.99965127e-01 -8.29338889e-03 -9.81914539e-04 4.79477704e+02] [ 8.29345904e-03 9.99965606e-01 6.73937957e-05 -2.18908027e+01] [ 9.81321844e-04 -7.55349134e-05 9.99999516e-01 2.53481180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.610714057 meters Centerline goodness [0,1] 0.979365186636931 Centerline is valid? [True, True] Translation: X:479.51, Y:-21.89, Z:2.53 [[ 9.99942921e-01 -1.04782380e-02 -2.08831747e-03 4.79508202e+02] [ 1.04785604e-02 9.99945088e-01 1.43506774e-04 -2.18945487e+01] [ 2.08669910e-03 -1.65381143e-04 9.99997809e-01 2.53369259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.640714057 meters Centerline goodness [0,1] 0.979977026509606 Centerline is valid? [True, True] Translation: X:479.54, Y:-21.90, Z:2.53 [[ 9.99891476e-01 -1.44363683e-02 -2.93712448e-03 4.79536857e+02] [ 1.44370206e-02 9.99895761e-01 2.01009489e-04 -2.19005175e+01] [ 2.93391647e-03 -2.43391001e-04 9.99995666e-01 2.53212139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.670714057 meters Centerline goodness [0,1] 0.9787392008639308 Centerline is valid? [True, True] Translation: X:479.57, Y:-21.90, Z:2.53 [[ 9.99861797e-01 -1.61427774e-02 -3.97461155e-03 4.79567399e+02] [ 1.61439903e-02 9.99869640e-01 2.73281509e-04 -2.19032043e+01] [ 3.96968190e-03 -3.37409831e-04 9.99992064e-01 2.53137687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.700714057 meters Centerline goodness [0,1] 0.9750728171780804 Centerline is valid? [True, True] Translation: X:479.60, Y:-21.91, Z:2.53 [[ 9.99828932e-01 -1.80273140e-02 -4.13789447e-03 4.79597093e+02] [ 1.80286423e-02 9.99837431e-01 2.83942879e-04 -2.19068329e+01] [ 4.13210305e-03 -3.58494924e-04 9.99991399e-01 2.53167951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.730714057 meters Centerline goodness [0,1] 0.9784075269059813 Centerline is valid? [True, True] Translation: X:479.63, Y:-21.90, Z:2.53 [[ 9.99822814e-01 -1.84847405e-02 -3.55748295e-03 4.79629361e+02] [ 1.84857294e-02 9.99829094e-01 2.45292321e-04 -2.19028917e+01] [ 3.55234079e-03 -3.11011526e-04 9.99993642e-01 2.53323301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.76071405700003 meters Centerline goodness [0,1] 0.9776696185132607 Centerline is valid? [True, True] Translation: X:479.66, Y:-21.91, Z:2.53 [[ 9.99827478e-01 -1.83742173e-02 -2.72083163e-03 4.79661811e+02] [ 1.83747965e-02 9.99831151e-01 1.88006243e-04 -2.19065323e+01] [ 2.71691775e-03 -2.37968535e-04 9.99996281e-01 2.53342498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.790714057 meters Centerline goodness [0,1] 0.9768665988930306 Centerline is valid? [True, True] Translation: X:479.69, Y:-21.91, Z:2.53 [[ 9.99837720e-01 -1.79660765e-02 -1.32461668e-03 4.79693585e+02] [ 1.79662141e-02 9.99838590e-01 9.20929651e-05 -2.19085451e+01] [ 1.32274832e-03 -1.15876367e-04 9.99999118e-01 2.53407283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.820714057 meters Centerline goodness [0,1] 0.9673832134076196 Centerline is valid? [True, True] Translation: X:479.72, Y:-21.92, Z:2.53 [[ 9.99848527e-01 -1.73777577e-02 -9.67429478e-04 4.79724642e+02] [ 1.73778312e-02 9.99848992e-01 6.75659575e-05 -2.19177529e+01] [ 9.66109243e-04 -8.43675493e-05 9.99999530e-01 2.53273447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.850714057 meters Centerline goodness [0,1] 0.9771740114016831 Centerline is valid? [True, True] Translation: X:479.76, Y:-21.91, Z:2.53 [[ 9.99878492e-01 -1.55564675e-02 -9.98902728e-04 4.79756831e+02] [ 1.55565445e-02 9.99878987e-01 6.93256290e-05 -2.19077168e+01] [ 9.97703386e-04 -8.48566800e-05 9.99999499e-01 2.53427475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.880714057 meters Centerline goodness [0,1] 0.9761221028829847 Centerline is valid? [True, True] Translation: X:479.79, Y:-21.91, Z:2.53 [[ 9.99898353e-01 -1.42309906e-02 -8.73196746e-04 4.79787220e+02] [ 1.42310490e-02 9.99898732e-01 6.06854243e-05 -2.19122979e+01] [ 8.72244706e-04 -7.31057615e-05 9.99999617e-01 2.53334747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.910714057 meters Centerline goodness [0,1] 0.9757413007176061 Centerline is valid? [True, True] Translation: X:479.82, Y:-21.91, Z:2.53 [[ 9.99913291e-01 -1.31037837e-02 -1.30467802e-03 4.79818600e+02] [ 1.31039128e-02 9.99914136e-01 9.04790631e-05 -2.19139457e+01] [ 1.30338038e-03 -1.07567605e-04 9.99999145e-01 2.53250079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.940714057 meters Centerline goodness [0,1] 0.9769344058003852 Centerline is valid? [True, True] Translation: X:479.85, Y:-21.91, Z:2.53 [[ 9.99937441e-01 -1.10062580e-02 -1.99386179e-03 4.79847918e+02] [ 1.10065536e-02 9.99939417e-01 1.37341067e-04 -2.19147244e+01] [ 1.99222939e-03 -1.59278022e-04 9.99998003e-01 2.53122003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.970714057 meters Centerline goodness [0,1] 0.9765246525105266 Centerline is valid? [True, True] Translation: X:479.88, Y:-21.92, Z:2.53 [[ 9.99952772e-01 -9.45755458e-03 -2.23813879e-03 4.79879694e+02] [ 9.45792546e-03 9.99955261e-01 1.55183933e-04 -2.19167908e+01] [ 2.23657100e-03 -1.76344754e-04 9.99997483e-01 2.53034714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.000714057 meters Centerline goodness [0,1] 0.9778059894357416 Centerline is valid? [True, True] Translation: X:479.91, Y:-21.92, Z:2.53 [[ 9.99961433e-01 -7.68522052e-03 -4.25096812e-03 4.79911316e+02] [ 7.68653976e-03 9.99970415e-01 2.94088145e-04 -2.19151781e+01] [ 4.24858222e-03 -3.26752038e-04 9.99990921e-01 2.52844631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.030714057 meters Centerline goodness [0,1] 0.9788845796194234 Centerline is valid? [True, True] Translation: X:479.94, Y:-21.92, Z:2.53 [[ 9.99969649e-01 -6.27490468e-03 -4.61811515e-03 4.79942642e+02] [ 6.27644724e-03 9.99980252e-01 3.19606238e-04 -2.19163575e+01] [ 4.61601846e-03 -3.48581893e-04 9.99989285e-01 2.52726497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.060714057 meters Centerline goodness [0,1] 0.9780448609130622 Centerline is valid? [True, True] Translation: X:479.97, Y:-21.92, Z:2.53 [[ 9.99971126e-01 -5.04326499e-03 -5.68439335e-03 4.79973063e+02] [ 5.04557924e-03 9.99987194e-01 3.92856230e-04 -2.19178279e+01] [ 5.68233928e-03 -4.21525944e-04 9.99983767e-01 2.52611935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.090714057 meters Centerline goodness [0,1] 0.9803863569136955 Centerline is valid? [True, True] Translation: X:480.00, Y:-21.91, Z:2.53 [[ 9.99979249e-01 -1.83456825e-03 -6.17550930e-03 4.80003469e+02] [ 1.83723676e-03 9.99998221e-01 4.26466506e-04 -2.19092907e+01] [ 6.17471593e-03 -4.37803529e-04 9.99980840e-01 2.52759523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.120714057 meters Centerline goodness [0,1] 0.9813811089692709 Centerline is valid? [True, True] Translation: X:480.03, Y:-21.90, Z:2.53 [[ 9.99981224e-01 3.45268148e-03 -5.06266752e-03 4.80033514e+02] [-3.45095775e-03 9.99993984e-01 3.49175247e-04 -2.19040720e+01] [ 5.06384266e-03 -3.31697639e-04 9.99987124e-01 2.52936197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.150714057 meters Centerline goodness [0,1] 0.982122905027933 Centerline is valid? [True, True] Translation: X:480.06, Y:-21.91, Z:2.53 [[ 9.99967484e-01 6.60718927e-03 -4.62345935e-03 4.80061717e+02] [-6.60578771e-03 9.99978131e-01 3.18345899e-04 -2.19099133e+01] [ 4.62546161e-03 -2.87793956e-04 9.99989261e-01 2.52825328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.180714057 meters Centerline goodness [0,1] 0.9813024588858813 Centerline is valid? [True, True] Translation: X:480.09, Y:-21.91, Z:2.53 [[ 9.99943396e-01 9.76249967e-03 -4.23056111e-03 4.80091507e+02] [-9.76135409e-03 9.99952314e-01 2.91350662e-04 -2.19089399e+01] [ 4.23320369e-03 -2.50038166e-04 9.99991009e-01 2.52868290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.210714057 meters Centerline goodness [0,1] 0.9826469649290829 Centerline is valid? [True, True] Translation: X:480.12, Y:-21.90, Z:2.53 [[ 9.99848108e-01 1.71750132e-02 -2.96312860e-03 4.80122923e+02] [-1.71744825e-02 9.99852487e-01 2.04452536e-04 -2.18988972e+01] [ 2.96620297e-03 -1.53531282e-04 9.99995589e-01 2.53170428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.240714057 meters Centerline goodness [0,1] 0.9831856189195962 Centerline is valid? [True, True] Translation: X:480.15, Y:-21.90, Z:2.53 [[ 9.99784918e-01 2.05618512e-02 -2.70715691e-03 4.80151908e+02] [-2.05614223e-02 9.99788574e-01 1.86173256e-04 -2.18999819e+01] [ 2.71041261e-03 -1.30470217e-04 9.99996318e-01 2.53161257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.270714057 meters Centerline goodness [0,1] 0.9850957155879672 Centerline is valid? [True, True] Translation: X:480.18, Y:-21.90, Z:2.53 [[ 9.99599713e-01 2.82292339e-02 -1.87722152e-03 4.80181920e+02] [-2.82290413e-02 9.99601473e-01 1.29025509e-04 -2.18967017e+01] [ 1.88011569e-03 -7.59816975e-05 9.99998230e-01 2.53268393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.300714057 meters Centerline goodness [0,1] 0.9849805429761281 Centerline is valid? [True, True] Translation: X:480.21, Y:-21.90, Z:2.53 [[ 9.99497794e-01 3.16401067e-02 -1.75018845e-03 4.80211764e+02] [-3.16399448e-02 9.99499324e-01 1.20087374e-04 -2.18968979e+01] [ 1.75311175e-03 -6.46511996e-05 9.99998461e-01 2.53287138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.330714057 meters Centerline goodness [0,1] 0.9852485885995265 Centerline is valid? [True, True] Translation: X:480.24, Y:-21.90, Z:2.53 [[ 9.99379658e-01 3.51733967e-02 -1.76955215e-03 4.80240138e+02] [-3.51732374e-02 9.99381223e-01 1.21102134e-04 -2.18982844e+01] [ 1.77271676e-03 -5.87861318e-05 9.99998427e-01 2.53241749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.360714057 meters Centerline goodness [0,1] 0.9866697049105617 Centerline is valid? [True, True] Translation: X:480.27, Y:-21.90, Z:2.53 [[ 9.99151907e-01 4.11409575e-02 -1.69923844e-03 4.80269913e+02] [-4.11408189e-02 9.99153351e-01 1.16430871e-04 -2.18980346e+01] [ 1.70258986e-03 -4.64240658e-05 9.99998550e-01 2.53266156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.390714057 meters Centerline goodness [0,1] 0.9864636980994486 Centerline is valid? [True, True] Translation: X:480.30, Y:-21.90, Z:2.53 [[ 9.99060821e-01 4.32845538e-02 -1.98062142e-03 4.80297490e+02] [-4.32843725e-02 9.99062783e-01 1.34316756e-04 -2.19002763e+01] [ 1.98457899e-03 -4.84606535e-05 9.99998030e-01 2.53193256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.420714057 meters Centerline goodness [0,1] 0.9874594643626551 Centerline is valid? [True, True] Translation: X:480.33, Y:-21.90, Z:2.53 [[ 9.98923343e-01 4.62838031e-02 -3.15658515e-03 4.80326595e+02] [-4.62833557e-02 9.98928328e-01 2.14682194e-04 -2.19035883e+01] [ 3.16313864e-03 -6.83537012e-05 9.99994995e-01 2.53097836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.450714057 meters Centerline goodness [0,1] 0.987682937914735 Centerline is valid? [True, True] Translation: X:480.36, Y:-21.91, Z:2.53 [[ 9.98943790e-01 4.57003322e-02 -4.77331942e-03 4.80355033e+02] [-4.56993116e-02 9.98955189e-01 3.22709084e-04 -2.19096356e+01] [ 4.78308012e-03 -1.04230823e-04 9.99988556e-01 2.52984698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.480714057 meters Centerline goodness [0,1] 0.988417599819025 Centerline is valid? [True, True] Translation: X:480.38, Y:-21.92, Z:2.53 [[ 9.98973802e-01 4.50592076e-02 -4.58370166e-03 4.80383261e+02] [-4.50582513e-02 9.98984313e-01 3.11747337e-04 -2.19151680e+01] [ 4.59309314e-03 -1.04893842e-04 9.99989446e-01 2.52854650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.51071405700003 meters Centerline goodness [0,1] 0.9873741373458536 Centerline is valid? [True, True] Translation: X:480.41, Y:-21.92, Z:2.53 [[ 9.99046080e-01 4.34120031e-02 -4.72535227e-03 4.80410730e+02] [-4.34109748e-02 9.99057248e-01 3.20003274e-04 -2.19216227e+01] [ 4.73478941e-03 -1.14565869e-04 9.99988784e-01 2.52821483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.540714057 meters Centerline goodness [0,1] 0.9875456060537814 Centerline is valid? [True, True] Translation: X:480.44, Y:-21.93, Z:2.53 [[ 9.99240515e-01 3.87559800e-02 -4.04551926e-03 4.80439767e+02] [-3.87551847e-02 9.99248698e-01 2.74816038e-04 -2.19309165e+01] [ 4.05313062e-03 -1.17822473e-04 9.99991779e-01 2.52991614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.570714057 meters Centerline goodness [0,1] 0.9862590949023494 Centerline is valid? [True, True] Translation: X:480.47, Y:-21.94, Z:2.53 [[ 9.99337978e-01 3.61498367e-02 -4.09813722e-03 4.80467148e+02] [-3.61490030e-02 9.99346373e-01 2.77352159e-04 -2.19381630e+01] [ 4.10548480e-03 -1.29024971e-04 9.99991564e-01 2.52952824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.600714057 meters Centerline goodness [0,1] 0.9859527870029621 Centerline is valid? [True, True] Translation: X:480.50, Y:-21.95, Z:2.53 [[ 9.99530819e-01 3.04144885e-02 -3.61957721e-03 4.80496868e+02] [-3.04137969e-02 9.99537363e-01 2.45973213e-04 -2.19497299e+01] [ 3.62538381e-03 -1.35772721e-04 9.99993419e-01 2.53059793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.630714057 meters Centerline goodness [0,1] 0.9861337501395556 Centerline is valid? [True, True] Translation: X:480.53, Y:-21.96, Z:2.53 [[ 9.99610525e-01 2.77330080e-02 -3.11111366e-03 4.80525898e+02] [-2.77324859e-02 9.99615358e-01 2.10852266e-04 -2.19563526e+01] [ 3.11576456e-03 -1.24491229e-04 9.99995138e-01 2.53093608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.660714057 meters Centerline goodness [0,1] 0.9848447703314092 Centerline is valid? [True, True] Translation: X:480.55, Y:-21.96, Z:2.53 [[ 9.99673539e-01 2.53999982e-02 -2.76680229e-03 4.80553948e+02] [-2.53995775e-02 9.99677361e-01 1.87096132e-04 -2.19648163e+01] [ 2.77066186e-03 -1.16759443e-04 9.99996155e-01 2.53041570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.690714057 meters Centerline goodness [0,1] 0.9841082859174964 Centerline is valid? [True, True] Translation: X:480.58, Y:-21.98, Z:2.53 [[ 9.99761324e-01 2.17079219e-02 -2.46206954e-03 4.80581113e+02] [-2.17075790e-02 9.99764349e-01 1.65919550e-04 -2.19778134e+01] [ 2.46509112e-03 -1.12434380e-04 9.99996955e-01 2.52944478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.720714057 meters Centerline goodness [0,1] 0.9842005991345834 Centerline is valid? [True, True] Translation: X:480.61, Y:-21.98, Z:2.53 [[ 9.99806987e-01 1.95131925e-02 -2.28581800e-03 4.80610464e+02] [-1.95128903e-02 9.99809594e-01 1.54435566e-04 -2.19835279e+01] [ 2.28839630e-03 -1.09802842e-04 9.99997376e-01 2.52961639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.750714057 meters Centerline goodness [0,1] 0.984825325092488 Centerline is valid? [True, True] Translation: X:480.64, Y:-21.99, Z:2.53 [[ 9.99826007e-01 1.84872495e-02 -2.48535952e-03 4.80639304e+02] [-1.84868906e-02 9.99829089e-01 1.67309174e-04 -2.19857138e+01] [ 2.48802783e-03 -1.21333494e-04 9.99996897e-01 2.52973612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.780714057 meters Centerline goodness [0,1] 0.985320205783218 Centerline is valid? [True, True] Translation: X:480.67, Y:-21.99, Z:2.53 [[ 9.99840801e-01 1.76500387e-02 -2.61696825e-03 4.80667702e+02] [-1.76496383e-02 9.99844218e-01 1.76030674e-04 -2.19899085e+01] [ 2.61966752e-03 -1.29814107e-04 9.99996560e-01 2.52891567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.810714057 meters Centerline goodness [0,1] 0.9857997341603899 Centerline is valid? [True, True] Translation: X:480.70, Y:-22.00, Z:2.53 [[ 9.99848512e-01 1.71304287e-02 -3.08234312e-03 4.80695365e+02] [-1.71298718e-02 9.99853252e-01 2.07004787e-04 -2.19982258e+01] [ 3.08543687e-03 -1.54173286e-04 9.99995228e-01 2.52759518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.840714057 meters Centerline goodness [0,1] 0.9849052446011459 Centerline is valid? [True, True] Translation: X:480.72, Y:-22.00, Z:2.53 [[ 9.99848285e-01 1.71195454e-02 -3.21376825e-03 4.80723481e+02] [-1.71189415e-02 9.99853437e-01 2.15323014e-04 -2.20001408e+01] [ 3.21698347e-03 -1.60274036e-04 9.99994813e-01 2.52738502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.870714057 meters Centerline goodness [0,1] 0.9844808501217622 Centerline is valid? [True, True] Translation: X:480.75, Y:-22.01, Z:2.53 [[ 9.99858368e-01 1.65275988e-02 -3.17531258e-03 4.80750411e+02] [-1.65270073e-02 9.99863397e-01 2.12431528e-04 -2.20073976e+01] [ 3.17838981e-03 -1.59923027e-04 9.99994936e-01 2.52590275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.900714057 meters Centerline goodness [0,1] 0.9845214930125598 Centerline is valid? [True, True] Translation: X:480.78, Y:-22.01, Z:2.53 [[ 9.99859025e-01 1.64632906e-02 -3.30000693e-03 4.80777578e+02] [-1.64626514e-02 9.99864457e-01 2.20784152e-04 -2.20113757e+01] [ 3.30319447e-03 -1.66426163e-04 9.99994531e-01 2.52500249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.930714057 meters Centerline goodness [0,1] 0.9849283933181808 Centerline is valid? [True, True] Translation: X:480.81, Y:-22.01, Z:2.52 [[ 9.99863564e-01 1.61253356e-02 -3.58148710e-03 4.80806204e+02] [-1.61245803e-02 9.99869962e-01 2.39673645e-04 -2.20138071e+01] [ 3.58488619e-03 -1.81890969e-04 9.99993558e-01 2.52462816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.960714057 meters Centerline goodness [0,1] 0.9850999955851839 Centerline is valid? [True, True] Translation: X:480.83, Y:-22.02, Z:2.52 [[ 9.99864729e-01 1.61602672e-02 -3.06095935e-03 4.80834552e+02] [-1.61597167e-02 9.99869402e-01 2.04508464e-04 -2.20169281e+01] [ 3.06386450e-03 -1.55016564e-04 9.99995294e-01 2.52455009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.990714057 meters Centerline goodness [0,1] 0.9857626069462561 Centerline is valid? [True, True] Translation: X:480.86, Y:-22.02, Z:2.53 [[ 9.99882246e-01 1.52659985e-02 -1.56294037e-03 4.80862980e+02] [-1.52658547e-02 9.99883465e-01 1.03870727e-04 -2.20187979e+01] [ 1.56434392e-03 -7.99988751e-05 9.99998773e-01 2.52549547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.020714057 meters Centerline goodness [0,1] 0.9851036126497914 Centerline is valid? [True, True] Translation: X:480.89, Y:-22.03, Z:2.52 [[ 9.99893526e-01 1.45860442e-02 -4.29519926e-04 4.80889910e+02] [-1.45860337e-02 9.99893618e-01 2.76477123e-05 -2.20255425e+01] [ 4.29877504e-04 -2.13797764e-05 9.99999907e-01 2.52448317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.050714057 meters Centerline goodness [0,1] 0.9856369875065987 Centerline is valid? [True, True] Translation: X:480.92, Y:-22.03, Z:2.52 [[ 9.99901357e-01 1.40356093e-02 5.27259038e-04 4.80918333e+02] [-1.40355922e-02 9.99901496e-01 -3.61356980e-05 -2.20273932e+01] [-5.27714287e-04 2.87317406e-05 9.99999860e-01 2.52484506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.080714057 meters Centerline goodness [0,1] 0.9851099606177265 Centerline is valid? [True, True] Translation: X:480.95, Y:-22.03, Z:2.53 [[ 9.99925826e-01 1.19183370e-02 2.50901842e-03 4.80948023e+02] [-1.19179525e-02 9.99928965e-01 -1.68153547e-04 -2.20306551e+01] [-2.51084430e-03 1.38238712e-04 9.99996838e-01 2.52520654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.110714057 meters Centerline goodness [0,1] 0.9836534442171034 Centerline is valid? [True, True] Translation: X:480.98, Y:-22.04, Z:2.52 [[ 9.99937740e-01 1.05409536e-02 3.66109161e-03 4.80976431e+02] [-1.05401263e-02 9.99944421e-01 -2.45190704e-04 -2.20387348e+01] [-3.66347267e-03 2.06587070e-04 9.99993268e-01 2.52449626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.140714057 meters Centerline goodness [0,1] 0.9840142486476978 Centerline is valid? [True, True] Translation: X:481.01, Y:-22.04, Z:2.53 [[ 9.99943027e-01 9.28866337e-03 5.25969555e-03 4.81006050e+02] [-9.28694221e-03 9.99956814e-01 -3.51566177e-04 -2.20375725e+01] [-5.26273399e-03 3.02699658e-04 9.99986106e-01 2.52507558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.170714057 meters Centerline goodness [0,1] 0.9840142486476978 Centerline is valid? [True, True] Translation: X:481.04, Y:-22.04, Z:2.52 [[ 9.99943351e-01 9.25363963e-03 5.25970786e-03 4.81035187e+02] [-9.25191895e-03 9.99957138e-01 -3.51381954e-04 -2.20394871e+01] [-5.26273398e-03 3.02699658e-04 9.99986106e-01 2.52469724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.200714057 meters Centerline goodness [0,1] 0.9844251131321119 Centerline is valid? [True, True] Translation: X:481.07, Y:-22.04, Z:2.52 [[ 9.99938617e-01 9.19582696e-03 6.18061346e-03 4.81065177e+02] [-9.19345170e-03 9.99957654e-01 -4.12608971e-04 -2.20424644e+01] [-6.18414602e-03 3.55762472e-04 9.99980815e-01 2.52408991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.230714057 meters Centerline goodness [0,1] 0.9847321526784732 Centerline is valid? [True, True] Translation: X:481.10, Y:-22.04, Z:2.52 [[ 9.99924641e-01 1.01126644e-02 6.96028096e-03 4.81095171e+02] [-1.01096763e-02 9.99948788e-01 -4.64359454e-04 -2.20435446e+01] [-6.96462042e-03 3.93958273e-04 9.99975669e-01 2.52233276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.26071405700003 meters Centerline goodness [0,1] 0.9850160150936773 Centerline is valid? [True, True] Translation: X:481.12, Y:-22.05, Z:2.52 [[ 9.99893870e-01 1.29220011e-02 6.72827260e-03 4.81124939e+02] [-1.29192743e-02 9.99916442e-01 -4.48575988e-04 -2.20454562e+01] [-6.73350690e-03 3.61603981e-04 9.99977264e-01 2.52051383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.290714057 meters Centerline goodness [0,1] 0.9859318760424897 Centerline is valid? [True, True] Translation: X:481.15, Y:-22.05, Z:2.52 [[ 9.99877100e-01 1.43032592e-02 6.41886797e-03 4.81154262e+02] [-1.43008062e-02 9.99897647e-01 -4.27889536e-04 -2.20461503e+01] [-6.42433119e-03 3.36041962e-04 9.99979307e-01 2.51932323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.320714057 meters Centerline goodness [0,1] 0.9854688116424846 Centerline is valid? [True, True] Translation: X:481.18, Y:-22.05, Z:2.52 [[ 9.99833551e-01 1.70016727e-02 6.61923447e-03 4.81182910e+02] [-1.69991260e-02 9.99855407e-01 -4.40816701e-04 -2.20500590e+01] [-6.62577200e-03 3.28222127e-04 9.99977995e-01 2.51761014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.350714057 meters Centerline goodness [0,1] 0.986562396739729 Centerline is valid? [True, True] Translation: X:481.21, Y:-22.05, Z:2.52 [[ 9.99808762e-01 1.81704556e-02 7.23009008e-03 4.81211973e+02] [-1.81674445e-02 9.99834842e-01 -4.81932762e-04 -2.20524545e+01] [-7.23765291e-03 3.50488338e-04 9.99973746e-01 2.51686529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.380714057 meters Centerline goodness [0,1] 0.986562396739729 Centerline is valid? [True, True] Translation: X:481.24, Y:-22.05, Z:2.52 [[ 9.99810047e-01 1.80995553e-02 7.23014833e-03 4.81240253e+02] [-1.80965487e-02 9.99836128e-01 -4.81056758e-04 -2.20542751e+01] [-7.23767043e-03 3.50124649e-04 9.99973746e-01 2.51649786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.410714057 meters Centerline goodness [0,1] 0.9858825074417791 Centerline is valid? [True, True] Translation: X:481.27, Y:-22.06, Z:2.52 [[ 9.99777816e-01 1.94579024e-02 8.10602765e-03 4.81267852e+02] [-1.94541727e-02 9.99810605e-01 -5.38726955e-04 -2.20579479e+01] [-8.11497490e-03 3.80911197e-04 9.99967001e-01 2.51530085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.440714057 meters Centerline goodness [0,1] 0.9861303136041434 Centerline is valid? [True, True] Translation: X:481.30, Y:-22.06, Z:2.52 [[ 9.99778076e-01 1.91959104e-02 8.67842156e-03 4.81297106e+02] [-1.91916334e-02 9.99815658e-01 -5.75849745e-04 -2.20594980e+01] [-8.68787572e-03 4.09168866e-04 9.99962176e-01 2.51516637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.470714057 meters Centerline goodness [0,1] 0.9848767123287672 Centerline is valid? [True, True] Translation: X:481.33, Y:-22.06, Z:2.52 [[ 9.99772791e-01 1.81050803e-02 1.12504094e-02 4.81325841e+02] [-1.80978360e-02 9.99835943e-01 -7.45401965e-04 -2.20642518e+01] [-1.12620592e-02 5.41624540e-04 9.99936434e-01 2.51561318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.500714057 meters Centerline goodness [0,1] 0.9855405849490634 Centerline is valid? [True, True] Translation: X:481.36, Y:-22.07, Z:2.52 [[ 9.99772257e-01 1.75083232e-02 1.22021488e-02 4.81355557e+02] [-1.74997657e-02 9.99846541e-01 -8.07738717e-04 -2.20674553e+01] [-1.22144184e-02 5.94020014e-04 9.99925225e-01 2.51565950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.530714057 meters Centerline goodness [0,1] 0.9847391847742671 Centerline is valid? [True, True] Translation: X:481.39, Y:-22.07, Z:2.52 [[ 9.99780129e-01 1.64700220e-02 1.29781209e-02 4.81385433e+02] [-1.64602604e-02 9.99864152e-01 -8.58619194e-04 -2.20710406e+01] [-1.29904993e-02 6.44807158e-04 9.99915412e-01 2.51525130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.560714057 meters Centerline goodness [0,1] 0.985112205801861 Centerline is valid? [True, True] Translation: X:481.41, Y:-22.08, Z:2.51 [[ 9.99791268e-01 1.50468382e-02 1.38207534e-02 4.81414930e+02] [-1.50356378e-02 9.99886541e-01 -9.13961687e-04 -2.20777147e+01] [-1.38329375e-02 7.05967073e-04 9.99904071e-01 2.51410159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.590714057 meters Centerline goodness [0,1] 0.9837882655844298 Centerline is valid? [True, True] Translation: X:481.45, Y:-22.08, Z:2.51 [[ 9.99800854e-01 1.38649258e-02 1.43532498e-02 4.81446258e+02] [-1.38527066e-02 9.99903595e-01 -9.50394207e-04 -2.20820349e+01] [-1.43650432e-02 7.51373582e-04 9.99896535e-01 2.51306946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.620714057 meters Centerline goodness [0,1] 0.9834034850500513 Centerline is valid? [True, True] Translation: X:481.48, Y:-22.09, Z:2.51 [[ 9.99831359e-01 1.17860999e-02 1.40833600e-02 4.81477610e+02] [-1.17741236e-02 9.99930247e-01 -9.33000779e-04 -2.20872968e+01] [-1.40933741e-02 7.67024216e-04 9.99900389e-01 2.51184180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.650714057 meters Centerline goodness [0,1] 0.983640618507097 Centerline is valid? [True, True] Translation: X:481.51, Y:-22.09, Z:2.51 [[ 9.99843949e-01 1.00918971e-02 1.44993321e-02 4.81509260e+02] [-1.00790159e-02 9.99948743e-01 -9.61200254e-04 -2.20897421e+01] [-1.45082893e-02 8.14911259e-04 9.99894417e-01 2.51083540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.680714057 meters Centerline goodness [0,1] 0.9823629687909783 Centerline is valid? [True, True] Translation: X:481.54, Y:-22.10, Z:2.51 [[ 9.99860819e-01 9.20632508e-03 1.39135170e-02 4.81539760e+02] [-9.19435503e-03 9.99957304e-01 -9.24040719e-04 -2.20967836e+01] [-1.39214299e-02 7.95986295e-04 9.99902775e-01 2.51048026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.710714057 meters Centerline goodness [0,1] 0.9826030085022891 Centerline is valid? [True, True] Translation: X:481.57, Y:-22.10, Z:2.51 [[ 9.99857740e-01 8.66740293e-03 1.44697934e-02 4.81572173e+02] [-8.65435100e-03 9.99962085e-01 -9.64386311e-04 -2.20975807e+01] [-1.44776035e-02 8.39022447e-04 9.99894842e-01 2.50971267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.740714057 meters Centerline goodness [0,1] 0.9826821954717309 Centerline is valid? [True, True] Translation: X:481.60, Y:-22.10, Z:2.51 [[ 9.99858920e-01 7.88051451e-03 1.48336709e-02 4.81602664e+02] [-7.86666078e-03 9.99968565e-01 -9.92056881e-04 -2.21021957e+01] [-1.48410226e-02 8.75225464e-04 9.99889483e-01 2.50919848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.770714057 meters Centerline goodness [0,1] 0.9810935770257657 Centerline is valid? [True, True] Translation: X:481.63, Y:-22.11, Z:2.51 [[ 9.99856374e-01 6.84498268e-03 1.55041385e-02 4.81633766e+02] [-6.82969021e-03 9.99976138e-01 -1.03908128e-03 -2.21099654e+01] [-1.55108811e-02 9.33043574e-04 9.99879264e-01 2.50921613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.800714057 meters Centerline goodness [0,1] 0.9842547083641425 Centerline is valid? [True, True] Translation: X:481.67, Y:-22.10, Z:2.51 [[ 9.99861807e-01 6.99070590e-03 1.50829766e-02 4.81667301e+02] [-6.97619853e-03 9.99975152e-01 -1.01423788e-03 -2.21036297e+01] [-1.50896921e-02 9.08875882e-04 9.99885731e-01 2.50816781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.830714057 meters Centerline goodness [0,1] 0.9840633980667073 Centerline is valid? [True, True] Translation: X:481.70, Y:-22.11, Z:2.51 [[ 9.99856434e-01 7.80624676e-03 1.50390982e-02 4.81699582e+02] [-7.79185207e-03 9.99969127e-01 -1.01550892e-03 -2.21061806e+01] [-1.50465613e-02 8.98180696e-04 9.99886391e-01 2.50671254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.860714057 meters Centerline goodness [0,1] 0.9858772995487678 Centerline is valid? [True, True] Translation: X:481.73, Y:-22.11, Z:2.51 [[ 9.99846334e-01 9.39473355e-03 1.48002571e-02 4.81731702e+02] [-9.38091187e-03 9.99955495e-01 -1.00302924e-03 -2.21052999e+01] [-1.48090216e-02 8.64035205e-04 9.99889967e-01 2.50568075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.890714057 meters Centerline goodness [0,1] 0.9844026476177994 Centerline is valid? [True, True] Translation: X:481.76, Y:-22.11, Z:2.50 [[ 9.99813915e-01 1.17139193e-02 1.53271084e-02 4.81761948e+02] [-1.16993145e-02 9.99931018e-01 -1.04219582e-03 -2.21085836e+01] [-1.53382593e-02 8.62685220e-04 9.99881990e-01 2.50463701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.920714057 meters Centerline goodness [0,1] 0.9846532282641821 Centerline is valid? [True, True] Translation: X:481.79, Y:-22.11, Z:2.50 [[ 9.99786139e-01 1.34534799e-02 1.57060309e-02 4.81794076e+02] [-1.34383516e-02 9.99909131e-01 -1.06835937e-03 -2.21068161e+01] [-1.57189769e-02 8.57067728e-04 9.99876082e-01 2.50413332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.950714057 meters Centerline goodness [0,1] 0.9841709364439115 Centerline is valid? [True, True] Translation: X:481.82, Y:-22.11, Z:2.50 [[ 9.99750284e-01 1.60028305e-02 1.55973953e-02 4.81823909e+02] [-1.59882082e-02 9.99871617e-01 -1.06173375e-03 -2.21108682e+01] [-1.56123836e-02 8.12094211e-04 9.99877790e-01 2.50337654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.980714057 meters Centerline goodness [0,1] 0.9845660146699267 Centerline is valid? [True, True] Translation: X:481.86, Y:-22.11, Z:2.50 [[ 9.99727382e-01 1.72266684e-02 1.57608035e-02 4.81855342e+02] [-1.72118843e-02 9.99851289e-01 -1.07320254e-03 -2.21112582e+01] [-1.57769474e-02 8.01636843e-04 9.99875215e-01 2.50259265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.01071405700003 meters Centerline goodness [0,1] 0.984279819217921 Centerline is valid? [True, True] Translation: X:481.89, Y:-22.11, Z:2.50 [[ 9.99716228e-01 1.85882052e-02 1.48977437e-02 4.81886392e+02] [-1.85751392e-02 9.99826952e-01 -1.01494625e-03 -2.21132050e+01] [-1.49140317e-02 7.37930569e-04 9.99888507e-01 2.50201152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.040714057 meters Centerline goodness [0,1] 0.9851557554192407 Centerline is valid? [True, True] Translation: X:481.92, Y:-22.12, Z:2.50 [[ 9.99719131e-01 1.87739375e-02 1.44637189e-02 4.81916842e+02] [-1.87616347e-02 9.99823499e-01 -9.85828735e-04 -2.21152159e+01] [-1.44796739e-02 7.14188836e-04 9.99894909e-01 2.50102090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.070714057 meters Centerline goodness [0,1] 0.985989874301676 Centerline is valid? [True, True] Translation: X:481.95, Y:-22.12, Z:2.50 [[ 9.99732800e-01 1.84643833e-02 1.39066338e-02 4.81946863e+02] [-1.84529801e-02 9.99829280e-01 -9.47858521e-04 -2.21196747e+01] [-1.39217612e-02 6.90986417e-04 9.99902849e-01 2.49979548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.100714057 meters Centerline goodness [0,1] 0.9843532986111111 Centerline is valid? [True, True] Translation: X:481.98, Y:-22.12, Z:2.50 [[ 9.99755604e-01 1.72754750e-02 1.37945720e-02 4.81976198e+02] [-1.72641423e-02 9.99850522e-01 -9.40204906e-04 -2.21249654e+01] [-1.38087525e-02 7.01823670e-04 9.99904408e-01 2.49922687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.130714057 meters Centerline goodness [0,1] 0.9850098188959197 Centerline is valid? [True, True] Translation: X:482.01, Y:-22.13, Z:2.50 [[ 9.99762098e-01 1.64874857e-02 1.42797463e-02 4.82006770e+02] [-1.64752646e-02 9.99863800e-01 -9.73058116e-04 -2.21293769e+01] [-1.42938446e-02 7.37564025e-04 9.99897566e-01 2.49894678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.160714057 meters Centerline goodness [0,1] 0.9839192708333333 Centerline is valid? [True, True] Translation: X:482.04, Y:-22.13, Z:2.50 [[ 9.99760453e-01 1.62001196e-02 1.47170854e-02 4.82037576e+02] [-1.61871030e-02 9.99868477e-01 -1.00315875e-03 -2.21329467e+01] [-1.47314011e-02 7.64691472e-04 9.99891195e-01 2.49852598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.190714057 meters Centerline goodness [0,1] 0.9853424806708048 Centerline is valid? [True, True] Translation: X:482.07, Y:-22.13, Z:2.50 [[ 9.99762145e-01 1.61511579e-02 1.46558677e-02 4.82069078e+02] [-1.61382365e-02 9.99869271e-01 -9.99502052e-04 -2.21335442e+01] [-1.46700949e-02 7.62744456e-04 9.99892097e-01 2.49830009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.220714057 meters Centerline goodness [0,1] 0.9828222724113969 Centerline is valid? [True, True] Translation: X:482.10, Y:-22.14, Z:2.50 [[ 9.99748811e-01 1.67043658e-02 1.49425126e-02 4.82099190e+02] [-1.66909878e-02 9.99860176e-01 -1.01956423e-03 -2.21413470e+01] [-1.49574545e-02 7.69902835e-04 9.99887835e-01 2.49793938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.250714057 meters Centerline goodness [0,1] 0.9852609186420075 Centerline is valid? [True, True] Translation: X:482.13, Y:-22.14, Z:2.50 [[ 9.99740283e-01 1.73653032e-02 1.47584643e-02 4.82131089e+02] [-1.73523203e-02 9.99848930e-01 -1.00730246e-03 -2.21392169e+01] [-1.47737268e-02 7.50947245e-04 9.99890581e-01 2.49758711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.280714057 meters Centerline goodness [0,1] 0.9837647519071526 Centerline is valid? [True, True] Translation: X:482.16, Y:-22.14, Z:2.50 [[ 9.99726830e-01 1.78647439e-02 1.50703829e-02 4.82161101e+02] [-1.78512526e-02 9.99840124e-01 -1.02927912e-03 -2.21432036e+01] [-1.50863614e-02 7.59972736e-04 9.99885906e-01 2.49706717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.310714057 meters Centerline goodness [0,1] 0.9779840363953937 Centerline is valid? [True, True] Translation: X:482.19, Y:-22.17, Z:2.50 [[ 9.99684505e-01 2.09085554e-02 1.39184497e-02 4.82189755e+02] [-2.08973260e-02 9.99781174e-01 -9.51765360e-04 -2.21650381e+01] [-1.39353040e-02 6.60606701e-04 9.99902681e-01 2.49723706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.340714057 meters Centerline goodness [0,1] 0.9830022217908065 Centerline is valid? [True, True] Translation: X:482.22, Y:-22.15, Z:2.50 [[ 9.99763752e-01 1.61523299e-02 1.45445193e-02 4.82221528e+02] [-1.61395619e-02 9.99869254e-01 -9.94815524e-04 -2.21516136e+01] [-1.45586863e-02 7.59838331e-04 9.99893728e-01 2.49531814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.370714057 meters Centerline goodness [0,1] 0.9829566345841895 Centerline is valid? [True, True] Translation: X:482.25, Y:-22.16, Z:2.49 [[ 9.99789773e-01 1.45600850e-02 1.44365357e-02 4.82252461e+02] [-1.45473402e-02 9.99893694e-01 -9.87444187e-04 -2.21564806e+01] [-1.44493782e-02 7.77223404e-04 9.99895300e-01 2.49461932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.400714057 meters Centerline goodness [0,1] 0.9822865299766416 Centerline is valid? [True, True] Translation: X:482.28, Y:-22.16, Z:2.49 [[ 9.99846151e-01 1.03502765e-02 1.41614205e-02 4.82283493e+02] [-1.03375851e-02 9.99946096e-01 -9.69102040e-04 -2.21607868e+01] [-1.41706876e-02 8.22558055e-04 9.99899252e-01 2.49316749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.430714057 meters Centerline goodness [0,1] 0.9818931284530387 Centerline is valid? [True, True] Translation: X:482.32, Y:-22.16, Z:2.49 [[ 9.99871293e-01 8.71290971e-03 1.34715835e-02 4.82315755e+02] [-8.70127323e-03 9.99961718e-01 -9.22152534e-04 -2.21647316e+01] [-1.34791024e-02 8.04813918e-04 9.99908829e-01 2.49222182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.460714057 meters Centerline goodness [0,1] 0.9818666781389146 Centerline is valid? [True, True] Translation: X:482.35, Y:-22.17, Z:2.49 [[ 9.99887291e-01 7.51013550e-03 1.30001351e-02 4.82346419e+02] [-7.49918573e-03 9.99971484e-01 -8.90824440e-04 -2.21713493e+01] [-1.30064546e-02 7.93233608e-04 9.99915098e-01 2.49145411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.490714057 meters Centerline goodness [0,1] 0.9817670303238554 Centerline is valid? [True, True] Translation: X:482.38, Y:-22.18, Z:2.49 [[ 9.99909798e-01 5.24590057e-03 1.23643347e-02 4.82377122e+02] [-5.23578721e-03 9.99985932e-01 -8.50174742e-04 -2.21767709e+01] [-1.23686207e-02 7.85361029e-04 9.99923197e-01 2.49020426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.520714057 meters Centerline goodness [0,1] 0.9817693794288168 Centerline is valid? [True, True] Translation: X:482.41, Y:-22.18, Z:2.49 [[ 9.99922336e-01 4.63155277e-03 1.15702293e-02 4.82408945e+02] [-4.62265735e-03 9.99988999e-01 -7.95444904e-04 -2.21790102e+01] [-1.15737861e-02 7.41897921e-04 9.99932746e-01 2.48890769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.550714057 meters Centerline goodness [0,1] 0.9816757858598862 Centerline is valid? [True, True] Translation: X:482.44, Y:-22.18, Z:2.49 [[ 9.99944576e-01 3.17014619e-03 1.00396568e-02 4.82439370e+02] [-3.16334764e-03 9.99994756e-01 -6.92976885e-04 -2.21843413e+01] [-1.00418010e-02 6.61179553e-04 9.99949361e-01 2.48751826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.580714057 meters Centerline goodness [0,1] 0.9829399995697352 Centerline is valid? [True, True] Translation: X:482.47, Y:-22.19, Z:2.49 [[ 9.99941564e-01 3.21038058e-03 1.03228666e-02 4.82471441e+02] [-3.20319694e-03 9.99994616e-01 -7.12353928e-04 -2.21876846e+01] [-1.03250979e-02 6.79246126e-04 9.99946464e-01 2.48729798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.610714057 meters Centerline goodness [0,1] 0.9810555958527115 Centerline is valid? [True, True] Translation: X:482.50, Y:-22.19, Z:2.49 [[ 9.99930257e-01 3.44188468e-03 1.12975619e-02 4.82503239e+02] [-3.43325964e-03 9.99993800e-01 -7.82747985e-04 -2.21922454e+01] [-1.13001859e-02 7.43905931e-04 9.99935874e-01 2.48750020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.640714057 meters Centerline goodness [0,1] 0.9811187312473211 Centerline is valid? [True, True] Translation: X:482.54, Y:-22.19, Z:2.49 [[ 9.99928304e-01 2.75576494e-03 1.16530307e-02 4.82535030e+02] [-2.74650413e-03 9.99995900e-01 -8.10640910e-04 -2.21949620e+01] [-1.16552168e-02 7.78577693e-04 9.99931773e-01 2.48784377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.670714057 meters Centerline goodness [0,1] 0.9805973029179084 Centerline is valid? [True, True] Translation: X:482.57, Y:-22.20, Z:2.49 [[ 9.99934253e-01 2.87538182e-03 1.11005469e-02 4.82567910e+02] [-2.86695745e-03 9.99995590e-01 -7.74753661e-04 -2.21981867e+01] [-1.11027257e-02 7.42877928e-04 9.99938087e-01 2.48751246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.700714057 meters Centerline goodness [0,1] 0.9811673252018553 Centerline is valid? [True, True] Translation: X:482.60, Y:-22.20, Z:2.49 [[ 9.99945008e-01 2.27416353e-03 1.02376656e-02 4.82599806e+02] [-2.26693888e-03 9.99997173e-01 -7.17242570e-04 -2.22003058e+01] [-1.02392678e-02 6.93994965e-04 9.99947336e-01 2.48640496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.730714057 meters Centerline goodness [0,1] 0.980106100795756 Centerline is valid? [True, True] Translation: X:482.63, Y:-22.21, Z:2.49 [[ 9.99944582e-01 2.10554134e-03 1.03149866e-02 4.82630169e+02] [-2.09816769e-03 9.99997536e-01 -7.25617778e-04 -2.22061073e+01] [-1.03164890e-02 7.03934995e-04 9.99946536e-01 2.48552321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.76071405700003 meters Centerline goodness [0,1] 0.9799391315530027 Centerline is valid? [True, True] Translation: X:482.66, Y:-22.21, Z:2.49 [[ 9.99946813e-01 2.32383342e-03 1.00483879e-02 4.82661644e+02] [-2.31683870e-03 9.99997066e-01 -7.07688549e-04 -2.22096149e+01] [-1.00500029e-02 6.84370416e-04 9.99949263e-01 2.48508646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.790714057 meters Centerline goodness [0,1] 0.9797559622850804 Centerline is valid? [True, True] Translation: X:482.69, Y:-22.21, Z:2.48 [[ 9.99943680e-01 3.53851495e-03 1.00057965e-02 4.82691974e+02] [-3.53160660e-03 9.99993513e-01 -7.08018664e-04 -2.22113352e+01] [-1.00082370e-02 6.72642251e-04 9.99949690e-01 2.48470920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.820714057 meters Centerline goodness [0,1] 0.9804140059143702 Centerline is valid? [True, True] Translation: X:482.72, Y:-22.21, Z:2.48 [[ 9.99947160e-01 4.80082759e-03 9.09009699e-03 4.82723849e+02] [-4.79517839e-03 9.99988296e-01 -6.43159939e-04 -2.22127126e+01] [-9.09307830e-03 5.99537318e-04 9.99958477e-01 2.48412206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.850714057 meters Centerline goodness [0,1] 0.9808948469453102 Centerline is valid? [True, True] Translation: X:482.76, Y:-22.21, Z:2.48 [[ 9.99938663e-01 7.12359398e-03 8.48089050e-03 4.82755380e+02] [-7.11875409e-03 9.99974481e-01 -6.00733551e-04 -2.22090380e+01] [-8.48495345e-03 5.40323330e-04 9.99963856e-01 2.48283276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.880714057 meters Centerline goodness [0,1] 0.9813645991570209 Centerline is valid? [True, True] Translation: X:482.79, Y:-22.21, Z:2.48 [[ 9.99931269e-01 8.40414953e-03 8.17477554e-03 4.82786478e+02] [-8.39970068e-03 9.99964555e-01 -5.78398200e-04 -2.22124347e+01] [-8.17934673e-03 5.09692779e-04 9.99966419e-01 2.48196823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.910714057 meters Centerline goodness [0,1] 0.9807700525618563 Centerline is valid? [True, True] Translation: X:482.82, Y:-22.21, Z:2.48 [[ 9.99927614e-01 9.12771722e-03 7.83915886e-03 4.82818119e+02] [-9.12362711e-03 9.99958224e-01 -5.57357295e-04 -2.22148131e+01] [-7.84391877e-03 4.85795387e-04 9.99969118e-01 2.48133018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.940714057 meters Centerline goodness [0,1] 0.9826288361320208 Centerline is valid? [True, True] Translation: X:482.85, Y:-22.22, Z:2.48 [[ 9.99913566e-01 1.04674504e-02 7.95572296e-03 4.82849649e+02] [-1.04632777e-02 9.99945098e-01 -5.65929795e-04 -2.22153517e+01] [-7.96121002e-03 4.82637941e-04 9.99968193e-01 2.48116322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.970714057 meters Centerline goodness [0,1] 0.9823358537314708 Centerline is valid? [True, True] Translation: X:482.88, Y:-22.22, Z:2.48 [[ 9.99904233e-01 1.11918736e-02 8.14039999e-03 4.82879822e+02] [-1.11875257e-02 9.99937250e-01 -5.79461675e-04 -2.22192666e+01] [-8.14637444e-03 4.88335248e-04 9.99966699e-01 2.48048704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.000714057 meters Centerline goodness [0,1] 0.9818418192280642 Centerline is valid? [True, True] Translation: X:482.91, Y:-22.22, Z:2.48 [[ 9.99906900e-01 1.15585556e-02 7.25194863e-03 4.82909770e+02] [-1.15551138e-02 9.99933104e-01 -5.16324747e-04 -2.22232007e+01] [-7.25743147e-03 4.32479586e-04 9.99973571e-01 2.47950266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.030714057 meters Centerline goodness [0,1] 0.9822416924885138 Centerline is valid? [True, True] Translation: X:482.94, Y:-22.23, Z:2.48 [[ 9.99910082e-01 1.14559705e-02 6.97052787e-03 4.82940468e+02] [-1.14527866e-02 9.99934291e-01 -4.96507341e-04 -2.22267016e+01] [-6.97575782e-03 4.16630728e-04 9.99975582e-01 2.47922500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.060714057 meters Centerline goodness [0,1] 0.9832627974734693 Centerline is valid? [True, True] Translation: X:482.97, Y:-22.23, Z:2.48 [[ 9.99909785e-01 1.12561578e-02 7.32941340e-03 4.82971098e+02] [-1.12526323e-02 9.99936551e-01 -5.22070584e-04 -2.22284573e+01] [-7.33482486e-03 4.39548292e-04 9.99973003e-01 2.47895777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.090714057 meters Centerline goodness [0,1] 0.9828052756056506 Centerline is valid? [True, True] Translation: X:483.00, Y:-22.23, Z:2.48 [[ 9.99916524e-01 1.03761699e-02 7.69937807e-03 4.83001329e+02] [-1.03722535e-02 9.99946056e-01 -5.48422990e-04 -2.22317622e+01] [-7.70465327e-03 4.68517308e-04 9.99970209e-01 2.47894273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.120714057 meters Centerline goodness [0,1] 0.9831392502075661 Centerline is valid? [True, True] Translation: X:483.03, Y:-22.23, Z:2.48 [[ 9.99914041e-01 1.03784532e-02 8.01238426e-03 4.83032318e+02] [-1.03742119e-02 9.99946024e-01 -5.70718270e-04 -2.22326069e+01] [-8.01787496e-03 4.87547039e-04 9.99967737e-01 2.47913525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.150714057 meters Centerline goodness [0,1] 0.9827288796132632 Centerline is valid? [True, True] Translation: X:483.06, Y:-22.24, Z:2.48 [[ 9.99910762e-01 1.05805715e-02 8.15600816e-03 4.83061957e+02] [-1.05761843e-02 9.99943902e-01 -5.80861048e-04 -2.22397872e+01] [-8.16169647e-03 4.94549768e-04 9.99966571e-01 2.47849127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.180714057 meters Centerline goodness [0,1] 0.9828855551524722 Centerline is valid? [True, True] Translation: X:483.09, Y:-22.24, Z:2.48 [[ 9.99908926e-01 1.07617775e-02 8.14390779e-03 4.83092700e+02] [-1.07574073e-02 9.99941969e-01 -5.80236241e-04 -2.22423505e+01] [-8.14967956e-03 4.92576064e-04 9.99966669e-01 2.47845264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.210714057 meters Centerline goodness [0,1] 0.9829138225255972 Centerline is valid? [True, True] Translation: X:483.12, Y:-22.25, Z:2.48 [[ 9.99908710e-01 1.05771986e-02 8.40795074e-03 4.83122961e+02] [-1.05725339e-02 9.99943930e-01 -5.99048743e-04 -2.22468686e+01] [-8.41381556e-03 5.10100712e-04 9.99964473e-01 2.47831162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.240714057 meters Centerline goodness [0,1] 0.9831904236352831 Centerline is valid? [True, True] Translation: X:483.15, Y:-22.25, Z:2.48 [[ 9.99912647e-01 1.02430678e-02 8.35332835e-03 4.83152790e+02] [-1.02384526e-02 9.99947409e-01 -5.95075031e-04 -2.22512481e+01] [-8.35898443e-03 5.09497893e-04 9.99964933e-01 2.47795238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.270714057 meters Centerline goodness [0,1] 0.9828029674978211 Centerline is valid? [True, True] Translation: X:483.18, Y:-22.25, Z:2.48 [[ 9.99923943e-01 9.65576871e-03 7.67298399e-03 4.83183483e+02] [-9.65185656e-03 9.99953270e-01 -5.46728122e-04 -2.22547547e+01] [-7.67790451e-03 4.72627999e-04 9.99970413e-01 2.47713252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.300714057 meters Centerline goodness [0,1] 0.9828029674978211 Centerline is valid? [True, True] Translation: X:483.21, Y:-22.26, Z:2.48 [[ 9.99923600e-01 9.69125169e-03 7.67298091e-03 4.83214303e+02] [-9.68734025e-03 9.99952927e-01 -5.46771362e-04 -2.22569819e+01] [-7.67791862e-03 4.72398812e-04 9.99970413e-01 2.47673236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.330714057 meters Centerline goodness [0,1] 0.9816574350234342 Centerline is valid? [True, True] Translation: X:483.24, Y:-22.26, Z:2.48 [[ 9.99952143e-01 7.32644013e-03 6.48347055e-03 4.83244352e+02] [-7.32359616e-03 9.99973075e-01 -4.62283094e-04 -2.22641298e+01] [-6.48668287e-03 4.14778650e-04 9.99978875e-01 2.47518963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.360714057 meters Centerline goodness [0,1] 0.9817261677889298 Centerline is valid? [True, True] Translation: X:483.27, Y:-22.27, Z:2.47 [[ 9.99965389e-01 5.12360254e-03 6.55516945e-03 4.83274065e+02] [-5.12065009e-03 9.99986780e-01 -4.67104202e-04 -2.22710672e+01] [-6.55747604e-03 4.33521306e-04 9.99978406e-01 2.47442150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.390714057 meters Centerline goodness [0,1] 0.9817051170490481 Centerline is valid? [True, True] Translation: X:483.31, Y:-22.27, Z:2.47 [[ 9.99969312e-01 4.41755834e-03 6.47001341e-03 4.83305379e+02] [-4.41466206e-03 9.99990149e-01 -4.61859630e-04 -2.22746789e+01] [-6.47198996e-03 4.33282533e-04 9.99978963e-01 2.47450253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.420714057 meters Centerline goodness [0,1] 0.9813335593363985 Centerline is valid? [True, True] Translation: X:483.34, Y:-22.28, Z:2.47 [[ 9.99964287e-01 4.51483217e-03 7.14426113e-03 4.83336829e+02] [-4.51130114e-03 9.99989694e-01 -5.10284900e-04 -2.22771303e+01] [-7.14649135e-03 4.78036763e-04 9.99974349e-01 2.47462264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.450714057 meters Centerline goodness [0,1] 0.9823145677129665 Centerline is valid? [True, True] Translation: X:483.37, Y:-22.28, Z:2.47 [[ 9.99957709e-01 5.49966794e-03 7.37120906e-03 4.83369304e+02] [-5.49594231e-03 9.99984759e-01 -5.25592021e-04 -2.22775195e+01] [-7.37398730e-03 4.85058054e-04 9.99972694e-01 2.47434855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.480714057 meters Centerline goodness [0,1] 0.9828477045570049 Centerline is valid? [True, True] Translation: X:483.40, Y:-22.28, Z:2.47 [[ 9.99958729e-01 6.49729987e-03 6.35018234e-03 4.83400384e+02] [-6.49453900e-03 9.99978807e-01 -4.55294653e-04 -2.22785273e+01] [-6.35300594e-03 4.14034356e-04 9.99979734e-01 2.47341540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.51071405700003 meters Centerline goodness [0,1] 0.9824228228988626 Centerline is valid? [True, True] Translation: X:483.43, Y:-22.28, Z:2.47 [[ 9.99957014e-01 7.16265791e-03 5.88777448e-03 4.83430512e+02] [-7.16029421e-03 9.99974276e-01 -4.22439673e-04 -2.22808815e+01] [-5.89064881e-03 3.80263317e-04 9.99982578e-01 2.47270317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.540714057 meters Centerline goodness [0,1] 0.9822460074753653 Centerline is valid? [True, True] Translation: X:483.46, Y:-22.28, Z:2.47 [[ 9.99958604e-01 7.08632205e-03 5.70741099e-03 4.83461403e+02] [-7.08409990e-03 9.99974824e-01 -4.09467522e-04 -2.22833304e+01] [-5.71016892e-03 3.69018702e-04 9.99983629e-01 2.47226681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.570714057 meters Centerline goodness [0,1] 0.9830799567457541 Centerline is valid? [True, True] Translation: X:483.49, Y:-22.28, Z:2.47 [[ 9.99960537e-01 6.83524279e-03 5.67485300e-03 4.83493161e+02] [-6.83304082e-03 9.99976572e-01 -4.07319814e-04 -2.22821323e+01] [-5.67750418e-03 3.68527237e-04 9.99983815e-01 2.47222401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.600714057 meters Centerline goodness [0,1] 0.9821075670966234 Centerline is valid? [True, True] Translation: X:483.52, Y:-22.29, Z:2.47 [[ 9.99967269e-01 5.89746524e-03 5.53909180e-03 4.83524383e+02] [-5.89535201e-03 9.99982543e-01 -3.97763254e-04 -2.22854245e+01] [-5.54134090e-03 3.65095338e-04 9.99984580e-01 2.47140846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.630714057 meters Centerline goodness [0,1] 0.9826770646893378 Centerline is valid? [True, True] Translation: X:483.55, Y:-22.29, Z:2.47 [[ 9.99988109e-01 2.94339529e-03 3.88812711e-03 4.83554942e+02] [-2.94233121e-03 9.99995632e-01 -2.79366964e-04 -2.22881415e+01] [-3.88893241e-03 2.67923485e-04 9.99992402e-01 2.47023045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.660714057 meters Centerline goodness [0,1] 0.9822204241546717 Centerline is valid? [True, True] Translation: X:483.58, Y:-22.29, Z:2.47 [[ 9.99994066e-01 1.23628874e-03 3.21543855e-03 4.83584443e+02] [-1.23555433e-03 9.99999210e-01 -2.30377042e-04 -2.22927376e+01] [-3.21572082e-03 2.26402826e-04 9.99994804e-01 2.46908783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.690714057 meters Centerline goodness [0,1] 0.9790092180614396 Centerline is valid? [True, True] Translation: X:483.61, Y:-22.31, Z:2.47 [[ 9.99989382e-01 -3.47298410e-03 3.02898925e-03 4.83613636e+02] [ 3.47365925e-03 9.99993943e-01 -2.17662187e-04 -2.23060187e+01] [-3.02821497e-03 2.28181552e-04 9.99995389e-01 2.46671127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.720714057 meters Centerline goodness [0,1] 0.9806265984654732 Centerline is valid? [True, True] Translation: X:483.65, Y:-22.30, Z:2.47 [[ 9.99979093e-01 -5.57444301e-03 3.27715550e-03 4.83645080e+02] [ 5.57524538e-03 9.99984430e-01 -2.35752652e-04 -2.23049450e+01] [-3.27579028e-03 2.54018669e-04 9.99994602e-01 2.46775408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.750714057 meters Centerline goodness [0,1] 0.9761046275948881 Centerline is valid? [True, True] Translation: X:483.67, Y:-22.31, Z:2.47 [[ 9.99966550e-01 -7.34361217e-03 3.60145039e-03 4.83674350e+02] [ 7.34459437e-03 9.99972994e-01 -2.59571652e-04 -2.23147725e+01] [-3.59944694e-03 2.86014162e-04 9.99993481e-01 2.46753395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.780714057 meters Centerline goodness [0,1] 0.9798425801497408 Centerline is valid? [True, True] Translation: X:483.71, Y:-22.31, Z:2.47 [[ 9.99949510e-01 -9.17664876e-03 4.09465078e-03 4.83706628e+02] [ 9.17793238e-03 9.99957838e-01 -2.94806799e-04 -2.23065969e+01] [-4.09177280e-03 3.32372342e-04 9.99991573e-01 2.46946557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.810714057 meters Centerline goodness [0,1] 0.9790470907034801 Centerline is valid? [True, True] Translation: X:483.74, Y:-22.31, Z:2.47 [[ 9.99946946e-01 -9.45787610e-03 4.08081210e-03 4.83739108e+02] [ 9.45915270e-03 9.99955218e-01 -2.93642857e-04 -2.23095338e+01] [-4.07785211e-03 3.32228303e-04 9.99991630e-01 2.46884555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.840714057 meters Centerline goodness [0,1] 0.9786604195506335 Centerline is valid? [True, True] Translation: X:483.77, Y:-22.31, Z:2.47 [[ 9.99945510e-01 -9.76132523e-03 3.70037517e-03 4.83770810e+02] [ 9.76237661e-03 9.99952311e-01 -2.66171478e-04 -2.23108196e+01] [-3.69760052e-03 3.02281431e-04 9.99993118e-01 2.46803699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.870714057 meters Centerline goodness [0,1] 0.9780696134956225 Centerline is valid? [True, True] Translation: X:483.80, Y:-22.31, Z:2.47 [[ 9.99950493e-01 -9.36765104e-03 3.35548367e-03 4.83802955e+02] [ 9.36851506e-03 9.99956085e-01 -2.41869024e-04 -2.23130585e+01] [-3.35307057e-03 2.73292949e-04 9.99994341e-01 2.46754714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.900714057 meters Centerline goodness [0,1] 0.9775052437823724 Centerline is valid? [True, True] Translation: X:483.84, Y:-22.31, Z:2.47 [[ 9.99953056e-01 -8.98768976e-03 3.62033410e-03 4.83835347e+02] [ 8.98869427e-03 9.99959567e-01 -2.61286736e-04 -2.23149960e+01] [-3.61783936e-03 2.93816547e-04 9.99993412e-01 2.46699247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.930714057 meters Centerline goodness [0,1] 0.9765606671358799 Centerline is valid? [True, True] Translation: X:483.87, Y:-22.32, Z:2.47 [[ 9.99967089e-01 -7.08169052e-03 3.95869729e-03 4.83866379e+02] [ 7.08287939e-03 9.99974875e-01 -2.86380214e-04 -2.23151818e+01] [-3.95656977e-03 3.14409765e-04 9.99992123e-01 2.46704548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.960714057 meters Centerline goodness [0,1] 0.977100871837714 Centerline is valid? [True, True] Translation: X:483.90, Y:-22.31, Z:2.47 [[ 9.99981357e-01 -3.26590944e-03 5.15946567e-03 4.83896824e+02] [ 3.26788140e-03 9.99994591e-01 -3.73817464e-04 -2.23129145e+01] [-5.15821691e-03 3.90671017e-04 9.99986620e-01 2.46824860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.990714057 meters Centerline goodness [0,1] 0.9792914598665069 Centerline is valid? [True, True] Translation: X:483.93, Y:-22.31, Z:2.47 [[ 9.99980812e-01 -9.35900734e-04 6.12375883e-03 4.83928400e+02] [ 9.38634508e-04 9.99999461e-01 -4.43562108e-04 -2.23052797e+01] [-6.12334040e-03 4.49301569e-04 9.99981151e-01 2.46928844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.020714057 meters Centerline goodness [0,1] 0.9796426196451938 Centerline is valid? [True, True] Translation: X:483.96, Y:-22.31, Z:2.47 [[ 9.99975481e-01 1.78209080e-03 6.77215390e-03 4.83958632e+02] [-1.77880773e-03 9.99998297e-01 -4.90781268e-04 -2.23057370e+01] [-6.77301699e-03 4.78722874e-04 9.99976948e-01 2.46985000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.050714057 meters Centerline goodness [0,1] 0.9796519123334766 Centerline is valid? [True, True] Translation: X:483.99, Y:-22.31, Z:2.47 [[ 9.99940497e-01 7.40409186e-03 8.01141146e-03 4.83988621e+02] [-7.39967719e-03 9.99972453e-01 -5.80548221e-04 -2.23062408e+01] [-8.01548921e-03 5.21231818e-04 9.99967740e-01 2.47012453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.080714057 meters Centerline goodness [0,1] 0.9794605987611837 Centerline is valid? [True, True] Translation: X:484.02, Y:-22.31, Z:2.47 [[ 9.99917456e-01 9.92202671e-03 8.16297591e-03 4.84018760e+02] [-9.91752605e-03 9.99950645e-01 -5.91645770e-04 -2.23066691e+01] [-8.16844335e-03 5.10640407e-04 9.99966507e-01 2.46986266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.110714057 meters Centerline goodness [0,1] 0.9821497615672122 Centerline is valid? [True, True] Translation: X:484.05, Y:-22.30, Z:2.47 [[ 9.99858298e-01 1.48069096e-02 8.00874425e-03 4.84049943e+02] [-1.48027336e-02 9.99890265e-01 -5.80461251e-04 -2.22971123e+01] [-8.01646025e-03 4.61827691e-04 9.99967761e-01 2.46991192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.140714057 meters Centerline goodness [0,1] 0.9811822765797661 Centerline is valid? [True, True] Translation: X:484.08, Y:-22.30, Z:2.47 [[ 9.99824621e-01 1.70059497e-02 7.84384060e-03 4.84079154e+02] [-1.70020105e-02 9.99855294e-01 -5.68615117e-04 -2.23006676e+01] [-7.85237538e-03 4.35154334e-04 9.99969075e-01 2.46911449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.170714057 meters Centerline goodness [0,1] 0.9815085262660539 Centerline is valid? [True, True] Translation: X:484.11, Y:-22.31, Z:2.47 [[ 9.99802806e-01 1.85168008e-02 7.17473332e-03 4.84107504e+02] [-1.85135432e-02 9.99828474e-01 -5.20197624e-04 -2.23060803e+01] [-7.18313507e-03 3.87265309e-04 9.99974126e-01 2.46804136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.200714057 meters Centerline goodness [0,1] 0.984396797802245 Centerline is valid? [True, True] Translation: X:484.14, Y:-22.30, Z:2.47 [[ 9.99769376e-01 2.07123328e-02 5.67399648e-03 4.84137418e+02] [-2.07103323e-02 9.99785434e-01 -4.11112522e-04 -2.22996262e+01] [-5.68129413e-03 2.93507357e-04 9.99983818e-01 2.46771054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.230714057 meters Centerline goodness [0,1] 0.9837389618780961 Centerline is valid? [True, True] Translation: X:484.17, Y:-22.30, Z:2.47 [[ 9.99774529e-01 2.06710953e-02 4.85767262e-03 4.84166208e+02] [-2.06696276e-02 9.99786298e-01 -3.52150647e-04 -2.22997928e+01] [-4.86391387e-03 2.51664964e-04 9.99988139e-01 2.46715046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.26071405700003 meters Centerline goodness [0,1] 0.9844909691535458 Centerline is valid? [True, True] Translation: X:484.20, Y:-22.30, Z:2.47 [[ 9.99760706e-01 2.12706795e-02 5.10774119e-03 4.84195041e+02] [-2.12690667e-02 9.99773719e-01 -3.69871202e-04 -2.23008131e+01] [-5.11445282e-03 2.61145806e-04 9.99986887e-01 2.46667839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.290714057 meters Centerline goodness [0,1] 0.9848246427108707 Centerline is valid? [True, True] Translation: X:484.22, Y:-22.30, Z:2.47 [[ 9.99766188e-01 2.08829229e-02 5.61004070e-03 4.84224250e+02] [-2.08809740e-02 9.99781886e-01 -4.05751181e-04 -2.23027017e+01] [-5.61729035e-03 2.88513197e-04 9.99984181e-01 2.46649740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.320714057 meters Centerline goodness [0,1] 0.9842612672578532 Centerline is valid? [True, True] Translation: X:484.25, Y:-22.31, Z:2.47 [[ 9.99764344e-01 2.07891378e-02 6.25046937e-03 4.84252345e+02] [-2.07867190e-02 9.99783831e-01 -4.51697172e-04 -2.23059902e+01] [-6.25850860e-03 3.21663976e-04 9.99980364e-01 2.46609769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.350714057 meters Centerline goodness [0,1] 0.9837259931455177 Centerline is valid? [True, True] Translation: X:484.28, Y:-22.31, Z:2.47 [[ 9.99783888e-01 1.97215304e-02 6.57555461e-03 4.84279627e+02] [-1.97188356e-02 9.99805452e-01 -4.74403302e-04 -2.23090947e+01] [-6.58363131e-03 3.44638497e-04 9.99978268e-01 2.46666862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.380714057 meters Centerline goodness [0,1] 0.9843177013676172 Centerline is valid? [True, True] Translation: X:484.31, Y:-22.31, Z:2.47 [[ 9.99793322e-01 1.91370052e-02 6.86206082e-03 4.84308442e+02] [-1.91340620e-02 9.99816805e-01 -4.94310317e-04 -2.23111698e+01] [-6.87026334e-03 3.62909057e-04 9.99976334e-01 2.46633986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.410714057 meters Centerline goodness [0,1] 0.9833700012941633 Centerline is valid? [True, True] Translation: X:484.34, Y:-22.31, Z:2.47 [[ 9.99828275e-01 1.72565137e-02 6.75518900e-03 4.84337783e+02] [-1.72536233e-02 9.99851027e-01 -4.85934667e-04 -2.23137763e+01] [-6.76256819e-03 3.69299734e-04 9.99977065e-01 2.46602245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.440714057 meters Centerline goodness [0,1] 0.9832993890020366 Centerline is valid? [True, True] Translation: X:484.37, Y:-22.32, Z:2.47 [[ 9.99841788e-01 1.64087394e-02 6.86674054e-03 4.84365669e+02] [-1.64057356e-02 9.99865295e-01 -4.93538098e-04 -2.23189527e+01] [-6.87391389e-03 3.80806085e-04 9.99976302e-01 2.46532553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.470714057 meters Centerline goodness [0,1] 0.9840911047963489 Centerline is valid? [True, True] Translation: X:484.40, Y:-22.32, Z:2.46 [[ 9.99873362e-01 1.44600492e-02 6.64585789e-03 4.84395127e+02] [-1.44571918e-02 9.99895375e-01 -4.77789155e-04 -2.23201551e+01] [-6.65207142e-03 3.81648206e-04 9.99977802e-01 2.46492105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.500714057 meters Centerline goodness [0,1] 0.9832172941378717 Centerline is valid? [True, True] Translation: X:484.42, Y:-22.32, Z:2.46 [[ 9.99881822e-01 1.37332573e-02 6.90943423e-03 4.84424330e+02] [-1.37301533e-02 9.99905614e-01 -4.96472761e-04 -2.23232863e+01] [-6.91560026e-03 4.01546497e-04 9.99976006e-01 2.46432768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.530714057 meters Centerline goodness [0,1] 0.9823576068082918 Centerline is valid? [True, True] Translation: X:484.45, Y:-22.33, Z:2.46 [[ 9.99885899e-01 1.32768152e-02 7.20527243e-03 4.84453935e+02] [-1.32734299e-02 9.99911770e-01 -5.17453591e-04 -2.23262014e+01] [-7.21150684e-03 4.21755871e-04 9.99973908e-01 2.46396607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.560714057 meters Centerline goodness [0,1] 0.9834331509328278 Centerline is valid? [True, True] Translation: X:484.48, Y:-22.33, Z:2.46 [[ 9.99893024e-01 1.27999576e-02 7.07821420e-03 4.84483903e+02] [-1.27966804e-02 9.99917990e-01 -5.08092276e-04 -2.23250343e+01] [-7.08413727e-03 4.17460277e-04 9.99974820e-01 2.46472748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.590714057 meters Centerline goodness [0,1] 0.9833580916704342 Centerline is valid? [True, True] Translation: X:484.51, Y:-22.33, Z:2.46 [[ 9.99883987e-01 1.33462843e-02 7.34092587e-03 4.84513438e+02] [-1.33427768e-02 9.99910843e-01 -5.26566191e-04 -2.23274202e+01] [-7.34729908e-03 4.28556767e-04 9.99972916e-01 2.46389558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.620714057 meters Centerline goodness [0,1] 0.9837457963266362 Centerline is valid? [True, True] Translation: X:484.54, Y:-22.32, Z:2.46 [[ 9.99877805e-01 1.36973863e-02 7.53367042e-03 4.84542987e+02] [-1.36937024e-02 9.99906091e-01 -5.40353519e-04 -2.23242333e+01] [-7.54036437e-03 4.37123650e-04 9.99971476e-01 2.46389214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.650714057 meters Centerline goodness [0,1] 0.9840374978399862 Centerline is valid? [True, True] Translation: X:484.57, Y:-22.33, Z:2.46 [[ 9.99864600e-01 1.45316904e-02 7.72081251e-03 4.84572349e+02] [-1.45278484e-02 9.99894312e-01 -5.53478317e-04 -2.23257739e+01] [-7.72803949e-03 4.41236582e-04 9.99970041e-01 2.46331284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.680714057 meters Centerline goodness [0,1] 0.9842713622123798 Centerline is valid? [True, True] Translation: X:484.60, Y:-22.33, Z:2.46 [[ 9.99843327e-01 1.60094962e-02 7.55104530e-03 4.84601552e+02] [-1.60058660e-02 9.99871752e-01 -5.40939566e-04 -2.23275382e+01] [-7.55873706e-03 4.19993796e-04 9.99971344e-01 2.46238713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.710714057 meters Centerline goodness [0,1] 0.9855564444636641 Centerline is valid? [True, True] Translation: X:484.63, Y:-22.33, Z:2.46 [[ 9.99817338e-01 1.80452668e-02 6.29748273e-03 4.84630756e+02] [-1.80427819e-02 9.99837114e-01 -4.51177636e-04 -2.23289824e+01] [-6.30459858e-03 3.37471116e-04 9.99980069e-01 2.46123564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.740714057 meters Centerline goodness [0,1] 0.985872462135165 Centerline is valid? [True, True] Translation: X:484.66, Y:-22.33, Z:2.46 [[ 9.99796709e-01 1.90526265e-02 6.59830242e-03 4.84659383e+02] [-1.90499207e-02 9.99818422e-01 -4.72688908e-04 -2.23290209e+01] [-6.60611028e-03 3.46895676e-04 9.99978119e-01 2.46113835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.770714057 meters Centerline goodness [0,1] 0.9857161435755158 Centerline is valid? [True, True] Translation: X:484.69, Y:-22.33, Z:2.46 [[ 9.99772786e-01 2.02306561e-02 6.71536700e-03 4.84688338e+02] [-2.02278832e-02 9.99795280e-01 -4.80588308e-04 -2.23291130e+01] [-6.72371485e-03 3.44641453e-04 9.99977336e-01 2.46083667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.800714057 meters Centerline goodness [0,1] 0.9852444829078321 Centerline is valid? [True, True] Translation: X:484.72, Y:-22.33, Z:2.46 [[ 9.99721972e-01 2.26448706e-02 6.57172592e-03 4.84718168e+02] [-2.26422715e-02 9.99743521e-01 -4.69642168e-04 -2.23254569e+01] [-6.58067540e-03 3.20712792e-04 9.99978296e-01 2.46072852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.830714057 meters Centerline goodness [0,1] 0.9858599857084083 Centerline is valid? [True, True] Translation: X:484.75, Y:-22.33, Z:2.46 [[ 9.99703956e-01 2.36975549e-02 5.51597180e-03 4.84746378e+02] [-2.36957391e-02 9.99719139e-01 -3.94331946e-04 -2.23269589e+01] [-5.52376728e-03 2.63510178e-04 9.99984709e-01 2.45970517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.860714057 meters Centerline goodness [0,1] 0.9877500488694859 Centerline is valid? [True, True] Translation: X:484.78, Y:-22.33, Z:2.46 [[ 9.99670906e-01 2.53771960e-02 3.75209892e-03 4.84775062e+02] [-2.53763674e-02 9.99677932e-01 -2.68262061e-04 -2.23268182e+01] [-3.75769823e-03 1.72959136e-04 9.99992925e-01 2.45838272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.890714057 meters Centerline goodness [0,1] 0.9853548791831613 Centerline is valid? [True, True] Translation: X:484.80, Y:-22.33, Z:2.46 [[ 9.99649857e-01 2.61889775e-02 3.78167890e-03 4.84803095e+02] [-2.61881421e-02 9.99656995e-01 -2.70255541e-04 -2.23289468e+01] [-3.78745948e-03 1.71125768e-04 9.99992813e-01 2.45749876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.920714057 meters Centerline goodness [0,1] 0.9860217151030493 Centerline is valid? [True, True] Translation: X:484.83, Y:-22.33, Z:2.46 [[ 9.99645068e-01 2.63232941e-02 4.10151271e-03 4.84832611e+02] [-2.63223130e-02 9.99653465e-01 -2.93025355e-04 -2.23267226e+01] [-4.10780478e-03 1.84960050e-04 9.99991546e-01 2.45831067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.950714057 meters Centerline goodness [0,1] 0.9859408561324337 Centerline is valid? [True, True] Translation: X:484.86, Y:-22.33, Z:2.46 [[ 9.99637432e-01 2.64541309e-02 5.01822644e-03 4.84861825e+02] [-2.64526721e-02 9.99650003e-01 -3.56864520e-04 -2.23289533e+01] [-5.02591062e-03 2.23989634e-04 9.99987345e-01 2.45828149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.980714057 meters Centerline goodness [0,1] 0.9865931968066644 Centerline is valid? [True, True] Translation: X:484.89, Y:-22.33, Z:2.46 [[ 9.99634661e-01 2.64938578e-02 5.34979844e-03 4.84890422e+02] [-2.64922015e-02 9.99648948e-01 -3.80242857e-04 -2.23312939e+01] [-5.35799448e-03 2.38376001e-04 9.99985617e-01 2.45796502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.01071405700003 meters Centerline goodness [0,1] 0.9862811496049319 Centerline is valid? [True, True] Translation: X:484.92, Y:-22.33, Z:2.46 [[ 9.99684117e-01 2.46270325e-02 5.01751307e-03 4.84919661e+02] [-2.46255551e-02 9.99696682e-01 -3.56031755e-04 -2.23336486e+01] [-5.02475917e-03 2.32360246e-04 9.99987349e-01 2.45738119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.040714057 meters Centerline goodness [0,1] 0.9853056255977741 Centerline is valid? [True, True] Translation: X:484.95, Y:-22.34, Z:2.46 [[ 9.99717231e-01 2.33622423e-02 4.43445960e-03 4.84947002e+02] [-2.33610743e-02 9.99727043e-01 -3.15013489e-04 -2.23403917e+01] [-4.44060861e-03 2.11330673e-04 9.99990118e-01 2.45577064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.070714057 meters Centerline goodness [0,1] 0.9851297901311951 Centerline is valid? [True, True] Translation: X:484.98, Y:-22.34, Z:2.46 [[ 9.99789637e-01 2.00689575e-02 4.23316386e-03 4.84977362e+02] [-2.00678684e-02 9.99798575e-01 -2.99588869e-04 -2.23419719e+01] [-4.23832363e-03 2.14575271e-04 9.99990995e-01 2.45610638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.100714057 meters Centerline goodness [0,1] 0.98425230915659 Centerline is valid? [True, True] Translation: X:485.01, Y:-22.34, Z:2.46 [[ 9.99819919e-01 1.83429754e-02 4.86456002e-03 4.85006448e+02] [-1.83415148e-02 9.99831721e-01 -3.44709712e-04 -2.23436333e+01] [-4.87006442e-03 2.55424237e-04 9.99988109e-01 2.45634256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.130714057 meters Centerline goodness [0,1] 0.9841459182788236 Centerline is valid? [True, True] Translation: X:485.04, Y:-22.35, Z:2.46 [[ 9.99842642e-01 1.67798122e-02 5.75585370e-03 4.85036234e+02] [-1.67777447e-02 9.99859161e-01 -4.07297598e-04 -2.23467890e+01] [-5.76187743e-03 3.10663262e-04 9.99983352e-01 2.45658119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.160714057 meters Centerline goodness [0,1] 0.9838674704020123 Centerline is valid? [True, True] Translation: X:485.07, Y:-22.35, Z:2.46 [[ 9.99873840e-01 1.39055905e-02 7.67708968e-03 4.85065703e+02] [-1.39018313e-02 9.99903218e-01 -5.42817722e-04 -2.23515070e+01] [-7.68389488e-03 4.36023635e-04 9.99970383e-01 2.45753743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.190714057 meters Centerline goodness [0,1] 0.9838674704020123 Centerline is valid? [True, True] Translation: X:485.09, Y:-22.35, Z:2.46 [[ 9.99874331e-01 1.38702340e-02 7.67710886e-03 4.85094832e+02] [-1.38664758e-02 9.99903709e-01 -5.42546306e-04 -2.23535347e+01] [-7.68389487e-03 4.36023680e-04 9.99970383e-01 2.45715912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.220714057 meters Centerline goodness [0,1] 0.9831011547544252 Centerline is valid? [True, True] Translation: X:485.12, Y:-22.36, Z:2.46 [[ 9.99884701e-01 1.25623617e-02 8.53062155e-03 4.85124097e+02] [-1.25576769e-02 9.99920968e-01 -6.02511534e-04 -2.23556603e+01] [-8.53751633e-03 4.95317276e-04 9.99963432e-01 2.45724258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.250714057 meters Centerline goodness [0,1] 0.9832034632034632 Centerline is valid? [True, True] Translation: X:485.15, Y:-22.36, Z:2.46 [[ 9.99909536e-01 1.02557150e-02 8.70291596e-03 4.85154186e+02] [-1.02507555e-02 9.99947271e-01 -6.14284641e-04 -2.23578128e+01] [-8.70875699e-03 5.25017607e-04 9.99961940e-01 2.45666883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.280714057 meters Centerline goodness [0,1] 0.9831431422744826 Centerline is valid? [True, True] Translation: X:485.18, Y:-22.36, Z:2.46 [[ 9.99923305e-01 9.23144639e-03 8.25622925e-03 4.85184400e+02] [-9.22694997e-03 9.99957261e-01 -5.82535561e-04 -2.23603991e+01] [-8.26125404e-03 5.06311069e-04 9.99965747e-01 2.45579809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.310714057 meters Centerline goodness [0,1] 0.982555992440206 Centerline is valid? [True, True] Translation: X:485.22, Y:-22.36, Z:2.45 [[ 9.99931916e-01 8.90035925e-03 7.54627406e-03 4.85216151e+02] [-8.89659496e-03 9.99960283e-01 -5.32250441e-04 -2.23614105e+01] [-7.55071156e-03 4.65078060e-04 9.99971385e-01 2.45463950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.340714057 meters Centerline goodness [0,1] 0.9834836136639501 Centerline is valid? [True, True] Translation: X:485.25, Y:-22.36, Z:2.45 [[ 9.99941293e-01 8.61970921e-03 6.56597399e-03 4.85247141e+02] [-8.61685419e-03 9.99962767e-01 -4.62985686e-04 -2.23602407e+01] [-6.56972032e-03 4.06380464e-04 9.99978337e-01 2.45344099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.370714057 meters Centerline goodness [0,1] 0.9836463274633396 Centerline is valid? [True, True] Translation: X:485.28, Y:-22.36, Z:2.45 [[ 9.99944459e-01 8.52996457e-03 6.19019964e-03 4.85277203e+02] [-8.52741979e-03 9.99963545e-01 -4.37375450e-04 -2.23640293e+01] [-6.19370478e-03 3.84564727e-04 9.99980745e-01 2.45248000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.400714057 meters Centerline goodness [0,1] 0.9830799678127923 Centerline is valid? [True, True] Translation: X:485.31, Y:-22.36, Z:2.45 [[ 9.99943892e-01 8.69758863e-03 6.04688511e-03 4.85308029e+02] [-8.69516199e-03 9.99962105e-01 -4.27477588e-04 -2.23637075e+01] [-6.05037399e-03 3.74874957e-04 9.99981626e-01 2.45128897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.430714057 meters Centerline goodness [0,1] 0.9829900158788855 Centerline is valid? [True, True] Translation: X:485.34, Y:-22.37, Z:2.45 [[ 9.99941723e-01 8.97424769e-03 6.00112025e-03 4.85338760e+02] [-8.97186261e-03 9.99959662e-01 -4.24242294e-04 -2.23650387e+01] [-6.00468543e-03 3.70376344e-04 9.99981903e-01 2.45079978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.460714057 meters Centerline goodness [0,1] 0.982215018908698 Centerline is valid? [True, True] Translation: X:485.37, Y:-22.37, Z:2.45 [[ 9.99943208e-01 9.03418333e-03 5.65378030e-03 4.85367720e+02] [-9.03206659e-03 9.99959130e-01 -3.99816103e-04 -2.23682045e+01] [-5.65716124e-03 3.48728077e-04 9.99983937e-01 2.45013483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.490714057 meters Centerline goodness [0,1] 0.9837062309997157 Centerline is valid? [True, True] Translation: X:485.40, Y:-22.36, Z:2.45 [[ 9.99958680e-01 7.86282318e-03 4.56219163e-03 4.85398557e+02] [-7.86143361e-03 9.99969046e-01 -3.22438122e-04 -2.23625218e+01] [-4.56458569e-03 2.86559433e-04 9.99989541e-01 2.44992299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.520714057 meters Centerline goodness [0,1] 0.9829991281604185 Centerline is valid? [True, True] Translation: X:485.43, Y:-22.36, Z:2.45 [[ 9.99958738e-01 7.78043426e-03 4.68909606e-03 4.85428263e+02] [-7.77896471e-03 9.99969688e-01 -3.31555735e-04 -2.23634526e+01] [-4.69153357e-03 2.95065742e-04 9.99988951e-01 2.44890062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.550714057 meters Centerline goodness [0,1] 0.9814919900475796 Centerline is valid? [True, True] Translation: X:485.46, Y:-22.37, Z:2.45 [[ 9.99955247e-01 8.29193465e-03 4.55503143e-03 4.85457995e+02] [-8.29055518e-03 9.99965581e-01 -3.21644595e-04 -2.23671152e+01] [-4.55754171e-03 2.83866461e-04 9.99989574e-01 2.44815618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.580714057 meters Centerline goodness [0,1] 0.9822517540600205 Centerline is valid? [True, True] Translation: X:485.49, Y:-22.36, Z:2.45 [[ 9.99946896e-01 9.02376422e-03 4.97756182e-03 4.85487858e+02] [-9.02212286e-03 9.99959238e-01 -3.52108750e-04 -2.23647338e+01] [-4.98053627e-03 3.07181877e-04 9.99987550e-01 2.44822503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.610714057 meters Centerline goodness [0,1] 0.9829654930811 Centerline is valid? [True, True] Translation: X:485.52, Y:-22.36, Z:2.45 [[ 9.99921474e-01 1.12966155e-02 5.42522827e-03 4.85517331e+02] [-1.12947003e-02 9.99936139e-01 -3.83540339e-04 -2.23619280e+01] [-5.42921452e-03 3.22233894e-04 9.99985210e-01 2.44834223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.640714057 meters Centerline goodness [0,1] 0.9837053326003299 Centerline is valid? [True, True] Translation: X:485.55, Y:-22.36, Z:2.45 [[ 9.99902096e-01 1.30543228e-02 5.03815073e-03 4.85547042e+02] [-1.30526941e-02 9.99914747e-01 -3.56029674e-04 -2.23585571e+01] [-5.04236894e-03 2.90233377e-04 9.99987245e-01 2.44859073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.670714057 meters Centerline goodness [0,1] 0.9830172470759267 Centerline is valid? [True, True] Translation: X:485.58, Y:-22.36, Z:2.45 [[ 9.99891780e-01 1.38244619e-02 5.03109479e-03 4.85576321e+02] [-1.38228457e-02 9.99904397e-01 -3.55870474e-04 -2.23595284e+01] [-5.03553352e-03 2.86287914e-04 9.99987281e-01 2.44818667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.700714057 meters Centerline goodness [0,1] 0.9828495176426837 Centerline is valid? [True, True] Translation: X:485.61, Y:-22.36, Z:2.45 [[ 9.99885849e-01 1.42046313e-02 5.14958505e-03 4.85605578e+02] [-1.42029471e-02 9.99899067e-01 -3.63463324e-04 -2.23601567e+01] [-5.15422815e-03 2.90282549e-04 9.99986675e-01 2.44757266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.730714057 meters Centerline goodness [0,1] 0.9841542699724518 Centerline is valid? [True, True] Translation: X:485.63, Y:-22.36, Z:2.45 [[ 9.99878499e-01 1.44797346e-02 5.77268014e-03 4.85634899e+02] [-1.44776257e-02 9.99895111e-01 -4.06948815e-04 -2.23564134e+01] [-5.77796716e-03 3.23324668e-04 9.99983255e-01 2.44841676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.76071405700003 meters Centerline goodness [0,1] 0.9822078179773794 Centerline is valid? [True, True] Translation: X:485.66, Y:-22.36, Z:2.45 [[ 9.99882312e-01 1.41590533e-02 5.90617876e-03 4.85662716e+02] [-1.41568420e-02 9.99899700e-01 -4.16039201e-04 -2.23611811e+01] [-5.91147709e-03 3.32377398e-04 9.99982472e-01 2.44801676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.790714057 meters Centerline goodness [0,1] 0.9839807326881436 Centerline is valid? [True, True] Translation: X:485.69, Y:-22.35, Z:2.45 [[ 9.99876838e-01 1.43667644e-02 6.31709052e-03 4.85692056e+02] [-1.43642435e-02 9.99896730e-01 -4.44246358e-04 -2.23539767e+01] [-6.32282054e-03 3.53451417e-04 9.99979948e-01 2.44951708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.820714057 meters Centerline goodness [0,1] 0.9834728907056988 Centerline is valid? [True, True] Translation: X:485.72, Y:-22.36, Z:2.45 [[ 9.99867551e-01 1.46448012e-02 7.10006716e-03 4.85719830e+02] [-1.46416275e-02 9.99892681e-01 -4.98780670e-04 -2.23556107e+01] [-7.10660974e-03 3.94758069e-04 9.99974670e-01 2.44941623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.850714057 meters Centerline goodness [0,1] 0.983047110954344 Centerline is valid? [True, True] Translation: X:485.75, Y:-22.36, Z:2.45 [[ 9.99867631e-01 1.45752225e-02 7.23073494e-03 4.85747597e+02] [-1.45719339e-02 9.99893695e-01 -5.07287388e-04 -2.23580449e+01] [-7.23736011e-03 4.01854448e-04 9.99973729e-01 2.44913340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.880714057 meters Centerline goodness [0,1] 0.9827019394126603 Centerline is valid? [True, True] Translation: X:485.78, Y:-22.36, Z:2.45 [[ 9.99881011e-01 1.35382039e-02 7.39471690e-03 4.85777424e+02] [-1.35347434e-02 9.99908267e-01 -5.17817751e-04 -2.23590645e+01] [-7.40104888e-03 4.17670541e-04 9.99972525e-01 2.44821307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.910714057 meters Centerline goodness [0,1] 0.9824208829310307 Centerline is valid? [True, True] Translation: X:485.81, Y:-22.36, Z:2.45 [[ 9.99902043e-01 1.21942029e-02 6.87057754e-03 4.85806047e+02] [-1.21911847e-02 9.99925569e-01 -4.81004793e-04 -2.23625841e+01] [-6.87593163e-03 3.97197195e-04 9.99976282e-01 2.44743468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.940714057 meters Centerline goodness [0,1] 0.9832251202162785 Centerline is valid? [True, True] Translation: X:485.84, Y:-22.36, Z:2.45 [[ 9.99921137e-01 1.07491616e-02 6.49420602e-03 4.85835297e+02] [-1.07464366e-02 9.99942152e-01 -4.54357296e-04 -2.23623185e+01] [-6.49871430e-03 3.84531891e-04 9.99978809e-01 2.44668382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.970714057 meters Centerline goodness [0,1] 0.98185025912449 Centerline is valid? [True, True] Translation: X:485.86, Y:-22.37, Z:2.45 [[ 9.99949173e-01 8.10158811e-03 6.00124490e-03 4.85864238e+02] [-8.09921811e-03 9.99967113e-01 -4.19116943e-04 -2.23662329e+01] [-6.00444305e-03 3.70490249e-04 9.99981905e-01 2.44569769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.000714057 meters Centerline goodness [0,1] 0.9816175659273971 Centerline is valid? [True, True] Translation: X:485.89, Y:-22.37, Z:2.44 [[ 9.99958730e-01 6.94608041e-03 5.85574985e-03 4.85893596e+02] [-6.94380236e-03 9.99975808e-01 -4.09269514e-04 -2.23710566e+01] [-5.85845101e-03 3.68591454e-04 9.99982771e-01 2.44467947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.030714057 meters Centerline goodness [0,1] 0.9817603674424767 Centerline is valid? [True, True] Translation: X:485.92, Y:-22.37, Z:2.44 [[ 9.99968271e-01 4.92748403e-03 6.25918148e-03 4.85924462e+02] [-4.92484574e-03 9.99987777e-01 -4.36851054e-04 -2.23705036e+01] [-6.26125755e-03 4.06011690e-04 9.99980316e-01 2.44473492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.060714057 meters Centerline goodness [0,1] 0.9790290146509624 Centerline is valid? [True, True] Translation: X:485.95, Y:-22.38, Z:2.44 [[ 9.99974896e-01 3.96121401e-03 5.87511872e-03 4.85954963e+02] [-3.95887049e-03 9.99992079e-01 -4.10465129e-04 -2.23754372e+01] [-5.87669812e-03 3.87195991e-04 9.99982657e-01 2.44431573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.090714057 meters Centerline goodness [0,1] 0.9787107175194895 Centerline is valid? [True, True] Translation: X:485.99, Y:-22.38, Z:2.44 [[ 9.99976328e-01 2.82155165e-03 6.27554905e-03 4.85986454e+02] [-2.81885377e-03 9.99995931e-01 -4.38706573e-04 -2.23795827e+01] [-6.27676135e-03 4.21006332e-04 9.99980212e-01 2.44363901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.120714057 meters Centerline goodness [0,1] 0.9794538589867416 Centerline is valid? [True, True] Translation: X:486.02, Y:-22.38, Z:2.44 [[ 9.99979632e-01 2.06210557e-03 6.04009476e-03 4.86017403e+02] [-2.05959138e-03 9.99997790e-01 -4.22441686e-04 -2.23820212e+01] [-6.04095253e-03 4.09992954e-04 9.99981669e-01 2.44269281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.150714057 meters Centerline goodness [0,1] 0.979189219043411 Centerline is valid? [True, True] Translation: X:486.05, Y:-22.38, Z:2.44 [[ 9.99986531e-01 1.43298444e-03 4.98840827e-03 4.86049963e+02] [-1.43126991e-03 9.99998915e-01 -3.47255989e-04 -2.23813462e+01] [-4.98890047e-03 3.40111554e-04 9.99987498e-01 2.44179005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.180714057 meters Centerline goodness [0,1] 0.9792628754892906 Centerline is valid? [True, True] Translation: X:486.08, Y:-22.39, Z:2.44 [[ 9.99987715e-01 4.56675748e-04 4.93573033e-03 4.86080373e+02] [-4.54970855e-04 9.99999836e-01 -3.46535896e-04 -2.23879401e+01] [-4.93588778e-03 3.44286026e-04 9.99987759e-01 2.44122715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.210714057 meters Centerline goodness [0,1] 0.9799400405607971 Centerline is valid? [True, True] Translation: X:486.11, Y:-22.39, Z:2.44 [[ 9.99983504e-01 3.95245381e-04 5.73015641e-03 4.86112819e+02] [-3.92946367e-04 9.99999842e-01 -4.02333458e-04 -2.23861864e+01] [-5.73031453e-03 4.00075177e-04 9.99983502e-01 2.44212296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.240714057 meters Centerline goodness [0,1] 0.9807594825116258 Centerline is valid? [True, True] Translation: X:486.15, Y:-22.39, Z:2.44 [[ 9.99978436e-01 8.07566794e-04 6.51736063e-03 4.86145461e+02] [-8.04597524e-04 9.99999571e-01 -4.58203003e-04 -2.23873095e+01] [-6.51772786e-03 4.52949270e-04 9.99978657e-01 2.44313654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.270714057 meters Centerline goodness [0,1] 0.9808344715160594 Centerline is valid? [True, True] Translation: X:486.18, Y:-22.39, Z:2.44 [[ 9.99980368e-01 1.40517185e-03 6.10650985e-03 4.86177629e+02] [-1.40257387e-03 9.99998924e-01 -4.29705700e-04 -2.23896742e+01] [-6.10710709e-03 4.21132433e-04 9.99981263e-01 2.44240055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.300714057 meters Centerline goodness [0,1] 0.9797485109199205 Centerline is valid? [True, True] Translation: X:486.21, Y:-22.39, Z:2.44 [[ 9.99980370e-01 3.38915554e-03 5.27004377e-03 4.86208417e+02] [-3.38724517e-03 9.99994194e-01 -3.71378606e-04 -2.23924188e+01] [-5.27127183e-03 3.53520385e-04 9.99986044e-01 2.44073503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.330714057 meters Centerline goodness [0,1] 0.9805896153335399 Centerline is valid? [True, True] Translation: X:486.24, Y:-22.39, Z:2.44 [[ 9.99975804e-01 4.78409772e-03 5.05007398e-03 4.86239557e+02] [-4.78236040e-03 9.99988501e-01 -3.56037369e-04 -2.23914559e+01] [-5.05171922e-03 3.31877480e-04 9.99987185e-01 2.44048577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.360714057 meters Centerline goodness [0,1] 0.9807279090888953 Centerline is valid? [True, True] Translation: X:486.27, Y:-22.39, Z:2.44 [[ 9.99958787e-01 7.64168767e-03 4.90191546e-03 4.86269642e+02] [-7.64008274e-03 9.99970754e-01 -3.46050526e-04 -2.23933267e+01] [-4.90441651e-03 3.08585224e-04 9.99987926e-01 2.44036373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.390714057 meters Centerline goodness [0,1] 0.9812307487756775 Centerline is valid? [True, True] Translation: X:486.30, Y:-22.39, Z:2.44 [[ 9.99945728e-01 8.91128988e-03 5.39720074e-03 4.86299425e+02] [-8.90936122e-03 9.99960238e-01 -3.81282164e-04 -2.23943334e+01] [-5.40038385e-03 3.33175860e-04 9.99985362e-01 2.44046373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.420714057 meters Centerline goodness [0,1] 0.9809740575418747 Centerline is valid? [True, True] Translation: X:486.33, Y:-22.39, Z:2.44 [[ 9.99934532e-01 1.02415372e-02 5.10323981e-03 4.86329832e+02] [-1.02398316e-02 9.99947507e-01 -3.60223525e-04 -2.23923266e+01] [-5.10666117e-03 3.07943625e-04 9.99986914e-01 2.44120417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.450714057 meters Centerline goodness [0,1] 0.9815848956255817 Centerline is valid? [True, True] Translation: X:486.36, Y:-22.39, Z:2.44 [[ 9.99901097e-01 1.32864823e-02 4.61156073e-03 4.86358553e+02] [-1.32851208e-02 9.99911696e-01 -3.25753433e-04 -2.23926234e+01] [-4.61548163e-03 2.64456073e-04 9.99989314e-01 2.44125995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.480714057 meters Centerline goodness [0,1] 0.9821856420267991 Centerline is valid? [True, True] Translation: X:486.39, Y:-22.39, Z:2.44 [[ 9.99892384e-01 1.40769849e-02 4.13017331e-03 4.86386945e+02] [-1.40758994e-02 9.99900887e-01 -2.91754129e-04 -2.23935383e+01] [-4.13387097e-03 2.33586827e-04 9.99991428e-01 2.44087706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.51071405700003 meters Centerline goodness [0,1] 0.9821610827601509 Centerline is valid? [True, True] Translation: X:486.42, Y:-22.40, Z:2.44 [[ 9.99865468e-01 1.61001181e-02 3.13576672e-03 4.86415335e+02] [-1.60995024e-02 9.99870370e-01 -2.21499447e-04 -2.23954319e+01] [-3.13892640e-03 1.70985364e-04 9.99995059e-01 2.43938438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.540714057 meters Centerline goodness [0,1] 0.9830500963818048 Centerline is valid? [True, True] Translation: X:486.44, Y:-22.40, Z:2.44 [[ 9.99855899e-01 1.67778105e-02 2.58562599e-03 4.86443734e+02] [-1.67773942e-02 9.99859233e-01 -1.82614954e-04 -2.23972584e+01] [-2.58832590e-03 1.39208573e-04 9.99996641e-01 2.43843980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.570714057 meters Centerline goodness [0,1] 0.9821123036242029 Centerline is valid? [True, True] Translation: X:486.47, Y:-22.40, Z:2.44 [[ 9.99845623e-01 1.75248741e-02 1.26882949e-03 4.86471241e+02] [-1.75247737e-02 9.99846425e-01 -9.01853296e-05 -2.23994738e+01] [-1.27021511e-03 6.79354573e-05 9.99999191e-01 2.43719388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.600714057 meters Centerline goodness [0,1] 0.9820520755050617 Centerline is valid? [True, True] Translation: X:486.50, Y:-22.40, Z:2.44 [[ 9.99835450e-01 1.81032389e-02 1.16041244e-03 4.86499888e+02] [-1.81031556e-02 9.99836121e-01 -8.22646980e-05 -2.24018801e+01] [-1.16171153e-03 6.12440343e-05 9.99999323e-01 2.43651498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.630714057 meters Centerline goodness [0,1] 0.982013434682694 Centerline is valid? [True, True] Translation: X:486.53, Y:-22.40, Z:2.44 [[ 9.99829162e-01 1.84591081e-02 9.52515105e-04 4.86527865e+02] [-1.84590518e-02 9.99829615e-01 -6.78221047e-05 -2.24048830e+01] [-9.53604747e-04 5.02279925e-05 9.99999544e-01 2.43606184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.660714057 meters Centerline goodness [0,1] 0.9820614908206149 Centerline is valid? [True, True] Translation: X:486.56, Y:-22.41, Z:2.44 [[ 9.99833369e-01 1.82521423e-02 3.06312297e-04 4.86555047e+02] [-1.82521362e-02 9.99833416e-01 -2.25309358e-05 -2.24091210e+01] [-3.06672508e-04 1.69363277e-05 9.99999953e-01 2.43509195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.690714057 meters Centerline goodness [0,1] 0.9821258076692497 Centerline is valid? [True, True] Translation: X:486.58, Y:-22.41, Z:2.43 [[ 9.99837631e-01 1.80161473e-02 3.61001163e-04 4.86583884e+02] [-1.80161390e-02 9.99837696e-01 -2.61017999e-05 -2.24122463e+01] [-3.61412825e-04 1.95937146e-05 9.99999934e-01 2.43439856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.720714057 meters Centerline goodness [0,1] 0.9819985794193377 Centerline is valid? [True, True] Translation: X:486.61, Y:-22.42, Z:2.43 [[ 9.99847302e-01 1.74743372e-02 -1.42403343e-04 4.86611699e+02] [-1.74743362e-02 9.99847312e-01 8.85246548e-06 -2.24167215e+01] [ 1.42536291e-04 -6.36270985e-06 9.99999990e-01 2.43353170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.750714057 meters Centerline goodness [0,1] 0.9826859980491265 Centerline is valid? [True, True] Translation: X:486.64, Y:-22.42, Z:2.43 [[ 9.99848254e-01 1.74191737e-02 -2.04570456e-04 4.86639326e+02] [-1.74191714e-02 9.99848275e-01 1.29629096e-05 -2.24199156e+01] [ 2.04765220e-04 -9.39749472e-06 9.99999979e-01 2.43264520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.780714057 meters Centerline goodness [0,1] 0.9826782145236509 Centerline is valid? [True, True] Translation: X:486.67, Y:-22.42, Z:2.43 [[ 9.99863032e-01 1.65459847e-02 3.84008316e-04 4.86666970e+02] [-1.65459752e-02 9.99863106e-01 -2.78023257e-05 -2.24243969e+01] [-3.84415764e-04 2.14447255e-05 9.99999926e-01 2.43315532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.810714057 meters Centerline goodness [0,1] 0.9822338398830357 Centerline is valid? [True, True] Translation: X:486.69, Y:-22.43, Z:2.43 [[ 9.99878313e-01 1.55683030e-02 9.93416188e-04 4.86694960e+02] [-1.55682409e-02 9.99878805e-01 -7.01313588e-05 -2.24284489e+01] [-9.94387617e-04 5.46570822e-05 9.99999504e-01 2.43321077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.840714057 meters Centerline goodness [0,1] 0.9840503300695583 Centerline is valid? [True, True] Translation: X:486.72, Y:-22.42, Z:2.44 [[ 9.99900501e-01 1.40231845e-02 1.52889290e-03 4.86724279e+02] [-1.40230370e-02 9.99901667e-01 -1.07133740e-04 -2.24210062e+01] [-1.53024492e-03 8.56833587e-05 9.99998826e-01 2.43549626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.870714057 meters Centerline goodness [0,1] 0.9835996728775722 Centerline is valid? [True, True] Translation: X:486.75, Y:-22.43, Z:2.44 [[ 9.99947759e-01 9.92011666e-03 2.46371554e-03 4.86752628e+02] [-9.91972412e-03 9.99950784e-01 -1.71498049e-04 -2.24293725e+01] [-2.46529556e-03 1.47049712e-04 9.99996950e-01 2.43524579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.900714057 meters Centerline goodness [0,1] 0.9828333775772056 Centerline is valid? [True, True] Translation: X:486.78, Y:-22.43, Z:2.43 [[ 9.99969294e-01 7.54395658e-03 2.12112400e-03 4.86781957e+02] [-7.54366033e-03 9.99971535e-01 -1.47634340e-04 -2.24340138e+01] [-2.12217737e-03 1.31628768e-04 9.99997740e-01 2.43468797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.930714057 meters Centerline goodness [0,1] 0.9815031195573095 Centerline is valid? [True, True] Translation: X:486.81, Y:-22.44, Z:2.43 [[ 9.99991180e-01 3.46416537e-03 2.37478006e-03 4.86810545e+02] [-3.46378319e-03 9.99993987e-01 -1.65028426e-04 -2.24410800e+01] [-2.37533747e-03 1.56801247e-04 9.99997167e-01 2.43374806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.960714057 meters Centerline goodness [0,1] 0.9816343649287007 Centerline is valid? [True, True] Translation: X:486.84, Y:-22.45, Z:2.43 [[ 9.99993888e-01 1.98511644e-03 2.87805077e-03 4.86839985e+02] [-1.98454960e-03 9.99998011e-01 -1.99794385e-04 -2.24456549e+01] [-2.87844166e-03 1.94081530e-04 9.99995838e-01 2.43359542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.990714057 meters Centerline goodness [0,1] 0.9817331450758913 Centerline is valid? [True, True] Translation: X:486.87, Y:-22.45, Z:2.43 [[ 9.99994569e-01 9.36184363e-04 3.16014589e-03 4.86870914e+02] [-9.35497087e-04 9.99999538e-01 -2.18953392e-04 -2.24473901e+01] [-3.16034942e-03 2.15995895e-04 9.99994983e-01 2.43383965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.020714057 meters Centerline goodness [0,1] 0.980806142034549 Centerline is valid? [True, True] Translation: X:486.90, Y:-22.45, Z:2.43 [[ 9.99995529e-01 -3.16767999e-04 2.97338398e-03 4.86902267e+02] [ 3.17381539e-04 9.99999928e-01 -2.05874512e-04 -2.24495638e+01] [-2.97331855e-03 2.06817289e-04 9.99995558e-01 2.43364972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.050714057 meters Centerline goodness [0,1] 0.9818125838446482 Centerline is valid? [True, True] Translation: X:486.93, Y:-22.45, Z:2.43 [[ 9.99997572e-01 -5.10539828e-04 2.14380169e-03 4.86933252e+02] [ 5.10859103e-04 9.99999859e-01 -1.48384657e-04 -2.24521944e+01] [-2.14372563e-03 1.49479478e-04 9.99997691e-01 2.43294471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.080714057 meters Centerline goodness [0,1] 0.9817909922589726 Centerline is valid? [True, True] Translation: X:486.96, Y:-22.45, Z:2.43 [[ 9.99999365e-01 -1.11866795e-03 -1.37083050e-04 4.86963811e+02] [ 1.11866930e-03 9.99999374e-01 9.74823614e-06 -2.24548761e+01] [ 1.37072059e-04 -9.90158055e-06 9.99999991e-01 2.43005278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.110714057 meters Centerline goodness [0,1] 0.9817909922589726 Centerline is valid? [True, True] Translation: X:486.99, Y:-22.46, Z:2.43 [[ 9.99999365e-01 -1.11866500e-03 -1.37098817e-04 4.86993814e+02] [ 1.11866632e-03 9.99999374e-01 9.52119999e-06 -2.24569596e+01] [ 1.37088080e-04 -9.67456177e-06 9.99999991e-01 2.42966332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.140714057 meters Centerline goodness [0,1] 0.9816815095670576 Centerline is valid? [True, True] Translation: X:487.02, Y:-22.46, Z:2.43 [[ 9.99997646e-01 -1.88528090e-03 -1.07367662e-03 4.87024646e+02] [ 1.88536204e-03 9.99998220e-01 7.45643910e-05 -2.24550493e+01] [ 1.07353413e-03 -7.65884847e-05 9.99999421e-01 2.42940473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.170714057 meters Centerline goodness [0,1] 0.9823243482103402 Centerline is valid? [True, True] Translation: X:487.06, Y:-22.46, Z:2.43 [[ 9.99995208e-01 -3.08600425e-03 -2.44440479e-04 4.87055048e+02] [ 3.08600855e-03 9.99995238e-01 1.72129342e-05 -2.24583392e+01] [ 2.44386196e-04 -1.79671971e-05 9.99999970e-01 2.42956683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.200714057 meters Centerline goodness [0,1] 0.9820216797391381 Centerline is valid? [True, True] Translation: X:487.09, Y:-22.46, Z:2.43 [[ 9.99992572e-01 -3.82140230e-03 5.03743397e-04 4.87086734e+02] [ 3.82142019e-03 9.99992698e-01 -3.45465690e-05 -2.24605068e+01] [-5.03607702e-04 3.64713276e-05 9.99999873e-01 2.42952062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.230714057 meters Centerline goodness [0,1] 0.9824762745530788 Centerline is valid? [True, True] Translation: X:487.12, Y:-22.46, Z:2.43 [[ 9.99987561e-01 -4.84548586e-03 1.18275649e-03 4.87117807e+02] [ 4.84558572e-03 9.99988257e-01 -8.15719622e-05 -2.24629831e+01] [-1.18234734e-03 8.73020955e-05 9.99999297e-01 2.42941200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.26071405700003 meters Centerline goodness [0,1] 0.9826872246696036 Centerline is valid? [True, True] Translation: X:487.15, Y:-22.46, Z:2.43 [[ 9.99983279e-01 -5.68356003e-03 1.06745350e-03 4.87149615e+02] [ 5.68364181e-03 9.99983845e-01 -7.35915670e-05 -2.24611008e+01] [-1.06701799e-03 7.96573598e-05 9.99999428e-01 2.42934849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.290714057 meters Centerline goodness [0,1] 0.9831753502386241 Centerline is valid? [True, True] Translation: X:487.18, Y:-22.47, Z:2.43 [[ 9.99980203e-01 -6.18480403e-03 1.15874091e-03 4.87180311e+02] [ 6.18490022e-03 9.99980870e-01 -7.94457999e-05 -2.24652896e+01] [-1.15822739e-03 8.66109240e-05 9.99999326e-01 2.42885000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.320714057 meters Centerline goodness [0,1] 0.9816635077357077 Centerline is valid? [True, True] Translation: X:487.21, Y:-22.46, Z:2.43 [[ 9.99966917e-01 -8.12575466e-03 3.70528668e-04 4.87211335e+02] [ 8.12576456e-03 9.99966985e-01 -2.52411889e-05 -2.24643500e+01] [-3.70311331e-04 2.82511825e-05 9.99999931e-01 2.42822034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.350714057 meters Centerline goodness [0,1] 0.9813573108800316 Centerline is valid? [True, True] Translation: X:487.24, Y:-22.47, Z:2.43 [[ 9.99960863e-01 -8.82947974e-03 5.58471451e-04 4.87242405e+02] [ 8.82950249e-03 9.99961018e-01 -3.82849293e-05 -2.24695049e+01] [-5.58111645e-04 4.32144560e-05 9.99999843e-01 2.42719523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.380714057 meters Centerline goodness [0,1] 0.9807149784007758 Centerline is valid? [True, True] Translation: X:487.27, Y:-22.47, Z:2.43 [[ 9.99950041e-01 -9.99555989e-03 7.21222388e-05 4.87274463e+02] [ 9.99556023e-03 9.99950043e-01 -4.34009604e-06 -2.24685209e+01] [-7.20752541e-05 5.06078140e-06 9.99999997e-01 2.42782766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.410714057 meters Centerline goodness [0,1] 0.9814618410004861 Centerline is valid? [True, True] Translation: X:487.31, Y:-22.47, Z:2.43 [[ 9.99946553e-01 -1.03291461e-02 4.46251381e-04 4.87306102e+02] [ 1.03291608e-02 9.99946652e-01 -3.05079940e-05 -2.24701845e+01] [-4.45912453e-04 3.51157657e-05 9.99999900e-01 2.42772517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.440714057 meters Centerline goodness [0,1] 0.9818941504178273 Centerline is valid? [True, True] Translation: X:487.34, Y:-22.47, Z:2.43 [[ 9.99932551e-01 -1.15363719e-02 1.34367968e-03 4.87338373e+02] [ 1.15365074e-02 9.99933448e-01 -9.31091622e-05 -2.24674221e+01] [-1.34251611e-03 1.08604253e-04 9.99999093e-01 2.42869365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.470714057 meters Centerline goodness [0,1] 0.9802439024390244 Centerline is valid? [True, True] Translation: X:487.37, Y:-22.47, Z:2.43 [[ 9.99920108e-01 -1.25287203e-02 1.67597208e-03 4.87368916e+02] [ 1.25289337e-02 9.99921503e-01 -1.16903366e-04 -2.24710664e+01] [-1.67437587e-03 1.37892169e-04 9.99998589e-01 2.42830251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.500714057 meters Centerline goodness [0,1] 0.9814277808522412 Centerline is valid? [True, True] Translation: X:487.40, Y:-22.47, Z:2.43 [[ 9.99895547e-01 -1.43800048e-02 1.45290993e-03 4.87400041e+02] [ 1.43801675e-02 9.99896595e-01 -1.01546515e-04 -2.24724386e+01] [-1.45129945e-03 1.22428997e-04 9.99998939e-01 2.42755079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.530714057 meters Centerline goodness [0,1] 0.9805163175840234 Centerline is valid? [True, True] Translation: X:487.43, Y:-22.47, Z:2.43 [[ 9.99879933e-01 -1.54698129e-02 8.96713739e-04 4.87432530e+02] [ 1.54698747e-02 9.99880332e-01 -6.19480708e-05 -2.24737148e+01] [-8.95648106e-04 7.58126820e-05 9.99999596e-01 2.42662041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.560714057 meters Centerline goodness [0,1] 0.9782985339848956 Centerline is valid? [True, True] Translation: X:487.46, Y:-22.48, Z:2.43 [[ 9.99852700e-01 -1.71628197e-02 1.27288981e-04 4.87462734e+02] [ 1.71628210e-02 9.99852708e-01 -8.69769382e-06 -2.24799837e+01] [-1.27120955e-04 1.08810506e-05 9.99999992e-01 2.42524641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.590714057 meters Centerline goodness [0,1] 0.9803765050222844 Centerline is valid? [True, True] Translation: X:487.50, Y:-22.48, Z:2.43 [[ 9.99846931e-01 -1.74946104e-02 2.31538503e-04 4.87495189e+02] [ 1.74946144e-02 9.99846957e-01 -1.53341027e-05 -2.24775525e+01] [-2.31234804e-04 1.93824323e-05 9.99999973e-01 2.42562456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.620714057 meters Centerline goodness [0,1] 0.9778153203218779 Centerline is valid? [True, True] Translation: X:487.53, Y:-22.48, Z:2.43 [[ 9.99860669e-01 -1.66916306e-02 1.80969207e-04 4.87526439e+02] [ 1.66916329e-02 9.99860685e-01 -1.09378644e-05 -2.24809194e+01] [-1.80761424e-04 1.39570120e-05 9.99999984e-01 2.42557674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.650714057 meters Centerline goodness [0,1] 0.9796208636131297 Centerline is valid? [True, True] Translation: X:487.56, Y:-22.48, Z:2.43 [[ 9.99877764e-01 -1.56319221e-02 3.15323780e-04 4.87558451e+02] [ 1.56319297e-02 9.99877814e-01 -2.17331359e-05 -2.24767384e+01] [-3.14945521e-04 2.66595985e-05 9.99999950e-01 2.42627324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.680714057 meters Centerline goodness [0,1] 0.9812525108244432 Centerline is valid? [True, True] Translation: X:487.59, Y:-22.47, Z:2.43 [[ 9.99944561e-01 -1.05105846e-02 6.33732916e-04 4.87590001e+02] [ 1.05106149e-02 9.99944761e-01 -4.44241111e-05 -2.24702530e+01] [-6.33230986e-04 5.10825709e-05 9.99999798e-01 2.42733434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.710714057 meters Centerline goodness [0,1] 0.9816970970120902 Centerline is valid? [True, True] Translation: X:487.62, Y:-22.47, Z:2.43 [[ 9.99975742e-01 -6.90628570e-03 9.04894509e-04 4.87620427e+02] [ 6.90634614e-03 9.99976149e-01 -6.36807982e-05 -2.24663841e+01] [-9.04433128e-04 6.99287681e-05 9.99999589e-01 2.42731494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.740714057 meters Centerline goodness [0,1] 0.9822038468452274 Centerline is valid? [True, True] Translation: X:487.65, Y:-22.46, Z:2.43 [[ 9.99997790e-01 1.80833828e-03 1.07200817e-03 4.87650943e+02] [-1.80825849e-03 9.99998362e-01 -7.53899705e-05 -2.24611383e+01] [-1.07214274e-03 7.34513361e-05 9.99999423e-01 2.42710419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.770714057 meters Centerline goodness [0,1] 0.9829517340650443 Centerline is valid? [True, True] Translation: X:487.68, Y:-22.46, Z:2.43 [[ 9.99978688e-01 6.37711491e-03 1.39877834e-03 4.87681592e+02] [-6.37698326e-03 9.99979662e-01 -9.85592264e-05 -2.24562469e+01] [-1.39937841e-03 8.96371398e-05 9.99999017e-01 2.42746530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.800714057 meters Centerline goodness [0,1] 0.9823176081527975 Centerline is valid? [True, True] Translation: X:487.71, Y:-22.45, Z:2.43 [[ 9.99942062e-01 1.06226076e-02 1.74164149e-03 4.87712183e+02] [-1.06224100e-02 9.99943573e-01 -1.22659869e-04 -2.24539041e+01] [-1.74284618e-03 1.04152333e-04 9.99998476e-01 2.42755442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.830714057 meters Centerline goodness [0,1] 0.9836043390992535 Centerline is valid? [True, True] Translation: X:487.74, Y:-22.45, Z:2.43 [[ 9.99843758e-01 1.73603531e-02 3.32837383e-03 4.87741084e+02] [-1.73596675e-02 9.99849282e-01 -2.34775591e-04 -2.24497487e+01] [-3.33194797e-03 1.76959447e-04 9.99994433e-01 2.42799919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.860714057 meters Centerline goodness [0,1] 0.9838934943233015 Centerline is valid? [True, True] Translation: X:487.77, Y:-22.45, Z:2.43 [[ 9.99802050e-01 1.93104589e-02 4.79248606e-03 4.87770243e+02] [-1.93090612e-02 9.99813506e-01 -3.37746096e-04 -2.24485222e+01] [-4.79811432e-03 2.45140832e-04 9.99988459e-01 2.42851632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.890714057 meters Centerline goodness [0,1] 0.9822441096076083 Centerline is valid? [True, True] Translation: X:487.80, Y:-22.45, Z:2.43 [[ 9.99773535e-01 2.02019259e-02 6.69028816e-03 4.87797695e+02] [-2.01992268e-02 9.99795864e-01 -4.70771427e-04 -2.24532487e+01] [-6.69843292e-03 3.35526166e-04 9.99977509e-01 2.42856178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.920714057 meters Centerline goodness [0,1] 0.9831976363923408 Centerline is valid? [True, True] Translation: X:487.83, Y:-22.45, Z:2.43 [[ 9.99792722e-01 1.91767797e-02 6.83837972e-03 4.87827131e+02] [-1.91739408e-02 9.99816048e-01 -4.80455984e-04 -2.24504072e+01] [-6.84633538e-03 3.49237708e-04 9.99976503e-01 2.42880757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.950714057 meters Centerline goodness [0,1] 0.9820607590372307 Centerline is valid? [True, True] Translation: X:487.85, Y:-22.45, Z:2.43 [[ 9.99820292e-01 1.77038081e-02 6.77930701e-03 4.87854264e+02] [-1.77009861e-02 9.99843212e-01 -4.76043930e-04 -2.24539659e+01] [-6.78667188e-03 3.55957963e-04 9.99976907e-01 2.42765192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.980714057 meters Centerline goodness [0,1] 0.9829617259433111 Centerline is valid? [True, True] Translation: X:487.88, Y:-22.46, Z:2.43 [[ 9.99879561e-01 1.39744847e-02 6.75108838e-03 4.87884412e+02] [-1.39716098e-02 9.99902281e-01 -4.72809244e-04 -2.24565377e+01] [-6.75703593e-03 3.78428726e-04 9.99977099e-01 2.42665929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.01071405700003 meters Centerline goodness [0,1] 0.9809913432633411 Centerline is valid? [True, True] Translation: X:487.91, Y:-22.46, Z:2.43 [[ 9.99918025e-01 1.09646925e-02 6.61204888e-03 4.87914003e+02] [-1.09618700e-02 9.99939810e-01 -4.62957141e-04 -2.24612481e+01] [-6.61672708e-03 3.90438769e-04 9.99978033e-01 2.42511676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.040714057 meters Centerline goodness [0,1] 0.981756115205498 Centerline is valid? [True, True] Translation: X:487.94, Y:-22.47, Z:2.42 [[ 9.99929276e-01 9.99907293e-03 6.43913179e-03 4.87942353e+02] [-9.99637543e-03 9.99949933e-01 -4.50971559e-04 -2.24652947e+01] [-6.44331871e-03 3.86571685e-04 9.99979167e-01 2.42444013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.070714057 meters Centerline goodness [0,1] 0.9817508356671786 Centerline is valid? [True, True] Translation: X:487.97, Y:-22.47, Z:2.42 [[ 9.99933720e-01 9.58195748e-03 6.38289622e-03 4.87972102e+02] [-9.57930132e-03 9.99954018e-01 -4.46579223e-04 -2.24668108e+01] [-6.38688182e-03 3.85405937e-04 9.99979529e-01 2.42417828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.100714057 meters Centerline goodness [0,1] 0.9811854736460786 Centerline is valid? [True, True] Translation: X:488.00, Y:-22.47, Z:2.42 [[ 9.99924692e-01 1.03036930e-02 6.66667007e-03 4.88001416e+02] [-1.03008131e-02 9.99946837e-01 -4.66176248e-04 -2.24678960e+01] [-6.67111898e-03 3.97469019e-04 9.99977669e-01 2.42401248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.130714057 meters Centerline goodness [0,1] 0.9810339760833692 Centerline is valid? [True, True] Translation: X:488.03, Y:-22.47, Z:2.42 [[ 9.99910262e-01 1.16895862e-02 6.54382357e-03 4.88029951e+02] [-1.16868418e-02 9.99931602e-01 -4.57472281e-04 -2.24707367e+01] [-6.54872365e-03 3.80954598e-04 9.99978484e-01 2.42315910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.160714057 meters Centerline goodness [0,1] 0.9826419535157399 Centerline is valid? [True, True] Translation: X:488.06, Y:-22.47, Z:2.42 [[ 9.99863599e-01 1.52022517e-02 6.45559196e-03 4.88059642e+02] [-1.51996567e-02 9.99884377e-01 -4.50856641e-04 -2.24697903e+01] [-6.46169958e-03 3.52672362e-04 9.99979061e-01 2.42145655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.190714057 meters Centerline goodness [0,1] 0.9818926687942781 Centerline is valid? [True, True] Translation: X:488.09, Y:-22.47, Z:2.42 [[ 9.99834587e-01 1.71109659e-02 6.16549889e-03 4.88089055e+02] [-1.71086355e-02 9.99853544e-01 -4.30517673e-04 -2.24710241e+01] [-6.17196249e-03 3.24963187e-04 9.99980900e-01 2.42071749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.220714057 meters Centerline goodness [0,1] 0.9810804082648743 Centerline is valid? [True, True] Translation: X:488.12, Y:-22.47, Z:2.42 [[ 9.99762056e-01 2.08973678e-02 6.25548038e-03 4.88118081e+02] [-2.08950457e-02 9.99781579e-01 -4.36342288e-04 -2.24711680e+01] [-6.26323246e-03 3.05529915e-04 9.99980339e-01 2.42031374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.250714057 meters Centerline goodness [0,1] 0.9825339366515837 Centerline is valid? [True, True] Translation: X:488.15, Y:-22.47, Z:2.42 [[ 9.99723743e-01 2.25982819e-02 6.46182708e-03 4.88147430e+02] [-2.25958404e-02 9.99744580e-01 -4.50603547e-04 -2.24721975e+01] [-6.47035947e-03 3.04468651e-04 9.99979021e-01 2.42002461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.280714057 meters Centerline goodness [0,1] 0.9815187185106528 Centerline is valid? [True, True] Translation: X:488.18, Y:-22.48, Z:2.42 [[ 9.99692929e-01 2.39673796e-02 6.29386565e-03 4.88175535e+02] [-2.39650917e-02 9.99712700e-01 -4.38694810e-04 -2.24751576e+01] [-6.30257178e-03 2.87727032e-04 9.99980097e-01 2.41967684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.310714057 meters Centerline goodness [0,1] 0.9824163872020303 Centerline is valid? [True, True] Translation: X:488.20, Y:-22.47, Z:2.42 [[ 9.99677473e-01 2.45815184e-02 6.37959148e-03 4.88204424e+02] [-2.45791830e-02 9.99697788e-01 -4.44234672e-04 -2.24724645e+01] [-6.38858345e-03 2.87286248e-04 9.99979552e-01 2.41978755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.340714057 meters Centerline goodness [0,1] 0.9808646029122037 Centerline is valid? [True, True] Translation: X:488.23, Y:-22.48, Z:2.42 [[ 9.99692620e-01 2.39835517e-02 6.28135336e-03 4.88232126e+02] [-2.39812778e-02 9.99712312e-01 -4.37077475e-04 -2.24811672e+01] [-6.29002896e-03 2.86308246e-04 9.99980177e-01 2.41861260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.370714057 meters Centerline goodness [0,1] 0.9801352971786692 Centerline is valid? [True, True] Translation: X:488.26, Y:-22.49, Z:2.42 [[ 9.99723330e-01 2.24427741e-02 7.04170595e-03 4.88260110e+02] [-2.24398832e-02 9.99748074e-01 -4.89284727e-04 -2.24852515e+01] [-7.05091287e-03 3.31134298e-04 9.99975087e-01 2.41803707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.400714057 meters Centerline goodness [0,1] 0.9794976238968093 Centerline is valid? [True, True] Translation: X:488.29, Y:-22.49, Z:2.42 [[ 9.99755824e-01 2.12324041e-02 6.12183504e-03 4.88287436e+02] [-2.12301998e-02 9.99774524e-01 -4.24834915e-04 -2.24885500e+01] [-6.12947498e-03 2.94763399e-04 9.99981171e-01 2.41705445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.430714057 meters Centerline goodness [0,1] 0.9797236067059356 Centerline is valid? [True, True] Translation: X:488.32, Y:-22.49, Z:2.42 [[ 9.99813214e-01 1.86958037e-02 4.89932790e-03 4.88315107e+02] [-1.86943631e-02 9.99825187e-01 -3.39673404e-04 -2.24938718e+01] [-4.90482190e-03 2.48020143e-04 9.99987941e-01 2.41554147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.460714057 meters Centerline goodness [0,1] 0.9805165382872678 Centerline is valid? [True, True] Translation: X:488.34, Y:-22.49, Z:2.42 [[ 9.99844751e-01 1.69653358e-02 4.75942500e-03 4.88344637e+02] [-1.69639586e-02 9.99856047e-01 -3.29580189e-04 -2.24918734e+01] [-4.76433131e-03 2.48790333e-04 9.99988620e-01 2.41574396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.490714057 meters Centerline goodness [0,1] 0.9801736221006465 Centerline is valid? [True, True] Translation: X:488.38, Y:-22.49, Z:2.42 [[ 9.99896564e-01 1.35659963e-02 4.77751810e-03 4.88375075e+02] [-1.35645724e-02 9.99907942e-01 -3.30324107e-04 -2.24897768e+01] [-4.78155947e-03 2.65484950e-04 9.99988533e-01 2.41708477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.520714057 meters Centerline goodness [0,1] 0.9740478953476105 Centerline is valid? [True, True] Translation: X:488.40, Y:-22.52, Z:2.41 [[ 9.99884275e-01 1.43295982e-02 5.10872853e-03 4.88400734e+02] [-1.43279777e-02 9.99897287e-01 -3.53668992e-04 -2.25180460e+01] [-5.11327173e-03 2.80430316e-04 9.99986888e-01 2.41309412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.550714057 meters Centerline goodness [0,1] 0.978729649784361 Centerline is valid? [True, True] Translation: X:488.43, Y:-22.50, Z:2.42 [[ 9.99944722e-01 9.76370693e-03 3.90176159e-03 4.88432702e+02] [-9.76273030e-03 9.99952307e-01 -2.69272829e-04 -2.24951746e+01] [-3.90420461e-03 2.31166098e-04 9.99992352e-01 2.41597335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.580714057 meters Centerline goodness [0,1] 0.9792825801782241 Centerline is valid? [True, True] Translation: X:488.46, Y:-22.50, Z:2.42 [[ 9.99951281e-01 9.20214279e-03 3.57167852e-03 4.88460071e+02] [-9.20131804e-03 9.99957636e-01 -2.47277106e-04 -2.24981689e+01] [-3.57380269e-03 2.14400909e-04 9.99993591e-01 2.41547970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.610714057 meters Centerline goodness [0,1] 0.9800409993016602 Centerline is valid? [True, True] Translation: X:488.49, Y:-22.50, Z:2.42 [[ 9.99942810e-01 9.93698387e-03 3.95382561e-03 4.88489417e+02] [-9.93598138e-03 9.99950600e-01 -2.73111879e-04 -2.24968712e+01] [-3.95634420e-03 2.33811122e-04 9.99992146e-01 2.41577722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.640714057 meters Centerline goodness [0,1] 0.9786782789196995 Centerline is valid? [True, True] Translation: X:488.52, Y:-22.50, Z:2.41 [[ 9.99940342e-01 1.01927766e-02 3.92687117e-03 4.88517104e+02] [-1.01917901e-02 9.99948026e-01 -2.71127052e-04 -2.25040131e+01] [-3.92943062e-03 2.31089030e-04 9.99992253e-01 2.41462523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.670714057 meters Centerline goodness [0,1] 0.9790228779615759 Centerline is valid? [True, True] Translation: X:488.55, Y:-22.50, Z:2.41 [[ 9.99918523e-01 1.23056458e-02 3.39394185e-03 4.88547735e+02] [-1.23049239e-02 9.99924264e-01 -2.33503992e-04 -2.24991473e+01] [-3.39655822e-03 1.91722771e-04 9.99994213e-01 2.41484468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.700714057 meters Centerline goodness [0,1] 0.9811273845041135 Centerline is valid? [True, True] Translation: X:488.58, Y:-22.50, Z:2.41 [[ 9.99902830e-01 1.36279762e-02 2.93396073e-03 4.88577054e+02] [-1.36274408e-02 9.99907122e-01 -2.02380378e-04 -2.24965234e+01] [-2.93644627e-03 1.62378336e-04 9.99995675e-01 2.41458759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.730714057 meters Centerline goodness [0,1] 0.9798046044597223 Centerline is valid? [True, True] Translation: X:488.61, Y:-22.50, Z:2.41 [[ 9.99867725e-01 1.61944813e-02 1.50714803e-03 4.88606044e+02] [-1.61943430e-02 9.99868858e-01 -1.03890137e-04 -2.24972834e+01] [-1.50863283e-03 7.94691228e-05 9.99998859e-01 2.41268610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.76071405700003 meters Centerline goodness [0,1] 0.9802141949537121 Centerline is valid? [True, True] Translation: X:488.63, Y:-22.50, Z:2.41 [[ 9.99856803e-01 1.68992551e-02 8.87545589e-04 4.88634031e+02] [-1.68992067e-02 9.99857196e-01 -6.19525557e-05 -2.24985990e+01] [-8.88465796e-04 4.69448680e-05 9.99999604e-01 2.41144683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.790714057 meters Centerline goodness [0,1] 0.9797890237802938 Centerline is valid? [True, True] Translation: X:488.66, Y:-22.50, Z:2.41 [[ 9.99853326e-01 1.71263533e-02 1.18586490e-04 4.88663157e+02] [-1.71263523e-02 9.99853333e-01 -9.00984441e-06 -2.24995707e+01] [-1.18723403e-04 6.97756889e-06 9.99999993e-01 2.41031004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.820714057 meters Centerline goodness [0,1] 0.9807129404824034 Centerline is valid? [True, True] Translation: X:488.69, Y:-22.50, Z:2.41 [[ 9.99862620e-01 1.65734635e-02 -2.48085631e-04 4.88692062e+02] [-1.65734600e-02 9.99862651e-01 1.60641964e-05 -2.24991299e+01] [ 2.48317796e-04 -1.19503522e-05 9.99999969e-01 2.41007218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.850714057 meters Centerline goodness [0,1] 0.9796614021133963 Centerline is valid? [True, True] Translation: X:488.72, Y:-22.51, Z:2.41 [[ 9.99895121e-01 1.44811194e-02 -2.07813380e-04 4.88720232e+02] [-1.44811169e-02 9.99895143e-01 1.35302411e-05 -2.25050432e+01] [ 2.07987522e-04 -1.05194523e-05 9.99999978e-01 2.40900661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.880714057 meters Centerline goodness [0,1] 0.981036056595162 Centerline is valid? [True, True] Translation: X:488.75, Y:-22.50, Z:2.41 [[ 9.99919590e-01 1.26772551e-02 -3.17268419e-04 4.88749789e+02] [-1.26772490e-02 9.99919640e-01 2.09811295e-05 -2.25019073e+01] [ 3.17508906e-04 -1.69573516e-05 9.99999949e-01 2.41026078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.910714057 meters Centerline goodness [0,1] 0.9789413773477519 Centerline is valid? [True, True] Translation: X:488.78, Y:-22.51, Z:2.41 [[ 9.99956258e-01 9.30377903e-03 9.59882604e-04 4.88778212e+02] [-9.30372027e-03 9.99956717e-01 -6.56566453e-05 -2.25083487e+01] [-9.60451913e-04 5.67232941e-05 9.99999537e-01 2.41063708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.940714057 meters Centerline goodness [0,1] 0.978486545553886 Centerline is valid? [True, True] Translation: X:488.81, Y:-22.51, Z:2.41 [[ 9.99971060e-01 7.33431992e-03 2.02157299e-03 4.88807371e+02] [-7.33405459e-03 9.99973096e-01 -1.38630231e-04 -2.25102353e+01] [-2.02253536e-03 1.23799893e-04 9.99997947e-01 2.41143782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.970714057 meters Centerline goodness [0,1] 0.9784958470815792 Centerline is valid? [True, True] Translation: X:488.84, Y:-22.51, Z:2.41 [[ 9.99982391e-01 5.21023207e-03 2.84103170e-03 4.88835441e+02] [-5.20970030e-03 9.99986410e-01 -1.94546753e-04 -2.25146895e+01] [-2.84200672e-03 1.79742404e-04 9.99995945e-01 2.41134883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.000714057 meters Centerline goodness [0,1] 0.9784958470815792 Centerline is valid? [True, True] Translation: X:488.86, Y:-22.52, Z:2.41 [[ 9.99982569e-01 5.17598038e-03 2.84106874e-03 4.88864584e+02] [-5.17545000e-03 9.99986588e-01 -1.94003393e-04 -2.25166445e+01] [-2.84203479e-03 1.79296202e-04 9.99995945e-01 2.41097018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.030714057 meters Centerline goodness [0,1] 0.9778916577855378 Centerline is valid? [True, True] Translation: X:488.89, Y:-22.52, Z:2.41 [[ 9.99991017e-01 6.44322627e-04 4.18944567e-03 4.88893785e+02] [-6.43133067e-04 9.99999752e-01 -2.85283226e-04 -2.25231048e+01] [-4.18962844e-03 2.82586292e-04 9.99991184e-01 2.41155182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.060714057 meters Centerline goodness [0,1] 0.9771637619577813 Centerline is valid? [True, True] Translation: X:488.92, Y:-22.53, Z:2.41 [[ 9.99987397e-01 -3.31265114e-03 3.77251225e-03 4.88923021e+02] [ 3.31364491e-03 9.99994477e-01 -2.57206252e-04 -2.25307013e+01] [-3.77163938e-03 2.69703776e-04 9.99992851e-01 2.41006509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.090714057 meters Centerline goodness [0,1] 0.9766166674219423 Centerline is valid? [True, True] Translation: X:488.95, Y:-22.54, Z:2.41 [[ 9.99983339e-01 -4.88304112e-03 3.07863538e-03 4.88953955e+02] [ 4.88370888e-03 9.99988053e-01 -2.09421142e-04 -2.25358437e+01] [-3.07757599e-03 2.24452811e-04 9.99995239e-01 2.40839634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.120714057 meters Centerline goodness [0,1] 0.9767520748999299 Centerline is valid? [True, True] Translation: X:488.99, Y:-22.54, Z:2.41 [[ 9.99978723e-01 -6.08195986e-03 2.35855644e-03 4.88985091e+02] [ 6.08235463e-03 9.99981489e-01 -1.60240208e-04 -2.25402949e+01] [-2.35753821e-03 1.74582375e-04 9.99997206e-01 2.40689540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.150714057 meters Centerline goodness [0,1] 0.9754528985507246 Centerline is valid? [True, True] Translation: X:489.02, Y:-22.55, Z:2.40 [[ 9.99976600e-01 -6.82115997e-03 5.21079496e-04 4.89017127e+02] [ 6.82117898e-03 9.99976735e-01 -3.47245444e-05 -2.25451886e+01] [-5.20830511e-04 3.82781084e-05 9.99999864e-01 2.40410628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.180714057 meters Centerline goodness [0,1] 0.9758673041626068 Centerline is valid? [True, True] Translation: X:489.05, Y:-22.55, Z:2.40 [[ 9.99981332e-01 -6.10879285e-03 -1.33077202e-04 4.89048902e+02] [ 6.10879423e-03 9.99981341e-01 9.95145587e-06 -2.25470096e+01] [ 1.33013928e-04 -1.07642113e-05 9.99999991e-01 2.40295125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.210714057 meters Centerline goodness [0,1] 0.9790700845377693 Centerline is valid? [True, True] Translation: X:489.08, Y:-22.54, Z:2.40 [[ 9.99990586e-01 -3.90506563e-03 -1.89164033e-03 4.89081656e+02] [ 3.90531863e-03 9.99992366e-01 1.30067935e-04 -2.25382622e+01] [ 1.89111796e-03 -1.37454169e-04 9.99998202e-01 2.40392315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.240714057 meters Centerline goodness [0,1] 0.9767278176369085 Centerline is valid? [True, True] Translation: X:489.11, Y:-22.55, Z:2.40 [[ 9.99995207e-01 -2.08296520e-03 -2.29079483e-03 4.89111417e+02] [ 2.08333020e-03 9.99997818e-01 1.56956203e-04 -2.25484990e+01] [ 2.29046290e-03 -1.61727933e-04 9.99997364e-01 2.40095808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.270714057 meters Centerline goodness [0,1] 0.9806089779977748 Centerline is valid? [True, True] Translation: X:489.14, Y:-22.54, Z:2.40 [[ 9.99996861e-01 4.45233835e-04 -2.46580808e-03 4.89142480e+02] [-4.44819192e-04 9.99999887e-01 1.68702888e-04 -2.25397734e+01] [ 2.46588291e-03 -1.67605520e-04 9.99996946e-01 2.40235686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.300714057 meters Centerline goodness [0,1] 0.9818277047799058 Centerline is valid? [True, True] Translation: X:489.17, Y:-22.53, Z:2.40 [[ 9.99979420e-01 5.97254304e-03 -2.34268603e-03 4.89172620e+02] [-5.97218484e-03 9.99982154e-01 1.59867075e-04 -2.25333175e+01] [ 2.34359904e-03 -1.45872831e-04 9.99997243e-01 2.40250784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.330714057 meters Centerline goodness [0,1] 0.9797042093287827 Centerline is valid? [True, True] Translation: X:489.20, Y:-22.55, Z:2.40 [[ 9.99960839e-01 8.51544602e-03 -2.40994093e-03 4.89200844e+02] [-8.51507477e-03 9.99963733e-01 1.64270068e-04 -2.25463129e+01] [ 2.41125236e-03 -1.43742808e-04 9.99997083e-01 2.39839936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.360714057 meters Centerline goodness [0,1] 0.9830231131110656 Centerline is valid? [True, True] Translation: X:489.23, Y:-22.53, Z:2.40 [[ 9.99911808e-01 1.30089185e-02 -2.67301429e-03 4.89232031e+02] [-1.30084766e-02 9.99915370e-01 1.82652131e-04 -2.25317025e+01] [ 2.67516418e-03 -1.47864179e-04 9.99996411e-01 2.40091338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.390714057 meters Centerline goodness [0,1] 0.9821367384699728 Centerline is valid? [True, True] Translation: X:489.26, Y:-22.54, Z:2.40 [[ 9.99888156e-01 1.45881728e-02 -3.29565850e-03 4.89260071e+02] [-1.45875132e-02 9.99893571e-01 2.24109188e-04 -2.25379718e+01] [ 3.29857709e-03 -1.76008661e-04 9.99994544e-01 2.39910875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.420714057 meters Centerline goodness [0,1] 0.981531006423004 Centerline is valid? [True, True] Translation: X:489.29, Y:-22.54, Z:2.40 [[ 9.99867131e-01 1.60057861e-02 -3.08805556e-03 4.89289387e+02] [-1.60052135e-02 9.99871886e-01 2.10046825e-04 -2.25386818e+01] [ 3.09102190e-03 -1.60593927e-04 9.99995210e-01 2.39916625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.450714057 meters Centerline goodness [0,1] 0.9827907611166682 Centerline is valid? [True, True] Translation: X:489.32, Y:-22.54, Z:2.40 [[ 9.99832655e-01 1.81998996e-02 -1.85084812e-03 4.89317980e+02] [-1.81996983e-02 9.99834364e-01 1.25545386e-04 -2.25394135e+01] [ 1.85282646e-03 -9.18394993e-05 9.99998279e-01 2.40007549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.480714057 meters Centerline goodness [0,1] 0.9835957107004335 Centerline is valid? [True, True] Translation: X:489.35, Y:-22.53, Z:2.40 [[ 9.99828769e-01 1.84663967e-02 -1.19346019e-03 4.89347723e+02] [-1.84663136e-02 9.99829480e-01 8.06109621e-05 -2.25337597e+01] [ 1.19474527e-03 -5.85583489e-05 9.99999285e-01 2.40239600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.51071405700003 meters Centerline goodness [0,1] 0.9839040627422371 Centerline is valid? [True, True] Translation: X:489.38, Y:-22.54, Z:2.40 [[ 9.99833093e-01 1.82554365e-02 -7.25236350e-04 4.89375515e+02] [-1.82554065e-02 9.99833355e-01 4.79437929e-05 -2.25370329e+01] [ 7.25990728e-04 -3.46963063e-05 9.99999736e-01 2.40249573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.540714057 meters Centerline goodness [0,1] 0.9833060034617838 Centerline is valid? [True, True] Translation: X:489.40, Y:-22.54, Z:2.40 [[ 9.99846846e-01 1.75008598e-02 -5.92627142e-05 4.89404400e+02] [-1.75008596e-02 9.99846848e-01 3.10879216e-06 -2.25405735e+01] [ 5.93080446e-05 -2.07116759e-06 9.99999998e-01 2.40160826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.570714057 meters Centerline goodness [0,1] 0.9827044740794684 Centerline is valid? [True, True] Translation: X:489.43, Y:-22.55, Z:2.40 [[ 9.99883518e-01 1.52569142e-02 4.21008032e-04 4.89433446e+02] [-1.52569032e-02 9.99883606e-01 -2.95106951e-05 -2.25451195e+01] [-4.21409272e-04 2.30839789e-05 9.99999911e-01 2.40144033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.600714057 meters Centerline goodness [0,1] 0.9823247793433622 Centerline is valid? [True, True] Translation: X:489.46, Y:-22.55, Z:2.40 [[ 9.99900541e-01 1.40996266e-02 3.30782955e-04 4.89460705e+02] [-1.40996196e-02 9.99900595e-01 -2.35664476e-05 -2.25494948e+01] [-3.31082352e-04 1.89001899e-05 9.99999945e-01 2.40036728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.630714057 meters Centerline goodness [0,1] 0.9812814811453464 Centerline is valid? [True, True] Translation: X:489.49, Y:-22.56, Z:2.40 [[ 9.99930176e-01 1.17598848e-02 -1.16135012e-03 4.89488297e+02] [-1.17598021e-02 9.99930848e-01 7.80296864e-05 -2.25571244e+01] [ 1.16218743e-03 -6.43669904e-05 9.99999323e-01 2.39756896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.660714057 meters Centerline goodness [0,1] 0.9824481629683521 Centerline is valid? [True, True] Translation: X:489.52, Y:-22.56, Z:2.40 [[ 9.99942895e-01 1.05145360e-02 -1.91069268e-03 4.89517444e+02] [-1.05143098e-02 9.99944715e-01 1.28376591e-04 -2.25584688e+01] [ 1.91193687e-03 -1.08279645e-04 9.99998166e-01 2.39685085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.690714057 meters Centerline goodness [0,1] 0.982708409173644 Centerline is valid? [True, True] Translation: X:489.55, Y:-22.56, Z:2.40 [[ 9.99964687e-01 7.66287306e-03 -3.45025049e-03 4.89547603e+02] [-7.66211397e-03 9.99970618e-01 2.33175856e-04 -2.25627205e+01] [ 3.45193592e-03 -2.06731409e-04 9.99994021e-01 2.39519987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.720714057 meters Centerline goodness [0,1] 0.9815348974539508 Centerline is valid? [True, True] Translation: X:489.58, Y:-22.57, Z:2.39 [[ 9.99971582e-01 6.35311051e-03 -4.05882092e-03 4.89576845e+02] [-6.35205062e-03 9.99979788e-01 2.73970022e-04 -2.25652176e+01] [ 4.06047945e-03 -2.48180400e-04 9.99991725e-01 2.39431275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.750714057 meters Centerline goodness [0,1] 0.980542359011661 Centerline is valid? [True, True] Translation: X:489.60, Y:-22.57, Z:2.39 [[ 9.99976144e-01 5.26282339e-03 -4.47370999e-03 4.89603989e+02] [-5.26152947e-03 9.99986113e-01 3.00946015e-04 -2.25734594e+01] [ 4.47523169e-03 -2.77400278e-04 9.99989948e-01 2.39179654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.780714057 meters Centerline goodness [0,1] 0.9819349295710958 Centerline is valid? [True, True] Translation: X:489.63, Y:-22.57, Z:2.39 [[ 9.99975553e-01 4.91992902e-03 -4.96873247e-03 4.89632772e+02] [-4.91832846e-03 9.99987849e-01 3.34292738e-04 -2.25748517e+01] [ 4.97031680e-03 -3.09846707e-04 9.99987600e-01 2.39116932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.810714057 meters Centerline goodness [0,1] 0.9834319526627219 Centerline is valid? [True, True] Translation: X:489.66, Y:-22.57, Z:2.39 [[ 9.99973260e-01 4.42661821e-03 -5.82094395e-03 4.89662390e+02] [-4.42441501e-03 9.99990136e-01 3.91318568e-04 -2.25703426e+01] [ 5.82261875e-03 -3.65553833e-04 9.99982982e-01 2.39196848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.840714057 meters Centerline goodness [0,1] 0.9827519512139623 Centerline is valid? [True, True] Translation: X:489.69, Y:-22.57, Z:2.39 [[ 9.99978103e-01 4.08843177e-03 -5.20364036e-03 4.89690671e+02] [-4.08666895e-03 9.99991589e-01 3.49353443e-04 -2.25721296e+01] [ 5.20502490e-03 -3.28080238e-04 9.99986400e-01 2.39171639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.870714057 meters Centerline goodness [0,1] 0.9804855911050602 Centerline is valid? [True, True] Translation: X:489.72, Y:-22.58, Z:2.39 [[ 9.99986428e-01 3.11398814e-03 -4.17698630e-03 4.89718173e+02] [-3.11284708e-03 9.99995116e-01 2.79653256e-04 -2.25833765e+01] [ 4.17783673e-03 -2.66647141e-04 9.99991237e-01 2.38957528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.900714057 meters Centerline goodness [0,1] 0.9815016816653032 Centerline is valid? [True, True] Translation: X:489.75, Y:-22.58, Z:2.39 [[ 9.99993678e-01 2.25535089e-03 -2.74923734e-03 4.89747285e+02] [-2.25485431e-03 9.99997441e-01 1.83711435e-04 -2.25765056e+01] [ 2.74964464e-03 -1.77511144e-04 9.99996204e-01 2.39243555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.930714057 meters Centerline goodness [0,1] 0.9818658161521814 Centerline is valid? [True, True] Translation: X:489.78, Y:-22.58, Z:2.39 [[ 9.99997574e-01 1.28883472e-03 -1.78644427e-03 4.89776330e+02] [-1.28862383e-03 9.99999163e-01 1.19194519e-04 -2.25789906e+01] [ 1.78659640e-03 -1.16892175e-04 9.99998397e-01 2.39289926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.960714057 meters Centerline goodness [0,1] 0.9814869634521234 Centerline is valid? [True, True] Translation: X:489.81, Y:-22.58, Z:2.40 [[ 9.99999637e-01 -2.59681931e-04 8.11612172e-04 4.89805562e+02] [ 2.59726746e-04 9.99999965e-01 -5.51114381e-05 -2.25778747e+01] [-8.11597832e-04 5.53222155e-05 9.99999669e-01 2.39544001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.990714057 meters Centerline goodness [0,1] 0.979403781675524 Centerline is valid? [True, True] Translation: X:489.84, Y:-22.58, Z:2.39 [[ 9.99996109e-01 -2.15175680e-03 1.77564470e-03 4.89835406e+02] [ 2.15197123e-03 9.99997677e-01 -1.18855639e-04 -2.25848127e+01] [-1.77538483e-03 1.22676312e-04 9.99998416e-01 2.39462543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.020714057 meters Centerline goodness [0,1] 0.9795643437756872 Centerline is valid? [True, True] Translation: X:489.87, Y:-22.59, Z:2.39 [[ 9.99992805e-01 -3.56694587e-03 1.29067801e-03 4.89866168e+02] [ 3.56705721e-03 9.99993635e-01 -8.39721179e-05 -2.25894113e+01] [-1.29037027e-03 8.85754361e-05 9.99999164e-01 2.39303138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.050714057 meters Centerline goodness [0,1] 0.9788137527966759 Centerline is valid? [True, True] Translation: X:489.90, Y:-22.59, Z:2.39 [[ 9.99987326e-01 -5.00875609e-03 5.10024584e-04 4.89897304e+02] [ 5.00877403e-03 9.99987455e-01 -3.38967095e-05 -2.25931565e+01] [-5.09848406e-04 3.64508778e-05 9.99999869e-01 2.39120315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.080714057 meters Centerline goodness [0,1] 0.9765694580830803 Centerline is valid? [True, True] Translation: X:489.93, Y:-22.60, Z:2.39 [[ 9.99959928e-01 -8.81641413e-03 -1.55362874e-03 4.89926614e+02] [ 8.81658736e-03 9.99961128e-01 1.04682815e-04 -2.25993744e+01] [ 1.55264542e-03 -1.18376324e-04 9.99998788e-01 2.38770273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.110714057 meters Centerline goodness [0,1] 0.9754321072219558 Centerline is valid? [True, True] Translation: X:489.96, Y:-22.60, Z:2.39 [[ 9.99942108e-01 -1.04555904e-02 -2.54204398e-03 4.89957252e+02] [ 1.04560597e-02 9.99945319e-01 1.71411451e-04 -2.26023667e+01] [ 2.54011277e-03 -1.97981291e-04 9.99996754e-01 2.38633985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.140714057 meters Centerline goodness [0,1] 0.9788472070098576 Centerline is valid? [True, True] Translation: X:489.99, Y:-22.60, Z:2.39 [[ 9.99906431e-01 -1.31225387e-02 -3.86375554e-03 4.89988061e+02] [ 1.31236423e-02 9.99913847e-01 2.60429135e-04 -2.25975937e+01] [ 3.86000518e-03 -3.11111313e-04 9.99992502e-01 2.38542785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.170714057 meters Centerline goodness [0,1] 0.9793892256662473 Centerline is valid? [True, True] Translation: X:490.02, Y:-22.60, Z:2.38 [[ 9.99892538e-01 -1.39229735e-02 -4.58953614e-03 4.90020481e+02] [ 1.39245439e-02 9.99903001e-01 3.10386235e-04 -2.25978500e+01] [ 4.58476946e-03 -3.74260077e-04 9.99989420e-01 2.38463023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.200714057 meters Centerline goodness [0,1] 0.9786071707294679 Centerline is valid? [True, True] Translation: X:490.05, Y:-22.60, Z:2.38 [[ 9.99877823e-01 -1.47011841e-02 -5.31163604e-03 4.90053127e+02] [ 1.47032997e-02 9.99891836e-01 3.59458920e-04 -2.25967341e+01] [ 5.30577704e-03 -4.37513578e-04 9.99985829e-01 2.38378674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.230714057 meters Centerline goodness [0,1] 0.9781008465218991 Centerline is valid? [True, True] Translation: X:490.09, Y:-22.60, Z:2.38 [[ 9.99873387e-01 -1.50136467e-02 -5.27259574e-03 4.90085681e+02] [ 1.50157376e-02 9.99887194e-01 3.57190176e-04 -2.25987759e+01] [ 5.26663823e-03 -4.36316865e-04 9.99986036e-01 2.38284639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.26071405700003 meters Centerline goodness [0,1] 0.9790079410749223 Centerline is valid? [True, True] Translation: X:490.12, Y:-22.60, Z:2.38 [[ 9.99876507e-01 -1.49567457e-02 -4.82349263e-03 4.90117626e+02] [ 1.49584969e-02 9.99888062e-01 3.27187025e-04 -2.25993030e+01] [ 4.81805905e-03 -3.99298819e-04 9.99988313e-01 2.38283412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.290714057 meters Centerline goodness [0,1] 0.9777167136193599 Centerline is valid? [True, True] Translation: X:490.15, Y:-22.60, Z:2.38 [[ 9.99894236e-01 -1.41503656e-02 -3.35904111e-03 4.90149030e+02] [ 1.41512101e-02 9.99899841e-01 2.27788639e-04 -2.25993898e+01] [ 3.35548138e-03 -2.75299044e-04 9.99994332e-01 2.38360897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.320714057 meters Centerline goodness [0,1] 0.978008269999307 Centerline is valid? [True, True] Translation: X:490.18, Y:-22.60, Z:2.38 [[ 9.99905442e-01 -1.34021703e-02 -3.08052048e-03 4.90180972e+02] [ 1.34028793e-02 9.99910155e-01 2.09611988e-04 -2.25991866e+01] [ 3.07743446e-03 -2.50880012e-04 9.99995233e-01 2.38377642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.350714057 meters Centerline goodness [0,1] 0.9762367082755432 Centerline is valid? [True, True] Translation: X:490.21, Y:-22.60, Z:2.38 [[ 9.99913244e-01 -1.30187869e-02 -2.00366473e-03 4.90213776e+02] [ 1.30190870e-02 9.99915239e-01 1.36807098e-04 -2.25955961e+01] [ 2.00171383e-03 -1.62881115e-04 9.99997983e-01 2.38376919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.380714057 meters Centerline goodness [0,1] 0.9768621456364647 Centerline is valid? [True, True] Translation: X:490.25, Y:-22.60, Z:2.38 [[ 9.99918530e-01 -1.26430850e-02 -1.75691014e-03 4.90246290e+02] [ 1.26433155e-02 9.99920063e-01 1.20192777e-04 -2.25971568e+01] [ 1.75525009e-03 -1.42396154e-04 9.99998449e-01 2.38338889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.410714057 meters Centerline goodness [0,1] 0.9770687936191426 Centerline is valid? [True, True] Translation: X:490.28, Y:-22.60, Z:2.38 [[ 9.99922370e-01 -1.24161546e-02 -1.04547805e-03 4.90278692e+02] [ 1.24162366e-02 9.99922913e-01 7.19732355e-05 -2.25960740e+01] [ 1.04450382e-03 -8.49485510e-05 9.99999451e-01 2.38296885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.440714057 meters Centerline goodness [0,1] 0.9771400778210116 Centerline is valid? [True, True] Translation: X:490.31, Y:-22.60, Z:2.38 [[ 9.99922841e-01 -1.24048540e-02 -6.56899202e-04 4.90310705e+02] [ 1.24048866e-02 9.99923055e-01 4.56035470e-05 -2.25980580e+01] [ 6.56282952e-04 -5.37487884e-05 9.99999783e-01 2.38248748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.470714057 meters Centerline goodness [0,1] 0.9773486817675455 Centerline is valid? [True, True] Translation: X:490.34, Y:-22.60, Z:2.38 [[ 9.99927738e-01 -1.20077366e-02 -5.76316937e-04 4.90342644e+02] [ 1.20077617e-02 9.99927903e-01 4.01706514e-05 -2.25982148e+01] [ 5.75793028e-04 -4.70880250e-05 9.99999833e-01 2.38189279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.500714057 meters Centerline goodness [0,1] 0.9789777219664202 Centerline is valid? [True, True] Translation: X:490.37, Y:-22.59, Z:2.38 [[ 9.99964674e-01 -8.30258117e-03 -1.31103581e-03 4.90373561e+02] [ 8.30270540e-03 9.99965528e-01 8.93360445e-05 -2.25919747e+01] [ 1.31024890e-03 -1.00218033e-04 9.99999137e-01 2.38128601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.530714057 meters Centerline goodness [0,1] 0.9793344193623458 Centerline is valid? [True, True] Translation: X:490.40, Y:-22.59, Z:2.38 [[ 9.99981036e-01 -6.06090748e-03 -1.09220437e-03 4.90404318e+02] [ 6.06099260e-03 9.99981629e-01 7.46417675e-05 -2.25934878e+01] [ 1.09173191e-03 -8.12601946e-05 9.99999401e-01 2.38056980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.560714057 meters Centerline goodness [0,1] 0.9786551339285714 Centerline is valid? [True, True] Translation: X:490.43, Y:-22.59, Z:2.38 [[ 9.99996144e-01 -2.50354183e-03 -1.20171316e-03 4.90434388e+02] [ 2.50364184e-03 9.99996863e-01 8.17241521e-05 -2.25941867e+01] [ 1.20150479e-03 -8.47324963e-05 9.99999275e-01 2.38029384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.590714057 meters Centerline goodness [0,1] 0.979488135751247 Centerline is valid? [True, True] Translation: X:490.47, Y:-22.59, Z:2.38 [[ 9.99997660e-01 -1.77680094e-03 -1.23401750e-03 4.90466299e+02] [ 1.77690666e-03 9.99998418e-01 8.45739970e-05 -2.25904650e+01] [ 1.23386528e-03 -8.67665330e-05 9.99999235e-01 2.38098518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.620714057 meters Centerline goodness [0,1] 0.9801011330648938 Centerline is valid? [True, True] Translation: X:490.50, Y:-22.59, Z:2.38 [[ 9.99998041e-01 -3.13513138e-04 -1.95431221e-03 4.90496442e+02] [ 3.13774555e-04 9.99999942e-01 1.33458730e-04 -2.25911381e+01] [ 1.95427026e-03 -1.34071682e-04 9.99998081e-01 2.37960582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.650714057 meters Centerline goodness [0,1] 0.9789069990412272 Centerline is valid? [True, True] Translation: X:490.53, Y:-22.59, Z:2.38 [[ 9.99997170e-01 -2.92477680e-05 -2.37872316e-03 4.90526262e+02] [ 2.96322719e-05 9.99999987e-01 1.61607905e-04 -2.25929078e+01] [ 2.37871840e-03 -1.61677934e-04 9.99997158e-01 2.37816928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.680714057 meters Centerline goodness [0,1] 0.978415587446039 Centerline is valid? [True, True] Translation: X:490.56, Y:-22.59, Z:2.38 [[ 9.99997299e-01 2.05245765e-04 -2.31515075e-03 4.90555565e+02] [-2.04882383e-04 9.99999967e-01 1.57194308e-04 -2.25946919e+01] [ 2.31518293e-03 -1.56719550e-04 9.99997308e-01 2.37743875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.710714057 meters Centerline goodness [0,1] 0.9780037011876596 Centerline is valid? [True, True] Translation: X:490.58, Y:-22.60, Z:2.38 [[ 9.99999105e-01 -1.06709511e-04 -1.33389570e-03 4.90584893e+02] [ 1.06830433e-04 9.99999990e-01 9.05825064e-05 -2.25974174e+01] [ 1.33388602e-03 -9.07249260e-05 9.99999106e-01 2.37709334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.740714057 meters Centerline goodness [0,1] 0.9782848298665666 Centerline is valid? [True, True] Translation: X:490.61, Y:-22.60, Z:2.38 [[ 9.99999715e-01 -3.68051888e-04 -6.59771149e-04 4.90614843e+02] [ 3.68081444e-04 9.99999931e-01 4.46759252e-05 -2.25992863e+01] [ 6.59754661e-04 -4.49187620e-05 9.99999781e-01 2.37746212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.770714057 meters Centerline goodness [0,1] 0.9788264047188212 Centerline is valid? [True, True] Translation: X:490.65, Y:-22.60, Z:2.38 [[ 9.99999600e-01 -7.84204118e-04 4.30097740e-04 4.90645644e+02] [ 7.84216781e-04 9.99999692e-01 -2.92735518e-05 -2.25973297e+01] [-4.30074651e-04 2.96108300e-05 9.99999907e-01 2.37878505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.800714057 meters Centerline goodness [0,1] 0.978514756477169 Centerline is valid? [True, True] Translation: X:490.68, Y:-22.60, Z:2.38 [[ 9.99999144e-01 -1.05939143e-03 7.67341164e-04 4.90676078e+02] [ 1.05943166e-03 9.99999437e-01 -5.20115899e-05 -2.26002646e+01] [-7.67285632e-04 5.28244910e-05 9.99999704e-01 2.37862707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.830714057 meters Centerline goodness [0,1] 0.978163179328746 Centerline is valid? [True, True] Translation: X:490.71, Y:-22.60, Z:2.38 [[ 9.99996631e-01 -2.30667674e-03 1.19042459e-03 4.90707035e+02] [ 2.30677436e-03 9.99997336e-01 -8.06313165e-05 -2.26041844e+01] [-1.19023543e-03 8.33770857e-05 9.99999288e-01 2.37767399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.860714057 meters Centerline goodness [0,1] 0.9785094914459808 Centerline is valid? [True, True] Translation: X:490.74, Y:-22.61, Z:2.38 [[ 9.99995517e-01 -2.86632946e-03 8.66289395e-04 4.90738780e+02] [ 2.86638055e-03 9.99995890e-01 -5.77413189e-05 -2.26050398e+01] [-8.66120329e-04 6.02241751e-05 9.99999623e-01 2.37716620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.890714057 meters Centerline goodness [0,1] 0.9774124441132638 Centerline is valid? [True, True] Translation: X:490.77, Y:-22.61, Z:2.37 [[ 9.99993504e-01 -3.58990139e-03 -3.23292164e-04 4.90769025e+02] [ 3.58990886e-03 9.99993556e-01 2.25280384e-05 -2.26132123e+01] [ 3.23209207e-04 -2.36884815e-05 9.99999947e-01 2.37373243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.920714057 meters Centerline goodness [0,1] 0.9774124441132638 Centerline is valid? [True, True] Translation: X:490.80, Y:-22.62, Z:2.37 [[ 9.99993628e-01 -3.55514955e-03 -3.23292084e-04 4.90799881e+02] [ 3.55515702e-03 9.99993680e-01 2.25290816e-05 -2.26153501e+01] [ 3.23209947e-04 -2.36782921e-05 9.99999947e-01 2.37333202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.950714057 meters Centerline goodness [0,1] 0.9766287293335206 Centerline is valid? [True, True] Translation: X:490.83, Y:-22.62, Z:2.37 [[ 9.99988875e-01 -4.51332212e-03 -1.37140148e-03 4.90831200e+02] [ 4.51345547e-03 9.99989810e-01 9.41549421e-05 -2.26173541e+01] [ 1.37096255e-03 -1.00343654e-04 9.99999055e-01 2.37235753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.980714057 meters Centerline goodness [0,1] 0.9780507168542474 Centerline is valid? [True, True] Translation: X:490.86, Y:-22.62, Z:2.37 [[ 9.99988684e-01 -3.63326066e-03 -3.07103347e-03 4.90862221e+02] [ 3.63392385e-03 9.99993375e-01 2.10400651e-04 -2.26180303e+01] [ 3.07024868e-03 -2.21558172e-04 9.99995262e-01 2.37032394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.01071405700003 meters Centerline goodness [0,1] 0.9773968909001384 Centerline is valid? [True, True] Translation: X:490.89, Y:-22.62, Z:2.37 [[ 9.99987128e-01 -3.80322725e-03 -3.35846907e-03 4.90892385e+02] [ 3.80401967e-03 9.99992738e-01 2.29590896e-04 -2.26208456e+01] [ 3.35757150e-03 -2.42363623e-04 9.99994334e-01 2.36925812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.040714057 meters Centerline goodness [0,1] 0.9777232351566152 Centerline is valid? [True, True] Translation: X:490.92, Y:-22.62, Z:2.37 [[ 9.99987537e-01 -3.66843244e-03 -3.38659633e-03 4.90922931e+02] [ 3.66923742e-03 9.99993242e-01 2.31513725e-04 -2.26238215e+01] [ 3.38572415e-03 -2.43937066e-04 9.99994239e-01 2.36881742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.070714057 meters Centerline goodness [0,1] 0.9764306633815257 Centerline is valid? [True, True] Translation: X:490.95, Y:-22.63, Z:2.37 [[ 9.99988184e-01 -4.34796745e-03 -2.17426626e-03 4.90952882e+02] [ 4.34830144e-03 9.99990535e-01 1.48903413e-04 -2.26301981e+01] [ 2.17359825e-03 -1.58356018e-04 9.99997625e-01 2.36888127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.100714057 meters Centerline goodness [0,1] 0.9754399083962331 Centerline is valid? [True, True] Translation: X:490.98, Y:-22.63, Z:2.37 [[ 9.99984218e-01 -5.37334041e-03 -1.64057443e-03 4.90983539e+02] [ 5.37353276e-03 9.99985556e-01 1.12859127e-04 -2.26338591e+01] [ 1.63994430e-03 -1.21673027e-04 9.99998648e-01 2.36969500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.130714057 meters Centerline goodness [0,1] 0.9756386712847811 Centerline is valid? [True, True] Translation: X:491.02, Y:-22.64, Z:2.37 [[ 9.99974876e-01 -7.05543269e-03 6.84767146e-04 4.91015389e+02] [ 7.05546446e-03 9.99975109e-01 -4.39879890e-05 -2.26367794e+01] [-6.84439747e-04 4.88182341e-05 9.99999765e-01 2.37200214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.160714057 meters Centerline goodness [0,1] 0.972213832678949 Centerline is valid? [True, True] Translation: X:491.05, Y:-22.65, Z:2.37 [[ 9.99962641e-01 -8.51988185e-03 1.45906078e-03 4.91046088e+02] [ 8.52003614e-03 9.99963699e-01 -9.95601030e-05 -2.26469521e+01] [-1.45815958e-03 1.11987634e-04 9.99998931e-01 2.37115433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.190714057 meters Centerline goodness [0,1] 0.9710787957628694 Centerline is valid? [True, True] Translation: X:491.08, Y:-22.66, Z:2.37 [[ 9.99931252e-01 -1.16931275e-02 8.72383506e-04 4.91075725e+02] [ 1.16931842e-02 9.99931631e-01 -5.99047533e-05 -2.26556119e+01] [-8.71623388e-04 7.01015760e-05 9.99999618e-01 2.37061595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.220714057 meters Centerline goodness [0,1] 0.9737440274620773 Centerline is valid? [True, True] Translation: X:491.11, Y:-22.65, Z:2.37 [[ 9.99911916e-01 -1.32613528e-02 5.44475346e-04 4.91107271e+02] [ 1.32613749e-02 9.99912063e-01 -3.69738801e-05 -2.26544661e+01] [-5.43937143e-04 4.41911150e-05 9.99999851e-01 2.37081096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.250714057 meters Centerline goodness [0,1] 0.9729573156601937 Centerline is valid? [True, True] Translation: X:491.14, Y:-22.66, Z:2.37 [[ 9.99865742e-01 -1.63789555e-02 -4.77815909e-04 4.91137522e+02] [ 1.63789731e-02 9.99865855e-01 3.29339575e-05 -2.26598992e+01] [ 4.77212389e-04 -4.07556697e-05 9.99999885e-01 2.36998650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.280714057 meters Centerline goodness [0,1] 0.971752325125199 Centerline is valid? [True, True] Translation: X:491.17, Y:-22.67, Z:2.37 [[ 9.99848635e-01 -1.73917591e-02 -4.82859856e-04 4.91168654e+02] [ 1.73917775e-02 9.99848751e-01 3.39238191e-05 -2.26668600e+01] [ 4.82196829e-04 -4.23164754e-05 9.99999883e-01 2.36896601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.310714057 meters Centerline goodness [0,1] 0.973933703951466 Centerline is valid? [True, True] Translation: X:491.20, Y:-22.67, Z:2.37 [[ 9.99809550e-01 -1.95057701e-02 -6.23631957e-04 4.91200041e+02] [ 1.95058009e-02 9.99809743e-01 4.34150544e-05 -2.26676619e+01] [ 6.22666462e-04 -5.55712268e-05 9.99999805e-01 2.36848614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.340714057 meters Centerline goodness [0,1] 0.9715162138475022 Centerline is valid? [True, True] Translation: X:491.23, Y:-22.68, Z:2.37 [[ 9.99790512e-01 -2.04413747e-02 -1.04035059e-03 4.91230160e+02] [ 2.04414607e-02 9.99791049e-01 7.21436565e-05 -2.26770579e+01] [ 1.03865849e-03 -9.33948291e-05 9.99999456e-01 2.36698592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.370714057 meters Centerline goodness [0,1] 0.9698985912907815 Centerline is valid? [True, True] Translation: X:491.26, Y:-22.68, Z:2.37 [[ 9.99781781e-01 -2.08783650e-02 -6.96015940e-04 4.91260679e+02] [ 2.08784039e-02 9.99782021e-01 4.86738308e-05 -2.26836453e+01] [ 6.94847994e-04 -6.31949112e-05 9.99999757e-01 2.36639484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.400714057 meters Centerline goodness [0,1] 0.9731177850342639 Centerline is valid? [True, True] Translation: X:491.29, Y:-22.68, Z:2.37 [[ 9.99759425e-01 -2.19016040e-02 -1.18795908e-03 4.91292341e+02] [ 2.19017176e-02 9.99760125e-01 8.26753500e-05 -2.26837750e+01] [ 1.18586340e-03 -1.08673805e-04 9.99999291e-01 2.36622413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.430714057 meters Centerline goodness [0,1] 0.9651477606461086 Centerline is valid? [True, True] Translation: X:491.32, Y:-22.70, Z:2.36 [[ 9.99762956e-01 -2.17370341e-02 -1.23834383e-03 4.91324109e+02] [ 2.17371597e-02 9.99763716e-01 8.80206512e-05 -2.26961775e+01] [ 1.23613792e-03 -1.14917864e-04 9.99999229e-01 2.36463478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.460714057 meters Centerline goodness [0,1] 0.9602861597725396 Centerline is valid? [True, True] Translation: X:491.36, Y:-22.70, Z:2.36 [[ 9.99751090e-01 -2.22651707e-02 -1.42144341e-03 4.91355855e+02] [ 2.22653342e-02 9.99752092e-01 9.93190011e-05 -2.27038295e+01] [ 1.41887967e-03 -1.30943192e-04 9.99998985e-01 2.36392758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.490714057 meters Centerline goodness [0,1] 0.9709316940515094 Centerline is valid? [True, True] Translation: X:491.39, Y:-22.70, Z:2.36 [[ 9.99748561e-01 -2.23507617e-02 -1.80511448e-03 4.91388588e+02] [ 2.23510254e-02 9.99750177e-01 1.26049645e-04 -2.27019321e+01] [ 1.80184621e-03 -1.66364111e-04 9.99998363e-01 2.36401153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.520714057 meters Centerline goodness [0,1] 0.9713328623840667 Centerline is valid? [True, True] Translation: X:491.42, Y:-22.71, Z:2.36 [[ 9.99746049e-01 -2.24198999e-02 -2.27716999e-03 4.91420333e+02] [ 2.24203195e-02 9.99748620e-01 1.58924630e-04 -2.27090638e+01] [ 2.27303448e-03 -2.09939150e-04 9.99997395e-01 2.36306805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.550714057 meters Centerline goodness [0,1] 0.9727908194631025 Centerline is valid? [True, True] Translation: X:491.45, Y:-22.71, Z:2.36 [[ 9.99748985e-01 -2.22280627e-02 -2.80727762e-03 4.91453646e+02] [ 2.22287014e-02 9.99752893e-01 1.96504238e-04 -2.27094366e+01] [ 2.80221601e-03 -2.58857048e-04 9.99996040e-01 2.36291332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.580714057 meters Centerline goodness [0,1] 0.9664394455805498 Centerline is valid? [True, True] Translation: X:491.48, Y:-22.72, Z:2.36 [[ 9.99761696e-01 -2.16360469e-02 -2.90393462e-03 4.91484272e+02] [ 2.16367261e-02 9.99765878e-01 2.02671135e-04 -2.27188406e+01] [ 2.89886975e-03 -2.65454475e-04 9.99995763e-01 2.36123209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.610714057 meters Centerline goodness [0,1] 0.9742466872390634 Centerline is valid? [True, True] Translation: X:491.52, Y:-22.72, Z:2.36 [[ 9.99789878e-01 -2.01990777e-02 -3.49245349e-03 4.91515984e+02] [ 2.02000505e-02 9.99795929e-01 2.43501543e-04 -2.27161828e+01] [ 3.48682227e-03 -3.13998115e-04 9.99993872e-01 2.36172686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.640714057 meters Centerline goodness [0,1] 0.9747619047619047 Centerline is valid? [True, True] Translation: X:491.55, Y:-22.72, Z:2.36 [[ 9.99843032e-01 -1.73969186e-02 -3.35546050e-03 4.91547163e+02] [ 1.73978008e-02 9.99848619e-01 2.33918116e-04 -2.27158374e+01] [ 3.35088309e-03 -2.92259032e-04 9.99994343e-01 2.36234506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.670714057 meters Centerline goodness [0,1] 0.9739722916193504 Centerline is valid? [True, True] Translation: X:491.58, Y:-22.72, Z:2.36 [[ 9.99868599e-01 -1.58309926e-02 -3.48779896e-03 4.91577492e+02] [ 1.58319373e-02 9.99874637e-01 2.43397114e-04 -2.27223669e+01] [ 3.48350851e-03 -2.98583746e-04 9.99993888e-01 2.36164636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.700714057 meters Centerline goodness [0,1] 0.975687750890164 Centerline is valid? [True, True] Translation: X:491.61, Y:-22.72, Z:2.36 [[ 9.99904709e-01 -1.33635010e-02 -3.46275814e-03 4.91608346e+02] [ 1.33644168e-02 9.99910663e-01 2.41478544e-04 -2.27207589e+01] [ 3.45922179e-03 -2.87733276e-04 9.99993975e-01 2.36268649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.730714057 meters Centerline goodness [0,1] 0.9767194088044612 Centerline is valid? [True, True] Translation: X:491.64, Y:-22.72, Z:2.36 [[ 9.99956264e-01 -8.63664713e-03 -3.58874161e-03 4.91638065e+02] [ 8.63759964e-03 9.99962664e-01 2.50001353e-04 -2.27222059e+01] [ 3.58644845e-03 -2.80988532e-04 9.99993529e-01 2.36250253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.76071405700003 meters Centerline goodness [0,1] 0.9774465004750487 Centerline is valid? [True, True] Translation: X:491.67, Y:-22.72, Z:2.36 [[ 9.99974331e-01 -6.18282060e-03 -3.62069068e-03 4.91669098e+02] [ 6.18377530e-03 9.99980848e-01 2.52542336e-04 -2.27221329e+01] [ 3.61905992e-03 -2.74925391e-04 9.99993413e-01 2.36263620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.790714057 meters Centerline goodness [0,1] 0.9776504687287714 Centerline is valid? [True, True] Translation: X:491.70, Y:-22.72, Z:2.36 [[ 9.99993788e-01 -1.32183791e-03 -3.26740481e-03 4.91699938e+02] [ 1.32258847e-03 9.99999099e-01 2.27562723e-04 -2.27240482e+01] [ 3.26710107e-03 -2.31882741e-04 9.99994636e-01 2.36212687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.820714057 meters Centerline goodness [0,1] 0.9776721014492754 Centerline is valid? [True, True] Translation: X:491.73, Y:-22.73, Z:2.36 [[ 9.99995576e-01 9.42859318e-04 -2.82130472e-03 4.91728963e+02] [-9.42310016e-04 9.99999537e-01 1.96020794e-04 -2.27286745e+01] [ 2.82148823e-03 -1.93361383e-04 9.99996001e-01 2.36135170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.850714057 meters Centerline goodness [0,1] 0.9777862974155428 Centerline is valid? [True, True] Translation: X:491.76, Y:-22.73, Z:2.36 [[ 9.99981654e-01 5.53262582e-03 -2.46613770e-03 4.91758092e+02] [-5.53221980e-03 9.99984682e-01 1.71427990e-04 -2.27304814e+01] [ 2.46704838e-03 -1.57781629e-04 9.99996944e-01 2.36129830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.880714057 meters Centerline goodness [0,1] 0.9794984482250867 Centerline is valid? [True, True] Translation: X:491.79, Y:-22.73, Z:2.36 [[ 9.99963484e-01 7.92998193e-03 -3.18534067e-03 4.91788115e+02] [-7.92931648e-03 9.99968538e-01 2.21482734e-04 -2.27297889e+01] [ 3.18699681e-03 -1.96217072e-04 9.99994902e-01 2.36163802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.910714057 meters Centerline goodness [0,1] 0.9788605426845759 Centerline is valid? [True, True] Translation: X:491.82, Y:-22.73, Z:2.36 [[ 9.99945214e-01 9.95041898e-03 -3.24939628e-03 4.91816316e+02] [-9.94973914e-03 9.99950475e-01 2.25317384e-04 -2.27328081e+01] [ 3.25147735e-03 -1.92974394e-04 9.99994695e-01 2.36043372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.940714057 meters Centerline goodness [0,1] 0.9810243682310469 Centerline is valid? [True, True] Translation: X:491.85, Y:-22.73, Z:2.36 [[ 9.99896545e-01 1.38837727e-02 -3.76032157e-03 4.91846076e+02] [-1.38828893e-02 9.99903594e-01 2.60940977e-04 -2.27312210e+01] [ 3.76358190e-03 -2.08709853e-04 9.99992896e-01 2.36088753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.970714057 meters Centerline goodness [0,1] 0.9820799855556559 Centerline is valid? [True, True] Translation: X:491.88, Y:-22.73, Z:2.36 [[ 9.99847912e-01 1.68426203e-02 -4.52526556e-03 4.91875925e+02] [-1.68413700e-02 9.99858125e-01 3.14263301e-04 -2.27330584e+01] [ 4.52991655e-03 -2.38003834e-04 9.99989712e-01 2.36014168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.000714057 meters Centerline goodness [0,1] 0.9822880896439544 Centerline is valid? [True, True] Translation: X:491.90, Y:-22.74, Z:2.36 [[ 9.99825623e-01 1.80742985e-02 -4.69512052e-03 4.91904636e+02] [-1.80729709e-02 9.99836618e-01 3.25033365e-04 -2.27351153e+01] [ 4.70022817e-03 -2.40121910e-04 9.99988925e-01 2.36010211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.030714057 meters Centerline goodness [0,1] 0.9806689444344542 Centerline is valid? [True, True] Translation: X:491.93, Y:-22.75, Z:2.36 [[ 9.99812695e-01 1.88627990e-02 -4.33233327e-03 4.91931478e+02] [-1.88616790e-02 9.99822058e-01 2.99236069e-04 -2.27452871e+01] [ 4.33720679e-03 -2.17464941e-04 9.99990571e-01 2.35733629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.060714057 meters Centerline goodness [0,1] 0.9837034705988131 Centerline is valid? [True, True] Translation: X:491.96, Y:-22.74, Z:2.36 [[ 9.99780909e-01 2.02578105e-02 -5.26829540e-03 4.91960923e+02] [-2.02561731e-02 9.99794756e-01 3.63986376e-04 -2.27415171e+01] [ 5.27458769e-03 -2.57191126e-04 9.99986056e-01 2.35920739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.090714057 meters Centerline goodness [0,1] 0.9832873454920699 Centerline is valid? [True, True] Translation: X:491.99, Y:-22.74, Z:2.36 [[ 9.99763262e-01 2.10693159e-02 -5.43176955e-03 4.91989616e+02] [-2.10675891e-02 9.99777983e-01 3.74929213e-04 -2.27446335e+01] [ 5.43846311e-03 -2.60406164e-04 9.99985178e-01 2.35905604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.120714057 meters Centerline goodness [0,1] 0.9843139017483932 Centerline is valid? [True, True] Translation: X:492.02, Y:-22.75, Z:2.36 [[ 9.99727060e-01 2.27642262e-02 -5.25315560e-03 4.92016967e+02] [-2.27626382e-02 9.99740832e-01 3.61885869e-04 -2.27492200e+01] [ 5.26003220e-03 -2.42211415e-04 9.99986137e-01 2.35869464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.150714057 meters Centerline goodness [0,1] 0.9848730051697011 Centerline is valid? [True, True] Translation: X:492.05, Y:-22.75, Z:2.36 [[ 9.99697646e-01 2.39857557e-02 -5.41289690e-03 4.92045779e+02] [-2.39840882e-02 9.99712271e-01 3.72769276e-04 -2.27508233e+01] [ 5.42028060e-03 -2.42833171e-04 9.99985281e-01 2.35907216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.180714057 meters Centerline goodness [0,1] 0.9852845510217816 Centerline is valid? [True, True] Translation: X:492.07, Y:-22.75, Z:2.36 [[ 9.99666737e-01 2.53937174e-02 -4.64479629e-03 4.92074845e+02] [-2.53925069e-02 9.99677507e-01 3.19412143e-04 -2.27526267e+01] [ 4.65140944e-03 -2.01362673e-04 9.99989162e-01 2.35888937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.210714057 meters Centerline goodness [0,1] 0.9849413137637739 Centerline is valid? [True, True] Translation: X:492.10, Y:-22.76, Z:2.36 [[ 9.99582915e-01 2.84737067e-02 -4.82111556e-03 4.92104932e+02] [-2.84724352e-02 9.99594523e-01 3.32174697e-04 -2.27557084e+01] [ 4.82861896e-03 -1.94767251e-04 9.99988323e-01 2.35912836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.240714057 meters Centerline goodness [0,1] 0.9861817204541892 Centerline is valid? [True, True] Translation: X:492.13, Y:-22.76, Z:2.36 [[ 9.99557846e-01 2.94209864e-02 -4.30316534e-03 4.92133894e+02] [-2.94199866e-02 9.99567095e-01 2.95466100e-04 -2.27593243e+01] [ 4.30999538e-03 -1.68736392e-04 9.99990698e-01 2.35959115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.270714057 meters Centerline goodness [0,1] 0.985271335234289 Centerline is valid? [True, True] Translation: X:492.16, Y:-22.77, Z:2.36 [[ 9.99575070e-01 2.88764601e-02 -3.97861378e-03 4.92161452e+02] [-2.88756067e-02 9.99582976e-01 2.71796327e-04 -2.27683114e+01] [ 3.98480311e-03 -1.56795946e-04 9.99992048e-01 2.35743033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.300714057 meters Centerline goodness [0,1] 0.9858359480053788 Centerline is valid? [True, True] Translation: X:492.19, Y:-22.77, Z:2.36 [[ 9.99602259e-01 2.80020694e-02 -3.34778807e-03 4.92190082e+02] [-2.80014592e-02 9.99607856e-01 2.29028000e-04 -2.27712270e+01] [ 3.35288852e-03 -1.35193955e-04 9.99994370e-01 2.35856753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.330714057 meters Centerline goodness [0,1] 0.9845817922552471 Centerline is valid? [True, True] Translation: X:492.22, Y:-22.78, Z:2.36 [[ 9.99687290e-01 2.48650261e-02 -2.65550601e-03 4.92219139e+02] [-2.48646307e-02 9.99690811e-01 1.81812860e-04 -2.27776702e+01] [ 2.65920574e-03 -1.15727829e-04 9.99996458e-01 2.35984757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.360714057 meters Centerline goodness [0,1] 0.9855683440399714 Centerline is valid? [True, True] Translation: X:492.25, Y:-22.78, Z:2.36 [[ 9.99734040e-01 2.28710175e-02 -2.96083285e-03 4.92248106e+02] [-2.28705183e-02 9.99738415e-01 2.02347103e-04 -2.27803119e+01] [ 2.96468623e-03 -1.34577504e-04 9.99995596e-01 2.36071779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.390714057 meters Centerline goodness [0,1] 0.9869737922464106 Centerline is valid? [True, True] Translation: X:492.28, Y:-22.79, Z:2.36 [[ 9.99816411e-01 1.89965418e-02 -2.50504699e-03 4.92277537e+02] [-1.89961716e-02 9.99819542e-01 1.71498084e-04 -2.27902786e+01] [ 2.50785281e-03 -1.23880296e-04 9.99996848e-01 2.35981075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.420714057 meters Centerline goodness [0,1] 0.9855943713401465 Centerline is valid? [True, True] Translation: X:492.30, Y:-22.80, Z:2.36 [[ 9.99844637e-01 1.74320483e-02 -2.61270466e-03 4.92304757e+02] [-1.74316433e-02 9.99848042e-01 1.77716022e-04 -2.27986224e+01] [ 2.61540559e-03 -1.32144676e-04 9.99996571e-01 2.35798315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.450714057 meters Centerline goodness [0,1] 0.9852534765979085 Centerline is valid? [True, True] Translation: X:492.33, Y:-22.81, Z:2.36 [[ 9.99869461e-01 1.60059431e-02 -2.20694298e-03 4.92332292e+02] [-1.60056514e-02 9.99871890e-01 1.49774672e-04 -2.28055925e+01] [ 2.20905754e-03 -1.14431561e-04 9.99997553e-01 2.35678489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.480714057 meters Centerline goodness [0,1] 0.9854129313588773 Centerline is valid? [True, True] Translation: X:492.36, Y:-22.81, Z:2.36 [[ 9.99906260e-01 1.35030400e-02 -2.26696875e-03 4.92361325e+02] [-1.35027250e-02 9.99908822e-01 1.54214291e-04 -2.28121673e+01] [ 2.26884442e-03 -1.23589579e-04 9.99997419e-01 2.35662026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.51071405700003 meters Centerline goodness [0,1] 0.978761134938964 Centerline is valid? [True, True] Translation: X:492.39, Y:-22.84, Z:2.35 [[ 9.99907025e-01 1.36082395e-02 8.70043509e-04 4.92387060e+02] [-1.36081920e-02 9.99907402e-01 -6.05023024e-05 -2.28400104e+01] [-8.70786275e-04 4.86569581e-05 9.99999620e-01 2.35141653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.540714057 meters Centerline goodness [0,1] 0.984758585702627 Centerline is valid? [True, True] Translation: X:492.42, Y:-22.82, Z:2.35 [[ 9.99937005e-01 1.06117814e-02 -3.65726062e-03 4.92417869e+02] [-1.06109404e-02 9.99943671e-01 2.49298629e-04 -2.28249913e+01] [ 3.65970012e-03 -2.10475950e-04 9.99993281e-01 2.35445913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.570714057 meters Centerline goodness [0,1] 0.9845841247404921 Centerline is valid? [True, True] Translation: X:492.45, Y:-22.83, Z:2.35 [[ 9.99949816e-01 9.27338118e-03 -3.79074490e-03 4.92446881e+02] [-9.27247165e-03 9.99956977e-01 2.57438022e-04 -2.28276198e+01] [ 3.79296913e-03 -2.22275528e-04 9.99992782e-01 2.35469210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.600714057 meters Centerline goodness [0,1] 0.9844807878308274 Centerline is valid? [True, True] Translation: X:492.47, Y:-22.84, Z:2.35 [[ 9.99973100e-01 6.54690547e-03 -3.30723862e-03 4.92474679e+02] [-6.54619946e-03 9.99978548e-01 2.24255906e-04 -2.28362659e+01] [ 3.30863586e-03 -2.02600030e-04 9.99994506e-01 2.35416419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.630714057 meters Centerline goodness [0,1] 0.9842007844519853 Centerline is valid? [True, True] Translation: X:492.50, Y:-22.84, Z:2.35 [[ 9.99981837e-01 5.20896187e-03 -3.03185442e-03 4.92503549e+02] [-5.20836322e-03 9.99986415e-01 2.05315549e-04 -2.28401703e+01] [ 3.03288271e-03 -1.89520821e-04 9.99995383e-01 2.35377250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.660714057 meters Centerline goodness [0,1] 0.9833274756172569 Centerline is valid? [True, True] Translation: X:492.53, Y:-22.84, Z:2.35 [[ 9.99988110e-01 3.90001615e-03 -2.92752195e-03 4.92532750e+02] [-3.89945315e-03 9.99992378e-01 1.97996965e-04 -2.28413898e+01] [ 2.92827182e-03 -1.86578876e-04 9.99995695e-01 2.35438641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.690714057 meters Centerline goodness [0,1] 0.9829353036900207 Centerline is valid? [True, True] Translation: X:492.56, Y:-22.85, Z:2.35 [[ 9.99995442e-01 1.76331321e-03 -2.45082570e-03 4.92562136e+02] [-1.76291173e-03 9.99998432e-01 1.65967149e-04 -2.28462495e+01] [ 2.45111451e-03 -1.61645803e-04 9.99996983e-01 2.35392090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.720714057 meters Centerline goodness [0,1] 0.9835090030742205 Centerline is valid? [True, True] Translation: X:492.59, Y:-22.85, Z:2.35 [[ 9.99997972e-01 9.63642182e-04 -1.76829930e-03 4.92590827e+02] [-9.63432267e-04 9.99999529e-01 1.19557897e-04 -2.28510807e+01] [ 1.76841367e-03 -1.17854018e-04 9.99998429e-01 2.35404542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.750714057 meters Centerline goodness [0,1] 0.9824789240826748 Centerline is valid? [True, True] Translation: X:492.62, Y:-22.86, Z:2.35 [[ 9.99998318e-01 7.12301265e-04 -1.69037951e-03 4.92620220e+02] [-7.12108773e-04 9.99999740e-01 1.14474347e-04 -2.28557234e+01] [ 1.69046061e-03 -1.13270420e-04 9.99998565e-01 2.35357735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.780714057 meters Centerline goodness [0,1] 0.9847570377549671 Centerline is valid? [True, True] Translation: X:492.65, Y:-22.85, Z:2.35 [[ 9.99998951e-01 9.81035653e-04 -1.06609413e-03 4.92650335e+02] [-9.80959616e-04 9.99999516e-01 7.18433648e-05 -2.28546333e+01] [ 1.06616409e-03 -7.07974941e-05 9.99999429e-01 2.35451624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.810714057 meters Centerline goodness [0,1] 0.9847570377549671 Centerline is valid? [True, True] Translation: X:492.68, Y:-22.86, Z:2.35 [[ 9.99998985e-01 9.45679311e-04 -1.06609669e-03 4.92679490e+02] [-9.45603295e-04 9.99999550e-01 7.18054817e-05 -2.28565800e+01] [ 1.06616412e-03 -7.07973043e-05 9.99999429e-01 2.35413765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.840714057 meters Centerline goodness [0,1] 0.9828743092711165 Centerline is valid? [True, True] Translation: X:492.71, Y:-22.86, Z:2.35 [[ 9.99999328e-01 6.01026805e-04 -9.91043964e-04 4.92708727e+02] [-6.00960767e-04 9.99999817e-01 6.69318144e-05 -2.28621373e+01] [ 9.91084011e-04 -6.63361909e-05 9.99999507e-01 2.35381094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.870714057 meters Centerline goodness [0,1] 0.982238088941778 Centerline is valid? [True, True] Translation: X:492.74, Y:-22.86, Z:2.35 [[ 9.99999261e-01 1.11843182e-03 -4.76500907e-04 4.92738463e+02] [-1.11841679e-03 9.99999374e-01 3.18151481e-05 -2.28606198e+01] [ 4.76536192e-04 -3.12821980e-05 9.99999886e-01 2.35474920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.900714057 meters Centerline goodness [0,1] 0.9840835941977867 Centerline is valid? [True, True] Translation: X:492.77, Y:-22.86, Z:2.35 [[ 9.99998307e-01 1.84016424e-03 -1.87186062e-05 4.92768737e+02] [-1.84016422e-03 9.99998307e-01 1.26782896e-06 -2.28623542e+01] [ 1.87209075e-05 -1.23338150e-06 1.00000000e+00 2.35487395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.930714057 meters Centerline goodness [0,1] 0.9834988574441905 Centerline is valid? [True, True] Translation: X:492.80, Y:-22.86, Z:2.35 [[ 9.99997145e-01 2.38632149e-03 1.23998644e-04 4.92797966e+02] [-2.38632050e-03 9.99997153e-01 -8.14875722e-06 -2.28644964e+01] [-1.24017736e-04 7.85283345e-06 9.99999992e-01 2.35469738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.960714057 meters Centerline goodness [0,1] 0.9849990087450713 Centerline is valid? [True, True] Translation: X:492.83, Y:-22.86, Z:2.36 [[ 9.99991530e-01 4.11517682e-03 6.56457001e-05 4.92828025e+02] [-4.11517651e-03 9.99991533e-01 -4.90739673e-06 -2.28626108e+01] [-6.56653391e-05 4.63721152e-06 9.99999998e-01 2.35506598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.990714057 meters Centerline goodness [0,1] 0.9850746268656716 Centerline is valid? [True, True] Translation: X:492.86, Y:-22.86, Z:2.35 [[ 9.99987986e-01 4.90176205e-03 5.67689522e-06 4.92857947e+02] [-4.90176205e-03 9.99987986e-01 -8.44976567e-07 -2.28639005e+01] [-5.68096890e-06 8.17139626e-07 1.00000000e+00 2.35413262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.020714057 meters Centerline goodness [0,1] 0.9854178598176131 Centerline is valid? [True, True] Translation: X:492.89, Y:-22.87, Z:2.35 [[ 9.99977662e-01 6.61744123e-03 -9.40447719e-04 4.92886348e+02] [-6.61738497e-03 9.99978103e-01 6.29133658e-05 -2.28650335e+01] [ 9.40843452e-04 -5.66886558e-05 9.99999556e-01 2.35344680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.050714057 meters Centerline goodness [0,1] 0.9845663405518302 Centerline is valid? [True, True] Translation: X:492.91, Y:-22.87, Z:2.35 [[ 9.99974496e-01 6.99400165e-03 -1.44646430e-03 4.92914132e+02] [-6.99386926e-03 9.99975538e-01 9.65614404e-05 -2.28669425e+01] [ 1.44710427e-03 -8.64425954e-05 9.99998949e-01 2.35245934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.080714057 meters Centerline goodness [0,1] 0.9848006882707199 Centerline is valid? [True, True] Translation: X:492.94, Y:-22.87, Z:2.35 [[ 9.99971197e-01 7.42803113e-03 -1.55896060e-03 4.92943374e+02] [-7.42787715e-03 9.99972407e-01 1.04535442e-04 -2.28684452e+01] [ 1.55969408e-03 -9.29526629e-05 9.99998779e-01 2.35241652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.110714057 meters Centerline goodness [0,1] 0.9852413944792697 Centerline is valid? [True, True] Translation: X:492.97, Y:-22.87, Z:2.35 [[ 9.99969347e-01 7.76178011e-03 -1.02912741e-03 4.92971909e+02] [-7.76171372e-03 9.99969875e-01 6.84876141e-05 -2.28707339e+01] [ 1.02962800e-03 -6.04977224e-05 9.99999468e-01 2.35228585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.140714057 meters Centerline goodness [0,1] 0.9837503848014425 Centerline is valid? [True, True] Translation: X:493.00, Y:-22.87, Z:2.35 [[ 9.99969525e-01 7.73682325e-03 -1.04427817e-03 4.92999931e+02] [-7.73675518e-03 9.99970068e-01 6.92038536e-05 -2.28734982e+01] [ 1.04478233e-03 -6.11224201e-05 9.99999452e-01 2.35189179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.170714057 meters Centerline goodness [0,1] 0.9840677067220577 Centerline is valid? [True, True] Translation: X:493.03, Y:-22.88, Z:2.35 [[ 9.99969741e-01 7.62141597e-03 -1.55911546e-03 4.93029005e+02] [-7.62126306e-03 9.99970952e-01 1.03994929e-04 -2.28760682e+01] [ 1.55986276e-03 -9.21093533e-05 9.99998779e-01 2.35102406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.200714057 meters Centerline goodness [0,1] 0.9847636267419297 Centerline is valid? [True, True] Translation: X:493.06, Y:-22.88, Z:2.35 [[ 9.99969587e-01 7.60941577e-03 -1.70950603e-03 4.93058116e+02] [-7.60923196e-03 9.99971043e-01 1.13999742e-04 -2.28783151e+01] [ 1.71032400e-03 -1.00988247e-04 9.99998532e-01 2.35056811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.230714057 meters Centerline goodness [0,1] 0.9841304778464992 Centerline is valid? [True, True] Translation: X:493.09, Y:-22.88, Z:2.35 [[ 9.99973137e-01 7.10569276e-03 -1.79820608e-03 4.93086936e+02] [-7.10548876e-03 9.99974749e-01 1.19808507e-04 -2.28763905e+01] [ 1.79901199e-03 -1.07028156e-04 9.99998376e-01 2.35079495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.26071405700003 meters Centerline goodness [0,1] 0.9837423380275502 Centerline is valid? [True, True] Translation: X:493.11, Y:-22.88, Z:2.35 [[ 9.99980130e-01 6.20132397e-03 -1.13310762e-03 4.93114356e+02] [-6.20124313e-03 9.99980769e-01 7.48484958e-05 -2.28787905e+01] [ 1.13354999e-03 -6.78203327e-05 9.99999355e-01 2.35053732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.290714057 meters Centerline goodness [0,1] 0.9846899438264126 Centerline is valid? [True, True] Translation: X:493.14, Y:-22.88, Z:2.35 [[ 9.99986343e-01 5.17560474e-03 -7.25639796e-04 4.93142563e+02] [-5.17557131e-03 9.99986605e-01 4.79461224e-05 -2.28823246e+01] [ 7.25878227e-04 -4.41898671e-05 9.99999736e-01 2.35015824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.320714057 meters Centerline goodness [0,1] 0.9845357418217865 Centerline is valid? [True, True] Translation: X:493.17, Y:-22.88, Z:2.35 [[ 9.99991662e-01 4.05002378e-03 -5.23284992e-04 4.93172331e+02] [-4.05000623e-03 9.99991798e-01 3.45921824e-05 -2.28843727e+01] [ 5.23420799e-04 -3.24725865e-05 9.99999862e-01 2.35046034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.350714057 meters Centerline goodness [0,1] 0.9843113059956371 Centerline is valid? [True, True] Translation: X:493.20, Y:-22.89, Z:2.35 [[ 9.99999472e-01 8.99824632e-04 4.95506191e-04 4.93201389e+02] [-8.99808093e-04 9.99999595e-01 -3.36006442e-05 -2.28892023e+01] [-4.95536224e-04 3.31547660e-05 9.99999877e-01 2.35024160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.380714057 meters Centerline goodness [0,1] 0.981281830808916 Centerline is valid? [True, True] Translation: X:493.23, Y:-22.89, Z:2.35 [[ 9.99994970e-01 -3.17145976e-03 3.86262272e-05 4.93230928e+02] [ 3.17145986e-03 9.99994971e-01 -2.42405744e-06 -2.28947272e+01] [-3.86183451e-05 2.54654677e-06 9.99999999e-01 2.34912566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.410714057 meters Centerline goodness [0,1] 0.9814562552181746 Centerline is valid? [True, True] Translation: X:493.26, Y:-22.90, Z:2.35 [[ 9.99989738e-01 -4.52991802e-03 5.80090063e-05 4.93261608e+02] [ 4.52991824e-03 9.99989740e-01 -3.66674200e-06 -2.28982306e+01] [-5.79918011e-05 3.92948043e-06 9.99999998e-01 2.34854893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.440714057 meters Centerline goodness [0,1] 0.9800048553331421 Centerline is valid? [True, True] Translation: X:493.29, Y:-22.90, Z:2.35 [[ 9.99978092e-01 -6.60622129e-03 -4.16094146e-04 4.93292201e+02] [ 6.60623354e-03 9.99978178e-01 2.80801910e-05 -2.29018305e+01] [ 4.15899562e-04 -3.08283909e-05 9.99999913e-01 2.34750685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.470714057 meters Centerline goodness [0,1] 0.9752789661712169 Centerline is valid? [True, True] Translation: X:493.32, Y:-22.91, Z:2.35 [[ 9.99955235e-01 -9.42559891e-03 -8.28836302e-04 4.93321298e+02] [ 9.42564802e-03 9.99955576e-01 5.53618802e-05 -2.29072632e+01] [ 8.28277663e-04 -6.31717212e-05 9.99999655e-01 2.34605554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.500714057 meters Centerline goodness [0,1] 0.9811407847016156 Centerline is valid? [True, True] Translation: X:493.35, Y:-22.90, Z:2.35 [[ 9.99944401e-01 -1.05108274e-02 -8.46432976e-04 4.93354290e+02] [ 1.05108800e-02 9.99944758e-01 5.76506255e-05 -2.28994151e+01] [ 8.45780261e-04 -6.65441756e-05 9.99999640e-01 2.34716888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.530714057 meters Centerline goodness [0,1] 0.9808001055664298 Centerline is valid? [True, True] Translation: X:493.39, Y:-22.90, Z:2.35 [[ 9.99923408e-01 -1.21982837e-02 -2.09276978e-03 4.93385331e+02] [ 1.21986052e-02 9.99925584e-01 1.40933056e-04 -2.29012006e+01] [ 2.09089490e-03 -1.66451134e-04 9.99997800e-01 2.34578533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.560714057 meters Centerline goodness [0,1] 0.9812812438062939 Centerline is valid? [True, True] Translation: X:493.42, Y:-22.90, Z:2.35 [[ 9.99917962e-01 -1.25633090e-02 -2.49641308e-03 4.93417648e+02] [ 1.25637687e-02 9.99921059e-01 1.68565777e-04 -2.28984597e+01] [ 2.49409827e-03 -1.99916305e-04 9.99996870e-01 2.34581701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.590714057 meters Centerline goodness [0,1] 0.9803511245236469 Centerline is valid? [True, True] Translation: X:493.45, Y:-22.90, Z:2.35 [[ 9.99931258e-01 -1.15347033e-02 -2.10452887e-03 4.93447600e+02] [ 1.15350288e-02 9.99933459e-01 1.42634033e-04 -2.29005240e+01] [ 2.10274359e-03 -1.66900029e-04 9.99997775e-01 2.34513622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.620714057 meters Centerline goodness [0,1] 0.9796941977109019 Centerline is valid? [True, True] Translation: X:493.48, Y:-22.90, Z:2.35 [[ 9.99938647e-01 -1.08642639e-02 -2.16112535e-03 4.93480067e+02] [ 1.08646055e-02 9.99940968e-01 1.46386145e-04 -2.29008631e+01] [ 2.15940740e-03 -1.69856939e-04 9.99997654e-01 2.34505427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.650714057 meters Centerline goodness [0,1] 0.9792600773053561 Centerline is valid? [True, True] Translation: X:493.51, Y:-22.90, Z:2.35 [[ 9.99950796e-01 -9.78510028e-03 -1.63002473e-03 4.93511964e+02] [ 9.78529332e-03 9.99952117e-01 1.10495189e-04 -2.29015746e+01] [ 1.62886547e-03 -1.26440023e-04 9.99998665e-01 2.34502629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.680714057 meters Centerline goodness [0,1] 0.9802153104759378 Centerline is valid? [True, True] Translation: X:493.54, Y:-22.90, Z:2.34 [[ 9.99973089e-01 -7.09050177e-03 -1.88331181e-03 4.93542571e+02] [ 7.09075320e-03 9.99974852e-01 1.26857520e-04 -2.28994352e+01] [ 1.88236497e-03 -1.40208206e-04 9.99998219e-01 2.34440247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.710714057 meters Centerline goodness [0,1] 0.9798526338942043 Centerline is valid? [True, True] Translation: X:493.57, Y:-22.90, Z:2.34 [[ 9.99985258e-01 -5.14600345e-03 -1.73266969e-03 4.93573344e+02] [ 5.14621367e-03 9.99986751e-01 1.16892342e-04 -2.28995368e+01] [ 1.73204520e-03 -1.25807308e-04 9.99998492e-01 2.34387453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.740714057 meters Centerline goodness [0,1] 0.9786639460610362 Centerline is valid? [True, True] Translation: X:493.60, Y:-22.90, Z:2.34 [[ 9.99993663e-01 -2.90567933e-03 -2.05681720e-03 4.93603581e+02] [ 2.90597046e-03 9.99995768e-01 1.38570157e-04 -2.28983005e+01] [ 2.05640585e-03 -1.44546329e-04 9.99997875e-01 2.34349465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.770714057 meters Centerline goodness [0,1] 0.9790969343648173 Centerline is valid? [True, True] Translation: X:493.63, Y:-22.90, Z:2.34 [[ 9.99997667e-01 -1.13185663e-03 -1.83965011e-03 4.93634797e+02] [ 1.13208701e-03 9.99999351e-01 1.24198209e-04 -2.28984391e+01] [ 1.83950834e-03 -1.26280563e-04 9.99998300e-01 2.34365008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.800714057 meters Centerline goodness [0,1] 0.9793812139949732 Centerline is valid? [True, True] Translation: X:493.67, Y:-22.90, Z:2.34 [[ 9.99998916e-01 5.15880662e-04 -1.37911272e-03 4.93665486e+02] [-5.15752980e-04 9.99999863e-01 9.29366076e-05 -2.28994198e+01] [ 1.37916048e-03 -9.22252254e-05 9.99999045e-01 2.34309519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.830714057 meters Centerline goodness [0,1] 0.9788295278208823 Centerline is valid? [True, True] Translation: X:493.69, Y:-22.90, Z:2.34 [[ 9.99990205e-01 4.08491239e-03 -1.70390738e-03 4.93694741e+02] [-4.08472333e-03 9.99991651e-01 1.14420463e-04 -2.28981413e+01] [ 1.70436055e-03 -1.07459352e-04 9.99998542e-01 2.34161318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.860714057 meters Centerline goodness [0,1] 0.9792323752831948 Centerline is valid? [True, True] Translation: X:493.72, Y:-22.90, Z:2.34 [[ 9.99982284e-01 5.63328831e-03 -1.92297496e-03 4.93723792e+02] [-5.63305155e-03 9.99984126e-01 1.28513230e-04 -2.28978982e+01] [ 1.92366838e-03 -1.17678736e-04 9.99998143e-01 2.34092219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.890714057 meters Centerline goodness [0,1] 0.9813034068851655 Centerline is valid? [True, True] Translation: X:493.75, Y:-22.89, Z:2.34 [[ 9.99969219e-01 7.56846161e-03 -2.06892092e-03 4.93754088e+02] [-7.56819079e-03 9.99971351e-01 1.38696575e-04 -2.28927468e+01] [ 2.06991136e-03 -1.23034317e-04 9.99997850e-01 2.34087053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.920714057 meters Centerline goodness [0,1] 0.9809754023142864 Centerline is valid? [True, True] Translation: X:493.78, Y:-22.89, Z:2.34 [[ 9.99964804e-01 8.18288278e-03 -1.85261599e-03 4.93783397e+02] [-8.18266788e-03 9.99966514e-01 1.23550950e-04 -2.28908111e+01] [ 1.85356495e-03 -1.08387260e-04 9.99998276e-01 2.34116714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.950714057 meters Centerline goodness [0,1] 0.9792542251631942 Centerline is valid? [True, True] Translation: X:493.81, Y:-22.90, Z:2.34 [[ 9.99960188e-01 8.87793417e-03 -8.97434881e-04 4.93810711e+02] [-8.87788472e-03 9.99960589e-01 5.90742254e-05 -2.28960037e+01] [ 8.97923970e-04 -5.11045501e-05 9.99999596e-01 2.33971282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.980714057 meters Centerline goodness [0,1] 0.9802519501479423 Centerline is valid? [True, True] Translation: X:493.84, Y:-22.89, Z:2.34 [[ 9.99958398e-01 9.11602522e-03 -3.15700999e-04 4.93840154e+02] [-9.11601928e-03 9.99958448e-01 2.02550407e-05 -2.28910756e+01] [ 3.15872527e-04 -1.73762616e-05 9.99999950e-01 2.34124523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.01071405700003 meters Centerline goodness [0,1] 0.9780136127530001 Centerline is valid? [True, True] Translation: X:493.87, Y:-22.90, Z:2.34 [[ 9.99956148e-01 9.33515452e-03 7.46469460e-04 4.93867194e+02] [-9.33511898e-03 9.99956426e-01 -5.10914342e-05 -2.28978597e+01] [-7.46913880e-04 4.41208125e-05 9.99999720e-01 2.33988792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.040714057 meters Centerline goodness [0,1] 0.979974464081715 Centerline is valid? [True, True] Translation: X:493.90, Y:-22.89, Z:2.34 [[ 9.99963133e-01 8.52961965e-03 9.88808319e-04 4.93896687e+02] [-8.52955754e-03 9.99963620e-01 -6.70161615e-05 -2.28925490e+01] [-9.89343968e-04 5.85795934e-05 9.99999509e-01 2.34101987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.070714057 meters Centerline goodness [0,1] 0.9784717399583324 Centerline is valid? [True, True] Translation: X:493.92, Y:-22.90, Z:2.34 [[ 9.99980060e-01 6.07167331e-03 1.73622840e-03 4.93924637e+02] [-6.07147951e-03 9.99981562e-01 -1.16872469e-04 -2.28951763e+01] [-1.73690599e-03 1.06328664e-04 9.99998486e-01 2.34061586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.100714057 meters Centerline goodness [0,1] 0.9791601167752078 Centerline is valid? [True, True] Translation: X:493.95, Y:-22.89, Z:2.34 [[ 9.99990496e-01 3.81370349e-03 2.11261504e-03 4.93954632e+02] [-3.81341299e-03 9.99992719e-01 -1.41519698e-04 -2.28914461e+01] [-2.11313937e-03 1.33462079e-04 9.99997758e-01 2.34161921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.130714057 meters Centerline goodness [0,1] 0.978370729735193 Centerline is valid? [True, True] Translation: X:493.98, Y:-22.90, Z:2.34 [[ 9.99995866e-01 1.84948623e-04 2.86944293e-03 4.93984118e+02] [-1.84399245e-04 9.99999965e-01 -1.91721267e-04 -2.28994475e+01] [-2.86947829e-03 1.91191352e-04 9.99995865e-01 2.34073365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.160714057 meters Centerline goodness [0,1] 0.9777737905667572 Centerline is valid? [True, True] Translation: X:494.01, Y:-22.90, Z:2.34 [[ 9.99994517e-01 -1.29070871e-03 3.04973151e-03 4.94014919e+02] [ 1.29133502e-03 9.99999146e-01 -2.03407259e-04 -2.29030916e+01] [-3.04946637e-03 2.07344368e-04 9.99995329e-01 2.34018954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.190714057 meters Centerline goodness [0,1] 0.978283257959074 Centerline is valid? [True, True] Translation: X:494.05, Y:-22.90, Z:2.34 [[ 9.99990794e-01 -3.07443972e-03 2.99328382e-03 4.94045652e+02] [ 3.07505115e-03 9.99995252e-01 -1.99689583e-04 -2.29049355e+01] [-2.99265567e-03 2.08892246e-04 9.99995500e-01 2.33974587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.220714057 meters Centerline goodness [0,1] 0.9770449909211145 Centerline is valid? [True, True] Translation: X:494.08, Y:-22.91, Z:2.34 [[ 9.99982404e-01 -5.14855545e-03 2.94670841e-03 4.94075923e+02] [ 5.14915712e-03 9.99986724e-01 -1.96631953e-04 -2.29106289e+01] [-2.94565692e-03 2.11801558e-04 9.99995639e-01 2.33839892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.250714057 meters Centerline goodness [0,1] 0.9767535789615401 Centerline is valid? [True, True] Translation: X:494.11, Y:-22.91, Z:2.34 [[ 9.99979305e-01 -6.12668203e-03 1.96314973e-03 4.94108033e+02] [ 6.12694978e-03 9.99981222e-01 -1.30401844e-04 -2.29133231e+01] [-1.96231393e-03 1.42427265e-04 9.99998065e-01 2.33615313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.280714057 meters Centerline goodness [0,1] 0.9756381289009195 Centerline is valid? [True, True] Translation: X:494.14, Y:-22.92, Z:2.33 [[ 9.99980747e-01 -5.98885224e-03 1.62444186e-03 4.94138844e+02] [ 5.98903564e-03 9.99982060e-01 -1.08058111e-04 -2.29165537e+01] [-1.62376557e-03 1.17784871e-04 9.99998675e-01 2.33478611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.310714057 meters Centerline goodness [0,1] 0.9755708019345406 Centerline is valid? [True, True] Translation: X:494.17, Y:-22.92, Z:2.33 [[ 9.99981157e-01 -6.06567622e-03 9.45494369e-04 4.94170793e+02] [ 6.06573799e-03 9.99981601e-01 -6.24721097e-05 -2.29180416e+01] [-9.45098037e-04 6.82060537e-05 9.99999551e-01 2.33350743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.340714057 meters Centerline goodness [0,1] 0.9767467984722534 Centerline is valid? [True, True] Translation: X:494.20, Y:-22.92, Z:2.33 [[ 9.99982792e-01 -5.65596971e-03 1.55747461e-03 4.94203020e+02] [ 5.65613784e-03 9.99983999e-01 -1.03568996e-04 -2.29169694e+01] [-1.55686390e-03 1.12376505e-04 9.99998782e-01 2.33330438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.370714057 meters Centerline goodness [0,1] 0.9771509294347154 Centerline is valid? [True, True] Translation: X:494.24, Y:-22.91, Z:2.33 [[ 9.99982303e-01 -5.61971589e-03 1.95248590e-03 4.94235766e+02] [ 5.61998068e-03 9.99984199e-01 -1.30156088e-04 -2.29102840e+01] [-1.95172361e-03 1.41126717e-04 9.99998085e-01 2.33385442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.400714057 meters Centerline goodness [0,1] 0.9756678424588285 Centerline is valid? [True, True] Translation: X:494.27, Y:-22.92, Z:2.33 [[ 9.99983488e-01 -5.28987850e-03 2.24502589e-03 4.94266178e+02] [ 5.29022718e-03 9.99985995e-01 -1.49405232e-04 -2.29174051e+01] [-2.24420411e-03 1.61279462e-04 9.99997469e-01 2.33242252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.430714057 meters Centerline goodness [0,1] 0.9796286280872544 Centerline is valid? [True, True] Translation: X:494.30, Y:-22.91, Z:2.33 [[ 9.99981051e-01 -5.76294647e-03 2.16468361e-03 4.94298521e+02] [ 5.76327377e-03 9.99983382e-01 -1.44993732e-04 -2.29096402e+01] [-2.16381204e-03 1.57466649e-04 9.99997647e-01 2.33334336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.460714057 meters Centerline goodness [0,1] 0.9778645245724085 Centerline is valid? [True, True] Translation: X:494.33, Y:-22.91, Z:2.33 [[ 9.99972375e-01 -7.02468359e-03 2.42950300e-03 4.94329134e+02] [ 7.02509830e-03 9.99975311e-01 -1.62203564e-04 -2.29125973e+01] [-2.42830358e-03 1.79266581e-04 9.99997036e-01 2.33223992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.490714057 meters Centerline goodness [0,1] 0.9780422922584426 Centerline is valid? [True, True] Translation: X:494.36, Y:-22.91, Z:2.33 [[ 9.99965176e-01 -7.82363865e-03 2.90464252e-03 4.94360905e+02] [ 7.82423744e-03 9.99969371e-01 -1.94842472e-04 -2.29131063e+01] [-2.90302918e-03 2.17562300e-04 9.99995763e-01 2.33243158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.520714057 meters Centerline goodness [0,1] 0.9777842933826515 Centerline is valid? [True, True] Translation: X:494.39, Y:-22.92, Z:2.33 [[ 9.99945217e-01 -9.87827570e-03 3.46150568e-03 4.94390532e+02] [ 9.87914379e-03 9.99951173e-01 -2.33774263e-04 -2.29155960e+01] [-3.45902738e-03 2.67958169e-04 9.99993982e-01 2.33220766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.550714057 meters Centerline goodness [0,1] 0.977509822517274 Centerline is valid? [True, True] Translation: X:494.42, Y:-22.92, Z:2.33 [[ 9.99935320e-01 -1.07776242e-02 3.63298345e-03 4.94422825e+02] [ 1.07785839e-02 9.99941879e-01 -2.44681784e-04 -2.29157534e+01] [-3.63013522e-03 2.83824375e-04 9.99993371e-01 2.33179168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.580714057 meters Centerline goodness [0,1] 0.9762377578191993 Centerline is valid? [True, True] Translation: X:494.45, Y:-22.92, Z:2.33 [[ 9.99919071e-01 -1.23758138e-02 2.94808460e-03 4.94452916e+02] [ 1.23764544e-02 9.99923389e-01 -1.99134845e-04 -2.29203566e+01] [-2.94539428e-03 2.35605563e-04 9.99995635e-01 2.33010863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.610714057 meters Centerline goodness [0,1] 0.975782288404785 Centerline is valid? [True, True] Translation: X:494.48, Y:-22.92, Z:2.33 [[ 9.99908269e-01 -1.32361336e-02 2.87389073e-03 4.94484920e+02] [ 1.32367445e-02 9.99912372e-01 -1.93632211e-04 -2.29215189e+01] [-2.87107595e-03 2.31655406e-04 9.99995852e-01 2.32927455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.640714057 meters Centerline goodness [0,1] 0.9767132551848512 Centerline is valid? [True, True] Translation: X:494.52, Y:-22.92, Z:2.33 [[ 9.99897465e-01 -1.40322661e-02 2.85565657e-03 4.94517173e+02] [ 1.40328730e-02 9.99901516e-01 -1.92600971e-04 -2.29237690e+01] [-2.85267271e-03 2.32654289e-04 9.99995904e-01 2.32835402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.670714057 meters Centerline goodness [0,1] 0.9751063637186567 Centerline is valid? [True, True] Translation: X:494.55, Y:-22.93, Z:2.33 [[ 9.99887120e-01 -1.47423061e-02 2.90044451e-03 4.94548989e+02] [ 1.47429358e-02 9.99891298e-01 -1.95845363e-04 -2.29254782e+01] [-2.89724201e-03 2.38584323e-04 9.99995775e-01 2.32774031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.700714057 meters Centerline goodness [0,1] 0.9756379197138135 Centerline is valid? [True, True] Translation: X:494.58, Y:-22.93, Z:2.33 [[ 9.99891090e-01 -1.45802215e-02 2.28581942e-03 4.94581546e+02] [ 1.45806112e-02 9.99893685e-01 -1.53930513e-04 -2.29273969e+01] [-2.28333206e-03 1.87242393e-04 9.99997376e-01 2.32696537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.730714057 meters Centerline goodness [0,1] 0.9756379197138135 Centerline is valid? [True, True] Translation: X:494.61, Y:-22.93, Z:2.33 [[ 9.99892645e-01 -1.44732057e-02 2.28580319e-03 4.94614119e+02] [ 1.44735957e-02 9.99895240e-01 -1.54170251e-04 -2.29297031e+01] [-2.28333239e-03 1.87237491e-04 9.99997376e-01 2.32654292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.76071405700003 meters Centerline goodness [0,1] 0.974100882153359 Centerline is valid? [True, True] Translation: X:494.65, Y:-22.93, Z:2.32 [[ 9.99905387e-01 -1.37357444e-02 7.39235382e-04 4.94645614e+02] [ 1.37357847e-02 9.99905658e-01 -4.94451627e-05 -2.29329505e+01] [-7.38486476e-04 5.95944626e-05 9.99999726e-01 2.32462678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.790714057 meters Centerline goodness [0,1] 0.9734037729004172 Centerline is valid? [True, True] Translation: X:494.68, Y:-22.93, Z:2.32 [[ 9.99912881e-01 -1.31896146e-02 5.13809158e-04 4.94677594e+02] [ 1.31896339e-02 9.99913012e-01 -3.41382896e-05 -2.29344377e+01] [-5.13314192e-04 4.09122701e-05 9.99999867e-01 2.32387454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.820714057 meters Centerline goodness [0,1] 0.9749722291491918 Centerline is valid? [True, True] Translation: X:494.71, Y:-22.93, Z:2.32 [[ 9.99928160e-01 -1.18912124e-02 1.50794917e-03 4.94709564e+02] [ 1.18913800e-02 9.99929290e-01 -1.02230978e-04 -2.29333738e+01] [-1.50662689e-03 1.20155230e-04 9.99998858e-01 2.32387910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.850714057 meters Centerline goodness [0,1] 0.977073270290496 Centerline is valid? [True, True] Translation: X:494.74, Y:-22.93, Z:2.32 [[ 9.99933868e-01 -1.13391660e-02 1.91896403e-03 4.94741828e+02] [ 1.13394366e-02 9.99935698e-01 -1.30158593e-04 -2.29285490e+01] [-1.91736475e-03 1.51909956e-04 9.99998150e-01 2.32479863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.880714057 meters Centerline goodness [0,1] 0.974403775896889 Centerline is valid? [True, True] Translation: X:494.77, Y:-22.94, Z:2.32 [[ 9.99943484e-01 -1.01225972e-02 3.24979910e-03 4.94771980e+02] [ 1.01233713e-02 9.99948733e-01 -2.21853254e-04 -2.29362489e+01] [-3.24738676e-03 2.54739639e-04 9.99994695e-01 2.32444627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.910714057 meters Centerline goodness [0,1] 0.9743758511121199 Centerline is valid? [True, True] Translation: X:494.80, Y:-22.94, Z:2.32 [[ 9.99947084e-01 -9.76752972e-03 3.22881906e-03 4.94803769e+02] [ 9.76829064e-03 9.99952265e-01 -2.19980114e-04 -2.29371113e+01] [-3.22651627e-03 2.51508517e-04 9.99994763e-01 2.32425672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.940714057 meters Centerline goodness [0,1] 0.9749422266527709 Centerline is valid? [True, True] Translation: X:494.84, Y:-22.94, Z:2.32 [[ 9.99941178e-01 -1.01983653e-02 3.69236116e-03 4.94835473e+02] [ 1.01993648e-02 9.99947953e-01 -2.51951478e-04 -2.29397496e+01] [-3.68959949e-03 2.89596396e-04 9.99993151e-01 2.32410028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.970714057 meters Centerline goodness [0,1] 0.9692639709223081 Centerline is valid? [True, True] Translation: X:494.87, Y:-22.95, Z:2.32 [[ 9.99934256e-01 -1.06887101e-02 4.15160704e-03 4.94866103e+02] [ 1.06899783e-02 9.99942820e-01 -2.83393817e-04 -2.29493292e+01] [-4.14834054e-03 3.27755775e-04 9.99991342e-01 2.32277611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.000714057 meters Centerline goodness [0,1] 0.9757571641993753 Centerline is valid? [True, True] Translation: X:494.90, Y:-22.94, Z:2.32 [[ 9.99926917e-01 -1.11510778e-02 4.67046693e-03 4.94898783e+02] [ 1.11526920e-02 9.99937756e-01 -3.19719939e-04 -2.29408802e+01] [-4.66661099e-03 3.71784853e-04 9.99989042e-01 2.32341708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.030714057 meters Centerline goodness [0,1] 0.9719471573270491 Centerline is valid? [True, True] Translation: X:494.93, Y:-22.95, Z:2.32 [[ 9.99911191e-01 -1.21214260e-02 5.53901214e-03 4.94929423e+02] [ 1.21237126e-02 9.99926433e-01 -3.79428171e-04 -2.29506105e+01] [-5.53400544e-03 4.46547866e-04 9.99984588e-01 2.32201097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.060714057 meters Centerline goodness [0,1] 0.9712535450935905 Centerline is valid? [True, True] Translation: X:494.96, Y:-22.95, Z:2.32 [[ 9.99912488e-01 -1.19727292e-02 5.62757766e-03 4.94962022e+02] [ 1.19750929e-02 9.99928221e-01 -3.86505291e-04 -2.29526666e+01] [-5.62254619e-03 4.53862232e-04 9.99984090e-01 2.32181882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.090714057 meters Centerline goodness [0,1] 0.9709613119507112 Centerline is valid? [True, True] Translation: X:494.99, Y:-22.96, Z:2.32 [[ 9.99917219e-01 -1.13873575e-02 5.99034313e-03 4.94992832e+02] [ 1.13900288e-02 9.99935047e-01 -4.12011512e-04 -2.29560229e+01] [-5.98526232e-03 4.80207586e-04 9.99981973e-01 2.32119958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.120714057 meters Centerline goodness [0,1] 0.9699442404460764 Centerline is valid? [True, True] Translation: X:495.02, Y:-22.96, Z:2.32 [[ 9.99938377e-01 -9.43600600e-03 5.84837304e-03 4.95023107e+02] [ 9.43852215e-03 9.99955375e-01 -4.02779230e-04 -2.29582943e+01] [-5.84431143e-03 4.57954408e-04 9.99982817e-01 2.31955980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.150714057 meters Centerline goodness [0,1] 0.9733532392327181 Centerline is valid? [True, True] Translation: X:495.06, Y:-22.95, Z:2.32 [[ 9.99948917e-01 -8.39167193e-03 5.63404851e-03 4.95055906e+02] [ 8.39398881e-03 9.99964695e-01 -3.87707009e-04 -2.29519128e+01] [-5.63059608e-03 4.34979344e-04 9.99984053e-01 2.31928709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.180714057 meters Centerline goodness [0,1] 0.9690096717068519 Centerline is valid? [True, True] Translation: X:495.09, Y:-22.96, Z:2.32 [[ 9.99959039e-01 -7.16430374e-03 5.53110655e-03 4.95085874e+02] [ 7.16652230e-03 9.99974247e-01 -3.81389701e-04 -2.29618333e+01] [-5.52823172e-03 4.21012877e-04 9.99984631e-01 2.31740488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.210714057 meters Centerline goodness [0,1] 0.9699484442836469 Centerline is valid? [True, True] Translation: X:495.12, Y:-22.96, Z:2.32 [[ 9.99969599e-01 -5.17777388e-03 5.83025744e-03 4.95115533e+02] [ 5.18020673e-03 9.99986502e-01 -4.02255152e-04 -2.29638771e+01] [-5.82809595e-03 4.32444862e-04 9.99982923e-01 2.31634551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.240714057 meters Centerline goodness [0,1] 0.9740880959397883 Centerline is valid? [True, True] Translation: X:495.15, Y:-22.95, Z:2.32 [[ 9.99972204e-01 -4.66690819e-03 5.81474947e-03 4.95148368e+02] [ 4.66931657e-03 9.99989018e-01 -4.00677292e-04 -2.29549213e+01] [-5.81281569e-03 4.27817061e-04 9.99983014e-01 2.31681731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.270714057 meters Centerline goodness [0,1] 0.9751287811741213 Centerline is valid? [True, True] Translation: X:495.18, Y:-22.96, Z:2.32 [[ 9.99974890e-01 -3.31251660e-03 6.26466660e-03 4.95179918e+02] [ 3.31529039e-03 9.99994411e-01 -4.32434368e-04 -2.29556766e+01] [-6.26319914e-03 4.53192699e-04 9.99980283e-01 2.31652740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.300714057 meters Centerline goodness [0,1] 0.9750935692412385 Centerline is valid? [True, True] Translation: X:495.21, Y:-22.96, Z:2.32 [[ 9.99976040e-01 -2.42351628e-03 6.48427512e-03 4.95211443e+02] [ 2.42646952e-03 9.99996956e-01 -4.47617682e-04 -2.29586439e+01] [-6.48317057e-03 4.63340853e-04 9.99978877e-01 2.31613107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.330714057 meters Centerline goodness [0,1] 0.9731272941496352 Centerline is valid? [True, True] Translation: X:495.24, Y:-22.97, Z:2.32 [[ 9.99974390e-01 -3.48742046e-04 7.14821423e-03 4.95241523e+02] [ 3.52281208e-04 9.99999816e-01 -4.93858220e-04 -2.29665541e+01] [-7.14804068e-03 4.96363754e-04 9.99974329e-01 2.31545394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.360714057 meters Centerline goodness [0,1] 0.9771532597565138 Centerline is valid? [True, True] Translation: X:495.27, Y:-22.96, Z:2.32 [[ 9.99972154e-01 6.84501332e-04 7.43118278e-03 4.95273978e+02] [-6.80697261e-04 9.99999636e-01 -5.14423568e-04 -2.29587826e+01] [-7.43153220e-03 5.09350857e-04 9.99972256e-01 2.31586924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.390714057 meters Centerline goodness [0,1] 0.9777782827020518 Centerline is valid? [True, True] Translation: X:495.31, Y:-22.96, Z:2.32 [[ 9.99966844e-01 1.82022927e-03 7.93710029e-03 4.95306234e+02] [-1.81592016e-03 9.99998200e-01 -5.50080306e-04 -2.29589708e+01] [-7.93808728e-03 5.35648927e-04 9.99968349e-01 2.31592248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.420714057 meters Centerline goodness [0,1] 0.9775554292211484 Centerline is valid? [True, True] Translation: X:495.34, Y:-22.96, Z:2.32 [[ 9.99955159e-01 4.22879958e-03 8.47335974e-03 4.95337022e+02] [-4.22396737e-03 9.99990906e-01 -5.88097519e-04 -2.29628945e+01] [-8.47576963e-03 5.52279953e-04 9.99963928e-01 2.31610623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.450714057 meters Centerline goodness [0,1] 0.9781684215313943 Centerline is valid? [True, True] Translation: X:495.37, Y:-22.96, Z:2.32 [[ 9.99945282e-01 6.97287182e-03 7.79822840e-03 4.95367031e+02] [-6.96885873e-03 9.99975571e-01 -5.41671121e-04 -2.29642858e+01] [-7.80181490e-03 4.87296730e-04 9.99969447e-01 2.31544312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.480714057 meters Centerline goodness [0,1] 0.9792979502695817 Centerline is valid? [True, True] Translation: X:495.40, Y:-22.96, Z:2.31 [[ 9.99932873e-01 8.74245500e-03 7.60383845e-03 4.95397334e+02] [-8.73869045e-03 9.99961677e-01 -5.28168641e-04 -2.29645155e+01] [-7.60816454e-03 4.61685596e-04 9.99970951e-01 2.31482071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.51071405700003 meters Centerline goodness [0,1] 0.9789047662114497 Centerline is valid? [True, True] Translation: X:495.43, Y:-22.96, Z:2.31 [[ 9.99889686e-01 1.32558483e-02 6.70057967e-03 4.95427700e+02] [-1.32530259e-02 9.99912066e-01 -4.65449981e-04 -2.29648797e+01] [-6.70616040e-03 3.76595679e-04 9.99977443e-01 2.31352639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.540714057 meters Centerline goodness [0,1] 0.9797295761845245 Centerline is valid? [True, True] Translation: X:495.46, Y:-22.97, Z:2.31 [[ 9.99852449e-01 1.57848060e-02 6.77648029e-03 4.95457266e+02] [-1.57819760e-02 9.99875346e-01 -4.70891487e-04 -2.29662754e+01] [-6.78306850e-03 3.63875757e-04 9.99976929e-01 2.31259977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.570714057 meters Centerline goodness [0,1] 0.9828147406277741 Centerline is valid? [True, True] Translation: X:495.49, Y:-22.96, Z:2.31 [[ 9.99748771e-01 2.14967225e-02 6.34705913e-03 4.95487863e+02] [-2.14943572e-02 9.99768873e-01 -4.40648244e-04 -2.29620088e+01] [-6.35506464e-03 3.04111584e-04 9.99979760e-01 2.31281282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.600714057 meters Centerline goodness [0,1] 0.981858326504598 Centerline is valid? [True, True] Translation: X:495.52, Y:-22.96, Z:2.31 [[ 9.99683779e-01 2.44548992e-02 5.85657724e-03 4.95517075e+02] [-2.44529347e-02 9.99700900e-01 -4.06807039e-04 -2.29627459e+01] [-5.86477396e-03 2.63467897e-04 9.99982767e-01 2.31269492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.630714057 meters Centerline goodness [0,1] 0.9832511419675931 Centerline is valid? [True, True] Translation: X:495.55, Y:-22.96, Z:2.31 [[ 9.99517828e-01 3.05592393e-02 5.49956272e-03 4.95547341e+02] [-3.05576015e-02 9.99532935e-01 -3.81606688e-04 -2.29611797e+01] [-5.50865567e-03 2.13369241e-04 9.99984804e-01 2.31186722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.660714057 meters Centerline goodness [0,1] 0.98381054017847 Centerline is valid? [True, True] Translation: X:495.58, Y:-22.96, Z:2.31 [[ 9.99443154e-01 3.29565775e-02 5.21973355e-03 4.95575755e+02] [-3.29551322e-02 9.99456766e-01 -3.62687955e-04 -2.29625040e+01] [-5.22885097e-03 1.90468984e-04 9.99986311e-01 2.31127184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.690714057 meters Centerline goodness [0,1] 0.9841716816168956 Centerline is valid? [True, True] Translation: X:495.60, Y:-22.97, Z:2.31 [[ 9.99369107e-01 3.51759387e-02 4.90318174e-03 4.95603867e+02] [-3.51746915e-02 9.99381121e-01 -3.40393398e-04 -2.29656280e+01] [-4.91212092e-03 1.67710741e-04 9.99987921e-01 2.30999415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.720714057 meters Centerline goodness [0,1] 0.9842759435569997 Centerline is valid? [True, True] Translation: X:495.63, Y:-22.97, Z:2.31 [[ 9.99270207e-01 3.79082487e-02 4.69225276e-03 4.95632501e+02] [-3.79071380e-02 9.99281213e-01 -3.25451873e-04 -2.29677752e+01] [-4.70121734e-03 1.47344488e-04 9.99988938e-01 2.30914666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.750714057 meters Centerline goodness [0,1] 0.9858464888405009 Centerline is valid? [True, True] Translation: X:495.66, Y:-22.97, Z:2.31 [[ 9.99232982e-01 3.89011893e-02 4.48842357e-03 4.95661234e+02] [-3.89001842e-02 9.99243053e-01 -3.11043729e-04 -2.29710684e+01] [-4.49712605e-03 1.36204649e-04 9.99989879e-01 2.30923724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.780714057 meters Centerline goodness [0,1] 0.9836281477781058 Centerline is valid? [True, True] Translation: X:495.69, Y:-22.98, Z:2.31 [[ 9.99241029e-01 3.86920856e-02 4.50418504e-03 4.95688946e+02] [-3.86910721e-02 9.99251171e-01 -3.11956925e-04 -2.29787529e+01] [-4.51288244e-03 1.37448410e-04 9.99989807e-01 2.30738507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.810714057 meters Centerline goodness [0,1] 0.984539228317624 Centerline is valid? [True, True] Translation: X:495.72, Y:-22.98, Z:2.31 [[ 9.99242899e-01 3.86435693e-02 4.50584169e-03 4.95716922e+02] [-3.86425557e-02 9.99253049e-01 -3.11819918e-04 -2.29777892e+01] [-4.51452588e-03 1.37466600e-04 9.99989800e-01 2.30855030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.840714057 meters Centerline goodness [0,1] 0.9847629796839729 Centerline is valid? [True, True] Translation: X:495.75, Y:-22.98, Z:2.31 [[ 9.99263896e-01 3.80595618e-02 4.81004120e-03 4.95745871e+02] [-3.80584042e-02 9.99275461e-01 -3.31997191e-04 -2.29825172e+01] [-4.81919181e-03 1.48690314e-04 9.99988377e-01 2.30875937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.870714057 meters Centerline goodness [0,1] 0.985223678264799 Centerline is valid? [True, True] Translation: X:495.77, Y:-22.99, Z:2.31 [[ 9.99294617e-01 3.72495275e-02 4.76881310e-03 4.95774462e+02] [-3.72483820e-02 9.99305984e-01 -3.28828274e-04 -2.29863395e+01] [-4.77775216e-03 1.50965752e-04 9.99988575e-01 2.30859160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.900714057 meters Centerline goodness [0,1] 0.9847402231488787 Centerline is valid? [True, True] Translation: X:495.80, Y:-22.99, Z:2.31 [[ 9.99419097e-01 3.39078717e-02 3.42426582e-03 4.95803095e+02] [-3.39072620e-02 9.99424956e-01 -2.35962456e-04 -2.29934735e+01] [-3.43029770e-03 1.19717906e-04 9.99994109e-01 2.30738510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.930714057 meters Centerline goodness [0,1] 0.9837582837245872 Centerline is valid? [True, True] Translation: X:495.83, Y:-23.00, Z:2.31 [[ 9.99484304e-01 3.19688363e-02 3.01985724e-03 4.95831672e+02] [-3.19683530e-02 9.99488860e-01 -2.08189448e-04 -2.29988477e+01] [-3.02496925e-03 1.11542223e-04 9.99995419e-01 2.30664933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.960714057 meters Centerline goodness [0,1] 0.9847708894878706 Centerline is valid? [True, True] Translation: X:495.86, Y:-23.01, Z:2.31 [[ 9.99628797e-01 2.71932863e-02 1.67126931e-03 4.95861553e+02] [-2.71931321e-02 9.99630192e-01 -1.14967595e-04 -2.30061478e+01] [-1.67377761e-03 6.94778715e-05 9.99998597e-01 2.30615889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.990714057 meters Centerline goodness [0,1] 0.9841102880290044 Centerline is valid? [True, True] Translation: X:495.89, Y:-23.01, Z:2.30 [[ 9.99692441e-01 2.47535664e-02 1.51111804e-03 4.95889436e+02] [-2.47534366e-02 9.99693581e-01 -1.04547232e-04 -2.30142678e+01] [-1.51324292e-03 6.71097131e-05 9.99998853e-01 2.30493786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.020714057 meters Centerline goodness [0,1] 0.9837984201221832 Centerline is valid? [True, True] Translation: X:495.92, Y:-23.02, Z:2.31 [[ 9.99793039e-01 2.03302077e-02 7.49219219e-04 4.95919002e+02] [-2.03301747e-02 9.99793319e-01 -5.15703968e-05 -2.30198991e+01] [-7.50112807e-04 3.63279662e-05 9.99999718e-01 2.30593681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.050714057 meters Centerline goodness [0,1] 0.9850816162697351 Centerline is valid? [True, True] Translation: X:495.95, Y:-23.03, Z:2.31 [[ 9.99816331e-01 1.91218512e-02 1.28808911e-03 4.95946069e+02] [-1.91217521e-02 9.99817159e-01 -8.91838911e-05 -2.30253575e+01] [-1.28955896e-03 6.45369902e-05 9.99999166e-01 2.30635559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.080714057 meters Centerline goodness [0,1] 0.9850047070426323 Centerline is valid? [True, True] Translation: X:495.97, Y:-23.03, Z:2.31 [[ 9.99850442e-01 1.72829764e-02 6.26558101e-04 4.95974887e+02] [-1.72829525e-02 9.99850638e-01 -4.35406145e-05 -2.30304941e+01] [-6.27217028e-04 3.27053287e-05 9.99999803e-01 2.30712046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.110714057 meters Centerline goodness [0,1] 0.9843770953466542 Centerline is valid? [True, True] Translation: X:496.00, Y:-23.03, Z:2.31 [[ 9.99854129e-01 1.70761733e-02 3.54929360e-04 4.96003147e+02] [-1.70761655e-02 9.99854191e-01 -2.51710137e-05 -2.30333950e+01] [-3.55307433e-04 1.91065095e-05 9.99999937e-01 2.30720929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.140714057 meters Centerline goodness [0,1] 0.984413380376044 Centerline is valid? [True, True] Translation: X:496.03, Y:-23.04, Z:2.31 [[ 9.99852316e-01 1.71736270e-02 -6.43067649e-04 4.96031828e+02] [-1.71736030e-02 9.99852522e-01 4.29513601e-05 -2.30359426e+01] [ 6.43710441e-04 -3.19012283e-05 9.99999792e-01 2.30684935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.170714057 meters Centerline goodness [0,1] 0.9847644189896639 Centerline is valid? [True, True] Translation: X:496.06, Y:-23.04, Z:2.31 [[ 9.99856737e-01 1.68931237e-02 -1.06179848e-03 4.96060287e+02] [-1.68930573e-02 9.99857300e-01 7.14553197e-05 -2.30393414e+01] [ 1.06285406e-03 -5.35080603e-05 9.99999434e-01 2.30635446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.200714057 meters Centerline goodness [0,1] 0.9844791829271012 Centerline is valid? [True, True] Translation: X:496.09, Y:-23.05, Z:2.31 [[ 9.99873975e-01 1.58650880e-02 -5.77881419e-04 4.96087291e+02] [-1.58650687e-02 9.99874141e-01 3.79493849e-05 -2.30455630e+01] [ 5.78410758e-04 -2.87764739e-05 9.99999832e-01 2.30605759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.230714057 meters Centerline goodness [0,1] 0.9854891000558972 Centerline is valid? [True, True] Translation: X:496.12, Y:-23.05, Z:2.31 [[ 9.99883127e-01 1.52647949e-02 -8.47794104e-04 4.96116436e+02] [-1.52647523e-02 9.99883485e-01 5.67085442e-05 -2.30460463e+01] [ 8.48560967e-04 -4.37605495e-05 9.99999639e-01 2.30679346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.26071405700003 meters Centerline goodness [0,1] 0.9858997564300239 Centerline is valid? [True, True] Translation: X:496.14, Y:-23.05, Z:2.31 [[ 9.99903703e-01 1.37827597e-02 -1.61857419e-03 4.96144506e+02] [-1.37826009e-02 9.99905009e-01 1.09267156e-04 -2.30513605e+01] [ 1.61992645e-03 -8.69484716e-05 9.99998684e-01 2.30629508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.290714057 meters Centerline goodness [0,1] 0.985429226080573 Centerline is valid? [True, True] Translation: X:496.17, Y:-23.05, Z:2.31 [[ 9.99909864e-01 1.33517257e-02 -1.41280958e-03 4.96173063e+02] [-1.33516049e-02 9.99910859e-01 9.49526983e-05 -2.30534787e+01] [ 1.41395142e-03 -7.60808643e-05 9.99998997e-01 2.30645495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.320714057 meters Centerline goodness [0,1] 0.9860853639470216 Centerline is valid? [True, True] Translation: X:496.20, Y:-23.06, Z:2.31 [[ 9.99918901e-01 1.24787019e-02 -2.54412210e-03 4.96202160e+02] [-1.24783057e-02 9.99922128e-01 1.71540743e-04 -2.30558495e+01] [ 2.54606459e-03 -1.39780498e-04 9.99996749e-01 2.30653137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.350714057 meters Centerline goodness [0,1] 0.9857774403858176 Centerline is valid? [True, True] Translation: X:496.23, Y:-23.06, Z:2.31 [[ 9.99920643e-01 1.22260975e-02 -3.03817095e-03 4.96230747e+02] [-1.22255314e-02 9.99925244e-01 2.04811717e-04 -2.30579637e+01] [ 3.04044788e-03 -1.67652210e-04 9.99995364e-01 2.30591090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.380714057 meters Centerline goodness [0,1] 0.9854801353999644 Centerline is valid? [True, True] Translation: X:496.26, Y:-23.06, Z:2.30 [[ 9.99913354e-01 1.24631419e-02 -4.23727507e-03 4.96258427e+02] [-1.24620440e-02 9.99922305e-01 2.85409213e-04 -2.30629706e+01] [ 4.24050295e-03 -2.32579375e-04 9.99990982e-01 2.30428133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.410714057 meters Centerline goodness [0,1] 0.9857965280401876 Centerline is valid? [True, True] Translation: X:496.29, Y:-23.07, Z:2.30 [[ 9.99900659e-01 1.34478332e-02 -4.22220397e-03 4.96285890e+02] [-1.34467535e-02 9.99909548e-01 2.83998750e-04 -2.30663813e+01] [ 4.22564123e-03 -2.27195601e-04 9.99991046e-01 2.30386556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.440714057 meters Centerline goodness [0,1] 0.9867558498700029 Centerline is valid? [True, True] Translation: X:496.31, Y:-23.06, Z:2.30 [[ 9.99885420e-01 1.44996445e-02 -4.34821828e-03 4.96314671e+02] [-1.44985095e-02 9.99894848e-01 2.92427304e-04 -2.30639000e+01] [ 4.35200115e-03 -2.29351113e-04 9.99990504e-01 2.30494669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.470714057 meters Centerline goodness [0,1] 0.9866785277438007 Centerline is valid? [True, True] Translation: X:496.34, Y:-23.06, Z:2.31 [[ 9.99828860e-01 1.78640538e-02 -4.80907913e-03 4.96343131e+02] [-1.78627039e-02 9.99840397e-01 3.23501996e-04 -2.30645243e+01] [ 4.81409064e-03 -2.37543475e-04 9.99988384e-01 2.30527027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.500714057 meters Centerline goodness [0,1] 0.9870960527787096 Centerline is valid? [True, True] Translation: X:496.37, Y:-23.06, Z:2.31 [[ 9.99722001e-01 2.28308205e-02 -5.88855347e-03 4.96372990e+02] [-2.28288816e-02 9.99739309e-01 3.96282477e-04 -2.30612824e+01] [ 5.89606583e-03 -2.61743221e-04 9.99982584e-01 2.30611951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.530714057 meters Centerline goodness [0,1] 0.9887063655030801 Centerline is valid? [True, True] Translation: X:496.40, Y:-23.06, Z:2.31 [[ 9.99667426e-01 2.50554026e-02 -6.10444755e-03 4.96401784e+02] [-2.50533658e-02 9.99686031e-01 4.09912838e-04 -2.30617799e+01] [ 6.11280148e-03 -2.56839554e-04 9.99981284e-01 2.30571131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.560714057 meters Centerline goodness [0,1] 0.9885728342054654 Centerline is valid? [True, True] Translation: X:496.43, Y:-23.06, Z:2.31 [[ 9.99602083e-01 2.74347002e-02 -6.55835449e-03 4.96429281e+02] [-2.74324053e-02 9.99623564e-01 4.39644252e-04 -2.30630121e+01] [ 6.56794720e-03 -2.59557872e-04 9.99978397e-01 2.30509420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.590714057 meters Centerline goodness [0,1] 0.9890479264519288 Centerline is valid? [True, True] Translation: X:496.46, Y:-23.06, Z:2.30 [[ 9.99530045e-01 3.00031892e-02 -6.28472924e-03 4.96456885e+02] [-3.00011362e-02 9.99549776e-01 4.20705769e-04 -2.30638905e+01] [ 6.29452222e-03 -2.31959038e-04 9.99980162e-01 2.30453146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.620714057 meters Centerline goodness [0,1] 0.9890479264519288 Centerline is valid? [True, True] Translation: X:496.48, Y:-23.07, Z:2.30 [[ 9.99533223e-01 2.98971175e-02 -6.28478882e-03 4.96484309e+02] [-2.98950680e-02 9.99552954e-01 4.19816562e-04 -2.30656427e+01] [ 6.29453053e-03 -2.31736413e-04 9.99980162e-01 2.30417514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.650714057 meters Centerline goodness [0,1] 0.9878119429590018 Centerline is valid? [True, True] Translation: X:496.51, Y:-23.07, Z:2.30 [[ 9.99539708e-01 2.96802584e-02 -6.28131767e-03 4.96513430e+02] [-2.96782068e-02 9.99559417e-01 4.19599651e-04 -2.30675833e+01] [ 6.29100405e-03 -2.32988267e-04 9.99980184e-01 2.30435342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.680714057 meters Centerline goodness [0,1] 0.9880851443616404 Centerline is valid? [True, True] Translation: X:496.54, Y:-23.07, Z:2.31 [[ 9.99577142e-01 2.83918001e-02 -6.28029364e-03 4.96542163e+02] [-2.83897265e-02 9.99596843e-01 4.19095457e-04 -2.30710769e+01] [ 6.28966057e-03 -2.40622421e-04 9.99980191e-01 2.30568949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.710714057 meters Centerline goodness [0,1] 0.9877451523545706 Centerline is valid? [True, True] Translation: X:496.57, Y:-23.08, Z:2.31 [[ 9.99667284e-01 2.52831060e-02 -5.10750972e-03 4.96569899e+02] [-2.52816965e-02 9.99680309e-01 3.40353133e-04 -2.30771588e+01] [ 5.11448207e-03 -2.11113381e-04 9.99986899e-01 2.30583351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.740714057 meters Centerline goodness [0,1] 0.9877660875948128 Centerline is valid? [True, True] Translation: X:496.60, Y:-23.08, Z:2.31 [[ 9.99731420e-01 2.27049038e-02 -4.64492952e-03 4.96598825e+02] [-2.27037108e-02 9.99742190e-01 3.09407007e-04 -2.30814558e+01] [ 4.65075707e-03 -2.03866770e-04 9.99989164e-01 2.30603493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.770714057 meters Centerline goodness [0,1] 0.987526403557532 Centerline is valid? [True, True] Translation: X:496.63, Y:-23.09, Z:2.31 [[ 9.99797882e-01 1.95922159e-02 -4.50996464e-03 4.96627747e+02] [-1.95910608e-02 9.99808032e-01 3.00165215e-04 -2.30864765e+01] [ 4.51497977e-03 -2.11749555e-04 9.99989785e-01 2.30533263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.800714057 meters Centerline goodness [0,1] 0.9871175881633107 Centerline is valid? [True, True] Translation: X:496.66, Y:-23.09, Z:2.31 [[ 9.99895795e-01 1.30051480e-02 -6.26625429e-03 4.96658238e+02] [-1.30027840e-02 9.99915373e-01 4.17853375e-04 -2.30903887e+01] [ 6.27115825e-03 -3.36331081e-04 9.99980280e-01 2.30549684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.830714057 meters Centerline goodness [0,1] 0.9871405449748354 Centerline is valid? [True, True] Translation: X:496.69, Y:-23.10, Z:2.30 [[ 9.99945156e-01 8.32762435e-03 -6.35110562e-03 4.96688501e+02] [-8.32510230e-03 9.99965256e-01 4.23438518e-04 -2.30957757e+01] [ 6.35441119e-03 -3.70541691e-04 9.99979742e-01 2.30491820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.860714057 meters Centerline goodness [0,1] 0.9863739088048921 Centerline is valid? [True, True] Translation: X:496.72, Y:-23.10, Z:2.30 [[ 9.99958183e-01 6.83815443e-03 -6.07229921e-03 4.96717325e+02] [-6.83582929e-03 9.99976554e-01 4.03582042e-04 -2.30987492e+01] [ 6.07491659e-03 -3.62055964e-04 9.99981482e-01 2.30461581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.890714057 meters Centerline goodness [0,1] 0.98705007305087 Centerline is valid? [True, True] Translation: X:496.75, Y:-23.10, Z:2.30 [[ 9.99964334e-01 6.29290841e-03 -5.63296878e-03 4.96745901e+02] [-6.29090155e-03 9.99980142e-01 3.73917488e-04 -2.31019576e+01] [ 5.63520995e-03 -3.38467700e-04 9.99984065e-01 2.30426292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.920714057 meters Centerline goodness [0,1] 0.9867568766637089 Centerline is valid? [True, True] Translation: X:496.77, Y:-23.10, Z:2.30 [[ 9.99962998e-01 6.52513990e-03 -5.60578966e-03 4.96774531e+02] [-6.52315827e-03 9.99978655e-01 3.71707985e-04 -2.31028639e+01] [ 5.60809545e-03 -3.35126778e-04 9.99984218e-01 2.30458826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.950714057 meters Centerline goodness [0,1] 0.9875024972807388 Centerline is valid? [True, True] Translation: X:496.80, Y:-23.10, Z:2.30 [[ 9.99955841e-01 7.23305957e-03 -5.99988330e-03 4.96803687e+02] [-7.23080445e-03 9.99973778e-01 3.97467966e-04 -2.31030160e+01] [ 6.00260088e-03 -3.54066431e-04 9.99981922e-01 2.30468338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.980714057 meters Centerline goodness [0,1] 0.9868529170090387 Centerline is valid? [True, True] Translation: X:496.83, Y:-23.11, Z:2.30 [[ 9.99938636e-01 8.73016777e-03 -6.81969688e-03 4.96831406e+02] [-8.72729489e-03 9.99961815e-01 4.50907818e-04 -2.31059316e+01] [ 6.82337296e-03 -3.91362643e-04 9.99976644e-01 2.30330021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.01071405700003 meters Centerline goodness [0,1] 0.9877593637534989 Centerline is valid? [True, True] Translation: X:496.86, Y:-23.11, Z:2.30 [[ 9.99932206e-01 9.70569075e-03 -6.43299785e-03 4.96860203e+02] [-9.70315562e-03 9.99952833e-01 4.25177338e-04 -2.31071527e+01] [ 6.43682106e-03 -3.62728134e-04 9.99979218e-01 2.30305583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.040714057 meters Centerline goodness [0,1] 0.9869198592390943 Centerline is valid? [True, True] Translation: X:496.89, Y:-23.11, Z:2.30 [[ 9.99919077e-01 1.14995650e-02 -5.44061138e-03 4.96889301e+02] [-1.14977774e-02 9.99933834e-01 3.59714858e-04 -2.31088360e+01] [ 5.44438795e-03 -2.97130810e-04 9.99985135e-01 2.30272372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.070714057 meters Centerline goodness [0,1] 0.9871291063228541 Centerline is valid? [True, True] Translation: X:496.92, Y:-23.11, Z:2.30 [[ 9.99912463e-01 1.23035568e-02 -4.86714352e-03 4.96916822e+02] [-1.23021408e-02 9.99924274e-01 3.20750593e-04 -2.31103349e+01] [ 4.87072133e-03 -2.60846230e-04 9.99988104e-01 2.30292789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.100714057 meters Centerline goodness [0,1] 0.986946272905177 Centerline is valid? [True, True] Translation: X:496.95, Y:-23.10, Z:2.31 [[ 9.99894872e-01 1.37360654e-02 -4.64394552e-03 4.96946542e+02] [-1.37347915e-02 9.99905626e-01 3.06100042e-04 -2.31044544e+01] [ 4.64771186e-03 -2.42284238e-04 9.99989170e-01 2.30540566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.130714057 meters Centerline goodness [0,1] 0.9882331966482439 Centerline is valid? [True, True] Translation: X:496.98, Y:-23.10, Z:2.31 [[ 9.99882216e-01 1.46323621e-02 -4.63113354e-03 4.96975243e+02] [-1.46311075e-02 9.99892913e-01 3.04662699e-04 -2.31032855e+01] [ 4.63509555e-03 -2.36868202e-04 9.99989230e-01 2.30550024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.160714057 meters Centerline goodness [0,1] 0.9876162364899355 Centerline is valid? [True, True] Translation: X:497.00, Y:-23.11, Z:2.30 [[ 9.99871911e-01 1.53026167e-02 -4.68957105e-03 4.97003263e+02] [-1.53013422e-02 9.99882880e-01 3.07533246e-04 -2.31058239e+01] [ 4.69372787e-03 -2.35737123e-04 9.99988957e-01 2.30410764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.190714057 meters Centerline goodness [0,1] 0.9881058248110272 Centerline is valid? [True, True] Translation: X:497.03, Y:-23.11, Z:2.30 [[ 9.99865734e-01 1.55928977e-02 -5.03747985e-03 4.97030776e+02] [-1.55914340e-02 9.99878392e-01 3.29716781e-04 -2.31080229e+01] [ 5.04200849e-03 -2.51130976e-04 9.99987257e-01 2.30270410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.220714057 meters Centerline goodness [0,1] 0.98796438167566 Centerline is valid? [True, True] Translation: X:497.06, Y:-23.11, Z:2.30 [[ 9.99875070e-01 1.48433811e-02 -5.43316332e-03 4.97058701e+02] [-1.48416670e-02 9.99889793e-01 3.55673450e-04 -2.31105713e+01] [ 5.43784395e-03 -2.74991815e-04 9.99985177e-01 2.30173614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.250714057 meters Centerline goodness [0,1] 0.9888183200644065 Centerline is valid? [True, True] Translation: X:497.09, Y:-23.11, Z:2.30 [[ 9.99887846e-01 1.39130828e-02 -5.54272929e-03 4.97087802e+02] [-1.39112855e-02 9.99903168e-01 3.62684996e-04 -2.31108238e+01] [ 5.54723864e-03 -2.85537830e-04 9.99984573e-01 2.30201493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.280714057 meters Centerline goodness [0,1] 0.9877842175657602 Centerline is valid? [True, True] Translation: X:497.12, Y:-23.12, Z:2.30 [[ 9.99909177e-01 1.20944981e-02 -5.94648933e-03 4.97115725e+02] [-1.20923975e-02 9.99926809e-01 3.89092826e-04 -2.31195802e+01] [ 5.95075998e-03 -3.17150175e-04 9.99982244e-01 2.29935883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.310714057 meters Centerline goodness [0,1] 0.9877192197566214 Centerline is valid? [True, True] Translation: X:497.15, Y:-23.12, Z:2.30 [[ 9.99920819e-01 1.12075441e-02 -5.72248913e-03 4.97145315e+02] [-1.12055880e-02 9.99937146e-01 3.73783186e-04 -2.31153419e+01] [ 5.72631864e-03 -3.09629734e-04 9.99983557e-01 2.30136499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.340714057 meters Centerline goodness [0,1] 0.9867534900316668 Centerline is valid? [True, True] Translation: X:497.17, Y:-23.12, Z:2.30 [[ 9.99943511e-01 9.67435155e-03 -4.40239840e-03 4.97172360e+02] [-9.67318393e-03 9.99953173e-01 2.86438283e-04 -2.31194686e+01] [ 4.40496335e-03 -2.43836893e-04 9.99990268e-01 2.30057429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.370714057 meters Centerline goodness [0,1] 0.9865325111858069 Centerline is valid? [True, True] Translation: X:497.20, Y:-23.12, Z:2.30 [[ 9.99953343e-01 8.81916398e-03 -3.94132580e-03 4.97201174e+02] [-8.81822130e-03 9.99961086e-01 2.56493371e-04 -2.31219214e+01] [ 3.94343449e-03 -2.21725920e-04 9.99992200e-01 2.30008230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.400714057 meters Centerline goodness [0,1] 0.9864810600990497 Centerline is valid? [True, True] Translation: X:497.23, Y:-23.12, Z:2.30 [[ 9.99962046e-01 8.14350587e-03 -3.09660840e-03 4.97230122e+02] [-8.14292200e-03 9.99966826e-01 2.01113843e-04 -2.31231339e+01] [ 3.09814344e-03 -1.75890770e-04 9.99995185e-01 2.30030010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.430714057 meters Centerline goodness [0,1] 0.9863912189898268 Centerline is valid? [True, True] Translation: X:497.26, Y:-23.12, Z:2.30 [[ 9.99965028e-01 7.92828653e-03 -2.66186204e-03 4.97259371e+02] [-7.92785531e-03 9.99968559e-01 1.72509511e-04 -2.31182414e+01] [ 2.66314606e-03 -1.51400620e-04 9.99996442e-01 2.30219109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.460714057 meters Centerline goodness [0,1] 0.9857432899756811 Centerline is valid? [True, True] Translation: X:497.29, Y:-23.12, Z:2.30 [[ 9.99962254e-01 8.67601530e-03 -4.66929521e-04 4.97287322e+02] [-8.67600260e-03 9.99962362e-01 2.92143507e-05 -2.31215690e+01] [ 4.67165411e-04 -2.51621663e-05 9.99999891e-01 2.30252156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.490714057 meters Centerline goodness [0,1] 0.9856232168330956 Centerline is valid? [True, True] Translation: X:497.31, Y:-23.13, Z:2.30 [[ 9.99956801e-01 9.28463903e-03 4.36873447e-04 4.97314360e+02] [-9.28462701e-03 9.99956896e-01 -2.95229644e-05 -2.31293560e+01] [-4.37128726e-04 2.54654820e-05 9.99999904e-01 2.30149305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.520714057 meters Centerline goodness [0,1] 0.9867746771991854 Centerline is valid? [True, True] Translation: X:497.34, Y:-23.12, Z:2.30 [[ 9.99944361e-01 1.03494339e-02 2.04048766e-03 4.97343745e+02] [-1.03491832e-02 9.99946437e-01 -1.33384885e-04 -2.31199471e+01] [-2.04175882e-03 1.12260083e-04 9.99997909e-01 2.30426486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.550714057 meters Centerline goodness [0,1] 0.9873987197278302 Centerline is valid? [True, True] Translation: X:497.37, Y:-23.12, Z:2.30 [[ 9.99937940e-01 1.08604999e-02 2.48319085e-03 4.97372809e+02] [-1.08601312e-02 9.99941014e-01 -1.61937559e-04 -2.31212022e+01] [-2.48480310e-03 1.34959730e-04 9.99996904e-01 2.30397469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.580714057 meters Centerline goodness [0,1] 0.9867419152557556 Centerline is valid? [True, True] Translation: X:497.40, Y:-23.12, Z:2.30 [[ 9.99929464e-01 1.16669590e-02 2.22479868e-03 4.97401551e+02] [-1.16666651e-02 9.99931932e-01 -1.45027835e-04 -2.31203684e+01] [-2.22633927e-03 1.19061624e-04 9.99997515e-01 2.30342770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.610714057 meters Centerline goodness [0,1] 0.9860869565217392 Centerline is valid? [True, True] Translation: X:497.43, Y:-23.12, Z:2.30 [[ 9.99922826e-01 1.23258221e-02 1.55457473e-03 4.97428782e+02] [-1.23256787e-02 9.99924031e-01 -1.01784442e-04 -2.31236682e+01] [-1.55571120e-03 8.26153979e-05 9.99998786e-01 2.30170802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.640714057 meters Centerline goodness [0,1] 0.986015854636145 Centerline is valid? [True, True] Translation: X:497.46, Y:-23.12, Z:2.30 [[ 9.99919052e-01 1.26721759e-02 1.14252276e-03 4.97457860e+02] [-1.26720988e-02 9.99919703e-01 -7.47260694e-05 -2.31237287e+01] [-1.14337796e-03 6.02418592e-05 9.99999345e-01 2.30079413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.670714057 meters Centerline goodness [0,1] 0.986371875489516 Centerline is valid? [True, True] Translation: X:497.49, Y:-23.12, Z:2.30 [[ 9.99904817e-01 1.37832645e-02 6.15739113e-04 4.97486509e+02] [-1.37832421e-02 9.99905006e-01 -4.06572040e-05 -2.31236459e+01] [-6.16241011e-04 3.21664528e-05 9.99999810e-01 2.29965563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.700714057 meters Centerline goodness [0,1] 0.9866663693727842 Centerline is valid? [True, True] Translation: X:497.52, Y:-23.12, Z:2.30 [[ 9.99891365e-01 1.47356665e-02 3.44822597e-04 4.97515257e+02] [-1.47356594e-02 9.99891424e-01 -2.31465581e-05 -2.31245752e+01] [-3.45126238e-04 1.80628552e-05 9.99999940e-01 2.29867524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.730714057 meters Centerline goodness [0,1] 0.9873804284367 Centerline is valid? [True, True] Translation: X:497.54, Y:-23.13, Z:2.30 [[ 9.99878550e-01 1.55762881e-02 5.15082910e-04 4.97544448e+02] [-1.55762726e-02 9.99878682e-01 -3.40845587e-05 -2.31254068e+01] [-5.15551332e-04 2.60573473e-05 9.99999867e-01 2.29829518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.76071405700003 meters Centerline goodness [0,1] 0.9879283314669652 Centerline is valid? [True, True] Translation: X:497.57, Y:-23.13, Z:2.30 [[ 9.99851695e-01 1.71902273e-02 1.04162464e-03 4.97573163e+02] [-1.71901658e-02 9.99852236e-01 -6.79090192e-05 -2.31259633e+01] [-1.04263809e-03 4.99932477e-05 9.99999455e-01 2.29739893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.790714057 meters Centerline goodness [0,1] 0.9880653828929691 Centerline is valid? [True, True] Translation: X:497.60, Y:-23.13, Z:2.30 [[ 9.99841129e-01 1.77531962e-02 1.59402547e-03 4.97602323e+02] [-1.77530540e-02 9.99842397e-01 -1.03318140e-04 -2.31277586e+01] [-1.59560848e-03 7.50029054e-05 9.99998724e-01 2.29720341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.820714057 meters Centerline goodness [0,1] 0.9869708298820211 Centerline is valid? [True, True] Translation: X:497.63, Y:-23.13, Z:2.30 [[ 9.99826145e-01 1.85201272e-02 2.16440655e-03 4.97630844e+02] [-1.85198679e-02 9.99828483e-01 -1.39815517e-04 -2.31275922e+01] [-2.16662472e-03 9.97066856e-05 9.99997648e-01 2.29729763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.850714057 meters Centerline goodness [0,1] 0.9873148210403639 Centerline is valid? [True, True] Translation: X:497.66, Y:-23.13, Z:2.30 [[ 9.99809071e-01 1.93096050e-02 2.99357863e-03 4.97658453e+02] [-1.93091135e-02 9.99813543e-01 -1.92980843e-04 -2.31304781e+01] [-2.99674684e-03 1.35140648e-04 9.99995501e-01 2.29726549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.880714057 meters Centerline goodness [0,1] 0.9860352698952646 Centerline is valid? [True, True] Translation: X:497.69, Y:-23.13, Z:2.30 [[ 9.99811399e-01 1.91557100e-02 3.19758247e-03 4.97686254e+02] [-1.91551492e-02 9.99816502e-01 -2.05938914e-04 -2.31319535e+01] [-3.20094063e-03 1.44649904e-04 9.99994867e-01 2.29699968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.910714057 meters Centerline goodness [0,1] 0.9864771228681911 Centerline is valid? [True, True] Translation: X:497.71, Y:-23.14, Z:2.30 [[ 9.99822615e-01 1.85020754e-02 3.52302085e-03 4.97714327e+02] [-1.85013927e-02 9.99828809e-01 -2.26264026e-04 -2.31356624e+01] [-3.52660409e-03 1.61043098e-04 9.99993769e-01 2.29647208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.940714057 meters Centerline goodness [0,1] 0.9864072017198137 Centerline is valid? [True, True] Translation: X:497.74, Y:-23.14, Z:2.30 [[ 9.99836459e-01 1.77410423e-02 3.50852956e-03 4.97742003e+02] [-1.77403619e-02 9.99842602e-01 -2.24958720e-04 -2.31392528e+01] [-3.51196832e-03 1.62679347e-04 9.99993820e-01 2.29574668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.970714057 meters Centerline goodness [0,1] 0.9860538116591928 Centerline is valid? [True, True] Translation: X:497.77, Y:-23.14, Z:2.29 [[ 9.99869428e-01 1.57295970e-02 3.70236264e-03 4.97771279e+02] [-1.57288288e-02 9.99876266e-01 -2.36526954e-04 -2.31441840e+01] [-3.70562501e-03 1.78262242e-04 9.99993118e-01 2.29457096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.000714057 meters Centerline goodness [0,1] 0.9851316907391674 Centerline is valid? [True, True] Translation: X:497.80, Y:-23.15, Z:2.29 [[ 9.99892980e-01 1.41508228e-02 3.71258783e-03 4.97799128e+02] [-1.41500382e-02 9.99899855e-01 -2.37522369e-04 -2.31488737e+01] [-3.71557717e-03 1.84963690e-04 9.99993080e-01 2.29349105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.030714057 meters Centerline goodness [0,1] 0.9846338588805622 Centerline is valid? [True, True] Translation: X:497.83, Y:-23.16, Z:2.29 [[ 9.99933591e-01 1.11776010e-02 2.80637321e-03 4.97828395e+02] [-1.11771429e-02 9.99937518e-01 -1.78878927e-04 -2.31567702e+01] [-2.80819730e-03 1.47499813e-04 9.99996046e-01 2.29177195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.060714057 meters Centerline goodness [0,1] 0.9845790435441458 Centerline is valid? [True, True] Translation: X:497.86, Y:-23.16, Z:2.29 [[ 9.99946595e-01 9.91083911e-03 2.92960957e-03 4.97858217e+02] [-9.91033413e-03 9.99950874e-01 -1.86838015e-04 -2.31601561e+01] [-2.93131737e-03 1.57794627e-04 9.99995691e-01 2.29109424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.090714057 meters Centerline goodness [0,1] 0.9846765546819156 Centerline is valid? [True, True] Translation: X:497.89, Y:-23.16, Z:2.29 [[ 9.99962545e-01 8.20109139e-03 2.76606442e-03 4.97887513e+02] [-8.20063436e-03 9.99966359e-01 -1.76529382e-04 -2.31595317e+01] [-2.76741910e-03 1.53839287e-04 9.99996159e-01 2.29152318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.120714057 meters Centerline goodness [0,1] 0.9848839542505518 Centerline is valid? [True, True] Translation: X:497.92, Y:-23.16, Z:2.29 [[ 9.99969025e-01 7.47611478e-03 2.46111128e-03 4.97915931e+02] [-7.47575047e-03 9.99972044e-01 -1.57190496e-04 -2.31619675e+01] [-2.46221765e-03 1.38786973e-04 9.99996959e-01 2.29088318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.150714057 meters Centerline goodness [0,1] 0.984911724661295 Centerline is valid? [True, True] Translation: X:497.95, Y:-23.16, Z:2.29 [[ 9.99978338e-01 6.20586960e-03 2.19342888e-03 4.97945137e+02] [-6.20557771e-03 9.99980735e-01 -1.39853842e-04 -2.31639758e+01] [-2.19425454e-03 1.26239319e-04 9.99997585e-01 2.29066347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.180714057 meters Centerline goodness [0,1] 0.9838439364483476 Centerline is valid? [True, True] Translation: X:497.97, Y:-23.17, Z:2.29 [[ 9.99980222e-01 5.76848157e-03 2.50590926e-03 4.97973272e+02] [-5.76810006e-03 9.99983352e-01 -1.59442419e-04 -2.31683836e+01] [-2.50678728e-03 1.44984931e-04 9.99996847e-01 2.29005200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.210714057 meters Centerline goodness [0,1] 0.9834430436237867 Centerline is valid? [True, True] Translation: X:498.00, Y:-23.17, Z:2.29 [[ 9.99987231e-01 3.97006818e-03 3.12665317e-03 4.98002546e+02] [-3.96946705e-03 9.99992102e-01 -1.98440506e-04 -2.31716384e+01] [-3.12741629e-03 1.86026825e-04 9.99995092e-01 2.29040758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.240714057 meters Centerline goodness [0,1] 0.9840204109037196 Centerline is valid? [True, True] Translation: X:498.03, Y:-23.17, Z:2.29 [[ 9.99988827e-01 3.11542721e-03 3.55521601e-03 4.98032999e+02] [-3.11464579e-03 9.99995124e-01 -2.25310381e-04 -2.31656765e+01] [-3.55590061e-03 2.14234626e-04 9.99993655e-01 2.29168576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.270714057 meters Centerline goodness [0,1] 0.9827493623305141 Centerline is valid? [True, True] Translation: X:498.06, Y:-23.17, Z:2.29 [[ 9.99987609e-01 1.82445009e-03 4.63169991e-03 4.98062636e+02] [-1.82310932e-03 9.99998295e-01 -2.93682464e-04 -2.31686409e+01] [-4.63222783e-03 2.85234729e-04 9.99989230e-01 2.29244283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.300714057 meters Centerline goodness [0,1] 0.984567625513668 Centerline is valid? [True, True] Translation: X:498.09, Y:-23.17, Z:2.29 [[ 9.99983975e-01 1.53878806e-03 5.44805403e-03 4.98094533e+02] [-1.53693828e-03 9.99998760e-01 -3.43700916e-04 -2.31682897e+01] [-5.44857616e-03 3.35322085e-04 9.99985100e-01 2.29304436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.330714057 meters Centerline goodness [0,1] 0.9820529948786462 Centerline is valid? [True, True] Translation: X:498.13, Y:-23.18, Z:2.29 [[ 9.99984377e-01 6.17599917e-04 5.55563127e-03 4.98125505e+02] [-6.15654592e-04 9.99999749e-01 -3.51857187e-04 -2.31762662e+01] [-5.55584718e-03 3.48431340e-04 9.99984505e-01 2.29211937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.360714057 meters Centerline goodness [0,1] 0.9845085827808656 Centerline is valid? [True, True] Translation: X:498.16, Y:-23.17, Z:2.29 [[ 9.99986006e-01 6.69794894e-04 5.24784259e-03 4.98157927e+02] [-6.68047899e-04 9.99999721e-01 -3.34643630e-04 -2.31720308e+01] [-5.24806526e-03 3.31133137e-04 9.99986174e-01 2.29200143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.390714057 meters Centerline goodness [0,1] 0.9843452554254104 Centerline is valid? [True, True] Translation: X:498.19, Y:-23.17, Z:2.29 [[ 9.99989185e-01 2.01287977e-03 4.19260336e-03 4.98189562e+02] [-2.01177470e-03 9.99997941e-01 -2.67776786e-04 -2.31714417e+01] [-4.19313373e-03 2.59339317e-04 9.99991175e-01 2.29049600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.420714057 meters Centerline goodness [0,1] 0.9839789681826353 Centerline is valid? [True, True] Translation: X:498.22, Y:-23.17, Z:2.29 [[ 9.99980459e-01 5.13549484e-03 3.56491677e-03 4.98219725e+02] [-5.13471427e-03 9.99986791e-01 -2.28077184e-04 -2.31709726e+01] [-3.56604097e-03 2.09767898e-04 9.99993620e-01 2.28976070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.450714057 meters Centerline goodness [0,1] 0.9848270915977498 Centerline is valid? [True, True] Translation: X:498.25, Y:-23.17, Z:2.29 [[ 9.99968956e-01 7.16520682e-03 3.27808725e-03 4.98250508e+02] [-7.16455767e-03 9.99974312e-01 -2.09726330e-04 -2.31669974e+01] [-3.27950578e-03 1.86233774e-04 9.99994605e-01 2.29008525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.480714057 meters Centerline goodness [0,1] 0.9852189126143908 Centerline is valid? [True, True] Translation: X:498.28, Y:-23.17, Z:2.29 [[ 9.99924677e-01 1.18748949e-02 3.10272801e-03 4.98280430e+02] [-1.18743352e-02 9.99929478e-01 -1.98722821e-04 -2.31659869e+01] [-3.10486901e-03 1.61865020e-04 9.99995167e-01 2.28894159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.51071405700003 meters Centerline goodness [0,1] 0.9852097525994981 Centerline is valid? [True, True] Translation: X:498.31, Y:-23.17, Z:2.29 [[ 9.99893598e-01 1.43221402e-02 2.76933257e-03 4.98309784e+02] [-1.43217035e-02 9.99897423e-01 -1.77471814e-04 -2.31663283e+01] [-2.77159028e-03 1.37791371e-04 9.99996150e-01 2.28799372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.540714057 meters Centerline goodness [0,1] 0.9852097525994981 Centerline is valid? [True, True] Translation: X:498.34, Y:-23.17, Z:2.29 [[ 9.99894589e-01 1.42528132e-02 2.76931639e-03 4.98338068e+02] [-1.42523755e-02 9.99898414e-01 -1.77725258e-04 -2.31680746e+01] [-2.77156815e-03 1.38237187e-04 9.99996150e-01 2.28762652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.570714057 meters Centerline goodness [0,1] 0.9871370322813183 Centerline is valid? [True, True] Translation: X:498.37, Y:-23.16, Z:2.29 [[ 9.99791757e-01 2.02410196e-02 2.59685612e-03 4.98368643e+02] [-2.02406570e-02 9.99795123e-01 -1.65846748e-04 -2.31613026e+01] [-2.59968099e-03 1.13250138e-04 9.99996614e-01 2.28711065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.600714057 meters Centerline goodness [0,1] 0.9872790723854553 Centerline is valid? [True, True] Translation: X:498.40, Y:-23.16, Z:2.29 [[ 9.99731058e-01 2.30859514e-02 2.20248115e-03 4.98396416e+02] [-2.30856954e-02 9.99733480e-01 -1.41584972e-04 -2.31612480e+01] [-2.20516277e-03 9.07010849e-05 9.99997565e-01 2.28642993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.630714057 meters Centerline goodness [0,1] 0.9862211350732704 Centerline is valid? [True, True] Translation: X:498.42, Y:-23.17, Z:2.28 [[ 9.99668450e-01 2.56456516e-02 2.30004966e-03 4.98424454e+02] [-2.56453802e-02 9.99671092e-01 -1.47408447e-04 -2.31657667e+01] [-2.30307354e-03 8.83739256e-05 9.99997344e-01 2.28400395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.660714057 meters Centerline goodness [0,1] 0.9886094507725274 Centerline is valid? [True, True] Translation: X:498.45, Y:-23.16, Z:2.28 [[ 9.99527779e-01 3.06504761e-02 2.18341071e-03 4.98454408e+02] [-3.06502445e-02 9.99530161e-01 -1.39441897e-04 -2.31597247e+01] [-2.18665882e-03 7.24539772e-05 9.99997607e-01 2.28463691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.690714057 meters Centerline goodness [0,1] 0.988272157564906 Centerline is valid? [True, True] Translation: X:498.48, Y:-23.16, Z:2.29 [[ 9.99389610e-01 3.47428225e-02 3.65302532e-03 4.98483358e+02] [-3.47422033e-02 9.99396280e-01 -2.32850376e-04 -2.31611068e+01] [-3.65890980e-03 1.05794098e-04 9.99993301e-01 2.28515097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.720714057 meters Centerline goodness [0,1] 0.9880713915959578 Centerline is valid? [True, True] Translation: X:498.51, Y:-23.16, Z:2.28 [[ 9.99363329e-01 3.54968727e-02 3.59279375e-03 4.98511726e+02] [-3.54962779e-02 9.99369782e-01 -2.29214714e-04 -2.31624319e+01] [-3.59866592e-03 1.01537974e-04 9.99993520e-01 2.28487548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.750714057 meters Centerline goodness [0,1] 0.9882509471405376 Centerline is valid? [True, True] Translation: X:498.54, Y:-23.17, Z:2.28 [[ 9.99340161e-01 3.61115783e-02 3.89823663e-03 4.98540103e+02] [-3.61108840e-02 9.99347758e-01 -2.48349913e-04 -2.31654316e+01] [-3.90466234e-03 1.07417271e-04 9.99992371e-01 2.28438267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.780714057 meters Centerline goodness [0,1] 0.9885442170758553 Centerline is valid? [True, True] Translation: X:498.57, Y:-23.17, Z:2.28 [[ 9.99357343e-01 3.55893907e-02 4.27735301e-03 4.98568535e+02] [-3.55885518e-02 9.99366490e-01 -2.72110534e-04 -2.31691854e+01] [-4.28432751e-03 1.19710861e-04 9.99990815e-01 2.28358193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.810714057 meters Centerline goodness [0,1] 0.988271964838319 Centerline is valid? [True, True] Translation: X:498.60, Y:-23.18, Z:2.28 [[ 9.99441514e-01 3.31657210e-02 4.08590222e-03 4.98597146e+02] [-3.31649362e-02 9.99449858e-01 -2.59694839e-04 -2.31753839e+01] [-4.09226736e-03 1.24041117e-04 9.99991619e-01 2.28167364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.840714057 meters Centerline goodness [0,1] 0.9859233855602627 Centerline is valid? [True, True] Translation: X:498.62, Y:-23.19, Z:2.28 [[ 9.99544500e-01 2.99523243e-02 3.69456720e-03 4.98624981e+02] [-2.99516620e-02 9.99551321e-01 -2.34480556e-04 -2.31854853e+01] [-3.69993277e-03 1.23715322e-04 9.99993148e-01 2.27963845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.870714057 meters Centerline goodness [0,1] 0.987170047080349 Centerline is valid? [True, True] Translation: X:498.65, Y:-23.19, Z:2.28 [[ 9.99591703e-01 2.83021207e-02 3.92644580e-03 4.98653842e+02] [-2.83013603e-02 9.99599405e-01 -2.49106770e-04 -2.31885590e+01] [-3.93192314e-03 1.37881303e-04 9.99992260e-01 2.27961011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.900714057 meters Centerline goodness [0,1] 0.9848724166314431 Centerline is valid? [True, True] Translation: X:498.68, Y:-23.20, Z:2.28 [[ 9.99648749e-01 2.62475886e-02 3.66636269e-03 4.98680909e+02] [-2.62469119e-02 9.99655463e-01 -2.32565059e-04 -2.31957482e+01] [-3.67120377e-03 1.36252671e-04 9.99993252e-01 2.27862703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.930714057 meters Centerline goodness [0,1] 0.9842243841485184 Centerline is valid? [True, True] Translation: X:498.71, Y:-23.20, Z:2.28 [[ 9.99743875e-01 2.21925676e-02 4.43560192e-03 4.98708581e+02] [-2.21915407e-02 9.99753698e-01 -2.80595338e-04 -2.32046397e+01] [-4.44073655e-03 1.82090630e-04 9.99990123e-01 2.27874037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.960714057 meters Centerline goodness [0,1] 0.9848950675043443 Centerline is valid? [True, True] Translation: X:498.74, Y:-23.21, Z:2.28 [[ 9.99777782e-01 2.04183024e-02 5.24216578e-03 4.98737077e+02] [-2.04168467e-02 9.99791500e-01 -3.31069118e-04 -2.32056206e+01] [-5.24783266e-03 2.23967053e-04 9.99986205e-01 2.27989469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.990714057 meters Centerline goodness [0,1] 0.9842948219561499 Centerline is valid? [True, True] Translation: X:498.77, Y:-23.21, Z:2.28 [[ 9.99803958e-01 1.81435859e-02 7.92814931e-03 4.98765789e+02] [-1.81401929e-02 9.99835328e-01 -4.99682677e-04 -2.32126823e+01] [-7.93590980e-03 3.55766560e-04 9.99968447e-01 2.28155124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.020714057 meters Centerline goodness [0,1] 0.984927536231884 Centerline is valid? [True, True] Translation: X:498.79, Y:-23.22, Z:2.28 [[ 9.99815736e-01 1.68685985e-02 9.16210030e-03 4.98793950e+02] [-1.68640201e-02 9.99857626e-01 -5.76749848e-04 -2.32157084e+01] [-9.17052482e-03 4.22133731e-04 9.99957861e-01 2.28137907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.050714057 meters Centerline goodness [0,1] 0.984131576604647 Centerline is valid? [True, True] Translation: X:498.82, Y:-23.22, Z:2.28 [[ 9.99845791e-01 1.49016497e-02 9.29170279e-03 4.98821985e+02] [-1.48968651e-02 9.99888865e-01 -5.83932495e-04 -2.32231509e+01] [-9.29937171e-03 4.45425204e-04 9.99956661e-01 2.28009305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.080714057 meters Centerline goodness [0,1] 0.9849003735990037 Centerline is valid? [True, True] Translation: X:498.85, Y:-23.23, Z:2.28 [[ 9.99900107e-01 1.17576192e-02 7.84438960e-03 4.98851530e+02] [-1.17541162e-02 9.99930797e-01 -4.92510372e-04 -2.32290589e+01] [-7.84963749e-03 4.00257307e-04 9.99969111e-01 2.27737408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.110714057 meters Centerline goodness [0,1] 0.9854911704676547 Centerline is valid? [True, True] Translation: X:498.88, Y:-23.23, Z:2.28 [[ 9.99921327e-01 1.02734429e-02 7.19701795e-03 4.98881197e+02] [-1.02704567e-02 9.99947155e-01 -4.51757993e-04 -2.32329603e+01] [-7.20127874e-03 3.77805790e-04 9.99973999e-01 2.27570607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.140714057 meters Centerline goodness [0,1] 0.9850481780928121 Centerline is valid? [True, True] Translation: X:498.91, Y:-23.24, Z:2.27 [[ 9.99937991e-01 8.91447154e-03 6.67427286e-03 4.98910623e+02] [-8.91187389e-03 9.99960201e-01 -4.18842921e-04 -2.32398896e+01] [-6.67774100e-03 3.59336671e-04 9.99977639e-01 2.27404689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.170714057 meters Centerline goodness [0,1] 0.9853536582667758 Centerline is valid? [True, True] Translation: X:498.94, Y:-23.24, Z:2.27 [[ 9.99965319e-01 6.06449586e-03 5.70815870e-03 4.98940844e+02] [-6.06255063e-03 9.99981558e-01 -3.58020893e-04 -2.32439175e+01] [-5.71022464e-03 3.23402475e-04 9.99983644e-01 2.27297518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.200714057 meters Centerline goodness [0,1] 0.984810294507827 Centerline is valid? [True, True] Translation: X:498.97, Y:-23.25, Z:2.27 [[ 9.99976542e-01 4.79925447e-03 4.88700539e-03 4.98971219e+02] [-4.79781360e-03 9.99988443e-01 -3.06517412e-04 -2.32463929e+01] [-4.88841997e-03 2.83063281e-04 9.99988012e-01 2.27206334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.230714057 meters Centerline goodness [0,1] 0.984600407115674 Centerline is valid? [True, True] Translation: X:499.00, Y:-23.25, Z:2.27 [[ 9.99992381e-01 2.54383878e-03 2.96075630e-03 4.99001787e+02] [-2.54330156e-03 9.99996749e-01 -1.85197767e-04 -2.32505775e+01] [-2.96121779e-03 1.77666260e-04 9.99995600e-01 2.26969193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.26071405700003 meters Centerline goodness [0,1] 0.9846467421405942 Centerline is valid? [True, True] Translation: X:499.03, Y:-23.25, Z:2.27 [[ 9.99998876e-01 8.29412654e-04 1.24925695e-03 4.99031737e+02] [-8.29316590e-04 9.99999653e-01 -7.74126453e-05 -2.32535784e+01] [-1.24932073e-03 7.63765288e-05 9.99999217e-01 2.26775955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.290714057 meters Centerline goodness [0,1] 0.986295588823242 Centerline is valid? [True, True] Translation: X:499.06, Y:-23.25, Z:2.27 [[ 9.99998990e-01 4.85655203e-04 1.33537633e-03 4.99062883e+02] [-4.85543545e-04 9.99999879e-01 -8.39384519e-05 -2.32495920e+01] [-1.33541693e-03 8.32899838e-05 9.99999105e-01 2.26828988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.320714057 meters Centerline goodness [0,1] 0.983688526411698 Centerline is valid? [True, True] Translation: X:499.09, Y:-23.26, Z:2.27 [[ 9.99995760e-01 5.63839645e-04 2.85706615e-03 4.99092665e+02] [-5.63329353e-04 9.99999825e-01 -1.79408382e-04 -2.32565551e+01] [-2.85716681e-03 1.77798152e-04 9.99995902e-01 2.26827338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.350714057 meters Centerline goodness [0,1] 0.9845973139488498 Centerline is valid? [True, True] Translation: X:499.12, Y:-23.25, Z:2.27 [[ 9.99991144e-01 6.69773897e-04 4.15493665e-03 4.99124593e+02] [-6.68695503e-04 9.99999742e-01 -2.60929025e-04 -2.32511248e+01] [-4.15511034e-03 2.58148327e-04 9.99991334e-01 2.26937377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.380714057 meters Centerline goodness [0,1] 0.9834756570921592 Centerline is valid? [True, True] Translation: X:499.16, Y:-23.25, Z:2.27 [[ 9.99982212e-01 4.07456204e-04 5.95052753e-03 4.99156028e+02] [-4.05237227e-04 9.99999848e-01 -3.74105245e-04 -2.32509758e+01] [-5.95067906e-03 3.71687216e-04 9.99982225e-01 2.27050709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.410714057 meters Centerline goodness [0,1] 0.9835901318133239 Centerline is valid? [True, True] Translation: X:499.19, Y:-23.25, Z:2.27 [[ 9.99979422e-01 -1.60197104e-04 6.41333127e-03 4.99187341e+02] [ 1.62779868e-04 9.99999906e-01 -4.02197963e-04 -2.32536541e+01] [-6.41326623e-03 4.03233648e-04 9.99979353e-01 2.27034363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.440714057 meters Centerline goodness [0,1] 0.9826716726279074 Centerline is valid? [True, True] Translation: X:499.22, Y:-23.25, Z:2.27 [[ 9.99975269e-01 -2.97174451e-03 6.37420778e-03 4.99218786e+02] [ 2.97437013e-03 9.99995496e-01 -4.02474267e-04 -2.32549857e+01] [-6.37298301e-03 4.21423566e-04 9.99979604e-01 2.26942407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.470714057 meters Centerline goodness [0,1] 0.9815007183114156 Centerline is valid? [True, True] Translation: X:499.25, Y:-23.26, Z:2.27 [[ 9.99970610e-01 -4.50599232e-03 6.20278887e-03 4.99251110e+02] [ 4.50850782e-03 9.99989760e-01 -3.91619740e-04 -2.32584971e+01] [-6.20096072e-03 4.19573552e-04 9.99980686e-01 2.26846479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.500714057 meters Centerline goodness [0,1] 0.9819797745801221 Centerline is valid? [True, True] Translation: X:499.28, Y:-23.26, Z:2.27 [[ 9.99943839e-01 -8.95695237e-03 5.66503643e-03 4.99280991e+02] [ 8.95912606e-03 9.99959802e-01 -3.58441307e-04 -2.32616576e+01] [-5.66159816e-03 4.09174951e-04 9.99983889e-01 2.26646344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.530714057 meters Centerline goodness [0,1] 0.9794710971731055 Centerline is valid? [True, True] Translation: X:499.31, Y:-23.27, Z:2.27 [[ 9.99930281e-01 -1.04008623e-02 5.59058859e-03 4.99311718e+02] [ 1.04030001e-02 9.99945825e-01 -3.53453911e-04 -2.32690393e+01] [-5.58660949e-03 4.11588162e-04 9.99984310e-01 2.26511261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.560714057 meters Centerline goodness [0,1] 0.9801747460859538 Centerline is valid? [True, True] Translation: X:499.34, Y:-23.27, Z:2.26 [[ 9.99915960e-01 -1.18398133e-02 5.28120111e-03 4.99343229e+02] [ 1.18417424e-02 9.99929828e-01 -3.34155198e-04 -2.32701516e+01] [-5.27687419e-03 3.96665739e-04 9.99985999e-01 2.26466348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.590714057 meters Centerline goodness [0,1] 0.981063559605231 Centerline is valid? [True, True] Translation: X:499.38, Y:-23.27, Z:2.26 [[ 9.99919661e-01 -1.15998458e-02 5.11035909e-03 4.99375154e+02] [ 1.16016495e-02 9.99932646e-01 -3.23440631e-04 -2.32684293e+01] [-5.10626302e-03 3.82703240e-04 9.99986890e-01 2.26440929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.620714057 meters Centerline goodness [0,1] 0.9805280160409936 Centerline is valid? [True, True] Translation: X:499.41, Y:-23.27, Z:2.26 [[ 9.99941971e-01 -9.48747354e-03 5.10317084e-03 4.99406137e+02] [ 9.48924804e-03 9.99954924e-01 -3.23625276e-04 -2.32689837e+01] [-5.09987042e-03 3.72031751e-04 9.99986926e-01 2.26299065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.650714057 meters Centerline goodness [0,1] 0.9805957181366542 Centerline is valid? [True, True] Translation: X:499.44, Y:-23.27, Z:2.26 [[ 9.99953859e-01 -7.98938112e-03 5.33386691e-03 4.99438423e+02] [ 7.99129887e-03 9.99968012e-01 -3.38327638e-04 -2.32653423e+01] [-5.33099326e-03 3.80936552e-04 9.99985718e-01 2.26242183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.680714057 meters Centerline goodness [0,1] 0.9788680591159359 Centerline is valid? [True, True] Translation: X:499.47, Y:-23.27, Z:2.26 [[ 9.99966171e-01 -5.18309987e-03 6.38691106e-03 4.99468512e+02] [ 5.18579791e-03 9.99986471e-01 -4.05944251e-04 -2.32673349e+01] [-6.38472060e-03 4.39051748e-04 9.99979521e-01 2.26161734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.710714057 meters Centerline goodness [0,1] 0.981335601110017 Centerline is valid? [True, True] Translation: X:499.50, Y:-23.26, Z:2.26 [[ 9.99952711e-01 -4.26756842e-03 8.73866731e-03 4.99501305e+02] [ 4.27258185e-03 9.99990718e-01 -5.55117940e-04 -2.32569987e+01] [-8.73621719e-03 5.92428361e-04 9.99961663e-01 2.26307346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.740714057 meters Centerline goodness [0,1] 0.981243830207305 Centerline is valid? [True, True] Translation: X:499.53, Y:-23.26, Z:2.26 [[ 9.99944169e-01 -4.33708879e-03 9.63578235e-03 4.99533213e+02] [ 4.34319526e-03 9.99990380e-01 -6.12893813e-04 -2.32567230e+01] [-9.63303148e-03 6.54709679e-04 9.99953387e-01 2.26305263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.770714057 meters Centerline goodness [0,1] 0.9795603116324886 Centerline is valid? [True, True] Translation: X:499.56, Y:-23.26, Z:2.26 [[ 9.99924223e-01 -5.91273292e-03 1.07976112e-02 4.99564323e+02] [ 5.92049824e-03 9.99982237e-01 -6.87346725e-04 -2.32602186e+01] [-1.07933553e-02 7.51221877e-04 9.99941468e-01 2.26245581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.800714057 meters Centerline goodness [0,1] 0.9804185150333826 Centerline is valid? [True, True] Translation: X:499.60, Y:-23.26, Z:2.26 [[ 9.99909538e-01 -7.50940167e-03 1.11590480e-02 4.99596700e+02] [ 7.51782767e-03 9.99971486e-01 -7.13326340e-04 -2.32601037e+01] [-1.11533731e-02 7.97153611e-04 9.99937481e-01 2.26149137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.830714057 meters Centerline goodness [0,1] 0.9790810021345916 Centerline is valid? [True, True] Translation: X:499.63, Y:-23.26, Z:2.26 [[ 9.99871133e-01 -1.24510003e-02 1.01335771e-02 4.99627726e+02] [ 1.24582088e-02 9.99922183e-01 -6.48525992e-04 -2.32634993e+01] [-1.01247137e-02 7.74688638e-04 9.99948444e-01 2.25991790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.860714057 meters Centerline goodness [0,1] 0.9798588319920873 Centerline is valid? [True, True] Translation: X:499.66, Y:-23.27, Z:2.26 [[ 9.99843622e-01 -1.51229415e-02 9.16670686e-03 4.99659010e+02] [ 1.51289538e-02 9.99885379e-01 -5.86891546e-04 -2.32664134e+01] [-9.15678063e-03 7.25482453e-04 9.99957813e-01 2.25864347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.890714057 meters Centerline goodness [0,1] 0.9782994496237223 Centerline is valid? [True, True] Translation: X:499.69, Y:-23.27, Z:2.26 [[ 9.99779783e-01 -1.93742709e-02 8.06368217e-03 4.99688620e+02] [ 1.93790624e-02 9.99812075e-01 -5.16483036e-04 -2.32732477e+01] [-8.05216032e-03 6.72635897e-04 9.99967355e-01 2.25547089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.920714057 meters Centerline goodness [0,1] 0.9776410901091007 Centerline is valid? [True, True] Translation: X:499.72, Y:-23.28, Z:2.25 [[ 9.99754247e-01 -2.12945151e-02 6.16358498e-03 4.99719608e+02] [ 2.12973524e-02 9.99773108e-01 -3.95062953e-04 -2.32760426e+01] [-6.15377383e-03 5.26233906e-04 9.99980927e-01 2.25299138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.950714057 meters Centerline goodness [0,1] 0.9777038568731458 Centerline is valid? [True, True] Translation: X:499.75, Y:-23.28, Z:2.25 [[ 9.99759751e-01 -2.12539278e-02 5.35834072e-03 4.99750934e+02] [ 2.12560672e-02 9.99774006e-01 -3.42627376e-04 -2.32781754e+01] [-5.34984759e-03 4.56442311e-04 9.99985585e-01 2.25194892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.980714057 meters Centerline goodness [0,1] 0.9762496049126292 Centerline is valid? [True, True] Translation: X:499.78, Y:-23.28, Z:2.25 [[ 9.99790424e-01 -1.98184373e-02 5.13199951e-03 4.99782206e+02] [ 1.98203882e-02 9.99803502e-01 -3.29552049e-04 -2.32767433e+01] [-5.12445988e-03 4.31201205e-04 9.99986777e-01 2.25110952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.01071405700003 meters Centerline goodness [0,1] 0.9771521459372813 Centerline is valid? [True, True] Translation: X:499.81, Y:-23.28, Z:2.25 [[ 9.99817084e-01 -1.82344689e-02 5.77077558e-03 4.99813397e+02] [ 1.82369109e-02 9.99833625e-01 -3.70827852e-04 -2.32764028e+01] [-5.76305362e-03 4.76001142e-04 9.99983280e-01 2.25109521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.040714057 meters Centerline goodness [0,1] 0.9774546605761838 Centerline is valid? [True, True] Translation: X:499.84, Y:-23.27, Z:2.25 [[ 9.99868911e-01 -1.44485411e-02 7.30750792e-03 4.99843369e+02] [ 1.44523614e-02 9.99895449e-01 -4.70247992e-04 -2.32740758e+01] [-7.29994952e-03 5.75797093e-04 9.99973189e-01 2.25100041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.070714057 meters Centerline goodness [0,1] 0.976738918710788 Centerline is valid? [True, True] Translation: X:499.88, Y:-23.27, Z:2.25 [[ 9.99889602e-01 -1.26661382e-02 7.76866289e-03 4.99875275e+02] [ 1.26703985e-02 9.99919603e-01 -4.99416233e-04 -2.32740244e+01] [-7.76171263e-03 5.97793153e-04 9.99969699e-01 2.25082614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.100714057 meters Centerline goodness [0,1] 0.974905613456017 Centerline is valid? [True, True] Translation: X:499.91, Y:-23.27, Z:2.25 [[ 9.99906139e-01 -1.09097366e-02 8.28801156e-03 4.99906268e+02] [ 1.09145301e-02 9.99940293e-01 -5.33353967e-04 -2.32739856e+01] [-8.28169796e-03 6.23763657e-04 9.99965512e-01 2.25052911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.130714057 meters Centerline goodness [0,1] 0.9770900504064303 Centerline is valid? [True, True] Translation: X:499.94, Y:-23.27, Z:2.25 [[ 9.99923578e-01 -8.09546757e-03 9.34353832e-03 4.99937045e+02] [ 8.10144228e-03 9.99967002e-01 -6.01776832e-04 -2.32697149e+01] [-9.33835833e-03 6.77426979e-04 9.99956167e-01 2.25125982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.160714057 meters Centerline goodness [0,1] 0.9790177961858814 Centerline is valid? [True, True] Translation: X:499.97, Y:-23.26, Z:2.25 [[ 9.99913570e-01 -7.60666813e-03 1.07233635e-02 4.99970395e+02] [ 7.61450824e-03 9.99970771e-01 -6.90485863e-04 -2.32596147e+01] [-1.07177978e-02 7.72079324e-04 9.99942265e-01 2.25198440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.190714057 meters Centerline goodness [0,1] 0.97702431915475 Centerline is valid? [True, True] Translation: X:500.00, Y:-23.26, Z:2.25 [[ 9.99905172e-01 -7.90083538e-03 1.12793530e-02 5.00001108e+02] [ 7.90953835e-03 9.99968455e-01 -7.27183104e-04 -2.32649330e+01] [-1.12732518e-02 8.16328622e-04 9.99936122e-01 2.25169699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.220714057 meters Centerline goodness [0,1] 0.9756030826759086 Centerline is valid? [True, True] Translation: X:500.03, Y:-23.27, Z:2.25 [[ 9.99880708e-01 -9.98274413e-03 1.17862091e-02 5.00030952e+02] [ 9.99239874e-03 9.99949786e-01 -7.60538931e-04 -2.32713884e+01] [-1.17780250e-02 8.78220706e-04 9.99930251e-01 2.25142241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.250714057 meters Centerline goodness [0,1] 0.973959634027289 Centerline is valid? [True, True] Translation: X:500.06, Y:-23.27, Z:2.25 [[ 9.99866686e-01 -1.12588094e-02 1.18258370e-02 5.00062943e+02] [ 1.12686237e-02 9.99936215e-01 -7.63601512e-04 -2.32749723e+01] [-1.18164854e-02 8.96760621e-04 9.99929781e-01 2.25064778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.280714057 meters Centerline goodness [0,1] 0.9763050385837494 Centerline is valid? [True, True] Translation: X:500.09, Y:-23.27, Z:2.25 [[ 9.99850565e-01 -1.34317424e-02 1.08828146e-02 5.00094310e+02] [ 1.34401896e-02 9.99909429e-01 -7.03432879e-04 -2.32726422e+01] [-1.08723806e-02 8.49594853e-04 9.99940533e-01 2.24903274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.310714057 meters Centerline goodness [0,1] 0.9751739874500855 Centerline is valid? [True, True] Translation: X:500.12, Y:-23.28, Z:2.25 [[ 9.99840572e-01 -1.52326221e-02 9.31655651e-03 5.00123804e+02] [ 1.52388949e-02 9.99883700e-01 -6.02676727e-04 -2.32775265e+01] [-9.30629265e-03 7.44554669e-04 9.99956418e-01 2.24586340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.340714057 meters Centerline goodness [0,1] 0.9764746149458072 Centerline is valid? [True, True] Translation: X:500.16, Y:-23.28, Z:2.24 [[ 9.99849467e-01 -1.49863472e-02 8.74372633e-03 5.00155887e+02] [ 1.49918604e-02 9.99887456e-01 -5.65328222e-04 -2.32801687e+01] [-8.73427007e-03 6.96327846e-04 9.99961613e-01 2.24480411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.370714057 meters Centerline goodness [0,1] 0.9751790847287494 Centerline is valid? [True, True] Translation: X:500.19, Y:-23.28, Z:2.24 [[ 9.99853988e-01 -1.51858539e-02 7.83534229e-03 5.00187830e+02] [ 1.51902907e-02 9.99884492e-01 -5.07053861e-04 -2.32819703e+01] [-7.82673720e-03 6.26000953e-04 9.99969175e-01 2.24323372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.400714057 meters Centerline goodness [0,1] 0.9754271322578449 Centerline is valid? [True, True] Translation: X:500.22, Y:-23.28, Z:2.24 [[ 9.99856386e-01 -1.50355584e-02 7.81919517e-03 5.00219433e+02] [ 1.50399766e-02 9.99886765e-01 -5.06552665e-04 -2.32848422e+01] [-7.81069346e-03 6.24080429e-04 9.99969301e-01 2.24278192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.430714057 meters Centerline goodness [0,1] 0.9754271322578449 Centerline is valid? [True, True] Translation: X:500.25, Y:-23.29, Z:2.24 [[ 9.99857940e-01 -1.49318429e-02 7.81917180e-03 5.00252005e+02] [ 1.49362608e-02 9.99888319e-01 -5.06913226e-04 -2.32870522e+01] [-7.81072940e-03 6.23630403e-04 9.99969301e-01 2.24235942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.460714057 meters Centerline goodness [0,1] 0.9760569161307977 Centerline is valid? [True, True] Translation: X:500.28, Y:-23.29, Z:2.24 [[ 9.99858124e-01 -1.51611510e-02 7.33968580e-03 5.00284744e+02] [ 1.51650562e-02 9.99884890e-01 -4.76694919e-04 -2.32853068e+01] [-7.33161369e-03 5.87934035e-04 9.99972951e-01 2.24171272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.490714057 meters Centerline goodness [0,1] 0.9759470561387494 Centerline is valid? [True, True] Translation: X:500.32, Y:-23.29, Z:2.24 [[ 9.99863774e-01 -1.50103195e-02 6.86470730e-03 5.00315782e+02] [ 1.50137358e-02 9.99887188e-01 -4.46384306e-04 -2.32881827e+01] [-6.85723251e-03 5.49388398e-04 9.99976338e-01 2.24092151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.520714057 meters Centerline goodness [0,1] 0.976575139569329 Centerline is valid? [True, True] Translation: X:500.35, Y:-23.29, Z:2.24 [[ 9.99869789e-01 -1.47474125e-02 6.55131468e-03 5.00348226e+02] [ 1.47505196e-02 9.99891114e-01 -4.26203608e-04 -2.32872821e+01] [-6.54431594e-03 5.22783407e-04 9.99978449e-01 2.24029425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.550714057 meters Centerline goodness [0,1] 0.9737974366562706 Centerline is valid? [True, True] Translation: X:500.38, Y:-23.29, Z:2.24 [[ 9.99881947e-01 -1.40207067e-02 6.28583019e-03 5.00379102e+02] [ 1.40235562e-02 9.99901581e-01 -4.09466409e-04 -2.32949994e+01] [-6.27947053e-03 4.97567763e-04 9.99980160e-01 2.23917324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.580714057 meters Centerline goodness [0,1] 0.9757060985912277 Centerline is valid? [True, True] Translation: X:500.41, Y:-23.29, Z:2.24 [[ 9.99910531e-01 -1.18074527e-02 6.28598070e-03 5.00410251e+02] [ 1.18102623e-02 9.99930172e-01 -4.10035204e-04 -2.32940457e+01] [-6.28070029e-03 4.84237600e-04 9.99980159e-01 2.23889982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.610714057 meters Centerline goodness [0,1] 0.9740233036326251 Centerline is valid? [True, True] Translation: X:500.44, Y:-23.30, Z:2.24 [[ 9.99926070e-01 -1.05408832e-02 6.06177405e-03 5.00440689e+02] [ 1.05434737e-02 9.99944338e-01 -3.95540865e-04 -2.32959588e+01] [-6.05726729e-03 4.59423777e-04 9.99981549e-01 2.23867823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.640714057 meters Centerline goodness [0,1] 0.9756605760864587 Centerline is valid? [True, True] Translation: X:500.47, Y:-23.29, Z:2.24 [[ 9.99950682e-01 -8.02024915e-03 5.85747089e-03 5.00471703e+02] [ 8.02262544e-03 9.99967745e-01 -3.82301371e-04 -2.32941128e+01] [-5.85421581e-03 4.29274812e-04 9.99982772e-01 2.23896225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.670714057 meters Centerline goodness [0,1] 0.975627059685097 Centerline is valid? [True, True] Translation: X:500.50, Y:-23.30, Z:2.24 [[ 9.99956367e-01 -6.95861872e-03 6.23234123e-03 5.00503019e+02] [ 6.96128776e-03 9.99975687e-01 -4.06665475e-04 -2.32955618e+01] [-6.22935987e-03 4.50032851e-04 9.99980496e-01 2.23874999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.700714057 meters Centerline goodness [0,1] 0.978326185179239 Centerline is valid? [True, True] Translation: X:500.54, Y:-23.29, Z:2.24 [[ 9.99965029e-01 -5.46866019e-03 6.32722259e-03 5.00535266e+02] [ 5.47138340e-03 9.99984947e-01 -4.13167127e-04 -2.32898864e+01] [-6.32486787e-03 4.47771339e-04 9.99979898e-01 2.23931475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.730714057 meters Centerline goodness [0,1] 0.977590267773433 Centerline is valid? [True, True] Translation: X:500.57, Y:-23.29, Z:2.24 [[ 9.99967387e-01 -5.40467479e-03 6.00118629e-03 5.00567162e+02] [ 5.40712367e-03 9.99985305e-01 -3.91916710e-04 -2.32932093e+01] [-5.99897991e-03 4.24353085e-04 9.99981916e-01 2.23837712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.76071405700003 meters Centerline goodness [0,1] 0.9779571490636362 Centerline is valid? [True, True] Translation: X:500.60, Y:-23.29, Z:2.24 [[ 9.99967694e-01 -5.45017878e-03 5.90824813e-03 5.00599202e+02] [ 5.45255684e-03 9.99985060e-01 -3.86465140e-04 -2.32936879e+01] [-5.90605355e-03 4.18667714e-04 9.99982471e-01 2.23833757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.790714057 meters Centerline goodness [0,1] 0.9769366560443843 Centerline is valid? [True, True] Translation: X:500.63, Y:-23.30, Z:2.24 [[ 9.99968089e-01 -5.82340927e-03 5.46898580e-03 5.00629804e+02] [ 5.82545489e-03 9.99982968e-01 -3.58184649e-04 -2.32993294e+01] [-5.46680680e-03 3.90032549e-04 9.99984981e-01 2.23805342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.820714057 meters Centerline goodness [0,1] 0.9757997983316528 Centerline is valid? [True, True] Translation: X:500.66, Y:-23.30, Z:2.24 [[ 9.99966816e-01 -6.18834140e-03 5.29823708e-03 5.00660897e+02] [ 6.19026527e-03 9.99980780e-01 -3.46792598e-04 -2.33030925e+01] [-5.29598917e-03 3.79578583e-04 9.99985904e-01 2.23815355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.850714057 meters Centerline goodness [0,1] 0.9770568897817551 Centerline is valid? [True, True] Translation: X:500.69, Y:-23.30, Z:2.24 [[ 9.99969616e-01 -5.89496442e-03 5.10063948e-03 5.00693988e+02] [ 5.89674733e-03 9.99982558e-01 -3.34578217e-04 -2.32987275e+01] [-5.09857819e-03 3.64645233e-04 9.99986936e-01 2.23867033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.880714057 meters Centerline goodness [0,1] 0.9764894225271584 Centerline is valid? [True, True] Translation: X:500.73, Y:-23.30, Z:2.24 [[ 9.99973910e-01 -5.69218679e-03 4.44722932e-03 5.00725639e+02] [ 5.69354193e-03 9.99983749e-01 -2.92115340e-04 -2.33006885e+01] [-4.44549427e-03 3.17428205e-04 9.99990068e-01 2.23798313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.910714057 meters Centerline goodness [0,1] 0.9756170086232531 Centerline is valid? [True, True] Translation: X:500.76, Y:-23.31, Z:2.24 [[ 9.99984211e-01 -4.53586608e-03 3.31731799e-03 5.00756444e+02] [ 4.53661434e-03 9.99989686e-01 -2.18073672e-04 -2.33108783e+01] [-3.31629462e-03 2.33119621e-04 9.99994474e-01 2.23540556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.940714057 meters Centerline goodness [0,1] 0.9785208300116165 Centerline is valid? [True, True] Translation: X:500.79, Y:-23.30, Z:2.24 [[ 9.99988608e-01 -3.92157176e-03 2.72129478e-03 5.00789467e+02] [ 3.92207259e-03 9.99992293e-01 -1.78728557e-04 -2.33030826e+01] [-2.72057291e-03 1.89399636e-04 9.99996281e-01 2.23567994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.970714057 meters Centerline goodness [0,1] 0.9785579966059716 Centerline is valid? [True, True] Translation: X:500.82, Y:-23.30, Z:2.23 [[ 9.99994923e-01 -2.71954527e-03 1.66051936e-03 5.00821868e+02] [ 2.71972971e-03 9.99996296e-01 -1.08822447e-04 -2.33042275e+01] [-1.66021726e-03 1.13338058e-04 9.99998615e-01 2.23464638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.000714057 meters Centerline goodness [0,1] 0.9795998070252016 Centerline is valid? [True, True] Translation: X:500.85, Y:-23.30, Z:2.23 [[ 9.99996444e-01 -2.56657039e-03 7.23732393e-04 5.00854308e+02] [ 2.56660504e-03 9.99996705e-01 -4.69565852e-05 -2.33047761e+01] [-7.23609491e-04 4.88139534e-05 9.99999737e-01 2.23461965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.030714057 meters Centerline goodness [0,1] 0.9790610737793272 Centerline is valid? [True, True] Translation: X:500.89, Y:-23.31, Z:2.23 [[ 9.99995802e-01 -2.87026407e-03 3.96336887e-04 5.00886005e+02] [ 2.87027451e-03 9.99995880e-01 -2.57751330e-05 -2.33071758e+01] [-3.96261273e-04 2.69126205e-05 9.99999921e-01 2.23430988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0607140569999 meters Centerline goodness [0,1] 0.9796884334359635 Centerline is valid? [True, True] Translation: X:500.92, Y:-23.31, Z:2.23 [[ 9.99992887e-01 -3.75148659e-03 -3.90212734e-04 5.00917211e+02] [ 3.75149714e-03 9.99992963e-01 2.63037620e-05 -2.33096293e+01] [ 3.90111310e-04 -2.77674569e-05 9.99999924e-01 2.23380364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0907140569999 meters Centerline goodness [0,1] 0.9794967167194747 Centerline is valid? [True, True] Translation: X:500.95, Y:-23.32, Z:2.23 [[ 9.99989393e-01 -4.54095547e-03 -7.70068203e-04 5.00948004e+02] [ 4.54099665e-03 9.99989688e-01 5.17301602e-05 -2.33151270e+01] [ 7.69825358e-04 -5.52264887e-05 9.99999702e-01 2.23267300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.120714057 meters Centerline goodness [0,1] 0.9797368541695319 Centerline is valid? [True, True] Translation: X:500.98, Y:-23.31, Z:2.23 [[ 9.99984725e-01 -5.50151892e-03 -5.31812724e-04 5.00979869e+02] [ 5.50153883e-03 9.99984866e-01 3.59830788e-05 -2.33138002e+01] [ 5.31606714e-04 -3.89083175e-05 9.99999858e-01 2.23340322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.150714057 meters Centerline goodness [0,1] 0.9788695313751975 Centerline is valid? [True, True] Translation: X:501.01, Y:-23.32, Z:2.23 [[ 9.99983798e-01 -5.69176086e-03 9.11161530e-05 5.01010137e+02] [ 5.69176138e-03 9.99983802e-01 -5.35070201e-06 -2.33215060e+01] [-9.10842222e-05 5.86922672e-06 9.99999996e-01 2.23251223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1807140569999 meters Centerline goodness [0,1] 0.9791175325716117 Centerline is valid? [True, True] Translation: X:501.04, Y:-23.33, Z:2.23 [[ 9.99979994e-01 -6.27623188e-03 7.87122773e-04 5.01041127e+02] [ 6.27627445e-03 9.99980303e-01 -5.16262727e-05 -2.33253147e+01] [-7.86783251e-04 5.65654384e-05 9.99999689e-01 2.23326730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2107140569999 meters Centerline goodness [0,1] 0.9775224202389963 Centerline is valid? [True, True] Translation: X:501.07, Y:-23.33, Z:2.23 [[ 9.99977351e-01 -6.68461200e-03 7.83170355e-04 5.01072852e+02] [ 6.68465413e-03 9.99977656e-01 -5.11985839e-05 -2.33278738e+01] [-7.82810614e-04 5.64326473e-05 9.99999692e-01 2.23319908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.240714057 meters Centerline goodness [0,1] 0.9765324794144556 Centerline is valid? [True, True] Translation: X:501.10, Y:-23.33, Z:2.23 [[ 9.99961760e-01 -8.73340449e-03 4.54154972e-04 5.01103065e+02] [ 8.73341901e-03 9.99961863e-01 -2.99940040e-05 -2.33324229e+01] [-4.53875702e-04 3.39591827e-05 9.99999896e-01 2.23216309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.270714057 meters Centerline goodness [0,1] 0.9804847845529387 Centerline is valid? [True, True] Translation: X:501.14, Y:-23.33, Z:2.23 [[ 9.99950906e-01 -9.88951438e-03 -6.19547347e-04 5.01135279e+02] [ 9.88954227e-03 9.99951096e-01 4.19635487e-05 -2.33263931e+01] [ 6.19102050e-04 -4.80885282e-05 9.99999807e-01 2.23296423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3007140569999 meters Centerline goodness [0,1] 0.9789636645114288 Centerline is valid? [True, True] Translation: X:501.17, Y:-23.33, Z:2.23 [[ 9.99925783e-01 -1.21490048e-02 -9.11121335e-04 5.01165363e+02] [ 1.21490653e-02 9.99926196e-01 6.09179250e-05 -2.33325481e+01] [ 9.10313998e-04 -7.19826765e-05 9.99999583e-01 2.23183524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3307140569999 meters Centerline goodness [0,1] 0.9790254625389265 Centerline is valid? [True, True] Translation: X:501.20, Y:-23.34, Z:2.23 [[ 9.99906668e-01 -1.35432662e-02 -1.79884337e-03 5.01196538e+02] [ 1.35435045e-02 9.99908275e-01 1.20334890e-04 -2.33350313e+01] [ 1.79704864e-03 -1.44686302e-04 9.99998375e-01 2.23131035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.360714057 meters Centerline goodness [0,1] 0.9786477684509884 Centerline is valid? [True, True] Translation: X:501.23, Y:-23.34, Z:2.23 [[ 9.99882048e-01 -1.52273087e-02 -2.00456185e-03 5.01226001e+02] [ 1.52276069e-02 9.99884044e-01 1.33580975e-04 -2.33406982e+01] [ 2.00229533e-03 -1.64089898e-04 9.99997982e-01 2.23079107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.390714057 meters Centerline goodness [0,1] 0.9786330639638405 Centerline is valid? [True, True] Translation: X:501.26, Y:-23.34, Z:2.23 [[ 9.99880948e-01 -1.53215973e-02 -1.82741231e-03 5.01257669e+02] [ 1.53218472e-02 9.99882606e-01 1.22815474e-04 -2.33427840e+01] [ 1.82531606e-03 -1.50800185e-04 9.99998323e-01 2.23044725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4207140569999 meters Centerline goodness [0,1] 0.9785187560115421 Centerline is valid? [True, True] Translation: X:501.29, Y:-23.34, Z:2.23 [[ 9.99891222e-01 -1.46000524e-02 -2.09333345e-03 5.01289983e+02] [ 1.46003787e-02 9.99893399e-01 1.40699404e-04 -2.33449697e+01] [ 2.09105608e-03 -1.71247560e-04 9.99997799e-01 2.22999965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4507140569999 meters Centerline goodness [0,1] 0.9793220183905943 Centerline is valid? [True, True] Translation: X:501.32, Y:-23.34, Z:2.23 [[ 9.99901248e-01 -1.38902484e-02 -2.13452302e-03 5.01322555e+02] [ 1.38905865e-02 9.99903511e-01 1.43621693e-04 -2.33431671e+01] [ 2.13232212e-03 -1.73257286e-04 9.99997712e-01 2.23058106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.480714057 meters Centerline goodness [0,1] 0.9795160846851801 Centerline is valid? [True, True] Translation: X:501.35, Y:-23.35, Z:2.23 [[ 9.99924901e-01 -1.21803707e-02 -1.35317981e-03 5.01353163e+02] [ 1.21805048e-02 9.99925811e-01 9.09710073e-05 -2.33475060e+01] [ 1.35197136e-03 -1.07446589e-04 9.99999080e-01 2.23050079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.510714057 meters Centerline goodness [0,1] 0.9809958277933153 Centerline is valid? [True, True] Translation: X:501.38, Y:-23.35, Z:2.23 [[ 9.99948317e-01 -1.00258497e-02 -1.68708231e-03 5.01384592e+02] [ 1.00260551e-02 9.99949731e-01 1.13348359e-04 -2.33453395e+01] [ 1.68586109e-03 -1.30257281e-04 9.99998570e-01 2.23071371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.540714057 meters Centerline goodness [0,1] 0.9799542857142857 Centerline is valid? [True, True] Translation: X:501.41, Y:-23.35, Z:2.23 [[ 9.99964306e-01 -8.28996594e-03 -1.63212141e-03 5.01414539e+02] [ 8.29015561e-03 9.99965630e-01 1.09481534e-04 -2.33484031e+01] [ 1.63115771e-03 -1.23008167e-04 9.99998662e-01 2.22993958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5707140569999 meters Centerline goodness [0,1] 0.9818048321593282 Centerline is valid? [True, True] Translation: X:501.45, Y:-23.35, Z:2.23 [[ 9.99986515e-01 -4.92358402e-03 -1.65188612e-03 5.01445754e+02] [ 4.92377356e-03 9.99987872e-01 1.10694029e-04 -2.33451361e+01] [ 1.65132107e-03 -1.18826049e-04 9.99998630e-01 2.23018330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6007140569999 meters Centerline goodness [0,1] 0.9826190914107045 Centerline is valid? [True, True] Translation: X:501.48, Y:-23.34, Z:2.23 [[ 9.99989801e-01 -3.68202950e-03 -2.61550828e-03 5.01477595e+02] [ 3.68250147e-03 9.99993204e-01 1.75655793e-04 -2.33425401e+01] [ 2.61484373e-03 -1.85285615e-04 9.99996564e-01 2.23030632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.630714057 meters Centerline goodness [0,1] 0.9816321356963426 Centerline is valid? [True, True] Translation: X:501.51, Y:-23.35, Z:2.23 [[ 9.99991939e-01 -9.55404008e-04 -3.89986079e-03 5.01507407e+02] [ 9.56429985e-04 9.99999509e-01 2.61223744e-04 -2.33470392e+01] [ 3.89960930e-03 -2.64951582e-04 9.99992361e-01 2.22775379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.660714057 meters Centerline goodness [0,1] 0.9836591501834884 Centerline is valid? [True, True] Translation: X:501.54, Y:-23.34, Z:2.23 [[ 9.99986422e-01 6.85578404e-04 -5.16592115e-03 5.01537258e+02] [-6.83803244e-04 9.99999707e-01 3.45387416e-04 -2.33422797e+01] [ 5.16615642e-03 -3.41850252e-04 9.99986597e-01 2.22802686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6907140569999 meters Centerline goodness [0,1] 0.9838765324194402 Centerline is valid? [True, True] Translation: X:501.57, Y:-23.34, Z:2.23 [[ 9.99971593e-01 4.24631404e-03 -6.22753235e-03 5.01567339e+02] [-4.24380399e-03 9.99990908e-01 4.16215774e-04 -2.33407281e+01] [ 6.22924311e-03 -3.89775524e-04 9.99980522e-01 2.22643358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7207140569999 meters Centerline goodness [0,1] 0.9844923504867872 Centerline is valid? [True, True] Translation: X:501.60, Y:-23.34, Z:2.23 [[ 9.99937152e-01 8.84233696e-03 -6.89242111e-03 5.01598377e+02] [-8.83936842e-03 9.99960826e-01 4.61040333e-04 -2.33370544e+01] [ 6.89622777e-03 -4.00086708e-04 9.99976141e-01 2.22755047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.750714057 meters Centerline goodness [0,1] 0.9845897542690546 Centerline is valid? [True, True] Translation: X:501.63, Y:-23.34, Z:2.23 [[ 9.99910217e-01 1.17420706e-02 -6.45610810e-03 5.01628808e+02] [-1.17395310e-02 9.99930996e-01 4.31122785e-04 -2.33362707e+01] [ 6.46072488e-03 -3.55292397e-04 9.99979066e-01 2.22804018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.780714057 meters Centerline goodness [0,1] 0.9850735842026825 Centerline is valid? [True, True] Translation: X:501.66, Y:-23.33, Z:2.23 [[ 9.99814991e-01 1.83346767e-02 -5.81574438e-03 5.01660460e+02] [-1.83327226e-02 9.99831866e-01 3.89138640e-04 -2.33272002e+01] [ 5.82190129e-03 -2.82448217e-04 9.99983013e-01 2.23164305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8107140569999 meters Centerline goodness [0,1] 0.9858141160027952 Centerline is valid? [True, True] Translation: X:501.69, Y:-23.33, Z:2.23 [[ 9.99745202e-01 2.20831905e-02 -4.67597770e-03 5.01689786e+02] [-2.20819719e-02 9.99756115e-01 3.12081858e-04 -2.33279777e+01] [ 4.68172906e-03 -2.08747533e-04 9.99989019e-01 2.23162571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8407140569999 meters Centerline goodness [0,1] 0.9852297083216849 Centerline is valid? [True, True] Translation: X:501.72, Y:-23.33, Z:2.23 [[ 9.99668805e-01 2.53985893e-02 -4.14621708e-03 5.01719278e+02] [-2.53976605e-02 9.99677389e-01 2.76530672e-04 -2.33275060e+01] [ 4.15190295e-03 -1.71134873e-04 9.99991366e-01 2.23184958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.870714057 meters Centerline goodness [0,1] 0.9861624047496611 Centerline is valid? [True, True] Translation: X:501.75, Y:-23.33, Z:2.23 [[ 9.99503356e-01 3.13390518e-02 -3.30222074e-03 5.01750092e+02] [-3.13384941e-02 9.99508804e-01 2.20511044e-04 -2.33255041e+01] [ 3.30750931e-03 -1.16914903e-04 9.99994523e-01 2.23205479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.900714057 meters Centerline goodness [0,1] 0.9856170450836869 Centerline is valid? [True, True] Translation: X:501.78, Y:-23.33, Z:2.23 [[ 9.99375882e-01 3.51160227e-02 -3.83544673e-03 5.01778885e+02] [-3.51153012e-02 9.99383235e-01 2.55319293e-04 -2.33263936e+01] [ 3.84204696e-03 -1.20477076e-04 9.99992612e-01 2.23108276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9307140569999 meters Centerline goodness [0,1] 0.9854057209573847 Centerline is valid? [True, True] Translation: X:501.81, Y:-23.33, Z:2.23 [[ 9.99338561e-01 3.60703334e-02 -4.62297170e-03 5.01806706e+02] [-3.60692986e-02 9.99349244e-01 3.07044654e-04 -2.33286017e+01] [ 4.63103848e-03 -1.40094216e-04 9.99989267e-01 2.23000360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9607140569999 meters Centerline goodness [0,1] 0.9848683287338043 Centerline is valid? [True, True] Translation: X:501.83, Y:-23.33, Z:2.23 [[ 9.99307393e-01 3.66750155e-02 -6.29908497e-03 5.01834095e+02] [-3.66731305e-02 9.99327229e-01 4.14536100e-04 -2.33312731e+01] [ 6.31005025e-03 -1.83241824e-04 9.99980075e-01 2.22853049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.990714057 meters Centerline goodness [0,1] 0.9854740775338626 Centerline is valid? [True, True] Translation: X:501.86, Y:-23.34, Z:2.23 [[ 9.99310939e-01 3.65159669e-02 -6.65060812e-03 5.01861569e+02] [-3.65138537e-02 9.99333051e-01 4.38930109e-04 -2.33352604e+01] [ 6.66220046e-03 -1.95788327e-04 9.99977788e-01 2.22688504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.020714057 meters Centerline goodness [0,1] 0.9847928196065665 Centerline is valid? [True, True] Translation: X:501.89, Y:-23.34, Z:2.23 [[ 9.99323260e-01 3.62299414e-02 -6.35710286e-03 5.01889153e+02] [-3.62280076e-02 9.99343462e-01 4.19126149e-04 -2.33394641e+01] [ 6.36811410e-03 -1.88537339e-04 9.99979706e-01 2.22778647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0507140569999 meters Centerline goodness [0,1] 0.9854312624692618 Centerline is valid? [True, True] Translation: X:501.92, Y:-23.34, Z:2.23 [[ 9.99360881e-01 3.51926038e-02 -6.26983345e-03 5.01917659e+02] [-3.51907023e-02 9.99380530e-01 4.13368281e-04 -2.33435768e+01] [ 6.28049698e-03 -1.92464247e-04 9.99980259e-01 2.22793885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0807140569999 meters Centerline goodness [0,1] 0.9849434512107685 Centerline is valid? [True, True] Translation: X:501.95, Y:-23.35, Z:2.23 [[ 9.99463455e-01 3.22751879e-02 -5.57795236e-03 5.01946001e+02] [-3.22736403e-02 9.99479003e-01 3.67254800e-04 -2.33508908e+01] [ 5.58689948e-03 -1.87036923e-04 9.99984376e-01 2.22839434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.110714057 meters Centerline goodness [0,1] 0.9843149956044973 Centerline is valid? [True, True] Translation: X:501.97, Y:-23.36, Z:2.23 [[ 9.99534310e-01 3.00137161e-02 -5.50816249e-03 5.01974233e+02] [-3.00121750e-02 9.99549468e-01 3.62245612e-04 -2.33555347e+01] [ 5.51655322e-03 -1.96764981e-04 9.99984764e-01 2.22811304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.140714057 meters Centerline goodness [0,1] 0.9841881722912146 Centerline is valid? [True, True] Translation: X:502.00, Y:-23.37, Z:2.23 [[ 9.99682683e-01 2.46208162e-02 -5.32431459e-03 5.02003112e+02] [-2.46192968e-02 9.99696838e-01 3.50723429e-04 -2.33665029e+01] [ 5.33133555e-03 -2.19531258e-04 9.99985764e-01 2.22675900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1707140569999 meters Centerline goodness [0,1] 0.9835413523522151 Centerline is valid? [True, True] Translation: X:502.03, Y:-23.37, Z:2.23 [[ 9.99813482e-01 1.87874822e-02 -4.47577536e-03 5.02032762e+02] [-1.87863505e-02 9.99823477e-01 2.94767674e-04 -2.33746076e+01] [ 4.48052323e-03 -2.10629210e-04 9.99989940e-01 2.22719789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2007140569999 meters Centerline goodness [0,1] 0.9832315329535836 Centerline is valid? [True, True] Translation: X:502.06, Y:-23.38, Z:2.23 [[ 9.99863085e-01 1.60663928e-02 -3.96012750e-03 5.02061617e+02] [-1.60654884e-02 9.99870908e-01 2.60081892e-04 -2.33804358e+01] [ 3.96379486e-03 -1.96424901e-04 9.99992125e-01 2.22740162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.230714057 meters Centerline goodness [0,1] 0.9822010528954626 Centerline is valid? [True, True] Translation: X:502.09, Y:-23.39, Z:2.23 [[ 9.99938801e-01 1.05172417e-02 -3.43243546e-03 5.02091945e+02] [-1.05165278e-02 9.99944674e-01 2.25944494e-04 -2.33875502e+01] [ 3.43462187e-03 -1.89833363e-04 9.99994084e-01 2.22826707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.260714057 meters Centerline goodness [0,1] 0.9818396708866514 Centerline is valid? [True, True] Translation: X:502.12, Y:-23.40, Z:2.23 [[ 9.99966163e-01 7.61163561e-03 -3.12034356e-03 5.02119707e+02] [-7.61103441e-03 9.99971015e-01 2.04500807e-04 -2.33950305e+01] [ 3.12180970e-03 -1.80744845e-04 9.99995111e-01 2.22691157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.290714057 meters Centerline goodness [0,1] 0.9811878710675371 Centerline is valid? [True, True] Translation: X:502.15, Y:-23.40, Z:2.23 [[ 9.99990623e-01 2.79197542e-03 -3.31053703e-03 5.02148348e+02] [-2.79127063e-03 9.99996081e-01 2.17494281e-04 -2.34039087e+01] [ 3.31113129e-03 -2.08251637e-04 9.99994497e-01 2.22557144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3207140569999 meters Centerline goodness [0,1] 0.9813700004560587 Centerline is valid? [True, True] Translation: X:502.18, Y:-23.41, Z:2.22 [[ 9.99991860e-01 5.21916910e-04 -4.00094070e-03 5.02177446e+02] [-5.20871729e-04 9.99999830e-01 2.62271353e-04 -2.34091073e+01] [ 4.00107690e-03 -2.60185242e-04 9.99991962e-01 2.22474527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3507140569999 meters Centerline goodness [0,1] 0.9813700004560587 Centerline is valid? [True, True] Translation: X:502.21, Y:-23.41, Z:2.22 [[ 9.99991893e-01 4.54018706e-04 -4.00097344e-03 5.02205756e+02] [-4.52974971e-04 9.99999863e-01 2.61772569e-04 -2.34109030e+01] [ 4.00109174e-03 -2.59958106e-04 9.99991962e-01 2.22437763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.380714057 meters Centerline goodness [0,1] 0.9811989100817439 Centerline is valid? [True, True] Translation: X:502.23, Y:-23.42, Z:2.22 [[ 9.99985539e-01 -3.15672415e-03 -4.35405847e-03 5.02234506e+02] [ 3.15799855e-03 9.99994973e-01 2.85850572e-04 -2.34181718e+01] [ 4.35313422e-03 -2.99596549e-04 9.99990480e-01 2.22275889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.410714057 meters Centerline goodness [0,1] 0.9813878624379406 Centerline is valid? [True, True] Translation: X:502.26, Y:-23.42, Z:2.22 [[ 9.99974188e-01 -5.39720859e-03 -4.74264443e-03 5.02264744e+02] [ 5.39874419e-03 9.99985378e-01 3.11041602e-04 -2.34184360e+01] [ 4.74089633e-03 -3.36637897e-04 9.99988705e-01 2.22303033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4407140569999 meters Centerline goodness [0,1] 0.981593137812564 Centerline is valid? [True, True] Translation: X:502.30, Y:-23.42, Z:2.22 [[ 9.99974122e-01 -5.86908839e-03 -4.16037135e-03 5.02295436e+02] [ 5.87027494e-03 9.99982733e-01 2.73050024e-04 -2.34206738e+01] [ 4.15869695e-03 -2.97465481e-04 9.99991308e-01 2.22297728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4707140569999 meters Centerline goodness [0,1] 0.9813560092765222 Centerline is valid? [True, True] Translation: X:502.33, Y:-23.42, Z:2.23 [[ 9.99980475e-01 -5.54672483e-03 -2.87809355e-03 5.02326914e+02] [ 5.54729297e-03 9.99984596e-01 1.89457506e-04 -2.34167691e+01] [ 2.87699834e-03 -2.05419435e-04 9.99995840e-01 2.22507236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.500714057 meters Centerline goodness [0,1] 0.9802433332578109 Centerline is valid? [True, True] Translation: X:502.36, Y:-23.42, Z:2.22 [[ 9.99988757e-01 -4.43339062e-03 -1.68254482e-03 5.02357552e+02] [ 4.43358364e-03 9.99990165e-01 1.11008204e-04 -2.34222703e+01] [ 1.68203613e-03 -1.18466659e-04 9.99998578e-01 2.22441353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.530714057 meters Centerline goodness [0,1] 0.9807714188189782 Centerline is valid? [True, True] Translation: X:502.39, Y:-23.41, Z:2.23 [[ 9.99995992e-01 -2.72546012e-03 -7.66709181e-04 5.02389291e+02] [ 2.72549973e-03 9.99996285e-01 5.06220279e-05 -2.34140771e+01] [ 7.66568364e-04 -5.27114906e-05 9.99999705e-01 2.22578449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5607140569999 meters Centerline goodness [0,1] 0.9829630981161337 Centerline is valid? [True, True] Translation: X:502.42, Y:-23.42, Z:2.23 [[ 9.99997949e-01 -1.92320951e-03 -6.34314133e-04 5.02420328e+02] [ 1.92323649e-03 9.99998150e-01 4.19304223e-05 -2.34151057e+01] [ 6.34232318e-04 -4.31502724e-05 9.99999798e-01 2.22507282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5907140569999 meters Centerline goodness [0,1] 0.981672943056031 Centerline is valid? [True, True] Translation: X:502.45, Y:-23.42, Z:2.22 [[ 9.99998615e-01 -1.01259784e-03 -1.32114650e-03 5.02450760e+02] [ 1.01271380e-03 9.99999483e-01 8.71039008e-05 -2.34151348e+01] [ 1.32105761e-03 -8.84417235e-05 9.99999123e-01 2.22377741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.620714057 meters Centerline goodness [0,1] 0.9811588562532909 Centerline is valid? [True, True] Translation: X:502.48, Y:-23.42, Z:2.22 [[ 9.99997490e-01 -1.07825745e-03 -1.96378920e-03 5.02480750e+02] [ 1.07851259e-03 9.99999410e-01 1.28868502e-04 -2.34162420e+01] [ 1.96364909e-03 -1.30986150e-04 9.99998063e-01 2.22264696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.650714057 meters Centerline goodness [0,1] 0.9811684732684182 Centerline is valid? [True, True] Translation: X:502.51, Y:-23.42, Z:2.22 [[ 9.99992975e-01 -1.28463104e-03 -3.52128993e-03 5.02509929e+02] [ 1.28545308e-03 9.99999147e-01 2.31195984e-04 -2.34174873e+01] [ 3.52098993e-03 -2.35720813e-04 9.99993774e-01 2.22049712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6807140569999 meters Centerline goodness [0,1] 0.9805684588143311 Centerline is valid? [True, True] Translation: X:502.54, Y:-23.42, Z:2.22 [[ 9.99984408e-01 -1.54282324e-03 -5.36690606e-03 5.02539489e+02] [ 1.54473670e-03 9.99998745e-01 3.52401716e-04 -2.34175647e+01] [ 5.36635563e-03 -3.60686678e-04 9.99985536e-01 2.21825761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7107140569999 meters Centerline goodness [0,1] 0.9800119606219524 Centerline is valid? [True, True] Translation: X:502.57, Y:-23.42, Z:2.22 [[ 9.99979906e-01 -1.40645456e-03 -6.18138099e-03 5.02568304e+02] [ 1.40896338e-03 9.99998927e-01 4.01531419e-04 -2.34178075e+01] [ 6.18080962e-03 -4.10232690e-04 9.99980814e-01 2.21734291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.740714057 meters Centerline goodness [0,1] 0.9800069021051421 Centerline is valid? [True, True] Translation: X:502.60, Y:-23.42, Z:2.22 [[ 9.99975505e-01 7.03881071e-04 -6.96376893e-03 5.02597102e+02] [-7.00730544e-04 9.99999651e-01 4.54846467e-04 -2.34166438e+01] [ 6.96408666e-03 -4.49955600e-04 9.99975649e-01 2.21608191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.770714057 meters Centerline goodness [0,1] 0.9807519627932678 Centerline is valid? [True, True] Translation: X:502.63, Y:-23.42, Z:2.22 [[ 9.99977020e-01 2.28689682e-03 -6.38198394e-03 5.02626668e+02] [-2.28428316e-03 9.99997304e-01 4.16796153e-04 -2.34157124e+01] [ 6.38291991e-03 -4.02208316e-04 9.99979548e-01 2.21628005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8007140569999 meters Centerline goodness [0,1] 0.979885523602067 Centerline is valid? [True, True] Translation: X:502.66, Y:-23.41, Z:2.22 [[ 9.99975501e-01 5.05959723e-03 -4.83717711e-03 5.02655633e+02] [-5.05813080e-03 9.99987158e-01 3.15342805e-04 -2.34124869e+01] [ 4.83871050e-03 -2.90868005e-04 9.99988251e-01 2.21734069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8307140569999 meters Centerline goodness [0,1] 0.9803243694749298 Centerline is valid? [True, True] Translation: X:502.68, Y:-23.41, Z:2.22 [[ 9.99973010e-01 6.09031903e-03 -4.10939819e-03 5.02684491e+02] [-6.08927174e-03 9.99981424e-01 2.67316745e-04 -2.34119754e+01] [ 4.11094990e-03 -2.42286288e-04 9.99991521e-01 2.21791846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.860714057 meters Centerline goodness [0,1] 0.9801209021157871 Centerline is valid? [True, True] Translation: X:502.71, Y:-23.41, Z:2.22 [[ 9.99976567e-01 6.63143621e-03 -1.69972796e-03 5.02712267e+02] [-6.63125927e-03 9.99978007e-01 1.09714220e-04 -2.34104253e+01] [ 1.70041814e-03 -9.84403124e-05 9.99998549e-01 2.21954106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.890714057 meters Centerline goodness [0,1] 0.9794372042058145 Centerline is valid? [True, True] Translation: X:502.74, Y:-23.41, Z:2.22 [[ 9.99980245e-01 6.19431867e-03 -1.06744503e-03 5.02740998e+02] [-6.19424891e-03 9.99980813e-01 6.86504654e-05 -2.34110162e+01] [ 1.06784980e-03 -6.20370890e-05 9.99999428e-01 2.21970489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9207140569999 meters Centerline goodness [0,1] 0.9795961148766683 Centerline is valid? [True, True] Translation: X:502.77, Y:-23.41, Z:2.22 [[ 9.99994020e-01 3.42715072e-03 -4.62999219e-04 5.02770179e+02] [-3.42713714e-03 9.99994127e-01 3.01088380e-05 -2.34140389e+01] [ 4.63099687e-04 -2.85218961e-05 9.99999892e-01 2.21869772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9507140569999 meters Centerline goodness [0,1] 0.9807912241801844 Centerline is valid? [True, True] Translation: X:502.80, Y:-23.41, Z:2.22 [[ 9.99999884e-01 4.82362974e-04 -8.28715260e-07 5.02801303e+02] [-4.82362974e-04 9.99999884e-01 5.39563101e-08 -2.34066048e+01] [ 8.28741185e-07 -5.35565628e-08 1.00000000e+00 2.21970196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.980714057 meters Centerline goodness [0,1] 0.980600882414735 Centerline is valid? [True, True] Translation: X:502.83, Y:-23.41, Z:2.22 [[ 9.99985102e-01 -5.39681630e-03 -8.18500439e-04 5.02831210e+02] [ 5.39686168e-03 9.99985435e-01 5.32524802e-05 -2.34100598e+01] [ 8.18201124e-04 -5.76690205e-05 9.99999664e-01 2.21797813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.010714057 meters Centerline goodness [0,1] 0.9768894294870295 Centerline is valid? [True, True] Translation: X:502.86, Y:-23.42, Z:2.22 [[ 9.99963436e-01 -8.42926791e-03 -1.44003407e-03 5.02860621e+02] [ 8.42941160e-03 9.99964467e-01 9.37443943e-05 -2.34187310e+01] [ 1.43919270e-03 -1.05879607e-04 9.99998959e-01 2.21555616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.040714057 meters Centerline goodness [0,1] 0.9776944704779756 Centerline is valid? [True, True] Translation: X:502.89, Y:-23.42, Z:2.21 [[ 9.99910653e-01 -1.30721186e-02 -2.79378517e-03 5.02892041e+02] [ 1.30726787e-02 9.99914532e-01 1.82330477e-04 -2.34157946e+01] [ 2.79116295e-03 -2.18836442e-04 9.99996081e-01 2.21471590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0707140569999 meters Centerline goodness [0,1] 0.9754500818330606 Centerline is valid? [True, True] Translation: X:502.92, Y:-23.42, Z:2.21 [[ 9.99869183e-01 -1.58299063e-02 -3.32128267e-03 5.02921538e+02] [ 1.58307116e-02 9.99874663e-01 2.16315380e-04 -2.34213723e+01] [ 3.31744214e-03 -2.68865351e-04 9.99994461e-01 2.21217382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1007140569999 meters Centerline goodness [0,1] 0.7313351735530005 Centerline is valid? [True, False] Translation: X:502.97, Y:-23.42, Z:2.21 [[ 9.99813163e-01 -1.88580361e-02 -4.24419881e-03 5.02971941e+02] [ 1.88425470e-02 9.99815763e-01 -3.66033427e-03 -2.34194567e+01] [ 4.31244359e-03 3.57967887e-03 9.99984294e-01 2.21458356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.130714057 meters Centerline goodness [0,1] 0.9739943302954338 Centerline is valid? [False, True] Translation: X:502.89, Y:-23.41, Z:2.21 [[ 9.99871919e-01 -1.51774302e-02 -5.07844796e-03 5.02892319e+02] [ 1.51718882e-02 9.99884264e-01 -1.12804506e-03 -2.34144440e+01] [ 5.09498103e-03 1.05085093e-03 9.99986468e-01 2.21287031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.160714057 meters Centerline goodness [0,1] 0.9749333207449193 Centerline is valid? [True, True] Translation: X:502.92, Y:-23.41, Z:2.21 [[ 9.99900187e-01 -1.31028685e-02 -5.28501862e-03 5.02924275e+02] [ 1.31048026e-02 9.99914073e-01 3.31491426e-04 -2.34139219e+01] [ 5.28022101e-03 -4.00717464e-04 9.99985979e-01 2.21145121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1907140569999 meters Centerline goodness [0,1] 0.9769974074946971 Centerline is valid? [True, True] Translation: X:502.96, Y:-23.41, Z:2.21 [[ 9.99961571e-01 -7.91790448e-03 -3.76352004e-03 5.02955355e+02] [ 7.91884680e-03 9.99968618e-01 2.35547343e-04 -2.34052639e+01] [ 3.76153689e-03 -2.65341030e-04 9.99992890e-01 2.21334635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2207140569999 meters Centerline goodness [0,1] 0.9770728121962207 Centerline is valid? [True, True] Translation: X:502.99, Y:-23.40, Z:2.21 [[ 9.99982268e-01 -5.39935466e-03 -2.51201120e-03 5.02986547e+02] [ 5.39976729e-03 9.99985409e-01 1.57512268e-04 -2.34032008e+01] [ 2.51112408e-03 -1.71073751e-04 9.99996832e-01 2.21362634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.250714057 meters Centerline goodness [0,1] 0.9786605696865771 Centerline is valid? [True, True] Translation: X:503.02, Y:-23.40, Z:2.21 [[ 9.99999896e-01 -3.52755062e-05 -4.53604038e-04 5.03016173e+02] [ 3.52882747e-05 9.99999999e-01 2.81410582e-05 -2.33999565e+01] [ 4.53603045e-04 -2.81570622e-05 9.99999897e-01 2.21441516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.280714057 meters Centerline goodness [0,1] 0.9786728167574122 Centerline is valid? [True, True] Translation: X:503.05, Y:-23.40, Z:2.21 [[ 9.99996842e-01 2.51139441e-03 8.89072946e-05 5.03045570e+02] [-2.51139397e-03 9.99996846e-01 -5.03152640e-06 -2.33991415e+01] [-8.89196503e-05 4.80822927e-06 9.99999996e-01 2.21438880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3107140569999 meters Centerline goodness [0,1] 0.9789807701483991 Centerline is valid? [True, True] Translation: X:503.08, Y:-23.39, Z:2.21 [[ 9.99979506e-01 6.34529235e-03 8.50827372e-04 5.03075898e+02] [-6.34524924e-03 9.99979867e-01 -5.33512623e-05 -2.33941740e+01] [-8.51148771e-04 4.79514572e-05 9.99999637e-01 2.21491798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3407140569999 meters Centerline goodness [0,1] 0.9807881183375254 Centerline is valid? [True, True] Translation: X:503.11, Y:-23.39, Z:2.22 [[ 9.99968428e-01 7.75591458e-03 1.72866299e-03 5.03105052e+02] [-7.75573757e-03 9.99969918e-01 -1.09081054e-04 -2.33902411e+01] [-1.72945701e-03 9.56705537e-05 9.99998500e-01 2.21501647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.370714057 meters Centerline goodness [0,1] 0.9787630937006744 Centerline is valid? [True, True] Translation: X:503.13, Y:-23.40, Z:2.21 [[ 9.99965578e-01 8.02624502e-03 2.10294632e-03 5.03132496e+02] [-8.02598399e-03 9.99967782e-01 -1.32533341e-04 -2.33982426e+01] [-2.10394232e-03 1.15650565e-04 9.99997780e-01 2.21298492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.400714057 meters Centerline goodness [0,1] 0.9780859318867653 Centerline is valid? [True, True] Translation: X:503.16, Y:-23.40, Z:2.21 [[ 9.99963379e-01 8.25454089e-03 2.25884107e-03 5.03160412e+02] [-8.25424110e-03 9.99965923e-01 -1.42009542e-04 -2.34008150e+01] [-2.25993632e-03 1.23359323e-04 9.99997439e-01 2.21205376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4307140569999 meters Centerline goodness [0,1] 0.9808449351896303 Centerline is valid? [True, True] Translation: X:503.19, Y:-23.40, Z:2.21 [[ 9.99963160e-01 8.50105545e-03 1.18736263e-03 5.03189515e+02] [-8.50097246e-03 9.99963863e-01 -7.49188489e-05 -2.33954365e+01] [-1.18795661e-03 6.48223519e-05 9.99999292e-01 2.21109569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4607140569999 meters Centerline goodness [0,1] 0.9796786048857822 Centerline is valid? [True, True] Translation: X:503.22, Y:-23.40, Z:2.21 [[ 9.99957806e-01 9.15691374e-03 7.32380891e-04 5.03217341e+02] [-9.15688196e-03 9.99958074e-01 -4.67289547e-05 -2.33970483e+01] [-7.32778078e-04 4.00206577e-05 9.99999731e-01 2.20987995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.490714057 meters Centerline goodness [0,1] 0.9809565029214455 Centerline is valid? [True, True] Translation: X:503.25, Y:-23.40, Z:2.21 [[ 9.99950331e-01 9.95339134e-03 5.15650851e-04 5.03246366e+02] [-9.95337566e-03 9.99950463e-01 -3.29792852e-05 -2.33958461e+01] [-5.15953563e-04 2.78451805e-05 9.99999867e-01 2.21015844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.520714057 meters Centerline goodness [0,1] 0.980492515692902 Centerline is valid? [True, True] Translation: X:503.28, Y:-23.40, Z:2.21 [[ 9.99939720e-01 1.09785759e-02 1.62424351e-04 5.03275611e+02] [-1.09785742e-02 9.99939734e-01 -1.14970891e-05 -2.33963247e+01] [-1.62540784e-04 9.71320830e-06 9.99999987e-01 2.21000828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5507140569999 meters Centerline goodness [0,1] 0.981022144860265 Centerline is valid? [True, True] Translation: X:503.31, Y:-23.40, Z:2.21 [[ 9.99906501e-01 1.36584058e-02 6.60666559e-04 5.03305169e+02] [-1.36583814e-02 9.99906719e-01 -4.14295930e-05 -2.33967060e+01] [-6.61170794e-04 3.24020836e-05 9.99999781e-01 2.20965066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5807140569999 meters Centerline goodness [0,1] 0.9819885249473455 Centerline is valid? [True, True] Translation: X:503.34, Y:-23.40, Z:2.21 [[ 9.99862862e-01 1.65296556e-02 1.01368496e-03 5.03335511e+02] [-1.65296002e-02 9.99863375e-01 -6.30749573e-05 -2.33961936e+01] [-1.01458908e-03 4.63105001e-05 9.99999484e-01 2.20980568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.610714057 meters Centerline goodness [0,1] 0.9820983622420592 Centerline is valid? [True, True] Translation: X:503.36, Y:-23.40, Z:2.21 [[ 9.99830203e-01 1.83153132e-02 2.02817209e-03 5.03364602e+02] [-1.83150931e-02 9.99832257e-01 -1.27040119e-04 -2.33970090e+01] [-2.03015866e-03 8.98723872e-05 9.99997935e-01 2.20972334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.640714057 meters Centerline goodness [0,1] 0.9827795000968804 Centerline is valid? [True, True] Translation: X:503.39, Y:-23.40, Z:2.21 [[ 9.99759078e-01 2.17753685e-02 2.76024514e-03 5.03393929e+02] [-2.17749788e-02 9.99762882e-01 -1.71160490e-04 -2.33981537e+01] [-2.76331772e-03 1.11014975e-04 9.99996176e-01 2.20928225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6707140569999 meters Centerline goodness [0,1] 0.9824870766703705 Centerline is valid? [True, True] Translation: X:503.42, Y:-23.40, Z:2.21 [[ 9.99723487e-01 2.33092203e-02 3.10304036e-03 5.03421522e+02] [-2.33087340e-02 9.99728296e-01 -1.92770824e-04 -2.34009862e+01] [-3.10669058e-03 1.20389578e-04 9.99995167e-01 2.20841692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7007140569999 meters Centerline goodness [0,1] 0.9843715979194387 Centerline is valid? [True, True] Translation: X:503.45, Y:-23.40, Z:2.21 [[ 9.99648892e-01 2.63513584e-02 2.77447526e-03 5.03450533e+02] [-2.63509822e-02 9.99652738e-01 -1.72064868e-04 -2.34002225e+01] [-2.77804593e-03 9.88943066e-05 9.99996136e-01 2.20822442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.730714057 meters Centerline goodness [0,1] 0.9845195256840631 Centerline is valid? [True, True] Translation: X:503.48, Y:-23.40, Z:2.21 [[ 9.99618089e-01 2.76035088e-02 1.31226758e-03 5.03478024e+02] [-2.76034249e-02 9.99618950e-01 -8.19723905e-05 -2.34031204e+01] [-1.31403027e-03 4.57180047e-05 9.99999136e-01 2.20631442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.760714057 meters Centerline goodness [0,1] 0.9851805367831628 Centerline is valid? [True, True] Translation: X:503.51, Y:-23.41, Z:2.21 [[ 9.99616340e-01 2.76897328e-02 6.71927529e-04 5.03506612e+02] [-2.76897106e-02 9.99616566e-01 -4.22500271e-05 -2.34059744e+01] [-6.72839781e-04 2.36283386e-05 9.99999773e-01 2.20525475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.790714057 meters Centerline goodness [0,1] 0.9840998337709894 Centerline is valid? [True, True] Translation: X:503.53, Y:-23.41, Z:2.20 [[ 9.99636502e-01 2.69602901e-02 8.45793922e-05 5.03534499e+02] [-2.69602896e-02 9.99636505e-01 -6.86632833e-06 -2.34099350e+01] [-8.47337663e-05 4.58354753e-06 9.99999996e-01 2.20422205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8207140569999 meters Centerline goodness [0,1] 0.9850803458102833 Centerline is valid? [True, True] Translation: X:503.56, Y:-23.41, Z:2.21 [[ 9.99689682e-01 2.49033793e-02 -6.00848318e-04 5.03563144e+02] [-2.49033622e-02 9.99689863e-01 3.59025520e-05 -2.34115206e+01] [ 6.01556067e-04 -2.09282675e-05 9.99999819e-01 2.20520410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8507140569999 meters Centerline goodness [0,1] 0.98338671893675 Centerline is valid? [True, True] Translation: X:503.59, Y:-23.42, Z:2.20 [[ 9.99725978e-01 2.33920334e-02 -8.84486771e-04 5.03590300e+02] [-2.33919957e-02 9.99726368e-01 5.29963401e-05 -2.34196681e+01] [ 8.85484440e-04 -3.22919072e-05 9.99999607e-01 2.20362960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.880714057 meters Centerline goodness [0,1] 0.9852333277579987 Centerline is valid? [True, True] Translation: X:503.62, Y:-23.42, Z:2.20 [[ 9.99795384e-01 2.02151974e-02 -7.32211566e-04 5.03619966e+02] [-2.02151704e-02 9.99795652e-01 4.43505563e-05 -2.34233160e+01] [ 7.32958495e-04 -2.95396999e-05 9.99999731e-01 2.20465741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.910714057 meters Centerline goodness [0,1] 0.9851802435014653 Centerline is valid? [True, True] Translation: X:503.65, Y:-23.43, Z:2.21 [[ 9.99832240e-01 1.83044370e-02 -6.62500565e-04 5.03648550e+02] [-1.83044148e-02 9.99832459e-01 3.95421467e-05 -2.34259921e+01] [ 6.63113366e-04 -2.74088280e-05 9.99999780e-01 2.20500387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9407140569999 meters Centerline goodness [0,1] 0.9839529031951764 Centerline is valid? [True, True] Translation: X:503.68, Y:-23.43, Z:2.21 [[ 9.99898431e-01 1.42460688e-02 -4.20105014e-04 5.03678895e+02] [-1.42460592e-02 9.99898519e-01 2.56835331e-05 -2.34329973e+01] [ 4.20428271e-04 -1.96960835e-05 9.99999911e-01 2.20518681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9707140569999 meters Centerline goodness [0,1] 0.9805268643987491 Centerline is valid? [True, True] Translation: X:503.71, Y:-23.45, Z:2.20 [[ 9.99945720e-01 1.04190648e-02 -3.36069653e-05 5.03706645e+02] [-1.04190648e-02 9.99945720e-01 1.57626889e-06 -2.34501423e+01] [ 3.36215644e-05 -1.22603019e-06 9.99999999e-01 2.20298584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.000714057 meters Centerline goodness [0,1] 0.9808601134215501 Centerline is valid? [True, True] Translation: X:503.74, Y:-23.45, Z:2.20 [[ 9.99962779e-01 8.54153101e-03 1.21785584e-03 5.03735838e+02] [-8.54144571e-03 9.99963518e-01 -7.52279948e-05 -2.34494731e+01] [-1.21845397e-03 6.48229452e-05 9.99999256e-01 2.20476728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.030714057 meters Centerline goodness [0,1] 0.9804110167503401 Centerline is valid? [True, True] Translation: X:503.77, Y:-23.45, Z:2.21 [[ 9.99984721e-01 5.12281994e-03 2.07705609e-03 5.03765938e+02] [-5.12256724e-03 9.99986872e-01 -1.26962229e-04 -2.34531814e+01] [-2.07767923e-03 1.16320430e-04 9.99997835e-01 2.20608995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0607140569999 meters Centerline goodness [0,1] 0.9802730343404016 Centerline is valid? [True, True] Translation: X:503.79, Y:-23.46, Z:2.20 [[ 9.99992307e-01 3.42655951e-03 1.90894953e-03 5.03794490e+02] [-3.42634264e-03 9.99994123e-01 -1.16867459e-04 -2.34628139e+01] [-1.90933877e-03 1.10325845e-04 9.99998171e-01 2.20463606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0907140569999 meters Centerline goodness [0,1] 0.9807295573893473 Centerline is valid? [True, True] Translation: X:503.82, Y:-23.46, Z:2.21 [[ 9.99999738e-01 -8.33719998e-05 7.19599082e-04 5.03824552e+02] [ 8.34037588e-05 9.99999996e-01 -4.41043682e-05 -2.34624981e+01] [-7.19595401e-04 4.41643739e-05 9.99999740e-01 2.20561906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.120714057 meters Centerline goodness [0,1] 0.9804434683053342 Centerline is valid? [True, True] Translation: X:503.85, Y:-23.47, Z:2.21 [[ 9.99999359e-01 -1.13058650e-03 5.89274043e-05 5.03854845e+02] [ 1.13058672e-03 9.99999361e-01 -3.59226038e-06 -2.34662540e+01] [-5.89233052e-05 3.65888062e-06 9.99999998e-01 2.20511950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.150714057 meters Centerline goodness [0,1] 0.9801701036933473 Centerline is valid? [True, True] Translation: X:503.88, Y:-23.47, Z:2.20 [[ 9.99993155e-01 -3.26227363e-03 -1.74581543e-03 5.03884230e+02] [ 3.26246438e-03 9.99994672e-01 1.06426265e-04 -2.34746080e+01] [ 1.74545894e-03 -1.12121197e-04 9.99998470e-01 2.20312505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1807140569999 meters Centerline goodness [0,1] 0.9798773521113624 Centerline is valid? [True, True] Translation: X:503.91, Y:-23.48, Z:2.20 [[ 9.99980799e-01 -4.75306179e-03 -3.97623260e-03 5.03914752e+02] [ 4.75406659e-03 9.99988670e-01 2.43287996e-04 -2.34783522e+01] [ 3.97503119e-03 -2.62186599e-04 9.99992065e-01 2.20201822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2107140569999 meters Centerline goodness [0,1] 0.9803311427443513 Centerline is valid? [True, True] Translation: X:503.95, Y:-23.48, Z:2.20 [[ 9.99975599e-01 -4.91709255e-03 -4.96229133e-03 5.03945348e+02] [ 4.91865526e-03 9.99987858e-01 3.02763613e-04 -2.34808806e+01] [ 4.96074236e-03 -3.27164025e-04 9.99987642e-01 2.20136739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.240714057 meters Centerline goodness [0,1] 0.9803311427443513 Centerline is valid? [True, True] Translation: X:503.98, Y:-23.48, Z:2.20 [[ 9.99975599e-01 -4.91709255e-03 -4.96229133e-03 5.03975360e+02] [ 4.91865526e-03 9.99987858e-01 3.02763613e-04 -2.34827117e+01] [ 4.96074236e-03 -3.27164025e-04 9.99987642e-01 2.20097019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.270714057 meters Centerline goodness [0,1] 0.9808520043740258 Centerline is valid? [True, True] Translation: X:504.01, Y:-23.49, Z:2.20 [[ 9.99964135e-01 -4.74807967e-03 -7.01321181e-03 5.04005449e+02] [ 4.75119697e-03 9.99988621e-01 4.27896148e-04 -2.34861562e+01] [ 7.01110032e-03 -4.61201952e-04 9.99975316e-01 2.19994432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3007140569999 meters Centerline goodness [0,1] 0.981733674180804 Centerline is valid? [True, True] Translation: X:504.04, Y:-23.49, Z:2.20 [[ 9.99966792e-01 -3.44921953e-03 -7.38358611e-03 5.04035133e+02] [ 3.45263408e-03 9.99993939e-01 4.49755646e-04 -2.34868872e+01] [ 7.38199005e-03 -4.75233531e-04 9.99972640e-01 2.20012641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3307140569999 meters Centerline goodness [0,1] 0.9818076342963221 Centerline is valid? [True, True] Translation: X:504.06, Y:-23.49, Z:2.20 [[ 9.99967098e-01 -1.86590809e-03 -7.89434870e-03 5.04064133e+02] [ 1.86976034e-03 9.99998136e-01 4.80623224e-04 -2.34903900e+01] [ 7.89343719e-03 -4.95367951e-04 9.99968724e-01 2.19941203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.360714057 meters Centerline goodness [0,1] 0.9832525341560159 Centerline is valid? [True, True] Translation: X:504.09, Y:-23.49, Z:2.20 [[ 9.99966244e-01 3.85938067e-03 -7.25374904e-03 5.04093357e+02] [-3.85627922e-03 9.99992467e-01 4.41502600e-04 -2.34903521e+01] [ 7.25539832e-03 -4.13515214e-04 9.99973594e-01 2.20057578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.390714057 meters Centerline goodness [0,1] 0.9831790837575196 Centerline is valid? [True, True] Translation: X:504.12, Y:-23.49, Z:2.20 [[ 9.99920511e-01 1.04995322e-02 -6.98073248e-03 5.04122316e+02] [-1.04968250e-02 9.99944817e-01 4.24330556e-04 -2.34872913e+01] [ 6.98480254e-03 -3.51021300e-04 9.99975544e-01 2.20183340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4207140569999 meters Centerline goodness [0,1] 0.984612892776158 Centerline is valid? [True, True] Translation: X:504.15, Y:-23.48, Z:2.20 [[ 9.99875985e-01 1.40991690e-02 -7.01631882e-03 5.04152932e+02] [-1.40965209e-02 9.99900548e-01 4.26724801e-04 -2.34836183e+01] [ 7.02163750e-03 -3.27766196e-04 9.99975294e-01 2.20353861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4507140569999 meters Centerline goodness [0,1] 0.9848195576251455 Centerline is valid? [True, True] Translation: X:504.18, Y:-23.48, Z:2.20 [[ 9.99772241e-01 1.99576103e-02 -7.56035254e-03 5.04183782e+02] [-1.99547015e-02 9.99800779e-01 4.59986868e-04 -2.34823469e+01] [ 7.56802660e-03 -3.09017524e-04 9.99971314e-01 2.20326084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.480714057 meters Centerline goodness [0,1] 0.9853995901639344 Centerline is valid? [True, True] Translation: X:504.21, Y:-23.48, Z:2.20 [[ 9.99727861e-01 2.19928432e-02 -7.77934252e-03 5.04212337e+02] [-2.19898363e-02 9.99758083e-01 4.71856578e-04 -2.34817196e+01] [ 7.78783804e-03 -3.00661699e-04 9.99969629e-01 2.20387671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.510714057 meters Centerline goodness [0,1] 0.9849031987512522 Centerline is valid? [True, True] Translation: X:504.24, Y:-23.48, Z:2.20 [[ 9.99664439e-01 2.46011629e-02 -8.11123425e-03 5.04241030e+02] [-2.45979841e-02 9.99697303e-01 4.91444831e-04 -2.34835944e+01] [ 8.12086912e-03 -2.91759910e-04 9.99966983e-01 2.20389330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.540714057 meters Centerline goodness [0,1] 0.9850652376514446 Centerline is valid? [True, True] Translation: X:504.27, Y:-23.49, Z:2.20 [[ 9.99655702e-01 2.50011731e-02 -7.96364510e-03 5.04268283e+02] [-2.49981292e-02 9.99687382e-01 4.81551693e-04 -2.34870092e+01] [ 7.97319488e-03 -2.82309666e-04 9.99968174e-01 2.20285785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5707140569999 meters Centerline goodness [0,1] 0.9841037779634271 Centerline is valid? [True, True] Translation: X:504.30, Y:-23.49, Z:2.20 [[ 9.99660215e-01 2.48323819e-02 -7.92507784e-03 5.04295868e+02] [-2.48293707e-02 9.99691589e-01 4.78142922e-04 -2.34905354e+01] [ 7.93450709e-03 -2.81205761e-04 9.99968482e-01 2.20302183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6007140569999 meters Centerline goodness [0,1] 0.9852645215017697 Centerline is valid? [True, True] Translation: X:504.32, Y:-23.50, Z:2.20 [[ 9.99692476e-01 2.34633490e-02 -8.02644288e-03 5.04324311e+02] [-2.34602168e-02 9.99724654e-01 4.84175474e-04 -2.34957538e+01] [ 8.03559321e-03 -2.95724489e-04 9.99967670e-01 2.20306097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.630714057 meters Centerline goodness [0,1] 0.9849411546659254 Centerline is valid? [True, True] Translation: X:504.35, Y:-23.50, Z:2.20 [[ 9.99719104e-01 2.21512710e-02 -8.42823441e-03 5.04352311e+02] [-2.21477787e-02 9.99754579e-01 5.07481462e-04 -2.34999709e+01] [ 8.43740731e-03 -3.20672241e-04 9.99964353e-01 2.20264007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.660714057 meters Centerline goodness [0,1] 0.984886533809469 Centerline is valid? [True, True] Translation: X:504.38, Y:-23.51, Z:2.20 [[ 9.99786916e-01 1.91537771e-02 -7.69775346e-03 5.04381389e+02] [-1.91507727e-02 9.99816500e-01 4.63822312e-04 -2.35075989e+01] [ 7.70522487e-03 -3.16305552e-04 9.99970264e-01 2.20237755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6907140569999 meters Centerline goodness [0,1] 0.9843383469021664 Centerline is valid? [True, True] Translation: X:504.41, Y:-23.51, Z:2.20 [[ 9.99822347e-01 1.75099124e-02 -6.97694305e-03 5.04409036e+02] [-1.75074139e-02 9.99846646e-01 4.19039060e-04 -2.35139664e+01] [ 6.98321044e-03 -2.96816387e-04 9.99975573e-01 2.20123086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7207140569999 meters Centerline goodness [0,1] 0.9849223131378138 Centerline is valid? [True, True] Translation: X:504.44, Y:-23.52, Z:2.20 [[ 9.99858047e-01 1.56163069e-02 -6.32583261e-03 5.04437425e+02] [-1.56142172e-02 9.99878019e-01 3.79588162e-04 -2.35168843e+01] [ 6.33098874e-03 -2.80761354e-04 9.99979920e-01 2.20224457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.750714057 meters Centerline goodness [0,1] 0.9846594161419576 Centerline is valid? [True, True] Translation: X:504.47, Y:-23.52, Z:2.20 [[ 9.99911409e-01 1.21436227e-02 -5.45029637e-03 5.04466914e+02] [-1.21420193e-02 9.99926229e-01 3.27183960e-04 -2.35228711e+01] [ 5.45386750e-03 -2.60977371e-04 9.99985093e-01 2.20296283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.780714057 meters Centerline goodness [0,1] 0.9849194561864504 Centerline is valid? [True, True] Translation: X:504.49, Y:-23.53, Z:2.20 [[ 9.99949962e-01 9.03445357e-03 -4.29560259e-03 5.04494606e+02] [-9.03343277e-03 9.99959165e-01 2.56980702e-04 -2.35332574e+01] [ 4.29774886e-03 -2.18163806e-04 9.99990741e-01 2.20193863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8107140569999 meters Centerline goodness [0,1] 0.9846605521290881 Centerline is valid? [True, True] Translation: X:504.52, Y:-23.54, Z:2.20 [[ 9.99962314e-01 7.57168213e-03 -4.24738051e-03 5.04523262e+02] [-7.57067232e-03 9.99971310e-01 2.53777147e-04 -2.35357522e+01] [ 4.24918017e-03 -2.21612057e-04 9.99990948e-01 2.20232234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8407140569999 meters Centerline goodness [0,1] 0.983970938812578 Centerline is valid? [True, True] Translation: X:504.55, Y:-23.54, Z:2.20 [[ 9.99972166e-01 6.23509519e-03 -4.09777397e-03 5.04550848e+02] [-6.23414666e-03 9.99980538e-01 2.44207593e-04 -2.35416071e+01] [ 4.09921687e-03 -2.18654672e-04 9.99991574e-01 2.20154189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.870714057 meters Centerline goodness [0,1] 0.984253936515871 Centerline is valid? [True, True] Translation: X:504.58, Y:-23.55, Z:2.20 [[ 9.99987551e-01 3.43071868e-03 -3.62323754e-03 5.04579839e+02] [-3.42995823e-03 9.99994094e-01 2.16074084e-04 -2.35467799e+01] [ 3.62395743e-03 -2.03643841e-04 9.99993413e-01 2.20159609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.900714057 meters Centerline goodness [0,1] 0.9847295334906516 Centerline is valid? [True, True] Translation: X:504.61, Y:-23.55, Z:2.20 [[ 9.99997111e-01 1.35622031e-03 -1.98484813e-03 5.04609153e+02] [-1.35598837e-03 9.99999074e-01 1.18200088e-04 -2.35494351e+01] [ 1.98500660e-03 -1.15508316e-04 9.99998023e-01 2.20205863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9307140569999 meters Centerline goodness [0,1] 0.9845458653411658 Centerline is valid? [True, True] Translation: X:504.64, Y:-23.55, Z:2.20 [[ 9.99999177e-01 2.56731508e-04 -1.25736703e-03 5.04637846e+02] [-2.56637835e-04 9.99999964e-01 7.46599433e-05 -2.35542997e+01] [ 1.25738616e-03 -7.43371939e-05 9.99999207e-01 2.20145984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9607140569999 meters Centerline goodness [0,1] 0.9833333333333333 Centerline is valid? [True, True] Translation: X:504.67, Y:-23.56, Z:2.20 [[ 9.99996830e-01 -2.51781253e-03 -3.67678073e-05 5.04667071e+02] [ 2.51781260e-03 9.99996830e-01 1.95989718e-06 -2.35607055e+01] [ 3.67627561e-05 -2.05246542e-06 9.99999999e-01 2.20078887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.990714057 meters Centerline goodness [0,1] 0.9835769716657643 Centerline is valid? [True, True] Translation: X:504.70, Y:-23.56, Z:2.20 [[ 9.99992475e-01 -3.87635448e-03 -1.52329352e-04 5.04697675e+02] [ 3.87635604e-03 9.99992487e-01 9.94776327e-06 -2.35637470e+01] [ 1.52289646e-04 -1.05381712e-05 9.99999988e-01 2.20050605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.020714057 meters Centerline goodness [0,1] 0.9837695272874822 Centerline is valid? [True, True] Translation: X:504.73, Y:-23.57, Z:2.20 [[ 9.99980629e-01 -6.22065565e-03 -2.11018066e-04 5.04729045e+02] [ 6.22065855e-03 9.99980651e-01 1.31032171e-05 -2.35673013e+01] [ 2.10932473e-04 -1.44156347e-05 9.99999978e-01 2.19931671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0507140569999 meters Centerline goodness [0,1] 0.983514129135563 Centerline is valid? [True, True] Translation: X:504.76, Y:-23.57, Z:2.20 [[ 9.99959213e-01 -8.96878984e-03 -1.06486340e-03 5.04758981e+02] [ 8.96886303e-03 9.99959777e-01 6.39760738e-05 -2.35736667e+01] [ 1.06424678e-03 -7.35240784e-05 9.99999431e-01 2.19691685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0807140569999 meters Centerline goodness [0,1] 0.9830255633659561 Centerline is valid? [True, True] Translation: X:504.79, Y:-23.58, Z:2.20 [[ 9.99948689e-01 -9.97547887e-03 -1.76313822e-03 5.04790917e+02] [ 9.97568226e-03 9.99950236e-01 1.06599437e-04 -2.35773399e+01] [ 1.76198710e-03 -1.24182474e-04 9.99998440e-01 2.19564582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.110714057 meters Centerline goodness [0,1] 0.9830623001036083 Centerline is valid? [True, True] Translation: X:504.82, Y:-23.58, Z:2.19 [[ 9.99927071e-01 -1.18858853e-02 -2.13983748e-03 5.04821644e+02] [ 1.18861874e-02 9.99929349e-01 1.28511929e-04 -2.35787123e+01] [ 2.13815882e-03 -1.53937066e-04 9.99997702e-01 2.19454826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.140714057 meters Centerline goodness [0,1] 0.9822830636949881 Centerline is valid? [True, True] Translation: X:504.85, Y:-23.58, Z:2.19 [[ 9.99917343e-01 -1.25032466e-02 -2.99600350e-03 5.04854181e+02] [ 1.25038441e-02 9.99921808e-01 1.80776948e-04 -2.35791209e+01] [ 2.99350893e-03 -2.18223566e-04 9.99995496e-01 2.19444082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1707140569999 meters Centerline goodness [0,1] 0.9827138762891251 Centerline is valid? [True, True] Translation: X:504.89, Y:-23.58, Z:2.19 [[ 9.99907513e-01 -1.32746331e-02 -2.95783581e-03 5.04885057e+02] [ 1.32752186e-02 9.99911864e-01 1.78403340e-04 -2.35837535e+01] [ 2.95520689e-03 -2.17652757e-04 9.99995610e-01 2.19347566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2007140569999 meters Centerline goodness [0,1] 0.9823100701730635 Centerline is valid? [True, True] Translation: X:504.92, Y:-23.58, Z:2.19 [[ 9.99904583e-01 -1.34746676e-02 -3.04257723e-03 5.04917288e+02] [ 1.34752894e-02 9.99909187e-01 1.83936902e-04 -2.35844807e+01] [ 3.03982244e-03 -2.24918960e-04 9.99995354e-01 2.19313337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.230714057 meters Centerline goodness [0,1] 0.9813020950664564 Centerline is valid? [True, True] Translation: X:504.95, Y:-23.59, Z:2.19 [[ 9.99904389e-01 -1.36170540e-02 -2.40604554e-03 5.04948845e+02] [ 1.36174434e-02 9.99907268e-01 1.45538481e-04 -2.35863623e+01] [ 2.40384062e-03 -1.78288755e-04 9.99997095e-01 2.19250439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.260714057 meters Centerline goodness [0,1] 0.980529894066361 Centerline is valid? [True, True] Translation: X:504.98, Y:-23.58, Z:2.19 [[ 9.99904987e-01 -1.35814181e-02 -2.35856244e-03 5.04981008e+02] [ 1.35817932e-02 9.99907753e-01 1.43102688e-04 -2.35842014e+01] [ 2.35640133e-03 -1.75122599e-04 9.99997208e-01 2.19301147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.290714057 meters Centerline goodness [0,1] 0.9801758122252934 Centerline is valid? [True, True] Translation: X:505.01, Y:-23.59, Z:2.19 [[ 9.99905722e-01 -1.36572407e-02 -1.42383444e-03 5.05011925e+02] [ 1.36573778e-02 9.99906730e-01 8.66020534e-05 -2.35871333e+01] [ 1.42251890e-03 -1.06039734e-04 9.99998983e-01 2.19235500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3207140569999 meters Centerline goodness [0,1] 0.9799418472581891 Centerline is valid? [True, True] Translation: X:505.04, Y:-23.59, Z:2.19 [[ 9.99910074e-01 -1.33354462e-02 -1.41784154e-03 5.05044499e+02] [ 1.33355823e-02 9.99911073e-01 8.65769200e-05 -2.35851428e+01] [ 1.41656091e-03 -1.05476877e-04 9.99998991e-01 2.19233968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3507140569999 meters Centerline goodness [0,1] 0.9801049260748109 Centerline is valid? [True, True] Translation: X:505.08, Y:-23.59, Z:2.19 [[ 9.99916236e-01 -1.28722478e-02 -1.35122602e-03 5.05076603e+02] [ 1.28723712e-02 9.99917144e-01 8.26543648e-05 -2.35852171e+01] [ 1.35005012e-03 -1.00040924e-04 9.99999084e-01 2.19214882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.380714057 meters Centerline goodness [0,1] 0.9793657293657294 Centerline is valid? [True, True] Translation: X:505.11, Y:-23.58, Z:2.19 [[ 9.99930872e-01 -1.16725320e-02 -1.41524462e-03 5.05108563e+02] [ 1.16726659e-02 9.99931868e-01 8.63715912e-05 -2.35828428e+01] [ 1.41414003e-03 -1.02885298e-04 9.99998995e-01 2.19190896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.410714057 meters Centerline goodness [0,1] 0.9807346753099057 Centerline is valid? [True, True] Translation: X:505.14, Y:-23.58, Z:2.19 [[ 9.99947389e-01 -1.01746968e-02 -1.30167176e-03 5.05138777e+02] [ 1.01748083e-02 9.99948232e-01 7.90432568e-05 -2.35847155e+01] [ 1.30080013e-03 -9.22833588e-05 9.99999150e-01 2.19141318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4407140569999 meters Centerline goodness [0,1] 0.9803662235194855 Centerline is valid? [True, True] Translation: X:505.17, Y:-23.58, Z:2.19 [[ 9.99956244e-01 -9.25626851e-03 -1.35326946e-03 5.05171159e+02] [ 9.25638923e-03 9.99957155e-01 8.29702106e-05 -2.35843936e+01] [ 1.35244348e-03 -9.54929690e-05 9.99999081e-01 2.19113456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4707140569999 meters Centerline goodness [0,1] 0.9806155532216083 Centerline is valid? [True, True] Translation: X:505.20, Y:-23.58, Z:2.19 [[ 9.99977032e-01 -6.67352526e-03 -1.18290973e-03 5.05201887e+02] [ 6.67361473e-03 9.99977729e-01 7.16986242e-05 -2.35814994e+01] [ 1.18240490e-03 -7.95912613e-05 9.99999298e-01 2.19133313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.500714057 meters Centerline goodness [0,1] 0.979957637734302 Centerline is valid? [True, True] Translation: X:505.23, Y:-23.58, Z:2.19 [[ 9.99996181e-01 -2.57147071e-03 -1.01231597e-03 5.05231042e+02] [ 2.57153393e-03 9.99996692e-01 6.11508290e-05 -2.35809561e+01] [ 1.01215537e-03 -6.37538003e-05 9.99999486e-01 2.19044995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.530714057 meters Centerline goodness [0,1] 0.9819756019554987 Centerline is valid? [True, True] Translation: X:505.26, Y:-23.58, Z:2.19 [[ 9.99999046e-01 -3.14207069e-04 -1.34526605e-03 5.05261791e+02] [ 3.14317018e-04 9.99999947e-01 8.15196914e-05 -2.35804598e+01] [ 1.34524037e-03 -8.19424536e-05 9.99999092e-01 2.18985505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5607140569999 meters Centerline goodness [0,1] 0.9813539545631335 Centerline is valid? [True, True] Translation: X:505.29, Y:-23.58, Z:2.19 [[ 9.99985575e-01 4.96743597e-03 -2.04305828e-03 5.05290797e+02] [-4.96719399e-03 9.99987656e-01 1.23494702e-04 -2.35807261e+01] [ 2.04364652e-03 -1.13344654e-04 9.99997905e-01 2.18817778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5907140569999 meters Centerline goodness [0,1] 0.9817365200852448 Centerline is valid? [True, True] Translation: X:505.32, Y:-23.58, Z:2.19 [[ 9.99967154e-01 7.78332129e-03 -2.26087970e-03 5.05321308e+02] [-7.78303210e-03 9.99969702e-01 1.36680249e-04 -2.35755345e+01] [ 2.26187503e-03 -1.19079260e-04 9.99997435e-01 2.18890355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.620714057 meters Centerline goodness [0,1] 0.9829714967641254 Centerline is valid? [True, True] Translation: X:505.35, Y:-23.57, Z:2.19 [[ 9.99889751e-01 1.47625726e-02 -1.59785133e-03 5.05351296e+02] [-1.47624374e-02 9.99891025e-01 9.63776972e-05 -2.35726280e+01] [ 1.59909999e-03 -7.27788913e-05 9.99998719e-01 2.18869837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.650714057 meters Centerline goodness [0,1] 0.9827391774642701 Centerline is valid? [True, True] Translation: X:505.38, Y:-23.58, Z:2.19 [[ 9.99827761e-01 1.85298205e-02 -1.04616407e-03 5.05380422e+02] [-1.85297649e-02 9.99828307e-01 6.28242747e-05 -2.35752517e+01] [ 1.04714858e-03 -4.34282796e-05 9.99999451e-01 2.18763412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6807140569999 meters Centerline goodness [0,1] 0.9839338888760647 Centerline is valid? [True, True] Translation: X:505.41, Y:-23.57, Z:2.19 [[ 9.99673346e-01 2.55553358e-02 3.55908807e-04 5.05411099e+02] [-2.55553298e-02 9.99673409e-01 -2.15704914e-05 -2.35713460e+01] [-3.56343811e-04 1.24680784e-05 9.99999936e-01 2.18859762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7107140569999 meters Centerline goodness [0,1] 0.9847652462951849 Centerline is valid? [True, True] Translation: X:505.44, Y:-23.57, Z:2.19 [[ 9.99592993e-01 2.85222749e-02 5.72749649e-04 5.05439842e+02] [-2.85222592e-02 9.99593157e-01 -3.55032656e-05 -2.35711941e+01] [-5.73529264e-04 1.91527016e-05 9.99999835e-01 2.18840120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.740714057 meters Centerline goodness [0,1] 0.9857846068914754 Centerline is valid? [True, True] Translation: X:505.47, Y:-23.57, Z:2.19 [[ 9.99491434e-01 3.18735572e-02 9.74110985e-04 5.05468985e+02] [-3.18735141e-02 9.99491909e-01 -5.97223834e-05 -2.35685786e+01] [-9.75519613e-04 2.86436704e-05 9.99999524e-01 2.18931722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.770714057 meters Centerline goodness [0,1] 0.9851115477979424 Centerline is valid? [True, True] Translation: X:505.50, Y:-23.57, Z:2.19 [[ 9.99485575e-01 3.20669490e-02 5.43824680e-04 5.05496971e+02] [-3.20669352e-02 9.99485723e-01 -3.41630116e-05 -2.35712171e+01] [-5.44640507e-04 1.67066465e-05 9.99999852e-01 2.18770268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8007140569999 meters Centerline goodness [0,1] 0.9861297022847911 Centerline is valid? [True, True] Translation: X:505.53, Y:-23.57, Z:2.19 [[ 9.99501055e-01 3.15844456e-02 2.51851935e-04 5.05525537e+02] [-3.15844425e-02 9.99501087e-01 -1.60833983e-05 -2.35749744e+01] [-2.52234268e-04 8.12077061e-06 9.99999968e-01 2.18680567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8307140569999 meters Centerline goodness [0,1] 0.9864104102256471 Centerline is valid? [True, True] Translation: X:505.55, Y:-23.58, Z:2.19 [[ 9.99620540e-01 2.75343707e-02 7.95996988e-04 5.05554799e+02] [-2.75343409e-02 9.99620857e-01 -4.83429722e-05 -2.35810474e+01] [-7.97026285e-04 2.64073756e-05 9.99999682e-01 2.18586144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.860714057 meters Centerline goodness [0,1] 0.9846369356542507 Centerline is valid? [True, True] Translation: X:505.58, Y:-23.59, Z:2.18 [[ 9.99676754e-01 2.53962557e-02 1.19034670e-03 5.05581909e+02] [-2.53961872e-02 9.99677462e-01 -7.26489861e-05 -2.35873141e+01] [-1.19180778e-03 4.23952349e-05 9.99999289e-01 2.18499892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.890714057 meters Centerline goodness [0,1] 0.9859351735196427 Centerline is valid? [True, True] Translation: X:505.61, Y:-23.59, Z:2.19 [[ 9.99793795e-01 2.01958510e-02 2.12023542e-03 5.05611740e+02] [-2.01956258e-02 9.99796039e-01 -1.27567195e-04 -2.35922365e+01] [-2.12237931e-03 8.47214090e-05 9.99997744e-01 2.18619694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9207140569999 meters Centerline goodness [0,1] 0.9844286695672086 Centerline is valid? [True, True] Translation: X:505.64, Y:-23.60, Z:2.19 [[ 9.99843528e-01 1.75686229e-02 2.06476649e-03 5.05639952e+02] [-1.75684030e-02 9.99845656e-01 -1.24564403e-04 -2.35983770e+01] [-2.06663624e-03 8.82702622e-05 9.99997861e-01 2.18534845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9507140569999 meters Centerline goodness [0,1] 0.98432944606414 Centerline is valid? [True, True] Translation: X:505.67, Y:-23.61, Z:2.19 [[ 9.99911609e-01 1.29690015e-02 2.92892183e-03 5.05670111e+02] [-1.29685424e-02 9.99915889e-01 -1.75679705e-04 -2.36056326e+01] [-2.93095387e-03 1.37680329e-04 9.99995695e-01 2.18576170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.980714057 meters Centerline goodness [0,1] 0.9839709973094989 Centerline is valid? [True, True] Translation: X:505.70, Y:-23.61, Z:2.19 [[ 9.99937211e-01 1.07031973e-02 3.31887576e-03 5.05698176e+02] [-1.07025937e-02 9.99942706e-01 -1.99597761e-04 -2.36135006e+01] [-3.32082194e-03 1.64064650e-04 9.99994473e-01 2.18502921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.010714057 meters Centerline goodness [0,1] 0.9831401954101341 Centerline is valid? [True, True] Translation: X:505.73, Y:-23.62, Z:2.18 [[ 9.99976766e-01 5.90161274e-03 3.41149643e-03 5.05728223e+02] [-5.90094919e-03 9.99982568e-01 -2.04536122e-04 -2.36207646e+01] [-3.41264405e-03 1.84400302e-04 9.99994160e-01 2.18429366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.040714057 meters Centerline goodness [0,1] 0.9832041637309938 Centerline is valid? [True, True] Translation: X:505.76, Y:-23.63, Z:2.18 [[ 9.99997217e-01 1.01424242e-03 2.12988758e-03 5.05758748e+02] [-1.01397281e-03 9.99999478e-01 -1.27655997e-04 -2.36283528e+01] [-2.13001594e-03 1.25495993e-04 9.99997724e-01 2.18314094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0707140569999 meters Centerline goodness [0,1] 0.983746094988002 Centerline is valid? [True, True] Translation: X:505.79, Y:-23.63, Z:2.18 [[ 9.99997260e-01 -1.12607022e-03 2.05254192e-03 5.05789203e+02] [ 1.12632459e-03 9.99999358e-01 -1.22780103e-04 -2.36324008e+01] [-2.05240234e-03 1.25091595e-04 9.99997886e-01 2.18257510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1007140569999 meters Centerline goodness [0,1] 0.9829415624080903 Centerline is valid? [True, True] Translation: X:505.82, Y:-23.64, Z:2.18 [[ 9.99985426e-01 -4.89449336e-03 2.27843726e-03 5.05819591e+02] [ 4.89481680e-03 9.99988011e-01 -1.36399139e-04 -2.36382527e+01] [-2.27774234e-03 1.47549684e-04 9.99997395e-01 2.18253436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.130714057 meters Centerline goodness [0,1] 0.9323747092408543 Centerline is valid? [True, False] Translation: X:505.87, Y:-23.64, Z:2.18 [[ 9.99963602e-01 -8.30592890e-03 1.95076181e-03 5.05868682e+02] [ 8.31400357e-03 9.99956751e-01 -4.16826509e-03 -2.36385607e+01] [-1.91605613e-03 4.18433202e-03 9.99989410e-01 2.18473691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.160714057 meters Centerline goodness [0,1] 0.9323747092408543 Centerline is valid? [False, False] Translation: X:505.87, Y:-23.64, Z:2.18 [[ 9.99963602e-01 -8.30592890e-03 1.95076181e-03 5.05868682e+02] [ 8.31400357e-03 9.99956751e-01 -4.16826509e-03 -2.36385607e+01] [-1.91605613e-03 4.18433202e-03 9.99989410e-01 2.18473691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1907140569999 meters Centerline goodness [0,1] 0.9827562919274233 Centerline is valid? [False, True] Translation: X:505.81, Y:-23.64, Z:2.18 [[ 9.99968513e-01 -7.89882226e-03 7.62486925e-04 5.05812246e+02] [ 7.89815781e-03 9.99968430e-01 8.70540283e-04 -2.36385206e+01] [-7.69339097e-04 -8.64490630e-04 9.99999330e-01 2.18431676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2207140569999 meters Centerline goodness [0,1] 0.9829038596174259 Centerline is valid? [True, True] Translation: X:505.84, Y:-23.64, Z:2.18 [[ 9.99964611e-01 -8.40805408e-03 2.84704995e-04 5.05844649e+02] [ 8.40805904e-03 9.99964652e-01 -1.62278838e-05 -2.36409703e+01] [-2.84558486e-04 1.86211259e-05 9.99999959e-01 2.18402739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.250714057 meters Centerline goodness [0,1] 0.9813511928922564 Centerline is valid? [True, True] Translation: X:505.88, Y:-23.65, Z:2.18 [[ 9.99960878e-01 -8.83928652e-03 -3.29573410e-04 5.05875434e+02] [ 8.83929369e-03 9.99960932e-01 2.03219456e-05 -2.36456697e+01] [ 3.29380903e-04 -2.32343468e-05 9.99999945e-01 2.18323430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.280714057 meters Centerline goodness [0,1] 0.9811206393391101 Centerline is valid? [True, True] Translation: X:505.91, Y:-23.65, Z:2.18 [[ 9.99963184e-01 -8.56663489e-03 -4.92695604e-04 5.05907515e+02] [ 8.56665086e-03 9.99963305e-01 3.03139495e-05 -2.36469840e+01] [ 4.92417836e-04 -3.45335847e-05 9.99999878e-01 2.18283920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3107140569999 meters Centerline goodness [0,1] 0.9825540823447313 Centerline is valid? [True, True] Translation: X:505.94, Y:-23.65, Z:2.18 [[ 9.99965359e-01 -7.83745201e-03 -2.80262984e-03 5.05939530e+02] [ 7.83795618e-03 9.99969268e-01 1.68953466e-04 -2.36465798e+01] [ 2.80121954e-03 -1.90914504e-04 9.99996058e-01 2.18148231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3407140569999 meters Centerline goodness [0,1] 0.9841484588153059 Centerline is valid? [True, True] Translation: X:505.97, Y:-23.65, Z:2.18 [[ 9.99969404e-01 -6.93796350e-03 -3.61322877e-03 5.05972155e+02] [ 6.93879579e-03 9.99975903e-01 2.17861543e-04 -2.36454471e+01] [ 3.61163019e-03 -2.42926334e-04 9.99993449e-01 2.18093158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.370714057 meters Centerline goodness [0,1] 0.9829623771325274 Centerline is valid? [True, True] Translation: X:506.00, Y:-23.64, Z:2.18 [[ 9.99971784e-01 -4.83704637e-03 -5.74750764e-03 5.06003757e+02] [ 4.83911393e-03 9.99988232e-01 3.45880313e-04 -2.36437748e+01] [ 5.74576697e-03 -3.73683398e-04 9.99983423e-01 2.17989089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.400714057 meters Centerline goodness [0,1] 0.9837210879739537 Centerline is valid? [True, True] Translation: X:506.03, Y:-23.64, Z:2.18 [[ 9.99974672e-01 -4.01461807e-03 -5.87690925e-03 5.06033962e+02] [ 4.01676142e-03 9.99991870e-01 3.52949366e-04 -2.36434258e+01] [ 5.87544452e-03 -3.76546569e-04 9.99982669e-01 2.17942514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4307140569999 meters Centerline goodness [0,1] 0.9837696928482376 Centerline is valid? [True, True] Translation: X:506.06, Y:-23.64, Z:2.18 [[ 9.99982987e-01 -1.20550318e-03 -5.70724245e-03 5.06064017e+02] [ 1.20747837e-03 9.99999212e-01 3.42651142e-04 -2.36412144e+01] [ 5.70682488e-03 -3.49536684e-04 9.99983655e-01 2.17946556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4607140569999 meters Centerline goodness [0,1] 0.9832433903224344 Centerline is valid? [True, True] Translation: X:506.09, Y:-23.64, Z:2.18 [[ 9.99988168e-01 1.53135266e-03 -4.61727744e-03 5.06093093e+02] [-1.53009079e-03 9.99998791e-01 2.76811890e-04 -2.36401368e+01] [ 4.61769575e-03 -2.69743761e-04 9.99989302e-01 2.17988450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.490714057 meters Centerline goodness [0,1] 0.9835650502995366 Centerline is valid? [True, True] Translation: X:506.12, Y:-23.64, Z:2.18 [[ 9.99988929e-01 3.12948626e-03 -3.51393200e-03 5.06121517e+02] [-3.12876781e-03 9.99995083e-01 2.09935446e-04 -2.36401362e+01] [ 3.51457172e-03 -1.98938844e-04 9.99993804e-01 2.18038972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.520714057 meters Centerline goodness [0,1] 0.9828023745864866 Centerline is valid? [True, True] Translation: X:506.15, Y:-23.64, Z:2.18 [[ 9.99980979e-01 5.87849709e-03 -1.86666932e-03 5.06152111e+02] [-5.87829877e-03 9.99982716e-01 1.11710111e-04 -2.36381575e+01] [ 1.86729374e-03 -1.00735146e-04 9.99998252e-01 2.18159140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5507140569999 meters Centerline goodness [0,1] 0.9830742425270971 Centerline is valid? [True, True] Translation: X:506.18, Y:-23.64, Z:2.18 [[ 9.99977051e-01 6.62105532e-03 -1.43480557e-03 5.06181011e+02] [-6.62093997e-03 9.99978078e-01 8.51288961e-05 -2.36380223e+01] [ 1.43533776e-03 -7.56271809e-05 9.99998967e-01 2.18178459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5807140569999 meters Centerline goodness [0,1] 0.9831412038091767 Centerline is valid? [True, True] Translation: X:506.21, Y:-23.64, Z:2.18 [[ 9.99972909e-01 7.31550234e-03 -8.15112224e-04 5.06209996e+02] [-7.31546567e-03 9.99973240e-01 4.79552820e-05 -2.36364816e+01] [ 8.15441229e-04 -4.19910574e-05 9.99999667e-01 2.18210483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.610714057 meters Centerline goodness [0,1] 0.9837381685482951 Centerline is valid? [True, True] Translation: X:506.24, Y:-23.64, Z:2.18 [[ 9.99974226e-01 7.15886293e-03 -5.46372532e-04 5.06238534e+02] [-7.15884659e-03 9.99974375e-01 3.18404266e-05 -2.36380123e+01] [ 5.46586472e-04 -2.79282088e-05 9.99999850e-01 2.18126708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.640714057 meters Centerline goodness [0,1] 0.9830160720392113 Centerline is valid? [True, True] Translation: X:506.27, Y:-23.64, Z:2.18 [[ 9.99980464e-01 5.82446517e-03 -2.26863507e-03 5.06266536e+02] [-5.82417429e-03 9.99983030e-01 1.34802335e-04 -2.36441109e+01] [ 2.26938172e-03 -1.21586775e-04 9.99997418e-01 2.17815105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6707140569999 meters Centerline goodness [0,1] 0.9813815864345056 Centerline is valid? [True, True] Translation: X:506.30, Y:-23.65, Z:2.18 [[ 9.99983988e-01 4.48111398e-03 -3.45586511e-03 5.06295248e+02] [-4.48043043e-03 9.99989942e-01 2.05510979e-04 -2.36462132e+01] [ 3.45675127e-03 -1.90023925e-04 9.99994007e-01 2.17621613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7007140569999 meters Centerline goodness [0,1] 0.981699226792332 Centerline is valid? [True, True] Translation: X:506.32, Y:-23.65, Z:2.18 [[ 9.99987134e-01 3.07449924e-03 -4.03477875e-03 5.06324637e+02] [-3.07355544e-03 9.99995248e-01 2.40096831e-04 -2.36486414e+01] [ 4.03549775e-03 -2.27692626e-04 9.99991831e-01 2.17503325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.730714057 meters Centerline goodness [0,1] 0.981300089047195 Centerline is valid? [True, True] Translation: X:506.35, Y:-23.65, Z:2.17 [[ 9.99993774e-01 9.08207162e-04 -3.40974626e-03 5.06354128e+02] [-9.07521147e-04 9.99999568e-01 2.02734424e-04 -2.36515289e+01] [ 3.40992891e-03 -1.99638745e-04 9.99994166e-01 2.17480896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.760714057 meters Centerline goodness [0,1] 0.9805845225027442 Centerline is valid? [True, True] Translation: X:506.38, Y:-23.65, Z:2.17 [[ 9.99994885e-01 -2.28907775e-04 -3.19033352e-03 5.06382745e+02] [ 2.29512186e-04 9.99999956e-01 1.89085909e-04 -2.36543898e+01] [ 3.19029010e-03 -1.89817163e-04 9.99994893e-01 2.17433155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.790714057 meters Centerline goodness [0,1] 0.9813242395807109 Centerline is valid? [True, True] Translation: X:506.41, Y:-23.65, Z:2.18 [[ 9.99993707e-01 -2.30241142e-03 -2.69907658e-03 5.06412957e+02] [ 2.30285190e-03 9.99997336e-01 1.60099454e-04 -2.36478842e+01] [ 2.69870077e-03 -1.66314020e-04 9.99996345e-01 2.17555704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8207140569999 meters Centerline goodness [0,1] 0.9788512047504854 Centerline is valid? [True, True] Translation: X:506.44, Y:-23.66, Z:2.17 [[ 9.99992392e-01 -2.86597748e-03 -2.64601388e-03 5.06441699e+02] [ 2.86640316e-03 9.99995880e-01 1.57098724e-04 -2.36602602e+01] [ 2.64555274e-03 -1.64682071e-04 9.99996487e-01 2.17291972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8507140569999 meters Centerline goodness [0,1] 0.9793535362804249 Centerline is valid? [True, True] Translation: X:506.47, Y:-23.66, Z:2.17 [[ 9.99984613e-01 -5.03425249e-03 -2.33027027e-03 5.06472257e+02] [ 5.03458906e-03 9.99987317e-01 1.38590173e-04 -2.36592518e+01] [ 2.32954302e-03 -1.50319994e-04 9.99997275e-01 2.17322986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.880714057 meters Centerline goodness [0,1] 0.9816610022581602 Centerline is valid? [True, True] Translation: X:506.50, Y:-23.65, Z:2.17 [[ 9.99968995e-01 -7.62177835e-03 -1.97927868e-03 5.06503899e+02] [ 7.62202704e-03 9.99970945e-01 1.18136215e-04 -2.36548776e+01] [ 1.97832077e-03 -1.33218668e-04 9.99998034e-01 2.17426378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.910714057 meters Centerline goodness [0,1] 0.9807393174123891 Centerline is valid? [True, True] Translation: X:506.53, Y:-23.66, Z:2.17 [[ 9.99953232e-01 -9.45341000e-03 -2.04138928e-03 5.06533881e+02] [ 9.45367799e-03 9.99955306e-01 1.21668108e-04 -2.36586330e+01] [ 2.04014786e-03 -1.40961055e-04 9.99997909e-01 2.17339772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9407140569999 meters Centerline goodness [0,1] 0.9811078208571494 Centerline is valid? [True, True] Translation: X:506.56, Y:-23.66, Z:2.17 [[ 9.99916647e-01 -1.25900598e-02 -2.86160866e-03 5.06564364e+02] [ 1.25905987e-02 9.99920721e-01 1.70376795e-04 -2.36598004e+01] [ 2.85923674e-03 -2.06391960e-04 9.99995891e-01 2.17256951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9707140569999 meters Centerline goodness [0,1] 0.9803516977325355 Centerline is valid? [True, True] Translation: X:506.59, Y:-23.67, Z:2.17 [[ 9.99905278e-01 -1.34726860e-02 -2.81468481e-03 5.06594734e+02] [ 1.34732120e-02 9.99909218e-01 1.68002404e-04 -2.36663794e+01] [ 2.81216585e-03 -2.05909335e-04 9.99996025e-01 2.17131209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.000714057 meters Centerline goodness [0,1] 0.9813036770970045 Centerline is valid? [True, True] Translation: X:506.63, Y:-23.66, Z:2.17 [[ 9.99881331e-01 -1.51343140e-02 -2.87674145e-03 5.06626500e+02] [ 1.51348706e-02 9.99885447e-01 1.71807276e-04 -2.36593492e+01] [ 2.87381173e-03 -2.15325997e-04 9.99995847e-01 2.17267444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.030714057 meters Centerline goodness [0,1] 0.9797686529333149 Centerline is valid? [True, True] Translation: X:506.66, Y:-23.67, Z:2.17 [[ 9.99877544e-01 -1.54339153e-02 -2.58686114e-03 5.06657383e+02] [ 1.54343673e-02 9.99880871e-01 1.54874031e-04 -2.36660133e+01] [ 2.58416266e-03 -1.94781630e-04 9.99996642e-01 2.17137220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0607140569999 meters Centerline goodness [0,1] 0.9807057628839807 Centerline is valid? [True, True] Translation: X:506.69, Y:-23.66, Z:2.17 [[ 9.99878949e-01 -1.53369166e-02 -2.62037076e-03 5.06689433e+02] [ 1.53373810e-02 9.99882363e-01 1.57245771e-04 -2.36628107e+01] [ 2.61765084e-03 -1.97416361e-04 9.99996554e-01 2.17120203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0907140569999 meters Centerline goodness [0,1] 0.9795441397662848 Centerline is valid? [True, True] Translation: X:506.72, Y:-23.66, Z:2.17 [[ 9.99883190e-01 -1.49662283e-02 -3.10127944e-03 5.06720965e+02] [ 1.49668766e-02 9.99887973e-01 1.85922909e-04 -2.36647939e+01] [ 3.09814945e-03 -2.32317658e-04 9.99995174e-01 2.17053175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.120714057 meters Centerline goodness [0,1] 0.9812790697674418 Centerline is valid? [True, True] Translation: X:506.75, Y:-23.66, Z:2.17 [[ 9.99907221e-01 -1.32740551e-02 -3.05771330e-03 5.06752699e+02] [ 1.32746772e-02 9.99911871e-01 1.83235668e-04 -2.36597462e+01] [ 3.05501155e-03 -2.23808824e-04 9.99995308e-01 2.17150179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.150714057 meters Centerline goodness [0,1] 0.9801571571804976 Centerline is valid? [True, True] Translation: X:506.78, Y:-23.65, Z:2.17 [[ 9.99942619e-01 -1.03062333e-02 -2.92244563e-03 5.06783910e+02] [ 1.03067886e-02 9.99946868e-01 1.74998809e-04 -2.36548545e+01] [ 2.92048678e-03 -2.05109796e-04 9.99995714e-01 2.17176897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1807140569999 meters Centerline goodness [0,1] 0.9820045398170032 Centerline is valid? [True, True] Translation: X:506.82, Y:-23.65, Z:2.17 [[ 9.99963140e-01 -8.03280402e-03 -3.03180011e-03 5.06815966e+02] [ 8.03339304e-03 9.99967715e-01 1.82150405e-04 -2.36514516e+01] [ 3.03023905e-03 -2.06499333e-04 9.99995387e-01 2.17235319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2107140569999 meters Centerline goodness [0,1] 0.9805495740099242 Centerline is valid? [True, True] Translation: X:506.85, Y:-23.65, Z:2.17 [[ 9.99988986e-01 -3.56894416e-03 -3.04810686e-03 5.06845862e+02] [ 3.56951716e-03 9.99993613e-01 1.82563735e-04 -2.36545580e+01] [ 3.04743583e-03 -1.93441994e-04 9.99995338e-01 2.17003789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.240714057 meters Centerline goodness [0,1] 0.9830337447787112 Centerline is valid? [True, True] Translation: X:506.88, Y:-23.65, Z:2.17 [[ 9.99995823e-01 -8.76006282e-04 -2.75451496e-03 5.06877231e+02] [ 8.76464325e-04 9.99999602e-01 1.65085425e-04 -2.36469416e+01] [ 2.75436925e-03 -1.67498970e-04 9.99996193e-01 2.17122199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.270714057 meters Centerline goodness [0,1] 0.9817014370722299 Centerline is valid? [True, True] Translation: X:506.91, Y:-23.65, Z:2.17 [[ 9.99987755e-01 4.43355917e-03 -2.19851055e-03 5.06906462e+02] [-4.43328099e-03 9.99990164e-01 1.31389336e-04 -2.36501801e+01] [ 2.19907145e-03 -1.21641112e-04 9.99997575e-01 2.16924993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3007140569999 meters Centerline goodness [0,1] 0.9839930219948608 Centerline is valid? [True, True] Translation: X:506.94, Y:-23.64, Z:2.17 [[ 9.99972652e-01 7.19920937e-03 -1.69295908e-03 5.06937178e+02] [-7.19904904e-03 9.99974081e-01 1.00776701e-04 -2.36399411e+01] [ 1.69364071e-03 -8.85862495e-05 9.99998562e-01 2.17132001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3307140569999 meters Centerline goodness [0,1] 0.9839511700798906 Centerline is valid? [True, True] Translation: X:506.97, Y:-23.64, Z:2.17 [[ 9.99930446e-01 1.17486130e-02 -1.03615341e-03 5.06966854e+02] [-1.17485554e-02 9.99930981e-01 6.17079234e-05 -2.36388720e+01] [ 1.03680688e-03 -4.95303257e-05 9.99999461e-01 2.17029082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.360714057 meters Centerline goodness [0,1] 0.9839306029579067 Centerline is valid? [True, True] Translation: X:507.00, Y:-23.64, Z:2.17 [[ 9.99909266e-01 1.34521525e-02 -7.05964041e-04 5.06996110e+02] [-1.34521267e-02 9.99909515e-01 4.13784139e-05 -2.36363902e+01] [ 7.06456791e-04 -3.18779418e-05 9.99999750e-01 2.17044742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.390714057 meters Centerline goodness [0,1] 0.9846029750183862 Centerline is valid? [True, True] Translation: X:507.03, Y:-23.63, Z:2.17 [[ 9.99878538e-01 1.55305868e-02 -1.30754476e-03 5.07025283e+02] [-1.55304991e-02 9.99879392e-01 7.72040113e-05 -2.36342635e+01] [ 1.30858608e-03 -5.68878113e-05 9.99999142e-01 2.16917897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4207140569999 meters Centerline goodness [0,1] 0.9847751849743882 Centerline is valid? [True, True] Translation: X:507.05, Y:-23.64, Z:2.17 [[ 9.99864220e-01 1.63603975e-02 -1.96929750e-03 5.07052835e+02] [-1.63602001e-02 9.99866156e-01 1.16315035e-04 -2.36356442e+01] [ 1.97093688e-03 -8.40811405e-05 9.99998054e-01 2.16803477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4507140569999 meters Centerline goodness [0,1] 0.9849501102078544 Centerline is valid? [True, True] Translation: X:507.08, Y:-23.64, Z:2.17 [[ 9.99856016e-01 1.68346536e-02 -2.13113635e-03 5.07081355e+02] [-1.68344232e-02 9.99858283e-01 1.26005672e-04 -2.36368738e+01] [ 2.13295560e-03 -9.01110785e-05 9.99997721e-01 2.16742788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.480714057 meters Centerline goodness [0,1] 0.9856709772156695 Centerline is valid? [True, True] Translation: X:507.11, Y:-23.64, Z:2.17 [[ 9.99850119e-01 1.70810723e-02 -2.82427455e-03 5.07110486e+02] [-1.70806685e-02 9.99854101e-01 1.67030579e-04 -2.36372932e+01] [ 2.82671555e-03 -1.18765047e-04 9.99995998e-01 2.16655096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.510714057 meters Centerline goodness [0,1] 0.9855852438417222 Centerline is valid? [True, True] Translation: X:507.14, Y:-23.64, Z:2.17 [[ 9.99851227e-01 1.69004237e-02 -3.44959312e-03 5.07139350e+02] [-1.68998205e-02 9.99857167e-01 2.03948392e-04 -2.36399210e+01] [ 3.45254721e-03 -1.45620546e-04 9.99994029e-01 2.16566834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.540714057 meters Centerline goodness [0,1] 0.983847318134519 Centerline is valid? [True, True] Translation: X:507.17, Y:-23.64, Z:2.16 [[ 9.99879096e-01 1.51003368e-02 -3.71110216e-03 5.07167229e+02] [-1.50996280e-02 9.99885970e-01 2.18946275e-04 -2.36448459e+01] [ 3.71398514e-03 -1.62883542e-04 9.99993090e-01 2.16354725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5707140569999 meters Centerline goodness [0,1] 0.9845362041693226 Centerline is valid? [True, True] Translation: X:507.20, Y:-23.65, Z:2.16 [[ 9.99896326e-01 1.40524943e-02 -3.14091199e-03 5.07195541e+02] [-1.40519819e-02 9.99901249e-01 1.85149164e-04 -2.36471052e+01] [ 3.14320363e-03 -1.40993930e-04 9.99995050e-01 2.16381727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6007140569999 meters Centerline goodness [0,1] 0.983766463256603 Centerline is valid? [True, True] Translation: X:507.22, Y:-23.65, Z:2.16 [[ 9.99930875e-01 1.16129142e-02 -1.84001481e-03 5.07224548e+02] [-1.16127346e-02 9.99932564e-01 1.08243869e-04 -2.36518057e+01] [ 1.84114775e-03 -8.68687834e-05 9.99998301e-01 2.16457696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.630714057 meters Centerline goodness [0,1] 0.984301449821126 Centerline is valid? [True, True] Translation: X:507.25, Y:-23.65, Z:2.17 [[ 9.99956725e-01 9.27203635e-03 7.59854648e-04 5.07253408e+02] [-9.27200431e-03 9.99957013e-01 -4.56887340e-05 -2.36523362e+01] [-7.60245612e-04 3.86413812e-05 9.99999710e-01 2.16766225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.660714057 meters Centerline goodness [0,1] 0.9834877922566684 Centerline is valid? [True, True] Translation: X:507.28, Y:-23.66, Z:2.17 [[ 9.99964580e-01 8.17487766e-03 2.00244641e-03 5.07280590e+02] [-8.17465517e-03 9.99966580e-01 -1.19269776e-04 -2.36558811e+01] [-2.00335450e-03 1.02896243e-04 9.99997988e-01 2.16876376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6907140569999 meters Centerline goodness [0,1] 0.9812352487556376 Centerline is valid? [True, True] Translation: X:507.31, Y:-23.67, Z:2.17 [[ 9.99982062e-01 5.02378099e-03 3.26144915e-03 5.07308783e+02] [-5.02317909e-03 9.99987365e-01 -1.92715451e-04 -2.36670959e+01] [-3.26237611e-03 1.76329151e-04 9.99994663e-01 2.16844943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7207140569999 meters Centerline goodness [0,1] 0.9827153544876756 Centerline is valid? [True, True] Translation: X:507.34, Y:-23.66, Z:2.17 [[ 9.99992341e-01 2.80873344e-03 2.72574459e-03 5.07338730e+02] [-2.80830530e-03 9.99996044e-01 -1.60889576e-04 -2.36623193e+01] [-2.72618570e-03 1.53233621e-04 9.99996272e-01 2.16857956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.750714057 meters Centerline goodness [0,1] 0.98004351589734 Centerline is valid? [True, True] Translation: X:507.37, Y:-23.68, Z:2.16 [[ 9.99998434e-01 -1.21177107e-03 1.28978594e-03 5.07367271e+02] [ 1.21187020e-03 9.99999263e-01 -7.60780044e-05 -2.36773321e+01] [-1.28969280e-03 7.76409384e-05 9.99999165e-01 2.16435460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.780714057 meters Centerline goodness [0,1] 0.979529982281078 Centerline is valid? [True, True] Translation: X:507.40, Y:-23.68, Z:2.16 [[ 9.99995314e-01 -2.99772454e-03 6.21037465e-04 5.07398629e+02] [ 2.99774760e-03 9.99995506e-01 -3.62048957e-05 -2.36825387e+01] [-6.20926142e-04 3.80664396e-05 9.99999807e-01 2.16246189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8107140569999 meters Centerline goodness [0,1] 0.9793339106419828 Centerline is valid? [True, True] Translation: X:507.43, Y:-23.69, Z:2.16 [[ 9.99975003e-01 -7.01286839e-03 -9.02017804e-04 5.07427778e+02] [ 7.01291901e-03 9.99975408e-01 5.29610754e-05 -2.36904600e+01] [ 9.01624212e-04 -5.92855293e-05 9.99999592e-01 2.16061717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8407140569999 meters Centerline goodness [0,1] 0.980757990227023 Centerline is valid? [True, True] Translation: X:507.46, Y:-23.68, Z:2.16 [[ 9.99965633e-01 -8.13215536e-03 -1.61279491e-03 5.07459895e+02] [ 8.13232017e-03 9.99966928e-01 9.56571944e-05 -2.36841272e+01] [ 1.61196368e-03 -1.08769672e-04 9.99998695e-01 2.16153732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.870714057 meters Centerline goodness [0,1] 0.9788283130418527 Centerline is valid? [True, True] Translation: X:507.49, Y:-23.70, Z:2.16 [[ 9.99960847e-01 -8.38947184e-03 -2.81449758e-03 5.07490788e+02] [ 8.38997616e-03 9.99964790e-01 1.67429342e-04 -2.36970237e+01] [ 2.81299384e-03 -1.91036354e-04 9.99996025e-01 2.15840706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.900714057 meters Centerline goodness [0,1] 0.9818360563644024 Centerline is valid? [True, True] Translation: X:507.52, Y:-23.69, Z:2.16 [[ 9.99964093e-01 -7.71930875e-03 -3.49641233e-03 5.07523720e+02] [ 7.72008130e-03 9.99970178e-01 2.07514110e-04 -2.36867567e+01] [ 3.49470620e-03 -2.34499246e-04 9.99993866e-01 2.16005878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9307140569999 meters Centerline goodness [0,1] 0.9832545956312269 Centerline is valid? [True, True] Translation: X:507.55, Y:-23.69, Z:2.16 [[ 9.99982633e-01 -4.75746085e-03 -3.47859451e-03 5.07554444e+02] [ 4.75820583e-03 9.99988658e-01 2.05916296e-04 -2.36869791e+01] [ 3.47757541e-03 -2.22464589e-04 9.99993928e-01 2.15939198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9607140569999 meters Centerline goodness [0,1] 0.9827207770980245 Centerline is valid? [True, True] Translation: X:507.58, Y:-23.69, Z:2.16 [[ 9.99991706e-01 -2.38392636e-03 -3.30226612e-03 5.07584780e+02] [ 2.38458422e-03 9.99997138e-01 1.95289924e-04 -2.36869849e+01] [ 3.30179112e-03 -2.03162836e-04 9.99994528e-01 2.15921043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.990714057 meters Centerline goodness [0,1] 0.9835584263065179 Centerline is valid? [True, True] Translation: X:507.62, Y:-23.68, Z:2.16 [[ 9.99989760e-01 2.82031750e-03 -3.53930415e-03 5.07615281e+02] [-2.81959452e-03 9.99996003e-01 2.09243384e-04 -2.36829388e+01] [ 3.53988013e-03 -1.99261839e-04 9.99993715e-01 2.15990839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.020714057 meters Centerline goodness [0,1] 0.9842211385163651 Centerline is valid? [True, True] Translation: X:507.64, Y:-23.68, Z:2.16 [[ 9.99981528e-01 5.41970206e-03 -2.75132514e-03 5.07644589e+02] [-5.41927621e-03 9.99985302e-01 1.62209828e-04 -2.36829476e+01] [ 2.75216383e-03 -1.47296641e-04 9.99996202e-01 2.16026974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0507140569999 meters Centerline goodness [0,1] 0.9842211385163651 Centerline is valid? [True, True] Translation: X:507.67, Y:-23.68, Z:2.16 [[ 9.99981902e-01 5.35029865e-03 -2.75135928e-03 5.07672885e+02] [-5.34987413e-03 9.99985676e-01 1.61631469e-04 -2.36845581e+01] [ 2.75218465e-03 -1.46909118e-04 9.99996202e-01 2.15995194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0807140569999 meters Centerline goodness [0,1] 0.9842490155634727 Centerline is valid? [True, True] Translation: X:507.70, Y:-23.68, Z:2.16 [[ 9.99948370e-01 1.00766581e-02 -1.31106110e-03 5.07703684e+02] [-1.00765654e-02 9.99949227e-01 7.73462490e-05 -2.36824042e+01] [ 1.31177393e-03 -6.41312626e-05 9.99999138e-01 2.16098138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.110714057 meters Centerline goodness [0,1] 0.9844022430611187 Centerline is valid? [True, True] Translation: X:507.73, Y:-23.68, Z:2.16 [[ 9.99916729e-01 1.28800658e-02 -7.99659548e-04 5.07733345e+02] [-1.28800325e-02 9.99917048e-01 4.67846715e-05 -2.36816681e+01] [ 8.00195804e-04 -3.64811347e-05 9.99999679e-01 2.16149439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.140714057 meters Centerline goodness [0,1] 0.9844441306598889 Centerline is valid? [True, True] Translation: X:507.76, Y:-23.68, Z:2.16 [[ 9.99900735e-01 1.40788820e-02 -5.51608647e-04 5.07760697e+02] [-1.40788667e-02 9.99900887e-01 3.15287155e-05 -2.36835989e+01] [ 5.51997864e-04 -2.37595612e-05 9.99999847e-01 2.16091475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1707140569999 meters Centerline goodness [0,1] 0.9846117591610699 Centerline is valid? [True, True] Translation: X:507.79, Y:-23.69, Z:2.16 [[ 9.99885437e-01 1.50567769e-02 -1.55106350e-03 5.07789928e+02] [-1.50566543e-02 9.99886638e-01 9.07144810e-05 -2.36857924e+01] [ 1.55225354e-03 -6.73502616e-05 9.99998793e-01 2.15940640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2007140569999 meters Centerline goodness [0,1] 0.9850616149478099 Centerline is valid? [True, True] Translation: X:507.82, Y:-23.68, Z:2.16 [[ 9.99880351e-01 1.52683016e-02 -2.48233934e-03 5.07818018e+02] [-1.52679896e-02 9.99883427e-01 1.44623967e-04 -2.36833391e+01] [ 2.48425813e-03 -1.06706332e-04 9.99996909e-01 2.16005693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.230714057 meters Centerline goodness [0,1] 0.9840578345028964 Centerline is valid? [True, True] Translation: X:507.85, Y:-23.69, Z:2.16 [[ 9.99878722e-01 1.49998852e-02 -4.18875764e-03 5.07845512e+02] [-1.49989915e-02 9.99887479e-01 2.44703314e-04 -2.36922582e+01] [ 4.19195683e-03 -1.81846497e-04 9.99991197e-01 2.15715483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.260714057 meters Centerline goodness [0,1] 0.9838656568982549 Centerline is valid? [True, True] Translation: X:507.87, Y:-23.70, Z:2.16 [[ 9.99882352e-01 1.43690520e-02 -5.36763676e-03 5.07874190e+02] [-1.43675743e-02 9.99896732e-01 3.13753421e-04 -2.36951843e+01] [ 5.37159079e-03 -2.36596589e-04 9.99985545e-01 2.15610648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.290714057 meters Centerline goodness [0,1] 0.9847407337634814 Centerline is valid? [True, True] Translation: X:507.90, Y:-23.70, Z:2.15 [[ 9.99889207e-01 1.34988889e-02 -6.27323909e-03 5.07901835e+02] [-1.34968570e-02 9.99908846e-01 3.66119175e-04 -2.36999274e+01] [ 6.27760946e-03 -2.81409601e-04 9.99980256e-01 2.15423691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3207140569999 meters Centerline goodness [0,1] 0.9844799248649918 Centerline is valid? [True, True] Translation: X:507.93, Y:-23.70, Z:2.15 [[ 9.99894587e-01 1.29580262e-02 -6.55018393e-03 5.07929698e+02] [-1.29558026e-02 9.99915997e-01 3.81797717e-04 -2.37044533e+01] [ 6.55458104e-03 -2.96894581e-04 9.99978474e-01 2.15342884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3507140569999 meters Centerline goodness [0,1] 0.9850370544641807 Centerline is valid? [True, True] Translation: X:507.96, Y:-23.71, Z:2.15 [[ 9.99901511e-01 1.25959736e-02 -6.18956177e-03 5.07958358e+02] [-1.25939828e-02 9.99920628e-01 3.60506491e-04 -2.37059688e+01] [ 6.19361142e-03 -2.82519750e-04 9.99980779e-01 2.15416668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.380714057 meters Centerline goodness [0,1] 0.9847898035349624 Centerline is valid? [True, True] Translation: X:507.99, Y:-23.70, Z:2.16 [[ 9.99910410e-01 1.24073839e-02 -5.02289645e-03 5.07987584e+02] [-1.24060731e-02 9.99922999e-01 2.92033811e-04 -2.37031433e+01] [ 5.02613306e-03 -2.29693228e-04 9.99987343e-01 2.15789238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.410714057 meters Centerline goodness [0,1] 0.9852109204441419 Centerline is valid? [True, True] Translation: X:508.02, Y:-23.71, Z:2.16 [[ 9.99913189e-01 1.26050133e-02 -3.83769176e-03 5.08016657e+02] [-1.26042513e-02 9.99920538e-01 2.22686990e-04 -2.37053408e+01] [ 3.84019378e-03 -1.74296427e-04 9.99992611e-01 2.15851723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4407140569999 meters Centerline goodness [0,1] 0.9840864945823875 Centerline is valid? [True, True] Translation: X:508.05, Y:-23.71, Z:2.16 [[ 9.99919949e-01 1.25107338e-02 -1.89112580e-03 5.08045957e+02] [-1.25105496e-02 9.99921734e-01 1.09193455e-04 -2.37054065e+01] [ 1.89234388e-03 -8.55256903e-05 9.99998206e-01 2.16118000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4707140569999 meters Centerline goodness [0,1] 0.9844766445128109 Centerline is valid? [True, True] Translation: X:508.08, Y:-23.71, Z:2.16 [[ 9.99927757e-01 1.19902274e-02 -8.45210998e-04 5.08075202e+02] [-1.19901908e-02 9.99928114e-01 4.82975513e-05 -2.37066403e+01] [ 8.45729338e-04 -3.81598210e-05 9.99999642e-01 2.16183441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.500714057 meters Centerline goodness [0,1] 0.9848778777608975 Centerline is valid? [True, True] Translation: X:508.10, Y:-23.71, Z:2.16 [[ 9.99941055e-01 1.08215449e-02 8.84082139e-04 5.08104088e+02] [-1.08215031e-02 9.99941444e-01 -5.20872370e-05 -2.37099853e+01] [-8.84594036e-04 4.25170691e-05 9.99999608e-01 2.16306504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.530714057 meters Centerline goodness [0,1] 0.9834735857877512 Centerline is valid? [True, True] Translation: X:508.13, Y:-23.71, Z:2.16 [[ 9.99950296e-01 9.85156333e-03 1.53382175e-03 5.08131782e+02] [-9.85143709e-03 9.99951469e-01 -8.98362258e-05 -2.37146852e+01] [-1.53463234e-03 7.47214121e-05 9.99998820e-01 2.16244141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5607140569999 meters Centerline goodness [0,1] 0.9821640075245593 Centerline is valid? [True, True] Translation: X:508.16, Y:-23.73, Z:2.16 [[ 9.99969338e-01 7.65888117e-03 1.63215237e-03 5.08159710e+02] [-7.65873622e-03 9.99970667e-01 -9.50404204e-05 -2.37265420e+01] [-1.63283240e-03 8.25372818e-05 9.99998664e-01 2.16124548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5907140569999 meters Centerline goodness [0,1] 0.9835650192942489 Centerline is valid? [True, True] Translation: X:508.19, Y:-23.72, Z:2.16 [[ 9.99986169e-01 5.22599186e-03 5.92372451e-04 5.08189200e+02] [-5.22597212e-03 9.99986344e-01 -3.48641214e-05 -2.37240827e+01] [-5.92546561e-04 3.17679173e-05 9.99999824e-01 2.16127652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.620714057 meters Centerline goodness [0,1] 0.9819016059138415 Centerline is valid? [True, True] Translation: X:508.22, Y:-23.73, Z:2.16 [[ 9.99989400e-01 4.60248720e-03 -1.31248351e-04 5.08217473e+02] [-4.60248632e-03 9.99989408e-01 6.98436118e-06 -2.37319226e+01] [ 1.31279106e-04 -6.38021841e-06 9.99999991e-01 2.15860602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.650714057 meters Centerline goodness [0,1] 0.9828933033541178 Centerline is valid? [True, True] Translation: X:508.25, Y:-23.73, Z:2.16 [[ 9.99992054e-01 3.73053366e-03 -1.40527241e-03 5.08246213e+02] [-3.73042451e-03 9.99993039e-01 8.02794624e-05 -2.37321753e+01] [ 1.40556211e-03 -7.50365618e-05 9.99999009e-01 2.15762045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6807140569999 meters Centerline goodness [0,1] 0.9821069886639116 Centerline is valid? [True, True] Translation: X:508.27, Y:-23.74, Z:2.15 [[ 9.99988115e-01 3.56145313e-03 -3.32949468e-03 5.08273759e+02] [-3.56083750e-03 9.99993642e-01 1.90811328e-04 -2.37367421e+01] [ 3.33015308e-03 -1.78953271e-04 9.99994439e-01 2.15486284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7107140569999 meters Centerline goodness [0,1] 0.9822658042979345 Centerline is valid? [True, True] Translation: X:508.30, Y:-23.74, Z:2.15 [[ 9.99984708e-01 3.19107780e-03 -4.51682639e-03 5.08302185e+02] [-3.18994005e-03 9.99994879e-01 2.59071646e-04 -2.37375180e+01] [ 4.51762998e-03 -2.44659279e-04 9.99989766e-01 2.15421365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.740714057 meters Centerline goodness [0,1] 0.9822955669578884 Centerline is valid? [True, True] Translation: X:508.33, Y:-23.74, Z:2.15 [[ 9.99972644e-01 2.96370116e-03 -6.77695481e-03 5.08330803e+02] [-2.96113531e-03 9.99995540e-01 3.88616770e-04 -2.37398040e+01] [ 6.77807633e-03 -3.68538659e-04 9.99976961e-01 2.15246476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.770714057 meters Centerline goodness [0,1] 0.9831438560744634 Centerline is valid? [True, True] Translation: X:508.36, Y:-23.74, Z:2.15 [[ 9.99964939e-01 1.06012703e-03 -8.30645274e-03 5.08360509e+02] [-1.05620446e-03 9.99999329e-01 4.76604288e-04 -2.37426708e+01] [ 8.30695242e-03 -4.67814265e-04 9.99965387e-01 2.15168985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8007140569999 meters Centerline goodness [0,1] 0.9820378686171937 Centerline is valid? [True, True] Translation: X:508.39, Y:-23.75, Z:2.15 [[ 9.99963886e-01 -2.42240393e-04 -8.49515753e-03 5.08388434e+02] [ 2.46378662e-04 9.99999852e-01 4.86089483e-04 -2.37475697e+01] [ 8.49503852e-03 -4.88164954e-04 9.99963797e-01 2.15052795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8307140569999 meters Centerline goodness [0,1] 0.9826781837498267 Centerline is valid? [True, True] Translation: X:508.42, Y:-23.75, Z:2.15 [[ 9.99962859e-01 -3.75617296e-03 -7.75706450e-03 5.08418558e+02] [ 3.75973314e-03 9.99992833e-01 4.44428636e-04 -2.37515692e+01] [ 7.75533956e-03 -4.73576621e-04 9.99969815e-01 2.15098618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.860714057 meters Centerline goodness [0,1] 0.9818924155748293 Centerline is valid? [True, True] Translation: X:508.45, Y:-23.75, Z:2.15 [[ 9.99958102e-01 -5.15823129e-03 -7.56215631e-03 5.08448221e+02] [ 5.16165116e-03 9.99986585e-01 4.32786782e-04 -2.37544240e+01] [ 7.55982245e-03 -4.71801862e-04 9.99971313e-01 2.15119975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.890714057 meters Centerline goodness [0,1] 0.9807979419803845 Centerline is valid? [True, True] Translation: X:508.48, Y:-23.76, Z:2.15 [[ 9.99957276e-01 -7.35711552e-03 -5.59635791e-03 5.08477799e+02] [ 7.35902106e-03 9.99972871e-01 3.19980512e-04 -2.37581533e+01] [ 5.59385195e-03 -3.61150557e-04 9.99984289e-01 2.15290711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9207140569999 meters Centerline goodness [0,1] 0.9802300750843839 Centerline is valid? [True, True] Translation: X:508.51, Y:-23.77, Z:2.15 [[ 9.99957151e-01 -7.89994819e-03 -4.82573692e-03 5.08507485e+02] [ 7.90137438e-03 9.99968745e-01 2.76545599e-04 -2.37660105e+01] [ 4.82340140e-03 -3.14663704e-04 9.99988318e-01 2.15202089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9507140569999 meters Centerline goodness [0,1] 0.9808099889421305 Centerline is valid? [True, True] Translation: X:508.54, Y:-23.76, Z:2.15 [[ 9.99954480e-01 -8.82377159e-03 -3.63039157e-03 5.08538802e+02] [ 8.82458614e-03 9.99961041e-01 2.08414425e-04 -2.37646023e+01] [ 3.62841113e-03 -2.40441641e-04 9.99993388e-01 2.15441530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.980714057 meters Centerline goodness [0,1] 0.9805405405405405 Centerline is valid? [True, True] Translation: X:508.57, Y:-23.77, Z:2.15 [[ 9.99948916e-01 -9.42546713e-03 -3.65056342e-03 5.08570790e+02] [ 9.42629713e-03 9.99955549e-01 2.10222324e-04 -2.37669712e+01] [ 3.64841970e-03 -2.44622881e-04 9.99993315e-01 2.15403861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.010714057 meters Centerline goodness [0,1] 0.9809057696284552 Centerline is valid? [True, True] Translation: X:508.60, Y:-23.77, Z:2.15 [[ 9.99947789e-01 -9.57241971e-03 -3.57607794e-03 5.08602583e+02] [ 9.57321805e-03 9.99954154e-01 2.06195959e-04 -2.37700167e+01] [ 3.57394020e-03 -2.40419767e-04 9.99993585e-01 2.15319245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.040714057 meters Centerline goodness [0,1] 0.9811303387334315 Centerline is valid? [True, True] Translation: X:508.63, Y:-23.77, Z:2.15 [[ 9.99943975e-01 -9.81139505e-03 -3.97288399e-03 5.08634751e+02] [ 9.81238318e-03 9.99951831e-01 2.29302513e-04 -2.37685626e+01] [ 3.97044284e-03 -2.68273126e-04 9.99992082e-01 2.15334917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0707140569999 meters Centerline goodness [0,1] 0.9805047188224758 Centerline is valid? [True, True] Translation: X:508.67, Y:-23.77, Z:2.15 [[ 9.99942177e-01 -9.66265136e-03 -4.71978579e-03 5.08665592e+02] [ 9.66404381e-03 9.99953265e-01 2.72306736e-04 -2.37736171e+01] [ 4.71693400e-03 -3.17903207e-04 9.99988825e-01 2.15238785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1007140569999 meters Centerline goodness [0,1] 0.9821887623944179 Centerline is valid? [True, True] Translation: X:508.70, Y:-23.77, Z:2.15 [[ 9.99944612e-01 -9.08866680e-03 -5.30754345e-03 5.08697538e+02] [ 9.09042227e-03 9.99958634e-01 3.06718378e-04 -2.37735703e+01] [ 5.30453624e-03 -3.54949201e-04 9.99985868e-01 2.15179974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.130714057 meters Centerline goodness [0,1] 0.9816211230254814 Centerline is valid? [True, True] Translation: X:508.73, Y:-23.78, Z:2.15 [[ 9.99940754e-01 -8.22440732e-03 -7.13070201e-03 5.08728678e+02] [ 8.22756157e-03 9.99966068e-01 4.13125658e-04 -2.37775115e+01] [ 7.12706233e-03 -4.71769472e-04 9.99974491e-01 2.14954309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.160714057 meters Centerline goodness [0,1] 0.9824480582300641 Centerline is valid? [True, True] Translation: X:508.76, Y:-23.77, Z:2.15 [[ 9.99941294e-01 -7.04291371e-03 -8.23443646e-03 5.08759725e+02] [ 7.04706783e-03 9.99975056e-01 4.75574766e-04 -2.37748029e+01] [ 8.23088163e-03 -5.33575479e-04 9.99965983e-01 2.15031212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1907140569999 meters Centerline goodness [0,1] 0.983152661741352 Centerline is valid? [True, True] Translation: X:508.79, Y:-23.77, Z:2.15 [[ 9.99943474e-01 -5.87864596e-03 -8.85943544e-03 5.08790001e+02] [ 5.88340591e-03 9.99982562e-01 5.11307900e-04 -2.37748513e+01] [ 8.85627515e-03 -5.63402653e-04 9.99960624e-01 2.14919631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2207140569999 meters Centerline goodness [0,1] 0.9828596374330814 Centerline is valid? [True, True] Translation: X:508.82, Y:-23.78, Z:2.15 [[ 9.99945544e-01 -4.31070512e-03 -9.50399604e-03 5.08819117e+02] [ 4.31610739e-03 9.99990535e-01 5.47983192e-04 -2.37765974e+01] [ 9.50154389e-03 -5.88973619e-04 9.99954686e-01 2.14846513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.250714057 meters Centerline goodness [0,1] 0.9825912518158131 Centerline is valid? [True, True] Translation: X:508.85, Y:-23.78, Z:2.15 [[ 9.99948443e-01 -3.52719347e-03 -9.52210710e-03 5.08847943e+02] [ 3.53253563e-03 9.99993612e-01 5.44265778e-04 -2.37779072e+01] [ 9.52012655e-03 -5.77874900e-04 9.99954516e-01 2.14780049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.280714057 meters Centerline goodness [0,1] 0.9831200276720857 Centerline is valid? [True, True] Translation: X:508.88, Y:-23.78, Z:2.15 [[ 9.99961868e-01 -1.49528176e-03 -8.60388694e-03 5.08877720e+02] [ 1.49958393e-03 9.99998754e-01 4.93597127e-04 -2.37777803e+01] [ 8.60313815e-03 -5.06480556e-04 9.99962864e-01 2.14803212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3107140569999 meters Centerline goodness [0,1] 0.9834436322549404 Centerline is valid? [True, True] Translation: X:508.91, Y:-23.78, Z:2.15 [[ 9.99965685e-01 -1.32705215e-03 -8.17727989e-03 5.08906653e+02] [ 1.33089655e-03 9.99999006e-01 4.64708356e-04 -2.37795022e+01] [ 8.17665507e-03 -4.75575523e-04 9.99966458e-01 2.14802368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3407140569999 meters Centerline goodness [0,1] 0.982158146853956 Centerline is valid? [True, True] Translation: X:508.94, Y:-23.78, Z:2.15 [[ 9.99973323e-01 -1.65568942e-03 -7.11416035e-03 5.08935957e+02] [ 1.65859427e-03 9.99998544e-01 4.02439489e-04 -2.37794440e+01] [ 7.11348367e-03 -4.14228259e-04 9.99974613e-01 2.14853043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.370714057 meters Centerline goodness [0,1] 0.9824318076745261 Centerline is valid? [True, True] Translation: X:508.96, Y:-23.78, Z:2.15 [[ 9.99978728e-01 -2.48738522e-03 -6.02970082e-03 5.08963319e+02] [ 2.48949107e-03 9.99996843e-01 3.41764937e-04 -2.37819626e+01] [ 6.02883168e-03 -3.56768554e-04 9.99981763e-01 2.14854048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.400714057 meters Centerline goodness [0,1] 0.9827028774652441 Centerline is valid? [True, True] Translation: X:508.99, Y:-23.78, Z:2.15 [[ 9.99975660e-01 -3.24462291e-03 -6.17670058e-03 5.08992881e+02] [ 3.24684963e-03 9.99994668e-01 3.50508349e-04 -2.37849707e+01] [ 6.17553038e-03 -3.70554636e-04 9.99980863e-01 2.14809566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4307140569999 meters Centerline goodness [0,1] 0.982309853964159 Centerline is valid? [True, True] Translation: X:509.02, Y:-23.79, Z:2.15 [[ 9.99970494e-01 -5.03877866e-03 -5.79848222e-03 5.09021219e+02] [ 5.04076806e-03 9.99987241e-01 3.28526148e-04 -2.37903278e+01] [ 5.79675286e-03 -3.57745258e-04 9.99983135e-01 2.14670211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4607140569999 meters Centerline goodness [0,1] 0.9827232256129911 Centerline is valid? [True, True] Translation: X:509.05, Y:-23.79, Z:2.15 [[ 9.99968783e-01 -5.78133571e-03 -5.38601215e-03 5.09051362e+02] [ 5.78306580e-03 9.99983231e-01 3.05700594e-04 -2.37915727e+01] [ 5.38415448e-03 -3.36838714e-04 9.99985449e-01 2.14713122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.490714057 meters Centerline goodness [0,1] 0.9813314304129644 Centerline is valid? [True, True] Translation: X:509.08, Y:-23.80, Z:2.15 [[ 9.99961679e-01 -7.64582850e-03 -4.26403982e-03 5.09081130e+02] [ 7.64693541e-03 9.99970732e-01 2.43350261e-04 -2.37963818e+01] [ 4.26205441e-03 -2.75947773e-04 9.99990879e-01 2.14732248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.520714057 meters Centerline goodness [0,1] 0.9809576503677064 Centerline is valid? [True, True] Translation: X:509.11, Y:-23.80, Z:2.15 [[ 9.99959956e-01 -8.30343466e-03 -3.33758184e-03 5.09111998e+02] [ 8.30411561e-03 9.99965502e-01 1.90219913e-04 -2.37993799e+01] [ 3.33588723e-03 -2.17927961e-04 9.99994412e-01 2.14671325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5507140569999 meters Centerline goodness [0,1] 0.9808683195083066 Centerline is valid? [True, True] Translation: X:509.14, Y:-23.80, Z:2.15 [[ 9.99949869e-01 -9.51716461e-03 -3.11186775e-03 5.09144206e+02] [ 9.51776436e-03 9.99954689e-01 1.77976772e-04 -2.38036265e+01] [ 3.11003291e-03 -2.07585874e-04 9.99995142e-01 2.14581018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5807140569999 meters Centerline goodness [0,1] 0.9805097451274363 Centerline is valid? [True, True] Translation: X:509.18, Y:-23.81, Z:2.14 [[ 9.99945264e-01 -9.98429849e-03 -3.12769987e-03 5.09175656e+02] [ 9.98490650e-03 9.99950134e-01 1.78842809e-04 -2.38072239e+01] [ 3.12575828e-03 -2.10062810e-04 9.99995093e-01 2.14451563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.610714057 meters Centerline goodness [0,1] 0.9801251380198749 Centerline is valid? [True, True] Translation: X:509.21, Y:-23.81, Z:2.14 [[ 9.99932209e-01 -1.10014427e-02 -3.81387641e-03 5.09207669e+02] [ 1.10023554e-02 9.99939448e-01 2.18396245e-04 -2.38108978e+01] [ 3.81124280e-03 -2.60343064e-04 9.99992703e-01 2.14255014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.640714057 meters Centerline goodness [0,1] 0.9793921252590375 Centerline is valid? [True, True] Translation: X:509.24, Y:-23.81, Z:2.14 [[ 9.99927209e-01 -1.12967454e-02 -4.23795563e-03 5.09238439e+02] [ 1.12978779e-02 9.99936147e-01 2.43370422e-04 -2.38140210e+01] [ 4.23493574e-03 -2.91232612e-04 9.99990990e-01 2.14132332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6707140569999 meters Centerline goodness [0,1] 0.9807236675637753 Centerline is valid? [True, True] Translation: X:509.27, Y:-23.81, Z:2.14 [[ 9.99926033e-01 -1.13122331e-02 -4.46795652e-03 5.09270626e+02] [ 1.13134915e-02 9.99935968e-01 2.56482809e-04 -2.38124697e+01] [ 4.46476903e-03 -3.07012026e-04 9.99989986e-01 2.14111832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7007140569999 meters Centerline goodness [0,1] 0.9816020053814134 Centerline is valid? [True, True] Translation: X:509.30, Y:-23.81, Z:2.14 [[ 9.99931489e-01 -1.06850649e-02 -4.77972577e-03 5.09303106e+02] [ 1.06864994e-02 9.99942860e-01 2.74674557e-04 -2.38119645e+01] [ 4.77651774e-03 -3.25734275e-04 9.99988539e-01 2.14044370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.730714057 meters Centerline goodness [0,1] 0.9808404443728869 Centerline is valid? [True, True] Translation: X:509.33, Y:-23.82, Z:2.14 [[ 9.99937228e-01 -1.01739140e-02 -4.69382709e-03 5.09334124e+02] [ 1.01752920e-02 9.99948194e-01 2.69798505e-04 -2.38167414e+01] [ 4.69083901e-03 -3.17542631e-04 9.99988948e-01 2.13918810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.760714057 meters Centerline goodness [0,1] 0.9818905104424451 Centerline is valid? [True, True] Translation: X:509.37, Y:-23.81, Z:2.14 [[ 9.99953508e-01 -9.01164524e-03 -3.43115475e-03 5.09365671e+02] [ 9.01237511e-03 9.99959368e-01 1.97317577e-04 -2.38095930e+01] [ 3.42923718e-03 -2.28231257e-04 9.99994094e-01 2.14129476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.790714057 meters Centerline goodness [0,1] 0.9817700540913799 Centerline is valid? [True, True] Translation: X:509.40, Y:-23.81, Z:2.14 [[ 9.99961316e-01 -8.37265622e-03 -2.69532719e-03 5.09396636e+02] [ 8.37310544e-03 9.99964933e-01 1.55424710e-04 -2.38121621e+01] [ 2.69393135e-03 -1.77986956e-04 9.99996356e-01 2.14114865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8207140569999 meters Centerline goodness [0,1] 0.9798784418454738 Centerline is valid? [True, True] Translation: X:509.43, Y:-23.82, Z:2.14 [[ 9.99958052e-01 -9.11944520e-03 -8.54052092e-04 5.09427098e+02] [ 9.11949077e-03 9.99958415e-01 4.94840398e-05 -2.38163974e+01] [ 8.53565310e-04 -5.72704842e-05 9.99999634e-01 2.14119810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8507140569999 meters Centerline goodness [0,1] 0.9798891383022584 Centerline is valid? [True, True] Translation: X:509.46, Y:-23.82, Z:2.14 [[ 9.99955421e-01 -9.44195145e-03 -7.95997263e-05 5.09458836e+02] [ 9.44195191e-03 9.99955424e-01 5.35838354e-06 -2.38193027e+01] [ 7.95455845e-05 -6.10972145e-06 9.99999997e-01 2.14076946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.880714057 meters Centerline goodness [0,1] 0.9795862068965517 Centerline is valid? [True, True] Translation: X:509.49, Y:-23.83, Z:2.14 [[ 9.99938851e-01 -1.10484602e-02 4.75114243e-04 5.09489409e+02] [ 1.10484743e-02 9.99938963e-01 -2.69720138e-05 -2.38255491e+01] [-4.74787244e-04 3.22196520e-05 9.99999887e-01 2.14052833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.910714057 meters Centerline goodness [0,1] 0.9804714423562928 Centerline is valid? [True, True] Translation: X:509.52, Y:-23.82, Z:2.14 [[ 9.99922076e-01 -1.24721692e-02 5.36348067e-04 5.09522061e+02] [ 1.24721871e-02 9.99922219e-01 -3.01049463e-05 -2.38215118e+01] [-5.35930876e-04 3.67920339e-05 9.99999856e-01 2.14202701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9407140569999 meters Centerline goodness [0,1] 0.98045102443049 Centerline is valid? [True, True] Translation: X:509.55, Y:-23.83, Z:2.14 [[ 9.99915494e-01 -1.30000093e-02 6.30014824e-05 5.09553366e+02] [ 1.30000095e-02 9.99915496e-01 -3.02607330e-06 -2.38259154e+01] [-6.29568195e-05 3.84483745e-06 9.99999998e-01 2.14126694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9707140569999 meters Centerline goodness [0,1] 0.98045102443049 Centerline is valid? [True, True] Translation: X:509.59, Y:-23.83, Z:2.14 [[ 9.99916424e-01 -1.29283193e-02 6.30124660e-05 5.09585088e+02] [ 1.29283195e-02 9.99916426e-01 -2.83625007e-06 -2.38278058e+01] [-6.29705318e-05 3.65065832e-06 9.99999998e-01 2.14091102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.000714057 meters Centerline goodness [0,1] 0.9808569660010545 Centerline is valid? [True, True] Translation: X:509.62, Y:-23.83, Z:2.14 [[ 9.99918260e-01 -1.27131177e-02 -1.36030199e-03 5.09617342e+02] [ 1.27132376e-02 9.99919180e-01 7.95128326e-05 -2.38295918e+01] [ 1.35918120e-03 -9.68001756e-05 9.99999072e-01 2.13984896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.030714057 meters Centerline goodness [0,1] 0.9818352790073622 Centerline is valid? [True, True] Translation: X:509.65, Y:-23.83, Z:2.14 [[ 9.99926276e-01 -1.19285678e-02 -2.26980505e-03 5.09649344e+02] [ 1.19288987e-02 9.99928839e-01 1.32291978e-04 -2.38321251e+01] [ 2.26806547e-03 -1.59358499e-04 9.99997415e-01 2.13860168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0607140569999 meters Centerline goodness [0,1] 0.9820536328214531 Centerline is valid? [True, True] Translation: X:509.68, Y:-23.83, Z:2.14 [[ 9.99958936e-01 -8.34998900e-03 -3.52185677e-03 5.09679431e+02] [ 8.35075910e-03 9.99965111e-01 2.04013154e-04 -2.38342479e+01] [ 3.52003039e-03 -2.33414954e-04 9.99993777e-01 2.13733799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0907140569999 meters Centerline goodness [0,1] 0.981851596600046 Centerline is valid? [True, True] Translation: X:509.71, Y:-23.83, Z:2.14 [[ 9.99975197e-01 -5.92417112e-03 -3.80904873e-03 5.09710772e+02] [ 5.92505637e-03 9.99982422e-01 2.21164587e-04 -2.38342034e+01] [ 3.80767155e-03 -2.43727930e-04 9.99992721e-01 2.13670659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.120714057 meters Centerline goodness [0,1] 0.9821670377085676 Centerline is valid? [True, True] Translation: X:509.74, Y:-23.83, Z:2.14 [[ 9.99995274e-01 1.32414692e-03 -2.77479614e-03 5.09740840e+02] [-1.32370549e-03 9.99999111e-01 1.60915091e-04 -2.38323426e+01] [ 2.77500675e-03 -1.57241317e-04 9.99996137e-01 2.13647193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.150714057 meters Centerline goodness [0,1] 0.9831007288529189 Centerline is valid? [True, True] Translation: X:509.77, Y:-23.83, Z:2.14 [[ 9.99951810e-01 9.62298775e-03 -1.94323216e-03 5.09770788e+02] [-9.62278719e-03 9.99953694e-01 1.12532173e-04 -2.38299856e+01] [ 1.94422507e-03 -9.38274409e-05 9.99998106e-01 2.13677652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1807140569999 meters Centerline goodness [0,1] 0.9840086266232276 Centerline is valid? [True, True] Translation: X:509.80, Y:-23.83, Z:2.14 [[ 9.99903207e-01 1.38617058e-02 -1.19585179e-03 5.09799408e+02] [-1.38616335e-02 9.99903921e-01 6.86766542e-05 -2.38297702e+01] [ 1.19668887e-03 -5.20935475e-05 9.99999283e-01 2.13684340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2107140569999 meters Centerline goodness [0,1] 0.9846096877965239 Centerline is valid? [True, True] Translation: X:509.83, Y:-23.83, Z:2.14 [[ 9.99756654e-01 2.20541443e-02 4.97225730e-04 5.09829195e+02] [-2.20541325e-02 9.99756778e-01 -2.91238485e-05 -2.38267635e+01] [-4.97747095e-04 1.81508792e-05 9.99999876e-01 2.13793473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.240714057 meters Centerline goodness [0,1] 0.9856523343790368 Centerline is valid? [True, True] Translation: X:509.86, Y:-23.83, Z:2.14 [[ 9.99662698e-01 2.59040962e-02 1.86253113e-03 5.09858990e+02] [-2.59039397e-02 9.99664431e-01 -1.08113601e-04 -2.38265492e+01] [-1.86470671e-03 5.98302402e-05 9.99998260e-01 2.13883707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.270714057 meters Centerline goodness [0,1] 0.9853841550430419 Centerline is valid? [True, True] Translation: X:509.89, Y:-23.83, Z:2.14 [[ 9.99481297e-01 3.18624308e-02 4.68216312e-03 5.09887939e+02] [-3.18615104e-02 9.99492256e-01 -2.71049794e-04 -2.38276133e+01] [-4.68842208e-03 1.21728411e-04 9.99989002e-01 2.13995946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3007140569999 meters Centerline goodness [0,1] 0.9860172131336671 Centerline is valid? [True, True] Translation: X:509.92, Y:-23.83, Z:2.14 [[ 9.99417999e-01 3.36681821e-02 5.48793604e-03 5.09917093e+02] [-3.36669458e-02 9.99433057e-01 -3.17540262e-04 -2.38296052e+01] [-5.49551569e-03 1.32593408e-04 9.99984891e-01 2.13988991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3307140569999 meters Centerline goodness [0,1] 0.9859077473018492 Centerline is valid? [True, True] Translation: X:509.94, Y:-23.83, Z:2.14 [[ 9.99341218e-01 3.58553172e-02 5.61486323e-03 5.09944587e+02] [-3.58540581e-02 9.99356984e-01 -3.24773794e-04 -2.38347772e+01] [-5.62289765e-03 1.23244206e-04 9.99984184e-01 2.13822302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.360714057 meters Centerline goodness [0,1] 0.9857594936708861 Centerline is valid? [True, True] Translation: X:509.97, Y:-23.84, Z:2.14 [[ 9.99351618e-01 3.55631560e-02 5.62184055e-03 5.09973622e+02] [-3.55618923e-02 9.99367423e-01 -3.24618237e-04 -2.38394874e+01] [-5.62982876e-03 1.24484473e-04 9.99984145e-01 2.13709785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.390714057 meters Centerline goodness [0,1] 0.9857106929742335 Centerline is valid? [True, True] Translation: X:510.00, Y:-23.85, Z:2.14 [[ 9.99441577e-01 3.29734944e-02 5.41136645e-03 5.10001716e+02] [-3.29722874e-02 9.99456218e-01 -3.12139914e-04 -2.38490776e+01] [-5.41871619e-03 1.33540478e-04 9.99985310e-01 2.13591711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4207140569999 meters Centerline goodness [0,1] 0.9851796202704548 Centerline is valid? [True, True] Translation: X:510.03, Y:-23.86, Z:2.13 [[ 9.99572693e-01 2.88237072e-02 4.86065120e-03 5.10030345e+02] [-2.88226860e-02 9.99584501e-01 -2.80034871e-04 -2.38593835e+01] [-4.86670324e-03 1.39818186e-04 9.99988148e-01 2.13439862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4507140569999 meters Centerline goodness [0,1] 0.9851903930329077 Centerline is valid? [True, True] Translation: X:510.06, Y:-23.86, Z:2.13 [[ 9.99644154e-01 2.62576121e-02 4.70140457e-03 5.10058556e+02] [-2.62566271e-02 9.99655199e-01 -2.71132096e-04 -2.38608956e+01] [-4.70690280e-03 1.47592588e-04 9.99988912e-01 2.13435832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.480714057 meters Centerline goodness [0,1] 0.9854357953774481 Centerline is valid? [True, True] Translation: X:510.09, Y:-23.87, Z:2.13 [[ 9.99776324e-01 2.07073072e-02 4.30218088e-03 5.10088702e+02] [-2.07064365e-02 9.99785568e-01 -2.46845863e-04 -2.38698748e+01] [-4.30636987e-03 1.57707815e-04 9.99990715e-01 2.13331580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.510714057 meters Centerline goodness [0,1] 0.9861151941385314 Centerline is valid? [True, True] Translation: X:510.12, Y:-23.88, Z:2.13 [[ 9.99836559e-01 1.75677438e-02 4.26967260e-03 5.10117870e+02] [-1.75668565e-02 9.99845661e-01 -2.45230674e-04 -2.38761720e+01] [-4.27332177e-03 1.70185867e-04 9.99990855e-01 2.13266866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.540714057 meters Centerline goodness [0,1] 0.9842003245582401 Centerline is valid? [True, True] Translation: X:510.15, Y:-23.88, Z:2.13 [[ 9.99886377e-01 1.45283925e-02 4.01977802e-03 5.10147178e+02] [-1.45275820e-02 9.99894442e-01 -2.30755048e-04 -2.38821780e+01] [-4.02270621e-03 1.72331174e-04 9.99991894e-01 2.13174453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5707140569999 meters Centerline goodness [0,1] 0.9839308893961775 Centerline is valid? [True, True] Translation: X:510.18, Y:-23.90, Z:2.13 [[ 9.99961924e-01 8.13226639e-03 3.16490372e-03 5.10176187e+02] [-8.13173301e-03 9.99966920e-01 -1.81360460e-04 -2.38951957e+01] [-3.16627389e-03 1.55617402e-04 9.99994975e-01 2.13030541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6007140569999 meters Centerline goodness [0,1] 0.9822584997301673 Centerline is valid? [True, True] Translation: X:510.21, Y:-23.91, Z:2.13 [[ 9.99995715e-01 8.91218369e-04 2.78850649e-03 5.10205118e+02] [-8.90775857e-04 9.99999590e-01 -1.59929334e-04 -2.39069454e+01] [-2.78864788e-03 1.57444715e-04 9.99996099e-01 2.12910537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.630714057 meters Centerline goodness [0,1] 0.9829046424090339 Centerline is valid? [True, True] Translation: X:510.24, Y:-23.91, Z:2.13 [[ 9.99994213e-01 -2.50300168e-03 2.30416013e-03 5.10235827e+02] [ 2.50331210e-03 9.99996858e-01 -1.31845057e-04 -2.39085134e+01] [-2.30382289e-03 1.37612326e-04 9.99997337e-01 2.12899836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.660714057 meters Centerline goodness [0,1] 0.9802566633761106 Centerline is valid? [True, True] Translation: X:510.26, Y:-23.92, Z:2.13 [[ 9.99953337e-01 -9.48067344e-03 1.85480648e-03 5.10264465e+02] [ 9.48088734e-03 9.99955050e-01 -1.06559386e-04 -2.39222925e+01] [-1.85371285e-03 1.24139625e-04 9.99998274e-01 2.12805133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6907140569999 meters Centerline goodness [0,1] 0.9798146700904321 Centerline is valid? [True, True] Translation: X:510.30, Y:-23.92, Z:2.13 [[ 9.99923561e-01 -1.21929192e-02 2.05078958e-03 5.10295759e+02] [ 1.21931849e-02 9.99925653e-01 -1.17146165e-04 -2.39239445e+01] [-2.04920876e-03 1.42142867e-04 9.99997890e-01 2.12831592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7207140569999 meters Centerline goodness [0,1] 0.9792018487245578 Centerline is valid? [True, True] Translation: X:510.33, Y:-23.93, Z:2.13 [[ 9.99857075e-01 -1.67683251e-02 2.15704173e-03 5.10325507e+02] [ 1.67686309e-02 9.99859389e-01 -1.23760285e-04 -2.39311194e+01] [-2.15466317e-03 1.59913233e-04 9.99997666e-01 2.12840561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.750714057 meters Centerline goodness [0,1] 0.9788254719086081 Centerline is valid? [True, True] Translation: X:510.36, Y:-23.93, Z:2.13 [[ 9.99831730e-01 -1.82008697e-02 2.28904531e-03 5.10358122e+02] [ 1.82012160e-02 9.99834336e-01 -1.30520359e-04 -2.39306537e+01] [-2.28629052e-03 1.72161805e-04 9.99997372e-01 2.12896800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.780714057 meters Centerline goodness [0,1] 0.9778739349600749 Centerline is valid? [True, True] Translation: X:510.39, Y:-23.93, Z:2.13 [[ 9.99803153e-01 -1.96285741e-02 2.89374948e-03 5.10389597e+02] [ 1.96291351e-02 9.99807316e-01 -1.65572583e-04 -2.39330215e+01] [-2.88994195e-03 2.22341790e-04 9.99995799e-01 2.12938904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8107140569999 meters Centerline goodness [0,1] 0.9773299748110831 Centerline is valid? [True, True] Translation: X:510.42, Y:-23.94, Z:2.13 [[ 9.99802275e-01 -1.96629758e-02 2.96269295e-03 5.10420590e+02] [ 1.96635624e-02 9.99806639e-01 -1.69009790e-04 -2.39362976e+01] [-2.95879684e-03 2.27233470e-04 9.99995597e-01 2.12899002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8407140569999 meters Centerline goodness [0,1] 0.9777922048848194 Centerline is valid? [True, True] Translation: X:510.45, Y:-23.93, Z:2.13 [[ 9.99800743e-01 -1.98339700e-02 2.25545200e-03 5.10452834e+02] [ 1.98343116e-02 9.99803272e-01 -1.29183922e-04 -2.39345566e+01] [-2.25244606e-03 1.73893519e-04 9.99997448e-01 2.12866279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.870714057 meters Centerline goodness [0,1] 0.9770094417535323 Centerline is valid? [True, True] Translation: X:510.48, Y:-23.93, Z:2.13 [[ 9.99795754e-01 -2.01765063e-02 1.16538386e-03 5.10484733e+02] [ 2.01765973e-02 9.99796430e-01 -6.64412975e-05 -2.39347453e+01] [-1.16380606e-03 8.99412080e-05 9.99999319e-01 2.12724562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.900714057 meters Centerline goodness [0,1] 0.9770772358631784 Centerline is valid? [True, True] Translation: X:510.52, Y:-23.94, Z:2.13 [[ 9.99787326e-01 -2.06067928e-02 8.14378105e-04 5.10515526e+02] [ 2.06068374e-02 9.99787656e-01 -4.64369963e-05 -2.39383215e+01] [-8.13248258e-04 6.32088775e-05 9.99999667e-01 2.12622826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9307140569999 meters Centerline goodness [0,1] 0.9769495617957431 Centerline is valid? [True, True] Translation: X:510.55, Y:-23.94, Z:2.13 [[ 9.99750927e-01 -2.23178115e-02 1.06541050e-05 5.10546674e+02] [ 2.23178115e-02 9.99750927e-01 -4.16802832e-07 -2.39382103e+01] [-1.06421492e-05 6.54475325e-07 1.00000000e+00 2.12520377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9607140569999 meters Centerline goodness [0,1] 0.9767379439921267 Centerline is valid? [True, True] Translation: X:510.58, Y:-23.94, Z:2.12 [[ 9.99730848e-01 -2.31961609e-02 -4.11648115e-04 5.10578574e+02] [ 2.31961729e-02 9.99730932e-01 2.46146032e-05 -2.39391950e+01] [ 4.10966390e-04 -3.41566390e-05 9.99999915e-01 2.12463138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.990714057 meters Centerline goodness [0,1] 0.976490400808353 Centerline is valid? [True, True] Translation: X:510.61, Y:-23.94, Z:2.12 [[ 9.99651747e-01 -2.63342192e-02 -1.70086322e-03 5.10608745e+02] [ 2.63344246e-02 9.99653184e-01 9.84360930e-05 -2.39416797e+01] [ 1.69768110e-03 -1.43193067e-04 9.99998549e-01 2.12292443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.020714057 meters Centerline goodness [0,1] 0.9762016491251592 Centerline is valid? [True, True] Translation: X:510.64, Y:-23.94, Z:2.12 [[ 9.99606343e-01 -2.79703088e-02 -2.19582467e-03 5.10639599e+02] [ 2.79706554e-02 9.99608737e-01 1.27269965e-04 -2.39444998e+01] [ 2.19140575e-03 -1.88638520e-04 9.99997581e-01 2.12206965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0507140569999 meters Centerline goodness [0,1] 0.9753670290261123 Centerline is valid? [True, True] Translation: X:510.67, Y:-23.95, Z:2.12 [[ 9.99508000e-01 -3.11726016e-02 -3.46800990e-03 5.10669631e+02] [ 3.11734842e-02 9.99513969e-01 2.00728118e-04 -2.39473639e+01] [ 3.46006712e-03 -3.08739312e-04 9.99993966e-01 2.12031307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0807140569999 meters Centerline goodness [0,1] 0.9706872559141716 Centerline is valid? [True, True] Translation: X:510.70, Y:-23.95, Z:2.12 [[ 9.99413908e-01 -3.38629068e-02 -5.01445902e-03 5.10699017e+02] [ 3.38647843e-02 9.99426382e-01 2.89967246e-04 -2.39509456e+01] [ 5.00176350e-03 -4.59610872e-04 9.99987385e-01 2.11830645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.110714057 meters Centerline goodness [0,1] 0.9691104988464037 Centerline is valid? [True, True] Translation: X:510.73, Y:-23.95, Z:2.12 [[ 9.99387122e-01 -3.45877178e-02 -5.39172207e-03 5.10731082e+02] [ 3.45899061e-02 9.99401541e-01 3.13111417e-04 -2.39529324e+01] [ 5.37766553e-03 -4.99418678e-04 9.99985416e-01 2.11744839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.140714057 meters Centerline goodness [0,1] 0.9742139073594049 Centerline is valid? [True, True] Translation: X:510.76, Y:-23.95, Z:2.12 [[ 9.99367654e-01 -3.50968897e-02 -5.70084743e-03 5.10763965e+02] [ 3.50993466e-02 9.99383773e-01 3.31470059e-04 -2.39451275e+01] [ 5.68570084e-03 -5.31356475e-04 9.99983695e-01 2.11888118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1707140569999 meters Centerline goodness [0,1] 0.9651716699622506 Centerline is valid? [True, True] Translation: X:510.79, Y:-23.95, Z:2.12 [[ 9.99400292e-01 -3.42893236e-02 -4.82689490e-03 5.10793966e+02] [ 3.42910737e-02 9.99411849e-01 2.80252677e-04 -2.39539000e+01] [ 4.81444628e-03 -4.45604015e-04 9.99988311e-01 2.11788503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2007140569999 meters Centerline goodness [0,1] 0.975435120347646 Centerline is valid? [True, True] Translation: X:510.83, Y:-23.94, Z:2.12 [[ 9.99467950e-01 -3.24275500e-02 -3.50288836e-03 5.10825582e+02] [ 3.24284607e-02 9.99474038e-01 2.03498681e-04 -2.39430143e+01] [ 3.49444702e-03 -3.16983687e-04 9.99993844e-01 2.12123705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.230714057 meters Centerline goodness [0,1] 0.9733381453995895 Centerline is valid? [True, True] Translation: X:510.86, Y:-23.94, Z:2.12 [[ 9.99517898e-01 -3.09165247e-02 -2.85310847e-03 5.10856543e+02] [ 3.09171238e-02 9.99521938e-01 1.66093858e-04 -2.39445956e+01] [ 2.84660946e-03 -2.54223692e-04 9.99995916e-01 2.12165138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.260714057 meters Centerline goodness [0,1] 0.9740912780734193 Centerline is valid? [True, True] Translation: X:510.89, Y:-23.94, Z:2.12 [[ 9.99639657e-01 -2.68371996e-02 -5.67209462e-04 5.10887970e+02] [ 2.68372227e-02 9.99639816e-01 3.30467354e-05 -2.39386730e+01] [ 5.66118280e-04 -4.82571539e-05 9.99999839e-01 2.12384840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.290714057 meters Centerline goodness [0,1] 0.9746641074856046 Centerline is valid? [True, True] Translation: X:510.92, Y:-23.94, Z:2.12 [[ 9.99694354e-01 -2.47188431e-02 4.20243792e-04 5.10918342e+02] [ 2.47188555e-02 9.99694442e-01 -2.44086908e-05 -2.39388780e+01] [-4.19512028e-04 3.47891760e-05 9.99999911e-01 2.12428426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3207140569999 meters Centerline goodness [0,1] 0.9763496724644228 Centerline is valid? [True, True] Translation: X:510.95, Y:-23.93, Z:2.13 [[ 9.99806900e-01 -1.95548331e-02 1.94203608e-03 5.10949792e+02] [ 1.95550886e-02 9.99808775e-01 -1.12646471e-04 -2.39329269e+01] [-1.93946193e-03 1.50601406e-04 9.99998108e-01 2.12511753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3507140569999 meters Centerline goodness [0,1] 0.9752090528994728 Centerline is valid? [True, True] Translation: X:510.98, Y:-23.93, Z:2.12 [[ 9.99902816e-01 -1.38128291e-02 1.88793979e-03 5.10979452e+02] [ 1.38130611e-02 9.99904589e-01 -1.09871042e-04 -2.39299524e+01] [-1.88624203e-03 1.35938592e-04 9.99998212e-01 2.12464241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.380714057 meters Centerline goodness [0,1] 0.9774205980367708 Centerline is valid? [True, True] Translation: X:511.01, Y:-23.93, Z:2.12 [[ 9.99941431e-01 -1.07649688e-02 1.11815680e-03 5.11010382e+02] [ 1.07650479e-02 9.99942053e-01 -6.47633437e-05 -2.39289367e+01] [-1.11739483e-03 7.67965621e-05 9.99999373e-01 2.12404704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.410714057 meters Centerline goodness [0,1] 0.9775198757196382 Centerline is valid? [True, True] Translation: X:511.04, Y:-23.92, Z:2.12 [[ 9.99989190e-01 -4.51788170e-03 -1.09896812e-03 5.11041725e+02] [ 4.51795481e-03 9.99989792e-01 6.40486121e-05 -2.39236940e+01] [ 1.09866754e-03 -6.90130081e-05 9.99999394e-01 2.12196793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4407140569999 meters Centerline goodness [0,1] 0.9785227867993714 Centerline is valid? [True, True] Translation: X:511.07, Y:-23.92, Z:2.12 [[ 9.99998460e-01 -8.03726373e-04 -1.55995258e-03 5.11072853e+02] [ 8.03869111e-04 9.99999673e-01 9.08766399e-05 -2.39227592e+01] [ 1.55987903e-03 -9.21304977e-05 9.99998779e-01 2.12088771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4707140569999 meters Centerline goodness [0,1] 0.9799063820070785 Centerline is valid? [True, True] Translation: X:511.10, Y:-23.92, Z:2.12 [[ 9.99976394e-01 6.38596527e-03 -2.53591885e-03 5.11103640e+02] [-6.38561202e-03 9.99979601e-01 1.47373435e-04 -2.39167137e+01] [ 2.53680824e-03 -1.31176562e-04 9.99996774e-01 2.11973356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.500714057 meters Centerline goodness [0,1] 0.9813073394495413 Centerline is valid? [True, True] Translation: X:511.13, Y:-23.92, Z:2.12 [[ 9.99945579e-01 9.95055002e-03 -3.13465325e-03 5.11134163e+02] [-9.95002840e-03 9.99950481e-01 1.81956128e-04 -2.39156292e+01] [ 3.13630859e-03 -1.50756337e-04 9.99995070e-01 2.11918296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.530714057 meters Centerline goodness [0,1] 0.982582789045491 Centerline is valid? [True, True] Translation: X:511.16, Y:-23.91, Z:2.12 [[ 9.99859433e-01 1.64830890e-02 -3.06961327e-03 5.11164573e+02] [-1.64826191e-02 9.99864137e-01 1.78335911e-04 -2.39115343e+01] [ 3.07213575e-03 -1.27715576e-04 9.99995273e-01 2.11934803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5607140569999 meters Centerline goodness [0,1] 0.9823530761640314 Centerline is valid? [True, True] Translation: X:511.19, Y:-23.91, Z:2.12 [[ 9.99802548e-01 1.97043555e-02 -2.56952145e-03 5.11194935e+02] [-1.97040374e-02 9.99805845e-01 1.49064580e-04 -2.39109449e+01] [ 2.57195979e-03 -9.84052000e-05 9.99996688e-01 2.11987133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5907140569999 meters Centerline goodness [0,1] 0.9847098316931849 Centerline is valid? [True, True] Translation: X:511.22, Y:-23.91, Z:2.12 [[ 9.99675468e-01 2.54218915e-02 -1.63922684e-03 5.11224261e+02] [-2.54217702e-02 9.99676810e-01 9.47750972e-05 -2.39093021e+01] [ 1.64110642e-03 -5.30722916e-05 9.99998652e-01 2.12027075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.620714057 meters Centerline goodness [0,1] 0.9841978148361127 Centerline is valid? [True, True] Translation: X:511.25, Y:-23.91, Z:2.12 [[ 9.99635186e-01 2.69544107e-02 -1.71865551e-03 5.11252436e+02] [-2.69542805e-02 9.99636662e-01 9.88837882e-05 -2.39116980e+01] [ 1.72069641e-03 -5.25225914e-05 9.99998518e-01 2.11891759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.650714057 meters Centerline goodness [0,1] 0.9857594936708861 Centerline is valid? [True, True] Translation: X:511.28, Y:-23.91, Z:2.12 [[ 9.99580828e-01 2.89314840e-02 -1.06681628e-03 5.11281804e+02] [-2.89314351e-02 9.99581397e-01 6.12092673e-05 -2.39112533e+01] [ 1.06814059e-03 -3.03190839e-05 9.99999429e-01 2.11997094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6807140569999 meters Centerline goodness [0,1] 0.9867581585349061 Centerline is valid? [True, True] Translation: X:511.31, Y:-23.91, Z:2.12 [[ 9.99578367e-01 2.90244970e-02 -8.16419576e-04 5.11311024e+02] [-2.90244694e-02 9.99578700e-01 4.56457997e-05 -2.39127455e+01] [ 8.17400465e-04 -2.19304089e-05 9.99999666e-01 2.12011522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7107140569999 meters Centerline goodness [0,1] 0.9852806519549492 Centerline is valid? [True, True] Translation: X:511.34, Y:-23.92, Z:2.12 [[ 9.99610253e-01 2.79148245e-02 -3.24914524e-04 5.11339252e+02] [-2.79148202e-02 9.99610305e-01 1.79626747e-05 -2.39168890e+01] [ 3.25289332e-04 -8.88574323e-06 9.99999947e-01 2.12099067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.740714057 meters Centerline goodness [0,1] 0.9852348686017764 Centerline is valid? [True, True] Translation: X:511.37, Y:-23.93, Z:2.12 [[ 9.99653911e-01 2.63031356e-02 4.51081289e-04 5.11366571e+02] [-2.63031261e-02 9.99654013e-01 -2.69824063e-05 -2.39273258e+01] [-4.51634943e-04 1.51082199e-05 9.99999898e-01 2.11941250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.770714057 meters Centerline goodness [0,1] 0.9852595550484883 Centerline is valid? [True, True] Translation: X:511.39, Y:-23.93, Z:2.12 [[ 9.99668688e-01 2.57344167e-02 5.03329079e-04 5.11394134e+02] [-2.57344047e-02 9.99668815e-01 -3.02446541e-05 -2.39314255e+01] [-5.03940713e-04 1.72817595e-05 9.99999873e-01 2.11911569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8007140569999 meters Centerline goodness [0,1] 0.9849769753339717 Centerline is valid? [True, True] Translation: X:511.42, Y:-23.93, Z:2.12 [[ 9.99731400e-01 2.31717295e-02 -4.45504954e-04 5.11423417e+02] [-2.31717207e-02 9.99731499e-01 2.50074437e-05 -2.39313563e+01] [ 4.45964802e-04 -1.46776103e-05 9.99999900e-01 2.11984693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8307140569999 meters Centerline goodness [0,1] 0.9861386138613861 Centerline is valid? [True, True] Translation: X:511.45, Y:-23.94, Z:2.12 [[ 9.99763658e-01 2.17361433e-02 -4.09215206e-04 5.11451692e+02] [-2.17361358e-02 9.99763742e-01 2.26948385e-05 -2.39356250e+01] [ 4.09611824e-04 -1.37947175e-05 9.99999916e-01 2.11865011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.860714057 meters Centerline goodness [0,1] 0.9861386138613861 Centerline is valid? [True, True] Translation: X:511.48, Y:-23.94, Z:2.12 [[ 9.99765966e-01 2.16297545e-02 -4.09240627e-04 5.11479122e+02] [-2.16297472e-02 9.99766049e-01 2.22507803e-05 -2.39371096e+01] [ 4.09626164e-04 -1.33938015e-05 9.99999916e-01 2.11834192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.890714057 meters Centerline goodness [0,1] 0.9854578299649994 Centerline is valid? [True, True] Translation: X:511.51, Y:-23.95, Z:2.12 [[ 9.99840608e-01 1.78251917e-02 -1.01005240e-03 5.11506720e+02] [-1.78251432e-02 9.99841118e-01 5.70036232e-05 -2.39455821e+01] [ 1.01090802e-03 -3.89902087e-05 9.99999488e-01 2.11707531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9207140569999 meters Centerline goodness [0,1] 0.9857217324297985 Centerline is valid? [True, True] Translation: X:511.54, Y:-23.95, Z:2.12 [[ 9.99877223e-01 1.55954584e-02 -1.52358956e-03 5.11536456e+02] [-1.55953443e-02 9.99878381e-01 8.67294178e-05 -2.39488283e+01] [ 1.52475685e-03 -6.29578655e-05 9.99998836e-01 2.11697542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9507140569999 meters Centerline goodness [0,1] 0.9849200786778504 Centerline is valid? [True, True] Translation: X:511.57, Y:-23.96, Z:2.12 [[ 9.99918533e-01 1.27243152e-02 -1.00985055e-03 5.11565573e+02] [-1.27242638e-02 9.99919042e-01 5.73187368e-05 -2.39556570e+01] [ 1.01049813e-03 -4.44644625e-05 9.99999488e-01 2.11724789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.980714057 meters Centerline goodness [0,1] 0.9833280550151563 Centerline is valid? [True, True] Translation: X:511.59, Y:-23.96, Z:2.12 [[ 9.99934279e-01 1.14259941e-02 -9.40856740e-04 5.11593734e+02] [-1.14259496e-02 9.99934720e-01 5.27016275e-05 -2.39587632e+01] [ 9.41397489e-04 -4.19479821e-05 9.99999556e-01 2.11725689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.010714057 meters Centerline goodness [0,1] 0.9831987584624727 Centerline is valid? [True, True] Translation: X:511.62, Y:-23.96, Z:2.12 [[ 9.99947347e-01 1.01204435e-02 -1.69698787e-03 5.11621636e+02] [-1.01202956e-02 9.99948784e-01 9.57071604e-05 -2.39640740e+01] [ 1.69786956e-03 -7.85281023e-05 9.99998556e-01 2.11660196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.040714057 meters Centerline goodness [0,1] 0.9832468728244514 Centerline is valid? [True, True] Translation: X:511.65, Y:-23.97, Z:2.12 [[ 9.99955324e-01 9.26324452e-03 -1.88206868e-03 5.11650455e+02] [-9.26306079e-03 9.99957091e-01 1.06319752e-04 -2.39686585e+01] [ 1.88297278e-03 -8.88812858e-05 9.99998223e-01 2.11541570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0707140569999 meters Centerline goodness [0,1] 0.9830928206398163 Centerline is valid? [True, True] Translation: X:511.68, Y:-23.97, Z:2.11 [[ 9.99958134e-01 8.88774556e-03 -2.17687110e-03 5.11678948e+02] [-8.88749893e-03 9.99960498e-01 1.22944771e-04 -2.39714177e+01] [ 2.17787781e-03 -1.03592685e-04 9.99997623e-01 2.11494000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1007140569999 meters Centerline goodness [0,1] 0.982464412411873 Centerline is valid? [True, True] Translation: X:511.71, Y:-23.98, Z:2.11 [[ 9.99964655e-01 7.80073573e-03 -3.13632066e-03 5.11706415e+02] [-7.80021881e-03 9.99969562e-01 1.77018025e-04 -2.39751558e+01] [ 3.13760606e-03 -1.52547781e-04 9.99995066e-01 2.11394628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.130714057 meters Centerline goodness [0,1] 0.983754675318823 Centerline is valid? [True, True] Translation: X:511.74, Y:-23.97, Z:2.11 [[ 9.99965077e-01 7.41614586e-03 -3.85310178e-03 5.11735585e+02] [-7.41536238e-03 9.99972482e-01 2.17583541e-04 -2.39739193e+01] [ 3.85460938e-03 -1.89003797e-04 9.99992553e-01 2.11395148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.160714057 meters Centerline goodness [0,1] 0.9827132741373497 Centerline is valid? [True, True] Translation: X:511.76, Y:-23.98, Z:2.11 [[ 9.99961601e-01 6.50176070e-03 -5.87561845e-03 5.11762629e+02] [-6.49992481e-03 9.99978820e-01 3.31500677e-04 -2.39815199e+01] [ 5.87764934e-03 -2.93296870e-04 9.99982683e-01 2.11013035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1907140569999 meters Centerline goodness [0,1] 0.9829724853405503 Centerline is valid? [True, True] Translation: X:511.79, Y:-23.98, Z:2.11 [[ 9.99956250e-01 6.17998687e-03 -7.02174143e-03 5.11789770e+02] [-6.17736154e-03 9.99980842e-01 3.95512978e-04 -2.39845489e+01] [ 7.02405117e-03 -3.52119839e-04 9.99975269e-01 2.10848316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2207140569999 meters Centerline goodness [0,1] 0.9820571196717985 Centerline is valid? [True, True] Translation: X:511.82, Y:-23.99, Z:2.11 [[ 9.99957643e-01 5.32010667e-03 -7.51059194e-03 5.11818229e+02] [-5.31707918e-03 9.99985775e-01 4.23006719e-04 -2.39866097e+01] [ 7.51273554e-03 -3.83054389e-04 9.99971706e-01 2.10798193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.250714057 meters Centerline goodness [0,1] 0.9826620913852266 Centerline is valid? [True, True] Translation: X:511.85, Y:-23.99, Z:2.11 [[ 9.99957595e-01 4.32576132e-03 -8.12988558e-03 5.11847111e+02] [-4.32218506e-03 9.99990555e-01 4.57408768e-04 -2.39885265e+01] [ 8.13178744e-03 -4.22250501e-04 9.99966847e-01 2.10757250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.280714057 meters Centerline goodness [0,1] 0.9810857117092745 Centerline is valid? [True, True] Translation: X:511.87, Y:-23.99, Z:2.11 [[ 9.99966837e-01 2.91552187e-03 -7.60422160e-03 5.11874687e+02] [-2.91236150e-03 9.99995668e-01 4.26647433e-04 -2.39916391e+01] [ 7.60543256e-03 -4.04487042e-04 9.99970996e-01 2.10764153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3107140569999 meters Centerline goodness [0,1] 0.9830844873471966 Centerline is valid? [True, True] Translation: X:511.90, Y:-23.99, Z:2.11 [[ 9.99973570e-01 2.27378308e-03 -6.90568060e-03 5.11903847e+02] [-2.27116308e-03 9.99997346e-01 3.87217170e-04 -2.39880549e+01] [ 6.90654272e-03 -3.71523009e-04 9.99976081e-01 2.11030232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3407140569999 meters Centerline goodness [0,1] 0.9804553651938683 Centerline is valid? [True, True] Translation: X:511.93, Y:-24.00, Z:2.11 [[ 9.99983701e-01 1.13974448e-03 -5.59448482e-03 5.11931336e+02] [-1.13801181e-03 9.99999304e-01 3.12883943e-04 -2.39967167e+01] [ 5.59483753e-03 -3.06512253e-04 9.99984302e-01 2.10921217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.370714057 meters Centerline goodness [0,1] 0.9814651567550462 Centerline is valid? [True, True] Translation: X:511.96, Y:-23.99, Z:2.11 [[ 9.99988420e-01 8.11582275e-04 -4.74357016e-03 5.11960294e+02] [-8.10334226e-04 9.99999637e-01 2.65019412e-04 -2.39926151e+01] [ 4.74378352e-03 -2.61172466e-04 9.99988714e-01 2.11133929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.400714057 meters Centerline goodness [0,1] 0.9810399764977062 Centerline is valid? [True, True] Translation: X:511.99, Y:-23.99, Z:2.11 [[ 9.99994905e-01 1.19900335e-03 -2.95848279e-03 5.11989450e+02] [-1.19852101e-03 9.99999268e-01 1.64804376e-04 -2.39933333e+01] [ 2.95867822e-03 -1.61257732e-04 9.99995610e-01 2.11267294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4307140569999 meters Centerline goodness [0,1] 0.979577115549344 Centerline is valid? [True, True] Translation: X:512.02, Y:-24.00, Z:2.11 [[ 9.99996620e-01 1.27967569e-03 -2.26316297e-03 5.12017538e+02] [-1.27939386e-03 9.99999174e-01 1.25971898e-04 -2.39963552e+01] [ 2.26332230e-03 -1.23075996e-04 9.99997431e-01 2.11236094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4607140569999 meters Centerline goodness [0,1] 0.980601598843774 Centerline is valid? [True, True] Translation: X:512.05, Y:-24.00, Z:2.11 [[ 9.99999401e-01 8.74405135e-05 -1.09148858e-03 5.12047502e+02] [-8.73744143e-05 9.99999994e-01 6.06063057e-05 -2.39950618e+01] [ 1.09149388e-03 -6.05109012e-05 9.99999402e-01 2.11330952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.490714057 meters Centerline goodness [0,1] 0.9793190643908607 Centerline is valid? [True, True] Translation: X:512.08, Y:-24.00, Z:2.11 [[ 9.99998451e-01 -1.11552127e-03 -1.36137144e-03 5.12078371e+02] [ 1.11562586e-03 9.99999375e-01 7.60702763e-05 -2.39960849e+01] [ 1.36128573e-03 -7.75889397e-05 9.99999070e-01 2.11291818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.520714057 meters Centerline goodness [0,1] 0.9802804853341738 Centerline is valid? [True, True] Translation: X:512.11, Y:-24.00, Z:2.11 [[ 9.99993668e-01 -3.27664557e-03 -1.38863719e-03 5.12108595e+02] [ 3.27675647e-03 9.99994628e-01 7.75938228e-05 -2.39979354e+01] [ 1.38837548e-03 -8.21435574e-05 9.99999033e-01 2.11135259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5507140569999 meters Centerline goodness [0,1] 0.9801433837664246 Centerline is valid? [True, True] Translation: X:512.14, Y:-24.00, Z:2.11 [[ 9.99986812e-01 -4.80986387e-03 -1.80037800e-03 5.12138117e+02] [ 4.81005276e-03 9.99988427e-01 1.00600944e-04 -2.40023456e+01] [ 1.79987329e-03 -1.09259530e-04 9.99998374e-01 2.10950089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5807140569999 meters Centerline goodness [0,1] 0.9782735295435201 Centerline is valid? [True, True] Translation: X:512.17, Y:-24.01, Z:2.11 [[ 9.99970721e-01 -7.05831071e-03 -2.95587907e-03 5.12168026e+02] [ 7.05883039e-03 9.99975072e-01 1.65413929e-04 -2.40100494e+01] [ 2.95463785e-03 -1.86274135e-04 9.99995618e-01 2.10783800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.610714057 meters Centerline goodness [0,1] 0.9801651023408345 Centerline is valid? [True, True] Translation: X:512.20, Y:-24.00, Z:2.11 [[ 9.99950411e-01 -9.15948231e-03 -3.90900240e-03 5.12199576e+02] [ 9.16040721e-03 9.99958019e-01 2.18769430e-04 -2.40031750e+01] [ 3.90683448e-03 -2.54566635e-04 9.99992336e-01 2.10918839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.640714057 meters Centerline goodness [0,1] 0.9795936733637816 Centerline is valid? [True, True] Translation: X:512.23, Y:-24.01, Z:2.11 [[ 9.99951131e-01 -9.32053235e-03 -3.29586831e-03 5.12230418e+02] [ 9.32119277e-03 9.99956540e-01 1.85072649e-04 -2.40107406e+01] [ 3.29400010e-03 -2.15785029e-04 9.99994551e-01 2.10759198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6707140569999 meters Centerline goodness [0,1] 0.9803674067395469 Centerline is valid? [True, True] Translation: X:512.26, Y:-24.01, Z:2.11 [[ 9.99957988e-01 -8.65269996e-03 -3.02543399e-03 5.12262430e+02] [ 8.65325479e-03 9.99962545e-01 1.70343758e-04 -2.40083389e+01] [ 3.02384674e-03 -1.96516452e-04 9.99995409e-01 2.10865301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7007140569999 meters Centerline goodness [0,1] 0.9811047498359394 Centerline is valid? [True, True] Translation: X:512.29, Y:-24.01, Z:2.11 [[ 9.99961267e-01 -8.37570412e-03 -2.70426285e-03 5.12294649e+02] [ 8.37614721e-03 9.99964908e-01 1.52561543e-04 -2.40066999e+01] [ 2.70289014e-03 -1.75206938e-04 9.99996332e-01 2.10923151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.730714057 meters Centerline goodness [0,1] 0.9775349119611415 Centerline is valid? [True, True] Translation: X:512.33, Y:-24.02, Z:2.11 [[ 9.99969640e-01 -7.61802652e-03 -1.63867240e-03 5.12325347e+02] [ 7.61819014e-03 9.99970977e-01 9.36247631e-05 -2.40183989e+01] [ 1.63791161e-03 -1.06105639e-04 9.99998653e-01 2.10743806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.760714057 meters Centerline goodness [0,1] 0.9800788686429154 Centerline is valid? [True, True] Translation: X:512.36, Y:-24.01, Z:2.11 [[ 9.99968000e-01 -7.97160271e-03 -6.73092979e-04 5.12358236e+02] [ 7.97163058e-03 9.99968225e-01 3.87373336e-05 -2.40068206e+01] [ 6.72762793e-04 -4.41017426e-05 9.99999773e-01 2.10968387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.790714057 meters Centerline goodness [0,1] 0.9787421696555779 Centerline is valid? [True, True] Translation: X:512.39, Y:-24.01, Z:2.11 [[ 9.99960811e-01 -8.85305342e-03 1.21127176e-05 5.12388950e+02] [ 8.85305342e-03 9.99960811e-01 -6.42439892e-08 -2.40122878e+01] [-1.21116741e-05 1.71476009e-07 1.00000000e+00 2.10857869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8207140569999 meters Centerline goodness [0,1] 0.9785439746778205 Centerline is valid? [True, True] Translation: X:512.42, Y:-24.02, Z:2.11 [[ 9.99951413e-01 -9.85653287e-03 1.45467595e-04 5.12420153e+02] [ 9.85653408e-03 9.99951423e-01 -7.60186457e-06 -2.40156735e+01] [-1.45385601e-04 9.03530153e-06 9.99999989e-01 2.10774765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8507140569999 meters Centerline goodness [0,1] 0.9780371089341339 Centerline is valid? [True, True] Translation: X:512.45, Y:-24.02, Z:2.11 [[ 9.99914436e-01 -1.30772590e-02 3.24994070e-04 5.12451178e+02] [ 1.30772655e-02 9.99914489e-01 -1.79478534e-05 -2.40162008e+01] [-3.24731570e-04 2.21963514e-05 9.99999947e-01 2.10786623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.880714057 meters Centerline goodness [0,1] 0.9776053765138359 Centerline is valid? [True, True] Translation: X:512.48, Y:-24.02, Z:2.11 [[ 9.99886726e-01 -1.50509745e-02 5.22135507e-05 5.12482468e+02] [ 1.50509746e-02 9.99886728e-01 -2.54601714e-06 -2.40184845e+01] [-5.21693163e-05 3.33159357e-06 9.99999999e-01 2.10784439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.910714057 meters Centerline goodness [0,1] 0.9768125112999457 Centerline is valid? [True, True] Translation: X:512.51, Y:-24.02, Z:2.11 [[ 9.99804381e-01 -1.97783244e-02 -1.29854181e-04 5.12513097e+02] [ 1.97783255e-02 9.99804390e-01 7.63368310e-06 -2.40241909e+01] [ 1.29677798e-04 -1.02004881e-05 9.99999992e-01 2.10690533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9407140569999 meters Centerline goodness [0,1] 0.9754407349721226 Centerline is valid? [True, True] Translation: X:512.54, Y:-24.03, Z:2.11 [[ 9.99750304e-01 -2.23436136e-02 -3.03450971e-04 5.12543722e+02] [ 2.23436199e-02 9.99750350e-01 1.73626218e-05 -2.40255485e+01] [ 3.02987270e-04 -2.41384796e-05 9.99999954e-01 2.10659880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9707140569999 meters Centerline goodness [0,1] 0.9744972475002809 Centerline is valid? [True, True] Translation: X:512.57, Y:-24.03, Z:2.11 [[ 9.99687814e-01 -2.49822469e-02 -4.02261182e-04 5.12573605e+02] [ 2.49822581e-02 9.99687894e-01 2.27452148e-05 -2.40331019e+01] [ 4.01567407e-04 -3.27875067e-05 9.99999919e-01 2.10523001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.000714057 meters Centerline goodness [0,1] 0.9740212881111312 Centerline is valid? [True, True] Translation: X:512.60, Y:-24.04, Z:2.10 [[ 9.99561993e-01 -2.95812362e-02 -8.78928693e-04 5.12604555e+02] [ 2.95812915e-02 9.99562377e-01 5.00463276e-05 -2.40395798e+01] [ 8.77063621e-04 -7.60242528e-05 9.99999612e-01 2.10363254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.030714057 meters Centerline goodness [0,1] 0.9739549332552957 Centerline is valid? [True, True] Translation: X:512.64, Y:-24.04, Z:2.10 [[ 9.99472228e-01 -3.24756145e-02 -7.73931174e-04 5.12635024e+02] [ 3.24756582e-02 9.99472526e-01 4.38858557e-05 -2.40427349e+01] [ 7.72097725e-04 -6.89966182e-05 9.99999700e-01 2.10301125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0607140569999 meters Centerline goodness [0,1] 0.9746659180235823 Centerline is valid? [True, True] Translation: X:512.67, Y:-24.04, Z:2.10 [[ 9.99444712e-01 -3.33108186e-02 -8.10166086e-04 5.12666793e+02] [ 3.33108671e-02 9.99445038e-01 4.64898939e-05 -2.40416982e+01] [ 8.08167859e-04 -7.34514135e-05 9.99999671e-01 2.10307114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0907140569999 meters Centerline goodness [0,1] 0.9746997706112536 Centerline is valid? [True, True] Translation: X:512.70, Y:-24.04, Z:2.10 [[ 9.99464290e-01 -3.27266297e-02 -3.17601428e-04 5.12698604e+02] [ 3.27266373e-02 9.99464340e-01 1.88165412e-05 -2.40423978e+01] [ 3.16815499e-04 -2.92004877e-05 9.99999949e-01 2.10361381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.120714057 meters Centerline goodness [0,1] 0.9742621439971227 Centerline is valid? [True, True] Translation: X:512.73, Y:-24.04, Z:2.10 [[ 9.99500412e-01 -3.16039495e-02 3.42330183e-04 5.12730274e+02] [ 3.16039578e-02 9.99500470e-01 -1.88270723e-05 -2.40433035e+01] [-3.41564169e-04 2.96366552e-05 9.99999941e-01 2.10326289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.150714057 meters Centerline goodness [0,1] 0.9756048114610082 Centerline is valid? [True, True] Translation: X:512.76, Y:-24.04, Z:2.10 [[ 9.99568709e-01 -2.93636753e-02 4.12525371e-04 5.12761514e+02] [ 2.93636874e-02 9.99568794e-01 -2.32229005e-05 -2.40428372e+01] [-4.11665578e-04 3.53261507e-05 9.99999915e-01 2.10316372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1807140569999 meters Centerline goodness [0,1] 0.9742250635931837 Centerline is valid? [True, True] Translation: X:512.79, Y:-24.05, Z:2.10 [[ 9.99599965e-01 -2.82825125e-02 9.86292449e-05 5.12791332e+02] [ 2.82825132e-02 9.99599970e-01 -5.40333312e-06 -2.40483809e+01] [-9.84369704e-05 8.19065451e-06 9.99999995e-01 2.10145189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2107140569999 meters Centerline goodness [0,1] 0.9750984141266449 Centerline is valid? [True, True] Translation: X:512.82, Y:-24.04, Z:2.10 [[ 9.99621031e-01 -2.74703465e-02 -1.78175834e-03 5.12823635e+02] [ 2.74705718e-02 9.99622607e-01 1.02127985e-04 -2.40436787e+01] [ 1.77828042e-03 -1.51035202e-04 9.99998407e-01 2.09986454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.240714057 meters Centerline goodness [0,1] 0.9767205792786087 Centerline is valid? [True, True] Translation: X:512.86, Y:-24.04, Z:2.10 [[ 9.99644499e-01 -2.65015648e-02 -2.92273223e-03 5.12855892e+02] [ 2.65021662e-02 9.99648742e-01 1.67222504e-04 -2.40441615e+01] [ 2.91727394e-03 -2.44621792e-04 9.99995715e-01 2.09809661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.270714057 meters Centerline goodness [0,1] 0.9767504853054039 Centerline is valid? [True, True] Translation: X:512.89, Y:-24.05, Z:2.10 [[ 9.99656656e-01 -2.60139057e-02 -3.13795827e-03 5.12888563e+02] [ 2.60145990e-02 9.99661547e-01 1.80316326e-04 -2.40455243e+01] [ 3.13220549e-03 -2.61887142e-04 9.99995060e-01 2.09714205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3007140569999 meters Centerline goodness [0,1] 0.9751980320913542 Centerline is valid? [True, True] Translation: X:512.92, Y:-24.05, Z:2.10 [[ 9.99663508e-01 -2.57041323e-02 -3.48824286e-03 5.12919552e+02] [ 2.57049849e-02 9.99669552e-01 1.99803590e-04 -2.40485346e+01] [ 3.48195440e-03 -2.89401588e-04 9.99993896e-01 2.09644014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3307140569999 meters Centerline goodness [0,1] 0.9761990950226245 Centerline is valid? [True, True] Translation: X:512.95, Y:-24.05, Z:2.10 [[ 9.99662889e-01 -2.56852105e-02 -3.79178740e-03 5.12951539e+02] [ 2.56862194e-02 9.99670031e-01 2.17608611e-04 -2.40483105e+01] [ 3.78494691e-03 -3.14931936e-04 9.99992787e-01 2.09631731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.360714057 meters Centerline goodness [0,1] 0.9756885605187645 Centerline is valid? [True, True] Translation: X:512.98, Y:-24.05, Z:2.10 [[ 9.99667783e-01 -2.55426179e-02 -3.44928587e-03 5.12984218e+02] [ 2.55434551e-02 9.99673693e-01 1.98875353e-04 -2.40497235e+01] [ 3.44308054e-03 -2.86915962e-04 9.99994031e-01 2.09603547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.390714057 meters Centerline goodness [0,1] 0.9751210023974307 Centerline is valid? [True, True] Translation: X:513.02, Y:-24.05, Z:2.10 [[ 9.99650275e-01 -2.63183633e-02 -2.58277943e-03 5.13015443e+02] [ 2.63188347e-02 9.99653588e-01 1.48702482e-04 -2.40522568e+01] [ 2.57797112e-03 -2.16626222e-04 9.99996654e-01 2.09625323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4207140569999 meters Centerline goodness [0,1] 0.9749308672197289 Centerline is valid? [True, True] Translation: X:513.05, Y:-24.05, Z:2.10 [[ 9.99635152e-01 -2.69510582e-02 -1.78996309e-03 5.13047685e+02] [ 2.69512866e-02 9.99636743e-01 1.03574497e-04 -2.40514006e+01] [ 1.78652143e-03 -1.51778516e-04 9.99998393e-01 2.09696654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4507140569999 meters Centerline goodness [0,1] 0.9731630115306353 Centerline is valid? [True, True] Translation: X:513.08, Y:-24.06, Z:2.10 [[ 9.99588213e-01 -2.86934020e-02 -3.05922421e-04 5.13077599e+02] [ 2.86934087e-02 9.99588259e-01 1.75649853e-05 -2.40553812e+01] [ 3.05292462e-04 -2.63357094e-05 9.99999953e-01 2.09748783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.480714057 meters Centerline goodness [0,1] 0.9730797167241693 Centerline is valid? [True, True] Translation: X:513.11, Y:-24.06, Z:2.10 [[ 9.99489219e-01 -3.19541581e-02 4.83578345e-04 5.13108043e+02] [ 3.19541752e-02 9.99489335e-01 -2.77335724e-05 -2.40598407e+01] [-4.82445195e-04 4.31717538e-05 9.99999883e-01 2.09764929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.510714057 meters Centerline goodness [0,1] 0.9712233476083656 Centerline is valid? [True, True] Translation: X:513.14, Y:-24.06, Z:2.10 [[ 9.99425402e-01 -3.38861163e-02 7.72478736e-04 5.13138498e+02] [ 3.38861605e-02 9.99425698e-01 -4.41722210e-05 -2.40637666e+01] [-7.70538275e-04 7.03231782e-05 9.99999701e-01 2.09730952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.540714057 meters Centerline goodness [0,1] 0.9697732997481109 Centerline is valid? [True, True] Translation: X:513.17, Y:-24.07, Z:2.10 [[ 9.99280360e-01 -3.79241245e-02 7.23079132e-04 5.13169294e+02] [ 3.79241642e-02 9.99280619e-01 -4.12361823e-05 -2.40690852e+01] [-7.20995117e-04 6.86286788e-05 9.99999738e-01 2.09666652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5707140569999 meters Centerline goodness [0,1] 0.9654969569447273 Centerline is valid? [True, True] Translation: X:513.20, Y:-24.08, Z:2.10 [[ 9.99240389e-01 -3.89631874e-02 7.17242987e-04 5.13200134e+02] [ 3.89632266e-02 9.99240644e-01 -4.06661516e-05 -2.40750154e+01] [-7.15113862e-04 6.85813622e-05 9.99999742e-01 2.09568959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6007140569999 meters Centerline goodness [0,1] 0.9569950883864105 Centerline is valid? [True, True] Translation: X:513.23, Y:-24.08, Z:2.09 [[ 9.99183984e-01 -4.03879740e-02 4.20946461e-04 5.13229830e+02] [ 4.03879874e-02 9.99184072e-01 -2.33370229e-05 -2.40798780e+01] [-4.19660464e-04 4.03191599e-05 9.99999911e-01 2.09415270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.630714057 meters Centerline goodness [0,1] 0.9578533676649953 Centerline is valid? [True, True] Translation: X:513.26, Y:-24.08, Z:2.09 [[ 9.99211178e-01 -3.97078660e-02 5.54127689e-04 5.13261668e+02] [ 3.97078893e-02 9.99211330e-01 -3.11853706e-05 -2.40815689e+01] [-5.52452361e-04 5.31640118e-05 9.99999846e-01 2.09275724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.660714057 meters Centerline goodness [0,1] 0.9414499194993083 Centerline is valid? [True, False] Translation: X:513.26, Y:-24.08, Z:2.09 [[ 9.99321076e-01 -3.68375874e-02 6.15673964e-04 5.13260762e+02] [ 3.68352283e-02 9.99315284e-01 3.48257763e-03 -2.40830880e+01] [-7.43542160e-04 -3.45753474e-03 9.99993746e-01 2.09302272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6907140569999 meters Centerline goodness [0,1] 0.9683103370278218 Centerline is valid? [False, True] Translation: X:513.26, Y:-24.08, Z:2.09 [[ 9.99454866e-01 -3.30116629e-02 4.48398075e-04 5.13260983e+02] [ 3.30071849e-02 9.99424881e-01 7.77382556e-03 -2.40841994e+01] [-7.04767101e-04 -7.75478742e-03 9.99969683e-01 2.09246319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7207140569999 meters Centerline goodness [0,1] 0.9480680970360155 Centerline is valid? [True, False] Translation: X:513.26, Y:-24.08, Z:2.09 [[ 9.99467447e-01 -3.26305653e-02 2.60330143e-04 5.13261685e+02] [ 3.26275046e-02 9.99436541e-01 7.87699018e-03 -2.40835476e+01] [-5.17214100e-04 -7.86430135e-03 9.99968942e-01 2.09212881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.750714057 meters Centerline goodness [0,1] 0.9551964827992567 Centerline is valid? [False, True] Translation: X:513.26, Y:-24.08, Z:2.09 [[ 9.99583972e-01 -2.88412665e-02 2.53688069e-04 5.13261430e+02] [ 2.88363309e-02 9.99515759e-01 1.16924593e-02 -2.40833738e+01] [-5.90790558e-04 -1.16802795e-02 9.99931609e-01 2.09202041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.780714057 meters Centerline goodness [0,1] 0.9551964827992567 Centerline is valid? [True, True] Translation: X:513.29, Y:-24.08, Z:2.10 [[ 9.99590677e-01 -2.86056563e-02 -4.41230110e-04 5.13294357e+02] [ 2.86056712e-02 9.99590774e-01 2.74840503e-05 -2.40807940e+01] [ 4.40263347e-04 -4.00944839e-05 9.99999902e-01 2.09573938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8107140569999 meters Centerline goodness [0,1] 0.9636603747808465 Centerline is valid? [True, True] Translation: X:513.33, Y:-24.08, Z:2.10 [[ 9.99639433e-01 -2.68401360e-02 -7.82049166e-04 5.13326347e+02] [ 2.68401811e-02 9.99639736e-01 4.73238737e-05 -2.40785050e+01] [ 7.80497243e-04 -6.82971515e-05 9.99999693e-01 2.09570846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8407140569999 meters Centerline goodness [0,1] 0.9768044164754527 Centerline is valid? [True, True] Translation: X:513.36, Y:-24.07, Z:2.10 [[ 9.99746893e-01 -2.24971393e-02 -1.70851015e-04 5.13357502e+02] [ 2.24971414e-02 9.99746907e-01 1.02028083e-05 -2.40666171e+01] [ 1.70578240e-04 -1.40438853e-05 9.99999985e-01 2.09703753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.870714057 meters Centerline goodness [0,1] 0.977134528228837 Centerline is valid? [True, True] Translation: X:513.39, Y:-24.06, Z:2.10 [[ 9.99784193e-01 -2.07741995e-02 1.13674606e-05 5.13389300e+02] [ 2.07741995e-02 9.99784193e-01 -7.45058647e-08 -2.40648094e+01] [-1.13634596e-05 3.10639678e-07 1.00000000e+00 2.09696418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.900714057 meters Centerline goodness [0,1] 0.9773294556779408 Centerline is valid? [True, True] Translation: X:513.42, Y:-24.06, Z:2.10 [[ 9.99861684e-01 -1.66282037e-02 3.40613908e-04 5.13420351e+02] [ 1.66282116e-02 9.99861742e-01 -2.03879516e-05 -2.40624437e+01] [-3.40227800e-04 2.60489317e-05 9.99999942e-01 2.09691552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9307140569999 meters Centerline goodness [0,1] 0.9786438500711107 Centerline is valid? [True, True] Translation: X:513.45, Y:-24.06, Z:2.10 [[ 9.99922430e-01 -1.24552670e-02 1.21837348e-05 5.13451218e+02] [ 1.24552670e-02 9.99922430e-01 -7.26647859e-07 -2.40586932e+01] [-1.21737391e-05 8.78343161e-07 1.00000000e+00 2.09585900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9607140569999 meters Centerline goodness [0,1] 0.9738737498853106 Centerline is valid? [True, True] Translation: X:513.48, Y:-24.07, Z:2.09 [[ 9.99940168e-01 -1.09382567e-02 1.18196121e-04 5.13480948e+02] [ 1.09382576e-02 9.99940175e-01 -6.87268938e-06 -2.40713959e+01] [-1.18113875e-04 8.16513779e-06 9.99999993e-01 2.09296802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.990714057 meters Centerline goodness [0,1] 0.9792331901403597 Centerline is valid? [True, True] Translation: X:513.51, Y:-24.06, Z:2.09 [[ 9.99971622e-01 -7.53190690e-03 1.62696739e-04 5.13512906e+02] [ 7.53190855e-03 9.99971635e-01 -9.54382777e-06 -2.40569478e+01] [-1.62620241e-04 1.07689739e-05 9.99999987e-01 2.09459351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.020714057 meters Centerline goodness [0,1] 0.975744262145031 Centerline is valid? [True, True] Translation: X:513.54, Y:-24.07, Z:2.09 [[ 9.99981901e-01 -6.00649443e-03 3.46909534e-04 5.13542470e+02] [ 6.00650193e-03 9.99981961e-01 -2.05789578e-05 -2.40699642e+01] [-3.46779668e-04 2.26622981e-05 9.99999940e-01 2.09259543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0507140569999 meters Centerline goodness [0,1] 0.9790822901325479 Centerline is valid? [True, True] Translation: X:513.58, Y:-24.05, Z:2.09 [[ 9.99993687e-01 -3.55113628e-03 1.22532435e-04 5.13575239e+02] [ 3.55113713e-03 9.99993695e-01 -6.73649233e-06 -2.40541858e+01] [-1.22507740e-04 7.17157928e-06 9.99999992e-01 2.09470043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0807140569999 meters Centerline goodness [0,1] 0.9800317833206661 Centerline is valid? [True, True] Translation: X:513.61, Y:-24.05, Z:2.09 [[ 9.99997661e-01 -2.16135511e-03 8.20572993e-05 5.13606653e+02] [ 2.16135549e-03 9.99997664e-01 -4.51593964e-06 -2.40548501e+01] [-8.20473471e-05 4.69328407e-06 9.99999997e-01 2.09367054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.110714057 meters Centerline goodness [0,1] 0.979603608592326 Centerline is valid? [True, True] Translation: X:513.64, Y:-24.06, Z:2.09 [[ 9.99999347e-01 -9.53469876e-04 -6.30335534e-04 5.13638185e+02] [ 9.53494164e-04 9.99999545e-01 3.82322672e-05 -2.40558526e+01] [ 6.30298794e-04 -3.88332635e-05 9.99999801e-01 2.09236767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.140714057 meters Centerline goodness [0,1] 0.9806820013354516 Centerline is valid? [True, True] Translation: X:513.67, Y:-24.05, Z:2.09 [[ 9.99996573e-01 1.88320738e-03 -1.81860486e-03 5.13668639e+02] [-1.88301198e-03 9.99998221e-01 1.09150658e-04 -2.40542461e+01] [ 1.81880718e-03 -1.05725830e-04 9.99998340e-01 2.09064673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1707140569999 meters Centerline goodness [0,1] 0.9795264334954926 Centerline is valid? [True, True] Translation: X:513.70, Y:-24.06, Z:2.09 [[ 9.99989169e-01 4.30497881e-03 -1.76898577e-03 5.13696890e+02] [-4.30479893e-03 9.99990729e-01 1.05480071e-04 -2.40569282e+01] [ 1.76942346e-03 -9.78638001e-05 9.99998430e-01 2.08906492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2007140569999 meters Centerline goodness [0,1] 0.9791498302893163 Centerline is valid? [True, True] Translation: X:513.72, Y:-24.06, Z:2.09 [[ 9.99984282e-01 5.39840229e-03 -1.51454459e-03 5.13724854e+02] [-5.39827257e-03 9.99985425e-01 8.97251768e-05 -2.40602672e+01] [ 1.51500689e-03 -8.15478420e-05 9.99998849e-01 2.08838367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.230714057 meters Centerline goodness [0,1] 0.9820500381176797 Centerline is valid? [True, True] Translation: X:513.76, Y:-24.05, Z:2.09 [[ 9.99972473e-01 7.38622149e-03 -7.04751111e-04 5.13755264e+02] [-7.38619388e-03 9.99972721e-01 4.17710897e-05 -2.40529077e+01] [ 7.05040417e-04 -3.65645116e-05 9.99999751e-01 2.09015813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.260714057 meters Centerline goodness [0,1] 0.9815766328750637 Centerline is valid? [True, True] Translation: X:513.78, Y:-24.05, Z:2.09 [[ 9.99971977e-01 7.45067362e-03 -7.29689832e-04 5.13784366e+02] [-7.45064436e-03 9.99972243e-01 4.28105241e-05 -2.40536789e+01] [ 7.29988545e-04 -3.73726650e-05 9.99999733e-01 2.08953360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.290714057 meters Centerline goodness [0,1] 0.9818375080876236 Centerline is valid? [True, True] Translation: X:513.81, Y:-24.05, Z:2.09 [[ 9.99971152e-01 7.57963539e-03 -4.95053550e-04 5.13813263e+02] [-7.57962209e-03 9.99971274e-01 2.87456238e-05 -2.40534155e+01] [ 4.95257211e-04 -2.49924757e-05 9.99999877e-01 2.08946371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3207140569999 meters Centerline goodness [0,1] 0.98142028516627 Centerline is valid? [True, True] Translation: X:513.84, Y:-24.06, Z:2.09 [[ 9.99972307e-01 7.43866745e-03 -2.28559597e-04 5.13842389e+02] [-7.43866471e-03 9.99972333e-01 1.28231045e-05 -2.40550555e+01] [ 2.28648660e-04 -1.11225711e-05 9.99999974e-01 2.08907127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3507140569999 meters Centerline goodness [0,1] 0.980274996539473 Centerline is valid? [True, True] Translation: X:513.87, Y:-24.06, Z:2.09 [[ 9.99983109e-01 5.78374504e-03 -5.74150397e-04 5.13870128e+02] [-5.78372652e-03 9.99983274e-01 3.39068709e-05 -2.40621113e+01] [ 5.74336902e-04 -3.05855693e-05 9.99999835e-01 2.08746318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.380714057 meters Centerline goodness [0,1] 0.9806869434485949 Centerline is valid? [True, True] Translation: X:513.90, Y:-24.06, Z:2.09 [[ 9.99992646e-01 3.81593217e-03 -3.83703207e-04 5.13899253e+02] [-3.81592391e-03 9.99992719e-01 2.22553920e-05 -2.40607075e+01] [ 3.83785338e-04 -2.07910461e-05 9.99999926e-01 2.08798827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.410714057 meters Centerline goodness [0,1] 0.9804093702351799 Centerline is valid? [True, True] Translation: X:513.93, Y:-24.06, Z:2.09 [[ 9.99996480e-01 2.63276262e-03 -3.30728132e-04 5.13929097e+02] [-2.63275638e-03 9.99996534e-01 1.92868022e-05 -2.40631772e+01] [ 3.30777763e-04 -1.84160077e-05 9.99999945e-01 2.08740367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4407140569999 meters Centerline goodness [0,1] 0.9799015870815718 Centerline is valid? [True, True] Translation: X:513.96, Y:-24.07, Z:2.09 [[ 9.99998903e-01 1.38610482e-03 -5.22223682e-04 5.13958681e+02] [-1.38608900e-03 9.99999039e-01 3.06677472e-05 -2.40662402e+01] [ 5.22265688e-04 -2.99438651e-05 9.99999863e-01 2.08623875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4707140569999 meters Centerline goodness [0,1] 0.9802550866878081 Centerline is valid? [True, True] Translation: X:513.99, Y:-24.07, Z:2.08 [[ 9.99998299e-01 -1.85544449e-04 -1.83483671e-03 5.13987448e+02] [ 1.85745802e-04 9.99999977e-01 1.09569257e-04 -2.40699289e+01] [ 1.83481633e-03 -1.09909884e-04 9.99998311e-01 2.08461352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.500714057 meters Centerline goodness [0,1] 0.980095357126325 Centerline is valid? [True, True] Translation: X:514.02, Y:-24.07, Z:2.08 [[ 9.99996617e-01 -7.70487404e-04 -2.48423678e-03 5.14017389e+02] [ 7.70855884e-04 9.99999692e-01 1.47373383e-04 -2.40727220e+01] [ 2.48412247e-03 -1.49287873e-04 9.99996903e-01 2.08309774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.530714057 meters Centerline goodness [0,1] 0.980884192965383 Centerline is valid? [True, True] Translation: X:514.05, Y:-24.08, Z:2.08 [[ 9.99992044e-01 -1.28940393e-03 -3.77482016e-03 5.14047247e+02] [ 1.29025869e-03 9.99999143e-01 2.24010775e-04 -2.40752734e+01] [ 3.77452808e-03 -2.28879487e-04 9.99992850e-01 2.08152875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5607140569999 meters Centerline goodness [0,1] 0.980526706231454 Centerline is valid? [True, True] Translation: X:514.08, Y:-24.08, Z:2.08 [[ 9.99991299e-01 -1.18278767e-03 -4.00045699e-03 5.14076767e+02] [ 1.18374742e-03 9.99999271e-01 2.37549889e-04 -2.40767885e+01] [ 4.00017310e-03 -2.42283353e-04 9.99991970e-01 2.08188491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5907140569999 meters Centerline goodness [0,1] 0.9813843368460146 Centerline is valid? [True, True] Translation: X:514.11, Y:-24.07, Z:2.08 [[ 9.99991854e-01 -1.42096395e-03 -3.77806112e-03 5.14107124e+02] [ 1.42182030e-03 9.99998964e-01 2.23989200e-04 -2.40721599e+01] [ 3.77773893e-03 -2.29359099e-04 9.99992838e-01 2.08387659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.620714057 meters Centerline goodness [0,1] 0.9814368482039397 Centerline is valid? [True, True] Translation: X:514.14, Y:-24.08, Z:2.08 [[ 9.99994448e-01 -1.30723085e-03 -3.06499605e-03 5.14136153e+02] [ 1.30779415e-03 9.99999128e-01 1.81786920e-04 -2.40763462e+01] [ 3.06475574e-03 -1.85794295e-04 9.99995286e-01 2.08366902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.650714057 meters Centerline goodness [0,1] 0.9802661983547463 Centerline is valid? [True, True] Translation: X:514.17, Y:-24.08, Z:2.08 [[ 9.99994656e-01 -1.69382382e-03 -2.79615298e-03 5.14165511e+02] [ 1.69429460e-03 9.99998551e-01 1.66004138e-04 -2.40834205e+01] [ 2.79586775e-03 -1.70740757e-04 9.99996077e-01 2.08182595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6807140569999 meters Centerline goodness [0,1] 0.979544085622944 Centerline is valid? [True, True] Translation: X:514.20, Y:-24.08, Z:2.08 [[ 9.99991632e-01 -3.11992780e-03 -2.64612918e-03 5.14195959e+02] [ 3.12035443e-03 9.99995119e-01 1.57111906e-04 -2.40838401e+01] [ 2.64562609e-03 -1.65367453e-04 9.99996487e-01 2.08126576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7107140569999 meters Centerline goodness [0,1] 0.9803671891278679 Centerline is valid? [True, True] Translation: X:514.23, Y:-24.08, Z:2.08 [[ 9.99988647e-01 -4.03126617e-03 -2.54074084e-03 5.14226812e+02] [ 4.03166242e-03 9.99991861e-01 1.50854554e-04 -2.40839044e+01] [ 2.54011203e-03 -1.61096251e-04 9.99996761e-01 2.08161638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.740714057 meters Centerline goodness [0,1] 0.9794703819892969 Centerline is valid? [True, True] Translation: X:514.26, Y:-24.09, Z:2.08 [[ 9.99982260e-01 -5.46795026e-03 -2.36225767e-03 5.14256818e+02] [ 5.46829735e-03 9.99985039e-01 1.40495393e-04 -2.40896112e+01] [ 2.36145410e-03 -1.53410428e-04 9.99997200e-01 2.08045937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.770714057 meters Centerline goodness [0,1] 0.9796153668772771 Centerline is valid? [True, True] Translation: X:514.29, Y:-24.10, Z:2.08 [[ 9.99953998e-01 -8.85672681e-03 -3.68251896e-03 5.14286097e+02] [ 8.85759125e-03 9.99960747e-01 2.18500324e-04 -2.40973301e+01] [ 3.68043922e-03 -2.51108520e-04 9.99993196e-01 2.07904795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8007140569999 meters Centerline goodness [0,1] 0.9799321846239014 Centerline is valid? [True, True] Translation: X:514.32, Y:-24.10, Z:2.08 [[ 9.99910779e-01 -1.26326415e-02 -4.34178521e-03 5.14316823e+02] [ 1.26338796e-02 9.99920156e-01 2.57853167e-04 -2.40995678e+01] [ 4.33818118e-03 -3.12683752e-04 9.99990541e-01 2.07876692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8307140569999 meters Centerline goodness [0,1] 0.9786082711614627 Centerline is valid? [True, True] Translation: X:514.35, Y:-24.10, Z:2.08 [[ 9.99892334e-01 -1.39419619e-02 -4.57635664e-03 5.14348985e+02] [ 1.39433559e-02 9.99902749e-01 2.72841694e-04 -2.41045030e+01] [ 4.57210763e-03 -3.36622087e-04 9.99989491e-01 2.07805756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.860714057 meters Centerline goodness [0,1] 0.9777931193188356 Centerline is valid? [True, True] Translation: X:514.38, Y:-24.11, Z:2.08 [[ 9.99864825e-01 -1.59746427e-02 -3.89121462e-03 5.14379770e+02] [ 1.59756643e-02 9.99872354e-01 2.31591852e-04 -2.41104060e+01] [ 3.88701833e-03 -2.93725285e-04 9.99992402e-01 2.07853456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.890714057 meters Centerline goodness [0,1] 0.9787033199797394 Centerline is valid? [True, True] Translation: X:514.41, Y:-24.11, Z:2.08 [[ 9.99868801e-01 -1.58355929e-02 -3.40792413e-03 5.14411501e+02] [ 1.58363786e-02 9.99874576e-01 2.03667483e-04 -2.41144225e+01] [ 3.40427150e-03 -2.57609938e-04 9.99994172e-01 2.07889907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9207140569999 meters Centerline goodness [0,1] 0.9760668841012449 Centerline is valid? [True, True] Translation: X:514.44, Y:-24.12, Z:2.08 [[ 9.99897555e-01 -1.41879129e-02 -1.89259608e-03 5.14441916e+02] [ 1.41881523e-02 9.99899337e-01 1.13127405e-04 -2.41191530e+01] [ 1.89080052e-03 -1.39968257e-04 9.99998203e-01 2.07930970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9507140569999 meters Centerline goodness [0,1] 0.9769046742730954 Centerline is valid? [True, True] Translation: X:514.47, Y:-24.12, Z:2.08 [[ 9.99940312e-01 -1.08242458e-02 -1.48596405e-03 5.14471960e+02] [ 1.08243890e-02 9.99941411e-01 8.83560012e-05 -2.41195737e+01] [ 1.48492061e-03 -1.04435380e-04 9.99998892e-01 2.07991810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.980714057 meters Centerline goodness [0,1] 0.9784332092024399 Centerline is valid? [True, True] Translation: X:514.50, Y:-24.12, Z:2.08 [[ 9.99966096e-01 -8.13705618e-03 -1.26278733e-03 5.14503042e+02] [ 8.13715788e-03 9.99966890e-01 7.54164282e-05 -2.41206510e+01] [ 1.26213185e-03 -8.56893712e-05 9.99999200e-01 2.07965652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.010714057 meters Centerline goodness [0,1] 0.9806184718762142 Centerline is valid? [True, True] Translation: X:514.53, Y:-24.12, Z:2.08 [[ 9.99998531e-01 -1.30277902e-03 -1.11370061e-03 5.14532807e+02] [ 1.30285389e-03 9.99999149e-01 6.65036838e-05 -2.41194414e+01] [ 1.11361302e-03 -6.79545753e-05 9.99999378e-01 2.07869144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.040714057 meters Centerline goodness [0,1] 0.9796007442971675 Centerline is valid? [True, True] Translation: X:514.56, Y:-24.12, Z:2.08 [[ 9.99996806e-01 2.43172087e-03 -6.88304438e-04 5.14563277e+02] [-2.43169323e-03 9.99997043e-01 4.09884309e-05 -2.41191530e+01] [ 6.88402075e-04 -3.93145548e-05 9.99999762e-01 2.07823605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0707140569999 meters Centerline goodness [0,1] 0.9808444096950742 Centerline is valid? [True, True] Translation: X:514.59, Y:-24.12, Z:2.08 [[ 9.99979745e-01 6.35369392e-03 -3.74571153e-04 5.14593867e+02] [-6.35368602e-03 9.99979815e-01 2.22653976e-05 -2.41182175e+01] [ 3.74705060e-04 -1.98850391e-05 9.99999930e-01 2.07847650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1007140569999 meters Centerline goodness [0,1] 0.9798912793108214 Centerline is valid? [True, True] Translation: X:514.62, Y:-24.12, Z:2.08 [[ 9.99906057e-01 1.36707507e-02 9.93885562e-04 5.14622856e+02] [-1.36706981e-02 9.99906550e-01 -5.96673788e-05 -2.41154238e+01] [-9.94608381e-04 4.60746640e-05 9.99999504e-01 2.07950010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.130714057 meters Centerline goodness [0,1] 0.9805845367235542 Centerline is valid? [True, True] Translation: X:514.65, Y:-24.12, Z:2.08 [[ 9.99863256e-01 1.64729150e-02 1.45313468e-03 5.14651326e+02] [-1.64728059e-02 9.99864310e-01 -8.69860073e-05 -2.41156171e+01] [-1.45437042e-03 6.30369069e-05 9.99998940e-01 2.07953765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.160714057 meters Centerline goodness [0,1] 0.9829803939680853 Centerline is valid? [True, True] Translation: X:514.68, Y:-24.11, Z:2.08 [[ 9.99795284e-01 2.01657543e-02 1.65284982e-03 5.14681533e+02] [-2.01656187e-02 9.99796648e-01 -9.86706174e-05 -2.41059584e+01] [-1.65450348e-03 6.53196787e-05 9.99998629e-01 2.08196819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1907140569999 meters Centerline goodness [0,1] 0.9831081081081081 Centerline is valid? [True, True] Translation: X:514.71, Y:-24.11, Z:2.08 [[ 9.99758775e-01 2.19185294e-02 1.40366085e-03 5.14709016e+02] [-2.19184322e-02 9.99759759e-01 -8.45673622e-05 -2.41108305e+01] [-1.40517722e-03 5.37809173e-05 9.99999011e-01 2.07989299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2207140569999 meters Centerline goodness [0,1] 0.9834110700089608 Centerline is valid? [True, True] Translation: X:514.74, Y:-24.11, Z:2.08 [[ 9.99755847e-01 2.20696647e-02 1.08413802e-03 5.14737569e+02] [-2.20696071e-02 9.99756434e-01 -6.50603266e-05 -2.41132823e+01] [-1.08530982e-03 4.11179417e-05 9.99999410e-01 2.07907416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.250714057 meters Centerline goodness [0,1] 0.9835869615190106 Centerline is valid? [True, True] Translation: X:514.77, Y:-24.12, Z:2.08 [[ 9.99785133e-01 2.07265271e-02 -3.14341817e-04 5.14765408e+02] [-2.07265226e-02 9.99785182e-01 1.75975530e-05 -2.41198362e+01] [ 3.14639027e-04 -1.10785590e-05 9.99999950e-01 2.07683737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.280714057 meters Centerline goodness [0,1] 0.9834387025838373 Centerline is valid? [True, True] Translation: X:514.79, Y:-24.12, Z:2.08 [[ 9.99819174e-01 1.90050846e-02 -6.52241175e-04 5.14794395e+02] [-1.90050640e-02 9.99819387e-01 3.77443545e-05 -2.41239370e+01] [ 6.52840706e-04 -2.53416441e-05 9.99999787e-01 2.07601937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3107140569999 meters Centerline goodness [0,1] 0.9821453034385131 Centerline is valid? [True, True] Translation: X:514.82, Y:-24.13, Z:2.08 [[ 9.99880393e-01 1.54544792e-02 -5.98984526e-04 5.14823073e+02] [-1.54544612e-02 9.99880572e-01 3.47654025e-05 -2.41315331e+01] [ 5.99450272e-04 -2.55042612e-05 9.99999820e-01 2.07615840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3407140569999 meters Centerline goodness [0,1] 0.981430614514994 Centerline is valid? [True, True] Translation: X:514.85, Y:-24.14, Z:2.08 [[ 9.99906483e-01 1.36751745e-02 -1.22882003e-04 5.14851388e+02] [-1.36751739e-02 9.99906490e-01 6.44439679e-06 -2.41367583e+01] [ 1.22958641e-04 -4.76336138e-06 9.99999992e-01 2.07620702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.370714057 meters Centerline goodness [0,1] 0.9815065098887237 Centerline is valid? [True, True] Translation: X:514.88, Y:-24.15, Z:2.08 [[ 9.99961073e-01 8.73798714e-03 1.22441281e-03 5.14880567e+02] [-8.73790502e-03 9.99961821e-01 -7.23991535e-05 -2.41473640e+01] [-1.22499869e-03 6.16975324e-05 9.99999248e-01 2.07669199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.400714057 meters Centerline goodness [0,1] 0.981752984431029 Centerline is valid? [True, True] Translation: X:514.91, Y:-24.15, Z:2.08 [[ 9.99984901e-01 5.40042532e-03 1.01596461e-03 5.14910767e+02] [-5.40036723e-03 9.99985416e-01 -5.99072725e-05 -2.41545283e+01] [-1.01627332e-03 5.44197860e-05 9.99999482e-01 2.07576316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4307140569999 meters Centerline goodness [0,1] 0.9803713647541908 Centerline is valid? [True, True] Translation: X:514.94, Y:-24.17, Z:2.07 [[ 9.99999024e-01 -1.21056992e-03 -6.98209379e-04 5.14939625e+02] [ 1.21059883e-03 9.99999266e-01 4.09775179e-05 -2.41658405e+01] [ 6.98159260e-04 -4.18227293e-05 9.99999755e-01 2.07402133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4607140569999 meters Centerline goodness [0,1] 0.9794549928882668 Centerline is valid? [True, True] Translation: X:514.97, Y:-24.18, Z:2.07 [[ 9.99967477e-01 -7.49204771e-03 -2.98553297e-03 5.14968701e+02] [ 7.49260580e-03 9.99971915e-01 1.75789690e-04 -2.41772933e+01] [ 2.98413210e-03 -1.98153394e-04 9.99995528e-01 2.07177048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.490714057 meters Centerline goodness [0,1] 0.980063148398737 Centerline is valid? [True, True] Translation: X:515.00, Y:-24.18, Z:2.07 [[ 9.99941931e-01 -1.00440456e-02 -3.90535388e-03 5.14999684e+02] [ 1.00450228e-02 9.99949521e-01 2.30689027e-04 -2.41835139e+01] [ 3.90283969e-03 -2.69905000e-04 9.99992347e-01 2.07073918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.520714057 meters Centerline goodness [0,1] 0.9804731590590997 Centerline is valid? [True, True] Translation: X:515.03, Y:-24.18, Z:2.07 [[ 9.99908067e-01 -1.27049314e-02 -4.73741749e-03 5.15030804e+02] [ 1.27063982e-02 9.99919231e-01 2.79649942e-04 -2.41849292e+01] [ 4.73348192e-03 -3.39819746e-04 9.99988739e-01 2.07108042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5507140569999 meters Centerline goodness [0,1] 0.9788402483581019 Centerline is valid? [True, True] Translation: X:515.06, Y:-24.20, Z:2.07 [[ 9.99852403e-01 -1.63991361e-02 -5.12260656e-03 5.15059358e+02] [ 1.64008995e-02 9.99865450e-01 3.02409077e-04 -2.41971564e+01] [ 5.11695807e-03 -3.86379797e-04 9.99986834e-01 2.06942481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5807140569999 meters Centerline goodness [0,1] 0.9800948080249826 Centerline is valid? [True, True] Translation: X:515.09, Y:-24.20, Z:2.07 [[ 9.99795772e-01 -1.94360765e-02 -5.53645320e-03 5.15090422e+02] [ 1.94381827e-02 9.99811007e-01 3.26859736e-04 -2.41969038e+01] [ 5.52905397e-03 -4.34411570e-04 9.99984620e-01 2.07059874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.610714057 meters Centerline goodness [0,1] 0.979027109652475 Centerline is valid? [True, True] Translation: X:515.12, Y:-24.20, Z:2.07 [[ 9.99786608e-01 -1.98602546e-02 -5.68402183e-03 5.15122475e+02] [ 1.98624874e-02 9.99802665e-01 3.36643500e-04 -2.41993875e+01] [ 5.67621435e-03 -4.49470476e-04 9.99983789e-01 2.07056407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.640714057 meters Centerline goodness [0,1] 0.9716522012155464 Centerline is valid? [True, True] Translation: X:515.15, Y:-24.21, Z:2.07 [[ 9.99791928e-01 -1.99118782e-02 -4.42924042e-03 5.15152561e+02] [ 1.99132354e-02 9.99801677e-01 2.62534536e-04 -2.42122381e+01] [ 4.42313445e-03 -3.50680417e-04 9.99990156e-01 2.06883809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6707140569999 meters Centerline goodness [0,1] 0.9716522012155464 Centerline is valid? [True, True] Translation: X:515.18, Y:-24.21, Z:2.07 [[ 9.99793246e-01 -1.98456058e-02 -4.42921394e-03 5.15184295e+02] [ 1.98469644e-02 9.99802995e-01 2.62981811e-04 -2.42141825e+01] [ 4.42312233e-03 -3.50833890e-04 9.99990156e-01 2.06847740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7007140569999 meters Centerline goodness [0,1] 0.972819754414269 Centerline is valid? [True, True] Translation: X:515.22, Y:-24.22, Z:2.07 [[ 9.99810343e-01 -1.90536885e-02 -4.02935590e-03 5.15216315e+02] [ 1.90548078e-02 9.99818412e-01 2.39571415e-04 -2.42167312e+01] [ 4.02405949e-03 -3.16304580e-04 9.99991853e-01 2.06854156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.730714057 meters Centerline goodness [0,1] 0.9719263627598269 Centerline is valid? [True, True] Translation: X:515.25, Y:-24.22, Z:2.07 [[ 9.99834711e-01 -1.77476716e-02 -3.94588379e-03 5.15248339e+02] [ 1.77487352e-02 9.99842451e-01 2.34699007e-04 -2.42176229e+01] [ 3.94109676e-03 -3.04694660e-04 9.99992187e-01 2.06907563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.760714057 meters Centerline goodness [0,1] 0.9704044943820225 Centerline is valid? [True, True] Translation: X:515.28, Y:-24.22, Z:2.07 [[ 9.99843762e-01 -1.71198889e-02 -4.40012346e-03 5.15280813e+02] [ 1.71212070e-02 9.99853387e-01 2.62061072e-04 -2.42198201e+01] [ 4.39499188e-03 -3.37355552e-04 9.99990285e-01 2.06911109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.790714057 meters Centerline goodness [0,1] 0.9774537599567976 Centerline is valid? [True, True] Translation: X:515.31, Y:-24.22, Z:2.07 [[ 9.99850721e-01 -1.68403282e-02 -3.86522248e-03 5.15313829e+02] [ 1.68413457e-02 9.99858148e-01 2.30843140e-04 -2.42155832e+01] [ 3.86078671e-03 -2.95904228e-04 9.99992503e-01 2.07097578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8207140569999 meters Centerline goodness [0,1] 0.9648008973639932 Centerline is valid? [True, True] Translation: X:515.34, Y:-24.23, Z:2.07 [[ 9.99846961e-01 -1.70973767e-02 -3.70597417e-03 5.15344373e+02] [ 1.70983132e-02 9.99853789e-01 2.21171314e-04 -2.42262443e+01] [ 3.70165087e-03 -2.84503374e-04 9.99993108e-01 2.06938126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8507140569999 meters Centerline goodness [0,1] 0.9781837769897204 Centerline is valid? [True, True] Translation: X:515.38, Y:-24.21, Z:2.07 [[ 9.99833333e-01 -1.79888824e-02 -3.11540858e-03 5.15377269e+02] [ 1.79895502e-02 9.99838158e-01 1.86466569e-04 -2.42141987e+01] [ 3.11155005e-03 -2.42480290e-04 9.99995130e-01 2.07224275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.880714057 meters Centerline goodness [0,1] 0.9783709572145574 Centerline is valid? [True, True] Translation: X:515.41, Y:-24.22, Z:2.07 [[ 9.99821914e-01 -1.83147233e-02 -4.55090114e-03 5.15409839e+02] [ 1.83161515e-02 9.99832208e-01 2.72347984e-04 -2.42152052e+01] [ 4.54514956e-03 -3.55654478e-04 9.99989608e-01 2.07093627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.910714057 meters Centerline goodness [0,1] 0.9793353121064939 Centerline is valid? [True, True] Translation: X:515.44, Y:-24.21, Z:2.07 [[ 9.99823535e-01 -1.78769395e-02 -5.77179122e-03 5.15441760e+02] [ 1.78792308e-02 9.99840094e-01 3.45627083e-04 -2.42146875e+01] [ 5.76468952e-03 -4.48761279e-04 9.99983283e-01 2.07023557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9407140569999 meters Centerline goodness [0,1] 0.9791685413479708 Centerline is valid? [True, True] Translation: X:515.47, Y:-24.22, Z:2.07 [[ 9.99833773e-01 -1.64413418e-02 -7.88087528e-03 5.15472705e+02] [ 1.64455687e-02 9.99864651e-01 4.71837130e-04 -2.42170859e+01] [ 7.87205098e-03 -6.01364174e-04 9.99968834e-01 2.06815405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9707140569999 meters Centerline goodness [0,1] 0.9796714070000676 Centerline is valid? [True, True] Translation: X:515.50, Y:-24.22, Z:2.07 [[ 9.99844261e-01 -1.53138980e-02 -8.77140116e-03 5.15503859e+02] [ 1.53190913e-02 9.99882518e-01 5.25183808e-04 -2.42172715e+01] [ 8.76232807e-03 -6.59471911e-04 9.99961393e-01 2.06767874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.000714057 meters Centerline goodness [0,1] 0.9813541807071933 Centerline is valid? [True, True] Translation: X:515.53, Y:-24.22, Z:2.07 [[ 9.99884508e-01 -1.21603408e-02 -9.11575311e-03 5.15533874e+02] [ 1.21658157e-02 9.99925845e-01 5.45386026e-04 -2.42165928e+01] [ 9.10844505e-03 -6.56223610e-04 9.99958302e-01 2.06771781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.030714057 meters Centerline goodness [0,1] 0.9801774546768113 Centerline is valid? [True, True] Translation: X:515.56, Y:-24.22, Z:2.07 [[ 9.99890850e-01 -1.09598455e-02 -9.90802076e-03 5.15564904e+02] [ 1.09662535e-02 9.99939693e-01 5.92650200e-04 -2.42170125e+01] [ 9.90092788e-03 -7.01239380e-04 9.99950739e-01 2.06732125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0607140569999 meters Centerline goodness [0,1] 0.9816075373033404 Centerline is valid? [True, True] Translation: X:515.59, Y:-24.22, Z:2.07 [[ 9.99932275e-01 -7.17163243e-03 -9.16585316e-03 5.15594571e+02] [ 7.17695508e-03 9.99974095e-01 5.47944303e-04 -2.42185753e+01] [ 9.16168607e-03 -6.13690110e-04 9.99957843e-01 2.06712672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0907140569999 meters Centerline goodness [0,1] 0.9817956795679568 Centerline is valid? [True, True] Translation: X:515.62, Y:-24.22, Z:2.07 [[ 9.99949938e-01 -4.94892148e-03 -8.69657314e-03 5.15624598e+02] [ 4.95362808e-03 9.99987596e-01 5.19744295e-04 -2.42175357e+01] [ 8.69389309e-03 -5.62797865e-04 9.99962049e-01 2.06765577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.120714057 meters Centerline goodness [0,1] 0.982595330123641 Centerline is valid? [True, True] Translation: X:515.66, Y:-24.21, Z:2.07 [[ 9.99972692e-01 -3.16517443e-04 -7.38345612e-03 5.15655044e+02] [ 3.19785314e-04 9.99999851e-01 4.41417355e-04 -2.42126243e+01] [ 7.38331531e-03 -4.43766421e-04 9.99972644e-01 2.07025664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.150714057 meters Centerline goodness [0,1] 0.9829935803581484 Centerline is valid? [True, True] Translation: X:515.69, Y:-24.21, Z:2.07 [[ 9.99969856e-01 5.16218101e-03 -5.79987300e-03 5.15685200e+02] [-5.16025947e-03 9.99986626e-01 3.46221994e-04 -2.42102723e+01] [ 5.80158270e-03 -3.16282708e-04 9.99983121e-01 2.07133346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1807140569999 meters Centerline goodness [0,1] 0.9836743872273442 Centerline is valid? [True, True] Translation: X:515.71, Y:-24.21, Z:2.07 [[ 9.99950165e-01 8.06577542e-03 -5.88306931e-03 5.15714965e+02] [-8.06384997e-03 9.99967425e-01 3.50935091e-04 -2.42110466e+01] [ 5.88570823e-03 -3.03477414e-04 9.99982633e-01 2.07133826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2107140569999 meters Centerline goodness [0,1] 0.983811493839374 Centerline is valid? [True, True] Translation: X:515.75, Y:-24.21, Z:2.07 [[ 9.99907357e-01 1.23596550e-02 -5.70226863e-03 5.15745496e+02] [-1.23579152e-02 9.99923580e-01 3.40235798e-04 -2.42103671e+01] [ 5.70603806e-03 -2.69736125e-04 9.99983684e-01 2.07087416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.240714057 meters Centerline goodness [0,1] 0.9838567853358284 Centerline is valid? [True, True] Translation: X:515.77, Y:-24.21, Z:2.07 [[ 9.99891117e-01 1.34693186e-02 -6.02751841e-03 5.15774428e+02] [-1.34674010e-02 9.99909246e-01 3.58618112e-04 -2.42112040e+01] [ 6.03180173e-03 -2.77404057e-04 9.99981770e-01 2.07049615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.270714057 meters Centerline goodness [0,1] 0.9840041395756935 Centerline is valid? [True, True] Translation: X:515.80, Y:-24.22, Z:2.07 [[ 9.99880341e-01 1.40352756e-02 -6.50490784e-03 5.15802321e+02] [-1.40330624e-02 9.99901457e-01 3.85758911e-04 -2.42158040e+01] [ 6.50968107e-03 -2.94428974e-04 9.99978768e-01 2.06918559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3007140569999 meters Centerline goodness [0,1] 0.9835800807537012 Centerline is valid? [True, True] Translation: X:515.83, Y:-24.22, Z:2.07 [[ 9.99878850e-01 1.39121450e-02 -6.98116174e-03 5.15831024e+02] [-1.39095917e-02 9.99903171e-01 4.14171660e-04 -2.42183411e+01] [ 6.98624778e-03 -3.17016374e-04 9.99975546e-01 2.06899935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3307140569999 meters Centerline goodness [0,1] 0.9839933361849659 Centerline is valid? [True, True] Translation: X:515.86, Y:-24.22, Z:2.07 [[ 9.99874159e-01 1.37418629e-02 -7.92640908e-03 5.15859876e+02] [-1.37385699e-02 9.99905511e-01 4.69751250e-04 -2.42186433e+01] [ 7.93211538e-03 -3.60794611e-04 9.99968475e-01 2.06942613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.360714057 meters Centerline goodness [0,1] 0.9848542815348261 Centerline is valid? [True, True] Translation: X:515.89, Y:-24.22, Z:2.07 [[ 9.99866490e-01 1.37569409e-02 -8.81755043e-03 5.15887621e+02] [-1.37528816e-02 9.99905289e-01 5.20839685e-04 -2.42227485e+01] [ 8.82388047e-03 -3.99503420e-04 9.99960989e-01 2.06832824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.390714057 meters Centerline goodness [0,1] 0.9844258432261395 Centerline is valid? [True, True] Translation: X:515.92, Y:-24.23, Z:2.07 [[ 9.99866530e-01 1.38288576e-02 -8.69967078e-03 5.15916639e+02] [-1.38249085e-02 9.99904299e-01 5.13918539e-04 -2.42257772e+01] [ 8.70594512e-03 -3.93577794e-04 9.99962025e-01 2.06811380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4207140569999 meters Centerline goodness [0,1] 0.9850161987041036 Centerline is valid? [True, True] Translation: X:515.94, Y:-24.23, Z:2.07 [[ 9.99867103e-01 1.40300351e-02 -8.30270672e-03 5.15944236e+02] [-1.40264592e-02 9.99901505e-01 4.88760466e-04 -2.42315436e+01] [ 8.30874627e-03 -3.72237933e-04 9.99965412e-01 2.06701867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4507140569999 meters Centerline goodness [0,1] 0.9855039841534237 Centerline is valid? [True, True] Translation: X:515.97, Y:-24.23, Z:2.07 [[ 9.99861588e-01 1.45471073e-02 -8.07385419e-03 5.15972975e+02] [-1.45437428e-02 9.99894121e-01 4.75280681e-04 -2.42295620e+01] [ 8.07991330e-03 -3.57790837e-04 9.99967293e-01 2.06883203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.480714057 meters Centerline goodness [0,1] 0.9852792675538002 Centerline is valid? [True, True] Translation: X:516.00, Y:-24.23, Z:2.07 [[ 9.99841720e-01 1.64754512e-02 -6.71523407e-03 5.16000549e+02] [-1.64731734e-02 9.99864230e-01 3.94368501e-04 -2.42328708e+01] [ 6.72081975e-03 -2.83684865e-04 9.99977375e-01 2.06917713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.510714057 meters Centerline goodness [0,1] 0.9852506714413608 Centerline is valid? [True, True] Translation: X:516.03, Y:-24.23, Z:2.07 [[ 9.99836096e-01 1.71318681e-02 -5.85490549e-03 5.16029150e+02] [-1.71301498e-02 9.99853209e-01 3.43506837e-04 -2.42344148e+01] [ 5.85993096e-03 -2.43155126e-04 9.99982801e-01 2.06917245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.540714057 meters Centerline goodness [0,1] 0.9865720743907078 Centerline is valid? [True, True] Translation: X:516.06, Y:-24.24, Z:2.07 [[ 9.99818313e-01 1.86050613e-02 -4.14628866e-03 5.16056678e+02] [-1.86042155e-02 9.99826897e-01 2.42467900e-04 -2.42378333e+01] [ 4.15008206e-03 -1.65285399e-04 9.99991375e-01 2.06976437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5707140569999 meters Centerline goodness [0,1] 0.9862976833890247 Centerline is valid? [True, True] Translation: X:516.09, Y:-24.24, Z:2.07 [[ 9.99825974e-01 1.83488681e-02 -3.36772871e-03 5.16085967e+02] [-1.83483095e-02 9.99831636e-01 1.96673843e-04 -2.42375347e+01] [ 3.37077045e-03 -1.34847488e-04 9.99994310e-01 2.07073370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6007140569999 meters Centerline goodness [0,1] 0.9867639837507254 Centerline is valid? [True, True] Translation: X:516.11, Y:-24.24, Z:2.07 [[ 9.99837414e-01 1.77243579e-02 -3.31551681e-03 5.16113505e+02] [-1.77238149e-02 9.99842902e-01 1.93111221e-04 -2.42435440e+01] [ 3.31841873e-03 -1.34316218e-04 9.99994485e-01 2.06907924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.630714057 meters Centerline goodness [0,1] 0.9860018277868177 Centerline is valid? [True, True] Translation: X:516.14, Y:-24.25, Z:2.07 [[ 9.99869026e-01 1.54065222e-02 -4.95684587e-03 5.16141714e+02] [-1.54052766e-02 9.99881290e-01 2.89373481e-04 -2.42501863e+01] [ 4.96071568e-03 -2.12973999e-04 9.99987673e-01 2.06714478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.660714057 meters Centerline goodness [0,1] 0.9860241502683363 Centerline is valid? [True, True] Translation: X:516.17, Y:-24.26, Z:2.07 [[ 9.99894199e-01 1.32069193e-02 -6.09653515e-03 5.16169956e+02] [-1.32049976e-02 9.99912747e-01 3.55358710e-04 -2.42552694e+01] [ 6.10069640e-03 -2.74816380e-04 9.99981353e-01 2.06562980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6907140569999 meters Centerline goodness [0,1] 0.9856852995607482 Centerline is valid? [True, True] Translation: X:516.20, Y:-24.26, Z:2.06 [[ 9.99932067e-01 9.26230514e-03 -7.07616029e-03 5.16199318e+02] [-9.25961372e-03 9.99957044e-01 4.13018578e-04 -2.42614421e+01] [ 7.07968183e-03 -3.47468009e-04 9.99974878e-01 2.06476801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7207140569999 meters Centerline goodness [0,1] 0.9856341039689964 Centerline is valid? [True, True] Translation: X:516.23, Y:-24.27, Z:2.06 [[ 9.99955907e-01 5.01206940e-03 -7.94119602e-03 5.16229141e+02] [-5.00854647e-03 9.99987350e-01 4.63452364e-04 -2.42673594e+01] [ 7.94341842e-03 -4.23658080e-04 9.99968361e-01 2.06474454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.750714057 meters Centerline goodness [0,1] 0.9847664862697936 Centerline is valid? [True, True] Translation: X:516.26, Y:-24.27, Z:2.06 [[ 9.99961568e-01 3.26717740e-03 -8.13555139e-03 5.16258419e+02] [-3.26342634e-03 9.99994563e-01 4.74302942e-04 -2.42712885e+01] [ 8.13705678e-03 -4.47734941e-04 9.99966793e-01 2.06424526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.780714057 meters Centerline goodness [0,1] 0.9853628291149051 Centerline is valid? [True, True] Translation: X:516.29, Y:-24.28, Z:2.06 [[ 9.99968477e-01 2.11474206e-03 -7.65335312e-03 5.16285752e+02] [-2.11139889e-03 9.99997672e-01 4.44876902e-04 -2.42754368e+01] [ 7.65427611e-03 -4.28703597e-04 9.99970614e-01 2.06376522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8107140569999 meters Centerline goodness [0,1] 0.9850872507122507 Centerline is valid? [True, True] Translation: X:516.32, Y:-24.28, Z:2.06 [[ 9.99975120e-01 2.70782241e-04 -7.04890243e-03 5.16315011e+02] [-2.67898729e-04 9.99999880e-01 4.10013347e-04 -2.42786390e+01] [ 7.04901261e-03 -4.08114753e-04 9.99975072e-01 2.06430279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8407140569999 meters Centerline goodness [0,1] 0.9841396597236086 Centerline is valid? [True, True] Translation: X:516.34, Y:-24.28, Z:2.07 [[ 9.99980243e-01 -2.72290702e-04 -6.28006809e-03 5.16342652e+02] [ 2.74582573e-04 9.99999896e-01 3.64084323e-04 -2.42828337e+01] [ 6.27996830e-03 -3.65801527e-04 9.99980214e-01 2.06504053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.870714057 meters Centerline goodness [0,1] 0.9835467805051583 Centerline is valid? [True, True] Translation: X:516.37, Y:-24.29, Z:2.07 [[ 9.99983551e-01 -1.86520775e-03 -5.42388889e-03 5.16371599e+02] [ 1.86694043e-03 9.99998208e-01 3.14408623e-04 -2.42855886e+01] [ 5.42329273e-03 -3.24529528e-04 9.99985241e-01 2.06502100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.900714057 meters Centerline goodness [0,1] 0.9833881140623612 Centerline is valid? [True, True] Translation: X:516.40, Y:-24.29, Z:2.07 [[ 9.99984439e-01 -2.87106779e-03 -4.78311656e-03 5.16400994e+02] [ 2.87242649e-03 9.99995836e-01 2.77214882e-04 -2.42872455e+01] [ 4.78230074e-03 -2.90949719e-04 9.99988522e-01 2.06523661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9307140569999 meters Centerline goodness [0,1] 0.983152161880936 Centerline is valid? [True, True] Translation: X:516.43, Y:-24.29, Z:2.06 [[ 9.99982086e-01 -4.24113374e-03 -4.22378682e-03 5.16429621e+02] [ 4.24220458e-03 9.99990972e-01 2.44598081e-04 -2.42926539e+01] [ 4.22271132e-03 -2.62511867e-04 9.99991050e-01 2.06446354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9607140569999 meters Centerline goodness [0,1] 0.9823832364448177 Centerline is valid? [True, True] Translation: X:516.46, Y:-24.30, Z:2.06 [[ 9.99963822e-01 -7.32560978e-03 -4.32319740e-03 5.16459015e+02] [ 7.32676215e-03 9.99973127e-01 2.50778744e-04 -2.42992645e+01] [ 4.32124412e-03 -2.82444710e-04 9.99990623e-01 2.06418654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.990714057 meters Centerline goodness [0,1] 0.9826825428501741 Centerline is valid? [True, True] Translation: X:516.49, Y:-24.30, Z:2.06 [[ 9.99951361e-01 -8.83577318e-03 -4.38229517e-03 5.16490166e+02] [ 8.83697416e-03 9.99960921e-01 2.54765794e-04 -2.43025548e+01] [ 4.37987286e-03 -2.93479632e-04 9.99990365e-01 2.06367623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.020714057 meters Centerline goodness [0,1] 0.9808664420007095 Centerline is valid? [True, True] Translation: X:516.52, Y:-24.31, Z:2.06 [[ 9.99922583e-01 -1.16337362e-02 -4.41409937e-03 5.16519554e+02] [ 1.16349800e-02 9.99932279e-01 2.56208781e-04 -2.43090269e+01] [ 4.41081978e-03 -3.07546904e-04 9.99990225e-01 2.06235283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0507140569999 meters Centerline goodness [0,1] 0.9821305841924398 Centerline is valid? [True, True] Translation: X:516.55, Y:-24.31, Z:2.06 [[ 9.99906430e-01 -1.30381791e-02 -4.13964808e-03 5.16551105e+02] [ 1.30392873e-02 9.99914956e-01 2.40831326e-04 -2.43096185e+01] [ 4.13615603e-03 -2.94786852e-04 9.99991403e-01 2.06261086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0807140569999 meters Centerline goodness [0,1] 0.9807688037129977 Centerline is valid? [True, True] Translation: X:516.58, Y:-24.31, Z:2.06 [[ 9.99875972e-01 -1.50839172e-02 -4.52951242e-03 5.16582302e+02] [ 1.50852654e-02 9.99886176e-01 2.63632466e-04 -2.43141669e+01] [ 4.52502024e-03 -3.31928665e-04 9.99989707e-01 2.06170487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.110714057 meters Centerline goodness [0,1] 0.9799332581935513 Centerline is valid? [True, True] Translation: X:516.61, Y:-24.32, Z:2.06 [[ 9.99857013e-01 -1.62291686e-02 -4.75062433e-03 5.16612842e+02] [ 1.62306720e-02 9.99868235e-01 2.78067559e-04 -2.43182600e+01] [ 4.74548556e-03 -3.55133624e-04 9.99988677e-01 2.06058337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.140714057 meters Centerline goodness [0,1] 0.9796492939324747 Centerline is valid? [True, True] Translation: X:516.65, Y:-24.32, Z:2.06 [[ 9.99852418e-01 -1.65209348e-02 -4.71188242e-03 5.16645059e+02] [ 1.65224157e-02 9.99863458e-01 2.75539396e-04 -2.43201757e+01] [ 4.70668688e-03 -3.53350411e-04 9.99988861e-01 2.06001252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1707140569999 meters Centerline goodness [0,1] 0.9796720874433484 Centerline is valid? [True, True] Translation: X:516.68, Y:-24.32, Z:2.06 [[ 9.99847374e-01 -1.69056764e-02 -4.40765774e-03 5.16676398e+02] [ 1.69069763e-02 9.99857034e-01 2.57828375e-04 -2.43225413e+01] [ 4.40266883e-03 -3.32309188e-04 9.99990253e-01 2.06048010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2007140569999 meters Centerline goodness [0,1] 0.9802227427409732 Centerline is valid? [True, True] Translation: X:516.71, Y:-24.32, Z:2.06 [[ 9.99854401e-01 -1.67324116e-02 -3.34723862e-03 5.16708723e+02] [ 1.67331623e-02 9.99859972e-01 1.96374455e-04 -2.43231245e+01] [ 3.34348410e-03 -2.52355750e-04 9.99994379e-01 2.06120669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.230714057 meters Centerline goodness [0,1] 0.9800671793511889 Centerline is valid? [True, True] Translation: X:516.74, Y:-24.32, Z:2.06 [[ 9.99860483e-01 -1.65152599e-02 -2.50207795e-03 5.16741519e+02] [ 1.65156802e-02 9.99863596e-01 1.47421150e-04 -2.43219722e+01] [ 2.49930196e-03 -1.88724102e-04 9.99996859e-01 2.06185685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.260714057 meters Centerline goodness [0,1] 0.9799663895276844 Centerline is valid? [True, True] Translation: X:516.77, Y:-24.32, Z:2.06 [[ 9.99863024e-01 -1.64273895e-02 -2.01866907e-03 5.16773974e+02] [ 1.64276632e-02 9.99865050e-01 1.19083811e-04 -2.43218505e+01] [ 2.01644042e-03 -1.52229515e-04 9.99997955e-01 2.06174125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.290714057 meters Centerline goodness [0,1] 0.9804784774101744 Centerline is valid? [True, True] Translation: X:516.80, Y:-24.32, Z:2.06 [[ 9.99881766e-01 -1.52097206e-02 -2.26245685e-03 5.16804429e+02] [ 1.52100598e-02 9.99884312e-01 1.32798463e-04 -2.43218995e+01] [ 2.26017529e-03 -1.67194865e-04 9.99997432e-01 2.06180731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3207140569999 meters Centerline goodness [0,1] 0.9815632418521065 Centerline is valid? [True, True] Translation: X:516.84, Y:-24.32, Z:2.06 [[ 9.99886159e-01 -1.48627525e-02 -2.60154307e-03 5.16836420e+02] [ 1.48632018e-02 9.99889525e-01 1.53476436e-04 -2.43197068e+01] [ 2.59897459e-03 -1.92126224e-04 9.99996604e-01 2.06181351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3507140569999 meters Centerline goodness [0,1] 0.9811207738042417 Centerline is valid? [True, True] Translation: X:516.87, Y:-24.32, Z:2.06 [[ 9.99886638e-01 -1.48008397e-02 -2.76515940e-03 5.16868009e+02] [ 1.48013468e-02 9.99890441e-01 1.63018291e-04 -2.43218475e+01] [ 2.76244365e-03 -2.03927895e-04 9.99996164e-01 2.06098650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.380714057 meters Centerline goodness [0,1] 0.9809750033299294 Centerline is valid? [True, True] Translation: X:516.90, Y:-24.32, Z:2.06 [[ 9.99883484e-01 -1.49355813e-02 -3.15391636e-03 5.16900116e+02] [ 1.49362428e-02 9.99888431e-01 1.86292217e-04 -2.43199441e+01] [ 3.15078210e-03 -2.33378172e-04 9.99995009e-01 2.06115799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.410714057 meters Centerline goodness [0,1] 0.980878989095916 Centerline is valid? [True, True] Translation: X:516.93, Y:-24.32, Z:2.06 [[ 9.99853154e-01 -1.65248359e-02 -4.53871778e-03 5.16930368e+02] [ 1.65262181e-02 9.99863397e-01 2.67190904e-04 -2.43224054e+01] [ 4.53368249e-03 -3.42159508e-04 9.99989664e-01 2.05989975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4407140569999 meters Centerline goodness [0,1] 0.979749362315626 Centerline is valid? [True, True] Translation: X:516.96, Y:-24.32, Z:2.06 [[ 9.99836618e-01 -1.72606623e-02 -5.36725256e-03 5.16961965e+02] [ 1.72626092e-02 9.99850940e-01 3.16619648e-04 -2.43247374e+01] [ 5.36098745e-03 -4.09220702e-04 9.99985546e-01 2.05872503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4707140569999 meters Centerline goodness [0,1] 0.9799192306834155 Centerline is valid? [True, True] Translation: X:516.99, Y:-24.33, Z:2.06 [[ 9.99810922e-01 -1.85538614e-02 -5.82010031e-03 5.16993842e+02] [ 1.85561740e-02 9.99827760e-01 3.43594194e-04 -2.43250734e+01] [ 5.81272286e-03 -4.51528022e-04 9.99983004e-01 2.05802869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.500714057 meters Centerline goodness [0,1] 0.979941990182954 Centerline is valid? [True, True] Translation: X:517.03, Y:-24.33, Z:2.06 [[ 9.99804998e-01 -1.89689951e-02 -5.49027055e-03 5.17025711e+02] [ 1.89710627e-02 9.99819980e-01 3.24742417e-04 -2.43264845e+01] [ 5.48312215e-03 -4.28835358e-04 9.99984876e-01 2.05799203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.530714057 meters Centerline goodness [0,1] 0.9796122994652406 Centerline is valid? [True, True] Translation: X:517.06, Y:-24.33, Z:2.06 [[ 9.99804996e-01 -1.89586600e-02 -5.52625573e-03 5.17058042e+02] [ 1.89607567e-02 9.99820175e-01 3.27249334e-04 -2.43283717e+01] [ 5.51905777e-03 -4.31967509e-04 9.99984677e-01 2.05761416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5607140569999 meters Centerline goodness [0,1] 0.9780872048913286 Centerline is valid? [True, True] Translation: X:517.09, Y:-24.33, Z:2.06 [[ 9.99812087e-01 -1.84038440e-02 -6.09009822e-03 5.17090207e+02] [ 1.84063822e-02 9.99830523e-01 3.60976740e-04 -2.43293845e+01] [ 6.08242272e-03 -4.73005583e-04 9.99981390e-01 2.05714514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5907140569999 meters Centerline goodness [0,1] 0.9780872048913286 Centerline is valid? [True, True] Translation: X:517.12, Y:-24.33, Z:2.06 [[ 9.99813372e-01 -1.83339109e-02 -6.09007277e-03 5.17121940e+02] [ 1.83364504e-02 9.99831808e-01 3.61406198e-04 -2.43313252e+01] [ 6.08242248e-03 -4.73009066e-04 9.99981390e-01 2.05678453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.620714057 meters Centerline goodness [0,1] 0.9779839070183282 Centerline is valid? [True, True] Translation: X:517.15, Y:-24.33, Z:2.06 [[ 9.99819343e-01 -1.80566310e-02 -5.93631594e-03 5.17154136e+02] [ 1.80590415e-02 9.99836860e-01 3.52712535e-04 -2.43323467e+01] [ 5.92897869e-03 -4.59852991e-04 9.99982318e-01 2.05662315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.650714057 meters Centerline goodness [0,1] 0.9786342971042082 Centerline is valid? [True, True] Translation: X:517.19, Y:-24.33, Z:2.06 [[ 9.99842481e-01 -1.68432135e-02 -5.59634764e-03 5.17186409e+02] [ 1.68453379e-02 9.99858052e-01 3.32687455e-04 -2.43265504e+01] [ 5.58994972e-03 -4.26907417e-04 9.99984285e-01 2.05803296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6807140569999 meters Centerline goodness [0,1] 0.9801568680029497 Centerline is valid? [True, True] Translation: X:517.22, Y:-24.33, Z:2.06 [[ 9.99860266e-01 -1.59355697e-02 -5.05032496e-03 5.17218252e+02] [ 1.59372900e-02 9.99872948e-01 3.00551197e-04 -2.43270375e+01] [ 5.04489386e-03 -3.80997693e-04 9.99987202e-01 2.05774901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7107140569999 meters Centerline goodness [0,1] 0.9785818304021507 Centerline is valid? [True, True] Translation: X:517.25, Y:-24.33, Z:2.06 [[ 9.99877251e-01 -1.46059536e-02 -5.67001577e-03 5.17249505e+02] [ 1.46081002e-02 9.99893239e-01 3.37355278e-04 -2.43268076e+01] [ 5.66448304e-03 -4.20142026e-04 9.99983868e-01 2.05780349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.740714057 meters Centerline goodness [0,1] 0.9797731188329268 Centerline is valid? [True, True] Translation: X:517.28, Y:-24.32, Z:2.06 [[ 9.99887246e-01 -1.37900223e-02 -5.94387164e-03 5.17281591e+02] [ 1.37923700e-02 9.99904818e-01 3.54161097e-04 -2.43246066e+01] [ 5.93842200e-03 -4.36101241e-04 9.99982272e-01 2.05765617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.770714057 meters Centerline goodness [0,1] 0.9802813109899724 Centerline is valid? [True, True] Translation: X:517.31, Y:-24.33, Z:2.06 [[ 9.99895701e-01 -1.24660208e-02 -7.29283999e-03 5.17312110e+02] [ 1.24695169e-02 9.99922158e-01 4.34118073e-04 -2.43277676e+01] [ 7.28686057e-03 -5.25010987e-04 9.99973313e-01 2.05562008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8007140569999 meters Centerline goodness [0,1] 0.9801795735129069 Centerline is valid? [True, True] Translation: X:517.34, Y:-24.33, Z:2.06 [[ 9.99892844e-01 -1.21881050e-02 -8.10873610e-03 5.17343616e+02] [ 1.21924219e-02 9.99925553e-01 4.83152409e-04 -2.43267620e+01] [ 8.10224372e-03 -5.81965768e-04 9.99967007e-01 2.05528343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8307140569999 meters Centerline goodness [0,1] 0.9798740171551108 Centerline is valid? [True, True] Translation: X:517.37, Y:-24.33, Z:2.05 [[ 9.99892050e-01 -1.18366329e-02 -8.70533135e-03 5.17374267e+02] [ 1.18415945e-02 9.99929751e-01 5.18620701e-04 -2.43295651e+01] [ 8.69858109e-03 -6.21649719e-04 9.99961973e-01 2.05406002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.860714057 meters Centerline goodness [0,1] 0.9786953411428061 Centerline is valid? [True, True] Translation: X:517.40, Y:-24.33, Z:2.05 [[ 9.99887628e-01 -1.19568698e-02 -9.04235403e-03 5.17404988e+02] [ 1.19622292e-02 9.99928305e-01 5.38847827e-04 -2.43320165e+01] [ 9.03526280e-03 -6.46953988e-04 9.99958972e-01 2.05333300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.890714057 meters Centerline goodness [0,1] 0.9781570272027987 Centerline is valid? [True, True] Translation: X:517.44, Y:-24.33, Z:2.05 [[ 9.99895509e-01 -1.15208654e-02 -8.73160835e-03 5.17435999e+02] [ 1.15258476e-02 9.99933440e-01 5.20490472e-04 -2.43332703e+01] [ 8.72503067e-03 -6.21075273e-04 9.99961743e-01 2.05341535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9207140569999 meters Centerline goodness [0,1] 0.9788106170903796 Centerline is valid? [True, True] Translation: X:517.47, Y:-24.34, Z:2.05 [[ 9.99900689e-01 -1.11447008e-02 -8.62594493e-03 5.17466797e+02] [ 1.11495475e-02 9.99937710e-01 5.13995463e-04 -2.43350344e+01] [ 8.61967930e-03 -6.10119800e-04 9.99962664e-01 2.05319869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9507140569999 meters Centerline goodness [0,1] 0.9784765239249483 Centerline is valid? [True, True] Translation: X:517.50, Y:-24.33, Z:2.05 [[ 9.99913062e-01 -1.00001210e-02 -8.59457855e-03 5.17497832e+02] [ 1.00048905e-02 9.99949819e-01 5.12126429e-04 -2.43325863e+01] [ 8.58902593e-03 -5.98069723e-04 9.99962935e-01 2.05396229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.980714057 meters Centerline goodness [0,1] 0.979486144740382 Centerline is valid? [True, True] Translation: X:517.53, Y:-24.33, Z:2.05 [[ 9.99934331e-01 -7.44168853e-03 -8.71524500e-03 5.17527652e+02] [ 7.44649618e-03 9.99972140e-01 5.19316599e-04 -2.43338476e+01] [ 8.71113759e-03 -5.84180534e-04 9.99961887e-01 2.05340241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.010714057 meters Centerline goodness [0,1] 0.9789019151601933 Centerline is valid? [True, True] Translation: X:517.56, Y:-24.33, Z:2.05 [[ 9.99934674e-01 -6.72533471e-03 -9.24213283e-03 5.17557899e+02] [ 6.73070740e-03 9.99977197e-01 5.50345002e-04 -2.43335377e+01] [ 9.23822083e-03 -6.12515142e-04 9.99957139e-01 2.05364564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.040714057 meters Centerline goodness [0,1] 0.9788494645292553 Centerline is valid? [True, True] Translation: X:517.59, Y:-24.34, Z:2.05 [[ 9.99941146e-01 -5.61768528e-03 -9.28153178e-03 5.17587703e+02] [ 5.62305148e-03 9.99984038e-01 5.52163635e-04 -2.43360172e+01] [ 9.27828175e-03 -6.04321669e-04 9.99956773e-01 2.05322213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0707140569999 meters Centerline goodness [0,1] 0.9794015465650566 Centerline is valid? [True, True] Translation: X:517.62, Y:-24.34, Z:2.05 [[ 9.99945464e-01 -5.56452386e-03 -8.83773770e-03 5.17616588e+02] [ 5.56934610e-03 9.99984355e-01 5.21125240e-04 -2.43379161e+01] [ 8.83469962e-03 -5.70317240e-04 9.99960811e-01 2.05297920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1007140569999 meters Centerline goodness [0,1] 0.9796211509112128 Centerline is valid? [True, True] Translation: X:517.65, Y:-24.34, Z:2.05 [[ 9.99942575e-01 -5.93958416e-03 -8.92008886e-03 5.17645331e+02] [ 5.94449241e-03 9.99982194e-01 5.23833507e-04 -2.43413391e+01] [ 8.91681868e-03 -5.76828826e-04 9.99960078e-01 2.05169915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.130714057 meters Centerline goodness [0,1] 0.9793689320388349 Centerline is valid? [True, True] Translation: X:517.68, Y:-24.34, Z:2.05 [[ 9.99932347e-01 -6.41990385e-03 -9.69978701e-03 5.17675236e+02] [ 6.42575228e-03 9.99979191e-01 5.71899496e-04 -2.43403450e+01] [ 9.69591363e-03 -6.34189234e-04 9.99952792e-01 2.05180910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.160714057 meters Centerline goodness [0,1] 0.9801737880863103 Centerline is valid? [True, True] Translation: X:517.70, Y:-24.34, Z:2.05 [[ 9.99924236e-01 -7.11331067e-03 -1.00460665e-02 5.17703581e+02] [ 7.11956928e-03 9.99974483e-01 5.87365826e-04 -2.43432950e+01] [ 1.00416320e-02 -6.58844991e-04 9.99949364e-01 2.05110978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1907140569999 meters Centerline goodness [0,1] 0.9783934755893197 Centerline is valid? [True, True] Translation: X:517.73, Y:-24.35, Z:2.05 [[ 9.99914630e-01 -8.35122523e-03 -1.00493862e-02 5.17732422e+02] [ 8.35757119e-03 9.99964901e-01 5.89646810e-04 -2.43478560e+01] [ 1.00441092e-02 -6.73584932e-04 9.99949330e-01 2.04977087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2207140569999 meters Centerline goodness [0,1] 0.9783691603464525 Centerline is valid? [True, True] Translation: X:517.76, Y:-24.35, Z:2.05 [[ 9.99892333e-01 -1.01971701e-02 -1.05517654e-02 5.17761696e+02] [ 1.02042651e-02 9.99947744e-01 6.18778957e-04 -2.43521322e+01] [ 1.05449042e-02 -7.26385346e-04 9.99944137e-01 2.04914703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.250714057 meters Centerline goodness [0,1] 0.9774161779846905 Centerline is valid? [True, True] Translation: X:517.79, Y:-24.35, Z:2.05 [[ 9.99884631e-01 -1.07680815e-02 -1.07131874e-02 5.17791409e+02] [ 1.07754238e-02 9.99941746e-01 6.27864540e-04 -2.43529179e+01] [ 1.07058024e-02 -7.43231239e-04 9.99942415e-01 2.04945009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.280714057 meters Centerline goodness [0,1] 0.9772885231935071 Centerline is valid? [True, True] Translation: X:517.82, Y:-24.36, Z:2.05 [[ 9.99882563e-01 -1.12569358e-02 -1.03990928e-02 5.17820720e+02] [ 1.12638802e-02 9.99936375e-01 6.09463968e-04 -2.43565044e+01] [ 1.03915704e-02 -7.26526530e-04 9.99945742e-01 2.04929940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3107140569999 meters Centerline goodness [0,1] 0.9758529714260162 Centerline is valid? [True, True] Translation: X:517.85, Y:-24.36, Z:2.05 [[ 9.99877427e-01 -1.20741352e-02 -9.96721374e-03 5.17851291e+02] [ 1.20805571e-02 9.99926857e-01 5.84344572e-04 -2.43594072e+01] [ 9.95942925e-03 -7.04682442e-04 9.99950155e-01 2.04869712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3407140569999 meters Centerline goodness [0,1] 0.9764484642249485 Centerline is valid? [True, True] Translation: X:517.88, Y:-24.36, Z:2.05 [[ 9.99868332e-01 -1.32143118e-02 -9.41811016e-03 5.17881798e+02] [ 1.32200959e-02 9.99912458e-01 5.52152457e-04 -2.43623538e+01] [ 9.40998937e-03 -6.76588075e-04 9.99955496e-01 2.04919606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.370714057 meters Centerline goodness [0,1] 0.9764058022922636 Centerline is valid? [True, True] Translation: X:517.91, Y:-24.37, Z:2.05 [[ 9.99868302e-01 -1.34850506e-02 -9.02947168e-03 5.17911762e+02] [ 1.34903814e-02 9.99908860e-01 5.29721974e-04 -2.43663120e+01] [ 9.02150541e-03 -6.51463227e-04 9.99959093e-01 2.04854983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.400714057 meters Centerline goodness [0,1] 0.97598087407275 Centerline is valid? [True, True] Translation: X:517.94, Y:-24.37, Z:2.05 [[ 9.99866792e-01 -1.39524239e-02 -8.46929090e-03 5.17941903e+02] [ 1.39571376e-02 9.99902471e-01 4.97709492e-04 -2.43704095e+01] [ 8.46152065e-03 -6.15850251e-04 9.99964011e-01 2.04740422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4307140569999 meters Centerline goodness [0,1] 0.9780059637244132 Centerline is valid? [True, True] Translation: X:517.97, Y:-24.36, Z:2.05 [[ 9.99847330e-01 -1.52706186e-02 -8.49264231e-03 5.17973537e+02] [ 1.52754067e-02 9.99883200e-01 4.99205966e-04 -2.43644946e+01] [ 8.48402718e-03 -6.28858318e-04 9.99963812e-01 2.04925333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4607140569999 meters Centerline goodness [0,1] 0.977051241747878 Centerline is valid? [True, True] Translation: X:518.00, Y:-24.37, Z:2.05 [[ 9.99829065e-01 -1.64208525e-02 -8.49688001e-03 5.18004082e+02] [ 1.64256893e-02 9.99864964e-01 4.99764516e-04 -2.43707109e+01] [ 8.48752607e-03 -6.39246200e-04 9.99963776e-01 2.04773765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.490714057 meters Centerline goodness [0,1] 0.9764863656683058 Centerline is valid? [True, True] Translation: X:518.04, Y:-24.37, Z:2.05 [[ 9.99811630e-01 -1.75742175e-02 -8.23720254e-03 5.18035354e+02] [ 1.75788045e-02 9.99845363e-01 4.84779973e-04 -2.43734671e+01] [ 8.22740914e-03 -6.29488828e-04 9.99965956e-01 2.04742498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.520714057 meters Centerline goodness [0,1] 0.9760030500796161 Centerline is valid? [True, True] Translation: X:518.07, Y:-24.37, Z:2.05 [[ 9.99775876e-01 -1.97131134e-02 -7.71957694e-03 5.18066993e+02] [ 1.97172077e-02 9.99805494e-01 4.54632584e-04 -2.43711468e+01] [ 7.70911320e-03 -6.06739192e-04 9.99970100e-01 2.04847602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5507140569999 meters Centerline goodness [0,1] 0.9758589714799012 Centerline is valid? [True, True] Translation: X:518.10, Y:-24.37, Z:2.05 [[ 9.99755913e-01 -2.09130888e-02 -7.12442422e-03 5.18099305e+02] [ 2.09166133e-02 9.99781135e-01 4.20550167e-04 -2.43730159e+01] [ 7.11406993e-03 -5.69466343e-04 9.99974533e-01 2.04845298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5807140569999 meters Centerline goodness [0,1] 0.973002643724515 Centerline is valid? [True, True] Translation: X:518.13, Y:-24.38, Z:2.05 [[ 9.99690695e-01 -2.37584664e-02 -7.35185505e-03 5.18128361e+02] [ 2.37622884e-02 9.99717543e-01 4.32933712e-04 -2.43785941e+01] [ 7.33949263e-03 -6.07496704e-04 9.99972881e-01 2.04733983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.610714057 meters Centerline goodness [0,1] 0.9729621022524133 Centerline is valid? [True, True] Translation: X:518.16, Y:-24.38, Z:2.05 [[ 9.99599410e-01 -2.72954795e-02 -7.48179358e-03 5.18158762e+02] [ 2.72995374e-02 9.99627201e-01 4.40759072e-04 -2.43792935e+01] [ 7.46697364e-03 -6.44832012e-04 9.99971914e-01 2.04681144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.640714057 meters Centerline goodness [0,1] 0.9733751680860601 Centerline is valid? [True, True] Translation: X:518.19, Y:-24.38, Z:2.05 [[ 9.99541284e-01 -2.93754631e-02 -7.36905231e-03 5.18189576e+02] [ 2.93794580e-02 9.99568236e-01 4.34421622e-04 -2.43815301e+01] [ 7.35310929e-03 -6.50721109e-04 9.99972754e-01 2.04632358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6707140569999 meters Centerline goodness [0,1] 0.972186025612222 Centerline is valid? [True, True] Translation: X:518.22, Y:-24.38, Z:2.04 [[ 9.99432674e-01 -3.28310721e-02 -7.51341069e-03 5.18219549e+02] [ 3.28353182e-02 9.99460678e-01 4.42440988e-04 -2.43844717e+01] [ 7.49483273e-03 -6.88895211e-04 9.99971676e-01 2.04498096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7007140569999 meters Centerline goodness [0,1] 0.9715344600477774 Centerline is valid? [True, True] Translation: X:518.25, Y:-24.39, Z:2.04 [[ 9.99409226e-01 -3.35004594e-02 -7.67582398e-03 5.18251513e+02] [ 3.35049224e-02 9.99438450e-01 4.53554323e-04 -2.43865104e+01] [ 7.65631934e-03 -7.10464262e-04 9.99970438e-01 2.04449879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.730714057 meters Centerline goodness [0,1] 0.9695339296522967 Centerline is valid? [True, True] Translation: X:518.28, Y:-24.39, Z:2.04 [[ 9.99376225e-01 -3.43481005e-02 -8.20779874e-03 5.18284061e+02] [ 3.43532364e-02 9.99409635e-01 4.85522810e-04 -2.43866301e+01] [ 8.18627636e-03 -7.67184404e-04 9.99966198e-01 2.04478932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.760714057 meters Centerline goodness [0,1] 0.965722100165897 Centerline is valid? [True, True] Translation: X:518.32, Y:-24.39, Z:2.04 [[ 9.99403433e-01 -3.36044688e-02 -7.96986562e-03 5.18315687e+02] [ 3.36092925e-02 9.99434937e-01 4.72036656e-04 -2.43899570e+01] [ 7.94949960e-03 -7.39616599e-04 9.99968129e-01 2.04381735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.790714057 meters Centerline goodness [0,1] 0.9673788501718676 Centerline is valid? [True, True] Translation: X:518.35, Y:-24.39, Z:2.04 [[ 9.99493307e-01 -3.08161650e-02 -7.96824812e-03 5.18345993e+02] [ 3.08208905e-02 9.99524813e-01 4.70892626e-04 -2.43874943e+01] [ 7.94995060e-03 -7.16242531e-04 9.99968142e-01 2.04369808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8207140569999 meters Centerline goodness [0,1] 0.9697222284800289 Centerline is valid? [True, True] Translation: X:518.38, Y:-24.38, Z:2.04 [[ 9.99631073e-01 -2.61623227e-02 -7.29725150e-03 5.18377275e+02] [ 2.61661659e-02 9.99657514e-01 4.31667428e-04 -2.43840655e+01] [ 7.28345887e-03 -6.22449268e-04 9.99973282e-01 2.04360556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8507140569999 meters Centerline goodness [0,1] 0.9701095532212254 Centerline is valid? [True, True] Translation: X:518.41, Y:-24.38, Z:2.04 [[ 9.99691388e-01 -2.38724419e-02 -6.87272233e-03 5.18408561e+02] [ 2.38757981e-02 9.99714850e-01 4.06699773e-04 -2.43835571e+01] [ 6.86105366e-03 -5.70665992e-04 9.99976300e-01 2.04348270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.880714057 meters Centerline goodness [0,1] 0.9721540090567058 Centerline is valid? [True, True] Translation: X:518.44, Y:-24.38, Z:2.04 [[ 9.99793828e-01 -1.90974312e-02 -6.89845977e-03 5.18439057e+02] [ 1.91006981e-02 9.99817482e-01 4.08001434e-04 -2.43788924e+01] [ 6.88940889e-03 -5.39682713e-04 9.99976122e-01 2.04354329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.910714057 meters Centerline goodness [0,1] 0.9721739130434782 Centerline is valid? [True, True] Translation: X:518.47, Y:-24.38, Z:2.04 [[ 9.99832268e-01 -1.68681909e-02 -7.13442666e-03 5.18469312e+02] [ 1.68716289e-02 9.99857575e-01 4.21972118e-04 -2.43788794e+01] [ 7.12629263e-03 -5.42270739e-04 9.99974461e-01 2.04303117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9407140569999 meters Centerline goodness [0,1] 0.9732925586136595 Centerline is valid? [True, True] Translation: X:518.50, Y:-24.38, Z:2.04 [[ 9.99876690e-01 -1.39677933e-02 -7.17668843e-03 5.18500248e+02] [ 1.39712001e-02 9.99902308e-01 4.24787908e-04 -2.43763127e+01] [ 7.17005397e-03 -5.25002478e-04 9.99974157e-01 2.04270071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9707140569999 meters Centerline goodness [0,1] 0.9726473314194001 Centerline is valid? [True, True] Translation: X:518.53, Y:-24.38, Z:2.04 [[ 9.99891632e-01 -1.30418744e-02 -6.82885603e-03 5.18532042e+02] [ 1.30449424e-02 9.99914829e-01 4.04922695e-04 -2.43774827e+01] [ 6.82299346e-03 -4.93960848e-04 9.99976601e-01 2.04199691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.000714057 meters Centerline goodness [0,1] 0.9710308163633087 Centerline is valid? [True, True] Translation: X:518.56, Y:-24.38, Z:2.04 [[ 9.99898010e-01 -1.26470656e-02 -6.63487605e-03 5.18562990e+02] [ 1.26499555e-02 9.99919909e-01 3.93782201e-04 -2.43793823e+01] [ 6.62936446e-03 -4.77672926e-04 9.99977911e-01 2.04098092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.030714057 meters Centerline goodness [0,1] 0.9752017274690306 Centerline is valid? [True, True] Translation: X:518.59, Y:-24.38, Z:2.04 [[ 9.99880384e-01 -1.34415198e-02 -7.65130212e-03 5.18594824e+02] [ 1.34453861e-02 9.99909504e-01 4.54106621e-04 -2.43751102e+01] [ 7.64450582e-03 -5.56927014e-04 9.99970625e-01 2.04179697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0607140569999 meters Centerline goodness [0,1] 0.97331451080398 Centerline is valid? [True, True] Translation: X:518.62, Y:-24.38, Z:2.04 [[ 9.99846094e-01 -1.52459027e-02 -8.68052380e-03 5.18624872e+02] [ 1.52509553e-02 9.99883564e-01 5.16163566e-04 -2.43774243e+01] [ 8.67164370e-03 -6.48470406e-04 9.99962190e-01 2.04049598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0907140569999 meters Centerline goodness [0,1] 0.9737534594619119 Centerline is valid? [True, True] Translation: X:518.66, Y:-24.38, Z:2.04 [[ 9.99827280e-01 -1.61531194e-02 -9.19171018e-03 5.18655851e+02] [ 1.61588214e-02 9.99869288e-01 5.46411286e-04 -2.43803129e+01] [ 9.18168247e-03 -6.94844113e-04 9.99957606e-01 2.03943350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.120714057 meters Centerline goodness [0,1] 0.971852189781022 Centerline is valid? [True, True] Translation: X:518.69, Y:-24.38, Z:2.04 [[ 9.99754551e-01 -1.93814958e-02 -1.07328861e-02 5.18686804e+02] [ 1.93894511e-02 9.99811804e-01 6.37644443e-04 -2.43817635e+01] [ 1.07185077e-02 -8.45592705e-04 9.99942198e-01 2.03791426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.150714057 meters Centerline goodness [0,1] 0.9653318755409777 Centerline is valid? [True, True] Translation: X:518.72, Y:-24.39, Z:2.04 [[ 9.99731596e-01 -2.04521778e-02 -1.08832451e-02 5.18717214e+02] [ 2.04604287e-02 9.99790454e-01 6.47310610e-04 -2.43882276e+01] [ 1.08677256e-02 -8.69812729e-04 9.99940566e-01 2.03621892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1807140569999 meters Centerline goodness [0,1] 0.9723793299261783 Centerline is valid? [True, True] Translation: X:518.75, Y:-24.39, Z:2.04 [[ 9.99701263e-01 -2.20663554e-02 -1.05100065e-02 5.18748140e+02] [ 2.20741386e-02 9.99756141e-01 6.25112271e-04 -2.43853983e+01] [ 1.04936496e-02 -8.56924867e-04 9.99944573e-01 2.03769230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2107140569999 meters Centerline goodness [0,1] 0.9734763752567906 Centerline is valid? [True, True] Translation: X:518.78, Y:-24.39, Z:2.04 [[ 9.99698197e-01 -2.23746592e-02 -1.01434534e-02 5.18780613e+02] [ 2.23819381e-02 9.99749310e-01 6.04630138e-04 -2.43862393e+01] [ 1.01273821e-02 -8.31477804e-04 9.99948371e-01 2.03800721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.240714057 meters Centerline goodness [0,1] 0.9711696493791089 Centerline is valid? [True, True] Translation: X:518.81, Y:-24.39, Z:2.04 [[ 9.99715947e-01 -2.21755597e-02 -8.73324105e-03 5.18811983e+02] [ 2.21809509e-02 9.99753837e-01 5.20936450e-04 -2.43884087e+01] [ 8.71953919e-03 -7.14500068e-04 9.99961729e-01 2.03885729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.270714057 meters Centerline goodness [0,1] 0.971830664659459 Centerline is valid? [True, True] Translation: X:518.84, Y:-24.39, Z:2.04 [[ 9.99763861e-01 -2.03740706e-02 -7.55768759e-03 5.18842110e+02] [ 2.03780531e-02 9.99792245e-01 4.50300818e-04 -2.43889708e+01] [ 7.54694298e-03 -6.04205443e-04 9.99971339e-01 2.03955316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3007140569999 meters Centerline goodness [0,1] 0.9668964575796875 Centerline is valid? [True, True] Translation: X:518.87, Y:-24.39, Z:2.04 [[ 9.99793059e-01 -1.90431231e-02 -7.15537713e-03 5.18872565e+02] [ 1.90466635e-02 9.99818505e-01 4.26964233e-04 -2.43939780e+01] [ 7.14594773e-03 -5.63161936e-04 9.99974309e-01 2.03821159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3307140569999 meters Centerline goodness [0,1] 0.9776395811422561 Centerline is valid? [True, True] Translation: X:518.91, Y:-24.38, Z:2.04 [[ 9.99807403e-01 -1.80525164e-02 -7.69829264e-03 5.18906021e+02] [ 1.80565954e-02 9.99836860e-01 4.60678017e-04 -2.43815552e+01] [ 7.68872034e-03 -5.99594247e-04 9.99970262e-01 2.04060797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.360714057 meters Centerline goodness [0,1] 0.9779723565681803 Centerline is valid? [True, True] Translation: X:518.94, Y:-24.38, Z:2.04 [[ 9.99837177e-01 -1.58394816e-02 -8.64462540e-03 5.18936884e+02] [ 1.58445391e-02 9.99874334e-01 5.16874509e-04 -2.43823460e+01] [ 8.63535203e-03 -6.53760455e-04 9.99962501e-01 2.03907114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.390714057 meters Centerline goodness [0,1] 0.965195090675948 Centerline is valid? [True, True] Translation: X:518.97, Y:-24.40, Z:2.03 [[ 9.99852505e-01 -1.45874797e-02 -9.06498237e-03 5.18966480e+02] [ 1.45930004e-02 9.99893369e-01 5.43164175e-04 -2.43961592e+01] [ 9.05609237e-03 -6.75369352e-04 9.99958765e-01 2.03413280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4207140569999 meters Centerline goodness [0,1] 0.9784562607204117 Centerline is valid? [True, True] Translation: X:519.00, Y:-24.39, Z:2.04 [[ 9.99859243e-01 -1.39002144e-02 -9.39569993e-03 5.18998545e+02] [ 1.39061134e-02 9.99903147e-01 5.62798083e-04 -2.43852054e+01] [ 9.38696692e-03 -6.93376534e-04 9.99955701e-01 2.03633799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4507140569999 meters Centerline goodness [0,1] 0.9794358633035735 Centerline is valid? [True, True] Translation: X:519.03, Y:-24.38, Z:2.04 [[ 9.99882985e-01 -1.19512059e-02 -9.54905460e-03 5.19029805e+02] [ 1.19572104e-02 9.99928346e-01 5.71954605e-04 -2.43821540e+01] [ 9.54153483e-03 -6.86067733e-04 9.99954243e-01 2.03641342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.480714057 meters Centerline goodness [0,1] 0.9794358633035735 Centerline is valid? [True, True] Translation: X:519.06, Y:-24.38, Z:2.04 [[ 9.99883415e-01 -1.19152021e-02 -9.54902179e-03 5.19060681e+02] [ 1.19212101e-02 9.99928776e-01 5.72502329e-04 -2.43840323e+01] [ 9.54152019e-03 -6.86271479e-04 9.99954243e-01 2.03606237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.510714057 meters Centerline goodness [0,1] 0.9789233639693179 Centerline is valid? [True, True] Translation: X:519.09, Y:-24.38, Z:2.04 [[ 9.99902537e-01 -9.05998325e-03 -1.06222708e-02 5.19091517e+02] [ 9.06725684e-03 9.99958689e-01 6.36788807e-04 -2.43820536e+01] [ 1.06160627e-02 -7.33041602e-04 9.99943379e-01 2.03589755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.540714057 meters Centerline goodness [0,1] 0.9791057154046396 Centerline is valid? [True, True] Translation: X:519.12, Y:-24.39, Z:2.03 [[ 9.99916208e-01 -7.22879588e-03 -1.07387828e-02 5.19120418e+02] [ 7.23611410e-03 9.99973612e-01 6.42776374e-04 -2.43866137e+01] [ 1.07338529e-02 -7.20429572e-04 9.99942131e-01 2.03438678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5707140569999 meters Centerline goodness [0,1] 0.9697361136741096 Centerline is valid? [True, True] Translation: X:519.15, Y:-24.40, Z:2.03 [[ 9.99927559e-01 -5.50817011e-03 -1.07021667e-02 5.19148257e+02] [ 5.51533454e-03 9.99984586e-01 6.40038775e-04 -2.43986437e+01] [ 1.06984763e-02 -6.99018440e-04 9.99942525e-01 2.02983653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6007140569999 meters Centerline goodness [0,1] 0.9794789024671432 Centerline is valid? [True, True] Translation: X:519.18, Y:-24.38, Z:2.04 [[ 9.99953449e-01 -2.59654933e-03 -9.29289069e-03 5.19178917e+02] [ 2.60182305e-03 9.99996461e-01 5.55455835e-04 -2.43832463e+01] [ 9.29141554e-03 -5.79608436e-04 9.99956666e-01 2.03577083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.630714057 meters Centerline goodness [0,1] 0.9798138077242142 Centerline is valid? [True, True] Translation: X:519.21, Y:-24.39, Z:2.04 [[ 9.99962136e-01 -1.56923565e-03 -8.55942354e-03 5.19208178e+02] [ 1.57363649e-03 9.99998633e-01 5.07441599e-04 -2.43853626e+01] [ 8.55861555e-03 -5.20891807e-04 9.99963239e-01 2.03602026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.660714057 meters Centerline goodness [0,1] 0.9797417477073757 Centerline is valid? [True, True] Translation: X:519.24, Y:-24.38, Z:2.04 [[ 9.99976311e-01 4.70600257e-04 -6.86707475e-03 5.19237876e+02] [-4.67805760e-04 9.99999807e-01 4.08542014e-04 -2.43849465e+01] [ 6.86726568e-03 -4.05319879e-04 9.99976338e-01 2.03696794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6907140569999 meters Centerline goodness [0,1] 0.9802126675913083 Centerline is valid? [True, True] Translation: X:519.27, Y:-24.38, Z:2.04 [[ 9.99981923e-01 2.33845059e-03 -5.53949586e-03 5.19267328e+02] [-2.33666227e-03 9.99997216e-01 3.29280556e-04 -2.43845803e+01] [ 5.54025045e-03 -3.16330672e-04 9.99984603e-01 2.03815487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7207140569999 meters Centerline goodness [0,1] 0.9803889864178139 Centerline is valid? [True, True] Translation: X:519.30, Y:-24.39, Z:2.04 [[ 9.99983298e-01 3.17189687e-03 -4.83141390e-03 5.19296098e+02] [-3.17056409e-03 9.99994934e-01 2.83492623e-04 -2.43865532e+01] [ 4.83228863e-03 -2.68169581e-04 9.99988288e-01 2.03817049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.750714057 meters Centerline goodness [0,1] 0.9810606934416018 Centerline is valid? [True, True] Translation: X:519.33, Y:-24.39, Z:2.04 [[ 9.99979438e-01 5.18375881e-03 -3.77533396e-03 5.19325173e+02] [-5.18295296e-03 9.99986543e-01 2.23204844e-04 -2.43874639e+01] [ 3.77644020e-03 -2.03632876e-04 9.99992848e-01 2.03905037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.780714057 meters Centerline goodness [0,1] 0.981086871386118 Centerline is valid? [True, True] Translation: X:519.35, Y:-24.39, Z:2.04 [[ 9.99972120e-01 6.51885881e-03 -3.64199360e-03 5.19354556e+02] [-6.51811922e-03 9.99978734e-01 2.14903932e-04 -2.43882028e+01] [ 3.64331707e-03 -1.91158992e-04 9.99993345e-01 2.03940988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8107140569999 meters Centerline goodness [0,1] 0.9817303267372296 Centerline is valid? [True, True] Translation: X:519.38, Y:-24.39, Z:2.04 [[ 9.99968986e-01 6.96562169e-03 -3.67530276e-03 5.19383661e+02] [-6.96487221e-03 9.99975722e-01 2.16682156e-04 -2.43914803e+01] [ 3.67672286e-03 -1.91077421e-04 9.99993223e-01 2.03855041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8407140569999 meters Centerline goodness [0,1] 0.980818708076817 Centerline is valid? [True, True] Translation: X:519.41, Y:-24.39, Z:2.04 [[ 9.99965497e-01 7.36370861e-03 -3.84460279e-03 5.19412711e+02] [-7.36289316e-03 9.99972868e-01 2.26214649e-04 -2.43946385e+01] [ 3.84616426e-03 -1.97899444e-04 9.99992584e-01 2.03775508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.870714057 meters Centerline goodness [0,1] 0.9817141806988123 Centerline is valid? [True, True] Translation: X:519.44, Y:-24.40, Z:2.04 [[ 9.99964719e-01 7.54971476e-03 -3.68267956e-03 5.19441769e+02] [-7.54896898e-03 9.99971483e-01 2.16369627e-04 -2.43951787e+01] [ 3.68420807e-03 -1.88561559e-04 9.99993196e-01 2.03749525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.900714057 meters Centerline goodness [0,1] 0.981727612882492 Centerline is valid? [True, True] Translation: X:519.47, Y:-24.40, Z:2.04 [[ 9.99955353e-01 8.06947948e-03 -4.91676133e-03 5.19470030e+02] [-8.06815682e-03 9.99967410e-01 2.88785086e-04 -2.43971217e+01] [ 4.91893144e-03 -2.49102991e-04 9.99987871e-01 2.03664350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9307140569999 meters Centerline goodness [0,1] 0.9824159196680345 Centerline is valid? [True, True] Translation: X:519.50, Y:-24.40, Z:2.04 [[ 9.99950911e-01 8.20849750e-03 -5.54943709e-03 5.19497891e+02] [-8.20681798e-03 9.99966271e-01 3.25351686e-04 -2.44003278e+01] [ 5.55192056e-03 -2.79792495e-04 9.99984549e-01 2.03552448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9607140569999 meters Centerline goodness [0,1] 0.9817476614191193 Centerline is valid? [True, True] Translation: X:519.53, Y:-24.40, Z:2.03 [[ 9.99937761e-01 9.22585935e-03 -6.27364169e-03 5.19525918e+02] [-9.22373548e-03 9.99957393e-01 3.67388246e-04 -2.44034602e+01] [ 6.27676386e-03 -3.09498968e-04 9.99980253e-01 2.03499108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.990714057 meters Centerline goodness [0,1] 0.9836347383620986 Centerline is valid? [True, True] Translation: X:519.55, Y:-24.40, Z:2.04 [[ 9.99929804e-01 9.96545894e-03 -6.40906335e-03 5.19554668e+02] [-9.96325913e-03 9.99950295e-01 3.75070823e-04 -2.44030877e+01] [ 6.41248255e-03 -3.11189335e-04 9.99979391e-01 2.03557838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.020714057 meters Centerline goodness [0,1] 0.9833272176864508 Centerline is valid? [True, True] Translation: X:519.58, Y:-24.41, Z:2.04 [[ 9.99917075e-01 1.15859138e-02 -5.62221744e-03 5.19582676e+02] [-1.15842494e-02 9.99932846e-01 3.28523401e-04 -2.44061984e+01] [ 5.62564613e-03 -2.63366989e-04 9.99984141e-01 2.03563657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0507140569999 meters Centerline goodness [0,1] 0.9833150484549278 Centerline is valid? [True, True] Translation: X:519.61, Y:-24.41, Z:2.04 [[ 9.99910157e-01 1.25446087e-02 -4.72348127e-03 5.19611818e+02] [-1.25434507e-02 9.99921290e-01 2.74707504e-04 -2.44087534e+01] [ 4.72655559e-03 -2.15434069e-04 9.99988807e-01 2.03521962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0807140569999 meters Centerline goodness [0,1] 0.9825570734390758 Centerline is valid? [True, True] Translation: X:519.64, Y:-24.41, Z:2.03 [[ 9.99886865e-01 1.42023614e-02 -4.95478565e-03 5.19639404e+02] [-1.42011074e-02 9.99899118e-01 2.88193418e-04 -2.44118669e+01] [ 4.95837883e-03 -2.17797371e-04 9.99987683e-01 2.03471527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.110714057 meters Centerline goodness [0,1] 0.9826663617653785 Centerline is valid? [True, True] Translation: X:519.67, Y:-24.41, Z:2.04 [[ 9.99878738e-01 1.48473180e-02 -4.69759097e-03 5.19668541e+02] [-1.48461987e-02 9.99889752e-01 2.73053251e-04 -2.44130013e+01] [ 4.70112717e-03 -2.03278771e-04 9.99988929e-01 2.03515479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.140714057 meters Centerline goodness [0,1] 0.9833741166784824 Centerline is valid? [True, True] Translation: X:519.70, Y:-24.41, Z:2.04 [[ 9.99878276e-01 1.48215732e-02 -4.87386348e-03 5.19696764e+02] [-1.48203725e-02 9.99890132e-01 2.82392750e-04 -2.44141116e+01] [ 4.87751351e-03 -2.10125904e-04 9.99988083e-01 2.03567663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1707140569999 meters Centerline goodness [0,1] 0.9821294249048347 Centerline is valid? [True, True] Translation: X:519.72, Y:-24.42, Z:2.03 [[ 9.99900044e-01 1.30505855e-02 -5.43918710e-03 5.19723979e+02] [-1.30490675e-02 9.99914808e-01 3.14482505e-04 -2.44199721e+01] [ 5.44282791e-03 -2.43474751e-04 9.99985158e-01 2.03461576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2007140569999 meters Centerline goodness [0,1] 0.9831196678680597 Centerline is valid? [True, True] Translation: X:519.75, Y:-24.42, Z:2.04 [[ 9.99913955e-01 1.17187077e-02 -5.89536026e-03 5.19752845e+02] [-1.17168999e-02 9.99931297e-01 3.41090291e-04 -2.44209634e+01] [ 5.89895237e-03 -2.71985595e-04 9.99982564e-01 2.03542516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.230714057 meters Centerline goodness [0,1] 0.9825004551247042 Centerline is valid? [True, True] Translation: X:519.78, Y:-24.43, Z:2.03 [[ 9.99928561e-01 1.04397323e-02 -5.82106990e-03 5.19780710e+02] [-1.04379524e-02 9.99945467e-01 3.36062102e-04 -2.44259371e+01] [ 5.82426086e-03 -2.75278044e-04 9.99983001e-01 2.03444061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.260714057 meters Centerline goodness [0,1] 0.9829153035259905 Centerline is valid? [True, True] Translation: X:519.81, Y:-24.43, Z:2.03 [[ 9.99952955e-01 7.48338855e-03 -6.17151352e-03 5.19810179e+02] [-7.48132892e-03 9.99971951e-01 3.56750605e-04 -2.44326735e+01] [ 6.17401012e-03 -3.10562699e-04 9.99980892e-01 2.03387943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.290714057 meters Centerline goodness [0,1] 0.9811060012233525 Centerline is valid? [True, True] Translation: X:519.84, Y:-24.44, Z:2.03 [[ 9.99962953e-01 6.14117486e-03 -6.03152503e-03 5.19837076e+02] [-6.13919011e-03 9.99981095e-01 3.47523161e-04 -2.44432787e+01] [ 6.03354520e-03 -3.10481607e-04 9.99981750e-01 2.03116546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3207140569999 meters Centerline goodness [0,1] 0.9824398422984547 Centerline is valid? [True, True] Translation: X:519.87, Y:-24.44, Z:2.03 [[ 9.99969901e-01 3.17194426e-03 -7.08065233e-03 5.19867077e+02] [-3.16912895e-03 9.99994895e-01 4.08790512e-04 -2.44406761e+01] [ 7.08191285e-03 -3.86338707e-04 9.99974848e-01 2.03356814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3507140569999 meters Centerline goodness [0,1] 0.9810001588995074 Centerline is valid? [True, True] Translation: X:519.89, Y:-24.45, Z:2.03 [[ 9.99966818e-01 1.71127917e-03 -7.96462237e-03 5.19894762e+02] [-1.70767995e-03 9.99998437e-01 4.58680277e-04 -2.44509716e+01] [ 7.96539485e-03 -4.45064031e-04 9.99968177e-01 2.03064751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.380714057 meters Centerline goodness [0,1] 0.9815356034346043 Centerline is valid? [True, True] Translation: X:519.93, Y:-24.45, Z:2.03 [[ 9.99958393e-01 -1.21579771e-03 -9.04067246e-03 5.19925365e+02] [ 1.22056282e-03 9.99999119e-01 5.21575048e-04 -2.44504729e+01] [ 9.04003037e-03 -5.32588056e-04 9.99958996e-01 2.03242366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.410714057 meters Centerline goodness [0,1] 0.9815057653176577 Centerline is valid? [True, True] Translation: X:519.96, Y:-24.46, Z:2.03 [[ 9.99952474e-01 -4.32384532e-03 -8.73802924e-03 5.19955529e+02] [ 4.32841495e-03 9.99990505e-01 5.04114936e-04 -2.44558318e+01] [ 8.73576656e-03 -5.41912794e-04 9.99961696e-01 2.03255643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4407140569999 meters Centerline goodness [0,1] 0.9815011406500576 Centerline is valid? [True, True] Translation: X:519.99, Y:-24.46, Z:2.03 [[ 9.99946122e-01 -6.01659947e-03 -8.45891213e-03 5.19985121e+02] [ 6.02093615e-03 9.99981755e-01 4.87304415e-04 -2.44601790e+01] [ 8.45582589e-03 -5.38208730e-04 9.99964104e-01 2.03255180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4707140569999 meters Centerline goodness [0,1] 0.9801868484000542 Centerline is valid? [True, True] Translation: X:520.01, Y:-24.46, Z:2.03 [[ 9.99927351e-01 -8.91153122e-03 -8.11651478e-03 5.20014975e+02] [ 8.91562043e-03 9.99960146e-01 4.67769304e-04 -2.44647990e+01] [ 8.11202276e-03 -5.40099086e-04 9.99966951e-01 2.03301523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.500714057 meters Centerline goodness [0,1] 0.9811363328670066 Centerline is valid? [True, True] Translation: X:520.04, Y:-24.47, Z:2.03 [[ 9.99925398e-01 -9.55375072e-03 -7.61078339e-03 5.20044980e+02] [ 9.55736554e-03 9.99954231e-01 4.38731763e-04 -2.44678343e+01] [ 7.60624352e-03 -5.11438071e-04 9.99970941e-01 2.03339665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.530714057 meters Centerline goodness [0,1] 0.9800674915635545 Centerline is valid? [True, True] Translation: X:520.08, Y:-24.47, Z:2.03 [[ 9.99927671e-01 -9.86555015e-03 -6.87919216e-03 5.20076066e+02] [ 9.86851524e-03 9.99951226e-01 3.97212036e-04 -2.44704422e+01] [ 6.87493792e-03 -4.65070719e-04 9.99976259e-01 2.03304121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5607140569999 meters Centerline goodness [0,1] 0.9803489026449071 Centerline is valid? [True, True] Translation: X:520.11, Y:-24.47, Z:2.03 [[ 9.99937414e-01 -9.40780291e-03 -6.05487501e-03 5.20107607e+02] [ 9.41009323e-03 9.99955663e-01 3.49881423e-04 -2.44731692e+01] [ 6.05131494e-03 -4.06836463e-04 9.99981608e-01 2.03394600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5907140569999 meters Centerline goodness [0,1] 0.9796175194948201 Centerline is valid? [True, True] Translation: X:520.14, Y:-24.47, Z:2.03 [[ 9.99953595e-01 -7.82405346e-03 -5.62063967e-03 5.20138938e+02] [ 7.82600347e-03 9.99969324e-01 3.25026732e-04 -2.44747577e+01] [ 5.61792422e-03 -3.68998795e-04 9.99984151e-01 2.03388384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.620714057 meters Centerline goodness [0,1] 0.9796367886361593 Centerline is valid? [True, True] Translation: X:520.17, Y:-24.48, Z:2.03 [[ 9.99961060e-01 -6.82997464e-03 -5.58840488e-03 5.20169219e+02] [ 6.83189168e-03 9.99976610e-01 3.24020425e-04 -2.44781139e+01] [ 5.58606111e-03 -3.62187184e-04 9.99984332e-01 2.03303578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.650714057 meters Centerline goodness [0,1] 0.9800562113546937 Centerline is valid? [True, True] Translation: X:520.20, Y:-24.48, Z:2.03 [[ 9.99967420e-01 -5.39653626e-03 -6.00308448e-03 5.20199430e+02] [ 5.39871717e-03 9.99985367e-01 3.47152691e-04 -2.44787128e+01] [ 6.00112321e-03 -3.79550336e-04 9.99981921e-01 2.03276569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6807140569999 meters Centerline goodness [0,1] 0.9789768902849451 Centerline is valid? [True, True] Translation: X:520.23, Y:-24.48, Z:2.03 [[ 9.99969050e-01 -4.92037181e-03 -6.13916986e-03 5.20228529e+02] [ 4.92264187e-03 9.99987821e-01 3.54710405e-04 -2.44818357e+01] [ 6.13734978e-03 -3.84920361e-04 9.99981092e-01 2.03162256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7107140569999 meters Centerline goodness [0,1] 0.977969520394442 Centerline is valid? [True, True] Translation: X:520.26, Y:-24.49, Z:2.03 [[ 9.99975985e-01 -3.58160348e-03 -5.93312832e-03 5.20257955e+02] [ 3.58369960e-03 9.99993520e-01 3.42696254e-04 -2.44886306e+01] [ 5.93186247e-03 -3.63950574e-04 9.99982340e-01 2.02937523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.740714057 meters Centerline goodness [0,1] 0.9796096904441454 Centerline is valid? [True, True] Translation: X:520.29, Y:-24.49, Z:2.03 [[ 9.99974584e-01 -2.87339087e-03 -6.52502124e-03 5.20287457e+02] [ 2.87590831e-03 9.99995794e-01 3.76462770e-04 -2.44861288e+01] [ 6.52391207e-03 -3.95218564e-04 9.99978641e-01 2.03014758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.770714057 meters Centerline goodness [0,1] 0.9799977601075148 Centerline is valid? [True, True] Translation: X:520.32, Y:-24.49, Z:2.03 [[ 9.99976773e-01 -1.36844057e-03 -6.67690797e-03 5.20316300e+02] [ 1.37103938e-03 9.99998986e-01 3.84661875e-04 -2.44885802e+01] [ 6.67637482e-03 -3.93807244e-04 9.99977635e-01 2.02955077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8007140569999 meters Centerline goodness [0,1] 0.980242206772819 Centerline is valid? [True, True] Translation: X:520.34, Y:-24.49, Z:2.03 [[ 9.99978138e-01 -9.14301774e-04 -6.54881280e-03 5.20344666e+02] [ 9.16766526e-04 9.99999510e-01 3.73374146e-04 -2.44882149e+01] [ 6.54846822e-03 -3.79369715e-04 9.99978487e-01 2.02979840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8307140569999 meters Centerline goodness [0,1] 0.980761450982155 Centerline is valid? [True, True] Translation: X:520.37, Y:-24.49, Z:2.03 [[ 9.99979237e-01 9.58108201e-04 -6.37238791e-03 5.20373520e+02] [-9.55800011e-04 9.99999477e-01 3.65252961e-04 -2.44896459e+01] [ 6.37273452e-03 -3.59154649e-04 9.99979629e-01 2.02956299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.860714057 meters Centerline goodness [0,1] 0.9807830137968107 Centerline is valid? [True, True] Translation: X:520.40, Y:-24.49, Z:2.03 [[ 9.99980610e-01 1.57195656e-03 -6.02572637e-03 5.20402502e+02] [-1.56992684e-03 9.99998709e-01 3.41557313e-04 -2.44907530e+01] [ 6.02625551e-03 -3.32090741e-04 9.99981787e-01 2.02953422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.890714057 meters Centerline goodness [0,1] 0.9807950878451057 Centerline is valid? [True, True] Translation: X:520.43, Y:-24.49, Z:2.03 [[ 9.99982018e-01 2.38643906e-03 -5.50177356e-03 5.20431100e+02] [-2.38476815e-03 9.99997108e-01 3.10244510e-04 -2.44922691e+01] [ 5.50249803e-03 -2.97118476e-04 9.99984817e-01 2.02972799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9207140569999 meters Centerline goodness [0,1] 0.9804639256281859 Centerline is valid? [True, True] Translation: X:520.46, Y:-24.50, Z:2.03 [[ 9.99984773e-01 2.27617452e-03 -5.02723396e-03 5.20458702e+02] [-2.27477231e-03 9.99997372e-01 2.84624164e-04 -2.44960831e+01] [ 5.02786860e-03 -2.73184018e-04 9.99987323e-01 2.02925106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9507140569999 meters Centerline goodness [0,1] 0.9805191893830703 Centerline is valid? [True, True] Translation: X:520.49, Y:-24.50, Z:2.03 [[ 9.99993892e-01 7.43976338e-04 -3.41516867e-03 5.20487882e+02] [-7.43321594e-04 9.99999705e-01 1.92981710e-04 -2.44968920e+01] [ 3.41531124e-03 -1.90441962e-04 9.99994150e-01 2.03009543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.980714057 meters Centerline goodness [0,1] 0.9790560670205856 Centerline is valid? [True, True] Translation: X:520.52, Y:-24.51, Z:2.03 [[ 9.99995337e-01 -2.61596432e-03 -1.57538825e-03 5.20517004e+02] [ 2.61610803e-03 9.99996574e-01 8.91651271e-05 -2.45060522e+01] [ 1.57514960e-03 -9.32860973e-05 9.99998755e-01 2.02929210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.010714057 meters Centerline goodness [0,1] 0.9788362155752925 Centerline is valid? [True, True] Translation: X:520.55, Y:-24.51, Z:2.03 [[ 9.99988071e-01 -4.76919193e-03 -1.05441025e-03 5.20547792e+02] [ 4.76925832e-03 9.99988625e-01 6.04579091e-05 -2.45108813e+01] [ 1.05410992e-03 -6.54859428e-05 9.99999442e-01 2.02884654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.040714057 meters Centerline goodness [0,1] 0.9789250669045495 Centerline is valid? [True, True] Translation: X:520.58, Y:-24.51, Z:2.03 [[ 9.99952758e-01 -9.61059811e-03 -1.45569328e-03 5.20578479e+02] [ 9.61072863e-03 9.99953812e-01 8.26940669e-05 -2.45120340e+01] [ 1.45483131e-03 -9.66804333e-05 9.99998937e-01 2.02841450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0707140569999 meters Centerline goodness [0,1] 0.9773153104925053 Centerline is valid? [True, True] Translation: X:520.61, Y:-24.52, Z:2.03 [[ 9.99924141e-01 -1.21262201e-02 -2.16051940e-03 5.20607559e+02] [ 1.21265155e-02 9.99926463e-01 1.23671994e-04 -2.45226283e+01] [ 2.15886085e-03 -1.49862184e-04 9.99997658e-01 2.02598905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1007140569999 meters Centerline goodness [0,1] 0.9774776785714285 Centerline is valid? [True, True] Translation: X:520.64, Y:-24.52, Z:2.03 [[ 9.99895990e-01 -1.42369641e-02 -2.30587664e-03 5.20638626e+02] [ 1.42373047e-02 9.99898636e-01 1.31342694e-04 -2.45223357e+01] [ 2.30377298e-03 -1.64158501e-04 9.99997333e-01 2.02565779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.130714057 meters Centerline goodness [0,1] 0.9747901031111507 Centerline is valid? [True, True] Translation: X:520.67, Y:-24.53, Z:2.02 [[ 9.99826380e-01 -1.85486854e-02 -1.77679712e-03 5.20667276e+02] [ 1.85488943e-02 9.99827949e-01 1.01167707e-04 -2.45329251e+01] [ 1.77461489e-03 -1.34107764e-04 9.99998416e-01 2.02287061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.160714057 meters Centerline goodness [0,1] 0.9758939333065488 Centerline is valid? [True, True] Translation: X:520.70, Y:-24.53, Z:2.02 [[ 9.99757087e-01 -2.19467817e-02 -2.02628927e-03 5.20697990e+02] [ 2.19470602e-02 9.99759128e-01 1.15302466e-04 -2.45332102e+01] [ 2.02327068e-03 -1.59745550e-04 9.99997940e-01 2.02216022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1907140569999 meters Centerline goodness [0,1] 0.9760144314284441 Centerline is valid? [True, True] Translation: X:520.73, Y:-24.53, Z:2.02 [[ 9.99736646e-01 -2.28823738e-02 -1.74253933e-03 5.20730517e+02] [ 2.28825827e-02 9.99738154e-01 1.00071931e-04 -2.45335918e+01] [ 1.73979317e-03 -1.39919377e-04 9.99998477e-01 2.02132240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2207140569999 meters Centerline goodness [0,1] 0.9765467947286129 Centerline is valid? [True, True] Translation: X:520.76, Y:-24.54, Z:2.02 [[ 9.99697026e-01 -2.45907454e-02 -1.07270804e-03 5.20761183e+02] [ 2.45908253e-02 9.99697598e-01 6.13210396e-05 -2.45368858e+01] [ 1.07087572e-03 -8.76812370e-05 9.99999423e-01 2.02101049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.250714057 meters Centerline goodness [0,1] 0.975727288952347 Centerline is valid? [True, True] Translation: X:520.79, Y:-24.54, Z:2.02 [[ 9.99673542e-01 -2.55452501e-02 -4.99270145e-04 5.20792738e+02] [ 2.55452678e-02 9.99673666e-01 2.90850436e-05 -2.45385268e+01] [ 4.98364232e-04 -4.18295381e-05 9.99999875e-01 2.02091388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.280714057 meters Centerline goodness [0,1] 0.9749710002676898 Centerline is valid? [True, True] Translation: X:520.82, Y:-24.54, Z:2.02 [[ 9.99643380e-01 -2.67018468e-02 3.51190145e-04 5.20824635e+02] [ 2.67018550e-02 9.99643442e-01 -1.87125004e-05 -2.45397188e+01] [-3.50565267e-04 2.80832555e-05 9.99999938e-01 2.02070436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3107140569999 meters Centerline goodness [0,1] 0.974653041188808 Centerline is valid? [True, True] Translation: X:520.86, Y:-24.54, Z:2.02 [[ 9.99633237e-01 -2.70705178e-02 7.60223775e-04 5.20856301e+02] [ 2.70705581e-02 9.99633524e-01 -4.26876518e-05 -2.45431427e+01] [-7.58789595e-04 6.32516774e-05 9.99999710e-01 2.02011692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3407140569999 meters Centerline goodness [0,1] 0.9744649479469193 Centerline is valid? [True, True] Translation: X:520.89, Y:-24.54, Z:2.02 [[ 9.99592272e-01 -2.84972195e-02 1.78810868e-03 5.20888100e+02] [ 2.84974469e-02 9.99593860e-01 -1.01803578e-04 -2.45440959e+01] [-1.78448134e-03 1.52718602e-04 9.99998396e-01 2.01969885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.370714057 meters Centerline goodness [0,1] 0.9752042072283764 Centerline is valid? [True, True] Translation: X:520.92, Y:-24.54, Z:2.02 [[ 9.99575159e-01 -2.90786329e-02 1.98341979e-03 5.20920727e+02] [ 2.90789138e-02 9.99577113e-01 -1.12919189e-04 -2.45446739e+01] [-1.97929749e-03 1.70546909e-04 9.99998027e-01 2.01969290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.400714057 meters Centerline goodness [0,1] 0.9752042072283764 Centerline is valid? [True, True] Translation: X:520.95, Y:-24.55, Z:2.02 [[ 9.99578332e-01 -2.89693791e-02 1.98343125e-03 5.20953333e+02] [ 2.89696594e-02 9.99580285e-01 -1.12720353e-04 -2.45466336e+01] [-1.97933333e-03 1.70132150e-04 9.99998027e-01 2.01932241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4307140569999 meters Centerline goodness [0,1] 0.9728092610041729 Centerline is valid? [True, True] Translation: X:520.98, Y:-24.55, Z:2.02 [[ 9.99530200e-01 -3.05533933e-02 2.42269648e-03 5.20983380e+02] [ 3.05538186e-02 9.99533113e-01 -1.38753922e-04 -2.45509912e+01] [-2.41732595e-03 2.12711364e-04 9.99997056e-01 2.01824326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4607140569999 meters Centerline goodness [0,1] 0.9741311790901157 Centerline is valid? [True, True] Translation: X:521.02, Y:-24.55, Z:2.02 [[ 9.99515208e-01 -3.10296150e-02 2.55204791e-03 5.21015114e+02] [ 3.10300889e-02 9.99518440e-01 -1.46287854e-04 -2.45527144e+01] [-2.54627969e-03 2.25407208e-04 9.99996733e-01 2.01735305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.490714057 meters Centerline goodness [0,1] 0.9727475468331847 Centerline is valid? [True, True] Translation: X:521.05, Y:-24.55, Z:2.02 [[ 9.99497268e-01 -3.15940724e-02 2.65065229e-03 5.21046844e+02] [ 3.15945860e-02 9.99500755e-01 -1.52108536e-04 -2.45546584e+01] [-2.64452323e-03 2.35778328e-04 9.99996475e-01 2.01628198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.520714057 meters Centerline goodness [0,1] 0.9725146722817078 Centerline is valid? [True, True] Translation: X:521.08, Y:-24.56, Z:2.02 [[ 9.99500962e-01 -3.14251429e-02 3.20747736e-03 5.21079132e+02] [ 3.14258947e-02 9.99506068e-01 -1.84220112e-04 -2.45565326e+01] [-3.20010394e-03 2.84926025e-04 9.99994839e-01 2.01587208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5507140569999 meters Centerline goodness [0,1] 0.9725845925859398 Centerline is valid? [True, True] Translation: X:521.11, Y:-24.56, Z:2.02 [[ 9.99535695e-01 -3.02359139e-02 3.76606272e-03 5.21109618e+02] [ 3.02369449e-02 9.99542735e-01 -2.17118463e-04 -2.45582725e+01] [-3.75777586e-03 3.30891885e-04 9.99992885e-01 2.01557092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5807140569999 meters Centerline goodness [0,1] 0.973374111720788 Centerline is valid? [True, True] Translation: X:521.14, Y:-24.56, Z:2.02 [[ 9.99603303e-01 -2.79255126e-02 3.66090542e-03 5.21140481e+02] [ 2.79264717e-02 9.99609958e-01 -2.11117907e-04 -2.45566070e+01] [-3.65358193e-03 3.13270328e-04 9.99993277e-01 2.01509437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.610714057 meters Centerline goodness [0,1] 0.9724710901538116 Centerline is valid? [True, True] Translation: X:521.17, Y:-24.56, Z:2.01 [[ 9.99648396e-01 -2.63276570e-02 3.15265259e-03 5.21171127e+02] [ 2.63283600e-02 9.99653332e-01 -1.81691396e-04 -2.45579370e+01] [-3.14677616e-03 2.64631685e-04 9.99995014e-01 2.01398040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.640714057 meters Centerline goodness [0,1] 0.9746023198941015 Centerline is valid? [True, True] Translation: X:521.20, Y:-24.56, Z:2.01 [[ 9.99725422e-01 -2.31187526e-02 3.82159922e-03 5.21201615e+02] [ 2.31197641e-02 9.99732678e-01 -2.20707705e-04 -2.45574694e+01] [-3.81547514e-03 3.09001576e-04 9.99992673e-01 2.01289971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6707140569999 meters Centerline goodness [0,1] 0.9746755729482941 Centerline is valid? [True, True] Translation: X:521.23, Y:-24.56, Z:2.01 [[ 9.99757501e-01 -2.15660919e-02 4.45451842e-03 5.21233340e+02] [ 2.15674488e-02 9.99767363e-01 -2.56788333e-04 -2.45576726e+01] [-4.44794421e-03 3.52798659e-04 9.99990046e-01 2.01269053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7007140569999 meters Centerline goodness [0,1] 0.9767530830857863 Centerline is valid? [True, True] Translation: X:521.26, Y:-24.55, Z:2.01 [[ 9.99797492e-01 -1.93264470e-02 5.60930935e-03 5.21264480e+02] [ 1.93285689e-02 9.99813133e-01 -3.24312061e-04 -2.45503605e+01] [-5.60199336e-03 4.32666308e-04 9.99984215e-01 2.01340253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.730714057 meters Centerline goodness [0,1] 0.9769104151164626 Centerline is valid? [True, True] Translation: X:521.30, Y:-24.55, Z:2.01 [[ 9.99816570e-01 -1.80096668e-02 6.51760765e-03 5.21296117e+02] [ 1.80125030e-02 9.99837691e-01 -3.76717280e-04 -2.45515897e+01] [-6.50976523e-03 4.94046606e-04 9.99978689e-01 2.01320725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.760714057 meters Centerline goodness [0,1] 0.9758879260024247 Centerline is valid? [True, True] Translation: X:521.33, Y:-24.55, Z:2.01 [[ 9.99833732e-01 -1.67275613e-02 7.25924739e-03 5.21326990e+02] [ 1.67310516e-02 9.99859938e-01 -4.20347990e-04 -2.45535471e+01] [-7.25119925e-03 5.41732943e-04 9.99973563e-01 2.01283719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.790714057 meters Centerline goodness [0,1] 0.9753655793025872 Centerline is valid? [True, True] Translation: X:521.36, Y:-24.55, Z:2.01 [[ 9.99842285e-01 -1.60297224e-02 7.64546848e-03 5.21359350e+02] [ 1.60335750e-02 9.99871356e-01 -4.42877624e-04 -2.45542998e+01] [-7.63738573e-03 5.65391968e-04 9.99970675e-01 2.01262937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8207140569999 meters Centerline goodness [0,1] 0.9757792470651734 Centerline is valid? [True, True] Translation: X:521.39, Y:-24.55, Z:2.01 [[ 9.99850622e-01 -1.52911702e-02 8.05690951e-03 5.21391259e+02] [ 1.52954298e-02 9.99882909e-01 -4.67329666e-04 -2.45539336e+01] [-8.04882010e-03 5.90493751e-04 9.99967433e-01 2.01196682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8507140569999 meters Centerline goodness [0,1] 0.9756437647587991 Centerline is valid? [True, True] Translation: X:521.42, Y:-24.56, Z:2.01 [[ 9.99855364e-01 -1.50312689e-02 7.95683485e-03 5.21423737e+02] [ 1.50354196e-02 9.99886855e-01 -4.62087265e-04 -2.45554389e+01] [-7.94898882e-03 5.81654782e-04 9.99968237e-01 2.01104071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.880714057 meters Centerline goodness [0,1] 0.9752118120322718 Centerline is valid? [True, True] Translation: X:521.46, Y:-24.56, Z:2.01 [[ 9.99858199e-01 -1.49691363e-02 7.71413228e-03 5.21455454e+02] [ 1.49730394e-02 9.99887797e-01 -4.48459446e-04 -2.45583838e+01] [-7.70655368e-03 5.63899860e-04 9.99970145e-01 2.00992798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.910714057 meters Centerline goodness [0,1] 0.9754896449371501 Centerline is valid? [True, True] Translation: X:521.49, Y:-24.56, Z:2.01 [[ 9.99857984e-01 -1.50302025e-02 7.62270672e-03 5.21486375e+02] [ 1.50340216e-02 9.99886884e-01 -4.43956213e-04 -2.45613863e+01] [-7.61517172e-03 5.58493102e-04 9.99970848e-01 2.00897957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9407140569999 meters Centerline goodness [0,1] 0.974517287831163 Centerline is valid? [True, True] Translation: X:521.52, Y:-24.56, Z:2.01 [[ 9.99856258e-01 -1.52001029e-02 7.51138624e-03 5.21518674e+02] [ 1.52038185e-02 9.99884319e-01 -4.37797901e-04 -2.45637897e+01] [-7.50386274e-03 5.51936724e-04 9.99971693e-01 2.00845021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9707140569999 meters Centerline goodness [0,1] 0.9750731817158298 Centerline is valid? [True, True] Translation: X:521.55, Y:-24.56, Z:2.01 [[ 9.99856286e-01 -1.51977193e-02 7.51241295e-03 5.21551147e+02] [ 1.52014398e-02 9.99884355e-01 -4.38380803e-04 -2.45633815e+01] [-7.50488179e-03 5.52517295e-04 9.99971685e-01 2.00830211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.000714057 meters Centerline goodness [0,1] 0.9750535211267606 Centerline is valid? [True, True] Translation: X:521.58, Y:-24.57, Z:2.01 [[ 9.99846842e-01 -1.57033286e-02 7.72647186e-03 5.21582043e+02] [ 1.57072818e-02 9.99876531e-01 -4.51231311e-04 -2.45688407e+01] [-7.71843205e-03 5.72524072e-04 9.99970049e-01 2.00746911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.030714057 meters Centerline goodness [0,1] 0.9756596395019553 Centerline is valid? [True, True] Translation: X:521.61, Y:-24.57, Z:2.01 [[ 9.99843591e-01 -1.58133543e-02 7.92034153e-03 5.21614514e+02] [ 1.58175220e-02 9.99874788e-01 -4.63829459e-04 -2.45682483e+01] [-7.91201511e-03 5.89037088e-04 9.99968526e-01 2.00660740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0607140569999 meters Centerline goodness [0,1] 0.9749505751258087 Centerline is valid? [True, True] Translation: X:521.65, Y:-24.57, Z:2.01 [[ 9.99839170e-01 -1.61300798e-02 7.83927074e-03 5.21645683e+02] [ 1.61341770e-02 9.99869730e-01 -4.59688200e-04 -2.45714547e+01] [-7.83083471e-03 5.86094450e-04 9.99969167e-01 2.00546014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0907140569999 meters Centerline goodness [0,1] 0.973594912245219 Centerline is valid? [True, True] Translation: X:521.68, Y:-24.57, Z:2.00 [[ 9.99818643e-01 -1.68868068e-02 8.80438464e-03 5.21676598e+02] [ 1.68920089e-02 9.99857186e-01 -5.16818693e-04 -2.45747135e+01] [-8.79439984e-03 6.65448708e-04 9.99961107e-01 2.00477379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.120714057 meters Centerline goodness [0,1] 0.9755998921542195 Centerline is valid? [True, True] Translation: X:521.71, Y:-24.57, Z:2.00 [[ 9.99802235e-01 -1.77302374e-02 9.00715864e-03 5.21709628e+02] [ 1.77357198e-02 9.99842570e-01 -5.29151560e-04 -2.45679258e+01] [-8.99635866e-03 6.88795354e-04 9.99959295e-01 2.00492900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.150714057 meters Centerline goodness [0,1] 0.9702979181622398 Centerline is valid? [True, True] Translation: X:521.74, Y:-24.58, Z:2.00 [[ 9.99756864e-01 -2.01541928e-02 8.94552099e-03 5.21738699e+02] [ 2.01597026e-02 9.99796634e-01 -5.26183903e-04 -2.45810981e+01] [-8.93309696e-03 7.06395011e-04 9.99959850e-01 2.00480143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1807140569999 meters Centerline goodness [0,1] 0.9732539521457727 Centerline is valid? [True, True] Translation: X:521.77, Y:-24.58, Z:2.00 [[ 9.99727425e-01 -2.16098371e-02 8.83684290e-03 5.21770255e+02] [ 2.16152767e-02 9.99766227e-01 -5.20505778e-04 -2.45752987e+01] [-8.82352904e-03 7.11374706e-04 9.99960819e-01 2.00473305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2107140569999 meters Centerline goodness [0,1] 0.9728647988603215 Centerline is valid? [True, True] Translation: X:521.80, Y:-24.58, Z:2.00 [[ 9.99675293e-01 -2.39082332e-02 8.81500115e-03 5.21801095e+02] [ 2.39137374e-02 9.99713891e-01 -5.19526513e-04 -2.45786874e+01] [-8.80005813e-03 7.30157441e-04 9.99961012e-01 2.00442371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.240714057 meters Centerline goodness [0,1] 0.9724623975502117 Centerline is valid? [True, True] Translation: X:521.83, Y:-24.58, Z:2.00 [[ 9.99657656e-01 -2.45097813e-02 9.15644974e-03 5.21833424e+02] [ 2.45157481e-02 9.99699298e-01 -5.39956481e-04 -2.45813549e+01] [-9.14046216e-03 7.64248845e-04 9.99957933e-01 2.00354089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.270714057 meters Centerline goodness [0,1] 0.972477271699308 Centerline is valid? [True, True] Translation: X:521.87, Y:-24.58, Z:2.00 [[ 9.99674562e-01 -2.41933707e-02 8.09020421e-03 5.21865335e+02] [ 2.41980223e-02 9.99707071e-01 -4.77563571e-04 -2.45823306e+01] [-8.07628048e-03 6.73175096e-04 9.99967160e-01 2.00251179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3007140569999 meters Centerline goodness [0,1] 0.972632768361582 Centerline is valid? [True, True] Translation: X:521.90, Y:-24.58, Z:2.00 [[ 9.99732620e-01 -2.19522214e-02 7.26553408e-03 5.21895678e+02] [ 2.19559195e-02 9.99758847e-01 -4.29604061e-04 -2.45820696e+01] [-7.25435122e-03 5.89010675e-04 9.99973513e-01 2.00183695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3307140569999 meters Centerline goodness [0,1] 0.9728978928111661 Centerline is valid? [True, True] Translation: X:521.93, Y:-24.58, Z:2.00 [[ 9.99774352e-01 -2.01463185e-02 6.73575004e-03 5.21925794e+02] [ 2.01494556e-02 9.99796900e-01 -3.98197819e-04 -2.45827609e+01] [-6.72635978e-03 5.33829663e-04 9.99977235e-01 2.00121790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.360714057 meters Centerline goodness [0,1] 0.9741326495881646 Centerline is valid? [True, True] Translation: X:521.96, Y:-24.58, Z:2.00 [[ 9.99810786e-01 -1.84070422e-02 6.29066530e-03 5.21957797e+02] [ 1.84097429e-02 9.99830457e-01 -3.71688806e-04 -2.45784292e+01] [-6.28275707e-03 4.87428008e-04 9.99980144e-01 2.00109440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.390714057 meters Centerline goodness [0,1] 0.9763706177720219 Centerline is valid? [True, True] Translation: X:521.99, Y:-24.57, Z:2.00 [[ 9.99876143e-01 -1.43027030e-02 6.56743908e-03 5.21988304e+02] [ 1.43055643e-02 9.99897595e-01 -3.88918232e-04 -2.45729137e+01] [-6.56120395e-03 4.82820984e-04 9.99978359e-01 2.00128666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4207140569999 meters Centerline goodness [0,1] 0.9754922020642932 Centerline is valid? [True, True] Translation: X:522.02, Y:-24.57, Z:2.00 [[ 9.99895432e-01 -1.26380504e-02 7.02881078e-03 5.22018454e+02] [ 1.26412868e-02 9.99920009e-01 -4.16218298e-04 -2.45741059e+01] [-7.02298836e-03 5.05027988e-04 9.99975211e-01 2.00089261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4507140569999 meters Centerline goodness [0,1] 0.9756902556165069 Centerline is valid? [True, True] Translation: X:522.05, Y:-24.57, Z:2.00 [[ 9.99916622e-01 -1.03021352e-02 7.78553142e-03 5.22047857e+02] [ 1.03060379e-02 9.99946785e-01 -4.61318123e-04 -2.45736398e+01] [-7.78036455e-03 5.41517641e-04 9.99969586e-01 2.00099421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.480714057 meters Centerline goodness [0,1] 0.9755095555858186 Centerline is valid? [True, True] Translation: X:522.08, Y:-24.58, Z:2.00 [[ 9.99933157e-01 -8.93744082e-03 7.33513809e-03 5.22078755e+02] [ 8.94086604e-03 9.99959935e-01 -4.34301831e-04 -2.45752407e+01] [-7.33096266e-03 4.99855288e-04 9.99973003e-01 2.00067936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.510714057 meters Centerline goodness [0,1] 0.9749988625506165 Centerline is valid? [True, True] Translation: X:522.11, Y:-24.58, Z:2.00 [[ 9.99933631e-01 -9.13356195e-03 7.02224234e-03 5.22111042e+02] [ 9.13670657e-03 9.99958173e-01 -4.15858809e-04 -2.45777642e+01] [-7.01815035e-03 4.79991377e-04 9.99975257e-01 1.99960980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.540714057 meters Centerline goodness [0,1] 0.9740413247562112 Centerline is valid? [True, True] Translation: X:522.14, Y:-24.58, Z:2.00 [[ 9.99928837e-01 -9.98101230e-03 6.53457329e-03 5.22142246e+02] [ 9.98375648e-03 9.99950086e-01 -3.87461124e-04 -2.45815578e+01] [-6.53037987e-03 4.52673139e-04 9.99978574e-01 1.99830777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5707140569999 meters Centerline goodness [0,1] 0.9740366033875185 Centerline is valid? [True, True] Translation: X:522.17, Y:-24.58, Z:2.00 [[ 9.99927946e-01 -1.03215941e-02 6.12930202e-03 5.22174202e+02] [ 1.03240160e-02 9.99946640e-01 -3.63622995e-04 -2.45847074e+01] [-6.12522179e-03 4.26875807e-04 9.99981150e-01 1.99767079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6007140569999 meters Centerline goodness [0,1] 0.97377161055505 Centerline is valid? [True, True] Translation: X:522.21, Y:-24.59, Z:2.00 [[ 9.99913826e-01 -1.15676567e-02 6.20721246e-03 5.22205525e+02] [ 1.15701677e-02 9.99932995e-01 -3.68768743e-04 -2.45880896e+01] [-6.20253075e-03 4.40555454e-04 9.99980667e-01 1.99755397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.630714057 meters Centerline goodness [0,1] 0.9737743596724063 Centerline is valid? [True, True] Translation: X:522.24, Y:-24.59, Z:2.00 [[ 9.99903327e-01 -1.25531923e-02 5.97947942e-03 5.22236976e+02] [ 1.25555417e-02 9.99921113e-01 -3.55528690e-04 -2.45910898e+01] [-5.97454470e-03 4.30569923e-04 9.99982060e-01 1.99755291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.660714057 meters Centerline goodness [0,1] 0.9766158577954679 Centerline is valid? [True, True] Translation: X:522.27, Y:-24.58, Z:2.00 [[ 9.99880541e-01 -1.49520468e-02 3.91655378e-03 5.22268320e+02] [ 1.49530734e-02 9.99888169e-01 -2.32955033e-04 -2.45848197e+01] [-3.91263264e-03 2.91491720e-04 9.99992303e-01 1.99749368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6907140569999 meters Centerline goodness [0,1] 0.9725778212328612 Centerline is valid? [True, True] Translation: X:522.30, Y:-24.60, Z:2.00 [[ 9.99864777e-01 -1.62547637e-02 2.49192386e-03 5.22298843e+02] [ 1.62551815e-02 9.99867865e-01 -1.47513174e-04 -2.45985495e+01] [-2.48919680e-03 1.87999902e-04 9.99996884e-01 1.99505702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7207140569999 meters Centerline goodness [0,1] 0.9687272396212673 Centerline is valid? [True, True] Translation: X:522.33, Y:-24.60, Z:1.99 [[ 9.99819006e-01 -1.89984410e-02 1.00718311e-03 5.22328273e+02] [ 1.89985109e-02 9.99819510e-01 -5.98812269e-05 -2.46033467e+01] [-1.00586367e-03 7.90053680e-05 9.99999491e-01 1.99349455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.750714057 meters Centerline goodness [0,1] 0.9755221709584309 Centerline is valid? [True, True] Translation: X:522.36, Y:-24.59, Z:2.00 [[ 9.99803985e-01 -1.97884941e-02 6.37290195e-04 5.22360916e+02] [ 1.97885219e-02 9.99804187e-01 -3.72910893e-05 -2.45916192e+01] [-6.36427471e-04 4.98948107e-05 9.99999796e-01 1.99520353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.780714057 meters Centerline goodness [0,1] 0.9749483295100956 Centerline is valid? [True, True] Translation: X:522.39, Y:-24.59, Z:2.00 [[ 9.99790276e-01 -2.04593959e-02 9.03788846e-04 5.22391710e+02] [ 2.04594525e-02 9.99790682e-01 -5.34845533e-05 -2.45945512e+01] [-9.02505405e-04 7.19643612e-05 9.99999590e-01 1.99543298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8107140569999 meters Centerline goodness [0,1] 0.9743723611930812 Centerline is valid? [True, True] Translation: X:522.42, Y:-24.60, Z:2.00 [[ 9.99791778e-01 -2.03630459e-02 1.32203335e-03 5.22424846e+02] [ 2.03631668e-02 9.99792646e-01 -7.80526572e-05 -2.45961039e+01] [-1.32016983e-03 1.04957190e-04 9.99999123e-01 1.99557578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8407140569999 meters Centerline goodness [0,1] 0.9694484826458295 Centerline is valid? [True, True] Translation: X:522.46, Y:-24.61, Z:2.00 [[ 9.99803300e-01 -1.96638837e-02 2.58704645e-03 5.22455563e+02] [ 1.96643493e-02 9.99806626e-01 -1.54661918e-04 -2.46077400e+01] [-2.58350493e-03 2.05504081e-04 9.99996642e-01 1.99523687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.870714057 meters Centerline goodness [0,1] 0.9729625513189829 Centerline is valid? [True, True] Translation: X:522.49, Y:-24.60, Z:2.00 [[ 9.99819449e-01 -1.85938438e-02 3.91644100e-03 5.22487611e+02] [ 1.85949052e-02 9.99827072e-01 -2.34788820e-04 -2.45985145e+01] [-3.91139812e-03 3.07572278e-04 9.99992303e-01 1.99782129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.900714057 meters Centerline goodness [0,1] 0.9725268461731379 Centerline is valid? [True, True] Translation: X:522.52, Y:-24.60, Z:2.00 [[ 9.99826144e-01 -1.82724177e-02 3.71503155e-03 5.22519682e+02] [ 1.82733700e-02 9.99833003e-01 -2.22548478e-04 -2.45980378e+01] [-3.71034465e-03 2.90395933e-04 9.99993074e-01 1.99789365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9307140569999 meters Centerline goodness [0,1] 0.9729231609365401 Centerline is valid? [True, True] Translation: X:522.55, Y:-24.60, Z:2.00 [[ 9.99838905e-01 -1.76304010e-02 3.36633451e-03 5.22551725e+02] [ 1.76311799e-02 9.99844538e-01 -2.01832254e-04 -2.45997708e+01] [-3.36225279e-03 2.61152189e-04 9.99994314e-01 1.99724703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9607140569999 meters Centerline goodness [0,1] 0.9740002729630135 Centerline is valid? [True, True] Translation: X:522.58, Y:-24.60, Z:2.00 [[ 9.99842597e-01 -1.75940373e-02 2.28711238e-03 5.22584355e+02] [ 1.75943965e-02 9.99845197e-01 -1.37023801e-04 -2.45998917e+01] [-2.28434753e-03 1.77242595e-04 9.99997375e-01 1.99632482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.990714057 meters Centerline goodness [0,1] 0.9750784483150666 Centerline is valid? [True, True] Translation: X:522.62, Y:-24.60, Z:2.00 [[ 9.99842194e-01 -1.76844558e-02 1.68722614e-03 5.22616294e+02] [ 1.76846513e-02 9.99843609e-01 -1.00995966e-04 -2.46028210e+01] [-1.68517621e-03 1.30818034e-04 9.99998572e-01 1.99501897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.020714057 meters Centerline goodness [0,1] 0.9750792311726214 Centerline is valid? [True, True] Translation: X:522.65, Y:-24.61, Z:1.99 [[ 9.99819297e-01 -1.90080385e-02 -2.61968718e-04 5.22645793e+02] [ 1.90080435e-02 9.99819331e-01 1.68259631e-05 -2.46066271e+01] [ 2.61601560e-04 -2.18024354e-05 9.99999966e-01 1.99309593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0507140569999 meters Centerline goodness [0,1] 0.9738765320018157 Centerline is valid? [True, True] Translation: X:522.68, Y:-24.61, Z:1.99 [[ 9.99807065e-01 -1.96106817e-02 -1.11996861e-03 5.22677409e+02] [ 1.96107704e-02 9.99807688e-01 6.83389218e-05 -2.46095129e+01] [ 1.11841306e-03 -9.02891842e-05 9.99999370e-01 1.99209536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0807140569999 meters Centerline goodness [0,1] 0.9739815911783468 Centerline is valid? [True, True] Translation: X:522.71, Y:-24.61, Z:1.99 [[ 9.99762776e-01 -2.15809466e-02 -2.94197625e-03 5.22706853e+02] [ 2.15815659e-02 9.99767075e-01 1.78916281e-04 -2.46148412e+01] [ 2.93742980e-03 -2.42366292e-04 9.99995656e-01 1.98981621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.110714057 meters Centerline goodness [0,1] 0.972825715262738 Centerline is valid? [True, True] Translation: X:522.74, Y:-24.62, Z:1.99 [[ 9.99729317e-01 -2.28950528e-02 -4.13624892e-03 5.22736491e+02] [ 2.28962835e-02 9.99737814e-01 2.50449925e-04 -2.46186269e+01] [ 4.12943039e-03 -3.45086861e-04 9.99991414e-01 1.98862910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.140714057 meters Centerline goodness [0,1] 0.9722234860548705 Centerline is valid? [True, True] Translation: X:522.77, Y:-24.62, Z:1.99 [[ 9.99731615e-01 -2.28757452e-02 -3.66033371e-03 5.22769562e+02] [ 2.28767146e-02 9.99738269e-01 2.23185531e-04 -2.46206083e+01] [ 3.65427015e-03 -3.06862041e-04 9.99993276e-01 1.98872275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1707140569999 meters Centerline goodness [0,1] 0.9724441806310214 Centerline is valid? [True, True] Translation: X:522.80, Y:-24.62, Z:1.99 [[ 9.99772516e-01 -2.10152425e-02 -3.64352683e-03 5.22800477e+02] [ 2.10161883e-02 9.99779111e-01 2.21501824e-04 -2.46223014e+01] [ 3.63806710e-03 -2.98024482e-04 9.99993338e-01 1.98828984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2007140569999 meters Centerline goodness [0,1] 0.9729329475291062 Centerline is valid? [True, True] Translation: X:522.83, Y:-24.62, Z:1.99 [[ 9.99816867e-01 -1.87079083e-02 -4.03062340e-03 5.22830985e+02] [ 1.87090455e-02 9.99824941e-01 2.44608731e-04 -2.46218530e+01] [ 4.02534168e-03 -3.19973052e-04 9.99991847e-01 1.98755353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.230714057 meters Centerline goodness [0,1] 0.9722513327561854 Centerline is valid? [True, True] Translation: X:522.86, Y:-24.62, Z:1.99 [[ 9.99885835e-01 -1.46196452e-02 -3.81884570e-03 5.22860287e+02] [ 1.46206354e-02 9.99893086e-01 2.31493988e-04 -2.46223149e+01] [ 3.81505305e-03 -2.87301510e-04 9.99992681e-01 1.98703314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.260714057 meters Centerline goodness [0,1] 0.9750355325294576 Centerline is valid? [True, True] Translation: X:522.89, Y:-24.62, Z:1.99 [[ 9.99912544e-01 -1.26528362e-02 -3.84836786e-03 5.22892354e+02] [ 1.26538315e-02 9.99919910e-01 2.34388144e-04 -2.46203305e+01] [ 3.84509397e-03 -2.83064244e-04 9.99992568e-01 1.98748706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.290714057 meters Centerline goodness [0,1] 0.9750355325294576 Centerline is valid? [True, True] Translation: X:522.92, Y:-24.62, Z:1.99 [[ 9.99913390e-01 -1.25858177e-02 -3.84834701e-03 5.22924075e+02] [ 1.25868138e-02 9.99920755e-01 2.34731009e-04 -2.46223228e+01] [ 3.84508776e-03 -2.83149106e-04 9.99992568e-01 1.98712655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3207140569999 meters Centerline goodness [0,1] 0.9746205694896602 Centerline is valid? [True, True] Translation: X:522.95, Y:-24.62, Z:1.99 [[ 9.99951215e-01 -9.41908036e-03 -2.97472336e-03 5.22953555e+02] [ 9.41965938e-03 9.99955618e-01 1.80695224e-04 -2.46236198e+01] [ 2.97288935e-03 -2.08707290e-04 9.99995559e-01 1.98733869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3507140569999 meters Centerline goodness [0,1] 0.974997132698704 Centerline is valid? [True, True] Translation: X:522.99, Y:-24.63, Z:1.99 [[ 9.99963506e-01 -8.25839569e-03 -2.18758511e-03 5.22985328e+02] [ 8.25870772e-03 9.99965887e-01 1.33641397e-04 -2.46255810e+01] [ 2.18640682e-03 -1.51703146e-04 9.99997598e-01 1.98716610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.380714057 meters Centerline goodness [0,1] 0.9755384509969622 Centerline is valid? [True, True] Translation: X:523.02, Y:-24.62, Z:1.99 [[ 9.99975977e-01 -6.82339352e-03 -1.21891448e-03 5.23016780e+02] [ 6.82348947e-03 9.99976717e-01 7.45784351e-05 -2.46234222e+01] [ 1.21837723e-03 -8.28938937e-05 9.99999254e-01 1.98790671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.410714057 meters Centerline goodness [0,1] 0.9768828380199648 Centerline is valid? [True, True] Translation: X:523.05, Y:-24.62, Z:1.99 [[ 9.99973089e-01 -7.24650193e-03 -1.14415876e-03 5.23049338e+02] [ 7.24658735e-03 9.99973741e-01 7.05264801e-05 -2.46197891e+01] [ 1.14361765e-03 -7.88158286e-05 9.99999343e-01 1.98921106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4407140569999 meters Centerline goodness [0,1] 0.9782170968332418 Centerline is valid? [True, True] Translation: X:523.08, Y:-24.62, Z:1.99 [[ 9.99968049e-01 -7.87318072e-03 -1.38364238e-03 5.23081448e+02] [ 7.87330613e-03 9.99969001e-01 8.52159969e-05 -2.46231773e+01] [ 1.38292856e-03 -9.61071141e-05 9.99999039e-01 1.98866798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4707140569999 meters Centerline goodness [0,1] 0.9665159197843862 Centerline is valid? [True, True] Translation: X:523.11, Y:-24.64, Z:1.98 [[ 9.99944743e-01 -1.02521005e-02 -2.32501660e-03 5.23110167e+02] [ 1.02524579e-02 9.99947432e-01 1.41850640e-04 -2.46432880e+01] [ 2.32344011e-03 -1.65679936e-04 9.99997287e-01 1.98449552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.500714057 meters Centerline goodness [0,1] 0.9764716632021381 Centerline is valid? [True, True] Translation: X:523.14, Y:-24.63, Z:1.99 [[ 9.99930768e-01 -1.14052069e-02 -2.89482157e-03 5.23143119e+02] [ 1.14057686e-02 9.99934936e-01 1.77615149e-04 -2.46321225e+01] [ 2.89260749e-03 -2.10620517e-04 9.99995794e-01 1.98629252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.530714057 meters Centerline goodness [0,1] 0.9765790855342753 Centerline is valid? [True, True] Translation: X:523.17, Y:-24.64, Z:1.98 [[ 9.99905664e-01 -1.32745050e-02 -3.52852652e-03 5.23172976e+02] [ 1.32753500e-02 9.99911855e-01 2.16173566e-04 -2.46395361e+01] [ 3.52534590e-03 -2.62995598e-04 9.99993751e-01 1.98471986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5607140569999 meters Centerline goodness [0,1] 0.976501482806239 Centerline is valid? [True, True] Translation: X:523.20, Y:-24.64, Z:1.98 [[ 9.99903619e-01 -1.34974766e-02 -3.25137870e-03 5.23204641e+02] [ 1.34981962e-02 9.99908875e-01 1.99503678e-04 -2.46412693e+01] [ 3.24838962e-03 -2.43372197e-04 9.99994694e-01 1.98440248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5907140569999 meters Centerline goodness [0,1] 0.9779035792549307 Centerline is valid? [True, True] Translation: X:523.24, Y:-24.64, Z:1.98 [[ 9.99892651e-01 -1.42003647e-02 -3.61061913e-03 5.23236944e+02] [ 1.42012582e-02 9.99899132e-01 2.21938385e-04 -2.46443305e+01] [ 3.60710333e-03 -2.73189894e-04 9.99993457e-01 1.98400441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.620714057 meters Centerline goodness [0,1] 0.9760047174090538 Centerline is valid? [True, True] Translation: X:523.27, Y:-24.65, Z:1.98 [[ 9.99904251e-01 -1.37231077e-02 -1.77881458e-03 5.23267759e+02] [ 1.37233244e-02 9.99905825e-01 1.09638571e-04 -2.46506355e+01] [ 1.77714248e-03 -1.34039323e-04 9.99998412e-01 1.98410903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.650714057 meters Centerline goodness [0,1] 0.9762338786856857 Centerline is valid? [True, True] Translation: X:523.30, Y:-24.65, Z:1.98 [[ 9.99916616e-01 -1.28506728e-02 -1.27304185e-03 5.23300352e+02] [ 1.28507836e-02 9.99917422e-01 7.89144347e-05 -2.46508177e+01] [ 1.27192262e-03 -9.52674398e-05 9.99999187e-01 1.98465350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6807140569999 meters Centerline goodness [0,1] 0.9748255234297108 Centerline is valid? [True, True] Translation: X:523.33, Y:-24.65, Z:1.98 [[ 9.99938809e-01 -1.10588337e-02 -2.83915140e-04 5.23330306e+02] [ 1.10588391e-02 9.99938849e-01 1.76248244e-05 -2.46545628e+01] [ 2.83702868e-04 -2.07635178e-05 9.99999960e-01 1.98463784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7107140569999 meters Centerline goodness [0,1] 0.9776510935974018 Centerline is valid? [True, True] Translation: X:523.36, Y:-24.65, Z:1.99 [[ 9.99947005e-01 -1.02791772e-02 -5.69939796e-04 5.23363048e+02] [ 1.02791993e-02 9.99947167e-01 3.58305551e-05 -2.46501142e+01] [ 5.69541376e-04 -4.16871810e-05 9.99999837e-01 1.98526290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.740714057 meters Centerline goodness [0,1] 0.9780920813657827 Centerline is valid? [True, True] Translation: X:523.40, Y:-24.65, Z:1.98 [[ 9.99956625e-01 -9.29705392e-03 -5.58848264e-04 5.23395414e+02] [ 9.29707503e-03 9.99956781e-01 3.51884340e-05 -2.46518846e+01] [ 5.58496963e-04 -4.03825619e-05 9.99999843e-01 1.98462471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.770714057 meters Centerline goodness [0,1] 0.9760543163746553 Centerline is valid? [True, True] Translation: X:523.43, Y:-24.66, Z:1.98 [[ 9.99962536e-01 -8.52197346e-03 -1.51736896e-03 5.23426256e+02] [ 8.52212724e-03 9.99963682e-01 9.49151755e-05 -2.46619356e+01] [ 1.51650498e-03 -1.07842831e-04 9.99998844e-01 1.98190177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8007140569999 meters Centerline goodness [0,1] 0.978046778826426 Centerline is valid? [True, True] Translation: X:523.46, Y:-24.66, Z:1.98 [[ 9.99963759e-01 -8.09854885e-03 -2.62572337e-03 5.23458213e+02] [ 8.09900422e-03 9.99967189e-01 1.62842270e-04 -2.46602733e+01] [ 2.62431843e-03 -1.84102113e-04 9.99996540e-01 1.98044986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8307140569999 meters Centerline goodness [0,1] 0.9776760290667214 Centerline is valid? [True, True] Translation: X:523.49, Y:-24.66, Z:1.98 [[ 9.99963314e-01 -7.88699074e-03 -3.34167002e-03 5.23490753e+02] [ 7.88772717e-03 9.99968870e-01 2.07254872e-04 -2.46636431e+01] [ 3.33993138e-03 -2.33605450e-04 9.99994395e-01 1.97914933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.860714057 meters Centerline goodness [0,1] 0.977017515887297 Centerline is valid? [True, True] Translation: X:523.52, Y:-24.67, Z:1.98 [[ 9.99960959e-01 -7.69788313e-03 -4.33865515e-03 5.23521326e+02] [ 7.69912187e-03 9.99970325e-01 2.68882364e-04 -2.46674858e+01] [ 4.33645657e-03 -3.02275702e-04 9.99990552e-01 1.97734079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.890714057 meters Centerline goodness [0,1] 0.9786856935102709 Centerline is valid? [True, True] Translation: X:523.55, Y:-24.66, Z:1.98 [[ 9.99960135e-01 -7.76042699e-03 -4.41637731e-03 5.23553375e+02] [ 7.76171099e-03 9.99969840e-01 2.73669552e-04 -2.46631559e+01] [ 4.41412032e-03 -3.07937286e-04 9.99990210e-01 1.97820890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9207140569999 meters Centerline goodness [0,1] 0.9784260792631746 Centerline is valid? [True, True] Translation: X:523.58, Y:-24.67, Z:1.98 [[ 9.99945455e-01 -9.06001490e-03 -5.19643884e-03 5.23583712e+02] [ 9.06181066e-03 9.99958889e-01 3.22133468e-04 -2.46681454e+01] [ 5.19330668e-03 -3.69205042e-04 9.99986447e-01 1.97645786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9507140569999 meters Centerline goodness [0,1] 0.9762654999659964 Centerline is valid? [True, True] Translation: X:523.61, Y:-24.68, Z:1.97 [[ 9.99939839e-01 -9.61889432e-03 -5.27205210e-03 5.23614848e+02] [ 9.62075285e-03 9.99953666e-01 3.27277577e-04 -2.46757378e+01] [ 5.26865978e-03 -3.77978998e-04 9.99986049e-01 1.97481450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.980714057 meters Centerline goodness [0,1] 0.9745090034925387 Centerline is valid? [True, True] Translation: X:523.65, Y:-24.68, Z:1.97 [[ 9.99926188e-01 -1.11251469e-02 -4.88360521e-03 5.23646160e+02] [ 1.11267595e-02 9.99938050e-01 3.03160421e-04 -2.46792452e+01] [ 4.87992997e-03 -3.57476745e-04 9.99988029e-01 1.97478187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.010714057 meters Centerline goodness [0,1] 0.9738931228452187 Centerline is valid? [True, True] Translation: X:523.68, Y:-24.68, Z:1.97 [[ 9.99924493e-01 -1.16521583e-02 -3.90325431e-03 5.23677225e+02] [ 1.16531943e-02 9.99932070e-01 2.42769373e-04 -2.46836247e+01] [ 3.90016037e-03 -2.88236423e-04 9.99992353e-01 1.97423128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.040714057 meters Centerline goodness [0,1] 0.9704491458309763 Centerline is valid? [True, True] Translation: X:523.71, Y:-24.69, Z:1.97 [[ 9.99918918e-01 -1.22701654e-02 -3.40583051e-03 5.23707749e+02] [ 1.22709618e-02 9.99924686e-01 2.13053143e-04 -2.46888076e+01] [ 3.40295980e-03 -2.54828685e-04 9.99994177e-01 1.97405044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0707140569999 meters Centerline goodness [0,1] 0.9746611266262516 Centerline is valid? [True, True] Translation: X:523.74, Y:-24.69, Z:1.97 [[ 9.99916397e-01 -1.25226863e-02 -3.22213207e-03 5.23740076e+02] [ 1.25233997e-02 9.99921559e-01 2.01316833e-04 -2.46852948e+01] [ 3.21935829e-03 -2.41652050e-04 9.99994789e-01 1.97491544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1007140569999 meters Centerline goodness [0,1] 0.9736919759391669 Centerline is valid? [True, True] Translation: X:523.77, Y:-24.69, Z:1.97 [[ 9.99924224e-01 -1.20569770e-02 -2.48491237e-03 5.23771284e+02] [ 1.20574001e-02 9.99927295e-01 1.55364608e-04 -2.46907833e+01] [ 2.48285848e-03 -1.85314418e-04 9.99996901e-01 1.97326061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.130714057 meters Centerline goodness [0,1] 0.9750396735434141 Centerline is valid? [True, True] Translation: X:523.80, Y:-24.69, Z:1.97 [[ 9.99926974e-01 -1.18613135e-02 -2.31422917e-03 5.23804282e+02] [ 1.18616809e-02 9.99929637e-01 1.45122323e-04 -2.46858035e+01] [ 2.31234500e-03 -1.72562374e-04 9.99997312e-01 1.97383323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.160714057 meters Centerline goodness [0,1] 0.9767907071901071 Centerline is valid? [True, True] Translation: X:523.84, Y:-24.69, Z:1.97 [[ 9.99926090e-01 -1.19601360e-02 -2.18410677e-03 5.23836154e+02] [ 1.19604640e-02 9.99928462e-01 1.37183882e-04 -2.46857949e+01] [ 2.18230978e-03 -1.63296673e-04 9.99997605e-01 1.97419934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1907140569999 meters Centerline goodness [0,1] 0.9760953461975028 Centerline is valid? [True, True] Translation: X:523.87, Y:-24.69, Z:1.97 [[ 9.99931362e-01 -1.16431519e-02 -1.30691314e-03 5.23868011e+02] [ 1.16432697e-02 9.99932211e-01 8.25089165e-05 -2.46903823e+01] [ 1.30586388e-03 -9.77199953e-05 9.99999143e-01 1.97316237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2207140569999 meters Centerline goodness [0,1] 0.9756981405567006 Centerline is valid? [True, True] Translation: X:523.90, Y:-24.69, Z:1.97 [[ 9.99932692e-01 -1.15706609e-02 -8.55661052e-04 5.23899802e+02] [ 1.15707117e-02 9.99933056e-01 5.43671046e-05 -2.46929325e+01] [ 8.54974707e-04 -6.42640526e-05 9.99999632e-01 1.97280418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.250714057 meters Centerline goodness [0,1] 0.9758016963759242 Centerline is valid? [True, True] Translation: X:523.93, Y:-24.70, Z:1.97 [[ 9.99934413e-01 -1.14309437e-02 -7.09466014e-04 5.23931802e+02] [ 1.14309787e-02 9.99934663e-01 4.52701031e-05 -2.46957152e+01] [ 7.08902180e-04 -5.33770248e-05 9.99999747e-01 1.97191454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.280714057 meters Centerline goodness [0,1] 0.9759868198334424 Centerline is valid? [True, True] Translation: X:523.96, Y:-24.70, Z:1.97 [[ 9.99929436e-01 -1.18322541e-02 -1.05873911e-03 5.23962201e+02] [ 1.18323314e-02 9.99929993e-01 6.67772182e-05 -2.47015525e+01] [ 1.05787486e-03 -7.92998582e-05 9.99999437e-01 1.97039372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3107140569999 meters Centerline goodness [0,1] 0.9751914864773267 Centerline is valid? [True, True] Translation: X:523.99, Y:-24.70, Z:1.97 [[ 9.99920320e-01 -1.25607357e-02 -1.25758524e-03 5.23993859e+02] [ 1.25608456e-02 9.99921106e-01 7.95147589e-05 -2.47043488e+01] [ 1.25648726e-03 -9.53047572e-05 9.99999206e-01 1.96949686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3407140569999 meters Centerline goodness [0,1] 0.9734225275718676 Centerline is valid? [True, True] Translation: X:524.02, Y:-24.72, Z:1.97 [[ 9.99915984e-01 -1.28697024e-02 -1.54766417e-03 5.24024447e+02] [ 1.28698691e-02 9.99917175e-01 9.77928221e-05 -2.47159556e+01] [ 1.54627742e-03 -1.17702841e-04 9.99998798e-01 1.96713979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.370714057 meters Centerline goodness [0,1] 0.9762592525726665 Centerline is valid? [True, True] Translation: X:524.06, Y:-24.71, Z:1.97 [[ 9.99914006e-01 -1.30389295e-02 -1.40245050e-03 5.24056947e+02] [ 1.30390671e-02 9.99914984e-01 8.89813490e-05 -2.47117439e+01] [ 1.40117105e-03 -1.07260343e-04 9.99999013e-01 1.96833394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.400714057 meters Centerline goodness [0,1] 0.9722116054767418 Centerline is valid? [True, True] Translation: X:524.09, Y:-24.72, Z:1.97 [[ 9.99922243e-01 -1.23395477e-02 -1.80117737e-03 5.24087215e+02] [ 1.23397728e-02 9.99923856e-01 1.13935527e-04 -2.47241816e+01] [ 1.79963431e-03 -1.36152787e-04 9.99998371e-01 1.96612636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4307140569999 meters Centerline goodness [0,1] 0.9759750953100679 Centerline is valid? [True, True] Translation: X:524.12, Y:-24.72, Z:1.97 [[ 9.99938898e-01 -1.08190745e-02 -2.26886492e-03 5.24119093e+02] [ 1.08194272e-02 9.99941458e-01 1.43244972e-04 -2.47165752e+01] [ 2.26718232e-03 -1.67784038e-04 9.99997416e-01 1.96679018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4607140569999 meters Centerline goodness [0,1] 0.9768354573136349 Centerline is valid? [True, True] Translation: X:524.15, Y:-24.72, Z:1.97 [[ 9.99967278e-01 -7.56940155e-03 -2.85433901e-03 5.24148880e+02] [ 7.56994517e-03 9.99971331e-01 1.79695578e-04 -2.47190510e+01] [ 2.85289700e-03 -2.01296888e-04 9.99995910e-01 1.96550802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.490714057 meters Centerline goodness [0,1] 0.9775932486404766 Centerline is valid? [True, True] Translation: X:524.18, Y:-24.72, Z:1.96 [[ 9.99979180e-01 -5.55333465e-03 -3.28646264e-03 5.24180753e+02] [ 5.55404685e-03 9.99984555e-01 2.07620729e-04 -2.47200005e+01] [ 3.28525889e-03 -2.25869574e-04 9.99994578e-01 1.96484817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.520714057 meters Centerline goodness [0,1] 0.9769710105662422 Centerline is valid? [True, True] Translation: X:524.21, Y:-24.72, Z:1.96 [[ 9.99992675e-01 -2.26227390e-03 -3.08731425e-03 5.24211762e+02] [ 2.26288595e-03 9.99997421e-01 1.94768399e-04 -2.47205808e+01] [ 3.08686567e-03 -2.01753212e-04 9.99995215e-01 1.96457201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5507140569999 meters Centerline goodness [0,1] 0.9776671023572362 Centerline is valid? [True, True] Translation: X:524.24, Y:-24.72, Z:1.96 [[ 9.99995753e-01 -7.88272576e-04 -2.80592080e-03 5.24241943e+02] [ 7.88771854e-04 9.99999673e-01 1.76835142e-04 -2.47219372e+01] [ 2.80578049e-03 -1.79047623e-04 9.99996048e-01 1.96496367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5807140569999 meters Centerline goodness [0,1] 0.9771654432523997 Centerline is valid? [True, True] Translation: X:524.27, Y:-24.72, Z:1.97 [[ 9.99998402e-01 -1.94801330e-04 -1.77710434e-03 5.24271492e+02] [ 1.94999849e-04 9.99999975e-01 1.11536762e-04 -2.47237410e+01] [ 1.77708256e-03 -1.11883119e-04 9.99998415e-01 1.96581439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.610714057 meters Centerline goodness [0,1] 0.9772634997969956 Centerline is valid? [True, True] Translation: X:524.30, Y:-24.73, Z:1.97 [[ 9.99999317e-01 -4.83820892e-04 -1.06349304e-03 5.24300225e+02] [ 4.83892174e-04 9.99999881e-01 6.67705117e-05 -2.47294859e+01] [ 1.06346061e-03 -6.72850821e-05 9.99999432e-01 1.96510848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.640714057 meters Centerline goodness [0,1] 0.978131658629584 Centerline is valid? [True, True] Translation: X:524.33, Y:-24.73, Z:1.96 [[ 9.99998864e-01 -1.50407885e-03 9.47622541e-05 5.24330877e+02] [ 1.50407942e-03 9.99998869e-01 -5.96714249e-06 -2.47311488e+01] [-9.47531718e-05 6.10966566e-06 9.99999995e-01 1.96487504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6707140569999 meters Centerline goodness [0,1] 0.9757182326647049 Centerline is valid? [True, True] Translation: X:524.36, Y:-24.74, Z:1.96 [[ 9.99996464e-01 -2.64738218e-03 2.52197287e-04 5.24360676e+02] [ 2.64738609e-03 9.99996496e-01 -1.51555146e-05 -2.47391900e+01] [-2.52156281e-04 1.58231246e-05 9.99999968e-01 1.96338648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7007140569999 meters Centerline goodness [0,1] 0.977800769213468 Centerline is valid? [True, True] Translation: X:524.39, Y:-24.74, Z:1.96 [[ 9.99987282e-01 -4.92725237e-03 1.07620229e-03 5.24392096e+02] [ 4.92732782e-03 9.99987858e-01 -6.74667492e-05 -2.47366202e+01] [-1.07585679e-03 7.27686926e-05 9.99999419e-01 1.96362098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.730714057 meters Centerline goodness [0,1] 0.9768131571852251 Centerline is valid? [True, True] Translation: X:524.42, Y:-24.74, Z:1.96 [[ 9.99974441e-01 -6.56770801e-03 2.82527234e-03 5.24423003e+02] [ 6.56823195e-03 9.99978413e-01 -1.76207376e-04 -2.47446192e+01] [-2.82405408e-03 1.94759917e-04 9.99995993e-01 1.96269515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.760714057 meters Centerline goodness [0,1] 0.9763085523646364 Centerline is valid? [True, True] Translation: X:524.45, Y:-24.75, Z:1.96 [[ 9.99966973e-01 -7.26084959e-03 3.65148473e-03 5.24454766e+02] [ 7.26173986e-03 9.99973607e-01 -2.30610660e-04 -2.47470461e+01] [-3.64971393e-03 2.57119176e-04 9.99993307e-01 1.96243546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.790714057 meters Centerline goodness [0,1] 0.9752920338109011 Centerline is valid? [True, True] Translation: X:524.49, Y:-24.75, Z:1.96 [[ 9.99960582e-01 -7.89987752e-03 4.05305532e-03 5.24485852e+02] [ 7.90098165e-03 9.99968754e-01 -2.56480248e-04 -2.47514420e+01] [-4.05090252e-03 2.88493253e-04 9.99991753e-01 1.96110995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8207140569999 meters Centerline goodness [0,1] 0.9747244607061887 Centerline is valid? [True, True] Translation: X:524.52, Y:-24.75, Z:1.96 [[ 9.99957966e-01 -8.15260814e-03 4.19528048e-03 5.24517597e+02] [ 8.15379386e-03 9.99966722e-01 -2.65604358e-04 -2.47542224e+01] [-4.19297550e-03 2.99800646e-04 9.99991164e-01 1.96007265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8507140569999 meters Centerline goodness [0,1] 0.9753122604500157 Centerline is valid? [True, True] Translation: X:524.55, Y:-24.76, Z:1.96 [[ 9.99948230e-01 -9.21323225e-03 4.31898355e-03 5.24549921e+02] [ 9.21450018e-03 9.99957508e-01 -2.73764148e-04 -2.47575907e+01] [-4.31627777e-03 3.13547250e-04 9.99990636e-01 1.95904961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.880714057 meters Centerline goodness [0,1] 0.9744636926667265 Centerline is valid? [True, True] Translation: X:524.58, Y:-24.76, Z:1.96 [[ 9.99944579e-01 -9.65725978e-03 4.19229528e-03 5.24582010e+02] [ 9.65845942e-03 9.99953321e-01 -2.66002896e-04 -2.47602518e+01] [-4.18953072e-03 3.06479268e-04 9.99991177e-01 1.95807591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.910714057 meters Centerline goodness [0,1] 0.9749622518198003 Centerline is valid? [True, True] Translation: X:524.61, Y:-24.76, Z:1.96 [[ 9.99925372e-01 -1.09674191e-02 5.38208524e-03 5.24614324e+02] [ 1.09694185e-02 9.99939776e-01 -3.42094280e-04 -2.47641327e+01] [-5.37800922e-03 4.01107096e-04 9.99985458e-01 1.95712779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9407140569999 meters Centerline goodness [0,1] 0.9735713483776804 Centerline is valid? [True, True] Translation: X:524.65, Y:-24.77, Z:1.96 [[ 9.99914674e-01 -1.21533306e-02 4.78961998e-03 5.24645589e+02] [ 1.21549293e-02 9.99926080e-01 -3.04802184e-04 -2.47681280e+01] [-4.78556157e-03 3.62993669e-04 9.99988483e-01 1.95609820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9707140569999 meters Centerline goodness [0,1] 0.9738638667958452 Centerline is valid? [True, True] Translation: X:524.68, Y:-24.77, Z:1.96 [[ 9.99911129e-01 -1.25353774e-02 4.53858809e-03 5.24678035e+02] [ 1.25368172e-02 9.99921369e-01 -2.88917564e-04 -2.47702255e+01] [-4.53460952e-03 3.45791336e-04 9.99989659e-01 1.95570937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.000714057 meters Centerline goodness [0,1] 0.9748255853333634 Centerline is valid? [True, True] Translation: X:524.71, Y:-24.77, Z:1.95 [[ 9.99907189e-01 -1.27585867e-02 4.77822410e-03 5.24710709e+02] [ 1.27601868e-02 9.99918539e-01 -3.04539095e-04 -2.47709510e+01] [-4.77394938e-03 3.65481863e-04 9.99988538e-01 1.95445957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.030714057 meters Centerline goodness [0,1] 0.9738276498941394 Centerline is valid? [True, True] Translation: X:524.74, Y:-24.78, Z:1.95 [[ 9.99911183e-01 -1.22945968e-02 5.14474606e-03 5.24741650e+02] [ 1.22964484e-02 9.99924342e-01 -3.28432410e-04 -2.47776462e+01] [-5.14031887e-03 3.91665344e-04 9.99986712e-01 1.95341421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0607140569999 meters Centerline goodness [0,1] 0.9733420465556482 Centerline is valid? [True, True] Translation: X:524.77, Y:-24.78, Z:1.95 [[ 9.99913225e-01 -1.21495642e-02 5.09223153e-03 5.24774209e+02] [ 1.21513761e-02 9.99926116e-01 -3.25031696e-04 -2.47802914e+01] [-5.08790631e-03 3.86881112e-04 9.99986982e-01 1.95296491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0907140569999 meters Centerline goodness [0,1] 0.9748048901520278 Centerline is valid? [True, True] Translation: X:524.81, Y:-24.78, Z:1.95 [[ 9.99939802e-01 -1.00402746e-02 4.42543573e-03 5.24806532e+02] [ 1.00416254e-02 9.99949542e-01 -2.83116184e-04 -2.47772666e+01] [-4.42236987e-03 3.27537709e-04 9.99990168e-01 1.95219555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.120714057 meters Centerline goodness [0,1] 0.9769767284382548 Centerline is valid? [True, True] Translation: X:524.84, Y:-24.77, Z:1.95 [[ 9.99955842e-01 -8.47411278e-03 4.06254718e-03 5.24838109e+02] [ 8.47523937e-03 9.99964051e-01 -2.60176858e-04 -2.47714425e+01] [-4.06019637e-03 2.94596429e-04 9.99991714e-01 1.95187447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.150714057 meters Centerline goodness [0,1] 0.9770417933986707 Centerline is valid? [True, True] Translation: X:524.87, Y:-24.77, Z:1.95 [[ 9.99978332e-01 -5.44829161e-03 3.69475994e-03 5.24868232e+02] [ 5.44920429e-03 9.99985125e-01 -2.36998058e-04 -2.47740958e+01] [-3.69341374e-03 2.57126425e-04 9.99993146e-01 1.95051305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1807140569999 meters Centerline goodness [0,1] 0.978303211487068 Centerline is valid? [True, True] Translation: X:524.90, Y:-24.77, Z:1.95 [[ 9.99988154e-01 -3.78154604e-03 3.06443687e-03 5.24899916e+02] [ 3.78216517e-03 9.99992828e-01 -1.96265353e-04 -2.47693350e+01] [-3.06367271e-03 2.07853235e-04 9.99995285e-01 1.94972322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2107140569999 meters Centerline goodness [0,1] 0.978303211487068 Centerline is valid? [True, True] Translation: X:524.93, Y:-24.77, Z:1.95 [[ 9.99988425e-01 -3.70938911e-03 3.06444878e-03 5.24931616e+02] [ 3.71000733e-03 9.99993099e-01 -1.96080135e-04 -2.47714287e+01] [-3.06370030e-03 2.07446992e-04 9.99995285e-01 1.94936276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.240714057 meters Centerline goodness [0,1] 0.9782961460446248 Centerline is valid? [True, True] Translation: X:524.96, Y:-24.78, Z:1.95 [[ 9.99989326e-01 -3.23519572e-03 3.29868437e-03 5.24963084e+02] [ 3.23591051e-03 9.99994742e-01 -2.11374325e-04 -2.47754262e+01] [-3.29798318e-03 2.22046316e-04 9.99994537e-01 1.94866930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.270714057 meters Centerline goodness [0,1] 0.9789328072204458 Centerline is valid? [True, True] Translation: X:525.00, Y:-24.77, Z:1.95 [[ 9.99989055e-01 -3.26159216e-03 3.35424472e-03 5.24995606e+02] [ 3.26233221e-03 9.99994655e-01 -2.15183282e-04 -2.47732191e+01] [-3.35352495e-03 2.26123587e-04 9.99994351e-01 1.94846862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3007140569999 meters Centerline goodness [0,1] 0.9772392707507643 Centerline is valid? [True, True] Translation: X:525.03, Y:-24.78, Z:1.95 [[ 9.99985106e-01 -3.49477694e-03 4.19214438e-03 5.25026424e+02] [ 3.49593586e-03 9.99993853e-01 -2.69154677e-04 -2.47787410e+01] [-4.19117798e-03 2.83806137e-04 9.99991177e-01 1.94792062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3307140569999 meters Centerline goodness [0,1] 0.9788564824257258 Centerline is valid? [True, True] Translation: X:525.06, Y:-24.78, Z:1.95 [[ 9.99979009e-01 -4.24546268e-03 4.89466657e-03 5.25059008e+02] [ 4.24705663e-03 9.99990932e-01 -3.15303848e-04 -2.47787928e+01] [-4.89328357e-03 3.36085155e-04 9.99987971e-01 1.94852023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.360714057 meters Centerline goodness [0,1] 0.9789328072204458 Centerline is valid? [True, True] Translation: X:525.09, Y:-24.78, Z:1.95 [[ 9.99978025e-01 -4.15801328e-03 5.16341014e-03 5.25091046e+02] [ 4.15978802e-03 9.99991293e-01 -3.33021964e-04 -2.47791479e+01] [-5.16198047e-03 3.54493337e-04 9.99986614e-01 1.94838157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.390714057 meters Centerline goodness [0,1] 0.9780242209824466 Centerline is valid? [True, True] Translation: X:525.12, Y:-24.78, Z:1.95 [[ 9.99979331e-01 -3.24301596e-03 5.55162058e-03 5.25123103e+02] [ 3.24505612e-03 9.99994671e-01 -3.58519642e-04 -2.47799391e+01] [-5.55042831e-03 3.76527552e-04 9.99984525e-01 1.94810172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4207140569999 meters Centerline goodness [0,1] 0.9785901609694339 Centerline is valid? [True, True] Translation: X:525.16, Y:-24.78, Z:1.95 [[ 9.99975602e-01 -2.48212209e-03 6.52950748e-03 5.25155594e+02] [ 2.48493215e-03 9.99996823e-01 -4.22285460e-04 -2.47809823e+01] [-6.52843858e-03 4.38500540e-04 9.99978593e-01 1.94816264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4507140569999 meters Centerline goodness [0,1] 0.9786154403769481 Centerline is valid? [True, True] Translation: X:525.19, Y:-24.78, Z:1.95 [[ 9.99971344e-01 -8.13608000e-04 7.52658920e-03 5.25186131e+02] [ 8.17298816e-04 9.99999547e-01 -4.87307516e-04 -2.47819758e+01] [-7.52618931e-03 4.93445024e-04 9.99971556e-01 1.94860616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.480714057 meters Centerline goodness [0,1] 0.9781303991997817 Centerline is valid? [True, True] Translation: X:525.22, Y:-24.78, Z:1.95 [[ 9.99969091e-01 6.15238698e-04 7.83827210e-03 5.25217967e+02] [-6.11271479e-04 9.99999684e-01 -5.08519977e-04 -2.47815726e+01] [-7.83858249e-03 5.03712947e-04 9.99969151e-01 1.94828939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.510714057 meters Centerline goodness [0,1] 0.9789672343618545 Centerline is valid? [True, True] Translation: X:525.25, Y:-24.78, Z:1.95 [[ 9.99968702e-01 1.09738310e-03 7.83517088e-03 5.25250506e+02] [-1.09342977e-03 9.99999273e-01 -5.08827860e-04 -2.47833100e+01] [-7.83572356e-03 5.00244726e-04 9.99969175e-01 1.94795615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.540714057 meters Centerline goodness [0,1] 0.9780709694939803 Centerline is valid? [True, True] Translation: X:525.28, Y:-24.79, Z:1.95 [[ 9.99968673e-01 1.89260719e-03 7.68582092e-03 5.25282569e+02] [-1.88882244e-03 9.99998091e-01 -4.99661531e-04 -2.47854935e+01] [-7.68675191e-03 4.85128727e-04 9.99970339e-01 1.94732198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5707140569999 meters Centerline goodness [0,1] 0.9783497660048162 Centerline is valid? [True, True] Translation: X:525.32, Y:-24.78, Z:1.95 [[ 9.99972769e-01 2.38282972e-03 6.98455056e-03 5.25315067e+02] [-2.37971857e-03 9.99997066e-01 -4.53710195e-04 -2.47842487e+01] [-6.98561118e-03 4.37076575e-04 9.99975505e-01 1.94667981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6007140569999 meters Centerline goodness [0,1] 0.9792586858521926 Centerline is valid? [True, True] Translation: X:525.35, Y:-24.79, Z:1.95 [[ 9.99976159e-01 2.48907361e-03 6.44093494e-03 5.25346852e+02] [-2.48642110e-03 9.99996821e-01 -4.19795038e-04 -2.47855673e+01] [-6.44195936e-03 4.03770154e-04 9.99979169e-01 1.94577182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.630714057 meters Centerline goodness [0,1] 0.978198534431751 Centerline is valid? [True, True] Translation: X:525.38, Y:-24.79, Z:1.95 [[ 9.99977769e-01 2.74349609e-03 6.07741364e-03 5.25378260e+02] [-2.74113035e-03 9.99996164e-01 -3.97563536e-04 -2.47886267e+01] [-6.07848104e-03 3.80895715e-04 9.99981453e-01 1.94502642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.660714057 meters Centerline goodness [0,1] 0.9782312925170068 Centerline is valid? [True, True] Translation: X:525.41, Y:-24.79, Z:1.94 [[ 9.99981436e-01 2.73570595e-03 5.44455224e-03 5.25409595e+02] [-2.73379553e-03 9.99996199e-01 -3.58296483e-04 -2.47907953e+01] [-5.44551174e-03 3.43405540e-04 9.99985114e-01 1.94424808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6907140569999 meters Centerline goodness [0,1] 0.9778320067507469 Centerline is valid? [True, True] Translation: X:525.44, Y:-24.79, Z:1.94 [[ 9.99990747e-01 2.15299001e-03 3.72437574e-03 5.25441014e+02] [-2.15209743e-03 9.99997655e-01 -2.43650696e-04 -2.47932433e+01] [-3.72489158e-03 2.35633222e-04 9.99993035e-01 1.94191803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7207140569999 meters Centerline goodness [0,1] 0.9774353831426358 Centerline is valid? [True, True] Translation: X:525.47, Y:-24.80, Z:1.94 [[ 9.99993266e-01 1.76228384e-03 3.21904455e-03 5.25471920e+02] [-1.76160882e-03 9.99998426e-01 -2.12519790e-04 -2.47960860e+01] [-3.21941400e-03 2.06847661e-04 9.99994796e-01 1.94068381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.750714057 meters Centerline goodness [0,1] 0.9772494596746673 Centerline is valid? [True, True] Translation: X:525.50, Y:-24.80, Z:1.94 [[ 9.99996641e-01 -8.09147439e-04 2.46249502e-03 5.25501420e+02] [ 8.09550954e-04 9.99999659e-01 -1.62871803e-04 -2.48001078e+01] [-2.46236239e-03 1.64864771e-04 9.99996955e-01 1.93989992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.780714057 meters Centerline goodness [0,1] 0.976835206844764 Centerline is valid? [True, True] Translation: X:525.53, Y:-24.80, Z:1.94 [[ 9.99994895e-01 -2.12835980e-03 2.38344479e-03 5.25532595e+02] [ 2.12874084e-03 9.99997722e-01 -1.57342083e-04 -2.48031744e+01] [-2.38310448e-03 1.62415016e-04 9.99997147e-01 1.94004850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8107140569999 meters Centerline goodness [0,1] 0.9764847548507293 Centerline is valid? [True, True] Translation: X:525.56, Y:-24.80, Z:1.94 [[ 9.99986518e-01 -3.81342086e-03 3.52443844e-03 5.25564874e+02] [ 3.81426457e-03 9.99992699e-01 -2.32695822e-04 -2.48028517e+01] [-3.52352534e-03 2.46135825e-04 9.99993762e-01 1.94119055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8407140569999 meters Centerline goodness [0,1] 0.9746924829157175 Centerline is valid? [True, True] Translation: X:525.60, Y:-24.81, Z:1.94 [[ 9.99981542e-01 -4.51806743e-03 4.06239690e-03 5.25596803e+02] [ 4.51919573e-03 9.99989752e-01 -2.68604300e-04 -2.48050547e+01] [-4.06114170e-03 2.86958109e-04 9.99991712e-01 1.94128189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.870714057 meters Centerline goodness [0,1] 0.9764638609332114 Centerline is valid? [True, True] Translation: X:525.63, Y:-24.80, Z:1.94 [[ 9.99979193e-01 -4.85545679e-03 4.24718123e-03 5.25628918e+02] [ 4.85669440e-03 9.99988167e-01 -2.81128304e-04 -2.48012841e+01] [-4.24576596e-03 3.01749716e-04 9.99990941e-01 1.94171292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.900714057 meters Centerline goodness [0,1] 0.9738775323964227 Centerline is valid? [True, True] Translation: X:525.66, Y:-24.81, Z:1.94 [[ 9.99978844e-01 -4.78614384e-03 4.40510723e-03 5.25659719e+02] [ 4.78747662e-03 9.99988497e-01 -2.92056810e-04 -2.48118336e+01] [-4.40365874e-03 3.13139979e-04 9.99990255e-01 1.94041171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9307140569999 meters Centerline goodness [0,1] 0.976585187387099 Centerline is valid? [True, True] Translation: X:525.69, Y:-24.81, Z:1.94 [[ 9.99977406e-01 -6.03806504e-03 2.95459692e-03 5.25691972e+02] [ 6.03866992e-03 9.99981748e-01 -1.95845101e-04 -2.48051173e+01] [-2.95336047e-03 2.13682511e-04 9.99995616e-01 1.93992598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9607140569999 meters Centerline goodness [0,1] 0.9716576074544375 Centerline is valid? [True, True] Translation: X:525.72, Y:-24.82, Z:1.94 [[ 9.99976347e-01 -6.59707493e-03 1.94506830e-03 5.25722168e+02] [ 6.59733704e-03 9.99978229e-01 -1.28368213e-04 -2.48173289e+01] [-1.94417910e-03 1.41197448e-04 9.99998100e-01 1.93785664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.990714057 meters Centerline goodness [0,1] 0.9746736890313716 Centerline is valid? [True, True] Translation: X:525.75, Y:-24.81, Z:1.94 [[ 9.99960733e-01 -8.83324444e-03 7.11380984e-04 5.25754187e+02] [ 8.83328010e-03 9.99960985e-01 -4.69977253e-05 -2.48115903e+01] [-7.10938086e-04 5.32797073e-05 9.99999746e-01 1.93724587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.020714057 meters Centerline goodness [0,1] 0.9752081278811091 Centerline is valid? [True, True] Translation: X:525.79, Y:-24.81, Z:1.94 [[ 9.99946317e-01 -1.03446635e-02 5.92316643e-04 5.25786179e+02] [ 1.03446884e-02 9.99946492e-01 -3.88828050e-05 -2.48102438e+01] [-5.91882719e-04 4.50080487e-05 9.99999824e-01 1.93695066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0507140569999 meters Centerline goodness [0,1] 0.9745501109002355 Centerline is valid? [True, True] Translation: X:525.82, Y:-24.82, Z:1.94 [[ 9.99924185e-01 -1.23110351e-02 2.48775408e-04 5.25816175e+02] [ 1.23110395e-02 9.99924216e-01 -1.63882898e-05 -2.48166598e+01] [-2.48554798e-04 1.94497312e-05 9.99999969e-01 1.93558794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0807140569999 meters Centerline goodness [0,1] 0.9740230198808062 Centerline is valid? [True, True] Translation: X:525.85, Y:-24.82, Z:1.93 [[ 9.99917071e-01 -1.28781850e-02 -6.10920759e-05 5.25847967e+02] [ 1.28781853e-02 9.99917073e-01 4.89012308e-06 -2.48196822e+01] [ 6.10240337e-05 -5.67647262e-06 9.99999998e-01 1.93462322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.110714057 meters Centerline goodness [0,1] 0.9741942857142857 Centerline is valid? [True, True] Translation: X:525.88, Y:-24.82, Z:1.93 [[ 9.99904750e-01 -1.37263293e-02 -1.44211270e-03 5.25879821e+02] [ 1.37264833e-02 9.99905783e-01 9.69826686e-05 -2.48200434e+01] [ 1.44064561e-03 -1.16768567e-04 9.99998955e-01 1.93333501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.140714057 meters Centerline goodness [0,1] 0.9747055858497915 Centerline is valid? [True, True] Translation: X:525.91, Y:-24.82, Z:1.93 [[ 9.99902548e-01 -1.38163070e-02 -2.00095202e-03 5.25911785e+02] [ 1.38166041e-02 9.99904537e-01 1.34684464e-04 -2.48200934e+01] [ 1.99890016e-03 -1.62317700e-04 9.99997989e-01 1.93331715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1707140569999 meters Centerline goodness [0,1] 0.973673987065518 Centerline is valid? [True, True] Translation: X:525.94, Y:-24.82, Z:1.93 [[ 9.99897654e-01 -1.41179390e-02 -2.31618602e-03 5.25942574e+02] [ 1.41183373e-02 9.99900319e-01 1.55692537e-04 -2.48246110e+01] [ 2.31375709e-03 -1.88377298e-04 9.99997306e-01 1.93280888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2007140569999 meters Centerline goodness [0,1] 0.9736998991103366 Centerline is valid? [True, True] Translation: X:525.97, Y:-24.82, Z:1.93 [[ 9.99889578e-01 -1.46910677e-02 -2.23684575e-03 5.25974956e+02] [ 1.46914415e-02 9.99892064e-01 1.50736756e-04 -2.48222912e+01] [ 2.23438983e-03 -1.83582600e-04 9.99997487e-01 1.93331731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.230714057 meters Centerline goodness [0,1] 0.9736775558058806 Centerline is valid? [True, True] Translation: X:526.01, Y:-24.82, Z:1.93 [[ 9.99868628e-01 -1.61121102e-02 -1.76815941e-03 5.26007103e+02] [ 1.61123464e-02 9.99870181e-01 1.19441244e-04 -2.48238502e+01] [ 1.76600542e-03 -1.47914750e-04 9.99998430e-01 1.93407948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.260714057 meters Centerline goodness [0,1] 0.9719594052828114 Centerline is valid? [True, True] Translation: X:526.04, Y:-24.83, Z:1.93 [[ 9.99862965e-01 -1.65277863e-02 -9.40234586e-04 5.26037517e+02] [ 1.65278533e-02 9.99863404e-01 6.35249930e-05 -2.48296745e+01] [ 9.39056226e-04 -7.90563471e-05 9.99999556e-01 1.93398301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.290714057 meters Centerline goodness [0,1] 0.9710148253545693 Centerline is valid? [True, True] Translation: X:526.07, Y:-24.83, Z:1.93 [[ 9.99837400e-01 -1.80220052e-02 -6.16615866e-04 5.26068942e+02] [ 1.80220344e-02 9.99837589e-01 4.18683751e-05 -2.48317776e+01] [ 6.15761169e-04 -5.29742397e-05 9.99999809e-01 1.93407722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3207140569999 meters Centerline goodness [0,1] 0.9704761467468662 Centerline is valid? [True, True] Translation: X:526.10, Y:-24.83, Z:1.93 [[ 9.99828041e-01 -1.85414968e-02 -3.17511059e-04 5.26101388e+02] [ 1.85415047e-02 9.99828091e-01 2.21546993e-05 -2.48332282e+01] [ 3.17045695e-04 -2.80380224e-05 9.99999949e-01 1.93357528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3507140569999 meters Centerline goodness [0,1] 0.9684856564913571 Centerline is valid? [True, True] Translation: X:526.13, Y:-24.84, Z:1.93 [[ 9.99825106e-01 -1.86705964e-02 -1.07969419e-03 5.26132253e+02] [ 1.86706864e-02 9.99825685e-01 7.32569613e-05 -2.48365342e+01] [ 1.07813823e-03 -9.34027806e-05 9.99999414e-01 1.93238209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.380714057 meters Centerline goodness [0,1] 0.9690799742906987 Centerline is valid? [True, True] Translation: X:526.16, Y:-24.84, Z:1.93 [[ 9.99837492e-01 -1.79956819e-02 -1.07012496e-03 5.26164623e+02] [ 1.79957702e-02 9.99838060e-01 7.28670072e-05 -2.48378987e+01] [ 1.06864037e-03 -9.21128885e-05 9.99999425e-01 1.93260858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.410714057 meters Centerline goodness [0,1] 0.9678422051059355 Centerline is valid? [True, True] Translation: X:526.20, Y:-24.84, Z:1.93 [[ 9.99841697e-01 -1.77849776e-02 -5.24825072e-04 5.26196552e+02] [ 1.77849990e-02 9.99841834e-01 3.61684247e-05 -2.48392467e+01] [ 5.24098808e-04 -4.54967125e-05 9.99999862e-01 1.93281834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4407140569999 meters Centerline goodness [0,1] 0.9668129898186666 Centerline is valid? [True, True] Translation: X:526.23, Y:-24.84, Z:1.93 [[ 9.99844310e-01 -1.76413107e-02 -3.74434149e-04 5.26228508e+02] [ 1.76413217e-02 9.99844379e-01 2.60495471e-05 -2.48421716e+01] [ 3.73916331e-04 -3.26510047e-05 9.99999930e-01 1.93271351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4707140569999 meters Centerline goodness [0,1] 0.9604912151595989 Centerline is valid? [True, True] Translation: X:526.26, Y:-24.85, Z:1.93 [[ 9.99840133e-01 -1.78710358e-02 -5.78359262e-04 5.26259092e+02] [ 1.78710617e-02 9.99840299e-01 3.96491218e-05 -2.48460994e+01] [ 5.77558327e-04 -4.99786772e-05 9.99999832e-01 1.93263387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.500714057 meters Centerline goodness [0,1] 0.9579964729862813 Centerline is valid? [True, True] Translation: X:526.29, Y:-24.85, Z:1.93 [[ 9.99817737e-01 -1.90773633e-02 -7.39693660e-04 5.26291000e+02] [ 1.90774060e-02 9.99818008e-01 5.07779121e-05 -2.48496752e+01] [ 7.38590334e-04 -6.48800934e-05 9.99999725e-01 1.93170875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.530714057 meters Centerline goodness [0,1] 0.9513262110885983 Centerline is valid? [True, True] Translation: X:526.32, Y:-24.85, Z:1.93 [[ 9.99801313e-01 -1.99135776e-02 -8.85413254e-04 5.26323059e+02] [ 1.99136391e-02 9.99801702e-01 6.06933752e-05 -2.48531644e+01] [ 8.84029056e-04 -7.83131162e-05 9.99999606e-01 1.93055870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5607140569999 meters Centerline goodness [0,1] 0.972124076538338 Centerline is valid? [True, True] Translation: X:526.36, Y:-24.85, Z:1.93 [[ 9.99795175e-01 -2.01965465e-02 -1.30708435e-03 5.26355500e+02] [ 2.01966808e-02 9.99796022e-01 8.96067066e-05 -2.48459860e+01] [ 1.30500798e-03 -1.15987118e-04 9.99999142e-01 1.93133712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5907140569999 meters Centerline goodness [0,1] 0.9723653934652554 Centerline is valid? [True, True] Translation: X:526.39, Y:-24.85, Z:1.93 [[ 9.99819412e-01 -1.88346293e-02 -2.52994622e-03 5.26386944e+02] [ 1.88351243e-02 9.99822589e-01 1.71974743e-04 -2.48459768e+01] [ 2.52625830e-03 -2.19595538e-04 9.99996785e-01 1.92970751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.620714057 meters Centerline goodness [0,1] 0.9675729092455129 Centerline is valid? [True, True] Translation: X:526.42, Y:-24.85, Z:1.93 [[ 9.99859354e-01 -1.63035439e-02 -3.93277045e-03 5.26416229e+02] [ 1.63047181e-02 9.99867034e-01 2.66694553e-04 -2.48538124e+01] [ 3.92789946e-03 -3.30779757e-04 9.99992231e-01 1.92642770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.650714057 meters Centerline goodness [0,1] 0.9762283920699762 Centerline is valid? [True, True] Translation: X:526.45, Y:-24.84, Z:1.93 [[ 9.99918661e-01 -1.16640844e-02 -5.15946817e-03 5.26447963e+02] [ 1.16660444e-02 9.99931888e-01 3.49961864e-04 -2.48435013e+01] [ 5.15503476e-03 -4.10123984e-04 9.99986629e-01 1.92796197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6807140569999 meters Centerline goodness [0,1] 0.9769574634775796 Centerline is valid? [True, True] Translation: X:526.48, Y:-24.84, Z:1.93 [[ 9.99932927e-01 -1.05285637e-02 -4.82596593e-03 5.26479131e+02] [ 1.05302679e-02 9.99944501e-01 3.27871206e-04 -2.48442258e+01] [ 4.82224608e-03 -3.78667929e-04 9.99988301e-01 1.92840282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7107140569999 meters Centerline goodness [0,1] 0.9777900654317574 Centerline is valid? [True, True] Translation: X:526.51, Y:-24.84, Z:1.93 [[ 9.99947092e-01 -9.31280870e-03 -4.36854523e-03 5.26510500e+02] [ 9.31419457e-03 9.99956578e-01 2.97000298e-04 -2.48428575e+01] [ 4.36558963e-03 -3.37674065e-04 9.99990414e-01 1.92924453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.740714057 meters Centerline goodness [0,1] 0.9782829448419109 Centerline is valid? [True, True] Translation: X:526.54, Y:-24.84, Z:1.93 [[ 9.99953298e-01 -8.53870770e-03 -4.52695114e-03 5.26542923e+02] [ 8.54019136e-03 9.99963484e-01 3.08509903e-04 -2.48440662e+01] [ 4.52415156e-03 -3.47156524e-04 9.99989706e-01 1.92877457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.770714057 meters Centerline goodness [0,1] 0.9775899396563638 Centerline is valid? [True, True] Translation: X:526.57, Y:-24.85, Z:1.93 [[ 9.99964300e-01 -6.90796433e-03 -4.86611566e-03 5.26572884e+02] [ 6.90965653e-03 9.99976073e-01 3.31024723e-04 -2.48497671e+01] [ 4.86371253e-03 -3.64636093e-04 9.99988106e-01 1.92736820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8007140569999 meters Centerline goodness [0,1] 0.9791370208859307 Centerline is valid? [True, True] Translation: X:526.60, Y:-24.85, Z:1.93 [[ 9.99973183e-01 -5.87898387e-03 -4.36699593e-03 5.26603995e+02] [ 5.88033860e-03 9.99982666e-01 2.97444762e-04 -2.48525813e+01] [ 4.36517156e-03 -3.23116200e-04 9.99990420e-01 1.92730938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8307140569999 meters Centerline goodness [0,1] 0.9781288809162412 Centerline is valid? [True, True] Translation: X:526.64, Y:-24.85, Z:1.93 [[ 9.99981104e-01 -5.14741555e-03 -3.36082900e-03 5.26635119e+02] [ 5.14821265e-03 9.99986722e-01 2.28565558e-04 -2.48535752e+01] [ 3.35960785e-03 -2.45863501e-04 9.99994326e-01 1.92847216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.860714057 meters Centerline goodness [0,1] 0.975068870523416 Centerline is valid? [True, True] Translation: X:526.67, Y:-24.86, Z:1.93 [[ 9.99986081e-01 -4.50701876e-03 -2.74310176e-03 5.26665376e+02] [ 4.50754880e-03 9.99989823e-01 1.87077548e-04 -2.48616689e+01] [ 2.74223068e-03 -1.99439609e-04 9.99996220e-01 1.92796776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.890714057 meters Centerline goodness [0,1] 0.9753887202134511 Centerline is valid? [True, True] Translation: X:526.70, Y:-24.86, Z:1.93 [[ 9.99989598e-01 -4.00895440e-03 -2.17557837e-03 5.26696396e+02] [ 4.00928567e-03 9.99991952e-01 1.47926339e-04 -2.48630213e+01] [ 2.17496783e-03 -1.56647315e-04 9.99997622e-01 1.92825710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9207140569999 meters Centerline goodness [0,1] 0.9792126563649742 Centerline is valid? [True, True] Translation: X:526.73, Y:-24.86, Z:1.93 [[ 9.99995965e-01 -2.41070321e-03 -1.50276354e-03 5.26727943e+02] [ 2.41085993e-03 9.99997089e-01 1.02485972e-04 -2.48559076e+01] [ 1.50251211e-03 -1.06108511e-04 9.99998866e-01 1.93003276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9507140569999 meters Centerline goodness [0,1] 0.9743278245123432 Centerline is valid? [True, True] Translation: X:526.76, Y:-24.87, Z:1.93 [[ 9.99998376e-01 -1.58110951e-03 -8.65394118e-04 5.26756754e+02] [ 1.58116107e-03 9.99998748e-01 5.88997403e-05 -2.48720352e+01] [ 8.65299908e-04 -6.02679721e-05 9.99999624e-01 1.92728388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.980714057 meters Centerline goodness [0,1] 0.9787248739379706 Centerline is valid? [True, True] Translation: X:526.79, Y:-24.86, Z:1.93 [[ 9.99997862e-01 -1.68189101e-03 -1.20336801e-03 5.26788093e+02] [ 1.68199078e-03 9.99998582e-01 8.19026401e-05 -2.48611631e+01] [ 1.20322855e-03 -8.39265189e-05 9.99999273e-01 1.92912826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.010714057 meters Centerline goodness [0,1] 0.9751933359340936 Centerline is valid? [True, True] Translation: X:526.82, Y:-24.88, Z:1.93 [[ 9.99998664e-01 -1.13388384e-03 -1.17727544e-03 5.26817338e+02] [ 1.13397922e-03 9.99999354e-01 8.03521750e-05 -2.48768082e+01] [ 1.17718357e-03 -8.16870735e-05 9.99999304e-01 1.92675146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.040714057 meters Centerline goodness [0,1] 0.9785401795993552 Centerline is valid? [True, True] Translation: X:526.85, Y:-24.87, Z:1.93 [[ 9.99997859e-01 -7.29535629e-04 -1.93651044e-03 5.26848126e+02] [ 7.29792293e-04 9.99999725e-01 1.31836098e-04 -2.48705847e+01] [ 1.93641373e-03 -1.33249066e-04 9.99998116e-01 1.92857242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0707140569999 meters Centerline goodness [0,1] 0.9805390253429221 Centerline is valid? [True, True] Translation: X:526.88, Y:-24.87, Z:1.93 [[ 9.99996092e-01 8.35773839e-05 -2.79453570e-03 5.26878354e+02] [-8.30460469e-05 9.99999978e-01 1.90249778e-04 -2.48722719e+01] [ 2.79455154e-03 -1.90016960e-04 9.99996077e-01 1.92849437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1007140569999 meters Centerline goodness [0,1] 0.9805390253429221 Centerline is valid? [True, True] Translation: X:526.91, Y:-24.87, Z:1.93 [[ 9.99996094e-01 4.84162120e-05 -2.79456949e-03 5.26907508e+02] [-4.78861193e-05 9.99999981e-01 1.89753331e-04 -2.48742259e+01] [ 2.79457863e-03 -1.89618769e-04 9.99996077e-01 1.92816270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.130714057 meters Centerline goodness [0,1] 0.9803244735933725 Centerline is valid? [True, True] Translation: X:526.94, Y:-24.88, Z:1.93 [[ 9.99994290e-01 7.57011871e-04 -3.29348192e-03 5.26937510e+02] [-7.56279589e-04 9.99999689e-01 2.23582345e-04 -2.48757675e+01] [ 3.29365015e-03 -2.21090276e-04 9.99994551e-01 1.92758250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.160714057 meters Centerline goodness [0,1] 0.9800435330507504 Centerline is valid? [True, True] Translation: X:526.97, Y:-24.88, Z:1.93 [[ 9.99987511e-01 3.24131085e-03 -3.80407331e-03 5.26966085e+02] [-3.24035206e-03 9.99994717e-01 2.58176806e-04 -2.48802830e+01] [ 3.80489004e-03 -2.45847045e-04 9.99992731e-01 1.92628744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1907140569999 meters Centerline goodness [0,1] 0.9806413138217349 Centerline is valid? [True, True] Translation: X:527.00, Y:-24.88, Z:1.93 [[ 9.99980745e-01 4.98119802e-03 -3.70091992e-03 5.26995476e+02] [-4.98030290e-03 9.99987567e-01 2.51041733e-04 -2.48816755e+01] [ 3.70212439e-03 -2.32605197e-04 9.99993120e-01 1.92630885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2207140569999 meters Centerline goodness [0,1] 0.9811442682729812 Centerline is valid? [True, True] Translation: X:527.03, Y:-24.88, Z:1.93 [[ 9.99949831e-01 9.43654545e-03 -3.35971737e-03 5.27026169e+02] [-9.43583178e-03 9.99955456e-01 2.28205469e-04 -2.48817451e+01] [ 3.36172119e-03 -1.96492292e-04 9.99994330e-01 1.92741193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.250714057 meters Centerline goodness [0,1] 0.9815623706837096 Centerline is valid? [True, True] Translation: X:527.06, Y:-24.88, Z:1.93 [[ 9.99919845e-01 1.23511047e-02 -2.78455730e-03 5.27056660e+02] [-1.23506263e-02 9.99923710e-01 1.88921448e-04 -2.48802822e+01] [ 2.78667826e-03 -1.54515279e-04 9.99996105e-01 1.92815195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.280714057 meters Centerline goodness [0,1] 0.9804721521888609 Centerline is valid? [True, True] Translation: X:527.09, Y:-24.89, Z:1.93 [[ 9.99821373e-01 1.88628899e-02 -1.18927999e-03 5.27085450e+02] [-1.88628076e-02 9.99822078e-01 8.04313383e-05 -2.48861049e+01] [ 1.19058556e-03 -5.79838114e-05 9.99999290e-01 1.92710291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3107140569999 meters Centerline goodness [0,1] 0.9816061938794209 Centerline is valid? [True, True] Translation: X:527.12, Y:-24.88, Z:1.93 [[ 9.99766960e-01 2.15867350e-02 -1.94788139e-04 5.27115507e+02] [-2.15867329e-02 9.99766979e-01 1.28270805e-05 -2.48837549e+01] [ 1.95019645e-04 -8.61925178e-06 9.99999981e-01 1.92814776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3407140569999 meters Centerline goodness [0,1] 0.9826289684807205 Centerline is valid? [True, True] Translation: X:527.15, Y:-24.88, Z:1.93 [[ 9.99649679e-01 2.64607734e-02 5.88213742e-04 5.27145398e+02] [-2.64607544e-02 9.99649852e-01 -4.00330543e-05 -2.48841095e+01] [-5.89067086e-04 2.44544505e-05 9.99999826e-01 1.92925162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.370714057 meters Centerline goodness [0,1] 0.9818115429379949 Centerline is valid? [True, True] Translation: X:527.17, Y:-24.89, Z:1.93 [[ 9.99594858e-01 2.84438229e-02 1.03370951e-03 5.27173470e+02] [-2.84437649e-02 9.99595392e-01 -7.08335915e-05 -2.48863902e+01] [-1.03530604e-03 4.14023037e-05 9.99999463e-01 1.92943974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.400714057 meters Centerline goodness [0,1] 0.9820492960954941 Centerline is valid? [True, True] Translation: X:527.20, Y:-24.89, Z:1.93 [[ 9.99494036e-01 3.17965881e-02 8.05314810e-04 5.27201737e+02] [-3.17965540e-02 9.99494360e-01 -5.51135757e-05 -2.48898167e+01] [-8.06660034e-04 2.94794544e-05 9.99999674e-01 1.92881930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4307140569999 meters Centerline goodness [0,1] 0.9830512330512331 Centerline is valid? [True, True] Translation: X:527.23, Y:-24.89, Z:1.93 [[ 9.99454686e-01 3.30126800e-02 7.02912181e-04 5.27230535e+02] [-3.30126541e-02 9.99454933e-01 -4.83564664e-05 -2.48889467e+01] [-7.04125423e-04 2.51251002e-05 9.99999752e-01 1.92962003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4607140569999 meters Centerline goodness [0,1] 0.9831629859463406 Centerline is valid? [True, True] Translation: X:527.26, Y:-24.89, Z:1.93 [[ 9.99384470e-01 3.50803126e-02 2.27879344e-04 5.27259095e+02] [-3.50803098e-02 9.99384496e-01 -1.62012684e-05 -2.48937257e+01] [-2.28307429e-04 8.19721809e-06 9.99999974e-01 1.92959280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.490714057 meters Centerline goodness [0,1] 0.9829549312990923 Centerline is valid? [True, True] Translation: X:527.29, Y:-24.90, Z:1.93 [[ 9.99358980e-01 3.57977884e-02 3.84415348e-04 5.27287482e+02] [-3.57977808e-02 9.99359054e-01 -2.67496954e-05 -2.48976770e+01] [-3.85126539e-04 1.29713319e-05 9.99999926e-01 1.92905908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.520714057 meters Centerline goodness [0,1] 0.9839863713798978 Centerline is valid? [True, True] Translation: X:527.32, Y:-24.90, Z:1.93 [[ 9.99317955e-01 3.69171095e-02 -8.67107978e-04 5.27316404e+02] [-3.69170734e-02 9.99318331e-01 5.76601699e-05 -2.49022625e+01] [ 8.68645544e-04 -2.56097542e-05 9.99999622e-01 1.92905975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5507140569999 meters Centerline goodness [0,1] 0.9841136744776322 Centerline is valid? [True, True] Translation: X:527.34, Y:-24.91, Z:1.93 [[ 9.99310464e-01 3.70937451e-02 -1.62836880e-03 5.27342914e+02] [-3.70936180e-02 9.99311789e-01 1.08193881e-04 -2.49076960e+01] [ 1.63126146e-03 -4.77171875e-05 9.99998668e-01 1.92749270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5807140569999 meters Centerline goodness [0,1] 0.9838516069123275 Centerline is valid? [True, True] Translation: X:527.37, Y:-24.92, Z:1.93 [[ 9.99317691e-01 3.68372405e-02 -2.67762181e-03 5.27370931e+02] [-3.68368923e-02 9.99321275e-01 1.79260965e-04 -2.49155061e+01] [ 2.68240793e-03 -8.05033874e-05 9.99996399e-01 1.92596272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.610714057 meters Centerline goodness [0,1] 0.9847901860486171 Centerline is valid? [True, True] Translation: X:527.40, Y:-24.92, Z:1.93 [[ 9.99326837e-01 3.65873198e-02 -2.69072080e-03 5.27399275e+02] [-3.65869678e-02 9.99330457e-01 1.79941528e-04 -2.49196731e+01] [ 2.69550283e-03 -8.13750821e-05 9.99996364e-01 1.92567304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.640714057 meters Centerline goodness [0,1] 0.9846081144940255 Centerline is valid? [True, True] Translation: X:527.43, Y:-24.93, Z:1.93 [[ 9.99347246e-01 3.60779565e-02 -1.86070324e-03 5.27426163e+02] [-3.60777893e-02 9.99348977e-01 1.23362352e-04 -2.49278019e+01] [ 1.86394254e-03 -5.61517670e-05 9.99998261e-01 1.92559664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6707140569999 meters Centerline goodness [0,1] 0.9845863902537524 Centerline is valid? [True, True] Translation: X:527.45, Y:-24.93, Z:1.93 [[ 9.99399436e-01 3.46039192e-02 -1.82676800e-03 5.27454051e+02] [-3.46037562e-02 9.99401103e-01 1.20737258e-04 -2.49343110e+01] [ 1.82985194e-03 -5.74517133e-05 9.99998324e-01 1.92655518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7007140569999 meters Centerline goodness [0,1] 0.9843014128728415 Centerline is valid? [True, True] Translation: X:527.48, Y:-24.94, Z:1.93 [[ 9.99458078e-01 3.29001631e-02 -1.06273172e-03 5.27482300e+02] [-3.29001070e-02 9.99458642e-01 7.02368239e-05 -2.49401114e+01] [ 1.06446720e-03 -3.52347737e-05 9.99999433e-01 1.92614284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.730714057 meters Centerline goodness [0,1] 0.9844355362461649 Centerline is valid? [True, True] Translation: X:527.51, Y:-24.95, Z:1.93 [[ 9.99515530e-01 3.11227743e-02 -2.78292023e-04 5.27510813e+02] [-3.11227705e-02 9.99515569e-01 1.77766344e-05 -2.49458879e+01] [ 2.78710468e-04 -9.10680336e-06 9.99999961e-01 1.92600219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.760714057 meters Centerline goodness [0,1] 0.9842924908260986 Centerline is valid? [True, True] Translation: X:527.54, Y:-24.96, Z:1.93 [[ 9.99676221e-01 2.54224670e-02 1.07282487e-03 5.27540118e+02] [-2.54224045e-02 9.99676796e-01 -7.18205883e-05 -2.49574104e+01] [-1.07430399e-03 4.45235464e-05 9.99999422e-01 1.92559758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.790714057 meters Centerline goodness [0,1] 0.9843055834617016 Centerline is valid? [True, True] Translation: X:527.57, Y:-24.96, Z:1.92 [[ 9.99762570e-01 2.17714347e-02 8.99557038e-04 5.27569129e+02] [-2.17713890e-02 9.99762973e-01 -6.06051527e-05 -2.49643762e+01] [-9.00663281e-04 4.10061570e-05 9.99999594e-01 1.92433051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8207140569999 meters Centerline goodness [0,1] 0.9839166610899195 Centerline is valid? [True, True] Translation: X:527.60, Y:-24.98, Z:1.92 [[ 9.99906671e-01 1.36458130e-02 -6.64281058e-04 5.27597946e+02] [-1.36457866e-02 9.99906891e-01 4.41584007e-05 -2.49766443e+01] [ 6.64821784e-04 -3.50896418e-05 9.99999778e-01 1.92243249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8507140569999 meters Centerline goodness [0,1] 0.9833586151512448 Centerline is valid? [True, True] Translation: X:527.63, Y:-24.98, Z:1.92 [[ 9.99954481e-01 9.35846249e-03 -1.85875144e-03 5.27627445e+02] [-9.35824836e-03 9.99956203e-01 1.23863271e-04 -2.49829935e+01] [ 1.85982920e-03 -1.06462975e-04 9.99998265e-01 1.92074892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.880714057 meters Centerline goodness [0,1] 0.9834797109505281 Centerline is valid? [True, True] Translation: X:527.66, Y:-25.00, Z:1.92 [[ 9.99994991e-01 1.18016509e-03 -2.93672420e-03 5.27655520e+02] [-1.17959602e-03 9.99999285e-01 1.95500437e-04 -2.49957505e+01] [ 2.93695282e-03 -1.92035309e-04 9.99995669e-01 1.91888939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.910714057 meters Centerline goodness [0,1] 0.9823359929078014 Centerline is valid? [True, True] Translation: X:527.68, Y:-25.01, Z:1.92 [[ 9.99993418e-01 -2.04536520e-03 -2.99685352e-03 5.27684095e+02] [ 2.04597156e-03 9.99997887e-01 1.99279132e-04 -2.50050086e+01] [ 2.99643959e-03 -2.05409298e-04 9.99995490e-01 1.91768190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9407140569999 meters Centerline goodness [0,1] 0.9815339024282366 Centerline is valid? [True, True] Translation: X:527.71, Y:-25.01, Z:1.92 [[ 9.99973013e-01 -7.03306485e-03 -2.12359100e-03 5.27714563e+02] [ 7.03338112e-03 9.99975255e-01 1.41501248e-04 -2.50099582e+01] [ 2.12254327e-03 -1.56433454e-04 9.99997735e-01 1.91923051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9707140569999 meters Centerline goodness [0,1] 0.9806948954122766 Centerline is valid? [True, True] Translation: X:527.74, Y:-25.01, Z:1.92 [[ 9.99961152e-01 -8.69306124e-03 -1.45753897e-03 5.27744652e+02] [ 8.69321229e-03 9.99962209e-01 9.73300489e-05 -2.50147086e+01] [ 1.45663779e-03 -1.09996964e-04 9.99998933e-01 1.91922711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.000714057 meters Centerline goodness [0,1] 0.9799151531221 Centerline is valid? [True, True] Translation: X:527.77, Y:-25.02, Z:1.92 [[ 9.99942728e-01 -1.06766153e-02 -7.41581560e-04 5.27774540e+02] [ 1.06766550e-02 9.99943002e-01 4.96258061e-05 -2.50206724e+01] [ 7.41009455e-04 -5.75405744e-05 9.99999724e-01 1.91998216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.030714057 meters Centerline goodness [0,1] 0.9818234084426066 Centerline is valid? [True, True] Translation: X:527.81, Y:-25.01, Z:1.92 [[ 9.99939880e-01 -1.09502144e-02 -5.74111032e-04 5.27807240e+02] [ 1.09502387e-02 9.99940044e-01 3.91245102e-05 -2.50145601e+01] [ 5.73648189e-04 -4.54088109e-05 9.99999834e-01 1.92084786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0607140569999 meters Centerline goodness [0,1] 0.9793369313801079 Centerline is valid? [True, True] Translation: X:527.84, Y:-25.03, Z:1.92 [[ 9.99942396e-01 -1.07330369e-02 -8.14868337e-05 5.27837924e+02] [ 1.07330375e-02 9.99942399e-01 6.77214728e-06 -2.50273427e+01] [ 8.14094543e-05 -7.64635842e-06 9.99999997e-01 1.91947733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0907140569999 meters Centerline goodness [0,1] 0.9823239576658787 Centerline is valid? [True, True] Translation: X:527.87, Y:-25.02, Z:1.92 [[ 9.99942255e-01 -1.07258611e-02 6.65362086e-04 5.27870385e+02] [ 1.07258926e-02 9.99942475e-01 -4.37080798e-05 -2.50178331e+01] [-6.64855005e-04 5.08421582e-05 9.99999778e-01 1.92163383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.120714057 meters Centerline goodness [0,1] 0.9825320760550317 Centerline is valid? [True, True] Translation: X:527.90, Y:-25.02, Z:1.92 [[ 9.99941853e-01 -1.06273770e-02 1.83004561e-03 5.27901836e+02] [ 1.06276179e-02 9.99943518e-01 -1.21959743e-04 -2.50221541e+01] [-1.82864613e-03 1.41401677e-04 9.99998318e-01 1.92281459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.150714057 meters Centerline goodness [0,1] 0.981862712649765 Centerline is valid? [True, True] Translation: X:527.93, Y:-25.02, Z:1.92 [[ 9.99941289e-01 -1.05891954e-02 2.29932609e-03 5.27934145e+02] [ 1.05895759e-02 9.99943917e-01 -1.53354389e-04 -2.50231206e+01] [-2.29757323e-03 1.77694274e-04 9.99997345e-01 1.92270998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1807140569999 meters Centerline goodness [0,1] 0.981777620709458 Centerline is valid? [True, True] Translation: X:527.97, Y:-25.03, Z:1.92 [[ 9.99942616e-01 -1.06326592e-02 1.30795816e-03 5.27965312e+02] [ 1.06327822e-02 9.99943467e-01 -8.71619437e-05 -2.50266776e+01] [-1.30695745e-03 1.01064176e-04 9.99999141e-01 1.92142674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2107140569999 meters Centerline goodness [0,1] 0.9808049535603716 Centerline is valid? [True, True] Translation: X:528.00, Y:-25.03, Z:1.92 [[ 9.99944826e-01 -1.04759532e-02 7.74818206e-04 5.27997745e+02] [ 1.04759960e-02 9.99945124e-01 -5.12459934e-05 -2.50294951e+01] [-7.74238836e-04 5.93601583e-05 9.99999699e-01 1.91979201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.240714057 meters Centerline goodness [0,1] 0.9815658016886963 Centerline is valid? [True, True] Translation: X:528.03, Y:-25.03, Z:1.92 [[ 9.99949947e-01 -9.95791500e-03 -9.70910114e-04 5.28028584e+02] [ 9.95798361e-03 9.99950416e-01 6.58649422e-05 -2.50325546e+01] [ 9.70206095e-04 -7.55299525e-05 9.99999526e-01 1.91691955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.270714057 meters Centerline goodness [0,1] 0.9821377124747911 Centerline is valid? [True, True] Translation: X:528.06, Y:-25.03, Z:1.92 [[ 9.99954029e-01 -9.36659804e-03 -2.05115607e-03 5.28061438e+02] [ 9.36690248e-03 9.99956120e-01 1.38868436e-04 -2.50275577e+01] [ 2.04976534e-03 -1.58075031e-04 9.99997887e-01 1.91654022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3007140569999 meters Centerline goodness [0,1] 0.9825298540468819 Centerline is valid? [True, True] Translation: X:528.09, Y:-25.03, Z:1.92 [[ 9.99969547e-01 -6.92322215e-03 -3.60190338e-03 5.28091730e+02] [ 6.92414091e-03 9.99975998e-01 2.42669344e-04 -2.50292423e+01] [ 3.60013688e-03 -2.67602041e-04 9.99993484e-01 1.91556396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3307140569999 meters Centerline goodness [0,1] 0.982398971426038 Centerline is valid? [True, True] Translation: X:528.12, Y:-25.03, Z:1.92 [[ 9.99983726e-01 -4.42014571e-03 -3.60688170e-03 5.28122631e+02] [ 4.42105104e-03 9.99990198e-01 2.43066563e-04 -2.50279037e+01] [ 3.60577195e-03 -2.59008816e-04 9.99993466e-01 1.91593410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.360714057 meters Centerline goodness [0,1] 0.9829504985754985 Centerline is valid? [True, True] Translation: X:528.15, Y:-25.02, Z:1.92 [[ 9.99992692e-01 1.51392060e-03 -3.51043310e-03 5.28152969e+02] [-1.51309998e-03 9.99998827e-01 2.36409962e-04 -2.50237114e+01] [ 3.51078689e-03 -2.31096598e-04 9.99993810e-01 1.91708402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.390714057 meters Centerline goodness [0,1] 0.9835977773314588 Centerline is valid? [True, True] Translation: X:528.18, Y:-25.02, Z:1.92 [[ 9.99984363e-01 5.04554139e-03 -2.41162572e-03 5.28183695e+02] [-5.04516477e-03 9.99987260e-01 1.62228785e-04 -2.50203798e+01] [ 2.41241353e-03 -1.50059199e-04 9.99997079e-01 1.91811976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4207140569999 meters Centerline goodness [0,1] 0.9823358642251004 Centerline is valid? [True, True] Translation: X:528.21, Y:-25.01, Z:1.92 [[ 9.99929146e-01 1.18617255e-02 -1.00102430e-03 5.28214085e+02] [-1.18616644e-02 9.99929646e-01 6.70231256e-05 -2.50144856e+01] [ 1.00174888e-03 -5.51445626e-05 9.99999497e-01 1.91952670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4507140569999 meters Centerline goodness [0,1] 0.9828351055529548 Centerline is valid? [True, True] Translation: X:528.24, Y:-25.01, Z:1.92 [[ 9.99866224e-01 1.63512242e-02 4.15370936e-04 5.28244999e+02] [-1.63512140e-02 9.99866310e-01 -2.79890072e-05 -2.50118950e+01] [-4.15773059e-04 2.11934439e-05 9.99999913e-01 1.91986562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.480714057 meters Centerline goodness [0,1] 0.9823313651816067 Centerline is valid? [True, True] Translation: X:528.27, Y:-25.01, Z:1.92 [[ 9.99858618e-01 1.67959558e-02 7.99961153e-04 5.28273230e+02] [-1.67959175e-02 9.99858937e-01 -5.45702671e-05 -2.50135907e+01] [-8.00764868e-04 4.11264703e-05 9.99999679e-01 1.91946635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.510714057 meters Centerline goodness [0,1] 0.9827064322279101 Centerline is valid? [True, True] Translation: X:528.30, Y:-25.02, Z:1.92 [[ 9.99883865e-01 1.52326266e-02 4.72957388e-04 5.28301514e+02] [-1.52326128e-02 9.99883976e-01 -3.27290515e-05 -2.50154010e+01] [-4.73401063e-04 2.55208738e-05 9.99999888e-01 1.91905415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.540714057 meters Centerline goodness [0,1] 0.9830917874396136 Centerline is valid? [True, True] Translation: X:528.33, Y:-25.01, Z:1.92 [[ 9.99906569e-01 1.36581873e-02 5.55011564e-04 5.28329878e+02] [-1.36581682e-02 9.99906722e-01 -3.82210635e-05 -2.50149325e+01] [-5.55481824e-04 3.06370512e-05 9.99999845e-01 1.91955691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5707140569999 meters Centerline goodness [0,1] 0.9837928340216542 Centerline is valid? [True, True] Translation: X:528.36, Y:-25.02, Z:1.92 [[ 9.99928963e-01 1.18956676e-02 7.49829826e-04 5.28359615e+02] [-1.18956329e-02 9.99929243e-01 -5.06484202e-05 -2.50184194e+01] [-7.50379267e-04 4.17251219e-05 9.99999718e-01 1.91935930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6007140569999 meters Centerline goodness [0,1] 0.9828481862964622 Centerline is valid? [True, True] Translation: X:528.39, Y:-25.02, Z:1.92 [[ 9.99970184e-01 7.72205253e-03 -2.13609170e-05 5.28389281e+02] [-7.72205251e-03 9.99970185e-01 1.25222230e-06 -2.50205507e+01] [ 2.13699498e-05 -1.08723485e-06 1.00000000e+00 1.91973031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.630714057 meters Centerline goodness [0,1] 0.9822889810559354 Centerline is valid? [True, True] Translation: X:528.42, Y:-25.03, Z:1.92 [[ 9.99989358e-01 4.38974535e-03 -1.41942557e-03 5.28418326e+02] [-4.38961510e-03 9.99990361e-01 9.48635682e-05 -2.50280343e+01] [ 1.41982831e-03 -8.86318268e-05 9.99998988e-01 1.91775054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.660714057 meters Centerline goodness [0,1] 0.9812664671995713 Centerline is valid? [True, True] Translation: X:528.45, Y:-25.03, Z:1.92 [[ 9.99992063e-01 3.33964904e-03 -2.17289049e-03 5.28446489e+02] [-3.33934220e-03 9.99994414e-01 1.44828575e-04 -2.50325134e+01] [ 2.17336203e-03 -1.37571401e-04 9.99997629e-01 1.91623022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6907140569999 meters Centerline goodness [0,1] 0.9815379100197168 Centerline is valid? [True, True] Translation: X:528.48, Y:-25.03, Z:1.92 [[ 9.99992612e-01 1.86541863e-03 -3.36108048e-03 5.28475854e+02] [-1.86467572e-03 9.99998236e-01 2.24152878e-04 -2.50302288e+01] [ 3.36149269e-03 -2.17883896e-04 9.99994326e-01 1.91513851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7207140569999 meters Centerline goodness [0,1] 0.9827284946236559 Centerline is valid? [True, True] Translation: X:528.50, Y:-25.03, Z:1.91 [[ 9.99989505e-01 1.53735473e-03 -4.31587055e-03 5.28504727e+02] [-1.53612829e-03 9.99998779e-01 2.87469529e-04 -2.50291903e+01] [ 4.31630722e-03 -2.80836781e-04 9.99990645e-01 1.91484485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.750714057 meters Centerline goodness [0,1] 0.9814371123401778 Centerline is valid? [True, True] Translation: X:528.53, Y:-25.04, Z:1.91 [[ 9.99984743e-01 2.68607438e-03 -4.82694934e-03 5.28531919e+02] [-2.68455617e-03 9.99996345e-01 3.20978956e-04 -2.50372863e+01] [ 4.82779387e-03 -3.08015842e-04 9.99988299e-01 1.91118108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.780714057 meters Centerline goodness [0,1] 0.9828951183069067 Centerline is valid? [True, True] Translation: X:528.56, Y:-25.04, Z:1.91 [[ 9.99978297e-01 4.22867653e-03 -5.05209310e-03 5.28560761e+02] [-4.22703318e-03 9.99991010e-01 3.35915865e-04 -2.50375015e+01] [ 5.05346816e-03 -3.14553210e-04 9.99987182e-01 1.91069585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8107140569999 meters Centerline goodness [0,1] 0.982829347022035 Centerline is valid? [True, True] Translation: X:528.59, Y:-25.03, Z:1.91 [[ 9.99960262e-01 7.24770755e-03 -5.19085623e-03 5.28591561e+02] [-7.24601067e-03 9.99973688e-01 3.45631053e-04 -2.50275376e+01] [ 5.19322468e-03 -3.08004319e-04 9.99986468e-01 1.91345177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8407140569999 meters Centerline goodness [0,1] 0.9832797716700002 Centerline is valid? [True, True] Translation: X:528.62, Y:-25.02, Z:1.91 [[ 9.99951964e-01 8.62888196e-03 -4.64881035e-03 5.28620323e+02] [-8.62754036e-03 9.99962734e-01 3.08566652e-04 -2.50247285e+01] [ 4.65129970e-03 -2.68444031e-04 9.99989147e-01 1.91393650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.870714057 meters Centerline goodness [0,1] 0.9823509599191647 Centerline is valid? [True, True] Translation: X:528.65, Y:-25.03, Z:1.91 [[ 9.99932999e-01 1.09864726e-02 -3.64634120e-03 5.28649393e+02] [-1.09856625e-02 9.99939626e-01 2.42132601e-04 -2.50253263e+01] [ 3.64878124e-03 -2.02058904e-04 9.99993323e-01 1.91388917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.900714057 meters Centerline goodness [0,1] 0.9833626007474447 Centerline is valid? [True, True] Translation: X:528.68, Y:-25.02, Z:1.91 [[ 9.99930967e-01 1.13957605e-02 -2.86325624e-03 5.28678730e+02] [-1.13952647e-02 9.99935054e-01 1.89422400e-04 -2.50241060e+01] [ 2.86522890e-03 -1.56781760e-04 9.99995883e-01 1.91434812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9307140569999 meters Centerline goodness [0,1] 0.9821480699705836 Centerline is valid? [True, True] Translation: X:528.71, Y:-25.03, Z:1.91 [[ 9.99915586e-01 1.28568361e-02 -1.87676960e-03 5.28705773e+02] [-1.28566271e-02 9.99917343e-01 1.23388807e-04 -2.50318905e+01] [ 1.87820086e-03 -9.92494644e-05 9.99998231e-01 1.91307786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9607140569999 meters Centerline goodness [0,1] 0.9824818175677197 Centerline is valid? [True, True] Translation: X:528.74, Y:-25.03, Z:1.91 [[ 9.99911532e-01 1.29660383e-02 -2.96823091e-03 5.28735143e+02] [-1.29655136e-02 9.99915925e-01 1.95938908e-04 -2.50294664e+01] [ 2.97052191e-03 -1.57436935e-04 9.99995576e-01 1.91306428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.990714057 meters Centerline goodness [0,1] 0.9829188364158736 Centerline is valid? [True, True] Translation: X:528.76, Y:-25.03, Z:1.91 [[ 9.99904867e-01 1.27748182e-02 -5.20197305e-03 5.28763666e+02] [-1.27732047e-02 9.99918360e-01 3.43291947e-04 -2.50269100e+01] [ 5.20593386e-03 -2.76813422e-04 9.99986411e-01 1.91266653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.020714057 meters Centerline goodness [0,1] 0.9829188364158736 Centerline is valid? [True, True] Translation: X:528.79, Y:-25.03, Z:1.91 [[ 9.99906217e-01 1.26686983e-02 -5.20202276e-03 5.28791109e+02] [-1.26670872e-02 9.99919711e-01 3.42539491e-04 -2.50286362e+01] [ 5.20594462e-03 -2.76612891e-04 9.99986411e-01 1.91235405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0507140569999 meters Centerline goodness [0,1] 0.984223382560563 Centerline is valid? [True, True] Translation: X:528.82, Y:-25.03, Z:1.91 [[ 9.99917735e-01 1.18314242e-02 -4.95375384e-03 5.28818405e+02] [-1.18299544e-02 9.99929971e-01 3.25906163e-04 -2.50317248e+01] [ 4.95726286e-03 -2.67276670e-04 9.99987677e-01 1.91144880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0807140569999 meters Centerline goodness [0,1] 0.983588843114743 Centerline is valid? [True, True] Translation: X:528.85, Y:-25.04, Z:1.91 [[ 9.99945378e-01 8.82573836e-03 -5.59895073e-03 5.28847183e+02] [-8.82381073e-03 9.99961001e-01 3.68893492e-04 -2.50370663e+01] [ 5.60198813e-03 -3.19469260e-04 9.99984258e-01 1.91052534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.110714057 meters Centerline goodness [0,1] 0.9833591940452899 Centerline is valid? [True, True] Translation: X:528.88, Y:-25.04, Z:1.91 [[ 9.99959441e-01 7.21229773e-03 -5.39442230e-03 5.28877112e+02] [-7.21048611e-03 9.99973941e-01 3.55206679e-04 -2.50382080e+01] [ 5.39684359e-03 -3.16295865e-04 9.99985387e-01 1.91083250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.140714057 meters Centerline goodness [0,1] 0.9824240783358151 Centerline is valid? [True, True] Translation: X:528.91, Y:-25.04, Z:1.91 [[ 9.99976450e-01 4.19832685e-03 -5.42899082e-03 5.28905594e+02] [-4.19644630e-03 9.99991131e-01 3.57734923e-04 -2.50434122e+01] [ 5.43044455e-03 -3.34944030e-04 9.99985199e-01 1.91043397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1707140569999 meters Centerline goodness [0,1] 0.9811938958707361 Centerline is valid? [True, True] Translation: X:528.93, Y:-25.05, Z:1.91 [[ 9.99980972e-01 2.57005536e-03 -5.60808910e-03 5.28933886e+02] [-2.56802751e-03 9.99996635e-01 3.68765496e-04 -2.50483303e+01] [ 5.60901797e-03 -3.54356752e-04 9.99984207e-01 1.90902178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2007140569999 meters Centerline goodness [0,1] 0.9809967165924527 Centerline is valid? [True, True] Translation: X:528.96, Y:-25.05, Z:1.91 [[ 9.99984635e-01 -2.67602435e-04 -5.53692832e-03 5.28963659e+02] [ 2.69624085e-04 9.99999897e-01 3.64378006e-04 -2.50496736e+01] [ 5.53683024e-03 -3.65865297e-04 9.99984605e-01 1.90935656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.230714057 meters Centerline goodness [0,1] 0.9817562691683204 Centerline is valid? [True, True] Translation: X:528.99, Y:-25.05, Z:1.91 [[ 9.99983600e-01 -1.59515540e-03 -5.50043632e-03 5.28993233e+02] [ 1.59716662e-03 9.99998659e-01 3.61273951e-04 -2.50466765e+01] [ 5.49985266e-03 -3.70053139e-04 9.99984807e-01 1.91091832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.260714057 meters Centerline goodness [0,1] 0.9802499718500169 Centerline is valid? [True, True] Translation: X:529.02, Y:-25.05, Z:1.91 [[ 9.99985360e-01 -3.70746534e-03 -3.94144173e-03 5.29022023e+02] [ 3.70851395e-03 9.99993090e-01 2.58772442e-04 -2.50494743e+01] [ 3.94045511e-03 -2.73385546e-04 9.99992199e-01 1.91215301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.290714057 meters Centerline goodness [0,1] 0.9802406272530642 Centerline is valid? [True, True] Translation: X:529.05, Y:-25.05, Z:1.91 [[ 9.99977654e-01 -6.21315889e-03 -2.46746965e-03 5.29052457e+02] [ 6.21357806e-03 9.99980682e-01 1.62248960e-04 -2.50512688e+01] [ 2.46641390e-03 -1.77577150e-04 9.99996943e-01 1.91356622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3207140569999 meters Centerline goodness [0,1] 0.9800363383504184 Centerline is valid? [True, True] Translation: X:529.08, Y:-25.05, Z:1.91 [[ 9.99969421e-01 -7.53243499e-03 -2.10210682e-03 5.29084151e+02] [ 7.53274311e-03 9.99971619e-01 1.38698540e-04 -2.50514503e+01] [ 2.10100242e-03 -1.54528929e-04 9.99997781e-01 1.91409454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3507140569999 meters Centerline goodness [0,1] 0.9787657447818909 Centerline is valid? [True, True] Translation: X:529.12, Y:-25.05, Z:1.91 [[ 9.99951491e-01 -9.48496620e-03 -2.65552966e-03 5.29115038e+02] [ 9.48546502e-03 9.99954997e-01 1.75309464e-04 -2.50538451e+01] [ 2.65374734e-03 -2.00489893e-04 9.99996459e-01 1.91371472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.380714057 meters Centerline goodness [0,1] 0.9788932485455284 Centerline is valid? [True, True] Translation: X:529.15, Y:-25.05, Z:1.91 [[ 9.99914940e-01 -1.27682458e-02 -2.66180942e-03 5.29145682e+02] [ 1.27687574e-02 9.99918461e-01 1.75291125e-04 -2.50540037e+01] [ 2.65935422e-03 -2.09264213e-04 9.99996442e-01 1.91265986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.410714057 meters Centerline goodness [0,1] 0.9769279109435317 Centerline is valid? [True, True] Translation: X:529.18, Y:-25.06, Z:1.91 [[ 9.99900293e-01 -1.37605917e-02 -3.17016297e-03 5.29175815e+02] [ 1.37613237e-02 9.99905287e-01 2.09231729e-04 -2.50633591e+01] [ 3.16698356e-03 -2.52836506e-04 9.99994953e-01 1.90984487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4407140569999 meters Centerline goodness [0,1] 0.97845756139595 Centerline is valid? [True, True] Translation: X:529.21, Y:-25.06, Z:1.91 [[ 9.99869061e-01 -1.50492171e-02 -5.94832144e-03 5.29207048e+02] [ 1.50518146e-02 9.99886638e-01 3.92137249e-04 -2.50581004e+01] [ 5.94174576e-03 -4.81618934e-04 9.99982232e-01 1.90817752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4707140569999 meters Centerline goodness [0,1] 0.9788439227461954 Centerline is valid? [True, True] Translation: X:529.24, Y:-25.05, Z:1.91 [[ 9.99851036e-01 -1.46980679e-02 -9.04835779e-03 5.29240008e+02] [ 1.47040744e-02 9.99891711e-01 5.97648985e-04 -2.50538735e+01] [ 9.03859367e-03 -7.30607683e-04 9.99958884e-01 1.90689534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.500714057 meters Centerline goodness [0,1] 0.9787001389616603 Centerline is valid? [True, True] Translation: X:529.27, Y:-25.06, Z:1.91 [[ 9.99856260e-01 -1.39702551e-02 -9.60684488e-03 5.29270154e+02] [ 1.39769879e-02 9.99902116e-01 6.34051839e-04 -2.50561478e+01] [ 9.59704666e-03 -7.68235456e-04 9.99953652e-01 1.90548423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.530714057 meters Centerline goodness [0,1] 0.979771488517412 Centerline is valid? [True, True] Translation: X:529.30, Y:-25.05, Z:1.91 [[ 9.99883409e-01 -1.20632277e-02 -9.36203585e-03 5.29301574e+02] [ 1.20695403e-02 9.99926969e-01 6.18067559e-04 -2.50479516e+01] [ 9.35389625e-03 -7.30990967e-04 9.99955984e-01 1.90755044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5607140569999 meters Centerline goodness [0,1] 0.9779973468734275 Centerline is valid? [True, True] Translation: X:529.33, Y:-25.05, Z:1.91 [[ 9.99901479e-01 -1.09213437e-02 -8.81797511e-03 5.29332122e+02] [ 1.09269044e-02 9.99940130e-01 5.82674846e-04 -2.50530627e+01] [ 8.81108358e-03 -6.78970611e-04 9.99960951e-01 1.90648083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5907140569999 meters Centerline goodness [0,1] 0.978935545979646 Centerline is valid? [True, True] Translation: X:529.36, Y:-25.04, Z:1.91 [[ 9.99938535e-01 -8.48977866e-03 -7.13085123e-03 5.29364040e+02] [ 8.49335310e-03 9.99963820e-01 4.71130698e-04 -2.50445741e+01] [ 7.12659344e-03 -5.31666578e-04 9.99974464e-01 1.90911091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.620714057 meters Centerline goodness [0,1] 0.978921478484737 Centerline is valid? [True, True] Translation: X:529.39, Y:-25.04, Z:1.91 [[ 9.99952180e-01 -7.61303139e-03 -6.13842669e-03 5.29394380e+02] [ 7.61566283e-03 9.99970918e-01 4.05423082e-04 -2.50430030e+01] [ 6.13516168e-03 -4.52151882e-04 9.99981077e-01 1.90943244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.650714057 meters Centerline goodness [0,1] 0.9798615916955017 Centerline is valid? [True, True] Translation: X:529.43, Y:-25.04, Z:1.91 [[ 9.99968587e-01 -6.22440302e-03 -4.90731345e-03 5.29425860e+02] [ 6.22606960e-03 9.99980565e-01 3.24407453e-04 -2.50381858e+01] [ 4.90519884e-03 -3.54950537e-04 9.99987906e-01 1.91051071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6807140569999 meters Centerline goodness [0,1] 0.9785013134245818 Centerline is valid? [True, True] Translation: X:529.46, Y:-25.04, Z:1.91 [[ 9.99973784e-01 -5.65586038e-03 -4.52128190e-03 5.29455783e+02] [ 5.65727339e-03 9.99983953e-01 2.99794195e-04 -2.50403651e+01] [ 4.51951375e-03 -3.25364463e-04 9.99989734e-01 1.91044857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7107140569999 meters Centerline goodness [0,1] 0.9797181797181798 Centerline is valid? [True, True] Translation: X:529.49, Y:-25.04, Z:1.91 [[ 9.99980443e-01 -4.82674830e-03 -3.97692365e-03 5.29487068e+02] [ 4.82783337e-03 9.99988311e-01 2.63287108e-04 -2.50375155e+01] [ 3.97560635e-03 -2.82481883e-04 9.99992057e-01 1.91067616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.740714057 meters Centerline goodness [0,1] 0.979420731707317 Centerline is valid? [True, True] Translation: X:529.52, Y:-25.04, Z:1.91 [[ 9.99978994e-01 -4.84125529e-03 -4.30969702e-03 5.29517301e+02] [ 4.84252994e-03 9.99988234e-01 2.85377169e-04 -2.50393748e+01] [ 4.30826473e-03 -3.06241011e-04 9.99990672e-01 1.91005579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.770714057 meters Centerline goodness [0,1] 0.9800412141980597 Centerline is valid? [True, True] Translation: X:529.55, Y:-25.04, Z:1.91 [[ 9.99969710e-01 -5.02326918e-03 -5.94515779e-03 5.29548028e+02] [ 5.02569819e-03 9.99987294e-01 3.93699494e-04 -2.50407905e+01] [ 5.94310459e-03 -4.23566138e-04 9.99982250e-01 1.90893198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8007140569999 meters Centerline goodness [0,1] 0.9804221049708415 Centerline is valid? [True, True] Translation: X:529.58, Y:-25.04, Z:1.91 [[ 9.99959970e-01 -5.30775298e-03 -7.20326531e-03 5.29578431e+02] [ 5.31132442e-03 9.99985781e-01 4.76769595e-04 -2.50417810e+01] [ 7.20063232e-03 -5.15009388e-04 9.99973942e-01 1.90765842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8307140569999 meters Centerline goodness [0,1] 0.9793627973844085 Centerline is valid? [True, True] Translation: X:529.61, Y:-25.04, Z:1.91 [[ 9.99935769e-01 -5.91818343e-03 -9.66608953e-03 5.29607411e+02] [ 5.92463588e-03 9.99982245e-01 6.39036269e-04 -2.50438230e+01] [ 9.66213598e-03 -6.96263284e-04 9.99953078e-01 1.90506749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.860714057 meters Centerline goodness [0,1] 0.9803675565158803 Centerline is valid? [True, True] Translation: X:529.64, Y:-25.04, Z:1.90 [[ 9.99926569e-01 -5.86934194e-03 -1.06022780e-02 5.29637405e+02] [ 5.87709843e-03 9.99982484e-01 7.00579008e-04 -2.50418334e+01] [ 1.05979804e-02 -7.62838196e-04 9.99943549e-01 1.90459246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.890714057 meters Centerline goodness [0,1] 0.9816312734562577 Centerline is valid? [True, True] Translation: X:529.67, Y:-25.04, Z:1.90 [[ 9.99913603e-01 -5.65312924e-03 -1.18670841e-02 5.29666105e+02] [ 5.66276717e-03 9.99983663e-01 7.78712246e-04 -2.50400809e+01] [ 1.18624881e-02 -8.45845502e-04 9.99929280e-01 1.90374137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9207140569999 meters Centerline goodness [0,1] 0.9811180008392 Centerline is valid? [True, True] Translation: X:529.69, Y:-25.04, Z:1.90 [[ 9.99923597e-01 -4.27372450e-03 -1.15989709e-02 5.29693997e+02] [ 4.28283733e-03 9.99990539e-01 7.60933098e-04 -2.50419538e+01] [ 1.15956091e-02 -8.10551465e-04 9.99932440e-01 1.90298095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9507140569999 meters Centerline goodness [0,1] 0.9815634905836286 Centerline is valid? [True, True] Translation: X:529.72, Y:-25.04, Z:1.90 [[ 9.99934267e-01 -3.70488503e-03 -1.08506309e-02 5.29722938e+02] [ 3.71278067e-03 9.99992857e-01 7.07612894e-04 -2.50392865e+01] [ 1.08479317e-02 -7.47852393e-04 9.99940880e-01 1.90456340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.980714057 meters Centerline goodness [0,1] 0.9815281276238456 Centerline is valid? [True, True] Translation: X:529.75, Y:-25.04, Z:1.90 [[ 9.99956861e-01 -1.33396750e-03 -9.19226014e-03 5.29752864e+02] [ 1.33955324e-03 9.99998922e-01 6.01526254e-04 -2.50400715e+01] [ 9.19144781e-03 -6.13813826e-04 9.99957569e-01 1.90421909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.010714057 meters Centerline goodness [0,1] 0.9819647237472258 Centerline is valid? [True, True] Translation: X:529.78, Y:-25.04, Z:1.90 [[ 9.99964309e-01 -8.00243153e-05 -8.44838434e-03 5.29782166e+02] [ 8.46606811e-05 9.99999846e-01 5.48431078e-04 -2.50404485e+01] [ 8.44833916e-03 -5.49126750e-04 9.99964161e-01 1.90429164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.040714057 meters Centerline goodness [0,1] 0.9814277694610778 Centerline is valid? [True, True] Translation: X:529.81, Y:-25.04, Z:1.90 [[ 9.99972301e-01 2.32091651e-03 -7.07178712e-03 5.29811423e+02] [-2.31771679e-03 9.99997208e-01 4.60624609e-04 -2.50424780e+01] [ 7.07283644e-03 -4.44221451e-04 9.99974889e-01 1.90407906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0707140569999 meters Centerline goodness [0,1] 0.9832584059192657 Centerline is valid? [True, True] Translation: X:529.84, Y:-25.04, Z:1.90 [[ 9.99970425e-01 3.55893545e-03 -6.81781290e-03 5.29840564e+02] [-3.55599638e-03 9.99993579e-01 4.43160025e-04 -2.50388677e+01] [ 6.81934630e-03 -4.18902801e-04 9.99976660e-01 1.90465198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1007140569999 meters Centerline goodness [0,1] 0.9829689406024209 Centerline is valid? [True, True] Translation: X:529.87, Y:-25.04, Z:1.90 [[ 9.99960798e-01 4.16619190e-03 -7.81309535e-03 5.29867842e+02] [-4.16235661e-03 9.99991209e-01 5.07075622e-04 -2.50412375e+01] [ 7.81513924e-03 -4.74534855e-04 9.99969349e-01 1.90290193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.130714057 meters Centerline goodness [0,1] 0.9829035742802122 Centerline is valid? [True, True] Translation: X:529.90, Y:-25.04, Z:1.90 [[ 9.99947482e-01 4.40714322e-03 -9.25262056e-03 5.29896301e+02] [-4.40177708e-03 9.99990132e-01 6.00243349e-04 -2.50431981e+01] [ 9.25517461e-03 -5.59483852e-04 9.99957013e-01 1.90082849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.160714057 meters Centerline goodness [0,1] 0.9835197036828657 Centerline is valid? [True, True] Translation: X:529.92, Y:-25.04, Z:1.90 [[ 9.99912344e-01 4.96491974e-03 -1.22741147e-02 5.29924803e+02] [-4.95552583e-03 9.99987405e-01 7.95639009e-04 -2.50421366e+01] [ 1.22779104e-02 -7.34744574e-04 9.99924354e-01 1.89743047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1907140569999 meters Centerline goodness [0,1] 0.983867549045006 Centerline is valid? [True, True] Translation: X:529.95, Y:-25.04, Z:1.90 [[ 9.99894228e-01 4.81354141e-03 -1.37245278e-02 5.29953278e+02] [-4.80179345e-03 9.99988076e-01 8.88806960e-04 -2.50441603e+01] [ 1.37286424e-02 -8.22810602e-04 9.99905419e-01 1.89558951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2207140569999 meters Centerline goodness [0,1] 0.9843125192248539 Centerline is valid? [True, True] Translation: X:529.98, Y:-25.04, Z:1.89 [[ 9.99861414e-01 6.06984576e-03 -1.55019059e-02 5.29982133e+02] [-6.05502324e-03 9.99981165e-01 1.00293036e-03 -2.50443973e+01] [ 1.55077016e-02 -9.08926967e-04 9.99879335e-01 1.89352209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.250714057 meters Centerline goodness [0,1] 0.985367932569372 Centerline is valid? [True, True] Translation: X:530.01, Y:-25.04, Z:1.89 [[ 9.99845171e-01 7.56232272e-03 -1.58884991e-02 5.30011429e+02] [-7.54695729e-03 9.99970994e-01 1.02681605e-03 -2.50427370e+01] [ 1.58958034e-02 -9.06747248e-04 9.99873243e-01 1.89378080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.280714057 meters Centerline goodness [0,1] 0.986250473305566 Centerline is valid? [True, True] Translation: X:530.04, Y:-25.04, Z:1.90 [[ 9.99845227e-01 1.02168313e-02 -1.43226743e-02 5.30041755e+02] [-1.02046132e-02 9.99947503e-01 9.25885056e-04 -2.50390637e+01] [ 1.43313820e-02 -7.79584402e-04 9.99896997e-01 1.89662934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3107140569999 meters Centerline goodness [0,1] 0.985271171213769 Centerline is valid? [True, True] Translation: X:530.07, Y:-25.04, Z:1.90 [[ 9.99873872e-01 1.12077543e-02 -1.12528751e-02 5.30070535e+02] [-1.12002871e-02 9.99937011e-01 7.26388696e-04 -2.50405446e+01] [ 1.12603074e-02 -6.00261647e-04 9.99936421e-01 1.89857979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3407140569999 meters Centerline goodness [0,1] 0.9845640285044627 Centerline is valid? [True, True] Translation: X:530.10, Y:-25.04, Z:1.90 [[ 9.99885990e-01 1.12843074e-02 -1.00335141e-02 5.30098963e+02] [-1.12783845e-02 9.99936188e-01 6.46706389e-04 -2.50423145e+01] [ 1.00401715e-02 -5.33470828e-04 9.99949454e-01 1.89906001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.370714057 meters Centerline goodness [0,1] 0.9849503455759205 Centerline is valid? [True, True] Translation: X:530.13, Y:-25.05, Z:1.90 [[ 9.99922580e-01 9.84881668e-03 -7.60497086e-03 5.30126953e+02] [-9.84538603e-03 9.99951414e-01 4.88412772e-04 -2.50476516e+01] [ 7.60941165e-03 -4.13501085e-04 9.99970963e-01 1.90004739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.400714057 meters Centerline goodness [0,1] 0.9830748530557326 Centerline is valid? [True, True] Translation: X:530.15, Y:-25.06, Z:1.90 [[ 9.99942397e-01 8.41107191e-03 -6.66761022e-03 5.30154582e+02] [-8.40840522e-03 9.99964557e-01 4.27879588e-04 -2.50567342e+01] [ 6.67097283e-03 -3.71790972e-04 9.99977680e-01 1.89849492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4307140569999 meters Centerline goodness [0,1] 0.9828747038262134 Centerline is valid? [True, True] Translation: X:530.18, Y:-25.06, Z:1.90 [[ 9.99966751e-01 5.64403228e-03 -5.88564572e-03 5.30183236e+02] [-5.64190864e-03 9.99984013e-01 3.77358575e-04 -2.50631717e+01] [ 5.88768145e-03 -3.44139753e-04 9.99982608e-01 1.89931876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4607140569999 meters Centerline goodness [0,1] 0.9825146102753068 Centerline is valid? [True, True] Translation: X:530.21, Y:-25.07, Z:1.90 [[ 9.99973848e-01 4.34618433e-03 -5.78051125e-03 5.30210513e+02] [-4.34411795e-03 9.99990496e-01 3.69980800e-04 -2.50690672e+01] [ 5.78206432e-03 -3.44859902e-04 9.99983224e-01 1.89854667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.490714057 meters Centerline goodness [0,1] 0.9807769041192348 Centerline is valid? [True, True] Translation: X:530.24, Y:-25.08, Z:1.90 [[ 9.99974967e-01 2.30914396e-03 -6.68831518e-03 5.30238375e+02] [-2.30633047e-03 9.99997249e-01 4.28340040e-04 -2.50768838e+01] [ 6.68928587e-03 -4.12903852e-04 9.99977541e-01 1.89629764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.520714057 meters Centerline goodness [0,1] 0.9835443037974684 Centerline is valid? [True, True] Translation: X:530.27, Y:-25.07, Z:1.90 [[ 9.99968686e-01 1.50521195e-03 -7.76921331e-03 5.30267383e+02] [-1.50139721e-03 9.99998749e-01 4.96816600e-04 -2.50716467e+01] [ 7.76995141e-03 -4.85136367e-04 9.99969696e-01 1.89748789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5507140569999 meters Centerline goodness [0,1] 0.9821236621956349 Centerline is valid? [True, True] Translation: X:530.29, Y:-25.09, Z:1.89 [[ 9.99942188e-01 1.67027194e-03 -1.06221978e-02 5.30293714e+02] [-1.66316060e-03 9.99998387e-01 6.78277358e-04 -2.50867341e+01] [ 1.06233136e-02 -6.60571725e-04 9.99943353e-01 1.89078034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5807140569999 meters Centerline goodness [0,1] 0.9840479955352991 Centerline is valid? [True, True] Translation: X:530.32, Y:-25.08, Z:1.89 [[ 9.99911456e-01 4.06287665e-03 -1.26717243e-02 5.30322972e+02] [-4.05295278e-03 9.99991460e-01 8.08732834e-04 -2.50812960e+01] [ 1.26749018e-02 -7.57303326e-04 9.99919383e-01 1.89219732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.610714057 meters Centerline goodness [0,1] 0.9839901190836848 Centerline is valid? [True, True] Translation: X:530.35, Y:-25.08, Z:1.89 [[ 9.99894441e-01 5.45018837e-03 -1.34685455e-02 5.30351657e+02] [-5.43917167e-03 9.99984843e-01 8.54453635e-04 -2.50829172e+01] [ 1.34729983e-02 -7.81105709e-04 9.99908930e-01 1.89233765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.640714057 meters Centerline goodness [0,1] 0.983653510303877 Centerline is valid? [True, True] Translation: X:530.38, Y:-25.09, Z:1.89 [[ 9.99866097e-01 9.49618794e-03 -1.33270603e-02 5.30381054e+02] [-9.48573212e-03 9.99954650e-01 8.47549756e-04 -2.50871644e+01] [ 1.33345044e-02 -7.21019342e-04 9.99910832e-01 1.89247438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6707140569999 meters Centerline goodness [0,1] 0.9839306062649705 Centerline is valid? [True, True] Translation: X:530.41, Y:-25.09, Z:1.89 [[ 9.99849588e-01 1.19398783e-02 -1.25793634e-02 5.30411279e+02] [-1.19307576e-02 9.99928506e-01 7.99848696e-04 -2.50870449e+01] [ 1.25880142e-02 -6.49647053e-04 9.99920557e-01 1.89389799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7007140569999 meters Centerline goodness [0,1] 0.9843376013756884 Centerline is valid? [True, True] Translation: X:530.44, Y:-25.09, Z:1.89 [[ 9.99831642e-01 1.44074758e-02 -1.13627417e-02 5.30440048e+02] [-1.44002001e-02 9.99896051e-01 7.21873645e-04 -2.50914382e+01] [ 1.13719609e-02 -5.58126359e-04 9.99935181e-01 1.89369930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.730714057 meters Centerline goodness [0,1] 0.9844830766393065 Centerline is valid? [True, True] Translation: X:530.47, Y:-25.09, Z:1.90 [[ 9.99766939e-01 1.98275379e-02 -8.54026613e-03 5.30469780e+02] [-1.98236262e-02 9.99803345e-01 5.42450135e-04 -2.50933985e+01] [ 8.54934210e-03 -3.73024667e-04 9.99963384e-01 1.89601728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.760714057 meters Centerline goodness [0,1] 0.9848481359522877 Centerline is valid? [True, True] Translation: X:530.50, Y:-25.10, Z:1.90 [[ 9.99670414e-01 2.52114003e-02 -4.84242293e-03 5.30500674e+02] [-2.52102059e-02 9.99682125e-01 3.07533938e-04 -2.50958691e+01] [ 4.84863701e-03 -1.85354100e-04 9.99988228e-01 1.89856359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.790714057 meters Centerline goodness [0,1] 0.9845380927255626 Centerline is valid? [True, True] Translation: X:530.53, Y:-25.10, Z:1.90 [[ 9.99617327e-01 2.74158904e-02 -3.68364327e-03 5.30529664e+02] [-2.74152200e-02 9.99624105e-01 2.32371167e-04 -2.50987202e+01] [ 3.68862927e-03 -1.31294354e-04 9.99993188e-01 1.89920219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8207140569999 meters Centerline goodness [0,1] 0.9856027274193176 Centerline is valid? [True, True] Translation: X:530.56, Y:-25.10, Z:1.90 [[ 9.99531779e-01 3.04636389e-02 -2.86161595e-03 5.30559620e+02] [-3.04632447e-02 9.99535871e-01 1.81240062e-04 -2.51002309e+01] [ 2.86580902e-03 -9.39810945e-05 9.99995889e-01 1.90140604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8507140569999 meters Centerline goodness [0,1] 0.9856561616440246 Centerline is valid? [True, True] Translation: X:530.59, Y:-25.10, Z:1.90 [[ 9.99502251e-01 3.14606146e-02 -2.34108122e-03 5.30586845e+02] [-3.14603559e-02 9.99504990e-01 1.47235550e-04 -2.51047348e+01] [ 2.34455448e-03 -7.35110150e-05 9.99997249e-01 1.90066822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.880714057 meters Centerline goodness [0,1] 0.985657480405452 Centerline is valid? [True, True] Translation: X:530.62, Y:-25.11, Z:1.90 [[ 9.99491642e-01 3.17680730e-02 -2.69188089e-03 5.30615551e+02] [-3.17677318e-02 9.99495264e-01 1.69440071e-04 -2.51104680e+01] [ 2.69590499e-03 -8.38389850e-05 9.99996363e-01 1.90000577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.910714057 meters Centerline goodness [0,1] 0.985657480405452 Centerline is valid? [True, True] Translation: X:530.64, Y:-25.11, Z:1.90 [[ 9.99495031e-01 3.16612786e-02 -2.69192455e-03 5.30642968e+02] [-3.16609388e-02 9.99498653e-01 1.68748563e-04 -2.51121147e+01] [ 2.69591775e-03 -8.34344920e-05 9.99996363e-01 1.89969368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9407140569999 meters Centerline goodness [0,1] 0.9866648430554605 Centerline is valid? [True, True] Translation: X:530.67, Y:-25.12, Z:1.90 [[ 9.99495724e-01 3.16265244e-02 -2.83905452e-03 5.30669210e+02] [-3.16261477e-02 9.99499753e-01 1.77493771e-04 -2.51178597e+01] [ 2.84324780e-03 -8.76159074e-05 9.99995954e-01 1.89817465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9707140569999 meters Centerline goodness [0,1] 0.9871143995446784 Centerline is valid? [True, True] Translation: X:530.70, Y:-25.13, Z:1.90 [[ 9.99558570e-01 2.94307222e-02 -4.06174512e-03 5.30698148e+02] [-2.94299272e-02 9.99566813e-01 2.55395417e-04 -2.51274612e+01] [ 4.06750209e-03 -1.35745815e-04 9.99991718e-01 1.89538272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.000714057 meters Centerline goodness [0,1] 0.9869953635644012 Centerline is valid? [True, True] Translation: X:530.73, Y:-25.14, Z:1.89 [[ 9.99620087e-01 2.71215388e-02 -4.90962110e-03 5.30725446e+02] [-2.71203525e-02 9.99632128e-01 3.08041998e-04 -2.51406327e+01] [ 4.91616956e-03 -1.74774314e-04 9.99987900e-01 1.89252111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.030714057 meters Centerline goodness [0,1] 0.986806372770888 Centerline is valid? [True, True] Translation: X:530.75, Y:-25.15, Z:1.89 [[ 9.99653257e-01 2.57327826e-02 -5.58475630e-03 5.30754058e+02] [-2.57312275e-02 9.99668836e-01 3.50127141e-04 -2.51459761e+01] [ 5.59191657e-03 -2.06303102e-04 9.99984344e-01 1.89157350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0607140569999 meters Centerline goodness [0,1] 0.9867434899056965 Centerline is valid? [True, True] Translation: X:530.78, Y:-25.16, Z:1.89 [[ 9.99680224e-01 2.47579433e-02 -5.14719368e-03 5.30781401e+02] [-2.47566131e-02 9.99693456e-01 3.21989377e-04 -2.51571319e+01] [ 5.15358764e-03 -1.94459330e-04 9.99986701e-01 1.89104422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0907140569999 meters Centerline goodness [0,1] 0.9860365922101246 Centerline is valid? [True, True] Translation: X:530.81, Y:-25.16, Z:1.89 [[ 9.99677327e-01 2.50039537e-02 -4.47705077e-03 5.30810316e+02] [-2.50029510e-02 9.99687338e-01 2.79807049e-04 -2.51593439e+01] [ 4.48264725e-03 -1.67777282e-04 9.99989939e-01 1.89293571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.120714057 meters Centerline goodness [0,1] 0.9870193594433044 Centerline is valid? [True, True] Translation: X:530.84, Y:-25.17, Z:1.89 [[ 9.99632872e-01 2.70523473e-02 -1.51376084e-03 5.30838732e+02] [-2.70522353e-02 9.99634017e-01 9.44267352e-05 -2.51688295e+01] [ 1.51576129e-03 -5.34414541e-05 9.99998850e-01 1.89348266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.150714057 meters Centerline goodness [0,1] 0.9873922293136267 Centerline is valid? [True, True] Translation: X:530.87, Y:-25.17, Z:1.89 [[ 9.99620597e-01 2.75398193e-02 -4.69369348e-04 5.30867469e+02] [-2.75398089e-02 9.99620707e-01 2.85635816e-05 -2.51717047e+01] [ 4.69977955e-04 -1.56264024e-05 9.99999889e-01 1.89449584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1807140569999 meters Centerline goodness [0,1] 0.9878543412372972 Centerline is valid? [True, True] Translation: X:530.89, Y:-25.18, Z:1.89 [[ 9.99581002e-01 2.89235672e-02 1.11728582e-03 5.30894833e+02] [-2.89235061e-02 9.99581625e-01 -7.08107179e-05 -2.51801966e+01] [-1.11886648e-03 3.84652250e-05 9.99999373e-01 1.89416665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2107140569999 meters Centerline goodness [0,1] 0.9884319625543296 Centerline is valid? [True, True] Translation: X:530.92, Y:-25.19, Z:1.89 [[ 9.99587208e-01 2.86997668e-02 1.31774884e-03 5.30922481e+02] [-2.86996818e-02 9.99588076e-01 -8.33891141e-05 -2.51852324e+01] [-1.31959927e-03 4.55357195e-05 9.99999128e-01 1.89392923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.240714057 meters Centerline goodness [0,1] 0.9881912570741054 Centerline is valid? [True, True] Translation: X:530.95, Y:-25.19, Z:1.89 [[ 9.99639213e-01 2.68061945e-02 1.69484167e-03 5.30950966e+02] [-2.68060525e-02 9.99640648e-01 -1.06415394e-04 -2.51921211e+01] [-1.69708522e-03 6.09449859e-05 9.99998558e-01 1.89422980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.270714057 meters Centerline goodness [0,1] 0.9888344890227962 Centerline is valid? [True, True] Translation: X:530.98, Y:-25.20, Z:1.89 [[ 9.99709086e-01 2.40442810e-02 1.90161183e-03 5.30978399e+02] [-2.40440978e-02 9.99710892e-01 -1.19157048e-04 -2.52031230e+01] [-1.90392711e-03 7.33998427e-05 9.99998185e-01 1.89302972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3007140569999 meters Centerline goodness [0,1] 0.9872598763654089 Centerline is valid? [True, True] Translation: X:531.01, Y:-25.21, Z:1.89 [[ 9.99760039e-01 2.17993137e-02 2.15726014e-03 5.31007001e+02] [-2.17990733e-02 9.99762363e-01 -1.34910701e-04 -2.52088609e+01] [-2.15968846e-03 8.78520560e-05 9.99997664e-01 1.89238435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3307140569999 meters Centerline goodness [0,1] 0.987922011967586 Centerline is valid? [True, True] Translation: X:531.03, Y:-25.22, Z:1.89 [[ 9.99837451e-01 1.78784521e-02 2.33078198e-03 5.31034213e+02] [-1.78781615e-02 9.99840162e-01 -1.45454718e-04 -2.52208922e+01] [-2.33300994e-03 1.03760977e-04 9.99997273e-01 1.89111740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.360714057 meters Centerline goodness [0,1] 0.9865637507146942 Centerline is valid? [True, True] Translation: X:531.06, Y:-25.23, Z:1.89 [[ 9.99868885e-01 1.60148237e-02 2.39551642e-03 5.31062270e+02] [-1.60145118e-02 9.99871748e-01 -1.49338177e-04 -2.52272461e+01] [-2.39760082e-03 1.10955571e-04 9.99997120e-01 1.89022606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.390714057 meters Centerline goodness [0,1] 0.9873668021531363 Centerline is valid? [True, True] Translation: X:531.09, Y:-25.23, Z:1.89 [[ 9.99914267e-01 1.29552752e-02 1.90226044e-03 5.31090989e+02] [-1.29550731e-02 9.99916072e-01 -1.18524450e-04 -2.52323582e+01] [-1.90363630e-03 9.38703654e-05 9.99998184e-01 1.89011193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4207140569999 meters Centerline goodness [0,1] 0.9871808942643282 Centerline is valid? [True, True] Translation: X:531.12, Y:-25.24, Z:1.89 [[ 9.99929213e-01 1.17670932e-02 1.76220733e-03 5.31118905e+02] [-1.17669188e-02 9.99930761e-01 -1.09325011e-04 -2.52383742e+01] [-1.76337175e-03 8.85815214e-05 9.99998441e-01 1.88940288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4507140569999 meters Centerline goodness [0,1] 0.9872114921385714 Centerline is valid? [True, True] Translation: X:531.15, Y:-25.25, Z:1.89 [[ 9.99943820e-01 1.02798994e-02 2.58473226e-03 5.31146817e+02] [-1.02795184e-02 9.99947151e-01 -1.60644010e-04 -2.52475622e+01] [-2.58624707e-03 1.34065183e-04 9.99996647e-01 1.88894985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.480714057 meters Centerline goodness [0,1] 0.9872153503212553 Centerline is valid? [True, True] Translation: X:531.18, Y:-25.25, Z:1.89 [[ 9.99946108e-01 1.00054421e-02 2.76986840e-03 5.31175807e+02] [-1.00050036e-02 9.99949934e-01 -1.72126184e-04 -2.52471805e+01] [-2.77145192e-03 1.44404364e-04 9.99996149e-01 1.88964983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.510714057 meters Centerline goodness [0,1] 0.9868435454565355 Centerline is valid? [True, True] Translation: X:531.20, Y:-25.25, Z:1.89 [[ 9.99949778e-01 9.26262809e-03 3.82678031e-03 5.31204342e+02] [-9.26178794e-03 9.99957081e-01 -2.37208277e-04 -2.52524405e+01] [-3.82881324e-03 2.01753536e-04 9.99992650e-01 1.89013633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.540714057 meters Centerline goodness [0,1] 0.9866465600139872 Centerline is valid? [True, True] Translation: X:531.23, Y:-25.26, Z:1.89 [[ 9.99952451e-01 8.44697917e-03 4.87284514e-03 5.31233007e+02] [-8.44561067e-03 9.99964290e-01 -3.01351261e-04 -2.52581744e+01] [-4.87521663e-03 2.60182779e-04 9.99988082e-01 1.89040389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5707140569999 meters Centerline goodness [0,1] 0.9863118202227599 Centerline is valid? [True, True] Translation: X:531.26, Y:-25.26, Z:1.89 [[ 9.99956549e-01 7.83723641e-03 5.04759803e-03 5.31263445e+02] [-7.83576345e-03 9.99969251e-01 -3.11523725e-04 -2.52620686e+01] [-5.04988431e-03 2.71958405e-04 9.99987212e-01 1.89002443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6007140569999 meters Centerline goodness [0,1] 0.9859265391486209 Centerline is valid? [True, True] Translation: X:531.29, Y:-25.27, Z:1.89 [[ 9.99977109e-01 4.64653488e-03 4.91853930e-03 5.31293286e+02] [-4.64509750e-03 9.99989165e-01 -3.03620170e-04 -2.52679990e+01] [-4.91989679e-03 2.80766125e-04 9.99987858e-01 1.88909080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.630714057 meters Centerline goodness [0,1] 0.9856899041617435 Centerline is valid? [True, True] Translation: X:531.32, Y:-25.27, Z:1.89 [[ 9.99987740e-01 2.16005906e-03 4.45585924e-03 5.31324301e+02] [-2.15885689e-03 9.99997632e-01 -2.74587419e-04 -2.52699928e+01] [-4.45644182e-03 2.64964490e-04 9.99990035e-01 1.88868020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.660714057 meters Centerline goodness [0,1] 0.9853197042192258 Centerline is valid? [True, True] Translation: X:531.35, Y:-25.28, Z:1.89 [[ 9.99982624e-01 -3.03122916e-03 5.05600003e-03 5.31353160e+02] [ 3.03284635e-03 9.99995352e-01 -3.12219550e-04 -2.52787751e+01] [-5.05503012e-03 3.27548196e-04 9.99987170e-01 1.88823927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6907140569999 meters Centerline goodness [0,1] 0.9849120594821401 Centerline is valid? [True, True] Translation: X:531.38, Y:-25.28, Z:1.89 [[ 9.99970467e-01 -5.59626883e-03 5.26751468e-03 5.31384483e+02] [ 5.59805893e-03 9.99984278e-01 -3.25154862e-04 -2.52816516e+01] [-5.26561221e-03 3.54633116e-04 9.99986074e-01 1.88849590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7207140569999 meters Centerline goodness [0,1] 0.9838737834417143 Centerline is valid? [True, True] Translation: X:531.42, Y:-25.29, Z:1.89 [[ 9.99921209e-01 -1.11411780e-02 5.78364753e-03 5.31415453e+02] [ 1.11434300e-02 9.99937846e-01 -3.57300852e-04 -2.52876889e+01] [-5.77930730e-03 4.21722372e-04 9.99983211e-01 1.88889989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.750714057 meters Centerline goodness [0,1] 0.9828581347914768 Centerline is valid? [True, True] Translation: X:531.45, Y:-25.29, Z:1.89 [[ 9.99854011e-01 -1.60242152e-02 5.93145591e-03 5.31446532e+02] [ 1.60266703e-02 9.99871497e-01 -3.66617772e-04 -2.52934272e+01] [-5.92481894e-03 4.61625738e-04 9.99982342e-01 1.88807077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.780714057 meters Centerline goodness [0,1] 0.9823244919646924 Centerline is valid? [True, True] Translation: X:531.48, Y:-25.30, Z:1.89 [[ 9.99826818e-01 -1.77372935e-02 5.63218092e-03 5.31477890e+02] [ 1.77395347e-02 9.99842581e-01 -3.48217615e-04 -2.52973109e+01] [-5.62511787e-03 4.48069579e-04 9.99984079e-01 1.88720056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8107140569999 meters Centerline goodness [0,1] 0.9813856391075545 Centerline is valid? [True, True] Translation: X:531.51, Y:-25.30, Z:1.89 [[ 9.99793874e-01 -1.97859388e-02 4.55262106e-03 5.31509280e+02] [ 1.97874246e-02 9.99804170e-01 -2.81558469e-04 -2.52995735e+01] [-4.54615862e-03 3.71585079e-04 9.99989597e-01 1.88661917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8407140569999 meters Centerline goodness [0,1] 0.9814101308256601 Centerline is valid? [True, True] Translation: X:531.54, Y:-25.30, Z:1.89 [[ 9.99801981e-01 -1.94708152e-02 4.10925482e-03 5.31541210e+02] [ 1.94720224e-02 9.99810370e-01 -2.53979779e-04 -2.52979294e+01] [-4.10353039e-03 3.33944989e-04 9.99991525e-01 1.88618647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.870714057 meters Centerline goodness [0,1] 0.9828776821696983 Centerline is valid? [True, True] Translation: X:531.57, Y:-25.30, Z:1.89 [[ 9.99833529e-01 -1.79161858e-02 3.45321648e-03 5.31571827e+02] [ 1.79170310e-02 9.99839454e-01 -2.13975990e-04 -2.52972117e+01] [-3.44882844e-03 2.75811756e-04 9.99994015e-01 1.88522042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.900714057 meters Centerline goodness [0,1] 0.9817295188556567 Centerline is valid? [True, True] Translation: X:531.60, Y:-25.30, Z:1.88 [[ 9.99853514e-01 -1.68255111e-02 3.13891649e-03 5.31602909e+02] [ 1.68262033e-02 9.99858411e-01 -1.94253546e-04 -2.52993279e+01] [-3.13520364e-03 2.47041138e-04 9.99995055e-01 1.88403377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9307140569999 meters Centerline goodness [0,1] 0.9806746387425398 Centerline is valid? [True, True] Translation: X:531.63, Y:-25.30, Z:1.88 [[ 9.99874773e-01 -1.56245537e-02 2.51224792e-03 5.31634438e+02] [ 1.56249938e-02 9.99877910e-01 -1.55641253e-04 -2.52980059e+01] [-2.50950937e-03 1.94875621e-04 9.99996832e-01 1.88315057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9607140569999 meters Centerline goodness [0,1] 0.9819672131147541 Centerline is valid? [True, True] Translation: X:531.67, Y:-25.30, Z:1.88 [[ 9.99888674e-01 -1.48078224e-02 1.83508412e-03 5.31667285e+02] [ 1.48080546e-02 9.99890348e-01 -1.13031055e-04 -2.52969465e+01] [-1.83320916e-03 1.40192498e-04 9.99998310e-01 1.88273063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.990714057 meters Centerline goodness [0,1] 0.9825885338058052 Centerline is valid? [True, True] Translation: X:531.70, Y:-25.30, Z:1.88 [[ 9.99888408e-01 -1.48300929e-02 1.80017206e-03 5.31699614e+02] [ 1.48303173e-02 9.99890019e-01 -1.11317579e-04 -2.52957122e+01] [-1.79832323e-03 1.38002280e-04 9.99998373e-01 1.88263002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.020714057 meters Centerline goodness [0,1] 0.9832019498913067 Centerline is valid? [True, True] Translation: X:531.73, Y:-25.29, Z:1.88 [[ 9.99889184e-01 -1.47499953e-02 2.01418698e-03 5.31731782e+02] [ 1.47502764e-02 9.99891201e-01 -1.24776774e-04 -2.52924544e+01] [-2.01212739e-03 1.54472761e-04 9.99997964e-01 1.88290754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0507140569999 meters Centerline goodness [0,1] 0.9826994910330064 Centerline is valid? [True, True] Translation: X:531.76, Y:-25.29, Z:1.88 [[ 9.99900245e-01 -1.39692772e-02 2.08784288e-03 5.31763970e+02] [ 1.39695779e-02 9.99902412e-01 -1.29522193e-04 -2.52929506e+01] [-2.08582980e-03 1.58675556e-04 9.99997812e-01 1.88272674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0807140569999 meters Centerline goodness [0,1] 0.9812912932557074 Centerline is valid? [True, True] Translation: X:531.80, Y:-25.29, Z:1.88 [[ 9.99914356e-01 -1.29361651e-02 1.98406088e-03 5.31795772e+02] [ 1.29364349e-02 9.99916313e-01 -1.23193063e-04 -2.52926796e+01] [-1.98230119e-03 1.48849187e-04 9.99998024e-01 1.88291836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.110714057 meters Centerline goodness [0,1] 0.9824188816394448 Centerline is valid? [True, True] Translation: X:531.83, Y:-25.29, Z:1.88 [[ 9.99935379e-01 -1.10709632e-02 2.58311984e-03 5.31827774e+02] [ 1.10714158e-02 9.99938697e-01 -1.60972252e-04 -2.52887710e+01] [-2.58117937e-03 1.89560643e-04 9.99996651e-01 1.88418234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.140714057 meters Centerline goodness [0,1] 0.9814265135972762 Centerline is valid? [True, True] Translation: X:531.86, Y:-25.29, Z:1.88 [[ 9.99942847e-01 -1.04177427e-02 2.40282232e-03 5.31860266e+02] [ 1.04181322e-02 9.99945719e-01 -1.49668408e-04 -2.52891892e+01] [-2.40113268e-03 1.74692775e-04 9.99997102e-01 1.88430781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1707140569999 meters Centerline goodness [0,1] 0.9824611529923735 Centerline is valid? [True, True] Translation: X:531.89, Y:-25.29, Z:1.88 [[ 9.99944912e-01 -1.01979861e-02 2.48459077e-03 5.31892576e+02] [ 1.01984024e-02 9.99947983e-01 -1.54954302e-04 -2.52859114e+01] [-2.48288130e-03 1.80284623e-04 9.99996901e-01 1.88438364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2007140569999 meters Centerline goodness [0,1] 0.9819636204251588 Centerline is valid? [True, True] Translation: X:531.92, Y:-25.29, Z:1.88 [[ 9.99942749e-01 -1.02891388e-02 2.93824943e-03 5.31924414e+02] [ 1.02897225e-02 9.99947043e-01 -1.83607386e-04 -2.52867282e+01] [-2.93620466e-03 2.13830645e-04 9.99995666e-01 1.88451345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.230714057 meters Centerline goodness [0,1] 0.9817132281660351 Centerline is valid? [True, True] Translation: X:531.96, Y:-25.29, Z:1.88 [[ 9.99938195e-01 -1.07983448e-02 2.64592732e-03 5.31955705e+02] [ 1.07988206e-02 9.99941677e-01 -1.65607630e-04 -2.52885886e+01] [-2.64398472e-03 1.94170289e-04 9.99996486e-01 1.88357241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.260714057 meters Centerline goodness [0,1] 0.9810783989414489 Centerline is valid? [True, True] Translation: X:531.99, Y:-25.29, Z:1.88 [[ 9.99933612e-01 -1.14527023e-02 1.26755397e-03 5.31986703e+02] [ 1.14528118e-02 9.99934411e-01 -7.90989775e-05 -2.52898006e+01] [-1.26656494e-03 9.36107833e-05 9.99999194e-01 1.88168556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.290714057 meters Centerline goodness [0,1] 0.9811333172454643 Centerline is valid? [True, True] Translation: X:532.02, Y:-25.29, Z:1.88 [[ 9.99938160e-01 -1.10647582e-02 1.11653752e-03 5.32018965e+02] [ 1.10648426e-02 9.99938780e-01 -6.94874403e-05 -2.52911806e+01] [-1.11570031e-03 8.18374552e-05 9.99999374e-01 1.88090462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3207140569999 meters Centerline goodness [0,1] 0.9812168321846167 Centerline is valid? [True, True] Translation: X:532.05, Y:-25.29, Z:1.88 [[ 9.99940499e-01 -1.08753471e-02 8.52058995e-04 5.32051004e+02] [ 1.08753961e-02 9.99940860e-01 -5.29032877e-05 -2.52910912e+01] [-8.51433263e-04 6.21666190e-05 9.99999636e-01 1.88107319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3507140569999 meters Centerline goodness [0,1] 0.9817621823781763 Centerline is valid? [True, True] Translation: X:532.08, Y:-25.29, Z:1.88 [[ 9.99944813e-01 -1.04447776e-02 1.13063748e-03 5.32083133e+02] [ 1.04448640e-02 9.99945448e-01 -7.05364049e-05 -2.52921640e+01] [-1.12983906e-03 8.23418669e-05 9.99999358e-01 1.88081894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.380714057 meters Centerline goodness [0,1] 0.9831672888731803 Centerline is valid? [True, True] Translation: X:532.12, Y:-25.28, Z:1.88 [[ 9.99956959e-01 -9.26784982e-03 4.33221857e-04 5.32116035e+02] [ 9.26786217e-03 9.99957052e-01 -2.65239862e-05 -2.52824131e+01] [-4.32957430e-04 3.05378850e-05 9.99999906e-01 1.88207440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.410714057 meters Centerline goodness [0,1] 0.9814647078316581 Centerline is valid? [True, True] Translation: X:532.15, Y:-25.29, Z:1.88 [[ 9.99968212e-01 -7.94152534e-03 7.11720545e-04 5.32146384e+02] [ 7.94155905e-03 9.99968464e-01 -4.45580466e-05 -2.52929707e+01] [-7.11344242e-04 5.02088009e-05 9.99999746e-01 1.88046787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4407140569999 meters Centerline goodness [0,1] 0.9813516203959739 Centerline is valid? [True, True] Translation: X:532.18, Y:-25.29, Z:1.88 [[ 9.99990784e-01 -4.20302557e-03 8.75125673e-04 5.32175899e+02] [ 4.20307570e-03 9.99991166e-01 -5.54508047e-05 -2.52935682e+01] [-8.74884881e-04 5.91285131e-05 9.99999616e-01 1.87930521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4707140569999 meters Centerline goodness [0,1] 0.9818173735218281 Centerline is valid? [True, True] Translation: X:532.21, Y:-25.29, Z:1.88 [[ 9.99998100e-01 -1.87771535e-03 5.23029839e-04 5.32206979e+02] [ 1.87773283e-03 9.99998237e-01 -3.29242901e-05 -2.52925481e+01] [-5.22967094e-04 3.39063378e-05 9.99999863e-01 1.87933538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.500714057 meters Centerline goodness [0,1] 0.9823925657499833 Centerline is valid? [True, True] Translation: X:532.24, Y:-25.29, Z:1.88 [[ 9.99992773e-01 3.77842664e-03 -4.20758934e-04 5.32237218e+02] [-3.77841580e-03 9.99992861e-01 2.65756056e-05 -2.52894378e+01] [ 4.20856344e-04 -2.49856113e-05 9.99999911e-01 1.87861882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.530714057 meters Centerline goodness [0,1] 0.9842781959896076 Centerline is valid? [True, True] Translation: X:532.27, Y:-25.28, Z:1.88 [[ 9.99977780e-01 6.62199030e-03 -7.67082662e-04 5.32267528e+02] [-6.62195540e-03 9.99978073e-01 4.80362226e-05 -2.52796821e+01] [ 7.67383938e-04 -4.29555681e-05 9.99999705e-01 1.87984603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5607140569999 meters Centerline goodness [0,1] 0.9840131447476519 Centerline is valid? [True, True] Translation: X:532.30, Y:-25.29, Z:1.88 [[ 9.99930284e-01 1.17975319e-02 -4.94410668e-04 5.32296389e+02] [-1.17975180e-02 9.99930406e-01 3.09712112e-05 -2.52868783e+01] [ 4.94741644e-04 -2.51362333e-05 9.99999877e-01 1.87748446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5907140569999 meters Centerline goodness [0,1] 0.9850207302394008 Centerline is valid? [True, True] Translation: X:532.33, Y:-25.28, Z:1.88 [[ 9.99906808e-01 1.36454928e-02 -4.19080731e-04 5.32325571e+02] [-1.36454833e-02 9.99906896e-01 2.56369144e-05 -2.52802635e+01] [ 4.19391541e-04 -1.99159662e-05 9.99999912e-01 1.87898901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.620714057 meters Centerline goodness [0,1] 0.9843631496765559 Centerline is valid? [True, True] Translation: X:532.35, Y:-25.28, Z:1.88 [[ 9.99881409e-01 1.53953149e-02 3.90428999e-04 5.32353102e+02] [-1.53953061e-02 9.99881485e-01 -2.54618048e-05 -2.52825605e+01] [-3.90774720e-04 1.94480113e-05 9.99999923e-01 1.87879428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.650714057 meters Centerline goodness [0,1] 0.9843253218311582 Centerline is valid? [True, True] Translation: X:532.38, Y:-25.29, Z:1.88 [[ 9.99876826e-01 1.56786218e-02 7.17123814e-04 5.32380778e+02] [-1.56785927e-02 9.99877082e-01 -4.61245160e-05 -2.52852419e+01] [-7.17758836e-04 3.48753424e-05 9.99999742e-01 1.87880455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6807140569999 meters Centerline goodness [0,1] 0.984790283544641 Centerline is valid? [True, True] Translation: X:532.41, Y:-25.29, Z:1.88 [[ 9.99896352e-01 1.42932297e-02 1.72854670e-03 5.32408712e+02] [-1.42930616e-02 9.99897843e-01 -1.09517436e-04 -2.52894919e+01] [-1.72993547e-03 8.47998601e-05 9.99998500e-01 1.87959100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7107140569999 meters Centerline goodness [0,1] 0.9851158030569337 Centerline is valid? [True, True] Translation: X:532.44, Y:-25.29, Z:1.88 [[ 9.99940612e-01 1.05979038e-02 2.54089704e-03 5.32438523e+02] [-1.05975320e-02 9.99943832e-01 -1.59735629e-04 -2.52926591e+01] [-2.54244718e-03 1.32798905e-04 9.99996759e-01 1.88009555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.740714057 meters Centerline goodness [0,1] 0.9835934551428634 Centerline is valid? [True, True] Translation: X:532.47, Y:-25.30, Z:1.88 [[ 9.99960943e-01 8.45602441e-03 2.57065422e-03 5.32466775e+02] [-8.45563616e-03 9.99964237e-01 -1.61861579e-04 -2.53024321e+01] [-2.57193099e-03 1.40118740e-04 9.99996683e-01 1.87868737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.770714057 meters Centerline goodness [0,1] 0.9847865677608493 Centerline is valid? [True, True] Translation: X:532.50, Y:-25.30, Z:1.88 [[ 9.99978028e-01 6.23570265e-03 2.24949385e-03 5.32496566e+02] [-6.23540020e-03 9.99980550e-01 -1.41438333e-04 -2.53023968e+01] [-2.25033207e-03 1.27408731e-04 9.99997460e-01 1.87887290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8007140569999 meters Centerline goodness [0,1] 0.9849700731545112 Centerline is valid? [True, True] Translation: X:532.53, Y:-25.31, Z:1.88 [[ 9.99993416e-01 3.05180072e-03 1.96333319e-03 5.32526957e+02] [-3.05156489e-03 9.99995336e-01 -1.23104425e-04 -2.53075047e+01] [-1.96369973e-03 1.17112376e-04 9.99998065e-01 1.87820671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8307140569999 meters Centerline goodness [0,1] 0.9849700731545112 Centerline is valid? [True, True] Translation: X:532.56, Y:-25.31, Z:1.88 [[ 9.99993416e-01 3.05180072e-03 1.96333319e-03 5.32556951e+02] [-3.05156489e-03 9.99995336e-01 -1.23104425e-04 -2.53093853e+01] [-1.96369973e-03 1.17112376e-04 9.99998065e-01 1.87786559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.860714057 meters Centerline goodness [0,1] 0.9832248096236619 Centerline is valid? [True, True] Translation: X:532.59, Y:-25.32, Z:1.88 [[ 9.99996177e-01 2.17315521e-03 1.70964904e-03 5.32586157e+02] [-2.17297482e-03 9.99997633e-01 -1.07364638e-04 -2.53191973e+01] [-1.70987831e-03 1.03649203e-04 9.99998533e-01 1.87658895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.890714057 meters Centerline goodness [0,1] 0.9850343148107151 Centerline is valid? [True, True] Translation: X:532.62, Y:-25.31, Z:1.88 [[ 9.99997306e-01 2.22795608e-03 6.51529249e-04 5.32617632e+02] [-2.22792994e-03 9.99997517e-01 -4.08407341e-05 -2.53108111e+01] [-6.51618623e-04 3.93890626e-05 9.99999787e-01 1.87798050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9207140569999 meters Centerline goodness [0,1] 0.984771797988728 Centerline is valid? [True, True] Translation: X:532.65, Y:-25.32, Z:1.88 [[ 9.99992565e-01 3.72761818e-03 -9.87609085e-04 5.32646825e+02] [-3.72755907e-03 9.99993051e-01 6.16860471e-05 -2.53157319e+01] [ 9.87832164e-04 -5.80042172e-05 9.99999510e-01 1.87628416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9507140569999 meters Centerline goodness [0,1] 0.9831419658857105 Centerline is valid? [True, True] Translation: X:532.68, Y:-25.33, Z:1.87 [[ 9.99987090e-01 4.81818116e-03 -1.61422191e-03 5.32675181e+02] [-4.81802486e-03 9.99988388e-01 1.00704292e-04 -2.53280236e+01] [ 1.61468838e-03 -9.29256303e-05 9.99998692e-01 1.87309343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.980714057 meters Centerline goodness [0,1] 0.9856925216930515 Centerline is valid? [True, True] Translation: X:532.71, Y:-25.32, Z:1.88 [[ 9.99979371e-01 6.03141395e-03 -2.20894602e-03 5.32705307e+02] [-6.03112463e-03 9.99981803e-01 1.37614893e-04 -2.53167073e+01] [ 2.20973584e-03 -1.24289625e-04 9.99997551e-01 1.87539437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.010714057 meters Centerline goodness [0,1] 0.98604342046965 Centerline is valid? [True, True] Translation: X:532.73, Y:-25.32, Z:1.87 [[ 9.99954572e-01 9.13699807e-03 -2.71480141e-03 5.32734195e+02] [-9.13657179e-03 9.99958246e-01 1.69380875e-04 -2.53190390e+01] [ 2.71623569e-03 -1.44569203e-04 9.99996301e-01 1.87492166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.040714057 meters Centerline goodness [0,1] 0.9858277766774499 Centerline is valid? [True, True] Translation: X:532.76, Y:-25.32, Z:1.87 [[ 9.99941926e-01 1.04463285e-02 -2.64916677e-03 5.32761941e+02] [-1.04459294e-02 9.99945426e-01 1.64446855e-04 -2.53233261e+01] [ 2.65074006e-03 -1.36764296e-04 9.99996477e-01 1.87403154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0707140569999 meters Centerline goodness [0,1] 0.986845596038203 Centerline is valid? [True, True] Translation: X:532.79, Y:-25.32, Z:1.88 [[ 9.99909820e-01 1.32450863e-02 -2.21787630e-03 5.32791938e+02] [-1.32448126e-02 9.99912274e-01 1.38034139e-04 -2.53215584e+01] [ 2.21951001e-03 -1.08646335e-04 9.99997531e-01 1.87528734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1007140569999 meters Centerline goodness [0,1] 0.9866678458511132 Centerline is valid? [True, True] Translation: X:532.82, Y:-25.32, Z:1.88 [[ 9.99866993e-01 1.62467294e-02 -1.42818250e-03 5.32821201e+02] [-1.62466193e-02 9.99868011e-01 8.86965311e-05 -2.53229078e+01] [ 1.42943502e-03 -6.54815965e-05 9.99998976e-01 1.87546212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.130714057 meters Centerline goodness [0,1] 0.9870190181335692 Centerline is valid? [True, True] Translation: X:532.85, Y:-25.32, Z:1.88 [[ 9.99844158e-01 1.76389880e-02 -7.24500433e-04 5.32849886e+02] [-1.76389605e-02 9.99844420e-01 4.43343271e-05 -2.53221559e+01] [ 7.25169728e-04 -3.15479835e-05 9.99999737e-01 1.87623664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.160714057 meters Centerline goodness [0,1] 0.9868696899481408 Centerline is valid? [True, True] Translation: X:532.88, Y:-25.32, Z:1.88 [[ 9.99815959e-01 1.91842333e-02 -1.16258314e-04 5.32877601e+02] [-1.91842327e-02 9.99815966e-01 6.10687289e-06 -2.53236669e+01] [ 1.16354074e-04 -3.87542243e-06 9.99999993e-01 1.87667486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1907140569999 meters Centerline goodness [0,1] 0.9869432150956691 Centerline is valid? [True, True] Translation: X:532.91, Y:-25.32, Z:1.88 [[ 9.99773422e-01 2.12597499e-02 1.06184548e-03 5.32906570e+02] [-2.12596910e-02 9.99773985e-01 -6.67908881e-05 -2.53235870e+01] [-1.06302544e-03 4.42012481e-05 9.99999434e-01 1.87826481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2207140569999 meters Centerline goodness [0,1] 0.987503030570188 Centerline is valid? [True, True] Translation: X:532.94, Y:-25.33, Z:1.88 [[ 9.99780696e-01 2.09112670e-02 1.13119062e-03 5.32935780e+02] [-2.09112000e-02 9.99781334e-01 -7.10232703e-05 -2.53252469e+01] [-1.13242845e-03 4.73531413e-05 9.99999358e-01 1.87853143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.250714057 meters Centerline goodness [0,1] 0.9872534343078548 Centerline is valid? [True, True] Translation: X:532.96, Y:-25.33, Z:1.88 [[ 9.99831018e-01 1.83683179e-02 7.35427430e-04 5.32963679e+02] [-1.83682887e-02 9.99831288e-01 -4.63996618e-05 -2.53316312e+01] [-7.36155638e-04 3.28832777e-05 9.99999728e-01 1.87780269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.280714057 meters Centerline goodness [0,1] 0.9874322000264585 Centerline is valid? [True, True] Translation: X:532.99, Y:-25.34, Z:1.88 [[ 9.99862304e-01 1.65900075e-02 3.81054340e-04 5.32992002e+02] [-1.65899994e-02 9.99862376e-01 -2.43965992e-05 -2.53360742e+01] [-3.81406637e-04 1.80715486e-05 9.99999927e-01 1.87747742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3107140569999 meters Centerline goodness [0,1] 0.9870306568061621 Centerline is valid? [True, True] Translation: X:533.02, Y:-25.34, Z:1.88 [[ 9.99915050e-01 1.30338005e-02 1.16492519e-04 5.33022334e+02] [-1.30337998e-02 9.99915056e-01 -7.21403851e-06 -2.53400888e+01] [-1.16576650e-04 5.69508551e-06 9.99999993e-01 1.87694144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3407140569999 meters Centerline goodness [0,1] 0.9873033337000771 Centerline is valid? [True, True] Translation: X:533.05, Y:-25.35, Z:1.88 [[ 9.99955960e-01 9.38329503e-03 -1.78885565e-04 5.33050747e+02] [-9.38329322e-03 9.99955976e-01 1.09584506e-05 -2.53472149e+01] [ 1.78980516e-04 -9.27943227e-06 9.99999984e-01 1.87622428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.370714057 meters Centerline goodness [0,1] 0.9867472527472527 Centerline is valid? [True, True] Translation: X:533.08, Y:-25.35, Z:1.88 [[ 9.99970618e-01 7.64732630e-03 -5.30410536e-04 5.33079898e+02] [-7.64731029e-03 9.99970758e-01 3.22062248e-05 -2.53509638e+01] [ 5.30641318e-04 -2.81490645e-05 9.99999859e-01 1.87589600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.400714057 meters Centerline goodness [0,1] 0.9877148257219462 Centerline is valid? [True, True] Translation: X:533.11, Y:-25.35, Z:1.88 [[ 9.99988846e-01 4.56295789e-03 -1.21935713e-03 5.33109754e+02] [-4.56286957e-03 9.99989587e-01 7.52020185e-05 -2.53524080e+01] [ 1.21968758e-03 -6.96374122e-05 9.99999254e-01 1.87527486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4307140569999 meters Centerline goodness [0,1] 0.986471671636555 Centerline is valid? [True, True] Translation: X:533.14, Y:-25.36, Z:1.87 [[ 9.99993093e-01 3.22308912e-03 -1.85081059e-03 5.33137674e+02] [-3.22288411e-03 9.99994800e-01 1.13739397e-04 -2.53601561e+01] [ 1.85116756e-03 -1.07773663e-04 9.99998281e-01 1.87324677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4607140569999 meters Centerline goodness [0,1] 0.9869269538041684 Centerline is valid? [True, True] Translation: X:533.17, Y:-25.36, Z:1.87 [[ 9.99994565e-01 1.06247582e-03 -3.12109624e-03 5.33166902e+02] [-1.06188152e-03 9.99999418e-01 1.92065684e-04 -2.53606638e+01] [ 3.12129849e-03 -1.88750405e-04 9.99995111e-01 1.87209107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.490714057 meters Centerline goodness [0,1] 0.9863358661615609 Centerline is valid? [True, True] Translation: X:533.20, Y:-25.37, Z:1.87 [[ 9.99993882e-01 5.42778795e-04 -3.45557204e-03 5.33195756e+02] [-5.42047598e-04 9.99999831e-01 2.12532495e-04 -2.53652317e+01] [ 3.45568682e-03 -2.10658110e-04 9.99994007e-01 1.87109137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.520714057 meters Centerline goodness [0,1] 0.9857576824865721 Centerline is valid? [True, True] Translation: X:533.22, Y:-25.37, Z:1.87 [[ 9.99993908e-01 -8.82437320e-06 -3.49062736e-03 5.33224237e+02] [ 9.57380500e-06 9.99999977e-01 2.14681659e-04 -2.53678234e+01] [ 3.49062539e-03 -2.14713769e-04 9.99993885e-01 1.87094780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5507140569999 meters Centerline goodness [0,1] 0.9856486670622624 Centerline is valid? [True, True] Translation: X:533.25, Y:-25.37, Z:1.87 [[ 9.99995020e-01 3.53360092e-04 -3.13594485e-03 5.33254146e+02] [-3.52757257e-04 9.99999919e-01 1.92784688e-04 -2.53675609e+01] [ 3.13601272e-03 -1.91677501e-04 9.99995064e-01 1.87175236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5807140569999 meters Centerline goodness [0,1] 0.986021505376344 Centerline is valid? [True, True] Translation: X:533.28, Y:-25.37, Z:1.87 [[ 9.99994730e-01 2.23687296e-03 -2.35276303e-03 5.33284404e+02] [-2.23653979e-03 9.99997489e-01 1.44230881e-04 -2.53663246e+01] [ 2.35307975e-03 -1.38968073e-04 9.99997222e-01 1.87359844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.610714057 meters Centerline goodness [0,1] 0.9855530672287358 Centerline is valid? [True, True] Translation: X:533.31, Y:-25.37, Z:1.87 [[ 9.99993274e-01 3.30373706e-03 -1.59279665e-03 5.33313291e+02] [-3.30358580e-03 9.99994538e-01 9.75859336e-05 -2.53711380e+01] [ 1.59311035e-03 -9.23233369e-05 9.99998727e-01 1.87261978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.640714057 meters Centerline goodness [0,1] 0.9863121874177415 Centerline is valid? [True, True] Translation: X:533.34, Y:-25.37, Z:1.87 [[ 9.99987261e-01 5.04401527e-03 -1.91065156e-04 5.33343177e+02] [-5.04401319e-03 9.99987279e-01 1.13503727e-05 -2.53693727e+01] [ 1.91119977e-04 -1.03864929e-05 9.99999982e-01 1.87366005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6707140569999 meters Centerline goodness [0,1] 0.9854081565783438 Centerline is valid? [True, True] Translation: X:533.37, Y:-25.37, Z:1.87 [[ 9.99983348e-01 5.75714659e-03 3.98530535e-04 5.33372387e+02] [-5.75713698e-03 9.99983427e-01 -2.52678505e-05 -2.53700054e+01] [-3.98669401e-04 2.29730349e-05 9.99999920e-01 1.87359805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7007140569999 meters Centerline goodness [0,1] 0.9857682509004656 Centerline is valid? [True, True] Translation: X:533.40, Y:-25.37, Z:1.87 [[ 9.99970534e-01 7.65244070e-03 6.09276868e-04 5.33402194e+02] [-7.65241909e-03 9.99970719e-01 -3.78017172e-05 -2.53672324e+01] [-6.09548304e-04 3.31381614e-05 9.99999814e-01 1.87428511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.730714057 meters Centerline goodness [0,1] 0.9855429640224447 Centerline is valid? [True, True] Translation: X:533.43, Y:-25.37, Z:1.87 [[ 9.99950284e-01 9.96367648e-03 3.92918519e-04 5.33431308e+02] [-9.96366761e-03 9.99950361e-01 -2.45048583e-05 -2.53697284e+01] [-3.93143173e-04 2.05887305e-05 9.99999923e-01 1.87293200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.760714057 meters Centerline goodness [0,1] 0.9855938158819396 Centerline is valid? [True, True] Translation: X:533.46, Y:-25.37, Z:1.87 [[ 9.99929618e-01 1.18512467e-02 5.54283419e-04 5.33460151e+02] [-1.18512293e-02 9.99929771e-01 -3.47541542e-05 -2.53700632e+01] [-5.54656372e-04 2.81827683e-05 9.99999846e-01 1.87260961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.790714057 meters Centerline goodness [0,1] 0.9854922279792746 Centerline is valid? [True, True] Translation: X:533.49, Y:-25.37, Z:1.87 [[ 9.99895693e-01 1.44341518e-02 5.08532564e-04 5.33489754e+02] [-1.44341376e-02 9.99895822e-01 -3.15461557e-05 -2.53687050e+01] [-5.08934929e-04 2.42026362e-05 9.99999870e-01 1.87233735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8207140569999 meters Centerline goodness [0,1] 0.9874331491955894 Centerline is valid? [True, True] Translation: X:533.52, Y:-25.37, Z:1.87 [[ 9.99869966e-01 1.61097011e-02 7.27145905e-04 5.33518350e+02] [-1.61096725e-02 9.99870230e-01 -4.52904987e-05 -2.53697930e+01] [-7.27781160e-04 3.35705271e-05 9.99999735e-01 1.87244090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8507140569999 meters Centerline goodness [0,1] 0.986456131078224 Centerline is valid? [True, True] Translation: X:533.55, Y:-25.38, Z:1.87 [[ 9.99855462e-01 1.69765907e-02 9.22753414e-04 5.33546214e+02] [-1.69765450e-02 9.99855886e-01 -5.73673364e-05 -2.53759003e+01] [-9.23594334e-04 4.16938797e-05 9.99999573e-01 1.87140760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.880714057 meters Centerline goodness [0,1] 0.9861254872596736 Centerline is valid? [True, True] Translation: X:533.58, Y:-25.37, Z:1.87 [[ 9.99823060e-01 1.87805410e-02 1.06763633e-03 5.33575658e+02] [-1.87804815e-02 9.99823629e-01 -6.57477720e-05 -2.53737415e+01] [-1.06868281e-03 4.56854143e-05 9.99999428e-01 1.87208381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.910714057 meters Centerline goodness [0,1] 0.9873712415716764 Centerline is valid? [True, True] Translation: X:533.60, Y:-25.38, Z:1.87 [[ 9.99800998e-01 1.98418559e-02 2.06505076e-03 5.33604359e+02] [-1.98416365e-02 9.99803127e-01 -1.26671442e-04 -2.53762250e+01] [-2.06715760e-03 8.56722476e-05 9.99997860e-01 1.87166782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9407140569999 meters Centerline goodness [0,1] 0.9867749116145084 Centerline is valid? [True, True] Translation: X:533.63, Y:-25.38, Z:1.87 [[ 9.99807491e-01 1.94459353e-02 2.61454810e-03 5.33633166e+02] [-1.94455833e-02 9.99810904e-01 -1.59973637e-04 -2.53792763e+01] [-2.61716454e-03 1.09101428e-04 9.99996569e-01 1.87092872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9707140569999 meters Centerline goodness [0,1] 0.9873434352281685 Centerline is valid? [True, True] Translation: X:533.66, Y:-25.38, Z:1.87 [[ 9.99829739e-01 1.82000323e-02 3.04157636e-03 5.33660545e+02] [-1.81995509e-02 9.99834357e-01 -1.85895592e-04 -2.53846531e+01] [-3.04445585e-03 1.30508618e-04 9.99995357e-01 1.87079850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.000714057 meters Centerline goodness [0,1] 0.987131708172571 Centerline is valid? [True, True] Translation: X:533.69, Y:-25.39, Z:1.87 [[ 9.99847215e-01 1.72382788e-02 2.89620022e-03 5.33689618e+02] [-1.72378393e-02 9.99851402e-01 -1.76652658e-04 -2.53876566e+01] [-2.89881504e-03 1.26701434e-04 9.99995790e-01 1.87036686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.030714057 meters Centerline goodness [0,1] 0.9876249508926622 Centerline is valid? [True, True] Translation: X:533.72, Y:-25.39, Z:1.87 [[ 9.99861709e-01 1.63294210e-02 3.14842132e-03 5.33717733e+02] [-1.63288976e-02 9.99866656e-01 -1.91889472e-04 -2.53907916e+01] [-3.15113494e-03 1.40452687e-04 9.99995025e-01 1.87012982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0607140569999 meters Centerline goodness [0,1] 0.9855167442165279 Centerline is valid? [True, True] Translation: X:533.75, Y:-25.40, Z:1.87 [[ 9.99883523e-01 1.48399708e-02 3.56581310e-03 5.33746200e+02] [-1.48392925e-02 9.99889868e-01 -2.16594039e-04 -2.54007193e+01] [-3.56863464e-03 1.63654667e-04 9.99993619e-01 1.86921388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0907140569999 meters Centerline goodness [0,1] 0.9867844291789336 Centerline is valid? [True, True] Translation: X:533.78, Y:-25.40, Z:1.87 [[ 9.99899968e-01 1.34842529e-02 4.26963778e-03 5.33775500e+02] [-1.34832689e-02 9.99909063e-01 -2.59156366e-04 -2.53998679e+01] [-4.27274404e-03 2.01561768e-04 9.99990851e-01 1.87061015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.120714057 meters Centerline goodness [0,1] 0.9865136173184358 Centerline is valid? [True, True] Translation: X:533.80, Y:-25.41, Z:1.87 [[ 9.99910307e-01 1.25928935e-02 4.56029620e-03 5.33802802e+02] [-1.25917630e-02 9.99920682e-01 -2.76531352e-04 -2.54078044e+01] [-4.56341682e-03 2.19084380e-04 9.99989564e-01 1.86951253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.150714057 meters Centerline goodness [0,1] 0.985622481211197 Centerline is valid? [True, True] Translation: X:533.83, Y:-25.41, Z:1.87 [[ 9.99916716e-01 1.19922570e-02 4.76927706e-03 5.33831215e+02] [-1.19910166e-02 9.99928064e-01 -2.88593109e-04 -2.54135396e+01] [-4.77239485e-03 2.31380594e-04 9.99988585e-01 1.86828019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1807140569999 meters Centerline goodness [0,1] 0.9860060843111691 Centerline is valid? [True, True] Translation: X:533.86, Y:-25.42, Z:1.87 [[ 9.99922659e-01 1.13498049e-02 5.08504075e-03 5.33859659e+02] [-1.13483885e-02 9.99935558e-01 -3.07304974e-04 -2.54159779e+01] [-5.08820091e-03 2.49574189e-04 9.99987024e-01 1.86738677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2107140569999 meters Centerline goodness [0,1] 0.9844753045984541 Centerline is valid? [True, True] Translation: X:533.89, Y:-25.42, Z:1.87 [[ 9.99943597e-01 8.64020416e-03 6.17650790e-03 5.33888244e+02] [-8.63806768e-03 9.99962622e-01 -3.72498605e-04 -2.54231302e+01] [-6.17949550e-03 3.19124502e-04 9.99980856e-01 1.86684136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.240714057 meters Centerline goodness [0,1] 0.9842377598052005 Centerline is valid? [True, True] Translation: X:533.92, Y:-25.43, Z:1.87 [[ 9.99951935e-01 6.71027485e-03 7.14848889e-03 5.33917196e+02] [-6.70736652e-03 9.99977413e-01 -4.30742520e-04 -2.54286408e+01] [-7.15121783e-03 3.82774281e-04 9.99974356e-01 1.86660133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.270714057 meters Centerline goodness [0,1] 0.9843277246903638 Centerline is valid? [True, True] Translation: X:533.95, Y:-25.43, Z:1.87 [[ 9.99959192e-01 9.17039869e-04 8.98740030e-03 5.33947717e+02] [-9.12211688e-04 9.99999437e-01 -5.41301198e-04 -2.54293321e+01] [-8.98789164e-03 5.33080697e-04 9.99959466e-01 1.86741285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3007140569999 meters Centerline goodness [0,1] 0.9835720486111111 Centerline is valid? [True, True] Translation: X:533.98, Y:-25.43, Z:1.87 [[ 9.99956681e-01 -2.33237270e-03 9.01092432e-03 5.33978344e+02] [ 2.33735760e-03 9.99997121e-01 -5.42713788e-04 -2.54348305e+01] [-9.00963256e-03 5.63752030e-04 9.99959254e-01 1.86692752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3307140569999 meters Centerline goodness [0,1] 0.9834322614310873 Centerline is valid? [True, True] Translation: X:534.01, Y:-25.44, Z:1.87 [[ 9.99923823e-01 -8.57566488e-03 8.87723834e-03 5.34009286e+02] [ 8.58074899e-03 9.99963042e-01 -5.34783036e-04 -2.54399816e+01] [-8.87232414e-03 6.10915652e-04 9.99960454e-01 1.86576984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.360714057 meters Centerline goodness [0,1] 0.9829923106998566 Centerline is valid? [True, True] Translation: X:534.04, Y:-25.45, Z:1.87 [[ 9.99895779e-01 -1.13285288e-02 8.94965126e-03 5.34038920e+02] [ 1.13338092e-02 9.99935625e-01 -5.39512203e-04 -2.54453320e+01] [-8.94296324e-03 6.40889615e-04 9.99959806e-01 1.86505180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.390714057 meters Centerline goodness [0,1] 0.9808885418022474 Centerline is valid? [True, True] Translation: X:534.07, Y:-25.45, Z:1.86 [[ 9.99823673e-01 -1.62665442e-02 9.38203701e-03 5.34068182e+02] [ 1.62725635e-02 9.99867433e-01 -5.65594695e-04 -2.54520413e+01] [-9.37159299e-03 7.18164759e-04 9.99955828e-01 1.86413924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4207140569999 meters Centerline goodness [0,1] 0.9824157693643626 Centerline is valid? [True, True] Translation: X:534.10, Y:-25.46, Z:1.86 [[ 9.99793521e-01 -1.80153287e-02 9.40013366e-03 5.34099277e+02] [ 1.80214465e-02 9.99837440e-01 -5.66518242e-04 -2.54555328e+01] [-9.38839956e-03 7.35805274e-04 9.99955657e-01 1.86334164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4507140569999 meters Centerline goodness [0,1] 0.9812307425248449 Centerline is valid? [True, True] Translation: X:534.13, Y:-25.46, Z:1.86 [[ 9.99736471e-01 -2.13044871e-02 8.55031911e-03 5.34129825e+02] [ 2.13096713e-02 9.99772790e-01 -5.15659022e-04 -2.54610425e+01] [-8.53739055e-03 6.97727621e-04 9.99963312e-01 1.86079103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.480714057 meters Centerline goodness [0,1] 0.982125792720007 Centerline is valid? [True, True] Translation: X:534.16, Y:-25.46, Z:1.86 [[ 9.99692035e-01 -2.30651450e-02 9.15611979e-03 5.34161716e+02] [ 2.30711629e-02 9.99733673e-01 -5.52155235e-04 -2.54569676e+01] [-9.14094572e-03 7.63227521e-04 9.99957929e-01 1.86070068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.510714057 meters Centerline goodness [0,1] 0.9794735465876405 Centerline is valid? [True, True] Translation: X:534.19, Y:-25.47, Z:1.86 [[ 9.99670351e-01 -2.37343420e-02 9.79131868e-03 5.34191846e+02] [ 2.37412581e-02 9.99717962e-01 -5.90709948e-04 -2.54667224e+01] [-9.77453704e-03 8.22973445e-04 9.99951889e-01 1.86017598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.540714057 meters Centerline goodness [0,1] 0.9802894645340751 Centerline is valid? [True, True] Translation: X:534.22, Y:-25.46, Z:1.86 [[ 9.99655459e-01 -2.36817526e-02 1.13198251e-02 5.34224929e+02] [ 2.36910124e-02 9.99719094e-01 -6.84603927e-04 -2.54617403e+01] [-1.13004326e-02 9.52546168e-04 9.99935694e-01 1.86022946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5707140569999 meters Centerline goodness [0,1] 0.9791747930481515 Centerline is valid? [True, True] Translation: X:534.26, Y:-25.46, Z:1.86 [[ 9.99662099e-01 -2.31684745e-02 1.17859852e-02 5.34257363e+02] [ 2.31784929e-02 9.99731088e-01 -7.14119536e-04 -2.54625601e+01] [-1.17662708e-02 9.87059609e-04 9.99930288e-01 1.86023639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6007140569999 meters Centerline goodness [0,1] 0.978388869504536 Centerline is valid? [True, True] Translation: X:534.29, Y:-25.46, Z:1.86 [[ 9.99680619e-01 -2.16570648e-02 1.30242577e-02 5.34288775e+02] [ 2.16691842e-02 9.99764883e-01 -7.90115447e-04 -2.54619184e+01] [-1.30040839e-02 1.07208814e-03 9.99914869e-01 1.86061722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.630714057 meters Centerline goodness [0,1] 0.9789137657712437 Centerline is valid? [True, True] Translation: X:534.32, Y:-25.46, Z:1.86 [[ 9.99702838e-01 -2.06059804e-02 1.30242033e-02 5.34320960e+02] [ 2.06180180e-02 9.99787113e-01 -7.90641270e-04 -2.54627293e+01] [-1.30051387e-02 1.05893958e-03 9.99914869e-01 1.86038147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.660714057 meters Centerline goodness [0,1] 0.9786914831162619 Centerline is valid? [True, True] Translation: X:534.35, Y:-25.46, Z:1.86 [[ 9.99726745e-01 -1.91843398e-02 1.33564931e-02 5.34352209e+02] [ 1.91968855e-02 9.99815393e-01 -8.11711412e-04 -2.54614035e+01] [-1.33384553e-02 1.06789268e-03 9.99910469e-01 1.86016909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6907140569999 meters Centerline goodness [0,1] 0.9778706824847875 Centerline is valid? [True, True] Translation: X:534.38, Y:-25.46, Z:1.86 [[ 9.99731637e-01 -1.87714076e-02 1.35752752e-02 5.34384073e+02] [ 1.87843376e-02 9.99823218e-01 -8.25574923e-04 -2.54627470e+01] [-1.35573781e-02 1.08035592e-03 9.99907511e-01 1.85975387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7207140569999 meters Centerline goodness [0,1] 0.9778706824847875 Centerline is valid? [True, True] Translation: X:534.42, Y:-25.46, Z:1.86 [[ 9.99733616e-01 -1.86657458e-02 1.35752123e-02 5.34416645e+02] [ 1.86786800e-02 9.99825197e-01 -8.26607249e-04 -2.54648239e+01] [-1.35574101e-02 1.07995410e-03 9.99907511e-01 1.85938363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.750714057 meters Centerline goodness [0,1] 0.9796792378621684 Centerline is valid? [True, True] Translation: X:534.45, Y:-25.46, Z:1.86 [[ 9.99760025e-01 -1.76459069e-02 1.29813012e-02 5.34447550e+02] [ 1.76576646e-02 9.99843778e-01 -7.91679321e-04 -2.54648357e+01] [-1.29653033e-02 1.02070880e-03 9.99915426e-01 1.85799815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.780714057 meters Centerline goodness [0,1] 0.9792082027912276 Centerline is valid? [True, True] Translation: X:534.48, Y:-25.47, Z:1.86 [[ 9.99779010e-01 -1.64634302e-02 1.30723408e-02 5.34477710e+02] [ 1.64752612e-02 9.99863955e-01 -7.97860115e-04 -2.54654904e+01] [-1.30574269e-02 1.01305403e-03 9.99914235e-01 1.85687823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8107140569999 meters Centerline goodness [0,1] 0.9791771804717498 Centerline is valid? [True, True] Translation: X:534.51, Y:-25.46, Z:1.86 [[ 9.99790550e-01 -1.57053596e-02 1.31224498e-02 5.34510655e+02] [ 1.57172217e-02 9.99876156e-01 -8.01309650e-04 -2.54621355e+01] [-1.31082398e-02 1.00739027e-03 9.99913576e-01 1.85628341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8407140569999 meters Centerline goodness [0,1] 0.9791197005843857 Centerline is valid? [True, True] Translation: X:534.54, Y:-25.46, Z:1.86 [[ 9.99803991e-01 -1.47325500e-02 1.32261967e-02 5.34541574e+02] [ 1.47445336e-02 9.99890966e-01 -8.08989139e-04 -2.54634816e+01] [-1.32128361e-02 1.00384467e-03 9.99912203e-01 1.85560750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.870714057 meters Centerline goodness [0,1] 0.97909592061742 Centerline is valid? [True, True] Translation: X:534.57, Y:-25.46, Z:1.86 [[ 9.99825405e-01 -1.29739288e-02 1.34475481e-02 5.34573515e+02] [ 1.29861681e-02 9.99915337e-01 -8.23232014e-04 -2.54576848e+01] [-1.34357290e-02 9.97720402e-04 9.99909239e-01 1.85507131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.900714057 meters Centerline goodness [0,1] 0.9798816306700234 Centerline is valid? [True, True] Translation: X:534.61, Y:-25.46, Z:1.85 [[ 9.99849323e-01 -1.20089229e-02 1.25346589e-02 5.34606350e+02] [ 1.20194880e-02 9.99927469e-01 -7.67880632e-04 -2.54575978e+01] [-1.25245283e-02 9.18425112e-04 9.99921143e-01 1.85394379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9307140569999 meters Centerline goodness [0,1] 0.9781812566184257 Centerline is valid? [True, True] Translation: X:534.64, Y:-25.46, Z:1.85 [[ 9.99889667e-01 -1.03629331e-02 1.06425732e-02 5.34636887e+02] [ 1.03704695e-02 9.99946012e-01 -6.53196859e-04 -2.54617843e+01] [-1.06352296e-02 7.63493270e-04 9.99943153e-01 1.85172259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9607140569999 meters Centerline goodness [0,1] 0.9788065434797006 Centerline is valid? [True, True] Translation: X:534.67, Y:-25.45, Z:1.85 [[ 9.99913724e-01 -9.20378002e-03 9.37197920e-03 5.34669917e+02] [ 9.20957563e-03 9.99957425e-01 -5.75427542e-04 -2.54544509e+01] [-9.36628408e-03 6.61689848e-04 9.99955916e-01 1.85105432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.990714057 meters Centerline goodness [0,1] 0.9794647028722718 Centerline is valid? [True, True] Translation: X:534.70, Y:-25.45, Z:1.85 [[ 9.99914224e-01 -9.15754962e-03 9.36398652e-03 5.34702671e+02] [ 9.16333882e-03 9.99957850e-01 -5.75523460e-04 -2.54526310e+01] [-9.35832145e-03 6.61279475e-04 9.99955991e-01 1.85125061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.020714057 meters Centerline goodness [0,1] 0.9802335428087534 Centerline is valid? [True, True] Translation: X:534.74, Y:-25.45, Z:1.85 [[ 9.99904236e-01 -8.73974020e-03 1.07301626e-02 5.34735072e+02] [ 8.74733252e-03 9.99961523e-01 -6.60839383e-04 -2.54507031e+01] [-1.07239742e-02 7.54636399e-04 9.99942212e-01 1.85308127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0507140569999 meters Centerline goodness [0,1] 0.9798680237109942 Centerline is valid? [True, True] Translation: X:534.77, Y:-25.45, Z:1.85 [[ 9.99896865e-01 -8.79611179e-03 1.13528908e-02 5.34767373e+02] [ 8.80462429e-03 9.99960994e-01 -7.00044923e-04 -2.54511742e+01] [-1.13462903e-02 7.99930662e-04 9.99935309e-01 1.85314683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0807140569999 meters Centerline goodness [0,1] 0.9779494318947322 Centerline is valid? [True, True] Translation: X:534.80, Y:-25.45, Z:1.85 [[ 9.99881257e-01 -1.02204200e-02 1.15332503e-02 5.34799108e+02] [ 1.02293090e-02 9.99947426e-01 -7.12000229e-04 -2.54533741e+01] [-1.15253670e-02 8.29892865e-04 9.99933236e-01 1.85264169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.110714057 meters Centerline goodness [0,1] 0.9782740433172483 Centerline is valid? [True, True] Translation: X:534.83, Y:-25.46, Z:1.85 [[ 9.99874384e-01 -1.11822117e-02 1.12327747e-02 5.34831114e+02] [ 1.11907105e-02 9.99937141e-01 -6.94032880e-04 -2.54554805e+01] [-1.12243077e-02 8.19648427e-04 9.99936670e-01 1.85175772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.140714057 meters Centerline goodness [0,1] 0.9784575904916262 Centerline is valid? [True, True] Translation: X:534.86, Y:-25.46, Z:1.85 [[ 9.99851946e-01 -1.44586965e-02 9.32911866e-03 5.34861257e+02] [ 1.44647065e-02 9.99895214e-01 -5.77070624e-04 -2.54578620e+01] [-9.31979741e-03 7.11928150e-04 9.99956316e-01 1.85006782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1707140569999 meters Centerline goodness [0,1] 0.9790367251356646 Centerline is valid? [True, True] Translation: X:534.89, Y:-25.46, Z:1.85 [[ 9.99834906e-01 -1.60096887e-02 8.59361360e-03 5.34891684e+02] [ 1.60148453e-02 9.99871613e-01 -5.31566451e-04 -2.54616507e+01] [-8.58400008e-03 6.69104085e-04 9.99962933e-01 1.84895746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2007140569999 meters Centerline goodness [0,1] 0.9778549521919538 Centerline is valid? [True, True] Translation: X:534.92, Y:-25.46, Z:1.85 [[ 9.99785045e-01 -1.95229414e-02 6.97985975e-03 5.34922267e+02] [ 1.95264292e-02 9.99809248e-01 -4.31893420e-04 -2.54626603e+01] [-6.97009650e-03 5.68092320e-04 9.99975547e-01 1.84745419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.230714057 meters Centerline goodness [0,1] 0.9760287200927041 Centerline is valid? [True, True] Translation: X:534.95, Y:-25.47, Z:1.85 [[ 9.99751871e-01 -2.13017777e-02 6.51383667e-03 5.34952228e+02] [ 2.13048504e-02 9.99772945e-01 -4.02701373e-04 -2.54665090e+01] [-6.50377942e-03 5.41377767e-04 9.99978704e-01 1.84752491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.260714057 meters Centerline goodness [0,1] 0.9697032010418809 Centerline is valid? [True, True] Translation: X:534.98, Y:-25.48, Z:1.85 [[ 9.99691522e-01 -2.38172027e-02 7.04284669e-03 5.34981317e+02] [ 2.38208637e-02 9.99716148e-01 -4.36391301e-04 -2.54758489e+01] [-7.03045394e-03 6.04023375e-04 9.99975104e-01 1.84788968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.290714057 meters Centerline goodness [0,1] 0.9721274175199089 Centerline is valid? [True, True] Translation: X:535.01, Y:-25.47, Z:1.85 [[ 9.99674340e-01 -2.45282593e-02 7.04122916e-03 5.35013436e+02] [ 2.45319342e-02 9.99698952e-01 -4.36000757e-04 -2.54745098e+01] [-7.02841507e-03 6.08593740e-04 9.99975115e-01 1.84782163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3207140569999 meters Centerline goodness [0,1] 0.9723665403725299 Centerline is valid? [True, True] Translation: X:535.05, Y:-25.47, Z:1.85 [[ 9.99654518e-01 -2.50649208e-02 7.91165275e-03 5.35045836e+02] [ 2.50695820e-02 9.99685588e-01 -4.90524378e-04 -2.54742402e+01] [-7.89687028e-03 6.88696739e-04 9.99968582e-01 1.84890095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3507140569999 meters Centerline goodness [0,1] 0.9721931699331545 Centerline is valid? [True, True] Translation: X:535.08, Y:-25.48, Z:1.85 [[ 9.99654588e-01 -2.51003474e-02 7.78959674e-03 5.35077912e+02] [ 2.51048710e-02 9.99684706e-01 -4.83469732e-04 -2.54753066e+01] [-7.77500547e-03 6.78859557e-04 9.99969544e-01 1.84933096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.380714057 meters Centerline goodness [0,1] 0.9745512383549193 Centerline is valid? [True, True] Translation: X:535.11, Y:-25.47, Z:1.85 [[ 9.99667748e-01 -2.46854156e-02 7.41779750e-03 5.35110422e+02] [ 2.46895097e-02 9.99695061e-01 -4.60849372e-04 -2.54698423e+01] [-7.40415926e-03 6.43838037e-04 9.99972382e-01 1.84870198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.410714057 meters Centerline goodness [0,1] 0.9763844205626668 Centerline is valid? [True, True] Translation: X:535.14, Y:-25.46, Z:1.85 [[ 9.99724127e-01 -2.26715985e-02 6.13753103e-03 5.35142269e+02] [ 2.26743670e-02 9.99742831e-01 -3.81861958e-04 -2.54597976e+01] [-6.12729522e-03 5.20921243e-04 9.99981092e-01 1.84720816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4407140569999 meters Centerline goodness [0,1] 0.9739118526464748 Centerline is valid? [True, True] Translation: X:535.17, Y:-25.47, Z:1.85 [[ 9.99763002e-01 -2.09668335e-02 5.85938123e-03 5.35172020e+02] [ 2.09693282e-02 9.99780053e-01 -3.64651817e-04 -2.54697088e+01] [-5.85044688e-03 4.87432683e-04 9.99982767e-01 1.84595973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4707140569999 meters Centerline goodness [0,1] 0.9728613704663807 Centerline is valid? [True, True] Translation: X:535.20, Y:-25.47, Z:1.84 [[ 9.99802401e-01 -1.93829193e-02 4.41154729e-03 5.35202166e+02] [ 1.93843183e-02 9.99812069e-01 -2.74584408e-04 -2.54689621e+01] [-4.40539597e-03 3.60044987e-04 9.99990231e-01 1.84352274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.500714057 meters Centerline goodness [0,1] 0.9781877648793071 Centerline is valid? [True, True] Translation: X:535.23, Y:-25.46, Z:1.84 [[ 9.99825989e-01 -1.82695708e-02 3.77014572e-03 5.35234770e+02] [ 1.82705833e-02 9.99833052e-01 -2.34289808e-04 -2.54600637e+01] [-3.76523593e-03 3.03131800e-04 9.99992866e-01 1.84357515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.530714057 meters Centerline goodness [0,1] 0.9786056805606788 Centerline is valid? [True, True] Translation: X:535.27, Y:-25.46, Z:1.84 [[ 9.99847398e-01 -1.72326825e-02 2.86641573e-03 5.35267257e+02] [ 1.72332635e-02 9.99851480e-01 -1.78138224e-04 -2.54591985e+01] [-2.86292022e-03 2.27508737e-04 9.99995876e-01 1.84330090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5607140569999 meters Centerline goodness [0,1] 0.9776978251343436 Centerline is valid? [True, True] Translation: X:535.30, Y:-25.46, Z:1.84 [[ 9.99861284e-01 -1.64264537e-02 2.75396995e-03 5.35300003e+02] [ 1.64269871e-02 9.99865053e-01 -1.71164793e-04 -2.54603873e+01] [-2.75078668e-03 2.16380479e-04 9.99996193e-01 1.84331044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5907140569999 meters Centerline goodness [0,1] 0.9752815731166913 Centerline is valid? [True, True] Translation: X:535.33, Y:-25.46, Z:1.84 [[ 9.99889465e-01 -1.46781345e-02 2.36852695e-03 5.35331641e+02] [ 1.46785254e-02 9.99892254e-01 -1.47755938e-04 -2.54589474e+01] [-2.36610297e-03 1.82506089e-04 9.99997184e-01 1.84234246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.620714057 meters Centerline goodness [0,1] 0.9752849513328555 Centerline is valid? [True, True] Translation: X:535.36, Y:-25.46, Z:1.84 [[ 9.99904989e-01 -1.36673478e-02 1.79348013e-03 5.35363666e+02] [ 1.36675697e-02 9.99906588e-01 -1.11511058e-04 -2.54579079e+01] [-1.79178854e-03 1.36012978e-04 9.99998385e-01 1.84154786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.650714057 meters Centerline goodness [0,1] 0.976401934343904 Centerline is valid? [True, True] Translation: X:535.40, Y:-25.45, Z:1.84 [[ 9.99922121e-01 -1.24214984e-02 1.20727035e-03 5.35396064e+02] [ 1.24215978e-02 9.99922846e-01 -7.48812274e-05 -2.54546703e+01] [-1.20624707e-03 8.98716224e-05 9.99999268e-01 1.84127547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6807140569999 meters Centerline goodness [0,1] 0.975860631052217 Centerline is valid? [True, True] Translation: X:535.43, Y:-25.45, Z:1.84 [[ 9.99921774e-01 -1.24761886e-02 8.89229184e-04 5.35428361e+02] [ 1.24762424e-02 9.99922167e-01 -5.50009138e-05 -2.54546171e+01] [-8.88473771e-04 6.60908501e-05 9.99999603e-01 1.84096651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7107140569999 meters Centerline goodness [0,1] 0.9745404753063498 Centerline is valid? [True, True] Translation: X:535.46, Y:-25.46, Z:1.84 [[ 9.99915829e-01 -1.29216076e-02 1.16883850e-03 5.35459422e+02] [ 1.29217015e-02 9.99916509e-01 -7.28206824e-05 -2.54568930e+01] [-1.16779995e-03 8.79179352e-05 9.99999314e-01 1.84083508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.740714057 meters Centerline goodness [0,1] 0.9679661813057774 Centerline is valid? [True, True] Translation: X:535.49, Y:-25.46, Z:1.84 [[ 9.99891160e-01 -1.46326548e-02 1.88529435e-03 5.35489135e+02] [ 1.46329024e-02 9.99892926e-01 -1.17610562e-04 -2.54579318e+01] [-1.88337153e-03 1.45185090e-04 9.99998216e-01 1.83974766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.770714057 meters Centerline goodness [0,1] 0.9704687645905313 Centerline is valid? [True, True] Translation: X:535.52, Y:-25.46, Z:1.84 [[ 9.99888035e-01 -1.47251443e-02 2.66237263e-03 5.35521469e+02] [ 1.47256405e-02 9.99891558e-01 -1.66872826e-04 -2.54592312e+01] [-2.65962669e-03 2.06059284e-04 9.99996442e-01 1.83957044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8007140569999 meters Centerline goodness [0,1] 0.969401689619257 Centerline is valid? [True, True] Translation: X:535.55, Y:-25.46, Z:1.84 [[ 9.99879348e-01 -1.53963600e-02 2.05936584e-03 5.35552141e+02] [ 1.53966589e-02 9.99881456e-01 -1.29368129e-04 -2.54617961e+01] [-2.05712991e-03 1.61059874e-04 9.99997871e-01 1.83898652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8307140569999 meters Centerline goodness [0,1] 0.9721835237299155 Centerline is valid? [True, True] Translation: X:535.58, Y:-25.46, Z:1.84 [[ 9.99874026e-01 -1.57607481e-02 1.87905471e-03 5.35584706e+02] [ 1.57609970e-02 9.99875781e-01 -1.17727001e-04 -2.54583220e+01] [-1.87696583e-03 1.47327946e-04 9.99998228e-01 1.83933680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.860714057 meters Centerline goodness [0,1] 0.9732906726020728 Centerline is valid? [True, True] Translation: X:535.62, Y:-25.46, Z:1.84 [[ 9.99834706e-01 -1.81218168e-02 1.46983480e-03 5.35615658e+02] [ 1.81219720e-02 9.99835779e-01 -9.23390240e-05 -2.54568220e+01] [-1.46792007e-03 1.18960066e-04 9.99998916e-01 1.83930795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.890714057 meters Centerline goodness [0,1] 0.9742354031510658 Centerline is valid? [True, True] Translation: X:535.65, Y:-25.46, Z:1.84 [[ 9.99806186e-01 -1.96414588e-02 1.34279657e-03 5.35645811e+02] [ 1.96415900e-02 9.99807082e-01 -8.45812234e-05 -2.54606599e+01] [-1.34087622e-03 1.10939490e-04 9.99999095e-01 1.83899074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9207140569999 meters Centerline goodness [0,1] 0.9728966554796898 Centerline is valid? [True, True] Translation: X:535.68, Y:-25.46, Z:1.84 [[ 9.99744062e-01 -2.25874529e-02 1.27204381e-03 5.35676191e+02] [ 2.25875731e-02 9.99744865e-01 -8.02784685e-05 -2.54645633e+01] [-1.26990598e-03 1.08990305e-04 9.99999188e-01 1.83792154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9507140569999 meters Centerline goodness [0,1] 0.970255087945483 Centerline is valid? [True, True] Translation: X:535.71, Y:-25.47, Z:1.84 [[ 9.99670652e-01 -2.56550702e-02 6.36504155e-04 5.35705727e+02] [ 2.56551011e-02 9.99670853e-01 -4.03472970e-05 -2.54705942e+01] [-6.35259539e-04 5.66635871e-05 9.99999797e-01 1.83662814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.980714057 meters Centerline goodness [0,1] 0.9715074798619102 Centerline is valid? [True, True] Translation: X:535.74, Y:-25.47, Z:1.84 [[ 9.99655611e-01 -2.62307035e-02 7.81356115e-04 5.35738184e+02] [ 2.62307494e-02 9.99655914e-01 -4.85817460e-05 -2.54720478e+01] [-7.79812928e-04 6.90605714e-05 9.99999694e-01 1.83653252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.010714057 meters Centerline goodness [0,1] 0.9718786706280661 Centerline is valid? [True, True] Translation: X:535.77, Y:-25.47, Z:1.84 [[ 9.99617914e-01 -2.76407043e-02 -1.32676290e-04 5.35769005e+02] [ 2.76407057e-02 9.99617923e-01 8.92599388e-06 -2.54734794e+01] [ 1.32378877e-04 -1.25898497e-05 9.99999991e-01 1.83643081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.040714057 meters Centerline goodness [0,1] 0.9719335437933497 Centerline is valid? [True, True] Translation: X:535.80, Y:-25.47, Z:1.84 [[ 9.99630978e-01 -2.71468749e-02 -9.77180056e-04 5.35801634e+02] [ 2.71469490e-02 9.99631452e-01 6.26759787e-05 -2.54737627e+01] [ 9.75118461e-04 -8.91803070e-05 9.99999521e-01 1.83610946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0707140569999 meters Centerline goodness [0,1] 0.9692028569460074 Centerline is valid? [True, True] Translation: X:535.83, Y:-25.48, Z:1.83 [[ 9.99625633e-01 -2.73320402e-02 -1.24650885e-03 5.35832702e+02] [ 2.73321618e-02 9.99626403e-01 8.05928226e-05 -2.54772294e+01] [ 1.24384039e-03 -1.14632433e-04 9.99999220e-01 1.83473172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1007140569999 meters Centerline goodness [0,1] 0.9725992671629065 Centerline is valid? [True, True] Translation: X:535.87, Y:-25.48, Z:1.83 [[ 9.99642870e-01 -2.66598675e-02 -1.83952621e-03 5.35865599e+02] [ 2.66601292e-02 9.99644549e-01 1.17886920e-04 -2.54750633e+01] [ 1.83572949e-03 -1.66886825e-04 9.99998301e-01 1.83479985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.130714057 meters Centerline goodness [0,1] 0.9712236851207083 Centerline is valid? [True, True] Translation: X:535.90, Y:-25.48, Z:1.83 [[ 9.99668265e-01 -2.55866956e-02 -2.94627798e-03 5.35896760e+02] [ 2.55873635e-02 9.99672572e-01 1.89217426e-04 -2.54755529e+01] [ 2.94047184e-03 -2.64542142e-04 9.99995642e-01 1.83387776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.160714057 meters Centerline goodness [0,1] 0.9660195295366929 Centerline is valid? [True, True] Translation: X:535.93, Y:-25.48, Z:1.83 [[ 9.99711033e-01 -2.38368814e-02 -3.10700259e-03 5.35926813e+02] [ 2.38376114e-02 9.99715824e-01 1.98108149e-04 -2.54790936e+01] [ 3.10139738e-03 -2.72114423e-04 9.99995154e-01 1.83230595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1907140569999 meters Centerline goodness [0,1] 0.9549651447301601 Centerline is valid? [True, True] Translation: X:535.96, Y:-25.48, Z:1.83 [[ 9.99717351e-01 -2.35221946e-02 -3.45310707e-03 5.35957872e+02] [ 2.35230962e-02 9.99723269e-01 2.20708914e-04 -2.54836046e+01] [ 3.44695994e-03 -3.01874301e-04 9.99994014e-01 1.83137556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2207140569999 meters Centerline goodness [0,1] 0.9553235232969115 Centerline is valid? [True, True] Translation: X:535.99, Y:-25.48, Z:1.83 [[ 9.99741874e-01 -2.21874602e-02 -4.88888563e-03 5.35989104e+02] [ 2.21892502e-02 9.99753740e-01 3.12203654e-04 -2.54828769e+01] [ 4.88075469e-03 -4.20603773e-04 9.99988001e-01 1.83072357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.250714057 meters Centerline goodness [0,1] 0.9563083192479567 Centerline is valid? [True, True] Translation: X:536.02, Y:-25.48, Z:1.83 [[ 9.99761925e-01 -2.11895955e-02 -5.20531689e-03 5.36021332e+02] [ 2.11916150e-02 9.99775377e-01 3.33108384e-04 -2.54835531e+01] [ 5.19708922e-03 -4.43338150e-04 9.99986397e-01 1.83014577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.280714057 meters Centerline goodness [0,1] 0.9678243105209398 Centerline is valid? [True, True] Translation: X:536.05, Y:-25.48, Z:1.83 [[ 9.99759293e-01 -2.12775922e-02 -5.34980191e-03 5.36053646e+02] [ 2.12797286e-02 9.99773502e-01 3.42724133e-04 -2.54782424e+01] [ 5.34129785e-03 -4.56483970e-04 9.99985631e-01 1.83166368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3107140569999 meters Centerline goodness [0,1] 0.9713259988419224 Centerline is valid? [True, True] Translation: X:536.09, Y:-25.48, Z:1.83 [[ 9.99788471e-01 -1.98338195e-02 -5.44368712e-03 5.36085261e+02] [ 1.98360092e-02 9.99803186e-01 3.48537112e-04 -2.54759312e+01] [ 5.43570290e-03 -4.56444414e-04 9.99985122e-01 1.83275816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3407140569999 meters Centerline goodness [0,1] 0.9651787368031117 Centerline is valid? [True, True] Translation: X:536.12, Y:-25.48, Z:1.83 [[ 9.99817672e-01 -1.84489418e-02 -4.92542304e-03 5.36115931e+02] [ 1.84507187e-02 9.99829721e-01 3.15561230e-04 -2.54811553e+01] [ 4.91876257e-03 -4.06381289e-04 9.99987820e-01 1.83248035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.370714057 meters Centerline goodness [0,1] 0.9722041310011165 Centerline is valid? [True, True] Translation: X:536.15, Y:-25.47, Z:1.83 [[ 9.99827608e-01 -1.78661267e-02 -5.05521339e-03 5.36148409e+02] [ 1.78679950e-02 9.99840302e-01 3.24636025e-04 -2.54732087e+01] [ 5.04860610e-03 -4.14906588e-04 9.99987170e-01 1.83385263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.400714057 meters Centerline goodness [0,1] 0.964701778862923 Centerline is valid? [True, True] Translation: X:536.18, Y:-25.48, Z:1.83 [[ 9.99871205e-01 -1.53612783e-02 -4.64813441e-03 5.36177465e+02] [ 1.53628274e-02 9.99881940e-01 2.97753560e-04 -2.54842949e+01] [ 4.64301178e-03 -3.69123698e-04 9.99989153e-01 1.83194673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4307140569999 meters Centerline goodness [0,1] 0.9659588339387166 Centerline is valid? [True, True] Translation: X:536.21, Y:-25.48, Z:1.83 [[ 9.99914925e-01 -1.24208646e-02 -3.98308365e-03 5.36207884e+02] [ 1.24219793e-02 9.99922812e-01 2.55235835e-04 -2.54848217e+01] [ 3.97960595e-03 -3.04691904e-04 9.99992035e-01 1.83198839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4607140569999 meters Centerline goodness [0,1] 0.9630613624181407 Centerline is valid? [True, True] Translation: X:536.24, Y:-25.49, Z:1.83 [[ 9.99905015e-01 -1.29240629e-02 -4.78846129e-03 5.36239239e+02] [ 1.29256831e-02 9.99916413e-01 3.07564569e-04 -2.54862998e+01] [ 4.78408605e-03 -3.69429488e-04 9.99988488e-01 1.83092709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.490714057 meters Centerline goodness [0,1] 0.9716992137374303 Centerline is valid? [True, True] Translation: X:536.27, Y:-25.48, Z:1.83 [[ 9.99949594e-01 -8.68872553e-03 -5.03143313e-03 5.36270737e+02] [ 8.69045806e-03 9.99962185e-01 3.22580767e-04 -2.54769873e+01] [ 5.02844005e-03 -3.66289966e-04 9.99987290e-01 1.83288541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.520714057 meters Centerline goodness [0,1] 0.9723749184757291 Centerline is valid? [True, True] Translation: X:536.30, Y:-25.48, Z:1.83 [[ 9.99956245e-01 -7.73588482e-03 -5.25972193e-03 5.36301989e+02] [ 7.73776812e-03 9.99970006e-01 3.37805985e-04 -2.54758985e+01] [ 5.25695095e-03 -3.78489713e-04 9.99986111e-01 1.83323531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5507140569999 meters Centerline goodness [0,1] 0.9727437916414294 Centerline is valid? [True, True] Translation: X:536.33, Y:-25.48, Z:1.83 [[ 9.99963939e-01 -6.67189066e-03 -5.25421879e-03 5.36332088e+02] [ 6.67375484e-03 9.99977673e-01 3.37343602e-04 -2.54803980e+01] [ 5.25185076e-03 -3.72396805e-04 9.99986140e-01 1.83181312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5807140569999 meters Centerline goodness [0,1] 0.9723826378539493 Centerline is valid? [True, True] Translation: X:536.36, Y:-25.48, Z:1.83 [[ 9.99969277e-01 -5.47575454e-03 -5.60904637e-03 5.36363011e+02] [ 5.47786075e-03 9.99984932e-01 3.60207138e-04 -2.54827745e+01] [ 5.60698945e-03 -3.90921647e-04 9.99984204e-01 1.83106782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.610714057 meters Centerline goodness [0,1] 0.9735099337748344 Centerline is valid? [True, True] Translation: X:536.39, Y:-25.48, Z:1.83 [[ 9.99954465e-01 -6.96858359e-03 -6.51978205e-03 5.36393298e+02] [ 6.97145730e-03 9.99975612e-01 4.18145486e-04 -2.54819357e+01] [ 6.51670916e-03 -4.63578827e-04 9.99978659e-01 1.83089772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.640714057 meters Centerline goodness [0,1] 0.9735099337748344 Centerline is valid? [True, True] Translation: X:536.42, Y:-25.48, Z:1.83 [[ 9.99954465e-01 -6.96858589e-03 -6.51976911e-03 5.36423315e+02] [ 6.97146091e-03 9.99975612e-01 4.18347172e-04 -2.54838619e+01] [ 6.51669481e-03 -4.63780438e-04 9.99978659e-01 1.83055623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6707140569999 meters Centerline goodness [0,1] 0.9718730467393569 Centerline is valid? [True, True] Translation: X:536.45, Y:-25.49, Z:1.83 [[ 9.99952055e-01 -7.38391384e-03 -6.43161877e-03 5.36453357e+02] [ 7.38672221e-03 9.99972633e-01 4.13006218e-04 -2.54941731e+01] [ 6.42839315e-03 -4.60494998e-04 9.99979232e-01 1.82884261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7007140569999 meters Centerline goodness [0,1] 0.9727461357331033 Centerline is valid? [True, True] Translation: X:536.48, Y:-25.49, Z:1.83 [[ 9.99944507e-01 -8.51551619e-03 -6.20231093e-03 5.36483774e+02] [ 8.51814832e-03 9.99963641e-01 3.98087298e-04 -2.54929969e+01] [ 6.19869550e-03 -4.50897411e-04 9.99980686e-01 1.82944578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.730714057 meters Centerline goodness [0,1] 0.9719543442813883 Centerline is valid? [True, True] Translation: X:536.51, Y:-25.49, Z:1.83 [[ 9.99956688e-01 -7.35055666e-03 -5.70896064e-03 5.36514556e+02] [ 7.35276782e-03 9.99972901e-01 3.66422639e-04 -2.54942313e+01] [ 5.70611252e-03 -4.08383431e-04 9.99983637e-01 1.82922517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.760714057 meters Centerline goodness [0,1] 0.9710344184745882 Centerline is valid? [True, True] Translation: X:536.54, Y:-25.49, Z:1.83 [[ 9.99965789e-01 -6.00893758e-03 -5.68444099e-03 5.36544929e+02] [ 6.01110822e-03 9.99981867e-01 3.64848617e-04 -2.54948757e+01] [ 5.68214556e-03 -3.99005925e-04 9.99983777e-01 1.82918022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.790714057 meters Centerline goodness [0,1] 0.9720198328638935 Centerline is valid? [True, True] Translation: X:536.57, Y:-25.50, Z:1.83 [[ 9.99955857e-01 -7.34900517e-03 -5.85453016e-03 5.36574042e+02] [ 7.35132877e-03 9.99972908e-01 3.75467956e-04 -2.54977032e+01] [ 5.85161224e-03 -4.18489958e-04 9.99982792e-01 1.82891164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8207140569999 meters Centerline goodness [0,1] 0.9718385315972141 Centerline is valid? [True, True] Translation: X:536.60, Y:-25.50, Z:1.83 [[ 9.99953643e-01 -7.80811462e-03 -5.63422301e-03 5.36604411e+02] [ 7.81027494e-03 9.99969434e-01 3.61527833e-04 -2.54961123e+01] [ 5.63122794e-03 -4.05515905e-04 9.99984062e-01 1.82906778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8507140569999 meters Centerline goodness [0,1] 0.9722946544980443 Centerline is valid? [True, True] Translation: X:536.63, Y:-25.50, Z:1.83 [[ 9.99951841e-01 -7.90175896e-03 -5.82052169e-03 5.36634499e+02] [ 7.90406786e-03 9.99968693e-01 3.73785607e-04 -2.55014271e+01] [ 5.81738590e-03 -4.19773404e-04 9.99982991e-01 1.82768576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.880714057 meters Centerline goodness [0,1] 0.9739554187651558 Centerline is valid? [True, True] Translation: X:536.67, Y:-25.50, Z:1.83 [[ 9.99934809e-01 -9.59409752e-03 -6.19115215e-03 5.36665414e+02] [ 9.59674430e-03 9.99953871e-01 3.97944780e-04 -2.55021748e+01] [ 6.18704864e-03 -4.57333742e-04 9.99980755e-01 1.82742663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.910714057 meters Centerline goodness [0,1] 0.9738657746184403 Centerline is valid? [True, True] Translation: X:536.70, Y:-25.50, Z:1.83 [[ 9.99925591e-01 -1.07289173e-02 -5.80541496e-03 5.36696450e+02] [ 1.07312652e-02 9.99942349e-01 3.73426153e-04 -2.55037797e+01] [ 5.80107381e-03 -4.35697814e-04 9.99983079e-01 1.82704185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9407140569999 meters Centerline goodness [0,1] 0.9720101190614339 Centerline is valid? [True, True] Translation: X:536.73, Y:-25.52, Z:1.82 [[ 9.99895519e-01 -1.30212563e-02 -6.27679908e-03 5.36725609e+02] [ 1.30240430e-02 9.99915102e-01 4.03303162e-04 -2.55153537e+01] [ 6.27101468e-03 -4.85010326e-04 9.99980219e-01 1.82461728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9707140569999 meters Centerline goodness [0,1] 0.9740785274938722 Centerline is valid? [True, True] Translation: X:536.76, Y:-25.51, Z:1.83 [[ 9.99888500e-01 -1.35573203e-02 -6.25996760e-03 5.36758034e+02] [ 1.35601105e-02 9.99907976e-01 4.03488918e-04 -2.55120846e+01] [ 6.25392130e-03 -4.88329781e-04 9.99980325e-01 1.82547865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.000714057 meters Centerline goodness [0,1] 0.8104823067971209 Centerline is valid? [True, False] Translation: X:536.81, Y:-25.52, Z:1.83 [[ 9.99838236e-01 -1.67354606e-02 -6.58989539e-03 5.36806958e+02] [ 1.67287970e-02 9.99859497e-01 -1.06501104e-03 -2.55152761e+01] [ 6.60679294e-03 9.54597742e-04 9.99977719e-01 1.82638717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.030714057 meters Centerline goodness [0,1] 0.9746812134603876 Centerline is valid? [False, True] Translation: X:536.74, Y:-25.52, Z:1.83 [[ 9.99892555e-01 -1.35560086e-02 -5.57798238e-03 5.36740824e+02] [ 1.35313918e-02 9.99898644e-01 -4.42753193e-03 -2.55154945e+01] [ 5.63743668e-03 4.35157835e-03 9.99974641e-01 1.82586583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0607140569999 meters Centerline goodness [0,1] 0.9742134172967756 Centerline is valid? [True, True] Translation: X:536.77, Y:-25.52, Z:1.82 [[ 9.99896739e-01 -1.35197939e-02 -4.87104426e-03 5.36772835e+02] [ 1.35215426e-02 9.99908527e-01 3.26245433e-04 -2.55218971e+01] [ 4.86618792e-03 -3.92075777e-04 9.99988083e-01 1.82289757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0907140569999 meters Centerline goodness [0,1] 0.9748836996127139 Centerline is valid? [True, True] Translation: X:536.80, Y:-25.53, Z:1.82 [[ 9.99897890e-01 -1.34197663e-02 -4.91118694e-03 5.36803411e+02] [ 1.34215429e-02 9.99909873e-01 3.28956410e-04 -2.55281056e+01] [ 4.90632979e-03 -3.94838526e-04 9.99987886e-01 1.82247590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.120714057 meters Centerline goodness [0,1] 0.974765001953529 Centerline is valid? [True, True] Translation: X:536.84, Y:-25.53, Z:1.82 [[ 9.99903917e-01 -1.28994541e-02 -5.07547246e-03 5.36835592e+02] [ 1.29013477e-02 9.99916716e-01 3.40525385e-04 -2.55317524e+01] [ 5.07065716e-03 -4.05973102e-04 9.99987062e-01 1.82206266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.150714057 meters Centerline goodness [0,1] 0.976725025746653 Centerline is valid? [True, True] Translation: X:536.87, Y:-25.53, Z:1.82 [[ 9.99932552e-01 -1.05782736e-02 -4.79497959e-03 5.36866053e+02] [ 1.05799330e-02 9.99943979e-01 3.20845073e-04 -2.55344167e+01] [ 4.79131698e-03 -3.71553995e-04 9.99988453e-01 1.82217234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1807140569999 meters Centerline goodness [0,1] 0.9762198746970321 Centerline is valid? [True, True] Translation: X:536.90, Y:-25.54, Z:1.82 [[ 9.99949783e-01 -8.75078844e-03 -4.88410955e-03 5.36895868e+02] [ 8.75249721e-03 9.99961642e-01 3.28597214e-04 -2.55393684e+01] [ 4.88104672e-03 -3.71328868e-04 9.99988019e-01 1.82181040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2107140569999 meters Centerline goodness [0,1] 0.9764374090247453 Centerline is valid? [True, True] Translation: X:536.93, Y:-25.54, Z:1.82 [[ 9.99955551e-01 -8.28006344e-03 -4.50958469e-03 5.36926577e+02] [ 8.28151412e-03 9.99965662e-01 3.03110202e-04 -2.55445946e+01] [ 4.50692006e-03 -3.40442918e-04 9.99989786e-01 1.82109790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.240714057 meters Centerline goodness [0,1] 0.9762857532626984 Centerline is valid? [True, True] Translation: X:536.96, Y:-25.55, Z:1.82 [[ 9.99963182e-01 -6.79934821e-03 -5.23490245e-03 5.36958268e+02] [ 6.80128371e-03 9.99976809e-01 3.52016728e-04 -2.55493545e+01] [ 5.23238757e-03 -3.87607824e-04 9.99986236e-01 1.82056154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.270714057 meters Centerline goodness [0,1] 0.9753021784161526 Centerline is valid? [True, True] Translation: X:536.99, Y:-25.55, Z:1.82 [[ 9.99969094e-01 -5.97210431e-03 -5.11324686e-03 5.36988437e+02] [ 5.97393685e-03 9.99982097e-01 3.43193196e-04 -2.55515031e+01] [ 5.11110573e-03 -3.73728803e-04 9.99986868e-01 1.82044245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3007140569999 meters Centerline goodness [0,1] 0.9764593605853348 Centerline is valid? [True, True] Translation: X:537.02, Y:-25.56, Z:1.82 [[ 9.99985853e-01 -4.16766011e-03 -3.30535766e-03 5.37017688e+02] [ 4.16841517e-03 9.99991288e-01 2.21576422e-04 -2.55564877e+01] [ 3.30440541e-03 -2.35351390e-04 9.99994513e-01 1.82112012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3307140569999 meters Centerline goodness [0,1] 0.9773745366896333 Centerline is valid? [True, True] Translation: X:537.05, Y:-25.56, Z:1.82 [[ 9.99989153e-01 -3.69613354e-03 -2.83422281e-03 5.37048549e+02] [ 3.69668733e-03 9.99993149e-01 1.90180177e-04 -2.55563575e+01] [ 2.83350046e-03 -2.00655350e-04 9.99995965e-01 1.82250195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.360714057 meters Centerline goodness [0,1] 0.9765928009254009 Centerline is valid? [True, True] Translation: X:537.08, Y:-25.56, Z:1.82 [[ 9.99996174e-01 -2.10200746e-03 -1.79812044e-03 5.37078846e+02] [ 2.10222779e-03 9.99997783e-01 1.20656309e-04 -2.55606730e+01] [ 1.79786284e-03 -1.24435907e-04 9.99998376e-01 1.82223725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.390714057 meters Centerline goodness [0,1] 0.9756257489768694 Centerline is valid? [True, True] Translation: X:537.11, Y:-25.57, Z:1.82 [[ 9.99996599e-01 -2.12346169e-03 -1.51419405e-03 5.37109087e+02] [ 2.12361834e-03 9.99997740e-01 1.01852145e-04 -2.55685664e+01] [ 1.51397434e-03 -1.05067369e-04 9.99998848e-01 1.82093284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4207140569999 meters Centerline goodness [0,1] 0.9758101116456386 Centerline is valid? [True, True] Translation: X:537.14, Y:-25.57, Z:1.82 [[ 9.99995554e-01 -2.24653507e-03 -1.96081685e-03 5.37139502e+02] [ 2.24679743e-03 9.99997467e-01 1.31607570e-04 -2.55700504e+01] [ 1.96051623e-03 -1.36012543e-04 9.99998069e-01 1.82138303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4507140569999 meters Centerline goodness [0,1] 0.9734435136970795 Centerline is valid? [True, True] Translation: X:537.17, Y:-25.58, Z:1.82 [[ 9.99993428e-01 -3.34161827e-03 -1.40597197e-03 5.37168599e+02] [ 3.34175593e-03 9.99994412e-01 9.55743484e-05 -2.55811140e+01] [ 1.40564474e-03 -1.00272136e-04 9.99999007e-01 1.81964807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.480714057 meters Centerline goodness [0,1] 0.9753053039520526 Centerline is valid? [True, True] Translation: X:537.20, Y:-25.58, Z:1.82 [[ 9.99990451e-01 -4.25888473e-03 -9.79931799e-04 5.37199777e+02] [ 4.25895176e-03 9.99990928e-01 6.63231404e-05 -2.55813949e+01] [ 9.79640447e-04 -7.04959894e-05 9.99999518e-01 1.81986643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.510714057 meters Centerline goodness [0,1] 0.9723254295300502 Centerline is valid? [True, True] Translation: X:537.23, Y:-25.59, Z:1.82 [[ 9.99972309e-01 -7.38062020e-03 -9.53208025e-04 5.37230097e+02] [ 7.38068470e-03 9.99972760e-01 6.41661970e-05 -2.55889029e+01] [ 9.52708474e-04 -7.11997481e-05 9.99999544e-01 1.81936371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.540714057 meters Centerline goodness [0,1] 0.9734090499369028 Centerline is valid? [True, True] Translation: X:537.26, Y:-25.59, Z:1.82 [[ 9.99964414e-01 -8.40979871e-03 -6.68566470e-04 5.37261553e+02] [ 8.40983149e-03 9.99964636e-01 4.62343015e-05 -2.55924672e+01] [ 6.68154006e-04 -5.18551875e-05 9.99999775e-01 1.81943980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5707140569999 meters Centerline goodness [0,1] 0.9669677767291358 Centerline is valid? [True, True] Translation: X:537.29, Y:-25.60, Z:1.82 [[ 9.99941290e-01 -1.08358426e-02 -4.28280508e-05 5.37291271e+02] [ 1.08358427e-02 9.99941291e-01 3.10223138e-06 -2.56039381e+01] [ 4.27919211e-05 -3.56612727e-06 9.99999999e-01 1.81805580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6007140569999 meters Centerline goodness [0,1] 0.97134483147334 Centerline is valid? [True, True] Translation: X:537.32, Y:-25.60, Z:1.82 [[ 9.99938218e-01 -1.11156859e-02 -3.16231897e-05 5.37323760e+02] [ 1.11156860e-02 9.99938219e-01 3.02575750e-06 -2.56001801e+01] [ 3.15876026e-05 -3.37708401e-06 9.99999999e-01 1.81846806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.630714057 meters Centerline goodness [0,1] 0.9663261870019082 Centerline is valid? [True, True] Translation: X:537.35, Y:-25.61, Z:1.82 [[ 9.99941296e-01 -1.08251433e-02 -4.69643480e-04 5.37354094e+02] [ 1.08251597e-02 9.99941406e-01 3.23573387e-05 -2.56096742e+01] [ 4.69265688e-04 -3.74394049e-05 9.99999889e-01 1.81574222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.660714057 meters Centerline goodness [0,1] 0.9698528585869931 Centerline is valid? [True, True] Translation: X:537.39, Y:-25.61, Z:1.81 [[ 9.99939181e-01 -1.09703876e-02 -1.13335619e-03 5.37385813e+02] [ 1.09704829e-02 9.99939819e-01 7.79366753e-05 -2.56106053e+01] [ 1.13243299e-03 -9.03654000e-05 9.99999355e-01 1.81417528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6907140569999 meters Centerline goodness [0,1] 0.9699263318659599 Centerline is valid? [True, True] Translation: X:537.42, Y:-25.61, Z:1.81 [[ 9.99935366e-01 -1.12747169e-02 -1.46453832e-03 5.37418222e+02] [ 1.12748754e-02 9.99936432e-01 9.99628811e-05 -2.56137497e+01] [ 1.46331817e-03 -1.16468907e-04 9.99998923e-01 1.81336293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7207140569999 meters Centerline goodness [0,1] 0.9672057502246182 Centerline is valid? [True, True] Translation: X:537.45, Y:-25.62, Z:1.81 [[ 9.99925401e-01 -1.20009578e-02 -2.27382342e-03 5.37449015e+02] [ 1.20013418e-02 9.99927969e-01 1.55291779e-04 -2.56189092e+01] [ 2.27179598e-03 -1.82569126e-04 9.99997403e-01 1.81228331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.750714057 meters Centerline goodness [0,1] 0.9693907275864387 Centerline is valid? [True, True] Translation: X:537.48, Y:-25.62, Z:1.81 [[ 9.99920986e-01 -1.23330548e-02 -2.43265499e-03 5.37481453e+02] [ 1.23334945e-02 9.99923926e-01 1.65866103e-04 -2.56203785e+01] [ 2.43042429e-03 -1.95856134e-04 9.99997027e-01 1.81163915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.780714057 meters Centerline goodness [0,1] 0.9696390849026922 Centerline is valid? [True, True] Translation: X:537.51, Y:-25.62, Z:1.81 [[ 9.99920604e-01 -1.23316929e-02 -2.59126388e-03 5.37513409e+02] [ 1.23321923e-02 9.99923940e-01 1.76819491e-04 -2.56211839e+01] [ 2.58888631e-03 -2.08761417e-04 9.99996627e-01 1.81075362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8107140569999 meters Centerline goodness [0,1] 0.96678941932007 Centerline is valid? [True, True] Translation: X:537.54, Y:-25.63, Z:1.81 [[ 9.99918710e-01 -1.25132998e-02 -2.44765472e-03 5.37544368e+02] [ 1.25137457e-02 9.99921686e-01 1.66970015e-04 -2.56286029e+01] [ 2.44537369e-03 -1.97585771e-04 9.99996991e-01 1.80856744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8407140569999 meters Centerline goodness [0,1] 0.9671957671957672 Centerline is valid? [True, True] Translation: X:537.58, Y:-25.63, Z:1.81 [[ 9.99916142e-01 -1.26135552e-02 -2.93371895e-03 5.37576370e+02] [ 1.26141971e-02 9.99920418e-01 2.00397813e-04 -2.56307950e+01] [ 2.93095775e-03 -2.37387517e-04 9.99995677e-01 1.80809897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.870714057 meters Centerline goodness [0,1] 0.9645259664543905 Centerline is valid? [True, True] Translation: X:537.61, Y:-25.63, Z:1.81 [[ 9.99912333e-01 -1.28158629e-02 -3.32871721e-03 5.37607417e+02] [ 1.28166928e-02 9.99917837e-01 2.28116313e-04 -2.56346023e+01] [ 3.32552020e-03 -2.70759460e-04 9.99994434e-01 1.80636309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.900714057 meters Centerline goodness [0,1] 0.9670739376516037 Centerline is valid? [True, True] Translation: X:537.64, Y:-25.64, Z:1.81 [[ 9.99899352e-01 -1.36553934e-02 -3.84905763e-03 5.37639946e+02] [ 1.36565075e-02 9.99906711e-01 2.63331967e-04 -2.56351613e+01] [ 3.84510266e-03 -3.15870148e-04 9.99992558e-01 1.80592033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9307140569999 meters Centerline goodness [0,1] 0.9667348912530083 Centerline is valid? [True, True] Translation: X:537.67, Y:-25.64, Z:1.81 [[ 9.99873693e-01 -1.54188393e-02 -3.85448431e-03 5.37671361e+02] [ 1.54199685e-02 9.99881071e-01 2.63399819e-04 -2.56375823e+01] [ 3.84996457e-03 -3.22802576e-04 9.99992537e-01 1.80501961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9607140569999 meters Centerline goodness [0,1] 0.960294646065397 Centerline is valid? [True, True] Translation: X:537.70, Y:-25.64, Z:1.80 [[ 9.99841228e-01 -1.75841705e-02 -2.88356460e-03 5.37700743e+02] [ 1.75848136e-02 9.99845356e-01 1.97832782e-04 -2.56435212e+01] [ 2.87963994e-03 -2.48508318e-04 9.99995823e-01 1.80469291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.990714057 meters Centerline goodness [0,1] 0.9365381599874555 Centerline is valid? [True, False] Translation: X:537.70, Y:-25.64, Z:1.80 [[ 9.99841462e-01 -1.75575470e-02 -2.96355902e-03 5.37701106e+02] [ 1.75588975e-02 9.99845738e-01 4.30302351e-04 -2.56439038e+01] [ 2.95554680e-03 -4.82270961e-04 9.99995516e-01 1.80437878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.020714057 meters Centerline goodness [0,1] 0.9412134690118382 Centerline is valid? [False, False] Translation: X:537.70, Y:-25.64, Z:1.80 [[ 9.99837910e-01 -1.77917740e-02 -2.75785546e-03 5.37700888e+02] [ 1.77935433e-02 9.99841491e-01 6.18374970e-04 -2.56445357e+01] [ 2.74641633e-03 -6.67346758e-04 9.99996006e-01 1.80398007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0507140569999 meters Centerline goodness [0,1] 0.9338887516561496 Centerline is valid? [False, False] Translation: X:537.70, Y:-25.64, Z:1.80 [[ 9.99838209e-01 -1.77589238e-02 -2.85936873e-03 5.37701273e+02] [ 1.77613091e-02 9.99841927e-01 8.10977309e-04 -2.56446952e+01] [ 2.84451465e-03 -8.61632232e-04 9.99995583e-01 1.80362616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0807140569999 meters Centerline goodness [0,1] 0.953770086526576 Centerline is valid? [False, True] Translation: X:537.70, Y:-25.64, Z:1.80 [[ 9.99838372e-01 -1.77351361e-02 -2.94884553e-03 5.37701712e+02] [ 1.77377208e-02 9.99842311e-01 8.52673348e-04 -2.56443008e+01] [ 2.93325825e-03 -9.04841330e-04 9.99995289e-01 1.80324742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.110714057 meters Centerline goodness [0,1] 0.9511386696730553 Centerline is valid? [True, True] Translation: X:537.73, Y:-25.65, Z:1.80 [[ 9.99831297e-01 -1.81033346e-02 -3.10593546e-03 5.37734008e+02] [ 1.81041288e-02 9.99836081e-01 2.27775716e-04 -2.56463073e+01] [ 3.10130284e-03 -2.83967546e-04 9.99995151e-01 1.80277181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.140714057 meters Centerline goodness [0,1] 0.9615228837586067 Centerline is valid? [True, True] Translation: X:537.77, Y:-25.64, Z:1.80 [[ 9.99843542e-01 -1.74731248e-02 -2.75344741e-03 5.37766740e+02] [ 1.74737474e-02 9.99847302e-01 2.02236364e-04 -2.56436937e+01] [ 2.74949327e-03 -2.50317767e-04 9.99996189e-01 1.80280081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1707140569999 meters Centerline goodness [0,1] 0.9689828257591104 Centerline is valid? [True, True] Translation: X:537.80, Y:-25.64, Z:1.80 [[ 9.99861701e-01 -1.63952383e-02 -2.78842203e-03 5.37798705e+02] [ 1.63958717e-02 9.99865558e-01 2.04458007e-04 -2.56395733e+01] [ 2.78469501e-03 -2.50148341e-04 9.99996091e-01 1.80321241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2007140569999 meters Centerline goodness [0,1] 0.9694871679220604 Centerline is valid? [True, True] Translation: X:537.83, Y:-25.64, Z:1.80 [[ 9.99896151e-01 -1.40673956e-02 -3.12965686e-03 5.37829301e+02] [ 1.40681806e-02 9.99901012e-01 2.28955948e-04 -2.56387031e+01] [ 3.12612625e-03 -2.72960749e-04 9.99995076e-01 1.80256017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.230714057 meters Centerline goodness [0,1] 0.9436403459254409 Centerline is valid? [True, False] Translation: X:537.83, Y:-25.64, Z:1.80 [[ 9.99940120e-01 -1.05218935e-02 -3.00759855e-03 5.37829116e+02] [ 1.05331835e-02 9.99937444e-01 3.76295405e-03 -2.56373262e+01] [ 2.96781700e-03 -3.79440831e-03 9.99988397e-01 1.80217474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.260714057 meters Centerline goodness [0,1] 0.9604591260337114 Centerline is valid? [False, True] Translation: X:537.83, Y:-25.64, Z:1.80 [[ 9.99940344e-01 -1.04392650e-02 -3.21401672e-03 5.37829491e+02] [ 1.04498529e-02 9.99939969e-01 3.29531991e-03 -2.56355732e+01] [ 3.17942306e-03 -3.32870932e-03 9.99989405e-01 1.80242852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.290714057 meters Centerline goodness [0,1] 0.9695557767122048 Centerline is valid? [True, True] Translation: X:537.86, Y:-25.63, Z:1.80 [[ 9.99943979e-01 -9.96925629e-03 -3.55702315e-03 5.37862609e+02] [ 9.97025823e-03 9.99950261e-01 2.64057204e-04 -2.56250015e+01] [ 3.55421378e-03 -2.99506851e-04 9.99993639e-01 1.80444488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3207140569999 meters Centerline goodness [0,1] 0.9699474590089682 Centerline is valid? [True, True] Translation: X:537.90, Y:-25.62, Z:1.80 [[ 9.99948246e-01 -9.60354328e-03 -3.35830778e-03 5.37895106e+02] [ 9.60443537e-03 9.99953845e-01 2.49609120e-04 -2.56241544e+01] [ 3.35575565e-03 -2.81850852e-04 9.99994330e-01 1.80444573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3507140569999 meters Centerline goodness [0,1] 0.9700799528889493 Centerline is valid? [True, True] Translation: X:537.93, Y:-25.63, Z:1.81 [[ 9.99946815e-01 -1.01153133e-02 -2.01169248e-03 5.37926982e+02] [ 1.01156354e-02 9.99948824e-01 1.50015254e-04 -2.56250421e+01] [ 2.01007208e-03 -1.70356823e-04 9.99997965e-01 1.80503583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.380714057 meters Centerline goodness [0,1] 0.9666356687609154 Centerline is valid? [True, True] Translation: X:537.96, Y:-25.63, Z:1.80 [[ 9.99938464e-01 -1.10429310e-02 -1.05929668e-03 5.37957192e+02] [ 1.10430221e-02 9.99939021e-01 8.01807061e-05 -2.56336370e+01] [ 1.05834665e-03 -9.18736087e-05 9.99999436e-01 1.80453637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.410714057 meters Centerline goodness [0,1] 0.9616833030852995 Centerline is valid? [True, True] Translation: X:537.99, Y:-25.64, Z:1.80 [[ 9.99907256e-01 -1.36153133e-02 -3.20185177e-04 5.37986791e+02] [ 1.36153216e-02 9.99907307e-01 2.37758013e-05 -2.56394746e+01] [ 3.19831783e-04 -2.81330204e-05 9.99999948e-01 1.80425236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4407140569999 meters Centerline goodness [0,1] 0.968736577977711 Centerline is valid? [True, True] Translation: X:538.02, Y:-25.64, Z:1.80 [[ 9.99857841e-01 -1.68577538e-02 -3.36766680e-04 5.38017904e+02] [ 1.68577632e-02 9.99857898e-01 2.50503908e-05 -2.56379310e+01] [ 3.36296531e-04 -3.07239626e-05 9.99999943e-01 1.80387734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4707140569999 meters Centerline goodness [0,1] 0.9668385812522621 Centerline is valid? [True, True] Translation: X:538.05, Y:-25.64, Z:1.80 [[ 9.99828582e-01 -1.84971844e-02 -8.12507759e-04 5.38049128e+02] [ 1.84972398e-02 9.99828910e-01 6.07969819e-05 -2.56418363e+01] [ 8.11244174e-04 -7.58157111e-05 9.99999668e-01 1.80308945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.500714057 meters Centerline goodness [0,1] 0.9589670468948035 Centerline is valid? [True, True] Translation: X:538.08, Y:-25.65, Z:1.80 [[ 9.99770965e-01 -2.13496768e-02 -1.48636613e-03 5.38078432e+02] [ 2.13498641e-02 9.99772060e-01 1.10245755e-04 -2.56476585e+01] [ 1.48367362e-03 -1.41954219e-04 9.99998889e-01 1.80203405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.530714057 meters Centerline goodness [0,1] 0.9589670468948035 Centerline is valid? [True, True] Translation: X:538.11, Y:-25.65, Z:1.80 [[ 9.99772463e-01 -2.12794202e-02 -1.48628279e-03 5.38110179e+02] [ 2.12796091e-02 9.99773557e-01 1.11367129e-04 -2.56500813e+01] [ 1.48357640e-03 -1.42969306e-04 9.99998889e-01 1.80165102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5607140569999 meters Centerline goodness [0,1] 0.9664889393079977 Centerline is valid? [True, True] Translation: X:538.14, Y:-25.65, Z:1.80 [[ 9.99742975e-01 -2.25907428e-02 -1.90841573e-03 5.38141333e+02] [ 2.25910549e-02 9.99744779e-01 1.42159581e-04 -2.56488080e+01] [ 1.90471718e-03 -1.85236167e-04 9.99998169e-01 1.80202889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5907140569999 meters Centerline goodness [0,1] 0.9639935646144434 Centerline is valid? [True, True] Translation: X:538.17, Y:-25.65, Z:1.80 [[ 9.99728565e-01 -2.31929541e-02 -2.20982593e-03 5.38172046e+02] [ 2.31933752e-02 9.99730984e-01 1.65125946e-04 -2.56531804e+01] [ 2.20540169e-03 -2.16334447e-04 9.99997545e-01 1.80120427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.620714057 meters Centerline goodness [0,1] 0.9684667287638867 Centerline is valid? [True, True] Translation: X:538.20, Y:-25.65, Z:1.80 [[ 9.99731954e-01 -2.30008547e-02 -2.64224640e-03 5.38204967e+02] [ 2.30014583e-02 9.99735412e-01 1.98274275e-04 -2.56515322e+01] [ 2.63698682e-03 -2.58996648e-04 9.99996490e-01 1.80037944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.650714057 meters Centerline goodness [0,1] 0.9383532181748205 Centerline is valid? [True, False] Translation: X:538.20, Y:-25.65, Z:1.80 [[ 9.99807643e-01 -1.94412967e-02 -2.59085882e-03 5.38204719e+02] [ 1.94525341e-02 9.99801165e-01 4.38509848e-03 -2.56527060e+01] [ 2.50509166e-03 -4.43465374e-03 9.99987029e-01 1.79989372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6807140569999 meters Centerline goodness [0,1] 0.9686428555209918 Centerline is valid? [False, True] Translation: X:538.20, Y:-25.65, Z:1.80 [[ 9.99810298e-01 -1.92862253e-02 -2.72215772e-03 5.38204925e+02] [ 1.92975207e-02 9.99805022e-01 4.18601353e-03 -2.56517361e+01] [ 2.64089456e-03 -4.23775033e-03 9.99987533e-01 1.80010846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7107140569999 meters Centerline goodness [0,1] 0.9679853181076672 Centerline is valid? [True, True] Translation: X:538.23, Y:-25.65, Z:1.80 [[ 9.99872157e-01 -1.58739629e-02 -1.92003428e-03 5.38234758e+02] [ 1.58742694e-02 9.99873985e-01 1.44516132e-04 -2.56505307e+01] [ 1.91749828e-03 -1.74976799e-04 9.99998146e-01 1.80204957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.740714057 meters Centerline goodness [0,1] 0.9688270196257417 Centerline is valid? [True, True] Translation: X:538.27, Y:-25.65, Z:1.80 [[ 9.99917884e-01 -1.27592711e-02 -1.19437268e-03 5.38265282e+02] [ 1.27593877e-02 9.99918592e-01 9.00369111e-05 -2.56495206e+01] [ 1.19312664e-03 -1.05268982e-04 9.99999283e-01 1.80264539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.770714057 meters Centerline goodness [0,1] 0.9698945742070344 Centerline is valid? [True, True] Translation: X:538.30, Y:-25.65, Z:1.80 [[ 9.99939910e-01 -1.09484170e-02 -5.54804075e-04 5.38296580e+02] [ 1.09484420e-02 9.99940063e-01 4.20236775e-05 -2.56494236e+01] [ 5.54310729e-04 -4.80953926e-05 9.99999845e-01 1.80288722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8007140569999 meters Centerline goodness [0,1] 0.967708855567203 Centerline is valid? [True, True] Translation: X:538.33, Y:-25.65, Z:1.80 [[ 9.99952016e-01 -9.79134580e-03 -3.10203326e-04 5.38326858e+02] [ 9.79135385e-03 9.99952063e-01 2.44374635e-05 -2.56528355e+01] [ 3.09949180e-04 -2.74736014e-05 9.99999952e-01 1.80202210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8307140569999 meters Centerline goodness [0,1] 0.9705392011327563 Centerline is valid? [True, True] Translation: X:538.36, Y:-25.65, Z:1.80 [[ 9.99953017e-01 -9.68951157e-03 -2.77784538e-04 5.38358832e+02] [ 9.68951799e-03 9.99953055e-01 2.17640629e-05 -2.56542355e+01] [ 2.77560614e-04 -2.44546386e-05 9.99999961e-01 1.80177916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.860714057 meters Centerline goodness [0,1] 0.969731477896463 Centerline is valid? [True, True] Translation: X:538.39, Y:-25.65, Z:1.80 [[ 9.99943014e-01 -1.05396262e-02 -1.69842424e-03 5.38390498e+02] [ 1.05398604e-02 9.99944446e-01 1.29004030e-04 -2.56549713e+01] [ 1.69697024e-03 -1.46897833e-04 9.99998549e-01 1.80028115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.890714057 meters Centerline goodness [0,1] 0.9682658670664668 Centerline is valid? [True, True] Translation: X:538.42, Y:-25.66, Z:1.80 [[ 9.99935316e-01 -1.11219020e-02 -2.38077690e-03 5.38421332e+02] [ 1.11223636e-02 9.99938128e-01 1.80717715e-04 -2.56603927e+01] [ 2.37861967e-03 -2.07185892e-04 9.99997150e-01 1.79850012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9207140569999 meters Centerline goodness [0,1] 0.9708117483283507 Centerline is valid? [True, True] Translation: X:538.45, Y:-25.66, Z:1.80 [[ 9.99906625e-01 -1.31662718e-02 -3.65936376e-03 5.38452123e+02] [ 1.31673735e-02 9.99913268e-01 2.77135127e-04 -2.56616132e+01] [ 3.65539754e-03 -3.25293459e-04 9.99993266e-01 1.79728784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9507140569999 meters Centerline goodness [0,1] 0.951582782965156 Centerline is valid? [True, True] Translation: X:538.48, Y:-25.68, Z:1.79 [[ 9.99899757e-01 -1.35782388e-02 -4.01335855e-03 5.38482130e+02] [ 1.35795696e-02 9.99907747e-01 3.04530861e-04 -2.56756819e+01] [ 4.00885331e-03 -3.59000015e-04 9.99991900e-01 1.79483328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.980714057 meters Centerline goodness [0,1] 0.9297913578839357 Centerline is valid? [True, False] Translation: X:538.48, Y:-25.68, Z:1.79 [[ 9.99899923e-01 -1.35442336e-02 -4.08635736e-03 5.38482417e+02] [ 1.35466811e-02 9.99908076e-01 5.71872025e-04 -2.56762284e+01] [ 4.07823616e-03 -6.27171374e-04 9.99991487e-01 1.79456823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.010714057 meters Centerline goodness [0,1] 0.9690491384811742 Centerline is valid? [False, True] Translation: X:538.48, Y:-25.68, Z:1.79 [[ 9.99900958e-01 -1.34111609e-02 -4.26795919e-03 5.38482793e+02] [ 1.34142730e-02 9.99909779e-01 7.01379065e-04 -2.56762954e+01] [ 4.25816782e-03 -7.58561169e-04 9.99990646e-01 1.79459009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.040714057 meters Centerline goodness [0,1] 0.9487086130390261 Centerline is valid? [True, False] Translation: X:538.48, Y:-25.68, Z:1.79 [[ 9.99901784e-01 -1.32860345e-02 -4.46141128e-03 5.38483035e+02] [ 1.32895953e-02 9.99911393e-01 7.69447258e-04 -2.56763270e+01] [ 4.45079306e-03 -8.28662036e-04 9.99989752e-01 1.79488315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0707140569999 meters Centerline goodness [0,1] 0.968573841203186 Centerline is valid? [False, True] Translation: X:538.48, Y:-25.68, Z:1.79 [[ 9.99904071e-01 -1.31096051e-02 -4.47064201e-03 5.38483155e+02] [ 1.31140158e-02 9.99913548e-01 9.58701225e-04 -2.56764137e+01] [ 4.45768732e-03 -1.01723733e-03 9.99989547e-01 1.79477977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1007140569999 meters Centerline goodness [0,1] 0.9720934481262418 Centerline is valid? [True, True] Translation: X:538.52, Y:-25.67, Z:1.80 [[ 9.99926579e-01 -1.15935658e-02 -3.52490057e-03 5.38515451e+02] [ 1.15945932e-02 9.99932744e-01 2.71175424e-04 -2.56738910e+01] [ 3.52151961e-03 -3.12025302e-04 9.99993751e-01 1.79502730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.130714057 meters Centerline goodness [0,1] 0.9697203559106592 Centerline is valid? [True, True] Translation: X:538.55, Y:-25.68, Z:1.79 [[ 9.99940937e-01 -1.04478900e-02 -2.99388529e-03 5.38545704e+02] [ 1.04486261e-02 9.99945385e-01 2.30324984e-04 -2.56813919e+01] [ 2.99131536e-03 -2.61593368e-04 9.99995492e-01 1.79443059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.160714057 meters Centerline goodness [0,1] 0.9718499577635213 Centerline is valid? [True, True] Translation: X:538.58, Y:-25.68, Z:1.80 [[ 9.99960836e-01 -8.45627339e-03 -2.61116349e-03 5.38576456e+02] [ 8.45682571e-03 9.99964220e-01 2.00553684e-04 -2.56779830e+01] [ 2.60937413e-03 -2.22627984e-04 9.99996571e-01 1.79554118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1907140569999 meters Centerline goodness [0,1] 0.9703236999497785 Centerline is valid? [True, True] Translation: X:538.61, Y:-25.68, Z:1.80 [[ 9.99969848e-01 -7.38751462e-03 -2.39309803e-03 5.38608323e+02] [ 7.38797713e-03 9.99972692e-01 1.84486038e-04 -2.56801218e+01] [ 2.39166978e-03 -2.02160629e-04 9.99997120e-01 1.79530128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2207140569999 meters Centerline goodness [0,1] 0.971986553545702 Centerline is valid? [True, True] Translation: X:538.64, Y:-25.68, Z:1.80 [[ 9.99984804e-01 -4.89970168e-03 -2.52696259e-03 5.38639525e+02] [ 4.90020860e-03 9.99987975e-01 1.94450623e-04 -2.56786998e+01] [ 2.52597945e-03 -2.06830312e-04 9.99996788e-01 1.79518392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.250714057 meters Centerline goodness [0,1] 0.9710924446682383 Centerline is valid? [True, True] Translation: X:538.67, Y:-25.68, Z:1.79 [[ 9.99986230e-01 -4.44293340e-03 -2.79304547e-03 5.38671035e+02] [ 4.44355165e-03 9.99990104e-01 2.15188405e-04 -2.56807913e+01] [ 2.79206176e-03 -2.27596484e-04 9.99996076e-01 1.79393358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.280714057 meters Centerline goodness [0,1] 0.9707105281293791 Centerline is valid? [True, True] Translation: X:538.70, Y:-25.68, Z:1.79 [[ 9.99987827e-01 -3.73672827e-03 -3.22217375e-03 5.38700995e+02] [ 3.73754608e-03 9.99992985e-01 2.47823917e-04 -2.56837348e+01] [ 3.22122509e-03 -2.59863923e-04 9.99994778e-01 1.79184646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3107140569999 meters Centerline goodness [0,1] 0.9710228054880007 Centerline is valid? [True, True] Translation: X:538.73, Y:-25.69, Z:1.79 [[ 9.99981541e-01 -4.43976341e-03 -4.14791482e-03 5.38730244e+02] [ 4.44112466e-03 9.99990087e-01 3.19024540e-04 -2.56882576e+01] [ 4.14645731e-03 -3.37440058e-04 9.99991346e-01 1.78970836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3407140569999 meters Centerline goodness [0,1] 0.9708275862068966 Centerline is valid? [True, True] Translation: X:538.76, Y:-25.69, Z:1.79 [[ 9.99979670e-01 -4.55989437e-03 -4.45713934e-03 5.38760277e+02] [ 4.56146733e-03 9.99989538e-01 3.42807624e-04 -2.56895192e+01] [ 4.45552954e-03 -3.63131751e-04 9.99990008e-01 1.78937967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.370714057 meters Centerline goodness [0,1] 0.971753619857504 Centerline is valid? [True, True] Translation: X:538.79, Y:-25.68, Z:1.79 [[ 9.99972987e-01 -5.48183609e-03 -4.89636482e-03 5.38791418e+02] [ 5.48374532e-03 9.99984893e-01 3.76589347e-04 -2.56831192e+01] [ 4.89422645e-03 -4.03429592e-04 9.99987942e-01 1.79010508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.400714057 meters Centerline goodness [0,1] 0.9696523818282141 Centerline is valid? [True, True] Translation: X:538.82, Y:-25.69, Z:1.79 [[ 9.99971391e-01 -5.76096374e-03 -4.90192807e-03 5.38820176e+02] [ 5.76287930e-03 9.99983324e-01 3.76741561e-04 -2.56933455e+01] [ 4.89967593e-03 -4.04980003e-04 9.99987915e-01 1.78841892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4307140569999 meters Centerline goodness [0,1] 0.9654077924467547 Centerline is valid? [True, True] Translation: X:538.85, Y:-25.70, Z:1.79 [[ 9.99964861e-01 -7.34946818e-03 -4.03254698e-03 5.38849505e+02] [ 7.35077711e-03 9.99972935e-01 3.09864711e-04 -2.56976398e+01] [ 4.03016050e-03 -3.39496177e-04 9.99991821e-01 1.78739096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4607140569999 meters Centerline goodness [0,1] 0.9694795188481796 Centerline is valid? [True, True] Translation: X:538.88, Y:-25.69, Z:1.79 [[ 9.99960895e-01 -8.03345330e-03 -3.69751730e-03 5.38880973e+02] [ 8.03455986e-03 9.99967682e-01 2.84514771e-04 -2.56916601e+01] [ 3.69511217e-03 -3.14211570e-04 9.99993124e-01 1.78887199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.490714057 meters Centerline goodness [0,1] 0.9697157693986811 Centerline is valid? [True, True] Translation: X:538.91, Y:-25.69, Z:1.79 [[ 9.99946281e-01 -1.00938196e-02 -2.35564183e-03 5.38911628e+02] [ 1.00942747e-02 9.99949035e-01 1.81371604e-04 -2.56927783e+01] [ 2.35369105e-03 -2.05140357e-04 9.99997209e-01 1.78966413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.520714057 meters Centerline goodness [0,1] 0.9690077423208583 Centerline is valid? [True, True] Translation: X:538.94, Y:-25.70, Z:1.79 [[ 9.99932158e-01 -1.14903327e-02 -1.91081604e-03 5.38942498e+02] [ 1.14906352e-02 9.99933970e-01 1.47410418e-04 -2.56973954e+01] [ 1.90899608e-03 -1.69356908e-04 9.99998164e-01 1.78917978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5507140569999 meters Centerline goodness [0,1] 0.9683628827999079 Centerline is valid? [True, True] Translation: X:538.97, Y:-25.70, Z:1.79 [[ 9.99898178e-01 -1.42451477e-02 -8.41773294e-04 5.38973111e+02] [ 1.42452074e-02 9.99898530e-01 6.49591305e-05 -2.57006713e+01] [ 8.40762526e-04 -7.69437514e-05 9.99999644e-01 1.78867403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5807140569999 meters Centerline goodness [0,1] 0.9673177023354369 Centerline is valid? [True, True] Translation: X:539.01, Y:-25.70, Z:1.79 [[ 9.99883898e-01 -1.52229534e-02 -6.72202385e-04 5.39005119e+02] [ 1.52229923e-02 9.99884122e-01 5.27443619e-05 -2.57048425e+01] [ 6.71321566e-04 -6.29711699e-05 9.99999773e-01 1.78808450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.610714057 meters Centerline goodness [0,1] 0.9662631748515672 Centerline is valid? [True, True] Translation: X:539.04, Y:-25.71, Z:1.79 [[ 9.99860110e-01 -1.67108198e-02 -7.13440149e-04 5.39035954e+02] [ 1.67108634e-02 9.99860362e-01 5.51777848e-05 -2.57071404e+01] [ 7.12418460e-04 -6.70922669e-05 9.99999744e-01 1.78751893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.640714057 meters Centerline goodness [0,1] 0.9671481558274011 Centerline is valid? [True, True] Translation: X:539.07, Y:-25.71, Z:1.79 [[ 9.99844457e-01 -1.75925479e-02 -1.25098260e-03 5.39067966e+02] [ 1.75926833e-02 9.99845232e-01 9.72677298e-05 -2.57094360e+01] [ 1.24907780e-03 -1.19260741e-04 9.99999213e-01 1.78716305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6707140569999 meters Centerline goodness [0,1] 0.9654720581136066 Centerline is valid? [True, True] Translation: X:539.10, Y:-25.71, Z:1.79 [[ 9.99810847e-01 -1.93779416e-02 -1.66330411e-03 5.39097836e+02] [ 1.93781832e-02 9.99812217e-01 1.29211586e-04 -2.57136292e+01] [ 1.66048792e-03 -1.61418957e-04 9.99998608e-01 1.78600450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7007140569999 meters Centerline goodness [0,1] 0.9645909645909646 Centerline is valid? [True, True] Translation: X:539.13, Y:-25.72, Z:1.78 [[ 9.99802892e-01 -1.97829077e-02 -1.67723621e-03 5.39128409e+02] [ 1.97831536e-02 9.99804286e-01 1.30162953e-04 -2.57183928e+01] [ 1.67433295e-03 -1.63318319e-04 9.99998585e-01 1.78481872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.730714057 meters Centerline goodness [0,1] 0.9638082065467958 Centerline is valid? [True, True] Translation: X:539.16, Y:-25.72, Z:1.78 [[ 9.99788030e-01 -2.05415987e-02 -1.39237425e-03 5.39159882e+02] [ 2.05417691e-02 9.99788990e-01 1.08225626e-04 -2.57219165e+01] [ 1.38985731e-03 -1.36804516e-04 9.99999025e-01 1.78386320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.760714057 meters Centerline goodness [0,1] 0.9615252333019971 Centerline is valid? [True, True] Translation: X:539.19, Y:-25.72, Z:1.78 [[ 9.99799591e-01 -1.99076381e-02 -2.11273341e-03 5.39192619e+02] [ 1.99080300e-02 9.99801802e-01 1.64629348e-04 -2.57236343e+01] [ 2.10903729e-03 -2.06656715e-04 9.99997755e-01 1.78286299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.790714057 meters Centerline goodness [0,1] 0.9642914589030078 Centerline is valid? [True, True] Translation: X:539.22, Y:-25.72, Z:1.78 [[ 9.99813554e-01 -1.90984597e-02 -2.84703554e-03 5.39224795e+02] [ 1.90991668e-02 9.99817570e-01 2.21383110e-04 -2.57230092e+01] [ 2.84228808e-03 -2.75717841e-04 9.99995923e-01 1.78266717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8207140569999 meters Centerline goodness [0,1] 0.9661747751902237 Centerline is valid? [True, True] Translation: X:539.26, Y:-25.72, Z:1.78 [[ 9.99842920e-01 -1.74575422e-02 -3.06110457e-03 5.39256170e+02] [ 1.74583511e-02 9.99847563e-01 2.37714626e-04 -2.57216395e+01] [ 3.05648804e-03 -2.91119125e-04 9.99995287e-01 1.78210605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8507140569999 meters Centerline goodness [0,1] 0.9671945962145838 Centerline is valid? [True, True] Translation: X:539.29, Y:-25.72, Z:1.78 [[ 9.99859414e-01 -1.65139743e-02 -2.90528182e-03 5.39287955e+02] [ 1.65146993e-02 9.99863598e-01 2.25743646e-04 -2.57204908e+01] [ 2.90115761e-03 -2.73691765e-04 9.99995754e-01 1.78188382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.880714057 meters Centerline goodness [0,1] 0.9665689961470134 Centerline is valid? [True, True] Translation: X:539.32, Y:-25.72, Z:1.78 [[ 9.99898630e-01 -1.40826416e-02 -2.09972103e-03 5.39318747e+02] [ 1.40830149e-02 9.99900816e-01 1.63099456e-04 -2.57217034e+01] [ 2.09721590e-03 -1.92653325e-04 9.99997782e-01 1.78220435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.910714057 meters Centerline goodness [0,1] 0.9637597525506671 Centerline is valid? [True, True] Translation: X:539.35, Y:-25.73, Z:1.78 [[ 9.99912620e-01 -1.31028026e-02 -1.75186750e-03 5.39348715e+02] [ 1.31030611e-02 9.99914142e-01 1.36141115e-04 -2.57282804e+01] [ 1.74993325e-03 -1.59084046e-04 9.99998456e-01 1.78177523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9407140569999 meters Centerline goodness [0,1] 0.9553874973981822 Centerline is valid? [True, True] Translation: X:539.38, Y:-25.73, Z:1.78 [[ 9.99931210e-01 -1.17153150e-02 -5.71893353e-04 5.39379408e+02] [ 1.17153425e-02 9.99931372e-01 4.47652328e-05 -2.57342746e+01] [ 5.71329667e-04 -5.14620798e-05 9.99999835e-01 1.78167912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9707140569999 meters Centerline goodness [0,1] 0.9678739938939772 Centerline is valid? [True, True] Translation: X:539.41, Y:-25.73, Z:1.78 [[ 9.99937997e-01 -1.11280930e-02 -4.09899952e-04 5.39412355e+02] [ 1.11281073e-02 9.99938080e-01 3.26047768e-05 -2.57267967e+01] [ 4.09511742e-04 -3.71641658e-05 9.99999915e-01 1.78245154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.000714057 meters Centerline goodness [0,1] 0.9652373022481265 Centerline is valid? [True, True] Translation: X:539.44, Y:-25.73, Z:1.78 [[ 9.99931130e-01 -1.17085876e-02 -8.02733766e-04 5.39443524e+02] [ 1.17086419e-02 9.99931450e-01 6.29825390e-05 -2.57310069e+01] [ 8.01941302e-04 -7.23771236e-05 9.99999676e-01 1.78093692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.030714057 meters Centerline goodness [0,1] 0.9658411019897036 Centerline is valid? [True, True] Translation: X:539.47, Y:-25.74, Z:1.78 [[ 9.99920945e-01 -1.25349153e-02 -9.90020581e-04 5.39474077e+02] [ 1.25349988e-02 9.99921431e-01 7.81248719e-05 -2.57365870e+01] [ 9.88963507e-04 -9.05286025e-05 9.99999507e-01 1.77881282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0607140569999 meters Centerline goodness [0,1] 0.9641357996217538 Centerline is valid? [True, True] Translation: X:539.50, Y:-25.74, Z:1.78 [[ 9.99913213e-01 -1.31252471e-02 -1.13734969e-03 5.39504834e+02] [ 1.31253570e-02 9.99913855e-01 8.91654419e-05 -2.57414530e+01] [ 1.13608140e-03 -1.04085824e-04 9.99999349e-01 1.77752953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0907140569999 meters Centerline goodness [0,1] 0.9641278437362586 Centerline is valid? [True, True] Translation: X:539.54, Y:-25.74, Z:1.78 [[ 9.99899829e-01 -1.40202457e-02 -1.94015043e-03 5.39536822e+02] [ 1.40205668e-02 9.99901695e-01 1.52037765e-04 -2.57439580e+01] [ 1.93782810e-03 -1.79224544e-04 9.99998106e-01 1.77653013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.120714057 meters Centerline goodness [0,1] 0.9484590860786397 Centerline is valid? [True, False] Translation: X:539.54, Y:-25.74, Z:1.78 [[ 9.99901987e-01 -1.38221608e-02 -2.22815499e-03 5.39537800e+02] [ 1.38235683e-02 9.99904259e-01 6.17555970e-04 -2.57445511e+01] [ 2.21940571e-03 -6.48296495e-04 9.99997327e-01 1.77579881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.150714057 meters Centerline goodness [0,1] 0.9618168782811813 Centerline is valid? [False, True] Translation: X:539.54, Y:-25.75, Z:1.78 [[ 9.99905059e-01 -1.35831851e-02 -2.31715970e-03 5.39538362e+02] [ 1.35857664e-02 9.99907102e-01 1.10191494e-03 -2.57451359e+01] [ 2.30197693e-03 -1.13329072e-03 9.99996708e-01 1.77514940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1807140569999 meters Centerline goodness [0,1] 0.9638518039451194 Centerline is valid? [True, True] Translation: X:539.57, Y:-25.75, Z:1.78 [[ 9.99922319e-01 -1.22687918e-02 -2.19820824e-03 5.39569422e+02] [ 1.22692091e-02 9.99924715e-01 1.76423981e-04 -2.57470103e+01] [ 2.19587824e-03 -2.03380553e-04 9.99997568e-01 1.77504606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2107140569999 meters Centerline goodness [0,1] 0.9653068300011557 Centerline is valid? [True, True] Translation: X:539.60, Y:-25.75, Z:1.78 [[ 9.99959951e-01 -8.90260595e-03 -9.16710516e-04 5.39600387e+02] [ 8.90267715e-03 9.99960368e-01 7.36195512e-05 -2.57478373e+01] [ 9.16018778e-04 -8.17777805e-05 9.99999577e-01 1.77625626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.240714057 meters Centerline goodness [0,1] 0.9636591478696742 Centerline is valid? [True, True] Translation: X:539.63, Y:-25.75, Z:1.78 [[ 9.99973235e-01 -7.30388767e-03 -4.26041758e-04 5.39631063e+02] [ 7.30390305e-03 9.99973326e-01 3.45585356e-05 -2.57497036e+01] [ 4.25777982e-04 -3.76693784e-05 9.99999909e-01 1.77659034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.270714057 meters Centerline goodness [0,1] 0.9645696749895383 Centerline is valid? [True, True] Translation: X:539.66, Y:-25.75, Z:1.78 [[ 9.99991631e-01 -4.09013457e-03 -9.12728149e-05 5.39662301e+02] [ 4.09013525e-03 9.99991635e-01 7.29359671e-06 -2.57486021e+01] [ 9.12422197e-05 -7.66685383e-06 9.99999996e-01 1.77728188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3007140569999 meters Centerline goodness [0,1] 0.9631145634680682 Centerline is valid? [True, True] Translation: X:539.69, Y:-25.75, Z:1.78 [[ 9.99995987e-01 -2.83300319e-03 1.68594151e-05 5.39694241e+02] [ 2.83300321e-03 9.99995987e-01 -7.21792997e-07 -2.57499694e+01] [-1.68573026e-05 7.69552878e-07 1.00000000e+00 1.77667121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3307140569999 meters Centerline goodness [0,1] 0.9641384131422579 Centerline is valid? [True, True] Translation: X:539.72, Y:-25.75, Z:1.78 [[ 9.99998782e-01 -1.51907399e-03 3.58430591e-04 5.39724789e+02] [ 1.51908424e-03 9.99998846e-01 -2.83264105e-05 -2.57525077e+01] [-3.58387147e-04 2.88708623e-05 9.99999935e-01 1.77610776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.360714057 meters Centerline goodness [0,1] 0.9670117032685224 Centerline is valid? [True, True] Translation: X:539.76, Y:-25.75, Z:1.78 [[ 9.99999103e-01 -1.32665611e-03 1.81683788e-04 5.39756384e+02] [ 1.32665870e-03 9.99999120e-01 -1.41413105e-05 -2.57464630e+01] [-1.81664868e-04 1.43823302e-05 9.99999983e-01 1.77638120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.390714057 meters Centerline goodness [0,1] 0.967278066515953 Centerline is valid? [True, True] Translation: X:539.79, Y:-25.75, Z:1.78 [[ 9.99999793e-01 -6.43586792e-04 -1.52003844e-06 5.39786439e+02] [ 6.43586793e-04 9.99999793e-01 3.37860295e-07 -2.57486250e+01] [ 1.51982068e-06 -3.38838502e-07 1.00000000e+00 1.77616304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4207140569999 meters Centerline goodness [0,1] 0.9670298835523546 Centerline is valid? [True, True] Translation: X:539.82, Y:-25.75, Z:1.78 [[ 9.99999916e-01 -2.11619981e-04 -3.51253711e-04 5.39817520e+02] [ 2.11629972e-04 9.99999977e-01 2.84088216e-05 -2.57484837e+01] [ 3.51247691e-04 -2.84831551e-05 9.99999938e-01 1.77575011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4507140569999 meters Centerline goodness [0,1] 0.9670298835523546 Centerline is valid? [True, True] Translation: X:539.85, Y:-25.75, Z:1.78 [[ 9.99999916e-01 -2.11617300e-04 -3.51270913e-04 5.39847521e+02] [ 2.11627217e-04 9.99999977e-01 2.81945043e-05 -2.57508916e+01] [ 3.51264938e-04 -2.82688404e-05 9.99999938e-01 1.77537502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.480714057 meters Centerline goodness [0,1] 0.9666182873730044 Centerline is valid? [True, True] Translation: X:539.88, Y:-25.75, Z:1.77 [[ 9.99999359e-01 5.02878189e-04 -1.01418784e-03 5.39877425e+02] [-5.02795888e-04 9.99999870e-01 8.14030497e-05 -2.57530679e+01] [ 1.01422865e-03 -8.08930680e-05 9.99999482e-01 1.77467124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.510714057 meters Centerline goodness [0,1] 0.9694711932710105 Centerline is valid? [True, True] Translation: X:539.91, Y:-25.75, Z:1.77 [[ 9.99993956e-01 3.31824691e-03 -1.03765573e-03 5.39908295e+02] [-3.31816250e-03 9.99994491e-01 8.30552441e-05 -2.57482255e+01] [ 1.03792561e-03 -7.96116318e-05 9.99999458e-01 1.77493043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.540714057 meters Centerline goodness [0,1] 0.9684346397559258 Centerline is valid? [True, True] Translation: X:539.94, Y:-25.75, Z:1.77 [[ 9.99986717e-01 4.95633777e-03 -1.41475664e-03 5.39937242e+02] [-4.95618276e-03 9.99987712e-01 1.13046375e-04 -2.57537551e+01] [ 1.41529955e-03 -1.06033081e-04 9.99998993e-01 1.77288939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5707140569999 meters Centerline goodness [0,1] 0.9693450561850581 Centerline is valid? [True, True] Translation: X:539.97, Y:-25.75, Z:1.77 [[ 9.99959882e-01 8.75352824e-03 -1.89985750e-03 5.39966837e+02] [-8.75325497e-03 9.99961678e-01 1.52104947e-04 -2.57534494e+01] [ 1.90111614e-03 -1.35468908e-04 9.99998184e-01 1.77176050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6007140569999 meters Centerline goodness [0,1] 0.9718939786262417 Centerline is valid? [True, True] Translation: X:540.00, Y:-25.74, Z:1.77 [[ 9.99935209e-01 1.12405589e-02 -1.79642547e-03 5.39997207e+02] [-1.12403191e-02 9.99936815e-01 1.43549725e-04 -2.57443054e+01] [ 1.79792554e-03 -1.23348029e-04 9.99998376e-01 1.77360934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.630714057 meters Centerline goodness [0,1] 0.9721809651790556 Centerline is valid? [True, True] Translation: X:540.03, Y:-25.74, Z:1.77 [[ 9.99885595e-01 1.50104354e-02 -1.86640427e-03 5.40026328e+02] [-1.50101828e-02 9.99887330e-01 1.49295162e-04 -2.57447731e+01] [ 1.86843496e-03 -1.21263013e-04 9.99998247e-01 1.77313800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.660714057 meters Centerline goodness [0,1] 0.9730735706377064 Centerline is valid? [True, True] Translation: X:540.06, Y:-25.74, Z:1.77 [[ 9.99862919e-01 1.65261440e-02 -1.01466045e-03 5.40055062e+02] [-1.65260709e-02 9.99863432e-01 8.03537992e-05 -2.57431408e+01] [ 1.01584982e-03 -6.35744336e-05 9.99999482e-01 1.77373557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6907140569999 meters Centerline goodness [0,1] 0.9731262851875487 Centerline is valid? [True, True] Translation: X:540.09, Y:-25.74, Z:1.77 [[ 9.99830635e-01 1.84037979e-02 3.84912715e-05 5.40085192e+02] [-1.84037978e-02 9.99830636e-01 -3.70640743e-06 -2.57438722e+01] [-3.85529644e-05 2.99739411e-06 9.99999999e-01 1.77478820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7207140569999 meters Centerline goodness [0,1] 0.9734504935334166 Centerline is valid? [True, True] Translation: X:540.11, Y:-25.75, Z:1.78 [[ 9.99820621e-01 1.89119991e-02 1.03015281e-03 5.40114276e+02] [-1.89119234e-02 9.99821150e-01 -8.32366801e-05 -2.57460004e+01] [-1.03154274e-03 6.37395782e-05 9.99999466e-01 1.77514960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.750714057 meters Centerline goodness [0,1] 0.9729793454682637 Centerline is valid? [True, True] Translation: X:540.14, Y:-25.75, Z:1.78 [[ 9.99807863e-01 1.94884246e-02 2.10658172e-03 5.40143547e+02] [-1.94881117e-02 9.99810074e-01 -1.68959123e-04 -2.57467783e+01] [-2.10947437e-03 1.27873360e-04 9.99997767e-01 1.77590466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.780714057 meters Centerline goodness [0,1] 0.9724624060150376 Centerline is valid? [True, True] Translation: X:540.17, Y:-25.75, Z:1.77 [[ 9.99798043e-01 2.00053956e-02 1.91217531e-03 5.40170974e+02] [-2.00051381e-02 9.99799865e-01 -1.53695354e-04 -2.57515251e+01] [-1.91486736e-03 1.15410983e-04 9.99998160e-01 1.77472752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8107140569999 meters Centerline goodness [0,1] 0.972692877117947 Centerline is valid? [True, True] Translation: X:540.20, Y:-25.75, Z:1.77 [[ 9.99779096e-01 2.10141644e-02 4.05219316e-04 5.40199451e+02] [-2.10141527e-02 9.99779178e-01 -3.31738247e-05 -2.57541732e+01] [-4.05826955e-04 2.46511559e-05 9.99999917e-01 1.77261262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8407140569999 meters Centerline goodness [0,1] 0.9725037537537538 Centerline is valid? [True, True] Translation: X:540.23, Y:-25.76, Z:1.77 [[ 9.99741226e-01 2.27253189e-02 -1.02051336e-03 5.40227376e+02] [-2.27252486e-02 9.99741745e-01 8.04346498e-05 -2.57610815e+01] [ 1.02207771e-03 -5.72224156e-05 9.99999476e-01 1.76963430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.870714057 meters Centerline goodness [0,1] 0.9722619857789876 Centerline is valid? [True, True] Translation: X:540.26, Y:-25.76, Z:1.77 [[ 9.99738760e-01 2.28152145e-02 -1.37058648e-03 5.40256089e+02] [-2.28150875e-02 9.99739696e-01 1.08235818e-04 -2.57615929e+01] [ 1.37269913e-03 -7.69374915e-05 9.99999055e-01 1.76881841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.900714057 meters Centerline goodness [0,1] 0.974671934528009 Centerline is valid? [True, True] Translation: X:540.28, Y:-25.76, Z:1.77 [[ 9.99706327e-01 2.41828874e-02 -1.56444817e-03 5.40284971e+02] [-2.41827237e-02 9.99707548e-01 1.23497363e-04 -2.57573215e+01] [ 1.56697717e-03 -8.56284771e-05 9.99998769e-01 1.77013676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9307140569999 meters Centerline goodness [0,1] 0.9748884580345254 Centerline is valid? [True, True] Translation: X:540.31, Y:-25.76, Z:1.77 [[ 9.99684841e-01 2.50546669e-02 -1.57576920e-03 5.40312897e+02] [-2.50545020e-02 9.99686079e-01 1.24296228e-04 -2.57619478e+01] [ 1.57838874e-03 -8.47769427e-05 9.99998751e-01 1.76890897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9607140569999 meters Centerline goodness [0,1] 0.973895299746693 Centerline is valid? [True, True] Translation: X:540.34, Y:-25.77, Z:1.77 [[ 9.99622178e-01 2.73716830e-02 -2.50836141e-03 5.40340020e+02] [-2.73712721e-02 9.99625317e-01 1.97978617e-04 -2.57682772e+01] [ 2.51284058e-03 -1.29246773e-04 9.99996834e-01 1.76665879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.990714057 meters Centerline goodness [0,1] 0.9759381535352586 Centerline is valid? [True, True] Translation: X:540.37, Y:-25.76, Z:1.77 [[ 9.99592372e-01 2.84144531e-02 -2.77661049e-03 5.40369251e+02] [-2.84139533e-02 9.99596218e-01 2.19274544e-04 -2.57633073e+01] [ 2.78171991e-03 -1.40290681e-04 9.99996121e-01 1.76806693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.020714057 meters Centerline goodness [0,1] 0.977608250335523 Centerline is valid? [True, True] Translation: X:540.40, Y:-25.76, Z:1.77 [[ 9.99544582e-01 3.00737160e-02 -2.49019385e-03 5.40397954e+02] [-3.00733198e-02 9.99547676e-01 1.96377442e-04 -2.57636251e+01] [ 2.49497327e-03 -1.21399612e-04 9.99996880e-01 1.76880220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0507140569999 meters Centerline goodness [0,1] 0.9770799962310374 Centerline is valid? [True, True] Translation: X:540.43, Y:-25.77, Z:1.77 [[ 9.99558496e-01 2.96639312e-02 -1.69224861e-03 5.40426653e+02] [-2.96637484e-02 9.99559925e-01 1.33051684e-04 -2.57668245e+01] [ 1.69545073e-03 -8.27945047e-05 9.99998559e-01 1.76869169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0807140569999 meters Centerline goodness [0,1] 0.9761327527362599 Centerline is valid? [True, True] Translation: X:540.45, Y:-25.77, Z:1.77 [[ 9.99622378e-01 2.74774094e-02 3.05077312e-04 5.40454849e+02] [-2.74774030e-02 9.99622425e-01 -2.52243448e-05 -2.57704636e+01] [-3.05655222e-04 1.68320873e-05 9.99999953e-01 1.76989744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.110714057 meters Centerline goodness [0,1] 0.9763423212192263 Centerline is valid? [True, True] Translation: X:540.48, Y:-25.77, Z:1.77 [[ 9.99678517e-01 2.53325446e-02 1.06090480e-03 5.40484048e+02] [-2.53324693e-02 9.99679078e-01 -8.42748187e-05 -2.57744439e+01] [-1.06269922e-03 5.73723875e-05 9.99999434e-01 1.77041114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.140714057 meters Centerline goodness [0,1] 0.9735335523228531 Centerline is valid? [True, True] Translation: X:540.51, Y:-25.78, Z:1.77 [[ 9.99806723e-01 1.95425527e-02 2.14594877e-03 5.40514013e+02] [-1.95422336e-02 9.99809018e-01 -1.69573860e-04 -2.57827227e+01] [-2.14885283e-03 1.27604453e-04 9.99997683e-01 1.76968493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1707140569999 meters Centerline goodness [0,1] 0.9745861778733751 Centerline is valid? [True, True] Translation: X:540.54, Y:-25.79, Z:1.77 [[ 9.99857576e-01 1.66291237e-02 2.88104053e-03 5.40544472e+02] [-1.66285365e-02 9.99861710e-01 -2.27665678e-04 -2.57870870e+01] [-2.88442800e-03 1.79725766e-04 9.99995824e-01 1.76946553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2007140569999 meters Centerline goodness [0,1] 0.9747305921129527 Centerline is valid? [True, True] Translation: X:540.57, Y:-25.79, Z:1.77 [[ 9.99929959e-01 1.14040474e-02 3.16609051e-03 5.40574939e+02] [-1.14033122e-02 9.99934949e-01 -2.50185949e-04 -2.57915719e+01] [-3.16873768e-03 2.14064507e-04 9.99994957e-01 1.76924592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.230714057 meters Centerline goodness [0,1] 0.9728997289972899 Centerline is valid? [True, True] Translation: X:540.60, Y:-25.80, Z:1.77 [[ 9.99954834e-01 9.11252134e-03 2.70047432e-03 5.40603225e+02] [-9.11197716e-03 9.99958462e-01 -2.13747569e-04 -2.58000188e+01] [-2.70230993e-03 1.89131254e-04 9.99996331e-01 1.76793534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.260714057 meters Centerline goodness [0,1] 0.9728940296763641 Centerline is valid? [True, True] Translation: X:540.63, Y:-25.81, Z:1.77 [[ 9.99983612e-01 5.64288062e-03 9.65743134e-04 5.40631858e+02] [-5.64280935e-03 9.99984076e-01 -7.65131817e-05 -2.58068425e+01] [-9.66159510e-04 7.10624235e-05 9.99999531e-01 1.76568999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.290714057 meters Centerline goodness [0,1] 0.9722261121224852 Centerline is valid? [True, True] Translation: X:540.66, Y:-25.81, Z:1.76 [[ 9.99989860e-01 4.48270774e-03 -4.29524681e-04 5.40661306e+02] [-4.48269378e-03 9.99989952e-01 3.34744816e-05 -2.58108730e+01] [ 4.29670421e-04 -3.15487146e-05 9.99999907e-01 1.76408737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3207140569999 meters Centerline goodness [0,1] 0.9731992909124837 Centerline is valid? [True, True] Translation: X:540.69, Y:-25.82, Z:1.76 [[ 9.99987206e-01 4.35369805e-03 -2.57550660e-03 5.40689842e+02] [-4.35319081e-03 9.99990504e-01 2.02518538e-04 -2.58154190e+01] [ 2.57636385e-03 -1.91304275e-04 9.99996663e-01 1.76105896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3507140569999 meters Centerline goodness [0,1] 0.9732348761909199 Centerline is valid? [True, True] Translation: X:540.72, Y:-25.82, Z:1.76 [[ 9.99975688e-01 6.08925216e-03 -3.39772148e-03 5.40718969e+02] [-6.08837829e-03 9.99981430e-01 2.67478490e-04 -2.58171504e+01] [ 3.39928712e-03 -2.46785374e-04 9.99994192e-01 1.75918177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.380714057 meters Centerline goodness [0,1] 0.9737106301510589 Centerline is valid? [True, True] Translation: X:540.75, Y:-25.82, Z:1.76 [[ 9.99964188e-01 7.75428038e-03 -3.39029295e-03 5.40747947e+02] [-7.75342021e-03 9.99969906e-01 2.66783288e-04 -2.58189009e+01] [ 3.39225964e-03 -2.40487368e-04 9.99994217e-01 1.75897486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.410714057 meters Centerline goodness [0,1] 0.9724910373268973 Centerline is valid? [True, True] Translation: X:540.78, Y:-25.82, Z:1.76 [[ 9.99926755e-01 1.18834710e-02 -2.29506000e-03 5.40778665e+02] [-1.18830871e-02 9.99929377e-01 1.80837626e-04 -2.58184228e+01] [ 2.29704690e-03 -1.53551983e-04 9.99997350e-01 1.75907173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4407140569999 meters Centerline goodness [0,1] 0.9740277972764285 Centerline is valid? [True, True] Translation: X:540.81, Y:-25.81, Z:1.76 [[ 9.99901827e-01 1.39439253e-02 -1.37941320e-03 5.40809364e+02] [-1.39437889e-02 9.99902775e-01 1.08465343e-04 -2.58102224e+01] [ 1.38079152e-03 -8.92204486e-05 9.99999043e-01 1.76107382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4707140569999 meters Centerline goodness [0,1] 0.9748025220917422 Centerline is valid? [True, True] Translation: X:540.84, Y:-25.81, Z:1.76 [[ 9.99855352e-01 1.70069884e-02 -1.91621189e-04 5.40838172e+02] [-1.70069859e-02 9.99855371e-01 1.46528223e-05 -2.58111621e+01] [ 1.91842675e-04 -1.13918040e-05 9.99999982e-01 1.76110439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.500714057 meters Centerline goodness [0,1] 0.9742565468264536 Centerline is valid? [True, True] Translation: X:540.87, Y:-25.81, Z:1.76 [[ 9.99831563e-01 1.83527354e-02 -1.48087417e-04 5.40867752e+02] [-1.83527340e-02 9.99831574e-01 1.09962091e-05 -2.58094786e+01] [ 1.48264286e-04 -8.27654799e-06 9.99999989e-01 1.76153124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.530714057 meters Centerline goodness [0,1] 0.9739045035776084 Centerline is valid? [True, True] Translation: X:540.90, Y:-25.81, Z:1.76 [[ 9.99843549e-01 1.76819790e-02 -4.73677149e-04 5.40896468e+02] [-1.76819638e-02 9.99843661e-01 3.63657485e-05 -2.58112430e+01] [ 4.74246114e-04 -2.79845169e-05 9.99999887e-01 1.76158806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5607140569999 meters Centerline goodness [0,1] 0.9726393842688192 Centerline is valid? [True, True] Translation: X:540.92, Y:-25.82, Z:1.76 [[ 9.99878430e-01 1.55904292e-02 -2.50969140e-04 5.40924774e+02] [-1.55904249e-02 9.99878462e-01 1.90649644e-05 -2.58164547e+01] [ 2.51235869e-04 -1.51499311e-05 9.99999968e-01 1.76054139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5907140569999 meters Centerline goodness [0,1] 0.9719239138064154 Centerline is valid? [True, True] Translation: X:540.95, Y:-25.82, Z:1.76 [[ 9.99897036e-01 1.43462748e-02 3.20575160e-04 5.40951657e+02] [-1.43462671e-02 9.99897087e-01 -2.64494587e-05 -2.58230395e+01] [-3.20921619e-04 2.18476784e-05 9.99999948e-01 1.75950878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.620714057 meters Centerline goodness [0,1] 0.9718260215710693 Centerline is valid? [True, True] Translation: X:540.98, Y:-25.82, Z:1.76 [[ 9.99932217e-01 1.16242101e-02 6.62020796e-04 5.40982366e+02] [-1.16241782e-02 9.99932436e-01 -5.19529477e-05 -2.58227371e+01] [-6.62579979e-04 4.42539784e-05 9.99999780e-01 1.76081782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.650714057 meters Centerline goodness [0,1] 0.9703225202452839 Centerline is valid? [True, True] Translation: X:541.01, Y:-25.83, Z:1.76 [[ 9.99948272e-01 1.00921952e-02 1.26548159e-03 5.41009920e+02] [-1.00920766e-02 9.99949069e-01 -1.00086913e-04 -2.58304574e+01] [-1.26642724e-03 8.73103981e-05 9.99999194e-01 1.76018314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6807140569999 meters Centerline goodness [0,1] 0.9687895699479435 Centerline is valid? [True, True] Translation: X:541.04, Y:-25.84, Z:1.76 [[ 9.99962444e-01 8.49551397e-03 1.71348643e-03 5.41038395e+02] [-8.49529521e-03 9.99963905e-01 -1.34911433e-04 -2.58366962e+01] [-1.71457073e-03 1.20349794e-04 9.99998523e-01 1.75965450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7107140569999 meters Centerline goodness [0,1] 0.9703086217393341 Centerline is valid? [True, True] Translation: X:541.07, Y:-25.84, Z:1.76 [[ 9.99965268e-01 8.23241076e-03 1.29989901e-03 5.41066954e+02] [-8.23228430e-03 9.99966109e-01 -1.02605556e-04 -2.58354669e+01] [-1.30069965e-03 9.19008541e-05 9.99999150e-01 1.75983110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.740714057 meters Centerline goodness [0,1] 0.973871119473189 Centerline is valid? [True, True] Translation: X:541.10, Y:-25.83, Z:1.76 [[ 9.99967206e-01 8.09131274e-03 3.43294338e-04 5.41096242e+02] [-8.09130369e-03 9.99967264e-01 -2.77575818e-05 -2.58268550e+01] [-3.43507696e-04 2.49789728e-05 9.99999941e-01 1.76019374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.770714057 meters Centerline goodness [0,1] 0.9713375049801964 Centerline is valid? [True, True] Translation: X:541.12, Y:-25.83, Z:1.76 [[ 9.99970180e-01 7.70855677e-03 -4.67163947e-04 5.41123682e+02] [-7.70854108e-03 9.99970288e-01 3.53739462e-05 -2.58314821e+01] [ 4.67422749e-04 -3.17717388e-05 9.99999890e-01 1.75870702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8007140569999 meters Centerline goodness [0,1] 0.9724030934862838 Centerline is valid? [True, True] Translation: X:541.15, Y:-25.84, Z:1.76 [[ 9.99973705e-01 7.23533177e-03 -4.88291489e-04 5.41151218e+02] [-7.23531455e-03 9.99973824e-01 3.70121255e-05 -2.58357843e+01] [ 4.88546502e-04 -3.34782097e-05 9.99999880e-01 1.75827502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8307140569999 meters Centerline goodness [0,1] 0.9733542687070844 Centerline is valid? [True, True] Translation: X:541.18, Y:-25.83, Z:1.76 [[ 9.99970581e-01 7.66912680e-03 -1.45574799e-04 5.41180772e+02] [-7.66912532e-03 9.99970592e-01 1.06861939e-05 -2.58343131e+01] [ 1.45652472e-04 -9.56944819e-06 9.99999989e-01 1.75847421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.860714057 meters Centerline goodness [0,1] 0.9716593486581042 Centerline is valid? [True, True] Translation: X:541.21, Y:-25.84, Z:1.76 [[ 9.99967603e-01 8.04082646e-03 -3.72509466e-04 5.41208464e+02] [-8.04081662e-03 9.99967672e-01 2.79122190e-05 -2.58385304e+01] [ 3.72721860e-04 -2.49160344e-05 9.99999930e-01 1.75732443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.890714057 meters Centerline goodness [0,1] 0.9720534915477704 Centerline is valid? [True, True] Translation: X:541.24, Y:-25.84, Z:1.76 [[ 9.99959304e-01 9.02065247e-03 -1.37986892e-04 5.41237282e+02] [-9.02065119e-03 9.99959313e-01 9.85833963e-06 -2.58370022e+01] [ 1.38070207e-04 -8.61320680e-06 9.99999990e-01 1.75665702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9207140569999 meters Centerline goodness [0,1] 0.9721352019785655 Centerline is valid? [True, True] Translation: X:541.27, Y:-25.84, Z:1.76 [[ 9.99951443e-01 9.83454715e-03 -6.27590098e-04 5.41266531e+02] [-9.83451901e-03 9.99951639e-01 4.79128558e-05 -2.58369405e+01] [ 6.28030948e-04 -4.17384825e-05 9.99999802e-01 1.75658269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9507140569999 meters Centerline goodness [0,1] 0.9718518867480096 Centerline is valid? [True, True] Translation: X:541.30, Y:-25.84, Z:1.76 [[ 9.99937196e-01 1.12056240e-02 -1.97398982e-04 5.41295948e+02] [-1.12056213e-02 9.99937215e-01 1.46738885e-05 -2.58351769e+01] [ 1.97551018e-04 -1.24609887e-05 9.99999980e-01 1.75686167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.980714057 meters Centerline goodness [0,1] 0.9724165642431691 Centerline is valid? [True, True] Translation: X:541.32, Y:-25.84, Z:1.76 [[ 9.99935439e-01 1.13613595e-02 1.95112112e-04 5.41323168e+02] [-1.13613566e-02 9.99935458e-01 -1.62392909e-05 -2.58390305e+01] [-1.95284020e-04 1.40215042e-05 9.99999981e-01 1.75646537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.010714057 meters Centerline goodness [0,1] 0.9715909090909091 Centerline is valid? [True, True] Translation: X:541.35, Y:-25.84, Z:1.76 [[ 9.99936597e-01 1.11663630e-02 1.45434845e-03 5.41350998e+02] [-1.11662091e-02 9.99937649e-01 -1.13882055e-04 -2.58422398e+01] [-1.45552942e-03 9.76352760e-05 9.99998936e-01 1.75630685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.040714057 meters Centerline goodness [0,1] 0.9711102719033232 Centerline is valid? [True, True] Translation: X:541.38, Y:-25.84, Z:1.76 [[ 9.99957003e-01 9.21612400e-03 1.02761093e-03 5.41380257e+02] [-9.21604619e-03 9.99957528e-01 -8.04257042e-05 -2.58397503e+01] [-1.02830850e-03 7.09517363e-05 9.99999469e-01 1.75665090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0707140569999 meters Centerline goodness [0,1] 0.9695498468065048 Centerline is valid? [True, True] Translation: X:541.41, Y:-25.85, Z:1.75 [[ 9.99966978e-01 8.11093530e-03 5.04678871e-04 5.41408138e+02] [-8.11091622e-03 9.99967105e-01 -3.98464279e-05 -2.58484463e+01] [-5.04985462e-04 3.57517041e-05 9.99999872e-01 1.75488972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1007140569999 meters Centerline goodness [0,1] 0.9698397737983034 Centerline is valid? [True, True] Translation: X:541.44, Y:-25.85, Z:1.75 [[ 9.99983192e-01 5.79016821e-03 3.00076766e-04 5.41437723e+02] [-5.79016143e-03 9.99983237e-01 -2.34588769e-05 -2.58525030e+01] [-3.00207567e-04 2.17209896e-05 9.99999955e-01 1.75441279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.130714057 meters Centerline goodness [0,1] 0.9700727513227513 Centerline is valid? [True, True] Translation: X:541.47, Y:-25.85, Z:1.75 [[ 9.99988887e-01 4.71310827e-03 1.08132847e-04 5.41467832e+02] [-4.71310735e-03 9.99988893e-01 -8.80715854e-06 -2.58482164e+01] [-1.08173155e-04 8.29741896e-06 9.99999994e-01 1.75498700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.160714057 meters Centerline goodness [0,1] 0.9703279541905258 Centerline is valid? [True, True] Translation: X:541.50, Y:-25.85, Z:1.75 [[ 9.99994459e-01 3.32072042e-03 -2.31936128e-04 5.41495710e+02] [-3.32071656e-03 9.99994486e-01 1.70352410e-05 -2.58545889e+01] [ 2.31991419e-04 -1.62649524e-05 9.99999973e-01 1.75367424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1907140569999 meters Centerline goodness [0,1] 0.9695491291333758 Centerline is valid? [True, True] Translation: X:541.52, Y:-25.86, Z:1.75 [[ 9.99994831e-01 3.21216016e-03 -1.43491138e-04 5.41523649e+02] [-3.21215870e-03 9.99994841e-01 1.04344275e-05 -2.58587754e+01] [ 1.43523914e-04 -9.97345725e-06 9.99999990e-01 1.75275236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2207140569999 meters Centerline goodness [0,1] 0.9714968303529189 Centerline is valid? [True, True] Translation: X:541.55, Y:-25.85, Z:1.75 [[ 9.99992858e-01 3.77925737e-03 -2.28827448e-05 5.41553831e+02] [-3.77925734e-03 9.99992859e-01 1.31598500e-06 -2.58526257e+01] [ 2.28875548e-05 -1.22949582e-06 1.00000000e+00 1.75445085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.250714057 meters Centerline goodness [0,1] 0.9690221507004922 Centerline is valid? [True, True] Translation: X:541.58, Y:-25.86, Z:1.75 [[ 9.99991140e-01 4.19897401e-03 2.98552475e-04 5.41581801e+02] [-4.19896712e-03 9.99991184e-01 -2.36930116e-05 -2.58620743e+01] [-2.98649329e-04 2.24391896e-05 9.99999955e-01 1.75320827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.280714057 meters Centerline goodness [0,1] 0.9695939565627951 Centerline is valid? [True, True] Translation: X:541.61, Y:-25.86, Z:1.75 [[ 9.99975778e-01 6.91704386e-03 7.73177898e-04 5.41610942e+02] [-6.91699951e-03 9.99976075e-01 -6.00192650e-05 -2.58619194e+01] [-7.73574556e-04 5.46697401e-05 9.99999699e-01 1.75347169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3107140569999 meters Centerline goodness [0,1] 0.9719062433209052 Centerline is valid? [True, True] Translation: X:541.64, Y:-25.86, Z:1.75 [[ 9.99965869e-01 8.24437902e-03 5.40049334e-04 5.41640266e+02] [-8.24435728e-03 9.99966014e-01 -4.24679526e-05 -2.58561617e+01] [-5.40381101e-04 3.80141435e-05 9.99999853e-01 1.75400454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3407140569999 meters Centerline goodness [0,1] 0.9719062433209052 Centerline is valid? [True, True] Translation: X:541.67, Y:-25.86, Z:1.75 [[ 9.99966445e-01 8.17413350e-03 5.40052195e-04 5.41668554e+02] [-8.17411177e-03 9.99966590e-01 -4.24311823e-05 -2.58582788e+01] [-5.40380990e-04 3.80153116e-05 9.99999853e-01 1.75365058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.370714057 meters Centerline goodness [0,1] 0.9735081998429058 Centerline is valid? [True, True] Translation: X:541.70, Y:-25.86, Z:1.75 [[ 9.99940845e-01 1.08759868e-02 -1.40795561e-04 5.41698785e+02] [-1.08759854e-02 9.99940855e-01 1.06122416e-05 -2.58583947e+01] [ 1.40902652e-04 -9.08032339e-06 9.99999990e-01 1.75255267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.400714057 meters Centerline goodness [0,1] 0.9696314939690379 Centerline is valid? [True, True] Translation: X:541.73, Y:-25.87, Z:1.75 [[ 9.99933741e-01 1.14896878e-02 -7.07137162e-04 5.41726019e+02] [-1.14896531e-02 9.99933990e-01 5.31732484e-05 -2.58665473e+01] [ 7.07701428e-04 -4.50449646e-05 9.99999749e-01 1.74985701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4307140569999 meters Centerline goodness [0,1] 0.9714768293843372 Centerline is valid? [True, True] Translation: X:541.75, Y:-25.87, Z:1.75 [[ 9.99920785e-01 1.24962745e-02 -1.50586639e-03 5.41753418e+02] [-1.24961161e-02 9.99921914e-01 1.14555042e-04 -2.58685431e+01] [ 1.50718031e-03 -9.57284859e-05 9.99998860e-01 1.74889392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4607140569999 meters Centerline goodness [0,1] 0.972417407045709 Centerline is valid? [True, True] Translation: X:541.78, Y:-25.86, Z:1.75 [[ 9.99923147e-01 1.22524209e-02 -1.89144121e-03 5.41782889e+02] [-1.22521700e-02 9.99924929e-01 1.44162047e-04 -2.58618904e+01] [ 1.89306555e-03 -1.20976708e-04 9.99998201e-01 1.75020481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.490714057 meters Centerline goodness [0,1] 0.9728532647521074 Centerline is valid? [True, True] Translation: X:541.81, Y:-25.86, Z:1.75 [[ 9.99920777e-01 1.24663532e-02 -1.74038565e-03 5.41812257e+02] [-1.24661415e-02 9.99922286e-01 1.32429201e-04 -2.58593908e+01] [ 1.74190131e-03 -1.10722816e-04 9.99998477e-01 1.75039658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.520714057 meters Centerline goodness [0,1] 0.9728739351829819 Centerline is valid? [True, True] Translation: X:541.84, Y:-25.86, Z:1.75 [[ 9.99917475e-01 1.28462856e-02 1.26685189e-04 5.41839595e+02] [-1.28462843e-02 9.99917483e-01 -1.08052705e-05 -2.58623372e+01] [-1.26813543e-04 9.17694485e-06 9.99999992e-01 1.75161137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5507140569999 meters Centerline goodness [0,1] 0.9704760087761137 Centerline is valid? [True, True] Translation: X:541.87, Y:-25.86, Z:1.75 [[ 9.99922403e-01 1.24143672e-02 1.03534342e-03 5.41868303e+02] [-1.24142909e-02 9.99922937e-01 -8.00326660e-05 -2.58635189e+01] [-1.03625719e-03 6.71734013e-05 9.99999461e-01 1.75329533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5807140569999 meters Centerline goodness [0,1] 0.9709786383748038 Centerline is valid? [True, True] Translation: X:541.90, Y:-25.87, Z:1.75 [[ 9.99919623e-01 1.25454816e-02 1.83270364e-03 5.41896967e+02] [-1.25452444e-02 9.99921295e-01 -1.40857980e-04 -2.58659255e+01] [-1.83432653e-03 1.17854943e-04 9.99998311e-01 1.75364000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.610714057 meters Centerline goodness [0,1] 0.9694093579771165 Centerline is valid? [True, True] Translation: X:541.92, Y:-25.88, Z:1.75 [[ 9.99941026e-01 1.07161003e-02 1.76327164e-03 5.41924813e+02] [-1.07158785e-02 9.99942574e-01 -1.35235462e-04 -2.58769786e+01] [-1.76461958e-03 1.16332482e-04 9.99998436e-01 1.75109522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.640714057 meters Centerline goodness [0,1] 0.970755638112929 Centerline is valid? [True, True] Translation: X:541.95, Y:-25.88, Z:1.75 [[ 9.99952600e-01 9.64372916e-03 1.34058734e-03 5.41954583e+02] [-9.64360012e-03 9.99953494e-01 -1.02691615e-04 -2.58782038e+01] [-1.34151533e-03 8.97586587e-05 9.99999096e-01 1.74998091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6707140569999 meters Centerline goodness [0,1] 0.9705868365988206 Centerline is valid? [True, True] Translation: X:541.99, Y:-25.88, Z:1.75 [[ 9.99976731e-01 6.76534902e-03 -8.75561045e-04 5.41985191e+02] [-6.76529312e-03 9.99977113e-01 6.67957068e-05 -2.58790432e+01] [ 8.75992903e-04 -6.08707255e-05 9.99999614e-01 1.74746227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7007140569999 meters Centerline goodness [0,1] 0.9705707702904919 Centerline is valid? [True, True] Translation: X:542.01, Y:-25.88, Z:1.75 [[ 9.99984415e-01 5.26732388e-03 -1.85052788e-03 5.42013294e+02] [-5.26707298e-03 9.99986119e-01 1.40427076e-04 -2.58849269e+01] [ 1.85124187e-03 -1.30678022e-04 9.99998278e-01 1.74543870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7307140569999 meters Centerline goodness [0,1] 0.9701261604379909 Centerline is valid? [True, True] Translation: X:542.04, Y:-25.89, Z:1.74 [[ 9.99994401e-01 1.81764973e-03 -2.80982403e-03 5.42043479e+02] [-1.81705508e-03 9.99998326e-01 2.14173388e-04 -2.58907393e+01] [ 2.81020862e-03 -2.09066584e-04 9.99996030e-01 1.74391450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.760714057 meters Centerline goodness [0,1] 0.9694556691228904 Centerline is valid? [True, True] Translation: X:542.07, Y:-25.89, Z:1.74 [[ 9.99997577e-01 -6.78904749e-04 -2.09396670e-03 5.42073447e+02] [ 6.79239971e-04 9.99999757e-01 1.59382628e-04 -2.58940704e+01] [ 2.09385799e-03 -1.60804548e-04 9.99997795e-01 1.74438748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.790714057 meters Centerline goodness [0,1] 0.9716271676986217 Centerline is valid? [True, True] Translation: X:542.10, Y:-25.89, Z:1.75 [[ 9.99997382e-01 -1.45770224e-03 -1.76359893e-03 5.42103876e+02] [ 1.45794168e-03 9.99998928e-01 1.34486417e-04 -2.58910447e+01] [ 1.76340100e-03 -1.37057289e-04 9.99998436e-01 1.74521450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8207140569999 meters Centerline goodness [0,1] 0.969975475606562 Centerline is valid? [True, True] Translation: X:542.13, Y:-25.90, Z:1.74 [[ 9.99993607e-01 -2.37103024e-03 -2.67652505e-03 5.42133258e+02] [ 2.37158472e-03 9.99997167e-01 2.04009921e-04 -2.58971890e+01] [ 2.67603375e-03 -2.10356223e-04 9.99996397e-01 1.74337989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8507140569999 meters Centerline goodness [0,1] 0.9709843817165783 Centerline is valid? [True, True] Translation: X:542.16, Y:-25.90, Z:1.74 [[ 9.99995404e-01 -2.05195749e-03 -2.23180120e-03 5.42163978e+02] [ 2.05234222e-03 9.99997879e-01 1.70112208e-04 -2.58984108e+01] [ 2.23144740e-03 -1.74691846e-04 9.99997495e-01 1.74321081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.880714057 meters Centerline goodness [0,1] 0.969822428564591 Centerline is valid? [True, True] Translation: X:542.19, Y:-25.90, Z:1.74 [[ 9.99996127e-01 -1.68571363e-03 -2.21442213e-03 5.42193494e+02] [ 1.68609175e-03 9.99998564e-01 1.68898512e-04 -2.59006667e+01] [ 2.21413424e-03 -1.72631576e-04 9.99997534e-01 1.74299160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.910714057 meters Centerline goodness [0,1] 0.9707405986185725 Centerline is valid? [True, True] Translation: X:542.22, Y:-25.90, Z:1.74 [[ 9.99996694e-01 -1.30830626e-03 -2.21356986e-03 5.42223985e+02] [ 1.30868297e-03 9.99999129e-01 1.68739357e-04 -2.59034216e+01] [ 2.21334717e-03 -1.71635661e-04 9.99997536e-01 1.74277971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9407140569999 meters Centerline goodness [0,1] 0.9711812798197031 Centerline is valid? [True, True] Translation: X:542.25, Y:-25.90, Z:1.74 [[ 9.99999221e-01 6.53015111e-05 -1.24636758e-03 5.42254573e+02] [-6.51831440e-05 9.99999993e-01 9.50099966e-05 -2.59040782e+01] [ 1.24637378e-03 -9.49286805e-05 9.99999219e-01 1.74270596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9707140569999 meters Centerline goodness [0,1] 0.9730438128216227 Centerline is valid? [True, True] Translation: X:542.29, Y:-25.90, Z:1.74 [[ 9.99996206e-01 2.54574290e-03 -1.05189361e-03 5.42285100e+02] [-2.54566027e-03 9.99996757e-01 7.98817638e-05 -2.58988086e+01] [ 1.05209356e-03 -7.72036970e-05 9.99999444e-01 1.74281698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.000714057 meters Centerline goodness [0,1] 0.9718512825439524 Centerline is valid? [True, True] Translation: X:542.31, Y:-25.91, Z:1.74 [[ 9.99993829e-01 3.42502969e-03 -7.81975290e-04 5.42313489e+02] [-3.42498468e-03 9.99994133e-01 5.88926216e-05 -2.59067624e+01] [ 7.82172411e-04 -5.62140048e-05 9.99999693e-01 1.74127475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.030714057 meters Centerline goodness [0,1] 0.9716581657203349 Centerline is valid? [True, True] Translation: X:542.34, Y:-25.91, Z:1.74 [[ 9.99987778e-01 4.93553294e-03 -2.89094688e-04 5.42342058e+02] [-4.93552697e-03 9.99987820e-01 2.13709846e-05 -2.59063812e+01] [ 2.89196644e-04 -1.99438888e-05 9.99999958e-01 1.74172389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0607140569999 meters Centerline goodness [0,1] 0.9736835774939261 Centerline is valid? [True, True] Translation: X:542.37, Y:-25.90, Z:1.74 [[ 9.99982484e-01 5.91544793e-03 -1.98848724e-04 5.42371151e+02] [-5.91544521e-03 9.99982503e-01 1.42573981e-05 -2.59024486e+01] [ 1.98929584e-04 -1.30808697e-05 9.99999980e-01 1.74253183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0907140569999 meters Centerline goodness [0,1] 0.9751587282427637 Centerline is valid? [True, True] Translation: X:542.40, Y:-25.90, Z:1.74 [[ 9.99975236e-01 7.03119278e-03 -2.98642820e-04 5.42400286e+02] [-7.03118658e-03 9.99975281e-01 2.17932385e-05 -2.58987444e+01] [ 2.98788671e-04 -1.96928855e-05 9.99999955e-01 1.74252095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.120714057 meters Centerline goodness [0,1] 0.9744415085275042 Centerline is valid? [True, True] Translation: X:542.43, Y:-25.90, Z:1.74 [[ 9.99973785e-01 7.24068723e-03 3.18907973e-05 5.42427664e+02] [-7.24068712e-03 9.99973786e-01 -3.57094467e-06 -2.59020239e+01] [-3.19158174e-05 3.33993978e-06 9.99999999e-01 1.74195638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.150714057 meters Centerline goodness [0,1] 0.9745599228357849 Centerline is valid? [True, True] Translation: X:542.46, Y:-25.91, Z:1.74 [[ 9.99977967e-01 6.62587407e-03 4.03986138e-04 5.42455157e+02] [-6.62586179e-03 9.99978048e-01 -3.17149511e-05 -2.59055060e+01] [-4.04187409e-04 2.90374960e-05 9.99999918e-01 1.74113410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1807140569999 meters Centerline goodness [0,1] 0.9748283752860412 Centerline is valid? [True, True] Translation: X:542.48, Y:-25.90, Z:1.74 [[ 9.99980318e-01 6.27003849e-03 2.26066358e-04 5.42484368e+02] [-6.27003457e-03 9.99980343e-01 -1.80100994e-05 -2.59048448e+01] [-2.26174838e-04 1.65923010e-05 9.99999974e-01 1.74099993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2107140569999 meters Centerline goodness [0,1] 0.9756507540101815 Centerline is valid? [True, True] Translation: X:542.51, Y:-25.91, Z:1.74 [[ 9.99984274e-01 5.60824051e-03 -2.92896340e-06 5.42512121e+02] [-5.60824051e-03 9.99984274e-01 -6.61210732e-07 -2.59112093e+01] [ 2.92520911e-06 6.77626665e-07 1.00000000e+00 1.73874053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.240714057 meters Centerline goodness [0,1] 0.9739057036054504 Centerline is valid? [True, True] Translation: X:542.54, Y:-25.92, Z:1.74 [[ 9.99985991e-01 5.23399973e-03 -7.89010404e-04 5.42539637e+02] [-5.23395498e-03 9.99986301e-01 5.87634424e-05 -2.59200342e+01] [ 7.89307163e-04 -5.46329743e-05 9.99999687e-01 1.73569046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.270714057 meters Centerline goodness [0,1] 0.9746413563251702 Centerline is valid? [True, True] Translation: X:542.57, Y:-25.92, Z:1.74 [[ 9.99986803e-01 5.05102063e-03 -9.38824439e-04 5.42569093e+02] [-5.05095711e-03 9.99987241e-01 7.00197281e-05 -2.59181247e+01] [ 9.39166132e-04 -6.52768420e-05 9.99999557e-01 1.73546473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3007140569999 meters Centerline goodness [0,1] 0.976630329924754 Centerline is valid? [True, True] Translation: X:542.60, Y:-25.91, Z:1.74 [[ 9.99985844e-01 5.06650373e-03 -1.62580029e-03 5.42598212e+02] [-5.06631247e-03 9.99987159e-01 1.21736144e-04 -2.59134685e+01] [ 1.62639619e-03 -1.13497608e-04 9.99998671e-01 1.73576840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3307140569999 meters Centerline goodness [0,1] 0.976021549339811 Centerline is valid? [True, True] Translation: X:542.63, Y:-25.91, Z:1.74 [[ 9.99984543e-01 5.23675222e-03 -1.86814510e-03 5.42626690e+02] [-5.23650000e-03 9.99986280e-01 1.39874613e-04 -2.59131964e+01] [ 1.86885196e-03 -1.30089909e-04 9.99998245e-01 1.73600586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.360714057 meters Centerline goodness [0,1] 0.974903474903475 Centerline is valid? [True, True] Translation: X:542.65, Y:-25.92, Z:1.73 [[ 9.99977188e-01 6.35972810e-03 -2.27527330e-03 5.42654166e+02] [-6.35935737e-03 9.99979765e-01 1.70133252e-04 -2.59161660e+01] [ 2.27630926e-03 -1.55660095e-04 9.99997397e-01 1.73464988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.390714057 meters Centerline goodness [0,1] 0.9760392261056496 Centerline is valid? [True, True] Translation: X:542.68, Y:-25.91, Z:1.73 [[ 9.99970269e-01 7.29951052e-03 -2.48561761e-03 5.42683544e+02] [-7.29906994e-03 9.99973344e-01 1.86274112e-04 -2.59148425e+01] [ 2.48691106e-03 -1.68125877e-04 9.99996893e-01 1.73479061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4207140569999 meters Centerline goodness [0,1] 0.9745026076878501 Centerline is valid? [True, True] Translation: X:542.71, Y:-25.92, Z:1.73 [[ 9.99964744e-01 8.17848724e-03 -1.90328835e-03 5.42711507e+02] [-8.17823148e-03 9.99966548e-01 1.42123386e-04 -2.59202254e+01] [ 1.90438704e-03 -1.26552842e-04 9.99998179e-01 1.73339757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4507140569999 meters Centerline goodness [0,1] 0.9743466679465336 Centerline is valid? [True, True] Translation: X:542.74, Y:-25.92, Z:1.73 [[ 9.99936726e-01 1.12073771e-02 -9.69148238e-04 5.42742241e+02] [-1.12073120e-02 9.99937193e-01 7.25848430e-05 -2.59180074e+01] [ 9.69900855e-04 -6.17187035e-05 9.99999528e-01 1.73369411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4807140569999 meters Centerline goodness [0,1] 0.974083377614608 Centerline is valid? [True, True] Translation: X:542.77, Y:-25.92, Z:1.73 [[ 9.99896097e-01 1.44121220e-02 -2.94653719e-04 5.42772396e+02] [-1.44121162e-02 9.99896140e-01 2.19142175e-05 -2.59184902e+01] [ 2.94938947e-04 -1.76653569e-05 9.99999956e-01 1.73395869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.510714057 meters Centerline goodness [0,1] 0.9740700351387375 Centerline is valid? [True, True] Translation: X:542.80, Y:-25.92, Z:1.73 [[ 9.99869685e-01 1.61393566e-02 -3.66769883e-04 5.42801691e+02] [-1.61393478e-02 9.99869752e-01 2.68781485e-05 -2.59181625e+01] [ 3.67155908e-04 -2.09552192e-05 9.99999932e-01 1.73447120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.540714057 meters Centerline goodness [0,1] 0.9754768392370572 Centerline is valid? [True, True] Translation: X:542.83, Y:-25.91, Z:1.74 [[ 9.99816584e-01 1.91511314e-02 1.79612583e-04 5.42831657e+02] [-1.91511292e-02 9.99816600e-01 -1.39184687e-05 -2.59133166e+01] [-1.79846196e-04 1.04761320e-05 9.99999984e-01 1.73549981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5707140569999 meters Centerline goodness [0,1] 0.9719580708709293 Centerline is valid? [True, True] Translation: X:542.86, Y:-25.92, Z:1.73 [[ 9.99784947e-01 2.07316160e-02 5.09134183e-04 5.42859064e+02] [-2.07315987e-02 9.99785077e-01 -3.92451893e-05 -2.59224022e+01] [-5.09838374e-04 2.86815840e-05 9.99999870e-01 1.73314712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6007140569999 meters Centerline goodness [0,1] 0.9753479996106298 Centerline is valid? [True, True] Translation: X:542.89, Y:-25.91, Z:1.73 [[ 9.99756321e-01 2.20666736e-02 6.00700287e-04 5.42888749e+02] [-2.20666500e-02 9.99756501e-01 -4.58548681e-05 -2.59141347e+01] [-6.01565881e-04 3.25882513e-05 9.99999819e-01 1.73483927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.630714057 meters Centerline goodness [0,1] 0.9747960550347011 Centerline is valid? [True, True] Translation: X:542.92, Y:-25.92, Z:1.73 [[ 9.99740747e-01 2.27577532e-02 7.22821439e-04 5.42917423e+02] [-2.27577195e-02 9.99741008e-01 -5.47396190e-05 -2.59168327e+01] [-7.23879985e-04 3.82756600e-05 9.99999737e-01 1.73396527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.660714057 meters Centerline goodness [0,1] 0.9738422268141486 Centerline is valid? [True, True] Translation: X:542.94, Y:-25.92, Z:1.73 [[ 9.99748157e-01 2.24411744e-02 -1.26508483e-04 5.42944630e+02] [-2.24411736e-02 9.99748165e-01 8.33387312e-06 -2.59201093e+01] [ 1.26663645e-04 -5.49277547e-06 9.99999992e-01 1.73300969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6907140569999 meters Centerline goodness [0,1] 0.9736701351745599 Centerline is valid? [True, True] Translation: X:542.97, Y:-25.92, Z:1.73 [[ 9.99787090e-01 2.05868088e-02 -1.39912381e-03 5.42973663e+02] [-2.05866837e-02 9.99788066e-01 1.03797067e-04 -2.59232232e+01] [ 1.40096414e-03 -7.49716484e-05 9.99999016e-01 1.73153818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7207140569999 meters Centerline goodness [0,1] 0.9722761701301224 Centerline is valid? [True, True] Translation: X:543.00, Y:-25.93, Z:1.73 [[ 9.99814848e-01 1.91412250e-02 -1.97082674e-03 5.43001495e+02] [-1.91409739e-02 9.99816784e-01 1.46190615e-04 -2.59279005e+01] [ 1.97326392e-03 -1.08440004e-04 9.99998047e-01 1.72962119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.750714057 meters Centerline goodness [0,1] 0.972000482334499 Centerline is valid? [True, True] Translation: X:543.03, Y:-25.93, Z:1.73 [[ 9.99856422e-01 1.67087201e-02 -2.82045369e-03 5.43030263e+02] [-1.67081951e-02 9.99860386e-01 2.09592065e-04 -2.59337113e+01] [ 2.82356193e-03 -1.62437281e-04 9.99996001e-01 1.72785553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.780714057 meters Centerline goodness [0,1] 0.97322206095791 Centerline is valid? [True, True] Translation: X:543.06, Y:-25.94, Z:1.73 [[ 9.99876700e-01 1.53617225e-02 -3.25604243e-03 5.43058817e+02] [-1.53610159e-02 9.99881983e-01 2.41897547e-04 -2.59386360e+01] [ 3.25937413e-03 -1.91851601e-04 9.99994670e-01 1.72696695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8107140569999 meters Centerline goodness [0,1] 0.9714037291082988 Centerline is valid? [True, True] Translation: X:543.09, Y:-25.94, Z:1.73 [[ 9.99905408e-01 1.29707618e-02 -4.57537942e-03 5.43089189e+02] [-1.29693376e-02 9.99915837e-01 3.40818955e-04 -2.59432100e+01] [ 4.57941502e-03 -2.81447076e-04 9.99989475e-01 1.72592958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8407140569999 meters Centerline goodness [0,1] 0.9716168271667511 Centerline is valid? [True, True] Translation: X:543.12, Y:-25.95, Z:1.73 [[ 9.99917651e-01 1.18859651e-02 -4.83901273e-03 5.43118128e+02] [-1.18843652e-02 9.99929314e-01 3.59255095e-04 -2.59472705e+01] [ 4.84294078e-03 -3.01716916e-04 9.99988227e-01 1.72548264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.870714057 meters Centerline goodness [0,1] 0.9721187357288787 Centerline is valid? [True, True] Translation: X:543.15, Y:-25.95, Z:1.73 [[ 9.99938056e-01 1.03243316e-02 -4.15840745e-03 5.43147996e+02] [-1.03231360e-02 9.99946667e-01 3.08882005e-04 -2.59496572e+01] [ 4.16137468e-03 -2.65935066e-04 9.99991306e-01 1.72616362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.900714057 meters Centerline goodness [0,1] 0.9711171400446568 Centerline is valid? [True, True] Translation: X:543.18, Y:-25.96, Z:1.73 [[ 9.99957491e-01 8.78728115e-03 -2.79285478e-03 5.43175292e+02] [-8.78673967e-03 9.99961375e-01 2.06092353e-04 -2.59567330e+01] [ 2.79455789e-03 -1.81543504e-04 9.99996079e-01 1.72708692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9307140569999 meters Centerline goodness [0,1] 0.9711308097747964 Centerline is valid? [True, True] Translation: X:543.20, Y:-25.96, Z:1.73 [[ 9.99965330e-01 7.84139088e-03 -2.80206582e-03 5.43203859e+02] [-7.84084137e-03 9.99969239e-01 2.07040117e-04 -2.59569433e+01] [ 2.80360311e-03 -1.85062385e-04 9.99996053e-01 1.72818804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9607140569999 meters Centerline goodness [0,1] 0.9705362263429554 Centerline is valid? [True, True] Translation: X:543.23, Y:-25.97, Z:1.73 [[ 9.99974301e-01 6.90344987e-03 -1.93366833e-03 5.43230870e+02] [-6.90318770e-03 9.99976163e-01 1.42221073e-04 -2.59665634e+01] [ 1.93460405e-03 -1.28868942e-04 9.99998120e-01 1.72846274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.990714057 meters Centerline goodness [0,1] 0.9704777626259001 Centerline is valid? [True, True] Translation: X:543.26, Y:-25.97, Z:1.73 [[ 9.99979149e-01 6.35912867e-03 -1.12407521e-03 5.43259275e+02] [-6.35904007e-03 9.99979778e-01 8.23852970e-05 -2.59694963e+01] [ 1.12457638e-03 -7.52355399e-05 9.99999365e-01 1.72892399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.020714057 meters Centerline goodness [0,1] 0.9691210835042205 Centerline is valid? [True, True] Translation: X:543.29, Y:-25.98, Z:1.73 [[ 9.99980006e-01 6.31543327e-03 -3.19786165e-04 5.43287817e+02] [-6.31542630e-03 9.99980057e-01 2.28147797e-05 -2.59751033e+01] [ 3.19923873e-04 -2.07947376e-05 9.99999949e-01 1.72867168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0507140569999 meters Centerline goodness [0,1] 0.9696377036277339 Centerline is valid? [True, True] Translation: X:543.32, Y:-25.97, Z:1.73 [[ 9.99979013e-01 6.43501927e-03 -7.51002945e-04 5.43317212e+02] [-6.43497986e-03 9.99979294e-01 5.48715644e-05 -2.59748486e+01] [ 7.51340495e-04 -5.00377240e-05 9.99999716e-01 1.72819132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0807140569999 meters Centerline goodness [0,1] 0.9700577372715561 Centerline is valid? [True, True] Translation: X:543.34, Y:-25.98, Z:1.73 [[ 9.99974042e-01 7.12927733e-03 -1.04378424e-03 5.43344159e+02] [-7.12920186e-03 9.99974584e-01 7.60040753e-05 -2.59843819e+01] [ 1.04429956e-03 -6.85607538e-05 9.99999452e-01 1.72600695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.110714057 meters Centerline goodness [0,1] 0.9698081734778983 Centerline is valid? [True, True] Translation: X:543.37, Y:-25.99, Z:1.73 [[ 9.99951255e-01 9.71831855e-03 -1.74434983e-03 5.43372843e+02] [-9.71810940e-03 9.99952770e-01 1.28338258e-04 -2.59877142e+01] [ 1.74551467e-03 -1.11380219e-04 9.99998470e-01 1.72529985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.140714057 meters Centerline goodness [0,1] 0.970864280085019 Centerline is valid? [True, True] Translation: X:543.40, Y:-25.99, Z:1.72 [[ 9.99934175e-01 1.13853698e-02 -1.42070334e-03 5.43403031e+02] [-1.13852325e-02 9.99935181e-01 1.04633085e-04 -2.59898881e+01] [ 1.42180254e-03 -8.84511592e-05 9.99998985e-01 1.72485364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1707140569999 meters Centerline goodness [0,1] 0.9730403800475059 Centerline is valid? [True, True] Translation: X:543.43, Y:-25.99, Z:1.73 [[ 9.99876438e-01 1.56271367e-02 -1.70315028e-03 5.43434292e+02] [-1.56269448e-02 9.99877884e-01 1.25876014e-04 -2.59857163e+01] [ 1.70490938e-03 -9.92454252e-05 9.99998542e-01 1.72576098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2007140569999 meters Centerline goodness [0,1] 0.9734046345811052 Centerline is valid? [True, True] Translation: X:543.46, Y:-25.99, Z:1.73 [[ 9.99837969e-01 1.79258140e-02 -1.64363535e-03 5.43463747e+02] [-1.79256395e-02 9.99839316e-01 1.20818112e-04 -2.59872265e+01] [ 1.64553701e-03 -9.13353208e-05 9.99998642e-01 1.72528759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2307140569999 meters Centerline goodness [0,1] 0.9739120095124851 Centerline is valid? [True, True] Translation: X:543.49, Y:-25.99, Z:1.73 [[ 9.99745301e-01 2.25036937e-02 -1.70805850e-03 5.43494833e+02] [-2.25035113e-02 9.99746756e-01 1.25935611e-04 -2.59850898e+01] [ 1.71045996e-03 -8.74662215e-05 9.99998533e-01 1.72611874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.260714057 meters Centerline goodness [0,1] 0.9739120095124851 Centerline is valid? [True, True] Translation: X:543.52, Y:-25.99, Z:1.73 [[ 9.99747707e-01 2.23965457e-02 -1.70816567e-03 5.43522251e+02] [-2.23963656e-02 9.99749162e-01 1.24481665e-04 -2.59870231e+01] [ 1.71052516e-03 -8.61935559e-05 9.99998533e-01 1.72577608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.290714057 meters Centerline goodness [0,1] 0.9740681866710954 Centerline is valid? [True, True] Translation: X:543.55, Y:-25.99, Z:1.72 [[ 9.99701862e-01 2.43598618e-02 -1.66830729e-03 5.43549551e+02] [-2.43596926e-02 9.99703251e-01 1.21628901e-04 -2.59902426e+01] [ 1.67077508e-03 -8.09531857e-05 9.99998601e-01 1.72475224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3207140569999 meters Centerline goodness [0,1] 0.9757806766258671 Centerline is valid? [True, True] Translation: X:543.58, Y:-25.99, Z:1.72 [[ 9.99565356e-01 2.94556500e-02 -1.20979955e-03 5.43579870e+02] [-2.94555640e-02 9.99566087e-01 8.88495879e-05 -2.59922845e+01] [ 1.21189172e-03 -5.31756420e-05 9.99999264e-01 1.72478192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3507140569999 meters Centerline goodness [0,1] 0.9760261791278366 Centerline is valid? [True, True] Translation: X:543.61, Y:-26.00, Z:1.72 [[ 9.99507112e-01 3.13792713e-02 -9.34709204e-04 5.43608214e+02] [-3.13792216e-02 9.99507549e-01 6.78103653e-05 -2.59956552e+01] [ 9.36376745e-04 -3.84464952e-05 9.99999561e-01 1.72402110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.380714057 meters Centerline goodness [0,1] 0.977136264098519 Centerline is valid? [True, True] Translation: X:543.64, Y:-26.00, Z:1.72 [[ 9.99412340e-01 3.42728442e-02 -5.88961593e-04 5.43638151e+02] [-3.42728248e-02 9.99412513e-01 4.30513129e-05 -2.60004178e+01] [ 5.90091077e-04 -2.28406358e-05 9.99999826e-01 1.72384683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.410714057 meters Centerline goodness [0,1] 0.9775953600411609 Centerline is valid? [True, True] Translation: X:543.67, Y:-26.01, Z:1.72 [[ 9.99405269e-01 3.44719512e-02 8.90081006e-04 5.43665079e+02] [-3.44719057e-02 9.99405665e-01 -6.64074084e-05 -2.60087584e+01] [-8.91841193e-04 3.56851254e-05 9.99999602e-01 1.72439329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4407140569999 meters Centerline goodness [0,1] 0.978134110787172 Centerline is valid? [True, True] Translation: X:543.69, Y:-26.01, Z:1.72 [[ 9.99435562e-01 3.35759955e-02 1.09980256e-03 5.43694082e+02] [-3.35759261e-02 9.99436166e-01 -8.15041181e-05 -2.60128716e+01] [-1.10191904e-03 4.45312245e-05 9.99999392e-01 1.72457198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4707140569999 meters Centerline goodness [0,1] 0.977186843946816 Centerline is valid? [True, True] Translation: X:543.72, Y:-26.03, Z:1.72 [[ 9.99525191e-01 3.07252784e-02 2.31307957e-03 5.43721888e+02] [-3.07249668e-02 9.99527862e-01 -1.70105869e-04 -2.60257734e+01] [-2.31721403e-03 9.89558084e-05 9.99997310e-01 1.72337726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.500714057 meters Centerline goodness [0,1] 0.9764478854246588 Centerline is valid? [True, True] Translation: X:543.75, Y:-26.03, Z:1.72 [[ 9.99583355e-01 2.87803942e-02 2.19223185e-03 5.43751445e+02] [-2.87801102e-02 9.99585754e-01 -1.60957029e-04 -2.60314804e+01] [-2.19595613e-03 9.77972926e-05 9.99997584e-01 1.72263215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.530714057 meters Centerline goodness [0,1] 0.9776286871023713 Centerline is valid? [True, True] Translation: X:543.78, Y:-26.04, Z:1.72 [[ 9.99691264e-01 2.48448326e-02 3.33809849e-04 5.43781335e+02] [-2.48448258e-02 9.99691319e-01 -2.46616642e-05 -2.60395306e+01] [-3.34319523e-04 1.63606027e-05 9.99999944e-01 1.72080403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5607140569999 meters Centerline goodness [0,1] 0.9753903637244274 Centerline is valid? [True, True] Translation: X:543.81, Y:-26.05, Z:1.72 [[ 9.99745386e-01 2.25582523e-02 -5.37460300e-04 5.43809472e+02] [-2.25582348e-02 9.99745530e-01 3.86476835e-05 -2.60509079e+01] [ 5.38195357e-04 -2.65136876e-05 9.99999855e-01 1.71814072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5907140569999 meters Centerline goodness [0,1] 0.9760248733302626 Centerline is valid? [True, True] Translation: X:543.84, Y:-26.06, Z:1.72 [[ 9.99821249e-01 1.87204892e-02 -2.64813505e-03 5.43838346e+02] [-1.87200422e-02 9.99824746e-01 1.93481716e-04 -2.60620406e+01] [ 2.65129303e-03 -1.43873931e-04 9.99996475e-01 1.71571748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.620714057 meters Centerline goodness [0,1] 0.9761045054161588 Centerline is valid? [True, True] Translation: X:543.87, Y:-26.06, Z:1.72 [[ 9.99854375e-01 1.67985089e-02 -3.00634736e-03 5.43867520e+02] [-1.67979260e-02 9.99858881e-01 2.19039132e-04 -2.60617122e+01] [ 3.00960264e-03 -1.68506834e-04 9.99995457e-01 1.71663877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.650714057 meters Centerline goodness [0,1] 0.9746577537658532 Centerline is valid? [True, True] Translation: X:543.89, Y:-26.08, Z:1.72 [[ 9.99901782e-01 1.37972753e-02 -2.46205855e-03 5.43894499e+02] [-1.37968765e-02 9.99904803e-01 1.78876078e-04 -2.60777262e+01] [ 2.46429217e-03 -1.44889791e-04 9.99996953e-01 1.71506435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6807140569999 meters Centerline goodness [0,1] 0.9746844127332601 Centerline is valid? [True, True] Translation: X:543.92, Y:-26.08, Z:1.72 [[ 9.99935164e-01 1.10914601e-02 -2.57805361e-03 5.43924713e+02] [-1.10910122e-02 9.99938475e-01 1.87960578e-04 -2.60785915e+01] [ 2.57997975e-03 -1.59355168e-04 9.99996659e-01 1.71619569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7107140569999 meters Centerline goodness [0,1] 0.9758371123631533 Centerline is valid? [True, True] Translation: X:543.95, Y:-26.08, Z:1.72 [[ 9.99947123e-01 9.88356691e-03 -2.84006266e-03 5.43952888e+02] [-9.88302171e-03 9.99951141e-01 2.05937623e-04 -2.60822908e+01] [ 2.84195929e-03 -1.77858333e-04 9.99995946e-01 1.71622491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.740714057 meters Centerline goodness [0,1] 0.9754573240271885 Centerline is valid? [True, True] Translation: X:543.98, Y:-26.09, Z:1.72 [[ 9.99966512e-01 7.92940470e-03 -2.02481650e-03 5.43981452e+02] [-7.92912355e-03 9.99968553e-01 1.46844697e-04 -2.60890439e+01] [ 2.02591722e-03 -1.30784759e-04 9.99997939e-01 1.71610255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.770714057 meters Centerline goodness [0,1] 0.975410767447674 Centerline is valid? [True, True] Translation: X:544.01, Y:-26.09, Z:1.72 [[ 9.99973681e-01 7.04977096e-03 -1.71405842e-03 5.44009613e+02] [-7.04956939e-03 9.99975144e-01 1.23615036e-04 -2.60931775e+01] [ 1.71488727e-03 -1.11528408e-04 9.99998523e-01 1.71583112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8007140569999 meters Centerline goodness [0,1] 0.9749226991633321 Centerline is valid? [True, True] Translation: X:544.04, Y:-26.10, Z:1.72 [[ 9.99985626e-01 5.01943696e-03 -1.88514560e-03 5.44038483e+02] [-5.01918869e-03 9.99987394e-01 1.36406952e-04 -2.60988330e+01] [ 1.88580653e-03 -1.26943090e-04 9.99998214e-01 1.71522096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8307140569999 meters Centerline goodness [0,1] 0.9750341685649203 Centerline is valid? [True, True] Translation: X:544.07, Y:-26.10, Z:1.72 [[ 9.99987701e-01 4.28478224e-03 -2.49758313e-03 5.44067412e+02] [-4.28434464e-03 9.99990806e-01 1.80536094e-04 -2.61018621e+01] [ 2.49833372e-03 -1.69833367e-04 9.99996865e-01 1.71509996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.860714057 meters Centerline goodness [0,1] 0.9739550276543658 Centerline is valid? [True, True] Translation: X:544.09, Y:-26.11, Z:1.71 [[ 9.99992998e-01 2.64735924e-03 -2.64496702e-03 5.44094912e+02] [-2.64686170e-03 9.99996479e-01 1.91591314e-04 -2.61116239e+01] [ 2.64546491e-03 -1.84589110e-04 9.99996484e-01 1.71335195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.890714057 meters Centerline goodness [0,1] 0.9744938445144762 Centerline is valid? [True, True] Translation: X:544.12, Y:-26.12, Z:1.71 [[ 9.99996055e-01 1.32221332e-03 -2.47833099e-03 5.44124646e+02] [-1.32177270e-03 9.99999110e-01 1.79421596e-04 -2.61158817e+01] [ 2.47856602e-03 -1.76145097e-04 9.99996913e-01 1.71283887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9207140569999 meters Centerline goodness [0,1] 0.9734503242189271 Centerline is valid? [True, True] Translation: X:544.15, Y:-26.12, Z:1.71 [[ 9.99996654e-01 4.95832785e-04 -2.53879551e-03 5.44153428e+02] [-4.95368357e-04 9.99999860e-01 1.83557994e-04 -2.61205671e+01] [ 2.53888617e-03 -1.82299741e-04 9.99996760e-01 1.71229445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9507140569999 meters Centerline goodness [0,1] 0.9731451157538114 Centerline is valid? [True, True] Translation: X:544.18, Y:-26.12, Z:1.71 [[ 9.99996952e-01 -4.92831579e-04 -2.41949742e-03 5.44182589e+02] [ 4.93256355e-04 9.99999863e-01 1.74970088e-04 -2.61237410e+01] [ 2.41941086e-03 -1.76162987e-04 9.99997058e-01 1.71188692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9807140569999 meters Centerline goodness [0,1] 0.9761780401952992 Centerline is valid? [True, True] Translation: X:544.21, Y:-26.12, Z:1.71 [[ 9.99991011e-01 -1.70342268e-03 -3.88292930e-03 5.44213281e+02] [ 1.70452724e-03 9.99998508e-01 2.81175541e-04 -2.61168714e+01] [ 3.88244455e-03 -2.87791572e-04 9.99992422e-01 1.71279591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.010714057 meters Centerline goodness [0,1] 0.9756701499318492 Centerline is valid? [True, True] Translation: X:544.24, Y:-26.12, Z:1.71 [[ 9.99978848e-01 -3.04116443e-03 -5.74927234e-03 5.44242864e+02] [ 3.04360612e-03 9.99995282e-01 4.15994034e-04 -2.61197617e+01] [ 5.74798011e-03 -4.33483756e-04 9.99983386e-01 1.71038880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.040714057 meters Centerline goodness [0,1] 0.9740150499011071 Centerline is valid? [True, True] Translation: X:544.27, Y:-26.13, Z:1.71 [[ 9.99965669e-01 -4.16927733e-03 -7.16087149e-03 5.44270687e+02] [ 4.17309045e-03 9.99991159e-01 5.17635182e-04 -2.61287430e+01] [ 7.15865001e-03 -5.47500375e-04 9.99974227e-01 1.70733018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0707140569999 meters Centerline goodness [0,1] 0.9763489719413836 Centerline is valid? [True, True] Translation: X:544.30, Y:-26.13, Z:1.71 [[ 9.99950414e-01 -5.07967138e-03 -8.56539707e-03 5.44300479e+02] [ 5.08516069e-03 9.99986879e-01 6.19212809e-04 -2.61255770e+01] [ 8.56213928e-03 -6.62738526e-04 9.99963125e-01 1.70755433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1007140569999 meters Centerline goodness [0,1] 0.9759216433138349 Centerline is valid? [True, True] Translation: X:544.33, Y:-26.13, Z:1.71 [[ 9.99946035e-01 -5.46057525e-03 -8.83799383e-03 5.44329174e+02] [ 5.46642832e-03 9.99984855e-01 6.38241093e-04 -2.61295449e+01] [ 8.83437481e-03 -6.86518909e-04 9.99960740e-01 1.70655471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.130714057 meters Centerline goodness [0,1] 0.9746585598257634 Centerline is valid? [True, True] Translation: X:544.36, Y:-26.13, Z:1.71 [[ 9.99945579e-01 -6.19536855e-03 -8.39378438e-03 5.44357585e+02] [ 6.20063583e-03 9.99980595e-01 6.01642950e-04 -2.61306910e+01] [ 8.38989409e-03 -6.53657008e-04 9.99964591e-01 1.70752222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.160714057 meters Centerline goodness [0,1] 0.9753400973656672 Centerline is valid? [True, True] Translation: X:544.39, Y:-26.13, Z:1.71 [[ 9.99957545e-01 -5.30737894e-03 -7.53260595e-03 5.44386987e+02] [ 5.31159782e-03 9.99985747e-01 5.40188165e-04 -2.61293922e+01] [ 7.52963161e-03 -5.80175405e-04 9.99971484e-01 1.70897656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1907140569999 meters Centerline goodness [0,1] 0.9759639459188784 Centerline is valid? [True, True] Translation: X:544.42, Y:-26.13, Z:1.71 [[ 9.99972770e-01 -4.11661611e-03 -6.12478775e-03 5.44415355e+02] [ 4.11938482e-03 9.99991419e-01 4.39503102e-04 -2.61317441e+01] [ 6.12292592e-03 -4.64721492e-04 9.99981147e-01 1.70914411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2207140569999 meters Centerline goodness [0,1] 0.9741396956808516 Centerline is valid? [True, True] Translation: X:544.44, Y:-26.13, Z:1.71 [[ 9.99981973e-01 -2.91098264e-03 -5.25169645e-03 5.44444995e+02] [ 2.91300141e-03 9.99995686e-01 3.76796236e-04 -2.61326722e+01] [ 5.25057695e-03 -3.92087642e-04 9.99986139e-01 1.70969159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.250714057 meters Centerline goodness [0,1] 0.9739503037997642 Centerline is valid? [True, True] Translation: X:544.48, Y:-26.13, Z:1.71 [[ 9.99994690e-01 -2.19886741e-04 -3.25144376e-03 5.44475696e+02] [ 2.20646995e-04 9.99999948e-01 2.33463569e-04 -2.61309765e+01] [ 3.25139226e-03 -2.34179751e-04 9.99994687e-01 1.71066687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.280714057 meters Centerline goodness [0,1] 0.9735134027192602 Centerline is valid? [True, True] Translation: X:544.50, Y:-26.13, Z:1.71 [[ 9.99996350e-01 3.33586677e-04 -2.68134146e-03 5.44504931e+02] [-3.33080622e-04 9.99999927e-01 1.89176220e-04 -2.61318913e+01] [ 2.68140437e-03 -1.88282426e-04 9.99996387e-01 1.71048051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3107140569999 meters Centerline goodness [0,1] 0.9730212532063027 Centerline is valid? [True, True] Translation: X:544.53, Y:-26.13, Z:1.71 [[ 9.99997870e-01 1.21133244e-03 -1.67124925e-03 5.44534065e+02] [-1.21113495e-03 9.99999259e-01 1.19174730e-04 -2.61326703e+01] [ 1.67139237e-03 -1.17150368e-04 9.99998596e-01 1.71115528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3407140569999 meters Centerline goodness [0,1] 0.9715570570913324 Centerline is valid? [True, True] Translation: X:544.56, Y:-26.14, Z:1.71 [[ 9.99999720e-01 -3.09126271e-04 -6.81505501e-04 5.44562741e+02] [ 3.09159121e-04 9.99999951e-01 4.80982455e-05 -2.61356330e+01] [ 6.81490599e-04 -4.83089257e-05 9.99999767e-01 1.71110915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.370714057 meters Centerline goodness [0,1] 0.9738771036467015 Centerline is valid? [True, True] Translation: X:544.59, Y:-26.13, Z:1.71 [[ 9.99998317e-01 -1.78065196e-03 -4.41372565e-04 5.44593401e+02] [ 1.78066606e-03 9.99998414e-01 3.15640828e-05 -2.61326911e+01] [ 4.41315660e-04 -3.23499669e-05 9.99999902e-01 1.71169823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.400714057 meters Centerline goodness [0,1] 0.9743800708490459 Centerline is valid? [True, True] Translation: X:544.62, Y:-26.13, Z:1.71 [[ 9.99986340e-01 -5.06223472e-03 -1.30146499e-03 5.44624207e+02] [ 5.06236027e-03 9.99987182e-01 9.31934279e-05 -2.61323081e+01] [ 1.30097654e-03 -9.97806395e-05 9.99999149e-01 1.71095478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4307140569999 meters Centerline goodness [0,1] 0.9734086336199013 Centerline is valid? [True, True] Translation: X:544.65, Y:-26.14, Z:1.71 [[ 9.99975865e-01 -6.62177670e-03 -2.10295581e-03 5.44653377e+02] [ 6.62210756e-03 9.99978062e-01 1.50408215e-04 -2.61400394e+01] [ 2.10191370e-03 -1.64330585e-04 9.99997777e-01 1.70887371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4607140569999 meters Centerline goodness [0,1] 0.9733540884534383 Centerline is valid? [True, True] Translation: X:544.68, Y:-26.14, Z:1.71 [[ 9.99947787e-01 -9.61051592e-03 -3.47287249e-03 5.44684337e+02] [ 9.61143637e-03 9.99953778e-01 2.48446125e-04 -2.61409359e+01] [ 3.47032428e-03 -2.81812445e-04 9.99993939e-01 1.70726041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.490714057 meters Centerline goodness [0,1] 0.9732279858009848 Centerline is valid? [True, True] Translation: X:544.72, Y:-26.14, Z:1.71 [[ 9.99939469e-01 -1.00919477e-02 -4.38310308e-03 5.44716854e+02] [ 1.00934235e-02 9.99949011e-01 3.14710766e-04 -2.61429722e+01] [ 4.37970354e-03 -3.58932232e-04 9.99990345e-01 1.70626514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.520714057 meters Centerline goodness [0,1] 0.9732108162472285 Centerline is valid? [True, True] Translation: X:544.75, Y:-26.15, Z:1.70 [[ 9.99934357e-01 -9.61425024e-03 -6.23282057e-03 5.44747963e+02] [ 9.61722360e-03 9.99953653e-01 4.47251733e-04 -2.61466189e+01] [ 6.22823171e-03 -5.07164803e-04 9.99980476e-01 1.70408624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5507140569999 meters Centerline goodness [0,1] 0.9736377193988758 Centerline is valid? [True, True] Translation: X:544.78, Y:-26.15, Z:1.70 [[ 9.99952260e-01 -7.20543684e-03 -6.60001075e-03 5.44778611e+02] [ 7.20871409e-03 9.99973905e-01 4.72897554e-04 -2.61456979e+01] [ 6.59643109e-03 -5.20452568e-04 9.99978108e-01 1.70414200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5807140569999 meters Centerline goodness [0,1] 0.9747544294501056 Centerline is valid? [True, True] Translation: X:544.81, Y:-26.14, Z:1.71 [[ 9.99962347e-01 -5.90367658e-03 -6.36005732e-03 5.44809397e+02] [ 5.90669369e-03 9.99982451e-01 4.55704643e-04 -2.61432756e+01] [ 6.35725537e-03 -4.93254395e-04 9.99979671e-01 1.70508093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.610714057 meters Centerline goodness [0,1] 0.975070208553934 Centerline is valid? [True, True] Translation: X:544.84, Y:-26.14, Z:1.71 [[ 9.99982363e-01 -2.59602249e-03 -5.34176548e-03 5.44840614e+02] [ 2.59810355e-03 9.99996552e-01 3.82681097e-04 -2.61390728e+01] [ 5.34075361e-03 -3.96552807e-04 9.99985659e-01 1.70645441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.640714057 meters Centerline goodness [0,1] 0.9742444817824015 Centerline is valid? [True, True] Translation: X:544.87, Y:-26.14, Z:1.71 [[ 9.99986632e-01 -1.19228611e-03 -5.03129546e-03 5.44870532e+02] [ 1.19411168e-03 9.99999222e-01 3.59855785e-04 -2.61391002e+01] [ 5.03086250e-03 -3.65858903e-04 9.99987278e-01 1.70643494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6707140569999 meters Centerline goodness [0,1] 0.9744335225437261 Centerline is valid? [True, True] Translation: X:544.90, Y:-26.14, Z:1.71 [[ 9.99990034e-01 1.02595404e-03 -4.34506625e-03 5.44899348e+02] [-1.02461424e-03 9.99999427e-01 3.10564251e-04 -2.61405080e+01] [ 4.34538238e-03 -3.06109139e-04 9.99990512e-01 1.70647034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7007140569999 meters Centerline goodness [0,1] 0.9735784955122466 Centerline is valid? [True, True] Translation: X:544.93, Y:-26.14, Z:1.71 [[ 9.99990397e-01 1.74176601e-03 -4.02139340e-03 5.44927696e+02] [-1.74063866e-03 9.99998445e-01 2.83819710e-04 -2.61415706e+01] [ 4.02188149e-03 -2.76817192e-04 9.99991874e-01 1.70651360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7307140569999 meters Centerline goodness [0,1] 0.973456447283162 Centerline is valid? [True, True] Translation: X:544.96, Y:-26.14, Z:1.71 [[ 9.99984005e-01 -1.30441771e-04 -5.65436229e-03 5.44957126e+02] [ 1.32718967e-04 9.99999910e-01 4.02359255e-04 -2.61387314e+01] [ 5.65430930e-03 -4.03103260e-04 9.99983933e-01 1.70659420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.760714057 meters Centerline goodness [0,1] 0.973160712637312 Centerline is valid? [True, True] Translation: X:544.98, Y:-26.15, Z:1.70 [[ 9.99982745e-01 -1.21753630e-03 -5.74697832e-03 5.44984656e+02] [ 1.21990301e-03 9.99999173e-01 4.08331058e-04 -2.61469505e+01] [ 5.74647640e-03 -4.15334768e-04 9.99983403e-01 1.70448036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.790714057 meters Centerline goodness [0,1] 0.9725367214702424 Centerline is valid? [True, True] Translation: X:545.01, Y:-26.15, Z:1.70 [[ 9.99971330e-01 -4.50643612e-03 -6.08540165e-03 5.45014705e+02] [ 4.50915525e-03 9.99989740e-01 4.33182043e-04 -2.61485303e+01] [ 6.08338711e-03 -4.60609644e-04 9.99981390e-01 1.70499598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8207140569999 meters Centerline goodness [0,1] 0.9709691518483586 Centerline is valid? [True, True] Translation: X:545.04, Y:-26.15, Z:1.70 [[ 9.99943243e-01 -8.14537322e-03 -6.86755135e-03 5.45044941e+02] [ 8.14892219e-03 9.99966677e-01 4.88948832e-04 -2.61530109e+01] [ 6.86333983e-03 -5.44884222e-04 9.99976299e-01 1.70413118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8507140569999 meters Centerline goodness [0,1] 0.9695121951219512 Centerline is valid? [True, True] Translation: X:545.07, Y:-26.16, Z:1.70 [[ 9.99928701e-01 -9.69709902e-03 -6.96850806e-03 5.45073865e+02] [ 9.70078826e-03 9.99952823e-01 4.95809102e-04 -2.61609696e+01] [ 6.96337140e-03 -5.63373773e-04 9.99975597e-01 1.70218737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.880714057 meters Centerline goodness [0,1] 0.9717166124529956 Centerline is valid? [True, True] Translation: X:545.10, Y:-26.16, Z:1.70 [[ 9.99889857e-01 -1.29287607e-02 -7.28842721e-03 5.45104573e+02] [ 1.29328839e-02 9.99916232e-01 5.18868532e-04 -2.61576411e+01] [ 7.28110834e-03 -6.13071765e-04 9.99973304e-01 1.70272014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.910714057 meters Centerline goodness [0,1] 0.9598229721319411 Centerline is valid? [True, True] Translation: X:545.13, Y:-26.17, Z:1.70 [[ 9.99882323e-01 -1.35468874e-02 -7.19875703e-03 5.45134861e+02] [ 1.35509397e-02 9.99908049e-01 5.14429911e-04 -2.61709872e+01] [ 7.19112618e-03 -6.11919297e-04 9.99973956e-01 1.69958095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9407140569999 meters Centerline goodness [0,1] 0.9709510086455332 Centerline is valid? [True, True] Translation: X:545.17, Y:-26.17, Z:1.70 [[ 9.99876603e-01 -1.40496281e-02 -7.02751199e-03 5.45167086e+02] [ 1.40535008e-02 9.99901119e-01 5.01989564e-04 -2.61661518e+01] [ 7.01976433e-03 -6.00688765e-04 9.99975181e-01 1.70156721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9707140569999 meters Centerline goodness [0,1] 0.9704147465437788 Centerline is valid? [True, True] Translation: X:545.20, Y:-26.17, Z:1.70 [[ 9.99871961e-01 -1.41971081e-02 -7.38268010e-03 5.45199102e+02] [ 1.42013914e-02 9.99899016e-01 5.28077504e-04 -2.61662380e+01] [ 7.37443739e-03 -6.32854219e-04 9.99972608e-01 1.70202858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.000714057 meters Centerline goodness [0,1] 0.9713943801348583 Centerline is valid? [True, True] Translation: X:545.23, Y:-26.17, Z:1.70 [[ 9.99868550e-01 -1.45045257e-02 -7.24583913e-03 5.45231103e+02] [ 1.45086635e-02 9.99894609e-01 5.18816887e-04 -2.61692839e+01] [ 7.23755029e-03 -6.23876130e-04 9.99973614e-01 1.70233550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.030714057 meters Centerline goodness [0,1] 0.9701994380728662 Centerline is valid? [True, True] Translation: X:545.26, Y:-26.17, Z:1.70 [[ 9.99875195e-01 -1.44869412e-02 -6.30262062e-03 5.45263033e+02] [ 1.44900750e-02 9.99894911e-01 4.51844627e-04 -2.61736497e+01] [ 6.29541244e-03 -5.43113680e-04 9.99980036e-01 1.70210964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0607140569999 meters Centerline goodness [0,1] 0.9703257984808273 Centerline is valid? [True, True] Translation: X:545.29, Y:-26.18, Z:1.70 [[ 9.99884756e-01 -1.41058500e-02 -5.61244753e-03 5.45294721e+02] [ 1.41083319e-02 9.99900391e-01 4.02858586e-04 -2.61761473e+01] [ 5.60620582e-03 -4.81994431e-04 9.99984169e-01 1.70225023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0907140569999 meters Centerline goodness [0,1] 0.969528321412966 Centerline is valid? [True, True] Translation: X:545.33, Y:-26.18, Z:1.70 [[ 9.99905714e-01 -1.29877427e-02 -4.45885077e-03 5.45325662e+02] [ 1.29892976e-02 9.99915584e-01 3.19948491e-04 -2.61786039e+01] [ 4.45431896e-03 -3.77835664e-04 9.99990008e-01 1.70270349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.120714057 meters Centerline goodness [0,1] 0.9714226643081941 Centerline is valid? [True, True] Translation: X:545.36, Y:-26.18, Z:1.70 [[ 9.99918830e-01 -1.21346198e-02 -3.88378546e-03 5.45357495e+02] [ 1.21357939e-02 9.99926320e-01 2.78892243e-04 -2.61771219e+01] [ 3.88011505e-03 -3.26002425e-04 9.99992419e-01 1.70304162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.150714057 meters Centerline goodness [0,1] 0.9714226643081941 Centerline is valid? [True, True] Translation: X:545.39, Y:-26.18, Z:1.70 [[ 9.99919701e-01 -1.20626356e-02 -3.88373324e-03 5.45389219e+02] [ 1.20638120e-02 9.99927190e-01 2.79620081e-04 -2.61794585e+01] [ 3.88007751e-03 -3.26450256e-04 9.99992419e-01 1.70264526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1807140569999 meters Centerline goodness [0,1] 0.9677900387712496 Centerline is valid? [True, True] Translation: X:545.42, Y:-26.19, Z:1.70 [[ 9.99945813e-01 -1.00882220e-02 -2.56893719e-03 5.45418787e+02] [ 1.00887287e-02 9.99949090e-01 1.84362691e-04 -2.61885109e+01] [ 2.56694651e-03 -2.10270011e-04 9.99996683e-01 1.70139832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2107140569999 meters Centerline goodness [0,1] 0.9723578733990602 Centerline is valid? [True, True] Translation: X:545.45, Y:-26.18, Z:1.70 [[ 9.99952407e-01 -9.29614915e-03 -2.96054384e-03 5.45451152e+02] [ 9.29682110e-03 9.99956761e-01 2.13288364e-04 -2.61830727e+01] [ 2.95843307e-03 -2.40801859e-04 9.99995595e-01 1.70247159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.240714057 meters Centerline goodness [0,1] 0.9759680804446597 Centerline is valid? [True, True] Translation: X:545.48, Y:-26.18, Z:1.70 [[ 9.99960534e-01 -7.92124065e-03 -4.02291632e-03 5.45483258e+02] [ 7.92247022e-03 9.99968575e-01 2.89795712e-04 -2.61782880e+01] [ 4.02049435e-03 -3.21655709e-04 9.99991866e-01 1.70263818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.270714057 meters Centerline goodness [0,1] 0.9752580169553999 Centerline is valid? [True, True] Translation: X:545.51, Y:-26.18, Z:1.70 [[ 9.99968111e-01 -6.72285221e-03 -4.31049954e-03 5.45514672e+02] [ 6.72425239e-03 9.99977344e-01 3.10420314e-04 -2.61817204e+01] [ 4.30831497e-03 -3.39395302e-04 9.99990662e-01 1.70153812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3007140569999 meters Centerline goodness [0,1] 0.9759534701947171 Centerline is valid? [True, True] Translation: X:545.55, Y:-26.19, Z:1.70 [[ 9.99967278e-01 -6.23190211e-03 -5.15807767e-03 5.45545221e+02] [ 6.23390105e-03 9.99980500e-01 3.71549718e-04 -2.61862942e+01] [ 5.15566163e-03 -4.03692506e-04 9.99986628e-01 1.69879811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3307140569999 meters Centerline goodness [0,1] 0.9764343083331416 Centerline is valid? [True, True] Translation: X:545.58, Y:-26.19, Z:1.70 [[ 9.99960288e-01 -5.52449790e-03 -6.99307422e-03 5.45575128e+02] [ 5.52815307e-03 9.99984593e-01 5.03463796e-04 -2.61886264e+01] [ 6.99018509e-03 -5.42102587e-04 9.99975421e-01 1.69760038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.360714057 meters Centerline goodness [0,1] 0.9758271188788585 Centerline is valid? [True, True] Translation: X:545.61, Y:-26.19, Z:1.70 [[ 9.99961716e-01 -5.02443831e-03 -7.16394894e-03 5.45605083e+02] [ 5.02825498e-03 9.99987226e-01 5.14848331e-04 -2.61903054e+01] [ 7.16127060e-03 -5.50850782e-04 9.99974206e-01 1.69719549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.390714057 meters Centerline goodness [0,1] 0.9754520472022724 Centerline is valid? [True, True] Translation: X:545.63, Y:-26.19, Z:1.70 [[ 9.99958702e-01 -4.80024271e-03 -7.71696879e-03 5.45634258e+02] [ 4.80463277e-03 9.99988306e-01 5.50445886e-04 -2.61916655e+01] [ 7.71423628e-03 -5.87500355e-04 9.99970072e-01 1.69658041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4207140569999 meters Centerline goodness [0,1] 0.9762849497093291 Centerline is valid? [True, True] Translation: X:545.66, Y:-26.19, Z:1.70 [[ 9.99977901e-01 -2.52663047e-03 -6.14932259e-03 5.45664406e+02] [ 2.52938726e-03 9.99996704e-01 4.40572847e-04 -2.61918495e+01] [ 6.14818915e-03 -4.56117129e-04 9.99980996e-01 1.69794718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4507140569999 meters Centerline goodness [0,1] 0.9768139347098858 Centerline is valid? [True, True] Translation: X:545.69, Y:-26.19, Z:1.70 [[ 9.99986378e-01 -1.33748588e-03 -5.04524488e-03 5.45694219e+02] [ 1.33932434e-03 9.99999038e-01 3.61032517e-04 -2.61904817e+01] [ 5.04475715e-03 -3.67784819e-04 9.99987207e-01 1.69867943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4807140569999 meters Centerline goodness [0,1] 0.9758544780442591 Centerline is valid? [True, True] Translation: X:545.72, Y:-26.19, Z:1.70 [[ 9.99994175e-01 8.13485797e-04 -3.31480069e-03 5.45724311e+02] [-8.12703918e-04 9.99999642e-01 2.37215272e-04 -2.61897340e+01] [ 3.31499247e-03 -2.34519938e-04 9.99994478e-01 1.70033180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.510714057 meters Centerline goodness [0,1] 0.9761225861789183 Centerline is valid? [True, True] Translation: X:545.75, Y:-26.19, Z:1.70 [[ 9.99994409e-01 2.45504670e-03 -2.27042703e-03 5.45754384e+02] [-2.45468496e-03 9.99996974e-01 1.62101417e-04 -2.61868093e+01] [ 2.27081812e-03 -1.56527327e-04 9.99997409e-01 1.70110439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.540714057 meters Centerline goodness [0,1] 0.9762407970829365 Centerline is valid? [True, True] Translation: X:545.78, Y:-26.19, Z:1.70 [[ 9.99994320e-01 2.55191247e-03 -2.20188486e-03 5.45783073e+02] [-2.55157384e-03 9.99996732e-01 1.56585646e-04 -2.61866084e+01] [ 2.20227726e-03 -1.50966485e-04 9.99997564e-01 1.70054651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5707140569999 meters Centerline goodness [0,1] 0.9755536448771873 Centerline is valid? [True, True] Translation: X:545.81, Y:-26.19, Z:1.70 [[ 9.99991626e-01 2.49585587e-03 -3.24322069e-03 5.45811822e+02] [-2.49511936e-03 9.99996860e-01 2.31116559e-04 -2.61914404e+01] [ 3.24378734e-03 -2.23022401e-04 9.99994714e-01 1.69798175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6007140569999 meters Centerline goodness [0,1] 0.9750991166446408 Centerline is valid? [True, True] Translation: X:545.84, Y:-26.19, Z:1.70 [[ 9.99988612e-01 2.03531908e-03 -4.31668396e-03 5.45839638e+02] [-2.03401250e-03 9.99997884e-01 3.07050655e-04 -2.61949186e+01] [ 4.31729978e-03 -2.98266969e-04 9.99990636e-01 1.69615186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.630714057 meters Centerline goodness [0,1] 0.9752756198539331 Centerline is valid? [True, True] Translation: X:545.87, Y:-26.19, Z:1.70 [[ 9.99978274e-01 4.52378455e-04 -6.57625896e-03 5.45869216e+02] [-4.49307928e-04 9.99999789e-01 4.68380870e-04 -2.61911754e+01] [ 6.57646946e-03 -4.65415928e-04 9.99978266e-01 1.69569299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.660714057 meters Centerline goodness [0,1] 0.9749825621948384 Centerline is valid? [True, True] Translation: X:545.90, Y:-26.20, Z:1.69 [[ 9.99972617e-01 -6.68517662e-04 -7.37008742e-03 5.45897188e+02] [ 6.72399583e-04 9.99999637e-01 5.24247821e-04 -2.61962670e+01] [ 7.36973427e-03 -5.29189109e-04 9.99972703e-01 1.69418857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6907140569999 meters Centerline goodness [0,1] 0.9731969710961308 Centerline is valid? [True, True] Translation: X:545.93, Y:-26.21, Z:1.69 [[ 9.99963129e-01 -2.53961874e-03 -8.20308970e-03 5.45925044e+02] [ 2.54448967e-03 9.99996593e-01 5.83410357e-04 -2.62055512e+01] [ 8.20158011e-03 -6.04261523e-04 9.99966184e-01 1.69099566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7207140569999 meters Centerline goodness [0,1] 0.9750835189309577 Centerline is valid? [True, True] Translation: X:545.95, Y:-26.20, Z:1.69 [[ 9.99957037e-01 -3.42897546e-03 -8.61194568e-03 5.45953847e+02] [ 3.43436371e-03 9.99993916e-01 6.10960217e-04 -2.62013288e+01] [ 8.60979832e-03 -6.40510522e-04 9.99962730e-01 1.69240360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.750714057 meters Centerline goodness [0,1] 0.9752432708609118 Centerline is valid? [True, True] Translation: X:545.98, Y:-26.20, Z:1.69 [[ 9.99950869e-01 -4.30645030e-03 -8.92828428e-03 5.45982657e+02] [ 4.31227488e-03 9.99990502e-01 6.33225957e-04 -2.62000979e+01] [ 8.92547252e-03 -6.71696062e-04 9.99959942e-01 1.69317397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.780714057 meters Centerline goodness [0,1] 0.9750747756729811 Centerline is valid? [True, True] Translation: X:546.01, Y:-26.20, Z:1.69 [[ 9.99954613e-01 -4.71641620e-03 -8.27815782e-03 5.46010012e+02] [ 4.72142139e-03 9.99988683e-01 5.85188371e-04 -2.62049891e+01] [ 8.27530414e-03 -6.24246482e-04 9.99965564e-01 1.69189229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8107140569999 meters Centerline goodness [0,1] 0.9729842834557798 Centerline is valid? [True, True] Translation: X:546.04, Y:-26.21, Z:1.69 [[ 9.99959925e-01 -5.27684725e-03 -7.23211447e-03 5.46038987e+02] [ 5.28065769e-03 9.99985928e-01 5.07883416e-04 -2.62078882e+01] [ 7.22933268e-03 -5.46053384e-04 9.99973719e-01 1.69291383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8407140569999 meters Centerline goodness [0,1] 0.9726690722849494 Centerline is valid? [True, True] Translation: X:546.07, Y:-26.21, Z:1.69 [[ 9.99965820e-01 -5.56538413e-03 -6.11441945e-03 5.46068727e+02] [ 5.56812482e-03 9.99984405e-01 4.31302662e-04 -2.62070744e+01] [ 6.11192373e-03 -4.65333771e-04 9.99981214e-01 1.69377408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.870714057 meters Centerline goodness [0,1] 0.9720248874030738 Centerline is valid? [True, True] Translation: X:546.10, Y:-26.21, Z:1.69 [[ 9.99974229e-01 -5.18542838e-03 -4.96507756e-03 5.46099152e+02] [ 5.18723268e-03 9.99986485e-01 3.50587582e-04 -2.62095890e+01] [ 4.96319251e-03 -3.76333560e-04 9.99987612e-01 1.69410040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.900714057 meters Centerline goodness [0,1] 0.9711641070848606 Centerline is valid? [True, True] Translation: X:546.13, Y:-26.21, Z:1.69 [[ 9.99974678e-01 -5.05007582e-03 -5.01399848e-03 5.46129778e+02] [ 5.05191415e-03 9.99987176e-01 3.54041922e-04 -2.62115911e+01] [ 5.01214624e-03 -3.79363247e-04 9.99987367e-01 1.69346392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9307140569999 meters Centerline goodness [0,1] 0.9709345620403984 Centerline is valid? [True, True] Translation: X:546.16, Y:-26.21, Z:1.69 [[ 9.99977814e-01 -3.65033937e-03 -5.57191380e-03 5.46160157e+02] [ 3.65258797e-03 9.99993252e-01 3.93436711e-04 -2.62124451e+01] [ 5.57044002e-03 -4.13779888e-04 9.99984399e-01 1.69244942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9607140569999 meters Centerline goodness [0,1] 0.972834050470985 Centerline is valid? [True, True] Translation: X:546.19, Y:-26.21, Z:1.69 [[ 9.99968592e-01 -1.71844036e-03 -7.73707693e-03 5.46190212e+02] [ 1.72271298e-03 9.99998367e-01 5.45596251e-04 -2.62091500e+01] [ 7.73612672e-03 -5.58907877e-04 9.99969920e-01 1.69172077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.990714057 meters Centerline goodness [0,1] 0.9710648953189122 Centerline is valid? [True, True] Translation: X:546.22, Y:-26.21, Z:1.69 [[ 9.99958199e-01 -7.20558344e-04 -9.11488404e-03 5.46217699e+02] [ 7.26434277e-04 9.99999530e-01 6.41358140e-04 -2.62145409e+01] [ 9.11441763e-03 -6.47952695e-04 9.99958253e-01 1.68923054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.020714057 meters Centerline goodness [0,1] 0.973302042428608 Centerline is valid? [True, True] Translation: X:546.25, Y:-26.21, Z:1.69 [[ 9.99949613e-01 1.01855342e-03 -9.98666210e-03 5.46246576e+02] [-1.01158952e-03 9.99999242e-01 7.02347453e-04 -2.62123512e+01] [ 9.98736991e-03 -6.92209661e-04 9.99949885e-01 1.68874878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0507140569999 meters Centerline goodness [0,1] 0.9725982862317999 Centerline is valid? [True, True] Translation: X:546.27, Y:-26.22, Z:1.69 [[ 9.99942069e-01 2.10754367e-03 -1.05554447e-02 5.46273762e+02] [-2.09984420e-03 9.99997521e-01 7.40460412e-04 -2.62174523e+01] [ 1.05569790e-02 -7.18252727e-04 9.99944016e-01 1.68731195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0807140569999 meters Centerline goodness [0,1] 0.9738118104518517 Centerline is valid? [True, True] Translation: X:546.30, Y:-26.21, Z:1.69 [[ 9.99943858e-01 3.49271825e-03 -1.00040437e-02 5.46303043e+02] [-3.48587304e-03 9.99993678e-01 7.01599637e-04 -2.62091372e+01] [ 1.00064310e-02 -6.66687421e-04 9.99949712e-01 1.69006830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.110714057 meters Centerline goodness [0,1] 0.9736034664480618 Centerline is valid? [True, True] Translation: X:546.33, Y:-26.21, Z:1.69 [[ 9.99947031e-01 4.39549898e-03 -9.30674050e-03 5.46331728e+02] [-4.38962053e-03 9.99990153e-01 6.51966695e-04 -2.62101205e+01] [ 9.30951457e-03 -6.11079101e-04 9.99956479e-01 1.69022189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.140714057 meters Centerline goodness [0,1] 0.9736786593226298 Centerline is valid? [True, True] Translation: X:546.36, Y:-26.21, Z:1.69 [[ 9.99951398e-01 7.10700090e-03 -6.83322804e-03 5.46360766e+02] [-7.10389517e-03 9.99974652e-01 4.78669067e-04 -2.62142514e+01] [ 6.83645674e-03 -4.30103267e-04 9.99976539e-01 1.69140884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1707140569999 meters Centerline goodness [0,1] 0.9742192069247865 Centerline is valid? [True, True] Translation: X:546.39, Y:-26.21, Z:1.69 [[ 9.99946772e-01 8.72633394e-03 -5.50491782e-03 5.46391324e+02] [-8.72434256e-03 9.99961868e-01 3.85655404e-04 -2.62126660e+01] [ 5.50807326e-03 -3.37608088e-04 9.99984773e-01 1.69280495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2007140569999 meters Centerline goodness [0,1] 0.9731134738426798 Centerline is valid? [True, True] Translation: X:546.42, Y:-26.21, Z:1.69 [[ 9.99929120e-01 1.13163008e-02 -3.70075544e-03 5.46420675e+02] [-1.13154201e-02 9.99935945e-01 2.58842293e-04 -2.62125985e+01] [ 3.70344753e-03 -2.16948344e-04 9.99993119e-01 1.69383964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2307140569999 meters Centerline goodness [0,1] 0.9739580880621616 Centerline is valid? [True, True] Translation: X:546.45, Y:-26.21, Z:1.69 [[ 9.99901049e-01 1.39058605e-02 -2.12592394e-03 5.46449640e+02] [-1.39055762e-02 9.99903302e-01 1.48440397e-04 -2.62138431e+01] [ 2.12778256e-03 -1.18863511e-04 9.99997729e-01 1.69406639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.260714057 meters Centerline goodness [0,1] 0.9734273318872018 Centerline is valid? [True, True] Translation: X:546.48, Y:-26.22, Z:1.69 [[ 9.99894602e-01 1.43101747e-02 -2.45026589e-03 5.46478417e+02] [-1.43097996e-02 9.99897595e-01 1.70555015e-04 -2.62150063e+01] [ 2.45245564e-03 -1.35474225e-04 9.99996984e-01 1.69367954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.290714057 meters Centerline goodness [0,1] 0.9733860901104595 Centerline is valid? [True, True] Translation: X:546.51, Y:-26.22, Z:1.69 [[ 9.99897875e-01 1.40054147e-02 -2.84393310e-03 5.46506490e+02] [-1.40049091e-02 9.99901907e-01 1.97644490e-04 -2.62185134e+01] [ 2.84642223e-03 -1.57795281e-04 9.99995936e-01 1.69275042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3207140569999 meters Centerline goodness [0,1] 0.9744031329621591 Centerline is valid? [True, True] Translation: X:546.54, Y:-26.22, Z:1.69 [[ 9.99906566e-01 1.33163514e-02 -3.08773744e-03 5.46535750e+02] [-1.33157518e-02 9.99911318e-01 2.14661221e-04 -2.62186592e+01] [ 3.09032212e-03 -1.73525618e-04 9.99995210e-01 1.69277601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3507140569999 meters Centerline goodness [0,1] 0.9742436727486757 Centerline is valid? [True, True] Translation: X:546.57, Y:-26.22, Z:1.69 [[ 9.99935446e-01 1.02242755e-02 -4.95660563e-03 5.46565913e+02] [-1.02226857e-02 9.99947687e-01 3.45980389e-04 -2.62241158e+01] [ 4.95988373e-03 -2.95288234e-04 9.99987656e-01 1.68941121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.380714057 meters Centerline goodness [0,1] 0.973176548369578 Centerline is valid? [True, True] Translation: X:546.60, Y:-26.23, Z:1.69 [[ 9.99955630e-01 5.86929086e-03 -7.36817636e-03 5.46595384e+02] [-5.86565999e-03 9.99982665e-01 5.14290602e-04 -2.62304895e+01] [ 7.37106715e-03 -4.71048566e-04 9.99972722e-01 1.68697893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.410714057 meters Centerline goodness [0,1] 0.9732472108044627 Centerline is valid? [True, True] Translation: X:546.62, Y:-26.23, Z:1.69 [[ 9.99960757e-01 3.87843364e-03 -7.96505957e-03 5.46624235e+02] [-3.87413596e-03 9.99992342e-01 5.54924741e-04 -2.62336205e+01] [ 7.96715081e-03 -5.24045241e-04 9.99968124e-01 1.68621302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4407140569999 meters Centerline goodness [0,1] 0.9740164727538763 Centerline is valid? [True, True] Translation: X:546.65, Y:-26.24, Z:1.69 [[ 9.99958310e-01 2.51121130e-03 -8.77906669e-03 5.46653137e+02] [-2.50594408e-03 9.99996674e-01 6.10923673e-04 -2.62360622e+01] [ 8.78057165e-03 -5.88898354e-04 9.99961277e-01 1.68573604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4707140569999 meters Centerline goodness [0,1] 0.9722150152133405 Centerline is valid? [True, True] Translation: X:546.68, Y:-26.24, Z:1.69 [[ 9.99968789e-01 1.42517908e-03 -7.77111054e-03 5.46680924e+02] [-1.42102688e-03 9.99998845e-01 5.39808200e-04 -2.62391953e+01] [ 7.77187088e-03 -5.28748395e-04 9.99969659e-01 1.68522282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.500714057 meters Centerline goodness [0,1] 0.9734192698532179 Centerline is valid? [True, True] Translation: X:546.71, Y:-26.23, Z:1.69 [[ 9.99973768e-01 2.91860876e-03 -6.62912279e-03 5.46711639e+02] [-2.91561619e-03 9.99995643e-01 4.61047553e-04 -2.62343288e+01] [ 6.63043953e-03 -4.41707481e-04 9.99977921e-01 1.68759691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.530714057 meters Centerline goodness [0,1] 0.972842085272054 Centerline is valid? [True, True] Translation: X:546.74, Y:-26.24, Z:1.69 [[ 9.99975324e-01 3.39710005e-03 -6.14905377e-03 5.46740571e+02] [-3.39454088e-03 9.99994148e-01 4.26578881e-04 -2.62353428e+01] [ 6.15046692e-03 -4.05695140e-04 9.99981003e-01 1.68782943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5607140569999 meters Centerline goodness [0,1] 0.9728714228324314 Centerline is valid? [True, True] Translation: X:546.77, Y:-26.23, Z:1.69 [[ 9.99965204e-01 5.91546870e-03 -5.88195635e-03 5.46769869e+02] [-5.91316927e-03 9.99982434e-01 4.08243176e-04 -2.62343352e+01] [ 5.88426798e-03 -3.73447968e-04 9.99982618e-01 1.68793142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5907140569999 meters Centerline goodness [0,1] 0.9729024297646166 Centerline is valid? [True, True] Translation: X:546.80, Y:-26.23, Z:1.69 [[ 9.99960346e-01 6.73430734e-03 -5.82706654e-03 5.46798868e+02] [-6.73206926e-03 9.99977258e-01 4.03612097e-04 -2.62347514e+01] [ 5.82965207e-03 -3.64367877e-04 9.99982941e-01 1.68818058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.620714057 meters Centerline goodness [0,1] 0.9738776675469274 Centerline is valid? [True, True] Translation: X:546.83, Y:-26.23, Z:1.69 [[ 9.99958622e-01 7.99108351e-03 -4.34695350e-03 5.46828687e+02] [-7.98985094e-03 9.99968035e-01 3.00839055e-04 -2.62299801e+01] [ 4.34921858e-03 -2.66095096e-04 9.99990507e-01 1.68967383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.650714057 meters Centerline goodness [0,1] 0.9714251554280249 Centerline is valid? [True, True] Translation: X:546.86, Y:-26.23, Z:1.69 [[ 9.99965845e-01 7.49065626e-03 -3.49280623e-03 5.46857725e+02] [-7.48985950e-03 9.99971922e-01 2.41139273e-04 -2.62309751e+01] [ 3.49451445e-03 -2.14970409e-04 9.99993871e-01 1.69047281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6807140569999 meters Centerline goodness [0,1] 0.9699971220260937 Centerline is valid? [True, True] Translation: X:546.89, Y:-26.24, Z:1.69 [[ 9.99975622e-01 6.10683326e-03 -3.38549057e-03 5.46885903e+02] [-6.10607755e-03 9.99981330e-01 2.33512677e-04 -2.62386546e+01] [ 3.38685338e-03 -2.12834916e-04 9.99994242e-01 1.68815251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7107140569999 meters Centerline goodness [0,1] 0.9694869246988682 Centerline is valid? [True, True] Translation: X:546.92, Y:-26.24, Z:1.69 [[ 9.99977693e-01 4.31746936e-03 -5.09645339e-03 5.46915265e+02] [-4.31573193e-03 9.99990625e-01 3.51858694e-04 -2.62354468e+01] [ 5.09792475e-03 -3.29855919e-04 9.99986951e-01 1.68943786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.740714057 meters Centerline goodness [0,1] 0.9686354477702522 Centerline is valid? [True, True] Translation: X:546.94, Y:-26.24, Z:1.68 [[ 9.99990378e-01 1.77151670e-03 -4.01312404e-03 5.46943468e+02] [-1.77042037e-03 9.99998395e-01 2.76721827e-04 -2.62420317e+01] [ 4.01360781e-03 -2.69614247e-04 9.99991909e-01 1.68486822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.770714057 meters Centerline goodness [0,1] 0.968632681288283 Centerline is valid? [True, True] Translation: X:546.97, Y:-26.24, Z:1.68 [[ 9.99994670e-01 -8.73201414e-04 -3.14598998e-03 5.46973374e+02] [ 8.73888923e-04 9.99999595e-01 2.17167016e-04 -2.62417420e+01] [ 3.14579907e-03 -2.19915104e-04 9.99995028e-01 1.67960062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8007140569999 meters Centerline goodness [0,1] 0.9659658145515051 Centerline is valid? [True, True] Translation: X:547.00, Y:-26.25, Z:1.68 [[ 9.99995430e-01 -1.42905142e-03 -2.66406697e-03 5.47002085e+02] [ 1.42954618e-03 9.99998961e-01 1.83822491e-04 -2.62475249e+01] [ 2.66380151e-03 -1.87630058e-04 9.99996434e-01 1.67511018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8307140569999 meters Centerline goodness [0,1] 0.9658465690854354 Centerline is valid? [True, True] Translation: X:547.03, Y:-26.25, Z:1.68 [[ 9.99982994e-01 -5.34465633e-04 -5.80738858e-03 5.47031566e+02] [ 5.36800883e-04 9.99999776e-01 4.00565852e-04 -2.62486491e+01] [ 5.80717319e-03 -4.03676452e-04 9.99983057e-01 1.67857674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.860714057 meters Centerline goodness [0,1] 0.9673117154811716 Centerline is valid? [True, True] Translation: X:547.06, Y:-26.25, Z:1.68 [[ 9.99980515e-01 1.99367709e-03 -5.91557680e-03 5.47060714e+02] [-1.99129914e-03 9.99997934e-01 4.07842744e-04 -2.62522486e+01] [ 5.91637769e-03 -3.96055114e-04 9.99982420e-01 1.67737175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.890714057 meters Centerline goodness [0,1] 0.9766742691270993 Centerline is valid? [True, True] Translation: X:547.09, Y:-26.25, Z:1.68 [[ 9.99949947e-01 6.33301004e-03 -7.74570389e-03 5.47091603e+02] [-6.32905900e-03 9.99979828e-01 5.34500725e-04 -2.62477558e+01] [ 7.74893265e-03 -4.85450955e-04 9.99969859e-01 1.67937296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9207140569999 meters Centerline goodness [0,1] 0.9723135535723605 Centerline is valid? [True, True] Translation: X:547.12, Y:-26.25, Z:1.68 [[ 9.99949841e-01 9.07768099e-03 -4.23220160e-03 5.47121552e+02] [-9.07652613e-03 9.99958765e-01 2.92003096e-04 -2.62486004e+01] [ 4.23467780e-03 -2.53574761e-04 9.99991002e-01 1.68105207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9507140569999 meters Centerline goodness [0,1] 0.971249182472204 Centerline is valid? [True, True] Translation: X:547.15, Y:-26.24, Z:1.68 [[ 9.99896076e-01 1.37345455e-02 -4.38176537e-03 5.47152702e+02] [-1.37333522e-02 9.99905647e-01 3.02318077e-04 -2.62426886e+01] [ 4.38550414e-03 -2.42110331e-04 9.99990354e-01 1.67964586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9807140569999 meters Centerline goodness [0,1] 0.973051010587103 Centerline is valid? [True, True] Translation: X:547.18, Y:-26.24, Z:1.68 [[ 9.99843622e-01 1.73901225e-02 -3.21177369e-03 5.47181664e+02] [-1.73895017e-02 9.99848767e-01 2.21109937e-04 -2.62438587e+01] [ 3.21513309e-03 -1.65224216e-04 9.99994818e-01 1.68148856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.010714057 meters Centerline goodness [0,1] 0.9734005428460644 Centerline is valid? [True, True] Translation: X:547.21, Y:-26.24, Z:1.68 [[ 9.99721705e-01 2.35674454e-02 1.04305181e-03 5.47211470e+02] [-2.35673829e-02 9.99722248e-01 -7.22443918e-05 -2.62406633e+01] [-1.04446472e-03 4.76422852e-05 9.99999453e-01 1.68050926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.040714057 meters Centerline goodness [0,1] 0.9748312165343128 Centerline is valid? [True, True] Translation: X:547.24, Y:-26.23, Z:1.68 [[ 9.99625882e-01 2.73513452e-02 -5.86766553e-06 5.47241800e+02] [-2.73513452e-02 9.99625882e-01 1.92687910e-07 -2.62348969e+01] [ 5.87074060e-06 -3.21272756e-08 1.00000000e+00 1.68272661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0707140569999 meters Centerline goodness [0,1] 0.9748312165343128 Centerline is valid? [True, True] Translation: X:547.27, Y:-26.24, Z:1.68 [[ 9.99628644e-01 2.72502276e-02 -5.93982089e-06 5.47269216e+02] [-2.72502276e-02 9.99628644e-01 -8.55074252e-07 -2.62366911e+01] [ 5.91431412e-06 1.01661819e-06 1.00000000e+00 1.68238405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1007140569999 meters Centerline goodness [0,1] 0.9776975802263994 Centerline is valid? [True, True] Translation: X:547.30, Y:-26.24, Z:1.68 [[ 9.99552448e-01 2.98701243e-02 1.63709114e-03 5.47299374e+02] [-2.98699795e-02 9.99553786e-01 -1.12856153e-04 -2.62381932e+01] [-1.63973167e-03 6.39057654e-05 9.99998654e-01 1.68424827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.130714057 meters Centerline goodness [0,1] 0.9771660932123866 Centerline is valid? [True, True] Translation: X:547.33, Y:-26.24, Z:1.68 [[ 9.99547155e-01 2.99933857e-02 2.42524199e-03 5.47327762e+02] [-2.99930673e-02 9.99550093e-01 -1.67556671e-04 -2.62386723e+01] [-2.42917645e-03 9.47403472e-05 9.99997045e-01 1.68263546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.160714057 meters Centerline goodness [0,1] 0.9763313609467456 Centerline is valid? [True, True] Translation: X:547.36, Y:-26.25, Z:1.68 [[ 9.99494288e-01 3.16760998e-02 2.79157096e-03 5.47355717e+02] [-3.16756854e-02 9.99498181e-01 -1.92545675e-04 -2.62453048e+01] [-2.79626919e-03 1.04023379e-04 9.99996085e-01 1.68335298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1907140569999 meters Centerline goodness [0,1] 0.9763469462264643 Centerline is valid? [True, True] Translation: X:547.38, Y:-26.25, Z:1.68 [[ 9.99557993e-01 2.96240164e-02 2.49713525e-03 5.47384983e+02] [-2.96236794e-02 9.99561108e-01 -1.71822053e-04 -2.62478185e+01] [-2.50112934e-03 9.77717724e-05 9.99996867e-01 1.68210855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2207140569999 meters Centerline goodness [0,1] 0.975826344351258 Centerline is valid? [True, True] Translation: X:547.41, Y:-26.25, Z:1.68 [[ 9.99594948e-01 2.83757172e-02 2.18143153e-03 5.47413359e+02] [-2.83754564e-02 9.99597324e-01 -1.50426609e-04 -2.62512831e+01] [-2.18482158e-03 8.84665633e-05 9.99997609e-01 1.68103719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.250714057 meters Centerline goodness [0,1] 0.974138600533278 Centerline is valid? [True, True] Translation: X:547.44, Y:-26.25, Z:1.68 [[ 9.99681957e-01 2.51961311e-02 1.06773632e-03 5.47442516e+02] [-2.51960666e-02 9.99682526e-01 -7.38116634e-05 -2.62548533e+01] [-1.06925711e-03 4.68854327e-05 9.99999427e-01 1.67991690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.280714057 meters Centerline goodness [0,1] 0.9747580332946186 Centerline is valid? [True, True] Translation: X:547.47, Y:-26.26, Z:1.68 [[ 9.99709225e-01 2.40886597e-02 1.09601205e-03 5.47469638e+02] [-2.40885905e-02 9.99709825e-01 -7.62784821e-05 -2.62591344e+01] [-1.09753146e-03 4.98549169e-05 9.99999396e-01 1.67992425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3107140569999 meters Centerline goodness [0,1] 0.9712577604046907 Centerline is valid? [True, True] Translation: X:547.50, Y:-26.27, Z:1.68 [[ 9.99756748e-01 2.19671468e-02 1.97223046e-03 5.47497710e+02] [-2.19669222e-02 9.99758689e-01 -1.35470517e-04 -2.62673842e+01] [-1.97473044e-03 9.21137306e-05 9.99998046e-01 1.67898526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3407140569999 meters Centerline goodness [0,1] 0.9726310419589338 Centerline is valid? [True, True] Translation: X:547.53, Y:-26.27, Z:1.68 [[ 9.99799801e-01 1.98303553e-02 2.66722320e-03 5.47527145e+02] [-1.98299384e-02 9.99803351e-01 -1.82675486e-04 -2.62686784e+01] [-2.67032121e-03 1.29748043e-04 9.99996426e-01 1.67969957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.370714057 meters Centerline goodness [0,1] 0.9703509530959713 Centerline is valid? [True, True] Translation: X:547.56, Y:-26.28, Z:1.68 [[ 9.99873535e-01 1.55573715e-02 3.29887849e-03 5.47556669e+02] [-1.55567118e-02 9.99878962e-01 -2.25568337e-04 -2.62755844e+01] [-3.30198845e-03 1.74220108e-04 9.99994533e-01 1.67923882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.400714057 meters Centerline goodness [0,1] 0.9686156819858084 Centerline is valid? [True, True] Translation: X:547.59, Y:-26.28, Z:1.68 [[ 9.99910515e-01 1.29588450e-02 3.32105946e-03 5.47585109e+02] [-1.29581612e-02 9.99916014e-01 -2.27336871e-04 -2.62821306e+01] [-3.32372656e-03 1.84281704e-04 9.99994459e-01 1.67819859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4307140569999 meters Centerline goodness [0,1] 0.9683693367437385 Centerline is valid? [True, True] Translation: X:547.61, Y:-26.29, Z:1.68 [[ 9.99943268e-01 1.02073413e-02 3.04496498e-03 5.47613988e+02] [-1.02067540e-02 9.99947888e-01 -2.08332524e-04 -2.62864247e+01] [-3.04693282e-03 1.77241496e-04 9.99995342e-01 1.67684349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4607140569999 meters Centerline goodness [0,1] 0.9676193371845546 Centerline is valid? [True, True] Translation: X:547.64, Y:-26.29, Z:1.68 [[ 9.99988045e-01 4.31471125e-03 2.30073890e-03 5.47643868e+02] [-4.31436157e-03 9.99990681e-01 -1.56923201e-04 -2.62929796e+01] [-2.30139454e-03 1.46995106e-04 9.99997341e-01 1.67558839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.490714057 meters Centerline goodness [0,1] 0.9644974874371859 Centerline is valid? [True, True] Translation: X:547.67, Y:-26.31, Z:1.67 [[ 9.99999191e-01 -8.87091097e-04 9.11729626e-04 5.47672520e+02] [ 8.87148326e-04 9.99999605e-01 -6.23669134e-05 -2.63060632e+01] [-9.11673940e-04 6.31757024e-05 9.99999582e-01 1.67369703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.520714057 meters Centerline goodness [0,1] 0.9606311044327573 Centerline is valid? [True, True] Translation: X:547.70, Y:-26.31, Z:1.67 [[ 9.99995375e-01 -2.99195299e-03 5.45191610e-04 5.47702101e+02] [ 2.99197371e-03 9.99995523e-01 -3.71797882e-05 -2.63122506e+01] [-5.45077929e-04 3.88108152e-05 9.99999851e-01 1.67362074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5507140569999 meters Centerline goodness [0,1] 0.9621108924877655 Centerline is valid? [True, True] Translation: X:547.73, Y:-26.31, Z:1.67 [[ 9.99977699e-01 -6.65980971e-03 4.97705701e-04 5.47732876e+02] [ 6.65982740e-03 9.99977823e-01 -3.38991868e-05 -2.63110271e+01] [-4.97468901e-04 3.72130649e-05 9.99999876e-01 1.67491882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5807140569999 meters Centerline goodness [0,1] 0.9555399964992123 Centerline is valid? [True, True] Translation: X:547.76, Y:-26.32, Z:1.67 [[ 9.99967127e-01 -8.04147160e-03 1.03866422e-03 5.47763352e+02] [ 8.04154887e-03 9.99967664e-01 -7.02374908e-05 -2.63239785e+01] [-1.03806582e-03 7.85876510e-05 9.99999458e-01 1.67230577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.610714057 meters Centerline goodness [0,1] 0.9576038705172327 Centerline is valid? [True, True] Translation: X:547.80, Y:-26.33, Z:1.67 [[ 9.99961078e-01 -8.67483114e-03 1.60943539e-03 5.47795264e+02] [ 8.67501793e-03 9.99962365e-01 -1.09113155e-04 -2.63251199e+01] [-1.60842828e-03 1.23070789e-04 9.99998699e-01 1.67290197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.640714057 meters Centerline goodness [0,1] 0.9553224359613276 Centerline is valid? [True, True] Translation: X:547.83, Y:-26.33, Z:1.67 [[ 9.99942129e-01 -1.06205379e-02 1.71557611e-03 5.47826004e+02] [ 1.06207542e-02 9.99943591e-01 -1.17027327e-04 -2.63313589e+01] [-1.71423645e-03 1.35241266e-04 9.99998522e-01 1.67273436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6707140569999 meters Centerline goodness [0,1] 0.9506191220625821 Centerline is valid? [True, True] Translation: X:547.86, Y:-26.34, Z:1.67 [[ 9.99908936e-01 -1.32275376e-02 2.67429999e-03 5.47855633e+02] [ 1.32280734e-02 9.99912489e-01 -1.82752332e-04 -2.63382871e+01] [-2.67164859e-03 2.18111526e-04 9.99996407e-01 1.67279237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7007140569999 meters Centerline goodness [0,1] 0.9540534459915506 Centerline is valid? [True, True] Translation: X:547.89, Y:-26.33, Z:1.67 [[ 9.99879550e-01 -1.53656202e-02 2.18695949e-03 5.47887046e+02] [ 1.53659832e-02 9.99881925e-01 -1.49270167e-04 -2.63334961e+01] [-2.18440764e-03 1.82856971e-04 9.99997597e-01 1.67324712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7307140569999 meters Centerline goodness [0,1] 0.951505971742855 Centerline is valid? [True, True] Translation: X:547.92, Y:-26.34, Z:1.67 [[ 9.99844214e-01 -1.72678711e-02 3.65628956e-03 5.47917643e+02] [ 1.72688990e-02 9.99850850e-01 -2.49769466e-04 -2.63397640e+01] [-3.65143124e-03 3.12870651e-04 9.99993285e-01 1.67317218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.760714057 meters Centerline goodness [0,1] 0.9474296175350057 Centerline is valid? [True, False] Translation: X:547.92, Y:-26.34, Z:1.67 [[ 9.99846615e-01 -1.71344906e-02 3.62708221e-03 5.47917966e+02] [ 1.71331479e-02 9.99853136e-01 4.00952489e-04 -2.63414572e+01] [-3.63341964e-03 -3.38747653e-04 9.99993342e-01 1.67264206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.790714057 meters Centerline goodness [0,1] 0.9516113063709717 Centerline is valid? [False, True] Translation: X:547.92, Y:-26.34, Z:1.67 [[ 9.99847222e-01 -1.70844193e-02 3.69541905e-03 5.47917914e+02] [ 1.70812744e-02 9.99853716e-01 8.80915316e-04 -2.63428268e+01] [-3.70992839e-03 -8.17658264e-04 9.99992784e-01 1.67241362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8207140569999 meters Centerline goodness [0,1] 0.9490496173784251 Centerline is valid? [True, False] Translation: X:547.92, Y:-26.35, Z:1.67 [[ 9.99844798e-01 -1.71828741e-02 3.88962906e-03 5.47917880e+02] [ 1.71759414e-02 9.99850847e-01 1.80878265e-03 -2.63453060e+01] [-3.92012899e-03 -1.74169388e-03 9.99990800e-01 1.67146452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8507140569999 meters Centerline goodness [0,1] 0.9455240443896424 Centerline is valid? [False, False] Translation: X:547.92, Y:-26.35, Z:1.67 [[ 9.99851202e-01 -1.68415095e-02 3.73336793e-03 5.47918993e+02] [ 1.68301464e-02 9.99853698e-01 3.05445671e-03 -2.63480495e+01] [-3.78426339e-03 -2.99116909e-03 9.99988366e-01 1.66992075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.880714057 meters Centerline goodness [0,1] 0.9436376636504845 Centerline is valid? [False, False] Translation: X:547.92, Y:-26.35, Z:1.67 [[ 9.99858993e-01 -1.64444788e-02 3.40186966e-03 5.47920341e+02] [ 1.64312273e-02 9.99857442e-01 3.88731651e-03 -2.63495695e+01] [-3.46530959e-03 -3.83087148e-03 9.99986658e-01 1.66878701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.910714057 meters Centerline goodness [0,1] 0.9418728220843734 Centerline is valid? [False, False] Translation: X:547.92, Y:-26.35, Z:1.67 [[ 9.99867051e-01 -1.59919261e-02 3.18416179e-03 5.47921744e+02] [ 1.59750734e-02 9.99858610e-01 5.24956376e-03 -2.63525569e+01] [-3.26766222e-03 -5.19799862e-03 9.99981151e-01 1.66699746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9407140569999 meters Centerline goodness [0,1] 0.9406790169382239 Centerline is valid? [False, False] Translation: X:547.92, Y:-26.35, Z:1.67 [[ 9.99869862e-01 -1.57988547e-02 3.26428119e-03 5.47921992e+02] [ 1.57796870e-02 9.99858575e-01 5.81656131e-03 -2.63537122e+01] [-3.35571455e-03 -5.76429502e-03 9.99977756e-01 1.66628307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9707140569999 meters Centerline goodness [0,1] 0.9230920341813181 Centerline is valid? [False, False] Translation: X:547.92, Y:-26.35, Z:1.67 [[ 9.99876524e-01 -1.54204041e-02 3.02454800e-03 5.47922945e+02] [ 1.54009552e-02 9.99861224e-01 6.35156955e-03 -2.63547897e+01] [-3.12207204e-03 -6.30420436e-03 9.99975255e-01 1.66561980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.000714057 meters Centerline goodness [0,1] 0.9385704105953756 Centerline is valid? [False, False] Translation: X:547.92, Y:-26.35, Z:1.67 [[ 9.99881055e-01 -1.51638708e-02 2.81642836e-03 5.47923192e+02] [ 1.51460792e-02 9.99865855e-01 6.23449790e-03 -2.63543211e+01] [-2.91058967e-03 -6.19109849e-03 9.99976599e-01 1.66614549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.030714057 meters Centerline goodness [0,1] 0.938590438639724 Centerline is valid? [False, False] Translation: X:547.92, Y:-26.35, Z:1.67 [[ 9.99883636e-01 -1.50163562e-02 2.68756188e-03 5.47923209e+02] [ 1.49995853e-02 9.99868554e-01 6.15518566e-03 -2.63539422e+01] [-2.77963707e-03 -6.11415710e-03 9.99977445e-01 1.66658259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0607140569999 meters Centerline goodness [0,1] 0.9400108044396425 Centerline is valid? [False, False] Translation: X:547.92, Y:-26.35, Z:1.67 [[ 9.99893588e-01 -1.43242600e-02 2.76175497e-03 5.47923212e+02] [ 1.43060864e-02 9.99876590e-01 6.49159031e-03 -2.63543664e+01] [-2.85440137e-03 -6.45138963e-03 9.99975116e-01 1.66688769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0907140569999 meters Centerline goodness [0,1] 0.945518107289692 Centerline is valid? [False, False] Translation: X:547.92, Y:-26.35, Z:1.67 [[ 9.99901508e-01 -1.37609743e-02 2.75850212e-03 5.47923348e+02] [ 1.37424388e-02 9.99883592e-01 6.62938314e-03 -2.63540640e+01] [-2.84940778e-03 -6.59082165e-03 9.99974221e-01 1.66709446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.120714057 meters Centerline goodness [0,1] 0.949568042531197 Centerline is valid? [False, False] Translation: X:547.92, Y:-26.35, Z:1.67 [[ 9.99908781e-01 -1.32682800e-02 2.52651166e-03 5.47924017e+02] [ 1.32509549e-02 9.99889386e-01 6.75482685e-03 -2.63537782e+01] [-2.61585713e-03 -6.72073199e-03 9.99973994e-01 1.66710873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.150714057 meters Centerline goodness [0,1] 0.9480580252690688 Centerline is valid? [False, False] Translation: X:547.92, Y:-26.35, Z:1.67 [[ 9.99914711e-01 -1.28242288e-02 2.47181017e-03 5.47924064e+02] [ 1.28082874e-02 9.99897740e-01 6.36066908e-03 -2.63519219e+01] [-2.55312808e-03 -6.32846693e-03 9.99976716e-01 1.66779118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1807140569999 meters Centerline goodness [0,1] 0.9462731464358803 Centerline is valid? [False, False] Translation: X:547.93, Y:-26.35, Z:1.67 [[ 9.99920922e-01 -1.24050188e-02 2.06524024e-03 5.47925029e+02] [ 1.23910157e-02 9.99901046e-01 6.66046198e-03 -2.63519371e+01] [-2.14765903e-03 -6.63434486e-03 9.99975686e-01 1.66763011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2107140569999 meters Centerline goodness [0,1] 0.9465528302817944 Centerline is valid? [False, False] Translation: X:547.93, Y:-26.35, Z:1.67 [[ 9.99921772e-01 -1.23213056e-02 2.15282734e-03 5.47925272e+02] [ 1.23061355e-02 9.99900309e-01 6.92322516e-03 -2.63527498e+01] [-2.23791589e-03 -6.89619058e-03 9.99973717e-01 1.66704738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.240714057 meters Centerline goodness [0,1] 0.9488012602766701 Centerline is valid? [False, False] Translation: X:547.93, Y:-26.35, Z:1.67 [[ 9.99925495e-01 -1.20601317e-02 1.88625282e-03 5.47926297e+02] [ 1.20458778e-02 9.99900109e-01 7.39386376e-03 -2.63535524e+01] [-1.97523537e-03 -7.37059131e-03 9.99970886e-01 1.66626239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.270714057 meters Centerline goodness [0,1] 0.953456300637821 Centerline is valid? [False, True] Translation: X:547.93, Y:-26.36, Z:1.67 [[ 9.99925319e-01 -1.20626976e-02 1.96173829e-03 5.47926425e+02] [ 1.20468174e-02 9.99896110e-01 7.91477387e-03 -2.63551147e+01] [-2.05700801e-03 -7.89055008e-03 9.99966753e-01 1.66562138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3007140569999 meters Centerline goodness [0,1] 0.9521666420736806 Centerline is valid? [True, True] Translation: X:547.96, Y:-26.36, Z:1.67 [[ 9.99923897e-01 -1.22938068e-02 1.03117636e-03 5.47959014e+02] [ 1.22938871e-02 9.99924425e-01 -7.15224016e-05 -2.63551397e+01] [-1.03021915e-03 8.41941242e-05 9.99999466e-01 1.66831773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3307140569999 meters Centerline goodness [0,1] 0.9451367893223214 Centerline is valid? [True, False] Translation: X:547.96, Y:-26.36, Z:1.67 [[ 9.99926623e-01 -1.20738768e-02 9.85313377e-04 5.47959486e+02] [ 1.20735090e-02 9.99927041e-01 3.78410214e-04 -2.63556684e+01] [-9.89810368e-04 -3.66486257e-04 9.99999443e-01 1.66771032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.360714057 meters Centerline goodness [0,1] 0.9456136900078678 Centerline is valid? [False, False] Translation: X:547.96, Y:-26.36, Z:1.67 [[ 9.99931017e-01 -1.17112897e-02 8.98452856e-04 5.47960097e+02] [ 1.17105427e-02 9.99931083e-01 8.32188800e-04 -2.63561903e+01] [-9.08136942e-04 -8.21610023e-04 9.99999250e-01 1.66716761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.390714057 meters Centerline goodness [0,1] 0.9452091635901323 Centerline is valid? [False, False] Translation: X:547.96, Y:-26.36, Z:1.67 [[ 9.99936024e-01 -1.12948475e-02 6.11685074e-04 5.47960949e+02] [ 1.12939998e-02 9.99935280e-01 1.37191378e-03 -2.63570126e+01] [-6.27141043e-04 -1.36491764e-03 9.99998872e-01 1.66677914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4207140569999 meters Centerline goodness [0,1] 0.9477172676460405 Centerline is valid? [False, False] Translation: X:547.96, Y:-26.36, Z:1.67 [[ 9.99939840e-01 -1.09521485e-02 6.05085588e-04 5.47961125e+02] [ 1.09510757e-02 9.99938506e-01 1.74870775e-03 -2.63576342e+01] [-6.24200486e-04 -1.74197621e-03 9.99998288e-01 1.66665788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4507140569999 meters Centerline goodness [0,1] 0.9520544590822273 Centerline is valid? [False, True] Translation: X:547.96, Y:-26.36, Z:1.67 [[ 9.99944250e-01 -1.05577149e-02 1.75183589e-04 5.47961933e+02] [ 1.05573944e-02 9.99942756e-01 1.73969187e-03 -2.63571363e+01] [-1.93540732e-04 -1.73774540e-03 9.99998471e-01 1.66703605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4807140569999 meters Centerline goodness [0,1] 0.951811077800167 Centerline is valid? [True, True] Translation: X:547.99, Y:-26.36, Z:1.67 [[ 9.99953854e-01 -9.59375681e-03 4.99703297e-04 5.47994151e+02] [ 9.59377507e-03 9.99953978e-01 -3.41519492e-05 -2.63586473e+01] [-4.99352654e-04 3.89444143e-05 9.99999875e-01 1.66782572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.510714057 meters Centerline goodness [0,1] 0.9498779892630551 Centerline is valid? [True, False] Translation: X:547.99, Y:-26.36, Z:1.67 [[ 9.99954879e-01 -9.48506093e-03 5.22299175e-04 5.47993983e+02] [ 9.48510430e-03 9.99955012e-01 -8.06058129e-05 -2.63584743e+01] [-5.21511127e-04 8.55562380e-05 9.99999860e-01 1.66810744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.540714057 meters Centerline goodness [0,1] 0.9568670045860488 Centerline is valid? [False, True] Translation: X:547.99, Y:-26.36, Z:1.67 [[ 9.99961593e-01 -8.75220328e-03 4.60604747e-04 5.47994604e+02] [ 8.75191128e-03 9.99961501e-01 6.32179718e-04 -2.63599735e+01] [-4.66119980e-04 -6.28124266e-04 9.99999694e-01 1.66769042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5707140569999 meters Centerline goodness [0,1] 0.9601693512145509 Centerline is valid? [True, True] Translation: X:548.03, Y:-26.36, Z:1.67 [[ 9.99973899e-01 -7.06830133e-03 1.49659269e-03 5.48025314e+02] [ 7.06846366e-03 9.99975013e-01 -1.03206463e-04 -2.63637139e+01] [-1.49582580e-03 1.13782380e-04 9.99998875e-01 1.66568842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6007140569999 meters Centerline goodness [0,1] 0.9630282528943732 Centerline is valid? [True, True] Translation: X:548.06, Y:-26.36, Z:1.67 [[ 9.99979939e-01 -6.32399700e-03 -3.57674973e-04 5.48057761e+02] [ 6.32400650e-03 9.99980003e-01 2.54294683e-05 -2.63617140e+01] [ 3.57507004e-04 -2.76908971e-05 9.99999936e-01 1.66509711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.630714057 meters Centerline goodness [0,1] 0.9630378903274943 Centerline is valid? [True, True] Translation: X:548.09, Y:-26.36, Z:1.66 [[ 9.99986979e-01 -4.91295406e-03 -1.37992422e-03 5.48089609e+02] [ 4.91309136e-03 9.99987926e-01 9.61264964e-05 -2.63645644e+01] [ 1.37943530e-03 -1.02904939e-04 9.99999043e-01 1.66418614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.660714057 meters Centerline goodness [0,1] 0.9635869046482772 Centerline is valid? [True, True] Translation: X:548.12, Y:-26.36, Z:1.66 [[ 9.99991778e-01 -2.55732616e-03 -3.14704921e-03 5.48120497e+02] [ 2.55802584e-03 9.99996704e-01 2.18322466e-04 -2.63649292e+01] [ 3.14648052e-03 -2.26370904e-04 9.99995024e-01 1.66162096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6907140569999 meters Centerline goodness [0,1] 0.9624206698200661 Centerline is valid? [True, True] Translation: X:548.15, Y:-26.37, Z:1.66 [[ 9.99993897e-01 -6.27139514e-04 -3.43688490e-03 5.48150282e+02] [ 6.27962048e-04 9.99999774e-01 2.38251531e-04 -2.63696887e+01] [ 3.43673470e-03 -2.40408310e-04 9.99994066e-01 1.65985260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7207140569999 meters Centerline goodness [0,1] 0.965535210933984 Centerline is valid? [True, True] Translation: X:548.18, Y:-26.37, Z:1.66 [[ 9.99986769e-01 3.72262227e-03 -3.55013394e-03 5.48181085e+02] [-3.72177207e-03 9.99993044e-01 2.46061807e-04 -2.63683270e+01] [ 3.55102524e-03 -2.32845762e-04 9.99993668e-01 1.66022989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.750714057 meters Centerline goodness [0,1] 0.9708324360538846 Centerline is valid? [True, True] Translation: X:548.21, Y:-26.37, Z:1.66 [[ 9.99975269e-01 5.97706126e-03 -3.70636043e-03 5.48211555e+02] [-5.97615075e-03 9.99982110e-01 2.56689516e-04 -2.63651261e+01] [ 3.70782837e-03 -2.34533399e-04 9.99993098e-01 1.66141696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.780714057 meters Centerline goodness [0,1] 0.9725791400473763 Centerline is valid? [True, True] Translation: X:548.24, Y:-26.36, Z:1.66 [[ 9.99927709e-01 1.16391443e-02 -3.01768675e-03 5.48242065e+02] [-1.16385675e-02 9.99932248e-01 2.08638130e-04 -2.63636167e+01] [ 3.01991067e-03 -1.73501496e-04 9.99995425e-01 1.66310657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8107140569999 meters Centerline goodness [0,1] 0.974458408138839 Centerline is valid? [True, True] Translation: X:548.27, Y:-26.36, Z:1.66 [[ 9.99895068e-01 1.42850543e-02 -2.40609495e-03 5.48272209e+02] [-1.42846950e-02 9.99897955e-01 1.66441055e-04 -2.63634393e+01] [ 2.40822704e-03 -1.32053257e-04 9.99997091e-01 1.66406139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8407140569999 meters Centerline goodness [0,1] 0.9702619047619048 Centerline is valid? [True, True] Translation: X:548.30, Y:-26.37, Z:1.66 [[ 9.99857459e-01 1.67737017e-02 -1.92491721e-03 5.48300463e+02] [-1.67734769e-02 9.99859307e-01 1.32883502e-04 -2.63705083e+01] [ 1.92687533e-03 -1.00577006e-04 9.99998139e-01 1.66280808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.870714057 meters Centerline goodness [0,1] 0.9714422158548233 Centerline is valid? [True, True] Translation: X:548.33, Y:-26.37, Z:1.66 [[ 9.99788154e-01 2.05407916e-02 -1.31259315e-03 5.48329151e+02] [-2.05406905e-02 9.99789014e-01 9.04904097e-05 -2.63719208e+01] [ 1.31417495e-03 -6.35096702e-05 9.99999134e-01 1.66270652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.900714057 meters Centerline goodness [0,1] 0.9718256143779944 Centerline is valid? [True, True] Translation: X:548.36, Y:-26.37, Z:1.66 [[ 9.99757549e-01 2.20107850e-02 -6.07808030e-04 5.48357012e+02] [-2.20107640e-02 9.99757733e-01 4.12342502e-05 -2.63743799e+01] [ 6.08568377e-04 -2.78459338e-05 9.99999814e-01 1.66267351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9307140569999 meters Centerline goodness [0,1] 0.9716460513796384 Centerline is valid? [True, True] Translation: X:548.38, Y:-26.38, Z:1.66 [[ 9.99734152e-01 2.30284473e-02 -1.14735967e-03 5.48384543e+02] [-2.30283724e-02 9.99734809e-01 7.84258944e-05 -2.63771081e+01] [ 1.14886143e-03 -5.19832191e-05 9.99999339e-01 1.66236112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9607140569999 meters Centerline goodness [0,1] 0.9716460513796384 Centerline is valid? [True, True] Translation: X:548.41, Y:-26.38, Z:1.66 [[ 9.99736383e-01 2.29313602e-02 -1.14737754e-03 5.48411972e+02] [-2.29312856e-02 9.99737040e-01 7.81662885e-05 -2.63788998e+01] [ 1.14886829e-03 -5.18348405e-05 9.99999339e-01 1.66210597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.990714057 meters Centerline goodness [0,1] 0.9751454005934718 Centerline is valid? [True, True] Translation: X:548.44, Y:-26.37, Z:1.66 [[ 9.99748223e-01 2.24073078e-02 -1.18443881e-03 5.48441456e+02] [-2.24072277e-02 9.99748923e-01 8.08831722e-05 -2.63742491e+01] [ 1.18595380e-03 -5.43228177e-05 9.99999295e-01 1.66339132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.020714057 meters Centerline goodness [0,1] 0.9725751398501944 Centerline is valid? [True, True] Translation: X:548.47, Y:-26.38, Z:1.66 [[ 9.99782820e-01 2.07865751e-02 -1.49364042e-03 5.48468224e+02] [-2.07864463e-02 9.99783933e-01 1.01670154e-04 -2.63829036e+01] [ 1.49543107e-03 -7.06005974e-05 9.99998879e-01 1.66175458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0507140569999 meters Centerline goodness [0,1] 0.9728348702348132 Centerline is valid? [True, True] Translation: X:548.50, Y:-26.39, Z:1.66 [[ 9.99829089e-01 1.83284001e-02 -2.42126376e-03 5.48497356e+02] [-1.83280522e-02 9.99832013e-01 1.65819025e-04 -2.63866128e+01] [ 2.42389622e-03 -1.21413636e-04 9.99997055e-01 1.66140460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0807140569999 meters Centerline goodness [0,1] 0.9708029197080292 Centerline is valid? [True, True] Translation: X:548.53, Y:-26.39, Z:1.66 [[ 9.99864875e-01 1.61689330e-02 -2.96595346e-03 5.48526669e+02] [-1.61684009e-02 9.99869262e-01 2.03288637e-04 -2.63919952e+01] [ 2.96885266e-03 -1.55306443e-04 9.99995581e-01 1.66077891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.110714057 meters Centerline goodness [0,1] 0.9674076510950277 Centerline is valid? [True, True] Translation: X:548.56, Y:-26.40, Z:1.66 [[ 9.99938081e-01 1.04295649e-02 -3.88040510e-03 5.48555327e+02] [-1.04286103e-02 9.99945585e-01 2.66167539e-04 -2.64024814e+01] [ 3.88296996e-03 -2.25683826e-04 9.99992436e-01 1.65902412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.140714057 meters Centerline goodness [0,1] 0.9656130764520232 Centerline is valid? [True, True] Translation: X:548.59, Y:-26.41, Z:1.66 [[ 9.99981392e-01 4.10649474e-03 -4.51145594e-03 5.48585155e+02] [-4.10514045e-03 9.99991526e-01 3.09407261e-04 -2.64084327e+01] [ 4.51268829e-03 -2.90881343e-04 9.99989775e-01 1.65881939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1707140569999 meters Centerline goodness [0,1] 0.9650444867009413 Centerline is valid? [True, True] Translation: X:548.62, Y:-26.41, Z:1.66 [[ 9.99989412e-01 1.30562663e-03 -4.41260108e-03 5.48615347e+02] [-1.30430326e-03 9.99999104e-01 3.02773201e-04 -2.64148903e+01] [ 4.41299243e-03 -2.97014625e-04 9.99990219e-01 1.65822493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2007140569999 meters Centerline goodness [0,1] 0.964533195992134 Centerline is valid? [True, True] Translation: X:548.65, Y:-26.42, Z:1.66 [[ 9.99988743e-01 -1.74994647e-03 -4.41028397e-03 5.48645241e+02] [ 1.75129699e-03 9.99998421e-01 3.02377970e-04 -2.64207956e+01] [ 4.40974786e-03 -3.10098284e-04 9.99990229e-01 1.65727159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2307140569999 meters Centerline goodness [0,1] 0.9610271903323263 Centerline is valid? [True, True] Translation: X:548.67, Y:-26.43, Z:1.66 [[ 9.99973269e-01 -6.02600736e-03 -4.14096134e-03 5.48674741e+02] [ 6.02723410e-03 9.99981796e-01 2.83829176e-04 -2.64299173e+01] [ 4.13917560e-03 -3.08780132e-04 9.99991386e-01 1.65698386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.260714057 meters Centerline goodness [0,1] 0.9558412520961431 Centerline is valid? [True, True] Translation: X:548.70, Y:-26.44, Z:1.66 [[ 9.99960682e-01 -7.77560931e-03 -4.26321919e-03 5.48704126e+02] [ 7.77692953e-03 9.99969716e-01 2.93188078e-04 -2.64377218e+01] [ 4.26081037e-03 -3.26331305e-04 9.99990869e-01 1.65589201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.290714057 meters Centerline goodness [0,1] 0.9495983656033802 Centerline is valid? [True, False] Translation: X:548.70, Y:-26.44, Z:1.66 [[ 9.99959085e-01 -8.07468874e-03 -4.07778702e-03 5.48703521e+02] [ 8.07797702e-03 9.99967060e-01 7.90561773e-04 -2.64396513e+01] [ 4.07126915e-03 -8.23469697e-04 9.99991373e-01 1.65608140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3207140569999 meters Centerline goodness [0,1] 0.9613509749303621 Centerline is valid? [False, True] Translation: X:548.70, Y:-26.44, Z:1.66 [[ 9.99959124e-01 -8.07724334e-03 -4.06300309e-03 5.48703546e+02] [ 8.08164436e-03 9.99966773e-01 1.06794627e-03 -2.64403853e+01] [ 4.05424202e-03 -1.10073837e-03 9.99991176e-01 1.65600363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3507140569999 meters Centerline goodness [0,1] 0.943314322658108 Centerline is valid? [True, False] Translation: X:548.70, Y:-26.44, Z:1.66 [[ 9.99958470e-01 -8.17903168e-03 -4.02024951e-03 5.48703470e+02] [ 8.18651353e-03 9.99964782e-01 1.84812320e-03 -2.64429801e+01] [ 4.00499207e-03 -1.88095828e-03 9.99990211e-01 1.65569143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.380714057 meters Centerline goodness [0,1] 0.9578840659847019 Centerline is valid? [False, True] Translation: X:548.70, Y:-26.44, Z:1.66 [[ 9.99959383e-01 -8.05705135e-03 -4.03940377e-03 5.48703835e+02] [ 8.06757848e-03 9.99964085e-01 2.59662455e-03 -2.64448320e+01] [ 4.01833756e-03 -2.62910729e-03 9.99988470e-01 1.65500895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.410714057 meters Centerline goodness [0,1] 0.9556849425845059 Centerline is valid? [True, True] Translation: X:548.73, Y:-26.45, Z:1.66 [[ 9.99926583e-01 -1.13313625e-02 -4.29297203e-03 5.48733601e+02] [ 1.13328591e-02 9.99935728e-01 3.24444812e-04 -2.64502777e+01] [ 4.28901972e-03 -3.73072639e-04 9.99990733e-01 1.65534594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4407140569999 meters Centerline goodness [0,1] 0.9490464976681904 Centerline is valid? [True, False] Translation: X:548.73, Y:-26.45, Z:1.65 [[ 9.99927293e-01 -1.12403396e-02 -4.36608920e-03 5.48734018e+02] [ 1.12442842e-02 9.99936394e-01 8.79979754e-04 -2.64515507e+01] [ 4.35592022e-03 -9.29009321e-04 9.99990081e-01 1.65480139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4707140569999 meters Centerline goodness [0,1] 0.9163057500921489 Centerline is valid? [False, False] Translation: X:548.73, Y:-26.45, Z:1.65 [[ 9.99926881e-01 -1.12538234e-02 -4.42528326e-03 5.48734365e+02] [ 1.12616463e-02 9.99935060e-01 1.74684545e-03 -2.64539088e+01] [ 4.40533719e-03 -1.79655370e-03 9.99988683e-01 1.65412893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.500714057 meters Centerline goodness [0,1] 0.9530293968808943 Centerline is valid? [False, True] Translation: X:548.73, Y:-26.46, Z:1.65 [[ 9.99928403e-01 -1.11291839e-02 -4.39667321e-03 5.48734672e+02] [ 1.11393875e-02 9.99935303e-01 2.30311202e-03 -2.64550173e+01] [ 4.37075700e-03 -2.35192337e-03 9.99987682e-01 1.65355108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.530714057 meters Centerline goodness [0,1] 0.9450026441036489 Centerline is valid? [True, False] Translation: X:548.73, Y:-26.46, Z:1.65 [[ 9.99929221e-01 -1.11106432e-02 -4.25511387e-03 5.48734547e+02] [ 1.11229247e-02 9.99934009e-01 2.87359445e-03 -2.64564024e+01] [ 4.22290559e-03 -2.92072037e-03 9.99986818e-01 1.65321336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5607140569999 meters Centerline goodness [0,1] 0.9524116793031134 Centerline is valid? [False, True] Translation: X:548.73, Y:-26.46, Z:1.65 [[ 9.99929441e-01 -1.11130053e-02 -4.19697538e-03 5.48734531e+02] [ 1.11256513e-02 9.99933602e-01 3.00188947e-03 -2.64566981e+01] [ 4.16333670e-03 -3.04837175e-03 9.99986687e-01 1.65310181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5907140569999 meters Centerline goodness [0,1] 0.9295544132223784 Centerline is valid? [True, False] Translation: X:548.73, Y:-26.46, Z:1.65 [[ 9.99929389e-01 -1.11376324e-02 -4.14357214e-03 5.48734449e+02] [ 1.11501104e-02 9.99933334e-01 3.00059672e-03 -2.64565667e+01] [ 4.10987636e-03 -3.04658614e-03 9.99986914e-01 1.65309090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.620714057 meters Centerline goodness [0,1] 0.9500483180709586 Centerline is valid? [False, True] Translation: X:548.73, Y:-26.46, Z:1.65 [[ 9.99927591e-01 -1.11960236e-02 -4.41162721e-03 5.48734937e+02] [ 1.12081038e-02 9.99933479e-01 2.72311415e-03 -2.64554690e+01] [ 4.38084570e-03 -2.77236295e-03 9.99986561e-01 1.65323686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.650714057 meters Centerline goodness [0,1] 0.9493764605168784 Centerline is valid? [True, False] Translation: X:548.74, Y:-26.45, Z:1.65 [[ 9.99927925e-01 -1.11063763e-02 -4.55987725e-03 5.48735633e+02] [ 1.11192227e-02 9.99934255e-01 2.80164616e-03 -2.64548465e+01] [ 4.52846133e-03 -2.85214653e-03 9.99985679e-01 1.65262877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6807140569999 meters Centerline goodness [0,1] 0.9515614894206782 Centerline is valid? [False, True] Translation: X:548.74, Y:-26.46, Z:1.65 [[ 9.99929479e-01 -1.08677833e-02 -4.78829921e-03 5.48736434e+02] [ 1.08828667e-02 9.99935864e-01 3.13534717e-03 -2.64550638e+01] [ 4.75391784e-03 -3.18723648e-03 9.99983621e-01 1.65211775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7107140569999 meters Centerline goodness [0,1] 0.9428221029248427 Centerline is valid? [True, False] Translation: X:548.74, Y:-26.45, Z:1.65 [[ 9.99930034e-01 -1.07810205e-02 -4.86789921e-03 5.48736678e+02] [ 1.07965982e-02 9.99936642e-01 3.18521990e-03 -2.64548315e+01] [ 4.83325087e-03 -3.23755380e-03 9.99983079e-01 1.65199010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.740714057 meters Centerline goodness [0,1] 0.9401549312059198 Centerline is valid? [False, False] Translation: X:548.74, Y:-26.45, Z:1.65 [[ 9.99930953e-01 -1.05859834e-02 -5.10159187e-03 5.48737303e+02] [ 1.06014642e-02 9.99939251e-01 3.01708135e-03 -2.64536147e+01] [ 5.06934318e-03 -3.07095738e-03 9.99982435e-01 1.65198295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.770714057 meters Centerline goodness [0,1] 0.9309490167010261 Centerline is valid? [False, False] Translation: X:548.74, Y:-26.45, Z:1.65 [[ 9.99931459e-01 -1.04626344e-02 -5.25452305e-03 5.48737676e+02] [ 1.04777932e-02 9.99941000e-01 2.86570800e-03 -2.64528044e+01] [ 5.22423018e-03 -2.92056739e-03 9.99982089e-01 1.65204172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8007140569999 meters Centerline goodness [0,1] 0.9296697698114955 Centerline is valid? [False, False] Translation: X:548.74, Y:-26.45, Z:1.65 [[ 9.99933546e-01 -1.01627195e-02 -5.44275863e-03 5.48738118e+02] [ 1.01755760e-02 9.99945490e-01 2.33966764e-03 -2.64503604e+01] [ 5.41868456e-03 -2.39489536e-03 9.99982451e-01 1.65245375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8307140569999 meters Centerline goodness [0,1] 0.9547448304671726 Centerline is valid? [False, True] Translation: X:548.74, Y:-26.45, Z:1.65 [[ 9.99933756e-01 -9.96338400e-03 -5.76315026e-03 5.48738746e+02] [ 9.97522315e-03 9.99948187e-01 2.02920055e-03 -2.64488153e+01] [ 5.74263395e-03 -2.08655484e-03 9.99981334e-01 1.65265887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.860714057 meters Centerline goodness [0,1] 0.9578149345364061 Centerline is valid? [True, True] Translation: X:548.77, Y:-26.45, Z:1.65 [[ 9.99958051e-01 -7.31469139e-03 -5.51280616e-03 5.48769941e+02] [ 7.31728553e-03 9.99973127e-01 4.50543183e-04 -2.64457325e+01] [ 5.50936243e-03 -4.90863060e-04 9.99984703e-01 1.65306970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.890714057 meters Centerline goodness [0,1] 0.9589965558968631 Centerline is valid? [True, True] Translation: X:548.80, Y:-26.45, Z:1.65 [[ 9.99966738e-01 -6.03588041e-03 -5.48555321e-03 5.48800349e+02] [ 6.03842941e-03 9.99981668e-01 4.48233011e-04 -2.64458086e+01] [ 5.48274717e-03 -4.81342228e-04 9.99984854e-01 1.65276416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9207140569999 meters Centerline goodness [0,1] 0.9369745936857836 Centerline is valid? [True, False] Translation: X:548.80, Y:-26.44, Z:1.65 [[ 9.99983358e-01 -2.70842529e-03 -5.09402089e-03 5.48799365e+02] [ 2.72785722e-03 9.99989015e-01 3.81158259e-03 -2.64448752e+01] [ 5.08364154e-03 -3.82541492e-03 9.99979761e-01 1.65289766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9507140569999 meters Centerline goodness [0,1] 0.9569839712136081 Centerline is valid? [False, True] Translation: X:548.80, Y:-26.44, Z:1.65 [[ 9.99982819e-01 -2.95659449e-03 -5.06157381e-03 5.48799011e+02] [ 2.97203516e-03 9.99990945e-01 3.04576838e-03 -2.64431960e+01] [ 5.05252287e-03 -3.06075923e-03 9.99982552e-01 1.65357070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9807140569999 meters Centerline goodness [0,1] 0.959369584562784 Centerline is valid? [True, True] Translation: X:548.83, Y:-26.44, Z:1.66 [[ 9.99987432e-01 -1.97772095e-03 -4.60704541e-03 5.48828966e+02] [ 1.97946461e-03 9.99997971e-01 3.73946515e-04 -2.64386697e+01] [ 4.60629650e-03 -3.83061298e-04 9.99989318e-01 1.65530930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.010714057 meters Centerline goodness [0,1] 0.9598434056917812 Centerline is valid? [True, True] Translation: X:548.86, Y:-26.44, Z:1.66 [[ 9.99988084e-01 -1.74711182e-03 -4.55836117e-03 5.48858612e+02] [ 1.74881569e-03 9.99998402e-01 3.69830039e-04 -2.64404048e+01] [ 4.55770775e-03 -3.77797366e-04 9.99989542e-01 1.65558145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.040714057 meters Centerline goodness [0,1] 0.9599765533411488 Centerline is valid? [True, True] Translation: X:548.89, Y:-26.44, Z:1.66 [[ 9.99986772e-01 -2.31218429e-03 -4.59447813e-03 5.48887731e+02] [ 2.31391959e-03 9.99997254e-01 3.72412344e-04 -2.64427445e+01] [ 4.59360442e-03 -3.83038671e-04 9.99989376e-01 1.65578349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0707140569999 meters Centerline goodness [0,1] 0.9492602405683603 Centerline is valid? [True, False] Translation: X:548.89, Y:-26.44, Z:1.66 [[ 9.99987074e-01 -2.49507185e-03 -4.43021810e-03 5.48887533e+02] [ 2.49733492e-03 9.99996754e-01 5.05368150e-04 -2.64429295e+01] [ 4.42894279e-03 -5.16425356e-04 9.99990059e-01 1.65545411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1007140569999 meters Centerline goodness [0,1] 0.9580918412839946 Centerline is valid? [False, True] Translation: X:548.89, Y:-26.44, Z:1.65 [[ 9.99987554e-01 -2.63240067e-03 -4.23818252e-03 5.48887602e+02] [ 2.63685498e-03 9.99995977e-01 1.04575196e-03 -2.64442162e+01] [ 4.23541263e-03 -1.05691442e-03 9.99990472e-01 1.65459369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.130714057 meters Centerline goodness [0,1] 0.9531502802072831 Centerline is valid? [True, True] Translation: X:548.92, Y:-26.45, Z:1.65 [[ 9.99981738e-01 -3.85288448e-03 -4.65599726e-03 5.48916581e+02] [ 3.85476316e-03 9.99992493e-01 3.94589143e-04 -2.64516585e+01] [ 4.65444199e-03 -4.12529704e-04 9.99989083e-01 1.65382520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.160714057 meters Centerline goodness [0,1] 0.9487221303263984 Centerline is valid? [True, False] Translation: X:548.92, Y:-26.45, Z:1.65 [[ 9.99981238e-01 -3.85165218e-03 -4.76328406e-03 5.48917043e+02] [ 3.85536109e-03 9.99992272e-01 7.69710341e-04 -2.64524114e+01] [ 4.76028260e-03 -7.88060080e-04 9.99988359e-01 1.65334476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1907140569999 meters Centerline goodness [0,1] 0.9407951700091264 Centerline is valid? [False, False] Translation: X:548.92, Y:-26.45, Z:1.65 [[ 9.99980452e-01 -4.39677911e-03 -4.44571305e-03 5.48916220e+02] [ 4.40019630e-03 9.99990031e-01 7.59160871e-04 -2.64531657e+01] [ 4.44233087e-03 -7.78708041e-04 9.99989830e-01 1.65339180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2207140569999 meters Centerline goodness [0,1] 0.9364660248621366 Centerline is valid? [False, False] Translation: X:548.92, Y:-26.45, Z:1.65 [[ 9.99980854e-01 -4.31530537e-03 -4.43500805e-03 5.48916349e+02] [ 4.32079639e-03 9.99989910e-01 1.22927384e-03 -2.64544915e+01] [ 4.42965861e-03 -1.24841307e-03 9.99989410e-01 1.65303849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.250714057 meters Centerline goodness [0,1] 0.8778563782752362 Centerline is valid? [False, False] Translation: X:548.92, Y:-26.46, Z:1.65 [[ 9.99981280e-01 -4.21933774e-03 -4.43134660e-03 5.48916860e+02] [ 4.22893307e-03 9.99988729e-01 2.15819584e-03 -2.64568191e+01] [ 4.42219049e-03 -2.17689531e-03 9.99987853e-01 1.65195223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.280714057 meters Centerline goodness [0,1] 0.9538658295547029 Centerline is valid? [False, True] Translation: X:548.92, Y:-26.46, Z:1.65 [[ 9.99981950e-01 -4.24679390e-03 -4.25020555e-03 5.48916642e+02] [ 4.25640903e-03 9.99988397e-01 2.25579303e-03 -2.64572610e+01] [ 4.24057634e-03 -2.27384293e-03 9.99988424e-01 1.65174398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3107140569999 meters Centerline goodness [0,1] 0.9483425800736631 Centerline is valid? [True, False] Translation: X:548.92, Y:-26.46, Z:1.65 [[ 9.99981637e-01 -4.29940890e-03 -4.27102080e-03 5.48916600e+02] [ 4.30850456e-03 9.99988465e-01 2.12270717e-03 -2.64570302e+01] [ 4.26184514e-03 -2.14106991e-03 9.99988626e-01 1.65197250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3407140569999 meters Centerline goodness [0,1] 0.9570589332338679 Centerline is valid? [False, True] Translation: X:548.92, Y:-26.46, Z:1.65 [[ 9.99981456e-01 -4.01253209e-03 -4.58125252e-03 5.48917345e+02] [ 4.02350703e-03 9.99989052e-01 2.38892166e-03 -2.64570992e+01] [ 4.57161674e-03 -2.40731006e-03 9.99986653e-01 1.65184252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.370714057 meters Centerline goodness [0,1] 0.9165306978695632 Centerline is valid? [True, False] Translation: X:548.92, Y:-26.46, Z:1.65 [[ 9.99981930e-01 -4.00395239e-03 -4.48420926e-03 5.48916825e+02] [ 4.01325253e-03 9.99989811e-01 2.06690094e-03 -2.64564031e+01] [ 4.47588779e-03 -2.08485985e-03 9.99987810e-01 1.65260727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.400714057 meters Centerline goodness [0,1] 0.9434829259190147 Centerline is valid? [False, False] Translation: X:548.92, Y:-26.46, Z:1.65 [[ 9.99981611e-01 -3.97253460e-03 -4.58213088e-03 5.48916837e+02] [ 3.98139721e-03 9.99990218e-01 1.92667066e-03 -2.64559697e+01] [ 4.57443229e-03 -1.94487851e-03 9.99987646e-01 1.65299014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4307140569999 meters Centerline goodness [0,1] 0.9551769148291455 Centerline is valid? [False, True] Translation: X:548.92, Y:-26.46, Z:1.65 [[ 9.99982017e-01 -3.82969846e-03 -4.61500029e-03 5.48917041e+02] [ 3.83897489e-03 9.99990625e-01 2.00288107e-03 -2.64559017e+01] [ 4.60728659e-03 -2.02056192e-03 9.99987345e-01 1.65288888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4607140569999 meters Centerline goodness [0,1] 0.9546197683109118 Centerline is valid? [True, True] Translation: X:548.95, Y:-26.46, Z:1.65 [[ 9.99976318e-01 -4.46991203e-03 -5.23297716e-03 5.48946791e+02] [ 4.47239824e-03 9.99989891e-01 4.63497915e-04 -2.64589147e+01] [ 5.23085246e-03 -4.86890896e-04 9.99986200e-01 1.65275319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.490714057 meters Centerline goodness [0,1] 0.6697383541058959 Centerline is valid? [True, False] Translation: X:548.98, Y:-26.46, Z:1.66 [[ 9.99938091e-01 -6.42840363e-03 -9.08234345e-03 5.48979434e+02] [ 6.34060767e-03 9.99933213e-01 -9.66261201e-03 -2.64559753e+01] [ 9.14385203e-03 9.60442624e-03 9.99912069e-01 1.65819212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.520714057 meters Centerline goodness [0,1] 0.9532795297630154 Centerline is valid? [False, True] Translation: X:548.92, Y:-26.46, Z:1.65 [[ 9.99938661e-01 -5.15389880e-03 -9.80360533e-03 5.48916765e+02] [ 5.16281386e-03 9.99986282e-01 8.84275138e-04 -2.64563230e+01] [ 9.79891338e-03 -9.34835087e-04 9.99951553e-01 1.65486548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5507140569999 meters Centerline goodness [0,1] 0.9473953965147703 Centerline is valid? [True, False] Translation: X:548.92, Y:-26.46, Z:1.65 [[ 9.99938351e-01 -5.07463061e-03 -9.87633796e-03 5.48917156e+02] [ 5.08502879e-03 9.99986543e-01 1.02801166e-03 -2.64563875e+01] [ 9.87098827e-03 -1.07816975e-03 9.99950699e-01 1.65446376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5807140569999 meters Centerline goodness [0,1] 0.9431292898165009 Centerline is valid? [False, False] Translation: X:548.92, Y:-26.46, Z:1.65 [[ 9.99936864e-01 -4.96996771e-03 -1.00780773e-02 5.48917732e+02] [ 4.97794517e-03 9.99987316e-01 7.66635609e-04 -2.64550149e+01] [ 1.00741394e-02 -8.16755323e-04 9.99948921e-01 1.65436871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.610714057 meters Centerline goodness [0,1] 0.9569485345673818 Centerline is valid? [False, True] Translation: X:548.92, Y:-26.45, Z:1.66 [[ 9.99936262e-01 -5.09381690e-03 -1.00759629e-02 5.48917434e+02] [ 5.09656203e-03 9.99986982e-01 2.46784659e-04 -2.64533755e+01] [ 1.00745747e-02 -2.98121699e-04 9.99949206e-01 1.65503303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.640714057 meters Centerline goodness [0,1] 0.9252310211720669 Centerline is valid? [True, False] Translation: X:548.92, Y:-26.45, Z:1.65 [[ 9.99936381e-01 -4.99959828e-03 -1.01112901e-02 5.48917555e+02] [ 5.00356893e-03 9.99987415e-01 3.67435407e-04 -2.64533139e+01] [ 1.01093259e-02 -4.18004568e-04 9.99948812e-01 1.65494459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6707140569999 meters Centerline goodness [0,1] 0.9475641415440746 Centerline is valid? [False, False] Translation: X:548.92, Y:-26.45, Z:1.65 [[ 9.99936672e-01 -4.84334460e-03 -1.01584764e-02 5.48917777e+02] [ 4.85003438e-03 9.99988038e-01 6.34010576e-04 -2.64536566e+01] [ 1.01552841e-02 -6.83239385e-04 9.99948200e-01 1.65475284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7007140569999 meters Centerline goodness [0,1] 0.9565695051541572 Centerline is valid? [False, True] Translation: X:548.92, Y:-26.45, Z:1.65 [[ 9.99938585e-01 -4.88539000e-03 -9.94781839e-03 5.48917611e+02] [ 4.89332516e-03 9.99987728e-01 7.73494510e-04 -2.64537339e+01] [ 9.94391750e-03 -8.22124916e-04 9.99950220e-01 1.65434984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7307140569999 meters Centerline goodness [0,1] 0.9350828729281768 Centerline is valid? [True, False] Translation: X:548.92, Y:-26.45, Z:1.65 [[ 9.99938966e-01 -4.73635503e-03 -9.98152808e-03 5.48918010e+02] [ 4.74809498e-03 9.99988063e-01 1.15279871e-03 -2.64543413e+01] [ 9.97594887e-03 -1.20012160e-03 9.99949519e-01 1.65382681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.760714057 meters Centerline goodness [0,1] 0.943056105456832 Centerline is valid? [False, False] Translation: X:548.92, Y:-26.46, Z:1.65 [[ 9.99938436e-01 -4.77478697e-03 -1.00162397e-02 5.48918277e+02] [ 4.79118123e-03 9.99987221e-01 1.61341149e-03 -2.64555008e+01] [ 1.00084080e-02 -1.66130178e-03 9.99948535e-01 1.65335071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.790714057 meters Centerline goodness [0,1] 0.9449910032014581 Centerline is valid? [False, False] Translation: X:548.92, Y:-26.46, Z:1.65 [[ 9.99939443e-01 -5.03412293e-03 -9.78613235e-03 5.48917720e+02] [ 5.05015811e-03 9.99985944e-01 1.61454032e-03 -2.64559134e+01] [ 9.77786701e-03 -1.66386406e-03 9.99950811e-01 1.65340894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8207140569999 meters Centerline goodness [0,1] 0.9362656881763153 Centerline is valid? [False, False] Translation: X:548.92, Y:-26.46, Z:1.65 [[ 9.99942184e-01 -5.36192429e-03 -9.32083164e-03 5.48916880e+02] [ 5.38284793e-03 9.99983045e-01 2.22118912e-03 -2.64582424e+01] [ 9.30876376e-03 -2.27123332e-03 9.99954093e-01 1.65301025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8507140569999 meters Centerline goodness [0,1] 0.9513129614054762 Centerline is valid? [False, True] Translation: X:548.92, Y:-26.46, Z:1.65 [[ 9.99942733e-01 -5.40249460e-03 -9.23815712e-03 5.48916931e+02] [ 5.42724778e-03 9.99981744e-01 2.65648253e-03 -2.64594985e+01] [ 9.22363684e-03 -2.70646817e-03 9.99953799e-01 1.65248932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.880714057 meters Centerline goodness [0,1] 0.9513129614054762 Centerline is valid? [True, True] Translation: X:548.95, Y:-26.46, Z:1.65 [[ 9.99939818e-01 -5.64836292e-03 -9.40514808e-03 5.48945257e+02] [ 5.65691608e-03 9.99983610e-01 8.83058242e-04 -2.64613707e+01] [ 9.40000609e-03 -9.36209231e-04 9.99955381e-01 1.65307049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.910714057 meters Centerline goodness [0,1] 0.9480564958561923 Centerline is valid? [True, False] Translation: X:548.95, Y:-26.46, Z:1.65 [[ 9.99940233e-01 -5.50483620e-03 -9.44596906e-03 5.48945826e+02] [ 5.51789715e-03 9.99983855e-01 1.35719746e-03 -2.64622874e+01] [ 9.43834541e-03 -1.40923823e-03 9.99954465e-01 1.65228194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9407140569999 meters Centerline goodness [0,1] 0.9551288034347583 Centerline is valid? [False, True] Translation: X:548.95, Y:-26.46, Z:1.65 [[ 9.99939146e-01 -5.46214971e-03 -9.58485506e-03 5.48946494e+02] [ 5.47991670e-03 9.99983314e-01 1.82837010e-03 -2.64630440e+01] [ 9.57470830e-03 -1.88078304e-03 9.99952393e-01 1.65152995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9707140569999 meters Centerline goodness [0,1] 0.9075144508670521 Centerline is valid? [True, False] Translation: X:548.95, Y:-26.46, Z:1.65 [[ 9.99938112e-01 -5.26996160e-03 -9.79789535e-03 5.48947241e+02] [ 5.29129496e-03 9.99983684e-01 2.15269441e-03 -2.64636106e+01] [ 9.78639087e-03 -2.20440474e-03 9.99949682e-01 1.65110388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.000714057 meters Centerline goodness [0,1] 0.9229010127409343 Centerline is valid? [False, False] Translation: X:548.95, Y:-26.46, Z:1.65 [[ 9.99937851e-01 -5.29769127e-03 -9.80959734e-03 5.48947171e+02] [ 5.31844346e-03 9.99983672e-01 2.09062110e-03 -2.64635646e+01] [ 9.79836170e-03 -2.14266296e-03 9.99949699e-01 1.65126810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.030714057 meters Centerline goodness [0,1] 0.9506651108518086 Centerline is valid? [False, True] Translation: X:548.95, Y:-26.46, Z:1.65 [[ 9.99938975e-01 -5.06395286e-03 -9.81853167e-03 5.48947386e+02] [ 5.08673495e-03 9.99984425e-01 2.29673254e-03 -2.64637922e+01] [ 9.80674820e-03 -2.34653665e-03 9.99949159e-01 1.65117162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0607140569999 meters Centerline goodness [0,1] 0.9457984467196865 Centerline is valid? [True, False] Translation: X:548.95, Y:-26.46, Z:1.65 [[ 9.99938903e-01 -5.02308638e-03 -9.84672756e-03 5.48947232e+02] [ 5.04422520e-03 9.99985024e-01 2.12312776e-03 -2.64634231e+01] [ 9.83591544e-03 -2.17266715e-03 9.99949266e-01 1.65163736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0907140569999 meters Centerline goodness [0,1] 0.9460424102456435 Centerline is valid? [False, False] Translation: X:548.95, Y:-26.46, Z:1.65 [[ 9.99939234e-01 -4.94576270e-03 -9.85226323e-03 5.48947361e+02] [ 4.96822094e-03 9.99985113e-01 2.25633094e-03 -2.64635464e+01] [ 9.84095728e-03 -2.30514205e-03 9.99948920e-01 1.65149563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.120714057 meters Centerline goodness [0,1] 0.952034951637774 Centerline is valid? [False, True] Translation: X:548.95, Y:-26.46, Z:1.65 [[ 9.99940337e-01 -4.80358901e-03 -9.81062887e-03 5.48947343e+02] [ 4.82586437e-03 9.99985828e-01 2.24812333e-03 -2.64631462e+01] [ 9.79969078e-03 -2.29533397e-03 9.99949347e-01 1.65154589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.150714057 meters Centerline goodness [0,1] 0.94459232277949 Centerline is valid? [True, False] Translation: X:548.95, Y:-26.46, Z:1.65 [[ 9.99941751e-01 -4.62476108e-03 -9.75224918e-03 5.48947468e+02] [ 4.64945373e-03 9.99986039e-01 2.51084467e-03 -2.64635521e+01] [ 9.74050098e-03 -2.55604105e-03 9.99949293e-01 1.65128846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1807140569999 meters Centerline goodness [0,1] 0.9519757547499709 Centerline is valid? [False, True] Translation: X:548.95, Y:-26.46, Z:1.65 [[ 9.99941784e-01 -4.62747266e-03 -9.74752051e-03 5.48947454e+02] [ 4.65253004e-03 9.99985927e-01 2.54953602e-03 -2.64639013e+01] [ 9.73558542e-03 -2.59473823e-03 9.99949242e-01 1.65132947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2107140569999 meters Centerline goodness [0,1] 0.9506615728661946 Centerline is valid? [True, True] Translation: X:548.98, Y:-26.47, Z:1.65 [[ 9.99946575e-01 -4.31615114e-03 -9.39246080e-03 5.48975869e+02] [ 4.32472862e-03 9.99990249e-01 8.93111850e-04 -2.64674501e+01] [ 9.38851441e-03 -9.33683980e-04 9.99955491e-01 1.65195976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.240714057 meters Centerline goodness [0,1] 0.9476359227828033 Centerline is valid? [True, False] Translation: X:548.98, Y:-26.47, Z:1.65 [[ 9.99947011e-01 -4.17697883e-03 -9.40893305e-03 5.48976140e+02] [ 4.18772229e-03 9.99990602e-01 1.12242378e-03 -2.64676316e+01] [ 9.40415628e-03 -1.16176630e-03 9.99955105e-01 1.65163282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.270714057 meters Centerline goodness [0,1] 0.9478994337908055 Centerline is valid? [False, False] Translation: X:548.98, Y:-26.47, Z:1.65 [[ 9.99947684e-01 -4.16586381e-03 -9.34213520e-03 5.48976050e+02] [ 4.17919821e-03 9.99990275e-01 1.40827164e-03 -2.64684172e+01] [ 9.33617768e-03 -1.44724060e-03 9.99955370e-01 1.65152568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3007140569999 meters Centerline goodness [0,1] 0.9545369678864825 Centerline is valid? [False, True] Translation: X:548.98, Y:-26.47, Z:1.65 [[ 9.99948541e-01 -4.19222152e-03 -9.23795368e-03 5.48975769e+02] [ 4.20631534e-03 9.99990018e-01 1.50674209e-03 -2.64688411e+01] [ 9.23154487e-03 -1.54552231e-03 9.99956194e-01 1.65168204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3307140569999 meters Centerline goodness [0,1] 0.9157754945131754 Centerline is valid? [True, False] Translation: X:548.98, Y:-26.47, Z:1.65 [[ 9.99951707e-01 -4.08162126e-03 -8.94000691e-03 5.48975761e+02] [ 4.10306311e-03 9.99988747e-01 2.38138916e-03 -2.64712251e+01] [ 8.93018637e-03 -2.41795557e-03 9.99957202e-01 1.65064569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.360714057 meters Centerline goodness [0,1] 0.9390651860800074 Centerline is valid? [False, False] Translation: X:548.98, Y:-26.47, Z:1.65 [[ 9.99952751e-01 -3.87140812e-03 -8.91677845e-03 5.48976452e+02] [ 3.89953648e-03 9.99987469e-01 3.13932040e-03 -2.64728147e+01] [ 8.90451312e-03 -3.17394338e-03 9.99955317e-01 1.64943543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.390714057 meters Centerline goodness [0,1] 0.942064264849075 Centerline is valid? [False, False] Translation: X:548.98, Y:-26.47, Z:1.65 [[ 9.99952863e-01 -3.66947448e-03 -8.98927345e-03 5.48977018e+02] [ 3.70188304e-03 9.99986699e-01 3.59126568e-03 -2.64740655e+01] [ 8.97597583e-03 -3.62437364e-03 9.99953147e-01 1.64880917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4207140569999 meters Centerline goodness [0,1] 0.9487912598791259 Centerline is valid? [False, False] Translation: X:548.98, Y:-26.47, Z:1.65 [[ 9.99952547e-01 -3.49734877e-03 -9.09241763e-03 5.48977586e+02] [ 3.53157200e-03 9.99986730e-01 3.75060444e-03 -2.64739977e+01] [ 9.07917981e-03 -3.78253699e-03 9.99951629e-01 1.64840843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4507140569999 meters Centerline goodness [0,1] 0.9543322808320951 Centerline is valid? [False, True] Translation: X:548.98, Y:-26.47, Z:1.65 [[ 9.99951789e-01 -3.36245299e-03 -9.22568706e-03 5.48977584e+02] [ 3.39341365e-03 9.99988657e-01 3.34231982e-03 -2.64729164e+01] [ 9.21434402e-03 -3.37346525e-03 9.99951857e-01 1.64907776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4807140569999 meters Centerline goodness [0,1] 0.9536328315845799 Centerline is valid? [True, True] Translation: X:549.01, Y:-26.48, Z:1.65 [[ 9.99958772e-01 -1.55679519e-03 -8.94595891e-03 5.49007710e+02] [ 1.56462057e-03 9.99998399e-01 8.67807389e-04 -2.64751850e+01] [ 8.94459359e-03 -8.81768642e-04 9.99959608e-01 1.65048521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.510714057 meters Centerline goodness [0,1] 0.9529212098667844 Centerline is valid? [True, True] Translation: X:549.04, Y:-26.48, Z:1.65 [[ 9.99964162e-01 1.92547467e-04 -8.46394286e-03 5.49037383e+02] [-1.85607423e-04 9.99999646e-01 8.20731902e-04 -2.64768858e+01] [ 8.46409790e-03 -8.19131518e-04 9.99963843e-01 1.65105705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.540714057 meters Centerline goodness [0,1] 0.9597849612511345 Centerline is valid? [True, True] Translation: X:549.07, Y:-26.47, Z:1.65 [[ 9.99957705e-01 5.45478050e-03 -7.40496592e-03 5.49067854e+02] [-5.44961254e-03 9.99984893e-01 7.17903029e-04 -2.64723425e+01] [ 7.40877006e-03 -6.77518470e-04 9.99972325e-01 1.65185177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5707140569999 meters Centerline goodness [0,1] 0.9601940162768463 Centerline is valid? [True, True] Translation: X:549.10, Y:-26.47, Z:1.65 [[ 9.99940880e-01 8.56305614e-03 -6.70155901e-03 5.49098120e+02] [-8.55889268e-03 9.99963161e-01 6.49700739e-04 -2.64743065e+01] [ 6.70687556e-03 -5.92304404e-04 9.99977333e-01 1.65159368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6007140569999 meters Centerline goodness [0,1] 0.9607526504247701 Centerline is valid? [True, True] Translation: X:549.13, Y:-26.47, Z:1.65 [[ 9.99866486e-01 1.45409863e-02 -7.45445894e-03 5.49127860e+02] [-1.45360009e-02 9.99894086e-01 7.22527470e-04 -2.64720376e+01] [ 7.46417567e-03 -6.14072981e-04 9.99971954e-01 1.65256028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.630714057 meters Centerline goodness [0,1] 0.9640113697761281 Centerline is valid? [True, True] Translation: X:549.16, Y:-26.47, Z:1.65 [[ 9.99842636e-01 1.64714688e-02 -6.58737694e-03 5.49158632e+02] [-1.64676181e-02 9.99864196e-01 6.38367803e-04 -2.64674459e+01] [ 6.59699721e-03 -5.29788939e-04 9.99978099e-01 1.65231981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.660714057 meters Centerline goodness [0,1] 0.9608087457388034 Centerline is valid? [True, True] Translation: X:549.19, Y:-26.47, Z:1.65 [[ 9.99699515e-01 2.33199973e-02 -7.55357287e-03 5.49187286e+02] [-2.33151297e-02 9.99727898e-01 7.31840360e-04 -2.64732145e+01] [ 7.56858404e-03 -5.55507922e-04 9.99971204e-01 1.65198027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6907140569999 meters Centerline goodness [0,1] 0.9662065235284434 Centerline is valid? [True, True] Translation: X:549.22, Y:-26.46, Z:1.65 [[ 9.99645803e-01 2.54924633e-02 -7.64220742e-03 5.49218251e+02] [-2.54875450e-02 9.99674866e-01 7.40294496e-04 -2.64648672e+01] [ 7.65859461e-03 -5.45251181e-04 9.99970524e-01 1.65290287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7207140569999 meters Centerline goodness [0,1] 0.9634758036029671 Centerline is valid? [True, True] Translation: X:549.25, Y:-26.47, Z:1.65 [[ 9.99584274e-01 2.78193768e-02 -7.57367317e-03 5.49246438e+02] [-2.78146161e-02 9.99612830e-01 7.33219441e-04 -2.64688731e+01] [ 7.59113858e-03 -5.22255812e-04 9.99971051e-01 1.65231143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.750714057 meters Centerline goodness [0,1] 0.9628876221113135 Centerline is valid? [True, True] Translation: X:549.28, Y:-26.47, Z:1.65 [[ 9.99486717e-01 3.09271021e-02 -8.35569673e-03 5.49275280e+02] [-3.09214178e-02 9.99521492e-01 8.08662962e-04 -2.64697857e+01] [ 8.37670806e-03 -5.49877899e-04 9.99964764e-01 1.65185027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.780714057 meters Centerline goodness [0,1] 0.9661294145532117 Centerline is valid? [True, True] Translation: X:549.31, Y:-26.47, Z:1.65 [[ 9.99402909e-01 3.36466213e-02 -7.85690740e-03 5.49305744e+02] [-3.36416800e-02 9.99433669e-01 7.60267545e-04 -2.64668759e+01] [ 7.87803822e-03 -4.95494031e-04 9.99968845e-01 1.65202402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8107140569999 meters Centerline goodness [0,1] 0.9681113376641851 Centerline is valid? [True, True] Translation: X:549.33, Y:-26.46, Z:1.65 [[ 9.99371221e-01 3.46655100e-02 -7.44751491e-03 5.49334841e+02] [-3.46611028e-02 9.99398864e-01 7.20065636e-04 -2.64638577e+01] [ 7.46799938e-03 -4.61473794e-04 9.99972008e-01 1.65280504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8407140569999 meters Centerline goodness [0,1] 0.9660324473265398 Centerline is valid? [True, True] Translation: X:549.36, Y:-26.47, Z:1.65 [[ 9.99346198e-01 3.53562647e-02 -7.55719592e-03 5.49362124e+02] [-3.53517516e-02 9.99374665e-01 7.29978552e-04 -2.64700590e+01] [ 7.57827945e-03 -4.62341177e-04 9.99971178e-01 1.65237161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.870714057 meters Centerline goodness [0,1] 0.9658637400228051 Centerline is valid? [True, True] Translation: X:549.39, Y:-26.47, Z:1.65 [[ 9.99298740e-01 3.67192353e-02 -7.32977809e-03 5.49389736e+02] [-3.67150309e-02 9.99325526e-01 7.07389641e-04 -2.64716161e+01] [ 7.35080915e-03 -4.37780548e-04 9.99972887e-01 1.65214312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.900714057 meters Centerline goodness [0,1] 0.9698405141632944 Centerline is valid? [True, True] Translation: X:549.42, Y:-26.47, Z:1.65 [[ 9.99297595e-01 3.68044979e-02 -7.05302156e-03 5.49418724e+02] [-3.68006208e-02 9.99322397e-01 6.78755804e-04 -2.64671595e+01] [ 7.07322368e-03 -4.18723471e-04 9.99974897e-01 1.65327972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9307140569999 meters Centerline goodness [0,1] 0.9653597259231061 Centerline is valid? [True, True] Translation: X:549.45, Y:-26.48, Z:1.65 [[ 9.99300633e-01 3.66209332e-02 -7.55989443e-03 5.49445756e+02] [-3.66164773e-02 9.99329127e-01 7.27030263e-04 -2.64777011e+01] [ 7.58144723e-03 -4.49705099e-04 9.99971159e-01 1.65194800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9607140569999 meters Centerline goodness [0,1] 0.9702249196715459 Centerline is valid? [True, True] Translation: X:549.48, Y:-26.47, Z:1.65 [[ 9.99314785e-01 3.60804329e-02 -8.25611180e-03 5.49475016e+02] [-3.60751047e-02 9.99348767e-01 7.93419658e-04 -2.64715730e+01] [ 8.27936207e-03 -4.95035896e-04 9.99965603e-01 1.65257218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.990714057 meters Centerline goodness [0,1] 0.971476150826692 Centerline is valid? [True, True] Translation: X:549.50, Y:-26.47, Z:1.65 [[ 9.99329007e-01 3.56195044e-02 -8.53148854e-03 5.49503944e+02] [-3.56138034e-02 9.99365291e-01 8.19274874e-04 -2.64737303e+01] [ 8.55525569e-03 -5.14886391e-04 9.99963271e-01 1.65236762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.020714057 meters Centerline goodness [0,1] 0.9696378896312323 Centerline is valid? [True, True] Translation: X:549.53, Y:-26.48, Z:1.65 [[ 9.99333401e-01 3.54865350e-02 -8.57084974e-03 5.49530660e+02] [-3.54807860e-02 9.99370021e-01 8.21940412e-04 -2.64781700e+01] [ 8.59461809e-03 -5.17292022e-04 9.99962932e-01 1.65270484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0507140569999 meters Centerline goodness [0,1] 0.9701496087339153 Centerline is valid? [True, True] Translation: X:549.56, Y:-26.48, Z:1.65 [[ 9.99298559e-01 3.66854689e-02 -7.52103089e-03 5.49559721e+02] [-3.66810897e-02 9.99326763e-01 7.19432628e-04 -2.64801812e+01] [ 7.54236018e-03 -4.43048380e-04 9.99971458e-01 1.65367660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0807140569999 meters Centerline goodness [0,1] 0.9693938311301655 Centerline is valid? [True, True] Translation: X:549.59, Y:-26.48, Z:1.65 [[ 9.99256381e-01 3.78959988e-02 -7.11181747e-03 5.49588446e+02] [-3.78921162e-02 9.99281605e-01 6.79928491e-04 -2.64824011e+01] [ 7.13247494e-03 -4.09941070e-04 9.99974480e-01 1.65430781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.110714057 meters Centerline goodness [0,1] 0.9727634811228505 Centerline is valid? [True, True] Translation: X:549.62, Y:-26.48, Z:1.66 [[ 9.99198460e-01 3.93704289e-02 -7.23930427e-03 5.49617930e+02] [-3.93664511e-02 9.99224602e-01 6.91208748e-04 -2.64812379e+01] [ 7.26090411e-03 -4.05668999e-04 9.99973557e-01 1.65545360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.140714057 meters Centerline goodness [0,1] 0.9719565841063402 Centerline is valid? [True, True] Translation: X:549.65, Y:-26.48, Z:1.66 [[ 9.99007661e-01 4.40423468e-02 -6.63054899e-03 5.49647673e+02] [-4.40391129e-02 9.99029607e-01 6.33018303e-04 -2.64827889e+01] [ 6.65199436e-03 -3.40386639e-04 9.99977817e-01 1.65588177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1707140569999 meters Centerline goodness [0,1] 0.974156926614294 Centerline is valid? [True, True] Translation: X:549.68, Y:-26.48, Z:1.66 [[ 9.98769439e-01 4.92803572e-02 -5.57254919e-03 5.49678339e+02] [-4.92781543e-02 9.98784952e-01 5.32001877e-04 -2.64830301e+01] [ 5.59199552e-03 -2.56742277e-04 9.99984332e-01 1.65638096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2007140569999 meters Centerline goodness [0,1] 0.9745067559488222 Centerline is valid? [True, True] Translation: X:549.71, Y:-26.49, Z:1.66 [[ 9.98642087e-01 5.18652601e-02 -4.89664378e-03 5.49707466e+02] [-5.18635912e-02 9.98654069e-01 4.67277358e-04 -2.64855581e+01] [ 4.91428870e-03 -2.12685305e-04 9.99987902e-01 1.65631966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2307140569999 meters Centerline goodness [0,1] 0.975024520944475 Centerline is valid? [True, True] Translation: X:549.74, Y:-26.49, Z:1.66 [[ 9.98507169e-01 5.44123302e-02 -4.76780677e-03 5.49736566e+02] [-5.44107828e-02 9.98518533e-01 4.53759098e-04 -2.64876681e+01] [ 4.78543351e-03 -1.93661614e-04 9.99988531e-01 1.65634940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.260714057 meters Centerline goodness [0,1] 0.9773129333014583 Centerline is valid? [True, True] Translation: X:549.77, Y:-26.49, Z:1.66 [[ 9.98234034e-01 5.92330700e-02 -4.50065816e-03 5.49765319e+02] [-5.92317405e-02 9.98244167e-01 4.28252660e-04 -2.64872819e+01] [ 4.51812247e-03 -1.60914564e-04 9.99989780e-01 1.65749963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.290714057 meters Centerline goodness [0,1] 0.9792479475334498 Centerline is valid? [True, True] Translation: X:549.80, Y:-26.49, Z:1.66 [[ 9.97976198e-01 6.34147185e-02 -4.69921890e-03 5.49795367e+02] [-6.34133160e-02 9.97987250e-01 4.47001552e-04 -2.64857520e+01] [ 4.71810702e-03 -1.48103856e-04 9.99988859e-01 1.65770993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3207140569999 meters Centerline goodness [0,1] 0.9806715845947499 Centerline is valid? [True, True] Translation: X:549.82, Y:-26.49, Z:1.66 [[ 9.97905993e-01 6.44951858e-02 -4.89904503e-03 5.49823790e+02] [-6.44936815e-02 9.97918007e-01 4.64586152e-04 -2.64860167e+01] [ 4.91880883e-03 -1.47655855e-04 9.99987892e-01 1.65742354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3507140569999 meters Centerline goodness [0,1] 0.9800335168781422 Centerline is valid? [True, True] Translation: X:549.85, Y:-26.49, Z:1.66 [[ 9.97844082e-01 6.54311673e-02 -5.09422027e-03 5.49851350e+02] [-6.54295544e-02 9.97857074e-01 4.82803306e-04 -2.64919837e+01] [ 5.11489412e-03 -1.48449858e-04 9.99986908e-01 1.65611609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.380714057 meters Centerline goodness [0,1] 0.9785639262866418 Centerline is valid? [True, True] Translation: X:549.88, Y:-26.50, Z:1.65 [[ 9.97876384e-01 6.48008141e-02 -6.60125238e-03 5.49878637e+02] [-6.47980955e-02 9.97898199e-01 6.25102999e-04 -2.65006839e+01] [ 6.62788504e-03 -1.96026939e-04 9.99978016e-01 1.65354837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.410714057 meters Centerline goodness [0,1] 0.9816489679035915 Centerline is valid? [True, True] Translation: X:549.91, Y:-26.50, Z:1.65 [[ 9.97959108e-01 6.35719915e-02 -6.01841276e-03 5.49907832e+02] [-6.35697196e-02 9.97977238e-01 5.68230356e-04 -2.64999479e+01] [ 6.04236248e-03 -1.84481848e-04 9.99981728e-01 1.65488642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4407140569999 meters Centerline goodness [0,1] 0.9803898264796768 Centerline is valid? [True, True] Translation: X:549.94, Y:-26.51, Z:1.66 [[ 9.98143814e-01 6.05712265e-02 -6.32874888e-03 5.49935608e+02] [-6.05686558e-02 9.98163855e-01 5.97256634e-04 -2.65086095e+01] [ 6.35330494e-03 -2.12824202e-04 9.99979795e-01 1.65503604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4707140569999 meters Centerline goodness [0,1] 0.978662839936012 Centerline is valid? [True, True] Translation: X:549.96, Y:-26.52, Z:1.65 [[ 9.98395610e-01 5.63213865e-02 -5.84014841e-03 5.49964007e+02] [-5.63191265e-02 9.98412666e-01 5.50845482e-04 -2.65180180e+01] [ 5.86190253e-03 -2.21049654e-04 9.99982794e-01 1.65466790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.500714057 meters Centerline goodness [0,1] 0.9792505711392167 Centerline is valid? [True, True] Translation: X:549.99, Y:-26.53, Z:1.65 [[ 9.98531335e-01 5.38475170e-02 -5.96805065e-03 5.49992579e+02] [-5.38451147e-02 9.98549141e-01 5.62593200e-04 -2.65252775e+01] [ 5.98968610e-03 -2.40416567e-04 9.99982033e-01 1.65428112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.530714057 meters Centerline goodness [0,1] 0.9764357273881755 Centerline is valid? [True, True] Translation: X:550.02, Y:-26.53, Z:1.65 [[ 9.98685203e-01 5.09593774e-02 -5.56838267e-03 5.50021473e+02] [-5.09572438e-02 9.98700698e-01 5.24471647e-04 -2.65318187e+01] [ 5.58787441e-03 -2.40032640e-04 9.99984359e-01 1.65393316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5607140569999 meters Centerline goodness [0,1] 0.973865681759742 Centerline is valid? [True, True] Translation: X:550.05, Y:-26.54, Z:1.65 [[ 9.98947554e-01 4.56967998e-02 -3.94806437e-03 5.50049753e+02] [-4.56956864e-02 9.98955337e-01 3.71805858e-04 -2.65442930e+01] [ 3.96093031e-03 -1.91005041e-04 9.99992137e-01 1.65470131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5907140569999 meters Centerline goodness [0,1] 0.9744301612113011 Centerline is valid? [True, True] Translation: X:550.08, Y:-26.55, Z:1.66 [[ 9.99049368e-01 4.34909387e-02 -2.98294794e-03 5.50079137e+02] [-4.34902937e-02 9.99053810e-01 2.80794358e-04 -2.65502786e+01] [ 2.99233751e-03 -1.50798144e-04 9.99995512e-01 1.65547471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.620714057 meters Centerline goodness [0,1] 0.9712210179404461 Centerline is valid? [True, True] Translation: X:550.11, Y:-26.56, Z:1.66 [[ 9.99312609e-01 3.70065027e-02 -2.19728122e-03 5.50109149e+02] [-3.70061370e-02 9.99315017e-01 2.06863526e-04 -2.65583370e+01] [ 2.20343141e-03 -1.25408440e-04 9.99997565e-01 1.65603612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.650714057 meters Centerline goodness [0,1] 0.9685806899745312 Centerline is valid? [True, True] Translation: X:550.14, Y:-26.56, Z:1.66 [[ 9.99419038e-01 3.40372177e-02 -1.74792179e-03 5.50139188e+02] [-3.40369818e-02 9.99420561e-01 1.64557886e-04 -2.65649759e+01] [ 1.75251007e-03 -1.04968302e-04 9.99998459e-01 1.65600853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6807140569999 meters Centerline goodness [0,1] 0.966598327612817 Centerline is valid? [True, True] Translation: X:550.17, Y:-26.58, Z:1.66 [[ 9.99583565e-01 2.88116769e-02 -1.60771517e-03 5.50167774e+02] [-2.88114706e-02 9.99584852e-01 1.51314183e-04 -2.65796189e+01] [ 1.61140735e-03 -1.04930532e-04 9.99998696e-01 1.65571700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7107140569999 meters Centerline goodness [0,1] 0.9706781960766276 Centerline is valid? [True, True] Translation: X:550.20, Y:-26.58, Z:1.66 [[ 9.99650403e-01 2.63822099e-02 -1.74638830e-03 5.50197169e+02] [-2.63819630e-02 9.99651922e-01 1.64238854e-04 -2.65798526e+01] [ 1.75011340e-03 -1.18108285e-04 9.99998462e-01 1.65591447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.740714057 meters Centerline goodness [0,1] 0.9682623583756579 Centerline is valid? [True, True] Translation: X:550.23, Y:-26.59, Z:1.66 [[ 9.99781675e-01 2.07661394e-02 -2.31727746e-03 5.50226615e+02] [-2.07656897e-02 9.99784346e-01 2.17962001e-04 -2.65883609e+01] [ 2.32130396e-03 -1.69794550e-04 9.99997291e-01 1.65571774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.770714057 meters Centerline goodness [0,1] 0.9682623583756579 Centerline is valid? [True, True] Translation: X:550.25, Y:-26.59, Z:1.66 [[ 9.99783897e-01 2.06588896e-02 -2.31730931e-03 5.50254034e+02] [-2.06584403e-02 9.99786568e-01 2.17623161e-04 -2.65908493e+01] [ 2.32131058e-03 -1.69704135e-04 9.99997291e-01 1.65569210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8007140569999 meters Centerline goodness [0,1] 0.9651759530791789 Centerline is valid? [True, True] Translation: X:550.28, Y:-26.60, Z:1.66 [[ 9.99827743e-01 1.83902497e-02 -2.50663342e-03 5.50282409e+02] [-1.83897168e-02 9.99830867e-01 2.35485453e-04 -2.65994346e+01] [ 2.51054010e-03 -1.89348611e-04 9.99996831e-01 1.65542337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8307140569999 meters Centerline goodness [0,1] 0.9646479679450487 Centerline is valid? [True, True] Translation: X:550.31, Y:-26.60, Z:1.65 [[ 9.99878702e-01 1.52120139e-02 -3.34303540e-03 5.50312622e+02] [-1.52110485e-02 9.99884256e-01 3.14024789e-04 -2.66037304e+01] [ 3.34742542e-03 -2.63135625e-04 9.99994363e-01 1.65497292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.860714057 meters Centerline goodness [0,1] 0.9616177346219026 Centerline is valid? [True, True] Translation: X:550.34, Y:-26.61, Z:1.65 [[ 9.99892367e-01 1.42854088e-02 -3.34378813e-03 5.50339510e+02] [-1.42844390e-02 9.99897923e-01 3.13725920e-04 -2.66148309e+01] [ 3.34792850e-03 -2.65928015e-04 9.99994360e-01 1.65436002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.890714057 meters Centerline goodness [0,1] 0.9639212994738047 Centerline is valid? [True, True] Translation: X:550.37, Y:-26.61, Z:1.65 [[ 9.99901435e-01 1.37109599e-02 -3.02162614e-03 5.50368433e+02] [-1.37101660e-02 9.99905971e-01 2.83294937e-04 -2.66132231e+01] [ 3.02522627e-03 -2.41840018e-04 9.99995395e-01 1.65389333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9207140569999 meters Centerline goodness [0,1] 0.9630766411654221 Centerline is valid? [True, True] Translation: X:550.40, Y:-26.62, Z:1.65 [[ 9.99903078e-01 1.34293900e-02 -3.67240471e-03 5.50397471e+02] [-1.34282164e-02 9.99909778e-01 3.44065077e-04 -2.66162405e+01] [ 3.67669397e-03 -2.94717885e-04 9.99993198e-01 1.65372998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9507140569999 meters Centerline goodness [0,1] 0.9633869896732535 Centerline is valid? [True, True] Translation: X:550.43, Y:-26.62, Z:1.65 [[ 9.99895275e-01 1.40159443e-02 -3.60439079e-03 5.50426024e+02] [-1.40148184e-02 9.99901731e-01 3.37437859e-04 -2.66180040e+01] [ 3.60876610e-03 -2.86887639e-04 9.99993447e-01 1.65335940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9807140569999 meters Centerline goodness [0,1] 0.9637589742413469 Centerline is valid? [True, True] Translation: X:550.45, Y:-26.62, Z:1.65 [[ 9.99862131e-01 1.59984951e-02 -4.44600556e-03 5.50454576e+02] [-1.59968024e-02 9.99871956e-01 4.16027626e-04 -2.66198907e+01] [ 4.45209209e-03 -3.44848396e-04 9.99990030e-01 1.65332240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.010714057 meters Centerline goodness [0,1] 0.964261184120152 Centerline is valid? [True, True] Translation: X:550.48, Y:-26.62, Z:1.65 [[ 9.99830984e-01 1.78943072e-02 -4.21866213e-03 5.50484511e+02] [-1.78928006e-02 9.99839833e-01 3.94620251e-04 -2.66181799e+01] [ 4.22504790e-03 -3.19069873e-04 9.99991024e-01 1.65388641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.040714057 meters Centerline goodness [0,1] 0.9617338144377284 Centerline is valid? [True, True] Translation: X:550.51, Y:-26.62, Z:1.65 [[ 9.99819507e-01 1.86919804e-02 -3.40037484e-03 5.50512042e+02] [-1.86910073e-02 9.99825257e-01 3.17726822e-04 -2.66221273e+01] [ 3.40571960e-03 -2.54113043e-04 9.99994168e-01 1.65442858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0707140569999 meters Centerline goodness [0,1] 0.9645932355169801 Centerline is valid? [True, True] Translation: X:550.54, Y:-26.62, Z:1.66 [[ 9.99814786e-01 1.91840472e-02 -1.53792569e-03 5.50541560e+02] [-1.91838489e-02 9.99815963e-01 1.43559802e-04 -2.66158862e+01] [ 1.54039671e-03 -1.14029879e-04 9.99998807e-01 1.65606706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1007140569999 meters Centerline goodness [0,1] 0.9650622902588148 Centerline is valid? [True, True] Translation: X:550.57, Y:-26.62, Z:1.66 [[ 9.99830785e-01 1.83504732e-02 -1.28876090e-03 5.50570204e+02] [-1.83503334e-02 9.99831611e-01 1.20195501e-04 -2.66166220e+01] [ 1.29074954e-03 -9.65259699e-05 9.99999162e-01 1.65684709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.130714057 meters Centerline goodness [0,1] 0.9614890885750963 Centerline is valid? [True, True] Translation: X:550.60, Y:-26.62, Z:1.66 [[ 9.99872268e-01 1.59819042e-02 -1.63916072e-04 5.50599204e+02] [-1.59819019e-02 9.99872281e-01 1.52763723e-05 -2.66221149e+01] [ 1.64139283e-04 -1.26547305e-05 9.99999986e-01 1.65742098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.160714057 meters Centerline goodness [0,1] 0.9591363270931434 Centerline is valid? [True, True] Translation: X:550.63, Y:-26.63, Z:1.66 [[ 9.99901975e-01 1.39954315e-02 -4.09894246e-04 5.50627986e+02] [-1.39954170e-02 9.99902059e-01 3.81461773e-05 -2.66260747e+01] [ 4.10387973e-04 -3.24057971e-05 9.99999915e-01 1.65681457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1907140569999 meters Centerline goodness [0,1] 0.9589967786470317 Centerline is valid? [True, True] Translation: X:550.66, Y:-26.63, Z:1.66 [[ 9.99929992e-01 1.17563128e-02 -1.34183586e-03 5.50658262e+02] [-1.17561555e-02 9.99930886e-01 1.25094905e-04 -2.66294020e+01] [ 1.34321378e-03 -1.09311316e-04 9.99999092e-01 1.65578479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2207140569999 meters Centerline goodness [0,1] 0.9587978894241799 Centerline is valid? [True, True] Translation: X:550.69, Y:-26.64, Z:1.65 [[ 9.99967472e-01 7.50591741e-03 -2.95220518e-03 5.50688483e+02] [-7.50513742e-03 9.99971798e-01 2.75196058e-04 -2.66350961e+01] [ 2.95418752e-03 -2.53030401e-04 9.99995604e-01 1.65383844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.250714057 meters Centerline goodness [0,1] 0.9585801533728245 Centerline is valid? [True, True] Translation: X:550.72, Y:-26.64, Z:1.65 [[ 9.99978002e-01 5.62497470e-03 -3.51498292e-03 5.50718222e+02] [-5.62385772e-03 9.99984132e-01 3.27579926e-04 -2.66396250e+01] [ 3.51676977e-03 -3.07804956e-04 9.99993769e-01 1.65284062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.280714057 meters Centerline goodness [0,1] 0.9597178179144262 Centerline is valid? [True, True] Translation: X:550.75, Y:-26.64, Z:1.65 [[ 9.99986082e-01 2.06415348e-03 -4.85536818e-03 5.50748217e+02] [-2.06198041e-03 9.99997772e-01 4.52523586e-04 -2.66427031e+01] [ 4.85629144e-03 -4.42505614e-04 9.99988110e-01 1.65194895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3107140569999 meters Centerline goodness [0,1] 0.9527993743386852 Centerline is valid? [True, True] Translation: X:550.78, Y:-26.65, Z:1.65 [[ 9.99984786e-01 3.79341530e-04 -5.50306488e-03 5.50775726e+02] [-3.76527255e-04 9.99999798e-01 5.12428527e-04 -2.66512393e+01] [ 5.50325815e-03 -5.10348677e-04 9.99984727e-01 1.65108412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3407140569999 meters Centerline goodness [0,1] 0.9576446756595001 Centerline is valid? [True, True] Translation: X:550.81, Y:-26.65, Z:1.65 [[ 9.99978476e-01 -1.30517417e-03 -6.42994586e-03 5.50805380e+02] [ 1.30904852e-03 9.99998964e-01 5.98376850e-04 -2.66478915e+01] [ 6.42915821e-03 -6.06781082e-04 9.99979149e-01 1.65180608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.370714057 meters Centerline goodness [0,1] 0.9545632228839477 Centerline is valid? [True, True] Translation: X:550.83, Y:-26.65, Z:1.65 [[ 9.99988336e-01 -8.87571262e-04 -4.74755185e-03 5.50832837e+02] [ 8.89675525e-04 9.99999507e-01 4.41137541e-04 -2.66500508e+01] [ 4.74715797e-03 -4.45356176e-04 9.99988633e-01 1.65336491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.400714057 meters Centerline goodness [0,1] 0.9560355957211362 Centerline is valid? [True, True] Translation: X:550.86, Y:-26.65, Z:1.65 [[ 9.99989716e-01 -5.54591866e-04 -4.50114240e-03 5.50861320e+02] [ 5.56474397e-04 9.99999758e-01 4.16992447e-04 -2.66506597e+01] [ 4.50091006e-03 -4.19492930e-04 9.99989783e-01 1.65359634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4307140569999 meters Centerline goodness [0,1] 0.9442662297200618 Centerline is valid? [True, False] Translation: X:550.86, Y:-26.65, Z:1.65 [[ 9.99989727e-01 -4.37595053e-04 -4.51163414e-03 5.50861480e+02] [ 4.39053690e-04 9.99999852e-01 3.22320360e-04 -2.66499004e+01] [ 4.51149242e-03 -3.24297898e-04 9.99989771e-01 1.65353241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4607140569999 meters Centerline goodness [0,1] 0.9557233170460598 Centerline is valid? [False, True] Translation: X:550.86, Y:-26.65, Z:1.65 [[ 9.99989374e-01 -1.61723052e-05 -4.60995104e-03 5.50862144e+02] [ 1.61370727e-05 1.00000000e+00 -7.67990801e-06 -2.66476439e+01] [ 4.60995117e-03 7.60543529e-06 9.99989374e-01 1.65320990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.490714057 meters Centerline goodness [0,1] 0.9589884908413033 Centerline is valid? [True, True] Translation: X:550.89, Y:-26.65, Z:1.65 [[ 9.99987339e-01 1.73928090e-03 -4.72197101e-03 5.50892427e+02] [-1.73728959e-03 9.99998400e-01 4.25782269e-04 -2.66456752e+01] [ 4.72270401e-03 -4.17573447e-04 9.99988761e-01 1.65281337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.520714057 meters Centerline goodness [0,1] 0.960741118634635 Centerline is valid? [True, True] Translation: X:550.92, Y:-26.65, Z:1.65 [[ 9.99976373e-01 4.64817783e-03 -5.06431298e-03 5.50922987e+02] [-4.64592408e-03 9.99989103e-01 4.56700586e-04 -2.66452459e+01] [ 5.06638062e-03 -4.33161382e-04 9.99987072e-01 1.65295527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5507140569999 meters Centerline goodness [0,1] 0.9545602378850532 Centerline is valid? [True, True] Translation: X:550.95, Y:-26.65, Z:1.65 [[ 9.99958802e-01 7.77219793e-03 -4.68913635e-03 5.50952286e+02] [-7.77030042e-03 9.99969721e-01 4.22743296e-04 -2.66502140e+01] [ 4.69228002e-03 -3.86289881e-04 9.99988917e-01 1.65272717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5807140569999 meters Centerline goodness [0,1] 0.961655763276139 Centerline is valid? [True, True] Translation: X:550.98, Y:-26.64, Z:1.65 [[ 9.99949335e-01 8.79518260e-03 -4.89608014e-03 5.50982571e+02] [-8.79312760e-03 9.99961242e-01 4.41092183e-04 -2.66419947e+01] [ 4.89976987e-03 -3.98017977e-04 9.99987917e-01 1.65429755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.610714057 meters Centerline goodness [0,1] 0.9631996268656716 Centerline is valid? [True, True] Translation: X:551.01, Y:-26.64, Z:1.66 [[ 9.99925752e-01 1.14606374e-02 -4.14047717e-03 5.51013031e+02] [-1.14591906e-02 9.99934272e-01 3.72985303e-04 -2.66400728e+01] [ 4.14447967e-03 -3.25511092e-04 9.99991359e-01 1.65560302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.640714057 meters Centerline goodness [0,1] 0.9623580541146782 Centerline is valid? [True, True] Translation: X:551.04, Y:-26.64, Z:1.66 [[ 9.99917417e-01 1.21872370e-02 -4.07796144e-03 5.51041700e+02] [-1.21858411e-02 9.99925683e-01 3.66984250e-04 -2.66415408e+01] [ 4.08213090e-03 -3.17260554e-04 9.99991618e-01 1.65586174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6707140569999 meters Centerline goodness [0,1] 0.9618520948542506 Centerline is valid? [True, True] Translation: X:551.07, Y:-26.64, Z:1.65 [[ 9.99908486e-01 1.24895773e-02 -5.19910682e-03 5.51069903e+02] [-1.24873141e-02 9.99921921e-01 4.67539958e-04 -2.66437236e+01] [ 5.20454025e-03 -4.02574292e-04 9.99986375e-01 1.65445541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7007140569999 meters Centerline goodness [0,1] 0.9576600627605264 Centerline is valid? [True, True] Translation: X:551.10, Y:-26.65, Z:1.65 [[ 9.99906465e-01 1.23961120e-02 -5.77908042e-03 5.51096107e+02] [-1.23933187e-02 9.99923065e-01 5.18924605e-04 -2.66519652e+01] [ 5.78506846e-03 -4.47254082e-04 9.99983166e-01 1.65301687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7307140569999 meters Centerline goodness [0,1] 0.9627131347198801 Centerline is valid? [True, True] Translation: X:551.13, Y:-26.65, Z:1.65 [[ 9.99911917e-01 1.16854268e-02 -6.29362727e-03 5.51125092e+02] [-1.16821030e-02 9.99931602e-01 5.64628003e-04 -2.66463516e+01] [ 6.29979473e-03 -4.91055467e-04 9.99980036e-01 1.65362591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.760714057 meters Centerline goodness [0,1] 0.9624204417821041 Centerline is valid? [True, True] Translation: X:551.15, Y:-26.65, Z:1.65 [[ 9.99935719e-01 9.29184719e-03 -6.49758385e-03 5.51154405e+02] [-9.28825428e-03 9.99956693e-01 5.82918795e-04 -2.66501259e+01] [ 6.50271885e-03 -5.22530113e-04 9.99978721e-01 1.65349333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.790714057 meters Centerline goodness [0,1] 0.9607751357423704 Centerline is valid? [True, True] Translation: X:551.18, Y:-26.65, Z:1.65 [[ 9.99959053e-01 6.37210199e-03 -6.42557498e-03 5.51184674e+02] [-6.36852816e-03 9.99979555e-01 5.76495673e-04 -2.66549385e+01] [ 6.42911710e-03 -5.35550612e-04 9.99979190e-01 1.65360735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8207140569999 meters Centerline goodness [0,1] 0.9597436317279128 Centerline is valid? [True, True] Translation: X:551.21, Y:-26.66, Z:1.65 [[ 9.99966287e-01 5.10092355e-03 -6.43466978e-03 5.51213528e+02] [-5.09731618e-03 9.99986842e-01 5.76890669e-04 -2.66581823e+01] [ 6.43752779e-03 -5.44071674e-04 9.99979131e-01 1.65316639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8507140569999 meters Centerline goodness [0,1] 0.9567035842796392 Centerline is valid? [True, True] Translation: X:551.24, Y:-26.67, Z:1.65 [[ 9.99971966e-01 3.06012709e-03 -6.83396485e-03 5.51242593e+02] [-3.05601123e-03 9.99995143e-01 6.12625720e-04 -2.66657170e+01] [ 6.83580637e-03 -5.91723872e-04 9.99976461e-01 1.65296080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.880714057 meters Centerline goodness [0,1] 0.9559792513668863 Centerline is valid? [True, True] Translation: X:551.27, Y:-26.67, Z:1.65 [[ 9.99971771e-01 1.86883994e-03 -7.27764335e-03 5.51272242e+02] [-1.86414299e-03 9.99998050e-01 6.52123418e-04 -2.66682243e+01] [ 7.27884787e-03 -6.38538442e-04 9.99973305e-01 1.65280438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.910714057 meters Centerline goodness [0,1] 0.953982424978966 Centerline is valid? [True, True] Translation: X:551.30, Y:-26.67, Z:1.65 [[ 9.99971976e-01 1.01223252e-03 -7.41776900e-03 5.51300738e+02] [-1.00733374e-03 9.99999272e-01 6.64119089e-04 -2.66724720e+01] [ 7.41843585e-03 -6.56628308e-04 9.99972267e-01 1.65214263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9407140569999 meters Centerline goodness [0,1] 0.9599018003273323 Centerline is valid? [True, True] Translation: X:551.33, Y:-26.67, Z:1.65 [[ 9.99965969e-01 -1.94410540e-04 -8.24757002e-03 5.51330812e+02] [ 2.00505455e-04 9.99999707e-01 7.38174861e-04 -2.66691648e+01] [ 8.24742409e-03 -7.39803423e-04 9.99965716e-01 1.65238475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9707140569999 meters Centerline goodness [0,1] 0.9586686002994012 Centerline is valid? [True, True] Translation: X:551.36, Y:-26.67, Z:1.65 [[ 9.99958817e-01 -1.78536827e-04 -9.07374277e-03 5.51357314e+02] [ 1.85901988e-04 9.99999654e-01 8.10863567e-04 -2.66740437e+01] [ 9.07359486e-03 -8.12517000e-04 9.99958504e-01 1.65162293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.000714057 meters Centerline goodness [0,1] 0.9584754075388855 Centerline is valid? [True, True] Translation: X:551.39, Y:-26.68, Z:1.65 [[ 9.99951442e-01 -2.03386553e-04 -9.85255224e-03 5.51385681e+02] [ 2.12061658e-04 9.99999591e-01 8.79456478e-04 -2.66756883e+01] [ 9.85236934e-03 -8.81503122e-04 9.99951076e-01 1.65112477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.030714057 meters Centerline goodness [0,1] 0.9577639460876076 Centerline is valid? [True, True] Translation: X:551.41, Y:-26.68, Z:1.65 [[ 9.99954092e-01 2.60134784e-04 -9.57837933e-03 5.51412833e+02] [-2.51969212e-04 9.99999604e-01 8.53697219e-04 -2.66809405e+01] [ 9.57859761e-03 -8.51244571e-04 9.99953762e-01 1.65034417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0607140569999 meters Centerline goodness [0,1] 0.95889738374132 Centerline is valid? [True, True] Translation: X:551.44, Y:-26.68, Z:1.65 [[ 9.99951825e-01 6.28227121e-04 -9.79553473e-03 5.51441312e+02] [-6.19729948e-04 9.99999429e-01 8.70464911e-04 -2.66806818e+01] [ 9.79607599e-03 -8.64352390e-04 9.99951644e-01 1.65141166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0907140569999 meters Centerline goodness [0,1] 0.9600046805523051 Centerline is valid? [True, True] Translation: X:551.47, Y:-26.68, Z:1.65 [[ 9.99955575e-01 7.24202962e-04 -9.39804364e-03 5.51470055e+02] [-7.16389718e-04 9.99999395e-01 8.34708997e-04 -2.66792314e+01] [ 9.39864246e-03 -8.27939254e-04 9.99955489e-01 1.65241603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.120714057 meters Centerline goodness [0,1] 0.9593801361822024 Centerline is valid? [True, True] Translation: X:551.50, Y:-26.68, Z:1.65 [[ 9.99953293e-01 2.27368087e-03 -9.39374842e-03 5.51498909e+02] [-2.26594525e-03 9.99997085e-01 8.34046356e-04 -2.66825110e+01] [ 9.39561739e-03 -8.12721681e-04 9.99955530e-01 1.65310366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.150714057 meters Centerline goodness [0,1] 0.955826979196084 Centerline is valid? [True, True] Translation: X:551.53, Y:-26.69, Z:1.65 [[ 9.99954934e-01 4.02476010e-03 -8.59827983e-03 5.51527769e+02] [-4.01834606e-03 9.99991635e-01 7.63114357e-04 -2.66885828e+01] [ 8.60127926e-03 -7.28529103e-04 9.99962743e-01 1.65262198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1807140569999 meters Centerline goodness [0,1] 0.9617178665661515 Centerline is valid? [True, True] Translation: X:551.56, Y:-26.68, Z:1.65 [[ 9.99947366e-01 5.30701147e-03 -8.78067180e-03 5.51556988e+02] [-5.30037737e-03 9.99985650e-01 7.78632880e-04 -2.66839073e+01] [ 8.78467801e-03 -7.32051024e-04 9.99961146e-01 1.65332494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2107140569999 meters Centerline goodness [0,1] 0.9601225547961348 Centerline is valid? [True, True] Translation: X:551.59, Y:-26.69, Z:1.65 [[ 9.99933283e-01 6.80842735e-03 -9.33143533e-03 5.51585395e+02] [-6.80100405e-03 9.99976531e-01 8.27016642e-04 -2.66875688e+01] [ 9.33684701e-03 -7.63498336e-04 9.99956119e-01 1.65302503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.240714057 meters Centerline goodness [0,1] 0.9620241214095211 Centerline is valid? [True, True] Translation: X:551.61, Y:-26.68, Z:1.65 [[ 9.99931310e-01 6.97855906e-03 -9.41673516e-03 5.51614596e+02] [-6.97101346e-03 9.99975355e-01 8.33882322e-04 -2.66836532e+01] [ 9.42232237e-03 -7.68180855e-04 9.99955314e-01 1.65316156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.270714057 meters Centerline goodness [0,1] 0.9620895592852253 Centerline is valid? [True, True] Translation: X:551.64, Y:-26.69, Z:1.65 [[ 9.99937006e-01 6.97912637e-03 -8.79067950e-03 5.51643638e+02] [-6.97255628e-03 9.99975389e-01 7.77818899e-04 -2.66867711e+01] [ 8.79589165e-03 -7.16476394e-04 9.99961059e-01 1.65247784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3007140569999 meters Centerline goodness [0,1] 0.9628264208909371 Centerline is valid? [True, True] Translation: X:551.67, Y:-26.69, Z:1.65 [[ 9.99936955e-01 6.71286247e-03 -9.00130128e-03 5.51672005e+02] [-6.70596878e-03 9.99977198e-01 7.95818502e-04 -2.66877831e+01] [ 9.00643826e-03 -7.35405884e-04 9.99959171e-01 1.65266732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3307140569999 meters Centerline goodness [0,1] 0.9600482543286971 Centerline is valid? [True, True] Translation: X:551.70, Y:-26.69, Z:1.65 [[ 9.99936585e-01 5.29885984e-03 -9.93722189e-03 5.51700024e+02] [-5.29039482e-03 9.99985620e-01 8.77942756e-04 -2.66924149e+01] [ 9.94173109e-03 -8.25315254e-04 9.99950239e-01 1.65159010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.360714057 meters Centerline goodness [0,1] 0.961050638902035 Centerline is valid? [True, True] Translation: X:551.73, Y:-26.69, Z:1.65 [[ 9.99940938e-01 4.47543912e-03 -9.90408705e-03 5.51728941e+02] [-4.46699736e-03 9.99989641e-01 8.74308089e-04 -2.66920113e+01] [ 9.90789736e-03 -8.30014920e-04 9.99950571e-01 1.65168653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.390714057 meters Centerline goodness [0,1] 0.9616734655156057 Centerline is valid? [True, True] Translation: X:551.76, Y:-26.69, Z:1.65 [[ 9.99944699e-01 3.31766090e-03 -9.97961871e-03 5.51758216e+02] [-3.30903773e-03 9.99994138e-01 8.80465849e-04 -2.66922036e+01] [ 9.98248129e-03 -8.47394224e-04 9.99949815e-01 1.65260698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4207140569999 meters Centerline goodness [0,1] 0.9609146819271959 Centerline is valid? [True, True] Translation: X:551.79, Y:-26.70, Z:1.65 [[ 9.99943727e-01 2.35437955e-03 -1.03440860e-02 5.51785611e+02] [-2.34507383e-03 9.99996835e-01 9.11654083e-04 -2.66950738e+01] [ 1.03461996e-02 -8.87345136e-04 9.99946083e-01 1.65316660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4507140569999 meters Centerline goodness [0,1] 0.953501068122478 Centerline is valid? [True, True] Translation: X:551.81, Y:-26.70, Z:1.65 [[ 9.99950890e-01 1.36741669e-03 -9.81571287e-03 5.51813012e+02] [-1.35899870e-03 9.99998703e-01 8.64221303e-04 -2.67043871e+01] [ 9.81688190e-03 -8.50839320e-04 9.99951451e-01 1.65194086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4807140569999 meters Centerline goodness [0,1] 0.9496782160583248 Centerline is valid? [True, False] Translation: X:551.81, Y:-26.70, Z:1.65 [[ 9.99954229e-01 6.13721889e-04 -9.54790631e-03 5.51812499e+02] [-6.09182599e-04 9.99999700e-01 4.78323649e-04 -2.67039605e+01] [ 9.54819700e-03 -4.72485337e-04 9.99954303e-01 1.65170330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.510714057 meters Centerline goodness [0,1] 0.9606809601823492 Centerline is valid? [False, True] Translation: X:551.81, Y:-26.70, Z:1.65 [[ 9.99955327e-01 2.81241200e-04 -9.44801387e-03 5.51812325e+02] [-2.78150058e-04 9.99999907e-01 3.28486143e-04 -2.67037132e+01] [ 9.44810538e-03 -3.25843503e-04 9.99955313e-01 1.65151167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.540714057 meters Centerline goodness [0,1] 0.9450463292943692 Centerline is valid? [True, False] Translation: X:551.81, Y:-26.70, Z:1.65 [[ 9.99955509e-01 -2.27008954e-04 -9.43021101e-03 5.51812262e+02] [ 2.27376048e-04 9.99999973e-01 3.78553768e-05 -2.67031053e+01] [ 9.43020217e-03 -3.99978967e-05 9.99955534e-01 1.65135258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5707140569999 meters Centerline goodness [0,1] 0.9590555674441829 Centerline is valid? [False, True] Translation: X:551.81, Y:-26.70, Z:1.65 [[ 9.99955789e-01 -3.32823693e-04 -9.39731887e-03 5.51812471e+02] [ 3.31848166e-04 9.99999939e-01 -1.05368117e-04 -2.67023048e+01] [ 9.39735337e-03 1.02244975e-04 9.99955839e-01 1.65099198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6007140569999 meters Centerline goodness [0,1] 0.9575070147905075 Centerline is valid? [True, True] Translation: X:551.84, Y:-26.71, Z:1.65 [[ 9.99960469e-01 4.64687681e-04 -8.87947189e-03 5.51841632e+02] [-4.57323342e-04 9.99999550e-01 8.31379283e-04 -2.67050282e+01] [ 8.87985423e-03 -8.27285628e-04 9.99960231e-01 1.65086292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.630714057 meters Centerline goodness [0,1] 0.7582153832350105 Centerline is valid? [True, False] Translation: X:551.89, Y:-26.70, Z:1.65 [[ 9.99958362e-01 -1.37164510e-03 -9.02174461e-03 5.51888082e+02] [ 1.34856259e-03 9.99995803e-01 -2.56412772e-03 -2.67049756e+01] [ 9.02522382e-03 2.55185457e-03 9.99956016e-01 1.65338132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.660714057 meters Centerline goodness [0,1] 0.9582784470576965 Centerline is valid? [False, True] Translation: X:551.83, Y:-26.70, Z:1.66 [[ 9.99925120e-01 2.60006278e-03 -1.19580444e-02 5.51831007e+02] [-2.57145793e-03 9.99993797e-01 2.40685466e-03 -2.66979614e+01] [ 1.19642282e-02 -2.37592483e-03 9.99925603e-01 1.65505348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6907140569999 meters Centerline goodness [0,1] 0.9582784470576965 Centerline is valid? [True, True] Translation: X:551.86, Y:-26.70, Z:1.66 [[ 9.99923951e-01 2.49731788e-03 -1.20771030e-02 5.51858516e+02] [-2.48428674e-03 9.99996316e-01 1.09387723e-03 -2.66998202e+01] [ 1.20797903e-02 -1.06379105e-03 9.99926471e-01 1.65554780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7207140569999 meters Centerline goodness [0,1] 0.9639905832612664 Centerline is valid? [True, True] Translation: X:551.89, Y:-26.69, Z:1.66 [[ 9.99896000e-01 8.98226902e-03 -1.12830563e-02 5.51889980e+02] [-8.97130557e-03 9.99959235e-01 1.02191245e-03 -2.66893754e+01] [ 1.12917754e-02 -9.20582423e-04 9.99935822e-01 1.65772273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.750714057 meters Centerline goodness [0,1] 0.9645744347112624 Centerline is valid? [True, True] Translation: X:551.92, Y:-26.69, Z:1.66 [[ 9.99856243e-01 1.26764715e-02 -1.12605871e-02 5.51919871e+02] [-1.26657871e-02 9.99919266e-01 1.01964069e-03 -2.66885731e+01] [ 1.12726034e-02 -8.76869915e-04 9.99936078e-01 1.65810975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.780714057 meters Centerline goodness [0,1] 0.9644303275707393 Centerline is valid? [True, True] Translation: X:551.95, Y:-26.69, Z:1.66 [[ 9.99746276e-01 1.95421754e-02 -1.12021084e-02 5.51950050e+02] [-1.95320329e-02 9.99808717e-01 1.01411284e-03 -2.66860068e+01] [ 1.12197836e-02 -7.95055581e-04 9.99936740e-01 1.65728510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8107140569999 meters Centerline goodness [0,1] 0.9692788904514815 Centerline is valid? [True, True] Translation: X:551.98, Y:-26.68, Z:1.66 [[ 9.99679014e-01 2.26105518e-02 -1.14293991e-02 5.51980778e+02] [-2.26001954e-02 9.99744048e-01 1.03448363e-03 -2.66817931e+01] [ 1.14498639e-02 -7.75844928e-04 9.99934147e-01 1.65802564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8407140569999 meters Centerline goodness [0,1] 0.9674559805707347 Centerline is valid? [True, True] Translation: X:552.01, Y:-26.69, Z:1.66 [[ 9.99619508e-01 2.51562766e-02 -1.13137111e-02 5.52009973e+02] [-2.51462957e-02 9.99683258e-01 1.02361078e-03 -2.66855505e+01] [ 1.13358778e-02 -7.38723378e-04 9.99935474e-01 1.65756940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.870714057 meters Centerline goodness [0,1] 0.9655105269563101 Centerline is valid? [True, True] Translation: X:552.04, Y:-26.69, Z:1.66 [[ 9.99501277e-01 2.93873149e-02 -1.15578468e-02 5.52039576e+02] [-2.93771830e-02 9.99567851e-01 1.04546205e-03 -2.66896181e+01] [ 1.15835754e-02 -7.05403674e-04 9.99932659e-01 1.65583466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.900714057 meters Centerline goodness [0,1] 0.9736636563339028 Centerline is valid? [True, True] Translation: X:552.07, Y:-26.68, Z:1.66 [[ 9.99385137e-01 3.31094736e-02 -1.15373746e-02 5.52070658e+02] [-3.30996270e-02 9.99451513e-01 1.04340477e-03 -2.66800513e+01] [ 1.15655931e-02 -6.60880418e-04 9.99932898e-01 1.65814506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9307140569999 meters Centerline goodness [0,1] 0.9726134394298128 Centerline is valid? [True, True] Translation: X:552.10, Y:-26.68, Z:1.66 [[ 9.99336493e-01 3.44838658e-02 -1.17233392e-02 5.52099220e+02] [-3.44738033e-02 9.99405040e-01 1.05938608e-03 -2.66815992e+01] [ 1.17528960e-02 -6.54535076e-04 9.99930718e-01 1.65829579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9607140569999 meters Centerline goodness [0,1] 0.9739471106758081 Centerline is valid? [True, True] Translation: X:552.13, Y:-26.68, Z:1.66 [[ 9.99220816e-01 3.75195846e-02 -1.22491339e-02 5.52129777e+02] [-3.75088293e-02 9.99295683e-01 1.10668180e-03 -2.66809669e+01] [ 1.22820289e-02 -6.46368817e-04 9.99924364e-01 1.65885767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.990714057 meters Centerline goodness [0,1] 0.974238417082966 Centerline is valid? [True, True] Translation: X:552.16, Y:-26.68, Z:1.66 [[ 9.99191982e-01 3.81502409e-02 -1.26468626e-02 5.52157752e+02] [-3.81388404e-02 9.99271798e-01 1.14149383e-03 -2.66838632e+01] [ 1.26812014e-02 -6.58234811e-04 9.99919374e-01 1.65820371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.020714057 meters Centerline goodness [0,1] 0.9733901793590121 Centerline is valid? [True, True] Translation: X:552.19, Y:-26.69, Z:1.66 [[ 9.99190823e-01 3.79573019e-02 -1.33019837e-02 5.52185253e+02] [-3.79447230e-02 9.99279123e-01 1.19683869e-03 -2.66855434e+01] [ 1.33378234e-02 -6.91130143e-04 9.99910808e-01 1.65869981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0507140569999 meters Centerline goodness [0,1] 0.9729286501040264 Centerline is valid? [True, True] Translation: X:552.21, Y:-26.69, Z:1.66 [[ 9.99234655e-01 3.66003030e-02 -1.38029707e-02 5.52212534e+02] [-3.65866464e-02 9.99329714e-01 1.24069991e-03 -2.66904956e+01] [ 1.38391288e-02 -7.34745936e-04 9.99903965e-01 1.65808787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0807140569999 meters Centerline goodness [0,1] 0.9742352624231588 Centerline is valid? [True, True] Translation: X:552.24, Y:-26.69, Z:1.66 [[ 9.99305177e-01 3.47522849e-02 -1.34700222e-02 5.52241424e+02] [-3.47391216e-02 9.99395682e-01 1.21005127e-03 -2.66930688e+01] [ 1.35039341e-02 -7.41273763e-04 9.99908543e-01 1.65805389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.110714057 meters Centerline goodness [0,1] 0.9714432284541724 Centerline is valid? [True, True] Translation: X:552.27, Y:-26.70, Z:1.66 [[ 9.99455758e-01 3.03734021e-02 -1.28702675e-02 5.52270298e+02] [-3.03610248e-02 9.99538329e-01 1.15603668e-03 -2.67019528e+01] [ 1.28994384e-02 -7.64653005e-04 9.99916506e-01 1.65821690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.140714057 meters Centerline goodness [0,1] 0.9676720465444631 Centerline is valid? [True, True] Translation: X:552.30, Y:-26.71, Z:1.66 [[ 9.99602087e-01 2.52696346e-02 -1.25344793e-02 5.52299015e+02] [-2.52574979e-02 9.99680345e-01 1.12565042e-03 -2.67139527e+01] [ 1.25589173e-02 -8.08612930e-04 9.99920807e-01 1.65746419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1707140569999 meters Centerline goodness [0,1] 0.9698347107438017 Centerline is valid? [True, True] Translation: X:552.33, Y:-26.71, Z:1.66 [[ 9.99664751e-01 2.27099763e-02 -1.24355454e-02 5.52329633e+02] [-2.26978332e-02 9.99741747e-01 1.11676596e-03 -2.67127952e+01] [ 1.24576956e-02 -8.34131633e-04 9.99922052e-01 1.65907946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2007140569999 meters Centerline goodness [0,1] 0.9674504469490867 Centerline is valid? [True, True] Translation: X:552.36, Y:-26.72, Z:1.66 [[ 9.99727062e-01 2.01200354e-02 -1.18737762e-02 5.52358092e+02] [-2.01087839e-02 9.99797229e-01 1.06623094e-03 -2.67188533e+01] [ 1.18928212e-02 -8.27172720e-04 9.99928936e-01 1.65947278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2307140569999 meters Centerline goodness [0,1] 0.9630104509386491 Centerline is valid? [True, True] Translation: X:552.39, Y:-26.73, Z:1.66 [[ 9.99836068e-01 1.41461624e-02 -1.13014841e-02 5.52386113e+02] [-1.41355898e-02 9.99899573e-01 1.01484481e-03 -2.67330229e+01] [ 1.13147053e-02 -8.54925303e-04 9.99935621e-01 1.65929440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.260714057 meters Centerline goodness [0,1] 0.9640351934434133 Centerline is valid? [True, True] Translation: X:552.42, Y:-26.73, Z:1.66 [[ 9.99868245e-01 1.13503075e-02 -1.16044877e-02 5.52415797e+02] [-1.13389763e-02 9.99935169e-01 1.04177933e-03 -2.67347274e+01] [ 1.16155599e-02 -9.10059061e-04 9.99932123e-01 1.66003693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.290714057 meters Centerline goodness [0,1] 0.9633221823782822 Centerline is valid? [True, True] Translation: X:552.45, Y:-26.74, Z:1.66 [[ 9.99899706e-01 6.46608288e-03 -1.26002962e-02 5.52445490e+02] [-6.45234010e-03 9.99978544e-01 1.13101883e-03 -2.67410277e+01] [ 1.26073391e-02 -1.04960400e-03 9.99919973e-01 1.65916551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3207140569999 meters Centerline goodness [0,1] 0.9599142395991423 Centerline is valid? [True, True] Translation: X:552.47, Y:-26.75, Z:1.66 [[ 9.99904230e-01 3.71975307e-03 -1.33302296e-02 5.52474029e+02] [-3.70413517e-03 9.99992424e-01 1.19611361e-03 -2.67492534e+01] [ 1.33345779e-02 -1.14662209e-03 9.99910433e-01 1.65778135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3507140569999 meters Centerline goodness [0,1] 0.9627284501367103 Centerline is valid? [True, True] Translation: X:552.50, Y:-26.75, Z:1.66 [[ 9.99898902e-01 7.81715155e-04 -1.41976792e-02 5.52504519e+02] [-7.63705088e-04 9.99998897e-01 1.27389934e-03 -2.67496322e+01] [ 1.41986594e-02 -1.26292772e-03 9.99898396e-01 1.65755415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.380714057 meters Centerline goodness [0,1] 0.9549419998082638 Centerline is valid? [True, True] Translation: X:552.53, Y:-26.76, Z:1.66 [[ 9.99895763e-01 -9.38751654e-05 -1.44379756e-02 5.52531552e+02] [ 1.12572118e-04 9.99999156e-01 1.29417710e-03 -2.67596159e+01] [ 1.44378419e-02 -1.29566751e-03 9.99894929e-01 1.65632011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.410714057 meters Centerline goodness [0,1] 0.9478283708602946 Centerline is valid? [True, False] Translation: X:552.53, Y:-26.76, Z:1.66 [[ 9.99896372e-01 -1.70374775e-04 -1.43949853e-02 5.52531513e+02] [ 1.86366275e-04 9.99999367e-01 1.10957354e-03 -2.67592978e+01] [ 1.43947871e-02 -1.11214130e-03 9.99895771e-01 1.65647202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4407140569999 meters Centerline goodness [0,1] 0.9484387740419205 Centerline is valid? [False, False] Translation: X:552.53, Y:-26.76, Z:1.66 [[ 9.99897184e-01 -1.49027909e-04 -1.43387330e-02 5.52531366e+02] [ 1.62139989e-04 9.99999570e-01 9.13293681e-04 -2.67587365e+01] [ 1.43385907e-02 -9.15524661e-04 9.99896778e-01 1.65668056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4707140569999 meters Centerline goodness [0,1] 0.9500407928204636 Centerline is valid? [False, True] Translation: X:552.53, Y:-26.76, Z:1.66 [[ 9.99896473e-01 1.37655804e-04 -1.43883255e-02 5.52531544e+02] [-1.28937146e-04 9.99999808e-01 6.06879473e-04 -2.67574026e+01] [ 1.43884063e-02 -6.04961455e-04 9.99896299e-01 1.65701864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.500714057 meters Centerline goodness [0,1] 0.95113764415354 Centerline is valid? [True, True] Translation: X:552.56, Y:-26.76, Z:1.66 [[ 9.99893971e-01 7.06173504e-04 -1.45446937e-02 5.52560539e+02] [-6.87841579e-04 9.99998963e-01 1.26534974e-03 -2.67579141e+01] [ 1.45455722e-02 -1.25521114e-03 9.99893420e-01 1.65693322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.530714057 meters Centerline goodness [0,1] 0.9606384515383504 Centerline is valid? [True, True] Translation: X:552.59, Y:-26.75, Z:1.66 [[ 9.99905054e-01 3.04341823e-03 -1.34395500e-02 5.52591123e+02] [-3.02798177e-03 9.99994733e-01 1.16878384e-03 -2.67528958e+01] [ 1.34430363e-02 -1.12797816e-03 9.99909002e-01 1.65910761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5607140569999 meters Centerline goodness [0,1] 0.9645766061014989 Centerline is valid? [True, True] Translation: X:552.62, Y:-26.75, Z:1.66 [[ 9.99907085e-01 4.46641865e-03 -1.28791354e-02 5.52621649e+02] [-4.45236296e-03 9.99989461e-01 1.11981929e-03 -2.67486964e+01] [ 1.28840012e-02 -1.06237266e-03 9.99916433e-01 1.66062574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5907140569999 meters Centerline goodness [0,1] 0.959914187918816 Centerline is valid? [True, True] Translation: X:552.65, Y:-26.75, Z:1.66 [[ 9.99904301e-01 6.17528173e-03 -1.23796114e-02 5.52649956e+02] [-6.16243307e-03 9.99980433e-01 1.07576579e-03 -2.67522097e+01] [ 1.23860123e-02 -9.99374316e-04 9.99922791e-01 1.66056441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.620714057 meters Centerline goodness [0,1] 0.9580779070328715 Centerline is valid? [True, True] Translation: X:552.68, Y:-26.76, Z:1.66 [[ 9.99898974e-01 6.81650176e-03 -1.24730895e-02 5.52677410e+02] [-6.80352083e-03 9.99976269e-01 1.08285172e-03 -2.67589857e+01] [ 1.24801747e-02 -9.97881402e-04 9.99921622e-01 1.66003290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.650714057 meters Centerline goodness [0,1] 0.9605553267269159 Centerline is valid? [True, True] Translation: X:552.71, Y:-26.76, Z:1.66 [[ 9.99882617e-01 7.36663363e-03 -1.34344941e-02 5.52706185e+02] [-7.35163628e-03 9.99972297e-01 1.16537567e-03 -2.67557387e+01] [ 1.34427068e-02 -1.06647336e-03 9.99909074e-01 1.66008832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6807140569999 meters Centerline goodness [0,1] 0.9656025016362446 Centerline is valid? [True, True] Translation: X:552.74, Y:-26.75, Z:1.66 [[ 9.99867826e-01 8.15924423e-03 -1.40626473e-02 5.52735564e+02] [-8.14290358e-03 9.99966103e-01 1.21885773e-03 -2.67501759e+01] [ 1.40721156e-02 -1.10418584e-03 9.99900373e-01 1.66097548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7107140569999 meters Centerline goodness [0,1] 0.9650336075319697 Centerline is valid? [True, True] Translation: X:552.76, Y:-26.75, Z:1.66 [[ 9.99859747e-01 8.34793991e-03 -1.45189058e-02 5.52764109e+02] [-8.33055643e-03 9.99964510e-01 1.25736715e-03 -2.67530212e+01] [ 1.45288870e-02 -1.13624023e-03 9.99893805e-01 1.65999844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.740714057 meters Centerline goodness [0,1] 0.9642917788613152 Centerline is valid? [True, True] Translation: X:552.79, Y:-26.75, Z:1.66 [[ 9.99857833e-01 8.67562066e-03 -1.44585052e-02 5.52791621e+02] [-8.65844142e-03 9.99961733e-01 1.25035078e-03 -2.67549476e+01] [ 1.44687995e-02 -1.12498490e-03 9.99894689e-01 1.65959862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.770714057 meters Centerline goodness [0,1] 0.9642240435829462 Centerline is valid? [True, True] Translation: X:552.82, Y:-26.76, Z:1.66 [[ 9.99836979e-01 1.10009144e-02 -1.43176272e-02 5.52820353e+02] [-1.09843137e-02 9.99938905e-01 1.23757917e-03 -2.67566319e+01] [ 1.43303669e-02 -1.08010811e-03 9.99896732e-01 1.65966170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8007140569999 meters Centerline goodness [0,1] 0.9642240435829462 Centerline is valid? [True, True] Translation: X:552.85, Y:-26.76, Z:1.66 [[ 9.99838103e-01 1.08981302e-02 -1.43177486e-02 5.52847793e+02] [-1.08815392e-02 9.99940030e-01 1.23617368e-03 -2.67589073e+01] [ 1.43303619e-02 -1.08017441e-03 9.99896732e-01 1.65968859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8307140569999 meters Centerline goodness [0,1] 0.9643345376428083 Centerline is valid? [True, True] Translation: X:552.88, Y:-26.76, Z:1.66 [[ 9.99799692e-01 1.40661213e-02 -1.42379518e-02 5.52878154e+02] [-1.40500363e-02 9.99900538e-01 1.22912529e-03 -2.67572271e+01] [ 1.42538247e-02 -1.02883535e-03 9.99897880e-01 1.65977637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.860714057 meters Centerline goodness [0,1] 0.9641808573106283 Centerline is valid? [True, True] Translation: X:552.91, Y:-26.76, Z:1.66 [[ 9.99790086e-01 1.51611221e-02 -1.37812871e-02 5.52906725e+02] [-1.51461682e-02 9.99884583e-01 1.18881570e-03 -2.67585613e+01] [ 1.37977202e-02 -9.79832454e-04 9.99904327e-01 1.65999538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.890714057 meters Centerline goodness [0,1] 0.9651373451500759 Centerline is valid? [True, True] Translation: X:552.94, Y:-26.76, Z:1.66 [[ 9.99771286e-01 1.70460074e-02 -1.29154969e-02 5.52936176e+02] [-1.70330362e-02 9.99854307e-01 1.11365626e-03 -2.67593538e+01] [ 1.29325986e-02 -8.93411428e-04 9.99915971e-01 1.66047730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9207140569999 meters Centerline goodness [0,1] 0.9655231771793926 Centerline is valid? [True, True] Translation: X:552.97, Y:-26.76, Z:1.66 [[ 9.99727705e-01 1.99544907e-02 -1.20968714e-02 5.52965180e+02] [-1.99433287e-02 9.99800568e-01 1.04266043e-03 -2.67613701e+01] [ 1.21152646e-02 -8.01124636e-04 9.99926287e-01 1.66052863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9507140569999 meters Centerline goodness [0,1] 0.969112539717727 Centerline is valid? [True, True] Translation: X:552.99, Y:-26.75, Z:1.66 [[ 9.99710321e-01 2.08645925e-02 -1.19976245e-02 5.52994817e+02] [-2.08536881e-02 9.99782004e-01 1.03328224e-03 -2.67543063e+01] [ 1.20165681e-02 -7.82788199e-04 9.99927492e-01 1.66199703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9807140569999 meters Centerline goodness [0,1] 0.9646820394948221 Centerline is valid? [True, True] Translation: X:553.02, Y:-26.76, Z:1.66 [[ 9.99666382e-01 2.32172295e-02 -1.13174555e-02 5.53023324e+02] [-2.32076815e-02 9.99730191e-01 9.74271602e-04 -2.67626238e+01] [ 1.13370218e-02 -7.11294665e-04 9.99935481e-01 1.66083361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.010714057 meters Centerline goodness [0,1] 0.9687870993272656 Centerline is valid? [True, True] Translation: X:553.05, Y:-26.76, Z:1.66 [[ 9.99636723e-01 2.45218821e-02 -1.11847400e-02 5.53053129e+02] [-2.45126519e-02 9.99699057e-01 9.61613476e-04 -2.67566138e+01] [ 1.12049546e-02 -6.87096506e-04 9.99936986e-01 1.66184940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.040714057 meters Centerline goodness [0,1] 0.9688226852080962 Centerline is valid? [True, True] Translation: X:553.08, Y:-26.76, Z:1.66 [[ 9.99595639e-01 2.66830470e-02 -9.82715735e-03 5.53081520e+02] [-2.66760297e-02 9.99643775e-01 8.44479482e-04 -2.67597671e+01] [ 9.84618995e-03 -5.81988466e-04 9.99951356e-01 1.66154330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0707140569999 meters Centerline goodness [0,1] 0.9712399811409712 Centerline is valid? [True, True] Translation: X:553.11, Y:-26.76, Z:1.66 [[ 9.99588379e-01 2.71324117e-02 -9.32225675e-03 5.53110072e+02] [-2.71261223e-02 9.99631699e-01 8.00467911e-04 -2.67586546e+01] [ 9.34054197e-03 -5.47261745e-04 9.99956226e-01 1.66226811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1007140569999 meters Centerline goodness [0,1] 0.9686244357358996 Centerline is valid? [True, True] Translation: X:553.14, Y:-26.76, Z:1.66 [[ 9.99584262e-01 2.76390913e-02 -8.20875484e-03 5.53137959e+02] [-2.76342364e-02 9.99617853e-01 7.04286408e-04 -2.67648888e+01] [ 8.22508373e-03 -4.77150938e-04 9.99966060e-01 1.66238990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.130714057 meters Centerline goodness [0,1] 0.9674772563892814 Centerline is valid? [True, True] Translation: X:553.17, Y:-26.77, Z:1.66 [[ 9.99570991e-01 2.86829331e-02 -5.92648282e-03 5.53165227e+02] [-2.86804236e-02 9.99588503e-01 5.08006493e-04 -2.67689164e+01] [ 5.93861520e-03 -3.37814516e-04 9.99982309e-01 1.66306761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.160714057 meters Centerline goodness [0,1] 0.9727561714597924 Centerline is valid? [True, True] Translation: X:553.19, Y:-26.77, Z:1.66 [[ 9.99574076e-01 2.88566030e-02 -4.35456894e-03 5.53194041e+02] [-2.88552511e-02 9.99583531e-01 3.72964399e-04 -2.67664991e+01] [ 4.36351788e-03 -2.47153364e-04 9.99990449e-01 1.66359855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1907140569999 meters Centerline goodness [0,1] 0.9704783351067778 Centerline is valid? [True, True] Translation: X:553.22, Y:-26.77, Z:1.66 [[ 9.99592028e-01 2.83390986e-02 -3.55994580e-03 5.53221567e+02] [-2.83381929e-02 9.99598346e-01 3.04620390e-04 -2.67702068e+01] [ 3.56714860e-03 -2.03613682e-04 9.99993617e-01 1.66306498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2207140569999 meters Centerline goodness [0,1] 0.9657356324682714 Centerline is valid? [True, True] Translation: X:553.25, Y:-26.78, Z:1.66 [[ 9.99605047e-01 2.79239442e-02 -3.16276795e-03 5.53248918e+02] [-2.79232280e-02 9.99610034e-01 2.70366782e-04 -2.67807087e+01] [ 3.16908428e-03 -1.81945309e-04 9.99994962e-01 1.66251630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.250714057 meters Centerline goodness [0,1] 0.9692372315979343 Centerline is valid? [True, True] Translation: X:553.28, Y:-26.78, Z:1.66 [[ 9.99631087e-01 2.70138840e-02 -2.81795631e-03 5.53277964e+02] [-2.70133125e-02 9.99635045e-01 2.40685047e-04 -2.67767085e+01] [ 2.82342972e-03 -1.64473921e-04 9.99996001e-01 1.66318712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.280714057 meters Centerline goodness [0,1] 0.9671330224294914 Centerline is valid? [True, True] Translation: X:553.30, Y:-26.79, Z:1.66 [[ 9.99641161e-01 2.66292899e-02 -2.90334808e-03 5.53304579e+02] [-2.66286826e-02 9.99645363e-01 2.47636877e-04 -2.67853347e+01] [ 2.90891284e-03 -1.70235680e-04 9.99995755e-01 1.66282873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3107140569999 meters Centerline goodness [0,1] 0.9685519139108644 Centerline is valid? [True, True] Translation: X:553.33, Y:-26.79, Z:1.66 [[ 9.99647063e-01 2.63919139e-02 -3.03592897e-03 5.53332910e+02] [-2.63912496e-02 9.99651657e-01 2.58661604e-04 -2.67880174e+01] [ 3.04169800e-03 -1.78448353e-04 9.99995358e-01 1.66066510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3407140569999 meters Centerline goodness [0,1] 0.9710016493119661 Centerline is valid? [True, True] Translation: X:553.36, Y:-26.79, Z:1.66 [[ 9.99647058e-01 2.62447696e-02 -4.11956598e-03 5.53361864e+02] [-2.62435466e-02 9.99655517e-01 3.50670925e-04 -2.67858664e+01] [ 4.12735014e-03 -2.42435137e-04 9.99991453e-01 1.66023108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.370714057 meters Centerline goodness [0,1] 0.9676031757736647 Centerline is valid? [True, True] Translation: X:553.39, Y:-26.79, Z:1.66 [[ 9.99652445e-01 2.58562837e-02 -5.14217336e-03 5.53389258e+02] [-2.58543763e-02 9.99665624e-01 4.37077025e-04 -2.67945216e+01] [ 5.15175513e-03 -3.03977431e-04 9.99986683e-01 1.65764294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.400714057 meters Centerline goodness [0,1] 0.9725842476008149 Centerline is valid? [True, True] Translation: X:553.42, Y:-26.79, Z:1.66 [[ 9.99640213e-01 2.61928963e-02 -5.77720568e-03 5.53418822e+02] [-2.61904966e-02 9.99656850e-01 4.90650228e-04 -2.67926576e+01] [ 5.78807478e-03 -3.39165813e-04 9.99983191e-01 1.65710309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4307140569999 meters Centerline goodness [0,1] 0.9692586781721906 Centerline is valid? [True, True] Translation: X:553.45, Y:-26.80, Z:1.66 [[ 9.99619658e-01 2.67313625e-02 -6.78034044e-03 5.53446440e+02] [-2.67280734e-02 9.99642576e-01 5.75267076e-04 -2.67977545e+01] [ 6.79329465e-03 -3.93822841e-04 9.99976848e-01 1.65550456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4607140569999 meters Centerline goodness [0,1] 0.970733505344637 Centerline is valid? [True, True] Translation: X:553.48, Y:-26.80, Z:1.66 [[ 9.99627837e-01 2.64128630e-02 -6.82260125e-03 5.53475009e+02] [-2.64095287e-02 9.99651040e-01 5.78352293e-04 -2.67989772e+01] [ 6.83549637e-03 -3.97955368e-04 9.99976559e-01 1.65579882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.490714057 meters Centerline goodness [0,1] 0.9676022218415836 Centerline is valid? [True, True] Translation: X:553.50, Y:-26.81, Z:1.66 [[ 9.99690497e-01 2.43657205e-02 -5.02204042e-03 5.53503191e+02] [-2.43638896e-02 9.99703066e-01 4.25454850e-04 -2.68055155e+01] [ 5.03091572e-03 -3.02966733e-04 9.99987299e-01 1.65555473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.520714057 meters Centerline goodness [0,1] 0.9670767800797397 Centerline is valid? [True, True] Translation: X:553.53, Y:-26.81, Z:1.66 [[ 9.99761760e-01 2.16448600e-02 -2.81466408e-03 5.53532852e+02] [-2.16442743e-02 9.99765707e-01 2.38387556e-04 -2.68106788e+01] [ 2.81916449e-03 -1.77409401e-04 9.99996010e-01 1.65684113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5507140569999 meters Centerline goodness [0,1] 0.9654127992183683 Centerline is valid? [True, True] Translation: X:553.56, Y:-26.81, Z:1.66 [[ 9.99799252e-01 1.99229323e-02 -2.12897928e-03 5.53561865e+02] [-1.99225935e-02 9.99801509e-01 1.80213606e-04 -2.68142877e+01] [ 2.13214708e-03 -1.37762639e-04 9.99997717e-01 1.65728793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5807140569999 meters Centerline goodness [0,1] 0.9654127992183683 Centerline is valid? [True, True] Translation: X:553.59, Y:-26.82, Z:1.66 [[ 9.99801332e-01 1.98182973e-02 -2.12899559e-03 5.53589285e+02] [-1.98179587e-02 9.99803589e-01 1.80020808e-04 -2.68165139e+01] [ 2.13214514e-03 -1.37792697e-04 9.99997717e-01 1.65731481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.610714057 meters Centerline goodness [0,1] 0.963751886654657 Centerline is valid? [True, True] Translation: X:553.62, Y:-26.82, Z:1.66 [[ 9.99828646e-01 1.83482848e-02 -2.45343216e-03 5.53617308e+02] [-1.83478313e-02 9.99831643e-01 2.07242429e-04 -2.68213353e+01] [ 2.45682165e-03 -1.62191758e-04 9.99996969e-01 1.65775994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.640714057 meters Centerline goodness [0,1] 0.9647007235255427 Centerline is valid? [True, True] Translation: X:553.65, Y:-26.82, Z:1.66 [[ 9.99867712e-01 1.61531040e-02 -1.90658568e-03 5.53646691e+02] [-1.61528264e-02 9.99869522e-01 1.60931695e-04 -2.68226131e+01] [ 1.90893645e-03 -1.30113659e-04 9.99998170e-01 1.65760991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6707140569999 meters Centerline goodness [0,1] 0.959141459615993 Centerline is valid? [True, True] Translation: X:553.67, Y:-26.83, Z:1.66 [[ 9.99882109e-01 1.51931241e-02 -2.22177689e-03 5.53673652e+02] [-1.51927451e-02 9.99884566e-01 1.87340606e-04 -2.68313853e+01] [ 2.22436671e-03 -1.53563631e-04 9.99997514e-01 1.65696725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7007140569999 meters Centerline goodness [0,1] 0.9653721761544635 Centerline is valid? [True, True] Translation: X:553.70, Y:-26.83, Z:1.66 [[ 9.99892383e-01 1.44252002e-02 -2.67142566e-03 5.53702673e+02] [-1.44246502e-02 9.99895934e-01 2.25029799e-04 -2.68293330e+01] [ 2.67439376e-03 -1.86471201e-04 9.99996406e-01 1.65569874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7307140569999 meters Centerline goodness [0,1] 0.9597304005061074 Centerline is valid? [True, True] Translation: X:553.73, Y:-26.84, Z:1.65 [[ 9.99893881e-01 1.41101026e-02 -3.62376804e-03 5.53729246e+02] [-1.41090897e-02 9.99900415e-01 3.04918724e-04 -2.68388708e+01] [ 3.62770961e-03 -2.53758297e-04 9.99993388e-01 1.65457945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.760714057 meters Centerline goodness [0,1] 0.9640067167992992 Centerline is valid? [True, True] Translation: X:553.76, Y:-26.84, Z:1.65 [[ 9.99876908e-01 1.50117445e-02 -4.56248814e-03 5.53758501e+02] [-1.50101499e-02 9.99887268e-01 3.83544096e-04 -2.68373003e+01] [ 4.56773147e-03 -3.15013254e-04 9.99989518e-01 1.65282648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.790714057 meters Centerline goodness [0,1] 0.963827560185974 Centerline is valid? [True, True] Translation: X:553.79, Y:-26.84, Z:1.65 [[ 9.99864960e-01 1.55098545e-02 -5.43194338e-03 5.53787102e+02] [-1.55076033e-02 9.99879646e-01 4.56316639e-04 -2.68405728e+01] [ 5.43836703e-03 -3.72018595e-04 9.99985143e-01 1.65221164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8207140569999 meters Centerline goodness [0,1] 0.9631074589744215 Centerline is valid? [True, True] Translation: X:553.82, Y:-26.84, Z:1.65 [[ 9.99810884e-01 1.86762791e-02 -5.42148720e-03 5.53815786e+02] [-1.86740840e-02 9.99825520e-01 4.55229523e-04 -2.68420764e+01] [ 5.42904326e-03 -3.53902124e-04 9.99985200e-01 1.65289385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8507140569999 meters Centerline goodness [0,1] 0.966847985886504 Centerline is valid? [True, True] Translation: X:553.85, Y:-26.84, Z:1.65 [[ 9.99721350e-01 2.31077053e-02 -4.82245063e-03 5.53846396e+02] [-2.31060200e-02 9.99732938e-01 4.04888049e-04 -2.68365658e+01] [ 4.83051877e-03 -2.93347586e-04 9.99988290e-01 1.65402775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.880714057 meters Centerline goodness [0,1] 0.9674373088685015 Centerline is valid? [True, True] Translation: X:553.88, Y:-26.84, Z:1.65 [[ 9.99655128e-01 2.58884034e-02 -4.40620419e-03 5.53875548e+02] [-2.58870240e-02 9.99664806e-01 3.69818285e-04 -2.68367123e+01] [ 4.41430127e-03 -2.55627232e-04 9.99990224e-01 1.65409216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.910714057 meters Centerline goodness [0,1] 0.9694165582582657 Centerline is valid? [True, True] Translation: X:553.91, Y:-26.84, Z:1.65 [[ 9.99595403e-01 2.82070880e-02 -3.65917344e-03 5.53905388e+02] [-2.82061526e-02 9.99602080e-01 3.06998031e-04 -2.68372572e+01] [ 3.66637690e-03 -2.03662616e-04 9.99993258e-01 1.65434171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9407140569999 meters Centerline goodness [0,1] 0.9679830816898638 Centerline is valid? [True, True] Translation: X:553.93, Y:-26.84, Z:1.65 [[ 9.99483765e-01 3.19731263e-02 -3.14990021e-03 5.53934010e+02] [-3.19724522e-02 9.99488716e-01 2.64129830e-04 -2.68380107e+01] [ 3.15673477e-03 -1.63283443e-04 9.99995004e-01 1.65480024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9707140569999 meters Centerline goodness [0,1] 0.9727047754391983 Centerline is valid? [True, True] Translation: X:553.96, Y:-26.83, Z:1.66 [[ 9.99448156e-01 3.31031418e-02 -2.75039992e-03 5.53963233e+02] [-3.31026327e-02 9.99451931e-01 2.30459167e-04 -2.68320955e+01] [ 2.75652143e-03 -1.39286511e-04 9.99996191e-01 1.65553899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.000714057 meters Centerline goodness [0,1] 0.9700383744957197 Centerline is valid? [True, True] Translation: X:553.99, Y:-26.84, Z:1.66 [[ 9.99415430e-01 3.40872090e-02 -2.61913691e-03 5.53990949e+02] [-3.40867511e-02 9.99418854e-01 2.19276951e-04 -2.68404286e+01] [ 2.62508935e-03 -1.29870901e-04 9.99996546e-01 1.65506590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.030714057 meters Centerline goodness [0,1] 0.9686630041142125 Centerline is valid? [True, True] Translation: X:554.02, Y:-26.84, Z:1.65 [[ 9.99450302e-01 3.30177329e-02 -2.98710250e-03 5.54019599e+02] [-3.30171332e-02 9.99454755e-01 2.49870706e-04 -2.68436151e+01] [ 2.99372396e-03 -1.51107792e-04 9.99995507e-01 1.65491040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0607140569999 meters Centerline goodness [0,1] 0.9674110876088347 Centerline is valid? [True, True] Translation: X:554.05, Y:-26.85, Z:1.65 [[ 9.99545079e-01 2.98337219e-02 -4.42545064e-03 5.54049584e+02] [-2.98323751e-02 9.99554847e-01 3.70035586e-04 -2.68490428e+01] [ 4.43452017e-03 -2.37845546e-04 9.99990139e-01 1.65346593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0907140569999 meters Centerline goodness [0,1] 0.9710301482863596 Centerline is valid? [True, True] Translation: X:554.08, Y:-26.85, Z:1.65 [[ 9.99625925e-01 2.69214764e-02 -4.82119780e-03 5.54079830e+02] [-2.69198450e-02 9.99637514e-01 4.02974202e-04 -2.68457583e+01] [ 4.83029885e-03 -2.73037562e-04 9.99988297e-01 1.65345241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.120714057 meters Centerline goodness [0,1] 0.9684634146341463 Centerline is valid? [True, True] Translation: X:554.11, Y:-26.85, Z:1.65 [[ 9.99683343e-01 2.46639842e-02 -4.99006174e-03 5.54107292e+02] [-2.46622101e-02 9.99695755e-01 4.16769820e-04 -2.68534688e+01] [ 4.99882274e-03 -2.93571896e-04 9.99987463e-01 1.65306860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.150714057 meters Centerline goodness [0,1] 0.9677773977622515 Centerline is valid? [True, True] Translation: X:554.14, Y:-26.86, Z:1.65 [[ 9.99825559e-01 1.76823500e-02 -6.01554127e-03 5.54137479e+02] [-1.76796468e-02 9.99843577e-01 5.02252669e-04 -2.68565596e+01] [ 6.02348131e-03 -3.95812410e-04 9.99981780e-01 1.65175984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1807140569999 meters Centerline goodness [0,1] 0.9672002932909691 Centerline is valid? [True, True] Translation: X:554.17, Y:-26.86, Z:1.65 [[ 9.99874679e-01 1.43158152e-02 -6.75890910e-03 5.54166911e+02] [-1.43123269e-02 9.99897414e-01 5.64196610e-04 -2.68616375e+01] [ 6.76629267e-03 -4.67390188e-04 9.99976999e-01 1.65138721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2107140569999 meters Centerline goodness [0,1] 0.9620311738918655 Centerline is valid? [True, True] Translation: X:554.20, Y:-26.88, Z:1.65 [[ 9.99940803e-01 7.95977514e-03 -7.41842238e-03 5.54195459e+02] [-7.95539973e-03 9.99968164e-01 6.19126042e-04 -2.68760740e+01] [ 7.42311431e-03 -5.60072876e-04 9.99972291e-01 1.65082265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.240714057 meters Centerline goodness [0,1] 0.9617349421037268 Centerline is valid? [True, True] Translation: X:554.23, Y:-26.88, Z:1.65 [[ 9.99956541e-01 4.91205937e-03 -7.92391098e-03 5.54226019e+02] [-4.90697330e-03 9.99987742e-01 6.61177753e-04 -2.68768442e+01] [ 7.92706159e-03 -6.22266599e-04 9.99968387e-01 1.65038431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.270714057 meters Centerline goodness [0,1] 0.9567269100727299 Centerline is valid? [True, True] Translation: X:554.25, Y:-26.89, Z:1.65 [[ 9.99959127e-01 1.09359035e-03 -8.97486466e-03 5.54254451e+02] [-1.08691425e-03 9.99999129e-01 7.48710563e-04 -2.68889698e+01] [ 8.97567563e-03 -7.38925053e-04 9.99959445e-01 1.64956989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3007140569999 meters Centerline goodness [0,1] 0.9596197792580348 Centerline is valid? [True, True] Translation: X:554.28, Y:-26.89, Z:1.65 [[ 9.99953285e-01 -2.90336882e-04 -9.66148173e-03 5.54284162e+02] [ 2.98133133e-04 9.99999631e-01 8.05511109e-04 -2.68857814e+01] [ 9.66124430e-03 -8.08353887e-04 9.99953002e-01 1.64935925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3307140569999 meters Centerline goodness [0,1] 0.9614532349575085 Centerline is valid? [True, True] Translation: X:554.31, Y:-26.89, Z:1.65 [[ 9.99947018e-01 -3.57920034e-04 -1.02875619e-02 5.54311797e+02] [ 3.66752163e-04 9.99999566e-01 8.56651226e-04 -2.68860386e+01] [ 1.02872508e-02 -8.60378824e-04 9.99946715e-01 1.65033278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.360714057 meters Centerline goodness [0,1] 0.9607323477922584 Centerline is valid? [True, True] Translation: X:554.34, Y:-26.89, Z:1.65 [[ 9.99951718e-01 6.89854819e-04 -9.80236561e-03 5.54339224e+02] [-6.81894870e-04 9.99999435e-01 8.15362589e-04 -2.68885069e+01] [ 9.80292255e-03 -8.08639039e-04 9.99951623e-01 1.65028250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.390714057 meters Centerline goodness [0,1] 0.960889775852418 Centerline is valid? [True, True] Translation: X:554.37, Y:-26.89, Z:1.65 [[ 9.99955349e-01 2.41088235e-03 -9.13712756e-03 5.54369480e+02] [-2.40404172e-03 9.99996822e-01 7.59571770e-04 -2.68875777e+01] [ 9.13892976e-03 -7.37571819e-04 9.99957967e-01 1.65126368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4207140569999 meters Centerline goodness [0,1] 0.9627236822858257 Centerline is valid? [True, True] Translation: X:554.40, Y:-26.88, Z:1.65 [[ 9.99950985e-01 7.06881684e-03 -6.93253481e-03 5.54399706e+02] [-7.06499171e-03 9.99974877e-01 5.76098699e-04 -2.68825974e+01] [ 6.93643298e-03 -5.27092161e-04 9.99975804e-01 1.65373294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4507140569999 meters Centerline goodness [0,1] 0.9624728373660181 Centerline is valid? [True, True] Translation: X:554.43, Y:-26.89, Z:1.65 [[ 9.99937767e-01 9.36233793e-03 -6.06699987e-03 5.54428947e+02] [-9.35945156e-03 9.99956072e-01 5.03966605e-04 -2.68853146e+01] [ 6.07145167e-03 -4.47151450e-04 9.99981469e-01 1.65408480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4807140569999 meters Centerline goodness [0,1] 0.9658785599140247 Centerline is valid? [True, True] Translation: X:554.46, Y:-26.88, Z:1.65 [[ 9.99915921e-01 1.16681916e-02 -5.65716086e-03 5.54458870e+02] [-1.16657199e-02 9.99931843e-01 4.69721498e-04 -2.68823991e+01] [ 5.66225608e-03 -4.03687151e-04 9.99983888e-01 1.65450001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.510714057 meters Centerline goodness [0,1] 0.9664679765496602 Centerline is valid? [True, True] Translation: X:554.49, Y:-26.88, Z:1.66 [[ 9.99870570e-01 1.51114635e-02 -5.52158458e-03 5.54489016e+02] [-1.51091616e-02 9.99885745e-01 4.58372132e-04 -2.68814888e+01] [ 5.52788039e-03 -3.74886291e-04 9.99984651e-01 1.65508073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.540714057 meters Centerline goodness [0,1] 0.9662188664444009 Centerline is valid? [True, True] Translation: X:554.52, Y:-26.89, Z:1.65 [[ 9.99823752e-01 1.76764654e-02 -6.32522489e-03 5.54517396e+02] [-1.76734976e-02 9.99843674e-01 5.24785065e-04 -2.68853695e+01] [ 6.33351244e-03 -4.12903725e-04 9.99979858e-01 1.65337800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5707140569999 meters Centerline goodness [0,1] 0.9671901840490797 Centerline is valid? [True, True] Translation: X:554.55, Y:-26.88, Z:1.65 [[ 9.99802996e-01 1.84330231e-02 -7.36159066e-03 5.54546175e+02] [-1.84290274e-02 9.99829985e-01 6.10255530e-04 -2.68841465e+01] [ 7.37158793e-03 -4.74468351e-04 9.99972717e-01 1.65227383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6007140569999 meters Centerline goodness [0,1] 0.9675193950702151 Centerline is valid? [True, True] Translation: X:554.57, Y:-26.89, Z:1.65 [[ 9.99777116e-01 1.92849111e-02 -8.59134449e-03 5.54574606e+02] [-1.92795055e-02 9.99813880e-01 7.11576490e-04 -2.68858574e+01] [ 8.60346815e-03 -5.45781017e-04 9.99962841e-01 1.65029861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.630714057 meters Centerline goodness [0,1] 0.963573074471736 Centerline is valid? [True, True] Translation: X:554.60, Y:-26.90, Z:1.65 [[ 9.99763674e-01 1.97308181e-02 -9.12633723e-03 5.54601179e+02] [-1.97247440e-02 9.99805163e-01 7.55095410e-04 -2.68968019e+01] [ 9.13945773e-03 -5.74902296e-04 9.99958069e-01 1.64858244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.660714057 meters Centerline goodness [0,1] 0.9682574753277361 Centerline is valid? [True, True] Translation: X:554.63, Y:-26.89, Z:1.65 [[ 9.99773593e-01 1.89954957e-02 -9.58819838e-03 5.54630238e+02] [-1.89887644e-02 9.99819383e-01 7.92603535e-04 -2.68908243e+01] [ 9.60152249e-03 -6.10356044e-04 9.99953718e-01 1.64952681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6907140569999 meters Centerline goodness [0,1] 0.9624128449376411 Centerline is valid? [True, True] Translation: X:554.66, Y:-26.90, Z:1.65 [[ 9.99786282e-01 1.85388741e-02 -9.14874766e-03 5.54656743e+02] [-1.85327383e-02 9.99827969e-01 7.55002930e-04 -2.69014803e+01] [ 9.16117069e-03 -5.85290226e-04 9.99957864e-01 1.64902353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7207140569999 meters Centerline goodness [0,1] 0.9671861981081213 Centerline is valid? [True, True] Translation: X:554.69, Y:-26.90, Z:1.65 [[ 9.99806819e-01 1.80171649e-02 -7.85540308e-03 5.54686549e+02] [-1.80126301e-02 9.99837550e-01 6.47657115e-04 -2.68957243e+01] [ 7.86579591e-03 -5.06035530e-04 9.99968936e-01 1.65062354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.750714057 meters Centerline goodness [0,1] 0.965008576329331 Centerline is valid? [True, True] Translation: X:554.71, Y:-26.90, Z:1.65 [[ 9.99817224e-01 1.77113259e-02 -7.19906701e-03 5.54712555e+02] [-1.77075181e-02 9.99843034e-01 5.92333112e-04 -2.69024290e+01] [ 7.20842800e-03 -4.64747239e-04 9.99973911e-01 1.65062813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.780714057 meters Centerline goodness [0,1] 0.9670582476749877 Centerline is valid? [True, True] Translation: X:554.74, Y:-26.90, Z:1.65 [[ 9.99826676e-01 1.74337456e-02 -6.53324038e-03 5.54741262e+02] [-1.74306074e-02 9.99847931e-01 5.36988744e-04 -2.69002688e+01] [ 6.54160860e-03 -4.23017323e-04 9.99978514e-01 1.65156326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8107140569999 meters Centerline goodness [0,1] 0.961943894147284 Centerline is valid? [True, True] Translation: X:554.77, Y:-26.91, Z:1.65 [[ 9.99846447e-01 1.61591927e-02 -6.77960944e-03 5.54768486e+02] [-1.61557881e-02 9.99869332e-01 5.56650106e-04 -2.69106725e+01] [ 6.78771857e-03 -4.47034698e-04 9.99976863e-01 1.65079129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8407140569999 meters Centerline goodness [0,1] 0.9659171366488439 Centerline is valid? [True, True] Translation: X:554.80, Y:-26.91, Z:1.65 [[ 9.99856726e-01 1.52995488e-02 -7.24226287e-03 5.54797646e+02] [-1.52956451e-02 9.99882838e-01 5.94096466e-04 -2.69068080e+01] [ 7.25050377e-03 -4.83236265e-04 9.99973598e-01 1.65099179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.870714057 meters Centerline goodness [0,1] 0.9626152270399454 Centerline is valid? [True, True] Translation: X:554.83, Y:-26.92, Z:1.65 [[ 9.99886331e-01 1.27322373e-02 -8.07563999e-03 5.54825732e+02] [-1.27273028e-02 9.99918785e-01 6.62130528e-04 -2.69169120e+01] [ 8.08341453e-03 -5.59274148e-04 9.99967172e-01 1.65057341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.900714057 meters Centerline goodness [0,1] 0.9594565032449381 Centerline is valid? [True, True] Translation: X:554.85, Y:-26.93, Z:1.65 [[ 9.99918791e-01 9.81147962e-03 -8.13301125e-03 5.54854741e+02] [-9.80638026e-03 9.99951694e-01 6.66638307e-04 -2.69251717e+01] [ 8.13915908e-03 -5.86828769e-04 9.99966704e-01 1.64939493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9307140569999 meters Centerline goodness [0,1] 0.9654443391412116 Centerline is valid? [True, True] Translation: X:554.88, Y:-26.92, Z:1.65 [[ 9.99927914e-01 8.76373665e-03 -8.20752032e-03 5.54884122e+02] [-8.75851274e-03 9.99961418e-01 6.72206310e-04 -2.69193292e+01] [ 8.21309469e-03 -6.00272182e-04 9.99966092e-01 1.65085512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9607140569999 meters Centerline goodness [0,1] 0.9574794333836343 Centerline is valid? [True, True] Translation: X:554.91, Y:-26.93, Z:1.65 [[ 9.99939442e-01 7.41141110e-03 -8.13527606e-03 5.54911414e+02] [-7.40623894e-03 9.99972352e-01 6.65712443e-04 -2.69327702e+01] [ 8.13998501e-03 -6.05420331e-04 9.99966687e-01 1.65014781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.990714057 meters Centerline goodness [0,1] 0.960934656540412 Centerline is valid? [True, True] Translation: X:554.94, Y:-26.93, Z:1.65 [[ 9.99962200e-01 5.21749111e-03 -6.95523983e-03 5.54942207e+02] [-5.21365826e-03 9.99986247e-01 5.69090682e-04 -2.69317818e+01] [ 6.95811340e-03 -5.32806927e-04 9.99975650e-01 1.65153612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.020714057 meters Centerline goodness [0,1] 0.9609788038996945 Centerline is valid? [True, True] Translation: X:554.97, Y:-26.93, Z:1.65 [[ 9.99972897e-01 4.19735749e-03 -6.04882290e-03 5.54970393e+02] [-4.19444270e-03 9.99991081e-01 4.94482467e-04 -2.69344611e+01] [ 6.05084447e-03 -4.69097624e-04 9.99981583e-01 1.65239409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0507140569999 meters Centerline goodness [0,1] 0.962428796509514 Centerline is valid? [True, True] Translation: X:555.00, Y:-26.94, Z:1.65 [[ 9.99986888e-01 2.48518730e-03 -4.47746602e-03 5.54999552e+02] [-2.48357429e-03 9.99996849e-01 3.65774699e-04 -2.69351025e+01] [ 4.47836093e-03 -3.54649783e-04 9.99989909e-01 1.65445939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0807140569999 meters Centerline goodness [0,1] 0.9606112054329372 Centerline is valid? [True, True] Translation: X:555.03, Y:-26.94, Z:1.66 [[ 9.99988359e-01 1.81866756e-03 -4.46920775e-03 5.55026905e+02] [-1.81705573e-03 9.99998283e-01 3.64687096e-04 -2.69401003e+01] [ 4.46986332e-03 -3.56562052e-04 9.99989947e-01 1.65512758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.110714057 meters Centerline goodness [0,1] 0.9562392416418164 Centerline is valid? [True, True] Translation: X:555.05, Y:-26.95, Z:1.66 [[ 9.99990760e-01 1.44251232e-03 -4.04961703e-03 5.55054238e+02] [-1.44118732e-03 9.99998907e-01 3.30089356e-04 -2.69487785e+01] [ 4.05008876e-03 -3.24250049e-04 9.99991746e-01 1.65531362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.140714057 meters Centerline goodness [0,1] 0.9604015616285555 Centerline is valid? [True, True] Translation: X:555.08, Y:-26.95, Z:1.66 [[ 9.99988403e-01 8.54302619e-04 -4.73964180e-03 5.55083081e+02] [-8.52482762e-04 9.99999562e-01 3.85971952e-04 -2.69466705e+01] [ 4.73996947e-03 -3.81927013e-04 9.99988693e-01 1.65514106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1707140569999 meters Centerline goodness [0,1] 0.9601616767916354 Centerline is valid? [True, True] Translation: X:555.11, Y:-26.95, Z:1.65 [[ 9.99989423e-01 1.30534651e-03 -4.41031992e-03 5.55111943e+02] [-1.30377646e-03 9.99999086e-01 3.58852037e-04 -2.69501937e+01] [ 4.41078431e-03 -3.53098170e-04 9.99990210e-01 1.65463648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2007140569999 meters Centerline goodness [0,1] 0.958810401707743 Centerline is valid? [True, True] Translation: X:555.14, Y:-26.95, Z:1.65 [[ 9.99981754e-01 1.48297105e-03 -5.85604007e-03 5.55139663e+02] [-1.48020893e-03 9.99998791e-01 4.75976114e-04 -2.69545378e+01] [ 5.85673885e-03 -4.67299266e-04 9.99982740e-01 1.65272229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2307140569999 meters Centerline goodness [0,1] 0.9590413943355119 Centerline is valid? [True, True] Translation: X:555.17, Y:-26.96, Z:1.65 [[ 9.99976938e-01 1.97230767e-03 -6.49876411e-03 5.55167474e+02] [-1.96891989e-03 9.99997922e-01 5.27652752e-04 -2.69581327e+01] [ 6.49979130e-03 -5.14845037e-04 9.99978744e-01 1.65185115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.260714057 meters Centerline goodness [0,1] 0.9599283743890045 Centerline is valid? [True, True] Translation: X:555.20, Y:-26.96, Z:1.65 [[ 9.99953988e-01 3.30718441e-03 -9.00465323e-03 5.55195045e+02] [-3.30074112e-03 9.99994286e-01 7.30319381e-04 -2.69604832e+01] [ 9.00701707e-03 -7.00563749e-04 9.99959191e-01 1.64977588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.290714057 meters Centerline goodness [0,1] 0.9607719689081531 Centerline is valid? [True, True] Translation: X:555.22, Y:-26.96, Z:1.65 [[ 9.99942865e-01 4.57231821e-03 -9.66229945e-03 5.55224378e+02] [-4.56496313e-03 9.99989274e-01 7.83131926e-04 -2.69625889e+01] [ 9.66577654e-03 -7.38979141e-04 9.99953012e-01 1.64972033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3207140569999 meters Centerline goodness [0,1] 0.9610651261014151 Centerline is valid? [True, True] Translation: X:555.25, Y:-26.96, Z:1.65 [[ 9.99914812e-01 7.38449859e-03 -1.07627834e-02 5.55254545e+02] [-7.37553692e-03 9.99972420e-01 8.72108615e-04 -2.69633416e+01] [ 1.07689266e-02 -7.92653016e-04 9.99941699e-01 1.64948304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3507140569999 meters Centerline goodness [0,1] 0.9606415762781781 Centerline is valid? [True, True] Translation: X:555.28, Y:-26.97, Z:1.65 [[ 9.99897349e-01 8.93358778e-03 -1.12018916e-02 5.55283829e+02] [-8.92398057e-03 9.99959769e-01 9.07333971e-04 -2.69654944e+01] [ 1.12095467e-02 -8.07275370e-04 9.99936845e-01 1.64884593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.380714057 meters Centerline goodness [0,1] 0.963560000971086 Centerline is valid? [True, True] Translation: X:555.31, Y:-26.96, Z:1.65 [[ 9.99849994e-01 1.26330863e-02 -1.18488299e-02 5.55314193e+02] [-1.26225966e-02 9.99919871e-01 9.59668420e-04 -2.69617444e+01] [ 1.18600040e-02 -8.09961465e-04 9.99929340e-01 1.64949738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.410714057 meters Centerline goodness [0,1] 0.9626722399086247 Centerline is valid? [True, True] Translation: X:555.34, Y:-26.97, Z:1.65 [[ 9.99825575e-01 1.50487212e-02 -1.10614240e-02 5.55343319e+02] [-1.50397303e-02 9.99886496e-01 8.95553133e-04 -2.69666115e+01] [ 1.10736454e-02 -7.29036093e-04 9.99938420e-01 1.64954821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4407140569999 meters Centerline goodness [0,1] 0.9646838339093609 Centerline is valid? [True, True] Translation: X:555.37, Y:-26.96, Z:1.65 [[ 9.99773778e-01 1.88637940e-02 -9.82597519e-03 5.55374131e+02] [-1.88568835e-02 9.99821877e-01 7.95471364e-04 -2.69627364e+01] [ 9.83923056e-03 -6.10004142e-04 9.99951408e-01 1.65183054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4707140569999 meters Centerline goodness [0,1] 0.9697921995663719 Centerline is valid? [True, True] Translation: X:555.40, Y:-26.96, Z:1.65 [[ 9.99746390e-01 2.05354100e-02 -9.24403750e-03 5.55403219e+02] [-2.05293704e-02 9.99788971e-01 7.47777728e-04 -2.69572304e+01] [ 9.25744266e-03 -5.57813815e-04 9.99956993e-01 1.65331201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.500714057 meters Centerline goodness [0,1] 0.9697921995663719 Centerline is valid? [True, True] Translation: X:555.43, Y:-26.96, Z:1.65 [[ 9.99748537e-01 2.04305935e-02 -9.24411307e-03 5.55430639e+02] [-2.04245581e-02 9.99791118e-01 7.46842884e-04 -2.69593556e+01] [ 9.25744059e-03 -5.57848157e-04 9.99956993e-01 1.65333888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.530714057 meters Centerline goodness [0,1] 0.969096536764885 Centerline is valid? [True, True] Translation: X:555.46, Y:-26.96, Z:1.65 [[ 9.99696405e-01 2.30638791e-02 -8.66925461e-03 5.55459816e+02] [-2.30586728e-02 9.99733868e-01 7.00034573e-04 -2.69606149e+01] [ 8.68309296e-03 -4.99920541e-04 9.99962176e-01 1.65366609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5607140569999 meters Centerline goodness [0,1] 0.9700058525165821 Centerline is valid? [True, True] Translation: X:555.49, Y:-26.96, Z:1.65 [[ 9.99694227e-01 2.35242117e-02 -7.61993210e-03 5.55488362e+02] [-2.35202067e-02 9.99723173e-01 6.14799363e-04 -2.69599136e+01] [ 7.63228536e-03 -4.35388996e-04 9.99970779e-01 1.65424513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5907140569999 meters Centerline goodness [0,1] 0.9659639877031181 Centerline is valid? [True, True] Translation: X:555.52, Y:-26.97, Z:1.65 [[ 9.99671007e-01 2.45548554e-02 -7.41198553e-03 5.55516064e+02] [-2.45510981e-02 9.99698398e-01 5.97500165e-04 -2.69687009e+01] [ 7.42442158e-03 -4.15331207e-04 9.99972352e-01 1.65358246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.620714057 meters Centerline goodness [0,1] 0.968896484375 Centerline is valid? [True, True] Translation: X:555.55, Y:-26.96, Z:1.65 [[ 9.99670845e-01 2.45625791e-02 -7.40817725e-03 5.55545279e+02] [-2.45588297e-02 9.99698208e-01 5.96670484e-04 -2.69647562e+01] [ 7.42059729e-03 -4.14537923e-04 9.99972381e-01 1.65494818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.650714057 meters Centerline goodness [0,1] 0.9689546860162166 Centerline is valid? [True, True] Translation: X:555.57, Y:-26.97, Z:1.65 [[ 9.99685857e-01 2.38975969e-02 -7.55591751e-03 5.55572521e+02] [-2.38936825e-02 9.99714320e-01 6.07922444e-04 -2.69685222e+01] [ 7.56828682e-03 -4.27192776e-04 9.99971269e-01 1.65461717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6807140569999 meters Centerline goodness [0,1] 0.9699700431086973 Centerline is valid? [True, True] Translation: X:555.60, Y:-26.97, Z:1.65 [[ 9.99739934e-01 2.07500033e-02 -9.46056922e-03 5.55602199e+02] [-2.07437286e-02 9.99784536e-01 7.60904710e-04 -2.69716809e+01] [ 9.47431958e-03 -5.64459344e-04 9.99954958e-01 1.65335272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7107140569999 meters Centerline goodness [0,1] 0.9662560257096947 Centerline is valid? [True, True] Translation: X:555.63, Y:-26.98, Z:1.65 [[ 9.99779352e-01 1.85011375e-02 -9.94762719e-03 5.55629629e+02] [-1.84940957e-02 9.99828650e-01 7.99419729e-04 -2.69819112e+01] [ 9.96071284e-03 -6.15270969e-04 9.99950202e-01 1.65232912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.740714057 meters Centerline goodness [0,1] 0.9634441966450111 Centerline is valid? [True, True] Translation: X:555.66, Y:-26.99, Z:1.65 [[ 9.99858736e-01 1.36364069e-02 -9.82636459e-03 5.55658304e+02] [-1.36293039e-02 9.99906805e-01 7.89454886e-04 -2.69922628e+01] [ 9.83621415e-03 -6.55416855e-04 9.99951408e-01 1.65186342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.770714057 meters Centerline goodness [0,1] 0.9619225362353968 Centerline is valid? [True, True] Translation: X:555.69, Y:-27.00, Z:1.65 [[ 9.99882767e-01 1.13287624e-02 -1.03010754e-02 5.55687875e+02] [-1.13208364e-02 9.99935575e-01 8.27419097e-04 -2.69974455e+01] [ 1.03097854e-02 -7.10705306e-04 9.99946600e-01 1.65186203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8007140569999 meters Centerline goodness [0,1] 0.9606729403836434 Centerline is valid? [True, True] Translation: X:555.72, Y:-27.00, Z:1.65 [[ 9.99913175e-01 8.10598942e-03 -1.03892412e-02 5.55716456e+02] [-8.09775746e-03 9.99966865e-01 8.34176020e-04 -2.70048708e+01] [ 1.03956588e-02 -7.49974037e-04 9.99945682e-01 1.65181248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8307140569999 meters Centerline goodness [0,1] 0.959132932628479 Centerline is valid? [True, True] Translation: X:555.74, Y:-27.01, Z:1.65 [[ 9.99922255e-01 6.56873076e-03 -1.05988155e-02 5.55744361e+02] [-6.56008454e-03 9.99978121e-01 8.50332444e-04 -2.70094559e+01] [ 1.06041692e-02 -7.80737210e-04 9.99943469e-01 1.65167152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.860714057 meters Centerline goodness [0,1] 0.9575520644803205 Centerline is valid? [True, True] Translation: X:555.77, Y:-27.01, Z:1.65 [[ 9.99923073e-01 5.84726643e-03 -1.09388367e-02 5.55773114e+02] [-5.83802148e-03 9.99982574e-01 8.76889937e-04 -2.70133380e+01] [ 1.09437735e-02 -8.12961317e-04 9.99939785e-01 1.65153817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.890714057 meters Centerline goodness [0,1] 0.9579379451889412 Centerline is valid? [True, True] Translation: X:555.80, Y:-27.02, Z:1.65 [[ 9.99920834e-01 5.42966724e-03 -1.13509407e-02 5.55801943e+02] [-5.41969429e-03 9.99984900e-01 9.09177227e-04 -2.70158960e+01] [ 1.13557058e-02 -8.47586622e-04 9.99935163e-01 1.65205252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9207140569999 meters Centerline goodness [0,1] 0.9628485214242607 Centerline is valid? [True, True] Translation: X:555.83, Y:-27.01, Z:1.65 [[ 9.99922683e-01 5.97534733e-03 -1.09051608e-02 5.55830557e+02] [-5.96618260e-03 9.99981821e-01 8.72741812e-04 -2.70141853e+01] [ 1.09101775e-02 -8.07612154e-04 9.99940156e-01 1.65287163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9507140569999 meters Centerline goodness [0,1] 0.9648149041942179 Centerline is valid? [True, True] Translation: X:555.86, Y:-27.01, Z:1.65 [[ 9.99923923e-01 6.15155018e-03 -1.06913933e-02 5.55859932e+02] [-6.14275926e-03 9.99980768e-01 8.54887404e-04 -2.70099817e+01] [ 1.06964466e-02 -7.89147712e-04 9.99942480e-01 1.65452812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9807140569999 meters Centerline goodness [0,1] 0.9665967247907773 Centerline is valid? [True, True] Translation: X:555.89, Y:-27.01, Z:1.66 [[ 9.99924213e-01 6.53980215e-03 -1.04306640e-02 5.55888620e+02] [-6.53146345e-03 9.99978323e-01 8.33305695e-04 -2.70118883e+01] [ 1.04358876e-02 -7.65115040e-04 9.99945252e-01 1.65526357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.010714057 meters Centerline goodness [0,1] 0.9645740450656706 Centerline is valid? [True, True] Translation: X:555.92, Y:-27.02, Z:1.66 [[ 9.99926469e-01 6.36297813e-03 -1.03232494e-02 5.55915938e+02] [-6.35481008e-03 9.99979469e-01 8.23837576e-04 -2.70180179e+01] [ 1.03282795e-02 -7.58174709e-04 9.99946374e-01 1.65529634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.040714057 meters Centerline goodness [0,1] 0.9659225292627006 Centerline is valid? [True, True] Translation: X:555.94, Y:-27.02, Z:1.65 [[ 9.99915818e-01 5.36183924e-03 -1.18155480e-02 5.55944883e+02] [-5.35107706e-03 9.99985239e-01 9.42274938e-04 -2.70211381e+01] [ 1.18204259e-02 -8.78969708e-04 9.99929750e-01 1.65463143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0707140569999 meters Centerline goodness [0,1] 0.9632760198429899 Centerline is valid? [True, True] Translation: X:555.97, Y:-27.03, Z:1.65 [[ 9.99912330e-01 3.55850662e-03 -1.27541942e-02 5.55972371e+02] [-3.54583215e-03 9.99993197e-01 1.01622488e-03 -2.70278759e+01] [ 1.27577237e-02 -9.70911555e-04 9.99918146e-01 1.65280981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1007140569999 meters Centerline goodness [0,1] 0.9611141820279266 Centerline is valid? [True, True] Translation: X:556.00, Y:-27.03, Z:1.65 [[ 9.99910935e-01 1.74949140e-03 -1.32310784e-02 5.56002012e+02] [-1.73570030e-03 9.99997938e-01 1.05373707e-03 -2.70315786e+01] [ 1.32328946e-02 -1.03067803e-03 9.99911910e-01 1.65222653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.130714057 meters Centerline goodness [0,1] 0.9593167328281006 Centerline is valid? [True, True] Translation: X:556.03, Y:-27.04, Z:1.65 [[ 9.99896231e-01 7.22554725e-04 -1.43876533e-02 5.56030392e+02] [-7.06151479e-04 9.99999095e-01 1.14513941e-03 -2.70362771e+01] [ 1.43884677e-02 -1.13486072e-03 9.99895837e-01 1.65187123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.160714057 meters Centerline goodness [0,1] 0.960578818326042 Centerline is valid? [True, True] Translation: X:556.06, Y:-27.04, Z:1.65 [[ 9.99893247e-01 -2.96341011e-04 -1.46084615e-02 5.56059409e+02] [ 3.13348925e-04 9.99999276e-01 1.16197572e-03 -2.70379396e+01] [ 1.46081066e-02 -1.16642922e-03 9.99892616e-01 1.65209312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1907140569999 meters Centerline goodness [0,1] 0.9634750408771761 Centerline is valid? [True, True] Translation: X:556.09, Y:-27.04, Z:1.65 [[ 9.99879044e-01 -2.55934283e-03 -1.53410037e-02 5.56090292e+02] [ 2.57836324e-03 9.99995932e-01 1.22019146e-03 -2.70357269e+01] [ 1.53378184e-02 -1.25959855e-03 9.99881575e-01 1.65354863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2207140569999 meters Centerline goodness [0,1] 0.9640711367459746 Centerline is valid? [True, True] Translation: X:556.12, Y:-27.04, Z:1.65 [[ 9.99881456e-01 -4.02744533e-03 -1.48611592e-02 5.56119797e+02] [ 4.04544821e-03 9.99991119e-01 1.18154193e-03 -2.70393126e+01] [ 1.48562686e-02 -1.24152191e-03 9.99888869e-01 1.65495852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.250714057 meters Centerline goodness [0,1] 0.9593408175014393 Centerline is valid? [True, True] Translation: X:556.15, Y:-27.05, Z:1.65 [[ 9.99878542e-01 -5.00274241e-03 -1.47605700e-02 5.56146644e+02] [ 5.02058629e-03 9.99986710e-01 1.17208026e-03 -2.70458615e+01] [ 1.47545102e-02 -1.24604462e-03 9.99890370e-01 1.65495318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.280714057 meters Centerline goodness [0,1] 0.9536415908001916 Centerline is valid? [True, True] Translation: X:556.17, Y:-27.05, Z:1.66 [[ 9.99889922e-01 -6.03175962e-03 -1.35558584e-02 5.56174023e+02] [ 6.04688759e-03 9.99981139e-01 1.07526183e-03 -2.70522620e+01] [ 1.35491170e-02 -1.15711422e-03 9.99907537e-01 1.65528814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3107140569999 meters Centerline goodness [0,1] 0.9565290245362059 Centerline is valid? [True, True] Translation: X:556.20, Y:-27.05, Z:1.66 [[ 9.99905219e-01 -6.09122693e-03 -1.23470533e-02 5.56203191e+02] [ 6.10374973e-03 9.99980895e-01 9.76803759e-04 -2.70538754e+01] [ 1.23408675e-02 -1.05207450e-03 9.99923295e-01 1.65686775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3407140569999 meters Centerline goodness [0,1] 0.9498242173486715 Centerline is valid? [True, False] Translation: X:556.20, Y:-27.05, Z:1.66 [[ 9.99903023e-01 -6.06087018e-03 -1.25383330e-02 5.56203358e+02] [ 6.07269051e-03 9.99981152e-01 9.04878121e-04 -2.70538351e+01] [ 1.25326123e-02 -9.80931785e-04 9.99920983e-01 1.65728185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.370714057 meters Centerline goodness [0,1] 0.9562022832252352 Centerline is valid? [False, True] Translation: X:556.20, Y:-27.05, Z:1.66 [[ 9.99902216e-01 -5.76144146e-03 -1.27422202e-02 5.56203868e+02] [ 5.77668769e-03 9.99982642e-01 1.16003132e-03 -2.70541993e+01] [ 1.27353156e-02 -1.23352571e-03 9.99918142e-01 1.65722258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.400714057 meters Centerline goodness [0,1] 0.9639743221232154 Centerline is valid? [True, True] Translation: X:556.23, Y:-27.05, Z:1.66 [[ 9.99902776e-01 -5.27110606e-03 -1.29094596e-02 5.56233473e+02] [ 5.28458786e-03 9.99985526e-01 1.01044517e-03 -2.70468414e+01] [ 1.29039466e-02 -1.07856810e-03 9.99916159e-01 1.65847145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4307140569999 meters Centerline goodness [0,1] 0.9668413119931099 Centerline is valid? [True, True] Translation: X:556.26, Y:-27.05, Z:1.66 [[ 9.99906873e-01 -3.71773519e-03 -1.31309910e-02 5.56263209e+02] [ 3.73154331e-03 9.99992510e-01 1.02722284e-03 -2.70462326e+01] [ 1.31270737e-02 -1.07612604e-03 9.99913257e-01 1.65932189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4607140569999 meters Centerline goodness [0,1] 0.961946499988026 Centerline is valid? [True, True] Translation: X:556.29, Y:-27.06, Z:1.66 [[ 9.99910809e-01 -2.76525336e-03 -1.30662644e-02 5.56290869e+02] [ 2.77883300e-03 9.99995618e-01 1.02124945e-03 -2.70558187e+01] [ 1.30633831e-02 -1.05746733e-03 9.99914111e-01 1.65784225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.490714057 meters Centerline goodness [0,1] 0.9623360744168205 Centerline is valid? [True, True] Translation: X:556.32, Y:-27.06, Z:1.66 [[ 9.99907955e-01 -1.12027793e-04 -1.35672258e-02 5.56319459e+02] [ 1.26419729e-04 9.99999430e-01 1.05993392e-03 -2.70584588e+01] [ 1.35670993e-02 -1.06155152e-03 9.99907399e-01 1.65799177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.520714057 meters Centerline goodness [0,1] 0.9669322613834853 Centerline is valid? [True, True] Translation: X:556.35, Y:-27.05, Z:1.66 [[ 9.99915236e-01 7.20366457e-04 -1.30000774e-02 5.56349195e+02] [-7.07260633e-04 9.99999237e-01 1.01270363e-03 -2.70506641e+01] [ 1.30007970e-02 -1.00342335e-03 9.99914983e-01 1.65986771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5507140569999 meters Centerline goodness [0,1] 0.9680101600690117 Centerline is valid? [True, True] Translation: X:556.38, Y:-27.05, Z:1.66 [[ 9.99911357e-01 3.40932232e-03 -1.28706916e-02 5.56378933e+02] [-3.39670452e-03 9.99993729e-01 1.00208419e-03 -2.70506453e+01] [ 1.28740273e-02 -9.58277421e-04 9.99916667e-01 1.66043639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5807140569999 meters Centerline goodness [0,1] 0.9687522465313556 Centerline is valid? [True, True] Translation: X:556.41, Y:-27.05, Z:1.66 [[ 9.99913886e-01 5.11266034e-03 -1.20863844e-02 5.56409048e+02] [-5.10166003e-03 9.99986544e-01 9.40797003e-04 -2.70515377e+01] [ 1.20910317e-02 -8.79055364e-04 9.99926514e-01 1.66064185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.610714057 meters Centerline goodness [0,1] 0.9695235815178358 Centerline is valid? [True, True] Translation: X:556.44, Y:-27.05, Z:1.66 [[ 9.99914844e-01 5.29643125e-03 -1.19269964e-02 5.56438163e+02] [-5.28574209e-03 9.99985600e-01 9.27560059e-04 -2.70538693e+01] [ 1.19317374e-02 -8.64438044e-04 9.99928441e-01 1.66044236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.640714057 meters Centerline goodness [0,1] 0.970244929200153 Centerline is valid? [True, True] Translation: X:556.47, Y:-27.06, Z:1.66 [[ 9.99908969e-01 6.15326059e-03 -1.20079915e-02 5.56467274e+02] [-6.14249507e-03 9.99980699e-01 9.33205320e-04 -2.70559722e+01] [ 1.20135020e-02 -8.59361340e-04 9.99927466e-01 1.66057396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6707140569999 meters Centerline goodness [0,1] 0.9683842711150468 Centerline is valid? [True, True] Translation: X:556.49, Y:-27.06, Z:1.66 [[ 9.99905756e-01 5.70471583e-03 -1.24873808e-02 5.56494555e+02] [-5.69305794e-03 9.99983325e-01 9.68921722e-04 -2.70617806e+01] [ 1.24927000e-02 -8.97739025e-04 9.99921560e-01 1.66037773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7007140569999 meters Centerline goodness [0,1] 0.9664166626857116 Centerline is valid? [True, True] Translation: X:556.52, Y:-27.07, Z:1.66 [[ 9.99907779e-01 5.07409675e-03 -1.25970653e-02 5.56521904e+02] [-5.06219742e-03 9.99986710e-01 9.76316865e-04 -2.70714149e+01] [ 1.26018519e-02 -9.12457997e-04 9.99920177e-01 1.65904782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7307140569999 meters Centerline goodness [0,1] 0.9702157040140945 Centerline is valid? [True, True] Translation: X:556.55, Y:-27.07, Z:1.66 [[ 9.99907389e-01 3.75752376e-03 -1.30802981e-02 5.56552151e+02] [-3.74458836e-03 9.99992476e-01 1.01327369e-03 -2.70670503e+01] [ 1.30840070e-02 -9.64199515e-04 9.99913936e-01 1.65988918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.760714057 meters Centerline goodness [0,1] 0.9706225449351268 Centerline is valid? [True, True] Translation: X:556.58, Y:-27.07, Z:1.66 [[ 9.99902864e-01 2.80633312e-03 -1.36523667e-02 5.56580378e+02] [-2.79216972e-03 9.99995544e-01 1.05638226e-03 -2.70709057e+01] [ 1.36552705e-02 -1.01815992e-03 9.99906244e-01 1.65935375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.790714057 meters Centerline goodness [0,1] 0.9696782619019352 Centerline is valid? [True, True] Translation: X:556.61, Y:-27.08, Z:1.66 [[ 9.99888497e-01 9.10221752e-04 -1.49052239e-02 5.56608365e+02] [-8.93146892e-04 9.99998937e-01 1.15217867e-03 -2.70793828e+01] [ 1.49062568e-02 -1.13873765e-03 9.99888247e-01 1.65745187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8207140569999 meters Centerline goodness [0,1] 0.9665350140718492 Centerline is valid? [True, True] Translation: X:556.64, Y:-27.09, Z:1.66 [[ 9.99885853e-01 -4.34015141e-04 -1.51027541e-02 5.56636155e+02] [ 4.51685824e-04 9.99999217e-01 1.16663914e-03 -2.70920628e+01] [ 1.51022360e-02 -1.17332767e-03 9.99885266e-01 1.65518779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8507140569999 meters Centerline goodness [0,1] 0.9669893742621015 Centerline is valid? [True, True] Translation: X:556.67, Y:-27.09, Z:1.66 [[ 9.99886171e-01 -2.15737988e-03 -1.49329033e-02 5.56665799e+02] [ 2.17483848e-03 9.99996970e-01 1.15299595e-03 -2.70927549e+01] [ 1.49303706e-02 -1.18534136e-03 9.99887833e-01 1.65616465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.880714057 meters Centerline goodness [0,1] 0.9693004173445569 Centerline is valid? [True, True] Translation: X:556.69, Y:-27.09, Z:1.66 [[ 9.99889671e-01 -2.63757428e-03 -1.46181207e-02 5.56694273e+02] [ 2.65434072e-03 9.99995841e-01 1.12767939e-03 -2.70939861e+01] [ 1.46150856e-02 -1.16635645e-03 9.99892514e-01 1.65744799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.910714057 meters Centerline goodness [0,1] 0.9652736904061212 Centerline is valid? [True, True] Translation: X:556.72, Y:-27.11, Z:1.66 [[ 9.99882474e-01 -4.33900575e-03 -1.47041554e-02 5.56722111e+02] [ 4.35614149e-03 9.99989870e-01 1.13353886e-03 -2.71050287e+01] [ 1.46990880e-02 -1.19745902e-03 9.99891246e-01 1.65725250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9407140569999 meters Centerline goodness [0,1] 0.9680931284758224 Centerline is valid? [True, True] Translation: X:556.75, Y:-27.10, Z:1.66 [[ 9.99880901e-01 -5.25857382e-03 -1.45096797e-02 5.56751352e+02] [ 5.27530445e-03 9.99985464e-01 1.11503395e-03 -2.71012995e+01] [ 1.45036053e-02 -1.19144412e-03 9.99894107e-01 1.65859729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9707140569999 meters Centerline goodness [0,1] 0.966753600714269 Centerline is valid? [True, True] Translation: X:556.78, Y:-27.11, Z:1.66 [[ 9.99894414e-01 -6.44077692e-03 -1.30260577e-02 5.56778382e+02] [ 6.45434475e-03 9.99978671e-01 9.99820490e-04 -2.71094819e+01] [ 1.30193403e-02 -1.08378959e-03 9.99914657e-01 1.65878453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.000714057 meters Centerline goodness [0,1] 0.9632881459108895 Centerline is valid? [True, True] Translation: X:556.81, Y:-27.11, Z:1.66 [[ 9.99899011e-01 -7.06409723e-03 -1.23314787e-02 5.56806358e+02] [ 7.07629062e-03 9.99974516e-01 9.45449762e-04 -2.71141629e+01] [ 1.23244857e-02 -1.03261541e-03 9.99923517e-01 1.65900888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.030714057 meters Centerline goodness [0,1] 0.9671101774042951 Centerline is valid? [True, True] Translation: X:556.84, Y:-27.11, Z:1.66 [[ 9.99905230e-01 -7.67198855e-03 -1.14311358e-02 5.56835372e+02] [ 7.68247406e-03 9.99970108e-01 8.73647697e-04 -2.71134071e+01] [ 1.14240915e-02 -9.61384306e-04 9.99934281e-01 1.66064844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0607140569999 meters Centerline goodness [0,1] 0.9644894333270994 Centerline is valid? [True, True] Translation: X:556.86, Y:-27.12, Z:1.66 [[ 9.99905089e-01 -8.07986631e-03 -1.11592013e-02 5.56863683e+02] [ 8.08987427e-03 9.99966913e-01 8.51985974e-04 -2.71189174e+01] [ 1.11519482e-02 -9.42181647e-04 9.99937371e-01 1.66059488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0907140569999 meters Centerline goodness [0,1] 0.962176819860676 Centerline is valid? [True, True] Translation: X:556.89, Y:-27.13, Z:1.66 [[ 9.99893791e-01 -9.11925227e-03 -1.13686017e-02 5.56892093e+02] [ 9.12969924e-03 9.99957947e-01 8.67371847e-04 -2.71259205e+01] [ 1.13602138e-02 -9.71071639e-04 9.99934999e-01 1.65986697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.120714057 meters Centerline goodness [0,1] 0.9631645333084182 Centerline is valid? [True, True] Translation: X:556.92, Y:-27.12, Z:1.66 [[ 9.99893719e-01 -9.21500210e-03 -1.12975414e-02 5.56921495e+02] [ 9.22529657e-03 9.99957077e-01 8.59437901e-04 -2.71248515e+01] [ 1.12891368e-02 -9.63569730e-04 9.99935811e-01 1.66003475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.150714057 meters Centerline goodness [0,1] 0.9643908593859526 Centerline is valid? [True, True] Translation: X:556.95, Y:-27.13, Z:1.66 [[ 9.99893060e-01 -8.64162060e-03 -1.17978994e-02 5.56950130e+02] [ 8.65279933e-03 9.99962162e-01 8.96802926e-04 -2.71304507e+01] [ 1.17897031e-02 -9.98791878e-04 9.99930000e-01 1.65884214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1807140569999 meters Centerline goodness [0,1] 0.9624728698452706 Centerline is valid? [True, True] Translation: X:556.98, Y:-27.13, Z:1.66 [[ 9.99886282e-01 -8.40175473e-03 -1.25233539e-02 5.56978797e+02] [ 8.41432378e-03 9.99964146e-01 9.51296006e-04 -2.71348198e+01] [ 1.25149123e-02 -1.05656338e-03 9.99921127e-01 1.65790855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2107140569999 meters Centerline goodness [0,1] 0.9612820512820512 Centerline is valid? [True, True] Translation: X:557.01, Y:-27.14, Z:1.66 [[ 9.99884800e-01 -7.66394098e-03 -1.31015247e-02 5.57007598e+02] [ 7.67759538e-03 9.99970035e-01 9.92220490e-04 -2.71379675e+01] [ 1.30935278e-02 -1.09269439e-03 9.99913679e-01 1.65706891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.240714057 meters Centerline goodness [0,1] 0.9595117178400038 Centerline is valid? [True, True] Translation: X:557.04, Y:-27.14, Z:1.66 [[ 9.99886062e-01 -7.38853750e-03 -1.31633399e-02 5.57035195e+02] [ 7.40228179e-03 9.99972107e-01 9.95718008e-04 -2.71419688e+01] [ 1.31556158e-02 -1.09304331e-03 9.99912864e-01 1.65648691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.270714057 meters Centerline goodness [0,1] 0.9578062020922159 Centerline is valid? [True, True] Translation: X:557.06, Y:-27.15, Z:1.66 [[ 9.99900413e-01 -6.64871419e-03 -1.24482398e-02 5.57064136e+02] [ 6.66091551e-03 9.99977375e-01 9.38960688e-04 -2.71460026e+01] [ 1.24417152e-02 -1.02178385e-03 9.99922077e-01 1.65674187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3007140569999 meters Centerline goodness [0,1] 0.9625844004656577 Centerline is valid? [True, True] Translation: X:557.09, Y:-27.14, Z:1.66 [[ 9.99904318e-01 -6.53245269e-03 -1.21935227e-02 5.57093755e+02] [ 6.54413096e-03 9.99978165e-01 9.18089307e-04 -2.71419830e+01] [ 1.21872591e-02 -9.97797472e-04 9.99925235e-01 1.65761268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3307140569999 meters Centerline goodness [0,1] 0.9574884175726958 Centerline is valid? [True, True] Translation: X:557.12, Y:-27.15, Z:1.66 [[ 9.99908878e-01 -6.28985681e-03 -1.19446211e-02 5.57121103e+02] [ 6.30103336e-03 9.99979745e-01 8.98294266e-04 -2.71508679e+01] [ 1.19387290e-02 -9.73475867e-04 9.99928257e-01 1.65670248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.360714057 meters Centerline goodness [0,1] 0.9637772194304858 Centerline is valid? [True, True] Translation: X:557.15, Y:-27.15, Z:1.66 [[ 9.99925781e-01 -4.93934383e-03 -1.11371380e-02 5.57151454e+02] [ 4.94897247e-03 9.99987403e-01 8.37158068e-04 -2.71455226e+01] [ 1.11328627e-02 -8.92213323e-04 9.99937630e-01 1.65809914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.390714057 meters Centerline goodness [0,1] 0.9637772194304858 Centerline is valid? [True, True] Translation: X:557.18, Y:-27.15, Z:1.66 [[ 9.99924363e-01 -5.21801951e-03 -1.11373630e-02 5.57178857e+02] [ 5.22763213e-03 9.99985988e-01 8.34159096e-04 -2.71474967e+01] [ 1.11328543e-02 -8.92318039e-04 9.99937630e-01 1.65811098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4207140569999 meters Centerline goodness [0,1] 0.9615814473316568 Centerline is valid? [True, True] Translation: X:557.21, Y:-27.15, Z:1.66 [[ 9.99942101e-01 -4.21575495e-03 -9.90059936e-03 5.57206835e+02] [ 4.22329474e-03 9.99990807e-01 7.40765094e-04 -2.71545994e+01] [ 9.89738546e-03 -7.82535354e-04 9.99950713e-01 1.65800471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4507140569999 meters Centerline goodness [0,1] 0.9630449988342271 Centerline is valid? [True, True] Translation: X:557.24, Y:-27.15, Z:1.66 [[ 9.99950678e-01 -3.00704115e-03 -9.46565584e-03 5.57235788e+02] [ 3.01387305e-03 9.99995208e-01 7.07574388e-04 -2.71516793e+01] [ 9.46348278e-03 -7.36067774e-04 9.99954949e-01 1.65887418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4807140569999 meters Centerline goodness [0,1] 0.9655607476635514 Centerline is valid? [True, True] Translation: X:557.26, Y:-27.15, Z:1.66 [[ 9.99951496e-01 -2.81047316e-03 -9.43959847e-03 5.57264681e+02] [ 2.81723763e-03 9.99995784e-01 7.03385093e-04 -2.71504200e+01] [ 9.43758183e-03 -7.29944568e-04 9.99955199e-01 1.65872975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.510714057 meters Centerline goodness [0,1] 0.9623717484282609 Centerline is valid? [True, True] Translation: X:557.29, Y:-27.16, Z:1.66 [[ 9.99944187e-01 -3.18514426e-03 -1.00736539e-02 5.57291964e+02] [ 3.19285734e-03 9.99994622e-01 7.49678908e-04 -2.71573014e+01] [ 1.00712119e-02 -7.81800806e-04 9.99948978e-01 1.65685630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.540714057 meters Centerline goodness [0,1] 0.9661961973638167 Centerline is valid? [True, True] Translation: X:557.32, Y:-27.15, Z:1.66 [[ 9.99937889e-01 -3.70185146e-03 -1.05125858e-02 5.57320680e+02] [ 3.71026996e-03 9.99992812e-01 7.81412482e-04 -2.71530363e+01] [ 1.05096175e-02 -8.20368479e-04 9.99944436e-01 1.65704120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5707140569999 meters Centerline goodness [0,1] 0.9628919045390735 Centerline is valid? [True, True] Translation: X:557.35, Y:-27.16, Z:1.66 [[ 9.99913867e-01 -6.57574937e-03 -1.13586365e-02 5.57348880e+02] [ 6.58575906e-03 9.99977957e-01 8.44061007e-04 -2.71623048e+01] [ 1.13528357e-02 -9.18793548e-04 9.99935132e-01 1.65593306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6007140569999 meters Centerline goodness [0,1] 0.9621199728927629 Centerline is valid? [True, True] Translation: X:557.38, Y:-27.17, Z:1.66 [[ 9.99898230e-01 -8.52661656e-03 -1.14379445e-02 5.57378409e+02] [ 8.53689107e-03 9.99963199e-01 8.49759527e-04 -2.71664289e+01] [ 1.14302780e-02 -9.47317534e-04 9.99934224e-01 1.65604505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.630714057 meters Centerline goodness [0,1] 0.9549368742853143 Centerline is valid? [True, True] Translation: X:557.41, Y:-27.17, Z:1.66 [[ 9.99862648e-01 -1.21512017e-02 -1.12709117e-02 5.57407679e+02] [ 1.21614067e-02 9.99925697e-01 8.37329772e-04 -2.71738291e+01] [ 1.12598996e-02 -9.74284904e-04 9.99936131e-01 1.65605443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.660714057 meters Centerline goodness [0,1] 0.9449708284714119 Centerline is valid? [True, False] Translation: X:557.41, Y:-27.17, Z:1.66 [[ 9.99861820e-01 -1.23545838e-02 -1.11222959e-02 5.57407517e+02] [ 1.23656513e-02 9.99923113e-01 9.26850201e-04 -2.71742619e+01] [ 1.11099899e-02 -1.06425656e-03 9.99937716e-01 1.65578500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6907140569999 meters Centerline goodness [0,1] 0.963156049094097 Centerline is valid? [False, True] Translation: X:557.41, Y:-27.17, Z:1.66 [[ 9.99861538e-01 -1.25125548e-02 -1.09699971e-02 5.57407200e+02] [ 1.25218688e-02 9.99921294e-01 7.80765056e-04 -2.71736697e+01] [ 1.09593643e-02 -9.18021814e-04 9.99939523e-01 1.65590363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7207140569999 meters Centerline goodness [0,1] 0.9506475896572685 Centerline is valid? [True, True] Translation: X:557.44, Y:-27.18, Z:1.66 [[ 9.99880324e-01 -1.20955612e-02 -9.64543639e-03 5.57436645e+02] [ 1.21032561e-02 9.99926479e-01 7.39803793e-04 -2.71818175e+01] [ 9.63577891e-03 -8.56456443e-04 9.99953208e-01 1.65550430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.750714057 meters Centerline goodness [0,1] 0.9633915421838839 Centerline is valid? [True, True] Translation: X:557.47, Y:-27.17, Z:1.66 [[ 9.99897245e-01 -1.12125503e-02 -8.93190698e-03 5.57468329e+02] [ 1.12191152e-02 9.99936829e-01 6.85218857e-04 -2.71736374e+01] [ 8.92365969e-03 -7.85356540e-04 9.99959875e-01 1.65687862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.780714057 meters Centerline goodness [0,1] 0.957761648325919 Centerline is valid? [True, True] Translation: X:557.50, Y:-27.18, Z:1.66 [[ 9.99908877e-01 -1.04006397e-02 -8.60606642e-03 5.57498219e+02] [ 1.04067057e-02 9.99945631e-01 6.60372926e-04 -2.71818025e+01] [ 8.59873021e-03 -7.49873551e-04 9.99962749e-01 1.65659253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8107140569999 meters Centerline goodness [0,1] 0.9620511138700836 Centerline is valid? [True, True] Translation: X:557.53, Y:-27.18, Z:1.66 [[ 9.99924701e-01 -9.37802544e-03 -7.91480420e-03 5.57529642e+02] [ 9.38312538e-03 9.99955793e-01 6.07466159e-04 -2.71789887e+01] [ 7.90875748e-03 -6.81686018e-04 9.99968493e-01 1.65791906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8407140569999 meters Centerline goodness [0,1] 0.9600552253474984 Centerline is valid? [True, True] Translation: X:557.56, Y:-27.18, Z:1.66 [[ 9.99936688e-01 -8.88097776e-03 -6.90994730e-03 5.57559656e+02] [ 8.88485393e-03 9.99960388e-01 5.30459787e-04 -2.71836442e+01] [ 6.90496258e-03 -5.91820076e-04 9.99975985e-01 1.65820557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.870714057 meters Centerline goodness [0,1] 0.9599925175953422 Centerline is valid? [True, True] Translation: X:557.59, Y:-27.19, Z:1.66 [[ 9.99941725e-01 -8.51544839e-03 -6.63586220e-03 5.57589988e+02] [ 8.51901526e-03 9.99963583e-01 5.09433891e-04 -2.71857649e+01] [ 6.63128248e-03 -5.65935215e-04 9.99977853e-01 1.65841621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.900714057 meters Centerline goodness [0,1] 0.9228717804758229 Centerline is valid? [True, False] Translation: X:557.59, Y:-27.19, Z:1.66 [[ 9.99943036e-01 -8.24496621e-03 -6.77832046e-03 5.57590690e+02] [ 8.25048430e-03 9.99965655e-01 7.86519609e-04 -2.71857123e+01] [ 6.77160283e-03 -8.42399232e-04 9.99976718e-01 1.65780651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9307140569999 meters Centerline goodness [0,1] 0.962822582531995 Centerline is valid? [False, True] Translation: X:557.59, Y:-27.18, Z:1.66 [[ 9.99942650e-01 -7.90994186e-03 -7.22004917e-03 5.57592201e+02] [ 7.91556085e-03 9.99968390e-01 7.50003515e-04 -2.71844761e+01] [ 7.21388846e-03 -8.07111241e-04 9.99973654e-01 1.65704940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9607140569999 meters Centerline goodness [0,1] 0.9616277706110004 Centerline is valid? [True, True] Translation: X:557.62, Y:-27.19, Z:1.66 [[ 9.99933584e-01 -7.50823869e-03 -8.74378785e-03 5.57621042e+02] [ 7.51435159e-03 9.99971545e-01 6.66470571e-04 -2.71882547e+01] [ 8.73853503e-03 -7.32130203e-04 9.99961550e-01 1.65605424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.990714057 meters Centerline goodness [0,1] 0.9603059165767373 Centerline is valid? [True, True] Translation: X:557.65, Y:-27.19, Z:1.65 [[ 9.99944831e-01 -5.11757612e-03 -9.17309590e-03 5.57650218e+02] [ 5.12420122e-03 9.99986627e-01 6.98874550e-04 -2.71916368e+01] [ 9.16939668e-03 -7.45840783e-04 9.99957682e-01 1.65468532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.020714057 meters Centerline goodness [0,1] 0.966786101551082 Centerline is valid? [True, True] Translation: X:557.68, Y:-27.18, Z:1.66 [[ 9.99951454e-01 -4.06111541e-03 -8.97762250e-03 5.57680024e+02] [ 4.06739933e-03 9.99991496e-01 6.81806678e-04 -2.71824391e+01] [ 8.97477725e-03 -7.18289155e-04 9.99959468e-01 1.65632438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0507140569999 meters Centerline goodness [0,1] 0.9672876286474648 Centerline is valid? [True, True] Translation: X:557.71, Y:-27.18, Z:1.66 [[ 9.99969839e-01 1.77621189e-04 -7.76460568e-03 5.57711003e+02] [-1.73047270e-04 9.99999811e-01 5.89740842e-04 -2.71806641e+01] [ 7.76470896e-03 -5.88379411e-04 9.99969681e-01 1.65718947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0807140569999 meters Centerline goodness [0,1] 0.9692692598187311 Centerline is valid? [True, True] Translation: X:557.74, Y:-27.18, Z:1.66 [[ 9.99970054e-01 2.94505637e-03 -7.15672126e-03 5.57741407e+02] [-2.94124206e-03 9.99995527e-01 5.43435623e-04 -2.71787805e+01] [ 7.15828970e-03 -5.22369700e-04 9.99974243e-01 1.65877022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.110714057 meters Centerline goodness [0,1] 0.9695875802189505 Centerline is valid? [True, True] Translation: X:557.77, Y:-27.18, Z:1.66 [[ 9.99938059e-01 9.58796666e-03 -5.65240658e-03 5.57771407e+02] [-9.58569313e-03 9.99953964e-01 4.29179232e-04 -2.71771500e+01] [ 5.65626132e-03 -3.74970413e-04 9.99983933e-01 1.65994003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.140714057 meters Centerline goodness [0,1] 0.9706629322826422 Centerline is valid? [True, True] Translation: X:557.80, Y:-27.17, Z:1.66 [[ 9.99914460e-01 1.22273859e-02 -4.64370172e-03 5.57801792e+02] [-1.22258802e-02 9.99925199e-01 3.52501339e-04 -2.71743260e+01] [ 4.64766454e-03 -2.95697845e-04 9.99989156e-01 1.66107172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1707140569999 meters Centerline goodness [0,1] 0.9708458279784854 Centerline is valid? [True, True] Translation: X:557.83, Y:-27.18, Z:1.66 [[ 9.99878802e-01 1.51112582e-02 -3.74584979e-03 5.57830731e+02] [-1.51102992e-02 9.99885793e-01 2.84204214e-04 -2.71764368e+01] [ 3.74971667e-03 -2.27568858e-04 9.99992944e-01 1.66165310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2007140569999 meters Centerline goodness [0,1] 0.9718343420864509 Centerline is valid? [True, True] Translation: X:557.86, Y:-27.17, Z:1.66 [[ 9.99812348e-01 1.91203199e-02 -3.11160448e-03 5.57861438e+02] [-1.91196775e-02 9.99817174e-01 2.36077913e-04 -2.71730227e+01] [ 3.11554949e-03 -1.76540739e-04 9.99995131e-01 1.66265173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2307140569999 meters Centerline goodness [0,1] 0.9725247229834386 Centerline is valid? [True, True] Translation: X:557.89, Y:-27.18, Z:1.66 [[ 9.99784885e-01 2.06078442e-02 -2.34510064e-03 5.57889416e+02] [-2.06074838e-02 9.99787627e-01 1.77730246e-04 -2.71761234e+01] [ 2.34826525e-03 -1.29365390e-04 9.99997234e-01 1.66248615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.260714057 meters Centerline goodness [0,1] 0.9521537561326912 Centerline is valid? [True, True] Translation: X:557.92, Y:-27.21, Z:1.66 [[ 9.99719061e-01 2.36814989e-02 -9.92533149e-04 5.57915790e+02] [-2.36814359e-02 9.99719553e-01 7.51914290e-05 -2.72075091e+01] [ 9.94035441e-04 -5.16656947e-05 9.99999505e-01 1.66214360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.290714057 meters Centerline goodness [0,1] 0.9728493855387254 Centerline is valid? [True, True] Translation: X:557.95, Y:-27.18, Z:1.66 [[ 9.99825748e-01 1.83099402e-02 -3.63581074e-03 5.57948528e+02] [-1.83090591e-02 9.99832337e-01 2.75480419e-04 -2.71800223e+01] [ 3.64024518e-03 -2.08864143e-04 9.99993352e-01 1.66094380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3207140569999 meters Centerline goodness [0,1] 0.9691331622469347 Centerline is valid? [True, True] Translation: X:557.98, Y:-27.19, Z:1.66 [[ 9.99833953e-01 1.75081186e-02 -5.05294468e-03 5.57975420e+02] [-1.75064090e-02 9.99846678e-01 3.82369880e-04 -2.71906907e+01] [ 5.05886453e-03 -2.93847472e-04 9.99987161e-01 1.65928843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3507140569999 meters Centerline goodness [0,1] 0.9685422602089269 Centerline is valid? [True, True] Translation: X:558.00, Y:-27.19, Z:1.66 [[ 9.99850752e-01 1.60335660e-02 -6.43419871e-03 5.58004480e+02] [-1.60307654e-02 9.99871381e-01 4.86596605e-04 -2.71946431e+01] [ 6.44117302e-03 -3.83378851e-04 9.99979182e-01 1.65742516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.380714057 meters Centerline goodness [0,1] 0.9683173019831374 Centerline is valid? [True, True] Translation: X:558.03, Y:-27.20, Z:1.66 [[ 9.99862811e-01 1.40574051e-02 -8.76057541e-03 5.58033995e+02] [-1.40521401e-02 9.99901044e-01 6.62252841e-04 -2.71986056e+01] [ 8.76901806e-03 -5.39057154e-04 9.99961406e-01 1.65521728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.410714057 meters Centerline goodness [0,1] 0.965959464264549 Centerline is valid? [True, True] Translation: X:558.06, Y:-27.21, Z:1.65 [[ 9.99874143e-01 1.29776932e-02 -9.12560440e-03 5.58060748e+02] [-1.29719464e-02 9.99915624e-01 6.88653748e-04 -2.72058739e+01] [ 9.13377155e-03 -5.70190226e-04 9.99958124e-01 1.65418418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4407140569999 meters Centerline goodness [0,1] 0.9699895615866388 Centerline is valid? [True, True] Translation: X:558.09, Y:-27.20, Z:1.66 [[ 9.99903266e-01 1.06941457e-02 -8.89352414e-03 5.58090417e+02] [-1.06886015e-02 9.99942650e-01 6.70692301e-04 -2.71978621e+01] [ 8.90018658e-03 -5.75568086e-04 9.99960227e-01 1.65658546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4707140569999 meters Centerline goodness [0,1] 0.9691412281743675 Centerline is valid? [True, True] Translation: X:558.12, Y:-27.20, Z:1.66 [[ 9.99920364e-01 9.45577009e-03 -8.35781973e-03 5.58119022e+02] [-9.45083573e-03 9.99955142e-01 6.29686650e-04 -2.72007487e+01] [ 8.36339898e-03 -5.50648123e-04 9.99964875e-01 1.65732752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.500714057 meters Centerline goodness [0,1] 0.9693207931581815 Centerline is valid? [True, True] Translation: X:558.15, Y:-27.20, Z:1.66 [[ 9.99949271e-01 7.18206847e-03 -7.06214156e-03 5.58148334e+02] [-7.17849073e-03 9.99974093e-01 5.31826646e-04 -2.72045492e+01] [ 7.06577822e-03 -4.81104149e-04 9.99974921e-01 1.65854805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.530714057 meters Centerline goodness [0,1] 0.9684437801029729 Centerline is valid? [True, True] Translation: X:558.18, Y:-27.21, Z:1.66 [[ 9.99962093e-01 5.62409074e-03 -6.64695658e-03 5.58178130e+02] [-5.62088864e-03 9.99984078e-01 5.00322616e-04 -2.72082266e+01] [ 6.64966461e-03 -4.62941848e-04 9.99977784e-01 1.65935270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5607140569999 meters Centerline goodness [0,1] 0.9636333522619723 Centerline is valid? [True, True] Translation: X:558.21, Y:-27.22, Z:1.66 [[ 9.99974701e-01 2.29409066e-03 -6.73307373e-03 5.58206361e+02] [-2.29073077e-03 9.99997248e-01 5.06682117e-04 -2.72182657e+01] [ 6.73421758e-03 -4.91245640e-04 9.99977204e-01 1.65904855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5907140569999 meters Centerline goodness [0,1] 0.9643895864368305 Centerline is valid? [True, True] Translation: X:558.24, Y:-27.22, Z:1.66 [[ 9.99976402e-01 3.94711116e-04 -6.85849315e-03 5.58236554e+02] [-3.91182190e-04 9.99999790e-01 5.15867608e-04 -2.72152561e+01] [ 6.85869533e-03 -5.13172515e-04 9.99976347e-01 1.65981946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.620714057 meters Centerline goodness [0,1] 0.9616157318773784 Centerline is valid? [True, True] Translation: X:558.27, Y:-27.23, Z:1.66 [[ 9.99963688e-01 -3.49270714e-03 -7.77322823e-03 5.58265108e+02] [ 3.49735592e-03 9.99993713e-01 5.84537318e-04 -2.72250188e+01] [ 7.77113774e-03 -6.11701839e-04 9.99969617e-01 1.65963283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.650714057 meters Centerline goodness [0,1] 0.9643227937706466 Centerline is valid? [True, True] Translation: X:558.30, Y:-27.22, Z:1.66 [[ 9.99953570e-01 -5.23621184e-03 -8.08943438e-03 5.58295121e+02] [ 5.24130083e-03 9.99986079e-01 6.08018754e-04 -2.72230182e+01] [ 8.08613806e-03 -6.50389683e-04 9.99967095e-01 1.65979778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6807140569999 meters Centerline goodness [0,1] 0.9606447659895367 Centerline is valid? [True, True] Translation: X:558.32, Y:-27.23, Z:1.66 [[ 9.99922859e-01 -7.77624932e-03 -9.68537736e-03 5.58324104e+02] [ 7.78365952e-03 9.99969442e-01 7.27631479e-04 -2.72295697e+01] [ 9.67942315e-03 -8.02963028e-04 9.99952831e-01 1.65825958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7107140569999 meters Centerline goodness [0,1] 0.9619061072656213 Centerline is valid? [True, True] Translation: X:558.35, Y:-27.23, Z:1.66 [[ 9.99908969e-01 -8.51875627e-03 -1.04634783e-02 5.58353934e+02] [ 8.52744156e-03 9.99963332e-01 7.85723068e-04 -2.72332257e+01] [ 1.04564012e-02 -8.74878243e-04 9.99944948e-01 1.65794513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.740714057 meters Centerline goodness [0,1] 0.9605653710247349 Centerline is valid? [True, True] Translation: X:558.38, Y:-27.24, Z:1.66 [[ 9.99890371e-01 -9.28582405e-03 -1.15334443e-02 5.58382587e+02] [ 9.29642024e-03 9.99956413e-01 8.65463398e-04 -2.72372032e+01] [ 1.15249051e-02 -9.72588263e-04 9.99933113e-01 1.65701262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.770714057 meters Centerline goodness [0,1] 0.9604583716488647 Centerline is valid? [True, True] Translation: X:558.41, Y:-27.24, Z:1.66 [[ 9.99868006e-01 -1.03930410e-02 -1.24882319e-02 5.58411681e+02] [ 1.04055379e-02 9.99945423e-01 9.36137315e-04 -2.72376478e+01] [ 1.24778210e-02 -1.06596052e-03 9.99921581e-01 1.65629527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8007140569999 meters Centerline goodness [0,1] 0.9643211334120425 Centerline is valid? [True, True] Translation: X:558.44, Y:-27.23, Z:1.66 [[ 9.99860925e-01 -1.04681815e-02 -1.29826189e-02 5.58441606e+02] [ 1.04816880e-02 9.99944592e-01 9.72748336e-04 -2.72330915e+01] [ 1.29717166e-02 -1.10869281e-03 9.99915249e-01 1.65738408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8307140569999 meters Centerline goodness [0,1] 0.9599140171020929 Centerline is valid? [True, True] Translation: X:558.47, Y:-27.24, Z:1.66 [[ 9.99860567e-01 -1.03444397e-02 -1.31087521e-02 5.58470167e+02] [ 1.03581879e-02 9.99945871e-01 9.81319388e-04 -2.72393518e+01] [ 1.30978913e-02 -1.11696548e-03 9.99913595e-01 1.65682338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.860714057 meters Centerline goodness [0,1] 0.9534971734039785 Centerline is valid? [True, True] Translation: X:558.50, Y:-27.24, Z:1.66 [[ 9.99875127e-01 -9.42812862e-03 -1.26823082e-02 5.58498754e+02] [ 9.44091539e-03 9.99954983e-01 9.48744663e-04 -2.72435711e+01] [ 1.26727924e-02 -1.06835879e-03 9.99919126e-01 1.65679266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.890714057 meters Centerline goodness [0,1] 0.9630429110230804 Centerline is valid? [True, True] Translation: X:558.53, Y:-27.24, Z:1.66 [[ 9.99882261e-01 -8.78102723e-03 -1.25840495e-02 5.58528021e+02] [ 8.79352597e-03 9.99960896e-01 9.38232719e-04 -2.72351846e+01] [ 1.25753187e-02 -1.04878042e-03 9.99920378e-01 1.65811127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9207140569999 meters Centerline goodness [0,1] 0.963963963963964 Centerline is valid? [True, True] Translation: X:558.56, Y:-27.24, Z:1.66 [[ 9.99900849e-01 -7.04712765e-03 -1.21914096e-02 5.58557112e+02] [ 7.05872631e-03 9.99974674e-01 9.08611000e-04 -2.72362791e+01] [ 1.21846977e-02 -9.94576733e-04 9.99925269e-01 1.65813886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9507140569999 meters Centerline goodness [0,1] 0.9653731059706455 Centerline is valid? [True, True] Translation: X:558.59, Y:-27.23, Z:1.66 [[ 9.99905842e-01 -6.75175442e-03 -1.19465933e-02 5.58585863e+02] [ 6.76283407e-03 9.99976738e-01 8.87276408e-04 -2.72347811e+01] [ 1.19403247e-02 -9.67985691e-04 9.99928243e-01 1.65832808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9807140569999 meters Centerline goodness [0,1] 0.9648349028489689 Centerline is valid? [True, True] Translation: X:558.62, Y:-27.23, Z:1.66 [[ 9.99903671e-01 -5.74943363e-03 -1.26330075e-02 5.58615166e+02] [ 5.76170645e-03 9.99982964e-01 9.35307676e-04 -2.72330255e+01] [ 1.26274148e-02 -1.00800526e-03 9.99919763e-01 1.65783231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.010714057 meters Centerline goodness [0,1] 0.9655057172184957 Centerline is valid? [True, True] Translation: X:558.64, Y:-27.23, Z:1.66 [[ 9.99900066e-01 -5.79977936e-03 -1.28926308e-02 5.58643857e+02] [ 5.81252426e-03 9.99982655e-01 9.51289915e-04 -2.72340462e+01] [ 1.28868899e-02 -1.02613358e-03 9.99916434e-01 1.65812366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.040714057 meters Centerline goodness [0,1] 0.9643813348632626 Centerline is valid? [True, True] Translation: X:558.67, Y:-27.24, Z:1.66 [[ 9.99904723e-01 -4.99277797e-03 -1.28692544e-02 5.58671304e+02] [ 5.00539643e-03 9.99987023e-01 9.48488855e-04 -2.72375968e+01] [ 1.28643518e-02 -1.01281421e-03 9.99916738e-01 1.65779405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0707140569999 meters Centerline goodness [0,1] 0.9624805459116486 Centerline is valid? [True, True] Translation: X:558.70, Y:-27.24, Z:1.66 [[ 9.99901108e-01 -5.15700297e-03 -1.30835349e-02 5.58698479e+02] [ 5.17004435e-03 9.99986171e-01 9.63151085e-04 -2.72419271e+01] [ 1.30783870e-02 -1.03069829e-03 9.99913943e-01 1.65760591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1007140569999 meters Centerline goodness [0,1] 0.9623563218390805 Centerline is valid? [True, True] Translation: X:558.73, Y:-27.24, Z:1.66 [[ 9.99900803e-01 -5.88000510e-03 -1.27988208e-02 5.58726715e+02] [ 5.89252998e-03 9.99982196e-01 9.41105956e-04 -2.72445328e+01] [ 1.27930592e-02 -1.01643004e-03 9.99917649e-01 1.65852882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.130714057 meters Centerline goodness [0,1] 0.9600478182904961 Centerline is valid? [True, True] Translation: X:558.76, Y:-27.25, Z:1.66 [[ 9.99905980e-01 -6.61009797e-03 -1.20140923e-02 5.58755039e+02] [ 6.62115125e-03 9.99977692e-01 8.80483341e-04 -2.72464835e+01] [ 1.20080043e-02 -9.59947680e-04 9.99927441e-01 1.65895687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.160714057 meters Centerline goodness [0,1] 0.9592211696771576 Centerline is valid? [True, True] Translation: X:558.78, Y:-27.25, Z:1.66 [[ 9.99913174e-01 -7.07748983e-03 -1.11154510e-02 5.58782960e+02] [ 7.08696512e-03 9.99974556e-01 8.13285820e-04 -2.72499729e+01] [ 1.11094122e-02 -8.91990020e-04 9.99937891e-01 1.65918642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1907140569999 meters Centerline goodness [0,1] 0.9626669219355765 Centerline is valid? [True, True] Translation: X:558.81, Y:-27.25, Z:1.66 [[ 9.99918458e-01 -7.34941537e-03 -1.04432980e-02 5.58812444e+02] [ 7.35776700e-03 9.99972641e-01 7.61516141e-04 -2.72461555e+01] [ 1.04374156e-02 -8.38293399e-04 9.99945177e-01 1.66032616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2207140569999 meters Centerline goodness [0,1] 0.9629097182288672 Centerline is valid? [True, True] Translation: X:558.84, Y:-27.24, Z:1.66 [[ 9.99923978e-01 -6.69796062e-03 -1.03525824e-02 5.58841925e+02] [ 6.70610895e-03 9.99977231e-01 7.52568355e-04 -2.72444802e+01] [ 1.03473060e-02 -8.21936688e-04 9.99946127e-01 1.66079714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.250714057 meters Centerline goodness [0,1] 0.9668829608267243 Centerline is valid? [True, True] Translation: X:558.87, Y:-27.24, Z:1.66 [[ 9.99934512e-01 -6.30762887e-03 -9.54916246e-03 5.58871453e+02] [ 6.31453112e-03 9.99979823e-01 6.92834330e-04 -2.72410677e+01] [ 9.54459965e-03 -7.53087441e-04 9.99954166e-01 1.66194917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.280714057 meters Centerline goodness [0,1] 0.9660556197074672 Centerline is valid? [True, True] Translation: X:558.90, Y:-27.24, Z:1.66 [[ 9.99950566e-01 -3.95805845e-03 -9.12138409e-03 5.58900453e+02] [ 3.96425640e-03 9.99991924e-01 6.61516061e-04 -2.72413938e+01] [ 9.11869210e-03 -6.97642864e-04 9.99958181e-01 1.66222817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3107140569999 meters Centerline goodness [0,1] 0.9660556197074672 Centerline is valid? [True, True] Translation: X:558.93, Y:-27.24, Z:1.66 [[ 9.99949561e-01 -4.20379249e-03 -9.12155266e-03 5.58928686e+02] [ 4.20997949e-03 9.99990921e-01 6.59187833e-04 -2.72433921e+01] [ 9.11869875e-03 -6.97556134e-04 9.99958180e-01 1.66221647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3407140569999 meters Centerline goodness [0,1] 0.9665282071097372 Centerline is valid? [True, True] Translation: X:558.96, Y:-27.24, Z:1.66 [[ 9.99946813e-01 -3.76060933e-03 -9.60362223e-03 5.58957450e+02] [ 3.76742457e-03 9.99992664e-01 6.91659821e-04 -2.72436251e+01] [ 9.60095072e-03 -7.27803956e-04 9.99953645e-01 1.66220199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.370714057 meters Centerline goodness [0,1] 0.9665546990164569 Centerline is valid? [True, True] Translation: X:558.99, Y:-27.25, Z:1.66 [[ 9.99950107e-01 -2.49137251e-03 -9.67352687e-03 5.58985316e+02] [ 2.49822074e-03 9.99996637e-01 6.95915402e-04 -2.72458165e+01] [ 9.67176056e-03 -7.20047286e-04 9.99952968e-01 1.66141663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.400714057 meters Centerline goodness [0,1] 0.9647921405410638 Centerline is valid? [True, True] Translation: X:559.01, Y:-27.25, Z:1.66 [[ 9.99946880e-01 -2.79485325e-03 -9.92102613e-03 5.59012878e+02] [ 2.80204324e-03 9.99995822e-01 7.10896593e-04 -2.72475746e+01] [ 9.91899783e-03 -7.38657974e-04 9.99950533e-01 1.66029556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4307140569999 meters Centerline goodness [0,1] 0.9644469252050673 Centerline is valid? [True, True] Translation: X:559.04, Y:-27.25, Z:1.66 [[ 9.99933735e-01 -4.19964243e-03 -1.07186350e-02 5.59042638e+02] [ 4.20811252e-03 9.99990851e-01 7.67789830e-04 -2.72501601e+01] [ 1.07153125e-02 -8.12844174e-04 9.99942259e-01 1.65891955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4607140569999 meters Centerline goodness [0,1] 0.9625142358671157 Centerline is valid? [True, True] Translation: X:559.07, Y:-27.25, Z:1.66 [[ 9.99930470e-01 -5.15186510e-03 -1.06072381e-02 5.59071316e+02] [ 5.16018545e-03 9.99986399e-01 7.57183543e-04 -2.72530763e+01] [ 1.06031929e-02 -8.11866211e-04 9.99943455e-01 1.65830124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.490714057 meters Centerline goodness [0,1] 0.9628095168871444 Centerline is valid? [True, True] Translation: X:559.10, Y:-27.26, Z:1.66 [[ 9.99914048e-01 -6.75394530e-03 -1.12375129e-02 5.59099657e+02] [ 6.76337893e-03 9.99976807e-01 8.01684758e-04 -2.72566394e+01] [ 1.12318377e-02 -8.77619409e-04 9.99936536e-01 1.65802270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.520714057 meters Centerline goodness [0,1] 0.9596742829363151 Centerline is valid? [True, True] Translation: X:559.13, Y:-27.26, Z:1.66 [[ 9.99902298e-01 -7.76295679e-03 -1.16245701e-02 5.59128052e+02] [ 7.77311249e-03 9.99969446e-01 8.28714063e-04 -2.72611055e+01] [ 1.16177816e-02 -9.18992187e-04 9.99932089e-01 1.65817785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5507140569999 meters Centerline goodness [0,1] 0.9577499086813588 Centerline is valid? [True, True] Translation: X:559.16, Y:-27.26, Z:1.66 [[ 9.99903515e-01 -8.72109034e-03 -1.08122275e-02 5.59157008e+02] [ 8.72990350e-03 9.99961599e-01 7.68180963e-04 -2.72634162e+01] [ 1.08051129e-02 -8.62496548e-04 9.99941251e-01 1.65844108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5807140569999 meters Centerline goodness [0,1] 0.9569282945736434 Centerline is valid? [True, True] Translation: X:559.19, Y:-27.27, Z:1.66 [[ 9.99912007e-01 -9.21429686e-03 -9.54332426e-03 5.59185972e+02] [ 9.22119025e-03 9.99957254e-01 6.78575704e-04 -2.72658895e+01] [ 9.53666372e-03 -7.66516803e-04 9.99954231e-01 1.66031026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.610714057 meters Centerline goodness [0,1] 0.9589673448452727 Centerline is valid? [True, True] Translation: X:559.22, Y:-27.27, Z:1.66 [[ 9.99905866e-01 -1.02099115e-02 -9.16609934e-03 5.59216920e+02] [ 1.02163121e-02 9.99947600e-01 6.51734874e-04 -2.72658931e+01] [ 9.15896488e-03 -7.45317255e-04 9.99957778e-01 1.66114108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.640714057 meters Centerline goodness [0,1] 0.9589505796217206 Centerline is valid? [True, True] Translation: X:559.25, Y:-27.27, Z:1.66 [[ 9.99900558e-01 -1.07870542e-02 -9.08369975e-03 5.59247366e+02] [ 1.07933638e-02 9.99941541e-01 6.45876036e-04 -2.72674275e+01] [ 9.07620163e-03 -7.43855485e-04 9.99958534e-01 1.66172306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6707140569999 meters Centerline goodness [0,1] 0.9601443092899106 Centerline is valid? [True, True] Translation: X:559.28, Y:-27.27, Z:1.66 [[ 9.99884747e-01 -1.17233920e-02 -9.64650936e-03 5.59278600e+02] [ 1.17305544e-02 9.99930959e-01 6.86235113e-04 -2.72681586e+01] [ 9.63779835e-03 -7.99314925e-04 9.99953236e-01 1.66120862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7007140569999 meters Centerline goodness [0,1] 0.9568662830391105 Centerline is valid? [True, True] Translation: X:559.31, Y:-27.27, Z:1.66 [[ 9.99878776e-01 -1.19612985e-02 -9.96797004e-03 5.59308314e+02] [ 1.19689631e-02 9.99928118e-01 7.09623296e-04 -2.72724991e+01] [ 9.95876550e-03 -8.28843539e-04 9.99950067e-01 1.66111364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7307140569999 meters Centerline goodness [0,1] 0.9633334146519967 Centerline is valid? [True, True] Translation: X:559.34, Y:-27.27, Z:1.66 [[ 9.99879210e-01 -1.17573638e-02 -1.01651302e-02 5.59340115e+02] [ 1.17653277e-02 9.99930524e-01 7.24005992e-04 -2.72686828e+01] [ 1.01559116e-02 -8.43514627e-04 9.99948072e-01 1.66254152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.760714057 meters Centerline goodness [0,1] 0.9624613285912645 Centerline is valid? [True, True] Translation: X:559.37, Y:-27.27, Z:1.66 [[ 9.99880430e-01 -1.18536133e-02 -9.93060430e-03 5.59371187e+02] [ 1.18612221e-02 9.99929403e-01 7.07648694e-04 -2.72693373e+01] [ 9.92151503e-03 -8.25353184e-04 9.99950440e-01 1.66243354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.790714057 meters Centerline goodness [0,1] 0.9611662319299871 Centerline is valid? [True, True] Translation: X:559.40, Y:-27.27, Z:1.66 [[ 9.99895156e-01 -1.03462931e-02 -1.01307094e-02 5.59401651e+02] [ 1.03541365e-02 9.99946134e-01 7.22076441e-04 -2.72715521e+01] [ 1.01226929e-02 -8.26895484e-04 9.99948422e-01 1.66296905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8207140569999 meters Centerline goodness [0,1] 0.9652538015132593 Centerline is valid? [True, True] Translation: X:559.43, Y:-27.27, Z:1.66 [[ 9.99905332e-01 -9.36496583e-03 -1.00808671e-02 5.59432217e+02] [ 9.37268262e-03 9.99955817e-01 7.18516763e-04 -2.72667677e+01] [ 1.00736928e-02 -8.12933510e-04 9.99948929e-01 1.66360361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8507140569999 meters Centerline goodness [0,1] 0.9635282894254055 Centerline is valid? [True, True] Translation: X:559.46, Y:-27.27, Z:1.66 [[ 9.99911594e-01 -8.48350176e-03 -1.02388312e-02 5.59461169e+02] [ 8.49141445e-03 9.99963681e-01 7.29586969e-04 -2.72704421e+01] [ 1.02322699e-02 -8.16464629e-04 9.99947316e-01 1.66299772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.880714057 meters Centerline goodness [0,1] 0.96347873072011 Centerline is valid? [True, True] Translation: X:559.49, Y:-27.27, Z:1.66 [[ 9.99916595e-01 -7.39299091e-03 -1.05899112e-02 5.59491061e+02] [ 7.40139081e-03 9.99972325e-01 7.54226010e-04 -2.72721801e+01] [ 1.05840421e-02 -8.32543175e-04 9.99943641e-01 1.66286608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.910714057 meters Centerline goodness [0,1] 0.9619433198380567 Centerline is valid? [True, True] Translation: X:559.52, Y:-27.28, Z:1.66 [[ 9.99914035e-01 -7.76580221e-03 -1.05647832e-02 5.59519839e+02] [ 7.77417709e-03 9.99969498e-01 7.51879546e-04 -2.72763935e+01] [ 1.05586220e-02 -8.33947406e-04 9.99943908e-01 1.66339423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9407140569999 meters Centerline goodness [0,1] 0.9599460056448644 Centerline is valid? [True, True] Translation: X:559.55, Y:-27.28, Z:1.66 [[ 9.99909681e-01 -8.39831706e-03 -1.04927619e-02 5.59548631e+02] [ 8.40660904e-03 9.99964385e-01 7.46401664e-04 -2.72808242e+01] [ 1.04861197e-02 -8.34542797e-04 9.99944671e-01 1.66304912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9707140569999 meters Centerline goodness [0,1] 0.959077965435978 Centerline is valid? [True, True] Translation: X:559.58, Y:-27.28, Z:1.66 [[ 9.99904505e-01 -9.09165484e-03 -1.04078250e-02 5.59577994e+02] [ 9.09984673e-03 9.99958322e-01 7.40003571e-04 -2.72835527e+01] [ 1.04006634e-02 -8.34642516e-04 9.99945563e-01 1.66322606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.000714057 meters Centerline goodness [0,1] 0.9575787280970469 Centerline is valid? [True, True] Translation: X:559.61, Y:-27.29, Z:1.66 [[ 9.99883477e-01 -1.07906292e-02 -1.07978700e-02 5.59608340e+02] [ 1.07995452e-02 9.99941388e-01 7.67750665e-04 -2.72888352e+01] [ 1.07889526e-02 -8.84273291e-04 9.99941407e-01 1.66199634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.030714057 meters Centerline goodness [0,1] 0.9563320917467163 Centerline is valid? [True, True] Translation: X:559.64, Y:-27.29, Z:1.66 [[ 9.99872558e-01 -1.11665002e-02 -1.14095274e-02 5.59638612e+02] [ 1.11764793e-02 9.99937212e-01 8.11240753e-04 -2.72919176e+01] [ 1.13997523e-02 -9.38655713e-04 9.99934580e-01 1.66164595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0607140569999 meters Centerline goodness [0,1] 0.9531548757170172 Centerline is valid? [True, True] Translation: X:559.67, Y:-27.30, Z:1.66 [[ 9.99869698e-01 -1.06500787e-02 -1.21310312e-02 5.59668150e+02] [ 1.06613237e-02 9.99942794e-01 8.62663991e-04 -2.72958291e+01] [ 1.21211498e-02 -9.91884435e-04 9.99926044e-01 1.66122420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0907140569999 meters Centerline goodness [0,1] 0.9623464810138994 Centerline is valid? [True, True] Translation: X:559.70, Y:-27.29, Z:1.66 [[ 9.99881523e-01 -9.82476101e-03 -1.18496425e-02 5.59698912e+02] [ 9.83542744e-03 9.99951276e-01 8.42207445e-04 -2.72851902e+01] [ 1.18407906e-02 -9.58653961e-04 9.99929436e-01 1.66317699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.120714057 meters Centerline goodness [0,1] 0.9593362015980332 Centerline is valid? [True, True] Translation: X:559.73, Y:-27.29, Z:1.66 [[ 9.99906054e-01 -7.23874380e-03 -1.16397583e-02 5.59727715e+02] [ 7.24885675e-03 9.99973385e-01 8.26873866e-04 -2.72905810e+01] [ 1.16334630e-02 -9.11171126e-04 9.99931914e-01 1.66353587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.150714057 meters Centerline goodness [0,1] 0.9622701799233113 Centerline is valid? [True, True] Translation: X:559.76, Y:-27.29, Z:1.66 [[ 9.99916173e-01 -5.87191883e-03 -1.15398330e-02 5.59756744e+02] [ 5.88175882e-03 9.99982367e-01 8.18944071e-04 -2.72874338e+01] [ 1.15348208e-02 -8.86749936e-04 9.99933079e-01 1.66439242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1807140569999 meters Centerline goodness [0,1] 0.961671185605127 Centerline is valid? [True, True] Translation: X:559.79, Y:-27.29, Z:1.66 [[ 9.99933419e-01 -2.73239769e-03 -1.12112080e-02 5.59786089e+02] [ 2.74148638e-03 9.99995926e-01 7.95390706e-04 -2.72905638e+01] [ 1.12089890e-02 -8.26073122e-04 9.99936836e-01 1.66353136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2107140569999 meters Centerline goodness [0,1] 0.9584361124814997 Centerline is valid? [True, True] Translation: X:559.81, Y:-27.30, Z:1.66 [[ 9.99932180e-01 -1.03501203e-03 -1.16001399e-02 5.59814324e+02] [ 1.04462170e-03 9.99999116e-01 8.22381517e-04 -2.72952695e+01] [ 1.15992785e-02 -8.34443502e-04 9.99932378e-01 1.66287974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.240714057 meters Centerline goodness [0,1] 0.9648300695506339 Centerline is valid? [True, True] Translation: X:559.85, Y:-27.29, Z:1.66 [[ 9.99942487e-01 9.64278845e-04 -1.06814465e-02 5.59845010e+02] [-9.56246458e-04 9.99999256e-01 7.57075973e-04 -2.72879901e+01] [ 1.06821686e-02 -7.46818335e-04 9.99942665e-01 1.66443018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.270714057 meters Centerline goodness [0,1] 0.9623126761956575 Centerline is valid? [True, True] Translation: X:559.87, Y:-27.29, Z:1.66 [[ 9.99941701e-01 2.06216861e-03 -1.05991780e-02 5.59872808e+02] [-2.05433093e-03 9.99997608e-01 7.50295033e-04 -2.72916479e+01] [ 1.06006999e-02 -7.28477072e-04 9.99943546e-01 1.66425568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3007140569999 meters Centerline goodness [0,1] 0.8023948014177952 Centerline is valid? [True, False] Translation: X:559.92, Y:-27.29, Z:1.67 [[ 9.99950757e-01 8.31564349e-04 -9.88894408e-03 5.59924957e+02] [-8.77526020e-04 9.99988830e-01 -4.64435309e-03 -2.72908379e+01] [ 9.88497154e-03 4.65280220e-03 9.99940318e-01 1.66656976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3307140569999 meters Centerline goodness [0,1] 0.9626038437693738 Centerline is valid? [False, True] Translation: X:559.84, Y:-27.29, Z:1.66 [[ 9.99957235e-01 3.59522276e-03 -8.52074191e-03 5.59844830e+02] [-3.59596142e-03 9.99993532e-01 -7.13714590e-05 -2.72889738e+01] [ 8.52043020e-03 1.02008666e-04 9.99963695e-01 1.66258058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.360714057 meters Centerline goodness [0,1] 0.966506465837586 Centerline is valid? [True, True] Translation: X:559.87, Y:-27.29, Z:1.66 [[ 9.99949342e-01 4.33920019e-03 -9.08206493e-03 5.59873580e+02] [-4.33363742e-03 9.99990410e-01 6.32090119e-04 -2.72851510e+01] [ 9.08472060e-03 -5.92699722e-04 9.99958557e-01 1.66218863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.390714057 meters Centerline goodness [0,1] 0.9612651560325979 Centerline is valid? [True, True] Translation: X:559.90, Y:-27.29, Z:1.66 [[ 9.99945753e-01 4.23936938e-03 -9.51417446e-03 5.59900901e+02] [-4.23326851e-03 9.99990821e-01 6.61287348e-04 -2.72937053e+01] [ 9.51689057e-03 -6.20975420e-04 9.99954521e-01 1.66081808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4207140569999 meters Centerline goodness [0,1] 0.9647932816537468 Centerline is valid? [True, True] Translation: X:559.93, Y:-27.29, Z:1.66 [[ 9.99939848e-01 3.84416441e-03 -1.02723927e-02 5.59930313e+02] [-3.83703825e-03 9.99992384e-01 7.13338333e-04 -2.72912559e+01] [ 1.02750567e-02 -6.73879860e-04 9.99946983e-01 1.66089631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4507140569999 meters Centerline goodness [0,1] 0.965625 Centerline is valid? [True, True] Translation: X:559.96, Y:-27.29, Z:1.66 [[ 9.99941494e-01 4.05987295e-03 -1.00263011e-02 5.59959018e+02] [-4.05310213e-03 9.99991544e-01 6.95533510e-04 -2.72909912e+01] [ 1.00290401e-02 -6.54855194e-04 9.99949493e-01 1.66114509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4807140569999 meters Centerline goodness [0,1] 0.9675416594233491 Centerline is valid? [True, True] Translation: X:559.99, Y:-27.29, Z:1.66 [[ 9.99927840e-01 3.73963370e-03 -1.14162461e-02 5.59987386e+02] [-3.73084359e-03 9.99992727e-01 7.91165343e-04 -2.72923510e+01] [ 1.14191217e-02 -7.48516024e-04 9.99934520e-01 1.66006721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.510714057 meters Centerline goodness [0,1] 0.9656677912284184 Centerline is valid? [True, True] Translation: X:560.02, Y:-27.30, Z:1.66 [[ 9.99927133e-01 3.17076689e-03 -1.16479951e-02 5.60015249e+02] [-3.16159028e-03 9.99994677e-01 8.06156809e-04 -2.72954674e+01] [ 1.16504893e-02 -7.69271878e-04 9.99931835e-01 1.65941964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.540714057 meters Centerline goodness [0,1] 0.9663066098503617 Centerline is valid? [True, True] Translation: X:560.04, Y:-27.30, Z:1.66 [[ 9.99929399e-01 3.05974856e-03 -1.14818986e-02 5.60043099e+02] [-3.05083918e-03 9.99995031e-01 7.93384718e-04 -2.72961982e+01] [ 1.14842691e-02 -7.58299278e-04 9.99933766e-01 1.65984618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5707140569999 meters Centerline goodness [0,1] 0.9623105590062112 Centerline is valid? [True, True] Translation: X:560.07, Y:-27.31, Z:1.66 [[ 9.99935431e-01 2.79799455e-03 -1.10138425e-02 5.60069198e+02] [-2.78979653e-03 9.99995820e-01 7.59631778e-04 -2.73064166e+01] [ 1.10159219e-02 -7.28856350e-04 9.99939057e-01 1.65957901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6007140569999 meters Centerline goodness [0,1] 0.9611753920864201 Centerline is valid? [True, True] Translation: X:560.10, Y:-27.31, Z:1.66 [[ 9.99953903e-01 2.35555310e-03 -9.30820536e-03 5.60097623e+02] [-2.34968359e-03 9.99997034e-01 6.41459627e-04 -2.73092297e+01] [ 9.30968874e-03 -6.19558721e-04 9.99956472e-01 1.66093692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.630714057 meters Centerline goodness [0,1] 0.9665551839464883 Centerline is valid? [True, True] Translation: X:560.13, Y:-27.30, Z:1.66 [[ 9.99962404e-01 1.72584864e-03 -8.49775404e-03 5.60126893e+02] [-1.72093947e-03 9.99998348e-01 5.84980263e-04 -2.73049486e+01] [ 8.49874959e-03 -5.70334149e-04 9.99963722e-01 1.66304273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.660714057 meters Centerline goodness [0,1] 0.962013131263267 Centerline is valid? [True, True] Translation: X:560.15, Y:-27.32, Z:1.66 [[ 9.99966504e-01 7.28517549e-05 -8.18452885e-03 5.60154775e+02] [-6.82459537e-05 9.99999839e-01 5.63022700e-04 -2.73165948e+01] [ 8.18456855e-03 -5.62445280e-04 9.99966348e-01 1.66157675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6907140569999 meters Centerline goodness [0,1] 0.9612720325403673 Centerline is valid? [True, True] Translation: X:560.18, Y:-27.32, Z:1.66 [[ 9.99961680e-01 -1.77458318e-03 -8.57253915e-03 5.60184170e+02] [ 1.77970154e-03 9.99998243e-01 5.89472745e-04 -2.73185366e+01] [ 8.57147802e-03 -6.04706718e-04 9.99963081e-01 1.66089731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7207140569999 meters Centerline goodness [0,1] 0.9620724272177469 Centerline is valid? [True, True] Translation: X:560.21, Y:-27.33, Z:1.66 [[ 9.99937798e-01 -5.39997968e-03 -9.75911188e-03 5.60214199e+02] [ 5.40678561e-03 9.99985158e-01 6.71143256e-04 -2.73256106e+01] [ 9.75534288e-03 -7.23866935e-04 9.99952154e-01 1.65976609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.750714057 meters Centerline goodness [0,1] 0.9633927914223324 Centerline is valid? [True, True] Translation: X:560.24, Y:-27.32, Z:1.66 [[ 9.99911059e-01 -7.92298632e-03 -1.07285279e-02 5.60244161e+02] [ 7.93135304e-03 9.99968274e-01 7.37534203e-04 -2.73234891e+01] [ 1.07223440e-02 -8.22560348e-04 9.99942176e-01 1.65974454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.780714057 meters Centerline goodness [0,1] 0.9573160279172279 Centerline is valid? [True, True] Translation: X:560.27, Y:-27.34, Z:1.66 [[ 9.99884059e-01 -1.02190895e-02 -1.12889095e-02 5.60272391e+02] [ 1.02284937e-02 9.99947387e-01 7.75623698e-04 -2.73369992e+01] [ 1.12803894e-02 -8.91002310e-04 9.99935977e-01 1.65746699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8107140569999 meters Centerline goodness [0,1] 0.9602342034642596 Centerline is valid? [True, True] Translation: X:560.30, Y:-27.34, Z:1.66 [[ 9.99825185e-01 -1.40110711e-02 -1.23810248e-02 5.60302552e+02] [ 1.40226759e-02 9.99901315e-01 8.50982868e-04 -2.73369352e+01] [ 1.23678798e-02 -1.02444920e-03 9.99922990e-01 1.65761775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8407140569999 meters Centerline goodness [0,1] 0.9491541831030227 Centerline is valid? [True, False] Translation: X:560.30, Y:-27.34, Z:1.66 [[ 9.99825397e-01 -1.39227530e-02 -1.24632262e-02 5.60303038e+02] [ 1.39431125e-02 9.99901592e-01 1.54816497e-03 -2.73384504e+01] [ 1.24404450e-02 -1.72167082e-03 9.99921132e-01 1.65688267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.870714057 meters Centerline goodness [0,1] 0.9561829392629995 Centerline is valid? [False, True] Translation: X:560.30, Y:-27.34, Z:1.66 [[ 9.99825815e-01 -1.41199294e-02 -1.22052145e-02 5.60302526e+02] [ 1.41466231e-02 9.99897719e-01 2.10350437e-03 -2.73404419e+01] [ 1.21742648e-02 -2.27580054e-03 9.99923301e-01 1.65662689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.900714057 meters Centerline goodness [0,1] 0.9529672254799387 Centerline is valid? [True, True] Translation: X:560.33, Y:-27.34, Z:1.66 [[ 9.99817090e-01 -1.47442303e-02 -1.21817272e-02 5.60332995e+02] [ 1.47559639e-02 9.99890743e-01 8.73893880e-04 -2.73442043e+01] [ 1.21675114e-02 -1.05348716e-03 9.99925418e-01 1.65710669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9307140569999 meters Centerline goodness [0,1] 0.9384279475982533 Centerline is valid? [True, False] Translation: X:560.33, Y:-27.34, Z:1.66 [[ 9.99818180e-01 -1.46555831e-02 -1.21992326e-02 5.60332783e+02] [ 1.46700333e-02 9.99891789e-01 1.09587267e-03 -2.73448681e+01] [ 1.21818519e-02 -1.27463657e-03 9.99924986e-01 1.65745351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9607140569999 meters Centerline goodness [0,1] 0.9550548200498584 Centerline is valid? [False, True] Translation: X:560.33, Y:-27.35, Z:1.66 [[ 9.99822598e-01 -1.43054296e-02 -1.22526731e-02 5.60333142e+02] [ 1.43247731e-02 9.99896281e-01 1.49240232e-03 -2.73453962e+01] [ 1.22300528e-02 -1.66765433e-03 9.99923819e-01 1.65719549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.990714057 meters Centerline goodness [0,1] 0.9547206399224336 Centerline is valid? [True, True] Translation: X:560.36, Y:-27.35, Z:1.66 [[ 9.99854635e-01 -1.22875694e-02 -1.18205196e-02 5.60363436e+02] [ 1.22983665e-02 9.99924018e-01 8.41162128e-04 -2.73473777e+01] [ 1.18092856e-02 -9.86412934e-04 9.99929781e-01 1.65709071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.020714057 meters Centerline goodness [0,1] 0.9600639751853827 Centerline is valid? [True, True] Translation: X:560.39, Y:-27.35, Z:1.66 [[ 9.99872192e-01 -1.13996714e-02 -1.12092781e-02 5.60394596e+02] [ 1.14093247e-02 9.99934593e-01 7.97620317e-04 -2.73452732e+01] [ 1.11994524e-02 -9.25408668e-04 9.99936856e-01 1.65782337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0507140569999 meters Centerline goodness [0,1] 0.9582636515669308 Centerline is valid? [True, True] Translation: X:560.42, Y:-27.35, Z:1.66 [[ 9.99902081e-01 -9.43551147e-03 -1.03344249e-02 5.60424642e+02] [ 9.44361252e-03 9.99955138e-01 7.35371851e-04 -2.73485677e+01] [ 1.03270226e-02 -8.32894148e-04 9.99946328e-01 1.65794807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0807140569999 meters Centerline goodness [0,1] 0.9615980629539952 Centerline is valid? [True, True] Translation: X:560.46, Y:-27.34, Z:1.66 [[ 9.99905337e-01 -8.90917292e-03 -1.04854024e-02 5.60455164e+02] [ 8.91748367e-03 9.99959960e-01 7.46115040e-04 -2.73437950e+01] [ 1.04783353e-02 -8.39547815e-04 9.99944748e-01 1.65860676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.110714057 meters Centerline goodness [0,1] 0.9645371199109799 Centerline is valid? [True, True] Translation: X:560.48, Y:-27.34, Z:1.66 [[ 9.99909619e-01 -8.48869637e-03 -1.04257028e-02 5.60484894e+02] [ 8.49688575e-03 9.99963626e-01 7.41455217e-04 -2.73447606e+01] [ 1.04190296e-02 -8.29974209e-04 9.99945376e-01 1.65764006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.140714057 meters Centerline goodness [0,1] 0.9648333575194699 Centerline is valid? [True, True] Translation: X:560.51, Y:-27.35, Z:1.66 [[ 9.99900694e-01 -8.99202361e-03 -1.08510768e-02 5.60514115e+02] [ 9.00092017e-03 9.99959193e-01 7.71319250e-04 -2.73476356e+01] [ 1.08436983e-02 -8.68912330e-04 9.99940828e-01 1.65690002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1707140569999 meters Centerline goodness [0,1] 0.9622481801252751 Centerline is valid? [True, True] Translation: X:560.54, Y:-27.36, Z:1.65 [[ 9.99881393e-01 -9.30574155e-03 -1.22720286e-02 5.60542683e+02] [ 9.31715142e-03 9.99956213e-01 8.72900517e-04 -2.73555829e+01] [ 1.22633683e-02 -9.87137334e-04 9.99924315e-01 1.65464412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2007140569999 meters Centerline goodness [0,1] 0.9622481801252751 Centerline is valid? [True, True] Translation: X:560.57, Y:-27.36, Z:1.65 [[ 9.99881073e-01 -9.34007662e-03 -1.22720642e-02 5.60571860e+02] [ 9.35148296e-03 9.99955893e-01 8.72400358e-04 -2.73576259e+01] [ 1.22633746e-02 -9.87058605e-04 9.99924315e-01 1.65461299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2307140569999 meters Centerline goodness [0,1] 0.9659733978234583 Centerline is valid? [True, True] Translation: X:560.60, Y:-27.35, Z:1.65 [[ 9.99870848e-01 -9.70224733e-03 -1.28122511e-02 5.60601528e+02] [ 9.71470369e-03 9.99952397e-01 9.10343271e-04 -2.73545729e+01] [ 1.28028088e-02 -1.03469292e-03 9.99917505e-01 1.65477076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.260714057 meters Centerline goodness [0,1] 0.9600655137530709 Centerline is valid? [True, True] Translation: X:560.63, Y:-27.37, Z:1.65 [[ 9.99862036e-01 -1.00057794e-02 -1.32586907e-02 5.60629355e+02] [ 1.00191360e-02 9.99949364e-01 9.41340961e-04 -2.73656631e+01] [ 1.32486005e-02 -1.07405171e-03 9.99911657e-01 1.65287159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.290714057 meters Centerline goodness [0,1] 0.9590778653934264 Centerline is valid? [True, True] Translation: X:560.66, Y:-27.37, Z:1.65 [[ 9.99850870e-01 -1.08224072e-02 -1.34578679e-02 5.60658338e+02] [ 1.08362289e-02 9.99940831e-01 9.54540559e-04 -2.73694347e+01] [ 1.34467412e-02 -1.10023075e-03 9.99908983e-01 1.65203437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3207140569999 meters Centerline goodness [0,1] 0.9625718842120524 Centerline is valid? [True, True] Translation: X:560.69, Y:-27.37, Z:1.65 [[ 9.99851467e-01 -1.08504821e-02 -1.33906982e-02 5.60688368e+02] [ 1.08641630e-02 9.99940533e-01 9.49348376e-04 -2.73669564e+01] [ 1.33796010e-02 -1.09468610e-03 9.99909890e-01 1.65313293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3507140569999 meters Centerline goodness [0,1] 0.9621740284177261 Centerline is valid? [True, True] Translation: X:560.72, Y:-27.37, Z:1.65 [[ 9.99862812e-01 -1.04467860e-02 -1.28538701e-02 5.60718158e+02] [ 1.04593530e-02 9.99944885e-01 9.10843177e-04 -2.73685377e+01] [ 1.28436463e-02 -1.04516138e-03 9.99916971e-01 1.65412743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.380714057 meters Centerline goodness [0,1] 0.9431041999709344 Centerline is valid? [True, False] Translation: X:560.72, Y:-27.37, Z:1.66 [[ 9.99894627e-01 -7.89787905e-03 -1.21802110e-02 5.60715629e+02] [ 7.94521957e-03 9.99961051e-01 3.84319493e-03 -2.73686328e+01] [ 1.21493835e-02 -3.93956442e-03 9.99918433e-01 1.65531645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.410714057 meters Centerline goodness [0,1] 0.9629450347314664 Centerline is valid? [False, True] Translation: X:560.72, Y:-27.37, Z:1.66 [[ 9.99896436e-01 -7.86520795e-03 -1.20522287e-02 5.60715259e+02] [ 7.90854356e-03 9.99962418e-01 3.55222003e-03 -2.73677217e+01] [ 1.20238368e-02 -3.64716773e-03 9.99921060e-01 1.65578205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4407140569999 meters Centerline goodness [0,1] 0.9597245459615431 Centerline is valid? [True, True] Translation: X:560.74, Y:-27.37, Z:1.66 [[ 9.99939908e-01 -4.54915057e-03 -9.97424316e-03 5.60744200e+02] [ 4.55656824e-03 9.99989359e-01 7.21084286e-04 -2.73740954e+01] [ 9.97085670e-03 -7.66489275e-04 9.99949996e-01 1.65820256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4707140569999 meters Centerline goodness [0,1] 0.9596735128850998 Centerline is valid? [True, True] Translation: X:560.77, Y:-27.37, Z:1.66 [[ 9.99954982e-01 -2.45310561e-03 -9.16606698e-03 5.60774234e+02] [ 2.45927899e-03 9.99996757e-01 6.62292921e-04 -2.73742253e+01] [ 9.16441258e-03 -6.84805022e-04 9.99957771e-01 1.65848949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.500714057 meters Centerline goodness [0,1] 0.9612361731030468 Centerline is valid? [True, True] Translation: X:560.80, Y:-27.37, Z:1.66 [[ 9.99964611e-01 2.12172561e-03 -8.14099973e-03 5.60803967e+02] [-2.11700867e-03 9.99997586e-01 5.87979959e-04 -2.73722289e+01] [ 8.14222762e-03 -5.70724584e-04 9.99966689e-01 1.65967779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.530714057 meters Centerline goodness [0,1] 0.964796961729477 Centerline is valid? [True, True] Translation: X:560.83, Y:-27.37, Z:1.66 [[ 9.99953924e-01 5.11276380e-03 -8.12459489e-03 5.60834883e+02] [-5.10816528e-03 9.99986781e-01 5.86650566e-04 -2.73668470e+01] [ 8.12748690e-03 -5.45121762e-04 9.99966823e-01 1.66059975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5607140569999 meters Centerline goodness [0,1] 0.9666553000779423 Centerline is valid? [True, True] Translation: X:560.86, Y:-27.37, Z:1.66 [[ 9.99935387e-01 7.63494190e-03 -8.42194363e-03 5.60864894e+02] [-7.63009090e-03 9.99970706e-01 6.07976890e-04 -2.73657706e+01] [ 8.42633878e-03 -5.43677411e-04 9.99964350e-01 1.66054024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5907140569999 meters Centerline goodness [0,1] 0.9702755425505974 Centerline is valid? [True, True] Translation: X:560.90, Y:-27.36, Z:1.66 [[ 9.99875478e-01 1.32461010e-02 -8.57726633e-03 5.60895512e+02] [-1.32412778e-02 9.99912139e-01 6.18865808e-04 -2.73638105e+01] [ 8.58471029e-03 -5.05214779e-04 9.99963023e-01 1.65962158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.620714057 meters Centerline goodness [0,1] 0.9688408807644371 Centerline is valid? [True, True] Translation: X:560.92, Y:-27.37, Z:1.66 [[ 9.99839882e-01 1.55146679e-02 -8.91657724e-03 5.60924309e+02] [-1.55095482e-02 9.99879513e-01 6.43043409e-04 -2.73677538e+01] [ 8.92547952e-03 -5.04648362e-04 9.99960040e-01 1.65850750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.650714057 meters Centerline goodness [0,1] 0.972282861978464 Centerline is valid? [True, True] Translation: X:560.95, Y:-27.36, Z:1.66 [[ 9.99763660e-01 1.97060511e-02 -9.18126517e-03 5.60954950e+02] [-1.97007996e-02 9.99805701e-01 6.62070949e-04 -2.73634140e+01] [ 9.19252807e-03 -4.81036209e-04 9.99957632e-01 1.65877965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6807140569999 meters Centerline goodness [0,1] 0.9789948041074639 Centerline is valid? [True, True] Translation: X:560.99, Y:-27.36, Z:1.66 [[ 9.99664117e-01 2.41326721e-02 -9.44812619e-03 5.60985213e+02] [-2.41273113e-02 9.99708662e-01 6.80985366e-04 -2.73558817e+01] [ 9.46180759e-03 -4.52798753e-04 9.99955134e-01 1.65950971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7107140569999 meters Centerline goodness [0,1] 0.978693531701069 Centerline is valid? [True, True] Translation: X:561.01, Y:-27.36, Z:1.66 [[ 9.99613537e-01 2.62540951e-02 -9.13782876e-03 5.61012644e+02] [-2.62491764e-02 9.99655215e-01 6.57820079e-04 -2.73571734e+01] [ 9.15194864e-03 -4.17705377e-04 9.99958033e-01 1.65933349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.740714057 meters Centerline goodness [0,1] 0.9788354579908451 Centerline is valid? [True, True] Translation: X:561.04, Y:-27.36, Z:1.66 [[ 9.99557826e-01 2.83713856e-02 -8.90040660e-03 5.61041618e+02] [-2.83668087e-02 9.99597376e-01 6.40089646e-04 -2.73584443e+01] [ 8.91498331e-03 -3.87330483e-04 9.99960186e-01 1.66030048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.770714057 meters Centerline goodness [0,1] 0.9779361009762351 Centerline is valid? [True, True] Translation: X:561.07, Y:-27.36, Z:1.66 [[ 9.99522358e-01 2.96915746e-02 -8.57128520e-03 5.61069207e+02] [-2.96873847e-02 9.99559043e-01 6.15675206e-04 -2.73607797e+01] [ 8.58578599e-03 -3.60922092e-04 9.99963076e-01 1.66094926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8007140569999 meters Centerline goodness [0,1] 0.9794025506302573 Centerline is valid? [True, True] Translation: X:561.10, Y:-27.36, Z:1.66 [[ 9.99438829e-01 3.26524780e-02 -7.47281712e-03 5.61098924e+02] [-3.26493779e-02 9.99466723e-01 5.36488740e-04 -2.73607391e+01] [ 7.48634972e-03 -2.92204848e-04 9.99971934e-01 1.66175174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8307140569999 meters Centerline goodness [0,1] 0.9813728872024836 Centerline is valid? [True, True] Translation: X:561.13, Y:-27.36, Z:1.66 [[ 9.99377468e-01 3.46632567e-02 -6.56767508e-03 5.61128124e+02] [-3.46609150e-02 9.99399019e-01 4.70067777e-04 -2.73626806e+01] [ 6.58002211e-03 -2.42133517e-04 9.99978322e-01 1.66206072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.860714057 meters Centerline goodness [0,1] 0.9792076771653543 Centerline is valid? [True, True] Translation: X:561.16, Y:-27.37, Z:1.66 [[ 9.99339798e-01 3.56998480e-02 -6.74448964e-03 5.61156057e+02] [-3.56974066e-02 9.99362528e-01 4.82058320e-04 -2.73670521e+01] [ 6.75739963e-03 -2.40979275e-04 9.99977139e-01 1.66177480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.890714057 meters Centerline goodness [0,1] 0.9801134271193931 Centerline is valid? [True, True] Translation: X:561.18, Y:-27.37, Z:1.66 [[ 9.99297089e-01 3.68806040e-02 -6.71936532e-03 5.61183660e+02] [-3.68782113e-02 9.99319652e-01 4.79682392e-04 -2.73722354e+01] [ 6.73248479e-03 -2.31547044e-04 9.99977310e-01 1.66144587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9207140569999 meters Centerline goodness [0,1] 0.9802646113061194 Centerline is valid? [True, True] Translation: X:561.21, Y:-27.37, Z:1.66 [[ 9.99283515e-01 3.72119714e-02 -6.90836472e-03 5.61212496e+02] [-3.72094535e-02 9.99307367e-01 4.92691720e-04 -2.73746736e+01] [ 6.92191379e-03 -2.35282238e-04 9.99976016e-01 1.66094318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9507140569999 meters Centerline goodness [0,1] 0.9805163056764289 Centerline is valid? [True, True] Translation: X:561.24, Y:-27.38, Z:1.66 [[ 9.99262696e-01 3.75882377e-02 -7.82228891e-03 5.61239854e+02] [-3.75850262e-02 9.99293278e-01 5.57209288e-04 -2.73808310e+01] [ 7.83770524e-03 -2.62797522e-04 9.99969250e-01 1.66063838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9807140569999 meters Centerline goodness [0,1] 0.9810129679471495 Centerline is valid? [True, True] Translation: X:561.27, Y:-27.38, Z:1.66 [[ 9.99280709e-01 3.71201182e-02 -7.75641395e-03 5.61268362e+02] [-3.71169508e-02 9.99310776e-01 5.51969968e-04 -2.73821714e+01] [ 7.77155724e-03 -2.63678506e-04 9.99969766e-01 1.66078909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.010714057 meters Centerline goodness [0,1] 0.9804592085979482 Centerline is valid? [True, True] Translation: X:561.30, Y:-27.39, Z:1.66 [[ 9.99267378e-01 3.74685631e-02 -7.79834307e-03 5.61295892e+02] [-3.74653796e-02 9.99297773e-01 5.53969449e-04 -2.73878735e+01] [ 7.81362330e-03 -2.61395716e-04 9.99969439e-01 1.66000501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.040714057 meters Centerline goodness [0,1] 0.9803683071009803 Centerline is valid? [True, True] Translation: X:561.32, Y:-27.39, Z:1.66 [[ 9.99280319e-01 3.72113060e-02 -7.35952421e-03 5.61323974e+02] [-3.72084694e-02 9.99307389e-01 5.22030677e-04 -2.73920696e+01] [ 7.37385236e-03 -2.47818351e-04 9.99972782e-01 1.66035161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0707140569999 meters Centerline goodness [0,1] 0.9801139808415181 Centerline is valid? [True, True] Translation: X:561.35, Y:-27.40, Z:1.66 [[ 9.99329880e-01 3.60793274e-02 -6.17027569e-03 5.61352206e+02] [-3.60773208e-02 9.99348906e-01 4.36242145e-04 -2.73958266e+01] [ 6.18199759e-03 -2.13342795e-04 9.99980869e-01 1.66062447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1007140569999 meters Centerline goodness [0,1] 0.9795874049945711 Centerline is valid? [True, True] Translation: X:561.38, Y:-27.40, Z:1.66 [[ 9.99418262e-01 3.36772861e-02 -5.38302956e-03 5.61380932e+02] [-3.36757264e-02 9.99432740e-01 3.80136935e-04 -2.74018386e+01] [ 5.39277796e-03 -1.98638365e-04 9.99985439e-01 1.66161305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.130714057 meters Centerline goodness [0,1] 0.9793651174508722 Centerline is valid? [True, True] Translation: X:561.41, Y:-27.41, Z:1.66 [[ 9.99476960e-01 3.18958675e-02 -5.33487402e-03 5.61409628e+02] [-3.18943123e-02 9.99491176e-01 3.76355460e-04 -2.74068508e+01] [ 5.34416370e-03 -2.06006473e-04 9.99985699e-01 1.66161493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.160714057 meters Centerline goodness [0,1] 0.9769842976984298 Centerline is valid? [True, True] Translation: X:561.44, Y:-27.42, Z:1.66 [[ 9.99612875e-01 2.74495607e-02 -4.54104272e-03 5.61438142e+02] [-2.74483885e-02 9.99623171e-01 3.20285530e-04 -2.74197437e+01] [ 4.54812322e-03 -1.95517234e-04 9.99989638e-01 1.66161469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1907140569999 meters Centerline goodness [0,1] 0.9740948592266344 Centerline is valid? [True, True] Translation: X:561.47, Y:-27.43, Z:1.66 [[ 9.99764979e-01 2.12374275e-02 -4.35406812e-03 5.61467665e+02] [-2.12362910e-02 9.99774437e-01 3.07087234e-04 -2.74285617e+01] [ 4.35960775e-03 -2.14550804e-04 9.99990474e-01 1.66164957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2207140569999 meters Centerline goodness [0,1] 0.9718230088495575 Centerline is valid? [True, True] Translation: X:561.50, Y:-27.44, Z:1.66 [[ 9.99818393e-01 1.86256561e-02 -4.03305330e-03 5.61495571e+02] [-1.86246606e-02 9.99826506e-01 2.84256754e-04 -2.74394359e+01] [ 4.03764805e-03 -2.09090882e-04 9.99991827e-01 1.66141239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.250714057 meters Centerline goodness [0,1] 0.9698213197017306 Centerline is valid? [True, True] Translation: X:561.53, Y:-27.45, Z:1.66 [[ 9.99889885e-01 1.43058275e-02 -3.94488287e-03 5.61525122e+02] [-1.43048418e-02 9.99897642e-01 2.77959632e-04 -2.74470016e+01] [ 3.94845552e-03 -2.21498099e-04 9.99992180e-01 1.66081747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.280714057 meters Centerline goodness [0,1] 0.9698285927794125 Centerline is valid? [True, True] Translation: X:561.55, Y:-27.46, Z:1.66 [[ 9.99932221e-01 1.08612403e-02 -4.19376855e-03 5.61554872e+02] [-1.08600965e-02 9.99940984e-01 2.95422511e-04 -2.74560707e+01] [ 4.19672971e-03 -2.49857756e-04 9.99991162e-01 1.66039252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3107140569999 meters Centerline goodness [0,1] 0.9715750881752366 Centerline is valid? [True, True] Translation: X:561.58, Y:-27.46, Z:1.66 [[ 9.99949472e-01 9.26491172e-03 -3.90052187e-03 5.61583883e+02] [-9.26391114e-03 9.99957051e-01 2.74514578e-04 -2.74602100e+01] [ 3.90289770e-03 -2.38366620e-04 9.99992355e-01 1.66054581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3407140569999 meters Centerline goodness [0,1] 0.9671456005182666 Centerline is valid? [True, True] Translation: X:561.61, Y:-27.47, Z:1.66 [[ 9.99955741e-01 8.42130554e-03 -4.19484251e-03 5.61610253e+02] [-8.42014270e-03 9.99964507e-01 2.94791211e-04 -2.74742332e+01] [ 4.19717615e-03 -2.59456991e-04 9.99991158e-01 1.65969695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.370714057 meters Centerline goodness [0,1] 0.9726382422421505 Centerline is valid? [True, True] Translation: X:561.64, Y:-27.48, Z:1.66 [[ 9.99957882e-01 8.51793494e-03 -3.41755460e-03 5.61638333e+02] [-8.51716453e-03 9.99963700e-01 2.39916762e-04 -2.74794489e+01] [ 3.41947413e-03 -2.10798783e-04 9.99994131e-01 1.65897823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.400714057 meters Centerline goodness [0,1] 0.9700461358367571 Centerline is valid? [True, True] Translation: X:561.67, Y:-27.49, Z:1.66 [[ 9.99960542e-01 8.22000097e-03 -3.36851396e-03 5.61665457e+02] [-8.21925181e-03 9.99966193e-01 2.36184311e-04 -2.74869195e+01] [ 3.37034151e-03 -2.08488327e-04 9.99994299e-01 1.65837199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4307140569999 meters Centerline goodness [0,1] 0.9715981735159818 Centerline is valid? [True, True] Translation: X:561.69, Y:-27.49, Z:1.66 [[ 9.99959466e-01 8.48046874e-03 -3.02452670e-03 5.61694037e+02] [-8.47986662e-03 9.99964023e-01 2.11844934e-04 -2.74850553e+01] [ 3.02621443e-03 -1.86188764e-04 9.99995404e-01 1.65938226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4607140569999 meters Centerline goodness [0,1] 0.9715981735159818 Centerline is valid? [True, True] Translation: X:561.72, Y:-27.49, Z:1.66 [[ 9.99960070e-01 8.40898919e-03 -3.02454183e-03 5.61722330e+02] [-8.40838740e-03 9.99964626e-01 2.11628731e-04 -2.74869771e+01] [ 3.02621443e-03 -1.86188761e-04 9.99995404e-01 1.65939485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.490714057 meters Centerline goodness [0,1] 0.9715981735159818 Centerline is valid? [True, True] Translation: X:561.75, Y:-27.49, Z:1.66 [[ 9.99960668e-01 8.33750959e-03 -3.02455695e-03 5.61750623e+02] [-8.33690813e-03 9.99965225e-01 2.11412530e-04 -2.74888968e+01] [ 3.02621443e-03 -1.86188761e-04 9.99995404e-01 1.65940743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.520714057 meters Centerline goodness [0,1] 0.9693849470256387 Centerline is valid? [True, True] Translation: X:561.78, Y:-27.50, Z:1.66 [[ 9.99964391e-01 7.89798216e-03 -2.97293608e-03 5.61777411e+02] [-7.89739988e-03 9.99968794e-01 2.07547582e-04 -2.74992292e+01] [ 2.97448252e-03 -1.84061727e-04 9.99995559e-01 1.65940148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5507140569999 meters Centerline goodness [0,1] 0.9722285818947753 Centerline is valid? [True, True] Translation: X:561.81, Y:-27.50, Z:1.66 [[ 9.99963275e-01 7.92906018e-03 -3.25262750e-03 5.61806370e+02] [-7.92836415e-03 9.99968544e-01 2.26830420e-04 -2.74973768e+01] [ 3.25432374e-03 -2.01034074e-04 9.99994684e-01 1.65965716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5807140569999 meters Centerline goodness [0,1] 0.9729624808750656 Centerline is valid? [True, True] Translation: X:561.83, Y:-27.50, Z:1.66 [[ 9.99970791e-01 6.88793460e-03 -3.31264923e-03 5.61834810e+02] [-6.88720773e-03 9.99976256e-01 2.30779555e-04 -2.75036662e+01] [ 3.31416017e-03 -2.07957911e-04 9.99994487e-01 1.65923076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.610714057 meters Centerline goodness [0,1] 0.9729359994527919 Centerline is valid? [True, True] Translation: X:561.86, Y:-27.51, Z:1.66 [[ 9.99977889e-01 5.85857034e-03 -3.14636120e-03 5.61862873e+02] [-5.85791041e-03 9.99982818e-01 2.18921032e-04 -2.75069386e+01] [ 3.14758970e-03 -2.00485089e-04 9.99995026e-01 1.65880838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.640714057 meters Centerline goodness [0,1] 0.9731809489117567 Centerline is valid? [True, True] Translation: X:561.89, Y:-27.51, Z:1.66 [[ 9.99982890e-01 4.85206444e-03 -3.26761435e-03 5.61891341e+02] [-4.85134811e-03 9.99988206e-01 2.27113603e-04 -2.75127441e+01] [ 3.26867778e-03 -2.11257383e-04 9.99994636e-01 1.65881314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6707140569999 meters Centerline goodness [0,1] 0.9708757683670923 Centerline is valid? [True, True] Translation: X:561.92, Y:-27.52, Z:1.66 [[ 9.99990658e-01 1.61229169e-03 -4.01047998e-03 5.61919905e+02] [-1.61118735e-03 9.99998663e-01 2.78579764e-04 -2.75242753e+01] [ 4.01092377e-03 -2.72115527e-04 9.99991919e-01 1.65787495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7007140569999 meters Centerline goodness [0,1] 0.9706702327795281 Centerline is valid? [True, True] Translation: X:561.95, Y:-27.53, Z:1.66 [[ 9.99989921e-01 -3.04398180e-04 -4.47939966e-03 5.61949360e+02] [ 3.05794288e-04 9.99999905e-01 3.10991265e-04 -2.75258356e+01] [ 4.47930456e-03 -3.12357905e-04 9.99989919e-01 1.65779828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7307140569999 meters Centerline goodness [0,1] 0.9711386340008137 Centerline is valid? [True, True] Translation: X:561.98, Y:-27.54, Z:1.66 [[ 9.99982463e-01 -3.55110356e-03 -4.73964681e-03 5.61977792e+02] [ 3.55270209e-03 9.99993635e-01 3.28891235e-04 -2.75350346e+01] [ 4.73844872e-03 -3.45724020e-04 9.99988714e-01 1.65723407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.760714057 meters Centerline goodness [0,1] 0.9718805714156755 Centerline is valid? [True, True] Translation: X:562.01, Y:-27.54, Z:1.66 [[ 9.99977043e-01 -4.66321580e-03 -4.91614481e-03 5.62007345e+02] [ 4.66494811e-03 9.99989061e-01 3.40963007e-04 -2.75368228e+01] [ 4.91450105e-03 -3.63888740e-04 9.99987858e-01 1.65723385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.790714057 meters Centerline goodness [0,1] 0.9701835378898773 Centerline is valid? [True, True] Translation: X:562.04, Y:-27.54, Z:1.66 [[ 9.99971039e-01 -6.11798260e-03 -4.52671511e-03 5.62036139e+02] [ 6.11946542e-03 9.99981227e-01 3.13794772e-04 -2.75431932e+01] [ 4.52471034e-03 -3.41486761e-04 9.99989705e-01 1.65753078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8207140569999 meters Centerline goodness [0,1] 0.971170000672028 Centerline is valid? [True, True] Translation: X:562.07, Y:-27.54, Z:1.66 [[ 9.99973987e-01 -6.06422858e-03 -3.90526877e-03 5.62066868e+02] [ 6.06533175e-03 9.99981569e-01 2.70702216e-04 -2.75433112e+01] [ 3.90355519e-03 -2.94381925e-04 9.99992338e-01 1.65817144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8507140569999 meters Centerline goodness [0,1] 0.9693468468468468 Centerline is valid? [True, True] Translation: X:562.10, Y:-27.55, Z:1.66 [[ 9.99969038e-01 -6.78340506e-03 -3.98845294e-03 5.62097223e+02] [ 6.78456167e-03 9.99976946e-01 2.76531263e-04 -2.75489293e+01] [ 3.98648516e-03 -3.03582606e-04 9.99992008e-01 1.65852233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.880714057 meters Centerline goodness [0,1] 0.9681154858003732 Centerline is valid? [True, True] Translation: X:562.13, Y:-27.55, Z:1.66 [[ 9.99969338e-01 -7.28107974e-03 -2.88260792e-03 5.62128781e+02] [ 7.28168621e-03 9.99973468e-01 1.99950973e-04 -2.75516155e+01] [ 2.88107558e-03 -2.20935088e-04 9.99995825e-01 1.65956248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.910714057 meters Centerline goodness [0,1] 0.9695657053080462 Centerline is valid? [True, True] Translation: X:562.16, Y:-27.55, Z:1.66 [[ 9.99962517e-01 -8.18879165e-03 -2.81229150e-03 5.62160225e+02] [ 8.18937274e-03 9.99966447e-01 1.95173326e-04 -2.75517900e+01] [ 2.81059891e-03 -2.18196914e-04 9.99996026e-01 1.65953462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9407140569999 meters Centerline goodness [0,1] 0.9676685804345379 Centerline is valid? [True, True] Translation: X:562.19, Y:-27.56, Z:1.66 [[ 9.99953874e-01 -9.08629686e-03 -3.11271197e-03 5.62190816e+02] [ 9.08701356e-03 9.99958689e-01 2.16182837e-04 -2.75611936e+01] [ 3.11061908e-03 -2.44458122e-04 9.99995132e-01 1.65896250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9707140569999 meters Centerline goodness [0,1] 0.967838494778538 Centerline is valid? [True, True] Translation: X:562.22, Y:-27.56, Z:1.66 [[ 9.99929871e-01 -1.13120216e-02 -3.50584386e-03 5.62222217e+02] [ 1.13129446e-02 9.99935977e-01 2.43566756e-04 -2.75598381e+01] [ 3.50286417e-03 -2.83211092e-04 9.99993825e-01 1.65926797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.000714057 meters Centerline goodness [0,1] 0.9692844284428442 Centerline is valid? [True, True] Translation: X:562.25, Y:-27.56, Z:1.66 [[ 9.99910248e-01 -1.28375061e-02 -3.83340956e-03 5.62254054e+02] [ 1.28386213e-02 9.99917546e-01 2.66454644e-04 -2.75581362e+01] [ 3.82967286e-03 -3.15646423e-04 9.99992617e-01 1.65914551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.030714057 meters Centerline goodness [0,1] 0.9619056216289409 Centerline is valid? [True, True] Translation: X:562.28, Y:-27.57, Z:1.66 [[ 9.99858694e-01 -1.62888952e-02 -4.15493596e-03 5.62282491e+02] [ 1.62902352e-02 9.99867264e-01 2.88866852e-04 -2.75703629e+01] [ 4.14967913e-03 -3.56510917e-04 9.99991326e-01 1.65817010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0607140569999 meters Centerline goodness [0,1] 0.967355772482359 Centerline is valid? [True, True] Translation: X:562.31, Y:-27.56, Z:1.66 [[ 9.99823703e-01 -1.81733975e-02 -4.72135704e-03 5.62313770e+02] [ 1.81751495e-02 9.99834764e-01 3.28438308e-04 -2.75629900e+01] [ 4.71460806e-03 -4.14191775e-04 9.99988800e-01 1.65867288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0907140569999 meters Centerline goodness [0,1] 0.9669443879970195 Centerline is valid? [True, True] Translation: X:562.34, Y:-27.57, Z:1.66 [[ 9.99750984e-01 -2.16006119e-02 -5.60209757e-03 5.62344184e+02] [ 2.16031321e-02 9.99766549e-01 3.89745135e-04 -2.75662974e+01] [ 5.59237103e-03 -5.10670937e-04 9.99984232e-01 1.65893028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.120714057 meters Centerline goodness [0,1] 0.9669443879970195 Centerline is valid? [True, True] Translation: X:562.38, Y:-27.57, Z:1.66 [[ 9.99752540e-01 -2.15284713e-02 -5.60207156e-03 5.62375929e+02] [ 2.15309925e-02 9.99768105e-01 3.90118813e-04 -2.75685672e+01] [ 5.59237381e-03 -5.10640435e-04 9.99984232e-01 1.65894439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.150714057 meters Centerline goodness [0,1] 0.9664755282644031 Centerline is valid? [True, True] Translation: X:562.41, Y:-27.57, Z:1.66 [[ 9.99708046e-01 -2.33713979e-02 -6.13191534e-03 5.62407414e+02] [ 2.33744544e-02 9.99726689e-01 4.27257590e-04 -2.75703687e+01] [ 6.12025381e-03 -5.70463026e-04 9.99981108e-01 1.65819480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1807140569999 meters Centerline goodness [0,1] 0.9625551158846806 Centerline is valid? [True, True] Translation: X:562.44, Y:-27.58, Z:1.66 [[ 9.99618713e-01 -2.66978073e-02 -7.04667657e-03 5.62436691e+02] [ 2.67019251e-02 9.99643319e-01 4.90914288e-04 -2.75773508e+01] [ 7.03105682e-03 -6.78886938e-04 9.99975051e-01 1.65689091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2107140569999 meters Centerline goodness [0,1] 0.9641283968465517 Centerline is valid? [True, True] Translation: X:562.47, Y:-27.58, Z:1.66 [[ 9.99586839e-01 -2.77440351e-02 -7.51132113e-03 5.62468562e+02] [ 2.77487460e-02 9.99614792e-01 5.23662083e-04 -2.75759354e+01] [ 7.49389921e-03 -7.31875468e-04 9.99971653e-01 1.65699406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.240714057 meters Centerline goodness [0,1] 0.5994620831669853 Centerline is valid? [True, False] Translation: X:562.50, Y:-27.57, Z:1.66 [[ 9.99488958e-01 -3.00912441e-02 -1.07860673e-02 5.62498611e+02] [ 2.99906747e-02 9.99506282e-01 -9.36757729e-03 -2.75715844e+01] [ 1.10626241e-02 9.03930863e-03 9.99897949e-01 1.66295200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.270714057 meters Centerline goodness [0,1] 0.9646797616620223 Centerline is valid? [False, True] Translation: X:562.43, Y:-27.57, Z:1.66 [[ 9.99605441e-01 -2.56316759e-02 -1.14882029e-02 5.62427800e+02] [ 2.55801947e-02 9.99662162e-01 -4.60600580e-03 -2.75696581e+01] [ 1.16023814e-02 4.31031800e-03 9.99923400e-01 1.65971477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3007140569999 meters Centerline goodness [0,1] 0.9651617005813954 Centerline is valid? [True, True] Translation: X:562.46, Y:-27.57, Z:1.66 [[ 9.99683594e-01 -2.22350416e-02 -1.17607547e-02 5.62458322e+02] [ 2.22464569e-02 9.99752163e-01 8.40684270e-04 -2.75677837e+01] [ 1.17391473e-02 -1.10205340e-03 9.99930487e-01 1.65882653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3307140569999 meters Centerline goodness [0,1] 0.964278405602674 Centerline is valid? [True, True] Translation: X:562.49, Y:-27.57, Z:1.66 [[ 9.99750211e-01 -1.91885081e-02 -1.14593504e-02 5.62487752e+02] [ 1.91991462e-02 9.99815344e-01 8.19038659e-04 -2.75684478e+01] [ 1.14415182e-02 -1.03884382e-03 9.99934004e-01 1.65923403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.360714057 meters Centerline goodness [0,1] 0.9655517633674631 Centerline is valid? [True, True] Translation: X:562.52, Y:-27.57, Z:1.66 [[ 9.99805471e-01 -1.61081881e-02 -1.13818048e-02 5.62518083e+02] [ 1.61184839e-02 9.99869758e-01 8.13427162e-04 -2.75659285e+01] [ 1.13672195e-02 -9.96726364e-04 9.99934894e-01 1.65939451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.390714057 meters Centerline goodness [0,1] 0.9674235847763513 Centerline is valid? [True, True] Translation: X:562.55, Y:-27.56, Z:1.66 [[ 9.99896373e-01 -9.57342679e-03 -1.07514445e-02 5.62548815e+02] [ 9.58223882e-03 9.99953794e-01 7.68399288e-04 -2.75606175e+01] [ 1.07435915e-02 -8.71342569e-04 9.99941906e-01 1.65993347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4207140569999 meters Centerline goodness [0,1] 0.9663270434504501 Centerline is valid? [True, True] Translation: X:562.58, Y:-27.56, Z:1.66 [[ 9.99936799e-01 -5.94797416e-03 -9.54040010e-03 5.62578392e+02] [ 5.95474799e-03 9.99982038e-01 6.81765767e-04 -2.75607627e+01] [ 9.53617361e-03 -7.38533357e-04 9.99954257e-01 1.66050181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4507140569999 meters Centerline goodness [0,1] 0.9697366306169778 Centerline is valid? [True, True] Translation: X:562.61, Y:-27.55, Z:1.66 [[ 9.99958589e-01 1.97066764e-03 -8.88458908e-03 5.62609739e+02] [-1.96510496e-03 9.99997868e-01 6.34790713e-04 -2.75540682e+01] [ 8.88582110e-03 -6.17305275e-04 9.99960330e-01 1.66196516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4807140569999 meters Centerline goodness [0,1] 0.9728097370536227 Centerline is valid? [True, True] Translation: X:562.64, Y:-27.55, Z:1.66 [[ 9.99946340e-01 6.04731437e-03 -8.41114065e-03 5.62641048e+02] [-6.04247251e-03 9.99981564e-01 6.00941698e-04 -2.75496773e+01] [ 8.41461966e-03 -5.50085365e-04 9.99964445e-01 1.66219273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.510714057 meters Centerline goodness [0,1] 0.9725104092383428 Centerline is valid? [True, True] Translation: X:562.67, Y:-27.55, Z:1.66 [[ 9.99909433e-01 1.05489942e-02 -8.35735263e-03 5.62670484e+02] [-1.05443714e-02 9.99944228e-01 5.97016549e-04 -2.75528888e+01] [ 8.36318445e-03 -5.08839449e-04 9.99964898e-01 1.66211539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.540714057 meters Centerline goodness [0,1] 0.972938055139001 Centerline is valid? [True, True] Translation: X:562.70, Y:-27.55, Z:1.66 [[ 9.99788886e-01 1.84760016e-02 -8.99004477e-03 5.62701317e+02] [-1.84709730e-02 9.99829191e-01 6.42061668e-04 -2.75453727e+01] [ 9.00037192e-03 -4.75871245e-04 9.99959383e-01 1.66244903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5707140569999 meters Centerline goodness [0,1] 0.9783952761375477 Centerline is valid? [True, True] Translation: X:562.73, Y:-27.54, Z:1.66 [[ 9.99630334e-01 2.60456393e-02 -7.79873694e-03 5.62732359e+02] [-2.60420860e-02 9.99660692e-01 5.56841303e-04 -2.75381273e+01] [ 7.81059406e-03 -3.53540080e-04 9.99969434e-01 1.66283990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6007140569999 meters Centerline goodness [0,1] 0.9790358822303041 Centerline is valid? [True, True] Translation: X:562.76, Y:-27.54, Z:1.66 [[ 9.99542120e-01 2.92682829e-02 -7.67577699e-03 5.62760701e+02] [-2.92649382e-02 9.99571540e-01 5.47727165e-04 -2.75394696e+01] [ 7.68851926e-03 -3.22845232e-04 9.99970391e-01 1.66349502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.630714057 meters Centerline goodness [0,1] 0.9809596697511538 Centerline is valid? [True, True] Translation: X:562.79, Y:-27.54, Z:1.66 [[ 9.99479842e-01 3.13418137e-02 -7.59840344e-03 5.62789423e+02] [-3.13385993e-02 9.99508679e-01 5.41758352e-04 -2.75384331e+01] [ 7.61164987e-03 -3.03353231e-04 9.99970985e-01 1.66361128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.660714057 meters Centerline goodness [0,1] 0.9785963281431559 Centerline is valid? [True, True] Translation: X:562.82, Y:-27.54, Z:1.66 [[ 9.99341663e-01 3.53625169e-02 -8.10764505e-03 5.62817733e+02] [-3.53589939e-02 9.99374508e-01 5.77507870e-04 -2.75433799e+01] [ 8.12299592e-03 -2.90449503e-04 9.99966966e-01 1.66235409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6907140569999 meters Centerline goodness [0,1] 0.9806466566230154 Centerline is valid? [True, True] Translation: X:562.85, Y:-27.54, Z:1.66 [[ 9.99289212e-01 3.67771571e-02 -8.27711999e-03 5.62846500e+02] [-3.67735422e-02 9.99323451e-01 5.88551125e-04 -2.75426656e+01] [ 8.29316536e-03 -2.83753769e-04 9.99965571e-01 1.66230328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7207140569999 meters Centerline goodness [0,1] 0.9805773549089057 Centerline is valid? [True, True] Translation: X:562.88, Y:-27.54, Z:1.66 [[ 9.99240309e-01 3.80735409e-02 -8.31928924e-03 5.62875564e+02] [-3.80699512e-02 9.99274903e-01 5.89479809e-04 -2.75440960e+01] [ 8.33570053e-03 -2.72317051e-04 9.99965220e-01 1.66121152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.750714057 meters Centerline goodness [0,1] 0.9809356346305123 Centerline is valid? [True, True] Translation: X:562.90, Y:-27.55, Z:1.66 [[ 9.99228656e-01 3.83149053e-02 -8.60590863e-03 5.62902850e+02] [-3.83110874e-02 9.99265676e-01 6.08121562e-04 -2.75495478e+01] [ 8.62288922e-03 -2.77950773e-04 9.99962784e-01 1.66085647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.780714057 meters Centerline goodness [0,1] 0.9790161361065584 Centerline is valid? [True, True] Translation: X:562.93, Y:-27.56, Z:1.66 [[ 9.99236628e-01 3.81245932e-02 -8.52507972e-03 5.62929021e+02] [-3.81208470e-02 9.99272955e-01 6.01555115e-04 -2.75563808e+01] [ 8.54181565e-03 -2.76112645e-04 9.99963480e-01 1.66041495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8107140569999 meters Centerline goodness [0,1] 0.9806407006222632 Centerline is valid? [True, True] Translation: X:562.96, Y:-27.56, Z:1.66 [[ 9.99254365e-01 3.74071185e-02 -9.56142305e-03 5.62957359e+02] [-3.74023830e-02 9.99300059e-01 6.73669768e-04 -2.75582324e+01] [ 9.57993066e-03 -3.15547449e-04 9.99954062e-01 1.66061316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8407140569999 meters Centerline goodness [0,1] 0.9812664178072722 Centerline is valid? [True, True] Translation: X:562.98, Y:-27.56, Z:1.66 [[ 9.99257476e-01 3.73396210e-02 -9.49991897e-03 5.62984675e+02] [-3.73349509e-02 9.99302584e-01 6.68521036e-04 -2.75628837e+01] [ 9.51825590e-03 -3.13345635e-04 9.99954651e-01 1.66096413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.870714057 meters Centerline goodness [0,1] 0.981499736365512 Centerline is valid? [True, True] Translation: X:563.01, Y:-27.57, Z:1.66 [[ 9.99247685e-01 3.77388736e-02 -8.93543914e-03 5.63012294e+02] [-3.77347669e-02 9.99287593e-01 6.27797189e-04 -2.75693141e+01] [ 8.95276583e-03 -2.90148174e-04 9.99959881e-01 1.66134991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.900714057 meters Centerline goodness [0,1] 0.9801697124951396 Centerline is valid? [True, True] Translation: X:563.04, Y:-27.57, Z:1.66 [[ 9.99228696e-01 3.83574533e-02 -8.40940411e-03 5.63039437e+02] [-3.83538467e-02 9.99264046e-01 5.89788124e-04 -2.75737658e+01] [ 8.42583795e-03 -2.66800222e-04 9.99964466e-01 1.66164100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9307140569999 meters Centerline goodness [0,1] 0.9806102407162106 Centerline is valid? [True, True] Translation: X:563.07, Y:-27.58, Z:1.66 [[ 9.99160355e-01 4.00468586e-02 -8.65065202e-03 5.63068243e+02] [-4.00431179e-02 9.99197769e-01 6.05259310e-04 -2.75800817e+01] [ 8.66795093e-03 -2.58352029e-04 9.99962399e-01 1.66187635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9607140569999 meters Centerline goodness [0,1] 0.9817234158776402 Centerline is valid? [True, True] Translation: X:563.10, Y:-27.58, Z:1.66 [[ 9.99130620e-01 4.07810236e-02 -8.65518543e-03 5.63096082e+02] [-4.07773191e-02 9.99168077e-01 6.04115735e-04 -2.75845898e+01] [ 8.67262144e-03 -2.50655270e-04 9.99962361e-01 1.66136745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.990714057 meters Centerline goodness [0,1] 0.9832250712250712 Centerline is valid? [True, True] Translation: X:563.12, Y:-27.59, Z:1.66 [[ 9.99103568e-01 4.12332263e-02 -9.58548080e-03 5.63124409e+02] [-4.12287112e-02 9.99149512e-01 6.68245144e-04 -2.75858165e+01] [ 9.60488236e-03 -2.72449088e-04 9.99953835e-01 1.66176706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.020714057 meters Centerline goodness [0,1] 0.9806730331969077 Centerline is valid? [True, True] Translation: X:563.15, Y:-27.60, Z:1.66 [[ 9.99092385e-01 4.15307340e-02 -9.46600448e-03 5.63151094e+02] [-4.15263511e-02 9.99137192e-01 6.59172337e-04 -2.75974342e+01] [ 9.48521304e-03 -2.65485437e-04 9.99954979e-01 1.65995699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0507140569999 meters Centerline goodness [0,1] 0.9797020863000384 Centerline is valid? [True, True] Translation: X:563.18, Y:-27.61, Z:1.66 [[ 9.99134484e-01 4.05597957e-02 -9.22959579e-03 5.63178337e+02] [-4.05555949e-02 9.99177077e-01 6.41927610e-04 -2.76076943e+01] [ 9.24803699e-03 -2.67060263e-04 9.99957200e-01 1.65981153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0807140569999 meters Centerline goodness [0,1] 0.9795697469895819 Centerline is valid? [True, True] Translation: X:563.21, Y:-27.61, Z:1.66 [[ 9.99186217e-01 3.93518268e-02 -8.85089256e-03 5.63207061e+02] [-3.93479221e-02 9.99225381e-01 6.14936894e-04 -2.76140854e+01] [ 8.86823538e-03 -2.66172237e-04 9.99960641e-01 1.66020722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.110714057 meters Centerline goodness [0,1] 0.9792758938817758 Centerline is valid? [True, True] Translation: X:563.24, Y:-27.62, Z:1.66 [[ 9.99245670e-01 3.78189993e-02 -8.82122945e-03 5.63235371e+02] [-3.78150661e-02 9.99284567e-01 6.12300539e-04 -2.76204623e+01] [ 8.83807504e-03 -2.78263287e-04 9.99960905e-01 1.66074788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.140714057 meters Centerline goodness [0,1] 0.9778261552617995 Centerline is valid? [True, True] Translation: X:563.26, Y:-27.63, Z:1.66 [[ 9.99396767e-01 3.35988751e-02 -8.78733827e-03 5.63263193e+02] [-3.35948136e-02 9.99435349e-01 6.09434385e-04 -2.76316351e+01] [ 8.80285280e-03 -3.13857763e-04 9.99961205e-01 1.66097235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1707140569999 meters Centerline goodness [0,1] 0.9770308123249299 Centerline is valid? [True, True] Translation: X:563.29, Y:-27.64, Z:1.66 [[ 9.99490101e-01 3.08571209e-02 -8.20825973e-03 5.63292034e+02] [-3.08534880e-02 9.99523756e-01 5.68891993e-04 -2.76394112e+01] [ 8.22190496e-03 -3.15348473e-04 9.99966150e-01 1.66185021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2007140569999 meters Centerline goodness [0,1] 0.9787785372827592 Centerline is valid? [True, True] Translation: X:563.32, Y:-27.64, Z:1.66 [[ 9.99670987e-01 2.46458877e-02 -7.10622623e-03 5.63322110e+02] [-2.46430097e-02 9.99696194e-01 4.92280598e-04 -2.76447955e+01] [ 7.11620001e-03 -3.16999829e-04 9.99974629e-01 1.66362735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2307140569999 meters Centerline goodness [0,1] 0.9776169265033408 Centerline is valid? [True, True] Translation: X:563.35, Y:-27.65, Z:1.66 [[ 9.99765218e-01 2.07566686e-02 -6.21848480e-03 5.63351757e+02] [-2.07543900e-02 9.99784512e-01 4.30735903e-04 -2.76520368e+01] [ 6.22608543e-03 -3.01573915e-04 9.99980572e-01 1.66400387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.260714057 meters Centerline goodness [0,1] 0.973153320918684 Centerline is valid? [True, True] Translation: X:563.38, Y:-27.67, Z:1.66 [[ 9.99905475e-01 1.28966767e-02 -4.76612352e-03 5.63379596e+02] [-1.28952494e-02 9.99916798e-01 3.30080804e-04 -2.76693807e+01] [ 4.76998392e-03 -2.68589252e-04 9.99988587e-01 1.66413387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.290714057 meters Centerline goodness [0,1] 0.9727343144848954 Centerline is valid? [True, True] Translation: X:563.41, Y:-27.67, Z:1.66 [[ 9.99949259e-01 8.83624164e-03 -4.83732405e-03 5.63409812e+02] [-8.83472485e-03 9.99960917e-01 3.34838317e-04 -2.76734324e+01] [ 4.84009370e-03 -2.92084900e-04 9.99988244e-01 1.66405987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3207140569999 meters Centerline goodness [0,1] 0.9707332169146091 Centerline is valid? [True, True] Translation: X:563.44, Y:-27.68, Z:1.66 [[ 9.99987109e-01 1.77702736e-03 -4.75656786e-03 5.63439632e+02] [-1.77548168e-03 9.99998370e-01 3.29159684e-04 -2.76841408e+01] [ 4.75714503e-03 -3.20710241e-04 9.99988633e-01 1.66387488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3507140569999 meters Centerline goodness [0,1] 0.9686284906327324 Centerline is valid? [True, True] Translation: X:563.47, Y:-27.69, Z:1.66 [[ 9.99986797e-01 -1.25824669e-03 -4.98224204e-03 5.63468075e+02] [ 1.25998008e-03 9.99999147e-01 3.44789236e-04 -2.76910075e+01] [ 4.98180396e-03 -3.51062210e-04 9.99987529e-01 1.66429051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.380714057 meters Centerline goodness [0,1] 0.9703282410775301 Centerline is valid? [True, True] Translation: X:563.50, Y:-27.70, Z:1.66 [[ 9.99963806e-01 -6.34299702e-03 -5.67033526e-03 5.63498506e+02] [ 6.34532329e-03 9.99979791e-01 3.92355600e-04 -2.76952342e+01] [ 5.66773196e-03 -4.28321509e-04 9.99983847e-01 1.66333443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.410714057 meters Centerline goodness [0,1] 0.9687947323217865 Centerline is valid? [True, True] Translation: X:563.53, Y:-27.70, Z:1.66 [[ 9.99950799e-01 -7.84309406e-03 -6.07337266e-03 5.63529013e+02] [ 7.84579032e-03 9.99969133e-01 4.20249544e-04 -2.76986254e+01] [ 6.06988914e-03 -4.67879276e-04 9.99981469e-01 1.66260290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4407140569999 meters Centerline goodness [0,1] 0.9672901318981869 Centerline is valid? [True, True] Translation: X:563.56, Y:-27.70, Z:1.66 [[ 9.99932923e-01 -9.25784251e-03 -6.95997859e-03 5.63558363e+02] [ 9.26141732e-03 9.99956996e-01 4.81568723e-04 -2.77041418e+01] [ 6.95522099e-03 -5.45995687e-04 9.99975663e-01 1.66230551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4707140569999 meters Centerline goodness [0,1] 0.9662341101694916 Centerline is valid? [True, True] Translation: X:563.59, Y:-27.71, Z:1.66 [[ 9.99932971e-01 -9.23154261e-03 -6.98798548e-03 5.63587804e+02] [ 9.23514475e-03 9.99957238e-01 4.83382685e-04 -2.77076724e+01] [ 6.98322429e-03 -5.47885342e-04 9.99975467e-01 1.66250682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.500714057 meters Centerline goodness [0,1] 0.9686699072028281 Centerline is valid? [True, True] Translation: X:563.62, Y:-27.71, Z:1.66 [[ 9.99932948e-01 -8.99536565e-03 -7.29263173e-03 5.63618808e+02] [ 8.99928177e-03 9.99959378e-01 5.04359960e-04 -2.77068045e+01] [ 7.28779859e-03 -5.69954589e-04 9.99973281e-01 1.66279052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.530714057 meters Centerline goodness [0,1] 0.9694223985890652 Centerline is valid? [True, True] Translation: X:563.65, Y:-27.71, Z:1.66 [[ 9.99942985e-01 -7.56428138e-03 -7.53707897e-03 5.63649003e+02] [ 7.56842374e-03 9.99971223e-01 5.21226318e-04 -2.77062129e+01] [ 7.53291937e-03 -5.78240408e-04 9.99971460e-01 1.66318065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5607140569999 meters Centerline goodness [0,1] 0.9694816514773705 Centerline is valid? [True, True] Translation: X:563.68, Y:-27.71, Z:1.66 [[ 9.99962176e-01 -5.37187902e-03 -6.84024037e-03 5.63679355e+02] [ 5.37523876e-03 9.99985441e-01 4.72883420e-04 -2.77055482e+01] [ 6.83760051e-03 -5.09633459e-04 9.99976493e-01 1.66255893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5907140569999 meters Centerline goodness [0,1] 0.9690732995817741 Centerline is valid? [True, True] Translation: X:563.71, Y:-27.70, Z:1.66 [[ 9.99968831e-01 -4.41982794e-03 -6.54228653e-03 5.63708615e+02] [ 4.42287773e-03 9.99990117e-01 4.51771135e-04 -2.77045415e+01] [ 6.54022512e-03 -4.80692788e-04 9.99978497e-01 1.66258513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.620714057 meters Centerline goodness [0,1] 0.9707110198131337 Centerline is valid? [True, True] Translation: X:563.74, Y:-27.70, Z:1.66 [[ 9.99972846e-01 -3.36790329e-03 -6.55469623e-03 5.63738848e+02] [ 3.37093392e-03 9.99994217e-01 4.51367300e-04 -2.77015122e+01] [ 6.55313816e-03 -4.73450492e-04 9.99978416e-01 1.66274771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.650714057 meters Centerline goodness [0,1] 0.9707603635557526 Centerline is valid? [True, True] Translation: X:563.77, Y:-27.70, Z:1.66 [[ 9.99976935e-01 -1.42076158e-03 -6.64163504e-03 5.63768612e+02] [ 1.42382880e-03 9.99998882e-01 4.57112131e-04 -2.76990357e+01] [ 6.64097817e-03 -4.66558139e-04 9.99977840e-01 1.66312613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6807140569999 meters Centerline goodness [0,1] 0.9682437673130194 Centerline is valid? [True, True] Translation: X:563.80, Y:-27.70, Z:1.66 [[ 9.99976777e-01 -1.02564983e-03 -6.73754387e-03 5.63796306e+02] [ 1.02879518e-03 9.99999363e-01 4.63390616e-04 -2.77047735e+01] [ 6.73706431e-03 -4.70311407e-04 9.99977195e-01 1.66350739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7107140569999 meters Centerline goodness [0,1] 0.9708668929863099 Centerline is valid? [True, True] Translation: X:563.83, Y:-27.70, Z:1.66 [[ 9.99979790e-01 5.09361931e-04 -6.33718572e-03 5.63826066e+02] [-5.06614306e-04 9.99999777e-01 4.35169468e-04 -2.76985100e+01] [ 6.33740597e-03 -4.31950165e-04 9.99979825e-01 1.66384758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.740714057 meters Centerline goodness [0,1] 0.9683696135051089 Centerline is valid? [True, True] Translation: X:563.85, Y:-27.70, Z:1.66 [[ 9.99981332e-01 2.69698827e-04 -6.10433721e-03 5.63854962e+02] [-2.67152440e-04 9.99999877e-01 4.17955392e-04 -2.76991281e+01] [ 6.10444919e-03 -4.16316801e-04 9.99981281e-01 1.66433310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.770714057 meters Centerline goodness [0,1] 0.9659184445284865 Centerline is valid? [True, True] Translation: X:563.88, Y:-27.70, Z:1.67 [[ 9.99984201e-01 1.07105308e-04 -5.62012012e-03 5.63882520e+02] [-1.04946431e-04 9.99999921e-01 3.84427097e-04 -2.77030756e+01] [ 5.62016085e-03 -3.83831212e-04 9.99984133e-01 1.66510434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8007140569999 meters Centerline goodness [0,1] 0.969622679355457 Centerline is valid? [True, True] Translation: X:563.91, Y:-27.70, Z:1.67 [[ 9.99983792e-01 -3.24274044e-05 -5.69342051e-03 5.63911777e+02] [ 3.46421365e-05 9.99999924e-01 3.88900321e-04 -2.76968872e+01] [ 5.69340747e-03 -3.89091250e-04 9.99983717e-01 1.66535634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8307140569999 meters Centerline goodness [0,1] 0.9686775975761897 Centerline is valid? [True, True] Translation: X:563.94, Y:-27.70, Z:1.67 [[ 9.99985419e-01 -2.41577833e-04 -5.39477230e-03 5.63939098e+02] [ 2.43567368e-04 9.99999903e-01 3.68135421e-04 -2.76986828e+01] [ 5.39468284e-03 -3.69444044e-04 9.99985380e-01 1.66547438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.860714057 meters Centerline goodness [0,1] 0.9682217563890995 Centerline is valid? [True, True] Translation: X:563.97, Y:-27.70, Z:1.66 [[ 9.99978893e-01 4.29726860e-04 -6.48299777e-03 5.63968179e+02] [-4.26873281e-04 9.99999811e-01 4.41540866e-04 -2.76966079e+01] [ 6.48318629e-03 -4.38764128e-04 9.99978888e-01 1.66491963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.890714057 meters Centerline goodness [0,1] 0.9700511811903538 Centerline is valid? [True, True] Translation: X:564.00, Y:-27.69, Z:1.66 [[ 9.99972796e-01 1.17080279e-03 -7.28263309e-03 5.63997788e+02] [-1.16723535e-03 9.99999197e-01 4.94086487e-04 -2.76936606e+01] [ 7.28320572e-03 -4.85572499e-04 9.99973359e-01 1.66399885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9207140569999 meters Centerline goodness [0,1] 0.9706442150518373 Centerline is valid? [True, True] Translation: X:564.03, Y:-27.69, Z:1.66 [[ 9.99959208e-01 3.96193581e-03 -8.11697345e-03 5.64026475e+02] [-3.95760795e-03 9.99992018e-01 5.49179781e-04 -2.76920456e+01] [ 8.11908448e-03 -5.17033580e-04 9.99966906e-01 1.66360671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9507140569999 meters Centerline goodness [0,1] 0.970399605328071 Centerline is valid? [True, True] Translation: X:564.06, Y:-27.69, Z:1.66 [[ 9.99952899e-01 5.55413853e-03 -7.95937602e-03 5.64055522e+02] [-5.55003101e-03 9.99984454e-01 5.38055851e-04 -2.76906026e+01] [ 7.96224072e-03 -4.93855724e-04 9.99968179e-01 1.66423958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9807140569999 meters Centerline goodness [0,1] 0.9734009150444065 Centerline is valid? [True, True] Translation: X:564.09, Y:-27.68, Z:1.67 [[ 9.99934100e-01 9.60064453e-03 -6.29473165e-03 5.64085967e+02] [-9.59815736e-03 9.99953846e-01 4.25210709e-04 -2.76838310e+01] [ 6.29852342e-03 -3.64764863e-04 9.99980098e-01 1.66549564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.010714057 meters Centerline goodness [0,1] 0.9734009150444065 Centerline is valid? [True, True] Translation: X:564.11, Y:-27.69, Z:1.67 [[ 9.99935119e-01 9.49390475e-03 -6.29474707e-03 5.64113416e+02] [-9.49141690e-03 9.99954865e-01 4.24982236e-04 -2.76855946e+01] [ 6.29849770e-03 -3.65208594e-04 9.99980098e-01 1.66564113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.040714057 meters Centerline goodness [0,1] 0.9734762344358634 Centerline is valid? [True, True] Translation: X:564.14, Y:-27.68, Z:1.67 [[ 9.99915251e-01 1.19412120e-02 -5.18637201e-03 5.64143195e+02] [-1.19395584e-02 9.99928660e-01 3.49688712e-04 -2.76848703e+01] [ 5.19017772e-03 -2.87736085e-04 9.99986490e-01 1.66592055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0707140569999 meters Centerline goodness [0,1] 0.9746821174136532 Centerline is valid? [True, True] Translation: X:564.17, Y:-27.68, Z:1.67 [[ 9.99890667e-01 1.39916758e-02 -4.78401216e-03 5.64172798e+02] [-1.39902929e-02 9.99902079e-01 3.22411991e-04 -2.76837002e+01] [ 4.78805479e-03 -2.55447010e-04 9.99988505e-01 1.66606455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1007140569999 meters Centerline goodness [0,1] 0.9751283152825198 Centerline is valid? [True, True] Translation: X:564.20, Y:-27.68, Z:1.67 [[ 9.99831003e-01 1.74833377e-02 -5.68318796e-03 5.64202082e+02] [-1.74814443e-02 9.99847115e-01 3.82659116e-04 -2.76836135e+01] [ 5.68900925e-03 -2.83244114e-04 9.99983777e-01 1.66582236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.130714057 meters Centerline goodness [0,1] 0.9784125402074934 Centerline is valid? [True, True] Translation: X:564.23, Y:-27.68, Z:1.67 [[ 9.99785095e-01 1.99256254e-02 -5.72122516e-03 5.64232460e+02] [-1.99237476e-02 9.99801428e-01 3.85022299e-04 -2.76799632e+01] [ 5.72776090e-03 -2.70951310e-04 9.99983560e-01 1.66657293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.160714057 meters Centerline goodness [0,1] 0.9757660544248387 Centerline is valid? [True, True] Translation: X:564.26, Y:-27.68, Z:1.67 [[ 9.99769571e-01 2.07132782e-02 -5.63611361e-03 5.64259851e+02] [-2.07114692e-02 9.99785423e-01 3.79157954e-04 -2.76834517e+01] [ 5.64275783e-03 -2.62338392e-04 9.99984045e-01 1.66653753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1907140569999 meters Centerline goodness [0,1] 0.9773484796952588 Centerline is valid? [True, True] Translation: X:564.29, Y:-27.68, Z:1.67 [[ 9.99750127e-01 2.15911476e-02 -5.78847062e-03 5.64289351e+02] [-2.15892580e-02 9.99766849e-01 3.88720291e-04 -2.76812776e+01] [ 5.79551395e-03 -2.63654374e-04 9.99983171e-01 1.66650174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2207140569999 meters Centerline goodness [0,1] 0.9787991474309555 Centerline is valid? [True, True] Translation: X:564.32, Y:-27.68, Z:1.67 [[ 9.99706506e-01 2.36695261e-02 -5.16285390e-03 5.64317088e+02] [-2.36680519e-02 9.99719812e-01 3.46467923e-04 -2.76828077e+01] [ 5.16960807e-03 -2.24171543e-04 9.99986612e-01 1.66609250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.250714057 meters Centerline goodness [0,1] 0.9790254189247409 Centerline is valid? [True, True] Translation: X:564.35, Y:-27.68, Z:1.66 [[ 9.99607938e-01 2.73754077e-02 -5.87861295e-03 5.64345544e+02] [-2.73735647e-02 9.99625196e-01 3.93751594e-04 -2.76834525e+01] [ 5.88718873e-03 -2.32678627e-04 9.99982643e-01 1.66476361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.280714057 meters Centerline goodness [0,1] 0.9823963657013061 Centerline is valid? [True, True] Translation: X:564.38, Y:-27.68, Z:1.66 [[ 9.99529085e-01 2.99870119e-02 -6.51050151e-03 5.64375007e+02] [-2.99848097e-02 9.99550260e-01 4.35620400e-04 -2.76823128e+01] [ 6.52063643e-03 -2.40199111e-04 9.99978712e-01 1.66461641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3107140569999 meters Centerline goodness [0,1] 0.9819615148692551 Centerline is valid? [True, True] Translation: X:564.40, Y:-27.68, Z:1.66 [[ 9.99445519e-01 3.27150719e-02 -6.19502752e-03 5.64403254e+02] [-3.27131344e-02 9.99464697e-01 4.13849395e-04 -2.76840882e+01] [ 6.20525041e-03 -2.10961155e-04 9.99980725e-01 1.66445067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3407140569999 meters Centerline goodness [0,1] 0.9828995605346449 Centerline is valid? [True, True] Translation: X:564.43, Y:-27.68, Z:1.66 [[ 9.99273624e-01 3.75233036e-02 -6.65031410e-03 5.64432838e+02] [-3.75211803e-02 9.99295734e-01 4.43811407e-04 -2.76835677e+01] [ 6.66228378e-03 -1.93961399e-04 9.99977788e-01 1.66355611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.370714057 meters Centerline goodness [0,1] 0.9842820151728524 Centerline is valid? [True, True] Translation: X:564.46, Y:-27.69, Z:1.66 [[ 9.99221819e-01 3.88613450e-02 -6.74931092e-03 5.64462039e+02] [-3.88591920e-02 9.99244595e-01 4.49888797e-04 -2.76857733e+01] [ 6.76169574e-03 -1.87265934e-04 9.99977122e-01 1.66297590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.400714057 meters Centerline goodness [0,1] 0.9813591263083804 Centerline is valid? [True, True] Translation: X:564.49, Y:-27.69, Z:1.66 [[ 9.99231077e-01 3.86690038e-02 -6.47781730e-03 5.64488156e+02] [-3.86670251e-02 9.99252058e-01 4.30479052e-04 -2.76944620e+01] [ 6.48961847e-03 -1.79670123e-04 9.99978926e-01 1.66267802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4307140569999 meters Centerline goodness [0,1] 0.9838574565871991 Centerline is valid? [True, True] Translation: X:564.52, Y:-27.70, Z:1.66 [[ 9.99279391e-01 3.75501876e-02 -5.53913009e-03 5.64517190e+02] [-3.75487268e-02 9.99294730e-01 3.67527568e-04 -2.76962885e+01] [ 5.54902423e-03 -1.59275442e-04 9.99984591e-01 1.66340079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4607140569999 meters Centerline goodness [0,1] 0.9827383642114776 Centerline is valid? [True, True] Translation: X:564.55, Y:-27.70, Z:1.66 [[ 9.99450089e-01 3.28292436e-02 -4.66470641e-03 5.64545740e+02] [-3.28281575e-02 9.99460963e-01 3.09231868e-04 -2.77030722e+01] [ 4.67234380e-03 -1.55928102e-04 9.99989072e-01 1.66413943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.490714057 meters Centerline goodness [0,1] 0.981533321293119 Centerline is valid? [True, True] Translation: X:564.57, Y:-27.71, Z:1.66 [[ 9.99548677e-01 2.97418879e-02 -4.22631625e-03 5.64574762e+02] [-2.97409695e-02 9.99557600e-01 2.79994112e-04 -2.77086760e+01] [ 4.23277408e-03 -1.54173002e-04 9.99991030e-01 1.66448995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.520714057 meters Centerline goodness [0,1] 0.9794472802500506 Centerline is valid? [True, True] Translation: X:564.60, Y:-27.72, Z:1.67 [[ 9.99726528e-01 2.30650328e-02 -3.85660123e-03 5.64604741e+02] [-2.30642198e-02 9.99733953e-01 2.55139759e-04 -2.77195558e+01] [ 3.86146000e-03 -1.66120487e-04 9.99992531e-01 1.66556503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5507140569999 meters Centerline goodness [0,1] 0.9767624079339139 Centerline is valid? [True, True] Translation: X:564.63, Y:-27.73, Z:1.66 [[ 9.99869426e-01 1.54637475e-02 -4.69070141e-03 5.64634483e+02] [-1.54624615e-02 9.99880401e-01 3.10295939e-04 -2.77312519e+01] [ 4.69493874e-03 -2.37725633e-04 9.99988950e-01 1.66499443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5807140569999 meters Centerline goodness [0,1] 0.9758510069506326 Centerline is valid? [True, True] Translation: X:564.66, Y:-27.74, Z:1.66 [[ 9.99914714e-01 1.19202416e-02 -5.33599356e-03 5.64664595e+02] [-1.19185274e-02 9.99928910e-01 3.52941530e-04 -2.77380434e+01] [ 5.33982137e-03 -2.89314243e-04 9.99985701e-01 1.66432286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.610714057 meters Centerline goodness [0,1] 0.9755552576306028 Centerline is valid? [True, True] Translation: X:564.69, Y:-27.74, Z:1.66 [[ 9.99939470e-01 8.92385637e-03 -6.43594958e-03 5.64694161e+02] [-8.92130081e-03 9.99960114e-01 4.25676048e-04 -2.77441258e+01] [ 6.43949155e-03 -3.68233240e-04 9.99979198e-01 1.66417993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.640714057 meters Centerline goodness [0,1] 0.9748985688171563 Centerline is valid? [True, True] Translation: X:564.72, Y:-27.75, Z:1.66 [[ 9.99951262e-01 5.44421989e-03 -8.23612894e-03 5.64724233e+02] [-5.43991808e-03 9.99985055e-01 5.44621371e-04 -2.77512624e+01] [ 8.23897089e-03 -4.99790961e-04 9.99965934e-01 1.66361977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6707140569999 meters Centerline goodness [0,1] 0.9751169525506794 Centerline is valid? [True, True] Translation: X:564.75, Y:-27.75, Z:1.66 [[ 9.99950600e-01 4.70733719e-03 -8.75430786e-03 5.64752509e+02] [-4.70245105e-03 9.99988776e-01 5.78641719e-04 -2.77543123e+01] [ 8.75693346e-03 -5.37446430e-04 9.99961513e-01 1.66347923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7007140569999 meters Centerline goodness [0,1] 0.9746593034648615 Centerline is valid? [True, True] Translation: X:564.78, Y:-27.76, Z:1.66 [[ 9.99942062e-01 6.12748740e-03 -8.85026177e-03 5.64781006e+02] [-6.12255451e-03 9.99981086e-01 5.84359000e-04 -2.77576236e+01] [ 8.85367503e-03 -5.30138933e-04 9.99960665e-01 1.66374900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7307140569999 meters Centerline goodness [0,1] 0.9738238573021182 Centerline is valid? [True, True] Translation: X:564.81, Y:-27.76, Z:1.66 [[ 9.99930978e-01 7.86764216e-03 -8.72577688e-03 5.64809240e+02] [-7.86291835e-03 9.99968921e-01 5.75536749e-04 -2.77609470e+01] [ 8.73003381e-03 -5.06886954e-04 9.99961764e-01 1.66416533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.760714057 meters Centerline goodness [0,1] 0.9772706995003568 Centerline is valid? [True, True] Translation: X:564.84, Y:-27.75, Z:1.67 [[ 9.99871159e-01 1.41346982e-02 -7.60760602e-03 5.64840583e+02] [-1.41312905e-02 9.99900023e-01 5.01500037e-04 -2.77544463e+01] [ 7.61393398e-03 -3.93930133e-04 9.99970936e-01 1.66552007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.790714057 meters Centerline goodness [0,1] 0.9789588772117723 Centerline is valid? [True, True] Translation: X:564.87, Y:-27.75, Z:1.67 [[ 9.99812628e-01 1.77804311e-02 -7.65281174e-03 5.64871140e+02] [-1.77770890e-02 9.99841848e-01 5.04516562e-04 -2.77513101e+01] [ 7.66057195e-03 -3.68377314e-04 9.99970590e-01 1.66571483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8207140569999 meters Centerline goodness [0,1] 0.9759364257332916 Centerline is valid? [True, True] Translation: X:564.90, Y:-27.76, Z:1.67 [[ 9.99738479e-01 2.15847485e-02 -7.55462323e-03 5.64899978e+02] [-2.15816013e-02 9.99766966e-01 4.97867490e-04 -2.77567422e+01] [ 7.56360909e-03 -3.34696421e-04 9.99971339e-01 1.66560521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8507140569999 meters Centerline goodness [0,1] 0.9815543531726513 Centerline is valid? [True, True] Translation: X:564.93, Y:-27.75, Z:1.67 [[ 9.99588030e-01 2.79074551e-02 -6.70408986e-03 5.64931399e+02] [-2.79051199e-02 9.99610479e-01 4.41642484e-04 -2.77484699e+01] [ 6.71380360e-03 -2.54382109e-04 9.99977430e-01 1.66678459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.880714057 meters Centerline goodness [0,1] 0.980296558047995 Centerline is valid? [True, True] Translation: X:564.96, Y:-27.75, Z:1.67 [[ 9.99545765e-01 2.94785962e-02 -6.26705199e-03 5.64960200e+02] [-2.94765868e-02 9.99565386e-01 4.12765173e-04 -2.77495852e+01] [ 6.27649598e-03 -2.27846379e-04 9.99980277e-01 1.66717341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.910714057 meters Centerline goodness [0,1] 0.9817283177528291 Centerline is valid? [True, True] Translation: X:564.99, Y:-27.75, Z:1.67 [[ 9.99512397e-01 3.07908611e-02 -5.18556963e-03 5.64989210e+02] [-3.07895046e-02 9.99525833e-01 3.41235137e-04 -2.77504630e+01] [ 5.19361773e-03 -1.81407630e-04 9.99986497e-01 1.66840675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9407140569999 meters Centerline goodness [0,1] 0.9809896124204177 Centerline is valid? [True, True] Translation: X:565.02, Y:-27.75, Z:1.67 [[ 9.99514575e-01 3.08083441e-02 -4.63250523e-03 5.65015474e+02] [-3.08072627e-02 9.99525297e-01 3.04619824e-04 -2.77549490e+01] [ 4.63969100e-03 -1.61757149e-04 9.99989223e-01 1.66931091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9707140569999 meters Centerline goodness [0,1] 0.9783316242364796 Centerline is valid? [True, True] Translation: X:565.04, Y:-27.76, Z:1.67 [[ 9.99551880e-01 2.96309136e-02 -4.24832745e-03 5.65042958e+02] [-2.96299969e-02 9.99560896e-01 2.78574473e-04 -2.77623491e+01] [ 4.25471641e-03 -1.52571708e-04 9.99990937e-01 1.66987629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.000714057 meters Centerline goodness [0,1] 0.9794233172647742 Centerline is valid? [True, True] Translation: X:565.07, Y:-27.76, Z:1.67 [[ 9.99597439e-01 2.80376819e-02 -4.34137166e-03 5.65071452e+02] [-2.80367113e-02 9.99606854e-01 2.84274945e-04 -2.77645386e+01] [ 4.34763528e-03 -1.62442724e-04 9.99990536e-01 1.66943400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.030714057 meters Centerline goodness [0,1] 0.978150665220375 Centerline is valid? [True, True] Translation: X:565.10, Y:-27.77, Z:1.67 [[ 9.99690245e-01 2.43175525e-02 -5.29821471e-03 5.65100140e+02] [-2.43160571e-02 9.99704261e-01 3.46489008e-04 -2.77696366e+01] [ 5.30507358e-03 -2.17549990e-04 9.99985904e-01 1.66809472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0607140569999 meters Centerline goodness [0,1] 0.9794607331006735 Centerline is valid? [True, True] Translation: X:565.13, Y:-27.77, Z:1.67 [[ 9.99748756e-01 2.15364536e-02 -6.21332963e-03 5.65129561e+02] [-2.15343456e-02 9.99768027e-01 4.05976368e-04 -2.77728929e+01] [ 6.22063159e-03 -2.72074382e-04 9.99980615e-01 1.66752778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0907140569999 meters Centerline goodness [0,1] 0.9741583741495091 Centerline is valid? [True, True] Translation: X:565.16, Y:-27.79, Z:1.67 [[ 9.99830899e-01 1.68152853e-02 -7.44448061e-03 5.65157686e+02] [-1.68121306e-02 9.99858548e-01 4.86154091e-04 -2.77892104e+01] [ 7.45160239e-03 -3.60914302e-04 9.99972171e-01 1.66574023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.120714057 meters Centerline goodness [0,1] 0.9761108774104988 Centerline is valid? [True, True] Translation: X:565.19, Y:-27.79, Z:1.67 [[ 9.99859081e-01 1.49896230e-02 -7.55840984e-03 5.65187160e+02] [-1.49863205e-02 9.99887577e-01 4.93381530e-04 -2.77875273e+01] [ 7.56495570e-03 -3.80039251e-04 9.99971313e-01 1.66597652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.150714057 meters Centerline goodness [0,1] 0.9738328938913877 Centerline is valid? [True, True] Translation: X:565.21, Y:-27.80, Z:1.67 [[ 9.99874054e-01 1.35335681e-02 -8.28969552e-03 5.65213839e+02] [-1.35295508e-02 9.99908325e-01 5.40494359e-04 -2.77980384e+01] [ 8.29625038e-03 -4.28270429e-04 9.99965494e-01 1.66580724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1807140569999 meters Centerline goodness [0,1] 0.9771043026213915 Centerline is valid? [True, True] Translation: X:565.24, Y:-27.79, Z:1.67 [[ 9.99890005e-01 1.29913013e-02 -7.15567735e-03 5.65242678e+02] [-1.29882985e-02 9.99915540e-01 4.65942448e-04 -2.77934398e+01] [ 7.16112618e-03 -3.72951123e-04 9.99974289e-01 1.66755842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2107140569999 meters Centerline goodness [0,1] 0.9757395143487859 Centerline is valid? [True, True] Translation: X:565.27, Y:-27.80, Z:1.67 [[ 9.99893352e-01 1.26710903e-02 -7.26134747e-03 5.65270618e+02] [-1.26679941e-02 9.99919646e-01 4.72228204e-04 -2.77977546e+01] [ 7.26674764e-03 -3.80191136e-04 9.99973525e-01 1.66808475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.240714057 meters Centerline goodness [0,1] 0.9757970215113072 Centerline is valid? [True, True] Translation: X:565.30, Y:-27.80, Z:1.67 [[ 9.99895430e-01 1.30212016e-02 -6.29110664e-03 5.65298890e+02] [-1.30188880e-02 9.99915167e-01 4.08571414e-04 -2.78013427e+01] [ 6.29589304e-03 -3.26625476e-04 9.99980127e-01 1.66896367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.270714057 meters Centerline goodness [0,1] 0.9775433970555922 Centerline is valid? [True, True] Translation: X:565.33, Y:-27.80, Z:1.67 [[ 9.99894636e-01 1.32692443e-02 -5.88587090e-03 5.65327789e+02] [-1.32672257e-02 9.99911914e-01 3.81861923e-04 -2.78027396e+01] [ 5.89041946e-03 -3.03732510e-04 9.99982605e-01 1.66949647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3007140569999 meters Centerline goodness [0,1] 0.9749780701754386 Centerline is valid? [True, True] Translation: X:565.35, Y:-27.81, Z:1.67 [[ 9.99900321e-01 1.31066673e-02 -5.25000347e-03 5.65354666e+02] [-1.31050609e-02 9.99914067e-01 3.40274079e-04 -2.78091110e+01] [ 5.25401218e-03 -2.71438546e-04 9.99986161e-01 1.66963736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3307140569999 meters Centerline goodness [0,1] 0.9742196608081652 Centerline is valid? [True, True] Translation: X:565.38, Y:-27.81, Z:1.67 [[ 9.99921654e-01 1.14869885e-02 -4.97336614e-03 5.65383883e+02] [-1.14855299e-02 9.99933987e-01 3.21731699e-04 -2.78149461e+01] [ 4.97673356e-03 -2.64584747e-04 9.99987581e-01 1.66958950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.360714057 meters Centerline goodness [0,1] 0.9759896597804895 Centerline is valid? [True, True] Translation: X:565.41, Y:-27.82, Z:1.67 [[ 9.99949404e-01 8.89694262e-03 -4.69400947e-03 5.65413130e+02] [-8.89561555e-03 9.99960387e-01 3.03518530e-04 -2.78184874e+01] [ 4.69652391e-03 -2.61747070e-04 9.99988937e-01 1.66977339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.390714057 meters Centerline goodness [0,1] 0.9745132043992711 Centerline is valid? [True, True] Translation: X:565.44, Y:-27.82, Z:1.67 [[ 9.99962696e-01 7.35219845e-03 -4.53337248e-03 5.65442157e+02] [-7.35094589e-03 9.99972939e-01 2.92897976e-04 -2.78224717e+01] [ 4.53540324e-03 -2.59562474e-04 9.99989681e-01 1.67008195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4207140569999 meters Centerline goodness [0,1] 0.9749961616914877 Centerline is valid? [True, True] Translation: X:565.47, Y:-27.83, Z:1.67 [[ 9.99973169e-01 5.79955214e-03 -4.47511672e-03 5.65471236e+02] [-5.79831714e-03 9.99983148e-01 2.88897090e-04 -2.78265041e+01] [ 4.47671678e-03 -2.62941193e-04 9.99989945e-01 1.67027549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4507140569999 meters Centerline goodness [0,1] 0.9734376023941108 Centerline is valid? [True, True] Translation: X:565.50, Y:-27.83, Z:1.67 [[ 9.99978671e-01 2.98595728e-03 -5.80880772e-03 5.65501490e+02] [-2.98383129e-03 9.99995478e-01 3.74626327e-04 -2.78324940e+01] [ 5.80990007e-03 -3.57285834e-04 9.99983059e-01 1.67010467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4807140569999 meters Centerline goodness [0,1] 0.9714572513420329 Centerline is valid? [True, True] Translation: X:565.53, Y:-27.84, Z:1.67 [[ 9.99979550e-01 1.83432406e-03 -6.12664197e-03 5.65529132e+02] [-1.83193798e-03 9.99998244e-01 3.95048992e-04 -2.78392625e+01] [ 6.12735586e-03 -3.83817285e-04 9.99981154e-01 1.66964537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.510714057 meters Centerline goodness [0,1] 0.973351419944865 Centerline is valid? [True, True] Translation: X:565.56, Y:-27.84, Z:1.67 [[ 9.99975436e-01 1.27967977e-03 -6.89135495e-03 5.65557771e+02] [-1.27665216e-03 9.99999087e-01 4.43715989e-04 -2.78381716e+01] [ 6.89191647e-03 -4.34907226e-04 9.99976156e-01 1.66914674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.540714057 meters Centerline goodness [0,1] 0.9743863393810032 Centerline is valid? [True, True] Translation: X:565.59, Y:-27.84, Z:1.67 [[ 9.99973658e-01 2.33805731e-03 -6.87143117e-03 5.65585540e+02] [-2.33507563e-03 9.99997176e-01 4.41914267e-04 -2.78398888e+01] [ 6.87244498e-03 -4.25857315e-04 9.99976294e-01 1.67014064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5707140569999 meters Centerline goodness [0,1] 0.9747645125958379 Centerline is valid? [True, True] Translation: X:565.62, Y:-27.84, Z:1.67 [[ 9.99961567e-01 6.37350497e-03 -6.02022242e-03 5.65615663e+02] [-6.37129163e-03 9.99979628e-01 3.86757393e-04 -2.78386372e+01] [ 6.02256477e-03 -3.48385936e-04 9.99981804e-01 1.67184059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6007140569999 meters Centerline goodness [0,1] 0.9755821298656037 Centerline is valid? [True, True] Translation: X:565.65, Y:-27.84, Z:1.67 [[ 9.99940142e-01 9.34425584e-03 -5.69184345e-03 5.65645701e+02] [-9.34232551e-03 9.99956293e-01 3.65632758e-04 -2.78387066e+01] [ 5.69501124e-03 -3.12435818e-04 9.99983734e-01 1.67227205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.630714057 meters Centerline goodness [0,1] 0.9758387499179305 Centerline is valid? [True, True] Translation: X:565.67, Y:-27.84, Z:1.67 [[ 9.99874830e-01 1.50505409e-02 -4.87918666e-03 5.65674876e+02] [-1.50491905e-02 9.99886705e-01 3.13358115e-04 -2.78379230e+01] [ 4.88335008e-03 -2.39891082e-04 9.99988048e-01 1.67271605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.660714057 meters Centerline goodness [0,1] 0.9755793070217705 Centerline is valid? [True, True] Translation: X:565.70, Y:-27.84, Z:1.67 [[ 9.99834181e-01 1.76302045e-02 -4.55920446e-03 5.65704997e+02] [-1.76290526e-02 9.99844553e-01 2.92718856e-04 -2.78378657e+01] [ 4.56365644e-03 -2.12295863e-04 9.99989564e-01 1.67294629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6907140569999 meters Centerline goodness [0,1] 0.9781969730203992 Centerline is valid? [True, True] Translation: X:565.74, Y:-27.83, Z:1.67 [[ 9.99727321e-01 2.31419550e-02 -3.11976563e-03 5.65735553e+02] [-2.31414426e-02 9.99732181e-01 2.00261866e-04 -2.78349117e+01] [ 3.12356455e-03 -1.28011382e-04 9.99995113e-01 1.67405840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7207140569999 meters Centerline goodness [0,1] 0.9784148989843596 Centerline is valid? [True, True] Translation: X:565.76, Y:-27.84, Z:1.67 [[ 9.99677438e-01 2.52551625e-02 -2.68252018e-03 5.65763411e+02] [-2.52547907e-02 9.99681032e-01 1.72369223e-04 -2.78365229e+01] [ 2.68601775e-03 -1.04567137e-04 9.99996387e-01 1.67459917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.750714057 meters Centerline goodness [0,1] 0.9805077660931931 Centerline is valid? [True, True] Translation: X:565.79, Y:-27.84, Z:1.67 [[ 9.99644362e-01 2.63804806e-02 -3.90129999e-03 5.65792080e+02] [-2.63797051e-02 9.99651964e-01 2.50119065e-04 -2.78370851e+01] [ 3.90654046e-03 -1.47114970e-04 9.99992359e-01 1.67391667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.780714057 meters Centerline goodness [0,1] 0.9817458922766014 Centerline is valid? [True, True] Translation: X:565.82, Y:-27.84, Z:1.67 [[ 9.99665921e-01 2.54451691e-02 -4.53754691e-03 5.65820623e+02] [-2.54441120e-02 9.99676204e-01 2.90542200e-04 -2.78386507e+01] [ 4.54347056e-03 -1.74991285e-04 9.99989663e-01 1.67303072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8107140569999 meters Centerline goodness [0,1] 0.9801628228478638 Centerline is valid? [True, True] Translation: X:565.85, Y:-27.84, Z:1.67 [[ 9.99722722e-01 2.29752823e-02 -5.15908465e-03 5.65849704e+02] [-2.29738851e-02 9.99736011e-01 3.29927521e-04 -2.78433133e+01] [ 5.16530289e-03 -2.11311821e-04 9.99986637e-01 1.67199573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8407140569999 meters Centerline goodness [0,1] 0.9786250848645452 Centerline is valid? [True, True] Translation: X:565.88, Y:-27.85, Z:1.67 [[ 9.99836336e-01 1.71243028e-02 -5.83605990e-03 5.65879286e+02] [-1.71224179e-02 9.99853331e-01 3.72801190e-04 -2.78501853e+01] [ 5.84158789e-03 -2.72812719e-04 9.99982901e-01 1.67147864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.870714057 meters Centerline goodness [0,1] 0.9775089154834051 Centerline is valid? [True, True] Translation: X:565.91, Y:-27.85, Z:1.67 [[ 9.99883952e-01 1.40947922e-02 -5.78095724e-03 5.65908358e+02] [-1.40928925e-02 9.99900622e-01 3.69209245e-04 -2.78529523e+01] [ 5.78558667e-03 -2.87695990e-04 9.99983222e-01 1.67191618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.900714057 meters Centerline goodness [0,1] 0.9760255261490045 Centerline is valid? [True, True] Translation: X:565.94, Y:-27.86, Z:1.67 [[ 9.99945432e-01 9.29577034e-03 -4.76672301e-03 5.65937854e+02] [-9.29442550e-03 9.99956760e-01 3.04205335e-04 -2.78584588e+01] [ 4.76934472e-03 -2.59884783e-04 9.99988593e-01 1.67421166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9307140569999 meters Centerline goodness [0,1] 0.9760255261490045 Centerline is valid? [True, True] Translation: X:565.97, Y:-27.86, Z:1.67 [[ 9.99946097e-01 9.22396034e-03 -4.76672453e-03 5.65966152e+02] [-9.22261481e-03 9.99957425e-01 3.04181486e-04 -2.78602053e+01] [ 4.76932735e-03 -2.60203425e-04 9.99988593e-01 1.67436160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9607140569999 meters Centerline goodness [0,1] 0.9750207251625289 Centerline is valid? [True, True] Translation: X:565.99, Y:-27.87, Z:1.68 [[ 9.99966565e-01 7.45419096e-03 -3.36218087e-03 5.65993965e+02] [-7.45351201e-03 9.99972199e-01 2.14421290e-04 -2.78658736e+01] [ 3.36368574e-03 -1.89354066e-04 9.99994325e-01 1.67606086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.990714057 meters Centerline goodness [0,1] 0.9760862463247305 Centerline is valid? [True, True] Translation: X:566.02, Y:-27.87, Z:1.68 [[ 9.99987015e-01 4.74416766e-03 -1.86072181e-03 5.66022832e+02] [-4.74395509e-03 9.99988740e-01 1.18640813e-04 -2.78687978e+01] [ 1.86126371e-03 -1.09812092e-04 9.99998262e-01 1.67748045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.020714057 meters Centerline goodness [0,1] 0.9740271059397743 Centerline is valid? [True, True] Translation: X:566.05, Y:-27.87, Z:1.68 [[ 9.99989602e-01 3.94422904e-03 -2.28875714e-03 5.66051516e+02] [-3.94390576e-03 9.99992212e-01 1.45743490e-04 -2.78738213e+01] [ 2.28931416e-03 -1.36715332e-04 9.99997370e-01 1.67719087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0507140569999 meters Centerline goodness [0,1] 0.9746275807997212 Centerline is valid? [True, True] Translation: X:566.08, Y:-27.87, Z:1.68 [[ 9.99990508e-01 3.53353544e-03 -2.54897465e-03 5.66080618e+02] [-3.53313345e-03 9.99993745e-01 1.62193805e-04 -2.78748320e+01] [ 2.54953183e-03 -1.53186398e-04 9.99996738e-01 1.67676809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0807140569999 meters Centerline goodness [0,1] 0.9656828537416362 Centerline is valid? [True, True] Translation: X:566.11, Y:-27.89, Z:1.68 [[ 9.99978382e-01 5.66128946e-03 -3.34445331e-03 5.66108151e+02] [-5.66061056e-03 9.99983956e-01 2.12422309e-04 -2.78933858e+01] [ 3.34560223e-03 -1.93486069e-04 9.99994385e-01 1.67744896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.110714057 meters Centerline goodness [0,1] 0.9752537794623797 Centerline is valid? [True, True] Translation: X:566.14, Y:-27.88, Z:1.68 [[ 9.99989080e-01 2.07938854e-03 -4.18533068e-03 5.66139297e+02] [-2.07829546e-03 9.99997805e-01 2.65501847e-04 -2.78770794e+01] [ 4.18587358e-03 -2.56800594e-04 9.99991206e-01 1.67648590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.140714057 meters Centerline goodness [0,1] 0.974925451102453 Centerline is valid? [True, True] Translation: X:566.17, Y:-27.88, Z:1.68 [[ 9.99988548e-01 2.29490910e-03 -4.19956575e-03 5.66167954e+02] [-2.29381054e-03 9.99997334e-01 2.66387237e-04 -2.78787929e+01] [ 4.20016589e-03 -2.56751178e-04 9.99991146e-01 1.67608314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1707140569999 meters Centerline goodness [0,1] 0.975269637215383 Centerline is valid? [True, True] Translation: X:566.20, Y:-27.88, Z:1.68 [[ 9.99989984e-01 1.84528433e-03 -4.07748829e-03 5.66196431e+02] [-1.84424613e-03 9.99998266e-01 2.58361866e-04 -2.78811848e+01] [ 4.07795798e-03 -2.50839387e-04 9.99991654e-01 1.67630223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2007140569999 meters Centerline goodness [0,1] 0.9748318129367965 Centerline is valid? [True, True] Translation: X:566.23, Y:-27.88, Z:1.68 [[ 9.99990850e-01 1.90440344e-04 -4.27358354e-03 5.66225474e+02] [-1.89286300e-04 9.99999946e-01 2.70444014e-04 -2.78843393e+01] [ 4.27363481e-03 -2.69632608e-04 9.99990832e-01 1.67629303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2307140569999 meters Centerline goodness [0,1] 0.9738919909265399 Centerline is valid? [True, True] Translation: X:566.25, Y:-27.89, Z:1.68 [[ 9.99986541e-01 -2.07703745e-03 -4.75441077e-03 5.66253447e+02] [ 2.07848998e-03 9.99997795e-01 3.00591882e-04 -2.78884944e+01] [ 4.75377595e-03 -3.10469831e-04 9.99988653e-01 1.67638313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.260714057 meters Centerline goodness [0,1] 0.9740401396160558 Centerline is valid? [True, True] Translation: X:566.28, Y:-27.89, Z:1.68 [[ 9.99983415e-01 -2.95170185e-03 -4.94550808e-03 5.66282586e+02] [ 2.95328228e-03 9.99995590e-01 3.12296176e-04 -2.78907875e+01] [ 4.94456446e-03 -3.26896478e-04 9.99987722e-01 1.67600903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.290714057 meters Centerline goodness [0,1] 0.9742801047120419 Centerline is valid? [True, True] Translation: X:566.31, Y:-27.89, Z:1.68 [[ 9.99973626e-01 -4.48726435e-03 -5.71072705e-03 5.66311152e+02] [ 4.48939487e-03 9.99989858e-01 3.60310200e-04 -2.78938691e+01] [ 5.70905232e-03 -3.85938406e-04 9.99983629e-01 1.67544000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3207140569999 meters Centerline goodness [0,1] 0.9730408756253687 Centerline is valid? [True, True] Translation: X:566.34, Y:-27.90, Z:1.67 [[ 9.99958230e-01 -6.67813277e-03 -6.24020218e-03 5.66341045e+02] [ 6.68071714e-03 9.99977606e-01 3.93394256e-04 -2.78976995e+01] [ 6.23743530e-03 -4.35066850e-04 9.99980452e-01 1.67475260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3507140569999 meters Centerline goodness [0,1] 0.9732681051803966 Centerline is valid? [True, True] Translation: X:566.37, Y:-27.90, Z:1.67 [[ 9.99941991e-01 -8.26201156e-03 -6.91039524e-03 5.66370963e+02] [ 8.26521768e-03 9.99965748e-01 4.35526335e-04 -2.78992958e+01] [ 6.90656022e-03 -4.92616992e-04 9.99976028e-01 1.67484166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.380714057 meters Centerline goodness [0,1] 0.9720207932902324 Centerline is valid? [True, True] Translation: X:566.40, Y:-27.90, Z:1.68 [[ 9.99916386e-01 -1.08583920e-02 -7.02255524e-03 5.66400000e+02] [ 1.08617656e-02 9.99940911e-01 4.42437777e-04 -2.79030395e+01] [ 7.01733613e-03 -5.18678133e-04 9.99975244e-01 1.67542380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.410714057 meters Centerline goodness [0,1] 0.969855946838044 Centerline is valid? [True, True] Translation: X:566.43, Y:-27.91, Z:1.68 [[ 9.99902973e-01 -1.21064757e-02 -6.89042779e-03 5.66429256e+02] [ 1.21097516e-02 9.99926580e-01 4.33906109e-04 -2.79073203e+01] [ 6.88466882e-03 -5.17305378e-04 9.99976167e-01 1.67552102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4407140569999 meters Centerline goodness [0,1] 0.9719348135185387 Centerline is valid? [True, True] Translation: X:566.46, Y:-27.91, Z:1.68 [[ 9.99875214e-01 -1.43740444e-02 -6.55308541e-03 5.66460113e+02] [ 1.43770554e-02 9.99896560e-01 4.12587936e-04 -2.79058390e+01] [ 6.54647700e-03 -5.06750522e-04 9.99978443e-01 1.67646388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4707140569999 meters Centerline goodness [0,1] 0.9723014167288039 Centerline is valid? [True, True] Translation: X:566.49, Y:-27.91, Z:1.68 [[ 9.99861795e-01 -1.53014889e-02 -6.50045461e-03 5.66490899e+02] [ 1.53044712e-02 9.99882796e-01 4.09296326e-04 -2.79061229e+01] [ 6.49342989e-03 -5.08725780e-04 9.99978788e-01 1.67728406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.500714057 meters Centerline goodness [0,1] 0.9712818271227188 Centerline is valid? [True, True] Translation: X:566.52, Y:-27.91, Z:1.68 [[ 9.99844042e-01 -1.62939792e-02 -6.81162354e-03 5.66520837e+02] [ 1.62972777e-02 9.99867099e-01 4.29016102e-04 -2.79096837e+01] [ 6.80372788e-03 -5.39960113e-04 9.99976709e-01 1.67773568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.530714057 meters Centerline goodness [0,1] 0.9720483299041281 Centerline is valid? [True, True] Translation: X:566.55, Y:-27.91, Z:1.68 [[ 9.99824938e-01 -1.72573671e-02 -7.23025112e-03 5.66551781e+02] [ 1.72611095e-02 9.99850912e-01 4.55517721e-04 -2.79093519e+01] [ 7.22131214e-03 -5.80240134e-04 9.99973758e-01 1.67827983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5607140569999 meters Centerline goodness [0,1] 0.9700732809688885 Centerline is valid? [True, True] Translation: X:566.58, Y:-27.91, Z:1.68 [[ 9.99824293e-01 -1.73625270e-02 -7.06578884e-03 5.66582552e+02] [ 1.73661058e-02 9.99849099e-01 4.45455391e-04 -2.79109494e+01] [ 7.05698837e-03 -5.68082358e-04 9.99974938e-01 1.67817247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5907140569999 meters Centerline goodness [0,1] 0.9702536223941779 Centerline is valid? [True, True] Translation: X:566.61, Y:-27.91, Z:1.68 [[ 9.99835948e-01 -1.68194840e-02 -6.72171553e-03 5.66614199e+02] [ 1.68227148e-02 9.99858398e-01 4.24395377e-04 -2.79095416e+01] [ 6.71362561e-03 -5.37403258e-04 9.99977319e-01 1.67863391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.620714057 meters Centerline goodness [0,1] 0.9643445956343013 Centerline is valid? [True, True] Translation: X:566.64, Y:-27.92, Z:1.68 [[ 9.99861836e-01 -1.56676181e-02 -5.55296611e-03 5.66643853e+02] [ 1.56698063e-02 9.99877160e-01 3.50781382e-04 -2.79185640e+01] [ 5.54678807e-03 -4.37746820e-04 9.99984521e-01 1.67958367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.650714057 meters Centerline goodness [0,1] 0.9686008927197168 Centerline is valid? [True, True] Translation: X:566.68, Y:-27.91, Z:1.68 [[ 9.99912917e-01 -1.24415305e-02 -4.40076090e-03 5.66675134e+02] [ 1.24428753e-02 9.99922546e-01 2.78348338e-04 -2.79117503e+01] [ 4.39695696e-03 -3.33082218e-04 9.99990278e-01 1.68063967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6807140569999 meters Centerline goodness [0,1] 0.9702859155239584 Centerline is valid? [True, True] Translation: X:566.71, Y:-27.91, Z:1.68 [[ 9.99932058e-01 -1.07920485e-02 -4.40569737e-03 5.66707582e+02] [ 1.07933804e-02 9.99941711e-01 2.78641382e-04 -2.79057149e+01] [ 4.40243345e-03 -3.26174818e-04 9.99990256e-01 1.68039652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7107140569999 meters Centerline goodness [0,1] 0.9707074266584442 Centerline is valid? [True, True] Translation: X:566.74, Y:-27.91, Z:1.68 [[ 9.99963991e-01 -6.94010127e-03 -4.88389830e-03 5.66736687e+02] [ 6.94169381e-03 9.99975858e-01 3.09202286e-04 -2.79059616e+01] [ 4.88163450e-03 -3.43093679e-04 9.99988026e-01 1.68018748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.740714057 meters Centerline goodness [0,1] 0.9738282284402859 Centerline is valid? [True, True] Translation: X:566.77, Y:-27.90, Z:1.68 [[ 9.99970056e-01 -5.28478360e-03 -5.65309990e-03 5.66767714e+02] [ 5.28689041e-03 9.99985960e-01 3.57803796e-04 -2.78979586e+01] [ 5.65112961e-03 -3.87680401e-04 9.99983957e-01 1.67996581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.770714057 meters Centerline goodness [0,1] 0.9736830455953962 Centerline is valid? [True, True] Translation: X:566.80, Y:-27.90, Z:1.68 [[ 9.99976386e-01 -2.58193263e-03 -6.36870780e-03 5.66796811e+02] [ 2.58455179e-03 9.99996579e-01 4.03058541e-04 -2.78950311e+01] [ 6.36764534e-03 -4.19509278e-04 9.99979638e-01 1.67916391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8007140569999 meters Centerline goodness [0,1] 0.9738967343336276 Centerline is valid? [True, True] Translation: X:566.83, Y:-27.89, Z:1.68 [[ 9.99973429e-01 -1.62075436e-03 -7.10734623e-03 5.66826029e+02] [ 1.62398769e-03 9.99998580e-01 4.49180465e-04 -2.78940962e+01] [ 7.10660813e-03 -4.60710772e-04 9.99974642e-01 1.67960477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8307140569999 meters Centerline goodness [0,1] 0.9739705947674677 Centerline is valid? [True, True] Translation: X:566.86, Y:-27.89, Z:1.68 [[ 9.99972708e-01 -9.99280913e-04 -7.32017971e-03 5.66855411e+02] [ 1.00268321e-03 9.99999391e-01 4.61128643e-04 -2.78930783e+01] [ 7.31971445e-03 -4.68455879e-04 9.99973101e-01 1.67917281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.860714057 meters Centerline goodness [0,1] 0.9758355213386142 Centerline is valid? [True, True] Translation: X:566.89, Y:-27.89, Z:1.68 [[ 9.99969856e-01 4.12898211e-04 -7.75347980e-03 5.66885040e+02] [-4.09133472e-04 9.99999798e-01 4.87134577e-04 -2.78886082e+01] [ 7.75367937e-03 -4.83947685e-04 9.99969823e-01 1.67930618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.890714057 meters Centerline goodness [0,1] 0.9748926035568811 Centerline is valid? [True, True] Translation: X:566.92, Y:-27.88, Z:1.68 [[ 9.99966804e-01 3.72772236e-03 -7.24533323e-03 5.66915846e+02] [-3.72453002e-03 9.99992961e-01 4.54049442e-04 -2.78834676e+01] [ 7.24697480e-03 -4.27048908e-04 9.99973649e-01 1.67915410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9207140569999 meters Centerline goodness [0,1] 0.9753042392903312 Centerline is valid? [True, True] Translation: X:566.95, Y:-27.88, Z:1.68 [[ 9.99959382e-01 5.62780171e-03 -7.03997668e-03 5.66945398e+02] [-5.62483819e-03 9.99984083e-01 4.40684676e-04 -2.78814384e+01] [ 7.04234471e-03 -4.01068047e-04 9.99975122e-01 1.67877771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9507140569999 meters Centerline goodness [0,1] 0.9770397337681191 Centerline is valid? [True, True] Translation: X:566.98, Y:-27.88, Z:1.68 [[ 9.99943062e-01 8.12123513e-03 -6.92225474e-03 5.66975959e+02] [-8.11843792e-03 9.99966952e-01 4.32093847e-04 -2.78786623e+01] [ 6.92553511e-03 -3.75871350e-04 9.99975948e-01 1.67916530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9807140569999 meters Centerline goodness [0,1] 0.9779006761900497 Centerline is valid? [True, True] Translation: X:567.01, Y:-27.87, Z:1.68 [[ 9.99875752e-01 1.42829847e-02 -6.66909984e-03 5.67005858e+02] [-1.42805258e-02 9.99897941e-01 4.16170916e-04 -2.78735192e+01] [ 6.67436337e-03 -3.20880955e-04 9.99977675e-01 1.68022269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.010714057 meters Centerline goodness [0,1] 0.9792292853618052 Centerline is valid? [True, True] Translation: X:567.04, Y:-27.87, Z:1.68 [[ 9.99832410e-01 1.70222386e-02 -6.73755488e-03 5.67035549e+02] [-1.70197921e-02 9.99855065e-01 4.20277050e-04 -2.78708666e+01] [ 6.74373242e-03 -3.05534832e-04 9.99977214e-01 1.68066700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.040714057 meters Centerline goodness [0,1] 0.9806647204132046 Centerline is valid? [True, True] Translation: X:567.07, Y:-27.87, Z:1.68 [[ 9.99732049e-01 2.25449910e-02 -5.24912917e-03 5.67066536e+02] [-2.25435828e-02 9.99745808e-01 3.27284261e-04 -2.78676061e+01] [ 5.25517351e-03 -2.08862386e-04 9.99986170e-01 1.68145421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0707140569999 meters Centerline goodness [0,1] 0.9782896954714013 Centerline is valid? [True, True] Translation: X:567.09, Y:-27.87, Z:1.68 [[ 9.99693862e-01 2.44034241e-02 -4.08110161e-03 5.67094231e+02] [-2.44025880e-02 9.99702180e-01 2.54532309e-04 -2.78734611e+01] [ 4.08609763e-03 -1.54864946e-04 9.99991640e-01 1.68230065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1007140569999 meters Centerline goodness [0,1] 0.9811524205324048 Centerline is valid? [True, True] Translation: X:567.12, Y:-27.87, Z:1.68 [[ 9.99664593e-01 2.56996698e-02 -3.19828094e-03 5.67123529e+02] [-2.56991637e-02 9.99669702e-01 1.99250284e-04 -2.78699646e+01] [ 3.20234522e-03 -1.16990308e-04 9.99994866e-01 1.68240885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.130714057 meters Centerline goodness [0,1] 0.9802824466775587 Centerline is valid? [True, True] Translation: X:567.15, Y:-27.87, Z:1.68 [[ 9.99631401e-01 2.70232856e-02 -2.60843298e-03 5.67151427e+02] [-2.70229534e-02 9.99634800e-01 1.62516383e-04 -2.78747189e+01] [ 2.61187211e-03 -9.19689172e-05 9.99996585e-01 1.68239046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.160714057 meters Centerline goodness [0,1] 0.97979820678187 Centerline is valid? [True, True] Translation: X:567.18, Y:-27.88, Z:1.68 [[ 9.99649805e-01 2.62499709e-02 -3.34763021e-03 5.67180289e+02] [-2.62494217e-02 9.99655403e-01 2.07890652e-04 -2.78774413e+01] [ 3.35193375e-03 -1.19944492e-04 9.99994375e-01 1.68150307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1907140569999 meters Centerline goodness [0,1] 0.9795060785150895 Centerline is valid? [True, True] Translation: X:567.21, Y:-27.88, Z:1.68 [[ 9.99692838e-01 2.40982930e-02 -5.78816366e-03 5.67208998e+02] [-2.40966189e-02 9.99709570e-01 3.58799737e-04 -2.78820397e+01] [ 5.79512907e-03 -2.19214353e-04 9.99983184e-01 1.67889565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2207140569999 meters Centerline goodness [0,1] 0.9811291118790109 Centerline is valid? [True, True] Translation: X:567.24, Y:-27.88, Z:1.68 [[ 9.99708808e-01 2.29933726e-02 -7.32151745e-03 5.67237601e+02] [-2.29906688e-02 9.99735577e-01 4.53258232e-04 -2.78822437e+01] [ 7.33000341e-03 -2.84799664e-04 9.99973095e-01 1.67735379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.250714057 meters Centerline goodness [0,1] 0.9802366227480506 Centerline is valid? [True, True] Translation: X:567.27, Y:-27.89, Z:1.67 [[ 9.99735395e-01 2.07160182e-02 -9.99931071e-03 5.67266549e+02] [-2.07108695e-02 9.99785316e-01 6.18194184e-04 -2.78871548e+01] [ 1.00099705e-02 -4.10936188e-04 9.99949815e-01 1.67428806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.280714057 meters Centerline goodness [0,1] 0.9810221594855594 Centerline is valid? [True, True] Translation: X:567.29, Y:-27.89, Z:1.67 [[ 9.99746879e-01 2.00999827e-02 -1.01078871e-02 5.67294826e+02] [-2.00946983e-02 9.99797886e-01 6.24100686e-04 -2.78886718e+01] [ 1.01183885e-02 -4.20827771e-04 9.99948719e-01 1.67475248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3107140569999 meters Centerline goodness [0,1] 0.9819904576305356 Centerline is valid? [True, True] Translation: X:567.32, Y:-27.89, Z:1.68 [[ 9.99740712e-01 2.01759461e-02 -1.05565096e-02 5.67323837e+02] [-2.01701955e-02 9.99796349e-01 6.50932178e-04 -2.78916581e+01] [ 1.05674929e-02 -4.37836537e-04 9.99944067e-01 1.67561173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3407140569999 meters Centerline goodness [0,1] 0.9819093677234462 Centerline is valid? [True, True] Translation: X:567.35, Y:-27.89, Z:1.68 [[ 9.99727255e-01 2.13024560e-02 -9.57184467e-03 5.67352335e+02] [-2.12977859e-02 9.99773003e-01 5.89571841e-04 -2.78945761e+01] [ 9.58223121e-03 -3.85551940e-04 9.99954015e-01 1.67706790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.370714057 meters Centerline goodness [0,1] 0.9835413032783219 Centerline is valid? [True, True] Translation: X:567.38, Y:-27.90, Z:1.68 [[ 9.99680854e-01 2.38131082e-02 -8.43358476e-03 5.67381076e+02] [-2.38095768e-02 9.99716377e-01 5.18907749e-04 -2.78971287e+01] [ 8.44354960e-03 -3.17942059e-04 9.99964302e-01 1.67841148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.400714057 meters Centerline goodness [0,1] 0.9828520459360017 Centerline is valid? [True, True] Translation: X:567.41, Y:-27.90, Z:1.68 [[ 9.99661335e-01 2.48258778e-02 -7.80330093e-03 5.67409456e+02] [-2.48228894e-02 9.99691750e-01 4.79599291e-04 -2.78991925e+01] [ 7.81280203e-03 -2.85736391e-04 9.99969439e-01 1.67933968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4307140569999 meters Centerline goodness [0,1] 0.9833944215984266 Centerline is valid? [True, True] Translation: X:567.44, Y:-27.90, Z:1.68 [[ 9.99640897e-01 2.57465526e-02 -7.42909142e-03 5.67437929e+02] [-2.57438732e-02 9.99668468e-01 4.56087621e-04 -2.79021231e+01] [ 7.43837112e-03 -2.64670251e-04 9.99972300e-01 1.67975821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4607140569999 meters Centerline goodness [0,1] 0.983471258231002 Centerline is valid? [True, True] Translation: X:567.47, Y:-27.91, Z:1.68 [[ 9.99615520e-01 2.68826942e-02 -6.79216843e-03 5.67466349e+02] [-2.68804838e-02 9.99638568e-01 4.16533465e-04 -2.79064958e+01] [ 6.80091106e-03 -2.33796543e-04 9.99976846e-01 1.68056317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.490714057 meters Centerline goodness [0,1] 0.9827111111111111 Centerline is valid? [True, True] Translation: X:567.49, Y:-27.91, Z:1.68 [[ 9.99631431e-01 2.62645029e-02 -6.86862586e-03 5.67493302e+02] [-2.62622315e-02 9.99655000e-01 4.20699091e-04 -2.79141296e+01] [ 6.87730563e-03 -2.40158592e-04 9.99976322e-01 1.68050494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.520714057 meters Centerline goodness [0,1] 0.9843389017238315 Centerline is valid? [True, True] Translation: X:567.52, Y:-27.92, Z:1.68 [[ 9.99652931e-01 2.55493594e-02 -6.42240540e-03 5.67522163e+02] [-2.55473621e-02 9.99673536e-01 3.92848300e-04 -2.79169511e+01] [ 6.43034573e-03 -2.28636438e-04 9.99979299e-01 1.68060936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5507140569999 meters Centerline goodness [0,1] 0.9826036789668715 Centerline is valid? [True, True] Translation: X:567.55, Y:-27.92, Z:1.68 [[ 9.99689164e-01 2.40459029e-02 -6.58554388e-03 5.67549837e+02] [-2.40437740e-02 9.99710826e-01 4.02269407e-04 -2.79232908e+01] [ 6.59331244e-03 -2.43803038e-04 9.99978234e-01 1.68092198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5807140569999 meters Centerline goodness [0,1] 0.9807624426403106 Centerline is valid? [True, True] Translation: X:567.58, Y:-27.93, Z:1.68 [[ 9.99754493e-01 2.11740247e-02 -6.52789646e-03 5.67577423e+02] [-2.11718768e-02 9.99775771e-01 3.97980401e-04 -2.79349131e+01] [ 6.53485957e-03 -2.59674875e-04 9.99978614e-01 1.68093945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.610714057 meters Centerline goodness [0,1] 0.9811966945070485 Centerline is valid? [True, True] Translation: X:567.61, Y:-27.94, Z:1.68 [[ 9.99772354e-01 2.02408758e-02 -6.74881936e-03 5.67606052e+02] [-2.02385620e-02 9.99795095e-01 4.10970920e-04 -2.79379942e+01] [ 6.75575491e-03 -2.74290965e-04 9.99977142e-01 1.68137793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.640714057 meters Centerline goodness [0,1] 0.9818875750088246 Centerline is valid? [True, True] Translation: X:567.63, Y:-27.94, Z:1.68 [[ 9.99790713e-01 1.87720279e-02 -8.13276292e-03 5.67634250e+02] [-1.87686244e-02 9.99823732e-01 4.94619438e-04 -2.79431944e+01] [ 8.14061438e-03 -3.41875148e-04 9.99966806e-01 1.68074025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6707140569999 meters Centerline goodness [0,1] 0.9816697473813925 Centerline is valid? [True, True] Translation: X:567.66, Y:-27.94, Z:1.68 [[ 9.99789101e-01 1.84729759e-02 -8.97232371e-03 5.67663253e+02] [-1.84688273e-02 9.99829288e-01 5.45016427e-04 -2.79439435e+01] [ 8.98086010e-03 -3.79193187e-04 9.99959599e-01 1.68044911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7007140569999 meters Centerline goodness [0,1] 0.9794165458459646 Centerline is valid? [True, True] Translation: X:567.69, Y:-27.95, Z:1.68 [[ 9.99809997e-01 1.76344016e-02 -8.30644593e-03 5.67690680e+02] [-1.76308222e-02 9.99844438e-01 5.03951454e-04 -2.79535877e+01] [ 8.31404064e-03 -3.57406231e-04 9.99965374e-01 1.68043807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7307140569999 meters Centerline goodness [0,1] 0.9810219618684043 Centerline is valid? [True, True] Translation: X:567.72, Y:-27.95, Z:1.68 [[ 9.99825383e-01 1.74135214e-02 -6.78032804e-03 5.67718605e+02] [-1.74111351e-02 9.99848330e-01 4.10820145e-04 -2.79537465e+01] [ 6.78645350e-03 -2.92695201e-04 9.99976929e-01 1.68145726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.760714057 meters Centerline goodness [0,1] 0.9798201359947357 Centerline is valid? [True, True] Translation: X:567.75, Y:-27.96, Z:1.68 [[ 9.99842139e-01 1.68708044e-02 -5.57430023e-03 5.67746130e+02] [-1.68691858e-02 9.99857648e-01 3.37256729e-04 -2.79591342e+01] [ 5.57919651e-03 -2.43169583e-04 9.99984407e-01 1.68240342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.790714057 meters Centerline goodness [0,1] 0.9797771990107461 Centerline is valid? [True, True] Translation: X:567.77, Y:-27.96, Z:1.68 [[ 9.99846924e-01 1.67705757e-02 -4.98759276e-03 5.67773920e+02] [-1.67692806e-02 9.99859340e-01 3.01373141e-04 -2.79638793e+01] [ 4.99194541e-03 -2.17688666e-04 9.99987516e-01 1.68356843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8207140569999 meters Centerline goodness [0,1] 0.9797771990107461 Centerline is valid? [True, True] Translation: X:567.80, Y:-27.97, Z:1.68 [[ 9.99848664e-01 1.66664880e-02 -4.98762409e-03 5.67801368e+02] [-1.66651942e-02 9.99861081e-01 3.00853640e-04 -2.79654421e+01] [ 4.99194539e-03 -2.17688386e-04 9.99987516e-01 1.68371396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8507140569999 meters Centerline goodness [0,1] 0.9793516776761888 Centerline is valid? [True, True] Translation: X:567.83, Y:-27.97, Z:1.68 [[ 9.99849068e-01 1.65559639e-02 -5.26707567e-03 5.67828967e+02] [-1.65545226e-02 9.99862914e-01 3.17128765e-04 -2.79698133e+01] [ 5.27160400e-03 -2.29886977e-04 9.99986079e-01 1.68381320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.880714057 meters Centerline goodness [0,1] 0.9789581785605034 Centerline is valid? [True, True] Translation: X:567.86, Y:-27.97, Z:1.68 [[ 9.99837029e-01 1.73228696e-02 -5.08268717e-03 5.67857621e+02] [-1.73215395e-02 9.99849924e-01 3.05600017e-04 -2.79748397e+01] [ 5.08721825e-03 -2.17510246e-04 9.99987036e-01 1.68293745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.910714057 meters Centerline goodness [0,1] 0.9794167721657135 Centerline is valid? [True, True] Translation: X:567.89, Y:-27.98, Z:1.68 [[ 9.99821703e-01 1.81819257e-02 -5.09701581e-03 5.67886743e+02] [-1.81806010e-02 9.99834672e-01 3.06111906e-04 -2.79773979e+01] [ 5.10173884e-03 -2.13390516e-04 9.99986963e-01 1.68266987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9407140569999 meters Centerline goodness [0,1] 0.9811645702077565 Centerline is valid? [True, True] Translation: X:567.92, Y:-27.98, Z:1.68 [[ 9.99763760e-01 2.10180811e-02 -5.53751398e-03 5.67916115e+02] [-2.10165632e-02 9.99779072e-01 3.32163762e-04 -2.79804559e+01] [ 5.54327203e-03 -2.15705780e-04 9.99984613e-01 1.68259438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9707140569999 meters Centerline goodness [0,1] 0.981627582599599 Centerline is valid? [True, True] Translation: X:567.94, Y:-27.98, Z:1.68 [[ 9.99729908e-01 2.24171149e-02 -6.13060213e-03 5.67944504e+02] [-2.24152824e-02 9.99748678e-01 3.67477953e-04 -2.79818913e+01] [ 6.13729917e-03 -2.29959522e-04 9.99981140e-01 1.68235181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.000714057 meters Centerline goodness [0,1] 0.9819898203332318 Centerline is valid? [True, True] Translation: X:567.97, Y:-27.98, Z:1.68 [[ 9.99686994e-01 2.42789181e-02 -6.03723132e-03 5.67973280e+02] [-2.42771773e-02 9.99705201e-01 3.61464018e-04 -2.79836504e+01] [ 6.04422751e-03 -2.14783942e-04 9.99981710e-01 1.68190373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.030714057 meters Centerline goodness [0,1] 0.9835424049394526 Centerline is valid? [True, True] Translation: X:568.00, Y:-27.99, Z:1.68 [[ 9.99584131e-01 2.82841563e-02 -5.61887166e-03 5.68002880e+02] [-2.82827137e-02 9.99599908e-01 3.36056604e-04 -2.79880932e+01] [ 5.62612867e-03 -1.76999910e-04 9.99984158e-01 1.68112116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0607140569999 meters Centerline goodness [0,1] 0.9827230699107937 Centerline is valid? [True, True] Translation: X:568.03, Y:-27.99, Z:1.68 [[ 9.99468305e-01 3.23838678e-02 -3.79376801e-03 5.68031614e+02] [-3.23832399e-02 9.99475500e-01 2.26826177e-04 -2.79923215e+01] [ 3.79912369e-03 -1.03851075e-04 9.99992778e-01 1.68114010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0907140569999 meters Centerline goodness [0,1] 0.9837706658577279 Centerline is valid? [True, True] Translation: X:568.06, Y:-27.99, Z:1.68 [[ 9.99390548e-01 3.47969744e-02 -2.77538460e-03 5.68060546e+02] [-3.47966476e-02 9.99394400e-01 1.65976665e-04 -2.79945322e+01] [ 2.77947931e-03 -6.93014307e-05 9.99996135e-01 1.68127453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.120714057 meters Centerline goodness [0,1] 0.9848652399228084 Centerline is valid? [True, True] Translation: X:568.09, Y:-28.00, Z:1.68 [[ 9.99310674e-01 3.70681656e-02 -2.03150780e-03 5.68089673e+02] [-3.70679954e-02 9.99312738e-01 1.21392145e-04 -2.79971933e+01] [ 2.03461140e-03 -4.60045448e-05 9.99997929e-01 1.68137776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.150714057 meters Centerline goodness [0,1] 0.9845644983461963 Centerline is valid? [True, True] Translation: X:568.12, Y:-28.00, Z:1.68 [[ 9.99205867e-01 3.98091579e-02 -1.69279359e-03 5.68117320e+02] [-3.98090433e-02 9.99207301e-01 1.01355461e-04 -2.80028898e+01] [ 1.69548659e-03 -3.38864781e-05 9.99998562e-01 1.67992497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1807140569999 meters Centerline goodness [0,1] 0.9855505083279256 Centerline is valid? [True, True] Translation: X:568.15, Y:-28.01, Z:1.68 [[ 9.99188139e-01 4.02627900e-02 -1.40393045e-03 5.68146233e+02] [-4.02627120e-02 9.99189125e-01 8.37963503e-05 -2.80075723e+01] [ 1.40616591e-03 -2.72022719e-05 9.99999011e-01 1.67966743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2107140569999 meters Centerline goodness [0,1] 0.9857130543464208 Centerline is valid? [True, True] Translation: X:568.17, Y:-28.02, Z:1.68 [[ 9.99201707e-01 3.99424101e-02 -7.42813625e-04 5.68173722e+02] [-3.99423880e-02 9.99201983e-01 4.45293637e-05 -2.80166180e+01] [ 7.43999458e-04 -1.48240662e-05 9.99999723e-01 1.67957260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.240714057 meters Centerline goodness [0,1] 0.9840012058310544 Centerline is valid? [True, True] Translation: X:568.20, Y:-28.02, Z:1.68 [[ 9.99221537e-01 3.94489175e-02 3.19896193e-04 5.68201938e+02] [-3.94489135e-02 9.99221588e-01 -1.86102869e-05 -2.80223564e+01] [-3.20381338e-04 5.97624224e-06 9.99999949e-01 1.68039247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.270714057 meters Centerline goodness [0,1] 0.9831362667183563 Centerline is valid? [True, True] Translation: X:568.23, Y:-28.03, Z:1.68 [[ 9.99234026e-01 3.91096795e-02 1.33926210e-03 5.68230119e+02] [-3.91096088e-02 9.99234923e-01 -7.89505619e-05 -2.80281728e+01] [-1.34132519e-03 2.65120711e-05 9.99999100e-01 1.68193524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3007140569999 meters Centerline goodness [0,1] 0.9820593323508682 Centerline is valid? [True, True] Translation: X:568.26, Y:-28.04, Z:1.68 [[ 9.99256258e-01 3.83843934e-02 3.68354699e-03 5.68258026e+02] [-3.83838535e-02 9.99263045e-01 -2.17190135e-04 -2.80364820e+01] [-3.68916909e-03 7.56398735e-05 9.99993192e-01 1.68278222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3307140569999 meters Centerline goodness [0,1] 0.9829827713772329 Centerline is valid? [True, True] Translation: X:568.29, Y:-28.05, Z:1.68 [[ 9.99241176e-01 3.86831615e-02 4.54816953e-03 5.68285619e+02] [-3.86823431e-02 9.99251522e-01 -2.67799809e-04 -2.80452522e+01] [-4.55512467e-03 9.16627414e-05 9.99989621e-01 1.68340598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.360714057 meters Centerline goodness [0,1] 0.9833044371668914 Centerline is valid? [True, True] Translation: X:568.31, Y:-28.05, Z:1.68 [[ 9.99263505e-01 3.80001053e-02 5.33281098e-03 5.68314623e+02] [-3.79989710e-02 9.99277729e-01 -3.13891593e-04 -2.80504744e+01] [-5.34088716e-03 1.11019083e-04 9.99985731e-01 1.68271670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.390714057 meters Centerline goodness [0,1] 0.9824962598845908 Centerline is valid? [True, True] Translation: X:568.34, Y:-28.06, Z:1.68 [[ 9.99237930e-01 3.86183518e-02 5.67294254e-03 5.68341690e+02] [-3.86170815e-02 9.99254027e-01 -3.33337193e-04 -2.80563202e+01] [-5.68158361e-03 1.14010682e-04 9.99983853e-01 1.68237443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4207140569999 meters Centerline goodness [0,1] 0.9825841977205788 Centerline is valid? [True, True] Translation: X:568.37, Y:-28.07, Z:1.68 [[ 9.99172570e-01 4.03993117e-02 4.69791946e-03 5.68369927e+02] [-4.03984617e-02 9.99183611e-01 -2.75724188e-04 -2.80662472e+01] [-4.70522319e-03 8.57073263e-05 9.99988927e-01 1.68108883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4507140569999 meters Centerline goodness [0,1] 0.982631322854302 Centerline is valid? [True, True] Translation: X:568.40, Y:-28.07, Z:1.68 [[ 9.99110930e-01 4.19509303e-02 4.17966056e-03 5.68397595e+02] [-4.19502732e-02 9.99119670e-01 -2.44804395e-04 -2.80722313e+01] [-4.18625085e-03 6.92488448e-05 9.99991235e-01 1.68095645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4807140569999 meters Centerline goodness [0,1] 0.9842013371375037 Centerline is valid? [True, True] Translation: X:568.43, Y:-28.08, Z:1.68 [[ 9.98966226e-01 4.53071380e-02 3.70718959e-03 5.68425795e+02] [-4.53066450e-02 9.98973103e-01 -2.16912911e-04 -2.80811893e+01] [-3.71321039e-03 4.87283495e-05 9.99993105e-01 1.68063583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.510714057 meters Centerline goodness [0,1] 0.9851009939765447 Centerline is valid? [True, True] Translation: X:568.45, Y:-28.09, Z:1.68 [[ 9.98868311e-01 4.74553020e-02 3.17665481e-03 5.68454913e+02] [-4.74549513e-02 9.98873362e-01 -1.85733005e-04 -2.80858046e+01] [-3.18188989e-03 3.47748140e-05 9.99994937e-01 1.68066281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.540714057 meters Centerline goodness [0,1] 0.985899940541918 Centerline is valid? [True, True] Translation: X:568.48, Y:-28.09, Z:1.68 [[ 9.98605373e-01 5.27455744e-02 2.28330863e-03 5.68483263e+02] [-5.27454078e-02 9.98607983e-01 -1.33166067e-04 -2.80948502e+01] [-2.28715414e-03 1.25463055e-05 9.99997384e-01 1.68076518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5707140569999 meters Centerline goodness [0,1] 0.9849115946956818 Centerline is valid? [True, True] Translation: X:568.51, Y:-28.10, Z:1.68 [[ 9.98496287e-01 5.47822154e-02 2.01810400e-03 5.68511311e+02] [-5.47820898e-02 9.98498327e-01 -1.17514714e-04 -2.81009386e+01] [-2.02151119e-03 6.78205104e-06 9.99997957e-01 1.68036057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6007140569999 meters Centerline goodness [0,1] 0.9863717415301011 Centerline is valid? [True, True] Translation: X:568.54, Y:-28.11, Z:1.68 [[ 9.98349719e-01 5.73930868e-02 1.96755144e-03 5.68539687e+02] [-5.73929728e-02 9.98351658e-01 -1.14421107e-04 -2.81074338e+01] [-1.97087522e-03 1.30865376e-06 9.99998058e-01 1.68077004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.630714057 meters Centerline goodness [0,1] 0.9865994876897347 Centerline is valid? [True, True] Translation: X:568.57, Y:-28.12, Z:1.68 [[ 9.98143811e-01 6.08386677e-02 2.75499384e-03 5.68566596e+02] [-6.08384577e-02 9.98147613e-01 -1.60031517e-04 -2.81195615e+01] [-2.75962663e-03 -7.87510807e-06 9.99996192e-01 1.68261737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.660714057 meters Centerline goodness [0,1] 0.9872660904590081 Centerline is valid? [True, True] Translation: X:568.59, Y:-28.13, Z:1.68 [[ 9.97986229e-01 6.33397030e-02 3.40128230e-03 5.68594233e+02] [-6.33393976e-02 9.97992025e-01 -1.97538200e-04 -2.81331148e+01] [-3.40696462e-03 -1.82947685e-05 9.99994196e-01 1.68380232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6907140569999 meters Centerline goodness [0,1] 0.9882746012734035 Centerline is valid? [True, True] Translation: X:568.62, Y:-28.14, Z:1.69 [[ 9.97938648e-01 6.41082833e-02 2.92959748e-03 5.68621605e+02] [-6.41080612e-02 9.97942948e-01 -1.69728387e-04 -2.81410120e+01] [-2.93445214e-03 -1.84322974e-05 9.99995694e-01 1.68540713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7207140569999 meters Centerline goodness [0,1] 0.988558832791015 Centerline is valid? [True, True] Translation: X:568.65, Y:-28.15, Z:1.69 [[ 9.97928437e-01 6.42908428e-02 2.34988430e-03 5.68649232e+02] [-6.42907014e-02 9.97931204e-01 -1.35738765e-04 -2.81495951e+01] [-2.35374963e-03 -1.56181362e-05 9.99997230e-01 1.68546102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.750714057 meters Centerline goodness [0,1] 0.9897106785902157 Centerline is valid? [True, True] Translation: X:568.68, Y:-28.17, Z:1.69 [[ 9.97915843e-01 6.45226337e-02 8.93989400e-04 5.68677217e+02] [-6.45226136e-02 9.97916244e-01 -5.14157958e-05 -2.81664240e+01] [-8.95444026e-04 -6.37389531e-06 9.99999599e-01 1.68563768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.780714057 meters Centerline goodness [0,1] 0.9901492348818118 Centerline is valid? [True, True] Translation: X:568.70, Y:-28.18, Z:1.69 [[ 9.97933576e-01 6.42540136e-02 1.73148518e-05 5.68704449e+02] [-6.42540136e-02 9.97933576e-01 -5.45769045e-07 -2.81754794e+01] [-1.73141398e-05 -5.67907466e-07 1.00000000e+00 1.68676178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8107140569999 meters Centerline goodness [0,1] 0.9914984283695125 Centerline is valid? [True, True] Translation: X:568.73, Y:-28.19, Z:1.69 [[ 9.98001474e-01 6.31870915e-02 -6.71019958e-04 5.68732318e+02] [-6.31870795e-02 9.98001699e-01 3.91390803e-05 -2.81933158e+01] [ 6.72152143e-04 3.33893165e-06 9.99999774e-01 1.68946345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8407140569999 meters Centerline goodness [0,1] 0.9924205637073789 Centerline is valid? [True, True] Translation: X:568.76, Y:-28.20, Z:1.69 [[ 9.98056180e-01 6.23168508e-02 -6.86558745e-04 5.68760907e+02] [-6.23168381e-02 9.98056416e-01 3.99864166e-05 -2.82031771e+01] [ 6.87716188e-04 2.87547993e-06 9.99999764e-01 1.69101464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.870714057 meters Centerline goodness [0,1] 0.993910789911717 Centerline is valid? [True, True] Translation: X:568.79, Y:-28.22, Z:1.70 [[ 9.98213904e-01 5.97328071e-02 -9.96630123e-04 5.68787835e+02] [-5.97327791e-02 9.98214402e-01 5.78785731e-05 -2.82223489e+01] [ 9.98307791e-04 1.75629058e-06 9.99999502e-01 1.69503297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.900714057 meters Centerline goodness [0,1] 0.9951567731474658 Centerline is valid? [True, True] Translation: X:568.82, Y:-28.23, Z:1.70 [[ 9.98318634e-01 5.79601050e-02 -7.29138353e-04 5.68815146e+02] [-5.79600895e-02 9.98318900e-01 4.23966229e-05 -2.82327409e+01] [ 7.30369911e-04 -6.44145362e-08 9.99999733e-01 1.69725918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9307140569999 meters Centerline goodness [0,1] 0.9962305473076842 Centerline is valid? [True, True] Translation: X:568.84, Y:-28.24, Z:1.70 [[ 9.98420345e-01 5.61816939e-02 -6.56529563e-04 5.68843214e+02] [-5.61816810e-02 9.98420561e-01 3.80820232e-05 -2.82427447e+01] [ 6.57632127e-04 -1.13693232e-06 9.99999784e-01 1.69913892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9607140569999 meters Centerline goodness [0,1] 0.9964433781593955 Centerline is valid? [True, True] Translation: X:568.87, Y:-28.26, Z:1.70 [[ 9.98591846e-01 5.30402179e-02 -1.02975762e-03 5.68871071e+02] [-5.30401849e-02 9.98592377e-01 5.93796619e-05 -2.82594006e+01] [ 1.03145762e-03 -4.67751147e-06 9.99999468e-01 1.70109980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.990714057 meters Centerline goodness [0,1] 0.9975372568830513 Centerline is valid? [True, True] Translation: X:568.90, Y:-28.27, Z:1.70 [[ 9.98689497e-01 5.11092466e-02 -2.67088854e-03 5.68899468e+02] [-5.11090188e-02 9.98693068e-01 1.53499084e-04 -2.82749098e+01] [ 2.67524309e-03 -1.67914304e-05 9.99996421e-01 1.70036161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.020714057 meters Centerline goodness [0,1] 0.99778485685956 Centerline is valid? [True, True] Translation: X:568.93, Y:-28.28, Z:1.70 [[ 9.98724310e-01 5.03665567e-02 -3.60024637e-03 5.68927715e+02] [-5.03661395e-02 9.98730799e-01 2.06525567e-04 -2.82833625e+01] [ 3.60607892e-03 -2.49315930e-05 9.99993498e-01 1.69999794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0507140569999 meters Centerline goodness [0,1] 0.9986305698936058 Centerline is valid? [True, True] Translation: X:568.96, Y:-28.29, Z:1.70 [[ 9.98711886e-01 5.05183495e-02 -4.73966362e-03 5.68955831e+02] [-5.05176303e-02 9.98723132e-01 2.71426314e-04 -2.82912570e+01] [ 4.74732371e-03 -3.16401113e-05 9.99988731e-01 1.70011498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0807140569999 meters Centerline goodness [0,1] 0.9987972653612424 Centerline is valid? [True, True] Translation: X:568.98, Y:-28.30, Z:1.70 [[ 9.98669913e-01 5.13305946e-02 -4.85549972e-03 5.68983732e+02] [-5.13298506e-02 9.98681716e-01 2.77807135e-04 -2.83032963e+01] [ 4.86335880e-03 -2.82055524e-05 9.99988173e-01 1.70168389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.110714057 meters Centerline goodness [0,1] 0.9990299042557679 Centerline is valid? [True, True] Translation: X:569.01, Y:-28.31, Z:1.70 [[ 9.98625467e-01 5.21877703e-02 -4.85926234e-03 5.69012341e+02] [-5.21870370e-02 9.98637290e-01 2.77676242e-04 -2.83094412e+01] [ 4.86713188e-03 -2.37040636e-05 9.99988155e-01 1.70303620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.140714057 meters Centerline goodness [0,1] 0.99936874000505 Centerline is valid? [True, True] Translation: X:569.04, Y:-28.32, Z:1.71 [[ 9.98569983e-01 5.33357715e-02 -3.64489974e-03 5.69040714e+02] [-5.33353673e-02 9.98576635e-01 2.08088377e-04 -2.83198873e+01] [ 3.65081027e-03 -1.33887405e-05 9.99993336e-01 1.70548581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1707140569999 meters Centerline goodness [0,1] 0.9991999494704928 Centerline is valid? [True, True] Translation: X:569.07, Y:-28.33, Z:1.71 [[ 9.98565182e-01 5.34663773e-02 -2.98731606e-03 5.69069386e+02] [-5.34661068e-02 9.98569650e-01 1.70402611e-04 -2.83262057e+01] [ 2.99215396e-03 -1.04379550e-05 9.99995523e-01 1.70659447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2007140569999 meters Centerline goodness [0,1] 0.9994141891750529 Centerline is valid? [True, True] Translation: X:569.10, Y:-28.34, Z:1.71 [[ 9.98666296e-01 5.16027451e-02 -1.66921273e-03 5.69098822e+02] [-5.16026580e-02 9.98667691e-01 9.52343628e-05 -2.83364768e+01] [ 1.67190317e-03 -8.97153481e-06 9.99998602e-01 1.70756106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2307140569999 meters Centerline goodness [0,1] 0.9990790547753103 Centerline is valid? [True, True] Translation: X:569.13, Y:-28.34, Z:1.71 [[ 9.98758148e-01 4.98105263e-02 -1.03558121e-03 5.69128636e+02] [-4.98104921e-02 9.98758685e-01 5.88928917e-05 -2.83433707e+01] [ 1.03722921e-03 -7.23694577e-06 9.99999462e-01 1.70759064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.260714057 meters Centerline goodness [0,1] 0.9990347895421545 Centerline is valid? [True, True] Translation: X:569.16, Y:-28.35, Z:1.71 [[ 9.98856382e-01 4.78027092e-02 -9.10094020e-04 5.69159501e+02] [-4.78026819e-02 9.98856797e-01 5.16853356e-05 -2.83503877e+01] [ 9.11524297e-04 -8.12129241e-06 9.99999585e-01 1.70779673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.290714057 meters Centerline goodness [0,1] 0.9992058184250125 Centerline is valid? [True, True] Translation: X:569.19, Y:-28.36, Z:1.71 [[ 9.99007296e-01 4.45353885e-02 -1.01098834e-03 5.69190067e+02] [-4.45353531e-02 9.99007807e-01 5.74694314e-05 -2.83621982e+01] [ 1.01254467e-03 -1.23876586e-05 9.99999487e-01 1.70642039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3207140569999 meters Centerline goodness [0,1] 0.9990799406143488 Centerline is valid? [True, True] Translation: X:569.22, Y:-28.37, Z:1.71 [[ 9.99066790e-01 4.31641825e-02 -1.54992271e-03 5.69220498e+02] [-4.31640981e-02 9.99067992e-01 8.78870946e-05 -2.83688624e+01] [ 1.55227174e-03 -2.09040617e-05 9.99998795e-01 1.70611832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3507140569999 meters Centerline goodness [0,1] 0.9989536465418019 Centerline is valid? [True, True] Translation: X:569.25, Y:-28.38, Z:1.71 [[ 9.99180722e-01 4.04384480e-02 -1.61785283e-03 5.69251092e+02] [-4.04383515e-02 9.99182031e-01 9.23549032e-05 -2.83778101e+01] [ 1.62026417e-03 -2.68559374e-05 9.99998687e-01 1.70542093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.380714057 meters Centerline goodness [0,1] 0.9989318029490617 Centerline is valid? [True, True] Translation: X:569.28, Y:-28.38, Z:1.71 [[ 9.99247876e-01 3.87474165e-02 -1.52285438e-03 5.69282438e+02] [-3.87473289e-02 9.99249036e-01 8.69720333e-05 -2.83820420e+01] [ 1.52508071e-03 -2.79000802e-05 9.99998837e-01 1.70568890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.410714057 meters Centerline goodness [0,1] 0.9991425822911875 Centerline is valid? [True, True] Translation: X:569.31, Y:-28.39, Z:1.71 [[ 9.99366562e-01 3.55791036e-02 -7.75742671e-04 5.69313476e+02] [-3.55790807e-02 9.99366863e-01 4.33598936e-05 -2.83913541e+01] [ 7.76794226e-04 -1.57322167e-05 9.99999698e-01 1.70731294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4407140569999 meters Centerline goodness [0,1] 0.9992675525792613 Centerline is valid? [True, True] Translation: X:569.35, Y:-28.40, Z:1.71 [[ 9.99422773e-01 3.39718659e-02 -1.81072912e-04 5.69345686e+02] [-3.39718647e-02 9.99422790e-01 9.16567832e-06 -2.83966421e+01] [ 1.81279770e-04 -3.00900319e-06 9.99999984e-01 1.70816091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4707140569999 meters Centerline goodness [0,1] 0.9995817474591158 Centerline is valid? [True, True] Translation: X:569.38, Y:-28.41, Z:1.71 [[ 9.99553188e-01 2.98879402e-02 3.68965151e-04 5.69376364e+02] [-2.98879339e-02 9.99553256e-01 -2.25559229e-05 -2.84062895e+01] [-3.69474468e-04 1.15182386e-05 9.99999932e-01 1.70955911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.500714057 meters Centerline goodness [0,1] 0.999055296636856 Centerline is valid? [True, True] Translation: X:569.41, Y:-28.41, Z:1.71 [[ 9.99625294e-01 2.73681023e-02 5.08216401e-04 5.69408747e+02] [-2.73680907e-02 9.99625423e-01 -2.98479865e-05 -2.84088625e+01] [-5.08842917e-04 1.59278898e-05 9.99999870e-01 1.70877345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.530714057 meters Centerline goodness [0,1] 0.9993682481521259 Centerline is valid? [True, True] Translation: X:569.44, Y:-28.42, Z:1.71 [[ 9.99773974e-01 2.12513625e-02 -6.17137747e-04 5.69438546e+02] [-2.12513445e-02 9.99774164e-01 3.57151051e-05 -2.84187439e+01] [ 6.17757370e-04 -2.25920257e-05 9.99999809e-01 1.70834055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5607140569999 meters Centerline goodness [0,1] 0.9995991645745871 Centerline is valid? [True, True] Translation: X:569.47, Y:-28.42, Z:1.71 [[ 9.99833814e-01 1.81847458e-02 -1.28850623e-03 5.69469357e+02] [-1.81846648e-02 9.99834643e-01 7.45416214e-05 -2.84186206e+01] [ 1.28964869e-03 -5.10981796e-05 9.99999167e-01 1.70730324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5907140569999 meters Centerline goodness [0,1] 0.9994941511223522 Centerline is valid? [True, True] Translation: X:569.50, Y:-28.43, Z:1.71 [[ 9.99915269e-01 1.25874642e-02 -3.31815028e-03 5.69498165e+02] [-1.25868941e-02 9.99920763e-01 1.92641072e-04 -2.84284040e+01] [ 3.32031222e-03 -1.50859544e-04 9.99994476e-01 1.70670175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.620714057 meters Centerline goodness [0,1] 0.9996202852079993 Centerline is valid? [True, True] Translation: X:569.53, Y:-28.42, Z:1.71 [[ 9.99939179e-01 1.05009277e-02 -3.37185139e-03 5.69528435e+02] [-1.05003266e-02 9.99944851e-01 1.95926447e-04 -2.84234134e+01] [ 3.37372285e-03 -1.60508990e-04 9.99994296e-01 1.70653382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.650714057 meters Centerline goodness [0,1] 0.9996207252575907 Centerline is valid? [True, True] Translation: X:569.56, Y:-28.42, Z:1.71 [[ 9.99954681e-01 8.87716663e-03 -3.43965396e-03 5.69557774e+02] [-8.87653141e-03 9.99960583e-01 1.99899393e-04 -2.84248070e+01] [ 3.44129292e-03 -1.69358138e-04 9.99994064e-01 1.70735372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6807140569999 meters Centerline goodness [0,1] 0.9996627460899625 Centerline is valid? [True, True] Translation: X:569.59, Y:-28.42, Z:1.71 [[ 9.99959996e-01 8.07915966e-03 -3.83834028e-03 5.69587218e+02] [-8.07836309e-03 9.99967345e-01 2.22988618e-04 -2.84245473e+01] [ 3.84001650e-03 -1.91972192e-04 9.99992609e-01 1.70919845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7107140569999 meters Centerline goodness [0,1] 0.9997046288872948 Centerline is valid? [True, True] Translation: X:569.62, Y:-28.43, Z:1.71 [[ 9.99955426e-01 8.64013014e-03 -3.80717206e-03 5.69616115e+02] [-8.63935076e-03 9.99962656e-01 2.21111611e-04 -2.84324613e+01] [ 3.80894032e-03 -1.88210261e-04 9.99992728e-01 1.71017319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.740714057 meters Centerline goodness [0,1] 0.9997046288872948 Centerline is valid? [True, True] Translation: X:569.65, Y:-28.43, Z:1.71 [[ 9.99955701e-01 8.60818610e-03 -3.80717472e-03 5.69645271e+02] [-8.60740666e-03 9.99962931e-01 2.21065882e-04 -2.84341212e+01] [ 3.80893657e-03 -1.88286188e-04 9.99992728e-01 1.71032761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.770714057 meters Centerline goodness [0,1] 0.9996419243407195 Centerline is valid? [True, True] Translation: X:569.68, Y:-28.42, Z:1.71 [[ 9.99931818e-01 1.12220814e-02 -3.22874635e-03 5.69675692e+02] [-1.12215344e-02 9.99937019e-01 1.87455249e-04 -2.84209810e+01] [ 3.23064664e-03 -1.51210979e-04 9.99994770e-01 1.71146542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8007140569999 meters Centerline goodness [0,1] 0.9995997134791219 Centerline is valid? [True, True] Translation: X:569.71, Y:-28.42, Z:1.71 [[ 9.99913433e-01 1.28017118e-02 -3.04008790e-03 5.69706103e+02] [-1.28012350e-02 9.99918045e-01 1.76252153e-04 -2.84167211e+01] [ 3.04209508e-03 -1.37320015e-04 9.99995363e-01 1.71232659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8307140569999 meters Centerline goodness [0,1] 0.9997264655136135 Centerline is valid? [True, True] Translation: X:569.74, Y:-28.41, Z:1.71 [[ 9.99847562e-01 1.71431899e-02 -3.31129127e-03 5.69735839e+02] [-1.71426482e-02 9.99853036e-01 1.91906915e-04 -2.84099525e+01] [ 3.31409452e-03 -1.35113359e-04 9.99994499e-01 1.71296331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.860714057 meters Centerline goodness [0,1] 0.9998107534116955 Centerline is valid? [True, True] Translation: X:569.77, Y:-28.41, Z:1.71 [[ 9.99798989e-01 1.97072006e-02 -3.68886430e-03 5.69766270e+02] [-1.97065461e-02 9.99805784e-01 2.13713780e-04 -2.84067878e+01] [ 3.69235957e-03 -1.40976047e-04 9.99993173e-01 1.71311059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.890714057 meters Centerline goodness [0,1] 0.9996841905804578 Centerline is valid? [True, True] Translation: X:569.80, Y:-28.40, Z:1.71 [[ 9.99702005e-01 2.41803035e-02 -3.34861983e-03 5.69796345e+02] [-2.41797892e-02 9.99707607e-01 1.93985488e-04 -2.83995105e+01] [ 3.35233135e-03 -1.12958760e-04 9.99994375e-01 1.71366874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9207140569999 meters Centerline goodness [0,1] 0.9997052693627503 Centerline is valid? [True, True] Translation: X:569.83, Y:-28.40, Z:1.71 [[ 9.99649579e-01 2.62639528e-02 -3.30517402e-03 5.69825773e+02] [-2.62634636e-02 9.99655037e-01 1.91319061e-04 -2.83981645e+01] [ 3.30905866e-03 -1.04446701e-04 9.99994520e-01 1.71380496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9507140569999 meters Centerline goodness [0,1] 0.9992839090143218 Centerline is valid? [True, True] Translation: X:569.86, Y:-28.39, Z:1.71 [[ 9.99595378e-01 2.82349557e-02 -3.44481738e-03 5.69856932e+02] [-2.82344364e-02 9.99601309e-01 1.99306192e-04 -2.83930489e+01] [ 3.44907136e-03 -1.01963071e-04 9.99994047e-01 1.71291590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9807140569999 meters Centerline goodness [0,1] 0.9994107372098406 Centerline is valid? [True, True] Translation: X:569.89, Y:-28.39, Z:1.71 [[ 9.99594439e-01 2.81942817e-02 -4.00505781e-03 5.69886699e+02] [-2.81935792e-02 9.99602455e-01 2.31764814e-04 -2.83923333e+01] [ 4.01000006e-03 -1.18753904e-04 9.99991953e-01 1.71228218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.010714057 meters Centerline goodness [0,1] 0.9990948892818051 Centerline is valid? [True, True] Translation: X:569.92, Y:-28.39, Z:1.71 [[ 9.99600814e-01 2.78383036e-02 -4.82100781e-03 5.69915818e+02] [-2.78372825e-02 9.99612429e-01 2.78774370e-04 -2.83897965e+01] [ 4.82689993e-03 -1.44459330e-04 9.99988340e-01 1.71132500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.040714057 meters Centerline goodness [0,1] 0.9992213149254988 Centerline is valid? [True, True] Translation: X:569.95, Y:-28.39, Z:1.71 [[ 9.99594378e-01 2.78861049e-02 -5.78315603e-03 5.69945674e+02] [-2.78846379e-02 9.99611092e-01 3.34170650e-04 -2.83879692e+01] [ 5.79022564e-03 -1.72773891e-04 9.99983222e-01 1.71088528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0707140569999 meters Centerline goodness [0,1] 0.9986080354318254 Centerline is valid? [True, True] Translation: X:569.98, Y:-28.38, Z:1.71 [[ 9.99532885e-01 2.97487302e-02 -7.00178549e-03 5.69975245e+02] [-2.97466273e-02 9.99557389e-01 4.04298762e-04 -2.83842938e+01] [ 7.01071380e-03 -1.95830405e-04 9.99975405e-01 1.71002987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1007140569999 meters Centerline goodness [0,1] 0.9987778667453328 Centerline is valid? [True, True] Translation: X:570.00, Y:-28.38, Z:1.71 [[ 9.99469210e-01 3.17584785e-02 -7.25933973e-03 5.70004080e+02] [-3.17562732e-02 9.99495555e-01 4.18869623e-04 -2.83841990e+01] [ 7.26898045e-03 -1.88117715e-04 9.99973563e-01 1.71000035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.130714057 meters Centerline goodness [0,1] 0.998817617499261 Centerline is valid? [True, True] Translation: X:570.03, Y:-28.38, Z:1.71 [[ 9.99398045e-01 3.40118980e-02 -6.83654983e-03 5.70033547e+02] [-3.40099973e-02 9.99421415e-01 3.94127217e-04 -2.83823622e+01] [ 6.84599932e-03 -1.61378929e-04 9.99976553e-01 1.71019774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.160714057 meters Centerline goodness [0,1] 0.9991988024204601 Centerline is valid? [True, True] Translation: X:570.06, Y:-28.38, Z:1.71 [[ 9.99218310e-01 3.89354609e-02 -6.84100486e-03 5.70062909e+02] [-3.89336754e-02 9.99241719e-01 3.94024138e-04 -2.83782941e+01] [ 6.85115897e-03 -1.27370670e-04 9.99976522e-01 1.71060782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1907140569999 meters Centerline goodness [0,1] 0.9989237100348212 Centerline is valid? [True, True] Translation: X:570.09, Y:-28.38, Z:1.71 [[ 9.99125504e-01 4.11438974e-02 -7.44355700e-03 5.70091883e+02] [-4.11418482e-02 9.99153224e-01 4.28273943e-04 -2.83770371e+01] [ 7.45487484e-03 -1.21657726e-04 9.99972205e-01 1.71036204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2207140569999 meters Centerline goodness [0,1] 0.9990507530692317 Centerline is valid? [True, True] Translation: X:570.12, Y:-28.37, Z:1.71 [[ 9.99014727e-01 4.34738486e-02 -8.92189693e-03 5.70120869e+02] [-4.34710039e-02 9.99054558e-01 5.12618732e-04 -2.83749460e+01] [ 8.93574730e-03 -1.24269847e-04 9.99960068e-01 1.71006800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.250714057 meters Centerline goodness [0,1] 0.9989666371420136 Centerline is valid? [True, True] Translation: X:570.15, Y:-28.38, Z:1.71 [[ 9.98993822e-01 4.38695797e-02 -9.31684237e-03 5.70149137e+02] [-4.38665018e-02 9.99037259e-01 5.34553046e-04 -2.83764377e+01] [ 9.33132328e-03 -1.25317908e-04 9.99956454e-01 1.70959324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.280714057 meters Centerline goodness [0,1] 0.9991973470206789 Centerline is valid? [True, True] Translation: X:570.18, Y:-28.38, Z:1.71 [[ 9.99048741e-01 4.23811688e-02 -1.02688389e-02 5.70177387e+02] [-4.23773611e-02 9.99101503e-01 5.88211379e-04 -2.83785769e+01] [ 1.02845414e-02 -1.52485545e-04 9.99947101e-01 1.70898281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3107140569999 meters Centerline goodness [0,1] 0.9987755188211201 Centerline is valid? [True, True] Translation: X:570.20, Y:-28.38, Z:1.71 [[ 9.99093013e-01 4.12013271e-02 -1.07518340e-02 5.70204943e+02] [-4.11970949e-02 9.99150850e-01 6.14903216e-04 -2.83809033e+01] [ 1.07680389e-02 -1.71401181e-04 9.99942008e-01 1.70865256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3407140569999 meters Centerline goodness [0,1] 0.9988385598141696 Centerline is valid? [True, True] Translation: X:570.23, Y:-28.38, Z:1.71 [[ 9.99160760e-01 3.96834017e-02 -1.01490383e-02 5.70233540e+02] [-3.96795605e-02 9.99212288e-01 5.79645942e-04 -2.83839864e+01] [ 1.01640461e-02 -1.76450103e-04 9.99948329e-01 1.71032823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.370714057 meters Centerline goodness [0,1] 0.9988819744752663 Centerline is valid? [True, True] Translation: X:570.26, Y:-28.39, Z:1.71 [[ 9.99184457e-01 3.92749339e-02 -9.37547801e-03 5.70262228e+02] [-3.92716438e-02 9.99228428e-01 5.34833434e-04 -2.83856915e+01] [ 9.38924971e-03 -1.66206821e-04 9.99955906e-01 1.71175026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.400714057 meters Centerline goodness [0,1] 0.9990297814899182 Centerline is valid? [True, True] Translation: X:570.29, Y:-28.39, Z:1.71 [[ 9.99189759e-01 3.93638830e-02 -8.38510187e-03 5.70290558e+02] [-3.93612591e-02 9.99224931e-01 4.77786837e-04 -2.83879556e+01] [ 8.39741039e-03 -1.47351547e-04 9.99964730e-01 1.71317307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4307140569999 meters Centerline goodness [0,1] 0.9990514133940429 Centerline is valid? [True, True] Translation: X:570.32, Y:-28.39, Z:1.72 [[ 9.99165478e-01 4.03545138e-02 -6.31358402e-03 5.70319297e+02] [-4.03530482e-02 9.99185419e-01 3.59400536e-04 -2.83906304e+01] [ 6.32294453e-03 -1.04328248e-04 9.99980005e-01 1.71556628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4607140569999 meters Centerline goodness [0,1] 0.9990527711705643 Centerline is valid? [True, True] Translation: X:570.35, Y:-28.39, Z:1.72 [[ 9.99152818e-01 4.08068132e-02 -5.33385327e-03 5.70348473e+02] [-4.08057753e-02 9.99167051e-01 3.03312148e-04 -2.83927888e+01] [ 5.34178764e-03 -8.54031693e-05 9.99985729e-01 1.71640666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.490714057 meters Centerline goodness [0,1] 0.9992026187678361 Centerline is valid? [True, True] Translation: X:570.38, Y:-28.40, Z:1.72 [[ 9.99140604e-01 4.11061208e-02 -5.32349440e-03 5.70378279e+02] [-4.11050931e-02 9.99154783e-01 3.02352587e-04 -2.83958082e+01] [ 5.33142343e-03 -8.32700136e-05 9.99985784e-01 1.71712630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.520714057 meters Centerline goodness [0,1] 0.9995786546442792 Centerline is valid? [True, True] Translation: X:570.41, Y:-28.40, Z:1.72 [[ 9.99146969e-01 4.09047975e-02 -5.66845388e-03 5.70408268e+02] [-4.09036303e-02 9.99163045e-01 3.21734059e-04 -2.83973627e+01] [ 5.67687010e-03 -8.95992683e-05 9.99983882e-01 1.71677112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5507140569999 meters Centerline goodness [0,1] 0.9993900002103447 Centerline is valid? [True, True] Translation: X:570.44, Y:-28.40, Z:1.72 [[ 9.99173510e-01 4.02143850e-02 -5.92457413e-03 5.70436672e+02] [-4.02130992e-02 9.99191070e-01 3.36038175e-04 -2.84038357e+01] [ 5.93329513e-03 -9.75149561e-05 9.99982393e-01 1.71572852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5807140569999 meters Centerline goodness [0,1] 0.9991789127963283 Centerline is valid? [True, True] Translation: X:570.47, Y:-28.41, Z:1.72 [[ 9.99215421e-01 3.91038105e-02 -6.27971146e-03 5.70465688e+02] [-3.91023462e-02 9.99235147e-01 3.55832495e-04 -2.84073855e+01] [ 6.28882281e-03 -1.10001865e-04 9.99980219e-01 1.71597229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.610714057 meters Centerline goodness [0,1] 0.9994312316993533 Centerline is valid? [True, True] Translation: X:570.49, Y:-28.41, Z:1.72 [[ 9.99243093e-01 3.83848463e-02 -6.31225861e-03 5.70494970e+02] [-3.83833544e-02 9.99263024e-01 3.57369893e-04 -2.84088165e+01] [ 6.32132421e-03 -1.14813738e-04 9.99980014e-01 1.71597601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.640714057 meters Centerline goodness [0,1] 0.9993256769571173 Centerline is valid? [True, True] Translation: X:570.52, Y:-28.41, Z:1.72 [[ 9.99289552e-01 3.71621571e-02 -6.27416503e-03 5.70524837e+02] [-3.71606605e-02 9.99309241e-01 3.54989044e-04 -2.84135347e+01] [ 6.28302326e-03 -1.21584726e-04 9.99980254e-01 1.71576474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6707140569999 meters Centerline goodness [0,1] 0.9993257337912724 Centerline is valid? [True, True] Translation: X:570.55, Y:-28.42, Z:1.72 [[ 9.99251123e-01 3.80776380e-02 -6.87660180e-03 5.70554071e+02] [-3.80758636e-02 9.99274776e-01 3.88811538e-04 -2.84174387e+01] [ 6.88641975e-03 -1.26687814e-04 9.99976280e-01 1.71557627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7007140569999 meters Centerline goodness [0,1] 0.9993680352215036 Centerline is valid? [True, True] Translation: X:570.58, Y:-28.42, Z:1.72 [[ 9.99197421e-01 3.94963572e-02 -6.67466080e-03 5.70583291e+02] [-3.94947187e-02 9.99219708e-01 3.77161981e-04 -2.84194001e+01] [ 6.68434914e-03 -1.13245429e-04 9.99977653e-01 1.71579449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7307140569999 meters Centerline goodness [0,1] 0.9994513031550069 Centerline is valid? [True, True] Translation: X:570.61, Y:-28.42, Z:1.72 [[ 9.99003847e-01 4.42056338e-02 -6.09713511e-03 5.70612622e+02] [-4.42043554e-02 9.99022450e-01 3.44326569e-04 -2.84217212e+01] [ 6.10639603e-03 -7.44636398e-05 9.99981353e-01 1.71569974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.760714057 meters Centerline goodness [0,1] 0.9994735955529352 Centerline is valid? [True, True] Translation: X:570.64, Y:-28.42, Z:1.72 [[ 9.98857673e-01 4.74196226e-02 -5.89315639e-03 5.70642045e+02] [-4.74184855e-02 9.98875056e-01 3.32604591e-04 -2.84236648e+01] [ 5.90229891e-03 -5.27800972e-05 9.99982580e-01 1.71595367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.790714057 meters Centerline goodness [0,1] 0.9993906410876006 Centerline is valid? [True, True] Translation: X:570.67, Y:-28.42, Z:1.72 [[ 9.98511115e-01 5.42542567e-02 -5.65946701e-03 5.70670744e+02] [-5.42533189e-02 9.98527153e-01 3.19208700e-04 -2.84248179e+01] [ 5.66844992e-03 -1.16885664e-05 9.99983934e-01 1.71604126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8207140569999 meters Centerline goodness [0,1] 0.9993520608644763 Centerline is valid? [True, True] Translation: X:570.70, Y:-28.43, Z:1.72 [[ 9.98324008e-01 5.76359479e-02 -5.22230875e-03 5.70700227e+02] [-5.76351975e-02 9.98337667e-01 2.94208719e-04 -2.84261079e+01] [ 5.23058453e-03 7.27316883e-06 9.99986320e-01 1.71594943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8507140569999 meters Centerline goodness [0,1] 0.9991046143594869 Centerline is valid? [True, True] Translation: X:570.73, Y:-28.43, Z:1.72 [[ 9.97995218e-01 6.31376892e-02 -4.37924582e-03 5.70728312e+02] [-6.31372148e-02 9.98004825e-01 2.46619750e-04 -2.84283106e+01] [ 4.38607946e-03 3.03680524e-05 9.99990381e-01 1.71628807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.880714057 meters Centerline goodness [0,1] 0.9995809675459364 Centerline is valid? [True, True] Translation: X:570.76, Y:-28.43, Z:1.72 [[ 9.97880724e-01 6.49790121e-02 -3.43341085e-03 5.70757873e+02] [-6.49787322e-02 9.97886630e-01 1.93128469e-04 -2.84316262e+01] [ 3.43870408e-03 3.03795078e-05 9.99994087e-01 1.71670305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.910714057 meters Centerline goodness [0,1] 0.999561266060796 Centerline is valid? [True, True] Translation: X:570.79, Y:-28.44, Z:1.72 [[ 9.97826724e-01 6.58202044e-02 -3.08705485e-03 5.70787915e+02] [-6.58199827e-02 9.97831499e-01 1.73477595e-04 -2.84391476e+01] [ 3.09177890e-03 3.00893159e-05 9.99995220e-01 1.71665892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9407140569999 meters Centerline goodness [0,1] 0.9994579606813018 Centerline is valid? [True, True] Translation: X:570.82, Y:-28.44, Z:1.72 [[ 9.97882138e-01 6.49772392e-02 -3.03273405e-03 5.70817897e+02] [-6.49770213e-02 9.97886746e-01 1.70425028e-04 -2.84448472e+01] [ 3.03739886e-03 2.69939332e-05 9.99995387e-01 1.71648439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9707140569999 meters Centerline goodness [0,1] 0.9995183145196758 Centerline is valid? [True, True] Translation: X:570.85, Y:-28.46, Z:1.72 [[ 9.98165460e-01 6.04481460e-02 -3.42570071e-03 5.70847622e+02] [-6.04478414e-02 9.98171339e-01 1.92475180e-04 -2.84563991e+01] [ 3.43107104e-03 1.49541365e-05 9.99994114e-01 1.71535308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.000714057 meters Centerline goodness [0,1] 0.9993296604311122 Centerline is valid? [True, True] Translation: X:570.88, Y:-28.46, Z:1.71 [[ 9.98318220e-01 5.78592914e-02 -3.61028810e-03 5.70878781e+02] [-5.78589361e-02 9.98324748e-01 2.02886345e-04 -2.84636065e+01] [ 3.61597882e-03 6.34229335e-06 9.99993462e-01 1.71477534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.030714057 meters Centerline goodness [0,1] 0.9993311036789297 Centerline is valid? [True, True] Translation: X:570.91, Y:-28.47, Z:1.71 [[ 9.98490361e-01 5.48179573e-02 -3.46271507e-03 5.70910059e+02] [-5.48176117e-02 9.98496365e-01 1.94705925e-04 -2.84711040e+01] [ 3.46818179e-03 -4.59421918e-06 9.99993986e-01 1.71389098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0607140569999 meters Centerline goodness [0,1] 0.9992034043980462 Centerline is valid? [True, True] Translation: X:570.94, Y:-28.49, Z:1.71 [[ 9.98887515e-01 4.70300799e-02 -3.45024057e-03 5.70940074e+02] [-4.70296911e-02 9.98893473e-01 1.93776616e-04 -2.84866884e+01] [ 3.45553612e-03 -3.12972939e-05 9.99994029e-01 1.71345136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0907140569999 meters Centerline goodness [0,1] 0.9994984535651592 Centerline is valid? [True, True] Translation: X:570.97, Y:-28.50, Z:1.71 [[ 9.99274825e-01 3.79396723e-02 -3.22576825e-03 5.70970825e+02] [-3.79392817e-02 9.99280030e-01 1.82208717e-04 -2.84986734e+01] [ 3.23035873e-03 -5.96932535e-05 9.99994781e-01 1.71398987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.120714057 meters Centerline goodness [0,1] 0.9993735382559304 Centerline is valid? [True, True] Translation: X:571.00, Y:-28.51, Z:1.71 [[ 9.99438972e-01 3.34069094e-02 -2.39176470e-03 5.71001396e+02] [-3.34066822e-02 9.99441832e-01 1.34888892e-04 -2.85111028e+01] [ 2.39493592e-03 -5.49122920e-05 9.99997131e-01 1.71480035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.150714057 meters Centerline goodness [0,1] 0.9994144341970429 Centerline is valid? [True, True] Translation: X:571.03, Y:-28.52, Z:1.71 [[ 9.99569903e-01 2.92716255e-02 -1.78348100e-03 5.71032807e+02] [-2.92714931e-02 9.99571493e-01 1.00302370e-04 -2.85160123e+01] [ 1.78565278e-03 -4.80540784e-05 9.99998405e-01 1.71461463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1807140569999 meters Centerline goodness [0,1] 0.9993497640272679 Centerline is valid? [True, True] Translation: X:571.06, Y:-28.53, Z:1.72 [[ 9.99788192e-01 2.05605029e-02 -9.14563720e-04 5.71061168e+02] [-2.05604639e-02 9.99788610e-01 5.20796805e-05 -2.85324734e+01] [ 9.15441175e-04 -3.32647953e-05 9.99999580e-01 1.71621692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2107140569999 meters Centerline goodness [0,1] 0.9993469422149193 Centerline is valid? [True, True] Translation: X:571.09, Y:-28.53, Z:1.71 [[ 9.99902284e-01 1.39792785e-02 5.32448330e-05 5.71091326e+02] [-1.39792783e-02 9.99902285e-01 -3.04473446e-06 -2.85331266e+01] [-5.32821934e-05 2.30011260e-06 9.99999999e-01 1.71464724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.240714057 meters Centerline goodness [0,1] 0.9993244669622123 Centerline is valid? [True, True] Translation: X:571.12, Y:-28.54, Z:1.71 [[ 9.99935739e-01 1.13272958e-02 -4.59375701e-04 5.71122662e+02] [-1.13272851e-02 9.99935844e-01 2.59532730e-05 -2.85350562e+01] [ 4.59640210e-04 -2.07481257e-05 9.99999894e-01 1.71426492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.270714057 meters Centerline goodness [0,1] 0.9992400092887753 Centerline is valid? [True, True] Translation: X:571.15, Y:-28.54, Z:1.71 [[ 9.99974333e-01 7.13915728e-03 -6.04895778e-04 5.71152855e+02] [-7.13913781e-03 9.99974515e-01 3.43387085e-05 -2.85414638e+01] [ 6.05125512e-04 -3.00193928e-05 9.99999816e-01 1.71380061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3007140569999 meters Centerline goodness [0,1] 0.9990908322056834 Centerline is valid? [True, True] Translation: X:571.18, Y:-28.54, Z:1.71 [[ 9.99985314e-01 5.39616931e-03 -5.02699941e-04 5.71183819e+02] [-5.39615565e-03 9.99985440e-01 2.85295169e-05 -2.85420768e+01] [ 5.02846572e-04 -2.58164508e-05 9.99999873e-01 1.71350987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3307140569999 meters Centerline goodness [0,1] 0.9992177920595323 Centerline is valid? [True, True] Translation: X:571.21, Y:-28.55, Z:1.71 [[ 9.99989391e-01 4.54386060e-03 -7.55283910e-04 5.71214264e+02] [-4.54382947e-03 9.99989676e-01 4.29256318e-05 -2.85483420e+01] [ 7.55471160e-04 -3.94932951e-05 9.99999714e-01 1.71414729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.360714057 meters Centerline goodness [0,1] 0.99917681575448 Centerline is valid? [True, True] Translation: X:571.24, Y:-28.55, Z:1.71 [[ 9.99993706e-01 3.21649030e-03 -1.49743605e-03 5.71244378e+02] [-3.21636618e-03 9.99994824e-01 8.52890457e-05 -2.85490892e+01] [ 1.49770263e-03 -8.04722062e-05 9.99998875e-01 1.71453176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.390714057 meters Centerline goodness [0,1] 0.9993873066846953 Centerline is valid? [True, True] Translation: X:571.27, Y:-28.55, Z:1.72 [[ 9.99994388e-01 3.25521222e-03 -7.92772383e-04 5.71274308e+02] [-3.25517738e-03 9.99994701e-01 4.52324023e-05 -2.85487924e+01] [ 7.92915423e-04 -4.26515337e-05 9.99999685e-01 1.71505704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4207140569999 meters Centerline goodness [0,1] 0.9994505610616851 Centerline is valid? [True, True] Translation: X:571.30, Y:-28.55, Z:1.72 [[ 9.99992773e-01 3.77507217e-03 -4.50671737e-04 5.71304843e+02] [-3.77506099e-03 9.99992874e-01 2.56608796e-05 -2.85474094e+01] [ 4.50765397e-04 -2.39593808e-05 9.99999898e-01 1.71558776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4507140569999 meters Centerline goodness [0,1] 0.999556672085119 Centerline is valid? [True, True] Translation: X:571.33, Y:-28.55, Z:1.72 [[ 9.99987681e-01 4.93897972e-03 4.94669482e-04 5.71334719e+02] [-4.93896634e-03 9.99987803e-01 -2.82664035e-05 -2.85505536e+01] [-4.94803056e-04 2.58228993e-05 9.99999877e-01 1.71670538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4807140569999 meters Centerline goodness [0,1] 0.9993471760097713 Centerline is valid? [True, True] Translation: X:571.37, Y:-28.55, Z:1.72 [[ 9.99974166e-01 7.00277954e-03 1.62111605e-03 5.71366065e+02] [-7.00263883e-03 9.99975477e-01 -9.24532985e-05 -2.85458369e+01] [-1.62172372e-03 8.10988199e-05 9.99998682e-01 1.71699886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.510714057 meters Centerline goodness [0,1] 0.9994926326025834 Centerline is valid? [True, True] Translation: X:571.40, Y:-28.54, Z:1.72 [[ 9.99966800e-01 7.99366259e-03 1.58135465e-03 5.71398059e+02] [-7.99352951e-03 9.99968047e-01 -9.04581414e-05 -2.85433796e+01] [-1.58202721e-03 7.78145331e-05 9.99998746e-01 1.71685070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.540714057 meters Centerline goodness [0,1] 0.9998734150509504 Centerline is valid? [True, True] Translation: X:571.43, Y:-28.54, Z:1.72 [[ 9.99948156e-01 1.01185499e-02 1.14067149e-03 5.71429948e+02] [-1.01184820e-02 9.99948805e-01 -6.52774721e-05 -2.85372634e+01] [-1.14127360e-03 5.37322240e-05 9.99999347e-01 1.71589639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5707140569999 meters Centerline goodness [0,1] 0.9995988429786965 Centerline is valid? [True, True] Translation: X:571.46, Y:-28.54, Z:1.72 [[ 9.99940588e-01 1.08537106e-02 1.00905901e-03 5.71460805e+02] [-1.08536578e-02 9.99941096e-01 -5.78001875e-05 -2.85369304e+01] [-1.00962692e-03 4.68447723e-05 9.99999489e-01 1.71581796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6007140569999 meters Centerline goodness [0,1] 0.9996616549303221 Centerline is valid? [True, True] Translation: X:571.49, Y:-28.53, Z:1.72 [[ 9.99913771e-01 1.31017861e-02 8.90471176e-04 5.71491748e+02] [-1.31017458e-02 9.99914167e-01 -5.10586109e-05 -2.85328204e+01] [-8.91063703e-04 3.93874812e-05 9.99999602e-01 1.71612069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.630714057 meters Centerline goodness [0,1] 0.9996616549303221 Centerline is valid? [True, True] Translation: X:571.52, Y:-28.53, Z:1.72 [[ 9.99913321e-01 1.31361191e-02 8.90469543e-04 5.71522558e+02] [-1.31360788e-02 9.99913717e-01 -5.10871327e-05 -2.85346097e+01] [-8.91063797e-04 3.93854265e-05 9.99999602e-01 1.71628391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.660714057 meters Centerline goodness [0,1] 0.999725384989121 Centerline is valid? [True, True] Translation: X:571.55, Y:-28.53, Z:1.72 [[ 9.99901487e-01 1.39910151e-02 1.12567236e-03 5.71554012e+02] [-1.39909513e-02 9.99902120e-01 -6.45766592e-05 -2.85315797e+01] [-1.12646568e-03 4.88210704e-05 9.99999364e-01 1.71661503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6907140569999 meters Centerline goodness [0,1] 0.999767707057482 Centerline is valid? [True, True] Translation: X:571.58, Y:-28.53, Z:1.72 [[ 9.99892220e-01 1.45683355e-02 1.81965823e-03 5.71584896e+02] [-1.45681697e-02 9.99893873e-01 -1.04337878e-04 -2.85312600e+01] [-1.82098514e-03 7.78175428e-05 9.99998339e-01 1.71750442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7207140569999 meters Centerline goodness [0,1] 0.9997047908232118 Centerline is valid? [True, True] Translation: X:571.62, Y:-28.53, Z:1.72 [[ 9.99891183e-01 1.46150074e-02 2.00616475e-03 5.71617170e+02] [-1.46148027e-02 9.99893191e-01 -1.16655085e-04 -2.85252633e+01] [-2.00765539e-03 8.73226883e-05 9.99997981e-01 1.71888961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.750714057 meters Centerline goodness [0,1] 0.9997466055704542 Centerline is valid? [True, True] Translation: X:571.65, Y:-28.52, Z:1.72 [[ 9.99907686e-01 1.32774370e-02 2.88592941e-03 5.71648603e+02] [-1.32770079e-02 9.99911843e-01 -1.67773747e-04 -2.85245036e+01] [-2.88790260e-03 1.29441751e-04 9.99995822e-01 1.72032905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.780714057 meters Centerline goodness [0,1] 0.999746589517253 Centerline is valid? [True, True] Translation: X:571.68, Y:-28.52, Z:1.72 [[ 9.99918674e-01 1.25008312e-02 2.52497483e-03 5.71681238e+02] [-1.25004981e-02 9.99921855e-01 -1.47655205e-04 -2.85236079e+01] [-2.52662332e-03 1.16079753e-04 9.99996801e-01 1.72008124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8107140569999 meters Centerline goodness [0,1] 0.9995987328405491 Centerline is valid? [True, True] Translation: X:571.71, Y:-28.52, Z:1.72 [[ 9.99931058e-01 1.16079668e-02 1.77040581e-03 5.71713415e+02] [-1.16078002e-02 9.99932622e-01 -1.04355672e-04 -2.85232968e+01] [-1.77149788e-03 8.37979610e-05 9.99998427e-01 1.71955900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8407140569999 meters Centerline goodness [0,1] 0.999662347528806 Centerline is valid? [True, True] Translation: X:571.75, Y:-28.52, Z:1.72 [[ 9.99949905e-01 9.93156004e-03 1.24531543e-03 5.71745067e+02] [-9.93147716e-03 9.99950679e-01 -7.27172138e-05 -2.85205871e+01] [-1.24597621e-03 6.03457493e-05 9.99999222e-01 1.71803969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.870714057 meters Centerline goodness [0,1] 0.9994720614942771 Centerline is valid? [True, True] Translation: X:571.78, Y:-28.52, Z:1.72 [[ 9.99955122e-01 9.47301086e-03 1.27849266e-04 5.71775361e+02] [-9.47300997e-03 9.99955130e-01 -7.54053682e-06 -2.85211303e+01] [-1.27914961e-04 6.32908105e-06 9.99999992e-01 1.71755727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.900714057 meters Centerline goodness [0,1] 0.9988642816581488 Centerline is valid? [True, True] Translation: X:571.81, Y:-28.52, Z:1.72 [[ 9.99952669e-01 9.69848244e-03 -7.73933279e-04 5.71806271e+02] [-9.69845044e-03 9.99952968e-01 4.50907963e-05 -2.85158685e+01] [ 7.74334191e-04 -3.75827086e-05 9.99999699e-01 1.71672652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9307140569999 meters Centerline goodness [0,1] 0.9992187829905832 Centerline is valid? [True, True] Translation: X:571.84, Y:-28.51, Z:1.72 [[ 9.99949538e-01 9.99236433e-03 -1.03639999e-03 5.71836739e+02] [-9.99230710e-03 9.99950074e-01 6.03825963e-05 -2.85146287e+01] [ 1.03695161e-03 -5.00235223e-05 9.99999461e-01 1.71690370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9607140569999 meters Centerline goodness [0,1] 0.9987312596477131 Centerline is valid? [True, True] Translation: X:571.87, Y:-28.51, Z:1.72 [[ 9.99943301e-01 1.05042195e-02 -1.74832502e-03 5.71866257e+02] [-1.05040574e-02 9.99944826e-01 1.01860677e-04 -2.85126133e+01] [ 1.74929853e-03 -8.34903948e-05 9.99998466e-01 1.71637712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.990714057 meters Centerline goodness [0,1] 0.9989027683997299 Centerline is valid? [True, True] Translation: X:571.90, Y:-28.52, Z:1.72 [[ 9.99945947e-01 1.02209000e-02 -1.90713061e-03 5.71895655e+02] [-1.02207066e-02 9.99947761e-01 1.11170266e-04 -2.85150951e+01] [ 1.90816724e-03 -9.16720345e-05 9.99998175e-01 1.71701425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.020714057 meters Centerline goodness [0,1] 0.9984571815030856 Centerline is valid? [True, True] Translation: X:571.93, Y:-28.51, Z:1.72 [[ 9.99954712e-01 9.46022831e-03 -1.03815729e-03 5.71926753e+02] [-9.46017062e-03 9.99955250e-01 6.04673435e-05 -2.85114266e+01] [ 1.03868287e-03 -5.06434599e-05 9.99999459e-01 1.71799518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0507140569999 meters Centerline goodness [0,1] 0.9981486935667101 Centerline is valid? [True, True] Translation: X:571.96, Y:-28.51, Z:1.72 [[ 9.99961251e-01 8.80274351e-03 -9.02164973e-05 5.71957047e+02] [-8.80274307e-03 9.99961255e-01 5.25464875e-06 -2.85113916e+01] [ 9.02592571e-05 -4.46029249e-06 9.99999996e-01 1.71891911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0807140569999 meters Centerline goodness [0,1] 0.9978064624989454 Centerline is valid? [True, True] Translation: X:571.99, Y:-28.51, Z:1.72 [[ 9.99976020e-01 6.79747426e-03 1.32446461e-03 5.71987529e+02] [-6.79737789e-03 9.99976895e-01 -7.72511814e-05 -2.85114434e+01] [-1.32495912e-03 6.82464425e-05 9.99999120e-01 1.72025209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.110714057 meters Centerline goodness [0,1] 0.9975704262226411 Centerline is valid? [True, True] Translation: X:572.02, Y:-28.50, Z:1.72 [[ 9.99983757e-01 5.56688973e-03 1.22268934e-03 5.72019721e+02] [-5.56680650e-03 9.99984503e-01 -7.14704616e-05 -2.85013427e+01] [-1.22306826e-03 6.46628258e-05 9.99999250e-01 1.71882280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.140714057 meters Centerline goodness [0,1] 0.9963968493380259 Centerline is valid? [True, True] Translation: X:572.05, Y:-28.51, Z:1.72 [[ 9.99993162e-01 3.61920564e-03 7.59545577e-04 5.72049251e+02] [-3.61917264e-03 9.99993450e-01 -4.48180311e-05 -2.85100525e+01] [-7.59702808e-04 4.20687980e-05 9.99999711e-01 1.71859385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1707140569999 meters Centerline goodness [0,1] 0.9966346153846154 Centerline is valid? [True, True] Translation: X:572.08, Y:-28.50, Z:1.72 [[ 9.99995672e-01 2.92617619e-03 3.04458559e-04 5.72080646e+02] [-2.92617091e-03 9.99995719e-01 -1.77762882e-05 -2.84981817e+01] [-3.04509273e-04 1.68853135e-05 9.99999953e-01 1.71623468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2007140569999 meters Centerline goodness [0,1] 0.9961989961989962 Centerline is valid? [True, True] Translation: X:572.11, Y:-28.50, Z:1.72 [[ 9.99997590e-01 2.17508027e-03 -2.97775721e-04 5.72110246e+02] [-2.17507532e-03 9.99997634e-01 1.69430783e-05 -2.85040160e+01] [ 2.97811869e-04 -1.62953528e-05 9.99999956e-01 1.71585538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2307140569999 meters Centerline goodness [0,1] 0.9964560700348064 Centerline is valid? [True, True] Translation: X:572.14, Y:-28.49, Z:1.71 [[ 9.99998837e-01 1.05577104e-03 -1.10097940e-03 5.72141047e+02] [-1.05570080e-03 9.99999441e-01 6.43803246e-05 -2.84949970e+01] [ 1.10104675e-03 -6.32179449e-05 9.99999392e-01 1.71452218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.260714057 meters Centerline goodness [0,1] 0.9967708575167261 Centerline is valid? [True, True] Translation: X:572.17, Y:-28.49, Z:1.71 [[ 9.99999250e-01 8.66691955e-04 -8.65130818e-04 5.72171823e+02] [-8.66648512e-04 9.99999623e-01 5.05889602e-05 -2.84922880e+01] [ 8.65174337e-04 -4.98391579e-05 9.99999624e-01 1.71490962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.290714057 meters Centerline goodness [0,1] 0.9955128742766083 Centerline is valid? [True, True] Translation: X:572.20, Y:-28.49, Z:1.72 [[ 9.99996076e-01 2.68299004e-03 8.06544747e-04 5.72201314e+02] [-2.68295297e-03 9.99996400e-01 -4.70512357e-05 -2.84895520e+01] [-8.06668081e-04 4.48871295e-05 9.99999674e-01 1.71636243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3207140569999 meters Centerline goodness [0,1] 0.9948277667259973 Centerline is valid? [True, True] Translation: X:572.23, Y:-28.49, Z:1.72 [[ 9.99987342e-01 4.84563570e-03 1.35484558e-03 5.72231818e+02] [-4.84553267e-03 9.99988257e-01 -7.93207729e-05 -2.84890895e+01] [-1.35521403e-03 7.27548203e-05 9.99999079e-01 1.71745234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3507140569999 meters Centerline goodness [0,1] 0.9933350048054824 Centerline is valid? [True, True] Translation: X:572.26, Y:-28.48, Z:1.72 [[ 9.99951432e-01 9.62838410e-03 2.10428990e-03 5.72262082e+02] [-9.62814650e-03 9.99953641e-01 -1.23011022e-04 -2.84822691e+01] [-2.10537675e-03 1.02744636e-04 9.99997778e-01 1.71804032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.380714057 meters Centerline goodness [0,1] 0.99369314988656 Centerline is valid? [True, True] Translation: X:572.29, Y:-28.48, Z:1.72 [[ 9.99919385e-01 1.22956052e-02 3.16873350e-03 5.72293198e+02] [-1.22950792e-02 9.99924395e-01 -1.85425846e-04 -2.84774611e+01] [-3.17077385e-03 1.46451069e-04 9.99994962e-01 1.71891117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.410714057 meters Centerline goodness [0,1] 0.9931149593156687 Centerline is valid? [True, True] Translation: X:572.32, Y:-28.47, Z:1.72 [[ 9.99870843e-01 1.53340167e-02 4.81298772e-03 5.72324563e+02] [-1.53328373e-02 9.99882405e-01 -2.81860815e-04 -2.84739848e+01] [-4.81674380e-03 2.08027653e-04 9.99988378e-01 1.71968280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4407140569999 meters Centerline goodness [0,1] 0.9929209822920148 Centerline is valid? [True, True] Translation: X:572.35, Y:-28.47, Z:1.72 [[ 9.99710758e-01 2.33385486e-02 5.80629844e-03 5.72354997e+02] [-2.33369682e-02 9.99727598e-01 -3.39812091e-04 -2.84685146e+01] [-5.81264751e-03 2.04212401e-04 9.99983086e-01 1.72075972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4707140569999 meters Centerline goodness [0,1] 0.9928807739017547 Centerline is valid? [True, True] Translation: X:572.39, Y:-28.45, Z:1.72 [[ 9.99472156e-01 3.21934313e-02 4.35799113e-03 5.72386553e+02] [-3.21926250e-02 9.99481651e-01 -2.55063423e-04 -2.84541198e+01] [-4.36394354e-03 1.14633615e-04 9.99990471e-01 1.71685741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.500714057 meters Centerline goodness [0,1] 0.9929136176297417 Centerline is valid? [True, True] Translation: X:572.42, Y:-28.45, Z:1.72 [[ 9.99330600e-01 3.63842287e-02 3.81299064e-03 5.72416615e+02] [-3.63836419e-02 9.99337871e-01 -2.23158214e-04 -2.84522531e+01] [-3.81858539e-03 8.42783458e-05 9.99992706e-01 1.71652883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.530714057 meters Centerline goodness [0,1] 0.9935293497734219 Centerline is valid? [True, True] Translation: X:572.45, Y:-28.45, Z:1.72 [[ 9.99180773e-01 4.02937479e-02 3.76777168e-03 5.72446377e+02] [-4.02932040e-02 9.99187875e-01 -2.20192085e-04 -2.84479232e+01] [-3.77358415e-03 6.81961043e-05 9.99992878e-01 1.71543080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5607140569999 meters Centerline goodness [0,1] 0.9937417308944284 Centerline is valid? [True, True] Translation: X:572.48, Y:-28.44, Z:1.72 [[ 9.98886699e-01 4.69125531e-02 4.95740164e-03 5.72475143e+02] [-4.69116944e-02 9.98898998e-01 -2.89420682e-04 -2.84439162e+01] [-4.96552100e-03 5.65383586e-05 9.99987670e-01 1.71726321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5907140569999 meters Centerline goodness [0,1] 0.9928313151698621 Centerline is valid? [True, True] Translation: X:572.51, Y:-28.44, Z:1.72 [[ 9.98767019e-01 4.92343178e-02 6.35800732e-03 5.72505384e+02] [-4.92329527e-02 9.98787254e-01 -3.71129205e-04 -2.84431025e+01] [-6.36856896e-03 5.76481357e-05 9.99979719e-01 1.71730891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.620714057 meters Centerline goodness [0,1] 0.9930530703324001 Centerline is valid? [True, True] Translation: X:572.53, Y:-28.44, Z:1.72 [[ 9.98545102e-01 5.34367570e-02 7.22435472e-03 5.72534939e+02] [-5.34351063e-02 9.98571235e-01 -4.21466260e-04 -2.84426737e+01] [-7.23655460e-03 3.48189074e-05 9.99973815e-01 1.71836383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.650714057 meters Centerline goodness [0,1] 0.9929850277457858 Centerline is valid? [True, True] Translation: X:572.56, Y:-28.44, Z:1.72 [[ 9.98382202e-01 5.64620776e-02 6.70915447e-03 5.72564520e+02] [-5.64607239e-02 9.98404744e-01 -3.91153366e-04 -2.84436242e+01] [-6.72053699e-03 1.17168405e-05 9.99977417e-01 1.71831795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6807140569999 meters Centerline goodness [0,1] 0.9934872581356751 Centerline is valid? [True, True] Translation: X:572.59, Y:-28.44, Z:1.72 [[ 9.98213314e-01 5.93961081e-02 6.50250718e-03 5.72593816e+02] [-5.93949003e-02 9.98234493e-01 -3.78868626e-04 -2.84446077e+01] [-6.51353028e-03 -8.02405856e-06 9.99978787e-01 1.71731625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7107140569999 meters Centerline goodness [0,1] 0.9935793528829758 Centerline is valid? [True, True] Translation: X:572.62, Y:-28.45, Z:1.71 [[ 9.97852583e-01 6.53394885e-02 4.57966852e-03 5.72622670e+02] [-6.53389546e-02 9.97863092e-01 -2.66257015e-04 -2.84462121e+01] [-4.58727929e-03 -3.35455029e-05 9.99989478e-01 1.71453024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.740714057 meters Centerline goodness [0,1] 0.9954281139389853 Centerline is valid? [True, True] Translation: X:572.65, Y:-28.45, Z:1.71 [[ 9.97535961e-01 7.00831866e-02 3.21776692e-03 5.72650234e+02] [-7.00829493e-02 9.97541150e-01 -1.86586378e-04 -2.84507903e+01] [-3.22293148e-03 -3.93839737e-05 9.99994806e-01 1.71374664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.770714057 meters Centerline goodness [0,1] 0.9952168232963884 Centerline is valid? [True, True] Translation: X:572.68, Y:-28.46, Z:1.71 [[ 9.97409345e-01 7.18911606e-02 2.50188636e-03 5.72678860e+02] [-7.18910233e-02 9.97412482e-01 -1.44886958e-04 -2.84556361e+01] [-2.50582878e-03 -3.53515647e-05 9.99996860e-01 1.71347774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8007140569999 meters Centerline goodness [0,1] 0.9957648546144121 Centerline is valid? [True, True] Translation: X:572.71, Y:-28.46, Z:1.71 [[ 9.97328754e-01 7.30109010e-02 2.18299619e-03 5.72707401e+02] [-7.30107996e-02 9.97331142e-01 -1.26216822e-04 -2.84609213e+01] [-2.18638528e-03 -3.35026313e-05 9.99997609e-01 1.71414209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8307140569999 meters Centerline goodness [0,1] 0.9964442761261546 Centerline is valid? [True, True] Translation: X:572.74, Y:-28.47, Z:1.72 [[ 9.97131706e-01 7.56725501e-02 1.42323120e-03 5.72735776e+02] [-7.56725100e-02 9.97132722e-01 -8.20565853e-05 -2.84705321e+01] [-1.42535983e-03 -2.58782543e-05 9.99998984e-01 1.71528948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.860714057 meters Centerline goodness [0,1] 0.996864214159441 Centerline is valid? [True, True] Translation: X:572.76, Y:-28.48, Z:1.72 [[ 9.97057856e-01 7.66430197e-02 1.21601793e-03 5.72763027e+02] [-7.66429915e-02 9.97058598e-01 -6.98620207e-05 -2.84757090e+01] [-1.21779557e-03 -2.35427753e-05 9.99999258e-01 1.71618876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.890714057 meters Centerline goodness [0,1] 0.9969940301017405 Centerline is valid? [True, True] Translation: X:572.79, Y:-28.49, Z:1.72 [[ 9.96795355e-01 7.99817523e-02 1.39271544e-03 5.72791277e+02] [-7.99817182e-02 9.96796327e-01 -8.01967671e-05 -2.84857647e+01] [-1.39466792e-03 -3.14520094e-05 9.99999027e-01 1.71812711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9207140569999 meters Centerline goodness [0,1] 0.9977956458757584 Centerline is valid? [True, True] Translation: X:572.82, Y:-28.49, Z:1.72 [[ 9.96671432e-01 8.15125183e-02 1.32879997e-03 5.72818865e+02] [-8.15124890e-02 9.96672317e-01 -7.63239180e-05 -2.84912398e+01] [-1.33059950e-03 -3.22439246e-05 9.99999114e-01 1.71996415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9507140569999 meters Centerline goodness [0,1] 0.9982490515696002 Centerline is valid? [True, True] Translation: X:572.85, Y:-28.51, Z:1.72 [[ 9.96452849e-01 8.41231438e-02 2.23956650e-03 5.72847588e+02] [-8.41230662e-02 9.96455364e-01 -1.28981779e-04 -2.85050614e+01] [-2.24247840e-03 -5.98749398e-05 9.99997484e-01 1.72129911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9807140569999 meters Centerline goodness [0,1] 0.99839412709337 Centerline is valid? [True, True] Translation: X:572.88, Y:-28.51, Z:1.72 [[ 9.96367231e-01 8.51423222e-02 1.76807364e-03 5.72876164e+02] [-8.51422758e-02 9.96368798e-01 -1.01603475e-04 -2.85108751e+01] [-1.77030417e-03 -4.93034405e-05 9.99998432e-01 1.72243587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.010714057 meters Centerline goodness [0,1] 0.9988459682326528 Centerline is valid? [True, True] Translation: X:572.91, Y:-28.52, Z:1.72 [[ 9.96350692e-01 8.53478463e-02 1.02144554e-03 5.72905648e+02] [-8.53478310e-02 9.96351215e-01 -5.86348327e-05 -2.85226325e+01] [-1.02272286e-03 -2.87573054e-05 9.99999477e-01 1.72214918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.040714057 meters Centerline goodness [0,1] 0.998911450701277 Centerline is valid? [True, True] Translation: X:572.93, Y:-28.54, Z:1.72 [[ 9.96377143e-01 8.50429686e-02 5.31423473e-04 5.72934049e+02] [-8.50429645e-02 9.96377285e-01 -3.05009391e-05 -2.85379678e+01] [-5.32092167e-04 -1.48033890e-05 9.99999858e-01 1.72246447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0707140569999 meters Centerline goodness [0,1] 0.9995182539848774 Centerline is valid? [True, True] Translation: X:572.96, Y:-28.56, Z:1.72 [[ 9.96532696e-01 8.32006843e-02 4.82140774e-04 5.72964610e+02] [-8.32006806e-02 9.96532812e-01 -2.79575902e-05 -2.85551932e+01] [-4.82795192e-04 -1.22537878e-05 9.99999883e-01 1.72370162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1007140569999 meters Centerline goodness [0,1] 0.9996654189581983 Centerline is valid? [True, True] Translation: X:572.99, Y:-28.56, Z:1.72 [[ 9.96618480e-01 8.21630079e-02 9.19570816e-04 5.72994397e+02] [-8.21629939e-02 9.96618904e-01 -5.30790707e-05 -2.85643576e+01] [-9.20822795e-04 -2.26551085e-05 9.99999576e-01 1.72432833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.130714057 meters Centerline goodness [0,1] 0.9996024356050303 Centerline is valid? [True, True] Translation: X:573.03, Y:-28.57, Z:1.72 [[ 9.96710788e-01 8.10378741e-02 6.84842020e-04 5.73025423e+02] [-8.10378652e-02 9.96711023e-01 -4.07925144e-05 -2.85722470e+01] [-6.85895329e-04 -1.48397962e-05 9.99999765e-01 1.72489559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.160714057 meters Centerline goodness [0,1] 0.9993922119294127 Centerline is valid? [True, True] Translation: X:573.06, Y:-28.59, Z:1.72 [[ 9.96871023e-01 7.90443461e-02 3.92326131e-04 5.73056844e+02] [-7.90443427e-02 9.96871101e-01 -2.41094291e-05 -2.85927229e+01] [-3.93004296e-04 -6.97716989e-06 9.99999923e-01 1.72369207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1907140569999 meters Centerline goodness [0,1] 0.999079343823234 Centerline is valid? [True, True] Translation: X:573.09, Y:-28.60, Z:1.72 [[ 9.96934007e-01 7.82410298e-02 9.62638683e-04 5.73087751e+02] [-7.82410108e-02 9.96934472e-01 -5.73654097e-05 -2.86017981e+01] [-9.64176016e-04 -1.81282959e-05 9.99999535e-01 1.72357527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2207140569999 meters Centerline goodness [0,1] 0.9987221116581125 Centerline is valid? [True, True] Translation: X:573.12, Y:-28.62, Z:1.72 [[ 9.97121310e-01 7.58141273e-02 1.14515047e-03 5.73118120e+02] [-7.58140990e-02 9.97121967e-01 -6.82321060e-05 -2.86189128e+01] [-1.14702765e-03 -1.87828643e-05 9.99999342e-01 1.72411097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.250714057 meters Centerline goodness [0,1] 0.9985953289446098 Centerline is valid? [True, True] Translation: X:573.15, Y:-28.63, Z:1.72 [[ 9.97238989e-01 7.42504724e-02 1.12500300e-03 5.73149128e+02] [-7.42504444e-02 9.97239624e-01 -6.67484858e-05 -2.86278344e+01] [-1.12685368e-03 -1.69677804e-05 9.99999365e-01 1.72460908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.280714057 meters Centerline goodness [0,1] 0.9984928725430683 Centerline is valid? [True, True] Translation: X:573.18, Y:-28.65, Z:1.72 [[ 9.97499888e-01 7.06464859e-02 1.74575784e-03 5.73180614e+02] [-7.06464118e-02 9.97501415e-01 -1.04182543e-04 -2.86459140e+01] [-1.74875605e-03 -1.94094525e-05 9.99998471e-01 1.72468902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3107140569999 meters Centerline goodness [0,1] 0.9980959554746511 Centerline is valid? [True, True] Translation: X:573.21, Y:-28.66, Z:1.72 [[ 9.97660841e-01 6.83137523e-02 2.46523411e-03 5.73212195e+02] [-6.83135971e-02 9.97663887e-01 -1.47185802e-04 -2.86550212e+01] [-2.46952985e-03 -2.15674982e-05 9.99996950e-01 1.72475901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3407140569999 meters Centerline goodness [0,1] 0.9980635248058263 Centerline is valid? [True, True] Translation: X:573.24, Y:-28.66, Z:1.72 [[ 9.97814391e-01 6.60331164e-02 2.46351933e-03 5.73243761e+02] [-6.60329530e-02 9.97817432e-01 -1.47696453e-04 -2.86646160e+01] [-2.46789539e-03 -1.52998099e-05 9.99996955e-01 1.72480360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.370714057 meters Centerline goodness [0,1] 0.9970855872856125 Centerline is valid? [True, True] Translation: X:573.28, Y:-28.68, Z:1.72 [[ 9.98237393e-01 5.93115859e-02 2.05988090e-03 5.73275029e+02] [-5.93114558e-02 9.98239518e-01 -1.24231268e-04 -2.86816415e+01] [-2.06362287e-03 1.83776183e-06 9.99997871e-01 1.72295978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.400714057 meters Centerline goodness [0,1] 0.9961000566120815 Centerline is valid? [True, True] Translation: X:573.31, Y:-28.70, Z:1.72 [[ 9.98671942e-01 5.15100070e-02 1.03477450e-03 5.73306135e+02] [-5.15099690e-02 9.98672478e-01 -6.33292125e-05 -2.86982798e+01] [-1.03666290e-03 9.94390548e-06 9.99999463e-01 1.72185544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4307140569999 meters Centerline goodness [0,1] 0.9966656181189053 Centerline is valid? [True, True] Translation: X:573.34, Y:-28.71, Z:1.72 [[ 9.98874582e-01 4.74206189e-02 9.24692246e-04 5.73336869e+02] [-4.74205866e-02 9.98875010e-01 -5.68397403e-05 -2.87075926e+01] [-9.26347352e-04 1.29263231e-05 9.99999571e-01 1.72202034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4607140569999 meters Centerline goodness [0,1] 0.9956836944223274 Centerline is valid? [True, True] Translation: X:573.37, Y:-28.72, Z:1.72 [[ 9.99040129e-01 4.37843558e-02 1.32290805e-03 5.73368856e+02] [-4.37842866e-02 9.99041005e-01 -8.12211611e-05 -2.87155562e+01] [-1.32519561e-03 2.32206139e-05 9.99999122e-01 1.72193935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.490714057 meters Centerline goodness [0,1] 0.9959966464053658 Centerline is valid? [True, True] Translation: X:573.40, Y:-28.73, Z:1.72 [[ 9.99282582e-01 3.78658497e-02 7.06532122e-04 5.73399373e+02] [-3.78658285e-02 9.99282831e-01 -4.33765576e-05 -2.87289721e+01] [-7.07667909e-04 1.65920143e-05 9.99999749e-01 1.72220976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.520714057 meters Centerline goodness [0,1] 0.9961664033701948 Centerline is valid? [True, True] Translation: X:573.43, Y:-28.74, Z:1.72 [[ 9.99443763e-01 3.33480999e-02 -2.63833713e-04 5.73431336e+02] [-3.33480970e-02 9.99443797e-01 1.56116232e-05 -2.87384418e+01] [ 2.64207586e-04 -6.80458722e-06 9.99999965e-01 1.72169165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5507140569999 meters Centerline goodness [0,1] 0.9961664033701948 Centerline is valid? [True, True] Translation: X:573.46, Y:-28.74, Z:1.72 [[ 9.99434321e-01 3.36298733e-02 -2.63896973e-04 5.73463754e+02] [-3.36298706e-02 9.99434356e-01 1.45708767e-05 -2.87404634e+01] [ 2.64237718e-04 -5.68781314e-06 9.99999965e-01 1.72186347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5807140569999 meters Centerline goodness [0,1] 0.9963934494978088 Centerline is valid? [True, True] Translation: X:573.49, Y:-28.75, Z:1.72 [[ 9.99475357e-01 3.23844179e-02 -5.10279869e-04 5.73494092e+02] [-3.23844067e-02 9.99475487e-01 3.01396016e-05 -2.87457300e+01] [ 5.10988274e-04 -1.35986782e-05 9.99999869e-01 1.72139750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.610714057 meters Centerline goodness [0,1] 0.9972538414774752 Centerline is valid? [True, True] Translation: X:573.52, Y:-28.76, Z:1.72 [[ 9.99501127e-01 3.15644365e-02 -1.08811877e-03 5.73524779e+02] [-3.15643839e-02 9.99501719e-01 6.55018337e-05 -2.87563068e+01] [ 1.08964411e-03 -3.11233580e-05 9.99999406e-01 1.72222492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.640714057 meters Centerline goodness [0,1] 0.9960261853470813 Centerline is valid? [True, True] Translation: X:573.56, Y:-28.75, Z:1.72 [[ 9.99508449e-01 3.12785145e-02 -2.12485949e-03 5.73557295e+02] [-3.12783099e-02 9.99510706e-01 1.29467421e-04 -2.87544997e+01] [ 2.12786935e-03 -6.29417676e-05 9.99997734e-01 1.72074333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6707140569999 meters Centerline goodness [0,1] 0.9970699831365936 Centerline is valid? [True, True] Translation: X:573.59, Y:-28.76, Z:1.72 [[ 9.99478213e-01 3.21797269e-02 -2.78680735e-03 5.73589073e+02] [-3.21793754e-02 9.99482095e-01 1.70888331e-04 -2.87572729e+01] [ 2.79086319e-03 -8.11214439e-05 9.99996102e-01 1.72027796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7007140569999 meters Centerline goodness [0,1] 0.9961791997312843 Centerline is valid? [True, True] Translation: X:573.62, Y:-28.76, Z:1.72 [[ 9.99358129e-01 3.55397340e-02 -4.50091357e-03 5.73619480e+02] [-3.55388419e-02 9.99368257e-01 2.78065723e-04 -2.87590976e+01] [ 4.50795253e-03 -1.17929985e-04 9.99989832e-01 1.71972531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7307140569999 meters Centerline goodness [0,1] 0.9964528587020401 Centerline is valid? [True, True] Translation: X:573.65, Y:-28.76, Z:1.72 [[ 9.99241246e-01 3.86889807e-02 -4.48264840e-03 5.73651464e+02] [-3.86881278e-02 9.99251296e-01 2.76837606e-04 -2.87595989e+01] [ 4.49000278e-03 -1.03202280e-04 9.99989915e-01 1.72004724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.760714057 meters Centerline goodness [0,1] 0.9948621159693825 Centerline is valid? [True, True] Translation: X:573.68, Y:-28.76, Z:1.72 [[ 9.98962641e-01 4.53979856e-02 -3.55875961e-03 5.73682833e+02] [-4.53974873e-02 9.98968978e-01 2.20725822e-04 -2.87561599e+01] [ 3.56511096e-03 -5.89381061e-05 9.99993643e-01 1.72122758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.790714057 meters Centerline goodness [0,1] 0.9954454822121943 Centerline is valid? [True, True] Translation: X:573.71, Y:-28.76, Z:1.72 [[ 9.98800795e-01 4.88433295e-02 -3.36156008e-03 5.73713839e+02] [-4.88429052e-02 9.98806451e-01 2.08236472e-04 -2.87562451e+01] [ 3.36771885e-03 -4.37983935e-05 9.99994328e-01 1.72209868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8207140569999 meters Centerline goodness [0,1] 0.9951715267674531 Centerline is valid? [True, True] Translation: X:573.75, Y:-28.76, Z:1.72 [[ 9.98626846e-01 5.22671463e-02 -3.54515654e-03 5.73746235e+02] [-5.22666930e-02 9.98633138e-01 2.20453019e-04 -2.87553428e+01] [ 3.55183325e-03 -3.48566948e-05 9.99993692e-01 1.72279778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8507140569999 meters Centerline goodness [0,1] 0.9947014297729184 Centerline is valid? [True, True] Translation: X:573.78, Y:-28.75, Z:1.72 [[ 9.98399092e-01 5.64639754e-02 -3.32753973e-03 5.73778490e+02] [-5.64635969e-02 9.98404637e-01 2.07641756e-04 -2.87537504e+01] [ 3.33395537e-03 -1.94244785e-05 9.99994442e-01 1.72378663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.880714057 meters Centerline goodness [0,1] 0.995126479461592 Centerline is valid? [True, True] Translation: X:573.81, Y:-28.75, Z:1.73 [[ 9.98286894e-01 5.84760494e-02 -1.95684611e-03 5.73811193e+02] [-5.84759228e-02 9.98288812e-01 1.21933668e-04 -2.87546911e+01] [ 1.96062778e-03 -7.29640055e-06 9.99998078e-01 1.72510231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.910714057 meters Centerline goodness [0,1] 0.9952340961578837 Centerline is valid? [True, True] Translation: X:573.84, Y:-28.76, Z:1.73 [[ 9.98278496e-01 5.86358287e-02 -1.37277332e-03 5.73844107e+02] [-5.86357666e-02 9.98279440e-01 8.54853862e-05 -2.87566220e+01] [ 1.37542389e-03 -4.84460680e-06 9.99999054e-01 1.72623943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9407140569999 meters Centerline goodness [0,1] 0.99438614131004 Centerline is valid? [True, True] Translation: X:573.88, Y:-28.76, Z:1.73 [[ 9.98301537e-01 5.82554594e-02 -5.84862481e-04 5.73877107e+02] [-5.82554484e-02 9.98301709e-01 3.57370465e-05 -2.87588084e+01] [ 5.85951092e-04 -1.60492237e-06 9.99999828e-01 1.72644397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9707140569999 meters Centerline goodness [0,1] 0.9951123938736385 Centerline is valid? [True, True] Translation: X:573.91, Y:-28.76, Z:1.73 [[ 9.98345476e-01 5.75002314e-02 -1.82833629e-04 5.73910131e+02] [-5.75002305e-02 9.98345493e-01 1.01625682e-05 -2.87608055e+01] [ 1.83115479e-04 3.67221832e-07 9.99999983e-01 1.72686641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.000714057 meters Centerline goodness [0,1] 0.994736288030319 Centerline is valid? [True, True] Translation: X:573.94, Y:-28.76, Z:1.73 [[ 9.98391301e-01 5.66982721e-02 -3.40193917e-04 5.73942142e+02] [-5.66982683e-02 9.98391359e-01 2.08588077e-05 -2.87638720e+01] [ 3.40829326e-04 -1.53684614e-06 9.99999942e-01 1.72692501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.030714057 meters Centerline goodness [0,1] 0.9953662749062724 Centerline is valid? [True, True] Translation: X:573.98, Y:-28.77, Z:1.73 [[ 9.98478887e-01 5.51244255e-02 -1.09956973e-03 5.73975304e+02] [-5.51243826e-02 9.98479493e-01 6.92964442e-05 -2.87671270e+01] [ 1.10171775e-03 -8.57793396e-06 9.99999393e-01 1.72618619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0607140569999 meters Centerline goodness [0,1] 0.99517376551666 Centerline is valid? [True, True] Translation: X:574.01, Y:-28.77, Z:1.73 [[ 9.98530863e-01 5.41645040e-02 -1.52378376e-03 5.74006082e+02] [-5.41644182e-02 9.98532026e-01 9.75911650e-05 -2.87702352e+01] [ 1.52683286e-03 -1.49129295e-05 9.99998834e-01 1.72621245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0907140569999 meters Centerline goodness [0,1] 0.9948311145804764 Centerline is valid? [True, True] Translation: X:574.04, Y:-28.77, Z:1.73 [[ 9.98622180e-01 5.24209238e-02 -2.40599065e-03 5.74038481e+02] [-5.24207036e-02 9.98625078e-01 1.54515990e-04 -2.87737264e+01] [ 2.41078247e-03 -2.81793721e-05 9.99997094e-01 1.72548454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.120714057 meters Centerline goodness [0,1] 0.9951882491980415 Centerline is valid? [True, True] Translation: X:574.07, Y:-28.78, Z:1.73 [[ 9.98643526e-01 5.19889474e-02 -2.87362496e-03 5.74070912e+02] [-5.19886290e-02 9.98647660e-01 1.85427367e-04 -2.87767653e+01] [ 2.87937901e-03 -3.57800175e-05 9.99995854e-01 1.72512361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.150714057 meters Centerline goodness [0,1] 0.995353650552282 Centerline is valid? [True, True] Translation: X:574.10, Y:-28.78, Z:1.73 [[ 9.98668743e-01 5.14668892e-02 -3.44989670e-03 5.74103714e+02] [-5.14664229e-02 9.98674700e-01 2.23868085e-04 -2.87784312e+01] [ 3.45684634e-03 -4.60162164e-05 9.99994024e-01 1.72514765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1807140569999 meters Centerline goodness [0,1] 0.9950717128956846 Centerline is valid? [True, True] Translation: X:574.13, Y:-28.78, Z:1.73 [[ 9.98699747e-01 5.08088179e-02 -4.15681332e-03 5.74134438e+02] [-5.08081282e-02 9.98708396e-01 2.71420074e-04 -2.87819975e+01] [ 4.16523490e-03 -5.98672553e-05 9.99991324e-01 1.72572596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2107140569999 meters Centerline goodness [0,1] 0.9956116407004577 Centerline is valid? [True, True] Translation: X:574.17, Y:-28.79, Z:1.73 [[ 9.98810255e-01 4.86634223e-02 -3.15365685e-03 5.74166264e+02] [-4.86630146e-02 9.98815232e-01 2.05956075e-04 -2.87851482e+01] [ 3.15994303e-03 -5.22445900e-05 9.99995006e-01 1.72688758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.240714057 meters Centerline goodness [0,1] 0.9954050481525776 Centerline is valid? [True, True] Translation: X:574.20, Y:-28.79, Z:1.73 [[ 9.98871563e-01 4.74240924e-02 -2.56032358e-03 5.74196882e+02] [-4.74238184e-02 9.98874844e-01 1.67640942e-04 -2.87882420e+01] [ 2.56539304e-03 -4.60314488e-05 9.99996708e-01 1.72781948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.270714057 meters Centerline goodness [0,1] 0.9951415471333025 Centerline is valid? [True, True] Translation: X:574.23, Y:-28.79, Z:1.73 [[ 9.98920097e-01 4.64036344e-02 -2.31127212e-03 5.74229167e+02] [-4.64034076e-02 9.98922770e-01 1.51678990e-04 -2.87901243e+01] [ 2.31582080e-03 -4.42642895e-05 9.99997318e-01 1.72823157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3007140569999 meters Centerline goodness [0,1] 0.9952640402347024 Centerline is valid? [True, True] Translation: X:574.26, Y:-28.79, Z:1.73 [[ 9.99039382e-01 4.37069635e-02 -3.16461422e-03 5.74261536e+02] [-4.37065209e-02 9.99044392e-01 2.08919156e-04 -2.87923563e+01] [ 3.17072131e-03 -7.04041866e-05 9.99994971e-01 1.72841028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3307140569999 meters Centerline goodness [0,1] 0.9960682071445092 Centerline is valid? [True, True] Translation: X:574.29, Y:-28.79, Z:1.73 [[ 9.99169539e-01 4.05673501e-02 -3.81089614e-03 5.74293604e+02] [-4.05666798e-02 9.99176801e-01 2.53053676e-04 -2.87948168e+01] [ 3.81802473e-03 -9.82481209e-05 9.99992706e-01 1.72992358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.360714057 meters Centerline goodness [0,1] 0.994806826510313 Centerline is valid? [True, True] Translation: X:574.33, Y:-28.80, Z:1.73 [[ 9.99251980e-01 3.85236851e-02 -3.37728024e-03 5.74325847e+02] [-3.85231474e-02 9.99257683e-01 2.24122374e-04 -2.87965540e+01] [ 3.38340724e-03 -9.38512617e-05 9.99994272e-01 1.73043663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.390714057 meters Centerline goodness [0,1] 0.9963871618215426 Centerline is valid? [True, True] Translation: X:574.36, Y:-28.80, Z:1.73 [[ 9.99328486e-01 3.65412614e-02 -2.70444963e-03 5.74356913e+02] [-3.65409082e-02 9.99332142e-01 1.79927813e-04 -2.88006559e+01] [ 2.70921824e-03 -8.09839428e-05 9.99996327e-01 1.73155970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4207140569999 meters Centerline goodness [0,1] 0.9969767588335328 Centerline is valid? [True, True] Translation: X:574.39, Y:-28.80, Z:1.73 [[ 9.99461576e-01 3.27658586e-02 -1.71942842e-03 5.74387930e+02] [-3.27657091e-02 9.99463053e-01 1.15090346e-04 -2.87999122e+01] [ 1.72227621e-03 -5.86900876e-05 9.99998515e-01 1.73307305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4507140569999 meters Centerline goodness [0,1] 0.9966170074173688 Centerline is valid? [True, True] Translation: X:574.42, Y:-28.80, Z:1.73 [[ 9.99510727e-01 3.12557446e-02 -1.17652956e-03 5.74419948e+02] [-3.12556747e-02 9.99511419e-01 7.77877996e-05 -2.88000604e+01] [ 1.17838605e-03 -4.09765148e-05 9.99999305e-01 1.73372428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4807140569999 meters Centerline goodness [0,1] 0.9959435032998445 Centerline is valid? [True, True] Translation: X:574.45, Y:-28.80, Z:1.74 [[ 9.99544019e-01 3.01950976e-02 9.89278963e-05 5.74451344e+02] [-3.01950969e-02 9.99544024e-01 -7.88631992e-06 -2.88008852e+01] [-9.91209157e-05 4.89558649e-06 9.99999995e-01 1.73506146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.510714057 meters Centerline goodness [0,1] 0.996344691399521 Centerline is valid? [True, True] Translation: X:574.48, Y:-28.80, Z:1.74 [[ 9.99517619e-01 3.10562471e-02 -1.98404572e-04 5.74483060e+02] [-3.10562453e-02 9.99517638e-01 1.21309851e-05 -2.88014319e+01] [ 1.98685612e-04 -5.96343234e-06 9.99999980e-01 1.73547736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.540714057 meters Centerline goodness [0,1] 0.9968486070843313 Centerline is valid? [True, True] Translation: X:574.52, Y:-28.80, Z:1.74 [[ 9.99466738e-01 3.26389764e-02 -9.68037345e-04 5.74515393e+02] [-3.26389292e-02 9.99467206e-01 6.44814703e-05 -2.88001021e+01] [ 9.69626190e-04 -3.28513824e-05 9.99999529e-01 1.73517082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5707140569999 meters Centerline goodness [0,1] 0.9964465937762826 Centerline is valid? [True, True] Translation: X:574.55, Y:-28.80, Z:1.73 [[ 9.99259728e-01 3.83958579e-02 -2.39895045e-03 5.74545702e+02] [-3.83955770e-02 9.99262605e-01 1.63045128e-04 -2.87961546e+01] [ 2.40344173e-03 -7.08153431e-05 9.99997109e-01 1.73379836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6007140569999 meters Centerline goodness [0,1] 0.9967844983397083 Centerline is valid? [True, True] Translation: X:574.58, Y:-28.79, Z:1.73 [[ 9.99086524e-01 4.26260419e-02 -3.02302874e-03 5.74577576e+02] [-4.26256156e-02 9.99091094e-01 2.05342052e-04 -2.87931229e+01] [ 3.02903402e-03 -7.62960161e-05 9.99995410e-01 1.73280654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.630714057 meters Centerline goodness [0,1] 0.9964285714285714 Centerline is valid? [True, True] Translation: X:574.61, Y:-28.79, Z:1.73 [[ 9.98633627e-01 5.21595973e-02 -3.20226324e-03 5.74609229e+02] [-5.21591671e-02 9.98638760e-01 2.17764642e-04 -2.87852997e+01] [ 3.20926270e-03 -5.04397109e-05 9.99994849e-01 1.73342700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.660714057 meters Centerline goodness [0,1] 0.9969572972405834 Centerline is valid? [True, True] Translation: X:574.64, Y:-28.78, Z:1.73 [[ 9.98347323e-01 5.73852478e-02 -3.09113619e-03 5.74642132e+02] [-5.73848722e-02 9.98352108e-01 2.10129986e-04 -2.87827921e+01] [ 3.09810069e-03 -3.23982536e-05 9.99995200e-01 1.73436192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6907140569999 meters Centerline goodness [0,1] 0.9967662004955693 Centerline is valid? [True, True] Translation: X:574.67, Y:-28.78, Z:1.74 [[ 9.97744929e-01 6.70830852e-02 -2.21708202e-03 5.74674850e+02] [-6.70829168e-02 9.97747393e-01 1.50291485e-04 -2.87769520e+01] [ 2.22216982e-03 -1.22423840e-06 9.99997531e-01 1.73578990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7207140569999 meters Centerline goodness [0,1] 0.9965865992414665 Centerline is valid? [True, True] Translation: X:574.71, Y:-28.78, Z:1.74 [[ 9.97446002e-01 7.14090777e-02 -1.48910431e-03 5.74706887e+02] [-7.14090067e-02 9.97447113e-01 1.00820105e-04 -2.87757856e+01] [ 1.49250227e-03 5.77284943e-06 9.99998886e-01 1.73658585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.750714057 meters Centerline goodness [0,1] 0.996837497643831 Centerline is valid? [True, True] Translation: X:574.74, Y:-28.77, Z:1.74 [[ 9.96949305e-01 7.80471986e-02 -8.46853541e-04 5.74739621e+02] [-7.80471783e-02 9.96949665e-01 5.70354986e-05 -2.87725966e+01] [ 8.48721815e-04 9.23302860e-06 9.99999640e-01 1.73687352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.780714057 meters Centerline goodness [0,1] 0.996860479718699 Centerline is valid? [True, True] Translation: X:574.77, Y:-28.77, Z:1.74 [[ 9.96683955e-01 8.13698791e-02 1.89156814e-04 5.74771942e+02] [-8.13698778e-02 9.96683973e-01 -1.43751254e-05 -2.87728018e+01] [-1.89699267e-04 -1.06420997e-06 9.99999982e-01 1.73671683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8107140569999 meters Centerline goodness [0,1] 0.9965250157002302 Centerline is valid? [True, True] Translation: X:574.80, Y:-28.77, Z:1.74 [[ 9.96216104e-01 8.69081785e-02 6.64614847e-04 5.74803459e+02] [-8.69081667e-02 9.96216326e-01 -4.66824978e-05 -2.87744655e+01] [-6.66157252e-04 -1.12546018e-05 9.99999778e-01 1.73689509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8407140569999 meters Centerline goodness [0,1] 0.9964875601087184 Centerline is valid? [True, True] Translation: X:574.84, Y:-28.78, Z:1.74 [[ 9.96009390e-01 8.92480372e-02 2.86950089e-04 5.74835656e+02] [-8.92480348e-02 9.96009432e-01 -2.12611014e-05 -2.87773292e+01] [-2.87702507e-04 -4.43347490e-06 9.99999959e-01 1.73730637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.870714057 meters Centerline goodness [0,1] 0.9957884983891007 Centerline is valid? [True, True] Translation: X:574.87, Y:-28.78, Z:1.74 [[ 9.95762058e-01 9.19661972e-02 3.78477154e-04 5.74867118e+02] [-9.19661936e-02 9.95762129e-01 -2.70376140e-05 -2.87821280e+01] [-3.79359763e-04 -7.88407307e-06 9.99999928e-01 1.73673069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.900714057 meters Centerline goodness [0,1] 0.994672113886198 Centerline is valid? [True, True] Translation: X:574.90, Y:-28.79, Z:1.74 [[ 9.95873428e-01 9.07523284e-02 3.61414782e-04 5.74898981e+02] [-9.07523247e-02 9.95873493e-01 -2.65785519e-05 -2.87908663e+01] [-3.62335467e-04 -6.33035814e-06 9.99999934e-01 1.73619449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9307140569999 meters Centerline goodness [0,1] 0.9936903209523409 Centerline is valid? [True, True] Translation: X:574.93, Y:-28.80, Z:1.74 [[ 9.96077933e-01 8.84792255e-02 4.21918240e-04 5.74929734e+02] [-8.84792204e-02 9.96078022e-01 -3.08008274e-05 -2.87973832e+01] [-4.22988720e-04 -6.65097251e-06 9.99999911e-01 1.73588650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9607140569999 meters Centerline goodness [0,1] 0.9945636141430317 Centerline is valid? [True, True] Translation: X:574.96, Y:-28.81, Z:1.74 [[ 9.96336537e-01 8.55181029e-02 -3.99506765e-04 5.74960120e+02] [-8.55180990e-02 9.96336617e-01 2.69053752e-05 -2.88050920e+01] [ 4.00344115e-04 7.35825079e-06 9.99999920e-01 1.73673306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.990714057 meters Centerline goodness [0,1] 0.9943029490616622 Centerline is valid? [True, True] Translation: X:574.99, Y:-28.82, Z:1.74 [[ 9.97055721e-01 7.66803076e-02 -1.40352622e-04 5.74990951e+02] [-7.66803071e-02 9.97055731e-01 9.60400331e-06 -2.88208875e+01] [ 1.40675824e-04 1.18655570e-06 9.99999990e-01 1.73656122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.020714057 meters Centerline goodness [0,1] 0.9949048340912919 Centerline is valid? [True, True] Translation: X:575.02, Y:-28.83, Z:1.74 [[ 9.97372053e-01 7.24497768e-02 -1.30023537e-04 5.75022160e+02] [-7.24497763e-02 9.97372062e-01 7.87248820e-06 -2.88297067e+01] [ 1.30252203e-04 1.56837643e-06 9.99999992e-01 1.73700114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0507140569999 meters Centerline goodness [0,1] 0.9942830816912026 Centerline is valid? [True, True] Translation: X:575.05, Y:-28.84, Z:1.74 [[ 9.97923804e-01 6.44031049e-02 5.67320375e-04 5.75051904e+02] [-6.44030919e-02 9.97923965e-01 -4.12196702e-05 -2.88433253e+01] [-5.68797273e-04 4.59690389e-06 9.99999838e-01 1.73769884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0807140569999 meters Centerline goodness [0,1] 0.993907580740366 Centerline is valid? [True, True] Translation: X:575.08, Y:-28.85, Z:1.74 [[ 9.98108711e-01 6.14599191e-02 1.29628294e-03 5.75083769e+02] [-6.14598495e-02 9.98109552e-01 -9.34610905e-05 -2.88501862e+01] [-1.29957649e-03 1.36149743e-05 9.99999155e-01 1.73743709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.110714057 meters Centerline goodness [0,1] 0.994972453233341 Centerline is valid? [True, True] Translation: X:575.11, Y:-28.86, Z:1.74 [[ 9.98411240e-01 5.63410018e-02 8.28557420e-04 5.75114463e+02] [-5.63409716e-02 9.98411584e-01 -5.96782363e-05 -2.88631914e+01] [-8.30603658e-04 1.29016918e-05 9.99999655e-01 1.73848003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.140714057 meters Centerline goodness [0,1] 0.9949885722673041 Centerline is valid? [True, True] Translation: X:575.15, Y:-28.87, Z:1.74 [[ 9.98512006e-01 5.45307272e-02 4.16034312e-04 5.75145956e+02] [-5.45307190e-02 9.98512093e-01 -3.10263325e-05 -2.88674940e+01] [-4.17107180e-04 8.29351538e-06 9.99999913e-01 1.73774156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1707140569999 meters Centerline goodness [0,1] 0.9949635909596458 Centerline is valid? [True, True] Translation: X:575.18, Y:-28.87, Z:1.74 [[ 9.98610221e-01 5.27006166e-02 -5.21404000e-04 5.75177727e+02] [-5.27006049e-02 9.98610357e-01 3.61020949e-05 -2.88732156e+01] [ 5.22582037e-04 -8.57361480e-06 9.99999863e-01 1.73748788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2007140569999 meters Centerline goodness [0,1] 0.9952501583280557 Centerline is valid? [True, True] Translation: X:575.21, Y:-28.88, Z:1.74 [[ 9.98709575e-01 5.07424176e-02 -2.09558732e-03 5.75209876e+02] [-5.07422156e-02 9.98711773e-01 1.49484550e-04 -2.88795534e+01] [ 2.10047294e-03 -4.29569074e-05 9.99997793e-01 1.73674143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2307140569999 meters Centerline goodness [0,1] 0.9956186323424594 Centerline is valid? [True, True] Translation: X:575.24, Y:-28.88, Z:1.74 [[ 9.98714138e-01 5.06348082e-02 -2.48742776e-03 5.75242726e+02] [-5.06345213e-02 9.98717234e-01 1.78192242e-04 -2.88835129e+01] [ 2.49325971e-03 -5.20133967e-05 9.99996890e-01 1.73645155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.260714057 meters Centerline goodness [0,1] 0.9952049007182087 Centerline is valid? [True, True] Translation: X:575.28, Y:-28.89, Z:1.74 [[ 9.98694795e-01 5.10270148e-02 -2.22511276e-03 5.75275387e+02] [-5.10267852e-02 9.98697272e-01 1.59868823e-04 -2.88860459e+01] [ 2.23037167e-03 -4.61198100e-05 9.99997512e-01 1.73684615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.290714057 meters Centerline goodness [0,1] 0.9959898381238321 Centerline is valid? [True, True] Translation: X:575.31, Y:-28.89, Z:1.74 [[ 9.98653741e-01 5.18297980e-02 -2.09224764e-03 5.75306432e+02] [-5.18295948e-02 9.98655932e-01 1.51263583e-04 -2.88896493e+01] [ 2.09727548e-03 -4.26195953e-05 9.99997800e-01 1.73761471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3207140569999 meters Centerline goodness [0,1] 0.9951966439433666 Centerline is valid? [True, True] Translation: X:575.34, Y:-28.89, Z:1.74 [[ 9.98500480e-01 5.47331839e-02 -1.03458994e-03 5.75339201e+02] [-5.47331358e-02 9.98501016e-01 7.47805264e-05 -2.88891567e+01] [ 1.03713209e-03 -1.80420396e-05 9.99999462e-01 1.73891388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3507140569999 meters Centerline goodness [0,1] 0.9945786309461028 Centerline is valid? [True, True] Translation: X:575.37, Y:-28.89, Z:1.74 [[ 9.98383599e-01 5.68341615e-02 -2.60463937e-04 5.75370997e+02] [-5.68341588e-02 9.98383633e-01 1.77176771e-05 -2.88902302e+01] [ 2.61049901e-04 -2.88578950e-06 9.99999966e-01 1.73942699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.380714057 meters Centerline goodness [0,1] 0.994327766531714 Centerline is valid? [True, True] Translation: X:575.40, Y:-28.89, Z:1.74 [[ 9.98075802e-01 6.20024814e-02 6.20958982e-04 5.75402989e+02] [-6.20024643e-02 9.98075995e-01 -4.67826397e-05 -2.88882610e+01] [-6.22664893e-04 8.19163350e-06 9.99999806e-01 1.73949900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.410714057 meters Centerline goodness [0,1] 0.9940624078831011 Centerline is valid? [True, True] Translation: X:575.43, Y:-28.89, Z:1.74 [[ 9.97862365e-01 6.53464746e-02 7.33451974e-04 5.75434436e+02] [-6.53464517e-02 9.97862635e-01 -5.50860825e-05 -2.88886474e+01] [-7.35484001e-04 7.03984455e-06 9.99999730e-01 1.74017355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4407140569999 meters Centerline goodness [0,1] 0.9940624078831011 Centerline is valid? [True, True] Translation: X:575.47, Y:-28.89, Z:1.74 [[ 9.97844030e-01 6.56258560e-02 7.33416726e-04 5.75466810e+02] [-6.56258328e-02 9.97844300e-01 -5.55627300e-05 -2.88910899e+01] [-7.35482051e-04 7.31185494e-06 9.99999730e-01 1.74034546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4707140569999 meters Centerline goodness [0,1] 0.9937368199072122 Centerline is valid? [True, True] Translation: X:575.50, Y:-28.89, Z:1.74 [[ 9.97430201e-01 7.16447360e-02 1.58054013e-04 5.75498503e+02] [-7.16447349e-02 9.97430214e-01 -1.28853478e-05 -2.88887553e+01] [-1.58571015e-04 1.52849720e-06 9.99999987e-01 1.74000877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.500714057 meters Centerline goodness [0,1] 0.9926188367286685 Centerline is valid? [True, True] Translation: X:575.53, Y:-28.89, Z:1.74 [[ 9.97195533e-01 7.48402903e-02 -1.42784223e-05 5.75531470e+02] [-7.48402903e-02 9.97195533e-01 -4.48623166e-07 -2.88894999e+01] [ 1.42048038e-05 1.51596629e-06 1.00000000e+00 1.73942661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.530714057 meters Centerline goodness [0,1] 0.9915507796038769 Centerline is valid? [True, True] Translation: X:575.56, Y:-28.89, Z:1.74 [[ 9.96997051e-01 7.74395037e-02 -6.66992288e-05 5.75563795e+02] [-7.74395037e-02 9.96997053e-01 3.56601724e-06 -2.88906820e+01] [ 6.67750851e-05 1.60984650e-06 9.99999998e-01 1.73980605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5607140569999 meters Centerline goodness [0,1] 0.9914852361582397 Centerline is valid? [True, True] Translation: X:575.60, Y:-28.89, Z:1.74 [[ 9.96661083e-01 8.16497287e-02 9.13393564e-05 5.75596024e+02] [-8.16497283e-02 9.96661087e-01 -8.14922717e-06 -2.88919528e+01] [-9.16997644e-05 6.64183939e-07 9.99999996e-01 1.73995931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5907140569999 meters Centerline goodness [0,1] 0.9912618701703408 Centerline is valid? [True, True] Translation: X:575.63, Y:-28.89, Z:1.74 [[ 9.96419577e-01 8.45444468e-02 -5.12877957e-04 5.75627342e+02] [-8.45444389e-02 9.96419709e-01 3.72462193e-05 -2.88932455e+01] [ 5.14190666e-04 6.24811703e-06 9.99999868e-01 1.73941948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.620714057 meters Centerline goodness [0,1] 0.9909221112936518 Centerline is valid? [True, True] Translation: X:575.66, Y:-28.90, Z:1.74 [[ 9.96324214e-01 8.56561210e-02 -1.04398279e-03 5.75660073e+02] [-8.56560872e-02 9.96324761e-01 7.70999016e-05 -2.88962925e+01] [ 1.04674999e-03 1.26069824e-05 9.99999452e-01 1.73891572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.650714057 meters Centerline goodness [0,1] 0.9907803060601595 Centerline is valid? [True, True] Translation: X:575.69, Y:-28.90, Z:1.74 [[ 9.96236080e-01 8.66654766e-02 -1.66372504e-03 5.75692045e+02] [-8.66653894e-02 9.96237469e-01 1.24607578e-04 -2.88985059e+01] [ 1.66826440e-03 2.00488128e-05 9.99998608e-01 1.73890162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6807140569999 meters Centerline goodness [0,1] 0.9907450352068137 Centerline is valid? [True, True] Translation: X:575.72, Y:-28.91, Z:1.74 [[ 9.96172868e-01 8.73527295e-02 -3.01952593e-03 5.75724430e+02] [-8.73524420e-02 9.96177444e-01 2.27195602e-04 -2.89056357e+01] [ 3.02782978e-03 3.74368700e-05 9.99995415e-01 1.73697375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7107140569999 meters Centerline goodness [0,1] 0.9907309879924162 Centerline is valid? [True, True] Translation: X:575.76, Y:-28.91, Z:1.74 [[ 9.96144476e-01 8.76454487e-02 -3.80236168e-03 5.75757170e+02] [-8.76449894e-02 9.96151732e-01 2.87550719e-04 -2.89108670e+01] [ 3.81293168e-03 4.68158892e-05 9.99992730e-01 1.73648434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.740714057 meters Centerline goodness [0,1] 0.9917965372529999 Centerline is valid? [True, True] Translation: X:575.79, Y:-28.92, Z:1.74 [[ 9.96216021e-01 8.67653266e-02 -5.04165556e-03 5.75788607e+02] [-8.67644983e-02 9.96228776e-01 3.83203845e-04 -2.89201873e+01] [ 5.05589116e-03 5.56829061e-05 9.99987217e-01 1.73568094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.770714057 meters Centerline goodness [0,1] 0.9910861044379821 Centerline is valid? [True, True] Translation: X:575.82, Y:-28.93, Z:1.74 [[ 9.96297685e-01 8.57926842e-02 -5.52618752e-03 5.75819045e+02] [-8.57916656e-02 9.96313009e-01 4.21542320e-04 -2.89259203e+01] [ 5.54197776e-03 5.41191941e-05 9.99984642e-01 1.73530059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8007140569999 meters Centerline goodness [0,1] 0.991445788209515 Centerline is valid? [True, True] Translation: X:575.85, Y:-28.94, Z:1.74 [[ 9.96573268e-01 8.25640219e-02 -4.99040568e-03 5.75850940e+02] [-8.25631454e-02 9.96585762e-01 3.81749432e-04 -2.89365174e+01] [ 5.00488602e-03 3.15823109e-05 9.99987475e-01 1.73602424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8307140569999 meters Centerline goodness [0,1] 0.9911657424782306 Centerline is valid? [True, True] Translation: X:575.88, Y:-28.94, Z:1.74 [[ 9.96699488e-01 8.10616914e-02 -4.37416419e-03 5.75881391e+02] [-8.10610026e-02 9.96709086e-01 3.34814752e-04 -2.89425972e+01] [ 4.38690984e-03 2.08644430e-05 9.99990377e-01 1.73639087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.860714057 meters Centerline goodness [0,1] 0.9921975225556794 Centerline is valid? [True, True] Translation: X:575.91, Y:-28.95, Z:1.74 [[ 9.96909188e-01 7.85176097e-02 -2.65613069e-03 5.75913846e+02] [-7.85173467e-02 9.96912727e-01 2.03313753e-04 -2.89529365e+01] [ 2.66389420e-03 5.86698548e-06 9.99996452e-01 1.73815283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.890714057 meters Centerline goodness [0,1] 0.9917781142232316 Centerline is valid? [True, True] Translation: X:575.95, Y:-28.96, Z:1.74 [[ 9.96933054e-01 7.82464659e-02 -1.40559481e-03 5.75946835e+02] [-7.82463924e-02 9.96934045e-01 1.07266117e-04 -2.89593646e+01] [ 1.40967852e-03 3.04558593e-06 9.99999006e-01 1.73894095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9207140569999 meters Centerline goodness [0,1] 0.9921122376004375 Centerline is valid? [True, True] Translation: X:575.98, Y:-28.97, Z:1.74 [[ 9.96946466e-01 7.80872831e-02 -3.45995329e-04 5.75977995e+02] [-7.80872790e-02 9.96946526e-01 2.54662044e-05 -2.89652583e+01] [ 3.46927429e-04 1.62939137e-06 9.99999940e-01 1.74008833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9507140569999 meters Centerline goodness [0,1] 0.9927094713841499 Centerline is valid? [True, True] Translation: X:576.01, Y:-28.97, Z:1.74 [[ 9.96872386e-01 7.90275595e-02 3.02893355e-04 5.76010863e+02] [-7.90275556e-02 9.96872432e-01 -2.50968524e-05 -2.89736156e+01] [-3.03929379e-04 1.08143769e-06 9.99999954e-01 1.74067527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9807140569999 meters Centerline goodness [0,1] 0.9915551540869273 Centerline is valid? [True, True] Translation: X:576.04, Y:-28.98, Z:1.74 [[ 9.96791116e-01 8.00465239e-02 -1.57139638e-04 5.76043115e+02] [-8.00465232e-02 9.96791129e-01 1.07890467e-05 -2.89784671e+01] [ 1.57499023e-04 1.82405577e-06 9.99999988e-01 1.73977132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.010714057 meters Centerline goodness [0,1] 0.9926311135440133 Centerline is valid? [True, True] Translation: X:576.08, Y:-28.98, Z:1.74 [[ 9.96680931e-01 8.13911518e-02 -1.61332670e-03 5.76075182e+02] [-8.13910558e-02 9.96682236e-01 1.25157822e-04 -2.89847596e+01] [ 1.61816080e-03 6.56794844e-06 9.99998691e-01 1.73864177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.040714057 meters Centerline goodness [0,1] 0.9917558728890198 Centerline is valid? [True, True] Translation: X:576.11, Y:-28.99, Z:1.74 [[ 9.96601799e-01 8.23583349e-02 -1.39935070e-03 5.76107438e+02] [-8.23582634e-02 9.96602782e-01 1.08739332e-04 -2.89895107e+01] [ 1.40355239e-03 6.87827988e-06 9.99999015e-01 1.73828830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0707140569999 meters Centerline goodness [0,1] 0.9914867677043702 Centerline is valid? [True, True] Translation: X:576.14, Y:-29.00, Z:1.74 [[ 9.96578718e-01 8.26490021e-02 1.93895602e-05 5.76139934e+02] [-8.26490021e-02 9.96578719e-01 -3.04703907e-06 -2.89972517e+01] [-1.95750578e-05 1.43408649e-06 1.00000000e+00 1.73885596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1007140569999 meters Centerline goodness [0,1] 0.9912641747165056 Centerline is valid? [True, True] Translation: X:576.17, Y:-29.00, Z:1.74 [[ 9.96608576e-01 8.22881921e-02 -2.37134152e-06 5.76172129e+02] [-8.22881921e-02 9.96608576e-01 -1.31856140e-06 -2.90029023e+01] [ 2.25479727e-06 1.50922300e-06 1.00000000e+00 1.73976516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.130714057 meters Centerline goodness [0,1] 0.9916419293037748 Centerline is valid? [True, True] Translation: X:576.20, Y:-29.01, Z:1.74 [[ 9.96771003e-01 8.02965470e-02 1.81819989e-04 5.76204708e+02] [-8.02965455e-02 9.96771019e-01 -1.59832104e-05 -2.90116274e+01] [-1.82516292e-04 1.33208364e-06 9.99999983e-01 1.73990043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.160714057 meters Centerline goodness [0,1] 0.9921024366615421 Centerline is valid? [True, True] Translation: X:576.24, Y:-29.02, Z:1.74 [[ 9.96866994e-01 7.90948638e-02 4.46778566e-04 5.76235829e+02] [-7.90948552e-02 9.96867094e-01 -3.70986304e-05 -2.90173448e+01] [-4.48313162e-04 1.64451416e-06 9.99999900e-01 1.73985411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1907140569999 meters Centerline goodness [0,1] 0.9919973043551512 Centerline is valid? [True, True] Translation: X:576.27, Y:-29.02, Z:1.74 [[ 9.96969111e-01 7.77968264e-02 4.95563018e-04 5.76268345e+02] [-7.77968155e-02 9.96969234e-01 -4.12648058e-05 -2.90228645e+01] [-4.97271353e-04 2.58651210e-06 9.99999876e-01 1.73991291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2207140569999 meters Centerline goodness [0,1] 0.9926736842105263 Centerline is valid? [True, True] Translation: X:576.30, Y:-29.03, Z:1.74 [[ 9.97153016e-01 7.53953460e-02 1.18469378e-03 5.76299434e+02] [-7.53952845e-02 9.97153720e-01 -9.65128005e-05 -2.90305406e+01] [-1.18859843e-03 6.91770556e-06 9.99999294e-01 1.73954431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.250714057 meters Centerline goodness [0,1] 0.9928130334899994 Centerline is valid? [True, True] Translation: X:576.33, Y:-29.04, Z:1.74 [[ 9.97261194e-01 7.39466735e-02 1.41413846e-03 5.76331768e+02] [-7.39465839e-02 9.97262197e-01 -1.15659075e-04 -2.90371135e+01] [-1.41881943e-03 1.07715989e-05 9.99998993e-01 1.73953633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.280714057 meters Centerline goodness [0,1] 0.9929913918296045 Centerline is valid? [True, True] Translation: X:576.36, Y:-29.04, Z:1.74 [[ 9.97307474e-01 7.33263550e-02 1.02323292e-03 5.76364822e+02] [-7.33263070e-02 9.97307999e-01 -8.43902799e-05 -2.90417775e+01] [-1.02666641e-03 9.13316538e-06 9.99999473e-01 1.73909127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3107140569999 meters Centerline goodness [0,1] 0.9923718813216453 Centerline is valid? [True, True] Translation: X:576.40, Y:-29.05, Z:1.74 [[ 9.97355738e-01 7.26647333e-02 1.16942906e-03 5.76396183e+02] [-7.26646709e-02 9.97356424e-01 -9.58694972e-05 -2.90460505e+01] [-1.17330392e-03 1.06398154e-05 9.99999312e-01 1.73920027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3407140569999 meters Centerline goodness [0,1] 0.9928732578489047 Centerline is valid? [True, True] Translation: X:576.43, Y:-29.05, Z:1.74 [[ 9.97486296e-01 7.08361566e-02 1.82432817e-03 5.76427343e+02] [-7.08360012e-02 9.97487964e-01 -1.49711874e-04 -2.90502594e+01] [-1.83035040e-03 2.01074306e-05 9.99998325e-01 1.73962046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.370714057 meters Centerline goodness [0,1] 0.9928054518218453 Centerline is valid? [True, True] Translation: X:576.46, Y:-29.05, Z:1.74 [[ 9.97504949e-01 7.05775007e-02 1.64123459e-03 5.76460385e+02] [-7.05773732e-02 9.97506299e-01 -1.35541002e-04 -2.90534890e+01] [-1.64670798e-03 1.93687944e-05 9.99998644e-01 1.73929670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.400714057 meters Centerline goodness [0,1] 0.9925135494211181 Centerline is valid? [True, True] Translation: X:576.49, Y:-29.06, Z:1.74 [[ 9.97546091e-01 7.00126854e-02 1.40314564e-04 5.76493207e+02] [-7.00126843e-02 9.97546101e-01 -1.29623579e-05 -2.90564422e+01] [-1.40877776e-04 3.10675014e-06 9.99999990e-01 1.73875531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4307140569999 meters Centerline goodness [0,1] 0.9928263988522238 Centerline is valid? [True, True] Translation: X:576.53, Y:-29.06, Z:1.74 [[ 9.97576975e-01 6.95595854e-02 -1.28202384e-03 5.76526355e+02] [-6.95595092e-02 9.97577798e-01 1.03940884e-04 -2.90570713e+01] [ 1.28614860e-03 -1.45120839e-05 9.99999173e-01 1.73675831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4607140569999 meters Centerline goodness [0,1] 0.9927605057092805 Centerline is valid? [True, True] Translation: X:576.56, Y:-29.06, Z:1.74 [[ 9.97598583e-01 6.92296011e-02 -2.08059860e-03 5.76558480e+02] [-6.92293965e-02 9.97600753e-01 1.70282578e-04 -2.90602472e+01] [ 2.08739533e-03 -2.58350730e-05 9.99997821e-01 1.73657112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.490714057 meters Centerline goodness [0,1] 0.9929937112227241 Centerline is valid? [True, True] Translation: X:576.59, Y:-29.06, Z:1.74 [[ 9.97606731e-01 6.91151288e-02 -1.97720812e-03 5.76591462e+02] [-6.91149430e-02 9.97608690e-01 1.62223539e-04 -2.90614583e+01] [ 1.98369210e-03 -2.51806678e-05 9.99998032e-01 1.73676405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.520714057 meters Centerline goodness [0,1] 0.9936084039994937 Centerline is valid? [True, True] Translation: X:576.62, Y:-29.06, Z:1.74 [[ 9.97742472e-01 6.71374613e-02 -1.58788080e-03 5.76622640e+02] [-6.71373378e-02 9.97743735e-01 1.30988274e-04 -2.90633660e+01] [ 1.59309234e-03 -2.40864745e-05 9.99998731e-01 1.73693510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5507140569999 meters Centerline goodness [0,1] 0.9946091074373177 Centerline is valid? [True, True] Translation: X:576.66, Y:-29.07, Z:1.74 [[ 9.98012314e-01 6.30145775e-02 -7.64039935e-04 5.76655077e+02] [-6.30145477e-02 9.98012607e-01 6.30518399e-05 -2.90658045e+01] [ 7.66494672e-04 -1.47808817e-05 9.99999706e-01 1.73682594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5807140569999 meters Centerline goodness [0,1] 0.9947672701185805 Centerline is valid? [True, True] Translation: X:576.69, Y:-29.07, Z:1.74 [[ 9.98131692e-01 6.10906535e-02 -1.02833755e-03 5.76686388e+02] [-6.10905989e-02 9.98132222e-01 8.44108715e-05 -2.90688145e+01] [ 1.03157356e-03 -2.14314091e-05 9.99999468e-01 1.73699299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.610714057 meters Centerline goodness [0,1] 0.994459950943077 Centerline is valid? [True, True] Translation: X:576.72, Y:-29.07, Z:1.74 [[ 9.98238796e-01 5.93152316e-02 -1.00517723e-03 5.76718648e+02] [-5.93151785e-02 9.98239301e-01 8.25980414e-05 -2.90698044e+01] [ 1.00830673e-03 -2.28303028e-05 9.99999491e-01 1.73710868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.640714057 meters Centerline goodness [0,1] 0.9946253623648406 Centerline is valid? [True, True] Translation: X:576.75, Y:-29.07, Z:1.74 [[ 9.98337238e-01 5.76419253e-02 -4.08532388e-04 5.76750643e+02] [-5.76419166e-02 9.98337322e-01 3.28994452e-05 -2.90704145e+01] [ 4.09749518e-04 -9.29615141e-06 9.99999916e-01 1.73705885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6707140569999 meters Centerline goodness [0,1] 0.99533302360941 Centerline is valid? [True, True] Translation: X:576.78, Y:-29.07, Z:1.74 [[ 9.98338336e-01 5.76242449e-02 -1.15778811e-04 5.76784107e+02] [-5.76242443e-02 9.98338343e-01 8.23467468e-06 -2.90713841e+01] [ 1.16060943e-04 -1.54932491e-06 9.99999993e-01 1.73752695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7007140569999 meters Centerline goodness [0,1] 0.9954170098629327 Centerline is valid? [True, True] Translation: X:576.82, Y:-29.07, Z:1.74 [[ 9.98290982e-01 5.84369344e-02 4.90817337e-04 5.76816399e+02] [-5.84369205e-02 9.98291102e-01 -4.26487214e-05 -2.90699034e+01] [-4.92470841e-04 1.38939803e-05 9.99999879e-01 1.73785513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7307140569999 meters Centerline goodness [0,1] 0.9946127519330714 Centerline is valid? [True, True] Translation: X:576.85, Y:-29.07, Z:1.74 [[ 9.98288382e-01 5.84803238e-02 5.98809340e-04 5.76849214e+02] [-5.84803031e-02 9.98288561e-01 -5.20925695e-05 -2.90713166e+01] [-6.00830904e-04 1.69848552e-05 9.99999819e-01 1.73806185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.760714057 meters Centerline goodness [0,1] 0.9955862476769725 Centerline is valid? [True, True] Translation: X:576.88, Y:-29.07, Z:1.74 [[ 9.98371113e-01 5.70438460e-02 1.05866630e-03 5.76881068e+02] [-5.70437815e-02 9.98371674e-01 -9.10291406e-05 -2.90714381e+01] [-1.06213510e-03 3.04905352e-05 9.99999435e-01 1.73917456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.790714057 meters Centerline goodness [0,1] 0.995503483217226 Centerline is valid? [True, True] Translation: X:576.91, Y:-29.07, Z:1.74 [[ 9.98445477e-01 5.57119403e-02 1.67579425e-03 5.76913047e+02] [-5.57117774e-02 9.98446883e-01 -1.43769738e-04 -2.90723572e+01] [-1.68120124e-03 5.01847689e-05 9.99998586e-01 1.73973008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8207140569999 meters Centerline goodness [0,1] 0.9966402535657686 Centerline is valid? [True, True] Translation: X:576.94, Y:-29.07, Z:1.74 [[ 9.98599646e-01 5.28575345e-02 2.19717160e-03 5.76944925e+02] [-5.28572475e-02 9.98602061e-01 -1.88520578e-04 -2.90716329e+01] [-2.20406482e-03 7.21201399e-05 9.99997568e-01 1.74062196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8507140569999 meters Centerline goodness [0,1] 0.9968136737708377 Centerline is valid? [True, True] Translation: X:576.98, Y:-29.07, Z:1.74 [[ 9.98646101e-01 5.19680021e-02 2.30050443e-03 5.76977220e+02] [-5.19676837e-02 9.98648747e-01 -1.98002258e-04 -2.90718568e+01] [-2.30768565e-03 7.81822968e-05 9.99997334e-01 1.74044604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.880714057 meters Centerline goodness [0,1] 0.9966646260370269 Centerline is valid? [True, True] Translation: X:577.01, Y:-29.07, Z:1.74 [[ 9.98646007e-01 5.19902177e-02 1.78055865e-03 5.77008872e+02] [-5.19900255e-02 9.98647592e-01 -1.54104048e-04 -2.90726443e+01] [-1.78616251e-03 6.13241024e-05 9.99998403e-01 1.74001102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.910714057 meters Centerline goodness [0,1] 0.9966214789475907 Centerline is valid? [True, True] Translation: X:577.04, Y:-29.07, Z:1.74 [[ 9.98542462e-01 5.39710914e-02 -2.70234860e-04 5.77041390e+02] [-5.39710874e-02 9.98542498e-01 2.19241260e-05 -2.90674114e+01] [ 2.71024261e-04 -7.30730153e-06 9.99999963e-01 1.73849338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9407140569999 meters Centerline goodness [0,1] 0.9970464135021097 Centerline is valid? [True, True] Translation: X:577.07, Y:-29.06, Z:1.74 [[ 9.98246115e-01 5.91733489e-02 -1.79143551e-03 5.77072521e+02] [-5.91731678e-02 9.98247721e-01 1.53965318e-04 -2.90620854e+01] [ 1.79740706e-03 -4.76903663e-05 9.99998384e-01 1.73785109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9707140569999 meters Centerline goodness [0,1] 0.9961937789431393 Centerline is valid? [True, True] Translation: X:577.11, Y:-29.06, Z:1.74 [[ 9.98032172e-01 6.26813757e-02 -1.68206721e-03 5.77105036e+02] [-6.26812223e-02 9.98033588e-01 1.43841039e-04 -2.90585193e+01] [ 1.68777573e-03 -3.81239561e-05 9.99998575e-01 1.73754475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.000714057 meters Centerline goodness [0,1] 0.99636808986866 Centerline is valid? [True, True] Translation: X:577.14, Y:-29.05, Z:1.74 [[ 9.97594708e-01 6.92934404e-02 -1.79403771e-03 5.77137573e+02] [-6.92932745e-02 9.97596320e-01 1.54554914e-04 -2.90514462e+01] [ 1.80043506e-03 -2.98684167e-05 9.99998379e-01 1.73762184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.030714057 meters Centerline goodness [0,1] 0.9949566355061301 Centerline is valid? [True, True] Translation: X:577.17, Y:-29.05, Z:1.74 [[ 9.97359597e-01 7.26026518e-02 -1.63971672e-03 5.77170180e+02] [-7.26025185e-02 9.97360945e-01 1.40731644e-04 -2.90502825e+01] [ 1.64560691e-03 -2.13124916e-05 9.99998646e-01 1.73819743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0607140569999 meters Centerline goodness [0,1] 0.9955282752220043 Centerline is valid? [True, True] Translation: X:577.20, Y:-29.05, Z:1.74 [[ 9.97144239e-01 7.55072783e-02 -1.42027917e-03 5.77202972e+02] [-7.55071801e-02 9.97145251e-01 1.22689239e-04 -2.90494195e+01] [ 1.42548856e-03 -1.50975927e-05 9.99998984e-01 1.73797490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0907140569999 meters Centerline goodness [0,1] 0.9946190044103062 Centerline is valid? [True, True] Translation: X:577.23, Y:-29.05, Z:1.74 [[ 9.96707679e-01 8.10621573e-02 -1.65218087e-03 5.77234803e+02] [-8.10620320e-02 9.96709048e-01 1.42755475e-04 -2.90454764e+01] [ 1.65831569e-03 -8.35633892e-06 9.99998625e-01 1.73862267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.120714057 meters Centerline goodness [0,1] 0.9943923263413091 Centerline is valid? [True, True] Translation: X:577.27, Y:-29.04, Z:1.74 [[ 9.96315683e-01 8.57551837e-02 -1.05275618e-03 5.77266443e+02] [-8.57551360e-02 9.96316239e-01 9.05074709e-05 -2.90409607e+01] [ 1.05663956e-03 1.05236357e-07 9.99999442e-01 1.73922328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.150714057 meters Centerline goodness [0,1] 0.9935940660822656 Centerline is valid? [True, True] Translation: X:577.30, Y:-29.04, Z:1.74 [[ 9.96038977e-01 8.89170480e-02 -3.38103208e-04 5.77300019e+02] [-8.89170436e-02 9.96039035e-01 2.80565592e-05 -2.90406465e+01] [ 3.39258699e-04 2.11771119e-06 9.99999942e-01 1.73944906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1807140569999 meters Centerline goodness [0,1] 0.9943534964077281 Centerline is valid? [True, True] Translation: X:577.33, Y:-29.04, Z:1.74 [[ 9.95777531e-01 9.17988986e-02 2.64622914e-04 5.77332924e+02] [-9.17988953e-02 9.95777567e-01 -2.47056087e-05 -2.90407237e+01] [-2.65773509e-04 3.09198896e-07 9.99999965e-01 1.73979879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2107140569999 meters Centerline goodness [0,1] 0.9933685606618808 Centerline is valid? [True, True] Translation: X:577.36, Y:-29.04, Z:1.74 [[ 9.95257429e-01 9.72548417e-02 2.03621489e-03 5.77364293e+02] [-9.72546767e-02 9.95259512e-01 -1.80152641e-04 -2.90389060e+01] [-2.04408296e-03 -1.87331669e-05 9.99997911e-01 1.74231793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.240714057 meters Centerline goodness [0,1] 0.9927682901117436 Centerline is valid? [True, True] Translation: X:577.40, Y:-29.04, Z:1.74 [[ 9.95033141e-01 9.94908305e-02 3.25915820e-03 5.77396290e+02] [-9.94904194e-02 9.95038478e-01 -2.88441908e-04 -2.90400553e+01] [-3.27168514e-03 -3.72457577e-05 9.99994647e-01 1.74343972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.270714057 meters Centerline goodness [0,1] 0.99283146587063 Centerline is valid? [True, True] Translation: X:577.43, Y:-29.04, Z:1.74 [[ 9.94896782e-01 1.00770878e-01 5.06186761e-03 5.77428406e+02] [-1.00769900e-01 9.94909657e-01 -4.48608604e-04 -2.90432844e+01] [-5.08130765e-03 -6.37646360e-05 9.99987088e-01 1.74320328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3007140569999 meters Centerline goodness [0,1] 0.9927644448183749 Centerline is valid? [True, True] Translation: X:577.46, Y:-29.05, Z:1.74 [[ 9.94975901e-01 1.00047857e-01 3.65831807e-03 5.77459934e+02] [-1.00047336e-01 9.94982625e-01 -3.25489926e-04 -2.90469820e+01] [-3.67252749e-03 -4.21503445e-05 9.99993255e-01 1.74260796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3307140569999 meters Centerline goodness [0,1] 0.9931394418957027 Centerline is valid? [True, True] Translation: X:577.49, Y:-29.05, Z:1.74 [[ 9.95332893e-01 9.64801556e-02 2.00286050e-03 5.77491989e+02] [-9.64799925e-02 9.95334908e-01 -1.78129762e-04 -2.90542493e+01] [-2.01070296e-03 -1.59375545e-05 9.99997978e-01 1.73989543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.360714057 meters Centerline goodness [0,1] 0.9931394418957027 Centerline is valid? [True, True] Translation: X:577.52, Y:-29.06, Z:1.74 [[ 9.95305573e-01 9.67615957e-02 2.00271918e-03 5.77524324e+02] [-9.67614300e-02 9.95307587e-01 -1.79719556e-04 -2.90571823e+01] [-2.01071155e-03 -1.49100965e-05 9.99997978e-01 1.74006720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.390714057 meters Centerline goodness [0,1] 0.9931317813125461 Centerline is valid? [True, True] Translation: X:577.56, Y:-29.06, Z:1.74 [[ 9.95560121e-01 9.41182555e-02 1.34157602e-03 5.77556556e+02] [-9.41181779e-02 9.95561025e-01 -1.21019730e-04 -2.90625879e+01] [-1.34701097e-03 -5.78427330e-06 9.99999093e-01 1.73907544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4207140569999 meters Centerline goodness [0,1] 0.9936002694623385 Centerline is valid? [True, True] Translation: X:577.59, Y:-29.07, Z:1.74 [[ 9.95999212e-01 8.93617591e-02 2.13903555e-04 5.77588503e+02] [-8.93617568e-02 9.95999235e-01 -2.04377434e-05 -2.90713000e+01] [-2.14874130e-04 1.24117881e-06 9.99999977e-01 1.73805218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4507140569999 meters Centerline goodness [0,1] 0.9938646426312461 Centerline is valid? [True, True] Translation: X:577.62, Y:-29.08, Z:1.74 [[ 9.96140072e-01 8.77760431e-02 5.68488857e-04 5.77621364e+02] [-8.77760275e-02 9.96140234e-01 -5.25032823e-05 -2.90771904e+01] [-5.70903154e-04 2.40092986e-06 9.99999837e-01 1.73807902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4807140569999 meters Centerline goodness [0,1] 0.9936596874078443 Centerline is valid? [True, True] Translation: X:577.65, Y:-29.08, Z:1.74 [[ 9.96305332e-01 8.58793964e-02 6.44152777e-04 5.77653552e+02] [-8.58793758e-02 9.96305540e-01 -5.95015855e-05 -2.90847830e+01] [-6.46882940e-04 3.96230848e-06 9.99999791e-01 1.73826071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.510714057 meters Centerline goodness [0,1] 0.9932857654016964 Centerline is valid? [True, True] Translation: X:577.69, Y:-29.09, Z:1.74 [[ 9.96328500e-01 8.56061403e-02 1.05333353e-03 5.77685124e+02] [-8.56060861e-02 9.96329056e-01 -9.65223283e-05 -2.90912152e+01] [-1.05772970e-03 5.99618607e-06 9.99999441e-01 1.73862635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.540714057 meters Centerline goodness [0,1] 0.9933693981939503 Centerline is valid? [True, True] Translation: X:577.72, Y:-29.10, Z:1.74 [[ 9.96251583e-01 8.64980760e-02 9.30427784e-04 5.77717590e+02] [-8.64980336e-02 9.96252018e-01 -8.57668740e-05 -2.90954433e+01] [-9.34359227e-04 4.96521025e-06 9.99999563e-01 1.73846303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5707140569999 meters Centerline goodness [0,1] 0.9930590610802625 Centerline is valid? [True, True] Translation: X:577.75, Y:-29.10, Z:1.74 [[ 9.96080790e-01 8.84456652e-02 6.51742713e-04 5.77750434e+02] [-8.84456445e-02 9.96081003e-01 -6.06980146e-05 -2.90994963e+01] [-6.54557011e-04 2.81632203e-06 9.99999786e-01 1.73870721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6007140569999 meters Centerline goodness [0,1] 0.9936814170475368 Centerline is valid? [True, True] Translation: X:577.78, Y:-29.10, Z:1.74 [[ 9.95586846e-01 9.38311267e-02 1.59712642e-03 5.77781552e+02] [-9.38310131e-02 9.95588128e-01 -1.46055449e-04 -2.91029154e+01] [-1.60378465e-03 -4.44910656e-06 9.99998714e-01 1.73990276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.630714057 meters Centerline goodness [0,1] 0.9930763079254178 Centerline is valid? [True, True] Translation: X:577.81, Y:-29.11, Z:1.74 [[ 9.95198463e-01 9.78513628e-02 2.26494842e-03 5.77813866e+02] [-9.78511428e-02 9.95201040e-01 -2.08006330e-04 -2.91060617e+01] [-2.27443273e-03 -1.46202113e-05 9.99997413e-01 1.74055155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.660714057 meters Centerline goodness [0,1] 0.991233246227767 Centerline is valid? [True, True] Translation: X:577.84, Y:-29.11, Z:1.74 [[ 9.94340347e-01 1.06192119e-01 3.24165796e-03 5.77844473e+02] [-1.06191715e-01 9.94345630e-01 -2.96878435e-04 -2.91068976e+01] [-3.25485458e-03 -4.90390135e-05 9.99994702e-01 1.74201665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6907140569999 meters Centerline goodness [0,1] 0.9909096595292204 Centerline is valid? [True, True] Translation: X:577.88, Y:-29.11, Z:1.74 [[ 9.93878734e-01 1.10420114e-01 3.52987496e-03 5.77875367e+02] [-1.10419661e-01 9.93885000e-01 -3.23644343e-04 -2.91069334e+01] [-3.54402662e-03 -6.81043661e-05 9.99993718e-01 1.74311108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7207140569999 meters Centerline goodness [0,1] 0.9906878130911057 Centerline is valid? [True, True] Translation: X:577.91, Y:-29.11, Z:1.74 [[ 9.92971506e-01 1.18300283e-01 3.55418155e-03 5.77905931e+02] [-1.18299876e-01 9.92977862e-01 -3.25373584e-04 -2.91105102e+01] [-3.56771538e-03 -9.73725381e-05 9.99993631e-01 1.74302102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.750714057 meters Centerline goodness [0,1] 0.9908983898768234 Centerline is valid? [True, True] Translation: X:577.94, Y:-29.11, Z:1.74 [[ 9.92538361e-01 1.21874609e-01 3.76573532e-03 5.77938018e+02] [-1.21874175e-01 9.92545498e-01 -3.45274121e-04 -2.91141327e+01] [-3.77974378e-03 -1.16248074e-04 9.99992850e-01 1.74373446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.780714057 meters Centerline goodness [0,1] 0.9902427765071238 Centerline is valid? [True, True] Translation: X:577.97, Y:-29.12, Z:1.74 [[ 9.91837584e-01 1.27467456e-01 3.20240886e-03 5.77968368e+02] [-1.27467171e-01 9.91842747e-01 -2.93638236e-04 -2.91212985e+01] [-3.21371531e-03 -1.16960559e-04 9.99994829e-01 1.74408114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8107140569999 meters Centerline goodness [0,1] 0.9906555762743825 Centerline is valid? [True, True] Translation: X:578.00, Y:-29.13, Z:1.74 [[ 9.91558049e-01 1.29640328e-01 2.45366424e-03 5.77999491e+02] [-1.29640163e-01 9.91561081e-01 -2.26626414e-04 -2.91278584e+01] [-2.46233789e-03 -9.33801884e-05 9.99996964e-01 1.74380428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8407140569999 meters Centerline goodness [0,1] 0.9888487546726028 Centerline is valid? [True, True] Translation: X:578.03, Y:-29.14, Z:1.74 [[ 9.91124931e-01 1.32928553e-01 1.17080424e-03 5.78030683e+02] [-1.32928518e-01 9.91125621e-01 -1.08294751e-04 -2.91357361e+01] [-1.17480955e-03 -4.82996449e-05 9.99999309e-01 1.74277535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.870714057 meters Centerline goodness [0,1] 0.9881730729188356 Centerline is valid? [True, True] Translation: X:578.06, Y:-29.14, Z:1.74 [[ 9.90968105e-01 1.34096810e-01 5.09583787e-04 5.78061826e+02] [-1.34096803e-01 9.90968236e-01 -4.82067351e-05 -2.91400915e+01] [-5.11445716e-04 -2.05622197e-05 9.99999869e-01 1.74277068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.900714057 meters Centerline goodness [0,1] 0.9878142610576224 Centerline is valid? [True, True] Translation: X:578.09, Y:-29.15, Z:1.74 [[ 9.90794261e-01 1.35375182e-01 -5.41122657e-04 5.78092205e+02] [-1.35375175e-01 9.90794408e-01 4.88273979e-05 -2.91497515e+01] [ 5.42751320e-04 2.48766690e-05 9.99999852e-01 1.74308159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9307140569999 meters Centerline goodness [0,1] 0.9873412424413617 Centerline is valid? [True, True] Translation: X:578.12, Y:-29.16, Z:1.74 [[ 9.90788870e-01 1.35412448e-01 -9.40330617e-04 5.78123588e+02] [-1.35412427e-01 9.90789315e-01 8.58532054e-05 -2.91591538e+01] [ 9.43295120e-04 4.22700510e-05 9.99999554e-01 1.74305319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9607140569999 meters Centerline goodness [0,1] 0.9873306938945614 Centerline is valid? [True, True] Translation: X:578.15, Y:-29.17, Z:1.74 [[ 9.90873801e-01 1.34780467e-01 -1.82675585e-03 5.78153897e+02] [-1.34780384e-01 9.90875481e-01 1.68824269e-04 -2.91710526e+01] [ 1.83284180e-03 7.89273102e-05 9.99998317e-01 1.74333880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.990714057 meters Centerline goodness [0,1] 0.9881636865272425 Centerline is valid? [True, True] Translation: X:578.19, Y:-29.18, Z:1.74 [[ 9.90954984e-01 1.34169741e-01 -2.58864110e-03 5.78185042e+02] [-1.34169572e-01 9.90958359e-01 2.39635111e-04 -2.91788387e+01] [ 2.59738731e-03 1.09849261e-04 9.99996621e-01 1.74388743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.020714057 meters Centerline goodness [0,1] 0.9881747532031085 Centerline is valid? [True, True] Translation: X:578.22, Y:-29.19, Z:1.74 [[ 9.91068588e-01 1.33281104e-01 -4.38197017e-03 5.78215608e+02] [-1.33280603e-01 9.91078259e-01 4.07595072e-04 -2.91909267e+01] [ 4.39720008e-03 1.80076954e-04 9.99990316e-01 1.74366037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0507140569999 meters Centerline goodness [0,1] 0.9878235035671695 Centerline is valid? [True, True] Translation: X:578.25, Y:-29.20, Z:1.74 [[ 9.91114887e-01 1.32910708e-01 -5.10147895e-03 5.78247274e+02] [-1.32910016e-01 9.91127994e-01 4.75956084e-04 -2.91986133e+01] [ 5.11947826e-03 2.06310486e-04 9.99986874e-01 1.74363352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0807140569999 meters Centerline goodness [0,1] 0.9879117622152596 Centerline is valid? [True, True] Translation: X:578.28, Y:-29.21, Z:1.74 [[ 9.91286847e-01 1.31590787e-01 -5.85255348e-03 5.78278740e+02] [-1.31589844e-01 9.91304097e-01 5.47541574e-04 -2.92121375e+01] [ 5.87371167e-03 2.27365840e-04 9.99982724e-01 1.74492916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.110714057 meters Centerline goodness [0,1] 0.9888762001438057 Centerline is valid? [True, True] Translation: X:578.31, Y:-29.22, Z:1.75 [[ 9.91468771e-01 1.30196889e-01 -6.20048214e-03 5.78310241e+02] [-1.30195798e-01 9.91488132e-01 5.81033232e-04 -2.92204559e+01] [ 6.22335317e-03 2.31200413e-04 9.99980608e-01 1.74560138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.140714057 meters Centerline goodness [0,1] 0.9890842677539925 Centerline is valid? [True, True] Translation: X:578.34, Y:-29.23, Z:1.75 [[ 9.91975923e-01 1.26230816e-01 -7.03905446e-03 5.78340425e+02] [-1.26229300e-01 9.92000870e-01 6.61084041e-04 -2.92344076e+01] [ 7.06619733e-03 2.32755462e-04 9.99975007e-01 1.74612857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1707140569999 meters Centerline goodness [0,1] 0.9893490369488499 Centerline is valid? [True, True] Translation: X:578.37, Y:-29.24, Z:1.75 [[ 9.92365484e-01 1.23102206e-01 -7.52286328e-03 5.78370582e+02] [-1.23100382e-01 9.92393972e-01 7.06786791e-04 -2.92430132e+01] [ 7.55265118e-03 2.24676529e-04 9.99971453e-01 1.74654828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2007140569999 meters Centerline goodness [0,1] 0.9897225295769853 Centerline is valid? [True, True] Translation: X:578.40, Y:-29.26, Z:1.75 [[ 9.93413193e-01 1.14306979e-01 -8.00893736e-03 5.78399586e+02] [-1.14304624e-01 9.93445462e-01 7.52680992e-04 -2.92602421e+01] [ 8.04247917e-03 1.67735346e-04 9.99967645e-01 1.74669532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2307140569999 meters Centerline goodness [0,1] 0.9902247239290165 Centerline is valid? [True, True] Translation: X:578.43, Y:-29.27, Z:1.75 [[ 9.93964302e-01 1.09363627e-01 -8.63505933e-03 5.78430302e+02] [-1.09360701e-01 9.94001800e-01 8.11716779e-04 -2.92707104e+01] [ 8.67203681e-03 1.37518641e-04 9.99962388e-01 1.74725801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.260714057 meters Centerline goodness [0,1] 0.993699389425367 Centerline is valid? [True, True] Translation: X:578.46, Y:-29.29, Z:1.75 [[ 9.95270686e-01 9.66836456e-02 -9.40928108e-03 5.78459807e+02] [-9.66796009e-02 9.95315162e-01 8.84830483e-04 -2.92905575e+01] [ 9.45074876e-03 2.90396984e-05 9.99955340e-01 1.74957402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.290714057 meters Centerline goodness [0,1] 0.9938141644781108 Centerline is valid? [True, True] Translation: X:578.49, Y:-29.30, Z:1.75 [[ 9.95853020e-01 9.04738991e-02 -9.55178438e-03 5.78491773e+02] [-9.04694320e-02 9.95898826e-01 8.99618085e-04 -2.93011127e+01] [ 9.59400281e-03 -3.17428797e-05 9.99953976e-01 1.75058544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3207140569999 meters Centerline goodness [0,1] 0.9958239989559997 Centerline is valid? [True, True] Translation: X:578.52, Y:-29.32, Z:1.75 [[ 9.96968986e-01 7.71779579e-02 -9.81857961e-03 5.78520127e+02] [-7.71725774e-02 9.97017319e-01 9.26259244e-04 -2.93171011e+01] [ 9.86078072e-03 -1.65726644e-04 9.99951368e-01 1.75268361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3507140569999 meters Centerline goodness [0,1] 0.9964248343215905 Centerline is valid? [True, True] Translation: X:578.55, Y:-29.32, Z:1.75 [[ 9.97422713e-01 7.10397828e-02 -1.00638464e-02 5.78550251e+02] [-7.10338151e-02 9.97473456e-01 9.49645186e-04 -2.93245101e+01] [ 1.01058823e-02 -2.32324269e-04 9.99948907e-01 1.75343715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.380714057 meters Centerline goodness [0,1] 0.9970619599991295 Centerline is valid? [True, True] Translation: X:578.58, Y:-29.33, Z:1.75 [[ 9.98113511e-01 6.07375715e-02 -8.96477927e-03 5.78580138e+02] [-6.07324183e-02 9.98153724e-01 8.46193804e-04 -2.93337902e+01] [ 8.99962357e-03 -3.00144743e-04 9.99959458e-01 1.75486776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.410714057 meters Centerline goodness [0,1] 0.998290373487638 Centerline is valid? [True, True] Translation: X:578.61, Y:-29.34, Z:1.76 [[ 9.98363614e-01 5.65162233e-02 -8.71843846e-03 5.78610703e+02] [-5.65111879e-02 9.98401627e-01 8.23025034e-04 -2.93382100e+01] [ 8.75101741e-03 -3.28988933e-04 9.99961655e-01 1.75622487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4407140569999 meters Centerline goodness [0,1] 0.9976197235385321 Centerline is valid? [True, True] Translation: X:578.64, Y:-29.35, Z:1.76 [[ 9.98729957e-01 4.97079573e-02 -8.22142623e-03 5.78639272e+02] [-4.97032493e-02 9.98763728e-01 7.76100558e-04 -2.93451222e+01] [ 8.24984069e-03 -3.66483280e-04 9.99965902e-01 1.75685767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4707140569999 meters Centerline goodness [0,1] 0.9980507249551009 Centerline is valid? [True, True] Translation: X:578.67, Y:-29.35, Z:1.76 [[ 9.98857369e-01 4.70191395e-02 -8.55314124e-03 5.78670491e+02] [-4.70139461e-02 9.98893907e-01 8.07355775e-04 -2.93467961e+01] [ 8.58164184e-03 -4.04316345e-04 9.99963095e-01 1.75576663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.500714057 meters Centerline goodness [0,1] 0.9988239649802906 Centerline is valid? [True, True] Translation: X:578.70, Y:-29.35, Z:1.75 [[ 9.99045004e-01 4.26646840e-02 -9.42359438e-03 5.78701290e+02] [-4.26581832e-02 9.99089329e-01 8.89860788e-04 -2.93451608e+01] [ 9.45297821e-03 -4.87017560e-04 9.99955201e-01 1.75487625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.530714057 meters Centerline goodness [0,1] 0.9986110809696391 Centerline is valid? [True, True] Translation: X:578.73, Y:-29.35, Z:1.75 [[ 9.99098152e-01 4.13279985e-02 -9.74061681e-03 5.78732064e+02] [-4.13209824e-02 9.99145499e-01 9.20523078e-04 -2.93463189e+01] [ 9.77033682e-03 -5.17201050e-04 9.99952135e-01 1.75458301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5607140569999 meters Centerline goodness [0,1] 0.9987865918398301 Centerline is valid? [True, True] Translation: X:578.77, Y:-29.34, Z:1.75 [[ 9.99172415e-01 3.98264066e-02 -8.26691798e-03 5.78765213e+02] [-3.98212955e-02 9.99206512e-01 7.82012717e-04 -2.93397678e+01] [ 8.29150303e-03 -4.52166151e-04 9.99965523e-01 1.75425033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5907140569999 meters Centerline goodness [0,1] 0.9988521678866895 Centerline is valid? [True, True] Translation: X:578.80, Y:-29.34, Z:1.75 [[ 9.99211638e-01 3.87746755e-02 -8.52217627e-03 5.78795658e+02] [-3.87691989e-02 9.99247866e-01 8.06958043e-04 -2.93448629e+01] [ 8.54705599e-03 -4.75923921e-04 9.99963360e-01 1.75449358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.620714057 meters Centerline goodness [0,1] 0.999201949830684 Centerline is valid? [True, True] Translation: X:578.83, Y:-29.34, Z:1.75 [[ 9.99264670e-01 3.74627722e-02 -8.16456334e-03 5.78828523e+02] [-3.74576951e-02 9.99297915e-01 7.73935497e-04 -2.93357091e+01] [ 8.18782489e-03 -4.67540675e-04 9.99966370e-01 1.75433828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.650714057 meters Centerline goodness [0,1] 0.9986671252902227 Centerline is valid? [True, True] Translation: X:578.86, Y:-29.34, Z:1.75 [[ 9.99307893e-01 3.63767162e-02 -7.77619960e-03 5.78859823e+02] [-3.63720707e-02 9.99338045e-01 7.38036212e-04 -2.93350046e+01] [ 7.79789944e-03 -4.54688930e-04 9.99969493e-01 1.75402939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6807140569999 meters Centerline goodness [0,1] 0.9987129711062014 Centerline is valid? [True, True] Translation: X:578.89, Y:-29.33, Z:1.75 [[ 9.99336496e-01 3.60129795e-02 -5.44359943e-03 5.78893141e+02] [-3.60106929e-02 9.99351271e-01 5.17521338e-04 -2.93265643e+01] [ 5.45870549e-03 -3.21150173e-04 9.99985050e-01 1.74872147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7107140569999 meters Centerline goodness [0,1] 0.997839387327258 Centerline is valid? [True, True] Translation: X:578.93, Y:-29.32, Z:1.75 [[ 9.99330536e-01 3.62191135e-02 -5.16286707e-03 5.78926645e+02] [-3.62170532e-02 9.99343826e-01 4.92016916e-04 -2.93233554e+01] [ 5.17729975e-03 -3.04703697e-04 9.99986551e-01 1.74703112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.740714057 meters Centerline goodness [0,1] 0.997287790820867 Centerline is valid? [True, True] Translation: X:578.96, Y:-29.31, Z:1.75 [[ 9.99345068e-01 3.59298461e-02 -4.29888380e-03 5.78959382e+02] [-3.59284107e-02 9.99354282e-01 4.10684999e-04 -2.93135475e+01] [ 4.31086378e-03 -2.55963966e-04 9.99990675e-01 1.74656253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.770714057 meters Centerline goodness [0,1] 0.9971913671495545 Centerline is valid? [True, True] Translation: X:578.99, Y:-29.31, Z:1.75 [[ 9.99318795e-01 3.67018249e-02 -3.86301572e-03 5.78991473e+02] [-3.67006687e-02 9.99326235e-01 3.69778524e-04 -2.93115112e+01] [ 3.87398450e-03 -2.27751368e-04 9.99992470e-01 1.74623367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8007140569999 meters Centerline goodness [0,1] 0.9973484366382419 Centerline is valid? [True, True] Translation: X:579.03, Y:-29.30, Z:1.75 [[ 9.99264949e-01 3.80783314e-02 -4.42738995e-03 5.79025174e+02] [-3.80768206e-02 9.99274725e-01 4.25058186e-04 -2.92985849e+01] [ 4.44036438e-03 -2.56164814e-04 9.99990109e-01 1.74640278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8307140569999 meters Centerline goodness [0,1] 0.9965989964940273 Centerline is valid? [True, True] Translation: X:579.06, Y:-29.29, Z:1.75 [[ 9.99141885e-01 4.11928494e-02 -4.31772330e-03 5.79056087e+02] [-4.11914360e-02 9.99151186e-01 4.15810473e-04 -2.92897249e+01] [ 4.33118677e-03 -2.37600437e-04 9.99990592e-01 1.74666527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.860714057 meters Centerline goodness [0,1] 0.9961873867801323 Centerline is valid? [True, True] Translation: X:579.09, Y:-29.28, Z:1.75 [[ 9.99026491e-01 4.38838069e-02 -4.50356794e-03 5.79088434e+02] [-4.38822966e-02 9.99036614e-01 4.33681021e-04 -2.92818852e+01] [ 4.51826084e-03 -2.35631925e-04 9.99989765e-01 1.74749219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.890714057 meters Centerline goodness [0,1] 0.9969317364255788 Centerline is valid? [True, True] Translation: X:579.12, Y:-29.27, Z:1.75 [[ 9.98742050e-01 5.00124764e-02 -3.61515660e-03 5.79120519e+02] [-5.00115427e-02 9.98748579e-01 3.48278332e-04 -2.92673826e+01] [ 3.62805078e-03 -1.67040657e-04 9.99993405e-01 1.74865840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9207140569999 meters Centerline goodness [0,1] 0.9957575245894719 Centerline is valid? [True, True] Translation: X:579.15, Y:-29.26, Z:1.75 [[ 9.98594072e-01 5.29265866e-02 -2.94193864e-03 5.79153199e+02] [-5.29259812e-02 9.98598398e-01 2.83299412e-04 -2.92603026e+01] [ 2.95280929e-03 -1.27196124e-04 9.99995632e-01 1.75042880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9507140569999 meters Centerline goodness [0,1] 0.9958872039314112 Centerline is valid? [True, True] Translation: X:579.18, Y:-29.26, Z:1.75 [[ 9.98414790e-01 5.62618933e-02 -1.58290990e-03 5.79183835e+02] [-5.62617226e-02 9.98416043e-01 1.52191231e-04 -2.92572472e+01] [ 1.58896521e-03 -6.28927385e-05 9.99998736e-01 1.75185720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9807140569999 meters Centerline goodness [0,1] 0.9959760670795939 Centerline is valid? [True, True] Translation: X:579.22, Y:-29.24, Z:1.75 [[ 9.98169553e-01 6.04745255e-02 -6.11810816e-04 5.79216880e+02] [-6.04745008e-02 9.98169741e-01 5.86815929e-05 -2.92439709e+01] [ 6.14239785e-04 -2.15752257e-05 9.99999811e-01 1.75398078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.010714057 meters Centerline goodness [0,1] 0.9965979251543534 Centerline is valid? [True, True] Translation: X:579.25, Y:-29.24, Z:1.75 [[ 9.98071552e-01 6.20718445e-02 -5.13258737e-04 5.79248612e+02] [-6.20718277e-02 9.98071684e-01 4.85031117e-05 -2.92416857e+01] [ 5.15279690e-04 -1.65506681e-05 9.99999867e-01 1.75472741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.040714057 meters Centerline goodness [0,1] 0.9957436101734007 Centerline is valid? [True, True] Translation: X:579.28, Y:-29.23, Z:1.75 [[ 9.97976101e-01 6.35890139e-02 -3.71947328e-04 5.79281990e+02] [-6.35890053e-02 9.97976171e-01 3.48200415e-05 -2.92304969e+01] [ 3.73408743e-04 -1.10978087e-05 9.99999930e-01 1.75452027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0707140569999 meters Centerline goodness [0,1] 0.9960866820955186 Centerline is valid? [True, True] Translation: X:579.32, Y:-29.22, Z:1.75 [[ 9.97957179e-01 6.38792117e-02 -9.56948558e-04 5.79316044e+02] [-6.38791531e-02 9.97957637e-01 9.16558383e-05 -2.92216136e+01] [ 9.60849024e-04 -3.03395384e-05 9.99999538e-01 1.75395679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1007140569999 meters Centerline goodness [0,1] 0.9972637915430111 Centerline is valid? [True, True] Translation: X:579.35, Y:-29.22, Z:1.75 [[ 9.97980136e-01 6.35055785e-02 -1.63984916e-03 5.79346903e+02] [-6.35054027e-02 9.97981482e-01 1.59107357e-04 -2.92226632e+01] [ 1.64664330e-03 -5.46467008e-05 9.99998643e-01 1.75467703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.130714057 meters Centerline goodness [0,1] 0.997579558848291 Centerline is valid? [True, True] Translation: X:579.38, Y:-29.22, Z:1.75 [[ 9.98000747e-01 6.31748512e-02 -1.85680233e-03 5.79379393e+02] [-6.31746252e-02 9.98002472e-01 1.80152713e-04 -2.92215382e+01] [ 1.86447444e-03 -6.24897506e-05 9.99998260e-01 1.75483389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.160714057 meters Centerline goodness [0,1] 0.9979152628032345 Centerline is valid? [True, True] Translation: X:579.41, Y:-29.21, Z:1.76 [[ 9.98097157e-01 6.16351585e-02 -1.78137859e-03 5.79411789e+02] [-6.16349474e-02 9.98098744e-01 1.73236849e-04 -2.92147358e+01] [ 1.78866922e-03 -6.31120310e-05 9.99998398e-01 1.75557070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1907140569999 meters Centerline goodness [0,1] 0.9983167108530068 Centerline is valid? [True, True] Translation: X:579.44, Y:-29.22, Z:1.76 [[ 9.98153526e-01 6.07291032e-02 -1.23047290e-03 5.79443066e+02] [-6.07290018e-02 9.98154284e-01 1.19584813e-04 -2.92161243e+01] [ 1.23546408e-03 -4.46386117e-05 9.99999236e-01 1.75672574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2207140569999 meters Centerline goodness [0,1] 0.9987870676314359 Centerline is valid? [True, True] Translation: X:579.48, Y:-29.21, Z:1.76 [[ 9.98222492e-01 5.95949648e-02 -5.44421088e-04 5.79475674e+02] [-5.95949451e-02 9.98222640e-01 5.23036601e-05 -2.92097753e+01] [ 5.46570491e-04 -1.97659451e-05 9.99999850e-01 1.75816004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.250714057 meters Centerline goodness [0,1] 0.9987870676314359 Centerline is valid? [True, True] Translation: X:579.51, Y:-29.21, Z:1.76 [[ 9.98206277e-01 5.98659520e-02 -5.44424926e-04 5.79508012e+02] [-5.98659324e-02 9.98206425e-01 5.22664306e-05 -2.92130309e+01] [ 5.46577439e-04 -1.95801732e-05 9.99999850e-01 1.75833210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.280714057 meters Centerline goodness [0,1] 0.9986156847117058 Centerline is valid? [True, True] Translation: X:579.54, Y:-29.21, Z:1.76 [[ 9.98184067e-01 6.02302605e-02 -9.39793921e-04 5.79540543e+02] [-6.02302009e-02 9.98184509e-01 9.16101057e-05 -2.92085712e+01] [ 9.43605434e-04 -3.48397713e-05 9.99999554e-01 1.75877500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3107140569999 meters Centerline goodness [0,1] 0.9986799371398638 Centerline is valid? [True, True] Translation: X:579.57, Y:-29.21, Z:1.76 [[ 9.98125646e-01 6.11898450e-02 -9.98679471e-04 5.79572513e+02] [-6.11897777e-02 9.98126145e-01 9.77856507e-05 -2.92081066e+01] [ 1.00279158e-03 -3.64933909e-05 9.99999497e-01 1.75915173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3407140569999 meters Centerline goodness [0,1] 0.9993088281495445 Centerline is valid? [True, True] Translation: X:579.61, Y:-29.20, Z:1.76 [[ 9.97906603e-01 6.46152654e-02 -2.69793384e-03 5.79605344e+02] [-6.46147786e-02 9.97910246e-01 2.67284533e-04 -2.92012885e+01] [ 2.70956649e-03 -9.23986027e-05 9.99996325e-01 1.75927960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.370714057 meters Centerline goodness [0,1] 0.999603124869449 Centerline is valid? [True, True] Translation: X:579.64, Y:-29.20, Z:1.76 [[ 9.97774765e-01 6.65908621e-02 -3.34291192e-03 5.79638161e+02] [-6.65901257e-02 9.97780359e-01 3.31216862e-04 -2.91996005e+01] [ 3.35754788e-03 -1.07874901e-04 9.99994358e-01 1.75904547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.400714057 meters Centerline goodness [0,1] 0.9993715303236619 Centerline is valid? [True, True] Translation: X:579.67, Y:-29.19, Z:1.76 [[ 9.97540340e-01 6.99169224e-02 -4.98938340e-03 5.79668939e+02] [-6.99153146e-02 9.97552807e-01 4.96150762e-04 -2.91940299e+01] [ 5.01186275e-03 -1.46096090e-04 9.99987430e-01 1.75797871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4307140569999 meters Centerline goodness [0,1] 0.9997274233115971 Centerline is valid? [True, True] Translation: X:579.70, Y:-29.19, Z:1.76 [[ 9.97466199e-01 7.09447196e-02 -5.29412310e-03 5.79700883e+02] [-7.09429209e-02 9.97480238e-01 5.27014095e-04 -2.91936043e+01] [ 5.31817204e-03 -1.50098190e-04 9.99985847e-01 1.75828525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4607140569999 meters Centerline goodness [0,1] 0.9992890896165266 Centerline is valid? [True, True] Translation: X:579.73, Y:-29.19, Z:1.76 [[ 9.97450065e-01 7.12019569e-02 -4.86313473e-03 5.79734749e+02] [-7.12004373e-02 9.97461910e-01 4.85105525e-04 -2.91888315e+01] [ 4.88533212e-03 -1.37611218e-04 9.99988057e-01 1.75912828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.490714057 meters Centerline goodness [0,1] 0.9996241229535583 Centerline is valid? [True, True] Translation: X:579.77, Y:-29.19, Z:1.76 [[ 9.97489882e-01 7.07072740e-02 -3.79694205e-03 5.79766664e+02] [-7.07063411e-02 9.97497102e-01 3.79528959e-04 -2.91901079e+01] [ 3.81427415e-03 -1.10108417e-04 9.99992720e-01 1.76018967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.520714057 meters Centerline goodness [0,1] 0.9992247412311948 Centerline is valid? [True, True] Translation: X:579.80, Y:-29.19, Z:1.76 [[ 9.97665726e-01 6.82352563e-02 -2.65503317e-03 5.79798407e+02] [-6.82347906e-02 9.97669255e-01 2.65694263e-04 -2.91901433e+01] [ 2.66697468e-03 -8.39084275e-05 9.99996440e-01 1.76177779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5507140569999 meters Centerline goodness [0,1] 0.9993315228744516 Centerline is valid? [True, True] Translation: X:579.83, Y:-29.19, Z:1.76 [[ 9.97747967e-01 6.70298711e-02 -2.44759284e-03 5.79829778e+02] [-6.70294706e-02 9.97750966e-01 2.45400309e-04 -2.91925696e+01] [ 2.45853727e-03 -8.07868072e-05 9.99996975e-01 1.76234519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5807140569999 meters Centerline goodness [0,1] 0.9997077000167028 Centerline is valid? [True, True] Translation: X:579.86, Y:-29.20, Z:1.76 [[ 9.98023304e-01 6.28202792e-02 -1.75989484e-03 5.79859831e+02] [-6.28200642e-02 9.98024853e-01 1.77240904e-04 -2.91957051e+01] [ 1.76755312e-03 -6.63338459e-05 9.99998436e-01 1.76320320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.610714057 meters Centerline goodness [0,1] 0.9991847655678422 Centerline is valid? [True, True] Translation: X:579.89, Y:-29.20, Z:1.76 [[ 9.98120466e-01 6.12637948e-02 -1.51066169e-03 5.79890751e+02] [-6.12636352e-02 9.98121608e-01 1.51739535e-04 -2.91999454e+01] [ 1.51712022e-03 -5.89057089e-05 9.99998847e-01 1.76324282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.640714057 meters Centerline goodness [0,1] 0.9993255632600586 Centerline is valid? [True, True] Translation: X:579.92, Y:-29.20, Z:1.76 [[ 9.98304383e-01 5.82084599e-02 -3.66986119e-04 5.79922192e+02] [-5.82084503e-02 9.98304450e-01 3.69375680e-05 -2.91963686e+01] [ 3.68513955e-04 -1.55132427e-05 9.99999932e-01 1.76336106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6707140569999 meters Centerline goodness [0,1] 0.9994122586062133 Centerline is valid? [True, True] Translation: X:579.95, Y:-29.20, Z:1.76 [[ 9.98341868e-01 5.75631406e-02 6.47496418e-06 5.79953218e+02] [-5.75631406e-02 9.98341868e-01 -1.36111574e-06 -2.92028656e+01] [-6.54257792e-06 9.86139556e-07 1.00000000e+00 1.76388184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7007140569999 meters Centerline goodness [0,1] 0.9997679716503544 Centerline is valid? [True, True] Translation: X:579.99, Y:-29.20, Z:1.76 [[ 9.98319368e-01 5.79505698e-02 -4.12389654e-04 5.79986358e+02] [-5.79505577e-02 9.98319453e-01 4.12474069e-05 -2.91997098e+01] [ 4.14086925e-04 -1.72798748e-05 9.99999914e-01 1.76352154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7307140569999 meters Centerline goodness [0,1] 0.9995787877511478 Centerline is valid? [True, True] Translation: X:580.02, Y:-29.20, Z:1.76 [[ 9.98183133e-01 6.02410592e-02 -1.20309791e-03 5.80018427e+02] [-6.02409564e-02 9.98183857e-01 1.21522850e-04 -2.91967076e+01] [ 1.20823357e-03 -4.88262904e-05 9.99999269e-01 1.76223307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.760714057 meters Centerline goodness [0,1] 0.9996407210938986 Centerline is valid? [True, True] Translation: X:580.05, Y:-29.20, Z:1.76 [[ 9.98068518e-01 6.21056854e-02 -1.45520666e-03 5.80050074e+02] [-6.21055380e-02 9.98069577e-01 1.46271263e-04 -2.91992123e+01] [ 1.46148178e-03 -5.56123498e-05 9.99998930e-01 1.76234673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.790714057 meters Centerline goodness [0,1] 0.9997052755673446 Centerline is valid? [True, True] Translation: X:580.08, Y:-29.19, Z:1.76 [[ 9.97755775e-01 6.69233414e-02 -2.16312151e-03 5.80081130e+02] [-6.69230229e-02 9.97758117e-01 2.19368290e-04 -2.91949354e+01] [ 2.17295290e-03 -7.41133479e-05 9.99997636e-01 1.76164847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8207140569999 meters Centerline goodness [0,1] 0.9997688201420706 Centerline is valid? [True, True] Translation: X:580.11, Y:-29.19, Z:1.76 [[ 9.97538927e-01 7.00704528e-02 -2.49407165e-03 5.80112610e+02] [-7.00700395e-02 9.97542042e-01 2.52832951e-04 -2.91940239e+01] [ 2.50565745e-03 -7.74510117e-05 9.99996858e-01 1.76209916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8507140569999 meters Centerline goodness [0,1] 0.9999160334186994 Centerline is valid? [True, True] Translation: X:580.14, Y:-29.19, Z:1.76 [[ 9.96993199e-01 7.74363390e-02 -2.85902109e-03 5.80144302e+02] [-7.74358256e-02 9.96997296e-01 2.89983640e-04 -2.91899147e+01] [ 2.87289157e-03 -6.77210580e-05 9.99995871e-01 1.76202214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.880714057 meters Centerline goodness [0,1] 0.9996868345233622 Centerline is valid? [True, True] Translation: X:580.18, Y:-29.19, Z:1.76 [[ 9.96698451e-01 8.11119549e-02 -3.61216223e-03 5.80175473e+02] [-8.11111603e-02 9.96704994e-01 3.66163146e-04 -2.91925005e+01] [ 3.62996034e-03 -7.19675709e-05 9.99993409e-01 1.76255342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.910714057 meters Centerline goodness [0,1] 0.9997271315226061 Centerline is valid? [True, True] Translation: X:580.21, Y:-29.19, Z:1.76 [[ 9.96209858e-01 8.68638979e-02 -4.53669112e-03 5.80207247e+02] [-8.68626974e-02 9.96220186e-01 4.61352185e-04 -2.91878543e+01] [ 4.55961812e-03 -6.55343671e-05 9.99989603e-01 1.76212012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9407140569999 meters Centerline goodness [0,1] 0.9995817299648653 Centerline is valid? [True, True] Translation: X:580.24, Y:-29.19, Z:1.76 [[ 9.95864724e-01 9.07026254e-02 -5.14640033e-03 5.80237404e+02] [-9.07011308e-02 9.95878020e-01 5.23552411e-04 -2.91880503e+01] [ 5.17267455e-03 -5.46030479e-05 9.99986620e-01 1.76201033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9707140569999 meters Centerline goodness [0,1] 0.9994981599197056 Centerline is valid? [True, True] Translation: X:580.27, Y:-29.19, Z:1.76 [[ 9.95772457e-01 9.17105961e-02 -5.13622807e-03 5.80269067e+02] [-9.17091182e-02 9.95785702e-01 5.23013057e-04 -2.91898419e+01] [ 5.16254831e-03 -4.97630489e-05 9.99986673e-01 1.76205150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.000714057 meters Centerline goodness [0,1] 0.9994776976914238 Centerline is valid? [True, True] Translation: X:580.30, Y:-29.19, Z:1.76 [[ 9.95660766e-01 9.29543828e-02 -4.37290556e-03 5.80299711e+02] [-9.29533229e-02 9.95670368e-01 4.45423909e-04 -2.91920371e+01] [ 4.39537659e-03 -3.70150084e-05 9.99990340e-01 1.76310581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.030714057 meters Centerline goodness [0,1] 0.9995808709501656 Centerline is valid? [True, True] Translation: X:580.33, Y:-29.19, Z:1.76 [[ 9.95605484e-01 9.35669408e-02 -3.86630691e-03 5.80330551e+02] [-9.35661168e-02 9.95612990e-01 3.93853859e-04 -2.91948605e+01] [ 3.88619709e-03 -3.03677374e-05 9.99992448e-01 1.76401572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0607140569999 meters Centerline goodness [0,1] 0.9995174960140976 Centerline is valid? [True, True] Translation: X:580.36, Y:-29.20, Z:1.76 [[ 9.95526889e-01 9.44150299e-02 -3.46621417e-03 5.80360248e+02] [-9.44143723e-02 9.95532923e-01 3.53226596e-04 -2.91978210e+01] [ 3.48408023e-03 -2.43861395e-05 9.99993930e-01 1.76482152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0907140569999 meters Centerline goodness [0,1] 0.9994958618661514 Centerline is valid? [True, True] Translation: X:580.39, Y:-29.20, Z:1.77 [[ 9.95265066e-01 9.71819293e-02 -1.76647050e-03 5.80391882e+02] [-9.71817630e-02 9.95266634e-01 1.79937995e-04 -2.91995045e+01] [ 1.77559587e-03 -7.41728231e-06 9.99998424e-01 1.76606062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.120714057 meters Centerline goodness [0,1] 0.999413649404226 Centerline is valid? [True, True] Translation: X:580.42, Y:-29.20, Z:1.77 [[ 9.95077189e-01 9.90898659e-02 -1.60829019e-03 5.80423383e+02] [-9.90897304e-02 9.95078489e-01 1.63863764e-04 -2.92020551e+01] [ 1.61661221e-03 -3.69205207e-06 9.99998693e-01 1.76673452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.150714057 meters Centerline goodness [0,1] 0.9995801494667899 Centerline is valid? [True, True] Translation: X:580.45, Y:-29.20, Z:1.77 [[ 9.94813855e-01 1.01701985e-01 -1.44934772e-03 5.80454574e+02] [-1.01701878e-01 9.94814911e-01 1.47698461e-04 -2.92045321e+01] [ 1.45685395e-03 4.68909809e-07 9.99998939e-01 1.76667589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1807140569999 meters Centerline goodness [0,1] 0.9996634979389248 Centerline is valid? [True, True] Translation: X:580.49, Y:-29.21, Z:1.77 [[ 9.94229371e-01 1.07250678e-01 -2.29150417e-03 5.80485465e+02] [-1.07250425e-01 9.94232011e-01 2.33134601e-04 -2.92071144e+01] [ 2.30329065e-03 1.39755291e-05 9.99997347e-01 1.76662294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2107140569999 meters Centerline goodness [0,1] 0.999433677321923 Centerline is valid? [True, True] Translation: X:580.52, Y:-29.21, Z:1.77 [[ 9.93952034e-01 1.09786745e-01 -2.49512557e-03 5.80516011e+02] [-1.09786450e-01 9.93955165e-01 2.55115888e-04 -2.92091362e+01] [ 2.50805129e-03 2.03580229e-05 9.99996855e-01 1.76606107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.240714057 meters Centerline goodness [0,1] 0.9994123449535123 Centerline is valid? [True, True] Translation: X:580.55, Y:-29.21, Z:1.76 [[ 9.93315112e-01 1.15369970e-01 -3.85469251e-03 5.80546554e+02] [-1.15369309e-01 9.93322590e-01 3.94241227e-04 -2.92134947e+01] [ 3.87443675e-03 5.31074421e-05 9.99992493e-01 1.76397789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.270714057 meters Centerline goodness [0,1] 0.9995172225603997 Centerline is valid? [True, True] Translation: X:580.58, Y:-29.22, Z:1.76 [[ 9.93034039e-01 1.17757460e-01 -4.07156265e-03 5.80576875e+02] [-1.17756742e-01 9.93042384e-01 4.16497527e-04 -2.92172242e+01] [ 4.09227997e-03 6.58577295e-05 9.99991624e-01 1.76385041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3007140569999 meters Centerline goodness [0,1] 0.9993105177384982 Centerline is valid? [True, True] Translation: X:580.61, Y:-29.22, Z:1.76 [[ 9.92628311e-01 1.21056584e-01 -5.86000204e-03 5.80607796e+02] [-1.21055153e-01 9.92645602e-01 5.99595532e-04 -2.92226300e+01] [ 5.88949024e-03 1.14207942e-04 9.99982650e-01 1.76218900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3307140569999 meters Centerline goodness [0,1] 0.9990536078571579 Centerline is valid? [True, True] Translation: X:580.64, Y:-29.23, Z:1.76 [[ 9.92457509e-01 1.22444518e-01 -5.95250493e-03 5.80637330e+02] [-1.22443066e-01 9.92475352e-01 6.09242567e-04 -2.92269944e+01] [ 5.98231284e-03 1.24195590e-04 9.99982098e-01 1.76144517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.360714057 meters Centerline goodness [0,1] 0.9992425836313907 Centerline is valid? [True, True] Translation: X:580.67, Y:-29.24, Z:1.76 [[ 9.92235147e-01 1.24108769e-01 -8.15024003e-03 5.80668116e+02] [-1.24106099e-01 9.92268603e-01 8.34568656e-04 -2.92372252e+01] [ 8.19080457e-03 1.83406141e-04 9.99966438e-01 1.76018501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.390714057 meters Centerline goodness [0,1] 0.9993286337697214 Centerline is valid? [True, True] Translation: X:580.70, Y:-29.25, Z:1.76 [[ 9.92177773e-01 1.24536018e-01 -8.60503232e-03 5.80698259e+02] [-1.24533044e-01 9.92215068e-01 8.82647639e-04 -2.92451378e+01] [ 8.64796416e-03 1.95867504e-04 9.99962586e-01 1.76059878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4207140569999 meters Centerline goodness [0,1] 0.9988655223849241 Centerline is valid? [True, True] Translation: X:580.73, Y:-29.25, Z:1.76 [[ 9.92147260e-01 1.24832174e-01 -7.79373052e-03 5.80728666e+02] [-1.24829734e-01 9.92177855e-01 8.00609477e-04 -2.92533610e+01] [ 7.83270865e-03 1.78566811e-04 9.99969308e-01 1.76137847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4507140569999 meters Centerline goodness [0,1] 0.9987400781151569 Centerline is valid? [True, True] Translation: X:580.76, Y:-29.26, Z:1.76 [[ 9.92196224e-01 1.24532989e-01 -6.17964395e-03 5.80760087e+02] [-1.24531447e-01 9.92215458e-01 6.35176263e-04 -2.92643383e+01] [ 6.21063865e-03 1.39340512e-04 9.99980704e-01 1.76383026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4807140569999 meters Centerline goodness [0,1] 0.9985291645654731 Centerline is valid? [True, True] Translation: X:580.79, Y:-29.27, Z:1.77 [[ 9.92169583e-01 1.24769703e-01 -5.66039341e-03 5.80792662e+02] [-1.24768406e-01 9.92185721e-01 5.83113286e-04 -2.92713739e+01] [ 5.68891639e-03 1.27690997e-04 9.99983810e-01 1.76515274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.510714057 meters Centerline goodness [0,1] 0.998929381140314 Centerline is valid? [True, True] Translation: X:580.82, Y:-29.28, Z:1.77 [[ 9.92112987e-01 1.25291086e-01 -3.73691963e-03 5.80824311e+02] [-1.25290523e-01 9.92120021e-01 3.85512977e-04 -2.92827850e+01] [ 3.75577412e-03 8.57281825e-05 9.99992943e-01 1.76624761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.540714057 meters Centerline goodness [0,1] 0.9984212852842739 Centerline is valid? [True, True] Translation: X:580.86, Y:-29.29, Z:1.77 [[ 9.91821523e-01 1.27601575e-01 -2.81155630e-03 5.80855480e+02] [-1.27601264e-01 9.91825505e-01 2.90563062e-04 -2.92936468e+01] [ 2.82564955e-03 7.05714370e-05 9.99996005e-01 1.76676411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5707140569999 meters Centerline goodness [0,1] 0.9985254776399216 Centerline is valid? [True, True] Translation: X:580.89, Y:-29.30, Z:1.77 [[ 9.91616959e-01 1.29188851e-01 -2.45909296e-03 5.80886441e+02] [-1.29188617e-01 9.91620006e-01 2.54615322e-04 -2.93016722e+01] [ 2.47137924e-03 6.52059470e-05 9.99996944e-01 1.76738928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6007140569999 meters Centerline goodness [0,1] 0.9978939387557391 Centerline is valid? [True, True] Translation: X:580.92, Y:-29.31, Z:1.77 [[ 9.91139695e-01 1.32810277e-01 -1.88043792e-03 5.80917051e+02] [-1.32810146e-01 9.91141477e-01 1.94861803e-04 -2.93107904e+01] [ 1.88965966e-03 5.66059661e-05 9.99998213e-01 1.76762178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.630714057 meters Centerline goodness [0,1] 0.9974131948095649 Centerline is valid? [True, True] Translation: X:580.95, Y:-29.32, Z:1.77 [[ 9.90630082e-01 1.36558424e-01 -1.95877991e-03 5.80947922e+02] [-1.36558288e-01 9.90632017e-01 2.03506808e-04 -2.93217987e+01] [ 1.96822066e-03 6.58876653e-05 9.99998061e-01 1.76695204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.660714057 meters Centerline goodness [0,1] 0.9965696487572868 Centerline is valid? [True, True] Translation: X:580.98, Y:-29.33, Z:1.77 [[ 9.90317946e-01 1.38800874e-01 -2.16424730e-03 5.80978717e+02] [-1.38800712e-01 9.90320308e-01 2.25498168e-04 -2.93288358e+01] [ 2.17459739e-03 7.70841837e-05 9.99997633e-01 1.76654188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6907140569999 meters Centerline goodness [0,1] 0.9964895316572774 Centerline is valid? [True, True] Translation: X:581.01, Y:-29.34, Z:1.77 [[ 9.89845326e-01 1.42102050e-01 -3.63842540e-03 5.81009101e+02] [-1.42101609e-01 9.89852003e-01 3.80771585e-04 -2.93432388e+01] [ 3.65561109e-03 1.40121128e-04 9.99993308e-01 1.76508318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7207140569999 meters Centerline goodness [0,1] 0.9954733983198939 Centerline is valid? [True, True] Translation: X:581.04, Y:-29.35, Z:1.76 [[ 9.89641453e-01 1.43488477e-01 -4.56634345e-03 5.81039327e+02] [-1.43487790e-01 9.89651971e-01 4.79429414e-04 -2.93492385e+01] [ 4.58788340e-03 1.80751310e-04 9.99989459e-01 1.76423401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.750714057 meters Centerline goodness [0,1] 0.994682298754318 Centerline is valid? [True, True] Translation: X:581.07, Y:-29.36, Z:1.76 [[ 9.89429885e-01 1.44889930e-01 -5.95065985e-03 5.81070454e+02] [-1.44888786e-01 9.89447749e-01 6.25195130e-04 -2.93640183e+01] [ 5.97845148e-03 2.43597133e-04 9.99982099e-01 1.76264246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.780714057 meters Centerline goodness [0,1] 0.9920194892473119 Centerline is valid? [True, True] Translation: X:581.10, Y:-29.36, Z:1.76 [[ 9.89325995e-01 1.45590830e-01 -6.11447232e-03 5.81101709e+02] [-1.45589626e-01 9.89344857e-01 6.43947447e-04 -2.93620075e+01] [ 6.14307459e-03 2.53129790e-04 9.99981099e-01 1.76186259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8107140569999 meters Centerline goodness [0,1] 0.9928739594719583 Centerline is valid? [True, True] Translation: X:581.13, Y:-29.39, Z:1.76 [[ 9.89235449e-01 1.46223198e-01 -5.65709933e-03 5.81130942e+02] [-1.46222171e-01 9.89251596e-01 5.96994262e-04 -2.93900369e+01] [ 5.68358895e-03 2.36625459e-04 9.99983820e-01 1.76239050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8407140569999 meters Centerline goodness [0,1] 0.9910228108903606 Centerline is valid? [True, True] Translation: X:581.16, Y:-29.39, Z:1.76 [[ 9.89149082e-01 1.46793990e-01 -5.96804726e-03 5.81162509e+02] [-1.46792848e-01 9.89167054e-01 6.31359530e-04 -2.93870174e+01] [ 5.99607551e-03 2.51557955e-04 9.99981992e-01 1.76283653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.870714057 meters Centerline goodness [0,1] 0.9909482305996009 Centerline is valid? [True, True] Translation: X:581.19, Y:-29.42, Z:1.76 [[ 9.88948228e-01 1.48155959e-01 -5.58694094e-03 5.81191458e+02] [-1.48154973e-01 9.88963980e-01 5.92258864e-04 -2.94161388e+01] [ 5.61303003e-03 2.42019732e-04 9.99984218e-01 1.76294602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.900714057 meters Centerline goodness [0,1] 0.9892459540795926 Centerline is valid? [True, True] Translation: X:581.22, Y:-29.43, Z:1.76 [[ 9.88725913e-01 1.49649440e-01 -5.11026957e-03 5.81221477e+02] [-1.49648629e-01 9.88739093e-01 5.42893000e-04 -2.94325247e+01] [ 5.13396693e-03 2.27972458e-04 9.99986795e-01 1.76359275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9307140569999 meters Centerline goodness [0,1] 0.9891465735377152 Centerline is valid? [True, True] Translation: X:581.25, Y:-29.44, Z:1.76 [[ 9.88669849e-01 1.50028794e-01 -4.82609623e-03 5.81252588e+02] [-1.50028070e-01 9.88681604e-01 5.13752601e-04 -2.94412251e+01] [ 4.84855024e-03 2.16118197e-04 9.99988222e-01 1.76459095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9607140569999 meters Centerline goodness [0,1] 0.9894502353732347 Centerline is valid? [True, True] Translation: X:581.28, Y:-29.46, Z:1.77 [[ 9.88701859e-01 1.49855903e-01 -3.44125353e-03 5.81282680e+02] [-1.49855531e-01 9.88707836e-01 3.67085775e-04 -2.94562601e+01] [ 3.45740431e-03 1.52752487e-04 9.99994011e-01 1.76628514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.990714057 meters Centerline goodness [0,1] 0.9898589065255732 Centerline is valid? [True, True] Translation: X:581.31, Y:-29.47, Z:1.77 [[ 9.88679433e-01 1.49995852e-01 -3.77133687e-03 5.81314919e+02] [-1.49995405e-01 9.88686612e-01 4.02675211e-04 -2.94688158e+01] [ 3.78906989e-03 1.67566502e-04 9.99992807e-01 1.76624998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.020714057 meters Centerline goodness [0,1] 0.9902999895474025 Centerline is valid? [True, True] Translation: X:581.35, Y:-29.48, Z:1.77 [[ 9.88785634e-01 1.49247349e-01 -5.31028996e-03 5.81345162e+02] [-1.49246440e-01 9.88799867e-01 5.69147415e-04 -2.94838939e+01] [ 5.33575775e-03 2.29777086e-04 9.99985738e-01 1.76592858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0507140569999 meters Centerline goodness [0,1] 0.991000983613419 Centerline is valid? [True, True] Translation: X:581.38, Y:-29.49, Z:1.77 [[ 9.88817971e-01 1.49009770e-01 -5.92528011e-03 5.81376103e+02] [-1.49008625e-01 9.88835691e-01 6.36698277e-04 -2.94929169e+01] [ 5.95400271e-03 2.53339144e-04 9.99982243e-01 1.76535435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0807140569999 meters Centerline goodness [0,1] 0.9902648713572286 Centerline is valid? [True, True] Translation: X:581.41, Y:-29.51, Z:1.77 [[ 9.88970888e-01 1.47965069e-01 -6.55138976e-03 5.81405802e+02] [-1.47963635e-01 9.88992550e-01 7.05715232e-04 -2.95066633e+01] [ 6.58369687e-03 2.71435626e-04 9.99978290e-01 1.76560117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.110714057 meters Centerline goodness [0,1] 0.9906063733440047 Centerline is valid? [True, True] Translation: X:581.44, Y:-29.52, Z:1.77 [[ 9.89031890e-01 1.47566139e-01 -6.33684856e-03 5.81436582e+02] [-1.47564781e-01 9.89052156e-01 6.84038904e-04 -2.95186620e+01] [ 6.36841471e-03 2.58559377e-04 9.99979688e-01 1.76601169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.140714057 meters Centerline goodness [0,1] 0.9914459510835129 Centerline is valid? [True, True] Translation: X:581.47, Y:-29.53, Z:1.77 [[ 9.89138560e-01 1.46824488e-01 -6.89042492e-03 5.81467297e+02] [-1.46822850e-01 9.89162522e-01 7.45637976e-04 -2.95330276e+01] [ 6.92522800e-03 2.74132552e-04 9.99975983e-01 1.76676694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1707140569999 meters Centerline goodness [0,1] 0.9914459510835129 Centerline is valid? [True, True] Translation: X:581.50, Y:-29.54, Z:1.77 [[ 9.89096994e-01 1.47104254e-01 -6.89023393e-03 5.81499568e+02] [-1.47102611e-01 9.89120955e-01 7.47399205e-04 -2.95365987e+01] [ 6.92522037e-03 2.74321095e-04 9.99975983e-01 1.76693897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2007140569999 meters Centerline goodness [0,1] 0.9912964296302571 Centerline is valid? [True, True] Translation: X:581.53, Y:-29.55, Z:1.77 [[ 9.89079280e-01 1.47190996e-01 -7.54906822e-03 5.81531301e+02] [-1.47189009e-01 9.89108043e-01 8.21169594e-04 -2.95457220e+01] [ 7.58771287e-03 2.98938038e-04 9.99971168e-01 1.76711469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2307140569999 meters Centerline goodness [0,1] 0.9912295604162242 Centerline is valid? [True, True] Translation: X:581.56, Y:-29.56, Z:1.77 [[ 9.89002170e-01 1.47627028e-01 -8.99822617e-03 5.81562735e+02] [-1.47624197e-01 9.89043039e-01 9.81666050e-04 -2.95592254e+01] [ 9.04455340e-03 3.57486057e-04 9.99959033e-01 1.76744820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.260714057 meters Centerline goodness [0,1] 0.9914260791864349 Centerline is valid? [True, True] Translation: X:581.59, Y:-29.57, Z:1.77 [[ 9.88861959e-01 1.48485471e-01 -1.02025180e-02 5.81593693e+02] [-1.48481847e-01 9.88914504e-01 1.11597308e-03 -2.95714518e+01] [ 1.02551238e-02 4.11345380e-04 9.99947330e-01 1.76747558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.290714057 meters Centerline goodness [0,1] 0.9917799490229396 Centerline is valid? [True, True] Translation: X:581.62, Y:-29.58, Z:1.77 [[ 9.88724418e-01 1.49371622e-01 -1.05897981e-02 5.81624701e+02] [-1.49367741e-01 9.88781033e-01 1.16090961e-03 -2.95759464e+01] [ 1.06443984e-02 4.33954536e-04 9.99943253e-01 1.76724038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3207140569999 meters Centerline goodness [0,1] 0.9909034613824176 Centerline is valid? [True, True] Translation: X:581.66, Y:-29.58, Z:1.77 [[ 9.88557837e-01 1.50474372e-01 -1.05292641e-02 5.81655846e+02] [-1.50470572e-01 9.88613812e-01 1.15663013e-03 -2.95812365e+01] [ 1.05834191e-02 4.40948611e-04 9.99943897e-01 1.76750186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3507140569999 meters Centerline goodness [0,1] 0.9913519993150098 Centerline is valid? [True, True] Translation: X:581.69, Y:-29.60, Z:1.77 [[ 9.88257357e-01 1.52427197e-01 -1.06464374e-02 5.81685865e+02] [-1.52423406e-01 9.88314592e-01 1.17132774e-03 -2.95980140e+01] [ 1.07005716e-02 4.65192991e-04 9.99942639e-01 1.76913753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.380714057 meters Centerline goodness [0,1] 0.9914844203599767 Centerline is valid? [True, True] Translation: X:581.72, Y:-29.61, Z:1.77 [[ 9.87911574e-01 1.54602175e-01 -1.13529371e-02 5.81717144e+02] [-1.54597995e-01 9.87976668e-01 1.25018103e-03 -2.96091765e+01] [ 1.14097177e-02 5.20072998e-04 9.99934772e-01 1.76993804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.410714057 meters Centerline goodness [0,1] 0.9906584300135604 Centerline is valid? [True, True] Translation: X:581.75, Y:-29.62, Z:1.77 [[ 9.87670383e-01 1.56091326e-01 -1.19462231e-02 5.81748477e+02] [-1.56086781e-01 9.87742467e-01 1.31759527e-03 -2.96159119e+01] [ 1.20054570e-02 5.63297681e-04 9.99927773e-01 1.77041305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4407140569999 meters Centerline goodness [0,1] 0.9899792225781318 Centerline is valid? [True, True] Translation: X:581.78, Y:-29.63, Z:1.77 [[ 9.87314175e-01 1.58210240e-01 -1.34253633e-02 5.81779646e+02] [-1.58204668e-01 9.87405228e-01 1.48280570e-03 -2.96252907e+01] [ 1.34908690e-02 6.59960053e-04 9.99908776e-01 1.77033521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4707140569999 meters Centerline goodness [0,1] 0.9903771131339402 Centerline is valid? [True, True] Translation: X:581.81, Y:-29.63, Z:1.77 [[ 9.87086350e-01 1.59619374e-01 -1.34978883e-02 5.81810679e+02] [-1.59613842e-01 9.87178399e-01 1.49312303e-03 -2.96320786e+01] [ 1.35631551e-02 6.80608443e-04 9.99907785e-01 1.77025226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.500714057 meters Centerline goodness [0,1] 0.9893277110004999 Centerline is valid? [True, True] Translation: X:581.84, Y:-29.64, Z:1.77 [[ 9.86633371e-01 1.62322816e-01 -1.43490460e-02 5.81840801e+02] [-1.62316827e-01 9.86737414e-01 1.58874762e-03 -2.96409078e+01] [ 1.44166306e-02 7.61580206e-04 9.99895785e-01 1.77048639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.530714057 meters Centerline goodness [0,1] 0.9882074955696064 Centerline is valid? [True, True] Translation: X:581.87, Y:-29.65, Z:1.77 [[ 9.86210473e-01 1.64856393e-01 -1.45352456e-02 5.81870721e+02] [-1.64850519e-01 9.86317249e-01 1.60962616e-03 -2.96499990e+01] [ 1.46017206e-02 8.08712607e-04 9.99893062e-01 1.77079221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5607140569999 meters Centerline goodness [0,1] 0.9884131756237793 Centerline is valid? [True, True] Translation: X:581.90, Y:-29.66, Z:1.77 [[ 9.86095479e-01 1.65506940e-01 -1.49385059e-02 5.81902218e+02] [-1.65500771e-01 9.86208269e-01 1.65683799e-03 -2.96579396e+01] [ 1.50066963e-02 8.38533803e-04 9.99887042e-01 1.77122958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5907140569999 meters Centerline goodness [0,1] 0.9877464508864504 Centerline is valid? [True, True] Translation: X:581.93, Y:-29.67, Z:1.77 [[ 9.86132264e-01 1.65214859e-01 -1.57228804e-02 5.81932727e+02] [-1.65207928e-01 9.86257211e-01 1.74768562e-03 -2.96680116e+01] [ 1.57955478e-02 8.74095306e-04 9.99874860e-01 1.77129894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.620714057 meters Centerline goodness [0,1] 0.9881203508382369 Centerline is valid? [True, True] Translation: X:581.96, Y:-29.68, Z:1.77 [[ 9.86221124e-01 1.64652343e-01 -1.60468039e-02 5.81963953e+02] [-1.64644984e-01 9.86351273e-01 1.78770575e-03 -2.96779992e+01] [ 1.61221354e-02 8.78952604e-04 9.99869644e-01 1.77163317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.650714057 meters Centerline goodness [0,1] 0.9871042591642311 Centerline is valid? [True, True] Translation: X:581.99, Y:-29.69, Z:1.77 [[ 9.86803906e-01 1.61014726e-01 -1.70970498e-02 5.81992647e+02] [-1.61005803e-01 9.86951619e-01 1.90614101e-03 -2.96897522e+01] [ 1.71808777e-02 8.71736826e-04 9.99852018e-01 1.77145759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6807140569999 meters Centerline goodness [0,1] 0.9874005156372604 Centerline is valid? [True, True] Translation: X:582.02, Y:-29.70, Z:1.77 [[ 9.87229824e-01 1.58382464e-01 -1.70959031e-02 5.82023100e+02] [-1.58373141e-01 9.87377493e-01 1.90643942e-03 -2.96984174e+01] [ 1.71820565e-02 8.25438021e-04 9.99852037e-01 1.77170220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7107140569999 meters Centerline goodness [0,1] 0.9882448868655297 Centerline is valid? [True, True] Translation: X:582.05, Y:-29.71, Z:1.77 [[ 9.88205557e-01 1.52144199e-01 -1.73758513e-02 5.82051980e+02] [-1.52133599e-01 9.88358039e-01 1.93797812e-03 -2.97141018e+01] [ 1.74684144e-02 7.28330047e-04 9.99847150e-01 1.77245801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.740714057 meters Centerline goodness [0,1] 0.9874172336116863 Centerline is valid? [True, True] Translation: X:582.08, Y:-29.72, Z:1.77 [[ 9.88826673e-01 1.48032255e-01 -1.75573900e-02 5.82080759e+02] [-1.48020788e-01 9.88982311e-01 1.95807455e-03 -2.97230699e+01] [ 1.76538064e-02 6.62662361e-04 9.99843940e-01 1.77336921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.770714057 meters Centerline goodness [0,1] 0.9885803389208649 Centerline is valid? [True, True] Translation: X:582.11, Y:-29.74, Z:1.77 [[ 9.90042491e-01 1.39690656e-01 -1.73892839e-02 5.82110357e+02] [-1.39678116e-01 9.90195063e-01 1.93956738e-03 -2.97389922e+01] [ 1.74897225e-02 5.08648295e-04 9.99846914e-01 1.77423377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8007140569999 meters Centerline goodness [0,1] 0.9898018042961629 Centerline is valid? [True, True] Translation: X:582.14, Y:-29.75, Z:1.77 [[ 9.91055844e-01 1.32384834e-01 -1.68098217e-02 5.82140243e+02] [-1.32372059e-01 9.91198326e-01 1.87527781e-03 -2.97526746e+01] [ 1.69101255e-02 3.66645674e-04 9.99856946e-01 1.77482603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8307140569999 meters Centerline goodness [0,1] 0.9901079136690647 Centerline is valid? [True, True] Translation: X:582.17, Y:-29.76, Z:1.78 [[ 9.91456222e-01 1.29410284e-01 -1.63565855e-02 5.82172100e+02] [-1.29397757e-01 9.91591088e-01 1.82630444e-03 -2.97607277e+01] [ 1.64553870e-02 3.05804590e-04 9.99864554e-01 1.77547968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.860714057 meters Centerline goodness [0,1] 0.9905991040133701 Centerline is valid? [True, True] Translation: X:582.20, Y:-29.77, Z:1.78 [[ 9.91962213e-01 1.25660064e-01 -1.48497607e-02 5.82202779e+02] [-1.25649275e-01 9.92073334e-01 1.66104853e-03 -2.97704517e+01] [ 1.49407791e-02 2.18164290e-04 9.99888357e-01 1.77609007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.890714057 meters Centerline goodness [0,1] 0.989809419902969 Centerline is valid? [True, True] Translation: X:582.23, Y:-29.78, Z:1.78 [[ 9.92079051e-01 1.24863969e-01 -1.37166592e-02 5.82234723e+02] [-1.24854642e-01 9.92173853e-01 1.53756102e-03 -2.97763968e+01] [ 1.38012966e-02 1.87206494e-04 9.99904740e-01 1.77710036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9207140569999 meters Centerline goodness [0,1] 0.9898816031262357 Centerline is valid? [True, True] Translation: X:582.27, Y:-29.78, Z:1.78 [[ 9.92079078e-01 1.25056507e-01 -1.18309967e-02 5.82266903e+02] [-1.25049561e-01 9.92149608e-01 1.32788231e-03 -2.97823307e+01] [ 1.19041790e-02 1.62096691e-04 9.99929130e-01 1.77837610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9507140569999 meters Centerline goodness [0,1] 0.9898728323699422 Centerline is valid? [True, True] Translation: X:582.30, Y:-29.79, Z:1.78 [[ 9.91914272e-01 1.26376117e-01 -1.16256121e-02 5.82298463e+02] [-1.26369478e-01 9.91982382e-01 1.30687438e-03 -2.97855810e+01] [ 1.16975601e-02 1.72815189e-04 9.99931566e-01 1.77846764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9807140569999 meters Centerline goodness [0,1] 0.9888329115687321 Centerline is valid? [True, True] Translation: X:582.33, Y:-29.79, Z:1.78 [[ 9.91247354e-01 1.31517136e-01 -1.14858723e-02 5.82330206e+02] [-1.31510968e-01 9.91313871e-01 1.29389583e-03 -2.97864775e+01] [ 1.15562740e-02 2.27947373e-04 9.99933198e-01 1.77705810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.010714057 meters Centerline goodness [0,1] 0.9868791438874026 Centerline is valid? [True, True] Translation: X:582.36, Y:-29.78, Z:1.77 [[ 9.90421475e-01 1.37485209e-01 -1.27717812e-02 5.82360419e+02] [-1.37478061e-01 9.90503765e-01 1.44010348e-03 -2.97845444e+01] [ 1.28484903e-02 3.29530301e-04 9.99917400e-01 1.77441755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.040714057 meters Centerline goodness [0,1] 0.9867888542587337 Centerline is valid? [True, True] Translation: X:582.39, Y:-29.79, Z:1.77 [[ 9.89852851e-01 1.41369087e-01 -1.43566772e-02 5.82391656e+02] [-1.41360434e-01 9.89956868e-01 1.62087024e-03 -2.97879133e+01] [ 1.44416322e-02 4.25043091e-04 9.99895624e-01 1.77349185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0707140569999 meters Centerline goodness [0,1] 0.9864996294924046 Centerline is valid? [True, True] Translation: X:582.42, Y:-29.79, Z:1.77 [[ 9.88810889e-01 1.48246397e-01 -1.66141935e-02 5.82422523e+02] [-1.48235751e-01 9.88950271e-01 1.87725581e-03 -2.97883637e+01] [ 1.67089076e-02 6.06566472e-04 9.99860212e-01 1.77142623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1007140569999 meters Centerline goodness [0,1] 0.9861618252436216 Centerline is valid? [True, True] Translation: X:582.45, Y:-29.79, Z:1.77 [[ 9.88320346e-01 1.51418414e-01 -1.71859562e-02 5.82453349e+02] [-1.51407497e-01 9.88469523e-01 1.94213723e-03 -2.97895344e+01] [ 1.72818692e-02 6.82628877e-04 9.99850424e-01 1.77074289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.130714057 meters Centerline goodness [0,1] 0.9843681044294242 Centerline is valid? [True, True] Translation: X:582.48, Y:-29.79, Z:1.77 [[ 9.87381591e-01 1.57412238e-01 -1.72910933e-02 5.82483495e+02] [-1.57402095e-01 9.87532663e-01 1.95454095e-03 -2.97869043e+01] [ 1.73831880e-02 7.91776542e-04 9.99848587e-01 1.76981257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.160714057 meters Centerline goodness [0,1] 0.9841405815891832 Centerline is valid? [True, True] Translation: X:582.51, Y:-29.79, Z:1.77 [[ 9.87082617e-01 1.59398177e-01 -1.61284899e-02 5.82514702e+02] [-1.59389591e-01 9.87214075e-01 1.82467559e-03 -2.97936582e+01] [ 1.62131222e-02 7.69607843e-04 9.99868263e-01 1.77143026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1907140569999 meters Centerline goodness [0,1] 0.9830827942476846 Centerline is valid? [True, True] Translation: X:582.55, Y:-29.79, Z:1.77 [[ 9.86777258e-01 1.61427021e-01 -1.45588254e-02 5.82546317e+02] [-1.61420204e-01 9.86884388e-01 1.64984598e-03 -2.97940601e+01] [ 1.46342073e-02 7.22058081e-04 9.99892654e-01 1.77186586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2207140569999 meters Centerline goodness [0,1] 0.9835993011065812 Centerline is valid? [True, True] Translation: X:582.58, Y:-29.80, Z:1.77 [[ 9.86811711e-01 1.61319392e-01 -1.33679049e-02 5.82578102e+02] [-1.61313610e-01 9.86902031e-01 1.51672597e-03 -2.98031694e+01] [ 1.34374898e-02 6.59702053e-04 9.99909495e-01 1.77330937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.250714057 meters Centerline goodness [0,1] 0.9839925111163117 Centerline is valid? [True, True] Translation: X:582.61, Y:-29.81, Z:1.78 [[ 9.87010205e-01 1.60204172e-01 -1.20614643e-02 5.82609300e+02] [-1.60199356e-01 9.87083729e-01 1.37063933e-03 -2.98123267e+01] [ 1.21252573e-02 5.79403818e-04 9.99926318e-01 1.77535314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.280714057 meters Centerline goodness [0,1] 0.9822133925441159 Centerline is valid? [True, True] Translation: X:582.64, Y:-29.81, Z:1.78 [[ 9.87379338e-01 1.58013675e-01 -1.06640493e-02 5.82640135e+02] [-1.58009768e-01 9.87436804e-01 1.21320837e-03 -2.98141496e+01] [ 1.07217783e-02 4.87127092e-04 9.99942401e-01 1.77527730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3107140569999 meters Centerline goodness [0,1] 0.9832348527480773 Centerline is valid? [True, True] Translation: X:582.67, Y:-29.82, Z:1.78 [[ 9.87403341e-01 1.57822662e-01 -1.12538698e-02 5.82671223e+02] [-1.57818280e-01 9.87467340e-01 1.28201128e-03 -2.98243117e+01] [ 1.13151593e-02 5.10204158e-04 9.99935851e-01 1.77559703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3407140569999 meters Centerline goodness [0,1] 0.9845451765425419 Centerline is valid? [True, True] Translation: X:582.70, Y:-29.83, Z:1.78 [[ 9.87427826e-01 1.57576506e-01 -1.24872902e-02 5.82702304e+02] [-1.57571049e-01 9.87506624e-01 1.42579777e-03 -2.98313277e+01] [ 1.25559541e-02 5.59763029e-04 9.99921014e-01 1.77511685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.370714057 meters Centerline goodness [0,1] 0.9827910034277129 Centerline is valid? [True, True] Translation: X:582.73, Y:-29.83, Z:1.77 [[ 9.87362958e-01 1.57924489e-01 -1.32002122e-02 5.82733799e+02] [-1.57918376e-01 9.87451014e-01 1.51072525e-03 -2.98349685e+01] [ 1.32731434e-02 5.92921917e-04 9.99911732e-01 1.77368875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.400714057 meters Centerline goodness [0,1] 0.9815936461549339 Centerline is valid? [True, True] Translation: X:582.77, Y:-29.84, Z:1.77 [[ 9.87294243e-01 1.58348913e-01 -1.32552031e-02 5.82766097e+02] [-1.58342741e-01 9.87383038e-01 1.52049865e-03 -2.98364672e+01] [ 1.33287320e-02 5.97685620e-04 9.99910990e-01 1.77292743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4307140569999 meters Centerline goodness [0,1] 0.9840902106333184 Centerline is valid? [True, True] Translation: X:582.80, Y:-29.85, Z:1.77 [[ 9.87455311e-01 1.57343864e-01 -1.32256457e-02 5.82797376e+02] [-1.57337602e-01 9.87543706e-01 1.51916879e-03 -2.98493838e+01] [ 1.32999350e-02 5.80780083e-04 9.99911383e-01 1.77370289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4607140569999 meters Centerline goodness [0,1] 0.9831940751993923 Centerline is valid? [True, True] Translation: X:582.83, Y:-29.86, Z:1.77 [[ 9.87464483e-01 1.57276912e-01 -1.33366671e-02 5.82828590e+02] [-1.57270505e-01 9.87554370e-01 1.53439297e-03 -2.98550293e+01] [ 1.34120084e-02 5.82305810e-04 9.99909885e-01 1.77412685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.490714057 meters Centerline goodness [0,1] 0.9829240488291455 Centerline is valid? [True, True] Translation: X:582.86, Y:-29.86, Z:1.77 [[ 9.87641514e-01 1.56219398e-01 -1.26388076e-02 5.82860115e+02] [-1.56213519e-01 9.87722235e-01 1.45715276e-03 -2.98628517e+01] [ 1.27112668e-02 5.35208047e-04 9.99919065e-01 1.77485901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.520714057 meters Centerline goodness [0,1] 0.9836542821008424 Centerline is valid? [True, True] Translation: X:582.89, Y:-29.87, Z:1.78 [[ 9.87639407e-01 1.56254389e-01 -1.23680151e-02 5.82891893e+02] [-1.56248724e-01 9.87716708e-01 1.42895570e-03 -2.98695205e+01] [ 1.24393758e-02 5.21193625e-04 9.99922492e-01 1.77513232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5507140569999 meters Centerline goodness [0,1] 0.9834576400841462 Centerline is valid? [True, True] Translation: X:582.92, Y:-29.88, Z:1.78 [[ 9.87654465e-01 1.56165589e-01 -1.22868554e-02 5.82923400e+02] [-1.56159954e-01 9.87730755e-01 1.42263910e-03 -2.98758809e+01] [ 1.23582723e-02 5.13638912e-04 9.99923502e-01 1.77517398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5807140569999 meters Centerline goodness [0,1] 0.983762584594782 Centerline is valid? [True, True] Translation: X:582.96, Y:-29.88, Z:1.77 [[ 9.87643491e-01 1.56235519e-01 -1.22799180e-02 5.82956306e+02] [-1.56229854e-01 9.87719698e-01 1.42515733e-03 -2.98807094e+01] [ 1.23517771e-02 5.10942436e-04 9.99923583e-01 1.77474192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.610714057 meters Centerline goodness [0,1] 0.9842138093181709 Centerline is valid? [True, True] Translation: X:582.99, Y:-29.89, Z:1.77 [[ 9.87631879e-01 1.56305769e-01 -1.23198248e-02 5.82987630e+02] [-1.56300039e-01 9.87708583e-01 1.43253771e-03 -2.98862059e+01] [ 1.23923107e-02 5.10769196e-04 9.99923082e-01 1.77446389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.640714057 meters Centerline goodness [0,1] 0.9840891584825727 Centerline is valid? [True, True] Translation: X:583.02, Y:-29.89, Z:1.78 [[ 9.87793683e-01 1.55306785e-01 -1.19767619e-02 5.83019485e+02] [-1.55301275e-01 9.87866170e-01 1.39445431e-03 -2.98936960e+01] [ 1.20480061e-02 4.82573234e-04 9.99927304e-01 1.77546886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6707140569999 meters Centerline goodness [0,1] 0.9842458988750512 Centerline is valid? [True, True] Translation: X:583.05, Y:-29.90, Z:1.78 [[ 9.87785345e-01 1.55345072e-01 -1.21663735e-02 5.83051596e+02] [-1.55339356e-01 9.87860147e-01 1.41920652e-03 -2.98992589e+01] [ 1.22391423e-02 4.88045219e-04 9.99924980e-01 1.77581980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7007140569999 meters Centerline goodness [0,1] 0.9840276435337328 Centerline is valid? [True, True] Translation: X:583.08, Y:-29.91, Z:1.78 [[ 9.88131282e-01 1.53171014e-01 -1.16279581e-02 5.83082448e+02] [-1.53165623e-01 9.88199599e-01 1.35805092e-03 -2.99063113e+01] [ 1.16987575e-02 4.39070845e-04 9.99931471e-01 1.77545779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7307140569999 meters Centerline goodness [0,1] 0.9841147216455024 Centerline is valid? [True, True] Translation: X:583.11, Y:-29.91, Z:1.77 [[ 9.88304511e-01 1.52069908e-01 -1.13550696e-02 5.83113915e+02] [-1.52064675e-01 9.88369653e-01 1.32787566e-03 -2.99089747e+01] [ 1.14249361e-02 4.14359457e-04 9.99934647e-01 1.77475086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.760714057 meters Centerline goodness [0,1] 0.9870727219908977 Centerline is valid? [True, True] Translation: X:583.14, Y:-29.92, Z:1.77 [[ 9.88861185e-01 1.48431213e-01 -1.10332449e-02 5.83144605e+02] [-1.48426028e-01 9.88922669e-01 1.29181904e-03 -2.99198667e+01] [ 1.11027723e-02 3.60191015e-04 9.99938297e-01 1.77471981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.790714057 meters Centerline goodness [0,1] 0.9869144330398405 Centerline is valid? [True, True] Translation: X:583.17, Y:-29.93, Z:1.78 [[ 9.89710941e-01 1.42622859e-01 -1.14443326e-02 5.83174273e+02] [-1.42616890e-01 9.89777059e-01 1.34024700e-03 -2.99265989e+01] [ 1.15184877e-02 3.05697998e-04 9.99933613e-01 1.77503778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8207140569999 meters Centerline goodness [0,1] 0.98864522417154 Centerline is valid? [True, True] Translation: X:583.21, Y:-29.94, Z:1.78 [[ 9.90098145e-01 1.39867179e-01 -1.19514030e-02 5.83205816e+02] [-1.39860447e-01 9.90170234e-01 1.40129741e-03 -2.99354949e+01] [ 1.20299190e-02 2.84106600e-04 9.99927598e-01 1.77590966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8507140569999 meters Centerline goodness [0,1] 0.9912098136676379 Centerline is valid? [True, True] Translation: X:583.24, Y:-29.94, Z:1.77 [[ 9.90983154e-01 1.33435965e-01 -1.21338848e-02 5.83235902e+02] [-1.33428525e-01 9.91057415e-01 1.42426498e-03 -2.99438894e+01] [ 1.22154247e-02 2.07583748e-04 9.99925367e-01 1.77493678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.880714057 meters Centerline goodness [0,1] 0.9900681740154005 Centerline is valid? [True, True] Translation: X:583.27, Y:-29.95, Z:1.78 [[ 9.91382304e-01 1.30445702e-01 -1.20434754e-02 5.83266683e+02] [-1.30438131e-01 9.91455441e-01 1.41538335e-03 -2.99501771e+01] [ 1.21251999e-02 1.67742404e-04 9.99926473e-01 1.77514099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.910714057 meters Centerline goodness [0,1] 0.9925805817610063 Centerline is valid? [True, True] Translation: X:583.30, Y:-29.96, Z:1.78 [[ 9.92194177e-01 1.24276565e-01 -1.02980476e-02 5.83298181e+02] [-1.24270673e-01 9.92247615e-01 1.21250336e-03 -2.99589152e+01] [ 1.03688990e-02 7.67065378e-05 9.99946239e-01 1.77703949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9407140569999 meters Centerline goodness [0,1] 0.9910295165769618 Centerline is valid? [True, True] Translation: X:583.33, Y:-29.96, Z:1.78 [[ 9.92507175e-01 1.21854250e-01 -9.00270932e-03 5.83329168e+02] [-1.21849630e-01 9.92548004e-01 1.06194187e-03 -2.99646689e+01] [ 9.06502330e-03 4.29918775e-05 9.99958911e-01 1.77829287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9707140569999 meters Centerline goodness [0,1] 0.9925145277257953 Centerline is valid? [True, True] Translation: X:583.36, Y:-29.97, Z:1.78 [[ 9.92779829e-01 1.19699007e-01 -7.76913986e-03 5.83360976e+02] [-1.19695487e-01 9.92810227e-01 9.18057721e-04 -2.99705837e+01] [ 7.82317211e-03 1.85017951e-05 9.99969398e-01 1.78028612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.000714057 meters Centerline goodness [0,1] 0.9923388581952118 Centerline is valid? [True, True] Translation: X:583.39, Y:-29.97, Z:1.78 [[ 9.92797191e-01 1.19622359e-01 -6.65047292e-03 5.83392775e+02] [-1.19619769e-01 9.92819466e-01 7.87205600e-04 -2.99742842e+01] [ 6.69688636e-03 1.39925269e-05 9.99977576e-01 1.78100620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.030714057 meters Centerline goodness [0,1] 0.9913538279633461 Centerline is valid? [True, True] Translation: X:583.43, Y:-29.98, Z:1.78 [[ 9.92486210e-01 1.22190398e-01 -6.37410073e-03 5.83425644e+02] [-1.22188065e-01 9.92506678e-01 7.55685582e-04 -2.99766249e+01] [ 6.41867506e-03 2.88315136e-05 9.99979400e-01 1.78150350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0607140569999 meters Centerline goodness [0,1] 0.9913538279633461 Centerline is valid? [True, True] Translation: X:583.46, Y:-29.98, Z:1.78 [[ 9.92451768e-01 1.22469842e-01 -6.37388778e-03 5.83457792e+02] [-1.22467503e-01 9.92472235e-01 7.57477861e-04 -2.99805125e+01] [ 6.41867484e-03 2.88338771e-05 9.99979400e-01 1.78167545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0907140569999 meters Centerline goodness [0,1] 0.9906363368957741 Centerline is valid? [True, True] Translation: X:583.49, Y:-29.98, Z:1.78 [[ 9.91896113e-01 1.26807867e-01 -7.86548987e-03 5.83489079e+02] [-1.26804422e-01 9.91927296e-01 9.37192477e-04 -2.99807025e+01] [ 7.92083748e-03 6.77813224e-05 9.99968627e-01 1.78041644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.120714057 meters Centerline goodness [0,1] 0.9905774103869904 Centerline is valid? [True, True] Translation: X:583.52, Y:-29.98, Z:1.78 [[ 9.91588870e-01 1.29167038e-01 -8.20909171e-03 5.83520633e+02] [-1.29163350e-01 9.91622846e-01 9.80077350e-04 -2.99826708e+01] [ 8.26691657e-03 8.84799935e-05 9.99965825e-01 1.77904654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.150714057 meters Centerline goodness [0,1] 0.9890037063400505 Centerline is valid? [True, True] Translation: X:583.55, Y:-29.98, Z:1.78 [[ 9.90926690e-01 1.33935682e-01 -1.12039267e-02 5.83551676e+02] [-1.33929089e-01 9.90990012e-01 1.34002147e-03 -2.99815840e+01] [ 1.12824561e-02 1.72668657e-04 9.99936336e-01 1.77602663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1807140569999 meters Centerline goodness [0,1] 0.9895846097291998 Centerline is valid? [True, True] Translation: X:583.58, Y:-29.98, Z:1.77 [[ 9.90533736e-01 1.36699410e-01 -1.24976055e-02 5.83583409e+02] [-1.36691395e-01 9.90612548e-01 1.49726778e-03 -2.99833501e+01] [ 1.25849605e-02 2.25220891e-04 9.99920781e-01 1.77479377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2107140569999 meters Centerline goodness [0,1] 0.9884846706762506 Centerline is valid? [True, True] Translation: X:583.62, Y:-29.98, Z:1.77 [[ 9.89812098e-01 1.41672134e-01 -1.41780781e-02 5.83615631e+02] [-1.41662299e-01 9.89913582e-01 1.70071154e-03 -2.99840612e+01] [ 1.42760155e-02 3.25114269e-04 9.99898040e-01 1.77405592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.240714057 meters Centerline goodness [0,1] 0.9879193974371515 Centerline is valid? [True, True] Translation: X:583.65, Y:-29.99, Z:1.77 [[ 9.89445533e-01 1.44132264e-01 -1.49474792e-02 5.83646605e+02] [-1.44121573e-01 9.89558360e-01 1.79565693e-03 -2.99850962e+01] [ 1.50502151e-02 3.77549487e-04 9.99886668e-01 1.77374563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.270714057 meters Centerline goodness [0,1] 0.9867823112631322 Centerline is valid? [True, True] Translation: X:583.68, Y:-29.99, Z:1.77 [[ 9.88964856e-01 1.47461008e-01 -1.42746050e-02 5.83677576e+02] [-1.47451582e-01 9.89067786e-01 1.71630948e-03 -2.99853117e+01] [ 1.43716407e-02 4.07443329e-04 9.99896640e-01 1.77450889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3007140569999 meters Centerline goodness [0,1] 0.9852581654605906 Centerline is valid? [True, True] Translation: X:583.71, Y:-29.99, Z:1.78 [[ 9.88588460e-01 1.49941196e-01 -1.45084094e-02 5.83709957e+02] [-1.49931690e-01 9.88694815e-01 1.74688746e-03 -2.99863804e+01] [ 1.46063195e-02 4.48317557e-04 9.99893222e-01 1.77589000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3307140569999 meters Centerline goodness [0,1] 0.9842732792041547 Centerline is valid? [True, True] Translation: X:583.74, Y:-29.99, Z:1.78 [[ 9.88425289e-01 1.51011135e-01 -1.45287655e-02 5.83740513e+02] [-1.51001672e-01 9.88531954e-01 1.75242361e-03 -2.99884648e+01] [ 1.46267845e-02 4.61728080e-04 9.99892916e-01 1.77530321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.360714057 meters Centerline goodness [0,1] 0.9854255163322103 Centerline is valid? [True, True] Translation: X:583.77, Y:-29.99, Z:1.78 [[ 9.88315581e-01 1.51790807e-01 -1.38514512e-02 5.83773251e+02] [-1.51782235e-01 9.88412541e-01 1.67414343e-03 -2.99931496e+01] [ 1.39450676e-02 4.47822176e-04 9.99902663e-01 1.77657906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.390714057 meters Centerline goodness [0,1] 0.9858676251253087 Centerline is valid? [True, True] Translation: X:583.80, Y:-30.00, Z:1.78 [[ 9.88280572e-01 1.52070043e-01 -1.32745572e-02 5.83804769e+02] [-1.52062148e-01 9.88369626e-01 1.60797900e-03 -2.99962331e+01] [ 1.33646946e-02 4.29423273e-04 9.99910596e-01 1.77706776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4207140569999 meters Centerline goodness [0,1] 0.9857727538491522 Centerline is valid? [True, True] Translation: X:583.84, Y:-30.00, Z:1.78 [[ 9.88189222e-01 1.52682515e-01 -1.30426382e-02 5.83837424e+02] [-1.52674900e-01 9.88275198e-01 1.58345886e-03 -3.00009471e+01] [ 1.31314824e-02 4.26526504e-04 9.99913687e-01 1.77811018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4507140569999 meters Centerline goodness [0,1] 0.9845418637538401 Centerline is valid? [True, True] Translation: X:583.87, Y:-30.00, Z:1.78 [[ 9.88178831e-01 1.52744677e-01 -1.31019545e-02 5.83869907e+02] [-1.52736949e-01 9.88265593e-01 1.59434785e-03 -3.00043182e+01] [ 1.31917390e-02 4.25651754e-04 9.99912895e-01 1.77815135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4807140569999 meters Centerline goodness [0,1] 0.98441912552342 Centerline is valid? [True, True] Translation: X:583.90, Y:-30.01, Z:1.78 [[ 9.88037078e-01 1.53651576e-01 -1.31881135e-02 5.83901717e+02] [-1.53643781e-01 9.88124993e-01 1.60828217e-03 -3.00079334e+01] [ 1.32786197e-02 4.37229210e-04 9.99911740e-01 1.77854816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.510714057 meters Centerline goodness [0,1] 0.985224428297164 Centerline is valid? [True, True] Translation: X:583.93, Y:-30.01, Z:1.78 [[ 9.87869073e-01 1.54680692e-01 -1.37323512e-02 5.83933233e+02] [-1.54672292e-01 9.87964405e-01 1.67812697e-03 -3.00117284e+01] [ 1.38266481e-02 4.66244503e-04 9.99904299e-01 1.77842793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.540714057 meters Centerline goodness [0,1] 0.9850960369559932 Centerline is valid? [True, True] Translation: X:583.97, Y:-30.01, Z:1.78 [[ 9.87506597e-01 1.56845384e-01 -1.51738488e-02 5.83965253e+02] [-1.56835350e-01 9.87623019e-01 1.85644677e-03 -3.00147599e+01] [ 1.52772174e-02 5.46542448e-04 9.99883147e-01 1.77857252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5707140569999 meters Centerline goodness [0,1] 0.9845761476803497 Centerline is valid? [True, True] Translation: X:584.00, Y:-30.02, Z:1.78 [[ 9.87330167e-01 1.57818370e-01 -1.65076954e-02 5.83997420e+02] [-1.57806575e-01 9.87467971e-01 2.02288722e-03 -3.00164430e+01] [ 1.66200693e-02 6.07765305e-04 9.99861692e-01 1.77794791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6007140569999 meters Centerline goodness [0,1] 0.9841173617846751 Centerline is valid? [True, True] Translation: X:584.03, Y:-30.02, Z:1.78 [[ 9.87189034e-01 1.58662404e-01 -1.68538822e-02 5.84028657e+02] [-1.58650164e-01 9.87332691e-01 2.06936349e-03 -3.00172531e+01] [ 1.69687191e-02 6.31018230e-04 9.99855822e-01 1.77638087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.630714057 meters Centerline goodness [0,1] 0.98531549869148 Centerline is valid? [True, True] Translation: X:584.06, Y:-30.02, Z:1.78 [[ 9.87084094e-01 1.59295338e-01 -1.70290186e-02 5.84060270e+02] [-1.59282863e-01 9.87230763e-01 2.09506138e-03 -3.00234891e+01] [ 1.71453046e-02 6.44429083e-04 9.99852801e-01 1.77693463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.660714057 meters Centerline goodness [0,1] 0.9816518214693105 Centerline is valid? [True, True] Translation: X:584.09, Y:-30.02, Z:1.78 [[ 9.87032426e-01 1.59576399e-01 -1.73885909e-02 5.84092326e+02] [-1.59563355e-01 9.87185362e-01 2.14391020e-03 -3.00228724e+01] [ 1.75078798e-02 6.58473016e-04 9.99846508e-01 1.77580886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6907140569999 meters Centerline goodness [0,1] 0.9858047236425614 Centerline is valid? [True, True] Translation: X:584.12, Y:-30.03, Z:1.78 [[ 9.87188112e-01 1.58573815e-01 -1.77193945e-02 5.84123754e+02] [-1.58560029e-01 9.87346912e-01 2.18922435e-03 -3.00332733e+01] [ 1.78423431e-02 6.48411452e-04 9.99840602e-01 1.77842749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7207140569999 meters Centerline goodness [0,1] 0.9859305518431221 Centerline is valid? [True, True] Translation: X:584.16, Y:-30.04, Z:1.78 [[ 9.87246225e-01 1.58172264e-01 -1.80672631e-02 5.84155052e+02] [-1.58157781e-01 9.87411319e-01 2.23673731e-03 -3.00392775e+01] [ 1.81936099e-02 6.49267788e-04 9.99834272e-01 1.77903657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.750714057 meters Centerline goodness [0,1] 0.9861067179250104 Centerline is valid? [True, True] Translation: X:584.19, Y:-30.05, Z:1.78 [[ 9.87415420e-01 1.56996348e-01 -1.90508499e-02 5.84186564e+02] [-1.56979934e-01 9.87598965e-01 2.36333996e-03 -3.00450321e+01] [ 1.91856354e-02 6.57002841e-04 9.99815723e-01 1.77902262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.780714057 meters Centerline goodness [0,1] 0.9863707165109035 Centerline is valid? [True, True] Translation: X:584.22, Y:-30.05, Z:1.78 [[ 9.87474331e-01 1.56630336e-01 -1.90100672e-02 5.84218295e+02] [-1.56613833e-01 9.87657088e-01 2.36303543e-03 -3.00499280e+01] [ 1.91455507e-02 6.43802673e-04 9.99816500e-01 1.77912672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8107140569999 meters Centerline goodness [0,1] 0.9865771812080537 Centerline is valid? [True, True] Translation: X:584.25, Y:-30.05, Z:1.78 [[ 9.87656302e-01 1.55452398e-01 -1.92245100e-02 5.84248907e+02] [-1.55435210e-01 9.87843188e-01 2.39423540e-03 -3.00548212e+01] [ 1.93629908e-02 6.23484061e-04 9.99812325e-01 1.77920895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8407140569999 meters Centerline goodness [0,1] 0.9881166464155529 Centerline is valid? [True, True] Translation: X:584.28, Y:-30.06, Z:1.78 [[ 9.87867629e-01 1.54135048e-01 -1.89719569e-02 5.84280185e+02] [-1.54117978e-01 9.88049616e-01 2.36739366e-03 -3.00616177e+01] [ 1.91101331e-02 5.85248079e-04 9.99817213e-01 1.78106071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.870714057 meters Centerline goodness [0,1] 0.9879276637341153 Centerline is valid? [True, True] Translation: X:584.31, Y:-30.07, Z:1.78 [[ 9.88017026e-01 1.53205805e-01 -1.87173135e-02 5.84311828e+02] [-1.53188935e-01 9.88194148e-01 2.34028654e-03 -3.00668181e+01] [ 1.88548852e-02 5.55042385e-04 9.99822077e-01 1.78209182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.900714057 meters Centerline goodness [0,1] 0.9876455967639749 Centerline is valid? [True, True] Translation: X:584.34, Y:-30.07, Z:1.78 [[ 9.88357524e-01 1.51097991e-01 -1.78550340e-02 5.84342978e+02] [-1.51082220e-01 9.88518670e-01 2.23665153e-03 -3.00694561e+01] [ 1.79879880e-02 4.86966820e-04 9.99838084e-01 1.78140025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9307140569999 meters Centerline goodness [0,1] 0.9880170835875534 Centerline is valid? [True, True] Translation: X:584.37, Y:-30.08, Z:1.78 [[ 9.88420575e-01 1.50715124e-01 -1.75988270e-02 5.84374574e+02] [-1.50699666e-01 9.88577125e-01 2.20882955e-03 -3.00779228e+01] [ 1.77307018e-02 4.68884786e-04 9.99842689e-01 1.78397354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9607140569999 meters Centerline goodness [0,1] 0.9877645341765994 Centerline is valid? [True, True] Translation: X:584.41, Y:-30.08, Z:1.78 [[ 9.88704121e-01 1.48915143e-01 -1.69835545e-02 5.84406515e+02] [-1.48900411e-01 9.88849891e-01 2.13576748e-03 -3.00827048e+01] [ 1.71122342e-02 4.17216144e-04 9.99853488e-01 1.78467312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.990714057 meters Centerline goodness [0,1] 0.9889504110056834 Centerline is valid? [True, True] Translation: X:584.44, Y:-30.09, Z:1.78 [[ 9.88724608e-01 1.48719912e-01 -1.74939219e-02 5.84438997e+02] [-1.48704166e-01 9.88879270e-01 2.20474576e-03 -3.00870566e+01] [ 1.76272663e-02 4.21532681e-04 9.99844539e-01 1.78493600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.020714057 meters Centerline goodness [0,1] 0.9878627198209812 Centerline is valid? [True, True] Translation: X:584.47, Y:-30.09, Z:1.78 [[ 9.88950240e-01 1.47088728e-01 -1.85021110e-02 5.84470280e+02] [-1.47070765e-01 9.89123216e-01 2.33523351e-03 -3.00901626e+01] [ 1.86443541e-02 4.11689885e-04 9.99826094e-01 1.78284503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0507140569999 meters Centerline goodness [0,1] 0.989397484644633 Centerline is valid? [True, True] Translation: X:584.50, Y:-30.10, Z:1.78 [[ 9.89356841e-01 1.44271106e-01 -1.89443798e-02 5.84501767e+02] [-1.44251678e-01 9.89538133e-01 2.39525550e-03 -3.00985905e+01] [ 1.90917524e-02 3.62996158e-04 9.99817670e-01 1.78446088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0807140569999 meters Centerline goodness [0,1] 0.9896648385131017 Centerline is valid? [True, True] Translation: X:584.53, Y:-30.10, Z:1.78 [[ 9.89660603e-01 1.42118251e-01 -1.93466584e-02 5.84532457e+02] [-1.42097487e-01 9.89849634e-01 2.45074229e-03 -3.01039071e+01] [ 1.94985779e-02 3.23708453e-04 9.99809832e-01 1.78427162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.110714057 meters Centerline goodness [0,1] 0.9901836296151592 Centerline is valid? [True, True] Translation: X:584.56, Y:-30.11, Z:1.78 [[ 9.90393203e-01 1.36838853e-01 -1.99106011e-02 5.84562604e+02] [-1.36815701e-01 9.90593297e-01 2.52680844e-03 -3.01115177e+01] [ 2.00690735e-02 2.21548939e-04 9.99798571e-01 1.78407502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.140714057 meters Centerline goodness [0,1] 0.99066149757394 Centerline is valid? [True, True] Translation: X:584.59, Y:-30.12, Z:1.78 [[ 9.90814194e-01 1.33712916e-01 -2.02012158e-02 5.84593902e+02] [-1.33688332e-01 9.91020097e-01 2.56862867e-03 -3.01178712e+01] [ 2.03632697e-02 1.55633112e-04 9.99792635e-01 1.78480381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1707140569999 meters Centerline goodness [0,1] 0.9912908091276212 Centerline is valid? [True, True] Translation: X:584.62, Y:-30.12, Z:1.78 [[ 9.91530857e-01 1.28267426e-01 -2.03476619e-02 5.84624530e+02] [-1.28241240e-01 9.91739616e-01 2.59200380e-03 -3.01246000e+01] [ 2.05120521e-02 3.93576408e-05 9.99789605e-01 1.78421196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2007140569999 meters Centerline goodness [0,1] 0.9919596520722169 Centerline is valid? [True, True] Translation: X:584.66, Y:-30.13, Z:1.79 [[ 9.91933603e-01 1.25128059e-01 -2.02656487e-02 5.84656976e+02] [-1.25101318e-01 9.92140599e-01 2.58694561e-03 -3.01303121e+01] [ 2.04300723e-02 -3.08189112e-05 9.99791284e-01 1.78596792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2307140569999 meters Centerline goodness [0,1] 0.9932611604427685 Centerline is valid? [True, True] Translation: X:584.69, Y:-30.13, Z:1.79 [[ 9.92101019e-01 1.23836387e-01 -2.00029188e-02 5.84688863e+02] [-1.23809966e-01 9.92302648e-01 2.55869853e-03 -3.01345881e+01] [ 2.01658093e-02 -6.19267270e-05 9.99796647e-01 1.78614422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.260714057 meters Centerline goodness [0,1] 0.9918683446272991 Centerline is valid? [True, True] Translation: X:584.72, Y:-30.14, Z:1.79 [[ 9.92329319e-01 1.22035671e-01 -1.97437918e-02 5.84721957e+02] [-1.22009466e-01 9.92525710e-01 2.53095067e-03 -3.01375817e+01] [ 1.99050873e-02 -1.02607066e-04 9.99801869e-01 1.78687143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.290714057 meters Centerline goodness [0,1] 0.992904366357494 Centerline is valid? [True, True] Translation: X:584.75, Y:-30.14, Z:1.79 [[ 9.92388917e-01 1.21616467e-01 -1.93306297e-02 5.84753736e+02] [-1.21591169e-01 9.92577162e-01 2.48307305e-03 -3.01412133e+01] [ 1.94891241e-02 -1.13740313e-04 9.99810063e-01 1.78670515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3207140569999 meters Centerline goodness [0,1] 0.9921803349905874 Centerline is valid? [True, True] Translation: X:584.79, Y:-30.14, Z:1.79 [[ 9.92586655e-01 1.20194092e-01 -1.80308985e-02 5.84786868e+02] [-1.20171759e-01 9.92750402e-01 2.32094322e-03 -3.01438332e+01] [ 1.81791454e-02 -1.36932482e-04 9.99834736e-01 1.78875193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3507140569999 meters Centerline goodness [0,1] 0.992239280807886 Centerline is valid? [True, True] Translation: X:584.82, Y:-30.15, Z:1.79 [[ 9.92405465e-01 1.21860845e-01 -1.67728204e-02 5.84819006e+02] [-1.21841688e-01 9.92547190e-01 2.16314869e-03 -3.01450147e+01] [ 1.69114189e-02 -1.03091832e-04 9.99856986e-01 1.78972957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.380714057 meters Centerline goodness [0,1] 0.9916226596255401 Centerline is valid? [True, True] Translation: X:584.85, Y:-30.15, Z:1.79 [[ 9.92211440e-01 1.23455181e-01 -1.65914550e-02 5.84851100e+02] [-1.23436593e-01 9.92350146e-01 2.14374318e-03 -3.01465312e+01] [ 1.67291890e-02 -7.90538365e-05 9.99860054e-01 1.79013433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.410714057 meters Centerline goodness [0,1] 0.9917812814491781 Centerline is valid? [True, True] Translation: X:584.88, Y:-30.15, Z:1.79 [[ 9.91916608e-01 1.25755861e-01 -1.69382761e-02 5.84883259e+02] [-1.25736749e-01 9.92061219e-01 2.19284178e-03 -3.01477304e+01] [ 1.70795696e-02 -4.53523934e-05 9.99854132e-01 1.78949669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4407140569999 meters Centerline goodness [0,1] 0.9919083422842822 Centerline is valid? [True, True] Translation: X:584.92, Y:-30.14, Z:1.79 [[ 9.91223339e-01 1.31049822e-01 -1.73849634e-02 5.84916413e+02] [-1.31030417e-01 9.91375783e-01 2.25551785e-03 -3.01447336e+01] [ 1.75306169e-02 4.22370591e-05 9.99846326e-01 1.78970378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4707140569999 meters Centerline goodness [0,1] 0.9904389499535061 Centerline is valid? [True, True] Translation: X:584.95, Y:-30.15, Z:1.79 [[ 9.90747671e-01 1.34618910e-01 -1.72279223e-02 5.84949052e+02] [-1.34600308e-01 9.90897441e-01 2.24003959e-03 -3.01453320e+01] [ 1.73726558e-02 9.95696556e-05 9.99849079e-01 1.78978566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.500714057 meters Centerline goodness [0,1] 0.9890491834499834 Centerline is valid? [True, True] Translation: X:584.98, Y:-30.14, Z:1.79 [[ 9.89846259e-01 1.41071139e-01 -1.74159836e-02 5.84981112e+02] [-1.41053051e-01 9.89999439e-01 2.26879285e-03 -3.01409885e+01] [ 1.75618752e-02 2.10821517e-04 9.99845756e-01 1.78933213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.530714057 meters Centerline goodness [0,1] 0.9889472558294312 Centerline is valid? [True, True] Translation: X:585.01, Y:-30.14, Z:1.79 [[ 9.89431993e-01 1.43968597e-01 -1.72445367e-02 5.85013012e+02] [-1.43951236e-01 9.89582224e-01 2.25039170e-03 -3.01409378e+01] [ 1.73888727e-02 2.55762811e-04 9.99848769e-01 1.78923081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5607140569999 meters Centerline goodness [0,1] 0.9891931517215286 Centerline is valid? [True, True] Translation: X:585.05, Y:-30.14, Z:1.79 [[ 9.88803996e-01 1.48202207e-01 -1.74001145e-02 5.85045879e+02] [-1.48185112e-01 9.88957025e-01 2.27490283e-03 -3.01384998e+01] [ 1.75451111e-02 3.29004902e-04 9.99846019e-01 1.78809467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5907140569999 meters Centerline goodness [0,1] 0.9887025637397109 Centerline is valid? [True, True] Translation: X:585.08, Y:-30.14, Z:1.79 [[ 9.88387771e-01 1.50898533e-01 -1.78675026e-02 5.85077752e+02] [-1.50880870e-01 9.88549182e-01 2.34026400e-03 -3.01386458e+01] [ 1.80160475e-02 3.82776037e-04 9.99837625e-01 1.78843410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.620714057 meters Centerline goodness [0,1] 0.9879529433953368 Centerline is valid? [True, True] Translation: X:585.11, Y:-30.14, Z:1.79 [[ 9.88211241e-01 1.51994399e-01 -1.83370038e-02 5.85109520e+02] [-1.51975905e-01 9.88381270e-01 2.40602158e-03 -3.01386408e+01] [ 1.84896529e-02 4.09125184e-04 9.99828968e-01 1.78688391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.650714057 meters Centerline goodness [0,1] 0.9871341722041567 Centerline is valid? [True, True] Translation: X:585.14, Y:-30.14, Z:1.79 [[ 9.88036144e-01 1.53238900e-01 -1.73901470e-02 5.85142834e+02] [-1.53222382e-01 9.88189089e-01 2.28616814e-03 -3.01400101e+01] [ 1.75350834e-02 4.05743003e-04 9.99846166e-01 1.78755212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6807140569999 meters Centerline goodness [0,1] 0.988527095333255 Centerline is valid? [True, True] Translation: X:585.18, Y:-30.15, Z:1.79 [[ 9.87952007e-01 1.53762058e-01 -1.75516746e-02 5.85175411e+02] [-1.53745227e-01 9.88107817e-01 2.31234667e-03 -3.01462403e+01] [ 1.76984981e-02 4.13998671e-04 9.99843284e-01 1.78982218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7107140569999 meters Centerline goodness [0,1] 0.987689705398675 Centerline is valid? [True, True] Translation: X:585.21, Y:-30.15, Z:1.79 [[ 9.87890110e-01 1.54169845e-01 -1.74582394e-02 5.85207342e+02] [-1.54153173e-01 9.88044274e-01 2.30479152e-03 -3.01463104e+01] [ 1.76048428e-02 4.14362249e-04 9.99844937e-01 1.78897628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.740714057 meters Centerline goodness [0,1] 0.9880076825783483 Centerline is valid? [True, True] Translation: X:585.24, Y:-30.15, Z:1.79 [[ 9.87951548e-01 1.53833527e-01 -1.69406478e-02 5.85239395e+02] [-1.53817706e-01 9.88096702e-01 2.24072501e-03 -3.01499074e+01] [ 1.70836969e-02 3.92043851e-04 9.99853986e-01 1.78910267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.770714057 meters Centerline goodness [0,1] 0.9890004221586378 Centerline is valid? [True, True] Translation: X:585.27, Y:-30.15, Z:1.79 [[ 9.88014497e-01 1.53362501e-01 -1.75299009e-02 5.85270823e+02] [-1.53345409e-01 9.88169919e-01 2.32309052e-03 -3.01537900e+01] [ 1.76787957e-02 3.92882710e-04 9.99843641e-01 1.78919909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8007140569999 meters Centerline goodness [0,1] 0.9903201612525195 Centerline is valid? [True, True] Translation: X:585.30, Y:-30.16, Z:1.79 [[ 9.88236909e-01 1.51945827e-01 -1.73285162e-02 5.85302527e+02] [-1.51928831e-01 9.88388758e-01 2.30075946e-03 -3.01577947e+01] [ 1.74769014e-02 3.59005803e-04 9.99847203e-01 1.79012846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8307140569999 meters Centerline goodness [0,1] 0.9893253429467672 Centerline is valid? [True, True] Translation: X:585.33, Y:-30.16, Z:1.79 [[ 9.88252218e-01 1.51783199e-01 -1.78721477e-02 5.85334844e+02] [-1.51765007e-01 9.88413744e-01 2.37771169e-03 -3.01597991e+01] [ 1.80259731e-02 3.62587768e-04 9.99837453e-01 1.78902648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.860714057 meters Centerline goodness [0,1] 0.9890428241011144 Centerline is valid? [True, True] Translation: X:585.37, Y:-30.16, Z:1.79 [[ 9.88411630e-01 1.50613459e-01 -1.89218196e-02 5.85366819e+02] [-1.50592760e-01 9.88592666e-01 2.52227322e-03 -3.01639655e+01] [ 1.90858604e-02 3.56444842e-04 9.99817785e-01 1.78985428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.890714057 meters Centerline goodness [0,1] 0.9896256834431516 Centerline is valid? [True, True] Translation: X:585.40, Y:-30.17, Z:1.79 [[ 9.88638915e-01 1.49266412e-01 -1.76814608e-02 5.85398198e+02] [-1.49248069e-01 9.88796968e-01 2.35992541e-03 -3.01670367e+01] [ 1.78356325e-02 3.05809786e-04 9.99840886e-01 1.79013382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9207140569999 meters Centerline goodness [0,1] 0.9908095973060194 Centerline is valid? [True, True] Translation: X:585.43, Y:-30.17, Z:1.79 [[ 9.88689016e-01 1.49006404e-01 -1.70622701e-02 5.85429521e+02] [-1.48989221e-01 9.88836189e-01 2.28096209e-03 -3.01721205e+01] [ 1.72116681e-02 2.86932156e-04 9.99851827e-01 1.79179530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9507140569999 meters Centerline goodness [0,1] 0.9889243083509784 Centerline is valid? [True, True] Translation: X:585.46, Y:-30.17, Z:1.79 [[ 9.88835589e-01 1.48129228e-01 -1.61836237e-02 5.85460337e+02] [-1.48113606e-01 9.88967981e-01 2.16630739e-03 -3.01730085e+01] [ 1.63259791e-02 2.54893017e-04 9.99866690e-01 1.79187914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9807140569999 meters Centerline goodness [0,1] 0.9889243083509784 Centerline is valid? [True, True] Translation: X:585.49, Y:-30.18, Z:1.79 [[ 9.88796696e-01 1.48388678e-01 -1.61831405e-02 5.85492451e+02] [-1.48373032e-01 9.88929085e-01 2.16991304e-03 -3.01774040e+01] [ 1.63259689e-02 2.55538780e-04 9.99866690e-01 1.79205085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.010714057 meters Centerline goodness [0,1] 0.9902604967612657 Centerline is valid? [True, True] Translation: X:585.52, Y:-30.18, Z:1.79 [[ 9.88782554e-01 1.48483026e-01 -1.61818380e-02 5.85524441e+02] [-1.48467322e-01 9.88914924e-01 2.17422097e-03 -3.01830424e+01] [ 1.63252961e-02 2.52642396e-04 9.99866702e-01 1.79335353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.040714057 meters Centerline goodness [0,1] 0.9902792958303295 Centerline is valid? [True, True] Translation: X:585.56, Y:-30.19, Z:1.79 [[ 9.88734356e-01 1.48710479e-01 -1.70166491e-02 5.85557338e+02] [-1.48693061e-01 9.88880743e-01 2.29130731e-03 -3.01862298e+01] [ 1.71681780e-02 2.64763391e-04 9.99852581e-01 1.79374142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0707140569999 meters Centerline goodness [0,1] 0.989812058057313 Centerline is valid? [True, True] Translation: X:585.59, Y:-30.19, Z:1.79 [[ 9.88652443e-01 1.49254942e-01 -1.70090922e-02 5.85590338e+02] [-1.49237537e-01 9.88798710e-01 2.29513056e-03 -3.01894235e+01] [ 1.71611280e-02 2.69308602e-04 9.99852701e-01 1.79316252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1007140569999 meters Centerline goodness [0,1] 0.9895719880425463 Centerline is valid? [True, True] Translation: X:585.62, Y:-30.19, Z:1.79 [[ 9.88322690e-01 1.51420298e-01 -1.70339286e-02 5.85622292e+02] [-1.51403088e-01 9.88469424e-01 2.30291436e-03 -3.01920118e+01] [ 1.71862256e-02 3.02966879e-04 9.99852260e-01 1.79396809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.130714057 meters Centerline goodness [0,1] 0.9884556539477954 Centerline is valid? [True, True] Translation: X:585.65, Y:-30.19, Z:1.79 [[ 9.87927433e-01 1.53986757e-01 -1.69548169e-02 5.85654275e+02] [-1.53970012e-01 9.88072852e-01 2.29645433e-03 -3.01940326e+01] [ 1.71062178e-02 3.41803123e-04 9.99853620e-01 1.79410481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.160714057 meters Centerline goodness [0,1] 0.9884011668287263 Centerline is valid? [True, True] Translation: X:585.69, Y:-30.20, Z:1.79 [[ 9.87702313e-01 1.55396236e-01 -1.72090443e-02 5.85685710e+02] [-1.55379127e-01 9.87852152e-01 2.33498412e-03 -3.01960396e+01] [ 1.73628392e-02 3.67657066e-04 9.99849187e-01 1.79338928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1907140569999 meters Centerline goodness [0,1] 0.9879339836345985 Centerline is valid? [True, True] Translation: X:585.72, Y:-30.20, Z:1.79 [[ 9.87308885e-01 1.57802553e-01 -1.78751122e-02 5.85717151e+02] [-1.57784414e-01 9.87470595e-01 2.42951459e-03 -3.01988945e+01] [ 1.80345313e-02 4.21732751e-04 9.99837276e-01 1.79310409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2207140569999 meters Centerline goodness [0,1] 0.9877598152424942 Centerline is valid? [True, True] Translation: X:585.75, Y:-30.20, Z:1.79 [[ 9.87096815e-01 1.59104403e-01 -1.80462635e-02 5.85748876e+02] [-1.59086051e-01 9.87261663e-01 2.45719720e-03 -3.02030041e+01] [ 1.82073350e-02 4.45417266e-04 9.99834134e-01 1.79385941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.250714057 meters Centerline goodness [0,1] 0.9875736228201871 Centerline is valid? [True, True] Translation: X:585.78, Y:-30.21, Z:1.79 [[ 9.86561905e-01 1.62365580e-01 -1.82489750e-02 5.85780329e+02] [-1.62347318e-01 9.86730541e-01 2.48770200e-03 -3.02054998e+01] [ 1.84107381e-02 5.08400116e-04 9.99830379e-01 1.79427883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.280714057 meters Centerline goodness [0,1] 0.9872477804681195 Centerline is valid? [True, True] Translation: X:585.81, Y:-30.21, Z:1.79 [[ 9.86248193e-01 1.64289392e-01 -1.79860577e-02 5.85811943e+02] [-1.64271902e-01 9.86412040e-01 2.45566468e-03 -3.02083084e+01] [ 1.81451035e-02 5.32709047e-04 9.99835222e-01 1.79445467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3107140569999 meters Centerline goodness [0,1] 0.9853392745826888 Centerline is valid? [True, True] Translation: X:585.84, Y:-30.21, Z:1.79 [[ 9.85513695e-01 1.68666181e-01 -1.77334693e-02 5.85843265e+02] [-1.68649855e-01 9.85673047e-01 2.42290875e-03 -3.02090404e+01] [ 1.78880655e-02 6.02937273e-04 9.99839814e-01 1.79485183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3407140569999 meters Centerline goodness [0,1] 0.9857162604248261 Centerline is valid? [True, True] Translation: X:585.87, Y:-30.21, Z:1.79 [[ 9.84807478e-01 1.72811960e-01 -1.70369587e-02 5.85874477e+02] [-1.72797500e-01 9.84954620e-01 2.32834330e-03 -3.02107799e+01] [ 1.71829968e-02 6.50973984e-04 9.99852149e-01 1.79492377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.370714057 meters Centerline goodness [0,1] 0.9840051477685343 Centerline is valid? [True, True] Translation: X:585.91, Y:-30.21, Z:1.80 [[ 9.84457971e-01 1.74794942e-01 -1.70068238e-02 5.85905233e+02] [-1.74780779e-01 9.84604623e-01 2.32711399e-03 -3.02132181e+01] [ 1.71517651e-02 6.81520002e-04 9.99852665e-01 1.79502582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.400714057 meters Centerline goodness [0,1] 0.9840740910971182 Centerline is valid? [True, True] Translation: X:585.94, Y:-30.21, Z:1.79 [[ 9.83941361e-01 1.77623725e-01 -1.75843989e-02 5.85935395e+02] [-1.77609012e-01 9.84098188e-01 2.40739008e-03 -3.02128364e+01] [ 1.77323847e-02 7.54417045e-04 9.99842484e-01 1.79439898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4307140569999 meters Centerline goodness [0,1] 0.9829207181113946 Centerline is valid? [True, True] Translation: X:585.97, Y:-30.22, Z:1.79 [[ 9.83637290e-01 1.79260272e-01 -1.79843317e-02 5.85967204e+02] [-1.79245101e-01 9.83801360e-01 2.46515258e-03 -3.02159583e+01] [ 1.81349139e-02 7.98787352e-04 9.99835230e-01 1.79424771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4607140569999 meters Centerline goodness [0,1] 0.9832684197183748 Centerline is valid? [True, True] Translation: X:586.00, Y:-30.22, Z:1.79 [[ 9.83328213e-01 1.80971851e-01 -1.77430224e-02 5.85999076e+02] [-1.80957287e-01 9.83487938e-01 2.43624975e-03 -3.02200583e+01] [ 1.78909411e-02 8.15096087e-04 9.99839612e-01 1.79401394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.490714057 meters Centerline goodness [0,1] 0.9838289233892362 Centerline is valid? [True, True] Translation: X:586.03, Y:-30.23, Z:1.80 [[ 9.83220779e-01 1.81555618e-01 -1.77329560e-02 5.86029792e+02] [-1.81541088e-01 9.83380335e-01 2.43924501e-03 -3.02303271e+01] [ 1.78810988e-02 8.20943743e-04 9.99839783e-01 1.79568335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.520714057 meters Centerline goodness [0,1] 0.9841310114173683 Centerline is valid? [True, True] Translation: X:586.06, Y:-30.24, Z:1.80 [[ 9.83178344e-01 1.81707461e-01 -1.85132985e-02 5.86062451e+02] [-1.81691554e-01 9.83352260e-01 2.55174662e-03 -3.02366191e+01] [ 1.86687653e-02 8.54887958e-04 9.99825358e-01 1.79540410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5507140569999 meters Centerline goodness [0,1] 0.9835376694142366 Centerline is valid? [True, True] Translation: X:586.10, Y:-30.24, Z:1.80 [[ 9.83153105e-01 1.81821915e-01 -1.87286813e-02 5.86095050e+02] [-1.81805553e-01 9.83331098e-01 2.58686893e-03 -3.02442916e+01] [ 1.88868442e-02 8.61690056e-04 9.99821256e-01 1.79628502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5807140569999 meters Centerline goodness [0,1] 0.9836732806068175 Centerline is valid? [True, True] Translation: X:586.13, Y:-30.25, Z:1.80 [[ 9.83223400e-01 1.81437829e-01 -1.87632749e-02 5.86125818e+02] [-1.81421271e-01 9.83402048e-01 2.59512274e-03 -3.02486828e+01] [ 1.89226964e-02 8.52471791e-04 9.99820586e-01 1.79538869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.610714057 meters Centerline goodness [0,1] 0.9834312954135234 Centerline is valid? [True, True] Translation: X:586.16, Y:-30.26, Z:1.80 [[ 9.83306404e-01 1.80965692e-01 -1.89719343e-02 5.86156938e+02] [-1.80948597e-01 9.83489043e-01 2.62814018e-03 -3.02561061e+01] [ 1.91342928e-02 8.48677827e-04 9.99816562e-01 1.79567351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.640714057 meters Centerline goodness [0,1] 0.9842806724250023 Centerline is valid? [True, True] Translation: X:586.19, Y:-30.26, Z:1.80 [[ 9.83286235e-01 1.81071339e-01 -1.90092157e-02 5.86188825e+02] [-1.81054095e-01 9.83469599e-01 2.63857636e-03 -3.02635122e+01] [ 1.91727563e-02 8.47220529e-04 9.99815827e-01 1.79583022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6707140569999 meters Centerline goodness [0,1] 0.98339689331225 Centerline is valid? [True, True] Translation: X:586.22, Y:-30.27, Z:1.80 [[ 9.83513579e-01 1.79815000e-01 -1.91730360e-02 5.86220432e+02] [-1.79797122e-01 9.83700099e-01 2.66635559e-03 -3.02710937e+01] [ 1.93399682e-02 8.24859782e-04 9.99812625e-01 1.79536149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7007140569999 meters Centerline goodness [0,1] 0.9854094686712112 Centerline is valid? [True, True] Translation: X:586.25, Y:-30.28, Z:1.80 [[ 9.83702245e-01 1.78782530e-01 -1.91494391e-02 5.86251909e+02] [-1.78764408e-01 9.83888291e-01 2.66790112e-03 -3.02775311e+01] [ 1.93178830e-02 7.98817828e-04 9.99813073e-01 1.79569593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7307140569999 meters Centerline goodness [0,1] 0.9846218467785219 Centerline is valid? [True, True] Translation: X:586.28, Y:-30.29, Z:1.80 [[ 9.84015129e-01 1.77049991e-01 -1.91709726e-02 5.86282816e+02] [-1.77031406e-01 9.84201566e-01 2.67573230e-03 -3.02865633e+01] [ 1.93418396e-02 7.60903165e-04 9.99812640e-01 1.79660178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.760714057 meters Centerline goodness [0,1] 0.9838268632996003 Centerline is valid? [True, True] Translation: X:586.31, Y:-30.29, Z:1.80 [[ 9.84168794e-01 1.76238396e-01 -1.87566919e-02 5.86314417e+02] [-1.76220369e-01 9.84347247e-01 2.62262131e-03 -3.02949042e+01] [ 1.89253046e-02 7.24209130e-04 9.99820638e-01 1.79756746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.790714057 meters Centerline goodness [0,1] 0.9843793845290432 Centerline is valid? [True, True] Translation: X:586.34, Y:-30.30, Z:1.80 [[ 9.84258178e-01 1.75711338e-01 -1.90095820e-02 5.86344997e+02] [-1.75692637e-01 9.84441470e-01 2.66253406e-03 -3.02991459e+01] [ 1.91816583e-02 7.19222656e-04 9.99815756e-01 1.79738984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8207140569999 meters Centerline goodness [0,1] 0.9845803604956815 Centerline is valid? [True, True] Translation: X:586.38, Y:-30.31, Z:1.80 [[ 9.84362373e-01 1.75193385e-01 -1.83846686e-02 5.86375864e+02] [-1.75175719e-01 9.84533805e-01 2.57954315e-03 -3.03072325e+01] [ 1.85522467e-02 6.81342319e-04 9.99827660e-01 1.79832849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8507140569999 meters Centerline goodness [0,1] 0.9852340485468801 Centerline is valid? [True, True] Translation: X:586.41, Y:-30.31, Z:1.80 [[ 9.84738441e-01 1.73062140e-01 -1.84308958e-02 5.86406699e+02] [-1.73043924e-01 9.84910701e-01 2.59070910e-03 -3.03141787e+01] [ 1.86011402e-02 6.38183697e-04 9.99826780e-01 1.79792035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.880714057 meters Centerline goodness [0,1] 0.9856313703284258 Centerline is valid? [True, True] Translation: X:586.44, Y:-30.32, Z:1.80 [[ 9.85211487e-01 1.70291446e-01 -1.89512205e-02 5.86437359e+02] [-1.70271635e-01 9.85393557e-01 2.66595263e-03 -3.03237614e+01] [ 1.91283995e-02 6.00328145e-04 9.99816855e-01 1.79781594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.910714057 meters Centerline goodness [0,1] 0.986479778760016 Centerline is valid? [True, True] Translation: X:586.47, Y:-30.33, Z:1.80 [[ 9.85495059e-01 1.68622879e-01 -1.91262264e-02 5.86468635e+02] [-1.68602314e-01 9.85680476e-01 2.69432967e-03 -3.03305624e+01] [ 1.93066736e-02 5.69477453e-04 9.99813447e-01 1.79742050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9407140569999 meters Centerline goodness [0,1] 0.9871585282062217 Centerline is valid? [True, True] Translation: X:586.50, Y:-30.34, Z:1.80 [[ 9.86261959e-01 1.64140994e-01 -1.85763614e-02 5.86498702e+02] [-1.64120767e-01 9.86436778e-01 2.61862570e-03 -3.03414223e+01] [ 1.87542299e-02 4.66115761e-04 9.99824015e-01 1.79891254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9707140569999 meters Centerline goodness [0,1] 0.9881382523533327 Centerline is valid? [True, True] Translation: X:586.53, Y:-30.35, Z:1.80 [[ 9.86702838e-01 1.61499735e-01 -1.83124066e-02 5.86529606e+02] [-1.61479559e-01 9.86872672e-01 2.58488123e-03 -3.03483003e+01] [ 1.84894713e-02 4.06569706e-04 9.99828972e-01 1.79935012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.000714057 meters Centerline goodness [0,1] 0.9895830850277705 Centerline is valid? [True, True] Translation: X:586.56, Y:-30.36, Z:1.80 [[ 9.87563288e-01 1.56322182e-01 -1.67966760e-02 5.86559878e+02] [-1.56304428e-01 9.87706078e-01 2.37276859e-03 -3.03597617e+01] [ 1.69610954e-02 2.82135695e-04 9.99856110e-01 1.80124440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.030714057 meters Centerline goodness [0,1] 0.9907606874431519 Centerline is valid? [True, True] Translation: X:586.59, Y:-30.37, Z:1.80 [[ 9.88384099e-01 1.51156481e-01 -1.57667628e-02 5.86589648e+02] [-1.51140136e-01 9.88509831e-01 2.23002681e-03 -3.03695392e+01] [ 1.59226831e-02 1.78867638e-04 9.99873210e-01 1.80205288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0607140569999 meters Centerline goodness [0,1] 0.9907265407840506 Centerline is valid? [True, True] Translation: X:586.62, Y:-30.38, Z:1.80 [[ 9.88652017e-01 1.49414506e-01 -1.55722308e-02 5.86619805e+02] [-1.49398289e-01 9.88774638e-01 2.20610414e-03 -3.03763622e+01] [ 1.57270508e-02 1.45395336e-04 9.99876312e-01 1.80234500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0907140569999 meters Centerline goodness [0,1] 0.9919990418014133 Centerline is valid? [True, True] Translation: X:586.65, Y:-30.38, Z:1.80 [[ 9.89203178e-01 1.45735900e-01 -1.54311532e-02 5.86650082e+02] [-1.45719473e-01 9.89323527e-01 2.18963178e-03 -3.03845697e+01] [ 1.55855108e-02 8.26287858e-05 9.99878535e-01 1.80229237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.120714057 meters Centerline goodness [0,1] 0.9920266258021262 Centerline is valid? [True, True] Translation: X:586.68, Y:-30.39, Z:1.80 [[ 9.89392278e-01 1.44458750e-01 -1.53163059e-02 5.86680584e+02] [-1.44442374e-01 9.89510822e-01 2.17589496e-03 -3.03902905e+01] [ 1.54699775e-02 5.95099267e-05 9.99880331e-01 1.80173860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.150714057 meters Centerline goodness [0,1] 0.9925289145374872 Centerline is valid? [True, True] Translation: X:586.71, Y:-30.40, Z:1.80 [[ 9.89593588e-01 1.43049332e-01 -1.55376807e-02 5.86712731e+02] [-1.43032249e-01 9.89715559e-01 2.21099492e-03 -3.03976257e+01] [ 1.56941657e-02 3.44030102e-05 9.99876838e-01 1.80226283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1807140569999 meters Centerline goodness [0,1] 0.9926925104221572 Centerline is valid? [True, True] Translation: X:586.75, Y:-30.40, Z:1.80 [[ 9.89726933e-01 1.42108190e-01 -1.56799282e-02 5.86745214e+02] [-1.42090603e-01 9.89851131e-01 2.23567633e-03 -3.04034302e+01] [ 1.58385025e-02 1.52613772e-05 9.99874563e-01 1.80251966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2107140569999 meters Centerline goodness [0,1] 0.9932088692647341 Centerline is valid? [True, True] Translation: X:586.78, Y:-30.41, Z:1.80 [[ 9.89701648e-01 1.42278984e-01 -1.57269785e-02 5.86776592e+02] [-1.42261261e-01 9.89826596e-01 2.24570230e-03 -3.04079194e+01] [ 1.58864979e-02 1.47645245e-05 9.99873802e-01 1.80175202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.240714057 meters Centerline goodness [0,1] 0.9924866175376269 Centerline is valid? [True, True] Translation: X:586.81, Y:-30.41, Z:1.80 [[ 9.89718895e-01 1.42162062e-01 -1.56989572e-02 5.86807757e+02] [-1.42144329e-01 9.89843396e-01 2.24532429e-03 -3.04119756e+01] [ 1.58587091e-02 9.27787205e-06 9.99874243e-01 1.80124632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.270714057 meters Centerline goodness [0,1] 0.9927771931502918 Centerline is valid? [True, True] Translation: X:586.84, Y:-30.42, Z:1.80 [[ 9.89667689e-01 1.42508686e-01 -1.57841585e-02 5.86840424e+02] [-1.42490735e-01 9.89793551e-01 2.26187937e-03 -3.04154510e+01] [ 1.59453957e-02 1.05874160e-05 9.99872864e-01 1.80161224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3007140569999 meters Centerline goodness [0,1] 0.9926813517973739 Centerline is valid? [True, True] Translation: X:586.87, Y:-30.42, Z:1.80 [[ 9.89476016e-01 1.43918533e-01 -1.49889917e-02 5.86873201e+02] [-1.43902444e-01 9.89589539e-01 2.15210797e-03 -3.04186924e+01] [ 1.51426776e-02 2.74933242e-05 9.99885343e-01 1.80212522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3307140569999 meters Centerline goodness [0,1] 0.9921740790227143 Centerline is valid? [True, True] Translation: X:586.90, Y:-30.42, Z:1.80 [[ 9.89325338e-01 1.44968660e-01 -1.48142848e-02 5.86904450e+02] [-1.44953002e-01 9.89436247e-01 2.13100875e-03 -3.04221428e+01] [ 1.49667199e-02 3.91141054e-05 9.99887992e-01 1.80224496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.360714057 meters Centerline goodness [0,1] 0.9915739724065499 Centerline is valid? [True, True] Translation: X:586.94, Y:-30.42, Z:1.80 [[ 9.88887059e-01 1.47882135e-01 -1.52727987e-02 5.86936189e+02] [-1.47865779e-01 9.89004989e-01 2.20086740e-03 -3.04242053e+01] [ 1.54303431e-02 8.19149948e-05 9.99880942e-01 1.80287351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.390714057 meters Centerline goodness [0,1] 0.9912807318467696 Centerline is valid? [True, True] Translation: X:586.97, Y:-30.43, Z:1.80 [[ 9.88620740e-01 1.49698699e-01 -1.48098397e-02 5.86968078e+02] [-1.49683467e-01 9.88731657e-01 2.13793233e-03 -3.04273403e+01] [ 1.49630030e-02 1.03183906e-04 9.99888043e-01 1.80229464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4207140569999 meters Centerline goodness [0,1] 0.9906801365964713 Centerline is valid? [True, True] Translation: X:587.00, Y:-30.43, Z:1.80 [[ 9.87941194e-01 1.54082429e-01 -1.51922010e-02 5.87000363e+02] [-1.54066859e-01 9.88057982e-01 2.19700671e-03 -3.04285893e+01] [ 1.53492956e-02 1.70101256e-04 9.99882178e-01 1.80229530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4507140569999 meters Centerline goodness [0,1] 0.9897658735812319 Centerline is valid? [True, True] Translation: X:587.03, Y:-30.43, Z:1.80 [[ 9.87558186e-01 1.56529139e-01 -1.50816804e-02 5.87032566e+02] [-1.56514023e-01 9.87673320e-01 2.18474995e-03 -3.04312828e+01] [ 1.52377504e-02 2.02926766e-04 9.99883878e-01 1.80199810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4807140569999 meters Centerline goodness [0,1] 0.9890217184225567 Centerline is valid? [True, True] Translation: X:587.06, Y:-30.43, Z:1.80 [[ 9.86781106e-01 1.61372537e-01 -1.48980792e-02 5.87064261e+02] [-1.61358285e-01 9.86893526e-01 2.16168472e-03 -3.04323771e+01] [ 1.50516544e-02 2.70818866e-04 9.99886681e-01 1.80194791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.510714057 meters Centerline goodness [0,1] 0.9886790657850926 Centerline is valid? [True, True] Translation: X:587.10, Y:-30.44, Z:1.80 [[ 9.86275600e-01 1.64384691e-01 -1.54309229e-02 5.87096445e+02] [-1.64369710e-01 9.86396253e-01 2.24282555e-03 -3.04354282e+01] [ 1.55896907e-02 3.24332193e-04 9.99878421e-01 1.80253054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.540714057 meters Centerline goodness [0,1] 0.9873081393969587 Centerline is valid? [True, True] Translation: X:587.13, Y:-30.43, Z:1.80 [[ 9.85466579e-01 1.69138649e-01 -1.57396979e-02 5.87127115e+02] [-1.69123646e-01 9.85592184e-01 2.28907981e-03 -3.04331101e+01] [ 1.59000951e-02 4.06143454e-04 9.99873503e-01 1.80121928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5707140569999 meters Centerline goodness [0,1] 0.9862604823044487 Centerline is valid? [True, True] Translation: X:587.16, Y:-30.44, Z:1.80 [[ 9.84669779e-01 1.73692222e-01 -1.60137148e-02 5.87158389e+02] [-1.73677287e-01 9.84799865e-01 2.32932195e-03 -3.04350462e+01] [ 1.61748893e-02 4.87605604e-04 9.99869059e-01 1.80138608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6007140569999 meters Centerline goodness [0,1] 0.9857409728298139 Centerline is valid? [True, True] Translation: X:587.19, Y:-30.44, Z:1.80 [[ 9.84182302e-01 1.76417110e-01 -1.61926051e-02 5.87189434e+02] [-1.76402198e-01 9.84315353e-01 2.35590765e-03 -3.04350387e+01] [ 1.63542522e-02 5.37768528e-04 9.99866116e-01 1.79994041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.630714057 meters Centerline goodness [0,1] 0.9852413337111552 Centerline is valid? [True, True] Translation: X:587.22, Y:-30.44, Z:1.80 [[ 9.83472083e-01 1.80356976e-01 -1.59381219e-02 5.87220032e+02] [-1.80343037e-01 9.83601042e-01 2.31944621e-03 -3.04410082e+01] [ 1.60950816e-02 5.93218717e-04 9.99870290e-01 1.80119398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.660714057 meters Centerline goodness [0,1] 0.9863861971165209 Centerline is valid? [True, True] Translation: X:587.25, Y:-30.44, Z:1.80 [[ 9.83196350e-01 1.81846844e-01 -1.60206687e-02 5.87252219e+02] [-1.81832910e-01 9.83326672e-01 2.33438040e-03 -3.04447725e+01] [ 1.61780506e-02 6.17930524e-04 9.99868936e-01 1.80231217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6907140569999 meters Centerline goodness [0,1] 0.9839680778221142 Centerline is valid? [True, True] Translation: X:587.28, Y:-30.45, Z:1.80 [[ 9.82754872e-01 1.84251486e-01 -1.56285804e-02 5.87283179e+02] [-1.84238470e-01 9.82878926e-01 2.28096875e-03 -3.04463669e+01] [ 1.57812742e-02 6.37752581e-04 9.99875265e-01 1.80264098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7207140569999 meters Centerline goodness [0,1] 0.9849894642138409 Centerline is valid? [True, True] Translation: X:587.31, Y:-30.45, Z:1.80 [[ 9.82563334e-01 1.85281303e-01 -1.54962348e-02 5.87314145e+02] [-1.85268575e-01 9.82685312e-01 2.26545177e-03 -3.04536780e+01] [ 1.56476682e-02 6.45015498e-04 9.99877360e-01 1.80373751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.750714057 meters Centerline goodness [0,1] 0.9846736941845315 Centerline is valid? [True, True] Translation: X:587.35, Y:-30.46, Z:1.80 [[ 9.82335746e-01 1.86458134e-01 -1.58065266e-02 5.87345039e+02] [-1.86444983e-01 9.82462677e-01 2.31461847e-03 -3.04580714e+01] [ 1.59609019e-02 6.73315116e-04 9.99872390e-01 1.80390834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.780714057 meters Centerline goodness [0,1] 0.9845423245874392 Centerline is valid? [True, True] Translation: X:587.38, Y:-30.46, Z:1.80 [[ 9.82098507e-01 1.87638187e-01 -1.65660338e-02 5.87376437e+02] [-1.87623841e-01 9.82237950e-01 2.42995558e-03 -3.04648719e+01] [ 1.67277395e-02 7.21727129e-04 9.99859821e-01 1.80394793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8107140569999 meters Centerline goodness [0,1] 0.9844948316105369 Centerline is valid? [True, True] Translation: X:587.41, Y:-30.47, Z:1.80 [[ 9.81944757e-01 1.88390515e-01 -1.71320528e-02 5.87408305e+02] [-1.88375210e-01 9.82093908e-01 2.51732862e-03 -3.04708361e+01] [ 1.72995255e-02 7.55376397e-04 9.99850067e-01 1.80393080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8407140569999 meters Centerline goodness [0,1] 0.9827619138573203 Centerline is valid? [True, True] Translation: X:587.44, Y:-30.47, Z:1.80 [[ 9.81800951e-01 1.89112476e-01 -1.74173461e-02 5.87439290e+02] [-1.89096694e-01 9.81955125e-01 2.56361500e-03 -3.04714011e+01] [ 1.75878639e-02 7.76602920e-04 9.99845020e-01 1.80205098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.870714057 meters Centerline goodness [0,1] 0.9827619138573203 Centerline is valid? [True, True] Translation: X:587.47, Y:-30.48, Z:1.80 [[ 9.81750867e-01 1.89372367e-01 -1.74166832e-02 5.87471365e+02] [-1.89356546e-01 9.81905038e-01 2.56811341e-03 -3.04762300e+01] [ 1.75878587e-02 7.76715408e-04 9.99845020e-01 1.80222306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.900714057 meters Centerline goodness [0,1] 0.9857235095774446 Centerline is valid? [True, True] Translation: X:587.50, Y:-30.49, Z:1.80 [[ 9.81659422e-01 1.89749896e-01 -1.84324593e-02 5.87501950e+02] [-1.89732151e-01 9.81832113e-01 2.72276609e-03 -3.04894257e+01] [ 1.86142251e-02 8.24401171e-04 9.99826400e-01 1.80430012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9307140569999 meters Centerline goodness [0,1] 0.9842886657377601 Centerline is valid? [True, True] Translation: X:587.53, Y:-30.49, Z:1.80 [[ 9.81645848e-01 1.89742184e-01 -1.92180247e-02 5.87533744e+02] [-1.89722793e-01 9.81833577e-01 2.84398340e-03 -3.04928957e+01] [ 1.94085255e-02 8.54312814e-04 9.99811272e-01 1.80245390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9607140569999 meters Centerline goodness [0,1] 0.9849428743235117 Centerline is valid? [True, True] Translation: X:587.57, Y:-30.50, Z:1.80 [[ 9.81619858e-01 1.89859988e-01 -1.93814175e-02 5.87565244e+02] [-1.89840182e-01 9.81810800e-01 2.87360268e-03 -3.05016963e+01] [ 1.95744672e-02 8.58586364e-04 9.99808033e-01 1.80310287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.990714057 meters Centerline goodness [0,1] 0.9841637139344855 Centerline is valid? [True, True] Translation: X:587.60, Y:-30.51, Z:1.80 [[ 9.81631416e-01 1.89718998e-01 -2.01609943e-02 5.87597334e+02] [-1.89697419e-01 9.81838031e-01 2.99498696e-03 -3.05082812e+01] [ 2.03630369e-02 8.84515300e-04 9.99792261e-01 1.80295454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.020714057 meters Centerline goodness [0,1] 0.9851545093480577 Centerline is valid? [True, True] Translation: X:587.63, Y:-30.52, Z:1.80 [[ 9.81816333e-01 1.88757827e-01 -2.01784960e-02 5.87628495e+02] [-1.88735902e-01 9.82023290e-01 3.00280777e-03 -3.05182045e+01] [ 2.03825565e-02 8.60200922e-04 9.99791884e-01 1.80301016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0507140569999 meters Centerline goodness [0,1] 0.9847913371456382 Centerline is valid? [True, True] Translation: X:587.66, Y:-30.53, Z:1.80 [[ 9.82051625e-01 1.87532963e-01 -2.01492572e-02 5.87659043e+02] [-1.87510743e-01 9.82257960e-01 3.00341195e-03 -3.05274052e+01] [ 2.03550071e-02 8.28696595e-04 9.99792472e-01 1.80386372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0807140569999 meters Centerline goodness [0,1] 0.9857380091823776 Centerline is valid? [True, True] Translation: X:587.69, Y:-30.54, Z:1.81 [[ 9.82595501e-01 1.84857410e-01 -1.82707109e-02 5.87688462e+02] [-1.84838652e-01 9.82765103e-01 2.72479069e-03 -3.05367963e+01] [ 1.84595148e-02 6.99766491e-04 9.99829364e-01 1.80583258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.110714057 meters Centerline goodness [0,1] 0.9851951547779273 Centerline is valid? [True, True] Translation: X:587.72, Y:-30.54, Z:1.81 [[ 9.82741475e-01 1.84132398e-01 -1.77328529e-02 5.87718765e+02] [-1.84114559e-01 9.82901226e-01 2.64745733e-03 -3.05423263e+01] [ 1.79171256e-02 6.63110270e-04 9.99839256e-01 1.80620474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.140714057 meters Centerline goodness [0,1] 0.9864565377985718 Centerline is valid? [True, True] Translation: X:587.75, Y:-30.56, Z:1.81 [[ 9.82928565e-01 1.83178559e-01 -1.72351832e-02 5.87749202e+02] [-1.83161488e-01 9.83079461e-01 2.57731036e-03 -3.05564949e+01] [ 1.74156626e-02 6.23509824e-04 9.99848141e-01 1.80966591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1707140569999 meters Centerline goodness [0,1] 0.9855022351749858 Centerline is valid? [True, True] Translation: X:587.78, Y:-30.56, Z:1.81 [[ 9.83025720e-01 1.82657615e-01 -1.72229537e-02 5.87780052e+02] [-1.82640418e-01 9.83176395e-01 2.57957277e-03 -3.05586135e+01] [ 1.74043801e-02 6.09821074e-04 9.99848346e-01 1.80814214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2007140569999 meters Centerline goodness [0,1] 0.9859779511953425 Centerline is valid? [True, True] Translation: X:587.81, Y:-30.57, Z:1.81 [[ 9.83213383e-01 1.81589663e-01 -1.77943390e-02 5.87810654e+02] [-1.81571053e-01 9.83374205e-01 2.66945830e-03 -3.05689669e+01] [ 1.79832400e-02 6.06289752e-04 9.99838105e-01 1.80875904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2307140569999 meters Centerline goodness [0,1] 0.9854835107570907 Centerline is valid? [True, True] Translation: X:587.84, Y:-30.58, Z:1.81 [[ 9.83298946e-01 1.81094357e-01 -1.81112323e-02 5.87842430e+02] [-1.81074913e-01 9.83465541e-01 2.72141626e-03 -3.05753904e+01] [ 1.83046060e-02 6.03524080e-04 9.99832275e-01 1.80851921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.260714057 meters Centerline goodness [0,1] 0.9845881884274474 Centerline is valid? [True, True] Translation: X:587.87, Y:-30.58, Z:1.81 [[ 9.83515037e-01 1.79817231e-01 -1.90770888e-02 5.87872775e+02] [-1.79795356e-01 9.83699850e-01 2.86979922e-03 -3.05823650e+01] [ 1.92821687e-02 6.07481283e-04 9.99813897e-01 1.80662087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.290714057 meters Centerline goodness [0,1] 0.9869496737418435 Centerline is valid? [True, True] Translation: X:587.90, Y:-30.60, Z:1.81 [[ 9.83912780e-01 1.77506620e-01 -2.01752769e-02 5.87903694e+02] [-1.77481610e-01 9.84119429e-01 3.03781739e-03 -3.05956399e+01] [ 2.03941147e-02 5.91793284e-04 9.99791843e-01 1.80800429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3207140569999 meters Centerline goodness [0,1] 0.9867640803663023 Centerline is valid? [True, True] Translation: X:587.93, Y:-30.60, Z:1.81 [[ 9.84074801e-01 1.76552888e-01 -2.06364415e-02 5.87933837e+02] [-1.76526451e-01 9.84290983e-01 3.11019997e-03 -3.06015786e+01] [ 2.08613781e-02 5.82208375e-04 9.99782208e-01 1.80839820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3507140569999 meters Centerline goodness [0,1] 0.9871549947212307 Centerline is valid? [True, True] Translation: X:587.96, Y:-30.61, Z:1.81 [[ 9.84413857e-01 1.74616044e-01 -2.09426485e-02 5.87964825e+02] [-1.74588280e-01 9.84636451e-01 3.16101650e-03 -3.06103614e+01] [ 2.11728593e-02 5.44592530e-04 9.99775682e-01 1.80913857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.380714057 meters Centerline goodness [0,1] 0.9883074756720058 Centerline is valid? [True, True] Translation: X:588.00, Y:-30.62, Z:1.81 [[ 9.84662307e-01 1.73286980e-01 -2.02919606e-02 5.87995617e+02] [-1.73260536e-01 9.84871249e-01 3.06749784e-03 -3.06160397e+01] [ 2.05165260e-02 4.95346453e-04 9.99789391e-01 1.80932221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.410714057 meters Centerline goodness [0,1] 0.9886967248193742 Centerline is valid? [True, True] Translation: X:588.03, Y:-30.62, Z:1.81 [[ 9.85109122e-01 1.70805138e-01 -1.96372884e-02 5.88027382e+02] [-1.70779831e-01 9.85304736e-01 2.97097452e-03 -3.06241791e+01] [ 1.98561709e-02 4.26918687e-04 9.99802756e-01 1.81089159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4407140569999 meters Centerline goodness [0,1] 0.9878644443325444 Centerline is valid? [True, True] Translation: X:588.06, Y:-30.63, Z:1.81 [[ 9.85270795e-01 1.69939982e-01 -1.90226815e-02 5.88058034e+02] [-1.69916004e-01 9.85454336e-01 2.88162358e-03 -3.06287155e+01] [ 1.92356870e-02 3.93078461e-04 9.99814900e-01 1.81062417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4707140569999 meters Centerline goodness [0,1] 0.9888073810784239 Centerline is valid? [True, True] Translation: X:588.09, Y:-30.64, Z:1.81 [[ 9.85376326e-01 1.69341178e-01 -1.88960770e-02 5.88089813e+02] [-1.69317318e-01 9.85557419e-01 2.86710570e-03 -3.06353849e+01] [ 1.91086879e-02 3.74254999e-04 9.99817342e-01 1.81288768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.500714057 meters Centerline goodness [0,1] 0.9884217400040185 Centerline is valid? [True, True] Translation: X:588.12, Y:-30.64, Z:1.81 [[ 9.85278298e-01 1.69862990e-01 -1.93194296e-02 5.88121147e+02] [-1.69838059e-01 9.85467612e-01 2.93597756e-03 -3.06370568e+01] [ 1.95373860e-02 3.88419444e-04 9.99809052e-01 1.81251138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.530714057 meters Centerline goodness [0,1] 0.9892626878402448 Centerline is valid? [True, True] Translation: X:588.15, Y:-30.64, Z:1.81 [[ 9.85082202e-01 1.70952130e-01 -1.97084653e-02 5.88151844e+02] [-1.70926313e-01 9.85279249e-01 2.99962984e-03 -3.06398834e+01] [ 1.99311350e-02 4.13813341e-04 9.99801270e-01 1.81210997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5607140569999 meters Centerline goodness [0,1] 0.9880994049702485 Centerline is valid? [True, True] Translation: X:588.18, Y:-30.64, Z:1.81 [[ 9.84614945e-01 1.73564608e-01 -2.02172594e-02 5.88184209e+02] [-1.73537890e-01 9.84822371e-01 3.08194762e-03 -3.06405642e+01] [ 2.04453264e-02 4.73928847e-04 9.99790860e-01 1.81165250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5907140569999 meters Centerline goodness [0,1] 0.9877063488105331 Centerline is valid? [True, True] Translation: X:588.22, Y:-30.64, Z:1.81 [[ 9.84331977e-01 1.75129818e-01 -2.04964660e-02 5.88215550e+02] [-1.75102598e-01 9.84545219e-01 3.12924631e-03 -3.06430069e+01] [ 2.07277219e-02 5.08767248e-04 9.99785028e-01 1.81135607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.620714057 meters Centerline goodness [0,1] 0.9877746367108069 Centerline is valid? [True, True] Translation: X:588.25, Y:-30.64, Z:1.81 [[ 9.83863499e-01 1.77653316e-01 -2.12582984e-02 5.88247915e+02] [-1.77624573e-01 9.84092964e-01 3.24788704e-03 -3.06432839e+01] [ 2.14971398e-02 5.80518680e-04 9.99768741e-01 1.81082964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.650714057 meters Centerline goodness [0,1] 0.9877864486560138 Centerline is valid? [True, True] Translation: X:588.28, Y:-30.65, Z:1.81 [[ 9.83629813e-01 1.78883750e-01 -2.17484530e-02 5.88279570e+02] [-1.78853868e-01 9.83870024e-01 3.32722874e-03 -3.06469209e+01] [ 2.19928381e-02 6.17033571e-04 9.99757938e-01 1.81082185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6807140569999 meters Centerline goodness [0,1] 0.9860366260534316 Centerline is valid? [True, True] Translation: X:588.31, Y:-30.64, Z:1.81 [[ 9.83181142e-01 1.81244549e-01 -2.24779050e-02 5.88311631e+02] [-1.81213125e-01 9.83437818e-01 3.44410016e-03 -3.06440249e+01] [ 2.27298463e-02 6.87117099e-04 9.99741408e-01 1.80674054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7107140569999 meters Centerline goodness [0,1] 0.9865124765755992 Centerline is valid? [True, True] Translation: X:588.34, Y:-30.65, Z:1.81 [[ 9.83074689e-01 1.81776456e-01 -2.28358467e-02 5.88343494e+02] [-1.81744040e-01 9.83339627e-01 3.50447758e-03 -3.06502103e+01] [ 2.30924245e-02 7.05115829e-04 9.99733086e-01 1.80818972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.740714057 meters Centerline goodness [0,1] 0.9867844662105626 Centerline is valid? [True, True] Translation: X:588.38, Y:-30.65, Z:1.81 [[ 9.82820095e-01 1.83186169e-01 -2.25275228e-02 5.88375066e+02] [-1.83154911e-01 9.83077974e-01 3.46067156e-03 -3.06526591e+01] [ 2.27802586e-02 7.24808886e-04 9.99740233e-01 1.80897167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.770714057 meters Centerline goodness [0,1] 0.9862280594083712 Centerline is valid? [True, True] Translation: X:588.41, Y:-30.66, Z:1.81 [[ 9.82705535e-01 1.83939296e-01 -2.13580446e-02 5.88407471e+02] [-1.83911262e-01 9.82937357e-01 3.28634196e-03 -3.06595546e+01] [ 2.15981073e-02 6.98478498e-04 9.99766490e-01 1.81200012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8007140569999 meters Centerline goodness [0,1] 0.9866551978373065 Centerline is valid? [True, True] Translation: X:588.44, Y:-30.66, Z:1.81 [[ 9.82747237e-01 1.83809933e-01 -2.05372226e-02 5.88439190e+02] [-1.83783880e-01 9.82961580e-01 3.16508518e-03 -3.06604447e+01] [ 2.07690749e-02 6.63931754e-04 9.99784079e-01 1.81115442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8307140569999 meters Centerline goodness [0,1] 0.9868785716037574 Centerline is valid? [True, True] Translation: X:588.47, Y:-30.67, Z:1.81 [[ 9.82730203e-01 1.83982379e-01 -1.97947783e-02 5.88470340e+02] [-1.83958113e-01 9.82929334e-01 3.05552750e-03 -3.06674233e+01] [ 2.00190314e-02 6.38650891e-04 9.99799395e-01 1.81413163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.860714057 meters Centerline goodness [0,1] 0.9874530409801852 Centerline is valid? [True, True] Translation: X:588.50, Y:-30.67, Z:1.81 [[ 9.82762406e-01 1.83900905e-01 -1.89343667e-02 5.88502218e+02] [-1.83878597e-01 9.82944603e-01 2.92746474e-03 -3.06721654e+01] [ 1.91497970e-02 6.04622492e-04 9.99816443e-01 1.81475600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.890714057 meters Centerline goodness [0,1] 0.9868829992903115 Centerline is valid? [True, True] Translation: X:588.53, Y:-30.67, Z:1.81 [[ 9.82800078e-01 1.83749242e-01 -1.84451053e-02 5.88533068e+02] [-1.83727963e-01 9.82972979e-01 2.85622570e-03 -3.06749365e+01] [ 1.86558694e-02 5.81782787e-04 9.99825795e-01 1.81480397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9207140569999 meters Centerline goodness [0,1] 0.9864032084515308 Centerline is valid? [True, True] Translation: X:588.57, Y:-30.68, Z:1.82 [[ 9.82705544e-01 1.84217031e-01 -1.88122198e-02 5.88565764e+02] [-1.84194884e-01 9.82885410e-01 2.91822112e-03 -3.06802884e+01] [ 1.90278424e-02 5.97362575e-04 9.99818776e-01 1.81565571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9507140569999 meters Centerline goodness [0,1] 0.9856273373909218 Centerline is valid? [True, True] Translation: X:588.60, Y:-30.68, Z:1.81 [[ 9.82467900e-01 1.85464207e-01 -1.89698121e-02 5.88596731e+02] [-1.85441839e-01 9.82650823e-01 2.94685351e-03 -3.06803432e+01] [ 1.91872374e-02 6.22607875e-04 9.99815714e-01 1.81447163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9807140569999 meters Centerline goodness [0,1] 0.9856230810468346 Centerline is valid? [True, True] Translation: X:588.63, Y:-30.69, Z:1.82 [[ 9.82280433e-01 1.86409519e-01 -1.94072963e-02 5.88627825e+02] [-1.86386201e-01 9.82471917e-01 3.01942105e-03 -3.06862468e+01] [ 1.96299725e-02 6.51334022e-04 9.99807101e-01 1.81513080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.010714057 meters Centerline goodness [0,1] 0.9841099890497628 Centerline is valid? [True, True] Translation: X:588.66, Y:-30.68, Z:1.81 [[ 9.81927691e-01 1.88149685e-01 -2.04378674e-02 5.88659224e+02] [-1.88124134e-01 9.82140101e-01 3.18304646e-03 -3.06838451e+01] [ 2.06717384e-02 7.19334647e-04 9.99786058e-01 1.81149621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.040714057 meters Centerline goodness [0,1] 0.9857239808037229 Centerline is valid? [True, True] Translation: X:588.69, Y:-30.69, Z:1.81 [[ 9.81595951e-01 1.89769746e-01 -2.13736193e-02 5.88690509e+02] [-1.89742082e-01 9.81828310e-01 3.33350960e-03 -3.06900530e+01] [ 2.16178238e-02 7.83315492e-04 9.99766001e-01 1.81197925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0707140569999 meters Centerline goodness [0,1] 0.9856924235431292 Centerline is valid? [True, True] Translation: X:588.72, Y:-30.69, Z:1.81 [[ 9.81488159e-01 1.90321449e-01 -2.14182187e-02 5.88723295e+02] [-1.90293671e-01 9.81721508e-01 3.34645204e-03 -3.06948716e+01] [ 2.16636276e-02 7.91248412e-04 9.99765003e-01 1.81235346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1007140569999 meters Centerline goodness [0,1] 0.9847287535754109 Centerline is valid? [True, True] Translation: X:588.76, Y:-30.70, Z:1.81 [[ 9.81585686e-01 1.89891019e-01 -2.07591366e-02 5.88755243e+02] [-1.89864715e-01 9.81804886e-01 3.24886339e-03 -3.06992353e+01] [ 2.09983517e-02 7.52389752e-04 9.99779227e-01 1.81269441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.130714057 meters Centerline goodness [0,1] 0.9837520613056553 Centerline is valid? [True, True] Translation: X:588.79, Y:-30.70, Z:1.81 [[ 9.81648224e-01 1.89612434e-01 -2.03442875e-02 5.88785881e+02] [-1.89587012e-01 9.81858746e-01 3.18875930e-03 -3.07031092e+01] [ 2.05798451e-02 7.26772788e-04 9.99787948e-01 1.81319000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.160714057 meters Centerline goodness [0,1] 0.98571463278346 Centerline is valid? [True, True] Translation: X:588.82, Y:-30.71, Z:1.82 [[ 9.82108531e-01 1.87368597e-01 -1.88637868e-02 5.88816845e+02] [-1.87346287e-01 9.82289476e-01 2.95883019e-03 -3.07111316e+01] [ 1.90840911e-02 6.28168040e-04 9.99817685e-01 1.81516366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1907140569999 meters Centerline goodness [0,1] 0.9861364022628499 Centerline is valid? [True, True] Translation: X:588.85, Y:-30.72, Z:1.81 [[ 9.82282341e-01 1.86402276e-01 -1.93802349e-02 5.88847119e+02] [-1.86378467e-01 9.82473310e-01 3.04353967e-03 -3.07163873e+01] [ 1.96078862e-02 6.22443196e-04 9.99807553e-01 1.81479238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2207140569999 meters Centerline goodness [0,1] 0.9868341147035247 Centerline is valid? [True, True] Translation: X:588.88, Y:-30.72, Z:1.81 [[ 9.82767224e-01 1.83747322e-01 -2.01371401e-02 5.88878805e+02] [-1.83721006e-01 9.82973334e-01 3.16502751e-03 -3.07241058e+01] [ 2.03758371e-02 5.89130339e-04 9.99792218e-01 1.81402108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.250714057 meters Centerline goodness [0,1] 0.986471031948804 Centerline is valid? [True, True] Translation: X:588.91, Y:-30.73, Z:1.81 [[ 9.83117846e-01 1.81705318e-01 -2.15052957e-02 5.88910027e+02] [-1.81674716e-01 9.83352857e-01 3.38464517e-03 -3.07291996e+01] [ 2.17623020e-02 5.79463415e-04 9.99763005e-01 1.81171904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.280714057 meters Centerline goodness [0,1] 0.9872213026969137 Centerline is valid? [True, True] Translation: X:588.94, Y:-30.73, Z:1.81 [[ 9.83340975e-01 1.80483949e-01 -2.15886868e-02 5.88940763e+02] [-1.80452705e-01 9.83577776e-01 3.40279453e-03 -3.07348587e+01] [ 2.18483024e-02 5.49629654e-04 9.99761146e-01 1.81126274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3107140569999 meters Centerline goodness [0,1] 0.9866968788831226 Centerline is valid? [True, True] Translation: X:588.97, Y:-30.74, Z:1.81 [[ 9.83660190e-01 1.78716304e-01 -2.17511507e-02 5.88971455e+02] [-1.78684039e-01 9.83900515e-01 3.43375260e-03 -3.07442535e+01] [ 2.20146359e-02 5.08937703e-04 9.99757519e-01 1.81292805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3407140569999 meters Centerline goodness [0,1] 0.9877638570662507 Centerline is valid? [True, True] Translation: X:589.00, Y:-30.75, Z:1.81 [[ 9.83911160e-01 1.77457958e-01 -2.06761481e-02 5.89002787e+02] [-1.77428417e-01 9.84128279e-01 3.26922094e-03 -3.07512828e+01] [ 2.09281313e-02 4.51913272e-04 9.99780881e-01 1.81403842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.370714057 meters Centerline goodness [0,1] 0.9878560280920796 Centerline is valid? [True, True] Translation: X:589.03, Y:-30.76, Z:1.82 [[ 9.84343828e-01 1.75271226e-01 -1.86340062e-02 5.89033668e+02] [-1.75246755e-01 9.84520120e-01 2.95089254e-03 -3.07570178e+01] [ 1.88627605e-02 3.60856249e-04 9.99822017e-01 1.81526998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.400714057 meters Centerline goodness [0,1] 0.987634710784194 Centerline is valid? [True, True] Translation: X:589.07, Y:-30.76, Z:1.82 [[ 9.84446712e-01 1.74816538e-01 -1.74312472e-02 5.89065259e+02] [-1.74794979e-01 9.84600971e-01 2.76462561e-03 -3.07631544e+01] [ 1.76461252e-02 3.25267880e-04 9.99844242e-01 1.81709669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4307140569999 meters Centerline goodness [0,1] 0.9889230468940614 Centerline is valid? [True, True] Translation: X:589.10, Y:-30.77, Z:1.82 [[ 9.84446109e-01 1.74920235e-01 -1.63941987e-02 5.89096505e+02] [-1.74901113e-01 9.84582561e-01 2.60415414e-03 -3.07699722e+01] [ 1.65969614e-02 3.03714183e-04 9.99862215e-01 1.81974674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4607140569999 meters Centerline goodness [0,1] 0.989075979373885 Centerline is valid? [True, True] Translation: X:589.13, Y:-30.77, Z:1.82 [[ 9.84379153e-01 1.75307802e-01 -1.62744339e-02 5.89128281e+02] [-1.75288941e-01 9.84513627e-01 2.58939165e-03 -3.07736763e+01] [ 1.64763426e-02 3.03785130e-04 9.99864210e-01 1.81945572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.490714057 meters Centerline goodness [0,1] 0.9891657903103525 Centerline is valid? [True, True] Translation: X:589.16, Y:-30.78, Z:1.82 [[ 9.84246411e-01 1.76045090e-01 -1.63440848e-02 5.89160944e+02] [-1.76026092e-01 9.84382054e-01 2.60509187e-03 -3.07807020e+01] [ 1.65474374e-02 3.12933056e-04 9.99863033e-01 1.82057384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.520714057 meters Centerline goodness [0,1] 0.9892078408340064 Centerline is valid? [True, True] Translation: X:589.19, Y:-30.79, Z:1.82 [[ 9.84289315e-01 1.75827889e-01 -1.60965403e-02 5.89192752e+02] [-1.75809364e-01 9.84420877e-01 2.56987081e-03 -3.07861294e+01] [ 1.62976252e-02 3.00426136e-04 9.99867140e-01 1.82123367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5507140569999 meters Centerline goodness [0,1] 0.9889416254831922 Centerline is valid? [True, True] Translation: X:589.22, Y:-30.79, Z:1.82 [[ 9.84365446e-01 1.75454721e-01 -1.55018993e-02 5.89224657e+02] [-1.75437433e-01 9.84487462e-01 2.47877472e-03 -3.07915893e+01] [ 1.56963382e-02 2.79593239e-04 9.99876766e-01 1.82143031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5807140569999 meters Centerline goodness [0,1] 0.9900866500220297 Centerline is valid? [True, True] Translation: X:589.26, Y:-30.80, Z:1.82 [[ 9.84602224e-01 1.74178134e-01 -1.48471475e-02 5.89256172e+02] [-1.74162076e-01 9.84714130e-01 2.37777059e-03 -3.07981362e+01] [ 1.50343515e-02 2.44651808e-04 9.99886948e-01 1.82194310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.610714057 meters Centerline goodness [0,1] 0.9909126537010728 Centerline is valid? [True, True] Translation: X:589.29, Y:-30.80, Z:1.82 [[ 9.84729235e-01 1.73468470e-01 -1.47317118e-02 5.89287411e+02] [-1.73452525e-01 9.84839397e-01 2.36301091e-03 -3.08035023e+01] [ 1.49182781e-02 2.28326694e-04 9.99888690e-01 1.82239794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.640714057 meters Centerline goodness [0,1] 0.9901862656543711 Centerline is valid? [True, True] Translation: X:589.32, Y:-30.81, Z:1.82 [[ 9.84932648e-01 1.72244122e-01 -1.54803248e-02 5.89318278e+02] [-1.72226305e-01 9.85054270e-01 2.48687292e-03 -3.08089516e+01] [ 1.56773093e-02 2.16716806e-04 9.99877080e-01 1.82149576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6707140569999 meters Centerline goodness [0,1] 0.9913729719131416 Centerline is valid? [True, True] Translation: X:589.35, Y:-30.81, Z:1.82 [[ 9.84991251e-01 1.71881362e-01 -1.57807910e-02 5.89350579e+02] [-1.71862732e-01 9.85117634e-01 2.53934769e-03 -3.08144275e+01] [ 1.59824020e-02 2.10894588e-04 9.99872251e-01 1.82157748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7007140569999 meters Centerline goodness [0,1] 0.9917160923484143 Centerline is valid? [True, True] Translation: X:589.38, Y:-30.82, Z:1.82 [[ 9.85056451e-01 1.71463212e-01 -1.62528552e-02 5.89383153e+02] [-1.71443317e-01 9.85190502e-01 2.61998933e-03 -3.08202129e+01] [ 1.64613904e-02 2.05606017e-04 9.99864481e-01 1.82143285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7307140569999 meters Centerline goodness [0,1] 0.9910243902439024 Centerline is valid? [True, True] Translation: X:589.41, Y:-30.82, Z:1.82 [[ 9.85150585e-01 1.70932228e-01 -1.61399638e-02 5.89413859e+02] [-1.70912472e-01 9.85282770e-01 2.60579393e-03 -3.08239923e+01] [ 1.63478424e-02 1.91421694e-04 9.99866347e-01 1.82123736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.760714057 meters Centerline goodness [0,1] 0.9916162994735815 Centerline is valid? [True, True] Translation: X:589.45, Y:-30.83, Z:1.82 [[ 9.85215601e-01 1.70584465e-01 -1.58479930e-02 5.89445163e+02] [-1.70565311e-01 9.85343041e-01 2.56249047e-03 -3.08295338e+01] [ 1.60528307e-02 1.78512266e-04 9.99871129e-01 1.82216283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.790714057 meters Centerline goodness [0,1] 0.9916162994735815 Centerline is valid? [True, True] Translation: X:589.48, Y:-30.83, Z:1.82 [[ 9.85168038e-01 1.70859004e-01 -1.58473079e-02 5.89477123e+02] [-1.70839817e-01 9.85295473e-01 2.56672264e-03 -3.08347761e+01] [ 1.60528285e-02 1.78698087e-04 9.99871129e-01 1.82233471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8207140569999 meters Centerline goodness [0,1] 0.9899406694826282 Centerline is valid? [True, True] Translation: X:589.51, Y:-30.84, Z:1.82 [[ 9.85393722e-01 1.69548689e-01 -1.58888099e-02 5.89509265e+02] [-1.69529184e-01 9.85521800e-01 2.57638118e-03 -3.08402501e+01] [ 1.60955906e-02 1.54867142e-04 9.99870446e-01 1.82301566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8507140569999 meters Centerline goodness [0,1] 0.990576604655693 Centerline is valid? [True, True] Translation: X:589.54, Y:-30.84, Z:1.82 [[ 9.85509357e-01 1.68936269e-01 -1.52264300e-02 5.89540171e+02] [-1.68918237e-01 9.85626967e-01 2.47194940e-03 -3.08449484e+01] [ 1.54251819e-02 1.35892444e-04 9.99881016e-01 1.82336796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.880714057 meters Centerline goodness [0,1] 0.9905268527289951 Centerline is valid? [True, True] Translation: X:589.57, Y:-30.85, Z:1.82 [[ 9.85655797e-01 1.68081646e-01 -1.52056306e-02 5.89571126e+02] [-1.68063522e-01 9.85773070e-01 2.47115209e-03 -3.08489973e+01] [ 1.54046565e-02 1.19806450e-04 9.99881334e-01 1.82281179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.910714057 meters Centerline goodness [0,1] 0.9901232770335857 Centerline is valid? [True, True] Translation: X:589.60, Y:-30.85, Z:1.82 [[ 9.85652405e-01 1.68106656e-01 -1.51488915e-02 5.89603256e+02] [-1.68088616e-01 9.85768806e-01 2.46547137e-03 -3.08542229e+01] [ 1.53477668e-02 1.16258417e-04 9.99882209e-01 1.82291306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9407140569999 meters Centerline goodness [0,1] 0.9900812416636353 Centerline is valid? [True, True] Translation: X:589.63, Y:-30.86, Z:1.82 [[ 9.85606117e-01 1.68231094e-01 -1.66997243e-02 5.89634240e+02] [-1.68209116e-01 9.85747576e-01 2.72212906e-03 -3.08574925e+01] [ 1.69196595e-02 1.26098811e-04 9.99856844e-01 1.82129905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9707140569999 meters Centerline goodness [0,1] 0.9898279694597468 Centerline is valid? [True, True] Translation: X:589.67, Y:-30.86, Z:1.82 [[ 9.85566554e-01 1.68448128e-01 -1.68462273e-02 5.89666379e+02] [-1.68425741e-01 9.85710511e-01 2.74920021e-03 -3.08619270e+01] [ 1.70686010e-02 1.27818544e-04 9.99854313e-01 1.82088135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.000714057 meters Centerline goodness [0,1] 0.990114881111408 Centerline is valid? [True, True] Translation: X:589.70, Y:-30.87, Z:1.82 [[ 9.85397674e-01 1.69345519e-01 -1.77064568e-02 5.89698432e+02] [-1.69320860e-01 9.85556733e-01 2.89357744e-03 -3.08659055e+01] [ 1.79407321e-02 1.46748018e-04 9.99839041e-01 1.82162714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.030714057 meters Centerline goodness [0,1] 0.9898196063258693 Centerline is valid? [True, True] Translation: X:589.73, Y:-30.87, Z:1.82 [[ 9.85496439e-01 1.68850509e-01 -1.69196661e-02 5.89730419e+02] [-1.68827849e-01 9.85641664e-01 2.76908919e-03 -3.08702708e+01] [ 1.71442900e-02 1.27583311e-04 9.99853018e-01 1.82229319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0607140569999 meters Centerline goodness [0,1] 0.9897588611272516 Centerline is valid? [True, True] Translation: X:589.76, Y:-30.88, Z:1.82 [[ 9.85518895e-01 1.68750941e-01 -1.66020533e-02 5.89762932e+02] [-1.68729034e-01 9.85658717e-01 2.72159903e-03 -3.08755426e+01] [ 1.68232310e-02 1.19061151e-04 9.99858472e-01 1.82333287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0907140569999 meters Centerline goodness [0,1] 0.9908538056856026 Centerline is valid? [True, True] Translation: X:589.79, Y:-30.88, Z:1.82 [[ 9.85686724e-01 1.67931448e-01 -1.48563320e-02 5.89794887e+02] [-1.67913757e-01 9.85798671e-01 2.43916990e-03 -3.08803645e+01] [ 1.50549657e-02 9.03251344e-05 9.99886664e-01 1.82462919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.120714057 meters Centerline goodness [0,1] 0.99070394720998 Centerline is valid? [True, True] Translation: X:589.83, Y:-30.88, Z:1.82 [[ 9.85739346e-01 1.67674311e-01 -1.42571868e-02 5.89825467e+02] [-1.67657943e-01 9.85842441e-01 2.34414926e-03 -3.08849157e+01] [ 1.44483935e-02 7.96104507e-05 9.99895613e-01 1.82434858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.150714057 meters Centerline goodness [0,1] 0.9898260347930414 Centerline is valid? [True, True] Translation: X:589.86, Y:-30.89, Z:1.82 [[ 9.85843404e-01 1.67004458e-01 -1.49094984e-02 5.89856604e+02] [-1.66986436e-01 9.85956138e-01 2.45437646e-03 -3.08894038e+01] [ 1.51100033e-02 7.00531545e-05 9.99885835e-01 1.82400192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1807140569999 meters Centerline goodness [0,1] 0.9906034462041288 Centerline is valid? [True, True] Translation: X:589.89, Y:-30.89, Z:1.82 [[ 9.85948327e-01 1.66354637e-01 -1.52325644e-02 5.89889343e+02] [-1.66335689e-01 9.86065987e-01 2.51140293e-03 -3.08949812e+01] [ 1.54380972e-02 5.76055704e-05 9.99880824e-01 1.82467218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2107140569999 meters Centerline goodness [0,1] 0.9911359869321867 Centerline is valid? [True, True] Translation: X:589.92, Y:-30.90, Z:1.82 [[ 9.86059014e-01 1.65639270e-01 -1.58509543e-02 5.89920336e+02] [-1.65618603e-01 9.86186408e-01 2.61683748e-03 -3.09003489e+01] [ 1.60654467e-02 4.48567196e-05 9.99870941e-01 1.82395411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.240714057 meters Centerline goodness [0,1] 0.9915793009140417 Centerline is valid? [True, True] Translation: X:589.95, Y:-30.91, Z:1.82 [[ 9.86154215e-01 1.65107768e-01 -1.54689514e-02 5.89953050e+02] [-1.65087961e-01 9.86275531e-01 2.55755772e-03 -3.09059608e+01] [ 1.56789209e-02 3.15913299e-05 9.99877078e-01 1.82463980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.270714057 meters Centerline goodness [0,1] 0.9914630344596053 Centerline is valid? [True, True] Translation: X:589.98, Y:-30.91, Z:1.83 [[ 9.86268452e-01 1.64517576e-01 -1.44398331e-02 5.89983534e+02] [-1.64500203e-01 9.86374152e-01 2.39085679e-03 -3.09106457e+01] [ 1.46364161e-02 1.73288537e-05 9.99892882e-01 1.82553264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3007140569999 meters Centerline goodness [0,1] 0.9911637931034483 Centerline is valid? [True, True] Translation: X:590.02, Y:-30.92, Z:1.83 [[ 9.86301172e-01 1.64346282e-01 -1.41526253e-02 5.90016419e+02] [-1.64329524e-01 9.86402707e-01 2.34693457e-03 -3.09154616e+01] [ 1.43458978e-02 1.09098523e-05 9.99897092e-01 1.82585606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3307140569999 meters Centerline goodness [0,1] 0.9914442081112731 Centerline is valid? [True, True] Translation: X:590.05, Y:-30.92, Z:1.83 [[ 9.86422896e-01 1.63685678e-01 -1.32992002e-02 5.90048759e+02] [-1.63670771e-01 9.86512544e-01 2.20907326e-03 -3.09197979e+01] [ 1.34814215e-02 -2.39009629e-06 9.99909122e-01 1.82664154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.360714057 meters Centerline goodness [0,1] 0.9910533221996899 Centerline is valid? [True, True] Translation: X:590.08, Y:-30.92, Z:1.83 [[ 9.86412210e-01 1.63714765e-01 -1.37268913e-02 5.90081247e+02] [-1.63698831e-01 9.86507717e-01 2.28408687e-03 -3.09247845e+01] [ 1.39156230e-02 -5.97512369e-06 9.99903173e-01 1.82640335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.390714057 meters Centerline goodness [0,1] 0.9915609802612758 Centerline is valid? [True, True] Translation: X:590.11, Y:-30.93, Z:1.83 [[ 9.86374648e-01 1.63938517e-01 -1.37556124e-02 5.90112869e+02] [-1.63922486e-01 9.86470558e-01 2.29263207e-03 -3.09283152e+01] [ 1.39453574e-02 -6.53996171e-06 9.99902759e-01 1.82541833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4207140569999 meters Centerline goodness [0,1] 0.9918327499583304 Centerline is valid? [True, True] Translation: X:590.15, Y:-30.93, Z:1.83 [[ 9.86018969e-01 1.65984276e-01 -1.46905870e-02 5.90145175e+02] [-1.65966158e-01 9.86128399e-01 2.45248294e-03 -3.09315384e+01] [ 1.48938787e-02 1.99455849e-05 9.99889080e-01 1.82613160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4507140569999 meters Centerline goodness [0,1] 0.9920946734290544 Centerline is valid? [True, True] Translation: X:590.18, Y:-30.94, Z:1.83 [[ 9.85685686e-01 1.67913421e-01 -1.51264954e-02 5.90177590e+02] [-1.67894373e-01 9.85801745e-01 2.52951249e-03 -3.09353941e+01] [ 1.53364647e-02 4.63492146e-05 9.99882388e-01 1.82545019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4807140569999 meters Centerline goodness [0,1] 0.9912489865992656 Centerline is valid? [True, True] Translation: X:590.21, Y:-30.94, Z:1.82 [[ 9.84939089e-01 1.72155555e-01 -1.60454144e-02 5.90210389e+02] [-1.72134616e-01 9.85069770e-01 2.68743585e-03 -3.09362726e+01] [ 1.62685097e-02 1.15010618e-04 9.99867652e-01 1.82441905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.510714057 meters Centerline goodness [0,1] 0.9912475256969784 Centerline is valid? [True, True] Translation: X:590.24, Y:-30.94, Z:1.82 [[ 9.84462552e-01 1.74810187e-01 -1.65795535e-02 5.90242555e+02] [-1.74788136e-01 9.84602139e-01 2.78109509e-03 -3.09393023e+01] [ 1.68104276e-02 1.60025273e-04 9.99858682e-01 1.82420304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.540714057 meters Centerline goodness [0,1] 0.9902186557774032 Centerline is valid? [True, True] Translation: X:590.27, Y:-30.94, Z:1.82 [[ 9.83651561e-01 1.79298232e-01 -1.67854200e-02 5.90274266e+02] [-1.79276235e-01 9.83794739e-01 2.81846535e-03 -3.09398173e+01] [ 1.70187538e-02 2.36839065e-04 9.99855142e-01 1.82336955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5707140569999 meters Centerline goodness [0,1] 0.9902668312600893 Centerline is valid? [True, True] Translation: X:590.31, Y:-30.94, Z:1.82 [[ 9.83136683e-01 1.82125502e-01 -1.65095201e-02 5.90305688e+02] [-1.82104560e-01 9.83275254e-01 2.77568751e-03 -3.09441155e+01] [ 1.67389261e-02 2.77578692e-04 9.99859856e-01 1.82419011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6007140569999 meters Centerline goodness [0,1] 0.9898227260893233 Centerline is valid? [True, True] Translation: X:590.34, Y:-30.95, Z:1.82 [[ 9.82348455e-01 1.86380783e-01 -1.59284944e-02 5.90336678e+02] [-1.86361787e-01 9.82477528e-01 2.68180597e-03 -3.09453648e+01] [ 1.61492249e-02 3.33994733e-04 9.99869537e-01 1.82385517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.630714057 meters Centerline goodness [0,1] 0.9889836531627576 Centerline is valid? [True, True] Translation: X:590.37, Y:-30.95, Z:1.82 [[ 9.81828753e-01 1.89069668e-01 -1.62776010e-02 5.90367949e+02] [-1.89050136e-01 9.81963601e-01 2.74445473e-03 -3.09495810e+01] [ 1.65029048e-02 3.82698113e-04 9.99863745e-01 1.82494065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.660714057 meters Centerline goodness [0,1] 0.9875002953616407 Centerline is valid? [True, True] Translation: X:590.40, Y:-30.95, Z:1.82 [[ 9.81036540e-01 1.93074598e-01 -1.70149011e-02 5.90399432e+02] [-1.93053811e-01 9.81183969e-01 2.87146279e-03 -3.09515481e+01] [ 1.72491547e-02 4.67781573e-04 9.99851113e-01 1.82455577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6907140569999 meters Centerline goodness [0,1] 0.988104247469492 Centerline is valid? [True, True] Translation: X:590.43, Y:-30.95, Z:1.82 [[ 9.80332477e-01 1.96542862e-01 -1.78644558e-02 5.90431329e+02] [-1.96520494e-01 9.80495077e-01 3.01639258e-03 -3.09542448e+01] [ 1.81088614e-02 5.53664069e-04 9.99835868e-01 1.82307853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7207140569999 meters Centerline goodness [0,1] 0.9863020191487345 Centerline is valid? [True, True] Translation: X:590.46, Y:-30.96, Z:1.82 [[ 9.79974927e-01 1.98276859e-01 -1.83147334e-02 5.90462634e+02] [-1.98253588e-01 9.80145872e-01 3.09583045e-03 -3.09558380e+01] [ 1.85649419e-02 5.97125386e-04 9.99827478e-01 1.82118809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.750714057 meters Centerline goodness [0,1] 0.9871652182149707 Centerline is valid? [True, True] Translation: X:590.49, Y:-30.96, Z:1.82 [[ 9.79636977e-01 1.99916431e-01 -1.85691553e-02 5.90494037e+02] [-1.99892718e-01 9.79812748e-01 3.14334904e-03 -3.09641320e+01] [ 1.88227022e-02 6.32497979e-04 9.99822637e-01 1.82236171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.780714057 meters Centerline goodness [0,1] 0.9872020552833151 Centerline is valid? [True, True] Translation: X:590.53, Y:-30.97, Z:1.82 [[ 9.79519972e-01 2.00506456e-01 -1.83789306e-02 5.90526000e+02] [-2.00483237e-01 9.79692177e-01 3.11612753e-03 -3.09713841e+01] [ 1.86304982e-02 6.32358354e-04 9.99826237e-01 1.82338890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8107140569999 meters Centerline goodness [0,1] 0.9873155146515343 Centerline is valid? [True, True] Translation: X:590.56, Y:-30.98, Z:1.82 [[ 9.79533432e-01 2.00447763e-01 -1.83016272e-02 5.90557374e+02] [-2.00424642e-01 9.79704193e-01 3.10776155e-03 -3.09794149e+01] [ 1.85531248e-02 6.23940734e-04 9.99827681e-01 1.82418848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8407140569999 meters Centerline goodness [0,1] 0.9871407139285119 Centerline is valid? [True, True] Translation: X:590.59, Y:-30.99, Z:1.82 [[ 9.79730841e-01 1.99521947e-01 -1.78457827e-02 5.90588119e+02] [-1.99499729e-01 9.79893182e-01 3.03476870e-03 -3.09870977e+01] [ 1.80924638e-02 5.86972337e-04 9.99836146e-01 1.82436546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.870714057 meters Centerline goodness [0,1] 0.9881223209368041 Centerline is valid? [True, True] Translation: X:590.62, Y:-31.00, Z:1.83 [[ 9.79913177e-01 1.98620899e-01 -1.78858392e-02 5.90619567e+02] [-1.98598387e-01 9.80076229e-01 3.04404234e-03 -3.09969837e+01] [ 1.81340963e-02 5.69201623e-04 9.99835402e-01 1.82593806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.900714057 meters Centerline goodness [0,1] 0.9872493696722295 Centerline is valid? [True, True] Translation: X:590.65, Y:-31.01, Z:1.83 [[ 9.80250382e-01 1.96981626e-01 -1.75336345e-02 5.90650249e+02] [-1.96959665e-01 9.80407040e-01 2.98771498e-03 -3.10051416e+01] [ 1.77786236e-02 5.24710018e-04 9.99841810e-01 1.82648488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9307140569999 meters Centerline goodness [0,1] 0.9875210792580101 Centerline is valid? [True, True] Translation: X:590.68, Y:-31.02, Z:1.83 [[ 9.80676649e-01 1.94903571e-01 -1.69088318e-02 5.90680562e+02] [-1.94882766e-01 9.80822299e-01 2.88552190e-03 -3.10163117e+01] [ 1.71469578e-02 4.65475973e-04 9.99852872e-01 1.82770822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9607140569999 meters Centerline goodness [0,1] 0.9881865085105357 Centerline is valid? [True, True] Translation: X:590.71, Y:-31.02, Z:1.83 [[ 9.80933986e-01 1.93591327e-01 -1.70561988e-02 5.90710730e+02] [-1.93569888e-01 9.81082159e-01 2.91480099e-03 -3.10229439e+01] [ 1.72978125e-02 4.42339140e-04 9.99850284e-01 1.82744247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.990714057 meters Centerline goodness [0,1] 0.9895770209671555 Centerline is valid? [True, True] Translation: X:590.74, Y:-31.03, Z:1.83 [[ 9.81551347e-01 1.90393682e-01 -1.75270878e-02 5.90741402e+02] [-1.90370455e-01 9.81707743e-01 2.99961429e-03 -3.10326964e+01] [ 1.77775854e-02 3.92364238e-04 9.99841889e-01 1.82662190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.020714057 meters Centerline goodness [0,1] 0.9888216568248646 Centerline is valid? [True, True] Translation: X:590.77, Y:-31.04, Z:1.83 [[ 9.81860366e-01 1.88724382e-01 -1.82572898e-02 5.90772133e+02] [-1.88698832e-01 9.82030024e-01 3.12779836e-03 -3.10394942e+01] [ 1.85194986e-02 3.74068010e-04 9.99828429e-01 1.82515827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0507140569999 meters Centerline goodness [0,1] 0.9894421874619894 Centerline is valid? [True, True] Translation: X:590.80, Y:-31.05, Z:1.83 [[ 9.82507055e-01 1.85213258e-01 -1.93890662e-02 5.90802960e+02] [-1.85183675e-01 9.82698298e-01 3.32592159e-03 -3.10509737e+01] [ 1.96696072e-02 3.22797118e-04 9.99806482e-01 1.82535493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0807140569999 meters Centerline goodness [0,1] 0.9904584821647012 Centerline is valid? [True, True] Translation: X:590.83, Y:-31.06, Z:1.83 [[ 9.82807183e-01 1.83612057e-01 -1.94075383e-02 5.90834105e+02] [-1.83582012e-01 9.82998744e-01 3.33385230e-03 -3.10595552e+01] [ 1.96897213e-02 2.86340941e-04 9.99806098e-01 1.82631417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.110714057 meters Centerline goodness [0,1] 0.9917173642160815 Centerline is valid? [True, True] Translation: X:590.86, Y:-31.07, Z:1.83 [[ 9.83442836e-01 1.80205168e-01 -1.91385743e-02 5.90864640e+02] [-1.80175212e-01 9.83629022e-01 3.29237710e-03 -3.10697434e+01] [ 1.94185604e-02 2.10432006e-04 9.99811420e-01 1.82701077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.140714057 meters Centerline goodness [0,1] 0.9915739969627199 Centerline is valid? [True, True] Translation: X:590.90, Y:-31.08, Z:1.83 [[ 9.83691710e-01 1.78875493e-01 -1.88196064e-02 5.90895129e+02] [-1.78846201e-01 9.83871702e-01 3.24188991e-03 -3.10760282e+01] [ 1.90959728e-02 1.76794871e-04 9.99817640e-01 1.82615549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1707140569999 meters Centerline goodness [0,1] 0.9916492693110647 Centerline is valid? [True, True] Translation: X:590.93, Y:-31.09, Z:1.83 [[ 9.83976045e-01 1.77431622e-01 -1.75830132e-02 5.90925747e+02] [-1.77405749e-01 9.84133122e-01 3.03295350e-03 -3.10853411e+01] [ 1.78421676e-02 1.34974044e-04 9.99840807e-01 1.82767464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2007140569999 meters Centerline goodness [0,1] 0.9921236512678699 Centerline is valid? [True, True] Translation: X:590.96, Y:-31.09, Z:1.83 [[ 9.84123044e-01 1.76711737e-01 -1.65770048e-02 5.90956873e+02] [-1.76688571e-01 9.84262643e-01 2.86342849e-03 -3.10939888e+01] [ 1.68221279e-02 1.11001320e-04 9.99858492e-01 1.83012607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2307140569999 meters Centerline goodness [0,1] 0.9919508160292339 Centerline is valid? [True, True] Translation: X:590.99, Y:-31.10, Z:1.83 [[ 9.84080602e-01 1.76969592e-01 -1.63442051e-02 5.90988439e+02] [-1.76947037e-01 9.84216313e-01 2.82743636e-03 -3.11000252e+01] [ 1.65866036e-02 1.09633405e-04 9.99862427e-01 1.82988580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.260714057 meters Centerline goodness [0,1] 0.9919474360241083 Centerline is valid? [True, True] Translation: X:591.02, Y:-31.11, Z:1.83 [[ 9.83796115e-01 1.78476171e-01 -1.70721980e-02 5.91019276e+02] [-1.78451716e-01 9.83944225e-01 2.95757966e-03 -3.11068910e+01] [ 1.73259481e-02 1.36907662e-04 9.99849885e-01 1.83002015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.290714057 meters Centerline goodness [0,1] 0.9934617946756803 Centerline is valid? [True, True] Translation: X:591.05, Y:-31.11, Z:1.83 [[ 9.83665745e-01 1.79174697e-01 -1.72664409e-02 5.91050342e+02] [-1.79149712e-01 9.83817263e-01 2.99567550e-03 -3.11117579e+01] [ 1.75237719e-02 1.46534547e-04 9.99846436e-01 1.82914570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3207140569999 meters Centerline goodness [0,1] 0.9924446976640492 Centerline is valid? [True, True] Translation: X:591.08, Y:-31.12, Z:1.83 [[ 9.83145611e-01 1.81894461e-01 -1.84149929e-02 5.91081592e+02] [-1.81866430e-01 9.83318038e-01 3.19967567e-03 -3.11174078e+01] [ 1.86897980e-02 2.03321932e-04 9.99825310e-01 1.82842336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3507140569999 meters Centerline goodness [0,1] 0.9918270302399881 Centerline is valid? [True, True] Translation: X:591.11, Y:-31.12, Z:1.83 [[ 9.82963654e-01 1.82891082e-01 -1.82567116e-02 5.91111899e+02] [-1.82863649e-01 9.83133157e-01 3.17504567e-03 -3.11218750e+01] [ 1.85294661e-02 2.17534425e-04 9.99828291e-01 1.82776723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.380714057 meters Centerline goodness [0,1] 0.9912978802528821 Centerline is valid? [True, True] Translation: X:591.14, Y:-31.13, Z:1.83 [[ 9.82605818e-01 1.84858210e-01 -1.76988263e-02 5.91142785e+02] [-1.84832682e-01 9.82765172e-01 3.08167957e-03 -3.11286854e+01] [ 1.79634639e-02 2.43245270e-04 9.99838614e-01 1.82938725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.410714057 meters Centerline goodness [0,1] 0.9914915783990276 Centerline is valid? [True, True] Translation: X:591.17, Y:-31.14, Z:1.83 [[ 9.82380197e-01 1.86062113e-01 -1.76079027e-02 5.91174378e+02] [-1.86036962e-01 9.82537950e-01 3.07020639e-03 -3.11355662e+01] [ 1.78716817e-02 2.59610755e-04 9.99840255e-01 1.83023410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4407140569999 meters Centerline goodness [0,1] 0.9914461905709171 Centerline is valid? [True, True] Translation: X:591.21, Y:-31.14, Z:1.83 [[ 9.82313066e-01 1.86393706e-01 -1.78445315e-02 5.91206646e+02] [-1.86367840e-01 9.82475097e-01 3.11638857e-03 -3.11415822e+01] [ 1.81126831e-02 2.64377584e-04 9.99835917e-01 1.82993897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4707140569999 meters Centerline goodness [0,1] 0.9914344762331615 Centerline is valid? [True, True] Translation: X:591.24, Y:-31.15, Z:1.83 [[ 9.82307453e-01 1.86393054e-01 -1.81575932e-02 5.91238086e+02] [-1.86366181e-01 9.82475221e-01 3.17600297e-03 -3.11481710e+01] [ 1.84313703e-02 2.64149911e-04 9.99830093e-01 1.82981991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.500714057 meters Centerline goodness [0,1] 0.9919195949821682 Centerline is valid? [True, True] Translation: X:591.27, Y:-31.16, Z:1.83 [[ 9.82310836e-01 1.86391966e-01 -1.79848943e-02 5.91270356e+02] [-1.86365511e-01 9.82475429e-01 3.15078948e-03 -3.11554366e+01] [ 1.82569986e-02 2.56709358e-04 9.99833294e-01 1.83053073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.530714057 meters Centerline goodness [0,1] 0.9911 Centerline is valid? [True, True] Translation: X:591.30, Y:-31.16, Z:1.83 [[ 9.82655242e-01 1.84698599e-01 -1.65862145e-02 5.91301281e+02] [-1.84675787e-01 9.82795190e-01 2.90993605e-03 -3.11635510e+01] [ 1.68383130e-02 2.03608307e-04 9.99858205e-01 1.83238186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5607140569999 meters Centerline goodness [0,1] 0.9921114384142993 Centerline is valid? [True, True] Translation: X:591.33, Y:-31.17, Z:1.83 [[ 9.82790336e-01 1.84061204e-01 -1.56406306e-02 5.91332888e+02] [-1.84040777e-01 9.82914768e-01 2.74787114e-03 -3.11700909e+01] [ 1.58791832e-02 1.77932604e-04 9.99873902e-01 1.83404137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5907140569999 meters Centerline goodness [0,1] 0.9913356138730056 Centerline is valid? [True, True] Translation: X:591.36, Y:-31.18, Z:1.83 [[ 9.83016060e-01 1.83019724e-01 -1.35354033e-02 5.91363025e+02] [-1.83004296e-01 9.83109232e-01 2.38032214e-03 -3.11759217e+01] [ 1.37424258e-02 1.37142055e-04 9.99905559e-01 1.83419092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.620714057 meters Centerline goodness [0,1] 0.9916222011669077 Centerline is valid? [True, True] Translation: X:591.40, Y:-31.18, Z:1.83 [[ 9.83080692e-01 1.82668164e-01 -1.35902217e-02 5.91395370e+02] [-1.82652534e-01 9.83174616e-01 2.39305388e-03 -3.11824625e+01] [ 1.37986958e-02 1.29723379e-04 9.99904785e-01 1.83466235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.650714057 meters Centerline goodness [0,1] 0.9910355332484331 Centerline is valid? [True, True] Translation: X:591.43, Y:-31.19, Z:1.83 [[ 9.83016851e-01 1.82934015e-01 -1.45950746e-02 5.91427217e+02] [-1.82915955e-01 9.83125184e-01 2.57423806e-03 -3.11892169e+01] [ 1.48197011e-02 1.39152619e-04 9.99890173e-01 1.83459436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6807140569999 meters Centerline goodness [0,1] 0.9910355332484331 Centerline is valid? [True, True] Translation: X:591.46, Y:-31.19, Z:1.83 [[ 9.82966172e-01 1.83206193e-01 -1.45943614e-02 5.91459092e+02] [-1.83188102e-01 9.83074500e-01 2.57827711e-03 -3.11949194e+01] [ 1.48197009e-02 1.39154196e-04 9.99890173e-01 1.83476632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7107140569999 meters Centerline goodness [0,1] 0.9902658832901813 Centerline is valid? [True, True] Translation: X:591.49, Y:-31.20, Z:1.83 [[ 9.82732641e-01 1.84297108e-01 -1.64661118e-02 5.91489329e+02] [-1.84274181e-01 9.82870564e-01 2.91201865e-03 -3.11995869e+01] [ 1.67207332e-02 1.72543492e-04 9.99860184e-01 1.83231357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.740714057 meters Centerline goodness [0,1] 0.9903431066749844 Centerline is valid? [True, True] Translation: X:591.52, Y:-31.20, Z:1.83 [[ 9.82604049e-01 1.84898254e-01 -1.73757855e-02 5.91519901e+02] [-1.84872757e-01 9.82757651e-01 3.07635317e-03 -3.12034031e+01] [ 1.76449985e-02 1.89472298e-04 9.99844297e-01 1.83038780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.770714057 meters Centerline goodness [0,1] 0.9902565768106528 Centerline is valid? [True, True] Translation: X:591.55, Y:-31.21, Z:1.83 [[ 9.82245550e-01 1.86603676e-01 -1.93066579e-02 5.91551487e+02] [-1.86572432e-01 9.82435245e-01 3.42305470e-03 -3.12079002e+01] [ 1.96062958e-02 2.39809865e-04 9.99807749e-01 1.82863952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8007140569999 meters Centerline goodness [0,1] 0.9897979595919184 Centerline is valid? [True, True] Translation: X:591.58, Y:-31.21, Z:1.83 [[ 9.82103415e-01 1.87236909e-01 -2.03770177e-02 5.91583447e+02] [-1.87202132e-01 9.82314752e-01 3.61800767e-03 -3.12131608e+01] [ 2.06940697e-02 2.61363478e-04 9.99785821e-01 1.82868042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8307140569999 meters Centerline goodness [0,1] 0.989704085957171 Centerline is valid? [True, True] Translation: X:591.61, Y:-31.22, Z:1.83 [[ 9.81910209e-01 1.88197184e-01 -2.08365369e-02 5.91614614e+02] [-1.88160933e-01 9.82131223e-01 3.70452253e-03 -3.12176404e+01] [ 2.11613941e-02 2.83113730e-04 9.99776033e-01 1.82874662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.860714057 meters Centerline goodness [0,1] 0.9901657348242812 Centerline is valid? [True, True] Translation: X:591.65, Y:-31.22, Z:1.83 [[ 9.81804227e-01 1.88751982e-01 -2.08122148e-02 5.91646711e+02] [-1.88715822e-01 9.82024748e-01 3.70578898e-03 -3.12233165e+01] [ 2.11375850e-02 2.89234931e-04 9.99776534e-01 1.82907694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.890714057 meters Centerline goodness [0,1] 0.9900172202949912 Centerline is valid? [True, True] Translation: X:591.68, Y:-31.23, Z:1.83 [[ 9.81588585e-01 1.90001155e-01 -1.95808749e-02 5.91679068e+02] [-1.89969288e-01 9.81783823e-01 3.49196582e-03 -3.12278320e+01] [ 1.98876638e-02 2.92091086e-04 9.99802178e-01 1.83041698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9207140569999 meters Centerline goodness [0,1] 0.990027673206851 Centerline is valid? [True, True] Translation: X:591.71, Y:-31.23, Z:1.83 [[ 9.81531217e-01 1.90404512e-01 -1.85092422e-02 5.91710594e+02] [-1.90376020e-01 9.81705681e-01 3.30561277e-03 -3.12338355e+01] [ 1.88000318e-02 2.79153749e-04 9.99823225e-01 1.83240521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9507140569999 meters Centerline goodness [0,1] 0.9894119401501218 Centerline is valid? [True, True] Translation: X:591.74, Y:-31.24, Z:1.83 [[ 9.81385372e-01 1.91404291e-01 -1.57209513e-02 5.91742347e+02] [-1.91383805e-01 9.81511251e-01 2.81142167e-03 -3.12391774e+01] [ 1.59684088e-02 2.49647379e-04 9.99872466e-01 1.83456413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9807140569999 meters Centerline goodness [0,1] 0.9887116381769916 Centerline is valid? [True, True] Translation: X:591.77, Y:-31.24, Z:1.84 [[ 9.81265843e-01 1.92087120e-01 -1.48284998e-02 5.91773940e+02] [-1.92068914e-01 9.81377847e-01 2.65566244e-03 -3.12431295e+01] [ 1.50624798e-02 2.42183022e-04 9.99886525e-01 1.83582583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.010714057 meters Centerline goodness [0,1] 0.9888778796135744 Centerline is valid? [True, True] Translation: X:591.81, Y:-31.25, Z:1.84 [[ 9.80983341e-01 1.93554702e-01 -1.44312942e-02 5.91805630e+02] [-1.93537562e-01 9.81089452e-01 2.58824796e-03 -3.12489107e+01] [ 1.46593580e-02 2.53969357e-04 9.99892514e-01 1.83581323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.040714057 meters Centerline goodness [0,1] 0.9889273184204633 Centerline is valid? [True, True] Translation: X:591.84, Y:-31.25, Z:1.83 [[ 9.80727858e-01 1.94780227e-01 -1.52817635e-02 5.91837560e+02] [-1.94761095e-01 9.80846870e-01 2.74473874e-03 -3.12536153e+01] [ 1.55236908e-02 2.84451247e-04 9.99879460e-01 1.83491436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0707140569999 meters Centerline goodness [0,1] 0.9882165763436583 Centerline is valid? [True, True] Translation: X:591.87, Y:-31.26, Z:1.83 [[ 9.80454323e-01 1.96044947e-01 -1.66041810e-02 5.91869805e+02] [-1.96022469e-01 9.80594856e-01 2.98656842e-03 -3.12577421e+01] [ 1.68674762e-02 3.26598648e-04 9.99857681e-01 1.83243747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1007140569999 meters Centerline goodness [0,1] 0.9886061809606553 Centerline is valid? [True, True] Translation: X:591.90, Y:-31.26, Z:1.83 [[ 9.80435717e-01 1.96047600e-01 -1.76392295e-02 5.91902645e+02] [-1.96022143e-01 9.80594320e-01 3.17774229e-03 -3.12634952e+01] [ 1.79199170e-02 3.42107523e-04 9.99839367e-01 1.83190712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.130714057 meters Centerline goodness [0,1] 0.9886343853366162 Centerline is valid? [True, True] Translation: X:591.93, Y:-31.27, Z:1.83 [[ 9.80763099e-01 1.94296740e-01 -1.87755299e-02 5.91932889e+02] [-1.94267508e-01 9.80942746e-01 3.38599741e-03 -3.12685415e+01] [ 1.90756081e-02 3.26614095e-04 9.99817991e-01 1.82975070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.160714057 meters Centerline goodness [0,1] 0.9888215421303657 Centerline is valid? [True, True] Translation: X:591.96, Y:-31.28, Z:1.83 [[ 9.81042383e-01 1.92900385e-01 -1.85818037e-02 5.91963341e+02] [-1.92871434e-01 9.81218302e-01 3.35477055e-03 -3.12753312e+01] [ 1.88799424e-02 2.92727015e-04 9.99821715e-01 1.83031079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1907140569999 meters Centerline goodness [0,1] 0.9895724713242962 Centerline is valid? [True, True] Translation: X:591.99, Y:-31.28, Z:1.83 [[ 9.81924125e-01 1.88455901e-01 -1.75893672e-02 5.91993856e+02] [-1.88429172e-01 9.82081634e-01 3.17972957e-03 -3.12849589e+01] [ 1.78734332e-02 1.92096708e-04 9.99840239e-01 1.83266195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2207140569999 meters Centerline goodness [0,1] 0.9908065397803508 Centerline is valid? [True, True] Translation: X:592.02, Y:-31.29, Z:1.83 [[ 9.82824221e-01 1.83908480e-01 -1.53043095e-02 5.92023766e+02] [-1.83887640e-01 9.82943367e-01 2.77004320e-03 -3.12929106e+01] [ 1.55527039e-02 9.18078078e-05 9.99879045e-01 1.83429878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.250714057 meters Centerline goodness [0,1] 0.991304347826087 Centerline is valid? [True, True] Translation: X:592.05, Y:-31.30, Z:1.83 [[ 9.83168789e-01 1.82130057e-01 -1.44143805e-02 5.92054780e+02] [-1.82111331e-01 9.83274447e-01 2.61227561e-03 -3.13000398e+01] [ 1.46490659e-02 5.67141619e-05 9.99892695e-01 1.83494492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.280714057 meters Centerline goodness [0,1] 0.99185032424777 Centerline is valid? [True, True] Translation: X:592.09, Y:-31.31, Z:1.84 [[ 9.83926127e-01 1.78116900e-01 -1.27963844e-02 5.92086040e+02] [-1.78101763e-01 9.84009334e-01 2.32206114e-03 -3.13080807e+01] [ 1.30053601e-02 -5.67799188e-06 9.99915427e-01 1.83695943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3107140569999 meters Centerline goodness [0,1] 0.9926254052315079 Centerline is valid? [True, True] Translation: X:592.12, Y:-31.31, Z:1.84 [[ 9.84329546e-01 1.75894213e-01 -1.25128496e-02 5.92117350e+02] [-1.75879519e-01 9.84409074e-01 2.27383329e-03 -3.13147973e+01] [ 1.27177168e-02 -3.74473066e-05 9.99919126e-01 1.83707776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3407140569999 meters Centerline goodness [0,1] 0.992641593578118 Centerline is valid? [True, True] Translation: X:592.15, Y:-31.32, Z:1.84 [[ 9.84397631e-01 1.75499621e-01 -1.26959191e-02 5.92149547e+02] [-1.75484416e-01 9.84479497e-01 2.31061070e-03 -3.13202301e+01] [ 1.29043834e-02 -4.66237444e-05 9.99916734e-01 1.83732240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.370714057 meters Centerline goodness [0,1] 0.9933704652996845 Centerline is valid? [True, True] Translation: X:592.18, Y:-31.32, Z:1.84 [[ 9.84493438e-01 1.74889520e-01 -1.36501429e-02 5.92181266e+02] [-1.74871832e-01 9.84588062e-01 2.48805662e-03 -3.13241520e+01] [ 1.38749028e-02 -6.24499101e-05 9.99903737e-01 1.83543829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.400714057 meters Centerline goodness [0,1] 0.9931506849315068 Centerline is valid? [True, True] Translation: X:592.21, Y:-31.33, Z:1.84 [[ 9.84498972e-01 1.74836454e-01 -1.39280015e-02 5.92214336e+02] [-1.74817979e-01 9.84597486e-01 2.54253683e-03 -3.13286599e+01] [ 1.41580034e-02 -6.82598227e-05 9.99899768e-01 1.83506269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4307140569999 meters Centerline goodness [0,1] 0.9932684748427673 Centerline is valid? [True, True] Translation: X:592.24, Y:-31.33, Z:1.83 [[ 9.84618656e-01 1.74018919e-01 -1.56050732e-02 5.92244867e+02] [-1.73995561e-01 9.84742305e-01 2.85266738e-03 -3.13327829e+01] [ 1.58633939e-02 -9.35760512e-05 9.99874164e-01 1.83345975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4607140569999 meters Centerline goodness [0,1] 0.9932312690755144 Centerline is valid? [True, True] Translation: X:592.28, Y:-31.34, Z:1.83 [[ 9.84728220e-01 1.73359953e-01 -1.60205807e-02 5.92277180e+02] [-1.73335177e-01 9.84858525e-01 2.93294465e-03 -3.13377017e+01] [ 1.62864606e-02 -1.11223183e-04 9.99867361e-01 1.83418696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.490714057 meters Centerline goodness [0,1] 0.9931458051836384 Centerline is valid? [True, True] Translation: X:592.31, Y:-31.34, Z:1.83 [[ 9.85055502e-01 1.71445053e-01 -1.65000492e-02 5.92308833e+02] [-1.71418429e-01 9.85193672e-01 3.02511796e-03 -3.13433482e+01] [ 1.67743856e-02 -1.51496574e-04 9.99859289e-01 1.83460163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.520714057 meters Centerline goodness [0,1] 0.9936544492355939 Centerline is valid? [True, True] Translation: X:592.34, Y:-31.35, Z:1.83 [[ 9.85202388e-01 1.70626167e-01 -1.62161935e-02 5.92340395e+02] [-1.70600270e-01 9.85335823e-01 2.97731853e-03 -3.13494151e+01] [ 1.64864048e-02 -1.66774339e-04 9.99864076e-01 1.83428927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5507140569999 meters Centerline goodness [0,1] 0.993465336805385 Centerline is valid? [True, True] Translation: X:592.37, Y:-31.35, Z:1.84 [[ 9.85313616e-01 1.70046878e-01 -1.55286071e-02 5.92371357e+02] [-1.70022995e-01 9.85435959e-01 2.85512199e-03 -3.13549668e+01] [ 1.57879524e-02 -1.72970288e-04 9.99875348e-01 1.83550721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5807140569999 meters Centerline goodness [0,1] 0.9942973224337951 Centerline is valid? [True, True] Translation: X:592.40, Y:-31.36, Z:1.84 [[ 9.85390812e-01 1.69632977e-01 -1.51525503e-02 5.92402998e+02] [-1.69610128e-01 9.85507291e-01 2.78989752e-03 -3.13601845e+01] [ 1.54062074e-02 -1.79113385e-04 9.99881301e-01 1.83611180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.610714057 meters Centerline goodness [0,1] 0.9942302520597511 Centerline is valid? [True, True] Translation: X:592.44, Y:-31.37, Z:1.84 [[ 9.85439033e-01 1.69363543e-01 -1.50300449e-02 5.92435669e+02] [-1.69340967e-01 9.85553629e-01 2.77145583e-03 -3.13653523e+01] [ 1.52822989e-02 -1.85898407e-04 9.99883202e-01 1.83720850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.640714057 meters Centerline goodness [0,1] 0.9944816135176051 Centerline is valid? [True, True] Translation: X:592.47, Y:-31.37, Z:1.84 [[ 9.85860543e-01 1.66976861e-01 -1.40611791e-02 5.92467377e+02] [-1.66956808e-01 9.85960792e-01 2.59640575e-03 -3.13704895e+01] [ 1.42973110e-02 -2.12084397e-04 9.99897766e-01 1.83822715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6707140569999 meters Centerline goodness [0,1] 0.9954565440422102 Centerline is valid? [True, True] Translation: X:592.50, Y:-31.38, Z:1.84 [[ 9.86232835e-01 1.64773197e-01 -1.39495352e-02 5.92498783e+02] [-1.64753191e-01 9.86331452e-01 2.57927939e-03 -3.13770131e+01] [ 1.41838614e-02 -2.45539581e-04 9.99899374e-01 1.83861068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7007140569999 meters Centerline goodness [0,1] 0.9959433526854033 Centerline is valid? [True, True] Translation: X:592.53, Y:-31.38, Z:1.84 [[ 9.87110026e-01 1.59510432e-01 -1.30467572e-02 5.92529831e+02] [-1.59492449e-01 9.87196197e-01 2.41413901e-03 -3.13846216e+01] [ 1.32647895e-02 -3.02161559e-04 9.99911973e-01 1.84076842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7307140569999 meters Centerline goodness [0,1] 0.9968446601941747 Centerline is valid? [True, True] Translation: X:592.56, Y:-31.39, Z:1.84 [[ 9.87962493e-01 1.54196478e-01 -1.23918865e-02 5.92558755e+02] [-1.54179824e-01 9.88040141e-01 2.29395097e-03 -3.13920265e+01] [ 1.25974005e-02 -3.55758628e-04 9.99920586e-01 1.84262432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.760714057 meters Centerline goodness [0,1] 0.9966905949628908 Centerline is valid? [True, True] Translation: X:592.59, Y:-31.40, Z:1.84 [[ 9.88281403e-01 1.52126557e-01 -1.25450417e-02 5.92589884e+02] [-1.52109295e-01 9.88360946e-01 2.32443605e-03 -3.13976590e+01] [ 1.27526377e-02 -3.88979470e-04 9.99918606e-01 1.84358791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.790714057 meters Centerline goodness [0,1] 0.997305694451187 Centerline is valid? [True, True] Translation: X:592.62, Y:-31.40, Z:1.84 [[ 9.88492266e-01 1.50801616e-01 -1.19127067e-02 5.92621373e+02] [-1.50785921e-01 9.88563970e-01 2.21002732e-03 -3.14026422e+01] [ 1.21097483e-02 -3.88326471e-04 9.99926599e-01 1.84300999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8207140569999 meters Centerline goodness [0,1] 0.9968510372346818 Centerline is valid? [True, True] Translation: X:592.65, Y:-31.40, Z:1.84 [[ 9.88724698e-01 1.49285903e-01 -1.17128090e-02 5.92653757e+02] [-1.49270590e-01 9.88793991e-01 2.17579587e-03 -3.14026982e+01] [ 1.19063708e-02 -4.02885211e-04 9.99929035e-01 1.84329796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8507140569999 meters Centerline goodness [0,1] 0.9965503198141006 Centerline is valid? [True, True] Translation: X:592.69, Y:-31.40, Z:1.84 [[ 9.88423559e-01 1.51278644e-01 -1.15602649e-02 5.92686447e+02] [-1.51263830e-01 9.88491087e-01 2.15030722e-03 -3.14023876e+01] [ 1.17525144e-02 -3.76764376e-04 9.99930866e-01 1.84353381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.880714057 meters Centerline goodness [0,1] 0.9964233768091753 Centerline is valid? [True, True] Translation: X:592.72, Y:-31.41, Z:1.84 [[ 9.88160119e-01 1.53020048e-01 -1.11554082e-02 5.92719169e+02] [-1.53006344e-01 9.88223024e-01 2.07677834e-03 -3.14050732e+01] [ 1.13418200e-02 -3.45341302e-04 9.99935620e-01 1.84390654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.910714057 meters Centerline goodness [0,1] 0.9960103540810753 Centerline is valid? [True, True] Translation: X:592.75, Y:-31.40, Z:1.85 [[ 9.87540076e-01 1.57116199e-01 -8.89378102e-03 5.92751823e+02] [-1.57107649e-01 9.87580095e-01 1.65630576e-03 -3.14032825e+01] [ 9.04355356e-03 -2.38387288e-04 9.99959078e-01 1.84599136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9407140569999 meters Centerline goodness [0,1] 0.9952519311175678 Centerline is valid? [True, True] Translation: X:592.78, Y:-31.40, Z:1.85 [[ 9.87033325e-01 1.60277701e-01 -8.73344327e-03 5.92784535e+02] [-1.60269570e-01 9.87071941e-01 1.62761860e-03 -3.14045066e+01] [ 8.88140777e-03 -2.06808608e-04 9.99960538e-01 1.84679481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9707140569999 meters Centerline goodness [0,1] 0.9948795039225818 Centerline is valid? [True, True] Translation: X:592.82, Y:-31.40, Z:1.85 [[ 9.85871349e-01 1.67286753e-01 -8.53381932e-03 5.92816146e+02] [-1.67279239e-01 9.85908273e-01 1.59182640e-03 -3.14026430e+01] [ 8.67985454e-03 -1.41805238e-04 9.99962319e-01 1.84652701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.000714057 meters Centerline goodness [0,1] 0.993505431608457 Centerline is valid? [True, True] Translation: X:592.85, Y:-31.40, Z:1.85 [[ 9.84475465e-01 1.75267738e-01 -9.44874969e-03 5.92848588e+02] [-1.75258891e-01 9.84520804e-01 1.76284598e-03 -3.13984102e+01] [ 9.61146067e-03 -7.95012302e-05 9.99953806e-01 1.84523137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.030714057 meters Centerline goodness [0,1] 0.9928978926533939 Centerline is valid? [True, True] Translation: X:592.88, Y:-31.40, Z:1.84 [[ 9.83708114e-01 1.79474368e-01 -1.03584477e-02 5.92881284e+02] [-1.79463952e-01 9.83762649e-01 1.93405015e-03 -3.13991520e+01] [ 1.05373664e-02 -4.35728618e-05 9.99944479e-01 1.84459301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0607140569999 meters Centerline goodness [0,1] 0.9909546340105762 Centerline is valid? [True, True] Translation: X:592.91, Y:-31.40, Z:1.84 [[ 9.82321789e-01 1.86810310e-01 -1.20751887e-02 5.92914060e+02] [-1.86796668e-01 9.82396003e-01 2.25792099e-03 -3.13962937e+01] [ 1.22844201e-02 3.76000377e-05 9.99924543e-01 1.84129313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0907140569999 meters Centerline goodness [0,1] 0.9903725699438594 Centerline is valid? [True, True] Translation: X:592.95, Y:-31.40, Z:1.84 [[ 9.81244446e-01 1.92378763e-01 -1.22371844e-02 5.92947101e+02] [-1.92365145e-01 9.81320743e-01 2.29143231e-03 -3.13962209e+01] [ 1.24494258e-02 1.05552521e-04 9.99922497e-01 1.84100895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.120714057 meters Centerline goodness [0,1] 0.9897638523037109 Centerline is valid? [True, True] Translation: X:592.98, Y:-31.40, Z:1.84 [[ 9.80824156e-01 1.94477384e-01 -1.27484112e-02 5.92978338e+02] [-1.94462739e-01 9.80906993e-01 2.39036455e-03 -3.13982675e+01] [ 1.29698775e-02 1.34563671e-04 9.99915879e-01 1.84002206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.150714057 meters Centerline goodness [0,1] 0.9885306310456011 Centerline is valid? [True, True] Translation: X:593.01, Y:-31.40, Z:1.84 [[ 9.80227001e-01 1.97471884e-01 -1.26444158e-02 5.93010305e+02] [-1.97457686e-01 9.80308536e-01 2.37401569e-03 -3.14018538e+01] [ 1.28642301e-02 1.69662814e-04 9.99917238e-01 1.84018856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1807140569999 meters Centerline goodness [0,1] 0.9887110865866556 Centerline is valid? [True, True] Translation: X:593.04, Y:-31.41, Z:1.84 [[ 9.80046480e-01 1.98337349e-01 -1.30840370e-02 5.93042254e+02] [-1.98322177e-01 9.80133798e-01 2.46010935e-03 -3.14067744e+01] [ 1.33120384e-02 1.83833180e-04 9.99911374e-01 1.84047562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2107140569999 meters Centerline goodness [0,1] 0.988707451701932 Centerline is valid? [True, True] Translation: X:593.07, Y:-31.41, Z:1.84 [[ 9.79958364e-01 1.98841714e-01 -1.19823951e-02 5.93074983e+02] [-1.98828986e-01 9.80031603e-01 2.25626885e-03 -3.14127977e+01] [ 1.21917662e-02 1.71397936e-04 9.99925663e-01 1.84116149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.240714057 meters Centerline goodness [0,1] 0.9885409236291677 Centerline is valid? [True, True] Translation: X:593.11, Y:-31.42, Z:1.84 [[ 9.79925958e-01 1.99026091e-01 -1.15642231e-02 5.93107003e+02] [-1.99014210e-01 9.79994178e-01 2.18084492e-03 -3.14189579e+01] [ 1.17669164e-02 1.64378177e-04 9.99930754e-01 1.84193164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.270714057 meters Centerline goodness [0,1] 0.9889699956248417 Centerline is valid? [True, True] Translation: X:593.14, Y:-31.42, Z:1.84 [[ 9.79996474e-01 1.98781660e-01 -9.63132556e-03 5.93137765e+02] [-1.98773388e-01 9.80043792e-01 1.81822131e-03 -3.14249958e+01] [ 9.80054987e-03 1.32600746e-04 9.99951965e-01 1.84286119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3007140569999 meters Centerline goodness [0,1] 0.990123228873402 Centerline is valid? [True, True] Translation: X:593.17, Y:-31.43, Z:1.84 [[ 9.79966048e-01 1.98947386e-01 -9.29961386e-03 5.93170039e+02] [-1.98939664e-01 9.80010164e-01 1.75748626e-03 -3.14326375e+01] [ 9.46336340e-03 1.27785191e-04 9.99955213e-01 1.84347159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3307140569999 meters Centerline goodness [0,1] 0.9898143015521065 Centerline is valid? [True, True] Translation: X:593.20, Y:-31.44, Z:1.84 [[ 9.79679893e-01 2.00377210e-01 -8.73392938e-03 5.93201120e+02] [-2.00370435e-01 9.79718815e-01 1.65288510e-03 -3.14405624e+01] [ 8.88799545e-03 1.30722934e-04 9.99960492e-01 1.84427275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.360714057 meters Centerline goodness [0,1] 0.9894493290143452 Centerline is valid? [True, True] Translation: X:593.23, Y:-31.45, Z:1.84 [[ 9.79060679e-01 2.03331342e-01 -9.82610165e-03 5.93231172e+02] [-2.03322895e-01 9.79109971e-01 1.86169012e-03 -3.14464068e+01] [ 9.99937405e-03 1.75163840e-04 9.99949990e-01 1.84366626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.390714057 meters Centerline goodness [0,1] 0.9886597699553333 Centerline is valid? [True, True] Translation: X:593.26, Y:-31.45, Z:1.84 [[ 9.78517522e-01 2.05894817e-01 -1.05253367e-02 5.93262355e+02] [-2.05885250e-01 9.78574105e-01 1.99625203e-03 -3.14521787e+01] [ 1.07108398e-02 2.13643975e-04 9.99942614e-01 1.84306763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4207140569999 meters Centerline goodness [0,1] 0.9871340148828153 Centerline is valid? [True, True] Translation: X:593.29, Y:-31.46, Z:1.84 [[ 9.77460361e-01 2.10686641e-01 -1.35049275e-02 5.93293098e+02] [-2.10671322e-01 9.77553591e-01 2.56322320e-03 -3.14568981e+01] [ 1.37418272e-02 3.39651845e-04 9.99905519e-01 1.84066140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4507140569999 meters Centerline goodness [0,1] 0.9874224034096173 Centerline is valid? [True, True] Translation: X:593.32, Y:-31.46, Z:1.84 [[ 9.76920785e-01 2.13076132e-01 -1.49780684e-02 5.93324218e+02] [-2.13057548e-01 9.77035512e-01 2.84420066e-03 -3.14627865e+01] [ 1.52401360e-02 4.12631788e-04 9.99883777e-01 1.83955842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4807140569999 meters Centerline goodness [0,1] 0.9852619833558045 Centerline is valid? [True, True] Translation: X:593.35, Y:-31.47, Z:1.84 [[ 9.75950638e-01 2.17359204e-01 -1.65930177e-02 5.93354227e+02] [-2.17337001e-01 9.76091540e-01 3.15161327e-03 -3.14657200e+01] [ 1.68813364e-02 5.30457731e-04 9.99857359e-01 1.83682633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.510714057 meters Centerline goodness [0,1] 0.9849082130111264 Centerline is valid? [True, True] Translation: X:593.38, Y:-31.48, Z:1.84 [[ 9.75218935e-01 2.20632416e-01 -1.64123822e-02 5.93384874e+02] [-2.20611144e-01 9.75356858e-01 3.11810869e-03 -3.14753540e+01] [ 1.66958854e-02 5.79915769e-04 9.99860446e-01 1.83865531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.540714057 meters Centerline goodness [0,1] 0.9841670759372296 Centerline is valid? [True, True] Translation: X:593.42, Y:-31.48, Z:1.84 [[ 9.74892994e-01 2.22105946e-01 -1.58933535e-02 5.93415577e+02] [-2.22086165e-01 9.75022362e-01 3.02127319e-03 -3.14814805e+01] [ 1.61674178e-02 5.84275858e-04 9.99869128e-01 1.83915637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5707140569999 meters Centerline goodness [0,1] 0.984735326481399 Centerline is valid? [True, True] Translation: X:593.45, Y:-31.49, Z:1.84 [[ 9.74518493e-01 2.23842458e-01 -1.44312553e-02 5.93446117e+02] [-2.23826295e-01 9.74625183e-01 2.74633331e-03 -3.14944286e+01] [ 1.46798108e-02 5.53741812e-04 9.99892092e-01 1.84268854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6007140569999 meters Centerline goodness [0,1] 0.984735326481399 Centerline is valid? [True, True] Translation: X:593.48, Y:-31.50, Z:1.84 [[ 9.74454850e-01 2.24119400e-01 -1.44305095e-02 5.93477951e+02] [-2.24103209e-01 9.74561536e-01 2.75024842e-03 -3.15005594e+01] [ 1.46798035e-02 5.53930575e-04 9.99892092e-01 1.84286054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.630714057 meters Centerline goodness [0,1] 0.9833673493325826 Centerline is valid? [True, True] Translation: X:593.51, Y:-31.51, Z:1.85 [[ 9.74235629e-01 2.25219561e-01 -1.18780465e-02 5.93507903e+02] [-2.25208639e-01 9.74307924e-01 2.26662956e-03 -3.15095829e+01] [ 1.20833642e-02 4.66807410e-04 9.99926885e-01 1.84607830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.660714057 meters Centerline goodness [0,1] 0.9832159624413146 Centerline is valid? [True, True] Translation: X:593.54, Y:-31.52, Z:1.85 [[ 9.74092908e-01 2.25920456e-01 -1.01466711e-02 5.93539209e+02] [-2.25912499e-01 9.74145669e-01 1.93863121e-03 -3.15165107e+01] [ 1.03223121e-02 4.03852903e-04 9.99946642e-01 1.84751039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6907140569999 meters Centerline goodness [0,1] 0.9805599304200654 Centerline is valid? [True, True] Translation: X:593.57, Y:-31.52, Z:1.85 [[ 9.73691037e-01 2.27758999e-01 -7.18353701e-03 5.93570091e+02] [-2.27755050e-01 9.73717490e-01 1.37398315e-03 -3.15245519e+01] [ 7.30767265e-03 2.98251755e-04 9.99973254e-01 1.85024709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7207140569999 meters Centerline goodness [0,1] 0.9814552661381654 Centerline is valid? [True, True] Translation: X:593.60, Y:-31.53, Z:1.85 [[ 9.73443090e-01 2.28834649e-01 -6.57674546e-03 5.93601482e+02] [-2.28831353e-01 9.73465267e-01 1.25945575e-03 -3.15318125e+01] [ 6.69044038e-03 2.78957065e-04 9.99977580e-01 1.85109521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.750714057 meters Centerline goodness [0,1] 0.979137625516834 Centerline is valid? [True, True] Translation: X:593.63, Y:-31.54, Z:1.85 [[ 9.73087295e-01 2.30325754e-01 -7.15280957e-03 5.93631452e+02] [-2.30321883e-01 9.73113533e-01 1.37164151e-03 -3.15390726e+01] [ 7.27642016e-03 3.12721636e-04 9.99973478e-01 1.85038595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.780714057 meters Centerline goodness [0,1] 0.9832993310243393 Centerline is valid? [True, True] Translation: X:593.66, Y:-31.55, Z:1.85 [[ 9.72898792e-01 2.31081158e-01 -8.33297934e-03 5.93662395e+02] [-2.31075912e-01 9.72934408e-01 1.60016890e-03 -3.15493292e+01] [ 8.47721121e-03 3.68748414e-04 9.99964000e-01 1.84960805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8107140569999 meters Centerline goodness [0,1] 0.9798830075617064 Centerline is valid? [True, True] Translation: X:593.69, Y:-31.55, Z:1.85 [[ 9.72527409e-01 2.32523719e-01 -1.10976702e-02 5.93693878e+02] [-2.32514471e-01 9.72590595e-01 2.13428308e-03 -3.15522193e+01] [ 1.12897611e-02 5.04720131e-04 9.99936141e-01 1.84572411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8407140569999 meters Centerline goodness [0,1] 0.9818775782721701 Centerline is valid? [True, True] Translation: X:593.72, Y:-31.56, Z:1.84 [[ 9.72418442e-01 2.32840612e-01 -1.36975377e-02 5.93723951e+02] [-2.32826505e-01 9.72514709e-01 2.63791266e-03 -3.15637886e+01] [ 1.39352701e-02 6.23994907e-04 9.99902705e-01 1.84277611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.870714057 meters Centerline goodness [0,1] 0.9846304618032317 Centerline is valid? [True, True] Translation: X:593.75, Y:-31.58, Z:1.84 [[ 9.72494262e-01 2.32468545e-01 -1.46043122e-02 5.93754090e+02] [-2.32452411e-01 9.72603694e-01 2.81630305e-03 -3.15752815e+01] [ 1.48589099e-02 6.55969023e-04 9.99889385e-01 1.84269672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.900714057 meters Centerline goodness [0,1] 0.9832625950171451 Centerline is valid? [True, True] Translation: X:593.78, Y:-31.58, Z:1.84 [[ 9.73091276e-01 2.29833650e-01 -1.64274528e-02 5.93784122e+02] [-2.29812832e-01 9.73229683e-01 3.16957186e-03 -3.15809683e+01] [ 1.67161590e-02 6.90956724e-04 9.99860037e-01 1.83997268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9307140569999 meters Centerline goodness [0,1] 0.9854200750649601 Centerline is valid? [True, True] Translation: X:593.82, Y:-31.59, Z:1.84 [[ 9.73453509e-01 2.28282191e-01 -1.65983790e-02 5.93815043e+02] [-2.28260685e-01 9.73594779e-01 3.20418936e-03 -3.15930710e+01] [ 1.68915545e-02 6.69627996e-04 9.99857103e-01 1.84076709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9607140569999 meters Centerline goodness [0,1] 0.9865257148386473 Centerline is valid? [True, True] Translation: X:593.84, Y:-31.61, Z:1.84 [[ 9.74333977e-01 2.24488786e-01 -1.66759296e-02 5.93844425e+02] [-2.24466496e-01 9.74476484e-01 3.22078747e-03 -3.16082408e+01] [ 1.69733319e-02 6.05064818e-04 9.99855760e-01 1.84269560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.990714057 meters Centerline goodness [0,1] 0.9863216355831494 Centerline is valid? [True, True] Translation: X:593.87, Y:-31.62, Z:1.84 [[ 9.75514424e-01 2.19380508e-01 -1.56141413e-02 5.93873198e+02] [-2.19360303e-01 9.75639257e-01 3.01622679e-03 -3.16202336e+01] [ 1.58954706e-02 4.82750024e-04 9.99873542e-01 1.84431620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.020714057 meters Centerline goodness [0,1] 0.9864164171474477 Centerline is valid? [True, True] Translation: X:593.90, Y:-31.63, Z:1.84 [[ 9.76012587e-01 2.17214343e-01 -1.47430880e-02 5.93903890e+02] [-2.17196046e-01 9.76123841e-01 2.85041273e-03 -3.16281953e+01] [ 1.50102302e-02 4.20101715e-04 9.99887252e-01 1.84451976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0507140569999 meters Centerline goodness [0,1] 0.9870739156994502 Centerline is valid? [True, True] Translation: X:593.93, Y:-31.64, Z:1.85 [[ 9.77082858e-01 2.12468763e-01 -1.28884769e-02 5.93933097e+02] [-2.12454348e-01 9.77167812e-01 2.49325790e-03 -3.16408408e+01] [ 1.31239442e-02 3.02093419e-04 9.99913832e-01 1.84625006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0807140569999 meters Centerline goodness [0,1] 0.9869188182842585 Centerline is valid? [True, True] Translation: X:593.96, Y:-31.65, Z:1.85 [[ 9.77419586e-01 2.10932392e-01 -1.25888269e-02 5.93963721e+02] [-2.10918486e-01 9.77500615e-01 2.43730934e-03 -3.16484128e+01] [ 1.28196935e-02 2.72942422e-04 9.99917787e-01 1.84660838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.110714057 meters Centerline goodness [0,1] 0.9877593157015043 Centerline is valid? [True, True] Translation: X:593.99, Y:-31.66, Z:1.85 [[ 9.78095387e-01 2.07798338e-01 -1.22174101e-02 5.93994820e+02] [-2.07784974e-01 9.78171662e-01 2.36726994e-03 -3.16586603e+01] [ 1.24426391e-02 2.23178421e-04 9.99922562e-01 1.84769488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.140714057 meters Centerline goodness [0,1] 0.9887717746492715 Centerline is valid? [True, True] Translation: X:594.03, Y:-31.67, Z:1.85 [[ 9.78440280e-01 2.06144783e-01 -1.26073737e-02 5.94025203e+02] [-2.06130387e-01 9.78521479e-01 2.44498743e-03 -3.16663796e+01] [ 1.28406074e-02 2.06488635e-04 9.99917535e-01 1.84702698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1707140569999 meters Centerline goodness [0,1] 0.9888123924268503 Centerline is valid? [True, True] Translation: X:594.06, Y:-31.67, Z:1.85 [[ 9.78503988e-01 2.05807003e-01 -1.31689925e-02 5.94057165e+02] [-2.05791219e-01 9.78592578e-01 2.55734591e-03 -3.16732643e+01] [ 1.34133980e-02 2.07689831e-04 9.99910015e-01 1.84650074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2007140569999 meters Centerline goodness [0,1] 0.9885802696529875 Centerline is valid? [True, True] Translation: X:594.09, Y:-31.68, Z:1.85 [[ 9.78477720e-01 2.05871764e-01 -1.40772383e-02 5.94089176e+02] [-2.05853677e-01 9.78578954e-01 2.73770670e-03 -3.16796806e+01] [ 1.43393057e-02 2.19066259e-04 9.99897163e-01 1.84543692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2307140569999 meters Centerline goodness [0,1] 0.9889767259157419 Centerline is valid? [True, True] Translation: X:594.12, Y:-31.69, Z:1.84 [[ 9.78431989e-01 2.05947860e-01 -1.60100252e-02 5.94120473e+02] [-2.05924404e-01 9.78562935e-01 3.11795030e-03 -3.16873724e+01] [ 1.63089525e-02 2.46152587e-04 9.99866970e-01 1.84468646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.260714057 meters Centerline goodness [0,1] 0.9886919540795005 Centerline is valid? [True, True] Translation: X:594.15, Y:-31.69, Z:1.84 [[ 9.78358991e-01 2.06268642e-01 -1.63380770e-02 5.94152228e+02] [-2.06244187e-01 9.78495367e-01 3.18617759e-03 -3.16918044e+01] [ 1.66439412e-02 2.52407914e-04 9.99861448e-01 1.84357604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.290714057 meters Centerline goodness [0,1] 0.9898687599656568 Centerline is valid? [True, True] Translation: X:594.18, Y:-31.70, Z:1.85 [[ 9.78405096e-01 2.06138479e-01 -1.51788070e-02 5.94183647e+02] [-2.06117297e-01 9.78522803e-01 2.96388513e-03 -3.16993493e+01] [ 1.54637796e-02 2.28734360e-04 9.99880402e-01 1.84543074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3207140569999 meters Centerline goodness [0,1] 0.9896009614205479 Centerline is valid? [True, True] Translation: X:594.22, Y:-31.71, Z:1.85 [[ 9.78265821e-01 2.06800008e-01 -1.51572106e-02 5.94216116e+02] [-2.06778901e-01 9.78383208e-01 2.96380987e-03 -3.17053816e+01] [ 1.54424762e-02 2.34797461e-04 9.99880730e-01 1.84642321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3507140569999 meters Centerline goodness [0,1] 0.9896327232526717 Centerline is valid? [True, True] Translation: X:594.25, Y:-31.71, Z:1.85 [[ 9.78102453e-01 2.07670930e-01 -1.37250044e-02 5.94248887e+02] [-2.07653656e-01 9.78198720e-01 2.68760947e-03 -3.17110499e+01] [ 1.39839201e-02 2.21289928e-04 9.99902196e-01 1.84729126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.380714057 meters Centerline goodness [0,1] 0.9897766090781746 Centerline is valid? [True, True] Translation: X:594.28, Y:-31.72, Z:1.85 [[ 9.78000184e-01 2.08131594e-01 -1.40313661e-02 5.94280221e+02] [-2.08113531e-01 9.78100806e-01 2.75158661e-03 -3.17160999e+01] [ 1.42967826e-02 2.29064934e-04 9.99897770e-01 1.84678760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.410714057 meters Centerline goodness [0,1] 0.9894653933248007 Centerline is valid? [True, True] Translation: X:594.31, Y:-31.72, Z:1.85 [[ 9.78052529e-01 2.07860687e-01 -1.43939037e-02 5.94312782e+02] [-2.07841589e-01 9.78158414e-01 2.82678105e-03 -3.17234050e+01] [ 1.46670947e-02 2.26911467e-04 9.99892407e-01 1.84698025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4407140569999 meters Centerline goodness [0,1] 0.9899514814176292 Centerline is valid? [True, True] Translation: X:594.34, Y:-31.73, Z:1.85 [[ 9.78426849e-01 2.06051281e-01 -1.49590023e-02 5.94343569e+02] [-2.06030381e-01 9.78541173e-01 2.94176245e-03 -3.17314618e+01] [ 1.52441536e-02 2.03709584e-04 9.99883780e-01 1.84671309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4707140569999 meters Centerline goodness [0,1] 0.9900155313956068 Centerline is valid? [True, True] Translation: X:594.37, Y:-31.74, Z:1.85 [[ 9.78955185e-01 2.03566290e-01 -1.44052595e-02 5.94374461e+02] [-2.03546587e-01 9.79061153e-01 2.83646411e-03 -3.17406895e+01] [ 1.46810385e-02 1.55370167e-04 9.99892216e-01 1.84789814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.500714057 meters Centerline goodness [0,1] 0.990119065263574 Centerline is valid? [True, True] Translation: X:594.41, Y:-31.75, Z:1.85 [[ 9.79024408e-01 2.03219783e-01 -1.45920796e-02 5.94405320e+02] [-2.03199470e-01 9.79133136e-01 2.87711023e-03 -3.17473064e+01] [ 1.48722743e-02 1.48341687e-04 9.99889391e-01 1.84809336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.530714057 meters Centerline goodness [0,1] 0.9900219812788659 Centerline is valid? [True, True] Translation: X:594.44, Y:-31.75, Z:1.85 [[ 9.79152991e-01 2.02627623e-01 -1.41939105e-02 5.94435488e+02] [-2.02608303e-01 9.79255855e-01 2.80119905e-03 -3.17528579e+01] [ 1.44670702e-02 1.33001681e-04 9.99895338e-01 1.84837810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5607140569999 meters Centerline goodness [0,1] 0.9891427445959919 Centerline is valid? [True, True] Translation: X:594.47, Y:-31.76, Z:1.85 [[ 9.78937069e-01 2.03682633e-01 -1.39856786e-02 5.94467399e+02] [-2.03663938e-01 9.79036958e-01 2.76330323e-03 -3.17588553e+01] [ 1.42553331e-02 1.43278429e-04 9.99898377e-01 1.84841423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5907140569999 meters Centerline goodness [0,1] 0.9901369997786359 Centerline is valid? [True, True] Translation: X:594.50, Y:-31.76, Z:1.85 [[ 9.78692511e-01 2.04787247e-01 -1.49383077e-02 5.94498925e+02] [-2.04765986e-01 9.78806496e-01 2.95556150e-03 -3.17633076e+01] [ 1.52269740e-02 1.66271403e-04 9.99884049e-01 1.84797104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.620714057 meters Centerline goodness [0,1] 0.9897013641391176 Centerline is valid? [True, True] Translation: X:594.53, Y:-31.77, Z:1.85 [[ 9.78528123e-01 2.05572068e-01 -1.49277585e-02 5.94530043e+02] [-2.05550868e-01 9.78641964e-01 2.95740875e-03 -3.17679329e+01] [ 1.52168915e-02 1.74506085e-04 9.99884201e-01 1.84640285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.650714057 meters Centerline goodness [0,1] 0.98967246975509 Centerline is valid? [True, True] Translation: X:594.56, Y:-31.78, Z:1.85 [[ 9.78712253e-01 2.04641589e-01 -1.56251404e-02 5.94561567e+02] [-2.04618173e-01 9.78836959e-01 3.10002781e-03 -3.17763426e+01] [ 1.59288595e-02 1.63152462e-04 9.99873114e-01 1.84725688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6807140569999 meters Centerline goodness [0,1] 0.9907906724779001 Centerline is valid? [True, True] Translation: X:594.59, Y:-31.78, Z:1.85 [[ 9.78909507e-01 2.03689990e-01 -1.57023919e-02 5.94592121e+02] [-2.03666155e-01 9.79035427e-01 3.11928870e-03 -3.17830606e+01] [ 1.60085658e-02 1.44544420e-04 9.99871844e-01 1.84728151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7107140569999 meters Centerline goodness [0,1] 0.9912458078516473 Centerline is valid? [True, True] Translation: X:594.62, Y:-31.79, Z:1.85 [[ 9.79377690e-01 2.01458242e-01 -1.52943143e-02 5.94623065e+02] [-2.01435301e-01 9.79497099e-01 3.04189247e-03 -3.17914985e+01] [ 1.55935508e-02 1.01653184e-04 9.99878408e-01 1.84822755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.740714057 meters Centerline goodness [0,1] 0.9911904056855196 Centerline is valid? [True, True] Translation: X:594.65, Y:-31.80, Z:1.85 [[ 9.79583611e-01 2.00461758e-01 -1.51997276e-02 5.94653870e+02] [-2.00438925e-01 9.79701524e-01 3.02663707e-03 -3.17979540e+01] [ 1.54979213e-02 8.17729880e-05 9.99879897e-01 1.84810098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.770714057 meters Centerline goodness [0,1] 0.9920025670772344 Centerline is valid? [True, True] Translation: X:594.69, Y:-31.81, Z:1.85 [[ 9.80086336e-01 1.98035946e-01 -1.45787158e-02 5.94685188e+02] [-1.98014621e-01 9.80194757e-01 2.90640495e-03 -3.18053686e+01] [ 1.48655534e-02 3.82711063e-05 9.99889501e-01 1.84940451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8007140569999 meters Centerline goodness [0,1] 0.9921424700724174 Centerline is valid? [True, True] Translation: X:594.72, Y:-31.81, Z:1.85 [[ 9.80611181e-01 1.95429044e-01 -1.44637449e-02 5.94716981e+02] [-1.95407713e-01 9.80717844e-01 2.88734614e-03 -3.18127433e+01] [ 1.47491240e-02 -5.03658872e-06 9.99891226e-01 1.84954406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8307140569999 meters Centerline goodness [0,1] 0.9926208338457754 Centerline is valid? [True, True] Translation: X:594.75, Y:-31.82, Z:1.85 [[ 9.80820001e-01 1.94386525e-01 -1.43528398e-02 5.94749439e+02] [-1.94365350e-01 9.80925012e-01 2.86926322e-03 -3.18194668e+01] [ 1.46368056e-02 -2.45360327e-05 9.99892876e-01 1.85048514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.860714057 meters Centerline goodness [0,1] 0.9925967690535141 Centerline is valid? [True, True] Translation: X:594.78, Y:-31.83, Z:1.85 [[ 9.81285591e-01 1.91977486e-01 -1.49410001e-02 5.94780669e+02] [-1.91954199e-01 9.81399328e-01 2.99082551e-03 -3.18256911e+01] [ 1.52372586e-02 -6.68662742e-05 9.99883904e-01 1.85016320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.890714057 meters Centerline goodness [0,1] 0.9935243328100472 Centerline is valid? [True, True] Translation: X:594.81, Y:-31.83, Z:1.85 [[ 9.81493351e-01 1.90885864e-01 -1.52770806e-02 5.94812887e+02] [-1.90861320e-01 9.81612234e-01 3.06231728e-03 -3.18322721e+01] [ 1.55807223e-02 -8.98402751e-05 9.99878609e-01 1.85004003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9207140569999 meters Centerline goodness [0,1] 0.9931105752669652 Centerline is valid? [True, True] Translation: X:594.84, Y:-31.84, Z:1.85 [[ 9.82097374e-01 1.87769376e-01 -1.50801216e-02 5.94843128e+02] [-1.87745035e-01 9.82213134e-01 3.02658073e-03 -3.18384109e+01] [ 1.53801927e-02 -1.41179012e-04 9.99881708e-01 1.85005933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9507140569999 meters Centerline goodness [0,1] 0.9927836822856582 Centerline is valid? [True, True] Translation: X:594.88, Y:-31.85, Z:1.85 [[ 9.82414287e-01 1.86176168e-01 -1.41634207e-02 5.94875783e+02] [-1.86154479e-01 9.82516366e-01 2.84624106e-03 -3.18451246e+01] [ 1.44456949e-02 -1.59603675e-04 9.99895643e-01 1.85115097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9807140569999 meters Centerline goodness [0,1] 0.9940673187712976 Centerline is valid? [True, True] Translation: X:594.91, Y:-31.85, Z:1.85 [[ 9.82546528e-01 1.85509479e-01 -1.37315011e-02 5.94908643e+02] [-1.85488973e-01 9.82642460e-01 2.76332201e-03 -3.18500830e+01] [ 1.40057785e-02 -1.68050398e-04 9.99901900e-01 1.85212172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.010714057 meters Centerline goodness [0,1] 0.9937423612808605 Centerline is valid? [True, True] Translation: X:594.94, Y:-31.85, Z:1.85 [[ 9.82285656e-01 1.86965178e-01 -1.26060376e-02 5.94940774e+02] [-1.86947974e-01 9.82366532e-01 2.54006926e-03 -3.18527998e+01] [ 1.28586540e-02 -1.38400412e-04 9.99917315e-01 1.85282114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.040714057 meters Centerline goodness [0,1] 0.9931670071004766 Centerline is valid? [True, True] Translation: X:594.97, Y:-31.86, Z:1.85 [[ 9.81984021e-01 1.88560724e-01 -1.23383831e-02 5.94972345e+02] [-1.88544330e-01 9.82061525e-01 2.48921397e-03 -3.18564001e+01] [ 1.25864193e-02 -1.18036157e-04 9.99920781e-01 1.85328847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0707140569999 meters Centerline goodness [0,1] 0.992807497638825 Centerline is valid? [True, True] Translation: X:595.00, Y:-31.86, Z:1.85 [[ 9.80962044e-01 1.93713374e-01 -1.37330908e-02 5.95004457e+02] [-1.93693520e-01 9.81058166e-01 2.77403369e-03 -3.18564349e+01] [ 1.40103283e-02 -6.12110474e-05 9.99901849e-01 1.85202566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1007140569999 meters Centerline goodness [0,1] 0.9921859926683388 Centerline is valid? [True, True] Translation: X:595.04, Y:-31.86, Z:1.85 [[ 9.79715502e-01 1.99825262e-01 -1.50797662e-02 5.95037142e+02] [-1.99801986e-01 9.79831549e-01 3.05001372e-03 -3.18557368e+01] [ 1.53851005e-02 2.48215154e-05 9.99881642e-01 1.85012549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.130714057 meters Centerline goodness [0,1] 0.9923777922046695 Centerline is valid? [True, True] Translation: X:595.07, Y:-31.86, Z:1.85 [[ 9.79074043e-01 2.02932519e-01 -1.52450196e-02 5.95070325e+02] [-2.02909040e-01 9.79192722e-01 3.08764748e-03 -3.18587795e+01] [ 1.55543964e-02 7.03168070e-05 9.99879021e-01 1.85004130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.160714057 meters Centerline goodness [0,1] 0.9914763859876587 Centerline is valid? [True, True] Translation: X:595.10, Y:-31.86, Z:1.85 [[ 9.77924797e-01 2.08366991e-01 -1.56935522e-02 5.95103046e+02] [-2.08342743e-01 9.78050700e-01 3.18266823e-03 -3.18590919e+01] [ 1.60122527e-02 1.57227534e-04 9.99871783e-01 1.84993394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1907140569999 meters Centerline goodness [0,1] 0.9911591355599214 Centerline is valid? [True, True] Translation: X:595.13, Y:-31.86, Z:1.85 [[ 9.77446907e-01 2.10584358e-01 -1.58673165e-02 5.95134666e+02] [-2.10559816e-01 9.77575670e-01 3.22071613e-03 -3.18611168e+01] [ 1.61897350e-02 1.92940223e-04 9.99868919e-01 1.84835385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2207140569999 meters Centerline goodness [0,1] 0.9916167664670659 Centerline is valid? [True, True] Translation: X:595.17, Y:-31.87, Z:1.85 [[ 9.76959855e-01 2.12796679e-01 -1.63406122e-02 5.95166130e+02] [-2.12770900e-01 9.77096474e-01 3.32036715e-03 -3.18653569e+01] [ 1.66729177e-02 2.32941366e-04 9.99860970e-01 1.84904805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.250714057 meters Centerline goodness [0,1] 0.9909412495817199 Centerline is valid? [True, True] Translation: X:595.20, Y:-31.87, Z:1.85 [[ 9.76920318e-01 2.12929848e-01 -1.69579303e-02 5.95198656e+02] [-2.12902021e-01 9.77067461e-01 3.45063249e-03 -3.18717514e+01] [ 1.73037845e-02 2.39384633e-04 9.99850250e-01 1.84984976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.280714057 meters Centerline goodness [0,1] 0.9908584009380907 Centerline is valid? [True, True] Translation: X:595.23, Y:-31.88, Z:1.85 [[ 9.77024001e-01 2.12478881e-01 -1.66381081e-02 5.95229154e+02] [-2.12451957e-01 9.77165634e-01 3.38975138e-03 -3.18778004e+01] [ 1.69784380e-02 2.22930180e-04 9.99855831e-01 1.85010134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3107140569999 meters Centerline goodness [0,1] 0.9910837743765795 Centerline is valid? [True, True] Translation: X:595.26, Y:-31.89, Z:1.85 [[ 9.77402578e-01 2.10786346e-01 -1.59159050e-02 5.95260871e+02] [-2.10761450e-01 9.77532139e-01 3.24475212e-03 -3.18854495e+01] [ 1.62422581e-02 1.83030116e-04 9.99868069e-01 1.85096517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3407140569999 meters Centerline goodness [0,1] 0.9915802027429934 Centerline is valid? [True, True] Translation: X:595.29, Y:-31.89, Z:1.85 [[ 9.77829979e-01 2.08851275e-01 -1.51551117e-02 5.95291438e+02] [-2.08828427e-01 9.77947404e-01 3.09241045e-03 -3.18918844e+01] [ 1.54667560e-02 1.40966482e-04 9.99880373e-01 1.85180229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.370714057 meters Centerline goodness [0,1] 0.9919366381983873 Centerline is valid? [True, True] Translation: X:595.32, Y:-31.90, Z:1.85 [[ 9.78004559e-01 2.08066216e-01 -1.46809918e-02 5.95322794e+02] [-2.08044635e-01 9.78114735e-01 2.99916923e-03 -3.18989570e+01] [ 1.49837202e-02 1.21100394e-04 9.99887730e-01 1.85205659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.400714057 meters Centerline goodness [0,1] 0.9924901656931696 Centerline is valid? [True, True] Translation: X:595.35, Y:-31.91, Z:1.85 [[ 9.78234260e-01 2.07034146e-01 -1.39497472e-02 5.95352597e+02] [-2.07014510e-01 9.78333713e-01 2.85297978e-03 -3.19059735e+01] [ 1.42381722e-02 9.69175211e-05 9.99898627e-01 1.85284371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4307140569999 meters Centerline goodness [0,1] 0.9916421902237506 Centerline is valid? [True, True] Translation: X:595.38, Y:-31.91, Z:1.85 [[ 9.78219377e-01 2.07130927e-01 -1.35509935e-02 5.95384866e+02] [-2.07112360e-01 9.78313227e-01 2.77489049e-03 -3.19127327e+01] [ 1.38318818e-02 9.21265844e-05 9.99904331e-01 1.85332610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4607140569999 meters Centerline goodness [0,1] 0.990969525125688 Centerline is valid? [True, True] Translation: X:595.42, Y:-31.92, Z:1.85 [[ 9.78087785e-01 2.07750206e-01 -1.35696593e-02 5.95416821e+02] [-2.07731595e-01 9.78181907e-01 2.78246785e-03 -3.19188648e+01] [ 1.38516534e-02 9.73491430e-05 9.99904057e-01 1.85374564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.490714057 meters Centerline goodness [0,1] 0.990969525125688 Centerline is valid? [True, True] Translation: X:595.45, Y:-31.93, Z:1.85 [[ 9.78032713e-01 2.08009366e-01 -1.35689216e-02 5.95448538e+02] [-2.07990730e-01 9.78126829e-01 2.78606201e-03 -3.19254629e+01] [ 1.38516532e-02 9.73501152e-05 9.99904057e-01 1.85391760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.520714057 meters Centerline goodness [0,1] 0.9927405150664065 Centerline is valid? [True, True] Translation: X:595.48, Y:-31.93, Z:1.85 [[ 9.77633743e-01 2.09864308e-01 -1.37563135e-02 5.95480667e+02] [-2.09845286e-01 9.77730514e-01 2.82815408e-03 -3.19307276e+01] [ 1.40434961e-02 1.21798682e-04 9.99901378e-01 1.85426384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5507140569999 meters Centerline goodness [0,1] 0.9921027592768792 Centerline is valid? [True, True] Translation: X:595.51, Y:-31.94, Z:1.85 [[ 9.77284255e-01 2.11472402e-01 -1.39609680e-02 5.95512173e+02] [-2.11452923e-01 9.77383959e-01 2.87376485e-03 -3.19357869e+01] [ 1.42529481e-02 1.43602349e-04 9.99898411e-01 1.85367309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5807140569999 meters Centerline goodness [0,1] 0.9912447658926532 Centerline is valid? [True, True] Translation: X:595.54, Y:-31.94, Z:1.85 [[ 9.76543986e-01 2.14849258e-01 -1.41999667e-02 5.95543215e+02] [-2.14829414e-01 9.76647203e-01 2.92637895e-03 -3.19384450e+01] [ 1.44970881e-02 1.92832767e-04 9.99894893e-01 1.85236778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.610714057 meters Centerline goodness [0,1] 0.9910267062314541 Centerline is valid? [True, True] Translation: X:595.57, Y:-31.94, Z:1.85 [[ 9.76178774e-01 2.16510796e-01 -1.40739610e-02 5.95574331e+02] [-2.16491427e-01 9.76280201e-01 2.90380652e-03 -3.19442857e+01] [ 1.43688350e-02 2.12257613e-04 9.99896740e-01 1.85335750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.640714057 meters Centerline goodness [0,1] 0.9906415845337376 Centerline is valid? [True, True] Translation: X:595.61, Y:-31.95, Z:1.85 [[ 9.75667994e-01 2.18798136e-01 -1.41188114e-02 5.95606235e+02] [-2.18778832e-01 9.75770114e-01 2.91659501e-03 -3.19494032e+01] [ 1.44148597e-02 2.43268651e-04 9.99896071e-01 1.85391877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6707140569999 meters Centerline goodness [0,1] 0.9902256174230741 Centerline is valid? [True, True] Translation: X:595.64, Y:-31.95, Z:1.85 [[ 9.75375027e-01 2.20051198e-01 -1.48669730e-02 5.95637900e+02] [-2.20029881e-01 9.75488286e-01 3.07493281e-03 -3.19548476e+01] [ 1.51792006e-02 2.71965614e-04 9.99884752e-01 1.85307239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7007140569999 meters Centerline goodness [0,1] 0.9909922723178306 Centerline is valid? [True, True] Translation: X:595.67, Y:-31.96, Z:1.85 [[ 9.75327695e-01 2.20225977e-01 -1.53755239e-02 5.95670093e+02] [-2.20203132e-01 9.75448841e-01 3.18436185e-03 -3.19614656e+01] [ 1.56993161e-02 2.79942203e-04 9.99876719e-01 1.85253858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7307140569999 meters Centerline goodness [0,1] 0.9897758273039972 Centerline is valid? [True, True] Translation: X:595.70, Y:-31.97, Z:1.85 [[ 9.75225918e-01 2.20567466e-01 -1.68642234e-02 5.95700760e+02] [-2.20539978e-01 9.75371671e-01 3.49588164e-03 -3.19672498e+01] [ 1.72199635e-02 3.09961081e-04 9.99851677e-01 1.85102077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.760714057 meters Centerline goodness [0,1] 0.990749129750608 Centerline is valid? [True, True] Translation: X:595.73, Y:-31.98, Z:1.85 [[ 9.75049489e-01 2.21334512e-01 -1.70154884e-02 5.95732927e+02] [-2.21306573e-01 9.75197893e-01 3.53141924e-03 -3.19757756e+01] [ 1.73750934e-02 3.22330900e-04 9.99848990e-01 1.85225863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.790714057 meters Centerline goodness [0,1] 0.9894021480847828 Centerline is valid? [True, True] Translation: X:595.76, Y:-31.98, Z:1.85 [[ 9.74893740e-01 2.21999614e-01 -1.72733153e-02 5.95764477e+02] [-2.21970840e-01 9.75046696e-01 3.58977776e-03 -3.19807993e+01] [ 1.76392183e-02 3.34520456e-04 9.99844361e-01 1.85142624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8207140569999 meters Centerline goodness [0,1] 0.9887231460994933 Centerline is valid? [True, True] Translation: X:595.80, Y:-31.99, Z:1.85 [[ 9.74703526e-01 2.22803026e-01 -1.76592137e-02 5.95795295e+02] [-2.22773000e-01 9.74863420e-01 3.67462249e-03 -3.19889428e+01] [ 1.80340385e-02 3.52328519e-04 9.99837311e-01 1.85292453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8507140569999 meters Centerline goodness [0,1] 0.9893118141350663 Centerline is valid? [True, True] Translation: X:595.83, Y:-31.99, Z:1.85 [[ 9.74566228e-01 2.23444432e-01 -1.71246388e-02 5.95826587e+02] [-2.23416235e-01 9.74716607e-01 3.56685163e-03 -3.19941146e+01] [ 1.74886630e-02 3.49789191e-04 9.99847000e-01 1.85284719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.880714057 meters Centerline goodness [0,1] 0.988914000237897 Centerline is valid? [True, True] Translation: X:595.86, Y:-32.00, Z:1.85 [[ 9.74384656e-01 2.24323227e-01 -1.59258264e-02 5.95858821e+02] [-2.24298893e-01 9.74514739e-01 3.32114555e-03 -3.20003872e+01] [ 1.62649627e-02 3.36071973e-04 9.99867660e-01 1.85367364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.910714057 meters Centerline goodness [0,1] 0.9886442090227354 Centerline is valid? [True, True] Translation: X:595.89, Y:-32.01, Z:1.85 [[ 9.74267123e-01 2.24883255e-01 -1.52017837e-02 5.95891025e+02] [-2.24861084e-01 9.74385661e-01 3.17447679e-03 -3.20070729e+01] [ 1.55262867e-02 3.25501180e-04 9.99879407e-01 1.85407978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9407140569999 meters Centerline goodness [0,1] 0.9883065953654189 Centerline is valid? [True, True] Translation: X:595.92, Y:-32.01, Z:1.85 [[ 9.73942047e-01 2.26340125e-01 -1.43887484e-02 5.95922490e+02] [-2.26320382e-01 9.74048274e-01 3.00737005e-03 -3.20103699e+01] [ 1.46960241e-02 3.27462900e-04 9.99891954e-01 1.85448725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9707140569999 meters Centerline goodness [0,1] 0.9874064393489367 Centerline is valid? [True, True] Translation: X:595.95, Y:-32.02, Z:1.85 [[ 9.73422250e-01 2.28534224e-01 -1.48738823e-02 5.95954392e+02] [-2.28513336e-01 9.73535809e-01 3.11182742e-03 -3.20156439e+01] [ 1.51914161e-02 3.69758409e-04 9.99884535e-01 1.85381044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.000714057 meters Centerline goodness [0,1] 0.9874321216001518 Centerline is valid? [True, True] Translation: X:595.99, Y:-32.02, Z:1.85 [[ 9.73153165e-01 2.29686996e-01 -1.47241984e-02 5.95985495e+02] [-2.29666605e-01 9.73264475e-01 3.08409989e-03 -3.20226133e+01] [ 1.50389169e-02 3.80355087e-04 9.99886837e-01 1.85394690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.030714057 meters Centerline goodness [0,1] 0.9863238122373389 Centerline is valid? [True, True] Translation: X:596.02, Y:-32.03, Z:1.85 [[ 9.72758886e-01 2.31322999e-01 -1.51597893e-02 5.96015843e+02] [-2.31301526e-01 9.72876918e-01 3.17892878e-03 -3.20273984e+01] [ 1.54839684e-02 4.14151177e-04 9.99880030e-01 1.85352608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0607140569999 meters Centerline goodness [0,1] 0.9859669084530412 Centerline is valid? [True, True] Translation: X:596.05, Y:-32.03, Z:1.85 [[ 9.72538569e-01 2.32208828e-01 -1.57414289e-02 5.96046302e+02] [-2.32185733e-01 9.72665855e-01 3.30449789e-03 -3.20334975e+01] [ 1.60784840e-02 4.41183558e-04 9.99870635e-01 1.85302206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0907140569999 meters Centerline goodness [0,1] 0.9856650421966004 Centerline is valid? [True, True] Translation: X:596.08, Y:-32.04, Z:1.85 [[ 9.72424072e-01 2.32608694e-01 -1.68706436e-02 5.96077461e+02] [-2.32582157e-01 9.72570290e-01 3.54560070e-03 -3.20401727e+01] [ 1.72326243e-02 4.75983214e-04 9.99851394e-01 1.85201492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.120714057 meters Centerline goodness [0,1] 0.9862886744926572 Centerline is valid? [True, True] Translation: X:596.11, Y:-32.05, Z:1.85 [[ 9.72345639e-01 2.32962850e-01 -1.65005906e-02 5.96109436e+02] [-2.32937442e-01 9.72485523e-01 3.47216020e-03 -3.20472667e+01] [ 1.68554698e-02 4.67465548e-04 9.99857827e-01 1.85189507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.150714057 meters Centerline goodness [0,1] 0.9876184580218106 Centerline is valid? [True, True] Translation: X:596.14, Y:-32.06, Z:1.85 [[ 9.72446979e-01 2.32572587e-01 -1.60270226e-02 5.96140339e+02] [-2.32548525e-01 9.72578939e-01 3.37488345e-03 -3.20586783e+01] [ 1.63724500e-02 4.45165263e-04 9.99865863e-01 1.85336092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1807140569999 meters Centerline goodness [0,1] 0.9872989395925176 Centerline is valid? [True, True] Translation: X:596.17, Y:-32.06, Z:1.85 [[ 9.72661520e-01 2.31741229e-01 -1.50190172e-02 5.96170659e+02] [-2.31719957e-01 9.72777385e-01 3.16538737e-03 -3.20643415e+01] [ 1.53437111e-02 4.01355546e-04 9.99882198e-01 1.85279118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2107140569999 meters Centerline goodness [0,1] 0.9881034688282274 Centerline is valid? [True, True] Translation: X:596.20, Y:-32.08, Z:1.85 [[ 9.72641827e-01 2.31804385e-01 -1.53167528e-02 5.96201611e+02] [-2.31782204e-01 9.72762336e-01 3.23235432e-03 -3.20758546e+01] [ 1.56488341e-02 4.06227701e-04 9.99877467e-01 1.85446244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.240714057 meters Centerline goodness [0,1] 0.9880684268532273 Centerline is valid? [True, True] Translation: X:596.23, Y:-32.09, Z:1.85 [[ 9.72675745e-01 2.31692477e-01 -1.48489282e-02 5.96232746e+02] [-2.31671557e-01 9.72789003e-01 3.13757148e-03 -3.20852891e+01] [ 1.51718258e-02 3.88234649e-04 9.99884826e-01 1.85482343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.270714057 meters Centerline goodness [0,1] 0.9881699315101298 Centerline is valid? [True, True] Translation: X:596.26, Y:-32.09, Z:1.86 [[ 9.72625468e-01 2.31905383e-01 -1.48186660e-02 5.96264323e+02] [-2.31884510e-01 9.72738271e-01 3.13531942e-03 -3.20931211e+01] [ 1.51417810e-02 3.86727597e-04 9.99885282e-01 1.85520330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3007140569999 meters Centerline goodness [0,1] 0.9882584579921723 Centerline is valid? [True, True] Translation: X:596.29, Y:-32.10, Z:1.85 [[ 9.72420303e-01 2.32711968e-01 -1.56171007e-02 5.96294369e+02] [-2.32688824e-01 9.72545611e-01 3.30831085e-03 -3.20994224e+01] [ 1.59582263e-02 4.16856161e-04 9.99872573e-01 1.85328008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3307140569999 meters Centerline goodness [0,1] 0.9888766096482798 Centerline is valid? [True, True] Translation: X:596.33, Y:-32.11, Z:1.85 [[ 9.72249169e-01 2.33387051e-01 -1.61875684e-02 5.96325719e+02] [-2.33362213e-01 9.72383819e-01 3.43315679e-03 -3.21061690e+01] [ 1.65417840e-02 4.39682948e-04 9.99863079e-01 1.85232002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.360714057 meters Centerline goodness [0,1] 0.9878277604041376 Centerline is valid? [True, True] Translation: X:596.36, Y:-32.11, Z:1.85 [[ 9.71829153e-01 2.35016031e-01 -1.77640858e-02 5.96357055e+02] [-2.34986307e-01 9.71991361e-01 3.77212546e-03 -3.21148396e+01] [ 1.81530479e-02 5.08455432e-04 9.99835091e-01 1.85104337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.390714057 meters Centerline goodness [0,1] 0.9883215905800599 Centerline is valid? [True, True] Translation: X:596.39, Y:-32.12, Z:1.85 [[ 9.71568918e-01 2.36052308e-01 -1.82522712e-02 5.96387856e+02] [-2.36021028e-01 9.71740201e-01 3.88020050e-03 -3.21207951e+01] [ 1.86523960e-02 5.38037613e-04 9.99825884e-01 1.84992448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4207140569999 meters Centerline goodness [0,1] 0.9880981179544245 Centerline is valid? [True, True] Translation: X:596.42, Y:-32.13, Z:1.85 [[ 9.71239197e-01 2.37399091e-01 -1.83328685e-02 5.96418783e+02] [-2.37367689e-01 9.71412042e-01 3.90186677e-03 -3.21301591e+01] [ 1.87350689e-02 5.61984679e-04 9.99824325e-01 1.85070798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4507140569999 meters Centerline goodness [0,1] 0.987020534676482 Centerline is valid? [True, True] Translation: X:596.45, Y:-32.13, Z:1.85 [[ 9.70839594e-01 2.39116738e-01 -1.71367494e-02 5.96449305e+02] [-2.39089497e-01 9.70990670e-01 3.65127315e-03 -3.21346451e+01] [ 1.75127043e-02 5.52416252e-04 9.99846488e-01 1.85062471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4807140569999 meters Centerline goodness [0,1] 0.9871200912023674 Centerline is valid? [True, True] Translation: X:596.48, Y:-32.14, Z:1.85 [[ 9.70599365e-01 2.40097058e-01 -1.70374905e-02 5.96481014e+02] [-2.40070212e-01 9.70748724e-01 3.63414837e-03 -3.21415503e+01] [ 1.74116705e-02 5.62891861e-04 9.99848247e-01 1.85087932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.510714057 meters Centerline goodness [0,1] 0.9874869402531768 Centerline is valid? [True, True] Translation: X:596.51, Y:-32.15, Z:1.85 [[ 9.70187742e-01 2.41842910e-01 -1.57401364e-02 5.96511298e+02] [-2.41820169e-01 9.70315263e-01 3.36098908e-03 -3.21509261e+01] [ 1.60857260e-02 5.45492051e-04 9.99870468e-01 1.85307908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.540714057 meters Centerline goodness [0,1] 0.9877128953771289 Centerline is valid? [True, True] Translation: X:596.54, Y:-32.16, Z:1.85 [[ 9.70316807e-01 2.41350767e-01 -1.53330314e-02 5.96541967e+02] [-2.41329069e-01 9.70437807e-01 3.27773663e-03 -3.21595677e+01] [ 1.56708376e-02 5.19863251e-04 9.99877070e-01 1.85333450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5707140569999 meters Centerline goodness [0,1] 0.9861326986594132 Centerline is valid? [True, True] Translation: X:596.57, Y:-32.17, Z:1.85 [[ 9.70841928e-01 2.39244405e-01 -1.51018664e-02 5.96572419e+02] [-2.39223068e-01 9.70959262e-01 3.23045691e-03 -3.21679583e+01] [ 1.54361658e-02 4.76451814e-04 9.99880742e-01 1.85289308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6007140569999 meters Centerline goodness [0,1] 0.9870920603994154 Centerline is valid? [True, True] Translation: X:596.60, Y:-32.18, Z:1.85 [[ 9.71285381e-01 2.37434604e-01 -1.51498368e-02 5.96603556e+02] [-2.37412867e-01 9.71403423e-01 3.24363677e-03 -3.21761075e+01] [ 1.54867549e-02 4.46269204e-04 9.99879973e-01 1.85260203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.630714057 meters Centerline goodness [0,1] 0.9877173780858567 Centerline is valid? [True, True] Translation: X:596.63, Y:-32.19, Z:1.85 [[ 9.71760882e-01 2.35443520e-01 -1.57205739e-02 5.96634576e+02] [-2.35419816e-01 9.71887939e-01 3.36813387e-03 -3.21867427e+01] [ 1.60716414e-02 4.27913873e-04 9.99870751e-01 1.85182979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.660714057 meters Centerline goodness [0,1] 0.9875578280983687 Centerline is valid? [True, True] Translation: X:596.67, Y:-32.19, Z:1.85 [[ 9.71809885e-01 2.35227901e-01 -1.59179592e-02 5.96665871e+02] [-2.35203520e-01 9.71940149e-01 3.41347400e-03 -3.21904380e+01] [ 1.62742480e-02 4.26712257e-04 9.99867475e-01 1.85123831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6907140569999 meters Centerline goodness [0,1] 0.9863143335517216 Centerline is valid? [True, True] Translation: X:596.70, Y:-32.20, Z:1.85 [[ 9.71577124e-01 2.36190039e-01 -1.58794667e-02 5.96696864e+02] [-2.36165845e-01 9.71706784e-01 3.40886785e-03 -3.21952693e+01] [ 1.62353261e-02 4.38209649e-04 9.99868102e-01 1.85127958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7207140569999 meters Centerline goodness [0,1] 0.9876316107951107 Centerline is valid? [True, True] Translation: X:596.73, Y:-32.20, Z:1.85 [[ 9.71205490e-01 2.37519547e-01 -1.85569848e-02 5.96728550e+02] [-2.37486657e-01 9.71382613e-01 3.98846327e-03 -3.22002142e+01] [ 1.89732704e-02 5.33418867e-04 9.99819849e-01 1.84964689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.750714057 meters Centerline goodness [0,1] 0.9872903880539313 Centerline is valid? [True, True] Translation: X:596.76, Y:-32.20, Z:1.85 [[ 9.71055629e-01 2.38106070e-01 -1.88802971e-02 5.96759951e+02] [-2.38072040e-01 9.71239001e-01 4.06280410e-03 -3.22031427e+01] [ 1.93046592e-02 5.49662045e-04 9.99813497e-01 1.84748444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.780714057 meters Centerline goodness [0,1] 0.9865337741631874 Centerline is valid? [True, True] Translation: X:596.79, Y:-32.21, Z:1.85 [[ 9.71142261e-01 2.37762432e-01 -1.87545873e-02 5.96791177e+02] [-2.37728698e-01 9.71323190e-01 4.04054341e-03 -3.22095813e+01] [ 1.91774550e-02 5.34561154e-04 9.99815953e-01 1.84775618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8107140569999 meters Centerline goodness [0,1] 0.9871269466274528 Centerline is valid? [True, True] Translation: X:596.82, Y:-32.22, Z:1.85 [[ 9.71196139e-01 2.37542426e-01 -1.87524889e-02 5.96822012e+02] [-2.37508566e-01 9.71377022e-01 4.04488981e-03 -3.22171135e+01] [ 1.91765698e-02 5.25495393e-04 9.99815975e-01 1.84958621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8407140569999 meters Centerline goodness [0,1] 0.9874536435004575 Centerline is valid? [True, True] Translation: X:596.85, Y:-32.22, Z:1.85 [[ 9.71441686e-01 2.36613812e-01 -1.77469934e-02 5.96852153e+02] [-2.36583275e-01 9.71603662e-01 3.83109026e-03 -3.22240804e+01] [ 1.81495326e-02 4.76961042e-04 9.99835170e-01 1.85296859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.870714057 meters Centerline goodness [0,1] 0.9868974636374565 Centerline is valid? [True, True] Translation: X:596.88, Y:-32.23, Z:1.85 [[ 9.71381880e-01 2.36935140e-01 -1.67027867e-02 5.96883846e+02] [-2.36908076e-01 9.71525366e-01 3.60933173e-03 -3.22303815e+01] [ 1.70823585e-02 4.50985631e-04 9.99853984e-01 1.85417421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.900714057 meters Centerline goodness [0,1] 0.9881659639708701 Centerline is valid? [True, True] Translation: X:596.92, Y:-32.23, Z:1.85 [[ 9.71236840e-01 2.37618239e-01 -1.53809507e-02 5.96917224e+02] [-2.37595309e-01 9.71358530e-01 3.32791800e-03 -3.22330873e+01] [ 1.57311917e-02 4.22245173e-04 9.99876168e-01 1.85469706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9307140569999 meters Centerline goodness [0,1] 0.9869146827765706 Centerline is valid? [True, True] Translation: X:596.95, Y:-32.24, Z:1.85 [[ 9.70945808e-01 2.38865065e-01 -1.44124747e-02 5.96948597e+02] [-2.38845012e-01 9.71052682e-01 3.12220470e-03 -3.22375735e+01] [ 1.47410578e-02 4.10856137e-04 9.99891260e-01 1.85485453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9607140569999 meters Centerline goodness [0,1] 0.9864216680587042 Centerline is valid? [True, True] Translation: X:596.98, Y:-32.24, Z:1.86 [[ 9.70762182e-01 2.39611476e-01 -1.43918952e-02 5.96979070e+02] [-2.39591510e-01 9.70868769e-01 3.12130284e-03 -3.22425505e+01] [ 1.47205416e-02 4.18133147e-04 9.99891560e-01 1.85512788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.990714057 meters Centerline goodness [0,1] 0.9861663372937451 Centerline is valid? [True, True] Translation: X:597.01, Y:-32.25, Z:1.86 [[ 9.70148678e-01 2.42065079e-01 -1.46983033e-02 5.97010526e+02] [-2.42044479e-01 9.70259906e-01 3.19148376e-03 -3.22485184e+01] [ 1.50337212e-02 4.61429427e-04 9.99886881e-01 1.85644413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.020714057 meters Centerline goodness [0,1] 0.9856015638036664 Centerline is valid? [True, True] Translation: X:597.04, Y:-32.25, Z:1.86 [[ 9.69775734e-01 2.43550096e-01 -1.47775553e-02 5.97042007e+02] [-2.43529387e-01 9.69888198e-01 3.21253218e-03 -3.22542955e+01] [ 1.51149890e-02 4.83333219e-04 9.99885645e-01 1.85654730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0507140569999 meters Centerline goodness [0,1] 0.9857363603946273 Centerline is valid? [True, True] Translation: X:597.07, Y:-32.26, Z:1.86 [[ 9.69153067e-01 2.45995270e-01 -1.51214864e-02 5.97074125e+02] [-2.45973850e-01 9.69270883e-01 3.28941743e-03 -3.22573958e+01] [ 1.54659976e-02 5.31541233e-04 9.99880253e-01 1.85547979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0807140569999 meters Centerline goodness [0,1] 0.9848855142958832 Centerline is valid? [True, True] Translation: X:597.11, Y:-32.26, Z:1.85 [[ 9.68792386e-01 2.47418813e-01 -1.50081202e-02 5.97105603e+02] [-2.47397839e-01 9.68908474e-01 3.26768953e-03 -3.22625846e+01] [ 1.53499827e-02 5.47263758e-04 9.99882032e-01 1.85465904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.110714057 meters Centerline goodness [0,1] 0.985089510423097 Centerline is valid? [True, True] Translation: X:597.14, Y:-32.27, Z:1.85 [[ 9.68272233e-01 2.49383608e-01 -1.60218046e-02 5.97136768e+02] [-2.49359927e-01 9.68404584e-01 3.49118556e-03 -3.22668690e+01] [ 1.63862334e-02 6.14777984e-04 9.99865548e-01 1.85475175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.140714057 meters Centerline goodness [0,1] 0.9848790083663167 Centerline is valid? [True, True] Translation: X:597.17, Y:-32.27, Z:1.86 [[ 9.67999844e-01 2.50431825e-01 -1.61307795e-02 5.97167754e+02] [-2.50407909e-01 9.68134030e-01 3.51843104e-03 -3.22747829e+01] [ 1.64978836e-02 6.33434056e-04 9.99863700e-01 1.85604724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1707140569999 meters Centerline goodness [0,1] 0.9846128391793514 Centerline is valid? [True, True] Translation: X:597.20, Y:-32.28, Z:1.86 [[ 9.67755631e-01 2.51417275e-01 -1.54399792e-02 5.97198085e+02] [-2.51395435e-01 9.67878593e-01 3.37113872e-03 -3.22792166e+01] [ 1.57915879e-02 6.19101824e-04 9.99875113e-01 1.85640669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2007140569999 meters Centerline goodness [0,1] 0.9846558215528877 Centerline is valid? [True, True] Translation: X:597.23, Y:-32.29, Z:1.86 [[ 9.67562538e-01 2.52199322e-01 -1.47728447e-02 5.97229500e+02] [-2.52179367e-01 9.67675121e-01 3.22900569e-03 -3.22859695e+01] [ 1.51096673e-02 6.01141671e-04 9.99885662e-01 1.85639157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2307140569999 meters Centerline goodness [0,1] 0.9845794171822604 Centerline is valid? [True, True] Translation: X:597.26, Y:-32.29, Z:1.86 [[ 9.67611654e-01 2.52045332e-01 -1.41717068e-02 5.97260942e+02] [-2.52026913e-01 9.67715260e-01 3.10024505e-03 -3.22898189e+01] [ 1.44955793e-02 5.71818291e-04 9.99894770e-01 1.85614090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.260714057 meters Centerline goodness [0,1] 0.9836791737729771 Centerline is valid? [True, True] Translation: X:597.29, Y:-32.30, Z:1.86 [[ 9.67729181e-01 2.51604909e-01 -1.39714736e-02 5.97291643e+02] [-2.51586920e-01 9.67829873e-01 3.05926442e-03 -3.22957938e+01] [ 1.42917355e-02 5.54500560e-04 9.99897714e-01 1.85659979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.290714057 meters Centerline goodness [0,1] 0.9851271276470172 Centerline is valid? [True, True] Translation: X:597.32, Y:-32.30, Z:1.86 [[ 9.67777683e-01 2.51452225e-01 -1.33466796e-02 5.97322938e+02] [-2.51435751e-01 9.67869569e-01 2.92571118e-03 -3.23046628e+01] [ 1.36535217e-02 5.24394421e-04 9.99906649e-01 1.85820415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3207140569999 meters Centerline goodness [0,1] 0.9841052407831653 Centerline is valid? [True, True] Translation: X:597.35, Y:-32.31, Z:1.86 [[ 9.68002646e-01 2.50622927e-01 -1.26105645e-02 5.97353843e+02] [-2.50608120e-01 9.68084664e-01 2.76667971e-03 -3.23076488e+01] [ 1.29014875e-02 4.82156584e-04 9.99916656e-01 1.85697223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3507140569999 meters Centerline goodness [0,1] 0.985978225008248 Centerline is valid? [True, True] Translation: X:597.39, Y:-32.32, Z:1.86 [[ 9.68356881e-01 2.49272003e-01 -1.21827834e-02 5.97385264e+02] [-2.49258045e-01 9.68433410e-01 2.67535691e-03 -3.23153912e+01] [ 1.24651060e-02 4.45956484e-04 9.99922208e-01 1.85751584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.380714057 meters Centerline goodness [0,1] 0.9851158182761711 Centerline is valid? [True, True] Translation: X:597.42, Y:-32.32, Z:1.86 [[ 9.68377563e-01 2.49189820e-01 -1.22199907e-02 5.97416230e+02] [-2.49175732e-01 9.68454561e-01 2.68653522e-03 -3.23194626e+01] [ 1.25039629e-02 4.43344694e-04 9.99921724e-01 1.85764065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.410714057 meters Centerline goodness [0,1] 0.9851158182761711 Centerline is valid? [True, True] Translation: X:597.45, Y:-32.33, Z:1.86 [[ 9.68310609e-01 2.49449899e-01 -1.22193164e-02 5.97447875e+02] [-2.49435793e-01 9.68387604e-01 2.68959948e-03 -3.23265149e+01] [ 1.25039549e-02 4.43567167e-04 9.99921724e-01 1.85781261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4407140569999 meters Centerline goodness [0,1] 0.9842077971055485 Centerline is valid? [True, True] Translation: X:597.48, Y:-32.33, Z:1.86 [[ 9.68334007e-01 2.49343597e-01 -1.25308103e-02 5.97478753e+02] [-2.49328714e-01 9.68414977e-01 2.76132482e-03 -3.23322315e+01] [ 1.28235431e-02 4.50406103e-04 9.99917674e-01 1.85780158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4707140569999 meters Centerline goodness [0,1] 0.9854798725061976 Centerline is valid? [True, True] Translation: X:597.51, Y:-32.34, Z:1.86 [[ 9.68372391e-01 2.49139339e-01 -1.35831620e-02 5.97510113e+02] [-2.49121778e-01 9.68467531e-01 2.99699994e-03 -3.23437325e+01] [ 1.39015219e-02 4.81649464e-04 9.99903253e-01 1.85782667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.500714057 meters Centerline goodness [0,1] 0.9869318047790909 Centerline is valid? [True, True] Translation: X:597.54, Y:-32.35, Z:1.86 [[ 9.68455989e-01 2.48708948e-01 -1.53901635e-02 5.97542217e+02] [-2.48686273e-01 9.68578120e-01 3.40048090e-03 -3.23491322e+01] [ 1.57523057e-02 5.34106314e-04 9.99875782e-01 1.85562054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.530714057 meters Centerline goodness [0,1] 0.9859061828655067 Centerline is valid? [True, True] Translation: X:597.57, Y:-32.35, Z:1.85 [[ 9.68475195e-01 2.48587079e-01 -1.61326048e-02 5.97573823e+02] [-2.48562088e-01 9.68609393e-01 3.56816448e-03 -3.23539867e+01] [ 1.65131921e-02 5.54275125e-04 9.99863494e-01 1.85411980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5607140569999 meters Centerline goodness [0,1] 0.984841340940167 Centerline is valid? [True, True] Translation: X:597.61, Y:-32.36, Z:1.86 [[ 9.68472132e-01 2.48583437e-01 -1.63708392e-02 5.97605925e+02] [-2.48557630e-01 9.68610326e-01 3.62510152e-03 -3.23626280e+01] [ 1.67581041e-02 5.58287209e-04 9.99859417e-01 1.85522481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5907140569999 meters Centerline goodness [0,1] 0.9867165971878754 Centerline is valid? [True, True] Translation: X:597.64, Y:-32.37, Z:1.86 [[ 9.68593305e-01 2.48164614e-01 -1.55349012e-02 5.97636729e+02] [-2.48141256e-01 9.68717738e-01 3.44411121e-03 -3.23709567e+01] [ 1.59036409e-02 5.18906830e-04 9.99873394e-01 1.85668458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.620714057 meters Centerline goodness [0,1] 0.9860609067498287 Centerline is valid? [True, True] Translation: X:597.67, Y:-32.38, Z:1.86 [[ 9.68797634e-01 2.47464831e-01 -1.38672880e-02 5.97667512e+02] [-2.47446099e-01 9.68896772e-01 3.07782818e-03 -3.23775809e+01] [ 1.41976248e-02 4.49613666e-04 9.99899108e-01 1.85881792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.650714057 meters Centerline goodness [0,1] 0.9872111919734332 Centerline is valid? [True, True] Translation: X:597.70, Y:-32.38, Z:1.86 [[ 9.69171149e-01 2.46138418e-01 -1.10978786e-02 5.97699262e+02] [-2.46126315e-01 9.69234627e-01 2.46477522e-03 -3.23847301e+01] [ 1.13631241e-02 3.42690932e-04 9.99935379e-01 1.86097120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6807140569999 meters Centerline goodness [0,1] 0.986157787126037 Centerline is valid? [True, True] Translation: X:597.73, Y:-32.39, Z:1.86 [[ 9.69229310e-01 2.45944953e-01 -1.02773395e-02 5.97729546e+02] [-2.45934546e-01 9.69283747e-01 2.28420917e-03 -3.23904767e+01] [ 1.05234479e-02 3.13630354e-04 9.99944578e-01 1.86158512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7107140569999 meters Centerline goodness [0,1] 0.9866157235947681 Centerline is valid? [True, True] Translation: X:597.76, Y:-32.40, Z:1.86 [[ 9.69276432e-01 2.45806892e-01 -9.06478353e-03 5.97761307e+02] [-2.45798770e-01 9.69318780e-01 2.01680482e-03 -3.23968800e+01] [ 9.28240944e-03 2.73271265e-04 9.99956880e-01 1.86198513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.740714057 meters Centerline goodness [0,1] 0.9880757540332008 Centerline is valid? [True, True] Translation: X:597.79, Y:-32.40, Z:1.86 [[ 9.69369198e-01 2.45434507e-01 -9.23362745e-03 5.97792909e+02] [-2.45426040e-01 9.69413136e-01 2.05676765e-03 -3.24037662e+01] [ 9.45600150e-03 2.72405410e-04 9.99955254e-01 1.86226010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.770714057 meters Centerline goodness [0,1] 0.9878017251510095 Centerline is valid? [True, True] Translation: X:597.82, Y:-32.41, Z:1.86 [[ 9.69519342e-01 2.44796497e-01 -1.03402220e-02 5.97824208e+02] [-2.44785813e-01 9.69574436e-01 2.30607252e-03 -3.24096804e+01] [ 1.05901334e-02 2.95357749e-04 9.99943879e-01 1.86048631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8007140569999 meters Centerline goodness [0,1] 0.9883674476535145 Centerline is valid? [True, True] Translation: X:597.86, Y:-32.42, Z:1.86 [[ 9.69728576e-01 2.43951125e-01 -1.06929155e-02 5.97855375e+02] [-2.43939617e-01 9.69787483e-01 2.38753122e-03 -3.24164067e+01] [ 1.09522966e-02 2.93168473e-04 9.99939979e-01 1.85954110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8307140569999 meters Centerline goodness [0,1] 0.9892064385940214 Centerline is valid? [True, True] Translation: X:597.89, Y:-32.42, Z:1.86 [[ 9.70227571e-01 2.41886398e-01 -1.22242143e-02 5.97886488e+02] [-2.41871153e-01 9.70304528e-01 2.73279761e-03 -3.24240367e+01] [ 1.25222370e-02 3.05249225e-04 9.99921547e-01 1.85807901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.860714057 meters Centerline goodness [0,1] 0.9912243652916608 Centerline is valid? [True, True] Translation: X:597.92, Y:-32.43, Z:1.86 [[ 9.70609611e-01 2.40342198e-01 -1.23535841e-02 5.97917910e+02] [-2.40326463e-01 9.70688182e-01 2.76492711e-03 -3.24319156e+01] [ 1.26560067e-02 2.85228348e-04 9.99919869e-01 1.85792757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.890714057 meters Centerline goodness [0,1] 0.9897687983630077 Centerline is valid? [True, True] Translation: X:597.95, Y:-32.44, Z:1.86 [[ 9.71432524e-01 2.37017339e-01 -1.19009120e-02 5.97949029e+02] [-2.37002463e-01 9.71505392e-01 2.66551596e-03 -3.24418869e+01] [ 1.21935737e-02 2.31176554e-04 9.99925629e-01 1.85907487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9207140569999 meters Centerline goodness [0,1] 0.9904817999764401 Centerline is valid? [True, True] Translation: X:597.98, Y:-32.45, Z:1.86 [[ 9.72414040e-01 2.33022022e-01 -1.05674966e-02 5.97980015e+02] [-2.33010037e-01 9.72471445e-01 2.36866649e-03 -3.24517256e+01] [ 1.08285401e-02 1.59008221e-04 9.99941357e-01 1.86011520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9507140569999 meters Centerline goodness [0,1] 0.9907673465542418 Centerline is valid? [True, True] Translation: X:598.01, Y:-32.46, Z:1.86 [[ 9.72791120e-01 2.31486306e-01 -9.56701435e-03 5.98010831e+02] [-2.31476386e-01 9.72838154e-01 2.14675376e-03 -3.24601841e+01] [ 9.80410068e-03 1.26194918e-04 9.99951931e-01 1.86051442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9807140569999 meters Centerline goodness [0,1] 0.9922464177978884 Centerline is valid? [True, True] Translation: X:598.04, Y:-32.47, Z:1.86 [[ 9.73609550e-01 2.28072538e-01 -8.20742239e-03 5.98041963e+02] [-2.28065099e-01 9.73644140e-01 1.84362136e-03 -3.24695837e+01] [ 8.41158812e-03 7.68592355e-05 9.99964619e-01 1.86060007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.010714057 meters Centerline goodness [0,1] 0.9914203554424174 Centerline is valid? [True, True] Translation: X:598.07, Y:-32.48, Z:1.86 [[ 9.73887230e-01 2.26893140e-01 -7.94775991e-03 5.98072570e+02] [-2.26886109e-01 9.73919657e-01 1.78731766e-03 -3.24773240e+01] [ 8.14600973e-03 6.25904729e-05 9.99966819e-01 1.86092139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.040714057 meters Centerline goodness [0,1] 0.9916187964968453 Centerline is valid? [True, True] Translation: X:598.10, Y:-32.49, Z:1.86 [[ 9.74329386e-01 2.24991942e-01 -7.80215491e-03 5.98103694e+02] [-2.24985089e-01 9.74360623e-01 1.75656104e-03 -3.24859714e+01] [ 7.99732459e-03 4.38994821e-05 9.99968020e-01 1.86064696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0707140569999 meters Centerline goodness [0,1] 0.9906392586669175 Centerline is valid? [True, True] Translation: X:598.14, Y:-32.49, Z:1.86 [[ 9.74406980e-01 2.24648265e-01 -8.01220454e-03 5.98135530e+02] [-2.24641008e-01 9.74439919e-01 1.80604092e-03 -3.24932944e+01] [ 8.21313590e-03 4.00508280e-05 9.99966271e-01 1.86051436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1007140569999 meters Centerline goodness [0,1] 0.9915099207279892 Centerline is valid? [True, True] Translation: X:598.17, Y:-32.50, Z:1.86 [[ 9.74368956e-01 2.24840792e-01 -7.19421989e-03 5.98168346e+02] [-2.24834933e-01 9.74395514e-01 1.62360535e-03 -3.24994497e+01] [ 7.37506829e-03 3.55212917e-05 9.99972803e-01 1.86107646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.130714057 meters Centerline goodness [0,1] 0.9917275965504312 Centerline is valid? [True, True] Translation: X:598.20, Y:-32.51, Z:1.86 [[ 9.74191296e-01 2.25623280e-01 -6.74192182e-03 5.98200461e+02] [-2.25618140e-01 9.74214624e-01 1.52341589e-03 -3.25059611e+01] [ 6.91179693e-03 3.70013636e-05 9.99976113e-01 1.86157992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.160714057 meters Centerline goodness [0,1] 0.9901006357174693 Centerline is valid? [True, True] Translation: X:598.23, Y:-32.51, Z:1.86 [[ 9.74037030e-01 2.26282720e-01 -6.92775252e-03 5.98231606e+02] [-2.26277295e-01 9.74061666e-01 1.56747288e-03 -3.25124424e+01] [ 7.10275019e-03 4.08164676e-05 9.99974774e-01 1.86157179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1907140569999 meters Centerline goodness [0,1] 0.9906055991566124 Centerline is valid? [True, True] Translation: X:598.26, Y:-32.52, Z:1.86 [[ 9.74003727e-01 2.26425783e-01 -6.93576526e-03 5.98264034e+02] [-2.26420335e-01 9.74028420e-01 1.57123384e-03 -3.25195225e+01] [ 7.11140033e-03 4.00106739e-05 9.99974713e-01 1.86185318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2207140569999 meters Centerline goodness [0,1] 0.9911318061632777 Centerline is valid? [True, True] Translation: X:598.30, Y:-32.53, Z:1.86 [[ 9.74066969e-01 2.26162858e-01 -6.62583546e-03 5.98295569e+02] [-2.26157867e-01 9.74089503e-01 1.50286080e-03 -3.25251748e+01] [ 6.79404807e-03 3.45977534e-05 9.99976920e-01 1.86148873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.250714057 meters Centerline goodness [0,1] 0.9913914430474761 Centerline is valid? [True, True] Translation: X:598.33, Y:-32.53, Z:1.86 [[ 9.74159969e-01 2.25763153e-01 -6.58431426e-03 5.98328082e+02] [-2.25758203e-01 9.74182220e-01 1.49524925e-03 -3.25319547e+01] [ 6.75189407e-03 2.98509978e-05 9.99977205e-01 1.86134319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.280714057 meters Centerline goodness [0,1] 0.9925329463261627 Centerline is valid? [True, True] Translation: X:598.36, Y:-32.54, Z:1.86 [[ 9.74537733e-01 2.24096292e-01 -7.55368021e-03 5.98360036e+02] [-2.24089709e-01 9.74567007e-01 1.71779239e-03 -3.25390636e+01] [ 7.74651842e-03 1.86484950e-05 9.99969995e-01 1.85976848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3107140569999 meters Centerline goodness [0,1] 0.9918908181626978 Centerline is valid? [True, True] Translation: X:598.39, Y:-32.55, Z:1.86 [[ 9.74679407e-01 2.23446708e-01 -8.46295680e-03 5.98392336e+02] [-2.23438397e-01 9.74716148e-01 1.92724589e-03 -3.25470545e+01] [ 8.67961739e-03 1.25026227e-05 9.99962331e-01 1.85924935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3407140569999 meters Centerline goodness [0,1] 0.9932587425682319 Centerline is valid? [True, True] Translation: X:598.42, Y:-32.56, Z:1.86 [[ 9.75419958e-01 2.20164145e-01 -9.14629602e-03 5.98422502e+02] [-2.20154271e-01 9.75462838e-01 2.08516125e-03 -3.25562268e+01] [ 9.38094962e-03 -2.03117693e-05 9.99955998e-01 1.85899991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.370714057 meters Centerline goodness [0,1] 0.992575297688536 Centerline is valid? [True, True] Translation: X:598.45, Y:-32.57, Z:1.86 [[ 9.76146493e-01 2.16911613e-01 -9.34757438e-03 5.98453220e+02] [-2.16901132e-01 9.76191246e-01 2.13297753e-03 -3.25654655e+01] [ 9.58768788e-03 -5.45990678e-05 9.99954036e-01 1.85960292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.400714057 meters Centerline goodness [0,1] 0.9925775030439262 Centerline is valid? [True, True] Translation: X:598.48, Y:-32.57, Z:1.86 [[ 9.76510588e-01 2.15253648e-01 -9.64050122e-03 5.98484461e+02] [-2.15242395e-01 9.76558171e-01 2.20231232e-03 -3.25731595e+01] [ 9.88856600e-03 -7.55367306e-05 9.99951104e-01 1.86032016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4307140569999 meters Centerline goodness [0,1] 0.9935423490875058 Centerline is valid? [True, True] Translation: X:598.52, Y:-32.58, Z:1.86 [[ 9.77114086e-01 2.12510578e-01 -9.34440328e-03 5.98515456e+02] [-2.12499857e-01 9.77158761e-01 2.13702950e-03 -3.25809643e+01] [ 9.58510690e-03 -1.02437263e-04 9.99954057e-01 1.86128965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4607140569999 meters Centerline goodness [0,1] 0.9942072316173035 Centerline is valid? [True, True] Translation: X:598.55, Y:-32.59, Z:1.86 [[ 9.77302585e-01 2.11646368e-01 -9.24508597e-03 5.98546221e+02] [-2.11635817e-01 9.77346306e-01 2.11620740e-03 -3.25880105e+01] [ 9.48353824e-03 -1.11583637e-04 9.99955024e-01 1.86177294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.490714057 meters Centerline goodness [0,1] 0.9943546317680267 Centerline is valid? [True, True] Translation: X:598.58, Y:-32.59, Z:1.86 [[ 9.77325840e-01 2.11539319e-01 -9.23684881e-03 5.98578444e+02] [-2.11528764e-01 9.77369482e-01 2.11622201e-03 -3.25925115e+01] [ 9.47547829e-03 -1.14379240e-04 9.99955100e-01 1.86215051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.520714057 meters Centerline goodness [0,1] 0.9934834535377195 Centerline is valid? [True, True] Translation: X:598.61, Y:-32.59, Z:1.86 [[ 9.77006152e-01 2.13039623e-01 -8.54978310e-03 5.98610637e+02] [-2.13030618e-01 9.77043556e-01 1.96103323e-03 -3.25948231e+01] [ 8.77128826e-03 -9.45759494e-05 9.99961527e-01 1.86211591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5507140569999 meters Centerline goodness [0,1] 0.993426078100044 Centerline is valid? [True, True] Translation: X:598.64, Y:-32.60, Z:1.86 [[ 9.76881673e-01 2.13619032e-01 -8.31300555e-03 5.98643800e+02] [-2.13610521e-01 9.76917039e-01 1.90889599e-03 -3.25994448e+01] [ 8.52889328e-03 -8.90200625e-05 9.99963624e-01 1.86238335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5807140569999 meters Centerline goodness [0,1] 0.9942908653846154 Centerline is valid? [True, True] Translation: X:598.68, Y:-32.60, Z:1.86 [[ 9.76676435e-01 2.14585077e-01 -7.50906095e-03 5.98676163e+02] [-2.14578147e-01 9.76705298e-01 1.72622475e-03 -3.26038947e+01] [ 7.70456168e-03 -7.46826548e-05 9.99970317e-01 1.86346740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.610714057 meters Centerline goodness [0,1] 0.9944601521734133 Centerline is valid? [True, True] Translation: X:598.71, Y:-32.61, Z:1.86 [[ 9.76287471e-01 2.16356867e-01 -7.24436960e-03 5.98708437e+02] [-2.16350452e-01 9.76314346e-01 1.66715362e-03 -3.26052125e+01] [ 7.43348210e-03 -6.02985539e-05 9.99972369e-01 1.86459160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.640714057 meters Centerline goodness [0,1] 0.9928473491773309 Centerline is valid? [True, True] Translation: X:598.74, Y:-32.61, Z:1.86 [[ 9.75701490e-01 2.18957850e-01 -8.00392200e-03 5.98740321e+02] [-2.18950090e-01 9.75734317e-01 1.84405209e-03 -3.26068155e+01] [ 8.21347105e-03 -4.67849282e-05 9.99966268e-01 1.86449112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6707140569999 meters Centerline goodness [0,1] 0.9933750628226802 Centerline is valid? [True, True] Translation: X:598.77, Y:-32.61, Z:1.86 [[ 9.75318021e-01 2.20631059e-01 -8.75744417e-03 5.98771761e+02] [-2.20621816e-01 9.75357337e-01 2.01992932e-03 -3.26110208e+01] [ 8.98729657e-03 -3.79902351e-05 9.99959613e-01 1.86409221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7007140569999 meters Centerline goodness [0,1] 0.992650739476678 Centerline is valid? [True, True] Translation: X:598.81, Y:-32.61, Z:1.86 [[ 9.74540094e-01 2.24004055e-01 -9.68446900e-03 5.98805781e+02] [-2.23992890e-01 9.74588212e-01 2.23656992e-03 -3.26117625e+01] [ 9.93937006e-03 -1.03748596e-05 9.99950603e-01 1.86353134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7307140569999 meters Centerline goodness [0,1] 0.9928236205403927 Centerline is valid? [True, True] Translation: X:598.84, Y:-32.62, Z:1.86 [[ 9.74127879e-01 2.25773023e-01 -1.00706598e-02 5.98838733e+02] [-2.25761013e-01 9.74179933e-01 2.32877490e-03 -3.26159783e+01] [ 1.03364093e-02 5.03781335e-06 9.99946578e-01 1.86291398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.760714057 meters Centerline goodness [0,1] 0.992703211040359 Centerline is valid? [True, True] Translation: X:598.87, Y:-32.62, Z:1.86 [[ 9.73217302e-01 2.29637928e-01 -1.07006940e-02 5.98870687e+02] [-2.29624574e-01 9.73276127e-01 2.47690131e-03 -3.26168096e+01] [ 1.09835205e-02 4.65790996e-05 9.99939678e-01 1.86214823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.790714057 meters Centerline goodness [0,1] 0.9920807312878993 Centerline is valid? [True, True] Translation: X:598.90, Y:-32.62, Z:1.86 [[ 9.72143297e-01 2.34078809e-01 -1.20217027e-02 5.98902994e+02] [-2.34062261e-01 9.72217620e-01 2.78529432e-03 -3.26189513e+01] [ 1.23396896e-02 1.06121718e-04 9.99923858e-01 1.86209005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8207140569999 meters Centerline goodness [0,1] 0.9924825608957717 Centerline is valid? [True, True] Translation: X:598.93, Y:-32.62, Z:1.86 [[ 9.71610527e-01 2.36277720e-01 -1.20756868e-02 5.98934636e+02] [-2.36261154e-01 9.71685557e-01 2.80096554e-03 -3.26237509e+01] [ 1.23955762e-02 1.31568089e-04 9.99923163e-01 1.86182654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8507140569999 meters Centerline goodness [0,1] 0.9921880276458273 Centerline is valid? [True, True] Translation: X:598.97, Y:-32.63, Z:1.86 [[ 9.70640122e-01 2.40215960e-01 -1.24115374e-02 5.98966341e+02] [-2.40198751e-01 9.70719454e-01 2.88124769e-03 -3.26260184e+01] [ 1.27402424e-02 1.84581165e-04 9.99918823e-01 1.86094234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.880714057 meters Centerline goodness [0,1] 0.9920436360357924 Centerline is valid? [True, True] Translation: X:599.00, Y:-32.63, Z:1.86 [[ 9.70074188e-01 2.42469691e-01 -1.28264752e-02 5.98997856e+02] [-2.42451475e-01 9.70158957e-01 2.98013206e-03 -3.26291943e+01] [ 1.31663115e-02 2.18848636e-04 9.99913296e-01 1.86016015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.910714057 meters Centerline goodness [0,1] 0.9913248679626925 Centerline is valid? [True, True] Translation: X:599.03, Y:-32.64, Z:1.86 [[ 9.69169430e-01 2.46038790e-01 -1.32487604e-02 5.99029166e+02] [-2.46019643e-01 9.69259944e-01 3.08158482e-03 -3.26355568e+01] [ 1.35996822e-02 2.72877500e-04 9.99907483e-01 1.86080472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9407140569999 meters Centerline goodness [0,1] 0.9918901918497551 Centerline is valid? [True, True] Translation: X:599.06, Y:-32.64, Z:1.86 [[ 9.68715768e-01 2.47796102e-01 -1.36694050e-02 5.99060809e+02] [-2.47775845e-01 9.68812159e-01 3.18296268e-03 -3.26420126e+01] [ 1.40318115e-02 3.03562220e-04 9.99901503e-01 1.86091207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9707140569999 meters Centerline goodness [0,1] 0.991724199968516 Centerline is valid? [True, True] Translation: X:599.09, Y:-32.65, Z:1.86 [[ 9.67685251e-01 2.51752453e-01 -1.43512185e-02 5.99091717e+02] [-2.51730527e-01 9.67791589e-01 3.34380725e-03 -3.26501616e+01] [ 1.47308003e-02 3.76886857e-04 9.99891425e-01 1.86201660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.000714057 meters Centerline goodness [0,1] 0.9910112865800086 Centerline is valid? [True, True] Translation: X:599.12, Y:-32.66, Z:1.86 [[ 9.67115217e-01 2.53943882e-01 -1.41655427e-02 5.99122980e+02] [-2.53922715e-01 9.67218870e-01 3.30330997e-03 -3.26570462e+01] [ 1.45400355e-02 4.02271718e-04 9.99894207e-01 1.86297073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.030714057 meters Centerline goodness [0,1] 0.9901770828639661 Centerline is valid? [True, True] Translation: X:599.15, Y:-32.66, Z:1.86 [[ 9.65977314e-01 2.58272249e-01 -1.35378790e-02 5.99152898e+02] [-2.58253321e-01 9.66072071e-01 3.15839870e-03 -3.26635034e+01] [ 1.38942935e-02 4.45260710e-04 9.99903371e-01 1.86349426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0607140569999 meters Centerline goodness [0,1] 0.9892553215503036 Centerline is valid? [True, True] Translation: X:599.18, Y:-32.67, Z:1.86 [[ 9.65117908e-01 2.61530156e-01 -1.22229501e-02 5.99183247e+02] [-2.61514974e-01 9.65195204e-01 2.85259159e-03 -3.26703929e+01] [ 1.25435715e-02 4.43397248e-04 9.99921228e-01 1.86415273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0907140569999 meters Centerline goodness [0,1] 0.9897359377826008 Centerline is valid? [True, True] Translation: X:599.21, Y:-32.68, Z:1.87 [[ 9.64677986e-01 2.63151381e-01 -1.21545745e-02 5.99213950e+02] [-2.63136467e-01 9.64754445e-01 2.83911434e-03 -3.26798813e+01] [ 1.24732966e-02 4.59480682e-04 9.99922100e-01 1.86530659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.120714057 meters Centerline goodness [0,1] 0.9888977182427063 Centerline is valid? [True, True] Translation: X:599.24, Y:-32.69, Z:1.87 [[ 9.64216423e-01 2.64828146e-01 -1.23589366e-02 5.99243685e+02] [-2.64812823e-01 9.64295503e-01 2.88997531e-03 -3.26889420e+01] [ 1.26830138e-02 4.86243229e-04 9.99919449e-01 1.86570725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.150714057 meters Centerline goodness [0,1] 0.9888656607889474 Centerline is valid? [True, True] Translation: X:599.27, Y:-32.70, Z:1.87 [[ 9.64055743e-01 2.65389442e-01 -1.28440005e-02 5.99274231e+02] [-2.65372899e-01 9.64141164e-01 3.00673451e-03 -3.26998189e+01] [ 1.31813852e-02 5.09789960e-04 9.99912992e-01 1.86591556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1807140569999 meters Centerline goodness [0,1] 0.9871114653307526 Centerline is valid? [True, True] Translation: X:599.30, Y:-32.71, Z:1.86 [[ 9.64168269e-01 2.64925754e-01 -1.39246184e-02 5.99304496e+02] [-2.64906221e-01 9.64268661e-01 3.26248967e-03 -3.27051653e+01] [ 1.42913907e-02 5.43129031e-04 9.99897725e-01 1.86343306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2107140569999 meters Centerline goodness [0,1] 0.9886082898709855 Centerline is valid? [True, True] Translation: X:599.33, Y:-32.72, Z:1.86 [[ 9.64209752e-01 2.64753778e-01 -1.43174764e-02 5.99334341e+02] [-2.64733064e-01 9.64315888e-01 3.35764510e-03 -3.27178414e+01] [ 1.46955192e-02 5.52835247e-04 9.99891862e-01 1.86338797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.240714057 meters Centerline goodness [0,1] 0.9894423451276766 Centerline is valid? [True, True] Translation: X:599.36, Y:-32.73, Z:1.86 [[ 9.64479739e-01 2.63704406e-01 -1.54537594e-02 5.99363957e+02] [-2.63680073e-01 9.64603367e-01 3.62822613e-03 -3.27331661e+01] [ 1.58635276e-02 5.75497818e-04 9.99874001e-01 1.86403844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.270714057 meters Centerline goodness [0,1] 0.9876747989955537 Centerline is valid? [True, True] Translation: X:599.39, Y:-32.74, Z:1.86 [[ 9.64810912e-01 2.62459661e-01 -1.59634367e-02 5.99393913e+02] [-2.62433477e-01 9.64942797e-01 3.75089466e-03 -3.27400168e+01] [ 1.63882618e-02 5.70436096e-04 9.99865541e-01 1.86187921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3007140569999 meters Centerline goodness [0,1] 0.9876747989955537 Centerline is valid? [True, True] Translation: X:599.43, Y:-32.75, Z:1.86 [[ 9.64741972e-01 2.62713006e-01 -1.59625979e-02 5.99425464e+02] [-2.62686797e-01 9.64873852e-01 3.75446201e-03 -3.27475315e+01] [ 1.63882393e-02 5.71076637e-04 9.99865541e-01 1.86205101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3307140569999 meters Centerline goodness [0,1] 0.9890869575269936 Centerline is valid? [True, True] Translation: X:599.46, Y:-32.76, Z:1.86 [[ 9.64811328e-01 2.62448364e-01 -1.61231823e-02 5.99455333e+02] [-2.62421518e-01 9.64945871e-01 3.79652999e-03 -3.27619722e+01] [ 1.65543912e-02 5.68134828e-04 9.99862805e-01 1.86368604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.360714057 meters Centerline goodness [0,1] 0.9902453717648695 Centerline is valid? [True, True] Translation: X:599.48, Y:-32.77, Z:1.86 [[ 9.65381502e-01 2.60306342e-01 -1.67082287e-02 5.99484718e+02] [-2.60277116e-01 9.65525924e-01 3.93866951e-03 -3.27745381e+01] [ 1.71574886e-02 5.46450880e-04 9.99852650e-01 1.86379342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.390714057 meters Centerline goodness [0,1] 0.9895944627676871 Centerline is valid? [True, True] Translation: X:599.52, Y:-32.79, Z:1.86 [[ 9.65829145e-01 2.58613707e-01 -1.71176431e-02 5.99515399e+02] [-2.58582722e-01 9.65980680e-01 4.03765996e-03 -3.27862838e+01] [ 1.75795067e-02 5.26637067e-04 9.99845330e-01 1.86393766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4207140569999 meters Centerline goodness [0,1] 0.9902615600186828 Centerline is valid? [True, True] Translation: X:599.54, Y:-32.80, Z:1.86 [[ 9.66869921e-01 2.54593800e-01 -1.85621104e-02 5.99543496e+02] [-2.54556609e-01 9.67047959e-01 4.37914266e-03 -3.28003102e+01] [ 1.90653535e-02 4.91046562e-04 9.99818119e-01 1.86339635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4507140569999 meters Centerline goodness [0,1] 0.9905918696903743 Centerline is valid? [True, True] Translation: X:599.57, Y:-32.81, Z:1.86 [[ 9.67325940e-01 2.52845815e-01 -1.86954585e-02 5.99573604e+02] [-2.52807694e-01 9.67506478e-01 4.41413888e-03 -3.28116307e+01] [ 1.92040738e-02 4.56444712e-04 9.99815481e-01 1.86394148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4807140569999 meters Centerline goodness [0,1] 0.9909621540199586 Centerline is valid? [True, True] Translation: X:599.60, Y:-32.83, Z:1.87 [[ 9.68012296e-01 2.50276860e-01 -1.77112616e-02 5.99602494e+02] [-2.50242140e-01 9.68174235e-01 4.18594594e-03 -3.28258148e+01] [ 1.81952325e-02 3.80056856e-04 9.99834381e-01 1.86586653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.510714057 meters Centerline goodness [0,1] 0.9914437242192103 Centerline is valid? [True, True] Translation: X:599.63, Y:-32.84, Z:1.87 [[ 9.68293239e-01 2.49239929e-01 -1.69605960e-02 5.99632688e+02] [-2.49207860e-01 9.68441708e-01 4.01263724e-03 -3.28361744e+01] [ 1.74254580e-02 3.41304330e-04 9.99848107e-01 1.86707819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.540714057 meters Centerline goodness [0,1] 0.9896670765156531 Centerline is valid? [True, True] Translation: X:599.66, Y:-32.85, Z:1.87 [[ 9.68377442e-01 2.49026040e-01 -1.52039849e-02 5.99662484e+02] [-2.49000187e-01 9.68496743e-01 3.60072019e-03 -3.28486171e+01] [ 1.56216830e-02 2.98938883e-04 9.99877929e-01 1.86949524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5707140569999 meters Centerline goodness [0,1] 0.9891753917421001 Centerline is valid? [True, True] Translation: X:599.69, Y:-32.86, Z:1.87 [[ 9.68233024e-01 2.49636693e-01 -1.43643247e-02 5.99693791e+02] [-2.49613629e-01 9.68339527e-01 3.40555045e-03 -3.28566399e+01] [ 1.47596938e-02 2.88164809e-04 9.99891028e-01 1.86999602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6007140569999 meters Centerline goodness [0,1] 0.9888180805951056 Centerline is valid? [True, True] Translation: X:599.72, Y:-32.87, Z:1.87 [[ 9.67781360e-01 2.51419243e-01 -1.36968472e-02 5.99724191e+02] [-2.51398417e-01 9.67878234e-01 3.24975226e-03 -3.28657410e+01] [ 1.40739305e-02 2.98316029e-04 9.99900913e-01 1.87037042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.630714057 meters Centerline goodness [0,1] 0.9900042635842532 Centerline is valid? [True, True] Translation: X:599.75, Y:-32.88, Z:1.87 [[ 9.67467219e-01 2.52627329e-01 -1.36606557e-02 5.99754327e+02] [-2.52606694e-01 9.67563608e-01 3.24389228e-03 -3.28756177e+01] [ 1.40370491e-02 3.12413624e-04 9.99901427e-01 1.87118926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.660714057 meters Centerline goodness [0,1] 0.9879266089932504 Centerline is valid? [True, True] Translation: X:599.79, Y:-32.89, Z:1.87 [[ 9.66940262e-01 2.54532067e-01 -1.54905587e-02 5.99785362e+02] [-2.54505713e-01 9.67064259e-01 3.68248582e-03 -3.28850106e+01] [ 1.59176764e-02 3.81691897e-04 9.99873233e-01 1.87011073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6907140569999 meters Centerline goodness [0,1] 0.9876772732689787 Centerline is valid? [True, True] Translation: X:599.82, Y:-32.89, Z:1.87 [[ 9.66797224e-01 2.54999091e-01 -1.66910524e-02 5.99815782e+02] [-2.54968493e-01 9.66941203e-01 3.97202837e-03 -3.28916531e+01] [ 1.71521299e-02 4.15546459e-04 9.99852805e-01 1.86895668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7207140569999 meters Centerline goodness [0,1] 0.9879273248864451 Centerline is valid? [True, True] Translation: X:599.85, Y:-32.90, Z:1.87 [[ 9.66881582e-01 2.54599810e-01 -1.78589691e-02 5.99846642e+02] [-2.54564618e-01 9.67046405e-01 4.25498824e-03 -3.29044129e+01] [ 1.83537711e-02 4.32191890e-04 9.99831462e-01 1.86896405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.750714057 meters Centerline goodness [0,1] 0.98883178019022 Centerline is valid? [True, True] Translation: X:599.88, Y:-32.92, Z:1.87 [[ 9.67452753e-01 2.52263575e-01 -1.99564307e-02 5.99876130e+02] [-2.52219020e-01 9.67658465e-01 4.76028514e-03 -3.29178212e+01] [ 2.05118556e-02 4.28040423e-04 9.99789518e-01 1.86837283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.780714057 meters Centerline goodness [0,1] 0.9892301748285521 Centerline is valid? [True, True] Translation: X:599.91, Y:-32.93, Z:1.87 [[ 9.67894717e-01 2.50505291e-01 -2.06619680e-02 5.99905356e+02] [-2.50457020e-01 9.68115148e-01 4.93373006e-03 -3.29277885e+01] [ 2.12390897e-02 3.99603680e-04 9.99774345e-01 1.86804242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8107140569999 meters Centerline goodness [0,1] 0.9894938613092639 Centerline is valid? [True, True] Translation: X:599.94, Y:-32.94, Z:1.87 [[ 9.68587070e-01 2.47795278e-01 -2.08947054e-02 5.99936110e+02] [-2.47745224e-01 9.68812357e-01 4.99201975e-03 -3.29390860e+01] [ 2.14800478e-02 3.41357699e-04 9.99769219e-01 1.86845814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8407140569999 meters Centerline goodness [0,1] 0.9902719969025264 Centerline is valid? [True, True] Translation: X:599.96, Y:-32.95, Z:1.87 [[ 9.70339495e-01 2.40889714e-01 -2.03324861e-02 5.99963619e+02] [-2.40840784e-01 9.70552478e-01 4.85843928e-03 -3.29544912e+01] [ 2.09040928e-02 1.82556372e-04 9.99781469e-01 1.86967516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.870714057 meters Centerline goodness [0,1] 0.9906621392190152 Centerline is valid? [True, True] Translation: X:599.99, Y:-32.97, Z:1.87 [[ 9.71216490e-01 2.37437730e-01 -1.90224816e-02 5.99993724e+02] [-2.37394167e-01 9.71402756e-01 4.54911835e-03 -3.29665954e+01] [ 1.95586234e-02 9.76474256e-05 9.99808707e-01 1.87177984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.900714057 meters Centerline goodness [0,1] 0.9918422013880434 Centerline is valid? [True, True] Translation: X:600.02, Y:-32.98, Z:1.87 [[ 9.72821430e-01 2.30896363e-01 -1.74738340e-02 6.00021985e+02] [-2.30858473e-01 9.72978349e-01 4.18295793e-03 -3.29816815e+01] [ 1.79674920e-02 -3.52884824e-05 9.99838571e-01 1.87397951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9307140569999 meters Centerline goodness [0,1] 0.9929278294821109 Centerline is valid? [True, True] Translation: X:600.05, Y:-33.00, Z:1.88 [[ 9.73937590e-01 2.26199428e-01 -1.67149732e-02 6.00051754e+02] [-2.26163996e-01 9.74081005e-01 4.00536107e-03 -3.29951836e+01] [ 1.71877483e-02 -1.20646574e-04 9.99852272e-01 1.87692777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9607140569999 meters Centerline goodness [0,1] 0.991893556732783 Centerline is valid? [True, True] Translation: X:600.08, Y:-33.00, Z:1.88 [[ 9.74179521e-01 2.25196591e-01 -1.61479442e-02 6.00083178e+02] [-2.25163310e-01 9.74313336e-01 3.87394152e-03 -3.30043174e+01] [ 1.66055558e-02 -1.37989937e-04 9.99862109e-01 1.87834339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.990714057 meters Centerline goodness [0,1] 0.9931219140730551 Centerline is valid? [True, True] Translation: X:600.11, Y:-33.01, Z:1.88 [[ 9.74455937e-01 2.24065127e-01 -1.51804087e-02 6.00113514e+02] [-2.24035513e-01 9.74574161e-01 3.64596920e-03 -3.30136440e+01] [ 1.56113686e-02 -1.51885688e-04 9.99878124e-01 1.87824128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.020714057 meters Centerline goodness [0,1] 0.9932773523110641 Centerline is valid? [True, True] Translation: X:600.15, Y:-33.02, Z:1.88 [[ 9.74328828e-01 2.24602784e-01 -1.53923588e-02 6.00145667e+02] [-2.24572335e-01 9.74450392e-01 3.70121055e-03 -3.30212779e+01] [ 1.58303923e-02 -1.49498173e-04 9.99874680e-01 1.87736139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0507140569999 meters Centerline goodness [0,1] 0.9928645243836426 Centerline is valid? [True, True] Translation: X:600.18, Y:-33.03, Z:1.88 [[ 9.74073129e-01 2.25680711e-01 -1.58036493e-02 6.00177605e+02] [-2.25648682e-01 9.74201312e-01 3.80463402e-03 -3.30284109e+01] [ 1.62545684e-02 -1.39919130e-04 9.99867876e-01 1.87636406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0807140569999 meters Centerline goodness [0,1] 0.992862963969081 Centerline is valid? [True, True] Translation: X:600.21, Y:-33.03, Z:1.87 [[ 9.73257604e-01 2.29005763e-01 -1.80554096e-02 6.00209720e+02] [-2.28964427e-01 9.73425061e-01 4.35213545e-03 -3.30339802e+01] [ 1.85722523e-02 -1.01702409e-04 9.99827516e-01 1.87447525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.110714057 meters Centerline goodness [0,1] 0.9925430257537223 Centerline is valid? [True, True] Translation: X:600.24, Y:-33.04, Z:1.87 [[ 9.72900452e-01 2.30429771e-01 -1.91528367e-02 6.00240513e+02] [-2.30383427e-01 9.73088955e-01 4.62201768e-03 -3.30406424e+01] [ 1.97024644e-02 -8.42669276e-05 9.99805884e-01 1.87359349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.140714057 meters Centerline goodness [0,1] 0.9919504185288526 Centerline is valid? [True, True] Translation: X:600.27, Y:-33.05, Z:1.87 [[ 9.71864627e-01 2.34585541e-01 -2.11841904e-02 6.00272207e+02] [-2.34529709e-01 9.72095481e-01 5.11776345e-03 -3.30461811e+01] [ 2.17936091e-02 -5.45124989e-06 9.99762491e-01 1.87206036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1707140569999 meters Centerline goodness [0,1] 0.991745545313002 Centerline is valid? [True, True] Translation: X:600.30, Y:-33.05, Z:1.87 [[ 9.71401095e-01 2.36426678e-01 -2.19622214e-02 6.00302963e+02] [-2.36367022e-01 9.71649332e-01 5.31092069e-03 -3.30524486e+01] [ 2.25952211e-02 3.21106870e-05 9.99744695e-01 1.87097666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2007140569999 meters Centerline goodness [0,1] 0.992084627903536 Centerline is valid? [True, True] Translation: X:600.33, Y:-33.06, Z:1.87 [[ 9.70970912e-01 2.38156389e-01 -2.22939889e-02 6.00334468e+02] [-2.38095242e-01 9.71226817e-01 5.39683159e-03 -3.30589367e+01] [ 2.29378098e-02 6.79262020e-05 9.99736892e-01 1.87013105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2307140569999 meters Centerline goodness [0,1] 0.991277350680071 Centerline is valid? [True, True] Translation: X:600.37, Y:-33.06, Z:1.87 [[ 9.70226256e-01 2.41039537e-01 -2.36844457e-02 6.00365606e+02] [-2.40971289e-01 9.70515287e-01 5.73724673e-03 -3.30644699e+01] [ 2.43690199e-02 1.40844003e-04 9.99703021e-01 1.86850837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.260714057 meters Centerline goodness [0,1] 0.9909039366973156 Centerline is valid? [True, True] Translation: X:600.40, Y:-33.07, Z:1.87 [[ 9.69606951e-01 2.43592875e-01 -2.29100863e-02 6.00398008e+02] [-2.43529597e-01 9.69877556e-01 5.55529254e-03 -3.30711199e+01] [ 2.35732082e-02 1.92833824e-04 9.99722095e-01 1.86904435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.290714057 meters Centerline goodness [0,1] 0.9899517288937051 Centerline is valid? [True, True] Translation: X:600.43, Y:-33.08, Z:1.87 [[ 9.69328274e-01 2.44761305e-01 -2.22396258e-02 6.00429615e+02] [-2.44701840e-01 9.69583344e-01 5.39899948e-03 -3.30792427e+01] [ 2.28846369e-02 2.08674511e-04 9.99738091e-01 1.87056213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3207140569999 meters Centerline goodness [0,1] 0.9908566640378549 Centerline is valid? [True, True] Translation: X:600.46, Y:-33.09, Z:1.87 [[ 9.69068040e-01 2.45851908e-01 -2.15400498e-02 6.00461489e+02] [-2.45796257e-01 9.69307377e-01 5.23542156e-03 -3.30875560e+01] [ 2.21660676e-02 2.20983904e-04 9.99754278e-01 1.87242913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3507140569999 meters Centerline goodness [0,1] 0.9893291931588546 Centerline is valid? [True, True] Translation: X:600.49, Y:-33.09, Z:1.87 [[ 9.68500327e-01 2.48175349e-01 -2.03988640e-02 6.00492771e+02] [-2.48125836e-01 9.68715093e-01 4.96366479e-03 -3.30947154e+01] [ 2.09925467e-02 2.54174201e-04 9.99779600e-01 1.87276856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.380714057 meters Centerline goodness [0,1] 0.9894747220784342 Centerline is valid? [True, True] Translation: X:600.52, Y:-33.10, Z:1.87 [[ 9.68201422e-01 2.49380080e-01 -1.98892257e-02 6.00524314e+02] [-2.49333182e-01 9.68405650e-01 4.84367695e-03 -3.31016687e+01] [ 2.04687551e-02 2.69389013e-04 9.99790457e-01 1.87330789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.410714057 meters Centerline goodness [0,1] 0.9894843126631532 Centerline is valid? [True, True] Translation: X:600.56, Y:-33.11, Z:1.87 [[ 9.67293124e-01 2.52960790e-01 -1.88375060e-02 6.00555083e+02] [-2.52919321e-01 9.67476477e-01 4.59158771e-03 -3.31061104e+01] [ 1.93863356e-02 3.22958012e-04 9.99812015e-01 1.87343245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4407140569999 meters Centerline goodness [0,1] 0.9890093678542451 Centerline is valid? [True, True] Translation: X:600.59, Y:-33.11, Z:1.87 [[ 9.66740087e-01 2.55101859e-01 -1.83479018e-02 6.00586071e+02] [-2.55062815e-01 9.66914121e-01 4.47686179e-03 -3.31142259e+01] [ 1.88829011e-02 3.51905738e-04 9.99821640e-01 1.87488897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4707140569999 meters Centerline goodness [0,1] 0.988762102351314 Centerline is valid? [True, True] Translation: X:600.62, Y:-33.12, Z:1.87 [[ 9.66269717e-01 2.56834890e-01 -1.89386944e-02 6.00616980e+02] [-2.56793532e-01 9.66455216e-01 4.62573119e-03 -3.31201335e+01] [ 1.94914491e-02 3.93630253e-04 9.99809946e-01 1.87400113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.500714057 meters Centerline goodness [0,1] 0.9883288602171718 Centerline is valid? [True, True] Translation: X:600.65, Y:-33.12, Z:1.87 [[ 9.65746774e-01 2.58727297e-01 -1.98331622e-02 6.00648370e+02] [-2.58682240e-01 9.65950302e-01 4.84901730e-03 -3.31245773e+01] [ 2.04124222e-02 4.47564023e-04 9.99791545e-01 1.87228792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.530714057 meters Centerline goodness [0,1] 0.9890082868173211 Centerline is valid? [True, True] Translation: X:600.68, Y:-33.13, Z:1.87 [[ 9.65438764e-01 2.59877410e-01 -1.97920457e-02 6.00679477e+02] [-2.59832679e-01 9.65641504e-01 4.84403390e-03 -3.31313486e+01] [ 2.03708758e-02 4.66002150e-04 9.99792384e-01 1.87267255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5607140569999 meters Centerline goodness [0,1] 0.988766249693402 Centerline is valid? [True, True] Translation: X:600.71, Y:-33.14, Z:1.87 [[ 9.64942743e-01 2.61708008e-01 -1.98600468e-02 6.00710008e+02] [-2.61663255e-01 9.65146967e-01 4.86559440e-03 -3.31355428e+01] [ 2.04412289e-02 5.01624486e-04 9.99790930e-01 1.87160614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5907140569999 meters Centerline goodness [0,1] 0.9899297538930097 Centerline is valid? [True, True] Translation: X:600.74, Y:-33.14, Z:1.87 [[ 9.64822194e-01 2.62198295e-01 -1.92402662e-02 6.00742079e+02] [-2.62156283e-01 9.65013893e-01 4.71913227e-03 -3.31430963e+01] [ 1.98044726e-02 4.90833128e-04 9.99803752e-01 1.87246936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.620714057 meters Centerline goodness [0,1] 0.9903126916002453 Centerline is valid? [True, True] Translation: X:600.77, Y:-33.15, Z:1.87 [[ 9.64675456e-01 2.62810730e-01 -1.82149790e-02 6.00773579e+02] [-2.62773085e-01 9.64847292e-01 4.47301066e-03 -3.31515514e+01] [ 1.87502283e-02 4.71402623e-04 9.99824088e-01 1.87385032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.650714057 meters Centerline goodness [0,1] 0.9889395722974299 Centerline is valid? [True, True] Translation: X:600.81, Y:-33.16, Z:1.87 [[ 9.64608207e-01 2.63091483e-01 -1.77166420e-02 6.00805178e+02] [-2.63055822e-01 9.64770782e-01 4.35587951e-03 -3.31593308e+01] [ 1.82384934e-02 4.58748704e-04 9.99833560e-01 1.87420376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6807140569999 meters Centerline goodness [0,1] 0.9888023130451828 Centerline is valid? [True, True] Translation: X:600.84, Y:-33.16, Z:1.87 [[ 9.64584173e-01 2.63252851e-01 -1.65924492e-02 6.00836192e+02] [-2.63221524e-01 9.64726776e-01 4.08366193e-03 -3.31648767e+01] [ 1.70822157e-02 4.28454102e-04 9.99853997e-01 1.87427890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7107140569999 meters Centerline goodness [0,1] 0.9888511283342706 Centerline is valid? [True, True] Translation: X:600.87, Y:-33.17, Z:1.87 [[ 9.64479051e-01 2.63632017e-01 -1.66829062e-02 6.00867527e+02] [-2.63600325e-01 9.64623228e-01 4.11058956e-03 -3.31739937e+01] [ 1.71764018e-02 4.33041966e-04 9.99852381e-01 1.87465022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.740714057 meters Centerline goodness [0,1] 0.9889026492800078 Centerline is valid? [True, True] Translation: X:600.90, Y:-33.18, Z:1.87 [[ 9.64465070e-01 2.63675152e-01 -1.68089910e-02 6.00898448e+02] [-2.63642903e-01 9.64611438e-01 4.14640560e-03 -3.31804595e+01] [ 1.73074491e-02 4.32507799e-04 9.99850121e-01 1.87373902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.770714057 meters Centerline goodness [0,1] 0.9888921511058916 Centerline is valid? [True, True] Translation: X:600.93, Y:-33.19, Z:1.87 [[ 9.64530900e-01 2.63384983e-01 -1.75639913e-02 6.00930465e+02] [-2.63349631e-01 9.64690705e-01 4.33777389e-03 -3.31900208e+01] [ 1.80863236e-02 4.41553662e-04 9.99836332e-01 1.87328330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8007140569999 meters Centerline goodness [0,1] 0.990154161882192 Centerline is valid? [True, True] Translation: X:600.96, Y:-33.20, Z:1.87 [[ 9.64570002e-01 2.63221938e-01 -1.78584010e-02 6.00962428e+02] [-2.63185266e-01 9.64735206e-01 4.41574017e-03 -3.31982117e+01] [ 1.83909478e-02 4.40777497e-04 9.99830775e-01 1.87259631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8307140569999 meters Centerline goodness [0,1] 0.990078392944635 Centerline is valid? [True, True] Translation: X:600.99, Y:-33.21, Z:1.87 [[ 9.64877950e-01 2.62079262e-01 -1.80277904e-02 6.00992205e+02] [-2.62041607e-01 9.65046261e-01 4.46217748e-03 -3.32063817e+01] [ 1.85670959e-02 4.18574504e-04 9.99827529e-01 1.87146242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.860714057 meters Centerline goodness [0,1] 0.9906345519012104 Centerline is valid? [True, True] Translation: X:601.02, Y:-33.22, Z:1.87 [[ 9.65049813e-01 2.61404134e-01 -1.86208934e-02 6.01023306e+02] [-2.61363745e-01 9.65229354e-01 4.61370632e-03 -3.32159081e+01] [ 1.91794749e-02 4.14370017e-04 9.99815971e-01 1.87158438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.890714057 meters Centerline goodness [0,1] 0.9903808498139808 Centerline is valid? [True, True] Translation: X:601.05, Y:-33.23, Z:1.87 [[ 9.65352962e-01 2.60308117e-01 -1.82576978e-02 6.01053682e+02] [-2.60269003e-01 9.65525525e-01 4.52843416e-03 -3.32251292e+01] [ 1.88070614e-02 3.80375466e-04 9.99823059e-01 1.87190559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9207140569999 meters Centerline goodness [0,1] 0.9913111776545088 Centerline is valid? [True, True] Translation: X:601.08, Y:-33.24, Z:1.87 [[ 9.66330912e-01 2.56723858e-01 -1.72461529e-02 6.01084211e+02] [-2.56688345e-01 9.66484752e-01 4.27994214e-03 -3.32369297e+01] [ 1.77669071e-02 2.91046042e-04 9.99842114e-01 1.87322626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9507140569999 meters Centerline goodness [0,1] 0.991043384373773 Centerline is valid? [True, True] Translation: X:601.11, Y:-33.25, Z:1.87 [[ 9.66950905e-01 2.54450903e-01 -1.61457818e-02 6.01114053e+02] [-2.54419408e-01 9.67085666e-01 4.00999702e-03 -3.32452315e+01] [ 1.66347015e-02 2.30329990e-04 9.99861607e-01 1.87341411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9807140569999 meters Centerline goodness [0,1] 0.9921658873356672 Centerline is valid? [True, True] Translation: X:601.14, Y:-33.26, Z:1.88 [[ 9.68596340e-01 2.48201828e-01 -1.47303209e-02 6.01143792e+02] [-2.48174835e-01 9.68708336e-01 3.66207365e-03 -3.32575315e+01] [ 1.51783181e-02 1.08623828e-04 9.99884797e-01 1.87551000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.010714057 meters Centerline goodness [0,1] 0.9922181853888452 Centerline is valid? [True, True] Translation: X:601.17, Y:-33.27, Z:1.88 [[ 9.69314288e-01 2.45448932e-01 -1.35879635e-02 6.01173023e+02] [-2.45425647e-01 9.69409520e-01 3.38130635e-03 -3.32670230e+01] [ 1.40022392e-02 5.72861789e-05 9.99901962e-01 1.87618746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.040714057 meters Centerline goodness [0,1] 0.993147993516381 Centerline is valid? [True, True] Translation: X:601.20, Y:-33.28, Z:1.88 [[ 9.70859470e-01 2.39411328e-01 -1.06820297e-02 6.01202871e+02] [-2.39396546e-01 9.70918233e-01 2.66054682e-03 -3.32791657e+01] [ 1.10083425e-02 -2.57760560e-05 9.99939406e-01 1.87903372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0707140569999 meters Centerline goodness [0,1] 0.9935471207399956 Centerline is valid? [True, True] Translation: X:601.23, Y:-33.29, Z:1.88 [[ 9.71504176e-01 2.36821923e-01 -9.74744299e-03 6.01233093e+02] [-2.36809459e-01 9.71553073e-01 2.43020914e-03 -3.32888037e+01] [ 1.00456850e-02 -5.26716237e-05 9.99949539e-01 1.88033027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1007140569999 meters Centerline goodness [0,1] 0.9935936771311455 Centerline is valid? [True, True] Translation: X:601.26, Y:-33.30, Z:1.88 [[ 9.72098215e-01 2.34410947e-01 -8.75029199e-03 6.01263830e+02] [-2.34400786e-01 9.72137595e-01 2.18375337e-03 -3.32980066e+01] [ 9.01838350e-03 -7.17474289e-05 9.99959331e-01 1.88154855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.130714057 meters Centerline goodness [0,1] 0.9950784750618251 Centerline is valid? [True, True] Translation: X:601.29, Y:-33.31, Z:1.88 [[ 9.73302533e-01 2.29381040e-01 -8.15580556e-03 6.01294423e+02] [-2.29372019e-01 9.73336697e-01 2.03734521e-03 -3.33074829e+01] [ 8.40567320e-03 -1.12239665e-04 9.99964665e-01 1.88158365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.160714057 meters Centerline goodness [0,1] 0.9951364958330279 Centerline is valid? [True, True] Translation: X:601.33, Y:-33.32, Z:1.88 [[ 9.73686842e-01 2.27734397e-01 -8.42482919e-03 6.01325742e+02] [-2.27724692e-01 9.73723280e-01 2.10670145e-03 -3.33150725e+01] [ 8.68322070e-03 -1.32725854e-04 9.99962291e-01 1.88072898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1907140569999 meters Centerline goodness [0,1] 0.9952913047721285 Centerline is valid? [True, True] Translation: X:601.36, Y:-33.32, Z:1.88 [[ 9.74352959e-01 2.24859823e-01 -8.62385585e-03 6.01356585e+02] [-2.24849522e-01 9.74391109e-01 2.15862444e-03 -3.33223600e+01] [ 8.88839637e-03 -1.64192248e-04 9.99960484e-01 1.87919914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2207140569999 meters Centerline goodness [0,1] 0.9952913047721285 Centerline is valid? [True, True] Translation: X:601.39, Y:-33.33, Z:1.88 [[ 9.74291125e-01 2.25127615e-01 -8.62332859e-03 6.01387983e+02] [-2.25117305e-01 9.74329272e-01 2.16072912e-03 -3.33302971e+01] [ 8.88840126e-03 -1.63918715e-04 9.99960484e-01 1.87937098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.250714057 meters Centerline goodness [0,1] 0.994729393392221 Centerline is valid? [True, True] Translation: X:601.42, Y:-33.34, Z:1.88 [[ 9.74387110e-01 2.24647889e-01 -1.01531574e-02 6.01418958e+02] [-2.24633539e-01 9.74439986e-01 2.54710862e-03 -3.33379224e+01] [ 1.04658452e-02 -2.01130125e-04 9.99945211e-01 1.87922043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.280714057 meters Centerline goodness [0,1] 0.9957347242194545 Centerline is valid? [True, True] Translation: X:601.45, Y:-33.35, Z:1.88 [[ 9.74388392e-01 2.24581796e-01 -1.14139321e-02 6.01448924e+02] [-2.24563621e-01 9.74455214e-01 2.86636851e-03 -3.33463781e+01] [ 1.17660998e-02 -2.29802292e-04 9.99930751e-01 1.87761146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3107140569999 meters Centerline goodness [0,1] 0.9964259664478483 Centerline is valid? [True, True] Translation: X:601.48, Y:-33.35, Z:1.87 [[ 9.74632141e-01 2.23410471e-01 -1.34145641e-02 6.01480387e+02] [-2.23385220e-01 9.74724411e-01 3.37130479e-03 -3.33529434e+01] [ 1.38286879e-02 -2.89166651e-04 9.99904337e-01 1.87446130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3407140569999 meters Centerline goodness [0,1] 0.9955480951685886 Centerline is valid? [True, True] Translation: X:601.51, Y:-33.36, Z:1.87 [[ 9.74732664e-01 2.22933353e-01 -1.40339859e-02 6.01512406e+02] [-2.22905624e-01 9.74833638e-01 3.52992874e-03 -3.33588665e+01] [ 1.44677404e-02 -3.12482448e-04 9.99895288e-01 1.87433091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.370714057 meters Centerline goodness [0,1] 0.9952081316553727 Centerline is valid? [True, True] Translation: X:601.55, Y:-33.36, Z:1.88 [[ 9.74938512e-01 2.22124585e-01 -1.24726238e-02 6.01545037e+02] [-2.22102574e-01 9.75018248e-01 3.14050711e-03 -3.33638328e+01] [ 1.28586196e-02 -2.91599483e-04 9.99917282e-01 1.87632949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.400714057 meters Centerline goodness [0,1] 0.9962678428616436 Centerline is valid? [True, True] Translation: X:601.58, Y:-33.37, Z:1.88 [[ 9.74901404e-01 2.22382281e-01 -1.06476862e-02 6.01576603e+02] [-2.22366226e-01 9.74959517e-01 2.68370018e-03 -3.33703876e+01] [ 1.09778703e-02 -2.48657288e-04 9.99939710e-01 1.87825726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4307140569999 meters Centerline goodness [0,1] 0.9964544994090833 Centerline is valid? [True, True] Translation: X:601.61, Y:-33.38, Z:1.88 [[ 9.74850255e-01 2.22684341e-01 -8.86924304e-03 6.01606807e+02] [-2.22673199e-01 9.74890579e-01 2.23708765e-03 -3.33770571e+01] [ 9.14470587e-03 -2.05882745e-04 9.99958165e-01 1.87983767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4607140569999 meters Centerline goodness [0,1] 0.9957690273570845 Centerline is valid? [True, True] Translation: X:601.64, Y:-33.38, Z:1.88 [[ 9.74492726e-01 2.24310891e-01 -6.96787893e-03 6.01639222e+02] [-2.24304048e-01 9.74517625e-01 1.75856563e-03 -3.33795537e+01] [ 7.18478625e-03 -1.50785957e-04 9.99974178e-01 1.88151626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.490714057 meters Centerline goodness [0,1] 0.9964935715478377 Centerline is valid? [True, True] Translation: X:601.67, Y:-33.38, Z:1.88 [[ 9.73819708e-01 2.27239286e-01 -6.12230095e-03 6.01670725e+02] [-2.27234052e-01 9.73838947e-01 1.54655707e-03 -3.33824492e+01] [ 6.31357363e-03 -1.14872503e-04 9.99980063e-01 1.88125881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.520714057 meters Centerline goodness [0,1] 0.9958194978619718 Centerline is valid? [True, True] Translation: X:601.70, Y:-33.39, Z:1.88 [[ 9.73429544e-01 2.28914039e-01 -5.76934165e-03 6.01703232e+02] [-2.28909413e-01 9.73446636e-01 1.45870366e-03 -3.33852543e+01] [ 5.95006396e-03 -9.92886327e-05 9.99982293e-01 1.88096647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5507140569999 meters Centerline goodness [0,1] 0.9952121197684667 Centerline is valid? [True, True] Translation: X:601.74, Y:-33.39, Z:1.88 [[ 9.72927812e-01 2.31030345e-01 -6.03751297e-03 6.01735414e+02] [-2.31025309e-01 9.72946541e-01 1.52812125e-03 -3.33897550e+01] [ 6.22721974e-03 -9.19333646e-05 9.99980606e-01 1.88054270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5807140569999 meters Centerline goodness [0,1] 0.9946284902981543 Centerline is valid? [True, True] Translation: X:601.77, Y:-33.39, Z:1.88 [[ 9.72188217e-01 2.34109394e-01 -6.54688963e-03 6.01767885e+02] [-2.34103530e-01 9.72210258e-01 1.65885668e-03 -3.33914372e+01] [ 6.75330719e-03 -8.00709455e-05 9.99977193e-01 1.88067988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.610714057 meters Centerline goodness [0,1] 0.994049727279167 Centerline is valid? [True, True] Translation: X:601.80, Y:-33.40, Z:1.88 [[ 9.71844152e-01 2.35512182e-01 -7.27713506e-03 6.01798433e+02] [-2.35504963e-01 9.71871394e-01 1.84569694e-03 -3.33974302e+01] [ 7.50712351e-03 -7.99283520e-05 9.99971818e-01 1.88031931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.640714057 meters Centerline goodness [0,1] 0.994495109389028 Centerline is valid? [True, True] Translation: X:601.83, Y:-33.40, Z:1.88 [[ 9.71504025e-01 2.36892627e-01 -7.86206534e-03 6.01830483e+02] [-2.36884234e-01 9.71535834e-01 1.99556576e-03 -3.34027408e+01] [ 8.11101302e-03 -7.63008495e-05 9.99967102e-01 1.87981662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6707140569999 meters Centerline goodness [0,1] 0.9941630578045566 Centerline is valid? [True, True] Translation: X:601.86, Y:-33.41, Z:1.88 [[ 9.71317230e-01 2.37621413e-01 -8.88268449e-03 6.01863213e+02] [-2.37610706e-01 9.71357842e-01 2.25718501e-03 -3.34055015e+01] [ 9.16462073e-03 -8.18217613e-05 9.99958001e-01 1.87792104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7007140569999 meters Centerline goodness [0,1] 0.9942578777681029 Centerline is valid? [True, True] Translation: X:601.90, Y:-33.41, Z:1.88 [[ 9.71211827e-01 2.38045582e-01 -9.04922419e-03 6.01896230e+02] [-2.38034463e-01 9.71253980e-01 2.30217381e-03 -3.34110515e+01] [ 9.33711731e-03 -8.18712108e-05 9.99956405e-01 1.87745605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7307140569999 meters Centerline goodness [0,1] 0.9942768682272365 Centerline is valid? [True, True] Translation: X:601.93, Y:-33.42, Z:1.88 [[ 9.71279474e-01 2.37759243e-01 -9.31270947e-03 6.01927067e+02] [-2.37747428e-01 9.71324114e-01 2.37190380e-03 -3.34172703e+01] [ 9.60960133e-03 -8.97087461e-05 9.99953823e-01 1.87697656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.760714057 meters Centerline goodness [0,1] 0.9949955568027689 Centerline is valid? [True, True] Translation: X:601.96, Y:-33.42, Z:1.88 [[ 9.71527389e-01 2.36741217e-01 -9.38766731e-03 6.01958826e+02] [-2.36729140e-01 9.71572738e-01 2.39351342e-03 -3.34212542e+01] [ 9.68744492e-03 -1.03029436e-04 9.99953070e-01 1.87791975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.790714057 meters Centerline goodness [0,1] 0.994446777731112 Centerline is valid? [True, True] Translation: X:601.99, Y:-33.43, Z:1.88 [[ 9.71679958e-01 2.36117574e-01 -9.30327594e-03 6.01991644e+02] [-2.36105659e-01 9.71724487e-01 2.37455793e-03 -3.34274058e+01] [ 9.60089590e-03 -1.10754249e-04 9.99953904e-01 1.87853584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8207140569999 meters Centerline goodness [0,1] 0.994683331778752 Centerline is valid? [True, True] Translation: X:602.02, Y:-33.43, Z:1.88 [[ 9.71645734e-01 2.36245268e-01 -9.63021084e-03 6.02023720e+02] [-2.36232479e-01 9.71693449e-01 2.46093441e-03 -3.34336048e+01] [ 9.93899690e-03 -1.16187837e-04 9.99950600e-01 1.87885916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8507140569999 meters Centerline goodness [0,1] 0.9954909936083672 Centerline is valid? [True, True] Translation: X:602.05, Y:-33.44, Z:1.88 [[ 9.71528892e-01 2.36740290e-01 -9.25457094e-03 6.02054877e+02] [-2.36728482e-01 9.71572963e-01 2.36702228e-03 -3.34365561e+01] [ 9.55186046e-03 -1.08810002e-04 9.99954374e-01 1.87871207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.880714057 meters Centerline goodness [0,1] 0.9941865851398926 Centerline is valid? [True, True] Translation: X:602.09, Y:-33.44, Z:1.88 [[ 9.71331927e-01 2.37551803e-01 -9.13391497e-03 6.02087307e+02] [-2.37540318e-01 9.71374866e-01 2.33807757e-03 -3.34416595e+01] [ 9.42786998e-03 -1.01376320e-04 9.99955552e-01 1.87874236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.910714057 meters Centerline goodness [0,1] 0.9948899371069182 Centerline is valid? [True, True] Translation: X:602.12, Y:-33.45, Z:1.88 [[ 9.71069899e-01 2.38618090e-01 -9.20101047e-03 6.02120174e+02] [-2.38606458e-01 9.71113484e-01 2.35794406e-03 -3.34472575e+01] [ 9.49787344e-03 -9.43079814e-05 9.99954890e-01 1.87882767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9407140569999 meters Centerline goodness [0,1] 0.9936091179659922 Centerline is valid? [True, True] Translation: X:602.15, Y:-33.45, Z:1.88 [[ 9.70481273e-01 2.40984902e-01 -9.61119163e-03 6.02152283e+02] [-2.40972299e-01 9.70528862e-01 2.46578171e-03 -3.34503913e+01] [ 9.92215504e-03 -7.69640282e-05 9.99950771e-01 1.88010234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9707140569999 meters Centerline goodness [0,1] 0.9940935833792977 Centerline is valid? [True, True] Translation: X:602.18, Y:-33.46, Z:1.88 [[ 9.70199520e-01 2.42123084e-01 -9.45003953e-03 6.02184095e+02] [-2.42110929e-01 9.70245540e-01 2.42694563e-03 -3.34564018e+01] [ 9.75647827e-03 -6.66636335e-05 9.99952402e-01 1.88022240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.000714057 meters Centerline goodness [0,1] 0.9942725704427832 Centerline is valid? [True, True] Translation: X:602.22, Y:-33.46, Z:1.88 [[ 9.69952031e-01 2.43107403e-01 -9.58369228e-03 6.02216993e+02] [-2.43094923e-01 9.69999375e-01 2.46401652e-03 -3.34623419e+01] [ 9.89519617e-03 -6.02308871e-05 9.99951040e-01 1.88100619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.030714057 meters Centerline goodness [0,1] 0.9947341911259673 Centerline is valid? [True, True] Translation: X:602.25, Y:-33.47, Z:1.88 [[ 9.69467413e-01 2.45039681e-01 -9.40689314e-03 6.02249638e+02] [-2.45027723e-01 9.69513049e-01 2.42114272e-03 -3.34656909e+01] [ 9.71338169e-03 -4.22693608e-05 9.99952823e-01 1.88165460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0607140569999 meters Centerline goodness [0,1] 0.9934583714547118 Centerline is valid? [True, True] Translation: X:602.28, Y:-33.47, Z:1.88 [[ 9.69169463e-01 2.46207904e-01 -9.60308228e-03 6.02281886e+02] [-2.46195473e-01 9.69217038e-01 2.47433096e-03 -3.34720574e+01] [ 9.91667080e-03 -3.38106268e-05 9.99950828e-01 1.88214438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0907140569999 meters Centerline goodness [0,1] 0.9940730909174122 Centerline is valid? [True, True] Translation: X:602.31, Y:-33.48, Z:1.88 [[ 9.68884990e-01 2.47334810e-01 -9.34712162e-03 6.02313270e+02] [-2.47323063e-01 9.68930075e-01 2.41065521e-03 -3.34771683e+01] [ 9.65294620e-03 -2.38888946e-05 9.99953409e-01 1.88300173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.120714057 meters Centerline goodness [0,1] 0.993885466575405 Centerline is valid? [True, True] Translation: X:602.35, Y:-33.48, Z:1.88 [[ 9.68729089e-01 2.47952508e-01 -9.13819826e-03 6.02345544e+02] [-2.47941287e-01 9.68772189e-01 2.35890557e-03 -3.34844132e+01] [ 9.43772888e-03 -1.94038016e-05 9.99955463e-01 1.88361400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.150714057 meters Centerline goodness [0,1] 0.9930620322558632 Centerline is valid? [True, True] Translation: X:602.38, Y:-33.49, Z:1.88 [[ 9.68739250e-01 2.47905881e-01 -9.32408953e-03 6.02376448e+02] [-2.47894172e-01 9.68784121e-01 2.40962528e-03 -3.34915008e+01] [ 9.63039016e-03 -2.29111380e-05 9.99953626e-01 1.88366682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1807140569999 meters Centerline goodness [0,1] 0.993054764886713 Centerline is valid? [True, True] Translation: X:602.41, Y:-33.50, Z:1.88 [[ 9.68814316e-01 2.47629435e-01 -8.85911659e-03 6.02408617e+02] [-2.47618830e-01 9.68854820e-01 2.29194001e-03 -3.34989218e+01] [ 9.15074962e-03 -2.67802026e-05 9.99958131e-01 1.88428351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2107140569999 meters Centerline goodness [0,1] 0.9935597986303234 Centerline is valid? [True, True] Translation: X:602.44, Y:-33.51, Z:1.89 [[ 9.69496365e-01 2.44989852e-01 -7.53468052e-03 6.02440382e+02] [-2.44982085e-01 9.69525642e-01 1.95132534e-03 -3.35071184e+01] [ 7.78312088e-03 -4.59410826e-05 9.99969710e-01 1.88571762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.240714057 meters Centerline goodness [0,1] 0.9944559314716775 Centerline is valid? [True, True] Translation: X:602.47, Y:-33.52, Z:1.89 [[ 9.69887623e-01 2.43455522e-01 -6.88533265e-03 6.02472404e+02] [-2.43448983e-01 9.69912061e-01 1.78508301e-03 -3.35159939e+01] [ 7.11275549e-03 -5.51026857e-05 9.99974703e-01 1.88636791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.270714057 meters Centerline goodness [0,1] 0.993997327111695 Centerline is valid? [True, True] Translation: X:602.50, Y:-33.53, Z:1.89 [[ 9.70346096e-01 2.41615305e-01 -7.10624954e-03 6.02502466e+02] [-2.41608277e-01 9.70372114e-01 1.84421643e-03 -3.35250139e+01] [ 7.34129730e-03 -7.25995053e-05 9.99973050e-01 1.88644395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3007140569999 meters Centerline goodness [0,1] 0.9940180817075658 Centerline is valid? [True, True] Translation: X:602.53, Y:-33.53, Z:1.89 [[ 9.71379952e-01 2.37425954e-01 -7.06436772e-03 6.02533325e+02] [-2.37418889e-01 9.71405634e-01 1.83457673e-03 -3.35349536e+01] [ 7.29794273e-03 -1.04856716e-04 9.99973364e-01 1.88769321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3307140569999 meters Centerline goodness [0,1] 0.9952504317789291 Centerline is valid? [True, True] Translation: X:602.56, Y:-33.54, Z:1.89 [[ 9.71935716e-01 2.35120061e-01 -7.71503291e-03 6.02563171e+02] [-2.35111545e-01 9.71966326e-01 2.00563257e-03 -3.35440746e+01] [ 7.97031665e-03 -1.35452621e-04 9.99968227e-01 1.88775002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.360714057 meters Centerline goodness [0,1] 0.99522282126527 Centerline is valid? [True, True] Translation: X:602.59, Y:-33.55, Z:1.89 [[ 9.73350675e-01 2.29154681e-01 -8.75186127e-03 6.02593269e+02] [-2.29143467e-01 9.73389998e-01 2.27670150e-03 -3.35523805e+01] [ 9.04069103e-03 -2.10597101e-04 9.99959110e-01 1.88634239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.390714057 meters Centerline goodness [0,1] 0.9956968192891783 Centerline is valid? [True, True] Translation: X:602.62, Y:-33.56, Z:1.89 [[ 9.73994128e-01 2.26387012e-01 -9.18470274e-03 6.02623074e+02] [-2.26374528e-01 9.74037401e-01 2.39048526e-03 -3.35616098e+01] [ 9.48741881e-03 -2.49135861e-04 9.99954962e-01 1.88542618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4207140569999 meters Centerline goodness [0,1] 0.9961271215400387 Centerline is valid? [True, True] Translation: X:602.65, Y:-33.57, Z:1.88 [[ 9.74798840e-01 2.22861319e-01 -1.00026964e-02 6.02654536e+02] [-2.22846309e-01 9.74850110e-01 2.60509541e-03 -3.35682468e+01] [ 1.03317047e-02 -3.10380015e-04 9.99946578e-01 1.88478033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4507140569999 meters Centerline goodness [0,1] 0.9962923367377112 Centerline is valid? [True, True] Translation: X:602.68, Y:-33.58, Z:1.88 [[ 9.75983829e-01 2.17587779e-01 -1.05415152e-02 6.02682993e+02] [-2.17570796e-01 9.76040680e-01 2.74582810e-03 -3.35768567e+01] [ 1.08864063e-02 -3.86357963e-04 9.99940667e-01 1.88461591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4807140569999 meters Centerline goodness [0,1] 0.9969869965112591 Centerline is valid? [True, True] Translation: X:602.71, Y:-33.58, Z:1.89 [[ 9.76547007e-01 2.15068859e-01 -1.00662675e-02 6.02713612e+02] [-2.15053227e-01 9.76598806e-01 2.62321309e-03 -3.35844139e+01] [ 1.03948763e-02 -3.96907579e-04 9.99945893e-01 1.88542012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.510714057 meters Centerline goodness [0,1] 0.9969494283002667 Centerline is valid? [True, True] Translation: X:602.75, Y:-33.59, Z:1.89 [[ 9.77163408e-01 2.12319768e-01 -8.48471755e-03 6.02745458e+02] [-2.12308548e-01 9.77200177e-01 2.21234580e-03 -3.35904031e+01] [ 8.76099224e-03 -3.60445302e-04 9.99961557e-01 1.88686479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.540714057 meters Centerline goodness [0,1] 0.998011434253045 Centerline is valid? [True, True] Translation: X:602.78, Y:-33.60, Z:1.89 [[ 9.77687059e-01 2.09946583e-01 -7.10254133e-03 6.02775818e+02] [-2.09938652e-01 9.77712805e-01 1.85274459e-03 -3.35977984e+01] [ 7.33322301e-03 -3.20306460e-04 9.99973060e-01 1.88792933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5707140569999 meters Centerline goodness [0,1] 0.9984514217743564 Centerline is valid? [True, True] Translation: X:602.81, Y:-33.60, Z:1.89 [[ 9.78708155e-01 2.05178215e-01 -5.67872427e-03 6.02805282e+02] [-2.05173059e-01 9.78724588e-01 1.48234330e-03 -3.36038590e+01] [ 5.86205162e-03 -2.85660243e-04 9.99982777e-01 1.88846566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6007140569999 meters Centerline goodness [0,1] 0.9978561857972309 Centerline is valid? [True, True] Translation: X:602.84, Y:-33.60, Z:1.89 [[ 9.79237600e-01 2.02648168e-01 -5.23855451e-03 6.02837676e+02] [-2.02643742e-01 9.79251573e-01 1.36771602e-03 -3.36033994e+01] [ 5.40702789e-03 -2.77758658e-04 9.99985343e-01 1.88877515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.630714057 meters Centerline goodness [0,1] 0.9981971956376586 Centerline is valid? [True, True] Translation: X:602.87, Y:-33.61, Z:1.89 [[ 9.79556925e-01 2.01116106e-01 -4.53248859e-03 6.02868163e+02] [-2.01112776e-01 9.79567379e-01 1.18339653e-03 -3.36097131e+01] [ 4.67787807e-03 -2.47662904e-04 9.99989028e-01 1.88910767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.660714057 meters Centerline goodness [0,1] 0.9987864613212126 Centerline is valid? [True, True] Translation: X:602.90, Y:-33.61, Z:1.89 [[ 9.80073804e-01 1.98617407e-01 -2.54265034e-03 6.02898772e+02] [-1.98616349e-01 9.80077091e-01 6.64562481e-04 -3.36107346e+01] [ 2.62398703e-03 -1.46308351e-04 9.99996547e-01 1.89005734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6907140569999 meters Centerline goodness [0,1] 0.9987690684485866 Centerline is valid? [True, True] Translation: X:602.93, Y:-33.61, Z:1.89 [[ 9.80213150e-01 1.97941595e-01 -1.14245553e-03 6.02931789e+02] [-1.97941382e-01 9.80213814e-01 2.97567083e-04 -3.36107158e+01] [ 1.17875159e-03 -6.55399420e-05 9.99999303e-01 1.88974568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7207140569999 meters Centerline goodness [0,1] 0.9987744561649232 Centerline is valid? [True, True] Translation: X:602.97, Y:-33.61, Z:1.89 [[ 9.80180929e-01 1.98102211e-01 -9.27082737e-04 6.02965243e+02] [-1.98102071e-01 9.80181366e-01 2.41308368e-04 -3.36141254e+01] [ 9.56512945e-04 -5.28688502e-05 9.99999541e-01 1.89015664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.750714057 meters Centerline goodness [0,1] 0.9985943514553869 Centerline is valid? [True, True] Translation: X:603.00, Y:-33.61, Z:1.89 [[ 9.80165559e-01 1.98177114e-01 -1.14355646e-03 6.03000488e+02] [-1.98176901e-01 9.80166224e-01 2.98322951e-04 -3.36089095e+01] [ 1.17999620e-03 -6.57794070e-05 9.99999302e-01 1.88797879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.780714057 meters Centerline goodness [0,1] 0.9990083428546791 Centerline is valid? [True, True] Translation: X:603.03, Y:-33.61, Z:1.89 [[ 9.80238757e-01 1.97814066e-01 -1.25523873e-03 6.03031818e+02] [-1.97813806e-01 9.80239557e-01 3.28604639e-04 -3.36122625e+01] [ 1.29543727e-03 -7.38074522e-05 9.99999158e-01 1.88704122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8107140569999 meters Centerline goodness [0,1] 0.9989719426001286 Centerline is valid? [True, True] Translation: X:603.07, Y:-33.61, Z:1.88 [[ 9.80577444e-01 1.96124767e-01 -1.71788620e-03 6.03065974e+02] [-1.96124278e-01 9.80578944e-01 4.50461194e-04 -3.36100861e+01] [ 1.77286963e-03 -1.04792896e-04 9.99998423e-01 1.88492793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8407140569999 meters Centerline goodness [0,1] 0.9991022379924331 Centerline is valid? [True, True] Translation: X:603.10, Y:-33.61, Z:1.88 [[ 9.80858046e-01 1.94720779e-01 -1.14555369e-03 6.03096960e+02] [-1.94720561e-01 9.80858712e-01 3.00146261e-04 -3.36146434e+01] [ 1.18207103e-03 -7.13380185e-05 9.99999299e-01 1.88451810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.870714057 meters Centerline goodness [0,1] 0.9988909742364784 Centerline is valid? [True, True] Translation: X:603.13, Y:-33.62, Z:1.88 [[ 9.81084732e-01 1.93577230e-01 -7.77814652e-04 6.03129252e+02] [-1.93577129e-01 9.81085039e-01 2.03905516e-04 -3.36172232e+01] [ 8.02573783e-04 -4.94814614e-05 9.99999677e-01 1.88387547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.900714057 meters Centerline goodness [0,1] 0.9988335842894408 Centerline is valid? [True, True] Translation: X:603.16, Y:-33.62, Z:1.88 [[ 9.81367175e-01 1.92140161e-01 -7.90938721e-04 6.03161538e+02] [-1.92140056e-01 9.81367493e-01 2.07411141e-04 -3.36206972e+01] [ 8.16053559e-04 -5.15754753e-05 9.99999666e-01 1.88361768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9307140569999 meters Centerline goodness [0,1] 0.9988356584880497 Centerline is valid? [True, True] Translation: X:603.19, Y:-33.62, Z:1.88 [[ 9.81888706e-01 1.89457884e-01 -5.27869141e-04 6.03192591e+02] [-1.89457836e-01 9.81888848e-01 1.38343009e-04 -3.36200779e+01] [ 5.44518996e-04 -3.58284932e-05 9.99999851e-01 1.88272125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9607140569999 meters Centerline goodness [0,1] 0.9990300678952473 Centerline is valid? [True, True] Translation: X:603.23, Y:-33.62, Z:1.88 [[ 9.81994931e-01 1.88906947e-01 -3.47318334e-04 6.03225115e+02] [-1.88906927e-01 9.81994992e-01 9.01125658e-05 -3.36205102e+01] [ 3.58087755e-04 -2.28792438e-05 9.99999936e-01 1.88245521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.990714057 meters Centerline goodness [0,1] 0.9990081249340509 Centerline is valid? [True, True] Translation: X:603.26, Y:-33.62, Z:1.88 [[ 9.81960515e-01 1.89086044e-01 1.20673734e-04 6.03258137e+02] [-1.89086041e-01 9.81960523e-01 -3.33111192e-05 -3.36225855e+01] [-1.24795511e-04 9.89248522e-06 9.99999992e-01 1.88209594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.020714057 meters Centerline goodness [0,1] 0.9990959359165739 Centerline is valid? [True, True] Translation: X:603.29, Y:-33.62, Z:1.88 [[ 9.81664967e-01 1.90614439e-01 -1.66406891e-04 6.03288735e+02] [-1.90614434e-01 9.81664981e-01 4.37269126e-05 -3.36243886e+01] [ 1.71690798e-04 -1.12056229e-05 9.99999985e-01 1.88137682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0507140569999 meters Centerline goodness [0,1] 0.998822193244437 Centerline is valid? [True, True] Translation: X:603.32, Y:-33.64, Z:1.88 [[ 9.81387039e-01 1.92040306e-01 -2.08412887e-05 6.03316583e+02] [-1.92040305e-01 9.81387039e-01 4.95853503e-06 -3.36368486e+01] [ 2.14056091e-05 -8.63874570e-07 1.00000000e+00 1.88218156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0807140569999 meters Centerline goodness [0,1] 0.9990102345954597 Centerline is valid? [True, True] Translation: X:603.35, Y:-33.64, Z:1.88 [[ 9.81030697e-01 1.93852283e-01 2.51467195e-04 6.03349103e+02] [-1.93852273e-01 9.81030729e-01 -6.65097744e-05 -3.36382947e+01] [-2.59590118e-04 1.65006430e-05 9.99999966e-01 1.88221378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.110714057 meters Centerline goodness [0,1] 0.9990102345954597 Centerline is valid? [True, True] Translation: X:603.38, Y:-33.65, Z:1.88 [[ 9.80983942e-01 1.94088750e-01 2.51187354e-04 6.03380509e+02] [-1.94088739e-01 9.80983974e-01 -6.75711529e-05 -3.36466813e+01] [-2.59525569e-04 1.75335792e-05 9.99999966e-01 1.88238575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.140714057 meters Centerline goodness [0,1] 0.9989264287969687 Centerline is valid? [True, True] Translation: X:603.41, Y:-33.64, Z:1.88 [[ 9.80325947e-01 1.97385021e-01 4.36563812e-04 6.03413081e+02] [-1.97384989e-01 9.80326044e-01 -1.15135922e-04 -3.36418402e+01] [-4.50700981e-04 2.66995886e-05 9.99999898e-01 1.88319330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1707140569999 meters Centerline goodness [0,1] 0.9986125417814122 Centerline is valid? [True, True] Translation: X:603.44, Y:-33.64, Z:1.88 [[ 9.79892986e-01 1.99522596e-01 6.85381214e-04 6.03444924e+02] [-1.99522518e-01 9.79893225e-01 -1.80958053e-04 -3.36430282e+01] [-7.07705629e-04 4.05705409e-05 9.99999749e-01 1.88385679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2007140569999 meters Centerline goodness [0,1] 0.9981917197586156 Centerline is valid? [True, True] Translation: X:603.48, Y:-33.63, Z:1.88 [[ 9.79520063e-01 2.01345553e-01 6.44186999e-04 6.03481695e+02] [-2.01345485e-01 9.79520274e-01 -1.70145445e-04 -3.36252827e+01] [-6.65252254e-04 3.69567330e-05 9.99999778e-01 1.88195830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2307140569999 meters Centerline goodness [0,1] 0.9983911744426569 Centerline is valid? [True, True] Translation: X:603.51, Y:-33.63, Z:1.88 [[ 9.79089825e-01 2.03428325e-01 1.77630600e-04 6.03511148e+02] [-2.03428320e-01 9.79089841e-01 -4.69627998e-05 -3.36332786e+01] [-1.83469879e-04 9.84570500e-06 9.99999983e-01 1.88274631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.260714057 meters Centerline goodness [0,1] 0.9980602584916402 Centerline is valid? [True, True] Translation: X:603.55, Y:-33.62, Z:1.88 [[ 9.78353968e-01 2.06936587e-01 8.73424461e-04 6.03546137e+02] [-2.06936464e-01 9.78354357e-01 -2.30448772e-04 -3.36204612e+01] [-9.02206909e-04 4.47171017e-05 9.99999592e-01 1.88305781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.290714057 meters Centerline goodness [0,1] 0.9977423302527746 Centerline is valid? [True, True] Translation: X:603.58, Y:-33.62, Z:1.88 [[ 9.78040821e-01 2.08411005e-01 1.00250195e-03 6.03577468e+02] [-2.08410842e-01 9.78041334e-01 -2.66008561e-04 -3.36248115e+01] [-1.03592745e-03 5.12349566e-05 9.99999462e-01 1.88373278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3207140569999 meters Centerline goodness [0,1] 0.9983519269776876 Centerline is valid? [True, True] Translation: X:603.61, Y:-33.62, Z:1.88 [[ 9.77524083e-01 2.10818047e-01 1.55504723e-03 6.03609565e+02] [-2.10817660e-01 9.77525317e-01 -4.10799054e-04 -3.36224967e+01] [-1.60670189e-03 7.37345515e-05 9.99998707e-01 1.88452823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3507140569999 meters Centerline goodness [0,1] 0.9983401966551811 Centerline is valid? [True, True] Translation: X:603.64, Y:-33.63, Z:1.88 [[ 9.77330584e-01 2.11711363e-01 1.79657238e-03 6.03642244e+02] [-2.11710844e-01 9.77332232e-01 -4.76254797e-04 -3.36260572e+01] [-1.85667664e-03 8.51045248e-05 9.99998273e-01 1.88474463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.380714057 meters Centerline goodness [0,1] 0.9984785410899563 Centerline is valid? [True, True] Translation: X:603.68, Y:-33.63, Z:1.89 [[ 9.77006534e-01 2.13203709e-01 1.55245033e-03 6.03676219e+02] [-2.13203325e-01 9.77007765e-01 -4.11050863e-04 -3.36254583e+01] [-1.60439360e-03 7.06118069e-05 9.99998710e-01 1.88511710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.410714057 meters Centerline goodness [0,1] 0.9986339946200403 Centerline is valid? [True, True] Translation: X:603.71, Y:-33.63, Z:1.89 [[ 9.76707613e-01 2.14571834e-01 1.08021644e-03 6.03706164e+02] [-2.14571648e-01 9.76708209e-01 -2.87201094e-04 -3.36331913e+01] [-1.11668153e-03 4.87276732e-05 9.99999375e-01 1.88616385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4407140569999 meters Centerline goodness [0,1] 0.9992239119035133 Centerline is valid? [True, True] Translation: X:603.74, Y:-33.63, Z:1.89 [[ 9.76116854e-01 2.17245130e-01 6.64339460e-04 6.03738006e+02] [-2.17245061e-01 9.76117079e-01 -1.76061657e-04 -3.36326785e+01] [-6.86721631e-04 2.75322841e-05 9.99999764e-01 1.88657339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4707140569999 meters Centerline goodness [0,1] 0.9990957648147369 Centerline is valid? [True, True] Translation: X:603.77, Y:-33.63, Z:1.89 [[ 9.75696930e-01 2.19124203e-01 2.89268802e-04 6.03771509e+02] [-2.19124190e-01 9.75696973e-01 -7.79988174e-05 -3.36308550e+01] [-2.99330123e-04 1.27174149e-05 9.99999955e-01 1.88593241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.500714057 meters Centerline goodness [0,1] 0.9990544033285003 Centerline is valid? [True, True] Translation: X:603.80, Y:-33.63, Z:1.89 [[ 9.75132091e-01 2.21624418e-01 -1.47102133e-04 6.03804378e+02] [-2.21624414e-01 9.75132103e-01 3.87016948e-05 -3.36310784e+01] [ 1.52021253e-04 -5.13784043e-06 9.99999988e-01 1.88658162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.530714057 meters Centerline goodness [0,1] 0.9994536208128442 Centerline is valid? [True, True] Translation: X:603.84, Y:-33.64, Z:1.89 [[ 9.74911824e-01 2.22590953e-01 -4.50634326e-04 6.03835597e+02] [-2.22590922e-01 9.74911928e-01 1.18744653e-04 -3.36354672e+01] [ 4.65760265e-04 -1.54584560e-05 9.99999891e-01 1.88659258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5607140569999 meters Centerline goodness [0,1] 0.9994534600184983 Centerline is valid? [True, True] Translation: X:603.87, Y:-33.64, Z:1.89 [[ 9.74420199e-01 2.24727941e-01 -1.62147486e-03 6.03866474e+02] [-2.24727537e-01 9.74421546e-01 4.29515431e-04 -3.36404384e+01] [ 1.67652416e-03 -5.41384606e-05 9.99998593e-01 1.88664750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5907140569999 meters Centerline goodness [0,1] 0.9994747016305261 Centerline is valid? [True, True] Translation: X:603.90, Y:-33.64, Z:1.89 [[ 9.74209853e-01 2.25632754e-01 -2.24109802e-03 6.03899641e+02] [-2.25631984e-01 9.74212428e-01 5.93951784e-04 -3.36395254e+01] [ 2.31732052e-03 -7.29702885e-05 9.99997312e-01 1.88624065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.620714057 meters Centerline goodness [0,1] 0.9997895224263855 Centerline is valid? [True, True] Translation: X:603.93, Y:-33.64, Z:1.89 [[ 9.73936521e-01 2.26800276e-01 -3.04774667e-03 6.03931341e+02] [-2.26798854e-01 9.73941284e-01 8.09010292e-04 -3.36445281e+01] [ 3.15181006e-03 -9.66992185e-05 9.99995028e-01 1.88644810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.650714057 meters Centerline goodness [0,1] 0.9995806776249581 Centerline is valid? [True, True] Translation: X:603.96, Y:-33.65, Z:1.89 [[ 9.73670431e-01 2.27932830e-01 -3.53797697e-03 6.03963508e+02] [-2.27930917e-01 9.73676852e-01 9.40278839e-04 -3.36501164e+01] [ 3.65916670e-03 -1.09107367e-04 9.99993299e-01 1.88694062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6807140569999 meters Centerline goodness [0,1] 0.999471347007824 Centerline is valid? [True, True] Translation: X:604.00, Y:-33.65, Z:1.89 [[ 9.73539863e-01 2.28505059e-01 -2.36067530e-03 6.03997720e+02] [-2.28504208e-01 9.73542723e-01 6.27423079e-04 -3.36512126e+01] [ 2.44158761e-03 -7.13971370e-05 9.99997017e-01 1.88841248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7107140569999 meters Centerline goodness [0,1] 0.9998317171164728 Centerline is valid? [True, True] Translation: X:604.03, Y:-33.66, Z:1.89 [[ 9.73697403e-01 2.27832727e-01 -2.36970347e-03 6.04027569e+02] [-2.27831866e-01 9.73700284e-01 6.30730673e-04 -3.36616654e+01] [ 2.45108203e-03 -7.42468562e-05 9.99996993e-01 1.88972534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.740714057 meters Centerline goodness [0,1] 0.9995799731182796 Centerline is valid? [True, True] Translation: X:604.06, Y:-33.67, Z:1.89 [[ 9.74069280e-01 2.26240117e-01 -2.10890566e-03 6.04059138e+02] [-2.26239430e-01 9.74071560e-01 5.61694710e-04 -3.36685329e+01] [ 2.18130290e-03 -7.00119466e-05 9.99997619e-01 1.89038709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.770714057 meters Centerline goodness [0,1] 0.9993903977129404 Centerline is valid? [True, True] Translation: X:604.09, Y:-33.68, Z:1.89 [[ 9.75519231e-01 2.19906390e-01 -1.84634085e-03 6.04087764e+02] [-2.19905850e-01 9.75520976e-01 4.92922335e-04 -3.36766157e+01] [ 1.90954100e-03 -7.48340628e-05 9.99998174e-01 1.89112247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8007140569999 meters Centerline goodness [0,1] 0.9996428346324349 Centerline is valid? [True, True] Translation: X:604.12, Y:-33.69, Z:1.89 [[ 9.76511669e-01 2.15459202e-01 -1.51441510e-03 6.04117726e+02] [-2.15458834e-01 9.76512840e-01 4.04199613e-04 -3.36851031e+01] [ 1.56593432e-03 -6.84115270e-05 9.99998772e-01 1.89193546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8307140569999 meters Centerline goodness [0,1] 0.9997698841052676 Centerline is valid? [True, True] Translation: X:604.15, Y:-33.69, Z:1.89 [[ 9.77489107e-01 2.10977447e-01 -1.88759940e-03 6.04146112e+02] [-2.10976867e-01 9.77490925e-01 5.03917999e-04 -3.36940350e+01] [ 1.95142662e-03 -9.43345471e-05 9.99998092e-01 1.89259259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.860714057 meters Centerline goodness [0,1] 0.9997482112507606 Centerline is valid? [True, True] Translation: X:604.18, Y:-33.70, Z:1.89 [[ 9.79644722e-01 2.00728632e-01 -2.05783990e-03 6.04175423e+02] [-2.00727919e-01 9.79646875e-01 5.49338783e-04 -3.37024866e+01] [ 2.12622446e-03 -1.25090916e-04 9.99997732e-01 1.89276972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.890714057 meters Centerline goodness [0,1] 0.9997254429871802 Centerline is valid? [True, True] Translation: X:604.21, Y:-33.71, Z:1.89 [[ 9.80692251e-01 1.95537827e-01 -2.76897688e-03 6.04206493e+02] [-1.95536516e-01 9.80696143e-01 7.39200176e-04 -3.37052380e+01] [ 2.86006655e-03 -1.83491791e-04 9.99995893e-01 1.89309743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9207140569999 meters Centerline goodness [0,1] 0.9999159133907926 Centerline is valid? [True, True] Translation: X:604.24, Y:-33.71, Z:1.89 [[ 9.82528245e-01 1.86065856e-01 -4.21257157e-03 6.04237405e+02] [-1.86062735e-01 9.82537223e-01 1.12465949e-03 -3.37095437e+01] [ 4.34826911e-03 -3.21207131e-04 9.99990495e-01 1.89304971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9507140569999 meters Centerline goodness [0,1] 0.9998945548104096 Centerline is valid? [True, True] Translation: X:604.27, Y:-33.72, Z:1.89 [[ 9.83131656e-01 1.82843377e-01 -4.52184984e-03 6.04267771e+02] [-1.82839745e-01 9.83141989e-01 1.20731905e-03 -3.37160204e+01] [ 4.66637074e-03 -3.60179705e-04 9.99989048e-01 1.89356069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9807140569999 meters Centerline goodness [0,1] 0.9998523891864536 Centerline is valid? [True, True] Translation: X:604.30, Y:-33.72, Z:1.89 [[ 9.83580202e-01 1.80422230e-01 -4.21953294e-03 6.04298828e+02] [-1.80419046e-01 9.83589192e-01 1.12661669e-03 -3.37185802e+01] [ 4.35355369e-03 -3.46833769e-04 9.99990463e-01 1.89429865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.010714057 meters Centerline goodness [0,1] 0.9999158125144697 Centerline is valid? [True, True] Translation: X:604.33, Y:-33.72, Z:1.90 [[ 9.83803554e-01 1.79201460e-01 -4.17174955e-03 6.04329567e+02] [-1.79198337e-01 9.83812337e-01 1.11383860e-03 -3.37229454e+01] [ 4.30382018e-03 -3.48227795e-04 9.99990678e-01 1.89582561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.040714057 meters Centerline goodness [0,1] 0.9999578539216926 Centerline is valid? [True, True] Translation: X:604.36, Y:-33.73, Z:1.90 [[ 9.83623561e-01 1.80185820e-01 -4.21423549e-03 6.04360856e+02] [-1.80182639e-01 9.83632528e-01 1.12568569e-03 -3.37259685e+01] [ 4.34809171e-03 -3.47918895e-04 9.99990486e-01 1.89592471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0707140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:604.39, Y:-33.72, Z:1.90 [[ 9.83382442e-01 1.81474134e-01 -5.10999931e-03 6.04394774e+02] [-1.81469471e-01 9.83395630e-01 1.36588832e-03 -3.37228784e+01] [ 5.27302439e-03 -4.15881724e-04 9.99986011e-01 1.89631454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1007140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:604.43, Y:-33.73, Z:1.90 [[ 9.83081792e-01 1.83093721e-01 -5.18447924e-03 6.04425267e+02] [-1.83088941e-01 9.83095376e-01 1.38609301e-03 -3.37287461e+01] [ 5.35062249e-03 -4.13421991e-04 9.99985600e-01 1.89662591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.130714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:604.46, Y:-33.72, Z:1.90 [[ 9.82497920e-01 1.86186038e-01 -5.70938327e-03 6.04458142e+02] [-1.86180291e-01 9.82514411e-01 1.52664695e-03 -3.37237649e+01] [ 5.89379169e-03 -4.36952811e-04 9.99982536e-01 1.89630298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.160714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:604.49, Y:-33.73, Z:1.90 [[ 9.82174795e-01 1.87875569e-01 -5.95336566e-03 6.04488980e+02] [-1.87869351e-01 9.82192737e-01 1.59199185e-03 -3.37269291e+01] [ 6.14644888e-03 -4.45159324e-04 9.99981011e-01 1.89630050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1907140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:604.52, Y:-33.72, Z:1.90 [[ 9.81927534e-01 1.89151396e-01 -6.32982821e-03 6.04522458e+02] [-1.89144392e-01 9.81947826e-01 1.69293213e-03 -3.37245823e+01] [ 6.53578152e-03 -4.65085168e-04 9.99978533e-01 1.89695502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:604.55, Y:-33.72, Z:1.90 [[ 9.81478799e-01 1.91490203e-01 -5.55599483e-03 6.04554253e+02] [-1.91484843e-01 9.81494445e-01 1.48622417e-03 -3.37223294e+01] [ 5.73777543e-03 -3.94808714e-04 9.99983461e-01 1.89780591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.250714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:604.58, Y:-33.73, Z:1.90 [[ 9.81099410e-01 1.93434715e-01 -5.19219460e-03 6.04584968e+02] [-1.93430060e-01 9.81113084e-01 1.38891266e-03 -3.37269455e+01] [ 5.36279398e-03 -3.58334877e-04 9.99985556e-01 1.89844173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.280714057 meters Centerline goodness [0,1] 0.9999157575502295 Centerline is valid? [True, True] Translation: X:604.62, Y:-33.72, Z:1.90 [[ 9.80180604e-01 1.98024678e-01 -5.67547857e-03 6.04618990e+02] [-1.98019192e-01 9.80196967e-01 1.51850720e-03 -3.37198865e+01] [ 5.86378878e-03 -3.64557624e-04 9.99982741e-01 1.89912214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3107140569999 meters Centerline goodness [0,1] 0.9996834574883406 Centerline is valid? [True, True] Translation: X:604.65, Y:-33.73, Z:1.90 [[ 9.79603422e-01 2.00858403e-01 -5.74779273e-03 6.04648287e+02] [-2.00852824e-01 9.79620221e-01 1.53785271e-03 -3.37261142e+01] [ 5.93954463e-03 -3.52025374e-04 9.99982299e-01 1.89901977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3407140569999 meters Centerline goodness [0,1] 0.9992837732510375 Centerline is valid? [True, True] Translation: X:604.68, Y:-33.72, Z:1.90 [[ 9.78973226e-01 2.03899124e-01 -6.04734928e-03 6.04680010e+02] [-2.03893006e-01 9.78991841e-01 1.61795410e-03 -3.37232121e+01] [ 6.25020502e-03 -3.50921517e-04 9.99980406e-01 1.89890542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.370714057 meters Centerline goodness [0,1] 0.9990517931644822 Centerline is valid? [True, True] Translation: X:604.71, Y:-33.72, Z:1.90 [[ 9.78405303e-01 2.06598713e-01 -6.32724675e-03 6.04710052e+02] [-2.06592075e-01 9.78425700e-01 1.69256178e-03 -3.37213814e+01] [ 6.54042192e-03 -3.48852390e-04 9.99978550e-01 1.89879460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.400714057 meters Centerline goodness [0,1] 0.9985083093472278 Centerline is valid? [True, True] Translation: X:604.74, Y:-33.71, Z:1.90 [[ 9.77347157e-01 2.11561684e-01 -5.84709530e-03 6.04743130e+02] [-2.11556103e-01 9.77364604e-01 1.56406520e-03 -3.37143831e+01] [ 6.04564025e-03 -2.91645983e-04 9.99981682e-01 1.89883317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4307140569999 meters Centerline goodness [0,1] 0.9977032807265218 Centerline is valid? [True, True] Translation: X:604.77, Y:-33.72, Z:1.90 [[ 9.77025072e-01 2.13052844e-01 -5.52212218e-03 6.04771076e+02] [-2.13047891e-01 9.77040641e-01 1.47709362e-03 -3.37198946e+01] [ 5.71003679e-03 -2.66681016e-04 9.99983662e-01 1.89868599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4607140569999 meters Centerline goodness [0,1] 0.9970655431889162 Centerline is valid? [True, True] Translation: X:604.80, Y:-33.72, Z:1.90 [[ 9.76562163e-01 2.15173410e-01 -5.17163037e-03 6.04800055e+02] [-2.15169097e-01 9.76575828e-01 1.38306438e-03 -3.37184998e+01] [ 5.34808789e-03 -2.37873306e-04 9.99985671e-01 1.89802942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.490714057 meters Centerline goodness [0,1] 0.9965955658295681 Centerline is valid? [True, True] Translation: X:604.83, Y:-33.72, Z:1.90 [[ 9.76420445e-01 2.15816397e-01 -5.13781105e-03 6.04829600e+02] [-2.15812151e-01 9.76433935e-01 1.37354579e-03 -3.37180368e+01] [ 5.31316676e-03 -2.32356135e-04 9.99985858e-01 1.89737506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.520714057 meters Centerline goodness [0,1] 0.9962917181705809 Centerline is valid? [True, True] Translation: X:604.86, Y:-33.73, Z:1.90 [[ 9.76417804e-01 2.15816672e-01 -5.60685340e-03 6.04856587e+02] [-2.15811618e-01 9.76433869e-01 1.49845749e-03 -3.37256653e+01] [ 5.79811367e-03 -2.53096469e-04 9.99983159e-01 1.89715174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5507140569999 meters Centerline goodness [0,1] 0.9959965624934499 Centerline is valid? [True, True] Translation: X:604.89, Y:-33.73, Z:1.90 [[ 9.76514335e-01 2.15371942e-01 -5.88894174e-03 6.04885060e+02] [-2.15366363e-01 9.76532055e-01 1.57319567e-03 -3.37306884e+01] [ 6.08956259e-03 -2.67968161e-04 9.99981423e-01 1.89703827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5807140569999 meters Centerline goodness [0,1] 0.9952729554486509 Centerline is valid? [True, True] Translation: X:604.91, Y:-33.73, Z:1.90 [[ 9.76733817e-01 2.14381089e-01 -5.63913288e-03 6.04914256e+02] [-2.14375959e-01 9.76750060e-01 1.50606692e-03 -3.37320638e+01] [ 5.83089565e-03 -2.62131968e-04 9.99982966e-01 1.89673338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.610714057 meters Centerline goodness [0,1] 0.9951892909433173 Centerline is valid? [True, True] Translation: X:604.94, Y:-33.74, Z:1.90 [[ 9.76822613e-01 2.13976455e-01 -5.62673112e-03 6.04942960e+02] [-2.13971343e-01 9.76838783e-01 1.50234254e-03 -3.37353002e+01] [ 5.81787511e-03 -2.63562951e-04 9.99983041e-01 1.89668382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.640714057 meters Centerline goodness [0,1] 0.9949006248824427 Centerline is valid? [True, True] Translation: X:604.97, Y:-33.74, Z:1.90 [[ 9.76807662e-01 2.14056132e-01 -5.17347402e-03 6.04970532e+02] [-2.14051813e-01 9.76821332e-01 1.38096518e-03 -3.37388683e+01] [ 5.34916384e-03 -2.41545874e-04 9.99985664e-01 1.89697522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6707140569999 meters Centerline goodness [0,1] 0.9943951815291953 Centerline is valid? [True, True] Translation: X:605.00, Y:-33.74, Z:1.90 [[ 9.76658962e-01 2.14743525e-01 -4.74245337e-03 6.04999672e+02] [-2.14739908e-01 9.76670452e-01 1.26532350e-03 -3.37420125e+01] [ 4.90353411e-03 -2.17395541e-04 9.99987954e-01 1.89742760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7007140569999 meters Centerline goodness [0,1] 0.9942665626778525 Centerline is valid? [True, True] Translation: X:605.03, Y:-33.74, Z:1.90 [[ 9.76535613e-01 2.15319431e-01 -3.96722756e-03 6.05028722e+02] [-2.15316905e-01 9.76543655e-01 1.05825695e-03 -3.37443878e+01] [ 4.10203418e-03 -1.79214442e-04 9.99991571e-01 1.89786047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7307140569999 meters Centerline goodness [0,1] 0.9942599769561119 Centerline is valid? [True, True] Translation: X:605.05, Y:-33.76, Z:1.90 [[ 9.76338617e-01 2.16220092e-01 -3.43179204e-03 6.05054561e+02] [-2.16218208e-01 9.76344636e-01 9.15313665e-04 -3.37550324e+01] [ 3.54852095e-03 -1.51640153e-04 9.99993692e-01 1.89858150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.760714057 meters Centerline goodness [0,1] 0.9939664711163072 Centerline is valid? [True, True] Translation: X:605.08, Y:-33.75, Z:1.90 [[ 9.75819907e-01 2.18562853e-01 -2.40575322e-03 6.05084936e+02] [-2.18561935e-01 9.75822868e-01 6.41380440e-04 -3.37527372e+01] [ 2.48777095e-03 -1.00065722e-04 9.99996900e-01 1.89866130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.790714057 meters Centerline goodness [0,1] 0.9937398272192313 Centerline is valid? [True, True] Translation: X:605.11, Y:-33.76, Z:1.90 [[ 9.75449311e-01 2.20211251e-01 -2.37632301e-03 6.05112395e+02] [-2.20210361e-01 9.75452201e-01 6.33358765e-04 -3.37600112e+01] [ 2.45746224e-03 -9.45184236e-05 9.99996976e-01 1.89856622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8207140569999 meters Centerline goodness [0,1] 0.9936170212765958 Centerline is valid? [True, True] Translation: X:605.14, Y:-33.77, Z:1.90 [[ 9.75038170e-01 2.22024496e-01 -2.38548323e-03 6.05141464e+02] [-2.22023604e-01 9.75041084e-01 6.35766846e-04 -3.37651020e+01] [ 2.46709997e-03 -9.02633576e-05 9.99996953e-01 1.89812567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8507140569999 meters Centerline goodness [0,1] 0.9937058257705659 Centerline is valid? [True, True] Translation: X:605.17, Y:-33.77, Z:1.90 [[ 9.74003222e-01 2.26518092e-01 -2.69762061e-03 6.05171444e+02] [-2.26516970e-01 9.74006954e-01 7.18308034e-04 -3.37672882e+01] [ 2.79021100e-03 -8.85774927e-05 9.99996103e-01 1.89740902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.880714057 meters Centerline goodness [0,1] 0.9937723902357743 Centerline is valid? [True, True] Translation: X:605.20, Y:-33.78, Z:1.90 [[ 9.73473472e-01 2.28787044e-01 -2.42655613e-03 6.05198138e+02] [-2.28786144e-01 9.73476493e-01 6.46157694e-04 -3.37765032e+01] [ 2.51002786e-03 -7.38549556e-05 9.99996847e-01 1.89823150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.910714057 meters Centerline goodness [0,1] 0.9941559665696152 Centerline is valid? [True, True] Translation: X:605.23, Y:-33.78, Z:1.90 [[ 9.73107562e-01 2.30344546e-01 -1.74994367e-03 6.05227010e+02] [-2.30344080e-01 9.73109135e-01 4.65962238e-04 -3.37795320e+01] [ 1.81021804e-03 -5.03422119e-05 9.99998360e-01 1.89849700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9407140569999 meters Centerline goodness [0,1] 0.9944725932749885 Centerline is valid? [True, True] Translation: X:605.26, Y:-33.79, Z:1.90 [[ 9.72446202e-01 2.33125157e-01 -1.02190579e-03 6.05255224e+02] [-2.33125000e-01 9.72446739e-01 2.72188562e-04 -3.37862644e+01] [ 1.05720296e-03 -2.64569456e-05 9.99999441e-01 1.89958410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9707140569999 meters Centerline goodness [0,1] 0.9941048126547224 Centerline is valid? [True, True] Translation: X:605.28, Y:-33.79, Z:1.90 [[ 9.72441889e-01 2.33144183e-01 -7.50203141e-04 6.05282342e+02] [-2.33144098e-01 9.72442178e-01 2.00025999e-04 -3.37940055e+01] [ 7.76164074e-04 -1.96082256e-05 9.99999699e-01 1.89967798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.000714057 meters Centerline goodness [0,1] 0.9942336426962982 Centerline is valid? [True, True] Translation: X:605.31, Y:-33.80, Z:1.90 [[ 9.72574010e-01 2.32590378e-01 -1.22905263e-03 6.05308676e+02] [-2.32590150e-01 9.72574786e-01 3.27124192e-04 -3.38042006e+01] [ 1.27143154e-03 -3.22869505e-05 9.99999191e-01 1.89889673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.030714057 meters Centerline goodness [0,1] 0.9942336426962982 Centerline is valid? [True, True] Translation: X:605.34, Y:-33.81, Z:1.90 [[ 9.72598059e-01 2.32489797e-01 -1.22906319e-03 6.05335277e+02] [-2.32489569e-01 9.72598835e-01 3.27084566e-04 -3.38111741e+01] [ 1.27142925e-03 -3.23774438e-05 9.99999191e-01 1.89904216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0607140569999 meters Centerline goodness [0,1] 0.9941806527789492 Centerline is valid? [True, True] Translation: X:605.36, Y:-33.82, Z:1.90 [[ 9.72783482e-01 2.31711702e-01 -1.40854356e-03 6.05363038e+02] [-2.31711403e-01 9.72784501e-01 3.74472876e-04 -3.38202602e+01] [ 1.45697909e-03 -3.79054245e-05 9.99998938e-01 1.89850678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0907140569999 meters Centerline goodness [0,1] 0.9944397641112047 Centerline is valid? [True, True] Translation: X:605.39, Y:-33.83, Z:1.90 [[ 9.72915579e-01 2.31152883e-01 -1.90301470e-03 6.05390273e+02] [-2.31152335e-01 9.72917439e-01 5.05658826e-04 -3.38295560e+01] [ 1.96836068e-03 -5.20770582e-05 9.99998061e-01 1.89808635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.120714057 meters Centerline goodness [0,1] 0.9947362902380203 Centerline is valid? [True, True] Translation: X:605.42, Y:-33.84, Z:1.90 [[ 9.73259944e-01 2.29692903e-01 -2.50034625e-03 6.05417522e+02] [-2.29691954e-01 9.73263153e-01 6.64083516e-04 -3.38394215e+01] [ 2.58603015e-03 -7.20164691e-05 9.99996654e-01 1.89829391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.150714057 meters Centerline goodness [0,1] 0.9950638548143169 Centerline is valid? [True, True] Translation: X:605.44, Y:-33.85, Z:1.90 [[ 9.73478075e-01 2.28766781e-01 -2.48959297e-03 6.05444978e+02] [-2.28765838e-01 9.73481255e-01 6.61040457e-04 -3.38490442e+01] [ 2.57479618e-03 -7.39745704e-05 9.99996682e-01 1.89855787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1807140569999 meters Centerline goodness [0,1] 0.9950804162724692 Centerline is valid? [True, True] Translation: X:605.47, Y:-33.86, Z:1.90 [[ 9.73654711e-01 2.28017354e-01 -2.14243847e-03 6.05470935e+02] [-2.28016653e-01 9.73657066e-01 5.68809775e-04 -3.38600618e+01] [ 2.21569886e-03 -6.53126667e-05 9.99997543e-01 1.89935110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2107140569999 meters Centerline goodness [0,1] 0.9954071681731435 Centerline is valid? [True, True] Translation: X:605.50, Y:-33.87, Z:1.90 [[ 9.73874291e-01 2.27077540e-01 -2.15774780e-03 6.05498364e+02] [-2.27076828e-01 9.73876679e-01 5.72618982e-04 -3.38690459e+01] [ 2.23140917e-03 -6.76843804e-05 9.99997508e-01 1.90049493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.240714057 meters Centerline goodness [0,1] 0.9958417338709677 Centerline is valid? [True, True] Translation: X:605.52, Y:-33.88, Z:1.90 [[ 9.73899283e-01 2.26969607e-01 -2.23268637e-03 6.05524796e+02] [-2.26968844e-01 9.73901839e-01 5.92435760e-04 -3.38774036e+01] [ 2.30888228e-03 -7.02225159e-05 9.99997332e-01 1.90105702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.270714057 meters Centerline goodness [0,1] 0.9957792616857755 Centerline is valid? [True, True] Translation: X:605.55, Y:-33.89, Z:1.90 [[ 9.73890923e-01 2.26998884e-01 -2.82441765e-03 6.05552953e+02] [-2.26997666e-01 9.73895014e-01 7.48885075e-04 -3.38853207e+01] [ 2.92068234e-03 -8.81961621e-05 9.99995731e-01 1.90149482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3007140569999 meters Centerline goodness [0,1] 0.9963026763581362 Centerline is valid? [True, True] Translation: X:605.58, Y:-33.89, Z:1.90 [[ 9.73783359e-01 2.27455203e-01 -3.17805456e-03 6.05579070e+02] [-2.27453664e-01 9.73788540e-01 8.42466863e-04 -3.38945106e+01] [ 3.28637658e-03 -9.75200571e-05 9.99994595e-01 1.90261024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3307140569999 meters Centerline goodness [0,1] 0.996354210570682 Centerline is valid? [True, True] Translation: X:605.61, Y:-33.90, Z:1.90 [[ 9.73542110e-01 2.28492599e-01 -2.62540581e-03 6.05606235e+02] [-2.28491553e-01 9.73545647e-01 6.95574429e-04 -3.39032640e+01] [ 2.71488600e-03 -7.72879463e-05 9.99996312e-01 1.90362101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.360714057 meters Centerline goodness [0,1] 0.9968430357368354 Centerline is valid? [True, True] Translation: X:605.63, Y:-33.91, Z:1.90 [[ 9.73401942e-01 2.29091113e-01 -2.43331720e-03 6.05632572e+02] [-2.29090217e-01 9.73404981e-01 6.44569050e-04 -3.39124767e+01] [ 2.51626812e-03 -6.99756017e-05 9.99996832e-01 1.90438260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.390714057 meters Centerline goodness [0,1] 0.997027260652316 Centerline is valid? [True, True] Translation: X:605.66, Y:-33.92, Z:1.91 [[ 9.73144478e-01 2.30177265e-01 -2.87248372e-03 6.05660553e+02] [-2.30176022e-01 9.73148714e-01 7.60504800e-04 -3.39204934e+01] [ 2.97040475e-03 -7.89041713e-05 9.99995585e-01 1.90504296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4207140569999 meters Centerline goodness [0,1] 0.9974516658944442 Centerline is valid? [True, True] Translation: X:605.69, Y:-33.93, Z:1.91 [[ 9.72533873e-01 2.32748213e-01 -2.47707767e-03 6.05687022e+02] [-2.32747298e-01 9.72537025e-01 6.55683784e-04 -3.39306329e+01] [ 2.56165898e-03 -6.11415568e-05 9.99996717e-01 1.90602521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4507140569999 meters Centerline goodness [0,1] 0.9975336748245115 Centerline is valid? [True, True] Translation: X:605.71, Y:-33.94, Z:1.91 [[ 9.72099082e-01 2.34559193e-01 -2.31512711e-03 6.05714028e+02] [-2.34558398e-01 9.72101837e-01 6.12610754e-04 -3.39392450e+01] [ 2.39423280e-03 -5.24858441e-05 9.99997132e-01 1.90739437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4807140569999 meters Centerline goodness [0,1] 0.9981199831009717 Centerline is valid? [True, True] Translation: X:605.74, Y:-33.94, Z:1.91 [[ 9.71036444e-01 2.38923090e-01 -1.99532170e-03 6.05742347e+02] [-2.38922509e-01 9.71038493e-01 5.27982042e-04 -3.39449012e+01] [ 2.06368128e-03 -3.59625356e-05 9.99997870e-01 1.90875484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.510714057 meters Centerline goodness [0,1] 0.9981678424765715 Centerline is valid? [True, True] Translation: X:605.77, Y:-33.95, Z:1.91 [[ 9.70461446e-01 2.41252178e-01 -1.40311052e-03 6.05768762e+02] [-2.41251893e-01 9.70462460e-01 3.71353431e-04 -3.39532146e+01] [ 1.45125591e-03 -2.18811189e-05 9.99998947e-01 1.90976453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.540714057 meters Centerline goodness [0,1] 0.9982097348301354 Centerline is valid? [True, True] Translation: X:605.80, Y:-33.96, Z:1.91 [[ 9.69877479e-01 2.43588347e-01 -1.54707091e-03 6.05797304e+02] [-2.43588004e-01 9.69878712e-01 4.09191748e-04 -3.39595422e+01] [ 1.60014549e-03 -2.00179447e-05 9.99998720e-01 1.90996169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5707140569999 meters Centerline goodness [0,1] 0.9986317229765288 Centerline is valid? [True, True] Translation: X:605.82, Y:-33.97, Z:1.91 [[ 9.69128719e-01 2.46550294e-01 -1.57449075e-03 6.05824068e+02] [-2.46549943e-01 9.69129998e-01 4.16381572e-04 -3.39668534e+01] [ 1.62854522e-03 -1.53367350e-05 9.99998674e-01 1.91016845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6007140569999 meters Centerline goodness [0,1] 0.998672790090166 Centerline is valid? [True, True] Translation: X:605.85, Y:-33.97, Z:1.91 [[ 9.67883725e-01 2.51386814e-01 -2.40099979e-03 6.05851852e+02] [-2.51386014e-01 9.67886703e-01 6.34430826e-04 -3.39748707e+01] [ 2.48338331e-03 -1.04775051e-05 9.99996916e-01 1.90947611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.630714057 meters Centerline goodness [0,1] 0.9987567430883345 Centerline is valid? [True, True] Translation: X:605.88, Y:-33.98, Z:1.91 [[ 9.67356275e-01 2.53400960e-01 -3.12889333e-03 6.05878950e+02] [-2.53399612e-01 9.67361335e-01 8.26542875e-04 -3.39831104e+01] [ 3.23621718e-03 -6.70108079e-06 9.99994763e-01 1.90923214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.660714057 meters Centerline goodness [0,1] 0.9989456148120032 Centerline is valid? [True, True] Translation: X:605.91, Y:-33.99, Z:1.91 [[ 9.66885533e-01 2.55179820e-01 -3.95299404e-03 6.05905394e+02] [-2.55177686e-01 9.66893613e-01 1.04348022e-03 -3.39912928e+01] [ 4.08839978e-03 -2.10059148e-07 9.99991642e-01 1.90862277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6907140569999 meters Centerline goodness [0,1] 0.9993891135827435 Centerline is valid? [True, True] Translation: X:605.93, Y:-34.00, Z:1.91 [[ 9.65993770e-01 2.58508625e-01 -5.41551960e-03 6.05932639e+02] [-2.58504678e-01 9.66008949e-01 1.42875194e-03 -3.40022552e+01] [ 5.60078510e-03 1.97716721e-05 9.99984315e-01 1.90814487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7207140569999 meters Centerline goodness [0,1] 0.9994334753142113 Centerline is valid? [True, True] Translation: X:605.96, Y:-34.01, Z:1.91 [[ 9.65589471e-01 2.60013910e-01 -5.45349569e-03 6.05959087e+02] [-2.60009933e-01 9.65604870e-01 1.43832979e-03 -3.40104817e+01] [ 5.63990775e-03 2.91269534e-05 9.99984095e-01 1.90793137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.750714057 meters Centerline goodness [0,1] 0.9993731324571118 Centerline is valid? [True, True] Translation: X:605.99, Y:-34.02, Z:1.91 [[ 9.65197173e-01 2.61460076e-01 -5.74862619e-03 6.05985890e+02] [-2.61455688e-01 9.65214291e-01 1.51538594e-03 -3.40208681e+01] [ 5.94486908e-03 4.03647891e-05 9.99982328e-01 1.90829781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.780714057 meters Centerline goodness [0,1] 0.9994575875161681 Centerline is valid? [True, True] Translation: X:606.01, Y:-34.03, Z:1.91 [[ 9.64422912e-01 2.64294876e-01 -6.05517911e-03 6.06012108e+02] [-2.64290066e-01 9.64441919e-01 1.59571816e-03 -3.40330724e+01] [ 6.26160869e-03 6.13765315e-05 9.99980394e-01 1.90868467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8107140569999 meters Centerline goodness [0,1] 0.9994778504145868 Centerline is valid? [True, True] Translation: X:606.04, Y:-34.04, Z:1.91 [[ 9.64061319e-01 2.65603495e-01 -6.36840047e-03 6.06038292e+02] [-2.65598206e-01 9.64082350e-01 1.67773878e-03 -3.40425708e+01] [ 6.58527578e-03 7.39926806e-05 9.99978314e-01 1.90898163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8407140569999 meters Centerline goodness [0,1] 0.9997279936392359 Centerline is valid? [True, True] Translation: X:606.07, Y:-34.05, Z:1.91 [[ 9.63792787e-01 2.66569109e-01 -6.66140490e-03 6.06065039e+02] [-2.66563350e-01 9.63815803e-01 1.75431234e-03 -3.40532934e+01] [ 6.88801280e-03 8.48928325e-05 9.99976274e-01 1.90907509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.870714057 meters Centerline goodness [0,1] 0.9997695418072112 Centerline is valid? [True, True] Translation: X:606.09, Y:-34.07, Z:1.91 [[ 9.63282425e-01 2.68402081e-01 -6.87701259e-03 6.06090875e+02] [-2.68395993e-01 9.63306967e-01 1.81055897e-03 -3.40675299e+01] [ 7.11063193e-03 1.01682994e-04 9.99974714e-01 1.90879049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.900714057 meters Centerline goodness [0,1] 0.9998954609128353 Centerline is valid? [True, True] Translation: X:606.12, Y:-34.08, Z:1.91 [[ 9.62900608e-01 2.69772129e-01 -6.73929423e-03 6.06118015e+02] [-2.69766320e-01 9.62924185e-01 1.77379693e-03 -3.40786165e+01] [ 6.96795038e-03 1.10044467e-04 9.99975717e-01 1.90955246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9307140569999 meters Centerline goodness [0,1] 0.9997906373000586 Centerline is valid? [True, True] Translation: X:606.14, Y:-34.09, Z:1.91 [[ 9.62606093e-01 2.70824856e-01 -6.58833477e-03 6.06144751e+02] [-2.70819333e-01 9.62628632e-01 1.73357209e-03 -3.40892433e+01] [ 6.81161410e-03 1.15501365e-04 9.99976794e-01 1.91006827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9607140569999 meters Centerline goodness [0,1] 0.9997906285331435 Centerline is valid? [True, True] Translation: X:606.17, Y:-34.10, Z:1.91 [[ 9.61902057e-01 2.73336972e-01 -5.59759163e-03 6.06170742e+02] [-2.73333029e-01 9.61918337e-01 1.47250444e-03 -3.40987145e+01] [ 5.78691594e-03 1.13601629e-04 9.99983249e-01 1.91002763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.990714057 meters Centerline goodness [0,1] 0.9998744691089398 Centerline is valid? [True, True] Translation: X:606.20, Y:-34.11, Z:1.91 [[ 9.61544762e-01 2.74592842e-01 -5.51743486e-03 6.06196172e+02] [-2.74589035e-01 9.61560584e-01 1.45091245e-03 -3.41144866e+01] [ 5.70375806e-03 1.19909843e-04 9.99983726e-01 1.91031838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.020714057 meters Centerline goodness [0,1] 0.9998324782745263 Centerline is valid? [True, True] Translation: X:606.22, Y:-34.13, Z:1.91 [[ 9.61224331e-01 2.75711268e-01 -5.57518981e-03 6.06222443e+02] [-2.75707402e-01 9.61240490e-01 1.46565876e-03 -3.41260736e+01] [ 5.76319682e-03 1.28294238e-04 9.99983384e-01 1.91045238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0507140569999 meters Centerline goodness [0,1] 0.9999369390200323 Centerline is valid? [True, True] Translation: X:606.25, Y:-34.14, Z:1.91 [[ 9.60999038e-01 2.76503169e-01 -5.18134033e-03 6.06248809e+02] [-2.76499844e-01 9.61012998e-01 1.36165810e-03 -3.41389325e+01] [ 5.35583819e-03 1.24087667e-04 9.99985650e-01 1.91025983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0807140569999 meters Centerline goodness [0,1] 0.9997490589711417 Centerline is valid? [True, True] Translation: X:606.28, Y:-34.16, Z:1.91 [[ 9.60838049e-01 2.77062574e-01 -5.15495995e-03 6.06275269e+02] [-2.77059293e-01 9.60851869e-01 1.35432944e-03 -3.41581050e+01] [ 5.32838690e-03 1.26938297e-04 9.99985796e-01 1.91010777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.110714057 meters Centerline goodness [0,1] 0.9995817124691513 Centerline is valid? [True, True] Translation: X:606.30, Y:-34.17, Z:1.91 [[ 9.60985407e-01 2.76549824e-01 -5.21940743e-03 6.06303533e+02] [-2.76546453e-01 9.60999573e-01 1.37126335e-03 -3.41709410e+01] [ 5.39507094e-03 1.25644542e-04 9.99985439e-01 1.90997910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.140714057 meters Centerline goodness [0,1] 0.9996232339089482 Centerline is valid? [True, True] Translation: X:606.33, Y:-34.19, Z:1.91 [[ 9.61736445e-01 2.73920457e-01 -5.53112239e-03 6.06330771e+02] [-2.73916626e-01 9.61752343e-01 1.45337287e-03 -3.41917814e+01] [ 5.71767848e-03 1.17304727e-04 9.99983647e-01 1.91000022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1707140569999 meters Centerline goodness [0,1] 0.9996422860028618 Centerline is valid? [True, True] Translation: X:606.36, Y:-34.21, Z:1.91 [[ 9.62258372e-01 2.72080080e-01 -5.59058566e-03 6.06360259e+02] [-2.72076127e-01 9.62274607e-01 1.47048362e-03 -3.42072207e+01] [ 5.77976792e-03 1.06079722e-04 9.99983291e-01 1.91015934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2007140569999 meters Centerline goodness [0,1] 0.9993931276943038 Centerline is valid? [True, True] Translation: X:606.39, Y:-34.22, Z:1.91 [[ 9.62780491e-01 2.70228572e-01 -5.49953994e-03 6.06389395e+02] [-2.70224709e-01 9.62796193e-01 1.44794661e-03 -3.42226438e+01] [ 5.68621266e-03 9.20568307e-05 9.99983829e-01 1.90978998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2307140569999 meters Centerline goodness [0,1] 0.999915890405198 Centerline is valid? [True, True] Translation: X:606.42, Y:-34.25, Z:1.91 [[ 9.63920791e-01 2.66135987e-01 -5.32402890e-03 6.06416384e+02] [-2.66132296e-01 9.63935492e-01 1.40308521e-03 -3.42458565e+01] [ 5.50543188e-03 6.44330311e-05 9.99984843e-01 1.91047021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.260714057 meters Centerline goodness [0,1] 0.9993478352337274 Centerline is valid? [True, True] Translation: X:606.44, Y:-34.26, Z:1.91 [[ 9.64433800e-01 2.64280783e-01 -4.80760291e-03 6.06444714e+02] [-2.64277744e-01 9.64445782e-01 1.26816681e-03 -3.42601598e+01] [ 4.97182446e-03 4.74795215e-05 9.99987639e-01 1.91126188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.290714057 meters Centerline goodness [0,1] 0.9992844666119494 Centerline is valid? [True, True] Translation: X:606.47, Y:-34.27, Z:1.91 [[ 9.64786761e-01 2.62997251e-01 -4.35327929e-03 6.06474401e+02] [-2.62994743e-01 9.64796582e-01 1.14927521e-03 -3.42746452e+01] [ 4.50228521e-03 3.60840557e-05 9.99989864e-01 1.91126331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3207140569999 meters Centerline goodness [0,1] 0.998989728910591 Centerline is valid? [True, True] Translation: X:606.50, Y:-34.29, Z:1.91 [[ 9.65457671e-01 2.60513715e-01 -4.90810481e-03 6.06501442e+02] [-2.60510486e-01 9.65470146e-01 1.29728008e-03 -3.42936006e+01] [ 5.07658793e-03 2.61437660e-05 9.99987114e-01 1.91053279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3507140569999 meters Centerline goodness [0,1] 0.9989692022887916 Centerline is valid? [True, True] Translation: X:606.53, Y:-34.31, Z:1.91 [[ 9.65765484e-01 2.59358052e-01 -5.51638220e-03 6.06530647e+02] [-2.59353946e-01 9.65781238e-01 1.45962237e-03 -3.43070242e+01] [ 5.70618325e-03 2.10425852e-05 9.99983719e-01 1.91032499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.380714057 meters Centerline goodness [0,1] 0.9987367357251137 Centerline is valid? [True, True] Translation: X:606.56, Y:-34.32, Z:1.91 [[ 9.65977114e-01 2.58556710e-01 -6.05337887e-03 6.06561209e+02] [-2.58551737e-01 9.65996081e-01 1.60358961e-03 -3.43215230e+01] [ 6.26215912e-03 1.60807556e-05 9.99980392e-01 1.90997152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.410714057 meters Centerline goodness [0,1] 0.9985534894446657 Centerline is valid? [True, True] Translation: X:606.59, Y:-34.34, Z:1.91 [[ 9.66657701e-01 2.56000584e-01 -6.04900897e-03 6.06590341e+02] [-2.55995557e-01 9.66676627e-01 1.60428304e-03 -3.43394341e+01] [ 6.25813298e-03 -2.27313672e-06 9.99980418e-01 1.90966832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4407140569999 meters Centerline goodness [0,1] 0.9984416787752437 Centerline is valid? [True, True] Translation: X:606.62, Y:-34.35, Z:1.91 [[ 9.66926929e-01 2.54977675e-01 -6.22090688e-03 6.06620221e+02] [-2.54972325e-01 9.66946940e-01 1.65178975e-03 -3.43521097e+01] [ 6.43645639e-03 -1.10009011e-05 9.99979286e-01 1.90981285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4707140569999 meters Centerline goodness [0,1] 0.9982745923198316 Centerline is valid? [True, True] Translation: X:606.65, Y:-34.37, Z:1.91 [[ 9.67343018e-01 2.53395790e-01 -6.16913799e-03 6.06650665e+02] [-2.53390485e-01 9.67362689e-01 1.63979920e-03 -3.43650027e+01] [ 6.38331213e-03 -2.30474385e-05 9.99979626e-01 1.91006307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.500714057 meters Centerline goodness [0,1] 0.9987564548424491 Centerline is valid? [True, True] Translation: X:606.68, Y:-34.38, Z:1.91 [[ 9.67749064e-01 2.51835807e-01 -6.36206256e-03 6.06679668e+02] [-2.51830120e-01 9.67769975e-01 1.69284480e-03 -3.43776018e+01] [ 6.58333206e-03 -3.60899955e-05 9.99978329e-01 1.91026668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.530714057 meters Centerline goodness [0,1] 0.9981266707360711 Centerline is valid? [True, True] Translation: X:606.71, Y:-34.39, Z:1.91 [[ 9.68664096e-01 2.48292766e-01 -6.36956177e-03 6.06708505e+02] [-2.48286982e-01 9.68685036e-01 1.69591184e-03 -3.43943832e+01] [ 6.59118181e-03 -6.12896464e-05 9.99978276e-01 1.91028567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5607140569999 meters Centerline goodness [0,1] 0.9981877186327812 Centerline is valid? [True, True] Translation: X:606.74, Y:-34.41, Z:1.91 [[ 9.69194881e-01 2.46215199e-01 -6.27355967e-03 6.06738759e+02] [-2.46209534e-01 9.69215182e-01 1.67198698e-03 -3.44069492e+01] [ 6.49209789e-03 -7.58710237e-05 9.99978923e-01 1.91102289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5907140569999 meters Centerline goodness [0,1] 0.9984206868959128 Centerline is valid? [True, True] Translation: X:606.77, Y:-34.42, Z:1.91 [[ 9.70201644e-01 2.42241830e-01 -5.25976233e-03 6.06766777e+02] [-2.42237783e-01 9.70215898e-01 1.40295998e-03 -3.44220668e+01] [ 5.44296062e-03 -8.70409172e-05 9.99985183e-01 1.91201747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.620714057 meters Centerline goodness [0,1] 0.998574811896129 Centerline is valid? [True, True] Translation: X:606.80, Y:-34.43, Z:1.91 [[ 9.70519067e-01 2.40960994e-01 -5.52630609e-03 6.06797252e+02] [-2.40956497e-01 9.70534796e-01 1.47546775e-03 -3.44324622e+01] [ 5.71900253e-03 -1.00370221e-04 9.99983641e-01 1.91191178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.650714057 meters Centerline goodness [0,1] 0.9984194221407346 Centerline is valid? [True, True] Translation: X:606.83, Y:-34.44, Z:1.91 [[ 9.70768630e-01 2.39953270e-01 -5.54035881e-03 6.06828006e+02] [-2.39948726e-01 9.70784434e-01 1.48066752e-03 -3.44425434e+01] [ 5.73378510e-03 -1.07983542e-04 9.99983556e-01 1.91195599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6807140569999 meters Centerline goodness [0,1] 0.9983364568636948 Centerline is valid? [True, True] Translation: X:606.86, Y:-34.45, Z:1.91 [[ 9.70585933e-01 2.40678320e-01 -6.07397708e-03 6.06857726e+02] [-2.40672862e-01 9.70604931e-01 1.62496203e-03 -3.44532007e+01] [ 6.28652524e-03 -1.15323842e-04 9.99980233e-01 1.91244320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7107140569999 meters Centerline goodness [0,1] 0.9985055463175398 Centerline is valid? [True, True] Translation: X:606.89, Y:-34.46, Z:1.91 [[ 9.70243661e-01 2.42063482e-01 -5.70169279e-03 6.06888893e+02] [-2.42058689e-01 9.70260409e-01 1.52667169e-03 -3.44602142e+01] [ 5.90167824e-03 -1.01099245e-04 9.99982580e-01 1.91316712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.740714057 meters Centerline goodness [0,1] 0.9984627695417789 Centerline is valid? [True, True] Translation: X:606.92, Y:-34.47, Z:1.91 [[ 9.69785778e-01 2.43896248e-01 -5.49222042e-03 6.06918655e+02] [-2.43891822e-01 9.69801326e-01 1.47200015e-03 -3.44682052e+01] [ 5.68537796e-03 -8.80171634e-05 9.99983834e-01 1.91371296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.770714057 meters Centerline goodness [0,1] 0.9982493144906138 Centerline is valid? [True, True] Translation: X:606.95, Y:-34.47, Z:1.91 [[ 9.68763070e-01 2.47927193e-01 -5.49738662e-03 6.06948748e+02] [-2.47922816e-01 9.68778665e-01 1.47474513e-03 -3.44747137e+01] [ 5.69138029e-03 -6.57510493e-05 9.99983802e-01 1.91407909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8007140569999 meters Centerline goodness [0,1] 0.9981243414120127 Centerline is valid? [True, True] Translation: X:606.98, Y:-34.48, Z:1.91 [[ 9.68301052e-01 2.49720021e-01 -5.74313619e-03 6.06978649e+02] [-2.49715266e-01 9.68318082e-01 1.54207221e-03 -3.44819195e+01] [ 5.94626892e-03 -5.90413592e-05 9.99982319e-01 1.91440352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8307140569999 meters Centerline goodness [0,1] 0.9979984830608462 Centerline is valid? [True, True] Translation: X:607.01, Y:-34.49, Z:1.91 [[ 9.67973272e-01 2.50985538e-01 -5.83127100e-03 6.07008740e+02] [-2.50980654e-01 9.67990835e-01 1.56668228e-03 -3.44897213e+01] [ 6.03783148e-03 -5.29703626e-05 9.99981771e-01 1.91462338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.860714057 meters Centerline goodness [0,1] 0.9983354403708387 Centerline is valid? [True, True] Translation: X:607.04, Y:-34.50, Z:1.91 [[ 9.68060894e-01 2.50648678e-01 -5.77455449e-03 6.07040753e+02] [-2.50643874e-01 9.68078115e-01 1.55286109e-03 -3.44978680e+01] [ 5.97944240e-03 -5.59073866e-05 9.99982121e-01 1.91448544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.890714057 meters Centerline goodness [0,1] 0.998248575648871 Centerline is valid? [True, True] Translation: X:607.07, Y:-34.51, Z:1.91 [[ 9.68341098e-01 2.49558648e-01 -5.99991066e-03 6.07071253e+02] [-2.49553429e-01 9.68359684e-01 1.61531548e-03 -3.45066625e+01] [ 6.21318754e-03 -6.68780873e-05 9.99980696e-01 1.91427675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9207140569999 meters Centerline goodness [0,1] 0.998248575648871 Centerline is valid? [True, True] Translation: X:607.10, Y:-34.52, Z:1.91 [[ 9.68270224e-01 2.49833504e-01 -5.99950094e-03 6.07102584e+02] [-2.49828281e-01 9.68288808e-01 1.61683593e-03 -3.45151656e+01] [ 6.21318940e-03 -6.66890784e-05 9.99980696e-01 1.91444867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9507140569999 meters Centerline goodness [0,1] 0.9983132682536001 Centerline is valid? [True, True] Translation: X:607.13, Y:-34.52, Z:1.91 [[ 9.68608578e-01 2.48504362e-01 -6.55779701e-03 6.07133768e+02] [-2.48498077e-01 9.68630773e-01 1.76937965e-03 -3.45246319e+01] [ 6.79178255e-03 -8.42363562e-05 9.99976932e-01 1.91434595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9807140569999 meters Centerline goodness [0,1] 0.9986482776099859 Centerline is valid? [True, True] Translation: X:607.16, Y:-34.54, Z:1.91 [[ 9.69631846e-01 2.44458882e-01 -7.34430228e-03 6.07164575e+02] [-2.44450867e-01 9.69659651e-01 1.98370226e-03 -3.45351573e+01] [ 7.60640722e-03 -1.28139824e-04 9.99971063e-01 1.91348208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.010714057 meters Centerline goodness [0,1] 0.9985849753954676 Centerline is valid? [True, True] Translation: X:607.19, Y:-34.54, Z:1.91 [[ 9.70251362e-01 2.41967270e-01 -8.00839369e-03 6.07194799e+02] [-2.41957637e-01 9.70284398e-01 2.16526748e-03 -3.45443666e+01] [ 8.29434331e-03 -1.63161707e-04 9.99965588e-01 1.91372970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.040714057 meters Centerline goodness [0,1] 0.9987339902517249 Centerline is valid? [True, True] Translation: X:607.22, Y:-34.56, Z:1.91 [[ 9.71570088e-01 2.36632681e-01 -7.51916319e-03 6.07224434e+02] [-2.36624019e-01 9.71599164e-01 2.03427578e-03 -3.45554321e+01] [ 7.78698880e-03 -1.97226892e-04 9.99969661e-01 1.91477038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0707140569999 meters Centerline goodness [0,1] 0.998670325031659 Centerline is valid? [True, True] Translation: X:607.26, Y:-34.57, Z:1.92 [[ 9.72281005e-01 2.33729929e-01 -6.32193145e-03 6.07255038e+02] [-2.33723743e-01 9.72301541e-01 1.71062711e-03 -3.45652092e+01] [ 6.54664845e-03 -1.85624767e-04 9.99978553e-01 1.91546396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1007140569999 meters Centerline goodness [0,1] 0.9987971638389466 Centerline is valid? [True, True] Translation: X:607.29, Y:-34.57, Z:1.92 [[ 9.72779034e-01 2.31655333e-01 -6.06288813e-03 6.07286063e+02] [-2.31649599e-01 9.72797908e-01 1.64116587e-03 -3.45746209e+01] [ 6.27814972e-03 -1.92026143e-04 9.99980274e-01 1.91676590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.130714057 meters Centerline goodness [0,1] 0.9990506929941143 Centerline is valid? [True, True] Translation: X:607.32, Y:-34.59, Z:1.92 [[ 9.73238982e-01 2.29717052e-01 -5.99668332e-03 6.07315581e+02] [-2.29711396e-01 9.73257435e-01 1.62482500e-03 -3.45850200e+01] [ 6.20956664e-03 -2.03836527e-04 9.99980700e-01 1.91749899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.160714057 meters Centerline goodness [0,1] 0.9992403620940685 Centerline is valid? [True, True] Translation: X:607.35, Y:-34.59, Z:1.92 [[ 9.73568243e-01 2.28308361e-01 -6.33778872e-03 6.07346446e+02] [-2.28302003e-01 9.73588846e-01 1.71891591e-03 -3.45926062e+01] [ 6.56284328e-03 -2.26552085e-04 9.99978439e-01 1.91734558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1907140569999 meters Centerline goodness [0,1] 0.9989656773757758 Centerline is valid? [True, True] Translation: X:607.38, Y:-34.60, Z:1.92 [[ 9.73368155e-01 2.29141067e-01 -6.98614918e-03 6.07377860e+02] [-2.29133348e-01 9.73393195e-01 1.89676334e-03 -3.45989243e+01] [ 7.23489645e-03 -2.45489279e-04 9.99973798e-01 1.91687744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2207140569999 meters Centerline goodness [0,1] 0.9990295563384739 Centerline is valid? [True, True] Translation: X:607.41, Y:-34.61, Z:1.92 [[ 9.72925772e-01 2.30989167e-01 -7.71024470e-03 6.07408751e+02] [-2.30979805e-01 9.72956288e-01 2.09557048e-03 -3.46060297e+01] [ 7.98578515e-03 -2.57923707e-04 9.99968080e-01 1.91651167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.250714057 meters Centerline goodness [0,1] 0.9987339902517249 Centerline is valid? [True, True] Translation: X:607.44, Y:-34.61, Z:1.92 [[ 9.71382049e-01 2.37343428e-01 -9.22022193e-03 6.07438479e+02] [-2.37330311e-01 9.71425775e-01 2.50751941e-03 -3.46085806e+01] [ 9.55190448e-03 -2.47521211e-04 9.99954349e-01 1.91642297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.280714057 meters Centerline goodness [0,1] 0.9990302928094104 Centerline is valid? [True, True] Translation: X:607.47, Y:-34.61, Z:1.92 [[ 9.70431037e-01 2.41184790e-01 -9.66948817e-03 6.07470264e+02] [-2.41170552e-01 9.70479185e-01 2.62986003e-03 -3.46133328e+01] [ 1.00183192e-02 -2.20101996e-04 9.99949791e-01 1.91686001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3107140569999 meters Centerline goodness [0,1] 0.998462478148234 Centerline is valid? [True, True] Translation: X:607.50, Y:-34.62, Z:1.92 [[ 9.69412395e-01 2.45249994e-01 -9.59418191e-03 6.07501713e+02] [-2.45236170e-01 9.69459854e-01 2.60992060e-03 -3.46188399e+01] [ 9.94125720e-03 -1.77248951e-04 9.99950569e-01 1.91753429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3407140569999 meters Centerline goodness [0,1] 0.9988837875405416 Centerline is valid? [True, True] Translation: X:607.53, Y:-34.62, Z:1.92 [[ 9.67263884e-01 2.53607193e-01 -9.16357613e-03 6.07533192e+02] [-2.53594953e-01 9.67307285e-01 2.49321011e-03 -3.46211616e+01] [ 9.49628997e-03 -8.77554331e-05 9.99954905e-01 1.91972326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.370714057 meters Centerline goodness [0,1] 0.9983162857263123 Centerline is valid? [True, True] Translation: X:607.57, Y:-34.63, Z:1.92 [[ 9.66299157e-01 2.57258757e-01 -9.15813957e-03 6.07565268e+02] [-2.57246683e-01 9.66342553e-01 2.49299567e-03 -3.46270870e+01] [ 9.49124494e-03 -5.30785901e-05 9.99954956e-01 1.92061202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.400714057 meters Centerline goodness [0,1] 0.9986764427824114 Centerline is valid? [True, True] Translation: X:607.60, Y:-34.63, Z:1.92 [[ 9.65592544e-01 2.59917351e-01 -8.60285135e-03 6.07595972e+02] [-2.59906783e-01 9.65630866e-01 2.34396058e-03 -3.46335625e+01] [ 8.91641482e-03 -2.73714442e-05 9.99960248e-01 1.92103726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4307140569999 meters Centerline goodness [0,1] 0.9984850078905839 Centerline is valid? [True, True] Translation: X:607.63, Y:-34.64, Z:1.92 [[ 9.64587814e-01 2.63642416e-01 -7.93890098e-03 6.07627846e+02] [-2.63633526e-01 9.64620483e-01 2.16507442e-03 -3.46405419e+01] [ 8.22883195e-03 4.55606010e-06 9.99966143e-01 1.92195052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4607140569999 meters Centerline goodness [0,1] 0.9980883156169909 Centerline is valid? [True, True] Translation: X:607.66, Y:-34.65, Z:1.92 [[ 9.64294013e-01 2.64740606e-01 -7.03329758e-03 6.07659503e+02] [-2.64733644e-01 9.64319662e-01 1.92007062e-03 -3.46498900e+01] [ 7.29066781e-03 1.04378933e-05 9.99973423e-01 1.92132948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.490714057 meters Centerline goodness [0,1] 0.9984671594154207 Centerline is valid? [True, True] Translation: X:607.69, Y:-34.66, Z:1.92 [[ 9.63873571e-01 2.66251525e-01 -7.60689616e-03 6.07690589e+02] [-2.66243408e-01 9.63903587e-01 2.07911435e-03 -3.46601004e+01] [ 7.88588186e-03 2.12825868e-05 9.99968906e-01 1.92093272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.520714057 meters Centerline goodness [0,1] 0.9981927457655613 Centerline is valid? [True, True] Translation: X:607.72, Y:-34.67, Z:1.92 [[ 9.63608020e-01 2.67193416e-01 -8.20135830e-03 6.07722546e+02] [-2.67183993e-01 9.63642920e-01 2.24421732e-03 -3.46697105e+01] [ 8.50282096e-03 2.87258463e-05 9.99963850e-01 1.92076250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5507140569999 meters Centerline goodness [0,1] 0.9981487325128853 Centerline is valid? [True, True] Translation: X:607.75, Y:-34.68, Z:1.92 [[ 9.63273617e-01 2.68390029e-01 -8.41016804e-03 6.07754200e+02] [-2.68380143e-01 9.63310329e-01 2.30394764e-03 -3.46791914e+01] [ 8.71995832e-03 3.77901243e-05 9.99961980e-01 1.92033699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5807140569999 meters Centerline goodness [0,1] 0.9979822182987578 Centerline is valid? [True, True] Translation: X:607.79, Y:-34.69, Z:1.92 [[ 9.62964224e-01 2.69496704e-01 -8.45158071e-03 6.07785328e+02] [-2.69486741e-01 9.63001311e-01 2.31779137e-03 -3.46881620e+01] [ 8.76352044e-03 4.56387717e-05 9.99961599e-01 1.91984405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.610714057 meters Centerline goodness [0,1] 0.9979811574697174 Centerline is valid? [True, True] Translation: X:607.82, Y:-34.70, Z:1.92 [[ 9.62395046e-01 2.71526880e-01 -8.30238125e-03 6.07816650e+02] [-2.71517320e-01 9.62430855e-01 2.27926263e-03 -3.46998936e+01] [ 8.60934895e-03 6.06892442e-05 9.99962937e-01 1.92024846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.640714057 meters Centerline goodness [0,1] 0.9976681162160459 Centerline is valid? [True, True] Translation: X:607.85, Y:-34.71, Z:1.92 [[ 9.62134118e-01 2.72443609e-01 -8.50989684e-03 6.07846474e+02] [-2.72433579e-01 9.62171749e-01 2.33872644e-03 -3.47101666e+01] [ 8.82515340e-03 6.82131582e-05 9.99961055e-01 1.92084298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6707140569999 meters Centerline goodness [0,1] 0.9979585394086078 Centerline is valid? [True, True] Translation: X:607.88, Y:-34.72, Z:1.92 [[ 9.61983859e-01 2.73014688e-01 -7.07349456e-03 6.07876837e+02] [-2.73007761e-01 9.62009863e-01 1.94567979e-03 -3.47242254e+01] [ 7.33597070e-03 5.94063641e-05 9.99973090e-01 1.92156063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7007140569999 meters Centerline goodness [0,1] 0.9972015317931238 Centerline is valid? [True, True] Translation: X:607.91, Y:-34.74, Z:1.92 [[ 9.61928696e-01 2.73207576e-01 -7.12763338e-03 6.07907283e+02] [-2.73200533e-01 9.61955101e-01 1.96270827e-03 -3.47362286e+01] [ 7.39269006e-03 5.92878288e-05 9.99972672e-01 1.92208135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7307140569999 meters Centerline goodness [0,1] 0.9977501629554869 Centerline is valid? [True, True] Translation: X:607.94, Y:-34.75, Z:1.92 [[ 9.62023994e-01 2.72892266e-01 -6.29650167e-03 6.07938519e+02] [-2.72886751e-01 9.62044598e-01 1.73553435e-03 -3.47484670e+01] [ 6.53112932e-03 4.86061921e-05 9.99978671e-01 1.92195031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.760714057 meters Centerline goodness [0,1] 0.9973694179047939 Centerline is valid? [True, True] Translation: X:607.97, Y:-34.76, Z:1.92 [[ 9.62636006e-01 2.70737681e-01 -5.74698005e-03 6.07966619e+02] [-2.70733039e-01 9.62653161e-01 1.58554031e-03 -3.47638965e+01] [ 5.96161402e-03 2.95991815e-05 9.99982229e-01 1.92148845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.790714057 meters Centerline goodness [0,1] 0.9973531635996975 Centerline is valid? [True, True] Translation: X:608.00, Y:-34.78, Z:1.92 [[ 9.62795015e-01 2.70181183e-01 -5.28078268e-03 6.07996756e+02] [-2.70177252e-01 9.62809497e-01 1.45766172e-03 -3.47769667e+01] [ 5.47822048e-03 2.33179090e-05 9.99984994e-01 1.92089402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8207140569999 meters Centerline goodness [0,1] 0.9972235660349579 Centerline is valid? [True, True] Translation: X:608.03, Y:-34.79, Z:1.92 [[ 9.63083898e-01 2.69140322e-01 -5.73513633e-03 6.08027628e+02] [-2.69135656e-01 9.63100974e-01 1.58495145e-03 -3.47897886e+01] [ 5.95008973e-03 1.70884581e-05 9.99982298e-01 1.92069117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8507140569999 meters Centerline goodness [0,1] 0.9975813914360225 Centerline is valid? [True, True] Translation: X:608.06, Y:-34.80, Z:1.92 [[ 9.63375047e-01 2.68102676e-01 -5.42891765e-03 6.08057670e+02] [-2.68098470e-01 9.63390344e-01 1.50184858e-03 -3.48023528e+01] [ 5.63281647e-03 8.64106959e-06 9.99984136e-01 1.92011338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.880714057 meters Centerline goodness [0,1] 0.9970173080154596 Centerline is valid? [True, True] Translation: X:608.09, Y:-34.82, Z:1.92 [[ 9.63665651e-01 2.67061273e-01 -5.17591400e-03 6.08086811e+02] [-2.67057430e-01 9.63679551e-01 1.43279577e-03 -3.48188312e+01] [ 5.37056674e-03 1.53022563e-06 9.99985578e-01 1.92092409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.910714057 meters Centerline goodness [0,1] 0.9971851104949164 Centerline is valid? [True, True] Translation: X:608.12, Y:-34.83, Z:1.92 [[ 9.63812749e-01 2.66541443e-01 -4.54365821e-03 6.08117122e+02] [-2.66538470e-01 9.63823458e-01 1.25897803e-03 -3.48313825e+01] [ 4.71485419e-03 -2.35936976e-06 9.99988885e-01 1.92167049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9407140569999 meters Centerline goodness [0,1] 0.9965134107664195 Centerline is valid? [True, True] Translation: X:608.15, Y:-34.85, Z:1.92 [[ 9.64168455e-01 2.65254692e-01 -4.37486318e-03 6.08146359e+02] [-2.65251916e-01 9.64178380e-01 1.21358019e-03 -3.48469915e+01] [ 4.54005633e-03 -9.65489263e-06 9.99989694e-01 1.92235743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9707140569999 meters Centerline goodness [0,1] 0.9967415753957409 Centerline is valid? [True, True] Translation: X:608.18, Y:-34.86, Z:1.92 [[ 9.64295594e-01 2.64797702e-01 -4.02302683e-03 6.08177227e+02] [-2.64795348e-01 9.64303986e-01 1.11655422e-03 -3.48587692e+01] [ 4.17508179e-03 -1.14095219e-05 9.99991284e-01 1.92279174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.000714057 meters Centerline goodness [0,1] 0.9966768324744979 Centerline is valid? [True, True] Translation: X:608.21, Y:-34.87, Z:1.92 [[ 9.64484934e-01 2.64108979e-01 -3.90638178e-03 6.08208520e+02] [-2.64106750e-01 9.64492844e-01 1.08531314e-03 -3.48703705e+01] [ 4.05431822e-03 -1.50663781e-05 9.99991781e-01 1.92302837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.030714057 meters Centerline goodness [0,1] 0.996677531279571 Centerline is valid? [True, True] Translation: X:608.24, Y:-34.88, Z:1.92 [[ 9.64514290e-01 2.64008913e-01 -3.38788697e-03 6.08239298e+02] [-2.64007233e-01 9.64520240e-01 9.42065128e-04 -3.48838231e+01] [ 3.51639914e-03 -1.42086156e-05 9.99993817e-01 1.92297748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0607140569999 meters Centerline goodness [0,1] 0.9971014492753624 Centerline is valid? [True, True] Translation: X:608.27, Y:-34.89, Z:1.92 [[ 9.64386479e-01 2.64465196e-01 -4.10841600e-03 6.08269699e+02] [-2.64462722e-01 9.64395230e-01 1.14401548e-03 -3.48948626e+01] [ 4.26468907e-03 -1.67501865e-05 9.99990906e-01 1.92271748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0907140569999 meters Centerline goodness [0,1] 0.996762052942537 Centerline is valid? [True, True] Translation: X:608.30, Y:-34.91, Z:1.92 [[ 9.64129117e-01 2.65390487e-01 -4.78900407e-03 6.08301139e+02] [-2.65387129e-01 9.64141011e-01 1.33510954e-03 -3.49054025e+01] [ 4.97160059e-03 -1.62779389e-05 9.99987641e-01 1.92196574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.120714057 meters Centerline goodness [0,1] 0.9967243406685705 Centerline is valid? [True, True] Translation: X:608.33, Y:-34.92, Z:1.92 [[ 9.63764563e-01 2.66662552e-01 -6.99638465e-03 6.08330743e+02] [-2.66655400e-01 9.63789958e-01 1.95316380e-03 -3.49167380e+01] [ 7.26388091e-03 -1.67663117e-05 9.99973618e-01 1.92015491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.150714057 meters Centerline goodness [0,1] 0.9971785909799132 Centerline is valid? [True, True] Translation: X:608.36, Y:-34.93, Z:1.92 [[ 9.63488407e-01 2.67642336e-01 -7.59397963e-03 6.08362199e+02] [-2.67633926e-01 9.63518334e-01 2.12182753e-03 -3.49270504e+01] [ 7.88482948e-03 -1.19496437e-05 9.99968914e-01 1.91951222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1807140569999 meters Centerline goodness [0,1] 0.9970946756773826 Centerline is valid? [True, True] Translation: X:608.39, Y:-34.94, Z:1.92 [[ 9.63490472e-01 2.67626724e-01 -7.87702076e-03 6.08393594e+02] [-2.67617654e-01 9.63522670e-01 2.20340301e-03 -3.49373444e+01] [ 8.17937761e-03 -1.49279900e-05 9.99966548e-01 1.91930990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2107140569999 meters Centerline goodness [0,1] 0.9974303346883754 Centerline is valid? [True, True] Translation: X:608.42, Y:-34.95, Z:1.92 [[ 9.63925821e-01 2.66071071e-01 -7.29355228e-03 6.08423145e+02] [-2.66063234e-01 9.63953414e-01 2.04227780e-03 -3.49506635e+01] [ 7.57403566e-03 -2.80581939e-05 9.99971316e-01 1.92012132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.240714057 meters Centerline goodness [0,1] 0.9964869470096978 Centerline is valid? [True, True] Translation: X:608.45, Y:-34.96, Z:1.92 [[ 9.64395869e-01 2.64387048e-01 -6.33214456e-03 6.08454550e+02] [-2.64381094e-01 9.64416657e-01 1.77471800e-03 -3.49623476e+01] [ 6.57603814e-03 -3.74313992e-05 9.99978377e-01 1.92147462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.270714057 meters Centerline goodness [0,1] 0.9969021326814466 Centerline is valid? [True, True] Translation: X:608.48, Y:-34.98, Z:1.92 [[ 9.65415882e-01 2.60677791e-01 -4.38898832e-03 6.08484049e+02] [-2.60674888e-01 9.65425858e-01 1.23098944e-03 -3.49758709e+01] [ 4.55813443e-03 -4.43177164e-05 9.99989611e-01 1.92405257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3007140569999 meters Centerline goodness [0,1] 0.9974718213420415 Centerline is valid? [True, True] Translation: X:608.51, Y:-34.99, Z:1.93 [[ 9.65994788e-01 2.58540921e-01 -3.26532251e-03 6.08514164e+02] [-2.58539300e-01 9.66000306e-01 9.16359478e-04 -3.49866295e+01] [ 3.39121896e-03 -4.09842831e-05 9.99994249e-01 1.92502335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3307140569999 meters Centerline goodness [0,1] 0.9970946756773826 Centerline is valid? [True, True] Translation: X:608.54, Y:-35.00, Z:1.93 [[ 9.66380406e-01 2.57104669e-01 -2.46978391e-03 6.08543862e+02] [-2.57103737e-01 9.66383561e-01 6.93496269e-04 -3.49971389e+01] [ 2.56505970e-03 -3.51905354e-05 9.99996710e-01 1.92625872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.360714057 meters Centerline goodness [0,1] 0.9974334160811209 Centerline is valid? [True, True] Translation: X:608.57, Y:-35.01, Z:1.93 [[ 9.66913801e-01 2.55099545e-01 -1.38712259e-03 6.08572531e+02] [-2.55099248e-01 9.66914796e-01 3.89717682e-04 -3.50083741e+01] [ 1.44064616e-03 -2.29694751e-05 9.99998962e-01 1.92752932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.390714057 meters Centerline goodness [0,1] 0.9979039154858724 Centerline is valid? [True, True] Translation: X:608.60, Y:-35.02, Z:1.93 [[ 9.66941100e-01 2.54996196e-01 -1.35981984e-03 6.08604126e+02] [-2.54995912e-01 9.66942056e-01 3.81596105e-04 -3.50180728e+01] [ 1.41217255e-03 -2.22324564e-05 9.99999003e-01 1.92769009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4207140569999 meters Centerline goodness [0,1] 0.9974339559145213 Centerline is valid? [True, True] Translation: X:608.64, Y:-35.03, Z:1.93 [[ 9.66707685e-01 2.55879791e-01 -1.33581887e-03 6.08635342e+02] [-2.55879516e-01 9.66708608e-01 3.75355254e-04 -3.50263492e+01] [ 1.38739342e-03 -2.10501225e-05 9.99999037e-01 1.92797032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4507140569999 meters Centerline goodness [0,1] 0.9969068260247453 Centerline is valid? [True, True] Translation: X:608.67, Y:-35.03, Z:1.93 [[ 9.65871449e-01 2.59009929e-01 -2.49018565e-03 6.08665847e+02] [-2.59008981e-01 9.65874658e-01 7.01618336e-04 -3.50338226e+01] [ 2.58693333e-03 -3.26926712e-05 9.99996653e-01 1.92775156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4807140569999 meters Centerline goodness [0,1] 0.9972510754380443 Centerline is valid? [True, True] Translation: X:608.70, Y:-35.04, Z:1.93 [[ 9.65266493e-01 2.61248101e-01 -3.16646267e-03 6.08697546e+02] [-2.61246576e-01 9.65271686e-01 8.93245315e-04 -3.50410390e+01] [ 3.28985540e-03 -3.49922427e-05 9.99994588e-01 1.92729978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.510714057 meters Centerline goodness [0,1] 0.9967003635905088 Centerline is valid? [True, True] Translation: X:608.73, Y:-35.05, Z:1.93 [[ 9.64530889e-01 2.63933247e-01 -4.40505513e-03 6.08728984e+02] [-2.63930316e-01 9.64540948e-01 1.24434086e-03 -3.50482497e+01] [ 4.57727897e-03 -3.75776010e-05 9.99989523e-01 1.92709723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.540714057 meters Centerline goodness [0,1] 0.9966843640484334 Centerline is valid? [True, True] Translation: X:608.76, Y:-35.05, Z:1.93 [[ 9.62910924e-01 2.69772796e-01 -5.01907767e-03 6.08759736e+02] [-2.69769062e-01 9.62924005e-01 1.41929712e-03 -3.50534786e+01] [ 5.21587812e-03 -1.26648245e-05 9.99986397e-01 1.92672669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5707140569999 meters Centerline goodness [0,1] 0.996789221858474 Centerline is valid? [True, True] Translation: X:608.79, Y:-35.06, Z:1.93 [[ 9.62057922e-01 2.72788964e-01 -5.54405615e-03 6.08791806e+02] [-2.72784450e-01 9.62073896e-01 1.56924839e-03 -3.50606790e+01] [ 5.76186534e-03 2.62446361e-06 9.99983400e-01 1.92698478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6007140569999 meters Centerline goodness [0,1] 0.9967852415271153 Centerline is valid? [True, True] Translation: X:608.82, Y:-35.07, Z:1.93 [[ 9.61215466e-01 2.75739552e-01 -5.70338446e-03 6.08822669e+02] [-2.75734816e-01 9.61232386e-01 1.61607333e-03 -3.50678819e+01] [ 5.92789319e-03 1.92269860e-05 9.99982430e-01 1.92715307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.630714057 meters Centerline goodness [0,1] 0.9964913017900664 Centerline is valid? [True, True] Translation: X:608.85, Y:-35.07, Z:1.93 [[ 9.59954373e-01 2.80075811e-01 -6.71871458e-03 6.08853362e+02] [-2.80069332e-01 9.59977884e-01 1.90581894e-03 -3.50749038e+01] [ 6.98359118e-03 5.22066796e-05 9.99975613e-01 1.92680092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.660714057 meters Centerline goodness [0,1] 0.9959908482189711 Centerline is valid? [True, True] Translation: X:608.88, Y:-35.08, Z:1.93 [[ 9.59465405e-01 2.81724258e-01 -7.58808304e-03 6.08883473e+02] [-2.81716030e-01 9.59495408e-01 2.15437714e-03 -3.50831896e+01] [ 7.88767113e-03 7.06342935e-05 9.99968889e-01 1.92616345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6907140569999 meters Centerline goodness [0,1] 0.9957171649311387 Centerline is valid? [True, True] Translation: X:608.92, Y:-35.09, Z:1.93 [[ 9.59165346e-01 2.82721720e-01 -8.38258076e-03 6.08915263e+02] [-2.82711696e-01 9.59201971e-01 2.38222399e-03 -3.50926848e+01] [ 8.71409445e-03 8.49069235e-05 9.99962028e-01 1.92556908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7207140569999 meters Centerline goodness [0,1] 0.9960720887245841 Centerline is valid? [True, True] Translation: X:608.95, Y:-35.10, Z:1.93 [[ 9.59011118e-01 2.83220549e-01 -9.15401724e-03 6.08945829e+02] [-2.83208591e-01 9.59054801e-01 2.60431485e-03 -3.51049486e+01] [ 9.51679966e-03 9.49294213e-05 9.99954710e-01 1.92595151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.750714057 meters Centerline goodness [0,1] 0.996008235640153 Centerline is valid? [True, True] Translation: X:608.98, Y:-35.12, Z:1.93 [[ 9.59087367e-01 2.82963029e-01 -9.12945989e-03 6.08976614e+02] [-2.82951096e-01 9.59130813e-01 2.60014657e-03 -3.51156964e+01] [ 9.49209164e-03 8.94229617e-05 9.99954945e-01 1.92646248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.780714057 meters Centerline goodness [0,1] 0.9963665385503959 Centerline is valid? [True, True] Translation: X:609.01, Y:-35.13, Z:1.93 [[ 9.59329099e-01 2.82139159e-01 -9.22902396e-03 6.09006704e+02] [-2.82126901e-01 9.59373488e-01 2.63123059e-03 -3.51284321e+01] [ 9.59645409e-03 7.95398573e-05 9.99953950e-01 1.92771356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8107140569999 meters Centerline goodness [0,1] 0.99609284738998 Centerline is valid? [True, True] Translation: X:609.04, Y:-35.14, Z:1.93 [[ 9.59477443e-01 2.81645224e-01 -8.88844244e-03 6.09037076e+02] [-2.81633810e-01 9.59518610e-01 2.53657271e-03 -3.51391665e+01] [ 9.24303952e-03 6.95016168e-05 9.99957280e-01 1.92806175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8407140569999 meters Centerline goodness [0,1] 0.99609284738998 Centerline is valid? [True, True] Translation: X:609.07, Y:-35.15, Z:1.93 [[ 9.59397835e-01 2.81916302e-01 -8.88774513e-03 6.09068252e+02] [-2.81904877e-01 9.59438999e-01 2.53901416e-03 -3.51481364e+01] [ 9.24303878e-03 6.95740067e-05 9.99957280e-01 1.92823368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.870714057 meters Centerline goodness [0,1] 0.9961795205508208 Centerline is valid? [True, True] Translation: X:609.10, Y:-35.16, Z:1.93 [[ 9.59558811e-01 2.81376333e-01 -8.61671905e-03 6.09099554e+02] [-2.81365549e-01 9.59597497e-01 2.46418143e-03 -3.51596072e+01] [ 8.96194436e-03 5.99208852e-05 9.99959839e-01 1.92932383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.900714057 meters Centerline goodness [0,1] 0.9961540078180825 Centerline is valid? [True, True] Translation: X:609.13, Y:-35.17, Z:1.93 [[ 9.59837996e-01 2.80432187e-01 -8.29517349e-03 6.09130316e+02] [-2.80422142e-01 9.59873839e-01 2.37403991e-03 -3.51707255e+01] [ 8.62807723e-03 4.74566077e-05 9.99962776e-01 1.93040780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9307140569999 meters Centerline goodness [0,1] 0.9964706623810424 Centerline is valid? [True, True] Translation: X:609.16, Y:-35.18, Z:1.93 [[ 9.60862561e-01 2.76934008e-01 -7.12001322e-03 6.09159442e+02] [-2.76926504e-01 9.60888940e-01 2.03868586e-03 -3.51842275e+01] [ 7.40612340e-03 1.28234564e-05 9.99972574e-01 1.93123962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9607140569999 meters Centerline goodness [0,1] 0.9965344871040914 Centerline is valid? [True, True] Translation: X:609.19, Y:-35.20, Z:1.93 [[ 9.61348676e-01 2.75243866e-01 -7.03835872e-03 6.09189320e+02] [-2.75236473e-01 9.61374440e-01 2.01723571e-03 -3.51961523e+01] [ 7.32172993e-03 -2.05384995e-06 9.99973196e-01 1.93191516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.990714057 meters Centerline goodness [0,1] 0.9966957802799116 Centerline is valid? [True, True] Translation: X:609.22, Y:-35.21, Z:1.93 [[ 9.63045496e-01 2.69260970e-01 -6.47316210e-03 6.09218223e+02] [-2.69254571e-01 9.63067250e-01 1.85697567e-03 -3.52120634e+01] [ 6.73410150e-03 -4.54235745e-05 9.99977325e-01 1.93296498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.020714057 meters Centerline goodness [0,1] 0.9970109668048919 Centerline is valid? [True, True] Translation: X:609.25, Y:-35.23, Z:1.93 [[ 9.63849805e-01 2.66368259e-01 -6.44243618e-03 6.09246931e+02] [-2.66361843e-01 9.63871333e-01 1.84987461e-03 -3.52253754e+01] [ 6.70242743e-03 -6.69821064e-05 9.99977536e-01 1.93354917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0507140569999 meters Centerline goodness [0,1] 0.9976007071599949 Centerline is valid? [True, True] Translation: X:609.28, Y:-35.24, Z:1.93 [[ 9.64609744e-01 2.63583230e-01 -7.20572335e-03 6.09277394e+02] [-2.63575112e-01 9.64636652e-01 2.07103314e-03 -3.52365128e+01] [ 7.49679445e-03 -9.84894069e-05 9.99971894e-01 1.93378349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0807140569999 meters Centerline goodness [0,1] 0.9977450897749305 Centerline is valid? [True, True] Translation: X:609.31, Y:-35.25, Z:1.93 [[ 9.65883732e-01 2.58848309e-01 -8.13438992e-03 6.09306511e+02] [-2.58837776e-01 9.65917972e-01 2.34025119e-03 -3.52492487e+01] [ 8.46292348e-03 -1.54923157e-04 9.99964177e-01 1.93333040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.110714057 meters Centerline goodness [0,1] 0.9974685146509714 Centerline is valid? [True, True] Translation: X:609.34, Y:-35.26, Z:1.93 [[ 9.66275969e-01 2.57357948e-01 -8.81126906e-03 6.09335710e+02] [-2.57345509e-01 9.66316125e-01 2.53691555e-03 -3.52616231e+01] [ 9.16736675e-03 -1.83820006e-04 9.99957962e-01 1.93267688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.140714057 meters Centerline goodness [0,1] 0.9980193847450485 Centerline is valid? [True, True] Translation: X:609.37, Y:-35.27, Z:1.93 [[ 9.66688507e-01 2.55793627e-01 -9.10773639e-03 6.09365245e+02] [-2.55780251e-01 9.66731389e-01 2.62399436e-03 -3.52731693e+01] [ 9.47593568e-03 -2.07006091e-04 9.99955081e-01 1.93364810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1707140569999 meters Centerline goodness [0,1] 0.9977036194328572 Centerline is valid? [True, True] Translation: X:609.40, Y:-35.28, Z:1.93 [[ 9.66642737e-01 2.55965712e-01 -9.13087592e-03 6.09397537e+02] [-2.55952253e-01 9.66685839e-01 2.63310845e-03 -3.52817658e+01] [ 9.50067393e-03 -2.08206897e-04 9.99954846e-01 1.93492932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2007140569999 meters Centerline goodness [0,1] 0.9979114805282477 Centerline is valid? [True, True] Translation: X:609.43, Y:-35.29, Z:1.94 [[ 9.66554275e-01 2.56295041e-01 -9.25661570e-03 6.09428244e+02] [-2.56281197e-01 9.66598576e-01 2.67212249e-03 -3.52915620e+01] [ 9.63228330e-03 -2.10454870e-04 9.99953586e-01 1.93588260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2307140569999 meters Centerline goodness [0,1] 0.9977008584867852 Centerline is valid? [True, True] Translation: X:609.46, Y:-35.30, Z:1.94 [[ 9.66281711e-01 2.57337597e-01 -8.77587891e-03 6.09458925e+02] [-2.57325176e-01 9.66321543e-01 2.53569960e-03 -3.52994309e+01] [ 9.13285169e-03 -1.91945566e-04 9.99958276e-01 1.93637662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.260714057 meters Centerline goodness [0,1] 0.9978293397399423 Centerline is valid? [True, True] Translation: X:609.49, Y:-35.31, Z:1.94 [[ 9.65314703e-01 2.60939438e-01 -8.83937453e-03 6.09489859e+02] [-2.60926966e-01 9.65355159e-01 2.55640708e-03 -3.53062491e+01] [ 9.20020323e-03 -1.61306168e-04 9.99957664e-01 1.93608930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.290714057 meters Centerline goodness [0,1] 0.9977047316220599 Centerline is valid? [True, True] Translation: X:609.52, Y:-35.31, Z:1.94 [[ 9.64756919e-01 2.62990210e-01 -8.95750315e-03 6.09521154e+02] [-2.62977467e-01 9.64798491e-01 2.59293940e-03 -3.53134006e+01] [ 9.32410320e-03 -1.45934736e-04 9.99956519e-01 1.93586704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3207140569999 meters Centerline goodness [0,1] 0.9973032760981776 Centerline is valid? [True, True] Translation: X:609.55, Y:-35.32, Z:1.94 [[ 9.63780713e-01 2.66517822e-01 -9.74614170e-03 6.09553203e+02] [-2.66502890e-01 9.63829982e-01 2.82393382e-03 -3.53178654e+01] [ 1.01462523e-02 -1.24278016e-04 9.99948518e-01 1.93674896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3507140569999 meters Centerline goodness [0,1] 0.9974290350452026 Centerline is valid? [True, True] Translation: X:609.58, Y:-35.33, Z:1.94 [[ 9.63491632e-01 2.67566834e-01 -9.58461655e-03 6.09582887e+02] [-2.67552425e-01 9.63539297e-01 2.77918749e-03 -3.53259924e+01] [ 9.97877309e-03 -1.13336487e-04 9.99950204e-01 1.93673108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.380714057 meters Centerline goodness [0,1] 0.9975777234813379 Centerline is valid? [True, True] Translation: X:609.61, Y:-35.33, Z:1.94 [[ 9.63221862e-01 2.68536022e-01 -9.59423778e-03 6.09614388e+02] [-2.68521609e-01 9.63269637e-01 2.78413441e-03 -3.53341288e+01] [ 9.98947832e-03 -1.05478969e-04 9.99950098e-01 1.93696347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.410714057 meters Centerline goodness [0,1] 0.997305943761576 Centerline is valid? [True, True] Translation: X:609.64, Y:-35.34, Z:1.94 [[ 9.62969242e-01 2.69447968e-01 -9.38245881e-03 6.09644523e+02] [-2.69434203e-01 9.63014944e-01 2.72524858e-03 -3.53411494e+01] [ 9.76976075e-03 -9.63752480e-05 9.99952270e-01 1.93718752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4407140569999 meters Centerline goodness [0,1] 0.997173949721613 Centerline is valid? [True, True] Translation: X:609.68, Y:-35.35, Z:1.94 [[ 9.62807907e-01 2.70024636e-01 -9.36115546e-03 6.09676994e+02] [-2.70010936e-01 9.62853409e-01 2.72159798e-03 -3.53489001e+01] [ 9.74831895e-03 -9.27617063e-05 9.99952480e-01 1.93745029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4707140569999 meters Centerline goodness [0,1] 0.9971569370735406 Centerline is valid? [True, True] Translation: X:609.71, Y:-35.36, Z:1.94 [[ 9.62682500e-01 2.70486142e-01 -8.92476126e-03 6.09708881e+02] [-2.70473685e-01 9.62723865e-01 2.59738102e-03 -3.53565433e+01] [ 9.29463622e-03 -8.65401944e-05 9.99956800e-01 1.93747328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.500714057 meters Centerline goodness [0,1] 0.9973689749526415 Centerline is valid? [True, True] Translation: X:609.74, Y:-35.36, Z:1.94 [[ 9.62717235e-01 2.70381786e-01 -8.31957602e-03 6.09740411e+02] [-2.70370939e-01 9.62753179e-01 2.42335015e-03 -3.53640282e+01] [ 8.66492800e-03 -8.36293787e-05 9.99962455e-01 1.93728938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.530714057 meters Centerline goodness [0,1] 0.9967777262962807 Centerline is valid? [True, True] Translation: X:609.77, Y:-35.37, Z:1.94 [[ 9.62738576e-01 2.70313971e-01 -8.04933022e-03 6.09772518e+02] [-2.70303799e-01 9.62772221e-01 2.34650837e-03 -3.53719969e+01] [ 8.38396553e-03 -8.33095831e-05 9.99964850e-01 1.93684461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5607140569999 meters Centerline goodness [0,1] 0.9968430357368354 Centerline is valid? [True, True] Translation: X:609.80, Y:-35.38, Z:1.94 [[ 9.63300450e-01 2.68304692e-01 -8.05200069e-03 6.09802080e+02] [-2.68294424e-01 9.63334097e-01 2.34962040e-03 -3.53804266e+01] [ 8.38718099e-03 -1.03083500e-04 9.99964822e-01 1.93622182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5907140569999 meters Centerline goodness [0,1] 0.9972249085481226 Centerline is valid? [True, True] Translation: X:609.83, Y:-35.39, Z:1.94 [[ 9.63621434e-01 2.67135499e-01 -8.50623233e-03 6.09832557e+02] [-2.67123974e-01 9.63658970e-01 2.48443459e-03 -3.53897154e+01] [ 8.86078776e-03 -1.21835836e-04 9.99960735e-01 1.93620451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.620714057 meters Centerline goodness [0,1] 0.9972007661061183 Centerline is valid? [True, True] Translation: X:609.86, Y:-35.40, Z:1.94 [[ 9.63994251e-01 2.65784226e-01 -8.59239645e-03 6.09863230e+02] [-2.65772391e-01 9.64032534e-01 2.51192448e-03 -3.53986908e+01] [ 8.95097962e-03 -1.37859007e-04 9.99959930e-01 1.93611925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.650714057 meters Centerline goodness [0,1] 0.9973474242647523 Centerline is valid? [True, True] Translation: X:609.89, Y:-35.41, Z:1.94 [[ 9.64357952e-01 2.64451638e-01 -8.89222847e-03 6.09894277e+02] [-2.64438884e-01 9.64398935e-01 2.60202393e-03 -3.54082094e+01] [ 9.26376516e-03 -1.57831494e-04 9.99957078e-01 1.93647616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6807140569999 meters Centerline goodness [0,1] 0.9977261721792955 Centerline is valid? [True, True] Translation: X:609.93, Y:-35.42, Z:1.94 [[ 9.64924952e-01 2.62397286e-01 -8.21590627e-03 6.09925261e+02] [-2.62386306e-01 9.64959914e-01 2.40621930e-03 -3.54173323e+01] [ 8.55940563e-03 -1.66079742e-04 9.99963354e-01 1.93718630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7107140569999 meters Centerline goodness [0,1] 0.9978276000253096 Centerline is valid? [True, True] Translation: X:609.96, Y:-35.43, Z:1.94 [[ 9.65004650e-01 2.62099958e-01 -8.34486919e-03 6.09955764e+02] [-2.62088599e-01 9.65040715e-01 2.44629355e-03 -3.54263395e+01] [ 8.69431197e-03 -1.73589581e-04 9.99962189e-01 1.93760333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.740714057 meters Centerline goodness [0,1] 0.9983771023900856 Centerline is valid? [True, True] Translation: X:609.99, Y:-35.43, Z:1.94 [[ 9.64884761e-01 2.62539579e-01 -8.38856951e-03 6.09987918e+02] [-2.62528102e-01 9.64921209e-01 2.46087156e-03 -3.54326538e+01] [ 8.74038482e-03 -1.72222231e-04 9.99961787e-01 1.93807582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.770714057 meters Centerline goodness [0,1] 0.9978086809945217 Centerline is valid? [True, True] Translation: X:610.02, Y:-35.44, Z:1.94 [[ 9.64423202e-01 2.64212974e-01 -8.91024988e-03 6.10018347e+02] [-2.64200086e-01 9.64464347e-01 2.61502161e-03 -3.54399579e+01] [ 9.28454097e-03 -1.67898730e-04 9.99956884e-01 1.93804586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8007140569999 meters Centerline goodness [0,1] 0.9975163646313485 Centerline is valid? [True, True] Translation: X:610.05, Y:-35.44, Z:1.94 [[ 9.63161329e-01 2.68793565e-01 -8.38297651e-03 6.10051531e+02] [-2.68782321e-01 9.63197802e-01 2.46133559e-03 -3.54423565e+01] [ 8.73605572e-03 -1.17467376e-04 9.99961833e-01 1.93780439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8307140569999 meters Centerline goodness [0,1] 0.9973973637813786 Centerline is valid? [True, True] Translation: X:610.08, Y:-35.45, Z:1.94 [[ 9.62339383e-01 2.71703039e-01 -8.96495576e-03 6.10082470e+02] [-2.71690291e-01 9.62381135e-01 2.63373844e-03 -3.54486726e+01] [ 9.34329904e-03 -9.88587772e-05 9.99956346e-01 1.93822037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.860714057 meters Centerline goodness [0,1] 0.9968077286569358 Centerline is valid? [True, True] Translation: X:610.11, Y:-35.45, Z:1.94 [[ 9.61494784e-01 2.74678566e-01 -8.91440330e-03 6.10113949e+02] [-2.74666068e-01 9.61536105e-01 2.62122997e-03 -3.54546217e+01] [ 9.29151631e-03 -7.18148393e-05 9.99956830e-01 1.93838327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.890714057 meters Centerline goodness [0,1] 0.9963043067425403 Centerline is valid? [True, True] Translation: X:610.15, Y:-35.46, Z:1.94 [[ 9.59986922e-01 2.79898253e-01 -9.05962452e-03 6.10145469e+02] [-2.79885554e-01 9.60029670e-01 2.66636328e-03 -3.54585822e+01] [ 9.44381876e-03 -2.40158476e-05 9.99955406e-01 1.93885403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9207140569999 meters Centerline goodness [0,1] 0.9964534542096869 Centerline is valid? [True, True] Translation: X:610.18, Y:-35.47, Z:1.94 [[ 9.59400207e-01 2.81912071e-01 -8.76506737e-03 6.10177730e+02] [-2.81900246e-01 9.59440245e-01 2.58204822e-03 -3.54662116e+01] [ 9.13746895e-03 -6.34295091e-06 9.99958252e-01 1.93880064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9507140569999 meters Centerline goodness [0,1] 0.9962182490493098 Centerline is valid? [True, True] Translation: X:610.21, Y:-35.47, Z:1.94 [[ 9.58999096e-01 2.83264608e-01 -9.04965962e-03 6.10209121e+02] [-2.83252041e-01 9.59041794e-01 2.66824612e-03 -3.54742780e+01] [ 9.43482148e-03 4.48893752e-06 9.99955491e-01 1.93878176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9807140569999 meters Centerline goodness [0,1] 0.9963900432355287 Centerline is valid? [True, True] Translation: X:610.24, Y:-35.48, Z:1.94 [[ 9.58690263e-01 2.84314242e-01 -8.85390099e-03 6.10241386e+02] [-2.84302238e-01 9.58731147e-01 2.61265627e-03 -3.54829584e+01] [ 9.23132604e-03 1.24557387e-05 9.99957390e-01 1.93951606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.010714057 meters Centerline goodness [0,1] 0.9962005121961459 Centerline is valid? [True, True] Translation: X:610.27, Y:-35.49, Z:1.94 [[ 9.58926502e-01 2.83530440e-01 -8.39368411e-03 6.10272197e+02] [-2.83519600e-01 9.58963237e-01 2.47932418e-03 -3.54915777e+01] [ 8.75219836e-03 2.28429691e-06 9.99961699e-01 1.93984105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.040714057 meters Centerline goodness [0,1] 0.996196200403497 Centerline is valid? [True, True] Translation: X:610.30, Y:-35.50, Z:1.94 [[ 9.59933414e-01 2.80119215e-01 -7.81446735e-03 6.10303081e+02] [-2.80109688e-01 9.59965221e-01 2.31045424e-03 -3.55022229e+01] [ 8.14881950e-03 -2.89742171e-05 9.99966797e-01 1.94053160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0707140569999 meters Centerline goodness [0,1] 0.9967222759171324 Centerline is valid? [True, True] Translation: X:610.33, Y:-35.51, Z:1.94 [[ 9.60667274e-01 2.77607650e-01 -7.23741237e-03 6.10333870e+02] [-2.77599392e-01 9.60694535e-01 2.14187141e-03 -3.55123854e+01] [ 7.54754241e-03 -4.85244920e-05 9.99971516e-01 1.94084937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1007140569999 meters Centerline goodness [0,1] 0.9966951542962994 Centerline is valid? [True, True] Translation: X:610.36, Y:-35.52, Z:1.94 [[ 9.61546300e-01 2.74560966e-01 -6.70736877e-03 6.10364368e+02] [-2.74553786e-01 9.61569691e-01 1.98672768e-03 -3.55225894e+01] [ 6.99508039e-03 -6.87971533e-05 9.99975532e-01 1.94088600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.130714057 meters Centerline goodness [0,1] 0.9969501293565824 Centerline is valid? [True, True] Translation: X:610.39, Y:-35.53, Z:1.94 [[ 9.62504954e-01 2.71194082e-01 -6.16301287e-03 6.10393228e+02] [-2.71187942e-01 9.62524681e-01 1.82704520e-03 -3.55336902e+01] [ 6.42753584e-03 -8.72052832e-05 9.99979339e-01 1.94091282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.160714057 meters Centerline goodness [0,1] 0.9970865646614966 Centerline is valid? [True, True] Translation: X:610.42, Y:-35.54, Z:1.94 [[ 9.64498348e-01 2.63998889e-01 -6.89368456e-03 6.10422803e+02] [-2.63991012e-01 9.64522972e-01 2.04516017e-03 -3.55449751e+01] [ 7.18903713e-03 -1.52682844e-04 9.99974147e-01 1.93988652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1907140569999 meters Centerline goodness [0,1] 0.99728358146097 Centerline is valid? [True, True] Translation: X:610.45, Y:-35.56, Z:1.94 [[ 9.65341208e-01 2.60887420e-01 -7.35572756e-03 6.10453157e+02] [-2.60878358e-01 9.65369214e-01 2.18261741e-03 -3.55552072e+01] [ 7.67041035e-03 -1.88020401e-04 9.99970564e-01 1.93933864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2207140569999 meters Centerline goodness [0,1] 0.997307303938068 Centerline is valid? [True, True] Translation: X:610.48, Y:-35.56, Z:1.94 [[ 9.66070510e-01 2.58152912e-01 -8.05253280e-03 6.10484144e+02] [-2.58141951e-01 9.66104043e-01 2.39002767e-03 -3.55648646e+01] [ 8.39657709e-03 -2.30238726e-04 9.99964722e-01 1.93913155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.250714057 meters Centerline goodness [0,1] 0.9976851364717271 Centerline is valid? [True, True] Translation: X:610.51, Y:-35.57, Z:1.94 [[ 9.67214809e-01 2.53803189e-01 -8.91368234e-03 6.10513951e+02] [-2.53789569e-01 9.67255836e-01 2.64612168e-03 -3.55730877e+01] [ 9.29340539e-03 -2.97168481e-04 9.99956771e-01 1.93878258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.280714057 meters Centerline goodness [0,1] 0.9978994244422972 Centerline is valid? [True, True] Translation: X:610.54, Y:-35.58, Z:1.94 [[ 9.67603746e-01 2.52287879e-01 -9.68587839e-03 6.10543797e+02] [-2.52271708e-01 9.67652164e-01 2.87659113e-03 -3.55821723e+01] [ 1.00982903e-02 -3.39927276e-04 9.99948953e-01 1.93891953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3107140569999 meters Centerline goodness [0,1] 0.997901760423005 Centerline is valid? [True, True] Translation: X:610.57, Y:-35.59, Z:1.94 [[ 9.67997893e-01 2.50768181e-01 -9.76722607e-03 6.10573920e+02] [-2.50751635e-01 9.68047101e-01 2.90313124e-03 -3.55909291e+01] [ 1.01831478e-02 -3.61077017e-04 9.99948085e-01 1.93865350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3407140569999 meters Centerline goodness [0,1] 0.9978127826032093 Centerline is valid? [True, True] Translation: X:610.60, Y:-35.60, Z:1.94 [[ 9.68306892e-01 2.49545120e-01 -1.04401106e-02 6.10604715e+02] [-2.49526117e-01 9.68363088e-01 3.10572928e-03 -3.55985435e+01] [ 1.08848373e-02 -4.02218806e-04 9.99940678e-01 1.93873565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.370714057 meters Centerline goodness [0,1] 0.9977703924950571 Centerline is valid? [True, True] Translation: X:610.64, Y:-35.60, Z:1.94 [[ 9.69072655e-01 2.46554223e-01 -1.04500418e-02 6.10635782e+02] [-2.46534995e-01 9.69128899e-01 3.11010712e-03 -3.56039894e+01] [ 1.08942475e-02 -4.37618766e-04 9.99940560e-01 1.93896115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.400714057 meters Centerline goodness [0,1] 0.9972055888223553 Centerline is valid? [True, True] Translation: X:610.67, Y:-35.61, Z:1.94 [[ 9.69955639e-01 2.43131980e-01 -8.53807201e-03 6.10667251e+02] [-2.43119009e-01 9.69993139e-01 2.54136323e-03 -3.56080073e+01] [ 8.89975793e-03 -3.89241989e-04 9.99960321e-01 1.94041379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4307140569999 meters Centerline goodness [0,1] 0.9975634858955239 Centerline is valid? [True, True] Translation: X:610.70, Y:-35.62, Z:1.94 [[ 9.70394571e-01 2.41404582e-01 -7.62922571e-03 6.10697040e+02] [-2.41394166e-01 9.70424493e-01 2.27165984e-03 -3.56169416e+01] [ 7.95197659e-03 -3.62755797e-04 9.99968317e-01 1.94102272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4607140569999 meters Centerline goodness [0,1] 0.9976687528878061 Centerline is valid? [True, True] Translation: X:610.73, Y:-35.62, Z:1.94 [[ 9.70923521e-01 2.39279878e-01 -7.25642502e-03 6.10728680e+02] [-2.39270386e-01 9.70950569e-01 2.16203047e-03 -3.56226541e+01] [ 7.56296039e-03 -3.62918629e-04 9.99971335e-01 1.94200793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.490714057 meters Centerline goodness [0,1] 0.9976438413800358 Centerline is valid? [True, True] Translation: X:610.76, Y:-35.63, Z:1.94 [[ 9.71417659e-01 2.37283277e-01 -6.66171501e-03 6.10758139e+02] [-2.37275225e-01 9.71440438e-01 1.98560107e-03 -3.56327883e+01] [ 6.94260928e-03 -3.48188012e-04 9.99975839e-01 1.94216796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.520714057 meters Centerline goodness [0,1] 0.9974408994609107 Centerline is valid? [True, True] Translation: X:610.79, Y:-35.64, Z:1.94 [[ 9.72303969e-01 2.33633303e-01 -6.36179116e-03 6.10789587e+02] [-2.33625873e-01 9.72324715e-01 1.89744374e-03 -3.56353481e+01] [ 6.62903283e-03 -3.58613061e-04 9.99977963e-01 1.94254217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5507140569999 meters Centerline goodness [0,1] 0.997834086846809 Centerline is valid? [True, True] Translation: X:610.82, Y:-35.64, Z:1.94 [[ 9.72688971e-01 2.32035239e-01 -5.98445191e-03 6.10821498e+02] [-2.32028634e-01 9.72707318e-01 1.78506076e-03 -3.56416387e+01] [ 6.23531716e-03 -3.47744712e-04 9.99980500e-01 1.94288938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5807140569999 meters Centerline goodness [0,1] 0.9973898033932556 Centerline is valid? [True, True] Translation: X:610.85, Y:-35.65, Z:1.94 [[ 9.72970322e-01 2.30858085e-01 -5.77041730e-03 6.10851328e+02] [-2.30851920e-01 9.72987373e-01 1.72161808e-03 -3.56485548e+01] [ 6.01199262e-03 -3.42971384e-04 9.99981869e-01 1.94348707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.610714057 meters Centerline goodness [0,1] 0.9977061324129803 Centerline is valid? [True, True] Translation: X:610.88, Y:-35.65, Z:1.95 [[ 9.73523063e-01 2.28551505e-01 -4.12975449e-03 6.10883925e+02] [-2.28548326e-01 9.73531789e-01 1.23222440e-03 -3.56488043e+01] [ 4.30207401e-03 -2.55750394e-04 9.99990713e-01 1.94524018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.640714057 meters Centerline goodness [0,1] 0.9978244953456752 Centerline is valid? [True, True] Translation: X:610.91, Y:-35.66, Z:1.95 [[ 9.73597954e-01 2.28241712e-01 -3.56991983e-03 6.10914691e+02] [-2.28239335e-01 9.73604474e-01 1.06497979e-03 -3.56553231e+01] [ 3.71876272e-03 -2.22066014e-04 9.99993061e-01 1.94595306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6707140569999 meters Centerline goodness [0,1] 0.9982852721607662 Centerline is valid? [True, True] Translation: X:610.95, Y:-35.66, Z:1.95 [[ 9.73373763e-01 2.29206180e-01 -2.83622617e-03 6.10947401e+02] [-2.29204682e-01 9.73377880e-01 8.46515537e-04 -3.56561409e+01] [ 2.95474641e-03 -1.73899695e-04 9.99995620e-01 1.94668155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7007140569999 meters Centerline goodness [0,1] 0.9988480951682829 Centerline is valid? [True, True] Translation: X:610.98, Y:-35.66, Z:1.95 [[ 9.72989922e-01 2.30832201e-01 -2.66567442e-03 6.10979588e+02] [-2.30830883e-01 9.72993561e-01 7.96243640e-04 -3.56599381e+01] [ 2.77748272e-03 -1.59417059e-04 9.99996130e-01 1.94677964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7307140569999 meters Centerline goodness [0,1] 0.9988480951682829 Centerline is valid? [True, True] Translation: X:611.01, Y:-35.67, Z:1.95 [[ 9.72927141e-01 2.31096676e-01 -2.66551027e-03 6.11010716e+02] [-2.31095357e-01 9.72930779e-01 7.96792614e-04 -3.56693185e+01] [ 2.77749310e-03 -1.59234114e-04 9.99996130e-01 1.94695183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.760714057 meters Centerline goodness [0,1] 0.999056999161777 Centerline is valid? [True, True] Translation: X:611.04, Y:-35.67, Z:1.95 [[ 9.72516937e-01 2.32820336e-01 -2.34472417e-03 6.11041083e+02] [-2.32819317e-01 9.72519754e-01 7.02170264e-04 -3.56730823e+01] [ 2.44377009e-03 -1.36975395e-04 9.99997005e-01 1.94696798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.790714057 meters Centerline goodness [0,1] 0.9989720782898739 Centerline is valid? [True, True] Translation: X:611.08, Y:-35.67, Z:1.95 [[ 9.71677561e-01 2.36296904e-01 -2.54785106e-03 6.11075628e+02] [-2.36295713e-01 9.71680891e-01 7.63054831e-04 -3.56661895e+01] [ 2.65600568e-03 -1.39396974e-04 9.99996463e-01 1.94672766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8207140569999 meters Centerline goodness [0,1] 0.9989096246592577 Centerline is valid? [True, True] Translation: X:611.11, Y:-35.67, Z:1.95 [[ 9.71287365e-01 2.37894211e-01 -2.68311195e-03 6.11106473e+02] [-2.37892897e-01 9.71291061e-01 8.03303831e-04 -3.56723830e+01] [ 2.79718398e-03 -1.41945586e-04 9.99996078e-01 1.94675669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8507140569999 meters Centerline goodness [0,1] 0.9993914977548365 Centerline is valid? [True, True] Translation: X:611.14, Y:-35.67, Z:1.95 [[ 9.70515513e-01 2.41013557e-01 -3.47908575e-03 6.11140930e+02] [-2.41011365e-01 9.70521734e-01 1.04252106e-03 -3.56681608e+01] [ 3.62779004e-03 -1.73283660e-04 9.99993405e-01 1.94616198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.880714057 meters Centerline goodness [0,1] 0.9994545263820414 Centerline is valid? [True, True] Translation: X:611.17, Y:-35.67, Z:1.95 [[ 9.70116912e-01 2.42603390e-01 -4.09539655e-03 6.11173581e+02] [-2.42600366e-01 9.70125536e-01 1.22728032e-03 -3.56719373e+01] [ 4.27079114e-03 -1.97060695e-04 9.99990861e-01 1.94605363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.910714057 meters Centerline goodness [0,1] 0.9993288872111069 Centerline is valid? [True, True] Translation: X:611.21, Y:-35.68, Z:1.95 [[ 9.69692788e-01 2.44294146e-01 -4.03317445e-03 6.11206649e+02] [-2.44291223e-01 9.69701158e-01 1.20983782e-03 -3.56754809e+01] [ 4.20653023e-03 -1.87901887e-04 9.99991135e-01 1.94604831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9407140569999 meters Centerline goodness [0,1] 0.9995174453978978 Centerline is valid? [True, True] Translation: X:611.24, Y:-35.67, Z:1.95 [[ 9.68729092e-01 2.48084806e-01 -4.22797973e-03 6.11239068e+02] [-2.48081627e-01 9.68738301e-01 1.26876685e-03 -3.56727115e+01] [ 4.41056768e-03 -1.80207266e-04 9.99990257e-01 1.94743442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9707140569999 meters Centerline goodness [0,1] 0.9996643380116222 Centerline is valid? [True, True] Translation: X:611.27, Y:-35.68, Z:1.95 [[ 9.68017061e-01 2.50865756e-01 -3.05656852e-03 6.11271447e+02] [-2.50864109e-01 9.68021879e-01 9.17083180e-04 -3.56758118e+01] [ 3.18888997e-03 -1.20968827e-04 9.99994908e-01 1.94812514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.000714057 meters Centerline goodness [0,1] 0.9997901408155128 Centerline is valid? [True, True] Translation: X:611.30, Y:-35.68, Z:1.95 [[ 9.67219941e-01 2.53923487e-01 -2.90672667e-03 6.11303542e+02] [-2.53922010e-01 9.67224303e-01 8.72422481e-04 -3.56779262e+01] [ 3.03298524e-03 -1.05742539e-04 9.99995395e-01 1.94913259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.030714057 meters Centerline goodness [0,1] 0.999874095058231 Centerline is valid? [True, True] Translation: X:611.34, Y:-35.67, Z:1.95 [[ 9.65257482e-01 2.61287927e-01 -2.57138997e-03 6.11337382e+02] [-2.61286797e-01 9.65260905e-01 7.71918494e-04 -3.56725705e+01] [ 2.68375519e-03 -7.32298525e-05 9.99996396e-01 1.94929702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0607140569999 meters Centerline goodness [0,1] 0.9997692614268034 Centerline is valid? [True, True] Translation: X:611.37, Y:-35.68, Z:1.95 [[ 9.64247113e-01 2.64992644e-01 -2.53061903e-03 6.11368697e+02] [-2.64991563e-01 9.64250431e-01 7.59629048e-04 -3.56752079e+01] [ 2.64144660e-03 -6.18774234e-05 9.99996509e-01 1.94914658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0907140569999 meters Centerline goodness [0,1] 0.9999790382761078 Centerline is valid? [True, True] Translation: X:611.40, Y:-35.67, Z:1.95 [[ 9.62173636e-01 2.72419525e-01 -3.08159593e-03 6.11400758e+02] [-2.72417958e-01 9.62178570e-01 9.25241455e-04 -3.56715818e+01] [ 3.21709941e-03 -5.07608619e-05 9.99994824e-01 1.94862523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.120714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:611.43, Y:-35.67, Z:1.95 [[ 9.61211338e-01 2.75798318e-01 -2.83747782e-03 6.11433998e+02] [-2.75797005e-01 9.61215525e-01 8.51733650e-04 -3.56742130e+01] [ 2.96233444e-03 -3.61281565e-05 9.99995612e-01 1.94792918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.150714057 meters Centerline goodness [0,1] 0.9998744034162271 Centerline is valid? [True, True] Translation: X:611.47, Y:-35.68, Z:1.95 [[ 9.60318807e-01 2.78883670e-01 -3.41858415e-03 6.11466548e+02] [-2.78881782e-01 9.60324892e-01 1.02659063e-03 -3.56792491e+01] [ 3.56925082e-03 -3.24734484e-05 9.99993630e-01 1.94819962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1807140569999 meters Centerline goodness [0,1] 0.9998743455497382 Centerline is valid? [True, True] Translation: X:611.50, Y:-35.69, Z:1.95 [[ 9.59358428e-01 2.82174063e-01 -3.03386708e-03 6.11497560e+02] [-2.82172593e-01 9.59363225e-01 9.10991599e-04 -3.56857022e+01] [ 3.16763870e-03 -1.78933292e-05 9.99994983e-01 1.94843722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2107140569999 meters Centerline goodness [0,1] 0.9998115656798292 Centerline is valid? [True, True] Translation: X:611.53, Y:-35.69, Z:1.95 [[ 9.57583266e-01 2.88132466e-01 -3.73782301e-03 6.11530706e+02] [-2.88130275e-01 9.57590561e-01 1.12354503e-03 -3.56882648e+01] [ 3.90303383e-03 1.09205099e-06 9.99992383e-01 1.94835344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.240714057 meters Centerline goodness [0,1] 0.999916142557652 Centerline is valid? [True, True] Translation: X:611.56, Y:-35.70, Z:1.95 [[ 9.56635101e-01 2.91262858e-01 -3.90284836e-03 6.11562941e+02] [-2.91260491e-01 9.56643062e-01 1.17419313e-03 -3.56951351e+01] [ 4.07563165e-03 1.34711661e-05 9.99991694e-01 1.94867225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.270714057 meters Centerline goodness [0,1] 0.9998330934051032 Centerline is valid? [True, True] Translation: X:611.60, Y:-35.70, Z:1.95 [[ 9.54949622e-01 2.96743531e-01 -3.80735252e-03 6.11595400e+02] [-2.96741318e-01 9.54957211e-01 1.14663233e-03 -3.56998561e+01] [ 3.97611447e-03 3.48226947e-05 9.99992095e-01 1.94789664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3007140569999 meters Centerline goodness [0,1] 0.9998744244453747 Centerline is valid? [True, True] Translation: X:611.63, Y:-35.71, Z:1.95 [[ 9.54330446e-01 2.98734874e-01 -3.29765416e-03 6.11626994e+02] [-2.98733223e-01 9.54336143e-01 9.93826555e-04 -3.57076468e+01] [ 3.44396120e-03 3.66799179e-05 9.99994069e-01 1.94835388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3307140569999 meters Centerline goodness [0,1] 0.9999581913581538 Centerline is valid? [True, True] Translation: X:611.66, Y:-35.72, Z:1.95 [[ 9.53790413e-01 3.00461904e-01 -2.54781185e-03 6.11656073e+02] [-3.00460922e-01 9.53793816e-01 7.68839487e-04 -3.57155515e+01] [ 2.66109416e-03 3.22061657e-05 9.99996459e-01 1.94883752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.360714057 meters Centerline goodness [0,1] 0.999916282963583 Centerline is valid? [True, True] Translation: X:611.69, Y:-35.73, Z:1.95 [[ 9.52882246e-01 3.03337274e-01 -1.38683054e-03 6.11685653e+02] [-3.03336986e-01 9.52883255e-01 4.18409264e-04 -3.57255370e+01] [ 1.44840672e-03 2.19822364e-05 9.99998951e-01 1.94980987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.390714057 meters Centerline goodness [0,1] 0.9996232891046838 Centerline is valid? [True, True] Translation: X:611.72, Y:-35.74, Z:1.95 [[ 9.52444464e-01 3.04710137e-01 -1.12905039e-03 6.11716058e+02] [-3.04709948e-01 9.52445133e-01 3.39731103e-04 -3.57368160e+01] [ 1.17887806e-03 2.04578772e-05 9.99999305e-01 1.94989518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4207140569999 meters Centerline goodness [0,1] 0.9996208450941568 Centerline is valid? [True, True] Translation: X:611.75, Y:-35.75, Z:1.95 [[ 9.51913084e-01 3.06367318e-01 -7.39746595e-04 6.11745947e+02] [-3.06367238e-01 9.51913371e-01 2.22280239e-04 -3.57506142e+01] [ 7.72274076e-04 1.50426526e-05 9.99999702e-01 1.94936929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4507140569999 meters Centerline goodness [0,1] 0.9994144341970429 Centerline is valid? [True, True] Translation: X:611.78, Y:-35.76, Z:1.95 [[ 9.51944951e-01 3.06265961e-01 -1.40423040e-03 6.11777172e+02] [-3.06265670e-01 9.51945986e-01 4.23683090e-04 -3.57557510e+01] [ 1.46651120e-03 2.67445850e-05 9.99998924e-01 1.95075023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4807140569999 meters Centerline goodness [0,1] 0.9997478037913496 Centerline is valid? [True, True] Translation: X:611.81, Y:-35.77, Z:1.95 [[ 9.52064512e-01 3.05894468e-01 -1.31887238e-03 6.11805584e+02] [-3.05894209e-01 9.52065425e-01 3.98133682e-04 -3.57731756e+01] [ 1.37743969e-03 2.43864753e-05 9.99999051e-01 1.94916777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.510714057 meters Centerline goodness [0,1] 0.9993931530928266 Centerline is valid? [True, True] Translation: X:611.83, Y:-35.79, Z:1.95 [[ 9.52411585e-01 3.04810752e-01 -1.60543887e-03 6.11833095e+02] [-3.04810367e-01 9.52412938e-01 4.85449899e-04 -3.57885285e+01] [ 1.67701110e-03 2.70063032e-05 9.99998593e-01 1.94897669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.540714057 meters Centerline goodness [0,1] 0.9994531496477022 Centerline is valid? [True, True] Translation: X:611.86, Y:-35.80, Z:1.95 [[ 9.52712063e-01 3.03868640e-01 -1.89047941e-03 6.11862746e+02] [-3.03868103e-01 9.52713939e-01 5.72274262e-04 -3.58019089e+01] [ 1.97498229e-03 2.92437993e-05 9.99998049e-01 1.94884421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5707140569999 meters Centerline goodness [0,1] 0.9993316624895572 Centerline is valid? [True, True] Translation: X:611.89, Y:-35.82, Z:1.95 [[ 9.53245067e-01 3.02190264e-01 -2.21060592e-03 6.11891643e+02] [-3.02189522e-01 9.53247630e-01 6.70362032e-04 -3.58191387e+01] [ 2.30983173e-03 2.90026471e-05 9.99997332e-01 1.94849399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6007140569999 meters Centerline goodness [0,1] 0.9992886880478671 Centerline is valid? [True, True] Translation: X:611.92, Y:-35.83, Z:1.95 [[ 9.53704850e-01 3.00737992e-01 -1.92837555e-03 6.11920399e+02] [-3.00737425e-01 9.53706800e-01 5.84642704e-04 -3.58319729e+01] [ 2.01492915e-03 2.23581140e-05 9.99997970e-01 1.94896538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.630714057 meters Centerline goodness [0,1] 0.9993685805691194 Centerline is valid? [True, True] Translation: X:611.95, Y:-35.85, Z:1.95 [[ 9.54167981e-01 2.99262775e-01 -2.29233207e-03 6.11949809e+02] [-2.99261967e-01 9.54170735e-01 6.95742220e-04 -3.58455106e+01] [ 2.39548592e-03 2.21528525e-05 9.99997131e-01 1.94906552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.660714057 meters Centerline goodness [0,1] 0.9993476156403889 Centerline is valid? [True, True] Translation: X:611.98, Y:-35.86, Z:1.95 [[ 9.54723337e-01 2.97486709e-01 -2.23780167e-03 6.11978844e+02] [-2.97485933e-01 9.54725959e-01 6.79768477e-04 -3.58591871e+01] [ 2.33870943e-03 1.67236884e-05 9.99997265e-01 1.94880813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6907140569999 meters Centerline goodness [0,1] 0.9992453779398818 Centerline is valid? [True, True] Translation: X:612.01, Y:-35.88, Z:1.95 [[ 9.56452546e-01 2.91874239e-01 -2.82064509e-03 6.12005811e+02] [-2.91872977e-01 9.56456705e-01 8.58211390e-04 -3.58777148e+01] [ 2.94831470e-03 2.43160888e-06 9.99995654e-01 1.94797350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7207140569999 meters Centerline goodness [0,1] 0.9989317805751629 Centerline is valid? [True, True] Translation: X:612.04, Y:-35.89, Z:1.95 [[ 9.57403330e-01 2.88739681e-01 -2.87401128e-03 6.12035978e+02] [-2.88738357e-01 9.57407644e-01 8.74575750e-04 -3.58929248e+01] [ 3.00412509e-03 -7.48444144e-06 9.99995488e-01 1.94785363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.750714057 meters Centerline goodness [0,1] 0.9988417882788974 Centerline is valid? [True, True] Translation: X:612.06, Y:-35.91, Z:1.95 [[ 9.58337077e-01 2.85627215e-01 -2.67209863e-03 6.12064980e+02] [-2.85626056e-01 9.58340803e-01 8.13929802e-04 -3.59075336e+01] [ 2.79326165e-03 -1.67981148e-05 9.99996099e-01 1.94783567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.780714057 meters Centerline goodness [0,1] 0.9990346274921301 Centerline is valid? [True, True] Translation: X:612.09, Y:-35.93, Z:1.95 [[ 9.60077839e-01 2.79717162e-01 -2.97536778e-03 6.12092550e+02] [-2.79715693e-01 9.60082448e-01 9.07298576e-04 -3.59255336e+01] [ 3.11038537e-03 -3.88201940e-05 9.99995162e-01 1.94854701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8107140569999 meters Centerline goodness [0,1] 0.9990301087964916 Centerline is valid? [True, True] Translation: X:612.12, Y:-35.94, Z:1.95 [[ 9.60517293e-01 2.78206401e-01 -2.77990866e-03 6.12122349e+02] [-2.78205111e-01 9.60521315e-01 8.48276274e-04 -3.59382604e+01] [ 2.90615741e-03 -4.13992341e-05 9.99995776e-01 1.94853471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8407140569999 meters Centerline goodness [0,1] 0.9989250031617554 Centerline is valid? [True, True] Translation: X:612.15, Y:-35.95, Z:1.95 [[ 9.61158731e-01 2.75979059e-01 -3.07442071e-03 6.12151120e+02] [-2.75977466e-01 9.61163647e-01 9.39169895e-04 -3.59514834e+01] [ 3.21421264e-03 -5.42205083e-05 9.99994833e-01 1.94870692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.870714057 meters Centerline goodness [0,1] 0.9990939165981836 Centerline is valid? [True, True] Translation: X:612.18, Y:-35.96, Z:1.95 [[ 9.61053113e-01 2.76345519e-01 -3.17314062e-03 6.12181758e+02] [-2.76343822e-01 9.61058349e-01 9.70057213e-04 -3.59625631e+01] [ 3.31764425e-03 -5.53986970e-05 9.99994495e-01 1.94862934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.900714057 meters Centerline goodness [0,1] 0.9987416371300938 Centerline is valid? [True, True] Translation: X:612.21, Y:-35.97, Z:1.95 [[ 9.60966856e-01 2.76647566e-01 -2.97071292e-03 6.12212963e+02] [-2.76646078e-01 9.60971447e-01 9.08986020e-04 -3.59738628e+01] [ 3.10623907e-03 -5.16693594e-05 9.99995174e-01 1.94917026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9307140569999 meters Centerline goodness [0,1] 0.9985738853236023 Centerline is valid? [True, True] Translation: X:612.24, Y:-35.98, Z:1.95 [[ 9.60802824e-01 2.77219754e-01 -2.67219339e-03 6.12244075e+02] [-2.77218550e-01 9.60806539e-01 8.18299184e-04 -3.59845535e+01] [ 2.79430958e-03 -4.54425909e-05 9.99996095e-01 1.94943926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9607140569999 meters Centerline goodness [0,1] 0.9990753777292117 Centerline is valid? [True, True] Translation: X:612.27, Y:-36.00, Z:1.95 [[ 9.60850603e-01 2.77062121e-01 -1.64324797e-03 6.12273694e+02] [-2.77061666e-01 9.60852007e-01 5.03187589e-04 -3.59972502e+01] [ 1.71833233e-03 -2.82070790e-05 9.99998523e-01 1.95084885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.990714057 meters Centerline goodness [0,1] 0.9987995198079231 Centerline is valid? [True, True] Translation: X:612.30, Y:-36.01, Z:1.95 [[ 9.61009181e-01 2.76510591e-01 -1.80200827e-03 6.12304681e+02] [-2.76510041e-01 9.61010870e-01 5.52499578e-04 -3.60057327e+01] [ 1.88452152e-03 -3.26837867e-05 9.99998224e-01 1.95086445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.020714057 meters Centerline goodness [0,1] 0.9991369147861233 Centerline is valid? [True, True] Translation: X:612.33, Y:-36.02, Z:1.95 [[ 9.61776186e-01 2.73828633e-01 -2.10900633e-03 6.12333622e+02] [-2.73827871e-01 9.61778497e-01 6.47518026e-04 -3.60177545e+01] [ 2.20570592e-03 -4.52627017e-05 9.99997566e-01 1.95052599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0507140569999 meters Centerline goodness [0,1] 0.9989531426657176 Centerline is valid? [True, True] Translation: X:612.36, Y:-36.03, Z:1.95 [[ 9.62090472e-01 2.72716906e-01 -2.72246128e-03 6.12363627e+02] [-2.72715630e-01 9.62094322e-01 8.36909105e-04 -3.60283111e+01] [ 2.84750380e-03 -6.27245351e-05 9.99995944e-01 1.95042820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0807140569999 meters Centerline goodness [0,1] 0.9992041718151166 Centerline is valid? [True, True] Translation: X:612.39, Y:-36.04, Z:1.95 [[ 9.62520354e-01 2.71192532e-01 -3.02953730e-03 6.12393796e+02] [-2.71190940e-01 9.62525119e-01 9.32272346e-04 -3.60386613e+01] [ 3.16883105e-03 -7.57480393e-05 9.99994976e-01 1.95045177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.110714057 meters Centerline goodness [0,1] 0.9989683993347228 Centerline is valid? [True, True] Translation: X:612.42, Y:-36.05, Z:1.95 [[ 9.62827877e-01 2.70097141e-01 -3.16446789e-03 6.12423097e+02] [-2.70095395e-01 9.62833073e-01 9.74741092e-04 -3.60487897e+01] [ 3.31012912e-03 -8.37996912e-05 9.99994518e-01 1.95070416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.140714057 meters Centerline goodness [0,1] 0.9990723562152134 Centerline is valid? [True, True] Translation: X:612.45, Y:-36.06, Z:1.95 [[ 9.62640464e-01 2.70755723e-01 -3.83084465e-03 6.12453844e+02] [-2.70753165e-01 9.62648081e-01 1.18119086e-03 -3.60576279e+01] [ 4.00756944e-03 -9.98488084e-05 9.99991965e-01 1.95102867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1707140569999 meters Centerline goodness [0,1] 0.9987788702444365 Centerline is valid? [True, True] Translation: X:612.49, Y:-36.06, Z:1.95 [[ 9.61771272e-01 2.73821977e-01 -4.18872707e-03 6.12485957e+02] [-2.73818942e-01 9.61780388e-01 1.29277305e-03 -3.60635830e+01] [ 4.38262522e-03 -9.63991641e-05 9.99990392e-01 1.95058820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2007140569999 meters Centerline goodness [0,1] 0.9990088570223534 Centerline is valid? [True, True] Translation: X:612.52, Y:-36.07, Z:1.95 [[ 9.61174826e-01 2.75904316e-01 -4.44544948e-03 6.12516353e+02] [-2.75900914e-01 9.61185102e-01 1.37336064e-03 -3.60718420e+01] [ 4.65181593e-03 -9.35360976e-05 9.99989176e-01 1.95098524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2307140569999 meters Centerline goodness [0,1] 0.999078225164453 Centerline is valid? [True, True] Translation: X:612.55, Y:-36.08, Z:1.95 [[ 9.59744540e-01 2.80842654e-01 -4.22157795e-03 6.12547838e+02] [-2.80839630e-01 9.59753822e-01 1.30490554e-03 -3.60754754e+01] [ 4.41814871e-03 -6.67895753e-05 9.99990238e-01 1.95122636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.260714057 meters Centerline goodness [0,1] 0.9990116499137822 Centerline is valid? [True, True] Translation: X:612.58, Y:-36.08, Z:1.95 [[ 9.58971838e-01 2.83478681e-01 -3.58483208e-03 6.12579896e+02] [-2.83476519e-01 9.58978537e-01 1.10810713e-03 -3.60823740e+01] [ 3.75190178e-03 -4.64278108e-05 9.99992961e-01 1.95163722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.290714057 meters Centerline goodness [0,1] 0.9990112964638072 Centerline is valid? [True, True] Translation: X:612.61, Y:-36.09, Z:1.95 [[ 9.58166563e-01 2.86185198e-01 -3.85610427e-03 6.12610431e+02] [-2.86182718e-01 9.58174322e-01 1.19216635e-03 -3.60906134e+01] [ 4.03600045e-03 -3.87435319e-05 9.99991855e-01 1.95233997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3207140569999 meters Centerline goodness [0,1] 0.9988644727158028 Centerline is valid? [True, True] Translation: X:612.64, Y:-36.09, Z:1.95 [[ 9.56554252e-01 2.91531257e-01 -3.67272262e-03 6.12642389e+02] [-2.91529043e-01 9.56561303e-01 1.13639920e-03 -3.60947788e+01] [ 3.84448023e-03 -1.63221787e-05 9.99992610e-01 1.95286338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3507140569999 meters Centerline goodness [0,1] 0.9991381122556233 Centerline is valid? [True, True] Translation: X:612.67, Y:-36.10, Z:1.95 [[ 9.55766045e-01 2.94090028e-01 -4.72473152e-03 6.12672245e+02] [-2.94086386e-01 9.55777723e-01 1.46359169e-03 -3.61022405e+01] [ 4.94622086e-03 -9.37202049e-06 9.99987767e-01 1.95299440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.380714057 meters Centerline goodness [0,1] 0.9992009252444538 Centerline is valid? [True, True] Translation: X:612.70, Y:-36.11, Z:1.95 [[ 9.54925933e-01 2.96813210e-01 -4.28719125e-03 6.12704917e+02] [-2.96810235e-01 9.54935557e-01 1.32895977e-03 -3.61096681e+01] [ 4.48844418e-03 3.42409176e-06 9.99989927e-01 1.95278256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.410714057 meters Centerline goodness [0,1] 0.9988652601496175 Centerline is valid? [True, True] Translation: X:612.74, Y:-36.11, Z:1.95 [[ 9.53664194e-01 3.00849322e-01 -3.78013082e-03 6.12736579e+02] [-3.00847037e-01 9.53671686e-01 1.17282879e-03 -3.61145439e+01] [ 3.95784848e-03 1.87563338e-05 9.99992168e-01 1.95295856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4407140569999 meters Centerline goodness [0,1] 0.9990764839224247 Centerline is valid? [True, True] Translation: X:612.77, Y:-36.12, Z:1.95 [[ 9.53088944e-01 3.02674475e-01 -3.10284570e-03 6.12767863e+02] [-3.02672943e-01 9.53093994e-01 9.63320157e-04 -3.61237940e+01] [ 3.24887603e-03 2.10176495e-05 9.99994722e-01 1.95324742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4707140569999 meters Centerline goodness [0,1] 0.9989071727297564 Centerline is valid? [True, True] Translation: X:612.80, Y:-36.13, Z:1.95 [[ 9.52515248e-01 3.04482892e-01 -2.20678112e-03 6.12798365e+02] [-3.04482121e-01 9.52517805e-01 6.85531680e-04 -3.61322814e+01] [ 2.31073098e-03 1.89460177e-05 9.99997330e-01 1.95382803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.500714057 meters Centerline goodness [0,1] 0.9986571266707233 Centerline is valid? [True, True] Translation: X:612.83, Y:-36.14, Z:1.95 [[ 9.52361114e-01 3.04966665e-01 -1.90847989e-03 6.12829735e+02] [-3.04966089e-01 9.52363026e-01 5.92973494e-04 -3.61428694e+01] [ 1.99840283e-03 1.72967514e-05 9.99998003e-01 1.95344975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.530714057 meters Centerline goodness [0,1] 0.9985299985299986 Centerline is valid? [True, True] Translation: X:612.86, Y:-36.15, Z:1.95 [[ 9.52393715e-01 3.04863240e-01 -2.14856769e-03 6.12860505e+02] [-3.04862508e-01 9.52396138e-01 6.68461638e-04 -3.61532883e+01] [ 2.25007695e-03 1.83790717e-05 9.99997468e-01 1.95335545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5607140569999 meters Centerline goodness [0,1] 0.9987592269352905 Centerline is valid? [True, True] Translation: X:612.89, Y:-36.17, Z:1.95 [[ 9.52828309e-01 3.03498184e-01 -2.65806168e-03 6.12890617e+02] [-3.03497055e-01 9.52832017e-01 8.28291155e-04 -3.61655393e+01] [ 2.78407113e-03 1.74946302e-05 9.99996124e-01 1.95239350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5907140569999 meters Centerline goodness [0,1] 0.9987390454574112 Centerline is valid? [True, True] Translation: X:612.92, Y:-36.18, Z:1.95 [[ 9.53021968e-01 3.02886371e-01 -2.99587521e-03 6.12921339e+02] [-3.02884930e-01 9.53026676e-01 9.34458506e-04 -3.61772894e+01] [ 3.13818374e-03 1.68459709e-05 9.99995076e-01 1.95207170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.620714057 meters Centerline goodness [0,1] 0.998568631991075 Centerline is valid? [True, True] Translation: X:612.95, Y:-36.19, Z:1.95 [[ 9.53564057e-01 3.01171490e-01 -3.36495093e-03 6.12951693e+02] [-3.01169657e-01 9.53569994e-01 1.05084099e-03 -3.61919231e+01] [ 3.52519959e-03 1.13769244e-05 9.99993786e-01 1.95141280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.650714057 meters Centerline goodness [0,1] 0.998568631991075 Centerline is valid? [True, True] Translation: X:612.98, Y:-36.20, Z:1.95 [[ 9.53478087e-01 3.01443555e-01 -3.36465054e-03 6.12982667e+02] [-3.01441720e-01 9.53484024e-01 1.05180170e-03 -3.62016741e+01] [ 3.52519937e-03 1.13761701e-05 9.99993786e-01 1.95158475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6807140569999 meters Centerline goodness [0,1] 0.9984032607097086 Centerline is valid? [True, True] Translation: X:613.01, Y:-36.21, Z:1.95 [[ 9.53796454e-01 3.00435896e-01 -3.25515485e-03 6.13012027e+02] [-3.00434169e-01 9.53802009e-01 1.01858026e-03 -3.62137664e+01] [ 3.41079131e-03 6.44150068e-06 9.99994183e-01 1.95110217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7107140569999 meters Centerline goodness [0,1] 0.998695313650807 Centerline is valid? [True, True] Translation: X:613.04, Y:-36.23, Z:1.95 [[ 9.54168469e-01 2.99250722e-01 -3.39671317e-03 6.13043044e+02] [-2.99248831e-01 9.54174515e-01 1.06388901e-03 -3.62265789e+01] [ 3.55942669e-03 1.33309603e-06 9.99993665e-01 1.95103620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.740714057 meters Centerline goodness [0,1] 0.9985100935913039 Centerline is valid? [True, True] Translation: X:613.07, Y:-36.24, Z:1.95 [[ 9.54559524e-01 2.98002940e-01 -3.21924648e-03 6.13072896e+02] [-2.98001231e-01 9.54564952e-01 1.00928052e-03 -3.62393505e+01] [ 3.37374842e-03 -4.07891645e-06 9.99994309e-01 1.95060202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.770714057 meters Centerline goodness [0,1] 0.9987984063073129 Centerline is valid? [True, True] Translation: X:613.10, Y:-36.25, Z:1.95 [[ 9.55483615e-01 2.95032724e-01 -2.59864542e-03 6.13102097e+02] [-2.95031598e-01 9.55487149e-01 8.15234567e-04 -3.62545546e+01] [ 2.72349318e-03 -1.22607610e-05 9.99996291e-01 1.95070705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8007140569999 meters Centerline goodness [0,1] 0.9988211022693781 Centerline is valid? [True, True] Translation: X:613.13, Y:-36.27, Z:1.95 [[ 9.55903751e-01 2.93669502e-01 -2.49847309e-03 6.13131438e+02] [-2.93668455e-01 9.55907016e-01 7.84401707e-04 -3.62673745e+01] [ 2.61866282e-03 -1.60897999e-05 9.99996571e-01 1.95193839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8307140569999 meters Centerline goodness [0,1] 0.9985474295819123 Centerline is valid? [True, True] Translation: X:613.16, Y:-36.28, Z:1.95 [[ 9.56772805e-01 2.90835505e-01 -7.13084064e-04 6.13160625e+02] [-2.90835420e-01 9.56773071e-01 2.23116279e-04 -3.62810856e+01] [ 7.47149765e-04 -6.08148486e-06 9.99999721e-01 1.95310909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.860714057 meters Centerline goodness [0,1] 0.9985259744361852 Centerline is valid? [True, True] Translation: X:613.19, Y:-36.29, Z:1.95 [[ 9.57139179e-01 2.89628360e-01 -6.45448702e-05 6.13189488e+02] [-2.89628360e-01 9.57139182e-01 1.90686954e-05 -3.62932448e+01] [ 6.73012591e-05 4.42629358e-07 9.99999998e-01 1.95429603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.890714057 meters Centerline goodness [0,1] 0.9983351948243525 Centerline is valid? [True, True] Translation: X:613.22, Y:-36.30, Z:1.95 [[ 9.57617150e-01 2.88044045e-01 1.46766570e-04 6.13219157e+02] [-2.88044041e-01 9.57617161e-01 -4.76635389e-05 -3.63046438e+01] [-1.54275384e-04 3.36818644e-06 9.99999988e-01 1.95460246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9207140569999 meters Centerline goodness [0,1] 0.9986717547595454 Centerline is valid? [True, True] Translation: X:613.25, Y:-36.32, Z:1.95 [[ 9.58703640e-01 2.84406004e-01 7.45512027e-04 6.13248123e+02] [-2.84405906e-01 9.58703930e-01 -2.36560333e-04 -3.63183343e+01] [-7.82004489e-04 1.47632288e-05 9.99999694e-01 1.95478935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9507140569999 meters Centerline goodness [0,1] 0.9985874515095294 Centerline is valid? [True, True] Translation: X:613.28, Y:-36.33, Z:1.95 [[ 9.59262160e-01 2.82517290e-01 2.99419365e-04 6.13277792e+02] [-2.82517274e-01 9.59262206e-01 -9.58557634e-05 -3.63293629e+01] [-3.14302591e-04 7.35966392e-06 9.99999951e-01 1.95467234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9807140569999 meters Centerline goodness [0,1] 0.9987567430883345 Centerline is valid? [True, True] Translation: X:613.31, Y:-36.34, Z:1.95 [[ 9.59877941e-01 2.80418000e-01 2.90404967e-04 6.13308097e+02] [-2.80417985e-01 9.59877984e-01 -9.31803073e-05 -3.63407418e+01] [-3.04882770e-04 8.00694585e-06 9.99999953e-01 1.95456876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.010714057 meters Centerline goodness [0,1] 0.9988406163704968 Centerline is valid? [True, True] Translation: X:613.34, Y:-36.35, Z:1.96 [[ 9.61151861e-01 2.76017203e-01 1.26610696e-03 6.13337229e+02] [-2.76016915e-01 9.61152695e-01 -4.00494810e-04 -3.63527961e+01] [-1.32746557e-03 3.54693960e-05 9.99999118e-01 1.95517822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.040714057 meters Centerline goodness [0,1] 0.9988604469580264 Centerline is valid? [True, True] Translation: X:613.37, Y:-36.36, Z:1.96 [[ 9.61600690e-01 2.74447980e-01 1.55529683e-03 6.13367355e+02] [-2.74447541e-01 9.61601947e-01 -4.92695920e-04 -3.63623178e+01] [-1.63079586e-03 4.69293446e-05 9.99998669e-01 1.95535342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0707140569999 meters Centerline goodness [0,1] 0.9984807883020699 Centerline is valid? [True, True] Translation: X:613.40, Y:-36.37, Z:1.96 [[ 9.61951441e-01 2.73215755e-01 1.60514654e-03 6.13396027e+02] [-2.73215286e-01 9.61952779e-01 -5.09173506e-04 -3.63732401e+01] [-1.68318939e-03 5.12496187e-05 9.99998582e-01 1.95622831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1007140569999 meters Centerline goodness [0,1] 0.999036810586708 Centerline is valid? [True, True] Translation: X:613.42, Y:-36.39, Z:1.96 [[ 9.62460829e-01 2.71414598e-01 1.80772611e-03 6.13424332e+02] [-2.71413998e-01 9.62462525e-01 -5.73908995e-04 -3.63867406e+01] [-1.89563591e-03 6.17227568e-05 9.99998201e-01 1.95691938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.130714057 meters Centerline goodness [0,1] 0.9988459440177935 Centerline is valid? [True, True] Translation: X:613.46, Y:-36.39, Z:1.96 [[ 9.63219759e-01 2.68700181e-01 2.81223451e-03 6.13456189e+02] [-2.68698718e-01 9.63223859e-01 -8.92855836e-04 -3.63906665e+01] [-2.94872190e-03 1.04372576e-04 9.99995647e-01 1.95598616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.160714057 meters Centerline goodness [0,1] 0.9993704620808327 Centerline is valid? [True, True] Translation: X:613.49, Y:-36.40, Z:1.96 [[ 9.63820887e-01 2.66541347e-01 2.23798306e-03 6.13485702e+02] [-2.66540416e-01 9.63823481e-01 -7.09799971e-04 -3.63989929e+01] [-2.34621166e-03 8.76071022e-05 9.99997244e-01 1.95594404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1907140569999 meters Centerline goodness [0,1] 0.9989931407715059 Centerline is valid? [True, True] Translation: X:613.52, Y:-36.41, Z:1.96 [[ 9.64073522e-01 2.65628655e-01 1.91353206e-03 6.13516760e+02] [-2.65627970e-01 9.64075418e-01 -6.08609449e-04 -3.64082512e+01] [-2.00645333e-03 7.84566185e-05 9.99997984e-01 1.95576585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2207140569999 meters Centerline goodness [0,1] 0.9988890286337149 Centerline is valid? [True, True] Translation: X:613.55, Y:-36.42, Z:1.96 [[ 9.64265709e-01 2.64933477e-01 1.37691705e-03 6.13545634e+02] [-2.64933120e-01 9.64266690e-01 -4.38554617e-04 -3.64199099e+01] [-1.44390305e-03 5.80922476e-05 9.99998956e-01 1.95619583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.250714057 meters Centerline goodness [0,1] 0.9987427182431583 Centerline is valid? [True, True] Translation: X:613.58, Y:-36.43, Z:1.96 [[ 9.64576635e-01 2.63799350e-01 1.34880007e-03 6.13577657e+02] [-2.63799006e-01 9.64577576e-01 -4.30117030e-04 -3.64251720e+01] [-1.41448689e-03 5.90687219e-05 9.99998998e-01 1.95548013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.280714057 meters Centerline goodness [0,1] 0.9990973024036948 Centerline is valid? [True, True] Translation: X:613.61, Y:-36.43, Z:1.96 [[ 9.65063175e-01 2.62016339e-01 7.11788768e-04 6.13607417e+02] [-2.62016243e-01 9.65063437e-01 -2.27035516e-04 -3.64329568e+01] [-7.46408329e-04 3.26033968e-05 9.99999721e-01 1.95541309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3107140569999 meters Centerline goodness [0,1] 0.9988681855337344 Centerline is valid? [True, True] Translation: X:613.64, Y:-36.44, Z:1.96 [[ 9.65235286e-01 2.61382350e-01 3.31364718e-04 6.13638723e+02] [-2.61382329e-01 9.65235343e-01 -1.06812980e-04 -3.64408411e+01] [-3.47763965e-04 1.64867760e-05 9.99999939e-01 1.95545266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3407140569999 meters Centerline goodness [0,1] 0.9989739509171622 Centerline is valid? [True, True] Translation: X:613.67, Y:-36.45, Z:1.96 [[ 9.65297662e-01 2.61151919e-01 -3.16205693e-04 6.13669480e+02] [-2.61151900e-01 9.65297713e-01 9.94704747e-05 -3.64463608e+01] [ 3.31209537e-04 -1.34408991e-05 9.99999945e-01 1.95533561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.370714057 meters Centerline goodness [0,1] 0.9989738649690065 Centerline is valid? [True, True] Translation: X:613.70, Y:-36.45, Z:1.96 [[ 9.65120424e-01 2.61805958e-01 -4.55345690e-04 6.13701825e+02] [-2.61805919e-01 9.65120531e-01 1.43790288e-04 -3.64510931e+01] [ 4.77108628e-04 -1.95627462e-05 9.99999886e-01 1.95526526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.400714057 meters Centerline goodness [0,1] 0.9990154800058653 Centerline is valid? [True, True] Translation: X:613.73, Y:-36.46, Z:1.96 [[ 9.64931580e-01 2.62501443e-01 -1.96871700e-04 6.13733505e+02] [-2.62501436e-01 9.64931600e-01 6.14538293e-05 -3.64582988e+01] [ 2.06099443e-04 -7.61963656e-06 9.99999979e-01 1.95567293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4307140569999 meters Centerline goodness [0,1] 0.9991401006711409 Centerline is valid? [True, True] Translation: X:613.77, Y:-36.46, Z:1.96 [[ 9.64557836e-01 2.63871238e-01 -3.88782312e-04 6.13766086e+02] [-2.63871209e-01 9.64557914e-01 1.23597660e-04 -3.64634651e+01] [ 4.07616923e-04 -1.66286322e-05 9.99999917e-01 1.95650267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4607140569999 meters Centerline goodness [0,1] 0.9992665241627897 Centerline is valid? [True, True] Translation: X:613.80, Y:-36.47, Z:1.96 [[ 9.64274539e-01 2.64904855e-01 -1.77209737e-04 6.13797437e+02] [-2.64904850e-01 9.64274555e-01 5.52513538e-05 -3.64702137e+01] [ 1.85515192e-04 -6.33375492e-06 9.99999983e-01 1.95692836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.490714057 meters Centerline goodness [0,1] 0.9995183145196758 Centerline is valid? [True, True] Translation: X:613.83, Y:-36.47, Z:1.96 [[ 9.63869967e-01 2.66370004e-01 -1.30703588e-03 6.13830802e+02] [-2.66369683e-01 9.63870851e-01 4.16950257e-04 -3.64730958e+01] [ 1.37087683e-03 -5.37310960e-05 9.99999059e-01 1.95605625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.520714057 meters Centerline goodness [0,1] 0.9993291404612159 Centerline is valid? [True, True] Translation: X:613.86, Y:-36.48, Z:1.96 [[ 9.63555290e-01 2.67499587e-01 -2.27461430e-03 6.13863243e+02] [-2.67498616e-01 9.63557970e-01 7.26630104e-04 -3.64789481e+01] [ 2.38609599e-03 -9.16921027e-05 9.99997149e-01 1.95532911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5507140569999 meters Centerline goodness [0,1] 0.9993081470921212 Centerline is valid? [True, True] Translation: X:613.89, Y:-36.49, Z:1.96 [[ 9.63210708e-01 2.68730819e-01 -2.97980547e-03 6.13893051e+02] [-2.68729158e-01 9.63215310e-01 9.52033279e-04 -3.64883327e+01] [ 3.12603493e-03 -1.16248035e-04 9.99995107e-01 1.95533827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5807140569999 meters Centerline goodness [0,1] 0.9996855675505713 Centerline is valid? [True, True] Translation: X:613.93, Y:-36.49, Z:1.96 [[ 9.62654862e-01 2.70708705e-01 -3.52334469e-03 6.13926481e+02] [-2.70706391e-01 9.62661301e-01 1.12703935e-03 -3.64905825e+01] [ 3.69688694e-03 -1.31157983e-04 9.99993158e-01 1.95568220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.610714057 meters Centerline goodness [0,1] 0.9997064620287667 Centerline is valid? [True, True] Translation: X:613.96, Y:-36.50, Z:1.96 [[ 9.62305710e-01 2.71948270e-01 -3.44372813e-03 6.13958226e+02] [-2.71946067e-01 9.62311864e-01 1.10161477e-03 -3.64972633e+01] [ 3.61352267e-03 -1.23581866e-04 9.99993464e-01 1.95642788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.640714057 meters Centerline goodness [0,1] 0.999685330088737 Centerline is valid? [True, True] Translation: X:613.99, Y:-36.50, Z:1.96 [[ 9.61904521e-01 2.73373148e-01 -2.61022773e-03 6.13990061e+02] [-2.73371887e-01 9.61908059e-01 8.35358043e-04 -3.65036758e+01] [ 2.73916355e-03 -8.99717974e-05 9.99996244e-01 1.95794807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6707140569999 meters Centerline goodness [0,1] 0.9996436581633723 Centerline is valid? [True, True] Translation: X:614.02, Y:-36.51, Z:1.96 [[ 9.61124555e-01 2.76112552e-01 -1.20385602e-03 6.14022320e+02] [-2.76112286e-01 9.61125308e-01 3.84861990e-04 -3.65076027e+01] [ 1.26332171e-03 -3.75008709e-05 9.99999201e-01 1.95932855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7007140569999 meters Centerline goodness [0,1] 0.9997910310527856 Centerline is valid? [True, True] Translation: X:614.05, Y:-36.52, Z:1.96 [[ 9.60541033e-01 2.78136802e-01 -9.18488408e-04 6.14052064e+02] [-2.78136648e-01 9.60541472e-01 2.93642930e-04 -3.65155906e+01] [ 9.63919112e-04 -2.65907958e-05 9.99999535e-01 1.95986058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7307140569999 meters Centerline goodness [0,1] 0.9998531756019801 Centerline is valid? [True, True] Translation: X:614.08, Y:-36.52, Z:1.96 [[ 9.60113811e-01 2.79606491e-01 -1.29639047e-03 6.14083439e+02] [-2.79606185e-01 9.60114685e-01 4.15255750e-04 -3.65225836e+01] [ 1.36079173e-03 -3.62139883e-05 9.99999073e-01 1.95998728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.760714057 meters Centerline goodness [0,1] 0.9997064374082617 Centerline is valid? [True, True] Translation: X:614.12, Y:-36.53, Z:1.96 [[ 9.59121464e-01 2.82986271e-01 -2.18826974e-03 6.14115848e+02] [-2.82985404e-01 9.59123958e-01 7.02430652e-04 -3.65260683e+01] [ 2.29760016e-03 -5.44679194e-05 9.99997359e-01 1.95864431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.790714057 meters Centerline goodness [0,1] 0.999937260806826 Centerline is valid? [True, True] Translation: X:614.15, Y:-36.54, Z:1.96 [[ 9.58853154e-01 2.83894386e-01 -2.14626533e-03 6.14145466e+02] [-2.83893552e-01 9.58855555e-01 6.89846575e-04 -3.65365905e+01] [ 2.25380201e-03 -5.21506742e-05 9.99997459e-01 1.95902173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8207140569999 meters Centerline goodness [0,1] 0.9998950593963817 Centerline is valid? [True, True] Translation: X:614.18, Y:-36.54, Z:1.96 [[ 9.58533089e-01 2.84975531e-01 -1.80665650e-03 6.14177904e+02] [-2.84974942e-01 9.58534791e-01 5.80480222e-04 -3.65420554e+01] [ 1.89716577e-03 -4.15576680e-05 9.99998200e-01 1.95937693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8507140569999 meters Centerline goodness [0,1] 0.9997902068560399 Centerline is valid? [True, True] Translation: X:614.21, Y:-36.55, Z:1.96 [[ 9.58188373e-01 2.86135837e-01 -1.15058637e-03 6.14208988e+02] [-2.86135599e-01 9.58189064e-01 3.69949656e-04 -3.65481991e+01] [ 1.20833514e-03 -2.52577384e-05 9.99999270e-01 1.96093010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.880714057 meters Centerline goodness [0,1] 0.9999580721578164 Centerline is valid? [True, True] Translation: X:614.24, Y:-36.56, Z:1.96 [[ 9.57924401e-01 2.87019819e-01 -6.81570934e-04 6.14239714e+02] [-2.87019736e-01 9.57924644e-01 2.18450841e-04 -3.65563121e+01] [ 7.15593315e-04 -1.36350812e-05 9.99999744e-01 1.96192494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.910714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:614.27, Y:-36.56, Z:1.96 [[ 9.57484822e-01 2.88483454e-01 -3.35585526e-04 6.14270212e+02] [-2.88483434e-01 9.57484881e-01 1.07072212e-04 -3.65631059e+01] [ 3.52206629e-04 -5.70915256e-06 9.99999938e-01 1.96321195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9407140569999 meters Centerline goodness [0,1] 0.9999790228860314 Centerline is valid? [True, True] Translation: X:614.30, Y:-36.57, Z:1.96 [[ 9.57196538e-01 2.89438731e-01 9.05994125e-05 6.14301050e+02] [-2.89438729e-01 9.57196543e-01 -3.05599160e-05 -3.65723067e+01] [-9.55666677e-05 3.02886702e-06 9.99999995e-01 1.96362771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9707140569999 meters Centerline goodness [0,1] 0.9999790286049828 Centerline is valid? [True, True] Translation: X:614.33, Y:-36.58, Z:1.96 [[ 9.56939008e-01 2.90288915e-01 2.83612113e-04 6.14332133e+02] [-2.90288901e-01 9.56939050e-01 -9.29659737e-05 -3.65819335e+01] [-2.98386498e-04 6.63331816e-06 9.99999955e-01 1.96454038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.000714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:614.36, Y:-36.59, Z:1.96 [[ 9.56713812e-01 2.91029744e-01 6.08452557e-04 6.14363613e+02] [-2.91029677e-01 9.56714005e-01 -1.98395307e-04 -3.65903444e+01] [-6.39854018e-04 1.27297796e-05 9.99999795e-01 1.96438007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.030714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:614.39, Y:-36.60, Z:1.96 [[ 9.56339063e-01 2.92259231e-01 -3.72229093e-04 6.14392712e+02] [-2.92259207e-01 9.56339135e-01 1.19277539e-04 -3.66009916e+01] [ 3.90837211e-04 -5.28239078e-06 9.99999924e-01 1.96466473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0607140569999 meters Centerline goodness [0,1] 0.9999790365183849 Centerline is valid? [True, True] Translation: X:614.42, Y:-36.61, Z:1.96 [[ 9.56099222e-01 2.93041699e-01 -9.16943481e-04 6.14424046e+02] [-2.93041550e-01 9.56099661e-01 2.96311767e-04 -3.66102774e+01] [ 9.63521055e-04 -1.46009113e-05 9.99999536e-01 1.96376726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0907140569999 meters Centerline goodness [0,1] 0.9999161531044313 Centerline is valid? [True, True] Translation: X:614.46, Y:-36.62, Z:1.96 [[ 9.55820008e-01 2.93949693e-01 -1.30048916e-03 6.14455135e+02] [-2.93949393e-01 9.55820892e-01 4.20238913e-04 -3.66192373e+01] [ 1.36656381e-03 -1.93947621e-05 9.99999066e-01 1.96287392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.120714057 meters Centerline goodness [0,1] 0.9999161302497221 Centerline is valid? [True, True] Translation: X:614.48, Y:-36.63, Z:1.96 [[ 9.55176613e-01 2.96029148e-01 -2.09331619e-03 6.14484321e+02] [-2.96028373e-01 9.55178906e-01 6.77890947e-04 -3.66313954e+01] [ 2.20016695e-03 -2.78245921e-05 9.99997579e-01 1.96353363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.150714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:614.51, Y:-36.64, Z:1.96 [[ 9.54962674e-01 2.96719727e-01 -1.92213899e-03 6.14514802e+02] [-2.96719074e-01 9.54964608e-01 6.22786081e-04 -3.66418994e+01] [ 2.02036763e-03 -2.44021584e-05 9.99997959e-01 1.96425970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1807140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:614.55, Y:-36.65, Z:1.97 [[ 9.54551458e-01 2.98043761e-01 -1.19611014e-03 6.14545360e+02] [-2.98043510e-01 9.54552207e-01 3.87385844e-04 -3.66517779e+01] [ 1.25720751e-03 -1.32868585e-05 9.99999210e-01 1.96573924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2107140569999 meters Centerline goodness [0,1] 0.9998534000712057 Centerline is valid? [True, True] Translation: X:614.58, Y:-36.66, Z:1.97 [[ 9.54419472e-01 2.98467311e-01 -8.57959089e-04 6.14576399e+02] [-2.98467182e-01 9.54419858e-01 2.77534391e-04 -3.66622934e+01] [ 9.01688135e-04 -8.81159526e-06 9.99999593e-01 1.96611477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.240714057 meters Centerline goodness [0,1] 0.9999790510107888 Centerline is valid? [True, True] Translation: X:614.61, Y:-36.67, Z:1.97 [[ 9.54310783e-01 2.98815811e-01 -2.03594170e-04 6.14607036e+02] [-2.98815804e-01 9.54310804e-01 6.47574405e-05 -3.66732912e+01] [ 2.13642663e-04 -9.61568153e-07 9.99999977e-01 1.96680760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.270714057 meters Centerline goodness [0,1] 0.9998534859869812 Centerline is valid? [True, True] Translation: X:614.64, Y:-36.68, Z:1.97 [[ 9.54057041e-01 2.99624675e-01 -4.65904838e-04 6.14637873e+02] [-2.99624637e-01 9.54057155e-01 1.50251536e-04 -3.66842290e+01] [ 4.89518911e-04 -3.75196780e-06 9.99999880e-01 1.96601838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3007140569999 meters Centerline goodness [0,1] 0.9998533908599673 Centerline is valid? [True, True] Translation: X:614.67, Y:-36.70, Z:1.97 [[ 9.53980986e-01 2.99865472e-01 -9.88137209e-04 6.14667462e+02] [-2.99865300e-01 9.53981498e-01 3.20837585e-04 -3.66978168e+01] [ 1.03887273e-03 -9.76489528e-06 9.99999460e-01 1.96669690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3307140569999 meters Centerline goodness [0,1] 0.9997486805730083 Centerline is valid? [True, True] Translation: X:614.70, Y:-36.71, Z:1.97 [[ 9.54099177e-01 2.99487715e-01 -1.36718398e-03 6.14699090e+02] [-2.99487385e-01 9.54100156e-01 4.44777548e-04 -3.67058342e+01] [ 1.43763586e-03 -1.49075364e-05 9.99998966e-01 1.96509482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.360714057 meters Centerline goodness [0,1] 0.9999161917532685 Centerline is valid? [True, True] Translation: X:614.73, Y:-36.72, Z:1.96 [[ 9.54775024e-01 2.97325293e-01 -1.52411330e-03 6.14727966e+02] [-2.97324879e-01 9.54776241e-01 4.96647174e-04 -3.67200834e+01] [ 1.60285293e-03 -2.10295156e-05 9.99998715e-01 1.96471020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.390714057 meters Centerline goodness [0,1] 0.9996858572954408 Centerline is valid? [True, True] Translation: X:614.76, Y:-36.73, Z:1.97 [[ 9.55170557e-01 2.96054266e-01 -1.03833497e-03 6.14755953e+02] [-2.96054073e-01 9.55171122e-01 3.38285390e-04 -3.67349355e+01] [ 1.09193841e-03 -1.57169468e-05 9.99999404e-01 1.96532306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4207140569999 meters Centerline goodness [0,1] 0.9998112178545958 Centerline is valid? [True, True] Translation: X:614.79, Y:-36.75, Z:1.96 [[ 9.56592835e-01 2.91426943e-01 -6.97107500e-04 6.14785210e+02] [-2.91426854e-01 9.56593088e-01 2.27638165e-04 -3.67490221e+01] [ 7.33188111e-04 -1.46011917e-05 9.99999731e-01 1.96465584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4507140569999 meters Centerline goodness [0,1] 0.9995808533825132 Centerline is valid? [True, True] Translation: X:614.81, Y:-36.76, Z:1.96 [[ 9.57395450e-01 2.88779328e-01 -6.71905142e-04 6.14814768e+02] [-2.88779245e-01 9.57395686e-01 2.18586019e-04 -3.67612837e+01] [ 7.06402208e-04 -1.52410004e-05 9.99999750e-01 1.96450713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4807140569999 meters Centerline goodness [0,1] 0.9997274118806483 Centerline is valid? [True, True] Translation: X:614.84, Y:-36.77, Z:1.96 [[ 9.58012278e-01 2.86725661e-01 -9.33161353e-04 6.14842912e+02] [-2.86725501e-01 9.58012732e-01 3.04464149e-04 -3.67743493e+01] [ 9.81278142e-04 -2.41192365e-05 9.99999518e-01 1.96442246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.510714057 meters Centerline goodness [0,1] 0.9998324817823938 Centerline is valid? [True, True] Translation: X:614.87, Y:-36.79, Z:1.96 [[ 9.59858365e-01 2.80483575e-01 -9.40412673e-04 6.14869481e+02] [-2.80483407e-01 9.59858825e-01 3.08115291e-04 -3.67896583e+01] [ 9.89084681e-04 -3.19768887e-05 9.99999510e-01 1.96424464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.540714057 meters Centerline goodness [0,1] 0.9998324817823938 Centerline is valid? [True, True] Translation: X:614.90, Y:-36.80, Z:1.96 [[ 9.59781827e-01 2.80745366e-01 -9.40777828e-04 6.14900341e+02] [-2.80745200e-01 9.59782287e-01 3.07001299e-04 -3.67998410e+01] [ 9.89131087e-04 -3.05354081e-05 9.99999510e-01 1.96441647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5707140569999 meters Centerline goodness [0,1] 0.9998111901315375 Centerline is valid? [True, True] Translation: X:614.93, Y:-36.81, Z:1.96 [[ 9.60742448e-01 2.77439943e-01 -1.01363964e-03 6.14929734e+02] [-2.77439746e-01 9.60742982e-01 3.32258892e-04 -3.68109166e+01] [ 1.06602906e-03 -3.79912959e-05 9.99999431e-01 1.96430425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6007140569999 meters Centerline goodness [0,1] 0.9997903915485873 Centerline is valid? [True, True] Translation: X:614.96, Y:-36.83, Z:1.97 [[ 9.61719207e-01 2.74035816e-01 -7.34345974e-04 6.14955855e+02] [-2.74035712e-01 9.61719487e-01 2.40450274e-04 -3.68268014e+01] [ 7.72126820e-04 -3.00086249e-05 9.99999701e-01 1.96502287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.630714057 meters Centerline goodness [0,1] 0.9998535656757944 Centerline is valid? [True, True] Translation: X:614.99, Y:-36.84, Z:1.96 [[ 9.63330569e-01 2.68316803e-01 -5.55650484e-04 6.14985357e+02] [-2.68316742e-01 9.63330729e-01 1.82239304e-04 -3.68356938e+01] [ 5.84173053e-04 -2.64663641e-05 9.99999829e-01 1.96449027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.660714057 meters Centerline goodness [0,1] 0.999727936713894 Centerline is valid? [True, True] Translation: X:615.01, Y:-36.85, Z:1.96 [[ 9.63797252e-01 2.66632909e-01 -1.32229653e-03 6.15014042e+02] [-2.66632566e-01 9.63798157e-01 4.32911718e-04 -3.68474523e+01] [ 1.38985547e-03 -6.46718083e-05 9.99999032e-01 1.96423095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6907140569999 meters Centerline goodness [0,1] 0.9998114946380697 Centerline is valid? [True, True] Translation: X:615.05, Y:-36.85, Z:1.96 [[ 9.63804807e-01 2.66589953e-01 -3.17657408e-03 6.15046844e+02] [-2.66587961e-01 9.63810029e-01 1.04239453e-03 -3.68538415e+01] [ 3.33950587e-03 -1.57828453e-04 9.99994411e-01 1.96269478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7207140569999 meters Centerline goodness [0,1] 0.9998953953011569 Centerline is valid? [True, True] Translation: X:615.08, Y:-36.87, Z:1.96 [[ 9.63335431e-01 2.68264351e-01 -4.36863178e-03 6.15075212e+02] [-2.68260593e-01 9.63345314e-01 1.43554883e-03 -3.68672640e+01] [ 4.59360753e-03 -2.10983305e-04 9.99989427e-01 1.96238616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.750714057 meters Centerline goodness [0,1] 0.9998950065095964 Centerline is valid? [True, True] Translation: X:615.11, Y:-36.88, Z:1.96 [[ 9.62636709e-01 2.70756373e-01 -4.64256438e-03 6.15105888e+02] [-2.70752151e-01 9.62647880e-01 1.52687445e-03 -3.68750204e+01] [ 4.88256574e-03 -2.12841101e-04 9.99988058e-01 1.96306981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.780714057 meters Centerline goodness [0,1] 0.9998953142665717 Centerline is valid? [True, True] Translation: X:615.14, Y:-36.88, Z:1.96 [[ 9.61731576e-01 2.73957224e-01 -4.45140329e-03 6.15138674e+02] [-2.73953376e-01 9.61741859e-01 1.46424359e-03 -3.68761843e+01] [ 4.68224099e-03 -1.88732337e-04 9.99989020e-01 1.96369069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8107140569999 meters Centerline goodness [0,1] 0.999874044840037 Centerline is valid? [True, True] Translation: X:615.17, Y:-36.88, Z:1.97 [[ 9.59971781e-01 2.80078900e-01 -3.16054940e-03 6.15168519e+02] [-2.80076992e-01 9.59976977e-01 1.03977230e-03 -3.68806227e+01] [ 3.32527294e-03 -1.12954901e-04 9.99994465e-01 1.96632789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8407140569999 meters Centerline goodness [0,1] 0.9999371174645761 Centerline is valid? [True, True] Translation: X:615.20, Y:-36.89, Z:1.97 [[ 9.59092585e-01 2.83078260e-01 -2.84821893e-03 6.15199903e+02] [-2.83076725e-01 9.59096810e-01 9.36927743e-04 -3.68853162e+01] [ 2.99694156e-03 -9.23359657e-05 9.99995505e-01 1.96731192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.870714057 meters Centerline goodness [0,1] 0.9998328318288198 Centerline is valid? [True, True] Translation: X:615.23, Y:-36.90, Z:1.97 [[ 9.58182613e-01 2.86147715e-01 -2.35931661e-03 6.15228930e+02] [-2.86146670e-01 9.58185515e-01 7.76161914e-04 -3.68957687e+01] [ 2.48275996e-03 -6.85942602e-05 9.99996916e-01 1.96803105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.900714057 meters Centerline goodness [0,1] 0.9998113484394324 Centerline is valid? [True, True] Translation: X:615.26, Y:-36.90, Z:1.97 [[ 9.57368743e-01 2.88861539e-01 -2.02519917e-03 6.15259350e+02] [-2.88860776e-01 9.57370883e-01 6.65980727e-04 -3.69031866e+01] [ 2.13124293e-03 -5.25885286e-05 9.99997728e-01 1.96860539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9307140569999 meters Centerline goodness [0,1] 0.9995806424557577 Centerline is valid? [True, True] Translation: X:615.29, Y:-36.90, Z:1.97 [[ 9.55757697e-01 2.94150378e-01 -1.66718422e-03 6.15292284e+02] [-2.94149868e-01 9.55759151e-01 5.48645448e-04 -3.69043697e+01] [ 1.75481084e-03 -3.39700931e-05 9.99998460e-01 1.96831791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9607140569999 meters Centerline goodness [0,1] 0.9998951759994968 Centerline is valid? [True, True] Translation: X:615.32, Y:-36.91, Z:1.97 [[ 9.55041677e-01 2.96468531e-01 -1.34346103e-03 6.15322676e+02] [-2.96468203e-01 9.55042622e-01 4.41416034e-04 -3.69126916e+01] [ 1.41392850e-03 -2.32772339e-05 9.99999000e-01 1.96804802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.990714057 meters Centerline goodness [0,1] 0.9998950946246485 Centerline is valid? [True, True] Translation: X:615.35, Y:-36.92, Z:1.97 [[ 9.53494619e-01 3.01404487e-01 -1.82939001e-03 6.15354510e+02] [-3.01403886e-01 9.53496374e-01 6.01940211e-04 -3.69193531e+01] [ 1.92574422e-03 -2.25614949e-05 9.99998145e-01 1.96763775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.020714057 meters Centerline goodness [0,1] 0.9996855543676498 Centerline is valid? [True, True] Translation: X:615.38, Y:-36.93, Z:1.97 [[ 9.52770689e-01 3.03682609e-01 -2.21070484e-03 6.15384298e+02] [-3.03681736e-01 9.52773253e-01 7.28637286e-04 -3.69277199e+01] [ 2.32757492e-03 -2.28735645e-05 9.99997291e-01 1.96704135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0507140569999 meters Centerline goodness [0,1] 0.9999161759466879 Centerline is valid? [True, True] Translation: X:615.42, Y:-36.94, Z:1.97 [[ 9.52180406e-01 3.05528950e-01 -2.12949400e-03 6.15415321e+02] [-3.05528144e-01 9.52182787e-01 7.01837745e-04 -3.69367927e+01] [ 2.24209928e-03 -1.76557993e-05 9.99997486e-01 1.96729271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0807140569999 meters Centerline goodness [0,1] 0.9996646194478798 Centerline is valid? [True, True] Translation: X:615.45, Y:-36.95, Z:1.97 [[ 9.51253120e-01 3.08406740e-01 -1.66874587e-03 6.15446070e+02] [-3.08406250e-01 9.51254583e-01 5.50144621e-04 -3.69460550e+01] [ 1.75707046e-03 -8.67513144e-06 9.99998456e-01 1.96755901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.110714057 meters Centerline goodness [0,1] 0.9998743113308335 Centerline is valid? [True, True] Translation: X:615.48, Y:-36.96, Z:1.97 [[ 9.50943369e-01 3.09361868e-01 -1.39388281e-03 6.15477280e+02] [-3.09361527e-01 9.50944391e-01 4.59530015e-04 -3.69565098e+01] [ 1.46766611e-03 -5.77330516e-06 9.99998923e-01 1.96828610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.140714057 meters Centerline goodness [0,1] 0.9995811167427638 Centerline is valid? [True, True] Translation: X:615.51, Y:-36.97, Z:1.97 [[ 9.50744946e-01 3.09973867e-01 -4.98999125e-04 6.15507557e+02] [-3.09973824e-01 9.50745077e-01 1.63652921e-04 -3.69687171e+01] [ 5.25149091e-04 -9.15520855e-07 9.99999862e-01 1.96859388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1707140569999 meters Centerline goodness [0,1] 0.9994560328054062 Centerline is valid? [True, True] Translation: X:615.54, Y:-36.98, Z:1.97 [[ 9.50705128e-01 3.10094660e-01 -1.03037061e-03 6.15537564e+02] [-3.10094474e-01 9.50705686e-01 3.40015460e-04 -3.69803412e+01] [ 1.08501617e-03 -3.74221096e-06 9.99999411e-01 1.96880649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2007140569999 meters Centerline goodness [0,1] 0.9995398452206651 Centerline is valid? [True, True] Translation: X:615.57, Y:-36.99, Z:1.97 [[ 9.50573726e-01 3.10494699e-01 -1.62296508e-03 6.15568578e+02] [-3.10494235e-01 9.50575111e-01 5.36800150e-04 -3.69914645e+01] [ 1.70942381e-03 -6.34681929e-06 9.99998539e-01 1.96781840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2307140569999 meters Centerline goodness [0,1] 0.9992696922274387 Centerline is valid? [True, True] Translation: X:615.60, Y:-37.00, Z:1.97 [[ 9.50363462e-01 3.11130961e-01 -2.61066475e-03 6.15598819e+02] [-3.11129758e-01 9.50367047e-01 8.65342442e-04 -3.70028192e+01] [ 2.75032458e-03 -1.01343465e-05 9.99996218e-01 1.96692140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.260714057 meters Centerline goodness [0,1] 0.9995602554706313 Centerline is valid? [True, True] Translation: X:615.63, Y:-37.02, Z:1.96 [[ 9.49865483e-01 3.12634553e-01 -3.89873344e-03 6.15629075e+02] [-3.12631874e-01 9.49873484e-01 1.29416010e-03 -3.70154336e+01] [ 4.10790268e-03 -1.04096694e-05 9.99991562e-01 1.96490194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.290714057 meters Centerline goodness [0,1] 0.999582097037068 Centerline is valid? [True, True] Translation: X:615.66, Y:-37.03, Z:1.96 [[ 9.49580524e-01 3.13490266e-01 -4.54764201e-03 6.15658768e+02] [-3.13486624e-01 9.49591414e-01 1.51125616e-03 -3.70268357e+01] [ 4.79216590e-03 -9.43447678e-06 9.99988517e-01 1.96418587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3207140569999 meters Centerline goodness [0,1] 0.999790461822144 Centerline is valid? [True, True] Translation: X:615.69, Y:-37.04, Z:1.96 [[ 9.49363182e-01 3.14142576e-01 -4.89803375e-03 6.15689828e+02] [-3.14138351e-01 9.49375817e-01 1.62923501e-03 -3.70390830e+01] [ 5.16188687e-03 -8.07548652e-06 9.99986677e-01 1.96431461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3507140569999 meters Centerline goodness [0,1] 0.999832242912263 Centerline is valid? [True, True] Translation: X:615.72, Y:-37.05, Z:1.97 [[ 9.48863482e-01 3.15641238e-01 -5.35738613e-03 6.15719689e+02] [-3.15636198e-01 9.48878606e-01 1.78386221e-03 -3.70523721e+01] [ 5.64656956e-03 -1.65672079e-06 9.99984058e-01 1.96518109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.380714057 meters Centerline goodness [0,1] 0.999789641970634 Centerline is valid? [True, True] Translation: X:615.75, Y:-37.06, Z:1.97 [[ 9.48580952e-01 3.16498647e-01 -4.77318228e-03 6.15750627e+02] [-3.16494650e-01 9.48592962e-01 1.59065996e-03 -3.70644029e+01] [ 5.03124884e-03 1.81690976e-06 9.99987343e-01 1.96575929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.410714057 meters Centerline goodness [0,1] 0.9997056226081837 Centerline is valid? [True, True] Translation: X:615.78, Y:-37.08, Z:1.97 [[ 9.48158829e-01 3.17773684e-01 -3.83680983e-03 6.15779771e+02] [-3.17771107e-01 9.48166592e-01 1.27967434e-03 -3.70776878e+01] [ 4.04458172e-03 5.89278741e-06 9.99991821e-01 1.96726743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4407140569999 meters Centerline goodness [0,1] 0.9997481108312343 Centerline is valid? [True, True] Translation: X:615.81, Y:-37.09, Z:1.97 [[ 9.48029600e-01 3.18165873e-01 -3.21782997e-03 6.15810126e+02] [-3.18164062e-01 9.48035061e-01 1.07351477e-03 -3.70897174e+01] [ 3.39217140e-03 6.07407636e-06 9.99994247e-01 1.96821156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4707140569999 meters Centerline goodness [0,1] 0.9996865203761756 Centerline is valid? [True, True] Translation: X:615.84, Y:-37.10, Z:1.97 [[ 9.47840840e-01 3.18728495e-01 -3.14444216e-03 6.15841269e+02] [-3.18726766e-01 9.47846056e-01 1.04995862e-03 -3.71020600e+01] [ 3.31509884e-03 7.02421697e-06 9.99994505e-01 1.96895346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.500714057 meters Centerline goodness [0,1] 0.9996423612572054 Centerline is valid? [True, True] Translation: X:615.87, Y:-37.12, Z:1.97 [[ 9.47458355e-01 3.19873162e-01 -1.95584820e-03 6.15871473e+02] [-3.19872495e-01 9.47460374e-01 6.53060371e-04 -3.71165171e+01] [ 2.06198515e-03 6.87453740e-06 9.99997874e-01 1.96992389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.530714057 meters Centerline goodness [0,1] 0.9996851451480867 Centerline is valid? [True, True] Translation: X:615.90, Y:-37.13, Z:1.97 [[ 9.47111583e-01 3.20902973e-01 -9.65045804e-04 6.15900926e+02] [-3.20902811e-01 9.47112075e-01 3.21813041e-04 -3.71280322e+01] [ 1.01727730e-03 4.89305295e-06 9.99999483e-01 1.97071181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5607140569999 meters Centerline goodness [0,1] 0.999622293100554 Centerline is valid? [True, True] Translation: X:615.93, Y:-37.14, Z:1.97 [[ 9.46326343e-01 3.23212640e-01 -2.02398589e-04 6.15930693e+02] [-3.23212634e-01 9.46326365e-01 6.64761374e-05 -3.71401900e+01] [ 2.13021049e-04 2.50966091e-06 9.99999977e-01 1.97111948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5907140569999 meters Centerline goodness [0,1] 0.9993905514458642 Centerline is valid? [True, True] Translation: X:615.96, Y:-37.15, Z:1.97 [[ 9.45812987e-01 3.24711850e-01 9.54975242e-05 6.15961326e+02] [-3.24711848e-01 9.45812991e-01 -3.36419694e-05 -3.71516575e+01] [-1.01246745e-04 8.09833969e-07 9.99999995e-01 1.97108549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.620714057 meters Centerline goodness [0,1] 0.9991377316031883 Centerline is valid? [True, True] Translation: X:615.99, Y:-37.16, Z:1.97 [[ 9.45313364e-01 3.26163439e-01 -2.34801510e-04 6.15992060e+02] [-3.26163430e-01 9.45313393e-01 7.72924973e-05 -3.71634168e+01] [ 2.47170999e-04 3.51803504e-06 9.99999969e-01 1.97086229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.650714057 meters Centerline goodness [0,1] 0.9989706747332157 Centerline is valid? [True, True] Translation: X:616.02, Y:-37.18, Z:1.97 [[ 9.44578424e-01 3.28285598e-01 4.09238039e-04 6.16021432e+02] [-3.28285568e-01 9.44578513e-01 -1.38986137e-04 -3.71776987e+01] [-4.32184606e-04 -3.06363584e-06 9.99999907e-01 1.97122120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6807140569999 meters Centerline goodness [0,1] 0.999137096434735 Centerline is valid? [True, True] Translation: X:616.05, Y:-37.19, Z:1.97 [[ 9.44121952e-01 3.29596068e-01 4.15103925e-04 6.16051695e+02] [-3.29596037e-01 9.44122043e-01 -1.41286415e-04 -3.71906927e+01] [-4.38476213e-04 -3.42500254e-06 9.99999904e-01 1.97200661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7107140569999 meters Centerline goodness [0,1] 0.9981095217089924 Centerline is valid? [True, True] Translation: X:616.08, Y:-37.20, Z:1.97 [[ 9.43600416e-01 3.31083874e-01 1.31236080e-03 6.16080209e+02] [-3.31083578e-01 9.43601329e-01 -4.43270153e-04 -3.72047348e+01] [-1.38510499e-03 -1.62312084e-05 9.99999041e-01 1.97269917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.740714057 meters Centerline goodness [0,1] 0.9980901210989149 Centerline is valid? [True, True] Translation: X:616.11, Y:-37.22, Z:1.97 [[ 9.43279177e-01 3.31997637e-01 1.40101879e-03 6.16110555e+02] [-3.31997300e-01 9.43280217e-01 -4.73847644e-04 -3.72179565e+01] [-1.47886960e-03 -1.81638378e-05 9.99998906e-01 1.97219188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.770714057 meters Centerline goodness [0,1] 0.9981731132669774 Centerline is valid? [True, True] Translation: X:616.14, Y:-37.23, Z:1.97 [[ 9.42889344e-01 3.33104184e-01 1.13462234e-03 6.16140805e+02] [-3.33103963e-01 9.42890027e-01 -3.84483837e-04 -3.72320124e+01] [-1.19789727e-03 -1.54214858e-05 9.99999282e-01 1.97124052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8007140569999 meters Centerline goodness [0,1] 0.9984031936127744 Centerline is valid? [True, True] Translation: X:616.17, Y:-37.24, Z:1.97 [[ 9.42495124e-01 3.34218529e-01 9.57033144e-04 6.16170733e+02] [-3.34218371e-01 9.42495610e-01 -3.24737443e-04 -3.72440988e+01] [-1.01053281e-03 -1.37946015e-05 9.99999489e-01 1.97134056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8307140569999 meters Centerline goodness [0,1] 0.9984033948866621 Centerline is valid? [True, True] Translation: X:616.20, Y:-37.26, Z:1.97 [[ 9.42058599e-01 3.35447231e-01 8.66435228e-04 6.16198362e+02] [-3.35447102e-01 9.42058998e-01 -2.94109397e-04 -3.72594257e+01] [-9.14891286e-04 -1.35748996e-05 9.99999581e-01 1.97106721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.860714057 meters Centerline goodness [0,1] 0.9982144357617007 Centerline is valid? [True, True] Translation: X:616.23, Y:-37.27, Z:1.97 [[ 9.41833405e-01 3.36078857e-01 9.16464965e-04 6.16228460e+02] [-3.36078713e-01 9.41833850e-01 -3.11536186e-04 -3.72735327e+01] [-9.67858452e-04 -1.45891788e-05 9.99999532e-01 1.97141058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.890714057 meters Centerline goodness [0,1] 0.9981746464688851 Centerline is valid? [True, True] Translation: X:616.26, Y:-37.29, Z:1.97 [[ 9.41688719e-01 3.36484078e-01 9.06435583e-04 6.16257605e+02] [-3.36483937e-01 9.41689155e-01 -3.08497320e-04 -3.72891196e+01] [-9.57384995e-04 -1.44925676e-05 9.99999542e-01 1.97122456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9207140569999 meters Centerline goodness [0,1] 0.9979005269677311 Centerline is valid? [True, True] Translation: X:616.29, Y:-37.31, Z:1.97 [[ 9.41694563e-01 3.36467843e-01 8.60167038e-04 6.16286588e+02] [-3.36467716e-01 9.41694956e-01 -2.93098397e-04 -3.73071608e+01] [-9.08633146e-04 -1.34092717e-05 9.99999587e-01 1.97097371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9507140569999 meters Centerline goodness [0,1] 0.9982770575504801 Centerline is valid? [True, True] Translation: X:616.32, Y:-37.32, Z:1.97 [[ 9.41844737e-01 3.36048193e-01 3.21427265e-04 6.16315690e+02] [-3.36048175e-01 9.41844792e-01 -1.10444957e-04 -3.73220353e+01] [-3.39849424e-04 -3.99304417e-06 9.99999942e-01 1.97033699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9807140569999 meters Centerline goodness [0,1] 0.9978421637022605 Centerline is valid? [True, True] Translation: X:616.35, Y:-37.34, Z:1.97 [[ 9.42055582e-01 3.35456820e-01 4.89863374e-05 6.16345406e+02] [-3.35456820e-01 9.42055583e-01 -1.73850790e-05 -3.73360234e+01] [-5.19797960e-05 -5.50902697e-08 9.99999999e-01 1.96983746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.010714057 meters Centerline goodness [0,1] 0.9979189439165896 Centerline is valid? [True, True] Translation: X:616.37, Y:-37.35, Z:1.97 [[ 9.42813493e-01 3.33320618e-01 -2.87040908e-04 6.16372498e+02] [-3.33320604e-01 9.42813537e-01 9.61839944e-05 -3.73531575e+01] [ 3.02686162e-04 4.99308110e-06 9.99999954e-01 1.96962672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.040714057 meters Centerline goodness [0,1] 0.9985921412061357 Centerline is valid? [True, True] Translation: X:616.40, Y:-37.37, Z:1.97 [[ 9.43296262e-01 3.31951340e-01 -6.86119795e-04 6.16401607e+02] [-3.31951259e-01 9.43296511e-01 2.31828493e-04 -3.73676913e+01] [ 7.24170188e-04 9.07537940e-06 9.99999738e-01 1.96977107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0707140569999 meters Centerline goodness [0,1] 0.9980651538413006 Centerline is valid? [True, True] Translation: X:616.43, Y:-37.39, Z:1.97 [[ 9.44458595e-01 3.28626062e-01 -1.69546481e-03 6.16429242e+02] [-3.28625559e-01 9.44460116e-01 5.75340723e-04 -3.73872076e+01] [ 1.79037085e-03 1.37875804e-05 9.99998397e-01 1.96871740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1007140569999 meters Centerline goodness [0,1] 0.9976894639556377 Centerline is valid? [True, True] Translation: X:616.46, Y:-37.40, Z:1.97 [[ 9.45058223e-01 3.26895685e-01 -2.04109434e-03 6.16457492e+02] [-3.26894949e-01 9.45060427e-01 6.93542302e-04 -3.74003788e+01] [ 2.15567348e-03 1.17855763e-05 9.99997676e-01 1.96868876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.130714057 meters Centerline goodness [0,1] 0.9979363207547169 Centerline is valid? [True, True] Translation: X:616.49, Y:-37.42, Z:1.97 [[ 9.45689364e-01 3.25059582e-01 -2.80998064e-03 6.16486363e+02] [-3.25058176e-01 9.45693538e-01 9.55948540e-04 -3.74154181e+01] [ 2.96812077e-03 9.37681607e-06 9.99995595e-01 1.96812295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.160714057 meters Centerline goodness [0,1] 0.997348931156371 Centerline is valid? [True, True] Translation: X:616.52, Y:-37.43, Z:1.97 [[ 9.47030063e-01 3.21123288e-01 -3.72735525e-03 6.16515484e+02] [-3.21120778e-01 9.47037398e-01 1.26948111e-03 -3.74330631e+01] [ 3.93760476e-03 -5.30555336e-06 9.99992248e-01 1.96708533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1907140569999 meters Centerline goodness [0,1] 0.9973699160477203 Centerline is valid? [True, True] Translation: X:616.54, Y:-37.45, Z:1.97 [[ 9.47735696e-01 3.19030791e-01 -4.05031309e-03 6.16544505e+02] [-3.19027803e-01 9.47744351e-01 1.38094328e-03 -3.74470069e+01] [ 4.27922478e-03 -1.66067538e-05 9.99990844e-01 1.96701694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2207140569999 meters Centerline goodness [0,1] 0.9977018764495046 Centerline is valid? [True, True] Translation: X:616.57, Y:-37.46, Z:1.97 [[ 9.49473167e-01 3.13816901e-01 -4.43379398e-03 6.16571545e+02] [-3.13813256e-01 9.49483518e-01 1.51318762e-03 -3.74646734e+01] [ 4.68467815e-03 -4.53477123e-05 9.99989026e-01 1.96718230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.250714057 meters Centerline goodness [0,1] 0.9977870977259795 Centerline is valid? [True, True] Translation: X:616.60, Y:-37.48, Z:1.97 [[ 9.50329750e-01 3.11214563e-01 -4.34305329e-03 6.16600969e+02] [-3.11211033e-01 9.50339672e-01 1.48328247e-03 -3.74784324e+01] [ 4.58899494e-03 -5.80013609e-05 9.99989469e-01 1.96734053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.280714057 meters Centerline goodness [0,1] 0.9981954003693134 Centerline is valid? [True, True] Translation: X:616.63, Y:-37.49, Z:1.97 [[ 9.51396157e-01 3.07945272e-01 -3.88081402e-03 6.16630652e+02] [-3.07942424e-01 9.51404070e-01 1.32630982e-03 -3.74916756e+01] [ 4.10065309e-03 -6.67787918e-05 9.99991590e-01 1.96822125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3107140569999 meters Centerline goodness [0,1] 0.9976602023608769 Centerline is valid? [True, True] Translation: X:616.66, Y:-37.51, Z:1.97 [[ 9.53653229e-01 3.00897750e-01 -2.46229394e-03 6.16658162e+02] [-3.00896578e-01 9.53656406e-01 8.42334628e-04 -3.75059974e+01] [ 2.60163898e-03 -6.23993190e-05 9.99996614e-01 1.96898766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3407140569999 meters Centerline goodness [0,1] 0.9977652689056142 Centerline is valid? [True, True] Translation: X:616.69, Y:-37.52, Z:1.97 [[ 9.54556555e-01 2.98023229e-01 -1.98445858e-03 6.16688369e+02] [-2.98022461e-01 9.54558616e-01 6.78707542e-04 -3.75178483e+01] [ 2.09655265e-03 -5.64515028e-05 9.99997801e-01 1.96959036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.370714057 meters Centerline goodness [0,1] 0.9977913800719379 Centerline is valid? [True, True] Translation: X:616.72, Y:-37.53, Z:1.97 [[ 9.55530273e-01 2.94888364e-01 -1.65804642e-03 6.16716015e+02] [-2.94887824e-01 9.55531710e-01 5.67272595e-04 -3.75314369e+01] [ 1.75159802e-03 -5.31084382e-05 9.99998465e-01 1.97044000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.400714057 meters Centerline goodness [0,1] 0.9976190977855502 Centerline is valid? [True, True] Translation: X:616.75, Y:-37.54, Z:1.97 [[ 9.57123580e-01 2.89677390e-01 -1.20974951e-03 6.16745550e+02] [-2.89677097e-01 9.57124343e-01 4.13964966e-04 -3.75409741e+01] [ 1.27779699e-03 -4.57789045e-05 9.99999183e-01 1.97068822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4307140569999 meters Centerline goodness [0,1] 0.9976161846296648 Centerline is valid? [True, True] Translation: X:616.77, Y:-37.55, Z:1.97 [[ 9.57857291e-01 2.87244011e-01 -5.37344576e-04 6.16773546e+02] [-2.87243953e-01 9.57857441e-01 1.83739891e-04 -3.75543167e+01] [ 5.67477684e-04 -2.16476139e-05 9.99999839e-01 1.97079452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4607140569999 meters Centerline goodness [0,1] 0.9976161846296648 Centerline is valid? [True, True] Translation: X:616.80, Y:-37.56, Z:1.97 [[ 9.57778253e-01 2.87507441e-01 -5.37703685e-04 6.16804246e+02] [-2.87507383e-01 9.57778404e-01 1.82691380e-04 -3.75648944e+01] [ 5.67526108e-04 -2.03840517e-05 9.99999839e-01 1.97096627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.490714057 meters Centerline goodness [0,1] 0.9973235548249774 Centerline is valid? [True, True] Translation: X:616.84, Y:-37.57, Z:1.97 [[ 9.58514133e-01 2.85043350e-01 -9.72477315e-04 6.16836157e+02] [-2.85043159e-01 9.58514625e-01 3.32865315e-04 -3.75717384e+01] [ 1.02701477e-03 -4.18581030e-05 9.99999472e-01 1.97049116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.520714057 meters Centerline goodness [0,1] 0.9975589739273163 Centerline is valid? [True, True] Translation: X:616.86, Y:-37.58, Z:1.97 [[ 9.59613485e-01 2.81320942e-01 -6.98217468e-04 6.16864534e+02] [-2.81320842e-01 9.59613738e-01 2.39194590e-04 -3.75826798e+01] [ 7.37309522e-04 -3.31112279e-05 9.99999728e-01 1.97096056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5507140569999 meters Centerline goodness [0,1] 0.9976060478790424 Centerline is valid? [True, True] Translation: X:616.89, Y:-37.59, Z:1.97 [[ 9.60105067e-01 2.79639257e-01 -3.82233163e-04 6.16892704e+02] [-2.79639227e-01 9.60105143e-01 1.30819610e-04 -3.75946507e+01] [ 4.03566324e-04 -1.87131839e-05 9.99999918e-01 1.97180705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5807140569999 meters Centerline goodness [0,1] 0.9975190799571095 Centerline is valid? [True, True] Translation: X:616.92, Y:-37.60, Z:1.97 [[ 9.60189319e-01 2.79349588e-01 -5.28133274e-04 6.16924584e+02] [-2.79349531e-01 9.60189464e-01 1.79807734e-04 -3.76001709e+01] [ 5.57337222e-04 -2.51156836e-05 9.99999844e-01 1.97198486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.610714057 meters Centerline goodness [0,1] 0.9975412936577985 Centerline is valid? [True, True] Translation: X:616.96, Y:-37.60, Z:1.97 [[ 9.60421201e-01 2.78551293e-01 -5.41897591e-04 6.16957795e+02] [-2.78551234e-01 9.60421353e-01 1.84648822e-04 -3.76033540e+01] [ 5.71884186e-04 -2.63944010e-05 9.99999836e-01 1.97195844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.640714057 meters Centerline goodness [0,1] 0.9981057018374693 Centerline is valid? [True, True] Translation: X:616.99, Y:-37.61, Z:1.97 [[ 9.60392509e-01 2.78649146e-01 -9.39699065e-04 6.16988180e+02] [-2.78648964e-01 9.60392967e-01 3.21806478e-04 -3.76127685e+01] [ 9.92151473e-04 -4.72143596e-05 9.99999507e-01 1.97249667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6707140569999 meters Centerline goodness [0,1] 0.9982209385072628 Centerline is valid? [True, True] Translation: X:617.02, Y:-37.62, Z:1.97 [[ 9.60299103e-01 2.78970153e-01 -1.13402443e-03 6.17021228e+02] [-2.78969888e-01 9.60299771e-01 3.88333104e-04 -3.76193177e+01] [ 1.19733675e-03 -5.65572623e-05 9.99999282e-01 1.97178181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7007140569999 meters Centerline goodness [0,1] 0.9980688091689582 Centerline is valid? [True, True] Translation: X:617.05, Y:-37.63, Z:1.97 [[ 9.60209090e-01 2.79279847e-01 -1.12737563e-03 6.17054036e+02] [-2.79279585e-01 9.60209750e-01 3.86400291e-04 -3.76265999e+01] [ 1.19043089e-03 -5.61720725e-05 9.99999290e-01 1.97220960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7307140569999 meters Centerline goodness [0,1] 0.9988471535172299 Centerline is valid? [True, True] Translation: X:617.09, Y:-37.63, Z:1.97 [[ 9.59963971e-01 2.80121963e-01 -9.27460678e-04 6.17085545e+02] [-2.80121786e-01 9.59964418e-01 3.18142980e-04 -3.76314038e+01] [ 9.79448086e-04 -4.56038560e-05 9.99999519e-01 1.97343682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.760714057 meters Centerline goodness [0,1] 0.9988676871461523 Centerline is valid? [True, True] Translation: X:617.12, Y:-37.64, Z:1.97 [[ 9.59710103e-01 2.80991198e-01 -6.81870096e-04 6.17118433e+02] [-2.80991103e-01 9.59710345e-01 2.33644019e-04 -3.76356613e+01] [ 7.20049697e-04 -3.26310950e-05 9.99999740e-01 1.97426856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.790714057 meters Centerline goodness [0,1] 0.9989731123079825 Centerline is valid? [True, True] Translation: X:617.15, Y:-37.64, Z:1.98 [[ 9.59156278e-01 2.82875826e-01 -7.08472756e-04 6.17151260e+02] [-2.82875723e-01 9.59156539e-01 2.43016430e-04 -3.76376282e+01] [ 7.48279750e-04 -3.26809908e-05 9.99999720e-01 1.97578821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8207140569999 meters Centerline goodness [0,1] 0.999517313746065 Centerline is valid? [True, True] Translation: X:617.18, Y:-37.64, Z:1.98 [[ 9.58830382e-01 2.83978458e-01 -7.30828029e-04 6.17184093e+02] [-2.83978349e-01 9.58830660e-01 2.50914808e-04 -3.76414029e+01] [ 7.71994722e-04 -3.30454041e-05 9.99999701e-01 1.97612929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8507140569999 meters Centerline goodness [0,1] 0.9994125052454889 Centerline is valid? [True, True] Translation: X:617.22, Y:-37.65, Z:1.98 [[ 9.58651057e-01 2.84583325e-01 -6.94172250e-04 6.17215167e+02] [-2.84583227e-01 9.58651308e-01 2.39000025e-04 -3.76484139e+01] [ 7.33484557e-04 -3.15678476e-05 9.99999731e-01 1.97611913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.880714057 meters Centerline goodness [0,1] 0.9993292951311018 Centerline is valid? [True, True] Translation: X:617.25, Y:-37.65, Z:1.98 [[ 9.58547696e-01 2.84931647e-01 -5.20497697e-04 6.17249358e+02] [-2.84931592e-01 9.58547837e-01 1.78350394e-04 -3.76501712e+01] [ 5.49739613e-04 -2.26511214e-05 9.99999849e-01 1.97566625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.910714057 meters Centerline goodness [0,1] 0.9993939773890874 Centerline is valid? [True, True] Translation: X:617.28, Y:-37.66, Z:1.98 [[ 9.58508929e-01 2.85061865e-01 -6.04308658e-04 6.17282181e+02] [-2.85061791e-01 9.58509120e-01 2.07503731e-04 -3.76560635e+01] [ 6.38386760e-04 -2.66288708e-05 9.99999796e-01 1.97539726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9407140569999 meters Centerline goodness [0,1] 0.9994331303800126 Centerline is valid? [True, True] Translation: X:617.31, Y:-37.66, Z:1.98 [[ 9.58560124e-01 2.84889883e-01 -4.92728870e-04 6.17314223e+02] [-2.84889833e-01 9.58560251e-01 1.69238039e-04 -3.76628475e+01] [ 5.20524514e-04 -2.18513899e-05 9.99999864e-01 1.97571155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9707140569999 meters Centerline goodness [0,1] 0.9993707789756282 Centerline is valid? [True, True] Translation: X:617.35, Y:-37.67, Z:1.98 [[ 9.58707135e-01 2.84393934e-01 -8.47981742e-04 6.17345793e+02] [-2.84393786e-01 9.58707509e-01 2.92483274e-04 -3.76692177e+01] [ 8.96146933e-04 -3.92450637e-05 9.99999598e-01 1.97583637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.000714057 meters Centerline goodness [0,1] 0.999390705101269 Centerline is valid? [True, True] Translation: X:617.38, Y:-37.67, Z:1.98 [[ 9.59286094e-01 2.82435635e-01 -5.50025327e-04 6.17378602e+02] [-2.82435573e-01 9.59286251e-01 1.90019069e-04 -3.76714451e+01] [ 5.81299891e-04 -2.69359323e-05 9.99999831e-01 1.97613708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.030714057 meters Centerline goodness [0,1] 0.9996852376455776 Centerline is valid? [True, True] Translation: X:617.41, Y:-37.68, Z:1.98 [[ 9.59724132e-01 2.80943033e-01 -7.76513371e-04 6.17407262e+02] [-2.80942908e-01 9.59724445e-01 2.68119622e-04 -3.76840495e+01] [ 8.20565204e-04 -3.91649467e-05 9.99999663e-01 1.97617428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0607140569999 meters Centerline goodness [0,1] 0.9995612293934518 Centerline is valid? [True, True] Translation: X:617.44, Y:-37.68, Z:1.98 [[ 9.61207138e-01 2.75824604e-01 -1.27518055e-03 6.17440760e+02] [-2.75824259e-01 9.61207981e-01 4.42365952e-04 -3.76811610e+01] [ 1.34772914e-03 -7.34795793e-05 9.99999089e-01 1.97508528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0907140569999 meters Centerline goodness [0,1] 0.9992471611702461 Centerline is valid? [True, True] Translation: X:617.47, Y:-37.69, Z:1.98 [[ 9.62070591e-01 2.72798293e-01 -1.12626454e-03 6.17469413e+02] [-2.72798022e-01 9.62071248e-01 3.90665017e-04 -3.76908681e+01] [ 1.19011948e-03 -6.86045846e-05 9.99999289e-01 1.97532587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.120714057 meters Centerline goodness [0,1] 0.9996425943445811 Centerline is valid? [True, True] Translation: X:617.50, Y:-37.70, Z:1.98 [[ 9.62954644e-01 2.69663086e-01 -4.16968526e-04 6.17500496e+02] [-2.69663048e-01 9.62954734e-01 1.44488586e-04 -3.76968588e+01] [ 4.40485054e-04 -2.66949511e-05 9.99999903e-01 1.97529315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.150714057 meters Centerline goodness [0,1] 0.999644232379039 Centerline is valid? [True, True] Translation: X:617.53, Y:-37.71, Z:1.98 [[ 9.63763011e-01 2.66759027e-01 -6.93231320e-04 6.17528049e+02] [-2.66758923e-01 9.63763259e-01 2.40547876e-04 -3.77089522e+01] [ 7.32279194e-04 -4.69055048e-05 9.99999731e-01 1.97583259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1807140569999 meters Centerline goodness [0,1] 0.999768718067324 Centerline is valid? [True, True] Translation: X:617.56, Y:-37.71, Z:1.98 [[ 9.65048667e-01 2.62070365e-01 -4.40216328e-04 6.17560191e+02] [-2.62070323e-01 9.65048767e-01 1.52605041e-04 -3.77095880e+01] [ 4.64823483e-04 -3.19036567e-05 9.99999891e-01 1.97662349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2107140569999 meters Centerline goodness [0,1] 0.9998947811447811 Centerline is valid? [True, True] Translation: X:617.59, Y:-37.72, Z:1.98 [[ 9.65436361e-01 2.60638849e-01 1.51252994e-04 6.17591870e+02] [-2.60638843e-01 9.65436373e-01 -5.28895031e-05 -3.77167393e+01] [-1.59810201e-04 1.16390441e-05 9.99999987e-01 1.97719721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.240714057 meters Centerline goodness [0,1] 0.9996624187695164 Centerline is valid? [True, True] Translation: X:617.62, Y:-37.72, Z:1.98 [[ 9.65824966e-01 2.59194402e-01 6.30100898e-04 6.17623351e+02] [-2.59194314e-01 9.65825170e-01 -2.19259693e-04 -3.77237238e+01] [-6.65398192e-04 4.84479163e-05 9.99999777e-01 1.97778464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.270714057 meters Centerline goodness [0,1] 0.9998733509234828 Centerline is valid? [True, True] Translation: X:617.65, Y:-37.73, Z:1.98 [[ 9.66543445e-01 2.56500940e-01 1.01865027e-03 6.17654896e+02] [-2.56500709e-01 9.66543978e-01 -3.53796282e-04 -3.77251930e+01] [-1.07531936e-03 8.06749610e-05 9.99999419e-01 1.97966924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3007140569999 meters Centerline goodness [0,1] 0.9998105422701247 Centerline is valid? [True, True] Translation: X:617.69, Y:-37.72, Z:1.98 [[ 9.66777296e-01 2.55617581e-01 1.14562047e-03 6.17688969e+02] [-2.55617287e-01 9.66777970e-01 -3.98622247e-04 -3.77239178e+01] [-1.20945549e-03 9.25385415e-05 9.99999264e-01 1.97946925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3307140569999 meters Centerline goodness [0,1] 0.9998738037648544 Centerline is valid? [True, True] Translation: X:617.72, Y:-37.73, Z:1.98 [[ 9.66939709e-01 2.55002594e-01 1.12985439e-03 6.17719287e+02] [-2.55002308e-01 9.66940364e-01 -3.93345834e-04 -3.77318846e+01] [-1.19280602e-03 9.22262292e-05 9.99999284e-01 1.98009833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.360714057 meters Centerline goodness [0,1] 0.9999367968651245 Centerline is valid? [True, True] Translation: X:617.75, Y:-37.74, Z:1.98 [[ 9.66930576e-01 2.55037018e-01 1.17471771e-03 6.17751535e+02] [-2.55036707e-01 9.66931285e-01 -4.09907909e-04 -3.77374148e+01] [-1.24041300e-03 9.67563540e-05 9.99999226e-01 1.98057847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.390714057 meters Centerline goodness [0,1] 0.9999159063196401 Centerline is valid? [True, True] Translation: X:617.78, Y:-37.75, Z:1.98 [[ 9.66616814e-01 2.56224720e-01 9.09741168e-04 6.17782224e+02] [-2.56224534e-01 9.66617239e-01 -3.17992194e-04 -3.77450334e+01] [-9.60848957e-04 7.42785944e-05 9.99999536e-01 1.98186345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:617.82, Y:-37.74, Z:1.98 [[ 9.66354193e-01 2.57212351e-01 1.17500504e-03 6.17818874e+02] [-2.57212041e-01 9.66354902e-01 -4.10674838e-04 -3.77387193e+01] [-1.24110252e-03 9.46319081e-05 9.99999225e-01 1.98140359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4507140569999 meters Centerline goodness [0,1] 0.9998528948197961 Centerline is valid? [True, True] Translation: X:617.85, Y:-37.75, Z:1.98 [[ 9.65974368e-01 2.58629815e-01 2.03460163e-03 6.17848525e+02] [-2.58628891e-01 9.65976497e-01 -7.09125623e-04 -3.77467685e+01] [-2.14877838e-03 1.58790412e-04 9.99997679e-01 1.98224124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4807140569999 meters Centerline goodness [0,1] 0.9996629024102478 Centerline is valid? [True, True] Translation: X:617.88, Y:-37.74, Z:1.98 [[ 9.65294975e-01 2.61146154e-01 2.88048399e-03 6.17884171e+02] [-2.61144315e-01 9.65299249e-01 -1.00370828e-03 -3.77392218e+01] [-3.04264359e-03 2.16652546e-04 9.99995348e-01 1.98228001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.510714057 meters Centerline goodness [0,1] 0.9995998652177576 Centerline is valid? [True, True] Translation: X:617.91, Y:-37.75, Z:1.98 [[ 9.64922944e-01 2.62515713e-01 3.03518343e-03 6.17914201e+02] [-2.62513671e-01 9.64927691e-01 -1.05956398e-03 -3.77472192e+01] [-3.20688474e-03 2.25620455e-04 9.99994832e-01 1.98290563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.540714057 meters Centerline goodness [0,1] 0.9995571768972862 Centerline is valid? [True, True] Translation: X:617.95, Y:-37.74, Z:1.98 [[ 9.64415212e-01 2.64382693e-01 2.25616928e-03 6.17948427e+02] [-2.64381572e-01 9.64417838e-01 -7.86798507e-04 -3.77430600e+01] [-2.38390581e-03 1.62310868e-04 9.99997145e-01 1.98231449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5707140569999 meters Centerline goodness [0,1] 0.99918013832538 Centerline is valid? [True, True] Translation: X:617.98, Y:-37.75, Z:1.98 [[ 9.64308901e-01 2.64775516e-01 1.50655946e-03 6.17977549e+02] [-2.64775018e-01 9.64310072e-01 -5.24935548e-04 -3.77506011e+01] [-1.59178054e-03 1.07300714e-04 9.99998727e-01 1.98197919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6007140569999 meters Centerline goodness [0,1] 0.9988029485267866 Centerline is valid? [True, True] Translation: X:618.01, Y:-37.75, Z:1.98 [[ 9.64270125e-01 2.64919505e-01 8.84781087e-04 6.18006865e+02] [-2.64919333e-01 9.64270529e-01 -3.07981318e-04 -3.77544505e+01] [-9.34758584e-04 6.25815685e-05 9.99999561e-01 1.98157528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.630714057 meters Centerline goodness [0,1] 0.9979525749503813 Centerline is valid? [True, True] Translation: X:618.04, Y:-37.76, Z:1.98 [[ 9.64441347e-01 2.64296930e-01 -1.42642324e-04 6.18036195e+02] [-2.64296926e-01 9.64441358e-01 5.02420765e-05 -3.77550170e+01] [ 1.50848983e-04 -1.07556084e-05 9.99999989e-01 1.98049910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.660714057 meters Centerline goodness [0,1] 0.9973568648671148 Centerline is valid? [True, True] Translation: X:618.06, Y:-37.76, Z:1.98 [[ 9.64676206e-01 2.63438265e-01 -3.12269979e-04 6.18062617e+02] [-2.63438244e-01 9.64676257e-01 1.09268293e-04 -3.77638832e+01] [ 3.30024884e-04 -2.31446675e-05 9.99999945e-01 1.98025488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6907140569999 meters Centerline goodness [0,1] 0.9963946590647075 Centerline is valid? [True, True] Translation: X:618.09, Y:-37.77, Z:1.98 [[ 9.65083173e-01 2.61943638e-01 7.96597949e-06 6.18093435e+02] [-2.61943638e-01 9.65083173e-01 -2.57679671e-06 -3.77656024e+01] [-8.36280832e-06 4.00185500e-07 1.00000000e+00 1.97996232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7207140569999 meters Centerline goodness [0,1] 0.9960893387427329 Centerline is valid? [True, True] Translation: X:618.12, Y:-37.77, Z:1.98 [[ 9.65470789e-01 2.60511288e-01 1.53627658e-04 6.18123224e+02] [-2.60511283e-01 9.65470802e-01 -5.33035758e-05 -3.77705705e+01] [-1.62209201e-04 1.14413071e-05 9.99999987e-01 1.97989043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.750714057 meters Centerline goodness [0,1] 0.9952196058784235 Centerline is valid? [True, True] Translation: X:618.15, Y:-37.78, Z:1.98 [[ 9.65921588e-01 2.58834384e-01 -4.97808498e-04 6.18150957e+02] [-2.58834329e-01 9.65921715e-01 1.73634578e-04 -3.77790244e+01] [ 5.25786638e-04 -3.88674594e-05 9.99999861e-01 1.97947267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.780714057 meters Centerline goodness [0,1] 0.9944758370582778 Centerline is valid? [True, True] Translation: X:618.18, Y:-37.78, Z:1.98 [[ 9.66831554e-01 2.55412968e-01 -9.80388983e-04 6.18182438e+02] [-2.55412753e-01 9.66832048e-01 3.41396340e-04 -3.77803145e+01] [ 1.03506854e-03 -7.96689052e-05 9.99999461e-01 1.97809202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8107140569999 meters Centerline goodness [0,1] 0.9935607415668862 Centerline is valid? [True, True] Translation: X:618.21, Y:-37.79, Z:1.98 [[ 9.67323856e-01 2.53540662e-01 -1.29991321e-03 6.18209905e+02] [-2.53540281e-01 9.67324724e-01 4.52844802e-04 -3.77891688e+01] [ 1.37225276e-03 -1.08467220e-04 9.99999053e-01 1.97778639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8407140569999 meters Centerline goodness [0,1] 0.9932413938309296 Centerline is valid? [True, True] Translation: X:618.24, Y:-37.79, Z:1.98 [[ 9.67762312e-01 2.51862293e-01 -1.22158431e-03 6.18240424e+02] [-2.51861955e-01 9.67763078e-01 4.25430891e-04 -3.77920494e+01] [ 1.28935419e-03 -1.04045370e-04 9.99999163e-01 1.97756685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.870714057 meters Centerline goodness [0,1] 0.9916561314791403 Centerline is valid? [True, True] Translation: X:618.27, Y:-37.79, Z:1.98 [[ 9.68474393e-01 2.49112337e-01 -6.27782608e-04 6.18272945e+02] [-2.49112247e-01 9.68474595e-01 2.18619869e-04 -3.77911878e+01] [ 6.62452414e-04 -5.53394081e-05 9.99999779e-01 1.97723443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.900714057 meters Centerline goodness [0,1] 0.9906005551349988 Centerline is valid? [True, True] Translation: X:618.30, Y:-37.81, Z:1.98 [[ 9.68797193e-01 2.47852941e-01 -9.58760179e-04 6.18296370e+02] [-2.47852731e-01 9.68797663e-01 3.33970968e-04 -3.78109003e+01] [ 1.01162031e-03 -8.59188074e-05 9.99999485e-01 1.97793235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9307140569999 meters Centerline goodness [0,1] 0.990504737151002 Centerline is valid? [True, True] Translation: X:618.33, Y:-37.81, Z:1.98 [[ 9.69005820e-01 2.47035029e-01 -1.18919332e-03 6.18325974e+02] [-2.47034706e-01 9.69006544e-01 4.14226940e-04 -3.78121133e+01] [ 1.25466467e-03 -1.07616295e-04 9.99999207e-01 1.97763764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9607140569999 meters Centerline goodness [0,1] 0.9879049221708035 Centerline is valid? [True, True] Translation: X:618.35, Y:-37.82, Z:1.98 [[ 9.69465312e-01 2.45223533e-01 -1.55831348e-03 6.18353371e+02] [-2.45222975e-01 9.69466553e-01 5.42479774e-04 -3.78183560e+01] [ 1.64376161e-03 -1.43781055e-04 9.99998639e-01 1.97718798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.990714057 meters Centerline goodness [0,1] 0.9857791989229215 Centerline is valid? [True, True] Translation: X:618.38, Y:-37.83, Z:1.98 [[ 9.69670412e-01 2.44412882e-01 -1.27891939e-03 6.18380467e+02] [-2.44412505e-01 9.69671248e-01 4.45187234e-04 -3.78253557e+01] [ 1.34894086e-03 -1.19100996e-04 9.99999083e-01 1.97691807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.020714057 meters Centerline goodness [0,1] 0.9858026249369005 Centerline is valid? [True, True] Translation: X:618.41, Y:-37.83, Z:1.98 [[ 9.69818672e-01 2.43821520e-01 -1.67597813e-03 6.18409982e+02] [-2.43820873e-01 9.69820108e-01 5.83041218e-04 -3.78276300e+01] [ 1.76755528e-03 -1.56805809e-04 9.99998426e-01 1.97624701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0507140569999 meters Centerline goodness [0,1] 0.9860608102417249 Centerline is valid? [True, True] Translation: X:618.44, Y:-37.82, Z:1.98 [[ 9.70028637e-01 2.42985745e-01 -1.53962492e-03 6.18441064e+02] [-2.42985199e-01 9.70029848e-01 5.35603135e-04 -3.78245411e+01] [ 1.62362605e-03 -1.45444313e-04 9.99998671e-01 1.97577790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0807140569999 meters Centerline goodness [0,1] 0.9833923453043332 Centerline is valid? [True, True] Translation: X:618.47, Y:-37.82, Z:1.98 [[ 9.70420110e-01 2.41415488e-01 -1.83650810e-03 6.18473871e+02] [-2.41414709e-01 9.70421831e-01 6.38418943e-04 -3.78207367e+01] [ 1.93631177e-03 -1.76174513e-04 9.99998110e-01 1.97510446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.110714057 meters Centerline goodness [0,1] 0.9772712923795694 Centerline is valid? [True, True] Translation: X:618.50, Y:-37.84, Z:1.98 [[ 9.70677673e-01 2.40378206e-01 -1.78132376e-03 6.18495968e+02] [-2.40377470e-01 9.70679292e-01 6.19528392e-04 -3.78410428e+01] [ 1.87801521e-03 -1.73172279e-04 9.99998222e-01 1.97513568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.140714057 meters Centerline goodness [0,1] 0.9768241248418389 Centerline is valid? [True, True] Translation: X:618.53, Y:-37.83, Z:1.97 [[ 9.71055934e-01 2.38840593e-01 -2.35452566e-03 6.18531913e+02] [-2.38839305e-01 9.71058761e-01 8.17978599e-04 -3.78279434e+01] [ 2.48174926e-03 -2.31949701e-04 9.99996894e-01 1.97345714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1707140569999 meters Centerline goodness [0,1] 0.9770688566013898 Centerline is valid? [True, True] Translation: X:618.56, Y:-37.83, Z:1.97 [[ 9.71189422e-01 2.38296579e-01 -2.41786818e-03 6.18562700e+02] [-2.38295218e-01 9.71192402e-01 8.40521046e-04 -3.78277687e+01] [ 2.54850850e-03 -2.40138724e-04 9.99996724e-01 1.97319452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2007140569999 meters Centerline goodness [0,1] 0.9738661271286461 Centerline is valid? [True, True] Translation: X:618.59, Y:-37.84, Z:1.97 [[ 9.71385567e-01 2.37495150e-01 -2.47667021e-03 6.18589274e+02] [-2.37493722e-01 9.71388693e-01 8.59875802e-04 -3.78357761e+01] [ 2.61002577e-03 -2.47077318e-04 9.99996563e-01 1.97291203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2307140569999 meters Centerline goodness [0,1] 0.9706650381164975 Centerline is valid? [True, True] Translation: X:618.62, Y:-37.84, Z:1.97 [[ 9.71559305e-01 2.36783202e-01 -2.49647620e-03 6.18616471e+02] [-2.36781750e-01 9.71562480e-01 8.66229551e-04 -3.78414408e+01] [ 2.63059122e-03 -2.50473377e-04 9.99996509e-01 1.97260100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.260714057 meters Centerline goodness [0,1] 0.9697371746272428 Centerline is valid? [True, True] Translation: X:618.65, Y:-37.84, Z:1.97 [[ 9.71955761e-01 2.35143955e-01 -3.05276660e-03 6.18649504e+02] [-2.35141777e-01 9.71960505e-01 1.05876497e-03 -3.78353222e+01] [ 3.21613075e-03 -3.11239753e-04 9.99994780e-01 1.97143091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.290714057 meters Centerline goodness [0,1] 0.9648868740292994 Centerline is valid? [True, True] Translation: X:618.68, Y:-37.85, Z:1.97 [[ 9.72185244e-01 2.34187702e-01 -3.45996203e-03 6.18676366e+02] [-2.34184899e-01 9.72191336e-01 1.19973488e-03 -3.78450216e+01] [ 3.64470826e-03 -3.56093688e-04 9.99993295e-01 1.97078529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3207140569999 meters Centerline goodness [0,1] 0.9629738961750939 Centerline is valid? [True, True] Translation: X:618.71, Y:-37.85, Z:1.97 [[ 9.72488191e-01 2.32915858e-01 -4.11345733e-03 6.18706281e+02] [-2.32911887e-01 9.72496797e-01 1.42600616e-03 -3.78494675e+01] [ 4.33246353e-03 -4.28701035e-04 9.99990523e-01 1.97012754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3507140569999 meters Centerline goodness [0,1] 0.9629738961750939 Centerline is valid? [True, True] Translation: X:618.73, Y:-37.86, Z:1.97 [[ 9.72554539e-01 2.32638665e-01 -4.11343165e-03 6.18732379e+02] [-2.32634691e-01 9.72563143e-01 1.42608036e-03 -3.78584198e+01] [ 4.33233345e-03 -4.30014025e-04 9.99990523e-01 1.97027345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.380714057 meters Centerline goodness [0,1] 0.9644860601459362 Centerline is valid? [True, True] Translation: X:618.76, Y:-37.86, Z:1.97 [[ 9.72723393e-01 2.31926632e-01 -4.38606486e-03 6.18763099e+02] [-2.31922115e-01 9.72733173e-01 1.51896158e-03 -3.78566040e+01] [ 4.61875843e-03 -4.60304020e-04 9.99989228e-01 1.96970028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.410714057 meters Centerline goodness [0,1] 0.9614970097842396 Centerline is valid? [True, True] Translation: X:618.79, Y:-37.85, Z:1.97 [[ 9.72844635e-01 2.31412545e-01 -4.64227764e-03 6.18793909e+02] [-2.31407481e-01 9.72855588e-01 1.60718292e-03 -3.78542905e+01] [ 4.88818803e-03 -4.89281507e-04 9.99987933e-01 1.96890222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4407140569999 meters Centerline goodness [0,1] 0.9610936079335208 Centerline is valid? [True, True] Translation: X:618.82, Y:-37.86, Z:1.97 [[ 9.72864281e-01 2.31338027e-01 -4.22001390e-03 6.18822760e+02] [-2.31333843e-01 9.72873332e-01 1.46074649e-03 -3.78581111e+01] [ 4.44346519e-03 -4.44876051e-04 9.99990029e-01 1.96855719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4707140569999 meters Centerline goodness [0,1] 0.959074093647606 Centerline is valid? [True, True] Translation: X:618.85, Y:-37.86, Z:1.97 [[ 9.72603217e-01 2.32419041e-01 -4.93674258e-03 6.18851876e+02] [-2.32413337e-01 9.72615611e-01 1.70714683e-03 -3.78594610e+01] [ 5.19832632e-03 -5.13011681e-04 9.99986357e-01 1.96773715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.500714057 meters Centerline goodness [0,1] 0.9610089800067774 Centerline is valid? [True, True] Translation: X:618.88, Y:-37.86, Z:1.97 [[ 9.72285853e-01 2.33734861e-01 -5.31365058e-03 6.18882869e+02] [-2.33728275e-01 9.72300221e-01 1.83692099e-03 -3.78600189e+01] [ 5.59581611e-03 -5.44061906e-04 9.99984195e-01 1.96772487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.530714057 meters Centerline goodness [0,1] 0.9611965630635408 Centerline is valid? [True, True] Translation: X:618.91, Y:-37.86, Z:1.97 [[ 9.71781897e-01 2.35808339e-01 -5.86279874e-03 6.18913833e+02] [-2.35800361e-01 9.71799405e-01 2.02649769e-03 -3.78609732e+01] [ 6.17532938e-03 -5.86863711e-04 9.99980760e-01 1.96771150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5607140569999 meters Centerline goodness [0,1] 0.9627972087301419 Centerline is valid? [True, True] Translation: X:618.94, Y:-37.86, Z:1.97 [[ 9.70338155e-01 2.41648484e-01 -7.06219779e-03 6.18945000e+02] [-2.41637063e-01 9.70363629e-01 2.44075603e-03 -3.78590213e+01] [ 7.44270487e-03 -6.61869968e-04 9.99972084e-01 1.96703308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5907140569999 meters Centerline goodness [0,1] 0.9613809493496297 Centerline is valid? [True, True] Translation: X:618.97, Y:-37.87, Z:1.97 [[ 9.69447790e-01 2.45211081e-01 -6.51978661e-03 6.18973684e+02] [-2.45201429e-01 9.69469537e-01 2.25307920e-03 -3.78654885e+01] [ 6.87321449e-03 -5.85581656e-04 9.99976208e-01 1.96684594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.620714057 meters Centerline goodness [0,1] 0.9631706384605582 Centerline is valid? [True, True] Translation: X:619.01, Y:-37.87, Z:1.97 [[ 9.68610040e-01 2.48498883e-01 -6.54955030e-03 6.19005212e+02] [-2.48489218e-01 9.68632018e-01 2.26312971e-03 -3.78657749e+01] [ 6.90648933e-03 -5.64597521e-04 9.99975991e-01 1.96742832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.650714057 meters Centerline goodness [0,1] 0.9660724554341575 Centerline is valid? [True, True] Translation: X:619.04, Y:-37.86, Z:1.97 [[ 9.66724453e-01 2.55752598e-01 -5.86860922e-03 6.19037058e+02] [-2.55744972e-01 9.66742157e-01 2.02773895e-03 -3.78629495e+01] [ 6.19203144e-03 -4.59397523e-04 9.99980724e-01 1.96853370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6807140569999 meters Centerline goodness [0,1] 0.967144474589306 Centerline is valid? [True, True] Translation: X:619.07, Y:-37.87, Z:1.97 [[ 9.66195446e-01 2.57745366e-01 -5.80404237e-03 6.19067920e+02] [-2.57737944e-01 9.66212777e-01 2.00521755e-03 -3.78662874e+01] [ 6.12477543e-03 -4.41510116e-04 9.99981146e-01 1.96922505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7107140569999 meters Centerline goodness [0,1] 0.9680464778503994 Centerline is valid? [True, True] Translation: X:619.10, Y:-37.87, Z:1.97 [[ 9.65865481e-01 2.58980637e-01 -5.73608507e-03 6.19097578e+02] [-2.58973412e-01 9.65882418e-01 1.98145219e-03 -3.78703896e+01] [ 6.05354147e-03 -4.28322757e-04 9.99981585e-01 1.96888185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.740714057 meters Centerline goodness [0,1] 0.9683496931203354 Centerline is valid? [True, True] Translation: X:619.12, Y:-37.88, Z:1.97 [[ 9.65812446e-01 2.59157854e-01 -6.59746099e-03 6.19124464e+02] [-2.59148310e-01 9.65834855e-01 2.27736998e-03 -3.78763199e+01] [ 6.96225609e-03 -4.89791410e-04 9.99975643e-01 1.96892610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.770714057 meters Centerline goodness [0,1] 0.9709399511379709 Centerline is valid? [True, True] Translation: X:619.16, Y:-37.88, Z:1.97 [[ 9.66402024e-01 2.56946570e-01 -6.75190346e-03 6.19155538e+02] [-2.56936525e-01 9.66425472e-01 2.33011167e-03 -3.78767923e+01] [ 7.12392569e-03 -5.17014027e-04 9.99974491e-01 1.96895907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8007140569999 meters Centerline goodness [0,1] 0.97044800481079 Centerline is valid? [True, True] Translation: X:619.18, Y:-37.89, Z:1.97 [[ 9.66718982e-01 2.55751417e-01 -6.75442247e-03 6.19182796e+02] [-2.55741338e-01 9.66742435e-01 2.33067801e-03 -3.78856969e+01] [ 7.12586103e-03 -5.25725638e-04 9.99974473e-01 1.96960796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8307140569999 meters Centerline goodness [0,1] 0.9702787044011622 Centerline is valid? [True, True] Translation: X:619.21, Y:-37.89, Z:1.97 [[ 9.67341665e-01 2.53377119e-01 -7.08082278e-03 6.19212681e+02] [-2.53365981e-01 9.67367413e-01 2.44294973e-03 -3.78906411e+01] [ 7.46874478e-03 -5.69127454e-04 9.99971947e-01 1.96933243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.860714057 meters Centerline goodness [0,1] 0.9719386656329414 Centerline is valid? [True, True] Translation: X:619.24, Y:-37.90, Z:1.97 [[ 9.67632066e-01 2.52258180e-01 -7.34812068e-03 6.19240718e+02] [-2.52246159e-01 9.67659781e-01 2.53441133e-03 -3.78972519e+01] [ 7.74980684e-03 -5.98842455e-04 9.99969790e-01 1.96936346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.890714057 meters Centerline goodness [0,1] 0.9662933448201594 Centerline is valid? [True, True] Translation: X:619.27, Y:-37.91, Z:1.97 [[ 9.67709031e-01 2.51946809e-01 -7.87639817e-03 6.19265030e+02] [-2.51933004e-01 9.67740871e-01 2.71462145e-03 -3.79105410e+01] [ 8.30625264e-03 -6.42639040e-04 9.99965296e-01 1.96861969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9207140569999 meters Centerline goodness [0,1] 0.9704993741637533 Centerline is valid? [True, True] Translation: X:619.30, Y:-37.91, Z:1.97 [[ 9.67242088e-01 2.53711721e-01 -8.55016717e-03 6.19298197e+02] [-2.53695530e-01 9.67279639e-01 2.94582289e-03 -3.79069526e+01] [ 9.01779240e-03 -6.80184691e-04 9.99959108e-01 1.96887103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9507140569999 meters Centerline goodness [0,1] 0.9714934573375149 Centerline is valid? [True, True] Translation: X:619.33, Y:-37.91, Z:1.97 [[ 9.66735197e-01 2.55632107e-01 -8.67664427e-03 6.19327747e+02] [-2.55615513e-01 9.66773900e-01 2.98915625e-03 -3.79123704e+01] [ 9.15247754e-03 -6.71837680e-04 9.99957890e-01 1.96911333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9807140569999 meters Centerline goodness [0,1] 0.9710360273058122 Centerline is valid? [True, True] Translation: X:619.36, Y:-37.91, Z:1.97 [[ 9.65388557e-01 2.60672676e-01 -8.64232316e-03 6.19358141e+02] [-2.60656417e-01 9.65427040e-01 2.97702380e-03 -3.79141214e+01] [ 9.11956123e-03 -6.21307723e-04 9.99958223e-01 1.96943830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.010714057 meters Centerline goodness [0,1] 0.9716665587708508 Centerline is valid? [True, True] Translation: X:619.39, Y:-37.92, Z:1.97 [[ 9.64636960e-01 2.63452218e-01 -8.27431008e-03 6.19387438e+02] [-2.63437417e-01 9.64672278e-01 2.84997967e-03 -3.79198156e+01] [ 8.73283102e-03 -5.69432842e-04 9.99961706e-01 1.96976996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.040714057 meters Centerline goodness [0,1] 0.9716899332350646 Centerline is valid? [True, True] Translation: X:619.42, Y:-37.92, Z:1.97 [[ 9.63812361e-01 2.66459476e-01 -8.06718247e-03 6.19417668e+02] [-2.66445515e-01 9.63845977e-01 2.77839450e-03 -3.79246725e+01] [ 8.51585092e-03 -5.28386383e-04 9.99963600e-01 1.97003176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0707140569999 meters Centerline goodness [0,1] 0.9739394596940436 Centerline is valid? [True, True] Translation: X:619.45, Y:-37.93, Z:1.97 [[ 9.62850600e-01 2.69928474e-01 -7.57233311e-03 6.19447372e+02] [-2.69916281e-01 9.62880263e-01 2.60778113e-03 -3.79295370e+01] [ 7.99516448e-03 -4.67007638e-04 9.99967929e-01 1.97066196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1007140569999 meters Centerline goodness [0,1] 0.9752860411899313 Centerline is valid? [True, True] Translation: X:619.48, Y:-37.93, Z:1.97 [[ 9.60988684e-01 2.76485465e-01 -7.51912212e-03 6.19477219e+02] [-2.76473645e-01 9.61018012e-01 2.58914477e-03 -3.79315322e+01] [ 7.94187269e-03 -4.09299725e-04 9.99968379e-01 1.97142812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.130714057 meters Centerline goodness [0,1] 0.9756847522679692 Centerline is valid? [True, True] Translation: X:619.51, Y:-37.94, Z:1.97 [[ 9.60059927e-01 2.79691442e-01 -7.59171900e-03 6.19506889e+02] [-2.79679495e-01 9.60089865e-01 2.61379033e-03 -3.79367073e+01] [ 8.01978725e-03 -3.86147225e-04 9.99967766e-01 1.97189474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.160714057 meters Centerline goodness [0,1] 0.9769934298124986 Centerline is valid? [True, True] Translation: X:619.54, Y:-37.94, Z:1.97 [[ 9.59213866e-01 2.82582273e-01 -7.48449229e-03 6.19535234e+02] [-2.82570752e-01 9.59242999e-01 2.57655464e-03 -3.79427708e+01] [ 7.90753550e-03 -3.56568320e-04 9.99968671e-01 1.97219145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1907140569999 meters Centerline goodness [0,1] 0.9786510238349653 Centerline is valid? [True, True] Translation: X:619.56, Y:-37.95, Z:1.97 [[ 9.58261529e-01 2.85795414e-01 -7.47155007e-03 6.19564456e+02] [-2.85784033e-01 9.58290599e-01 2.57173560e-03 -3.79491492e+01] [ 7.89490644e-03 -3.29145578e-04 9.99968781e-01 1.97205674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2207140569999 meters Centerline goodness [0,1] 0.9811907420788719 Centerline is valid? [True, True] Translation: X:619.60, Y:-37.95, Z:1.97 [[ 9.56784924e-01 2.90693911e-01 -7.72396769e-03 6.19596030e+02] [-2.90681908e-01 9.56816054e-01 2.65837882e-03 -3.79487574e+01] [ 8.16319082e-03 -2.98279102e-04 9.99966636e-01 1.97202568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.250714057 meters Centerline goodness [0,1] 0.981976846167339 Centerline is valid? [True, True] Translation: X:619.62, Y:-37.96, Z:1.97 [[ 9.56104526e-01 2.92925169e-01 -7.67985194e-03 6.19624355e+02] [-2.92913381e-01 9.56135330e-01 2.64243452e-03 -3.79564106e+01] [ 8.11701335e-03 -2.76912204e-04 9.99967018e-01 1.97207206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.280714057 meters Centerline goodness [0,1] 0.9829091625270806 Centerline is valid? [True, True] Translation: X:619.65, Y:-37.96, Z:1.97 [[ 9.54672624e-01 2.97570387e-01 -7.21425178e-03 6.19652562e+02] [-2.97560127e-01 9.54699856e-01 2.48098422e-03 -3.79639278e+01] [ 7.62571258e-03 -2.21854043e-04 9.99970899e-01 1.97286443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3107140569999 meters Centerline goodness [0,1] 0.983960504662644 Centerline is valid? [True, True] Translation: X:619.68, Y:-37.97, Z:1.97 [[ 9.54406733e-01 2.98439053e-01 -6.47458067e-03 6.19679856e+02] [-2.98430813e-01 9.54428675e-01 2.22605927e-03 -3.79724809e+01] [ 6.84386847e-03 -1.92351583e-04 9.99976562e-01 1.97337659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3407140569999 meters Centerline goodness [0,1] 0.9831452054794521 Centerline is valid? [True, True] Translation: X:619.71, Y:-37.98, Z:1.97 [[ 9.54252659e-01 2.98948634e-01 -5.61936282e-03 6.19707041e+02] [-2.98942444e-01 9.54269190e-01 1.93073678e-03 -3.79813846e+01] [ 5.93957593e-03 -1.62544655e-04 9.99982347e-01 1.97371649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.370714057 meters Centerline goodness [0,1] 0.9819384601993297 Centerline is valid? [True, True] Translation: X:619.73, Y:-37.99, Z:1.97 [[ 9.54325648e-01 2.98736992e-01 -4.33205263e-03 6.19732509e+02] [-2.98733314e-01 9.54335472e-01 1.48763181e-03 -3.79927975e+01] [ 4.57864214e-03 -1.25556753e-04 9.99989510e-01 1.97408622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.400714057 meters Centerline goodness [0,1] 0.983657842922774 Centerline is valid? [True, True] Translation: X:619.76, Y:-38.00, Z:1.97 [[ 9.54656286e-01 2.97682320e-01 -4.07581650e-03 6.19759604e+02] [-2.97679060e-01 9.54664979e-01 1.39848485e-03 -3.80023218e+01] [ 4.30734348e-03 -1.21787134e-04 9.99990716e-01 1.97451991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4307140569999 meters Centerline goodness [0,1] 0.9814381599947528 Centerline is valid? [True, True] Translation: X:619.78, Y:-38.02, Z:1.97 [[ 9.55109733e-01 2.96222424e-01 -4.20391057e-03 6.19783309e+02] [-2.96218947e-01 9.55118976e-01 1.44109666e-03 -3.80180030e+01] [ 4.44211991e-03 -1.31127480e-04 9.99990125e-01 1.97405943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4607140569999 meters Centerline goodness [0,1] 0.9819666031996148 Centerline is valid? [True, True] Translation: X:619.81, Y:-38.03, Z:1.97 [[ 9.55849305e-01 2.93806190e-01 -5.47985204e-03 6.19809415e+02] [-2.93800248e-01 9.55864995e-01 1.87780805e-03 -3.80290418e+01] [ 5.78971037e-03 -1.84919635e-04 9.99983222e-01 1.97315577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.490714057 meters Centerline goodness [0,1] 0.9787970575508438 Centerline is valid? [True, True] Translation: X:619.83, Y:-38.05, Z:1.97 [[ 9.56001039e-01 2.93313048e-01 -5.42863800e-03 6.19833254e+02] [-2.93307211e-01 9.56016434e-01 1.85973311e-03 -3.80465994e+01] [ 5.73535113e-03 -1.85648119e-04 9.99983536e-01 1.97290546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.520714057 meters Centerline goodness [0,1] 0.9805074594359142 Centerline is valid? [True, True] Translation: X:619.86, Y:-38.05, Z:1.97 [[ 9.56446950e-01 2.91840070e-01 -6.21334642e-03 6.19861433e+02] [-2.91832398e-01 9.56467106e-01 2.12766782e-03 -3.80542402e+01] [ 6.56380019e-03 -2.21745605e-04 9.99978433e-01 1.97291087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5507140569999 meters Centerline goodness [0,1] 0.9793462916711912 Centerline is valid? [True, True] Translation: X:619.89, Y:-38.07, Z:1.97 [[ 9.56526954e-01 2.91579830e-01 -6.11468287e-03 6.19886208e+02] [-2.91572404e-01 9.56546473e-01 2.09241515e-03 -3.80677866e+01] [ 6.45908439e-03 -2.18578704e-04 9.99979116e-01 1.97288050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5807140569999 meters Centerline goodness [0,1] 0.9802347529886529 Centerline is valid? [True, True] Translation: X:619.91, Y:-38.08, Z:1.97 [[ 9.56681288e-01 2.91084094e-01 -5.56446060e-03 6.19912866e+02] [-2.91077940e-01 9.56697449e-01 1.90350971e-03 -3.80763833e+01] [ 5.87758667e-03 -2.01360389e-04 9.99982707e-01 1.97331763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.610714057 meters Centerline goodness [0,1] 0.9789288659346382 Centerline is valid? [True, True] Translation: X:619.94, Y:-38.09, Z:1.97 [[ 9.57067645e-01 2.89823484e-01 -4.88591292e-03 6.19937502e+02] [-2.89818729e-01 9.57080099e-01 1.67001291e-03 -3.80909567e+01] [ 5.16021898e-03 -1.82286250e-04 9.99986669e-01 1.97354039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.640714057 meters Centerline goodness [0,1] 0.9792380829183106 Centerline is valid? [True, True] Translation: X:619.96, Y:-38.10, Z:1.97 [[ 9.57249379e-01 2.89227235e-01 -4.60800355e-03 6.19962743e+02] [-2.89223001e-01 9.57260454e-01 1.57459986e-03 -3.81032761e+01] [ 4.86647673e-03 -1.74544118e-04 9.99988143e-01 1.97376478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6707140569999 meters Centerline goodness [0,1] 0.978238274652462 Centerline is valid? [True, True] Translation: X:619.99, Y:-38.12, Z:1.97 [[ 9.57747296e-01 2.87579725e-01 -4.24487210e-03 6.19989342e+02] [-2.87576118e-01 9.57756688e-01 1.45027303e-03 -3.81153643e+01] [ 4.48262376e-03 -1.68271237e-04 9.99989939e-01 1.97353137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7007140569999 meters Centerline goodness [0,1] 0.9782801131334068 Centerline is valid? [True, True] Translation: X:620.02, Y:-38.13, Z:1.97 [[ 9.58174074e-01 2.86162310e-01 -3.68448721e-03 6.20015268e+02] [-2.86159585e-01 9.58181146e-01 1.25799824e-03 -3.81275123e+01] [ 3.89039786e-03 -1.51029972e-04 9.99992421e-01 1.97344279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7307140569999 meters Centerline goodness [0,1] 0.977380746629796 Centerline is valid? [True, True] Translation: X:620.04, Y:-38.14, Z:1.97 [[ 9.59021146e-01 2.83317135e-01 -3.13725276e-03 6.20041892e+02] [-2.83315147e-01 9.59026268e-01 1.07008212e-03 -3.81410574e+01] [ 3.31188041e-03 -1.37400154e-04 9.99994506e-01 1.97378214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.760714057 meters Centerline goodness [0,1] 0.9752662315355548 Centerline is valid? [True, True] Translation: X:620.07, Y:-38.16, Z:1.97 [[ 9.59514964e-01 2.81637452e-01 -3.37337746e-03 6.20066313e+02] [-2.81635144e-01 9.59520881e-01 1.15056912e-03 -3.81558648e+01] [ 3.56086947e-03 -1.53926644e-04 9.99993648e-01 1.97396004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.790714057 meters Centerline goodness [0,1] 0.9754232542110024 Centerline is valid? [True, True] Translation: X:620.09, Y:-38.17, Z:1.97 [[ 9.60107240e-01 2.79616559e-01 -2.94417549e-03 6.20093856e+02] [-2.79614792e-01 9.60111744e-01 1.00387379e-03 -3.81656764e+01] [ 3.10743720e-03 -1.40591479e-04 9.99995162e-01 1.97390161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8207140569999 meters Centerline goodness [0,1] 0.97502475993627 Centerline is valid? [True, True] Translation: X:620.12, Y:-38.18, Z:1.97 [[ 9.61350911e-01 2.75307231e-01 -3.21780152e-03 6.20119953e+02] [-2.75305098e-01 9.61356282e-01 1.09688420e-03 -3.81827695e+01] [ 3.39543386e-03 -1.68613459e-04 9.99994221e-01 1.97396136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8507140569999 meters Centerline goodness [0,1] 0.9758050628551748 Centerline is valid? [True, True] Translation: X:620.15, Y:-38.19, Z:1.97 [[ 9.62154258e-01 2.72487177e-01 -3.15002875e-03 6.20148143e+02] [-2.72485118e-01 9.62159398e-01 1.07376225e-03 -3.81914367e+01] [ 3.32341621e-03 -1.74788967e-04 9.99994462e-01 1.97440972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.880714057 meters Centerline goodness [0,1] 0.9750891974379916 Centerline is valid? [True, True] Translation: X:620.17, Y:-38.21, Z:1.97 [[ 9.62962921e-01 2.69609414e-01 -3.63000298e-03 6.20173244e+02] [-2.69606659e-01 9.62969739e-01 1.23725778e-03 -3.82066912e+01] [ 3.82915937e-03 -2.12760387e-04 9.99992646e-01 1.97426853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.910714057 meters Centerline goodness [0,1] 0.972824453698536 Centerline is valid? [True, True] Translation: X:620.20, Y:-38.23, Z:1.97 [[ 9.64339262e-01 2.64633683e-01 -4.33613583e-03 6.20197837e+02] [-2.64629704e-01 9.64348970e-01 1.47743066e-03 -3.82258653e+01] [ 4.57252604e-03 -2.77274054e-04 9.99989508e-01 1.97395547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9407140569999 meters Centerline goodness [0,1] 0.972390601238032 Centerline is valid? [True, True] Translation: X:620.22, Y:-38.24, Z:1.97 [[ 9.64782806e-01 2.63010421e-01 -4.43346270e-03 6.20224639e+02] [-2.63006245e-01 9.64792949e-01 1.51044999e-03 -3.82382686e+01] [ 4.67463764e-03 -2.91227805e-04 9.99989031e-01 1.97368683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9707140569999 meters Centerline goodness [0,1] 0.9730088969878873 Centerline is valid? [True, True] Translation: X:620.25, Y:-38.25, Z:1.97 [[ 9.65121550e-01 2.61763072e-01 -4.52634123e-03 6.20251333e+02] [-2.61758707e-01 9.65132116e-01 1.54184275e-03 -3.82474257e+01] [ 4.77211479e-03 -3.03256441e-04 9.99988567e-01 1.97362223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.000714057 meters Centerline goodness [0,1] 0.9730556863416513 Centerline is valid? [True, True] Translation: X:620.28, Y:-38.26, Z:1.97 [[ 9.64965948e-01 2.62330684e-01 -4.83030947e-03 6.20278771e+02] [-2.62325722e-01 9.64977984e-01 1.64490439e-03 -3.82573441e+01] [ 5.09265119e-03 -3.20162306e-04 9.99986981e-01 1.97376761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.030714057 meters Centerline goodness [0,1] 0.9725373517701956 Centerline is valid? [True, True] Translation: X:620.31, Y:-38.27, Z:1.97 [[ 9.64441143e-01 2.64244421e-01 -5.30728709e-03 6.20305712e+02] [-2.64238468e-01 9.64455686e-01 1.80590625e-03 -3.82684710e+01] [ 5.59584387e-03 -3.39300880e-04 9.99984286e-01 1.97371819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0607140569999 meters Centerline goodness [0,1] 0.9733404710920771 Centerline is valid? [True, True] Translation: X:620.34, Y:-38.27, Z:1.97 [[ 9.63731406e-01 2.66821492e-01 -5.29801229e-03 6.20335533e+02] [-2.66815599e-01 9.63745914e-01 1.80254868e-03 -3.82741076e+01] [ 5.58689643e-03 -3.23580448e-04 9.99984341e-01 1.97385032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0907140569999 meters Centerline goodness [0,1] 0.975355957606252 Centerline is valid? [True, True] Translation: X:620.37, Y:-38.28, Z:1.97 [[ 9.61715235e-01 2.73991024e-01 -5.72061317e-03 6.20365940e+02] [-2.73984281e-01 9.61732201e-01 1.94621422e-03 -3.82793246e+01] [ 6.03494312e-03 -3.04345782e-04 9.99981743e-01 1.97395119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.120714057 meters Centerline goodness [0,1] 0.9773150825782405 Centerline is valid? [True, True] Translation: X:620.40, Y:-38.28, Z:1.97 [[ 9.60590338e-01 2.77919640e-01 -5.18418939e-03 6.20395747e+02] [-2.77914160e-01 9.60604294e-01 1.76365190e-03 -3.82849403e+01] [ 5.47010809e-03 -2.53387335e-04 9.99985007e-01 1.97449318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.150714057 meters Centerline goodness [0,1] 0.9779766887758388 Centerline is valid? [True, True] Translation: X:620.42, Y:-38.29, Z:1.97 [[ 9.59510597e-01 2.81631571e-01 -4.80330394e-03 6.20424838e+02] [-2.81626913e-01 9.59522596e-01 1.63399112e-03 -3.82910327e+01] [ 5.06906215e-03 -2.15092133e-04 9.99987129e-01 1.97471736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1807140569999 meters Centerline goodness [0,1] 0.9799308849728476 Centerline is valid? [True, True] Translation: X:620.45, Y:-38.30, Z:1.98 [[ 9.58264419e-01 2.85855282e-01 -4.00755476e-03 6.20453254e+02] [-2.85852077e-01 9.58272786e-01 1.36316401e-03 -3.82988300e+01] [ 4.22999830e-03 -1.60703718e-04 9.99991041e-01 1.97513197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2107140569999 meters Centerline goodness [0,1] 0.9793211331590451 Centerline is valid? [True, True] Translation: X:620.48, Y:-38.31, Z:1.98 [[ 9.58063173e-01 2.86533328e-01 -3.68886576e-03 6.20480162e+02] [-2.86530617e-01 9.58070264e-01 1.25494575e-03 -3.83082128e+01] [ 3.89377638e-03 -1.45344319e-04 9.99992409e-01 1.97547828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.240714057 meters Centerline goodness [0,1] 0.9788810829335161 Centerline is valid? [True, True] Translation: X:620.51, Y:-38.32, Z:1.98 [[ 9.58208825e-01 2.86054823e-01 -2.91309094e-03 6.20505446e+02] [-2.86053133e-01 9.58213246e-01 9.90132040e-04 -3.83187890e+01] [ 3.07459437e-03 -1.15454469e-04 9.99995267e-01 1.97570789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.270714057 meters Centerline goodness [0,1] 0.9788810829335161 Centerline is valid? [True, True] Translation: X:620.53, Y:-38.33, Z:1.98 [[ 9.58289818e-01 2.85783378e-01 -2.91304018e-03 6.20531448e+02] [-2.85781686e-01 9.58294238e-01 9.90281724e-04 -3.83275468e+01] [ 3.07455568e-03 -1.16483358e-04 9.99995267e-01 1.97585307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3007140569999 meters Centerline goodness [0,1] 0.9780635239336138 Centerline is valid? [True, True] Translation: X:620.56, Y:-38.34, Z:1.98 [[ 9.59076594e-01 2.83139511e-01 -2.02590610e-03 6.20558029e+02] [-2.83138689e-01 9.59078730e-01 6.87854725e-04 -3.83403293e+01] [ 2.13776230e-03 -8.60929700e-05 9.99997711e-01 1.97601231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3307140569999 meters Centerline goodness [0,1] 0.976867038725344 Centerline is valid? [True, True] Translation: X:620.58, Y:-38.35, Z:1.98 [[ 9.59450877e-01 2.81867316e-01 -2.19774590e-03 6.20582551e+02] [-2.81866345e-01 9.59453390e-01 7.46017103e-04 -3.83538164e+01] [ 2.31891259e-03 -9.62961607e-05 9.99997307e-01 1.97671731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.360714057 meters Centerline goodness [0,1] 0.9776136921402505 Centerline is valid? [True, True] Translation: X:620.61, Y:-38.36, Z:1.98 [[ 9.60277440e-01 2.79042276e-01 -1.62666131e-03 6.20610110e+02] [-2.79041740e-01 9.60278815e-01 5.52002755e-04 -3.83638599e+01] [ 1.71608050e-03 -7.61693892e-05 9.99998525e-01 1.97682804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.390714057 meters Centerline goodness [0,1] 0.9767680218653911 Centerline is valid? [True, True] Translation: X:620.64, Y:-38.37, Z:1.98 [[ 9.60463718e-01 2.78403048e-01 -1.09026295e-03 6.20637112e+02] [-2.78402806e-01 9.60464336e-01 3.70881463e-04 -3.83745550e+01] [ 1.15041321e-03 -5.26859246e-05 9.99999337e-01 1.97766373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4207140569999 meters Centerline goodness [0,1] 0.9763856862242719 Centerline is valid? [True, True] Translation: X:620.66, Y:-38.39, Z:1.98 [[ 9.60762241e-01 2.77372932e-01 -4.15931323e-04 6.20663919e+02] [-2.77372896e-01 9.60762331e-01 1.42237061e-04 -3.83856581e+01] [ 4.39063858e-04 -2.12879220e-05 9.99999903e-01 1.97825056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4507140569999 meters Centerline goodness [0,1] 0.9752767212274028 Centerline is valid? [True, True] Translation: X:620.69, Y:-38.40, Z:1.98 [[ 9.60798948e-01 2.77246053e-01 8.73619442e-05 6.20689024e+02] [-2.77246052e-01 9.60798952e-01 -2.90748559e-05 -3.83985687e+01] [-9.19981535e-05 3.71433680e-06 9.99999996e-01 1.97953845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4807140569999 meters Centerline goodness [0,1] 0.9756776868289572 Centerline is valid? [True, True] Translation: X:620.72, Y:-38.41, Z:1.98 [[ 9.60829193e-01 2.77139977e-01 8.34023613e-04 6.20715749e+02] [-2.77139838e-01 9.60829554e-01 -2.80481471e-04 -3.84081895e+01] [-8.79087164e-04 3.83536164e-05 9.99999613e-01 1.97985073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.510714057 meters Centerline goodness [0,1] 0.9755312573267686 Centerline is valid? [True, True] Translation: X:620.74, Y:-38.42, Z:1.98 [[ 9.61048748e-01 2.76377212e-01 9.69471646e-04 6.20742785e+02] [-2.76377024e-01 9.61049236e-01 -3.26182731e-04 -3.84170006e+01] [-1.02185946e-03 4.55378169e-05 9.99999477e-01 1.97934661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.540714057 meters Centerline goodness [0,1] 0.9763289655907106 Centerline is valid? [True, True] Translation: X:620.77, Y:-38.43, Z:1.98 [[ 9.61246539e-01 2.75688531e-01 9.61515958e-04 6.20769931e+02] [-2.75688345e-01 9.61247019e-01 -3.23220927e-04 -3.84273080e+01] [-1.01336265e-03 4.56162548e-05 9.99999486e-01 1.97974898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5707140569999 meters Centerline goodness [0,1] 0.9744255319148936 Centerline is valid? [True, True] Translation: X:620.80, Y:-38.44, Z:1.98 [[ 9.61549070e-01 2.74631629e-01 9.24373735e-04 6.20795070e+02] [-2.74631456e-01 9.61549513e-01 -3.11499545e-04 -3.84385597e+01] [-9.74378743e-04 4.56599933e-05 9.99999524e-01 1.97933939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6007140569999 meters Centerline goodness [0,1] 0.9735588172729207 Centerline is valid? [True, True] Translation: X:620.82, Y:-38.45, Z:1.98 [[ 9.62324261e-01 2.71904424e-01 -4.64801751e-08 6.20821532e+02] [-2.71904424e-01 9.62324261e-01 4.43563274e-07 -3.84513577e+01] [ 1.65335769e-07 -4.14213537e-07 1.00000000e+00 1.97800469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.630714057 meters Centerline goodness [0,1] 0.9723481798533712 Centerline is valid? [True, True] Translation: X:620.85, Y:-38.46, Z:1.98 [[ 9.62710983e-01 2.70530032e-01 -1.03230310e-03 6.20846070e+02] [-2.70529812e-01 9.62711535e-01 3.49029747e-04 -3.84640748e+01] [ 1.08823313e-03 -5.67460062e-05 9.99999406e-01 1.97766517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.660714057 meters Centerline goodness [0,1] 0.9730676918502156 Centerline is valid? [True, True] Translation: X:620.87, Y:-38.48, Z:1.98 [[ 9.63660886e-01 2.67118428e-01 -2.33283431e-03 6.20873758e+02] [-2.67117303e-01 9.63663700e-01 7.86835135e-04 -3.84751134e+01] [ 2.45824590e-03 -1.35101834e-04 9.99996969e-01 1.97636450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6907140569999 meters Centerline goodness [0,1] 0.9702546862699206 Centerline is valid? [True, True] Translation: X:620.90, Y:-38.49, Z:1.98 [[ 9.64146211e-01 2.65359663e-01 -2.51643769e-03 6.20898874e+02] [-2.65358349e-01 9.64149483e-01 8.48853414e-04 -3.84897617e+01] [ 2.65147355e-03 -1.50661054e-04 9.99996473e-01 1.97604626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7207140569999 meters Centerline goodness [0,1] 0.9729620404079112 Centerline is valid? [True, True] Translation: X:620.93, Y:-38.50, Z:1.98 [[ 9.65115634e-01 2.61804540e-01 -3.19304130e-03 6.20928244e+02] [-2.61802405e-01 9.65120895e-01 1.07661659e-03 -3.84957844e+01] [ 3.36353399e-03 -2.03113612e-04 9.99994323e-01 1.97594104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.750714057 meters Centerline goodness [0,1] 0.971180393322856 Centerline is valid? [True, True] Translation: X:620.95, Y:-38.51, Z:1.98 [[ 9.65578863e-01 2.60084778e-01 -3.65627466e-03 6.20953536e+02] [-2.60081966e-01 9.65585755e-01 1.23280039e-03 -3.85090746e+01] [ 3.85107934e-03 -2.39434900e-04 9.99992556e-01 1.97652880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.780714057 meters Centerline goodness [0,1] 0.9684103044097939 Centerline is valid? [True, True] Translation: X:620.98, Y:-38.53, Z:1.98 [[ 9.66078501e-01 2.58225478e-01 -3.45423997e-03 6.20978132e+02] [-2.58222958e-01 9.66084649e-01 1.16438746e-03 -3.85251498e+01] [ 3.63776271e-03 -2.32925634e-04 9.99993356e-01 1.97713973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8107140569999 meters Centerline goodness [0,1] 0.9702162990717874 Centerline is valid? [True, True] Translation: X:621.01, Y:-38.53, Z:1.98 [[ 9.66946407e-01 2.54963487e-01 -2.87500659e-03 6.21009833e+02] [-2.54961727e-01 9.66950660e-01 9.68930301e-04 -3.85263627e+01] [ 3.02703137e-03 -2.03887028e-04 9.99995398e-01 1.97767913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8407140569999 meters Centerline goodness [0,1] 0.9696976136339489 Centerline is valid? [True, True] Translation: X:621.04, Y:-38.54, Z:1.98 [[ 9.67493299e-01 2.52887648e-01 -2.13375754e-03 6.21036154e+02] [-2.52886674e-01 9.67495640e-01 7.19215399e-04 -3.85375572e+01] [ 2.24628181e-03 -1.56237232e-04 9.99997465e-01 1.97799268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.870714057 meters Centerline goodness [0,1] 0.9686734672146857 Centerline is valid? [True, True] Translation: X:621.06, Y:-38.55, Z:1.98 [[ 9.67958096e-01 2.51105183e-01 -1.81976890e-03 6.21062613e+02] [-2.51104471e-01 9.67959797e-01 6.13394360e-04 -3.85486884e+01] [ 1.91548964e-03 -1.36787929e-04 9.99998156e-01 1.97894386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.900714057 meters Centerline goodness [0,1] 0.9678997638750026 Centerline is valid? [True, True] Translation: X:621.09, Y:-38.56, Z:1.98 [[ 9.68410641e-01 2.49356743e-01 -1.42999783e-03 6.21090990e+02] [-2.49356302e-01 9.68411691e-01 4.81816742e-04 -3.85582360e+01] [ 1.50497087e-03 -1.10017491e-04 9.99998861e-01 1.97961738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9307140569999 meters Centerline goodness [0,1] 0.9669047315393444 Centerline is valid? [True, True] Translation: X:621.12, Y:-38.57, Z:1.98 [[ 9.68925095e-01 2.47354222e-01 -2.23885644e-04 6.21119009e+02] [-2.47354211e-01 9.68925120e-01 7.56921755e-05 -3.85667828e+01] [ 2.35651203e-04 -1.79609915e-05 9.99999972e-01 1.98044876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9607140569999 meters Centerline goodness [0,1] 0.9663495306813102 Centerline is valid? [True, True] Translation: X:621.15, Y:-38.58, Z:1.98 [[ 9.69113539e-01 2.46614879e-01 -2.24316958e-04 6.21146722e+02] [-2.46614867e-01 9.69113565e-01 7.68790753e-05 -3.85757009e+01] [ 2.36348131e-04 -1.91846558e-05 9.99999972e-01 1.98020996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.990714057 meters Centerline goodness [0,1] 0.9656573823861098 Centerline is valid? [True, True] Translation: X:621.17, Y:-38.58, Z:1.98 [[ 9.69116211e-01 2.46602490e-01 -9.90835990e-04 6.21173702e+02] [-2.46602276e-01 9.69116714e-01 3.34490102e-04 -3.85840776e+01] [ 1.04272181e-03 -7.98173700e-05 9.99999453e-01 1.98007152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.020714057 meters Centerline goodness [0,1] 0.9676903390914907 Centerline is valid? [True, True] Translation: X:621.20, Y:-38.59, Z:1.98 [[ 9.68883378e-01 2.47511263e-01 -1.78162605e-03 6.21202571e+02] [-2.47510577e-01 9.68885006e-01 5.99196361e-04 -3.85886269e+01] [ 1.87449861e-03 -1.39580103e-04 9.99998233e-01 1.97988398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0507140569999 meters Centerline goodness [0,1] 0.9686701311978191 Centerline is valid? [True, True] Translation: X:621.23, Y:-38.60, Z:1.98 [[ 9.68699046e-01 2.48231807e-01 -1.76864907e-03 6.21229219e+02] [-2.48231132e-01 9.68700651e-01 5.94755864e-04 -3.85960209e+01] [ 1.86092883e-03 -1.37105676e-04 9.99998259e-01 1.97946905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0807140569999 meters Centerline goodness [0,1] 0.9691417344694301 Centerline is valid? [True, True] Translation: X:621.26, Y:-38.60, Z:1.98 [[ 9.67989422e-01 2.50986067e-01 -1.57272114e-03 6.21259830e+02] [-2.50985538e-01 9.67990692e-01 5.28498125e-04 -3.85984377e+01] [ 1.65502509e-03 -1.16850335e-04 9.99998624e-01 1.97943422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.110714057 meters Centerline goodness [0,1] 0.9696383801470276 Centerline is valid? [True, True] Translation: X:621.29, Y:-38.60, Z:1.98 [[ 9.67703657e-01 2.52082440e-01 -2.01906018e-03 6.21287926e+02] [-2.52081570e-01 9.67705752e-01 6.78597664e-04 -3.86042187e+01] [ 2.12491870e-03 -1.47713580e-04 9.99997731e-01 1.97982635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.140714057 meters Centerline goodness [0,1] 0.9719862178183919 Centerline is valid? [True, True] Translation: X:621.32, Y:-38.61, Z:1.98 [[ 9.67320776e-01 2.53549524e-01 -1.77662472e-03 6.21317018e+02] [-2.53548852e-01 9.67322399e-01 5.97025384e-04 -3.86085581e+01] [ 1.86994438e-03 -1.27053899e-04 9.99998244e-01 1.97972550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1707140569999 meters Centerline goodness [0,1] 0.971704579531337 Centerline is valid? [True, True] Translation: X:621.34, Y:-38.62, Z:1.98 [[ 9.66853246e-01 2.55323352e-01 -2.18780983e-03 6.21344776e+02] [-2.55322339e-01 9.66855710e-01 7.34870300e-04 -3.86157745e+01] [ 2.30292598e-03 -1.51915011e-04 9.99997337e-01 1.98004571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2007140569999 meters Centerline goodness [0,1] 0.9725313605660985 Centerline is valid? [True, True] Translation: X:621.38, Y:-38.62, Z:1.98 [[ 9.65727820e-01 2.59546589e-01 -2.31200914e-03 6.21376019e+02] [-2.59545471e-01 9.65730576e-01 7.76311978e-04 -3.86176694e+01] [ 2.43426705e-03 -1.49634574e-04 9.99997026e-01 1.97973708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2307140569999 meters Centerline goodness [0,1] 0.9726960994427776 Centerline is valid? [True, True] Translation: X:621.40, Y:-38.62, Z:1.98 [[ 9.65062572e-01 2.62010005e-01 -2.23373050e-03 6.21404613e+02] [-2.62008968e-01 9.65065147e-01 7.50058448e-04 -3.86245196e+01] [ 2.35221827e-03 -1.38595914e-04 9.99997224e-01 1.97987200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.260714057 meters Centerline goodness [0,1] 0.9735977847897482 Centerline is valid? [True, True] Translation: X:621.43, Y:-38.63, Z:1.98 [[ 9.63368609e-01 2.68177890e-01 -1.24222637e-03 6.21434923e+02] [-2.68177574e-01 9.63369407e-01 4.17124856e-04 -3.86271431e+01] [ 1.30858654e-03 -6.87077383e-05 9.99999141e-01 1.98126971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.290714057 meters Centerline goodness [0,1] 0.9729130331804577 Centerline is valid? [True, True] Translation: X:621.46, Y:-38.63, Z:1.98 [[ 9.62593871e-01 2.70947417e-01 -7.33217611e-04 6.21463258e+02] [-2.70947308e-01 9.62594149e-01 2.46369580e-04 -3.86332899e+01] [ 7.72544184e-04 -3.84905095e-05 9.99999701e-01 1.98149595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3207140569999 meters Centerline goodness [0,1] 0.975404725560596 Centerline is valid? [True, True] Translation: X:621.49, Y:-38.64, Z:1.98 [[ 9.61657416e-01 2.74253526e-01 1.35332731e-04 6.21492955e+02] [-2.74253522e-01 9.61657425e-01 -4.52128014e-05 -3.86375854e+01] [-1.42543496e-04 6.36374772e-06 9.99999990e-01 1.98252501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3507140569999 meters Centerline goodness [0,1] 0.9760491916064672 Centerline is valid? [True, True] Translation: X:621.52, Y:-38.64, Z:1.98 [[ 9.60626342e-01 2.77843528e-01 7.11203489e-05 6.21521349e+02] [-2.77843527e-01 9.60626345e-01 -2.35631938e-05 -3.86429827e+01] [-7.48669618e-05 2.87509610e-06 9.99999997e-01 1.98318925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.380714057 meters Centerline goodness [0,1] 0.9750806278219738 Centerline is valid? [True, True] Translation: X:621.55, Y:-38.65, Z:1.98 [[ 9.60576048e-01 2.78016709e-01 6.04734560e-04 6.21549160e+02] [-2.78016637e-01 9.60576238e-01 -2.01364365e-04 -3.86514277e+01] [-6.36876307e-04 2.52995178e-05 9.99999797e-01 1.98370603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.410714057 meters Centerline goodness [0,1] 0.9769346517626827 Centerline is valid? [True, True] Translation: X:621.58, Y:-38.66, Z:1.98 [[ 9.60722136e-01 2.77509266e-01 1.25854447e-03 6.21577168e+02] [-2.77508953e-01 9.60722959e-01 -4.20154555e-04 -3.86578660e+01] [-1.32570934e-03 5.43944244e-05 9.99999120e-01 1.98420773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4407140569999 meters Centerline goodness [0,1] 0.9733224328220133 Centerline is valid? [True, True] Translation: X:621.60, Y:-38.67, Z:1.99 [[ 9.60806518e-01 2.77210894e-01 2.22593438e-03 6.21602292e+02] [-2.77209911e-01 9.60809092e-01 -7.44874778e-04 -3.86714191e+01] [-2.34518540e-03 9.86294697e-05 9.99997245e-01 1.98584471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4707140569999 meters Centerline goodness [0,1] 0.9760153157804164 Centerline is valid? [True, True] Translation: X:621.63, Y:-38.68, Z:1.98 [[ 9.60710878e-01 2.77544501e-01 1.91266933e-03 6.21631782e+02] [-2.77543778e-01 9.60712779e-01 -6.38674216e-04 -3.86755540e+01] [-2.01478638e-03 8.27317959e-05 9.99997967e-01 1.98480053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.500714057 meters Centerline goodness [0,1] 0.9766716835089229 Centerline is valid? [True, True] Translation: X:621.66, Y:-38.68, Z:1.98 [[ 9.60526641e-01 2.78185074e-01 1.27961446e-03 6.21658348e+02] [-2.78184751e-01 9.60527491e-01 -4.27534151e-04 -3.86848026e+01] [-1.34803848e-03 5.46887131e-05 9.99999090e-01 1.98412371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.530714057 meters Centerline goodness [0,1] 0.9777543512402918 Centerline is valid? [True, True] Translation: X:621.69, Y:-38.69, Z:1.98 [[ 9.59888428e-01 2.80381322e-01 -7.20970696e-04 6.21686913e+02] [-2.80381219e-01 9.59888698e-01 2.42275438e-04 -3.86921233e+01] [ 7.59981131e-04 -3.04107467e-05 9.99999711e-01 1.98312630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5607140569999 meters Centerline goodness [0,1] 0.9768584356819651 Centerline is valid? [True, True] Translation: X:621.71, Y:-38.70, Z:1.98 [[ 9.59502246e-01 2.81698672e-01 -1.13942644e-03 6.21712337e+02] [-2.81698417e-01 9.59502921e-01 3.81224500e-04 -3.87029616e+01] [ 1.20067343e-03 -4.48111399e-05 9.99999278e-01 1.98344086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5907140569999 meters Centerline goodness [0,1] 0.9786299954806637 Centerline is valid? [True, True] Translation: X:621.74, Y:-38.71, Z:1.98 [[ 9.59012356e-01 2.83364252e-01 -4.32757385e-05 6.21740085e+02] [-2.83364252e-01 9.59012357e-01 1.58240749e-05 -3.87104176e+01] [ 4.59859451e-05 -2.91268605e-06 9.99999999e-01 1.98371274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.620714057 meters Centerline goodness [0,1] 0.9785390189880223 Centerline is valid? [True, True] Translation: X:621.77, Y:-38.72, Z:1.98 [[ 9.58936673e-01 2.83619763e-01 5.36514676e-04 6.21767536e+02] [-2.83619708e-01 9.58936823e-01 -1.77573910e-04 -3.87191567e+01] [-5.64847149e-04 1.81159992e-05 9.99999840e-01 1.98365819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.650714057 meters Centerline goodness [0,1] 0.9787160928674212 Centerline is valid? [True, True] Translation: X:621.79, Y:-38.73, Z:1.98 [[ 9.59073085e-01 2.83158348e-01 4.09919229e-04 6.21793914e+02] [-2.83158316e-01 9.59073172e-01 -1.35013390e-04 -3.87293130e+01] [-4.31372704e-04 1.34156693e-05 9.99999907e-01 1.98365491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6807140569999 meters Centerline goodness [0,1] 0.9784543929815508 Centerline is valid? [True, True] Translation: X:621.82, Y:-38.74, Z:1.98 [[ 9.59698126e-01 2.81032715e-01 -3.46667698e-04 6.21819769e+02] [-2.81032691e-01 9.59698188e-01 1.16836493e-04 -3.87422319e+01] [ 3.65531238e-04 -1.47028071e-05 9.99999933e-01 1.98247386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7107140569999 meters Centerline goodness [0,1] 0.9771919304407418 Centerline is valid? [True, True] Translation: X:621.84, Y:-38.76, Z:1.98 [[ 9.60191175e-01 2.79341794e-01 -1.03387656e-03 6.21844736e+02] [-2.79341584e-01 9.60191731e-01 3.44663841e-04 -3.87562011e+01] [ 1.08899874e-03 -4.21384608e-05 9.99999406e-01 1.98239447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.740714057 meters Centerline goodness [0,1] 0.978527673293928 Centerline is valid? [True, True] Translation: X:621.87, Y:-38.76, Z:1.98 [[ 9.60850436e-01 2.77064224e-01 -1.36187153e-03 6.21872441e+02] [-2.77063858e-01 9.60851400e-01 4.54373396e-04 -3.87649846e+01] [ 1.43444678e-03 -5.92594946e-05 9.99998969e-01 1.98230365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.770714057 meters Centerline goodness [0,1] 0.9785648317188943 Centerline is valid? [True, True] Translation: X:621.90, Y:-38.78, Z:1.98 [[ 9.61523471e-01 2.74719627e-01 -1.31955175e-03 6.21898020e+02] [-2.74719283e-01 9.61524375e-01 4.39191850e-04 -3.87774937e+01] [ 1.38943579e-03 -5.97869614e-05 9.99999033e-01 1.98254568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8007140569999 meters Centerline goodness [0,1] 0.9774102201055477 Centerline is valid? [True, True] Translation: X:621.92, Y:-38.79, Z:1.98 [[ 9.62898738e-01 2.69857067e-01 -1.78408142e-03 6.21924389e+02] [-2.69856430e-01 9.62900387e-01 5.93331123e-04 -3.87933372e+01] [ 1.87800728e-03 -8.98719487e-05 9.99998233e-01 1.98297025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8307140569999 meters Centerline goodness [0,1] 0.9754453745438936 Centerline is valid? [True, True] Translation: X:621.95, Y:-38.81, Z:1.98 [[ 9.63685703e-01 2.67030168e-01 -2.18081564e-03 6.21951422e+02] [-2.67029209e-01 9.63688163e-01 7.25263555e-04 -3.88061552e+01] [ 2.29529347e-03 -1.16584643e-04 9.99997359e-01 1.98305580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.860714057 meters Centerline goodness [0,1] 0.9746046033174746 Centerline is valid? [True, True] Translation: X:621.98, Y:-38.82, Z:1.98 [[ 9.64421029e-01 2.64353065e-01 -3.08801736e-03 6.21978142e+02] [-2.64351128e-01 9.64425957e-01 1.02680308e-03 -3.88185208e+01] [ 3.24960264e-03 -1.73949608e-04 9.99994705e-01 1.98307721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.890714057 meters Centerline goodness [0,1] 0.9734216429868604 Centerline is valid? [True, True] Translation: X:622.00, Y:-38.83, Z:1.98 [[ 9.65575266e-01 2.60114057e-01 -2.25474055e-03 6.22003536e+02] [-2.60113013e-01 9.65577888e-01 7.49617365e-04 -3.88349596e+01] [ 2.37211363e-03 -1.37324628e-04 9.99997177e-01 1.98412585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9207140569999 meters Centerline goodness [0,1] 0.9722661762819143 Centerline is valid? [True, True] Translation: X:622.03, Y:-38.85, Z:1.98 [[ 9.66002304e-01 2.58527091e-01 -1.81460988e-03 6.22031240e+02] [-2.58526412e-01 9.66004001e-01 6.03263571e-04 -3.88465499e+01] [ 1.90888038e-03 -1.13629418e-04 9.99998172e-01 1.98479209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9507140569999 meters Centerline goodness [0,1] 0.971607417535464 Centerline is valid? [True, True] Translation: X:622.06, Y:-38.86, Z:1.99 [[ 9.66623421e-01 2.56196559e-01 -1.57629610e-03 6.22056853e+02] [-2.56196043e-01 9.66624701e-01 5.24066007e-04 -3.88599178e+01] [ 1.65795066e-03 -1.02733652e-04 9.99998620e-01 1.98533531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9807140569999 meters Centerline goodness [0,1] 0.9736915278163968 Centerline is valid? [True, True] Translation: X:622.09, Y:-38.86, Z:1.99 [[ 9.66794424e-01 2.55549231e-01 -1.76961001e-03 6.22086300e+02] [-2.55548580e-01 9.66796037e-01 5.88934398e-04 -3.88625771e+01] [ 1.86135368e-03 -1.17157167e-04 9.99998261e-01 1.98558850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.010714057 meters Centerline goodness [0,1] 0.9717462085511096 Centerline is valid? [True, True] Translation: X:622.11, Y:-38.88, Z:1.99 [[ 9.66857077e-01 2.55311941e-01 -1.79031015e-03 6.22109841e+02] [-2.55311275e-01 9.66858727e-01 5.94876475e-04 -3.88791150e+01] [ 1.88285607e-03 -1.18074161e-04 9.99998220e-01 1.98623128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.040714057 meters Centerline goodness [0,1] 0.9702513250128227 Centerline is valid? [True, True] Translation: X:622.14, Y:-38.89, Z:1.99 [[ 9.66947256e-01 2.54971579e-01 -1.58065128e-03 6.22136006e+02] [-2.54971061e-01 9.66948542e-01 5.24862337e-04 -3.88896217e+01] [ 1.66223343e-03 -1.04493864e-04 9.99998613e-01 1.98627349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0707140569999 meters Centerline goodness [0,1] 0.9706574276059712 Centerline is valid? [True, True] Translation: X:622.16, Y:-38.90, Z:1.99 [[ 9.66881193e-01 2.55222907e-01 -1.42357752e-03 6.22161815e+02] [-2.55222486e-01 9.66882236e-01 4.72777093e-04 -3.88997599e+01] [ 1.49709536e-03 -9.37902843e-05 9.99998875e-01 1.98568807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1007140569999 meters Centerline goodness [0,1] 0.973027314923745 Centerline is valid? [True, True] Translation: X:622.19, Y:-38.90, Z:1.99 [[ 9.66772943e-01 2.55630605e-01 -1.75240389e-03 6.22191623e+02] [-2.55629968e-01 9.66774524e-01 5.82033935e-04 -3.89006534e+01] [ 1.84296512e-03 -1.14727711e-04 9.99998295e-01 1.98580117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.130714057 meters Centerline goodness [0,1] 0.9726977062649778 Centerline is valid? [True, True] Translation: X:622.22, Y:-38.91, Z:1.99 [[ 9.66523169e-01 2.56571433e-01 -2.01581941e-03 6.22217193e+02] [-2.56570595e-01 9.66525263e-01 6.68220450e-04 -3.89107815e+01] [ 2.11978666e-03 -1.28650562e-04 9.99997745e-01 1.98596841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.160714057 meters Centerline goodness [0,1] 0.9726977062649778 Centerline is valid? [True, True] Translation: X:622.24, Y:-38.92, Z:1.99 [[ 9.66594178e-01 2.56303789e-01 -2.01569061e-03 6.22243300e+02] [-2.56302950e-01 9.66596271e-01 6.68609668e-04 -3.89193397e+01] [ 2.11972622e-03 -1.29646764e-04 9.99997745e-01 1.98611378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1907140569999 meters Centerline goodness [0,1] 0.9752703800282135 Centerline is valid? [True, True] Translation: X:622.27, Y:-38.92, Z:1.99 [[ 9.66509181e-01 2.56622429e-01 -2.22098739e-03 6.22272055e+02] [-2.56621413e-01 9.66511722e-01 7.35792579e-04 -3.89226868e+01] [ 2.33543122e-03 -1.41197362e-04 9.99997263e-01 1.98565889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2207140569999 meters Centerline goodness [0,1] 0.9737732294253661 Centerline is valid? [True, True] Translation: X:622.30, Y:-38.93, Z:1.99 [[ 9.66424145e-01 2.56940657e-01 -2.42311792e-03 6.22297818e+02] [-2.56939452e-01 9.66427170e-01 8.01478676e-04 -3.89327294e+01] [ 2.54769945e-03 -1.51973754e-04 9.99996743e-01 1.98524904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.250714057 meters Centerline goodness [0,1] 0.9747814535481659 Centerline is valid? [True, True] Translation: X:622.33, Y:-38.94, Z:1.99 [[ 9.65869652e-01 2.59013898e-01 -2.75978746e-03 6.22325703e+02] [-2.59012344e-01 9.65873580e-01 9.12356807e-04 -3.89413403e+01] [ 2.90191889e-03 -1.66398731e-04 9.99995776e-01 1.98508655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.280714057 meters Centerline goodness [0,1] 0.9759921187330006 Centerline is valid? [True, True] Translation: X:622.36, Y:-38.94, Z:1.98 [[ 9.65610310e-01 2.59980364e-01 -2.63449243e-03 6.22355330e+02] [-2.59978951e-01 9.65613891e-01 8.71427321e-04 -3.89442979e+01] [ 2.77045648e-03 -1.56546627e-04 9.99996150e-01 1.98499705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3107140569999 meters Centerline goodness [0,1] 0.9759458996747132 Centerline is valid? [True, True] Translation: X:622.38, Y:-38.95, Z:1.99 [[ 9.64502550e-01 2.64064267e-01 -2.21235062e-03 6.22383201e+02] [-2.64063284e-01 9.64505079e-01 7.30706771e-04 -3.89516951e+01] [ 2.32677696e-03 -1.20567973e-04 9.99997286e-01 1.98539724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3407140569999 meters Centerline goodness [0,1] 0.9769163109003925 Centerline is valid? [True, True] Translation: X:622.41, Y:-38.96, Z:1.99 [[ 9.64017520e-01 2.65831031e-01 -2.02079423e-03 6.22411277e+02] [-2.65830214e-01 9.64019632e-01 6.67497954e-04 -3.89576047e+01] [ 2.12552698e-03 -1.06291561e-04 9.99997735e-01 1.98596356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.370714057 meters Centerline goodness [0,1] 0.9773273273273273 Centerline is valid? [True, True] Translation: X:622.44, Y:-38.97, Z:1.99 [[ 9.63628599e-01 2.67240024e-01 -1.64077164e-03 6.22437635e+02] [-2.67239487e-01 9.63629993e-01 5.42138148e-04 -3.89669577e+01] [ 1.72597778e-03 -8.39408523e-05 9.99998507e-01 1.98640131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.400714057 meters Centerline goodness [0,1] 0.9765414690424304 Centerline is valid? [True, True] Translation: X:622.47, Y:-38.97, Z:1.99 [[ 9.63357601e-01 2.68215161e-01 -1.66149394e-03 6.22465995e+02] [-2.68214612e-01 9.63359030e-01 5.49099264e-04 -3.89744240e+01] [ 1.74789194e-03 -8.33419975e-05 9.99998469e-01 1.98628218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4307140569999 meters Centerline goodness [0,1] 0.9768954929033089 Centerline is valid? [True, True] Translation: X:622.49, Y:-38.98, Z:1.99 [[ 9.63461551e-01 2.67839236e-01 -1.99581085e-03 6.22493547e+02] [-2.67838445e-01 9.63463613e-01 6.58343541e-04 -3.89813429e+01] [ 2.09922137e-03 -9.97338133e-05 9.99997792e-01 1.98578529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4607140569999 meters Centerline goodness [0,1] 0.9780601949250783 Centerline is valid? [True, True] Translation: X:622.52, Y:-38.99, Z:1.99 [[ 9.63916114e-01 2.66196253e-01 -2.29781757e-03 6.22521752e+02] [-2.66195200e-01 9.63918845e-01 7.58170598e-04 -3.89878668e+01] [ 2.41673183e-03 -1.19144848e-04 9.99997073e-01 1.98548524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.490714057 meters Centerline goodness [0,1] 0.9759797724399494 Centerline is valid? [True, True] Translation: X:622.55, Y:-39.00, Z:1.99 [[ 9.64456743e-01 2.64232840e-01 -2.04887880e-03 6.22548029e+02] [-2.64232001e-01 9.64458913e-01 6.74932112e-04 -3.89999745e+01] [ 2.15439865e-03 -1.09563481e-04 9.99997673e-01 1.98585771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.520714057 meters Centerline goodness [0,1] 0.9748900096576886 Centerline is valid? [True, True] Translation: X:622.58, Y:-39.01, Z:1.99 [[ 9.66024462e-01 2.58443875e-01 -1.87142102e-03 6.22576533e+02] [-2.58443164e-01 9.66026268e-01 6.16241477e-04 -3.90097487e+01] [ 1.96710570e-03 -1.11648372e-04 9.99998059e-01 1.98625630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5507140569999 meters Centerline goodness [0,1] 0.9742383752004276 Centerline is valid? [True, True] Translation: X:622.60, Y:-39.02, Z:1.99 [[ 9.66774244e-01 2.55623557e-01 -2.03920683e-03 6.22603283e+02] [-2.55622707e-01 9.66776386e-01 6.71542350e-04 -3.90215230e+01] [ 2.14311906e-03 -1.27962278e-04 9.99997695e-01 1.98690518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5807140569999 meters Centerline goodness [0,1] 0.9736616518794736 Centerline is valid? [True, True] Translation: X:622.63, Y:-39.03, Z:1.99 [[ 9.67687866e-01 2.52143701e-01 -1.93585563e-03 6.22632282e+02] [-2.52142929e-01 9.67689794e-01 6.37362323e-04 -3.90303138e+01] [ 2.03401463e-03 -1.28655479e-04 9.99997923e-01 1.98698770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.610714057 meters Centerline goodness [0,1] 0.9699456486712926 Centerline is valid? [True, True] Translation: X:622.66, Y:-39.05, Z:1.99 [[ 9.69512675e-01 2.45033563e-01 -1.93019518e-03 6.22658492e+02] [-2.45032781e-01 9.69514586e-01 6.35473670e-04 -3.90453384e+01] [ 2.02706476e-03 -1.43138686e-04 9.99997935e-01 1.98706661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.640714057 meters Centerline goodness [0,1] 0.9666000816203794 Centerline is valid? [True, True] Translation: X:622.68, Y:-39.06, Z:1.99 [[ 9.70389990e-01 2.41536658e-01 -1.81929734e-03 6.22684376e+02] [-2.41535957e-01 9.70391685e-01 5.98956507e-04 -3.90614122e+01] [ 1.91010096e-03 -1.41795676e-04 9.99998166e-01 1.98721291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6707140569999 meters Centerline goodness [0,1] 0.969595321033845 Centerline is valid? [True, True] Translation: X:622.72, Y:-39.06, Z:1.99 [[ 9.71274771e-01 2.37955370e-01 -1.60047894e-03 6.22716398e+02] [-2.37954823e-01 9.71276081e-01 5.26817876e-04 -3.90619253e+01] [ 1.67986605e-03 -1.30843230e-04 9.99998580e-01 1.98733940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7007140569999 meters Centerline goodness [0,1] 0.9682840236686391 Centerline is valid? [True, True] Translation: X:622.74, Y:-39.07, Z:1.99 [[ 9.72811142e-01 2.31595940e-01 -1.34257335e-03 6.22742986e+02] [-2.31595549e-01 9.72812061e-01 4.41994486e-04 -3.90741948e+01] [ 1.40843568e-03 -1.19043147e-04 9.99999001e-01 1.98720037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7307140569999 meters Centerline goodness [0,1] 0.9675660592010646 Centerline is valid? [True, True] Translation: X:622.77, Y:-39.08, Z:1.99 [[ 9.73485293e-01 2.28744265e-01 -1.56415064e-03 6.22771616e+02] [-2.28743730e-01 9.73486539e-01 5.14820544e-04 -3.90824982e+01] [ 1.64044184e-03 -1.43380576e-04 9.99998644e-01 1.98616495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.760714057 meters Centerline goodness [0,1] 0.9659799578512752 Centerline is valid? [True, True] Translation: X:622.80, Y:-39.09, Z:1.98 [[ 9.74547854e-01 2.24162643e-01 -2.75506621e-03 6.22800232e+02] [-2.24160967e-01 9.74551712e-01 9.06604744e-04 -3.90926867e+01] [ 2.88818140e-03 -2.65951402e-04 9.99995794e-01 1.98472306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.790714057 meters Centerline goodness [0,1] 0.9610801025795745 Centerline is valid? [True, True] Translation: X:622.83, Y:-39.11, Z:1.98 [[ 9.74908184e-01 2.22574838e-01 -3.80443339e-03 6.22825114e+02] [-2.22571631e-01 9.74915536e-01 1.25191435e-03 -3.91080034e+01] [ 3.98764585e-03 -3.73742601e-04 9.99991979e-01 1.98473562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8207140569999 meters Centerline goodness [0,1] 0.943715952888487 Centerline is valid? [True, False] Translation: X:622.83, Y:-39.10, Z:1.99 [[ 9.75765782e-01 2.18753075e-01 -5.31333635e-03 6.22826884e+02] [-2.18773593e-01 9.75768853e-01 -3.64159840e-03 -3.91042512e+01] [ 4.38797726e-03 4.71576479e-03 9.99979253e-01 1.98500465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8507140569999 meters Centerline goodness [0,1] 0.9662531017369727 Centerline is valid? [False, True] Translation: X:622.83, Y:-39.10, Z:1.99 [[ 9.75887259e-01 2.18199356e-01 -5.75318851e-03 6.22827842e+02] [-2.18226102e-01 9.75887784e-01 -4.51689919e-03 -3.91021665e+01] [ 4.62888189e-03 5.66348027e-03 9.99973249e-01 1.98505806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.880714057 meters Centerline goodness [0,1] 0.9647437281402479 Centerline is valid? [True, True] Translation: X:622.85, Y:-39.11, Z:1.98 [[ 9.75831327e-01 2.18476399e-01 -4.61341669e-03 6.22854548e+02] [-2.18471688e-01 9.75842123e-01 1.50759342e-03 -3.91102079e+01] [ 4.83133992e-03 -4.63255956e-04 9.99988222e-01 1.98353837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.910714057 meters Centerline goodness [0,1] 0.9644480027697234 Centerline is valid? [True, True] Translation: X:622.88, Y:-39.12, Z:1.98 [[ 9.75655733e-01 2.19263680e-01 -4.39663771e-03 6.22883105e+02] [-2.19259412e-01 9.75665541e-01 1.43612627e-03 -3.91166863e+01] [ 4.60453824e-03 -4.37160629e-04 9.99989304e-01 1.98370686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9407140569999 meters Centerline goodness [0,1] 0.9663266852898503 Centerline is valid? [True, True] Translation: X:622.91, Y:-39.12, Z:1.98 [[ 9.75319942e-01 2.20747676e-01 -4.63399466e-03 6.22913429e+02] [-2.20742955e-01 9.75330846e-01 1.51303142e-03 -3.91191269e+01] [ 4.85367610e-03 -4.52768045e-04 9.99988118e-01 1.98445901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9707140569999 meters Centerline goodness [0,1] 0.9648818556254064 Centerline is valid? [True, True] Translation: X:622.94, Y:-39.13, Z:1.98 [[ 9.74858800e-01 2.22787180e-01 -4.02411890e-03 6.22941555e+02] [-2.22783637e-01 9.74867029e-01 1.31376209e-03 -3.91267039e+01] [ 4.21567019e-03 -3.84224688e-04 9.99991040e-01 1.98498981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.000714057 meters Centerline goodness [0,1] 0.9670367875535082 Centerline is valid? [True, True] Translation: X:622.97, Y:-39.12, Z:1.99 [[ 9.73731904e-01 2.27668752e-01 -3.62186518e-03 6.22973645e+02] [-2.27665917e-01 9.73738585e-01 1.18230452e-03 -3.91246461e+01] [ 3.79592367e-03 -3.26672375e-04 9.99992742e-01 1.98639344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.030714057 meters Centerline goodness [0,1] 0.9668059727482478 Centerline is valid? [True, True] Translation: X:623.00, Y:-39.13, Z:1.99 [[ 9.73206515e-01 2.29907389e-01 -3.41646643e-03 6.23001505e+02] [-2.29904880e-01 9.73212465e-01 1.11517032e-03 -3.91315641e+01] [ 3.58133361e-03 -2.99828715e-04 9.99993542e-01 1.98673900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0607140569999 meters Centerline goodness [0,1] 0.9678784969231441 Centerline is valid? [True, True] Translation: X:623.03, Y:-39.14, Z:1.99 [[ 9.72747210e-01 2.31844210e-01 -3.33588866e-03 6.23031724e+02] [-2.31841830e-01 9.72752888e-01 1.08863526e-03 -3.91363066e+01] [ 3.49738911e-03 -2.85568383e-04 9.99993843e-01 1.98690553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0907140569999 meters Centerline goodness [0,1] 0.9715461390299422 Centerline is valid? [True, True] Translation: X:623.06, Y:-39.14, Z:1.99 [[ 9.71996252e-01 2.34967271e-01 -3.69696842e-03 6.23063805e+02] [-2.34964371e-01 9.72003235e-01 1.20638681e-03 -3.91357127e+01] [ 3.87692668e-03 -3.03947600e-04 9.99992438e-01 1.98712336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.120714057 meters Centerline goodness [0,1] 0.9719406783379404 Centerline is valid? [True, True] Translation: X:623.09, Y:-39.14, Z:1.99 [[ 9.71899041e-01 2.35365295e-01 -3.92835758e-03 6.23090799e+02] [-2.35362024e-01 9.71906927e-01 1.28185338e-03 -3.91431017e+01] [ 4.11970174e-03 -3.21245882e-04 9.99991462e-01 1.98737332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.150714057 meters Centerline goodness [0,1] 0.9744361232512683 Centerline is valid? [True, True] Translation: X:623.12, Y:-39.15, Z:1.99 [[ 9.71886057e-01 2.35412067e-01 -4.31867637e-03 6.23119757e+02] [-2.35408116e-01 9.71895588e-01 1.40875172e-03 -3.91460053e+01] [ 4.52893967e-03 -3.52494684e-04 9.99989682e-01 1.98752750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1807140569999 meters Centerline goodness [0,1] 0.9725464336740302 Centerline is valid? [True, True] Translation: X:623.15, Y:-39.15, Z:1.99 [[ 9.71897364e-01 2.35354180e-01 -4.89118346e-03 6.23145905e+02] [-2.35349118e-01 9.71909590e-01 1.59403820e-03 -3.91540618e+01] [ 5.12895167e-03 -3.98105815e-04 9.99986768e-01 1.98774075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2107140569999 meters Centerline goodness [0,1] 0.9737439650801349 Centerline is valid? [True, True] Translation: X:623.17, Y:-39.16, Z:1.99 [[ 9.72167176e-01 2.34235462e-01 -4.97291088e-03 6.23174731e+02] [-2.34230219e-01 9.72179809e-01 1.61988395e-03 -3.91594801e+01] [ 5.21399781e-03 -4.09992002e-04 9.99986323e-01 1.98802530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.240714057 meters Centerline goodness [0,1] 0.9729136485359322 Centerline is valid? [True, True] Translation: X:623.20, Y:-39.17, Z:1.99 [[ 9.72319406e-01 2.33596342e-01 -5.26509888e-03 6.23200412e+02] [-2.33590464e-01 9.72333563e-01 1.71363619e-03 -3.91685603e+01] [ 5.51973150e-03 -4.36324833e-04 9.99984671e-01 1.98851805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.270714057 meters Centerline goodness [0,1] 0.9738734154812734 Centerline is valid? [True, True] Translation: X:623.23, Y:-39.17, Z:1.99 [[ 9.72593141e-01 2.32444581e-01 -5.66563660e-03 6.23229225e+02] [-2.32437761e-01 9.72609526e-01 1.84312268e-03 -3.91747082e+01] [ 5.93887601e-03 -4.75700588e-04 9.99982252e-01 1.98857104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3007140569999 meters Centerline goodness [0,1] 0.9725472845924124 Centerline is valid? [True, True] Translation: X:623.26, Y:-39.18, Z:1.99 [[ 9.72880582e-01 2.31219064e-01 -6.41224197e-03 6.23258076e+02] [-2.31210304e-01 9.72901560e-01 2.08563893e-03 -3.91819341e+01] [ 6.72071969e-03 -5.46501201e-04 9.99977266e-01 1.98829427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3307140569999 meters Centerline goodness [0,1] 0.9743754714469539 Centerline is valid? [True, True] Translation: X:623.29, Y:-39.19, Z:1.99 [[ 9.73452149e-01 2.28776059e-01 -7.24079622e-03 6.23287471e+02] [-2.28764823e-01 9.73478870e-01 2.35488668e-03 -3.91892789e+01] [ 7.58750381e-03 -6.35930035e-04 9.99971012e-01 1.98758662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.360714057 meters Centerline goodness [0,1] 0.9663555555555555 Centerline is valid? [True, True] Translation: X:623.31, Y:-39.20, Z:1.99 [[ 9.73848170e-01 2.27077475e-01 -7.45397161e-03 6.23311896e+02] [-2.27065521e-01 9.73876468e-01 2.42384722e-03 -3.92048523e+01] [ 7.80964865e-03 -6.67919237e-04 9.99969281e-01 1.98737325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.390714057 meters Centerline goodness [0,1] 0.9712804148384523 Centerline is valid? [True, True] Translation: X:623.34, Y:-39.21, Z:1.99 [[ 9.74138837e-01 2.25812920e-01 -7.87728095e-03 6.23342575e+02] [-2.25799533e-01 9.74170423e-01 2.56094331e-03 -3.92068632e+01] [ 8.25210820e-03 -7.16027975e-04 9.99965694e-01 1.98730489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4207140569999 meters Centerline goodness [0,1] 0.9759240269294217 Centerline is valid? [True, True] Translation: X:623.37, Y:-39.21, Z:1.99 [[ 9.74599277e-01 2.23807888e-01 -8.14109851e-03 6.23374346e+02] [-2.23793522e-01 9.74632985e-01 2.64646443e-03 -3.92073095e+01] [ 8.52688276e-03 -7.57317207e-04 9.99963359e-01 1.98696871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4507140569999 meters Centerline goodness [0,1] 0.9725374994436284 Centerline is valid? [True, True] Translation: X:623.40, Y:-39.22, Z:1.99 [[ 9.74888998e-01 2.22526893e-01 -8.55707951e-03 6.23401320e+02] [-2.22510975e-01 9.74926218e-01 2.78134876e-03 -3.92176344e+01] [ 8.96144606e-03 -8.07462199e-04 9.99959519e-01 1.98681139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4807140569999 meters Centerline goodness [0,1] 0.9623214285714285 Centerline is valid? [True, True] Translation: X:623.43, Y:-39.23, Z:1.99 [[ 9.75179778e-01 2.21255395e-01 -8.39345847e-03 6.23426018e+02] [-2.21240038e-01 9.75215569e-01 2.72767629e-03 -3.92336061e+01] [ 8.78894447e-03 -8.03005697e-04 9.99961054e-01 1.98616352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.510714057 meters Centerline goodness [0,1] 0.971259339032106 Centerline is valid? [True, True] Translation: X:623.46, Y:-39.23, Z:1.99 [[ 9.75604836e-01 2.19331937e-01 -9.41838602e-03 6.23458590e+02] [-2.19312515e-01 9.75649863e-01 3.06046752e-03 -3.92322361e+01] [ 9.86030530e-03 -9.20236993e-04 9.99950963e-01 1.98722201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.540714057 meters Centerline goodness [0,1] 0.9700656494364903 Centerline is valid? [True, True] Translation: X:623.49, Y:-39.24, Z:1.99 [[ 9.75757886e-01 2.18657859e-01 -9.23515595e-03 6.23486256e+02] [-2.18639168e-01 9.75801166e-01 2.99960245e-03 -3.92399824e+01] [ 9.66756260e-03 -9.07718931e-04 9.99952856e-01 1.98760398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5707140569999 meters Centerline goodness [0,1] 0.9678376930631194 Centerline is valid? [True, True] Translation: X:623.51, Y:-39.25, Z:1.99 [[ 9.75908000e-01 2.18015286e-01 -8.53873057e-03 6.23513816e+02] [-2.17999303e-01 9.75944990e-01 2.77118049e-03 -3.92479388e+01] [ 8.93749103e-03 -8.42979900e-04 9.99959705e-01 1.98799842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6007140569999 meters Centerline goodness [0,1] 0.9708864458982487 Centerline is valid? [True, True] Translation: X:623.54, Y:-39.25, Z:1.99 [[ 9.76072857e-01 2.17290549e-01 -8.16056135e-03 6.23543233e+02] [-2.17275944e-01 9.76106634e-01 2.64627135e-03 -3.92506670e+01] [ 8.54058783e-03 -8.09859963e-04 9.99963201e-01 1.98942033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.630714057 meters Centerline goodness [0,1] 0.9701142689715793 Centerline is valid? [True, True] Translation: X:623.57, Y:-39.26, Z:1.99 [[ 9.75882352e-01 2.18202404e-01 -6.43013965e-03 6.23571674e+02] [-2.18193364e-01 9.75903332e-01 2.08402423e-03 -3.92558857e+01] [ 6.72993380e-03 -6.30748664e-04 9.99977155e-01 1.99118443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.660714057 meters Centerline goodness [0,1] 0.9714632665452337 Centerline is valid? [True, True] Translation: X:623.60, Y:-39.26, Z:1.99 [[ 9.75905649e-01 2.18103555e-01 -6.24534526e-03 6.23600814e+02] [-2.18095030e-01 9.75925440e-01 2.02327294e-03 -3.92600511e+01] [ 6.53627434e-03 -6.12444735e-04 9.99978451e-01 1.99206580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6907140569999 meters Centerline goodness [0,1] 0.9702402456647399 Centerline is valid? [True, True] Translation: X:623.63, Y:-39.27, Z:1.99 [[ 9.75805262e-01 2.18555400e-01 -6.13421623e-03 6.23629491e+02] [-2.18547195e-01 9.75824360e-01 1.98562279e-03 -3.92665763e+01] [ 6.41988621e-03 -5.96965414e-04 9.99979214e-01 1.99224188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7207140569999 meters Centerline goodness [0,1] 0.9702609751163261 Centerline is valid? [True, True] Translation: X:623.66, Y:-39.27, Z:1.99 [[ 9.75701948e-01 2.19024778e-01 -5.81855452e-03 6.23657084e+02] [-2.19017413e-01 9.75719135e-01 1.88197952e-03 -3.92744446e+01] [ 6.08947513e-03 -5.61886321e-04 9.99981301e-01 1.99217507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.750714057 meters Centerline goodness [0,1] 0.9681159420289855 Centerline is valid? [True, True] Translation: X:623.68, Y:-39.28, Z:1.99 [[ 9.75577042e-01 2.19565675e-01 -6.35211187e-03 6.23683333e+02] [-2.19556919e-01 9.75597532e-01 2.05305521e-03 -3.92831728e+01] [ 6.64788511e-03 -6.08263413e-04 9.99977718e-01 1.99089674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.780714057 meters Centerline goodness [0,1] 0.9581475361597139 Centerline is valid? [True, True] Translation: X:623.71, Y:-39.30, Z:1.99 [[ 9.75511375e-01 2.19843380e-01 -6.81508057e-03 6.23708500e+02] [-2.19833315e-01 9.75534964e-01 2.20158086e-03 -3.92972550e+01] [ 7.13235235e-03 -6.49485414e-04 9.99974354e-01 1.98986886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8107140569999 meters Centerline goodness [0,1] 0.9578742121253344 Centerline is valid? [True, True] Translation: X:623.74, Y:-39.30, Z:1.99 [[ 9.75452618e-01 2.20077053e-01 -7.63420512e-03 6.23736756e+02] [-2.20064445e-01 9.75482223e-01 2.46444176e-03 -3.93048772e+01] [ 7.98939846e-03 -7.23929054e-04 9.99967822e-01 1.98900434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8407140569999 meters Centerline goodness [0,1] 0.9733630309779768 Centerline is valid? [True, True] Translation: X:623.77, Y:-39.30, Z:1.99 [[ 9.75189757e-01 2.21171478e-01 -9.38692904e-03 6.23769382e+02] [-2.21152477e-01 9.75234539e-01 3.02910903e-03 -3.92979795e+01] [ 9.82440993e-03 -8.78013499e-04 9.99951354e-01 1.98847643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.870714057 meters Centerline goodness [0,1] 0.9730025039836103 Centerline is valid? [True, True] Translation: X:623.80, Y:-39.31, Z:1.99 [[ 9.75131480e-01 2.21400670e-01 -1.00170360e-02 6.23797025e+02] [-2.21379064e-01 9.75182482e-01 3.23052010e-03 -3.93055955e+01] [ 1.04836773e-02 -9.32619791e-04 9.99944610e-01 1.98806586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.900714057 meters Centerline goodness [0,1] 0.9737704918032787 Centerline is valid? [True, True] Translation: X:623.82, Y:-39.31, Z:1.99 [[ 9.75056729e-01 2.21709244e-01 -1.04587549e-02 6.23824906e+02] [-2.21685740e-01 9.75112340e-01 3.37006220e-03 -3.93137767e+01] [ 1.09456349e-02 -9.67445011e-04 9.99939627e-01 1.98769689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9307140569999 meters Centerline goodness [0,1] 0.9736836114462631 Centerline is valid? [True, True] Translation: X:623.85, Y:-39.32, Z:1.99 [[ 9.74866628e-01 2.22522711e-01 -1.08950071e-02 6.23852529e+02] [-2.22497276e-01 9.74926997e-01 3.50889107e-03 -3.93218869e+01] [ 1.14026445e-02 -9.96591405e-04 9.99934491e-01 1.98728235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9607140569999 meters Centerline goodness [0,1] 0.9726918075422627 Centerline is valid? [True, True] Translation: X:623.88, Y:-39.33, Z:1.99 [[ 9.74671356e-01 2.23371410e-01 -1.09982502e-02 6.23880664e+02] [-2.23345554e-01 9.74732898e-01 3.54129210e-03 -3.93294152e+01] [ 1.15113797e-02 -9.95185682e-04 9.99933247e-01 1.98749850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.990714057 meters Centerline goodness [0,1] 0.9747029250457039 Centerline is valid? [True, True] Translation: X:623.91, Y:-39.33, Z:1.99 [[ 9.74063686e-01 2.26020334e-01 -1.07118846e-02 6.23910955e+02] [-2.25995971e-01 9.74122132e-01 3.44854362e-03 -3.93330579e+01] [ 1.12141249e-02 -9.38258337e-04 9.99936680e-01 1.98789030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.020714057 meters Centerline goodness [0,1] 0.9717776001826692 Centerline is valid? [True, True] Translation: X:623.94, Y:-39.34, Z:1.99 [[ 9.73704869e-01 2.27574186e-01 -1.04316204e-02 6.23937759e+02] [-2.27551176e-01 9.73760334e-01 3.35782212e-03 -3.93437813e+01] [ 1.09220518e-02 -8.95800250e-04 9.99939951e-01 1.98802160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0507140569999 meters Centerline goodness [0,1] 0.9736291715922525 Centerline is valid? [True, True] Translation: X:623.97, Y:-39.35, Z:1.99 [[ 9.73336476e-01 2.29146641e-01 -1.03885401e-02 6.23966532e+02] [-2.29123915e-01 9.73391521e-01 3.34347957e-03 -3.93504462e+01] [ 1.08782640e-02 -8.74067634e-04 9.99940448e-01 1.98824009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0807140569999 meters Centerline goodness [0,1] 0.9736291715922525 Centerline is valid? [True, True] Translation: X:623.99, Y:-39.36, Z:1.99 [[ 9.73398655e-01 2.28882340e-01 -1.03891146e-02 6.23992718e+02] [-2.28859618e-01 9.73453701e-01 3.34169379e-03 -3.93587745e+01] [ 1.08781767e-02 -8.75151447e-04 9.99940448e-01 1.98836588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.110714057 meters Centerline goodness [0,1] 0.9750648039822908 Centerline is valid? [True, True] Translation: X:624.02, Y:-39.36, Z:1.99 [[ 9.73112437e-01 2.30106932e-01 -1.01481791e-02 6.24022169e+02] [-2.30085346e-01 9.73164989e-01 3.26149247e-03 -3.93629581e+01] [ 1.06263447e-02 -8.38851575e-04 9.99943187e-01 1.98908444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.140714057 meters Centerline goodness [0,1] 0.9731978449157744 Centerline is valid? [True, True] Translation: X:624.05, Y:-39.37, Z:1.99 [[ 9.72643130e-01 2.32118356e-01 -9.29571409e-03 6.24049404e+02] [-2.32100347e-01 9.72687262e-01 2.98635048e-03 -3.93740389e+01] [ 9.73500945e-03 -7.47114808e-04 9.99952335e-01 1.98935864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1707140569999 meters Centerline goodness [0,1] 0.9749799334938654 Centerline is valid? [True, True] Translation: X:624.08, Y:-39.38, Z:1.99 [[ 9.72075568e-01 2.34493708e-01 -9.04383673e-03 6.24080594e+02] [-2.34476766e-01 9.72117383e-01 2.90518411e-03 -3.93761791e+01] [ 9.47291828e-03 -7.03488906e-04 9.99954883e-01 1.99030990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2007140569999 meters Centerline goodness [0,1] 0.9740825688073395 Centerline is valid? [True, True] Translation: X:624.11, Y:-39.38, Z:1.99 [[ 9.71774448e-01 2.35756395e-01 -8.56419907e-03 6.24107114e+02] [-2.35741255e-01 9.71811965e-01 2.75064005e-03 -3.93841764e+01] [ 8.97127210e-03 -6.54066677e-04 9.99959543e-01 1.99044795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2307140569999 meters Centerline goodness [0,1] 0.97234382124943 Centerline is valid? [True, True] Translation: X:624.13, Y:-39.39, Z:1.99 [[ 9.71486058e-01 2.36957256e-01 -8.13000684e-03 6.24133927e+02] [-2.36943661e-01 9.71519885e-01 2.61052390e-03 -3.93929215e+01] [ 8.51704589e-03 -6.09733994e-04 9.99963543e-01 1.99049581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.260714057 meters Centerline goodness [0,1] 0.9747493330880324 Centerline is valid? [True, True] Translation: X:624.16, Y:-39.40, Z:1.99 [[ 9.71533706e-01 2.36764528e-01 -8.05093234e-03 6.24161484e+02] [-2.36751200e-01 9.71566875e-01 2.58370873e-03 -3.93976653e+01] [ 8.43374976e-03 -6.04092217e-04 9.99964253e-01 1.99134111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.290714057 meters Centerline goodness [0,1] 0.9774913693901036 Centerline is valid? [True, True] Translation: X:624.19, Y:-39.40, Z:1.99 [[ 9.71471055e-01 2.37034274e-01 -7.66439609e-03 6.24191875e+02] [-2.37022221e-01 9.71501121e-01 2.45750212e-03 -3.93973991e+01] [ 8.02848162e-03 -5.70759991e-04 9.99967608e-01 1.99135340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3207140569999 meters Centerline goodness [0,1] 0.9764250851827977 Centerline is valid? [True, True] Translation: X:624.22, Y:-39.41, Z:1.99 [[ 9.71542560e-01 2.36750642e-01 -7.36117479e-03 6.24217326e+02] [-2.36739528e-01 9.71570292e-01 2.35882234e-03 -3.94082328e+01] [ 7.71035144e-03 -5.49015256e-04 9.99970124e-01 1.99142871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3507140569999 meters Centerline goodness [0,1] 0.9763044078402503 Centerline is valid? [True, True] Translation: X:624.25, Y:-39.41, Z:1.99 [[ 9.71821003e-01 2.35598775e-01 -7.56018288e-03 6.24245671e+02] [-2.35587027e-01 9.71850241e-01 2.42127057e-03 -3.94141355e+01] [ 7.91781393e-03 -5.71960587e-04 9.99968490e-01 1.99151956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.380714057 meters Centerline goodness [0,1] 0.9752768714673039 Centerline is valid? [True, True] Translation: X:624.27, Y:-39.42, Z:1.99 [[ 9.71947416e-01 2.35072809e-01 -7.68082257e-03 6.24273413e+02] [-2.35060684e-01 9.71977589e-01 2.45777373e-03 -3.94231816e+01] [ 8.04334318e-03 -5.83367418e-04 9.99967482e-01 1.99159796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.410714057 meters Centerline goodness [0,1] 0.9761221444151074 Centerline is valid? [True, True] Translation: X:624.30, Y:-39.43, Z:1.99 [[ 9.72068529e-01 2.34567740e-01 -7.79427427e-03 6.24300535e+02] [-2.34555256e-01 9.72099595e-01 2.49192080e-03 -3.94317811e+01] [ 8.16133509e-03 -5.94129792e-04 9.99966519e-01 1.99127268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4407140569999 meters Centerline goodness [0,1] 0.9775363822966396 Centerline is valid? [True, True] Translation: X:624.33, Y:-39.44, Z:1.99 [[ 9.72146420e-01 2.34226204e-01 -8.33203742e-03 6.24327385e+02] [-2.34211947e-01 9.72181918e-01 2.66132578e-03 -3.94395580e+01] [ 8.72360835e-03 -6.35735625e-04 9.99961747e-01 1.99109321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4707140569999 meters Centerline goodness [0,1] 0.9759732780465331 Centerline is valid? [True, True] Translation: X:624.35, Y:-39.45, Z:1.99 [[ 9.72085272e-01 2.34471346e-01 -8.56806367e-03 6.24354200e+02] [-2.34456297e-01 9.72122814e-01 2.73470045e-03 -3.94483092e+01] [ 8.97041907e-03 -6.49525554e-04 9.99959554e-01 1.99005333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.500714057 meters Centerline goodness [0,1] 0.9755014227219099 Centerline is valid? [True, True] Translation: X:624.38, Y:-39.46, Z:1.99 [[ 9.72021618e-01 2.34706748e-01 -9.31218397e-03 6.24382173e+02] [-2.34689002e-01 9.72065970e-01 2.97017411e-03 -3.94556136e+01] [ 9.74917705e-03 -7.01606279e-04 9.99952230e-01 1.98988655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.530714057 meters Centerline goodness [0,1] 0.9748772673842395 Centerline is valid? [True, True] Translation: X:624.41, Y:-39.47, Z:1.99 [[ 9.71945990e-01 2.35011520e-01 -9.51729696e-03 6.24408100e+02] [-2.34993015e-01 9.71992324e-01 3.03388872e-03 -3.94651136e+01] [ 9.96373839e-03 -7.12277663e-04 9.99950107e-01 1.98896134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5607140569999 meters Centerline goodness [0,1] 0.9755049221241392 Centerline is valid? [True, True] Translation: X:624.44, Y:-39.47, Z:1.99 [[ 9.71876648e-01 2.35289888e-01 -9.71846852e-03 6.24435407e+02] [-2.35270626e-01 9.71924969e-01 3.09615860e-03 -3.94732291e+01] [ 1.01741170e-02 -7.22614073e-04 9.99947981e-01 1.98855846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5907140569999 meters Centerline goodness [0,1] 0.9755329737737553 Centerline is valid? [True, True] Translation: X:624.46, Y:-39.48, Z:1.99 [[ 9.71626270e-01 2.36299711e-01 -1.02390596e-02 6.24461961e+02] [-2.36278405e-01 9.71679930e-01 3.26023044e-03 -3.94820473e+01] [ 1.07194802e-02 -7.48456871e-04 9.99942265e-01 1.98795462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.620714057 meters Centerline goodness [0,1] 0.9748990859741103 Centerline is valid? [True, True] Translation: X:624.49, Y:-39.49, Z:1.99 [[ 9.71594779e-01 2.36433574e-01 -1.01366127e-02 6.24489416e+02] [-2.36412719e-01 9.71647375e-01 3.22568602e-03 -3.94900494e+01] [ 1.06118736e-02 -7.37635508e-04 9.99943420e-01 1.98808607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.650714057 meters Centerline goodness [0,1] 0.9752060359837493 Centerline is valid? [True, True] Translation: X:624.52, Y:-39.50, Z:1.99 [[ 9.71589705e-01 2.36469167e-01 -9.78661557e-03 6.24516723e+02] [-2.36449755e-01 9.71638734e-01 3.11179118e-03 -3.94988135e+01] [ 1.02448974e-02 -7.09341415e-04 9.99947268e-01 1.98811434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6807140569999 meters Centerline goodness [0,1] 0.974577056778679 Centerline is valid? [True, True] Translation: X:624.54, Y:-39.51, Z:1.99 [[ 9.71474307e-01 2.36982102e-01 -8.78377900e-03 6.24544770e+02] [-2.36966505e-01 9.71513812e-01 2.79084287e-03 -3.95069643e+01] [ 9.19494243e-03 -6.29770727e-04 9.99957527e-01 1.98886120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7107140569999 meters Centerline goodness [0,1] 0.9730005330366869 Centerline is valid? [True, True] Translation: X:624.57, Y:-39.52, Z:1.99 [[ 9.71452354e-01 2.37105177e-01 -7.83955593e-03 6.24570933e+02] [-2.37092767e-01 9.71483825e-01 2.48958316e-03 -3.95166352e+01] [ 8.20629483e-03 -5.59809413e-04 9.99966171e-01 1.98932038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.740714057 meters Centerline goodness [0,1] 0.9751071966624174 Centerline is valid? [True, True] Translation: X:624.60, Y:-39.52, Z:1.99 [[ 9.71410967e-01 2.37274851e-01 -7.83447461e-03 6.24598480e+02] [-2.37262473e-01 9.71442399e-01 2.48668064e-03 -3.95235432e+01] [ 8.20076759e-03 -5.56762021e-04 9.99966218e-01 1.98984754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.770714057 meters Centerline goodness [0,1] 0.9713795342796178 Centerline is valid? [True, True] Translation: X:624.62, Y:-39.53, Z:1.99 [[ 9.71360757e-01 2.37513114e-01 -6.76760533e-03 6.24624742e+02] [-2.37503895e-01 9.71384215e-01 2.14647852e-03 -3.95341669e+01] [ 7.08376178e-03 -4.77672374e-04 9.99974796e-01 1.98994410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8007140569999 meters Centerline goodness [0,1] 0.9726981473742861 Centerline is valid? [True, True] Translation: X:624.65, Y:-39.54, Z:1.99 [[ 9.71301797e-01 2.37767738e-01 -6.27073457e-03 6.24652989e+02] [-2.37759838e-01 9.71321939e-01 1.98741833e-03 -3.95419467e+01] [ 6.56344602e-03 -4.39454158e-04 9.99978364e-01 1.99072235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8307140569999 meters Centerline goodness [0,1] 0.9785320165067001 Centerline is valid? [True, True] Translation: X:624.68, Y:-39.54, Z:1.99 [[ 9.71325747e-01 2.37685991e-01 -5.62696354e-03 6.24684317e+02] [-2.37679636e-01 9.71341966e-01 1.78212763e-03 -3.95368480e+01] [ 5.88929260e-03 -3.93611811e-04 9.99982580e-01 1.99146786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.860714057 meters Centerline goodness [0,1] 0.9776761887081429 Centerline is valid? [True, True] Translation: X:624.71, Y:-39.55, Z:1.99 [[ 9.71260352e-01 2.37962504e-01 -5.21304765e-03 6.24710686e+02] [-2.37957060e-01 9.71274274e-01 1.64983435e-03 -3.95461439e+01] [ 5.45589778e-03 -3.61937198e-04 9.99985051e-01 1.99207584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.890714057 meters Centerline goodness [0,1] 0.9753390302805127 Centerline is valid? [True, True] Translation: X:624.74, Y:-39.56, Z:1.99 [[ 9.71068682e-01 2.38757178e-01 -4.54135610e-03 6.24735765e+02] [-2.38753057e-01 9.71079252e-01 1.43686714e-03 -3.95594909e+01] [ 4.75307902e-03 -3.11034029e-04 9.99988656e-01 1.99233526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9207140569999 meters Centerline goodness [0,1] 0.9779406647955278 Centerline is valid? [True, True] Translation: X:624.77, Y:-39.56, Z:1.99 [[ 9.70888510e-01 2.39499937e-01 -3.90908370e-03 6.24765212e+02] [-2.39496890e-01 9.70896344e-01 1.23657879e-03 -3.95612710e+01] [ 4.09147561e-03 -2.64366750e-04 9.99991595e-01 1.99239549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9507140569999 meters Centerline goodness [0,1] 0.9776772316997161 Centerline is valid? [True, True] Translation: X:624.79, Y:-39.57, Z:1.99 [[ 9.70610401e-01 2.40622867e-01 -4.01072809e-03 6.24792715e+02] [-2.40619675e-01 9.70618651e-01 1.26753451e-03 -3.95695374e+01] [ 4.19788527e-03 -2.65222087e-04 9.99991154e-01 1.99225348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9807140569999 meters Centerline goodness [0,1] 0.9787515061636852 Centerline is valid? [True, True] Translation: X:624.82, Y:-39.58, Z:1.99 [[ 9.70374969e-01 2.41571851e-01 -3.93188767e-03 6.24820739e+02] [-2.41568792e-01 9.70382901e-01 1.24240096e-03 -3.95769263e+01] [ 4.11556566e-03 -2.55773439e-04 9.99991498e-01 1.99280619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.010714057 meters Centerline goodness [0,1] 0.9788999140194734 Centerline is valid? [True, True] Translation: X:624.85, Y:-39.58, Z:1.99 [[ 9.70120699e-01 2.42587873e-01 -4.11729828e-03 6.24849101e+02] [-2.42584533e-01 9.70129401e-01 1.29983691e-03 -3.95837159e+01] [ 4.30963678e-03 -2.62205813e-04 9.99990679e-01 1.99221324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.040714057 meters Centerline goodness [0,1] 0.9789777983348751 Centerline is valid? [True, True] Translation: X:624.88, Y:-39.59, Z:1.99 [[ 9.69843473e-01 2.43691812e-01 -4.23534740e-03 6.24875024e+02] [-2.43688292e-01 9.69852685e-01 1.33597650e-03 -3.95949208e+01] [ 4.43322958e-03 -2.63583511e-04 9.99990138e-01 1.99183832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0707140569999 meters Centerline goodness [0,1] 0.9773453047623455 Centerline is valid? [True, True] Translation: X:624.90, Y:-39.61, Z:1.99 [[ 9.69690080e-01 2.44297714e-01 -4.44701171e-03 6.24900514e+02] [-2.44293843e-01 9.69700238e-01 1.40229051e-03 -3.96062475e+01] [ 4.65484468e-03 -2.73409620e-04 9.99989129e-01 1.99117518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1007140569999 meters Centerline goodness [0,1] 0.9782116451016636 Centerline is valid? [True, True] Translation: X:624.93, Y:-39.61, Z:1.99 [[ 9.69565697e-01 2.44789750e-01 -4.50978674e-03 6.24928258e+02] [-2.44785776e-01 9.69576146e-01 1.42163282e-03 -3.96130713e+01] [ 4.72058279e-03 -2.74434766e-04 9.99988820e-01 1.99077267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.130714057 meters Centerline goodness [0,1] 0.9806991903867122 Centerline is valid? [True, True] Translation: X:624.96, Y:-39.62, Z:1.99 [[ 9.69091801e-01 2.46643746e-01 -5.28626636e-03 6.24957182e+02] [-2.46638321e-01 9.69106169e-01 1.66484462e-03 -3.96178950e+01] [ 5.53357686e-03 -3.09591412e-04 9.99984642e-01 1.99068439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.160714057 meters Centerline goodness [0,1] 0.9818287305639359 Centerline is valid? [True, True] Translation: X:624.98, Y:-39.63, Z:1.99 [[ 9.68929490e-01 2.47278709e-01 -5.37435549e-03 6.24984855e+02] [-2.47273119e-01 9.68944345e-01 1.69122308e-03 -3.96258880e+01] [ 5.62565482e-03 -3.09742266e-04 9.99984128e-01 1.99056906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1907140569999 meters Centerline goodness [0,1] 0.9801682552259328 Centerline is valid? [True, True] Translation: X:625.01, Y:-39.64, Z:1.99 [[ 9.68726322e-01 2.48064581e-01 -5.76861937e-03 6.25010097e+02] [-2.48058164e-01 9.68743442e-01 1.81385092e-03 -3.96375243e+01] [ 6.03826435e-03 -3.26171998e-04 9.99981716e-01 1.99058186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2207140569999 meters Centerline goodness [0,1] 0.981101887492464 Centerline is valid? [True, True] Translation: X:625.04, Y:-39.64, Z:1.99 [[ 9.68045071e-01 2.50718698e-01 -5.37362668e-03 6.25039081e+02] [-2.50713174e-01 9.68059942e-01 1.68905156e-03 -3.96435974e+01] [ 5.62546954e-03 -2.87839034e-04 9.99984135e-01 1.99107696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.250714057 meters Centerline goodness [0,1] 0.9815547078526238 Centerline is valid? [True, True] Translation: X:625.07, Y:-39.65, Z:1.99 [[ 9.67662655e-01 2.52181377e-01 -5.79137074e-03 6.25066490e+02] [-2.52174988e-01 9.67679938e-01 1.82008100e-03 -3.96516488e+01] [ 6.06318382e-03 -3.00785559e-04 9.99981573e-01 1.99091066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.280714057 meters Centerline goodness [0,1] 0.9816565147378001 Centerline is valid? [True, True] Translation: X:625.09, Y:-39.66, Z:1.99 [[ 9.67518078e-01 2.52736566e-01 -5.74431702e-03 6.25094259e+02] [-2.52730295e-01 9.67535085e-01 1.80461784e-03 -3.96579309e+01] [ 6.01392117e-03 -2.94237448e-04 9.99981873e-01 1.99070104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3107140569999 meters Centerline goodness [0,1] 0.9807571051586839 Centerline is valid? [True, True] Translation: X:625.12, Y:-39.67, Z:1.99 [[ 9.67409394e-01 2.53147714e-01 -5.94138085e-03 6.25121942e+02] [-2.53141023e-01 9.67427591e-01 1.86494267e-03 -3.96669697e+01] [ 6.21996175e-03 -3.00155837e-04 9.99980611e-01 1.99087936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3407140569999 meters Centerline goodness [0,1] 0.982677859196735 Centerline is valid? [True, True] Translation: X:625.15, Y:-39.67, Z:1.99 [[ 9.67281197e-01 2.53640707e-01 -5.78605398e-03 6.25150748e+02] [-2.53634378e-01 9.67298459e-01 1.81473234e-03 -3.96729378e+01] [ 6.05713109e-03 -2.87814268e-04 9.99981614e-01 1.99124811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.370714057 meters Centerline goodness [0,1] 0.9801876955161627 Centerline is valid? [True, True] Translation: X:625.18, Y:-39.69, Z:1.99 [[ 9.67409765e-01 2.53156602e-01 -5.48472590e-03 6.25175269e+02] [-2.53150914e-01 9.67425273e-01 1.71908432e-03 -3.96866078e+01] [ 5.74126000e-03 -2.74595587e-04 9.99983481e-01 1.99154914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.400714057 meters Centerline goodness [0,1] 0.9797972736805313 Centerline is valid? [True, True] Translation: X:625.20, Y:-39.69, Z:1.99 [[ 9.67701884e-01 2.52044071e-01 -5.18179490e-03 6.25202729e+02] [-2.52038981e-01 9.67715721e-01 1.62353104e-03 -3.96946383e+01] [ 5.42370576e-03 -2.65079737e-04 9.99985256e-01 1.99224626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4307140569999 meters Centerline goodness [0,1] 0.978865406006674 Centerline is valid? [True, True] Translation: X:625.23, Y:-39.71, Z:1.99 [[ 9.68248021e-01 2.49959515e-01 -4.00137781e-03 6.25229687e+02] [-2.49956466e-01 9.68256265e-01 1.25283304e-03 -3.97061593e+01] [ 4.18751667e-03 -2.12882856e-04 9.99991210e-01 1.99307920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4607140569999 meters Centerline goodness [0,1] 0.9792425261497785 Centerline is valid? [True, True] Translation: X:625.26, Y:-39.71, Z:1.99 [[ 9.68552489e-01 2.48781870e-01 -3.69553208e-03 6.25257362e+02] [-2.48779261e-01 9.68559518e-01 1.15702613e-03 -3.97146636e+01] [ 3.86718989e-03 -2.01268800e-04 9.99992502e-01 1.99352437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.490714057 meters Centerline goodness [0,1] 0.9776592579028086 Centerline is valid? [True, True] Translation: X:625.28, Y:-39.73, Z:1.99 [[ 9.68680303e-01 2.48294627e-01 -2.87210083e-03 6.25282731e+02] [-2.48293051e-01 9.68684548e-01 8.98455725e-04 -3.97275972e+01] [ 3.00524142e-03 -1.57193687e-04 9.99995472e-01 1.99385624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.520714057 meters Centerline goodness [0,1] 0.9768211159863086 Centerline is valid? [True, True] Translation: X:625.31, Y:-39.74, Z:1.99 [[ 9.68932998e-01 2.47307813e-01 -2.77323214e-03 6.25308734e+02] [-2.47306340e-01 9.68936955e-01 8.67275451e-04 -3.97395047e+01] [ 2.90157110e-03 -1.54493911e-04 9.99995778e-01 1.99416422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5507140569999 meters Centerline goodness [0,1] 0.9720088947983769 Centerline is valid? [True, True] Translation: X:625.33, Y:-39.75, Z:1.99 [[ 9.69124175e-01 2.46554105e-01 -3.06699266e-03 6.25333703e+02] [-2.46552302e-01 9.69129013e-01 9.58819902e-04 -3.97540030e+01] [ 3.20871255e-03 -1.73041448e-04 9.99994837e-01 1.99441101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5807140569999 meters Centerline goodness [0,1] 0.9750511153483884 Centerline is valid? [True, True] Translation: X:625.36, Y:-39.76, Z:1.99 [[ 9.69317811e-01 2.45783136e-01 -3.69196326e-03 6.25362263e+02] [-2.45780518e-01 9.69324819e-01 1.15389517e-03 -3.97597914e+01] [ 3.86231959e-03 -2.11078503e-04 9.99992519e-01 1.99424635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.610714057 meters Centerline goodness [0,1] 0.9747687517171902 Centerline is valid? [True, True] Translation: X:625.39, Y:-39.77, Z:1.99 [[ 9.69395234e-01 2.45475753e-01 -3.81259239e-03 6.25388396e+02] [-2.45472963e-01 9.69402706e-01 1.19050496e-03 -3.97707282e+01] [ 3.98817749e-03 -2.18181484e-04 9.99992023e-01 1.99443529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.640714057 meters Centerline goodness [0,1] 0.975556425069625 Centerline is valid? [True, True] Translation: X:625.42, Y:-39.78, Z:1.99 [[ 9.69571418e-01 2.44766993e-01 -4.51483097e-03 6.25415816e+02] [-2.44763075e-01 9.69581895e-01 1.40928267e-03 -3.97806743e+01] [ 4.72244424e-03 -2.61336286e-04 9.99988815e-01 1.99373793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6707140569999 meters Centerline goodness [0,1] 0.9742412415629735 Centerline is valid? [True, True] Translation: X:625.44, Y:-39.79, Z:1.99 [[ 9.69720471e-01 2.44152725e-01 -5.62626103e-03 6.25441331e+02] [-2.44146639e-01 9.69736737e-01 1.75473034e-03 -3.97928864e+01] [ 5.88441420e-03 -3.27965208e-04 9.99982633e-01 1.99251640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7007140569999 meters Centerline goodness [0,1] 0.9747954695654155 Centerline is valid? [True, True] Translation: X:625.47, Y:-39.80, Z:1.99 [[ 9.69646146e-01 2.44444318e-01 -5.77288171e-03 6.25468662e+02] [-2.44437921e-01 9.69663273e-01 1.79974150e-03 -3.98035427e+01] [ 6.03768796e-03 -3.34001204e-04 9.99981717e-01 1.99250450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7307140569999 meters Centerline goodness [0,1] 0.9742040330517979 Centerline is valid? [True, True] Translation: X:625.50, Y:-39.81, Z:1.99 [[ 9.69724984e-01 2.44113840e-01 -6.47211756e-03 6.25495100e+02] [-2.44105803e-01 9.69746509e-01 2.01610462e-03 -3.98139556e+01] [ 6.76847245e-03 -3.75185566e-04 9.99977023e-01 1.99196118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.760714057 meters Centerline goodness [0,1] 0.9796320480216281 Centerline is valid? [True, True] Translation: X:625.53, Y:-39.81, Z:1.99 [[ 9.69505932e-01 2.44974972e-01 -6.74615804e-03 6.25525709e+02] [-2.44966273e-01 9.69529327e-01 2.09971240e-03 -3.98129074e+01] [ 7.05497505e-03 -3.83102434e-04 9.99975040e-01 1.99222609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.790714057 meters Centerline goodness [0,1] 0.9792415896572131 Centerline is valid? [True, True] Translation: X:625.55, Y:-39.82, Z:1.99 [[ 9.69219931e-01 2.46096618e-01 -7.01279052e-03 6.25553744e+02] [-2.46087261e-01 9.69245224e-01 2.18079379e-03 -3.98215264e+01] [ 7.33379970e-03 -3.87910399e-04 9.99973032e-01 1.99254659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8207140569999 meters Centerline goodness [0,1] 0.9736728134758724 Centerline is valid? [True, True] Translation: X:625.58, Y:-39.84, Z:1.99 [[ 9.69016762e-01 2.46878788e-01 -7.57486695e-03 6.25576446e+02] [-2.46867911e-01 9.69046281e-01 2.35352226e-03 -3.98432655e+01] [ 7.92143138e-03 -4.10610934e-04 9.99968541e-01 1.99156603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8507140569999 meters Centerline goodness [0,1] 0.9806806462701959 Centerline is valid? [True, True] Translation: X:625.61, Y:-39.84, Z:1.99 [[ 9.68625814e-01 2.48384413e-01 -8.31960726e-03 6.25607388e+02] [-2.48371361e-01 9.68661444e-01 2.58331390e-03 -3.98400715e+01] [ 8.70053769e-03 -4.35912353e-04 9.99962055e-01 1.99207476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.880714057 meters Centerline goodness [0,1] 0.9801959843760707 Centerline is valid? [True, True] Translation: X:625.63, Y:-39.85, Z:1.99 [[ 9.68138076e-01 2.50258832e-01 -8.89848221e-03 6.25633627e+02] [-2.50243988e-01 9.68178866e-01 2.76209388e-03 -3.98490204e+01] [ 9.30656081e-03 -4.47296573e-04 9.99956593e-01 1.99191195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.910714057 meters Centerline goodness [0,1] 0.9822042974001413 Centerline is valid? [True, True] Translation: X:625.66, Y:-39.86, Z:1.99 [[ 9.67130070e-01 2.54092995e-01 -9.80700465e-03 6.25662940e+02] [-2.54075171e-01 9.67179687e-01 3.04320510e-03 -3.98563939e+01] [ 1.02583928e-02 -4.51458778e-04 9.99947279e-01 1.99144544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9407140569999 meters Centerline goodness [0,1] 0.9820090637881169 Centerline is valid? [True, True] Translation: X:625.69, Y:-39.86, Z:1.99 [[ 9.66647220e-01 2.55900434e-01 -1.03980683e-02 6.25690726e+02] [-2.55880509e-01 9.66703035e-01 3.22594679e-03 -3.98648518e+01] [ 1.08773654e-02 -4.57689486e-04 9.99940735e-01 1.99145320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9707140569999 meters Centerline goodness [0,1] 0.9820090637881169 Centerline is valid? [True, True] Translation: X:625.72, Y:-39.87, Z:1.99 [[ 9.66718546e-01 2.55630828e-01 -1.03986839e-02 6.25716923e+02] [-2.55610908e-01 9.66774363e-01 3.22396147e-03 -3.98728979e+01] [ 1.08773250e-02 -4.58646307e-04 9.99940735e-01 1.99157871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.000714057 meters Centerline goodness [0,1] 0.9824968176032006 Centerline is valid? [True, True] Translation: X:625.74, Y:-39.88, Z:1.99 [[ 9.66182455e-01 2.57653461e-01 -1.03032530e-02 6.25744261e+02] [-2.57634040e-01 9.66237294e-01 3.19260188e-03 -3.98816479e+01] [ 1.07779722e-02 -4.30167238e-04 9.99941823e-01 1.99219260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.030714057 meters Centerline goodness [0,1] 0.9827852470930233 Centerline is valid? [True, True] Translation: X:625.77, Y:-39.89, Z:1.99 [[ 9.65859609e-01 2.58881087e-01 -9.78767500e-03 6.25771458e+02] [-2.58863642e-01 9.65909120e-01 3.03109571e-03 -3.98901379e+01] [ 1.02386979e-02 -3.93939722e-04 9.99947506e-01 1.99254948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0607140569999 meters Centerline goodness [0,1] 0.9829938200961318 Centerline is valid? [True, True] Translation: X:625.80, Y:-39.90, Z:1.99 [[ 9.65202698e-01 2.61336405e-01 -9.32927211e-03 6.25798974e+02] [-2.61320687e-01 9.65247720e-01 2.88742242e-03 -3.99001399e+01] [ 9.75964723e-03 -3.49016114e-04 9.99952313e-01 1.99360040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0907140569999 meters Centerline goodness [0,1] 0.9831764196320697 Centerline is valid? [True, True] Translation: X:625.83, Y:-39.91, Z:1.99 [[ 9.64997160e-01 2.62109795e-01 -8.88460961e-03 6.25826096e+02] [-2.62095588e-01 9.65038005e-01 2.74811135e-03 -3.99101714e+01] [ 9.29429284e-03 -3.23302673e-04 9.99956755e-01 1.99388929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.120714057 meters Centerline goodness [0,1] 0.9833409090909091 Centerline is valid? [True, True] Translation: X:625.85, Y:-39.92, Z:1.99 [[ 9.64857953e-01 2.62633805e-01 -8.52149391e-03 6.25851661e+02] [-2.62620770e-01 9.64895534e-01 2.63413543e-03 -3.99208151e+01] [ 8.91416443e-03 -3.03645225e-04 9.99960222e-01 1.99350920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.150714057 meters Centerline goodness [0,1] 0.9838160522970765 Centerline is valid? [True, True] Translation: X:625.88, Y:-39.93, Z:1.99 [[ 9.64940913e-01 2.62321143e-01 -8.75517935e-03 6.25877645e+02] [-2.62307388e-01 9.64980580e-01 2.70447726e-03 -3.99327569e+01] [ 9.15801962e-03 -3.13112527e-04 9.99958015e-01 1.99394820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1807140569999 meters Centerline goodness [0,1] 0.9837002299269242 Centerline is valid? [True, True] Translation: X:625.90, Y:-39.94, Z:1.99 [[ 9.65049069e-01 2.61910865e-01 -9.11003502e-03 6.25903261e+02] [-2.61895980e-01 9.65092012e-01 2.81138998e-03 -3.99429173e+01] [ 9.52835561e-03 -3.27247730e-04 9.99954551e-01 1.99386779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2107140569999 meters Centerline goodness [0,1] 0.9822104380537993 Centerline is valid? [True, True] Translation: X:625.93, Y:-39.95, Z:1.99 [[ 9.65160584e-01 2.61515241e-01 -8.65015406e-03 6.25928613e+02] [-2.61501820e-01 9.65199296e-01 2.66787971e-03 -3.99535775e+01] [ 9.04681382e-03 -3.12901308e-04 9.99959028e-01 1.99434052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.240714057 meters Centerline goodness [0,1] 0.9844743054294535 Centerline is valid? [True, True] Translation: X:625.96, Y:-39.96, Z:1.99 [[ 9.65399021e-01 2.60630855e-01 -8.73432936e-03 6.25956550e+02] [-2.60617149e-01 9.65438477e-01 2.69227656e-03 -3.99599180e+01] [ 9.13414797e-03 -3.22805136e-04 9.99958231e-01 1.99497312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.270714057 meters Centerline goodness [0,1] 0.9830909705782888 Centerline is valid? [True, True] Translation: X:625.98, Y:-39.98, Z:1.99 [[ 9.65627913e-01 2.59790388e-01 -8.46685509e-03 6.25979593e+02] [-2.59777492e-01 9.65664980e-01 2.60801363e-03 -3.99777865e+01] [ 8.85368232e-03 -3.18872377e-04 9.99960755e-01 1.99469608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3007140569999 meters Centerline goodness [0,1] 0.9846547314578005 Centerline is valid? [True, True] Translation: X:626.01, Y:-39.98, Z:2.00 [[ 9.65842756e-01 2.58975991e-01 -8.89979679e-03 6.26008105e+02] [-2.58961728e-01 9.65883699e-01 2.73936990e-03 -3.99824308e+01] [ 9.30559968e-03 -3.41093822e-04 9.99956644e-01 1.99502596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3307140569999 meters Centerline goodness [0,1] 0.9825793444034162 Centerline is valid? [True, True] Translation: X:626.03, Y:-40.00, Z:1.99 [[ 9.66011509e-01 2.58333210e-01 -9.25839075e-03 6.26031861e+02] [-2.58317760e-01 9.66055808e-01 2.84803186e-03 -4.00006506e+01] [ 9.67986337e-03 -3.59624796e-04 9.99953084e-01 1.99406323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.360714057 meters Centerline goodness [0,1] 0.9855010468964586 Centerline is valid? [True, True] Translation: X:626.06, Y:-40.00, Z:1.99 [[ 9.66042667e-01 2.58238973e-01 -8.61387905e-03 6.26060191e+02] [-2.58225612e-01 9.66081012e-01 2.64805880e-03 -4.00038781e+01] [ 9.00553697e-03 -3.33813598e-04 9.99959394e-01 1.99491732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.390714057 meters Centerline goodness [0,1] 0.9854073591810161 Centerline is valid? [True, True] Translation: X:626.09, Y:-40.02, Z:2.00 [[ 9.66216522e-01 2.57584802e-01 -8.70071113e-03 6.26086287e+02] [-2.57571166e-01 9.66255636e-01 2.67220965e-03 -4.00164560e+01] [ 9.09543176e-03 -3.40880804e-04 9.99958578e-01 1.99507944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4207140569999 meters Centerline goodness [0,1] 0.9859385512446737 Centerline is valid? [True, True] Translation: X:626.11, Y:-40.03, Z:2.00 [[ 9.66249144e-01 2.57456962e-01 -8.86027291e-03 6.26112513e+02] [-2.57442840e-01 9.66289705e-01 2.71861290e-03 -4.00264122e+01] [ 9.26151631e-03 -3.45843560e-04 9.99957051e-01 1.99538368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4507140569999 meters Centerline goodness [0,1] 0.9855772470963539 Centerline is valid? [True, True] Translation: X:626.14, Y:-40.04, Z:2.00 [[ 9.66581508e-01 2.56207181e-01 -8.83561579e-03 6.26139732e+02] [-2.56193110e-01 9.66621826e-01 2.70846186e-03 -4.00365646e+01] [ 9.23462645e-03 -3.54325261e-04 9.99957297e-01 1.99516131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4807140569999 meters Centerline goodness [0,1] 0.9858451477076754 Centerline is valid? [True, True] Translation: X:626.17, Y:-40.05, Z:1.99 [[ 9.66752632e-01 2.55549331e-01 -9.15899322e-03 6.26165440e+02] [-2.55534197e-01 9.66795946e-01 2.80587742e-03 -4.00482671e+01] [ 9.57191761e-03 -3.72153394e-04 9.99954119e-01 1.99494439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.510714057 meters Centerline goodness [0,1] 0.9865429752989829 Centerline is valid? [True, True] Translation: X:626.19, Y:-40.06, Z:1.99 [[ 9.67374380e-01 2.53152913e-01 -1.00205234e-02 6.26192448e+02] [-2.53134677e-01 9.67426181e-01 3.06912337e-03 -4.00622962e+01] [ 1.04710742e-02 -4.32449376e-04 9.99945083e-01 1.99462221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.540714057 meters Centerline goodness [0,1] 0.9858689585891283 Centerline is valid? [True, True] Translation: X:626.22, Y:-40.07, Z:1.99 [[ 9.67709490e-01 2.51874066e-01 -9.88928891e-03 6.26217537e+02] [-2.51856246e-01 9.67759919e-01 3.02822809e-03 -4.00746821e+01] [ 1.03331896e-02 -4.39765876e-04 9.99946514e-01 1.99433801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5707140569999 meters Centerline goodness [0,1] 0.9839333199258117 Centerline is valid? [True, True] Translation: X:626.24, Y:-40.09, Z:1.99 [[ 9.68207750e-01 2.49938188e-01 -1.02300494e-02 6.26244122e+02] [-2.49919032e-01 9.68261678e-01 3.13055010e-03 -4.00854320e+01] [ 1.06878089e-02 -4.74338808e-04 9.99942771e-01 1.99385687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6007140569999 meters Centerline goodness [0,1] 0.9820132743362832 Centerline is valid? [True, True] Translation: X:626.27, Y:-40.11, Z:1.99 [[ 9.68958490e-01 2.46989941e-01 -1.07430829e-02 6.26267247e+02] [-2.46968654e-01 9.69017898e-01 3.28581301e-03 -4.01057816e+01] [ 1.12218023e-02 -5.30611693e-04 9.99936893e-01 1.99265168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.630714057 meters Centerline goodness [0,1] 0.9843313682904127 Centerline is valid? [True, True] Translation: X:626.30, Y:-40.11, Z:1.99 [[ 9.69476782e-01 2.44956089e-01 -1.05491368e-02 6.26295831e+02] [-2.44935465e-01 9.69534022e-01 3.22449908e-03 -4.01107122e+01] [ 1.10176077e-02 -5.42219263e-04 9.99939157e-01 1.99325201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.660714057 meters Centerline goodness [0,1] 0.9842490114211235 Centerline is valid? [True, True] Translation: X:626.32, Y:-40.12, Z:1.99 [[ 9.69891171e-01 2.43312758e-01 -1.04889501e-02 6.26323102e+02] [-2.43292304e-01 9.69947727e-01 3.20323356e-03 -4.01199301e+01] [ 1.09531209e-02 -5.54907108e-04 9.99939859e-01 1.99369510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6907140569999 meters Centerline goodness [0,1] 0.9825860201984487 Centerline is valid? [True, True] Translation: X:626.35, Y:-40.13, Z:1.99 [[ 9.70237343e-01 2.41938397e-01 -1.02621327e-02 6.26348424e+02] [-2.41918760e-01 9.70291452e-01 3.13220077e-03 -4.01323403e+01] [ 1.07150592e-02 -5.56375743e-04 9.99942437e-01 1.99335505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7207140569999 meters Centerline goodness [0,1] 0.9817402768622281 Centerline is valid? [True, True] Translation: X:626.37, Y:-40.15, Z:1.99 [[ 9.70828721e-01 2.39577662e-01 -9.70246440e-03 6.26372800e+02] [-2.39560000e-01 9.70877048e-01 2.96053473e-03 -4.01511734e+01] [ 1.01291780e-02 -5.49849776e-04 9.99948547e-01 1.99322138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.750714057 meters Centerline goodness [0,1] 0.9821166041296382 Centerline is valid? [True, True] Translation: X:626.40, Y:-40.16, Z:1.99 [[ 9.71137520e-01 2.38315134e-01 -9.89006191e-03 6.26401305e+02] [-2.38296737e-01 9.71187711e-01 3.01591225e-03 -4.01564124e+01] [ 1.03238441e-02 -5.72096061e-04 9.99946544e-01 1.99376448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.780714057 meters Centerline goodness [0,1] 0.9813690554749022 Centerline is valid? [True, True] Translation: X:626.43, Y:-40.17, Z:1.99 [[ 9.71576919e-01 2.36515231e-01 -9.94160499e-03 6.26428510e+02] [-2.36496562e-01 9.71627600e-01 3.03021987e-03 -4.01689915e+01] [ 1.03762310e-02 -5.92936285e-04 9.99945990e-01 1.99333631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8107140569999 meters Centerline goodness [0,1] 0.9820724980299448 Centerline is valid? [True, True] Translation: X:626.45, Y:-40.18, Z:1.99 [[ 9.71840723e-01 2.35437498e-01 -9.73620653e-03 6.26454944e+02] [-2.35419548e-01 9.71889312e-01 2.96666757e-03 -4.01791048e+01] [ 1.01609799e-02 -5.91035009e-04 9.99948201e-01 1.99320225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8407140569999 meters Centerline goodness [0,1] 0.981436784131303 Centerline is valid? [True, True] Translation: X:626.48, Y:-40.19, Z:1.99 [[ 9.72182163e-01 2.34023510e-01 -9.73847827e-03 6.26481648e+02] [-2.34005502e-01 9.72230750e-01 2.96527115e-03 -4.01898019e+01] [ 1.01619912e-02 -6.03926230e-04 9.99948183e-01 1.99345552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.870714057 meters Centerline goodness [0,1] 0.9812989970656506 Centerline is valid? [True, True] Translation: X:626.51, Y:-40.20, Z:1.99 [[ 9.72412899e-01 2.33089171e-01 -9.08807577e-03 6.26508177e+02] [-2.33073463e-01 9.72455198e-01 2.76566932e-03 -4.01997751e+01] [ 9.48239409e-03 -5.71183234e-04 9.99954878e-01 1.99397102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.900714057 meters Centerline goodness [0,1] 0.9805382659770316 Centerline is valid? [True, True] Translation: X:626.54, Y:-40.21, Z:1.99 [[ 9.72717313e-01 2.31825216e-01 -8.83736333e-03 6.26535068e+02] [-2.31810325e-01 9.72757292e-01 2.68775321e-03 -4.02094995e+01] [ 9.21969859e-03 -5.65832006e-04 9.99957338e-01 1.99418563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9307140569999 meters Centerline goodness [0,1] 0.978931971006899 Centerline is valid? [True, True] Translation: X:626.56, Y:-40.22, Z:1.99 [[ 9.73039721e-01 2.30496771e-01 -8.05847898e-03 6.26560299e+02] [-2.30484357e-01 9.73072948e-01 2.44936243e-03 -4.02208172e+01] [ 8.40605803e-03 -5.25973584e-04 9.99964530e-01 1.99417880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9607140569999 meters Centerline goodness [0,1] 0.9796485546097118 Centerline is valid? [True, True] Translation: X:626.59, Y:-40.23, Z:1.99 [[ 9.73154817e-01 2.30016821e-01 -7.87174121e-03 6.26587084e+02] [-2.30004971e-01 9.73186516e-01 2.39117695e-03 -4.02304802e+01] [ 8.21068332e-03 -5.16445755e-04 9.99966158e-01 1.99437865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.990714057 meters Centerline goodness [0,1] 0.9785225807861216 Centerline is valid? [True, True] Translation: X:626.61, Y:-40.24, Z:1.99 [[ 9.73241101e-01 2.29647637e-01 -7.98257581e-03 6.26613785e+02] [-2.29635458e-01 9.73273696e-01 2.42255654e-03 -4.02392959e+01] [ 8.32556545e-03 -5.24649138e-04 9.99965204e-01 1.99430330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.020714057 meters Centerline goodness [0,1] 0.9794604537093807 Centerline is valid? [True, True] Translation: X:626.64, Y:-40.25, Z:1.99 [[ 9.73113290e-01 2.30176279e-01 -8.33098088e-03 6.26641219e+02] [-2.30163055e-01 9.73148801e-01 2.52583175e-03 -4.02464475e+01] [ 8.68867061e-03 -5.40436437e-04 9.99962107e-01 1.99415779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0507140569999 meters Centerline goodness [0,1] 0.9791103358046228 Centerline is valid? [True, True] Translation: X:626.67, Y:-40.26, Z:1.99 [[ 9.72726197e-01 2.31800500e-01 -8.50144216e-03 6.26667357e+02] [-2.31786805e-01 9.72763199e-01 2.57591687e-03 -4.02565158e+01] [ 8.86698889e-03 -5.35139707e-04 9.99960544e-01 1.99340884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0807140569999 meters Centerline goodness [0,1] 0.9804140162196429 Centerline is valid? [True, True] Translation: X:626.70, Y:-40.26, Z:1.99 [[ 9.72587857e-01 2.32379590e-01 -8.51974679e-03 6.26696320e+02] [-2.32365872e-01 9.72625028e-01 2.57991738e-03 -4.02609134e+01] [ 8.88603911e-03 -5.29497924e-04 9.99960378e-01 1.99385478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.110714057 meters Centerline goodness [0,1] 0.978748344802136 Centerline is valid? [True, True] Translation: X:626.72, Y:-40.27, Z:1.99 [[ 9.72252030e-01 2.33794640e-01 -8.12748560e-03 6.26721996e+02] [-2.33782218e-01 9.72285876e-01 2.45963577e-03 -4.02713786e+01] [ 8.47728912e-03 -4.91324262e-04 9.99963946e-01 1.99353146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.140714057 meters Centerline goodness [0,1] 0.9792441275534753 Centerline is valid? [True, True] Translation: X:626.75, Y:-40.28, Z:1.99 [[ 9.72110524e-01 2.34392776e-01 -7.82024773e-03 6.26748661e+02] [-2.34381300e-01 9.72141866e-01 2.36592829e-03 -4.02804157e+01] [ 8.15694672e-03 -4.67023962e-04 9.99966622e-01 1.99327679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1707140569999 meters Centerline goodness [0,1] 0.9795645990591839 Centerline is valid? [True, True] Translation: X:626.78, Y:-40.29, Z:1.99 [[ 9.71946638e-01 2.35078804e-01 -7.59527700e-03 6.26777295e+02] [-2.35068010e-01 9.71976212e-01 2.29667597e-03 -4.02869733e+01] [ 7.92232840e-03 -4.46839837e-04 9.99968518e-01 1.99357625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2007140569999 meters Centerline goodness [0,1] 0.9780696023345965 Centerline is valid? [True, True] Translation: X:626.80, Y:-40.30, Z:1.99 [[ 9.71723522e-01 2.36016344e-01 -7.04858848e-03 6.26803463e+02] [-2.36007082e-01 9.71749001e-01 2.13011553e-03 -4.02960191e+01] [ 7.35220089e-03 -4.06366565e-04 9.99972890e-01 1.99357231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2307140569999 meters Centerline goodness [0,1] 0.9788889863205893 Centerline is valid? [True, True] Translation: X:626.83, Y:-40.31, Z:1.99 [[ 9.71809333e-01 2.35664664e-01 -6.98471623e-03 6.26829075e+02] [-2.35655566e-01 9.71834349e-01 2.10998070e-03 -4.03055191e+01] [ 7.28523505e-03 -4.04511681e-04 9.99973381e-01 1.99378973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.260714057 meters Centerline goodness [0,1] 0.9777180092714073 Centerline is valid? [True, True] Translation: X:626.86, Y:-40.31, Z:1.99 [[ 9.71908682e-01 2.35262077e-01 -6.72827413e-03 6.26855868e+02] [-2.35253635e-01 9.71931892e-01 2.03113630e-03 -4.03143135e+01] [ 7.01727354e-03 -3.91228062e-04 9.99975302e-01 1.99386748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.290714057 meters Centerline goodness [0,1] 0.978672674774696 Centerline is valid? [True, True] Translation: X:626.88, Y:-40.32, Z:1.99 [[ 9.72108111e-01 2.34453121e-01 -6.12823190e-03 6.26884385e+02] [-2.34446110e-01 9.72127360e-01 1.84865621e-03 -4.03179955e+01] [ 6.39084512e-03 -3.60353570e-04 9.99979513e-01 1.99413856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3207140569999 meters Centerline goodness [0,1] 0.9788215238011977 Centerline is valid? [True, True] Translation: X:626.91, Y:-40.33, Z:1.99 [[ 9.72253435e-01 2.33856564e-01 -5.86217512e-03 6.26911495e+02] [-2.33850142e-01 9.72271046e-01 1.76759184e-03 -4.03273622e+01] [ 6.11298609e-03 -3.47676753e-04 9.99981255e-01 1.99428830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3507140569999 meters Centerline goodness [0,1] 0.9781349076199847 Centerline is valid? [True, True] Translation: X:626.94, Y:-40.34, Z:1.99 [[ 9.72574360e-01 2.32525708e-01 -5.55965447e-03 6.26939224e+02] [-2.32519918e-01 9.72590192e-01 1.67493442e-03 -4.03359692e+01] [ 5.79673072e-03 -3.36267872e-04 9.99983142e-01 1.99419915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.380714057 meters Centerline goodness [0,1] 0.9787545947838263 Centerline is valid? [True, True] Translation: X:626.97, Y:-40.34, Z:1.99 [[ 9.72765996e-01 2.31728693e-01 -5.30385684e-03 6.26967748e+02] [-2.31723420e-01 9.72780401e-01 1.59648078e-03 -4.03411492e+01] [ 5.52943839e-03 -3.23974369e-04 9.99984660e-01 1.99449977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.410714057 meters Centerline goodness [0,1] 0.9764477331761727 Centerline is valid? [True, True] Translation: X:626.99, Y:-40.35, Z:1.99 [[ 9.73057149e-01 2.30518776e-01 -4.56938570e-03 6.26992877e+02] [-2.30514854e-01 9.73067836e-01 1.37432088e-03 -4.03543763e+01] [ 4.76312902e-03 -2.83981482e-04 9.99988616e-01 1.99446816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4407140569999 meters Centerline goodness [0,1] 0.9774902131361461 Centerline is valid? [True, True] Translation: X:627.02, Y:-40.36, Z:1.99 [[ 9.73113078e-01 2.30288536e-01 -4.25776324e-03 6.27018794e+02] [-2.30285130e-01 9.73122356e-01 1.28022710e-03 -4.03634975e+01] [ 4.43814622e-03 -2.65306166e-04 9.99990116e-01 1.99477726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4707140569999 meters Centerline goodness [0,1] 0.9761532447224394 Centerline is valid? [True, True] Translation: X:627.04, Y:-40.37, Z:2.00 [[ 9.73107296e-01 2.30333675e-01 -2.93066097e-03 6.27044969e+02] [-2.30332064e-01 9.73111692e-01 8.80395874e-04 -4.03733431e+01] [ 3.05464527e-03 -1.81694460e-04 9.99995318e-01 1.99526042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.500714057 meters Centerline goodness [0,1] 0.9751487803282977 Centerline is valid? [True, True] Translation: X:627.07, Y:-40.38, Z:2.00 [[ 9.73171308e-01 2.30071912e-01 -2.12603834e-03 6.27071199e+02] [-2.30071063e-01 9.73173621e-01 6.39067822e-04 -4.03821953e+01] [ 2.21603598e-03 -1.32782568e-04 9.99997536e-01 1.99547610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.530714057 meters Centerline goodness [0,1] 0.9745731295113069 Centerline is valid? [True, True] Translation: X:627.10, Y:-40.39, Z:2.00 [[ 9.73005646e-01 2.30780268e-01 -6.93641573e-04 6.27096983e+02] [-2.30780177e-01 9.73005892e-01 2.08413886e-04 -4.03921595e+01] [ 7.23015150e-04 -4.27091621e-05 9.99999738e-01 1.99607979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5607140569999 meters Centerline goodness [0,1] 0.975789404868269 Centerline is valid? [True, True] Translation: X:627.13, Y:-40.40, Z:2.00 [[ 9.72844733e-01 2.31458618e-01 -1.81353218e-04 6.27125371e+02] [-2.31458611e-01 9.72844750e-01 5.55320695e-05 -4.03973286e+01] [ 1.89281902e-04 -1.20483175e-05 9.99999982e-01 1.99600971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5907140569999 meters Centerline goodness [0,1] 0.9759164814088314 Centerline is valid? [True, True] Translation: X:627.15, Y:-40.41, Z:2.00 [[ 9.72788487e-01 2.31694518e-01 4.57714938e-04 6.27151069e+02] [-2.31694479e-01 9.72788594e-01 -1.36657539e-04 -4.04077099e+01] [-4.76922674e-04 2.68888565e-05 9.99999886e-01 1.99577895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.620714057 meters Centerline goodness [0,1] 0.9742054854157597 Centerline is valid? [True, True] Translation: X:627.18, Y:-40.42, Z:1.99 [[ 9.72604110e-01 2.32466276e-01 8.22519487e-04 6.27178121e+02] [-2.32466152e-01 9.72604456e-01 -2.44946114e-04 -4.04177384e+01] [-8.56927830e-04 4.70276576e-05 9.99999632e-01 1.99409519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.650714057 meters Centerline goodness [0,1] 0.9749129677980853 Centerline is valid? [True, True] Translation: X:627.20, Y:-40.43, Z:1.99 [[ 9.72395124e-01 2.33335730e-01 1.46942658e-03 6.27204366e+02] [-2.33335332e-01 9.72396231e-01 -4.39135399e-04 -4.04270170e+01] [-1.53133085e-03 8.41439816e-05 9.99998824e-01 1.99362734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6807140569999 meters Centerline goodness [0,1] 0.9750184485827148 Centerline is valid? [True, True] Translation: X:627.23, Y:-40.44, Z:1.99 [[ 9.72221049e-01 2.34060249e-01 1.42507480e-03 6.27230848e+02] [-2.34059876e-01 9.72222091e-01 -4.25739197e-04 -4.04368253e+01] [-1.48513782e-03 8.03597795e-05 9.99998894e-01 1.99339492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7107140569999 meters Centerline goodness [0,1] 0.9771298008921772 Centerline is valid? [True, True] Translation: X:627.26, Y:-40.44, Z:1.99 [[ 9.72136225e-01 2.34409527e-01 1.82575660e-03 6.27260408e+02] [-2.34408917e-01 9.72137934e-01 -5.44382542e-04 -4.04400645e+01] [-1.90249571e-03 1.01240361e-04 9.99998185e-01 1.99256130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.740714057 meters Centerline goodness [0,1] 0.9774693308347678 Centerline is valid? [True, True] Translation: X:627.29, Y:-40.45, Z:1.99 [[ 9.71698676e-01 2.36213411e-01 2.21542595e-03 6.27287035e+02] [-2.36212515e-01 9.71701194e-01 -6.61286041e-04 -4.04483939e+01] [-2.30893668e-03 1.19259434e-04 9.99997327e-01 1.99266371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.770714057 meters Centerline goodness [0,1] 0.9762239577699414 Centerline is valid? [True, True] Translation: X:627.31, Y:-40.46, Z:1.99 [[ 9.71478556e-01 2.37121221e-01 1.71509261e-03 6.27313341e+02] [-2.37120686e-01 9.71480066e-01 -5.11684040e-04 -4.04565818e+01] [-1.78750943e-03 9.04061361e-05 9.99998398e-01 1.99224349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8007140569999 meters Centerline goodness [0,1] 0.9777710043325858 Centerline is valid? [True, True] Translation: X:627.34, Y:-40.46, Z:1.99 [[ 9.71401749e-01 2.37434761e-01 1.83774516e-03 6.27341513e+02] [-2.37434150e-01 9.71403482e-01 -5.47024693e-04 -4.04628321e+01] [-1.91507473e-03 9.50372825e-05 9.99998162e-01 1.99159447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8307140569999 meters Centerline goodness [0,1] 0.9784199294455816 Centerline is valid? [True, True] Translation: X:627.37, Y:-40.47, Z:1.99 [[ 9.71220326e-01 2.38176946e-01 1.67920431e-03 6.27367521e+02] [-2.38176436e-01 9.71221774e-01 -5.00343085e-04 -4.04723378e+01] [-1.75004997e-03 8.59964769e-05 9.99998465e-01 1.99097936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.860714057 meters Centerline goodness [0,1] 0.9776291713862507 Centerline is valid? [True, True] Translation: X:627.40, Y:-40.48, Z:1.99 [[ 9.71186043e-01 2.38314156e-01 2.00806889e-03 6.27395167e+02] [-2.38313430e-01 9.71188114e-01 -5.97082598e-04 -4.04793613e+01] [-2.09250587e-03 1.01328501e-04 9.99997806e-01 1.99042866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.890714057 meters Centerline goodness [0,1] 0.9776291713862507 Centerline is valid? [True, True] Translation: X:627.42, Y:-40.49, Z:1.99 [[ 9.71254866e-01 2.38033511e-01 2.00828902e-03 6.27421482e+02] [-2.38032786e-01 9.71256937e-01 -5.96342772e-04 -4.04871316e+01] [-2.09251421e-03 1.01162188e-04 9.99997806e-01 1.99055452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9207140569999 meters Centerline goodness [0,1] 0.9773803832949459 Centerline is valid? [True, True] Translation: X:627.45, Y:-40.50, Z:1.99 [[ 9.71262331e-01 2.37998205e-01 2.51756330e-03 6.27447164e+02] [-2.37997064e-01 9.71265586e-01 -7.47820124e-04 -4.04969437e+01] [-2.62320244e-03 1.27156842e-04 9.99996551e-01 1.99133041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9507140569999 meters Centerline goodness [0,1] 0.9770514603616134 Centerline is valid? [True, True] Translation: X:627.47, Y:-40.51, Z:1.99 [[ 9.71221314e-01 2.38164119e-01 2.64811650e-03 6.27472909e+02] [-2.38162857e-01 9.71224915e-01 -7.86582387e-04 -4.05075589e+01] [-2.75925242e-03 1.33262588e-04 9.99996184e-01 1.99227806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9807140569999 meters Centerline goodness [0,1] 0.9764495518873068 Centerline is valid? [True, True] Translation: X:627.50, Y:-40.52, Z:1.99 [[ 9.71208909e-01 2.38198986e-01 3.80756355e-03 6.27499361e+02] [-2.38196384e-01 9.71216354e-01 -1.12940985e-03 -4.05151589e+01] [-3.96699227e-03 1.89945038e-04 9.99992113e-01 1.99285194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.010714057 meters Centerline goodness [0,1] 0.9754214246873301 Centerline is valid? [True, True] Translation: X:627.53, Y:-40.53, Z:1.99 [[ 9.71083596e-01 2.38712606e-01 3.59749141e-03 6.27525028e+02] [-2.38710285e-01 9.71090243e-01 -1.06760232e-03 -4.05250927e+01] [-3.74833894e-03 1.77972900e-04 9.99992959e-01 1.99351653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.040714057 meters Centerline goodness [0,1] 0.977931725595277 Centerline is valid? [True, True] Translation: X:627.55, Y:-40.53, Z:1.99 [[ 9.71050856e-01 2.38843180e-01 3.76441455e-03 6.27553590e+02] [-2.38840647e-01 9.71058135e-01 -1.11536458e-03 -4.05288101e+01] [-3.92186260e-03 1.83980522e-04 9.99992293e-01 1.99153106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0707140569999 meters Centerline goodness [0,1] 0.9777990597248825 Centerline is valid? [True, True] Translation: X:627.58, Y:-40.54, Z:1.99 [[ 9.70777926e-01 2.39969030e-01 2.25472936e-03 6.27581451e+02] [-2.39968126e-01 9.70780538e-01 -6.67112078e-04 -4.05377551e+01] [-2.34893362e-03 1.06554500e-04 9.99997236e-01 1.99101970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1007140569999 meters Centerline goodness [0,1] 0.9770630279402209 Centerline is valid? [True, True] Translation: X:627.61, Y:-40.55, Z:1.99 [[ 9.70721940e-01 2.40198538e-01 1.89161146e-03 6.27609323e+02] [-2.40197904e-01 9.70723779e-01 -5.58915161e-04 -4.05460539e+01] [-1.97048282e-03 8.81901030e-05 9.99998055e-01 1.99057089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.130714057 meters Centerline goodness [0,1] 0.978314826910516 Centerline is valid? [True, True] Translation: X:627.64, Y:-40.55, Z:1.99 [[ 9.70637475e-01 2.40541028e-01 1.70485090e-03 6.27636931e+02] [-2.40540515e-01 9.70638969e-01 -5.03140882e-04 -4.05530503e+01] [-1.77582075e-03 7.82816811e-05 9.99998420e-01 1.99055253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.160714057 meters Centerline goodness [0,1] 0.9786265499002862 Centerline is valid? [True, True] Translation: X:627.66, Y:-40.56, Z:1.99 [[ 9.70557770e-01 2.40863523e-01 1.54209889e-03 6.27664700e+02] [-2.40863104e-01 9.70558993e-01 -4.54583608e-04 -4.05612907e+01] [-1.60619056e-03 6.97649263e-05 9.99998708e-01 1.99066831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1907140569999 meters Centerline goodness [0,1] 0.9795148952862467 Centerline is valid? [True, True] Translation: X:627.69, Y:-40.57, Z:1.99 [[ 9.70476729e-01 2.41189720e-01 1.56146452e-03 6.27692506e+02] [-2.41189292e-01 9.70477982e-01 -4.59862271e-04 -4.05680860e+01] [-1.62628099e-03 6.96771094e-05 9.99998675e-01 1.99098850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2207140569999 meters Centerline goodness [0,1] 0.979102200915232 Centerline is valid? [True, True] Translation: X:627.72, Y:-40.58, Z:1.99 [[ 9.70352626e-01 2.41691441e-01 1.01431547e-03 6.27719466e+02] [-2.41691260e-01 9.70353155e-01 -2.98979444e-04 -4.05764541e+01] [-1.05650499e-03 4.49643045e-05 9.99999441e-01 1.99140753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.250714057 meters Centerline goodness [0,1] 0.9801385077747289 Centerline is valid? [True, True] Translation: X:627.75, Y:-40.58, Z:1.99 [[ 9.70355745e-01 2.41679873e-01 7.53231662e-04 6.27747105e+02] [-2.41679775e-01 9.70356037e-01 -2.20911202e-04 -4.05826733e+01] [-7.84292682e-04 3.23215960e-05 9.99999692e-01 1.99094268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.280714057 meters Centerline goodness [0,1] 0.9789868340744616 Centerline is valid? [True, True] Translation: X:627.77, Y:-40.59, Z:1.99 [[ 9.70239982e-01 2.42145346e-01 9.34850725e-05 6.27773565e+02] [-2.42145345e-01 9.70239986e-01 -2.63364695e-05 -4.05928777e+01] [-9.70802090e-05 2.91572056e-06 9.99999995e-01 1.99094382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3107140569999 meters Centerline goodness [0,1] 0.9789613096530462 Centerline is valid? [True, True] Translation: X:627.80, Y:-40.60, Z:1.99 [[ 9.69977943e-01 2.43191712e-01 -7.62450524e-04 6.27799684e+02] [-2.43191610e-01 9.69978242e-01 2.24984020e-04 -4.06033259e+01] [ 7.94274668e-04 -3.28079663e-05 9.99999684e-01 1.99117594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3407140569999 meters Centerline goodness [0,1] 0.9800939825088109 Centerline is valid? [True, True] Translation: X:627.83, Y:-40.61, Z:1.99 [[ 9.69956945e-01 2.43275213e-01 -8.34025353e-04 6.27827967e+02] [-2.43275091e-01 9.69957303e-01 2.46605167e-04 -4.06098071e+01] [ 8.68961906e-04 -3.62988014e-05 9.99999622e-01 1.99121343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.370714057 meters Centerline goodness [0,1] 0.9800734479236837 Centerline is valid? [True, True] Translation: X:627.86, Y:-40.62, Z:1.99 [[ 9.69948682e-01 2.43309407e-01 -2.95211636e-04 6.27855027e+02] [-2.43309391e-01 9.69948727e-01 8.81280170e-05 -4.06181694e+01] [ 3.07782526e-04 -1.36518904e-05 9.99999953e-01 1.99149314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.400714057 meters Centerline goodness [0,1] 0.9797640947949356 Centerline is valid? [True, True] Translation: X:627.88, Y:-40.63, Z:1.99 [[ 9.69813003e-01 2.43849772e-01 -1.69144201e-04 6.27882140e+02] [-2.43849767e-01 9.69813017e-01 5.08509524e-05 -4.06273763e+01] [ 1.76438241e-04 -8.07014095e-06 9.99999984e-01 1.99272999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4307140569999 meters Centerline goodness [0,1] 0.9780767314399601 Centerline is valid? [True, True] Translation: X:627.91, Y:-40.64, Z:1.99 [[ 9.69731322e-01 2.44174088e-01 -4.22215522e-04 6.27908181e+02] [-2.44174056e-01 9.69731414e-01 1.24374921e-04 -4.06375000e+01] [ 4.39804788e-04 -1.75161799e-05 9.99999903e-01 1.99299843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4607140569999 meters Centerline goodness [0,1] 0.9794440348670801 Centerline is valid? [True, True] Translation: X:627.94, Y:-40.65, Z:1.99 [[ 9.69657437e-01 2.44467621e-01 -1.93147411e-04 6.27935671e+02] [-2.44467614e-01 9.69657456e-01 5.78121518e-05 -4.06456720e+01] [ 2.01420027e-04 -8.83969618e-06 9.99999980e-01 1.99320222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.490714057 meters Centerline goodness [0,1] 0.9788466545170529 Centerline is valid? [True, True] Translation: X:627.96, Y:-40.65, Z:1.99 [[ 9.69658376e-01 2.44463879e-01 -2.15038658e-04 6.27961984e+02] [-2.44463871e-01 9.69658400e-01 6.43255144e-05 -4.06548107e+01] [ 2.24239306e-04 -9.80459096e-06 9.99999975e-01 1.99326600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.520714057 meters Centerline goodness [0,1] 0.9808685089583966 Centerline is valid? [True, True] Translation: X:627.99, Y:-40.66, Z:1.99 [[ 9.69485332e-01 2.45149290e-01 -1.26440205e-04 6.27990033e+02] [-2.45149287e-01 9.69485341e-01 3.82215365e-05 -4.06620637e+01] [ 1.31951908e-04 -6.05849299e-06 9.99999991e-01 1.99300025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5507140569999 meters Centerline goodness [0,1] 0.9779977044849167 Centerline is valid? [True, True] Translation: X:628.02, Y:-40.68, Z:1.99 [[ 9.69459896e-01 2.45249833e-01 -1.69372156e-04 6.28015180e+02] [-2.45249828e-01 9.69459911e-01 4.99946692e-05 -4.06751617e+01] [ 1.76460699e-04 -6.92933482e-06 9.99999984e-01 1.99365217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5807140569999 meters Centerline goodness [0,1] 0.9802338168434727 Centerline is valid? [True, True] Translation: X:628.04, Y:-40.68, Z:1.99 [[ 9.69467058e-01 2.45221579e-01 -2.15149322e-06 6.28042973e+02] [-2.45221579e-01 9.69467058e-01 2.01344699e-06 -4.06801766e+01] [ 2.57954245e-06 -1.42437797e-06 1.00000000e+00 1.99304831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.610714057 meters Centerline goodness [0,1] 0.9798097961482637 Centerline is valid? [True, True] Translation: X:628.07, Y:-40.69, Z:1.99 [[ 9.69565887e-01 2.44830470e-01 -1.78790215e-04 6.28068289e+02] [-2.44830464e-01 9.69565903e-01 5.35911229e-05 -4.06913410e+01] [ 1.86469636e-04 -8.18683330e-06 9.99999983e-01 1.99324000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.640714057 meters Centerline goodness [0,1] 0.9792666580187659 Centerline is valid? [True, True] Translation: X:628.09, Y:-40.70, Z:1.99 [[ 9.69550932e-01 2.44889142e-01 -5.45584020e-04 6.28094178e+02] [-2.44889091e-01 9.69551086e-01 1.59699522e-04 -4.07014390e+01] [ 5.68080258e-04 -2.12292461e-05 9.99999838e-01 1.99324340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6707140569999 meters Centerline goodness [0,1] 0.9790466325715889 Centerline is valid? [True, True] Translation: X:628.12, Y:-40.71, Z:1.99 [[ 9.69567783e-01 2.44822629e-01 -4.41935552e-04 6.28121063e+02] [-2.44822595e-01 9.69567883e-01 1.30246045e-04 -4.07098025e+01] [ 4.60373697e-04 -1.80865602e-05 9.99999894e-01 1.99314835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7007140569999 meters Centerline goodness [0,1] 0.9786263831258645 Centerline is valid? [True, True] Translation: X:628.15, Y:-40.72, Z:1.99 [[ 9.69404504e-01 2.45468678e-01 -1.87961277e-04 6.28147386e+02] [-2.45468672e-01 9.69404522e-01 5.52186390e-05 -4.07193831e+01] [ 1.95764959e-04 -7.39059219e-06 9.99999981e-01 1.99344979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7307140569999 meters Centerline goodness [0,1] 0.9801901058543963 Centerline is valid? [True, True] Translation: X:628.17, Y:-40.73, Z:1.99 [[ 9.69120793e-01 2.46585182e-01 -7.97717736e-04 6.28174365e+02] [-2.46585073e-01 9.69121121e-01 2.33523300e-04 -4.07292182e+01] [ 8.30668492e-04 -2.96069994e-05 9.99999655e-01 1.99348854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.760714057 meters Centerline goodness [0,1] 0.9807995167518823 Centerline is valid? [True, True] Translation: X:628.20, Y:-40.74, Z:1.99 [[ 9.69236054e-01 2.46131122e-01 -9.70505286e-04 6.28201173e+02] [-2.46130961e-01 9.69236539e-01 2.83747568e-04 -4.07367432e+01] [ 1.01048829e-03 -3.61469745e-05 9.99999489e-01 1.99288012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.790714057 meters Centerline goodness [0,1] 0.9786413207465839 Centerline is valid? [True, True] Translation: X:628.23, Y:-40.75, Z:1.99 [[ 9.69399522e-01 2.45482871e-01 -1.65141736e-03 6.28226635e+02] [-2.45482408e-01 9.69400927e-01 4.80725898e-04 -4.07500110e+01] [ 1.71889549e-03 -6.06215474e-05 9.99998521e-01 1.99314221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8207140569999 meters Centerline goodness [0,1] 0.9789460087832601 Centerline is valid? [True, True] Translation: X:628.25, Y:-40.76, Z:1.99 [[ 9.69601337e-01 2.44681709e-01 -2.02676822e-03 6.28254116e+02] [-2.44681010e-01 9.69603453e-01 5.89691901e-04 -4.07570400e+01] [ 2.10944829e-03 -7.58543610e-05 9.99997772e-01 1.99239308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8507140569999 meters Centerline goodness [0,1] 0.9762544229867417 Centerline is valid? [True, True] Translation: X:628.28, Y:-40.77, Z:1.99 [[ 9.70312971e-01 2.41845293e-01 -1.89558955e-03 6.28279054e+02] [-2.41844677e-01 9.70314819e-01 5.51270142e-04 -4.07734651e+01] [ 1.97264072e-03 -7.64663256e-05 9.99998051e-01 1.99331455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.880714057 meters Centerline goodness [0,1] 0.9777333591248093 Centerline is valid? [True, True] Translation: X:628.31, Y:-40.78, Z:1.99 [[ 9.70861902e-01 2.39633218e-01 -1.75714512e-03 6.28307050e+02] [-2.39632685e-01 9.70863490e-01 5.10923962e-04 -4.07814753e+01] [ 1.82838240e-03 -7.49672076e-05 9.99998326e-01 1.99370013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.910714057 meters Centerline goodness [0,1] 0.9749576189352159 Centerline is valid? [True, True] Translation: X:628.33, Y:-40.80, Z:1.99 [[ 9.71358444e-01 2.37615363e-01 -1.30864914e-03 6.28332288e+02] [-2.37615066e-01 9.71359324e-01 3.80503049e-04 -4.07962005e+01] [ 1.36158191e-03 -5.86500979e-05 9.99999071e-01 1.99494774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9407140569999 meters Centerline goodness [0,1] 0.9763572679509632 Centerline is valid? [True, True] Translation: X:628.36, Y:-40.81, Z:2.00 [[ 9.72119021e-01 2.34486110e-01 -9.34910701e-04 6.28360199e+02] [-2.34485957e-01 9.72119469e-01 2.71785566e-04 -4.08063956e+01] [ 9.72574834e-04 -4.49844879e-05 9.99999526e-01 1.99589799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9707140569999 meters Centerline goodness [0,1] 0.9764436061216616 Centerline is valid? [True, True] Translation: X:628.39, Y:-40.81, Z:2.00 [[ 9.72486407e-01 2.32958249e-01 -8.01171146e-04 6.28387500e+02] [-2.32958136e-01 9.72486736e-01 2.33110614e-04 -4.08142412e+01] [ 8.33433353e-04 -4.00575666e-05 9.99999652e-01 1.99600261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.000714057 meters Centerline goodness [0,1] 0.9762602391085826 Centerline is valid? [True, True] Translation: X:628.42, Y:-40.82, Z:2.00 [[ 9.72791382e-01 2.31679786e-01 -1.18450646e-03 6.28415191e+02] [-2.31679537e-01 9.72792102e-01 3.44891537e-04 -4.08233709e+01] [ 1.23218293e-03 -6.10816066e-05 9.99999239e-01 1.99630322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.030714057 meters Centerline goodness [0,1] 0.9766086882015251 Centerline is valid? [True, True] Translation: X:628.44, Y:-40.83, Z:2.00 [[ 9.73047266e-01 2.30601057e-01 -1.47325081e-03 6.28442316e+02] [-2.30600672e-01 9.73048378e-01 4.28278393e-04 -4.08332528e+01] [ 1.53230577e-03 -7.70024912e-05 9.99998823e-01 1.99668340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0607140569999 meters Centerline goodness [0,1] 0.9765972935936965 Centerline is valid? [True, True] Translation: X:628.47, Y:-40.84, Z:2.00 [[ 9.73176471e-01 2.30054641e-01 -1.55498737e-03 6.28469619e+02] [-2.30054212e-01 9.73177710e-01 4.51546980e-04 -4.08423072e+01] [ 1.61715953e-03 -8.17035015e-05 9.99998689e-01 1.99681719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0907140569999 meters Centerline goodness [0,1] 0.9772533651388652 Centerline is valid? [True, True] Translation: X:628.50, Y:-40.85, Z:2.00 [[ 9.72992243e-01 2.30831844e-01 -1.65961444e-03 6.28497207e+02] [-2.30831357e-01 9.72993655e-01 4.81397318e-04 -4.08509205e+01] [ 1.72591615e-03 -8.53048031e-05 9.99998507e-01 1.99709743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.120714057 meters Centerline goodness [0,1] 0.9771651350598719 Centerline is valid? [True, True] Translation: X:628.53, Y:-40.86, Z:2.00 [[ 9.72857696e-01 2.31398450e-01 -1.63112032e-03 6.28525343e+02] [-2.31397982e-01 9.72859060e-01 4.72727273e-04 -4.08573932e+01] [ 1.69623854e-03 -8.24584164e-05 9.99998558e-01 1.99734059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.150714057 meters Centerline goodness [0,1] 0.9765941644562334 Centerline is valid? [True, True] Translation: X:628.55, Y:-40.87, Z:2.00 [[ 9.72524997e-01 2.32790548e-01 -1.92110494e-03 6.28551940e+02] [-2.32789904e-01 9.72526890e-01 5.55592114e-04 -4.08652018e+01] [ 1.99766281e-03 -9.31133847e-05 9.99998000e-01 1.99751695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1807140569999 meters Centerline goodness [0,1] 0.9782190080876375 Centerline is valid? [True, True] Translation: X:628.58, Y:-40.87, Z:2.00 [[ 9.72410848e-01 2.33260350e-01 -2.59857613e-03 6.28578966e+02] [-2.33259173e-01 9.72414312e-01 7.51427617e-04 -4.08737539e+01] [ 2.70217089e-03 -1.24554647e-04 9.99996341e-01 1.99782486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2107140569999 meters Centerline goodness [0,1] 0.9785008342959826 Centerline is valid? [True, True] Translation: X:628.61, Y:-40.88, Z:2.00 [[ 9.72166256e-01 2.34271899e-01 -3.07388752e-03 6.28607004e+02] [-2.34270260e-01 9.72171105e-01 8.87833947e-04 -4.08806381e+01] [ 3.19633917e-03 -1.43001776e-04 9.99994881e-01 1.99777817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.240714057 meters Centerline goodness [0,1] 0.9791648895333959 Centerline is valid? [True, True] Translation: X:628.64, Y:-40.89, Z:2.00 [[ 9.72013584e-01 2.34894013e-01 -3.79421257e-03 6.28635169e+02] [-2.34891526e-01 9.72020973e-01 1.09456548e-03 -4.08886213e+01] [ 3.94516108e-03 -1.72704137e-04 9.99992203e-01 1.99758213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.270714057 meters Centerline goodness [0,1] 0.9788098445485064 Centerline is valid? [True, True] Translation: X:628.66, Y:-40.90, Z:2.00 [[ 9.71662035e-01 2.36311104e-01 -5.47288993e-03 6.28662019e+02] [-2.36305963e-01 9.71677418e-01 1.57695941e-03 -4.08978601e+01] [ 5.69053657e-03 -2.38995063e-04 9.99983780e-01 1.99700082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3007140569999 meters Centerline goodness [0,1] 0.978989259275108 Centerline is valid? [True, True] Translation: X:628.69, Y:-40.91, Z:2.00 [[ 9.71457143e-01 2.37145502e-01 -5.74717875e-03 6.28689290e+02] [-2.37139857e-01 9.71474112e-01 1.65440481e-03 -4.09063456e+01] [ 5.97557003e-03 -2.44298227e-04 9.99982116e-01 1.99713814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3307140569999 meters Centerline goodness [0,1] 0.9780342118221328 Centerline is valid? [True, True] Translation: X:628.72, Y:-40.91, Z:2.00 [[ 9.71239563e-01 2.38032200e-01 -5.86373204e-03 6.28715676e+02] [-2.38026348e-01 9.71257233e-01 1.68664409e-03 -4.09144105e+01] [ 6.09666776e-03 -2.42412744e-04 9.99981386e-01 1.99746776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.360714057 meters Centerline goodness [0,1] 0.9800675098273799 Centerline is valid? [True, True] Translation: X:628.74, Y:-40.92, Z:2.00 [[ 9.70767749e-01 2.39938509e-01 -6.28403040e-03 6.28744711e+02] [-2.39931832e-01 9.70788057e-01 1.80684826e-03 -4.09190209e+01] [ 6.53399414e-03 -2.46291089e-04 9.99978623e-01 1.99796122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.390714057 meters Centerline goodness [0,1] 0.9786883844213586 Centerline is valid? [True, True] Translation: X:628.77, Y:-40.93, Z:2.00 [[ 9.70504200e-01 2.40987863e-01 -6.81522876e-03 6.28770088e+02] [-2.40980043e-01 9.70528095e-01 1.95860392e-03 -4.09299867e+01] [ 7.08637076e-03 -2.58499209e-04 9.99974858e-01 1.99856698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4207140569999 meters Centerline goodness [0,1] 0.9804509041456833 Centerline is valid? [True, True] Translation: X:628.80, Y:-40.93, Z:2.00 [[ 9.70353477e-01 2.41605491e-01 -6.39657789e-03 6.28798940e+02] [-2.41598622e-01 9.70374531e-01 1.83717240e-03 -4.09339086e+01] [ 6.65094721e-03 -2.37302221e-04 9.99977854e-01 1.99915305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4507140569999 meters Centerline goodness [0,1] 0.9812974243881586 Centerline is valid? [True, True] Translation: X:628.83, Y:-40.94, Z:2.00 [[ 9.70221120e-01 2.42136799e-01 -6.38345560e-03 6.28827438e+02] [-2.42129981e-01 9.70242092e-01 1.83171336e-03 -4.09407076e+01] [ 6.63702253e-03 -2.31541010e-04 9.99977948e-01 2.00016125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4807140569999 meters Centerline goodness [0,1] 0.9771930176162895 Centerline is valid? [True, True] Translation: X:628.85, Y:-40.96, Z:2.00 [[ 9.69430575e-01 2.45306711e-01 -5.38319158e-03 6.28850168e+02] [-2.45301917e-01 9.69445505e-01 1.54359926e-03 -4.09615870e+01] [ 5.59736614e-03 -1.75905101e-04 9.99984319e-01 1.99985677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.510714057 meters Centerline goodness [0,1] 0.9813397742818057 Centerline is valid? [True, True] Translation: X:628.88, Y:-40.96, Z:2.00 [[ 9.70272194e-01 2.41946942e-01 -5.79188691e-03 6.28881221e+02] [-2.41941338e-01 9.70289459e-01 1.66005620e-03 -4.09590676e+01] [ 6.02145233e-03 -2.09409511e-04 9.99981849e-01 2.00041886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.540714057 meters Centerline goodness [0,1] 0.9814409319926019 Centerline is valid? [True, True] Translation: X:628.91, Y:-40.97, Z:2.00 [[ 9.70383289e-01 2.41494637e-01 -6.05078089e-03 6.28907367e+02] [-2.41488514e-01 9.70402129e-01 1.73383512e-03 -4.09681288e+01] [ 6.29040254e-03 -2.21290541e-04 9.99980191e-01 2.00043177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5707140569999 meters Centerline goodness [0,1] 0.9799880398103455 Centerline is valid? [True, True] Translation: X:628.93, Y:-40.98, Z:2.00 [[ 9.70859861e-01 2.39549185e-01 -6.87878576e-03 6.28933828e+02] [-2.39541228e-01 9.70884194e-01 1.97038141e-03 -4.09784789e+01] [ 7.15050762e-03 -2.65211433e-04 9.99974400e-01 2.00098733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6007140569999 meters Centerline goodness [0,1] 0.979414025796532 Centerline is valid? [True, True] Translation: X:628.96, Y:-40.99, Z:2.00 [[ 9.71193129e-01 2.38194600e-01 -6.87309089e-03 6.28960084e+02] [-2.38186628e-01 9.71217410e-01 1.96797867e-03 -4.09881260e+01] [ 7.14402743e-03 -2.74209021e-04 9.99974444e-01 2.00061631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.630714057 meters Centerline goodness [0,1] 0.9796663412149255 Centerline is valid? [True, True] Translation: X:628.99, Y:-41.00, Z:2.00 [[ 9.71506072e-01 2.36905691e-01 -7.18642786e-03 6.28987634e+02] [-2.36896951e-01 9.71532607e-01 2.05629529e-03 -4.09965430e+01] [ 7.46899705e-03 -2.95260511e-04 9.99972063e-01 2.00145732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.660714057 meters Centerline goodness [0,1] 0.978974556010929 Centerline is valid? [True, True] Translation: X:629.01, Y:-41.01, Z:2.00 [[ 9.71878669e-01 2.35380014e-01 -6.93551558e-03 6.29013273e+02] [-2.35371845e-01 9.71903371e-01 1.98312063e-03 -4.10077681e+01] [ 7.20743793e-03 -2.94927544e-04 9.99973983e-01 2.00157924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6907140569999 meters Centerline goodness [0,1] 0.9771050785485003 Centerline is valid? [True, True] Translation: X:629.04, Y:-41.02, Z:2.00 [[ 9.72300753e-01 2.33645818e-01 -6.39356899e-03 6.29039318e+02] [-2.33638842e-01 9.72321733e-01 1.82758848e-03 -4.10187037e+01] [ 6.64361448e-03 -2.83179607e-04 9.99977891e-01 2.00206954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7207140569999 meters Centerline goodness [0,1] 0.9776280150994903 Centerline is valid? [True, True] Translation: X:629.07, Y:-41.03, Z:2.00 [[ 9.72490687e-01 2.32860451e-01 -6.15426325e-03 6.29066961e+02] [-2.32853977e-01 9.72510120e-01 1.75832416e-03 -4.10252634e+01] [ 6.39452745e-03 -2.76909194e-04 9.99979516e-01 2.00299083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.750714057 meters Centerline goodness [0,1] 0.9780196329492105 Centerline is valid? [True, True] Translation: X:629.09, Y:-41.03, Z:2.00 [[ 9.72560154e-01 2.32569343e-01 -6.18446242e-03 6.29093368e+02] [-2.32562810e-01 9.72579777e-01 1.76522895e-03 -4.10327587e+01] [ 6.42542122e-03 -2.78515381e-04 9.99979318e-01 2.00351052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.780714057 meters Centerline goodness [0,1] 0.9780196329492105 Centerline is valid? [True, True] Translation: X:629.12, Y:-41.04, Z:2.00 [[ 9.72625777e-01 2.32294736e-01 -6.18496087e-03 6.29119785e+02] [-2.32288209e-01 9.72645402e-01 1.76348104e-03 -4.10402154e+01] [ 6.42542111e-03 -2.78513630e-04 9.99979318e-01 2.00363640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8107140569999 meters Centerline goodness [0,1] 0.9777796733057534 Centerline is valid? [True, True] Translation: X:629.15, Y:-41.05, Z:2.00 [[ 9.72695172e-01 2.32004514e-01 -6.16509995e-03 6.29146186e+02] [-2.31998036e-01 9.72714669e-01 1.75593825e-03 -4.10484306e+01] [ 6.40426876e-03 -2.77701577e-04 9.99979454e-01 2.00407798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8407140569999 meters Centerline goodness [0,1] 0.9778115046706997 Centerline is valid? [True, True] Translation: X:629.17, Y:-41.06, Z:2.00 [[ 9.72858245e-01 2.31324074e-01 -6.00062150e-03 6.29173545e+02] [-2.31317934e-01 9.72876713e-01 1.70735004e-03 -4.10569679e+01] [ 6.23281609e-03 -2.72958190e-04 9.99980539e-01 2.00379258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.870714057 meters Centerline goodness [0,1] 0.9774274071387425 Centerline is valid? [True, True] Translation: X:629.20, Y:-41.07, Z:2.00 [[ 9.72760222e-01 2.31715946e-01 -6.72840245e-03 6.29199430e+02] [-2.31708247e-01 9.72783444e-01 1.91288236e-03 -4.10661779e+01] [ 6.98852386e-03 -3.01749535e-04 9.99975534e-01 2.00379709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.900714057 meters Centerline goodness [0,1] 0.9767740005555436 Centerline is valid? [True, True] Translation: X:629.23, Y:-41.07, Z:2.00 [[ 9.72741887e-01 2.31792380e-01 -6.74643588e-03 6.29227539e+02] [-2.31784647e-01 9.72765235e-01 1.91724871e-03 -4.10743810e+01] [ 7.00710192e-03 -3.01267868e-04 9.99975405e-01 2.00355957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9307140569999 meters Centerline goodness [0,1] 0.9767843806678758 Centerline is valid? [True, True] Translation: X:629.25, Y:-41.08, Z:2.00 [[ 9.72547250e-01 2.32603340e-01 -6.89443551e-03 6.29253838e+02] [-2.32595290e-01 9.72571640e-01 1.95841858e-03 -4.10843447e+01] [ 7.16086716e-03 -3.01041378e-04 9.99974315e-01 2.00300125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9607140569999 meters Centerline goodness [0,1] 0.9762621411036396 Centerline is valid? [True, True] Translation: X:629.28, Y:-41.09, Z:2.00 [[ 9.72493674e-01 2.32826519e-01 -6.91852379e-03 6.29281015e+02] [-2.32818427e-01 9.72518237e-01 1.96419389e-03 -4.10925968e+01] [ 7.18570699e-03 -2.99406304e-04 9.99974138e-01 2.00272254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.990714057 meters Centerline goodness [0,1] 0.9767173862011567 Centerline is valid? [True, True] Translation: X:629.31, Y:-41.10, Z:2.00 [[ 9.72532635e-01 2.32663978e-01 -6.90992330e-03 6.29306873e+02] [-2.32655911e-01 9.72557137e-01 1.96038024e-03 -4.11016396e+01] [ 7.17640508e-03 -2.98899254e-04 9.99974205e-01 2.00243702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.020714057 meters Centerline goodness [0,1] 0.9767273192687558 Centerline is valid? [True, True] Translation: X:629.33, Y:-41.11, Z:2.00 [[ 9.72566198e-01 2.32520579e-01 -7.01220672e-03 6.29333977e+02] [-2.32512276e-01 9.72591429e-01 1.98821934e-03 -4.11086396e+01] [ 7.28231407e-03 -3.03250782e-04 9.99973438e-01 2.00252301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0507140569999 meters Centerline goodness [0,1] 0.9782798864921377 Centerline is valid? [True, True] Translation: X:629.36, Y:-41.11, Z:2.00 [[ 9.72829977e-01 2.31395683e-01 -7.60741388e-03 6.29362813e+02] [-2.31385895e-01 9.72859664e-01 2.15470104e-03 -4.11136118e+01] [ 7.89953462e-03 -3.35909499e-04 9.99968742e-01 2.00283837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0807140569999 meters Centerline goodness [0,1] 0.9776594611862421 Centerline is valid? [True, True] Translation: X:629.39, Y:-41.12, Z:2.00 [[ 9.72969430e-01 2.30828104e-01 -6.99107461e-03 6.29388626e+02] [-2.30819832e-01 9.72994496e-01 1.97877564e-03 -4.11233321e+01] [ 7.25903414e-03 -3.11609536e-04 9.99973604e-01 2.00256142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.110714057 meters Centerline goodness [0,1] 0.9764573035622977 Centerline is valid? [True, True] Translation: X:629.42, Y:-41.13, Z:2.00 [[ 9.73308088e-01 2.29401004e-01 -6.82235500e-03 6.29415484e+02] [-2.29393099e-01 9.73331948e-01 1.92995734e-03 -4.11329643e+01] [ 7.08315024e-03 -3.13441935e-04 9.99974865e-01 2.00287476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.140714057 meters Centerline goodness [0,1] 0.9773250853242321 Centerline is valid? [True, True] Translation: X:629.44, Y:-41.14, Z:2.00 [[ 9.73555115e-01 2.28367666e-01 -6.21674141e-03 6.29442930e+02] [-2.28361092e-01 9.73574920e-01 1.75706931e-03 -4.11403789e+01] [ 6.45372134e-03 -2.90941957e-04 9.99979132e-01 2.00297594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1707140569999 meters Centerline goodness [0,1] 0.9763089617625792 Centerline is valid? [True, True] Translation: X:629.47, Y:-41.15, Z:2.00 [[ 9.73651502e-01 2.27958263e-01 -6.14680920e-03 6.29468992e+02] [-2.27951836e-01 9.73670862e-01 1.73595198e-03 -4.11512005e+01] [ 6.38069361e-03 -2.89035809e-04 9.99979601e-01 2.00314277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2007140569999 meters Centerline goodness [0,1] 0.9761165461505742 Centerline is valid? [True, True] Translation: X:629.50, Y:-41.16, Z:2.00 [[ 9.73953866e-01 2.26677912e-01 -5.56701515e-03 6.29496428e+02] [-2.26672624e-01 9.73969739e-01 1.57151491e-03 -4.11590247e+01] [ 5.77833201e-03 -2.68693091e-04 9.99983269e-01 2.00293227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2307140569999 meters Centerline goodness [0,1] 0.9754293994800324 Centerline is valid? [True, True] Translation: X:629.52, Y:-41.17, Z:2.00 [[ 9.74425766e-01 2.24641746e-01 -5.52376844e-03 6.29523422e+02] [-2.24636514e-01 9.74441383e-01 1.55807778e-03 -4.11687097e+01] [ 5.73259788e-03 -2.77391044e-04 9.99983530e-01 2.00328423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.260714057 meters Centerline goodness [0,1] 0.9754321723580005 Centerline is valid? [True, True] Translation: X:629.55, Y:-41.18, Z:2.00 [[ 9.74754095e-01 2.23219131e-01 -5.26067084e-03 6.29551091e+02] [-2.23214367e-01 9.74768252e-01 1.48339991e-03 -4.11764815e+01] [ 5.45905816e-03 -2.71692826e-04 9.99985062e-01 2.00377362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.290714057 meters Centerline goodness [0,1] 0.974610330235822 Centerline is valid? [True, True] Translation: X:629.58, Y:-41.19, Z:2.00 [[ 9.75077214e-01 2.21803172e-01 -5.27067656e-03 6.29578637e+02] [-2.21798378e-01 9.75091419e-01 1.48481269e-03 -4.11854898e+01] [ 5.46872765e-03 -2.78779511e-04 9.99985008e-01 2.00376945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3207140569999 meters Centerline goodness [0,1] 0.9764141898370087 Centerline is valid? [True, True] Translation: X:629.61, Y:-41.19, Z:2.00 [[ 9.75424729e-01 2.20268180e-01 -5.34095612e-03 6.29607296e+02] [-2.20263242e-01 9.75439309e-01 1.50315909e-03 -4.11907699e+01] [ 5.54087666e-03 -2.89802240e-04 9.99984607e-01 2.00398293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3507140569999 meters Centerline goodness [0,1] 0.9732814692003571 Centerline is valid? [True, True] Translation: X:629.63, Y:-41.20, Z:2.00 [[ 9.76176183e-01 2.16932456e-01 -4.51312850e-03 6.29633795e+02] [-2.16928900e-01 9.76186581e-01 1.26913560e-03 -4.12049027e+01] [ 4.68097218e-03 -2.59871945e-04 9.99989010e-01 2.00437086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.380714057 meters Centerline goodness [0,1] 0.9727736450584484 Centerline is valid? [True, True] Translation: X:629.66, Y:-41.21, Z:2.00 [[ 9.76655611e-01 2.14776394e-01 -3.86234905e-03 6.29662583e+02] [-2.14773773e-01 9.76663221e-01 1.08600265e-03 -4.12128262e+01] [ 4.00546200e-03 -2.31119303e-04 9.99991951e-01 2.00480168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.410714057 meters Centerline goodness [0,1] 0.969221600221366 Centerline is valid? [True, True] Translation: X:629.69, Y:-41.23, Z:2.01 [[ 9.77049651e-01 2.12986228e-01 -3.29339208e-03 6.29686401e+02] [-2.12984312e-01 9.77055180e-01 9.25965522e-04 -4.12315563e+01] [ 3.41504369e-03 -2.03273445e-04 9.99994148e-01 2.00552135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4407140569999 meters Centerline goodness [0,1] 0.9713228098540612 Centerline is valid? [True, True] Translation: X:629.72, Y:-41.23, Z:2.01 [[ 9.77697677e-01 2.09999613e-01 -2.72303351e-03 6.29718044e+02] [-2.09998292e-01 9.77701453e-01 7.65357942e-04 -4.12295490e+01] [ 2.82303869e-03 -1.76456295e-04 9.99996000e-01 2.00601258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4707140569999 meters Centerline goodness [0,1] 0.9694721401390336 Centerline is valid? [True, True] Translation: X:629.74, Y:-41.24, Z:2.01 [[ 9.77942030e-01 2.08858442e-01 -2.74522918e-03 6.29743321e+02] [-2.08857095e-01 9.77945867e-01 7.71702694e-04 -4.12404860e+01] [ 2.84586215e-03 -1.81319908e-04 9.99995934e-01 2.00620582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.500714057 meters Centerline goodness [0,1] 0.9695293216443953 Centerline is valid? [True, True] Translation: X:629.77, Y:-41.25, Z:2.01 [[ 9.78174619e-01 2.07764351e-01 -2.89638411e-03 6.29771150e+02] [-2.07762849e-01 9.78178888e-01 8.13798550e-04 -4.12462962e+01] [ 3.00226012e-03 -1.94276073e-04 9.99995474e-01 2.00586084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.530714057 meters Centerline goodness [0,1] 0.9698039382469272 Centerline is valid? [True, True] Translation: X:629.80, Y:-41.25, Z:2.01 [[ 9.78338647e-01 2.06985618e-01 -3.23205319e-03 6.29798797e+02] [-2.06983743e-01 9.78343961e-01 9.07956608e-04 -4.12535217e+01] [ 3.34999368e-03 -2.19306571e-04 9.99994365e-01 2.00557074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5607140569999 meters Centerline goodness [0,1] 0.9696860108917631 Centerline is valid? [True, True] Translation: X:629.83, Y:-41.26, Z:2.01 [[ 9.78501482e-01 2.06210535e-01 -3.47344351e-03 6.29825052e+02] [-2.06208368e-01 9.78507618e-01 9.74575588e-04 -4.12620849e+01] [ 3.59975869e-03 -2.37370539e-04 9.99993493e-01 2.00522959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5907140569999 meters Centerline goodness [0,1] 0.9696596269068967 Centerline is valid? [True, True] Translation: X:629.85, Y:-41.27, Z:2.01 [[ 9.78567598e-01 2.05893820e-01 -3.63199654e-03 6.29851737e+02] [-2.05891450e-01 9.78574306e-01 1.01885637e-03 -4.12698758e+01] [ 3.76395472e-03 -2.49222794e-04 9.99992885e-01 2.00503959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.620714057 meters Centerline goodness [0,1] 0.9700419157854423 Centerline is valid? [True, True] Translation: X:629.88, Y:-41.28, Z:2.00 [[ 9.78631078e-01 2.05587715e-01 -3.86061439e-03 6.29878860e+02] [-2.05585040e-01 9.78638657e-01 1.08173137e-03 -4.12760775e+01] [ 4.00053716e-03 -2.64931378e-04 9.99991963e-01 2.00498734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.650714057 meters Centerline goodness [0,1] 0.9710533597258583 Centerline is valid? [True, True] Translation: X:629.91, Y:-41.28, Z:2.00 [[ 9.78799233e-01 2.04782123e-01 -4.04283839e-03 6.29907025e+02] [-2.04779188e-01 9.78807542e-01 1.13147416e-03 -4.12815133e+01] [ 4.18886639e-03 -2.79596879e-04 9.99991188e-01 2.00462382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6807140569999 meters Centerline goodness [0,1] 0.9710404537990744 Centerline is valid? [True, True] Translation: X:629.93, Y:-41.29, Z:2.01 [[ 9.78775326e-01 2.04887266e-01 -4.47988870e-03 6.29934973e+02] [-2.04883669e-01 9.78785530e-01 1.25244063e-03 -4.12867455e+01] [ 4.64145938e-03 -3.08001947e-04 9.99989181e-01 2.00542022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7107140569999 meters Centerline goodness [0,1] 0.9708723372497174 Centerline is valid? [True, True] Translation: X:629.96, Y:-41.29, Z:2.01 [[ 9.78806865e-01 2.04734319e-01 -4.58041767e-03 6.29961148e+02] [-2.04730564e-01 9.78817531e-01 1.27928457e-03 -4.12941054e+01] [ 4.74530658e-03 -3.14421021e-04 9.99988692e-01 2.00559424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.740714057 meters Centerline goodness [0,1] 0.9700534079348931 Centerline is valid? [True, True] Translation: X:629.99, Y:-41.30, Z:2.01 [[ 9.78834118e-01 2.04604394e-01 -4.56197416e-03 6.29986921e+02] [-2.04600670e-01 9.78844699e-01 1.27351627e-03 -4.13026302e+01] [ 4.72603125e-03 -3.13178207e-04 9.99988783e-01 2.00563136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.770714057 meters Centerline goodness [0,1] 0.9713263175834008 Centerline is valid? [True, True] Translation: X:630.01, Y:-41.31, Z:2.01 [[ 9.79005182e-01 2.03759527e-01 -5.55955832e-03 6.30014920e+02] [-2.03753989e-01 9.79020892e-01 1.55097146e-03 -4.13100583e+01] [ 5.75894896e-03 -3.85626914e-04 9.99983343e-01 2.00563320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8007140569999 meters Centerline goodness [0,1] 0.9726942783945346 Centerline is valid? [True, True] Translation: X:630.04, Y:-41.31, Z:2.01 [[ 9.79120514e-01 2.03203116e-01 -5.61369830e-03 6.30043189e+02] [-2.03197469e-01 9.79136528e-01 1.56456486e-03 -4.13148324e+01] [ 5.81450152e-03 -3.91208261e-04 9.99983019e-01 2.00580570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8307140569999 meters Centerline goodness [0,1] 0.9736774634646611 Centerline is valid? [True, True] Translation: X:630.07, Y:-41.32, Z:2.01 [[ 9.79258708e-01 2.02535074e-01 -5.65040090e-03 6.30070795e+02] [-2.02529352e-01 9.79274929e-01 1.57324904e-03 -4.13220627e+01] [ 5.85193405e-03 -3.96245791e-04 9.99982799e-01 2.00635736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.860714057 meters Centerline goodness [0,1] 0.9729856807010044 Centerline is valid? [True, True] Translation: X:630.10, Y:-41.33, Z:2.01 [[ 9.79371727e-01 2.02010800e-01 -4.75986396e-03 6.30097374e+02] [-2.02006738e-01 9.79383237e-01 1.32424877e-03 -4.13297015e+01] [ 4.92924352e-03 -3.35407216e-04 9.99987795e-01 2.00762833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.890714057 meters Centerline goodness [0,1] 0.9731788503392651 Centerline is valid? [True, True] Translation: X:630.12, Y:-41.34, Z:2.01 [[ 9.79422114e-01 2.01759887e-01 -5.02700607e-03 6.30124460e+02] [-2.01755356e-01 9.79434950e-01 1.39793130e-03 -4.13367137e+01] [ 5.20567190e-03 -3.54939427e-04 9.99986387e-01 2.00826843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9207140569999 meters Centerline goodness [0,1] 0.9725223109441052 Centerline is valid? [True, True] Translation: X:630.15, Y:-41.34, Z:2.01 [[ 9.79458416e-01 2.01589446e-01 -4.78600584e-03 6.30151912e+02] [-2.01585344e-01 9.79470051e-01 1.32951074e-03 -4.13432063e+01] [ 4.95576472e-03 -3.37411852e-04 9.99987663e-01 2.00825300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9507140569999 meters Centerline goodness [0,1] 0.974164848795928 Centerline is valid? [True, True] Translation: X:630.18, Y:-41.35, Z:2.01 [[ 9.79496997e-01 2.01400839e-01 -4.83063434e-03 6.30178972e+02] [-2.01396666e-01 9.79508850e-01 1.34041203e-03 -4.13498470e+01] [ 5.00160919e-03 -3.40055906e-04 9.99987434e-01 2.00855326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9807140569999 meters Centerline goodness [0,1] 0.9740918231996919 Centerline is valid? [True, True] Translation: X:630.21, Y:-41.35, Z:2.01 [[ 9.79452085e-01 2.01620118e-01 -4.78974980e-03 6.30207966e+02] [-2.01616025e-01 9.79463739e-01 1.32762049e-03 -4.13541946e+01] [ 4.95906125e-03 -3.34650341e-04 9.99987648e-01 2.00900187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.010714057 meters Centerline goodness [0,1] 0.9744264680705359 Centerline is valid? [True, True] Translation: X:630.23, Y:-41.36, Z:2.01 [[ 9.79536845e-01 2.01214830e-01 -4.49017553e-03 6.30234557e+02] [-2.01211234e-01 9.79547086e-01 1.24344935e-03 -4.13621803e+01] [ 4.64853881e-03 -3.14530692e-04 9.99989146e-01 2.00890741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.040714057 meters Centerline goodness [0,1] 0.9747087544971732 Centerline is valid? [True, True] Translation: X:630.26, Y:-41.37, Z:2.01 [[ 9.79719641e-01 2.00317536e-01 -4.72341009e-03 6.30262906e+02] [-2.00313548e-01 9.79730970e-01 1.30750539e-03 -4.13678979e+01] [ 4.88958740e-03 -3.34825681e-04 9.99987990e-01 2.00956669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0707140569999 meters Centerline goodness [0,1] 0.9728821540173794 Centerline is valid? [True, True] Translation: X:630.29, Y:-41.38, Z:2.01 [[ 9.79819025e-01 1.99834653e-01 -4.55969464e-03 6.30289197e+02] [-1.99830937e-01 9.79829580e-01 1.26100912e-03 -4.13772739e+01] [ 4.71971701e-03 -3.24392673e-04 9.99988809e-01 2.00903435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1007140569999 meters Centerline goodness [0,1] 0.9743364726027397 Centerline is valid? [True, True] Translation: X:630.32, Y:-41.38, Z:2.01 [[ 9.80197904e-01 1.97946573e-01 -5.40593324e-03 6.30318540e+02] [-1.97941325e-01 9.80212731e-01 1.49449732e-03 -4.13832964e+01] [ 5.59479521e-03 -3.94845558e-04 9.99984271e-01 2.00869095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.130714057 meters Centerline goodness [0,1] 0.9723161182662273 Centerline is valid? [True, True] Translation: X:630.34, Y:-41.39, Z:2.01 [[ 9.80464589e-01 1.96617513e-01 -5.54465362e-03 6.30344685e+02] [-1.96611972e-01 9.80480180e-01 1.53258506e-03 -4.13945977e+01] [ 5.73775604e-03 -4.12500104e-04 9.99983454e-01 2.00834151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.160714057 meters Centerline goodness [0,1] 0.9734983088581581 Centerline is valid? [True, True] Translation: X:630.37, Y:-41.40, Z:2.01 [[ 9.80771267e-01 1.95080923e-01 -5.58162674e-03 6.30374195e+02] [-1.95075286e-01 9.80787058e-01 1.54241829e-03 -4.13988080e+01] [ 5.77528365e-03 -4.23922107e-04 9.99983233e-01 2.00850515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1907140569999 meters Centerline goodness [0,1] 0.9710790719595536 Centerline is valid? [True, True] Translation: X:630.40, Y:-41.41, Z:2.01 [[ 9.81197452e-01 1.92917693e-01 -5.85869460e-03 6.30400793e+02] [-1.92911445e-01 9.81214836e-01 1.61878958e-03 -4.14122172e+01] [ 6.06093121e-03 -4.58142972e-04 9.99981527e-01 2.00899472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2207140569999 meters Centerline goodness [0,1] 0.9727722242438512 Centerline is valid? [True, True] Translation: X:630.43, Y:-41.42, Z:2.01 [[ 9.81364984e-01 1.92061937e-01 -5.91437063e-03 6.30429280e+02] [-1.92055557e-01 9.81382695e-01 1.63373058e-03 -4.14171343e+01] [ 6.11803844e-03 -4.67398245e-04 9.99981175e-01 2.00962609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.250714057 meters Centerline goodness [0,1] 0.9735116368779735 Centerline is valid? [True, True] Translation: X:630.46, Y:-41.42, Z:2.01 [[ 9.81469092e-01 1.91534732e-01 -5.73301428e-03 6.30457214e+02] [-1.91528738e-01 9.81485731e-01 1.58214077e-03 -4.14224425e+01] [ 5.92990662e-03 -4.54785274e-04 9.99982315e-01 2.01016898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.280714057 meters Centerline goodness [0,1] 0.9725528817333219 Centerline is valid? [True, True] Translation: X:630.48, Y:-41.43, Z:2.01 [[ 9.81576650e-01 1.90969372e-01 -6.16276237e-03 6.30484842e+02] [-1.90962445e-01 9.81595873e-01 1.69899456e-03 -4.14290422e+01] [ 6.37379803e-03 -4.90837220e-04 9.99979567e-01 2.01029749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3107140569999 meters Centerline goodness [0,1] 0.9742666752372994 Centerline is valid? [True, True] Translation: X:630.51, Y:-41.43, Z:2.01 [[ 9.81485597e-01 1.91408936e-01 -6.97435008e-03 6.30513880e+02] [-1.91400090e-01 9.81510222e-01 1.92070517e-03 -4.14320221e+01] [ 7.21303603e-03 -5.50253230e-04 9.99973834e-01 2.01021633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3407140569999 meters Centerline goodness [0,1] 0.9734517069823297 Centerline is valid? [True, True] Translation: X:630.54, Y:-41.44, Z:2.01 [[ 9.81412549e-01 1.91776587e-01 -7.15192886e-03 6.30539802e+02] [-1.91767306e-01 9.81438448e-01 1.96811447e-03 -4.14412161e+01] [ 7.39661623e-03 -5.60026113e-04 9.99972488e-01 2.00990439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.370714057 meters Centerline goodness [0,1] 0.9741199716500935 Centerline is valid? [True, True] Translation: X:630.57, Y:-41.45, Z:2.01 [[ 9.81365225e-01 1.92005722e-01 -7.48980951e-03 6.30567965e+02] [-1.91995559e-01 9.81393633e-01 2.05982674e-03 -4.14468862e+01] [ 7.74594988e-03 -5.83432168e-04 9.99969829e-01 2.00995246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.400714057 meters Centerline goodness [0,1] 0.9752529249459928 Centerline is valid? [True, True] Translation: X:630.60, Y:-41.45, Z:2.01 [[ 9.81294212e-01 1.92369885e-01 -7.44965712e-03 6.30595086e+02] [-1.92359853e-01 9.81322320e-01 2.04732433e-03 -4.14546782e+01] [ 7.70435835e-03 -5.76012570e-04 9.99970155e-01 2.01017053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4307140569999 meters Centerline goodness [0,1] 0.9756857185815238 Centerline is valid? [True, True] Translation: X:630.62, Y:-41.46, Z:2.01 [[ 9.81301503e-01 1.92313408e-01 -7.93183501e-03 6.30623651e+02] [-1.92302045e-01 9.81333367e-01 2.17846337e-03 -4.14603864e+01] [ 8.20272208e-03 -6.12421287e-04 9.99966170e-01 2.01040136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4607140569999 meters Centerline goodness [0,1] 0.9768930120688915 Centerline is valid? [True, True] Translation: X:630.65, Y:-41.46, Z:2.01 [[ 9.81111151e-01 1.93279146e-01 -8.00509307e-03 6.30652691e+02] [-1.93267615e-01 9.81143619e-01 2.19713277e-03 -4.14622925e+01] [ 8.27880593e-03 -6.08506210e-04 9.99965545e-01 2.01138846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.490714057 meters Centerline goodness [0,1] 0.9759194019590995 Centerline is valid? [True, True] Translation: X:630.68, Y:-41.47, Z:2.01 [[ 9.81071309e-01 1.93492274e-01 -7.73482388e-03 6.30681335e+02] [-1.93481525e-01 9.81101625e-01 2.12172583e-03 -4.14667678e+01] [ 7.99918583e-03 -5.85018814e-04 9.99967835e-01 2.01171632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.520714057 meters Centerline goodness [0,1] 0.9759951775065125 Centerline is valid? [True, True] Translation: X:630.71, Y:-41.47, Z:2.01 [[ 9.81025102e-01 1.93713476e-01 -8.05220898e-03 6.30709385e+02] [-1.93701853e-01 9.81057961e-01 2.20656231e-03 -4.14734952e+01] [ 8.32712458e-03 -6.04965213e-04 9.99965146e-01 2.01189187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5507140569999 meters Centerline goodness [0,1] 0.9773059714334882 Centerline is valid? [True, True] Translation: X:630.74, Y:-41.48, Z:2.01 [[ 9.81004889e-01 1.93824832e-01 -7.83206633e-03 6.30738290e+02] [-1.93813857e-01 9.81035979e-01 2.14413983e-03 -4.14767791e+01] [ 8.09912640e-03 -5.85448675e-04 9.99967030e-01 2.01248491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5807140569999 meters Centerline goodness [0,1] 0.9763359435504689 Centerline is valid? [True, True] Translation: X:630.76, Y:-41.49, Z:2.01 [[ 9.80944742e-01 1.94108339e-01 -8.32858638e-03 6.30764022e+02] [-1.94095952e-01 9.80979903e-01 2.27839657e-03 -4.14878277e+01] [ 8.61243163e-03 -6.18436233e-04 9.99962721e-01 2.01235919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.610714057 meters Centerline goodness [0,1] 0.9775239737097295 Centerline is valid? [True, True] Translation: X:630.79, Y:-41.49, Z:2.01 [[ 9.80888802e-01 1.94366592e-01 -8.87611195e-03 6.30793167e+02] [-1.94352548e-01 9.80928743e-01 2.42652440e-03 -4.14905126e+01] [ 9.17846861e-03 -6.55055632e-04 9.99957662e-01 2.01263323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.640714057 meters Centerline goodness [0,1] 0.9772893457783131 Centerline is valid? [True, True] Translation: X:630.82, Y:-41.50, Z:2.01 [[ 9.80922365e-01 1.94174716e-01 -9.35380745e-03 6.30820865e+02] [-1.94159138e-01 9.80966719e-01 2.55434819e-03 -4.14957303e+01] [ 9.67176364e-03 -6.89490078e-04 9.99952990e-01 2.01231231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6707140569999 meters Centerline goodness [0,1] 0.9765380717227697 Centerline is valid? [True, True] Translation: X:630.85, Y:-41.50, Z:2.01 [[ 9.80879427e-01 1.94382045e-01 -9.54828340e-03 6.30849291e+02] [-1.94365850e-01 9.80925651e-01 2.60470031e-03 -4.15005721e+01] [ 9.87246307e-03 -6.99036729e-04 9.99951022e-01 2.01198805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7007140569999 meters Centerline goodness [0,1] 0.9765380717227697 Centerline is valid? [True, True] Translation: X:630.88, Y:-41.51, Z:2.01 [[ 9.80934596e-01 1.94103412e-01 -9.54897976e-03 6.30875830e+02] [-1.94087229e-01 9.80980824e-01 2.60214562e-03 -4.15077265e+01] [ 9.87245137e-03 -6.99199639e-04 9.99951022e-01 2.01211408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7307140569999 meters Centerline goodness [0,1] 0.978015807886667 Centerline is valid? [True, True] Translation: X:630.90, Y:-41.51, Z:2.01 [[ 9.80943405e-01 1.94044014e-01 -9.84661452e-03 6.30904726e+02] [-1.94026833e-01 9.80992561e-01 2.68037117e-03 -4.15095891e+01] [ 1.01795656e-02 -7.18784995e-04 9.99947929e-01 2.01288693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.760714057 meters Centerline goodness [0,1] 0.978282393456737 Centerline is valid? [True, True] Translation: X:630.93, Y:-41.52, Z:2.01 [[ 9.80898652e-01 1.94293610e-01 -9.37168271e-03 6.30931103e+02] [-1.94278075e-01 9.80943184e-01 2.54921847e-03 -4.15184107e+01] [ 9.68838514e-03 -6.79812486e-04 9.99952835e-01 2.01339197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.790714057 meters Centerline goodness [0,1] 0.9749124854142357 Centerline is valid? [True, True] Translation: X:630.96, Y:-41.53, Z:2.01 [[ 9.80860511e-01 1.94501439e-01 -9.04704027e-03 6.30957566e+02] [-1.94486981e-01 9.80902015e-01 2.45985766e-03 -4.15278394e+01] [ 9.35270589e-03 -6.53245695e-04 9.99956049e-01 2.01389933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8207140569999 meters Centerline goodness [0,1] 0.9777375097074812 Centerline is valid? [True, True] Translation: X:630.99, Y:-41.53, Z:2.02 [[ 9.80739391e-01 1.95162254e-01 -7.87027216e-03 6.30987442e+02] [-1.95151344e-01 9.80770809e-01 2.13861610e-03 -4.15273186e+01] [ 8.13631033e-03 -5.61530857e-04 9.99966742e-01 2.01555691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8507140569999 meters Centerline goodness [0,1] 0.977286479944675 Centerline is valid? [True, True] Translation: X:631.02, Y:-41.53, Z:2.02 [[ 9.80730887e-01 1.95216878e-01 -7.56958488e-03 6.31015610e+02] [-1.95206803e-01 9.80759951e-01 2.05494278e-03 -4.15326467e+01] [ 7.82510521e-03 -5.37711388e-04 9.99969239e-01 2.01637387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.880714057 meters Centerline goodness [0,1] 0.9771719138807746 Centerline is valid? [True, True] Translation: X:631.04, Y:-41.54, Z:2.02 [[ 9.80688008e-01 1.95431173e-01 -7.59530915e-03 6.31043981e+02] [-1.95421051e-01 9.80717273e-01 2.05989722e-03 -4.15361596e+01] [ 7.85141901e-03 -5.35833205e-04 9.99969034e-01 2.01713026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.910714057 meters Centerline goodness [0,1] 0.9772939009858087 Centerline is valid? [True, True] Translation: X:631.07, Y:-41.54, Z:2.02 [[ 9.80554609e-01 1.96097073e-01 -7.65479963e-03 6.31071369e+02] [-1.96086824e-01 9.80584343e-01 2.07452904e-03 -4.15425562e+01] [ 7.91298574e-03 -5.33183665e-04 9.99968550e-01 2.01751334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9407140569999 meters Centerline goodness [0,1] 0.9779357579435606 Centerline is valid? [True, True] Translation: X:631.10, Y:-41.55, Z:2.02 [[ 9.80488683e-01 1.96428896e-01 -7.59153448e-03 6.31098740e+02] [-1.96418832e-01 9.80517931e-01 2.05667002e-03 -4.15485952e+01] [ 7.84762510e-03 -5.25421343e-04 9.99969069e-01 2.01772321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9707140569999 meters Centerline goodness [0,1] 0.9767749490393373 Centerline is valid? [True, True] Translation: X:631.13, Y:-41.56, Z:2.02 [[ 9.80635316e-01 1.95686263e-01 -7.82708664e-03 6.31127122e+02] [-1.95675551e-01 9.80666400e-01 2.11917220e-03 -4.15550581e+01] [ 8.09045377e-03 -5.46565608e-04 9.99967122e-01 2.01767163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.000714057 meters Centerline goodness [0,1] 0.9766144091718417 Centerline is valid? [True, True] Translation: X:631.15, Y:-41.56, Z:2.02 [[ 9.80787627e-01 1.94877493e-01 -8.85400277e-03 6.31153731e+02] [-1.94863769e-01 9.80827392e-01 2.39550136e-03 -4.15622807e+01] [ 9.15107774e-03 -6.24153737e-04 9.99957933e-01 2.01753957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.030714057 meters Centerline goodness [0,1] 0.9771834227036884 Centerline is valid? [True, True] Translation: X:631.18, Y:-41.56, Z:2.02 [[ 9.81150624e-01 1.93003936e-01 -9.64020474e-03 6.31183953e+02] [-1.92987582e-01 9.81197734e-01 2.60757060e-03 -4.15643712e+01] [ 9.96221843e-03 -6.97979715e-04 9.99950132e-01 2.01768599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0607140569999 meters Centerline goodness [0,1] 0.9766299267375378 Centerline is valid? [True, True] Translation: X:631.21, Y:-41.57, Z:2.02 [[ 9.81473018e-01 1.91320292e-01 -1.03567297e-02 6.31212805e+02] [-1.91301328e-01 9.81527359e-01 2.80097533e-03 -4.15722445e+01] [ 1.07012969e-02 -7.67825574e-04 9.99942445e-01 2.01735555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0907140569999 meters Centerline goodness [0,1] 0.9760076566680442 Centerline is valid? [True, True] Translation: X:631.24, Y:-41.58, Z:2.02 [[ 9.81776345e-01 1.89727922e-01 -1.08869079e-02 6.31240105e+02] [-1.89706877e-01 9.81836359e-01 2.94366203e-03 -4.15822084e+01] [ 1.12476569e-02 -8.24696443e-04 9.99936403e-01 2.01704942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.120714057 meters Centerline goodness [0,1] 0.9769869926480185 Centerline is valid? [True, True] Translation: X:631.27, Y:-41.59, Z:2.02 [[ 9.82062947e-01 1.88214839e-01 -1.12934869e-02 6.31269397e+02] [-1.88192101e-01 9.82127493e-01 3.05296316e-03 -4.15876155e+01] [ 1.16662570e-02 -8.72856971e-04 9.99931566e-01 2.01739024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.150714057 meters Centerline goodness [0,1] 0.976060295815453 Centerline is valid? [True, True] Translation: X:631.30, Y:-41.60, Z:2.02 [[ 9.82446571e-01 1.86181348e-01 -1.16293070e-02 6.31298272e+02] [-1.86157101e-01 9.82514963e-01 3.14330328e-03 -4.15950412e+01] [ 1.20111926e-02 -9.23249452e-04 9.99927437e-01 2.01779593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1807140569999 meters Centerline goodness [0,1] 0.9748919441367477 Centerline is valid? [True, True] Translation: X:631.33, Y:-41.60, Z:2.02 [[ 9.82591711e-01 1.85416792e-01 -1.15819657e-02 6.31325970e+02] [-1.85392714e-01 9.82659531e-01 3.12845116e-03 -4.16020431e+01] [ 1.19611964e-02 -9.26778116e-04 9.99928033e-01 2.01830986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2107140569999 meters Centerline goodness [0,1] 0.9760622121817708 Centerline is valid? [True, True] Translation: X:631.35, Y:-41.61, Z:2.02 [[ 9.82671590e-01 1.85010458e-01 -1.12993749e-02 6.31354505e+02] [-1.84987552e-01 9.82736135e-01 3.04885196e-03 -4.16051980e+01] [ 1.16683735e-02 -9.05776500e-04 9.99931512e-01 2.01894067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.240714057 meters Centerline goodness [0,1] 0.9740896662471247 Centerline is valid? [True, True] Translation: X:631.38, Y:-41.61, Z:2.02 [[ 9.82610723e-01 1.85330989e-01 -1.13398202e-02 6.31382711e+02] [-1.85307978e-01 9.82675740e-01 3.05653638e-03 -4.16122417e+01] [ 1.17098371e-02 -9.02026261e-04 9.99931031e-01 2.01967895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.270714057 meters Centerline goodness [0,1] 0.976160848778571 Centerline is valid? [True, True] Translation: X:631.41, Y:-41.62, Z:2.02 [[ 9.82181535e-01 1.87577657e-01 -1.15781995e-02 6.31413236e+02] [-1.87553840e-01 9.82249371e-01 3.11944255e-03 -4.16155678e+01] [ 1.19578169e-02 -8.92323101e-04 9.99928105e-01 2.02077790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3007140569999 meters Centerline goodness [0,1] 0.9772647778943686 Centerline is valid? [True, True] Translation: X:631.44, Y:-41.62, Z:2.02 [[ 9.81814650e-01 1.89465698e-01 -1.19475186e-02 6.31442682e+02] [-1.89440480e-01 9.81886931e-01 3.21857140e-03 -4.16203192e+01] [ 1.23409212e-02 -8.96696894e-04 9.99923446e-01 2.02172945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3307140569999 meters Centerline goodness [0,1] 0.9772463482469396 Centerline is valid? [True, True] Translation: X:631.47, Y:-41.63, Z:2.02 [[ 9.81413841e-01 1.91531419e-01 -1.19410293e-02 6.31472113e+02] [-1.91506386e-01 9.81486097e-01 3.21636762e-03 -4.16250093e+01] [ 1.23359897e-02 -8.69804338e-04 9.99923530e-01 2.02227328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.360714057 meters Centerline goodness [0,1] 0.9780999450851181 Centerline is valid? [True, True] Translation: X:631.50, Y:-41.63, Z:2.02 [[ 9.80631955e-01 1.95513847e-01 -1.16320098e-02 6.31501735e+02] [-1.95490375e-01 9.80700616e-01 3.13285689e-03 -4.16290300e+01] [ 1.20200361e-02 -7.98233614e-04 9.99927438e-01 2.02342544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.390714057 meters Centerline goodness [0,1] 0.9780181207906457 Centerline is valid? [True, True] Translation: X:631.53, Y:-41.63, Z:2.02 [[ 9.80269179e-01 1.97343622e-01 -1.13062592e-02 6.31530633e+02] [-1.97321571e-01 9.80334089e-01 3.04479990e-03 -4.16348404e+01] [ 1.16847831e-02 -7.53754677e-04 9.99931446e-01 2.02386791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4207140569999 meters Centerline goodness [0,1] 0.9782369992972593 Centerline is valid? [True, True] Translation: X:631.56, Y:-41.64, Z:2.02 [[ 9.79806914e-01 1.99616709e-01 -1.14708295e-02 6.31560346e+02] [-1.99594171e-01 9.79873781e-01 3.08882169e-03 -4.16407531e+01] [ 1.18565455e-02 -7.36938155e-04 9.99929437e-01 2.02440194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4507140569999 meters Centerline goodness [0,1] 0.9805551268766948 Centerline is valid? [True, True] Translation: X:631.59, Y:-41.64, Z:2.02 [[ 9.79139918e-01 2.02829568e-01 -1.20493597e-02 6.31590808e+02] [-2.02804943e-01 9.79213781e-01 3.24437656e-03 -4.16427318e+01] [ 1.24569545e-02 -7.33028907e-04 9.99922140e-01 2.02455672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4807140569999 meters Centerline goodness [0,1] 0.9806497112884031 Centerline is valid? [True, True] Translation: X:631.62, Y:-41.65, Z:2.02 [[ 9.78871379e-01 2.04109089e-01 -1.22597816e-02 6.31616966e+02] [-2.04083707e-01 9.78947879e-01 3.30021705e-03 -4.16522192e+01] [ 1.26752915e-02 -7.28466335e-04 9.99919400e-01 2.02383412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.510714057 meters Centerline goodness [0,1] 0.981183210311777 Centerline is valid? [True, True] Translation: X:631.65, Y:-41.66, Z:2.02 [[ 9.78686636e-01 2.04983051e-01 -1.24264871e-02 6.31645313e+02] [-2.04957076e-01 9.78765255e-01 3.34260868e-03 -4.16563385e+01] [ 1.28477919e-02 -7.24469986e-04 9.99917201e-01 2.02427014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.540714057 meters Centerline goodness [0,1] 0.9817804835009706 Centerline is valid? [True, True] Translation: X:631.67, Y:-41.66, Z:2.03 [[ 9.78635178e-01 2.05213529e-01 -1.26726780e-02 6.31674936e+02] [-2.05186578e-01 9.78716951e-01 3.40544443e-03 -4.16580180e+01] [ 1.31018080e-02 -7.32424276e-04 9.99913899e-01 2.02502144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5707140569999 meters Centerline goodness [0,1] 0.9809034637165811 Centerline is valid? [True, True] Translation: X:631.70, Y:-41.67, Z:2.02 [[ 9.78363716e-01 2.06499437e-01 -1.27444616e-02 6.31701465e+02] [-2.06472315e-01 9.78446456e-01 3.42274350e-03 -4.16656148e+01] [ 1.31765679e-02 -7.17309553e-04 9.99912928e-01 2.02461127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6007140569999 meters Centerline goodness [0,1] 0.9819138586716194 Centerline is valid? [True, True] Translation: X:631.73, Y:-41.67, Z:2.02 [[ 9.78059219e-01 2.07928299e-01 -1.28835857e-02 6.31730016e+02] [-2.07900719e-01 9.78143817e-01 3.45904050e-03 -4.16703507e+01] [ 1.33212321e-02 -7.04639713e-04 9.99911020e-01 2.02483940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.630714057 meters Centerline goodness [0,1] 0.9813804527885146 Centerline is valid? [True, True] Translation: X:631.76, Y:-41.68, Z:2.02 [[ 9.77907517e-01 2.08648730e-01 -1.27512997e-02 6.31756976e+02] [-2.08621789e-01 9.77990407e-01 3.42240865e-03 -4.16780388e+01] [ 1.31847300e-02 -6.86600194e-04 9.99912842e-01 2.02479452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.660714057 meters Centerline goodness [0,1] 0.9831434575821258 Centerline is valid? [True, True] Translation: X:631.79, Y:-41.68, Z:2.03 [[ 9.77756948e-01 2.09370471e-01 -1.24641871e-02 6.31785520e+02] [-2.09344821e-01 9.77836168e-01 3.34281695e-03 -4.16831702e+01] [ 1.28878201e-02 -6.59149474e-04 9.99916731e-01 2.02509834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6907140569999 meters Centerline goodness [0,1] 0.9802724699221514 Centerline is valid? [True, True] Translation: X:631.81, Y:-41.70, Z:2.02 [[ 9.77597184e-01 2.10101251e-01 -1.26968688e-02 6.31810253e+02] [-2.10074722e-01 9.77679410e-01 3.40325796e-03 -4.16982413e+01] [ 1.31284960e-02 -6.59724209e-04 9.99913600e-01 2.02391765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7207140569999 meters Centerline goodness [0,1] 0.9828615656789031 Centerline is valid? [True, True] Translation: X:631.84, Y:-41.70, Z:2.03 [[ 9.77711367e-01 2.09569082e-01 -1.26997158e-02 6.31840943e+02] [-2.09542531e-01 9.77793617e-01 3.40140457e-03 -4.16960066e+01] [ 1.31305303e-02 -6.64461326e-04 9.99913570e-01 2.02573683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.750714057 meters Centerline goodness [0,1] 0.9817120364432455 Centerline is valid? [True, True] Translation: X:631.87, Y:-41.71, Z:2.03 [[ 9.77808341e-01 2.09140656e-01 -1.22896429e-02 6.31866370e+02] [-2.09115781e-01 9.77885355e-01 3.28969454e-03 -4.17076989e+01] [ 1.27058706e-02 -6.46732489e-04 9.99919068e-01 2.02500891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.780714057 meters Centerline goodness [0,1] 0.9826889531674358 Centerline is valid? [True, True] Translation: X:631.90, Y:-41.71, Z:2.03 [[ 9.78226890e-01 2.07167343e-01 -1.24034006e-02 6.31895924e+02] [-2.07141857e-01 9.78305286e-01 3.31942247e-03 -4.17131186e+01] [ 1.28219883e-02 -6.77884883e-04 9.99917565e-01 2.02625324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8107140569999 meters Centerline goodness [0,1] 0.9818157714487726 Centerline is valid? [True, True] Translation: X:631.92, Y:-41.72, Z:2.03 [[ 9.78534373e-01 2.05701811e-01 -1.25397579e-02 6.31923329e+02] [-2.05675654e-01 9.78614464e-01 3.35496152e-03 -4.17198254e+01] [ 1.29617101e-02 -7.03822271e-04 9.99915746e-01 2.02679306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8407140569999 meters Centerline goodness [0,1] 0.981831026337285 Centerline is valid? [True, True] Translation: X:631.95, Y:-41.73, Z:2.03 [[ 9.78876644e-01 2.04049537e-01 -1.28180546e-02 6.31949389e+02] [-2.04022080e-01 9.78960284e-01 3.42830515e-03 -4.17309046e+01] [ 1.32479105e-02 -7.40721679e-04 9.99911968e-01 2.02633236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.870714057 meters Centerline goodness [0,1] 0.9803869599787967 Centerline is valid? [True, True] Translation: X:631.98, Y:-41.74, Z:2.03 [[ 9.79223809e-01 2.02385614e-01 -1.26805199e-02 6.31975914e+02] [-2.02358614e-01 9.79305618e-01 3.39070536e-03 -4.17420808e+01] [ 1.31043344e-02 -7.54246976e-04 9.99913850e-01 2.02627966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.900714057 meters Centerline goodness [0,1] 0.9807023720459447 Centerline is valid? [True, True] Translation: X:632.00, Y:-41.75, Z:2.03 [[ 9.79940267e-01 1.98835210e-01 -1.34770978e-02 6.32004593e+02] [-1.98804384e-01 9.80032568e-01 3.60320967e-03 -4.17499013e+01] [ 1.39244397e-02 -8.51624122e-04 9.99902688e-01 2.02738855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9307140569999 meters Centerline goodness [0,1] 0.980266784257524 Centerline is valid? [True, True] Translation: X:632.03, Y:-41.76, Z:2.03 [[ 9.80280385e-01 1.97142459e-01 -1.36094799e-02 6.32030955e+02] [-1.97110870e-01 9.80374454e-01 3.63796994e-03 -4.17617268e+01] [ 1.40595848e-02 -8.83654147e-04 9.99900769e-01 2.02731221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9607140569999 meters Centerline goodness [0,1] 0.9801833646305093 Centerline is valid? [True, True] Translation: X:632.06, Y:-41.77, Z:2.03 [[ 9.80580670e-01 1.95652182e-01 -1.34823461e-02 6.32059489e+02] [-1.95621051e-01 9.80672943e-01 3.60322662e-03 -4.17683127e+01] [ 1.39267512e-02 -8.95823650e-04 9.99902617e-01 2.02849312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.990714057 meters Centerline goodness [0,1] 0.9793076092465678 Centerline is valid? [True, True] Translation: X:632.09, Y:-41.78, Z:2.03 [[ 9.80822962e-01 1.94455674e-01 -1.31646770e-02 6.32085202e+02] [-1.94425908e-01 9.80910903e-01 3.51664824e-03 -4.17774560e+01] [ 1.35972074e-02 -8.89655063e-04 9.99907158e-01 2.02863647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.020714057 meters Centerline goodness [0,1] 0.9796997950142168 Centerline is valid? [True, True] Translation: X:632.11, Y:-41.79, Z:2.03 [[ 9.81080352e-01 1.93139673e-01 -1.33570182e-02 6.32113662e+02] [-1.93108925e-01 9.81170841e-01 3.56695899e-03 -4.17870675e+01] [ 1.37944381e-02 -9.20113970e-04 9.99904429e-01 2.02927743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0507140569999 meters Centerline goodness [0,1] 0.9791100394563788 Centerline is valid? [True, True] Translation: X:632.14, Y:-41.80, Z:2.03 [[ 9.81196046e-01 1.92584069e-01 -1.28722768e-02 6.32140705e+02] [-1.92555477e-01 9.81280071e-01 3.43657046e-03 -4.17955132e+01] [ 1.32931374e-02 -8.93321960e-04 9.99911243e-01 2.02901771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0807140569999 meters Centerline goodness [0,1] 0.9791487957769713 Centerline is valid? [True, True] Translation: X:632.17, Y:-41.80, Z:2.03 [[ 9.81290790e-01 1.92100314e-01 -1.28784407e-02 6.32166776e+02] [-1.92071673e-01 9.81374883e-01 3.43664823e-03 -4.18040305e+01] [ 1.32987595e-02 -8.98767595e-04 9.99911164e-01 2.02923645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.110714057 meters Centerline goodness [0,1] 0.9779844414571258 Centerline is valid? [True, True] Translation: X:632.19, Y:-41.81, Z:2.03 [[ 9.81393178e-01 1.91572911e-01 -1.29325179e-02 6.32192934e+02] [-1.91544003e-01 9.81477964e-01 3.44969692e-03 -4.18127831e+01] [ 1.33538498e-02 -9.08362784e-04 9.99910421e-01 2.02966264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.140714057 meters Centerline goodness [0,1] 0.9787585296059872 Centerline is valid? [True, True] Translation: X:632.22, Y:-41.82, Z:2.03 [[ 9.81459071e-01 1.91229987e-01 -1.30070750e-02 6.32221136e+02] [-1.91200749e-01 9.81544830e-01 3.46700206e-03 -4.18201074e+01] [ 1.34300220e-02 -9.15758152e-04 9.99909394e-01 2.02957997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1707140569999 meters Centerline goodness [0,1] 0.9765901740335746 Centerline is valid? [True, True] Translation: X:632.25, Y:-41.83, Z:2.03 [[ 9.81544219e-01 1.90739235e-01 -1.37655593e-02 6.32248608e+02] [-1.90706489e-01 9.81640259e-01 3.66562492e-03 -4.18274452e+01] [ 1.42120057e-02 -9.72791467e-04 9.99898531e-01 2.02967722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2007140569999 meters Centerline goodness [0,1] 0.9772907488986784 Centerline is valid? [True, True] Translation: X:632.27, Y:-41.84, Z:2.03 [[ 9.81612667e-01 1.90338446e-01 -1.44169199e-02 6.32274722e+02] [-1.90302516e-01 9.81717999e-01 3.83701081e-03 -4.18359297e+01] [ 1.48836804e-02 -1.02288228e-03 9.99888709e-01 2.02891850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2307140569999 meters Centerline goodness [0,1] 0.9778202760924998 Centerline is valid? [True, True] Translation: X:632.30, Y:-41.84, Z:2.03 [[ 9.81737722e-01 1.89638267e-01 -1.51120220e-02 6.32302520e+02] [-1.89598754e-01 9.81853431e-01 4.01892987e-03 -4.18430730e+01] [ 1.55999336e-02 -1.08031450e-03 9.99877730e-01 2.02902138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.260714057 meters Centerline goodness [0,1] 0.9798295642216986 Centerline is valid? [True, True] Translation: X:632.33, Y:-41.84, Z:2.03 [[ 9.81837138e-01 1.89100227e-01 -1.53928072e-02 6.32332163e+02] [-1.89059230e-01 9.81957170e-01 4.08960818e-03 -4.18437847e+01] [ 1.58884232e-02 -1.10517692e-03 9.99873160e-01 2.02952039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.290714057 meters Centerline goodness [0,1] 0.8149442911172442 Centerline is valid? [True, False] Translation: X:632.39, Y:-41.85, Z:2.03 [[ 9.82433128e-01 1.85965259e-01 -1.55586650e-02 6.32390189e+02] [-1.86075044e-01 9.82517691e-01 -5.92150677e-03 -4.18531746e+01] [ 1.41854691e-02 8.71256370e-03 9.99861422e-01 2.02962023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3207140569999 meters Centerline goodness [0,1] 0.9755866475707833 Centerline is valid? [False, True] Translation: X:632.31, Y:-41.84, Z:2.03 [[ 9.82280389e-01 1.86733570e-01 -1.59940736e-02 6.32313801e+02] [-1.86795183e-01 9.82395860e-01 -2.43582142e-03 -4.18354120e+01] [ 1.52576621e-02 5.38027552e-03 9.99869120e-01 2.02901700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3507140569999 meters Centerline goodness [0,1] 0.9806622516556291 Centerline is valid? [True, True] Translation: X:632.34, Y:-41.83, Z:2.03 [[ 9.82566242e-01 1.85402768e-01 -1.37620192e-02 6.32344388e+02] [-1.85369784e-01 9.82662073e-01 3.64598688e-03 -4.18335462e+01] [ 1.41993904e-02 -1.03136111e-03 9.99898652e-01 2.02986425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.380714057 meters Centerline goodness [0,1] 0.9797495748956562 Centerline is valid? [True, True] Translation: X:632.37, Y:-41.84, Z:2.03 [[ 9.82562691e-01 1.85424657e-01 -1.37205726e-02 6.32371331e+02] [-1.85391891e-01 9.82657948e-01 3.63381353e-03 -4.18410196e+01] [ 1.41564283e-02 -1.02676671e-03 9.99899266e-01 2.03016869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.410714057 meters Centerline goodness [0,1] 0.980191482337405 Centerline is valid? [True, True] Translation: X:632.40, Y:-41.85, Z:2.03 [[ 9.82727939e-01 1.84523801e-01 -1.40272737e-02 6.32399191e+02] [-1.84489509e-01 9.82827474e-01 3.71179459e-03 -4.18468226e+01] [ 1.44713045e-02 -1.05979942e-03 9.99894724e-01 2.02993929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4407140569999 meters Centerline goodness [0,1] 0.9794331411403451 Centerline is valid? [True, True] Translation: X:632.43, Y:-41.85, Z:2.03 [[ 9.82795376e-01 1.84156243e-01 -1.41325181e-02 6.32427881e+02] [-1.84121451e-01 9.82896401e-01 3.73587849e-03 -4.18515641e+01] [ 1.45787866e-02 -1.06950435e-03 9.99893152e-01 2.03062232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4707140569999 meters Centerline goodness [0,1] 0.9791932713901977 Centerline is valid? [True, True] Translation: X:632.45, Y:-41.86, Z:2.03 [[ 9.82734866e-01 1.84520966e-01 -1.35718945e-02 6.32454291e+02] [-1.84488939e-01 9.82828048e-01 3.58596912e-03 -4.18591809e+01] [ 1.40005251e-02 -1.02019246e-03 9.99901467e-01 2.03098345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.500714057 meters Centerline goodness [0,1] 0.979382811635881 Centerline is valid? [True, True] Translation: X:632.48, Y:-41.87, Z:2.03 [[ 9.82798516e-01 1.84189844e-01 -1.34602725e-02 6.32481916e+02] [-1.84158359e-01 9.82890164e-01 3.55298766e-03 -4.18655655e+01] [ 1.38843937e-02 -1.01304930e-03 9.99903094e-01 2.03142433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.530714057 meters Centerline goodness [0,1] 0.9791182267100689 Centerline is valid? [True, True] Translation: X:632.51, Y:-41.87, Z:2.03 [[ 9.82697600e-01 1.84746854e-01 -1.31919062e-02 6.32510461e+02] [-1.84716711e-01 9.82785651e-01 3.47856944e-03 -4.18687790e+01] [ 1.36074708e-02 -9.81616324e-04 9.99906932e-01 2.03251874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5607140569999 meters Centerline goodness [0,1] 0.9777260638297872 Centerline is valid? [True, True] Translation: X:632.54, Y:-41.88, Z:2.03 [[ 9.82612677e-01 1.85217200e-01 -1.29196299e-02 6.32536751e+02] [-1.85188357e-01 9.82697146e-01 3.40466045e-03 -4.18788374e+01] [ 1.33266851e-02 -9.52897484e-04 9.99910742e-01 2.03200834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5907140569999 meters Centerline goodness [0,1] 0.9777260638297872 Centerline is valid? [True, True] Translation: X:632.56, Y:-41.89, Z:2.03 [[ 9.82663663e-01 1.84946446e-01 -1.29204652e-02 6.32563341e+02] [-1.84917621e-01 9.82748138e-01 3.40148897e-03 -4.18857518e+01] [ 1.33266564e-02 -9.53297932e-04 9.99910742e-01 2.03208398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.620714057 meters Centerline goodness [0,1] 0.9774878372401592 Centerline is valid? [True, True] Translation: X:632.59, Y:-41.89, Z:2.03 [[ 9.82600755e-01 1.85263899e-01 -1.31546093e-02 6.32591361e+02] [-1.85234095e-01 9.82688334e-01 3.45964688e-03 -4.18924066e+01] [ 1.35678288e-02 -9.62769483e-04 9.99907489e-01 2.03205056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.650714057 meters Centerline goodness [0,1] 0.9770816231446764 Centerline is valid? [True, True] Translation: X:632.62, Y:-41.90, Z:2.03 [[ 9.82591378e-01 1.85294482e-01 -1.34216050e-02 6.32618590e+02] [-1.85263506e-01 9.82682552e-01 3.52643993e-03 -4.18999447e+01] [ 1.38426069e-02 -9.78515867e-04 9.99903708e-01 2.03196240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6807140569999 meters Centerline goodness [0,1] 0.977283840853523 Centerline is valid? [True, True] Translation: X:632.65, Y:-41.91, Z:2.03 [[ 9.82426906e-01 1.86131489e-01 -1.38724004e-02 6.32645735e+02] [-1.86098504e-01 9.82524338e-01 3.64317884e-03 -4.19056805e+01] [ 1.43080813e-02 -9.97523956e-04 9.99897137e-01 2.03179731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7107140569999 meters Centerline goodness [0,1] 0.9774232256344162 Centerline is valid? [True, True] Translation: X:632.67, Y:-41.91, Z:2.03 [[ 9.82383200e-01 1.86350895e-01 -1.40211458e-02 6.32673344e+02] [-1.86317267e-01 9.82482743e-01 3.67916556e-03 -4.19128529e+01] [ 1.44611496e-02 -1.00196886e-03 9.99894930e-01 2.03152412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.740714057 meters Centerline goodness [0,1] 0.9799729123648394 Centerline is valid? [True, True] Translation: X:632.70, Y:-41.91, Z:2.03 [[ 9.82172243e-01 1.87463145e-01 -1.39733387e-02 6.32704250e+02] [-1.87429887e-01 9.82271148e-01 3.66451831e-03 -4.19107251e+01] [ 1.44125696e-02 -9.80166862e-04 9.99895653e-01 2.03331274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.770714057 meters Centerline goodness [0,1] 0.9820216718955121 Centerline is valid? [True, True] Translation: X:632.73, Y:-41.91, Z:2.03 [[ 9.81657270e-01 1.90151582e-01 -1.38340609e-02 6.32734137e+02] [-1.90119261e-01 9.81754302e-01 3.62715727e-03 -4.19144571e+01] [ 1.42713585e-02 -9.30503853e-04 9.99897726e-01 2.03369495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8007140569999 meters Centerline goodness [0,1] 0.9806199821587868 Centerline is valid? [True, True] Translation: X:632.76, Y:-41.93, Z:2.03 [[ 9.81208176e-01 1.92483995e-01 -1.34323533e-02 6.32760962e+02] [-1.92453752e-01 9.81299728e-01 3.52110809e-03 -4.19254545e+01] [ 1.38589216e-02 -8.69833256e-04 9.99903582e-01 2.03315389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8307140569999 meters Centerline goodness [0,1] 0.9824776512027108 Centerline is valid? [True, True] Translation: X:632.79, Y:-41.92, Z:2.03 [[ 9.80778084e-01 1.94695264e-01 -1.29654640e-02 6.32792396e+02] [-1.94667284e-01 9.80863446e-01 3.39837845e-03 -4.19248713e+01] [ 1.33789979e-02 -8.09103436e-04 9.99910170e-01 2.03452222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.860714057 meters Centerline goodness [0,1] 0.9815042605058931 Centerline is valid? [True, True] Translation: X:632.82, Y:-41.93, Z:2.04 [[ 9.80298393e-01 1.97114169e-01 -1.26911046e-02 6.32822117e+02] [-1.97087566e-01 9.80380246e-01 3.32622651e-03 -4.19300979e+01] [ 1.30977546e-02 -7.59435590e-04 9.99913932e-01 2.03556305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.890714057 meters Centerline goodness [0,1] 0.9830910310892418 Centerline is valid? [True, True] Translation: X:632.85, Y:-41.93, Z:2.04 [[ 9.79320152e-01 2.02011240e-01 -1.11129950e-02 6.32851385e+02] [-2.01991160e-01 9.79383015e-01 2.91223944e-03 -4.19346037e+01] [ 1.14721837e-02 -6.07288009e-04 9.99934008e-01 2.03680756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9207140569999 meters Centerline goodness [0,1] 0.9828790116825568 Centerline is valid? [True, True] Translation: X:632.88, Y:-41.94, Z:2.04 [[ 9.78955313e-01 2.03813712e-01 -1.03182368e-02 6.32880015e+02] [-2.03796508e-01 9.79009538e-01 2.70329688e-03 -4.19399209e+01] [ 1.06526212e-02 -5.43586220e-04 9.99943111e-01 2.03745170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9507140569999 meters Centerline goodness [0,1] 0.9836887208287651 Centerline is valid? [True, True] Translation: X:632.91, Y:-41.95, Z:2.04 [[ 9.78510381e-01 2.05953919e-01 -1.00208673e-02 6.32908156e+02] [-2.05937813e-01 9.78561561e-01 2.62465097e-03 -4.19454584e+01] [ 1.03465927e-02 -5.04572731e-04 9.99946345e-01 2.03805508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9807140569999 meters Centerline goodness [0,1] 0.9841796262268633 Centerline is valid? [True, True] Translation: X:632.94, Y:-41.95, Z:2.04 [[ 9.78212214e-01 2.07384551e-01 -9.61828593e-03 6.32935940e+02] [-2.07369789e-01 9.78259387e-01 2.51850263e-03 -4.19516335e+01] [ 9.93147703e-03 -4.69088115e-04 9.99950572e-01 2.03809573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.010714057 meters Centerline goodness [0,1] 0.9846277414604762 Centerline is valid? [True, True] Translation: X:632.96, Y:-41.96, Z:2.04 [[ 9.77783531e-01 2.09404927e-01 -9.43094608e-03 6.32964058e+02] [-2.09390835e-01 9.77828913e-01 2.46874856e-03 -4.19567083e+01] [ 9.73881987e-03 -4.39148015e-04 9.99952480e-01 2.03799290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.040714057 meters Centerline goodness [0,1] 0.9846054015349847 Centerline is valid? [True, True] Translation: X:632.99, Y:-41.96, Z:2.04 [[ 9.77914759e-01 2.08788569e-01 -9.48991169e-03 6.32992154e+02] [-2.08774290e-01 9.77960702e-01 2.48218846e-03 -4.19644650e+01] [ 9.79901327e-03 -4.46119152e-04 9.99951889e-01 2.03770442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0707140569999 meters Centerline goodness [0,1] 0.9844812164579606 Centerline is valid? [True, True] Translation: X:633.02, Y:-41.97, Z:2.04 [[ 9.78285418e-01 2.07018822e-01 -1.00422851e-02 6.33019967e+02] [-2.07002767e-01 9.78336838e-01 2.62396259e-03 -4.19728686e+01] [ 1.03679471e-02 -4.88203536e-04 9.99946132e-01 2.03685758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1007140569999 meters Centerline goodness [0,1] 0.9848677887301907 Centerline is valid? [True, True] Translation: X:633.05, Y:-41.98, Z:2.04 [[ 9.78553574e-01 2.05738013e-01 -1.02359071e-02 6.33045930e+02] [-2.05721279e-01 9.78606974e-01 2.67311982e-03 -4.19820982e+01] [ 1.05668924e-02 -5.10047064e-04 9.99944039e-01 2.03635020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.130714057 meters Centerline goodness [0,1] 0.9848816435908888 Centerline is valid? [True, True] Translation: X:633.07, Y:-41.99, Z:2.04 [[ 9.78828504e-01 2.04421136e-01 -1.03324345e-02 6.33073701e+02] [-2.04404036e-01 9.78882895e-01 2.69604434e-03 -4.19902307e+01] [ 1.06653718e-02 -5.26973738e-04 9.99942984e-01 2.03579030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.160714057 meters Centerline goodness [0,1] 0.983955906636319 Centerline is valid? [True, True] Translation: X:633.10, Y:-42.00, Z:2.03 [[ 9.79112185e-01 2.03027428e-01 -1.09175073e-02 6.33099436e+02] [-2.03008272e-01 9.79172884e-01 2.84679775e-03 -4.20007463e+01] [ 1.12681051e-02 -5.70990085e-04 9.99936350e-01 2.03456163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1907140569999 meters Centerline goodness [0,1] 0.9846648362686667 Centerline is valid? [True, True] Translation: X:633.13, Y:-42.01, Z:2.03 [[ 9.79402104e-01 2.01589635e-01 -1.15385518e-02 6.33127287e+02] [-2.01568158e-01 9.79469875e-01 3.00706992e-03 -4.20063571e+01] [ 1.19078580e-02 -6.19325978e-04 9.99928907e-01 2.03465858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2207140569999 meters Centerline goodness [0,1] 0.9825718218551575 Centerline is valid? [True, True] Translation: X:633.15, Y:-42.02, Z:2.03 [[ 9.79497852e-01 2.01101999e-01 -1.19140426e-02 6.33152388e+02] [-2.01079085e-01 9.79570095e-01 3.10322954e-03 -4.20184727e+01] [ 1.22947055e-02 -6.43941867e-04 9.99924210e-01 2.03380692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.250714057 meters Centerline goodness [0,1] 0.984448801354603 Centerline is valid? [True, True] Translation: X:633.18, Y:-42.02, Z:2.03 [[ 9.79652267e-01 2.00351560e-01 -1.18612063e-02 6.33180862e+02] [-2.00328829e-01 9.79723855e-01 3.08664047e-03 -4.20217177e+01] [ 1.22391200e-02 -6.47692771e-04 9.99924889e-01 2.03470159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.280714057 meters Centerline goodness [0,1] 0.9822906469698318 Centerline is valid? [True, True] Translation: X:633.21, Y:-42.03, Z:2.03 [[ 9.79626051e-01 2.00499148e-01 -1.15278591e-02 6.33207320e+02] [-2.00477705e-01 9.79693676e-01 2.99836797e-03 -4.20305082e+01] [ 1.18949409e-02 -6.26200648e-04 9.99929057e-01 2.03468906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3107140569999 meters Centerline goodness [0,1] 0.982467403094769 Centerline is valid? [True, True] Translation: X:633.24, Y:-42.04, Z:2.04 [[ 9.79764603e-01 1.99862567e-01 -1.07831716e-02 6.33235230e+02] [-1.99843793e-01 9.79823763e-01 2.80230817e-03 -4.20385649e+01] [ 1.11256842e-02 -5.90652449e-04 9.99937933e-01 2.03559570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3407140569999 meters Centerline goodness [0,1] 0.9804527885146328 Centerline is valid? [True, True] Translation: X:633.26, Y:-42.05, Z:2.04 [[ 9.79787370e-01 1.99784368e-01 -1.01447614e-02 6.33262313e+02] [-1.99767774e-01 9.79839732e-01 2.63379102e-03 -4.20467402e+01] [ 1.04664305e-02 -5.53958774e-04 9.99945072e-01 2.03635113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.370714057 meters Centerline goodness [0,1] 0.9809888456090652 Centerline is valid? [True, True] Translation: X:633.29, Y:-42.06, Z:2.04 [[ 9.79829767e-01 1.99605362e-01 -9.55656311e-03 6.33288202e+02] [-1.99590643e-01 9.79876230e-01 2.47953838e-03 -4.20553481e+01] [ 9.85917819e-03 -5.22124928e-04 9.99951261e-01 2.03699170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.400714057 meters Centerline goodness [0,1] 0.9809392633402941 Centerline is valid? [True, True] Translation: X:633.32, Y:-42.06, Z:2.04 [[ 9.79865114e-01 1.99486168e-01 -8.34424365e-03 6.33316101e+02] [-1.99474959e-01 9.79900537e-01 2.16317629e-03 -4.20608301e+01] [ 8.60805258e-03 -4.55153323e-04 9.99962846e-01 2.03766772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4307140569999 meters Centerline goodness [0,1] 0.9809059696533392 Centerline is valid? [True, True] Translation: X:633.34, Y:-42.07, Z:2.04 [[ 9.79864974e-01 1.99525538e-01 -7.36152414e-03 6.33342658e+02] [-1.99516823e-01 9.79892545e-01 1.90734597e-03 -4.20707663e+01] [ 7.59406685e-03 -4.00193608e-04 9.99971085e-01 2.03720524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4607140569999 meters Centerline goodness [0,1] 0.9819265100002215 Centerline is valid? [True, True] Translation: X:633.37, Y:-42.08, Z:2.04 [[ 9.79943661e-01 1.99127115e-01 -7.66901948e-03 6.33370486e+02] [-1.99117657e-01 9.79973580e-01 1.98540437e-03 -4.20761774e+01] [ 7.91078432e-03 -4.18547233e-04 9.99968622e-01 2.03716531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.490714057 meters Centerline goodness [0,1] 0.982289704089549 Centerline is valid? [True, True] Translation: X:633.40, Y:-42.09, Z:2.04 [[ 9.80038578e-01 1.98645760e-01 -8.01540095e-03 6.33396357e+02] [-1.98635423e-01 9.80071257e-01 2.07381648e-03 -4.20854607e+01] [ 8.26761893e-03 -4.40277593e-04 9.99965726e-01 2.03663990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.520714057 meters Centerline goodness [0,1] 0.9793310785419015 Centerline is valid? [True, True] Translation: X:633.42, Y:-42.10, Z:2.04 [[ 9.80121172e-01 1.98248208e-01 -7.75482131e-03 6.33421959e+02] [-1.98238525e-01 9.80151756e-01 2.00567103e-03 -4.20961527e+01] [ 7.99852241e-03 -4.28496303e-04 9.99967920e-01 2.03573363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5507140569999 meters Centerline goodness [0,1] 0.9796957686601865 Centerline is valid? [True, True] Translation: X:633.45, Y:-42.11, Z:2.04 [[ 9.80313012e-01 1.97296785e-01 -7.77021298e-03 6.33449572e+02] [-1.97287047e-01 9.80343710e-01 2.00806944e-03 -4.21050884e+01] [ 8.01366506e-03 -4.35574234e-04 9.99967795e-01 2.03569402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5807140569999 meters Centerline goodness [0,1] 0.9799977971142196 Centerline is valid? [True, True] Translation: X:633.48, Y:-42.11, Z:2.04 [[ 9.80349392e-01 1.97119694e-01 -7.67435775e-03 6.33475936e+02] [-1.97110206e-01 9.80379336e-01 1.98111655e-03 -4.21130186e+01] [ 7.91429884e-03 -4.29492171e-04 9.99968589e-01 2.03597506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.610714057 meters Centerline goodness [0,1] 0.978853424777983 Centerline is valid? [True, True] Translation: X:633.50, Y:-42.12, Z:2.04 [[ 9.80466587e-01 1.96546908e-01 -7.38816229e-03 6.33501840e+02] [-1.96538107e-01 9.80494334e-01 1.90603439e-03 -4.21230924e+01] [ 7.61867643e-03 -4.16747603e-04 9.99970891e-01 2.03583752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.640714057 meters Centerline goodness [0,1] 0.9801168301554062 Centerline is valid? [True, True] Translation: X:633.53, Y:-42.13, Z:2.04 [[ 9.80544854e-01 1.96165766e-01 -7.12615831e-03 6.33529773e+02] [-1.96157580e-01 9.80570665e-01 1.83685660e-03 -4.21283892e+01] [ 7.34803018e-03 -4.03270319e-04 9.99972922e-01 2.03643992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6707140569999 meters Centerline goodness [0,1] 0.9794223269955276 Centerline is valid? [True, True] Translation: X:633.55, Y:-42.14, Z:2.04 [[ 9.80591620e-01 1.95938911e-01 -6.92952437e-03 6.33554821e+02] [-1.95931177e-01 9.80616025e-01 1.78451490e-03 -4.21378275e+01] [ 7.14485855e-03 -3.92170493e-04 9.99974398e-01 2.03634135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7007140569999 meters Centerline goodness [0,1] 0.9784251933799061 Centerline is valid? [True, True] Translation: X:633.58, Y:-42.14, Z:2.04 [[ 9.80656743e-01 1.95613796e-01 -6.89886844e-03 6.33581764e+02] [-1.95606135e-01 9.80680932e-01 1.77480245e-03 -4.21436071e+01] [ 7.11276457e-03 -3.91011000e-04 9.99974628e-01 2.03656561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7307140569999 meters Centerline goodness [0,1] 0.9782871193659576 Centerline is valid? [True, True] Translation: X:633.61, Y:-42.15, Z:2.04 [[ 9.80549641e-01 1.96152943e-01 -6.81355125e-03 6.33608368e+02] [-1.96145492e-01 9.80573239e-01 1.75167637e-03 -4.21525857e+01] [ 7.02478250e-03 -3.81158278e-04 9.99975253e-01 2.03568690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.760714057 meters Centerline goodness [0,1] 0.978193832599119 Centerline is valid? [True, True] Translation: X:633.64, Y:-42.16, Z:2.04 [[ 9.80483371e-01 1.96490866e-01 -6.61054249e-03 6.33635837e+02] [-1.96483869e-01 9.80505587e-01 1.69822857e-03 -4.21607410e+01] [ 6.81536025e-03 -3.66219908e-04 9.99976708e-01 2.03554852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.790714057 meters Centerline goodness [0,1] 0.9778745568345953 Centerline is valid? [True, True] Translation: X:633.66, Y:-42.17, Z:2.03 [[ 9.80439622e-01 1.96710985e-01 -6.55264246e-03 6.33662631e+02] [-1.96704125e-01 9.80461452e-01 1.68168173e-03 -4.21697869e+01] [ 6.75541861e-03 -3.59855592e-04 9.99977117e-01 2.03494690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8207140569999 meters Centerline goodness [0,1] 0.9790156009668205 Centerline is valid? [True, True] Translation: X:633.69, Y:-42.18, Z:2.04 [[ 9.80461959e-01 1.96608085e-01 -6.29353204e-03 6.33689252e+02] [-1.96601767e-01 9.80482097e-01 1.61346278e-03 -4.21764584e+01] [ 6.48791532e-03 -3.44619364e-04 9.99978894e-01 2.03522997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8507140569999 meters Centerline goodness [0,1] 0.9775263687688739 Centerline is valid? [True, True] Translation: X:633.72, Y:-42.19, Z:2.03 [[ 9.80566183e-01 1.96108016e-01 -5.62197306e-03 6.33715237e+02] [-1.96102972e-01 9.80582250e-01 1.44032787e-03 -4.21868246e+01] [ 5.79526684e-03 -3.09851180e-04 9.99983159e-01 2.03494996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.880714057 meters Centerline goodness [0,1] 0.9770700636942675 Centerline is valid? [True, True] Translation: X:633.74, Y:-42.20, Z:2.04 [[ 9.80702604e-01 1.95429779e-01 -5.44085787e-03 6.33741507e+02] [-1.95425048e-01 9.80717650e-01 1.39332159e-03 -4.21962981e+01] [ 5.60824187e-03 -3.03154200e-04 9.99984228e-01 2.03504046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.910714057 meters Centerline goodness [0,1] 0.9797957615021412 Centerline is valid? [True, True] Translation: X:633.77, Y:-42.20, Z:2.04 [[ 9.80836430e-01 1.94749370e-01 -5.70793053e-03 6.33770856e+02] [-1.94744157e-01 9.80852986e-01 1.46052914e-03 -4.21975653e+01] [ 5.88307783e-03 -3.20954065e-04 9.99982643e-01 2.03584537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9407140569999 meters Centerline goodness [0,1] 0.9795341499222122 Centerline is valid? [True, True] Translation: X:633.80, Y:-42.21, Z:2.04 [[ 9.81095706e-01 1.93441392e-01 -5.62519665e-03 6.33797009e+02] [-1.93436315e-01 9.81111779e-01 1.43823803e-03 -4.22078030e+01] [ 5.79716146e-03 -3.22931847e-04 9.99983144e-01 2.03623905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9707140569999 meters Centerline goodness [0,1] 0.979804617339116 Centerline is valid? [True, True] Translation: X:633.82, Y:-42.22, Z:2.04 [[ 9.81158146e-01 1.93143515e-01 -4.92689948e-03 6.33824000e+02] [-1.93139621e-01 9.81170476e-01 1.25869282e-03 -4.22162446e+01] [ 5.07723666e-03 -2.83397213e-04 9.99987071e-01 2.03657549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.000714057 meters Centerline goodness [0,1] 0.9795107033639143 Centerline is valid? [True, True] Translation: X:633.85, Y:-42.22, Z:2.04 [[ 9.81223842e-01 1.92813278e-01 -4.77608837e-03 6.33850809e+02] [-1.92809622e-01 9.81235427e-01 1.21876484e-03 -4.22238273e+01] [ 4.92146116e-03 -2.75005326e-04 9.99987852e-01 2.03702934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.030714057 meters Centerline goodness [0,1] 0.9786769203880101 Centerline is valid? [True, True] Translation: X:633.88, Y:-42.23, Z:2.04 [[ 9.81218762e-01 1.92847719e-01 -4.41561747e-03 6.33877655e+02] [-1.92844599e-01 9.81228665e-01 1.12588320e-03 -4.22321244e+01] [ 4.54985445e-03 -2.53209739e-04 9.99989617e-01 2.03758096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0607140569999 meters Centerline goodness [0,1] 0.9789153994056983 Centerline is valid? [True, True] Translation: X:633.90, Y:-42.24, Z:2.04 [[ 9.80939678e-01 1.94268339e-01 -4.14254110e-03 6.33904527e+02] [-1.94265606e-01 9.80948398e-01 1.05591568e-03 -4.22408478e+01] [ 4.26875004e-03 -2.31036333e-04 9.99990862e-01 2.03841204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0907140569999 meters Centerline goodness [0,1] 0.9812889812889813 Centerline is valid? [True, True] Translation: X:633.93, Y:-42.24, Z:2.04 [[ 9.80786525e-01 1.95050977e-01 -3.59293118e-03 6.33934069e+02] [-1.95048929e-01 9.80793086e-01 9.15403942e-04 -4.22422993e+01] [ 3.70247249e-03 -1.97018473e-04 9.99993126e-01 2.03884944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.120714057 meters Centerline goodness [0,1] 0.9820321369312723 Centerline is valid? [True, True] Translation: X:633.96, Y:-42.25, Z:2.04 [[ 9.80540158e-01 1.96283693e-01 -3.70287346e-03 6.33962309e+02] [-1.96281530e-01 9.80547129e-01 9.42419771e-04 -4.22495503e+01] [ 3.81582358e-03 -1.97274763e-04 9.99992700e-01 2.03935052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.150714057 meters Centerline goodness [0,1] 0.9820116433726533 Centerline is valid? [True, True] Translation: X:633.99, Y:-42.26, Z:2.04 [[ 9.80016935e-01 1.98899155e-01 -2.43572255e-03 6.33990063e+02] [-1.98898228e-01 9.80019954e-01 6.19494226e-04 -4.22571022e+01] [ 2.51027358e-03 -1.22653932e-04 9.99996842e-01 2.03978057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1807140569999 meters Centerline goodness [0,1] 0.9835657696588751 Centerline is valid? [True, True] Translation: X:634.02, Y:-42.26, Z:2.04 [[ 9.79831866e-01 1.99812080e-01 -2.15562468e-03 6.34018515e+02] [-1.99811356e-01 9.79834232e-01 5.48258587e-04 -4.22610729e+01] [ 2.22170354e-03 -1.06482944e-04 9.99997526e-01 2.03994929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2107140569999 meters Centerline goodness [0,1] 0.984578755378869 Centerline is valid? [True, True] Translation: X:634.05, Y:-42.27, Z:2.04 [[ 9.79675892e-01 2.00582267e-01 -1.37906343e-03 6.34046715e+02] [-2.00581971e-01 9.79676860e-01 3.50635444e-04 -4.22680024e+01] [ 1.42136778e-03 -6.68938292e-05 9.99998988e-01 2.04069977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.240714057 meters Centerline goodness [0,1] 0.9823754956211058 Centerline is valid? [True, True] Translation: X:634.07, Y:-42.28, Z:2.04 [[ 9.79504292e-01 2.01416961e-01 -1.59684772e-03 6.34072951e+02] [-2.01416568e-01 9.79505591e-01 4.05275870e-04 -4.22770396e+01] [ 1.64575070e-03 -7.53378685e-05 9.99998643e-01 2.04024461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.270714057 meters Centerline goodness [0,1] 0.9820014398848093 Centerline is valid? [True, True] Translation: X:634.10, Y:-42.28, Z:2.04 [[ 9.79566948e-01 2.01091192e-01 -3.30544515e-03 6.34099903e+02] [-2.01089506e-01 9.79572513e-01 8.38191915e-04 -4.22842503e+01] [ 3.40647622e-03 -1.56374763e-04 9.99994186e-01 2.03958092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3007140569999 meters Centerline goodness [0,1] 0.9821824344878536 Centerline is valid? [True, True] Translation: X:634.13, Y:-42.29, Z:2.04 [[ 9.79676189e-01 2.00547210e-01 -3.92197709e-03 6.34126446e+02] [-2.00544837e-01 9.79684021e-01 9.93454464e-04 -4.22928058e+01] [ 4.04153281e-03 -1.86731428e-04 9.99991816e-01 2.03866740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3307140569999 meters Centerline goodness [0,1] 0.981392308530341 Centerline is valid? [True, True] Translation: X:634.15, Y:-42.30, Z:2.04 [[ 9.80067729e-01 1.98617864e-01 -4.26498592e-03 6.34154082e+02] [-1.98615042e-01 9.80076987e-01 1.07964990e-03 -4.23021552e+01] [ 4.39445230e-03 -2.11039670e-04 9.99990322e-01 2.03791927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.360714057 meters Centerline goodness [0,1] 0.9804083945343998 Centerline is valid? [True, True] Translation: X:634.18, Y:-42.31, Z:2.04 [[ 9.80447954e-01 1.96727767e-01 -4.47162517e-03 6.34181291e+02] [-1.96724650e-01 9.80458124e-01 1.13075584e-03 -4.23109085e+01] [ 4.60669230e-03 -2.28968355e-04 9.99989363e-01 2.03815627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.390714057 meters Centerline goodness [0,1] 0.979828970559436 Centerline is valid? [True, True] Translation: X:634.21, Y:-42.32, Z:2.04 [[ 9.80820962e-01 1.94858577e-01 -4.51387825e-03 6.34209280e+02] [-1.94855385e-01 9.80831320e-01 1.14066756e-03 -4.23203639e+01] [ 4.64962202e-03 -2.39237172e-04 9.99989162e-01 2.03840412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4207140569999 meters Centerline goodness [0,1] 0.9786186002920599 Centerline is valid? [True, True] Translation: X:634.24, Y:-42.33, Z:2.04 [[ 9.81160615e-01 1.93149755e-01 -4.12559107e-03 6.34237314e+02] [-1.93147074e-01 9.81169262e-01 1.04240180e-03 -4.23300447e+01] [ 4.24924280e-03 -2.25917744e-04 9.99990946e-01 2.03897081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4507140569999 meters Centerline goodness [0,1] 0.9800966856844214 Centerline is valid? [True, True] Translation: X:634.27, Y:-42.34, Z:2.04 [[ 9.81630487e-01 1.90755450e-01 -3.73426291e-03 6.34266331e+02] [-1.90753237e-01 9.81637567e-01 9.43395641e-04 -4.23369485e+01] [ 3.84565061e-03 -2.13743185e-04 9.99992583e-01 2.03976814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4807140569999 meters Centerline goodness [0,1] 0.9766136576239476 Centerline is valid? [True, True] Translation: X:634.29, Y:-42.35, Z:2.04 [[ 9.81791027e-01 1.89918299e-01 -4.17352542e-03 6.34291861e+02] [-1.89915528e-01 9.81799868e-01 1.05410940e-03 -4.23504484e+01] [ 4.29776137e-03 -2.42297867e-04 9.99990735e-01 2.03972680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.510714057 meters Centerline goodness [0,1] 0.9766136576239476 Centerline is valid? [True, True] Translation: X:634.32, Y:-42.36, Z:2.04 [[ 9.81843085e-01 1.89648985e-01 -4.17369013e-03 6.34318499e+02] [-1.89646215e-01 9.81851925e-01 1.05345688e-03 -4.23570846e+01] [ 4.29773272e-03 -2.42804818e-04 9.99990735e-01 2.03980234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.540714057 meters Centerline goodness [0,1] 0.9786984306394818 Centerline is valid? [True, True] Translation: X:634.35, Y:-42.36, Z:2.04 [[ 9.81954909e-01 1.89064928e-01 -4.35991109e-03 6.34347088e+02] [-1.89061905e-01 9.81964555e-01 1.09919748e-03 -4.23610998e+01] [ 4.48909784e-03 -2.55069271e-04 9.99989891e-01 2.04023306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5707140569999 meters Centerline goodness [0,1] 0.9779568257829128 Centerline is valid? [True, True] Translation: X:634.37, Y:-42.37, Z:2.04 [[ 9.82150808e-01 1.88039168e-01 -4.58917647e-03 6.34374536e+02] [-1.88035814e-01 9.82161492e-01 1.15574058e-03 -4.23695442e+01] [ 4.72463691e-03 -2.72182016e-04 9.99988802e-01 2.03995589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6007140569999 meters Centerline goodness [0,1] 0.9779659177249539 Centerline is valid? [True, True] Translation: X:634.40, Y:-42.38, Z:2.04 [[ 9.82335371e-01 1.87063153e-01 -4.95948263e-03 6.34402509e+02] [-1.87059230e-01 9.82347845e-01 1.24761686e-03 -4.23775301e+01] [ 5.10532022e-03 -2.97861169e-04 9.99986923e-01 2.04052782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.630714057 meters Centerline goodness [0,1] 0.977580225498699 Centerline is valid? [True, True] Translation: X:634.43, Y:-42.39, Z:2.04 [[ 9.82527765e-01 1.86058414e-01 -4.63225942e-03 6.34429549e+02] [-1.86054985e-01 9.82538644e-01 1.16444698e-03 -4.23860551e+01] [ 4.76802905e-03 -2.82246536e-04 9.99988593e-01 2.04063348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.660714057 meters Centerline goodness [0,1] 0.9756092277699556 Centerline is valid? [True, True] Translation: X:634.46, Y:-42.40, Z:2.04 [[ 9.82997627e-01 1.83568829e-01 -4.26026981e-03 6.34456009e+02] [-1.83565906e-01 9.83006822e-01 1.07056086e-03 -4.23964190e+01] [ 4.38439589e-03 -2.70318494e-04 9.99990352e-01 2.04194119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6907140569999 meters Centerline goodness [0,1] 0.9749267975273832 Centerline is valid? [True, True] Translation: X:634.48, Y:-42.41, Z:2.04 [[ 9.83223956e-01 1.82362856e-01 -3.80007888e-03 6.34481849e+02] [-1.82360523e-01 9.83231269e-01 9.54519864e-04 -4.24060019e+01] [ 3.91042535e-03 -2.45522426e-04 9.99992324e-01 2.04279977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7207140569999 meters Centerline goodness [0,1] 0.9750064974443385 Centerline is valid? [True, True] Translation: X:634.51, Y:-42.42, Z:2.04 [[ 9.83478832e-01 1.80986985e-01 -3.61917023e-03 6.34508997e+02] [-1.80984862e-01 9.83485462e-01 9.08608475e-04 -4.24152094e+01] [ 3.72384762e-03 -2.38582176e-04 9.99993038e-01 2.04342547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.750714057 meters Centerline goodness [0,1] 0.9739345221329058 Centerline is valid? [True, True] Translation: X:634.54, Y:-42.42, Z:2.04 [[ 9.83734575e-01 1.79589649e-01 -3.72083574e-03 6.34537023e+02] [-1.79587396e-01 9.83741580e-01 9.33707936e-04 -4.24228889e+01] [ 3.82802511e-03 -2.50305577e-04 9.99992642e-01 2.04338412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.780714057 meters Centerline goodness [0,1] 0.973853091665944 Centerline is valid? [True, True] Translation: X:634.56, Y:-42.43, Z:2.04 [[ 9.83872992e-01 1.78831796e-01 -3.62284582e-03 6.34564554e+02] [-1.78829658e-01 9.83879631e-01 9.08200944e-04 -4.24305108e+01] [ 3.72685941e-03 -2.45682101e-04 9.99993025e-01 2.04347837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8107140569999 meters Centerline goodness [0,1] 0.9737400875330415 Centerline is valid? [True, True] Translation: X:634.59, Y:-42.44, Z:2.04 [[ 9.84176027e-01 1.77130165e-01 -4.73842861e-03 6.34591423e+02] [-1.77126494e-01 9.84187379e-01 1.18678763e-03 -4.24399212e+01] [ 4.87371752e-03 -3.28706690e-04 9.99988069e-01 2.04221996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8407140569999 meters Centerline goodness [0,1] 0.9741413000998741 Centerline is valid? [True, True] Translation: X:634.62, Y:-42.45, Z:2.04 [[ 9.84372045e-01 1.76020317e-01 -5.34084424e-03 6.34619485e+02] [-1.76015642e-01 9.84386462e-01 1.33673269e-03 -4.24470548e+01] [ 5.49274688e-03 -3.75770159e-04 9.99984844e-01 2.04127291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.870714057 meters Centerline goodness [0,1] 0.9745081860424719 Centerline is valid? [True, True] Translation: X:634.65, Y:-42.46, Z:2.04 [[ 9.84445964e-01 1.75566543e-01 -6.52168316e-03 6.34645713e+02] [-1.75559571e-01 9.84467458e-01 1.63110193e-03 -4.24552838e+01] [ 6.70675177e-03 -4.60787815e-04 9.99977403e-01 2.04055394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.900714057 meters Centerline goodness [0,1] 0.9744207760623629 Centerline is valid? [True, True] Translation: X:634.67, Y:-42.46, Z:2.04 [[ 9.84459630e-01 1.75493899e-01 -6.41308948e-03 6.34674092e+02] [-1.75487163e-01 9.84480415e-01 1.60275901e-03 -4.24599862e+01] [ 6.59483542e-03 -4.52436667e-04 9.99978151e-01 2.04044609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9307140569999 meters Centerline goodness [0,1] 0.9773615210974127 Centerline is valid? [True, True] Translation: X:634.70, Y:-42.46, Z:2.04 [[ 9.84428082e-01 1.75666446e-01 -6.53072338e-03 6.34703329e+02] [-1.75659476e-01 9.84449638e-01 1.63045121e-03 -4.24601114e+01] [ 6.71558384e-03 -4.57878512e-04 9.99977345e-01 2.04132635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9607140569999 meters Centerline goodness [0,1] 0.9773607063633596 Centerline is valid? [True, True] Translation: X:634.73, Y:-42.46, Z:2.04 [[ 9.84386466e-01 1.75909429e-01 -6.25767176e-03 6.34732346e+02] [-1.75903044e-01 9.84406259e-01 1.56071487e-03 -4.24644849e+01] [ 6.43463571e-03 -4.35603080e-04 9.99979203e-01 2.04195239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.990714057 meters Centerline goodness [0,1] 0.9772194232105629 Centerline is valid? [True, True] Translation: X:634.76, Y:-42.47, Z:2.04 [[ 9.84377127e-01 1.75971417e-01 -5.97766745e-03 6.34760067e+02] [-1.75965601e-01 9.84395189e-01 1.48936725e-03 -4.24706912e+01] [ 6.14647314e-03 -4.14235204e-04 9.99981024e-01 2.04229596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.020714057 meters Centerline goodness [0,1] 0.9762534698126302 Centerline is valid? [True, True] Translation: X:634.79, Y:-42.48, Z:2.04 [[ 9.84144282e-01 1.77317899e-01 -4.28897612e-03 6.34787181e+02] [-1.77314921e-01 9.84153585e-01 1.06795996e-03 -4.24770952e+01] [ 4.41037964e-03 -2.90527227e-04 9.99990232e-01 2.04393696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0507140569999 meters Centerline goodness [0,1] 0.9780265249678782 Centerline is valid? [True, True] Translation: X:634.82, Y:-42.48, Z:2.04 [[ 9.84096079e-01 1.77601846e-01 -3.53441360e-03 6.34815662e+02] [-1.77599827e-01 9.84102397e-01 8.79635392e-04 -4.24800423e+01] [ 3.63444976e-03 -2.37934497e-04 9.99993367e-01 2.04442269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0807140569999 meters Centerline goodness [0,1] 0.9774940630514826 Centerline is valid? [True, True] Translation: X:634.84, Y:-42.49, Z:2.04 [[ 9.84007026e-01 1.78105196e-01 -2.95159876e-03 6.34841976e+02] [-1.78103792e-01 9.84011433e-01 7.33965701e-04 -4.24885220e+01] [ 3.03513003e-03 -1.96536476e-04 9.99995375e-01 2.04456629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.110714057 meters Centerline goodness [0,1] 0.9788327526132404 Centerline is valid? [True, True] Translation: X:634.87, Y:-42.49, Z:2.04 [[ 9.83923650e-01 1.78560235e-01 -3.23933014e-03 6.34870557e+02] [-1.78558548e-01 9.83928959e-01 8.05087607e-04 -4.24917828e+01] [ 3.33102736e-03 -2.13734650e-04 9.99994429e-01 2.04456815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.140714057 meters Centerline goodness [0,1] 0.9765209042506764 Centerline is valid? [True, True] Translation: X:634.90, Y:-42.50, Z:2.04 [[ 9.83765982e-01 1.79414255e-01 -3.87523934e-03 6.34897108e+02] [-1.79411852e-01 9.83773583e-01 9.61969909e-04 -4.25021295e+01] [ 3.98494921e-03 -2.51089404e-04 9.99992029e-01 2.04363113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1707140569999 meters Centerline goodness [0,1] 0.9800761088268742 Centerline is valid? [True, True] Translation: X:634.93, Y:-42.50, Z:2.04 [[ 9.83696318e-01 1.79777795e-01 -4.63668606e-03 6.34926380e+02] [-1.79774365e-01 9.83707200e-01 1.14963387e-03 -4.25026418e+01] [ 4.76782011e-03 -2.97333308e-04 9.99988590e-01 2.04314781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2007140569999 meters Centerline goodness [0,1] 0.9795376376855762 Centerline is valid? [True, True] Translation: X:634.95, Y:-42.51, Z:2.04 [[ 9.83627230e-01 1.80150636e-01 -4.81869387e-03 6.34954776e+02] [-1.80146943e-01 9.83638986e-01 1.19346525e-03 -4.25066719e+01] [ 4.95485868e-03 -3.05851948e-04 9.99987678e-01 2.04275092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2307140569999 meters Centerline goodness [0,1] 0.9791252267809133 Centerline is valid? [True, True] Translation: X:634.98, Y:-42.52, Z:2.04 [[ 9.83451436e-01 1.81111199e-01 -4.69108158e-03 6.34981106e+02] [-1.81107714e-01 9.83462581e-01 1.16097955e-03 -4.25157359e+01] [ 4.82376960e-03 -2.92175945e-04 9.99988323e-01 2.04211368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.260714057 meters Centerline goodness [0,1] 0.978904151470813 Centerline is valid? [True, True] Translation: X:635.01, Y:-42.52, Z:2.04 [[ 9.83291561e-01 1.81972907e-01 -4.85465797e-03 6.35009018e+02] [-1.81969188e-01 9.83303500e-01 1.20064133e-03 -4.25211963e+01] [ 4.99208636e-03 -2.97182316e-04 9.99987495e-01 2.04250085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.290714057 meters Centerline goodness [0,1] 0.9812572276406799 Centerline is valid? [True, True] Translation: X:635.04, Y:-42.52, Z:2.04 [[ 9.82597383e-01 1.85692684e-01 -4.53979984e-03 6.35039753e+02] [-1.85689475e-01 9.82607836e-01 1.12209606e-03 -4.25226870e+01] [ 4.66920792e-03 -2.59575600e-04 9.99989065e-01 2.04340580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3207140569999 meters Centerline goodness [0,1] 0.9820775180210776 Centerline is valid? [True, True] Translation: X:635.07, Y:-42.53, Z:2.04 [[ 9.82179449e-01 1.87900066e-01 -4.13465174e-03 6.35069400e+02] [-1.87897424e-01 9.82188125e-01 1.02185772e-03 -4.25265460e+01] [ 4.25301298e-03 -2.26757244e-04 9.99990930e-01 2.04409524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3507140569999 meters Centerline goodness [0,1] 0.9829177904962393 Centerline is valid? [True, True] Translation: X:635.10, Y:-42.53, Z:2.04 [[ 9.81143438e-01 1.93235326e-01 -4.20279283e-03 6.35100219e+02] [-1.93232646e-01 9.81152417e-01 1.03857619e-03 -4.25266511e+01] [ 4.32426996e-03 -2.06875439e-04 9.99990629e-01 2.04437350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.380714057 meters Centerline goodness [0,1] 0.984304587720648 Centerline is valid? [True, True] Translation: X:635.13, Y:-42.53, Z:2.04 [[ 9.80598349e-01 1.95976440e-01 -4.48465650e-03 6.35129792e+02] [-1.95973417e-01 9.80608582e-01 1.10809317e-03 -4.25316241e+01] [ 4.61485281e-03 -2.07720878e-04 9.99989330e-01 2.04423596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.410714057 meters Centerline goodness [0,1] 0.986341441956627 Centerline is valid? [True, True] Translation: X:635.16, Y:-42.53, Z:2.04 [[ 9.80131826e-01 1.98292976e-01 -4.63675328e-03 6.35158996e+02] [-1.98289773e-01 9.80142773e-01 1.14503916e-03 -4.25344501e+01] [ 4.77173344e-03 -2.02868565e-04 9.99988595e-01 2.04366230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4407140569999 meters Centerline goodness [0,1] 0.9859526478928972 Centerline is valid? [True, True] Translation: X:635.19, Y:-42.54, Z:2.04 [[ 9.79748463e-01 2.00172283e-01 -4.89962625e-03 6.35185532e+02] [-2.00168736e-01 9.79760693e-01 1.20904261e-03 -4.25426656e+01] [ 5.04247802e-03 -2.03805643e-04 9.99987266e-01 2.04262517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4707140569999 meters Centerline goodness [0,1] 0.9867357056296133 Centerline is valid? [True, True] Translation: X:635.21, Y:-42.55, Z:2.04 [[ 9.79436983e-01 2.01689716e-01 -4.94517033e-03 6.35213525e+02] [-2.01686126e-01 9.79449447e-01 1.21943480e-03 -4.25478929e+01] [ 5.08949181e-03 -1.96987297e-04 9.99987029e-01 2.04286608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.500714057 meters Centerline goodness [0,1] 0.9850900081127897 Centerline is valid? [True, True] Translation: X:635.24, Y:-42.55, Z:2.04 [[ 9.79155094e-01 2.03076966e-01 -3.87922405e-03 6.35240160e+02] [-2.03074770e-01 9.79162767e-01 9.55874842e-04 -4.25545538e+01] [ 3.99250792e-03 -1.48177187e-04 9.99992019e-01 2.04286026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.530714057 meters Centerline goodness [0,1] 0.9849511572648069 Centerline is valid? [True, True] Translation: X:635.27, Y:-42.56, Z:2.04 [[ 9.79153946e-01 2.03082893e-01 -3.85855013e-03 6.35265920e+02] [-2.03080723e-01 9.79161538e-01 9.50272694e-04 -4.25608716e+01] [ 3.97112800e-03 -1.46866108e-04 9.99992104e-01 2.04322312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5607140569999 meters Centerline goodness [0,1] 0.986909090909091 Centerline is valid? [True, True] Translation: X:635.29, Y:-42.56, Z:2.04 [[ 9.79307792e-01 2.02344081e-01 -3.62231408e-03 6.35294286e+02] [-2.02342166e-01 9.79314481e-01 8.91525404e-04 -4.25645582e+01] [ 3.72777952e-03 -1.40130899e-04 9.99993042e-01 2.04351157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5907140569999 meters Centerline goodness [0,1] 0.9842330951072018 Centerline is valid? [True, True] Translation: X:635.32, Y:-42.58, Z:2.04 [[ 9.79809716e-01 1.99891310e-01 -4.04771024e-03 6.35319612e+02] [-1.99888901e-01 9.79818063e-01 9.95330297e-04 -4.25793660e+01] [ 4.16497749e-03 -1.66141943e-04 9.99991313e-01 2.04217656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.620714057 meters Centerline goodness [0,1] 0.9828808463007265 Centerline is valid? [True, True] Translation: X:635.35, Y:-42.59, Z:2.04 [[ 9.80248432e-01 1.97724785e-01 -4.23321754e-03 6.35346323e+02] [-1.97722132e-01 9.80257556e-01 1.04062325e-03 -4.25892997e+01] [ 4.35540049e-03 -1.83068511e-04 9.99990498e-01 2.04123966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.650714057 meters Centerline goodness [0,1] 0.9856427818756586 Centerline is valid? [True, True] Translation: X:635.38, Y:-42.59, Z:2.04 [[ 9.80735724e-01 1.95279244e-01 -4.84321566e-03 6.35375306e+02] [-1.95275742e-01 9.80747658e-01 1.19023034e-03 -4.25929855e+01] [ 4.98239970e-03 -2.21538882e-04 9.99987563e-01 2.04123539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6807140569999 meters Centerline goodness [0,1] 0.9840876712328767 Centerline is valid? [True, True] Translation: X:635.40, Y:-42.60, Z:2.04 [[ 9.81330130e-01 1.92260905e-01 -5.18842797e-03 6.35401901e+02] [-1.92256846e-01 9.81343813e-01 1.27471707e-03 -4.26033228e+01] [ 5.33670994e-03 -2.53407469e-04 9.99985728e-01 2.04053146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7107140569999 meters Centerline goodness [0,1] 0.9833421006487814 Centerline is valid? [True, True] Translation: X:635.43, Y:-42.61, Z:2.04 [[ 9.81840652e-01 1.89645667e-01 -4.84309276e-03 6.35429903e+02] [-1.89642100e-01 9.81852565e-01 1.18960633e-03 -4.26129459e+01] [ 4.98080674e-03 -2.49549572e-04 9.99987565e-01 2.04079023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.740714057 meters Centerline goodness [0,1] 0.9819248107138168 Centerline is valid? [True, True] Translation: X:635.46, Y:-42.62, Z:2.04 [[ 9.82717831e-01 1.85066983e-01 -3.98446475e-03 6.35458252e+02] [-1.85064532e-01 9.82725883e-01 9.78589278e-04 -4.26247636e+01] [ 4.09674120e-03 -2.24294031e-04 9.99991583e-01 2.04137512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.770714057 meters Centerline goodness [0,1] 0.981865850994101 Centerline is valid? [True, True] Translation: X:635.49, Y:-42.63, Z:2.04 [[ 9.83140264e-01 1.82816075e-01 -3.67470907e-03 6.35487204e+02] [-1.82813975e-01 9.83147108e-01 9.02417270e-04 -4.26324035e+01] [ 3.77775598e-03 -2.15414579e-04 9.99992841e-01 2.04241655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8007140569999 meters Centerline goodness [0,1] 0.9811555322907806 Centerline is valid? [True, True] Translation: X:635.52, Y:-42.64, Z:2.04 [[ 9.83463876e-01 1.81075125e-01 -3.25639319e-03 6.35515206e+02] [-1.81073467e-01 9.83469247e-01 7.99445019e-04 -4.26386372e+01] [ 3.34732216e-03 -1.96578894e-04 9.99994378e-01 2.04298282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8307140569999 meters Centerline goodness [0,1] 0.9806266809524851 Centerline is valid? [True, True] Translation: X:635.54, Y:-42.65, Z:2.04 [[ 9.83692342e-01 1.79839826e-01 -2.64833643e-03 6.35541023e+02] [-1.79838726e-01 9.83695893e-01 6.49592498e-04 -4.26479933e+01] [ 2.72198028e-03 -1.62725715e-04 9.99996282e-01 2.04397593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.860714057 meters Centerline goodness [0,1] 0.9789793067318606 Centerline is valid? [True, True] Translation: X:635.57, Y:-42.66, Z:2.05 [[ 9.83913652e-01 1.78639014e-01 -1.42417494e-03 6.35567661e+02] [-1.78638695e-01 9.83914679e-01 3.49279412e-04 -4.26565475e+01] [ 1.46366156e-03 -8.92480294e-05 9.99998925e-01 2.04501367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.890714057 meters Centerline goodness [0,1] 0.9782656134072361 Centerline is valid? [True, True] Translation: X:635.59, Y:-42.66, Z:2.05 [[ 9.83936114e-01 1.78517115e-01 -1.16738407e-03 6.35593662e+02] [-1.78516900e-01 9.83936804e-01 2.86290154e-04 -4.26633275e+01] [ 1.19973984e-03 -7.32934367e-05 9.99999278e-01 2.04593204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9207140569999 meters Centerline goodness [0,1] 0.9795651034844118 Centerline is valid? [True, True] Translation: X:635.62, Y:-42.66, Z:2.05 [[ 9.83980382e-01 1.78271743e-01 -1.33960954e-03 6.35622277e+02] [-1.78271460e-01 9.83981290e-01 3.28542193e-04 -4.26641042e+01] [ 1.37672052e-03 -8.44649235e-05 9.99999049e-01 2.04628696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9507140569999 meters Centerline goodness [0,1] 0.979193985488242 Centerline is valid? [True, True] Translation: X:635.65, Y:-42.67, Z:2.05 [[ 9.84013539e-01 1.78089847e-01 -1.16693627e-03 6.35649856e+02] [-1.78089632e-01 9.84014228e-01 2.85938993e-04 -4.26707349e+01] [ 1.19920473e-03 -7.35485887e-05 9.99999278e-01 2.04699341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9807140569999 meters Centerline goodness [0,1] 0.978480102807606 Centerline is valid? [True, True] Translation: X:635.68, Y:-42.68, Z:2.05 [[ 9.84121379e-01 1.77496241e-01 -4.42716827e-04 6.35676378e+02] [-1.77496210e-01 9.84121478e-01 1.08382531e-04 -4.26804703e+01] [ 4.54924630e-04 -2.80810067e-05 9.99999896e-01 2.04745536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.010714057 meters Centerline goodness [0,1] 0.9788284646813346 Centerline is valid? [True, True] Translation: X:635.71, Y:-42.68, Z:2.05 [[ 9.84304161e-01 1.76479911e-01 -4.00383099e-04 6.35705298e+02] [-1.76479886e-01 9.84304242e-01 9.83937226e-05 -4.26837611e+01] [ 4.11463298e-04 -2.61897869e-05 9.99999915e-01 2.04674808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.040714057 meters Centerline goodness [0,1] 0.977589750317023 Centerline is valid? [True, True] Translation: X:635.73, Y:-42.69, Z:2.05 [[ 9.84500142e-01 1.75383257e-01 -4.28730517e-04 6.35731886e+02] [-1.75383228e-01 9.84500235e-01 1.04918629e-04 -4.26935697e+01] [ 4.40486265e-04 -2.81002636e-05 9.99999903e-01 2.04648349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0707140569999 meters Centerline goodness [0,1] 0.9787992823699295 Centerline is valid? [True, True] Translation: X:635.76, Y:-42.70, Z:2.05 [[ 9.84643628e-01 1.74573335e-01 -1.03711965e-03 6.35760326e+02] [-1.74573165e-01 9.84644172e-01 2.53326819e-04 -4.26975303e+01] [ 1.06541793e-03 -6.83833788e-05 9.99999430e-01 2.04559494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1007140569999 meters Centerline goodness [0,1] 0.9777394644377032 Centerline is valid? [True, True] Translation: X:635.79, Y:-42.71, Z:2.04 [[ 9.85013036e-01 1.72457153e-01 -2.80178289e-03 6.35786979e+02] [-1.72455906e-01 9.85017002e-01 6.82428660e-04 -4.27064543e+01] [ 2.87749349e-03 -1.89017118e-04 9.99995842e-01 2.04343996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.130714057 meters Centerline goodness [0,1] 0.9770711516983115 Centerline is valid? [True, True] Translation: X:635.82, Y:-42.71, Z:2.04 [[ 9.85180793e-01 1.71474155e-01 -3.92685349e-03 6.35815086e+02] [-1.71471701e-01 9.85188582e-01 9.55847960e-04 -4.27131003e+01] [ 4.03259444e-03 -2.68338805e-04 9.99991833e-01 2.04287684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.160714057 meters Centerline goodness [0,1] 0.9773340055678555 Centerline is valid? [True, True] Translation: X:635.84, Y:-42.72, Z:2.04 [[ 9.85311211e-01 1.70712454e-01 -4.36750706e-03 6.35842011e+02] [-1.70709415e-01 9.85320845e-01 1.06208902e-03 -4.27206169e+01] [ 4.48470757e-03 -3.00913647e-04 9.99989898e-01 2.04212829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1907140569999 meters Centerline goodness [0,1] 0.9782064787990519 Centerline is valid? [True, True] Translation: X:635.87, Y:-42.73, Z:2.04 [[ 9.85373806e-01 1.70334760e-01 -4.95303369e-03 6.35870147e+02] [-1.70330852e-01 9.85386195e-01 1.20345566e-03 -4.27259063e+01] [ 5.08564135e-03 -3.42199238e-04 9.99987009e-01 2.04237389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2207140569999 meters Centerline goodness [0,1] 0.9786883445018126 Centerline is valid? [True, True] Translation: X:635.90, Y:-42.73, Z:2.04 [[ 9.85427268e-01 1.70021983e-01 -5.06211647e-03 6.35897926e+02] [-1.70017904e-01 9.85440208e-01 1.22851929e-03 -4.27304331e+01] [ 5.19728839e-03 -3.49965973e-04 9.99986433e-01 2.04251886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.250714057 meters Centerline goodness [0,1] 0.9763803748379584 Centerline is valid? [True, True] Translation: X:635.92, Y:-42.74, Z:2.04 [[ 9.85418569e-01 1.70087276e-01 -4.53462224e-03 6.35924655e+02] [-1.70084008e-01 9.85428953e-01 1.09951412e-03 -4.27398527e+01] [ 4.65556141e-03 -3.12214901e-04 9.99989114e-01 2.04296683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.280714057 meters Centerline goodness [0,1] 0.9772462205400172 Centerline is valid? [True, True] Translation: X:635.95, Y:-42.74, Z:2.05 [[ 9.85214447e-01 1.71303051e-01 -2.78552510e-03 6.35953238e+02] [-1.71301823e-01 9.85218366e-01 6.75169522e-04 -4.27436437e+01] [ 2.86000908e-03 -1.88021240e-04 9.99995892e-01 2.04527363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3107140569999 meters Centerline goodness [0,1] 0.9764064937062016 Centerline is valid? [True, True] Translation: X:635.98, Y:-42.75, Z:2.05 [[ 9.85149529e-01 1.71692066e-01 -1.49670451e-03 6.35981087e+02] [-1.71691712e-01 9.85150661e-01 3.62975617e-04 -4.27500488e+01] [ 1.53679947e-03 -1.00613499e-04 9.99998814e-01 2.04618647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3407140569999 meters Centerline goodness [0,1] 0.9745984310795667 Centerline is valid? [True, True] Translation: X:636.01, Y:-42.76, Z:2.05 [[ 9.85099237e-01 1.71986503e-01 -3.68779615e-04 6.36007805e+02] [-1.71986481e-01 9.85099306e-01 8.94756157e-05 -4.27594048e+01] [ 3.78673141e-04 -2.47172524e-05 9.99999928e-01 2.04697325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.370714057 meters Centerline goodness [0,1] 0.9743330327490267 Centerline is valid? [True, True] Translation: X:636.04, Y:-42.76, Z:2.05 [[ 9.85157989e-01 1.71649896e-01 2.21946147e-04 6.36035884e+02] [-1.71649889e-01 9.85158014e-01 -5.29719339e-05 -4.27649480e+01] [-2.27744652e-04 1.40886925e-05 9.99999974e-01 2.04748045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.400714057 meters Centerline goodness [0,1] 0.9743330327490267 Centerline is valid? [True, True] Translation: X:636.06, Y:-42.77, Z:2.05 [[ 9.85204874e-01 1.71380590e-01 2.21983082e-04 6.36062600e+02] [-1.71380582e-01 9.85204899e-01 -5.28186540e-05 -4.27713124e+01] [-2.27750912e-04 1.39936055e-05 9.99999974e-01 2.04755614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4307140569999 meters Centerline goodness [0,1] 0.9771441153803809 Centerline is valid? [True, True] Translation: X:636.09, Y:-42.77, Z:2.05 [[ 9.85326634e-01 1.70676776e-01 9.28537092e-04 6.36092013e+02] [-1.70676641e-01 9.85327070e-01 -2.23213854e-04 -4.27731252e+01] [-9.53010153e-04 6.14589632e-05 9.99999544e-01 2.04729074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4607140569999 meters Centerline goodness [0,1] 0.9747758832835296 Centerline is valid? [True, True] Translation: X:636.12, Y:-42.79, Z:2.05 [[ 9.85543488e-01 1.69420754e-01 8.00912892e-04 6.36117055e+02] [-1.69420653e-01 9.85543812e-01 -1.92570551e-04 -4.27856204e+01] [-8.21960192e-04 5.40954676e-05 9.99999661e-01 2.04745265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.490714057 meters Centerline goodness [0,1] 0.9783930963307789 Centerline is valid? [True, True] Translation: X:636.15, Y:-42.79, Z:2.05 [[ 9.85661455e-01 1.68733893e-01 6.07554891e-04 6.36145973e+02] [-1.68733835e-01 9.85661641e-01 -1.45949702e-04 -4.27861275e+01] [-6.23470213e-04 4.13419292e-05 9.99999805e-01 2.04698349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.520714057 meters Centerline goodness [0,1] 0.9719693971771534 Centerline is valid? [True, True] Translation: X:636.17, Y:-42.80, Z:2.05 [[ 9.85926543e-01 1.67178970e-01 2.09511972e-04 6.36171549e+02] [-1.67178963e-01 9.85926565e-01 -5.02980305e-05 -4.28023450e+01] [-2.14972192e-04 1.45641691e-05 9.99999977e-01 2.04716063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5507140569999 meters Centerline goodness [0,1] 0.977035719774309 Centerline is valid? [True, True] Translation: X:636.20, Y:-42.80, Z:2.05 [[ 9.86288764e-01 1.65027532e-01 -6.22921766e-04 6.36202065e+02] [-1.65027470e-01 9.86288959e-01 1.50072749e-04 -4.28015297e+01] [ 6.39146996e-04 -4.52158632e-05 9.99999795e-01 2.04640246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5807140569999 meters Centerline goodness [0,1] 0.9757397617846411 Centerline is valid? [True, True] Translation: X:636.23, Y:-42.81, Z:2.05 [[ 9.86411052e-01 1.64292742e-01 -1.06331841e-03 6.36229901e+02] [-1.64292561e-01 9.86411622e-01 2.56423902e-04 -4.28089405e+01] [ 1.09099822e-03 -7.82440672e-05 9.99999402e-01 2.04596630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.610714057 meters Centerline goodness [0,1] 0.9769261196325759 Centerline is valid? [True, True] Translation: X:636.26, Y:-42.81, Z:2.05 [[ 9.86535282e-01 1.63542651e-01 -1.39237600e-03 6.36257791e+02] [-1.63542340e-01 9.86536259e-01 3.35037358e-04 -4.28137855e+01] [ 1.42842231e-03 -1.02813745e-04 9.99998975e-01 2.04593208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.640714057 meters Centerline goodness [0,1] 0.9760381630723911 Centerline is valid? [True, True] Translation: X:636.28, Y:-42.82, Z:2.05 [[ 9.86556336e-01 1.63416909e-01 -1.22846393e-03 6.36283545e+02] [-1.63416667e-01 9.86557097e-01 2.95450835e-04 -4.28210031e+01] [ 1.26023147e-03 -9.07274118e-05 9.99999202e-01 2.04600172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6707140569999 meters Centerline goodness [0,1] 0.9759834459682568 Centerline is valid? [True, True] Translation: X:636.31, Y:-42.83, Z:2.05 [[ 9.86472354e-01 1.63922866e-01 -1.26047035e-03 6.36311780e+02] [-1.63922612e-01 9.86473155e-01 3.03157796e-04 -4.28274571e+01] [ 1.29311466e-03 -9.24371932e-05 9.99999160e-01 2.04638198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7007140569999 meters Centerline goodness [0,1] 0.9765153013027527 Centerline is valid? [True, True] Translation: X:636.34, Y:-42.83, Z:2.05 [[ 9.86368957e-01 1.64546734e-01 -8.07847087e-04 6.36340224e+02] [-1.64546630e-01 9.86369286e-01 1.94333469e-04 -4.28336764e+01] [ 8.28812493e-04 -5.87559860e-05 9.99999655e-01 2.04601474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7307140569999 meters Centerline goodness [0,1] 0.9768230887860763 Centerline is valid? [True, True] Translation: X:636.37, Y:-42.84, Z:2.05 [[ 9.85929952e-01 1.67154951e-01 -1.16321541e-03 6.36368972e+02] [-1.67154738e-01 9.85930634e-01 2.78868239e-04 -4.28385528e+01] [ 1.19346392e-03 -8.05075820e-05 9.99999285e-01 2.04530716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.760714057 meters Centerline goodness [0,1] 0.9768511387391352 Centerline is valid? [True, True] Translation: X:636.40, Y:-42.84, Z:2.05 [[ 9.85605794e-01 1.69055344e-01 -1.22877426e-03 6.36398552e+02] [-1.69055108e-01 9.85606556e-01 2.94507239e-04 -4.28445846e+01] [ 1.26087599e-03 -8.25374761e-05 9.99999202e-01 2.04511410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.790714057 meters Centerline goodness [0,1] 0.9798805614932017 Centerline is valid? [True, True] Translation: X:636.43, Y:-42.84, Z:2.04 [[ 9.85354774e-01 1.70504135e-01 -2.07607364e-03 6.36428710e+02] [-1.70503463e-01 9.85356951e-01 4.97649945e-04 -4.28439435e+01] [ 2.13052497e-03 -1.36384003e-04 9.99997721e-01 2.04447096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8207140569999 meters Centerline goodness [0,1] 0.9788300220750552 Centerline is valid? [True, True] Translation: X:636.46, Y:-42.85, Z:2.04 [[ 9.84686686e-01 1.74320916e-01 -2.08542092e-03 6.36456868e+02] [-1.74320249e-01 9.84688886e-01 4.99242960e-04 -4.28499361e+01] [ 2.14051930e-03 -1.28066801e-04 9.99997701e-01 2.04470854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8507140569999 meters Centerline goodness [0,1] 0.9809330449750628 Centerline is valid? [True, True] Translation: X:636.49, Y:-42.85, Z:2.04 [[ 9.84428267e-01 1.75779076e-01 -1.64430897e-03 6.36485501e+02] [-1.75778663e-01 9.84429635e-01 3.93651202e-04 -4.28527325e+01] [ 1.68790212e-03 -9.84869390e-05 9.99998571e-01 2.04474726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.880714057 meters Centerline goodness [0,1] 0.9803721980040273 Centerline is valid? [True, True] Translation: X:636.51, Y:-42.86, Z:2.04 [[ 9.84266526e-01 1.76677627e-01 -2.10292231e-03 6.36513612e+02] [-1.76676953e-01 9.84268765e-01 5.03336303e-04 -4.28584952e+01] [ 2.15876901e-03 -1.23879168e-04 9.99997662e-01 2.04496639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.910714057 meters Centerline goodness [0,1] 0.9805035478237804 Centerline is valid? [True, True] Translation: X:636.54, Y:-42.86, Z:2.05 [[ 9.84163849e-01 1.77250663e-01 -1.92884653e-03 6.36541104e+02] [-1.77250098e-01 9.84165733e-01 4.61219450e-04 -4.28647625e+01] [ 1.98005612e-03 -1.12027272e-04 9.99998033e-01 2.04527714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9407140569999 meters Centerline goodness [0,1] 0.9826281809509019 Centerline is valid? [True, True] Translation: X:636.57, Y:-42.87, Z:2.05 [[ 9.83997808e-01 1.78175472e-01 -1.34746555e-03 6.36570112e+02] [-1.78175198e-01 9.83998727e-01 3.22069988e-04 -4.28666255e+01] [ 1.38328936e-03 -7.68312203e-05 9.99999040e-01 2.04555145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9707140569999 meters Centerline goodness [0,1] 0.9822034838566515 Centerline is valid? [True, True] Translation: X:636.60, Y:-42.87, Z:2.05 [[ 9.83883000e-01 1.78810895e-01 -9.51409382e-04 6.36598547e+02] [-1.78810759e-01 9.83883459e-01 2.27358275e-04 -4.28728018e+01] [ 9.76730090e-04 -5.35717081e-05 9.99999522e-01 2.04602393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.000714057 meters Centerline goodness [0,1] 0.9820154216654515 Centerline is valid? [True, True] Translation: X:636.63, Y:-42.88, Z:2.05 [[ 9.83730361e-01 1.79650160e-01 -6.30569139e-04 6.36626866e+02] [-1.79650100e-01 9.83730562e-01 1.50758448e-04 -4.28785188e+01] [ 6.47393913e-04 -3.50238539e-05 9.99999790e-01 2.04591868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.030714057 meters Centerline goodness [0,1] 0.9835712062602819 Centerline is valid? [True, True] Translation: X:636.66, Y:-42.88, Z:2.05 [[ 9.83643273e-01 1.80126814e-01 -4.91481690e-04 6.36655253e+02] [-1.80126778e-01 9.83643396e-01 1.17532904e-04 -4.28840224e+01] [ 5.04613546e-04 -2.70814370e-05 9.99999872e-01 2.04516460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0607140569999 meters Centerline goodness [0,1] 0.9844995669649796 Centerline is valid? [True, True] Translation: X:636.68, Y:-42.89, Z:2.04 [[ 9.83362084e-01 1.81645570e-01 -1.97471677e-03 6.36684416e+02] [-1.81644992e-01 9.83364061e-01 4.69454250e-04 -4.28879065e+01] [ 2.02713978e-03 -1.02946098e-04 9.99997940e-01 2.04420679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0907140569999 meters Centerline goodness [0,1] 0.9832287913163397 Centerline is valid? [True, True] Translation: X:636.71, Y:-42.90, Z:2.04 [[ 9.83255733e-01 1.82217945e-01 -2.18748972e-03 6.36710761e+02] [-1.82217238e-01 9.83258159e-01 5.19699744e-04 -4.28963151e+01] [ 2.24556574e-03 -1.12399417e-04 9.99997472e-01 2.04379263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.120714057 meters Centerline goodness [0,1] 0.982186540942045 Centerline is valid? [True, True] Translation: X:636.74, Y:-42.90, Z:2.04 [[ 9.83176196e-01 1.82639384e-01 -2.72457452e-03 6.36738577e+02] [-1.82638290e-01 9.83179961e-01 6.46966914e-04 -4.29022271e+01] [ 2.79690871e-03 -1.38470837e-04 9.99996079e-01 2.04305335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.150714057 meters Centerline goodness [0,1] 0.983563898403096 Centerline is valid? [True, True] Translation: X:636.77, Y:-42.91, Z:2.04 [[ 9.83239227e-01 1.82300978e-01 -2.64131042e-03 6.36766324e+02] [-1.82299951e-01 9.83242765e-01 6.26527495e-04 -4.29079787e+01] [ 2.71126594e-03 -1.34515649e-04 9.99996315e-01 2.04310150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1807140569999 meters Centerline goodness [0,1] 0.9832297721654306 Centerline is valid? [True, True] Translation: X:636.79, Y:-42.91, Z:2.04 [[ 9.83282862e-01 1.82065742e-01 -2.62297065e-03 6.36793514e+02] [-1.82064730e-01 9.83286351e-01 6.21395495e-04 -4.29142659e+01] [ 2.69226607e-03 -1.33457096e-04 9.99996367e-01 2.04302500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2107140569999 meters Centerline goodness [0,1] 0.9828928634988432 Centerline is valid? [True, True] Translation: X:636.82, Y:-42.92, Z:2.04 [[ 9.83281873e-01 1.82065296e-01 -2.99781561e-03 6.36821599e+02] [-1.82063978e-01 9.83286431e-01 7.09201176e-04 -4.29203418e+01] [ 3.07683233e-03 -1.51550425e-04 9.99995255e-01 2.04340698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.240714057 meters Centerline goodness [0,1] 0.9831809383968497 Centerline is valid? [True, True] Translation: X:636.85, Y:-42.93, Z:2.04 [[ 9.83247580e-01 1.82257621e-01 -2.52116397e-03 6.36849646e+02] [-1.82256691e-01 9.83250804e-01 5.95889725e-04 -4.29271057e+01] [ 2.58754194e-03 -1.26408128e-04 9.99996644e-01 2.04334071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.270714057 meters Centerline goodness [0,1] 0.9833559254238795 Centerline is valid? [True, True] Translation: X:636.88, Y:-42.93, Z:2.04 [[ 9.83178858e-01 1.82628915e-01 -2.45224189e-03 6.36877953e+02] [-1.82628037e-01 9.83181908e-01 5.78977138e-04 -4.29335354e+01] [ 2.51673783e-03 -1.21389957e-04 9.99996826e-01 2.04351931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3007140569999 meters Centerline goodness [0,1] 0.9833337036954735 Centerline is valid? [True, True] Translation: X:636.91, Y:-42.94, Z:2.04 [[ 9.83059821e-01 1.83270020e-01 -2.34253907e-03 6.36905901e+02] [-1.83269223e-01 9.83062606e-01 5.52495457e-04 -4.29405129e+01] [ 2.40411842e-03 -1.13820770e-04 9.99997104e-01 2.04354919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3307140569999 meters Centerline goodness [0,1] 0.9826297224748763 Centerline is valid? [True, True] Translation: X:636.93, Y:-42.95, Z:2.04 [[ 9.82964272e-01 1.83783602e-01 -2.19728050e-03 6.36932941e+02] [-1.83782903e-01 9.82966722e-01 5.17630257e-04 -4.29487923e+01] [ 2.25498556e-03 -1.04989461e-04 9.99997452e-01 2.04307928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.360714057 meters Centerline goodness [0,1] 0.9839912962387317 Centerline is valid? [True, True] Translation: X:636.96, Y:-42.96, Z:2.04 [[ 9.82886367e-01 1.84183037e-01 -3.31624364e-03 6.36960680e+02] [-1.84181449e-01 9.82891949e-01 7.80700770e-04 -4.29552011e+01] [ 3.40330102e-03 -1.56549583e-04 9.99994197e-01 2.04206764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.390714057 meters Centerline goodness [0,1] 0.9825431417897171 Centerline is valid? [True, True] Translation: X:636.99, Y:-42.96, Z:2.04 [[ 9.82916543e-01 1.84013511e-01 -3.75455270e-03 6.36986002e+02] [-1.84011478e-01 9.82923698e-01 8.82903174e-04 -4.29645818e+01] [ 3.85290494e-03 -1.76939344e-04 9.99992562e-01 2.04130178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4207140569999 meters Centerline goodness [0,1] 0.9819369459441445 Centerline is valid? [True, True] Translation: X:637.01, Y:-42.97, Z:2.04 [[ 9.82967742e-01 1.83728129e-01 -4.28865717e-03 6.37012851e+02] [-1.83725479e-01 9.82977077e-01 1.00743772e-03 -4.29702480e+01] [ 4.40074634e-03 -2.02343192e-04 9.99990296e-01 2.04075011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4507140569999 meters Centerline goodness [0,1] 0.9828152753108348 Centerline is valid? [True, True] Translation: X:637.04, Y:-42.98, Z:2.04 [[ 9.82964311e-01 1.83744733e-01 -4.36310279e-03 6.37040900e+02] [-1.83741995e-01 9.82973973e-01 1.02373095e-03 -4.29779766e+01] [ 4.47692165e-03 -2.04605776e-04 9.99989958e-01 2.04082991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4807140569999 meters Centerline goodness [0,1] 0.9824970569289887 Centerline is valid? [True, True] Translation: X:637.07, Y:-42.99, Z:2.04 [[ 9.82878754e-01 1.84201225e-01 -4.38898623e-03 6.37067157e+02] [-1.84198463e-01 9.82888533e-01 1.02898414e-03 -4.29870976e+01] [ 4.50342438e-03 -2.02922133e-04 9.99989839e-01 2.04085174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.510714057 meters Centerline goodness [0,1] 0.9840600301927005 Centerline is valid? [True, True] Translation: X:637.09, Y:-42.99, Z:2.04 [[ 9.82867168e-01 1.84271310e-01 -4.02659982e-03 6.37094601e+02] [-1.84268988e-01 9.82875399e-01 9.43477656e-04 -4.29940829e+01] [ 4.13150177e-03 -1.85335737e-04 9.99991448e-01 2.04132085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.540714057 meters Centerline goodness [0,1] 0.9841776359526658 Centerline is valid? [True, True] Translation: X:637.12, Y:-43.00, Z:2.04 [[ 9.82815955e-01 1.84546044e-01 -3.94406512e-03 6.37123922e+02] [-1.84543822e-01 9.82823853e-01 9.23171155e-04 -4.29965030e+01] [ 4.04668886e-03 -1.79454491e-04 9.99991796e-01 2.04190640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5707140569999 meters Centerline goodness [0,1] 0.9855175162761859 Centerline is valid? [True, True] Translation: X:637.15, Y:-43.00, Z:2.04 [[ 9.82726851e-01 1.85031612e-01 -3.35258253e-03 6.37152095e+02] [-1.85030012e-01 9.82732558e-01 7.83959334e-04 -4.30010977e+01] [ 3.43974927e-03 -1.50089503e-04 9.99994073e-01 2.04225382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6007140569999 meters Centerline goodness [0,1] 0.9856105581426143 Centerline is valid? [True, True] Translation: X:637.18, Y:-43.01, Z:2.04 [[ 9.82517794e-01 1.86146956e-01 -2.84515895e-03 6.37180155e+02] [-1.86145810e-01 9.82521906e-01 6.64659112e-04 -4.30082426e+01] [ 2.91915527e-03 -1.23424987e-04 9.99995732e-01 2.04300857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.630714057 meters Centerline goodness [0,1] 0.9866188927963196 Centerline is valid? [True, True] Translation: X:637.21, Y:-43.02, Z:2.04 [[ 9.82492016e-01 1.86288618e-01 -2.44717850e-03 6.37207655e+02] [-1.86287772e-01 9.82495058e-01 5.71138252e-04 -4.30155742e+01] [ 2.51073734e-03 -1.05259340e-04 9.99996843e-01 2.04360275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.660714057 meters Centerline goodness [0,1] 0.9855365542708928 Centerline is valid? [True, True] Translation: X:637.24, Y:-43.02, Z:2.04 [[ 9.82480938e-01 1.86350830e-01 -2.13877214e-03 6.37235388e+02] [-1.86350185e-01 9.82483262e-01 4.98684237e-04 -4.30233736e+01] [ 2.19423805e-03 -9.13871721e-05 9.99997588e-01 2.04392334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6907140569999 meters Centerline goodness [0,1] 0.9841364005888428 Centerline is valid? [True, True] Translation: X:637.26, Y:-43.03, Z:2.04 [[ 9.82627715e-01 1.85580750e-01 -1.59947575e-03 6.37261984e+02] [-1.85580389e-01 9.82629015e-01 3.72512394e-04 -4.30327797e+01] [ 1.64082241e-03 -6.92096704e-05 9.99998651e-01 2.04376580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7207140569999 meters Centerline goodness [0,1] 0.9839892527583852 Centerline is valid? [True, True] Translation: X:637.29, Y:-43.04, Z:2.04 [[ 9.82850187e-01 1.84398551e-01 -1.63813842e-03 6.37289656e+02] [-1.84398171e-01 9.82851550e-01 3.81532854e-04 -4.30405446e+01] [ 1.68040099e-03 -7.29199077e-05 9.99998585e-01 2.04330821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.750714057 meters Centerline goodness [0,1] 0.9838422083782772 Centerline is valid? [True, True] Translation: X:637.32, Y:-43.05, Z:2.04 [[ 9.83394121e-01 1.81466363e-01 -2.44170112e-03 6.37316995e+02] [-1.81465512e-01 9.83397146e-01 5.67664602e-04 -4.30521435e+01] [ 2.50417394e-03 -1.15153489e-04 9.99996858e-01 2.04276171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.780714057 meters Centerline goodness [0,1] 0.983779524111814 Centerline is valid? [True, True] Translation: X:637.34, Y:-43.06, Z:2.04 [[ 9.83739439e-01 1.79579170e-01 -2.83499765e-03 6.37344698e+02] [-1.79578016e-01 9.83743514e-01 6.58843962e-04 -4.30618578e+01] [ 2.90722521e-03 -1.39027537e-04 9.99995764e-01 2.04211790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8107140569999 meters Centerline goodness [0,1] 0.9835579100081331 Centerline is valid? [True, True] Translation: X:637.37, Y:-43.07, Z:2.04 [[ 9.84092420e-01 1.77633626e-01 -2.89889471e-03 6.37372581e+02] [-1.77632411e-01 9.84096679e-01 6.73529180e-04 -4.30707707e+01] [ 2.97243408e-03 -1.47877306e-04 9.99995571e-01 2.04200969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8407140569999 meters Centerline goodness [0,1] 0.9832261732930937 Centerline is valid? [True, True] Translation: X:637.40, Y:-43.08, Z:2.04 [[ 9.84428548e-01 1.75761331e-01 -2.89634896e-03 6.37400501e+02] [-1.75760110e-01 9.84432797e-01 6.72771572e-04 -4.30794753e+01] [ 2.96950813e-03 -1.53232930e-04 9.99995579e-01 2.04229923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.870714057 meters Centerline goodness [0,1] 0.9817170633443542 Centerline is valid? [True, True] Translation: X:637.43, Y:-43.09, Z:2.04 [[ 9.85044516e-01 1.72263224e-01 -3.56130413e-03 6.37427250e+02] [-1.72261356e-01 9.85050933e-01 8.26945363e-04 -4.30922846e+01] [ 3.65051823e-03 -2.01102917e-04 9.99993317e-01 2.04280492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.900714057 meters Centerline goodness [0,1] 0.9801971579657476 Centerline is valid? [True, True] Translation: X:637.45, Y:-43.10, Z:2.04 [[ 9.85226586e-01 1.71218200e-01 -3.59206732e-03 6.37453654e+02] [-1.71216294e-01 9.85233112e-01 8.33904112e-04 -4.31026704e+01] [ 3.68180323e-03 -2.06564046e-04 9.99993201e-01 2.04278439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9307140569999 meters Centerline goodness [0,1] 0.9797573505301126 Centerline is valid? [True, True] Translation: X:637.48, Y:-43.11, Z:2.04 [[ 9.85500131e-01 1.69635744e-01 -3.63409420e-03 6.37481078e+02] [-1.69633784e-01 9.85506808e-01 8.43167380e-04 -4.31106457e+01] [ 3.72445590e-03 -2.14476413e-04 9.99993041e-01 2.04273897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9607140569999 meters Centerline goodness [0,1] 0.9792716720123934 Centerline is valid? [True, True] Translation: X:637.51, Y:-43.12, Z:2.04 [[ 9.85637682e-01 1.68827587e-01 -3.95053309e-03 6.37506474e+02] [-1.68825268e-01 9.85645570e-01 9.15637423e-04 -4.31218136e+01] [ 4.04841030e-03 -2.35536939e-04 9.99991777e-01 2.04279434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.990714057 meters Centerline goodness [0,1] 0.9811094387365574 Centerline is valid? [True, True] Translation: X:637.53, Y:-43.13, Z:2.04 [[ 9.85682758e-01 1.68561389e-01 -4.06911058e-03 6.37534286e+02] [-1.68558931e-01 9.85691128e-01 9.42267559e-04 -4.31257483e+01] [ 4.16971612e-03 -2.42891959e-04 9.99991277e-01 2.04289710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.020714057 meters Centerline goodness [0,1] 0.9811481126318542 Centerline is valid? [True, True] Translation: X:637.56, Y:-43.13, Z:2.04 [[ 9.85568152e-01 1.69227759e-01 -4.16929684e-03 6.37561805e+02] [-1.69225189e-01 9.85576940e-01 9.64261370e-04 -4.31326060e+01] [ 4.27234262e-03 -2.44795250e-04 9.99990844e-01 2.04333082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0507140569999 meters Centerline goodness [0,1] 0.9809262525311908 Centerline is valid? [True, True] Translation: X:637.59, Y:-43.14, Z:2.04 [[ 9.85259369e-01 1.71017701e-01 -4.11353148e-03 6.37588731e+02] [-1.71015218e-01 9.85267929e-01 9.50491372e-04 -4.31402620e+01] [ 4.21548149e-03 -2.33004048e-04 9.99991088e-01 2.04362320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0807140569999 meters Centerline goodness [0,1] 0.9826514196269402 Centerline is valid? [True, True] Translation: X:637.62, Y:-43.14, Z:2.04 [[ 9.85104785e-01 1.71899079e-01 -4.38961736e-03 6.37618538e+02] [-1.71896265e-01 9.85114535e-01 1.01348535e-03 -4.31411809e+01] [ 4.49849306e-03 -2.43830438e-04 9.99989852e-01 2.04441565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.110714057 meters Centerline goodness [0,1] 0.9802975996524383 Centerline is valid? [True, True] Translation: X:637.64, Y:-43.15, Z:2.04 [[ 9.84912565e-01 1.73006107e-01 -4.01575738e-03 6.37643967e+02] [-1.73003764e-01 9.84920727e-01 9.26424362e-04 -4.31534053e+01] [ 4.11547975e-03 -2.17705853e-04 9.99991508e-01 2.04425242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.140714057 meters Centerline goodness [0,1] 0.9807261415301616 Centerline is valid? [True, True] Translation: X:637.67, Y:-43.16, Z:2.04 [[ 9.84795964e-01 1.73680888e-01 -3.44365176e-03 6.37672111e+02] [-1.73679170e-01 9.84801968e-01 7.94027118e-04 -4.31599002e+01] [ 3.52922236e-03 -1.83864122e-04 9.99993755e-01 2.04452379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1707140569999 meters Centerline goodness [0,1] 0.982702866940122 Centerline is valid? [True, True] Translation: X:637.70, Y:-43.16, Z:2.04 [[ 9.84638933e-01 1.74561048e-01 -3.82251537e-03 6.37700524e+02] [-1.74558942e-01 9.84646333e-01 8.80329808e-04 -4.31641330e+01] [ 3.91749703e-03 -1.99552764e-04 9.99992307e-01 2.04478753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2007140569999 meters Centerline goodness [0,1] 0.9829629308099661 Centerline is valid? [True, True] Translation: X:637.73, Y:-43.17, Z:2.05 [[ 9.84602504e-01 1.74766516e-01 -3.81754888e-03 6.37728943e+02] [-1.74764422e-01 9.84609885e-01 8.78184442e-04 -4.31693097e+01] [ 3.91227360e-03 -1.97490878e-04 9.99992328e-01 2.04525407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2307140569999 meters Centerline goodness [0,1] 0.981265449499111 Centerline is valid? [True, True] Translation: X:637.76, Y:-43.18, Z:2.05 [[ 9.84533560e-01 1.75149763e-01 -4.02855031e-03 6.37755773e+02] [-1.75147437e-01 9.84541781e-01 9.25846722e-04 -4.31779965e+01] [ 4.12843793e-03 -2.05936910e-04 9.99991457e-01 2.04526696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.260714057 meters Centerline goodness [0,1] 0.9825652173913043 Centerline is valid? [True, True] Translation: X:637.78, Y:-43.19, Z:2.05 [[ 9.84496314e-01 1.75353972e-01 -4.24165286e-03 6.37783085e+02] [-1.75351397e-01 9.84505428e-01 9.74415362e-04 -4.31851551e+01] [ 4.34679787e-03 -2.15528577e-04 9.99990529e-01 2.04576953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.290714057 meters Centerline goodness [0,1] 0.9835512717303801 Centerline is valid? [True, True] Translation: X:637.81, Y:-43.19, Z:2.05 [[ 9.84480868e-01 1.75450742e-01 -3.80224796e-03 6.37812228e+02] [-1.75448676e-01 9.84488192e-01 8.72956550e-04 -4.31881390e+01] [ 3.89642910e-03 -1.92309651e-04 9.99992390e-01 2.04666910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3207140569999 meters Centerline goodness [0,1] 0.9835512717303801 Centerline is valid? [True, True] Translation: X:637.84, Y:-43.19, Z:2.05 [[ 9.84531291e-01 1.75167573e-01 -3.80247665e-03 6.37838985e+02] [-1.75165509e-01 9.84538615e-01 8.71959448e-04 -4.31942077e+01] [ 3.89642412e-03 -1.92408604e-04 9.99992390e-01 2.04674472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3507140569999 meters Centerline goodness [0,1] 0.9815889577219867 Centerline is valid? [True, True] Translation: X:637.86, Y:-43.20, Z:2.05 [[ 9.84552433e-01 1.75056823e-01 -3.40806143e-03 6.37864548e+02] [-1.75055167e-01 9.84558317e-01 7.80692115e-04 -4.32029637e+01] [ 3.49210071e-03 -1.72033559e-04 9.99993888e-01 2.04669158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.380714057 meters Centerline goodness [0,1] 0.9827238198589257 Centerline is valid? [True, True] Translation: X:637.89, Y:-43.21, Z:2.05 [[ 9.84465185e-01 1.75543337e-01 -3.58285816e-03 6.37892653e+02] [-1.75541512e-01 9.84471688e-01 8.20126027e-04 -4.32071190e+01] [ 3.67119008e-03 -1.78445185e-04 9.99993245e-01 2.04701688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.410714057 meters Centerline goodness [0,1] 0.9833623314484559 Centerline is valid? [True, True] Translation: X:637.92, Y:-43.21, Z:2.05 [[ 9.84241470e-01 1.76807163e-01 -2.82047866e-03 6.37919774e+02] [-1.76806038e-01 9.84245502e-01 6.45040798e-04 -4.32136965e+01] [ 2.89009127e-03 -1.36198245e-04 9.99995814e-01 2.04718291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4407140569999 meters Centerline goodness [0,1] 0.9829515763804215 Centerline is valid? [True, True] Translation: X:637.95, Y:-43.22, Z:2.05 [[ 9.84085040e-01 1.77674464e-01 -2.90154211e-03 6.37948281e+02] [-1.77673280e-01 9.84089308e-01 6.63146540e-04 -4.32182495e+01] [ 2.97320077e-03 -1.37066087e-04 9.99995571e-01 2.04781110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4707140569999 meters Centerline goodness [0,1] 0.9829816792567508 Centerline is valid? [True, True] Translation: X:637.97, Y:-43.23, Z:2.05 [[ 9.83876455e-01 1.78834959e-01 -2.27583935e-03 6.37974776e+02] [-1.78834235e-01 9.83879081e-01 5.19627562e-04 -4.32252685e+01] [ 2.33207830e-03 -1.04251336e-04 9.99997275e-01 2.04790912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.500714057 meters Centerline goodness [0,1] 0.9830136629233008 Centerline is valid? [True, True] Translation: X:638.00, Y:-43.23, Z:2.05 [[ 9.83709284e-01 1.79754135e-01 -2.12043396e-03 6.38003520e+02] [-1.79753508e-01 9.83711564e-01 4.84060188e-04 -4.32288263e+01] [ 2.17290723e-03 -9.50190578e-05 9.99997635e-01 2.04832556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.530714057 meters Centerline goodness [0,1] 0.9838243287313838 Centerline is valid? [True, True] Translation: X:638.03, Y:-43.24, Z:2.05 [[ 9.83458976e-01 1.81127500e-01 -1.12786543e-03 6.38030305e+02] [-1.81127324e-01 9.83459621e-01 2.57241977e-04 -4.32359120e+01] [ 1.15580370e-03 -4.86996845e-05 9.99999331e-01 2.04854397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5607140569999 meters Centerline goodness [0,1] 0.9835034160684943 Centerline is valid? [True, True] Translation: X:638.06, Y:-43.24, Z:2.05 [[ 9.83424680e-01 1.81310345e-01 -1.56783003e-03 6.38058600e+02] [-1.81310005e-01 9.83425927e-01 3.57528846e-04 -4.32423645e+01] [ 1.60666838e-03 -6.73394199e-05 9.99998707e-01 2.04844895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5907140569999 meters Centerline goodness [0,1] 0.9831299665638977 Centerline is valid? [True, True] Translation: X:638.08, Y:-43.25, Z:2.05 [[ 9.83424204e-01 1.81315236e-01 -1.27315781e-03 6.38083987e+02] [-1.81315013e-01 9.83425026e-01 2.90051456e-04 -4.32501047e+01] [ 1.30464600e-03 -5.44009972e-05 9.99999147e-01 2.04892734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.620714057 meters Centerline goodness [0,1] 0.9825410957416777 Centerline is valid? [True, True] Translation: X:638.11, Y:-43.26, Z:2.05 [[ 9.83502561e-01 1.80891781e-01 -9.36141091e-04 6.38111190e+02] [-1.80891659e-01 9.83503006e-01 2.13385208e-04 -4.32571042e+01] [ 9.59297207e-04 -4.05247829e-05 9.99999539e-01 2.04879501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.650714057 meters Centerline goodness [0,1] 0.9826716528242814 Centerline is valid? [True, True] Translation: X:638.14, Y:-43.26, Z:2.05 [[ 9.83617636e-01 1.80265784e-01 -7.70924860e-04 6.38139181e+02] [-1.80265701e-01 9.83617937e-01 1.75571801e-04 -4.32649733e+01] [ 7.89945109e-04 -3.37242090e-05 9.99999687e-01 2.04865559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6807140569999 meters Centerline goodness [0,1] 0.9823164381183822 Centerline is valid? [True, True] Translation: X:638.17, Y:-43.27, Z:2.05 [[ 9.83678438e-01 1.79933692e-01 -7.73221761e-04 6.38165378e+02] [-1.79933610e-01 9.83678741e-01 1.75578916e-04 -4.32733605e+01] [ 7.92194371e-04 -3.35846112e-05 9.99999686e-01 2.04907611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7107140569999 meters Centerline goodness [0,1] 0.9818359163325024 Centerline is valid? [True, True] Translation: X:638.19, Y:-43.28, Z:2.05 [[ 9.83760387e-01 1.79485921e-01 -5.52181658e-04 6.38192724e+02] [-1.79485879e-01 9.83760542e-01 1.25745068e-04 -4.32806587e+01] [ 5.65783996e-04 -2.45942069e-05 9.99999840e-01 2.04886543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.740714057 meters Centerline goodness [0,1] 0.9816103918634659 Centerline is valid? [True, True] Translation: X:638.22, Y:-43.29, Z:2.05 [[ 9.83796118e-01 1.79290142e-01 -4.93500057e-04 6.38219980e+02] [-1.79290108e-01 9.83796241e-01 1.12405065e-04 -4.32881233e+01] [ 5.05656622e-04 -2.21039881e-05 9.99999872e-01 2.04896053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.770714057 meters Centerline goodness [0,1] 0.9815396615604619 Centerline is valid? [True, True] Translation: X:638.25, Y:-43.30, Z:2.05 [[ 9.83901317e-01 1.78711897e-01 -5.05494683e-04 6.38246082e+02] [-1.78711861e-01 9.83901447e-01 1.14547337e-04 -4.32976800e+01] [ 5.17827922e-04 -2.23653798e-05 9.99999866e-01 2.04880641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8007140569999 meters Centerline goodness [0,1] 0.9813633710245822 Centerline is valid? [True, True] Translation: X:638.27, Y:-43.31, Z:2.05 [[ 9.84065152e-01 1.77807833e-01 -3.88280239e-04 6.38272973e+02] [-1.77807812e-01 9.84065229e-01 8.80040977e-05 -4.33064596e+01] [ 3.97740900e-04 -1.75625059e-05 9.99999921e-01 2.04867624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8307140569999 meters Centerline goodness [0,1] 0.9807850434933137 Centerline is valid? [True, True] Translation: X:638.30, Y:-43.32, Z:2.05 [[ 9.84261475e-01 1.76717112e-01 -6.41437508e-04 6.38300111e+02] [-1.76717054e-01 9.84261684e-01 1.45491601e-04 -4.33151264e+01] [ 6.57053217e-04 -2.98488305e-05 9.99999784e-01 2.04876683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.860714057 meters Centerline goodness [0,1] 0.9797184803995762 Centerline is valid? [True, True] Translation: X:638.33, Y:-43.32, Z:2.05 [[ 9.84498968e-01 1.75389658e-01 -4.99824993e-04 6.38327109e+02] [-1.75389624e-01 9.84499095e-01 1.13052028e-04 -4.33238788e+01] [ 5.11905409e-04 -2.36354880e-05 9.99999869e-01 2.04879464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.890714057 meters Centerline goodness [0,1] 0.9815282908808088 Centerline is valid? [True, True] Translation: X:638.36, Y:-43.33, Z:2.05 [[ 9.84992924e-01 1.72594617e-01 1.96618841e-04 6.38356909e+02] [-1.72594611e-01 9.84992943e-01 -4.42179460e-05 -4.33255122e+01] [-2.01299950e-04 9.61901154e-06 9.99999980e-01 2.04896281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9207140569999 meters Centerline goodness [0,1] 0.9810913486444482 Centerline is valid? [True, True] Translation: X:638.38, Y:-43.33, Z:2.05 [[ 9.85261475e-01 1.71053714e-01 6.72716515e-04 6.38384200e+02] [-1.71053650e-01 9.85261704e-01 -1.50923682e-04 -4.33341993e+01] [-6.88617877e-04 3.36286740e-05 9.99999762e-01 2.04949221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9507140569999 meters Centerline goodness [0,1] 0.98071868671636 Centerline is valid? [True, True] Translation: X:638.41, Y:-43.34, Z:2.05 [[ 9.85534982e-01 1.69468631e-01 1.08761247e-03 6.38412094e+02] [-1.69468465e-01 9.85535580e-01 -2.44152933e-04 -4.33425848e+01] [-1.11325705e-03 5.63052402e-05 9.99999379e-01 2.04937846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9807140569999 meters Centerline goodness [0,1] 0.9794995477841423 Centerline is valid? [True, True] Translation: X:638.44, Y:-43.35, Z:2.05 [[ 9.85773642e-01 1.68074985e-01 1.06139172e-03 6.38438322e+02] [-1.68074825e-01 9.85774212e-01 -2.38608739e-04 -4.33528481e+01] [-1.08639675e-03 5.68209764e-05 9.99999408e-01 2.04904652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.010714057 meters Centerline goodness [0,1] 0.9781850288569214 Centerline is valid? [True, True] Translation: X:638.46, Y:-43.37, Z:2.05 [[ 9.86241841e-01 1.65306348e-01 9.17237211e-04 6.38464423e+02] [-1.65306228e-01 9.86242267e-01 -2.06104014e-04 -4.33650659e+01] [-9.38688408e-04 5.16433787e-05 9.99999558e-01 2.04848125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.040714057 meters Centerline goodness [0,1] 0.9793356508304365 Centerline is valid? [True, True] Translation: X:638.49, Y:-43.37, Z:2.05 [[ 9.86637163e-01 1.62932833e-01 1.06374784e-06 6.38493292e+02] [-1.62932833e-01 9.86637163e-01 -8.67032555e-08 -4.33698733e+01] [-1.06365996e-06 -8.77747940e-08 1.00000000e+00 2.04755244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0707140569999 meters Centerline goodness [0,1] 0.9775953480417308 Centerline is valid? [True, True] Translation: X:638.52, Y:-43.38, Z:2.05 [[ 9.87029839e-01 1.60535835e-01 -5.85376228e-04 6.38519565e+02] [-1.60535785e-01 9.87030012e-01 1.31836643e-04 -4.33824578e+01] [ 5.98948411e-04 -3.61528682e-05 9.99999820e-01 2.04743527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1007140569999 meters Centerline goodness [0,1] 0.97737439779766 Centerline is valid? [True, True] Translation: X:638.55, Y:-43.39, Z:2.05 [[ 9.87507113e-01 1.57571078e-01 -1.02794384e-03 6.38548386e+02] [-1.57570922e-01 9.87507646e-01 2.31123731e-04 -4.33901370e+01] [ 1.05152081e-03 -6.62622696e-05 9.99999445e-01 2.04649842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.130714057 meters Centerline goodness [0,1] 0.976097676521889 Centerline is valid? [True, True] Translation: X:638.58, Y:-43.40, Z:2.05 [[ 9.88259825e-01 1.52758431e-01 -2.71649973e-03 6.38575213e+02] [-1.52757327e-01 9.88263541e-01 6.10649525e-04 -4.34026105e+01] [ 2.77789950e-03 -1.88515156e-04 9.99996124e-01 2.04555341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.160714057 meters Centerline goodness [0,1] 0.9777878026250779 Centerline is valid? [True, True] Translation: X:638.60, Y:-43.41, Z:2.05 [[ 9.88571079e-01 1.50731209e-01 -2.70631075e-03 6.38603825e+02] [-1.50730105e-01 9.88574765e-01 6.08438957e-04 -4.34079194e+01] [ 2.76710126e-03 -1.93562652e-04 9.99996153e-01 2.04559499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1907140569999 meters Centerline goodness [0,1] 0.9769529823657023 Centerline is valid? [True, True] Translation: X:638.63, Y:-43.41, Z:2.05 [[ 9.88797696e-01 1.49241303e-01 -2.48009534e-03 6.38632193e+02] [-1.49240371e-01 9.88800789e-01 5.57495687e-04 -4.34142450e+01] [ 2.53552161e-03 -1.81120101e-04 9.99996769e-01 2.04641946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2207140569999 meters Centerline goodness [0,1] 0.9751022243154718 Centerline is valid? [True, True] Translation: X:638.66, Y:-43.42, Z:2.05 [[ 9.88962037e-01 1.48158498e-01 -1.77451324e-03 6.38658174e+02] [-1.48158020e-01 9.88963620e-01 3.98463090e-04 -4.34241310e+01] [ 1.81396473e-03 -1.31156501e-04 9.99998346e-01 2.04705586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.250714057 meters Centerline goodness [0,1] 0.9746908809891809 Centerline is valid? [True, True] Translation: X:638.69, Y:-43.43, Z:2.05 [[ 9.89063050e-01 1.47488579e-01 -1.18414116e-03 6.38686518e+02] [-1.47488365e-01 9.89063755e-01 2.66118375e-04 -4.34285212e+01] [ 1.21044052e-03 -8.85608083e-05 9.99999263e-01 2.04796110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.280714057 meters Centerline goodness [0,1] 0.976410740732791 Centerline is valid? [True, True] Translation: X:638.72, Y:-43.43, Z:2.05 [[ 9.88997506e-01 1.47929695e-01 -8.59333476e-04 6.38715489e+02] [-1.47929583e-01 9.88997877e-01 1.93100102e-04 -4.34307194e+01] [ 8.78444223e-04 -6.38546772e-05 9.99999612e-01 2.04849537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3107140569999 meters Centerline goodness [0,1] 0.9769828123991654 Centerline is valid? [True, True] Translation: X:638.74, Y:-43.44, Z:2.05 [[ 9.88952264e-01 1.48229592e-01 -1.18615219e-03 6.38744174e+02] [-1.48229379e-01 9.88952972e-01 2.65951105e-04 -4.34356893e+01] [ 1.21247056e-03 -8.71903444e-05 9.99999261e-01 2.04848836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3407140569999 meters Centerline goodness [0,1] 0.9761751033057852 Centerline is valid? [True, True] Translation: X:638.77, Y:-43.44, Z:2.05 [[ 9.88916867e-01 1.48465907e-01 -1.14236947e-03 6.38771788e+02] [-1.48465710e-01 9.88917523e-01 2.55661971e-04 -4.34410932e+01] [ 1.16766627e-03 -8.32257417e-05 9.99999315e-01 2.04839524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.370714057 meters Centerline goodness [0,1] 0.9758140937284632 Centerline is valid? [True, True] Translation: X:638.80, Y:-43.45, Z:2.05 [[ 9.88987593e-01 1.47989233e-01 -1.65136075e-03 6.38799769e+02] [-1.47988821e-01 9.88988965e-01 3.69299226e-04 -4.34457438e+01] [ 1.68782987e-03 -1.20849422e-04 9.99998568e-01 2.04836411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.400714057 meters Centerline goodness [0,1] 0.9746114655135505 Centerline is valid? [True, True] Translation: X:638.83, Y:-43.45, Z:2.05 [[ 9.89149112e-01 1.46909727e-01 -1.25144600e-03 6.38826900e+02] [-1.46909490e-01 9.89149899e-01 2.79531458e-04 -4.34533270e+01] [ 1.27893358e-03 -9.26489992e-05 9.99999178e-01 2.04854591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4307140569999 meters Centerline goodness [0,1] 0.9745930157639277 Centerline is valid? [True, True] Translation: X:638.86, Y:-43.46, Z:2.05 [[ 9.89370833e-01 1.45411041e-01 -9.92127973e-04 6.38855615e+02] [-1.45410892e-01 9.89371327e-01 2.21372982e-04 -4.34610287e+01] [ 1.01377305e-03 -7.47537587e-05 9.99999483e-01 2.04889913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4607140569999 meters Centerline goodness [0,1] 0.9762320716057371 Centerline is valid? [True, True] Translation: X:638.89, Y:-43.46, Z:2.05 [[ 9.89681558e-01 1.43283572e-01 -4.82162380e-04 6.38885230e+02] [-1.43283537e-01 9.89681674e-01 1.07661876e-04 -4.34636277e+01] [ 4.92613450e-04 -3.74650419e-05 9.99999878e-01 2.04929741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.490714057 meters Centerline goodness [0,1] 0.9741903488723102 Centerline is valid? [True, True] Translation: X:638.91, Y:-43.47, Z:2.05 [[ 9.90259417e-01 1.39230519e-01 -1.07255950e-03 6.38913100e+02] [-1.39230341e-01 9.90259994e-01 2.39162233e-04 -4.34731169e+01] [ 1.09541144e-03 -8.74998286e-05 9.99999396e-01 2.05049251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.520714057 meters Centerline goodness [0,1] 0.9740158839779005 Centerline is valid? [True, True] Translation: X:638.94, Y:-43.48, Z:2.05 [[ 9.90507766e-01 1.37453189e-01 -9.92637384e-04 6.38942724e+02] [-1.37453036e-01 9.90508260e-01 2.21390354e-04 -4.34760301e+01] [ 1.01364634e-03 -8.28478429e-05 9.99999483e-01 2.05064957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5507140569999 meters Centerline goodness [0,1] 0.9735026518908197 Centerline is valid? [True, True] Translation: X:638.97, Y:-43.49, Z:2.05 [[ 9.90701688e-01 1.36042951e-01 -1.57522387e-03 6.38969342e+02] [-1.36042563e-01 9.90702931e-01 3.51248958e-04 -4.34854694e+01] [ 1.60836385e-03 -1.33685442e-04 9.99998698e-01 2.05132859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5807140569999 meters Centerline goodness [0,1] 0.9753754273596745 Centerline is valid? [True, True] Translation: X:639.00, Y:-43.49, Z:2.05 [[ 9.90877474e-01 1.34746971e-01 -2.25503089e-03 6.38998844e+02] [-1.34746173e-01 9.90880021e-01 5.02654523e-04 -4.34852741e+01] [ 2.30219623e-03 -1.94212262e-04 9.99997331e-01 2.05160453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.610714057 meters Centerline goodness [0,1] 0.9758543913879942 Centerline is valid? [True, True] Translation: X:639.03, Y:-43.49, Z:2.05 [[ 9.90876159e-01 1.34743773e-01 -2.92466444e-03 6.39027870e+02] [-1.34742435e-01 9.90880443e-01 6.50933921e-04 -4.34888872e+01] [ 2.98570209e-03 -2.50918497e-04 9.99995511e-01 2.05156502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.640714057 meters Centerline goodness [0,1] 0.9749280100461168 Centerline is valid? [True, True] Translation: X:639.05, Y:-43.50, Z:2.05 [[ 9.90872640e-01 1.34763367e-01 -3.20097804e-03 6.39054237e+02] [-1.34761766e-01 9.90877772e-01 7.11600983e-04 -4.34965543e+01] [ 3.26767574e-03 -2.73736490e-04 9.99994624e-01 2.05134366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6707140569999 meters Centerline goodness [0,1] 0.9756810602451383 Centerline is valid? [True, True] Translation: X:639.08, Y:-43.50, Z:2.05 [[ 9.90849397e-01 1.34915677e-01 -3.90290936e-03 6.39083074e+02] [-1.34913301e-01 9.90857028e-01 8.67014203e-04 -4.34987157e+01] [ 3.98419898e-03 -3.32526115e-04 9.99992008e-01 2.05115345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7007140569999 meters Centerline goodness [0,1] 0.9772889959003058 Centerline is valid? [True, True] Translation: X:639.11, Y:-43.50, Z:2.05 [[ 9.90823398e-01 1.35094154e-01 -4.30853531e-03 6.39113035e+02] [-1.35091266e-01 9.90832698e-01 9.55896373e-04 -4.34983521e+01] [ 4.39817368e-03 -3.65079003e-04 9.99990261e-01 2.05088625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7307140569999 meters Centerline goodness [0,1] 0.9769736842105263 Centerline is valid? [True, True] Translation: X:639.14, Y:-43.51, Z:2.05 [[ 9.90814932e-01 1.35154311e-01 -4.36827727e-03 6.39140435e+02] [-1.35151348e-01 9.90824493e-01 9.67957104e-04 -4.35051904e+01] [ 4.45901969e-03 -3.68687792e-04 9.99989991e-01 2.05097933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.760714057 meters Centerline goodness [0,1] 0.9773671455772892 Centerline is valid? [True, True] Translation: X:639.17, Y:-43.51, Z:2.05 [[ 9.90794326e-01 1.35287915e-01 -4.87692059e-03 6.39168354e+02] [-1.35284230e-01 9.90806244e-01 1.07927596e-03 -4.35102827e+01] [ 4.97809636e-03 -4.09570054e-04 9.99987525e-01 2.05150154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.790714057 meters Centerline goodness [0,1] 0.9761197911023468 Centerline is valid? [True, True] Translation: X:639.20, Y:-43.52, Z:2.05 [[ 9.90775124e-01 1.35419070e-01 -5.13111248e-03 6.39195554e+02] [-1.35414997e-01 9.90788318e-01 1.13454938e-03 -4.35177937e+01] [ 5.23748592e-03 -4.29253718e-04 9.99986192e-01 2.05129997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8207140569999 meters Centerline goodness [0,1] 0.9772687685072287 Centerline is valid? [True, True] Translation: X:639.22, Y:-43.52, Z:2.05 [[ 9.90803078e-01 1.35182792e-01 -5.90530496e-03 6.39224102e+02] [-1.35177401e-01 9.90820553e-01 1.30446974e-03 -4.35196550e+01] [ 6.02743939e-03 -4.94208857e-04 9.99981713e-01 2.05153678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8507140569999 meters Centerline goodness [0,1] 0.978421339139902 Centerline is valid? [True, True] Translation: X:639.25, Y:-43.53, Z:2.05 [[ 9.90903827e-01 1.34432334e-01 -6.12812467e-03 6.39252356e+02] [-1.34426526e-01 9.90922641e-01 1.35193975e-03 -4.35250529e+01] [ 6.25424190e-03 -5.15859759e-04 9.99980309e-01 2.05161938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.880714057 meters Centerline goodness [0,1] 0.9759070110381021 Centerline is valid? [True, True] Translation: X:639.28, Y:-43.53, Z:2.05 [[ 9.90987028e-01 1.33799610e-01 -6.50958522e-03 6.39279092e+02] [-1.33793050e-01 9.91008255e-01 1.43498447e-03 -4.35335150e+01] [ 6.64305305e-03 -5.51113738e-04 9.99977783e-01 2.05140127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.910714057 meters Centerline goodness [0,1] 0.9762666840856141 Centerline is valid? [True, True] Translation: X:639.31, Y:-43.54, Z:2.05 [[ 9.91076538e-01 1.33097805e-01 -7.22985933e-03 6.39307382e+02] [-1.33089705e-01 9.91102717e-01 1.59229647e-03 -4.35377575e+01] [ 7.37746439e-03 -6.15867825e-04 9.99972596e-01 2.05151302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9407140569999 meters Centerline goodness [0,1] 0.9774717852629744 Centerline is valid? [True, True] Translation: X:639.33, Y:-43.54, Z:2.05 [[ 9.91161788e-01 1.32366739e-01 -8.79528604e-03 6.39334155e+02] [-1.32354740e-01 9.91200523e-01 1.93521745e-03 -4.35431013e+01] [ 8.97405055e-03 -7.54015790e-04 9.99959448e-01 2.05060589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9707140569999 meters Centerline goodness [0,1] 0.9771000651182983 Centerline is valid? [True, True] Translation: X:639.36, Y:-43.55, Z:2.05 [[ 9.91151856e-01 1.32437887e-01 -8.84337038e-03 6.39361959e+02] [-1.32425777e-01 9.91191019e-01 1.94376998e-03 -4.35484188e+01] [ 9.02289808e-03 -7.55481030e-04 9.99959007e-01 2.05077383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.000714057 meters Centerline goodness [0,1] 0.9769672452042281 Centerline is valid? [True, True] Translation: X:639.39, Y:-43.55, Z:2.05 [[ 9.91101437e-01 1.32777710e-01 -9.38201065e-03 6.39391139e+02] [-1.32764118e-01 9.91145522e-01 2.05981352e-03 -4.35516786e+01] [ 9.57243517e-03 -7.95889778e-04 9.99953866e-01 2.05104454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.030714057 meters Centerline goodness [0,1] 0.9773406972428998 Centerline is valid? [True, True] Translation: X:639.42, Y:-43.56, Z:2.05 [[ 9.90936857e-01 1.34014499e-01 -9.17933556e-03 6.39419035e+02] [-1.34001551e-01 9.90979075e-01 2.01420631e-03 -4.35570780e+01] [ 9.36646231e-03 -7.65906068e-04 9.99955840e-01 2.05162114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0607140569999 meters Centerline goodness [0,1] 0.9791220790565626 Centerline is valid? [True, True] Translation: X:639.45, Y:-43.56, Z:2.05 [[ 9.90375116e-01 1.38174206e-01 -8.06345244e-03 6.39449892e+02] [-1.38164355e-01 9.90407735e-01 1.76895521e-03 -4.35584201e+01] [ 8.23052966e-03 -6.37847514e-04 9.99965925e-01 2.05257717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0907140569999 meters Centerline goodness [0,1] 0.9788880146865985 Centerline is valid? [True, True] Translation: X:639.48, Y:-43.56, Z:2.05 [[ 9.90060777e-01 1.40442439e-01 -7.45518094e-03 6.39479373e+02] [-1.40434084e-01 9.90088680e-01 1.63523623e-03 -4.35619897e+01] [ 7.61094682e-03 -5.72021744e-04 9.99970873e-01 2.05373983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.120714057 meters Centerline goodness [0,1] 0.9801602943108658 Centerline is valid? [True, True] Translation: X:639.51, Y:-43.57, Z:2.05 [[ 9.89741065e-01 1.42691283e-01 -7.19872311e-03 6.39508129e+02] [-1.42683554e-01 9.89767099e-01 1.57872628e-03 -4.35659786e+01] [ 7.35032977e-03 -5.35390833e-04 9.99972843e-01 2.05444991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.150714057 meters Centerline goodness [0,1] 0.90159525701363 Centerline is valid? [True, False] Translation: X:639.57, Y:-43.57, Z:2.05 [[ 9.89533718e-01 1.44124003e-01 -7.16191652e-03 6.39571840e+02] [-1.44179182e-01 9.89520075e-01 -7.89838084e-03 -4.35692908e+01] [ 5.94851391e-03 8.84831342e-03 9.99943160e-01 2.05458623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1807140569999 meters Centerline goodness [0,1] 0.9828977160317426 Centerline is valid? [False, True] Translation: X:639.52, Y:-43.56, Z:2.06 [[ 9.89414701e-01 1.44769745e-01 -1.00134996e-02 6.39517244e+02] [-1.44795028e-01 9.89459954e-01 -1.84393068e-03 -4.35569788e+01] [ 9.64101151e-03 3.27431708e-03 9.99948164e-01 2.05552498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2107140569999 meters Centerline goodness [0,1] 0.9828977160317426 Centerline is valid? [True, True] Translation: X:639.54, Y:-43.56, Z:2.05 [[ 9.89460005e-01 1.44513532e-01 -9.20527652e-03 6.39543807e+02] [-1.44501556e-01 9.89502639e-01 1.95658627e-03 -4.35641105e+01] [ 9.39139860e-03 -6.05787075e-04 9.99955716e-01 2.05454800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.240714057 meters Centerline goodness [0,1] 0.9826658171672122 Centerline is valid? [True, True] Translation: X:639.57, Y:-43.57, Z:2.06 [[ 9.89070900e-01 1.47174824e-01 -8.85025085e-03 6.39572623e+02] [-1.47163875e-01 9.89110338e-01 1.87947574e-03 -4.35680098e+01] [ 9.03048613e-03 -5.56497549e-04 9.99959069e-01 2.05530624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.270714057 meters Centerline goodness [0,1] 0.982141286179291 Centerline is valid? [True, True] Translation: X:639.60, Y:-43.57, Z:2.06 [[ 9.88214984e-01 1.52854404e-01 -8.16554936e-03 6.39601058e+02] [-1.52845279e-01 9.88248610e-01 1.73376450e-03 -4.35743489e+01] [ 8.33460635e-03 -4.65266381e-04 9.99965158e-01 2.05546510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3007140569999 meters Centerline goodness [0,1] 0.983817985405322 Centerline is valid? [True, True] Translation: X:639.63, Y:-43.57, Z:2.06 [[ 9.87832926e-01 1.55325670e-01 -7.74902484e-03 6.39631778e+02] [-1.55317530e-01 9.87863229e-01 1.64505418e-03 -4.35743558e+01] [ 7.91049584e-03 -4.21479289e-04 9.99968623e-01 2.05560735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3307140569999 meters Centerline goodness [0,1] 0.9833541680373709 Centerline is valid? [True, True] Translation: X:639.66, Y:-43.58, Z:2.06 [[ 9.87493352e-01 1.57466129e-01 -7.82932125e-03 6.39659491e+02] [-1.57457888e-01 9.87524304e-01 1.66189513e-03 -4.35812209e+01] [ 7.99333721e-03 -4.08322001e-04 9.99967969e-01 2.05556820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.360714057 meters Centerline goodness [0,1] 0.9836633008510075 Centerline is valid? [True, True] Translation: X:639.69, Y:-43.59, Z:2.05 [[ 9.87245753e-01 1.58986349e-01 -8.31646462e-03 6.39687225e+02] [-1.58977109e-01 9.87280692e-01 1.76484539e-03 -4.35860259e+01] [ 8.49127126e-03 -4.20208616e-04 9.99963860e-01 2.05494086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.390714057 meters Centerline goodness [0,1] 0.9848089509994693 Centerline is valid? [True, True] Translation: X:639.72, Y:-43.59, Z:2.05 [[ 9.86978271e-01 1.60601126e-01 -9.00950399e-03 6.39716825e+02] [-1.60590355e-01 9.87019293e-01 1.91125884e-03 -4.35861929e+01] [ 9.19950458e-03 -4.39531505e-04 9.99957587e-01 2.05453370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4207140569999 meters Centerline goodness [0,1] 0.9857313512078577 Centerline is valid? [True, True] Translation: X:639.74, Y:-43.59, Z:2.05 [[ 9.86495718e-01 1.63487905e-01 -9.89458891e-03 6.39744807e+02] [-1.63475065e-01 9.86545235e-01 2.09835868e-03 -4.35926431e+01] [ 1.01045158e-02 -4.52503294e-04 9.99948846e-01 2.05233866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4507140569999 meters Centerline goodness [0,1] 0.9865606872426161 Centerline is valid? [True, True] Translation: X:639.77, Y:-43.59, Z:2.05 [[ 9.86367501e-01 1.64219759e-01 -1.05367404e-02 6.39774792e+02] [-1.64205256e-01 9.86423665e-01 2.23299115e-03 -4.35918935e+01] [ 1.07603913e-02 -4.72361746e-04 9.99941994e-01 2.05223834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4807140569999 meters Centerline goodness [0,1] 0.9874401913875598 Centerline is valid? [True, True] Translation: X:639.80, Y:-43.60, Z:2.05 [[ 9.86199770e-01 1.65168410e-01 -1.13758648e-02 6.39803065e+02] [-1.65151602e-01 9.86265254e-01 2.40785430e-03 -4.35972897e+01] [ 1.16173217e-02 -4.95883059e-04 9.99932394e-01 2.05185451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.510714057 meters Centerline goodness [0,1] 0.9877300613496932 Centerline is valid? [True, True] Translation: X:639.83, Y:-43.60, Z:2.05 [[ 9.85836226e-01 1.67359871e-01 -1.08448097e-02 6.39831673e+02] [-1.67344758e-01 9.85895773e-01 2.29279938e-03 -4.36023953e+01] [ 1.10755746e-02 -4.45502629e-04 9.99938565e-01 2.05200535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.540714057 meters Centerline goodness [0,1] 0.9860097997915881 Centerline is valid? [True, True] Translation: X:639.86, Y:-43.61, Z:2.05 [[ 9.85709554e-01 1.68120077e-01 -1.05978200e-02 6.39857796e+02] [-1.68105710e-01 9.85766432e-01 2.23861169e-03 -4.36137074e+01] [ 1.08233308e-02 -4.25066883e-04 9.99941336e-01 2.05115174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5707140569999 meters Centerline goodness [0,1] 0.9871624318212052 Centerline is valid? [True, True] Translation: X:639.89, Y:-43.61, Z:2.05 [[ 9.85560769e-01 1.68990545e-01 -1.05908844e-02 6.39887473e+02] [-1.68976269e-01 9.85617586e-01 2.23507700e-03 -4.36127617e+01] [ 1.08162688e-02 -4.13196077e-04 9.99941417e-01 2.05264438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6007140569999 meters Centerline goodness [0,1] 0.988466817195732 Centerline is valid? [True, True] Translation: X:639.92, Y:-43.62, Z:2.05 [[ 9.85437616e-01 1.69725077e-01 -1.03006887e-02 6.39915765e+02] [-1.69711640e-01 9.85491372e-01 2.17119981e-03 -4.36177282e+01] [ 1.05197469e-02 -3.91435188e-04 9.99944589e-01 2.05305403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.630714057 meters Centerline goodness [0,1] 0.9876975594617959 Centerline is valid? [True, True] Translation: X:639.94, Y:-43.62, Z:2.05 [[ 9.85302826e-01 1.70536074e-01 -9.78718014e-03 6.39943914e+02] [-1.70524008e-01 9.85351367e-01 2.06047894e-03 -4.36237929e+01] [ 9.99519732e-03 -3.61246539e-04 9.99949982e-01 2.05338841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.660714057 meters Centerline goodness [0,1] 0.9874468650371945 Centerline is valid? [True, True] Translation: X:639.97, Y:-43.63, Z:2.05 [[ 9.85273540e-01 1.70747179e-01 -9.02511638e-03 6.39971275e+02] [-1.70736944e-01 9.85314819e-01 1.89841413e-03 -4.36303360e+01] [ 9.21672977e-03 -3.29536420e-04 9.99957471e-01 2.05376184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6907140569999 meters Centerline goodness [0,1] 0.9874561074181224 Centerline is valid? [True, True] Translation: X:640.00, Y:-43.64, Z:2.05 [[ 9.85366566e-01 1.70257948e-01 -8.05982989e-03 6.39998459e+02] [-1.70249779e-01 9.85399484e-01 1.69412171e-03 -4.36351597e+01] [ 8.23058990e-03 -2.97146641e-04 9.99966084e-01 2.05428545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7207140569999 meters Centerline goodness [0,1] 0.9875879463693084 Centerline is valid? [True, True] Translation: X:640.03, Y:-43.64, Z:2.05 [[ 9.85354975e-01 1.70335828e-01 -7.82803009e-03 6.40025808e+02] [-1.70328139e-01 9.85386028e-01 1.64359723e-03 -4.36423872e+01] [ 7.99359497e-03 -2.86192914e-04 9.99968010e-01 2.05498643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.750714057 meters Centerline goodness [0,1] 0.9870869478842461 Centerline is valid? [True, True] Translation: X:640.05, Y:-43.65, Z:2.06 [[ 9.85663998e-01 1.68562233e-01 -7.29773046e-03 6.40053745e+02] [-1.68555509e-01 9.85690974e-01 1.53128787e-03 -4.36503409e+01] [ 7.45142434e-03 -2.79262651e-04 9.99972199e-01 2.05584022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.780714057 meters Centerline goodness [0,1] 0.9867007222124361 Centerline is valid? [True, True] Translation: X:640.08, Y:-43.66, Z:2.06 [[ 9.85813859e-01 1.67725469e-01 -6.26118099e-03 6.40080227e+02] [-1.67720511e-01 9.85833712e-01 1.31249939e-03 -4.36582316e+01] [ 6.39262287e-03 -2.43751612e-04 9.99979537e-01 2.05590871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8107140569999 meters Centerline goodness [0,1] 0.9865626927482598 Centerline is valid? [True, True] Translation: X:640.11, Y:-43.67, Z:2.06 [[ 9.85962324e-01 1.66866544e-01 -5.81832007e-03 6.40107715e+02] [-1.66862250e-01 9.85979464e-01 1.21909187e-03 -4.36663215e+01] [ 5.94016975e-03 -2.31120675e-04 9.99982330e-01 2.05623965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8407140569999 meters Centerline goodness [0,1] 0.9857802197802198 Centerline is valid? [True, True] Translation: X:640.13, Y:-43.68, Z:2.06 [[ 9.86080386e-01 1.66183005e-01 -5.35543862e-03 6.40133793e+02] [-1.66179364e-01 9.86094905e-01 1.12083494e-03 -4.36755065e+01] [ 5.46723446e-03 -2.15269969e-04 9.99985031e-01 2.05595052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.870714057 meters Centerline goodness [0,1] 0.9859250503458541 Centerline is valid? [True, True] Translation: X:640.16, Y:-43.68, Z:2.05 [[ 9.86364116e-01 1.64483993e-01 -5.55393930e-03 6.40160717e+02] [-1.64480054e-01 9.86379725e-01 1.16184874e-03 -4.36845689e+01] [ 5.66939864e-03 -2.32493664e-04 9.99983902e-01 2.05491976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.900714057 meters Centerline goodness [0,1] 0.9856361599789155 Centerline is valid? [True, True] Translation: X:640.19, Y:-43.69, Z:2.05 [[ 9.86538944e-01 1.63424333e-01 -5.77927230e-03 6.40188428e+02] [-1.63420055e-01 9.86555840e-01 1.20812373e-03 -4.36911613e+01] [ 5.89901165e-03 -2.47412107e-04 9.99982570e-01 2.05484664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9307140569999 meters Centerline goodness [0,1] 0.9850641517710276 Centerline is valid? [True, True] Translation: X:640.22, Y:-43.70, Z:2.05 [[ 9.86727338e-01 1.62282912e-01 -5.78069793e-03 6.40215377e+02] [-1.62278621e-01 9.86744239e-01 1.20700269e-03 -4.36990098e+01] [ 5.89994629e-03 -2.52898862e-04 9.99982563e-01 2.05422725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9607140569999 meters Centerline goodness [0,1] 0.9848474895443299 Centerline is valid? [True, True] Translation: X:640.24, Y:-43.71, Z:2.05 [[ 9.86882503e-01 1.61343422e-01 -5.58800921e-03 6.40242938e+02] [-1.61339400e-01 9.86898292e-01 1.16624605e-03 -4.37069547e+01] [ 5.70296287e-03 -2.49381766e-04 9.99983707e-01 2.05396611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.990714057 meters Centerline goodness [0,1] 0.984511917280056 Centerline is valid? [True, True] Translation: X:640.27, Y:-43.72, Z:2.05 [[ 9.87180165e-01 1.59499536e-01 -5.93456740e-03 6.40270298e+02] [-1.59494975e-01 9.87197965e-01 1.23699175e-03 -4.37152996e+01] [ 6.05589247e-03 -2.74600042e-04 9.99981625e-01 2.05322162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.020714057 meters Centerline goodness [0,1] 0.9839733765380742 Centerline is valid? [True, True] Translation: X:640.30, Y:-43.72, Z:2.05 [[ 9.87263970e-01 1.58979066e-01 -5.95905017e-03 6.40297168e+02] [-1.58974467e-01 9.87281915e-01 1.24064836e-03 -4.37235923e+01] [ 6.08049959e-03 -2.77510602e-04 9.99981475e-01 2.05284787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0507140569999 meters Centerline goodness [0,1] 0.9840147152210568 Centerline is valid? [True, True] Translation: X:640.32, Y:-43.73, Z:2.05 [[ 9.87453409e-01 1.57791650e-01 -6.12868952e-03 6.40324944e+02] [-1.57786769e-01 9.87472384e-01 1.27503709e-03 -4.37293349e+01] [ 6.25310186e-03 -2.92013598e-04 9.99980407e-01 2.05209010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0807140569999 meters Centerline goodness [0,1] 0.9837200639803677 Centerline is valid? [True, True] Translation: X:640.35, Y:-43.73, Z:2.05 [[ 9.87532812e-01 1.57301841e-01 -5.92259083e-03 6.40353070e+02] [-1.57297282e-01 9.87550531e-01 1.23079851e-03 -4.37331246e+01] [ 6.04246458e-03 -2.83846471e-04 9.99981704e-01 2.05225270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.110714057 meters Centerline goodness [0,1] 0.9840290539949244 Centerline is valid? [True, True] Translation: X:640.38, Y:-43.74, Z:2.05 [[ 9.87728536e-01 1.56129218e-01 -4.00075566e-03 6.40379182e+02] [-1.56127129e-01 9.87736619e-01 8.31229024e-04 -4.37416818e+01] [ 4.08147201e-03 -1.96402132e-04 9.99991651e-01 2.05308086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.140714057 meters Centerline goodness [0,1] 0.9829084082773073 Centerline is valid? [True, True] Translation: X:640.41, Y:-43.75, Z:2.05 [[ 9.87905046e-01 1.55037906e-01 -2.62061169e-03 6.40406918e+02] [-1.55037005e-01 9.87908513e-01 5.44798729e-04 -4.37491608e+01] [ 2.67338905e-03 -1.31917627e-04 9.99996418e-01 2.05396240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1707140569999 meters Centerline goodness [0,1] 0.9822688066382793 Centerline is valid? [True, True] Translation: X:640.43, Y:-43.76, Z:2.05 [[ 9.88033382e-01 1.54228857e-01 -1.86957154e-03 6.40433964e+02] [-1.54228398e-01 9.88035146e-01 3.87998191e-04 -4.37570193e+01] [ 1.90704291e-03 -9.50141405e-05 9.99998177e-01 2.05494770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2007140569999 meters Centerline goodness [0,1] 0.9811198057789435 Centerline is valid? [True, True] Translation: X:640.46, Y:-43.76, Z:2.06 [[ 9.88368530e-01 1.52077000e-01 -4.84180991e-04 6.40462779e+02] [-1.52076969e-01 9.88368648e-01 1.00534523e-04 -4.37639909e+01] [ 4.93838300e-04 -2.57323806e-05 9.99999878e-01 2.05511108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2307140569999 meters Centerline goodness [0,1] 0.9815206719755645 Centerline is valid? [True, True] Translation: X:640.49, Y:-43.77, Z:2.05 [[ 9.88643879e-01 1.50277336e-01 5.90177549e-05 6.40490825e+02] [-1.50277335e-01 9.88643880e-01 -1.08234708e-05 -4.37694750e+01] [-5.99740646e-05 1.83152719e-06 9.99999998e-01 2.05419021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.260714057 meters Centerline goodness [0,1] 0.9809685567459281 Centerline is valid? [True, True] Translation: X:640.52, Y:-43.78, Z:2.05 [[ 9.88833124e-01 1.49026793e-01 -2.58725197e-04 6.40518257e+02] [-1.49026784e-01 9.88833158e-01 5.48730015e-05 -4.37770903e+01] [ 2.64013601e-04 -1.57032576e-05 9.99999965e-01 2.05406593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.290714057 meters Centerline goodness [0,1] 0.9799978187370487 Centerline is valid? [True, True] Translation: X:640.55, Y:-43.79, Z:2.05 [[ 9.89274662e-01 1.46067129e-01 1.94101208e-04 6.40547020e+02] [-1.46067124e-01 9.89274681e-01 -4.00221267e-05 -4.37868346e+01] [-1.97865327e-04 1.12410706e-05 9.99999980e-01 2.05317262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3207140569999 meters Centerline goodness [0,1] 0.9797155819228756 Centerline is valid? [True, True] Translation: X:640.57, Y:-43.80, Z:2.05 [[ 9.89470256e-01 1.44735671e-01 4.44141994e-04 6.40573943e+02] [-1.44735645e-01 9.89470356e-01 -9.12740123e-05 -4.37950377e+01] [-4.52675942e-04 2.60297424e-05 9.99999897e-01 2.05337981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3507140569999 meters Centerline goodness [0,1] 0.9773717222754595 Centerline is valid? [True, True] Translation: X:640.60, Y:-43.80, Z:2.05 [[ 9.89646886e-01 1.43522455e-01 5.87689375e-04 6.40600251e+02] [-1.43522408e-01 9.89647060e-01 -1.20885089e-04 -4.38045585e+01] [-5.98954787e-04 3.52869573e-05 9.99999820e-01 2.05406633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.380714057 meters Centerline goodness [0,1] 0.9805527123848516 Centerline is valid? [True, True] Translation: X:640.63, Y:-43.80, Z:2.05 [[ 9.89802298e-01 1.42443401e-01 1.13476597e-03 6.40629717e+02] [-1.42443228e-01 9.89802946e-01 -2.32638128e-04 -4.38040767e+01] [-1.15633246e-03 6.86260264e-05 9.99999329e-01 2.05358179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.410714057 meters Centerline goodness [0,1] 0.9791326319458058 Centerline is valid? [True, True] Translation: X:640.66, Y:-43.81, Z:2.05 [[ 9.89850243e-01 1.42114050e-01 3.06196617e-04 6.40655944e+02] [-1.42114037e-01 9.89850290e-01 -6.23525462e-05 -4.38127231e+01] [-3.11949983e-04 1.82048456e-05 9.99999951e-01 2.05407474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4407140569999 meters Centerline goodness [0,1] 0.9776119402985075 Centerline is valid? [True, True] Translation: X:640.68, Y:-43.82, Z:2.05 [[ 9.89802487e-01 1.42444883e-01 -7.01666955e-04 6.40682426e+02] [-1.42444815e-01 9.89802735e-01 1.45048170e-04 -4.38228509e+01] [ 7.15173241e-04 -4.36202195e-05 9.99999743e-01 2.05400624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4707140569999 meters Centerline goodness [0,1] 0.9772088462795512 Centerline is valid? [True, True] Translation: X:640.71, Y:-43.83, Z:2.05 [[ 9.89695401e-01 1.43186798e-01 -7.44897486e-04 6.40710507e+02] [-1.43186722e-01 9.89695680e-01 1.54599580e-04 -4.38280528e+01] [ 7.59358443e-04 -4.63470637e-05 9.99999711e-01 2.05358539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.500714057 meters Centerline goodness [0,1] 0.9806100836299321 Centerline is valid? [True, True] Translation: X:640.74, Y:-43.83, Z:2.05 [[ 9.89440689e-01 1.44933514e-01 -1.18318979e-03 6.40740903e+02] [-1.44933325e-01 9.89441394e-01 2.43980195e-04 -4.38265108e+01] [ 1.20605786e-03 -6.99203013e-05 9.99999270e-01 2.05277136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.530714057 meters Centerline goodness [0,1] 0.9789002836569932 Centerline is valid? [True, True] Translation: X:640.77, Y:-43.84, Z:2.05 [[ 9.89297362e-01 1.45908722e-01 -1.17276719e-03 6.40767304e+02] [-1.45908537e-01 9.89298054e-01 2.41579325e-04 -4.38371980e+01] [ 1.19546483e-03 -6.78770435e-05 9.99999283e-01 2.05390151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5607140569999 meters Centerline goodness [0,1] 0.9816387572866406 Centerline is valid? [True, True] Translation: X:640.80, Y:-43.83, Z:2.05 [[ 9.89160345e-01 1.46833819e-01 -1.28131314e-03 6.40797909e+02] [-1.46833599e-01 9.89161172e-01 2.64399113e-04 -4.38339682e+01] [ 1.30624794e-03 -7.33932984e-05 9.99999144e-01 2.05387963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5907140569999 meters Centerline goodness [0,1] 0.9801791541645678 Centerline is valid? [True, True] Translation: X:640.82, Y:-43.84, Z:2.05 [[ 9.89027667e-01 1.47726431e-01 -1.08430144e-03 6.40824218e+02] [-1.47726275e-01 9.89028259e-01 2.23226057e-04 -4.38421232e+01] [ 1.10538115e-03 -6.05969333e-05 9.99999387e-01 2.05467608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.620714057 meters Centerline goodness [0,1] 0.9835907547376492 Centerline is valid? [True, True] Translation: X:640.85, Y:-43.84, Z:2.05 [[ 9.88902153e-01 1.48565576e-01 -8.95728264e-04 6.40853742e+02] [-1.48565469e-01 9.88902557e-01 1.84982704e-04 -4.38426922e+01] [ 9.13270033e-04 -4.98555051e-05 9.99999582e-01 2.05453253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.650714057 meters Centerline goodness [0,1] 0.9842796860310034 Centerline is valid? [True, True] Translation: X:640.88, Y:-43.85, Z:2.05 [[ 9.88767579e-01 1.49456888e-01 -1.14589063e-03 6.40881879e+02] [-1.49456715e-01 9.88768241e-01 2.35959690e-04 -4.38465617e+01] [ 1.16828606e-03 -6.20482425e-05 9.99999316e-01 2.05419840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6807140569999 meters Centerline goodness [0,1] 0.9820174575047581 Centerline is valid? [True, True] Translation: X:640.91, Y:-43.86, Z:2.05 [[ 9.88676333e-01 1.50057140e-01 -1.40148268e-03 6.40908007e+02] [-1.50056883e-01 9.88677323e-01 2.87215165e-04 -4.38560992e+01] [ 1.42871283e-03 -7.36607128e-05 9.99998977e-01 2.05456830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7107140569999 meters Centerline goodness [0,1] 0.9824938103897811 Centerline is valid? [True, True] Translation: X:640.94, Y:-43.86, Z:2.05 [[ 9.88744958e-01 1.49597545e-01 -1.99545526e-03 6.40935651e+02] [-1.49597023e-01 9.88746966e-01 4.09239773e-04 -4.38584295e+01] [ 2.03422160e-03 -1.06119597e-04 9.99997925e-01 2.05428052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.740714057 meters Centerline goodness [0,1] 0.981261095404037 Centerline is valid? [True, True] Translation: X:640.96, Y:-43.87, Z:2.05 [[ 9.88853210e-01 1.48869836e-01 -2.66487763e-03 6.40962957e+02] [-1.48868907e-01 9.88856790e-01 5.44623150e-04 -4.38655523e+01] [ 2.71626030e-03 -1.41834929e-04 9.99996301e-01 2.05419821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.770714057 meters Centerline goodness [0,1] 0.9815503808106452 Centerline is valid? [True, True] Translation: X:640.99, Y:-43.87, Z:2.05 [[ 9.88923152e-01 1.48394545e-01 -3.17139410e-03 6.40989699e+02] [-1.48393228e-01 9.88928223e-01 6.47748070e-04 -4.38727815e+01] [ 3.23240342e-03 -1.69959654e-04 9.99994761e-01 2.05410706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8007140569999 meters Centerline goodness [0,1] 0.9797546951179519 Centerline is valid? [True, True] Translation: X:641.02, Y:-43.88, Z:2.05 [[ 9.89148146e-01 1.46873572e-01 -3.75494875e-03 6.41016914e+02] [-1.46871717e-01 9.89155251e-01 7.66502592e-04 -4.38799689e+01] [ 3.82680625e-03 -2.06688848e-04 9.99992656e-01 2.05371287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8307140569999 meters Centerline goodness [0,1] 0.9761852789662098 Centerline is valid? [True, True] Translation: X:641.04, Y:-43.89, Z:2.05 [[ 9.89618176e-01 1.43670787e-01 -3.81720909e-03 6.41044068e+02] [-1.43668849e-01 9.89625513e-01 7.78746291e-04 -4.38941566e+01] [ 3.88949059e-03 -2.22247450e-04 9.99992411e-01 2.05416427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.860714057 meters Centerline goodness [0,1] 0.9776142087892999 Centerline is valid? [True, True] Translation: X:641.07, Y:-43.90, Z:2.05 [[ 9.89884820e-01 1.41823050e-01 -3.77683961e-03 6.41073390e+02] [-1.41821139e-01 9.89892000e-01 7.70473017e-04 -4.38976159e+01] [ 3.84793415e-03 -2.27043848e-04 9.99992571e-01 2.05429002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.890714057 meters Centerline goodness [0,1] 0.9774462330410505 Centerline is valid? [True, True] Translation: X:641.10, Y:-43.90, Z:2.05 [[ 9.90177703e-01 1.39767113e-01 -3.64282271e-03 6.41102494e+02] [-1.39765322e-01 9.90184378e-01 7.43045785e-04 -4.39005307e+01] [ 3.71091950e-03 -2.26607081e-04 9.99993089e-01 2.05469310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9207140569999 meters Centerline goodness [0,1] 0.9764616055846422 Centerline is valid? [True, True] Translation: X:641.13, Y:-43.91, Z:2.06 [[ 9.90393618e-01 1.38218782e-01 -4.00609154e-03 6.41130809e+02] [-1.38216604e-01 9.90401688e-01 8.16916623e-04 -4.39080851e+01] [ 4.08055304e-03 -2.55360641e-04 9.99991642e-01 2.05501678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9507140569999 meters Centerline goodness [0,1] 0.9773490298670154 Centerline is valid? [True, True] Translation: X:641.16, Y:-43.91, Z:2.06 [[ 9.90576899e-01 1.36886590e-01 -4.41223161e-03 6.41158366e+02] [-1.36883936e-01 9.90586684e-01 8.99378809e-04 -4.39142624e+01] [ 4.49381078e-03 -2.86940243e-04 9.99989862e-01 2.05520417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9807140569999 meters Centerline goodness [0,1] 0.9753656994615334 Centerline is valid? [True, True] Translation: X:641.19, Y:-43.92, Z:2.05 [[ 9.90853390e-01 1.34816946e-01 -5.82665499e-03 6.41185334e+02] [-1.34812286e-01 9.90870445e-01 1.18699703e-03 -4.39235149e+01] [ 5.93348753e-03 -3.90635349e-04 9.99982320e-01 2.05452414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.010714057 meters Centerline goodness [0,1] 0.9760651029200574 Centerline is valid? [True, True] Translation: X:641.21, Y:-43.93, Z:2.05 [[ 9.90932278e-01 1.34223217e-01 -6.11137208e-03 6.41213450e+02] [-1.34218084e-01 9.90951037e-01 1.24439859e-03 -4.39304890e+01] [ 6.22309769e-03 -4.12858076e-04 9.99980551e-01 2.05472845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.040714057 meters Centerline goodness [0,1] 0.9759693799882565 Centerline is valid? [True, True] Translation: X:641.24, Y:-43.94, Z:2.06 [[ 9.91129809e-01 1.32728877e-01 -6.68931715e-03 6.41241611e+02] [-1.32722706e-01 9.91152275e-01 1.36024151e-03 -4.39379989e+01] [ 6.81067524e-03 -4.60351637e-04 9.99976701e-01 2.05500553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0707140569999 meters Centerline goodness [0,1] 0.9765665796344648 Centerline is valid? [True, True] Translation: X:641.27, Y:-43.94, Z:2.06 [[ 9.91221549e-01 1.32013576e-01 -7.22883573e-03 6.41270468e+02] [-1.32006364e-01 9.91247782e-01 1.46799465e-03 -4.39403886e+01] [ 7.35936260e-03 -5.00855611e-04 9.99972794e-01 2.05532274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1007140569999 meters Centerline goodness [0,1] 0.9737071217133902 Centerline is valid? [True, True] Translation: X:641.30, Y:-43.95, Z:2.06 [[ 9.91294993e-01 1.31484257e-01 -6.79167994e-03 6.41296775e+02] [-1.31477888e-01 9.91318146e-01 1.37776563e-03 -4.39520562e+01] [ 6.91387006e-03 -4.72816436e-04 9.99975987e-01 2.05595075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.130714057 meters Centerline goodness [0,1] 0.9737071217133902 Centerline is valid? [True, True] Translation: X:641.32, Y:-43.96, Z:2.06 [[ 9.91330953e-01 1.31212851e-01 -6.79185447e-03 6.41323720e+02] [-1.31206482e-01 9.91354106e-01 1.37690471e-03 -4.39574282e+01] [ 6.91380041e-03 -4.73832926e-04 9.99975987e-01 2.05610222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.160714057 meters Centerline goodness [0,1] 0.9734149102943738 Centerline is valid? [True, True] Translation: X:641.35, Y:-43.96, Z:2.06 [[ 9.91360999e-01 1.31005921e-01 -6.38893547e-03 6.41351175e+02] [-1.31000292e-01 9.91381486e-01 1.29349118e-03 -4.39628139e+01] [ 6.50332734e-03 -4.45364298e-04 9.99978754e-01 2.05671387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1907140569999 meters Centerline goodness [0,1] 0.9771103437791822 Centerline is valid? [True, True] Translation: X:641.38, Y:-43.96, Z:2.06 [[ 9.91132003e-01 1.32729757e-01 -6.33755329e-03 6.41381355e+02] [-1.32724264e-01 9.91152172e-01 1.28152437e-03 -4.39628118e+01] [ 6.45157613e-03 -4.29012725e-04 9.99979096e-01 2.05823736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2207140569999 meters Centerline goodness [0,1] 0.975311325060309 Centerline is valid? [True, True] Translation: X:641.41, Y:-43.97, Z:2.06 [[ 9.90882115e-01 1.34565747e-01 -6.68539596e-03 6.41410702e+02] [-1.34559677e-01 9.90904570e-01 1.35160405e-03 -4.39661112e+01] [ 6.80646902e-03 -4.39695560e-04 9.99976739e-01 2.05855418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.250714057 meters Centerline goodness [0,1] 0.9771544997398994 Centerline is valid? [True, True] Translation: X:641.44, Y:-43.97, Z:2.06 [[ 9.90548183e-01 1.37002121e-01 -6.68693077e-03 6.41439549e+02] [-1.36996106e-01 9.90570664e-01 1.35166647e-03 -4.39717243e+01] [ 6.80905863e-03 -4.22807292e-04 9.99976729e-01 2.05917886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.280714057 meters Centerline goodness [0,1] 0.9777739115305989 Centerline is valid? [True, True] Translation: X:641.47, Y:-43.98, Z:2.06 [[ 9.90173371e-01 1.39671822e-01 -6.96259617e-03 6.41469086e+02] [-1.39665368e-01 9.90197761e-01 1.40712438e-03 -4.39750812e+01] [ 7.09088276e-03 -4.20863532e-04 9.99974771e-01 2.05886594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3107140569999 meters Centerline goodness [0,1] 0.9797216353379364 Centerline is valid? [True, True] Translation: X:641.50, Y:-43.98, Z:2.06 [[ 9.89326620e-01 1.45491755e-01 -8.06150745e-03 6.41499301e+02] [-1.45483297e-01 9.89359367e-01 1.62891253e-03 -4.39756057e+01] [ 8.21272125e-03 -4.38711844e-04 9.99966179e-01 2.05902549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3407140569999 meters Centerline goodness [0,1] 0.9805639081361398 Centerline is valid? [True, True] Translation: X:641.53, Y:-43.98, Z:2.06 [[ 9.88815320e-01 1.48910367e-01 -8.36456594e-03 6.41529151e+02] [-1.48901386e-01 9.88850606e-01 1.68987086e-03 -4.39795139e+01] [ 8.52294539e-03 -4.25474734e-04 9.99963589e-01 2.05891461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.370714057 meters Centerline goodness [0,1] 0.9827571154181945 Centerline is valid? [True, True] Translation: X:641.56, Y:-43.98, Z:2.06 [[ 9.88294792e-01 1.52320137e-01 -8.48407214e-03 6.41559167e+02] [-1.52311026e-01 9.88331126e-01 1.71365981e-03 -4.39806150e+01] [ 8.64609747e-03 -4.01383335e-04 9.99962541e-01 2.05958321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.400714057 meters Centerline goodness [0,1] 0.9850224881009563 Centerline is valid? [True, True] Translation: X:641.59, Y:-43.98, Z:2.06 [[ 9.86961323e-01 1.60735023e-01 -8.46160710e-03 6.41587890e+02] [-1.60726272e-01 9.86997541e-01 1.70877729e-03 -4.39822963e+01] [ 8.62624576e-03 -3.26494534e-04 9.99962740e-01 2.05997402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4307140569999 meters Centerline goodness [0,1] 0.9860522984240625 Centerline is valid? [True, True] Translation: X:641.62, Y:-43.99, Z:2.06 [[ 9.86164536e-01 1.65579875e-01 -7.92549460e-03 6.41617471e+02] [-1.65572356e-01 9.86196347e-01 1.60018221e-03 -4.39855145e+01] [ 8.08105179e-03 -2.65800136e-04 9.99967312e-01 2.06002977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4607140569999 meters Centerline goodness [0,1] 0.987268493329561 Centerline is valid? [True, True] Translation: X:641.65, Y:-43.99, Z:2.06 [[ 9.85330901e-01 1.70462546e-01 -8.09537040e-03 6.41647608e+02] [-1.70454868e-01 9.85364129e-01 1.63422676e-03 -4.39892720e+01] [ 8.25546206e-03 -2.30358832e-04 9.99965897e-01 2.06015290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.490714057 meters Centerline goodness [0,1] 0.9888243863196573 Centerline is valid? [True, True] Translation: X:641.68, Y:-43.99, Z:2.06 [[ 9.84490916e-01 1.75251755e-01 -8.02863727e-03 6.41676164e+02] [-1.75244364e-01 9.84523634e-01 1.62051322e-03 -4.39935217e+01] [ 8.18838093e-03 -1.88407107e-04 9.99966457e-01 2.06064760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.520714057 meters Centerline goodness [0,1] 0.9892888307155323 Centerline is valid? [True, True] Translation: X:641.71, Y:-44.00, Z:2.06 [[ 9.82937524e-01 1.83788177e-01 -7.46525639e-03 6.41706159e+02] [-1.83782034e-01 9.82965866e-01 1.50648751e-03 -4.39957041e+01] [ 7.61496680e-03 -1.08803093e-04 9.99971000e-01 2.06026129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5507140569999 meters Centerline goodness [0,1] 0.9900449722743745 Centerline is valid? [True, True] Translation: X:641.73, Y:-44.00, Z:2.06 [[ 9.82267865e-01 1.87329494e-01 -7.58300668e-03 6.41734685e+02] [-1.87323267e-01 9.82297131e-01 1.52959404e-03 -4.40012652e+01] [ 7.73530378e-03 -8.19974903e-05 9.99970079e-01 2.06005461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5807140569999 meters Centerline goodness [0,1] 0.9917843444909344 Centerline is valid? [True, True] Translation: X:641.76, Y:-44.01, Z:2.06 [[ 9.81701004e-01 1.90306510e-01 -6.82432267e-03 6.41762785e+02] [-1.90301550e-01 9.81724722e-01 1.37496204e-03 -4.40073273e+01] [ 6.96127050e-03 -5.11224325e-05 9.99975769e-01 2.06013279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.610714057 meters Centerline goodness [0,1] 0.9917738460534047 Centerline is valid? [True, True] Translation: X:641.79, Y:-44.02, Z:2.06 [[ 9.80805249e-01 1.94893553e-01 -6.12911842e-03 6.41789322e+02] [-1.94889649e-01 9.80824400e-01 1.23360268e-03 -4.40155993e+01] [ 6.25201011e-03 -1.54222481e-05 9.99980456e-01 2.05968493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.640714057 meters Centerline goodness [0,1] 0.991882304293891 Centerline is valid? [True, True] Translation: X:641.82, Y:-44.02, Z:2.06 [[ 9.80513519e-01 1.96367651e-01 -5.74324559e-03 6.41816334e+02] [-1.96364252e-01 9.80530339e-01 1.15538480e-03 -4.40232316e+01] [ 5.85830675e-03 -5.10229195e-06 9.99982840e-01 2.06001140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6707140569999 meters Centerline goodness [0,1] 0.9922909880564603 Centerline is valid? [True, True] Translation: X:641.84, Y:-44.03, Z:2.06 [[ 9.80301661e-01 1.97438299e-01 -5.17403533e-03 6.41842486e+02] [-1.97435563e-01 9.80315316e-01 1.03946459e-03 -4.40312914e+01] [ 5.27741620e-03 2.54971048e-06 9.99986074e-01 2.05996666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7007140569999 meters Centerline goodness [0,1] 0.9914590594208511 Centerline is valid? [True, True] Translation: X:641.87, Y:-44.04, Z:2.06 [[ 9.80007355e-01 1.98899147e-01 -4.97118822e-03 6.41867577e+02] [-1.98896643e-01 9.80019964e-01 9.98099007e-04 -4.40433954e+01] [ 5.07038474e-03 1.06082789e-05 9.99987145e-01 2.05988096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7307140569999 meters Centerline goodness [0,1] 0.9922771593752696 Centerline is valid? [True, True] Translation: X:641.89, Y:-44.05, Z:2.06 [[ 9.79951681e-01 1.99184538e-01 -4.49701768e-03 6.41894044e+02] [-1.99182494e-01 9.79961999e-01 9.02553961e-04 -4.40531908e+01] [ 4.58668123e-03 1.12679252e-05 9.99989481e-01 2.06001742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.760714057 meters Centerline goodness [0,1] 0.9919537502426818 Centerline is valid? [True, True] Translation: X:641.92, Y:-44.06, Z:2.06 [[ 9.79868754e-01 1.99588078e-01 -4.67162900e-03 6.41920930e+02] [-1.99585882e-01 9.79879890e-01 9.36264963e-04 -4.40630285e+01] [ 4.76450263e-03 1.49744133e-05 9.99988650e-01 2.05995449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.790714057 meters Centerline goodness [0,1] 0.991550930902524 Centerline is valid? [True, True] Translation: X:641.95, Y:-44.07, Z:2.06 [[ 9.79785266e-01 1.99998678e-01 -4.62181316e-03 6.41946963e+02] [-1.99996540e-01 9.79796167e-01 9.25044791e-04 -4.40728468e+01] [ 4.71344256e-03 1.80013840e-05 9.99988892e-01 2.05982587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8207140569999 meters Centerline goodness [0,1] 0.9909836417500322 Centerline is valid? [True, True] Translation: X:641.97, Y:-44.08, Z:2.06 [[ 9.79759406e-01 2.00140078e-01 -3.93142991e-03 6.41972765e+02] [-2.00138535e-01 9.79767293e-01 7.86061294e-04 -4.40838474e+01] [ 4.00920881e-03 1.66796773e-05 9.99991963e-01 2.05968471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8507140569999 meters Centerline goodness [0,1] 0.990713784823307 Centerline is valid? [True, True] Translation: X:642.00, Y:-44.10, Z:2.06 [[ 9.79519460e-01 2.01338983e-01 -2.05962528e-03 6.41998647e+02] [-2.01338562e-01 9.79521625e-01 4.11845741e-04 -4.41004759e+01] [ 2.10036811e-03 1.12710753e-05 9.99997794e-01 2.06093118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.880714057 meters Centerline goodness [0,1] 0.9911880174106 Centerline is valid? [True, True] Translation: X:642.02, Y:-44.11, Z:2.06 [[ 9.79515904e-01 2.01361074e-01 -1.52058907e-03 6.42024207e+02] [-2.01360845e-01 9.79517084e-01 3.03521031e-04 -4.41115816e+01] [ 1.55056030e-03 8.88342405e-06 9.99998798e-01 2.06178641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.910714057 meters Centerline goodness [0,1] 0.9899361495200643 Centerline is valid? [True, True] Translation: X:642.05, Y:-44.13, Z:2.06 [[ 9.79347971e-01 2.02181968e-01 -5.57011372e-05 6.42049311e+02] [-2.02181968e-01 9.79347973e-01 1.15771553e-05 -4.41295383e+01] [ 5.68914878e-05 -7.62980628e-08 9.99999998e-01 2.06285638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9407140569999 meters Centerline goodness [0,1] 0.9898521433890012 Centerline is valid? [True, True] Translation: X:642.08, Y:-44.14, Z:2.06 [[ 9.79400653e-01 2.01926519e-01 2.03331336e-04 6.42075192e+02] [-2.01926516e-01 9.79400674e-01 -3.88187200e-05 -4.41416860e+01] [-2.06981376e-04 -3.03890843e-06 9.99999979e-01 2.06247952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9707140569999 meters Centerline goodness [0,1] 0.9889417485992177 Centerline is valid? [True, True] Translation: X:642.10, Y:-44.15, Z:2.06 [[ 9.79361628e-01 2.02115807e-01 -5.18789780e-05 6.42100904e+02] [-2.02115806e-01 9.79361629e-01 1.18823746e-05 -4.41532408e+01] [ 5.32098961e-05 -1.15158026e-06 9.99999999e-01 2.06211070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.000714057 meters Centerline goodness [0,1] 0.9884460215871407 Centerline is valid? [True, True] Translation: X:642.13, Y:-44.16, Z:2.06 [[ 9.79329452e-01 2.02271538e-01 2.20449397e-04 6.42126672e+02] [-2.02271533e-01 9.79329477e-01 -4.20982261e-05 -4.41649512e+01] [-2.24407865e-04 -3.36260476e-06 9.99999975e-01 2.06184569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.030714057 meters Centerline goodness [0,1] 0.9881184344290072 Centerline is valid? [True, True] Translation: X:642.15, Y:-44.18, Z:2.06 [[ 9.79022140e-01 2.03752038e-01 -8.69480276e-04 6.42152469e+02] [-2.03751964e-01 9.79022526e-01 1.73483984e-04 -4.41838092e+01] [ 8.86588491e-04 7.31365234e-06 9.99999607e-01 2.06086331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0607140569999 meters Centerline goodness [0,1] 0.9880385307505029 Centerline is valid? [True, True] Translation: X:642.18, Y:-44.20, Z:2.06 [[ 9.78775006e-01 2.04931324e-01 -1.62461265e-03 6.42178129e+02] [-2.04931072e-01 9.78776354e-01 3.21882495e-04 -4.41961876e+01] [ 1.65609625e-03 1.78830718e-05 9.99998629e-01 2.06098930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0907140569999 meters Centerline goodness [0,1] 0.9882892595176189 Centerline is valid? [True, True] Translation: X:642.21, Y:-44.21, Z:2.06 [[ 9.78560092e-01 2.05954319e-01 -1.72185906e-03 6.42205117e+02] [-2.05954036e-01 9.78561607e-01 3.41565573e-04 -4.42088140e+01] [ 1.75529207e-03 2.03813855e-05 9.99998459e-01 2.06106815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.120714057 meters Centerline goodness [0,1] 0.9873536986244007 Centerline is valid? [True, True] Translation: X:642.23, Y:-44.22, Z:2.06 [[ 9.78264992e-01 2.07342104e-01 -2.61872814e-03 6.42232186e+02] [-2.07341459e-01 9.78268496e-01 5.18085332e-04 -4.42216273e+01] [ 2.66924014e-03 3.61461709e-05 9.99996437e-01 2.06182027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.150714057 meters Centerline goodness [0,1] 0.9889281062229506 Centerline is valid? [True, True] Translation: X:642.26, Y:-44.24, Z:2.06 [[ 9.77864803e-01 2.09214828e-01 -3.09568548e-03 6.42257131e+02] [-2.09213940e-01 9.77869702e-01 6.11406728e-04 -4.42420669e+01] [ 3.15509239e-03 4.97874378e-05 9.99995021e-01 2.06344985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1807140569999 meters Centerline goodness [0,1] 0.9898292315419387 Centerline is valid? [True, True] Translation: X:642.28, Y:-44.26, Z:2.06 [[ 9.77746197e-01 2.09775186e-01 -2.59723318e-03 6.42284000e+02] [-2.09774565e-01 9.77749645e-01 5.12519949e-04 -4.42553039e+01] [ 2.64695779e-03 4.37190298e-05 9.99996496e-01 2.06447144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2107140569999 meters Centerline goodness [0,1] 0.9908492099887439 Centerline is valid? [True, True] Translation: X:642.31, Y:-44.27, Z:2.07 [[ 9.77696025e-01 2.10002338e-01 -3.08217565e-03 6.42309394e+02] [-2.10001467e-01 9.77700882e-01 6.07261070e-04 -4.42686924e+01] [ 3.14097209e-03 5.35446721e-05 9.99995066e-01 2.06603972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.240714057 meters Centerline goodness [0,1] 0.9920521746424527 Centerline is valid? [True, True] Translation: X:642.33, Y:-44.29, Z:2.07 [[ 9.77875398e-01 2.09171010e-01 -2.68236807e-03 6.42332909e+02] [-2.09170348e-01 9.77879076e-01 5.27880719e-04 -4.42919169e+01] [ 2.73344895e-03 4.48702950e-05 9.99996263e-01 2.06792607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.270714057 meters Centerline goodness [0,1] 0.9931730608142068 Centerline is valid? [True, True] Translation: X:642.36, Y:-44.31, Z:2.07 [[ 9.78120418e-01 2.08020194e-01 -2.83672465e-03 6.42359718e+02] [-2.08019452e-01 9.78124530e-01 5.57354840e-04 -4.43067374e+01] [ 2.89061103e-03 4.49337599e-05 9.99995821e-01 2.06947034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3007140569999 meters Centerline goodness [0,1] 0.9938245760937827 Centerline is valid? [True, True] Translation: X:642.39, Y:-44.32, Z:2.07 [[ 9.78527550e-01 2.06096057e-01 -2.87234001e-03 6.42385626e+02] [-2.06095290e-01 9.78531764e-01 5.63599386e-04 -4.43215418e+01] [ 2.92683155e-03 4.04782210e-05 9.99995716e-01 2.07033408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3307140569999 meters Centerline goodness [0,1] 0.9949414046033218 Centerline is valid? [True, True] Translation: X:642.41, Y:-44.34, Z:2.07 [[ 9.78981718e-01 2.03925217e-01 -3.04999823e-03 6.42412159e+02] [-2.03924344e-01 9.78986468e-01 5.97625315e-04 -4.43377504e+01] [ 3.10777787e-03 3.69046328e-05 9.99995170e-01 2.07189692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.360714057 meters Centerline goodness [0,1] 0.9960421885855034 Centerline is valid? [True, True] Translation: X:642.44, Y:-44.36, Z:2.07 [[ 9.80004901e-01 1.98946593e-01 -3.26296116e-03 6.42436751e+02] [-1.98945570e-01 9.80010333e-01 6.38408386e-04 -4.43617394e+01] [ 3.32474483e-03 2.35083193e-05 9.99994473e-01 2.07296901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.390714057 meters Centerline goodness [0,1] 0.9971285447800298 Centerline is valid? [True, True] Translation: X:642.46, Y:-44.38, Z:2.07 [[ 9.80463476e-01 1.96657557e-01 -4.14456961e-03 6.42462302e+02] [-1.96655893e-01 9.80472236e-01 8.09233434e-04 -4.43752581e+01] [ 4.22277730e-03 2.16302121e-05 9.99991084e-01 2.07400121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4207140569999 meters Centerline goodness [0,1] 0.9978553406223717 Centerline is valid? [True, True] Translation: X:642.49, Y:-44.39, Z:2.07 [[ 9.80911161e-01 1.94397989e-01 -4.76614466e-03 6.42488879e+02] [-1.94395765e-01 9.80922740e-01 9.30074584e-04 -4.43894302e+01] [ 4.85602431e-03 1.41977966e-05 9.99988209e-01 2.07423583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4507140569999 meters Centerline goodness [0,1] 0.99818890175845 Centerline is valid? [True, True] Translation: X:642.51, Y:-44.40, Z:2.08 [[ 9.81334318e-01 1.92244083e-01 -5.01689594e-03 6.42514164e+02] [-1.92241592e-01 9.81347142e-01 9.78635559e-04 -4.44025335e+01] [ 5.11145339e-03 4.08740670e-06 9.99986936e-01 2.07506533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4807140569999 meters Centerline goodness [0,1] 0.9982746649273044 Centerline is valid? [True, True] Translation: X:642.54, Y:-44.42, Z:2.08 [[ 9.82202004e-01 1.87780307e-01 -4.21656537e-03 6.42539437e+02] [-1.87778508e-01 9.82211055e-01 8.22017184e-04 -4.44238087e+01] [ 4.29591576e-03 -1.56065704e-05 9.99990772e-01 2.07710340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.510714057 meters Centerline goodness [0,1] 0.9982954186746354 Centerline is valid? [True, True] Translation: X:642.57, Y:-44.44, Z:2.08 [[ 9.82703437e-01 1.85150745e-01 -3.62716991e-03 6.42565871e+02] [-1.85149397e-01 9.82710131e-01 7.06906415e-04 -4.44368895e+01] [ 3.69534086e-03 -2.31110413e-05 9.99993172e-01 2.07851080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.540714057 meters Centerline goodness [0,1] 0.9987385947946011 Centerline is valid? [True, True] Translation: X:642.59, Y:-44.45, Z:2.08 [[ 9.83172812e-01 1.82653461e-01 -2.98922441e-03 6.42592912e+02] [-1.82652534e-01 9.83177356e-01 5.82427452e-04 -4.44500233e+01] [ 3.04532014e-03 -2.66374211e-05 9.99995363e-01 2.07947081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5707140569999 meters Centerline goodness [0,1] 0.9988424220739587 Centerline is valid? [True, True] Translation: X:642.62, Y:-44.47, Z:2.08 [[ 9.84207540e-01 1.76991586e-01 -3.08172523e-03 6.42618582e+02] [-1.76990574e-01 9.84212364e-01 6.00212459e-04 -4.44689847e+01] [ 3.13930463e-03 -4.52973111e-05 9.99995071e-01 2.08009202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6007140569999 meters Centerline goodness [0,1] 0.9987158165091261 Centerline is valid? [True, True] Translation: X:642.65, Y:-44.48, Z:2.08 [[ 9.84739040e-01 1.74001790e-01 -3.52128806e-03 6.42645544e+02] [-1.74000451e-01 9.84745334e-01 6.85506602e-04 -4.44802251e+01] [ 3.58685136e-03 -6.23394043e-05 9.99993565e-01 2.07993737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.630714057 meters Centerline goodness [0,1] 0.9986745213549337 Centerline is valid? [True, True] Translation: X:642.67, Y:-44.49, Z:2.08 [[ 9.85276722e-01 1.70920952e-01 -3.97614841e-03 6.42672061e+02] [-1.70919221e-01 9.85284741e-01 7.73736116e-04 -4.44917210e+01] [ 4.04988607e-03 -8.27439954e-05 9.99991796e-01 2.07947773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.660714057 meters Centerline goodness [0,1] 0.9990960309451732 Centerline is valid? [True, True] Translation: X:642.70, Y:-44.51, Z:2.08 [[ 9.86321889e-01 1.64757190e-01 -4.91936818e-03 6.42699248e+02] [-1.64754466e-01 9.86334148e-01 9.56684424e-04 -4.45084153e+01] [ 5.00976145e-03 -1.33110911e-04 9.99987442e-01 2.07870993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6907140569999 meters Centerline goodness [0,1] 0.9989482098531701 Centerline is valid? [True, True] Translation: X:642.73, Y:-44.52, Z:2.08 [[ 9.86817741e-01 1.61770382e-01 -4.59240227e-03 6.42727648e+02] [-1.61767977e-01 9.86828417e-01 8.92942988e-04 -4.45196505e+01] [ 4.67636479e-03 -1.38268359e-04 9.99989056e-01 2.07862686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7207140569999 meters Centerline goodness [0,1] 0.9990949654824044 Centerline is valid? [True, True] Translation: X:642.76, Y:-44.53, Z:2.08 [[ 9.87236741e-01 1.59181124e-01 -4.99868972e-03 6.42756350e+02] [-1.59178242e-01 9.87249382e-01 9.71742548e-04 -4.45286425e+01] [ 5.08963641e-03 -1.63657301e-04 9.99987034e-01 2.07879881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.750714057 meters Centerline goodness [0,1] 0.999452516319225 Centerline is valid? [True, True] Translation: X:642.78, Y:-44.54, Z:2.08 [[ 9.87938008e-01 1.54779706e-01 -4.66216747e-03 6.42783518e+02] [-1.54777151e-01 9.87948993e-01 9.06163567e-04 -4.45417986e+01] [ 4.74623939e-03 -1.73636428e-04 9.99988721e-01 2.07976201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.780714057 meters Centerline goodness [0,1] 0.9993278017015019 Centerline is valid? [True, True] Translation: X:642.81, Y:-44.55, Z:2.08 [[ 9.88172670e-01 1.53299097e-01 -3.76315700e-03 6.42811869e+02] [-1.53297422e-01 9.88179824e-01 7.31297672e-04 -4.45512700e+01] [ 3.83078310e-03 -1.45766105e-04 9.99992652e-01 2.08077673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8107140569999 meters Centerline goodness [0,1] 0.9995163799991589 Centerline is valid? [True, True] Translation: X:642.84, Y:-44.56, Z:2.08 [[ 9.88312912e-01 1.52403835e-01 -3.26479323e-03 6.42840665e+02] [-1.52402569e-01 9.88318296e-01 6.34443275e-04 -4.45577003e+01] [ 3.32334647e-03 -1.29465604e-04 9.99994469e-01 2.08221373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8407140569999 meters Centerline goodness [0,1] 0.9992852638217364 Centerline is valid? [True, True] Translation: X:642.87, Y:-44.56, Z:2.08 [[ 9.88392411e-01 1.51896871e-01 -2.78981262e-03 6.42869895e+02] [-1.51895946e-01 9.88396342e-01 5.41941271e-04 -4.45643817e+01] [ 2.83975978e-03 -1.11889412e-04 9.99995962e-01 2.08296191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.870714057 meters Centerline goodness [0,1] 0.9995586009752817 Centerline is valid? [True, True] Translation: X:642.90, Y:-44.57, Z:2.08 [[ 9.88316230e-01 1.52401987e-01 -2.15972937e-03 6.42900293e+02] [-1.52401434e-01 9.88318586e-01 4.19596179e-04 -4.45674931e+01] [ 2.19844796e-03 -8.55478616e-05 9.99997580e-01 2.08368847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.900714057 meters Centerline goodness [0,1] 0.9994318301382547 Centerline is valid? [True, True] Translation: X:642.93, Y:-44.58, Z:2.08 [[ 9.88215757e-01 1.53051869e-01 -2.17781334e-03 6.42928985e+02] [-1.53051307e-01 9.88218153e-01 4.23167499e-04 -4.45751912e+01] [ 2.21692125e-03 -8.48636130e-05 9.99997539e-01 2.08401861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9307140569999 meters Centerline goodness [0,1] 0.9996424891169481 Centerline is valid? [True, True] Translation: X:642.96, Y:-44.58, Z:2.08 [[ 9.88032074e-01 1.54238133e-01 -1.79397290e-03 6.42958607e+02] [-1.54237753e-01 9.88033701e-01 3.48631279e-04 -4.45796982e+01] [ 1.82627792e-03 -6.77605357e-05 9.99998330e-01 2.08389718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9607140569999 meters Centerline goodness [0,1] 0.9997054863682262 Centerline is valid? [True, True] Translation: X:642.99, Y:-44.59, Z:2.08 [[ 9.87928992e-01 1.54899197e-01 -1.59551800e-03 6.42986717e+02] [-1.54898898e-01 9.87930278e-01 3.10095950e-04 -4.45850482e+01] [ 1.62429416e-03 -5.92087988e-05 9.99998679e-01 2.08422675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.990714057 meters Centerline goodness [0,1] 0.9996210925165772 Centerline is valid? [True, True] Translation: X:643.02, Y:-44.59, Z:2.08 [[ 9.87701473e-01 1.56348342e-01 -9.98334877e-04 6.43016563e+02] [-1.56348226e-01 9.87701977e-01 1.94007936e-04 -4.45855921e+01] [ 1.01639015e-03 -3.55340377e-05 9.99999483e-01 2.08373587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.020714057 meters Centerline goodness [0,1] 0.9996210925165772 Centerline is valid? [True, True] Translation: X:643.05, Y:-44.59, Z:2.08 [[ 9.87706703e-01 1.56315294e-01 -9.98341848e-04 6.43045217e+02] [-1.56315178e-01 9.87707207e-01 1.93972043e-04 -4.45911242e+01] [ 1.01639024e-03 -3.55315037e-05 9.99999483e-01 2.08389661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0507140569999 meters Centerline goodness [0,1] 0.9996422860028618 Centerline is valid? [True, True] Translation: X:643.08, Y:-44.59, Z:2.08 [[ 9.87526438e-01 1.57449462e-01 -1.09584859e-03 6.43075191e+02] [-1.57449322e-01 9.87527046e-01 2.12866195e-04 -4.45928213e+01] [ 1.11569579e-03 -3.76703774e-05 9.99999377e-01 2.08323416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0807140569999 meters Centerline goodness [0,1] 0.9995578295748847 Centerline is valid? [True, True] Translation: X:643.10, Y:-44.60, Z:2.08 [[ 9.87353471e-01 1.58523711e-01 -1.83219284e-03 6.43104730e+02] [-1.58523324e-01 9.87355169e-01 3.55703202e-04 -4.45970378e+01] [ 1.86541246e-03 -6.07594918e-05 9.99998258e-01 2.08334278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.110714057 meters Centerline goodness [0,1] 0.9995580994065907 Centerline is valid? [True, True] Translation: X:643.13, Y:-44.60, Z:2.08 [[ 9.87032782e-01 1.60498342e-01 -2.56319796e-03 6.43133975e+02] [-1.60497591e-01 9.87036107e-01 4.97556443e-04 -4.45978993e+01] [ 2.60982592e-03 -7.97174215e-05 9.99996591e-01 2.08230170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.140714057 meters Centerline goodness [0,1] 0.9996210286965492 Centerline is valid? [True, True] Translation: X:643.16, Y:-44.60, Z:2.08 [[ 9.86914392e-01 1.61217555e-01 -2.98039208e-03 6.43162590e+02] [-1.61216543e-01 9.86918888e-01 5.78258643e-04 -4.46009701e+01] [ 3.03463068e-03 -9.02032681e-05 9.99995391e-01 2.08178203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1707140569999 meters Centerline goodness [0,1] 0.9991992751332786 Centerline is valid? [True, True] Translation: X:643.19, Y:-44.61, Z:2.08 [[ 9.86862828e-01 1.61520027e-01 -3.61113472e-03 6.43188659e+02] [-1.61518545e-01 9.86869429e-01 7.00316393e-04 -4.46111002e+01] [ 3.67683358e-03 -1.07850991e-04 9.99993235e-01 2.08190009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2007140569999 meters Centerline goodness [0,1] 0.9988410805343673 Centerline is valid? [True, True] Translation: X:643.22, Y:-44.61, Z:2.08 [[ 9.86833862e-01 1.61690311e-01 -3.89523205e-03 6.43217368e+02] [-1.61688590e-01 9.86841542e-01 7.54973513e-04 -4.46140161e+01] [ 3.96604871e-03 -1.15218850e-04 9.99992129e-01 2.08151752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2307140569999 meters Centerline goodness [0,1] 0.9988243938280676 Centerline is valid? [True, True] Translation: X:643.25, Y:-44.62, Z:2.08 [[ 9.86978289e-01 1.60799344e-01 -4.17474458e-03 6.43246269e+02] [-1.60797360e-01 9.86987110e-01 8.08843771e-04 -4.46156123e+01] [ 4.25048064e-03 -1.27023334e-04 9.99990959e-01 2.08094698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.260714057 meters Centerline goodness [0,1] 0.9990947177835323 Centerline is valid? [True, True] Translation: X:643.27, Y:-44.62, Z:2.08 [[ 9.87201356e-01 1.59420895e-01 -4.29661849e-03 6.43274713e+02] [-1.59418781e-01 9.87210697e-01 8.32138106e-04 -4.46215847e+01] [ 4.37432794e-03 -1.36526183e-04 9.99990423e-01 2.08148822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.290714057 meters Centerline goodness [0,1] 0.9985478270019994 Centerline is valid? [True, True] Translation: X:643.30, Y:-44.63, Z:2.08 [[ 9.87707497e-01 1.56242682e-01 -4.70373331e-03 6.43302741e+02] [-1.56240115e-01 9.87718683e-01 9.10601993e-04 -4.46272634e+01] [ 4.78824017e-03 -1.64496582e-04 9.99988523e-01 2.08088306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3207140569999 meters Centerline goodness [0,1] 0.9986921210842739 Centerline is valid? [True, True] Translation: X:643.33, Y:-44.63, Z:2.08 [[ 9.87920113e-01 1.54856482e-01 -5.77243591e-03 6.43331279e+02] [-1.54852594e-01 9.87936955e-01 1.11711693e-03 -4.46302773e+01] [ 5.87579555e-03 -2.09745604e-04 9.99982715e-01 2.08057329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3507140569999 meters Centerline goodness [0,1] 0.9985047594979362 Centerline is valid? [True, True] Translation: X:643.36, Y:-44.64, Z:2.08 [[ 9.88112095e-01 1.53621501e-01 -5.90954975e-03 6.43357287e+02] [-1.53617408e-01 9.88129741e-01 1.14320502e-03 -4.46395844e+01] [ 6.01502273e-03 -2.21804992e-04 9.99981885e-01 2.08066282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.380714057 meters Centerline goodness [0,1] 0.9987181642430865 Centerline is valid? [True, True] Translation: X:643.39, Y:-44.64, Z:2.08 [[ 9.88237858e-01 1.52800546e-01 -6.15862176e-03 6.43385755e+02] [-1.52796088e-01 9.88257020e-01 1.19081874e-03 -4.46419915e+01] [ 6.26825894e-03 -2.35798845e-04 9.99980326e-01 2.08141047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.410714057 meters Centerline goodness [0,1] 0.9983557138942176 Centerline is valid? [True, True] Translation: X:643.42, Y:-44.64, Z:2.08 [[ 9.88477781e-01 1.51277616e-01 -5.17299293e-03 6.43415240e+02] [-1.51274452e-01 9.88491295e-01 9.99917229e-04 -4.46435844e+01] [ 5.26472357e-03 -2.05854295e-04 9.99986120e-01 2.08291930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4407140569999 meters Centerline goodness [0,1] 0.9982278107133062 Centerline is valid? [True, True] Translation: X:643.44, Y:-44.65, Z:2.08 [[ 9.88560306e-01 1.50735062e-01 -5.24052218e-03 6.43443518e+02] [-1.50731809e-01 9.88574173e-01 1.01268681e-03 -4.46478682e+01] [ 5.33329229e-03 -2.11188596e-04 9.99985756e-01 2.08377262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4707140569999 meters Centerline goodness [0,1] 0.9979260500680842 Centerline is valid? [True, True] Translation: X:643.47, Y:-44.66, Z:2.08 [[ 9.88759325e-01 1.49403319e-01 -5.80045937e-03 6.43471010e+02] [-1.49399312e-01 9.88776309e-01 1.12052082e-03 -4.46585726e+01] [ 5.90276634e-03 -2.41340765e-04 9.99982549e-01 2.08475941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.500714057 meters Centerline goodness [0,1] 0.9981966491224391 Centerline is valid? [True, True] Translation: X:643.50, Y:-44.67, Z:2.09 [[ 9.88924623e-01 1.48296242e-01 -6.02615933e-03 6.43498077e+02] [-1.48291899e-01 9.88942950e-01 1.16374101e-03 -4.46650805e+01] [ 6.13210620e-03 -2.57221530e-04 9.99981165e-01 2.08524473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.530714057 meters Centerline goodness [0,1] 0.9981384647563272 Centerline is valid? [True, True] Translation: X:643.53, Y:-44.67, Z:2.09 [[ 9.89093972e-01 1.47165209e-01 -5.95953785e-03 6.43526797e+02] [-1.47160944e-01 9.89111891e-01 1.15036265e-03 -4.46698578e+01] [ 6.06394311e-03 -2.60805545e-04 9.99981580e-01 2.08613912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5607140569999 meters Centerline goodness [0,1] 0.9980555323241616 Centerline is valid? [True, True] Translation: X:643.55, Y:-44.68, Z:2.09 [[ 9.89345315e-01 1.45482526e-01 -5.53916952e-03 6.43554130e+02] [-1.45478817e-01 9.89360789e-01 1.06885838e-03 -4.46770173e+01] [ 5.63573735e-03 -2.51638196e-04 9.99984087e-01 2.08683641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5907140569999 meters Centerline goodness [0,1] 0.9976757820679258 Centerline is valid? [True, True] Translation: X:643.58, Y:-44.68, Z:2.09 [[ 9.89768800e-01 1.42596791e-01 -4.88643022e-03 6.43583906e+02] [-1.42593870e-01 9.89780834e-01 9.42863308e-04 -4.46770565e+01] [ 4.97094426e-03 -2.36441690e-04 9.99987617e-01 2.08777177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.620714057 meters Centerline goodness [0,1] 0.9978098535730675 Centerline is valid? [True, True] Translation: X:643.61, Y:-44.68, Z:2.09 [[ 9.89958894e-01 1.41262887e-01 -5.11714817e-03 6.43611893e+02] [-1.41259667e-01 9.89972087e-01 9.87082490e-04 -4.46833236e+01] [ 5.20527198e-03 -2.54324442e-04 9.99986420e-01 2.08784136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.650714057 meters Centerline goodness [0,1] 0.9977654331300643 Centerline is valid? [True, True] Translation: X:643.64, Y:-44.69, Z:2.09 [[ 9.90123715e-01 1.40067388e-01 -6.01300035e-03 6.43640236e+02] [-1.40062922e-01 9.90141926e-01 1.15950729e-03 -4.46895388e+01] [ 6.11613291e-03 -3.05857266e-04 9.99981250e-01 2.08737841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6807140569999 meters Centerline goodness [0,1] 0.9977617404037235 Centerline is valid? [True, True] Translation: X:643.67, Y:-44.69, Z:2.09 [[ 9.90309919e-01 1.38697892e-01 -7.01138868e-03 6.43669722e+02] [-1.38691789e-01 9.90334671e-01 1.35162889e-03 -4.46928731e+01] [ 7.13108938e-03 -3.66109453e-04 9.99974506e-01 2.08640287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7107140569999 meters Centerline goodness [0,1] 0.9977713769106238 Centerline is valid? [True, True] Translation: X:643.70, Y:-44.70, Z:2.09 [[ 9.90651005e-01 1.36148507e-01 -8.61221824e-03 6.43696546e+02] [-1.36139207e-01 9.90688327e-01 1.65975297e-03 -4.47033676e+01] [ 8.75799697e-03 -4.71775388e-04 9.99961537e-01 2.08580071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.740714057 meters Centerline goodness [0,1] 0.9979223940735766 Centerline is valid? [True, True] Translation: X:643.73, Y:-44.70, Z:2.09 [[ 9.90724454e-01 1.35557880e-01 -9.44024173e-03 6.43726734e+02] [-1.35546686e-01 9.90769291e-01 1.81859588e-03 -4.46999306e+01] [ 9.59962661e-03 -5.22133929e-04 9.99953786e-01 2.08635249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.770714057 meters Centerline goodness [0,1] 0.9980274478532757 Centerline is valid? [True, True] Translation: X:643.75, Y:-44.71, Z:2.09 [[ 9.90759378e-01 1.35292382e-01 -9.58263639e-03 6.43754143e+02] [-1.35280843e-01 9.90805576e-01 1.84522910e-03 -4.47054394e+01] [ 9.74417500e-03 -5.31830907e-04 9.99952383e-01 2.08665189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8007140569999 meters Centerline goodness [0,1] 0.9972907697154259 Centerline is valid? [True, True] Translation: X:643.78, Y:-44.70, Z:2.09 [[ 9.90548439e-01 1.36803665e-01 -9.92710401e-03 6.43783694e+02] [-1.36791367e-01 9.90598037e-01 1.91070584e-03 -4.47040455e+01] [ 1.00951613e-02 -5.34704558e-04 9.99948900e-01 2.08767361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8307140569999 meters Centerline goodness [0,1] 0.9973538862171073 Centerline is valid? [True, True] Translation: X:643.81, Y:-44.71, Z:2.09 [[ 9.90311000e-01 1.38534690e-01 -9.60538975e-03 6.43811226e+02] [-1.38523264e-01 9.90357456e-01 1.84801168e-03 -4.47077553e+01] [ 9.76878308e-03 -4.99536349e-04 9.99952160e-01 2.08829284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.860714057 meters Centerline goodness [0,1] 0.9969199611830725 Centerline is valid? [True, True] Translation: X:643.84, Y:-44.70, Z:2.09 [[ 9.89664599e-01 1.43118641e-01 -9.00195406e-03 6.43842770e+02] [-1.43108799e-01 9.89705448e-01 1.73142161e-03 -4.47048274e+01] [ 9.15708168e-03 -4.25267834e-04 9.99957983e-01 2.08900048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.890714057 meters Centerline goodness [0,1] 0.9967733771985322 Centerline is valid? [True, True] Translation: X:643.87, Y:-44.71, Z:2.09 [[ 9.89262358e-01 1.45903435e-01 -8.49553516e-03 6.43872856e+02] [-1.45894773e-01 9.89298765e-01 1.63386767e-03 -4.47063464e+01] [ 8.64300934e-03 -3.76869613e-04 9.99962577e-01 2.08958553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9207140569999 meters Centerline goodness [0,1] 0.996734693877551 Centerline is valid? [True, True] Translation: X:643.90, Y:-44.71, Z:2.09 [[ 9.88737691e-01 1.49421316e-01 -8.42907368e-03 6.43903417e+02] [-1.49412919e-01 9.88773560e-01 1.62083884e-03 -4.47071067e+01] [ 8.57663306e-03 -3.43171943e-04 9.99963161e-01 2.08948421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9507140569999 meters Centerline goodness [0,1] 0.996467538982484 Centerline is valid? [True, True] Translation: X:643.93, Y:-44.70, Z:2.09 [[ 9.87738717e-01 1.55880274e-01 -8.57716155e-03 6.43934352e+02] [-1.55871823e-01 9.87775913e-01 1.64914369e-03 -4.47039073e+01] [ 8.72938255e-03 -2.91985265e-04 9.99961856e-01 2.08808999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9807140569999 meters Centerline goodness [0,1] 0.996862187264664 Centerline is valid? [True, True] Translation: X:643.96, Y:-44.70, Z:2.09 [[ 9.87277531e-01 1.58782268e-01 -8.44205049e-03 6.43964243e+02] [-1.58774190e-01 9.87313589e-01 1.62281997e-03 -4.47020794e+01] [ 8.59262620e-03 -2.61793965e-04 9.99963048e-01 2.08781814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.010714057 meters Centerline goodness [0,1] 0.996758949481432 Centerline is valid? [True, True] Translation: X:643.99, Y:-44.70, Z:2.09 [[ 9.86764202e-01 1.61934724e-01 -8.57634463e-03 6.43993111e+02] [-1.61926513e-01 9.86801443e-01 1.64799600e-03 -4.47033537e+01] [ 8.73001704e-03 -2.37445886e-04 9.99961864e-01 2.08726206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.040714057 meters Centerline goodness [0,1] 0.9959473574263631 Centerline is valid? [True, True] Translation: X:644.02, Y:-44.71, Z:2.09 [[ 9.86375037e-01 1.64287843e-01 -8.59011677e-03 6.44020770e+02] [-1.64279701e-01 9.86412418e-01 1.64983288e-03 -4.47057801e+01] [ 8.74444533e-03 -2.16172147e-04 9.99961743e-01 2.08694468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0707140569999 meters Centerline goodness [0,1] 0.9954480915392967 Centerline is valid? [True, True] Translation: X:644.05, Y:-44.71, Z:2.09 [[ 9.85927340e-01 1.66965131e-01 -8.36209940e-03 6.44048482e+02] [-1.66957519e-01 9.85962783e-01 1.60509622e-03 -4.47078369e+01] [ 8.51271390e-03 -1.86392877e-04 9.99963749e-01 2.08613151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1007140569999 meters Centerline goodness [0,1] 0.99579639572148 Centerline is valid? [True, True] Translation: X:644.08, Y:-44.71, Z:2.09 [[ 9.85941055e-01 1.66890395e-01 -8.23598732e-03 6.44076307e+02] [-1.66883015e-01 9.85975437e-01 1.58012455e-03 -4.47119645e+01] [ 8.38418881e-03 -1.83463270e-04 9.99964835e-01 2.08603403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.130714057 meters Centerline goodness [0,1] 0.9962756831401431 Centerline is valid? [True, True] Translation: X:644.11, Y:-44.71, Z:2.09 [[ 9.86007137e-01 1.66510644e-01 -8.00821626e-03 6.44105017e+02] [-1.66503660e-01 9.86039641e-01 1.53570060e-03 -4.47143541e+01] [ 8.15212918e-03 -1.80814437e-04 9.99966754e-01 2.08707333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.160714057 meters Centerline goodness [0,1] 0.9959091195166467 Centerline is valid? [True, True] Translation: X:644.13, Y:-44.72, Z:2.09 [[ 9.86195605e-01 1.65394221e-01 -7.93604392e-03 6.44133232e+02] [-1.65387331e-01 9.86227518e-01 1.52129016e-03 -4.47179529e+01] [ 8.07835750e-03 -1.87768543e-04 9.99967352e-01 2.08743388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1907140569999 meters Centerline goodness [0,1] 0.9963359164420486 Centerline is valid? [True, True] Translation: X:644.16, Y:-44.72, Z:2.09 [[ 9.86486961e-01 1.63647226e-01 -7.94107272e-03 6.44162170e+02] [-1.63640275e-01 9.86518902e-01 1.52167020e-03 -4.47222005e+01] [ 8.08303545e-03 -2.01628483e-04 9.99967311e-01 2.08672817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2207140569999 meters Centerline goodness [0,1] 0.9965018017828167 Centerline is valid? [True, True] Translation: X:644.19, Y:-44.73, Z:2.09 [[ 9.86644754e-01 1.62678996e-01 -8.22644083e-03 6.44190657e+02] [-1.62671509e-01 9.86679024e-01 1.57572836e-03 -4.47271305e+01] [ 8.37319453e-03 -2.16476581e-04 9.99964921e-01 2.08687341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.250714057 meters Centerline goodness [0,1] 0.9958883994126285 Centerline is valid? [True, True] Translation: X:644.22, Y:-44.73, Z:2.09 [[ 9.86699830e-01 1.62355804e-01 -8.00238198e-03 6.44217849e+02] [-1.62348714e-01 9.86732257e-01 1.53217893e-03 -4.47329990e+01] [ 8.14496658e-03 -2.12624269e-04 9.99966807e-01 2.08625148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.280714057 meters Centerline goodness [0,1] 0.9951740274934191 Centerline is valid? [True, True] Translation: X:644.25, Y:-44.74, Z:2.09 [[ 9.86683448e-01 1.62489719e-01 -7.27082972e-03 6.44246320e+02] [-1.62483873e-01 9.86710218e-01 1.39152027e-03 -4.47368404e+01] [ 7.40030972e-03 -1.91597442e-04 9.99972599e-01 2.08708112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3107140569999 meters Centerline goodness [0,1] 0.995445152039138 Centerline is valid? [True, True] Translation: X:644.27, Y:-44.74, Z:2.09 [[ 9.86657163e-01 1.62700396e-01 -6.01861584e-03 6.44274711e+02] [-1.62696396e-01 9.86675507e-01 1.15149177e-03 -4.47409253e+01] [ 6.12576900e-03 -1.56920499e-04 9.99981225e-01 2.08826437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3407140569999 meters Centerline goodness [0,1] 0.9959270223173984 Centerline is valid? [True, True] Translation: X:644.30, Y:-44.75, Z:2.09 [[ 9.86647352e-01 1.62777276e-01 -5.52815160e-03 6.44302239e+02] [-1.62773905e-01 9.86662829e-01 1.05727279e-03 -4.47465942e+01] [ 5.62652168e-03 -1.43316577e-04 9.99984161e-01 2.08919369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.370714057 meters Centerline goodness [0,1] 0.9958416917418923 Centerline is valid? [True, True] Translation: X:644.33, Y:-44.75, Z:2.09 [[ 9.86662537e-01 1.62707694e-01 -4.82127072e-03 6.44329860e+02] [-1.62705131e-01 9.86674308e-01 9.21708177e-04 -4.47518294e+01] [ 4.90699296e-03 -1.24969442e-04 9.99987953e-01 2.09015892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.400714057 meters Centerline goodness [0,1] 0.9955902023073064 Centerline is valid? [True, True] Translation: X:644.36, Y:-44.76, Z:2.09 [[ 9.86778457e-01 1.61993752e-01 -5.12838441e-03 6.44357713e+02] [-1.61990846e-01 9.86791774e-01 9.79808622e-04 -4.47573290e+01] [ 5.21937043e-03 -1.36102712e-04 9.99986370e-01 2.08998885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4307140569999 meters Centerline goodness [0,1] 0.9952360057669404 Centerline is valid? [True, True] Translation: X:644.39, Y:-44.76, Z:2.09 [[ 9.86957264e-01 1.60904605e-01 -5.00660055e-03 6.44385153e+02] [-1.60901823e-01 9.86969953e-01 9.56207690e-04 -4.47642311e+01] [ 5.09522253e-03 -1.38164968e-04 9.99987010e-01 2.09035474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4607140569999 meters Centerline goodness [0,1] 0.9950573514077163 Centerline is valid? [True, True] Translation: X:644.41, Y:-44.77, Z:2.09 [[ 9.87172182e-01 1.59572545e-01 -5.26166185e-03 6.44413144e+02] [-1.59569457e-01 9.87186193e-01 1.00418119e-03 -4.47691199e+01] [ 5.35447968e-03 -1.51699216e-04 9.99985653e-01 2.09095857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.490714057 meters Centerline goodness [0,1] 0.9953657104512665 Centerline is valid? [True, True] Translation: X:644.44, Y:-44.78, Z:2.09 [[ 9.87879554e-01 1.55173035e-01 -3.91345599e-03 6.44441885e+02] [-1.55171293e-01 9.87887297e-01 7.46637659e-04 -4.47774158e+01] [ 3.98191149e-03 -1.30332051e-04 9.99992064e-01 2.09187977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.520714057 meters Centerline goodness [0,1] 0.9942704194722094 Centerline is valid? [True, True] Translation: X:644.47, Y:-44.79, Z:2.09 [[ 9.88310204e-01 1.52409356e-01 -3.78531738e-03 6.44468693e+02] [-1.52407706e-01 9.88317444e-01 7.22086087e-04 -4.47902547e+01] [ 3.85114787e-03 -1.36733508e-04 9.99992575e-01 2.09231761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5507140569999 meters Centerline goodness [0,1] 0.9948199515414822 Centerline is valid? [True, True] Translation: X:644.50, Y:-44.79, Z:2.09 [[ 9.88782252e-01 1.49320395e-01 -3.61637427e-03 6.44498859e+02] [-1.49318870e-01 9.88788855e-01 6.89639440e-04 -4.47917443e+01] [ 3.67880781e-03 -1.41910319e-04 9.99993223e-01 2.09235794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5807140569999 meters Centerline goodness [0,1] 0.9941253263707572 Centerline is valid? [True, True] Translation: X:644.53, Y:-44.80, Z:2.09 [[ 9.89992832e-01 1.41061042e-01 -3.99678327e-03 6.44526510e+02] [-1.41059112e-01 9.90000882e-01 7.61965731e-04 -4.48027616e+01] [ 4.06430264e-03 -1.90557913e-04 9.99991723e-01 2.09180816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.610714057 meters Centerline goodness [0,1] 0.9930417702739411 Centerline is valid? [True, True] Translation: X:644.55, Y:-44.81, Z:2.09 [[ 9.90646763e-01 1.36389891e-01 -4.09746082e-03 6.44554001e+02] [-1.36387823e-01 9.90655213e-01 7.81178696e-04 -4.48135041e+01] [ 4.16571580e-03 -2.15028383e-04 9.99991300e-01 2.09157667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.640714057 meters Centerline goodness [0,1] 0.9938821146787056 Centerline is valid? [True, True] Translation: X:644.58, Y:-44.82, Z:2.09 [[ 9.91892104e-01 1.26989440e-01 -4.87199117e-03 6.44583871e+02] [-1.26986405e-01 9.91904023e-01 9.28608118e-04 -4.48204011e+01] [ 4.95047106e-03 -3.02402418e-04 9.99987701e-01 2.09142784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6707140569999 meters Centerline goodness [0,1] 0.9934449034651378 Centerline is valid? [True, True] Translation: X:644.61, Y:-44.83, Z:2.09 [[ 9.92427917e-01 1.22724212e-01 -5.05944579e-03 6.44610844e+02] [-1.22720884e-01 9.92440756e-01 9.64288976e-04 -4.48344651e+01] [ 5.13954181e-03 -3.36087639e-04 9.99986736e-01 2.09162511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7007140569999 meters Centerline goodness [0,1] 0.9924835577826495 Centerline is valid? [True, True] Translation: X:644.64, Y:-44.84, Z:2.09 [[ 9.92824853e-01 1.19473749e-01 -4.98335619e-03 6.44640211e+02] [-1.19470479e-01 9.92837299e-01 9.49801175e-04 -4.48413266e+01] [ 5.06113820e-03 -3.47622261e-04 9.99987132e-01 2.09178967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7307140569999 meters Centerline goodness [0,1] 0.9927416140468648 Centerline is valid? [True, True] Translation: X:644.67, Y:-44.85, Z:2.09 [[ 9.93198911e-01 1.16338223e-01 -4.61960377e-03 6.44669821e+02] [-1.16335379e-01 9.93209597e-01 8.80395366e-04 -4.48457950e+01] [ 4.69065844e-03 -3.36984361e-04 9.99988942e-01 2.09250161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.760714057 meters Centerline goodness [0,1] 0.9918891019023743 Centerline is valid? [True, True] Translation: X:644.70, Y:-44.85, Z:2.09 [[ 9.93529931e-01 1.13521667e-01 -3.33279904e-03 6.44700591e+02] [-1.13520172e-01 9.93535489e-01 6.35086421e-04 -4.48480176e+01] [ 3.38335019e-03 -2.52637448e-04 9.99994245e-01 2.09334695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.790714057 meters Centerline goodness [0,1] 0.9913025165841844 Centerline is valid? [True, True] Translation: X:644.73, Y:-44.85, Z:2.09 [[ 9.93574366e-01 1.13142794e-01 -2.94744171e-03 6.44728812e+02] [-1.13141623e-01 9.93578712e-01 5.61839160e-04 -4.48515167e+01] [ 2.99208339e-03 -2.24750650e-04 9.99995498e-01 2.09356173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8207140569999 meters Centerline goodness [0,1] 0.9904737818243129 Centerline is valid? [True, True] Translation: X:644.76, Y:-44.85, Z:2.09 [[ 9.93477868e-01 1.13998805e-01 -2.44924282e-03 6.44758519e+02] [-1.13997999e-01 9.93480870e-01 4.66757238e-04 -4.48510414e+01] [ 2.48648565e-03 -1.84504206e-04 9.99996892e-01 2.09409237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8507140569999 meters Centerline goodness [0,1] 0.9895330788270336 Centerline is valid? [True, True] Translation: X:644.79, Y:-44.85, Z:2.09 [[ 9.93370733e-01 1.14921179e-01 -2.77662467e-03 6.44787631e+02] [-1.14920147e-01 9.93374592e-01 5.28883393e-04 -4.48531937e+01] [ 2.81900831e-03 -2.06287167e-04 9.99996005e-01 2.09394195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.880714057 meters Centerline goodness [0,1] 0.9887053270397842 Centerline is valid? [True, True] Translation: X:644.82, Y:-44.85, Z:2.09 [[ 9.93217165e-01 1.16251864e-01 -2.27303120e-03 6.44817097e+02] [-1.16251176e-01 9.93219752e-01 4.32864239e-04 -4.48540478e+01] [ 2.30794076e-03 -1.65685642e-04 9.99997323e-01 2.09364962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.910714057 meters Centerline goodness [0,1] 0.9877789697313898 Centerline is valid? [True, True] Translation: X:644.84, Y:-44.86, Z:2.09 [[ 9.93030051e-01 1.17846173e-01 -1.89672904e-03 6.44844512e+02] [-1.17845697e-01 9.93031853e-01 3.61188435e-04 -4.48579145e+01] [ 1.92607703e-03 -1.35149614e-04 9.99998136e-01 2.09386192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9407140569999 meters Centerline goodness [0,1] 0.9877789697313898 Centerline is valid? [True, True] Translation: X:644.87, Y:-44.86, Z:2.09 [[ 9.93038337e-01 1.17776331e-01 -1.89677317e-03 6.44872419e+02] [-1.17775856e-01 9.93040139e-01 3.60956421e-04 -4.48631572e+01] [ 1.92608402e-03 -1.35049481e-04 9.99998136e-01 2.09401835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9707140569999 meters Centerline goodness [0,1] 0.9878043643103884 Centerline is valid? [True, True] Translation: X:644.90, Y:-44.85, Z:2.09 [[ 9.92400458e-01 1.23048323e-01 -6.63550104e-04 6.44904736e+02] [-1.23048266e-01 9.92400679e-01 1.26135247e-04 -4.48543149e+01] [ 6.74028304e-04 -4.35279873e-05 9.99999772e-01 2.09396419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.000714057 meters Centerline goodness [0,1] 0.9858039513037617 Centerline is valid? [True, True] Translation: X:644.93, Y:-44.86, Z:2.09 [[ 9.92053115e-01 1.25819257e-01 -3.63433496e-04 6.44933239e+02] [-1.25819240e-01 9.92053181e-01 6.93689650e-05 -4.48578133e+01] [ 3.69273307e-04 -2.30907714e-05 9.99999932e-01 2.09431686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.030714057 meters Centerline goodness [0,1] 0.9851223669535574 Centerline is valid? [True, True] Translation: X:644.96, Y:-44.86, Z:2.09 [[ 9.91673364e-01 1.28778543e-01 -1.58807258e-04 6.44964157e+02] [-1.28778539e-01 9.91673377e-01 3.04127782e-05 -4.48556025e+01] [ 1.61401443e-04 -9.70857539e-06 9.99999987e-01 2.09393068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0607140569999 meters Centerline goodness [0,1] 0.9834844287752875 Centerline is valid? [True, True] Translation: X:645.00, Y:-44.85, Z:2.09 [[ 9.90959246e-01 1.34162561e-01 4.25155538e-04 6.44996312e+02] [-1.34162539e-01 9.90959337e-01 -8.07596707e-05 -4.48507294e+01] [-4.32146774e-04 2.29895961e-05 9.99999906e-01 2.09369085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0907140569999 meters Centerline goodness [0,1] 0.9835281727224855 Centerline is valid? [True, True] Translation: X:645.03, Y:-44.85, Z:2.09 [[ 9.90682125e-01 1.36194444e-01 1.92837598e-05 6.45026087e+02] [-1.36194444e-01 9.90682125e-01 -2.99313765e-06 -4.48499388e+01] [-1.95117248e-05 3.38907029e-07 1.00000000e+00 2.09360116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.120714057 meters Centerline goodness [0,1] 0.9821067699562143 Centerline is valid? [True, True] Translation: X:645.05, Y:-44.85, Z:2.09 [[ 9.90466269e-01 1.37755474e-01 1.07156184e-05 6.45053764e+02] [-1.37755474e-01 9.90466269e-01 -1.52490323e-06 -4.48523403e+01] [-1.08235223e-05 3.42301228e-08 1.00000000e+00 2.09316817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.150714057 meters Centerline goodness [0,1] 0.9808935981967938 Centerline is valid? [True, True] Translation: X:645.08, Y:-44.85, Z:2.09 [[ 9.90165556e-01 1.39900555e-01 -8.28943454e-05 6.45083754e+02] [-1.39900554e-01 9.90165559e-01 1.60254603e-05 -4.48507311e+01] [ 8.43210967e-05 -4.27089398e-06 9.99999996e-01 2.09192801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1807140569999 meters Centerline goodness [0,1] 0.9798028726675372 Centerline is valid? [True, True] Translation: X:645.11, Y:-44.85, Z:2.09 [[ 9.90103468e-01 1.40337718e-01 -6.68891151e-04 6.45111798e+02] [-1.40337664e-01 9.90103694e-01 1.27332921e-04 -4.48540584e+01] [ 6.80141210e-04 -3.22021458e-05 9.99999768e-01 2.09162887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2107140569999 meters Centerline goodness [0,1] 0.9798507777262572 Centerline is valid? [True, True] Translation: X:645.14, Y:-44.86, Z:2.09 [[ 9.90038994e-01 1.40788960e-01 -1.12206189e-03 6.45140977e+02] [-1.40788808e-01 9.90039629e-01 2.13088687e-04 -4.48555459e+01] [ 1.14088627e-03 -5.29923524e-05 9.99999348e-01 2.09068758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.240714057 meters Centerline goodness [0,1] 0.9787714448500707 Centerline is valid? [True, True] Translation: X:645.17, Y:-44.86, Z:2.09 [[ 9.89940639e-01 1.41464670e-01 -2.29740529e-03 6.45168800e+02] [-1.41464039e-01 9.89943299e-01 4.35761467e-04 -4.48563704e+01] [ 2.33594583e-03 -1.06377753e-04 9.99997266e-01 2.08930361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.270714057 meters Centerline goodness [0,1] 0.9799911446583314 Centerline is valid? [True, True] Translation: X:645.20, Y:-44.86, Z:2.09 [[ 9.89832068e-01 1.42211143e-01 -2.90997482e-03 6.45197889e+02] [-1.42210135e-01 9.89836337e-01 5.51508589e-04 -4.48572272e+01] [ 2.95882948e-03 -1.32072974e-04 9.99995614e-01 2.08955107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3007140569999 meters Centerline goodness [0,1] 0.9781182536521976 Centerline is valid? [True, True] Translation: X:645.22, Y:-44.86, Z:2.09 [[ 9.89677015e-01 1.43287036e-01 -2.86891983e-03 6.45224962e+02] [-1.43286061e-01 9.89681165e-01 5.43564204e-04 -4.48627516e+01] [ 2.91720163e-03 -1.26876776e-04 9.99995737e-01 2.08943073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3307140569999 meters Centerline goodness [0,1] 0.9785064059339177 Centerline is valid? [True, True] Translation: X:645.25, Y:-44.86, Z:2.09 [[ 9.89300089e-01 1.45861853e-01 -3.10708167e-03 6.45254606e+02] [-1.45860723e-01 9.89304960e-01 5.88312595e-04 -4.48602830e+01] [ 3.15966367e-03 -1.28816523e-04 9.99995000e-01 2.08970187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.360714057 meters Centerline goodness [0,1] 0.9788084766093562 Centerline is valid? [True, True] Translation: X:645.28, Y:-44.86, Z:2.09 [[ 9.89036604e-01 1.47634584e-01 -3.25971431e-03 6.45283069e+02] [-1.47633351e-01 9.89041967e-01 6.16954615e-04 -4.48633244e+01] [ 3.31507809e-03 -1.28948151e-04 9.99994497e-01 2.08995162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.390714057 meters Centerline goodness [0,1] 0.9793803576317951 Centerline is valid? [True, True] Translation: X:645.31, Y:-44.87, Z:2.09 [[ 9.88844214e-01 1.48919862e-01 -3.16153357e-03 6.45312283e+02] [-1.48918708e-01 9.88849261e-01 5.98571397e-04 -4.48657094e+01] [ 3.21541931e-03 -1.21082366e-04 9.99994823e-01 2.08973276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4207140569999 meters Centerline goodness [0,1] 0.9789981136030182 Centerline is valid? [True, True] Translation: X:645.34, Y:-44.87, Z:2.09 [[ 9.88606165e-01 1.50486281e-01 -3.42497076e-03 6.45340105e+02] [-1.50484942e-01 9.88612090e-01 6.47107781e-04 -4.48698024e+01] [ 3.48334835e-03 -1.24328216e-04 9.99993925e-01 2.08997209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4507140569999 meters Centerline goodness [0,1] 0.9798568722374237 Centerline is valid? [True, True] Translation: X:645.37, Y:-44.87, Z:2.09 [[ 9.88369217e-01 1.52039536e-01 -3.20476126e-03 6.45368801e+02] [-1.52038371e-01 9.88374406e-01 6.05618829e-04 -4.48708676e+01] [ 3.25958202e-03 -1.11328326e-04 9.99994681e-01 2.09027638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4807140569999 meters Centerline goodness [0,1] 0.9788928713659897 Centerline is valid? [True, True] Translation: X:645.40, Y:-44.88, Z:2.09 [[ 9.88339475e-01 1.52230104e-01 -3.32823696e-03 6.45397476e+02] [-1.52228851e-01 9.88345073e-01 6.28016511e-04 -4.48757214e+01] [ 3.38504961e-03 -1.14039819e-04 9.99994264e-01 2.09004569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.510714057 meters Centerline goodness [0,1] 0.9788152547012867 Centerline is valid? [True, True] Translation: X:645.43, Y:-44.88, Z:2.09 [[ 9.88433038e-01 1.51627372e-01 -3.04455832e-03 6.45425498e+02] [-1.51626323e-01 9.88437721e-01 5.73806859e-04 -4.48814281e+01] [ 3.09636112e-03 -1.05534473e-04 9.99995201e-01 2.09012626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.540714057 meters Centerline goodness [0,1] 0.9790133551376397 Centerline is valid? [True, True] Translation: X:645.45, Y:-44.89, Z:2.09 [[ 9.88629699e-01 1.50320189e-01 -3.89347983e-03 6.45453749e+02] [-1.50318469e-01 9.88637356e-01 7.32399153e-04 -4.48875674e+01] [ 3.95933399e-03 -1.38809626e-04 9.99992152e-01 2.08961504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5707140569999 meters Centerline goodness [0,1] 0.9793009054537798 Centerline is valid? [True, True] Translation: X:645.48, Y:-44.89, Z:2.09 [[ 9.88934033e-01 1.48291114e-01 -4.38459042e-03 6.45482000e+02] [-1.48288918e-01 9.88943739e-01 8.23460719e-04 -4.48939721e+01] [ 4.45822515e-03 -1.64162159e-04 9.99990049e-01 2.08913999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6007140569999 meters Centerline goodness [0,1] 0.9782200763246115 Centerline is valid? [True, True] Translation: X:645.51, Y:-44.90, Z:2.09 [[ 9.89338470e-01 1.45526758e-01 -5.59943728e-03 6.45509313e+02] [-1.45523144e-01 9.89354291e-01 1.04980999e-03 -4.49030277e+01] [ 5.69260274e-03 -2.23769699e-04 9.99983772e-01 2.08856800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.630714057 meters Centerline goodness [0,1] 0.977404804363789 Centerline is valid? [True, True] Translation: X:645.54, Y:-44.91, Z:2.09 [[ 9.89576264e-01 1.43881722e-01 -6.07187360e-03 6.45536601e+02] [-1.43877444e-01 9.89594860e-01 1.13786446e-03 -4.49101229e+01] [ 6.17241280e-03 -2.52398008e-04 9.99980919e-01 2.08875412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.660714057 meters Centerline goodness [0,1] 0.9776391494025164 Centerline is valid? [True, True] Translation: X:645.56, Y:-44.92, Z:2.09 [[ 9.89854121e-01 1.41960335e-01 -6.00691471e-03 6.45564153e+02] [-1.41956116e-01 9.89872313e-01 1.12512850e-03 -4.49162674e+01] [ 6.10580217e-03 -2.60994800e-04 9.99981325e-01 2.08939492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6907140569999 meters Centerline goodness [0,1] 0.9771247985600972 Centerline is valid? [True, True] Translation: X:645.59, Y:-44.92, Z:2.09 [[ 9.90112080e-01 1.40152911e-01 -5.93549083e-03 6.45590620e+02] [-1.40148764e-01 9.90129835e-01 1.11097366e-03 -4.49242641e+01] [ 6.03261275e-03 -2.68136732e-04 9.99981768e-01 2.08997905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7207140569999 meters Centerline goodness [0,1] 0.9760180233292627 Centerline is valid? [True, True] Translation: X:645.62, Y:-44.93, Z:2.09 [[ 9.90592209e-01 1.36746539e-01 -5.24012934e-03 6.45619464e+02] [-1.36743262e-01 9.90606036e-01 9.80396628e-04 -4.49319015e+01] [ 5.32496960e-03 -2.54620885e-04 9.99985790e-01 2.09199186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.750714057 meters Centerline goodness [0,1] 0.9774580234689363 Centerline is valid? [True, True] Translation: X:645.65, Y:-44.93, Z:2.09 [[ 9.90714502e-01 1.35867379e-01 -4.98313575e-03 6.45648094e+02] [-1.35864405e-01 9.90727003e-01 9.32167888e-04 -4.49345333e+01] [ 5.06357836e-03 -2.46481473e-04 9.99987150e-01 2.09309393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.780714057 meters Centerline goodness [0,1] 0.977289469806992 Centerline is valid? [True, True] Translation: X:645.68, Y:-44.94, Z:2.09 [[ 9.90989090e-01 1.33886767e-01 -3.86751293e-03 6.45676388e+02] [-1.33884961e-01 9.90996617e-01 7.23245387e-04 -4.49421001e+01] [ 3.92952522e-03 -1.98926469e-04 9.99992260e-01 2.09434063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8107140569999 meters Centerline goodness [0,1] 0.9769621159475225 Centerline is valid? [True, True] Translation: X:645.70, Y:-44.95, Z:2.09 [[ 9.91139255e-01 1.32776827e-01 -3.64570859e-03 6.45702991e+02] [-1.32775215e-01 9.91145942e-01 6.81643930e-04 -4.49494920e+01] [ 3.70393579e-03 -1.91544315e-04 9.99993122e-01 2.09483027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8407140569999 meters Centerline goodness [0,1] 0.9776122534620226 Centerline is valid? [True, True] Translation: X:645.73, Y:-44.96, Z:2.09 [[ 9.91225564e-01 1.32127458e-01 -3.77054716e-03 6.45730746e+02] [-1.32125731e-01 9.91232715e-01 7.04585782e-04 -4.49554870e+01] [ 3.83058483e-03 -2.00217139e-04 9.99992643e-01 2.09493198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.870714057 meters Centerline goodness [0,1] 0.9774893232070351 Centerline is valid? [True, True] Translation: X:645.76, Y:-44.96, Z:2.09 [[ 9.91580151e-01 1.29406569e-01 -4.76910401e-03 6.45759648e+02] [-1.29403777e-01 9.91591584e-01 8.90709042e-04 -4.49610914e+01] [ 4.84426700e-03 -2.66069333e-04 9.99988231e-01 2.09449961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.900714057 meters Centerline goodness [0,1] 0.9772990502663887 Centerline is valid? [True, True] Translation: X:645.79, Y:-44.97, Z:2.09 [[ 9.91783336e-01 1.27799037e-01 -5.76378702e-03 6.45787437e+02] [-1.27794934e-01 9.91800029e-01 1.07609042e-03 -4.49696691e+01] [ 5.85404745e-03 -3.30665767e-04 9.99982810e-01 2.09417735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9307140569999 meters Centerline goodness [0,1] 0.9775770657390138 Centerline is valid? [True, True] Translation: X:645.81, Y:-44.98, Z:2.09 [[ 9.91968442e-01 1.26327407e-01 -6.32427000e-03 6.45814981e+02] [-1.26322440e-01 9.91988532e-01 1.18031176e-03 -4.49763382e+01] [ 6.42270904e-03 -3.71934796e-04 9.99979305e-01 2.09397282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9607140569999 meters Centerline goodness [0,1] 0.9772540940528496 Centerline is valid? [True, True] Translation: X:645.84, Y:-44.98, Z:2.09 [[ 9.92474703e-01 1.22275045e-01 -6.54038030e-03 6.45844301e+02] [-1.22269649e-01 9.92496168e-01 1.22010581e-03 -4.49838987e+01] [ 6.64049088e-03 -4.11234147e-04 9.99977867e-01 2.09416963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.990714057 meters Centerline goodness [0,1] 0.9762965453475666 Centerline is valid? [True, True] Translation: X:645.87, Y:-44.99, Z:2.09 [[ 9.92802414e-01 1.19586123e-01 -6.52116441e-03 6.45873671e+02] [-1.19580702e-01 9.92823739e-01 1.21640299e-03 -4.49919212e+01] [ 6.61983175e-03 -4.27842401e-04 9.99977997e-01 2.09484936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.020714057 meters Centerline goodness [0,1] 0.9761534255793414 Centerline is valid? [True, True] Translation: X:645.90, Y:-45.00, Z:2.10 [[ 9.93141484e-01 1.16744030e-01 -6.38932454e-03 6.45902897e+02] [-1.16738768e-01 9.93161940e-01 1.19169380e-03 -4.49988425e+01] [ 6.48475709e-03 -4.37638678e-04 9.99978878e-01 2.09539314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0507140569999 meters Centerline goodness [0,1] 0.9746165160748056 Centerline is valid? [True, True] Translation: X:645.93, Y:-45.01, Z:2.10 [[ 9.93839532e-01 1.10684402e-01 -5.65230507e-03 6.45929923e+02] [-1.10680187e-01 9.93855515e-01 1.05414166e-03 -4.50117985e+01] [ 5.73425161e-03 -4.22049468e-04 9.99983470e-01 2.09613892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0807140569999 meters Centerline goodness [0,1] 0.9742458616922948 Centerline is valid? [True, True] Translation: X:645.96, Y:-45.01, Z:2.10 [[ 9.94227785e-01 1.07137437e-01 -5.71669285e-03 6.45960115e+02] [-1.07133067e-01 9.94244120e-01 1.06617432e-03 -4.50146985e+01] [ 5.79801543e-03 -4.47573298e-04 9.99983091e-01 2.09615910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.110714057 meters Centerline goodness [0,1] 0.9744347971981041 Centerline is valid? [True, True] Translation: X:645.99, Y:-45.02, Z:2.10 [[ 9.94533102e-01 1.04249414e-01 -5.99737374e-03 6.45988106e+02] [-1.04244553e-01 9.94551066e-01 1.11848338e-03 -4.50237759e+01] [ 6.08129569e-03 -4.87175203e-04 9.99981390e-01 2.09596162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.140714057 meters Centerline goodness [0,1] 0.9744041994750656 Centerline is valid? [True, True] Translation: X:646.02, Y:-45.03, Z:2.10 [[ 9.95018663e-01 9.94589872e-02 -6.76539854e-03 6.46017777e+02] [-9.94526912e-02 9.95041492e-01 1.26160116e-03 -4.50313117e+01] [ 6.85732983e-03 -5.82479610e-04 9.99976319e-01 2.09528410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1707140569999 meters Centerline goodness [0,1] 0.9734386820206775 Centerline is valid? [True, True] Translation: X:646.05, Y:-45.04, Z:2.10 [[ 9.95236857e-01 9.72202680e-02 -7.19843624e-03 6.46047402e+02] [-9.72130822e-02 9.95262686e-01 1.34232853e-03 -4.50358177e+01] [ 7.29483653e-03 -6.36152656e-04 9.99973190e-01 2.09522250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2007140569999 meters Centerline goodness [0,1] 0.9731024628057493 Centerline is valid? [True, True] Translation: X:646.07, Y:-45.04, Z:2.10 [[ 9.95410079e-01 9.54271984e-02 -7.24052904e-03 6.46074690e+02] [-9.54198831e-02 9.95436198e-01 1.34992137e-03 -4.50421494e+01] [ 7.33630391e-03 -6.52834904e-04 9.99972876e-01 2.09534643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2307140569999 meters Centerline goodness [0,1] 0.9703632083403396 Centerline is valid? [True, True] Translation: X:646.10, Y:-45.05, Z:2.09 [[ 9.95705282e-01 9.22828756e-02 -7.40686787e-03 6.46103353e+02] [-9.22751379e-02 9.95732591e-01 1.38042222e-03 -4.50491503e+01] [ 7.50264907e-03 -6.91023945e-04 9.99971616e-01 2.09487075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.260714057 meters Centerline goodness [0,1] 0.9720487096977727 Centerline is valid? [True, True] Translation: X:646.13, Y:-45.05, Z:2.10 [[ 9.95850065e-01 9.07070715e-02 -7.40779391e-03 6.46133463e+02] [-9.06992904e-02 9.95877369e-01 1.38036980e-03 -4.50461926e+01] [ 7.50246361e-03 -7.02759707e-04 9.99971609e-01 2.09500659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.290714057 meters Centerline goodness [0,1] 0.9698817986791739 Centerline is valid? [True, True] Translation: X:646.16, Y:-45.05, Z:2.10 [[ 9.95998804e-01 8.90602108e-02 -7.39336252e-03 6.46160616e+02] [-8.90524185e-02 9.96025989e-01 1.37720231e-03 -4.50543745e+01] [ 7.48663514e-03 -7.13295044e-04 9.99971720e-01 2.09516676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3207140569999 meters Centerline goodness [0,1] 0.9629800920767727 Centerline is valid? [True, True] Translation: X:646.19, Y:-45.06, Z:2.10 [[ 9.96255716e-01 8.61428121e-02 -7.34607231e-03 6.46188914e+02] [-8.61350444e-02 9.96282532e-01 1.36789333e-03 -4.50628653e+01] [ 7.43659770e-03 -7.30017282e-04 9.99972082e-01 2.09530674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3507140569999 meters Centerline goodness [0,1] 0.9698625530662855 Centerline is valid? [True, True] Translation: X:646.22, Y:-45.06, Z:2.10 [[ 9.96339946e-01 8.52364084e-02 -6.43949302e-03 6.46219400e+02] [-8.52304221e-02 9.96360546e-01 1.19890158e-03 -4.50559855e+01] [ 6.51824685e-03 -6.45672824e-04 9.99978548e-01 2.09605233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.380714057 meters Centerline goodness [0,1] 0.9684549220836576 Centerline is valid? [True, True] Translation: X:646.25, Y:-45.06, Z:2.10 [[ 9.96335317e-01 8.53249086e-02 -5.96622472e-03 6.46246174e+02] [-8.53197741e-02 9.96353001e-01 1.11035212e-03 -4.50620711e+01] [ 6.03920660e-03 -5.97246087e-04 9.99981585e-01 2.09644023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.410714057 meters Centerline goodness [0,1] 0.9669140058436508 Centerline is valid? [True, True] Translation: X:646.28, Y:-45.06, Z:2.10 [[ 9.96241924e-01 8.64629337e-02 -5.11754209e-03 6.46275607e+02] [-8.64591731e-02 9.96254940e-01 9.51987520e-04 -4.50609638e+01] [ 5.18068822e-03 -5.05951421e-04 9.99986452e-01 2.09631149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4407140569999 meters Centerline goodness [0,1] 0.9666946837570918 Centerline is valid? [True, True] Translation: X:646.31, Y:-45.06, Z:2.10 [[ 9.96142086e-01 8.76083914e-02 -5.07100586e-03 6.46305366e+02] [-8.76047155e-02 9.96154870e-01 9.42951596e-04 -4.50620869e+01] [ 5.13411765e-03 -4.95069743e-04 9.99986698e-01 2.09610722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4707140569999 meters Centerline goodness [0,1] 0.966025438873121 Centerline is valid? [True, True] Translation: X:646.34, Y:-45.06, Z:2.10 [[ 9.96000225e-01 8.91547634e-02 -5.91437594e-03 6.46335924e+02] [-8.91497923e-02 9.96017623e-01 1.09941523e-03 -4.50638484e+01] [ 5.98884077e-03 -5.67752432e-04 9.99981906e-01 2.09556958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.500714057 meters Centerline goodness [0,1] 0.9661031223024612 Centerline is valid? [True, True] Translation: X:646.37, Y:-45.06, Z:2.09 [[ 9.95680827e-01 9.25791048e-02 -6.98563803e-03 6.46367942e+02] [-9.25722541e-02 9.95705123e-01 1.29842665e-03 -4.50593360e+01] [ 7.07584275e-03 -6.46142263e-04 9.99974757e-01 2.09390959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.530714057 meters Centerline goodness [0,1] 0.9664026625100055 Centerline is valid? [True, True] Translation: X:646.40, Y:-45.06, Z:2.09 [[ 9.95534226e-01 9.41183206e-02 -7.30392322e-03 6.46397954e+02] [-9.41108732e-02 9.95560797e-01 1.35749782e-03 -4.50602948e+01] [ 7.39926504e-03 -6.64056950e-04 9.99972405e-01 2.09367402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5607140569999 meters Centerline goodness [0,1] 0.9662805608694738 Centerline is valid? [True, True] Translation: X:646.43, Y:-45.06, Z:2.09 [[ 9.95418674e-01 9.52807869e-02 -7.95199354e-03 6.46426859e+02] [-9.52719992e-02 9.95450181e-01 1.47753917e-03 -4.50608640e+01] [ 8.05659451e-03 -7.13167758e-04 9.99967291e-01 2.09306470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5907140569999 meters Centerline goodness [0,1] 0.9662078124670616 Centerline is valid? [True, True] Translation: X:646.45, Y:-45.06, Z:2.09 [[ 9.95322611e-01 9.63458992e-02 -7.09697181e-03 6.46454701e+02] [-9.63389303e-02 9.95347715e-01 1.31815477e-03 -4.50633847e+01] [ 7.19095348e-03 -6.28274574e-04 9.99973947e-01 2.09321996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.620714057 meters Centerline goodness [0,1] 0.9668910506657663 Centerline is valid? [True, True] Translation: X:646.49, Y:-45.06, Z:2.09 [[ 9.95098064e-01 9.86102923e-02 -7.47344306e-03 6.46485967e+02] [-9.86026323e-02 9.95125920e-01 1.38747590e-03 -4.50576189e+01] [ 7.57383630e-03 -6.43773420e-04 9.99971111e-01 2.09407848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.650714057 meters Centerline goodness [0,1] 0.9660866627248923 Centerline is valid? [True, True] Translation: X:646.51, Y:-45.06, Z:2.09 [[ 9.94950192e-01 1.00119113e-01 -7.09074204e-03 6.46514169e+02] [-1.00112258e-01 9.94975278e-01 1.31615845e-03 -4.50626860e+01] [ 7.18688565e-03 -5.99641913e-04 9.99973994e-01 2.09472483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6807140569999 meters Centerline goodness [0,1] 0.9674659699102364 Centerline is valid? [True, True] Translation: X:646.55, Y:-45.06, Z:2.10 [[ 9.94583944e-01 1.03784766e-01 -5.61261923e-03 6.46546436e+02] [-1.03780530e-01 9.94599677e-01 1.04160121e-03 -4.50558992e+01] [ 5.69041161e-03 -4.53479246e-04 9.99983707e-01 2.09643907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7107140569999 meters Centerline goodness [0,1] 0.9677392040643522 Centerline is valid? [True, True] Translation: X:646.58, Y:-45.06, Z:2.10 [[ 9.94392392e-01 1.05646643e-01 -4.74956940e-03 6.46576864e+02] [-1.05643631e-01 9.94403664e-01 8.81448796e-04 -4.50562460e+01] [ 4.81611132e-03 -3.74744222e-04 9.99988332e-01 2.09720348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.740714057 meters Centerline goodness [0,1] 0.9680790182072532 Centerline is valid? [True, True] Translation: X:646.61, Y:-45.06, Z:2.10 [[ 9.94131628e-01 1.08127415e-01 -3.28141670e-03 6.46607071e+02] [-1.08125991e-01 9.94137012e-01 6.08842701e-04 -4.50572965e+01] [ 3.32801038e-03 -2.50463354e-04 9.99994431e-01 2.09785314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.770714057 meters Centerline goodness [0,1] 0.971514020277436 Centerline is valid? [True, True] Translation: X:646.64, Y:-45.05, Z:2.10 [[ 9.93706536e-01 1.11963978e-01 -3.37456191e-03 6.46639162e+02] [-1.11962494e-01 9.93712236e-01 6.26033238e-04 -4.50500602e+01] [ 3.42343664e-03 -2.44268953e-04 9.99994110e-01 2.09744955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8007140569999 meters Centerline goodness [0,1] 0.971807663729965 Centerline is valid? [True, True] Translation: X:646.67, Y:-45.06, Z:2.10 [[ 9.93470832e-01 1.14044462e-01 -3.09309039e-03 6.46667760e+02] [-1.14043225e-01 9.93475623e-01 5.73878526e-04 -4.50563973e+01] [ 3.13835757e-03 -2.17385573e-04 9.99995052e-01 2.09710854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8307140569999 meters Centerline goodness [0,1] 0.971807663729965 Centerline is valid? [True, True] Translation: X:646.69, Y:-45.06, Z:2.10 [[ 9.93503034e-01 1.13763588e-01 -3.09300522e-03 6.46694810e+02] [-1.13762348e-01 9.93507825e-01 5.74338306e-04 -4.50613318e+01] [ 3.13826367e-03 -2.18739314e-04 9.99995052e-01 2.09726003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.860714057 meters Centerline goodness [0,1] 0.9733237507398326 Centerline is valid? [True, True] Translation: X:646.73, Y:-45.06, Z:2.10 [[ 9.93270263e-01 1.15756980e-01 -3.80857759e-03 6.46725014e+02] [-1.15755123e-01 9.93277531e-01 7.05342892e-04 -4.50623876e+01] [ 3.86462291e-03 -2.59733753e-04 9.99992499e-01 2.09682584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.890714057 meters Centerline goodness [0,1] 0.9752768861206181 Centerline is valid? [True, True] Translation: X:646.76, Y:-45.06, Z:2.10 [[ 9.92921925e-01 1.18693999e-01 -4.21721983e-03 6.46755662e+02] [-1.18691749e-01 9.92930843e-01 7.80744777e-04 -4.50603633e+01] [ 4.28007736e-03 -2.74669409e-04 9.99990803e-01 2.09652861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9207140569999 meters Centerline goodness [0,1] 0.9752108248189137 Centerline is valid? [True, True] Translation: X:646.78, Y:-45.06, Z:2.10 [[ 9.92823870e-01 1.19503352e-01 -4.43993136e-03 6.46783108e+02] [-1.19500866e-01 9.92833756e-01 8.21959980e-04 -4.50648590e+01] [ 4.50634070e-03 -2.85485846e-04 9.99989806e-01 2.09633865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9507140569999 meters Centerline goodness [0,1] 0.9748593829896028 Centerline is valid? [True, True] Translation: X:646.81, Y:-45.07, Z:2.10 [[ 9.92776783e-01 1.19873388e-01 -4.96278773e-03 6.46811691e+02] [-1.19870289e-01 9.92789137e-01 9.18314468e-04 -4.50667861e+01] [ 5.03708322e-03 -3.16790485e-04 9.99987264e-01 2.09596870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9807140569999 meters Centerline goodness [0,1] 0.9758026691681235 Centerline is valid? [True, True] Translation: X:646.84, Y:-45.07, Z:2.10 [[ 9.92848904e-01 1.19269317e-01 -5.08764501e-03 6.46840070e+02] [-1.19266059e-01 9.92861885e-01 9.40097433e-04 -4.50705466e+01] [ 5.16345359e-03 -3.26591336e-04 9.99986616e-01 2.09590548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.010714057 meters Centerline goodness [0,1] 0.9745908791045094 Centerline is valid? [True, True] Translation: X:646.87, Y:-45.08, Z:2.10 [[ 9.92973753e-01 1.18206075e-01 -5.51809264e-03 6.46866745e+02] [-1.18202234e-01 9.92989021e-01 1.01813731e-03 -4.50771244e+01] [ 5.59975542e-03 -3.58732749e-04 9.99984257e-01 2.09625118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.040714057 meters Centerline goodness [0,1] 0.9760825619746781 Centerline is valid? [True, True] Translation: X:646.90, Y:-45.08, Z:2.10 [[ 9.93133108e-01 1.16861998e-01 -5.46833291e-03 6.46896292e+02] [-1.16858210e-01 9.93148097e-01 1.00836521e-03 -4.50770846e+01] [ 5.54870400e-03 -3.62421275e-04 9.99984540e-01 2.09640856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0707140569999 meters Centerline goodness [0,1] 0.9725788252325903 Centerline is valid? [True, True] Translation: X:646.92, Y:-45.09, Z:2.10 [[ 9.93442391e-01 1.14189047e-01 -5.75121115e-03 6.46923836e+02] [-1.14184821e-01 9.93458960e-01 1.05904924e-03 -4.50892664e+01] [ 5.83452407e-03 -3.95403395e-04 9.99982901e-01 2.09664901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1007140569999 meters Centerline goodness [0,1] 0.9730224245776775 Centerline is valid? [True, True] Translation: X:646.95, Y:-45.09, Z:2.10 [[ 9.93600721e-01 1.12793736e-01 -5.93139081e-03 6.46952027e+02] [-1.12789216e-01 9.93618337e-01 1.09204594e-03 -4.50948782e+01] [ 6.01671462e-03 -4.16060715e-04 9.99981813e-01 2.09680959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.130714057 meters Centerline goodness [0,1] 0.975749568478701 Centerline is valid? [True, True] Translation: X:646.98, Y:-45.09, Z:2.10 [[ 9.93738752e-01 1.11556028e-01 -6.20857025e-03 6.46982003e+02] [-1.11551062e-01 9.93758048e-01 1.14149874e-03 -4.50926760e+01] [ 6.29715771e-03 -4.41778926e-04 9.99980075e-01 2.09706068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.160714057 meters Centerline goodness [0,1] 0.97697452500639 Centerline is valid? [True, True] Translation: X:647.01, Y:-45.09, Z:2.10 [[ 9.93762730e-01 1.11332098e-01 -6.38758262e-03 6.47010727e+02] [-1.11326848e-01 9.93783154e-01 1.17269495e-03 -4.50930581e+01] [ 6.47843060e-03 -4.54271092e-04 9.99978912e-01 2.09731924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1907140569999 meters Centerline goodness [0,1] 0.977222317010749 Centerline is valid? [True, True] Translation: X:647.04, Y:-45.10, Z:2.10 [[ 9.93754530e-01 1.11401188e-01 -6.45828606e-03 6.47038855e+02] [-1.11395836e-01 9.93775410e-01 1.18375435e-03 -4.50975249e+01] [ 6.54995752e-03 -4.56935079e-04 9.99978444e-01 2.09773034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2207140569999 meters Centerline goodness [0,1] 0.9769951053415621 Centerline is valid? [True, True] Translation: X:647.07, Y:-45.10, Z:2.10 [[ 9.93658472e-01 1.12276703e-01 -6.06484426e-03 6.47066112e+02] [-1.12272008e-01 9.93676891e-01 1.11024681e-03 -4.51030524e+01] [ 6.15115044e-03 -4.22293904e-04 9.99980992e-01 2.09902558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.250714057 meters Centerline goodness [0,1] 0.9757193669996379 Centerline is valid? [True, True] Translation: X:647.09, Y:-45.11, Z:2.10 [[ 9.93597406e-01 1.12834823e-01 -5.70067722e-03 6.47093238e+02] [-1.12830687e-01 9.93613681e-01 1.04308384e-03 -4.51088774e+01] [ 5.78196706e-03 -3.93194073e-04 9.99983207e-01 2.09989852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.280714057 meters Centerline goodness [0,1] 0.976857179388825 Centerline is valid? [True, True] Translation: X:647.12, Y:-45.11, Z:2.10 [[ 9.93435790e-01 1.14308119e-01 -4.35711101e-03 6.47122618e+02] [-1.14305718e-01 9.93445302e-01 7.97118811e-04 -4.51102945e+01] [ 4.41966861e-03 -2.93843656e-04 9.99990190e-01 2.10189895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3107140569999 meters Centerline goodness [0,1] 0.9771574685702109 Centerline is valid? [True, True] Translation: X:647.15, Y:-45.11, Z:2.10 [[ 9.93370593e-01 1.14893653e-01 -3.78336263e-03 6.47152133e+02] [-1.14891849e-01 9.93377765e-01 6.91478396e-04 -4.51101952e+01] [ 3.83775479e-03 -2.52216777e-04 9.99992604e-01 2.10283525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3407140569999 meters Centerline goodness [0,1] 0.977559189235224 Centerline is valid? [True, True] Translation: X:647.18, Y:-45.12, Z:2.10 [[ 9.93283989e-01 1.15646695e-01 -3.57208581e-03 6.47178821e+02] [-1.15645096e-01 9.93290384e-01 6.51702877e-04 -4.51176573e+01] [ 3.62348577e-03 -2.34231828e-04 9.99993408e-01 2.10295874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.370714057 meters Centerline goodness [0,1] 0.9788549260348723 Centerline is valid? [True, True] Translation: X:647.21, Y:-45.12, Z:2.10 [[ 9.93259189e-01 1.15869746e-01 -3.22256410e-03 6.47207677e+02] [-1.15868446e-01 9.93264395e-01 5.88054693e-04 -4.51179381e+01] [ 3.26899593e-03 -2.10697234e-04 9.99994635e-01 2.10336143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.400714057 meters Centerline goodness [0,1] 0.977698654670277 Centerline is valid? [True, True] Translation: X:647.23, Y:-45.13, Z:2.10 [[ 9.93227550e-01 1.16148871e-01 -2.91088077e-03 6.47234284e+02] [-1.16147814e-01 9.93231798e-01 5.30250829e-04 -4.51259396e+01] [ 2.95276737e-03 -1.88567296e-04 9.99995623e-01 2.10412084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4307140569999 meters Centerline goodness [0,1] 0.979033495269752 Centerline is valid? [True, True] Translation: X:647.26, Y:-45.13, Z:2.10 [[ 9.93241370e-01 1.16028448e-01 -2.99677388e-03 6.47262151e+02] [-1.16027327e-01 9.93245872e-01 5.45848978e-04 -4.51269840e+01] [ 3.03986729e-03 -1.94452124e-04 9.99995361e-01 2.10379635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4607140569999 meters Centerline goodness [0,1] 0.9787397213582719 Centerline is valid? [True, True] Translation: X:647.29, Y:-45.13, Z:2.10 [[ 9.93295964e-01 1.15540087e-01 -3.68992409e-03 6.47290611e+02] [-1.15538390e-01 9.93302789e-01 6.70588811e-04 -4.51304102e+01] [ 3.74269178e-03 -2.39765270e-04 9.99992967e-01 2.10316940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.490714057 meters Centerline goodness [0,1] 0.9802543578419924 Centerline is valid? [True, True] Translation: X:647.32, Y:-45.13, Z:2.10 [[ 9.93294342e-01 1.15504524e-01 -5.00541540e-03 6.47318909e+02] [-1.15501410e-01 9.93306901e-01 9.07857267e-04 -4.51347801e+01] [ 5.07677529e-03 -3.23636950e-04 9.99987061e-01 2.10202603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.520714057 meters Centerline goodness [0,1] 0.9783656397953334 Centerline is valid? [True, True] Translation: X:647.35, Y:-45.14, Z:2.10 [[ 9.93291349e-01 1.15528234e-01 -5.05213335e-03 6.47345142e+02] [-1.15525069e-01 9.93304143e-01 9.14945024e-04 -4.51444209e+01] [ 5.12400697e-03 -3.25158924e-04 9.99986819e-01 2.10205579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5507140569999 meters Centerline goodness [0,1] 0.9809418235306657 Centerline is valid? [True, True] Translation: X:647.38, Y:-45.14, Z:2.10 [[ 9.93202024e-01 1.16289553e-01 -5.14588905e-03 6.47375162e+02] [-1.16286281e-01 9.93215300e-01 9.31483097e-04 -4.51430668e+01] [ 5.21929749e-03 -3.26754595e-04 9.99986326e-01 2.10277491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5807140569999 meters Centerline goodness [0,1] 0.9814610085891657 Centerline is valid? [True, True] Translation: X:647.40, Y:-45.15, Z:2.10 [[ 9.93089647e-01 1.17228136e-01 -5.52429261e-03 6.47402787e+02] [-1.17224388e-01 9.93104952e-01 9.98555762e-04 -4.51482325e+01] [ 5.60326118e-03 -3.44073568e-04 9.99984242e-01 2.10320478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.610714057 meters Centerline goodness [0,1] 0.9811739594450374 Centerline is valid? [True, True] Translation: X:647.43, Y:-45.15, Z:2.10 [[ 9.93000025e-01 1.17956605e-01 -6.09830941e-03 6.47431494e+02] [-1.17952062e-01 9.93018680e-01 1.10061537e-03 -4.51522443e+01] [ 6.18556001e-03 -3.73602916e-04 9.99980799e-01 2.10295292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.640714057 meters Centerline goodness [0,1] 0.981462497864343 Centerline is valid? [True, True] Translation: X:647.46, Y:-45.16, Z:2.10 [[ 9.92866406e-01 1.19060975e-01 -6.38615788e-03 6.47460378e+02] [-1.19056027e-01 9.92886871e-01 1.15089746e-03 -4.51569602e+01] [ 6.47775929e-03 -3.82376837e-04 9.99978946e-01 2.10350289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6707140569999 meters Centerline goodness [0,1] 0.9823314768580756 Centerline is valid? [True, True] Translation: X:647.49, Y:-45.16, Z:2.10 [[ 9.92371620e-01 1.23129151e-01 -6.14648420e-03 6.47490834e+02] [-1.23124652e-01 9.92390596e-01 1.10647537e-03 -4.51583230e+01] [ 6.23595250e-03 -3.41251021e-04 9.99980498e-01 2.10427737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7007140569999 meters Centerline goodness [0,1] 0.9816013847041477 Centerline is valid? [True, True] Translation: X:647.52, Y:-45.16, Z:2.10 [[ 9.92120517e-01 1.25162347e-01 -5.59159212e-03 6.47518330e+02] [-1.25158656e-01 9.92136229e-01 1.00651626e-03 -4.51619979e+01] [ 5.67359906e-03 -2.98749282e-04 9.99983860e-01 2.10490679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7307140569999 meters Centerline goodness [0,1] 0.9806524713528305 Centerline is valid? [True, True] Translation: X:647.55, Y:-45.17, Z:2.11 [[ 9.91856794e-01 1.27257662e-01 -5.05840849e-03 6.47547307e+02] [-1.27254670e-01 9.91869659e-01 9.10190668e-04 -4.51654515e+01] [ 5.13311064e-03 -2.59072693e-04 9.99986792e-01 2.10587176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.760714057 meters Centerline goodness [0,1] 0.9808319652033006 Centerline is valid? [True, True] Translation: X:647.58, Y:-45.17, Z:2.11 [[ 9.91489236e-01 1.30132151e-01 -3.83649590e-03 6.47575923e+02] [-1.30130455e-01 9.91496641e-01 6.89435561e-04 -4.51696943e+01] [ 3.89359053e-03 -1.84322981e-04 9.99992403e-01 2.10638393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.790714057 meters Centerline goodness [0,1] 0.9816302118933697 Centerline is valid? [True, True] Translation: X:647.60, Y:-45.18, Z:2.11 [[ 9.91364174e-01 1.31087758e-01 -3.61592699e-03 6.47603090e+02] [-1.31086258e-01 9.91370753e-01 6.49775036e-04 -4.51759838e+01] [ 3.66990182e-03 -1.70165353e-04 9.99993251e-01 2.10695297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8207140569999 meters Centerline goodness [0,1] 0.9821165938399232 Centerline is valid? [True, True] Translation: X:647.63, Y:-45.18, Z:2.11 [[ 9.91328603e-01 1.31359618e-01 -3.50019620e-03 6.47631376e+02] [-1.31358214e-01 9.91334769e-01 6.28988663e-04 -4.51805455e+01] [ 3.55248990e-03 -1.63754931e-04 9.99993676e-01 2.10680006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8507140569999 meters Centerline goodness [0,1] 0.9792836086096192 Centerline is valid? [True, True] Translation: X:647.66, Y:-45.20, Z:2.11 [[ 9.91115914e-01 1.32900068e-01 -5.17859381e-03 6.47656931e+02] [-1.32897026e-01 9.91129415e-01 9.28681181e-04 -4.51969414e+01] [ 5.25607844e-03 -2.32210983e-04 9.99986160e-01 2.10609971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.880714057 meters Centerline goodness [0,1] 0.981316384421789 Centerline is valid? [True, True] Translation: X:647.69, Y:-45.19, Z:2.11 [[ 9.91536561e-01 1.29763959e-01 -4.06967505e-03 6.47687447e+02] [-1.29762056e-01 9.91544894e-01 7.29499605e-04 -4.51946744e+01] [ 4.12992827e-03 -1.95236130e-04 9.99991453e-01 2.10624335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.910714057 meters Centerline goodness [0,1] 0.9798783740531314 Centerline is valid? [True, True] Translation: X:647.71, Y:-45.20, Z:2.11 [[ 9.91850932e-01 1.27321512e-01 -4.57843975e-03 6.47714846e+02] [-1.27319077e-01 9.91861472e-01 8.20532284e-04 -4.52046617e+01] [ 4.64564940e-03 -2.30922988e-04 9.99989182e-01 2.10656465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9407140569999 meters Centerline goodness [0,1] 0.9803921568627451 Centerline is valid? [True, True] Translation: X:647.74, Y:-45.21, Z:2.11 [[ 9.92075465e-01 1.25553219e-01 -4.76044319e-03 6.47742835e+02] [-1.25550568e-01 9.92086855e-01 8.53019086e-04 -4.52117607e+01] [ 4.82987240e-03 -2.48582962e-04 9.99988305e-01 2.10696466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9707140569999 meters Centerline goodness [0,1] 0.9808581842985953 Centerline is valid? [True, True] Translation: X:647.77, Y:-45.21, Z:2.11 [[ 9.92341570e-01 1.23441950e-01 -4.50483036e-03 6.47772549e+02] [-1.23439559e-01 9.92351765e-01 8.06065996e-04 -4.52118755e+01] [ 4.56987872e-03 -2.43818521e-04 9.99989528e-01 2.10676701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.000714057 meters Centerline goodness [0,1] 0.9806839501961453 Centerline is valid? [True, True] Translation: X:647.80, Y:-45.22, Z:2.11 [[ 9.92748023e-01 1.20120209e-01 -4.74326259e-03 6.47801644e+02] [-1.20117522e-01 9.92759317e-01 8.48435906e-04 -4.52188027e+01] [ 4.81083243e-03 -2.72534120e-04 9.99988391e-01 2.10674625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.030714057 meters Centerline goodness [0,1] 0.9796760944050735 Centerline is valid? [True, True] Translation: X:647.83, Y:-45.22, Z:2.11 [[ 9.92947659e-01 1.18435807e-01 -5.28270380e-03 6.47830768e+02] [-1.18432450e-01 9.92961662e-01 9.44821918e-04 -4.52247549e+01] [ 5.35742309e-03 -3.12515156e-04 9.99985600e-01 2.10700408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0607140569999 meters Centerline goodness [0,1] 0.9798770500521155 Centerline is valid? [True, True] Translation: X:647.86, Y:-45.23, Z:2.11 [[ 9.93401679e-01 1.14570779e-01 -5.16151782e-03 6.47859949e+02] [-1.14567524e-01 9.93415034e-01 9.22957461e-04 -4.52341522e+01] [ 5.23327336e-03 -3.25525174e-04 9.99986253e-01 2.10682968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0907140569999 meters Centerline goodness [0,1] 0.9795683820712553 Centerline is valid? [True, True] Translation: X:647.89, Y:-45.24, Z:2.11 [[ 9.93608766e-01 1.12753078e-01 -5.32576347e-03 6.47888616e+02] [-1.12749587e-01 9.93622979e-01 9.52230302e-04 -4.52406940e+01] [ 5.39916786e-03 -3.45666742e-04 9.99985365e-01 2.10755777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.120714057 meters Centerline goodness [0,1] 0.9803019655444111 Centerline is valid? [True, True] Translation: X:647.92, Y:-45.25, Z:2.11 [[ 9.93770652e-01 1.11349184e-01 -4.60975203e-03 6.47917145e+02] [-1.11346555e-01 9.93781297e-01 8.23996346e-04 -4.52477784e+01] [ 4.67283667e-03 -3.05583379e-04 9.99989036e-01 2.10816140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.150714057 meters Centerline goodness [0,1] 0.9774827403080191 Centerline is valid? [True, True] Translation: X:647.94, Y:-45.25, Z:2.11 [[ 9.93915191e-01 1.10095442e-01 -3.40387727e-03 6.47944208e+02] [-1.10094001e-01 9.93920993e-01 6.08409156e-04 -4.52546866e+01] [ 3.45016815e-03 -2.29960634e-04 9.99994022e-01 2.10948027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1807140569999 meters Centerline goodness [0,1] 0.9790872500372682 Centerline is valid? [True, True] Translation: X:647.97, Y:-45.25, Z:2.11 [[ 9.93936505e-01 1.09907263e-01 -3.25843075e-03 6.47972492e+02] [-1.09905941e-01 9.93941822e-01 5.82600510e-04 -4.52531455e+01] [ 3.30272262e-03 -2.20947016e-04 9.99994522e-01 2.10961378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2107140569999 meters Centerline goodness [0,1] 0.9794683932526836 Centerline is valid? [True, True] Translation: X:648.00, Y:-45.26, Z:2.11 [[ 9.93852116e-01 1.10667853e-01 -3.25531661e-03 6.47999556e+02] [-1.10666542e-01 9.93857424e-01 5.80603988e-04 -4.52588484e+01] [ 3.29957478e-03 -2.16779869e-04 9.99994533e-01 2.10998034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.240714057 meters Centerline goodness [0,1] 0.9787923354008142 Centerline is valid? [True, True] Translation: X:648.03, Y:-45.26, Z:2.11 [[ 9.93787863e-01 1.11258194e-01 -2.70141933e-03 6.48026593e+02] [-1.11257294e-01 9.93791519e-01 4.81644017e-04 -4.52646496e+01] [ 2.73823446e-03 -1.78099373e-04 9.99996235e-01 2.11045214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.270714057 meters Centerline goodness [0,1] 0.9793917694947041 Centerline is valid? [True, True] Translation: X:648.06, Y:-45.27, Z:2.11 [[ 9.93743288e-01 1.11663709e-01 -2.34380377e-03 6.48055461e+02] [-1.11663032e-01 9.93746040e-01 4.18257350e-04 -4.52678892e+01] [ 2.37584988e-03 -1.53924199e-04 9.99997166e-01 2.11070355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3007140569999 meters Centerline goodness [0,1] 0.9790539100788408 Centerline is valid? [True, True] Translation: X:648.08, Y:-45.27, Z:2.11 [[ 9.93660042e-01 1.12416268e-01 -1.51762437e-03 6.48082992e+02] [-1.12415985e-01 9.93661196e-01 2.70918341e-04 -4.52740643e+01] [ 1.53846008e-03 -9.85954910e-05 9.99998812e-01 2.11155018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3307140569999 meters Centerline goodness [0,1] 0.9780275932549821 Centerline is valid? [True, True] Translation: X:648.11, Y:-45.28, Z:2.11 [[ 9.93663342e-01 1.12386164e-01 -1.58501121e-03 6.48111651e+02] [-1.12385856e-01 9.93664601e-01 2.82472542e-04 -4.52782252e+01] [ 1.60671554e-03 -1.02549769e-04 9.99998704e-01 2.11173855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.360714057 meters Centerline goodness [0,1] 0.9789646077930917 Centerline is valid? [True, True] Translation: X:648.14, Y:-45.28, Z:2.11 [[ 9.93655227e-01 1.12460998e-01 -1.34673828e-03 6.48140128e+02] [-1.12460776e-01 9.93656136e-01 2.39880536e-04 -4.52820065e+01] [ 1.36517196e-03 -8.69033178e-05 9.99999064e-01 2.11164727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.390714057 meters Centerline goodness [0,1] 0.9795307357468945 Centerline is valid? [True, True] Translation: X:648.17, Y:-45.29, Z:2.11 [[ 9.93674614e-01 1.12280820e-01 -1.94370766e-03 6.48167407e+02] [-1.12280359e-01 9.93676508e-01 3.45194540e-04 -4.52881159e+01] [ 1.97017537e-03 -1.24770858e-04 9.99998051e-01 2.11070398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4207140569999 meters Centerline goodness [0,1] 0.9786193998129729 Centerline is valid? [True, True] Translation: X:648.19, Y:-45.30, Z:2.11 [[ 9.93792898e-01 1.11209826e-01 -2.83736965e-03 6.48194075e+02] [-1.11208844e-01 9.93796931e-01 5.01884207e-04 -4.52953671e+01] [ 2.87558371e-03 -1.83228360e-04 9.99995849e-01 2.10988144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4507140569999 meters Centerline goodness [0,1] 0.9788619962960597 Centerline is valid? [True, True] Translation: X:648.22, Y:-45.30, Z:2.11 [[ 9.93888800e-01 1.10311171e-01 -4.06193308e-03 6.48221916e+02] [-1.10309155e-01 9.93897065e-01 7.17531375e-04 -4.53006106e+01] [ 4.11629509e-03 -2.65077990e-04 9.99991493e-01 2.10931048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4807140569999 meters Centerline goodness [0,1] 0.9784790745151412 Centerline is valid? [True, True] Translation: X:648.25, Y:-45.31, Z:2.11 [[ 9.93998032e-01 1.09321677e-01 -4.08448640e-03 6.48250006e+02] [-1.09319631e-01 9.94006387e-01 7.21354671e-04 -4.53072163e+01] [ 4.13886528e-03 -2.70510576e-04 9.99991398e-01 2.10914692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.510714057 meters Centerline goodness [0,1] 0.9778028913812956 Centerline is valid? [True, True] Translation: X:648.28, Y:-45.31, Z:2.11 [[ 9.94321330e-01 1.06330127e-01 -4.35844360e-03 6.48279231e+02] [-1.06327776e-01 9.94330837e-01 7.68259403e-04 -4.53142035e+01] [ 4.41542400e-03 -3.00473095e-04 9.99990207e-01 2.10948379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.540714057 meters Centerline goodness [0,1] 0.9769415158778982 Centerline is valid? [True, True] Translation: X:648.31, Y:-45.32, Z:2.11 [[ 9.94516206e-01 1.04515341e-01 -3.74970476e-03 6.48306987e+02] [-1.04513588e-01 9.94523239e-01 6.60963369e-04 -4.53220442e+01] [ 3.79824933e-03 -2.65443684e-04 9.99992751e-01 2.11001590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5707140569999 meters Centerline goodness [0,1] 0.9777886831100111 Centerline is valid? [True, True] Translation: X:648.34, Y:-45.33, Z:2.11 [[ 9.94951481e-01 1.00255174e-01 -4.52215172e-03 6.48337222e+02] [-1.00252583e-01 9.94961700e-01 7.96765302e-04 -4.53280172e+01] [ 4.57924761e-03 -3.39385429e-04 9.99989458e-01 2.11020220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6007140569999 meters Centerline goodness [0,1] 0.9762087326943557 Centerline is valid? [True, True] Translation: X:648.37, Y:-45.33, Z:2.11 [[ 9.95175677e-01 9.79908569e-02 -4.81282620e-03 6.48367451e+02] [-9.79878950e-02 9.95187245e-01 8.47972447e-04 -4.53332502e+01] [ 4.87275680e-03 -3.72282846e-04 9.99988059e-01 2.11037358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.630714057 meters Centerline goodness [0,1] 0.9760661537477888 Centerline is valid? [True, True] Translation: X:648.40, Y:-45.34, Z:2.11 [[ 9.95387898e-01 9.58265616e-02 -4.49472440e-03 6.48395492e+02] [-9.58239564e-02 9.95397982e-01 7.91930530e-04 -4.53418176e+01] [ 4.54992758e-03 -3.57575790e-04 9.99989585e-01 2.11063802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.660714057 meters Centerline goodness [0,1] 0.9757552516085048 Centerline is valid? [True, True] Translation: X:648.42, Y:-45.34, Z:2.11 [[ 9.95568128e-01 9.39278603e-02 -4.65387869e-03 6.48424708e+02] [-9.39250467e-02 9.95578934e-01 8.19988826e-04 -4.53427142e+01] [ 4.71032338e-03 -3.79238967e-04 9.99988834e-01 2.11103095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6907140569999 meters Centerline goodness [0,1] 0.9760254249941344 Centerline is valid? [True, True] Translation: X:648.45, Y:-45.35, Z:2.11 [[ 9.95812235e-01 9.13429696e-02 -3.80186198e-03 6.48452803e+02] [-9.13410739e-02 9.95819441e-01 6.69677305e-04 -4.53502898e+01] [ 3.84713839e-03 -3.19606698e-04 9.99992549e-01 2.11291856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7207140569999 meters Centerline goodness [0,1] 0.974193411354899 Centerline is valid? [True, True] Translation: X:648.48, Y:-45.36, Z:2.11 [[ 9.95898722e-01 9.03901920e-02 -3.91779706e-03 6.48479977e+02] [-9.03881716e-02 9.95906372e-01 6.90098004e-04 -4.53578858e+01] [ 3.96413714e-03 -3.33145208e-04 9.99992087e-01 2.11349648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.750714057 meters Centerline goodness [0,1] 0.974193411354899 Centerline is valid? [True, True] Translation: X:648.51, Y:-45.36, Z:2.11 [[ 9.95908295e-01 9.02846527e-02 -3.91789780e-03 6.48507145e+02] [-9.02826337e-02 9.95915946e-01 6.89525495e-04 -4.53625701e+01] [ 3.96415046e-03 -3.32986028e-04 9.99992087e-01 2.11364848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.780714057 meters Centerline goodness [0,1] 0.9764695834134051 Centerline is valid? [True, True] Translation: X:648.54, Y:-45.36, Z:2.11 [[ 9.96025823e-01 8.89872411e-02 -3.71886261e-03 6.48537601e+02] [-8.89854149e-02 9.96032714e-01 6.53998030e-04 -4.53615843e+01] [ 3.76230630e-03 -3.20474394e-04 9.99992871e-01 2.11395261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8107140569999 meters Centerline goodness [0,1] 0.9752885848653271 Centerline is valid? [True, True] Translation: X:648.56, Y:-45.37, Z:2.11 [[ 9.96110599e-01 8.80226080e-02 -3.96159424e-03 6.48564434e+02] [-8.80205284e-02 9.96118417e-01 6.96604008e-04 -4.53703498e+01] [ 4.00753389e-03 -3.45193017e-04 9.99991910e-01 2.11385828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8407140569999 meters Centerline goodness [0,1] 0.9768355430303807 Centerline is valid? [True, True] Translation: X:648.59, Y:-45.37, Z:2.11 [[ 9.96213706e-01 8.67969713e-02 -4.95357440e-03 6.48594613e+02] [-8.67937079e-02 9.96225926e-01 8.70419445e-04 -4.53708765e+01] [ 5.01042902e-03 -4.37184691e-04 9.99987352e-01 2.11336163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.870714057 meters Centerline goodness [0,1] 0.9759462629278175 Centerline is valid? [True, True] Translation: X:648.62, Y:-45.38, Z:2.11 [[ 9.96306803e-01 8.56917355e-02 -5.44802413e-03 6.48623063e+02] [-8.56877729e-02 9.96321579e-01 9.57074363e-04 -4.53754324e+01] [ 5.50999737e-03 -4.86710644e-04 9.99984701e-01 2.11341993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.900714057 meters Centerline goodness [0,1] 0.974092931713161 Centerline is valid? [True, True] Translation: X:648.65, Y:-45.38, Z:2.11 [[ 9.96481801e-01 8.36211830e-02 -5.61407773e-03 6.48651444e+02] [-8.36169508e-02 9.96497484e-01 9.84789537e-04 -4.53819266e+01] [ 5.67676360e-03 -5.11892790e-04 9.99983756e-01 2.11422017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9307140569999 meters Centerline goodness [0,1] 0.9771613262270169 Centerline is valid? [True, True] Translation: X:648.68, Y:-45.38, Z:2.11 [[ 9.96563282e-01 8.26285074e-02 -5.84417603e-03 6.48680601e+02] [-8.26239062e-02 9.96580273e-01 1.02483539e-03 -4.53812854e+01] [ 5.90887116e-03 -5.38444664e-04 9.99982398e-01 2.11470902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9607140569999 meters Centerline goodness [0,1] 0.9733190578158458 Centerline is valid? [True, True] Translation: X:648.71, Y:-45.39, Z:2.12 [[ 9.96590857e-01 8.22968429e-02 -5.82178035e-03 6.48707703e+02] [-8.22922798e-02 9.96607717e-01 1.01946432e-03 -4.53883772e+01] [ 5.88592992e-03 -5.36901245e-04 9.99982534e-01 2.11511263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.990714057 meters Centerline goodness [0,1] 0.9775358116959818 Centerline is valid? [True, True] Translation: X:648.74, Y:-45.38, Z:2.12 [[ 9.96574573e-01 8.24900119e-02 -5.87521814e-03 6.48737911e+02] [-8.24853716e-02 9.96591745e-01 1.02820042e-03 -4.53836986e+01] [ 5.94001016e-03 -5.40058844e-04 9.99982212e-01 2.11588653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.020714057 meters Centerline goodness [0,1] 0.9787870312600848 Centerline is valid? [True, True] Translation: X:648.77, Y:-45.39, Z:2.12 [[ 9.96545538e-01 8.28216315e-02 -6.12927673e-03 6.48766816e+02] [-8.28165977e-02 9.96564230e-01 1.07100570e-03 -4.53850536e+01] [ 6.19692038e-03 -5.59700107e-04 9.99980642e-01 2.11599284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0507140569999 meters Centerline goodness [0,1] 0.9793502084318192 Centerline is valid? [True, True] Translation: X:648.80, Y:-45.38, Z:2.12 [[ 9.96445234e-01 8.39769648e-02 -6.69070161e-03 6.48796832e+02] [-8.39710050e-02 9.96467515e-01 1.16725554e-03 -4.53837653e+01] [ 6.76508938e-03 -6.01281286e-04 9.99976936e-01 2.11564513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0807140569999 meters Centerline goodness [0,1] 0.9795610366090294 Centerline is valid? [True, True] Translation: X:648.83, Y:-45.38, Z:2.12 [[ 9.96340834e-01 8.51683400e-02 -7.16208291e-03 6.48825937e+02] [-8.51615524e-02 9.96366375e-01 1.24795832e-03 -4.53834860e+01] [ 7.24234512e-03 -6.33457731e-04 9.99973573e-01 2.11530634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.110714057 meters Centerline goodness [0,1] 0.979891574332059 Centerline is valid? [True, True] Translation: X:648.85, Y:-45.39, Z:2.12 [[ 9.96234333e-01 8.63527484e-02 -7.76889735e-03 6.48853206e+02] [-8.63448028e-02 9.96264395e-01 1.35303010e-03 -4.53870628e+01] [ 7.85671369e-03 -6.77131127e-04 9.99968906e-01 2.11527558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.140714057 meters Centerline goodness [0,1] 0.9801450276243094 Centerline is valid? [True, True] Translation: X:648.88, Y:-45.39, Z:2.11 [[ 9.96027203e-01 8.86135960e-02 -8.80004309e-03 6.48884117e+02] [-8.86034944e-02 9.96065798e-01 1.53197742e-03 -4.53864744e+01] [ 8.90117597e-03 -7.46176612e-04 9.99960105e-01 2.11473364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1707140569999 meters Centerline goodness [0,1] 0.9789698000301355 Centerline is valid? [True, True] Translation: X:648.91, Y:-45.39, Z:2.12 [[ 9.95924651e-01 8.97205379e-02 -9.18230750e-03 6.48911886e+02] [-8.97095919e-02 9.95966684e-01 1.59793143e-03 -4.53904233e+01] [ 9.28863962e-03 -7.67678244e-04 9.99956565e-01 2.11500171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2007140569999 meters Centerline goodness [0,1] 0.9806797775902728 Centerline is valid? [True, True] Translation: X:648.94, Y:-45.39, Z:2.12 [[ 9.95718428e-01 9.19539726e-02 -9.44871751e-03 6.48942580e+02] [-9.19424897e-02 9.95762963e-01 1.64349400e-03 -4.53905307e+01] [ 9.55980874e-03 -7.67718648e-04 9.99954009e-01 2.11634785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2307140569999 meters Centerline goodness [0,1] 0.9807912534301333 Centerline is valid? [True, True] Translation: X:648.97, Y:-45.39, Z:2.12 [[ 9.95606624e-01 9.31740025e-02 -9.27656556e-03 6.48971761e+02] [-9.31629903e-02 9.95649564e-01 1.61317331e-03 -4.53917111e+01] [ 9.38651427e-03 -7.41853443e-04 9.99955671e-01 2.11694293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.260714057 meters Centerline goodness [0,1] 0.9806876244912098 Centerline is valid? [True, True] Translation: X:649.00, Y:-45.39, Z:2.12 [[ 9.95482620e-01 9.44775480e-02 -9.39922888e-03 6.49000947e+02] [-9.44663086e-02 9.95526719e-01 1.63363211e-03 -4.53934850e+01] [ 9.51152504e-03 -7.38341916e-04 9.99954492e-01 2.11743037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.290714057 meters Centerline goodness [0,1] 0.9811781485003025 Centerline is valid? [True, True] Translation: X:649.03, Y:-45.40, Z:2.12 [[ 9.95115755e-01 9.82767112e-02 -9.29094628e-03 6.49030696e+02] [-9.82659008e-02 9.95158886e-01 1.61408329e-03 -4.53952365e+01] [ 9.40459454e-03 -6.93216509e-04 9.99955536e-01 2.11805358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3207140569999 meters Centerline goodness [0,1] 0.9828301927799874 Centerline is valid? [True, True] Translation: X:649.06, Y:-45.39, Z:2.12 [[ 9.94942667e-01 1.00009595e-01 -9.33647017e-03 6.49061215e+02] [-9.99987563e-02 9.94986240e-01 1.62179042e-03 -4.53943813e+01] [ 9.45185395e-03 -6.79953079e-04 9.99955099e-01 2.11858601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3507140569999 meters Centerline goodness [0,1] 0.9828265459373572 Centerline is valid? [True, True] Translation: X:649.09, Y:-45.40, Z:2.12 [[ 9.94803080e-01 1.01389760e-01 -9.32465180e-03 6.49090013e+02] [-1.01379012e-01 9.94846558e-01 1.61935304e-03 -4.53960765e+01] [ 9.44078356e-03 -6.65613400e-04 9.99955213e-01 2.11905316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.380714057 meters Centerline goodness [0,1] 0.9827860458021921 Centerline is valid? [True, True] Translation: X:649.12, Y:-45.40, Z:2.12 [[ 9.94606232e-01 1.03211642e-01 -1.02858887e-02 6.49118739e+02] [-1.03198669e-01 9.94659161e-01 1.78558253e-03 -4.53985413e+01] [ 1.04152463e-02 -7.14461498e-04 9.99945505e-01 2.11854834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.410714057 meters Centerline goodness [0,1] 0.9820653241114481 Centerline is valid? [True, True] Translation: X:649.15, Y:-45.40, Z:2.12 [[ 9.94540653e-01 1.03834483e-01 -1.03581226e-02 6.49146198e+02] [-1.03821370e-01 9.94594336e-01 1.79718056e-03 -4.54023130e+01] [ 1.04887393e-02 -7.11974651e-04 9.99944738e-01 2.11871328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4407140569999 meters Centerline goodness [0,1] 0.9824461813894589 Centerline is valid? [True, True] Translation: X:649.18, Y:-45.41, Z:2.12 [[ 9.94543404e-01 1.03846991e-01 -9.96096916e-03 6.49175030e+02] [-1.03834884e-01 9.94593051e-01 1.72646478e-03 -4.54059944e+01] [ 1.00863989e-02 -6.82748085e-04 9.99948898e-01 2.11933152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4707140569999 meters Centerline goodness [0,1] 0.9834461672854335 Centerline is valid? [True, True] Translation: X:649.20, Y:-45.40, Z:2.12 [[ 9.94569379e-01 1.03597026e-01 -9.97023475e-03 6.49203537e+02] [-1.03584910e-01 9.94619118e-01 1.72537925e-03 -4.54028468e+01] [ 1.00953303e-02 -6.83243499e-04 9.99948807e-01 2.12054366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.500714057 meters Centerline goodness [0,1] 0.983153536013948 Centerline is valid? [True, True] Translation: X:649.23, Y:-45.41, Z:2.12 [[ 9.94509344e-01 1.04239011e-01 -9.24079688e-03 6.49231174e+02] [-1.04228648e-01 9.94552079e-01 1.59731305e-03 -4.54063957e+01] [ 9.35695608e-03 -6.25386982e-04 9.99956027e-01 2.12116380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.530714057 meters Centerline goodness [0,1] 0.9836865009075204 Centerline is valid? [True, True] Translation: X:649.26, Y:-45.41, Z:2.12 [[ 9.94439558e-01 1.04932047e-01 -8.90118038e-03 6.49258747e+02] [-1.04922466e-01 9.94479216e-01 1.53781589e-03 -4.54103632e+01] [ 9.01340506e-03 -5.95331150e-04 9.99959201e-01 2.12227746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5607140569999 meters Centerline goodness [0,1] 0.9832877012375424 Centerline is valid? [True, True] Translation: X:649.29, Y:-45.41, Z:2.12 [[ 9.94303790e-01 1.06229286e-01 -8.67829842e-03 6.49288491e+02] [-1.06220240e-01 9.94341499e-01 1.49806524e-03 -4.54105430e+01] [ 8.78833066e-03 -5.67720999e-04 9.99961221e-01 2.12327041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5907140569999 meters Centerline goodness [0,1] 0.98376480912681 Centerline is valid? [True, True] Translation: X:649.32, Y:-45.41, Z:2.12 [[ 9.94181300e-01 1.07372726e-01 -8.63940997e-03 6.49316975e+02] [-1.07363817e-01 9.94218684e-01 1.48984893e-03 -4.54134789e+01] [ 8.74943195e-03 -5.53619916e-04 9.99961570e-01 2.12334207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.620714057 meters Centerline goodness [0,1] 0.984503950834065 Centerline is valid? [True, True] Translation: X:649.35, Y:-45.41, Z:2.12 [[ 9.94089189e-01 1.08180881e-01 -9.14225630e-03 6.49346523e+02] [-1.08170950e-01 9.94131060e-01 1.57525122e-03 -4.54136797e+01] [ 9.25901301e-03 -5.77013658e-04 9.99956968e-01 2.12340149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.650714057 meters Centerline goodness [0,1] 0.9854266496680881 Centerline is valid? [True, True] Translation: X:649.38, Y:-45.42, Z:2.12 [[ 9.93875353e-01 1.10017746e-01 -1.03864005e-02 6.49375294e+02] [-1.10005048e-01 9.93929421e-01 1.78776774e-03 -4.54163849e+01] [ 1.05200352e-02 -6.34261806e-04 9.99944462e-01 2.12252295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6807140569999 meters Centerline goodness [0,1] 0.9856184716877405 Centerline is valid? [True, True] Translation: X:649.40, Y:-45.42, Z:2.12 [[ 9.93763349e-01 1.10996502e-01 -1.06856681e-02 6.49403496e+02] [-1.10983137e-01 9.93820591e-01 1.83752161e-03 -4.54207364e+01] [ 1.08235954e-02 -6.40132667e-04 9.99941218e-01 2.12179787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7107140569999 meters Centerline goodness [0,1] 0.9837341187848947 Centerline is valid? [True, True] Translation: X:649.43, Y:-45.43, Z:2.12 [[ 9.93698249e-01 1.11525900e-01 -1.12144793e-02 6.49430312e+02] [-1.11511236e-01 9.93761306e-01 1.92647278e-03 -4.54280761e+01] [ 1.13593672e-02 -6.63792188e-04 9.99935260e-01 2.12085660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.740714057 meters Centerline goodness [0,1] 0.9850007697552179 Centerline is valid? [True, True] Translation: X:649.46, Y:-45.43, Z:2.12 [[ 9.93642956e-01 1.11982936e-01 -1.15541328e-02 6.49457149e+02] [-1.11967416e-01 9.93709899e-01 1.98351989e-03 -4.54334292e+01] [ 1.17035765e-02 -6.77224187e-04 9.99931281e-01 2.12103909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.770714057 meters Centerline goodness [0,1] 0.984770121266809 Centerline is valid? [True, True] Translation: X:649.49, Y:-45.43, Z:2.12 [[ 9.93668686e-01 1.11766510e-01 -1.14363509e-02 6.49485318e+02] [-1.11751318e-01 9.93734269e-01 1.96090912e-03 -4.54345752e+01] [ 1.15838577e-02 -6.70466703e-04 9.99932680e-01 2.12133796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8007140569999 meters Centerline goodness [0,1] 0.9845251741469007 Centerline is valid? [True, True] Translation: X:649.51, Y:-45.44, Z:2.12 [[ 9.93733186e-01 1.11194903e-01 -1.14038906e-02 6.49511685e+02] [-1.11179785e-01 9.93798390e-01 1.95318852e-03 -4.54422175e+01] [ 1.15503527e-02 -6.73066152e-04 9.99933066e-01 2.12079029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8307140569999 meters Centerline goodness [0,1] 0.9854215831146204 Centerline is valid? [True, True] Translation: X:649.54, Y:-45.45, Z:2.12 [[ 9.93868265e-01 1.09985683e-01 -1.13587793e-02 6.49540561e+02] [-1.09970629e-01 9.93932937e-01 1.94344543e-03 -4.54455386e+01] [ 1.15036160e-02 -6.82396642e-04 9.99933598e-01 2.12087193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.860714057 meters Centerline goodness [0,1] 0.9846245346608806 Centerline is valid? [True, True] Translation: X:649.57, Y:-45.45, Z:2.12 [[ 9.93910157e-01 1.09615752e-01 -1.12688604e-02 6.49568126e+02] [-1.09600945e-01 9.93973806e-01 1.92511570e-03 -4.54511012e+01] [ 1.14119750e-02 -6.78314303e-04 9.99934651e-01 2.12109261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.890714057 meters Centerline goodness [0,1] 0.9852386310981665 Centerline is valid? [True, True] Translation: X:649.60, Y:-45.46, Z:2.12 [[ 9.94084699e-01 1.08058989e-01 -1.09025564e-02 6.49596252e+02] [-1.08045066e-01 9.94144258e-01 1.85974192e-03 -4.54566758e+01] [ 1.10396757e-02 -6.70773561e-04 9.99938836e-01 2.12177409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9207140569999 meters Centerline goodness [0,1] 0.9838667019307061 Centerline is valid? [True, True] Translation: X:649.62, Y:-45.46, Z:2.12 [[ 9.94154311e-01 1.07482182e-01 -1.02365607e-02 6.49624459e+02] [-1.07469903e-01 9.94206809e-01 1.74373525e-03 -4.54620858e+01] [ 1.03646788e-02 -6.33419732e-04 9.99946085e-01 2.12216362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9507140569999 meters Centerline goodness [0,1] 0.9856462495039027 Centerline is valid? [True, True] Translation: X:649.65, Y:-45.46, Z:2.12 [[ 9.94251405e-01 1.06592834e-01 -1.01049940e-02 6.49654032e+02] [-1.06580849e-01 9.94302554e-01 1.71882298e-03 -4.54593525e+01] [ 1.02306356e-02 -6.31943324e-04 9.99947466e-01 2.12316842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9807140569999 meters Centerline goodness [0,1] 0.9862508827683616 Centerline is valid? [True, True] Translation: X:649.68, Y:-45.46, Z:2.12 [[ 9.94352309e-01 1.05606860e-01 -1.05202586e-02 6.49682355e+02] [-1.05593844e-01 9.94407737e-01 1.78666909e-03 -4.54621575e+01] [ 1.06501110e-02 -6.65703994e-04 9.99943064e-01 2.12338400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.010714057 meters Centerline goodness [0,1] 0.9847975958988864 Centerline is valid? [True, True] Translation: X:649.71, Y:-45.47, Z:2.12 [[ 9.94582225e-01 1.03404599e-01 -1.06623743e-02 6.49709729e+02] [-1.03391121e-01 9.94639132e-01 1.80907374e-03 -4.54716174e+01] [ 1.07922812e-02 -6.96877754e-04 9.99941519e-01 2.12217283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.040714057 meters Centerline goodness [0,1] 0.9852016849348301 Centerline is valid? [True, True] Translation: X:649.74, Y:-45.48, Z:2.12 [[ 9.94712868e-01 1.02148918e-01 -1.05786595e-02 6.49737763e+02] [-1.02135591e-01 9.94768869e-01 1.79386480e-03 -4.54763726e+01] [ 1.07065625e-02 -7.03922757e-04 9.99942435e-01 2.12250798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0707140569999 meters Centerline goodness [0,1] 0.9840653277422202 Centerline is valid? [True, True] Translation: X:649.77, Y:-45.48, Z:2.12 [[ 9.94825355e-01 1.01024145e-01 -1.07997741e-02 6.49765706e+02] [-1.01010212e-01 9.94883707e-01 1.82923419e-03 -4.54813060e+01] [ 1.09293162e-02 -7.28881080e-04 9.99940008e-01 2.12290052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1007140569999 meters Centerline goodness [0,1] 0.9842077324604087 Centerline is valid? [True, True] Translation: X:649.79, Y:-45.49, Z:2.12 [[ 9.94953866e-01 9.97512581e-02 -1.07931183e-02 6.49793798e+02] [-9.97372887e-02 9.95012130e-01 1.82623764e-03 -4.54851203e+01] [ 1.09214531e-02 -7.40545841e-04 9.99940085e-01 2.12433183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.130714057 meters Centerline goodness [0,1] 0.9845028076225848 Centerline is valid? [True, True] Translation: X:649.82, Y:-45.49, Z:2.12 [[ 9.95013170e-01 9.91540600e-02 -1.08288513e-02 6.49822335e+02] [-9.91399835e-02 9.95071813e-01 1.83039295e-03 -4.54878028e+01] [ 1.09569755e-02 -7.47692953e-04 9.99939691e-01 2.12461876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.160714057 meters Centerline goodness [0,1] 0.9851517817861857 Centerline is valid? [True, True] Translation: X:649.85, Y:-45.49, Z:2.13 [[ 9.94962434e-01 9.96390078e-02 -1.10373214e-02 6.49850578e+02] [-9.96244457e-02 9.95023367e-01 1.86276419e-03 -4.54925006e+01] [ 1.11679966e-02 -7.53793366e-04 9.99937352e-01 2.12511605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1907140569999 meters Centerline goodness [0,1] 0.9855486212543708 Centerline is valid? [True, True] Translation: X:649.88, Y:-45.50, Z:2.13 [[ 9.94707002e-01 1.02057870e-01 -1.19235937e-02 6.49879528e+02] [-1.02041069e-01 9.94778155e-01 2.01060124e-03 -4.54960398e+01] [ 1.20665282e-02 -7.83262881e-04 9.99926890e-01 2.12548646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2207140569999 meters Centerline goodness [0,1] 0.9849426227695846 Centerline is valid? [True, True] Translation: X:649.91, Y:-45.50, Z:2.13 [[ 9.94505947e-01 1.03996695e-01 -1.19418971e-02 6.49909298e+02] [-1.03979987e-01 9.94577352e-01 2.01325417e-03 -4.54987242e+01] [ 1.20865121e-02 -7.60474948e-04 9.99926666e-01 2.12542851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.250714057 meters Centerline goodness [0,1] 0.9857646511009114 Centerline is valid? [True, True] Translation: X:649.94, Y:-45.50, Z:2.12 [[ 9.93991972e-01 1.08635023e-01 -1.33563010e-02 6.49938508e+02] [-1.08614545e-01 9.94081391e-01 2.25128149e-03 -4.55012349e+01] [ 1.35218183e-02 -7.87067175e-04 9.99908266e-01 2.12492493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.280714057 meters Centerline goodness [0,1] 0.9849652362605731 Centerline is valid? [True, True] Translation: X:649.97, Y:-45.50, Z:2.12 [[ 9.93729213e-01 1.10975450e-01 -1.36638177e-02 6.49968366e+02] [-1.10954246e-01 9.93822848e-01 2.30256872e-03 -4.55043235e+01] [ 1.38349428e-02 -7.72071210e-04 9.99903995e-01 2.12470919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3107140569999 meters Centerline goodness [0,1] 0.984483752272022 Centerline is valid? [True, True] Translation: X:650.00, Y:-45.51, Z:2.12 [[ 9.93460792e-01 1.13280492e-01 -1.42542971e-02 6.49996426e+02] [-1.13257663e-01 9.93562749e-01 2.40132975e-03 -4.55090415e+01] [ 1.44345624e-02 -7.71218581e-04 9.99895519e-01 2.12434228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3407140569999 meters Centerline goodness [0,1] 0.9856681873817736 Centerline is valid? [True, True] Translation: X:650.03, Y:-45.51, Z:2.13 [[ 9.92985174e-01 1.17396139e-01 -1.40921960e-02 6.50027564e+02] [-1.17374246e-01 9.93084917e-01 2.37358305e-03 -4.55070638e+01] [ 1.42733968e-02 -7.02871906e-04 9.99897883e-01 2.12514288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.370714057 meters Centerline goodness [0,1] 0.9851569975743819 Centerline is valid? [True, True] Translation: X:650.06, Y:-45.51, Z:2.13 [[ 9.92822980e-01 1.18686757e-01 -1.46963713e-02 6.50056558e+02] [-1.18663121e-01 9.92931492e-01 2.47309411e-03 -4.55111690e+01] [ 1.48860134e-02 -7.11427384e-04 9.99888944e-01 2.12518048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.400714057 meters Centerline goodness [0,1] 0.9864341085271318 Centerline is valid? [True, True] Translation: X:650.09, Y:-45.51, Z:2.13 [[ 9.92568201e-01 1.20779775e-01 -1.48530372e-02 6.50086215e+02] [-1.20755902e-01 9.92679091e-01 2.49702714e-03 -4.55113405e+01] [ 1.50458898e-02 -6.84877827e-04 9.99886570e-01 2.12632130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4307140569999 meters Centerline goodness [0,1] 0.9854511478910838 Centerline is valid? [True, True] Translation: X:650.11, Y:-45.52, Z:2.13 [[ 9.92572392e-01 1.20699268e-01 -1.52228177e-02 6.50113434e+02] [-1.20674207e-01 9.92688871e-01 2.55761204e-03 -4.55171800e+01] [ 1.54202236e-02 -7.01613641e-04 9.99880855e-01 2.12566690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4607140569999 meters Centerline goodness [0,1] 0.9851546850656577 Centerline is valid? [True, True] Translation: X:650.14, Y:-45.52, Z:2.13 [[ 9.92534959e-01 1.20990555e-01 -1.53506293e-02 6.50140476e+02] [-1.20965127e-01 9.92653411e-01 2.57769345e-03 -4.55242654e+01] [ 1.55497311e-02 -7.01560040e-04 9.99878849e-01 2.12514117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.490714057 meters Centerline goodness [0,1] 0.9865343096886198 Centerline is valid? [True, True] Translation: X:650.17, Y:-45.53, Z:2.13 [[ 9.92624150e-01 1.20232262e-01 -1.55403051e-02 6.50169358e+02] [-1.20206157e-01 9.92745529e-01 2.60647573e-03 -4.55266778e+01] [ 1.57409509e-02 -7.19210391e-04 9.99875845e-01 2.12588167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.520714057 meters Centerline goodness [0,1] 0.9850447767827382 Centerline is valid? [True, True] Translation: X:650.20, Y:-45.54, Z:2.12 [[ 9.92715821e-01 1.19623909e-01 -1.43324261e-02 6.50195177e+02] [-1.19601678e-01 9.92819053e-01 2.40140256e-03 -4.55389971e+01] [ 1.45167708e-02 -6.69728108e-04 9.99894402e-01 2.12493029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5507140569999 meters Centerline goodness [0,1] 0.9869676414989437 Centerline is valid? [True, True] Translation: X:650.22, Y:-45.54, Z:2.13 [[ 9.92808990e-01 1.18910522e-01 -1.38056615e-02 6.50224779e+02] [-1.18889866e-01 9.92904760e-01 2.31028567e-03 -4.55376123e+01] [ 1.39824242e-02 -6.52319146e-04 9.99902028e-01 2.12720033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5807140569999 meters Centerline goodness [0,1] 0.9867932041412264 Centerline is valid? [True, True] Translation: X:650.25, Y:-45.54, Z:2.13 [[ 9.92906804e-01 1.18067927e-01 -1.40015615e-02 6.50252525e+02] [-1.18046629e-01 9.93005294e-01 2.34087105e-03 -4.55434261e+01] [ 1.41800065e-02 -6.71429658e-04 9.99899233e-01 2.12784572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.610714057 meters Centerline goodness [0,1] 0.9866672582469995 Centerline is valid? [True, True] Translation: X:650.28, Y:-45.55, Z:2.13 [[ 9.93145155e-01 1.16110510e-01 -1.34555202e-02 6.50281622e+02] [-1.16090671e-01 9.93236074e-01 2.24880861e-03 -4.55512801e+01] [ 1.36256183e-02 -6.71333004e-04 9.99906942e-01 2.12810235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.640714057 meters Centerline goodness [0,1] 0.9866672582469995 Centerline is valid? [True, True] Translation: X:650.31, Y:-45.56, Z:2.13 [[ 9.93178288e-01 1.15826708e-01 -1.34559353e-02 6.50308685e+02] [-1.15806878e-01 9.93269209e-01 2.24632244e-03 -4.55557323e+01] [ 1.36255504e-02 -6.72708824e-04 9.99906942e-01 2.12825348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6707140569999 meters Centerline goodness [0,1] 0.9861659202766816 Centerline is valid? [True, True] Translation: X:650.34, Y:-45.56, Z:2.13 [[ 9.93358135e-01 1.14314619e-01 -1.31066529e-02 6.50337024e+02] [-1.14295721e-01 9.93444370e-01 2.18448459e-03 -4.55619139e+01] [ 1.32704490e-02 -6.71941204e-04 9.99911718e-01 2.12851970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7007140569999 meters Centerline goodness [0,1] 0.9861443646359848 Centerline is valid? [True, True] Translation: X:650.36, Y:-45.57, Z:2.13 [[ 9.93647212e-01 1.11739515e-01 -1.33977574e-02 6.50364089e+02] [-1.11719561e-01 9.93737270e-01 2.23099285e-03 -4.55715389e+01] [ 1.35631409e-02 -7.20028253e-04 9.99907757e-01 2.12877377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7307140569999 meters Centerline goodness [0,1] 0.9847104965764808 Centerline is valid? [True, True] Translation: X:650.39, Y:-45.58, Z:2.13 [[ 9.93827014e-01 1.10037338e-01 -1.41297693e-02 6.50390480e+02] [-1.10014988e-01 9.93927146e-01 2.35184272e-03 -4.55846445e+01] [ 1.43027518e-02 -7.82838436e-04 9.99897404e-01 2.12753217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.760714057 meters Centerline goodness [0,1] 0.9845293610626119 Centerline is valid? [True, True] Translation: X:650.42, Y:-45.59, Z:2.13 [[ 9.94015194e-01 1.08340276e-01 -1.40063872e-02 6.50419506e+02] [-1.08318158e-01 9.94113548e-01 2.33046415e-03 -4.55887908e+01] [ 1.41764224e-02 -7.99370711e-04 9.99899190e-01 2.12777376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.790714057 meters Centerline goodness [0,1] 0.9827931436618479 Centerline is valid? [True, True] Translation: X:650.45, Y:-45.60, Z:2.13 [[ 9.94362300e-01 1.04962415e-01 -1.50501543e-02 6.50446952e+02] [-1.04936498e-01 9.94475773e-01 2.50366248e-03 -4.56026799e+01] [ 1.52298043e-02 -9.10237089e-04 9.99883605e-01 2.12640181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8207140569999 meters Centerline goodness [0,1] 0.9847454633758664 Centerline is valid? [True, True] Translation: X:650.48, Y:-45.60, Z:2.13 [[ 9.94536195e-01 1.03201450e-01 -1.57231541e-02 6.50477095e+02] [-1.03172952e-01 9.94659994e-01 2.61515043e-03 -4.56020714e+01] [ 1.59090796e-02 -9.78657531e-04 9.99872964e-01 2.12762721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8507140569999 meters Centerline goodness [0,1] 0.9828348847956692 Centerline is valid? [True, True] Translation: X:650.50, Y:-45.61, Z:2.13 [[ 9.94706560e-01 1.01546408e-01 -1.57221434e-02 6.50504176e+02] [-1.01517719e-01 9.94830296e-01 2.61422867e-03 -4.56125848e+01] [ 1.59063301e-02 -1.00431426e-03 9.99872982e-01 2.12683288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.880714057 meters Centerline goodness [0,1] 0.9821063955913671 Centerline is valid? [True, True] Translation: X:650.53, Y:-45.62, Z:2.13 [[ 9.95000509e-01 9.86294574e-02 -1.56912997e-02 6.50533249e+02] [-9.86005280e-02 9.95123676e-01 2.60862432e-03 -4.56199989e+01] [ 1.58720710e-02 -1.04841210e-03 9.99873481e-01 2.12667006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.910714057 meters Centerline goodness [0,1] 0.9806273062730627 Centerline is valid? [True, True] Translation: X:650.56, Y:-45.63, Z:2.13 [[ 9.95119246e-01 9.73617772e-02 -1.60739134e-02 6.50560503e+02] [-9.73312692e-02 9.95248455e-01 2.67135479e-03 -4.56316954e+01] [ 1.62576253e-02 -1.09382217e-03 9.99867238e-01 2.12612375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9407140569999 meters Centerline goodness [0,1] 0.9810371346956713 Centerline is valid? [True, True] Translation: X:650.59, Y:-45.63, Z:2.13 [[ 9.95312923e-01 9.53649999e-02 -1.60531312e-02 6.50590180e+02] [-9.53343280e-02 9.95441738e-01 2.66692822e-03 -4.56301819e+01] [ 1.62342884e-02 -1.12401364e-03 9.99867583e-01 2.12822599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9707140569999 meters Centerline goodness [0,1] 0.9806835393024124 Centerline is valid? [True, True] Translation: X:650.62, Y:-45.64, Z:2.13 [[ 9.95383051e-01 9.45888386e-02 -1.62951666e-02 6.50618020e+02] [-9.45571523e-02 9.95515757e-01 2.70586023e-03 -4.56355609e+01] [ 1.64780392e-02 -1.15254286e-03 9.99863564e-01 2.12756457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.000714057 meters Centerline goodness [0,1] 0.9816027782662212 Centerline is valid? [True, True] Translation: X:650.65, Y:-45.64, Z:2.13 [[ 9.95429470e-01 9.40524102e-02 -1.65624211e-02 6.50646297e+02] [-9.40196584e-02 9.95566552e-01 2.74687715e-03 -4.56382858e+01] [ 1.67473429e-02 -1.17712929e-03 9.99859061e-01 2.12841597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.030714057 meters Centerline goodness [0,1] 0.9788541438880385 Centerline is valid? [True, True] Translation: X:650.67, Y:-45.65, Z:2.13 [[ 9.95465984e-01 9.37294056e-02 -1.61948467e-02 6.50672511e+02] [-9.36980875e-02 9.95597040e-01 2.68356819e-03 -4.56484316e+01] [ 1.63750707e-02 -1.15397469e-03 9.99865254e-01 2.12727037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0607140569999 meters Centerline goodness [0,1] 0.9798478170295813 Centerline is valid? [True, True] Translation: X:650.70, Y:-45.65, Z:2.13 [[ 9.95513920e-01 9.33505385e-02 -1.54178868e-02 6.50701096e+02] [-9.33221609e-02 9.95632696e-01 2.55145172e-03 -4.56483961e+01] [ 1.55887316e-02 -1.10117519e-03 9.99877882e-01 2.12901997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0907140569999 meters Centerline goodness [0,1] 0.9816584294343768 Centerline is valid? [True, True] Translation: X:650.73, Y:-45.65, Z:2.13 [[ 9.95539142e-01 9.31902530e-02 -1.47443017e-02 6.50729530e+02] [-9.31643420e-02 9.95647765e-01 2.43606222e-03 -4.56498507e+01] [ 1.49071483e-02 -1.05155212e-03 9.99888329e-01 2.13014756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.120714057 meters Centerline goodness [0,1] 0.9802646037536812 Centerline is valid? [True, True] Translation: X:650.76, Y:-45.65, Z:2.13 [[ 9.95456392e-01 9.42543999e-02 -1.35159275e-02 6.50758401e+02] [-9.42327683e-02 9.95547695e-01 2.22988987e-03 -4.56531767e+01] [ 1.36659274e-02 -9.46114857e-04 9.99906169e-01 2.13075586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.150714057 meters Centerline goodness [0,1] 0.9806428932392943 Centerline is valid? [True, True] Translation: X:650.79, Y:-45.66, Z:2.13 [[ 9.95365106e-01 9.52992832e-02 -1.28977289e-02 6.50787066e+02] [-9.52796959e-02 9.95448270e-01 2.12611316e-03 -4.56566502e+01] [ 1.30416390e-02 -8.87367161e-04 9.99914560e-01 2.13130799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1807140569999 meters Centerline goodness [0,1] 0.9791730743881542 Centerline is valid? [True, True] Translation: X:650.81, Y:-45.67, Z:2.13 [[ 9.95245963e-01 9.65975749e-02 -1.24250355e-02 6.50813959e+02] [-9.65795090e-02 9.95323167e-01 2.04730146e-03 -4.56664709e+01] [ 1.25646901e-02 -8.37564680e-04 9.99920710e-01 2.13045416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2107140569999 meters Centerline goodness [0,1] 0.9815047229011163 Centerline is valid? [True, True] Translation: X:650.85, Y:-45.66, Z:2.13 [[ 9.94997173e-01 9.91362317e-02 -1.23545218e-02 6.50845525e+02] [-9.91185714e-02 9.95073548e-01 2.03516385e-03 -4.56611977e+01] [ 1.24954163e-02 -8.00419730e-04 9.99921609e-01 2.13079812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.240714057 meters Centerline goodness [0,1] 0.9808489069111425 Centerline is valid? [True, True] Translation: X:650.87, Y:-45.67, Z:2.13 [[ 9.94927529e-01 9.97860073e-02 -1.27265575e-02 6.50873286e+02] [-9.97673455e-02 9.95008588e-01 2.09449201e-03 -4.56664998e+01] [ 1.28720350e-02 -8.14172905e-04 9.99916820e-01 2.13024016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.270714057 meters Centerline goodness [0,1] 0.9815715889825843 Centerline is valid? [True, True] Translation: X:650.90, Y:-45.67, Z:2.13 [[ 9.94882815e-01 1.00235845e-01 -1.26870085e-02 6.50902241e+02] [-1.00217377e-01 9.94963382e-01 2.08473755e-03 -4.56668495e+01] [ 1.28320743e-02 -8.02610852e-04 9.99917343e-01 2.13026482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3007140569999 meters Centerline goodness [0,1] 0.9821412803532009 Centerline is valid? [True, True] Translation: X:650.93, Y:-45.67, Z:2.13 [[ 9.94830051e-01 1.00620675e-01 -1.37349862e-02 6.50929205e+02] [-1.00599098e-01 9.94924489e-01 2.25467067e-03 -4.56728642e+01] [ 1.38921406e-02 -8.61286919e-04 9.99903129e-01 2.12832548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3307140569999 meters Centerline goodness [0,1] 0.9828409693967805 Centerline is valid? [True, True] Translation: X:650.96, Y:-45.67, Z:2.13 [[ 9.94867341e-01 1.00147005e-01 -1.44758612e-02 6.50958345e+02] [-1.00123029e-01 9.94972234e-01 2.37344594e-03 -4.56743735e+01] [ 1.46407734e-02 -9.11896794e-04 9.99892402e-01 2.12813150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.360714057 meters Centerline goodness [0,1] 0.9820305283068667 Centerline is valid? [True, True] Translation: X:650.99, Y:-45.68, Z:2.13 [[ 9.94930795e-01 9.94269546e-02 -1.50663456e-02 6.50986669e+02] [-9.94009599e-02 9.95044404e-01 2.46634149e-03 -4.56785879e+01] [ 1.52369037e-02 -9.56229889e-04 9.99883454e-01 2.12748644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.390714057 meters Centerline goodness [0,1] 0.9822325478482133 Centerline is valid? [True, True] Translation: X:651.02, Y:-45.68, Z:2.13 [[ 9.95031870e-01 9.82371376e-02 -1.61567998e-02 6.51015032e+02] [-9.82071212e-02 9.95162488e-01 2.64277109e-03 -4.56830150e+01] [ 1.63382594e-02 -1.04292866e-03 9.99865978e-01 2.12722529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4207140569999 meters Centerline goodness [0,1] 0.982756719807722 Centerline is valid? [True, True] Translation: X:651.04, Y:-45.69, Z:2.13 [[ 9.95054968e-01 9.79933613e-02 -1.62145458e-02 6.51043371e+02] [-9.79631543e-02 9.95186517e-01 2.64876702e-03 -4.56854317e+01] [ 1.63960590e-02 -1.04724073e-03 9.99865027e-01 2.12741927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4507140569999 meters Centerline goodness [0,1] 0.9830313742819267 Centerline is valid? [True, True] Translation: X:651.07, Y:-45.69, Z:2.13 [[ 9.95002297e-01 9.86399097e-02 -1.55111814e-02 6.51072181e+02] [-9.86124091e-02 9.95122702e-01 2.52978098e-03 -4.56879714e+01] [ 1.56850661e-02 -9.87542922e-04 9.99876494e-01 2.12807603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4807140569999 meters Centerline goodness [0,1] 0.9822136576073714 Centerline is valid? [True, True] Translation: X:651.10, Y:-45.69, Z:2.13 [[ 9.94925381e-01 9.94522806e-02 -1.52555259e-02 6.51101129e+02] [-9.94258309e-02 9.95041874e-01 2.48441881e-03 -4.56913537e+01] [ 1.54269682e-02 -9.55017989e-04 9.99880541e-01 2.12861993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.510714057 meters Centerline goodness [0,1] 0.9820292938022115 Centerline is valid? [True, True] Translation: X:651.13, Y:-45.69, Z:2.13 [[ 9.94828130e-01 1.00539741e-01 -1.44482792e-02 6.51129568e+02] [-1.00516158e-01 9.94932648e-01 2.35109915e-03 -4.56939692e+01] [ 1.46114436e-02 -8.86654056e-04 9.99892854e-01 2.12977473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.540714057 meters Centerline goodness [0,1] 0.9826657504488728 Centerline is valid? [True, True] Translation: X:651.16, Y:-45.69, Z:2.13 [[ 9.94517350e-01 1.03839865e-01 -1.23499774e-02 6.51159261e+02] [-1.03822896e-01 9.94593771e-01 2.00907280e-03 -4.56946803e+01] [ 1.24918324e-02 -7.15847346e-04 9.99921718e-01 2.13080202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5707140569999 meters Centerline goodness [0,1] 0.9818452513221635 Centerline is valid? [True, True] Translation: X:651.19, Y:-45.70, Z:2.13 [[ 9.94446458e-01 1.04594533e-01 -1.16715722e-02 6.51188145e+02] [-1.04579449e-01 9.94514726e-01 1.89698477e-03 -4.56977367e+01] [ 1.18059647e-02 -6.65843189e-04 9.99930085e-01 2.13130003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6007140569999 meters Centerline goodness [0,1] 0.983275059572857 Centerline is valid? [True, True] Translation: X:651.22, Y:-45.70, Z:2.13 [[ 9.94363361e-01 1.05441305e-01 -1.11192162e-02 6.51217307e+02] [-1.05427698e-01 9.94425334e-01 1.80446524e-03 -4.56964894e+01] [ 1.12474954e-02 -6.22020754e-04 9.99936551e-01 2.13226611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.630714057 meters Centerline goodness [0,1] 0.9822768463473828 Centerline is valid? [True, True] Translation: X:651.25, Y:-45.70, Z:2.13 [[ 9.94411041e-01 1.05122134e-01 -9.79893598e-03 6.51245519e+02] [-1.05111576e-01 9.94459167e-01 1.58769644e-03 -4.56996888e+01] [ 9.91154375e-03 -5.48841262e-04 9.99950729e-01 2.13268021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.660714057 meters Centerline goodness [0,1] 0.9826782145236509 Centerline is valid? [True, True] Translation: X:651.27, Y:-45.70, Z:2.13 [[ 9.94501546e-01 1.04305131e-01 -9.33355197e-03 6.51274392e+02] [-1.04295540e-01 9.94545203e-01 1.50977300e-03 -4.57031692e+01] [ 9.44011641e-03 -5.28023736e-04 9.99955302e-01 2.13258842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6907140569999 meters Centerline goodness [0,1] 0.9811140063695686 Centerline is valid? [True, True] Translation: X:651.30, Y:-45.71, Z:2.13 [[ 9.94836304e-01 1.01030358e-01 -9.67448301e-03 6.51304299e+02] [-1.01019914e-01 9.94883175e-01 1.56346952e-03 -4.57089784e+01] [ 9.78293827e-03 -5.78080794e-04 9.99951979e-01 2.13230411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7207140569999 meters Centerline goodness [0,1] 0.9812459629819364 Centerline is valid? [True, True] Translation: X:651.33, Y:-45.71, Z:2.13 [[ 9.95012205e-01 9.92652269e-02 -9.85531065e-03 6.51333074e+02] [-9.92543047e-02 9.95060826e-01 1.59244935e-03 -4.57148533e+01] [ 9.96470840e-03 -6.06324533e-04 9.99950167e-01 2.13191111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.750714057 meters Centerline goodness [0,1] 0.9809458472569544 Centerline is valid? [True, True] Translation: X:651.36, Y:-45.72, Z:2.13 [[ 9.95174726e-01 9.76328660e-02 -9.75127158e-03 6.51361146e+02] [-9.76221012e-02 9.95222309e-01 1.57502658e-03 -4.57223046e+01] [ 9.85845738e-03 -6.15487029e-04 9.99951215e-01 2.13155344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.780714057 meters Centerline goodness [0,1] 0.9804514622484154 Centerline is valid? [True, True] Translation: X:651.39, Y:-45.73, Z:2.13 [[ 9.95337363e-01 9.59518273e-02 -9.83767905e-03 6.51389989e+02] [-9.59407946e-02 9.95385775e-01 1.58842385e-03 -4.57286543e+01] [ 9.94469795e-03 -6.37182861e-04 9.99950347e-01 2.13182911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8107140569999 meters Centerline goodness [0,1] 0.979162496942202 Centerline is valid? [True, True] Translation: X:651.42, Y:-45.73, Z:2.13 [[ 9.95543443e-01 9.38927155e-02 -8.79832185e-03 6.51418752e+02] [-9.38838141e-02 9.95582147e-01 1.42024975e-03 -4.57344080e+01] [ 8.89280327e-03 -5.87900315e-04 9.99960285e-01 2.13196956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8407140569999 meters Centerline goodness [0,1] 0.9800895302999934 Centerline is valid? [True, True] Translation: X:651.45, Y:-45.74, Z:2.13 [[ 9.95612266e-01 9.31616346e-02 -8.78207178e-03 6.51447927e+02] [-9.31527479e-02 9.95650822e-01 1.41646843e-03 -4.57360185e+01] [ 8.87583750e-03 -5.92179227e-04 9.99960434e-01 2.13212523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.870714057 meters Centerline goodness [0,1] 0.9804061275382971 Centerline is valid? [True, True] Translation: X:651.48, Y:-45.74, Z:2.13 [[ 9.95571644e-01 9.35226506e-02 -9.51920064e-03 6.51475571e+02] [-9.35122442e-02 9.95616949e-01 1.53346321e-03 -4.57405040e+01] [ 9.62089103e-03 -6.36510673e-04 9.99953516e-01 2.13172009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.900714057 meters Centerline goodness [0,1] 0.9807893973538009 Centerline is valid? [True, True] Translation: X:651.50, Y:-45.74, Z:2.13 [[ 9.95536552e-01 9.38741564e-02 -9.72711622e-03 6.51504865e+02] [-9.38633222e-02 9.95583862e-01 1.56541927e-03 -4.57422016e+01] [ 9.83111235e-03 -6.45412662e-04 9.99951465e-01 2.13202868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9307140569999 meters Centerline goodness [0,1] 0.9809116046739809 Centerline is valid? [True, True] Translation: X:651.53, Y:-45.75, Z:2.13 [[ 9.95341023e-01 9.59841917e-02 -9.12593196e-03 6.51533451e+02] [-9.59747562e-02 9.95382687e-01 1.46730884e-03 -4.57472887e+01] [ 9.22463313e-03 -5.84613590e-04 9.99957281e-01 2.13184148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9607140569999 meters Centerline goodness [0,1] 0.9797851475439066 Centerline is valid? [True, True] Translation: X:651.56, Y:-45.76, Z:2.13 [[ 9.95240350e-01 9.70974265e-02 -8.29069321e-03 6.51559893e+02] [-9.70896813e-02 9.95274745e-01 1.33258050e-03 -4.57556186e+01] [ 8.38090771e-03 -5.21297120e-04 9.99964744e-01 2.13244163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.990714057 meters Centerline goodness [0,1] 0.9795384993410324 Centerline is valid? [True, True] Translation: X:651.59, Y:-45.76, Z:2.13 [[ 9.95125570e-01 9.82828422e-02 -8.09836024e-03 6.51588514e+02] [-9.82754966e-02 9.95158397e-01 1.30101043e-03 -4.57583262e+01] [ 8.18701819e-03 -4.98798372e-04 9.99966361e-01 2.13295689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.020714057 meters Centerline goodness [0,1] 0.9814421464505311 Centerline is valid? [True, True] Translation: X:651.62, Y:-45.76, Z:2.13 [[ 9.95022985e-01 9.93622362e-02 -7.51029160e-03 6.51618213e+02] [-9.93559556e-02 9.95051225e-01 1.20571121e-03 -4.57577590e+01] [ 7.59292702e-03 -4.53518165e-04 9.99971070e-01 2.13380691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0507140569999 meters Centerline goodness [0,1] 0.9805083040883386 Centerline is valid? [True, True] Translation: X:651.65, Y:-45.76, Z:2.13 [[ 9.94881188e-01 1.00788885e-01 -7.28161410e-03 6.51646358e+02] [-1.00783029e-01 9.94907743e-01 1.16764992e-03 -4.57607243e+01] [ 7.36222039e-03 -4.27809817e-04 9.99972807e-01 2.13385373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0807140569999 meters Centerline goodness [0,1] 0.9812202374298553 Centerline is valid? [True, True] Translation: X:651.67, Y:-45.76, Z:2.13 [[ 9.94847722e-01 1.01118399e-01 -7.28562462e-03 6.51674471e+02] [-1.01112552e-01 9.94874308e-01 1.16745346e-03 -4.57642557e+01] [ 7.36633178e-03 -4.24770315e-04 9.99972778e-01 2.13340463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.110714057 meters Centerline goodness [0,1] 0.9808299604145354 Centerline is valid? [True, True] Translation: X:651.70, Y:-45.77, Z:2.13 [[ 9.94736948e-01 1.02119052e-01 -8.37274625e-03 6.51701909e+02] [-1.02111380e-01 9.94772070e-01 1.33985393e-03 -4.57694433e+01] [ 8.46579873e-03 -4.77849538e-04 9.99964050e-01 2.13271638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.140714057 meters Centerline goodness [0,1] 0.9808787723099605 Centerline is valid? [True, True] Translation: X:651.73, Y:-45.77, Z:2.13 [[ 9.94746981e-01 1.01995219e-01 -8.68445449e-03 6.51728244e+02] [-1.01986970e-01 9.94784766e-01 1.38863014e-03 -4.57747314e+01] [ 8.78079666e-03 -4.95634440e-04 9.99961325e-01 2.13234739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1707140569999 meters Centerline goodness [0,1] 0.9804386219847533 Centerline is valid? [True, True] Translation: X:651.76, Y:-45.78, Z:2.13 [[ 9.94768849e-01 1.01832509e-01 -8.06707141e-03 6.51756295e+02] [-1.01825399e-01 9.94801452e-01 1.28823383e-03 -4.57785011e+01] [ 8.15631843e-03 -4.60062114e-04 9.99966631e-01 2.13227620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2007140569999 meters Centerline goodness [0,1] 0.9811468619153176 Centerline is valid? [True, True] Translation: X:651.78, Y:-45.78, Z:2.13 [[ 9.94802467e-01 1.01586382e-01 -6.94686531e-03 6.51784620e+02] [-1.01581116e-01 9.94826643e-01 1.10761418e-03 -4.57776241e+01] [ 7.02344521e-03 -3.96186991e-04 9.99975257e-01 2.13372549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2307140569999 meters Centerline goodness [0,1] 0.9803423940871346 Centerline is valid? [True, True] Translation: X:651.81, Y:-45.78, Z:2.13 [[ 9.94802471e-01 1.01663532e-01 -5.70703550e-03 6.51812676e+02] [-1.01659987e-01 9.94818788e-01 9.08562986e-04 -4.57818419e+01] [ 5.76983386e-03 -3.23663547e-04 9.99983302e-01 2.13442911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.260714057 meters Centerline goodness [0,1] 0.9777762887518985 Centerline is valid? [True, True] Translation: X:651.84, Y:-45.80, Z:2.13 [[ 9.94721687e-01 1.02494647e-01 -4.85938536e-03 6.51838477e+02] [-1.02492093e-01 9.94733519e-01 7.72484681e-04 -4.57954691e+01] [ 4.91296905e-03 -2.70358689e-04 9.99987895e-01 2.13481490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.290714057 meters Centerline goodness [0,1] 0.9805319624497094 Centerline is valid? [True, True] Translation: X:651.87, Y:-45.79, Z:2.13 [[ 9.94563667e-01 1.04026187e-01 -4.65460763e-03 6.51868248e+02] [-1.04023862e-01 9.94574527e-01 7.39517841e-04 -4.57900976e+01] [ 4.70628341e-03 -2.51307315e-04 9.99988894e-01 2.13472238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3207140569999 meters Centerline goodness [0,1] 0.9809756639626626 Centerline is valid? [True, True] Translation: X:651.90, Y:-45.79, Z:2.13 [[ 9.94410835e-01 1.05461285e-01 -5.00092411e-03 6.51896901e+02] [-1.05458621e-01 9.94423375e-01 7.94145368e-04 -4.57945119e+01] [ 5.05678742e-03 -2.62316197e-04 9.99987180e-01 2.13446369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3507140569999 meters Centerline goodness [0,1] 0.9807477803060723 Centerline is valid? [True, True] Translation: X:651.92, Y:-45.80, Z:2.13 [[ 9.94215638e-01 1.07266262e-01 -5.40506549e-03 6.51924493e+02] [-1.07263179e-01 9.94230292e-01 8.57899425e-04 -4.57994283e+01] [ 5.46590350e-03 -2.73172515e-04 9.99985025e-01 2.13400516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.380714057 meters Centerline goodness [0,1] 0.981239111984634 Centerline is valid? [True, True] Translation: X:651.95, Y:-45.80, Z:2.13 [[ 9.94172809e-01 1.07643446e-01 -5.77193009e-03 6.51952502e+02] [-1.07639940e-01 9.94189522e-01 9.15523390e-04 -4.58037684e+01] [ 5.83694250e-03 -2.88898252e-04 9.99982923e-01 2.13377278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.410714057 meters Centerline goodness [0,1] 0.9823247520338794 Centerline is valid? [True, True] Translation: X:651.98, Y:-45.81, Z:2.13 [[ 9.94081236e-01 1.08454718e-01 -6.33014144e-03 6.51981073e+02] [-1.08450529e-01 9.94101342e-01 1.00235187e-03 -4.58051008e+01] [ 6.40151189e-03 -3.09912000e-04 9.99979462e-01 2.13360572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4407140569999 meters Centerline goodness [0,1] 0.9827035954203585 Centerline is valid? [True, True] Translation: X:652.01, Y:-45.81, Z:2.13 [[ 9.94023061e-01 1.08964685e-01 -6.69716240e-03 6.52009163e+02] [-1.08960020e-01 9.94045569e-01 1.05866983e-03 -4.58094266e+01] [ 6.77264224e-03 -3.22619273e-04 9.99977013e-01 2.13329635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4707140569999 meters Centerline goodness [0,1] 0.983077677695532 Centerline is valid? [True, True] Translation: X:652.04, Y:-45.82, Z:2.13 [[ 9.94002577e-01 1.09142021e-01 -6.84808001e-03 6.52037523e+02] [-1.09137160e-01 9.94026113e-01 1.08074674e-03 -4.58151329e+01] [ 6.92512523e-03 -3.26885043e-04 9.99975968e-01 2.13339957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.500714057 meters Centerline goodness [0,1] 0.9816726494392545 Centerline is valid? [True, True] Translation: X:652.06, Y:-45.82, Z:2.13 [[ 9.93982333e-01 1.09332749e-01 -6.74323118e-03 6.52064245e+02] [-1.09328050e-01 9.94005155e-01 1.06272416e-03 -4.58230223e+01] [ 6.81899711e-03 -3.19104720e-04 9.99976699e-01 2.13335429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.530714057 meters Centerline goodness [0,1] 0.9832787104541503 Centerline is valid? [True, True] Translation: X:652.09, Y:-45.82, Z:2.13 [[ 9.93925221e-01 1.09905752e-01 -5.77759281e-03 6.52092752e+02] [-1.09902315e-01 9.93941977e-01 9.10037220e-04 -4.58242984e+01] [ 5.84261035e-03 -2.69538122e-04 9.99982895e-01 2.13413336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5607140569999 meters Centerline goodness [0,1] 0.9832787104541503 Centerline is valid? [True, True] Translation: X:652.12, Y:-45.83, Z:2.13 [[ 9.93956181e-01 1.09625396e-01 -5.77781883e-03 6.52119847e+02] [-1.09621962e-01 9.93972937e-01 9.08600050e-04 -4.58284848e+01] [ 5.84260119e-03 -2.69732800e-04 9.99982895e-01 2.13428483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5907140569999 meters Centerline goodness [0,1] 0.9823744373635189 Centerline is valid? [True, True] Translation: X:652.15, Y:-45.84, Z:2.13 [[ 9.93924788e-01 1.09903200e-01 -5.89941777e-03 6.52147158e+02] [-1.09899635e-01 9.93942258e-01 9.26075610e-04 -4.58355010e+01] [ 5.96545930e-03 -2.72105646e-04 9.99982169e-01 2.13434813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.620714057 meters Centerline goodness [0,1] 0.9813059153425023 Centerline is valid? [True, True] Translation: X:652.17, Y:-45.84, Z:2.13 [[ 9.93841354e-01 1.10643941e-01 -6.10591078e-03 6.52174895e+02] [-1.10640140e-01 9.93860072e-01 9.57825564e-04 -4.58411380e+01] [ 6.17439852e-03 -2.76367830e-04 9.99980900e-01 2.13412960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.650714057 meters Centerline goodness [0,1] 0.9818761424940925 Centerline is valid? [True, True] Translation: X:652.20, Y:-45.85, Z:2.13 [[ 9.93749724e-01 1.11463909e-01 -6.10593696e-03 6.52201818e+02] [-1.11460132e-01 9.93768446e-01 9.56452749e-04 -4.58472181e+01] [ 6.17449745e-03 -2.69906117e-04 9.99980901e-01 2.13482597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6807140569999 meters Centerline goodness [0,1] 0.9815841628253947 Centerline is valid? [True, True] Translation: X:652.23, Y:-45.85, Z:2.13 [[ 9.93749774e-01 1.11473611e-01 -5.91777365e-03 6.52230444e+02] [-1.11470067e-01 9.93767360e-01 9.26418361e-04 -4.58520227e+01] [ 5.98416149e-03 -2.60973413e-04 9.99982061e-01 2.13493260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7107140569999 meters Centerline goodness [0,1] 0.9828720533464171 Centerline is valid? [True, True] Translation: X:652.26, Y:-45.85, Z:2.14 [[ 9.93785040e-01 1.11233680e-01 -4.28522042e-03 6.52258951e+02] [-1.11231822e-01 9.93794261e-01 6.70259029e-04 -4.58497782e+01] [ 4.33318284e-03 -1.89440522e-04 9.99990594e-01 2.13712239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.740714057 meters Centerline goodness [0,1] 0.9818592097694793 Centerline is valid? [True, True] Translation: X:652.28, Y:-45.86, Z:2.14 [[ 9.93784970e-01 1.11286259e-01 -2.60789607e-03 6.52284865e+02] [-1.11285572e-01 9.93788386e-01 4.07499747e-04 -4.58559485e+01] [ 2.63704594e-03 -1.14745919e-04 9.99996516e-01 2.13835872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.770714057 meters Centerline goodness [0,1] 0.9828454306465267 Centerline is valid? [True, True] Translation: X:652.31, Y:-45.86, Z:2.14 [[ 9.93834048e-01 1.10855488e-01 -2.22370127e-03 6.52312955e+02] [-1.10854988e-01 9.93836531e-01 3.47355683e-04 -4.58606739e+01] [ 2.24850184e-03 -9.87055271e-05 9.99997467e-01 2.13898939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8007140569999 meters Centerline goodness [0,1] 0.9828890570068087 Centerline is valid? [True, True] Translation: X:652.34, Y:-45.87, Z:2.14 [[ 9.93888072e-01 1.10381247e-01 -1.57474623e-03 6.52341491e+02] [-1.10380995e-01 9.93889317e-01 2.45989222e-04 -4.58672801e+01] [ 1.59227605e-03 -7.06636969e-05 9.99998730e-01 2.13939373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8307140569999 meters Centerline goodness [0,1] 0.983047458229648 Centerline is valid? [True, True] Translation: X:652.37, Y:-45.87, Z:2.14 [[ 9.93972713e-01 1.09606123e-01 -2.17809991e-03 6.52369198e+02] [-1.09605642e-01 9.93975094e-01 3.39154725e-04 -4.58736181e+01] [ 2.20215050e-03 -9.83785030e-05 9.99997570e-01 2.13893133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.860714057 meters Centerline goodness [0,1] 0.9705906018667525 Centerline is valid? [True, True] Translation: X:652.39, Y:-45.91, Z:2.14 [[ 9.93541371e-01 1.13342653e-01 -5.38389965e-03 6.52392498e+02] [-1.13339790e-01 9.93555934e-01 8.34955601e-04 -4.59126839e+01] [ 5.44384153e-03 -2.19352878e-04 9.99985158e-01 2.13867551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.890714057 meters Centerline goodness [0,1] 0.9845173041894353 Centerline is valid? [True, True] Translation: X:652.43, Y:-45.88, Z:2.14 [[ 9.94153280e-01 1.07882073e-01 -4.55131012e-03 6.52427040e+02] [-1.07879970e-01 9.94163676e-01 7.05693933e-04 -4.58842421e+01] [ 4.60087893e-03 -2.10572738e-04 9.99989394e-01 2.13769004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9207140569999 meters Centerline goodness [0,1] 0.9836061937086827 Centerline is valid? [True, True] Translation: X:652.45, Y:-45.89, Z:2.14 [[ 9.94272097e-01 1.06743089e-01 -5.37677333e-03 6.52454357e+02] [-1.06740139e-01 9.94286603e-01 8.33522624e-04 -4.58909443e+01] [ 5.43502647e-03 -2.54830756e-04 9.99985198e-01 2.13670706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9507140569999 meters Centerline goodness [0,1] 0.9828315721849317 Centerline is valid? [True, True] Translation: X:652.48, Y:-45.90, Z:2.14 [[ 9.94407400e-01 1.05443805e-01 -5.96035289e-03 6.52481402e+02] [-1.05440160e-01 9.94425221e-01 9.23373260e-04 -4.58987381e+01] [ 6.02448922e-03 -2.89748639e-04 9.99981811e-01 2.13618814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9807140569999 meters Centerline goodness [0,1] 0.9829228315761496 Centerline is valid? [True, True] Translation: X:652.51, Y:-45.91, Z:2.14 [[ 9.94677729e-01 1.02784783e-01 -7.17656637e-03 6.52510206e+02] [-1.02779436e-01 9.94703551e-01 1.11084397e-03 -4.59058421e+01] [ 7.25273391e-03 -3.67328314e-04 9.99973631e-01 2.13544195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.010714057 meters Centerline goodness [0,1] 0.9823848836695952 Centerline is valid? [True, True] Translation: X:652.54, Y:-45.91, Z:2.14 [[ 9.94783280e-01 1.01756411e-01 -7.20129547e-03 6.52537409e+02] [-1.01751003e-01 9.94809274e-01 1.11432150e-03 -4.59134673e+01] [ 7.27730488e-03 -3.75769363e-04 9.99973449e-01 2.13528805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.040714057 meters Centerline goodness [0,1] 0.9811963543049288 Centerline is valid? [True, True] Translation: X:652.56, Y:-45.92, Z:2.14 [[ 9.94921434e-01 1.00445278e-01 -6.48740976e-03 6.52564668e+02] [-1.00440865e-01 9.94942524e-01 1.00333102e-03 -4.59209203e+01] [ 6.55537970e-03 -3.46634487e-04 9.99978453e-01 2.13658891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0707140569999 meters Centerline goodness [0,1] 0.9828456328301386 Centerline is valid? [True, True] Translation: X:652.59, Y:-45.92, Z:2.14 [[ 9.94961513e-01 1.00048040e-01 -6.47900031e-03 6.52593805e+02] [-1.00043635e-01 9.94982547e-01 1.00125223e-03 -4.59179437e+01] [ 6.54666556e-03 -3.48024690e-04 9.99978510e-01 2.13785455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1007140569999 meters Centerline goodness [0,1] 0.983292024431265 Centerline is valid? [True, True] Translation: X:652.62, Y:-45.92, Z:2.14 [[ 9.94985012e-01 9.98436274e-02 -6.00630883e-03 6.52621756e+02] [-9.98398481e-02 9.95003089e-01 9.26544356e-04 -4.59220503e+01] [ 6.06880538e-03 -3.22228787e-04 9.99981533e-01 2.13830998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.130714057 meters Centerline goodness [0,1] 0.9830605799598048 Centerline is valid? [True, True] Translation: X:652.65, Y:-45.93, Z:2.14 [[ 9.94979807e-01 9.99381286e-02 -5.24911432e-03 6.52649309e+02] [-9.99352507e-02 9.94993614e-01 8.08380713e-04 -4.59284137e+01] [ 5.30362329e-03 -2.79750930e-04 9.99985897e-01 2.13909001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.160714057 meters Centerline goodness [0,1] 0.9841732979664014 Centerline is valid? [True, True] Translation: X:652.68, Y:-45.93, Z:2.14 [[ 9.95031424e-01 9.94214057e-02 -5.27730431e-03 6.52677717e+02] [-9.94184969e-02 9.95045378e-01 8.11360336e-04 -4.59340463e+01] [ 5.33182385e-03 -2.82667368e-04 9.99985746e-01 2.13918624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1907140569999 meters Centerline goodness [0,1] 0.9834820245561346 Centerline is valid? [True, True] Translation: X:652.71, Y:-45.94, Z:2.14 [[ 9.95104750e-01 9.86496136e-02 -5.89830523e-03 6.52706387e+02] [-9.86459761e-02 9.95122179e-01 9.05184986e-04 -4.59370075e+01] [ 5.95883051e-03 -3.18909802e-04 9.99982195e-01 2.13941337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2207140569999 meters Centerline goodness [0,1] 0.9846014692580909 Centerline is valid? [True, True] Translation: X:652.74, Y:-45.94, Z:2.14 [[ 9.95273796e-01 9.69093559e-02 -6.21674456e-03 6.52735414e+02] [-9.69052907e-02 9.95293151e-01 9.52547631e-04 -4.59425132e+01] [ 6.27979406e-03 -3.45610257e-04 9.99980222e-01 2.13960069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.250714057 meters Centerline goodness [0,1] 0.9818177806218142 Centerline is valid? [True, True] Translation: X:652.76, Y:-45.95, Z:2.14 [[ 9.95365929e-01 9.59362060e-02 -6.55063864e-03 6.52761832e+02] [-9.59316734e-02 9.95387416e-01 1.00339544e-03 -4.59520731e+01] [ 6.61668522e-03 -3.70331905e-04 9.99978041e-01 2.13921838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.280714057 meters Centerline goodness [0,1] 0.9832203651778421 Centerline is valid? [True, True] Translation: X:652.79, Y:-45.96, Z:2.14 [[ 9.95448389e-01 9.49994227e-02 -7.59046835e-03 6.52788602e+02] [-9.49933156e-02 9.95477232e-01 1.16190802e-03 -4.59584389e+01] [ 7.66651902e-03 -4.35575712e-04 9.99970517e-01 2.13938331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3107140569999 meters Centerline goodness [0,1] 0.9833870184882849 Centerline is valid? [True, True] Translation: X:652.82, Y:-45.96, Z:2.14 [[ 9.95451765e-01 9.49562567e-02 -7.68715205e-03 6.52817007e+02] [-9.49499997e-02 9.95481349e-01 1.17568544e-03 -4.59633855e+01] [ 7.76405518e-03 -4.40443062e-04 9.99969762e-01 2.13947200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3407140569999 meters Centerline goodness [0,1] 0.9845926644330806 Centerline is valid? [True, True] Translation: X:652.85, Y:-45.96, Z:2.14 [[ 9.95413787e-01 9.53309063e-02 -7.96313397e-03 6.52846353e+02] [-9.53242201e-02 9.95445536e-01 1.21588343e-03 -4.59611045e+01] [ 8.04277743e-03 -4.51227593e-04 9.99967555e-01 2.13941876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.370714057 meters Centerline goodness [0,1] 0.9850371317129069 Centerline is valid? [True, True] Translation: X:652.87, Y:-45.96, Z:2.14 [[ 9.95369722e-01 9.57267859e-02 -8.68901666e-03 6.52874552e+02] [-9.57188609e-02 9.95407527e-01 1.32435588e-03 -4.59649017e+01] [ 8.77588892e-03 -4.86520969e-04 9.99961373e-01 2.13911065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.400714057 meters Centerline goodness [0,1] 0.9845298258777834 Centerline is valid? [True, True] Translation: X:652.90, Y:-45.97, Z:2.14 [[ 9.95117357e-01 9.82303935e-02 -9.60397239e-03 6.52903233e+02] [-9.82208442e-02 9.95163568e-01 1.46210934e-03 -4.59703903e+01] [ 9.70114701e-03 -5.11660108e-04 9.99952812e-01 2.13808016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4307140569999 meters Centerline goodness [0,1] 0.9855334538878843 Centerline is valid? [True, True] Translation: X:652.93, Y:-45.97, Z:2.14 [[ 9.94949791e-01 9.99083885e-02 -9.65537953e-03 6.52931159e+02] [-9.98988203e-02 9.94996516e-01 1.46943794e-03 -4.59740364e+01] [ 9.75387817e-03 -4.97455945e-04 9.99952306e-01 2.13781894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4607140569999 meters Centerline goodness [0,1] 0.9866534084631532 Centerline is valid? [True, True] Translation: X:652.96, Y:-45.97, Z:2.14 [[ 9.94541220e-01 1.03797889e-01 -1.06658445e-02 6.52961337e+02] [-1.03786443e-01 9.94598281e-01 1.62260003e-03 -4.59714429e+01] [ 1.07766531e-02 -5.06772537e-04 9.99941802e-01 2.13830788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.490714057 meters Centerline goodness [0,1] 0.9855126874406483 Centerline is valid? [True, True] Translation: X:652.99, Y:-45.98, Z:2.14 [[ 9.94379662e-01 1.05330473e-01 -1.07041513e-02 6.52988503e+02] [-1.05319041e-01 9.94437152e-01 1.62774293e-03 -4.59790077e+01] [ 1.08160567e-02 -4.91243514e-04 9.99941384e-01 2.13787273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.520714057 meters Centerline goodness [0,1] 0.9877320954907162 Centerline is valid? [True, True] Translation: X:653.02, Y:-45.98, Z:2.14 [[ 9.94144865e-01 1.07502099e-01 -1.09218045e-02 6.53018304e+02] [-1.07490348e-01 9.94204744e-01 1.65902269e-03 -4.59781600e+01] [ 1.10368582e-02 -4.75320322e-04 9.99938979e-01 2.13863376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5507140569999 meters Centerline goodness [0,1] 0.9876316893787133 Centerline is valid? [True, True] Translation: X:653.05, Y:-45.98, Z:2.14 [[ 9.94044150e-01 1.08423174e-01 -1.09837789e-02 6.53045668e+02] [-1.08411365e-01 9.94104722e-01 1.66662406e-03 -4.59839298e+01] [ 1.10997271e-02 -4.65931435e-04 9.99938288e-01 2.13844451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5807140569999 meters Centerline goodness [0,1] 0.9859575409111013 Centerline is valid? [True, True] Translation: X:653.07, Y:-45.99, Z:2.14 [[ 9.93998160e-01 1.08789498e-01 -1.15110219e-02 6.53073113e+02] [-1.08776576e-01 9.94064693e-01 1.74459758e-03 -4.59912010e+01] [ 1.16324944e-02 -4.81997235e-04 9.99932224e-01 2.13816337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.610714057 meters Centerline goodness [0,1] 0.9868342574388654 Centerline is valid? [True, True] Translation: X:653.10, Y:-45.99, Z:2.14 [[ 9.93953814e-01 1.09212157e-01 -1.13367166e-02 6.53102929e+02] [-1.09199676e-01 9.94018353e-01 1.71602262e-03 -4.59899487e+01] [ 1.14563149e-02 -4.67681446e-04 9.99934265e-01 2.13938737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.640714057 meters Centerline goodness [0,1] 0.9857638658620156 Centerline is valid? [True, True] Translation: X:653.13, Y:-46.00, Z:2.14 [[ 9.93995431e-01 1.08962612e-01 -1.00115737e-02 6.53129303e+02] [-1.08952886e-01 9.94045763e-01 1.51343112e-03 -4.59987780e+01] [ 1.01168698e-02 -4.13553781e-04 9.99948738e-01 2.13950062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6707140569999 meters Centerline goodness [0,1] 0.9864867834149986 Centerline is valid? [True, True] Translation: X:653.16, Y:-46.00, Z:2.14 [[ 9.94127998e-01 1.07787267e-01 -9.56180373e-03 6.53157726e+02] [-1.07778365e-01 9.94173899e-01 1.44289173e-03 -4.60027256e+01] [ 9.66162106e-03 -4.03863493e-04 9.99953244e-01 2.13999558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7007140569999 meters Centerline goodness [0,1] 0.9865082694813081 Centerline is valid? [True, True] Translation: X:653.19, Y:-46.01, Z:2.14 [[ 9.94445407e-01 1.04896119e-01 -8.66811148e-03 6.53186400e+02] [-1.04888706e-01 9.94483108e-01 1.30668121e-03 -4.60103849e+01] [ 8.75735623e-03 -3.90236124e-04 9.99961577e-01 2.14015351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7307140569999 meters Centerline goodness [0,1] 0.9862766262087803 Centerline is valid? [True, True] Translation: X:653.21, Y:-46.02, Z:2.14 [[ 9.94658128e-01 1.02897846e-01 -8.20006105e-03 6.53213727e+02] [-1.02891147e-01 9.94691854e-01 1.23572599e-03 -4.60186440e+01] [ 8.28368747e-03 -3.85411212e-04 9.99965615e-01 2.13992813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.760714057 meters Centerline goodness [0,1] 0.9859117724751255 Centerline is valid? [True, True] Translation: X:653.24, Y:-46.03, Z:2.14 [[ 9.94875727e-01 1.00821001e-01 -7.57720040e-03 6.53242637e+02] [-1.00815225e-01 9.94904512e-01 1.14139940e-03 -4.60263708e+01] [ 7.65366790e-03 -3.71653398e-04 9.99970641e-01 2.14011955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.790714057 meters Centerline goodness [0,1] 0.9846705375208938 Centerline is valid? [True, True] Translation: X:653.27, Y:-46.04, Z:2.14 [[ 9.95200437e-01 9.76552836e-02 -6.28773676e-03 6.53272019e+02] [-9.76512442e-02 9.95220246e-01 9.47000795e-04 -4.60351173e+01] [ 6.35016255e-03 -3.28450287e-04 9.99979784e-01 2.14107134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8207140569999 meters Centerline goodness [0,1] 0.9852284966917988 Centerline is valid? [True, True] Translation: X:653.30, Y:-46.04, Z:2.14 [[ 9.95304688e-01 9.66528822e-02 -5.17667733e-03 6.53300358e+02] [-9.66501303e-02 9.95318112e-01 7.79732071e-04 -4.60380239e+01] [ 5.22780405e-03 -2.75744447e-04 9.99986297e-01 2.14199957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8507140569999 meters Centerline goodness [0,1] 0.9864841144461998 Centerline is valid? [True, True] Translation: X:653.33, Y:-46.04, Z:2.14 [[ 9.95363885e-01 9.60995016e-02 -3.95255488e-03 6.53328662e+02] [-9.60978957e-02 9.95371710e-01 5.94670697e-04 -4.60438037e+01] [ 3.99140887e-03 -2.12081529e-04 9.99992012e-01 2.14279901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.880714057 meters Centerline goodness [0,1] 0.9847500767981744 Centerline is valid? [True, True] Translation: X:653.36, Y:-46.05, Z:2.14 [[ 9.95399262e-01 9.57349526e-02 -3.88949790e-03 6.53355356e+02] [-9.57333996e-02 9.95406839e-01 5.83958552e-04 -4.60518540e+01] [ 3.92753805e-03 -2.08917056e-04 9.99992265e-01 2.14226498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.910714057 meters Centerline goodness [0,1] 0.9848547945205479 Centerline is valid? [True, True] Translation: X:653.38, Y:-46.06, Z:2.14 [[ 9.95391806e-01 9.57967799e-02 -4.25788199e-03 6.53383454e+02] [-9.57949203e-02 9.95400887e-01 6.39025366e-04 -4.60568978e+01] [ 4.29951608e-03 -2.28197147e-04 9.99990731e-01 2.14129860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9407140569999 meters Centerline goodness [0,1] 0.9859667587598123 Centerline is valid? [True, True] Translation: X:653.41, Y:-46.06, Z:2.14 [[ 9.95344516e-01 9.62536939e-02 -4.95188333e-03 6.53411449e+02] [-9.62511917e-02 9.95356799e-01 7.41728317e-04 -4.60613412e+01] [ 5.00028483e-03 -2.61650542e-04 9.99987464e-01 2.14013597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9707140569999 meters Centerline goodness [0,1] 0.9860396927857158 Centerline is valid? [True, True] Translation: X:653.44, Y:-46.07, Z:2.14 [[ 9.95334826e-01 9.63601427e-02 -4.82781774e-03 6.53439620e+02] [-9.63577713e-02 9.95346502e-01 7.21966215e-04 -4.60663091e+01] [ 4.87492027e-03 -2.53400359e-04 9.99988085e-01 2.13912701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.000714057 meters Centerline goodness [0,1] 0.9853644621933558 Centerline is valid? [True, True] Translation: X:653.47, Y:-46.07, Z:2.14 [[ 9.95291902e-01 9.67787340e-02 -5.28259209e-03 6.53466602e+02] [-9.67759085e-02 9.95305884e-01 7.88495068e-04 -4.60733620e+01] [ 5.33410454e-03 -2.73555108e-04 9.99985736e-01 2.13800769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.030714057 meters Centerline goodness [0,1] 0.9841666666666666 Centerline is valid? [True, True] Translation: X:653.49, Y:-46.08, Z:2.14 [[ 9.95332994e-01 9.63612743e-02 -5.17074269e-03 6.53494163e+02] [-9.63585636e-02 9.95346388e-01 7.71405387e-04 -4.60781708e+01] [ 5.22101367e-03 -2.69559894e-04 9.99986334e-01 2.13745916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0607140569999 meters Centerline goodness [0,1] 0.9843280142233148 Centerline is valid? [True, True] Translation: X:653.52, Y:-46.08, Z:2.14 [[ 9.95356121e-01 9.61254495e-02 -5.10792167e-03 6.53521974e+02] [-9.61228085e-02 9.95369191e-01 7.60606144e-04 -4.60836056e+01] [ 5.15738147e-03 -2.66086204e-04 9.99986665e-01 2.13724920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0907140569999 meters Centerline goodness [0,1] 0.9860919162005045 Centerline is valid? [True, True] Translation: X:653.55, Y:-46.08, Z:2.14 [[ 9.95367773e-01 9.59783187e-02 -5.58194943e-03 6.53550598e+02] [-9.59751722e-02 9.95383383e-01 8.29476405e-04 -4.60831942e+01] [ 5.63579146e-03 -2.89905525e-04 9.99984077e-01 2.13742795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.120714057 meters Centerline goodness [0,1] 0.9854093073260636 Centerline is valid? [True, True] Translation: X:653.58, Y:-46.09, Z:2.14 [[ 9.95256527e-01 9.71281032e-02 -5.52965289e-03 6.53577481e+02] [-9.71250422e-02 9.95271849e-01 8.20083694e-04 -4.60940485e+01] [ 5.58316103e-03 -2.79125879e-04 9.99984375e-01 2.13671506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.150714057 meters Centerline goodness [0,1] 0.9846484024264722 Centerline is valid? [True, True] Translation: X:653.61, Y:-46.10, Z:2.14 [[ 9.95185771e-01 9.78709025e-02 -5.15438787e-03 6.53606137e+02] [-9.78682592e-02 9.95199086e-01 7.63194319e-04 -4.60988650e+01] [ 5.20433662e-03 -2.55069158e-04 9.99986425e-01 2.13742146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1807140569999 meters Centerline goodness [0,1] 0.9864444639103014 Centerline is valid? [True, True] Translation: X:653.64, Y:-46.10, Z:2.14 [[ 9.94969468e-01 1.00115046e-01 -3.56873822e-03 6.53635893e+02] [-1.00113795e-01 9.94975854e-01 5.27952832e-04 -4.60976195e+01] [ 3.60366438e-03 -1.68017023e-04 9.99993493e-01 2.13857194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2107140569999 meters Centerline goodness [0,1] 0.9843582272657568 Centerline is valid? [True, True] Translation: X:653.66, Y:-46.11, Z:2.14 [[ 9.94855148e-01 1.01279271e-01 -2.39662563e-03 6.53662695e+02] [-1.01278711e-01 9.94858029e-01 3.54088891e-04 -4.61082546e+01] [ 2.42016412e-03 -1.09540001e-04 9.99997065e-01 2.14003712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.240714057 meters Centerline goodness [0,1] 0.9838804667902715 Centerline is valid? [True, True] Translation: X:653.69, Y:-46.11, Z:2.14 [[ 9.94727646e-01 1.02536807e-01 -1.76458178e-03 6.53691721e+02] [-1.02536505e-01 9.94729208e-01 2.60977947e-04 -4.61122836e+01] [ 1.78204088e-03 -7.86679305e-05 9.99998409e-01 2.14125830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.270714057 meters Centerline goodness [0,1] 0.9863514075111004 Centerline is valid? [True, True] Translation: X:653.72, Y:-46.11, Z:2.14 [[ 9.94443261e-01 1.05273793e-01 1.71984730e-04 6.53720994e+02] [-1.05273790e-01 9.94443276e-01 -2.49142367e-05 -4.61107496e+01] [-1.73651874e-04 6.67031041e-06 9.99999985e-01 2.14191569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3007140569999 meters Centerline goodness [0,1] 0.985547744836921 Centerline is valid? [True, True] Translation: X:653.75, Y:-46.12, Z:2.14 [[ 9.94381679e-01 1.05850254e-01 8.94246295e-04 6.53749233e+02] [-1.05850179e-01 9.94382081e-01 -1.29996901e-04 -4.61159506e+01] [-9.02982697e-04 3.46104061e-05 9.99999592e-01 2.14179017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3307140569999 meters Centerline goodness [0,1] 0.9853245818705162 Centerline is valid? [True, True] Translation: X:653.78, Y:-46.12, Z:2.14 [[ 9.94287562e-01 1.06726905e-01 1.26982933e-03 6.53775878e+02] [-1.06726755e-01 9.94288371e-01 -1.85941685e-04 -4.61231740e+01] [-1.28242151e-03 4.93547422e-05 9.99999176e-01 2.14195127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.360714057 meters Centerline goodness [0,1] 0.9865413419584518 Centerline is valid? [True, True] Translation: X:653.80, Y:-46.13, Z:2.14 [[ 9.94124760e-01 1.08227198e-01 1.68374828e-03 6.53804810e+02] [-1.08226937e-01 9.94126184e-01 -2.45366992e-04 -4.61258470e+01] [-1.70041364e-03 6.16984824e-05 9.99998552e-01 2.14049201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.390714057 meters Centerline goodness [0,1] 0.9852835684629263 Centerline is valid? [True, True] Translation: X:653.83, Y:-46.13, Z:2.14 [[ 9.94082993e-01 1.08612992e-01 1.48996389e-03 6.53831909e+02] [-1.08612788e-01 9.94084109e-01 -2.17733401e-04 -4.61343363e+01] [-1.50479810e-03 5.46159393e-05 9.99998866e-01 2.14093369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4207140569999 meters Centerline goodness [0,1] 0.9847374582664874 Centerline is valid? [True, True] Translation: X:653.86, Y:-46.14, Z:2.14 [[ 9.94009269e-01 1.09295439e-01 2.83847925e-04 6.53859204e+02] [-1.09295432e-01 9.94009309e-01 -4.10786503e-05 -4.61426825e+01] [-2.86637189e-04 9.80927754e-06 9.99999959e-01 2.13956833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4507140569999 meters Centerline goodness [0,1] 0.9847374582664874 Centerline is valid? [True, True] Translation: X:653.89, Y:-46.15, Z:2.14 [[ 9.94038233e-01 1.09031699e-01 2.84002963e-04 6.53886354e+02] [-1.09031692e-01 9.94038273e-01 -4.00180849e-05 -4.61465615e+01] [-2.86673055e-04 8.81418276e-06 9.99999959e-01 2.13971953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4807140569999 meters Centerline goodness [0,1] 0.9857332376416346 Centerline is valid? [True, True] Translation: X:653.92, Y:-46.15, Z:2.14 [[ 9.94035536e-01 1.09056458e-01 -2.05749721e-04 6.53915530e+02] [-1.09056454e-01 9.94035557e-01 3.14048370e-05 -4.61468343e+01] [ 2.07947439e-04 -8.77918903e-06 9.99999978e-01 2.13806750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.510714057 meters Centerline goodness [0,1] 0.9862796260056534 Centerline is valid? [True, True] Translation: X:653.94, Y:-46.15, Z:2.14 [[ 9.93973193e-01 1.09622090e-01 -5.37583517e-04 6.53943951e+02] [-1.09622062e-01 9.93973338e-01 7.96730935e-05 -4.61520331e+01] [ 5.43077614e-04 -2.02619053e-05 9.99999852e-01 2.13739960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.540714057 meters Centerline goodness [0,1] 0.9859470512736844 Centerline is valid? [True, True] Translation: X:653.97, Y:-46.16, Z:2.14 [[ 9.93900781e-01 1.10276575e-01 -5.61224579e-04 6.53970886e+02] [-1.10276546e-01 9.93900939e-01 8.23738346e-05 -4.61589407e+01] [ 5.66885540e-04 -1.99815104e-05 9.99999839e-01 2.13705539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5707140569999 meters Centerline goodness [0,1] 0.9862680868603163 Centerline is valid? [True, True] Translation: X:654.00, Y:-46.16, Z:2.14 [[ 9.93559610e-01 1.13310636e-01 -4.50201599e-05 6.53999470e+02] [-1.13310636e-01 9.93559611e-01 7.81498848e-06 -4.61646096e+01] [ 4.56157339e-05 -2.66339394e-06 9.99999999e-01 2.13654977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6007140569999 meters Centerline goodness [0,1] 0.9864949816825995 Centerline is valid? [True, True] Translation: X:654.03, Y:-46.17, Z:2.14 [[ 9.93381609e-01 1.14857723e-01 8.25717686e-04 6.54027998e+02] [-1.14857664e-01 9.93381952e-01 -1.18320003e-04 -4.61688935e+01] [-8.33843013e-04 2.26969101e-05 9.99999652e-01 2.13660258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.630714057 meters Centerline goodness [0,1] 0.9856856446849332 Centerline is valid? [True, True] Translation: X:654.06, Y:-46.17, Z:2.14 [[ 9.92901780e-01 1.18916971e-01 2.19301708e-03 6.54055083e+02] [-1.18916561e-01 9.92904200e-01 -3.17235363e-04 -4.61742327e+01] [-2.21518054e-03 5.41975080e-05 9.99997545e-01 2.13780285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.660714057 meters Centerline goodness [0,1] 0.987009612886464 Centerline is valid? [True, True] Translation: X:654.08, Y:-46.18, Z:2.14 [[ 9.92704329e-01 1.20534125e-01 3.10480007e-03 6.54083829e+02] [-1.20533314e-01 9.92709182e-01 -4.47613021e-04 -4.61775486e+01] [-3.13611618e-03 7.01155407e-05 9.99995080e-01 2.13773054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6907140569999 meters Centerline goodness [0,1] 0.9864132195701479 Centerline is valid? [True, True] Translation: X:654.11, Y:-46.18, Z:2.14 [[ 9.92453701e-01 1.22563233e-01 3.72897426e-03 6.54111414e+02] [-1.22562075e-01 9.92460703e-01 -5.38450914e-04 -4.61836549e+01] [-3.76685471e-03 7.73567790e-05 9.99992902e-01 2.13871732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7207140569999 meters Centerline goodness [0,1] 0.986890901250539 Centerline is valid? [True, True] Translation: X:654.14, Y:-46.19, Z:2.14 [[ 9.92072337e-01 1.25597451e-01 4.21401504e-03 6.54139765e+02] [-1.25596008e-01 9.92081284e-01 -6.06568832e-04 -4.61890426e+01] [-4.25682895e-03 7.24966938e-05 9.99990937e-01 2.13802623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.750714057 meters Centerline goodness [0,1] 0.9875880793845756 Centerline is valid? [True, True] Translation: X:654.17, Y:-46.20, Z:2.14 [[ 9.91958202e-01 1.26476146e-01 4.76540101e-03 6.54166536e+02] [-1.26474309e-01 9.91969646e-01 -6.86123941e-04 -4.61954585e+01] [-4.81391146e-03 7.79054701e-05 9.99988410e-01 2.13780793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.780714057 meters Centerline goodness [0,1] 0.9860233088203673 Centerline is valid? [True, True] Translation: X:654.19, Y:-46.20, Z:2.14 [[ 9.92002309e-01 1.26134435e-01 4.63926696e-03 6.54192523e+02] [-1.26132696e-01 9.92013154e-01 -6.66713775e-04 -4.62049514e+01] [-4.68630942e-03 7.62183545e-05 9.99989016e-01 2.13703247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8107140569999 meters Centerline goodness [0,1] 0.9849469722887444 Centerline is valid? [True, True] Translation: X:654.22, Y:-46.21, Z:2.14 [[ 9.92178604e-01 1.24729081e-01 4.92685506e-03 6.54220262e+02] [-1.24727110e-01 9.92190833e-01 -7.06609810e-04 -4.62125638e+01] [-4.97651522e-03 8.65707419e-05 9.99987613e-01 2.13676662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8407140569999 meters Centerline goodness [0,1] 0.9843269623546106 Centerline is valid? [True, True] Translation: X:654.25, Y:-46.22, Z:2.14 [[ 9.92528961e-01 1.21916814e-01 4.74892028e-03 6.54247953e+02] [-1.21914956e-01 9.92540317e-01 -6.79774133e-04 -4.62194553e+01] [-4.79637074e-03 9.57311057e-05 9.99988493e-01 2.13614388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.870714057 meters Centerline goodness [0,1] 0.9846910293296689 Centerline is valid? [True, True] Translation: X:654.27, Y:-46.23, Z:2.14 [[ 9.92873010e-01 1.19064143e-01 5.18809656e-03 6.54274114e+02] [-1.19061888e-01 9.92886557e-01 -7.42469087e-04 -4.62294234e+01] [-5.23959278e-03 1.19472945e-04 9.99986266e-01 2.13737578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.900714057 meters Centerline goodness [0,1] 0.9807339840586505 Centerline is valid? [True, True] Translation: X:654.30, Y:-46.24, Z:2.14 [[ 9.93669306e-01 1.12217717e-01 5.33805284e-03 6.54301059e+02] [-1.12215227e-01 9.93683631e-01 -7.64715762e-04 -4.62443048e+01] [-5.39015038e-03 1.60863771e-04 9.99985460e-01 2.13792424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9307140569999 meters Centerline goodness [0,1] 0.9801497326203209 Centerline is valid? [True, True] Translation: X:654.33, Y:-46.25, Z:2.14 [[ 9.94119820e-01 1.08130843e-01 5.78836344e-03 6.54329796e+02] [-1.08127848e-01 9.94136651e-01 -8.28895725e-04 -4.62538785e+01] [-5.84405344e-03 1.98138388e-04 9.99982904e-01 2.13809951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9607140569999 meters Centerline goodness [0,1] 0.9785943174535355 Centerline is valid? [True, True] Translation: X:654.36, Y:-46.27, Z:2.14 [[ 9.94959427e-01 1.00159678e-01 4.87618666e-03 6.54358852e+02] [-1.00157456e-01 9.94971354e-01 -6.98372506e-04 -4.62673183e+01] [-4.92161481e-03 2.06465857e-04 9.99987867e-01 2.13742531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.990714057 meters Centerline goodness [0,1] 0.9783142302192056 Centerline is valid? [True, True] Translation: X:654.39, Y:-46.27, Z:2.14 [[ 9.95363482e-01 9.61054069e-02 3.91011991e-03 6.54388855e+02] [-9.61039469e-02 9.95371146e-01 -5.60036157e-04 -4.62746352e+01] [-3.94584303e-03 1.81661584e-04 9.99992199e-01 2.13666663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.020714057 meters Centerline goodness [0,1] 0.9768707192694219 Centerline is valid? [True, True] Translation: X:654.42, Y:-46.28, Z:2.14 [[ 9.95722290e-01 9.23374917e-02 3.30272170e-03 6.54417879e+02] [-9.23364300e-02 9.95727754e-01 -4.72853785e-04 -4.62827847e+01] [-3.33227379e-03 1.65869523e-04 9.99994434e-01 2.13635171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0507140569999 meters Centerline goodness [0,1] 0.9753657966828772 Centerline is valid? [True, True] Translation: X:654.45, Y:-46.29, Z:2.14 [[ 9.96334973e-01 8.54382372e-02 4.11452673e-03 6.54446723e+02] [-8.54365307e-02 9.96343441e-01 -5.89062561e-04 -4.62942246e+01] [-4.14981019e-03 2.35372741e-04 9.99991362e-01 2.13689719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0807140569999 meters Centerline goodness [0,1] 0.9735866740510374 Centerline is valid? [True, True] Translation: X:654.48, Y:-46.30, Z:2.14 [[ 9.96620892e-01 8.20018113e-02 4.74346737e-03 6.54476394e+02] [-8.19995039e-02 9.96632139e-01 -6.79212699e-04 -4.63020037e+01] [-4.78318870e-03 2.87955595e-04 9.99988519e-01 2.13779829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.110714057 meters Centerline goodness [0,1] 0.9720602630122994 Centerline is valid? [True, True] Translation: X:654.50, Y:-46.31, Z:2.14 [[ 9.96855314e-01 7.90471718e-02 5.57031466e-03 6.54504419e+02] [-7.90439448e-02 9.96870814e-01 -7.97445551e-04 -4.63109782e+01] [-5.61591992e-03 3.54638191e-04 9.99984168e-01 2.13895858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.140714057 meters Centerline goodness [0,1] 0.9719190758823154 Centerline is valid? [True, True] Translation: X:654.53, Y:-46.32, Z:2.14 [[ 9.97283227e-01 7.34942325e-02 4.97617943e-03 6.54534232e+02] [-7.34915879e-02 9.97295583e-01 -7.12470928e-04 -4.63170438e+01] [-5.01508427e-03 3.44827978e-04 9.99987365e-01 2.13843574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1707140569999 meters Centerline goodness [0,1] 0.9703952937193161 Centerline is valid? [True, True] Translation: X:654.56, Y:-46.32, Z:2.14 [[ 9.97488860e-01 7.07075082e-02 4.05250405e-03 6.54563147e+02] [-7.07057323e-02 9.97497049e-01 -5.80020135e-04 -4.63245168e+01] [-4.08337261e-03 2.92028357e-04 9.99991620e-01 2.13805419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2007140569999 meters Centerline goodness [0,1] 0.971339881787643 Centerline is valid? [True, True] Translation: X:654.59, Y:-46.33, Z:2.14 [[ 9.97872068e-01 6.51858714e-02 1.46200513e-03 6.54592535e+02] [-6.51856345e-02 9.97873133e-01 -2.09175191e-04 -4.63308313e+01] [-1.47253090e-03 1.13428349e-04 9.99998909e-01 2.13690743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2307140569999 meters Centerline goodness [0,1] 0.9709563815342838 Centerline is valid? [True, True] Translation: X:654.62, Y:-46.34, Z:2.14 [[ 9.98016048e-01 6.29575929e-02 5.55709900e-04 6.54621677e+02] [-6.29575584e-02 9.98016202e-01 -7.94342584e-05 -4.63369653e+01] [-5.59608474e-04 4.42905262e-05 9.99999842e-01 2.13689051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.260714057 meters Centerline goodness [0,1] 0.9700918289261117 Centerline is valid? [True, True] Translation: X:654.65, Y:-46.34, Z:2.14 [[ 9.98138720e-01 6.09839797e-02 -2.24466788e-04 6.54650690e+02] [-6.09839739e-02 9.98138745e-01 3.24091323e-05 -4.63415795e+01] [ 2.26025436e-04 -1.86599331e-05 9.99999974e-01 2.13681715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.290714057 meters Centerline goodness [0,1] 0.970923797360579 Centerline is valid? [True, True] Translation: X:654.68, Y:-46.34, Z:2.14 [[ 9.98248028e-01 5.91670444e-02 -3.67785437e-04 6.54680417e+02] [-5.91670290e-02 9.98248095e-01 5.28027103e-05 -4.63444808e+01] [ 3.70265293e-04 -3.09494298e-05 9.99999931e-01 2.13699330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3207140569999 meters Centerline goodness [0,1] 0.9704066425377901 Centerline is valid? [True, True] Translation: X:654.71, Y:-46.35, Z:2.14 [[ 9.98326298e-01 5.78303472e-02 -5.02937621e-04 6.54709542e+02] [-5.78303181e-02 9.98326424e-01 7.22039491e-05 -4.63468760e+01] [ 5.06271496e-04 -4.29980586e-05 9.99999871e-01 2.13770492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3507140569999 meters Centerline goodness [0,1] 0.9680054458815521 Centerline is valid? [True, True] Translation: X:654.74, Y:-46.35, Z:2.14 [[ 9.98341608e-01 5.75591377e-02 -9.89311480e-04 6.54736463e+02] [-5.75590252e-02 9.98342095e-01 1.41847688e-04 -4.63542949e+01] [ 9.95835926e-04 -8.46686448e-05 9.99999501e-01 2.13845276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.380714057 meters Centerline goodness [0,1] 0.9721718346528948 Centerline is valid? [True, True] Translation: X:654.77, Y:-46.34, Z:2.14 [[ 9.98308642e-01 5.81086565e-02 -1.79981562e-03 6.54767461e+02] [-5.81082863e-02 9.98310253e-01 2.57367541e-04 -4.63446276e+01] [ 1.81172967e-03 -1.52348039e-04 9.99998347e-01 2.13882833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.410714057 meters Centerline goodness [0,1] 0.9736275909081226 Centerline is valid? [True, True] Translation: X:654.80, Y:-46.35, Z:2.14 [[ 9.98301710e-01 5.82217546e-02 -1.98046543e-03 6.54796633e+02] [-5.82213067e-02 9.98303661e-01 2.83123279e-04 -4.63459211e+01] [ 1.99358982e-03 -1.67337169e-04 9.99997999e-01 2.13881556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4407140569999 meters Centerline goodness [0,1] 0.9730816103996066 Centerline is valid? [True, True] Translation: X:654.83, Y:-46.35, Z:2.14 [[ 9.98247696e-01 5.90915848e-02 -3.11807019e-03 6.54825256e+02] [-5.90904802e-02 9.98252532e-01 4.45291183e-04 -4.63459711e+01] [ 3.13893443e-03 -2.60262632e-04 9.99995040e-01 2.13899921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4707140569999 meters Centerline goodness [0,1] 0.9740270854282108 Centerline is valid? [True, True] Translation: X:654.85, Y:-46.35, Z:2.14 [[ 9.98205423e-01 5.97690310e-02 -3.68738897e-03 6.54854759e+02] [-5.97674921e-02 9.98212187e-01 5.26220712e-04 -4.63460467e+01] [ 3.71224831e-03 -3.04890377e-04 9.99993063e-01 2.13875479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.500714057 meters Centerline goodness [0,1] 0.9703904532160622 Centerline is valid? [True, True] Translation: X:654.88, Y:-46.36, Z:2.14 [[ 9.98160283e-01 6.05193262e-02 -3.66891306e-03 6.54880966e+02] [-6.05178083e-02 9.98166980e-01 5.23449180e-04 -4.63564035e+01] [ 3.69386667e-03 -3.00451604e-04 9.99993133e-01 2.13906659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.530714057 meters Centerline goodness [0,1] 0.9700362482036763 Centerline is valid? [True, True] Translation: X:654.91, Y:-46.36, Z:2.14 [[ 9.98151293e-01 6.06797427e-02 -3.45915580e-03 6.54910235e+02] [-6.06783954e-02 9.98157247e-01 4.93195380e-04 -4.63571607e+01] [ 3.48270840e-03 -2.82387582e-04 9.99993895e-01 2.14002607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5607140569999 meters Centerline goodness [0,1] 0.9743038844963905 Centerline is valid? [True, True] Translation: X:654.94, Y:-46.35, Z:2.14 [[ 9.98194184e-01 5.99813652e-02 -3.25683991e-03 6.54940603e+02] [-5.99801679e-02 9.98199461e-01 4.64156127e-04 -4.63480816e+01] [ 3.27881656e-03 -2.67972142e-04 9.99994589e-01 2.14084399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5907140569999 meters Centerline goodness [0,1] 0.9754915624932993 Centerline is valid? [True, True] Translation: X:654.97, Y:-46.34, Z:2.14 [[ 9.98205139e-01 5.97851732e-02 -3.49759784e-03 6.54969706e+02] [-5.97837920e-02 9.98211225e-01 4.98193720e-04 -4.63449495e+01] [ 3.52112603e-03 -2.88199869e-04 9.99993759e-01 2.14107997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.620714057 meters Centerline goodness [0,1] 0.972663234312057 Centerline is valid? [True, True] Translation: X:655.00, Y:-46.35, Z:2.14 [[ 9.98277635e-01 5.85052376e-02 -4.34747699e-03 6.54997836e+02] [-5.85030936e-02 9.98287035e-01 6.18813343e-04 -4.63515842e+01] [ 4.37623374e-03 -3.63406667e-04 9.99990358e-01 2.14193782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.650714057 meters Centerline goodness [0,1] 0.975534047552327 Centerline is valid? [True, True] Translation: X:655.03, Y:-46.35, Z:2.14 [[ 9.98315164e-01 5.77968003e-02 -5.13447577e-03 6.55027411e+02] [-5.77938022e-02 9.98328274e-01 7.30505347e-04 -4.63483449e+01] [ 5.16811321e-03 -4.32533689e-04 9.99986552e-01 2.14170201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6807140569999 meters Centerline goodness [0,1] 0.9770782924300034 Centerline is valid? [True, True] Translation: X:655.06, Y:-46.35, Z:2.14 [[ 9.98338152e-01 5.73260080e-02 -5.88757323e-03 6.55057246e+02] [-5.73220606e-02 9.98355388e-01 8.37173267e-04 -4.63458877e+01] [ 5.92588225e-03 -4.98294183e-04 9.99982318e-01 2.14180267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7107140569999 meters Centerline goodness [0,1] 0.9714260993705522 Centerline is valid? [True, True] Translation: X:655.08, Y:-46.36, Z:2.14 [[ 9.98363736e-01 5.68269610e-02 -6.36773329e-03 6.55083355e+02] [-5.68223367e-02 9.98383896e-01 9.04933498e-04 -4.63581488e+01] [ 6.40886699e-03 -5.41623303e-04 9.99979316e-01 2.14130790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.740714057 meters Centerline goodness [0,1] 0.9792759592456103 Centerline is valid? [True, True] Translation: X:655.11, Y:-46.34, Z:2.14 [[ 9.98336175e-01 5.71487685e-02 -7.67459327e-03 6.55114519e+02] [-5.71420666e-02 9.98365462e-01 1.08989095e-03 -4.63410948e+01] [ 7.72433478e-03 -6.49535441e-04 9.99969956e-01 2.14185738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.770714057 meters Centerline goodness [0,1] 0.9781985581516547 Centerline is valid? [True, True] Translation: X:655.14, Y:-46.34, Z:2.14 [[ 9.98309508e-01 5.75786272e-02 -7.92644340e-03 6.55142473e+02] [-5.75714978e-02 9.98340752e-01 1.12489974e-03 -4.63422154e+01] [ 7.97806165e-03 -6.66660884e-04 9.99967953e-01 2.14203794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8007140569999 meters Centerline goodness [0,1] 0.973528963580556 Centerline is valid? [True, True] Translation: X:655.17, Y:-46.35, Z:2.14 [[ 9.98227272e-01 5.88535565e-02 -8.86409950e-03 6.55169189e+02] [-5.88447005e-02 9.98266358e-01 1.25682596e-03 -4.63510572e+01] [ 8.92270101e-03 -7.32992673e-04 9.99959923e-01 2.14246489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8307140569999 meters Centerline goodness [0,1] 0.9798997165903641 Centerline is valid? [True, True] Translation: X:655.20, Y:-46.34, Z:2.14 [[ 9.98193680e-01 5.93834729e-02 -9.10939336e-03 6.55200355e+02] [-5.93741546e-02 9.98234965e-01 1.29021744e-03 -4.63391467e+01] [ 9.16993255e-03 -7.47024364e-04 9.99957676e-01 2.14301948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.860714057 meters Centerline goodness [0,1] 0.9809073392888422 Centerline is valid? [True, True] Translation: X:655.23, Y:-46.34, Z:2.14 [[ 9.98196789e-01 5.92417296e-02 -9.67405351e-03 6.55228548e+02] [-5.92312393e-02 9.98243352e-01 1.36756289e-03 -4.63368220e+01] [ 9.73807640e-03 -7.92090711e-04 9.99952270e-01 2.14356241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.890714057 meters Centerline goodness [0,1] 0.9795050524977532 Centerline is valid? [True, True] Translation: X:655.26, Y:-46.34, Z:2.14 [[ 9.98238086e-01 5.84901938e-02 -9.98104621e-03 6.55257239e+02] [-5.84790181e-02 9.98287645e-01 1.40813729e-03 -4.63384618e+01] [ 1.00463173e-02 -8.21974490e-04 9.99949197e-01 2.14391809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9207140569999 meters Centerline goodness [0,1] 0.9783070288728849 Centerline is valid? [True, True] Translation: X:655.29, Y:-46.34, Z:2.14 [[ 9.98306158e-01 5.72613872e-02 -1.02931685e-02 6.55286101e+02] [-5.72494645e-02 9.98358852e-01 1.44948940e-03 -4.63411526e+01] [ 1.03592757e-02 -8.57755812e-04 9.99945973e-01 2.14401978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9507140569999 meters Centerline goodness [0,1] 0.9785714285714285 Centerline is valid? [True, True] Translation: X:655.32, Y:-46.34, Z:2.14 [[ 9.98436199e-01 5.47652814e-02 -1.12214006e-02 6.55315138e+02] [-5.47509743e-02 9.98498793e-01 1.57847621e-03 -4.63425832e+01] [ 1.12910006e-02 -9.61625174e-04 9.99935792e-01 2.14449106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9807140569999 meters Centerline goodness [0,1] 0.979066235224196 Centerline is valid? [True, True] Translation: X:655.35, Y:-46.34, Z:2.14 [[ 9.98496252e-01 5.36610596e-02 -1.12127549e-02 6.55345037e+02] [-5.36467099e-02 9.98558733e-01 1.57685558e-03 -4.63444360e+01] [ 1.12812101e-02 -9.72956979e-04 9.99935892e-01 2.14496444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.010714057 meters Centerline goodness [0,1] 0.9776121049032799 Centerline is valid? [True, True] Translation: X:655.38, Y:-46.35, Z:2.15 [[ 9.98638789e-01 5.09529952e-02 -1.11517398e-02 6.55375716e+02] [-5.09386359e-02 9.98700554e-01 1.56808354e-03 -4.63462514e+01] [ 1.12171473e-02 -9.97894633e-04 9.99936588e-01 2.14539372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.040714057 meters Centerline goodness [0,1] 0.976395513160219 Centerline is valid? [True, True] Translation: X:655.40, Y:-46.35, Z:2.15 [[ 9.98697363e-01 4.98407660e-02 -1.09304930e-02 6.55404852e+02] [-4.98269080e-02 9.98756686e-01 1.53668303e-03 -4.63485060e+01] [ 1.09934925e-02 -9.90048620e-04 9.99939080e-01 2.14596425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0707140569999 meters Centerline goodness [0,1] 0.9759124087591241 Centerline is valid? [True, True] Translation: X:655.43, Y:-46.35, Z:2.15 [[ 9.98739553e-01 4.90616941e-02 -1.05950761e-02 6.55433163e+02] [-4.90486380e-02 9.98795282e-01 1.48878533e-03 -4.63508883e+01] [ 1.06553543e-02 -9.67234746e-04 9.99942762e-01 2.14660920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1007140569999 meters Centerline goodness [0,1] 0.9749400692533073 Centerline is valid? [True, True] Translation: X:655.46, Y:-46.35, Z:2.15 [[ 9.98800508e-01 4.75010165e-02 -1.18827221e-02 6.55462627e+02] [-4.74844950e-02 9.98870581e-01 1.66883254e-03 -4.63504104e+01] [ 1.19485728e-02 -1.10258574e-03 9.99928005e-01 2.14725101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.130714057 meters Centerline goodness [0,1] 0.9745230003776015 Centerline is valid? [True, True] Translation: X:655.49, Y:-46.35, Z:2.15 [[ 9.98834496e-01 4.67478914e-02 -1.20118195e-02 6.55491505e+02] [-4.67309781e-02 9.98906090e-01 1.68504227e-03 -4.63519186e+01] [ 1.20774518e-02 -1.12175427e-03 9.99926436e-01 2.14759651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.160714057 meters Centerline goodness [0,1] 0.9715728362657651 Centerline is valid? [True, True] Translation: X:655.52, Y:-46.35, Z:2.15 [[ 9.98861535e-01 4.60926971e-02 -1.22921667e-02 6.55519326e+02] [-4.60749641e-02 9.98936501e-01 1.72208434e-03 -4.63545727e+01] [ 1.23584695e-02 -1.15376266e-03 9.99922966e-01 2.14707363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1907140569999 meters Centerline goodness [0,1] 0.9778857728833207 Centerline is valid? [True, True] Translation: X:655.55, Y:-46.35, Z:2.15 [[ 9.98861090e-01 4.59909609e-02 -1.27025056e-02 6.55549630e+02] [-4.59720323e-02 9.98941144e-01 1.77829374e-03 -4.63477508e+01] [ 1.27708409e-02 -1.19230843e-03 9.99917739e-01 2.14740759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2207140569999 meters Centerline goodness [0,1] 0.9761367444978215 Centerline is valid? [True, True] Translation: X:655.58, Y:-46.35, Z:2.15 [[ 9.98870582e-01 4.54899923e-02 -1.37193962e-02 6.55577047e+02] [-4.54678811e-02 9.98963957e-01 1.91946149e-03 -4.63504409e+01] [ 1.37924986e-02 -1.29350174e-03 9.99904042e-01 2.14712170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.250714057 meters Centerline goodness [0,1] 0.9735282938717106 Centerline is valid? [True, True] Translation: X:655.60, Y:-46.35, Z:2.15 [[ 9.98878429e-01 4.52892945e-02 -1.38117490e-02 6.55603239e+02] [-4.52668955e-02 9.98973064e-01 1.93023181e-03 -4.63540775e+01] [ 1.38849841e-02 -1.30285191e-03 9.99902750e-01 2.14717449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.280714057 meters Centerline goodness [0,1] 0.9728496667710337 Centerline is valid? [True, True] Translation: X:655.63, Y:-46.35, Z:2.15 [[ 9.98883192e-01 4.51961730e-02 -1.37722582e-02 6.55632008e+02] [-4.51739366e-02 9.98977289e-01 1.92157176e-03 -4.63528633e+01] [ 1.38450209e-02 -1.29727861e-03 9.99903312e-01 2.14843941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3107140569999 meters Centerline goodness [0,1] 0.9722808277595727 Centerline is valid? [True, True] Translation: X:655.66, Y:-46.35, Z:2.15 [[ 9.98889520e-01 4.51840648e-02 -1.33464239e-02 6.55661196e+02] [-4.51632252e-02 9.98977891e-01 1.85888088e-03 -4.63543192e+01] [ 1.34167742e-02 -1.25404908e-03 9.99909205e-01 2.14863667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3407140569999 meters Centerline goodness [0,1] 0.9755252620686552 Centerline is valid? [True, True] Translation: X:655.69, Y:-46.35, Z:2.15 [[ 9.98898825e-01 4.49561921e-02 -1.34193583e-02 6.55690007e+02] [-4.49351535e-02 9.98988164e-01 1.86535040e-03 -4.63488570e+01] [ 1.34896392e-02 -1.26029539e-03 9.99908216e-01 2.14902539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.370714057 meters Centerline goodness [0,1] 0.9755252620686552 Centerline is valid? [True, True] Translation: X:655.72, Y:-46.35, Z:2.15 [[ 9.98911627e-01 4.46706713e-02 -1.34198912e-02 6.55717264e+02] [-4.46496582e-02 9.99000972e-01 1.86151145e-03 -4.63525622e+01] [ 1.34896393e-02 -1.26029187e-03 9.99908216e-01 2.14917744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.400714057 meters Centerline goodness [0,1] 0.9755070799846919 Centerline is valid? [True, True] Translation: X:655.74, Y:-46.35, Z:2.15 [[ 9.98917780e-01 4.44854556e-02 -1.35762003e-02 6.55744988e+02] [-4.44639876e-02 9.99009220e-01 1.87921391e-03 -4.63541618e+01] [ 1.36463470e-02 -1.27352819e-03 9.99906073e-01 2.14902028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4307140569999 meters Centerline goodness [0,1] 0.9758775877587759 Centerline is valid? [True, True] Translation: X:655.77, Y:-46.36, Z:2.15 [[ 9.98950784e-01 4.38240314e-02 -1.32960486e-02 6.55773523e+02] [-4.38034297e-02 9.99038480e-01 1.83687968e-03 -4.63571597e+01] [ 1.33637637e-02 -1.25253987e-03 9.99909916e-01 2.14876188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4607140569999 meters Centerline goodness [0,1] 0.9763009686866412 Centerline is valid? [True, True] Translation: X:655.80, Y:-46.36, Z:2.15 [[ 9.98978138e-01 4.30690956e-02 -1.37015666e-02 6.55801943e+02] [-4.30471777e-02 9.99071252e-01 1.89071684e-03 -4.63578825e+01] [ 1.37702728e-02 -1.29897102e-03 9.99904342e-01 2.14893989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.490714057 meters Centerline goodness [0,1] 0.9290527596853801 Centerline is valid? [True, False] Translation: X:655.80, Y:-46.35, Z:2.15 [[ 9.99010523e-01 4.21883803e-02 -1.40753302e-02 6.55802479e+02] [-4.21893496e-02 9.99109607e-01 2.28193044e-04 -4.63540131e+01] [ 1.40724247e-02 3.65861774e-04 9.99900912e-01 2.14945247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.520714057 meters Centerline goodness [0,1] 0.968612197824563 Centerline is valid? [False, True] Translation: X:655.80, Y:-46.35, Z:2.15 [[ 9.99120340e-01 3.92300374e-02 -1.48172252e-02 6.55804265e+02] [-3.92873746e-02 9.99221474e-01 -3.59846364e-03 -4.63506222e+01] [ 1.46645218e-02 4.17742809e-03 9.99883744e-01 2.14937573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5507140569999 meters Centerline goodness [0,1] 0.9723310313596739 Centerline is valid? [True, True] Translation: X:655.83, Y:-46.35, Z:2.15 [[ 9.99172032e-01 3.79263798e-02 -1.47254860e-02 6.55834208e+02] [-3.79008923e-02 9.99279489e-01 2.00617385e-03 -4.63513104e+01] [ 1.47909630e-02 -1.44640375e-03 9.99889562e-01 2.14731372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5807140569999 meters Centerline goodness [0,1] 0.9750469850327197 Centerline is valid? [True, True] Translation: X:655.86, Y:-46.35, Z:2.15 [[ 9.99192068e-01 3.73897390e-02 -1.47383527e-02 6.55862997e+02] [-3.73641731e-02 9.99299701e-01 2.00630874e-03 -4.63499426e+01] [ 1.48030468e-02 -1.45400142e-03 9.99889372e-01 2.14830434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.610714057 meters Centerline goodness [0,1] 0.9712794918330309 Centerline is valid? [True, True] Translation: X:655.89, Y:-46.36, Z:2.15 [[ 9.99206615e-01 3.68573261e-02 -1.50889975e-02 6.55890439e+02] [-3.68304929e-02 9.99319419e-01 2.05246264e-03 -4.63562189e+01] [ 1.51543765e-02 -1.49509904e-03 9.99884048e-01 2.14795946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.640714057 meters Centerline goodness [0,1] 0.9704780288406949 Centerline is valid? [True, True] Translation: X:655.92, Y:-46.36, Z:2.15 [[ 9.99186995e-01 3.73516794e-02 -1.51723768e-02 6.55919110e+02] [-3.73246229e-02 9.99301065e-01 2.06263854e-03 -4.63574847e+01] [ 1.52388153e-02 -1.49465836e-03 9.99882765e-01 2.14834484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6707140569999 meters Centerline goodness [0,1] 0.973464832361516 Centerline is valid? [True, True] Translation: X:655.95, Y:-46.36, Z:2.15 [[ 9.99172486e-01 3.77692465e-02 -1.50939442e-02 6.55948508e+02] [-3.77425635e-02 9.99285395e-01 2.04886089e-03 -4.63554855e+01] [ 1.51605420e-02 -1.47748128e-03 9.99883981e-01 2.14885966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7007140569999 meters Centerline goodness [0,1] 0.9265953104449182 Centerline is valid? [True, False] Translation: X:655.95, Y:-46.35, Z:2.15 [[ 9.99175623e-01 3.75400874e-02 -1.54536687e-02 6.55949117e+02] [-3.75269019e-02 9.99294965e-01 1.14243427e-03 -4.63532751e+01] [ 1.54856604e-02 -5.61564161e-04 9.99879932e-01 2.14929781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7307140569999 meters Centerline goodness [0,1] 0.9736193518941123 Centerline is valid? [False, True] Translation: X:655.95, Y:-46.35, Z:2.15 [[ 9.99181238e-01 3.73076690e-02 -1.56522134e-02 6.55949275e+02] [-3.73222823e-02 9.99303074e-01 -6.42460344e-04 -4.63482754e+01] [ 1.56173362e-02 1.22611065e-03 9.99877290e-01 2.15051221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.760714057 meters Centerline goodness [0,1] 0.973372374982843 Centerline is valid? [True, True] Translation: X:655.98, Y:-46.35, Z:2.15 [[ 9.99144106e-01 3.82892435e-02 -1.56521481e-02 6.55977033e+02] [-3.82616223e-02 9.99265632e-01 2.06046248e-03 -4.63525963e+01] [ 1.57195472e-02 -1.45982236e-03 9.99875375e-01 2.14996462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.790714057 meters Centerline goodness [0,1] 0.9751352094600788 Centerline is valid? [True, True] Translation: X:656.01, Y:-46.35, Z:2.15 [[ 9.99101725e-01 3.95896437e-02 -1.51130015e-02 6.56007663e+02] [-3.95640493e-02 9.99215057e-01 1.98889591e-03 -4.63502320e+01] [ 1.51798783e-02 -1.38917780e-03 9.99883814e-01 2.15024679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8207140569999 meters Centerline goodness [0,1] 0.9752503609322364 Centerline is valid? [True, True] Translation: X:656.04, Y:-46.35, Z:2.15 [[ 9.99095808e-01 3.96120734e-02 -1.54418173e-02 6.56036509e+02] [-3.95853993e-02 9.99214130e-01 2.02935574e-03 -4.63532357e+01] [ 1.55100690e-02 -1.41625031e-03 9.99878709e-01 2.15028997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8507140569999 meters Centerline goodness [0,1] 0.9717961064868955 Centerline is valid? [True, True] Translation: X:656.06, Y:-46.36, Z:2.15 [[ 9.99102897e-01 3.97036211e-02 -1.47317476e-02 6.56064051e+02] [-3.96794079e-02 9.99210594e-01 1.93239201e-03 -4.63600054e+01] [ 1.47968412e-02 -1.34611143e-03 9.99889615e-01 2.14996173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.880714057 meters Centerline goodness [0,1] 0.9768605665488269 Centerline is valid? [True, True] Translation: X:656.09, Y:-46.36, Z:2.15 [[ 9.99096376e-01 3.96053029e-02 -1.54224569e-02 6.56092420e+02] [-3.95788216e-02 9.99214412e-01 2.01863475e-03 -4.63554472e+01] [ 1.54902899e-02 -1.40640799e-03 9.99879029e-01 2.15034295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.910714057 meters Centerline goodness [0,1] 0.9765124555160143 Centerline is valid? [True, True] Translation: X:656.12, Y:-46.36, Z:2.15 [[ 9.99104730e-01 3.92404566e-02 -1.58090122e-02 6.56121189e+02] [-3.92126528e-02 9.99228754e-01 2.06500047e-03 -4.63593500e+01] [ 1.58778511e-02 -1.44323843e-03 9.99872897e-01 2.14973168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9407140569999 meters Centerline goodness [0,1] 0.9769142331570476 Centerline is valid? [True, True] Translation: X:656.15, Y:-46.36, Z:2.15 [[ 9.99124735e-01 3.85413385e-02 -1.62582307e-02 6.56149897e+02] [-3.85119084e-02 9.99255893e-01 2.11949998e-03 -4.63626664e+01] [ 1.63278212e-02 -1.49150936e-03 9.99865580e-01 2.14925778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9707140569999 meters Centerline goodness [0,1] 0.976278673814509 Centerline is valid? [True, True] Translation: X:656.18, Y:-46.37, Z:2.15 [[ 9.99147314e-01 3.79155527e-02 -1.63418224e-02 6.56178363e+02] [-3.78858048e-02 9.99279813e-01 2.12622083e-03 -4.63664010e+01] [ 1.64106701e-02 -1.50528474e-03 9.99864203e-01 2.14877633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.000714057 meters Centerline goodness [0,1] 0.9753773932253313 Centerline is valid? [True, True] Translation: X:656.21, Y:-46.37, Z:2.15 [[ 9.99169973e-01 3.72601812e-02 -1.64634065e-02 6.56205244e+02] [-3.72299417e-02 9.99304435e-01 2.13955696e-03 -4.63706744e+01] [ 1.65316754e-02 -1.52484941e-03 9.99862180e-01 2.14896674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.030714057 meters Centerline goodness [0,1] 0.9744990892531876 Centerline is valid? [True, True] Translation: X:656.23, Y:-46.37, Z:2.15 [[ 9.99200926e-01 3.66005563e-02 -1.60595620e-02 6.56233884e+02] [-3.65717521e-02 9.99328857e-01 2.08371112e-03 -4.63734325e+01] [ 1.61250487e-02 -1.49471976e-03 9.99868866e-01 2.14929567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0607140569999 meters Centerline goodness [0,1] 0.9745009807315104 Centerline is valid? [True, True] Translation: X:656.26, Y:-46.38, Z:2.15 [[ 9.99071613e-01 4.00889258e-02 -1.57730992e-02 6.56263478e+02] [-4.00615936e-02 9.99195119e-01 2.04513067e-03 -4.63759057e+01] [ 1.58423908e-02 -1.41133650e-03 9.99873505e-01 2.14941450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0907140569999 meters Centerline goodness [0,1] 0.9652316731823545 Centerline is valid? [True, True] Translation: X:656.29, Y:-46.38, Z:2.15 [[ 9.98932014e-01 4.33836096e-02 -1.58963664e-02 6.56292384e+02] [-4.33562679e-02 9.99057550e-01 2.06076235e-03 -4.63847371e+01] [ 1.59707882e-02 -1.36935436e-03 9.99871521e-01 2.14885501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.120714057 meters Centerline goodness [0,1] 0.9773642549645882 Centerline is valid? [True, True] Translation: X:656.32, Y:-46.38, Z:2.15 [[ 9.98726942e-01 4.81871243e-02 -1.49162841e-02 6.56324095e+02] [-4.81635848e-02 9.98837590e-01 1.93354889e-03 -4.63769002e+01] [ 1.49921174e-02 -1.21266566e-03 9.99886877e-01 2.15139744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.150714057 meters Centerline goodness [0,1] 0.977365020766036 Centerline is valid? [True, True] Translation: X:656.35, Y:-46.38, Z:2.15 [[ 9.98629789e-01 5.02360279e-02 -1.46589803e-02 6.56354065e+02] [-5.02135193e-02 9.98736699e-01 1.89975115e-03 -4.63799718e+01] [ 1.47358975e-02 -1.16106911e-03 9.99890747e-01 2.15182898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1807140569999 meters Centerline goodness [0,1] 0.9774059740921837 Centerline is valid? [True, True] Translation: X:656.38, Y:-46.38, Z:2.15 [[ 9.98558389e-01 5.17438444e-02 -1.42729991e-02 6.56383722e+02] [-5.17226662e-02 9.98659775e-01 1.84921027e-03 -4.63827695e+01] [ 1.43495553e-02 -1.10830686e-03 9.99896426e-01 2.15143038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2107140569999 meters Centerline goodness [0,1] 0.9772843287391526 Centerline is valid? [True, True] Translation: X:656.41, Y:-46.39, Z:2.15 [[ 9.98498961e-01 5.29213697e-02 -1.41121537e-02 6.56411242e+02] [-5.29007968e-02 9.98598100e-01 1.82740513e-03 -4.63869685e+01] [ 1.41890786e-02 -1.07811795e-03 9.99898749e-01 2.15080818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.240714057 meters Centerline goodness [0,1] 0.9786908433232082 Centerline is valid? [True, True] Translation: X:656.44, Y:-46.39, Z:2.15 [[ 9.98391987e-01 5.48495523e-02 -1.43166804e-02 6.56441117e+02] [-5.48285839e-02 9.98494062e-01 1.85332294e-03 -4.63904840e+01] [ 1.43967743e-02 -1.06537946e-03 9.99895793e-01 2.14996921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.270714057 meters Centerline goodness [0,1] 0.9791240468662823 Centerline is valid? [True, True] Translation: X:656.47, Y:-46.39, Z:2.15 [[ 9.98387677e-01 5.49177525e-02 -1.43557570e-02 6.56469937e+02] [-5.48967109e-02 9.98490314e-01 1.85599902e-03 -4.63939524e+01] [ 1.44360117e-02 -1.06492270e-03 9.99895228e-01 2.15008369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3007140569999 meters Centerline goodness [0,1] 0.9790113997817557 Centerline is valid? [True, True] Translation: X:656.50, Y:-46.40, Z:2.15 [[ 9.98425896e-01 5.42800500e-02 -1.41211606e-02 6.56498341e+02] [-5.42596742e-02 9.98525196e-01 1.82234979e-03 -4.63978803e+01] [ 1.41992519e-02 -1.05327164e-03 9.99898631e-01 2.15036656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3307140569999 meters Centerline goodness [0,1] 0.9761097696879644 Centerline is valid? [True, True] Translation: X:656.53, Y:-46.40, Z:2.15 [[ 9.98528732e-01 5.23431381e-02 -1.41621688e-02 6.56526178e+02] [-5.23224766e-02 9.98628572e-01 1.82578346e-03 -4.64037042e+01] [ 1.42383136e-02 -1.08209750e-03 9.99898045e-01 2.15119275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.360714057 meters Centerline goodness [0,1] 0.9724467986246631 Centerline is valid? [True, True] Translation: X:656.55, Y:-46.41, Z:2.15 [[ 9.98613917e-01 5.07150756e-02 -1.40792474e-02 6.56554091e+02] [-5.06945063e-02 9.98712559e-01 1.81425879e-03 -4.64103560e+01] [ 1.41531315e-02 -1.09800358e-03 9.99899237e-01 2.15087556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.390714057 meters Centerline goodness [0,1] 0.9797583992209419 Centerline is valid? [True, True] Translation: X:656.59, Y:-46.40, Z:2.15 [[ 9.98787252e-01 4.71513486e-02 -1.41695259e-02 6.56585475e+02] [-4.71301625e-02 9.98887088e-01 1.82559246e-03 -4.64029028e+01] [ 1.42398356e-02 -1.15556642e-03 9.99897941e-01 2.15216951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4207140569999 meters Centerline goodness [0,1] 0.9479600333055787 Centerline is valid? [True, False] Translation: X:656.59, Y:-46.40, Z:2.15 [[ 9.98947217e-01 4.33822007e-02 -1.49144956e-02 6.56586601e+02] [-4.34213103e-02 9.99054183e-01 -2.30836331e-03 -4.64021516e+01] [ 1.48002474e-02 2.95354005e-03 9.99886108e-01 2.15249592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4507140569999 meters Centerline goodness [0,1] 0.9741098830098992 Centerline is valid? [False, True] Translation: X:656.59, Y:-46.40, Z:2.15 [[ 9.99085849e-01 3.98193315e-02 -1.55527148e-02 6.56587815e+02] [-3.99192843e-02 9.99183858e-01 -6.16990297e-03 -4.64014622e+01] [ 1.52943401e-02 6.78511598e-03 9.99860013e-01 2.15251896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4807140569999 meters Centerline goodness [0,1] 0.9772116720704029 Centerline is valid? [True, True] Translation: X:656.62, Y:-46.40, Z:2.15 [[ 9.99179452e-01 3.76740337e-02 -1.48690840e-02 6.56618454e+02] [-3.76502790e-02 9.99289219e-01 1.87439102e-03 -4.64030874e+01] [ 1.49291312e-02 -1.31302783e-03 9.99887692e-01 2.15036455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.510714057 meters Centerline goodness [0,1] 0.9728156685220685 Centerline is valid? [True, True] Translation: X:656.65, Y:-46.41, Z:2.15 [[ 9.99285546e-01 3.44861069e-02 -1.54630420e-02 6.56646895e+02] [-3.44600408e-02 9.99404176e-01 1.94907127e-03 -4.64143972e+01] [ 1.55210446e-02 -1.41482169e-03 9.99878540e-01 2.14997180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.540714057 meters Centerline goodness [0,1] 0.9766125118439601 Centerline is valid? [True, True] Translation: X:656.68, Y:-46.41, Z:2.15 [[ 9.99307285e-01 3.37307219e-02 -1.57222553e-02 6.56675245e+02] [-3.37037055e-02 9.99429907e-01 1.98023983e-03 -4.64148311e+01] [ 1.57800870e-02 -1.44896983e-03 9.99874437e-01 2.15039679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5707140569999 meters Centerline goodness [0,1] 0.9753291753291753 Centerline is valid? [True, True] Translation: X:656.70, Y:-46.42, Z:2.15 [[ 9.99295079e-01 3.41481932e-02 -1.55963215e-02 6.56703974e+02] [-3.41217101e-02 9.99415761e-01 1.96107349e-03 -4.64188509e+01] [ 1.56541766e-02 -1.42751793e-03 9.99876447e-01 2.15061571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6007140569999 meters Centerline goodness [0,1] 0.9751045010507841 Centerline is valid? [True, True] Translation: X:656.73, Y:-46.42, Z:2.15 [[ 9.99276398e-01 3.49562038e-02 -1.49914820e-02 6.56732814e+02] [-3.49318789e-02 9.99387925e-01 1.88146100e-03 -4.64225816e+01] [ 1.50480748e-02 -1.35641893e-03 9.99885851e-01 2.15071466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.630714057 meters Centerline goodness [0,1] 0.9740007850562239 Centerline is valid? [True, True] Translation: X:656.76, Y:-46.43, Z:2.15 [[ 9.99230652e-01 3.64799613e-02 -1.43984644e-02 6.56761841e+02] [-3.64577021e-02 9.99333566e-01 1.80549413e-03 -4.64267634e+01] [ 1.44547332e-02 -1.27917015e-03 9.99894707e-01 2.15140492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.660714057 meters Centerline goodness [0,1] 0.9761211280628757 Centerline is valid? [True, True] Translation: X:656.79, Y:-46.43, Z:2.15 [[ 9.99091693e-01 4.05453462e-02 -1.31096824e-02 6.56792499e+02] [-4.05272473e-02 9.99177082e-01 1.64341223e-03 -4.64269361e+01] [ 1.31655269e-02 -1.11062017e-03 9.99912714e-01 2.15360933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6907140569999 meters Centerline goodness [0,1] 0.9778573905004044 Centerline is valid? [True, True] Translation: X:656.82, Y:-46.43, Z:2.15 [[ 9.98992695e-01 4.30567830e-02 -1.26376272e-02 6.56822892e+02] [-4.30401695e-02 9.99072087e-01 1.58377607e-03 -4.64251579e+01] [ 1.26940929e-02 -1.03825511e-03 9.99918888e-01 2.15444657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7207140569999 meters Centerline goodness [0,1] 0.9788532205505096 Centerline is valid? [True, True] Translation: X:656.85, Y:-46.43, Z:2.15 [[ 9.98708179e-01 4.91801806e-02 -1.27782276e-02 6.56852373e+02] [-4.91636979e-02 9.98789451e-01 1.60103468e-03 -4.64252957e+01] [ 1.28414981e-02 -9.70741503e-04 9.99917073e-01 2.15410115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.750714057 meters Centerline goodness [0,1] 0.980917362872635 Centerline is valid? [True, True] Translation: X:656.88, Y:-46.42, Z:2.15 [[ 9.98551904e-01 5.21562336e-02 -1.31841919e-02 6.56882932e+02] [-5.21389484e-02 9.98638474e-01 1.65163175e-03 -4.64237804e+01] [ 1.32523841e-02 -9.61830131e-04 9.99911721e-01 2.15420657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.780714057 meters Centerline goodness [0,1] 0.9801087512199657 Centerline is valid? [True, True] Translation: X:656.91, Y:-46.43, Z:2.15 [[ 9.98415119e-01 5.47602437e-02 -1.29832792e-02 6.56911961e+02] [-5.47437051e-02 9.98499115e-01 1.62609243e-03 -4.64279240e+01] [ 1.30528380e-02 -9.12762458e-04 9.99914391e-01 2.15340797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8107140569999 meters Centerline goodness [0,1] 0.9809872626323893 Centerline is valid? [True, True] Translation: X:656.94, Y:-46.43, Z:2.15 [[ 9.98145411e-01 5.92768293e-02 -1.38562362e-02 6.56941476e+02] [-5.92584304e-02 9.98241167e-01 1.73501878e-03 -4.64305518e+01] [ 1.39347118e-02 -9.10702228e-04 9.99902492e-01 2.15240946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8407140569999 meters Centerline goodness [0,1] 0.9826056584002795 Centerline is valid? [True, True] Translation: X:656.97, Y:-46.43, Z:2.15 [[ 9.98014288e-01 6.13211820e-02 -1.43942284e-02 6.56971994e+02] [-6.13015425e-02 9.98117665e-01 1.80208869e-03 -4.64285059e+01] [ 1.44776399e-02 -9.16121854e-04 9.99894774e-01 2.15306466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.870714057 meters Centerline goodness [0,1] 0.9824606294633511 Centerline is valid? [True, True] Translation: X:657.00, Y:-46.43, Z:2.15 [[ 9.97927634e-01 6.27093276e-02 -1.44213935e-02 6.57001221e+02] [-6.26897755e-02 9.98031431e-01 1.80429929e-03 -4.64301587e+01] [ 1.45061504e-02 -8.96486195e-04 9.99894378e-01 2.15321363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.900714057 meters Centerline goodness [0,1] 0.9830891957454749 Centerline is valid? [True, True] Translation: X:657.03, Y:-46.43, Z:2.15 [[ 9.97765108e-01 6.53666766e-02 -1.38559462e-02 6.57030286e+02] [-6.53488961e-02 9.97860972e-01 1.73261923e-03 -4.64326484e+01] [ 1.39395635e-02 -8.23276222e-04 9.99902501e-01 2.15360707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9307140569999 meters Centerline goodness [0,1] 0.9822761194029851 Centerline is valid? [True, True] Translation: X:657.06, Y:-46.43, Z:2.15 [[ 9.97714518e-01 6.61730990e-02 -1.36697250e-02 6.57059198e+02] [-6.61558998e-02 9.97807839e-01 1.70707285e-03 -4.64349539e+01] [ 1.37527211e-02 -7.98838407e-04 9.99905108e-01 2.15346531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9607140569999 meters Centerline goodness [0,1] 0.9796635409637713 Centerline is valid? [True, True] Translation: X:657.09, Y:-46.45, Z:2.15 [[ 9.97655771e-01 6.69726264e-02 -1.40581198e-02 6.57085696e+02] [-6.69545456e-02 9.97754486e-01 1.75341025e-03 -4.64498590e+01] [ 1.41439825e-02 -8.08044834e-04 9.99899642e-01 2.15172100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.990714057 meters Centerline goodness [0,1] 0.9830556010003039 Centerline is valid? [True, True] Translation: X:657.12, Y:-46.44, Z:2.15 [[ 9.97605882e-01 6.75252281e-02 -1.49280804e-02 6.57115821e+02] [-6.75049455e-02 9.97717208e-01 1.85900178e-03 -4.64385808e+01] [ 1.50195322e-02 -8.46831856e-04 9.99886842e-01 2.15335694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.020714057 meters Centerline goodness [0,1] 0.9833216209885219 Centerline is valid? [True, True] Translation: X:657.14, Y:-46.44, Z:2.15 [[ 9.97611422e-01 6.73817492e-02 -1.52036168e-02 6.57143216e+02] [-6.73607591e-02 9.97726896e-01 1.88908038e-03 -4.64414113e+01] [ 1.52963469e-02 -8.60440999e-04 9.99882634e-01 2.15377444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0507140569999 meters Centerline goodness [0,1] 0.9816472904556535 Centerline is valid? [True, True] Translation: X:657.17, Y:-46.45, Z:2.15 [[ 9.97641962e-01 6.68926379e-02 -1.53587322e-02 6.57170915e+02] [-6.68711978e-02 9.97759796e-01 1.90587445e-03 -4.64467962e+01] [ 1.54518145e-02 -8.74323505e-04 9.99880231e-01 2.15360962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0807140569999 meters Centerline goodness [0,1] 0.9832966312139811 Centerline is valid? [True, True] Translation: X:657.20, Y:-46.45, Z:2.15 [[ 9.97687574e-01 6.63865063e-02 -1.45717933e-02 6.57198586e+02] [-6.63671985e-02 9.97793634e-01 1.80513960e-03 -4.64502599e+01] [ 1.46594795e-02 -8.33876252e-04 9.99892196e-01 2.15444908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.110714057 meters Centerline goodness [0,1] 0.9817956337599738 Centerline is valid? [True, True] Translation: X:657.23, Y:-46.46, Z:2.15 [[ 9.97689456e-01 6.64970730e-02 -1.39243790e-02 6.57225970e+02] [-6.64794902e-02 9.97786305e-01 1.72232491e-03 -4.64556191e+01] [ 1.40080843e-02 -7.92659781e-04 9.99901568e-01 2.15454609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.140714057 meters Centerline goodness [0,1] 0.9825665746244209 Centerline is valid? [True, True] Translation: X:657.26, Y:-46.45, Z:2.16 [[ 9.97692232e-01 6.65369555e-02 -1.35293627e-02 6.57255150e+02] [-6.65203975e-02 9.97783667e-01 1.67070450e-03 -4.64549392e+01] [ 1.36105407e-02 -7.66870317e-04 9.99907078e-01 2.15606122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1707140569999 meters Centerline goodness [0,1] 0.983391812865497 Centerline is valid? [True, True] Translation: X:657.28, Y:-46.46, Z:2.16 [[ 9.97688107e-01 6.66891198e-02 -1.30767586e-02 6.57283529e+02] [-6.66737072e-02 9.97773531e-01 1.61154443e-03 -4.64587814e+01] [ 1.31551161e-02 -7.35942739e-04 9.99913197e-01 2.15656532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2007140569999 meters Centerline goodness [0,1] 0.9824877250409165 Centerline is valid? [True, True] Translation: X:657.31, Y:-46.46, Z:2.16 [[ 9.97690805e-01 6.67151346e-02 -1.27337438e-02 6.57312247e+02] [-6.67005629e-02 9.97771809e-01 1.56609743e-03 -4.64624152e+01] [ 1.28098529e-02 -7.13133125e-04 9.99917696e-01 2.15700316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2307140569999 meters Centerline goodness [0,1] 0.9825294873292071 Centerline is valid? [True, True] Translation: X:657.34, Y:-46.46, Z:2.16 [[ 9.97753650e-01 6.57636082e-02 -1.27593897e-02 6.57340872e+02] [-6.57489417e-02 9.97834968e-01 1.56601507e-03 -4.64647082e+01] [ 1.28347520e-02 -7.23580880e-04 9.99917369e-01 2.15714293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.260714057 meters Centerline goodness [0,1] 0.9825294873292071 Centerline is valid? [True, True] Translation: X:657.37, Y:-46.47, Z:2.16 [[ 9.97772525e-01 6.54765302e-02 -1.27598151e-02 6.57368086e+02] [-6.54618845e-02 9.97853847e-01 1.56254286e-03 -4.64679736e+01] [ 1.28347405e-02 -7.23780789e-04 9.99917369e-01 2.15729334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.290714057 meters Centerline goodness [0,1] 0.9806250291090308 Centerline is valid? [True, True] Translation: X:657.39, Y:-46.48, Z:2.16 [[ 9.97808719e-01 6.48641960e-02 -1.30535843e-02 6.57394107e+02] [-6.48488462e-02 9.97893822e-01 1.59620706e-03 -4.64809259e+01] [ 1.31296278e-02 -7.46199439e-04 9.99913524e-01 2.15547376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3207140569999 meters Centerline goodness [0,1] 0.9812132980838968 Centerline is valid? [True, True] Translation: X:657.42, Y:-46.48, Z:2.16 [[ 9.97886449e-01 6.35451073e-02 -1.35887762e-02 6.57423753e+02] [-6.35283864e-02 9.97978653e-01 1.65906577e-03 -4.64758223e+01] [ 1.36667341e-02 -7.92286221e-04 9.99906292e-01 2.15589230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3507140569999 meters Centerline goodness [0,1] 0.9814511984301266 Centerline is valid? [True, True] Translation: X:657.45, Y:-46.49, Z:2.15 [[ 9.97997877e-01 6.14448985e-02 -1.49920466e-02 6.57451477e+02] [-6.14243401e-02 9.98110068e-01 1.82835346e-03 -4.64852144e+01] [ 1.50760557e-02 -9.03816305e-04 9.99885941e-01 2.15364368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.380714057 meters Centerline goodness [0,1] 0.9825594987609295 Centerline is valid? [True, True] Translation: X:657.48, Y:-46.49, Z:2.15 [[ 9.98063791e-01 6.02710794e-02 -1.53644168e-02 6.57480761e+02] [-6.02493920e-02 9.98181602e-01 1.87094565e-03 -4.64853423e+01] [ 1.54492421e-02 -9.41626342e-04 9.99880210e-01 2.15384037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.410714057 meters Centerline goodness [0,1] 0.9825287678922257 Centerline is valid? [True, True] Translation: X:657.51, Y:-46.49, Z:2.15 [[ 9.98157274e-01 5.87366929e-02 -1.52334145e-02 6.57510289e+02] [-5.87152221e-02 9.98273053e-01 1.85327732e-03 -4.64908927e+01] [ 1.53159625e-02 -9.55428922e-04 9.99882247e-01 2.15373319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4407140569999 meters Centerline goodness [0,1] 0.9800499334997783 Centerline is valid? [True, True] Translation: X:657.54, Y:-46.50, Z:2.15 [[ 9.98200880e-01 5.80705945e-02 -1.49268199e-02 6.57536935e+02] [-5.80499207e-02 9.98312032e-01 1.81494043e-03 -4.65006199e+01] [ 1.50070186e-02 -9.45174421e-04 9.99886942e-01 2.15357682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4707140569999 meters Centerline goodness [0,1] 0.9796480418242076 Centerline is valid? [True, True] Translation: X:657.57, Y:-46.51, Z:2.15 [[ 9.98256134e-01 5.72461845e-02 -1.44071146e-02 6.57565220e+02] [-5.72268776e-02 9.98359667e-01 1.74914073e-03 -4.65051981e+01] [ 1.44836138e-02 -9.21616279e-04 9.99894682e-01 2.15421920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.500714057 meters Centerline goodness [0,1] 0.9791963722213132 Centerline is valid? [True, True] Translation: X:657.59, Y:-46.51, Z:2.15 [[ 9.98307826e-01 5.64194029e-02 -1.40831654e-02 6.57593083e+02] [-5.64009197e-02 9.98406743e-01 1.70648947e-03 -4.65105507e+01] [ 1.41570064e-02 -9.09298314e-04 9.99899371e-01 2.15472920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.530714057 meters Centerline goodness [0,1] 0.9808562234761927 Centerline is valid? [True, True] Translation: X:657.62, Y:-46.51, Z:2.16 [[ 9.98402983e-01 5.46802682e-02 -1.41968606e-02 6.57622284e+02] [-5.46613382e-02 9.98503473e-01 1.71831086e-03 -4.65120219e+01] [ 1.42695723e-02 -9.39547292e-04 9.99897743e-01 2.15577935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5607140569999 meters Centerline goodness [0,1] 0.9802420293227834 Centerline is valid? [True, True] Translation: X:657.65, Y:-46.52, Z:2.16 [[ 9.98466772e-01 5.35429852e-02 -1.40447135e-02 6.57650527e+02] [-5.35243823e-02 9.98565100e-01 1.69737150e-03 -4.65160548e+01] [ 1.41154431e-02 -9.43034428e-04 9.99899927e-01 2.15609875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5907140569999 meters Centerline goodness [0,1] 0.9812877731287774 Centerline is valid? [True, True] Translation: X:657.68, Y:-46.52, Z:2.16 [[ 9.98565994e-01 5.15465447e-02 -1.44536857e-02 6.57679329e+02] [-5.15266614e-02 9.98670095e-01 1.74493815e-03 -4.65202809e+01] [ 1.45244092e-02 -9.97685726e-04 9.99894017e-01 2.15599190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.620714057 meters Centerline goodness [0,1] 0.9798200544021575 Centerline is valid? [True, True] Translation: X:657.71, Y:-46.53, Z:2.16 [[ 9.98622271e-01 5.05279928e-02 -1.41591842e-02 6.57705726e+02] [-5.05088331e-02 9.98722154e-01 1.70773982e-03 -4.65285313e+01] [ 1.42273797e-02 -9.90223146e-04 9.99898295e-01 2.15572131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.650714057 meters Centerline goodness [0,1] 0.9798989149587314 Centerline is valid? [True, True] Translation: X:657.73, Y:-46.53, Z:2.16 [[ 9.98664440e-01 4.97017690e-02 -1.41092386e-02 6.57734519e+02] [-4.96827045e-02 9.98763607e-01 1.69872975e-03 -4.65320550e+01] [ 1.41762239e-02 -9.95475861e-04 9.99899017e-01 2.15605101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6807140569999 meters Centerline goodness [0,1] 0.9793470710812688 Centerline is valid? [True, True] Translation: X:657.76, Y:-46.54, Z:2.16 [[ 9.98743513e-01 4.82296275e-02 -1.36124152e-02 6.57763851e+02] [-4.82117678e-02 9.98835795e-01 1.63732958e-03 -4.65381552e+01] [ 1.36755353e-02 -9.78993699e-04 9.99906006e-01 2.15675540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7107140569999 meters Centerline goodness [0,1] 0.9789807149794201 Centerline is valid? [True, True] Translation: X:657.79, Y:-46.54, Z:2.16 [[ 9.98798835e-01 4.71213680e-02 -1.34336675e-02 6.57791001e+02] [-4.71038914e-02 9.98888691e-01 1.61458117e-03 -4.65439144e+01] [ 1.34948198e-02 -9.79863772e-04 9.99908461e-01 2.15658574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.740714057 meters Centerline goodness [0,1] 0.9765181251443085 Centerline is valid? [True, True] Translation: X:657.82, Y:-46.55, Z:2.16 [[ 9.98827264e-01 4.64346496e-02 -1.37083623e-02 6.57818140e+02] [-4.64164114e-02 9.98920822e-01 1.64579332e-03 -4.65538842e+01] [ 1.37699904e-02 -1.00757025e-03 9.99904682e-01 2.15613308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.770714057 meters Centerline goodness [0,1] 0.9803831170328023 Centerline is valid? [True, True] Translation: X:657.85, Y:-46.55, Z:2.16 [[ 9.98874646e-01 4.50736534e-02 -1.47583042e-02 6.57848459e+02] [-4.50523826e-02 9.98983057e-01 1.77075386e-03 -4.65511781e+01] [ 1.48231102e-02 -1.10386437e-03 9.99889522e-01 2.15620476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8007140569999 meters Centerline goodness [0,1] 0.9790093905358129 Centerline is valid? [True, True] Translation: X:657.87, Y:-46.56, Z:2.16 [[ 9.98902089e-01 4.44069400e-02 -1.49211677e-02 6.57874954e+02] [-4.43851452e-02 9.99012892e-01 1.78882121e-03 -4.65606820e+01] [ 1.49858750e-02 -1.12457904e-03 9.99887073e-01 2.15546118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8307140569999 meters Centerline goodness [0,1] 0.9813365858148847 Centerline is valid? [True, True] Translation: X:657.90, Y:-46.56, Z:2.16 [[ 9.98916760e-01 4.38139310e-02 -1.56730904e-02 6.57903820e+02] [-4.37898647e-02 9.99039003e-01 1.87558610e-03 -4.65593876e+01] [ 1.57402054e-02 -1.18723188e-03 9.99875410e-01 2.15582456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8607140569999 meters Centerline goodness [0,1] 0.9807268216484425 Centerline is valid? [True, True] Translation: X:657.93, Y:-46.57, Z:2.16 [[ 9.98912281e-01 4.37243612e-02 -1.61998229e-02 6.57931639e+02] [-4.36987122e-02 9.99042883e-01 1.93407114e-03 -4.65654778e+01] [ 1.62688838e-02 -1.22405602e-03 9.99866904e-01 2.15519790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.890714057 meters Centerline goodness [0,1] 0.9813671696387746 Centerline is valid? [True, True] Translation: X:657.96, Y:-46.57, Z:2.16 [[ 9.98893810e-01 4.42522850e-02 -1.59025525e-02 6.57959784e+02] [-4.42277025e-02 9.99019680e-01 1.89437367e-03 -4.65688311e+01] [ 1.59707933e-02 -1.18894477e-03 9.99871752e-01 2.15558713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9207140569999 meters Centerline goodness [0,1] 0.981896611063947 Centerline is valid? [True, True] Translation: X:657.99, Y:-46.57, Z:2.16 [[ 9.98847867e-01 4.53883095e-02 -1.55833268e-02 6.57987883e+02] [-4.53648742e-02 9.98968763e-01 1.85425980e-03 -4.65735344e+01] [ 1.56514185e-02 -1.14518779e-03 9.99876853e-01 2.15553831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9507140569999 meters Centerline goodness [0,1] 0.9819890009165902 Centerline is valid? [True, True] Translation: X:658.02, Y:-46.58, Z:2.16 [[ 9.98809523e-01 4.63989033e-02 -1.50558470e-02 6.58016688e+02] [-4.63771819e-02 9.98922398e-01 1.78886404e-03 -4.65782495e+01] [ 1.51226242e-02 -1.08848668e-03 9.99885054e-01 2.15575136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9807140569999 meters Centerline goodness [0,1] 0.981847996902544 Centerline is valid? [True, True] Translation: X:658.05, Y:-46.58, Z:2.16 [[ 9.98768103e-01 4.74430851e-02 -1.45406455e-02 6.58045369e+02] [-4.74229626e-02 9.98873408e-01 1.72576353e-03 -4.65809292e+01] [ 1.46061397e-02 -1.03407708e-03 9.99892790e-01 2.15624436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.010714057 meters Centerline goodness [0,1] 0.9828019942368384 Centerline is valid? [True, True] Translation: X:658.07, Y:-46.59, Z:2.16 [[ 9.98702897e-01 4.89318907e-02 -1.40781392e-02 6.58073582e+02] [-4.89131894e-02 9.98801638e-01 1.66986752e-03 -4.65854231e+01] [ 1.41429782e-02 -9.79094841e-04 9.99899504e-01 2.15650784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.040714057 meters Centerline goodness [0,1] 0.9816988081348798 Centerline is valid? [True, True] Translation: X:658.10, Y:-46.59, Z:2.16 [[ 9.98669965e-01 4.96232195e-02 -1.39941494e-02 6.58100673e+02] [-4.96048245e-02 9.98767545e-01 1.65874834e-03 -4.65903803e+01] [ 1.40592147e-02 -9.62364821e-04 9.99900701e-01 2.15628174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0707140569999 meters Centerline goodness [0,1] 0.9815585009140768 Centerline is valid? [True, True] Translation: X:658.13, Y:-46.59, Z:2.16 [[ 9.98653551e-01 5.00947041e-02 -1.34760849e-02 6.58128841e+02] [-5.00777223e-02 9.98744050e-01 1.59485668e-03 -4.65945493e+01] [ 1.35390535e-02 -9.17857649e-04 9.99907922e-01 2.15628433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1007140569999 meters Centerline goodness [0,1] 0.9810584449667952 Centerline is valid? [True, True] Translation: X:658.16, Y:-46.60, Z:2.16 [[ 9.98596786e-01 5.12961072e-02 -1.31593726e-02 6.58155960e+02] [-5.12800484e-02 9.98683102e-01 1.55508475e-03 -4.66013076e+01] [ 1.32218128e-02 -8.78089372e-04 9.99912202e-01 2.15610118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.130714057 meters Centerline goodness [0,1] 0.9810670077193624 Centerline is valid? [True, True] Translation: X:658.18, Y:-46.61, Z:2.16 [[ 9.98579932e-01 5.16196399e-02 -1.31731241e-02 6.58183039e+02] [-5.16035934e-02 9.98666436e-01 1.55535876e-03 -4.66067611e+01] [ 1.32358440e-02 -8.73369501e-04 9.99912021e-01 2.15637758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.160714057 meters Centerline goodness [0,1] 0.9811707850825203 Centerline is valid? [True, True] Translation: X:658.21, Y:-46.61, Z:2.16 [[ 9.98549225e-01 5.23542123e-02 -1.25889542e-02 6.58210399e+02] [-5.23396292e-02 9.98628238e-01 1.48531488e-03 -4.66139675e+01] [ 1.26494476e-02 -8.24258831e-04 9.99919653e-01 2.15583321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1907140569999 meters Centerline goodness [0,1] 0.9805264479601854 Centerline is valid? [True, True] Translation: X:658.24, Y:-46.62, Z:2.16 [[ 9.98534477e-01 5.24617267e-02 -1.32915260e-02 6.58239166e+02] [-5.24455116e-02 9.98622560e-01 1.56582454e-03 -4.66183456e+01] [ 1.33553635e-02 -8.66448907e-04 9.99910438e-01 2.15615183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2207140569999 meters Centerline goodness [0,1] 0.9812990558525765 Centerline is valid? [True, True] Translation: X:658.27, Y:-46.62, Z:2.16 [[ 9.98524883e-01 5.26592116e-02 -1.32312392e-02 6.58266235e+02] [-5.26431867e-02 9.98612173e-01 1.55676094e-03 -4.66230879e+01] [ 1.32948543e-02 -8.57929939e-04 9.99911251e-01 2.15586753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.250714057 meters Centerline goodness [0,1] 0.9808191126279864 Centerline is valid? [True, True] Translation: X:658.29, Y:-46.63, Z:2.16 [[ 9.98506168e-01 5.29407874e-02 -1.35168292e-02 6.58294358e+02] [-5.29241215e-02 9.98597274e-01 1.58795850e-03 -4.66263538e+01] [ 1.35819366e-02 -8.70220045e-04 9.99907383e-01 2.15597196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.280714057 meters Centerline goodness [0,1] 0.9816584744219916 Centerline is valid? [True, True] Translation: X:658.32, Y:-46.63, Z:2.16 [[ 9.98466499e-01 5.34662159e-02 -1.43531895e-02 6.58321455e+02] [-5.34475085e-02 9.98569240e-01 1.68408062e-03 -4.66321849e+01] [ 1.44226950e-02 -9.14355864e-04 9.99895569e-01 2.15537166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3107140569999 meters Centerline goodness [0,1] 0.9833439519432056 Centerline is valid? [True, True] Translation: X:658.35, Y:-46.63, Z:2.16 [[ 9.98495307e-01 5.25982957e-02 -1.55093842e-02 6.58350358e+02] [-5.25763775e-02 9.98615251e-01 1.81787501e-03 -4.66286069e+01] [ 1.55835247e-02 -9.99712429e-04 9.99878070e-01 2.15566799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3407140569999 meters Centerline goodness [0,1] 0.9787500284394695 Centerline is valid? [True, True] Translation: X:658.38, Y:-46.64, Z:2.15 [[ 9.98524719e-01 5.19705416e-02 -1.57304741e-02 6.58376968e+02] [-5.19479500e-02 9.98648096e-01 1.84166223e-03 -4.66435340e+01] [ 1.58049202e-02 -1.02177938e-03 9.99874572e-01 2.15375179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.370714057 meters Centerline goodness [0,1] 0.9801344049402897 Centerline is valid? [True, True] Translation: X:658.41, Y:-46.65, Z:2.15 [[ 9.98564814e-01 5.11832905e-02 -1.57664883e-02 6.58405268e+02] [-5.11605471e-02 9.98688742e-01 1.84275434e-03 -4.66484211e+01] [ 1.58401326e-02 -1.03348748e-03 9.99874003e-01 2.15407026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.400714057 meters Centerline goodness [0,1] 0.9818670400144521 Centerline is valid? [True, True] Translation: X:658.44, Y:-46.64, Z:2.16 [[ 9.98646796e-01 4.93308261e-02 -1.64634893e-02 6.58435977e+02] [-4.93058048e-02 9.98781879e-01 1.92250863e-03 -4.66430371e+01] [ 1.65382737e-02 -1.10816149e-03 9.99862619e-01 2.15610430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4307140569999 meters Centerline goodness [0,1] 0.9793959154100439 Centerline is valid? [True, True] Translation: X:658.46, Y:-46.65, Z:2.16 [[ 9.98721921e-01 4.78845708e-02 -1.61738034e-02 6.58464169e+02] [-4.78602460e-02 9.98852258e-01 1.88791639e-03 -4.66511914e+01] [ 1.62456421e-02 -1.11142128e-03 9.99867413e-01 2.15640416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4607140569999 meters Centerline goodness [0,1] 0.9807910888838373 Centerline is valid? [True, True] Translation: X:658.49, Y:-46.65, Z:2.16 [[ 9.98787837e-01 4.65320310e-02 -1.60507406e-02 6.58493779e+02] [-4.65079119e-02 9.98916166e-01 1.87288745e-03 -4.66526799e+01] [ 1.61204936e-02 -1.12413077e-03 9.99869424e-01 2.15732468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.490714057 meters Centerline goodness [0,1] 0.9793957292139936 Centerline is valid? [True, True] Translation: X:658.52, Y:-46.66, Z:2.16 [[ 9.98864477e-01 4.54011771e-02 -1.44391482e-02 6.58522212e+02] [-4.53815760e-02 9.98968309e-01 1.68242774e-03 -4.66567383e+01] [ 1.45006356e-02 -1.02524600e-03 9.99894335e-01 2.15901301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.520714057 meters Centerline goodness [0,1] 0.9784083201446981 Centerline is valid? [True, True] Translation: X:658.55, Y:-46.66, Z:2.16 [[ 9.98880719e-01 4.52175682e-02 -1.38809425e-02 6.58548480e+02] [-4.51994685e-02 9.98976676e-01 1.61505041e-03 -4.66605660e+01] [ 1.39397664e-02 -9.85831490e-04 9.99902351e-01 2.15970983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5507140569999 meters Centerline goodness [0,1] 0.9779943911706169 Centerline is valid? [True, True] Translation: X:658.58, Y:-46.66, Z:2.16 [[ 9.98899465e-01 4.49271307e-02 -1.34689173e-02 6.58576076e+02] [-4.49101026e-02 9.98989808e-01 1.56421164e-03 -4.66635381e+01] [ 1.35255867e-02 -9.57599716e-04 9.99908067e-01 2.16060386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5807140569999 meters Centerline goodness [0,1] 0.9775849602313811 Centerline is valid? [True, True] Translation: X:658.60, Y:-46.66, Z:2.16 [[ 9.98891568e-01 4.53514903e-02 -1.26046856e-02 6.58604591e+02] [-4.53366513e-02 9.98970698e-01 1.46065725e-03 -4.66644232e+01] [ 1.26579546e-02 -8.87583970e-04 9.99919491e-01 2.16177424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6107140569999 meters Centerline goodness [0,1] 0.9782879395050827 Centerline is valid? [True, True] Translation: X:658.63, Y:-46.67, Z:2.16 [[ 9.98875811e-01 4.57228025e-02 -1.25115970e-02 6.58632306e+02] [-4.57082353e-02 9.98953783e-01 1.44792898e-03 -4.66682654e+01] [ 1.25647105e-02 -8.74418214e-04 9.99920679e-01 2.16228819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.640714057 meters Centerline goodness [0,1] 0.9772244085583752 Centerline is valid? [True, True] Translation: X:658.66, Y:-46.67, Z:2.16 [[ 9.98864365e-01 4.60862410e-02 -1.20846182e-02 6.58660653e+02] [-4.60727028e-02 9.98937113e-01 1.39644548e-03 -4.66709103e+01] [ 1.21361305e-02 -8.38088602e-04 9.99926003e-01 2.16263786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6707140569999 meters Centerline goodness [0,1] 0.9788163553209401 Centerline is valid? [True, True] Translation: X:658.69, Y:-46.67, Z:2.16 [[ 9.98793796e-01 4.74470300e-02 -1.26385596e-02 6.58690758e+02] [-4.74323697e-02 9.98873389e-01 1.45737326e-03 -4.66657132e+01] [ 1.26934689e-02 -8.56138540e-04 9.99919068e-01 2.16334069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7007140569999 meters Centerline goodness [0,1] 0.9774708144641923 Centerline is valid? [True, True] Translation: X:658.72, Y:-46.67, Z:2.16 [[ 9.98762135e-01 4.80108240e-02 -1.30061089e-02 6.58717913e+02] [-4.79953723e-02 9.98846435e-01 1.49775097e-03 -4.66736255e+01] [ 1.30630138e-02 -8.71663915e-04 9.99914295e-01 2.16261031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7307140569999 meters Centerline goodness [0,1] 0.9791167954768256 Centerline is valid? [True, True] Translation: X:658.75, Y:-46.67, Z:2.16 [[ 9.98749891e-01 4.81319933e-02 -1.34895284e-02 6.58747044e+02] [-4.81154173e-02 9.98840579e-01 1.55085173e-03 -4.66690872e+01] [ 1.35485339e-02 -8.99858712e-04 9.99907809e-01 2.16331930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.760714057 meters Centerline goodness [0,1] 0.9789756308448428 Centerline is valid? [True, True] Translation: X:658.78, Y:-46.67, Z:2.16 [[ 9.98675719e-01 4.95437654e-02 -1.38644873e-02 6.58775472e+02] [-4.95264189e-02 9.98771545e-01 1.59191948e-03 -4.66713594e+01] [ 1.39263251e-02 -9.03152925e-04 9.99902616e-01 2.16341532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.790714057 meters Centerline goodness [0,1] 0.9790344953043636 Centerline is valid? [True, True] Translation: X:658.80, Y:-46.67, Z:2.16 [[ 9.98648330e-01 5.01504412e-02 -1.36545100e-02 6.58803496e+02] [-5.01336881e-02 9.98741287e-01 1.56667979e-03 -4.66743275e+01] [ 1.37158925e-02 -8.80011211e-04 9.99905545e-01 2.16364588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8207140569999 meters Centerline goodness [0,1] 0.9794295867693289 Centerline is valid? [True, True] Translation: X:658.83, Y:-46.68, Z:2.16 [[ 9.98612376e-01 5.09264690e-02 -1.34095802e-02 6.58832427e+02] [-5.09104148e-02 9.98702043e-01 1.53609023e-03 -4.66758443e+01] [ 1.34704028e-02 -8.51271420e-04 9.99908908e-01 2.16391814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8507140569999 meters Centerline goodness [0,1] 0.9774579464711357 Centerline is valid? [True, True] Translation: X:658.86, Y:-46.68, Z:2.16 [[ 9.98599968e-01 5.13314985e-02 -1.27742075e-02 6.58859772e+02] [-5.13169918e-02 9.98681346e-01 1.46103961e-03 -4.66840134e+01] [ 1.28323601e-02 -8.03460209e-04 9.99917339e-01 2.16375598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.880714057 meters Centerline goodness [0,1] 0.9797986683936647 Centerline is valid? [True, True] Translation: X:658.89, Y:-46.68, Z:2.17 [[ 9.98607867e-01 5.11837531e-02 -1.27495986e-02 6.58888269e+02] [-5.11693263e-02 9.98688931e-01 1.45540604e-03 -4.66800661e+01] [ 1.28073761e-02 -8.00991552e-04 9.99917661e-01 2.16532815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.910714057 meters Centerline goodness [0,1] 0.979945180447693 Centerline is valid? [True, True] Translation: X:658.92, Y:-46.68, Z:2.17 [[ 9.98617550e-01 5.09497026e-02 -1.29273320e-02 6.58915985e+02] [-5.09349002e-02 9.98700891e-01 1.47193154e-03 -4.66811088e+01] [ 1.29855324e-02 -8.11444301e-04 9.99915355e-01 2.16594071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9407140569999 meters Centerline goodness [0,1] 0.9800570450656019 Centerline is valid? [True, True] Translation: X:658.94, Y:-46.68, Z:2.17 [[ 9.98636485e-01 5.07792492e-02 -1.21094765e-02 6.58942951e+02] [-5.07662764e-02 9.98709613e-01 1.37648852e-03 -4.66848776e+01] [ 1.21637476e-02 -7.59858629e-04 9.99925730e-01 2.16619508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9707140569999 meters Centerline goodness [0,1] 0.9781438218653039 Centerline is valid? [True, True] Translation: X:658.97, Y:-46.69, Z:2.17 [[ 9.98656630e-01 5.04825213e-02 -1.16812069e-02 6.58970001e+02] [-5.04704440e-02 9.98724674e-01 1.32659008e-03 -4.66910830e+01] [ 1.17332791e-02 -7.35252282e-04 9.99930892e-01 2.16631223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.000714057 meters Centerline goodness [0,1] 0.9793951023391813 Centerline is valid? [True, True] Translation: X:659.00, Y:-46.69, Z:2.17 [[ 9.98677174e-01 4.99448612e-02 -1.22234334e-02 6.58998987e+02] [-4.99316238e-02 9.98751677e-01 1.38593716e-03 -4.66903738e+01] [ 1.22773951e-02 -7.73767931e-04 9.99924331e-01 2.16686126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.030714057 meters Centerline goodness [0,1] 0.980334383993422 Centerline is valid? [True, True] Translation: X:659.03, Y:-46.69, Z:2.17 [[ 9.98690279e-01 4.96004743e-02 -1.25507081e-02 6.59027282e+02] [-4.95865357e-02 9.98768822e-01 1.41953367e-03 -4.66918495e+01] [ 1.26056655e-02 -7.95328342e-04 9.99920229e-01 2.16725208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0607140569999 meters Centerline goodness [0,1] 0.9795359035264023 Centerline is valid? [True, True] Translation: X:659.05, Y:-46.70, Z:2.17 [[ 9.98665988e-01 5.00375905e-02 -1.27468995e-02 6.59053704e+02] [-5.00232774e-02 9.98747015e-01 1.43943703e-03 -4.67031577e+01] [ 1.28029538e-02 -7.99875117e-04 9.99917719e-01 2.16620825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0907140569999 meters Centerline goodness [0,1] 0.9816787971434439 Centerline is valid? [True, True] Translation: X:659.08, Y:-46.70, Z:2.17 [[ 9.98677195e-01 4.99425119e-02 -1.22313068e-02 6.59083246e+02] [-4.99293533e-02 9.98751800e-01 1.37901635e-03 -4.66999176e+01] [ 1.22849112e-02 -7.66490949e-04 9.99924244e-01 2.16726691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.120714057 meters Centerline goodness [0,1] 0.9790056000181377 Centerline is valid? [True, True] Translation: X:659.11, Y:-46.71, Z:2.17 [[ 9.98653885e-01 5.03798013e-02 -1.23407694e-02 6.59110237e+02] [-5.03664781e-02 9.98729839e-01 1.38822911e-03 -4.67122028e+01] [ 1.23950333e-02 -7.64799303e-04 9.99922886e-01 2.16657151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.150714057 meters Centerline goodness [0,1] 0.9819210066092803 Centerline is valid? [True, True] Translation: X:659.14, Y:-46.71, Z:2.17 [[ 9.98624695e-01 5.11041107e-02 -1.17084498e-02 6.59140388e+02] [-5.10922002e-02 9.98693076e-01 1.31431229e-03 -4.67057403e+01] [ 1.17603145e-02 -7.14294251e-04 9.99930590e-01 2.16843388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1807140569999 meters Centerline goodness [0,1] 0.9819210066092803 Centerline is valid? [True, True] Translation: X:659.17, Y:-46.71, Z:2.17 [[ 9.98639403e-01 5.08158165e-02 -1.17087955e-02 6.59167650e+02] [-5.08039223e-02 9.98707786e-01 1.31122719e-03 -4.67087287e+01] [ 1.17602963e-02 -7.14590400e-04 9.99930590e-01 2.16858430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2107140569999 meters Centerline goodness [0,1] 0.9815228287615055 Centerline is valid? [True, True] Translation: X:659.20, Y:-46.71, Z:2.17 [[ 9.98639775e-01 5.08909938e-02 -1.13448522e-02 6.59195993e+02] [-5.08798672e-02 9.98703977e-01 1.26742178e-03 -4.67117787e+01] [ 1.13946493e-02 -6.88473233e-04 9.99934842e-01 2.16927745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.240714057 meters Centerline goodness [0,1] 0.9815173104500035 Centerline is valid? [True, True] Translation: X:659.22, Y:-46.72, Z:2.17 [[ 9.98605436e-01 5.16112865e-02 -1.11111992e-02 6.59223902e+02] [-5.16006892e-02 9.98667029e-01 1.23852106e-03 -4.67156151e+01] [ 1.11603100e-02 -6.63448322e-04 9.99937502e-01 2.16999033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.270714057 meters Centerline goodness [0,1] 0.9816373548666713 Centerline is valid? [True, True] Translation: X:659.25, Y:-46.72, Z:2.17 [[ 9.98582326e-01 5.21116092e-02 -1.08498440e-02 6.59251748e+02] [-5.21015634e-02 9.98641062e-01 1.20668702e-03 -4.67197777e+01] [ 1.08979821e-02 -6.39682497e-04 9.99940411e-01 2.17028837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3007140569999 meters Centerline goodness [0,1] 0.981525775074603 Centerline is valid? [True, True] Translation: X:659.28, Y:-46.72, Z:2.17 [[ 9.98449830e-01 5.45309385e-02 -1.11496234e-02 6.59281291e+02] [-5.45204982e-02 9.98511884e-01 1.23842335e-03 -4.67212201e+01] [ 1.12005639e-02 -6.28620559e-04 9.99937074e-01 2.17034148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3307140569999 meters Centerline goodness [0,1] 0.9830975021611539 Centerline is valid? [True, True] Translation: X:659.31, Y:-46.72, Z:2.17 [[ 9.98358003e-01 5.61045927e-02 -1.15573426e-02 6.59310211e+02] [-5.60934874e-02 9.98424696e-01 1.28306544e-03 -4.67225489e+01] [ 1.16111221e-02 -6.32667002e-04 9.99932389e-01 2.17016433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3607140569999 meters Centerline goodness [0,1] 0.9838632259834061 Centerline is valid? [True, True] Translation: X:659.34, Y:-46.73, Z:2.17 [[ 9.98170718e-01 5.90756934e-02 -1.28561507e-02 6.59340153e+02] [-5.90622048e-02 9.98253285e-01 1.42668496e-03 -4.67251467e+01] [ 1.29179771e-02 -6.64762545e-04 9.99916338e-01 2.16896922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.390714057 meters Centerline goodness [0,1] 0.9829568788501026 Centerline is valid? [True, True] Translation: X:659.37, Y:-46.73, Z:2.17 [[ 9.98100916e-01 6.01074446e-02 -1.34780078e-02 6.59367550e+02] [-6.00927243e-02 9.98191680e-01 1.49487224e-03 -4.67326260e+01] [ 1.35434882e-02 -6.82103149e-04 9.99908050e-01 2.16838944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4207140569999 meters Centerline goodness [0,1] 0.9837869930580928 Centerline is valid? [True, True] Translation: X:659.40, Y:-46.73, Z:2.17 [[ 9.98042251e-01 6.08932965e-02 -1.42713281e-02 6.59397248e+02] [-6.08769093e-02 9.98144030e-01 1.58028668e-03 -4.67298127e+01] [ 1.43410698e-02 -7.08398528e-04 9.99896911e-01 2.16909637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4507140569999 meters Centerline goodness [0,1] 0.9849646360939995 Centerline is valid? [True, True] Translation: X:659.43, Y:-46.73, Z:2.17 [[ 9.97913192e-01 6.28246672e-02 -1.49104562e-02 6.59426260e+02] [-6.28070245e-02 9.98024328e-01 1.64904298e-03 -4.67304718e+01] [ 1.49845986e-02 -7.09120356e-04 9.99887473e-01 2.16999353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4807140569999 meters Centerline goodness [0,1] 0.9846669861044561 Centerline is valid? [True, True] Translation: X:659.45, Y:-46.74, Z:2.17 [[ 9.97852209e-01 6.38556981e-02 -1.46088291e-02 6.59454055e+02] [-6.38388901e-02 9.97958912e-01 1.61446373e-03 -4.67351661e+01] [ 1.46821039e-02 -6.78384768e-04 9.99891982e-01 2.16981310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.510714057 meters Centerline goodness [0,1] 0.984945452889061 Centerline is valid? [True, True] Translation: X:659.48, Y:-46.74, Z:2.17 [[ 9.97788832e-01 6.47291670e-02 -1.50857783e-02 6.59481353e+02] [-6.47113639e-02 9.97902633e-01 1.66580535e-03 -4.67387976e+01] [ 1.51619640e-02 -6.85900691e-04 9.99884816e-01 2.16976187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.540714057 meters Centerline goodness [0,1] 0.9853574112449617 Centerline is valid? [True, True] Translation: X:659.51, Y:-46.74, Z:2.17 [[ 9.97700205e-01 6.60378381e-02 -1.52743322e-02 6.59510417e+02] [-6.60197858e-02 9.97816894e-01 1.68365538e-03 -4.67402006e+01] [ 1.53521717e-02 -6.71375174e-04 9.99881923e-01 2.17051091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5707140569999 meters Centerline goodness [0,1] 0.9866228370542848 Centerline is valid? [True, True] Translation: X:659.54, Y:-46.74, Z:2.17 [[ 9.97529653e-01 6.86313354e-02 -1.49776969e-02 6.59538313e+02] [-6.86142995e-02 9.97641899e-01 1.64894407e-03 -4.67441478e+01] [ 1.50555472e-02 -6.17186430e-04 9.99886468e-01 2.17118510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6007140569999 meters Centerline goodness [0,1] 0.986660880290537 Centerline is valid? [True, True] Translation: X:659.57, Y:-46.74, Z:2.17 [[ 9.97471687e-01 6.94622071e-02 -1.50078142e-02 6.59567449e+02] [-6.94452387e-02 9.97584401e-01 1.64946096e-03 -4.67445681e+01] [ 1.50861366e-02 -6.03069363e-04 9.99886016e-01 2.17192584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.630714057 meters Centerline goodness [0,1] 0.9864716886435188 Centerline is valid? [True, True] Translation: X:659.60, Y:-46.75, Z:2.17 [[ 9.97414693e-01 7.02039569e-02 -1.53406444e-02 6.59596264e+02] [-7.01863752e-02 9.97532477e-01 1.68214788e-03 -4.67479077e+01] [ 1.54208844e-02 -6.01094785e-04 9.99880910e-01 2.17213012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.660714057 meters Centerline goodness [0,1] 0.9870248122012293 Centerline is valid? [True, True] Translation: X:659.62, Y:-46.75, Z:2.17 [[ 9.97390860e-01 7.06916061e-02 -1.46345384e-02 6.59624327e+02] [-7.06757112e-02 9.97498060e-01 1.60111662e-03 -4.67519401e+01] [ 1.47111092e-02 -5.62632675e-04 9.99891627e-01 2.17255792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6907140569999 meters Centerline goodness [0,1] 0.9862054813260979 Centerline is valid? [True, True] Translation: X:659.65, Y:-46.76, Z:2.17 [[ 9.97409494e-01 7.03585797e-02 -1.49656787e-02 6.59652135e+02] [-7.03419820e-02 9.97521598e-01 1.63321489e-03 -4.67554272e+01] [ 1.50434984e-02 -5.76268540e-04 9.99886674e-01 2.17347283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7207140569999 meters Centerline goodness [0,1] 0.9852901054929065 Centerline is valid? [True, True] Translation: X:659.68, Y:-46.76, Z:2.17 [[ 9.97538304e-01 6.85380325e-02 -1.48279911e-02 6.59679098e+02] [-6.85215735e-02 9.97648326e-01 1.61580567e-03 -4.67617215e+01] [ 1.49038646e-02 -5.95790770e-04 9.99888754e-01 2.17319109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.750714057 meters Centerline goodness [0,1] 0.9840205482565805 Centerline is valid? [True, True] Translation: X:659.71, Y:-46.77, Z:2.17 [[ 9.97665031e-01 6.65535372e-02 -1.53334122e-02 6.59706874e+02] [-6.65357187e-02 9.97782647e-01 1.66985938e-03 -4.67685060e+01] [ 1.54105477e-02 -6.45740703e-04 9.99881042e-01 2.17245603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.780714057 meters Centerline goodness [0,1] 0.9846971210607575 Centerline is valid? [True, True] Translation: X:659.74, Y:-46.77, Z:2.17 [[ 9.97798790e-01 6.43728547e-02 -1.59282614e-02 6.59736198e+02] [-6.43533601e-02 9.97925668e-01 1.73396901e-03 -4.67728826e+01] [ 1.60068414e-02 -7.05115038e-04 9.99871634e-01 2.17259331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8107140569999 meters Centerline goodness [0,1] 0.9828103001952859 Centerline is valid? [True, True] Translation: X:659.76, Y:-46.78, Z:2.17 [[ 9.98094317e-01 5.94578013e-02 -1.65076991e-02 6.59764636e+02] [-5.94362012e-02 9.98230490e-01 1.79645953e-03 -4.67838483e+01] [ 1.65853021e-02 -8.11881125e-04 9.99862125e-01 2.17204308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8407140569999 meters Centerline goodness [0,1] 0.9821963806819463 Centerline is valid? [True, True] Translation: X:659.79, Y:-46.79, Z:2.17 [[ 9.98239502e-01 5.71271699e-02 -1.59493620e-02 6.59793936e+02] [-5.71067185e-02 9.98366572e-01 1.73515053e-03 -4.67906159e+01] [ 1.60224341e-02 -8.21280076e-04 9.99871295e-01 2.17253974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.870714057 meters Centerline goodness [0,1] 0.9812938249264872 Centerline is valid? [True, True] Translation: X:659.82, Y:-46.79, Z:2.17 [[ 9.98364981e-01 5.48142802e-02 -1.62098317e-02 6.59823520e+02] [-5.47928606e-02 9.98496187e-01 1.76291414e-03 -4.67940638e+01] [ 1.62820880e-02 -8.71848691e-04 9.99867058e-01 2.17385030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.900714057 meters Centerline goodness [0,1] 0.9799208592425099 Centerline is valid? [True, True] Translation: X:659.85, Y:-46.81, Z:2.17 [[ 9.98542126e-01 5.17302399e-02 -1.54144457e-02 6.59851757e+02] [-5.17105083e-02 9.98660710e-01 1.67616790e-03 -4.68054406e+01] [ 1.54805098e-02 -8.76635438e-04 9.99879785e-01 2.17372390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9307140569999 meters Centerline goodness [0,1] 0.9807271825620449 Centerline is valid? [True, True] Translation: X:659.88, Y:-46.81, Z:2.17 [[ 9.98578463e-01 5.11052377e-02 -1.51429126e-02 6.59880538e+02] [-5.10861596e-02 9.98692896e-01 1.64427463e-03 -4.68097695e+01] [ 1.52071503e-02 -8.68343987e-04 9.99883988e-01 2.17415977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9607140569999 meters Centerline goodness [0,1] 0.9810612868439971 Centerline is valid? [True, True] Translation: X:659.91, Y:-46.82, Z:2.17 [[ 9.98564972e-01 5.13221426e-02 -1.52981952e-02 6.59907572e+02] [-5.13027297e-02 9.98681770e-01 1.65897606e-03 -4.68153823e+01] [ 1.53631709e-02 -8.71756213e-04 9.99881600e-01 2.17412576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.990714057 meters Centerline goodness [0,1] 0.9797624383684447 Centerline is valid? [True, True] Translation: X:659.94, Y:-46.82, Z:2.17 [[ 9.98532135e-01 5.21891101e-02 -1.44869537e-02 6.59935780e+02] [-5.21718298e-02 9.98636891e-01 1.56844797e-03 -4.68192558e+01] [ 1.45490623e-02 -8.10334820e-04 9.99893828e-01 2.17468599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.020714057 meters Centerline goodness [0,1] 0.9832593560597526 Centerline is valid? [True, True] Translation: X:659.97, Y:-46.81, Z:2.18 [[ 9.98489205e-01 5.30630122e-02 -1.42697019e-02 6.59965697e+02] [-5.30463833e-02 9.98590860e-01 1.54158199e-03 -4.68140485e+01] [ 1.43313948e-02 -7.82296903e-04 9.99896994e-01 2.17694144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0507140569999 meters Centerline goodness [0,1] 0.983655341885159 Centerline is valid? [True, True] Translation: X:660.00, Y:-46.82, Z:2.18 [[ 9.98281016e-01 5.68332159e-02 -1.43177650e-02 6.59995651e+02] [-5.68168822e-02 9.98383420e-01 1.54532188e-03 -4.68170833e+01] [ 1.43824448e-02 -7.29174734e-04 9.99896301e-01 2.17723091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0807140569999 meters Centerline goodness [0,1] 0.9839747206861528 Centerline is valid? [True, True] Translation: X:660.02, Y:-46.82, Z:2.18 [[ 9.98207873e-01 5.82047005e-02 -1.39015906e-02 6.60024735e+02] [-5.81894646e-02 9.98304433e-01 1.49830426e-03 -4.68192405e+01] [ 1.39652279e-02 -6.86692992e-04 9.99902246e-01 2.17718958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1107140569999 meters Centerline goodness [0,1] 0.9839001038702976 Centerline is valid? [True, True] Translation: X:660.05, Y:-46.82, Z:2.18 [[ 9.98110896e-01 5.97195460e-02 -1.44296761e-02 6.60052506e+02] [-5.97033250e-02 9.98214958e-01 1.55269275e-03 -4.68235536e+01] [ 1.44966447e-02 -6.88259902e-04 9.99894681e-01 2.17708526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.140714057 meters Centerline goodness [0,1] 0.9842880007213544 Centerline is valid? [True, True] Translation: X:660.08, Y:-46.83, Z:2.18 [[ 9.98034282e-01 6.09594054e-02 -1.45437969e-02 6.60081608e+02] [-6.09430856e-02 9.98140019e-01 1.56309344e-03 -4.68267517e+01] [ 1.46120310e-02 -6.73676979e-04 9.99893012e-01 2.17715754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1707140569999 meters Centerline goodness [0,1] 0.9847734030092801 Centerline is valid? [True, True] Translation: X:660.11, Y:-46.83, Z:2.18 [[ 9.97912334e-01 6.28703894e-02 -1.47745564e-02 6.60110293e+02] [-6.28537770e-02 9.98021486e-01 1.58652075e-03 -4.68288834e+01] [ 1.48450699e-02 -6.54571957e-04 9.99889592e-01 2.17697328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2007140569999 meters Centerline goodness [0,1] 0.9842023538942772 Centerline is valid? [True, True] Translation: X:660.14, Y:-46.84, Z:2.18 [[ 9.97870581e-01 6.33660608e-02 -1.54610829e-02 6.60137227e+02] [-6.33479482e-02 9.97990123e-01 1.65893349e-03 -4.68383235e+01] [ 1.55351281e-02 -6.75973043e-04 9.99879094e-01 2.17567122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2307140569999 meters Centerline goodness [0,1] 0.9853172286830407 Centerline is valid? [True, True] Translation: X:660.17, Y:-46.84, Z:2.18 [[ 9.97851748e-01 6.37533263e-02 -1.50798547e-02 6.60166183e+02] [-6.37361841e-02 9.97965475e-01 1.61512902e-03 -4.68389630e+01] [ 1.51521442e-02 -6.50526926e-04 9.99884988e-01 2.17594828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.260714057 meters Centerline goodness [0,1] 0.985039476045218 Centerline is valid? [True, True] Translation: X:660.19, Y:-46.85, Z:2.18 [[ 9.97831405e-01 6.41638129e-02 -1.46796360e-02 6.60193266e+02] [-6.41476447e-02 9.97939184e-01 1.57011089e-03 -4.68456182e+01] [ 1.47501283e-02 -6.25041882e-04 9.99891016e-01 2.17541077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.290714057 meters Centerline goodness [0,1] 0.9836610048593465 Centerline is valid? [True, True] Translation: X:660.22, Y:-46.85, Z:2.18 [[ 9.97792076e-01 6.47420311e-02 -1.48135972e-02 6.60220963e+02] [-6.47256493e-02 9.97901841e-01 1.58314383e-03 -4.68514045e+01] [ 1.48850119e-02 -6.20828673e-04 9.99889019e-01 2.17509068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3207140569999 meters Centerline goodness [0,1] 0.9860634215310038 Centerline is valid? [True, True] Translation: X:660.25, Y:-46.85, Z:2.18 [[ 9.97722806e-01 6.57604720e-02 -1.49921109e-02 6.60249838e+02] [-6.57438510e-02 9.97835251e-01 1.59934607e-03 -4.68511322e+01] [ 1.50648305e-02 -6.10064944e-04 9.99886333e-01 2.17629862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3507140569999 meters Centerline goodness [0,1] 0.9855459544383346 Centerline is valid? [True, True] Translation: X:660.28, Y:-46.86, Z:2.18 [[ 9.97688773e-01 6.62909188e-02 -1.49206438e-02 6.60278014e+02] [-6.62745712e-02 9.97800160e-01 1.58798702e-03 -4.68550941e+01] [ 1.49930899e-02 -5.95457556e-04 9.99887420e-01 2.17689229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.380714057 meters Centerline goodness [0,1] 0.9861263890447862 Centerline is valid? [True, True] Translation: X:660.31, Y:-46.86, Z:2.18 [[ 9.97660897e-01 6.68509197e-02 -1.42720040e-02 6.60306096e+02] [-6.68360703e-02 9.97762819e-01 1.51543726e-03 -4.68589811e+01] [ 1.43413833e-02 -5.58007833e-04 9.99897001e-01 2.17690326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.410714057 meters Centerline goodness [0,1] 0.9856429323358792 Centerline is valid? [True, True] Translation: X:660.33, Y:-46.86, Z:2.18 [[ 9.97589404e-01 6.80596399e-02 -1.35376284e-02 6.60334322e+02] [-6.80464360e-02 9.97681124e-01 1.43411917e-03 -4.68631044e+01] [ 1.36038420e-02 -5.09474716e-04 9.99907334e-01 2.17805603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4407140569999 meters Centerline goodness [0,1] 0.9865903808331843 Centerline is valid? [True, True] Translation: X:660.36, Y:-46.87, Z:2.18 [[ 9.97594974e-01 6.81477774e-02 -1.26549393e-02 6.60362100e+02] [-6.81362857e-02 9.97675126e-01 1.33751681e-03 -4.68689240e+01] [ 1.27166669e-02 -4.72039491e-04 9.99919029e-01 2.17824610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4707140569999 meters Centerline goodness [0,1] 0.9871301311607502 Centerline is valid? [True, True] Translation: X:660.39, Y:-46.87, Z:2.18 [[ 9.97610708e-01 6.79669392e-02 -1.23842813e-02 6.60389523e+02] [-6.79559617e-02 9.97687467e-01 1.30555851e-03 -4.68730656e+01] [ 1.24443771e-02 -4.60853405e-04 9.99922460e-01 2.17898339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.500714057 meters Centerline goodness [0,1] 0.9867844364937388 Centerline is valid? [True, True] Translation: X:660.42, Y:-46.88, Z:2.18 [[ 9.97614085e-01 6.79289093e-02 -1.23207689e-02 6.60417459e+02] [-6.79180853e-02 9.97690060e-01 1.29529595e-03 -4.68781609e+01] [ 1.23802968e-02 -4.55402445e-04 9.99923257e-01 2.17866877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.530714057 meters Centerline goodness [0,1] 0.986920810641907 Centerline is valid? [True, True] Translation: X:660.45, Y:-46.88, Z:2.18 [[ 9.97651412e-01 6.73416531e-02 -1.25204278e-02 6.60445410e+02] [-6.73304575e-02 9.97729865e-01 1.31404544e-03 -4.68833037e+01] [ 1.25804947e-02 -4.67953152e-04 9.99920753e-01 2.17793956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5607140569999 meters Centerline goodness [0,1] 0.9871000802067552 Centerline is valid? [True, True] Translation: X:660.47, Y:-46.89, Z:2.18 [[ 9.97633730e-01 6.76104325e-02 -1.24808138e-02 6.60472315e+02] [-6.75993466e-02 9.97711690e-01 1.30845302e-03 -4.68898721e+01] [ 1.25407189e-02 -4.61662004e-04 9.99921256e-01 2.17747631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5907140569999 meters Centerline goodness [0,1] 0.9872902105684904 Centerline is valid? [True, True] Translation: X:660.50, Y:-46.90, Z:2.18 [[ 9.97652046e-01 6.73174189e-02 -1.26000467e-02 6.60499543e+02] [-6.73061318e-02 9.97731500e-01 1.31819663e-03 -4.68967912e+01] [ 1.26602011e-02 -4.67041159e-04 9.99919747e-01 2.17689710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.620714057 meters Centerline goodness [0,1] 0.9879166852107348 Centerline is valid? [True, True] Translation: X:660.53, Y:-46.90, Z:2.18 [[ 9.97658859e-01 6.71073639e-02 -1.31682303e-02 6.60527451e+02] [-6.70950680e-02 9.97745641e-01 1.37382151e-03 -4.68997717e+01] [ 1.32307379e-02 -4.87081896e-04 9.99912351e-01 2.17728958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.650714057 meters Centerline goodness [0,1] 0.9870742396938753 Centerline is valid? [True, True] Translation: X:660.56, Y:-46.90, Z:2.18 [[ 9.97613304e-01 6.77730816e-02 -1.32100323e-02 6.60555844e+02] [-6.77608123e-02 9.97700648e-01 1.37468014e-03 -4.69044444e+01] [ 1.32728241e-02 -4.76276676e-04 9.99911799e-01 2.17789984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6807140569999 meters Centerline goodness [0,1] 0.9886869766613219 Centerline is valid? [True, True] Translation: X:660.58, Y:-46.91, Z:2.18 [[ 9.97589015e-01 6.82465525e-02 -1.25922678e-02 6.60584552e+02] [-6.82354808e-02 9.97668387e-01 1.30729235e-03 -4.69078161e+01] [ 1.26521257e-02 -4.44901042e-04 9.99919860e-01 2.17838924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7107140569999 meters Centerline goodness [0,1] 0.9881610975879619 Centerline is valid? [True, True] Translation: X:660.61, Y:-46.91, Z:2.18 [[ 9.97568519e-01 6.86006307e-02 -1.22883229e-02 6.60612082e+02] [-6.85901381e-02 9.97644110e-01 1.27378458e-03 -4.69131310e+01] [ 1.23467554e-02 -4.27829630e-04 9.99923684e-01 2.17855256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.740714057 meters Centerline goodness [0,1] 0.9877072739332302 Centerline is valid? [True, True] Translation: X:660.64, Y:-46.92, Z:2.18 [[ 9.97568016e-01 6.86588306e-02 -1.20007705e-02 6.60639453e+02] [-6.86488402e-02 9.97640111e-01 1.24292782e-03 -4.69212490e+01] [ 1.20577880e-02 -4.16066062e-04 9.99927216e-01 2.17789456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.770714057 meters Centerline goodness [0,1] 0.9878890825263065 Centerline is valid? [True, True] Translation: X:660.67, Y:-46.92, Z:2.18 [[ 9.97591536e-01 6.83708821e-02 -1.16854588e-02 6.60666903e+02] [-6.83614164e-02 9.97659891e-01 1.20802886e-03 -4.69233925e+01] [ 1.17407075e-02 -4.06284854e-04 9.99930993e-01 2.17826124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8007140569999 meters Centerline goodness [0,1] 0.9877226238758596 Centerline is valid? [True, True] Translation: X:660.69, Y:-46.93, Z:2.18 [[ 9.97634400e-01 6.78358954e-02 -1.11308293e-02 6.60693935e+02] [-6.78273084e-02 9.97696416e-01 1.14758844e-03 -4.69292613e+01] [ 1.11830362e-02 -3.89899511e-04 9.99937392e-01 2.17793904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8307140569999 meters Centerline goodness [0,1] 0.9880211780277962 Centerline is valid? [True, True] Translation: X:660.72, Y:-46.93, Z:2.18 [[ 9.97642969e-01 6.76803180e-02 -1.13084031e-02 6.60721734e+02] [-6.76714821e-02 9.97706980e-01 1.16261952e-03 -4.69326545e+01] [ 1.13611592e-02 -3.94622792e-04 9.99935382e-01 2.17838616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8607140569999 meters Centerline goodness [0,1] 0.9865922773281585 Centerline is valid? [True, True] Translation: X:660.75, Y:-46.94, Z:2.18 [[ 9.97659940e-01 6.74716975e-02 -1.10550721e-02 6.60747545e+02] [-6.74632695e-02 9.97721114e-01 1.13393757e-03 -4.69418247e+01] [ 1.11063875e-02 -3.85472785e-04 9.99938248e-01 2.17778048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.890714057 meters Centerline goodness [0,1] 0.987705547871523 Centerline is valid? [True, True] Translation: X:660.78, Y:-46.94, Z:2.18 [[ 9.97671135e-01 6.72992873e-02 -1.10955919e-02 6.60775716e+02] [-6.72908166e-02 9.97732758e-01 1.13542181e-03 -4.69430798e+01] [ 1.11468486e-02 -3.86146129e-04 9.99937797e-01 2.17816477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9207140569999 meters Centerline goodness [0,1] 0.9870052900761683 Centerline is valid? [True, True] Translation: X:660.80, Y:-46.95, Z:2.18 [[ 9.97678024e-01 6.72097419e-02 -1.10186865e-02 6.60802989e+02] [-6.72014173e-02 9.97738796e-01 1.12442937e-03 -4.69468796e+01] [ 1.10693436e-02 -3.81347121e-04 9.99938660e-01 2.17819211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9507140569999 meters Centerline goodness [0,1] 0.9867687716680563 Centerline is valid? [True, True] Translation: X:660.83, Y:-46.95, Z:2.18 [[ 9.97711427e-01 6.65791254e-02 -1.17952967e-02 6.60831114e+02] [-6.65695803e-02 9.97781063e-01 1.20043920e-03 -4.69535084e+01] [ 1.18490479e-02 -4.12483956e-04 9.99929712e-01 2.17770006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9807140569999 meters Centerline goodness [0,1] 0.9869686898723107 Centerline is valid? [True, True] Translation: X:660.86, Y:-46.96, Z:2.18 [[ 9.97727384e-01 6.63063703e-02 -1.19804992e-02 6.60858220e+02] [-6.62965269e-02 9.97799223e-01 1.21734102e-03 -4.69587434e+01] [ 1.20348503e-02 -4.20308980e-04 9.99927490e-01 2.17723342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.010714057 meters Centerline goodness [0,1] 0.9865865953622934 Centerline is valid? [True, True] Translation: X:660.89, Y:-46.96, Z:2.18 [[ 9.97779431e-01 6.54401105e-02 -1.24015931e-02 6.60887091e+02] [-6.54295237e-02 9.97856400e-01 1.25791653e-03 -4.69629550e+01] [ 1.24573272e-02 -4.43692913e-04 9.99922306e-01 2.17689838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.040714057 meters Centerline goodness [0,1] 0.9860472247776756 Centerline is valid? [True, True] Translation: X:660.92, Y:-46.97, Z:2.18 [[ 9.97821017e-01 6.47276463e-02 -1.27886650e-02 6.60915466e+02] [-6.47163707e-02 9.97902859e-01 1.29399631e-03 -4.69682393e+01] [ 1.28456027e-02 -4.63540725e-04 9.99917384e-01 2.17632222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0707140569999 meters Centerline goodness [0,1] 0.9860472247776756 Centerline is valid? [True, True] Translation: X:660.94, Y:-46.97, Z:2.18 [[ 9.97838919e-01 6.44510181e-02 -1.27890039e-02 6.60942752e+02] [-6.44397628e-02 9.97920764e-01 1.29064142e-03 -4.69709178e+01] [ 1.28455957e-02 -4.63731862e-04 9.99917384e-01 2.17647251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1007140569999 meters Centerline goodness [0,1] 0.9863523030488605 Centerline is valid? [True, True] Translation: X:660.97, Y:-46.98, Z:2.18 [[ 9.97919957e-01 6.31477062e-02 -1.29663925e-02 6.60971023e+02] [-6.31360710e-02 9.98004075e-01 1.30513334e-03 -4.69765855e+01] [ 1.30229287e-02 -4.83771525e-04 9.99915081e-01 2.17682041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.130714057 meters Centerline goodness [0,1] 0.9869076761671621 Centerline is valid? [True, True] Translation: X:661.00, Y:-46.98, Z:2.18 [[ 9.97939082e-01 6.29266515e-02 -1.25628703e-02 6.60998586e+02] [-6.29157537e-02 9.98018045e-01 1.26119421e-03 -4.69809442e+01] [ 1.26173340e-02 -4.68192538e-04 9.99920289e-01 2.17718582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.160714057 meters Centerline goodness [0,1] 0.9873553411651462 Centerline is valid? [True, True] Translation: X:661.03, Y:-46.99, Z:2.18 [[ 9.97907147e-01 6.36782197e-02 -1.12432135e-02 6.61026097e+02] [-6.36695602e-02 9.97970399e-01 1.12682701e-03 -4.69870563e+01] [ 1.12921486e-02 -4.08618266e-04 9.99936158e-01 2.17811655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1907140569999 meters Centerline goodness [0,1] 0.9855666506780622 Centerline is valid? [True, True] Translation: X:661.05, Y:-46.99, Z:2.18 [[ 9.97846600e-01 6.47150638e-02 -1.06828426e-02 6.61053862e+02] [-6.47073174e-02 9.97903712e-01 1.06954215e-03 -4.69910371e+01] [ 1.07296637e-02 -3.75980916e-04 9.99942365e-01 2.17804073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2207140569999 meters Centerline goodness [0,1] 0.9871599232647367 Centerline is valid? [True, True] Translation: X:661.08, Y:-46.99, Z:2.18 [[ 9.97785770e-01 6.57399797e-02 -1.00901928e-02 6.61082729e+02] [-6.57331393e-02 9.97836729e-01 1.00842540e-03 -4.69947171e+01] [ 1.01346588e-02 -3.42932464e-04 9.99948584e-01 2.17855271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.250714057 meters Centerline goodness [0,1] 0.9868552340462453 Centerline is valid? [True, True] Translation: X:661.11, Y:-47.00, Z:2.18 [[ 9.97573137e-01 6.89192251e-02 -9.89832909e-03 6.61110353e+02] [-6.89128154e-02 9.97622197e-01 9.87577486e-04 -4.69983165e+01] [ 9.94285589e-03 -3.03059045e-04 9.99950523e-01 2.17816898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.280714057 meters Centerline goodness [0,1] 0.9868945248721018 Centerline is valid? [True, True] Translation: X:661.14, Y:-47.00, Z:2.18 [[ 9.97494558e-01 7.00137362e-02 -1.01332621e-02 6.61138799e+02] [-7.00070912e-02 9.97545983e-01 1.00942218e-03 -4.70022264e+01] [ 1.01790683e-02 -2.97492926e-04 9.99948148e-01 2.17778584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3107140569999 meters Centerline goodness [0,1] 0.9872817792464726 Centerline is valid? [True, True] Translation: X:661.17, Y:-47.01, Z:2.18 [[ 9.97373448e-01 7.17045115e-02 -1.02307337e-02 6.61166214e+02] [-7.16978446e-02 9.97425879e-01 1.01741908e-03 -4.70086098e+01] [ 1.02773521e-02 -2.81225227e-04 9.99947147e-01 2.17713246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3407140569999 meters Centerline goodness [0,1] 0.9871814303964662 Centerline is valid? [True, True] Translation: X:661.19, Y:-47.01, Z:2.18 [[ 9.97390843e-01 7.14707359e-02 -1.01705563e-02 6.61194067e+02] [-7.14641526e-02 9.97442658e-01 1.00971542e-03 -4.70136788e+01] [ 1.02167118e-02 -2.80250727e-04 9.99947769e-01 2.17726294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.370714057 meters Centerline goodness [0,1] 0.9868572047201473 Centerline is valid? [True, True] Translation: X:661.22, Y:-47.02, Z:2.18 [[ 9.97419805e-01 7.12825204e-02 -8.51679881e-03 6.61221694e+02] [-7.12779145e-02 9.97456138e-01 8.43499107e-04 -4.70216937e+01] [ 8.55525999e-03 -2.34263057e-04 9.99963376e-01 2.17786909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.400714057 meters Centerline goodness [0,1] 0.9858426236605693 Centerline is valid? [True, True] Translation: X:661.25, Y:-47.03, Z:2.18 [[ 9.97490000e-01 7.03997626e-02 -7.58769760e-03 6.61249974e+02] [-7.03960950e-02 9.97518836e-01 7.49695054e-04 -4.70272808e+01] [ 7.62164963e-03 -2.13669039e-04 9.99970932e-01 2.17824264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4307140569999 meters Centerline goodness [0,1] 0.9872922564889456 Centerline is valid? [True, True] Translation: X:661.28, Y:-47.03, Z:2.18 [[ 9.97528595e-01 6.99436105e-02 -6.67789117e-03 6.61277351e+02] [-6.99407675e-02 9.97550929e-01 6.58591557e-04 -4.70336619e+01] [ 6.70760081e-03 -1.89907076e-04 9.99977486e-01 2.17863592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4607140569999 meters Centerline goodness [0,1] 0.9864090634961661 Centerline is valid? [True, True] Translation: X:661.31, Y:-47.04, Z:2.18 [[ 9.97622432e-01 6.85915023e-02 -6.68503660e-03 6.61306196e+02] [-6.85886280e-02 9.97644810e-01 6.58546448e-04 -4.70360556e+01] [ 6.71446276e-03 -1.98463221e-04 9.99977438e-01 2.17853061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.490714057 meters Centerline goodness [0,1] 0.9862399106989524 Centerline is valid? [True, True] Translation: X:661.33, Y:-47.04, Z:2.18 [[ 9.97798231e-01 6.60895218e-02 -5.55574009e-03 6.61333977e+02] [-6.60875041e-02 9.97813682e-01 5.46168968e-04 -4.70438666e+01] [ 5.57968952e-03 -1.77801434e-04 9.99984418e-01 2.17830702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.520714057 meters Centerline goodness [0,1] 0.9860219685548137 Centerline is valid? [True, True] Translation: X:661.36, Y:-47.05, Z:2.18 [[ 9.97980103e-01 6.33028872e-02 -5.33456673e-03 6.61363024e+02] [-6.33009942e-02 9.97994344e-01 5.23127281e-04 -4.70543021e+01] [ 5.35698289e-03 -1.84387240e-04 9.99985634e-01 2.17736187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5507140569999 meters Centerline goodness [0,1] 0.9842797010566102 Centerline is valid? [True, True] Translation: X:661.39, Y:-47.06, Z:2.18 [[ 9.98046829e-01 6.22911254e-02 -4.72687493e-03 6.61390212e+02] [-6.22896283e-02 9.98058008e-01 4.63426503e-04 -4.70643032e+01] [ 4.74656274e-03 -1.68086069e-04 9.99988721e-01 2.17751487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5807140569999 meters Centerline goodness [0,1] 0.9843756688497924 Centerline is valid? [True, True] Translation: X:661.42, Y:-47.07, Z:2.18 [[ 9.98071491e-01 6.19065588e-02 -4.56921602e-03 6.61418714e+02] [-6.19051577e-02 9.98081936e-01 4.47564217e-04 -4.70706562e+01] [ 4.58815913e-03 -1.63843046e-04 9.99989461e-01 2.17779847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6107140569999 meters Centerline goodness [0,1] 0.9848086661111467 Centerline is valid? [True, True] Translation: X:661.45, Y:-47.07, Z:2.18 [[ 9.98116121e-01 6.11985298e-02 -4.35308426e-03 6.61447292e+02] [-6.11972526e-02 9.98125601e-01 4.26122539e-04 -4.70728009e+01] [ 4.37100291e-03 -1.58922978e-04 9.99990434e-01 2.17748447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.640714057 meters Centerline goodness [0,1] 0.9854789584316417 Centerline is valid? [True, True] Translation: X:661.48, Y:-47.08, Z:2.18 [[ 9.98114597e-01 6.12275221e-02 -4.29450498e-03 6.61475574e+02] [-6.12262806e-02 9.98123823e-01 4.20093734e-04 -4.70783891e+01] [ 4.31216903e-03 -1.56365121e-04 9.99990690e-01 2.17837440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6707140569999 meters Centerline goodness [0,1] 0.985101183330475 Centerline is valid? [True, True] Translation: X:661.50, Y:-47.09, Z:2.18 [[ 9.98102467e-01 6.14594836e-02 -3.76796684e-03 6.61502724e+02] [-6.14585300e-02 9.98109570e-01 3.68468163e-04 -4.70855176e+01] [ 3.78348962e-03 -1.36195279e-04 9.99992833e-01 2.17913931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7007140569999 meters Centerline goodness [0,1] 0.9835474371559045 Centerline is valid? [True, True] Translation: X:661.53, Y:-47.09, Z:2.18 [[ 9.98042445e-01 6.24678586e-02 -3.00755773e-03 6.61531441e+02] [-6.24672569e-02 9.98046971e-01 2.93698176e-04 -4.70891239e+01] [ 3.02003058e-03 -1.05249365e-04 9.99995434e-01 2.17939631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7307140569999 meters Centerline goodness [0,1] 0.9834470369340662 Centerline is valid? [True, True] Translation: X:661.56, Y:-47.09, Z:2.18 [[ 9.98010850e-01 6.29700321e-02 -3.01960667e-03 6.61559305e+02] [-6.29694283e-02 9.98015413e-01 2.94698530e-04 -4.70941041e+01] [ 3.03217117e-03 -1.03969425e-04 9.99995398e-01 2.17927860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.760714057 meters Centerline goodness [0,1] 0.9853562737480255 Centerline is valid? [True, True] Translation: X:661.59, Y:-47.10, Z:2.18 [[ 9.97965911e-01 6.36832730e-02 -2.91219895e-03 6.61587880e+02] [-6.36827153e-02 9.97970155e-01 2.83931623e-04 -4.70975316e+01] [ 2.92436933e-03 -9.78973446e-05 9.99995719e-01 2.17924877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.790714057 meters Centerline goodness [0,1] 0.9846808510638297 Centerline is valid? [True, True] Translation: X:661.62, Y:-47.10, Z:2.18 [[ 9.97901037e-01 6.46801452e-02 -3.16224995e-03 6.61615604e+02] [-6.46794933e-02 9.97906042e-01 3.08088795e-04 -4.71037092e+01] [ 3.17555556e-03 -1.02909403e-04 9.99994953e-01 2.17835733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8207140569999 meters Centerline goodness [0,1] 0.9846038863976083 Centerline is valid? [True, True] Translation: X:661.64, Y:-47.11, Z:2.18 [[ 9.97876854e-01 6.50365693e-02 -3.46818257e-03 6.61644284e+02] [-6.50357887e-02 9.97882875e-01 3.37501414e-04 -4.71078428e+01] [ 3.48278993e-03 -1.11228861e-04 9.99993929e-01 2.17796445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8507140569999 meters Centerline goodness [0,1] 0.9839179112404666 Centerline is valid? [True, True] Translation: X:661.67, Y:-47.11, Z:2.18 [[ 9.97854886e-01 6.53457188e-02 -3.94511937e-03 6.61671840e+02] [-6.53447123e-02 9.97862677e-01 3.83607987e-04 -4.71136488e+01] [ 3.96175452e-03 -1.24992413e-04 9.99992144e-01 2.17795841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.880714057 meters Centerline goodness [0,1] 0.9848310291858678 Centerline is valid? [True, True] Translation: X:661.70, Y:-47.11, Z:2.18 [[ 9.97886554e-01 6.48536229e-02 -4.05363978e-03 6.61700398e+02] [-6.48525578e-02 9.97894779e-01 3.93770745e-04 -4.71146671e+01] [ 4.07064343e-03 -1.30049624e-04 9.99991706e-01 2.17717192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.910714057 meters Centerline goodness [0,1] 0.9838692492914829 Centerline is valid? [True, True] Translation: X:661.73, Y:-47.12, Z:2.18 [[ 9.97940367e-01 6.39784350e-02 -4.66721996e-03 6.61727163e+02] [-6.39770152e-02 9.97951269e-01 4.53024986e-04 -4.71225517e+01] [ 4.68664191e-03 -1.53497119e-04 9.99989006e-01 2.17667289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9407140569999 meters Centerline goodness [0,1] 0.9832928440523377 Centerline is valid? [True, True] Translation: X:661.76, Y:-47.13, Z:2.18 [[ 9.98003321e-01 6.29572488e-02 -5.07502739e-03 6.61755706e+02] [-6.29555608e-02 9.98016210e-01 4.91841795e-04 -4.71273529e+01] [ 5.09592461e-03 -1.71358549e-04 9.99987001e-01 2.17671223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9707140569999 meters Centerline goodness [0,1] 0.9831179613820705 Centerline is valid? [True, True] Translation: X:661.78, Y:-47.13, Z:2.18 [[ 9.98155379e-01 6.05131709e-02 -4.89860753e-03 6.61784686e+02] [-6.05115705e-02 9.98167383e-01 4.74391781e-04 -4.71346788e+01] [ 4.91833721e-03 -1.77094273e-04 9.99987889e-01 2.17770537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.000714057 meters Centerline goodness [0,1] 0.9824531624620738 Centerline is valid? [True, True] Translation: X:661.81, Y:-47.14, Z:2.18 [[ 9.98238728e-01 5.91226855e-02 -4.89378109e-03 6.61813439e+02] [-5.91210723e-02 9.98250707e-01 4.73771271e-04 -4.71398351e+01] [ 4.91323107e-03 -1.83611245e-04 9.99987913e-01 2.17837770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.030714057 meters Centerline goodness [0,1] 0.9796956475470895 Centerline is valid? [True, True] Translation: X:661.84, Y:-47.15, Z:2.18 [[ 9.98326638e-01 5.76608584e-02 -4.37593197e-03 6.61840540e+02] [-5.76595556e-02 9.98336214e-01 4.23389957e-04 -4.71453946e+01] [ 4.39306438e-03 -1.70367180e-04 9.99990336e-01 2.17879980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0607140569999 meters Centerline goodness [0,1] 0.9797177942835252 Centerline is valid? [True, True] Translation: X:661.87, Y:-47.15, Z:2.18 [[ 9.98493204e-01 5.47753776e-02 -3.31348867e-03 6.61868930e+02] [-5.47746156e-02 9.98498692e-01 3.20346742e-04 -4.71534807e+01] [ 3.32606122e-03 -1.38368977e-04 9.99994459e-01 2.17930013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0907140569999 meters Centerline goodness [0,1] 0.9799511002444988 Centerline is valid? [True, True] Translation: X:661.90, Y:-47.16, Z:2.18 [[ 9.98553428e-01 5.36956656e-02 -2.79763854e-03 6.61897143e+02] [-5.36951184e-02 9.98557340e-01 2.70418489e-04 -4.71590825e+01] [ 2.80812280e-03 -1.19807777e-04 9.99996050e-01 2.17964202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.120714057 meters Centerline goodness [0,1] 0.9803663532358372 Centerline is valid? [True, True] Translation: X:661.93, Y:-47.16, Z:2.18 [[ 9.98667110e-01 5.15605096e-02 -2.34882986e-03 6.61926665e+02] [-5.15601185e-02 9.98669867e-01 2.26832518e-04 -4.71630442e+01] [ 2.35740120e-03 -1.05424229e-04 9.99997216e-01 2.17950649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.150714057 meters Centerline goodness [0,1] 0.9801278104498843 Centerline is valid? [True, True] Translation: X:661.95, Y:-47.17, Z:2.18 [[ 9.98740982e-01 5.01102056e-02 -2.32766165e-03 6.61954717e+02] [-5.01098173e-02 9.98743689e-01 2.24873089e-04 -4.71679969e+01] [ 2.33600582e-03 -1.07951269e-04 9.99997266e-01 2.17955752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1807140569999 meters Centerline goodness [0,1] 0.9789667662197369 Centerline is valid? [True, True] Translation: X:661.98, Y:-47.17, Z:2.18 [[ 9.98807575e-01 4.87854978e-02 -1.84484912e-03 6.61981561e+02] [-4.87852516e-02 9.98809275e-01 1.78226598e-04 -4.71736634e+01] [ 1.85134728e-03 -8.80126474e-05 9.99998282e-01 2.17954597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2107140569999 meters Centerline goodness [0,1] 0.9779163749761344 Centerline is valid? [True, True] Translation: X:662.01, Y:-47.18, Z:2.18 [[ 9.98965914e-01 4.53832584e-02 -2.73166334e-03 6.62010995e+02] [-4.53827081e-02 9.98969639e-01 2.63137182e-04 -4.71784336e+01] [ 2.74079077e-03 -1.38894796e-04 9.99996234e-01 2.17942142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.240714057 meters Centerline goodness [0,1] 0.9782913165266106 Centerline is valid? [True, True] Translation: X:662.04, Y:-47.18, Z:2.18 [[ 9.99052944e-01 4.34203731e-02 -2.80810577e-03 6.62039794e+02] [-4.34197839e-02 9.99056880e-01 2.70491775e-04 -4.71827958e+01] [ 2.81720224e-03 -1.48308259e-04 9.99996021e-01 2.17945189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.270714057 meters Centerline goodness [0,1] 0.9767491061417056 Centerline is valid? [True, True] Translation: X:662.07, Y:-47.19, Z:2.18 [[ 9.99156041e-01 4.10312714e-02 -1.90785493e-03 6.62068800e+02] [-4.10309953e-02 9.99157857e-01 1.83637413e-04 -4.71896217e+01] [ 1.91378312e-03 -1.05201244e-04 9.99998163e-01 2.18060612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3007140569999 meters Centerline goodness [0,1] 0.9755419326297162 Centerline is valid? [True, True] Translation: X:662.10, Y:-47.20, Z:2.18 [[ 9.99186324e-01 4.03064862e-02 -1.44134394e-03 6.62096382e+02] [-4.03063274e-02 9.99187360e-01 1.39061869e-04 -4.71950057e+01] [ 1.44577774e-03 -8.08534374e-05 9.99998952e-01 2.18127348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3307140569999 meters Centerline goodness [0,1] 0.9763094381166109 Centerline is valid? [True, True] Translation: X:662.13, Y:-47.20, Z:2.18 [[ 9.99205369e-01 3.98484700e-02 -8.53936054e-04 6.62125249e+02] [-3.98484141e-02 9.99205733e-01 8.23379869e-05 -4.71953327e+01] [ 8.56538844e-04 -4.82445611e-05 9.99999632e-01 2.18093430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3607140569999 meters Centerline goodness [0,1] 0.9772279534814752 Centerline is valid? [True, True] Translation: X:662.15, Y:-47.20, Z:2.18 [[ 9.99206101e-01 3.98070857e-02 -1.60122891e-03 6.62153684e+02] [-3.98068899e-02 9.99207380e-01 1.53936278e-04 -4.71965903e+01] [ 1.60608750e-03 -9.00741257e-05 9.99998706e-01 2.18084781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.390714057 meters Centerline goodness [0,1] 0.9766390833863781 Centerline is valid? [True, True] Translation: X:662.18, Y:-47.20, Z:2.18 [[ 9.99199241e-01 3.99332933e-02 -2.49176856e-03 6.62181380e+02] [-3.99328205e-02 9.99202338e-01 2.39234569e-04 -4.72013793e+01] [ 2.49933439e-03 -1.39539653e-04 9.99996867e-01 2.17994667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4207140569999 meters Centerline goodness [0,1] 0.9766944667880276 Centerline is valid? [True, True] Translation: X:662.21, Y:-47.20, Z:2.18 [[ 9.99188317e-01 4.01724212e-02 -2.98068353e-03 6.62210482e+02] [-4.01717472e-02 9.99192749e-01 2.85672676e-04 -4.72033460e+01] [ 2.98975354e-03 -1.65701535e-04 9.99995517e-01 2.17914911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4507140569999 meters Centerline goodness [0,1] 0.9771176744777321 Centerline is valid? [True, True] Translation: X:662.24, Y:-47.21, Z:2.18 [[ 9.99177286e-01 4.04000110e-02 -3.54838377e-03 6.62238132e+02] [-4.03990584e-02 9.99183567e-01 3.39781597e-04 -4.72070842e+01] [ 3.55921393e-03 -1.96150691e-04 9.99993647e-01 2.17871370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4807140569999 meters Centerline goodness [0,1] 0.9770302311796087 Centerline is valid? [True, True] Translation: X:662.27, Y:-47.21, Z:2.18 [[ 9.99145075e-01 4.12230380e-02 -3.12732269e-03 6.62266959e+02] [-4.12223029e-02 9.99149955e-01 2.99198380e-04 -4.72082377e+01] [ 3.13699819e-03 -1.70027145e-04 9.99995065e-01 2.17791823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.510714057 meters Centerline goodness [0,1] 0.9765540840250935 Centerline is valid? [True, True] Translation: X:662.29, Y:-47.21, Z:2.18 [[ 9.99117391e-01 4.18467712e-02 -3.64509573e-03 6.62294662e+02] [-4.18457775e-02 9.99124021e-01 3.48478373e-04 -4.72110291e+01] [ 3.65648539e-03 -1.95638938e-04 9.99993296e-01 2.17790640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.540714057 meters Centerline goodness [0,1] 0.9763282259944476 Centerline is valid? [True, True] Translation: X:662.32, Y:-47.22, Z:2.18 [[ 9.99060879e-01 4.31524300e-02 -3.90226260e-03 6.62321674e+02] [-4.31513031e-02 9.99068479e-01 3.72539437e-04 -4.72169796e+01] [ 3.91470355e-03 -2.03801861e-04 9.99992317e-01 2.17835086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5707140569999 meters Centerline goodness [0,1] 0.9778722684098072 Centerline is valid? [True, True] Translation: X:662.35, Y:-47.21, Z:2.18 [[ 9.99032256e-01 4.38003027e-02 -4.01068444e-03 6.62351272e+02] [-4.37991192e-02 9.99040285e-01 3.82494538e-04 -4.72141695e+01] [ 4.02358870e-03 -2.06459936e-04 9.99991884e-01 2.17844854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6007140569999 meters Centerline goodness [0,1] 0.9778187364942164 Centerline is valid? [True, True] Translation: X:662.38, Y:-47.22, Z:2.18 [[ 9.99023203e-01 4.40237488e-02 -3.81442605e-03 6.62378888e+02] [-4.40226808e-02 9.99030466e-01 3.63549892e-04 -4.72182267e+01] [ 3.82673266e-03 -1.95273517e-04 9.99992659e-01 2.17878367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.630714057 meters Centerline goodness [0,1] 0.9784264228590823 Centerline is valid? [True, True] Translation: X:662.41, Y:-47.22, Z:2.18 [[ 9.99001233e-01 4.45470242e-02 -3.47850545e-03 6.62408472e+02] [-4.45461403e-02 9.99007273e-01 3.31197645e-04 -4.72172522e+01] [ 3.48980611e-03 -1.75912864e-04 9.99993895e-01 2.17916321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.660714057 meters Centerline goodness [0,1] 0.9780403616881604 Centerline is valid? [True, True] Translation: X:662.44, Y:-47.22, Z:2.18 [[ 9.98960254e-01 4.54740477e-02 -3.24377473e-03 6.62435646e+02] [-4.54732842e-02 9.98965507e-01 3.08769080e-04 -4.72235505e+01] [ 3.25446005e-03 -1.60942949e-04 9.99994691e-01 2.17987967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6907140569999 meters Centerline goodness [0,1] 0.9775438298594897 Centerline is valid? [True, True] Translation: X:662.46, Y:-47.22, Z:2.18 [[ 9.98984881e-01 4.49517183e-02 -2.92428662e-03 6.62464730e+02] [-4.49510964e-02 9.98989150e-01 2.78092182e-04 -4.72231315e+01] [ 2.93383133e-03 -1.46359996e-04 9.99995686e-01 2.17909988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7207140569999 meters Centerline goodness [0,1] 0.9764264836700979 Centerline is valid? [True, True] Translation: X:662.49, Y:-47.23, Z:2.18 [[ 9.99034922e-01 4.38393938e-02 -2.70786092e-03 6.62491793e+02] [-4.38388568e-02 9.99038582e-01 2.57391725e-04 -4.72285793e+01] [ 2.71654144e-03 -1.38433795e-04 9.99996301e-01 2.17928009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.750714057 meters Centerline goodness [0,1] 0.9770982654056576 Centerline is valid? [True, True] Translation: X:662.52, Y:-47.23, Z:2.18 [[ 9.99079391e-01 4.28364572e-02 -2.32551014e-03 6.62520552e+02] [-4.28360589e-02 9.99082090e-01 2.20853273e-04 -4.72306946e+01] [ 2.33283610e-03 -1.21034264e-04 9.99997272e-01 2.17973338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.780714057 meters Centerline goodness [0,1] 0.9771424946609435 Centerline is valid? [True, True] Translation: X:662.55, Y:-47.23, Z:2.18 [[ 9.99114765e-01 4.20209982e-02 -1.98049113e-03 6.62549244e+02] [-4.20207079e-02 9.99116722e-01 1.88002063e-04 -4.72340004e+01] [ 1.98664184e-03 -1.04613998e-04 9.99998021e-01 2.17976563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8107140569999 meters Centerline goodness [0,1] 0.9753763418094048 Centerline is valid? [True, True] Translation: X:662.58, Y:-47.24, Z:2.18 [[ 9.99174105e-01 4.05605239e-02 -2.43945938e-03 6.62576822e+02] [-4.05600796e-02 9.99177075e-01 2.31358404e-04 -4.72383885e+01] [ 2.44683590e-03 -1.32222660e-04 9.99996998e-01 2.18016594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8407140569999 meters Centerline goodness [0,1] 0.9766368984636221 Centerline is valid? [True, True] Translation: X:662.61, Y:-47.24, Z:2.18 [[ 9.99197450e-01 3.99565310e-02 -2.81642641e-03 6.62605533e+02] [-3.99559374e-02 9.99201407e-01 2.66746333e-04 -4.72367715e+01] [ 2.82483549e-03 -1.53999299e-04 9.99995998e-01 2.17980940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.870714057 meters Centerline goodness [0,1] 0.9768520479478165 Centerline is valid? [True, True] Translation: X:662.63, Y:-47.24, Z:2.18 [[ 9.99215682e-01 3.94811456e-02 -3.04311070e-03 6.62633497e+02] [-3.94804510e-02 9.99220302e-01 2.88004404e-04 -4.72407156e+01] [ 3.05210874e-03 -1.67635134e-04 9.99995328e-01 2.18009278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.900714057 meters Centerline goodness [0,1] 0.9774255829249145 Centerline is valid? [True, True] Translation: X:662.66, Y:-47.24, Z:2.18 [[ 9.99248941e-01 3.86624033e-02 -2.60253312e-03 6.62661784e+02] [-3.86618929e-02 9.99252319e-01 2.46143575e-04 -4.72427354e+01] [ 2.61010376e-03 -1.45339850e-04 9.99996583e-01 2.18072627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9307140569999 meters Centerline goodness [0,1] 0.9759497419409425 Centerline is valid? [True, True] Translation: X:662.69, Y:-47.24, Z:2.18 [[ 9.99279249e-01 3.78899493e-02 -2.30973508e-03 6.62690513e+02] [-3.78895457e-02 9.99281910e-01 2.18242972e-04 -4.72443574e+01] [ 2.31634569e-03 -1.30570860e-04 9.99997309e-01 2.18102944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9607140569999 meters Centerline goodness [0,1] 0.9761844224086788 Centerline is valid? [True, True] Translation: X:662.72, Y:-47.25, Z:2.18 [[ 9.99284908e-01 3.77324173e-02 -2.43654993e-03 6.62718009e+02] [-3.77319680e-02 9.99287869e-01 2.30124865e-04 -4.72480725e+01] [ 2.44349795e-03 -1.38024481e-04 9.99997005e-01 2.18162487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.990714057 meters Centerline goodness [0,1] 0.9761844224086788 Centerline is valid? [True, True] Translation: X:662.75, Y:-47.25, Z:2.18 [[ 9.99288914e-01 3.76261793e-02 -2.43657319e-03 6.62745414e+02] [-3.76257303e-02 9.99291875e-01 2.29878189e-04 -4.72505628e+01] [ 2.44349722e-03 -1.38036880e-04 9.99997005e-01 2.18177541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.020714057 meters Centerline goodness [0,1] 0.9751100575685744 Centerline is valid? [True, True] Translation: X:662.77, Y:-47.25, Z:2.18 [[ 9.99271034e-01 3.81164473e-02 -2.13015852e-03 6.62772933e+02] [-3.81161056e-02 9.99273297e-01 2.00753005e-04 -4.72529813e+01] [ 2.13626252e-03 -1.19413316e-04 9.99997711e-01 2.18124464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0507140569999 meters Centerline goodness [0,1] 0.9751630388752435 Centerline is valid? [True, True] Translation: X:662.80, Y:-47.26, Z:2.18 [[ 9.99259763e-01 3.84070832e-02 -2.19571198e-03 6.62801314e+02] [-3.84067216e-02 9.99262168e-01 2.06661808e-04 -4.72556269e+01] [ 2.20202920e-03 -1.22178730e-04 9.99997568e-01 2.18098005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0807140569999 meters Centerline goodness [0,1] 0.977099557987792 Centerline is valid? [True, True] Translation: X:662.83, Y:-47.25, Z:2.18 [[ 9.99217907e-01 3.94561490e-02 -2.60504591e-03 6.62830204e+02] [-3.94556441e-02 9.99221293e-01 2.44939093e-04 -4.72543406e+01] [ 2.61268170e-03 -1.41963764e-04 9.99996577e-01 2.18045318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1107140569999 meters Centerline goodness [0,1] 0.9772549185709143 Centerline is valid? [True, True] Translation: X:662.86, Y:-47.26, Z:2.18 [[ 9.99178823e-01 4.04521112e-02 -2.30334118e-03 6.62859059e+02] [-4.04517194e-02 9.99181471e-01 2.16449472e-04 -4.72563520e+01] [ 2.31021166e-03 -1.23097618e-04 9.99997324e-01 2.18029632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.140714057 meters Centerline goodness [0,1] 0.9772187844367212 Centerline is valid? [True, True] Translation: X:662.89, Y:-47.26, Z:2.18 [[ 9.99133120e-01 4.15592368e-02 -2.41632188e-03 6.62887608e+02] [-4.15588094e-02 9.99136034e-01 2.26873352e-04 -4.72576561e+01] [ 2.42366294e-03 -1.26257220e-04 9.99997055e-01 2.18009800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1707140569999 meters Centerline goodness [0,1] 0.9794588859416445 Centerline is valid? [True, True] Translation: X:662.92, Y:-47.25, Z:2.18 [[ 9.98993947e-01 4.47645979e-02 -2.68780804e-03 6.62917866e+02] [-4.47640816e-02 9.98997554e-01 2.51980696e-04 -4.72544085e+01] [ 2.69639348e-03 -1.31409932e-04 9.99996356e-01 2.18015421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2007140569999 meters Centerline goodness [0,1] 0.9801014022359406 Centerline is valid? [True, True] Translation: X:662.95, Y:-47.26, Z:2.18 [[ 9.98929004e-01 4.61873352e-02 -2.75240461e-03 6.62946544e+02] [-4.61867989e-02 9.98932787e-01 2.58131231e-04 -4.72560083e+01] [ 2.76138960e-03 -1.30730015e-04 9.99996179e-01 2.18013741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2307140569999 meters Centerline goodness [0,1] 0.9789435738671304 Centerline is valid? [True, True] Translation: X:662.97, Y:-47.26, Z:2.18 [[ 9.98852931e-01 4.78005530e-02 -2.81573911e-03 6.62973814e+02] [-4.77999986e-02 9.98856892e-01 2.63901042e-04 -4.72592230e+01] [ 2.82513504e-03 -1.29006004e-04 9.99996001e-01 2.18044514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.260714057 meters Centerline goodness [0,1] 0.9810932394007554 Centerline is valid? [True, True] Translation: X:663.00, Y:-47.26, Z:2.18 [[ 9.98674067e-01 5.14668271e-02 -1.12842232e-03 6.63003421e+02] [-5.14667404e-02 9.98674704e-01 1.05717921e-04 -4.72586791e+01] [ 1.13236780e-03 -4.75015270e-05 9.99999358e-01 2.18119659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.290714057 meters Centerline goodness [0,1] 0.9806002462113173 Centerline is valid? [True, True] Translation: X:663.03, Y:-47.26, Z:2.18 [[ 9.98566470e-01 5.35227255e-02 -5.68508758e-04 6.63032162e+02] [-5.35227037e-02 9.98566631e-01 5.35203046e-05 -4.72594314e+01] [ 5.70558428e-04 -2.30154558e-05 9.99999837e-01 2.18125533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3207140569999 meters Centerline goodness [0,1] 0.9815419866762847 Centerline is valid? [True, True] Translation: X:663.06, Y:-47.26, Z:2.18 [[ 9.98465378e-01 5.53781194e-02 -3.92060565e-04 6.63060352e+02] [-5.53781092e-02 9.98465454e-01 3.70010533e-05 -4.72627483e+01] [ 3.93507979e-04 -1.52326979e-05 9.99999922e-01 2.18173602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3507140569999 meters Centerline goodness [0,1] 0.9805065331749533 Centerline is valid? [True, True] Translation: X:663.09, Y:-47.26, Z:2.18 [[ 9.98341623e-01 5.75598899e-02 -9.28543612e-04 6.63089586e+02] [-5.75598339e-02 9.98342055e-01 8.69339222e-05 -4.72645713e+01] [ 9.32008044e-04 -3.33429369e-05 9.99999565e-01 2.18176574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.380714057 meters Centerline goodness [0,1] 0.9802068511478752 Centerline is valid? [True, True] Translation: X:663.12, Y:-47.27, Z:2.18 [[ 9.98067837e-01 6.21207945e-02 -1.26465251e-03 6.63118692e+02] [-6.21206946e-02 9.98068638e-01 1.18153739e-04 -4.72688196e+01] [ 1.26954981e-03 -3.93643543e-05 9.99999193e-01 2.18158264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.410714057 meters Centerline goodness [0,1] 0.9823705369454993 Centerline is valid? [True, True] Translation: X:663.15, Y:-47.27, Z:2.18 [[ 9.97923289e-01 6.43970102e-02 -1.46114052e-03 6.63147812e+02] [-6.43968792e-02 9.97924358e-01 1.36576807e-04 -4.72658652e+01] [ 1.46690285e-03 -4.22002870e-05 9.99998923e-01 2.18055659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4407140569999 meters Centerline goodness [0,1] 0.9837166787126398 Centerline is valid? [True, True] Translation: X:663.18, Y:-47.27, Z:2.18 [[ 9.97594476e-01 6.93137193e-02 -9.32140378e-04 6.63176357e+02] [-6.93136682e-02 9.97594912e-01 8.71211929e-05 -4.72697449e+01] [ 9.35937192e-04 -2.23015519e-05 9.99999562e-01 2.18126439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4707140569999 meters Centerline goodness [0,1] 0.983533761101432 Centerline is valid? [True, True] Translation: X:663.21, Y:-47.27, Z:2.18 [[ 9.97437292e-01 7.15426913e-02 -7.01635469e-04 6.63205666e+02] [-7.15426622e-02 9.97437538e-01 6.64722796e-05 -4.72712398e+01] [ 7.04593160e-04 -1.61050612e-05 9.99999752e-01 2.18135937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.500714057 meters Centerline goodness [0,1] 0.9836556218292968 Centerline is valid? [True, True] Translation: X:663.23, Y:-47.27, Z:2.18 [[ 9.97277922e-01 7.37322372e-02 -5.51455846e-04 6.63234732e+02] [-7.37322200e-02 9.97278074e-01 5.15924916e-05 -4.72742095e+01] [ 5.53758853e-04 -1.07919891e-05 9.99999847e-01 2.18135594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.530714057 meters Centerline goodness [0,1] 0.983767611610932 Centerline is valid? [True, True] Translation: X:663.26, Y:-47.28, Z:2.18 [[ 9.97127589e-01 7.57399764e-02 -1.66747026e-04 6.63262310e+02] [-7.57399747e-02 9.97127603e-01 1.61821316e-05 -4.72784670e+01] [ 1.67493697e-04 -3.50623431e-06 9.99999986e-01 2.18189610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5607140569999 meters Centerline goodness [0,1] 0.9836531326195272 Centerline is valid? [True, True] Translation: X:663.29, Y:-47.28, Z:2.18 [[ 9.96859446e-01 7.91902650e-02 3.84315176e-04 6.63290899e+02] [-7.91902573e-02 9.96859520e-01 -3.52189608e-05 -4.72829120e+01] [-3.85897241e-04 4.67433599e-06 9.99999926e-01 2.18245557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5907140569999 meters Centerline goodness [0,1] 0.9833428698582236 Centerline is valid? [True, True] Translation: X:663.32, Y:-47.29, Z:2.18 [[ 9.96754058e-01 8.05008297e-02 9.82074108e-04 6.63319544e+02] [-8.05007796e-02 9.96754542e-01 -9.05262824e-05 -4.72874868e+01] [-9.86174269e-04 1.11747080e-05 9.99999514e-01 2.18266790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.620714057 meters Centerline goodness [0,1] 0.983507293629454 Centerline is valid? [True, True] Translation: X:663.35, Y:-47.30, Z:2.18 [[ 9.96616749e-01 8.21759395e-02 1.47323267e-03 6.63347545e+02] [-8.21758284e-02 9.96617838e-01 -1.35878370e-04 -4.72951864e+01] [-1.47941589e-03 1.43545447e-05 9.99998906e-01 2.18215831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.650714057 meters Centerline goodness [0,1] 0.9843160402217678 Centerline is valid? [True, True] Translation: X:663.38, Y:-47.30, Z:2.18 [[ 9.96577242e-01 8.26547728e-02 1.41069801e-03 6.63375976e+02] [-8.26546716e-02 9.96578240e-01 -1.29993853e-04 -4.73010326e+01] [-1.41661555e-03 1.29481345e-05 9.99998997e-01 2.18184791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6807140569999 meters Centerline goodness [0,1] 0.9840231928220755 Centerline is valid? [True, True] Translation: X:663.40, Y:-47.31, Z:2.18 [[ 9.96586158e-01 8.25499824e-02 1.23705126e-03 6.63403660e+02] [-8.25499050e-02 9.96586926e-01 -1.13608997e-04 -4.73070230e+01] [-1.24220754e-03 1.11026898e-05 9.99999228e-01 2.18162833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7107140569999 meters Centerline goodness [0,1] 0.9831101002442928 Centerline is valid? [True, True] Translation: X:663.43, Y:-47.31, Z:2.18 [[ 9.96622534e-01 8.21111511e-02 1.13338092e-03 6.63432368e+02] [-8.21110857e-02 9.96623178e-01 -1.04152261e-04 -4.73131882e+01] [-1.13810576e-03 1.07373523e-05 9.99999352e-01 2.18139113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.740714057 meters Centerline goodness [0,1] 0.9820681536294645 Centerline is valid? [True, True] Translation: X:663.46, Y:-47.32, Z:2.18 [[ 9.96680577e-01 8.14075271e-02 8.00703773e-04 6.63458826e+02] [-8.14074944e-02 9.96680899e-01 -7.32978612e-05 -4.73238588e+01] [-8.04013154e-04 7.87126669e-06 9.99999677e-01 2.18172337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.770714057 meters Centerline goodness [0,1] 0.9823164032789656 Centerline is valid? [True, True] Translation: X:663.49, Y:-47.33, Z:2.18 [[ 9.96713815e-01 8.09981732e-02 9.30811433e-04 6.63486747e+02] [-8.09981289e-02 9.96714250e-01 -8.53221666e-05 -4.73301119e+01] [-9.34663959e-04 9.64779775e-06 9.99999563e-01 2.18172127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8007140569999 meters Centerline goodness [0,1] 0.9801664413653262 Centerline is valid? [True, True] Translation: X:663.51, Y:-47.34, Z:2.18 [[ 9.96700570e-01 8.11576549e-02 1.18675860e-03 6.63512362e+02] [-8.11575839e-02 9.96701277e-01 -1.08001056e-04 -4.73416293e+01] [-1.19160893e-03 1.13302536e-05 9.99999290e-01 2.18276952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8307140569999 meters Centerline goodness [0,1] 0.9832522277697023 Centerline is valid? [True, True] Translation: X:663.54, Y:-47.35, Z:2.18 [[ 9.96622838e-01 8.20904299e-02 2.02006723e-03 6.63541284e+02] [-8.20902234e-02 9.96624885e-01 -1.85082972e-04 -4.73471649e+01] [-2.02844281e-03 1.86301462e-05 9.99997943e-01 2.18273712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8607140569999 meters Centerline goodness [0,1] 0.9830558235121419 Centerline is valid? [True, True] Translation: X:663.57, Y:-47.35, Z:2.18 [[ 9.96502900e-01 8.35348587e-02 1.97441776e-03 6.63569251e+02] [-8.35346645e-02 9.96504856e-01 -1.80749334e-04 -4.73533887e+01] [-1.98261575e-03 1.51849108e-05 9.99998035e-01 2.18356901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.890714057 meters Centerline goodness [0,1] 0.9841510387068257 Centerline is valid? [True, True] Translation: X:663.60, Y:-47.36, Z:2.18 [[ 9.96111520e-01 8.80781701e-02 2.01874422e-03 6.63596887e+02] [-8.80779767e-02 9.96113566e-01 -1.84668423e-04 -4.73630941e+01] [-2.02716376e-03 6.14343667e-06 9.99997945e-01 2.18474480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9207140569999 meters Centerline goodness [0,1] 0.9845566326744722 Centerline is valid? [True, True] Translation: X:663.63, Y:-47.37, Z:2.18 [[ 9.95880465e-01 9.06575689e-02 1.81762579e-03 6.63625157e+02] [-9.06574167e-02 9.95882124e-01 -1.66103243e-04 -4.73687607e+01] [-1.82519955e-03 6.37716587e-07 9.99998334e-01 2.18494023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9507140569999 meters Centerline goodness [0,1] 0.9858802948894164 Centerline is valid? [True, True] Translation: X:663.65, Y:-47.37, Z:2.18 [[ 9.95575657e-01 9.39545057e-02 1.28913967e-03 6.63651721e+02] [-9.39544327e-02 9.95576492e-01 -1.17243993e-04 -4.73742789e+01] [-1.29445275e-03 -4.39512031e-06 9.99999162e-01 2.18487553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9807140569999 meters Centerline goodness [0,1] 0.9874686192468619 Centerline is valid? [True, True] Translation: X:663.68, Y:-47.38, Z:2.18 [[ 9.95024060e-01 9.96338233e-02 4.70600454e-04 6.63680096e+02] [-9.96338143e-02 9.95024171e-01 -4.26292558e-05 -4.73843748e+01] [-4.72506143e-04 -4.47058311e-06 9.99999888e-01 2.18490719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.010714057 meters Centerline goodness [0,1] 0.9881178607972936 Centerline is valid? [True, True] Translation: X:663.71, Y:-47.39, Z:2.19 [[ 9.94787613e-01 1.01967634e-01 -4.53872871e-04 6.63708174e+02] [-1.01967625e-01 9.94787717e-01 4.18441191e-05 -4.73916256e+01] [ 4.55773903e-04 4.65432754e-06 9.99999896e-01 2.18503589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.040714057 meters Centerline goodness [0,1] 0.9896578327321254 Centerline is valid? [True, True] Translation: X:663.74, Y:-47.41, Z:2.19 [[ 9.94436876e-01 1.05320486e-01 -1.70155854e-03 6.63736312e+02] [-1.05320374e-01 9.94438331e-01 1.55674822e-04 -4.74051552e+01] [ 1.70849078e-03 2.43999976e-05 9.99998540e-01 2.18599774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0707140569999 meters Centerline goodness [0,1] 0.991516591629148 Centerline is valid? [True, True] Translation: X:663.76, Y:-47.41, Z:2.19 [[ 9.94441795e-01 1.05271044e-01 -1.87690350e-03 6.63762219e+02] [-1.05270906e-01 9.94443566e-01 1.71963437e-04 -4.74136075e+01] [ 1.88457738e-03 2.65757033e-05 9.99998224e-01 2.18708154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1007140569999 meters Centerline goodness [0,1] 0.9924092340416658 Centerline is valid? [True, True] Translation: X:663.79, Y:-47.42, Z:2.19 [[ 9.94517678e-01 1.04562677e-01 -1.11090222e-03 6.63790569e+02] [-1.04562629e-01 9.94518299e-01 1.01475586e-04 -4.74233397e+01] [ 1.11542314e-03 1.52395925e-05 9.99999378e-01 2.18835666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.130714057 meters Centerline goodness [0,1] 0.9924078773515657 Centerline is valid? [True, True] Translation: X:663.82, Y:-47.43, Z:2.19 [[ 9.94618116e-01 1.03602496e-01 -1.15190671e-03 6.63819098e+02] [-1.03602444e-01 9.94618783e-01 1.05052704e-04 -4.74334491e+01] [ 1.15659177e-03 1.48530270e-05 9.99999331e-01 2.18989811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.160714057 meters Centerline goodness [0,1] 0.993538474490655 Centerline is valid? [True, True] Translation: X:663.85, Y:-47.45, Z:2.19 [[ 9.94795838e-01 1.01879590e-01 -1.33808778e-03 6.63846671e+02] [-1.01879518e-01 9.94796738e-01 1.21998544e-04 -4.74514807e+01] [ 1.34355452e-03 1.49600935e-05 9.99999097e-01 2.19181798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1907140569999 meters Centerline goodness [0,1] 0.9947025691492702 Centerline is valid? [True, True] Translation: X:663.87, Y:-47.46, Z:2.19 [[ 9.94862241e-01 1.01224459e-01 -1.65250120e-03 6.63873727e+02] [-1.01224349e-01 9.94863613e-01 1.50516098e-04 -4.74593977e+01] [ 1.65924922e-03 1.75305756e-05 9.99998623e-01 2.19269359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2207140569999 meters Centerline goodness [0,1] 0.9961320159764557 Centerline is valid? [True, True] Translation: X:663.90, Y:-47.47, Z:2.19 [[ 9.94899222e-01 1.00845943e-01 -2.37350001e-03 6.63901244e+02] [-1.00845715e-01 9.94902053e-01 2.15697468e-04 -4.74747371e+01] [ 2.38315225e-03 2.47600636e-05 9.99997160e-01 2.19330621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.250714057 meters Centerline goodness [0,1] 0.9963239927740201 Centerline is valid? [True, True] Translation: X:663.93, Y:-47.48, Z:2.19 [[ 9.94858170e-01 1.01239190e-01 -2.80145907e-03 6.63929504e+02] [-1.01238875e-01 9.94862114e-01 2.54326220e-04 -4.74835988e+01] [ 2.81281328e-03 3.05980478e-05 9.99996044e-01 2.19338927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.280714057 meters Centerline goodness [0,1] 0.9978559717492748 Centerline is valid? [True, True] Translation: X:663.96, Y:-47.50, Z:2.20 [[ 9.94690559e-01 1.02892749e-01 -1.94290284e-03 6.63956084e+02] [-1.02892601e-01 9.94692456e-01 1.76423241e-04 -4.74973260e+01] [ 1.95074347e-03 2.44237946e-05 9.99998097e-01 2.19553555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3107140569999 meters Centerline goodness [0,1] 0.9982403586316694 Centerline is valid? [True, True] Translation: X:663.98, Y:-47.51, Z:2.20 [[ 9.94603875e-01 1.03733617e-01 -1.57147340e-03 6.63984556e+02] [-1.03733521e-01 9.94605116e-01 1.42580147e-04 -4.75056989e+01] [ 1.57778583e-03 2.12037022e-05 9.99998755e-01 2.19701110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3407140569999 meters Centerline goodness [0,1] 0.9983397780766644 Centerline is valid? [True, True] Translation: X:664.01, Y:-47.51, Z:2.20 [[ 9.94514782e-01 1.04586924e-01 -1.38686882e-03 6.64012311e+02] [-1.04586850e-01 9.94515749e-01 1.25788387e-04 -4.75146532e+01] [ 1.39241871e-03 1.99498317e-05 9.99999030e-01 2.19801105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.370714057 meters Centerline goodness [0,1] 0.9987607905736069 Centerline is valid? [True, True] Translation: X:664.04, Y:-47.53, Z:2.20 [[ 9.94389188e-01 1.05775074e-01 -1.33287020e-03 6.64039055e+02] [-1.05775007e-01 9.94390081e-01 1.20881161e-04 -4.75278763e+01] [ 1.33817912e-03 2.07814359e-05 9.99999104e-01 2.19923197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.400714057 meters Centerline goodness [0,1] 0.9989499327956989 Centerline is valid? [True, True] Translation: X:664.07, Y:-47.54, Z:2.20 [[ 9.94375855e-01 1.05904102e-01 -9.89507343e-04 6.64067687e+02] [-1.05904066e-01 9.94376348e-01 8.96988671e-05 -4.75363399e+01] [ 9.93442176e-04 1.55984628e-05 9.99999506e-01 2.20003995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4307140569999 meters Centerline goodness [0,1] 0.9988451201075088 Centerline is valid? [True, True] Translation: X:664.10, Y:-47.54, Z:2.20 [[ 9.94399925e-01 1.05679255e-01 -8.27156876e-04 6.64095417e+02] [-1.05679229e-01 9.94400269e-01 7.49049091e-05 -4.75446494e+01] [ 8.30440915e-04 1.29278651e-05 9.99999655e-01 2.20063537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4607140569999 meters Centerline goodness [0,1] 0.999033999033999 Centerline is valid? [True, True] Translation: X:664.12, Y:-47.55, Z:2.20 [[ 9.94473746e-01 1.04984334e-01 -5.08122132e-04 6.64123337e+02] [-1.04984324e-01 9.94473876e-01 4.61925638e-05 -4.75533008e+01] [ 5.10163681e-04 7.40756644e-06 9.99999870e-01 2.20080529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.490714057 meters Centerline goodness [0,1] 0.9994580849556046 Centerline is valid? [True, True] Translation: X:664.15, Y:-47.57, Z:2.20 [[ 9.94655598e-01 1.03238080e-01 -1.46268016e-03 6.64151248e+02] [-1.03237997e-01 9.94656674e-01 1.31970063e-04 -4.75680624e+01] [ 1.46848892e-03 1.97394086e-05 9.99998922e-01 2.20166639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.520714057 meters Centerline goodness [0,1] 0.9996037539103233 Centerline is valid? [True, True] Translation: X:664.18, Y:-47.58, Z:2.20 [[ 9.94785360e-01 1.01977637e-01 -1.62753891e-03 6.64179937e+02] [-1.01977533e-01 9.94786691e-01 1.46762796e-04 -4.75767389e+01] [ 1.63402057e-03 1.99749229e-05 9.99998665e-01 2.20205257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5507140569999 meters Centerline goodness [0,1] 0.9999167914794475 Centerline is valid? [True, True] Translation: X:664.21, Y:-47.59, Z:2.20 [[ 9.95094469e-01 9.89035616e-02 -2.25458973e-03 6.64208287e+02] [-9.89033551e-02 9.95097023e-01 2.03151495e-04 -4.75915776e+01] [ 2.26362794e-03 2.08315601e-05 9.99997438e-01 2.20193687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5807140569999 meters Centerline goodness [0,1] 0.9998748827025337 Centerline is valid? [True, True] Translation: X:664.24, Y:-47.60, Z:2.20 [[ 9.95328370e-01 9.65191582e-02 -2.34246542e-03 6.64237476e+02] [-9.65189291e-02 9.95331127e-01 2.10920813e-04 -4.76001591e+01] [ 2.35188664e-03 1.61567848e-05 9.99997234e-01 2.20226632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6107140569999 meters Centerline goodness [0,1] 0.9997917187369825 Centerline is valid? [True, True] Translation: X:664.27, Y:-47.61, Z:2.20 [[ 9.95563617e-01 9.40476823e-02 -2.84932166e-03 6.64267220e+02] [-9.40473336e-02 9.95567694e-01 2.56440557e-04 -4.76092593e+01] [ 2.86081024e-03 1.26682168e-05 9.99995908e-01 2.20220234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.640714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.30, Y:-47.62, Z:2.20 [[ 9.96034080e-01 8.89432821e-02 -2.28138996e-03 6.64296201e+02] [-8.89430453e-02 9.96036692e-01 2.05270214e-04 -4.76245757e+01] [ 2.29060552e-03 -1.54235818e-06 9.99997377e-01 2.20307902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6707140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.33, Y:-47.63, Z:2.20 [[ 9.96276555e-01 8.61986984e-02 -1.67621801e-03 6.64327334e+02] [-8.61985667e-02 9.96277965e-01 1.50755937e-04 -4.76332072e+01] [ 1.68297404e-03 -5.70701570e-06 9.99998584e-01 2.20420488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7007140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.36, Y:-47.64, Z:2.21 [[ 9.96508036e-01 8.34907953e-02 -1.01030286e-03 6.64359096e+02] [-8.34907471e-02 9.96508548e-01 8.98741550e-05 -4.76414765e+01] [ 1.01427910e-03 -5.20937701e-06 9.99999486e-01 2.20500942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7307140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.39, Y:-47.65, Z:2.21 [[ 9.96822620e-01 7.96532104e-02 1.72416455e-04 6.64390405e+02] [-7.96532087e-02 9.96822635e-01 -1.69767431e-05 -4.76533885e+01] [-1.73220877e-04 3.18927763e-06 9.99999985e-01 2.20615170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.760714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.42, Y:-47.66, Z:2.21 [[ 9.96942223e-01 7.81397904e-02 6.13494753e-04 6.64420827e+02] [-7.81397702e-02 9.96942412e-01 -5.69488365e-05 -4.76604617e+01] [-6.16068909e-04 8.83636063e-06 9.99999810e-01 2.20677707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.790714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.45, Y:-47.67, Z:2.21 [[ 9.97037872e-01 7.69079747e-02 8.03668446e-04 6.64452052e+02] [-7.69079402e-02 9.97038196e-01 -7.38053057e-05 -4.76667271e+01] [-8.06964354e-04 1.17782001e-05 9.99999674e-01 2.20687306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.48, Y:-47.67, Z:2.21 [[ 9.97125328e-01 7.57685970e-02 4.46344960e-04 6.64482534e+02] [-7.57685858e-02 9.97125428e-01 -4.19209208e-05 -4.76741967e+01] [-4.48238199e-04 7.98148550e-06 9.99999900e-01 2.20716426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8507140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.51, Y:-47.68, Z:2.21 [[ 9.97329430e-01 7.30279150e-02 9.64723052e-04 6.64514391e+02] [-7.30278625e-02 9.97329897e-01 -8.95639821e-05 -4.76795402e+01] [-9.68687813e-04 1.88731328e-05 9.99999531e-01 2.20658441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.880714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.55, Y:-47.68, Z:2.21 [[ 9.97308230e-01 7.33168759e-02 9.64678753e-04 6.64546754e+02] [-7.33168231e-02 9.97308696e-01 -9.00456762e-05 -4.76825501e+01] [-9.68684377e-04 1.90761125e-05 9.99999531e-01 2.20676220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.910714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.58, Y:-47.69, Z:2.21 [[ 9.97406967e-01 7.19585497e-02 1.14422217e-03 6.64577102e+02] [-7.19584749e-02 9.97407623e-01 -1.06467697e-04 -4.76884515e+01] [-1.14891717e-03 2.38551407e-05 9.99999340e-01 2.20714373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9407140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.61, Y:-47.70, Z:2.21 [[ 9.97636646e-01 6.87031347e-02 1.00129015e-03 6.64608161e+02] [-6.87030754e-02 9.97637148e-01 -9.35334067e-05 -4.76965818e+01] [-1.00535029e-03 2.45206414e-05 9.99999494e-01 2.20652183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9707140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.64, Y:-47.70, Z:2.21 [[ 9.97753001e-01 6.69940476e-02 8.63676736e-04 6.64639778e+02] [-6.69940024e-02 9.97753375e-01 -8.11647183e-05 -4.77022971e+01] [-8.67173931e-04 2.31211800e-05 9.99999624e-01 2.20625828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.000714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.67, Y:-47.71, Z:2.21 [[ 9.97882449e-01 6.50402836e-02 6.15633987e-04 6.64671165e+02] [-6.50402599e-02 9.97882639e-01 -5.83855852e-05 -4.77082496e+01] [-6.18127883e-04 1.82209562e-05 9.99999809e-01 2.20643949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.030714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.70, Y:-47.72, Z:2.21 [[ 9.98220647e-01 5.96221873e-02 8.57189649e-04 6.64702112e+02] [-5.96221408e-02 9.98221015e-01 -7.96450264e-05 -4.77162395e+01] [-8.60413332e-04 2.83958278e-05 9.99999629e-01 2.20608982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0607140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.73, Y:-47.72, Z:2.21 [[ 9.98372871e-01 5.70169730e-02 8.21451874e-04 6.64733867e+02] [-5.70169293e-02 9.98373209e-01 -7.65805149e-05 -4.77220470e+01] [-8.24481933e-04 2.96192451e-05 9.99999660e-01 2.20610618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0907140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.77, Y:-47.73, Z:2.21 [[ 9.98531354e-01 5.41745723e-02 5.00623382e-04 6.64765284e+02] [-5.41745551e-02 9.98531479e-01 -4.78067359e-05 -4.77260309e+01] [-5.02478116e-04 2.06154758e-05 9.99999874e-01 2.20594931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.120714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.80, Y:-47.74, Z:2.21 [[ 9.98654527e-01 5.18568661e-02 -1.64039318e-05 6.64795738e+02] [-5.18568661e-02 9.98654528e-01 2.95618450e-07 -4.77367368e+01] [ 1.63971906e-05 5.55435790e-07 1.00000000e+00 2.20659934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.150714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.83, Y:-47.74, Z:2.21 [[ 9.98897922e-01 4.69318420e-02 5.86983057e-04 6.64826895e+02] [-4.69318178e-02 9.98898094e-01 -5.48230219e-05 -4.77351605e+01] [-5.88909202e-04 2.72144207e-05 9.99999826e-01 2.20617961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1807140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.86, Y:-47.74, Z:2.21 [[ 9.98947227e-01 4.58574533e-02 1.23733124e-03 6.64857682e+02] [-4.58573436e-02 9.98947992e-01 -1.16892403e-04 -4.77399307e+01] [-1.24138995e-03 6.00286185e-05 9.99999228e-01 2.20685859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2107140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.89, Y:-47.74, Z:2.21 [[ 9.98963916e-01 4.54915742e-02 1.26924331e-03 6.64890107e+02] [-4.54914580e-02 9.98964720e-01 -1.20294211e-04 -4.77403009e+01] [-1.27340166e-03 6.24298473e-05 9.99999187e-01 2.20716043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.240714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.92, Y:-47.74, Z:2.21 [[ 9.98859055e-01 4.77495652e-02 7.53541448e-04 6.64922354e+02] [-4.77495252e-02 9.98859338e-01 -7.09444218e-05 -4.77390198e+01] [-7.56069477e-04 3.48822317e-05 9.99999714e-01 2.20751161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.270714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.95, Y:-47.74, Z:2.21 [[ 9.98734177e-01 5.02987836e-02 2.76288109e-04 6.64954416e+02] [-5.02987783e-02 9.98734215e-01 -2.62109233e-05 -4.77384195e+01] [-2.77256765e-04 1.22807906e-05 9.99999961e-01 2.20769049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3007140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:664.98, Y:-47.74, Z:2.21 [[ 9.98447390e-01 5.57026070e-02 -1.70660927e-04 6.64984829e+02] [-5.57026051e-02 9.98447404e-01 1.60111444e-05 -4.77390682e+01] [ 1.71287822e-04 -6.48002709e-06 9.99999985e-01 2.20881495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3307140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.02, Y:-47.73, Z:2.21 [[ 9.98302232e-01 5.82463829e-02 -1.13715459e-04 6.65016840e+02] [-5.82463821e-02 9.98302238e-01 1.04830596e-05 -4.77343958e+01] [ 1.14132998e-04 -3.84174773e-06 9.99999993e-01 2.20891055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3607140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.05, Y:-47.73, Z:2.21 [[ 9.98137957e-01 6.09968669e-02 1.17696740e-05 6.65048528e+02] [-6.09968669e-02 9.98137958e-01 -1.29354476e-06 -4.77339347e+01] [-1.18266606e-05 5.73222890e-07 1.00000000e+00 2.20914938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.390714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.08, Y:-47.73, Z:2.21 [[ 9.97833643e-01 6.57876307e-02 -9.09644515e-05 6.65080368e+02] [-6.57876302e-02 9.97833647e-01 8.34959028e-06 -4.77285109e+01] [ 9.13166902e-05 -2.34716638e-06 9.99999996e-01 2.20949148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.11, Y:-47.73, Z:2.21 [[ 9.97711721e-01 6.76107905e-02 -3.21329288e-04 6.65111776e+02] [-6.76107847e-02 9.97711772e-01 2.90074514e-05 -4.77292376e+01] [ 3.22555230e-04 -7.21574898e-06 9.99999948e-01 2.20958926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4507140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.14, Y:-47.73, Z:2.21 [[ 9.97601544e-01 6.92174769e-02 -3.15723452e-04 6.65144255e+02] [-6.92174714e-02 9.97601594e-01 2.84534936e-05 -4.77293240e+01] [ 3.16935698e-04 -6.53167017e-06 9.99999950e-01 2.20963009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4807140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.18, Y:-47.73, Z:2.21 [[ 9.97482103e-01 7.09178722e-02 3.32483126e-04 6.65176828e+02] [-7.09178652e-02 9.97482158e-01 -3.28019366e-05 -4.77286417e+01] [-3.33972230e-04 9.14035119e-06 9.99999944e-01 2.21021518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.510714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.21, Y:-47.73, Z:2.21 [[ 9.97502460e-01 7.06278801e-02 7.38084246e-04 6.65209152e+02] [-7.06278466e-02 9.97502733e-01 -7.14017113e-05 -4.77294196e+01] [-7.41284004e-04 1.90940818e-05 9.99999725e-01 2.21027923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.540714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.24, Y:-47.73, Z:2.21 [[ 9.97636607e-01 6.87084527e-02 5.90375744e-04 6.65240175e+02] [-6.87084307e-02 9.97636782e-01 -5.74079519e-05 -4.77314163e+01] [-5.92924969e-04 1.67084835e-05 9.99999824e-01 2.21028278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5707140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.27, Y:-47.73, Z:2.21 [[ 9.97713324e-01 6.75878881e-02 -2.20582144e-05 6.65272046e+02] [-6.75878881e-02 9.97713324e-01 7.68069120e-07 -4.77342173e+01] [ 2.20596866e-05 7.24555336e-07 1.00000000e+00 2.20998005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6007140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.30, Y:-47.74, Z:2.21 [[ 9.97783025e-01 6.65429173e-02 -1.03726368e-03 6.65303799e+02] [-6.65428515e-02 9.97783563e-01 9.78335502e-05 -4.77363575e+01] [ 1.04147478e-03 -2.85941724e-05 9.99999457e-01 2.21005982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.630714057 meters Centerline goodness [0,1] 0.9999158408550569 Centerline is valid? [True, True] Translation: X:665.33, Y:-47.74, Z:2.21 [[ 9.97882179e-01 6.50401870e-02 -9.64699281e-04 6.65334433e+02] [-6.50401292e-02 9.97882645e-01 9.12186018e-05 -4.77411175e+01] [ 9.68589545e-04 -2.82812513e-05 9.99999531e-01 2.21040347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.660714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.37, Y:-47.74, Z:2.21 [[ 9.97903441e-01 6.47077943e-02 -1.27399825e-03 6.65366356e+02] [-6.47076923e-02 9.97904254e-01 1.21147607e-04 -4.77403483e+01] [ 1.27916747e-03 -3.84561267e-05 9.99999181e-01 2.21065687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6907140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.40, Y:-47.74, Z:2.21 [[ 9.97917955e-01 6.44903225e-02 -8.67409361e-04 6.65398533e+02] [-6.44902754e-02 9.97918332e-01 8.21947191e-05 -4.77419648e+01] [ 8.70904467e-04 -2.60841175e-05 9.99999620e-01 2.21132138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7207140569999 meters Centerline goodness [0,1] 0.9998739495798319 Centerline is valid? [True, True] Translation: X:665.43, Y:-47.74, Z:2.21 [[ 9.97931159e-01 6.42821582e-02 -1.09852551e-03 6.65429935e+02] [-6.42820817e-02 9.97931763e-01 1.04822066e-04 -4.77449075e+01] [ 1.10299169e-03 -3.39896991e-05 9.99999391e-01 2.21182366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.750714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.46, Y:-47.75, Z:2.21 [[ 9.97965295e-01 6.37461157e-02 -1.30492699e-03 6.65462247e+02] [-6.37460067e-02 9.97966147e-01 1.24974259e-04 -4.77460427e+01] [ 1.31023958e-03 -4.15360889e-05 9.99999141e-01 2.21223521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.780714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.49, Y:-47.75, Z:2.21 [[ 9.97965380e-01 6.37419067e-02 -1.43890226e-03 6.65494336e+02] [-6.37417735e-02 9.97966416e-01 1.38294479e-04 -4.77483624e+01] [ 1.44479129e-03 -4.62949200e-05 9.99998955e-01 2.21234086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8107140569999 meters Centerline goodness [0,1] 0.9999789946856554 Centerline is valid? [True, True] Translation: X:665.53, Y:-47.75, Z:2.21 [[ 9.98044553e-01 6.24924114e-02 -1.33009180e-03 6.65526249e+02] [-6.24922962e-02 9.98045438e-01 1.28056106e-04 -4.77501681e+01] [ 1.33549458e-03 -4.46852088e-05 9.99999107e-01 2.21304874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8407140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.56, Y:-47.75, Z:2.21 [[ 9.98083073e-01 6.18704861e-02 -1.49076651e-03 6.65558068e+02] [-6.18703399e-02 9.98084185e-01 1.44071798e-04 -4.77532975e+01] [ 1.49682427e-03 -5.15613928e-05 9.99998878e-01 2.21342004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.870714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.59, Y:-47.76, Z:2.21 [[ 9.98152981e-01 6.07184972e-02 -1.97270242e-03 6.65588980e+02] [-6.07182369e-02 9.98154927e-01 1.91589139e-04 -4.77572212e+01] [ 1.98069564e-03 -7.14562569e-05 9.99998036e-01 2.21418176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.900714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.62, Y:-47.76, Z:2.21 [[ 9.98314228e-01 5.80128714e-02 -1.79116461e-03 6.65620266e+02] [-5.80126506e-02 9.98315833e-01 1.75058459e-04 -4.77602329e+01] [ 1.79830363e-03 -7.08531437e-05 9.99998381e-01 2.21441141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9307140569999 meters Centerline goodness [0,1] 0.9999160193155574 Centerline is valid? [True, True] Translation: X:665.65, Y:-47.76, Z:2.22 [[ 9.98435098e-01 5.58972974e-02 -1.68749168e-03 6.65651004e+02] [-5.58970984e-02 9.98436521e-01 1.64907889e-04 -4.77647694e+01] [ 1.69407123e-03 -7.03239355e-05 9.99998563e-01 2.21506791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9607140569999 meters Centerline goodness [0,1] 0.9998741267543584 Centerline is valid? [True, True] Translation: X:665.68, Y:-47.76, Z:2.22 [[ 9.98537619e-01 5.40432644e-02 -1.39640815e-03 6.65682213e+02] [-5.40431262e-02 9.98538593e-01 1.36553782e-04 -4.77648489e+01] [ 1.40174724e-03 -6.08878267e-05 9.99999016e-01 2.21501814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.990714057 meters Centerline goodness [0,1] 0.9998320139428427 Centerline is valid? [True, True] Translation: X:665.71, Y:-47.77, Z:2.22 [[ 9.98653359e-01 5.18668269e-02 -1.14024101e-03 6.65713501e+02] [-5.18667333e-02 9.98654009e-01 1.11511427e-04 -4.77679107e+01] [ 1.14449000e-03 -5.22206850e-05 9.99999344e-01 2.21514875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.020714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:665.74, Y:-47.77, Z:2.22 [[ 9.98855678e-01 4.78235679e-02 -4.90850114e-04 6.65743254e+02] [-4.78235500e-02 9.98855798e-01 4.80880697e-05 -4.77716319e+01] [ 4.92588226e-04 -2.45588465e-05 9.99999878e-01 2.21523904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0507140569999 meters Centerline goodness [0,1] 0.9999789787895987 Centerline is valid? [True, True] Translation: X:665.77, Y:-47.77, Z:2.22 [[ 9.98911607e-01 4.66381561e-02 -6.95450660e-04 6.65774685e+02] [-4.66381208e-02 9.98911849e-01 6.69591764e-05 -4.77749117e+01] [ 6.97816757e-04 -3.44517867e-05 9.99999756e-01 2.21576728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0807140569999 meters Centerline goodness [0,1] 0.9999369376944421 Centerline is valid? [True, True] Translation: X:665.81, Y:-47.77, Z:2.22 [[ 9.99020981e-01 4.42376547e-02 -3.29902627e-04 6.65805920e+02] [-4.42376464e-02 9.99021036e-01 3.23104242e-05 -4.77745922e+01] [ 3.31009002e-04 -1.76846759e-05 9.99999945e-01 2.21556367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1107140569999 meters Centerline goodness [0,1] 0.9997684503010146 Centerline is valid? [True, True] Translation: X:665.84, Y:-47.78, Z:2.22 [[ 9.99053439e-01 4.34996851e-02 5.18957356e-05 6.65837007e+02] [-4.34996849e-02 9.99053441e-01 -5.29288317e-06 -4.77759221e+01] [-5.20768520e-05 3.03042498e-06 9.99999999e-01 2.21545487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.140714057 meters Centerline goodness [0,1] 0.9998317241959572 Centerline is valid? [True, True] Translation: X:665.87, Y:-47.78, Z:2.22 [[ 9.99051917e-01 4.35336525e-02 -2.97175245e-04 6.65867719e+02] [-4.35336460e-02 9.99051961e-01 2.84776559e-05 -4.77779482e+01] [ 2.98133248e-04 -1.55135347e-05 9.99999955e-01 2.21546914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1707140569999 meters Centerline goodness [0,1] 0.9998531170656987 Centerline is valid? [True, True] Translation: X:665.90, Y:-47.78, Z:2.22 [[ 9.99025374e-01 4.41117229e-02 -1.56751752e-03 6.65898845e+02] [-4.41115353e-02 9.99026601e-01 1.54050553e-04 -4.77778851e+01] [ 1.57278713e-03 -8.47548068e-05 9.99998760e-01 2.21517481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2007140569999 meters Centerline goodness [0,1] 0.9994136862383785 Centerline is valid? [True, True] Translation: X:665.93, Y:-47.78, Z:2.21 [[ 9.99002020e-01 4.46419241e-02 -1.43643933e-03 6.65930082e+02] [-4.46417669e-02 9.99003049e-01 1.41365802e-04 -4.77774121e+01] [ 1.44131811e-03 -7.70995318e-05 9.99998958e-01 2.21442314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2307140569999 meters Centerline goodness [0,1] 0.9993508804991938 Centerline is valid? [True, True] Translation: X:665.96, Y:-47.78, Z:2.21 [[ 9.98973427e-01 4.52696966e-02 -1.65762073e-03 6.65960331e+02] [-4.52694878e-02 9.98974798e-01 1.63247649e-04 -4.77779294e+01] [ 1.66331151e-03 -8.80404213e-05 9.99998613e-01 2.21433245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.260714057 meters Centerline goodness [0,1] 0.9991206398392027 Centerline is valid? [True, True] Translation: X:665.99, Y:-47.77, Z:2.21 [[ 9.98920580e-01 4.64375537e-02 -1.10852457e-03 6.65991075e+02] [-4.64374609e-02 9.98921193e-01 1.09250621e-04 -4.77727951e+01] [ 1.11240202e-03 -5.76556279e-05 9.99999380e-01 2.21435713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.290714057 meters Centerline goodness [0,1] 0.9990990424707189 Centerline is valid? [True, True] Translation: X:666.02, Y:-47.78, Z:2.21 [[ 9.98890647e-01 4.70868528e-02 -5.50541100e-04 6.66021024e+02] [-4.70868303e-02 9.98890799e-01 5.37338950e-05 -4.77770664e+01] [ 5.52460599e-04 -2.77510498e-05 9.99999847e-01 2.21486731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3207140569999 meters Centerline goodness [0,1] 0.9992034878846315 Centerline is valid? [True, True] Translation: X:666.05, Y:-47.77, Z:2.21 [[ 9.98853141e-01 4.78768522e-02 -4.57959222e-04 6.66051632e+02] [-4.78768366e-02 9.98853246e-01 4.51373105e-05 -4.77744026e+01] [ 4.59595088e-04 -2.31599055e-05 9.99999894e-01 2.21473480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3507140569999 meters Centerline goodness [0,1] 0.9985234480607258 Centerline is valid? [True, True] Translation: X:666.08, Y:-47.77, Z:2.21 [[ 9.98804830e-01 4.88712905e-02 7.12865256e-04 6.66080913e+02] [-4.88712529e-02 9.98805084e-01 -7.01505415e-05 -4.77741526e+01] [-7.15441790e-04 3.52280814e-05 9.99999743e-01 2.21469204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.380714057 meters Centerline goodness [0,1] 0.9987250762864189 Centerline is valid? [True, True] Translation: X:666.11, Y:-47.77, Z:2.21 [[ 9.98778735e-01 4.94029400e-02 6.23124695e-04 6.66111706e+02] [-4.94029113e-02 9.98778929e-01 -6.14051074e-05 -4.77686123e+01] [-6.25397408e-04 3.05459414e-05 9.99999804e-01 2.21449320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.410714057 meters Centerline goodness [0,1] 0.9979808492922565 Centerline is valid? [True, True] Translation: X:666.14, Y:-47.77, Z:2.21 [[ 9.98737889e-01 5.02234662e-02 4.82519904e-04 6.66141611e+02] [-5.02234490e-02 9.98738005e-01 -4.76583596e-05 -4.77723078e+01] [-4.84304534e-04 2.33643957e-05 9.99999882e-01 2.21405019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4407140569999 meters Centerline goodness [0,1] 0.997796624262077 Centerline is valid? [True, True] Translation: X:666.17, Y:-47.77, Z:2.21 [[ 9.98600058e-01 5.28913482e-02 -6.55361731e-04 6.66172838e+02] [-5.28913172e-02 9.98600273e-01 6.46094961e-05 -4.77663333e+01] [ 6.57861687e-04 -2.98561013e-05 9.99999783e-01 2.21271337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4707140569999 meters Centerline goodness [0,1] 0.997938230210134 Centerline is valid? [True, True] Translation: X:666.20, Y:-47.77, Z:2.21 [[ 9.98509932e-01 5.45594309e-02 -1.08856893e-03 6.66203025e+02] [-5.45593462e-02 9.98510524e-01 1.07445972e-04 -4.77656560e+01] [ 1.09280972e-03 -4.78942612e-05 9.99999402e-01 2.21214676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.500714057 meters Centerline goodness [0,1] 0.9978887518551809 Centerline is valid? [True, True] Translation: X:666.23, Y:-47.77, Z:2.21 [[ 9.98402067e-01 5.64921322e-02 -1.39686179e-03 6.66232711e+02] [-5.64919947e-02 9.98403043e-01 1.37695416e-04 -4.77680170e+01] [ 1.40240976e-03 -5.85638798e-05 9.99999015e-01 2.21204973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.530714057 meters Centerline goodness [0,1] 0.9972615339590694 Centerline is valid? [True, True] Translation: X:666.26, Y:-47.76, Z:2.21 [[ 9.98072111e-01 6.20622371e-02 -5.83687154e-04 6.66262905e+02] [-6.20622140e-02 9.98072281e-01 5.76623432e-05 -4.77625430e+01] [ 5.86140623e-04 -2.13262595e-05 9.99999828e-01 2.21236723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5607140569999 meters Centerline goodness [0,1] 0.9975929840718337 Centerline is valid? [True, True] Translation: X:666.29, Y:-47.76, Z:2.21 [[ 9.97865960e-01 6.52935731e-02 -5.24051559e-04 6.66292987e+02] [-6.52935549e-02 9.97866098e-01 5.17852775e-05 -4.77564523e+01] [ 5.26314530e-04 -1.74575764e-05 9.99999861e-01 2.21242822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5907140569999 meters Centerline goodness [0,1] 0.9972792532596639 Centerline is valid? [True, True] Translation: X:666.32, Y:-47.75, Z:2.21 [[ 9.97629691e-01 6.88101018e-02 4.11510486e-04 6.66322806e+02] [-6.88100910e-02 9.97629776e-01 -4.02910629e-05 -4.77548250e+01] [-4.13307546e-04 1.18794866e-05 9.99999915e-01 2.21227894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.620714057 meters Centerline goodness [0,1] 0.9973295501961111 Centerline is valid? [True, True] Translation: X:666.35, Y:-47.75, Z:2.21 [[ 9.97138822e-01 7.55879628e-02 7.93946274e-04 6.66352568e+02] [-7.55879247e-02 9.97139138e-01 -7.78948877e-05 -4.77497360e+01] [-7.97562819e-04 1.76592653e-05 9.99999682e-01 2.21201803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.650714057 meters Centerline goodness [0,1] 0.9976894154221018 Centerline is valid? [True, True] Translation: X:666.38, Y:-47.75, Z:2.21 [[ 9.96881511e-01 7.89106118e-02 6.06799380e-04 6.66381332e+02] [-7.89105903e-02 9.96881696e-01 -5.92418564e-05 -4.77478610e+01] [-6.09582006e-04 1.11742141e-05 9.99999814e-01 2.21153556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6807140569999 meters Centerline goodness [0,1] 0.997544080604534 Centerline is valid? [True, True] Translation: X:666.41, Y:-47.75, Z:2.21 [[ 9.96629535e-01 8.20327900e-02 4.36468227e-04 6.66409238e+02] [-8.20327793e-02 9.96629631e-01 -4.23677239e-05 -4.77474722e+01] [-4.38472710e-04 6.42022331e-06 9.99999904e-01 2.21112900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7107140569999 meters Centerline goodness [0,1] 0.9977212861144792 Centerline is valid? [True, True] Translation: X:666.44, Y:-47.74, Z:2.21 [[ 9.96128563e-01 8.79083759e-02 4.94807137e-05 6.66438538e+02] [-8.79083757e-02 9.96128565e-01 -4.46369094e-06 -4.77445750e+01] [-4.96815482e-05 9.66408731e-08 9.99999999e-01 2.21036204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.740714057 meters Centerline goodness [0,1] 0.9979838286254331 Centerline is valid? [True, True] Translation: X:666.47, Y:-47.75, Z:2.21 [[ 9.95928112e-01 9.01505340e-02 2.78151851e-04 6.66466278e+02] [-9.01505300e-02 9.95928151e-01 -2.67843510e-05 -4.77459111e+01] [-2.79433882e-04 1.59975141e-06 9.99999961e-01 2.21073961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.770714057 meters Centerline goodness [0,1] 0.9980019769911876 Centerline is valid? [True, True] Translation: X:666.50, Y:-47.75, Z:2.21 [[ 9.95778153e-01 9.17925080e-02 7.38637329e-05 6.66495422e+02] [-9.17925078e-02 9.95778156e-01 -6.84562369e-06 -4.77473677e+01] [-7.41802687e-05 3.65852359e-08 9.99999997e-01 2.21037335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8007140569999 meters Centerline goodness [0,1] 0.9980019769911876 Centerline is valid? [True, True] Translation: X:666.52, Y:-47.75, Z:2.21 [[ 9.95784698e-01 9.17214833e-02 7.38643736e-05 6.66523619e+02] [-9.17214830e-02 9.95784700e-01 -6.83893910e-06 -4.77500724e+01] [-7.41802908e-05 3.51610189e-08 9.99999997e-01 2.21052822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8307140569999 meters Centerline goodness [0,1] 0.997980732825712 Centerline is valid? [True, True] Translation: X:666.55, Y:-47.75, Z:2.21 [[ 9.95665056e-01 9.30078349e-02 7.99116383e-04 6.66551401e+02] [-9.30078025e-02 9.95665377e-01 -7.76696362e-05 -4.77533703e+01] [-8.02876399e-04 3.00888405e-06 9.99999678e-01 2.21162365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8607140569999 meters Centerline goodness [0,1] 0.9978133344547003 Centerline is valid? [True, True] Translation: X:666.58, Y:-47.76, Z:2.21 [[ 9.95684906e-01 9.27932330e-02 9.91927037e-04 6.66579908e+02] [-9.27931828e-02 9.95685400e-01 -9.65622732e-05 -4.77570951e+01] [-9.96607595e-04 4.10153103e-06 9.99999503e-01 2.21179149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.890714057 meters Centerline goodness [0,1] 0.9984449207750179 Centerline is valid? [True, True] Translation: X:666.61, Y:-47.76, Z:2.21 [[ 9.95798222e-01 9.15726469e-02 5.92712515e-04 6.66607926e+02] [-9.15726289e-02 9.95798398e-01 -5.74953969e-05 -4.77633411e+01] [-5.95487179e-04 2.97757076e-06 9.99999823e-01 2.21218074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9207140569999 meters Centerline goodness [0,1] 0.9986588713564258 Centerline is valid? [True, True] Translation: X:666.63, Y:-47.77, Z:2.21 [[ 9.95882821e-01 9.06498461e-02 1.14532591e-04 6.66634991e+02] [-9.06498455e-02 9.95882827e-01 -1.06922709e-05 -4.77687155e+01] [-1.15030294e-04 2.65887187e-07 9.99999993e-01 2.21208127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9507140569999 meters Centerline goodness [0,1] 0.9982945932289035 Centerline is valid? [True, True] Translation: X:666.66, Y:-47.77, Z:2.21 [[ 9.96008897e-01 8.92525240e-02 -5.14505327e-04 6.66663684e+02] [-8.92525098e-02 9.96009030e-01 5.05485160e-05 -4.77739862e+01] [ 5.16963534e-04 -4.42587992e-06 9.99999866e-01 2.21128600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9807140569999 meters Centerline goodness [0,1] 0.9987167080405605 Centerline is valid? [True, True] Translation: X:666.69, Y:-47.78, Z:2.21 [[ 9.96256337e-01 8.64390428e-02 -1.26603952e-03 6.66691688e+02] [-8.64389553e-02 9.96257141e-01 1.23743255e-04 -4.77828641e+01] [ 1.27199716e-03 -1.38448680e-05 9.99999191e-01 2.21074471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.010714057 meters Centerline goodness [0,1] 0.9986345972061759 Centerline is valid? [True, True] Translation: X:666.72, Y:-47.79, Z:2.21 [[ 9.96394936e-01 8.48226420e-02 -1.50008882e-03 6.66720467e+02] [-8.48225176e-02 9.96396065e-01 1.46442927e-04 -4.77887727e+01] [ 1.50710428e-03 -1.86736805e-05 9.99998864e-01 2.21088707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.040714057 meters Centerline goodness [0,1] 0.9986584496709009 Centerline is valid? [True, True] Translation: X:666.75, Y:-47.80, Z:2.21 [[ 9.96546709e-01 8.30145592e-02 -1.79970231e-03 6.66747469e+02] [-8.30143776e-02 9.96548334e-01 1.75543109e-04 -4.77953126e+01] [ 1.80806297e-03 -2.55357406e-05 9.99998365e-01 2.21166172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0707140569999 meters Centerline goodness [0,1] 0.998846500702586 Centerline is valid? [True, True] Translation: X:666.78, Y:-47.80, Z:2.21 [[ 9.96679235e-01 8.14156417e-02 -1.41292315e-03 6.66775926e+02] [-8.14155282e-02 9.96680236e-01 1.37715157e-04 -4.78011245e+01] [ 1.41944475e-03 -2.22239527e-05 9.99998992e-01 2.21244008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1007140569999 meters Centerline goodness [0,1] 0.9989500650959641 Centerline is valid? [True, True] Translation: X:666.80, Y:-47.81, Z:2.21 [[ 9.96885314e-01 7.88418359e-02 -1.90673908e-03 6.66803318e+02] [-7.88416252e-02 9.96887137e-01 1.85510537e-04 -4.78122570e+01] [ 1.91542966e-03 -3.46023217e-05 9.99998165e-01 2.21417872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.130714057 meters Centerline goodness [0,1] 0.9987819476237478 Centerline is valid? [True, True] Translation: X:666.83, Y:-47.81, Z:2.21 [[ 9.96994801e-01 7.74323825e-02 -2.36479448e-03 6.66832778e+02] [-7.74320551e-02 9.96997605e-01 2.29825438e-04 -4.78149308e+01] [ 2.37549036e-03 -4.60238700e-05 9.99997177e-01 2.21357117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.160714057 meters Centerline goodness [0,1] 0.9988022442161003 Centerline is valid? [True, True] Translation: X:666.86, Y:-47.82, Z:2.21 [[ 9.97068792e-01 7.64640062e-02 -2.66088416e-03 6.66861789e+02] [-7.64635885e-02 9.97072341e-01 2.58480485e-04 -4.78212754e+01] [ 2.67285845e-03 -5.42620728e-05 9.99996426e-01 2.21414954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1907140569999 meters Centerline goodness [0,1] 0.9992226074167455 Centerline is valid? [True, True] Translation: X:666.89, Y:-47.83, Z:2.22 [[ 9.97188455e-01 7.48980442e-02 -2.33855836e-03 6.66891092e+02] [-7.48977175e-02 9.97191195e-01 2.27110432e-04 -4.78301989e+01] [ 2.34899994e-03 -5.13192177e-05 9.99997240e-01 2.21514573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2207140569999 meters Centerline goodness [0,1] 0.9991595049484147 Centerline is valid? [True, True] Translation: X:666.92, Y:-47.84, Z:2.22 [[ 9.97209486e-01 7.46178634e-02 -2.32707962e-03 6.66920855e+02] [-7.46175393e-02 9.97212200e-01 2.25914385e-04 -4.78356150e+01] [ 2.33744944e-03 -5.16430130e-05 9.99997267e-01 2.21587573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.250714057 meters Centerline goodness [0,1] 0.9990536874645133 Centerline is valid? [True, True] Translation: X:666.95, Y:-47.84, Z:2.22 [[ 9.97226001e-01 7.43612495e-02 -3.27225028e-03 6.66948358e+02] [-7.43606079e-02 9.97231367e-01 3.17477481e-04 -4.78443228e+01] [ 3.28679865e-03 -7.32702784e-05 9.99994596e-01 2.21580385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.280714057 meters Centerline goodness [0,1] 0.9992009420472706 Centerline is valid? [True, True] Translation: X:666.98, Y:-47.85, Z:2.22 [[ 9.97232676e-01 7.42822863e-02 -3.02204263e-03 6.66977346e+02] [-7.42817390e-02 9.97237252e-01 2.93099004e-04 -4.78488682e+01] [ 3.03546555e-03 -6.78053220e-05 9.99995391e-01 2.21563509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3107140569999 meters Centerline goodness [0,1] 0.9993898847092485 Centerline is valid? [True, True] Translation: X:667.01, Y:-47.85, Z:2.22 [[ 9.97214993e-01 7.45170715e-02 -3.07630617e-03 6.67006779e+02] [-7.45165058e-02 9.97219736e-01 2.98248199e-04 -4.78546556e+01] [ 3.08997781e-03 -6.81819893e-05 9.99995224e-01 2.21614813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3407140569999 meters Centerline goodness [0,1] 0.9996218328501197 Centerline is valid? [True, True] Translation: X:667.04, Y:-47.86, Z:2.22 [[ 9.97178658e-01 7.50044010e-02 -3.01072082e-03 6.67036095e+02] [-7.50038617e-02 9.97183201e-01 2.91786163e-04 -4.78601211e+01] [ 3.02412547e-03 -6.51472461e-05 9.99995425e-01 2.21690751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.370714057 meters Centerline goodness [0,1] 0.9993055555555556 Centerline is valid? [True, True] Translation: X:667.07, Y:-47.87, Z:2.22 [[ 9.97062259e-01 7.65389238e-02 -2.94011321e-03 6.67065475e+02] [-7.65384165e-02 9.97066592e-01 2.84843557e-04 -4.78665120e+01] [ 2.95329028e-03 -5.89751506e-05 9.99995637e-01 2.21740415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.400714057 meters Centerline goodness [0,1] 0.9995801494667899 Centerline is valid? [True, True] Translation: X:667.10, Y:-47.87, Z:2.22 [[ 9.96979637e-01 7.75993828e-02 -3.15268558e-03 6.67095012e+02] [-7.75988053e-02 9.96984620e-01 3.05268419e-04 -4.78715952e+01] [ 3.16686768e-03 -5.97017624e-05 9.99994984e-01 2.21730841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4307140569999 meters Centerline goodness [0,1] 0.9996430521143913 Centerline is valid? [True, True] Translation: X:667.12, Y:-47.88, Z:2.22 [[ 9.96756010e-01 8.03627122e-02 -4.39215952e-03 6.67124356e+02] [-8.03616189e-02 9.96765684e-01 4.25117578e-04 -4.78780581e+01] [ 4.41211749e-03 -7.07774509e-05 9.99990264e-01 2.21582014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4607140569999 meters Centerline goodness [0,1] 0.9998106658251814 Centerline is valid? [True, True] Translation: X:667.15, Y:-47.88, Z:2.22 [[ 9.96623416e-01 8.19910891e-02 -4.38507604e-03 6.67153293e+02] [-8.19900143e-02 9.96633060e-01 4.24627197e-04 -4.78827634e+01] [ 4.40512740e-03 -6.36609604e-05 9.99990295e-01 2.21601893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.490714057 meters Centerline goodness [0,1] 0.9998948497402789 Centerline is valid? [True, True] Translation: X:667.18, Y:-47.89, Z:2.22 [[ 9.96474608e-01 8.37877139e-02 -4.23962242e-03 6.67182785e+02] [-8.37867260e-02 9.96483626e-01 4.10403897e-04 -4.78867468e+01] [ 4.25910113e-03 -5.37329806e-05 9.99990929e-01 2.21613795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.520714057 meters Centerline goodness [0,1] 0.9996857519954748 Centerline is valid? [True, True] Translation: X:667.21, Y:-47.89, Z:2.22 [[ 9.96281165e-01 8.60650116e-02 -4.08087002e-03 6.67212015e+02] [-8.60641160e-02 9.96289522e-01 3.94874650e-04 -4.78920596e+01] [ 4.09971293e-03 -4.21897054e-05 9.99991595e-01 2.21627276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5507140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:667.24, Y:-47.90, Z:2.22 [[ 9.95808643e-01 9.13768776e-02 -3.92591511e-03 6.67241325e+02] [-9.13760902e-02 9.95816382e-01 3.79840817e-04 -4.78959762e+01] [ 3.94419925e-03 -1.95139955e-05 9.99992221e-01 2.21723125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5807140569999 meters Centerline goodness [0,1] 0.9999583342013708 Centerline is valid? [True, True] Translation: X:667.27, Y:-47.90, Z:2.22 [[ 9.95524855e-01 9.44318910e-02 -3.58913754e-03 6.67271444e+02] [-9.44312534e-02 9.95531324e-01 3.47084754e-04 -4.78990145e+01] [ 3.60587472e-03 -6.60474321e-06 9.99993499e-01 2.21780269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6107140569999 meters Centerline goodness [0,1] 0.9999582559328756 Centerline is valid? [True, True] Translation: X:667.30, Y:-47.90, Z:2.22 [[ 9.94933580e-01 1.00506208e-01 -2.38189727e-03 6.67300359e+02] [-1.00505944e-01 9.94936431e-01 2.30392843e-04 -4.79029583e+01] [ 2.39299228e-03 1.01692577e-05 9.99997137e-01 2.21929828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.640714057 meters Centerline goodness [0,1] 0.9999791288376849 Centerline is valid? [True, True] Translation: X:667.33, Y:-47.91, Z:2.22 [[ 9.94620091e-01 1.03572506e-01 -1.90038834e-03 6.67330146e+02] [-1.03572344e-01 9.94621906e-01 1.83742458e-04 -4.79072303e+01] [ 1.90919854e-03 1.40737351e-05 9.99998177e-01 2.22008315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6707140569999 meters Centerline goodness [0,1] 0.9999790724928846 Centerline is valid? [True, True] Translation: X:667.36, Y:-47.91, Z:2.22 [[ 9.94331131e-01 1.06314529e-01 -1.67988965e-03 6.67360461e+02] [-1.06314406e-01 9.94332550e-01 1.62423147e-04 -4.79128370e+01] [ 1.68763690e-03 1.70940802e-05 9.99998576e-01 2.22016761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7007140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:667.39, Y:-47.92, Z:2.22 [[ 9.93906855e-01 1.10216130e-01 -1.25226924e-03 6.67390550e+02] [-1.10216065e-01 9.93907644e-01 1.20764315e-04 -4.79213177e+01] [ 1.25795014e-03 1.79917074e-05 9.99999209e-01 2.22080101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7307140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:667.42, Y:-47.93, Z:2.22 [[ 9.93741324e-01 1.11697970e-01 -1.32096478e-03 6.67420512e+02] [-1.11697898e-01 9.93742202e-01 1.27744652e-04 -4.79270244e+01] [ 1.32696726e-03 2.06038503e-05 9.99999119e-01 2.22111024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.760714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:667.45, Y:-47.93, Z:2.22 [[ 9.93637765e-01 1.12618714e-01 -1.00868202e-03 6.67451776e+02] [-1.12618673e-01 9.93638277e-01 9.74603735e-05 -4.79339951e+01] [ 1.01324093e-03 1.67561228e-05 9.99999487e-01 2.22107949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.790714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:667.48, Y:-47.95, Z:2.22 [[ 9.93471512e-01 1.14069360e-01 -1.59242844e-03 6.67483060e+02] [-1.14069261e-01 9.93472788e-01 1.53203228e-04 -4.79452885e+01] [ 1.59951012e-03 2.94440936e-05 9.99998720e-01 2.22034591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:667.52, Y:-47.95, Z:2.22 [[ 9.93408632e-01 1.14596457e-01 -2.63460702e-03 6.67515562e+02] [-1.14596183e-01 9.93412125e-01 2.54918941e-04 -4.79536126e+01] [ 2.64646336e-03 4.86772322e-05 9.99996497e-01 2.21969045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8507140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:667.55, Y:-47.97, Z:2.22 [[ 9.93268404e-01 1.15744463e-01 -4.59318093e-03 6.67547069e+02] [-1.15743633e-01 9.93279020e-01 4.46934517e-04 -4.79661394e+01] [ 4.61404045e-03 8.77055152e-05 9.99989351e-01 2.21855553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.880714057 meters Centerline goodness [0,1] 0.9999789544574459 Centerline is valid? [True, True] Translation: X:667.58, Y:-47.97, Z:2.22 [[ 9.93129534e-01 1.16913128e-01 -5.00482365e-03 6.67579067e+02] [-1.16912149e-01 9.93142140e-01 4.88606519e-04 -4.79741461e+01] [ 5.02762579e-03 9.98751255e-05 9.99987356e-01 2.21870682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.910714057 meters Centerline goodness [0,1] 0.9999369800857071 Centerline is valid? [True, True] Translation: X:667.61, Y:-47.98, Z:2.22 [[ 9.92972529e-01 1.18218898e-01 -5.46346704e-03 6.67609999e+02] [-1.18217743e-01 9.92987552e-01 5.34907836e-04 -4.79809726e+01] [ 5.48839098e-03 1.14729958e-04 9.99984932e-01 2.21900368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9407140569999 meters Centerline goodness [0,1] 0.9999369085173502 Centerline is valid? [True, True] Translation: X:667.64, Y:-47.99, Z:2.22 [[ 9.92829312e-01 1.19406342e-01 -5.66415341e-03 6.67641671e+02] [-1.19405113e-01 9.92845461e-01 5.55942761e-04 -4.79893358e+01] [ 5.69001210e-03 1.24372610e-04 9.99983804e-01 2.21922007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9707140569999 meters Centerline goodness [0,1] 0.9997899071389554 Centerline is valid? [True, True] Translation: X:667.67, Y:-48.00, Z:2.22 [[ 9.92635190e-01 1.21079664e-01 -3.88522836e-03 6.67672327e+02] [-1.21079096e-01 9.92642789e-01 3.81889904e-04 -4.80026505e+01] [ 3.90288302e-03 9.13425814e-05 9.99992380e-01 2.22083843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.000714057 meters Centerline goodness [0,1] 0.9996854884364582 Centerline is valid? [True, True] Translation: X:667.70, Y:-48.01, Z:2.22 [[ 9.92640963e-01 1.21055964e-01 -3.06134939e-03 6.67704053e+02] [-1.21055610e-01 9.92645681e-01 3.01354568e-04 -4.80104745e+01] [ 3.07531602e-03 7.14566283e-05 9.99995269e-01 2.22173273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.030714057 meters Centerline goodness [0,1] 0.999623580585123 Centerline is valid? [True, True] Translation: X:667.73, Y:-48.02, Z:2.22 [[ 9.92691114e-01 1.20658675e-01 -2.41570742e-03 6.67734575e+02] [-1.20658452e-01 9.92694052e-01 2.38208140e-04 -4.80241225e+01] [ 2.42680026e-03 5.50084139e-05 9.99997054e-01 2.22237642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0607140569999 meters Centerline goodness [0,1] 0.9993726605466218 Centerline is valid? [True, True] Translation: X:667.77, Y:-48.03, Z:2.22 [[ 9.92738346e-01 1.20268337e-01 -2.47058671e-03 6.67766048e+02] [-1.20268101e-01 9.92741419e-01 2.44269143e-04 -4.80324962e+01] [ 2.48203159e-03 5.46374273e-05 9.99996918e-01 2.22202061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0907140569999 meters Centerline goodness [0,1] 0.9995169183592028 Centerline is valid? [True, True] Translation: X:667.80, Y:-48.04, Z:2.22 [[ 9.92824967e-01 1.19559929e-01 -2.00211015e-03 6.67797236e+02] [-1.19559773e-01 9.92826985e-01 1.98177077e-04 -4.80414633e+01] [ 2.01144302e-03 4.26166855e-05 9.99997976e-01 2.22188719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.120714057 meters Centerline goodness [0,1] 0.999348109517601 Centerline is valid? [True, True] Translation: X:667.83, Y:-48.05, Z:2.22 [[ 9.92949740e-01 1.18516668e-01 -2.14789569e-03 6.67828242e+02] [-1.18516484e-01 9.92952062e-01 2.13313837e-04 -4.80487605e+01] [ 2.15803870e-03 4.27511253e-05 9.99997671e-01 2.22189569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.150714057 meters Centerline goodness [0,1] 0.9997898320758286 Centerline is valid? [True, True] Translation: X:667.86, Y:-48.06, Z:2.22 [[ 9.93353505e-01 1.15095494e-01 -1.35668272e-03 6.67859605e+02] [-1.15095417e-01 9.93354432e-01 1.35162590e-04 -4.80642175e+01] [ 1.36322340e-03 2.18837316e-05 9.99999071e-01 2.22197410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1807140569999 meters Centerline goodness [0,1] 0.9993938633893488 Centerline is valid? [True, True] Translation: X:667.89, Y:-48.07, Z:2.22 [[ 9.93536033e-01 1.13514413e-01 -7.92700438e-04 6.67890704e+02] [-1.13514387e-01 9.93536350e-01 7.80930405e-05 -4.80729179e+01] [ 7.96441385e-04 1.23946547e-05 9.99999683e-01 2.22237229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2107140569999 meters Centerline goodness [0,1] 0.9992647831110177 Centerline is valid? [True, True] Translation: X:667.92, Y:-48.08, Z:2.22 [[ 9.93768661e-01 1.11462236e-01 1.38382563e-04 6.67922663e+02] [-1.11462235e-01 9.93768670e-01 -1.43752386e-05 -4.80815907e+01] [-1.39122552e-04 -1.13876814e-06 9.99999990e-01 2.22275641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.240714057 meters Centerline goodness [0,1] 0.9992446654497388 Centerline is valid? [True, True] Translation: X:667.95, Y:-48.10, Z:2.22 [[ 9.94350847e-01 1.06130325e-01 1.65735902e-03 6.67954135e+02] [-1.06130194e-01 9.94352228e-01 -1.66926207e-04 -4.80952033e+01] [-1.66571457e-03 -9.91261979e-06 9.99998613e-01 2.22378820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.270714057 meters Centerline goodness [0,1] 0.9995379413185475 Centerline is valid? [True, True] Translation: X:667.98, Y:-48.10, Z:2.22 [[ 9.94598030e-01 1.03783879e-01 1.91443766e-03 6.67984270e+02] [-1.03783698e-01 9.94599873e-01 -1.93951631e-04 -4.81033647e+01] [-1.92422850e-03 -5.78350837e-06 9.99998149e-01 2.22490754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3007140569999 meters Centerline goodness [0,1] 0.9995586566348619 Centerline is valid? [True, True] Translation: X:668.02, Y:-48.12, Z:2.22 [[ 9.95172847e-01 9.81174644e-02 1.99197224e-03 6.68016338e+02] [-9.81172553e-02 9.95174840e-01 -2.02647306e-04 -4.81162436e+01] [-2.00224390e-03 6.22224721e-06 9.99997995e-01 2.22411711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3307140569999 meters Centerline goodness [0,1] 0.9992012275870767 Centerline is valid? [True, True] Translation: X:668.05, Y:-48.12, Z:2.22 [[ 9.95452863e-01 9.52455444e-02 1.37234189e-03 6.68047808e+02] [-9.52454414e-02 9.95453809e-01 -1.40357854e-04 -4.81237535e+01] [-1.37947142e-03 9.01031846e-06 9.99999048e-01 2.22379093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3607140569999 meters Centerline goodness [0,1] 0.999097927330704 Centerline is valid? [True, True] Translation: X:668.08, Y:-48.13, Z:2.22 [[ 9.95730809e-01 9.22956344e-02 1.29272503e-03 6.68079225e+02] [-9.22955401e-02 9.95731648e-01 -1.32522758e-04 -4.81308699e+01] [-1.29943850e-03 1.26442382e-05 9.99999156e-01 2.22278556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.390714057 meters Centerline goodness [0,1] 0.9994746795545283 Centerline is valid? [True, True] Translation: X:668.11, Y:-48.14, Z:2.22 [[ 9.95974722e-01 8.96312935e-02 7.64588504e-04 6.68110068e+02] [-8.96312592e-02 9.95975015e-01 -7.90034593e-05 -4.81381280e+01] [-7.68592229e-04 1.01544180e-05 9.99999705e-01 2.22284037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4207140569999 meters Centerline goodness [0,1] 0.999222182513822 Centerline is valid? [True, True] Translation: X:668.14, Y:-48.15, Z:2.22 [[ 9.96411589e-01 8.46400704e-02 5.82698597e-05 6.68141104e+02] [-8.46400701e-02 9.96411591e-01 -7.22097304e-06 -4.81462529e+01] [-5.86719473e-05 2.26309621e-06 9.99999998e-01 2.22220561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4507140569999 meters Centerline goodness [0,1] 0.9995376888646059 Centerline is valid? [True, True] Translation: X:668.17, Y:-48.15, Z:2.22 [[ 9.96570447e-01 8.27481909e-02 -2.86085038e-04 6.68171198e+02] [-8.27481861e-02 9.96570488e-01 2.85109825e-05 -4.81531608e+01] [ 2.87463138e-04 -4.74018464e-06 9.99999959e-01 2.22301006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4807140569999 meters Centerline goodness [0,1] 0.9991808099479079 Centerline is valid? [True, True] Translation: X:668.20, Y:-48.16, Z:2.22 [[ 9.96680810e-01 8.14086101e-02 2.50188339e-05 6.68202832e+02] [-8.14086100e-02 9.96680811e-01 -3.88009954e-06 -4.81581545e+01] [-2.52516652e-05 1.83047227e-06 1.00000000e+00 2.22309830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.510714057 meters Centerline goodness [0,1] 0.9991163661610317 Centerline is valid? [True, True] Translation: X:668.23, Y:-48.16, Z:2.22 [[ 9.96828070e-01 7.95813563e-02 7.79393447e-04 6.68234677e+02] [-7.95813171e-02 9.96828374e-01 -8.13312758e-05 -4.81608951e+01] [-7.83393956e-04 1.90481416e-05 9.99999693e-01 2.22338003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.540714057 meters Centerline goodness [0,1] 0.9996430071398572 Centerline is valid? [True, True] Translation: X:668.27, Y:-48.17, Z:2.22 [[ 9.96913925e-01 7.84978537e-02 8.44840773e-04 6.68265256e+02] [-7.84978072e-02 9.96914282e-01 -8.81349857e-05 -4.81669341e+01] [-8.49152240e-04 2.15448465e-05 9.99999639e-01 2.22476801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5707140569999 meters Centerline goodness [0,1] 0.9995579970954095 Centerline is valid? [True, True] Translation: X:668.30, Y:-48.17, Z:2.22 [[ 9.97014252e-01 7.71949515e-02 1.87655804e-03 6.68297435e+02] [-7.71947216e-02 9.97016016e-01 -1.94742248e-04 -4.81680855e+01] [-1.88599154e-03 4.93004210e-05 9.99998220e-01 2.22472513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6007140569999 meters Centerline goodness [0,1] 0.9995373777731048 Centerline is valid? [True, True] Translation: X:668.33, Y:-48.17, Z:2.23 [[ 9.97106547e-01 7.59854454e-02 2.17850217e-03 6.68328336e+02] [-7.59851323e-02 9.97108925e-01 -2.26255995e-04 -4.81748750e+01] [-2.18939612e-03 6.00675587e-05 9.99997601e-01 2.22616762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.630714057 meters Centerline goodness [0,1] 0.9996428346324349 Centerline is valid? [True, True] Translation: X:668.36, Y:-48.18, Z:2.23 [[ 9.97189803e-01 7.49022166e-02 1.46788923e-03 6.68360960e+02] [-7.49020719e-02 9.97190882e-01 -1.53333794e-04 -4.81750347e+01] [-1.47525080e-03 4.29549506e-05 9.99998911e-01 2.22560638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.660714057 meters Centerline goodness [0,1] 0.9994345786563914 Centerline is valid? [True, True] Translation: X:668.39, Y:-48.18, Z:2.23 [[ 9.97479989e-01 7.09460325e-02 5.75641746e-04 6.68391648e+02] [-7.09460091e-02 9.97480155e-01 -6.09835373e-05 -4.81788345e+01] [-5.78517758e-04 1.99903736e-05 9.99999832e-01 2.22562815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6907140569999 meters Centerline goodness [0,1] 0.9994345786563914 Centerline is valid? [True, True] Translation: X:668.42, Y:-48.18, Z:2.23 [[ 9.97459952e-01 7.12271860e-02 5.75594513e-04 6.68423950e+02] [-7.12271624e-02 9.97460118e-01 -6.14364281e-05 -4.81822434e+01] [-5.78508515e-04 2.02824128e-05 9.99999832e-01 2.22580596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7207140569999 meters Centerline goodness [0,1] 0.9996000589386828 Centerline is valid? [True, True] Translation: X:668.46, Y:-48.19, Z:2.23 [[ 9.97552653e-01 6.99188612e-02 2.40977869e-04 6.68455545e+02] [-6.99188569e-02 9.97552682e-01 -2.63861828e-05 -4.81850537e+01] [-2.42233011e-04 9.47270948e-06 9.99999971e-01 2.22612664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.750714057 meters Centerline goodness [0,1] 0.9994967076290735 Centerline is valid? [True, True] Translation: X:668.49, Y:-48.19, Z:2.23 [[ 9.97650511e-01 6.85079512e-02 3.44446085e-04 6.68486690e+02] [-6.85079424e-02 9.97650570e-01 -3.72441255e-05 -4.81879790e+01] [-3.46188352e-04 1.35593283e-05 9.99999940e-01 2.22643912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.780714057 meters Centerline goodness [0,1] 0.9993102006688963 Centerline is valid? [True, True] Translation: X:668.52, Y:-48.20, Z:2.23 [[ 9.97697348e-01 6.78218526e-02 -4.44467300e-04 6.68517522e+02] [-6.78218391e-02 9.97697447e-01 4.53197856e-05 -4.81954007e+01] [ 4.46517563e-04 -1.50708401e-05 9.99999900e-01 2.22718398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8107140569999 meters Centerline goodness [0,1] 0.9996453160859586 Centerline is valid? [True, True] Translation: X:668.55, Y:-48.19, Z:2.23 [[ 9.97737459e-01 6.72154104e-02 -1.43241523e-03 6.68550595e+02] [-6.72152657e-02 9.97738486e-01 1.49028974e-04 -4.81890909e+01] [ 1.43919285e-03 -5.24116194e-05 9.99998963e-01 2.22649942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8407140569999 meters Centerline goodness [0,1] 0.9996437403076407 Centerline is valid? [True, True] Translation: X:668.58, Y:-48.19, Z:2.23 [[ 9.97686463e-01 6.79565511e-02 -1.90505810e-03 6.68582808e+02] [-6.79562946e-02 9.97688279e-01 1.99111242e-04 -4.81895784e+01] [ 1.91418505e-03 -6.91899014e-05 9.99998166e-01 2.22666829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.870714057 meters Centerline goodness [0,1] 0.9998534614498943 Centerline is valid? [True, True] Translation: X:668.62, Y:-48.19, Z:2.23 [[ 9.97568071e-01 6.96514990e-02 -2.57139789e-03 6.68615194e+02] [-6.96510345e-02 9.97571381e-01 2.69871166e-04 -4.81883449e+01] [ 2.58394987e-03 -9.01143357e-05 9.99996658e-01 2.22683623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.900714057 meters Centerline goodness [0,1] 0.9997278911564625 Centerline is valid? [True, True] Translation: X:668.65, Y:-48.19, Z:2.23 [[ 9.97449986e-01 7.13075877e-02 -2.95877560e-03 6.68647223e+02] [-7.13069772e-02 9.97454369e-01 3.11461793e-04 -4.81883721e+01] [ 2.97345324e-03 -9.96862163e-05 9.99995574e-01 2.22679015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9307140569999 meters Centerline goodness [0,1] 0.9996444407261775 Centerline is valid? [True, True] Translation: X:668.68, Y:-48.18, Z:2.23 [[ 9.97111012e-01 7.58533326e-02 -3.98761610e-03 6.68679839e+02] [-7.58522530e-02 9.97118979e-01 4.21501817e-04 -4.81836722e+01] [ 4.00810001e-03 -1.17814438e-04 9.99991961e-01 2.22632631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9607140569999 meters Centerline goodness [0,1] 0.9996424515206327 Centerline is valid? [True, True] Translation: X:668.71, Y:-48.18, Z:2.23 [[ 9.96868465e-01 7.89609568e-02 -4.29313507e-03 6.68712319e+02] [-7.89597341e-02 9.96877703e-01 4.53820032e-04 -4.81813469e+01] [ 4.31556469e-03 -1.13414075e-04 9.99990681e-01 2.22598976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.990714057 meters Centerline goodness [0,1] 0.9997278284900762 Centerline is valid? [True, True] Translation: X:668.75, Y:-48.18, Z:2.23 [[ 9.96617573e-01 8.20461934e-02 -4.67288964e-03 6.68745369e+02] [-8.20447721e-02 9.96628522e-01 4.95380649e-04 -4.81803271e+01] [ 4.69777919e-03 -1.10318895e-04 9.99988959e-01 2.22573015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.020714057 meters Centerline goodness [0,1] 0.9998742981647532 Centerline is valid? [True, True] Translation: X:668.78, Y:-48.18, Z:2.23 [[ 9.96375243e-01 8.48953603e-02 -5.39939511e-03 6.68777596e+02] [-8.48935014e-02 9.96389866e-01 5.72955819e-04 -4.81793543e+01] [ 5.42854386e-03 -1.12505437e-04 9.99985259e-01 2.22575191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0507140569999 meters Centerline goodness [0,1] 0.9997487489792928 Centerline is valid? [True, True] Translation: X:668.81, Y:-48.18, Z:2.23 [[ 9.95935193e-01 8.98392604e-02 -6.48067339e-03 6.68810265e+02] [-8.98366746e-02 9.95956272e-01 6.89605809e-04 -4.81754203e+01] [ 6.51642098e-03 -1.04600549e-04 9.99978762e-01 2.22583100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0807140569999 meters Centerline goodness [0,1] 0.9996650126667085 Centerline is valid? [True, True] Translation: X:668.84, Y:-48.18, Z:2.23 [[ 9.95765546e-01 9.17206950e-02 -6.18800128e-03 6.68841929e+02] [-9.17183645e-02 9.95784769e-01 6.59943646e-04 -4.81761699e+01] [ 6.22244791e-03 -8.95957883e-05 9.99980636e-01 2.22612519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1107140569999 meters Centerline goodness [0,1] 0.9998115617344695 Centerline is valid? [True, True] Translation: X:668.88, Y:-48.17, Z:2.23 [[ 9.95744628e-01 9.19894877e-02 -5.52905171e-03 6.68875602e+02] [-9.19876248e-02 9.95759975e-01 5.90823982e-04 -4.81742101e+01] [ 5.55995799e-03 -7.97054721e-05 9.99984540e-01 2.22769719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.140714057 meters Centerline goodness [0,1] 0.9999581703720746 Centerline is valid? [True, True] Translation: X:668.91, Y:-48.18, Z:2.23 [[ 9.95814301e-01 9.12616836e-02 -5.01833261e-03 6.68907683e+02] [-9.12601332e-02 9.95826942e-01 5.37551740e-04 -4.81756779e+01] [ 5.04644869e-03 -7.73280080e-05 9.99987264e-01 2.22900896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1707140569999 meters Centerline goodness [0,1] 0.9998532833099285 Centerline is valid? [True, True] Translation: X:668.94, Y:-48.18, Z:2.23 [[ 9.95928997e-01 9.00530477e-02 -3.98504695e-03 6.68940261e+02] [-9.00520575e-02 9.95936968e-01 4.27578037e-04 -4.81772977e+01] [ 4.00736028e-03 -6.69756888e-05 9.99991968e-01 2.22946145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2007140569999 meters Centerline goodness [0,1] 0.9998536452779694 Centerline is valid? [True, True] Translation: X:668.97, Y:-48.18, Z:2.23 [[ 9.96290506e-01 8.59825286e-02 -3.49754000e-03 6.68971509e+02] [-8.59817375e-02 9.96296642e-01 3.76211172e-04 -4.81785312e+01] [ 3.51693495e-03 -7.40910532e-05 9.99993813e-01 2.23016281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2307140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.00, Y:-48.18, Z:2.23 [[ 9.96441190e-01 8.42345353e-02 -3.08175113e-03 6.69002249e+02] [-8.42339126e-02 9.96445953e-01 3.31542558e-04 -4.81814993e+01] [ 3.09872578e-03 -7.07747053e-05 9.99995196e-01 2.23049728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.260714057 meters Centerline goodness [0,1] 0.9998744480947498 Centerline is valid? [True, True] Translation: X:669.03, Y:-48.18, Z:2.23 [[ 9.96596726e-01 8.23892563e-02 -2.64132965e-03 6.69033871e+02] [-8.23887913e-02 9.96600224e-01 2.84582561e-04 -4.81845338e+01] [ 2.65579627e-03 -6.59980908e-05 9.99996471e-01 2.23062530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.290714057 meters Centerline goodness [0,1] 0.9998953296070674 Centerline is valid? [True, True] Translation: X:669.07, Y:-48.19, Z:2.23 [[ 9.96743668e-01 8.05745590e-02 -3.13075920e-03 6.69065754e+02] [-8.05738939e-02 9.96748581e-01 3.38196723e-04 -4.81873405e+01] [ 3.14782984e-03 -8.48379829e-05 9.99995042e-01 2.23046165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.10, Y:-48.19, Z:2.23 [[ 9.97098827e-01 7.60254506e-02 -3.74980095e-03 6.69095564e+02] [-7.60244591e-02 9.97105870e-01 4.06475505e-04 -4.81882177e+01] [ 3.76985102e-03 -1.20219660e-04 9.99992887e-01 2.23007550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3507140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.13, Y:-48.19, Z:2.23 [[ 9.97257135e-01 7.39236299e-02 -3.67473860e-03 6.69127354e+02] [-7.39226622e-02 9.97263897e-01 3.98652326e-04 -4.81904507e+01] [ 3.69415396e-03 -1.25912416e-04 9.99993169e-01 2.22999558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.380714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.16, Y:-48.19, Z:2.23 [[ 9.97411242e-01 7.18249791e-02 -3.46230113e-03 6.69158679e+02] [-7.18241077e-02 9.97417243e-01 3.75523621e-04 -4.81930614e+01] [ 3.48033082e-03 -1.25874792e-04 9.99993936e-01 2.23037184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.410714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.19, Y:-48.19, Z:2.23 [[ 9.97701048e-01 6.77015041e-02 -3.02067665e-03 6.69189802e+02] [-6.77008190e-02 9.97705613e-01 3.28603896e-04 -4.81946273e+01] [ 3.03599303e-03 -1.23346168e-04 9.99995384e-01 2.23108525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4407140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.22, Y:-48.20, Z:2.23 [[ 9.97807206e-01 6.60954377e-02 -3.48887735e-03 6.69221379e+02] [-6.60945150e-02 9.97813295e-01 3.79227881e-04 -4.81964368e+01] [ 3.50631344e-03 -1.47800656e-04 9.99993842e-01 2.23121336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4707140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.25, Y:-48.20, Z:2.23 [[ 9.97996122e-01 6.31226865e-02 -4.38947281e-03 6.69251621e+02] [-6.31211909e-02 9.98005755e-01 4.78566613e-04 -4.81960187e+01] [ 4.41092753e-03 -2.00538873e-04 9.99990252e-01 2.23011097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.500714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.28, Y:-48.20, Z:2.23 [[ 9.98091748e-01 6.15669594e-02 -4.72984784e-03 6.69283559e+02] [-6.15652057e-02 9.98102930e-01 5.15631022e-04 -4.81979594e+01] [ 4.75262082e-03 -2.23453013e-04 9.99988681e-01 2.23010898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.530714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.32, Y:-48.20, Z:2.23 [[ 9.98140309e-01 6.07925440e-02 -4.49331472e-03 6.69316124e+02] [-6.07909529e-02 9.98150399e-01 4.89964334e-04 -4.81994513e+01] [ 4.51479006e-03 -2.15900268e-04 9.99989785e-01 2.23053652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5607140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.35, Y:-48.19, Z:2.23 [[ 9.98176469e-01 6.02699821e-02 -3.35643858e-03 6.69349906e+02] [-6.02690901e-02 9.98182099e-01 3.66389892e-04 -4.81857528e+01] [ 3.37241922e-03 -1.63432270e-04 9.99994300e-01 2.23144849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5907140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.38, Y:-48.20, Z:2.23 [[ 9.98156008e-01 6.05874218e-02 -3.70793786e-03 6.69380705e+02] [-6.05863313e-02 9.98162878e-01 4.05814040e-04 -4.81971088e+01] [ 3.72571315e-03 -1.80415370e-04 9.99993043e-01 2.23190529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.620714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.41, Y:-48.19, Z:2.23 [[ 9.98101809e-01 6.14319453e-02 -4.34679449e-03 6.69414801e+02] [-6.14304477e-02 9.98111252e-01 4.77325295e-04 -4.81852673e+01] [ 4.36790751e-03 -2.09393709e-04 9.99990439e-01 2.23155626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.650714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.44, Y:-48.20, Z:2.23 [[ 9.98010506e-01 6.28601690e-02 -4.86090372e-03 6.69444743e+02] [-6.28583110e-02 9.98022318e-01 5.34236130e-04 -4.81966271e+01] [ 4.88487258e-03 -2.27625073e-04 9.99988043e-01 2.23172274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6807140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.48, Y:-48.19, Z:2.23 [[ 9.97754185e-01 6.68360278e-02 -4.41955145e-03 6.69475305e+02] [-6.68345277e-02 9.97763955e-01 4.86409317e-04 -4.81913316e+01] [ 4.44217880e-03 -1.89938298e-04 9.99990115e-01 2.23239787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7107140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.51, Y:-48.18, Z:2.23 [[ 9.97565855e-01 6.96333722e-02 -3.68222085e-03 6.69508425e+02] [-6.96323499e-02 9.97572640e-01 4.05265128e-04 -4.81754636e+01] [ 3.70150275e-03 -1.47876963e-04 9.99993138e-01 2.23285686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.740714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.54, Y:-48.17, Z:2.23 [[ 9.97084529e-01 7.62235175e-02 -3.52370592e-03 6.69538945e+02] [-7.62226219e-02 9.97090749e-01 3.87977522e-04 -4.81693921e+01] [ 3.54302758e-03 -1.18260281e-04 9.99993716e-01 2.23367670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.770714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.57, Y:-48.18, Z:2.23 [[ 9.96838017e-01 7.94081985e-02 -2.88184833e-03 6.69568420e+02] [-7.94076126e-02 9.96842179e-01 3.17337035e-04 -4.81775345e+01] [ 2.89794714e-03 -8.74929246e-05 9.99995797e-01 2.23437822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8007140569999 meters Centerline goodness [0,1] 0.9999789695057834 Centerline is valid? [True, True] Translation: X:669.60, Y:-48.16, Z:2.23 [[ 9.96481793e-01 8.37718476e-02 -2.51275814e-03 6.69601441e+02] [-8.37714161e-02 9.96484959e-01 2.76675827e-04 -4.81625345e+01] [ 2.52710334e-03 -6.52051170e-05 9.99996805e-01 2.23330850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8307140569999 meters Centerline goodness [0,1] 0.999936834126416 Centerline is valid? [True, True] Translation: X:669.63, Y:-48.16, Z:2.23 [[ 9.96405225e-01 8.46941017e-02 -1.88060498e-03 6.69633443e+02] [-8.46938616e-02 9.96406999e-01 2.07085930e-04 -4.81616210e+01] [ 1.89138692e-03 -4.70658041e-05 9.99998210e-01 2.23329061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8607140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:669.66, Y:-48.16, Z:2.23 [[ 9.96347005e-01 8.53731172e-02 -2.01893801e-03 6.69664950e+02] [-8.53728417e-02 9.96349049e-01 2.22406612e-04 -4.81619484e+01] [ 2.03055451e-03 -4.92316871e-05 9.99997937e-01 2.23310999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.890714057 meters Centerline goodness [0,1] 0.9998945881559252 Centerline is valid? [True, True] Translation: X:669.70, Y:-48.16, Z:2.23 [[ 9.96316082e-01 8.57325744e-02 -2.04719854e-03 6.69695696e+02] [-8.57322918e-02 9.96318184e-01 2.25598349e-04 -4.81643758e+01] [ 2.05900226e-03 -4.92562409e-05 9.99997879e-01 2.23336089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9207140569999 meters Centerline goodness [0,1] 0.9998736176935229 Centerline is valid? [True, True] Translation: X:669.73, Y:-48.16, Z:2.23 [[ 9.96238992e-01 8.66293485e-02 -1.79605478e-03 6.69726558e+02] [-8.66291321e-02 9.96240611e-01 1.98094373e-04 -4.81619991e+01] [ 1.80646349e-03 -4.17586719e-05 9.99998367e-01 2.23299951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9507140569999 meters Centerline goodness [0,1] 0.9998735617650778 Centerline is valid? [True, True] Translation: X:669.76, Y:-48.16, Z:2.23 [[ 9.96170622e-01 8.74085166e-02 -1.96051052e-03 6.69757332e+02] [-8.74082602e-02 9.96172550e-01 2.16232883e-04 -4.81629656e+01] [ 1.97190736e-03 -4.40400316e-05 9.99998055e-01 2.23309750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9807140569999 meters Centerline goodness [0,1] 0.9997061293031066 Centerline is valid? [True, True] Translation: X:669.79, Y:-48.16, Z:2.23 [[ 9.96014228e-01 8.91800902e-02 -1.60287315e-03 6.69788463e+02] [-8.91799211e-02 9.96015517e-01 1.76787566e-04 -4.81614878e+01] [ 1.61225246e-03 -3.31388296e-05 9.99998700e-01 2.23277126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.010714057 meters Centerline goodness [0,1] 0.9996629805160611 Centerline is valid? [True, True] Translation: X:669.82, Y:-48.16, Z:2.23 [[ 9.95894545e-01 9.05174040e-02 -8.08862880e-04 6.69817851e+02] [-9.05173613e-02 9.95894874e-01 8.92961805e-05 -4.81649279e+01] [ 8.13625254e-04 -1.57134455e-05 9.99999669e-01 2.23344148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.040714057 meters Centerline goodness [0,1] 0.9998736842105264 Centerline is valid? [True, True] Translation: X:669.85, Y:-48.17, Z:2.23 [[ 9.95760116e-01 9.19773037e-02 -1.40272288e-03 6.69848922e+02] [-9.19771771e-02 9.95761103e-01 1.54616161e-04 -4.81655031e+01] [ 1.41099806e-03 -2.49421150e-05 9.99999004e-01 2.23314561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0707140569999 meters Centerline goodness [0,1] 0.9997048157206714 Centerline is valid? [True, True] Translation: X:669.88, Y:-48.17, Z:2.23 [[ 9.95443917e-01 9.53232535e-02 -2.21046102e-03 6.69879748e+02] [-9.53229471e-02 9.95446370e-01 2.43799927e-04 -4.81650909e+01] [ 2.22363520e-03 -3.19814953e-05 9.99997527e-01 2.23201973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1007140569999 meters Centerline goodness [0,1] 0.9996622833864534 Centerline is valid? [True, True] Translation: X:669.91, Y:-48.17, Z:2.23 [[ 9.95298011e-01 9.68183623e-02 -2.84157831e-03 6.69909627e+02] [-9.68178618e-02 9.95302066e-01 3.13501875e-04 -4.81671662e+01] [ 2.85858150e-03 -3.69122568e-05 9.99995914e-01 2.23139448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.130714057 meters Centerline goodness [0,1] 0.9994955969819886 Centerline is valid? [True, True] Translation: X:669.94, Y:-48.17, Z:2.23 [[ 9.95121343e-01 9.86005056e-02 -3.38427222e-03 6.69938670e+02] [-9.85998064e-02 9.95127097e-01 3.73214654e-04 -4.81695669e+01] [ 3.40458015e-03 -3.77052811e-05 9.99994204e-01 2.23101621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.160714057 meters Centerline goodness [0,1] 0.999578521453258 Centerline is valid? [True, True] Translation: X:669.97, Y:-48.17, Z:2.23 [[ 9.94890655e-01 1.00893231e-01 -3.62508444e-03 6.69968574e+02] [-1.00892444e-01 9.94897258e-01 3.99629309e-04 -4.81713110e+01] [ 3.64690646e-03 -3.18438348e-05 9.99993350e-01 2.23082497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1907140569999 meters Centerline goodness [0,1] 0.9997262120382461 Centerline is valid? [True, True] Translation: X:670.00, Y:-48.17, Z:2.23 [[ 9.94842566e-01 1.01381934e-01 -3.15790731e-03 6.69997978e+02] [-1.01381340e-01 9.94847578e-01 3.48039218e-04 -4.81744702e+01] [ 3.17692133e-03 -2.60913548e-05 9.99994953e-01 2.23096200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2207140569999 meters Centerline goodness [0,1] 0.9996417205842062 Centerline is valid? [True, True] Translation: X:670.03, Y:-48.18, Z:2.23 [[ 9.94844986e-01 1.01346480e-01 -3.51346418e-03 6.70027125e+02] [-1.01345745e-01 9.94851190e-01 3.87074512e-04 -4.81782619e+01] [ 3.53460266e-03 -2.90044918e-05 9.99993753e-01 2.23148188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.250714057 meters Centerline goodness [0,1] 0.9996634625496919 Centerline is valid? [True, True] Translation: X:670.06, Y:-48.18, Z:2.23 [[ 9.95018969e-01 9.96133800e-02 -3.79818111e-03 6.70055444e+02] [-9.96125090e-02 9.95026217e-01 4.18300052e-04 -4.81836384e+01] [ 3.82095806e-03 -3.78701368e-05 9.99992699e-01 2.23182596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.280714057 meters Centerline goodness [0,1] 0.999538145022463 Centerline is valid? [True, True] Translation: X:670.08, Y:-48.19, Z:2.23 [[ 9.95168776e-01 9.81112943e-02 -3.64424313e-03 6.70084684e+02] [-9.81104829e-02 9.95175448e-01 4.01185781e-04 -4.81884973e+01] [ 3.66602214e-03 -4.17091093e-05 9.99993279e-01 2.23231266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3107140569999 meters Centerline goodness [0,1] 0.9999157947919078 Centerline is valid? [True, True] Translation: X:670.11, Y:-48.20, Z:2.23 [[ 9.95504558e-01 9.46752552e-02 -2.69666362e-03 6.70114334e+02] [-9.46747987e-02 9.95508209e-01 2.96725391e-04 -4.81952605e+01] [ 2.71264332e-03 -4.00853936e-05 9.99996320e-01 2.23376491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3407140569999 meters Centerline goodness [0,1] 0.999852823682772 Centerline is valid? [True, True] Translation: X:670.14, Y:-48.20, Z:2.23 [[ 9.95651242e-01 9.31238752e-02 -2.55900391e-03 6.70143087e+02] [-9.31234589e-02 9.95654529e-01 2.81629435e-04 -4.82005160e+01] [ 2.57411026e-03 -4.21014019e-05 9.99996686e-01 2.23418542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.370714057 meters Centerline goodness [0,1] 0.9999163844642335 Centerline is valid? [True, True] Translation: X:670.17, Y:-48.21, Z:2.23 [[ 9.95801481e-01 9.14948864e-02 -2.84523154e-03 6.70173243e+02] [-9.14943654e-02 9.95805545e-01 3.13022155e-04 -4.82054552e+01] [ 2.86193727e-03 -5.13852717e-05 9.99995903e-01 2.23494014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.400714057 meters Centerline goodness [0,1] 0.9997686694286135 Centerline is valid? [True, True] Translation: X:670.20, Y:-48.21, Z:2.24 [[ 9.96100881e-01 8.81955238e-02 -2.14091272e-03 6.70203598e+02] [-8.81952213e-02 9.96103181e-01 2.35476933e-04 -4.82118285e+01] [ 2.15333798e-03 -4.57405095e-05 9.99997681e-01 2.23534666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4307140569999 meters Centerline goodness [0,1] 0.999831911585494 Centerline is valid? [True, True] Translation: X:670.23, Y:-48.22, Z:2.24 [[ 9.96224626e-01 8.67839467e-02 -2.24517501e-03 6.70234936e+02] [-8.67836105e-02 9.96227155e-01 2.46932730e-04 -4.82170494e+01] [ 2.25813411e-03 -5.11560735e-05 9.99997449e-01 2.23550768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4607140569999 meters Centerline goodness [0,1] 0.9999369840569664 Centerline is valid? [True, True] Translation: X:670.27, Y:-48.22, Z:2.24 [[ 9.96321552e-01 8.56533673e-02 -2.62025841e-03 6.70265915e+02] [-8.56529051e-02 9.96324996e-01 2.88310177e-04 -4.82212821e+01] [ 2.63532369e-03 -6.28168982e-05 9.99996526e-01 2.23573908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.490714057 meters Centerline goodness [0,1] 0.999894838682539 Centerline is valid? [True, True] Translation: X:670.30, Y:-48.23, Z:2.24 [[ 9.96475932e-01 8.38398410e-02 -2.56863773e-03 6.70296075e+02] [-8.38393904e-02 9.96479240e-01 2.82821450e-04 -4.82255886e+01] [ 2.58330588e-03 -6.64717465e-05 9.99996661e-01 2.23539104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.520714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:670.33, Y:-48.23, Z:2.24 [[ 9.96799759e-01 7.98812519e-02 -3.03751720e-03 6.70325864e+02] [-7.98806037e-02 9.96804383e-01 3.34313743e-04 -4.82340435e+01] [ 3.05451586e-03 -9.06051504e-05 9.99995331e-01 2.23554045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5507140569999 meters Centerline goodness [0,1] 0.999810876691603 Centerline is valid? [True, True] Translation: X:670.36, Y:-48.24, Z:2.24 [[ 9.97129758e-01 7.56478305e-02 -3.10678109e-03 6.70356353e+02] [-7.56471311e-02 9.97134592e-01 3.42206607e-04 -4.82399396e+01] [ 3.12376608e-03 -1.06205315e-04 9.99995115e-01 2.23580107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5807140569999 meters Centerline goodness [0,1] 0.9998743060647324 Centerline is valid? [True, True] Translation: X:670.39, Y:-48.24, Z:2.24 [[ 9.97273654e-01 7.37290251e-02 -3.04778987e-03 6.70387867e+02] [-7.37283430e-02 9.97278306e-01 3.35716798e-04 -4.82429675e+01] [ 3.06424679e-03 -1.10093021e-04 9.99995299e-01 2.23615133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6107140569999 meters Centerline goodness [0,1] 0.9998743060647324 Centerline is valid? [True, True] Translation: X:670.42, Y:-48.25, Z:2.24 [[ 9.97273654e-01 7.37290262e-02 -3.04776848e-03 6.70417706e+02] [-7.37283435e-02 9.97278305e-01 3.35910855e-04 -4.82462562e+01] [ 3.06423976e-03 -1.10288125e-04 9.99995299e-01 2.23631545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.640714057 meters Centerline goodness [0,1] 0.9999579089148918 Centerline is valid? [True, True] Translation: X:670.45, Y:-48.25, Z:2.24 [[ 9.97435574e-01 7.15013330e-02 -3.13620886e-03 6.70447418e+02] [-7.15005992e-02 9.97440497e-01 3.45617103e-04 -4.82532284e+01] [ 3.15289381e-03 -1.20489981e-04 9.99995022e-01 2.23681173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6707140569999 meters Centerline goodness [0,1] 0.9998315399355641 Centerline is valid? [True, True] Translation: X:670.48, Y:-48.26, Z:2.24 [[ 9.97587683e-01 6.93515822e-02 -3.02879971e-03 6.70479084e+02] [-6.93508879e-02 9.97592273e-01 3.33788057e-04 -4.82551197e+01] [ 3.04465591e-03 -1.22932905e-04 9.99995357e-01 2.23665565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7007140569999 meters Centerline goodness [0,1] 0.9999157681940701 Centerline is valid? [True, True] Translation: X:670.51, Y:-48.26, Z:2.24 [[ 9.97818966e-01 6.59022896e-02 -3.76827296e-03 6.70509876e+02] [-6.59011895e-02 9.97826067e-01 4.15494771e-04 -4.82576739e+01] [ 3.78746305e-03 -1.66254892e-04 9.99992814e-01 2.23614303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7307140569999 meters Centerline goodness [0,1] 0.9996843168616887 Centerline is valid? [True, True] Translation: X:670.54, Y:-48.26, Z:2.24 [[ 9.97904904e-01 6.46129441e-02 -3.31207503e-03 6.70539873e+02] [-6.46120870e-02 9.97910389e-01 3.65242200e-04 -4.82619189e+01] [ 3.32875345e-03 -1.50476902e-04 9.99994448e-01 2.23628452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.760714057 meters Centerline goodness [0,1] 0.9997694162037523 Centerline is valid? [True, True] Translation: X:670.57, Y:-48.27, Z:2.24 [[ 9.97988909e-01 6.33178980e-02 -2.99687900e-03 6.70569805e+02] [-6.33171903e-02 9.97993399e-01 3.30527694e-04 -4.82658858e+01] [ 3.01179378e-03 -1.40109015e-04 9.99995455e-01 2.23658022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.790714057 meters Centerline goodness [0,1] 0.9996440386950878 Centerline is valid? [True, True] Translation: X:670.60, Y:-48.27, Z:2.24 [[ 9.98180974e-01 6.02203686e-02 -2.87225696e-03 6.70599523e+02] [-6.02197059e-02 9.98185096e-01 3.16739826e-04 -4.82704264e+01] [ 2.88611828e-03 -1.43197198e-04 9.99995825e-01 2.23718648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8207140569999 meters Centerline goodness [0,1] 0.9995602462620933 Centerline is valid? [True, True] Translation: X:670.63, Y:-48.27, Z:2.24 [[ 9.98257653e-01 5.89592099e-02 -2.33877197e-03 6.70630953e+02] [-5.89587668e-02 9.98260385e-01 2.58032197e-04 -4.82732144e+01] [ 2.34991678e-03 -1.19691505e-04 9.99997232e-01 2.23710221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8507140569999 meters Centerline goodness [0,1] 0.999497350618887 Centerline is valid? [True, True] Translation: X:670.66, Y:-48.28, Z:2.24 [[ 9.98313679e-01 5.79894621e-02 -2.64959130e-03 6.70662389e+02] [-5.79888896e-02 9.98317186e-01 2.92442819e-04 -4.82752944e+01] [ 2.66209113e-03 -1.38302809e-04 9.99996447e-01 2.23723285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.880714057 meters Centerline goodness [0,1] 0.9992845418963848 Centerline is valid? [True, True] Translation: X:670.69, Y:-48.28, Z:2.24 [[ 9.98441274e-01 5.57406334e-02 -2.82925054e-03 6.70692838e+02] [-5.57399712e-02 9.98445270e-01 3.12430694e-04 -4.82768571e+01] [ 2.84226690e-03 -1.54241357e-04 9.99995949e-01 2.23715958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.910714057 meters Centerline goodness [0,1] 0.9994780684356667 Centerline is valid? [True, True] Translation: X:670.72, Y:-48.28, Z:2.24 [[ 9.98478002e-01 5.50735035e-02 -2.93050746e-03 6.70723503e+02] [-5.50727899e-02 9.98482290e-01 3.23710549e-04 -4.82789403e+01] [ 2.94388767e-03 -1.61826641e-04 9.99995654e-01 2.23723327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9407140569999 meters Centerline goodness [0,1] 0.9992904989461823 Centerline is valid? [True, True] Translation: X:670.75, Y:-48.28, Z:2.24 [[ 9.98503128e-01 5.45887429e-02 -3.40181457e-03 6.70754052e+02] [-5.45877785e-02 9.98508905e-01 3.75772209e-04 -4.82809032e+01] [ 3.41725507e-03 -1.89512226e-04 9.99994143e-01 2.23676393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9707140569999 meters Centerline goodness [0,1] 0.9985793674006602 Centerline is valid? [True, True] Translation: X:670.78, Y:-48.28, Z:2.24 [[ 9.98491230e-01 5.47056365e-02 -4.74935898e-03 6.70783778e+02] [-5.47037580e-02 9.98502491e-01 5.24636788e-04 -4.82783893e+01] [ 4.77094736e-03 -2.64037448e-04 9.99988584e-01 2.23542685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.000714057 meters Centerline goodness [0,1] 0.9987882586441033 Centerline is valid? [True, True] Translation: X:670.81, Y:-48.28, Z:2.24 [[ 9.98459080e-01 5.52909102e-02 -4.73073325e-03 6.70814800e+02] [-5.52890534e-02 9.98470254e-01 5.22486424e-04 -4.82787812e+01] [ 4.75238518e-03 -2.60123552e-04 9.99988674e-01 2.23555558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.030714057 meters Centerline goodness [0,1] 0.9986610038286922 Centerline is valid? [True, True] Translation: X:670.84, Y:-48.28, Z:2.24 [[ 9.98381096e-01 5.66830804e-02 -4.71338760e-03 6.70844598e+02] [-5.66812525e-02 9.98392190e-01 5.20594985e-04 -4.82780541e+01] [ 4.73531829e-03 -2.52591479e-04 9.99988756e-01 2.23604934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0607140569999 meters Centerline goodness [0,1] 0.9981445963975984 Centerline is valid? [True, True] Translation: X:670.87, Y:-48.27, Z:2.24 [[ 9.98233904e-01 5.93245355e-02 -3.10995970e-03 6.70874043e+02] [-5.93237529e-02 9.98238736e-01 3.43386322e-04 -4.82726574e+01] [ 3.12485347e-03 -1.58285388e-04 9.99995105e-01 2.23664150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0907140569999 meters Centerline goodness [0,1] 0.9982038804536246 Centerline is valid? [True, True] Translation: X:670.90, Y:-48.27, Z:2.24 [[ 9.98140456e-01 6.09105929e-02 -2.35141240e-03 6.70903996e+02] [-6.09101502e-02 9.98143219e-01 2.59500870e-04 -4.82718920e+01] [ 2.36285269e-03 -1.15793435e-04 9.99997202e-01 2.23741331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.120714057 meters Centerline goodness [0,1] 0.997087095834547 Centerline is valid? [True, True] Translation: X:670.93, Y:-48.27, Z:2.24 [[ 9.97967379e-01 6.36851270e-02 -2.30559781e-03 6.70933759e+02] [-6.36847081e-02 9.97970036e-01 2.54737742e-04 -4.82663947e+01] [ 2.31714053e-03 -1.07388633e-04 9.99997310e-01 2.23724542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.150714057 meters Centerline goodness [0,1] 0.9966607534175101 Centerline is valid? [True, True] Translation: X:670.96, Y:-48.26, Z:2.24 [[ 9.97860030e-01 6.53514748e-02 -2.13174239e-03 6.70963786e+02] [-6.53511206e-02 9.97862303e-01 2.35471732e-04 -4.82649124e+01] [ 2.14257380e-03 -9.56560750e-05 9.99997700e-01 2.23668758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1807140569999 meters Centerline goodness [0,1] 0.9967895932789926 Centerline is valid? [True, True] Translation: X:670.99, Y:-48.26, Z:2.24 [[ 9.97720691e-01 6.74413799e-02 -2.25477532e-03 6.70993103e+02] [-6.74409892e-02 9.97723234e-01 2.48978035e-04 -4.82632774e+01] [ 2.26643314e-03 -9.63462592e-05 9.99997427e-01 2.23644382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2107140569999 meters Centerline goodness [0,1] 0.9964135285041078 Centerline is valid? [True, True] Translation: X:671.03, Y:-48.25, Z:2.23 [[ 9.97395586e-01 7.20661126e-02 -2.91911953e-03 6.71025347e+02] [-7.20654780e-02 9.97399851e-01 3.22155969e-04 -4.82469131e+01] [ 2.93474592e-03 -1.10949198e-04 9.99995687e-01 2.23441020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.240714057 meters Centerline goodness [0,1] 0.9966619377451389 Centerline is valid? [True, True] Translation: X:671.05, Y:-48.25, Z:2.23 [[ 9.97223240e-01 7.44372788e-02 -2.21379170e-03 6.71054898e+02] [-7.44369194e-02 9.97225694e-01 2.44415428e-04 -4.82451000e+01] [ 2.22584359e-03 -7.89489109e-05 9.99997520e-01 2.23451106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.270714057 meters Centerline goodness [0,1] 0.9961337513061651 Centerline is valid? [True, True] Translation: X:671.08, Y:-48.24, Z:2.24 [[ 9.97070950e-01 7.64580937e-02 -1.91849078e-03 6.71083500e+02] [-7.64578275e-02 9.97072794e-01 2.11809193e-04 -4.82447527e+01] [ 1.92906949e-03 -6.45051559e-05 9.99998137e-01 2.23507866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3007140569999 meters Centerline goodness [0,1] 0.9963355389898652 Centerline is valid? [True, True] Translation: X:671.11, Y:-48.24, Z:2.24 [[ 9.96838646e-01 7.94465624e-02 -9.78986625e-04 6.71113623e+02] [-7.94464944e-02 9.96839126e-01 1.08213352e-04 -4.82366133e+01] [ 9.84489350e-04 -3.00941953e-05 9.99999515e-01 2.23552365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3307140569999 meters Centerline goodness [0,1] 0.9962343884019162 Centerline is valid? [True, True] Translation: X:671.14, Y:-48.24, Z:2.24 [[ 9.96782551e-01 8.01525832e-02 -3.30900767e-04 6.71141550e+02] [-8.01525754e-02 9.96782606e-01 3.69058179e-05 -4.82369238e+01] [ 3.32794225e-04 -1.02645267e-05 9.99999945e-01 2.23548839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3607140569999 meters Centerline goodness [0,1] 0.9957139587624576 Centerline is valid? [True, True] Translation: X:671.17, Y:-48.24, Z:2.24 [[ 9.96734600e-01 8.07472408e-02 -1.42448732e-04 6.71170579e+02] [-8.07472394e-02 9.96734610e-01 1.60569910e-05 -4.82368947e+01] [ 1.43280139e-04 -4.50221665e-06 9.99999990e-01 2.23567751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.390714057 meters Centerline goodness [0,1] 0.9950204183681973 Centerline is valid? [True, True] Translation: X:671.20, Y:-48.24, Z:2.24 [[ 9.96764429e-01 8.03779323e-02 2.47628015e-04 6.71197938e+02] [-8.03779281e-02 9.96764460e-01 -2.67214589e-05 -4.82385073e+01] [-2.48974620e-04 6.73117293e-06 9.99999969e-01 2.23646645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4207140569999 meters Centerline goodness [0,1] 0.9953764723111362 Centerline is valid? [True, True] Translation: X:671.23, Y:-48.24, Z:2.24 [[ 9.96896147e-01 7.87234008e-02 8.35294617e-04 6.71227011e+02] [-7.87233519e-02 9.96896497e-01 -9.13246417e-05 -4.82374171e+01] [-8.39891664e-04 2.52839915e-05 9.99999647e-01 2.23626739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4507140569999 meters Centerline goodness [0,1] 0.9943674899866488 Centerline is valid? [True, True] Translation: X:671.25, Y:-48.24, Z:2.24 [[ 9.96999192e-01 7.74098623e-02 5.69432965e-04 6.71254738e+02] [-7.74098395e-02 9.96999355e-01 -6.19859900e-05 -4.82416312e+01] [-5.72522625e-04 1.77202676e-05 9.99999836e-01 2.23618979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4807140569999 meters Centerline goodness [0,1] 0.9938446077507694 Centerline is valid? [True, True] Translation: X:671.28, Y:-48.24, Z:2.23 [[ 9.97254021e-01 7.40555352e-02 -4.41388036e-04 6.71284332e+02] [-7.40555209e-02 9.97254119e-01 4.86059963e-05 -4.82416835e+01] [ 4.43775580e-04 -1.57853043e-05 9.99999901e-01 2.23435086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.510714057 meters Centerline goodness [0,1] 0.9938968313686146 Centerline is valid? [True, True] Translation: X:671.31, Y:-48.24, Z:2.23 [[ 9.97381449e-01 7.23058340e-02 -1.45310358e-03 6.71313480e+02] [-7.23056780e-02 9.97382506e-01 1.59662533e-04 -4.82433669e+01] [ 1.46084462e-03 -5.41768095e-05 9.99998931e-01 2.23369793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.540714057 meters Centerline goodness [0,1] 0.9933546433378196 Centerline is valid? [True, True] Translation: X:671.34, Y:-48.25, Z:2.23 [[ 9.97487166e-01 7.08205512e-02 -1.95027679e-03 6.71342255e+02] [-7.08202679e-02 9.97489070e-01 2.14015446e-04 -4.82450780e+01] [ 1.96053648e-03 -7.53585351e-05 9.99998075e-01 2.23343343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5707140569999 meters Centerline goodness [0,1] 0.9927255193811451 Centerline is valid? [True, True] Translation: X:671.37, Y:-48.25, Z:2.23 [[ 9.97625240e-01 6.88192312e-02 -2.79167197e-03 6.71370197e+02] [-6.88186439e-02 9.97629140e-01 3.06015228e-04 -4.82486584e+01] [ 2.80611304e-03 -1.13169436e-04 9.99996056e-01 2.23390642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6007140569999 meters Centerline goodness [0,1] 0.9934562134410638 Centerline is valid? [True, True] Translation: X:671.40, Y:-48.25, Z:2.23 [[ 9.97686697e-01 6.79490262e-02 -2.04562005e-03 6.71399424e+02] [-6.79487093e-02 9.97688790e-01 2.24121778e-04 -4.82490882e+01] [ 2.05612105e-03 -8.46060738e-05 9.99997883e-01 2.23465330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.630714057 meters Centerline goodness [0,1] 0.9920533142724999 Centerline is valid? [True, True] Translation: X:671.43, Y:-48.25, Z:2.24 [[ 9.97740396e-01 6.71666837e-02 -1.65486588e-03 6.71428638e+02] [-6.71664753e-02 9.97741766e-01 1.81264357e-04 -4.82509775e+01] [ 1.66330373e-03 -6.97032630e-05 9.99998614e-01 2.23545596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.660714057 meters Centerline goodness [0,1] 0.9917206018323947 Centerline is valid? [True, True] Translation: X:671.46, Y:-48.25, Z:2.24 [[ 9.97833773e-01 6.57796284e-02 -8.95054808e-04 6.71456063e+02] [-6.57795667e-02 9.97834174e-01 9.82374090e-05 -4.82531946e+01] [ 8.99578295e-04 -3.91482870e-05 9.99999595e-01 2.23719927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6907140569999 meters Centerline goodness [0,1] 0.9911618793513153 Centerline is valid? [True, True] Translation: X:671.48, Y:-48.26, Z:2.24 [[ 9.97881884e-01 6.50472812e-02 -7.72280941e-04 6.71483259e+02] [-6.50472351e-02 9.97882182e-01 8.46418979e-05 -4.82557730e+01] [ 7.76151117e-04 -3.42278766e-05 9.99999698e-01 2.23788807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7207140569999 meters Centerline goodness [0,1] 0.9911156636076677 Centerline is valid? [True, True] Translation: X:671.51, Y:-48.26, Z:2.24 [[ 9.97969921e-01 6.36811565e-02 -8.64906437e-04 6.71511647e+02] [-6.36810982e-02 9.97970295e-01 9.48013937e-05 -4.82564715e+01] [ 8.69187994e-04 -3.95307476e-05 9.99999621e-01 2.23765350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.750714057 meters Centerline goodness [0,1] 0.9916428691416093 Centerline is valid? [True, True] Translation: X:671.54, Y:-48.26, Z:2.24 [[ 9.98000556e-01 6.31933066e-02 -1.22297005e-03 6.71539942e+02] [-6.31931901e-02 9.98001304e-01 1.33774779e-04 -4.82583161e+01] [ 1.22897938e-03 -5.62239249e-05 9.99999243e-01 2.23761091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.780714057 meters Centerline goodness [0,1] 0.9904996111566513 Centerline is valid? [True, True] Translation: X:671.57, Y:-48.26, Z:2.24 [[ 9.98012320e-01 6.30035582e-02 -1.40013086e-03 6.71568782e+02] [-6.30034057e-02 9.98013300e-01 1.52833586e-04 -4.82576591e+01] [ 1.40697828e-03 -6.43167895e-05 9.99999008e-01 2.23707729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8107140569999 meters Centerline goodness [0,1] 0.9896172681224911 Centerline is valid? [True, True] Translation: X:671.60, Y:-48.26, Z:2.24 [[ 9.97966981e-01 6.36846715e-02 -2.48345992e-03 6.71598238e+02] [-6.36841949e-02 9.97970065e-01 2.70594921e-04 -4.82559786e+01] [ 2.49565141e-03 -1.11887651e-04 9.99996880e-01 2.23621971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8407140569999 meters Centerline goodness [0,1] 0.9887810412202194 Centerline is valid? [True, True] Translation: X:671.63, Y:-48.26, Z:2.24 [[ 9.97935217e-01 6.41464704e-02 -3.24554009e-03 6.71625730e+02] [-6.41456599e-02 9.97940484e-01 3.53321075e-04 -4.82601445e+01] [ 3.26152015e-03 -1.44404232e-04 9.99994671e-01 2.23609224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.870714057 meters Centerline goodness [0,1] 0.9889724310776943 Centerline is valid? [True, True] Translation: X:671.66, Y:-48.26, Z:2.24 [[ 9.97855750e-01 6.53355063e-02 -3.89535301e-03 6.71655525e+02] [-6.53343499e-02 9.97863339e-01 4.23510499e-04 -4.82572773e+01] [ 3.91470023e-03 -1.68102030e-04 9.99992323e-01 2.23550600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.900714057 meters Centerline goodness [0,1] 0.988036164844407 Centerline is valid? [True, True] Translation: X:671.68, Y:-48.26, Z:2.24 [[ 9.97830623e-01 6.57151822e-02 -3.94491563e-03 6.71684872e+02] [-6.57139999e-02 9.97838407e-01 4.28711405e-04 -4.82565296e+01] [ 3.96456118e-03 -1.68545183e-04 9.99992127e-01 2.23535125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9307140569999 meters Centerline goodness [0,1] 0.9878795477817482 Centerline is valid? [True, True] Translation: X:671.71, Y:-48.26, Z:2.24 [[ 9.97785619e-01 6.64117790e-02 -3.65146553e-03 6.71713021e+02] [-6.64107715e-02 9.97792289e-01 3.96612576e-04 -4.82587292e+01] [ 3.66974389e-03 -1.53237682e-04 9.99993255e-01 2.23588672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9607140569999 meters Centerline goodness [0,1] 0.9857762067079072 Centerline is valid? [True, True] Translation: X:671.74, Y:-48.26, Z:2.24 [[ 9.97620296e-01 6.88904250e-02 -2.80259886e-03 6.71742632e+02] [-6.88898420e-02 9.97624226e-01 3.04170163e-04 -4.82564163e+01] [ 2.81689493e-03 -1.10375736e-04 9.99996026e-01 2.23698933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.990714057 meters Centerline goodness [0,1] 0.985848468475957 Centerline is valid? [True, True] Translation: X:671.77, Y:-48.26, Z:2.24 [[ 9.97502965e-01 7.05842471e-02 -2.38709752e-03 6.71770931e+02] [-7.05838290e-02 9.97505818e-01 2.59043027e-04 -4.82572198e+01] [ 2.39942802e-03 -8.99057048e-05 9.99997117e-01 2.23765858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.020714057 meters Centerline goodness [0,1] 0.9859714802507046 Centerline is valid? [True, True] Translation: X:671.80, Y:-48.26, Z:2.24 [[ 9.97391858e-01 7.21516901e-02 -1.90148255e-03 6.71800396e+02] [-7.21514278e-02 9.97393668e-01 2.06291723e-04 -4.82561377e+01] [ 1.91141095e-03 -6.85590046e-05 9.99998171e-01 2.23815110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0507140569999 meters Centerline goodness [0,1] 0.9864228667507356 Centerline is valid? [True, True] Translation: X:671.83, Y:-48.25, Z:2.24 [[ 9.97144053e-01 7.54991230e-02 -1.90272516e-03 6.71829884e+02] [-7.54988667e-02 9.97145866e-01 2.06291861e-04 -4.82524907e+01] [ 1.91286938e-03 -6.20491089e-05 9.99998169e-01 2.23736649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0807140569999 meters Centerline goodness [0,1] 0.9858167897412297 Centerline is valid? [True, True] Translation: X:671.86, Y:-48.25, Z:2.24 [[ 9.96990015e-01 7.75004280e-02 -2.14310225e-03 6.71857949e+02] [-7.75001077e-02 9.96992317e-01 2.32207165e-04 -4.82549941e+01] [ 2.15465263e-03 -6.54175703e-05 9.99997677e-01 2.23693900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1107140569999 meters Centerline goodness [0,1] 0.9858868856921499 Centerline is valid? [True, True] Translation: X:671.89, Y:-48.25, Z:2.24 [[ 9.96900628e-01 7.86180933e-02 -2.88687353e-03 6.71886747e+02] [-7.86175182e-02 9.96904804e-01 3.12316621e-04 -4.82538023e+01] [ 2.90249183e-03 -8.43898024e-05 9.99995784e-01 2.23614917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.140714057 meters Centerline goodness [0,1] 0.9856504698891652 Centerline is valid? [True, True] Translation: X:671.92, Y:-48.25, Z:2.24 [[ 9.96697271e-01 8.11750605e-02 -2.27162092e-03 6.71916253e+02] [-8.11747112e-02 9.96699857e-01 2.45679357e-04 -4.82512517e+01] [ 2.28406728e-03 -6.04697724e-05 9.99997390e-01 2.23615080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1707140569999 meters Centerline goodness [0,1] 0.9858096653341426 Centerline is valid? [True, True] Translation: X:671.94, Y:-48.25, Z:2.24 [[ 9.96609454e-01 8.22340036e-02 -2.67685231e-03 6.71943522e+02] [-8.22335230e-02 9.96613046e-01 2.89287181e-04 -4.82536624e+01] [ 2.69157517e-03 -6.81793433e-05 9.99996375e-01 2.23675365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2007140569999 meters Centerline goodness [0,1] 0.983887930671827 Centerline is valid? [True, True] Translation: X:671.97, Y:-48.25, Z:2.24 [[ 9.96421374e-01 8.45011771e-02 -1.99892388e-03 6.71972608e+02] [-8.45009139e-02 9.96423378e-01 2.15902615e-04 -4.82514263e+01] [ 2.01001851e-03 -4.62190858e-05 9.99997979e-01 2.23674669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2307140569999 meters Centerline goodness [0,1] 0.9844404674176229 Centerline is valid? [True, True] Translation: X:672.00, Y:-48.25, Z:2.24 [[ 9.96322795e-01 8.56559162e-02 -1.98803070e-03 6.72001615e+02] [-8.56556585e-02 9.96324777e-01 2.14583842e-04 -4.82533304e+01] [ 1.99910462e-03 -4.35086945e-05 9.99998001e-01 2.23692183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.260714057 meters Centerline goodness [0,1] 0.984686032060329 Centerline is valid? [True, True] Translation: X:672.03, Y:-48.26, Z:2.24 [[ 9.96236172e-01 8.66629160e-02 -1.74034731e-03 6.72029981e+02] [-8.66627202e-02 9.96237691e-01 1.87772401e-04 -4.82552688e+01] [ 1.75007249e-03 -3.62424262e-05 9.99998468e-01 2.23669112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.290714057 meters Centerline goodness [0,1] 0.984993178717599 Centerline is valid? [True, True] Translation: X:672.06, Y:-48.26, Z:2.24 [[ 9.96055582e-01 8.87085885e-02 -2.01612199e-03 6.72058221e+02] [-8.87083302e-02 9.96057621e-01 2.17320207e-04 -4.82567920e+01] [ 2.02745185e-03 -3.76161892e-05 9.99997944e-01 2.23669314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3207140569999 meters Centerline goodness [0,1] 0.984949166754009 Centerline is valid? [True, True] Translation: X:672.09, Y:-48.26, Z:2.24 [[ 9.95986141e-01 8.94846601e-02 -2.02551511e-03 6.72086594e+02] [-8.94844014e-02 9.95988200e-01 2.18185039e-04 -4.82591412e+01] [ 2.03691337e-03 -3.60572676e-05 9.99997925e-01 2.23693644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3507140569999 meters Centerline goodness [0,1] 0.9839936476094951 Centerline is valid? [True, True] Translation: X:672.11, Y:-48.26, Z:2.24 [[ 9.95961925e-01 8.97600510e-02 -1.72529821e-03 6.72114064e+02] [-8.97598637e-02 9.95963419e-01 1.85843768e-04 -4.82618013e+01] [ 1.73501526e-03 -3.02307847e-05 9.99998494e-01 2.23684668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.380714057 meters Centerline goodness [0,1] 0.9846435793731041 Centerline is valid? [True, True] Translation: X:672.14, Y:-48.26, Z:2.24 [[ 9.95957328e-01 8.98034968e-02 -2.08155120e-03 6.72140891e+02] [-8.98032246e-02 9.95959503e-01 2.24053114e-04 -4.82645082e+01] [ 2.09326145e-03 -3.62173308e-05 9.99997808e-01 2.23643191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.410714057 meters Centerline goodness [0,1] 0.9846554293750919 Centerline is valid? [True, True] Translation: X:672.17, Y:-48.27, Z:2.24 [[ 9.95986958e-01 8.94624688e-02 -2.53887719e-03 6.72168343e+02] [-8.94620641e-02 9.95990193e-01 2.72725939e-04 -4.82680599e+01] [ 2.55309552e-03 -4.44982838e-05 9.99996740e-01 2.23620992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4407140569999 meters Centerline goodness [0,1] 0.9857747992666118 Centerline is valid? [True, True] Translation: X:672.20, Y:-48.27, Z:2.24 [[ 9.96018669e-01 8.90880161e-02 -3.18364284e-03 6.72196350e+02] [-8.90873793e-02 9.96023756e-01 3.41556603e-04 -4.82735322e+01] [ 3.20141250e-03 -5.65743566e-05 9.99994874e-01 2.23639599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4707140569999 meters Centerline goodness [0,1] 0.9859205170170801 Centerline is valid? [True, True] Translation: X:672.22, Y:-48.28, Z:2.24 [[ 9.96043873e-01 8.88057774e-02 -3.18388953e-03 6.72223599e+02] [-8.88051397e-02 9.96048960e-01 3.41404072e-04 -4.82779446e+01] [ 3.20162850e-03 -5.73076805e-05 9.99994873e-01 2.23665324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.500714057 meters Centerline goodness [0,1] 0.9859205170170801 Centerline is valid? [True, True] Translation: X:672.25, Y:-48.28, Z:2.24 [[ 9.96052714e-01 8.87065582e-02 -3.18391396e-03 6.72250940e+02] [-8.87059206e-02 9.96057801e-01 3.41175995e-04 -4.82807754e+01] [ 3.20162689e-03 -5.73972571e-05 9.99994873e-01 2.23680356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.530714057 meters Centerline goodness [0,1] 0.985663082437276 Centerline is valid? [True, True] Translation: X:672.28, Y:-48.29, Z:2.24 [[ 9.96063882e-01 8.85982052e-02 -2.66478566e-03 6.72278818e+02] [-8.85977587e-02 9.96067445e-01 2.85369362e-04 -4.82850104e+01] [ 2.67958945e-03 -4.81520776e-05 9.99996409e-01 2.23763825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5607140569999 meters Centerline goodness [0,1] 0.9865422047342975 Centerline is valid? [True, True] Translation: X:672.31, Y:-48.29, Z:2.24 [[ 9.96062976e-01 8.86191931e-02 -2.27726704e-03 6.72305744e+02] [-8.86188673e-02 9.96065579e-01 2.43770870e-04 -4.82891536e+01] [ 2.28991009e-03 -4.10023121e-05 9.99997377e-01 2.23824849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5907140569999 meters Centerline goodness [0,1] 0.9869883380079715 Centerline is valid? [True, True] Translation: X:672.33, Y:-48.29, Z:2.24 [[ 9.96070709e-01 8.85467674e-02 -1.61645922e-03 6.72333905e+02] [-8.85466032e-02 9.96072020e-01 1.72979419e-04 -4.82929909e+01] [ 1.62542657e-03 -2.91677593e-05 9.99998679e-01 2.23956745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.620714057 meters Centerline goodness [0,1] 0.9867516138559554 Centerline is valid? [True, True] Translation: X:672.36, Y:-48.30, Z:2.24 [[ 9.96079125e-01 8.84566159e-02 -1.34335330e-03 6.72359947e+02] [-8.84565024e-02 9.96080030e-01 1.43777227e-04 -4.82986106e+01] [ 1.35080544e-03 -2.43851601e-05 9.99999087e-01 2.24058779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.650714057 meters Centerline goodness [0,1] 0.9891679286555611 Centerline is valid? [True, True] Translation: X:672.39, Y:-48.30, Z:2.24 [[ 9.95888504e-01 9.05763297e-02 -1.41986899e-03 6.72388231e+02] [-9.05762056e-02 9.95889516e-01 1.51562057e-04 -4.83019205e+01] [ 1.42776057e-03 -2.23325648e-05 9.99998980e-01 2.24060562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6807140569999 meters Centerline goodness [0,1] 0.987848238935832 Centerline is valid? [True, True] Translation: X:672.42, Y:-48.31, Z:2.24 [[ 9.95773074e-01 9.18324081e-02 -1.67131880e-03 6.72415644e+02] [-9.18322380e-02 9.95774477e-01 1.78417250e-04 -4.83082427e+01] [ 1.68064109e-03 -2.41821475e-05 9.99998587e-01 2.24115153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7107140569999 meters Centerline goodness [0,1] 0.9885134850843607 Centerline is valid? [True, True] Translation: X:672.44, Y:-48.31, Z:2.24 [[ 9.95574540e-01 9.39586490e-02 -1.76303751e-03 6.72444932e+02] [-9.39584640e-02 9.95576100e-01 1.87687079e-04 -4.83098875e+01] [ 1.77287283e-03 -2.12041810e-05 9.99998428e-01 2.24079752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.740714057 meters Centerline goodness [0,1] 0.989530443539927 Centerline is valid? [True, True] Translation: X:672.47, Y:-48.31, Z:2.24 [[ 9.95228679e-01 9.75485853e-02 -2.03706234e-03 6.72473029e+02] [-9.75483459e-02 9.95230764e-01 2.16764585e-04 -4.83139136e+01] [ 2.04849218e-03 -1.70182700e-05 9.99997902e-01 2.24162584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.770714057 meters Centerline goodness [0,1] 0.990382790256248 Centerline is valid? [True, True] Translation: X:672.50, Y:-48.32, Z:2.24 [[ 9.95082421e-01 9.90269157e-02 -2.15540275e-03 6.72501349e+02] [-9.90266516e-02 9.95084755e-01 2.29191369e-04 -4.83173228e+01] [ 2.16750453e-03 -1.46219849e-05 9.99997651e-01 2.24177718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8007140569999 meters Centerline goodness [0,1] 0.9905280507396048 Centerline is valid? [True, True] Translation: X:672.53, Y:-48.32, Z:2.24 [[ 9.94947855e-01 1.00365880e-01 -2.33583941e-03 6.72529242e+02] [-1.00365574e-01 9.94950597e-01 2.48231761e-04 -4.83222479e+01] [ 2.34895882e-03 -1.25397951e-05 9.99997241e-01 2.24195078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8307140569999 meters Centerline goodness [0,1] 0.9926042983565108 Centerline is valid? [True, True] Translation: X:672.56, Y:-48.33, Z:2.24 [[ 9.94752949e-01 1.02259402e-01 -3.09603939e-03 6.72557920e+02] [-1.02258874e-01 9.94757767e-01 3.28506006e-04 -4.83298260e+01] [ 3.11340206e-03 -1.01848144e-05 9.99995153e-01 2.24197402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8607140569999 meters Centerline goodness [0,1] 0.9923107461501494 Centerline is valid? [True, True] Translation: X:672.58, Y:-48.34, Z:2.24 [[ 9.94723974e-01 1.02524988e-01 -3.58367333e-03 6.72584526e+02] [-1.02524284e-01 9.94730429e-01 3.80139156e-04 -4.83354681e+01] [ 3.60376267e-03 -1.07199904e-05 9.99993506e-01 2.24229462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.890714057 meters Centerline goodness [0,1] 0.9932794857345606 Centerline is valid? [True, True] Translation: X:672.61, Y:-48.34, Z:2.24 [[ 9.94644093e-01 1.03268482e-01 -4.32992910e-03 6.72610635e+02] [-1.03267464e-01 9.94653518e-01 4.58617597e-04 -4.83439206e+01] [ 4.35413995e-03 -9.02048725e-06 9.99990521e-01 2.24312151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9207140569999 meters Centerline goodness [0,1] 0.9938760581042951 Centerline is valid? [True, True] Translation: X:672.64, Y:-48.35, Z:2.24 [[ 9.94624810e-01 1.03465339e-01 -4.05108816e-03 6.72638542e+02] [-1.03464451e-01 9.94633060e-01 4.28606958e-04 -4.83497430e+01] [ 4.07369218e-03 -7.15950104e-06 9.99991702e-01 2.24368936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9507140569999 meters Centerline goodness [0,1] 0.9938361584273875 Centerline is valid? [True, True] Translation: X:672.66, Y:-48.36, Z:2.24 [[ 9.94559661e-01 1.04090072e-01 -4.04191269e-03 6.72664577e+02] [-1.04089195e-01 9.94567874e-01 4.27240790e-04 -4.83556639e+01] [ 4.06442803e-03 -4.19701529e-06 9.99991740e-01 2.24450580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9807140569999 meters Centerline goodness [0,1] 0.9947517494168611 Centerline is valid? [True, True] Translation: X:672.69, Y:-48.36, Z:2.25 [[ 9.94351775e-01 1.06064154e-01 -3.86549797e-03 6.72692053e+02] [-1.06063369e-01 9.94359289e-01 4.08132459e-04 -4.83648680e+01] [ 3.88698204e-03 4.16050245e-06 9.99992446e-01 2.24607104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.010714057 meters Centerline goodness [0,1] 0.9948692278813666 Centerline is valid? [True, True] Translation: X:672.72, Y:-48.37, Z:2.25 [[ 9.94189820e-01 1.07568176e-01 -3.96091290e-03 6.72720338e+02] [-1.07567365e-01 9.94197710e-01 4.17730142e-04 -4.83712218e+01] [ 3.98286501e-03 1.07619088e-05 9.99992068e-01 2.24665627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.040714057 meters Centerline goodness [0,1] 0.9961684219342141 Centerline is valid? [True, True] Translation: X:672.75, Y:-48.38, Z:2.25 [[ 9.94022122e-01 1.09120806e-01 -3.55969781e-03 6.72748981e+02] [-1.09120162e-01 9.94028495e-01 3.75214076e-04 -4.83777549e+01] [ 3.57938472e-03 1.54637097e-05 9.99993594e-01 2.24742273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0707140569999 meters Centerline goodness [0,1] 0.9966241717688501 Centerline is valid? [True, True] Translation: X:672.78, Y:-48.39, Z:2.25 [[ 9.93670497e-01 1.12285334e-01 -3.30865030e-03 6.72777237e+02] [-1.12284796e-01 9.93676005e-01 3.48541093e-04 -4.83877547e+01] [ 3.32686247e-03 2.51761240e-05 9.99994466e-01 2.24863763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1007140569999 meters Centerline goodness [0,1] 0.9970774373961859 Centerline is valid? [True, True] Translation: X:672.81, Y:-48.40, Z:2.25 [[ 9.93515500e-01 1.13660938e-01 -2.85366210e-03 6.72805759e+02] [-1.13660544e-01 9.93519597e-01 3.00465754e-04 -4.83952075e+01] [ 2.86932044e-03 2.58314017e-05 9.99995883e-01 2.24954759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.130714057 meters Centerline goodness [0,1] 0.9975626155656413 Centerline is valid? [True, True] Translation: X:672.83, Y:-48.41, Z:2.25 [[ 9.93300492e-01 1.15518633e-01 -3.09498621e-03 6.72832433e+02] [-1.15518179e-01 9.93305313e-01 3.25656520e-04 -4.84064824e+01] [ 3.11188564e-03 3.40523889e-05 9.99995157e-01 2.25104292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.160714057 meters Centerline goodness [0,1] 0.9985703473215036 Centerline is valid? [True, True] Translation: X:672.86, Y:-48.41, Z:2.25 [[ 9.93247754e-01 1.15969178e-01 -3.17007378e-03 6.72860313e+02] [-1.15968705e-01 9.93252812e-01 3.33215634e-04 -4.84143627e+01] [ 3.18732744e-03 3.66636716e-05 9.99994920e-01 2.25202643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1907140569999 meters Centerline goodness [0,1] 0.9982362575064041 Centerline is valid? [True, True] Translation: X:672.89, Y:-48.42, Z:2.25 [[ 9.93202143e-01 1.16361568e-01 -3.08030666e-03 6.72888310e+02] [-1.16361124e-01 9.93206919e-01 3.23567466e-04 -4.84227806e+01] [ 3.09703271e-03 3.70600434e-05 9.99995203e-01 2.25194522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2207140569999 meters Centerline goodness [0,1] 0.9985124659543264 Centerline is valid? [True, True] Translation: X:672.92, Y:-48.43, Z:2.25 [[ 9.93197751e-01 1.16393437e-01 -3.28557444e-03 6.72915427e+02] [-1.16392933e-01 9.93203185e-01 3.44945385e-04 -4.84312949e+01] [ 3.30339238e-03 3.98186644e-05 9.99994543e-01 2.25233200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.250714057 meters Centerline goodness [0,1] 0.9986366019926586 Centerline is valid? [True, True] Translation: X:672.94, Y:-48.45, Z:2.25 [[ 9.93215315e-01 1.16222980e-01 -3.94432669e-03 6.72942444e+02] [-1.16222254e-01 9.93223145e-01 4.13508656e-04 -4.84452446e+01] [ 3.96565577e-03 4.77154086e-05 9.99992136e-01 2.25237468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.280714057 meters Centerline goodness [0,1] 0.9989905999621475 Centerline is valid? [True, True] Translation: X:672.97, Y:-48.45, Z:2.25 [[ 9.93179060e-01 1.16490978e-01 -5.02073301e-03 6.72970013e+02] [-1.16489808e-01 9.93191748e-01 5.25891789e-04 -4.84540751e+01] [ 5.04781224e-03 6.25595101e-05 9.99987258e-01 2.25241505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3107140569999 meters Centerline goodness [0,1] 0.9994123449535123 Centerline is valid? [True, True] Translation: X:673.00, Y:-48.47, Z:2.25 [[ 9.93112969e-01 1.16981930e-01 -6.46977632e-03 6.72997615e+02] [-1.16980000e-01 9.93134040e-01 6.77116013e-04 -4.84688699e+01] [ 6.50456543e-03 8.43817431e-05 9.99978842e-01 2.25203868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3407140569999 meters Centerline goodness [0,1] 0.9997913449901932 Centerline is valid? [True, True] Translation: X:673.03, Y:-48.48, Z:2.25 [[ 9.93027029e-01 1.17669269e-01 -7.15985722e-03 6.73025926e+02] [-1.17666927e-01 9.93052835e-01 7.48894743e-04 -4.84778846e+01] [ 7.19823841e-03 9.88056742e-05 9.99974087e-01 2.25262854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.370714057 meters Centerline goodness [0,1] 0.999916503152006 Centerline is valid? [True, True] Translation: X:673.05, Y:-48.49, Z:2.25 [[ 9.92988701e-01 1.17999653e-01 -7.03713912e-03 6.73053648e+02] [-1.17997403e-01 9.93013631e-01 7.35564945e-04 -4.84861839e+01] [ 7.07477148e-03 9.99564580e-05 9.99974968e-01 2.25326113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.400714057 meters Centerline goodness [0,1] 0.999728618249379 Centerline is valid? [True, True] Translation: X:673.08, Y:-48.50, Z:2.25 [[ 9.92881715e-01 1.18960802e-01 -5.85048485e-03 6.73080998e+02] [-1.18959265e-01 9.92898947e-01 6.11180854e-04 -4.84994712e+01] [ 5.88164682e-03 8.91390861e-05 9.99982699e-01 2.25490901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4307140569999 meters Centerline goodness [0,1] 0.9999371767218813 Centerline is valid? [True, True] Translation: X:673.11, Y:-48.51, Z:2.26 [[ 9.92871786e-01 1.19074976e-01 -5.17365350e-03 6.73109280e+02] [-1.19073778e-01 9.92885262e-01 5.40155633e-04 -4.85080419e+01] [ 5.20116333e-03 7.97411793e-05 9.99986471e-01 2.25616055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4607140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.14, Y:-48.52, Z:2.26 [[ 9.92885891e-01 1.18968301e-01 -4.91444739e-03 6.73137241e+02] [-1.18967220e-01 9.92898050e-01 5.12744763e-04 -4.85227535e+01] [ 4.94054561e-03 7.55611045e-05 9.99987793e-01 2.25659947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.490714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.17, Y:-48.53, Z:2.26 [[ 9.92998024e-01 1.18039194e-01 -4.65543675e-03 6.73166325e+02] [-1.18038215e-01 9.93008935e-01 4.85516702e-04 -4.85313692e+01] [ 4.68020029e-03 6.74023183e-05 9.99989046e-01 2.25650320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.520714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.20, Y:-48.54, Z:2.26 [[ 9.93184801e-01 1.16465975e-01 -4.43042204e-03 6.73196021e+02] [-1.16465072e-01 9.93194680e-01 4.62169228e-04 -4.85412224e+01] [ 4.45409859e-03 5.69699698e-05 9.99990079e-01 2.25671800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5507140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.23, Y:-48.56, Z:2.26 [[ 9.93669484e-01 1.12299687e-01 -3.12025203e-03 6.73225259e+02] [-1.12299219e-01 9.93674383e-01 3.25162629e-04 -4.85573495e+01] [ 3.13703017e-03 2.72976842e-05 9.99995079e-01 2.25739082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5807140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.26, Y:-48.57, Z:2.26 [[ 9.93962007e-01 1.09692371e-01 -2.66687022e-03 6.73256725e+02] [-1.09692020e-01 9.93965585e-01 2.77889246e-04 -4.85672955e+01] [ 2.68125955e-03 1.63230296e-05 9.99996405e-01 2.25786590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6107140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.29, Y:-48.58, Z:2.26 [[ 9.94596267e-01 1.03789931e-01 -2.43247113e-03 6.73287216e+02] [-1.03789620e-01 9.94599241e-01 2.53942528e-04 -4.85835164e+01] [ 2.44569061e-03 -1.05036255e-07 9.99997009e-01 2.25797218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.640714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.32, Y:-48.59, Z:2.26 [[ 9.94922339e-01 1.00617387e-01 -2.38328426e-03 6.73318831e+02] [-1.00617078e-01 9.94925194e-01 2.49337902e-04 -4.85932806e+01] [ 2.39627729e-03 -8.27274970e-06 9.99997129e-01 2.25828967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6707140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.35, Y:-48.60, Z:2.26 [[ 9.95214998e-01 9.76732196e-02 -2.65526615e-03 6.73350528e+02] [-9.76728236e-02 9.95218540e-01 2.78737384e-04 -4.86030942e+01] [ 2.66979528e-03 -1.80562828e-05 9.99996436e-01 2.25869028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7007140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.38, Y:-48.62, Z:2.26 [[ 9.95904509e-01 9.03708992e-02 -2.70357839e-03 6.73381478e+02] [-9.03704585e-02 9.95908178e-01 2.85000150e-04 -4.86186173e+01] [ 2.71827154e-03 -3.95093166e-05 9.99996305e-01 2.25835266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7307140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.41, Y:-48.63, Z:2.26 [[ 9.96246624e-01 8.65079150e-02 -3.00744294e-03 6.73413244e+02] [-8.65073526e-02 9.96251162e-01 3.16859609e-04 -4.86275516e+01] [ 3.02357939e-03 -5.55043895e-05 9.99995427e-01 2.25856216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.760714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.44, Y:-48.64, Z:2.26 [[ 9.96869464e-01 7.89671985e-02 -3.93111165e-03 6.73442655e+02] [-7.89661719e-02 9.96877209e-01 4.15928812e-04 -4.86414293e+01] [ 3.95168034e-03 -1.04201893e-04 9.99992187e-01 2.25801568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.790714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.47, Y:-48.65, Z:2.26 [[ 9.97099587e-01 7.59418457e-02 -5.02493547e-03 6.73474172e+02] [-7.59401294e-02 9.97112237e-01 5.31754167e-04 -4.86489866e+01] [ 5.05080704e-03 -1.48617611e-04 9.99987234e-01 2.25803319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.51, Y:-48.66, Z:2.26 [[ 9.97334879e-01 7.27648673e-02 -5.33031248e-03 6.73505696e+02] [-7.27628885e-02 9.97349108e-01 5.64472415e-04 -4.86558160e+01] [ 5.35725616e-03 -1.75119095e-04 9.99985634e-01 2.25826586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8507140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.54, Y:-48.66, Z:2.26 [[ 9.97683372e-01 6.77923738e-02 -5.66420436e-03 6.73535849e+02] [-6.77900570e-02 9.97699428e-01 6.00245101e-04 -4.86638343e+01] [ 5.69186549e-03 -2.14877820e-04 9.99983778e-01 2.26005025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.880714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.57, Y:-48.67, Z:2.26 [[ 9.97815491e-01 6.58129419e-02 -5.73599474e-03 6.73567484e+02] [-6.58105326e-02 9.97831952e-01 6.07970873e-04 -4.86679329e+01] [ 5.76357118e-03 -2.29153886e-04 9.99983364e-01 2.26099837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.910714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.60, Y:-48.67, Z:2.26 [[ 9.98051759e-01 6.21985632e-02 -4.90159848e-03 6.73596695e+02] [-6.21967588e-02 9.98063772e-01 5.19861960e-04 -4.86743589e+01] [ 4.92444253e-03 -2.13985605e-04 9.99987852e-01 2.26315390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9407140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.63, Y:-48.68, Z:2.26 [[ 9.98128493e-01 6.09966168e-02 -4.35027528e-03 6.73628168e+02] [-6.09951851e-02 9.98137954e-01 4.61142699e-04 -4.86769450e+01] [ 4.37030301e-03 -1.94933821e-04 9.99990431e-01 2.26397641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9707140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.66, Y:-48.68, Z:2.26 [[ 9.98192913e-01 5.99582995e-02 -3.98882438e-03 6.73660490e+02] [-5.99570844e-02 9.98200866e-01 4.23604793e-04 -4.86798942e+01] [ 4.00704658e-03 -1.83681022e-04 9.99991955e-01 2.26466701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.000714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.69, Y:-48.68, Z:2.27 [[ 9.98361767e-01 5.71383225e-02 -2.99904920e-03 6.73690886e+02] [-5.71376201e-02 9.98366261e-01 3.19446081e-04 -4.86821050e+01] [ 3.01240215e-03 -1.47564221e-04 9.99995452e-01 2.26648365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.030714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.72, Y:-48.68, Z:2.27 [[ 9.98403651e-01 5.64176153e-02 -2.68354022e-03 6.73723121e+02] [-5.64170518e-02 9.98407249e-01 2.85265852e-04 -4.86841739e+01] [ 2.69536002e-03 -1.33413041e-04 9.99996359e-01 2.26725174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0607140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.75, Y:-48.68, Z:2.27 [[ 9.98463822e-01 5.53310657e-02 -2.91033234e-03 6.73754606e+02] [-5.53303959e-02 9.98468052e-01 3.10227097e-04 -4.86836225e+01] [ 2.92303906e-03 -1.48720692e-04 9.99995717e-01 2.26794437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0907140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.79, Y:-48.68, Z:2.27 [[ 9.98457730e-01 5.54583905e-02 -2.55509023e-03 6.73787890e+02] [-5.54578740e-02 9.98460991e-01 2.72608832e-04 -4.86816242e+01] [ 2.56627637e-03 -1.30488523e-04 9.99996699e-01 2.26812110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.120714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.82, Y:-48.68, Z:2.27 [[ 9.98433105e-01 5.59083015e-02 -2.36552898e-03 6.73820570e+02] [-5.59078585e-02 9.98435900e-01 2.53031114e-04 -4.86807660e+01] [ 2.37597560e-03 -1.20382981e-04 9.99997170e-01 2.26854021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.150714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.85, Y:-48.69, Z:2.27 [[ 9.98365953e-01 5.70856418e-02 -2.57935547e-03 6.73850910e+02] [-5.70851171e-02 9.98369277e-01 2.76660213e-04 -4.86864648e+01] [ 2.59094259e-03 -1.28965328e-04 9.99996635e-01 2.26867513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1807140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.88, Y:-48.68, Z:2.27 [[ 9.98211462e-01 5.96808875e-02 -3.47405721e-03 6.73883519e+02] [-5.96799454e-02 9.98217493e-01 3.74308769e-04 -4.86786074e+01] [ 3.49020376e-03 -1.66307759e-04 9.99993895e-01 2.26806484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2107140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.92, Y:-48.67, Z:2.27 [[ 9.98095842e-01 6.15587691e-02 -3.89973014e-03 6.73915823e+02] [-6.15575954e-02 9.98103444e-01 4.20404964e-04 -4.86744512e+01] [ 3.91821370e-03 -1.79546437e-04 9.99992308e-01 2.26752863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.240714057 meters Centerline goodness [0,1] 0.9999789580001683 Centerline is valid? [True, True] Translation: X:673.95, Y:-48.67, Z:2.27 [[ 9.97960736e-01 6.36253922e-02 -5.11655467e-03 6.73947584e+02] [-6.36233969e-02 9.97973827e-01 5.51949097e-04 -4.86715846e+01] [ 5.14130562e-03 -2.25290939e-04 9.99986758e-01 2.26704182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.270714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:673.98, Y:-48.67, Z:2.27 [[ 9.97688226e-01 6.76020863e-02 -6.93992545e-03 6.73977483e+02] [-6.75985099e-02 9.97712324e-01 7.48883738e-04 -4.86689278e+01] [ 6.97467525e-03 -2.78023868e-04 9.99975638e-01 2.26545571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3007140569999 meters Centerline goodness [0,1] 0.9999789968915399 Centerline is valid? [True, True] Translation: X:674.01, Y:-48.67, Z:2.26 [[ 9.97586305e-01 6.90528394e-02 -7.29861632e-03 6.74009883e+02] [-6.90489223e-02 9.97612964e-01 7.87622028e-04 -4.86653251e+01] [ 7.33558179e-03 -2.81759358e-04 9.99973055e-01 2.26492327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3307140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:674.04, Y:-48.66, Z:2.26 [[ 9.97332347e-01 7.25510587e-02 -8.03330649e-03 6.74042018e+02] [-7.25464223e-02 9.97364660e-01 8.67427518e-04 -4.86578485e+01] [ 8.07506878e-03 -2.82325877e-04 9.99967356e-01 2.26489612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3607140569999 meters Centerline goodness [0,1] 0.9998736363253443 Centerline is valid? [True, True] Translation: X:674.07, Y:-48.66, Z:2.26 [[ 9.97185663e-01 7.45076807e-02 -8.32814905e-03 6.74072503e+02] [-7.45027642e-02 9.97220401e-01 8.99469394e-04 -4.86568517e+01] [ 8.37201752e-03 -2.76467859e-04 9.99964916e-01 2.26498048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.390714057 meters Centerline goodness [0,1] 0.9998113682092555 Centerline is valid? [True, True] Translation: X:674.10, Y:-48.66, Z:2.27 [[ 9.96986139e-01 7.71081973e-02 -8.54197498e-03 6.74102675e+02] [-7.71031204e-02 9.97022697e-01 9.22563346e-04 -4.86565176e+01] [ 8.58768013e-03 -2.61169943e-04 9.99963091e-01 2.26524314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4207140569999 meters Centerline goodness [0,1] 0.9998113682092555 Centerline is valid? [True, True] Translation: X:674.13, Y:-48.66, Z:2.27 [[ 9.96986139e-01 7.71081973e-02 -8.54197498e-03 6.74132515e+02] [-7.71031204e-02 9.97022697e-01 9.22563346e-04 -4.86597404e+01] [ 8.58768013e-03 -2.61169943e-04 9.99963091e-01 2.26540722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4507140569999 meters Centerline goodness [0,1] 0.9999158514778584 Centerline is valid? [True, True] Translation: X:674.16, Y:-48.65, Z:2.27 [[ 9.96546816e-01 8.26015176e-02 -8.45180407e-03 6.74163781e+02] [-8.25967452e-02 9.96582633e-01 9.12770493e-04 -4.86521241e+01] [ 8.49831739e-03 -2.11527021e-04 9.99963866e-01 2.26620992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4807140569999 meters Centerline goodness [0,1] 0.9998736043817148 Centerline is valid? [True, True] Translation: X:674.19, Y:-48.65, Z:2.27 [[ 9.96294600e-01 8.56141252e-02 -8.20313846e-03 6.74193789e+02] [-8.56097327e-02 9.96328354e-01 8.85771425e-04 -4.86512835e+01] [ 8.24885399e-03 -1.80220797e-04 9.99965961e-01 2.26707463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.510714057 meters Centerline goodness [0,1] 0.9996864024084295 Centerline is valid? [True, True] Translation: X:674.22, Y:-48.65, Z:2.27 [[ 9.96042112e-01 8.85898191e-02 -7.20792244e-03 6.74223830e+02] [-8.85865066e-02 9.96068183e-01 7.78159380e-04 -4.86495808e+01] [ 7.24851920e-03 -1.36554844e-04 9.99973720e-01 2.26802195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.540714057 meters Centerline goodness [0,1] 0.9996421730619461 Centerline is valid? [True, True] Translation: X:674.25, Y:-48.64, Z:2.27 [[ 9.95549724e-01 9.41422727e-02 -4.24031782e-03 6.74254023e+02] [-9.41411769e-02 9.95558752e-01 4.57707830e-04 -4.86446132e+01] [ 4.26457517e-03 -5.64823934e-05 9.99990905e-01 2.26994984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5707140569999 meters Centerline goodness [0,1] 0.9995202136092453 Centerline is valid? [True, True] Translation: X:674.28, Y:-48.64, Z:2.27 [[ 9.95306645e-01 9.67078950e-02 -3.50209960e-03 6.74284391e+02] [-9.67071639e-02 9.95312806e-01 3.77896126e-04 -4.86439147e+01] [ 3.52223011e-03 -3.74444054e-05 9.99993796e-01 2.27031004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6007140569999 meters Centerline goodness [0,1] 0.999391050542805 Centerline is valid? [True, True] Translation: X:674.31, Y:-48.64, Z:2.27 [[ 9.94987813e-01 9.99647222e-02 -2.51108053e-03 6.74314264e+02] [-9.99643566e-02 9.94990982e-01 2.70995170e-04 -4.86407367e+01] [ 2.52559244e-03 -1.86183423e-05 9.99996811e-01 2.27038020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.630714057 meters Centerline goodness [0,1] 0.9993271939783861 Centerline is valid? [True, True] Translation: X:674.34, Y:-48.64, Z:2.27 [[ 9.94867950e-01 1.01148517e-01 -2.59597003e-03 6.74343675e+02] [-1.01148131e-01 9.94871337e-01 2.80058553e-04 -4.86411048e+01] [ 2.61098369e-03 -1.60437613e-05 9.99996591e-01 2.27034761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.660714057 meters Centerline goodness [0,1] 0.9989892821797814 Centerline is valid? [True, True] Translation: X:674.37, Y:-48.64, Z:2.27 [[ 9.94729146e-01 1.02518467e-01 -1.97215805e-03 6.74372729e+02] [-1.02518247e-01 9.94731101e-01 2.12797327e-04 -4.86424729e+01] [ 1.98358260e-03 -9.49351799e-06 9.99998033e-01 2.27043777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6907140569999 meters Centerline goodness [0,1] 0.9993901413189771 Centerline is valid? [True, True] Translation: X:674.40, Y:-48.64, Z:2.27 [[ 9.94608326e-01 1.03684702e-01 -1.93906040e-03 6.74402609e+02] [-1.03684492e-01 9.94610216e-01 2.09057914e-04 -4.86435395e+01] [ 1.95028539e-03 -6.88025012e-06 9.99998098e-01 2.27055894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7207140569999 meters Centerline goodness [0,1] 0.9993272364133291 Centerline is valid? [True, True] Translation: X:674.43, Y:-48.64, Z:2.27 [[ 9.94327396e-01 1.06343944e-01 -1.99893015e-03 6.74432588e+02] [-1.06343726e-01 9.94329405e-01 2.15436556e-04 -4.86427415e+01] [ 2.01050540e-03 -1.64079002e-06 9.99997979e-01 2.26986669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.750714057 meters Centerline goodness [0,1] 0.9990752805682821 Centerline is valid? [True, True] Translation: X:674.46, Y:-48.64, Z:2.27 [[ 9.94091787e-01 1.08502318e-01 -2.96081746e-03 6.74461048e+02] [-1.08501849e-01 9.94096196e-01 3.18947052e-04 -4.86427022e+01] [ 2.97794387e-03 4.19152495e-06 9.99995566e-01 2.26832676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.780714057 meters Centerline goodness [0,1] 0.9990775487955722 Centerline is valid? [True, True] Translation: X:674.49, Y:-48.65, Z:2.27 [[ 9.94002395e-01 1.09289155e-01 -3.88836209e-03 6.74490156e+02] [-1.09288354e-01 9.94010000e-01 4.18590650e-04 -4.86451333e+01] [ 3.91081822e-03 8.87258387e-06 9.99992353e-01 2.26767058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8107140569999 meters Centerline goodness [0,1] 0.999369469724038 Centerline is valid? [True, True] Translation: X:674.52, Y:-48.65, Z:2.27 [[ 9.93963807e-01 1.09618741e-01 -4.43653302e-03 6.74518480e+02] [-1.09617702e-01 9.93973708e-01 4.77230694e-04 -4.86483471e+01] [ 4.46211061e-03 1.19725196e-05 9.99990045e-01 2.26715795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8407140569999 meters Centerline goodness [0,1] 0.9992228686648044 Centerline is valid? [True, True] Translation: X:674.55, Y:-48.65, Z:2.27 [[ 9.93929972e-01 1.09898038e-01 -5.06270819e-03 6.74547318e+02] [-1.09896692e-01 9.93942866e-01 5.44169986e-04 -4.86516404e+01] [ 5.09184590e-03 1.55080223e-05 9.99987036e-01 2.26659806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.870714057 meters Centerline goodness [0,1] 0.9991156405289312 Centerline is valid? [True, True] Translation: X:674.57, Y:-48.66, Z:2.27 [[ 9.93933292e-01 1.09871396e-01 -4.98864441e-03 6.74574861e+02] [-1.09870091e-01 9.93945811e-01 5.35867995e-04 -4.86560561e+01] [ 5.01731878e-03 1.54857725e-05 9.99987413e-01 2.26688184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.900714057 meters Centerline goodness [0,1] 0.9989130207571228 Centerline is valid? [True, True] Translation: X:674.60, Y:-48.66, Z:2.27 [[ 9.93999567e-01 1.09268054e-01 -5.03528504e-03 6.74602483e+02] [-1.09266718e-01 9.94012320e-01 5.40429293e-04 -4.86597195e+01] [ 5.06418702e-03 1.30025879e-05 9.99987177e-01 2.26644089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9307140569999 meters Centerline goodness [0,1] 0.9990958788898234 Centerline is valid? [True, True] Translation: X:674.63, Y:-48.67, Z:2.27 [[ 9.94284528e-01 1.06626207e-01 -5.39718263e-03 6.74631957e+02] [-1.06624636e-01 9.94299176e-01 5.78765360e-04 -4.86669511e+01] [ 5.42812580e-03 1.51899589e-08 9.99985268e-01 2.26675312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9607140569999 meters Centerline goodness [0,1] 0.9994336298036584 Centerline is valid? [True, True] Translation: X:674.66, Y:-48.67, Z:2.27 [[ 9.94527617e-01 1.04324522e-01 -5.58686727e-03 6.74660285e+02] [-1.04322803e-01 9.94543309e-01 5.98894823e-04 -4.86732714e+01] [ 5.61886087e-03 -1.27797852e-05 9.99984214e-01 2.26710115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.990714057 meters Centerline goodness [0,1] 0.9995163494900642 Centerline is valid? [True, True] Translation: X:674.69, Y:-48.68, Z:2.27 [[ 9.94788498e-01 1.01830232e-01 -5.14279775e-03 6.74689398e+02] [-1.01828744e-01 9.94801791e-01 5.51099940e-04 -4.86802698e+01] [ 5.17218305e-03 -2.45432448e-05 9.99986624e-01 2.26790769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.020714057 meters Centerline goodness [0,1] 0.9996016854992558 Centerline is valid? [True, True] Translation: X:674.72, Y:-48.69, Z:2.27 [[ 9.95336761e-01 9.63837059e-02 -3.86173062e-03 6.74717901e+02] [-9.63828260e-02 9.95344252e-01 4.13733239e-04 -4.86907972e+01] [ 3.88362852e-03 -3.95993916e-05 9.99992458e-01 2.26896685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0507140569999 meters Centerline goodness [0,1] 0.9996861793380476 Centerline is valid? [True, True] Translation: X:674.75, Y:-48.70, Z:2.27 [[ 9.95555875e-01 9.40964178e-02 -3.79009382e-03 6.74747221e+02] [-9.40955544e-02 9.95563088e-01 4.05863569e-04 -4.86975311e+01] [ 3.81146782e-03 -4.74288805e-05 9.99992735e-01 2.26968065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0807140569999 meters Centerline goodness [0,1] 0.9998529071844334 Centerline is valid? [True, True] Translation: X:674.78, Y:-48.71, Z:2.27 [[ 9.95883706e-01 9.05956256e-02 -2.84197875e-03 6.74778308e+02] [-9.05951262e-02 9.95887760e-01 3.04239818e-04 -4.87051184e+01] [ 2.85785464e-03 -4.55180543e-05 9.99995915e-01 2.27031116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1107140569999 meters Centerline goodness [0,1] 0.9997897436975673 Centerline is valid? [True, True] Translation: X:674.81, Y:-48.71, Z:2.27 [[ 9.96006787e-01 8.92459470e-02 -2.37492373e-03 6.74808824e+02] [-8.92455940e-02 9.96009618e-01 2.54406099e-04 -4.87104626e+01] [ 2.38815159e-03 -4.14387221e-05 9.99997148e-01 2.27054467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.140714057 meters Centerline goodness [0,1] 0.9998107215714316 Centerline is valid? [True, True] Translation: X:674.84, Y:-48.72, Z:2.27 [[ 9.96107244e-01 8.81459729e-02 -8.03823804e-04 6.74838730e+02] [-8.81459322e-02 9.96107568e-01 8.60229572e-05 -4.87186371e+01] [ 8.08277552e-04 -1.48342922e-05 9.99999673e-01 2.27207233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1707140569999 meters Centerline goodness [0,1] 0.9998743350228292 Centerline is valid? [True, True] Translation: X:674.87, Y:-48.72, Z:2.27 [[ 9.96115482e-01 8.80562134e-02 -2.22519553e-04 6.74869243e+02] [-8.80562106e-02 9.96115507e-01 2.26260805e-05 -4.87248662e+01] [ 2.23647544e-04 -2.94396046e-06 9.99999975e-01 2.27321255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2007140569999 meters Centerline goodness [0,1] 0.9999579230833965 Centerline is valid? [True, True] Translation: X:674.90, Y:-48.73, Z:2.27 [[ 9.96135027e-01 8.78308851e-02 8.61756158e-04 6.74900514e+02] [-8.78308366e-02 9.96135400e-01 -9.39926633e-05 -4.87300816e+01] [-8.66681274e-04 1.79406199e-05 9.99999624e-01 2.27381775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2307140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:674.93, Y:-48.74, Z:2.27 [[ 9.96220138e-01 8.68450781e-02 1.83552456e-03 6.74932087e+02] [-8.68448582e-02 9.96221828e-01 -1.99323587e-04 -4.87368539e+01] [-1.84589991e-03 3.91643007e-05 9.99998296e-01 2.27430924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.260714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:674.96, Y:-48.74, Z:2.27 [[ 9.96280614e-01 8.61402132e-02 2.19114253e-03 6.74963554e+02] [-8.61398975e-02 9.96283023e-01 -2.38216020e-04 -4.87416269e+01] [-2.20351808e-03 4.85852102e-05 9.99997571e-01 2.27421825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.290714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:674.99, Y:-48.75, Z:2.27 [[ 9.96494831e-01 8.36467314e-02 1.12942935e-03 6.74993762e+02] [-8.36466458e-02 9.96495471e-01 -1.22947005e-04 -4.87492423e+01] [-1.13575534e-03 2.80430786e-05 9.99999355e-01 2.27317701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3207140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:675.03, Y:-48.75, Z:2.27 [[ 9.96598739e-01 8.24031180e-02 8.24188127e-04 6.75025024e+02] [-8.24030712e-02 9.96599080e-01 -9.06268819e-05 -4.87545949e+01] [-8.28853067e-04 2.24030032e-05 9.99999656e-01 2.27262186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3507140569999 meters Centerline goodness [0,1] 0.9999578050169835 Centerline is valid? [True, True] Translation: X:675.06, Y:-48.76, Z:2.27 [[ 9.96846322e-01 7.93561071e-02 1.33904986e-04 6.75055924e+02] [-7.93561057e-02 9.96846331e-01 -1.57761812e-05 -4.87612004e+01] [-1.34734630e-04 5.10025004e-06 9.99999991e-01 2.27112639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.380714057 meters Centerline goodness [0,1] 0.9999790123197683 Centerline is valid? [True, True] Translation: X:675.09, Y:-48.77, Z:2.27 [[ 9.96987674e-01 7.75591720e-02 -3.91518649e-04 6.75087543e+02] [-7.75591617e-02 9.96987751e-01 4.13446413e-05 -4.87666124e+01] [ 3.93545953e-04 -1.08542396e-05 9.99999923e-01 2.27136699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.410714057 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:675.12, Y:-48.77, Z:2.27 [[ 9.97091516e-01 7.62114849e-02 5.64814319e-04 6.75119757e+02] [-7.62114614e-02 9.97091675e-01 -6.29636680e-05 -4.87710472e+01] [-5.67970210e-04 1.97352145e-05 9.99999839e-01 2.27177964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4407140569999 meters Centerline goodness [0,1] 0.9998527772519823 Centerline is valid? [True, True] Translation: X:675.15, Y:-48.77, Z:2.27 [[ 9.97345742e-01 7.27949722e-02 1.53687178e-03 6.75151061e+02] [-7.27947996e-02 9.97346925e-01 -1.68019448e-04 -4.87739302e+01] [-1.54502532e-03 5.56972082e-05 9.99998805e-01 2.27198227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4707140569999 meters Centerline goodness [0,1] 0.9997262696875263 Centerline is valid? [True, True] Translation: X:675.18, Y:-48.78, Z:2.27 [[ 9.97466369e-01 7.11210842e-02 1.62327078e-03 6.75181224e+02] [-7.11208871e-02 9.97467687e-01 -1.78877874e-04 -4.87821853e+01] [-1.63188214e-03 6.29762058e-05 9.99998666e-01 2.27314909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.500714057 meters Centerline goodness [0,1] 0.9999156936306538 Centerline is valid? [True, True] Translation: X:675.21, Y:-48.79, Z:2.27 [[ 9.97607825e-01 6.91120735e-02 1.46588259e-03 6.75213418e+02] [-6.91119116e-02 9.97608900e-01 -1.60878171e-04 -4.87860006e+01] [-1.47349614e-03 5.91833750e-05 9.99998913e-01 2.27312065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.530714057 meters Centerline goodness [0,1] 0.9998317772731096 Centerline is valid? [True, True] Translation: X:675.24, Y:-48.79, Z:2.27 [[ 9.97870426e-01 6.52019800e-02 1.82070902e-03 6.75244788e+02] [-6.52017243e-02 9.97872084e-01 -1.99489808e-04 -4.87860443e+01] [-1.82984183e-03 8.03516122e-05 9.99998323e-01 2.27285515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5607140569999 meters Centerline goodness [0,1] 0.9997684454267972 Centerline is valid? [True, True] Translation: X:675.28, Y:-48.79, Z:2.27 [[ 9.98018318e-01 6.28925154e-02 1.99209834e-03 6.75276974e+02] [-6.28922039e-02 9.98020302e-01 -2.18688893e-04 -4.87892831e+01] [-2.00190848e-03 9.29680663e-05 9.99997992e-01 2.27292942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5907140569999 meters Centerline goodness [0,1] 0.9997894736842106 Centerline is valid? [True, True] Translation: X:675.31, Y:-48.80, Z:2.27 [[ 9.98110329e-01 6.14083643e-02 2.18699360e-03 6.75307754e+02] [-6.14079824e-02 9.98112720e-01 -2.41392382e-04 -4.87975984e+01] [-2.19768964e-03 1.06637366e-04 9.99997579e-01 2.27410676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.620714057 meters Centerline goodness [0,1] 0.9996000168413961 Centerline is valid? [True, True] Translation: X:675.34, Y:-48.80, Z:2.27 [[ 9.98308559e-01 5.80799213e-02 2.59669386e-03 6.75339176e+02] [-5.80793748e-02 9.98311928e-01 -2.85426434e-04 -4.87965933e+01] [-2.60888799e-03 1.34129297e-04 9.99996588e-01 2.27371550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.650714057 meters Centerline goodness [0,1] 0.9998104025785249 Centerline is valid? [True, True] Translation: X:675.37, Y:-48.80, Z:2.27 [[ 9.98362531e-01 5.71384012e-02 2.73136772e-03 6.75371823e+02] [-5.71377916e-02 9.98366257e-01 -3.00771034e-04 -4.87969525e+01] [-2.74409094e-03 1.44214211e-04 9.99996225e-01 2.27372768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6807140569999 meters Centerline goodness [0,1] 0.9999789752538738 Centerline is valid? [True, True] Translation: X:675.40, Y:-48.80, Z:2.27 [[ 9.98405114e-01 5.63932615e-02 2.65113237e-03 6.75404456e+02] [-5.63926804e-02 9.98408623e-01 -2.93508040e-04 -4.87953752e+01] [-2.66346529e-03 1.43535468e-04 9.99996443e-01 2.27364295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7107140569999 meters Centerline goodness [0,1] 0.9997055297309804 Centerline is valid? [True, True] Translation: X:675.44, Y:-48.79, Z:2.27 [[ 9.98363634e-01 5.70908729e-02 3.26912534e-03 6.75437468e+02] [-5.70899960e-02 9.98368971e-01 -3.61017386e-04 -4.87938888e+01] [-3.28440410e-03 1.73792277e-04 9.99994591e-01 2.27341895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.740714057 meters Centerline goodness [0,1] 0.9999157380295338 Centerline is valid? [True, True] Translation: X:675.47, Y:-48.79, Z:2.27 [[ 9.98299908e-01 5.81791164e-02 3.53322315e-03 6.75470073e+02] [-5.81780962e-02 9.98306144e-01 -3.90916295e-04 -4.87930310e+01] [-3.54998154e-03 1.84695505e-04 9.99993682e-01 2.27379156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.770714057 meters Centerline goodness [0,1] 0.9998739177944019 Centerline is valid? [True, True] Translation: X:675.50, Y:-48.79, Z:2.27 [[ 9.98144521e-01 6.07600496e-02 3.96622802e-03 6.75501164e+02] [-6.07587864e-02 9.98152382e-01 -4.38310962e-04 -4.87915983e+01] [-3.98553174e-03 1.96514484e-04 9.99992038e-01 2.27404281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8007140569999 meters Centerline goodness [0,1] 0.9998741478762454 Centerline is valid? [True, True] Translation: X:675.53, Y:-48.79, Z:2.27 [[ 9.98020555e-01 6.28071695e-02 3.19863054e-03 6.75532624e+02] [-6.28063580e-02 9.98025669e-01 -3.53630594e-04 -4.87905770e+01] [-3.21452593e-03 1.52036267e-04 9.99994822e-01 2.27383421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8307140569999 meters Centerline goodness [0,1] 0.9999369734658291 Centerline is valid? [True, True] Translation: X:675.56, Y:-48.79, Z:2.27 [[ 9.97673211e-01 6.81478320e-02 2.00923512e-03 6.75564497e+02] [-6.81475227e-02 9.97675231e-01 -2.22084050e-04 -4.87856617e+01] [-2.01969866e-03 8.46429114e-05 9.99997957e-01 2.27335222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8607140569999 meters Centerline goodness [0,1] 0.9997686937505257 Centerline is valid? [True, True] Translation: X:675.60, Y:-48.78, Z:2.27 [[ 9.97445758e-01 7.14123724e-02 1.49402981e-03 6.75596177e+02] [-7.14122047e-02 9.97446876e-01 -1.65350059e-04 -4.87841030e+01] [-1.50202341e-03 5.82357520e-05 9.99998870e-01 2.27269209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.890714057 meters Centerline goodness [0,1] 0.9996213475818836 Centerline is valid? [True, True] Translation: X:675.63, Y:-48.78, Z:2.27 [[ 9.96889711e-01 7.88083693e-02 3.79599309e-04 6.75627981e+02] [-7.88083591e-02 9.96889784e-01 -4.19847398e-05 -4.87786559e+01] [-3.81727422e-04 1.19385565e-05 9.99999927e-01 2.27151569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9207140569999 meters Centerline goodness [0,1] 0.9993689126364727 Centerline is valid? [True, True] Translation: X:675.66, Y:-48.78, Z:2.27 [[ 9.96596638e-01 8.24322679e-02 2.49254919e-04 6.75658641e+02] [-8.24322635e-02 9.96596669e-01 -2.75540874e-05 -4.87762340e+01] [-2.50677968e-04 6.91366366e-06 9.99999969e-01 2.27154778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9507140569999 meters Centerline goodness [0,1] 0.9992850083065211 Centerline is valid? [True, True] Translation: X:675.69, Y:-48.78, Z:2.27 [[ 9.96333271e-01 8.55454182e-02 1.41247814e-03 6.75688839e+02] [-8.55452828e-02 9.96334271e-01 -1.56143543e-04 -4.87767467e+01] [-1.42065774e-03 3.47401648e-05 9.99998990e-01 2.27181373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9807140569999 meters Centerline goodness [0,1] 0.9992224930654787 Centerline is valid? [True, True] Translation: X:675.72, Y:-48.77, Z:2.27 [[ 9.95943305e-01 8.99658330e-02 1.75556054e-03 6.75719446e+02] [-8.99656311e-02 9.95944852e-01 -1.93803726e-04 -4.87731839e+01] [-1.76587719e-03 3.50774121e-05 9.99998440e-01 2.27245082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.010714057 meters Centerline goodness [0,1] 0.998846500702586 Centerline is valid? [True, True] Translation: X:675.75, Y:-48.77, Z:2.27 [[ 9.95806064e-01 9.14579569e-02 2.39261583e-03 6.75748808e+02] [-9.14575851e-02 9.95808938e-01 -2.64586380e-04 -4.87744117e+01] [-2.40678675e-03 4.46538563e-05 9.99997103e-01 2.27320272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.040714057 meters Centerline goodness [0,1] 0.9982775280426837 Centerline is valid? [True, True] Translation: X:675.78, Y:-48.77, Z:2.27 [[ 9.95651768e-01 9.31110190e-02 2.80973935e-03 6.75779041e+02] [-9.31105146e-02 9.95655732e-01 -3.10107508e-04 -4.87723869e+01] [-2.82640752e-03 4.71428120e-05 9.99996005e-01 2.27333044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0707140569999 meters Centerline goodness [0,1] 0.9983427384673478 Centerline is valid? [True, True] Translation: X:675.81, Y:-48.77, Z:2.27 [[ 9.95599845e-01 9.36465896e-02 3.35621366e-03 6.75807482e+02] [-9.36458727e-02 9.95605501e-01 -3.70468099e-04 -4.87745105e+01] [-3.37615786e-03 5.45424240e-05 9.99994299e-01 2.27421322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1007140569999 meters Centerline goodness [0,1] 0.9978462246199528 Centerline is valid? [True, True] Translation: X:675.84, Y:-48.78, Z:2.27 [[ 9.95573745e-01 9.39148501e-02 3.59440149e-03 6.75835587e+02] [-9.39140306e-02 9.95580232e-01 -3.96483435e-04 -4.87770329e+01] [-3.61575075e-03 5.71637665e-05 9.99993462e-01 2.27474388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.130714057 meters Centerline goodness [0,1] 0.9980056681011861 Centerline is valid? [True, True] Translation: X:675.87, Y:-48.78, Z:2.27 [[ 9.95511447e-01 9.45741860e-02 3.56133523e-03 6.75865559e+02] [-9.45733858e-02 9.95517815e-01 -3.92806180e-04 -4.87784089e+01] [-3.58252199e-03 5.42355177e-05 9.99993581e-01 2.27471714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.160714057 meters Centerline goodness [0,1] 0.9973769803798133 Centerline is valid? [True, True] Translation: X:675.89, Y:-48.78, Z:2.27 [[ 9.95499783e-01 9.47117638e-02 3.14055667e-03 6.75894766e+02] [-9.47111426e-02 9.95504736e-01 -3.46254442e-04 -4.87804350e+01] [-3.15923341e-03 4.72505109e-05 9.99995008e-01 2.27372467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1907140569999 meters Centerline goodness [0,1] 0.9971487871863142 Centerline is valid? [True, True] Translation: X:675.92, Y:-48.78, Z:2.27 [[ 9.95495489e-01 9.47584437e-02 3.09329845e-03 6.75923799e+02] [-9.47578416e-02 9.95500294e-01 -3.40930012e-04 -4.87833274e+01] [-3.11168552e-03 4.62800042e-05 9.99995158e-01 2.27372837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2207140569999 meters Centerline goodness [0,1] 0.9974413288311906 Centerline is valid? [True, True] Translation: X:675.95, Y:-48.79, Z:2.27 [[ 9.95407341e-01 9.56909195e-02 2.73385753e-03 6.75952009e+02] [-9.56904535e-02 9.95411094e-01 -3.01048213e-04 -4.87864137e+01] [-2.75011970e-03 3.80615348e-05 9.99996218e-01 2.27301336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.250714057 meters Centerline goodness [0,1] 0.9971865289325607 Centerline is valid? [True, True] Translation: X:675.98, Y:-48.79, Z:2.27 [[ 9.95405894e-01 9.57252477e-02 1.94525430e-03 6.75981155e+02] [-9.57250119e-02 9.95407794e-01 -2.14155702e-04 -4.87900765e+01] [-1.95682140e-03 2.69623571e-05 9.99998085e-01 2.27276457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.280714057 meters Centerline goodness [0,1] 0.9976423038059953 Centerline is valid? [True, True] Translation: X:676.01, Y:-48.80, Z:2.27 [[ 9.95414946e-01 9.56418343e-02 1.31345422e-03 6.76010747e+02] [-9.56417269e-02 9.95415812e-01 -1.44490075e-04 -4.87961998e+01] [-1.32125240e-03 1.82065503e-05 9.99999127e-01 2.27293075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3107140569999 meters Centerline goodness [0,1] 0.9976423038059953 Centerline is valid? [True, True] Translation: X:676.04, Y:-48.80, Z:2.27 [[ 9.95418317e-01 9.56067372e-02 1.31345943e-03 6.76039742e+02] [-9.56066298e-02 9.95419184e-01 -1.44442738e-04 -4.87993637e+01] [-1.32125242e-03 1.82055177e-05 9.99999127e-01 2.27309021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3407140569999 meters Centerline goodness [0,1] 0.9970774273010041 Centerline is valid? [True, True] Translation: X:676.07, Y:-48.80, Z:2.27 [[ 9.95504553e-01 9.47051032e-02 1.27608914e-03 6.76069199e+02] [-9.47050012e-02 9.95505371e-01 -1.40283605e-04 -4.88041540e+01] [-1.28363917e-03 1.88009434e-05 9.99999176e-01 2.27274891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.370714057 meters Centerline goodness [0,1] 0.9973128437670571 Centerline is valid? [True, True] Translation: X:676.10, Y:-48.81, Z:2.27 [[ 9.95760601e-01 9.19767537e-02 1.04950465e-03 6.76097175e+02] [-9.19766834e-02 9.95761154e-01 -1.15194016e-04 -4.88119453e+01] [-1.05565114e-03 1.81757056e-05 9.99999443e-01 2.27291229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.400714057 meters Centerline goodness [0,1] 0.9977133986448216 Centerline is valid? [True, True] Translation: X:676.13, Y:-48.82, Z:2.27 [[ 9.95901334e-01 9.04429428e-02 7.78495591e-04 6.76126687e+02] [-9.04429036e-02 9.95901639e-01 -8.54449092e-05 -4.88177304e+01] [-7.83032924e-04 1.46852974e-05 9.99999693e-01 2.27302015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4307140569999 meters Centerline goodness [0,1] 0.9975240253472659 Centerline is valid? [True, True] Translation: X:676.15, Y:-48.82, Z:2.27 [[ 9.96058394e-01 8.86992115e-02 3.53849115e-04 6.76154836e+02] [-8.86992033e-02 9.96058457e-01 -3.87241303e-05 -4.88240176e+01] [-3.55889204e-04 7.18536045e-06 9.99999937e-01 2.27297337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4607140569999 meters Centerline goodness [0,1] 0.9981950595000735 Centerline is valid? [True, True] Translation: X:676.18, Y:-48.83, Z:2.27 [[ 9.96346877e-01 8.53952003e-02 -7.48638036e-04 6.76184169e+02] [-8.53951625e-02 9.96347158e-01 8.24021333e-05 -4.88319810e+01] [ 7.52940126e-04 -1.81710415e-05 9.99999716e-01 2.27297158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.490714057 meters Centerline goodness [0,1] 0.9983056165673047 Centerline is valid? [True, True] Translation: X:676.21, Y:-48.84, Z:2.27 [[ 9.96483776e-01 8.37789488e-02 -1.08211035e-03 6.76213540e+02] [-8.37788688e-02 9.96484364e-01 1.19126410e-04 -4.88358699e+01] [ 1.08828633e-03 -2.80495544e-05 9.99999407e-01 2.27307190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.520714057 meters Centerline goodness [0,1] 0.9983899634082593 Centerline is valid? [True, True] Translation: X:676.24, Y:-48.84, Z:2.27 [[ 9.96834989e-01 7.94979928e-02 -2.70457168e-04 6.76243741e+02] [-7.94979876e-02 9.96835026e-01 2.97259851e-05 -4.88426492e+01] [ 2.71964334e-04 -8.13110146e-06 9.99999963e-01 2.27376687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5507140569999 meters Centerline goodness [0,1] 0.9985526702185678 Centerline is valid? [True, True] Translation: X:676.27, Y:-48.85, Z:2.28 [[ 9.97001690e-01 7.73789046e-02 3.66624466e-04 6.76272534e+02] [-7.73788951e-02 9.97001758e-01 -4.01927425e-05 -4.88515054e+01] [-3.68635307e-04 1.17032361e-05 9.99999932e-01 2.27514918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5807140569999 meters Centerline goodness [0,1] 0.9988035013329415 Centerline is valid? [True, True] Translation: X:676.30, Y:-48.86, Z:2.28 [[ 9.97201927e-01 7.47509822e-02 7.79816760e-04 6.76303001e+02] [-7.47509380e-02 9.97202231e-01 -8.58063343e-05 -4.88553557e+01] [-7.84049121e-04 2.72742077e-05 9.99999692e-01 2.27543255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6107140569999 meters Centerline goodness [0,1] 0.9989079989079989 Centerline is valid? [True, True] Translation: X:676.33, Y:-48.86, Z:2.28 [[ 9.97385292e-01 7.22534401e-02 1.42115143e-03 6.76332432e+02] [-7.22532906e-02 9.97386303e-01 -1.56320289e-04 -4.88627304e+01] [-1.42873165e-03 5.32286898e-05 9.99998978e-01 2.27657367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.640714057 meters Centerline goodness [0,1] 0.9990557327513849 Centerline is valid? [True, True] Translation: X:676.36, Y:-48.87, Z:2.28 [[ 9.97781109e-01 6.65385426e-02 2.34133330e-03 6.76362366e+02] [-6.65381214e-02 9.97783850e-01 -2.57424798e-04 -4.88687693e+01] [-2.35327322e-03 1.01065681e-04 9.99997226e-01 2.27657810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6707140569999 meters Centerline goodness [0,1] 0.9986351132855973 Centerline is valid? [True, True] Translation: X:676.39, Y:-48.88, Z:2.28 [[ 9.97975710e-01 6.35661095e-02 1.95779394e-03 6.76391926e+02] [-6.35658091e-02 9.97977626e-01 -2.15358396e-04 -4.88788511e+01] [-1.96752404e-03 9.04736926e-05 9.99998060e-01 2.27702593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7007140569999 meters Centerline goodness [0,1] 0.9989291338582678 Centerline is valid? [True, True] Translation: X:676.42, Y:-48.88, Z:2.28 [[ 9.98371839e-01 5.70343944e-02 8.65108219e-04 6.76421860e+02] [-5.70343333e-02 9.98372213e-01 -9.51407346e-05 -4.88832211e+01] [-8.69126301e-04 4.56449597e-05 9.99999621e-01 2.27555944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7307140569999 meters Centerline goodness [0,1] 0.9989208483791973 Centerline is valid? [True, True] Translation: X:676.45, Y:-48.89, Z:2.28 [[ 9.98522070e-01 5.43477161e-02 -3.52347521e-05 6.76450641e+02] [-5.43477160e-02 9.98522071e-01 3.77695526e-06 -4.88939250e+01] [ 3.53879465e-05 -1.85644489e-06 9.99999999e-01 2.27537335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.760714057 meters Centerline goodness [0,1] 0.9989114279135004 Centerline is valid? [True, True] Translation: X:676.48, Y:-48.90, Z:2.27 [[ 9.98666803e-01 5.16198248e-02 -9.88831511e-05 6.76481973e+02] [-5.16198240e-02 9.98666808e-01 1.06811022e-05 -4.88977146e+01] [ 9.93026775e-05 -5.56253128e-06 9.99999995e-01 2.27487644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.790714057 meters Centerline goodness [0,1] 0.9986242548046859 Centerline is valid? [True, True] Translation: X:676.51, Y:-48.90, Z:2.27 [[ 9.98872678e-01 4.74697034e-02 -3.18902649e-05 6.76510740e+02] [-4.74697033e-02 9.98872678e-01 3.37321568e-06 -4.89048659e+01] [ 3.20144398e-05 -1.85559157e-06 9.99999999e-01 2.27465276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8207140569999 meters Centerline goodness [0,1] 0.9984631360332294 Centerline is valid? [True, True] Translation: X:676.54, Y:-48.91, Z:2.27 [[ 9.98936155e-01 4.61103154e-02 -6.30817480e-04 6.76540956e+02] [-4.61102808e-02 9.98936353e-01 6.92392279e-05 -4.89105665e+01] [ 6.33339156e-04 -4.00783969e-05 9.99999799e-01 2.27497931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8507140569999 meters Centerline goodness [0,1] 0.9983953318745441 Centerline is valid? [True, True] Translation: X:676.57, Y:-48.91, Z:2.28 [[ 9.99034045e-01 4.39428702e-02 1.73462096e-05 6.76571925e+02] [-4.39428702e-02 9.99034046e-01 -2.00685801e-06 -4.89113459e+01] [-1.74176410e-05 1.24267724e-06 1.00000000e+00 2.27516012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.880714057 meters Centerline goodness [0,1] 0.9980073892648097 Centerline is valid? [True, True] Translation: X:676.60, Y:-48.92, Z:2.28 [[ 9.99054996e-01 4.34637063e-02 1.43510171e-04 6.76602640e+02] [-4.34637043e-02 9.99055007e-01 -1.70854192e-05 -4.89154459e+01] [-1.44117150e-04 1.08317897e-05 9.99999990e-01 2.27546734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.910714057 meters Centerline goodness [0,1] 0.9979588436224277 Centerline is valid? [True, True] Translation: X:676.63, Y:-48.92, Z:2.28 [[ 9.99091007e-01 4.26265651e-02 3.67646909e-04 6.76633802e+02] [-4.26265529e-02 9.99091075e-01 -4.07641513e-05 -4.89177809e+01] [-3.69050381e-04 2.50555765e-05 9.99999932e-01 2.27586959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9407140569999 meters Centerline goodness [0,1] 0.997874847451921 Centerline is valid? [True, True] Translation: X:676.66, Y:-48.92, Z:2.28 [[ 9.99144207e-01 4.13535100e-02 8.60693714e-04 6.76664502e+02] [-4.13534422e-02 9.99144576e-01 -9.64235482e-05 -4.89233568e+01] [-8.63944908e-04 6.07483819e-05 9.99999625e-01 2.27639743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9707140569999 meters Centerline goodness [0,1] 0.9977689741451209 Centerline is valid? [True, True] Translation: X:676.70, Y:-48.92, Z:2.28 [[ 9.99166206e-01 4.08238566e-02 5.52938029e-04 6.76696367e+02] [-4.08238289e-02 9.99166358e-01 -6.13619781e-05 -4.89194862e+01] [-5.54982109e-04 3.87377673e-05 9.99999845e-01 2.27535781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.000714057 meters Centerline goodness [0,1] 0.9976003171754689 Centerline is valid? [True, True] Translation: X:676.73, Y:-48.92, Z:2.28 [[ 9.99171048e-01 4.07073547e-02 3.56935505e-04 6.76727234e+02] [-4.07073427e-02 9.99171112e-01 -4.08344532e-05 -4.89232821e+01] [-3.58301908e-04 2.62707075e-05 9.99999935e-01 2.27564121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.030714057 meters Centerline goodness [0,1] 0.9971451791035446 Centerline is valid? [True, True] Translation: X:676.76, Y:-48.92, Z:2.27 [[ 9.99219114e-01 3.95112750e-02 -1.45989867e-04 6.76758874e+02] [-3.95112731e-02 9.99219125e-01 1.59939124e-05 -4.89214225e+01] [ 1.46507807e-04 -1.02131775e-05 9.99999989e-01 2.27482679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0607140569999 meters Centerline goodness [0,1] 0.9964269296669314 Centerline is valid? [True, True] Translation: X:676.79, Y:-48.93, Z:2.28 [[ 9.99229799e-01 3.92403609e-02 -5.49535034e-05 6.76788593e+02] [-3.92403607e-02 9.99229800e-01 5.67489140e-06 -4.89280526e+01] [ 5.51338630e-05 -3.51412530e-06 9.99999998e-01 2.27517296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0907140569999 meters Centerline goodness [0,1] 0.9971065542835577 Centerline is valid? [True, True] Translation: X:676.82, Y:-48.92, Z:2.28 [[ 9.99244642e-01 3.88605413e-02 -6.22363098e-05 6.76820676e+02] [-3.88605410e-02 9.99244644e-01 6.90613063e-06 -4.89183247e+01] [ 6.24576752e-05 -4.48237736e-06 9.99999998e-01 2.27524182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.120714057 meters Centerline goodness [0,1] 0.9963428475345748 Centerline is valid? [True, True] Translation: X:676.85, Y:-48.92, Z:2.28 [[ 9.99244213e-01 3.88662157e-02 6.47970235e-04 6.76851747e+02] [-3.88661772e-02 9.99244422e-01 -7.19028340e-05 -4.89191208e+01] [-6.50275234e-04 4.66643648e-05 9.99999787e-01 2.27551761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.150714057 meters Centerline goodness [0,1] 0.9960457681305738 Centerline is valid? [True, True] Translation: X:676.88, Y:-48.92, Z:2.28 [[ 9.99243092e-01 3.88884252e-02 9.65817445e-04 6.76882947e+02] [-3.88883397e-02 9.99243557e-01 -1.07173150e-04 -4.89164735e+01] [-9.69254654e-04 6.95329934e-05 9.99999528e-01 2.27543229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1807140569999 meters Centerline goodness [0,1] 0.995506467327398 Centerline is valid? [True, True] Translation: X:676.91, Y:-48.92, Z:2.28 [[ 9.99241005e-01 3.89254356e-02 1.49143459e-03 6.76913599e+02] [-3.89252316e-02 9.99242112e-01 -1.65626142e-04 -4.89152228e+01] [-1.49675131e-03 1.07445996e-04 9.99998874e-01 2.27685231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2107140569999 meters Centerline goodness [0,1] 0.9930857286096256 Centerline is valid? [True, True] Translation: X:676.94, Y:-48.92, Z:2.28 [[ 9.99220337e-01 3.94489866e-02 1.57962878e-03 6.76943697e+02] [-3.94487585e-02 9.99221579e-01 -1.75314520e-04 -4.89157238e+01] [-1.58531514e-03 1.12863440e-04 9.99998737e-01 2.27600870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.240714057 meters Centerline goodness [0,1] 0.9934745780436283 Centerline is valid? [True, True] Translation: X:676.97, Y:-48.91, Z:2.28 [[ 9.99205306e-01 3.98149532e-02 1.87794257e-03 6.76974950e+02] [-3.98146314e-02 9.99207061e-01 -2.08422766e-04 -4.89085131e+01] [-1.88475182e-03 1.33487543e-04 9.99998215e-01 2.27547762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.270714057 meters Centerline goodness [0,1] 0.9934745780436283 Centerline is valid? [True, True] Translation: X:677.00, Y:-48.91, Z:2.28 [[ 9.99205306e-01 3.98149532e-02 1.87794257e-03 6.77004842e+02] [-3.98146314e-02 9.99207061e-01 -2.08422766e-04 -4.89118306e+01] [-1.88475182e-03 1.33487543e-04 9.99998215e-01 2.27564204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3007140569999 meters Centerline goodness [0,1] 0.991734848958008 Centerline is valid? [True, True] Translation: X:677.03, Y:-48.91, Z:2.28 [[ 9.99162869e-01 4.08700016e-02 1.79028277e-03 6.77034983e+02] [-4.08697109e-02 9.99164465e-01 -1.98693876e-04 -4.89120019e+01] [-1.79690755e-03 1.25359204e-04 9.99998378e-01 2.27566209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3307140569999 meters Centerline goodness [0,1] 0.990630751212983 Centerline is valid? [True, True] Translation: X:677.07, Y:-48.90, Z:2.27 [[ 9.99088689e-01 4.26682287e-02 1.10210215e-03 6.77066921e+02] [-4.26681195e-02 9.99089294e-01 -1.22430690e-04 -4.89045746e+01] [-1.10632236e-03 7.52944912e-05 9.99999385e-01 2.27495093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3607140569999 meters Centerline goodness [0,1] 0.9902527983901396 Centerline is valid? [True, True] Translation: X:677.10, Y:-48.90, Z:2.27 [[ 9.99049150e-01 4.35949133e-02 5.27686644e-04 6.77096946e+02] [-4.35948885e-02 9.99049289e-01 -5.83670459e-05 -4.89026383e+01] [-5.29729473e-04 3.53071072e-05 9.99999859e-01 2.27417681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.390714057 meters Centerline goodness [0,1] 0.9896549548981265 Centerline is valid? [True, True] Translation: X:677.13, Y:-48.90, Z:2.27 [[ 9.98994892e-01 4.48181359e-02 7.34797277e-04 6.77128039e+02] [-4.48180881e-02 9.98995161e-01 -8.14286468e-05 -4.88970224e+01] [-7.37708404e-04 4.84145932e-05 9.99999727e-01 2.27341741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4207140569999 meters Centerline goodness [0,1] 0.9888469601677149 Centerline is valid? [True, True] Translation: X:677.16, Y:-48.90, Z:2.27 [[ 9.98943368e-01 4.59576146e-02 2.11172904e-04 6.77158538e+02] [-4.59576107e-02 9.98943391e-01 -2.33296246e-05 -4.88950110e+01] [-2.12021950e-04 1.35999717e-05 9.99999977e-01 2.27307189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4507140569999 meters Centerline goodness [0,1] 0.9878997588340149 Centerline is valid? [True, True] Translation: X:677.19, Y:-48.89, Z:2.27 [[ 9.98858168e-01 4.77693313e-02 6.71764982e-04 6.77189606e+02] [-4.77692921e-02 9.98858393e-01 -7.43075195e-05 -4.88869403e+01] [-6.74547710e-04 4.21329351e-05 9.99999772e-01 2.27318228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4807140569999 meters Centerline goodness [0,1] 0.9872220587617166 Centerline is valid? [True, True] Translation: X:677.22, Y:-48.88, Z:2.27 [[ 9.98839112e-01 4.81487894e-02 1.45679591e-03 6.77219278e+02] [-4.81486055e-02 9.98840170e-01 -1.61063562e-04 -4.88838539e+01] [-1.46286130e-03 9.07338935e-05 9.99998926e-01 2.27386029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.510714057 meters Centerline goodness [0,1] 0.9860849550115087 Centerline is valid? [True, True] Translation: X:677.25, Y:-48.88, Z:2.27 [[ 9.98843219e-01 4.80551032e-02 1.71197732e-03 6.77248430e+02] [-4.80548491e-02 9.98844680e-01 -1.89224357e-04 -4.88822669e+01] [-1.71909264e-03 1.06736653e-04 9.99998517e-01 2.27383557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.540714057 meters Centerline goodness [0,1] 0.9840232083920201 Centerline is valid? [True, True] Translation: X:677.28, Y:-48.88, Z:2.27 [[ 9.98864099e-01 4.76276574e-02 1.45562908e-03 6.77276982e+02] [-4.76274738e-02 9.98865155e-01 -1.60611881e-04 -4.88773381e+01] [-1.46162674e-03 9.11015059e-05 9.99998928e-01 2.27373241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5707140569999 meters Centerline goodness [0,1] 0.9833081697701728 Centerline is valid? [True, True] Translation: X:677.31, Y:-48.87, Z:2.27 [[ 9.98886726e-01 4.71164117e-02 2.31365114e-03 6.77305970e+02] [-4.71159458e-02 9.98889394e-01 -2.55499363e-04 -4.88740894e+01] [-2.32311980e-03 1.46205060e-04 9.99997291e-01 2.27258406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6007140569999 meters Centerline goodness [0,1] 0.9814678474515661 Centerline is valid? [True, True] Translation: X:677.34, Y:-48.87, Z:2.27 [[ 9.98922717e-01 4.63400834e-02 2.44981371e-03 6.77335953e+02] [-4.63395591e-02 9.98925709e-01 -2.70378558e-04 -4.88660873e+01] [-2.45971126e-03 1.56563997e-04 9.99996963e-01 2.27030771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.630714057 meters Centerline goodness [0,1] 0.9814683120686049 Centerline is valid? [True, True] Translation: X:677.37, Y:-48.86, Z:2.27 [[ 9.98929056e-01 4.62437735e-02 1.50167163e-03 6.77365454e+02] [-4.62435767e-02 9.98930180e-01 -1.65470504e-04 -4.88627496e+01] [-1.50771709e-03 9.58506266e-05 9.99998859e-01 2.27005795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.660714057 meters Centerline goodness [0,1] 0.9800223143801444 Centerline is valid? [True, True] Translation: X:677.39, Y:-48.87, Z:2.27 [[ 9.98951112e-01 4.57416229e-02 2.09269568e-03 6.77393271e+02] [-4.57412403e-02 9.98953295e-01 -2.30354561e-04 -4.88655291e+01] [-2.10104204e-03 1.34390449e-04 9.99997784e-01 2.27063135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6907140569999 meters Centerline goodness [0,1] 0.9794073329984933 Centerline is valid? [True, True] Translation: X:677.42, Y:-48.86, Z:2.27 [[ 9.98916050e-01 4.65048540e-02 2.00596160e-03 6.77423812e+02] [-4.65045036e-02 9.98918056e-01 -2.20957338e-04 -4.88562379e+01] [-2.01406685e-03 1.27431582e-04 9.99997964e-01 2.27069550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7207140569999 meters Centerline goodness [0,1] 0.9789843848118224 Centerline is valid? [True, True] Translation: X:677.45, Y:-48.85, Z:2.27 [[ 9.98897812e-01 4.68645698e-02 2.62170815e-03 6.77452863e+02] [-4.68639731e-02 9.98901239e-01 -2.88581978e-04 -4.88525390e+01] [-2.63235178e-03 1.65400246e-04 9.99996522e-01 2.27087188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.750714057 meters Centerline goodness [0,1] 0.9773981658307276 Centerline is valid? [True, True] Translation: X:677.48, Y:-48.86, Z:2.27 [[ 9.98844541e-01 4.79481433e-02 3.24949286e-03 6.77480327e+02] [-4.79472334e-02 9.98849806e-01 -3.57390336e-04 -4.88553792e+01] [-3.26289152e-03 2.01173193e-04 9.99994657e-01 2.27204617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.780714057 meters Centerline goodness [0,1] 0.9773030986386035 Centerline is valid? [True, True] Translation: X:677.51, Y:-48.84, Z:2.27 [[ 9.98713046e-01 5.06061958e-02 3.35633550e-03 6.77511980e+02] [-5.06052389e-02 9.98718666e-01 -3.69484776e-04 -4.88422611e+01] [-3.37073313e-03 1.99161106e-04 9.99994299e-01 2.27050488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8107140569999 meters Centerline goodness [0,1] 0.9774952721159907 Centerline is valid? [True, True] Translation: X:677.54, Y:-48.84, Z:2.27 [[ 9.98683437e-01 5.11328025e-02 4.10235288e-03 6.77541455e+02] [-5.11313797e-02 9.98691834e-01 -4.51035118e-04 -4.88401939e+01] [-4.12004901e-03 2.40682340e-04 9.99991484e-01 2.26956954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8407140569999 meters Centerline goodness [0,1] 0.9725671955156773 Centerline is valid? [True, True] Translation: X:677.57, Y:-48.85, Z:2.27 [[ 9.98564315e-01 5.35062004e-02 2.52878169e-03 6.77568888e+02] [-5.35056678e-02 9.98567507e-01 -2.77840450e-04 -4.88523980e+01] [-2.54002541e-03 1.42137406e-04 9.99996764e-01 2.27168592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.870714057 meters Centerline goodness [0,1] 0.9754287876240121 Centerline is valid? [True, True] Translation: X:677.60, Y:-48.83, Z:2.27 [[ 9.98646454e-01 5.18226070e-02 4.43599380e-03 6.77600922e+02] [-5.18209509e-02 9.98656273e-01 -4.87544206e-04 -4.88343563e+01] [-4.45529884e-03 2.57006876e-04 9.99990042e-01 2.26900227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.900714057 meters Centerline goodness [0,1] 0.9742263724299652 Centerline is valid? [True, True] Translation: X:677.63, Y:-48.84, Z:2.27 [[ 9.98704796e-01 5.07074228e-02 4.18179729e-03 6.77628792e+02] [-5.07059442e-02 9.98713521e-01 -4.58920677e-04 -4.88369573e+01] [-4.19968818e-03 2.46284301e-04 9.99991151e-01 2.26864447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9307140569999 meters Centerline goodness [0,1] 0.9744277127358787 Centerline is valid? [True, True] Translation: X:677.66, Y:-48.84, Z:2.27 [[ 9.98800620e-01 4.88505752e-02 3.30793755e-03 6.77658130e+02] [-4.88496401e-02 9.98806078e-01 -3.62940183e-04 -4.88360685e+01] [-3.32171797e-03 2.00913321e-04 9.99994463e-01 2.26673293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9607140569999 meters Centerline goodness [0,1] 0.9725753914048545 Centerline is valid? [True, True] Translation: X:677.69, Y:-48.84, Z:2.27 [[ 9.98886635e-01 4.70942895e-02 2.76016748e-03 6.77686631e+02] [-4.70936327e-02 9.98890434e-01 -3.02520739e-04 -4.88410566e+01] [-2.77135189e-03 1.72197610e-04 9.99996145e-01 2.26633178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.990714057 meters Centerline goodness [0,1] 0.9734736842105263 Centerline is valid? [True, True] Translation: X:677.72, Y:-48.84, Z:2.27 [[ 9.98947165e-01 4.58113955e-02 2.42457427e-03 6.77715640e+02] [-4.58108855e-02 9.98950095e-01 -2.65507666e-04 -4.88405690e+01] [-2.43419197e-03 1.54156236e-04 9.99997025e-01 2.26597118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.020714057 meters Centerline goodness [0,1] 0.9743335582925595 Centerline is valid? [True, True] Translation: X:677.75, Y:-48.84, Z:2.27 [[ 9.99059076e-01 4.33357066e-02 1.72589510e-03 6.77745212e+02] [-4.33354446e-02 9.99060561e-01 -1.88883366e-04 -4.88382005e+01] [-1.73245912e-03 1.13913209e-04 9.99998493e-01 2.26519956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0507140569999 meters Centerline goodness [0,1] 0.9715640809443508 Centerline is valid? [True, True] Translation: X:677.77, Y:-48.84, Z:2.27 [[ 9.99090683e-01 4.26255008e-02 9.35251034e-04 6.77772689e+02] [-4.26254239e-02 9.99091118e-01 -1.01941672e-04 -4.88443521e+01] [-9.38746316e-04 6.19835026e-05 9.99999557e-01 2.26516621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0807140569999 meters Centerline goodness [0,1] 0.9705386495827363 Centerline is valid? [True, True] Translation: X:677.80, Y:-48.84, Z:2.26 [[ 9.99126960e-01 4.17753235e-02 3.74717495e-04 6.77802184e+02] [-4.17753112e-02 9.99127030e-01 -4.06323932e-05 -4.88415390e+01] [-3.76087809e-04 2.49429795e-05 9.99999929e-01 2.26433768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1107140569999 meters Centerline goodness [0,1] 0.9717771726510882 Centerline is valid? [True, True] Translation: X:677.83, Y:-48.84, Z:2.26 [[ 9.99112721e-01 4.21142932e-02 3.95822895e-04 6.77830902e+02] [-4.21142795e-02 9.99112799e-01 -4.29152004e-05 -4.88423388e+01] [-3.97279064e-04 2.62073266e-05 9.99999921e-01 2.26475762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.140714057 meters Centerline goodness [0,1] 0.9708111967409336 Centerline is valid? [True, True] Translation: X:677.86, Y:-48.84, Z:2.26 [[ 9.99079068e-01 4.28988162e-02 8.41074781e-04 6.77859034e+02] [-4.28987544e-02 9.99079421e-01 -9.14081742e-05 -4.88429778e+01] [-8.44221808e-04 5.52429329e-05 9.99999642e-01 2.26428560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1707140569999 meters Centerline goodness [0,1] 0.9712192459484423 Centerline is valid? [True, True] Translation: X:677.89, Y:-48.84, Z:2.26 [[ 9.98921056e-01 4.64305585e-02 9.62742810e-04 6.77890411e+02] [-4.64304787e-02 9.98921518e-01 -1.05180664e-04 -4.88393490e+01] [-9.66588106e-04 6.03665705e-05 9.99999531e-01 2.26465555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2007140569999 meters Centerline goodness [0,1] 0.9727167141801288 Centerline is valid? [True, True] Translation: X:677.92, Y:-48.83, Z:2.26 [[ 9.98816395e-01 4.86092053e-02 1.71860608e-03 6.77921432e+02] [-4.86089540e-02 9.98817868e-01 -1.87683805e-04 -4.88323712e+01] [-1.72569762e-03 1.03922017e-04 9.99998506e-01 2.26438069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2307140569999 meters Centerline goodness [0,1] 0.9727167141801288 Centerline is valid? [True, True] Translation: X:677.95, Y:-48.84, Z:2.26 [[ 9.98821604e-01 4.85020599e-02 1.71867926e-03 6.77948805e+02] [-4.85018097e-02 9.98823077e-01 -1.87013691e-04 -4.88352713e+01] [-1.72572706e-03 1.03434261e-04 9.99998506e-01 2.26453118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.260714057 meters Centerline goodness [0,1] 0.9742221475241076 Centerline is valid? [True, True] Translation: X:677.98, Y:-48.83, Z:2.27 [[ 9.98531528e-01 5.41141253e-02 2.53941672e-03 6.77979102e+02] [-5.41135953e-02 9.98534748e-01 -2.77022710e-04 -4.88309162e+01] [-2.55068668e-03 1.39198941e-04 9.99996737e-01 2.26611457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.290714057 meters Centerline goodness [0,1] 0.9753478206044303 Centerline is valid? [True, True] Translation: X:678.01, Y:-48.83, Z:2.27 [[ 9.98228087e-01 5.93707035e-02 3.97572545e-03 6.78008507e+02] [-5.93694459e-02 9.98235985e-01 -4.33688207e-04 -4.88293188e+01] [-3.99446058e-03 1.96883133e-04 9.99992003e-01 2.26724935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3207140569999 meters Centerline goodness [0,1] 0.9753317884979987 Centerline is valid? [True, True] Translation: X:678.04, Y:-48.83, Z:2.27 [[ 9.98058167e-01 6.21377862e-02 4.33489260e-03 6.78039320e+02] [-6.21363174e-02 9.98067560e-01 -4.72819636e-04 -4.88265786e+01] [-4.35589565e-03 2.02547236e-04 9.99990493e-01 2.26697249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3507140569999 meters Centerline goodness [0,1] 0.9753317884979987 Centerline is valid? [True, True] Translation: X:678.07, Y:-48.83, Z:2.27 [[ 9.98064728e-01 6.20322957e-02 4.33499474e-03 6.78066671e+02] [-6.20308300e-02 9.98074122e-01 -4.71882841e-04 -4.88294713e+01] [-4.35591805e-03 2.02066298e-04 9.99990493e-01 2.26712287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.380714057 meters Centerline goodness [0,1] 0.9765821846746702 Centerline is valid? [True, True] Translation: X:678.10, Y:-48.83, Z:2.27 [[ 9.97804221e-01 6.59589813e-02 6.01241464e-03 6.78096333e+02] [-6.59562305e-02 9.97822302e-01 -6.54878562e-04 -4.88274997e+01] [-6.04251654e-03 2.56884388e-04 9.99981711e-01 2.26686877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.410714057 meters Centerline goodness [0,1] 0.9761427637268758 Centerline is valid? [True, True] Translation: X:678.13, Y:-48.83, Z:2.27 [[ 9.97699454e-01 6.74306627e-02 6.99326827e-03 6.78125515e+02] [-6.74269819e-02 9.97723921e-01 -7.61053655e-04 -4.88277469e+01] [-7.02866939e-03 2.87767843e-04 9.99975257e-01 2.26673387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4407140569999 meters Centerline goodness [0,1] 0.9772650653181627 Centerline is valid? [True, True] Translation: X:678.15, Y:-48.83, Z:2.27 [[ 9.97552424e-01 6.96034727e-02 6.67223450e-03 6.78154123e+02] [-6.96001738e-02 9.97574704e-01 -7.25630363e-04 -4.88282287e+01] [-6.70655874e-03 2.59465646e-04 9.99977477e-01 2.26588541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4707140569999 meters Centerline goodness [0,1] 0.9760945247388965 Centerline is valid? [True, True] Translation: X:678.18, Y:-48.83, Z:2.27 [[ 9.97469034e-01 7.08337114e-02 6.17347672e-03 6.78181995e+02] [-7.08309136e-02 9.97488111e-01 -6.70930458e-04 -4.88329344e+01] [-6.20549412e-03 2.31959359e-04 9.99980719e-01 2.26630302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.500714057 meters Centerline goodness [0,1] 0.9782750563122329 Centerline is valid? [True, True] Translation: X:678.21, Y:-48.83, Z:2.27 [[ 9.97422867e-01 7.14999071e-02 5.94871245e-03 6.78210700e+02] [-7.14973237e-02 9.97440582e-01 -6.46073849e-04 -4.88331422e+01] [-5.97968143e-03 2.19091811e-04 9.99982098e-01 2.26517627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.530714057 meters Centerline goodness [0,1] 0.9817726036709721 Centerline is valid? [True, True] Translation: X:678.24, Y:-48.83, Z:2.26 [[ 9.97267414e-01 7.36154381e-02 6.20261380e-03 6.78239718e+02] [-7.36126732e-02 9.97286680e-01 -6.73192339e-04 -4.88322081e+01] [-6.23534147e-03 2.14761801e-04 9.99980537e-01 2.26329445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5607140569999 meters Centerline goodness [0,1] 0.9789324655565886 Centerline is valid? [True, True] Translation: X:678.27, Y:-48.84, Z:2.26 [[ 9.97181738e-01 7.47785016e-02 6.06280143e-03 6.78267286e+02] [-7.47758854e-02 9.97200148e-01 -6.57361880e-04 -4.88384940e+01] [-6.09498302e-03 2.02157917e-04 9.99981405e-01 2.26392205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5907140569999 meters Centerline goodness [0,1] 0.9814951109241931 Centerline is valid? [True, True] Translation: X:678.30, Y:-48.84, Z:2.26 [[ 9.97109196e-01 7.58081365e-02 5.13598178e-03 6.78296595e+02] [-7.58062734e-02 9.97122409e-01 -5.56730892e-04 -4.88393624e+01] [-5.16340726e-03 1.65781852e-04 9.99986656e-01 2.26232802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.620714057 meters Centerline goodness [0,1] 0.9815467595345282 Centerline is valid? [True, True] Translation: X:678.32, Y:-48.84, Z:2.26 [[ 9.97120517e-01 7.56113625e-02 5.79623601e-03 6.78324876e+02] [-7.56089890e-02 9.97137346e-01 -6.27832394e-04 -4.88424704e+01] [-5.82711465e-03 1.87777017e-04 9.99983005e-01 2.26179899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.650714057 meters Centerline goodness [0,1] 0.9813458819557281 Centerline is valid? [True, True] Translation: X:678.35, Y:-48.85, Z:2.26 [[ 9.97105262e-01 7.58198329e-02 5.69647404e-03 6.78352396e+02] [-7.58175473e-02 9.97121517e-01 -6.16428798e-04 -4.88465872e+01] [-5.72681436e-03 1.82751708e-04 9.99983585e-01 2.26201977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6807140569999 meters Centerline goodness [0,1] 0.9796844516074307 Centerline is valid? [True, True] Translation: X:678.38, Y:-48.85, Z:2.26 [[ 9.97125860e-01 7.55236929e-02 6.01589975e-03 6.78380428e+02] [-7.55211414e-02 9.97143989e-01 -6.50497100e-04 -4.88506088e+01] [-6.04784622e-03 1.94299865e-04 9.99981693e-01 2.26100654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7107140569999 meters Centerline goodness [0,1] 0.9816764462897452 Centerline is valid? [True, True] Translation: X:678.41, Y:-48.85, Z:2.26 [[ 9.97156193e-01 7.51546124e-02 5.59568743e-03 6.78408545e+02] [-7.51524009e-02 9.97171876e-01 -6.04731552e-04 -4.88542917e+01] [-5.62531050e-03 1.82482467e-04 9.99984161e-01 2.26051943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.740714057 meters Centerline goodness [0,1] 0.9788766608225429 Centerline is valid? [True, True] Translation: X:678.44, Y:-48.86, Z:2.26 [[ 9.97214530e-01 7.43296730e-02 6.18715513e-03 6.78435451e+02] [-7.43269571e-02 9.97233702e-01 -6.68065985e-04 -4.88616472e+01] [-6.21969674e-03 2.06332693e-04 9.99980636e-01 2.26081573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.770714057 meters Centerline goodness [0,1] 0.978921225243584 Centerline is valid? [True, True] Translation: X:678.46, Y:-48.87, Z:2.26 [[ 9.97293671e-01 7.32248578e-02 6.59195790e-03 6.78464281e+02] [-7.32217530e-02 9.97315431e-01 -7.11448402e-04 -4.88651939e+01] [-6.62635704e-03 2.26848275e-04 9.99978020e-01 2.26072265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8007140569999 meters Centerline goodness [0,1] 0.979590108401084 Centerline is valid? [True, True] Translation: X:678.49, Y:-48.87, Z:2.26 [[ 9.97353789e-01 7.23191013e-02 7.44096104e-03 6.78492350e+02] [-7.23151252e-02 9.97381511e-01 -8.02382031e-04 -4.88692053e+01] [-7.47950451e-03 2.62164730e-04 9.99971994e-01 2.26108210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8307140569999 meters Centerline goodness [0,1] 0.9800494014820444 Centerline is valid? [True, True] Translation: X:678.52, Y:-48.87, Z:2.26 [[ 9.97474695e-01 7.05841657e-02 7.88086146e-03 6.78521149e+02] [-7.05796551e-02 9.97505785e-01 -8.49353212e-04 -4.88713108e+01] [-7.92115579e-03 2.90979852e-04 9.99968585e-01 2.26073548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8607140569999 meters Centerline goodness [0,1] 0.9777050434634758 Centerline is valid? [True, True] Translation: X:678.55, Y:-48.88, Z:2.26 [[ 9.97721038e-01 6.69047467e-02 8.74552753e-03 6.78549115e+02] [-6.68990537e-02 9.97759304e-01 -9.42214222e-04 -4.88793761e+01] [-8.78897007e-03 3.54999436e-04 9.99961313e-01 2.26203397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.890714057 meters Centerline goodness [0,1] 0.9782414876454105 Centerline is valid? [True, True] Translation: X:678.58, Y:-48.88, Z:2.26 [[ 9.97855811e-01 6.47874256e-02 9.29353943e-03 6.78578356e+02] [-6.47809072e-02 9.97899009e-01 -1.00102921e-03 -4.88831648e+01] [-9.33886789e-03 3.96838899e-04 9.99956313e-01 2.26119913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9207140569999 meters Centerline goodness [0,1] 0.974790094139598 Centerline is valid? [True, True] Translation: X:678.60, Y:-48.90, Z:2.26 [[ 9.97987562e-01 6.27458771e-02 9.15318826e-03 6.78604406e+02] [-6.27394815e-02 9.98029453e-01 -9.84476079e-04 -4.88959490e+01] [-9.19692329e-03 4.08228596e-04 9.99957624e-01 2.26323174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9507140569999 meters Centerline goodness [0,1] 0.9737336627182703 Centerline is valid? [True, True] Translation: X:678.63, Y:-48.91, Z:2.26 [[ 9.98282452e-01 5.79711132e-02 8.45557966e-03 6.78632679e+02] [-5.79654836e-02 9.98318173e-01 -9.09543415e-04 -4.89062252e+01] [-8.49408609e-03 4.17849466e-04 9.99963837e-01 2.26312872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9807140569999 meters Centerline goodness [0,1] 0.9774241459792065 Centerline is valid? [True, True] Translation: X:678.66, Y:-48.90, Z:2.26 [[ 9.98441990e-01 5.52170005e-02 8.04214371e-03 6.78662950e+02] [-5.52118215e-02 9.98474290e-01 -8.64750863e-04 -4.89020324e+01] [-8.07762268e-03 4.19382169e-04 9.99967288e-01 2.26042610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.010714057 meters Centerline goodness [0,1] 0.9743671086859971 Centerline is valid? [True, True] Translation: X:678.69, Y:-48.91, Z:2.26 [[ 9.98706809e-01 5.03485796e-02 7.05192302e-03 6.78691025e+02] [-5.03444778e-02 9.98731625e-01 -7.58080551e-04 -4.89123614e+01] [-7.08114682e-03 4.02074826e-04 9.99974848e-01 2.26047452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.040714057 meters Centerline goodness [0,1] 0.9735317216055017 Centerline is valid? [True, True] Translation: X:678.72, Y:-48.91, Z:2.26 [[ 9.98817565e-01 4.81030341e-02 7.04052725e-03 6.78720870e+02] [-4.80988920e-02 9.98842292e-01 -7.56564832e-04 -4.89141653e+01] [-7.06876944e-03 4.17028684e-04 9.99974929e-01 2.25993564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0707140569999 meters Centerline goodness [0,1] 0.9739270979541491 Centerline is valid? [True, True] Translation: X:678.75, Y:-48.92, Z:2.26 [[ 9.98909458e-01 4.61801285e-02 6.87685906e-03 6.78748976e+02] [-4.61761360e-02 9.98933040e-01 -7.38311099e-04 -4.89208066e+01] [-6.90361703e-03 4.19959161e-04 9.99976082e-01 2.26127262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1007140569999 meters Centerline goodness [0,1] 0.9731116671614572 Centerline is valid? [True, True] Translation: X:678.78, Y:-48.92, Z:2.26 [[ 9.98986560e-01 4.45238969e-02 6.59352817e-03 6.78777856e+02] [-4.45201924e-02 9.99008234e-01 -7.07620642e-04 -4.89249088e+01] [-6.61849497e-03 4.13358368e-04 9.99978012e-01 2.26162970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.130714057 meters Centerline goodness [0,1] 0.9739568926998446 Centerline is valid? [True, True] Translation: X:678.81, Y:-48.93, Z:2.26 [[ 9.99117901e-01 4.14919654e-02 6.46808527e-03 6.78808540e+02] [-4.14883355e-02 9.99138747e-01 -6.94439404e-04 -4.89260575e+01] [-6.49132827e-03 4.25476748e-04 9.99978841e-01 2.26173319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.160714057 meters Centerline goodness [0,1] 0.9735939862433186 Centerline is valid? [True, True] Translation: X:678.84, Y:-48.93, Z:2.26 [[ 9.99148386e-01 4.07321295e-02 6.58759616e-03 6.78836751e+02] [-4.07283549e-02 9.99170007e-01 -7.06183829e-04 -4.89286612e+01] [-6.61089287e-03 4.37280479e-04 9.99978052e-01 2.26211736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1907140569999 meters Centerline goodness [0,1] 0.9732477033004423 Centerline is valid? [True, True] Translation: X:678.87, Y:-48.93, Z:2.26 [[ 9.99195499e-01 3.96349606e-02 6.11755547e-03 6.78865593e+02] [-3.96316873e-02 9.99214141e-01 -6.55421021e-04 -4.89306438e+01] [-6.13872552e-03 4.12444689e-04 9.99981073e-01 2.26208307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2207140569999 meters Centerline goodness [0,1] 0.9732304224872956 Centerline is valid? [True, True] Translation: X:678.89, Y:-48.93, Z:2.26 [[ 9.99212054e-01 3.92199471e-02 6.08828381e-03 6.78894182e+02] [-3.92167001e-02 9.99230517e-01 -6.51839299e-04 -4.89312169e+01] [-6.10916408e-03 4.12563285e-04 9.99981254e-01 2.26206233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.250714057 meters Centerline goodness [0,1] 0.9720485706414631 Centerline is valid? [True, True] Translation: X:678.92, Y:-48.93, Z:2.26 [[ 9.99231030e-01 3.86288407e-02 6.72024159e-03 6.78921991e+02] [-3.86248767e-02 9.99253523e-01 -7.18697910e-04 -4.89328018e+01] [-6.74298755e-03 4.58576750e-04 9.99977161e-01 2.26381960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.280714057 meters Centerline goodness [0,1] 0.9735090889762943 Centerline is valid? [True, True] Translation: X:678.95, Y:-48.93, Z:2.26 [[ 9.99253061e-01 3.79121492e-02 7.48260719e-03 6.78951246e+02] [-3.79072172e-02 9.99280943e-01 -7.99908645e-04 -4.89329897e+01] [-7.50755302e-03 5.15666346e-04 9.99971685e-01 2.26431865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3107140569999 meters Centerline goodness [0,1] 0.9716127117386419 Centerline is valid? [True, True] Translation: X:678.98, Y:-48.94, Z:2.27 [[ 9.99271817e-01 3.74443235e-02 7.33202679e-03 6.78978927e+02] [-3.74395819e-02 9.99298586e-01 -7.82936035e-04 -4.89381295e+01] [-7.35620052e-03 5.07857897e-04 9.99972814e-01 2.26528870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3407140569999 meters Centerline goodness [0,1] 0.970708621130724 Centerline is valid? [True, True] Translation: X:679.01, Y:-48.94, Z:2.27 [[ 9.99308864e-01 3.65837767e-02 6.58947820e-03 6.79007497e+02] [-3.65799307e-02 9.99330483e-01 -7.03285517e-04 -4.89393786e+01] [-6.61079527e-03 4.61756795e-04 9.99978042e-01 2.26513387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.370714057 meters Centerline goodness [0,1] 0.9733742305152618 Centerline is valid? [True, True] Translation: X:679.04, Y:-48.94, Z:2.26 [[ 9.99311524e-01 3.65939691e-02 6.11219960e-03 6.79036527e+02] [-3.65906632e-02 9.99330125e-01 -6.51865678e-04 -4.89369648e+01] [-6.13195954e-03 4.27767447e-04 9.99981108e-01 2.26453139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.400714057 meters Centerline goodness [0,1] 0.9717862998530759 Centerline is valid? [True, True] Translation: X:679.06, Y:-48.94, Z:2.26 [[ 9.99313829e-01 3.65724359e-02 5.85899997e-03 6.79063549e+02] [-3.65694016e-02 9.99330921e-01 -6.24226866e-04 -4.89417640e+01] [-5.87790934e-03 4.09538417e-04 9.99982641e-01 2.26481482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4307140569999 meters Centerline goodness [0,1] 0.9721553505613669 Centerline is valid? [True, True] Translation: X:679.09, Y:-48.94, Z:2.26 [[ 9.99324555e-01 3.63623599e-02 5.31160957e-03 6.79092246e+02] [-3.63598648e-02 9.99338601e-01 -5.65592872e-04 -4.89424950e+01] [-5.32866277e-03 3.72081439e-04 9.99985733e-01 2.26477523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4607140569999 meters Centerline goodness [0,1] 0.9711767711171662 Centerline is valid? [True, True] Translation: X:679.12, Y:-48.94, Z:2.27 [[ 9.99328157e-01 3.63534686e-02 4.65405909e-03 6.79120257e+02] [-3.63515554e-02 9.99338941e-01 -4.95030255e-04 -4.89436440e+01] [-4.66897855e-03 3.25515386e-04 9.99989047e-01 2.26553267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.490714057 meters Centerline goodness [0,1] 0.9712843235413161 Centerline is valid? [True, True] Translation: X:679.15, Y:-48.95, Z:2.27 [[ 9.99308188e-01 3.69141454e-02 4.52676439e-03 6.79149075e+02] [-3.69123422e-02 9.99318391e-01 -4.81268544e-04 -4.89450685e+01] [-4.54144453e-03 3.13842120e-04 9.99989638e-01 2.26560433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.520714057 meters Centerline goodness [0,1] 0.9741497179969236 Centerline is valid? [True, True] Translation: X:679.18, Y:-48.94, Z:2.26 [[ 9.99254632e-01 3.84595002e-02 3.32383442e-03 6.79179127e+02] [-3.84585367e-02 9.99260134e-01 -3.53344615e-04 -4.89410289e+01] [-3.33496468e-03 2.25251436e-04 9.99994414e-01 2.26418553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5507140569999 meters Centerline goodness [0,1] 0.9757899231426131 Centerline is valid? [True, True] Translation: X:679.21, Y:-48.94, Z:2.26 [[ 9.99217662e-01 3.94964705e-02 2.02328462e-03 6.79208817e+02] [-3.94961164e-02 9.99219701e-01 -2.14664458e-04 -4.89372125e+01] [-2.03018434e-03 1.34584633e-04 9.99997930e-01 2.26312128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5807140569999 meters Centerline goodness [0,1] 0.9772561785240074 Centerline is valid? [True, True] Translation: X:679.24, Y:-48.93, Z:2.26 [[ 9.99159204e-01 4.09681175e-02 1.58039562e-03 6.79237794e+02] [-4.09679037e-02 9.99160449e-01 -1.67464364e-04 -4.89348961e+01] [-1.58592950e-03 1.02578065e-04 9.99998737e-01 2.26189926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6107140569999 meters Centerline goodness [0,1] 0.976445900516049 Centerline is valid? [True, True] Translation: X:679.27, Y:-48.94, Z:2.26 [[ 9.99025256e-01 4.41418375e-02 -1.87793229e-04 6.79267125e+02] [-4.41418345e-02 9.99025274e-01 2.01390528e-05 -4.89368461e+01] [ 1.88499157e-04 -1.18298847e-05 9.99999982e-01 2.26225886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.640714057 meters Centerline goodness [0,1] 0.9780712096203725 Centerline is valid? [True, True] Translation: X:679.30, Y:-48.94, Z:2.26 [[ 9.98984782e-01 4.50473754e-02 -3.74351447e-04 6.79296506e+02] [-4.50473635e-02 9.98984851e-01 4.01120442e-05 -4.89350950e+01] [ 3.75778367e-04 -2.32077760e-05 9.99999929e-01 2.26189627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6707140569999 meters Centerline goodness [0,1] 0.9749715829883973 Centerline is valid? [True, True] Translation: X:679.32, Y:-48.94, Z:2.26 [[ 9.98928675e-01 4.62735235e-02 -5.13398895e-04 6.79323190e+02] [-4.62735013e-02 9.98928806e-01 5.50611123e-05 -4.89442705e+01] [ 5.15396817e-04 -3.12453595e-05 9.99999867e-01 2.26302310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7007140569999 meters Centerline goodness [0,1] 0.9782361155870662 Centerline is valid? [True, True] Translation: X:679.35, Y:-48.94, Z:2.26 [[ 9.98865899e-01 4.75941870e-02 -1.30715691e-03 6.79352602e+02] [-4.75940460e-02 9.98866752e-01 1.38836164e-04 -4.89380533e+01] [ 1.31228337e-03 -7.64658237e-05 9.99999136e-01 2.26339068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7307140569999 meters Centerline goodness [0,1] 0.9797695317538806 Centerline is valid? [True, True] Translation: X:679.38, Y:-48.94, Z:2.26 [[ 9.98731868e-01 5.03260839e-02 -1.39321499e-03 6.79382205e+02] [-5.03259266e-02 9.98732837e-01 1.47710372e-04 -4.89370830e+01] [ 1.39888324e-03 -7.74082203e-05 9.99999019e-01 2.26379195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.760714057 meters Centerline goodness [0,1] 0.9793067881470657 Centerline is valid? [True, True] Translation: X:679.41, Y:-48.94, Z:2.26 [[ 9.98661415e-01 5.16877538e-02 -1.93757209e-03 6.79410901e+02] [-5.16874523e-02 9.98663289e-01 2.05404066e-04 -4.89373612e+01] [ 1.94559899e-03 -1.04980950e-04 9.99998102e-01 2.26395883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.790714057 meters Centerline goodness [0,1] 0.9805737422467264 Centerline is valid? [True, True] Translation: X:679.44, Y:-48.93, Z:2.26 [[ 9.98506953e-01 5.45893098e-02 -1.96790715e-03 6.79441273e+02] [-5.45890049e-02 9.98508887e-01 2.08359441e-04 -4.89333985e+01] [ 1.97634698e-03 -1.00622258e-04 9.99998042e-01 2.26424354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8207140569999 meters Centerline goodness [0,1] 0.9800719563952862 Centerline is valid? [True, True] Translation: X:679.47, Y:-48.93, Z:2.26 [[ 9.98440535e-01 5.57791655e-02 -2.27659264e-03 6.79469948e+02] [-5.57787605e-02 9.98443124e-01 2.41043571e-04 -4.89338207e+01] [ 2.28649348e-03 -1.13682157e-04 9.99997380e-01 2.26397349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8507140569999 meters Centerline goodness [0,1] 0.9806572648466814 Centerline is valid? [True, True] Translation: X:679.50, Y:-48.94, Z:2.26 [[ 9.98369599e-01 5.70251736e-02 -2.50482575e-03 6.79498097e+02] [-5.70246878e-02 9.98372733e-01 2.64988291e-04 -4.89358309e+01] [ 2.51586073e-03 -1.21719347e-04 9.99996828e-01 2.26422139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.880714057 meters Centerline goodness [0,1] 0.9788383707913545 Centerline is valid? [True, True] Translation: X:679.53, Y:-48.94, Z:2.26 [[ 9.98221734e-01 5.95197800e-02 -3.28123704e-03 6.79527020e+02] [-5.95189613e-02 9.98227115e-01 3.46694626e-04 -4.89392422e+01] [ 3.29605497e-03 -1.50782290e-04 9.99994557e-01 2.26437847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.910714057 meters Centerline goodness [0,1] 0.9807965554359527 Centerline is valid? [True, True] Translation: X:679.56, Y:-48.93, Z:2.26 [[ 9.98160985e-01 6.05610504e-02 -2.64710078e-03 6.79556331e+02] [-6.05605211e-02 9.98164488e-01 2.79738825e-04 -4.89346186e+01] [ 2.65918327e-03 -1.18914578e-04 9.99996457e-01 2.26453483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9407140569999 meters Centerline goodness [0,1] 0.9805429864253393 Centerline is valid? [True, True] Translation: X:679.58, Y:-48.94, Z:2.26 [[ 9.98068875e-01 6.20464409e-02 -2.95968291e-03 6.79584230e+02] [-6.20457863e-02 9.98073255e-01 3.12555866e-04 -4.89364620e+01] [ 2.97337334e-03 -1.28316428e-04 9.99995571e-01 2.26488449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9707140569999 meters Centerline goodness [0,1] 0.980394271417479 Centerline is valid? [True, True] Translation: X:679.61, Y:-48.94, Z:2.27 [[ 9.97966134e-01 6.36986707e-02 -2.46466875e-03 6.79611670e+02] [-6.36982222e-02 9.97969172e-01 2.60138133e-04 -4.89390179e+01] [ 2.47623389e-03 -1.02614030e-04 9.99996929e-01 2.26551912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.000714057 meters Centerline goodness [0,1] 0.9839675028629459 Centerline is valid? [True, True] Translation: X:679.64, Y:-48.93, Z:2.27 [[ 9.97692857e-01 6.78298110e-02 -2.84251576e-03 6.79641778e+02] [-6.78292324e-02 9.97696901e-01 2.99562871e-04 -4.89343366e+01] [ 2.85628846e-03 -1.06066074e-04 9.99995915e-01 2.26523960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.030714057 meters Centerline goodness [0,1] 0.9831145275522543 Centerline is valid? [True, True] Translation: X:679.67, Y:-48.94, Z:2.27 [[ 9.97578641e-01 6.94772053e-02 -3.12609174e-03 6.79669199e+02] [-6.94765136e-02 9.97583533e-01 3.29438605e-04 -4.89404265e+01] [ 3.14142612e-03 -1.11450961e-04 9.99995059e-01 2.26526031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0607140569999 meters Centerline goodness [0,1] 0.9838152783772119 Centerline is valid? [True, True] Translation: X:679.70, Y:-48.94, Z:2.27 [[ 9.97456812e-01 7.12046897e-02 -3.13067972e-03 6.79698068e+02] [-7.12040043e-02 9.97461719e-01 3.29976644e-04 -4.89417423e+01] [ 3.14622906e-03 -1.06220519e-04 9.99995045e-01 2.26547219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0907140569999 meters Centerline goodness [0,1] 0.9837907931705209 Centerline is valid? [True, True] Translation: X:679.73, Y:-48.94, Z:2.27 [[ 9.97212283e-01 7.45494252e-02 -3.16944766e-03 6.79726993e+02] [-7.45487433e-02 9.97217315e-01 3.32904298e-04 -4.89419089e+01] [ 3.18544591e-03 -9.56979149e-05 9.99994922e-01 2.26579050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.120714057 meters Centerline goodness [0,1] 0.9837907931705209 Centerline is valid? [True, True] Translation: X:679.75, Y:-48.94, Z:2.27 [[ 9.97232255e-01 7.42817836e-02 -3.16942190e-03 6.79754277e+02] [-7.42810995e-02 9.97237287e-01 3.33150653e-04 -4.89446824e+01] [ 3.18541272e-03 -9.68004334e-05 9.99994922e-01 2.26594053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.150714057 meters Centerline goodness [0,1] 0.9866609108568962 Centerline is valid? [True, True] Translation: X:679.78, Y:-48.94, Z:2.27 [[ 9.97145418e-01 7.54277748e-02 -3.41547801e-03 6.79783887e+02] [-7.54269916e-02 9.97151263e-01 3.57696355e-04 -4.89435308e+01] [ 3.43272845e-03 -9.90560508e-05 9.99994103e-01 2.26580024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1807140569999 meters Centerline goodness [0,1] 0.9847526078223873 Centerline is valid? [True, True] Translation: X:679.81, Y:-48.95, Z:2.26 [[ 9.96998170e-01 7.73096195e-02 -4.22738200e-03 6.79811429e+02] [-7.73084399e-02 9.97007126e-01 4.41980173e-04 -4.89471545e+01] [ 4.24889930e-03 -1.13841117e-04 9.99990967e-01 2.26424286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2107140569999 meters Centerline goodness [0,1] 0.9864728490756447 Centerline is valid? [True, True] Translation: X:679.84, Y:-48.95, Z:2.26 [[ 9.96945924e-01 7.79400480e-02 -4.91656131e-03 6.79839898e+02] [-7.79384636e-02 9.96958039e-01 5.13335330e-04 -4.89505391e+01] [ 4.94161470e-03 -1.28578330e-04 9.99987782e-01 2.26372811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.240714057 meters Centerline goodness [0,1] 0.9863991033323275 Centerline is valid? [True, True] Translation: X:679.87, Y:-48.95, Z:2.26 [[ 9.96924229e-01 7.81812679e-02 -5.45632199e-03 6.79868379e+02] [-7.81793283e-02 9.96939150e-01 5.68188081e-04 -4.89535261e+01] [ 5.48404267e-03 -1.39868876e-04 9.99984953e-01 2.26341366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.270714057 meters Centerline goodness [0,1] 0.9867916397328163 Centerline is valid? [True, True] Translation: X:679.90, Y:-48.96, Z:2.26 [[ 9.96882906e-01 7.87102771e-02 -5.40035807e-03 6.79896135e+02] [-7.87083922e-02 9.96897524e-01 5.61019923e-04 -4.89576665e+01] [ 5.42776162e-03 -1.34217671e-04 9.99985261e-01 2.26365682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3007140569999 meters Centerline goodness [0,1] 0.987598136485204 Centerline is valid? [True, True] Translation: X:679.92, Y:-48.96, Z:2.26 [[ 9.96834436e-01 7.93295294e-02 -5.28521152e-03 6.79923172e+02] [-7.93277351e-02 9.96848439e-01 5.48607746e-04 -4.89625753e+01] [ 5.31207564e-03 -1.27607234e-04 9.99985883e-01 2.26390052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3307140569999 meters Centerline goodness [0,1] 0.9872161842246853 Centerline is valid? [True, True] Translation: X:679.95, Y:-48.97, Z:2.26 [[ 9.96823214e-01 7.94696316e-02 -5.29688083e-03 6.79951075e+02] [-7.94678349e-02 9.96837279e-01 5.49148185e-04 -4.89659725e+01] [ 5.32376888e-03 -1.26472008e-04 9.99985821e-01 2.26397780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3607140569999 meters Centerline goodness [0,1] 0.987036679329513 Centerline is valid? [True, True] Translation: X:679.98, Y:-48.97, Z:2.26 [[ 9.96725022e-01 8.06839193e-02 -5.41629550e-03 6.79978514e+02] [-8.06820670e-02 9.96739731e-01 5.59972913e-04 -4.89720408e+01] [ 5.44381773e-03 -1.21141097e-04 9.99985175e-01 2.26410154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.390714057 meters Centerline goodness [0,1] 0.9864963191234377 Centerline is valid? [True, True] Translation: X:680.01, Y:-48.98, Z:2.26 [[ 9.96711551e-01 8.08677023e-02 -5.14772000e-03 6.80005969e+02] [-8.08660335e-02 9.96724838e-01 5.31836612e-04 -4.89760538e+01] [ 5.17386878e-03 -1.13811997e-04 9.99986609e-01 2.26410980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4207140569999 meters Centerline goodness [0,1] 0.987270215705026 Centerline is valid? [True, True] Translation: X:680.03, Y:-48.98, Z:2.26 [[ 9.96682086e-01 8.12494110e-02 -4.83249531e-03 6.80034520e+02] [-8.12479514e-02 9.96693796e-01 4.97923160e-04 -4.89802217e+01] [ 4.85697406e-03 -1.03640749e-04 9.99988199e-01 2.26483698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4507140569999 meters Centerline goodness [0,1] 0.9884207140559665 Centerline is valid? [True, True] Translation: X:680.06, Y:-48.98, Z:2.26 [[ 9.96702760e-01 8.09973388e-02 -4.80002224e-03 6.80062440e+02] [-8.09958967e-02 9.96714312e-01 4.94399134e-04 -4.89815436e+01] [ 4.82429588e-03 -1.03986876e-04 9.99988358e-01 2.26472541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4807140569999 meters Centerline goodness [0,1] 0.9878926841812026 Centerline is valid? [True, True] Translation: X:680.09, Y:-48.99, Z:2.27 [[ 9.96754185e-01 8.03903247e-02 -4.30002411e-03 6.80089984e+02] [-8.03891674e-02 9.96763456e-01 4.41584681e-04 -4.89889252e+01] [ 4.32160603e-03 -9.44760208e-05 9.99990657e-01 2.26522845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.510714057 meters Centerline goodness [0,1] 0.9882483892373226 Centerline is valid? [True, True] Translation: X:680.12, Y:-48.99, Z:2.27 [[ 9.96805563e-01 7.97796638e-02 -3.72486678e-03 6.80118134e+02] [-7.97787910e-02 9.96812519e-01 3.82527105e-04 -4.89922880e+01] [ 3.74351172e-03 -8.41397776e-05 9.99992989e-01 2.26511409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.540714057 meters Centerline goodness [0,1] 0.9866766467065868 Centerline is valid? [True, True] Translation: X:680.15, Y:-49.00, Z:2.27 [[ 9.96879760e-01 7.88629752e-02 -3.37267735e-03 6.80146795e+02] [-7.88622569e-02 9.96885462e-01 3.45647979e-04 -4.89964806e+01] [ 3.38943185e-03 -7.85925269e-05 9.99994253e-01 2.26561182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5707140569999 meters Centerline goodness [0,1] 0.9865320583966533 Centerline is valid? [True, True] Translation: X:680.17, Y:-49.00, Z:2.27 [[ 9.97010206e-01 7.72412720e-02 -2.10592739e-03 6.80174687e+02] [-7.72409883e-02 9.97012429e-01 2.15806354e-04 -4.90032954e+01] [ 2.11630494e-03 -5.24972249e-05 9.99997759e-01 2.26626098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6007140569999 meters Centerline goodness [0,1] 0.9853273619108552 Centerline is valid? [True, True] Translation: X:680.20, Y:-49.01, Z:2.27 [[ 9.97094004e-01 7.61598796e-02 -1.79454651e-03 6.80202593e+02] [-7.61596734e-02 9.97095618e-01 1.83049636e-04 -4.90086931e+01] [ 1.80327550e-03 -4.58456184e-05 9.99998373e-01 2.26682813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.630714057 meters Centerline goodness [0,1] 0.9845849634291546 Centerline is valid? [True, True] Translation: X:680.23, Y:-49.02, Z:2.27 [[ 9.97298056e-01 7.34223559e-02 -2.39672823e-03 6.80229747e+02] [-7.34219808e-02 9.97300934e-01 2.44227706e-04 -4.90193551e+01] [ 2.40819108e-03 -6.75952822e-05 9.99997098e-01 2.26705932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.660714057 meters Centerline goodness [0,1] 0.9846950738601241 Centerline is valid? [True, True] Translation: X:680.26, Y:-49.02, Z:2.27 [[ 9.97459119e-01 7.11892544e-02 -2.71964343e-03 6.80258520e+02] [-7.11887636e-02 9.97462823e-01 2.76973280e-04 -4.90241453e+01] [ 2.73246073e-03 -8.26614710e-05 9.99996263e-01 2.26610867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6907140569999 meters Centerline goodness [0,1] 0.9846311257007653 Centerline is valid? [True, True] Translation: X:680.29, Y:-49.03, Z:2.27 [[ 9.97608389e-01 6.90558035e-02 -2.96617594e-03 6.80287262e+02] [-6.90552141e-02 9.97612794e-01 3.00785033e-04 -4.90294256e+01] [ 2.97986602e-03 -9.52357580e-05 9.99995556e-01 2.26622926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7207140569999 meters Centerline goodness [0,1] 0.9812714995540833 Centerline is valid? [True, True] Translation: X:680.32, Y:-49.04, Z:2.27 [[ 9.97990271e-01 6.33348579e-02 -2.02831799e-03 6.80315369e+02] [-6.33345708e-02 9.97992330e-01 2.05536509e-04 -4.90420719e+01] [ 2.03726342e-03 -7.66607872e-05 9.99997922e-01 2.26676314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.750714057 meters Centerline goodness [0,1] 0.9803070902981583 Centerline is valid? [True, True] Translation: X:680.34, Y:-49.05, Z:2.27 [[ 9.98177852e-01 6.03238366e-02 -1.41796418e-03 6.80344437e+02] [-6.03236932e-02 9.98178857e-01 1.43693252e-04 -4.90481109e+01] [ 1.42404999e-03 -5.78945853e-05 9.99998984e-01 2.26770085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.780714057 meters Centerline goodness [0,1] 0.9784384881475351 Centerline is valid? [True, True] Translation: X:680.37, Y:-49.06, Z:2.27 [[ 9.98386575e-01 5.67758844e-02 -8.63952894e-04 6.80373583e+02] [-5.67758298e-02 9.98386948e-01 8.75951927e-05 -4.90551690e+01] [ 8.67532588e-04 -3.84022218e-05 9.99999623e-01 2.26776760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8107140569999 meters Centerline goodness [0,1] 0.9765476442002958 Centerline is valid? [True, True] Translation: X:680.40, Y:-49.07, Z:2.27 [[ 9.98732941e-01 5.03235103e-02 -2.36753804e-04 6.80402687e+02] [-5.03235060e-02 9.98732969e-01 2.39531842e-05 -4.90663958e+01] [ 2.37659238e-04 -1.20085527e-05 9.99999972e-01 2.26879551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8407140569999 meters Centerline goodness [0,1] 0.9753405503887465 Centerline is valid? [True, True] Translation: X:680.43, Y:-49.08, Z:2.27 [[ 9.98912062e-01 4.66323414e-02 -3.42980835e-04 6.80431284e+02] [-4.66323321e-02 9.98912120e-01 3.48761490e-05 -4.90754380e+01] [ 3.44234070e-04 -1.88442097e-05 9.99999941e-01 2.26885344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.870714057 meters Centerline goodness [0,1] 0.9764573515051161 Centerline is valid? [True, True] Translation: X:680.46, Y:-49.08, Z:2.27 [[ 9.99203754e-01 3.98957802e-02 -4.30049752e-04 6.80460997e+02] [-3.98957652e-02 9.99203846e-01 4.35759770e-05 -4.90801172e+01] [ 4.31445864e-04 -2.63841159e-05 9.99999907e-01 2.26830670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.900714057 meters Centerline goodness [0,1] 0.9734995773457312 Centerline is valid? [True, True] Translation: X:680.49, Y:-49.09, Z:2.27 [[ 9.99284297e-01 3.78151940e-02 -9.51545941e-04 6.80487919e+02] [-3.78151192e-02 9.99284748e-01 9.65375829e-05 -4.90922781e+01] [ 9.54515933e-04 -6.04856675e-05 9.99999543e-01 2.26902356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9307140569999 meters Centerline goodness [0,1] 0.9717467562655847 Centerline is valid? [True, True] Translation: X:680.52, Y:-49.10, Z:2.27 [[ 9.99344676e-01 3.61788261e-02 -1.14500106e-03 6.80516752e+02] [-3.61787169e-02 9.99345329e-01 1.15990944e-04 -4.90969990e+01] [ 1.14844788e-03 -7.44902628e-05 9.99999338e-01 2.26880197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9607140569999 meters Centerline goodness [0,1] 0.9739791153748196 Centerline is valid? [True, True] Translation: X:680.55, Y:-49.09, Z:2.27 [[ 9.99392011e-01 3.48525499e-02 -9.53198365e-04 6.80547181e+02] [-3.48524737e-02 9.99392463e-01 9.64104497e-05 -4.90929179e+01] [ 9.55979412e-04 -6.31305122e-05 9.99999541e-01 2.26805765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.990714057 meters Centerline goodness [0,1] 0.9738988234294694 Centerline is valid? [True, True] Translation: X:680.57, Y:-49.10, Z:2.27 [[ 9.99400613e-01 3.46013679e-02 -1.07687731e-03 6.80574908e+02] [-3.46012703e-02 9.99401191e-01 1.09087434e-04 -4.90960263e+01] [ 1.08000704e-03 -7.17607254e-05 9.99999414e-01 2.26843276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.020714057 meters Centerline goodness [0,1] 0.9736674588355118 Centerline is valid? [True, True] Translation: X:680.60, Y:-49.10, Z:2.27 [[ 9.99398107e-01 3.46821756e-02 -7.55606318e-04 6.80603851e+02] [-3.46821276e-02 9.99398391e-01 7.65334035e-05 -4.90974165e+01] [ 7.57806084e-04 -5.02813038e-05 9.99999712e-01 2.26866460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0507140569999 meters Centerline goodness [0,1] 0.9738600920837666 Centerline is valid? [True, True] Translation: X:680.63, Y:-49.10, Z:2.27 [[ 9.99383542e-01 3.50880213e-02 -1.16891994e-03 6.80632039e+02] [-3.50879069e-02 9.99384223e-01 1.18219465e-04 -4.90985398e+01] [ 1.17234823e-03 -7.71316334e-05 9.99999310e-01 2.26866890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0807140569999 meters Centerline goodness [0,1] 0.9742359932088285 Centerline is valid? [True, True] Translation: X:680.66, Y:-49.10, Z:2.27 [[ 9.99374091e-01 3.53539189e-02 -1.23568073e-03 6.80660299e+02] [-3.53537916e-02 9.99374852e-01 1.24701778e-04 -4.91008851e+01] [ 1.23931694e-03 -8.09377269e-05 9.99999229e-01 2.26881024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1107140569999 meters Centerline goodness [0,1] 0.9742457377014374 Centerline is valid? [True, True] Translation: X:680.69, Y:-49.10, Z:2.27 [[ 9.99376592e-01 3.52701879e-02 -1.56226587e-03 6.80688354e+02] [-3.52699845e-02 9.99377808e-01 1.57584344e-04 -4.91026704e+01] [ 1.56685187e-03 -1.02385011e-04 9.99998767e-01 2.26831095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.140714057 meters Centerline goodness [0,1] 0.9745850953058925 Centerline is valid? [True, True] Translation: X:680.72, Y:-49.10, Z:2.27 [[ 9.99357689e-01 3.57848813e-02 -1.91109772e-03 6.80717410e+02] [-3.57845787e-02 9.99359508e-01 1.92327554e-04 -4.91047588e+01] [ 1.91675609e-03 -1.23816194e-04 9.99998155e-01 2.26844653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1707140569999 meters Centerline goodness [0,1] 0.9746002682620452 Centerline is valid? [True, True] Translation: X:680.75, Y:-49.10, Z:2.27 [[ 9.99288860e-01 3.75936219e-02 -2.91441946e-03 6.80746277e+02] [-3.75929270e-02 9.99293093e-01 2.92863860e-04 -4.91037527e+01] [ 2.92336905e-03 -1.83094035e-04 9.99995710e-01 2.26835088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2007140569999 meters Centerline goodness [0,1] 0.9782516082307332 Centerline is valid? [True, True] Translation: X:680.78, Y:-49.10, Z:2.27 [[ 9.99246736e-01 3.86957900e-02 -2.93207234e-03 6.80776536e+02] [-3.86950918e-02 9.99251021e-01 2.94495359e-04 -4.90962425e+01] [ 2.94127201e-03 -1.80816718e-04 9.99995658e-01 2.26832200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2307140569999 meters Centerline goodness [0,1] 0.9785217131389043 Centerline is valid? [True, True] Translation: X:680.81, Y:-49.09, Z:2.27 [[ 9.99106952e-01 4.21608366e-02 -2.78622190e-03 6.80806591e+02] [-4.21602201e-02 9.99110823e-01 2.79664458e-04 -4.90924634e+01] [ 2.79553535e-03 -1.61946975e-04 9.99996079e-01 2.26874561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.260714057 meters Centerline goodness [0,1] 0.9789846114497635 Centerline is valid? [True, True] Translation: X:680.84, Y:-49.09, Z:2.27 [[ 9.99000189e-01 4.46291723e-02 -2.61919104e-03 6.80835444e+02] [-4.46286361e-02 9.99003611e-01 2.62865769e-04 -4.90935044e+01] [ 2.62831279e-03 -1.45712029e-04 9.99996535e-01 2.26936296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.290714057 meters Centerline goodness [0,1] 0.9794690114393034 Centerline is valid? [True, True] Translation: X:680.87, Y:-49.09, Z:2.27 [[ 9.98888859e-01 4.70653351e-02 -2.42922085e-03 6.80865566e+02] [-4.70648815e-02 9.98891805e-01 2.43584366e-04 -4.90932617e+01] [ 2.43799318e-03 -1.28982718e-04 9.99997020e-01 2.26954178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3207140569999 meters Centerline goodness [0,1] 0.9801522799212935 Centerline is valid? [True, True] Translation: X:680.90, Y:-49.09, Z:2.27 [[ 9.98765628e-01 4.96240651e-02 -2.16150499e-03 6.80896002e+02] [-4.96237120e-02 9.98767961e-01 2.16712189e-04 -4.90931014e+01] [ 2.16959607e-03 -1.09182785e-04 9.99997640e-01 2.27019676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3507140569999 meters Centerline goodness [0,1] 0.9807368218955991 Centerline is valid? [True, True] Translation: X:680.93, Y:-49.09, Z:2.27 [[ 9.98532664e-01 5.40943813e-02 -2.51313251e-03 6.80927021e+02] [-5.40939182e-02 9.98535820e-01 2.51957630e-04 -4.90882209e+01] [ 2.52308232e-03 -1.15642739e-04 9.99996810e-01 2.26992186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.380714057 meters Centerline goodness [0,1] 0.9829483302232803 Centerline is valid? [True, True] Translation: X:680.96, Y:-49.08, Z:2.27 [[ 9.98392832e-01 5.66098015e-02 -2.66149741e-03 6.80956886e+02] [-5.66092911e-02 9.98396373e-01 2.66783924e-04 -4.90849170e+01] [ 2.67233194e-03 -1.15689676e-04 9.99996423e-01 2.26978953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.410714057 meters Centerline goodness [0,1] 0.9823228540244399 Centerline is valid? [True, True] Translation: X:680.98, Y:-49.09, Z:2.27 [[ 9.98271909e-01 5.86737992e-02 -3.25297405e-03 6.80984842e+02] [-5.86730482e-02 9.98277200e-01 3.25906721e-04 -4.90858353e+01] [ 3.26649201e-03 -1.34481621e-04 9.99994656e-01 2.26985186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4407140569999 meters Centerline goodness [0,1] 0.9836417040070321 Centerline is valid? [True, True] Translation: X:681.01, Y:-49.09, Z:2.27 [[ 9.97912917e-01 6.44892636e-02 -3.30827611e-03 6.81013814e+02] [-6.44885201e-02 9.97918394e-01 3.31017549e-04 -4.90871706e+01] [ 3.32273666e-03 -1.16980858e-04 9.99994473e-01 2.27020851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4707140569999 meters Centerline goodness [0,1] 0.9849067136140155 Centerline is valid? [True, True] Translation: X:681.04, Y:-49.08, Z:2.27 [[ 9.97736199e-01 6.71760934e-02 -3.13855746e-03 6.81043852e+02] [-6.71754364e-02 9.97741130e-01 3.14398565e-04 -4.90815932e+01] [ 3.15258794e-03 -1.02852861e-04 9.99995025e-01 2.26918277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.500714057 meters Centerline goodness [0,1] 0.9866509282111815 Centerline is valid? [True, True] Translation: X:681.07, Y:-49.08, Z:2.27 [[ 9.97304444e-01 7.32572630e-02 -4.14962874e-03 6.81072564e+02] [-7.32561739e-02 9.97313071e-01 4.14051910e-04 -4.90806246e+01] [ 4.16881129e-03 -1.08949886e-04 9.99991305e-01 2.26848794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.530714057 meters Centerline goodness [0,1] 0.9851091142490372 Centerline is valid? [True, True] Translation: X:681.10, Y:-49.08, Z:2.27 [[ 9.97103412e-01 7.59290133e-02 -4.42386400e-03 6.81100760e+02] [-7.59278020e-02 9.97113220e-01 4.41351966e-04 -4.90836160e+01] [ 4.44460470e-03 -1.04179282e-04 9.99990117e-01 2.26817250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5607140569999 meters Centerline goodness [0,1] 0.9875787039020003 Centerline is valid? [True, True] Translation: X:681.13, Y:-49.08, Z:2.27 [[ 9.96878416e-01 7.88170100e-02 -4.61545774e-03 6.81129973e+02] [-7.88157280e-02 9.96889096e-01 4.59277065e-04 -4.90808003e+01] [ 4.63729834e-03 -9.40727312e-05 9.99989243e-01 2.26801608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5907140569999 meters Centerline goodness [0,1] 0.9881000879092605 Centerline is valid? [True, True] Translation: X:681.16, Y:-49.08, Z:2.27 [[ 9.96360739e-01 8.51389033e-02 -4.07975317e-03 6.81159172e+02] [-8.51379591e-02 9.96369090e-01 4.04866525e-04 -4.90796484e+01] [ 4.09940985e-03 -5.60512518e-05 9.99991596e-01 2.26891061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.620714057 meters Centerline goodness [0,1] 0.9893132068980347 Centerline is valid? [True, True] Translation: X:681.19, Y:-49.08, Z:2.27 [[ 9.96132986e-01 8.77699066e-02 -3.93914344e-03 6.81188397e+02] [-8.77690470e-02 9.96140774e-01 3.90887261e-04 -4.90807988e+01] [ 3.95824954e-03 -4.36408284e-05 9.99992165e-01 2.26931080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.650714057 meters Centerline goodness [0,1] 0.988675434072546 Centerline is valid? [True, True] Translation: X:681.22, Y:-49.08, Z:2.27 [[ 9.95923202e-01 9.01414989e-02 -3.38900325e-03 6.81217297e+02] [-9.01408783e-02 9.95928968e-01 3.35729159e-04 -4.90829013e+01] [ 3.40546964e-03 -2.88727294e-05 9.99994201e-01 2.26919596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6807140569999 meters Centerline goodness [0,1] 0.9891648822269807 Centerline is valid? [True, True] Translation: X:681.24, Y:-49.09, Z:2.27 [[ 9.95529238e-01 9.43817584e-02 -3.69058640e-03 6.81244629e+02] [-9.43810565e-02 9.95536078e-01 3.64267811e-04 -4.90862843e+01] [ 3.70849215e-03 -1.43178125e-05 9.99993123e-01 2.26877465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7107140569999 meters Centerline goodness [0,1] 0.9890331148524183 Centerline is valid? [True, True] Translation: X:681.27, Y:-49.09, Z:2.27 [[ 9.95414361e-01 9.55947601e-02 -3.44843918e-03 6.81271337e+02] [-9.55941553e-02 9.95420334e-01 3.40160245e-04 -4.90901457e+01] [ 3.46516402e-03 -8.94976209e-06 9.99993996e-01 2.26826737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.740714057 meters Centerline goodness [0,1] 0.9894034621077243 Centerline is valid? [True, True] Translation: X:681.30, Y:-49.09, Z:2.27 [[ 9.95311496e-01 9.66771880e-02 -2.92363111e-03 6.81299107e+02] [-9.66767575e-02 9.95315790e-01 2.88530377e-04 -4.90943088e+01] [ 2.93783052e-03 -4.53042498e-06 9.99995685e-01 2.26789507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.770714057 meters Centerline goodness [0,1] 0.9900387738051885 Centerline is valid? [True, True] Translation: X:681.33, Y:-49.10, Z:2.27 [[ 9.95180228e-01 9.80302977e-02 -2.52459981e-03 6.81325230e+02] [-9.80299835e-02 9.95183431e-01 2.48184526e-04 -4.91011478e+01] [ 2.53676950e-03 4.98143859e-07 9.99996782e-01 2.26830877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8007140569999 meters Centerline goodness [0,1] 0.9896062790051113 Centerline is valid? [True, True] Translation: X:681.35, Y:-49.11, Z:2.27 [[ 9.95152378e-01 9.83222877e-02 -2.11490037e-03 6.81352740e+02] [-9.83220671e-02 9.95154625e-01 2.08278289e-04 -4.91064449e+01] [ 2.12513128e-03 6.72741596e-07 9.99997742e-01 2.26880816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8307140569999 meters Centerline goodness [0,1] 0.989065436528276 Centerline is valid? [True, True] Translation: X:681.38, Y:-49.12, Z:2.27 [[ 9.95259729e-01 9.72458651e-02 -1.14630363e-03 6.81379402e+02] [-9.72457992e-02 9.95260389e-01 1.13266746e-04 -4.91165440e+01] [ 1.15188532e-03 -1.25661844e-06 9.99999337e-01 2.26848514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8607140569999 meters Centerline goodness [0,1] 0.9889765458422175 Centerline is valid? [True, True] Translation: X:681.41, Y:-49.12, Z:2.27 [[ 9.95306874e-01 9.67534445e-02 -1.73119556e-03 6.81405773e+02] [-9.67532965e-02 9.95308380e-01 1.69218077e-04 -4.91237553e+01] [ 1.73944588e-03 -9.25037625e-07 9.99998487e-01 2.26874110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.890714057 meters Centerline goodness [0,1] 0.9889896511255735 Centerline is valid? [True, True] Translation: X:681.43, Y:-49.13, Z:2.27 [[ 9.95429599e-01 9.54903890e-02 -1.22413991e-03 6.81432962e+02] [-9.54903142e-02 9.95430352e-01 1.19547407e-04 -4.91311556e+01] [ 1.22996165e-03 -2.10752273e-06 9.99999244e-01 2.26872360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9207140569999 meters Centerline goodness [0,1] 0.987593792633015 Centerline is valid? [True, True] Translation: X:681.46, Y:-49.14, Z:2.27 [[ 9.95581939e-01 9.38955626e-02 -4.76295026e-04 6.81460230e+02] [-9.38955510e-02 9.95582053e-01 4.66823488e-05 -4.91435679e+01] [ 4.78574045e-04 -1.75411942e-06 9.99999885e-01 2.26833218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9507140569999 meters Centerline goodness [0,1] 0.9873571291743822 Centerline is valid? [True, True] Translation: X:681.49, Y:-49.15, Z:2.27 [[ 9.95632927e-01 9.33538259e-02 3.70585192e-04 6.81488437e+02] [-9.33538191e-02 9.95632996e-01 -3.56195523e-05 -4.91510290e+01] [-3.72292067e-04 8.68456069e-07 9.99999931e-01 2.26835247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9807140569999 meters Centerline goodness [0,1] 0.9867130789149722 Centerline is valid? [True, True] Translation: X:681.52, Y:-49.16, Z:2.27 [[ 9.95651419e-01 9.31570904e-02 8.59430248e-05 6.81516015e+02] [-9.31570900e-02 9.95651423e-01 -7.77094045e-06 -4.91585383e+01] [-8.62932132e-05 -2.69054213e-07 9.99999996e-01 2.26859316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.010714057 meters Centerline goodness [0,1] 0.9856394661260348 Centerline is valid? [True, True] Translation: X:681.54, Y:-49.17, Z:2.27 [[ 9.95693495e-01 9.27061209e-02 -1.97270947e-04 6.81542328e+02] [-9.27061188e-02 9.95693515e-01 1.97766820e-05 -4.91704841e+01] [ 1.98254822e-04 -1.40328972e-06 9.99999980e-01 2.26801090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.040714057 meters Centerline goodness [0,1] 0.9856394661260348 Centerline is valid? [True, True] Translation: X:681.57, Y:-49.17, Z:2.27 [[ 9.95702949e-01 9.26045275e-02 -1.97282283e-04 6.81569682e+02] [-9.26045254e-02 9.95702969e-01 1.96600028e-05 -4.91730429e+01] [ 1.98255160e-04 -1.30629061e-06 9.99999980e-01 2.26816123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0707140569999 meters Centerline goodness [0,1] 0.9849700244870387 Centerline is valid? [True, True] Translation: X:681.60, Y:-49.18, Z:2.27 [[ 9.95720774e-01 9.24122960e-02 -3.29740795e-04 6.81596909e+02] [-9.24122903e-02 9.95720828e-01 3.24484630e-05 -4.91805937e+01] [ 3.31328415e-04 -1.83750661e-06 9.99999945e-01 2.26786073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1007140569999 meters Centerline goodness [0,1] 0.984617012272535 Centerline is valid? [True, True] Translation: X:681.62, Y:-49.19, Z:2.27 [[ 9.95724142e-01 9.23756649e-02 4.11258493e-04 6.81624438e+02] [-9.23756565e-02 9.95724227e-01 -3.93669915e-05 -4.91931025e+01] [-4.13136597e-04 1.20839062e-06 9.99999915e-01 2.26730936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.130714057 meters Centerline goodness [0,1] 0.9845842383854573 Centerline is valid? [True, True] Translation: X:681.65, Y:-49.20, Z:2.27 [[ 9.95754483e-01 9.20486614e-02 2.29307808e-04 6.81650541e+02] [-9.20486590e-02 9.95754510e-01 -2.10893466e-05 -4.92010005e+01] [-2.30275530e-04 -1.07664788e-07 9.99999973e-01 2.26816332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.160714057 meters Centerline goodness [0,1] 0.9843654651431938 Centerline is valid? [True, True] Translation: X:681.68, Y:-49.21, Z:2.27 [[ 9.95770295e-01 9.18689540e-02 1.27067719e-03 6.81678682e+02] [-9.18688730e-02 9.95771106e-01 -1.22109480e-04 -4.92087952e+01] [-1.27652170e-03 4.85731132e-06 9.99999185e-01 2.26822790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1907140569999 meters Centerline goodness [0,1] 0.9838910851320213 Centerline is valid? [True, True] Translation: X:681.71, Y:-49.22, Z:2.27 [[ 9.95765758e-01 9.19158147e-02 1.42771538e-03 6.81706400e+02] [-9.19157129e-02 9.95766781e-01 -1.36921251e-04 -4.92167429e+01] [-1.43425677e-03 5.11201610e-06 9.99998971e-01 2.26907087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2207140569999 meters Centerline goodness [0,1] 0.984608238498406 Centerline is valid? [True, True] Translation: X:681.73, Y:-49.23, Z:2.27 [[ 9.95765072e-01 9.19127560e-02 1.99188472e-03 6.81732753e+02] [-9.19125575e-02 9.95767064e-01 -1.91170853e-04 -4.92292099e+01] [-2.00102424e-03 7.28203900e-06 9.99997998e-01 2.26947271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.250714057 meters Centerline goodness [0,1] 0.9864357438190869 Centerline is valid? [True, True] Translation: X:681.76, Y:-49.24, Z:2.27 [[ 9.95692272e-01 9.27031449e-02 1.73959162e-03 6.81760598e+02] [-9.27029949e-02 9.95693792e-01 -1.66835604e-04 -4.92413783e+01] [-1.74756676e-03 4.85156836e-06 9.99998473e-01 2.26927002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.280714057 meters Centerline goodness [0,1] 0.9861328042551395 Centerline is valid? [True, True] Translation: X:681.79, Y:-49.25, Z:2.27 [[ 9.95716250e-01 9.24392010e-02 2.03577003e-03 6.81789096e+02] [-9.24389952e-02 9.95718331e-01 -1.95163744e-04 -4.92492695e+01] [-2.04509431e-03 6.14317597e-06 9.99997909e-01 2.26975096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3107140569999 meters Centerline goodness [0,1] 0.98469730001677 Centerline is valid? [True, True] Translation: X:681.82, Y:-49.26, Z:2.27 [[ 9.95733715e-01 9.22557334e-02 1.80258863e-03 6.81815258e+02] [-9.22555727e-02 9.95735346e-01 -1.72253523e-04 -4.92571392e+01] [-1.81079259e-03 5.21979376e-06 9.99998361e-01 2.27037462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3407140569999 meters Centerline goodness [0,1] 0.9864135570441612 Centerline is valid? [True, True] Translation: X:681.84, Y:-49.27, Z:2.27 [[ 9.95788851e-01 9.16481150e-02 2.27776356e-03 6.81843906e+02] [-9.16478562e-02 9.95791456e-01 -2.17964522e-04 -4.92651861e+01] [-2.28815353e-03 8.29449311e-06 9.99997382e-01 2.27116667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.370714057 meters Centerline goodness [0,1] 0.9867682773637049 Centerline is valid? [True, True] Translation: X:681.87, Y:-49.28, Z:2.27 [[ 9.95875107e-01 9.06793973e-02 3.16513520e-03 6.81871025e+02] [-9.06788944e-02 9.95880137e-01 -3.02329791e-04 -4.92784091e+01] [-3.17951036e-03 1.40717526e-05 9.99994945e-01 2.27300524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.400714057 meters Centerline goodness [0,1] 0.9870458730955969 Centerline is valid? [True, True] Translation: X:681.90, Y:-49.29, Z:2.27 [[ 9.95905520e-01 9.03269645e-02 3.63804240e-03 6.81898903e+02] [-9.03262971e-02 9.95912164e-01 -3.47657326e-04 -4.92855456e+01] [-3.65457352e-03 1.76229509e-05 9.99993322e-01 2.27365160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4307140569999 meters Centerline goodness [0,1] 0.9879814714351292 Centerline is valid? [True, True] Translation: X:681.93, Y:-49.29, Z:2.27 [[ 9.95898256e-01 9.04004064e-02 3.79875860e-03 6.81926796e+02] [-9.03996816e-02 9.95905501e-01 -3.62421461e-04 -4.92926253e+01] [-3.81596763e-03 1.75283336e-05 9.99992719e-01 2.27418200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4607140569999 meters Centerline goodness [0,1] 0.9887030516431925 Centerline is valid? [True, True] Translation: X:681.95, Y:-49.30, Z:2.27 [[ 9.95903510e-01 9.03649474e-02 3.22106045e-03 6.81954837e+02] [-9.03644265e-02 9.95908719e-01 -3.07183898e-04 -4.93046848e+01] [-3.23564084e-03 1.48562421e-05 9.99994765e-01 2.27497983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.490714057 meters Centerline goodness [0,1] 0.9889958447307428 Centerline is valid? [True, True] Translation: X:681.98, Y:-49.31, Z:2.28 [[ 9.95912335e-01 9.02825237e-02 2.77242076e-03 6.81980841e+02] [-9.02821394e-02 9.95916194e-01 -2.63714962e-04 -4.93115907e+01] [-2.78490758e-03 1.23369068e-05 9.99996122e-01 2.27514792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.520714057 meters Centerline goodness [0,1] 0.9901530580108757 Centerline is valid? [True, True] Translation: X:682.01, Y:-49.32, Z:2.28 [[ 9.95850699e-01 9.09663225e-02 2.55208380e-03 6.82009238e+02] [-9.09659989e-02 9.95853969e-01 -2.42800494e-04 -4.93225338e+01] [-2.56358945e-03 9.64018957e-06 9.99996714e-01 2.27536984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5507140569999 meters Centerline goodness [0,1] 0.9907202273962296 Centerline is valid? [True, True] Translation: X:682.04, Y:-49.33, Z:2.28 [[ 9.95787642e-01 9.16544435e-02 2.53678920e-03 6.82036394e+02] [-9.16541272e-02 9.95790873e-01 -2.40878594e-04 -4.93284975e+01] [-2.54818912e-03 7.35672689e-06 9.99996753e-01 2.27599751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5807140569999 meters Centerline goodness [0,1] 0.9913003471496089 Centerline is valid? [True, True] Translation: X:682.06, Y:-49.33, Z:2.28 [[ 9.95747795e-01 9.20760239e-02 2.88685534e-03 6.82063789e+02] [-9.20756168e-02 9.95751980e-01 -2.73893126e-04 -4.93341260e+01] [-2.89981091e-03 6.91949055e-06 9.99995796e-01 2.27629911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6107140569999 meters Centerline goodness [0,1] 0.9924229703635296 Centerline is valid? [True, True] Translation: X:682.09, Y:-49.34, Z:2.28 [[ 9.95643431e-01 9.31950966e-02 2.97193531e-03 6.82091259e+02] [-9.31946710e-02 9.95647866e-01 -2.81669652e-04 -4.93420062e+01] [-2.98525129e-03 3.47400511e-06 9.99995544e-01 2.27691620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.640714057 meters Centerline goodness [0,1] 0.99258532102427 Centerline is valid? [True, True] Translation: X:682.12, Y:-49.35, Z:2.28 [[ 9.95581073e-01 9.38691094e-02 2.63010304e-03 6.82119358e+02] [-9.38687793e-02 9.95584547e-01 -2.48922519e-04 -4.93469794e+01] [-2.64185608e-03 9.37986878e-07 9.99996510e-01 2.27704180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6707140569999 meters Centerline goodness [0,1] 0.9933142510916574 Centerline is valid? [True, True] Translation: X:682.15, Y:-49.35, Z:2.28 [[ 9.95532889e-01 9.43602139e-02 3.22758282e-03 6.82147606e+02] [-9.43597191e-02 9.95538121e-01 -3.05569610e-04 -4.93522002e+01] [-3.24201535e-03 -3.49211567e-07 9.99994745e-01 2.27734713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7007140569999 meters Centerline goodness [0,1] 0.9932260973512572 Centerline is valid? [True, True] Translation: X:682.17, Y:-49.36, Z:2.28 [[ 9.95393513e-01 9.58045769e-02 3.63831465e-03 6.82174985e+02] [-9.58039592e-02 9.95400162e-01 -3.44090655e-04 -4.93602627e+01] [-3.65454446e-03 -6.05934271e-06 9.99993322e-01 2.27802438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7307140569999 meters Centerline goodness [0,1] 0.9940703622507568 Centerline is valid? [True, True] Translation: X:682.20, Y:-49.37, Z:2.28 [[ 9.95290978e-01 9.68678135e-02 3.53493205e-03 6.82202176e+02] [-9.68672382e-02 9.95297255e-01 -3.33995764e-04 -4.93652099e+01] [-3.55066160e-03 -9.99613359e-06 9.99993696e-01 2.27892939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.760714057 meters Centerline goodness [0,1] 0.9942498583450504 Centerline is valid? [True, True] Translation: X:682.23, Y:-49.37, Z:2.28 [[ 9.95077683e-01 9.90040717e-02 4.31253000e-03 6.82229895e+02] [-9.90032367e-02 9.95087028e-01 -4.07190052e-04 -4.93726360e+01] [-4.33165614e-03 -2.17686950e-05 9.99990618e-01 2.27972122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.790714057 meters Centerline goodness [0,1] 0.9949650290722171 Centerline is valid? [True, True] Translation: X:682.26, Y:-49.38, Z:2.28 [[ 9.94962595e-01 1.00139894e-01 4.62992111e-03 6.82257489e+02] [-1.00138946e-01 9.94973367e-01 -4.36701505e-04 -4.93772000e+01] [-4.65037944e-03 -2.91337570e-05 9.99989187e-01 2.28027374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8207140569999 meters Centerline goodness [0,1] 0.9961253369272237 Centerline is valid? [True, True] Translation: X:682.29, Y:-49.38, Z:2.28 [[ 9.94817188e-01 1.01550022e-01 5.13384504e-03 6.82285546e+02] [-1.01548877e-01 9.94830433e-01 -4.84031369e-04 -4.93827043e+01] [-5.15645868e-03 -3.98134707e-05 9.99986705e-01 2.27979470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8507140569999 meters Centerline goodness [0,1] 0.9966128082134141 Centerline is valid? [True, True] Translation: X:682.31, Y:-49.39, Z:2.28 [[ 9.94622840e-01 1.03381863e-01 6.13154881e-03 6.82313254e+02] [-1.03380267e-01 9.94641738e-01 -5.77519339e-04 -4.93886688e+01] [-6.15839939e-03 -5.94672299e-05 9.99981035e-01 2.28212767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.880714057 meters Centerline goodness [0,1] 0.9966392202991093 Centerline is valid? [True, True] Translation: X:682.34, Y:-49.40, Z:2.28 [[ 9.94558674e-01 1.04013257e-01 5.85543500e-03 6.82341674e+02] [-1.04011814e-01 9.94575909e-01 -5.51167129e-04 -4.93956606e+01] [-5.88100328e-03 -6.08663683e-05 9.99982705e-01 2.28071226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.910714057 meters Centerline goodness [0,1] 0.9977479373631924 Centerline is valid? [True, True] Translation: X:682.37, Y:-49.41, Z:2.28 [[ 9.94561668e-01 1.03976481e-01 5.99826751e-03 6.82368602e+02] [-1.03974970e-01 9.94579754e-01 -5.63994274e-04 -4.94052318e+01] [-6.02439757e-03 -6.27426016e-05 9.99981851e-01 2.28162815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9407140569999 meters Centerline goodness [0,1] 0.9977705800698271 Centerline is valid? [True, True] Translation: X:682.40, Y:-49.41, Z:2.28 [[ 9.94605007e-01 1.03569684e-01 5.84818476e-03 6.82396747e+02] [-1.03568243e-01 9.94622198e-01 -5.49552420e-04 -4.94117955e+01] [-5.87365135e-03 -5.90986326e-05 9.99982748e-01 2.28172505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9707140569999 meters Centerline goodness [0,1] 0.9979167105069338 Centerline is valid? [True, True] Translation: X:682.42, Y:-49.42, Z:2.28 [[ 9.94651255e-01 1.03118077e-01 5.96175445e-03 6.82424988e+02] [-1.03116574e-01 9.94669120e-01 -5.59798533e-04 -4.94185973e+01] [-5.98769841e-03 -5.79513782e-05 9.99982072e-01 2.28184707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.000714057 meters Centerline goodness [0,1] 0.998568662120064 Centerline is valid? [True, True] Translation: X:682.45, Y:-49.43, Z:2.28 [[ 9.94833382e-01 1.01377384e-01 5.40065446e-03 6.82452023e+02] [-1.01376128e-01 9.94848041e-01 -5.06501128e-04 -4.94293164e+01] [-5.42417827e-03 -4.36132094e-05 9.99985288e-01 2.28209964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.030714057 meters Centerline goodness [0,1] 0.9987367623218308 Centerline is valid? [True, True] Translation: X:682.48, Y:-49.44, Z:2.28 [[ 9.94943462e-01 1.00300579e-01 5.22497523e-03 6.82480138e+02] [-1.00299390e-01 9.94957181e-01 -4.89734182e-04 -4.94362712e+01] [-5.24774725e-03 -3.68040067e-05 9.99986230e-01 2.28220632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0607140569999 meters Centerline goodness [0,1] 0.9985090611284937 Centerline is valid? [True, True] Translation: X:682.51, Y:-49.44, Z:2.28 [[ 9.95067622e-01 9.91061593e-02 4.28909576e-03 6.82508048e+02] [-9.91053487e-02 9.95076866e-01 -4.01638151e-04 -4.94432389e+01] [-4.30778478e-03 -2.54152109e-05 9.99990721e-01 2.28222957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0907140569999 meters Centerline goodness [0,1] 0.9986744097967428 Centerline is valid? [True, True] Translation: X:682.54, Y:-49.45, Z:2.28 [[ 9.95140453e-01 9.83731556e-02 4.26634826e-03 6.82536659e+02] [-9.83723481e-02 9.95149598e-01 -3.99206308e-04 -4.94501513e+01] [-4.28492594e-03 -2.24243505e-05 9.99990819e-01 2.28207751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.120714057 meters Centerline goodness [0,1] 0.9991199765327076 Centerline is valid? [True, True] Translation: X:682.57, Y:-49.46, Z:2.28 [[ 9.95244561e-01 9.73565425e-02 3.15719648e-03 6.82565034e+02] [-9.73560953e-02 9.95249568e-01 -2.95401010e-04 -4.94609690e+01] [-3.17095766e-03 -1.33760733e-05 9.99994972e-01 2.28240439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.150714057 meters Centerline goodness [0,1] 0.9993062417222024 Centerline is valid? [True, True] Translation: X:682.59, Y:-49.47, Z:2.28 [[ 9.95304444e-01 9.67416315e-02 3.18120096e-03 6.82594215e+02] [-9.67411746e-02 9.95309528e-01 -2.97536847e-04 -4.94676142e+01] [-3.19506383e-03 -1.16133722e-05 9.99994896e-01 2.28280148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1807140569999 meters Centerline goodness [0,1] 0.999305029062421 Centerline is valid? [True, True] Translation: X:682.62, Y:-49.48, Z:2.28 [[ 9.95424222e-01 9.55161715e-02 2.69817303e-03 6.82623250e+02] [-9.55158386e-02 9.95427878e-01 -2.52233732e-04 -4.94783826e+01] [-2.70992905e-03 -6.63869305e-06 9.99996328e-01 2.28254275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2107140569999 meters Centerline goodness [0,1] 0.9995383194829178 Centerline is valid? [True, True] Translation: X:682.65, Y:-49.49, Z:2.28 [[ 9.95535902e-01 9.43718930e-02 1.48782060e-03 6.82652853e+02] [-9.43717908e-02 9.95537014e-01 -1.38947900e-04 -4.94852700e+01] [-1.49429326e-03 -2.08067216e-06 9.99998884e-01 2.28323393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.240714057 meters Centerline goodness [0,1] 0.9995183952090793 Centerline is valid? [True, True] Translation: X:682.68, Y:-49.50, Z:2.28 [[ 9.95798004e-01 9.15679269e-02 1.28455539e-03 6.82682294e+02] [-9.15678482e-02 9.95798832e-01 -1.20130955e-04 -4.94971194e+01] [-1.29015890e-03 2.00219261e-06 9.99999168e-01 2.28338271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.270714057 meters Centerline goodness [0,1] 0.9994744586924532 Centerline is valid? [True, True] Translation: X:682.71, Y:-49.50, Z:2.28 [[ 9.95991715e-01 8.94356571e-02 1.32889648e-03 6.82712522e+02] [-8.94355709e-02 9.95992602e-01 -1.24277711e-04 -4.95046830e+01] [-1.33468593e-03 4.92895527e-06 9.99999109e-01 2.28391988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3007140569999 meters Centerline goodness [0,1] 0.9995165121607702 Centerline is valid? [True, True] Translation: X:682.74, Y:-49.51, Z:2.28 [[ 9.96222960e-01 8.68174555e-02 1.59501090e-03 6.82743738e+02] [-8.68173275e-02 9.96224236e-01 -1.49414385e-04 -4.95123971e+01] [-1.60196029e-03 1.03754576e-05 9.99998717e-01 2.28436547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3307140569999 meters Centerline goodness [0,1] 0.9993915488229617 Centerline is valid? [True, True] Translation: X:682.77, Y:-49.52, Z:2.28 [[ 9.96490840e-01 8.36934064e-02 1.19155580e-03 6.82774568e+02] [-8.36933326e-02 9.96491552e-01 -1.11712817e-04 -4.95200570e+01] [-1.19672491e-03 1.15955236e-05 9.99999284e-01 2.28498824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3607140569999 meters Centerline goodness [0,1] 0.9996210606092504 Centerline is valid? [True, True] Translation: X:682.81, Y:-49.53, Z:2.29 [[ 9.97102261e-01 7.60714712e-02 4.61024005e-04 6.82805523e+02] [-7.60714592e-02 9.97102367e-01 -4.35843417e-05 -4.95316020e+01] [-4.63003652e-04 8.38727688e-06 9.99999893e-01 2.28530025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.390714057 meters Centerline goodness [0,1] 0.9986742982197719 Centerline is valid? [True, True] Translation: X:682.84, Y:-49.54, Z:2.28 [[ 9.97362779e-01 7.25734372e-02 7.63281733e-04 6.82836131e+02] [-7.25734031e-02 9.97363071e-01 -7.23233832e-05 -4.95400304e+01] [-7.66517770e-04 1.67386976e-05 9.99999706e-01 2.28496038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4207140569999 meters Centerline goodness [0,1] 0.998821077451001 Centerline is valid? [True, True] Translation: X:682.87, Y:-49.55, Z:2.29 [[ 9.97625964e-01 6.88605478e-02 8.12587802e-04 6.82866415e+02] [-6.88605082e-02 9.97626295e-01 -7.66630499e-05 -4.95492857e+01] [-8.15938018e-04 2.05258401e-05 9.99999667e-01 2.28578067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4507140569999 meters Centerline goodness [0,1] 0.9983990225611425 Centerline is valid? [True, True] Translation: X:682.90, Y:-49.56, Z:2.29 [[ 9.98062157e-01 6.22223529e-02 5.56502556e-04 6.82897169e+02] [-6.22223333e-02 9.98062312e-01 -5.24536551e-05 -4.95582211e+01] [-5.58688017e-04 1.77251206e-05 9.99999844e-01 2.28565719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4807140569999 meters Centerline goodness [0,1] 0.9985893548930437 Centerline is valid? [True, True] Translation: X:682.93, Y:-49.56, Z:2.29 [[ 9.98238607e-01 5.93268975e-02 -4.98983584e-05 6.82929251e+02] [-5.93268974e-02 9.98238608e-01 4.30284408e-06 -4.95640610e+01] [ 5.00657422e-05 -1.33495029e-06 9.99999999e-01 2.28588916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.510714057 meters Centerline goodness [0,1] 0.9989029535864979 Centerline is valid? [True, True] Translation: X:682.96, Y:-49.57, Z:2.29 [[ 9.98356446e-01 5.73067533e-02 -5.86219202e-04 6.82959302e+02] [-5.73067309e-02 9.98356617e-01 5.49192317e-05 -4.95712055e+01] [ 5.88403062e-04 -2.12346629e-05 9.99999827e-01 2.28613984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.540714057 meters Centerline goodness [0,1] 0.9990369315802696 Centerline is valid? [True, True] Translation: X:682.99, Y:-49.58, Z:2.29 [[ 9.98543298e-01 5.39509999e-02 -7.55541829e-04 6.82989826e+02] [-5.39509616e-02 9.98543584e-01 7.09493591e-05 -4.95768451e+01] [ 7.58269234e-04 -3.00837989e-05 9.99999712e-01 2.28646766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5707140569999 meters Centerline goodness [0,1] 0.9991159011493285 Centerline is valid? [True, True] Translation: X:683.02, Y:-49.58, Z:2.29 [[ 9.98613457e-01 5.26392960e-02 -5.18651467e-04 6.83022097e+02] [-5.26392784e-02 9.98613591e-01 4.75593597e-05 -4.95792854e+01] [ 5.20435895e-04 -2.01919776e-05 9.99999864e-01 2.28690391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6007140569999 meters Centerline goodness [0,1] 0.9989243229562136 Centerline is valid? [True, True] Translation: X:683.05, Y:-49.58, Z:2.29 [[ 9.98664819e-01 5.16556411e-02 -5.24042826e-04 6.83053803e+02] [-5.16556229e-02 9.98664956e-01 4.82473858e-05 -4.95810396e+01] [ 5.25835456e-04 -2.11132081e-05 9.99999862e-01 2.28644891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.630714057 meters Centerline goodness [0,1] 0.9986731255265375 Centerline is valid? [True, True] Translation: X:683.08, Y:-49.59, Z:2.29 [[ 9.98735149e-01 5.02635933e-02 -1.29332364e-03 6.83084584e+02] [-5.02634783e-02 9.98735985e-01 1.21264876e-04 -4.95871196e+01] [ 1.29778407e-03 -5.61045489e-05 9.99999156e-01 2.28672008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.660714057 meters Centerline goodness [0,1] 0.9993469834850017 Centerline is valid? [True, True] Translation: X:683.12, Y:-49.59, Z:2.29 [[ 9.98773744e-01 4.94837526e-02 -1.53839524e-03 6.83116136e+02] [-4.94835881e-02 9.98774926e-01 1.44856292e-04 -4.95893045e+01] [ 1.54367862e-03 -6.85533447e-05 9.99998806e-01 2.28728590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6907140569999 meters Centerline goodness [0,1] 0.9991363693811349 Centerline is valid? [True, True] Translation: X:683.15, Y:-49.59, Z:2.29 [[ 9.98800103e-01 4.89530256e-02 -1.39816905e-03 6.83147145e+02] [-4.89528878e-02 9.98801080e-01 1.32639969e-04 -4.95895614e+01] [ 1.40298589e-03 -6.40364022e-05 9.99999014e-01 2.28788219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7207140569999 meters Centerline goodness [0,1] 0.9990977948427435 Centerline is valid? [True, True] Translation: X:683.18, Y:-49.59, Z:2.29 [[ 9.98894901e-01 4.69979468e-02 -4.11296734e-04 6.83178005e+02] [-4.69979352e-02 9.98894986e-01 3.79108853e-05 -4.95936027e+01] [ 4.12623979e-04 -1.85388928e-05 9.99999915e-01 2.28931112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.750714057 meters Centerline goodness [0,1] 0.9993476705525862 Centerline is valid? [True, True] Translation: X:683.21, Y:-49.59, Z:2.29 [[ 9.98962769e-01 4.55330512e-02 -3.57132878e-04 6.83209147e+02] [-4.55330420e-02 9.98962833e-01 3.37404400e-05 -4.95938012e+01] [ 3.58298776e-04 -1.74440970e-05 9.99999936e-01 2.28978638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.780714057 meters Centerline goodness [0,1] 0.999684276994317 Centerline is valid? [True, True] Translation: X:683.24, Y:-49.59, Z:2.29 [[ 9.99101847e-01 4.23689104e-02 -6.12494697e-04 6.83240410e+02] [-4.23688826e-02 9.99102034e-01 5.82788902e-05 -4.95937155e+01] [ 6.14413911e-04 -3.22758309e-05 9.99999811e-01 2.29037402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8107140569999 meters Centerline goodness [0,1] 0.9996856400368849 Centerline is valid? [True, True] Translation: X:683.27, Y:-49.60, Z:2.29 [[ 9.99158587e-01 4.09942700e-02 -1.26045331e-03 6.83270789e+02] [-4.09941523e-02 9.99159379e-01 1.19143761e-04 -4.95998628e+01] [ 1.26427796e-03 -6.73722970e-05 9.99999199e-01 2.29091341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8407140569999 meters Centerline goodness [0,1] 0.9994952893674294 Centerline is valid? [True, True] Translation: X:683.30, Y:-49.60, Z:2.29 [[ 9.99229381e-01 3.92139331e-02 -1.70633224e-03 6.83302228e+02] [-3.92137119e-02 9.99230833e-01 1.62900524e-04 -4.95985281e+01] [ 1.71140776e-03 -9.58633684e-05 9.99998531e-01 2.29060469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.870714057 meters Centerline goodness [0,1] 0.9992874507502725 Centerline is valid? [True, True] Translation: X:683.33, Y:-49.60, Z:2.29 [[ 9.99356726e-01 3.57944646e-02 -2.21154508e-03 6.83331680e+02] [-3.57940842e-02 9.99359164e-01 2.11330833e-04 -4.96032453e+01] [ 2.21769231e-03 -1.32034658e-04 9.99997532e-01 2.29098136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.900714057 meters Centerline goodness [0,1] 0.9993932038834952 Centerline is valid? [True, True] Translation: X:683.36, Y:-49.60, Z:2.29 [[ 9.99406370e-01 3.43629523e-02 -2.46874129e-03 6.83362688e+02] [-3.43624738e-02 9.99409408e-01 2.35962654e-04 -4.96035675e+01] [ 2.47539164e-03 -1.50990522e-04 9.99996925e-01 2.29139020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9307140569999 meters Centerline goodness [0,1] 0.9993932038834952 Centerline is valid? [True, True] Translation: X:683.39, Y:-49.61, Z:2.29 [[ 9.99406370e-01 3.43629528e-02 -2.46873197e-03 6.83392607e+02] [-3.43624741e-02 9.99409408e-01 2.36060118e-04 -4.96064284e+01] [ 2.47538568e-03 -1.51088248e-04 9.99996925e-01 2.29155452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9607140569999 meters Centerline goodness [0,1] 0.9992907949354415 Centerline is valid? [True, True] Translation: X:683.42, Y:-49.60, Z:2.29 [[ 9.99462524e-01 3.26513524e-02 -2.92432091e-03 6.83423640e+02] [-3.26506735e-02 9.99466786e-01 2.79623527e-04 -4.96038296e+01] [ 2.93189170e-03 -1.83992189e-04 9.99995685e-01 2.29188748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.990714057 meters Centerline goodness [0,1] 0.9992887029288703 Centerline is valid? [True, True] Translation: X:683.45, Y:-49.60, Z:2.29 [[ 9.99475834e-01 3.21795505e-02 -3.54032451e-03 6.83454381e+02] [-3.21785524e-02 9.99482079e-01 3.38525783e-04 -4.96035200e+01] [ 3.54938450e-03 -2.24425822e-04 9.99993676e-01 2.29246923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.020714057 meters Centerline goodness [0,1] 0.9990608760982532 Centerline is valid? [True, True] Translation: X:683.48, Y:-49.60, Z:2.29 [[ 9.99468656e-01 3.24016066e-02 -3.54144392e-03 6.83484301e+02] [-3.24006092e-02 9.99474905e-01 3.38666911e-04 -4.96014256e+01] [ 3.55055767e-03 -2.23742022e-04 9.99993672e-01 2.29277158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0507140569999 meters Centerline goodness [0,1] 0.9989983305509182 Centerline is valid? [True, True] Translation: X:683.51, Y:-49.60, Z:2.29 [[ 9.99444715e-01 3.31002557e-02 -3.82542304e-03 6.83514161e+02] [-3.30990972e-02 9.99452008e-01 3.65775442e-04 -4.95993469e+01] [ 3.83543400e-03 -2.38954284e-04 9.99992616e-01 2.29306291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0807140569999 meters Centerline goodness [0,1] 0.998643006263048 Centerline is valid? [True, True] Translation: X:683.54, Y:-49.60, Z:2.29 [[ 9.99404653e-01 3.42769676e-02 -3.92809230e-03 6.83543994e+02] [-3.42757557e-02 9.99412343e-01 3.75448201e-04 -4.95971899e+01] [ 3.93865315e-03 -2.40586347e-04 9.99992215e-01 2.29326081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1107140569999 meters Centerline goodness [0,1] 0.9983277591973244 Centerline is valid? [True, True] Translation: X:683.57, Y:-49.59, Z:2.29 [[ 9.99335833e-01 3.61684256e-02 -4.44274670e-03 6.83573906e+02] [-3.61668948e-02 9.99345674e-01 4.24457058e-04 -4.95948974e+01] [ 4.45519164e-03 -2.63494795e-04 9.99990041e-01 2.29324624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.140714057 meters Centerline goodness [0,1] 0.9981788495352927 Centerline is valid? [True, True] Translation: X:683.60, Y:-49.59, Z:2.29 [[ 9.99193806e-01 3.99416303e-02 -4.05028195e-03 6.83604535e+02] [-3.99403895e-02 9.99201989e-01 3.86811205e-04 -4.95865796e+01] [ 4.06249965e-03 -2.24729522e-04 9.99991723e-01 2.29359615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1707140569999 meters Centerline goodness [0,1] 0.9976405737790491 Centerline is valid? [True, True] Translation: X:683.63, Y:-49.58, Z:2.29 [[ 9.99112226e-01 4.19680478e-02 -3.66652006e-03 6.83634796e+02] [-4.19670447e-02 9.99118934e-01 3.50137875e-04 -4.95826371e+01] [ 3.67798422e-03 -1.95954020e-04 9.99993217e-01 2.29353918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2007140569999 meters Centerline goodness [0,1] 0.997264964402781 Centerline is valid? [True, True] Translation: X:683.66, Y:-49.58, Z:2.29 [[ 9.98923762e-01 4.62853693e-02 -2.99703134e-03 6.83664694e+02] [-4.62847186e-02 9.98928247e-01 2.86130829e-04 -4.95769470e+01] [ 3.00706294e-03 -1.47106132e-04 9.99995468e-01 2.29356504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2307140569999 meters Centerline goodness [0,1] 0.9975394111268663 Centerline is valid? [True, True] Translation: X:683.70, Y:-49.57, Z:2.29 [[ 9.98825501e-01 4.83791971e-02 -2.65937753e-03 6.83695037e+02] [-4.83786924e-02 9.98829033e-01 2.53823469e-04 -4.95717197e+01] [ 2.66854327e-03 -1.24868146e-04 9.99996432e-01 2.29404560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.260714057 meters Centerline goodness [0,1] 0.9973480893714763 Centerline is valid? [True, True] Translation: X:683.72, Y:-49.57, Z:2.29 [[ 9.98735756e-01 5.02053549e-02 -2.51246476e-03 6.83724828e+02] [-5.02049104e-02 9.98738910e-01 2.39720755e-04 -4.95695304e+01] [ 2.52133158e-03 -1.13279621e-04 9.99996815e-01 2.29438367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.290714057 meters Centerline goodness [0,1] 0.9967266434543294 Centerline is valid? [True, True] Translation: X:683.75, Y:-49.56, Z:2.29 [[ 9.98546170e-01 5.38847456e-02 -1.40758624e-03 6.83754575e+02] [-5.38846097e-02 9.98547160e-01 1.34335909e-04 -4.95647849e+01] [ 1.41277990e-03 -5.82933722e-05 9.99999000e-01 2.29408664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3207140569999 meters Centerline goodness [0,1] 0.9961704366123093 Centerline is valid? [True, True] Translation: X:683.78, Y:-49.56, Z:2.29 [[ 9.98451890e-01 5.56079885e-02 -1.25464929e-03 6.83784334e+02] [-5.56078819e-02 9.98452677e-01 1.19715349e-04 -4.95638194e+01] [ 1.25936507e-03 -4.97616267e-05 9.99999206e-01 2.29425398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3507140569999 meters Centerline goodness [0,1] 0.9963586137619287 Centerline is valid? [True, True] Translation: X:683.81, Y:-49.56, Z:2.29 [[ 9.98354389e-01 5.73306290e-02 -1.30907775e-03 6.83813097e+02] [-5.73305143e-02 9.98355246e-01 1.25004711e-04 -4.95619438e+01] [ 1.31409124e-03 -4.97489007e-05 9.99999135e-01 2.29394494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.380714057 meters Centerline goodness [0,1] 0.996122010716594 Centerline is valid? [True, True] Translation: X:683.84, Y:-49.56, Z:2.29 [[ 9.98288062e-01 5.84618062e-02 -1.77840537e-03 6.83842038e+02] [-5.84615968e-02 9.98289644e-01 1.69548366e-04 -4.95612285e+01] [ 1.78527576e-03 -6.52896925e-05 9.99998404e-01 2.29367937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.410714057 meters Centerline goodness [0,1] 0.9953103970390309 Centerline is valid? [True, True] Translation: X:683.87, Y:-49.56, Z:2.29 [[ 9.98215027e-01 5.96968872e-02 -1.74425873e-03 6.83871544e+02] [-5.96966879e-02 9.98216549e-01 1.66178576e-04 -4.95567515e+01] [ 1.75106827e-03 -6.17554832e-05 9.99998465e-01 2.29298804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4407140569999 meters Centerline goodness [0,1] 0.9955008935141385 Centerline is valid? [True, True] Translation: X:683.90, Y:-49.56, Z:2.29 [[ 9.98185688e-01 6.01849499e-02 -1.76175694e-03 6.83900103e+02] [-6.01847475e-02 9.98187241e-01 1.67712250e-04 -4.95569997e+01] [ 1.76865705e-03 -6.13770716e-05 9.99998434e-01 2.29282568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4707140569999 meters Centerline goodness [0,1] 0.9940695253517277 Centerline is valid? [True, True] Translation: X:683.93, Y:-49.56, Z:2.29 [[ 9.98142021e-01 6.08973458e-02 -2.00478950e-03 6.83928926e+02] [-6.08970856e-02 9.98144032e-01 1.90646455e-04 -4.95554403e+01] [ 2.01267854e-03 -6.82064002e-05 9.99997972e-01 2.29198194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.500714057 meters Centerline goodness [0,1] 0.995119077673988 Centerline is valid? [True, True] Translation: X:683.96, Y:-49.56, Z:2.29 [[ 9.98111354e-01 6.13865508e-02 -2.32738456e-03 6.83957963e+02] [-6.13862020e-02 9.98114064e-01 2.21094528e-04 -4.95556268e+01] [ 2.33656749e-03 -7.78076606e-05 9.99997267e-01 2.29206289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.530714057 meters Centerline goodness [0,1] 0.994534265150725 Centerline is valid? [True, True] Translation: X:683.99, Y:-49.56, Z:2.29 [[ 9.98103053e-01 6.15109133e-02 -2.58917106e-03 6.83985851e+02] [-6.15104824e-02 9.98106407e-01 2.45779336e-04 -4.95574445e+01] [ 2.59938634e-03 -8.60519442e-05 9.99996618e-01 2.29204440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5607140569999 meters Centerline goodness [0,1] 0.993637904694138 Centerline is valid? [True, True] Translation: X:684.02, Y:-49.56, Z:2.29 [[ 9.98040690e-01 6.25271743e-02 -2.26565693e-03 6.84015103e+02] [-6.25268475e-02 9.98043259e-01 2.14867415e-04 -4.95557523e+01] [ 2.27465868e-03 -7.27820377e-05 9.99997410e-01 2.29162903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5907140569999 meters Centerline goodness [0,1] 0.9930596449903256 Centerline is valid? [True, True] Translation: X:684.04, Y:-49.56, Z:2.29 [[ 9.98005837e-01 6.30878713e-02 -2.06618143e-03 6.84044026e+02] [-6.30876009e-02 9.98007974e-01 1.95835374e-04 -4.95563822e+01] [ 2.07442038e-03 -6.50944167e-05 9.99997846e-01 2.29179097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.620714057 meters Centerline goodness [0,1] 0.9930234512902413 Centerline is valid? [True, True] Translation: X:684.07, Y:-49.56, Z:2.29 [[ 9.97964190e-01 6.37501708e-02 -1.84148641e-03 6.84072723e+02] [-6.37499573e-02 9.97965887e-01 1.74447691e-04 -4.95570195e+01] [ 1.84886169e-03 -5.66978685e-05 9.99998289e-01 2.29159412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.650714057 meters Centerline goodness [0,1] 0.9924155606025878 Centerline is valid? [True, True] Translation: X:684.10, Y:-49.56, Z:2.29 [[ 9.97778870e-01 6.65819075e-02 -2.04344499e-03 6.84100377e+02] [-6.65816509e-02 9.97780961e-01 1.93410791e-04 -4.95579726e+01] [ 2.05178816e-03 -5.69252598e-05 9.99997893e-01 2.29165483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6807140569999 meters Centerline goodness [0,1] 0.9924779038425374 Centerline is valid? [True, True] Translation: X:684.13, Y:-49.56, Z:2.29 [[ 9.97659106e-01 6.83490086e-02 -2.17271032e-03 6.84129031e+02] [-6.83487232e-02 9.97661471e-01 2.05415952e-04 -4.95575369e+01] [ 2.18166935e-03 -5.64331182e-05 9.99997619e-01 2.29154402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7107140569999 meters Centerline goodness [0,1] 0.9921787010386685 Centerline is valid? [True, True] Translation: X:684.16, Y:-49.56, Z:2.29 [[ 9.97531229e-01 7.01976890e-02 -1.93152939e-03 6.84158323e+02] [-7.01974672e-02 9.97533098e-01 1.82456001e-04 -4.95582016e+01] [ 1.93957249e-03 -4.64170883e-05 9.99998118e-01 2.29188837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.740714057 meters Centerline goodness [0,1] 0.9919462527124019 Centerline is valid? [True, True] Translation: X:684.19, Y:-49.56, Z:2.29 [[ 9.97208387e-01 7.46642514e-02 -8.26342796e-04 6.84186617e+02] [-7.46642121e-02 9.97208729e-01 7.83395910e-05 -4.95568818e+01] [ 8.29885416e-04 -1.64226634e-05 9.99999656e-01 2.29300994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.770714057 meters Centerline goodness [0,1] 0.9926163857834139 Centerline is valid? [True, True] Translation: X:684.22, Y:-49.56, Z:2.29 [[ 9.97008485e-01 7.72919940e-02 -1.70690781e-04 6.84215975e+02] [-7.72919923e-02 9.97008499e-01 1.64583732e-05 -4.95561203e+01] [ 1.71452259e-04 -3.21610721e-06 9.99999985e-01 2.29354647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8007140569999 meters Centerline goodness [0,1] 0.9922446682093939 Centerline is valid? [True, True] Translation: X:684.24, Y:-49.56, Z:2.29 [[ 9.96808302e-01 7.98322677e-02 1.36372303e-04 6.84243542e+02] [-7.98322668e-02 9.96808311e-01 -1.23475004e-05 -4.95570294e+01] [-1.36922774e-04 1.42118086e-06 9.99999991e-01 2.29446780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8307140569999 meters Centerline goodness [0,1] 0.9920838280940775 Centerline is valid? [True, True] Translation: X:684.27, Y:-49.55, Z:2.29 [[ 9.96357625e-01 8.52723909e-02 3.19031597e-04 6.84273150e+02] [-8.52723858e-02 9.96357676e-01 -2.96988395e-05 -4.95547404e+01] [-3.20402072e-04 2.38607973e-06 9.99999949e-01 2.29432725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8607140569999 meters Centerline goodness [0,1] 0.9920724329286101 Centerline is valid? [True, True] Translation: X:684.30, Y:-49.56, Z:2.29 [[ 9.96124599e-01 8.79523605e-02 4.05970532e-04 6.84301419e+02] [-8.79523524e-02 9.96124682e-01 -3.77491027e-05 -4.95562995e+01] [-4.07717389e-04 1.89674652e-06 9.99999917e-01 2.29425964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.890714057 meters Centerline goodness [0,1] 0.9925075654805384 Centerline is valid? [True, True] Translation: X:684.33, Y:-49.56, Z:2.29 [[ 9.95809953e-01 9.14466190e-02 -2.31996025e-04 6.84330356e+02] [-9.14466163e-02 9.95809980e-01 2.21627488e-05 -4.95572102e+01] [ 2.33050665e-04 -8.54634312e-07 9.99999973e-01 2.29339484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9207140569999 meters Centerline goodness [0,1] 0.9929222698696865 Centerline is valid? [True, True] Translation: X:684.36, Y:-49.56, Z:2.29 [[ 9.95745131e-01 9.21474560e-02 -6.93260457e-04 6.84359322e+02] [-9.21474328e-02 9.95745372e-01 6.54112187e-05 -4.95600431e+01] [ 6.96338369e-04 -1.25073112e-06 9.99999758e-01 2.29337975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9507140569999 meters Centerline goodness [0,1] 0.9932557993861316 Centerline is valid? [True, True] Translation: X:684.39, Y:-49.56, Z:2.29 [[ 9.95724737e-01 9.23672164e-02 -7.38167385e-04 6.84386810e+02] [-9.23671901e-02 9.95725011e-01 6.97385841e-05 -4.95632570e+01] [ 7.41453287e-04 -1.25798616e-06 9.99999725e-01 2.29333413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9807140569999 meters Centerline goodness [0,1] 0.992855506259243 Centerline is valid? [True, True] Translation: X:684.41, Y:-49.57, Z:2.29 [[ 9.95753566e-01 9.20567305e-02 -6.27188351e-04 6.84414934e+02] [-9.20567114e-02 9.95753764e-01 5.92706930e-05 -4.95669292e+01] [ 6.29981427e-04 -1.28210692e-06 9.99999802e-01 2.29344713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.010714057 meters Centerline goodness [0,1] 0.9937147765603067 Centerline is valid? [True, True] Translation: X:684.44, Y:-49.57, Z:2.29 [[ 9.95844559e-01 9.10642721e-02 -9.55490988e-04 6.84443048e+02] [-9.10642277e-02 9.95845017e-01 8.98980497e-05 -4.95722019e+01] [ 9.59707440e-04 -2.51343473e-06 9.99999539e-01 2.29342821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.040714057 meters Centerline goodness [0,1] 0.9941785252263907 Centerline is valid? [True, True] Translation: X:684.47, Y:-49.58, Z:2.29 [[ 9.95904078e-01 9.03954454e-02 -1.93148639e-03 6.84470971e+02] [-9.03952645e-02 9.95905951e-01 1.80928081e-04 -4.95766106e+01] [ 1.93993386e-03 -5.58979088e-06 9.99998118e-01 2.29325990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0707140569999 meters Centerline goodness [0,1] 0.9944262363526293 Centerline is valid? [True, True] Translation: X:684.50, Y:-49.58, Z:2.29 [[ 9.95946753e-01 8.99026905e-02 -2.75146592e-03 6.84498879e+02] [-8.99023230e-02 9.95950554e-01 2.57195560e-04 -4.95812211e+01] [ 2.76344658e-03 -8.78990487e-06 9.99996182e-01 2.29311539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1007140569999 meters Centerline goodness [0,1] 0.9944117647058823 Centerline is valid? [True, True] Translation: X:684.53, Y:-49.59, Z:2.29 [[ 9.95986233e-01 8.94606020e-02 -2.86787185e-03 6.84526823e+02] [-8.94602018e-02 9.95990362e-01 2.67766989e-04 -4.95871136e+01] [ 2.88032732e-03 -1.01318403e-05 9.99995852e-01 2.29290490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.130714057 meters Centerline goodness [0,1] 0.9951806219093119 Centerline is valid? [True, True] Translation: X:684.56, Y:-49.59, Z:2.29 [[ 9.95965737e-01 8.96825405e-02 -3.04853158e-03 6.84555041e+02] [-8.96820905e-02 9.95970402e-01 2.84269294e-04 -4.95912252e+01] [ 3.06174122e-03 -9.72379129e-06 9.99995313e-01 2.29340497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.160714057 meters Centerline goodness [0,1] 0.9957606766210714 Centerline is valid? [True, True] Translation: X:684.58, Y:-49.60, Z:2.29 [[ 9.95855078e-01 9.09172187e-02 -2.59299819e-03 6.84582871e+02] [-9.09168978e-02 9.95858453e-01 2.41601041e-04 -4.95972504e+01] [ 2.60422486e-03 -4.85227208e-06 9.99996609e-01 2.29489150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1907140569999 meters Centerline goodness [0,1] 0.9962454903934894 Centerline is valid? [True, True] Translation: X:684.61, Y:-49.60, Z:2.30 [[ 9.95800574e-01 9.15193895e-02 -2.32789661e-03 6.84610642e+02] [-9.15191330e-02 9.95803295e-01 2.16715483e-04 -4.96021262e+01] [ 2.33796078e-03 -2.75832300e-06 9.99997267e-01 2.29558347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2207140569999 meters Centerline goodness [0,1] 0.9959024144235012 Centerline is valid? [True, True] Translation: X:684.64, Y:-49.61, Z:2.30 [[ 9.95759019e-01 9.19866774e-02 -1.55825101e-03 6.84637889e+02] [-9.19865630e-02 9.95760238e-01 1.45084048e-04 -4.96072787e+01] [ 1.56499019e-03 -1.13059464e-06 9.99998775e-01 2.29671264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.250714057 meters Centerline goodness [0,1] 0.9966110970783868 Centerline is valid? [True, True] Translation: X:684.67, Y:-49.61, Z:2.30 [[ 9.95736889e-01 9.22334668e-02 -1.01807630e-03 6.84666001e+02] [-9.22334180e-02 9.95737409e-01 9.48955014e-05 -4.96123248e+01] [ 1.02248920e-03 -5.90294285e-07 9.99999477e-01 2.29742548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.280714057 meters Centerline goodness [0,1] 0.9965911242977085 Centerline is valid? [True, True] Translation: X:684.69, Y:-49.62, Z:2.30 [[ 9.95792270e-01 9.16352816e-02 8.54977033e-04 6.84692964e+02] [-9.16352479e-02 9.95792637e-01 -7.86193194e-05 -4.96197246e+01] [-8.58584137e-04 -5.75218217e-08 9.99999631e-01 2.29977413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3107140569999 meters Centerline goodness [0,1] 0.9966626086226439 Centerline is valid? [True, True] Translation: X:684.72, Y:-49.62, Z:2.30 [[ 9.95848123e-01 9.10223887e-02 1.19993752e-03 6.84721189e+02] [-9.10223216e-02 9.95848846e-01 -1.10563649e-04 -4.96247316e+01] [-1.20502016e-03 8.83503996e-07 9.99999274e-01 2.30030564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3407140569999 meters Centerline goodness [0,1] 0.9972426277126439 Centerline is valid? [True, True] Translation: X:684.75, Y:-49.63, Z:2.30 [[ 9.95926418e-01 9.01570503e-02 1.50869881e-03 6.84749857e+02] [-9.01569432e-02 9.95927561e-01 -1.39001640e-04 -4.96327699e+01] [-1.51508671e-03 2.41573236e-06 9.99998852e-01 2.30037703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.370714057 meters Centerline goodness [0,1] 0.9976273464074246 Centerline is valid? [True, True] Translation: X:684.78, Y:-49.64, Z:2.30 [[ 9.95944396e-01 8.99626818e-02 1.21481203e-03 6.84776877e+02] [-8.99626126e-02 9.95945137e-01 -1.11649440e-04 -4.96378504e+01] [-1.21993042e-03 1.90897037e-06 9.99999256e-01 2.30070645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.400714057 meters Centerline goodness [0,1] 0.9977499737146462 Centerline is valid? [True, True] Translation: X:684.81, Y:-49.64, Z:2.30 [[ 9.95956312e-01 8.98373569e-02 5.23804456e-04 6.84805435e+02] [-8.98373441e-02 9.95956450e-01 -4.79382937e-05 -4.96430950e+01] [-5.25993076e-04 6.87245026e-07 9.99999862e-01 2.30073271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4307140569999 meters Centerline goodness [0,1] 0.998315754015874 Centerline is valid? [True, True] Translation: X:684.83, Y:-49.65, Z:2.30 [[ 9.95968016e-01 8.97088506e-02 -1.82061897e-04 6.84833672e+02] [-8.97088490e-02 9.95968033e-01 1.71659789e-05 -4.96500942e+01] [ 1.82867770e-04 -7.64202715e-07 9.99999983e-01 2.29939503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4607140569999 meters Centerline goodness [0,1] 0.9981457288549875 Centerline is valid? [True, True] Translation: X:684.86, Y:-49.65, Z:2.30 [[ 9.96002086e-01 8.93260418e-02 -8.38009382e-04 6.84862572e+02] [-8.93260082e-02 9.96002439e-01 7.75695490e-05 -4.96546552e+01] [ 8.41588370e-04 -2.40339968e-06 9.99999646e-01 2.29887285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.490714057 meters Centerline goodness [0,1] 0.9985690837927697 Centerline is valid? [True, True] Translation: X:684.89, Y:-49.66, Z:2.30 [[ 9.96066243e-01 8.86007812e-02 -1.39313404e-03 6.84890109e+02] [-8.86006879e-02 9.96067217e-01 1.28689334e-04 -4.96610150e+01] [ 1.39905712e-03 -4.75046755e-06 9.99999021e-01 2.29950997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.520714057 meters Centerline goodness [0,1] 0.9982747738270566 Centerline is valid? [True, True] Translation: X:684.92, Y:-49.67, Z:2.30 [[ 9.96092203e-01 8.83064902e-02 -1.51242498e-03 6.84918251e+02] [-8.83063803e-02 9.96093351e-01 1.39409993e-04 -4.96659394e+01] [ 1.51882728e-03 -5.30843165e-06 9.99998847e-01 2.29939885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5507140569999 meters Centerline goodness [0,1] 0.9984861546224848 Centerline is valid? [True, True] Translation: X:684.95, Y:-49.67, Z:2.30 [[ 9.96137136e-01 8.78004009e-02 -1.37675194e-03 6.84946943e+02] [-8.78003094e-02 9.96138088e-01 1.26851288e-04 -4.96708854e+01] [ 1.38257264e-03 -5.48203245e-06 9.99999044e-01 2.29946004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5807140569999 meters Centerline goodness [0,1] 0.998676081200353 Centerline is valid? [True, True] Translation: X:684.97, Y:-49.68, Z:2.30 [[ 9.96185398e-01 8.72556357e-02 -1.05179487e-03 6.84974017e+02] [-8.72555819e-02 9.96185954e-01 9.70049217e-05 -4.96762204e+01] [ 1.05624751e-03 -4.85991279e-06 9.99999442e-01 2.30032393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6107140569999 meters Centerline goodness [0,1] 0.9987159786978761 Centerline is valid? [True, True] Translation: X:685.00, Y:-49.68, Z:2.30 [[ 9.96294599e-01 8.60060023e-02 -1.96549108e-04 6.85001023e+02] [-8.60060003e-02 9.96294619e-01 1.85067375e-05 -4.96838577e+01] [ 1.97412510e-04 -1.53375993e-06 9.99999981e-01 2.30196432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.640714057 meters Centerline goodness [0,1] 0.9985274008625223 Centerline is valid? [True, True] Translation: X:685.03, Y:-49.69, Z:2.30 [[ 9.96368895e-01 8.51410664e-02 -1.51717668e-04 6.85029090e+02] [-8.51410652e-02 9.96368907e-01 1.42960709e-05 -4.96887248e+01] [ 1.52383949e-04 -1.32675653e-06 9.99999988e-01 2.30202652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6707140569999 meters Centerline goodness [0,1] 0.9986141441290106 Centerline is valid? [True, True] Translation: X:685.06, Y:-49.70, Z:2.30 [[ 9.96468968e-01 8.39616512e-02 -1.94476216e-04 6.85057300e+02] [-8.39616493e-02 9.96468987e-01 1.80987884e-05 -4.96975064e+01] [ 1.95309122e-04 -1.70633716e-06 9.99999981e-01 2.30299541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7007140569999 meters Centerline goodness [0,1] 0.9984680601024092 Centerline is valid? [True, True] Translation: X:685.09, Y:-49.70, Z:2.30 [[ 9.96523103e-01 8.33156672e-02 -4.52426254e-04 6.85086562e+02] [-8.33156569e-02 9.96523206e-01 4.15944687e-05 -4.97021883e+01] [ 4.54318732e-04 -3.75565846e-06 9.99999897e-01 2.30310476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7307140569999 meters Centerline goodness [0,1] 0.9988640188488724 Centerline is valid? [True, True] Translation: X:685.11, Y:-49.71, Z:2.30 [[ 9.96572404e-01 8.27238514e-02 -4.56291765e-04 6.85114445e+02] [-8.27238408e-02 9.96572508e-01 4.20187978e-05 -4.97070740e+01] [ 4.58203785e-04 -4.12856703e-06 9.99999895e-01 2.30407022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.760714057 meters Centerline goodness [0,1] 0.9990130197396052 Centerline is valid? [True, True] Translation: X:685.14, Y:-49.71, Z:2.31 [[ 9.96689324e-01 8.13014428e-02 6.83927513e-04 6.85143444e+02] [-8.13014191e-02 9.96689558e-01 -6.23244771e-05 -4.97141105e+01] [-6.86730481e-04 6.51386350e-06 9.99999764e-01 2.30520511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.790714057 meters Centerline goodness [0,1] 0.9988028731045491 Centerline is valid? [True, True] Translation: X:685.17, Y:-49.72, Z:2.31 [[ 9.96770129e-01 8.02978048e-02 1.25411475e-03 6.85172942e+02] [-8.02977244e-02 9.96770918e-01 -1.14402446e-04 -4.97194896e+01] [-1.25925138e-03 1.33303803e-05 9.99999207e-01 2.30579198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8207140569999 meters Centerline goodness [0,1] 0.9991827668580529 Centerline is valid? [True, True] Translation: X:685.20, Y:-49.72, Z:2.31 [[ 9.96878629e-01 7.89391680e-02 1.26777126e-03 6.85202876e+02] [-7.89390845e-02 9.96879435e-01 -1.15845923e-04 -4.97248354e+01] [-1.27295987e-03 1.54076221e-05 9.99999190e-01 2.30643622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8507140569999 meters Centerline goodness [0,1] 0.9991827668580529 Centerline is valid? [True, True] Translation: X:685.23, Y:-49.73, Z:2.31 [[ 9.96878629e-01 7.89391680e-02 1.26777126e-03 6.85232754e+02] [-7.89390845e-02 9.96879435e-01 -1.15845923e-04 -4.97275655e+01] [-1.27295987e-03 1.54076221e-05 9.99999190e-01 2.30660024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.880714057 meters Centerline goodness [0,1] 0.9990753388672902 Centerline is valid? [True, True] Translation: X:685.26, Y:-49.74, Z:2.31 [[ 9.97145894e-01 7.54745769e-02 1.91159422e-03 6.85262477e+02] [-7.54743807e-02 9.97147726e-01 -1.74676934e-04 -4.97364507e+01] [-1.91932550e-03 2.99019978e-05 9.99998158e-01 2.30709995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.910714057 meters Centerline goodness [0,1] 0.998889470927187 Centerline is valid? [True, True] Translation: X:685.29, Y:-49.74, Z:2.31 [[ 9.97274151e-01 7.37566085e-02 2.05661528e-03 6.85292470e+02] [-7.37563778e-02 9.97276271e-01 -1.87928614e-04 -4.97422306e+01] [-2.06487460e-03 3.57278553e-05 9.99997868e-01 2.30767830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9407140569999 meters Centerline goodness [0,1] 0.9993059790952491 Centerline is valid? [True, True] Translation: X:685.32, Y:-49.75, Z:2.31 [[ 9.97515897e-01 7.04057059e-02 2.25187988e-03 6.85323554e+02] [-7.04054201e-02 9.97518438e-01 -2.06050081e-04 -4.97496224e+01] [-2.26079881e-03 4.69936827e-05 9.99997443e-01 2.30724273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9707140569999 meters Centerline goodness [0,1] 0.9990740156154639 Centerline is valid? [True, True] Translation: X:685.35, Y:-49.75, Z:2.31 [[ 9.97634311e-01 6.87392539e-02 8.34423625e-04 6.85354000e+02] [-6.87392140e-02 9.97634660e-01 -7.63917793e-05 -4.97543919e+01] [-8.37701043e-04 1.88534360e-05 9.99999649e-01 2.30650068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.000714057 meters Centerline goodness [0,1] 0.9991616891962695 Centerline is valid? [True, True] Translation: X:685.38, Y:-49.76, Z:2.31 [[ 9.97725415e-01 6.74051799e-02 -7.34088167e-04 6.85384425e+02] [-6.74051488e-02 9.97725684e-01 6.70336030e-05 -4.97589119e+01] [ 7.36937031e-04 -1.73998072e-05 9.99999728e-01 2.30523921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.030714057 meters Centerline goodness [0,1] 0.9989907485281749 Centerline is valid? [True, True] Translation: X:685.41, Y:-49.76, Z:2.30 [[ 9.97811426e-01 6.60971641e-02 -1.87722103e-03 6.85414483e+02] [-6.60969580e-02 9.97813190e-01 1.71672115e-04 -4.97628940e+01] [ 1.88446295e-03 -4.72177975e-05 9.99998223e-01 2.30390411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0607140569999 meters Centerline goodness [0,1] 0.9993469559721929 Centerline is valid? [True, True] Translation: X:685.44, Y:-49.77, Z:2.30 [[ 9.98011313e-01 6.29806448e-02 -2.61862112e-03 6.85444210e+02] [-6.29802329e-02 9.98014746e-01 2.39525189e-04 -4.97676653e+01] [ 2.62850794e-03 -7.41274805e-05 9.99996543e-01 2.30396975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0907140569999 meters Centerline goodness [0,1] 0.9989260444743935 Centerline is valid? [True, True] Translation: X:685.47, Y:-49.78, Z:2.31 [[ 9.98154323e-01 6.07109607e-02 -1.45851661e-03 6.85473134e+02] [-6.07108306e-02 9.98155387e-01 1.33343470e-04 -4.97753535e+01] [ 1.46392162e-03 -4.45496063e-05 9.99998927e-01 2.30504304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.120714057 meters Centerline goodness [0,1] 0.9990743662564426 Centerline is valid? [True, True] Translation: X:685.50, Y:-49.78, Z:2.31 [[ 9.98412923e-01 5.63162659e-02 -3.36879876e-04 6.85504232e+02] [-5.63162588e-02 9.98412980e-01 3.06229631e-05 -4.97811215e+01] [ 3.38069812e-04 -1.16025478e-05 9.99999943e-01 2.30686326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.150714057 meters Centerline goodness [0,1] 0.9987185681574691 Centerline is valid? [True, True] Translation: X:685.53, Y:-49.79, Z:2.31 [[ 9.98556803e-01 5.37033585e-02 -5.10242041e-04 6.85534285e+02] [-5.37033417e-02 9.98556933e-01 4.65849643e-05 -4.97864362e+01] [ 5.12007497e-04 -1.91160304e-05 9.99999869e-01 2.30718830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1807140569999 meters Centerline goodness [0,1] 0.9991368239331354 Centerline is valid? [True, True] Translation: X:685.57, Y:-49.79, Z:2.31 [[ 9.98682267e-01 5.13063596e-02 -1.17790604e-03 6.85565760e+02] [-5.13062683e-02 9.98682960e-01 1.07608830e-04 -4.97877635e+01] [ 1.18187571e-03 -4.70330667e-05 9.99999300e-01 2.30701824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2107140569999 meters Centerline goodness [0,1] 0.999100832252938 Centerline is valid? [True, True] Translation: X:685.59, Y:-49.80, Z:2.31 [[ 9.98965706e-01 4.54434947e-02 -1.55160240e-03 6.85594408e+02] [-4.54433288e-02 9.98966908e-01 1.41992980e-04 -4.97953507e+01] [ 1.55645211e-03 -7.13361396e-05 9.99998786e-01 2.30674429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.240714057 meters Centerline goodness [0,1] 0.999415668433574 Centerline is valid? [True, True] Translation: X:685.63, Y:-49.80, Z:2.31 [[ 9.99092179e-01 4.25542156e-02 -1.98930897e-03 6.85625097e+02] [-4.25539373e-02 9.99094154e-01 1.82014428e-04 -4.97986960e+01] [ 1.99525245e-03 -9.71962619e-05 9.99998005e-01 2.30693382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.270714057 meters Centerline goodness [0,1] 0.9988328713449074 Centerline is valid? [True, True] Translation: X:685.65, Y:-49.81, Z:2.31 [[ 9.99213644e-01 3.95947918e-02 -2.08453324e-03 6.85654372e+02] [-3.95944802e-02 9.99215813e-01 1.90530310e-04 -4.98051454e+01] [ 2.09044258e-03 -1.07844476e-04 9.99997809e-01 2.30659978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3007140569999 meters Centerline goodness [0,1] 0.9990807287314056 Centerline is valid? [True, True] Translation: X:685.68, Y:-49.81, Z:2.31 [[ 9.99423845e-01 3.38682474e-02 -2.21825734e-03 6.85684347e+02] [-3.38678793e-02 9.99426298e-01 2.03316374e-04 -4.98069122e+01] [ 2.22387069e-03 -1.28071561e-04 9.99997519e-01 2.30697705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3307140569999 meters Centerline goodness [0,1] 0.9989992077061006 Centerline is valid? [True, True] Translation: X:685.72, Y:-49.81, Z:2.31 [[ 9.99501784e-01 3.15155387e-02 -1.71888740e-03 6.85715041e+02] [-3.15153143e-02 9.99503257e-01 1.57483793e-04 -4.98063780e+01] [ 1.72299674e-03 -1.03234055e-04 9.99998510e-01 2.30730028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3607140569999 meters Centerline goodness [0,1] 0.9988897268309033 Centerline is valid? [True, True] Translation: X:685.75, Y:-49.81, Z:2.31 [[ 9.99563983e-01 2.95004300e-02 -1.25274851e-03 6.85745563e+02] [-2.95003092e-02 9.99564765e-01 1.14776330e-04 -4.98072058e+01] [ 1.25558922e-03 -7.77698168e-05 9.99999209e-01 2.30734742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.390714057 meters Centerline goodness [0,1] 0.9989277830337433 Centerline is valid? [True, True] Translation: X:685.78, Y:-49.81, Z:2.31 [[ 9.99640212e-01 2.68006548e-02 -1.08221215e-03 6.85776493e+02] [-2.68005631e-02 9.99640795e-01 9.91518550e-05 -4.98063279e+01] [ 1.08448075e-03 -7.01122865e-05 9.99999409e-01 2.30855314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4207140569999 meters Centerline goodness [0,1] 0.9981616495017652 Centerline is valid? [True, True] Translation: X:685.81, Y:-49.81, Z:2.31 [[ 9.99657692e-01 2.61571867e-02 -5.47343953e-04 6.85806307e+02] [-2.61571632e-02 9.99657842e-01 5.01474396e-05 -4.98073109e+01] [ 5.48468391e-04 -3.58133087e-05 9.99999849e-01 2.30872421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4507140569999 meters Centerline goodness [0,1] 0.9975838305739978 Centerline is valid? [True, True] Translation: X:685.84, Y:-49.80, Z:2.31 [[ 9.99662346e-01 2.59844471e-02 4.40876749e-05 6.85837647e+02] [-2.59844469e-02 9.99662347e-01 -4.03929559e-06 -4.98016533e+01] [-4.41777475e-05 2.89233786e-06 9.99999999e-01 2.30938850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4807140569999 meters Centerline goodness [0,1] 0.9978503688092729 Centerline is valid? [True, True] Translation: X:685.87, Y:-49.80, Z:2.31 [[ 9.99633614e-01 2.70664133e-02 2.15868763e-04 6.85869102e+02] [-2.70664097e-02 9.99633637e-01 -1.98816972e-05 -4.97990619e+01] [-2.16327803e-04 1.40316205e-05 9.99999977e-01 2.30942543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.510714057 meters Centerline goodness [0,1] 0.9975985338417139 Centerline is valid? [True, True] Translation: X:685.90, Y:-49.80, Z:2.31 [[ 9.99591874e-01 2.85648986e-02 3.63656468e-04 6.85899966e+02] [-2.85648884e-02 9.99591940e-01 -3.33247387e-05 -4.97965170e+01] [-3.64459992e-04 2.29233316e-05 9.99999933e-01 2.30931810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.540714057 meters Centerline goodness [0,1] 0.9970791345893054 Centerline is valid? [True, True] Translation: X:685.93, Y:-49.79, Z:2.31 [[ 9.99467800e-01 3.26204654e-02 -1.45483040e-04 6.85929878e+02] [-3.26204638e-02 9.99467811e-01 1.33585844e-05 -4.97927791e+01] [ 1.45841379e-04 -8.60575077e-06 9.99999989e-01 2.30875260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5707140569999 meters Centerline goodness [0,1] 0.9968469409062435 Centerline is valid? [True, True] Translation: X:685.96, Y:-49.79, Z:2.31 [[ 9.99395209e-01 3.47723106e-02 -3.21260657e-04 6.85960849e+02] [-3.47723029e-02 9.99395260e-01 2.94380471e-05 -4.97912486e+01] [ 3.22090007e-04 -1.82492703e-05 9.99999948e-01 2.30801759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6007140569999 meters Centerline goodness [0,1] 0.9961271954614918 Centerline is valid? [True, True] Translation: X:685.99, Y:-49.79, Z:2.31 [[ 9.99320469e-01 3.68560843e-02 -4.78015957e-04 6.85991422e+02] [-3.68560675e-02 9.99320583e-01 4.40031487e-05 -4.97881261e+01] [ 4.79312969e-04 -2.63554589e-05 9.99999885e-01 2.30708610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.630714057 meters Centerline goodness [0,1] 0.9953677384035542 Centerline is valid? [True, True] Translation: X:686.02, Y:-49.78, Z:2.31 [[ 9.99146112e-01 4.12932434e-02 -1.38363404e-03 6.86021186e+02] [-4.12931072e-02 9.99147068e-01 1.26828507e-04 -4.97822435e+01] [ 1.38769106e-03 -6.95856609e-05 9.99999035e-01 2.30524153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.660714057 meters Centerline goodness [0,1] 0.9953996428946539 Centerline is valid? [True, True] Translation: X:686.05, Y:-49.78, Z:2.30 [[ 9.99045203e-01 4.36502321e-02 -1.82746356e-03 6.86051317e+02] [-4.36499987e-02 9.99046871e-01 1.67465027e-04 -4.97807051e+01] [ 1.83303164e-03 -8.75363499e-05 9.99998316e-01 2.30459454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6907140569999 meters Centerline goodness [0,1] 0.9957657467874447 Centerline is valid? [True, True] Translation: X:686.08, Y:-49.78, Z:2.30 [[ 9.98970140e-01 4.53258104e-02 -2.05668015e-03 6.86081628e+02] [-4.53255184e-02 9.98972253e-01 1.88376995e-04 -4.97766739e+01] [ 2.06310475e-03 -9.49628988e-05 9.99997867e-01 2.30425430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7207140569999 meters Centerline goodness [0,1] 0.9947787275253694 Centerline is valid? [True, True] Translation: X:686.11, Y:-49.78, Z:2.30 [[ 9.98821592e-01 4.84656237e-02 -2.55155328e-03 6.86110735e+02] [-4.84651849e-02 9.98824845e-01 2.33562675e-04 -4.97761872e+01] [ 2.55987457e-03 -1.09625941e-04 9.99996718e-01 2.30350246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.750714057 meters Centerline goodness [0,1] 0.9947988758860786 Centerline is valid? [True, True] Translation: X:686.14, Y:-49.78, Z:2.30 [[ 9.98770633e-01 4.95210317e-02 -2.21154527e-03 6.86139548e+02] [-4.95207045e-02 9.98773077e-01 2.02493457e-04 -4.97752392e+01] [ 2.21885956e-03 -9.27272383e-05 9.99997534e-01 2.30340951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.780714057 meters Centerline goodness [0,1] 0.9951598709298914 Centerline is valid? [True, True] Translation: X:686.17, Y:-49.77, Z:2.30 [[ 9.98601345e-01 5.28277698e-02 -2.14012888e-03 6.86170168e+02] [-5.28274715e-02 9.98603635e-01 1.95708505e-04 -4.97682027e+01] [ 2.14747932e-03 -8.23771792e-05 9.99997691e-01 2.30343179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8107140569999 meters Centerline goodness [0,1] 0.9949278107505156 Centerline is valid? [True, True] Translation: X:686.20, Y:-49.77, Z:2.30 [[ 9.98495929e-01 5.47925983e-02 -1.91088745e-03 6.86199895e+02] [-5.47923640e-02 9.98497755e-01 1.74765183e-04 -4.97657412e+01] [ 1.91759266e-03 -6.98002827e-05 9.99998159e-01 2.30288665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8407140569999 meters Centerline goodness [0,1] 0.9948614270069919 Centerline is valid? [True, True] Translation: X:686.23, Y:-49.77, Z:2.30 [[ 9.98371893e-01 5.69862057e-02 -2.47700359e-03 6.86227702e+02] [-5.69858191e-02 9.98374962e-01 2.26421859e-04 -4.97655011e+01] [ 2.48588129e-03 -8.48991418e-05 9.99996907e-01 2.30259577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.870714057 meters Centerline goodness [0,1] 0.9941752048106941 Centerline is valid? [True, True] Translation: X:686.26, Y:-49.77, Z:2.30 [[ 9.98224685e-01 5.95030424e-02 -2.62019372e-03 6.86255817e+02] [-5.95026193e-02 9.98228121e-01 2.39189383e-04 -4.97675766e+01] [ 2.62978355e-03 -8.28563567e-05 9.99996539e-01 2.30248720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.900714057 meters Centerline goodness [0,1] 0.9947332940085952 Centerline is valid? [True, True] Translation: X:686.29, Y:-49.76, Z:2.30 [[ 9.98091596e-01 6.17204920e-02 -1.93564811e-03 6.86285571e+02] [-6.17202655e-02 9.98093471e-01 1.76603880e-04 -4.97635268e+01] [ 1.94285782e-03 -5.67981332e-05 9.99998111e-01 2.30253593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9307140569999 meters Centerline goodness [0,1] 0.9934767609609233 Centerline is valid? [True, True] Translation: X:686.31, Y:-49.76, Z:2.30 [[ 9.97805847e-01 6.61916013e-02 -1.47091039e-03 6.86314265e+02] [-6.61914754e-02 9.97806931e-01 1.34191397e-04 -4.97639837e+01] [ 1.47656693e-03 -3.65352317e-05 9.99998909e-01 2.30364585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9607140569999 meters Centerline goodness [0,1] 0.9937405794674259 Centerline is valid? [True, True] Translation: X:686.34, Y:-49.76, Z:2.30 [[ 9.97671411e-01 6.82021048e-02 -4.77405952e-04 6.86343789e+02] [-6.82020917e-02 9.97671525e-01 4.37222405e-05 -4.97625412e+01] [ 4.79276273e-04 -1.10603448e-05 9.99999885e-01 2.30380369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.990714057 meters Centerline goodness [0,1] 0.9940943238731219 Centerline is valid? [True, True] Translation: X:686.37, Y:-49.76, Z:2.30 [[ 9.97415428e-01 7.18499152e-02 -2.30997547e-04 6.86372280e+02] [-7.18499122e-02 9.97415455e-01 2.13833092e-05 -4.97619839e+01] [ 2.31936913e-04 -4.73088899e-06 9.99999973e-01 2.30426219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.020714057 meters Centerline goodness [0,1] 0.9942761295733306 Centerline is valid? [True, True] Translation: X:686.40, Y:-49.76, Z:2.30 [[ 9.97313043e-01 7.32575893e-02 -1.41659446e-04 6.86401458e+02] [-7.32575881e-02 9.97313053e-01 1.32614305e-05 -4.97615236e+01] [ 1.42250315e-04 -2.84816821e-06 9.99999990e-01 2.30347594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0507140569999 meters Centerline goodness [0,1] 0.994188250157928 Centerline is valid? [True, True] Translation: X:686.43, Y:-49.76, Z:2.30 [[ 9.97224269e-01 7.44555362e-02 3.60852485e-04 6.86430768e+02] [-7.44555293e-02 9.97224334e-01 -3.24583708e-05 -4.97632210e+01] [-3.62267585e-04 5.50081229e-06 9.99999934e-01 2.30358754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0807140569999 meters Centerline goodness [0,1] 0.9939565035549979 Centerline is valid? [True, True] Translation: X:686.46, Y:-49.77, Z:2.30 [[ 9.97124846e-01 7.57723579e-02 7.68575138e-04 6.86458153e+02] [-7.57723271e-02 9.97125142e-01 -6.92051262e-05 -4.97656178e+01] [-7.71609429e-04 1.07694241e-05 9.99999702e-01 2.30426376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1107140569999 meters Centerline goodness [0,1] 0.9941550986327106 Centerline is valid? [True, True] Translation: X:686.49, Y:-49.77, Z:2.31 [[ 9.97008464e-01 7.72753166e-02 1.62713969e-03 6.86486610e+02] [-7.72751795e-02 9.97009792e-01 -1.47050856e-04 -4.97680774e+01] [-1.63363760e-03 2.08734366e-05 9.99998665e-01 2.30538912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.140714057 meters Centerline goodness [0,1] 0.9946102905847208 Centerline is valid? [True, True] Translation: X:686.52, Y:-49.77, Z:2.31 [[ 9.96978176e-01 7.76638881e-02 1.68453545e-03 6.86515159e+02] [-7.76637419e-02 9.96979599e-01 -1.52132919e-04 -4.97711291e+01] [-1.69126271e-03 2.08458741e-05 9.99998570e-01 2.30576591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1707140569999 meters Centerline goodness [0,1] 0.9950157452399324 Centerline is valid? [True, True] Translation: X:686.54, Y:-49.77, Z:2.31 [[ 9.96960349e-01 7.79068543e-02 7.64669272e-04 6.86544267e+02] [-7.79068244e-02 9.96960642e-01 -6.87923443e-05 -4.97743710e+01] [-7.67704564e-04 9.01028480e-06 9.99999705e-01 2.30559357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2007140569999 meters Centerline goodness [0,1] 0.9953442732473172 Centerline is valid? [True, True] Translation: X:686.57, Y:-49.78, Z:2.31 [[ 9.96956365e-01 7.79613569e-02 1.84214852e-04 6.86573289e+02] [-7.79613553e-02 9.96956382e-01 -1.62661439e-05 -4.97780249e+01] [-1.84922303e-04 1.85499623e-06 9.99999983e-01 2.30523545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2307140569999 meters Centerline goodness [0,1] 0.9950154333861684 Centerline is valid? [True, True] Translation: X:686.60, Y:-49.78, Z:2.30 [[ 9.96960326e-01 7.79062853e-02 -8.47489299e-04 6.86601030e+02] [-7.79062480e-02 9.96960687e-01 7.70176444e-05 -4.97841360e+01] [ 8.50913672e-04 -1.07588244e-05 9.99999638e-01 2.30410303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.260714057 meters Centerline goodness [0,1] 0.9955232935171433 Centerline is valid? [True, True] Translation: X:686.63, Y:-49.79, Z:2.30 [[ 9.96920389e-01 7.84112830e-02 -1.18665444e-03 6.86629783e+02] [-7.84112107e-02 9.96921095e-01 1.07464621e-04 -4.97884964e+01] [ 1.19142729e-03 -1.40866600e-05 9.99999290e-01 2.30443272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.290714057 meters Centerline goodness [0,1] 0.9959943252941668 Centerline is valid? [True, True] Translation: X:686.66, Y:-49.79, Z:2.30 [[ 9.96886673e-01 7.88382836e-02 -1.21908244e-03 6.86657463e+02] [-7.88382075e-02 9.96887418e-01 1.10401995e-04 -4.97925443e+01] [ 1.22399185e-03 -1.39480036e-05 9.99999251e-01 2.30486703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3207140569999 meters Centerline goodness [0,1] 0.996819617935681 Centerline is valid? [True, True] Translation: X:686.69, Y:-49.80, Z:2.31 [[ 9.96741270e-01 8.06623076e-02 -6.58459916e-04 6.86685919e+02] [-8.06622858e-02 9.96741487e-01 5.96919903e-05 -4.97976503e+01] [ 6.61129210e-04 -6.38458827e-06 9.99999781e-01 2.30619498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3507140569999 meters Centerline goodness [0,1] 0.9974307135034959 Centerline is valid? [True, True] Translation: X:686.71, Y:-49.80, Z:2.31 [[ 9.96643133e-01 8.18683128e-02 -2.09423008e-04 6.86714746e+02] [-8.18683106e-02 9.96643155e-01 1.92395622e-05 -4.98008056e+01] [ 2.10295118e-04 -2.02986962e-06 9.99999978e-01 2.30670196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.380714057 meters Centerline goodness [0,1] 0.9966300890920197 Centerline is valid? [True, True] Translation: X:686.74, Y:-49.80, Z:2.31 [[ 9.96517006e-01 8.33897834e-02 -8.38005791e-06 6.86743866e+02] [-8.33897834e-02 9.96517006e-01 1.14909612e-06 -4.98041476e+01] [ 8.44669310e-06 -4.46282609e-07 1.00000000e+00 2.30676366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.410714057 meters Centerline goodness [0,1] 0.9978295684423466 Centerline is valid? [True, True] Translation: X:686.77, Y:-49.81, Z:2.31 [[ 9.96184329e-01 8.72722577e-02 5.80078838e-04 6.86771502e+02] [-8.72722424e-02 9.96184497e-01 -5.16276010e-05 -4.98085077e+01] [-5.82371203e-04 8.05826035e-07 9.99999830e-01 2.30826931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4407140569999 meters Centerline goodness [0,1] 0.9969945355191256 Centerline is valid? [True, True] Translation: X:686.80, Y:-49.81, Z:2.31 [[ 9.95975817e-01 8.96206125e-02 5.64568431e-04 6.86798818e+02] [-8.96205985e-02 9.95975977e-01 -5.01924024e-05 -4.98120537e+01] [-5.66794868e-04 -6.06541728e-07 9.99999839e-01 2.30930514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4707140569999 meters Centerline goodness [0,1] 0.9970943086349567 Centerline is valid? [True, True] Translation: X:686.83, Y:-49.82, Z:2.31 [[ 9.95828898e-01 9.12368433e-02 8.02494706e-04 6.86826950e+02] [-9.12368153e-02 9.95829222e-01 -7.15772835e-05 -4.98160209e+01] [-8.05678164e-04 -1.93833393e-06 9.99999675e-01 2.30928061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.500714057 meters Centerline goodness [0,1] 0.9978512292232825 Centerline is valid? [True, True] Translation: X:686.85, Y:-49.82, Z:2.31 [[ 9.95648501e-01 9.31869434e-02 5.06555663e-04 6.86854317e+02] [-9.31869326e-02 9.95648630e-01 -4.48993465e-05 -4.98202239e+01] [-5.08535484e-04 -2.50040134e-06 9.99999871e-01 2.30954681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.530714057 meters Centerline goodness [0,1] 0.9986139986139986 Centerline is valid? [True, True] Translation: X:686.88, Y:-49.83, Z:2.31 [[ 9.95250293e-01 9.73410454e-02 -1.25483026e-03 6.86881329e+02] [-9.73409805e-02 9.95251084e-01 1.12835664e-04 -4.98264769e+01] [ 1.25985471e-03 9.84667984e-06 9.99999206e-01 2.30993766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5607140569999 meters Centerline goodness [0,1] 0.9984612466010413 Centerline is valid? [True, True] Translation: X:686.91, Y:-49.83, Z:2.31 [[ 9.95085573e-01 9.90075347e-02 -1.48677077e-03 6.86910222e+02] [-9.90074460e-02 9.95086684e-01 1.33345413e-04 -4.98316573e+01] [ 1.49266800e-03 1.45112795e-05 9.99998886e-01 2.30945716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5907140569999 meters Centerline goodness [0,1] 0.9985039088016521 Centerline is valid? [True, True] Translation: X:686.94, Y:-49.84, Z:2.31 [[ 9.94941794e-01 1.00434176e-01 -1.95024318e-03 6.86937262e+02] [-1.00434027e-01 9.94943705e-01 1.74618234e-04 -4.98362389e+01] [ 1.95791981e-03 2.21357966e-05 9.99998083e-01 2.31049581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.620714057 meters Centerline goodness [0,1] 0.9981930875091921 Centerline is valid? [True, True] Translation: X:686.97, Y:-49.85, Z:2.31 [[ 9.94689513e-01 1.02906928e-01 -1.71391765e-03 6.86965520e+02] [-1.02906816e-01 9.94690989e-01 1.53435274e-04 -4.98472664e+01] [ 1.72060799e-03 2.37533502e-05 9.99998519e-01 2.31207498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.650714057 meters Centerline goodness [0,1] 0.9986736562875008 Centerline is valid? [True, True] Translation: X:686.99, Y:-49.85, Z:2.31 [[ 9.94620061e-01 1.03582411e-01 -1.27222918e-03 6.86992705e+02] [-1.03582350e-01 9.94620874e-01 1.13975489e-04 -4.98516905e+01] [ 1.27719156e-03 1.84181808e-05 9.99999184e-01 2.31399405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6807140569999 meters Centerline goodness [0,1] 0.9985482547497317 Centerline is valid? [True, True] Translation: X:687.02, Y:-49.86, Z:2.31 [[ 9.94543920e-01 1.04314471e-01 -9.39737514e-04 6.87021238e+02] [-1.04314438e-01 9.94544363e-01 8.41468497e-05 -4.98597500e+01] [ 9.43388382e-04 1.43404532e-05 9.99999555e-01 2.31444785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7107140569999 meters Centerline goodness [0,1] 0.9989918719677399 Centerline is valid? [True, True] Translation: X:687.05, Y:-49.87, Z:2.32 [[ 9.94516740e-01 1.04575129e-01 -7.04081973e-04 6.87049120e+02] [-1.04575111e-01 9.94516989e-01 6.30938583e-05 -4.98666935e+01] [ 7.06819533e-04 1.08815521e-05 9.99999750e-01 2.31578704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.740714057 meters Centerline goodness [0,1] 0.9989918719677399 Centerline is valid? [True, True] Translation: X:687.08, Y:-49.87, Z:2.32 [[ 9.94524126e-01 1.04504864e-01 -7.04086352e-04 6.87077345e+02] [-1.04504846e-01 9.94524375e-01 6.30448287e-05 -4.98691500e+01] [ 7.06819531e-04 1.08808327e-05 9.99999750e-01 2.31594194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.770714057 meters Centerline goodness [0,1] 0.9994565103785614 Centerline is valid? [True, True] Translation: X:687.10, Y:-49.88, Z:2.32 [[ 9.94488099e-01 1.04831308e-01 -1.95412165e-03 6.87103911e+02] [-1.04831169e-01 9.94490018e-01 1.74206868e-04 -4.98790272e+01] [ 1.96161681e-03 3.16061985e-05 9.99998076e-01 2.31694471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8007140569999 meters Centerline goodness [0,1] 0.9993736559701025 Centerline is valid? [True, True] Translation: X:687.13, Y:-49.89, Z:2.32 [[ 9.94523699e-01 1.04469461e-01 -2.95695485e-03 6.87132390e+02] [-1.04469141e-01 9.94528094e-01 2.63053869e-04 -4.98884566e+01] [ 2.96825577e-03 4.72972250e-05 9.99995594e-01 2.31667595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8307140569999 meters Centerline goodness [0,1] 0.9996224119485642 Centerline is valid? [True, True] Translation: X:687.16, Y:-49.90, Z:2.32 [[ 9.94572973e-01 1.03992695e-01 -3.18148171e-03 6.87160761e+02] [-1.03992322e-01 9.94578060e-01 2.82784906e-04 -4.98975883e+01] [ 3.19363947e-03 4.95994466e-05 9.99994899e-01 2.31651084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8607140569999 meters Centerline goodness [0,1] 0.9999372529334254 Centerline is valid? [True, True] Translation: X:687.19, Y:-49.91, Z:2.32 [[ 9.94655234e-01 1.03155462e-01 -4.46280890e-03 6.87188063e+02] [-1.03154723e-01 9.94665243e-01 3.96167622e-04 -4.99096180e+01] [ 4.47986775e-03 6.63096153e-05 9.99989963e-01 2.31674251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.890714057 meters Centerline goodness [0,1] 0.9999164194074136 Centerline is valid? [True, True] Translation: X:687.22, Y:-49.92, Z:2.32 [[ 9.94674191e-01 1.02942676e-01 -5.10486930e-03 6.87216450e+02] [-1.02941707e-01 9.94687287e-01 4.52841804e-04 -4.99171510e+01] [ 5.12436535e-03 7.50739055e-05 9.99986868e-01 2.31692165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9207140569999 meters Centerline goodness [0,1] 0.9998955439028976 Centerline is valid? [True, True] Translation: X:687.25, Y:-49.92, Z:2.32 [[ 9.94732932e-01 1.02367520e-01 -5.22346140e-03 6.87245549e+02] [-1.02366499e-01 9.94746644e-01 4.63072033e-04 -4.99248372e+01] [ 5.24342423e-03 7.40744559e-05 9.99986250e-01 2.31741914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9507140569999 meters Centerline goodness [0,1] 0.9998533079067038 Centerline is valid? [True, True] Translation: X:687.27, Y:-49.93, Z:2.32 [[ 9.94748838e-01 1.02214635e-01 -5.18830320e-03 6.87274718e+02] [-1.02213627e-01 9.94762365e-01 4.59772183e-04 -4.99331266e+01] [ 5.20812421e-03 7.29574440e-05 9.99986435e-01 2.31826588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9807140569999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:687.30, Y:-49.95, Z:2.32 [[ 9.94857029e-01 1.01185844e-01 -4.57349991e-03 6.87304515e+02] [-1.01185051e-01 9.94867540e-01 4.05116670e-04 -4.99462468e+01] [ 4.59101867e-03 5.97366546e-05 9.99989459e-01 2.31953462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.010714057 meters Centerline goodness [0,1] 0.9996461061265275 Centerline is valid? [True, True] Translation: X:687.33, Y:-49.95, Z:2.32 [[ 9.94886768e-01 1.00899502e-01 -4.42816776e-03 6.87334403e+02] [-1.00898756e-01 9.94896621e-01 3.92156842e-04 -4.99535702e+01] [ 4.44513757e-03 5.66449660e-05 9.99990119e-01 2.32009171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.040714057 meters Centerline goodness [0,1] 0.9994552349822952 Centerline is valid? [True, True] Translation: X:687.36, Y:-49.96, Z:2.32 [[ 9.94936715e-01 1.00413667e-01 -4.24600247e-03 6.87364906e+02] [-1.00412975e-01 9.94945774e-01 3.76424755e-04 -4.99614717e+01] [ 4.26234040e-03 5.18349314e-05 9.99990915e-01 2.32076488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0707140569999 meters Centerline goodness [0,1] 0.9983872319034852 Centerline is valid? [True, True] Translation: X:687.39, Y:-49.98, Z:2.32 [[ 9.95134686e-01 9.84462827e-02 -3.90986580e-03 6.87394636e+02] [-9.84456801e-02 9.95142366e-01 3.46750856e-04 -4.99750452e+01] [ 3.92500944e-03 3.98455937e-05 9.99992296e-01 2.32063350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1007140569999 meters Centerline goodness [0,1] 0.9977624424926809 Centerline is valid? [True, True] Translation: X:687.43, Y:-49.98, Z:2.32 [[ 9.95225560e-01 9.75183185e-02 -4.03264866e-03 6.87426401e+02] [-9.75176704e-02 9.95233729e-01 3.57490094e-04 -4.99834981e+01] [ 4.04828980e-03 3.74712242e-05 9.99991805e-01 2.32035184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.130714057 meters Centerline goodness [0,1] 0.9969654479626645 Centerline is valid? [True, True] Translation: X:687.46, Y:-49.99, Z:2.32 [[ 9.95347915e-01 9.62558633e-02 -4.16385721e-03 6.87458221e+02] [-9.62551568e-02 9.95356623e-01 3.70196821e-04 -4.99918150e+01] [ 4.18015646e-03 3.23180951e-05 9.99991263e-01 2.32037297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.160714057 meters Centerline goodness [0,1] 0.9963417438384514 Centerline is valid? [True, True] Translation: X:687.49, Y:-50.00, Z:2.32 [[ 9.95618867e-01 9.33949640e-02 -4.52250687e-03 6.87488666e+02] [-9.33940954e-02 9.95629138e-01 4.03340186e-04 -5.00048038e+01] [ 4.54040956e-03 2.08023396e-05 9.99989692e-01 2.31948510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1907140569999 meters Centerline goodness [0,1] 0.9960659579810831 Centerline is valid? [True, True] Translation: X:687.52, Y:-50.01, Z:2.32 [[ 9.95728762e-01 9.21789812e-02 -5.22180669e-03 6.87519627e+02] [-9.21777992e-02 9.95742454e-01 4.67082367e-04 -5.00123650e+01] [ 5.24262978e-03 1.62473012e-05 9.99986257e-01 2.31913646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2207140569999 meters Centerline goodness [0,1] 0.9952510460251046 Centerline is valid? [True, True] Translation: X:687.55, Y:-50.02, Z:2.32 [[ 9.95826644e-01 9.10934683e-02 -5.59241122e-03 6.87552369e+02] [-9.10920868e-02 9.95842347e-01 5.01776775e-04 -5.00200083e+01] [ 5.61486850e-03 9.74172593e-06 9.99984236e-01 2.31871855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.250714057 meters Centerline goodness [0,1] 0.9951263386880856 Centerline is valid? [True, True] Translation: X:687.58, Y:-50.03, Z:2.32 [[ 9.95915225e-01 9.01030542e-02 -5.85699088e-03 6.87584254e+02] [-9.01015120e-02 9.95932447e-01 5.27179856e-04 -5.00272377e+01] [ 5.88066778e-03 2.69728910e-06 9.99982709e-01 2.31902222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.280714057 meters Centerline goodness [0,1] 0.9950252915848 Centerline is valid? [True, True] Translation: X:687.62, Y:-50.03, Z:2.32 [[ 9.95982166e-01 8.93457015e-02 -6.07211391e-03 6.87616863e+02] [-8.93440200e-02 9.96000676e-01 5.48153656e-04 -5.00343850e+01] [ 6.09680473e-03 -3.44419888e-06 9.99981414e-01 2.31970578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3107140569999 meters Centerline goodness [0,1] 0.9948139938520734 Centerline is valid? [True, True] Translation: X:687.65, Y:-50.04, Z:2.32 [[ 9.96116474e-01 8.78538396e-02 -5.80277833e-03 6.87647875e+02] [-8.78522697e-02 9.96133376e-01 5.25384047e-04 -5.00449413e+01] [ 5.82649817e-03 -1.35564581e-05 9.99983026e-01 2.32048157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3407140569999 meters Centerline goodness [0,1] 0.994365666170957 Centerline is valid? [True, True] Translation: X:687.68, Y:-50.05, Z:2.32 [[ 9.96128477e-01 8.77081454e-02 -5.94464915e-03 6.87680108e+02] [-8.77064858e-02 9.96146215e-01 5.39809425e-04 -5.00508864e+01] [ 5.96908543e-03 -1.63352539e-05 9.99982185e-01 2.32126400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.370714057 meters Centerline goodness [0,1] 0.9950584195318062 Centerline is valid? [True, True] Translation: X:687.71, Y:-50.06, Z:2.32 [[ 9.96117270e-01 8.78349089e-02 -5.95089530e-03 6.87713168e+02] [-8.78332383e-02 9.96135045e-01 5.42001384e-04 -5.00559635e+01] [ 5.97550200e-03 -1.72105337e-05 9.99982146e-01 2.32173848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.400714057 meters Centerline goodness [0,1] 0.9945584188141106 Centerline is valid? [True, True] Translation: X:687.75, Y:-50.06, Z:2.32 [[ 9.96059672e-01 8.85090328e-02 -5.59296787e-03 6.87746087e+02] [-8.85075593e-02 9.96075374e-01 5.10906975e-04 -5.00611930e+01] [ 5.61623745e-03 -1.38738988e-05 9.99984229e-01 2.32196935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4307140569999 meters Centerline goodness [0,1] 0.9946027048992435 Centerline is valid? [True, True] Translation: X:687.78, Y:-50.07, Z:2.32 [[ 9.95882236e-01 9.04738055e-02 -5.74998604e-03 6.87778156e+02] [-9.04722711e-02 9.95898835e-01 5.26931656e-04 -5.00678578e+01] [ 5.77407792e-03 -4.54757969e-06 9.99983330e-01 2.32262587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4607140569999 meters Centerline goodness [0,1] 0.9945210616224324 Centerline is valid? [True, True] Translation: X:687.81, Y:-50.07, Z:2.32 [[ 9.95748003e-01 9.19250605e-02 -5.97472134e-03 6.87810844e+02] [-9.19234194e-02 9.95765928e-01 5.49291595e-04 -5.00726661e+01] [ 5.99991760e-03 2.26080637e-06 9.99982000e-01 2.32328874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.490714057 meters Centerline goodness [0,1] 0.9936418965553302 Centerline is valid? [True, True] Translation: X:687.84, Y:-50.08, Z:2.32 [[ 9.95618233e-01 9.32931669e-02 -6.38109451e-03 6.87843049e+02] [-9.32913108e-02 9.95638682e-01 5.88572338e-04 -5.00769434e+01] [ 6.40817430e-03 9.30731904e-06 9.99979467e-01 2.32365686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.520714057 meters Centerline goodness [0,1] 0.9933573496033151 Centerline is valid? [True, True] Translation: X:687.87, Y:-50.08, Z:2.32 [[ 9.95396590e-01 9.55902865e-02 -6.93729418e-03 6.87874456e+02] [-9.55881346e-02 9.95420764e-01 6.41851356e-04 -5.00814187e+01] [ 6.96688142e-03 2.42263593e-05 9.99975731e-01 2.32392755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5507140569999 meters Centerline goodness [0,1] 0.9937351209121664 Centerline is valid? [True, True] Translation: X:687.91, Y:-50.09, Z:2.32 [[ 9.95263124e-01 9.69787521e-02 -6.81440208e-03 6.87907081e+02] [-9.69766961e-02 9.95286452e-01 6.32274715e-04 -5.00857626e+01] [ 6.84359928e-03 3.15584921e-05 9.99976582e-01 2.32450453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5807140569999 meters Centerline goodness [0,1] 0.9928613297605091 Centerline is valid? [True, True] Translation: X:687.94, Y:-50.09, Z:2.33 [[ 9.95179967e-01 9.78574312e-02 -6.38413429e-03 6.87938727e+02] [-9.78556345e-02 9.95200443e-01 5.93947043e-04 -5.00903101e+01] [ 6.41161541e-03 3.36393135e-05 9.99979445e-01 2.32518065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6107140569999 meters Centerline goodness [0,1] 0.9930077249984299 Centerline is valid? [True, True] Translation: X:687.97, Y:-50.10, Z:2.33 [[ 9.95083227e-01 9.88358499e-02 -6.39115924e-03 6.87971312e+02] [-9.88340616e-02 9.95103750e-01 5.95816270e-04 -5.00954960e+01] [ 6.41875453e-03 3.87774501e-05 9.99979399e-01 2.32617259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.640714057 meters Centerline goodness [0,1] 0.9932523333053056 Centerline is valid? [True, True] Translation: X:688.00, Y:-50.10, Z:2.33 [[ 9.94972045e-01 9.99713826e-02 -6.02936334e-03 6.88003373e+02] [-9.99698023e-02 9.94990312e-01 5.63675329e-04 -5.01007268e+01] [ 6.05550951e-03 4.19130662e-05 9.99981664e-01 2.32684557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6707140569999 meters Centerline goodness [0,1] 0.9931828669715149 Centerline is valid? [True, True] Translation: X:688.03, Y:-50.11, Z:2.33 [[ 9.94813110e-01 1.01573666e-01 -5.44669014e-03 6.88034525e+02] [-1.01572394e-01 9.94828019e-01 5.10482877e-04 -5.01078554e+01] [ 5.47037158e-03 4.53982964e-05 9.99985036e-01 2.32803607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7007140569999 meters Centerline goodness [0,1] 0.9925318494655148 Centerline is valid? [True, True] Translation: X:688.07, Y:-50.11, Z:2.33 [[ 9.94704911e-01 1.02638278e-01 -5.24639391e-03 6.88066785e+02] [-1.02637105e-01 9.94718745e-01 4.92997029e-04 -5.01137330e+01] [ 5.26928673e-03 4.80881179e-05 9.99986116e-01 2.32804627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7307140569999 meters Centerline goodness [0,1] 0.9922462702248371 Centerline is valid? [True, True] Translation: X:688.10, Y:-50.12, Z:2.33 [[ 9.94525229e-01 1.04395661e-01 -4.59512057e-03 6.88097192e+02] [-1.04394774e-01 9.94535843e-01 4.32966078e-04 -5.01191794e+01] [ 4.61521189e-03 4.91108859e-05 9.99989349e-01 2.32794289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.760714057 meters Centerline goodness [0,1] 0.992753927581282 Centerline is valid? [True, True] Translation: X:688.13, Y:-50.12, Z:2.33 [[ 9.94491347e-01 1.04702351e-01 -4.93750300e-03 6.88129523e+02] [-1.04701325e-01 9.94503602e-01 4.66430883e-04 -5.01246504e+01] [ 4.95920093e-03 5.31016297e-05 9.99987702e-01 2.32788473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.790714057 meters Centerline goodness [0,1] 0.9923680171561928 Centerline is valid? [True, True] Translation: X:688.16, Y:-50.13, Z:2.33 [[ 9.94503145e-01 1.04566504e-01 -5.41668116e-03 6.88161484e+02] [-1.04565258e-01 9.94517895e-01 5.13377726e-04 -5.01300833e+01] [ 5.44066846e-03 5.58409017e-05 9.99985198e-01 2.32747723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8207140569999 meters Centerline goodness [0,1] 0.992558624283481 Centerline is valid? [True, True] Translation: X:688.19, Y:-50.14, Z:2.33 [[ 9.94509580e-01 1.04459504e-01 -6.23749115e-03 6.88193892e+02] [-1.04457839e-01 9.94529139e-01 5.93043040e-04 -5.01366046e+01] [ 6.26531569e-03 6.17678610e-05 9.99980371e-01 2.32706864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8507140569999 meters Centerline goodness [0,1] 0.992107619583099 Centerline is valid? [True, True] Translation: X:688.22, Y:-50.15, Z:2.33 [[ 9.94781083e-01 1.01761339e-01 -7.43142832e-03 6.88223847e+02] [-1.01758884e-01 9.94808840e-01 7.08669061e-04 -5.01460234e+01] [ 7.46496570e-03 5.12432749e-05 9.99972135e-01 2.32650498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.880714057 meters Centerline goodness [0,1] 0.9919921384962783 Centerline is valid? [True, True] Translation: X:688.26, Y:-50.15, Z:2.33 [[ 9.94927476e-01 1.00319137e-01 -7.44227682e-03 6.88255811e+02] [-1.00316625e-01 9.94955310e-01 7.10964053e-04 -5.01537558e+01] [ 7.47605615e-03 3.92264227e-05 9.99972053e-01 2.32676466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.910714057 meters Centerline goodness [0,1] 0.992424876538043 Centerline is valid? [True, True] Translation: X:688.29, Y:-50.16, Z:2.33 [[ 9.95086920e-01 9.86988580e-02 -7.78188070e-03 6.88288418e+02] [-9.86960461e-02 9.95117347e-01 7.45486512e-04 -5.01600529e+01] [ 7.81746315e-03 2.62169788e-05 9.99969443e-01 2.32686885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9407140569999 meters Centerline goodness [0,1] 0.9930732850625706 Centerline is valid? [True, True] Translation: X:688.32, Y:-50.17, Z:2.33 [[ 9.95269426e-01 9.68209913e-02 -8.02904807e-03 6.88321184e+02] [-9.68179180e-02 9.95301811e-01 7.71497168e-04 -5.01665280e+01] [ 8.06602321e-03 9.50817478e-06 9.99967469e-01 2.32743057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9707140569999 meters Centerline goodness [0,1] 0.9931285197949062 Centerline is valid? [True, True] Translation: X:688.35, Y:-50.18, Z:2.33 [[ 9.95721082e-01 9.21547273e-02 -6.85809735e-03 6.88352492e+02] [-9.21523626e-02 9.95744699e-01 6.60677651e-04 -5.01769227e+01] [ 6.88979865e-03 -2.58607907e-05 9.99976265e-01 2.32910146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.000714057 meters Centerline goodness [0,1] 0.9933760908421827 Centerline is valid? [True, True] Translation: X:688.39, Y:-50.18, Z:2.33 [[ 9.95920522e-01 9.00313634e-02 -6.05535685e-03 6.88385363e+02] [-9.00294719e-02 9.95938930e-01 5.84788938e-04 -5.01840364e+01] [ 6.08341497e-03 -3.72427254e-05 9.99981495e-01 2.33052051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.030714057 meters Centerline goodness [0,1] 0.9940581542351454 Centerline is valid? [True, True] Translation: X:688.42, Y:-50.19, Z:2.33 [[ 9.96115959e-01 8.78486040e-02 -5.96817720e-03 6.88416610e+02] [-8.78467175e-02 9.96133836e-01 5.78011191e-04 -5.01907432e+01] [ 5.99588073e-03 -5.14813950e-05 9.99982023e-01 2.33182166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0607140569999 meters Centerline goodness [0,1] 0.9946310137909253 Centerline is valid? [True, True] Translation: X:688.45, Y:-50.20, Z:2.33 [[ 9.96480954e-01 8.36532815e-02 -5.27609907e-03 6.88448363e+02] [-8.36517422e-02 9.96494919e-01 5.12130981e-04 -5.01997748e+01] [ 5.30044735e-03 -6.89738893e-05 9.99985950e-01 2.33280002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0907140569999 meters Centerline goodness [0,1] 0.9933912823858734 Centerline is valid? [True, True] Translation: X:688.48, Y:-50.21, Z:2.33 [[ 9.96625585e-01 8.19221710e-02 -5.11872286e-03 6.88480322e+02] [-8.19206931e-02 9.96638727e-01 4.98070666e-04 -5.02054658e+01] [ 5.14232046e-03 -7.70606444e-05 9.99986775e-01 2.33259820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.120714057 meters Centerline goodness [0,1] 0.9940275908479138 Centerline is valid? [True, True] Translation: X:688.51, Y:-50.21, Z:2.33 [[ 9.96790501e-01 7.99047695e-02 -4.89138340e-03 6.88510712e+02] [-7.99033898e-02 9.96802498e-01 4.77147827e-04 -5.02105795e+01] [ 4.91386958e-03 -8.47783068e-05 9.99987923e-01 2.33263002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.150714057 meters Centerline goodness [0,1] 0.9934480797185413 Centerline is valid? [True, True] Translation: X:688.54, Y:-50.21, Z:2.33 [[ 9.96903758e-01 7.84704755e-02 -5.02811050e-03 6.88542465e+02] [-7.84689962e-02 9.96916434e-01 4.91112426e-04 -5.02145267e+01] [ 5.05114381e-03 -9.50410390e-05 9.99987238e-01 2.33293638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1807140569999 meters Centerline goodness [0,1] 0.9937361594432141 Centerline is valid? [True, True] Translation: X:688.57, Y:-50.22, Z:2.33 [[ 9.97117165e-01 7.56883577e-02 -5.35094142e-03 6.88573769e+02] [-7.56866346e-02 9.97131515e-01 5.24075641e-04 -5.02204602e+01] [ 5.37525875e-03 -1.17570070e-04 9.99985546e-01 2.33322223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2107140569999 meters Centerline goodness [0,1] 0.9939751421950705 Centerline is valid? [True, True] Translation: X:688.60, Y:-50.23, Z:2.33 [[ 9.97158236e-01 7.51187375e-02 -5.71199035e-03 6.88604535e+02] [-7.51167600e-02 9.97174588e-01 5.60248246e-04 -5.02252089e+01] [ 5.73793677e-03 -1.29589945e-04 9.99983530e-01 2.33316550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.240714057 meters Centerline goodness [0,1] 0.9939095856006698 Centerline is valid? [True, True] Translation: X:688.64, Y:-50.23, Z:2.33 [[ 9.97161649e-01 7.50035294e-02 -6.56625085e-03 6.88636795e+02] [-7.50009023e-02 9.97183257e-01 6.45768980e-04 -5.02289961e+01] [ 6.59619036e-03 -1.51461323e-04 9.99978233e-01 2.33328472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.270714057 meters Centerline goodness [0,1] 0.9936680993814865 Centerline is valid? [True, True] Translation: X:688.67, Y:-50.23, Z:2.33 [[ 9.97172159e-01 7.47868513e-02 -7.39001099e-03 6.88668247e+02] [-7.47835038e-02 9.97199527e-01 7.28660215e-04 -5.02319730e+01] [ 7.42380967e-03 -1.73948764e-04 9.99972428e-01 2.33287227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3007140569999 meters Centerline goodness [0,1] 0.9937271849955943 Centerline is valid? [True, True] Translation: X:688.70, Y:-50.23, Z:2.33 [[ 9.97122771e-01 7.54621539e-02 -7.18623621e-03 6.88700092e+02] [-7.54589977e-02 9.97148653e-01 7.09712825e-04 -5.02330617e+01] [ 7.21930221e-03 -1.65404638e-04 9.99973927e-01 2.33302453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3307140569999 meters Centerline goodness [0,1] 0.9932372645683226 Centerline is valid? [True, True] Translation: X:688.73, Y:-50.24, Z:2.33 [[ 9.97075304e-01 7.61537306e-02 -6.43802490e-03 6.88732538e+02] [-7.61512025e-02 9.97096078e-01 6.37265875e-04 -5.02352892e+01] [ 6.46785955e-03 -1.45138728e-04 9.99979073e-01 2.33336815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3607140569999 meters Centerline goodness [0,1] 0.9936812839630987 Centerline is valid? [True, True] Translation: X:688.76, Y:-50.24, Z:2.33 [[ 9.96995410e-01 7.72254080e-02 -6.03234487e-03 6.88763473e+02] [-7.72231997e-02 9.97013650e-01 5.98494748e-04 -5.02368992e+01] [ 6.06054918e-03 -1.30859545e-04 9.99981626e-01 2.33443669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.390714057 meters Centerline goodness [0,1] 0.9936462003019627 Centerline is valid? [True, True] Translation: X:688.79, Y:-50.24, Z:2.33 [[ 9.96934220e-01 7.80022170e-02 -6.14937989e-03 6.88794110e+02] [-7.79999283e-02 9.96953177e-01 6.11517646e-04 -5.02403306e+01] [ 6.17834355e-03 -1.29991677e-04 9.99980905e-01 2.33489592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4207140569999 meters Centerline goodness [0,1] 0.9940527658856528 Centerline is valid? [True, True] Translation: X:688.83, Y:-50.24, Z:2.34 [[ 9.96889500e-01 7.86339240e-02 -5.29446240e-03 6.88827632e+02] [-7.86322309e-02 9.96903553e-01 5.27503161e-04 -5.02408222e+01] [ 5.31954803e-03 -1.09546972e-04 9.99985845e-01 2.33609735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4507140569999 meters Centerline goodness [0,1] 0.9938142168169427 Centerline is valid? [True, True] Translation: X:688.86, Y:-50.24, Z:2.34 [[ 9.96843044e-01 7.92132104e-02 -5.40490239e-03 6.88859065e+02] [-7.92114461e-02 9.96857691e-01 5.40048897e-04 -5.02435309e+01] [ 5.43069752e-03 -1.10213852e-04 9.99985248e-01 2.33664042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4807140569999 meters Centerline goodness [0,1] 0.9937351024110364 Centerline is valid? [True, True] Translation: X:688.89, Y:-50.25, Z:2.34 [[ 9.96797103e-01 7.98515639e-02 -4.38895490e-03 6.88891427e+02] [-7.98504053e-02 9.96806762e-01 4.38874519e-04 -5.02457170e+01] [ 4.40998474e-03 -8.70090216e-05 9.99990272e-01 2.33753872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.510714057 meters Centerline goodness [0,1] 0.9935232346098221 Centerline is valid? [True, True] Translation: X:688.92, Y:-50.25, Z:2.34 [[ 9.96680939e-01 8.12789782e-02 -4.56432763e-03 6.88923024e+02] [-8.12777344e-02 9.96691387e-01 4.57653297e-04 -5.02461454e+01] [ 4.58642363e-03 -8.51561091e-05 9.99989479e-01 2.33814176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.540714057 meters Centerline goodness [0,1] 0.9937928575922159 Centerline is valid? [True, True] Translation: X:688.96, Y:-50.25, Z:2.34 [[ 9.96637874e-01 8.18449771e-02 -3.78782027e-03 6.88955501e+02] [-8.18441225e-02 9.96645070e-01 3.80336485e-04 -5.02481264e+01] [ 3.80624103e-03 -6.90469199e-05 9.99992754e-01 2.33840606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5707140569999 meters Centerline goodness [0,1] 0.9934918595589629 Centerline is valid? [True, True] Translation: X:688.99, Y:-50.25, Z:2.34 [[ 9.96480941e-01 8.37530204e-02 -3.34155947e-03 6.88987850e+02] [-8.37523636e-02 9.96486542e-01 3.36260311e-04 -5.02457096e+01] [ 3.35798185e-03 -5.52134877e-05 9.99994360e-01 2.33879089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6007140569999 meters Centerline goodness [0,1] 0.9934460085981623 Centerline is valid? [True, True] Translation: X:689.02, Y:-50.25, Z:2.34 [[ 9.96355495e-01 8.52399587e-02 -3.14265994e-03 6.89018189e+02] [-8.52393827e-02 9.96360450e-01 3.17014007e-04 -5.02514512e+01] [ 3.15824433e-03 -4.79802549e-05 9.99995012e-01 2.34007935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.630714057 meters Centerline goodness [0,1] 0.9934225637384895 Centerline is valid? [True, True] Translation: X:689.05, Y:-50.25, Z:2.34 [[ 9.96226550e-01 8.67052473e-02 -3.85500930e-03 6.89050065e+02] [-8.67043869e-02 9.96234007e-01 3.90090353e-04 -5.02532067e+01] [ 3.87431424e-03 -5.43721485e-05 9.99992493e-01 2.33986317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.660714057 meters Centerline goodness [0,1] 0.9934225637384895 Centerline is valid? [True, True] Translation: X:689.08, Y:-50.26, Z:2.34 [[ 9.96204326e-01 8.69602208e-02 -3.85492714e-03 6.89082367e+02] [-8.69593591e-02 9.96211783e-01 3.90900246e-04 -5.02565829e+01] [ 3.87431661e-03 -5.41945229e-05 9.99992493e-01 2.34004093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6907140569999 meters Centerline goodness [0,1] 0.9931303340006322 Centerline is valid? [True, True] Translation: X:689.12, Y:-50.26, Z:2.34 [[ 9.96089683e-01 8.82770942e-02 -3.53529863e-03 6.89115077e+02] [-8.82763737e-02 9.96095955e-01 3.59624510e-04 -5.02578866e+01] [ 3.55324327e-03 -4.61349208e-05 9.99993686e-01 2.34055396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7207140569999 meters Centerline goodness [0,1] 0.9932443808401381 Centerline is valid? [True, True] Translation: X:689.15, Y:-50.26, Z:2.34 [[ 9.95790016e-01 9.15931599e-02 -3.59672257e-03 6.89147219e+02] [-9.15924358e-02 9.95796511e-01 3.65865928e-04 -5.02558323e+01] [ 3.61511461e-03 -3.48930567e-05 9.99993465e-01 2.33916034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.750714057 meters Centerline goodness [0,1] 0.9932042920260888 Centerline is valid? [True, True] Translation: X:689.18, Y:-50.26, Z:2.34 [[ 9.95659876e-01 9.29996651e-02 -3.53175102e-03 6.89179542e+02] [-9.29989727e-02 9.95666140e-01 3.60105402e-04 -5.02582445e+01] [ 3.54993459e-03 -3.00932834e-05 9.99993699e-01 2.33869769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.780714057 meters Centerline goodness [0,1] 0.9929553840992955 Centerline is valid? [True, True] Translation: X:689.21, Y:-50.26, Z:2.34 [[ 9.95542119e-01 9.41892729e-02 -4.92650638e-03 6.89210870e+02] [-9.41879316e-02 9.95554308e-01 5.04079172e-04 -5.02611260e+01] [ 4.95208349e-03 -3.78146008e-05 9.99987738e-01 2.33860453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8107140569999 meters Centerline goodness [0,1] 0.992755595569607 Centerline is valid? [True, True] Translation: X:689.24, Y:-50.27, Z:2.34 [[ 9.95412356e-01 9.55318414e-02 -5.28294618e-03 6.89242489e+02] [-9.55303111e-02 9.95426374e-01 5.41839916e-04 -5.02660111e+01] [ 5.31054692e-03 -3.46726555e-05 9.99985898e-01 2.33853283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8407140569999 meters Centerline goodness [0,1] 0.9934609016410622 Centerline is valid? [True, True] Translation: X:689.28, Y:-50.27, Z:2.34 [[ 9.95321864e-01 9.64449705e-02 -5.72321296e-03 6.89275500e+02] [-9.64431802e-02 9.95338318e-01 5.88612881e-04 -5.02684040e+01] [ 5.75330192e-03 -3.38944105e-05 9.99983449e-01 2.33763638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.870714057 meters Centerline goodness [0,1] 0.9929748773224846 Centerline is valid? [True, True] Translation: X:689.31, Y:-50.27, Z:2.34 [[ 9.95327741e-01 9.63963081e-02 -5.51728081e-03 6.89307961e+02] [-9.63946354e-02 9.95343032e-01 5.68907947e-04 -5.02724646e+01] [ 5.54642763e-03 -3.44135891e-05 9.99984618e-01 2.33776236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.900714057 meters Centerline goodness [0,1] 0.9933900303132368 Centerline is valid? [True, True] Translation: X:689.34, Y:-50.28, Z:2.34 [[ 9.95358950e-01 9.61012288e-02 -5.01140298e-03 6.89339986e+02] [-9.60998387e-02 9.95371565e-01 5.17995459e-04 -5.02768271e+01] [ 5.03798802e-03 -3.39963981e-05 9.99987309e-01 2.33825393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9307140569999 meters Centerline goodness [0,1] 0.9935553168635876 Centerline is valid? [True, True] Translation: X:689.37, Y:-50.28, Z:2.34 [[ 9.95623391e-01 9.33557142e-02 -4.33288888e-03 6.89370726e+02] [-9.33546449e-02 9.95632818e-01 4.48824333e-04 -5.02834365e+01] [ 4.35586669e-03 -4.23647011e-05 9.99990512e-01 2.33900456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9607140569999 meters Centerline goodness [0,1] 0.9944135255923771 Centerline is valid? [True, True] Translation: X:689.40, Y:-50.29, Z:2.34 [[ 9.95810905e-01 9.13469644e-02 -4.04642595e-03 6.89402850e+02] [-9.13460121e-02 9.95819125e-01 4.19919526e-04 -5.02873880e+01] [ 4.06786672e-03 -4.85355701e-05 9.99991725e-01 2.33955145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.990714057 meters Centerline goodness [0,1] 0.9934589823686031 Centerline is valid? [True, True] Translation: X:689.43, Y:-50.29, Z:2.34 [[ 9.96026550e-01 8.89911133e-02 -3.41945855e-03 6.89434160e+02] [-8.89904171e-02 9.96032419e-01 3.55537391e-04 -5.02925362e+01] [ 3.43753124e-03 -4.98256389e-05 9.99994090e-01 2.33999632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.020714057 meters Centerline goodness [0,1] 0.9937555006076861 Centerline is valid? [True, True] Translation: X:689.46, Y:-50.30, Z:2.34 [[ 9.96234471e-01 8.66513720e-02 -2.90142042e-03 6.89464138e+02] [-8.66508591e-02 9.96238695e-01 3.02250798e-04 -5.03004237e+01] [ 2.91669774e-03 -4.97020913e-05 9.99995745e-01 2.34118384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0507140569999 meters Centerline goodness [0,1] 0.993593526089522 Centerline is valid? [True, True] Translation: X:689.50, Y:-50.31, Z:2.34 [[ 9.96689732e-01 8.12988638e-02 -2.71760137e-04 6.89495115e+02] [-8.12988591e-02 9.96689769e-01 2.82284605e-05 -5.03058811e+01] [ 2.73155489e-04 -6.04122765e-06 9.99999963e-01 2.34240578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0807140569999 meters Centerline goodness [0,1] 0.9944824681478361 Centerline is valid? [True, True] Translation: X:689.53, Y:-50.31, Z:2.34 [[ 9.96896110e-01 7.87264733e-02 5.36484561e-04 6.89527130e+02] [-7.87264537e-02 9.96896254e-01 -5.75879023e-05 -5.03109637e+01] [-5.39353142e-04 1.51736289e-05 9.99999854e-01 2.34313718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1107140569999 meters Centerline goodness [0,1] 0.9942189267311801 Centerline is valid? [True, True] Translation: X:689.56, Y:-50.32, Z:2.34 [[ 9.97114794e-01 7.59004828e-02 1.09705849e-03 6.89558791e+02] [-7.59004017e-02 9.97115397e-01 -1.15464624e-04 -5.03161038e+01] [-1.10265773e-03 3.18643047e-05 9.99999392e-01 2.34361898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.140714057 meters Centerline goodness [0,1] 0.9949978023817996 Centerline is valid? [True, True] Translation: X:689.59, Y:-50.32, Z:2.34 [[ 9.97293356e-01 7.35183508e-02 1.00751437e-03 6.89589355e+02] [-7.35182800e-02 9.97293864e-01 -1.07158431e-04 -5.03228712e+01] [-1.01266601e-03 3.27976678e-05 9.99999487e-01 2.34411212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1707140569999 meters Centerline goodness [0,1] 0.9938609173004798 Centerline is valid? [True, True] Translation: X:689.62, Y:-50.33, Z:2.34 [[ 9.97621772e-01 6.89250395e-02 3.72456709e-04 6.89620323e+02] [-6.89250296e-02 9.97621842e-01 -3.92580315e-05 -5.03254510e+01] [-3.74276809e-04 1.34930773e-05 9.99999930e-01 2.34237521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2007140569999 meters Centerline goodness [0,1] 0.9949937159614579 Centerline is valid? [True, True] Translation: X:689.65, Y:-50.33, Z:2.34 [[ 9.97719101e-01 6.75018490e-02 -3.10996346e-04 6.89650874e+02] [-6.75018424e-02 9.97719149e-01 3.15254934e-05 -5.03338816e+01] [ 3.12415038e-04 -1.04607606e-05 9.99999951e-01 2.34256284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2307140569999 meters Centerline goodness [0,1] 0.9953618200134319 Centerline is valid? [True, True] Translation: X:689.68, Y:-50.33, Z:2.34 [[ 9.97790802e-01 6.64289611e-02 -8.42216080e-04 6.89683054e+02] [-6.64289107e-02 9.97791157e-01 8.76253712e-05 -5.03344557e+01] [ 8.46176619e-04 -3.14842926e-05 9.99999641e-01 2.34207892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.260714057 meters Centerline goodness [0,1] 0.9951856658433458 Centerline is valid? [True, True] Translation: X:689.72, Y:-50.34, Z:2.34 [[ 9.97940348e-01 6.41421020e-02 -9.22898560e-04 6.89715170e+02] [-6.41420395e-02 9.97940774e-01 9.71564943e-05 -5.03377439e+01] [ 9.27229925e-04 -3.77597899e-05 9.99999569e-01 2.34191898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.290714057 meters Centerline goodness [0,1] 0.9958486214487892 Centerline is valid? [True, True] Translation: X:689.75, Y:-50.34, Z:2.34 [[ 9.98005633e-01 6.31122826e-02 -1.26359075e-03 6.89747603e+02] [-6.31121653e-02 9.98006431e-01 1.32508564e-04 -5.03393285e+01] [ 1.26943462e-03 -5.24963451e-05 9.99999193e-01 2.34179340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3207140569999 meters Centerline goodness [0,1] 0.9956215695311518 Centerline is valid? [True, True] Translation: X:689.78, Y:-50.34, Z:2.34 [[ 9.98059855e-01 6.22510076e-02 -1.15660214e-03 6.89778437e+02] [-6.22509080e-02 9.98060524e-01 1.21964334e-04 -5.03443923e+01] [ 1.16195134e-03 -4.97281719e-05 9.99999324e-01 2.34215773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3507140569999 meters Centerline goodness [0,1] 0.9950310298557531 Centerline is valid? [True, True] Translation: X:689.81, Y:-50.35, Z:2.34 [[ 9.98094959e-01 6.16915068e-02 -7.81978811e-04 6.89810284e+02] [-6.16914616e-02 9.98095264e-01 8.18258870e-05 -5.03475036e+01] [ 7.85537310e-04 -3.34285896e-05 9.99999691e-01 2.34234927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.380714057 meters Centerline goodness [0,1] 0.9956795302013423 Centerline is valid? [True, True] Translation: X:689.84, Y:-50.35, Z:2.34 [[ 9.98103462e-01 6.15574207e-02 -4.04658177e-04 6.89842066e+02] [-6.15574088e-02 9.98103544e-01 4.18165582e-05 -5.03491721e+01] [ 4.06464880e-04 -1.68275427e-05 9.99999917e-01 2.34299587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.410714057 meters Centerline goodness [0,1] 0.9949618993639398 Centerline is valid? [True, True] Translation: X:689.87, Y:-50.35, Z:2.34 [[ 9.98037787e-01 6.26119882e-02 -5.60399196e-04 6.89874748e+02] [-6.26119652e-02 9.98037944e-01 5.85302286e-05 -5.03497046e+01] [ 5.62964356e-04 -2.33276849e-05 9.99999841e-01 2.34317467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4407140569999 meters Centerline goodness [0,1] 0.9955470072962181 Centerline is valid? [True, True] Translation: X:689.90, Y:-50.36, Z:2.34 [[ 9.97926216e-01 6.43654810e-02 -5.94217418e-04 6.89904965e+02] [-6.43654553e-02 9.97926392e-01 6.23802976e-05 -5.03567429e+01] [ 5.97000382e-04 -2.40038597e-05 9.99999822e-01 2.34411636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4707140569999 meters Centerline goodness [0,1] 0.9955343103339833 Centerline is valid? [True, True] Translation: X:689.94, Y:-50.35, Z:2.34 [[ 9.97593656e-01 6.93317794e-02 3.36943601e-05 6.89936787e+02] [-6.93317793e-02 9.97593657e-01 -3.69584901e-06 -5.03496912e+01] [-3.38695197e-05 1.35086560e-06 9.99999999e-01 2.34429349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.500714057 meters Centerline goodness [0,1] 0.99551212146632 Centerline is valid? [True, True] Translation: X:689.97, Y:-50.35, Z:2.34 [[ 9.97408121e-01 7.19515656e-02 -1.14875012e-04 6.89969298e+02] [-7.19515647e-02 9.97408127e-01 1.19189973e-05 -5.03450643e+01] [ 1.15434861e-04 -3.62266782e-06 9.99999993e-01 2.34419167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.530714057 meters Centerline goodness [0,1] 0.9948760674859404 Centerline is valid? [True, True] Translation: X:690.00, Y:-50.35, Z:2.34 [[ 9.97202516e-01 7.47471445e-02 7.67391003e-05 6.89999970e+02] [-7.47471441e-02 9.97202519e-01 -8.40947021e-06 -5.03476366e+01] [-7.71530080e-05 2.64991627e-06 9.99999997e-01 2.34437850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5607140569999 meters Centerline goodness [0,1] 0.9950112142872115 Centerline is valid? [True, True] Translation: X:690.03, Y:-50.34, Z:2.34 [[ 9.96986408e-01 7.75761272e-02 2.14729034e-04 6.90032567e+02] [-7.75761240e-02 9.96986431e-01 -2.33060881e-05 -5.03417134e+01] [-2.15889930e-04 6.57800688e-06 9.99999977e-01 2.34383620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5907140569999 meters Centerline goodness [0,1] 0.9952027819674879 Centerline is valid? [True, True] Translation: X:690.06, Y:-50.34, Z:2.34 [[ 9.96654630e-01 8.17247658e-02 7.82076925e-04 6.90062965e+02] [-8.17247246e-02 9.96654936e-01 -8.44843896e-05 -5.03406108e+01] [-7.86365295e-04 2.02867367e-05 9.99999691e-01 2.34476227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.620714057 meters Centerline goodness [0,1] 0.994281764484102 Centerline is valid? [True, True] Translation: X:690.10, Y:-50.34, Z:2.34 [[ 9.96486819e-01 8.37366345e-02 1.48173894e-03 6.90095624e+02] [-8.37364880e-02 9.96487920e-01 -1.60712666e-04 -5.03385872e+01] [-1.48999250e-03 3.60724376e-05 9.99998889e-01 2.34389111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.650714057 meters Centerline goodness [0,1] 0.9942426462891238 Centerline is valid? [True, True] Translation: X:690.13, Y:-50.34, Z:2.34 [[ 9.96343584e-01 8.54301942e-02 1.07010308e-03 6.90128409e+02] [-8.54301192e-02 9.96344158e-01 -1.15663091e-04 -5.03390483e+01] [-1.07607208e-03 2.38211444e-05 9.99999421e-01 2.34372201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6807140569999 meters Centerline goodness [0,1] 0.9946310976888554 Centerline is valid? [True, True] Translation: X:690.16, Y:-50.34, Z:2.34 [[ 9.96219487e-01 8.68679153e-02 8.35878906e-04 6.90161043e+02] [-8.68678691e-02 9.96219838e-01 -9.15434259e-05 -5.03394756e+01] [-8.40671335e-04 1.85863254e-05 9.99999646e-01 2.34338163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7107140569999 meters Centerline goodness [0,1] 0.9942846376083406 Centerline is valid? [True, True] Translation: X:690.19, Y:-50.34, Z:2.34 [[ 9.96065299e-01 8.86223001e-02 -9.39915189e-05 6.90194128e+02] [-8.86222996e-02 9.96065303e-01 9.65209809e-06 -5.03373906e+01] [ 9.44770818e-05 -1.28437542e-06 9.99999996e-01 2.34200013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.740714057 meters Centerline goodness [0,1] 0.9948650234741784 Centerline is valid? [True, True] Translation: X:690.23, Y:-50.34, Z:2.34 [[ 9.96052658e-01 8.87642366e-02 -1.15427596e-04 6.90226171e+02] [-8.87642359e-02 9.96052664e-01 1.10154222e-05 -5.03406074e+01] [ 1.15949740e-04 -7.26098202e-07 9.99999993e-01 2.34215052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.770714057 meters Centerline goodness [0,1] 0.994366020190173 Centerline is valid? [True, True] Translation: X:690.26, Y:-50.34, Z:2.34 [[ 9.96049193e-01 8.88030985e-02 -1.20768601e-04 6.90259699e+02] [-8.88030978e-02 9.96049200e-01 1.15372639e-05 -5.03410022e+01] [ 1.21316013e-04 -7.67056505e-07 9.99999993e-01 2.34169861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8007140569999 meters Centerline goodness [0,1] 0.9950301962757927 Centerline is valid? [True, True] Translation: X:690.29, Y:-50.34, Z:2.34 [[ 9.96206610e-01 8.70191914e-02 2.24671173e-04 6.90291647e+02] [-8.70191878e-02 9.96206635e-01 -2.58320721e-05 -5.03411050e+01] [-2.26066800e-04 6.18337794e-06 9.99999974e-01 2.34172887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8307140569999 meters Centerline goodness [0,1] 0.9955558350627843 Centerline is valid? [True, True] Translation: X:690.32, Y:-50.35, Z:2.34 [[ 9.96304421e-01 8.58898846e-02 6.54963931e-04 6.90322544e+02] [-8.58898554e-02 9.96304636e-01 -7.26919667e-05 -5.03453877e+01] [-6.58787106e-04 1.61685705e-05 9.99999783e-01 2.34222442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8607140569999 meters Centerline goodness [0,1] 0.995466131795579 Centerline is valid? [True, True] Translation: X:690.35, Y:-50.35, Z:2.34 [[ 9.96408086e-01 8.46804171e-02 3.90072961e-04 6.90353591e+02] [-8.46804064e-02 9.96408163e-01 -4.38504869e-05 -5.03493166e+01] [-3.92385160e-04 1.06614428e-05 9.99999923e-01 2.34317002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.890714057 meters Centerline goodness [0,1] 0.9955740146414113 Centerline is valid? [True, True] Translation: X:690.39, Y:-50.35, Z:2.34 [[ 9.96492854e-01 8.36726596e-02 9.37077117e-04 6.90386120e+02] [-8.36725988e-02 9.96493294e-01 -1.03968907e-04 -5.03500200e+01] [-9.42490418e-04 2.51965949e-05 9.99999556e-01 2.34322918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9207140569999 meters Centerline goodness [0,1] 0.9960047691760621 Centerline is valid? [True, True] Translation: X:690.42, Y:-50.35, Z:2.34 [[ 9.96728731e-01 8.08136810e-02 9.92865035e-04 6.90418520e+02] [-8.08136124e-02 9.96729225e-01 -1.09175661e-04 -5.03508779e+01] [-9.98440484e-04 2.85815078e-05 9.99999501e-01 2.34379451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9507140569999 meters Centerline goodness [0,1] 0.9964308958451429 Centerline is valid? [True, True] Translation: X:690.45, Y:-50.35, Z:2.34 [[ 9.96797509e-01 7.99600645e-02 1.05589579e-03 6.90450564e+02] [-7.99599851e-02 9.96798067e-01 -1.17305280e-04 -5.03527029e+01] [-1.06189462e-03 3.25001987e-05 9.99999436e-01 2.34422153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9807140569999 meters Centerline goodness [0,1] 0.9958880543783829 Centerline is valid? [True, True] Translation: X:690.48, Y:-50.36, Z:2.34 [[ 9.96889889e-01 7.88008894e-02 9.84810618e-04 6.90481530e+02] [-7.88008201e-02 9.96890375e-01 -1.09000149e-04 -5.03556061e+01] [-9.90337534e-04 3.10572619e-05 9.99999509e-01 2.34425741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.010714057 meters Centerline goodness [0,1] 0.9963004765487835 Centerline is valid? [True, True] Translation: X:690.51, Y:-50.36, Z:2.34 [[ 9.97001231e-01 7.73834388e-02 5.89818820e-04 6.90514115e+02] [-7.73834131e-02 9.97001406e-01 -6.63398971e-05 -5.03568746e+01] [-5.93183802e-04 2.04987657e-05 9.99999824e-01 2.34429792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.040714057 meters Centerline goodness [0,1] 0.996474513671752 Centerline is valid? [True, True] Translation: X:690.55, Y:-50.36, Z:2.34 [[ 9.97118327e-01 7.58618425e-02 1.47887611e-04 6.90546579e+02] [-7.58618407e-02 9.97118338e-01 -1.76850620e-05 -5.03586197e+01] [-1.48803071e-04 6.41507301e-06 9.99999989e-01 2.34427454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0707140569999 meters Centerline goodness [0,1] 0.9967859168539798 Centerline is valid? [True, True] Translation: X:690.58, Y:-50.36, Z:2.34 [[ 9.97277932e-01 7.37338400e-02 -2.18107078e-04 6.90579017e+02] [-7.37338366e-02 9.97277956e-01 2.37181322e-05 -5.03608888e+01] [ 2.19262210e-04 -7.57169823e-06 9.99999976e-01 2.34435995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1007140569999 meters Centerline goodness [0,1] 0.9969806134560523 Centerline is valid? [True, True] Translation: X:690.61, Y:-50.36, Z:2.34 [[ 9.97644236e-01 6.85933837e-02 -9.62821064e-04 6.90608897e+02] [-6.85933132e-02 9.97644699e-01 1.06113820e-04 -5.03636908e+01] [ 9.67832037e-04 -3.98207544e-05 9.99999531e-01 2.34479082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.130714057 meters Centerline goodness [0,1] 0.9971034569611485 Centerline is valid? [True, True] Translation: X:690.64, Y:-50.37, Z:2.35 [[ 9.97847703e-01 6.55674864e-02 -9.31180273e-04 6.90638336e+02] [-6.55674189e-02 9.97848136e-01 1.02898346e-04 -5.03672069e+01] [ 9.35923285e-04 -4.16217908e-05 9.99999561e-01 2.34566377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.160714057 meters Centerline goodness [0,1] 0.998062464460965 Centerline is valid? [True, True] Translation: X:690.67, Y:-50.37, Z:2.35 [[ 9.98194256e-01 6.00626192e-02 -8.42401964e-04 6.90667946e+02] [-6.00625620e-02 9.98194610e-01 9.30972406e-05 -5.03680619e+01] [ 8.46472764e-04 -4.23323106e-05 9.99999641e-01 2.34678214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1907140569999 meters Centerline goodness [0,1] 0.9986099995787877 Centerline is valid? [True, True] Translation: X:690.70, Y:-50.37, Z:2.35 [[ 9.98334007e-01 5.76864852e-02 -1.21610430e-03 6.90698561e+02] [-5.76863641e-02 9.98334746e-01 1.34454040e-04 -5.03707122e+01] [ 1.22183536e-03 -6.40774050e-05 9.99999252e-01 2.34748385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2207140569999 meters Centerline goodness [0,1] 0.9982751367269668 Centerline is valid? [True, True] Translation: X:690.73, Y:-50.37, Z:2.35 [[ 9.98419740e-01 5.61570896e-02 -2.09866258e-03 6.90730972e+02] [-5.61567257e-02 9.98421939e-01 2.31959527e-04 -5.03706466e+01] [ 2.10837693e-03 -1.13738952e-04 9.99997771e-01 2.34719909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.250714057 meters Centerline goodness [0,1] 0.9981121389465736 Centerline is valid? [True, True] Translation: X:690.76, Y:-50.37, Z:2.35 [[ 9.98467471e-01 5.52824518e-02 -2.56104570e-03 6.90761877e+02] [-5.52819075e-02 9.98470746e-01 2.82885428e-04 -5.03733328e+01] [ 2.57276781e-03 -1.40872407e-04 9.99996681e-01 2.34744567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.280714057 meters Centerline goodness [0,1] 0.9987150861524202 Centerline is valid? [True, True] Translation: X:690.79, Y:-50.37, Z:2.35 [[ 9.98484039e-01 5.49720358e-02 -2.77465203e-03 6.90794641e+02] [-5.49713938e-02 9.98487883e-01 3.07146760e-04 -5.03674584e+01] [ 2.78734091e-03 -1.54154648e-04 9.99996103e-01 2.34770393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3107140569999 meters Centerline goodness [0,1] 0.9987787416828098 Centerline is valid? [True, True] Translation: X:690.83, Y:-50.37, Z:2.35 [[ 9.98448061e-01 5.56201762e-02 -2.80471645e-03 6.90826996e+02] [-5.56195209e-02 9.98451988e-01 3.11153390e-04 -5.03669890e+01] [ 2.81768112e-03 -1.54673514e-04 9.99996018e-01 2.34803358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3407140569999 meters Centerline goodness [0,1] 0.9987990139272245 Centerline is valid? [True, True] Translation: X:690.86, Y:-50.36, Z:2.35 [[ 9.98359484e-01 5.71929901e-02 -2.70242006e-03 6.90860148e+02] [-5.71923860e-02 9.98363131e-01 3.00373765e-04 -5.03627448e+01] [ 2.71517582e-03 -1.45323146e-04 9.99996303e-01 2.34868370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.370714057 meters Centerline goodness [0,1] 0.9989468806605164 Centerline is valid? [True, True] Translation: X:690.89, Y:-50.36, Z:2.35 [[ 9.98011553e-01 6.29832621e-02 -2.45933577e-03 6.90891885e+02] [-6.29827762e-02 9.98014576e-01 2.74574852e-04 -5.03551973e+01] [ 2.47174657e-03 -1.19133079e-04 9.99996938e-01 2.34923414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.400714057 meters Centerline goodness [0,1] 0.9990104638187675 Centerline is valid? [True, True] Translation: X:690.92, Y:-50.35, Z:2.35 [[ 9.97734942e-01 6.71989949e-02 -3.04634099e-03 6.90922724e+02] [-6.71982691e-02 9.97739584e-01 3.40074331e-04 -5.03543072e+01] [ 3.06230764e-03 -1.34595202e-04 9.99995302e-01 2.34973104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4307140569999 meters Centerline goodness [0,1] 0.9990132476748336 Centerline is valid? [True, True] Translation: X:690.95, Y:-50.35, Z:2.35 [[ 9.97400540e-01 7.19972755e-02 -2.92488319e-03 6.90953943e+02] [-7.19966269e-02 9.97404822e-01 3.26564243e-04 -5.03516714e+01] [ 2.94080433e-03 -1.15133628e-04 9.99995669e-01 2.34976422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4607140569999 meters Centerline goodness [0,1] 0.9993678487894304 Centerline is valid? [True, True] Translation: X:690.98, Y:-50.35, Z:2.35 [[ 9.97043860e-01 7.67792570e-02 -2.91306926e-03 6.90984997e+02] [-7.67786338e-02 9.97048111e-01 3.25342682e-04 -5.03479953e+01] [ 2.92944977e-03 -1.00719446e-04 9.99995704e-01 2.35027066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.490714057 meters Centerline goodness [0,1] 0.9992640719947854 Centerline is valid? [True, True] Translation: X:691.02, Y:-50.34, Z:2.35 [[ 9.96317122e-01 8.56875411e-02 -3.13646188e-03 6.91016918e+02] [-8.56868627e-02 9.96322056e-01 3.50281648e-04 -5.03391373e+01] [ 3.15494092e-03 -8.02380249e-05 9.99995020e-01 2.35044270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.520714057 meters Centerline goodness [0,1] 0.9995370954845768 Centerline is valid? [True, True] Translation: X:691.05, Y:-50.34, Z:2.35 [[ 9.95957927e-01 8.97654467e-02 -3.15798310e-03 6.91048084e+02] [-8.97647794e-02 9.95962931e-01 3.52709859e-04 -5.03362689e+01] [ 3.17689526e-03 -6.78085242e-05 9.99994951e-01 2.35026786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5507140569999 meters Centerline goodness [0,1] 0.9995370954845768 Centerline is valid? [True, True] Translation: X:691.08, Y:-50.34, Z:2.35 [[ 9.95957927e-01 8.97654467e-02 -3.15798310e-03 6.91077905e+02] [-8.97647794e-02 9.95962931e-01 3.52709859e-04 -5.03395995e+01] [ 3.17689526e-03 -6.78085241e-05 9.99994951e-01 2.35043191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5807140569999 meters Centerline goodness [0,1] 0.9995793635770921 Centerline is valid? [True, True] Translation: X:691.11, Y:-50.34, Z:2.35 [[ 9.95660744e-01 9.29905189e-02 -3.52780930e-03 6.91108581e+02] [-9.29897064e-02 9.95666992e-01 3.94015131e-04 -5.03389260e+01] [ 3.54916295e-03 -6.42554472e-05 9.99993700e-01 2.35030441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6107140569999 meters Centerline goodness [0,1] 0.9993280839895013 Centerline is valid? [True, True] Translation: X:691.14, Y:-50.34, Z:2.35 [[ 9.95207929e-01 9.77107465e-02 -3.71334283e-03 6.91138875e+02] [-9.77098791e-02 9.95214855e-01 4.14737061e-04 -5.03379913e+01] [ 3.73609822e-03 -4.99193322e-05 9.99993020e-01 2.34968887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.640714057 meters Centerline goodness [0,1] 0.9994557139567501 Centerline is valid? [True, True] Translation: X:691.17, Y:-50.34, Z:2.35 [[ 9.95059887e-01 9.92051738e-02 -3.76223627e-03 6.91169259e+02] [-9.92042940e-02 9.95066998e-01 4.20197887e-04 -5.03386102e+01] [ 3.78536295e-03 -4.48920694e-05 9.99992834e-01 2.34980400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6707140569999 meters Centerline goodness [0,1] 0.9996010582454962 Centerline is valid? [True, True] Translation: X:691.20, Y:-50.34, Z:2.35 [[ 9.94896808e-01 1.00820209e-01 -3.95301220e-03 6.91198516e+02] [-1.00819250e-01 9.94904661e-01 4.41558983e-04 -5.03397400e+01] [ 3.97738833e-03 -4.07658983e-05 9.99992089e-01 2.34995737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7007140569999 meters Centerline goodness [0,1] 0.9997478567826525 Centerline is valid? [True, True] Translation: X:691.23, Y:-50.34, Z:2.35 [[ 9.94729979e-01 1.02462765e-01 -3.69466587e-03 6.91227559e+02] [-1.02461939e-01 9.94736840e-01 4.12587132e-04 -5.03398781e+01] [ 3.71749508e-03 -3.18501588e-05 9.99993090e-01 2.34996090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7307140569999 meters Centerline goodness [0,1] 0.9997693388412422 Centerline is valid? [True, True] Translation: X:691.26, Y:-50.34, Z:2.35 [[ 9.94633743e-01 1.03382055e-01 -3.98345612e-03 6.91257221e+02] [-1.03381103e-01 9.94641719e-01 4.44652784e-04 -5.03419813e+01] [ 4.00808076e-03 -3.04525761e-05 9.99991967e-01 2.34982523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.760714057 meters Centerline goodness [0,1] 0.999642939656802 Centerline is valid? [True, True] Translation: X:691.29, Y:-50.35, Z:2.35 [[ 9.94526046e-01 1.04416447e-01 -3.89225389e-03 6.91285271e+02] [-1.04415547e-01 9.94533662e-01 4.34364306e-04 -5.03450761e+01] [ 3.91633229e-03 -2.55747983e-05 9.99992331e-01 2.35000142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.790714057 meters Centerline goodness [0,1] 0.9995599698265024 Centerline is valid? [True, True] Translation: X:691.31, Y:-50.35, Z:2.35 [[ 9.94300638e-01 1.06535475e-01 -4.05389925e-03 6.91313770e+02] [-1.06534517e-01 9.94308902e-01 4.52149013e-04 -5.03492945e+01] [ 4.07899802e-03 -1.76918534e-05 9.99991681e-01 2.34995123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8207140569999 meters Centerline goodness [0,1] 0.9994372420692818 Centerline is valid? [True, True] Translation: X:691.34, Y:-50.35, Z:2.35 [[ 9.94226359e-01 1.07220524e-01 -4.20775965e-03 6.91343363e+02] [-1.07219499e-01 9.94235263e-01 4.69155561e-04 -5.03526066e+01] [ 4.23380613e-03 -1.52929439e-05 9.99991037e-01 2.34992996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8507140569999 meters Centerline goodness [0,1] 0.9993093778121926 Centerline is valid? [True, True] Translation: X:691.37, Y:-50.36, Z:2.35 [[ 9.94175423e-01 1.07704605e-01 -3.86593821e-03 6.91371349e+02] [-1.07703744e-01 9.94182940e-01 4.30947089e-04 -5.03560693e+01] [ 3.88986480e-03 -1.20609868e-05 9.99992434e-01 2.35019867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.880714057 meters Centerline goodness [0,1] 0.9995584153419127 Centerline is valid? [True, True] Translation: X:691.40, Y:-50.36, Z:2.35 [[ 9.94188396e-01 1.07592600e-01 -3.64231073e-03 6.91401040e+02] [-1.07591836e-01 9.94195067e-01 4.05805179e-04 -5.03602090e+01] [ 3.66482900e-03 -1.15639030e-05 9.99993284e-01 2.35093766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.910714057 meters Centerline goodness [0,1] 0.9996012675494743 Centerline is valid? [True, True] Translation: X:691.43, Y:-50.37, Z:2.35 [[ 9.94413408e-01 1.05539125e-01 -1.86192235e-03 6.91429702e+02] [-1.05538922e-01 9.94415151e-01 2.07301631e-04 -5.03677105e+01] [ 1.87340222e-03 -9.63824465e-06 9.99998245e-01 2.35199792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9407140569999 meters Centerline goodness [0,1] 0.9998317100363927 Centerline is valid? [True, True] Translation: X:691.46, Y:-50.37, Z:2.35 [[ 9.94640389e-01 1.03385445e-01 -1.39483047e-03 6.91459440e+02] [-1.03385329e-01 9.94641367e-01 1.55346741e-04 -5.03740591e+01] [ 1.40341668e-03 -1.03091364e-05 9.99999015e-01 2.35290256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9707140569999 meters Centerline goodness [0,1] 0.9991159011493285 Centerline is valid? [True, True] Translation: X:691.49, Y:-50.39, Z:2.35 [[ 9.95272599e-01 9.71190404e-02 -5.88040777e-04 6.91489471e+02] [-9.71190193e-02 9.95272773e-01 6.44089644e-05 -5.03862949e+01] [ 5.91516311e-04 -6.99453384e-06 9.99999825e-01 2.35295053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.000714057 meters Centerline goodness [0,1] 0.9991819955114626 Centerline is valid? [True, True] Translation: X:691.52, Y:-50.40, Z:2.35 [[ 9.95635140e-01 9.33271639e-02 -8.41622749e-04 6.91520007e+02] [-9.33271187e-02 9.95635496e-01 9.29111256e-05 -5.03951039e+01] [ 8.46620615e-04 -1.39593554e-05 9.99999642e-01 2.35273043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.030714057 meters Centerline goodness [0,1] 0.9993062417222024 Centerline is valid? [True, True] Translation: X:691.55, Y:-50.40, Z:2.35 [[ 9.96102195e-01 8.81991922e-02 -1.14845712e-03 6.91551147e+02] [-8.81991030e-02 9.96102857e-01 1.28128653e-04 -5.04039758e+01] [ 1.15528226e-03 -2.63363445e-05 9.99999332e-01 2.35311217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0607140569999 meters Centerline goodness [0,1] 0.9990951559277809 Centerline is valid? [True, True] Translation: X:691.58, Y:-50.41, Z:2.35 [[ 9.96516262e-01 8.33911832e-02 -1.11838313e-03 6.91581271e+02] [-8.33910953e-02 9.96516889e-01 1.25056142e-04 -5.04120626e+01] [ 1.12491626e-03 -3.13572842e-05 9.99999367e-01 2.35291592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0907140569999 meters Centerline goodness [0,1] 0.9990955556022969 Centerline is valid? [True, True] Translation: X:691.61, Y:-50.43, Z:2.35 [[ 9.97319041e-01 7.31670919e-02 -1.14292823e-03 6.91609776e+02] [-7.31669933e-02 9.97319695e-01 1.27857618e-04 -5.04264723e+01] [ 1.14921981e-03 -4.38902148e-05 9.99999339e-01 2.35346369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.120714057 meters Centerline goodness [0,1] 0.9989471245972752 Centerline is valid? [True, True] Translation: X:691.64, Y:-50.44, Z:2.35 [[ 9.97625785e-01 6.88556880e-02 -1.29861993e-03 6.91640344e+02] [-6.88555573e-02 9.97626629e-01 1.45192924e-04 -5.04352380e+01] [ 1.30553518e-03 -5.54310063e-05 9.99999146e-01 2.35330446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.150714057 meters Centerline goodness [0,1] 0.9988621757727723 Centerline is valid? [True, True] Translation: X:691.67, Y:-50.43, Z:2.35 [[ 9.97873930e-01 6.51613876e-02 -1.27042421e-03 6.91671445e+02] [-6.51612593e-02 9.97874737e-01 1.42139281e-04 -5.04337004e+01] [ 1.27698621e-03 -5.90546420e-05 9.99999183e-01 2.35217389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1807140569999 meters Centerline goodness [0,1] 0.9985452858829482 Centerline is valid? [True, True] Translation: X:691.70, Y:-50.44, Z:2.35 [[ 9.98071113e-01 6.20379763e-02 -2.31139798e-03 6.91700542e+02] [-6.20375430e-02 9.98073783e-01 2.58786454e-04 -5.04428540e+01] [ 2.32300031e-03 -1.14893833e-04 9.99997295e-01 2.35178274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2107140569999 meters Centerline goodness [0,1] 0.9985252912549771 Centerline is valid? [True, True] Translation: X:691.73, Y:-50.45, Z:2.35 [[ 9.98312428e-01 5.79693081e-02 -3.44323348e-03 6.91731230e+02] [-5.79683224e-02 9.98318349e-01 3.85472211e-04 -5.04465182e+01] [ 3.45978872e-03 -1.85223231e-04 9.99993998e-01 2.35169291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.240714057 meters Centerline goodness [0,1] 0.9985872728039472 Centerline is valid? [True, True] Translation: X:691.76, Y:-50.45, Z:2.35 [[ 9.98348880e-01 5.73454405e-02 -3.31891511e-03 6.91762768e+02] [-5.73445227e-02 9.98354380e-01 3.71123608e-04 -5.04505265e+01] [ 3.33473568e-03 -1.80189236e-04 9.99994424e-01 2.35209867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.270714057 meters Centerline goodness [0,1] 0.9987567954823212 Centerline is valid? [True, True] Translation: X:691.79, Y:-50.45, Z:2.35 [[ 9.98338375e-01 5.75499631e-02 -2.91401020e-03 6.91794252e+02] [-5.75492534e-02 9.98342615e-01 3.26895796e-04 -5.04531649e+01] [ 2.92799340e-03 -1.58653507e-04 9.99995701e-01 2.35258033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3007140569999 meters Centerline goodness [0,1] 0.998590275001578 Centerline is valid? [True, True] Translation: X:691.83, Y:-50.45, Z:2.35 [[ 9.98226610e-01 5.95034934e-02 -1.72291645e-03 6.91825105e+02] [-5.95032481e-02 9.98228093e-01 1.93316873e-04 -5.04546603e+01] [ 1.73136663e-03 -9.04549223e-05 9.99998497e-01 2.35366685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3307140569999 meters Centerline goodness [0,1] 0.9990766583426017 Centerline is valid? [True, True] Translation: X:691.86, Y:-50.46, Z:2.35 [[ 9.98122793e-01 6.12292650e-02 -1.36647610e-03 6.91857641e+02] [-6.12291135e-02 9.98123726e-01 1.52474913e-04 -5.04561309e+01] [ 1.37324814e-03 -6.85205661e-05 9.99999055e-01 2.35457201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3607140569999 meters Centerline goodness [0,1] 0.9992000336827923 Centerline is valid? [True, True] Translation: X:691.89, Y:-50.46, Z:2.35 [[ 9.98008778e-01 6.30646559e-02 -1.15268827e-03 6.91889070e+02] [-6.30645482e-02 9.98009442e-01 1.29600412e-04 -5.04579293e+01] [ 1.15856698e-03 -5.66485840e-05 9.99999327e-01 2.35490677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.390714057 meters Centerline goodness [0,1] 0.9994538618270422 Centerline is valid? [True, True] Translation: X:691.92, Y:-50.46, Z:2.36 [[ 9.97896056e-01 6.48168391e-02 -1.49623947e-03 6.91921198e+02] [-6.48166596e-02 9.97897175e-01 1.68175695e-04 -5.04571737e+01] [ 1.50399375e-03 -7.08406181e-05 9.99998866e-01 2.35514086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4207140569999 meters Centerline goodness [0,1] 0.9990333494441759 Centerline is valid? [True, True] Translation: X:691.95, Y:-50.45, Z:2.36 [[ 9.97659056e-01 6.83739054e-02 -1.19027652e-03 6.91953430e+02] [-6.83737942e-02 9.97659765e-01 1.33882517e-04 -5.04545124e+01] [ 1.19664506e-03 -5.21853836e-05 9.99999283e-01 2.35529532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4507140569999 meters Centerline goodness [0,1] 0.9992424720661575 Centerline is valid? [True, True] Translation: X:691.98, Y:-50.46, Z:2.36 [[ 9.97538236e-01 7.01075234e-02 -1.55008307e-03 6.91984600e+02] [-7.01073378e-02 9.97539438e-01 1.73834990e-04 -5.04562444e+01] [ 1.55845614e-03 -6.47348517e-05 9.99998784e-01 2.35610294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4807140569999 meters Centerline goodness [0,1] 0.9992649220817407 Centerline is valid? [True, True] Translation: X:692.02, Y:-50.46, Z:2.36 [[ 9.97459995e-01 7.12139579e-02 -1.45986394e-03 6.92016490e+02] [-7.12137930e-02 9.97461061e-01 1.64699133e-04 -5.04574444e+01] [ 1.46788631e-03 -6.03183475e-05 9.99998921e-01 2.35630965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.510714057 meters Centerline goodness [0,1] 0.999347038503665 Centerline is valid? [True, True] Translation: X:692.05, Y:-50.46, Z:2.36 [[ 9.97439504e-01 7.14885081e-02 -1.95685049e-03 6.92047696e+02] [-7.14882119e-02 9.97441420e-01 2.21033076e-04 -5.04560704e+01] [ 1.96764505e-03 -8.05753795e-05 9.99998061e-01 2.35642259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.540714057 meters Centerline goodness [0,1] 0.9992844666119494 Centerline is valid? [True, True] Translation: X:692.08, Y:-50.46, Z:2.36 [[ 9.97478903e-01 7.09170083e-02 -2.57197911e-03 6.92078382e+02] [-7.09164957e-02 9.97482214e-01 2.90101129e-04 -5.04604357e+01] [ 2.58607652e-03 -1.06974011e-04 9.99996650e-01 2.35693066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5707140569999 meters Centerline goodness [0,1] 0.9992433000525486 Centerline is valid? [True, True] Translation: X:692.11, Y:-50.46, Z:2.36 [[ 9.97575182e-01 6.95490992e-02 -2.58456334e-03 6.92109351e+02] [-6.95485738e-02 9.97578523e-01 2.92704911e-04 -5.04621918e+01] [ 2.59866224e-03 -1.12242461e-04 9.99996617e-01 2.35686250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6007140569999 meters Centerline goodness [0,1] 0.9994526891906115 Centerline is valid? [True, True] Translation: X:692.14, Y:-50.47, Z:2.36 [[ 9.97795260e-01 6.63094009e-02 -2.77179330e-03 6.92138839e+02] [-6.63087837e-02 9.97799101e-01 3.14070127e-04 -5.04662217e+01] [ 2.78651866e-03 -1.29583442e-04 9.99996109e-01 2.35734428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.630714057 meters Centerline goodness [0,1] 0.9991996461593546 Centerline is valid? [True, True] Translation: X:692.17, Y:-50.47, Z:2.36 [[ 9.97864603e-01 6.52592251e-02 -2.73287185e-03 6.92168874e+02] [-6.52586211e-02 9.97868336e-01 3.09706699e-04 -5.04701815e+01] [ 2.74725751e-03 -1.30701903e-04 9.99996218e-01 2.35755336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.660714057 meters Centerline goodness [0,1] 0.9991593283033143 Centerline is valid? [True, True] Translation: X:692.20, Y:-50.47, Z:2.36 [[ 9.97883233e-01 6.49718164e-02 -2.77774029e-03 6.92198783e+02] [-6.49711912e-02 9.97887090e-01 3.14842825e-04 -5.04731708e+01] [ 2.79232709e-03 -1.33703281e-04 9.99996093e-01 2.35762241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6907140569999 meters Centerline goodness [0,1] 0.999242519883853 Centerline is valid? [True, True] Translation: X:692.23, Y:-50.47, Z:2.36 [[ 9.97727352e-01 6.72906198e-02 -3.47898708e-03 6.92230041e+02] [-6.72896526e-02 9.97733405e-01 3.94447629e-04 -5.04668867e+01] [ 3.49764425e-03 -1.59451357e-04 9.99993871e-01 2.35753314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7207140569999 meters Centerline goodness [0,1] 0.9992638862599112 Centerline is valid? [True, True] Translation: X:692.26, Y:-50.47, Z:2.36 [[ 9.97527228e-01 7.01699874e-02 -3.94992319e-03 6.92259705e+02] [-7.01687630e-02 9.97535034e-01 4.47868831e-04 -5.04673796e+01] [ 3.97161371e-03 -1.69600129e-04 9.99992099e-01 2.35774298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.750714057 meters Centerline goodness [0,1] 0.9990946415412149 Centerline is valid? [True, True] Translation: X:692.29, Y:-50.47, Z:2.36 [[ 9.97264379e-01 7.38009120e-02 -4.14531212e-03 6.92289566e+02] [-7.37995952e-02 9.97272981e-01 4.69921583e-04 -5.04700327e+01] [ 4.16868842e-03 -1.62713699e-04 9.99991298e-01 2.35802961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.780714057 meters Centerline goodness [0,1] 0.9990354169724674 Centerline is valid? [True, True] Translation: X:692.32, Y:-50.46, Z:2.36 [[ 9.96549424e-01 8.28758632e-02 -4.56481432e-03 6.92321160e+02] [-8.28743615e-02 9.96559869e-01 5.17464395e-04 -5.04630399e+01] [ 4.59199606e-03 -1.37372773e-04 9.99989447e-01 2.35869851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8107140569999 meters Centerline goodness [0,1] 0.9990531896987039 Centerline is valid? [True, True] Translation: X:692.35, Y:-50.46, Z:2.36 [[ 9.96167727e-01 8.73525546e-02 -4.40340628e-03 6.92350200e+02] [-8.73512004e-02 9.96177453e-01 4.99299147e-04 -5.04628478e+01] [ 4.43018911e-03 -1.12742872e-04 9.99990180e-01 2.35974326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8407140569999 meters Centerline goodness [0,1] 0.9991411813992459 Centerline is valid? [True, True] Translation: X:692.38, Y:-50.46, Z:2.36 [[ 9.95813511e-01 9.13231563e-02 -3.94120959e-03 6.92380006e+02] [-9.13221033e-02 9.95821306e-01 4.46689136e-04 -5.04607056e+01] [ 3.96553355e-03 -8.48995274e-05 9.99992134e-01 2.36031690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.870714057 meters Centerline goodness [0,1] 0.9990130819142011 Centerline is valid? [True, True] Translation: X:692.41, Y:-50.46, Z:2.36 [[ 9.95241337e-01 9.74007362e-02 -2.78888188e-03 6.92410608e+02] [-9.74002331e-02 9.95245244e-01 3.15994887e-04 -5.04598924e+01] [ 2.80639956e-03 -4.28534283e-05 9.99996061e-01 2.36230413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.900714057 meters Centerline goodness [0,1] 0.9987408713170486 Centerline is valid? [True, True] Translation: X:692.44, Y:-50.46, Z:2.36 [[ 9.95098152e-01 9.88566778e-02 -2.65032111e-03 6.92439317e+02] [-9.88562284e-02 9.95101681e-01 3.00351524e-04 -5.04621783e+01] [ 2.66703075e-03 -3.68784975e-05 9.99996443e-01 2.36298378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9307140569999 meters Centerline goodness [0,1] 0.9988857353095764 Centerline is valid? [True, True] Translation: X:692.47, Y:-50.46, Z:2.36 [[ 9.95027936e-01 9.95687563e-02 -2.33879104e-03 6.92469224e+02] [-9.95684086e-02 9.95030684e-01 2.64901545e-04 -5.04647989e+01] [ 2.35354476e-03 -3.07147361e-05 9.99997230e-01 2.36261718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9607140569999 meters Centerline goodness [0,1] 0.9991177953285162 Centerline is valid? [True, True] Translation: X:692.50, Y:-50.47, Z:2.36 [[ 9.94999153e-01 9.98349373e-02 -3.10988335e-03 6.92497390e+02] [-9.98343245e-02 9.95004012e-01 3.52072664e-04 -5.04684732e+01] [ 3.12949557e-03 -3.98388990e-05 9.99995102e-01 2.36241449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.990714057 meters Centerline goodness [0,1] 0.9992851135407905 Centerline is valid? [True, True] Translation: X:692.53, Y:-50.47, Z:2.36 [[ 9.95074587e-01 9.90008539e-02 -5.03954933e-03 6.92526918e+02] [-9.89992356e-02 9.95087346e-01 5.70192598e-04 -5.04734585e+01] [ 5.07124133e-03 -6.84726318e-05 9.99987139e-01 2.36029729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.020714057 meters Centerline goodness [0,1] 0.9990332681840153 Centerline is valid? [True, True] Translation: X:692.55, Y:-50.48, Z:2.36 [[ 9.95181592e-01 9.78709301e-02 -5.90592051e-03 6.92554960e+02] [-9.78686891e-02 9.95199112e-01 6.67961541e-04 -5.04784714e+01] [ 5.94294087e-03 -8.67383311e-05 9.99982337e-01 2.35947043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0507140569999 meters Centerline goodness [0,1] 0.9990965057886664 Centerline is valid? [True, True] Translation: X:692.58, Y:-50.48, Z:2.36 [[ 9.95327248e-01 9.63223875e-02 -6.75780294e-03 6.92583509e+02] [-9.63194206e-02 9.95350182e-01 7.63881195e-04 -5.04836950e+01] [ 6.79995925e-03 -1.09404103e-04 9.99976874e-01 2.35871466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0807140569999 meters Centerline goodness [0,1] 0.9992230644856477 Centerline is valid? [True, True] Translation: X:692.61, Y:-50.49, Z:2.36 [[ 9.95489058e-01 9.45900299e-02 -7.36627240e-03 6.92611806e+02] [-9.45864614e-02 9.95516303e-01 8.32098451e-04 -5.04884817e+01] [ 7.41195248e-03 -1.31595263e-04 9.99972522e-01 2.35863671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1107140569999 meters Centerline goodness [0,1] 0.9997056102279418 Centerline is valid? [True, True] Translation: X:692.64, Y:-50.50, Z:2.36 [[ 9.95976928e-01 8.91996714e-02 -8.56604817e-03 6.92640122e+02] [-8.91946514e-02 9.96013744e-01 9.67049680e-04 -5.04971933e+01] [ 8.61816223e-03 -1.99113489e-04 9.99962843e-01 2.35968285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.140714057 meters Centerline goodness [0,1] 0.9996635262449529 Centerline is valid? [True, True] Translation: X:692.67, Y:-50.50, Z:2.36 [[ 9.96231081e-01 8.63172997e-02 -8.54147846e-03 6.92669093e+02] [-8.63122052e-02 9.96267672e-01 9.63966505e-04 -5.05025720e+01] [ 8.59280585e-03 -2.23099551e-04 9.99963056e-01 2.36091958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1707140569999 meters Centerline goodness [0,1] 0.9996634837841248 Centerline is valid? [True, True] Translation: X:692.70, Y:-50.51, Z:2.36 [[ 9.96532972e-01 8.28453035e-02 -7.66096905e-03 6.92698553e+02] [-8.28411046e-02 9.96562394e-01 8.64338793e-04 -5.05089729e+01] [ 7.70624006e-03 -2.26698968e-04 9.99970281e-01 2.36215911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2007140569999 meters Centerline goodness [0,1] 0.9995587771824771 Centerline is valid? [True, True] Translation: X:692.73, Y:-50.52, Z:2.37 [[ 9.97060657e-01 7.64211192e-02 -5.46431789e-03 6.92726684e+02] [-7.64188875e-02 9.97075611e-01 6.16363682e-04 -5.05170623e+01] [ 5.49544130e-03 -1.96974884e-04 9.99984881e-01 2.36558504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2307140569999 meters Centerline goodness [0,1] 0.9994324631101021 Centerline is valid? [True, True] Translation: X:692.76, Y:-50.52, Z:2.37 [[ 9.97294283e-01 7.33374766e-02 -5.07223678e-03 6.92756369e+02] [-7.33355147e-02 9.97307162e-01 5.71962747e-04 -5.05215025e+01] [ 5.10052437e-03 -1.98440083e-04 9.99986973e-01 2.36646732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.260714057 meters Centerline goodness [0,1] 0.9993263866961373 Centerline is valid? [True, True] Translation: X:692.79, Y:-50.53, Z:2.37 [[ 9.97501566e-01 7.04823249e-02 -4.78193686e-03 6.92785953e+02] [-7.04805488e-02 9.97513008e-01 5.39147252e-04 -5.05270265e+01] [ 4.80804457e-03 -2.00766694e-04 9.99988421e-01 2.36742045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.290714057 meters Centerline goodness [0,1] 0.9990969611693303 Centerline is valid? [True, True] Translation: X:692.82, Y:-50.53, Z:2.37 [[ 9.97839032e-01 6.54783953e-02 -5.46320689e-03 6.92815923e+02] [-6.54760027e-02 9.97853954e-01 6.15848111e-04 -5.05334394e+01] [ 5.49180735e-03 -2.56808333e-04 9.99984887e-01 2.36741221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3207140569999 meters Centerline goodness [0,1] 0.9990740545886908 Centerline is valid? [True, True] Translation: X:692.85, Y:-50.54, Z:2.37 [[ 9.97983038e-01 6.31961384e-02 -6.00870782e-03 6.92846252e+02] [-6.31932023e-02 9.98001082e-01 6.77434580e-04 -5.05374885e+01] [ 6.03950816e-03 -2.96358731e-04 9.99981718e-01 2.36683619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3507140569999 meters Centerline goodness [0,1] 0.9989491382934006 Centerline is valid? [True, True] Translation: X:692.88, Y:-50.54, Z:2.37 [[ 9.98102726e-01 6.11989072e-02 -6.75589447e-03 6.92875630e+02] [-6.11951493e-02 9.98125530e-01 7.61761405e-04 -5.05408709e+01] [ 6.78984971e-03 -3.46888164e-04 9.99976889e-01 2.36634072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.380714057 meters Centerline goodness [0,1] 0.9987486443647284 Centerline is valid? [True, True] Translation: X:692.90, Y:-50.55, Z:2.37 [[ 9.98297846e-01 5.77761162e-02 -7.95812895e-03 6.92903801e+02] [-5.77707945e-02 9.98329470e-01 8.97157041e-04 -5.05506935e+01] [ 7.99666890e-03 -4.35882509e-04 9.99967931e-01 2.36526653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.410714057 meters Centerline goodness [0,1] 0.9986503042006686 Centerline is valid? [True, True] Translation: X:692.93, Y:-50.56, Z:2.36 [[ 9.98366889e-01 5.64058707e-02 -9.05166368e-03 6.92932286e+02] [-5.63989320e-02 9.98407792e-01 1.02019912e-03 -5.05564542e+01] [ 9.09479677e-03 -5.08028853e-04 9.99958512e-01 2.36492513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4407140569999 meters Centerline goodness [0,1] 0.9987058258709584 Centerline is valid? [True, True] Translation: X:692.96, Y:-50.56, Z:2.37 [[ 9.98438597e-01 5.50773004e-02 -9.31982313e-03 6.92962353e+02] [-5.50698899e-02 9.98481950e-01 1.05008905e-03 -5.05552003e+01] [ 9.36351124e-03 -5.35207805e-04 9.99956018e-01 2.36549462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4707140569999 meters Centerline goodness [0,1] 0.9987058258709584 Centerline is valid? [True, True] Translation: X:692.99, Y:-50.56, Z:2.37 [[ 9.98440542e-01 5.50420148e-02 -9.31986018e-03 6.92991386e+02] [-5.50346059e-02 9.98483896e-01 1.04976011e-03 -5.05584393e+01] [ 9.36351121e-03 -5.35208225e-04 9.99956018e-01 2.36565432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.500714057 meters Centerline goodness [0,1] 0.9986841280782004 Centerline is valid? [True, True] Translation: X:693.02, Y:-50.56, Z:2.37 [[ 9.98484257e-01 5.41564084e-02 -9.81178026e-03 6.93020134e+02] [-5.41481576e-02 9.98532301e-01 1.10480818e-03 -5.05625588e+01] [ 9.85721196e-03 -5.71843753e-04 9.99951253e-01 2.36610665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.530714057 meters Centerline goodness [0,1] 0.9983689174212166 Centerline is valid? [True, True] Translation: X:693.05, Y:-50.56, Z:2.37 [[ 9.98459807e-01 5.47186675e-02 -9.15866734e-03 6.93050336e+02] [-5.47115051e-02 9.98501672e-01 1.03095287e-03 -5.05607028e+01] [ 9.20135702e-03 -5.28280526e-04 9.99957527e-01 2.36756352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5607140569999 meters Centerline goodness [0,1] 0.9983484895996655 Centerline is valid? [True, True] Translation: X:693.08, Y:-50.56, Z:2.37 [[ 9.98397107e-01 5.59399861e-02 -8.59853489e-03 6.93080334e+02] [-5.59337208e-02 9.98434015e-01 9.67600820e-04 -5.05600218e+01] [ 8.63919729e-03 -4.85101810e-04 9.99962564e-01 2.36855864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5907140569999 meters Centerline goodness [0,1] 0.9981642572543129 Centerline is valid? [True, True] Translation: X:693.11, Y:-50.57, Z:2.37 [[ 9.98313423e-01 5.75724501e-02 -7.46470111e-03 6.93108707e+02] [-5.75677753e-02 9.98341247e-01 8.39795798e-04 -5.05655477e+01] [ 7.50066812e-03 -4.08653182e-04 9.99971786e-01 2.36927851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.620714057 meters Centerline goodness [0,1] 0.9981298592141206 Centerline is valid? [True, True] Translation: X:693.14, Y:-50.56, Z:2.37 [[ 9.98041466e-01 6.22524556e-02 -6.15335031e-03 6.93139974e+02] [-6.22493682e-02 9.98060387e-01 6.92173136e-04 -5.05567756e+01] [ 6.18450467e-03 -3.07775322e-04 9.99980828e-01 2.36981781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.650714057 meters Centerline goodness [0,1] 0.9979303424342518 Centerline is valid? [True, True] Translation: X:693.17, Y:-50.56, Z:2.37 [[ 9.97867146e-01 6.49393949e-02 -6.63575688e-03 6.93168601e+02] [-6.49358643e-02 9.97889160e-01 7.46347174e-04 -5.05566937e+01] [ 6.67021720e-03 -3.13856716e-04 9.99977705e-01 2.36950356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6807140569999 meters Centerline goodness [0,1] 0.997392574050897 Centerline is valid? [True, True] Translation: X:693.20, Y:-50.56, Z:2.37 [[ 9.97656507e-01 6.80581870e-02 -7.04117453e-03 6.93197037e+02] [-6.80542922e-02 9.97681305e-01 7.91549853e-04 -5.05579673e+01] [ 7.07871964e-03 -3.10512713e-04 9.99974897e-01 2.36860571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7107140569999 meters Centerline goodness [0,1] 0.9978073838957567 Centerline is valid? [True, True] Translation: X:693.23, Y:-50.55, Z:2.37 [[ 9.97443160e-01 7.10628522e-02 -7.56394468e-03 6.93227135e+02] [-7.10584468e-02 9.97471791e-01 8.49930137e-04 -5.05531360e+01] [ 7.60521991e-03 -3.10274841e-04 9.99971032e-01 2.36846415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.740714057 meters Centerline goodness [0,1] 0.9981154200519307 Centerline is valid? [True, True] Translation: X:693.26, Y:-50.55, Z:2.37 [[ 9.97070358e-01 7.60763858e-02 -7.94263220e-03 6.93257982e+02] [-7.60716890e-02 9.97101952e-01 8.92228592e-04 -5.05486672e+01] [ 7.98749159e-03 -2.85405236e-04 9.99968059e-01 2.36750087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.770714057 meters Centerline goodness [0,1] 0.9980345829761432 Centerline is valid? [True, True] Translation: X:693.29, Y:-50.55, Z:2.37 [[ 9.96941762e-01 7.77549506e-02 -7.82889030e-03 6.93287337e+02] [-7.77504412e-02 9.96972465e-01 8.79175822e-04 -5.05481442e+01] [ 7.87354834e-03 -2.67787418e-04 9.99968967e-01 2.36798492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8007140569999 meters Centerline goodness [0,1] 0.9981801447517048 Centerline is valid? [True, True] Translation: X:693.31, Y:-50.55, Z:2.37 [[ 9.96852017e-01 7.89295024e-02 -7.49602343e-03 6.93314680e+02] [-7.89254058e-02 9.96880170e-01 8.41222402e-04 -5.05500926e+01] [ 7.53903437e-03 -2.46947557e-04 9.99971551e-01 2.36892921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8307140569999 meters Centerline goodness [0,1] 0.997360537947504 Centerline is valid? [True, True] Translation: X:693.34, Y:-50.55, Z:2.37 [[ 9.96800822e-01 7.96989923e-02 -6.01603830e-03 6.93342577e+02] [-7.96963704e-02 9.96818957e-01 6.74684187e-04 -5.05500051e+01] [ 6.05067267e-03 -1.93069336e-04 9.99981676e-01 2.37063334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8607140569999 meters Centerline goodness [0,1] 0.9976249027891628 Centerline is valid? [True, True] Translation: X:693.37, Y:-50.55, Z:2.37 [[ 9.96799803e-01 7.97708589e-02 -5.17322354e-03 6.93371593e+02] [-7.97689232e-02 9.96813214e-01 5.79755041e-04 -5.05477699e+01] [ 5.20298514e-03 -1.65237240e-04 9.99986451e-01 2.37166696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.890714057 meters Centerline goodness [0,1] 0.9980020190123664 Centerline is valid? [True, True] Translation: X:693.40, Y:-50.55, Z:2.37 [[ 9.96812638e-01 7.96298869e-02 -4.86274932e-03 6.93400507e+02] [-7.96281765e-02 9.96824486e-01 5.44648828e-04 -5.05507081e+01] [ 4.89067792e-03 -1.55700974e-04 9.99988028e-01 2.37164065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9207140569999 meters Centerline goodness [0,1] 0.9974948330932548 Centerline is valid? [True, True] Translation: X:693.43, Y:-50.56, Z:2.37 [[ 9.96849567e-01 7.90932526e-02 -5.93274791e-03 6.93428025e+02] [-7.90907020e-02 9.96867203e-01 6.63668185e-04 -5.05551054e+01] [ 5.96665349e-03 -1.92352147e-04 9.99982181e-01 2.37069166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9507140569999 meters Centerline goodness [0,1] 0.997283801007083 Centerline is valid? [True, True] Translation: X:693.46, Y:-50.56, Z:2.37 [[ 9.96892529e-01 7.85524286e-02 -5.89927291e-03 6.93455778e+02] [-7.85499008e-02 9.96909965e-01 6.59328691e-04 -5.05595382e+01] [ 5.93283582e-03 -1.93892544e-04 9.99982382e-01 2.37026905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9807140569999 meters Centerline goodness [0,1] 0.9977841419821477 Centerline is valid? [True, True] Translation: X:693.48, Y:-50.56, Z:2.37 [[ 9.96962951e-01 7.76213184e-02 -6.30919663e-03 6.93484292e+02] [-7.76184125e-02 9.96982891e-01 7.04510534e-04 -5.05606522e+01] [ 6.34484614e-03 -2.12661074e-04 9.99979849e-01 2.37034379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.010714057 meters Centerline goodness [0,1] 0.9972657065330829 Centerline is valid? [True, True] Translation: X:693.51, Y:-50.56, Z:2.37 [[ 9.97059440e-01 7.63673957e-02 -6.36352457e-03 6.93513115e+02] [-7.63644170e-02 9.97079722e-01 7.10111293e-04 -5.05620348e+01] [ 6.39917066e-03 -2.22076324e-04 9.99979500e-01 2.36970793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.040714057 meters Centerline goodness [0,1] 0.9973358309917786 Centerline is valid? [True, True] Translation: X:693.54, Y:-50.57, Z:2.37 [[ 9.97071984e-01 7.62179260e-02 -6.18766223e-03 6.93541082e+02] [-7.62151097e-02 9.97091160e-01 6.90024466e-04 -5.05656304e+01] [ 6.22225554e-03 -2.16410707e-04 9.99980618e-01 2.37003557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0707140569999 meters Centerline goodness [0,1] 0.9971230820547031 Centerline is valid? [True, True] Translation: X:693.57, Y:-50.57, Z:2.37 [[ 9.97070306e-01 7.62107355e-02 -6.53670142e-03 6.93568389e+02] [-7.62075968e-02 9.97091707e-01 7.28279113e-04 -5.05692637e+01] [ 6.57319346e-03 -2.27999173e-04 9.99978370e-01 2.37080330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1007140569999 meters Centerline goodness [0,1] 0.9969248031250649 Centerline is valid? [True, True] Translation: X:693.60, Y:-50.57, Z:2.37 [[ 9.97082697e-01 7.60755314e-02 -6.21364101e-03 6.93596122e+02] [-7.60726961e-02 9.97102034e-01 6.91719479e-04 -5.05719885e+01] [ 6.24825702e-03 -2.17013099e-04 9.99980456e-01 2.37102269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.130714057 meters Centerline goodness [0,1] 0.9968326734736404 Centerline is valid? [True, True] Translation: X:693.62, Y:-50.57, Z:2.37 [[ 9.96999386e-01 7.72514510e-02 -4.94335677e-03 6.93624773e+02] [-7.72496726e-02 9.97011628e-01 5.49956976e-04 -5.05729164e+01] [ 4.97106916e-03 -1.66434075e-04 9.99987630e-01 2.37262179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.160714057 meters Centerline goodness [0,1] 0.9973063832452862 Centerline is valid? [True, True] Translation: X:693.65, Y:-50.58, Z:2.37 [[ 9.96932517e-01 7.81497699e-02 -4.26264054e-03 6.93653918e+02] [-7.81484569e-02 9.96941620e-01 4.73954547e-04 -5.05754441e+01] [ 4.28664321e-03 -1.39381918e-04 9.99990803e-01 2.37375145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1907140569999 meters Centerline goodness [0,1] 0.9969717221502861 Centerline is valid? [True, True] Translation: X:693.68, Y:-50.58, Z:2.37 [[ 9.96854699e-01 7.91529541e-02 -3.93929907e-03 6.93682618e+02] [-7.91518413e-02 9.96862475e-01 4.37843274e-04 -5.05760573e+01] [ 3.96159601e-03 -1.24663350e-04 9.99992145e-01 2.37400953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2207140569999 meters Centerline goodness [0,1] 0.9968110773103954 Centerline is valid? [True, True] Translation: X:693.71, Y:-50.58, Z:2.37 [[ 9.96765022e-01 8.03269575e-02 -2.65905040e-03 6.93710608e+02] [-8.03264547e-02 9.96768566e-01 2.95527744e-04 -5.05783037e+01] [ 2.67419669e-03 -8.09796268e-05 9.99996421e-01 2.37418514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.250714057 meters Centerline goodness [0,1] 0.997254359490275 Centerline is valid? [True, True] Translation: X:693.74, Y:-50.58, Z:2.37 [[ 9.96714330e-01 8.09485067e-02 -2.80765132e-03 6.93739669e+02] [-8.09479495e-02 9.96718281e-01 3.11716949e-04 -5.05810912e+01] [ 2.82367042e-03 -8.34191325e-05 9.99996010e-01 2.37385415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.280714057 meters Centerline goodness [0,1] 0.9968562686004108 Centerline is valid? [True, True] Translation: X:693.77, Y:-50.58, Z:2.37 [[ 9.96694486e-01 8.11998614e-02 -2.58523008e-03 6.93767096e+02] [-8.11993901e-02 9.96697836e-01 2.86917623e-04 -5.05849710e+01] [ 2.59999090e-03 -7.60501070e-05 9.99996617e-01 2.37334423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3107140569999 meters Centerline goodness [0,1] 0.9971050110384471 Centerline is valid? [True, True] Translation: X:693.80, Y:-50.59, Z:2.37 [[ 9.96637083e-01 8.18425520e-02 -4.03986163e-03 6.93796465e+02] [-8.18414091e-02 9.96645265e-01 4.47682524e-04 -5.05859432e+01] [ 4.06294844e-03 -1.15549036e-04 9.99991740e-01 2.37185795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3407140569999 meters Centerline goodness [0,1] 0.997273673257024 Centerline is valid? [True, True] Translation: X:693.83, Y:-50.59, Z:2.37 [[ 9.96655219e-01 8.15654005e-02 -5.04583965e-03 6.93825705e+02] [-8.15636157e-02 9.96667981e-01 5.58831316e-04 -5.05869870e+01] [ 5.07460812e-03 -1.45405221e-04 9.99987114e-01 2.37065029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.370714057 meters Centerline goodness [0,1] 0.9969468841488917 Centerline is valid? [True, True] Translation: X:693.85, Y:-50.59, Z:2.37 [[ 9.96744820e-01 8.04013458e-02 -5.94871987e-03 6.93852548e+02] [-8.03988476e-02 9.96762555e-01 6.58301687e-04 -5.05928976e+01] [ 5.98238956e-03 -1.77888575e-04 9.99982090e-01 2.36907176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.400714057 meters Centerline goodness [0,1] 0.9973748359272454 Centerline is valid? [True, True] Translation: X:693.88, Y:-50.60, Z:2.37 [[ 9.96827033e-01 7.93158500e-02 -6.69797518e-03 6.93880716e+02] [-7.93126636e-02 9.96849514e-01 7.40436175e-04 -5.05964194e+01] [ 6.73560163e-03 -2.06852542e-04 9.99977294e-01 2.36906719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4307140569999 meters Centerline goodness [0,1] 0.9970578415825057 Centerline is valid? [True, True] Translation: X:693.91, Y:-50.60, Z:2.37 [[ 9.96928435e-01 7.80157032e-02 -6.87356411e-03 6.93908023e+02] [-7.80123211e-02 9.96952106e-01 7.59209266e-04 -5.06016140e+01] [ 6.91184446e-03 -2.20654615e-04 9.99976089e-01 2.36941410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4607140569999 meters Centerline goodness [0,1] 0.9971595655806182 Centerline is valid? [True, True] Translation: X:693.94, Y:-50.61, Z:2.37 [[ 9.97035012e-01 7.66734850e-02 -6.50862866e-03 6.93936785e+02] [-7.66704274e-02 9.97056232e-01 7.18359649e-04 -5.06051806e+01] [ 6.54454790e-03 -2.17210380e-04 9.99978561e-01 2.36995103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.490714057 meters Centerline goodness [0,1] 0.99759137082417 Centerline is valid? [True, True] Translation: X:693.97, Y:-50.61, Z:2.37 [[ 9.97200160e-01 7.45360752e-02 -6.01786049e-03 6.93965700e+02] [-7.45334250e-02 9.97218295e-01 6.63788547e-04 -5.06089561e+01] [ 6.05059677e-03 -2.13398291e-04 9.99981672e-01 2.37148032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.520714057 meters Centerline goodness [0,1] 0.9975148274997911 Centerline is valid? [True, True] Translation: X:693.99, Y:-50.61, Z:2.37 [[ 9.97264131e-01 7.37021794e-02 -5.67816309e-03 6.93992752e+02] [-7.36998087e-02 9.97280275e-01 6.25917895e-04 -5.06133930e+01] [ 5.70885156e-03 -2.05725932e-04 9.99983683e-01 2.37178325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5507140569999 meters Centerline goodness [0,1] 0.997406400334658 Centerline is valid? [True, True] Translation: X:694.02, Y:-50.62, Z:2.37 [[ 9.97294874e-01 7.33132339e-02 -5.30139780e-03 6.94021187e+02] [-7.33111648e-02 9.97308945e-01 5.83847289e-04 -5.06164665e+01] [ 5.32993518e-03 -1.93616261e-04 9.99985777e-01 2.37271669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5807140569999 meters Centerline goodness [0,1] 0.9974364318466028 Centerline is valid? [True, True] Translation: X:694.05, Y:-50.62, Z:2.37 [[ 9.97302916e-01 7.32722625e-02 -4.25081208e-03 6.94049115e+02] [-7.32709327e-02 9.97311963e-01 4.67944734e-04 -5.06205172e+01] [ 4.27367311e-03 -1.55221682e-04 9.99990856e-01 2.37410158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6107140569999 meters Centerline goodness [0,1] 0.9974643554890469 Centerline is valid? [True, True] Translation: X:694.08, Y:-50.62, Z:2.37 [[ 9.97268750e-01 7.37591783e-02 -3.82422116e-03 6.94078315e+02] [-7.37581070e-02 9.97276072e-01 4.20598619e-04 -5.06231536e+01] [ 3.84482727e-03 -1.37382545e-04 9.99992599e-01 2.37470177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.640714057 meters Centerline goodness [0,1] 0.997248337537262 Centerline is valid? [True, True] Translation: X:694.11, Y:-50.63, Z:2.38 [[ 9.97200658e-01 7.46926728e-02 -3.44276023e-03 6.94106524e+02] [-7.46918105e-02 9.97206594e-01 3.78524481e-04 -5.06258062e+01] [ 3.46141621e-03 -1.20318866e-04 9.99994002e-01 2.37507143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6707140569999 meters Centerline goodness [0,1] 0.9973309423024793 Centerline is valid? [True, True] Translation: X:694.14, Y:-50.63, Z:2.38 [[ 9.97132250e-01 7.55934598e-02 -3.59243798e-03 6.94135878e+02] [-7.55925277e-02 9.97138713e-01 3.94715885e-04 -5.06261197e+01] [ 3.61199693e-03 -1.22022471e-04 9.99993469e-01 2.37506542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7007140569999 meters Centerline goodness [0,1] 0.9968407050216163 Centerline is valid? [True, True] Translation: X:694.16, Y:-50.63, Z:2.38 [[ 9.96954908e-01 7.78814306e-02 -3.92344800e-03 6.94164245e+02] [-7.78803378e-02 9.96962621e-01 4.30765172e-04 -5.06281008e+01] [ 3.94507961e-03 -1.23893996e-04 9.99992210e-01 2.37505933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7307140569999 meters Centerline goodness [0,1] 0.9972297438033743 Centerline is valid? [True, True] Translation: X:694.19, Y:-50.63, Z:2.38 [[ 9.96852815e-01 7.91893424e-02 -3.67605253e-03 6.94193169e+02] [-7.91883929e-02 9.96859587e-01 4.03363813e-04 -5.06288092e+01] [ 3.69645032e-03 -1.10993660e-04 9.99993162e-01 2.37508503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.760714057 meters Centerline goodness [0,1] 0.9976066597294485 Centerline is valid? [True, True] Translation: X:694.22, Y:-50.63, Z:2.38 [[ 9.96720204e-01 8.08404158e-02 -3.69609566e-03 6.94221643e+02] [-8.08394682e-02 9.96727052e-01 4.05296123e-04 -5.06309700e+01] [ 3.71676283e-03 -1.05176427e-04 9.99993087e-01 2.37538861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.790714057 meters Centerline goodness [0,1] 0.9978201177974806 Centerline is valid? [True, True] Translation: X:694.25, Y:-50.63, Z:2.38 [[ 9.96546293e-01 8.29521918e-02 -3.79729692e-03 6.94250485e+02] [-8.29512080e-02 9.96553523e-01 4.16113359e-04 -5.06323217e+01] [ 3.81872714e-03 -9.96858587e-05 9.99992704e-01 2.37558665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8207140569999 meters Centerline goodness [0,1] 0.9979710084297279 Centerline is valid? [True, True] Translation: X:694.28, Y:-50.63, Z:2.37 [[ 9.96044449e-01 8.87257131e-02 -4.81698705e-03 6.94280347e+02] [-8.87241998e-02 9.96056092e-01 5.27381306e-04 -5.06313999e+01] [ 4.84478158e-03 -9.79119010e-05 9.99988259e-01 2.37443407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8507140569999 meters Centerline goodness [0,1] 0.9983838129420901 Centerline is valid? [True, True] Translation: X:694.31, Y:-50.63, Z:2.37 [[ 9.95769132e-01 9.17461771e-02 -5.14533530e-03 6.94309340e+02] [-9.17444917e-02 9.95782422e-01 5.63141151e-04 -5.06319735e+01] [ 5.17530050e-03 -8.87024035e-05 9.99986604e-01 2.37400279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.880714057 meters Centerline goodness [0,1] 0.9979464397971586 Centerline is valid? [True, True] Translation: X:694.34, Y:-50.63, Z:2.37 [[ 9.95101647e-01 9.87057244e-02 -5.46738369e-03 6.94338202e+02] [-9.87039287e-02 9.95116665e-01 5.97960024e-04 -5.06315557e+01] [ 5.49970670e-03 -5.53787552e-05 9.99984875e-01 2.37342862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.910714057 meters Centerline goodness [0,1] 0.9977091696265316 Centerline is valid? [True, True] Translation: X:694.37, Y:-50.63, Z:2.37 [[ 9.94716192e-01 1.02503739e-01 -5.71669382e-03 6.94366466e+02] [-1.02501841e-01 9.94732618e-01 6.24787688e-04 -5.06335336e+01] [ 5.75062489e-03 -3.55147867e-05 9.99983464e-01 2.37326065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9407140569999 meters Centerline goodness [0,1] 0.9981716159132463 Centerline is valid? [True, True] Translation: X:694.40, Y:-50.64, Z:2.37 [[ 9.94367570e-01 1.05837937e-01 -5.60952825e-03 6.94395236e+02] [-1.05836164e-01 9.94383392e-01 6.12677354e-04 -5.06357663e+01] [ 5.64286623e-03 -1.55355382e-05 9.99984079e-01 2.37307388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9707140569999 meters Centerline goodness [0,1] 0.9987599571239413 Centerline is valid? [True, True] Translation: X:694.42, Y:-50.64, Z:2.37 [[ 9.94048116e-01 1.08796028e-01 -5.63622353e-03 6.94423523e+02] [-1.08794289e-01 9.94064095e-01 6.15178900e-04 -5.06389866e+01] [ 5.66969646e-03 1.67150438e-06 9.99983927e-01 2.37340694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.000714057 meters Centerline goodness [0,1] 0.9984490600046109 Centerline is valid? [True, True] Translation: X:694.45, Y:-50.64, Z:2.37 [[ 9.93795532e-01 1.11104397e-01 -5.12377092e-03 6.94451743e+02] [-1.11102992e-01 9.93808741e-01 5.58907405e-04 -5.06429513e+01] [ 5.15414539e-03 1.38265998e-05 9.99986717e-01 2.37341527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.030714057 meters Centerline goodness [0,1] 0.9989521554163087 Centerline is valid? [True, True] Translation: X:694.48, Y:-50.65, Z:2.37 [[ 9.93299249e-01 1.15452847e-01 -5.21945476e-03 6.94478726e+02] [-1.15451451e-01 9.93312961e-01 5.68957935e-04 -5.06482992e+01] [ 5.25023988e-03 3.74481367e-05 9.99986217e-01 2.37379945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0607140569999 meters Centerline goodness [0,1] 0.9988449018166544 Centerline is valid? [True, True] Translation: X:694.51, Y:-50.65, Z:2.37 [[ 9.93068713e-01 1.17447513e-01 -4.54013928e-03 6.94507582e+02] [-1.17446480e-01 9.93079090e-01 4.94541829e-04 -5.06532055e+01] [ 4.56680010e-03 4.21093577e-05 9.99989571e-01 2.37427219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0907140569999 meters Centerline goodness [0,1] 0.998507274409217 Centerline is valid? [True, True] Translation: X:694.53, Y:-50.66, Z:2.37 [[ 9.92866903e-01 1.19136378e-01 -4.67293398e-03 6.94534589e+02] [-1.19135304e-01 9.92877898e-01 5.08684640e-04 -5.06578843e+01] [ 4.70025571e-03 5.16552643e-05 9.99988952e-01 2.37473184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.120714057 meters Centerline goodness [0,1] 0.9991175729052861 Centerline is valid? [True, True] Translation: X:694.56, Y:-50.67, Z:2.38 [[ 9.92453020e-01 1.22566628e-01 -3.79804584e-03 6.94561300e+02] [-1.22565944e-01 9.92460286e-01 4.13093769e-04 -5.06653029e+01] [ 3.82004117e-03 5.55349158e-05 9.99992702e-01 2.37577444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.150714057 meters Centerline goodness [0,1] 0.9993487531774543 Centerline is valid? [True, True] Translation: X:694.59, Y:-50.67, Z:2.38 [[ 9.92247902e-01 1.24214768e-01 -3.84616427e-03 6.94589553e+02] [-1.24214081e-01 9.92255354e-01 4.18007724e-04 -5.06704575e+01] [ 3.86829982e-03 6.29804719e-05 9.99992516e-01 2.37595553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1807140569999 meters Centerline goodness [0,1] 0.9995203736914543 Centerline is valid? [True, True] Translation: X:694.62, Y:-50.68, Z:2.38 [[ 9.92063424e-01 1.25690462e-01 -3.47427341e-03 6.94616783e+02] [-1.25689910e-01 9.92069506e-01 3.77504099e-04 -5.06762982e+01] [ 3.49416937e-03 6.21731049e-05 9.99993893e-01 2.37613860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2107140569999 meters Centerline goodness [0,1] 0.9996667083281257 Centerline is valid? [True, True] Translation: X:694.64, Y:-50.69, Z:2.38 [[ 9.91928153e-01 1.26752419e-01 -3.51609928e-03 6.94644424e+02] [-1.26751862e-01 9.91934383e-01 3.81702998e-04 -5.06885321e+01] [ 3.53612155e-03 6.70501797e-05 9.99993746e-01 2.37613557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.240714057 meters Centerline goodness [0,1] 0.9999583133584843 Centerline is valid? [True, True] Translation: X:694.67, Y:-50.70, Z:2.38 [[ 9.92018364e-01 1.26053717e-01 -3.16643195e-03 6.94671187e+02] [-1.26053262e-01 9.92023416e-01 3.43597606e-04 -5.06960051e+01] [ 3.18448639e-03 5.82839409e-05 9.99994928e-01 2.37698105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.270714057 meters Centerline goodness [0,1] 0.9998124960936686 Centerline is valid? [True, True] Translation: X:694.70, Y:-50.71, Z:2.38 [[ 9.92497430e-01 1.22229139e-01 -2.98142656e-03 6.94699592e+02] [-1.22228720e-01 9.92501907e-01 3.23121203e-04 -5.07133320e+01] [ 2.99856637e-03 4.37189868e-05 9.99995503e-01 2.37646353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3007140569999 meters Centerline goodness [0,1] 0.9999791818465702 Centerline is valid? [True, True] Translation: X:694.73, Y:-50.72, Z:2.38 [[ 9.92869730e-01 1.19154109e-01 -3.46375091e-03 6.94727552e+02] [-1.19153525e-01 9.92875771e-01 3.75386158e-04 -5.07221432e+01] [ 3.48380315e-03 4.00085759e-05 9.99993931e-01 2.37662237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3307140569999 meters Centerline goodness [0,1] 0.9996875911192569 Centerline is valid? [True, True] Translation: X:694.76, Y:-50.73, Z:2.38 [[ 9.93289392e-01 1.15598700e-01 -3.62283755e-03 6.94756886e+02] [-1.15598038e-01 9.93295998e-01 3.92320304e-04 -5.07343498e+01] [ 3.64390176e-03 2.91053176e-05 9.99993361e-01 2.37605889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3607140569999 meters Centerline goodness [0,1] 0.9996875911192569 Centerline is valid? [True, True] Translation: X:694.79, Y:-50.74, Z:2.38 [[ 9.93293429e-01 1.15564003e-01 -3.62283070e-03 6.94785885e+02] [-1.15563340e-01 9.93300035e-01 3.92383609e-04 -5.07374607e+01] [ 3.64390328e-03 2.89143558e-05 9.99993361e-01 2.37621833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.390714057 meters Centerline goodness [0,1] 0.9991859737006888 Centerline is valid? [True, True] Translation: X:694.82, Y:-50.75, Z:2.38 [[ 9.93685230e-01 1.12139609e-01 -3.79089251e-03 6.94815499e+02] [-1.12138859e-01 9.93692461e-01 4.10385146e-04 -5.07489450e+01] [ 3.81300174e-03 1.73127037e-05 9.99992730e-01 2.37567540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4207140569999 meters Centerline goodness [0,1] 0.9987481483026978 Centerline is valid? [True, True] Translation: X:694.85, Y:-50.77, Z:2.37 [[ 9.94429380e-01 1.05339727e-01 -3.70804273e-03 6.94846161e+02] [-1.05338964e-01 9.94436294e-01 4.00982600e-04 -5.07672871e+01] [ 3.72965167e-03 -8.14749796e-06 9.99993045e-01 2.37498204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4507140569999 meters Centerline goodness [0,1] 0.998496523209923 Centerline is valid? [True, True] Translation: X:694.88, Y:-50.78, Z:2.38 [[ 9.94724141e-01 1.02517911e-01 -3.73661001e-03 6.94876226e+02] [-1.02517112e-01 9.94731158e-01 4.05055349e-04 -5.07784081e+01] [ 3.75844784e-03 -1.98518652e-05 9.99992937e-01 2.37522967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4807140569999 meters Centerline goodness [0,1] 0.9983089417315602 Centerline is valid? [True, True] Translation: X:694.91, Y:-50.79, Z:2.38 [[ 9.94966700e-01 1.00146321e-01 -3.46130788e-03 6.94907710e+02] [-1.00145620e-01 9.94972720e-01 3.75882454e-04 -5.07877309e+01] [ 3.48155016e-03 -2.73557030e-05 9.99993939e-01 2.37519782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.510714057 meters Centerline goodness [0,1] 0.9979343154029128 Centerline is valid? [True, True] Translation: X:694.94, Y:-50.80, Z:2.38 [[ 9.95407734e-01 9.57008015e-02 -2.19082944e-03 6.94937405e+02] [-9.57005087e-02 9.95410145e-01 2.38347062e-04 -5.08040006e+01] [ 2.20358385e-03 -2.75890166e-05 9.99997572e-01 2.37591882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.540714057 meters Centerline goodness [0,1] 0.9972718563871882 Centerline is valid? [True, True] Translation: X:694.97, Y:-50.81, Z:2.38 [[ 9.95563176e-01 9.40786435e-02 -1.78094205e-03 6.94968754e+02] [-9.40784479e-02 9.95564768e-01 1.93444024e-04 -5.08121316e+01] [ 1.79124211e-03 -2.50374833e-05 9.99998395e-01 2.37585921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5707140569999 meters Centerline goodness [0,1] 0.9974999479155816 Centerline is valid? [True, True] Translation: X:695.00, Y:-50.82, Z:2.38 [[ 9.95726967e-01 9.23407147e-02 -9.99359656e-04 6.94999904e+02] [-9.23406526e-02 9.95727469e-01 1.08221183e-04 -5.08209916e+01] [ 1.00508308e-03 -1.54772274e-05 9.99999495e-01 2.37668157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6007140569999 meters Centerline goodness [0,1] 0.9975585835611294 Centerline is valid? [True, True] Translation: X:695.03, Y:-50.83, Z:2.38 [[ 9.95907956e-01 9.03725974e-02 -3.68690634e-04 6.95030798e+02] [-9.03725890e-02 9.95908025e-01 3.92746475e-05 -5.08292417e+01] [ 3.70731313e-04 -5.79440675e-06 9.99999931e-01 2.37682381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.630714057 meters Centerline goodness [0,1] 0.9972088566727072 Centerline is valid? [True, True] Translation: X:695.06, Y:-50.84, Z:2.38 [[ 9.96312417e-01 8.57981506e-02 4.95226625e-04 6.95061439e+02] [-8.57981335e-02 9.96312540e-01 -5.57018671e-05 -5.08412629e+01] [-4.98179613e-04 1.30069418e-05 9.99999876e-01 2.37650492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.660714057 meters Centerline goodness [0,1] 0.9977473719339229 Centerline is valid? [True, True] Translation: X:695.09, Y:-50.85, Z:2.38 [[ 9.96501002e-01 8.35785884e-02 6.11055365e-04 6.95092820e+02] [-8.35785620e-02 9.96501189e-01 -6.86413045e-05 -5.08466162e+01] [-6.14654341e-04 1.73300000e-05 9.99999811e-01 2.37535938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6907140569999 meters Centerline goodness [0,1] 0.9977320960426116 Centerline is valid? [True, True] Translation: X:695.12, Y:-50.85, Z:2.38 [[ 9.96680462e-01 8.14128767e-02 1.42677608e-05 6.95124247e+02] [-8.14128766e-02 9.96680462e-01 -2.93049772e-06 -5.08534662e+01] [-1.44589786e-05 1.75919038e-06 1.00000000e+00 2.37501402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7207140569999 meters Centerline goodness [0,1] 0.9968987049997905 Centerline is valid? [True, True] Translation: X:695.16, Y:-50.86, Z:2.37 [[ 9.96973132e-01 7.77467730e-02 1.18735768e-04 6.95155445e+02] [-7.77467719e-02 9.96973139e-01 -1.35236765e-05 -5.08620184e+01] [-1.19427793e-04 4.25141945e-06 9.99999993e-01 2.37368885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.750714057 meters Centerline goodness [0,1] 0.9975286923012482 Centerline is valid? [True, True] Translation: X:695.19, Y:-50.87, Z:2.37 [[ 9.97034434e-01 7.69565930e-02 -1.39782931e-04 6.95186280e+02] [-7.69565918e-02 9.97034444e-01 1.42268156e-05 -5.08689385e+01] [ 1.40463244e-04 -3.42740705e-06 9.99999990e-01 2.37376061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.780714057 meters Centerline goodness [0,1] 0.9976618930316062 Centerline is valid? [True, True] Translation: X:695.22, Y:-50.87, Z:2.37 [[ 9.97038116e-01 7.69070636e-02 -5.47108554e-04 6.95219024e+02] [-7.69070427e-02 9.97038266e-01 5.92475870e-05 -5.08737110e+01] [ 5.50044722e-04 -1.69956015e-05 9.99999849e-01 2.37303081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8107140569999 meters Centerline goodness [0,1] 0.9977652931225329 Centerline is valid? [True, True] Translation: X:695.25, Y:-50.88, Z:2.37 [[ 9.96930548e-01 7.82867465e-02 -8.16797630e-04 6.95249671e+02] [-7.82866993e-02 9.96930883e-01 8.96972820e-05 -5.08790027e+01] [ 8.21312890e-04 -2.54775702e-05 9.99999662e-01 2.37302584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8407140569999 meters Centerline goodness [0,1] 0.9976866324871827 Centerline is valid? [True, True] Translation: X:695.28, Y:-50.88, Z:2.37 [[ 9.96809875e-01 7.98109858e-02 -5.29272518e-04 6.95281157e+02] [-7.98109664e-02 9.96810015e-01 5.77381325e-05 -5.08827525e+01] [ 5.32192284e-04 -1.53121895e-05 9.99999858e-01 2.37322545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.870714057 meters Centerline goodness [0,1] 0.9974739567023653 Centerline is valid? [True, True] Translation: X:695.31, Y:-50.89, Z:2.37 [[ 9.96660820e-01 8.16529062e-02 -1.15185165e-04 6.95313716e+02] [-8.16529053e-02 9.96660826e-01 1.23946446e-05 -5.08860303e+01] [ 1.15812601e-04 -2.94805330e-06 9.99999993e-01 2.37373809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.900714057 meters Centerline goodness [0,1] 0.9965359654431252 Centerline is valid? [True, True] Translation: X:695.35, Y:-50.89, Z:2.37 [[ 9.96466869e-01 8.39859236e-02 3.80010945e-04 6.95346206e+02] [-8.39859130e-02 9.96466941e-01 -4.38914552e-05 -5.08866457e+01] [-3.82354608e-04 1.18208148e-05 9.99999927e-01 2.37373509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9307140569999 meters Centerline goodness [0,1] 0.9967701342281879 Centerline is valid? [True, True] Translation: X:695.38, Y:-50.89, Z:2.37 [[ 9.96045973e-01 8.88362272e-02 7.37375713e-04 6.95377114e+02] [-8.88361903e-02 9.96046246e-01 -8.27492581e-05 -5.08890565e+01] [-7.41811443e-04 1.69164161e-05 9.99999725e-01 2.37453994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9607140569999 meters Centerline goodness [0,1] 0.9971691585061545 Centerline is valid? [True, True] Translation: X:695.41, Y:-50.89, Z:2.37 [[ 9.95856248e-01 9.09396539e-02 5.59000372e-04 6.95409251e+02] [-9.09396322e-02 9.95856405e-01 -6.40860244e-05 -5.08905429e+01] [-5.62512061e-04 1.29851796e-05 9.99999842e-01 2.37379826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.990714057 meters Centerline goodness [0,1] 0.9971097055250702 Centerline is valid? [True, True] Translation: X:695.44, Y:-50.89, Z:2.37 [[ 9.95693050e-01 9.27071934e-02 8.52572424e-04 6.95441171e+02] [-9.27071441e-02 9.95693415e-01 -9.72425408e-05 -5.08935837e+01] [-8.57915831e-04 1.77841675e-05 9.99999632e-01 2.37307900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.020714057 meters Centerline goodness [0,1] 0.9969841037133224 Centerline is valid? [True, True] Translation: X:695.47, Y:-50.90, Z:2.37 [[ 9.95589361e-01 9.38180122e-02 -6.53111684e-05 6.95472216e+02] [-9.38180120e-02 9.95589363e-01 6.10719463e-06 -5.08988246e+01] [ 6.55960695e-05 4.71059801e-08 9.99999998e-01 2.37363154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0507140569999 meters Centerline goodness [0,1] 0.9972524591539252 Centerline is valid? [True, True] Translation: X:695.50, Y:-50.90, Z:2.37 [[ 9.95455167e-01 9.52299768e-02 -5.12668892e-04 6.95504816e+02] [-9.52299603e-02 9.95455299e-01 5.65459054e-05 -5.08995683e+01] [ 5.15723830e-04 -7.46747537e-06 9.99999867e-01 2.37276991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0807140569999 meters Centerline goodness [0,1] 0.9966895742541066 Centerline is valid? [True, True] Translation: X:695.54, Y:-50.90, Z:2.37 [[ 9.95425945e-01 9.55343776e-02 -6.08249581e-04 6.95536427e+02] [-9.55343540e-02 9.95426131e-01 6.78403459e-05 -5.09031303e+01] [ 6.11948613e-04 -9.42130959e-06 9.99999813e-01 2.37329832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1107140569999 meters Centerline goodness [0,1] 0.9971511761871845 Centerline is valid? [True, True] Translation: X:695.57, Y:-50.91, Z:2.37 [[ 9.95355714e-01 9.62632847e-02 -6.18085028e-04 6.95569558e+02] [-9.62632607e-02 9.95355906e-01 6.85369579e-05 -5.09054700e+01] [ 6.21812176e-04 -8.71977252e-06 9.99999807e-01 2.37342028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.140714057 meters Centerline goodness [0,1] 0.9966921385952057 Centerline is valid? [True, True] Translation: X:695.60, Y:-50.91, Z:2.37 [[ 9.95166262e-01 9.82043230e-02 1.46495677e-04 6.95602054e+02] [-9.82043214e-02 9.95166273e-01 -1.80102562e-05 -5.09081762e+01] [-1.47556242e-04 3.53669075e-06 9.99999989e-01 2.37450924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1707140569999 meters Centerline goodness [0,1] 0.9971733668341709 Centerline is valid? [True, True] Translation: X:695.63, Y:-50.91, Z:2.38 [[ 9.95064704e-01 9.92277588e-02 2.96133286e-04 6.95634050e+02] [-9.92277527e-02 9.95064748e-01 -3.50840020e-05 -5.09117658e+01] [-2.98153101e-04 5.52621155e-06 9.99999956e-01 2.37577024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2007140569999 meters Centerline goodness [0,1] 0.9975309158628194 Centerline is valid? [True, True] Translation: X:695.67, Y:-50.92, Z:2.38 [[ 9.94978906e-01 1.00077203e-01 1.23672606e-03 6.95666974e+02] [-1.00077103e-01 9.94979675e-01 -1.42799736e-04 -5.09152338e+01] [-1.24480829e-03 1.83147643e-05 9.99999225e-01 2.37637530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2307140569999 meters Centerline goodness [0,1] 0.9965846852287636 Centerline is valid? [True, True] Translation: X:695.70, Y:-50.92, Z:2.38 [[ 9.94898698e-01 1.00854729e-01 2.21435385e-03 6.95698317e+02] [-1.00854412e-01 9.94901162e-01 -2.54924562e-04 -5.09210653e+01] [-2.22877357e-03 3.02967600e-05 9.99997516e-01 2.37807537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.260714057 meters Centerline goodness [0,1] 0.9974098134647923 Centerline is valid? [True, True] Translation: X:695.73, Y:-50.92, Z:2.38 [[ 9.94898122e-01 1.00852147e-01 2.56351363e-03 6.95730784e+02] [-1.00851719e-01 9.94901424e-01 -2.95697220e-04 -5.09234614e+01] [-2.58026506e-03 3.56538513e-05 9.99996670e-01 2.37724461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.290714057 meters Centerline goodness [0,1] 0.9968470725799716 Centerline is valid? [True, True] Translation: X:695.76, Y:-50.93, Z:2.38 [[ 9.94904886e-01 1.00785866e-01 2.54496642e-03 6.95763626e+02] [-1.00785443e-01 9.94908140e-01 -2.94349657e-04 -5.09265310e+01] [-2.56167410e-03 3.63543435e-05 9.99996718e-01 2.37632046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3207140569999 meters Centerline goodness [0,1] 0.9975957015324789 Centerline is valid? [True, True] Translation: X:695.80, Y:-50.93, Z:2.38 [[ 9.94899782e-01 1.00848472e-01 2.00246163e-03 6.95795551e+02] [-1.00848208e-01 9.94901797e-01 -2.32366891e-04 -5.09315264e+01] [-2.01568652e-03 2.92371015e-05 9.99997968e-01 2.37651633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3507140569999 meters Centerline goodness [0,1] 0.9977029256374381 Centerline is valid? [True, True] Translation: X:695.83, Y:-50.93, Z:2.38 [[ 9.94875040e-01 1.01104104e-01 1.27090788e-03 6.95827972e+02] [-1.01103996e-01 9.94875851e-01 -1.48443102e-04 -5.09348491e+01] [-1.27940377e-03 1.91884715e-05 9.99999181e-01 2.37521223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.380714057 meters Centerline goodness [0,1] 0.9971150830981499 Centerline is valid? [True, True] Translation: X:695.86, Y:-50.94, Z:2.37 [[ 9.94982520e-01 1.00035176e-01 1.65762118e-03 6.95859985e+02] [-1.00034993e-01 9.94983901e-01 -1.93371704e-04 -5.09395520e+01] [-1.66865036e-03 2.65813426e-05 9.99998607e-01 2.37447961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.410714057 meters Centerline goodness [0,1] 0.9971584379766407 Centerline is valid? [True, True] Translation: X:695.89, Y:-50.94, Z:2.37 [[ 9.95056987e-01 9.92857564e-02 1.98289699e-03 6.95892206e+02] [-9.92854920e-02 9.95058962e-01 -2.31561044e-04 -5.09442506e+01] [-1.99609013e-03 3.35435321e-05 9.99998007e-01 2.37481658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4407140569999 meters Centerline goodness [0,1] 0.9970734562481709 Centerline is valid? [True, True] Translation: X:695.92, Y:-50.95, Z:2.38 [[ 9.95148881e-01 9.83563624e-02 2.17522580e-03 6.95923796e+02] [-9.83560412e-02 9.95151257e-01 -2.54434286e-04 -5.09491003e+01] [-2.18970392e-03 3.92533962e-05 9.99997602e-01 2.37508662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4707140569999 meters Centerline goodness [0,1] 0.9969910357941367 Centerline is valid? [True, True] Translation: X:695.95, Y:-50.95, Z:2.37 [[ 9.95311569e-01 9.66956239e-02 2.19949063e-03 6.95954137e+02] [-9.66952905e-02 9.95313998e-01 -2.57656973e-04 -5.09546335e+01] [-2.21409811e-03 4.37685803e-05 9.99997548e-01 2.37499998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.500714057 meters Centerline goodness [0,1] 0.9972416675373524 Centerline is valid? [True, True] Translation: X:695.99, Y:-50.96, Z:2.37 [[ 9.95308488e-01 9.67406745e-02 1.50200170e-03 6.95986980e+02] [-9.67405174e-02 9.95309621e-01 -1.77070687e-04 -5.09585703e+01] [-1.51208668e-03 3.09355361e-05 9.99998856e-01 2.37473107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.530714057 meters Centerline goodness [0,1] 0.9966150567291419 Centerline is valid? [True, True] Translation: X:696.02, Y:-50.96, Z:2.37 [[ 9.95302950e-01 9.67861236e-02 2.11738351e-03 6.96019213e+02] [-9.67858118e-02 9.95305202e-01 -2.49461338e-04 -5.09626946e+01] [-2.13158722e-03 4.33569238e-05 9.99997727e-01 2.37450720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5607140569999 meters Centerline goodness [0,1] 0.9970370988607437 Centerline is valid? [True, True] Translation: X:696.05, Y:-50.97, Z:2.38 [[ 9.95231178e-01 9.75106891e-02 2.56292942e-03 6.96051339e+02] [-9.75102338e-02 9.95234476e-01 -3.02314142e-04 -5.09669266e+01] [-2.58019458e-03 5.09606126e-05 9.99996670e-01 2.37510326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5907140569999 meters Centerline goodness [0,1] 0.9970771222180467 Centerline is valid? [True, True] Translation: X:696.08, Y:-50.97, Z:2.38 [[ 9.95172058e-01 9.81046645e-02 2.83722120e-03 6.96084514e+02] [-9.81041069e-02 9.95176101e-01 -3.35389469e-04 -5.09710803e+01] [-2.85643800e-03 5.54271770e-05 9.99995919e-01 2.37570794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.620714057 meters Centerline goodness [0,1] 0.9966285119667013 Centerline is valid? [True, True] Translation: X:696.12, Y:-50.97, Z:2.38 [[ 9.95088999e-01 9.89309189e-02 3.24935455e-03 6.96117075e+02] [-9.89301897e-02 9.95094302e-01 -3.84795793e-04 -5.09746254e+01] [-3.27148240e-03 6.14467979e-05 9.99994647e-01 2.37543023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.650714057 meters Centerline goodness [0,1] 0.9968354430379747 Centerline is valid? [True, True] Translation: X:696.15, Y:-50.98, Z:2.38 [[ 9.94980031e-01 1.00015308e-01 3.41696940e-03 6.96147661e+02] [-1.00014506e-01 9.94985897e-01 -4.05033065e-04 -5.09783433e+01] [-3.44034587e-03 6.12533038e-05 9.99994080e-01 2.37545244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6807140569999 meters Centerline goodness [0,1] 0.9969449675664365 Centerline is valid? [True, True] Translation: X:696.18, Y:-50.98, Z:2.38 [[ 9.94731047e-01 1.02478989e-01 2.86373519e-03 6.96179942e+02] [-1.02478433e-01 9.94735168e-01 -3.40425577e-04 -5.09810419e+01] [-2.88354458e-03 4.51607953e-05 9.99995842e-01 2.37527147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7107140569999 meters Centerline goodness [0,1] 0.9966293537514045 Centerline is valid? [True, True] Translation: X:696.21, Y:-50.98, Z:2.37 [[ 9.94525014e-01 1.04471845e-01 2.37291798e-03 6.96212295e+02] [-1.04471468e-01 9.94527844e-01 -2.82867023e-04 -5.09839216e+01] [-2.38948465e-03 3.34161050e-05 9.99997145e-01 2.37472753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.740714057 meters Centerline goodness [0,1] 0.9965968641042237 Centerline is valid? [True, True] Translation: X:696.24, Y:-50.99, Z:2.37 [[ 9.94132472e-01 1.08156076e-01 1.70012413e-03 6.96244761e+02] [-1.08155886e-01 9.94133926e-01 -2.03453697e-04 -5.09850930e+01] [-1.71215583e-03 1.83814948e-05 9.99998534e-01 2.37453028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.770714057 meters Centerline goodness [0,1] 0.9968633027331089 Centerline is valid? [True, True] Translation: X:696.28, Y:-50.99, Z:2.37 [[ 9.93962257e-01 1.09711059e-01 1.58619142e-03 6.96276507e+02] [-1.09710895e-01 9.93963522e-01 -1.90299733e-04 -5.09879402e+01] [-1.59749440e-03 1.51282712e-05 9.99998724e-01 2.37472083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8007140569999 meters Centerline goodness [0,1] 0.9969854295762853 Centerline is valid? [True, True] Translation: X:696.31, Y:-50.99, Z:2.37 [[ 9.93856780e-01 1.10663064e-01 1.54513788e-03 6.96309745e+02] [-1.10662908e-01 9.93857981e-01 -1.86013901e-04 -5.09917835e+01] [-1.55623248e-03 1.38817252e-05 9.99998789e-01 2.37490986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8307140569999 meters Centerline goodness [0,1] 0.9965899581589959 Centerline is valid? [True, True] Translation: X:696.34, Y:-51.00, Z:2.38 [[ 9.93795603e-01 1.11198802e-01 2.26385446e-03 6.96342147e+02] [-1.11198470e-01 9.93798182e-01 -2.72459356e-04 -5.09961550e+01] [-2.28011160e-03 1.90317580e-05 9.99997400e-01 2.37534860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8607140569999 meters Centerline goodness [0,1] 0.996547033587946 Centerline is valid? [True, True] Translation: X:696.37, Y:-51.00, Z:2.38 [[ 9.93810655e-01 1.11054501e-01 2.69825402e-03 6.96373835e+02] [-1.11054028e-01 9.93814317e-01 -3.25042151e-04 -5.10013179e+01] [-2.71766087e-03 2.33783748e-05 9.99996307e-01 2.37683526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.890714057 meters Centerline goodness [0,1] 0.9968596909935937 Centerline is valid? [True, True] Translation: X:696.40, Y:-51.01, Z:2.38 [[ 9.94065167e-01 1.08724489e-01 3.66452187e-03 6.96404833e+02] [-1.08723600e-01 9.94071921e-01 -4.41540670e-04 -5.10084139e+01] [-3.69080458e-03 4.05001913e-05 9.99993188e-01 2.37779345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9207140569999 meters Centerline goodness [0,1] 0.9962245259798502 Centerline is valid? [True, True] Translation: X:696.43, Y:-51.02, Z:2.38 [[ 9.94253814e-01 1.06958798e-01 4.37827129e-03 6.96434936e+02] [-1.06957513e-01 9.94263452e-01 -5.27272968e-04 -5.10151404e+01] [-4.40955161e-03 5.59541499e-05 9.99990276e-01 2.37872157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9507140569999 meters Centerline goodness [0,1] 0.9965600419507079 Centerline is valid? [True, True] Translation: X:696.47, Y:-51.02, Z:2.38 [[ 9.94494455e-01 1.04672940e-01 4.93514278e-03 6.96466573e+02] [-1.04671271e-01 9.94506697e-01 -5.95977108e-04 -5.10215813e+01] [-4.97041522e-03 7.61282633e-05 9.99987645e-01 2.37925858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9807140569999 meters Centerline goodness [0,1] 0.9963034897562809 Centerline is valid? [True, True] Translation: X:696.50, Y:-51.03, Z:2.38 [[ 9.94936994e-01 1.00384073e-01 4.83897504e-03 6.96498586e+02] [-1.00382421e-01 9.94948757e-01 -5.83861121e-04 -5.10277484e+01] [-4.87314256e-03 9.51570010e-05 9.99988122e-01 2.37758572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.010714057 meters Centerline goodness [0,1] 0.9968335849689649 Centerline is valid? [True, True] Translation: X:696.53, Y:-51.03, Z:2.38 [[ 9.95120071e-01 9.85322722e-02 5.23796478e-03 6.96530651e+02] [-9.85302982e-02 9.95133849e-01 -6.34217612e-04 -5.10324136e+01] [-5.27496695e-03 1.15024443e-04 9.99986081e-01 2.37699541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.040714057 meters Centerline goodness [0,1] 0.996871850856567 Centerline is valid? [True, True] Translation: X:696.56, Y:-51.04, Z:2.38 [[ 9.95247497e-01 9.72388052e-02 5.19955038e-03 6.96561283e+02] [-9.72368367e-02 9.95261071e-01 -6.30642495e-04 -5.10381003e+01] [-5.23623300e-03 1.22057533e-04 9.99986283e-01 2.37709655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0707140569999 meters Centerline goodness [0,1] 0.9973976368863985 Centerline is valid? [True, True] Translation: X:696.59, Y:-51.05, Z:2.38 [[ 9.95369696e-01 9.59635790e-02 5.49176430e-03 6.96591597e+02] [-9.59613574e-02 9.95384836e-01 -6.67237157e-04 -5.10459635e+01] [-5.53044938e-03 1.37150489e-04 9.99984698e-01 2.37776408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1007140569999 meters Centerline goodness [0,1] 0.9967464998635629 Centerline is valid? [True, True] Translation: X:696.62, Y:-51.05, Z:2.38 [[ 9.95297861e-01 9.66909021e-02 5.74781992e-03 6.96624910e+02] [-9.66884699e-02 9.95314448e-01 -7.00190867e-04 -5.10483212e+01] [-5.78859029e-03 1.41150560e-04 9.99983236e-01 2.37732082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.130714057 meters Centerline goodness [0,1] 0.9972335743476894 Centerline is valid? [True, True] Translation: X:696.66, Y:-51.05, Z:2.38 [[ 9.95196960e-01 9.77319299e-02 5.61079690e-03 6.96655772e+02] [-9.77296231e-02 9.95212767e-01 -6.84494993e-04 -5.10529091e+01] [-5.65083372e-03 1.32866270e-04 9.99984025e-01 2.37795467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.160714057 meters Centerline goodness [0,1] 0.9969432405837154 Centerline is valid? [True, True] Translation: X:696.69, Y:-51.05, Z:2.38 [[ 9.94768013e-01 1.02035349e-01 5.03863322e-03 6.96687253e+02] [-1.02033548e-01 9.94780769e-01 -6.13971298e-04 -5.10520505e+01] [-5.07498220e-03 9.66493837e-05 9.99987118e-01 2.37689734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1907140569999 meters Centerline goodness [0,1] 0.9963553339896525 Centerline is valid? [True, True] Translation: X:696.72, Y:-51.05, Z:2.38 [[ 9.94472073e-01 1.04888141e-01 4.87579893e-03 6.96719349e+02] [-1.04886477e-01 9.94484023e-01 -5.96472734e-04 -5.10541221e+01] [-4.91146705e-03 8.17701033e-05 9.99987935e-01 2.37651857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2207140569999 meters Centerline goodness [0,1] 0.9968380936426836 Centerline is valid? [True, True] Translation: X:696.75, Y:-51.06, Z:2.38 [[ 9.94166169e-01 1.07748206e-01 4.89421843e-03 6.96750543e+02] [-1.07746564e-01 9.94178213e-01 -5.98832489e-04 -5.10586040e+01] [-4.93024846e-03 6.80037833e-05 9.99987844e-01 2.37808024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.250714057 meters Centerline goodness [0,1] 0.9964092607669987 Centerline is valid? [True, True] Translation: X:696.78, Y:-51.06, Z:2.38 [[ 9.93597728e-01 1.12875300e-01 4.76668170e-03 6.96782263e+02] [-1.12873793e-01 9.93609161e-01 -5.84781513e-04 -5.10592720e+01] [-4.80222599e-03 4.30041394e-05 9.99988468e-01 2.37750153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.280714057 meters Centerline goodness [0,1] 0.9964092607669987 Centerline is valid? [True, True] Translation: X:696.81, Y:-51.06, Z:2.38 [[ 9.93569182e-01 1.13126308e-01 4.76651337e-03 6.96814503e+02] [-1.13124798e-01 9.93580614e-01 -5.86153822e-04 -5.10633219e+01] [-4.80222469e-03 4.31735127e-05 9.99988468e-01 2.37767930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3107140569999 meters Centerline goodness [0,1] 0.9960675214926684 Centerline is valid? [True, True] Translation: X:696.85, Y:-51.06, Z:2.38 [[ 9.93313314e-01 1.15344526e-01 4.92958139e-03 6.96846372e+02] [-1.15342932e-01 9.93325545e-01 -6.07360038e-04 -5.10644879e+01] [-4.96673477e-03 3.47064413e-05 9.99987665e-01 2.37523490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3407140569999 meters Centerline goodness [0,1] 0.9955225123911866 Centerline is valid? [True, True] Translation: X:696.88, Y:-51.07, Z:2.37 [[ 9.93116153e-01 1.17039305e-01 4.70187911e-03 6.96878136e+02] [-1.17037869e-01 9.93127283e-01 -5.80543578e-04 -5.10676919e+01] [-4.73751084e-03 2.62492949e-05 9.99988778e-01 2.37473197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.370714057 meters Centerline goodness [0,1] 0.9958169444964725 Centerline is valid? [True, True] Translation: X:696.91, Y:-51.07, Z:2.37 [[ 9.92938478e-01 1.18566979e-01 3.87958507e-03 6.96909848e+02] [-1.18566007e-01 9.92946057e-01 -4.80253172e-04 -5.10715124e+01] [-3.90916087e-03 1.68749417e-05 9.99992359e-01 2.37386563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.400714057 meters Centerline goodness [0,1] 0.9959004330824539 Centerline is valid? [True, True] Translation: X:696.94, Y:-51.08, Z:2.37 [[ 9.92882696e-01 1.19059819e-01 2.95161305e-03 6.96941298e+02] [-1.19059255e-01 9.92887083e-01 -3.66443463e-04 -5.10767067e+01] [-2.97424717e-03 1.24185211e-05 9.99995577e-01 2.37291205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4307140569999 meters Centerline goodness [0,1] 0.9955425342680757 Centerline is valid? [True, True] Translation: X:696.97, Y:-51.08, Z:2.37 [[ 9.92929881e-01 1.18679624e-01 2.32354015e-03 6.96973847e+02] [-1.18679271e-01 9.92932599e-01 -2.89640152e-04 -5.10820087e+01] [-2.34149314e-03 1.18363106e-05 9.99997259e-01 2.37260276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4607140569999 meters Centerline goodness [0,1] 0.9962564048938618 Centerline is valid? [True, True] Translation: X:697.01, Y:-51.09, Z:2.37 [[ 9.93047681e-01 1.17688868e-01 2.37343706e-03 6.97006356e+02] [-1.17688496e-01 9.93050517e-01 -2.96495682e-04 -5.10874793e+01] [-2.39183714e-03 1.51081131e-05 9.99997139e-01 2.37315927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.490714057 meters Centerline goodness [0,1] 0.9963989092650029 Centerline is valid? [True, True] Translation: X:697.04, Y:-51.09, Z:2.37 [[ 9.93132149e-01 1.16963971e-01 2.82192689e-03 6.97039008e+02] [-1.16963440e-01 9.93136158e-01 -3.53053485e-04 -5.10930464e+01] [-2.84385217e-03 2.05664893e-05 9.99995956e-01 2.37369017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.520714057 meters Centerline goodness [0,1] 0.9959472727652552 Centerline is valid? [True, True] Translation: X:697.07, Y:-51.10, Z:2.37 [[ 9.93363948e-01 1.14951726e-01 3.76395302e-03 6.97070234e+02] [-1.14950766e-01 9.93371078e-01 -4.71119595e-04 -5.11004905e+01] [-3.79315808e-03 3.53239388e-05 9.99992805e-01 2.37492195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5507140569999 meters Centerline goodness [0,1] 0.99582193068583 Centerline is valid? [True, True] Translation: X:697.10, Y:-51.11, Z:2.38 [[ 9.93488129e-01 1.13861591e-01 4.10793732e-03 6.97100969e+02] [-1.13860435e-01 9.93496621e-01 -5.14889828e-04 -5.11082630e+01] [-4.13984802e-03 4.38054013e-05 9.99991430e-01 2.37667375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5807140569999 meters Centerline goodness [0,1] 0.9961651487046956 Centerline is valid? [True, True] Translation: X:697.13, Y:-51.11, Z:2.37 [[ 9.93628732e-01 1.12638647e-01 3.80496569e-03 6.97132764e+02] [-1.12637642e-01 9.93636016e-01 -4.78100577e-04 -5.11117748e+01] [-3.83460355e-03 4.64721070e-05 9.99992647e-01 2.37443554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6107140569999 meters Centerline goodness [0,1] 0.9956737099504671 Centerline is valid? [True, True] Translation: X:697.16, Y:-51.12, Z:2.37 [[ 9.93820400e-01 1.10936470e-01 3.75649628e-03 6.97163592e+02] [-1.10935479e-01 9.93827499e-01 -4.71916164e-04 -5.11187249e+01] [-3.78566202e-03 5.22711964e-05 9.99992833e-01 2.37484240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.640714057 meters Centerline goodness [0,1] 0.9960440567157343 Centerline is valid? [True, True] Translation: X:697.19, Y:-51.13, Z:2.38 [[ 9.94243061e-01 1.07084582e-01 3.69155758e-03 6.97193635e+02] [-1.07083594e-01 9.94249912e-01 -4.65081544e-04 -5.11270739e+01] [-3.72013386e-03 6.70988471e-05 9.99993078e-01 2.37503100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6707140569999 meters Centerline goodness [0,1] 0.9963437310657501 Centerline is valid? [True, True] Translation: X:697.23, Y:-51.13, Z:2.37 [[ 9.94500813e-01 1.04656650e-01 3.88820554e-03 6.97225489e+02] [-1.04655530e-01 9.94508411e-01 -4.90926365e-04 -5.11313422e+01] [-3.91823182e-03 8.13044592e-05 9.99992320e-01 2.37440667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7007140569999 meters Centerline goodness [0,1] 0.9963272886625905 Centerline is valid? [True, True] Translation: X:697.26, Y:-51.14, Z:2.37 [[ 9.94797314e-01 1.01795454e-01 3.99876749e-03 6.97257091e+02] [-1.01794243e-01 9.94805346e-01 -5.05872476e-04 -5.11373045e+01] [-4.02949079e-03 9.61890706e-05 9.99991877e-01 2.37462813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7307140569999 meters Centerline goodness [0,1] 0.9964907150168153 Centerline is valid? [True, True] Translation: X:697.29, Y:-51.15, Z:2.37 [[ 9.95504167e-01 9.46286692e-02 4.10705057e-03 6.97286528e+02] [-9.46273334e-02 9.95512631e-01 -5.18809748e-04 -5.11455763e+01] [-4.13771500e-03 1.27838023e-04 9.99991431e-01 2.37492130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.760714057 meters Centerline goodness [0,1] 0.9963679382341953 Centerline is valid? [True, True] Translation: X:697.32, Y:-51.16, Z:2.38 [[ 9.95910729e-01 9.02741711e-02 3.52043321e-03 6.97316098e+02] [-9.02731620e-02 9.95916944e-01 -4.44815840e-04 -5.11553207e+01] [-3.54621446e-03 1.25196230e-04 9.99993704e-01 2.37608186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.790714057 meters Centerline goodness [0,1] 0.9965451215451215 Centerline is valid? [True, True] Translation: X:697.35, Y:-51.16, Z:2.38 [[ 9.96257793e-01 8.63748473e-02 3.12979461e-03 6.97347268e+02] [-8.63740303e-02 9.96262702e-01 -3.95525181e-04 -5.11581334e+01] [-3.15226106e-03 1.23712069e-04 9.99995024e-01 2.37548877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8207140569999 meters Centerline goodness [0,1] 0.9970828348968499 Centerline is valid? [True, True] Translation: X:697.38, Y:-51.16, Z:2.38 [[ 9.96569581e-01 8.26898126e-02 3.38599458e-03 6.97378228e+02] [-8.26888348e-02 9.96575322e-01 -4.28005888e-04 -5.11631432e+01] [-3.40979036e-03 1.46553702e-04 9.99994176e-01 2.37627642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8507140569999 meters Centerline goodness [0,1] 0.9972209356183418 Centerline is valid? [True, True] Translation: X:697.41, Y:-51.17, Z:2.38 [[ 9.96988416e-01 7.74861285e-02 3.16187059e-03 6.97407584e+02] [-7.74852495e-02 9.96993418e-01 -3.99718135e-04 -5.11681758e+01] [-3.18333678e-03 1.53516019e-04 9.99994921e-01 2.37821478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.880714057 meters Centerline goodness [0,1] 0.9974350888258173 Centerline is valid? [True, True] Translation: X:697.44, Y:-51.17, Z:2.38 [[ 9.97064794e-01 7.64919846e-02 3.28208253e-03 6.97439610e+02] [-7.64910258e-02 9.97070183e-01 -4.16861859e-04 -5.11719331e+01] [-3.30435322e-03 1.64588425e-04 9.99994527e-01 2.37891337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.910714057 meters Centerline goodness [0,1] 0.9980632802138812 Centerline is valid? [True, True] Translation: X:697.47, Y:-51.17, Z:2.38 [[ 9.97081499e-01 7.62940053e-02 2.77645103e-03 6.97472189e+02] [-7.62933156e-02 9.97085355e-01 -3.53623322e-04 -5.11689495e+01] [-2.79533800e-03 1.40766618e-04 9.99996083e-01 2.37954050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9407140569999 meters Centerline goodness [0,1] 0.997698022391964 Centerline is valid? [True, True] Translation: X:697.50, Y:-51.17, Z:2.38 [[ 9.96915188e-01 7.84413375e-02 2.65782166e-03 6.97502187e+02] [-7.84407163e-02 9.96918723e-01 -3.37341629e-04 -5.11738327e+01] [-2.67609370e-03 1.27819560e-04 9.99996411e-01 2.38140463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9707140569999 meters Centerline goodness [0,1] 0.9979176210903336 Centerline is valid? [True, True] Translation: X:697.53, Y:-51.17, Z:2.38 [[ 9.96767221e-01 8.02980288e-02 2.70805380e-03 6.97533890e+02] [-8.02973902e-02 9.96770892e-01 -3.43891307e-04 -5.11737344e+01] [-2.72692299e-03 1.25329930e-04 9.99996274e-01 2.38199877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.000714057 meters Centerline goodness [0,1] 0.9978732276897414 Centerline is valid? [True, True] Translation: X:697.56, Y:-51.17, Z:2.38 [[ 9.96550753e-01 8.29562594e-02 2.20368454e-03 6.97564588e+02] [-8.29558430e-02 9.96553185e-01 -2.79821643e-04 -5.11742992e+01] [-2.21930180e-03 9.60479597e-05 9.99997533e-01 2.38255743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.030714057 meters Centerline goodness [0,1] 0.9981417296529836 Centerline is valid? [True, True] Translation: X:697.60, Y:-51.16, Z:2.38 [[ 9.95979672e-01 8.95419797e-02 2.59367717e-03 6.97597017e+02] [-8.95414254e-02 9.95983044e-01 -3.29264582e-04 -5.11639259e+01] [-2.61274149e-03 9.56992795e-05 9.99996582e-01 2.38201006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0607140569999 meters Centerline goodness [0,1] 0.9980197194255102 Centerline is valid? [True, True] Translation: X:697.63, Y:-51.16, Z:2.38 [[ 9.95650619e-01 9.31366984e-02 2.32368408e-03 6.97628070e+02] [-9.31362627e-02 9.95653328e-01 -2.95243574e-04 -5.11637191e+01] [-2.34108180e-03 7.75401967e-05 9.99997257e-01 2.38301639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0907140569999 meters Centerline goodness [0,1] 0.9978326560383454 Centerline is valid? [True, True] Translation: X:697.66, Y:-51.16, Z:2.38 [[ 9.95319985e-01 9.66014948e-02 2.50579355e-03 6.97659128e+02] [-9.66009989e-02 9.95323136e-01 -3.18452217e-04 -5.11637889e+01] [-2.52483725e-03 7.48996958e-05 9.99996810e-01 2.38371953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.120714057 meters Centerline goodness [0,1] 0.9979517619027714 Centerline is valid? [True, True] Translation: X:697.69, Y:-51.16, Z:2.38 [[ 9.95019712e-01 9.96436682e-02 2.62927292e-03 6.97691143e+02] [-9.96431320e-02 9.95023183e-01 -3.34495566e-04 -5.11630973e+01] [-2.64951788e-03 7.08406926e-05 9.99996488e-01 2.38418784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.150714057 meters Centerline goodness [0,1] 0.9975834340235824 Centerline is valid? [True, True] Translation: X:697.72, Y:-51.16, Z:2.38 [[ 9.94715580e-01 1.02640280e-01 2.42656664e-03 6.97723922e+02] [-1.02639831e-01 9.94718538e-01 -3.09040515e-04 -5.11632579e+01] [-2.44547082e-03 5.83450250e-05 9.99997008e-01 2.38442367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1807140569999 meters Centerline goodness [0,1] 0.9982265434288218 Centerline is valid? [True, True] Translation: X:697.76, Y:-51.16, Z:2.38 [[ 9.94259587e-01 1.06977593e-01 1.91537151e-03 6.97756237e+02] [-1.06977322e-01 9.94261431e-01 -2.43946951e-04 -5.11597643e+01] [-1.93047688e-03 3.76452806e-05 9.99998136e-01 2.38421231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2107140569999 meters Centerline goodness [0,1] 0.9982265434288218 Centerline is valid? [True, True] Translation: X:697.79, Y:-51.16, Z:2.38 [[ 9.94230667e-01 1.07246042e-01 1.91515419e-03 6.97788469e+02] [-1.07245768e-01 9.94232510e-01 -2.45653135e-04 -5.11639400e+01] [-1.93045388e-03 3.88436987e-05 9.99998136e-01 2.38439002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.240714057 meters Centerline goodness [0,1] 0.9979530026109661 Centerline is valid? [True, True] Translation: X:697.82, Y:-51.16, Z:2.38 [[ 9.93915075e-01 1.10139856e-01 1.42714328e-03 6.97820815e+02] [-1.10139706e-01 9.93916099e-01 -1.83609624e-04 -5.11620155e+01] [-1.43868342e-03 2.53072330e-05 9.99998965e-01 2.38408792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.270714057 meters Centerline goodness [0,1] 0.9986607236277649 Centerline is valid? [True, True] Translation: X:697.85, Y:-51.16, Z:2.38 [[ 9.93835775e-01 1.10854847e-01 1.28633654e-03 6.97854017e+02] [-1.10854725e-01 9.93836607e-01 -1.66262501e-04 -5.11631458e+01] [-1.29683935e-03 2.26411385e-05 9.99999159e-01 2.38360524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3007140569999 meters Centerline goodness [0,1] 0.9985375535359866 Centerline is valid? [True, True] Translation: X:697.89, Y:-51.17, Z:2.38 [[ 9.93778337e-01 1.11372652e-01 8.65968470e-04 6.97885865e+02] [-1.11372596e-01 9.93778714e-01 -1.12572589e-04 -5.11663929e+01] [-8.73118540e-04 1.54270441e-05 9.99999619e-01 2.38357861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3307140569999 meters Centerline goodness [0,1] 0.9980821346675005 Centerline is valid? [True, True] Translation: X:697.92, Y:-51.17, Z:2.38 [[ 9.93768977e-01 1.11458990e-01 3.36581854e-04 6.97918504e+02] [-1.11458981e-01 9.93769034e-01 -4.48194295e-05 -5.11692311e+01] [-3.39480152e-04 7.02508802e-06 9.99999942e-01 2.38292725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3607140569999 meters Centerline goodness [0,1] 0.9984942278735152 Centerline is valid? [True, True] Translation: X:697.95, Y:-51.17, Z:2.38 [[ 9.93848379e-01 1.10748846e-01 -3.04282060e-04 6.97950375e+02] [-1.10748840e-01 9.93848426e-01 3.78543877e-05 -5.11712965e+01] [ 3.06602576e-04 -3.92263676e-06 9.99999953e-01 2.38218714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.390714057 meters Centerline goodness [0,1] 0.9987280802352009 Centerline is valid? [True, True] Translation: X:697.98, Y:-51.18, Z:2.38 [[ 9.93875212e-01 1.10495668e-01 -1.66441314e-03 6.97983390e+02] [-1.10495465e-01 9.93876605e-01 2.13358749e-04 -5.11750029e+01] [ 1.67779650e-03 -2.81418671e-05 9.99998592e-01 2.38187402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4207140569999 meters Centerline goodness [0,1] 0.9983870629883324 Centerline is valid? [True, True] Translation: X:698.02, Y:-51.18, Z:2.38 [[ 9.93921142e-01 1.10069492e-01 -2.33867797e-03 6.98015353e+02] [-1.10069088e-01 9.93923893e-01 3.01138791e-04 -5.11798873e+01] [ 2.35761410e-03 -4.18920598e-05 9.99997220e-01 2.38159923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4507140569999 meters Centerline goodness [0,1] 0.998154478535327 Centerline is valid? [True, True] Translation: X:698.05, Y:-51.18, Z:2.38 [[ 9.93951250e-01 1.09781469e-01 -2.99014481e-03 6.98047884e+02] [-1.09780804e-01 9.93955746e-01 3.86191658e-04 -5.11818146e+01] [ 3.01446831e-03 -5.55951801e-05 9.99995455e-01 2.38091649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4807140569999 meters Centerline goodness [0,1] 0.9985951522267885 Centerline is valid? [True, True] Translation: X:698.08, Y:-51.19, Z:2.38 [[ 9.94070371e-01 1.08642101e-01 -4.58158591e-03 6.98078862e+02] [-1.08640517e-01 9.94080925e-01 5.93802572e-04 -5.11859591e+01] [ 4.61897912e-03 -9.25356807e-05 9.99989328e-01 2.38015944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.510714057 meters Centerline goodness [0,1] 0.998435511796241 Centerline is valid? [True, True] Translation: X:698.11, Y:-51.19, Z:2.38 [[ 9.94137853e-01 1.07976348e-01 -5.57115866e-03 6.98110588e+02] [-1.07973988e-01 9.94153456e-01 7.23637006e-04 -5.11904686e+01] [ 5.61672232e-03 -1.17854723e-04 9.99984219e-01 2.38049773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.540714057 meters Centerline goodness [0,1] 0.9987064738895496 Centerline is valid? [True, True] Translation: X:698.14, Y:-51.20, Z:2.38 [[ 9.94237521e-01 1.07057594e-01 -5.51574608e-03 6.98141260e+02] [-1.07055258e-01 9.94252813e-01 7.17794960e-04 -5.11965145e+01] [ 5.56089146e-03 -1.23169061e-04 9.99984531e-01 2.38042351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5707140569999 meters Centerline goodness [0,1] 0.9988718034430888 Centerline is valid? [True, True] Translation: X:698.17, Y:-51.20, Z:2.38 [[ 9.94395570e-01 1.05560295e-01 -5.87157733e-03 6.98171756e+02] [-1.05557617e-01 9.94412894e-01 7.64942972e-04 -5.12027389e+01] [ 5.91951981e-03 -1.40866189e-04 9.99982470e-01 2.38139134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6007140569999 meters Centerline goodness [0,1] 0.9991429945026232 Centerline is valid? [True, True] Translation: X:698.20, Y:-51.21, Z:2.38 [[ 9.94472643e-01 1.04853791e-01 -5.46297113e-03 6.98203946e+02] [-1.04851459e-01 9.94487639e-01 7.12374854e-04 -5.12066810e+01] [ 5.50755246e-03 -1.35636813e-04 9.99984824e-01 2.38236012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.630714057 meters Centerline goodness [0,1] 0.9986297672680466 Centerline is valid? [True, True] Translation: X:698.24, Y:-51.21, Z:2.38 [[ 9.94489330e-01 1.04712134e-01 -5.13235035e-03 6.98235285e+02] [-1.04710067e-01 9.94502565e-01 6.70433038e-04 -5.12117904e+01] [ 5.17433806e-03 -1.29329753e-04 9.99986605e-01 2.38270541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.660714057 meters Centerline goodness [0,1] 0.9987893462469734 Centerline is valid? [True, True] Translation: X:698.27, Y:-51.22, Z:2.38 [[ 9.94559578e-01 1.04047666e-01 -5.03275345e-03 6.98267111e+02] [-1.04045664e-01 9.94572303e-01 6.58714830e-04 -5.12166056e+01] [ 5.07397493e-03 -1.31494972e-04 9.99987119e-01 2.38375934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6907140569999 meters Centerline goodness [0,1] 0.9985593485750078 Centerline is valid? [True, True] Translation: X:698.30, Y:-51.22, Z:2.38 [[ 9.94863108e-01 1.01148297e-01 -4.05196798e-03 6.98297319e+02] [-1.01146971e-01 9.94871352e-01 5.31352382e-04 -5.12228632e+01] [ 4.08493226e-03 -1.18778593e-04 9.99991650e-01 2.38475936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7207140569999 meters Centerline goodness [0,1] 0.9989969490533707 Centerline is valid? [True, True] Translation: X:698.33, Y:-51.23, Z:2.39 [[ 9.95064299e-01 9.91527257e-02 -3.97201364e-03 6.98329032e+02] [-9.91514363e-02 9.95072219e-01 5.20707786e-04 -5.12290739e+01] [ 4.00407003e-03 -1.24306871e-04 9.99991976e-01 2.38555384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.750714057 meters Centerline goodness [0,1] 0.9985077136491656 Centerline is valid? [True, True] Translation: X:698.36, Y:-51.23, Z:2.39 [[ 9.95356553e-01 9.61865422e-02 -3.67170595e-03 6.98360879e+02] [-9.61854164e-02 9.95363317e-01 4.82400835e-04 -5.12322802e+01] [ 3.70108188e-03 -1.26996267e-04 9.99993143e-01 2.38582938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.780714057 meters Centerline goodness [0,1] 0.9987162759375394 Centerline is valid? [True, True] Translation: X:698.39, Y:-51.24, Z:2.39 [[ 9.95659476e-01 9.29969783e-02 -3.71065229e-03 6.98391661e+02] [-9.29958052e-02 9.95666381e-01 4.87817443e-04 -5.12394554e+01] [ 3.73993729e-03 -1.40624962e-04 9.99992997e-01 2.38620297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8107140569999 meters Centerline goodness [0,1] 0.9984616357237688 Centerline is valid? [True, True] Translation: X:698.42, Y:-51.25, Z:2.39 [[ 9.96370892e-01 8.49971817e-02 -4.53035253e-03 6.98421659e+02] [-8.49953488e-02 9.96381170e-01 5.95929500e-04 -5.12450856e+01] [ 4.56461028e-03 -2.08707914e-04 9.99989560e-01 2.38706616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8407140569999 meters Centerline goodness [0,1] 0.9986516664559896 Centerline is valid? [True, True] Translation: X:698.45, Y:-51.25, Z:2.39 [[ 9.96687777e-01 8.12000583e-02 -4.47493603e-03 6.98451533e+02] [-8.11982319e-02 9.96697798e-01 5.88618250e-04 -5.12502541e+01] [ 4.50795473e-03 -2.23311721e-04 9.99989814e-01 2.38780833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.870714057 meters Centerline goodness [0,1] 0.9985488043409679 Centerline is valid? [True, True] Translation: X:698.48, Y:-51.25, Z:2.39 [[ 9.97002647e-01 7.72592713e-02 -4.08983269e-03 6.98481919e+02] [-7.72577119e-02 9.97011011e-01 5.38147601e-04 -5.12537178e+01] [ 4.11918511e-03 -2.20563468e-04 9.99991492e-01 2.38882406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.900714057 meters Centerline goodness [0,1] 0.998486727337691 Centerline is valid? [True, True] Translation: X:698.51, Y:-51.26, Z:2.39 [[ 9.97457299e-01 7.11807365e-02 -3.49848306e-03 6.98510713e+02] [-7.11795578e-02 9.97463412e-01 4.60450490e-04 -5.12603506e+01] [ 3.52238405e-03 -2.10259225e-04 9.99993774e-01 2.39092496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9307140569999 meters Centerline goodness [0,1] 0.9987805647246809 Centerline is valid? [True, True] Translation: X:698.54, Y:-51.27, Z:2.39 [[ 9.97591638e-01 6.92691913e-02 -3.56406054e-03 6.98540505e+02] [-6.92679564e-02 9.97597980e-01 4.68900015e-04 -5.12687187e+01] [ 3.58797993e-03 -2.20895543e-04 9.99993539e-01 2.39193834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9607140569999 meters Centerline goodness [0,1] 0.9986336787673681 Centerline is valid? [True, True] Translation: X:698.57, Y:-51.27, Z:2.39 [[ 9.97683242e-01 6.79184365e-02 -3.90317225e-03 6.98572043e+02] [-6.79169443e-02 9.97690846e-01 5.13722866e-04 -5.12734321e+01] [ 3.92905048e-03 -2.47441162e-04 9.99992251e-01 2.39215145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.990714057 meters Centerline goodness [0,1] 0.9990736647087307 Centerline is valid? [True, True] Translation: X:698.60, Y:-51.28, Z:2.39 [[ 9.97724451e-01 6.72852681e-02 -4.31429126e-03 6.98603986e+02] [-6.72834386e-02 9.97733740e-01 5.67976895e-04 -5.12769328e+01] [ 4.34273043e-03 -2.76404085e-04 9.99990532e-01 2.39243924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.020714057 meters Centerline goodness [0,1] 0.9987573191794095 Centerline is valid? [True, True] Translation: X:698.64, Y:-51.27, Z:2.39 [[ 9.97753004e-01 6.68414362e-02 -4.60068856e-03 6.98636834e+02] [-6.68393456e-02 9.97763566e-01 6.06847632e-04 -5.12742431e+01] [ 4.63096199e-03 -2.97977035e-04 9.99989233e-01 2.39169908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0507140569999 meters Centerline goodness [0,1] 0.9988273724767569 Centerline is valid? [True, True] Translation: X:698.67, Y:-51.27, Z:2.39 [[ 9.97761205e-01 6.65807113e-02 -6.29176932e-03 6.98670083e+02] [-6.65767833e-02 9.97780958e-01 8.31936785e-04 -5.12709986e+01] [ 6.33319856e-03 -4.11188486e-04 9.99979861e-01 2.39103210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0807140569999 meters Centerline goodness [0,1] 0.9987787416828098 Centerline is valid? [True, True] Translation: X:698.70, Y:-51.28, Z:2.39 [[ 9.97747805e-01 6.67688957e-02 -6.42121524e-03 6.98701069e+02] [-6.67647976e-02 9.97768379e-01 8.50703343e-04 -5.12780804e+01] [ 6.46368604e-03 -4.20076257e-04 9.99979022e-01 2.39076181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1107140569999 meters Centerline goodness [0,1] 0.9992003535279139 Centerline is valid? [True, True] Translation: X:698.73, Y:-51.27, Z:2.39 [[ 9.97736733e-01 6.68742509e-02 -7.01751898e-03 6.98733179e+02] [-6.68693473e-02 9.97761306e-01 9.31341745e-04 -5.12738381e+01] [ 7.06409168e-03 -4.59976956e-04 9.99974943e-01 2.39155037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.140714057 meters Centerline goodness [0,1] 0.9990524520435451 Centerline is valid? [True, True] Translation: X:698.76, Y:-51.28, Z:2.39 [[ 9.97688154e-01 6.75572067e-02 -7.37362320e-03 6.98764534e+02] [-6.75518065e-02 9.97715287e-01 9.79271682e-04 -5.12760332e+01] [ 7.42293345e-03 -4.78906189e-04 9.99972335e-01 2.39130898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1707140569999 meters Centerline goodness [0,1] 0.9990524520435451 Centerline is valid? [True, True] Translation: X:698.80, Y:-51.28, Z:2.39 [[ 9.97685753e-01 6.75926795e-02 -7.37344680e-03 6.98795157e+02] [-6.75872704e-02 9.97712884e-01 9.80598207e-04 -5.12801340e+01] [ 7.42286413e-03 -4.79977718e-04 9.99972335e-01 2.39147798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2007140569999 meters Centerline goodness [0,1] 0.999095973930411 Centerline is valid? [True, True] Translation: X:698.83, Y:-51.28, Z:2.39 [[ 9.97583356e-01 6.90400033e-02 -7.80549130e-03 6.98825284e+02] [-6.90339823e-02 9.97613768e-01 1.03851466e-03 -5.12829395e+01] [ 7.85856465e-03 -4.97160789e-04 9.99968997e-01 2.39203391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2307140569999 meters Centerline goodness [0,1] 0.9992624125432016 Centerline is valid? [True, True] Translation: X:698.86, Y:-51.28, Z:2.39 [[ 9.97526328e-01 6.99038873e-02 -7.39399652e-03 6.98856353e+02] [-6.98985041e-02 9.97553623e-01 9.84305744e-04 -5.12775694e+01] [ 7.44471482e-03 -4.65041599e-04 9.99972180e-01 2.39288848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.260714057 meters Centerline goodness [0,1] 0.9991358232864008 Centerline is valid? [True, True] Translation: X:698.89, Y:-51.28, Z:2.39 [[ 9.97499448e-01 7.03405628e-02 -6.85970333e-03 6.98886558e+02] [-7.03359397e-02 9.97522943e-01 9.13179411e-04 -5.12783643e+01] [ 6.90694501e-03 -4.28412279e-04 9.99976055e-01 2.39317934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.290714057 meters Centerline goodness [0,1] 0.9992192280909071 Centerline is valid? [True, True] Translation: X:698.92, Y:-51.29, Z:2.39 [[ 9.97487070e-01 7.05817868e-02 -6.14461468e-03 6.98916158e+02] [-7.05780819e-02 9.97505922e-01 8.17997767e-04 -5.12854126e+01] [ 6.18702528e-03 -3.82267078e-04 9.99980787e-01 2.39429173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3207140569999 meters Centerline goodness [0,1] 0.9989662447257384 Centerline is valid? [True, True] Translation: X:698.95, Y:-51.27, Z:2.40 [[ 9.97543603e-01 6.98741536e-02 -4.93585036e-03 6.98948790e+02] [-6.98717540e-02 9.97555766e-01 6.57157365e-04 -5.12728872e+01] [ 4.96970430e-03 -3.10666604e-04 9.99987603e-01 2.39576048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3507140569999 meters Centerline goodness [0,1] 0.9991420799330404 Centerline is valid? [True, True] Translation: X:698.98, Y:-51.28, Z:2.40 [[ 9.97631029e-01 6.85704456e-02 -5.51575935e-03 6.98978138e+02] [-6.85674291e-02 9.97646214e-01 7.34366242e-04 -5.12783738e+01] [ 5.55313225e-03 -3.54425112e-04 9.99984518e-01 2.39672795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.380714057 meters Centerline goodness [0,1] 0.9988693467336683 Centerline is valid? [True, True] Translation: X:699.01, Y:-51.28, Z:2.40 [[ 9.97755998e-01 6.67176271e-02 -5.63261890e-03 6.99008594e+02] [-6.67144520e-02 9.97771827e-01 7.49924881e-04 -5.12791403e+01] [ 5.67010166e-03 -3.72464965e-04 9.99983855e-01 2.39645523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.410714057 meters Centerline goodness [0,1] 0.9986227045075126 Centerline is valid? [True, True] Translation: X:699.04, Y:-51.28, Z:2.40 [[ 9.98096638e-01 6.13013763e-02 -6.72630950e-03 6.99038785e+02] [-6.12967260e-02 9.98119186e-01 8.95536618e-04 -5.12787572e+01] [ 6.76855619e-03 -4.81531337e-04 9.99976977e-01 2.39601559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4407140569999 meters Centerline goodness [0,1] 0.998512154233026 Centerline is valid? [True, True] Translation: X:699.07, Y:-51.28, Z:2.40 [[ 9.98326444e-01 5.74887911e-02 -6.27302280e-03 6.99069030e+02] [-5.74846716e-02 9.98346040e-01 8.35176306e-04 -5.12788211e+01] [ 6.31066074e-03 -4.73175936e-04 9.99979976e-01 2.39611289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4707140569999 meters Centerline goodness [0,1] 0.9981903118555616 Centerline is valid? [True, True] Translation: X:699.10, Y:-51.28, Z:2.40 [[ 9.98535099e-01 5.37438066e-02 -6.26567716e-03 6.99099058e+02] [-5.37396236e-02 9.98554634e-01 8.34178483e-04 -5.12805369e+01] [ 6.30145289e-03 -4.96241362e-04 9.99980023e-01 2.39634097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.500714057 meters Centerline goodness [0,1] 0.9978125525828706 Centerline is valid? [True, True] Translation: X:699.13, Y:-51.28, Z:2.40 [[ 9.98717817e-01 5.02088743e-02 -6.46465637e-03 6.99129624e+02] [-5.02043480e-02 9.98738596e-01 8.60654417e-04 -5.12795097e+01] [ 6.49971432e-03 -5.34997042e-04 9.99978734e-01 2.39659356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.530714057 meters Centerline goodness [0,1] 0.9970836917525124 Centerline is valid? [True, True] Translation: X:699.16, Y:-51.28, Z:2.40 [[ 9.99006727e-01 4.42139191e-02 -5.53971590e-03 6.99159286e+02] [-4.42105039e-02 9.99021965e-01 7.37495041e-04 -5.12785568e+01] [ 5.56690541e-03 -4.91848876e-04 9.99984384e-01 2.39777039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5607140569999 meters Centerline goodness [0,1] 0.9967383122856904 Centerline is valid? [True, True] Translation: X:699.19, Y:-51.28, Z:2.40 [[ 9.99102394e-01 4.20059401e-02 -5.46868794e-03 6.99189947e+02] [-4.20025786e-02 9.99117237e-01 7.28141157e-04 -5.12788201e+01] [ 5.49444664e-03 -4.97788578e-04 9.99984782e-01 2.39863745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5907140569999 meters Centerline goodness [0,1] 0.9964687335785601 Centerline is valid? [True, True] Translation: X:699.22, Y:-51.28, Z:2.40 [[ 9.99178246e-01 4.02670109e-02 -4.62616147e-03 6.99221273e+02] [-4.02645869e-02 9.99188863e-01 6.15961012e-04 -5.12750806e+01] [ 4.64721192e-03 -4.29184363e-04 9.99989110e-01 2.39875199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.620714057 meters Centerline goodness [0,1] 0.9953759886178182 Centerline is valid? [True, True] Translation: X:699.25, Y:-51.28, Z:2.40 [[ 9.99216912e-01 3.93199111e-02 -4.41679394e-03 6.99250639e+02] [-3.93176922e-02 9.99226588e-01 5.88103115e-04 -5.12790104e+01] [ 4.43650209e-03 -4.13984434e-04 9.99990073e-01 2.39915187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.650714057 meters Centerline goodness [0,1] 0.9935009299312478 Centerline is valid? [True, True] Translation: X:699.28, Y:-51.28, Z:2.40 [[ 9.99251467e-01 3.85145556e-02 -3.62421124e-03 6.99279755e+02] [-3.85130564e-02 9.99257981e-01 4.82551603e-04 -5.12799010e+01] [ 3.64010727e-03 -3.42610945e-04 9.99993316e-01 2.39905187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6807140569999 meters Centerline goodness [0,1] 0.9934455752397705 Centerline is valid? [True, True] Translation: X:699.31, Y:-51.28, Z:2.40 [[ 9.99248523e-01 3.86252512e-02 -3.23730071e-03 6.99310114e+02] [-3.86240559e-02 9.99253720e-01 4.30937144e-04 -5.12750939e+01] [ 3.25152983e-03 -3.05575621e-04 9.99994667e-01 2.39842584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7107140569999 meters Centerline goodness [0,1] 0.9926072163649347 Centerline is valid? [True, True] Translation: X:699.34, Y:-51.27, Z:2.40 [[ 9.99239635e-01 3.88166629e-02 -3.66310866e-03 6.99340602e+02] [-3.88151344e-02 9.99246290e-01 4.87462680e-04 -5.12701488e+01] [ 3.67926941e-03 -3.44907976e-04 9.99993172e-01 2.39758478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.740714057 meters Centerline goodness [0,1] 0.9918846186191237 Centerline is valid? [True, True] Translation: X:699.37, Y:-51.26, Z:2.40 [[ 9.99177723e-01 4.02921370e-02 -4.51905837e-03 6.99372561e+02] [-4.02898266e-02 9.99187854e-01 6.01156339e-04 -5.12560311e+01] [ 4.53961011e-03 -4.18589943e-04 9.99989608e-01 2.39552992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.770714057 meters Centerline goodness [0,1] 0.9908806286902986 Centerline is valid? [True, True] Translation: X:699.40, Y:-51.26, Z:2.39 [[ 9.99131309e-01 4.14291233e-02 -4.50056701e-03 6.99401111e+02] [-4.14268439e-02 9.99141361e-01 5.98560845e-04 -5.12560342e+01] [ 4.52150050e-03 -4.11596594e-04 9.99989693e-01 2.39476558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8007140569999 meters Centerline goodness [0,1] 0.9904157383664719 Centerline is valid? [True, True] Translation: X:699.43, Y:-51.25, Z:2.39 [[ 9.99087397e-01 4.24776521e-02 -4.47467567e-03 6.99430909e+02] [-4.24754109e-02 9.99097335e-01 5.94768707e-04 -5.12529434e+01] [ 4.49590092e-03 -4.04162231e-04 9.99989812e-01 2.39463579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8307140569999 meters Centerline goodness [0,1] 0.9874892600431694 Centerline is valid? [True, True] Translation: X:699.46, Y:-51.25, Z:2.39 [[ 9.98995089e-01 4.45726000e-02 -4.70059316e-03 6.99460390e+02] [-4.45701510e-02 9.99006062e-01 6.24518598e-04 -5.12474814e+01] [ 4.72375748e-03 -4.14384866e-04 9.99988757e-01 2.39420734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8607140569999 meters Centerline goodness [0,1] 0.9867824773413897 Centerline is valid? [True, True] Translation: X:699.49, Y:-51.25, Z:2.39 [[ 9.98932034e-01 4.59897048e-02 -4.44291482e-03 6.99489248e+02] [-4.59875319e-02 9.98941840e-01 5.90052021e-04 -5.12463250e+01] [ 4.46534982e-03 -3.85103179e-04 9.99989956e-01 2.39382996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.890714057 meters Centerline goodness [0,1] 0.9856487398127003 Centerline is valid? [True, True] Translation: X:699.52, Y:-51.24, Z:2.39 [[ 9.98862476e-01 4.74757717e-02 -4.45040849e-03 6.99520413e+02] [-4.74736072e-02 9.98872318e-01 5.90804879e-04 -5.12404279e+01] [ 4.47343876e-03 -3.78855880e-04 9.99989922e-01 2.39308001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9207140569999 meters Centerline goodness [0,1] 0.9840926126426252 Centerline is valid? [True, True] Translation: X:699.55, Y:-51.24, Z:2.39 [[ 9.98781745e-01 4.91264607e-02 -4.64936029e-03 6.99549175e+02] [-4.91241173e-02 9.98792491e-01 6.16961661e-04 -5.12397410e+01] [ 4.67405528e-03 -3.87814324e-04 9.99989001e-01 2.39285854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9507140569999 meters Centerline goodness [0,1] 0.9818390804597701 Centerline is valid? [True, True] Translation: X:699.58, Y:-51.23, Z:2.39 [[ 9.98543218e-01 5.37924135e-02 -4.22120596e-03 6.99578681e+02] [-5.37905241e-02 9.98552085e-01 5.59934132e-04 -5.12345717e+01] [ 4.24521422e-03 -3.32057549e-04 9.99990934e-01 2.39161329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9807140569999 meters Centerline goodness [0,1] 0.9816932679820702 Centerline is valid? [True, True] Translation: X:699.61, Y:-51.22, Z:2.39 [[ 9.98416672e-01 5.60727723e-02 -4.47141434e-03 6.99610477e+02] [-5.60706760e-02 9.98426626e-01 5.92890472e-04 -5.12202070e+01] [ 4.49762414e-03 -3.41236507e-04 9.99989827e-01 2.39058196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.010714057 meters Centerline goodness [0,1] 0.9807462153820312 Centerline is valid? [True, True] Translation: X:699.64, Y:-51.22, Z:2.39 [[ 9.98278597e-01 5.84818063e-02 -4.44095614e-03 6.99641013e+02] [-5.84797630e-02 9.98288421e-01 5.88687264e-04 -5.12152891e+01] [ 4.46778258e-03 -3.27967833e-04 9.99989966e-01 2.38979873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.040714057 meters Centerline goodness [0,1] 0.9794521985517892 Centerline is valid? [True, True] Translation: X:699.67, Y:-51.21, Z:2.39 [[ 9.98146573e-01 6.06840685e-02 -4.56767188e-03 6.99669939e+02] [-6.06819307e-02 9.98156970e-01 6.05302714e-04 -5.12132431e+01] [ 4.59598576e-03 -3.27005680e-04 9.99989385e-01 2.38895404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0707140569999 meters Centerline goodness [0,1] 0.9752007211286502 Centerline is valid? [True, True] Translation: X:699.70, Y:-51.21, Z:2.39 [[ 9.97887922e-01 6.48044928e-02 -4.48021737e-03 6.99700436e+02] [-6.48024781e-02 9.97897934e-01 5.93552336e-04 -5.12082951e+01] [ 4.50926451e-03 -3.01969519e-04 9.99989788e-01 2.38753141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1007140569999 meters Centerline goodness [0,1] 0.9757278500911778 Centerline is valid? [True, True] Translation: X:699.73, Y:-51.20, Z:2.39 [[ 9.97728265e-01 6.71630391e-02 -5.23796774e-03 6.99731269e+02] [-6.71603183e-02 9.97741956e-01 6.93803283e-04 -5.12029156e+01] [ 5.27273811e-03 -3.40443565e-04 9.99986041e-01 2.38724169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.130714057 meters Centerline goodness [0,1] 0.9753127886472416 Centerline is valid? [True, True] Translation: X:699.76, Y:-51.20, Z:2.39 [[ 9.97595135e-01 6.91364507e-02 -4.90885200e-03 6.99761363e+02] [-6.91340853e-02 9.97607165e-01 6.50134043e-04 -5.12006893e+01] [ 4.94205389e-03 -3.09201566e-04 9.99987740e-01 2.38732364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.160714057 meters Centerline goodness [0,1] 0.973520380263324 Centerline is valid? [True, True] Translation: X:699.79, Y:-51.20, Z:2.39 [[ 9.97286897e-01 7.35180207e-02 -3.73444588e-03 6.99791591e+02] [-7.35166827e-02 9.97293865e-01 4.94478757e-04 -5.11964552e+01] [ 3.76069306e-03 -2.18593112e-04 9.99992905e-01 2.38864251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1907140569999 meters Centerline goodness [0,1] 0.9739590996027659 Centerline is valid? [True, True] Translation: X:699.82, Y:-51.20, Z:2.39 [[ 9.97180221e-01 7.50015590e-02 -2.52466614e-03 6.99821237e+02] [-7.50009521e-02 9.97183406e-01 3.34365826e-04 -5.11950359e+01] [ 2.54263314e-03 -1.44070624e-04 9.99996757e-01 2.38996951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2207140569999 meters Centerline goodness [0,1] 0.9729910109078774 Centerline is valid? [True, True] Translation: X:699.85, Y:-51.20, Z:2.39 [[ 9.97035337e-01 7.69377328e-02 -1.05881013e-03 6.99848831e+02] [-7.69376268e-02 9.97035898e-01 1.40497911e-04 -5.11969405e+01] [ 1.06648130e-03 -5.86190428e-05 9.99999430e-01 2.39167543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.250714057 meters Centerline goodness [0,1] 0.9728611720463805 Centerline is valid? [True, True] Translation: X:699.88, Y:-51.20, Z:2.39 [[ 9.96931526e-01 7.82785603e-02 6.50363671e-07 6.99878513e+02] [-7.82785603e-02 9.96931526e-01 2.03072130e-07 -5.11958707e+01] [-6.32471849e-07 -2.53358538e-07 1.00000000e+00 2.39198336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.280714057 meters Centerline goodness [0,1] 0.973471549951181 Centerline is valid? [True, True] Translation: X:699.91, Y:-51.19, Z:2.39 [[ 9.96790444e-01 8.00485864e-02 -1.01697025e-03 6.99908156e+02] [-8.00484905e-02 9.96790962e-01 1.34735532e-04 -5.11922222e+01] [ 1.02449214e-03 -5.28961577e-05 9.99999474e-01 2.39082770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3107140569999 meters Centerline goodness [0,1] 0.9726371308016878 Centerline is valid? [True, True] Translation: X:699.94, Y:-51.19, Z:2.39 [[ 9.96654637e-01 8.17249420e-02 -7.54574303e-04 6.99937340e+02] [-8.17248896e-02 9.96654921e-01 1.00024736e-04 -5.11916624e+01] [ 7.60224708e-04 -3.80226150e-05 9.99999710e-01 2.39052334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3407140569999 meters Centerline goodness [0,1] 0.9749921850578306 Centerline is valid? [True, True] Translation: X:699.97, Y:-51.19, Z:2.39 [[ 9.96524647e-01 8.32542548e-02 -2.71232552e-03 6.99965910e+02] [-8.32535872e-02 9.96528330e-01 3.58316741e-04 -5.11913658e+01] [ 2.73274061e-03 -1.31260634e-04 9.99996257e-01 2.38789091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.370714057 meters Centerline goodness [0,1] 0.9757990294511378 Centerline is valid? [True, True] Translation: X:700.00, Y:-51.19, Z:2.39 [[ 9.96448950e-01 8.41632140e-02 -2.45815309e-03 6.99995524e+02] [-8.41626684e-02 9.96451976e-01 3.24769973e-04 -5.11911619e+01] [ 2.47676519e-03 -1.16731976e-04 9.99996926e-01 2.38762992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.400714057 meters Centerline goodness [0,1] 0.9777053317909349 Centerline is valid? [True, True] Translation: X:700.02, Y:-51.19, Z:2.39 [[ 9.96331238e-01 8.55538112e-02 -2.14711191e-03 7.00024886e+02] [-8.55533990e-02 9.96333546e-01 2.83295602e-04 -5.11897178e+01] [ 2.16347664e-03 -9.85635355e-05 9.99997655e-01 2.38761268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4307140569999 meters Centerline goodness [0,1] 0.9796013274991016 Centerline is valid? [True, True] Translation: X:700.06, Y:-51.19, Z:2.39 [[ 9.95996855e-01 8.93680821e-02 -1.90008911e-03 7.00055673e+02] [-8.93677666e-02 9.95998664e-01 2.50510335e-04 -5.11868178e+01] [ 1.91487385e-03 -7.97007861e-05 9.99998163e-01 2.38751159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4607140569999 meters Centerline goodness [0,1] 0.9778622729193072 Centerline is valid? [True, True] Translation: X:700.08, Y:-51.19, Z:2.39 [[ 9.95822384e-01 9.12968040e-02 -1.63525338e-03 7.00083529e+02] [-9.12965726e-02 9.95823724e-01 2.15729590e-04 -5.11902998e+01] [ 1.64811954e-03 -6.55353248e-05 9.99998640e-01 2.38750137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.490714057 meters Centerline goodness [0,1] 0.9795673076923077 Centerline is valid? [True, True] Translation: X:700.11, Y:-51.19, Z:2.39 [[ 9.95680416e-01 9.28419264e-02 -9.41246542e-04 7.00112737e+02] [-9.28418504e-02 9.95680860e-01 1.24213909e-04 -5.11918082e+01] [ 9.48713425e-04 -3.62902855e-05 9.99999549e-01 2.38784696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.520714057 meters Centerline goodness [0,1] 0.978157284419144 Centerline is valid? [True, True] Translation: X:700.14, Y:-51.19, Z:2.39 [[ 9.95583553e-01 9.38796549e-02 8.54572327e-06 7.00141553e+02] [-9.38796549e-02 9.95583553e-01 -7.29786324e-07 -5.11937819e+01] [-8.57649362e-06 -7.57062887e-08 1.00000000e+00 2.38788450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5507140569999 meters Centerline goodness [0,1] 0.9795400176270618 Centerline is valid? [True, True] Translation: X:700.17, Y:-51.20, Z:2.39 [[ 9.95531644e-01 9.44275819e-02 4.20259048e-04 7.00170163e+02] [-9.44275672e-02 9.95531733e-01 -5.48318703e-05 -5.11968572e+01] [-4.23558859e-04 1.49028226e-05 9.99999910e-01 2.38833163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5807140569999 meters Centerline goodness [0,1] 0.9784413723341482 Centerline is valid? [True, True] Translation: X:700.20, Y:-51.20, Z:2.39 [[ 9.95546166e-01 9.42619992e-02 1.58306974e-03 7.00198319e+02] [-9.42617883e-02 9.95547423e-01 -2.07522079e-04 -5.12008339e+01] [-1.59558244e-03 5.73748259e-05 9.99998725e-01 2.38895020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6107140569999 meters Centerline goodness [0,1] 0.9774135560960135 Centerline is valid? [True, True] Translation: X:700.23, Y:-51.21, Z:2.39 [[ 9.95614200e-01 9.35387668e-02 1.69212410e-03 7.00226843e+02] [-9.35385248e-02 9.95615636e-01 -2.21721678e-04 -5.12054186e+01] [-1.70544478e-03 6.24704589e-05 9.99998544e-01 2.38804341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.640714057 meters Centerline goodness [0,1] 0.9780858392679783 Centerline is valid? [True, True] Translation: X:700.26, Y:-51.21, Z:2.39 [[ 9.95843531e-01 9.10763150e-02 8.75455914e-04 7.00255342e+02] [-9.10762494e-02 9.95843915e-01 -1.14572589e-04 -5.12124361e+01] [-8.82252294e-04 3.43631309e-05 9.99999610e-01 2.38620053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6707140569999 meters Centerline goodness [0,1] 0.9754910189692798 Centerline is valid? [True, True] Translation: X:700.28, Y:-51.22, Z:2.39 [[ 9.95988402e-01 8.94824024e-02 4.56418723e-05 7.00282032e+02] [-8.94824022e-02 9.95988403e-01 -5.39802681e-06 -5.12196821e+01] [-4.59418040e-05 1.29222772e-06 9.99999999e-01 2.38595666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7007140569999 meters Centerline goodness [0,1] 0.9757761351636748 Centerline is valid? [True, True] Translation: X:700.31, Y:-51.23, Z:2.39 [[ 9.96191832e-01 8.71857148e-02 6.96577007e-04 7.00311422e+02] [-8.71856724e-02 9.96192075e-01 -9.11006212e-05 -5.12255133e+01] [-7.01867166e-04 3.00221600e-05 9.99999753e-01 2.38523240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7307140569999 meters Centerline goodness [0,1] 0.9737919392276851 Centerline is valid? [True, True] Translation: X:700.34, Y:-51.24, Z:2.38 [[ 9.96600594e-01 8.23826964e-02 -5.89095488e-04 7.00339533e+02] [-8.23826651e-02 9.96600768e-01 7.72962641e-05 -5.12377715e+01] [ 5.93460890e-04 -2.85022464e-05 9.99999823e-01 2.38443671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.760714057 meters Centerline goodness [0,1] 0.9730248449824946 Centerline is valid? [True, True] Translation: X:700.37, Y:-51.24, Z:2.38 [[ 9.96829558e-01 7.95572396e-02 -1.21598019e-03 7.00368931e+02] [-7.95571041e-02 9.96830297e-01 1.59502945e-04 -5.12405836e+01] [ 1.22481551e-03 -6.22573881e-05 9.99999248e-01 2.38376986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.790714057 meters Centerline goodness [0,1] 0.9729900423148986 Centerline is valid? [True, True] Translation: X:700.40, Y:-51.25, Z:2.38 [[ 9.97060350e-01 7.66073256e-02 -1.40581934e-03 7.00396171e+02] [-7.66071414e-02 9.97061338e-01 1.84466692e-04 -5.12481308e+01] [ 1.41581961e-03 -7.62286236e-05 9.99998995e-01 2.38435471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8207140569999 meters Centerline goodness [0,1] 0.973509234828496 Centerline is valid? [True, True] Translation: X:700.43, Y:-51.25, Z:2.38 [[ 9.97282779e-01 7.36561146e-02 -1.35445721e-03 7.00425578e+02] [-7.36559413e-02 9.97283696e-01 1.77501756e-04 -5.12517427e+01] [ 1.36385218e-03 -7.72556238e-05 9.99999067e-01 2.38462769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8507140569999 meters Centerline goodness [0,1] 0.9725989890480202 Centerline is valid? [True, True] Translation: X:700.45, Y:-51.26, Z:2.39 [[ 9.97714165e-01 6.75740152e-02 -4.44077118e-04 7.00453110e+02] [-6.75739960e-02 9.97714264e-01 5.83103475e-05 -5.12648009e+01] [ 4.47002339e-04 -2.81689943e-05 9.99999900e-01 2.38636082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.880714057 meters Centerline goodness [0,1] 0.9726024512487891 Centerline is valid? [True, True] Translation: X:700.48, Y:-51.27, Z:2.39 [[ 9.97929051e-01 6.43233540e-02 3.40560481e-04 7.00482620e+02] [-6.43233425e-02 9.97929109e-01 -4.44616330e-05 -5.12705888e+01] [-3.42715138e-04 2.24635667e-05 9.99999941e-01 2.38620882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.910714057 meters Centerline goodness [0,1] 0.9711986891307088 Centerline is valid? [True, True] Translation: X:700.51, Y:-51.28, Z:2.39 [[ 9.98087136e-01 6.18201349e-02 5.82230883e-04 7.00510888e+02] [-6.18201010e-02 9.98087305e-01 -7.60585480e-05 -5.12811127e+01] [-5.85819202e-04 3.99194864e-05 9.99999828e-01 2.38731912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9407140569999 meters Centerline goodness [0,1] 0.9709616963928489 Centerline is valid? [True, True] Translation: X:700.54, Y:-51.29, Z:2.38 [[ 9.98395099e-01 5.66174695e-02 1.29903693e-03 7.00541300e+02] [-5.66172961e-02 9.98395940e-01 -1.69956095e-04 -5.12864618e+01] [-1.30657568e-03 9.61353737e-05 9.99999142e-01 2.38485397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9707140569999 meters Centerline goodness [0,1] 0.9713803648634398 Centerline is valid? [True, True] Translation: X:700.57, Y:-51.29, Z:2.38 [[ 9.98521948e-01 5.43442074e-02 7.91201532e-04 7.00571629e+02] [-5.43441424e-02 9.98522260e-01 -1.03510447e-04 -5.12903839e+01] [-7.95657535e-04 6.03602846e-05 9.99999682e-01 2.38385153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.000714057 meters Centerline goodness [0,1] 0.9695106597280511 Centerline is valid? [True, True] Translation: X:700.60, Y:-51.29, Z:2.38 [[ 9.98622444e-01 5.24647671e-02 8.13855885e-04 7.00600774e+02] [-5.24646980e-02 9.98622774e-01 -1.06001731e-04 -5.12942800e+01] [-8.18296377e-04 6.31570048e-05 9.99999663e-01 2.38208545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.030714057 meters Centerline goodness [0,1] 0.9620734322906712 Centerline is valid? [True, True] Translation: X:700.63, Y:-51.31, Z:2.38 [[ 9.98771881e-01 4.95270328e-02 1.34253100e-03 7.00629056e+02] [-4.95268415e-02 9.98772778e-01 -1.75363867e-04 -5.13056903e+01] [-1.34956867e-03 1.08657179e-04 9.99999083e-01 2.38032039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0607140569999 meters Centerline goodness [0,1] 0.9611263182464405 Centerline is valid? [True, True] Translation: X:700.66, Y:-51.31, Z:2.38 [[ 9.98795084e-01 4.90533708e-02 1.46499601e-03 7.00658292e+02] [-4.90531430e-02 9.98796152e-01 -1.91028132e-04 -5.13059175e+01] [-1.47260295e-03 1.18935301e-04 9.99998909e-01 2.38146133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0907140569999 meters Centerline goodness [0,1] 0.9611263182464405 Centerline is valid? [True, True] Translation: X:700.69, Y:-51.31, Z:2.38 [[ 9.98798474e-01 4.89843019e-02 1.46500924e-03 7.00686474e+02] [-4.89840742e-02 9.98799541e-01 -1.90926710e-04 -5.13095339e+01] [-1.47260297e-03 1.18935185e-04 9.99998909e-01 2.38161672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.120714057 meters Centerline goodness [0,1] 0.9582635938371744 Centerline is valid? [True, True] Translation: X:700.72, Y:-51.31, Z:2.38 [[ 9.98847890e-01 4.77091151e-02 5.17043095e-03 7.00716516e+02] [-4.77062590e-02 9.98861181e-01 -6.74382669e-04 -5.13057971e+01] [-5.19671697e-03 4.26943787e-04 9.99986406e-01 2.37505483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.150714057 meters Centerline goodness [0,1] 0.9538063813864889 Centerline is valid? [True, True] Translation: X:700.74, Y:-51.31, Z:2.38 [[ 9.98775968e-01 4.87350523e-02 8.45342215e-03 7.00744308e+02] [-4.87274571e-02 9.98811504e-01 -1.10224770e-03 -5.13112985e+01] [-8.49709338e-03 6.88984746e-04 9.99963662e-01 2.37549180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1807140569999 meters Centerline goodness [0,1] 0.9435806614839689 Centerline is valid? [True, False] Translation: X:700.74, Y:-51.31, Z:2.38 [[ 9.98832952e-01 4.76028150e-02 8.16739238e-03 7.00744010e+02] [-4.75779203e-02 9.98862353e-01 -3.21586195e-03 -5.13059163e+01] [-8.31118485e-03 2.82352134e-03 9.99961475e-01 2.37712404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2107140569999 meters Centerline goodness [0,1] 0.965119444633499 Centerline is valid? [False, True] Translation: X:700.58, Y:-51.30, Z:2.37 [[ 9.98868310e-01 4.58853554e-02 -1.25152892e-02 7.00581734e+02] [-4.51277229e-02 9.97451013e-01 5.52717453e-02 -5.13032909e+01] [ 1.50195516e-02 -5.46444083e-02 9.98392909e-01 2.37267633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.240714057 meters Centerline goodness [0,1] 0.9740431877174573 Centerline is valid? [True, True] Translation: X:700.61, Y:-51.30, Z:2.40 [[ 9.98573333e-01 5.32349579e-02 -4.16377706e-03 7.00612002e+02] [-5.32332012e-02 9.98581966e-01 5.31682303e-04 -5.12958270e+01] [ 4.18617677e-03 -3.09272588e-04 9.99991190e-01 2.39953428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.270714057 meters Centerline goodness [0,1] 0.965238587287709 Centerline is valid? [True, True] Translation: X:700.64, Y:-51.29, Z:2.39 [[ 9.98467557e-01 5.49837401e-02 6.27108679e-03 7.00642901e+02] [-5.49797962e-02 9.98487147e-01 -7.99710596e-04 -5.12860196e+01] [-6.30557063e-03 4.53702012e-04 9.99980017e-01 2.38790756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3007140569999 meters Centerline goodness [0,1] 0.9654678320676314 Centerline is valid? [True, True] Translation: X:700.67, Y:-51.30, Z:2.40 [[ 9.98583584e-01 5.22945867e-02 -9.80312133e-03 7.00669528e+02] [-5.22848147e-02 9.98631431e-01 1.25064705e-03 -5.13008780e+01] [ 9.85510714e-03 -7.36321236e-04 9.99951166e-01 2.40089517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3307140569999 meters Centerline goodness [0,1] 0.9629499638054708 Centerline is valid? [True, True] Translation: X:700.70, Y:-51.30, Z:2.40 [[ 9.98401334e-01 5.65126099e-02 -1.04926814e-03 7.00700124e+02] [-5.65125003e-02 9.98401883e-01 1.33839983e-04 -5.12984063e+01] [ 1.05515494e-03 -7.43292509e-05 9.99999441e-01 2.39945236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3607140569999 meters Centerline goodness [0,1] 0.966010385114669 Centerline is valid? [True, True] Translation: X:700.73, Y:-51.30, Z:2.40 [[ 9.98280249e-01 5.86148175e-02 -9.20697587e-04 7.00729941e+02] [-5.86147338e-02 9.98280672e-01 1.17653555e-04 -5.12994256e+01] [ 9.26010847e-04 -6.34847765e-05 9.99999569e-01 2.40001209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.390714057 meters Centerline goodness [0,1] 0.9585897186778073 Centerline is valid? [True, True] Translation: X:700.76, Y:-51.30, Z:2.39 [[ 9.98229021e-01 5.94794652e-02 -1.00729113e-03 7.00757700e+02] [-5.94793652e-02 9.98229527e-01 1.29002169e-04 -5.13000616e+01] [ 1.01318073e-03 -6.88606721e-05 9.99999484e-01 2.39486759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4207140569999 meters Centerline goodness [0,1] 0.960371904392096 Centerline is valid? [True, True] Translation: X:700.79, Y:-51.30, Z:2.40 [[ 9.98154627e-01 6.06866136e-02 -2.11562996e-03 7.00786848e+02] [-6.06861772e-02 9.98156859e-01 2.69908455e-04 -5.13013072e+01] [ 2.12811039e-03 -1.41020879e-04 9.99997726e-01 2.39528666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4507140569999 meters Centerline goodness [0,1] 0.9620620685205498 Centerline is valid? [True, True] Translation: X:700.82, Y:-51.30, Z:2.39 [[ 9.98041704e-01 6.25374183e-02 -1.35236199e-03 7.00816799e+02] [-6.25372418e-02 9.98042616e-01 1.72414370e-04 -5.12996688e+01] [ 1.36049724e-03 -8.75037428e-05 9.99999071e-01 2.39499377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4807140569999 meters Centerline goodness [0,1] 0.9649572465484934 Centerline is valid? [True, True] Translation: X:700.85, Y:-51.30, Z:2.40 [[ 9.97878387e-01 6.50956489e-02 -1.13203246e-03 7.00847306e+02] [-6.50955271e-02 9.97879027e-01 1.44215291e-04 -5.13000172e+01] [ 1.13901924e-03 -7.02190726e-05 9.99999349e-01 2.39649041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.510714057 meters Centerline goodness [0,1] 0.9647643752702119 Centerline is valid? [True, True] Translation: X:700.88, Y:-51.30, Z:2.40 [[ 9.97509203e-01 7.05329467e-02 7.02359290e-04 7.00877294e+02] [-7.05329013e-02 9.97509450e-01 -8.92291514e-05 -5.12968999e+01] [-7.06903623e-04 3.94674613e-05 9.99999749e-01 2.39839120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.540714057 meters Centerline goodness [0,1] 0.9657759528774427 Centerline is valid? [True, True] Translation: X:700.91, Y:-51.30, Z:2.40 [[ 9.97258709e-01 7.39645192e-02 2.07776672e-03 7.00907215e+02] [-7.39641290e-02 9.97260868e-01 -2.64085032e-04 -5.12970283e+01] [-2.09160836e-03 1.09680892e-04 9.99997807e-01 2.40022244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5707140569999 meters Centerline goodness [0,1] 0.9678898099950731 Centerline is valid? [True, True] Translation: X:700.94, Y:-51.29, Z:2.40 [[ 9.96698105e-01 8.10932202e-02 4.09588958e-03 7.00937425e+02] [-8.10917632e-02 9.96706504e-01 -5.20810512e-04 -5.12927414e+01] [-4.12463399e-03 1.86947942e-04 9.99991476e-01 2.40209851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6007140569999 meters Centerline goodness [0,1] 0.9698347374544828 Centerline is valid? [True, True] Translation: X:700.97, Y:-51.29, Z:2.40 [[ 9.96328128e-01 8.55455530e-02 3.49570790e-03 7.00967908e+02] [-8.55445192e-02 9.96334250e-01 -4.44464953e-04 -5.12937129e+01] [-3.52091551e-03 1.43794283e-04 9.99993791e-01 2.40362638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.630714057 meters Centerline goodness [0,1] 0.9712948585231194 Centerline is valid? [True, True] Translation: X:701.00, Y:-51.29, Z:2.40 [[ 9.96106971e-01 8.80772642e-02 3.64652218e-03 7.00996378e+02] [-8.80761584e-02 9.96113636e-01 -4.63024867e-04 -5.12936940e+01] [-3.67313243e-03 1.40050632e-04 9.99993244e-01 2.40155811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.660714057 meters Centerline goodness [0,1] 0.9747661940266344 Centerline is valid? [True, True] Translation: X:701.03, Y:-51.29, Z:2.40 [[ 9.95860841e-01 9.08215270e-02 3.55466694e-03 7.01026128e+02] [-9.08205009e-02 9.95867177e-01 -4.49356390e-04 -5.12919168e+01] [-3.58078736e-03 1.24659801e-04 9.99993581e-01 2.40014493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6907140569999 meters Centerline goodness [0,1] 0.9787943047561345 Centerline is valid? [True, True] Translation: X:701.06, Y:-51.29, Z:2.40 [[ 9.95543139e-01 9.42836890e-02 2.10802106e-03 7.01056199e+02] [-9.42833345e-02 9.95545369e-01 -2.67136438e-04 -5.12910271e+01] [-2.12381722e-03 6.71945926e-05 9.99997742e-01 2.39897700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7207140569999 meters Centerline goodness [0,1] 0.9780073737460344 Centerline is valid? [True, True] Translation: X:701.08, Y:-51.30, Z:2.40 [[ 9.95500921e-01 9.47264118e-02 2.19623341e-03 7.01083879e+02] [-9.47260294e-02 9.95503341e-01 -2.77736285e-04 -5.12957260e+01] [-2.21266666e-03 6.84462571e-05 9.99997550e-01 2.39985594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.750714057 meters Centerline goodness [0,1] 0.9778845946586769 Centerline is valid? [True, True] Translation: X:701.11, Y:-51.30, Z:2.40 [[ 9.95584609e-01 9.38322742e-02 2.60580055e-03 7.01112395e+02] [-9.38317373e-02 9.95588016e-01 -3.27834160e-04 -5.12999372e+01] [-2.62506523e-03 8.18798508e-05 9.99996551e-01 2.40019503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.780714057 meters Centerline goodness [0,1] 0.9768997483492139 Centerline is valid? [True, True] Translation: X:701.14, Y:-51.31, Z:2.40 [[ 9.95824473e-01 9.12578090e-02 2.37291192e-03 7.01140541e+02] [-9.12573541e-02 9.95827297e-01 -2.99519393e-04 -5.13069874e+01] [-2.39034395e-03 8.17230781e-05 9.99997140e-01 2.40260354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8107140569999 meters Centerline goodness [0,1] 0.9752703459566585 Centerline is valid? [True, True] Translation: X:701.17, Y:-51.31, Z:2.40 [[ 9.96028028e-01 8.90027475e-02 2.58423052e-03 7.01169483e+02] [-8.90021998e-02 9.96031376e-01 -3.26405562e-04 -5.13134969e+01] [-2.60302567e-03 9.51068876e-05 9.99996608e-01 2.40290291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8407140569999 meters Centerline goodness [0,1] 0.9752368647717485 Centerline is valid? [True, True] Translation: X:701.20, Y:-51.32, Z:2.40 [[ 9.96184401e-01 8.72347504e-02 2.59565409e-03 7.01197685e+02] [-8.72341930e-02 9.96187778e-01 -3.27401976e-04 -5.13193301e+01] [-2.61431971e-03 9.97229510e-05 9.99996578e-01 2.40342905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.870714057 meters Centerline goodness [0,1] 0.971900826446281 Centerline is valid? [True, True] Translation: X:701.23, Y:-51.33, Z:2.40 [[ 9.96431727e-01 8.43488570e-02 3.01387735e-03 7.01226271e+02] [-8.43480929e-02 9.96436277e-01 -3.79966713e-04 -5.13266559e+01] [-3.03518649e-03 1.24396081e-04 9.99995386e-01 2.40327660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.900714057 meters Centerline goodness [0,1] 0.9699572658749759 Centerline is valid? [True, True] Translation: X:701.25, Y:-51.33, Z:2.41 [[ 9.96316611e-01 8.57363111e-02 1.57986844e-03 7.01254501e+02] [-8.57361034e-02 9.96317861e-01 -1.98832103e-04 -5.13333137e+01] [-1.59109827e-03 6.26479629e-05 9.99998732e-01 2.40736835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9307140569999 meters Centerline goodness [0,1] 0.9710322580645161 Centerline is valid? [True, True] Translation: X:701.28, Y:-51.34, Z:2.41 [[ 9.96483629e-01 8.37423543e-02 2.75603283e-03 7.01283882e+02] [-8.37417131e-02 9.96487433e-01 -3.47414838e-04 -5.13370060e+01] [-2.77544542e-03 1.15398288e-04 9.99996142e-01 2.40508769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9607140569999 meters Centerline goodness [0,1] 0.971117119436934 Centerline is valid? [True, True] Translation: X:701.31, Y:-51.34, Z:2.41 [[ 9.96485569e-01 8.37302398e-02 2.39935612e-03 7.01311083e+02] [-8.37297563e-02 9.96488453e-01 -3.01445426e-04 -5.13426088e+01] [-2.41617077e-03 9.94885140e-05 9.99997076e-01 2.40556918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.990714057 meters Centerline goodness [0,1] 0.9689164804949304 Centerline is valid? [True, True] Translation: X:701.34, Y:-51.35, Z:2.41 [[ 9.96395977e-01 8.48039290e-02 1.83054263e-03 7.01339096e+02] [-8.48036492e-02 9.96397656e-01 -2.30041141e-04 -5.13478664e+01] [-1.84345678e-03 7.39753720e-05 9.99998298e-01 2.40745640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.020714057 meters Centerline goodness [0,1] 0.9715045918805253 Centerline is valid? [True, True] Translation: X:701.37, Y:-51.35, Z:2.41 [[ 9.96495103e-01 8.36059580e-02 2.74845300e-03 7.01367561e+02] [-8.36053227e-02 9.96498886e-01 -3.45455314e-04 -5.13528513e+01] [-2.76771248e-03 1.14459229e-04 9.99996163e-01 2.40648985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0507140569999 meters Centerline goodness [0,1] 0.971218852617346 Centerline is valid? [True, True] Translation: X:701.40, Y:-51.36, Z:2.41 [[ 9.96521113e-01 8.33026607e-02 2.51767729e-03 7.01395789e+02] [-8.33021272e-02 9.96524288e-01 -3.16216890e-04 -5.13567628e+01] [-2.53526828e-03 1.05388934e-04 9.99996781e-01 2.40650256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0807140569999 meters Centerline goodness [0,1] 0.9662318716210418 Centerline is valid? [True, True] Translation: X:701.42, Y:-51.36, Z:2.41 [[ 9.96293629e-01 8.60146255e-02 6.98630677e-04 7.01424090e+02] [-8.60145852e-02 9.96293874e-01 -8.76052620e-05 -5.13643989e+01] [-7.03576797e-04 2.71881366e-05 9.99999752e-01 2.41195625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1107140569999 meters Centerline goodness [0,1] 0.9684022855178932 Centerline is valid? [True, True] Translation: X:701.45, Y:-51.37, Z:2.41 [[ 9.96374075e-01 8.50803115e-02 2.08484348e-04 7.01452087e+02] [-8.50803081e-02 9.96374097e-01 -2.52055333e-05 -5.13688137e+01] [-2.09872899e-04 7.37622732e-06 9.99999978e-01 2.40990744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.140714057 meters Centerline goodness [0,1] 0.9655364329137769 Centerline is valid? [True, True] Translation: X:701.48, Y:-51.38, Z:2.41 [[ 9.96167776e-01 8.74528169e-02 -1.32927001e-03 7.01479577e+02] [-8.74526712e-02 9.96168662e-01 1.67440315e-04 -5.13768484e+01] [ 1.33882025e-03 -5.05504327e-05 9.99999103e-01 2.41214920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1707140569999 meters Centerline goodness [0,1] 0.9704576173006372 Centerline is valid? [True, True] Translation: X:701.51, Y:-51.38, Z:2.41 [[ 9.96313858e-01 8.57822165e-02 -3.29632913e-04 7.01507931e+02] [-8.57822073e-02 9.96313912e-01 4.18898737e-05 -5.13797632e+01] [ 3.32011263e-04 -1.34588228e-05 9.99999945e-01 2.40858920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2007140569999 meters Centerline goodness [0,1] 0.9691192554309365 Centerline is valid? [True, True] Translation: X:701.54, Y:-51.39, Z:2.41 [[ 9.96194069e-01 8.71617591e-02 4.52361306e-04 7.01535736e+02] [-8.71617426e-02 9.96194172e-01 -5.62214487e-05 -5.13851983e+01] [-4.55540056e-04 1.65788741e-05 9.99999896e-01 2.40967600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2307140569999 meters Centerline goodness [0,1] 0.9704929985203611 Centerline is valid? [True, True] Translation: X:701.56, Y:-51.39, Z:2.41 [[ 9.95911302e-01 9.03338613e-02 6.87609954e-04 7.01564607e+02] [-9.03338245e-02 9.95911539e-01 -8.44035339e-05 -5.13893464e+01] [-6.92423185e-04 2.19439964e-05 9.99999760e-01 2.41103126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.260714057 meters Centerline goodness [0,1] 0.9709893220120931 Centerline is valid? [True, True] Translation: X:701.59, Y:-51.39, Z:2.41 [[ 9.95748450e-01 9.21134906e-02 3.60060608e-04 7.01593219e+02] [-9.21134805e-02 9.95748515e-01 -4.45393662e-05 -5.13945186e+01] [-3.62632492e-04 1.11835691e-05 9.99999934e-01 2.41077417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.290714057 meters Centerline goodness [0,1] 0.9734932020126325 Centerline is valid? [True, True] Translation: X:701.62, Y:-51.40, Z:2.41 [[ 9.95600588e-01 9.36965666e-02 -6.50678638e-04 7.01621767e+02] [-9.36965331e-02 9.95600800e-01 8.19055599e-05 -5.13974757e+01] [ 6.55490443e-04 -2.05788910e-05 9.99999785e-01 2.41040650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3207140569999 meters Centerline goodness [0,1] 0.9735535775419377 Centerline is valid? [True, True] Translation: X:701.65, Y:-51.41, Z:2.41 [[ 9.95445148e-01 9.53036424e-02 -2.48457995e-03 7.01650196e+02] [-9.53031626e-02 9.95448246e-01 3.11071666e-04 -5.14052635e+01] [ 2.50291701e-03 -7.28664538e-05 9.99996865e-01 2.40995313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3507140569999 meters Centerline goodness [0,1] 0.9734757663983559 Centerline is valid? [True, True] Translation: X:701.68, Y:-51.41, Z:2.41 [[ 9.95457717e-01 9.51681024e-02 -2.63949047e-03 7.01676389e+02] [-9.51675604e-02 9.95461213e-01 3.30494326e-04 -5.14132114e+01] [ 2.65896291e-03 -7.77992585e-05 9.99996462e-01 2.41059033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.380714057 meters Centerline goodness [0,1] 0.9734339267776614 Centerline is valid? [True, True] Translation: X:701.70, Y:-51.42, Z:2.41 [[ 9.95485249e-01 9.48528217e-02 -3.47300352e-03 7.01704057e+02] [-9.48518841e-02 9.95491302e-01 4.34067650e-04 -5.14176985e+01] [ 3.49851734e-03 -1.02687015e-04 9.99993875e-01 2.41087333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.410714057 meters Centerline goodness [0,1] 0.9724109928623328 Centerline is valid? [True, True] Translation: X:701.73, Y:-51.42, Z:2.41 [[ 9.95527346e-01 9.44014257e-02 -3.69795503e-03 7.01732469e+02] [-9.44003618e-02 9.95534208e-01 4.61599257e-04 -5.14247408e+01] [ 3.72501636e-03 -1.10446391e-04 9.99993056e-01 2.41203820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4407140569999 meters Centerline goodness [0,1] 0.972393488788855 Centerline is valid? [True, True] Translation: X:701.76, Y:-51.43, Z:2.41 [[ 9.95680132e-01 9.27570964e-02 -4.14683015e-03 7.01760389e+02] [-9.27557457e-02 9.95688759e-01 5.17274991e-04 -5.14340085e+01] [ 4.17693309e-03 -1.30398108e-04 9.99991268e-01 2.41316566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4707140569999 meters Centerline goodness [0,1] 0.9709105611474049 Centerline is valid? [True, True] Translation: X:701.79, Y:-51.44, Z:2.41 [[ 9.95728545e-01 9.22395394e-02 -4.06608237e-03 7.01787267e+02] [-9.22382368e-02 9.95736838e-01 5.07124356e-04 -5.14427154e+01] [ 4.09552492e-03 -1.29909929e-04 9.99991605e-01 2.41377053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.500714057 meters Centerline goodness [0,1] 0.9691935072660831 Centerline is valid? [True, True] Translation: X:701.81, Y:-51.45, Z:2.42 [[ 9.95705062e-01 9.24832081e-02 -4.27628067e-03 7.01813988e+02] [-9.24817730e-02 9.95714235e-01 5.32557174e-04 -5.14520357e+01] [ 4.30720613e-03 -1.34791856e-04 9.99990715e-01 2.41518306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.530714057 meters Centerline goodness [0,1] 0.9709963506747008 Centerline is valid? [True, True] Translation: X:701.84, Y:-51.46, Z:2.42 [[ 9.95626272e-01 9.33655824e-02 -3.34597024e-03 7.01842529e+02] [-9.33647074e-02 9.95631889e-01 4.17119356e-04 -5.14595279e+01] [ 3.37029926e-03 -1.02899457e-04 9.99994315e-01 2.41693662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5607140569999 meters Centerline goodness [0,1] 0.9696662227577314 Centerline is valid? [True, True] Translation: X:701.87, Y:-51.47, Z:2.42 [[ 9.95493104e-01 9.47790936e-02 -3.22546312e-03 7.01869232e+02] [-9.47782914e-02 9.95498325e-01 4.00991701e-04 -5.14674663e+01] [ 3.24894877e-03 -9.34805888e-05 9.99994718e-01 2.41734621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5907140569999 meters Centerline goodness [0,1] 0.971619471842189 Centerline is valid? [True, True] Translation: X:701.90, Y:-51.47, Z:2.42 [[ 9.95350857e-01 9.62432923e-02 -3.72841063e-03 7.01897376e+02] [-9.62422339e-02 9.95357834e-01 4.62667109e-04 -5.14715485e+01] [ 3.75563133e-03 -1.01685535e-04 9.99992942e-01 2.41720881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.620714057 meters Centerline goodness [0,1] 0.974339974170601 Centerline is valid? [True, True] Translation: X:701.93, Y:-51.48, Z:2.42 [[ 9.94998580e-01 9.97477309e-02 -5.31184043e-03 7.01925309e+02] [-9.97456357e-02 9.95012751e-01 6.58571165e-04 -5.14787617e+01] [ 5.35103994e-03 -1.25444473e-04 9.99985675e-01 2.41690650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.650714057 meters Centerline goodness [0,1] 0.974206893640374 Centerline is valid? [True, True] Translation: X:701.95, Y:-51.49, Z:2.42 [[ 9.94748054e-01 1.02187219e-01 -5.83798251e-03 7.01952590e+02] [-1.02184732e-01 9.94765177e-01 7.23363106e-04 -5.14872610e+01] [ 5.88134016e-03 -1.23011362e-04 9.99982697e-01 2.41774582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6807140569999 meters Centerline goodness [0,1] 0.9751180568790632 Centerline is valid? [True, True] Translation: X:701.98, Y:-51.49, Z:2.42 [[ 9.94637555e-01 1.03274059e-01 -5.53191893e-03 7.01981379e+02] [-1.03271846e-01 9.94652933e-01 6.84953555e-04 -5.14919284e+01] [ 5.57307732e-03 -1.09989048e-04 9.99984464e-01 2.41817283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7107140569999 meters Centerline goodness [0,1] 0.9760189832216879 Centerline is valid? [True, True] Translation: X:702.01, Y:-51.50, Z:2.42 [[ 9.94500434e-01 1.04597944e-01 -5.30637220e-03 7.02008580e+02] [-1.04595928e-01 9.94514585e-01 6.56801016e-04 -5.14985161e+01] [ 5.34596459e-03 -9.81639723e-05 9.99985705e-01 2.41950993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.740714057 meters Centerline goodness [0,1] 0.9787288028079671 Centerline is valid? [True, True] Translation: X:702.04, Y:-51.51, Z:2.42 [[ 9.94585190e-01 1.03816391e-01 -4.73889230e-03 7.02036626e+02] [-1.03814778e-01 9.94596475e-01 5.85903605e-04 -5.15078362e+01] [ 4.77411197e-03 -9.07639973e-05 9.99988600e-01 2.42148583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.770714057 meters Centerline goodness [0,1] 0.9776561112755253 Centerline is valid? [True, True] Translation: X:702.06, Y:-51.52, Z:2.42 [[ 9.94680135e-01 1.02895545e-01 -4.89244757e-03 7.02063009e+02] [-1.02893816e-01 9.94692162e-01 6.04565807e-04 -5.15173715e+01] [ 4.92868638e-03 -9.79470007e-05 9.99987849e-01 2.42301002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8007140569999 meters Centerline goodness [0,1] 0.9787736346198436 Centerline is valid? [True, True] Translation: X:702.09, Y:-51.53, Z:2.42 [[ 9.95018772e-01 9.95095983e-02 -5.95685921e-03 7.02090324e+02] [-9.95069779e-02 9.95036593e-01 7.35403763e-04 -5.15286609e+01] [ 6.00047262e-03 -1.38991491e-04 9.99981987e-01 2.42392115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8307140569999 meters Centerline goodness [0,1] 0.9777254275077298 Centerline is valid? [True, True] Translation: X:702.12, Y:-51.54, Z:2.42 [[ 9.95248686e-01 9.71344616e-02 -6.70446687e-03 7.02116678e+02] [-9.71310919e-02 9.95271253e-01 8.27167608e-04 -5.15403745e+01] [ 6.75310962e-03 -1.72025287e-04 9.99977183e-01 2.42466047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8607140569999 meters Centerline goodness [0,1] 0.9784440979392305 Centerline is valid? [True, True] Translation: X:702.15, Y:-51.55, Z:2.42 [[ 9.95555908e-01 9.39378708e-02 -6.64150934e-03 7.02145017e+02] [-9.39344971e-02 9.95578043e-01 8.18790612e-04 -5.15494759e+01] [ 6.68905632e-03 -1.91284992e-04 9.99977610e-01 2.42479207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.890714057 meters Centerline goodness [0,1] 0.9782244205055121 Centerline is valid? [True, True] Translation: X:702.17, Y:-51.56, Z:2.43 [[ 9.95829914e-01 9.09234593e-02 -7.46364914e-03 7.02172072e+02] [-9.09191172e-02 9.95857855e-01 9.19725439e-04 -5.15589523e+01] [ 7.51635824e-03 -2.37301715e-04 9.99971724e-01 2.42526808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9207140569999 meters Centerline goodness [0,1] 0.9791451405436181 Centerline is valid? [True, True] Translation: X:702.20, Y:-51.57, Z:2.43 [[ 9.96142638e-01 8.74159020e-02 -7.63570804e-03 7.02200251e+02] [-8.74112584e-02 9.96171866e-01 9.40407159e-04 -5.15682005e+01] [ 7.68868407e-03 -2.69332819e-04 9.99970405e-01 2.42558360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9507140569999 meters Centerline goodness [0,1] 0.9796042045430798 Centerline is valid? [True, True] Translation: X:702.23, Y:-51.58, Z:2.43 [[ 9.96682014e-01 8.09481268e-02 -8.50667504e-03 7.02228010e+02] [-8.09421330e-02 9.96718252e-01 1.04709825e-03 -5.15833387e+01] [ 8.56351892e-03 -3.55075573e-04 9.99963269e-01 2.42525795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9807140569999 meters Centerline goodness [0,1] 0.9796042045430798 Centerline is valid? [True, True] Translation: X:702.26, Y:-51.59, Z:2.43 [[ 9.96689822e-01 8.08519327e-02 -8.50668624e-03 7.02255326e+02] [-8.08459362e-02 9.96726060e-01 1.04700721e-03 -5.15865977e+01] [ 8.56348842e-03 -3.55810421e-04 9.99963269e-01 2.42546265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.010714057 meters Centerline goodness [0,1] 0.9801176495393114 Centerline is valid? [True, True] Translation: X:702.28, Y:-51.60, Z:2.43 [[ 9.96912711e-01 7.80560152e-02 -8.50330128e-03 7.02283771e+02] [-7.80499286e-02 9.96948903e-01 1.04581277e-03 -5.15955940e+01] [ 8.55898886e-03 -3.78901989e-04 9.99963299e-01 2.42612153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.040714057 meters Centerline goodness [0,1] 0.9806409664834934 Centerline is valid? [True, True] Translation: X:702.31, Y:-51.60, Z:2.43 [[ 9.97089338e-01 7.56711939e-02 -9.31244816e-03 7.02311561e+02] [-7.56637945e-02 9.97132729e-01 1.14484090e-03 -5.16040015e+01] [ 9.37237832e-03 -4.36893495e-04 9.99955983e-01 2.42675100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0707140569999 meters Centerline goodness [0,1] 0.9806851618327028 Centerline is valid? [True, True] Translation: X:702.34, Y:-51.61, Z:2.43 [[ 9.97274245e-01 7.33192289e-02 -8.26862559e-03 7.02340696e+02] [-7.33133176e-02 9.97308440e-01 1.01617035e-03 -5.16119776e+01] [ 8.32087492e-03 -4.07200143e-04 9.99965298e-01 2.42733982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1007140569999 meters Centerline goodness [0,1] 0.9816948581298843 Centerline is valid? [True, True] Translation: X:702.37, Y:-51.62, Z:2.43 [[ 9.97575987e-01 6.91285155e-02 -7.96233995e-03 7.02368462e+02] [-6.91229029e-02 9.97607672e-01 9.78282312e-04 -5.16233377e+01] [ 8.01091862e-03 -4.25530892e-04 9.99967822e-01 2.42907776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.130714057 meters Centerline goodness [0,1] 0.9821755894064851 Centerline is valid? [True, True] Translation: X:702.40, Y:-51.63, Z:2.43 [[ 9.97710963e-01 6.70863320e-02 -8.50050293e-03 7.02397017e+02] [-6.70798636e-02 9.97747063e-01 1.04410094e-03 -5.16301639e+01] [ 8.55139673e-03 -4.71498376e-04 9.99963325e-01 2.42899074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.160714057 meters Centerline goodness [0,1] 0.9837619258229607 Centerline is valid? [True, True] Translation: X:702.43, Y:-51.62, Z:2.43 [[ 9.97858740e-01 6.47912634e-02 -8.94578724e-03 7.02427249e+02] [-6.47840118e-02 9.97898705e-01 1.09833823e-03 -5.16238444e+01] [ 8.99815222e-03 -5.16442416e-04 9.99959382e-01 2.42998022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1907140569999 meters Centerline goodness [0,1] 0.9835395239188033 Centerline is valid? [True, True] Translation: X:702.46, Y:-51.63, Z:2.43 [[ 9.97856480e-01 6.48574848e-02 -8.71508447e-03 7.02455833e+02] [-6.48506091e-02 9.97894411e-01 1.06952656e-03 -5.16288559e+01] [ 8.76610088e-03 -5.02055473e-04 9.99961451e-01 2.43006529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2207140569999 meters Centerline goodness [0,1] 0.9831584701751435 Centerline is valid? [True, True] Translation: X:702.48, Y:-51.64, Z:2.43 [[ 9.97853917e-01 6.48976499e-02 -8.70954537e-03 7.02483439e+02] [-6.48907903e-02 9.97891800e-01 1.06819557e-03 -5.16358794e+01] [ 8.76050728e-03 -5.00733851e-04 9.99961501e-01 2.43028942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.250714057 meters Centerline goodness [0,1] 0.9846689895470383 Centerline is valid? [True, True] Translation: X:702.51, Y:-51.63, Z:2.43 [[ 9.97833989e-01 6.52023476e-02 -8.71690629e-03 7.02512481e+02] [-6.51954946e-02 9.97871939e-01 1.06833872e-03 -5.16347939e+01] [ 8.76801437e-03 -4.97721665e-04 9.99961436e-01 2.43113818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.280714057 meters Centerline goodness [0,1] 0.9847122491524353 Centerline is valid? [True, True] Translation: X:702.54, Y:-51.64, Z:2.43 [[ 9.97618824e-01 6.83606645e-02 -9.13796894e-03 7.02540514e+02] [-6.83532716e-02 9.97660552e-01 1.11927861e-03 -5.16411166e+01] [ 9.19310577e-03 -4.92003337e-04 9.99957621e-01 2.43177231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3107140569999 meters Centerline goodness [0,1] 0.9839759112252848 Centerline is valid? [True, True] Translation: X:702.57, Y:-51.64, Z:2.43 [[ 9.97463145e-01 7.06472535e-02 -8.73155159e-03 7.02570641e+02] [-7.06405947e-02 9.97501260e-01 1.06906413e-03 -5.16410048e+01] [ 8.78526016e-03 -4.49550070e-04 9.99961308e-01 2.43193954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3407140569999 meters Centerline goodness [0,1] 0.9833399945308063 Centerline is valid? [True, True] Translation: X:702.60, Y:-51.64, Z:2.43 [[ 9.97210350e-01 7.41606134e-02 -8.46878698e-03 7.02600275e+02] [-7.41544782e-02 9.97246228e-01 1.03659706e-03 -5.16423325e+01] [ 8.52234055e-03 -4.05706836e-04 9.99963602e-01 2.43257528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.370714057 meters Centerline goodness [0,1] 0.9829225204004375 Centerline is valid? [True, True] Translation: X:702.63, Y:-51.64, Z:2.43 [[ 9.96876870e-01 7.85219874e-02 -8.41447137e-03 7.02628910e+02] [-7.85160884e-02 9.96912315e-01 1.02963330e-03 -5.16442170e+01] [ 8.46933899e-03 -3.65746241e-04 9.99964068e-01 2.43281785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.400714057 meters Centerline goodness [0,1] 0.9830469404861694 Centerline is valid? [True, True] Translation: X:702.66, Y:-51.64, Z:2.43 [[ 9.95985640e-01 8.90791024e-02 -8.80445878e-03 7.02659991e+02] [-8.90730592e-02 9.96024513e-01 1.07692759e-03 -5.16390643e+01] [ 8.86538851e-03 -2.88364340e-04 9.99960660e-01 2.43311433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4307140569999 meters Centerline goodness [0,1] 0.983668968960639 Centerline is valid? [True, True] Translation: X:702.69, Y:-51.64, Z:2.43 [[ 9.95472938e-01 9.45903882e-02 -9.28917589e-03 7.02690316e+02] [-9.45839020e-02 9.95516245e-01 1.13608785e-03 -5.16383140e+01] [ 9.35498849e-03 -2.52338213e-04 9.99956209e-01 2.43365717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4607140569999 meters Centerline goodness [0,1] 0.9839409631229166 Centerline is valid? [True, True] Translation: X:702.72, Y:-51.64, Z:2.43 [[ 9.94964339e-01 9.98421623e-02 -8.80374870e-03 7.02720078e+02] [-9.98365432e-02 9.95003269e-01 1.07654756e-03 -5.16373781e+01] [ 8.86724357e-03 -1.92190596e-04 9.99960667e-01 2.43450275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.490714057 meters Centerline goodness [0,1] 0.984358009201171 Centerline is valid? [True, True] Translation: X:702.75, Y:-51.64, Z:2.44 [[ 9.94414734e-01 1.05224274e-01 -8.19685119e-03 7.02748322e+02] [-1.05219589e-01 9.94448508e-01 1.00202197e-03 -5.16375590e+01] [ 8.25678347e-03 -1.33956100e-04 9.99965903e-01 2.43528152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.520714057 meters Centerline goodness [0,1] 0.9856578892108689 Centerline is valid? [True, True] Translation: X:702.78, Y:-51.64, Z:2.44 [[ 9.93519681e-01 1.13458638e-01 -6.76620549e-03 7.02777602e+02] [-1.13455639e-01 9.93542719e-01 8.26645128e-04 -5.16351191e+01] [ 6.81630423e-03 -5.36240350e-05 9.99976767e-01 2.43749846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5507140569999 meters Centerline goodness [0,1] 0.9857253166934491 Centerline is valid? [True, True] Translation: X:702.81, Y:-51.64, Z:2.44 [[ 9.93100846e-01 1.17098266e-01 -6.22143347e-03 7.02805760e+02] [-1.17095805e-01 9.93120333e-01 7.59715339e-04 -5.16374193e+01] [ 6.26759343e-03 -2.59701865e-05 9.99980358e-01 2.43834350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5807140569999 meters Centerline goodness [0,1] 0.9871365823049572 Centerline is valid? [True, True] Translation: X:702.83, Y:-51.64, Z:2.44 [[ 9.92754722e-01 1.19988251e-01 -6.39388163e-03 7.02834022e+02] [-1.19985715e-01 9.92775312e-01 7.80187407e-04 -5.16399948e+01] [ 6.44130115e-03 -7.36027656e-06 9.99979255e-01 2.43887048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6107140569999 meters Centerline goodness [0,1] 0.9870324813409498 Centerline is valid? [True, True] Translation: X:702.86, Y:-51.64, Z:2.44 [[ 9.92466853e-01 1.22345057e-01 -6.42131492e-03 7.02862151e+02] [-1.22342551e-01 9.92487626e-01 7.83113608e-04 -5.16433237e+01] [ 6.46888568e-03 8.38574780e-06 9.99979077e-01 2.43832818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.640714057 meters Centerline goodness [0,1] 0.9882092851879145 Centerline is valid? [True, True] Translation: X:702.89, Y:-51.65, Z:2.44 [[ 9.92004008e-01 1.26018102e-01 -6.89108236e-03 7.02890521e+02] [-1.26015310e-01 9.92027941e-01 8.39608021e-04 -5.16483593e+01] [ 6.94195206e-03 3.54873593e-05 9.99975904e-01 2.43771671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6707140569999 meters Centerline goodness [0,1] 0.9884992220680375 Centerline is valid? [True, True] Translation: X:702.92, Y:-51.65, Z:2.44 [[ 9.91778915e-01 1.27772082e-01 -6.99138728e-03 7.02918395e+02] [-1.27769255e-01 9.91803555e-01 8.51346636e-04 -5.16528682e+01] [ 7.04286110e-03 4.89367018e-05 9.99975198e-01 2.43713916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7007140569999 meters Centerline goodness [0,1] 0.98930200298451 Centerline is valid? [True, True] Translation: X:702.95, Y:-51.66, Z:2.44 [[ 9.91520962e-01 1.29770390e-01 -6.76959263e-03 7.02946987e+02] [-1.29767792e-01 9.91544070e-01 8.23434333e-04 -5.16591256e+01] [ 6.81920682e-03 6.20226858e-05 9.99976747e-01 2.43757894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7307140569999 meters Centerline goodness [0,1] 0.989739079448842 Centerline is valid? [True, True] Translation: X:702.98, Y:-51.67, Z:2.44 [[ 9.91265698e-01 1.31718200e-01 -6.52930687e-03 7.02975573e+02] [-1.31715829e-01 9.91287199e-01 7.93757632e-04 -5.16651980e+01] [ 6.57697064e-03 7.31883550e-05 9.99978369e-01 2.43831348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.760714057 meters Centerline goodness [0,1] 0.9899136050998155 Centerline is valid? [True, True] Translation: X:703.00, Y:-51.67, Z:2.44 [[ 9.91069124e-01 1.33160221e-01 -7.09550358e-03 7.03003847e+02] [-1.33157462e-01 9.91094520e-01 8.62038304e-04 -5.16714383e+01] [ 7.14710393e-03 9.04796987e-05 9.99974455e-01 2.43973783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.790714057 meters Centerline goodness [0,1] 0.9916218713253822 Centerline is valid? [True, True] Translation: X:703.03, Y:-51.68, Z:2.44 [[ 9.90617213e-01 1.36500383e-01 -6.72178785e-03 7.03031020e+02] [-1.36497986e-01 9.90640012e-01 8.16230293e-04 -5.16822984e+01] [ 6.77028774e-03 1.08938728e-04 9.99977075e-01 2.44114850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8207140569999 meters Centerline goodness [0,1] 0.9925032458013988 Centerline is valid? [True, True] Translation: X:703.06, Y:-51.69, Z:2.44 [[ 9.90462080e-01 1.37632839e-01 -6.48615407e-03 7.03057934e+02] [-1.37630637e-01 9.90483311e-01 7.86727322e-04 -5.16885706e+01] [ 6.53270687e-03 1.13469940e-04 9.99978655e-01 2.44214250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8507140569999 meters Centerline goodness [0,1] 0.993863870384769 Centerline is valid? [True, True] Translation: X:703.08, Y:-51.70, Z:2.44 [[ 9.90348021e-01 1.38499720e-01 -5.35020278e-03 7.03084894e+02] [-1.38498237e-01 9.90362468e-01 6.48566717e-04 -5.16958939e+01] [ 5.38846634e-03 9.86868878e-05 9.99985477e-01 2.44373136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.880714057 meters Centerline goodness [0,1] 0.9951703951494878 Centerline is valid? [True, True] Translation: X:703.11, Y:-51.71, Z:2.45 [[ 9.90420639e-01 1.38004332e-01 -4.66506817e-03 7.03111470e+02] [-1.38003200e-01 9.90431622e-01 5.65188563e-04 -5.17091698e+01] [ 4.69842950e-03 8.40199199e-05 9.99988959e-01 2.44564087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.910714057 meters Centerline goodness [0,1] 0.9959280481917595 Centerline is valid? [True, True] Translation: X:703.14, Y:-51.72, Z:2.45 [[ 9.90518286e-01 1.37310456e-01 -4.40051040e-03 7.03139910e+02] [-1.37309443e-01 9.90528058e-01 5.32929316e-04 -5.17180856e+01] [ 4.43200579e-03 7.63553977e-05 9.99990176e-01 2.44635570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9407140569999 meters Centerline goodness [0,1] 0.9957669740150881 Centerline is valid? [True, True] Translation: X:703.17, Y:-51.73, Z:2.45 [[ 9.90638713e-01 1.36443624e-01 -4.25170456e-03 7.03167964e+02] [-1.36442674e-01 9.90647835e-01 5.14184017e-04 -5.17282981e+01] [ 4.28209905e-03 7.07433463e-05 9.99990829e-01 2.44587202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9707140569999 meters Centerline goodness [0,1] 0.9967980914113511 Centerline is valid? [True, True] Translation: X:703.20, Y:-51.74, Z:2.45 [[ 9.90777563e-01 1.35425208e-01 -4.45361912e-03 7.03195037e+02] [-1.35424156e-01 9.90787570e-01 5.38311753e-04 -5.17369980e+01] [ 4.48549145e-03 6.97804038e-05 9.99989938e-01 2.44607980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.000714057 meters Centerline goodness [0,1] 0.997302947940623 Centerline is valid? [True, True] Translation: X:703.22, Y:-51.75, Z:2.45 [[ 9.91145630e-01 1.32627033e-01 -6.35692144e-03 7.03220994e+02] [-1.32624838e-01 9.91166012e-01 7.67525274e-04 -5.17519860e+01] [ 6.40255908e-03 8.23563546e-05 9.99979500e-01 2.44647697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.030714057 meters Centerline goodness [0,1] 0.9979100484868751 Centerline is valid? [True, True] Translation: X:703.25, Y:-51.76, Z:2.45 [[ 9.91344810e-01 1.31121204e-01 -6.53427784e-03 7.03248355e+02] [-1.31118856e-01 9.91366342e-01 7.88341950e-04 -5.17623615e+01] [ 6.58123147e-03 7.52483328e-05 9.99978341e-01 2.44637931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0607140569999 meters Centerline goodness [0,1] 0.9980755956240718 Centerline is valid? [True, True] Translation: X:703.28, Y:-51.77, Z:2.45 [[ 9.91616124e-01 1.29045188e-01 -6.69343045e-03 7.03275073e+02] [-1.29042679e-01 9.91638712e-01 8.07074027e-04 -5.17718731e+01] [ 6.74161377e-03 6.34305819e-05 9.99977273e-01 2.44666923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0907140569999 meters Centerline goodness [0,1] 0.9986169031203503 Centerline is valid? [True, True] Translation: X:703.30, Y:-51.79, Z:2.45 [[ 9.92211226e-01 1.24394679e-01 -6.54575739e-03 7.03301789e+02] [-1.24392183e-01 9.92232817e-01 7.88700000e-04 -5.17899677e+01] [ 6.59302538e-03 3.16840576e-05 9.99978265e-01 2.44821617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.120714057 meters Centerline goodness [0,1] 0.9993297306354991 Centerline is valid? [True, True] Translation: X:703.33, Y:-51.80, Z:2.45 [[ 9.92581935e-01 1.21422710e-01 -6.13410294e-03 7.03328424e+02] [-1.21420464e-01 9.92600889e-01 7.38724119e-04 -5.18000032e+01] [ 6.17841392e-03 1.15614090e-05 9.99980913e-01 2.44992476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.150714057 meters Centerline goodness [0,1] 0.9991639145520672 Centerline is valid? [True, True] Translation: X:703.36, Y:-51.81, Z:2.45 [[ 9.92929846e-01 1.18605529e-01 -4.80091379e-03 7.03356072e+02] [-1.18604122e-01 9.92941453e-01 5.77760044e-04 -5.18103236e+01] [ 4.83555185e-03 -4.26702772e-06 9.99988309e-01 2.45048874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1807140569999 meters Centerline goodness [0,1] 0.9994964330675619 Centerline is valid? [True, True] Translation: X:703.38, Y:-51.82, Z:2.45 [[ 9.93323687e-01 1.15313155e-01 -3.30596725e-03 7.03384742e+02] [-1.15312470e-01 9.93329188e-01 3.97730557e-04 -5.18206071e+01] [ 3.32977733e-03 -1.38559350e-05 9.99994456e-01 2.45140296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2107140569999 meters Centerline goodness [0,1] 0.9995161765324583 Centerline is valid? [True, True] Translation: X:703.41, Y:-51.84, Z:2.45 [[ 9.94096780e-01 1.08484517e-01 -1.64369714e-03 7.03412989e+02] [-1.08484339e-01 9.94098139e-01 1.97615050e-04 -5.18389286e+01] [ 1.65543445e-03 -1.81330868e-05 9.99998630e-01 2.45229614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.240714057 meters Centerline goodness [0,1] 0.999264674986344 Centerline is valid? [True, True] Translation: X:703.44, Y:-51.85, Z:2.45 [[ 9.94486583e-01 1.04856843e-01 -1.21616913e-03 7.03442571e+02] [-1.04856744e-01 9.94487326e-01 1.45441891e-04 -5.18504489e+01] [ 1.22471536e-03 -1.71164742e-05 9.99999250e-01 2.45272120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.270714057 meters Centerline goodness [0,1] 0.9991819611955952 Centerline is valid? [True, True] Translation: X:703.47, Y:-51.86, Z:2.45 [[ 9.94896161e-01 1.00897388e-01 -1.16056202e-03 7.03473861e+02] [-1.00897295e-01 9.94896837e-01 1.38131215e-04 -5.18614245e+01] [ 1.16857656e-03 -2.03286468e-05 9.99999317e-01 2.45221497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3007140569999 meters Centerline goodness [0,1] 0.9992448080553807 Centerline is valid? [True, True] Translation: X:703.51, Y:-51.87, Z:2.45 [[ 9.95275769e-01 9.70815841e-02 -1.14446998e-03 7.03505346e+02] [-9.70814901e-02 9.95276427e-01 1.37579002e-04 -5.18717553e+01] [ 1.15242038e-03 -2.58221960e-05 9.99999336e-01 2.45168331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3307140569999 meters Centerline goodness [0,1] 0.9996422107168413 Centerline is valid? [True, True] Translation: X:703.53, Y:-51.89, Z:2.45 [[ 9.96003191e-01 8.92989434e-02 -1.82794076e-03 7.03533504e+02] [-8.92986889e-02 9.96004867e-01 2.20577938e-04 -5.18867306e+01] [ 1.84033527e-03 -5.64636168e-05 9.99998305e-01 2.44996653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3607140569999 meters Centerline goodness [0,1] 0.9994534485295663 Centerline is valid? [True, True] Translation: X:703.56, Y:-51.89, Z:2.45 [[ 9.96262657e-01 8.63458802e-02 -2.25981408e-03 7.03564946e+02] [-8.63454844e-02 9.96265217e-01 2.72324563e-04 -5.18942920e+01] [ 2.27488827e-03 -7.61820511e-05 9.99997410e-01 2.44923745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.390714057 meters Centerline goodness [0,1] 0.9994746022739214 Centerline is valid? [True, True] Translation: X:703.59, Y:-51.90, Z:2.45 [[ 9.96492672e-01 8.36547242e-02 -2.05962179e-03 7.03594801e+02] [-8.36543901e-02 9.96494798e-01 2.48016847e-04 -5.19030264e+01] [ 2.07315018e-03 -7.48505655e-05 9.99997848e-01 2.44966926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4207140569999 meters Centerline goodness [0,1] 0.9995586380832282 Centerline is valid? [True, True] Translation: X:703.62, Y:-51.91, Z:2.45 [[ 9.96859098e-01 7.91867842e-02 -1.17941184e-03 7.03624790e+02] [-7.91866710e-02 9.96859795e-01 1.42441023e-04 -5.19124761e+01] [ 1.18698769e-03 -4.85999324e-05 9.99999294e-01 2.45057314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4507140569999 meters Centerline goodness [0,1] 0.9995795227583307 Centerline is valid? [True, True] Translation: X:703.65, Y:-51.92, Z:2.45 [[ 9.96993788e-01 7.74794330e-02 -5.69036655e-04 7.03654801e+02] [-7.74794068e-02 9.96993950e-01 6.79279292e-05 -5.19214134e+01] [ 5.72589120e-04 -2.36351010e-05 9.99999836e-01 2.45157949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4807140569999 meters Centerline goodness [0,1] 0.9996626465379101 Centerline is valid? [True, True] Translation: X:703.69, Y:-51.93, Z:2.45 [[ 9.97071300e-01 7.64766918e-02 3.71528371e-04 7.03686652e+02] [-7.64766800e-02 9.97071369e-01 -4.59333627e-05 -5.19284882e+01] [-3.73953133e-04 1.73855814e-05 9.99999930e-01 2.45261591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.510714057 meters Centerline goodness [0,1] 0.9997899909696117 Centerline is valid? [True, True] Translation: X:703.72, Y:-51.93, Z:2.45 [[ 9.97143190e-01 7.55294259e-02 8.74015533e-04 7.03717877e+02] [-7.55293605e-02 9.97143572e-01 -1.07691461e-04 -5.19340612e+01] [-8.79652845e-04 4.13699727e-05 9.99999612e-01 2.45323389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.540714057 meters Centerline goodness [0,1] 0.9994965070174334 Centerline is valid? [True, True] Translation: X:703.75, Y:-51.94, Z:2.45 [[ 9.97305884e-01 7.33132553e-02 2.47790476e-03 7.03748417e+02] [-7.33127335e-02 9.97308955e-01 -3.00875522e-04 -5.19390423e+01] [-2.49329477e-03 1.18402957e-04 9.99996885e-01 2.45386930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5707140569999 meters Centerline goodness [0,1] 0.9995165731340774 Centerline is valid? [True, True] Translation: X:703.78, Y:-51.94, Z:2.45 [[ 9.97335104e-01 7.29023073e-02 2.81851839e-03 7.03780524e+02] [-7.29016242e-02 9.97339077e-01 -3.44477058e-04 -5.19438013e+01] [-2.83613170e-03 1.38084494e-04 9.99995969e-01 2.45434482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6007140569999 meters Centerline goodness [0,1] 0.9989898139574038 Centerline is valid? [True, True] Translation: X:703.81, Y:-51.94, Z:2.45 [[ 9.97357555e-01 7.26102582e-02 2.37883696e-03 7.03813275e+02] [-7.26097684e-02 9.97360384e-01 -2.91747507e-04 -5.19404498e+01] [-2.39374161e-03 1.18249779e-04 9.99997128e-01 2.45242471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.630714057 meters Centerline goodness [0,1] 0.9995797348126668 Centerline is valid? [True, True] Translation: X:703.84, Y:-51.95, Z:2.45 [[ 9.97369359e-01 7.24459513e-02 2.43851646e-03 7.03844194e+02] [-7.24454351e-02 9.97372332e-01 -2.99449338e-04 -5.19475526e+01] [-2.45380274e-03 1.22002208e-04 9.99996982e-01 2.45296535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.660714057 meters Centerline goodness [0,1] 0.9994116287377335 Centerline is valid? [True, True] Translation: X:703.88, Y:-51.95, Z:2.45 [[ 9.97378804e-01 7.23164323e-02 2.41988536e-03 7.03876994e+02] [-7.23159257e-02 9.97381732e-01 -2.96327398e-04 -5.19472953e+01] [-2.43497880e-03 1.20554416e-04 9.99997028e-01 2.45181367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6907140569999 meters Centerline goodness [0,1] 0.9994960841539463 Centerline is valid? [True, True] Translation: X:703.91, Y:-51.95, Z:2.45 [[ 9.97344693e-01 7.27973670e-02 2.02673309e-03 7.03908044e+02] [-7.27970089e-02 9.97346747e-01 -2.49991658e-04 -5.19537613e+01] [-2.03955438e-03 1.01787746e-04 9.99997915e-01 2.45250058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7207140569999 meters Centerline goodness [0,1] 0.9993691913032507 Centerline is valid? [True, True] Translation: X:703.94, Y:-51.96, Z:2.45 [[ 9.97369720e-01 7.24468660e-02 2.25703116e-03 7.03938890e+02] [-7.24464228e-02 9.97372267e-01 -2.77614436e-04 -5.19581976e+01] [-2.27121258e-03 1.13370398e-04 9.99997414e-01 2.45254645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.750714057 meters Centerline goodness [0,1] 0.9992657702070528 Centerline is valid? [True, True] Translation: X:703.97, Y:-51.95, Z:2.45 [[ 9.97299032e-01 7.34101256e-02 2.36507524e-03 7.03971679e+02] [-7.34096384e-02 9.97301830e-01 -2.92274094e-04 -5.19543659e+01] [-2.38014974e-03 1.17865353e-04 9.99997160e-01 2.45233172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.780714057 meters Centerline goodness [0,1] 0.9994529770671156 Centerline is valid? [True, True] Translation: X:704.00, Y:-51.95, Z:2.45 [[ 9.97240499e-01 7.41700686e-02 3.19184547e-03 7.04003787e+02] [-7.41691846e-02 9.97245595e-01 -3.94620669e-04 -5.19532888e+01] [-3.21232288e-03 1.56795136e-04 9.99994828e-01 2.45223659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8107140569999 meters Centerline goodness [0,1] 0.9994958724557313 Centerline is valid? [True, True] Translation: X:704.03, Y:-51.96, Z:2.45 [[ 9.97176852e-01 7.50429359e-02 2.62382169e-03 7.04034980e+02] [-7.50423395e-02 9.97180295e-01 -3.25176009e-04 -5.19570521e+01] [-2.64082545e-03 1.27360271e-04 9.99996505e-01 2.45347670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8407140569999 meters Centerline goodness [0,1] 0.9992640410454823 Centerline is valid? [True, True] Translation: X:704.07, Y:-51.95, Z:2.45 [[ 9.97104827e-01 7.60019133e-02 2.38173174e-03 7.04067613e+02] [-7.60014224e-02 9.97107665e-01 -2.96060113e-04 -5.19547025e+01] [-2.39734411e-03 1.14187968e-04 9.99997120e-01 2.45269480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.870714057 meters Centerline goodness [0,1] 0.9994118388438432 Centerline is valid? [True, True] Translation: X:704.10, Y:-51.96, Z:2.45 [[ 9.97013515e-01 7.71946413e-02 2.24443073e-03 7.04098956e+02] [-7.71942074e-02 9.97016036e-01 -2.79464910e-04 -5.19558605e+01] [-2.25930662e-03 1.05373241e-04 9.99997442e-01 2.45275827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.900714057 meters Centerline goodness [0,1] 0.9994118388438432 Centerline is valid? [True, True] Translation: X:704.13, Y:-51.96, Z:2.45 [[ 9.96992780e-01 7.74619932e-02 2.24431614e-03 7.04131237e+02] [-7.74615579e-02 9.96995300e-01 -2.80387905e-04 -5.19599286e+01] [-2.25929205e-03 1.05696492e-04 9.99997442e-01 2.45300047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9307140569999 meters Centerline goodness [0,1] 0.9994949601228931 Centerline is valid? [True, True] Translation: X:704.16, Y:-51.96, Z:2.45 [[ 9.96943668e-01 7.80885166e-02 2.34636263e-03 7.04163621e+02] [-7.80880418e-02 9.96946424e-01 -2.93435861e-04 -5.19578871e+01] [-2.36211180e-03 1.09316160e-04 9.99997204e-01 2.45224138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9607140569999 meters Centerline goodness [0,1] 0.9994956711776078 Centerline is valid? [True, True] Translation: X:704.19, Y:-51.96, Z:2.45 [[ 9.96879521e-01 7.89112560e-02 2.05794114e-03 7.04193968e+02] [-7.89108914e-02 9.96881640e-01 -2.57912559e-04 -5.19636468e+01] [-2.07187594e-03 9.47137784e-05 9.99997849e-01 2.45288135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.990714057 meters Centerline goodness [0,1] 0.9995803961060759 Centerline is valid? [True, True] Translation: X:704.23, Y:-51.96, Z:2.45 [[ 9.96787999e-01 8.00648155e-02 1.81946191e-03 7.04227221e+02] [-8.00645309e-02 9.96789656e-01 -2.28863017e-04 -5.19551414e+01] [-1.83194468e-03 8.24535442e-05 9.99998319e-01 2.45133299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.020714057 meters Centerline goodness [0,1] 0.999790008609647 Centerline is valid? [True, True] Translation: X:704.26, Y:-51.96, Z:2.45 [[ 9.96670760e-01 8.15025455e-02 2.17507038e-03 7.04257749e+02] [-8.15021421e-02 9.96673129e-01 -2.73593153e-04 -5.19629878e+01] [-2.19013274e-03 9.54094011e-05 9.99997597e-01 2.45326370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0507140569999 meters Centerline goodness [0,1] 0.999789628694646 Centerline is valid? [True, True] Translation: X:704.29, Y:-51.96, Z:2.45 [[ 9.96604301e-01 8.22950899e-02 2.71748293e-03 7.04291013e+02] [-8.22944621e-02 9.96607999e-01 -3.42225385e-04 -5.19568110e+01] [-2.73642869e-03 1.17429495e-04 9.99996249e-01 2.45167107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0807140569999 meters Centerline goodness [0,1] 0.9995585545815728 Centerline is valid? [True, True] Translation: X:704.32, Y:-51.96, Z:2.45 [[ 9.96435423e-01 8.43199112e-02 2.56914651e-03 7.04322991e+02] [-8.43193600e-02 9.96438729e-01 -3.22316388e-04 -5.19571006e+01] [-2.58717477e-03 1.04538677e-04 9.99996648e-01 2.45224640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1107140569999 meters Centerline goodness [0,1] 0.9997054182009468 Centerline is valid? [True, True] Translation: X:704.35, Y:-51.95, Z:2.45 [[ 9.96017136e-01 8.90292310e-02 4.86433625e-03 7.04353917e+02] [-8.90273082e-02 9.96028998e-01 -6.10815727e-04 -5.19534266e+01] [-4.89940042e-03 1.75324168e-04 9.99987982e-01 2.45318894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.140714057 meters Centerline goodness [0,1] 0.9992624902543356 Centerline is valid? [True, True] Translation: X:704.39, Y:-51.95, Z:2.45 [[ 9.95740020e-01 9.20610620e-02 5.15495140e-03 7.04385848e+02] [-9.20589441e-02 9.95753349e-01 -6.47136091e-04 -5.19536301e+01] [-5.19263616e-03 1.69819921e-04 9.99986504e-01 2.45377096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1707140569999 meters Centerline goodness [0,1] 0.9995371928643554 Centerline is valid? [True, True] Translation: X:704.42, Y:-51.95, Z:2.45 [[ 9.95423780e-01 9.53811813e-02 5.82488569e-03 7.04417542e+02] [-9.53785337e-02 9.95440807e-01 -7.31271006e-04 -5.19526640e+01] [-5.86807841e-03 1.72355492e-04 9.99982768e-01 2.45393834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2007140569999 meters Centerline goodness [0,1] 0.9993087268004525 Centerline is valid? [True, True] Translation: X:704.45, Y:-51.95, Z:2.46 [[ 9.95126673e-01 9.83975474e-02 6.38967906e-03 7.04447861e+02] [-9.83944224e-02 9.95147172e-01 -8.02376926e-04 -5.19545403e+01] [-6.43762297e-03 1.69757900e-04 9.99979264e-01 2.45556416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2307140569999 meters Centerline goodness [0,1] 0.998947301934859 Centerline is valid? [True, True] Translation: X:704.48, Y:-51.95, Z:2.46 [[ 9.94688421e-01 1.02663187e-01 7.43062790e-03 7.04479759e+02] [-1.02659078e-01 9.94716162e-01 -9.33306856e-04 -5.19512916e+01] [-7.48718193e-03 1.65528111e-04 9.99971957e-01 2.45609562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.260714057 meters Centerline goodness [0,1] 0.9991594519626796 Centerline is valid? [True, True] Translation: X:704.51, Y:-51.95, Z:2.45 [[ 9.94550474e-01 1.03989296e-01 7.45530312e-03 7.04511864e+02] [-1.03985192e-01 9.94578404e-01 -9.36959366e-04 -5.19510562e+01] [-7.51231722e-03 1.56612253e-04 9.99971770e-01 2.45380678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.290714057 meters Centerline goodness [0,1] 0.9992424720661575 Centerline is valid? [True, True] Translation: X:704.54, Y:-51.95, Z:2.45 [[ 9.94481248e-01 1.04676594e-01 7.06104390e-03 7.04541595e+02] [-1.04672924e-01 9.94506305e-01 -8.88412239e-04 -5.19542946e+01] [-7.11524864e-03 1.44409203e-04 9.99974676e-01 2.45404203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3207140569999 meters Centerline goodness [0,1] 0.9991172761664565 Centerline is valid? [True, True] Translation: X:704.57, Y:-51.96, Z:2.45 [[ 9.94668396e-01 1.02971775e-01 5.62106295e-03 7.04572120e+02] [-1.02969408e-01 9.94684270e-01 -7.09642196e-04 -5.19580488e+01] [-5.66425602e-03 1.27061141e-04 9.99983950e-01 2.45249031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3507140569999 meters Centerline goodness [0,1] 0.9988638276384447 Centerline is valid? [True, True] Translation: X:704.60, Y:-51.96, Z:2.45 [[ 9.94828774e-01 1.01459142e-01 4.66390367e-03 7.04603284e+02] [-1.01457501e-01 9.94839701e-01 -5.87835910e-04 -5.19598658e+01] [-4.69947785e-03 1.11608069e-04 9.99988951e-01 2.45071988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.380714057 meters Centerline goodness [0,1] 0.9987209594900612 Centerline is valid? [True, True] Translation: X:704.63, Y:-51.96, Z:2.45 [[ 9.95085416e-01 9.89220193e-02 4.41010525e-03 7.04633845e+02] [-9.89205268e-02 9.95095182e-01 -5.55808905e-04 -5.19643274e+01] [-4.44345622e-03 1.16827402e-04 9.99990121e-01 2.45098183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.410714057 meters Centerline goodness [0,1] 0.99881995954147 Centerline is valid? [True, True] Translation: X:704.66, Y:-51.97, Z:2.45 [[ 9.95321527e-01 9.65091826e-02 4.58649794e-03 7.04664899e+02] [-9.65075414e-02 9.95332085e-01 -5.78334931e-04 -5.19688564e+01] [-4.62090319e-03 1.32997567e-04 9.99989315e-01 2.45108565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4407140569999 meters Centerline goodness [0,1] 0.9989250937908359 Centerline is valid? [True, True] Translation: X:704.70, Y:-51.97, Z:2.45 [[ 9.95763928e-01 9.18382567e-02 4.46469015e-03 7.04695670e+02] [-9.18366547e-02 9.95773926e-01 -5.62932002e-04 -5.19735036e+01] [-4.49752073e-03 1.50525175e-04 9.99989875e-01 2.45116206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4707140569999 meters Centerline goodness [0,1] 0.9991613024972218 Centerline is valid? [True, True] Translation: X:704.73, Y:-51.98, Z:2.45 [[ 9.95921193e-01 9.01471881e-02 3.80283629e-03 7.04725026e+02] [-9.01460133e-02 9.95928444e-01 -4.79568606e-04 -5.19805041e+01] [-3.83058459e-03 1.34802008e-04 9.99992654e-01 2.45187917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.500714057 meters Centerline goodness [0,1] 0.9987145446116239 Centerline is valid? [True, True] Translation: X:704.76, Y:-51.98, Z:2.45 [[ 9.96035349e-01 8.88546066e-02 4.29447354e-03 7.04756069e+02] [-8.88530943e-02 9.96044594e-01 -5.42047469e-04 -5.19847539e+01] [-4.32565057e-03 1.58321178e-04 9.99990632e-01 2.45164278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.530714057 meters Centerline goodness [0,1] 0.9985963883185989 Centerline is valid? [True, True] Translation: X:704.79, Y:-51.99, Z:2.45 [[ 9.96083896e-01 8.83410721e-02 3.56743855e-03 7.04786376e+02] [-8.83400257e-02 9.96090276e-01 -4.50147624e-04 -5.19892729e+01] [-3.59325738e-03 1.33237186e-04 9.99993535e-01 2.45202185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5607140569999 meters Centerline goodness [0,1] 0.9988209036930981 Centerline is valid? [True, True] Translation: X:704.82, Y:-51.99, Z:2.45 [[ 9.96067012e-01 8.85237376e-02 3.74893647e-03 7.04817296e+02] [-8.85225830e-02 9.96074058e-01 -4.73110068e-04 -5.19914096e+01] [-3.77609983e-03 1.39383792e-04 9.99992861e-01 2.45173660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5907140569999 meters Centerline goodness [0,1] 0.9986955881424754 Centerline is valid? [True, True] Translation: X:704.85, Y:-51.99, Z:2.45 [[ 9.95871227e-01 9.06910413e-02 3.95407852e-03 7.04847613e+02] [-9.06897746e-02 9.95879067e-01 -4.98858665e-04 -5.19926636e+01] [-3.98302604e-03 1.38204501e-04 9.99992058e-01 2.45291641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.620714057 meters Centerline goodness [0,1] 0.9986115785930663 Centerline is valid? [True, True] Translation: X:704.88, Y:-51.99, Z:2.45 [[ 9.95679838e-01 9.27593934e-02 4.16596886e-03 7.04878406e+02] [-9.27580054e-02 9.95688544e-01 -5.25591399e-04 -5.19934944e+01] [-4.19676101e-03 1.36893798e-04 9.99991184e-01 2.45272769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.650714057 meters Centerline goodness [0,1] 0.998381332772756 Centerline is valid? [True, True] Translation: X:704.91, Y:-51.99, Z:2.45 [[ 9.95390595e-01 9.58273481e-02 3.83177686e-03 7.04909538e+02] [-9.58261958e-02 9.95397964e-01 -4.83633596e-04 -5.19937003e+01] [-3.86048821e-03 1.14219734e-04 9.99992542e-01 2.45244615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6807140569999 meters Centerline goodness [0,1] 0.9982130468602182 Centerline is valid? [True, True] Translation: X:704.94, Y:-51.99, Z:2.45 [[ 9.94669875e-01 1.03074695e-01 2.72896414e-03 7.04939115e+02] [-1.03074139e-01 9.94673617e-01 -3.44082452e-04 -5.19939998e+01] [-2.74989482e-03 6.09628219e-05 9.99996217e-01 2.45230815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7107140569999 meters Centerline goodness [0,1] 0.9976224041071391 Centerline is valid? [True, True] Translation: X:704.97, Y:-51.99, Z:2.45 [[ 9.94300422e-01 1.06586127e-01 2.46350588e-03 7.04969387e+02] [-1.06585685e-01 9.94303472e-01 -3.10606283e-04 -5.19949073e+01] [-2.48257877e-03 4.62614976e-05 9.99996917e-01 2.45169357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.740714057 meters Centerline goodness [0,1] 0.998209508562762 Centerline is valid? [True, True] Translation: X:705.00, Y:-52.00, Z:2.45 [[ 9.93996774e-01 1.09374136e-01 2.77715149e-03 7.04998859e+02] [-1.09373585e-01 9.94000652e-01 -3.49933732e-04 -5.19973613e+01] [-2.79876409e-03 4.40859861e-05 9.99996082e-01 2.45229431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.770714057 meters Centerline goodness [0,1] 0.9981061403139598 Centerline is valid? [True, True] Translation: X:705.03, Y:-52.00, Z:2.45 [[ 9.93433582e-01 1.14368844e-01 3.07986341e-03 7.05028605e+02] [-1.14368191e-01 9.93438356e-01 -3.87991993e-04 -5.20000475e+01] [-3.10402863e-03 3.32058694e-05 9.99995182e-01 2.45301021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8007140569999 meters Centerline goodness [0,1] 0.9984867591424968 Centerline is valid? [True, True] Translation: X:705.06, Y:-52.00, Z:2.45 [[ 9.93243424e-01 1.15994996e-01 3.55829588e-03 7.05056723e+02] [-1.15994135e-01 9.93249797e-01 -4.47978721e-04 -5.20039851e+01] [-3.58623995e-03 3.22104641e-05 9.99993569e-01 2.45369014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8307140569999 meters Centerline goodness [0,1] 0.9986746328943493 Centerline is valid? [True, True] Translation: X:705.09, Y:-52.01, Z:2.45 [[ 9.93061512e-01 1.17561454e-01 2.85285532e-03 7.05086574e+02] [-1.17560908e-01 9.93065609e-01 -3.59114571e-04 -5.20079005e+01] [-2.87529054e-03 2.12385978e-05 9.99995866e-01 2.45367692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8607140569999 meters Centerline goodness [0,1] 0.9987379314696788 Centerline is valid? [True, True] Translation: X:705.11, Y:-52.01, Z:2.45 [[ 9.92993740e-01 1.18150339e-01 1.98226235e-03 7.05114766e+02] [-1.18150077e-01 9.92995719e-01 -2.49203197e-04 -5.20124429e+01] [-1.99782147e-03 1.32527651e-05 9.99998004e-01 2.45388026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.890714057 meters Centerline goodness [0,1] 0.9982535875099945 Centerline is valid? [True, True] Translation: X:705.14, Y:-52.02, Z:2.45 [[ 9.92891476e-01 1.19004448e-01 2.11122982e-03 7.05143057e+02] [-1.19004153e-01 9.92893721e-01 -2.65157338e-04 -5.20167737e+01] [-2.12778174e-03 1.20273437e-05 9.99997736e-01 2.45315540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9207140569999 meters Centerline goodness [0,1] 0.9984861227922625 Centerline is valid? [True, True] Translation: X:705.17, Y:-52.02, Z:2.45 [[ 9.92676078e-01 1.20799723e-01 1.27726096e-03 7.05172402e+02] [-1.20799617e-01 9.92676900e-01 -1.60418774e-04 -5.20231538e+01] [-1.28728599e-03 4.95124518e-06 9.99999171e-01 2.45275614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9507140569999 meters Centerline goodness [0,1] 0.9986137366099559 Centerline is valid? [True, True] Translation: X:705.20, Y:-52.03, Z:2.45 [[ 9.92568487e-01 1.21685548e-01 6.52646848e-04 7.05201018e+02] [-1.21685520e-01 9.92568702e-01 -8.16697525e-05 -5.20285503e+01] [-6.57734863e-04 1.64515136e-06 9.99999784e-01 2.45379431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9807140569999 meters Centerline goodness [0,1] 0.9989086406279514 Centerline is valid? [True, True] Translation: X:705.23, Y:-52.03, Z:2.45 [[ 9.92398199e-01 1.23068240e-01 -1.47852508e-04 7.05229446e+02] [-1.23068239e-01 9.92398211e-01 1.91207331e-05 -5.20333852e+01] [ 1.49081719e-04 -7.79433411e-07 9.99999989e-01 2.45341634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.010714057 meters Centerline goodness [0,1] 0.9990577692162734 Centerline is valid? [True, True] Translation: X:705.26, Y:-52.04, Z:2.45 [[ 9.91940000e-01 1.26702706e-01 -1.20841556e-03 7.05257913e+02] [-1.26702615e-01 9.91940736e-01 1.52210977e-04 -5.20398900e+01] [ 1.21796216e-03 2.12525421e-06 9.99999258e-01 2.45352466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.040714057 meters Centerline goodness [0,1] 0.9993084950337371 Centerline is valid? [True, True] Translation: X:705.29, Y:-52.04, Z:2.45 [[ 9.91603226e-01 1.29300997e-01 -2.07246137e-03 7.05286324e+02] [-1.29300734e-01 9.91605391e-01 2.60740918e-04 -5.20445261e+01] [ 2.08877793e-03 9.41924216e-06 9.99997818e-01 2.45388279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0707140569999 meters Centerline goodness [0,1] 0.9994154244436093 Centerline is valid? [True, True] Translation: X:705.31, Y:-52.05, Z:2.45 [[ 9.91266642e-01 1.31857465e-01 -2.01305731e-03 7.05313480e+02] [-1.31857223e-01 9.91268686e-01 2.53230932e-04 -5.20485482e+01] [ 2.02887106e-03 1.44167702e-05 9.99997942e-01 2.45418490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1007140569999 meters Centerline goodness [0,1] 0.9997069965048869 Centerline is valid? [True, True] Translation: X:705.34, Y:-52.05, Z:2.46 [[ 9.90448860e-01 1.37866463e-01 -1.97341851e-03 7.05342298e+02] [-1.37866243e-01 9.90450825e-01 2.47792968e-04 -5.20545640e+01] [ 1.98873633e-03 2.66415322e-05 9.99998022e-01 2.45551681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.130714057 meters Centerline goodness [0,1] 0.9993942938301517 Centerline is valid? [True, True] Translation: X:705.37, Y:-52.06, Z:2.46 [[ 9.90067582e-01 1.40584364e-01 -1.48984656e-03 7.05370726e+02] [-1.40584242e-01 9.90068703e-01 1.87188779e-04 -5.20589926e+01] [ 1.50136627e-03 2.41194084e-05 9.99998873e-01 2.45636096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.160714057 meters Centerline goodness [0,1] 0.999292212253055 Centerline is valid? [True, True] Translation: X:705.40, Y:-52.06, Z:2.46 [[ 9.89768166e-01 1.42678102e-01 -1.39184787e-03 7.05400199e+02] [-1.42677997e-01 9.89769144e-01 1.74719331e-04 -5.20647033e+01] [ 1.40253670e-03 2.56544346e-05 9.99999016e-01 2.45654222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1907140569999 meters Centerline goodness [0,1] 0.9990604447228312 Centerline is valid? [True, True] Translation: X:705.43, Y:-52.07, Z:2.46 [[ 9.89523073e-01 1.44364421e-01 -1.73261292e-03 7.05428874e+02] [-1.44364262e-01 9.89524589e-01 2.17371230e-04 -5.20713015e+01] [ 1.74584376e-03 3.50335382e-05 9.99998475e-01 2.45669474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2207140569999 meters Centerline goodness [0,1] 0.9992688531439314 Centerline is valid? [True, True] Translation: X:705.46, Y:-52.08, Z:2.46 [[ 9.89316751e-01 1.45764765e-01 -2.23606478e-03 7.05456840e+02] [-1.45764503e-01 9.89319277e-01 2.80410642e-04 -5.20776160e+01] [ 2.25305598e-03 4.85239260e-05 9.99997461e-01 2.45688033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.250714057 meters Centerline goodness [0,1] 0.9988520860726734 Centerline is valid? [True, True] Translation: X:705.48, Y:-52.09, Z:2.46 [[ 9.89252412e-01 1.46193561e-01 -2.66613177e-03 7.05484837e+02] [-1.46193191e-01 9.89256003e-01 3.34217087e-04 -5.20886020e+01] [ 2.68634724e-03 5.91452519e-05 9.99996390e-01 2.45701611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.280714057 meters Centerline goodness [0,1] 0.9990398463754201 Centerline is valid? [True, True] Translation: X:705.51, Y:-52.10, Z:2.46 [[ 9.89364961e-01 1.45432224e-01 -2.53817817e-03 7.05514099e+02] [-1.45431887e-01 9.89368215e-01 3.17974719e-04 -5.20969943e+01] [ 2.55743658e-03 5.45389938e-05 9.99996728e-01 2.45713689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3107140569999 meters Centerline goodness [0,1] 0.9986440536537539 Centerline is valid? [True, True] Translation: X:705.54, Y:-52.11, Z:2.46 [[ 9.89586658e-01 1.43916849e-01 -2.48717942e-03 7.05542563e+02] [-1.43916521e-01 9.89589783e-01 3.11416691e-04 -5.21051937e+01] [ 2.50610545e-03 4.97724065e-05 9.99996858e-01 2.45750483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3407140569999 meters Centerline goodness [0,1] 0.9986414179416436 Centerline is valid? [True, True] Translation: X:705.57, Y:-52.12, Z:2.46 [[ 9.90232865e-01 1.39396818e-01 -2.72037314e-03 7.05572770e+02] [-1.39396412e-01 9.90236601e-01 3.39275166e-04 -5.21245105e+01] [ 2.74110693e-03 4.32488354e-05 9.99996242e-01 2.45753253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.370714057 meters Centerline goodness [0,1] 0.9989122931788231 Centerline is valid? [True, True] Translation: X:705.60, Y:-52.13, Z:2.46 [[ 9.90576374e-01 1.36943860e-01 -2.19683869e-03 7.05604115e+02] [-1.36943588e-01 9.90578810e-01 2.74188094e-04 -5.21347504e+01] [ 2.21369023e-03 2.92387255e-05 9.99997549e-01 2.45747582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.400714057 meters Centerline goodness [0,1] 0.999478242721486 Centerline is valid? [True, True] Translation: X:705.63, Y:-52.14, Z:2.46 [[ 9.90958839e-01 1.34148376e-01 -2.18928517e-03 7.05634011e+02] [-1.34148098e-01 9.90961257e-01 2.73905884e-04 -5.21442434e+01] [ 2.20624082e-03 2.22589857e-05 9.99997566e-01 2.45772578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4307140569999 meters Centerline goodness [0,1] 0.9991007946465914 Centerline is valid? [True, True] Translation: X:705.66, Y:-52.15, Z:2.46 [[ 9.91274891e-01 1.31787059e-01 -2.50225225e-03 7.05664105e+02] [-1.31786686e-01 9.91278049e-01 3.13917210e-04 -5.21533916e+01] [ 2.52179795e-03 1.85852837e-05 9.99996820e-01 2.45796765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4607140569999 meters Centerline goodness [0,1] 0.9986601067727415 Centerline is valid? [True, True] Translation: X:705.69, Y:-52.17, Z:2.46 [[ 9.91759057e-01 1.28061804e-01 -3.76124347e-03 7.05694731e+02] [-1.28060929e-01 9.91766189e-01 4.73522079e-04 -5.21675080e+01] [ 3.79091419e-03 1.20485240e-05 9.99992814e-01 2.45720397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.490714057 meters Centerline goodness [0,1] 0.9985994104981499 Centerline is valid? [True, True] Translation: X:705.73, Y:-52.18, Z:2.46 [[ 9.91933476e-01 1.26682198e-01 -4.42707756e-03 7.05726130e+02] [-1.26680966e-01 9.91943356e-01 5.58739048e-04 -5.21765416e+01] [ 4.46219246e-03 6.59449333e-06 9.99990044e-01 2.45704188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.520714057 meters Centerline goodness [0,1] 0.9980749916303984 Centerline is valid? [True, True] Translation: X:705.76, Y:-52.19, Z:2.46 [[ 9.92101358e-01 1.25325388e-01 -5.33318557e-03 7.05758606e+02] [-1.25323571e-01 9.92115692e-01 6.74889456e-04 -5.21853872e+01] [ 5.37571788e-03 -1.18488439e-06 9.99985551e-01 2.45642696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5507140569999 meters Centerline goodness [0,1] 0.9986018072163443 Centerline is valid? [True, True] Translation: X:705.79, Y:-52.19, Z:2.46 [[ 9.92329590e-01 1.23480961e-01 -5.86837208e-03 7.05791042e+02] [-1.23478717e-01 9.92346941e-01 7.44534944e-04 -5.21938306e+01] [ 5.91539697e-03 -1.42050003e-05 9.99982504e-01 2.45667615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5807140569999 meters Centerline goodness [0,1] 0.9984521095237099 Centerline is valid? [True, True] Translation: X:705.82, Y:-52.21, Z:2.46 [[ 9.92699239e-01 1.20460929e-01 -6.11431943e-03 7.05821065e+02] [-1.20458423e-01 9.92718068e-01 7.77684212e-04 -5.22058578e+01] [ 6.16347594e-03 -3.54852463e-05 9.99981005e-01 2.45758203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6107140569999 meters Centerline goodness [0,1] 0.9985997617505068 Centerline is valid? [True, True] Translation: X:705.85, Y:-52.21, Z:2.46 [[ 9.92839883e-01 1.19284630e-01 -6.33595088e-03 7.05852913e+02] [-1.19281906e-01 9.92860098e-01 8.07374900e-04 -5.22137123e+01] [ 6.38702023e-03 -4.58297011e-05 9.99979602e-01 2.45855927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.640714057 meters Centerline goodness [0,1] 0.998807431584233 Centerline is valid? [True, True] Translation: X:705.89, Y:-52.22, Z:2.46 [[ 9.92963534e-01 1.18268043e-01 -6.00748043e-03 7.05885578e+02] [-1.18265566e-01 9.92981706e-01 7.67066362e-04 -5.22205248e+01] [ 6.05603760e-03 -5.11908511e-05 9.99981661e-01 2.45980532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6707140569999 meters Centerline goodness [0,1] 0.998912520651651 Centerline is valid? [True, True] Translation: X:705.92, Y:-52.23, Z:2.46 [[ 9.93103502e-01 1.17110168e-01 -5.53558247e-03 7.05915457e+02] [-1.17108037e-01 9.93118928e-01 7.08711325e-04 -5.22284538e+01] [ 5.58048903e-03 -5.55625022e-05 9.99984427e-01 2.46069134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7007140569999 meters Centerline goodness [0,1] 0.9987664387714567 Centerline is valid? [True, True] Translation: X:705.95, Y:-52.24, Z:2.46 [[ 9.93352708e-01 1.15004524e-01 -4.93534292e-03 7.05945152e+02] [-1.15002804e-01 9.93364966e-01 6.31780091e-04 -5.22386247e+01] [ 4.97525432e-03 -6.00021887e-05 9.99987622e-01 2.46185992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7307140569999 meters Centerline goodness [0,1] 0.9987862299884901 Centerline is valid? [True, True] Translation: X:705.98, Y:-52.25, Z:2.46 [[ 9.93392355e-01 1.14671825e-01 -4.69063377e-03 7.05977060e+02] [-1.14670267e-01 9.93403427e-01 6.00637283e-04 -5.22457446e+01] [ 4.72856783e-03 -5.87922591e-05 9.99988819e-01 2.46295392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.760714057 meters Centerline goodness [0,1] 0.998912111132032 Centerline is valid? [True, True] Translation: X:706.01, Y:-52.25, Z:2.46 [[ 9.93417998e-01 1.14467935e-01 -4.21587142e-03 7.06009775e+02] [-1.14466671e-01 9.93426942e-01 5.40761783e-04 -5.22516022e+01] [ 4.25006014e-03 -5.46257216e-05 9.99990967e-01 2.46321569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.790714057 meters Centerline goodness [0,1] 0.998912111132032 Centerline is valid? [True, True] Translation: X:706.04, Y:-52.26, Z:2.46 [[ 9.93386030e-01 1.14745034e-01 -4.21572048e-03 7.06041988e+02] [-1.14743768e-01 9.93394974e-01 5.41934950e-04 -5.22558200e+01] [ 4.25005988e-03 -5.46229574e-05 9.99990967e-01 2.46345767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8207140569999 meters Centerline goodness [0,1] 0.9988709778586213 Centerline is valid? [True, True] Translation: X:706.07, Y:-52.26, Z:2.46 [[ 9.93272713e-01 1.15762468e-01 -2.89280056e-03 7.06074673e+02] [-1.15761875e-01 9.93276925e-01 3.72045411e-04 -5.22635844e+01] [ 2.91642094e-03 -3.46665362e-05 9.99995747e-01 2.46420089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8507140569999 meters Centerline goodness [0,1] 0.9991645781119465 Centerline is valid? [True, True] Translation: X:706.11, Y:-52.27, Z:2.46 [[ 9.93147066e-01 1.16842966e-01 -2.57418687e-03 7.06107716e+02] [-1.16842499e-01 9.93150402e-01 3.31569378e-04 -5.22684993e+01] [ 2.59529627e-03 -2.85227269e-05 9.99996632e-01 2.46487282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.880714057 meters Centerline goodness [0,1] 0.9989748310563424 Centerline is valid? [True, True] Translation: X:706.14, Y:-52.27, Z:2.46 [[ 9.92959157e-01 1.18444499e-01 -1.73613163e-03 7.06140166e+02] [-1.18444289e-01 9.92960674e-01 2.23595482e-04 -5.22719309e+01] [ 1.75039409e-03 -1.63863047e-05 9.99998468e-01 2.46465382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.910714057 meters Centerline goodness [0,1] 0.9987042300618626 Centerline is valid? [True, True] Translation: X:706.17, Y:-52.28, Z:2.47 [[ 9.92772362e-01 1.20003594e-01 -1.47464309e-03 7.06171676e+02] [-1.20003444e-01 9.92773457e-01 1.90020447e-04 -5.22756143e+01] [ 1.48678965e-03 -1.16847978e-05 9.99998895e-01 2.46523751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9407140569999 meters Centerline goodness [0,1] 0.9985378590078329 Centerline is valid? [True, True] Translation: X:706.20, Y:-52.28, Z:2.47 [[ 9.92428661e-01 1.22821766e-01 -4.07163350e-04 7.06202234e+02] [-1.22821755e-01 9.92428745e-01 5.19901939e-05 -5.22796995e+01] [ 4.10466140e-04 -1.58804130e-06 9.99999916e-01 2.46521206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9707140569999 meters Centerline goodness [0,1] 0.9987025488636839 Centerline is valid? [True, True] Translation: X:706.24, Y:-52.28, Z:2.46 [[ 9.92251180e-01 1.24247148e-01 -4.92853944e-04 7.06235369e+02] [-1.24247132e-01 9.92251302e-01 6.21688428e-05 -5.22840718e+01] [ 4.96759269e-04 -4.51418561e-07 9.99999877e-01 2.46461002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.000714057 meters Centerline goodness [0,1] 0.9987605823162405 Centerline is valid? [True, True] Translation: X:706.27, Y:-52.29, Z:2.46 [[ 9.92113095e-01 1.25345779e-01 -2.05374124e-04 7.06266839e+02] [-1.25345777e-01 9.92113116e-01 2.54990099e-05 -5.22893018e+01] [ 2.06950556e-04 4.44877539e-07 9.99999979e-01 2.46492844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.030714057 meters Centerline goodness [0,1] 0.9984743353954189 Centerline is valid? [True, True] Translation: X:706.30, Y:-52.30, Z:2.46 [[ 9.91855112e-01 1.27369613e-01 6.46290567e-04 7.06299442e+02] [-1.27369583e-01 9.91855323e-01 -8.68130048e-05 -5.22950035e+01] [-6.52084078e-04 3.78816257e-06 9.99999787e-01 2.46482212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0607140569999 meters Centerline goodness [0,1] 0.998619506787425 Centerline is valid? [True, True] Translation: X:706.33, Y:-52.30, Z:2.46 [[ 9.91717244e-01 1.28435188e-01 1.14446760e-03 7.06332527e+02] [-1.28435098e-01 9.91717905e-01 -1.52431091e-04 -5.23001488e+01] [-1.15456653e-03 4.17873266e-06 9.99999333e-01 2.46445747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0907140569999 meters Centerline goodness [0,1] 0.9988452655889145 Centerline is valid? [True, True] Translation: X:706.36, Y:-52.30, Z:2.46 [[ 9.91637515e-01 1.29039925e-01 1.93310337e-03 7.06364352e+02] [-1.29039670e-01 9.91639399e-01 -2.56361574e-04 -5.23049498e+01] [-1.95002234e-03 4.77073256e-06 9.99998099e-01 2.46452699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.120714057 meters Centerline goodness [0,1] 0.9988289908410355 Centerline is valid? [True, True] Translation: X:706.40, Y:-52.31, Z:2.46 [[ 9.91684679e-01 1.28688086e-01 9.34871717e-04 7.06396535e+02] [-1.28688025e-01 9.91685120e-01 -1.25425546e-04 -5.23102404e+01] [-9.43239144e-04 4.07579774e-06 9.99999555e-01 2.46391273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.150714057 meters Centerline goodness [0,1] 0.9990793630866445 Centerline is valid? [True, True] Translation: X:706.43, Y:-52.32, Z:2.47 [[ 9.91680507e-01 1.28721542e-01 7.32037222e-04 7.06427589e+02] [-1.28721504e-01 9.91680778e-01 -9.87262210e-05 -5.23165366e+01] [-7.38655433e-04 3.67593672e-06 9.99999727e-01 2.46576678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1807140569999 meters Centerline goodness [0,1] 0.9989753027039461 Centerline is valid? [True, True] Translation: X:706.46, Y:-52.32, Z:2.46 [[ 9.91826107e-01 1.27596645e-01 2.62123748e-04 7.06459435e+02] [-1.27596640e-01 9.91826142e-01 -3.68155017e-05 -5.23239326e+01] [-2.64678720e-04 3.06846625e-06 9.99999965e-01 2.46363613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2107140569999 meters Centerline goodness [0,1] 0.9985360548770286 Centerline is valid? [True, True] Translation: X:706.49, Y:-52.33, Z:2.46 [[ 9.91833622e-01 1.27536619e-01 6.90290926e-04 7.06492165e+02] [-1.27536584e-01 9.91833863e-01 -9.37003989e-05 -5.23301463e+01] [-6.96604148e-04 4.89785897e-06 9.99999757e-01 2.46432507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.240714057 meters Centerline goodness [0,1] 0.99851268408153 Centerline is valid? [True, True] Translation: X:706.52, Y:-52.34, Z:2.46 [[ 9.91814078e-01 1.27685939e-01 1.06576378e-03 7.06524446e+02] [-1.27685859e-01 9.91814650e-01 -1.43829009e-04 -5.23357904e+01] [-1.07540508e-03 6.56867219e-06 9.99999422e-01 2.46491011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.270714057 meters Centerline goodness [0,1] 0.998451494098937 Centerline is valid? [True, True] Translation: X:706.56, Y:-52.34, Z:2.47 [[ 9.91681481e-01 1.28710410e-01 1.21251417e-03 7.06555427e+02] [-1.28710306e-01 9.91682222e-01 -1.63518917e-04 -5.23420933e+01] [-1.22347533e-03 6.09561241e-06 9.99999252e-01 2.46613168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3007140569999 meters Centerline goodness [0,1] 0.9988643294285895 Centerline is valid? [True, True] Translation: X:706.59, Y:-52.35, Z:2.47 [[ 9.91613203e-01 1.29233242e-01 1.42320675e-03 7.06587696e+02] [-1.29233099e-01 9.91614224e-01 -1.92163338e-04 -5.23471577e+01] [-1.43610595e-03 6.62628352e-06 9.99998969e-01 2.46653614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3307140569999 meters Centerline goodness [0,1] 0.9986170480261504 Centerline is valid? [True, True] Translation: X:706.62, Y:-52.35, Z:2.47 [[ 9.91573314e-01 1.29536324e-01 1.64460020e-03 7.06620411e+02] [-1.29536134e-01 9.91574677e-01 -2.22199711e-04 -5.23526014e+01] [-1.65952685e-03 7.29215246e-06 9.99998623e-01 2.46707489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3607140569999 meters Centerline goodness [0,1] 0.9985473072550424 Centerline is valid? [True, True] Translation: X:706.65, Y:-52.36, Z:2.47 [[ 9.91687316e-01 1.28646326e-01 2.52789389e-03 7.06651759e+02] [-1.28645875e-01 9.91690538e-01 -3.40770476e-04 -5.23596731e+01] [-2.55072733e-03 1.27346352e-05 9.99996747e-01 2.46696709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.390714057 meters Centerline goodness [0,1] 0.9984839871138904 Centerline is valid? [True, True] Translation: X:706.68, Y:-52.37, Z:2.47 [[ 9.91727451e-01 1.28325307e-01 3.04612723e-03 7.06684059e+02] [-1.28324649e-01 9.91732129e-01 -4.11369456e-04 -5.23658993e+01] [-3.07373135e-03 1.70731749e-05 9.99995276e-01 2.46744985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4207140569999 meters Centerline goodness [0,1] 0.9988276915991543 Centerline is valid? [True, True] Translation: X:706.72, Y:-52.37, Z:2.47 [[ 9.91795278e-01 1.27808162e-01 2.68337655e-03 7.06716520e+02] [-1.27807646e-01 9.91798908e-01 -3.63375840e-04 -5.23726550e+01] [-2.70781233e-03 1.74383997e-05 9.99996334e-01 2.46782878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4507140569999 meters Centerline goodness [0,1] 0.9987802826379543 Centerline is valid? [True, True] Translation: X:706.75, Y:-52.38, Z:2.47 [[ 9.91849745e-01 1.27382489e-01 2.79008020e-03 7.06748186e+02] [-1.27381929e-01 9.91853669e-01 -3.78330112e-04 -5.23789328e+01] [-2.81554392e-03 1.98408271e-05 9.99996036e-01 2.46753512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4807140569999 meters Centerline goodness [0,1] 0.9989285038973045 Centerline is valid? [True, True] Translation: X:706.78, Y:-52.39, Z:2.47 [[ 9.91918028e-01 1.26866842e-01 1.85199982e-03 7.06780519e+02] [-1.26866592e-01 9.91919757e-01 -2.52409198e-04 -5.23852514e+01] [-1.86905757e-03 1.54123280e-05 9.99998253e-01 2.46709444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.510714057 meters Centerline goodness [0,1] 0.9985900970097431 Centerline is valid? [True, True] Translation: X:706.81, Y:-52.39, Z:2.47 [[ 9.92089954e-01 1.25521403e-01 1.37890226e-03 7.06812035e+02] [-1.25521264e-01 9.92090912e-01 -1.87917894e-04 -5.23931382e+01] [-1.39158412e-03 1.33499005e-05 9.99999032e-01 2.46600530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.540714057 meters Centerline goodness [0,1] 0.9988910509907308 Centerline is valid? [True, True] Translation: X:706.84, Y:-52.40, Z:2.47 [[ 9.92221375e-01 1.24480633e-01 1.14671164e-03 7.06843922e+02] [-1.24480534e-01 9.92222038e-01 -1.57535570e-04 -5.23998937e+01] [-1.15740269e-03 1.35668820e-05 9.99999330e-01 2.46633205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5707140569999 meters Centerline goodness [0,1] 0.9990583804143126 Centerline is valid? [True, True] Translation: X:706.87, Y:-52.41, Z:2.47 [[ 9.92296697e-01 1.23875078e-01 1.49353703e-03 7.06874951e+02] [-1.23874911e-01 9.92297821e-01 -2.04520466e-04 -5.24064616e+01] [-1.50736853e-03 1.79332167e-05 9.99998864e-01 2.46721605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6007140569999 meters Centerline goodness [0,1] 0.9985344304168499 Centerline is valid? [True, True] Translation: X:706.91, Y:-52.41, Z:2.47 [[ 9.92436967e-01 1.22703721e-01 3.55859130e-03 7.06905384e+02] [-1.22702767e-01 9.92443346e-01 -4.85823662e-04 -5.24146158e+01] [-3.59131263e-03 4.55003609e-05 9.99993550e-01 2.46918982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.630714057 meters Centerline goodness [0,1] 0.998969093854537 Centerline is valid? [True, True] Translation: X:706.94, Y:-52.42, Z:2.47 [[ 9.92470429e-01 1.22416842e-01 4.06993122e-03 7.06936628e+02] [-1.22415589e-01 9.92478773e-01 -5.56449852e-04 -5.24203009e+01] [-4.10743918e-03 5.40369947e-05 9.99991563e-01 2.47031569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.660714057 meters Centerline goodness [0,1] 0.9983261847473585 Centerline is valid? [True, True] Translation: X:706.97, Y:-52.43, Z:2.47 [[ 9.92514764e-01 1.22059815e-01 3.98061845e-03 7.06967727e+02] [-1.22058610e-01 9.92522745e-01 -5.45372312e-04 -5.24261973e+01] [-4.01742239e-03 5.54213181e-05 9.99991929e-01 2.47009884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6907140569999 meters Centerline goodness [0,1] 0.9989278957326045 Centerline is valid? [True, True] Translation: X:707.00, Y:-52.43, Z:2.47 [[ 9.92734930e-01 1.20259335e-01 3.87955200e-03 7.06999223e+02] [-1.20258173e-01 9.92742509e-01 -5.32320159e-04 -5.24329207e+01] [-3.91541266e-03 6.19049810e-05 9.99992333e-01 2.47009068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7207140569999 meters Centerline goodness [0,1] 0.9987838631216975 Centerline is valid? [True, True] Translation: X:707.03, Y:-52.44, Z:2.47 [[ 9.92884379e-01 1.19040432e-01 3.15995535e-03 7.07031057e+02] [-1.19039651e-01 9.92889406e-01 -4.34751321e-04 -5.24368020e+01] [-3.18923918e-03 5.54978117e-05 9.99994913e-01 2.46871606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.750714057 meters Centerline goodness [0,1] 0.9990790547753103 Centerline is valid? [True, True] Translation: X:707.06, Y:-52.44, Z:2.47 [[ 9.93068471e-01 1.17508130e-01 2.61746551e-03 7.07062787e+02] [-1.17507586e-01 9.93071919e-01 -3.61130451e-04 -5.24411501e+01] [-2.64176726e-03 5.10552115e-05 9.99996509e-01 2.46796500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.780714057 meters Centerline goodness [0,1] 0.999142546427974 Centerline is valid? [True, True] Translation: X:707.09, Y:-52.45, Z:2.47 [[ 9.93442464e-01 1.14322171e-01 1.58501510e-03 7.07094809e+02] [-1.14321965e-01 9.93443728e-01 -2.19808034e-04 -5.24469502e+01] [-1.59975225e-03 3.71645930e-05 9.99998720e-01 2.46797790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8107140569999 meters Centerline goodness [0,1] 0.9995598314783374 Centerline is valid? [True, True] Translation: X:707.13, Y:-52.45, Z:2.47 [[ 9.93619277e-01 1.12776756e-01 1.46171913e-03 7.07126589e+02] [-1.12776579e-01 9.93620351e-01 -2.03240702e-04 -5.24514518e+01] [-1.47531470e-03 3.70961971e-05 9.99998911e-01 2.46793364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8407140569999 meters Centerline goodness [0,1] 0.9993099843178254 Centerline is valid? [True, True] Translation: X:707.16, Y:-52.46, Z:2.47 [[ 9.93825986e-01 1.10942407e-01 1.30063374e-03 7.07156816e+02] [-1.10942266e-01 9.93826837e-01 -1.80274870e-04 -5.24568514e+01] [-1.31260484e-03 3.48665966e-05 9.99999138e-01 2.46850694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.870714057 meters Centerline goodness [0,1] 0.9993691780389848 Centerline is valid? [True, True] Translation: X:707.19, Y:-52.46, Z:2.47 [[ 9.93984714e-01 1.09502302e-01 1.90622554e-03 7.07188859e+02] [-1.09501995e-01 9.93986541e-01 -2.65198227e-04 -5.24610687e+01] [-1.92380235e-03 5.48674841e-05 9.99998148e-01 2.46894789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.900714057 meters Centerline goodness [0,1] 0.9989738219895288 Centerline is valid? [True, True] Translation: X:707.22, Y:-52.47, Z:2.47 [[ 9.94321636e-01 1.06398795e-01 1.94414421e-03 7.07218957e+02] [-1.06398471e-01 9.94323535e-01 -2.69747072e-04 -5.24670718e+01] [-1.96180911e-03 6.13613792e-05 9.99998074e-01 2.47021544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9307140569999 meters Centerline goodness [0,1] 0.9990173736697957 Centerline is valid? [True, True] Translation: X:707.25, Y:-52.47, Z:2.47 [[ 9.94429075e-01 1.05394880e-01 1.65353879e-03 7.07250822e+02] [-1.05394641e-01 9.94430448e-01 -2.30837195e-04 -5.24709285e+01] [-1.66865838e-03 5.52770906e-05 9.99998606e-01 2.47081693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9607140569999 meters Centerline goodness [0,1] 0.9992477589485341 Centerline is valid? [True, True] Translation: X:707.28, Y:-52.47, Z:2.47 [[ 9.94506752e-01 1.04658271e-01 1.72249876e-03 7.07282895e+02] [-1.04658011e-01 9.94508242e-01 -2.40841142e-04 -5.24733635e+01] [-1.73824523e-03 5.92448482e-05 9.99998487e-01 2.47067202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.990714057 meters Centerline goodness [0,1] 0.9989745521513478 Centerline is valid? [True, True] Translation: X:707.31, Y:-52.48, Z:2.47 [[ 9.94532240e-01 1.04411187e-01 1.98201291e-03 7.07314759e+02] [-1.04410841e-01 9.94534212e-01 -2.77350306e-04 -5.24760996e+01] [-2.00013812e-03 6.88901851e-05 9.99997997e-01 2.47102609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.020714057 meters Centerline goodness [0,1] 0.999326485940394 Centerline is valid? [True, True] Translation: X:707.35, Y:-52.48, Z:2.47 [[ 9.94518028e-01 1.04524920e-01 2.90407340e-03 7.07347497e+02] [-1.04524179e-01 9.94522263e-01 -4.06272681e-04 -5.24758169e+01] [-2.93063126e-03 1.00499617e-04 9.99995701e-01 2.47243158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0507140569999 meters Centerline goodness [0,1] 0.999120216175454 Centerline is valid? [True, True] Translation: X:707.38, Y:-52.48, Z:2.47 [[ 9.94446639e-01 1.05203829e-01 2.83494127e-03 7.07378695e+02] [-1.05203124e-01 9.94450675e-01 -3.97335008e-04 -5.24812855e+01] [-2.86101042e-03 9.68837867e-05 9.99995903e-01 2.47398872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0807140569999 meters Centerline goodness [0,1] 0.999329674473166 Centerline is valid? [True, True] Translation: X:707.41, Y:-52.48, Z:2.47 [[ 9.94330349e-01 1.06285266e-01 3.25579967e-03 7.07411693e+02] [-1.06284339e-01 9.94335673e-01 -4.56896906e-04 -5.24803891e+01] [-3.28591917e-03 1.08265945e-04 9.99994595e-01 2.47391871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1107140569999 meters Centerline goodness [0,1] 0.999266278143474 Centerline is valid? [True, True] Translation: X:707.44, Y:-52.48, Z:2.47 [[ 9.94264245e-01 1.06893989e-01 3.50516765e-03 7.07443493e+02] [-1.06892920e-01 9.94270417e-01 -4.91431517e-04 -5.24811660e+01] [-3.53761558e-03 1.13935181e-04 9.99993736e-01 2.47469451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.140714057 meters Centerline goodness [0,1] 0.9993506901535304 Centerline is valid? [True, True] Translation: X:707.48, Y:-52.48, Z:2.47 [[ 9.94227453e-01 1.07252538e-01 2.94376578e-03 7.07476524e+02] [-1.07251779e-01 9.94231806e-01 -4.14827226e-04 -5.24825879e+01] [-2.97127684e-03 9.67084991e-05 9.99995581e-01 2.47440659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1707140569999 meters Centerline goodness [0,1] 0.9992247412311948 Centerline is valid? [True, True] Translation: X:707.51, Y:-52.48, Z:2.47 [[ 9.94216705e-01 1.07361201e-01 2.59158011e-03 7.07509844e+02] [-1.07360611e-01 9.94220079e-01 -3.66209792e-04 -5.24848639e+01] [-2.61591771e-03 8.58582683e-05 9.99996575e-01 2.47411050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2007140569999 meters Centerline goodness [0,1] 0.9996017940227186 Centerline is valid? [True, True] Translation: X:707.54, Y:-52.49, Z:2.47 [[ 9.94155205e-01 1.07951227e-01 1.40015320e-03 7.07542041e+02] [-1.07951054e-01 9.94156190e-01 -1.98913547e-04 -5.24864071e+01] [-1.41344394e-03 4.66029241e-05 9.99999000e-01 2.47401214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2307140569999 meters Centerline goodness [0,1] 0.9994971505196111 Centerline is valid? [True, True] Translation: X:707.57, Y:-52.49, Z:2.47 [[ 9.94051352e-01 1.08912384e-01 3.96755376e-05 7.07573189e+02] [-1.08912384e-01 9.94051353e-01 -7.30566617e-06 -5.24860792e+01] [-4.02351993e-05 2.94104995e-06 9.99999999e-01 2.47368531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.260714057 meters Centerline goodness [0,1] 0.9997066096651159 Centerline is valid? [True, True] Translation: X:707.61, Y:-52.49, Z:2.47 [[ 9.93970566e-01 1.09642302e-01 -1.03930753e-03 7.07605711e+02] [-1.09642211e-01 9.93971109e-01 1.44958259e-04 -5.24874609e+01] [ 1.04893522e-03 -3.01322676e-05 9.99999449e-01 2.47412628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.290714057 meters Centerline goodness [0,1] 0.9993293794664375 Centerline is valid? [True, True] Translation: X:707.64, Y:-52.49, Z:2.47 [[ 9.93877092e-01 1.10487104e-01 -9.61961207e-04 7.07638376e+02] [-1.10487026e-01 9.93877557e-01 1.34231901e-04 -5.24880178e+01] [ 9.70902548e-04 -2.71257784e-05 9.99999528e-01 2.47429587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3207140569999 meters Centerline goodness [0,1] 0.9995599052748496 Centerline is valid? [True, True] Translation: X:707.67, Y:-52.49, Z:2.48 [[ 9.93778253e-01 1.11372822e-01 -9.37071063e-04 7.07669642e+02] [-1.11372748e-01 9.93778695e-01 1.31071679e-04 -5.24916400e+01] [ 9.45839081e-04 -2.58920048e-05 9.99999552e-01 2.47565668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3507140569999 meters Centerline goodness [0,1] 0.9993513965896014 Centerline is valid? [True, True] Translation: X:707.70, Y:-52.49, Z:2.48 [[ 9.93696098e-01 1.12091284e-01 -1.89944474e-03 7.07702533e+02] [-1.12090977e-01 9.93697912e-01 2.67774725e-04 -5.24892206e+01] [ 1.91748949e-03 -5.31760829e-05 9.99998160e-01 2.47680724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.380714057 meters Centerline goodness [0,1] 0.9997904486494416 Centerline is valid? [True, True] Translation: X:707.74, Y:-52.49, Z:2.48 [[ 9.93645695e-01 1.12531293e-01 -2.22289731e-03 7.07735223e+02] [-1.12530872e-01 9.93648179e-01 3.14056340e-04 -5.24910701e+01] [ 2.24411903e-03 -6.19161564e-05 9.99997480e-01 2.47726086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.410714057 meters Centerline goodness [0,1] 0.9994342706281691 Centerline is valid? [True, True] Translation: X:707.77, Y:-52.49, Z:2.48 [[ 9.93879363e-01 1.10421344e-01 -3.30734451e-03 7.07766149e+02] [-1.10420390e-01 9.93884861e-01 4.70274338e-04 -5.24918265e+01] [ 3.33904796e-03 -1.02197691e-04 9.99994420e-01 2.47786626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4407140569999 meters Centerline goodness [0,1] 0.9996434937611408 Centerline is valid? [True, True] Translation: X:707.80, Y:-52.50, Z:2.48 [[ 9.94088601e-01 1.08523790e-01 -3.23121669e-03 7.07796735e+02] [-1.08522870e-01 9.94093847e-01 4.59179203e-04 -5.24959652e+01] [ 3.26196450e-03 -1.05803901e-04 9.99994674e-01 2.47870775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4707140569999 meters Centerline goodness [0,1] 0.9997070455544163 Centerline is valid? [True, True] Translation: X:707.83, Y:-52.50, Z:2.48 [[ 9.94436514e-01 1.05295321e-01 -2.98594558e-03 7.07828334e+02] [-1.05294521e-01 9.94440991e-01 4.24172679e-04 -5.24973101e+01] [ 3.01401007e-03 -1.07409091e-04 9.99995452e-01 2.47865589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.500714057 meters Centerline goodness [0,1] 0.9994985688318743 Centerline is valid? [True, True] Translation: X:707.86, Y:-52.50, Z:2.48 [[ 9.94815839e-01 1.01628474e-01 -3.61926054e-03 7.07857529e+02] [-1.01627267e-01 9.94822412e-01 5.16220132e-04 -5.25036156e+01] [ 3.65298416e-03 -1.45728407e-04 9.99993317e-01 2.47944845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.530714057 meters Centerline goodness [0,1] 0.9994782862747553 Centerline is valid? [True, True] Translation: X:707.89, Y:-52.51, Z:2.48 [[ 9.95190613e-01 9.79022788e-02 -3.28433807e-03 7.07887494e+02] [-9.79012652e-02 9.95196022e-01 4.68379953e-04 -5.25081744e+01] [ 3.31441565e-03 -1.44586481e-04 9.99994497e-01 2.48000575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5607140569999 meters Centerline goodness [0,1] 0.9997481055437771 Centerline is valid? [True, True] Translation: X:707.92, Y:-52.51, Z:2.48 [[ 9.95931306e-01 9.00568706e-02 -3.25478257e-03 7.07919627e+02] [-9.00558334e-02 9.95936610e-01 4.64155269e-04 -5.25054681e+01] [ 3.28335749e-03 -1.69154607e-04 9.99994595e-01 2.48072232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5907140569999 meters Centerline goodness [0,1] 0.999789535715789 Centerline is valid? [True, True] Translation: X:707.95, Y:-52.51, Z:2.48 [[ 9.96197554e-01 8.70299733e-02 -4.02701341e-03 7.07950714e+02] [-8.70283600e-02 9.96205669e-01 5.74459859e-04 -5.25086229e+01] [ 4.06172882e-03 -2.21811133e-04 9.99991727e-01 2.48156604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.620714057 meters Centerline goodness [0,1] 0.9999580087761658 Centerline is valid? [True, True] Translation: X:707.98, Y:-52.52, Z:2.48 [[ 9.96414811e-01 8.44925010e-02 -4.30610679e-03 7.07979933e+02] [-8.44906318e-02 9.96424084e-01 6.14499813e-04 -5.25180563e+01] [ 4.34262914e-03 -2.48471032e-04 9.99990540e-01 2.48242563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.650714057 meters Centerline goodness [0,1] 0.9996636677036912 Centerline is valid? [True, True] Translation: X:708.01, Y:-52.52, Z:2.48 [[ 9.96555893e-01 8.27962412e-02 -4.59724950e-03 7.08012442e+02] [-8.27940929e-02 9.96566459e-01 6.56000774e-04 -5.25201191e+01] [ 4.63577905e-03 -2.73116335e-04 9.99989217e-01 2.48347236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6807140569999 meters Centerline goodness [0,1] 0.9997901584303851 Centerline is valid? [True, True] Translation: X:708.04, Y:-52.52, Z:2.49 [[ 9.96567153e-01 8.26813262e-02 -4.20799789e-03 7.08044392e+02] [-8.26795250e-02 9.96576006e-01 6.00505611e-04 -5.25172703e+01] [ 4.24324033e-03 -2.50528900e-04 9.99990966e-01 2.48534559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7107140569999 meters Centerline goodness [0,1] 0.9997901584303851 Centerline is valid? [True, True] Translation: X:708.08, Y:-52.52, Z:2.49 [[ 9.96545750e-01 8.29389024e-02 -4.20798292e-03 7.08076601e+02] [-8.29371031e-02 9.96554603e-01 6.00611151e-04 -5.25219595e+01] [ 4.24329877e-03 -2.49538577e-04 9.99990966e-01 2.48558787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.740714057 meters Centerline goodness [0,1] 0.9996849136663446 Centerline is valid? [True, True] Translation: X:708.11, Y:-52.52, Z:2.49 [[ 9.96472286e-01 8.38098756e-02 -4.34602658e-03 7.08108891e+02] [-8.38079589e-02 9.96481731e-01 6.21615963e-04 -5.25202776e+01] [ 4.38283364e-03 -2.55191463e-04 9.99990363e-01 2.48624341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.770714057 meters Centerline goodness [0,1] 0.9997269022309987 Centerline is valid? [True, True] Translation: X:708.14, Y:-52.51, Z:2.49 [[ 9.96292839e-01 8.59287028e-02 -4.10336510e-03 7.08142691e+02] [-8.59270063e-02 9.96301261e-01 5.88298747e-04 -5.25090620e+01] [ 4.13873958e-03 -2.33527950e-04 9.99991408e-01 2.48707552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8007140569999 meters Centerline goodness [0,1] 0.9994745360153016 Centerline is valid? [True, True] Translation: X:708.18, Y:-52.50, Z:2.49 [[ 9.96151090e-01 8.75452254e-02 -4.34048546e-03 7.08175647e+02] [-8.75433435e-02 9.96160517e-01 6.22064541e-04 -5.25040077e+01] [ 4.37827902e-03 -2.39689661e-04 9.99990387e-01 2.48708590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8307140569999 meters Centerline goodness [0,1] 0.999873790492217 Centerline is valid? [True, True] Translation: X:708.21, Y:-52.50, Z:2.49 [[ 9.95966491e-01 8.96140380e-02 -4.48022249e-03 7.08207737e+02] [-8.96120456e-02 9.95976539e-01 6.43907150e-04 -5.25044621e+01] [ 4.51989961e-03 -2.39828043e-04 9.99989756e-01 2.48687920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8607140569999 meters Centerline goodness [0,1] 0.999789646395591 Centerline is valid? [True, True] Translation: X:708.24, Y:-52.51, Z:2.49 [[ 9.95744616e-01 9.20021299e-02 -5.31677376e-03 7.08238846e+02] [-9.19993557e-02 9.95758773e-01 7.64543640e-04 -5.25052578e+01] [ 5.36456376e-03 -2.72150453e-04 9.99985574e-01 2.48644446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.890714057 meters Centerline goodness [0,1] 0.9998107414728519 Centerline is valid? [True, True] Translation: X:708.27, Y:-52.50, Z:2.49 [[ 9.95234084e-01 9.73113472e-02 -6.29438844e-03 7.08268950e+02] [-9.73075627e-02 9.95253947e-01 9.05456220e-04 -5.25039747e+01] [ 6.35262611e-03 -2.88649294e-04 9.99979780e-01 2.48571869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9207140569999 meters Centerline goodness [0,1] 0.9996419620479771 Centerline is valid? [True, True] Translation: X:708.30, Y:-52.50, Z:2.49 [[ 9.94977832e-01 9.98927368e-02 -6.36822640e-03 7.08300108e+02] [-9.98889164e-02 9.94998174e-01 9.15978746e-04 -5.25005120e+01] [ 6.42787326e-03 -2.75263313e-04 9.99979303e-01 2.48577689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9507140569999 meters Centerline goodness [0,1] 0.999768503903866 Centerline is valid? [True, True] Translation: X:708.33, Y:-52.49, Z:2.49 [[ 9.94771257e-01 1.01941669e-01 -6.16787076e-03 7.08331615e+02] [-1.01938125e-01 9.94790346e-01 8.87182526e-04 -5.24940459e+01] [ 6.22617915e-03 -2.53802499e-04 9.99980585e-01 2.48611061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9807140569999 meters Centerline goodness [0,1] 0.9994738835809588 Centerline is valid? [True, True] Translation: X:708.36, Y:-52.49, Z:2.49 [[ 9.94423905e-01 1.05299984e-01 -5.74550486e-03 7.08361828e+02] [-1.05296965e-01 9.94440479e-01 8.26200721e-04 -5.24898593e+01] [ 5.80056153e-03 -2.16609521e-04 9.99983153e-01 2.48674892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.010714057 meters Centerline goodness [0,1] 0.9992628009351897 Centerline is valid? [True, True] Translation: X:708.39, Y:-52.49, Z:2.49 [[ 9.94287329e-01 1.06626317e-01 -4.85130004e-03 7.08390704e+02] [-1.06624178e-01 9.94299149e-01 6.98092160e-04 -5.24905956e+01] [ 4.89807850e-03 -1.76838307e-04 9.99987989e-01 2.48717423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.040714057 meters Centerline goodness [0,1] 0.9993886757451832 Centerline is valid? [True, True] Translation: X:708.42, Y:-52.49, Z:2.49 [[ 9.94182462e-01 1.07609184e-01 -4.63627653e-03 7.08420771e+02] [-1.07607242e-01 9.94193259e-01 6.67012741e-04 -5.24916306e+01] [ 4.68113157e-03 -1.64235436e-04 9.99989030e-01 2.48786806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0707140569999 meters Centerline goodness [0,1] 0.9990516532844408 Centerline is valid? [True, True] Translation: X:708.45, Y:-52.49, Z:2.49 [[ 9.93927522e-01 1.09944161e-01 -4.51253814e-03 7.08450196e+02] [-1.09942346e-01 9.93937754e-01 6.49083885e-04 -5.24908682e+01] [ 4.55654501e-03 -1.49023310e-04 9.99989608e-01 2.48821720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1007140569999 meters Centerline goodness [0,1] 0.9989042943234018 Centerline is valid? [True, True] Translation: X:708.48, Y:-52.49, Z:2.49 [[ 9.93808501e-01 1.11010870e-01 -4.60971311e-03 7.08479694e+02] [-1.11008988e-01 9.93819181e-01 6.62918080e-04 -5.24877414e+01] [ 4.65481242e-03 -1.47094037e-04 9.99989155e-01 2.48785109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.130714057 meters Centerline goodness [0,1] 0.9993474508483139 Centerline is valid? [True, True] Translation: X:708.51, Y:-52.49, Z:2.49 [[ 9.93683301e-01 1.12132628e-01 -4.44642149e-03 7.08507743e+02] [-1.12130890e-01 9.93693240e-01 6.39118022e-04 -5.24909029e+01] [ 4.49004496e-03 -1.36499708e-04 9.99989910e-01 2.48817243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.160714057 meters Centerline goodness [0,1] 0.998546511627907 Centerline is valid? [True, True] Translation: X:708.54, Y:-52.49, Z:2.49 [[ 9.93583177e-01 1.13042038e-01 -3.73741352e-03 7.08535814e+02] [-1.13040817e-01 9.93590200e-01 5.37077661e-04 -5.24891585e+01] [ 3.77416980e-03 -1.11151052e-04 9.99992872e-01 2.48730621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1907140569999 meters Centerline goodness [0,1] 0.9983130548468043 Centerline is valid? [True, True] Translation: X:708.56, Y:-52.49, Z:2.49 [[ 9.93667940e-01 1.12307609e-01 -3.32050918e-03 7.08564921e+02] [-1.12306642e-01 9.93673483e-01 4.76867808e-04 -5.24897727e+01] [ 3.35305780e-03 -1.00933018e-04 9.99994373e-01 2.48661378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2207140569999 meters Centerline goodness [0,1] 0.9984400691428812 Centerline is valid? [True, True] Translation: X:708.59, Y:-52.49, Z:2.49 [[ 9.93825447e-01 1.10911334e-01 -3.10743575e-03 7.08594055e+02] [-1.10910481e-01 9.93830301e-01 4.45927830e-04 -5.24931820e+01] [ 3.13772226e-03 -9.85272311e-05 9.99995072e-01 2.48703919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.250714057 meters Centerline goodness [0,1] 0.9981699621371477 Centerline is valid? [True, True] Translation: X:708.62, Y:-52.50, Z:2.49 [[ 9.94036142e-01 1.09012126e-01 -2.91641518e-03 7.08622406e+02] [-1.09011367e-01 9.94040415e-01 4.18428872e-04 -5.24991268e+01] [ 2.94464838e-03 -9.80110176e-05 9.99995660e-01 2.48731617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.280714057 meters Centerline goodness [0,1] 0.9982271374601633 Centerline is valid? [True, True] Translation: X:708.65, Y:-52.50, Z:2.49 [[ 9.94596236e-01 1.03788686e-01 -2.49712811e-03 7.08652159e+02] [-1.03788113e-01 9.94599366e-01 3.58136650e-04 -5.25011956e+01] [ 2.52081257e-03 -9.70291494e-05 9.99996818e-01 2.48683113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3107140569999 meters Centerline goodness [0,1] 0.9977647505377251 Centerline is valid? [True, True] Translation: X:708.68, Y:-52.51, Z:2.49 [[ 9.94956411e-01 1.00269788e-01 -2.77653548e-03 7.08681036e+02] [-1.00269066e-01 9.94960278e-01 3.98294762e-04 -5.25059458e+01] [ 2.80247945e-03 -1.17885307e-04 9.99996066e-01 2.48688393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3407140569999 meters Centerline goodness [0,1] 0.997952549814252 Centerline is valid? [True, True] Translation: X:708.71, Y:-52.51, Z:2.49 [[ 9.95237161e-01 9.74546243e-02 -2.36409161e-03 7.08710303e+02] [-9.74540932e-02 9.95239963e-01 3.39084583e-04 -5.25083498e+01] [ 2.38588381e-03 -1.07079174e-04 9.99997148e-01 2.48698201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.370714057 meters Centerline goodness [0,1] 0.9976402671554685 Centerline is valid? [True, True] Translation: X:708.74, Y:-52.52, Z:2.49 [[ 9.95494089e-01 9.48125228e-02 -1.45064481e-03 7.08738062e+02] [-9.48123201e-02 9.95495143e-01 2.08037846e-04 -5.25155391e+01] [ 1.46383446e-03 -6.95614455e-05 9.99998926e-01 2.48723097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.400714057 meters Centerline goodness [0,1] 0.9974921497966324 Centerline is valid? [True, True] Translation: X:708.77, Y:-52.52, Z:2.49 [[ 9.95916256e-01 9.02799495e-02 -5.84170377e-04 7.08767529e+02] [-9.02799158e-02 9.95916427e-01 8.37932049e-05 -5.25196367e+01] [ 5.89349721e-04 -3.07121625e-05 9.99999826e-01 2.48798508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4307140569999 meters Centerline goodness [0,1] 0.9973528299508383 Centerline is valid? [True, True] Translation: X:708.80, Y:-52.52, Z:2.49 [[ 9.96034533e-01 8.89656092e-02 -5.73430062e-04 7.08797218e+02] [-8.89655765e-02 9.96034698e-01 8.23728861e-05 -5.25221902e+01] [ 5.78484593e-04 -3.10307032e-05 9.99999832e-01 2.48824034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4607140569999 meters Centerline goodness [0,1] 0.9971471125002622 Centerline is valid? [True, True] Translation: X:708.83, Y:-52.53, Z:2.49 [[ 9.96107347e-01 8.81484738e-02 1.49063786e-05 7.08825698e+02] [-8.81484738e-02 9.96107347e-01 -1.72280401e-06 -5.25266208e+01] [-1.50002157e-05 4.02123209e-07 1.00000000e+00 2.48869016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.490714057 meters Centerline goodness [0,1] 0.9969917900937977 Centerline is valid? [True, True] Translation: X:708.85, Y:-52.53, Z:2.49 [[ 9.96125984e-01 8.79373322e-02 2.20983252e-04 7.08854164e+02] [-8.79373274e-02 9.96126009e-01 -3.12805608e-05 -5.25321309e+01] [-2.22877894e-04 1.17267028e-05 9.99999975e-01 2.48928896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.520714057 meters Centerline goodness [0,1] 0.9961529615923393 Centerline is valid? [True, True] Translation: X:708.89, Y:-52.53, Z:2.49 [[ 9.96023629e-01 8.90870876e-02 6.49678742e-04 7.08885345e+02] [-8.90870459e-02 9.96023840e-01 -9.27983973e-05 -5.25269389e+01] [-6.55362655e-04 3.45514365e-05 9.99999785e-01 2.48821769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5507140569999 meters Centerline goodness [0,1] 0.996224132176235 Centerline is valid? [True, True] Translation: X:708.91, Y:-52.53, Z:2.49 [[ 9.95930204e-01 9.01269250e-02 4.07714500e-04 7.08913901e+02] [-9.01269088e-02 9.95930287e-01 -5.81202590e-05 -5.25313578e+01] [-4.11293419e-04 2.11376739e-05 9.99999915e-01 2.48825767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5807140569999 meters Centerline goodness [0,1] 0.9957268537913699 Centerline is valid? [True, True] Translation: X:708.94, Y:-52.53, Z:2.49 [[ 9.95779578e-01 9.17730818e-02 8.56891897e-04 7.08944113e+02] [-9.17730103e-02 9.95779945e-01 -1.22406983e-04 -5.25325214e+01] [-8.64509433e-04 4.32508252e-05 9.99999625e-01 2.48786533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6107140569999 meters Centerline goodness [0,1] 0.9959808251868288 Centerline is valid? [True, True] Translation: X:708.97, Y:-52.53, Z:2.49 [[ 9.95626364e-01 9.34217711e-02 7.18587890e-04 7.08974583e+02] [-9.34217214e-02 9.95626623e-01 -1.02457368e-04 -5.25295526e+01] [-7.25016982e-04 3.48775387e-05 9.99999737e-01 2.48714754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.640714057 meters Centerline goodness [0,1] 0.9952041369531673 Centerline is valid? [True, True] Translation: X:709.00, Y:-52.53, Z:2.49 [[ 9.95184141e-01 9.80205759e-02 7.01640561e-04 7.09004020e+02] [-9.80205297e-02 9.95184388e-01 -1.00011211e-04 -5.25294112e+01] [-7.08064888e-04 3.07543913e-05 9.99999749e-01 2.48727451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6707140569999 meters Centerline goodness [0,1] 0.9944117769715167 Centerline is valid? [True, True] Translation: X:709.03, Y:-52.53, Z:2.49 [[ 9.94954474e-01 1.00321248e-01 1.11406483e-03 7.09032698e+02] [-1.00321133e-01 9.94955097e-01 -1.58779232e-04 -5.25310737e+01] [-1.12437341e-03 4.62138614e-05 9.99999367e-01 2.48686895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7007140569999 meters Centerline goodness [0,1] 0.9948073073073073 Centerline is valid? [True, True] Translation: X:709.06, Y:-52.53, Z:2.49 [[ 9.94654151e-01 1.03248604e-01 1.68664440e-03 7.09062800e+02] [-1.03248345e-01 9.94655579e-01 -2.40655295e-04 -5.25291229e+01] [-1.70247759e-03 6.52255456e-05 9.99998549e-01 2.48652287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7307140569999 meters Centerline goodness [0,1] 0.99452416918429 Centerline is valid? [True, True] Translation: X:709.09, Y:-52.53, Z:2.49 [[ 9.94411332e-01 1.05545585e-01 2.49641064e-03 7.09091716e+02] [-1.05545023e-01 9.94414462e-01 -3.55865820e-04 -5.25285505e+01] [-2.52002691e-03 9.03932850e-05 9.99996821e-01 2.48624268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.760714057 meters Centerline goodness [0,1] 0.9942405208572442 Centerline is valid? [True, True] Translation: X:709.12, Y:-52.53, Z:2.48 [[ 9.93944426e-01 1.09858507e-01 2.36357423e-03 7.09120763e+02] [-1.09858016e-01 9.93947233e-01 -3.36909595e-04 -5.25277434e+01] [-2.38628046e-03 7.52118374e-05 9.99997150e-01 2.48474700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.790714057 meters Centerline goodness [0,1] 0.9937561342326727 Centerline is valid? [True, True] Translation: X:709.15, Y:-52.53, Z:2.48 [[ 9.93810734e-01 1.11062004e-01 2.33604289e-03 7.09150072e+02] [-1.11061528e-01 9.93813477e-01 -3.32861464e-04 -5.25300042e+01] [-2.35855917e-03 7.13568022e-05 9.99997216e-01 2.48368549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8207140569999 meters Centerline goodness [0,1] 0.9943783828969092 Centerline is valid? [True, True] Translation: X:709.18, Y:-52.53, Z:2.48 [[ 9.93688678e-01 1.12152666e-01 2.14263987e-03 7.09179187e+02] [-1.12152268e-01 9.93690986e-01 -3.04981674e-04 -5.25319868e+01] [-2.16332643e-03 6.27549147e-05 9.99997658e-01 2.48291807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8507140569999 meters Centerline goodness [0,1] 0.9940109763986561 Centerline is valid? [True, True] Translation: X:709.21, Y:-52.53, Z:2.48 [[ 9.93621090e-01 1.12745582e-01 2.35865181e-03 7.09207654e+02] [-1.12745102e-01 9.93623887e-01 -3.35613250e-04 -5.25335226e+01] [-2.38145169e-03 6.75459636e-05 9.99997162e-01 2.48244211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.880714057 meters Centerline goodness [0,1] 0.9934995715151642 Centerline is valid? [True, True] Translation: X:709.24, Y:-52.54, Z:2.48 [[ 9.93714185e-01 1.11899517e-01 3.25827856e-03 7.09235055e+02] [-1.11898598e-01 9.93719522e-01 -4.63406259e-04 -5.25374727e+01] [-3.28966995e-03 9.58965693e-05 9.99994584e-01 2.48266644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.910714057 meters Centerline goodness [0,1] 0.9931529726118904 Centerline is valid? [True, True] Translation: X:709.26, Y:-52.54, Z:2.48 [[ 9.93775537e-01 1.11359142e-01 3.05343800e-03 7.09263493e+02] [-1.11358333e-01 9.93780224e-01 -4.34141070e-04 -5.25408308e+01] [-3.08279188e-03 9.14130086e-05 9.99995244e-01 2.48255943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9407140569999 meters Centerline goodness [0,1] 0.993325103052876 Centerline is valid? [True, True] Translation: X:709.29, Y:-52.54, Z:2.48 [[ 9.93889241e-01 1.10328805e-01 3.42519016e-03 7.09291968e+02] [-1.10327781e-01 9.93895137e-01 -4.86802122e-04 -5.25440473e+01] [-3.45798814e-03 1.05933759e-04 9.99994016e-01 2.48215213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9707140569999 meters Centerline goodness [0,1] 0.9926321721525329 Centerline is valid? [True, True] Translation: X:709.32, Y:-52.55, Z:2.48 [[ 9.94002525e-01 1.09308726e-01 3.25313946e-03 7.09319123e+02] [-1.09307799e-01 9.94007843e-01 -4.61898479e-04 -5.25498694e+01] [-3.28413567e-03 1.03534742e-04 9.99994602e-01 2.48286201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.000714057 meters Centerline goodness [0,1] 0.9929726225085228 Centerline is valid? [True, True] Translation: X:709.35, Y:-52.55, Z:2.48 [[ 9.93988655e-01 1.09431451e-01 3.36334329e-03 7.09348286e+02] [-1.09430461e-01 9.93994339e-01 -4.77461713e-04 -5.25502870e+01] [-3.39539352e-03 1.06539319e-04 9.99994230e-01 2.48250161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.030714057 meters Centerline goodness [0,1] 0.9922825950558414 Centerline is valid? [True, True] Translation: X:709.38, Y:-52.55, Z:2.48 [[ 9.93919378e-01 1.10031409e-01 4.16634211e-03 7.09376897e+02] [-1.10029896e-01 9.93928102e-01 -5.91271952e-04 -5.25520286e+01] [-4.20610299e-03 1.29254462e-04 9.99991146e-01 2.48209580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0607140569999 meters Centerline goodness [0,1] 0.9929806181246726 Centerline is valid? [True, True] Translation: X:709.41, Y:-52.55, Z:2.48 [[ 9.93736161e-01 1.11676320e-01 4.10392589e-03 7.09405853e+02] [-1.11674868e-01 9.93744628e-01 -5.82094407e-04 -5.25534747e+01] [-4.14326047e-03 1.20142881e-04 9.99991409e-01 2.48218412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0907140569999 meters Centerline goodness [0,1] 0.9926416790350565 Centerline is valid? [True, True] Translation: X:709.43, Y:-52.56, Z:2.48 [[ 9.93202676e-01 1.16330013e-01 3.97158636e-03 7.09434479e+02] [-1.16328690e-01 9.93210611e-01 -5.63227880e-04 -5.25558507e+01] [-4.01014202e-03 9.73899999e-05 9.99991955e-01 2.48299279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.120714057 meters Centerline goodness [0,1] 0.9927938148661708 Centerline is valid? [True, True] Translation: X:709.46, Y:-52.56, Z:2.48 [[ 9.92879593e-01 1.19035526e-01 4.54496837e-03 7.09462916e+02] [-1.19033824e-01 9.92889991e-01 -6.44151731e-04 -5.25580967e+01] [-4.58933054e-03 9.85601424e-05 9.99989464e-01 2.48271376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.150714057 meters Centerline goodness [0,1] 0.9933086440535308 Centerline is valid? [True, True] Translation: X:709.49, Y:-52.56, Z:2.48 [[ 9.92238201e-01 1.24251095e-01 5.00185782e-03 7.09490590e+02] [-1.24249103e-01 9.92250804e-01 -7.08277083e-04 -5.25596482e+01] [-5.05110164e-03 8.13032312e-05 9.99987240e-01 2.48301634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1807140569999 meters Centerline goodness [0,1] 0.993299130981049 Centerline is valid? [True, True] Translation: X:709.52, Y:-52.56, Z:2.48 [[ 9.91936763e-01 1.26642850e-01 4.80072953e-03 7.09518990e+02] [-1.26641043e-01 9.91948378e-01 -6.79643444e-04 -5.25624437e+01] [-4.84814785e-03 6.61939217e-05 9.99988245e-01 2.48327837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2107140569999 meters Centerline goodness [0,1] 0.9932061228769133 Centerline is valid? [True, True] Translation: X:709.55, Y:-52.57, Z:2.48 [[ 9.91730368e-01 1.28226982e-01 5.35887370e-03 7.09547723e+02] [-1.28224756e-01 9.91744845e-01 -7.58320432e-04 -5.25653016e+01] [-5.41187251e-03 6.49091295e-05 9.99985354e-01 2.48228131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.240714057 meters Centerline goodness [0,1] 0.9931766489764974 Centerline is valid? [True, True] Translation: X:709.58, Y:-52.57, Z:2.48 [[ 9.91506179e-01 1.29938888e-01 5.60199016e-03 7.09576454e+02] [-1.29936485e-01 9.91522003e-01 -7.92337332e-04 -5.25692693e+01] [-5.65745194e-03 5.77044515e-05 9.99983995e-01 2.48217703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.270714057 meters Centerline goodness [0,1] 0.9937469734930627 Centerline is valid? [True, True] Translation: X:709.60, Y:-52.58, Z:2.48 [[ 9.91059456e-01 1.33318714e-01 5.22253314e-03 7.09603981e+02] [-1.33316677e-01 9.91073216e-01 -7.37910217e-04 -5.25751110e+01] [-5.27428995e-03 3.50621365e-05 9.99986090e-01 2.48189742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3007140569999 meters Centerline goodness [0,1] 0.9939057821264392 Centerline is valid? [True, True] Translation: X:709.63, Y:-52.58, Z:2.48 [[ 9.90842145e-01 1.34933449e-01 4.98068071e-03 7.09631976e+02] [-1.34931617e-01 9.90854663e-01 -7.03547013e-04 -5.25799923e+01] [-5.03006273e-03 2.50527281e-05 9.99987349e-01 2.48126446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3307140569999 meters Centerline goodness [0,1] 0.9944090467952235 Centerline is valid? [True, True] Translation: X:709.66, Y:-52.58, Z:2.48 [[ 9.90608277e-01 1.36631746e-01 5.19690069e-03 7.09660625e+02] [-1.36629777e-01 9.90621909e-01 -7.33726218e-04 -5.25848998e+01] [-5.24841397e-03 1.67838813e-05 9.99986227e-01 2.48159243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3607140569999 meters Centerline goodness [0,1] 0.9951731551546066 Centerline is valid? [True, True] Translation: X:709.69, Y:-52.59, Z:2.48 [[ 9.90304822e-01 1.38789017e-01 5.82826832e-03 7.09689392e+02] [-1.38786580e-01 9.90321972e-01 -8.22505870e-04 -5.25896709e+01] [-5.88601696e-03 5.64610371e-06 9.99982677e-01 2.48186125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.390714057 meters Centerline goodness [0,1] 0.9952192409755276 Centerline is valid? [True, True] Translation: X:709.72, Y:-52.59, Z:2.48 [[ 9.89974881e-01 1.41124696e-01 5.79276241e-03 7.09717322e+02] [-1.41122333e-01 9.89991828e-01 -8.16587821e-04 -5.25943855e+01] [-5.85002816e-03 -9.08671817e-06 9.99982888e-01 2.48248029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4207140569999 meters Centerline goodness [0,1] 0.9960405214717466 Centerline is valid? [True, True] Translation: X:709.74, Y:-52.60, Z:2.48 [[ 9.89279749e-01 1.45914015e-01 5.88886467e-03 7.09744461e+02] [-1.45911661e-01 9.89297275e-01 -8.29755222e-04 -5.26007455e+01] [-5.94691069e-03 -3.83939876e-05 9.99982316e-01 2.48361714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4507140569999 meters Centerline goodness [0,1] 0.9967998652574845 Centerline is valid? [True, True] Translation: X:709.77, Y:-52.61, Z:2.48 [[ 9.89015310e-01 1.47674182e-01 6.40726741e-03 7.09773119e+02] [-1.47671433e-01 9.89036063e-01 -9.02536357e-04 -5.26064074e+01] [-6.47029985e-03 -5.35480875e-05 9.99979066e-01 2.48360939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4807140569999 meters Centerline goodness [0,1] 0.9965513615813268 Centerline is valid? [True, True] Translation: X:709.80, Y:-52.61, Z:2.48 [[ 9.88815782e-01 1.48998023e-01 6.55277699e-03 7.09801524e+02] [-1.48995181e-01 9.88837492e-01 -9.22563729e-04 -5.26127485e+01] [-6.61709173e-03 -6.40866171e-05 9.99978105e-01 2.48323023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.510714057 meters Centerline goodness [0,1] 0.997514795391841 Centerline is valid? [True, True] Translation: X:709.83, Y:-52.62, Z:2.48 [[ 9.88684234e-01 1.49831597e-01 7.34698839e-03 7.09829627e+02] [-1.49828051e-01 9.88711528e-01 -1.03389652e-03 -5.26231920e+01] [-7.41896248e-03 -7.85877615e-05 9.99972476e-01 2.48183191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.540714057 meters Centerline goodness [0,1] 0.9971601068641269 Centerline is valid? [True, True] Translation: X:709.86, Y:-52.63, Z:2.48 [[ 9.88797976e-01 1.49113323e-01 6.61654779e-03 7.09856272e+02] [-1.49110436e-01 9.88820111e-01 -9.30318541e-04 -5.26302013e+01] [-6.68129841e-03 -6.66992347e-05 9.99977678e-01 2.48239615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5707140569999 meters Centerline goodness [0,1] 0.9973078702729988 Centerline is valid? [True, True] Translation: X:709.88, Y:-52.64, Z:2.48 [[ 9.88944698e-01 1.48161039e-01 6.05729984e-03 7.09884126e+02] [-1.48158604e-01 9.88963247e-01 -8.51325090e-04 -5.26386285e+01] [-6.11658013e-03 -5.55276549e-05 9.99981292e-01 2.48196686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6007140569999 meters Centerline goodness [0,1] 0.9973078702729988 Centerline is valid? [True, True] Translation: X:709.91, Y:-52.64, Z:2.48 [[ 9.88955259e-01 1.48090529e-01 6.05736055e-03 7.09912187e+02] [-1.48088095e-01 9.88973808e-01 -8.50893173e-04 -5.26425183e+01] [-6.11658015e-03 -5.55277084e-05 9.99981292e-01 2.48217767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.630714057 meters Centerline goodness [0,1] 0.9976020697923897 Centerline is valid? [True, True] Translation: X:709.94, Y:-52.66, Z:2.48 [[ 9.89245784e-01 1.46194222e-01 4.47534060e-03 7.09939280e+02] [-1.46192876e-01 9.89255906e-01 -6.28193541e-04 -5.26555968e+01] [-4.51909538e-03 -3.28251027e-05 9.99989788e-01 2.48092901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.660714057 meters Centerline goodness [0,1] 0.9973691964473629 Centerline is valid? [True, True] Translation: X:709.97, Y:-52.66, Z:2.48 [[ 9.89411296e-01 1.45100845e-01 3.32139767e-03 7.09966864e+02] [-1.45100099e-01 9.89416871e-01 -4.65839765e-04 -5.26642058e+01] [-3.35384063e-03 -2.10280042e-05 9.99994376e-01 2.48048268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6907140569999 meters Centerline goodness [0,1] 0.9975382932166302 Centerline is valid? [True, True] Translation: X:709.99, Y:-52.67, Z:2.48 [[ 9.89563067e-01 1.44075069e-01 2.70385277e-03 7.09994106e+02] [-1.44074572e-01 9.89566761e-01 -3.78755374e-04 -5.26722947e+01] [-2.73021204e-03 -1.47541013e-05 9.99996273e-01 2.48063025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7207140569999 meters Centerline goodness [0,1] 0.9975178274679737 Centerline is valid? [True, True] Translation: X:710.02, Y:-52.68, Z:2.48 [[ 9.89652531e-01 1.43457310e-01 2.80482915e-03 7.10021902e+02] [-1.43456773e-01 9.89656506e-01 -3.92855916e-04 -5.26808074e+01] [-2.83217547e-03 -1.35808876e-05 9.99995989e-01 2.48130843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.750714057 meters Centerline goodness [0,1] 0.997665811498507 Centerline is valid? [True, True] Translation: X:710.05, Y:-52.69, Z:2.48 [[ 9.89746638e-01 1.42792199e-01 3.46135777e-03 7.10049264e+02] [-1.42791377e-01 9.89752690e-01 -4.84682668e-04 -5.26920162e+01] [-3.49509707e-03 -1.45390018e-05 9.99993892e-01 2.48321421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.780714057 meters Centerline goodness [0,1] 0.9982543221301476 Centerline is valid? [True, True] Translation: X:710.08, Y:-52.70, Z:2.48 [[ 9.89813642e-01 1.42307690e-01 4.18041023e-03 7.10077753e+02] [-1.42306488e-01 9.89822469e-01 -5.85167522e-04 -5.26997270e+01] [-4.22113782e-03 -1.56927020e-05 9.99991091e-01 2.48387545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8107140569999 meters Centerline goodness [0,1] 0.9986350846247533 Centerline is valid? [True, True] Translation: X:710.11, Y:-52.71, Z:2.49 [[ 9.89849640e-01 1.42059656e-01 4.09187573e-03 7.10105982e+02] [-1.42058502e-01 9.89858098e-01 -5.72678994e-04 -5.27075010e+01] [-4.13173091e-03 -1.44196420e-05 9.99991464e-01 2.48501503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8407140569999 meters Centerline goodness [0,1] 0.9984016824395373 Centerline is valid? [True, True] Translation: X:710.14, Y:-52.72, Z:2.49 [[ 9.89911266e-01 1.41630544e-01 4.05883780e-03 7.10135066e+02] [-1.41629406e-01 9.89919587e-01 -5.68039446e-04 -5.27152464e+01] [-4.09837477e-03 -1.25421378e-05 9.99991602e-01 2.48548199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.870714057 meters Centerline goodness [0,1] 0.9990143030913133 Centerline is valid? [True, True] Translation: X:710.16, Y:-52.73, Z:2.48 [[ 9.90098993e-01 1.40313190e-01 4.02404819e-03 7.10163779e+02] [-1.40312059e-01 9.90107170e-01 -5.63435023e-04 -5.27273455e+01] [-4.06329633e-03 -6.76603628e-06 9.99991745e-01 2.48496678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.900714057 meters Centerline goodness [0,1] 0.9987595921370755 Centerline is valid? [True, True] Translation: X:710.19, Y:-52.74, Z:2.49 [[ 9.90201605e-01 1.39562766e-01 4.79748055e-03 7.10192902e+02] [-1.39561148e-01 9.90213227e-01 -6.71950230e-04 -5.27353105e+01] [-4.84430793e-03 -4.17569887e-06 9.99988266e-01 2.48501225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9307140569999 meters Centerline goodness [0,1] 0.9989273320012619 Centerline is valid? [True, True] Translation: X:710.22, Y:-52.74, Z:2.49 [[ 9.90336359e-01 1.38598337e-01 4.93932505e-03 7.10222811e+02] [-1.38596610e-01 9.90348676e-01 -6.91900385e-04 -5.27436436e+01] [-4.98755027e-03 6.40398295e-07 9.99987562e-01 2.48613835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9607140569999 meters Centerline goodness [0,1] 0.9994144954205177 Centerline is valid? [True, True] Translation: X:710.25, Y:-52.75, Z:2.49 [[ 9.90454688e-01 1.37759028e-01 4.68617494e-03 7.10254063e+02] [-1.37757450e-01 9.90465774e-01 -6.59391512e-04 -5.27516002e+01] [-4.73233302e-03 7.54190326e-06 9.99988802e-01 2.48556503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.990714057 meters Centerline goodness [0,1] 0.9993269817233474 Centerline is valid? [True, True] Translation: X:710.29, Y:-52.76, Z:2.48 [[ 9.90561076e-01 1.36987458e-01 4.81568745e-03 7.10285470e+02] [-1.36985777e-01 9.90572782e-01 -6.78843429e-04 -5.27596457e+01] [-4.86328195e-03 1.27551912e-05 9.99988174e-01 2.48496204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.020714057 meters Centerline goodness [0,1] 0.998826315679165 Centerline is valid? [True, True] Translation: X:710.32, Y:-52.77, Z:2.49 [[ 9.90787184e-01 1.35348165e-01 4.65089615e-03 7.10316137e+02] [-1.35346572e-01 9.90798099e-01 -6.57072754e-04 -5.27717452e+01] [-4.69703266e-03 2.15364115e-05 9.99988969e-01 2.48517187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0507140569999 meters Centerline goodness [0,1] 0.9987853911878036 Centerline is valid? [True, True] Translation: X:710.35, Y:-52.78, Z:2.48 [[ 9.90902692e-01 1.34513861e-01 4.22810096e-03 7.10348170e+02] [-1.34512530e-01 9.90911712e-01 -5.98879976e-04 -5.27797440e+01] [-4.27023242e-03 2.46992249e-05 9.99990882e-01 2.48478366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0807140569999 meters Centerline goodness [0,1] 0.9987918680219964 Centerline is valid? [True, True] Translation: X:710.38, Y:-52.79, Z:2.49 [[ 9.91043706e-01 1.33484849e-01 3.76399826e-03 7.10378843e+02] [-1.33483786e-01 9.91050854e-01 -5.33247742e-04 -5.27878615e+01] [-3.80149419e-03 2.60390795e-05 9.99992774e-01 2.48523009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1107140569999 meters Centerline goodness [0,1] 0.9984968370947201 Centerline is valid? [True, True] Translation: X:710.41, Y:-52.80, Z:2.48 [[ 9.91255726e-01 1.31903695e-01 3.67432542e-03 7.10410053e+02] [-1.31902666e-01 9.91262536e-01 -5.22020238e-04 -5.27983397e+01] [-3.71107753e-03 3.28022327e-05 9.99993113e-01 2.48445760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.140714057 meters Centerline goodness [0,1] 0.9987228607918263 Centerline is valid? [True, True] Translation: X:710.44, Y:-52.81, Z:2.49 [[ 9.91252720e-01 1.31913384e-01 4.11155422e-03 7.10440835e+02] [-1.31912091e-01 9.91261246e-01 -5.85140564e-04 -5.28064182e+01] [-4.15281223e-03 3.76584600e-05 9.99991376e-01 2.48537591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1707140569999 meters Centerline goodness [0,1] 0.9986656659161037 Centerline is valid? [True, True] Translation: X:710.47, Y:-52.81, Z:2.49 [[ 9.91171453e-01 1.32530838e-01 3.83764346e-03 7.10472776e+02] [-1.32529711e-01 9.91178882e-01 -5.47452358e-04 -5.28140488e+01] [-3.87634547e-03 3.40173690e-05 9.99992486e-01 2.48541720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2007140569999 meters Centerline goodness [0,1] 0.999060032585537 Centerline is valid? [True, True] Translation: X:710.50, Y:-52.82, Z:2.48 [[ 9.90981052e-01 1.33951403e-01 3.68455020e-03 7.10504442e+02] [-1.33950372e-01 9.90987901e-01 -5.26417933e-04 -5.28207631e+01] [-3.72185909e-03 2.81233289e-05 9.99993073e-01 2.48434145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2307140569999 meters Centerline goodness [0,1] 0.9993295340261482 Centerline is valid? [True, True] Translation: X:710.54, Y:-52.83, Z:2.48 [[ 9.90523030e-01 1.37318842e-01 2.76797076e-03 7.10535037e+02] [-1.37318271e-01 9.90526898e-01 -3.96437166e-04 -5.28288380e+01] [-2.79618778e-03 1.25871851e-05 9.99996091e-01 2.48430928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.260714057 meters Centerline goodness [0,1] 0.9989322725845284 Centerline is valid? [True, True] Translation: X:710.57, Y:-52.84, Z:2.48 [[ 9.90197242e-01 1.39645747e-01 2.91316164e-03 7.10567669e+02] [-1.39645121e-01 9.90201528e-01 -4.18344765e-04 -5.28351777e+01] [-2.94303717e-03 7.43502401e-06 9.99995669e-01 2.48382744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.290714057 meters Centerline goodness [0,1] 0.9991226787542038 Centerline is valid? [True, True] Translation: X:710.60, Y:-52.84, Z:2.48 [[ 9.89886284e-01 1.41826047e-01 3.24304718e-03 7.10600377e+02] [-1.41825280e-01 9.89891596e-01 -4.66414736e-04 -5.28415046e+01] [-3.27641491e-03 1.75147438e-06 9.99994633e-01 2.48407739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3207140569999 meters Centerline goodness [0,1] 0.9992487322356477 Centerline is valid? [True, True] Translation: X:710.63, Y:-52.85, Z:2.48 [[ 9.89564166e-01 1.44048753e-01 3.56628495e-03 7.10632722e+02] [-1.44047837e-01 9.89570592e-01 -5.13710100e-04 -5.28483404e+01] [-3.60309001e-03 -5.36652661e-06 9.99993509e-01 2.48460186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3507140569999 meters Centerline goodness [0,1] 0.9987887900430188 Centerline is valid? [True, True] Translation: X:710.66, Y:-52.86, Z:2.49 [[ 9.89061922e-01 1.47447506e-01 3.96821213e-03 7.10663199e+02] [-1.47446398e-01 9.89069883e-01 -5.71879543e-04 -5.28579686e+01] [-4.00916132e-03 -1.94743058e-05 9.99991963e-01 2.48636889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.380714057 meters Centerline goodness [0,1] 0.9984968684759916 Centerline is valid? [True, True] Translation: X:710.70, Y:-52.87, Z:2.49 [[ 9.88892345e-01 1.48575420e-01 4.15625602e-03 7.10695517e+02] [-1.48574208e-01 9.88901079e-01 -6.00507029e-04 -5.28658490e+01] [-4.19934664e-03 -2.36756420e-05 9.99991182e-01 2.48546703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.410714057 meters Centerline goodness [0,1] 0.9987885370540563 Centerline is valid? [True, True] Translation: X:710.73, Y:-52.87, Z:2.49 [[ 9.88755481e-01 1.49486236e-01 4.05767492e-03 7.10726683e+02] [-1.49485084e-01 9.88763806e-01 -5.87234779e-04 -5.28727815e+01] [-4.09986562e-03 -2.59302722e-05 9.99991595e-01 2.48620662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4407140569999 meters Centerline goodness [0,1] 0.9989321831619941 Centerline is valid? [True, True] Translation: X:710.76, Y:-52.88, Z:2.48 [[ 9.88425168e-01 1.51636792e-01 4.68719413e-03 7.10757275e+02] [-1.51635276e-01 9.88436281e-01 -6.79127160e-04 -5.28841607e+01] [-4.73597340e-03 -3.94775990e-05 9.99988784e-01 2.48492414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4707140569999 meters Centerline goodness [0,1] 0.9988035515627296 Centerline is valid? [True, True] Translation: X:710.79, Y:-52.89, Z:2.49 [[ 9.88253977e-01 1.52728234e-01 5.30700070e-03 7.10788439e+02] [-1.52726301e-01 9.88268225e-01 -7.70044697e-04 -5.28920874e+01] [-5.36234773e-03 -4.95188526e-05 9.99985621e-01 2.48505817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.500714057 meters Centerline goodness [0,1] 0.99868624098094 Centerline is valid? [True, True] Translation: X:710.82, Y:-52.90, Z:2.49 [[ 9.88063453e-01 1.53944687e-01 5.62548199e-03 7.10819897e+02] [-1.53942527e-01 9.88079465e-01 -8.17598563e-04 -5.29001663e+01] [-5.68428820e-03 -5.81616526e-05 9.99983843e-01 2.48514470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.530714057 meters Centerline goodness [0,1] 0.9984959893048129 Centerline is valid? [True, True] Translation: X:710.85, Y:-52.91, Z:2.49 [[ 9.87891288e-01 1.55038511e-01 5.81912938e-03 7.10851034e+02] [-1.55036209e-01 9.87908425e-01 -8.47389564e-04 -5.29078258e+01] [-5.88014496e-03 -6.50469893e-05 9.99982710e-01 2.48573201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5607140569999 meters Centerline goodness [0,1] 0.9985099372494701 Centerline is valid? [True, True] Translation: X:710.88, Y:-52.92, Z:2.49 [[ 9.87841133e-01 1.55296823e-01 7.26591473e-03 7.10881397e+02] [-1.55293233e-01 9.87867850e-01 -1.05920537e-03 -5.29204735e+01] [-7.34225480e-03 -8.20207496e-05 9.99973042e-01 2.48604903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5907140569999 meters Centerline goodness [0,1] 0.9988736389804347 Centerline is valid? [True, True] Translation: X:710.91, Y:-52.93, Z:2.49 [[ 9.87849312e-01 1.55245214e-01 7.25676418e-03 7.10913658e+02] [-1.55241613e-01 9.87875962e-01 -1.06032593e-03 -5.29306314e+01] [-7.33339342e-03 -7.91095344e-05 9.99973107e-01 2.48560482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.620714057 meters Centerline goodness [0,1] 0.9986348266229811 Centerline is valid? [True, True] Translation: X:710.94, Y:-52.94, Z:2.49 [[ 9.87894649e-01 1.54957291e-01 7.23879412e-03 7.10944235e+02] [-1.54953687e-01 9.87921167e-01 -1.05952817e-03 -5.29395302e+01] [-7.31553955e-03 -7.49756256e-05 9.99973238e-01 2.48576990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.650714057 meters Centerline goodness [0,1] 0.9989283012524166 Centerline is valid? [True, True] Translation: X:710.98, Y:-52.95, Z:2.49 [[ 9.87898701e-01 1.54957964e-01 6.64732640e-03 7.10975938e+02] [-1.54954913e-01 9.87921062e-01 -9.74644748e-04 -5.29482113e+01] [-6.71806272e-03 -6.71856055e-05 9.99977431e-01 2.48515656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6807140569999 meters Centerline goodness [0,1] 0.998494038903995 Centerline is valid? [True, True] Translation: X:711.01, Y:-52.96, Z:2.48 [[ 9.88013709e-01 1.54267035e-01 5.53113999e-03 7.11006421e+02] [-1.54264902e-01 9.88029190e-01 -8.12713983e-04 -5.29612350e+01] [-5.59030274e-03 -5.02882141e-05 9.99984373e-01 2.48313379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7107140569999 meters Centerline goodness [0,1] 0.9981805633979547 Centerline is valid? [True, True] Translation: X:711.04, Y:-52.97, Z:2.48 [[ 9.88067007e-01 1.53934560e-01 5.26691379e-03 7.11036398e+02] [-1.53932616e-01 9.88081044e-01 -7.75063176e-04 -5.29697216e+01] [-5.32344668e-03 -4.49354639e-05 9.99985829e-01 2.48391101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.740714057 meters Centerline goodness [0,1] 0.9992008412197687 Centerline is valid? [True, True] Translation: X:711.07, Y:-52.98, Z:2.48 [[ 9.88417182e-01 1.51627377e-01 6.37288642e-03 7.11067731e+02] [-1.51624470e-01 9.88437726e-01 -9.39665160e-04 -5.29848589e+01] [-6.44168032e-03 -3.75043337e-05 9.99979251e-01 2.48313769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.770714057 meters Centerline goodness [0,1] 0.9991577528846963 Centerline is valid? [True, True] Translation: X:711.10, Y:-52.99, Z:2.48 [[ 9.88599886e-01 1.50440753e-01 6.15180126e-03 7.11098923e+02] [-1.50438012e-01 9.88619026e-01 -9.08522862e-04 -5.29949115e+01] [-6.21846664e-03 -2.72991546e-05 9.99980665e-01 2.48273979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8007140569999 meters Centerline goodness [0,1] 0.999221937166169 Centerline is valid? [True, True] Translation: X:711.13, Y:-53.00, Z:2.48 [[ 9.88880017e-01 1.48599470e-01 5.87453897e-03 7.11129165e+02] [-1.48596930e-01 9.88897466e-01 -8.68909054e-04 -5.30044392e+01] [-5.93843612e-03 -1.36916556e-05 9.99982367e-01 2.48311697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8307140569999 meters Centerline goodness [0,1] 0.9988861568207132 Centerline is valid? [True, True] Translation: X:711.16, Y:-53.01, Z:2.48 [[ 9.89100425e-01 1.47137492e-01 5.55944884e-03 7.11161025e+02] [-1.47135183e-01 9.89116049e-01 -8.24373471e-04 -5.30139135e+01] [-5.62023631e-03 -2.60236903e-06 9.99984206e-01 2.48279754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8607140569999 meters Centerline goodness [0,1] 0.999099702692517 Centerline is valid? [True, True] Translation: X:711.19, Y:-53.03, Z:2.48 [[ 9.89550031e-01 1.44119437e-01 4.50830685e-03 7.11190625e+02] [-1.44117883e-01 9.89560300e-01 -6.69541854e-04 -5.30270485e+01] [-4.55773548e-03 1.28175239e-05 9.99989613e-01 2.48213722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.890714057 meters Centerline goodness [0,1] 0.9989948275501016 Centerline is valid? [True, True] Translation: X:711.22, Y:-53.04, Z:2.48 [[ 9.89618971e-01 1.43664451e-01 3.84947269e-03 7.11221496e+02] [-1.43663309e-01 9.89626457e-01 -5.73138873e-04 -5.30355704e+01] [-3.89187970e-03 1.41611179e-05 9.99992427e-01 2.48201606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9207140569999 meters Centerline goodness [0,1] 0.9988411537894271 Centerline is valid? [True, True] Translation: X:711.25, Y:-53.04, Z:2.48 [[ 9.89624174e-01 1.43604788e-01 4.65381733e-03 7.11253640e+02] [-1.43603112e-01 9.89635117e-01 -6.94067016e-04 -5.30435902e+01] [-4.70525240e-03 1.85628457e-05 9.99988930e-01 2.48080842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9507140569999 meters Centerline goodness [0,1] 0.9982516009437142 Centerline is valid? [True, True] Translation: X:711.29, Y:-53.05, Z:2.48 [[ 9.89587050e-01 1.43869401e-01 4.36637095e-03 7.11285748e+02] [-1.43867922e-01 9.89596683e-01 -6.52640361e-04 -5.30511337e+01] [-4.41484118e-03 1.76637366e-05 9.99990254e-01 2.48120261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9807140569999 meters Centerline goodness [0,1] 0.9985267500105233 Centerline is valid? [True, True] Translation: X:711.32, Y:-53.06, Z:2.48 [[ 9.89512206e-01 1.44395275e-01 3.94952358e-03 7.11318007e+02] [-1.44394064e-01 9.89520088e-01 -5.91726897e-04 -5.30584246e+01] [-3.99357549e-03 1.52332275e-05 9.99992026e-01 2.48124924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.010714057 meters Centerline goodness [0,1] 0.998419954916047 Centerline is valid? [True, True] Translation: X:711.35, Y:-53.07, Z:2.48 [[ 9.89324035e-01 1.45669077e-01 4.29818073e-03 7.11349079e+02] [-1.45667651e-01 9.89333371e-01 -6.44808279e-04 -5.30668262e+01] [-4.34626226e-03 1.18184396e-05 9.99990555e-01 2.48195439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.040714057 meters Centerline goodness [0,1] 0.9983815709271286 Centerline is valid? [True, True] Translation: X:711.38, Y:-53.07, Z:2.48 [[ 9.89201696e-01 1.46501318e-01 4.16750570e-03 7.11381503e+02] [-1.46499978e-01 9.89210475e-01 -6.26592971e-04 -5.30735208e+01] [-4.21433699e-03 9.28733645e-06 9.99991120e-01 2.48232811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0707140569999 meters Centerline goodness [0,1] 0.9981038660065311 Centerline is valid? [True, True] Translation: X:711.41, Y:-53.08, Z:2.48 [[ 9.89098218e-01 1.47188297e-01 4.50772171e-03 7.11413034e+02] [-1.47186731e-01 9.89108490e-01 -6.78879019e-04 -5.30824099e+01] [-4.55854887e-03 8.00120362e-06 9.99989610e-01 2.48289670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1007140569999 meters Centerline goodness [0,1] 0.9981716543375925 Centerline is valid? [True, True] Translation: X:711.44, Y:-53.09, Z:2.48 [[ 9.89033059e-01 1.47624436e-01 4.54253710e-03 7.11444378e+02] [-1.47622846e-01 9.89043490e-01 -6.85193049e-04 -5.30892540e+01] [-4.59391799e-03 7.09632060e-06 9.99989448e-01 2.48309862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.130714057 meters Centerline goodness [0,1] 0.9985058608135693 Centerline is valid? [True, True] Translation: X:711.48, Y:-53.10, Z:2.48 [[ 9.89078146e-01 1.47329952e-01 4.27848722e-03 7.11476267e+02] [-1.47328532e-01 9.89087400e-01 -6.46811858e-04 -5.30960063e+01] [-4.32709256e-03 9.40422989e-06 9.99990638e-01 2.48311653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.160714057 meters Centerline goodness [0,1] 0.9982977471418965 Centerline is valid? [True, True] Translation: X:711.51, Y:-53.10, Z:2.48 [[ 9.89190713e-01 1.46578470e-01 4.06013362e-03 7.11507933e+02] [-1.46577181e-01 9.89199046e-01 -6.14845933e-04 -5.31025527e+01] [-4.10640347e-03 1.30769478e-05 9.99991569e-01 2.48292159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1907140569999 meters Centerline goodness [0,1] 0.9983821150169142 Centerline is valid? [True, True] Translation: X:711.54, Y:-53.11, Z:2.48 [[ 9.89532165e-01 1.44266928e-01 3.62612210e-03 7.11539808e+02] [-1.44265879e-01 9.89538808e-01 -5.50520987e-04 -5.31111544e+01] [-3.66761052e-03 2.16325295e-05 9.99993274e-01 2.48158596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2207140569999 meters Centerline goodness [0,1] 0.9989693323797905 Centerline is valid? [True, True] Translation: X:711.57, Y:-53.12, Z:2.48 [[ 9.89686715e-01 1.43204946e-01 3.54260824e-03 7.11570649e+02] [-1.43203935e-01 9.89693055e-01 -5.38685834e-04 -5.31182575e+01] [-3.58323725e-03 2.58147707e-05 9.99993580e-01 2.48231387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.250714057 meters Centerline goodness [0,1] 0.9983582403704483 Centerline is valid? [True, True] Translation: X:711.60, Y:-53.12, Z:2.48 [[ 9.89905200e-01 1.41676099e-01 3.94684588e-03 7.11602510e+02] [-1.41674830e-01 9.89913068e-01 -6.00862247e-04 -5.31249566e+01] [-3.99216214e-03 3.56279444e-05 9.99992031e-01 2.48186908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.280714057 meters Centerline goodness [0,1] 0.9985903639806438 Centerline is valid? [True, True] Translation: X:711.63, Y:-53.13, Z:2.48 [[ 9.90101194e-01 1.40303057e-01 3.83105468e-03 7.11633654e+02] [-1.40301846e-01 9.90108605e-01 -5.84271601e-04 -5.31322063e+01] [-3.87513530e-03 4.09839654e-05 9.99992491e-01 2.48254285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3107140569999 meters Centerline goodness [0,1] 0.9985283605937014 Centerline is valid? [True, True] Translation: X:711.66, Y:-53.14, Z:2.48 [[ 9.90616684e-01 1.36627568e-01 3.39015425e-03 7.11664651e+02] [-1.36626595e-01 9.90622484e-01 -5.18100309e-04 -5.31418692e+01] [-3.42914981e-03 5.00535788e-05 9.99994119e-01 2.48351290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3407140569999 meters Centerline goodness [0,1] 0.9986752460257381 Centerline is valid? [True, True] Translation: X:711.70, Y:-53.15, Z:2.48 [[ 9.90897895e-01 1.34579091e-01 3.13513275e-03 7.11695322e+02] [-1.34578247e-01 9.90902854e-01 -4.79853344e-04 -5.31486018e+01] [-3.17119022e-03 5.35650002e-05 9.99994970e-01 2.48445921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.370714057 meters Centerline goodness [0,1] 0.998990515047635 Centerline is valid? [True, True] Translation: X:711.73, Y:-53.15, Z:2.48 [[ 9.91190247e-01 1.32388516e-01 3.89550430e-03 7.11726527e+02] [-1.32387193e-01 9.91197899e-01 -5.96728502e-04 -5.31543151e+01] [-3.94021567e-03 7.57565909e-05 9.99992234e-01 2.48495067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.400714057 meters Centerline goodness [0,1] 0.9991021277484288 Centerline is valid? [True, True] Translation: X:711.76, Y:-53.16, Z:2.49 [[ 9.91840953e-01 1.27400642e-01 4.53878317e-03 7.11757938e+02] [-1.27398790e-01 9.91851331e-01 -6.96055866e-04 -5.31598142e+01] [-4.59047610e-03 1.12141229e-04 9.99989457e-01 2.48581947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4307140569999 meters Centerline goodness [0,1] 0.9994742818690331 Centerline is valid? [True, True] Translation: X:711.79, Y:-53.17, Z:2.49 [[ 9.92104072e-01 1.25333378e-01 4.58854502e-03 7.11789844e+02] [-1.25331457e-01 9.92114675e-01 -7.04972174e-04 -5.31652576e+01] [-4.64071939e-03 1.24316733e-04 9.99989224e-01 2.48636254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4607140569999 meters Centerline goodness [0,1] 0.9995193011056075 Centerline is valid? [True, True] Translation: X:711.82, Y:-53.18, Z:2.49 [[ 9.92394648e-01 1.23033481e-01 3.95286070e-03 7.11819294e+02] [-1.23032037e-01 9.92402514e-01 -6.07125253e-04 -5.31756101e+01] [-3.99752563e-03 1.16179347e-04 9.99992003e-01 2.48847447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.490714057 meters Centerline goodness [0,1] 0.9995168777700758 Centerline is valid? [True, True] Translation: X:711.85, Y:-53.18, Z:2.49 [[ 9.92690472e-01 1.20617237e-01 4.13635510e-03 7.11851674e+02] [-1.20615637e-01 9.92699081e-01 -6.35158622e-04 -5.31775311e+01] [-4.18276698e-03 1.31606808e-04 9.99991244e-01 2.48625733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.520714057 meters Centerline goodness [0,1] 0.9995168777700758 Centerline is valid? [True, True] Translation: X:711.88, Y:-53.18, Z:2.49 [[ 9.92656791e-01 1.20894122e-01 4.13594171e-03 7.11883766e+02] [-1.20892512e-01 9.92665399e-01 -6.37849999e-04 -5.31825168e+01] [-4.18271854e-03 1.33161750e-04 9.99991244e-01 2.48649910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5507140569999 meters Centerline goodness [0,1] 0.9992856242383493 Centerline is valid? [True, True] Translation: X:711.91, Y:-53.19, Z:2.49 [[ 9.93241055e-01 1.16017913e-01 3.47145396e-03 7.11914430e+02] [-1.16016755e-01 9.93247113e-01 -5.33805480e-04 -5.31866410e+01] [-3.50994262e-03 1.27450693e-04 9.99993832e-01 2.48612127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5807140569999 meters Centerline goodness [0,1] 0.9998948342587919 Centerline is valid? [True, True] Translation: X:711.95, Y:-53.19, Z:2.49 [[ 9.93455297e-01 1.14178674e-01 3.13096310e-03 7.11946499e+02] [-1.14177715e-01 9.93460223e-01 -4.83943394e-04 -5.31900795e+01] [-3.16574332e-03 1.23289916e-04 9.99994981e-01 2.48665159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6107140569999 meters Centerline goodness [0,1] 0.9997483379820901 Centerline is valid? [True, True] Translation: X:711.98, Y:-53.19, Z:2.49 [[ 9.93677992e-01 1.12216176e-01 3.40260711e-03 7.11977650e+02] [-1.12215034e-01 9.93683808e-01 -5.25254405e-04 -5.31947203e+01] [-3.44005763e-03 1.40110069e-04 9.99994073e-01 2.48677065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.640714057 meters Centerline goodness [0,1] 0.9997262062719825 Centerline is valid? [True, True] Translation: X:712.01, Y:-53.20, Z:2.49 [[ 9.93832409e-01 1.10835531e-01 3.55369995e-03 7.12007840e+02] [-1.10834275e-01 9.93838751e-01 -5.49001888e-04 -5.32001758e+01] [-3.59265363e-03 1.51744111e-04 9.99993535e-01 2.48764793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6707140569999 meters Centerline goodness [0,1] 0.9995158404378487 Centerline is valid? [True, True] Translation: X:712.04, Y:-53.20, Z:2.49 [[ 9.94102283e-01 1.08401371e-01 3.12955099e-03 7.12039852e+02] [-1.08400386e-01 9.94107199e-01 -4.83403786e-04 -5.32023493e+01] [-3.16351080e-03 1.41308273e-04 9.99994986e-01 2.48808505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7007140569999 meters Centerline goodness [0,1] 0.9994755611495699 Centerline is valid? [True, True] Translation: X:712.07, Y:-53.21, Z:2.49 [[ 9.94188864e-01 1.07594253e-01 3.46115162e-03 7.12072001e+02] [-1.07593035e-01 9.94194876e-01 -5.36684536e-04 -5.32057033e+01] [-3.49880337e-03 1.61169983e-04 9.99993866e-01 2.48918976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7307140569999 meters Centerline goodness [0,1] 0.9996203893118502 Centerline is valid? [True, True] Translation: X:712.10, Y:-53.21, Z:2.49 [[ 9.94275465e-01 1.06787256e-01 3.57511985e-03 7.12103409e+02] [-1.06785949e-01 9.94281878e-01 -5.54963583e-04 -5.32074975e+01] [-3.61393991e-03 1.70014110e-04 9.99993455e-01 2.49196785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.760714057 meters Centerline goodness [0,1] 0.9998103666245259 Centerline is valid? [True, True] Translation: X:712.14, Y:-53.20, Z:2.49 [[ 9.94244128e-01 1.07070799e-01 3.80231042e-03 7.12137898e+02] [-1.07069317e-01 9.94251382e-01 -5.91732690e-04 -5.32024373e+01] [-3.84380968e-03 1.81215972e-04 9.99992596e-01 2.49084814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.790714057 meters Centerline goodness [0,1] 0.9997274061648145 Centerline is valid? [True, True] Translation: X:712.17, Y:-53.21, Z:2.49 [[ 9.94144874e-01 1.07996815e-01 3.55759761e-03 7.12168736e+02] [-1.07995522e-01 9.94151226e-01 -5.54200264e-04 -5.32054024e+01] [-3.59664189e-03 1.66750742e-04 9.99993518e-01 2.49181090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8207140569999 meters Centerline goodness [0,1] 0.9996026019116939 Centerline is valid? [True, True] Translation: X:712.20, Y:-53.21, Z:2.49 [[ 9.93979472e-01 1.09531336e-01 2.77404147e-03 7.12199966e+02] [-1.09530556e-01 9.93983335e-01 -4.32234947e-04 -5.32063294e+01] [-2.80469426e-03 1.25790361e-04 9.99996059e-01 2.49285854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8507140569999 meters Centerline goodness [0,1] 0.9996442547136251 Centerline is valid? [True, True] Translation: X:712.23, Y:-53.20, Z:2.49 [[ 9.93570623e-01 1.13171972e-01 3.08562716e-03 7.12231149e+02] [-1.13171026e-01 9.93575407e-01 -4.79799265e-04 -5.32016135e+01] [-3.12010308e-03 1.27510863e-04 9.99995124e-01 2.49430400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.880714057 meters Centerline goodness [0,1] 0.9996021608945098 Centerline is valid? [True, True] Translation: X:712.26, Y:-53.20, Z:2.50 [[ 9.93325006e-01 1.15316735e-01 2.73533134e-03 7.12261782e+02] [-1.15316000e-01 9.93328767e-01 -4.25571539e-04 -5.32046069e+01] [-2.76615882e-03 1.07303383e-04 9.99996168e-01 2.49628986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.910714057 meters Centerline goodness [0,1] 0.9996856532126241 Centerline is valid? [True, True] Translation: X:712.29, Y:-53.20, Z:2.50 [[ 9.93009042e-01 1.17996443e-01 3.14350873e-03 7.12294674e+02] [-1.17995485e-01 9.93014011e-01 -4.89341476e-04 -5.31999803e+01] [-3.17928877e-03 1.15000674e-04 9.99994939e-01 2.49585713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9407140569999 meters Centerline goodness [0,1] 0.9997274347415872 Centerline is valid? [True, True] Translation: X:712.33, Y:-53.20, Z:2.50 [[ 9.92747246e-01 1.20178708e-01 3.15961285e-03 7.12325712e+02] [-1.20177744e-01 9.92752268e-01 -4.93863308e-04 -5.32016978e+01] [-3.19606467e-03 1.10566295e-04 9.99994886e-01 2.49669541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9707140569999 meters Centerline goodness [0,1] 0.9998325799430772 Centerline is valid? [True, True] Translation: X:712.36, Y:-53.20, Z:2.50 [[ 9.92251214e-01 1.24224685e-01 2.39899464e-03 7.12358095e+02] [-1.24224143e-01 9.92254112e-01 -3.74044334e-04 -5.31957583e+01] [-2.42687784e-03 7.31328907e-05 9.99997052e-01 2.49702113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.000714057 meters Centerline goodness [0,1] 0.999455303458823 Centerline is valid? [True, True] Translation: X:712.39, Y:-53.19, Z:2.50 [[ 9.92005087e-01 1.26188983e-01 1.49952790e-03 7.12391167e+02] [-1.26188772e-01 9.92006219e-01 -2.34451475e-04 -5.31948106e+01] [-1.51712620e-03 4.33534708e-05 9.99998848e-01 2.49644752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.030714057 meters Centerline goodness [0,1] 0.9992664319248826 Centerline is valid? [True, True] Translation: X:712.42, Y:-53.20, Z:2.50 [[ 9.91838128e-01 1.27496662e-01 1.31521869e-03 7.12422465e+02] [-1.27496501e-01 9.91838999e-01 -2.06303397e-04 -5.31967994e+01] [-1.33078819e-03 3.69337935e-05 9.99999114e-01 2.49670825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0607140569999 meters Centerline goodness [0,1] 0.9990784568340804 Centerline is valid? [True, True] Translation: X:712.45, Y:-53.20, Z:2.50 [[ 9.91681927e-01 1.28706581e-01 1.25374865e-03 7.12454981e+02] [-1.28706433e-01 9.91682719e-01 -1.97807132e-04 -5.31954046e+01] [-1.26877995e-03 3.47962410e-05 9.99999194e-01 2.49778013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0907140569999 meters Centerline goodness [0,1] 0.9994771843238948 Centerline is valid? [True, True] Translation: X:712.49, Y:-53.20, Z:2.50 [[ 9.91699865e-01 1.28568128e-01 1.27015413e-03 7.12488265e+02] [-1.28567976e-01 9.91700678e-01 -2.00999474e-04 -5.31985876e+01] [-1.28545484e-03 3.60300050e-05 9.99999173e-01 2.49863019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.120714057 meters Centerline goodness [0,1] 0.9992467200937415 Centerline is valid? [True, True] Translation: X:712.52, Y:-53.20, Z:2.50 [[ 9.91782942e-01 1.27919430e-01 1.79317154e-03 7.12519939e+02] [-1.27919127e-01 9.91784562e-01 -2.83061838e-04 -5.32021394e+01] [-1.81464896e-03 5.13549631e-05 9.99998352e-01 2.49944823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.150714057 meters Centerline goodness [0,1] 0.9993724637074844 Centerline is valid? [True, True] Translation: X:712.55, Y:-53.21, Z:2.50 [[ 9.91926235e-01 1.26794708e-01 2.33362010e-03 7.12552012e+02] [-1.26794192e-01 9.91928978e-01 -3.68388209e-04 -5.32063909e+01] [-2.36149507e-03 6.95244548e-05 9.99997209e-01 2.50021750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1807140569999 meters Centerline goodness [0,1] 0.9994344957587182 Centerline is valid? [True, True] Translation: X:712.58, Y:-53.21, Z:2.50 [[ 9.92301922e-01 1.23810608e-01 2.79804875e-03 7.12582938e+02] [-1.23809857e-01 9.92305863e-01 -4.40713480e-04 -5.32088935e+01] [-2.83108518e-03 9.08948172e-05 9.99995988e-01 2.50108121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2107140569999 meters Centerline goodness [0,1] 0.9993736690467243 Centerline is valid? [True, True] Translation: X:712.61, Y:-53.21, Z:2.50 [[ 9.92542279e-01 1.21873200e-01 2.59747635e-03 7.12613792e+02] [-1.21872545e-01 9.92545674e-01 -4.09559546e-04 -5.32130358e+01] [-2.62802824e-03 8.99441115e-05 9.99996543e-01 2.50143260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.240714057 meters Centerline goodness [0,1] 0.9998533785765155 Centerline is valid? [True, True] Translation: X:712.65, Y:-53.22, Z:2.50 [[ 9.92828430e-01 1.19517636e-01 2.69116076e-03 7.12645940e+02] [-1.19516925e-01 9.92832073e-01 -4.24085347e-04 -5.32168590e+01] [-2.72255640e-03 9.94047311e-05 9.99996289e-01 2.50161330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.270714057 meters Centerline goodness [0,1] 0.9997698792912282 Centerline is valid? [True, True] Translation: X:712.68, Y:-53.22, Z:2.50 [[ 9.93539566e-01 1.13471814e-01 1.81057384e-03 7.12675530e+02] [-1.13471483e-01 9.93541213e-01 -2.84863351e-04 -5.32217883e+01] [-1.83120369e-03 7.75745117e-05 9.99998320e-01 2.50125137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3007140569999 meters Centerline goodness [0,1] 0.9997287654655845 Centerline is valid? [True, True] Translation: X:712.71, Y:-53.23, Z:2.50 [[ 9.93944329e-01 1.09876051e-01 1.38734539e-03 7.12706045e+02] [-1.09875852e-01 9.93945295e-01 -2.18490525e-04 -5.32266897e+01] [-1.40295230e-03 6.47316610e-05 9.99999014e-01 2.50083565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3307140569999 meters Centerline goodness [0,1] 0.9997915537582858 Centerline is valid? [True, True] Translation: X:712.74, Y:-53.23, Z:2.50 [[ 9.94365062e-01 1.06005801e-01 9.45148463e-04 7.12736845e+02] [-1.06005707e-01 9.94365510e-01 -1.48905113e-04 -5.32314648e+01] [-9.55607840e-04 4.78749104e-05 9.99999542e-01 2.50072887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3607140569999 meters Centerline goodness [0,1] 0.9998528113040919 Centerline is valid? [True, True] Translation: X:712.77, Y:-53.24, Z:2.50 [[ 9.95205846e-01 9.77960246e-02 1.12320351e-03 7.12765467e+02] [-9.77958872e-02 9.95206478e-01 -1.76681614e-04 -5.32371168e+01] [-1.13509817e-03 6.59898916e-05 9.99999354e-01 2.50119177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.390714057 meters Centerline goodness [0,1] 0.9997266955388303 Centerline is valid? [True, True] Translation: X:712.80, Y:-53.24, Z:2.50 [[ 9.95595344e-01 9.37424723e-02 1.50346448e-03 7.12795394e+02] [-9.37422213e-02 9.95596474e-01 -2.36695781e-04 -5.32422750e+01] [-1.51903239e-03 9.47151167e-05 9.99998842e-01 2.50176479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4207140569999 meters Centerline goodness [0,1] 0.9998318621269441 Centerline is valid? [True, True] Translation: X:712.83, Y:-53.25, Z:2.50 [[ 9.95981112e-01 8.95563091e-02 1.13700620e-03 7.12825447e+02] [-8.95561629e-02 9.95981758e-01 -1.78998431e-04 -5.32467710e+01] [-1.14846787e-03 7.64531445e-05 9.99999338e-01 2.50272186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4507140569999 meters Centerline goodness [0,1] 0.9998736975055257 Centerline is valid? [True, True] Translation: X:712.86, Y:-53.24, Z:2.50 [[ 9.96579012e-01 8.26381143e-02 1.10208858e-03 7.12857291e+02] [-8.26379727e-02 9.96579618e-01 -1.73489631e-04 -5.32401774e+01] [-1.11265587e-03 8.18217592e-05 9.99999378e-01 2.50180356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4807140569999 meters Centerline goodness [0,1] 0.999936768890294 Centerline is valid? [True, True] Translation: X:712.89, Y:-53.24, Z:2.50 [[ 9.96861986e-01 7.91541377e-02 8.96286949e-04 7.12887943e+02] [-7.91540426e-02 9.96862387e-01 -1.41112932e-04 -5.32434945e+01] [-9.04644420e-04 6.97253823e-05 9.99999588e-01 2.50267819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.510714057 meters Centerline goodness [0,1] 0.9999157451290153 Centerline is valid? [True, True] Translation: X:712.92, Y:-53.25, Z:2.50 [[ 9.97039338e-01 7.68803843e-02 1.40142754e-03 7.12916909e+02] [-7.68801495e-02 9.97040317e-01 -2.20765318e-04 -5.32525494e+01] [-1.41425229e-03 1.12369748e-04 9.99998994e-01 2.50422171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.540714057 meters Centerline goodness [0,1] 0.9997891229624006 Centerline is valid? [True, True] Translation: X:712.95, Y:-53.25, Z:2.50 [[ 9.97159211e-01 7.52965683e-02 1.98352343e-03 7.12948749e+02] [-7.52960947e-02 9.97161171e-01 -3.12443876e-04 -5.32474786e+01] [-2.00141849e-03 1.62204721e-04 9.99997984e-01 2.50499386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5707140569999 meters Centerline goodness [0,1] 0.9998106379397408 Centerline is valid? [True, True] Translation: X:712.98, Y:-53.24, Z:2.51 [[ 9.97254967e-01 7.39794894e-02 3.09284674e-03 7.12981214e+02] [-7.39783313e-02 9.97259730e-01 -4.87345431e-04 -5.32440827e+01] [-3.12042507e-03 2.57204011e-04 9.99995098e-01 2.50683618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6007140569999 meters Centerline goodness [0,1] 0.9997262293355796 Centerline is valid? [True, True] Translation: X:713.01, Y:-53.25, Z:2.51 [[ 9.97214993e-01 7.44923961e-02 3.62511858e-03 7.13013093e+02] [-7.44907995e-02 9.97221536e-01 -5.73650507e-04 -5.32457280e+01] [-3.65777892e-03 3.02014905e-04 9.99993265e-01 2.50755240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.630714057 meters Centerline goodness [0,1] 0.9998948077084912 Centerline is valid? [True, True] Translation: X:713.05, Y:-53.24, Z:2.51 [[ 9.97158468e-01 7.52161706e-02 4.18536873e-03 7.13045738e+02] [-7.52140454e-02 9.97167191e-01 -6.63105521e-04 -5.32446424e+01] [-4.22338864e-03 3.46422772e-04 9.99991021e-01 2.50769721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.660714057 meters Centerline goodness [0,1] 0.9996445968264587 Centerline is valid? [True, True] Translation: X:713.08, Y:-53.25, Z:2.51 [[ 9.97005804e-01 7.72270684e-02 3.92515713e-03 7.13077119e+02] [-7.72252191e-02 9.97013480e-01 -6.20761019e-04 -5.32457585e+01] [-3.96137412e-03 3.15781220e-04 9.99992104e-01 2.50971453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6907140569999 meters Centerline goodness [0,1] 0.9996638090435367 Centerline is valid? [True, True] Translation: X:713.11, Y:-53.24, Z:2.51 [[ 9.96875197e-01 7.88782830e-02 4.24957203e-03 7.13108738e+02] [-7.88761304e-02 9.96884198e-01 -6.72064043e-04 -5.32444413e+01] [-4.28934247e-03 3.34774177e-04 9.99990745e-01 2.51017182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7207140569999 meters Centerline goodness [0,1] 0.9995589532490444 Centerline is valid? [True, True] Translation: X:713.14, Y:-53.25, Z:2.51 [[ 9.96772691e-01 8.01488941e-02 4.51180527e-03 7.13138913e+02] [-8.01464808e-02 9.96782841e-01 -7.13461339e-04 -5.32457750e+01] [-4.55447322e-03 3.49553465e-04 9.99989567e-01 2.51125016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.750714057 meters Centerline goodness [0,1] 0.9995412078745413 Centerline is valid? [True, True] Translation: X:713.17, Y:-53.24, Z:2.51 [[ 9.96556552e-01 8.27717878e-02 4.88565412e-03 7.13169838e+02] [-8.27689901e-02 9.96568461e-01 -7.72430597e-04 -5.32415864e+01] [-4.93282427e-03 3.65390115e-04 9.99987767e-01 2.51314039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.780714057 meters Centerline goodness [0,1] 0.9994978974455533 Centerline is valid? [True, True] Translation: X:713.20, Y:-53.24, Z:2.51 [[ 9.96428387e-01 8.42417803e-02 5.81310197e-03 7.13202428e+02] [-8.42378401e-02 9.96445252e-01 -9.19802177e-04 -5.32395149e+01] [-5.86992363e-03 4.26833845e-04 9.99982681e-01 2.51367663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8107140569999 meters Centerline goodness [0,1] 0.9995205336668751 Centerline is valid? [True, True] Translation: X:713.23, Y:-53.24, Z:2.51 [[ 9.96342007e-01 8.52407609e-02 6.05128435e-03 7.13233407e+02] [-8.52364924e-02 9.96360285e-01 -9.60284363e-04 -5.32413822e+01] [-6.11111477e-03 4.40981397e-04 9.99981230e-01 2.51453082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8407140569999 meters Centerline goodness [0,1] 0.9994329279818537 Centerline is valid? [True, True] Translation: X:713.27, Y:-53.24, Z:2.51 [[ 9.96297308e-01 8.56938983e-02 6.94478997e-03 7.13266757e+02] [-8.56882712e-02 9.96321384e-01 -1.10435682e-03 -5.32398449e+01] [-7.01387940e-03 5.05180676e-04 9.99975275e-01 2.51458909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.870714057 meters Centerline goodness [0,1] 0.9991241789177354 Centerline is valid? [True, True] Translation: X:713.30, Y:-53.24, Z:2.51 [[ 9.96281148e-01 8.59342353e-02 6.25945563e-03 7.13298890e+02] [-8.59296571e-02 9.96300707e-01 -9.97197089e-04 -5.32409440e+01] [-6.32199344e-03 4.55615785e-04 9.99979912e-01 2.51476507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.900714057 meters Centerline goodness [0,1] 0.9987877014401271 Centerline is valid? [True, True] Translation: X:713.33, Y:-53.24, Z:2.51 [[ 9.96259644e-01 8.61999463e-02 6.02423551e-03 7.13332516e+02] [-8.61956985e-02 9.96277761e-01 -9.61719126e-04 -5.32399555e+01] [-6.08471200e-03 4.38858767e-04 9.99981392e-01 2.51377567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9307140569999 meters Centerline goodness [0,1] 0.9984051706047761 Centerline is valid? [True, True] Translation: X:713.36, Y:-53.24, Z:2.51 [[ 9.96246081e-01 8.63789767e-02 5.69376672e-03 7.13363953e+02] [-8.63751860e-02 9.96262265e-01 -9.08794220e-04 -5.32425474e+01] [-5.75098564e-03 4.13582520e-04 9.99983377e-01 2.51398445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9607140569999 meters Centerline goodness [0,1] 0.9975855046295324 Centerline is valid? [True, True] Translation: X:713.40, Y:-53.24, Z:2.51 [[ 9.96168493e-01 8.73171497e-02 4.90393184e-03 7.13397415e+02] [-8.73143380e-02 9.96180501e-01 -7.84947428e-04 -5.32389816e+01] [-4.95374064e-03 3.53756335e-04 9.99987668e-01 2.51322999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.990714057 meters Centerline goodness [0,1] 0.9973675963647759 Centerline is valid? [True, True] Translation: X:713.43, Y:-53.24, Z:2.51 [[ 9.96133156e-01 8.77658009e-02 3.98737174e-03 7.13427903e+02] [-8.77639451e-02 9.96141096e-01 -6.38360471e-04 -5.32432837e+01] [-4.02801107e-03 2.85944556e-04 9.99991847e-01 2.51352565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.020714057 meters Centerline goodness [0,1] 0.9968286423668343 Centerline is valid? [True, True] Translation: X:713.46, Y:-53.24, Z:2.51 [[ 9.95974601e-01 8.95968622e-02 2.64489948e-03 7.13461153e+02] [-8.95960525e-02 9.95978096e-01 -4.23268590e-04 -5.32361804e+01] [-2.67218549e-03 1.84592213e-04 9.99996413e-01 2.51159406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0507140569999 meters Centerline goodness [0,1] 0.9962019240802187 Centerline is valid? [True, True] Translation: X:713.49, Y:-53.24, Z:2.51 [[ 9.95857913e-01 9.08921698e-02 2.37291013e-03 7.13491972e+02] [-9.08915218e-02 9.95860727e-01 -3.79733591e-04 -5.32375722e+01] [-2.39760281e-03 1.62483289e-04 9.99997113e-01 2.51158037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0807140569999 meters Centerline goodness [0,1] 0.9963805259744335 Centerline is valid? [True, True] Translation: X:713.52, Y:-53.23, Z:2.51 [[ 9.95664353e-01 9.29899719e-02 2.31547585e-03 7.13523546e+02] [-9.29893612e-02 9.95667034e-01 -3.70284063e-04 -5.32333739e+01] [-2.33987568e-03 1.53364021e-04 9.99997251e-01 2.51131673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1107140569999 meters Centerline goodness [0,1] 0.9953742464835901 Centerline is valid? [True, True] Translation: X:713.56, Y:-53.23, Z:2.51 [[ 9.95259983e-01 9.72273368e-02 2.10026298e-03 7.13555053e+02] [-9.72268438e-02 9.95262191e-01 -3.35835442e-04 -5.32270388e+01] [-2.12296472e-03 1.30041635e-04 9.99997738e-01 2.51012950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.140714057 meters Centerline goodness [0,1] 0.9948760849105929 Centerline is valid? [True, True] Translation: X:713.58, Y:-53.23, Z:2.51 [[ 9.95084930e-01 9.90074144e-02 1.87457079e-03 7.13583817e+02] [-9.90070254e-02 9.95086689e-01 -2.99435041e-04 -5.32306471e+01] [-1.89500673e-03 1.12367618e-04 9.99998198e-01 2.51010623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1707140569999 meters Centerline goodness [0,1] 0.9947901410218856 Centerline is valid? [True, True] Translation: X:713.61, Y:-53.23, Z:2.51 [[ 9.95002762e-01 9.98365129e-02 1.47468363e-03 7.13612988e+02] [-9.98362731e-02 9.95003851e-01 -2.35529595e-04 -5.32320355e+01] [-1.49083034e-03 8.71256799e-05 9.99998885e-01 2.51035238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2007140569999 meters Centerline goodness [0,1] 0.9942701798410707 Centerline is valid? [True, True] Translation: X:713.64, Y:-53.23, Z:2.51 [[ 9.94938214e-01 1.00473126e-01 1.76081537e-03 7.13642488e+02] [-1.00472785e-01 9.94939767e-01 -2.80816876e-04 -5.32297901e+01] [-1.78011978e-03 1.02481416e-04 9.99998410e-01 2.50938705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2307140569999 meters Centerline goodness [0,1] 0.9931975636812692 Centerline is valid? [True, True] Translation: X:713.67, Y:-53.23, Z:2.51 [[ 9.94759367e-01 1.02228124e-01 1.79216166e-03 7.13671561e+02] [-1.02227774e-01 9.94760977e-01 -2.85864558e-04 -5.32282355e+01] [-1.81199588e-03 1.01157750e-04 9.99998353e-01 2.50986798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.260714057 meters Centerline goodness [0,1] 0.9933491886431082 Centerline is valid? [True, True] Translation: X:713.70, Y:-53.22, Z:2.51 [[ 9.94673235e-01 1.03062464e-01 1.81197102e-03 7.13702495e+02] [-1.03062108e-01 9.94674881e-01 -2.88904556e-04 -5.32209665e+01] [-1.83209728e-03 1.00620076e-04 9.99998317e-01 2.50835827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.290714057 meters Centerline goodness [0,1] 0.9916910229645094 Centerline is valid? [True, True] Translation: X:713.73, Y:-53.22, Z:2.51 [[ 9.94488513e-01 1.04841210e-01 9.57984213e-04 7.13730884e+02] [-1.04841111e-01 9.94488973e-01 -1.52345945e-04 -5.32227391e+01] [-9.68676869e-04 5.10701627e-05 9.99999530e-01 2.50881239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3207140569999 meters Centerline goodness [0,1] 0.9916969925126532 Centerline is valid? [True, True] Translation: X:713.76, Y:-53.22, Z:2.51 [[ 9.94458631e-01 1.05127930e-01 3.86417818e-04 7.13758653e+02] [-1.05127914e-01 9.94458706e-01 -6.09894486e-05 -5.32243378e+01] [-3.90688258e-04 2.00281845e-05 9.99999923e-01 2.50891497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3507140569999 meters Centerline goodness [0,1] 0.9905161561057491 Centerline is valid? [True, True] Translation: X:713.79, Y:-53.22, Z:2.51 [[ 9.94475917e-01 1.04964882e-01 -1.52192450e-04 7.13788600e+02] [-1.04964879e-01 9.94475929e-01 2.47973629e-05 -5.32195972e+01] [ 1.53954580e-04 -8.68551817e-06 9.99999988e-01 2.50730622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.380714057 meters Centerline goodness [0,1] 0.9905956773853453 Centerline is valid? [True, True] Translation: X:713.82, Y:-53.22, Z:2.51 [[ 9.94515469e-01 1.04586482e-01 -8.05810173e-04 7.13817428e+02] [-1.04586411e-01 9.94515795e-01 1.28951581e-04 -5.32206299e+01] [ 8.14877537e-04 -4.39675480e-05 9.99999667e-01 2.50701632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.410714057 meters Centerline goodness [0,1] 0.9905956773853453 Centerline is valid? [True, True] Translation: X:713.84, Y:-53.22, Z:2.51 [[ 9.94526617e-01 1.04480420e-01 -8.05782321e-04 7.13844627e+02] [-1.04480349e-01 9.94526943e-01 1.29126597e-04 -5.32248720e+01] [ 8.14863429e-04 -4.42314195e-05 9.99999667e-01 2.50722118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4407140569999 meters Centerline goodness [0,1] 0.9896941979809901 Centerline is valid? [True, True] Translation: X:713.87, Y:-53.22, Z:2.51 [[ 9.94566309e-01 1.04099532e-01 -1.06969734e-03 7.13873639e+02] [-1.04099409e-01 9.94566883e-01 1.70947291e-04 -5.32228177e+01] [ 1.08168108e-03 -5.86635564e-05 9.99999413e-01 2.50636081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4707140569999 meters Centerline goodness [0,1] 0.9891113971596784 Centerline is valid? [True, True] Translation: X:713.90, Y:-53.23, Z:2.50 [[ 9.94669515e-01 1.03098939e-01 -1.77919790e-03 7.13901302e+02] [-1.03098596e-01 9.94671101e-01 2.83696494e-04 -5.32261348e+01] [ 1.79896555e-03 -9.87514481e-05 9.99998377e-01 2.50492246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.500714057 meters Centerline goodness [0,1] 0.9889066981609583 Centerline is valid? [True, True] Translation: X:713.93, Y:-53.23, Z:2.50 [[ 9.94714040e-01 1.02643027e-01 -2.89630551e-03 7.13930719e+02] [-1.02642118e-01 9.94718243e-01 4.61034389e-04 -5.32261367e+01] [ 2.92832989e-03 -1.61314446e-04 9.99995699e-01 2.50370899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.530714057 meters Centerline goodness [0,1] 0.9887692534608821 Centerline is valid? [True, True] Translation: X:713.96, Y:-53.23, Z:2.50 [[ 9.94780235e-01 1.01965694e-01 -3.90914324e-03 7.13958513e+02] [-1.01964036e-01 9.94787891e-01 6.21830793e-04 -5.32294702e+01] [ 3.95217377e-03 -2.19992962e-04 9.99992166e-01 2.50276768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5607140569999 meters Centerline goodness [0,1] 0.9870932481291516 Centerline is valid? [True, True] Translation: X:713.99, Y:-53.24, Z:2.50 [[ 9.94808495e-01 1.01661947e-01 -4.57232226e-03 7.13985834e+02] [-1.01659676e-01 9.94818969e-01 7.26776700e-04 -5.32354895e+01] [ 4.62251845e-03 -2.58182834e-04 9.99989283e-01 2.50138828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5907140569999 meters Centerline goodness [0,1] 0.9863459720617582 Centerline is valid? [True, True] Translation: X:714.02, Y:-53.24, Z:2.50 [[ 9.94836957e-01 1.01241021e-01 -7.04868496e-03 7.14015050e+02] [-1.01235623e-01 9.94861847e-01 1.11937204e-03 -5.32368561e+01] [ 7.12579411e-03 -4.00014654e-04 9.99974531e-01 2.49942403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.620714057 meters Centerline goodness [0,1] 0.9865401681950725 Centerline is valid? [True, True] Translation: X:714.04, Y:-53.24, Z:2.50 [[ 9.94875502e-01 1.00805496e-01 -7.80950246e-03 7.14043595e+02] [-1.00798861e-01 9.94906052e-01 1.23956480e-03 -5.32375188e+01] [ 7.89467621e-03 -4.46023693e-04 9.99968737e-01 2.49890699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.650714057 meters Centerline goodness [0,1] 0.9836552435916338 Centerline is valid? [True, True] Translation: X:714.07, Y:-53.25, Z:2.50 [[ 9.94919130e-01 1.00232932e-01 -9.44898856e-03 7.14069582e+02] [-1.00223204e-01 9.94963850e-01 1.49871964e-03 -5.32533825e+01] [ 9.55162311e-03 -5.44096932e-04 9.99954234e-01 2.49691902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6807140569999 meters Centerline goodness [0,1] 0.9845776820044788 Centerline is valid? [True, True] Translation: X:714.10, Y:-53.25, Z:2.50 [[ 9.94981584e-01 9.95587330e-02 -9.98531168e-03 7.14100057e+02] [-9.95478464e-02 9.95031518e-01 1.58265759e-03 -5.32457018e+01] [ 1.00932672e-02 -5.80698880e-04 9.99948893e-01 2.49671701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7107140569999 meters Centerline goodness [0,1] 0.9830161177887154 Centerline is valid? [True, True] Translation: X:714.13, Y:-53.26, Z:2.50 [[ 9.95061292e-01 9.87427032e-02 -1.01441454e-02 7.14125524e+02] [-9.87314332e-02 9.95112818e-01 1.60705474e-03 -5.32616364e+01] [ 1.02532540e-02 -5.97571957e-04 9.99947255e-01 2.49667349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.740714057 meters Centerline goodness [0,1] 0.9843716956393013 Centerline is valid? [True, True] Translation: X:714.16, Y:-53.25, Z:2.50 [[ 9.95242381e-01 9.69457395e-02 -9.70185238e-03 7.14157061e+02] [-9.69353531e-02 9.95289494e-01 1.53623599e-03 -5.32489552e+01] [ 9.80508328e-03 -5.88474675e-04 9.99951756e-01 2.49844903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.770714057 meters Centerline goodness [0,1] 0.9826621217859698 Centerline is valid? [True, True] Translation: X:714.19, Y:-53.25, Z:2.50 [[ 9.95367452e-01 9.56123400e-02 -1.00953255e-02 7.14185498e+02] [-9.56010321e-02 9.95418449e-01 1.59791523e-03 -5.32516371e+01] [ 1.02018537e-02 -6.25389271e-04 9.99947764e-01 2.49879385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8007140569999 meters Centerline goodness [0,1] 0.9816738969421225 Centerline is valid? [True, True] Translation: X:714.21, Y:-53.26, Z:2.50 [[ 9.95630366e-01 9.27888713e-02 -1.05071577e-02 7.14213604e+02] [-9.27764726e-02 9.95685574e-01 1.66241834e-03 -5.32590244e+01] [ 1.06160792e-02 -6.80337156e-04 9.99943416e-01 2.49824891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8307140569999 meters Centerline goodness [0,1] 0.9807939079033174 Centerline is valid? [True, True] Translation: X:714.24, Y:-53.26, Z:2.50 [[ 9.95742988e-01 9.14787013e-02 -1.12937303e-02 7.14241924e+02] [-9.14643020e-02 9.95806754e-01 1.78605837e-03 -5.32621689e+01] [ 1.14097593e-02 -7.45481940e-04 9.99934629e-01 2.49815485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8607140569999 meters Centerline goodness [0,1] 0.9799487602955811 Centerline is valid? [True, True] Translation: X:714.27, Y:-53.27, Z:2.50 [[ 9.95847153e-01 9.03121252e-02 -1.14963972e-02 7.14268977e+02] [-9.02971446e-02 9.95913212e-01 1.81658649e-03 -5.32678962e+01] [ 1.16134736e-02 -7.70950650e-04 9.99932264e-01 2.49802820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.890714057 meters Centerline goodness [0,1] 0.9804419608839218 Centerline is valid? [True, True] Translation: X:714.30, Y:-53.26, Z:2.50 [[ 9.96119046e-01 8.71492376e-02 -1.23229897e-02 7.14300326e+02] [-8.71317982e-02 9.96194892e-01 1.94608412e-03 -5.32641037e+01] [ 1.24456992e-02 -8.64807204e-04 9.99922175e-01 2.49874144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9207140569999 meters Centerline goodness [0,1] 0.9790440709538123 Centerline is valid? [True, True] Translation: X:714.33, Y:-53.27, Z:2.50 [[ 9.96283532e-01 8.52365326e-02 -1.24038898e-02 7.14327799e+02] [-8.52187229e-02 9.96360344e-01 1.95830781e-03 -5.32717362e+01] [ 1.25256632e-02 -8.93986175e-04 9.99921151e-01 2.49895316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9507140569999 meters Centerline goodness [0,1] 0.9797128457075092 Centerline is valid? [True, True] Translation: X:714.36, Y:-53.28, Z:2.50 [[ 9.96441211e-01 8.33510057e-02 -1.25508151e-02 7.14357222e+02] [-8.33326329e-02 9.96519819e-01 1.98070698e-03 -5.32761859e+01] [ 1.26722299e-02 -9.27765595e-04 9.99919274e-01 2.49958227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9807140569999 meters Centerline goodness [0,1] 0.9765539803707742 Centerline is valid? [True, True] Translation: X:714.39, Y:-53.28, Z:2.50 [[ 9.96730156e-01 7.98297114e-02 -1.24985044e-02 7.14386966e+02] [-7.98112197e-02 9.96808046e-01 1.97216460e-03 -5.32794944e+01] [ 1.26160471e-02 -9.68195044e-04 9.99919946e-01 2.50105278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.010714057 meters Centerline goodness [0,1] 0.9761546769445797 Centerline is valid? [True, True] Translation: X:714.42, Y:-53.28, Z:2.50 [[ 9.96859652e-01 7.82287922e-02 -1.22919177e-02 7.14416110e+02] [-7.82107895e-02 9.96934959e-01 1.93926449e-03 -5.32809619e+01] [ 1.24059488e-02 -9.71813931e-04 9.99922571e-01 2.50143195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.040714057 meters Centerline goodness [0,1] 0.9744319379452806 Centerline is valid? [True, True] Translation: X:714.44, Y:-53.28, Z:2.50 [[ 9.96927786e-01 7.74153716e-02 -1.19100504e-02 7.14443446e+02] [-7.73984232e-02 9.96998474e-01 1.87813113e-03 -5.32827224e+01] [ 1.20196983e-02 -9.50541990e-04 9.99927309e-01 2.50202379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0707140569999 meters Centerline goodness [0,1] 0.9741293532338309 Centerline is valid? [True, True] Translation: X:714.47, Y:-53.28, Z:2.50 [[ 9.96916197e-01 7.76446820e-02 -1.13753495e-02 7.14472949e+02] [-7.76292483e-02 9.96980685e-01 1.79275148e-03 -5.32812936e+01] [ 1.14802014e-02 -9.04163159e-04 9.99933692e-01 2.50322183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1007140569999 meters Centerline goodness [0,1] 0.9731308165794836 Centerline is valid? [True, True] Translation: X:714.50, Y:-53.28, Z:2.50 [[ 9.96815222e-01 7.89592231e-02 -1.11738185e-02 7.14500969e+02] [-7.89444227e-02 9.96877465e-01 1.76017903e-03 -5.32840657e+01] [ 1.12779102e-02 -8.72462598e-04 9.99936022e-01 2.50351982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.130714057 meters Centerline goodness [0,1] 0.9713064073274507 Centerline is valid? [True, True] Translation: X:714.53, Y:-53.29, Z:2.50 [[ 9.96482548e-01 8.31966540e-02 -1.00423145e-02 7.14530271e+02] [-8.31849188e-02 9.96532874e-01 1.58139614e-03 -5.32851368e+01] [ 1.01390634e-02 -7.40464535e-04 9.99948324e-01 2.50406834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.160714057 meters Centerline goodness [0,1] 0.9712918660287081 Centerline is valid? [True, True] Translation: X:714.56, Y:-53.28, Z:2.50 [[ 9.96325904e-01 8.50347964e-02 -1.01871160e-02 7.14561274e+02] [-8.50228180e-02 9.96377713e-01 1.60398744e-03 -5.32809885e+01] [ 1.02866101e-02 -7.31956927e-04 9.99946824e-01 2.50456385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1907140569999 meters Centerline goodness [0,1] 0.9694025919291961 Centerline is valid? [True, True] Translation: X:714.59, Y:-53.28, Z:2.50 [[ 9.95896115e-01 8.99729411e-02 -9.78769344e-03 7.14590156e+02] [-8.99621232e-02 9.95943995e-01 1.54086260e-03 -5.32828320e+01] [ 9.88663045e-03 -6.54017395e-04 9.99950912e-01 2.50489163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2207140569999 meters Centerline goodness [0,1] 0.967654986522911 Centerline is valid? [True, True] Translation: X:714.62, Y:-53.28, Z:2.51 [[ 9.95745363e-01 9.17106281e-02 -8.96289415e-03 7.14620243e+02] [-9.17016300e-02 9.95785530e-01 1.41066321e-03 -5.32832802e+01] [ 9.05449310e-03 -5.82749347e-04 9.99958837e-01 2.50539377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.250714057 meters Centerline goodness [0,1] 0.9663333755220858 Centerline is valid? [True, True] Translation: X:714.65, Y:-53.28, Z:2.51 [[ 9.95521934e-01 9.41206951e-02 -8.79624743e-03 7.14649345e+02] [-9.41121247e-02 9.95560642e-01 1.38413946e-03 -5.32841623e+01] [ 8.88747391e-03 -5.50107661e-04 9.99960354e-01 2.50585242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.280714057 meters Centerline goodness [0,1] 0.9699574468085106 Centerline is valid? [True, True] Translation: X:714.68, Y:-53.27, Z:2.51 [[ 9.95167269e-01 9.78173486e-02 -8.59496604e-03 7.14681620e+02] [-9.78093056e-02 9.95204256e-01 1.35220150e-03 -5.32710605e+01] [ 8.68601555e-03 -5.04999010e-04 9.99962148e-01 2.50742479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3107140569999 meters Centerline goodness [0,1] 0.9703549326925122 Centerline is valid? [True, True] Translation: X:714.71, Y:-53.27, Z:2.51 [[ 9.95005529e-01 9.94833878e-02 -8.18853174e-03 7.14710902e+02] [-9.94761453e-02 9.95039113e-01 1.28807455e-03 -5.32708781e+01] [ 8.27605138e-03 -4.67077725e-04 9.99965644e-01 2.50785269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3407140569999 meters Centerline goodness [0,1] 0.968136166613807 Centerline is valid? [True, True] Translation: X:714.74, Y:-53.27, Z:2.51 [[ 9.94621413e-01 1.03257385e-01 -8.13367478e-03 7.14740405e+02] [-1.03250369e-01 9.94654576e-01 1.27888493e-03 -5.32692786e+01] [ 8.22225115e-03 -4.32201410e-04 9.99966103e-01 2.50809988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.370714057 meters Centerline goodness [0,1] 0.9697615980742024 Centerline is valid? [True, True] Translation: X:714.77, Y:-53.27, Z:2.51 [[ 9.94416118e-01 1.05207552e-01 -8.24353666e-03 7.14768950e+02] [-1.05200416e-01 9.94450197e-01 1.29582656e-03 -5.32703916e+01] [ 8.33411739e-03 -4.21367338e-04 9.99965182e-01 2.50824439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.400714057 meters Centerline goodness [0,1] 0.9707935030877253 Centerline is valid? [True, True] Translation: X:714.80, Y:-53.27, Z:2.51 [[ 9.94162217e-01 1.07545144e-01 -8.69067989e-03 7.14799009e+02] [-1.07537307e-01 9.94200112e-01 1.36551931e-03 -5.32684888e+01] [ 8.78712989e-03 -4.22975398e-04 9.99961303e-01 2.50791634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4307140569999 meters Centerline goodness [0,1] 0.9733121019108281 Centerline is valid? [True, True] Translation: X:714.83, Y:-53.26, Z:2.51 [[ 9.93652927e-01 1.12072305e-01 -9.67779650e-03 7.14829855e+02] [-1.12062803e-01 9.93699963e-01 1.52028425e-03 -5.32646604e+01] [ 9.78720778e-03 -4.26113895e-04 9.99952013e-01 2.50668932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4607140569999 meters Centerline goodness [0,1] 0.974155239437823 Centerline is valid? [True, True] Translation: X:714.86, Y:-53.26, Z:2.51 [[ 9.93403806e-01 1.14238974e-01 -9.91635524e-03 7.14859221e+02] [-1.14229109e-01 9.93453212e-01 1.55743968e-03 -5.32640070e+01] [ 1.00293553e-02 -4.14430082e-04 9.99949619e-01 2.50602351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.490714057 meters Centerline goodness [0,1] 0.9755962756685516 Centerline is valid? [True, True] Translation: X:714.89, Y:-53.27, Z:2.51 [[ 9.93154481e-01 1.16403942e-01 -9.71081770e-03 7.14886922e+02] [-1.16394593e-01 9.93201880e-01 1.52434016e-03 -5.32660040e+01] [ 9.82224160e-03 -3.83618584e-04 9.99951687e-01 2.50601132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.520714057 meters Centerline goodness [0,1] 0.9758966695132365 Centerline is valid? [True, True] Translation: X:714.92, Y:-53.26, Z:2.51 [[ 9.92906425e-01 1.18629668e-01 -7.98958760e-03 7.14916497e+02] [-1.18623418e-01 9.92938525e-01 1.25334419e-03 -5.32634186e+01] [ 8.08185313e-03 -2.96701316e-04 9.99967297e-01 2.50695741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5507140569999 meters Centerline goodness [0,1] 0.9774703725807827 Centerline is valid? [True, True] Translation: X:714.94, Y:-53.27, Z:2.51 [[ 9.92886525e-01 1.18852043e-01 -7.10918016e-03 7.14944836e+02] [-1.18847103e-01 9.92911941e-01 1.11482366e-03 -5.32656918e+01] [ 7.19128894e-03 -2.61987926e-04 9.99974108e-01 2.50731695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5807140569999 meters Centerline goodness [0,1] 0.9760952804044764 Centerline is valid? [True, True] Translation: X:714.97, Y:-53.27, Z:2.51 [[ 9.93076615e-01 1.17234904e-01 -7.40369749e-03 7.14972211e+02] [-1.17229516e-01 9.93104172e-01 1.15905462e-03 -5.32695801e+01] [ 7.48852453e-03 -2.83098169e-04 9.99971921e-01 2.50709857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6107140569999 meters Centerline goodness [0,1] 0.9763653443784961 Centerline is valid? [True, True] Translation: X:715.00, Y:-53.27, Z:2.51 [[ 9.93337880e-01 1.15032834e-01 -6.87776654e-03 7.15001249e+02] [-1.15028138e-01 9.93361651e-01 1.07582184e-03 -5.32724674e+01] [ 6.95586436e-03 -2.77517910e-04 9.99975769e-01 2.50742897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.640714057 meters Centerline goodness [0,1] 0.9766775689946343 Centerline is valid? [True, True] Translation: X:715.03, Y:-53.28, Z:2.51 [[ 9.93572393e-01 1.12996034e-01 -6.76734724e-03 7.15029729e+02] [-1.12991443e-01 9.93595397e-01 1.05830197e-03 -5.32777581e+01] [ 6.84358900e-03 -2.86847297e-04 9.99976541e-01 2.50838414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6707140569999 meters Centerline goodness [0,1] 0.9728731016511096 Centerline is valid? [True, True] Translation: X:715.06, Y:-53.28, Z:2.51 [[ 9.94176981e-01 1.07653349e-01 -4.78408207e-03 7.15059137e+02] [-1.07650999e-01 9.94188465e-01 7.46855513e-04 -5.32841091e+01] [ 4.83668071e-03 -2.27495346e-04 9.99988277e-01 2.50955891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7007140569999 meters Centerline goodness [0,1] 0.9713608911841909 Centerline is valid? [True, True] Translation: X:715.09, Y:-53.29, Z:2.51 [[ 9.94458675e-01 1.05019801e-01 -4.77330001e-03 7.15086708e+02] [-1.05017431e-01 9.94470102e-01 7.45181474e-04 -5.32930815e+01] [ 4.82516295e-03 -2.39772478e-04 9.99988330e-01 2.51127314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7307140569999 meters Centerline goodness [0,1] 0.9713401621852326 Centerline is valid? [True, True] Translation: X:715.12, Y:-53.30, Z:2.51 [[ 9.94962881e-01 1.00185419e-01 -3.42730004e-03 7.15116350e+02] [-1.00184169e-01 9.94968766e-01 5.34809588e-04 -5.32968171e+01] [ 3.46363661e-03 -1.88754481e-04 9.99993984e-01 2.51194685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.760714057 meters Centerline goodness [0,1] 0.9689631650750341 Centerline is valid? [True, True] Translation: X:715.14, Y:-53.30, Z:2.51 [[ 9.95126310e-01 9.85672419e-02 -2.85064502e-03 7.15144381e+02] [-9.85663703e-02 9.95130380e-01 4.44997899e-04 -5.33043525e+01] [ 2.88062568e-03 -1.61851384e-04 9.99995838e-01 2.51298590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.790714057 meters Centerline goodness [0,1] 0.9694058370161618 Centerline is valid? [True, True] Translation: X:715.17, Y:-53.31, Z:2.51 [[ 9.95258703e-01 9.72423094e-02 -2.01189023e-03 7.15172587e+02] [-9.72418722e-02 9.95260729e-01 3.14265910e-04 -5.33082180e+01] [ 2.03291528e-03 -1.17135909e-04 9.99997927e-01 2.51323074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8207140569999 meters Centerline goodness [0,1] 0.9680821537607549 Centerline is valid? [True, True] Translation: X:715.20, Y:-53.31, Z:2.51 [[ 9.95332282e-01 9.64751714e-02 -2.48795782e-03 7.15199724e+02] [-9.64745013e-02 9.95335381e-01 3.88241087e-04 -5.33131937e+01] [ 2.51380806e-03 -1.46404397e-04 9.99996830e-01 2.51382358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8507140569999 meters Centerline goodness [0,1] 0.9678872637984414 Centerline is valid? [True, True] Translation: X:715.23, Y:-53.32, Z:2.51 [[ 9.95316489e-01 9.66244673e-02 -2.96638590e-03 7.15228528e+02] [-9.66235168e-02 9.95320894e-01 4.62420952e-04 -5.33162287e+01] [ 2.99718704e-03 -1.73632561e-04 9.99995493e-01 2.51328850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.880714057 meters Centerline goodness [0,1] 0.9693231861131301 Centerline is valid? [True, True] Translation: X:715.26, Y:-53.32, Z:2.51 [[ 9.95135777e-01 9.84525812e-02 -3.44584169e-03 7.15257978e+02] [-9.84513085e-02 9.95141724e-01 5.37463916e-04 -5.33173085e+01] [ 3.48201555e-03 -1.95601948e-04 9.99993919e-01 2.51321046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.910714057 meters Centerline goodness [0,1] 0.9676700348136198 Centerline is valid? [True, True] Translation: X:715.29, Y:-53.32, Z:2.51 [[ 9.95004946e-01 9.97696650e-02 -3.34229786e-03 7.15285435e+02] [-9.97684794e-02 9.95010543e-01 5.20001989e-04 -5.33222894e+01] [ 3.37750203e-03 -1.83948576e-04 9.99994279e-01 2.51208953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9407140569999 meters Centerline goodness [0,1] 0.9721700529281202 Centerline is valid? [True, True] Translation: X:715.31, Y:-53.32, Z:2.51 [[ 9.94902674e-01 1.00767548e-01 -3.81710366e-03 7.15314960e+02] [-1.00766009e-01 9.94909975e-01 5.94054071e-04 -5.33182422e+01] [ 3.85753588e-03 -2.06391683e-04 9.99992538e-01 2.51165386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9707140569999 meters Centerline goodness [0,1] 0.9707114759705832 Centerline is valid? [True, True] Translation: X:715.34, Y:-53.33, Z:2.51 [[ 9.94572155e-01 1.03970995e-01 -4.03235870e-03 7.15342869e+02] [-1.03969311e-01 9.94580309e-01 6.25694152e-04 -5.33252070e+01] [ 4.07555861e-03 -2.03056426e-04 9.99991674e-01 2.51196597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.000714057 meters Centerline goodness [0,1] 0.9727410183785166 Centerline is valid? [True, True] Translation: X:715.37, Y:-53.33, Z:2.51 [[ 9.94452308e-01 1.05130539e-01 -3.48944675e-03 7.15372463e+02] [-1.05129283e-01 9.94458415e-01 5.42012567e-04 -5.33254141e+01] [ 3.52709176e-03 -1.72162615e-04 9.99993765e-01 2.51170930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.030714057 meters Centerline goodness [0,1] 0.9709999358878465 Centerline is valid? [True, True] Translation: X:715.40, Y:-53.33, Z:2.51 [[ 9.94214307e-01 1.07375122e-01 -2.91472144e-03 7.15400435e+02] [-1.07374258e-01 9.94218570e-01 4.51604178e-04 -5.33296382e+01] [ 2.94636124e-03 -1.36025282e-04 9.99995650e-01 2.51241475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0607140569999 meters Centerline goodness [0,1] 0.9726393130993827 Centerline is valid? [True, True] Translation: X:715.43, Y:-53.33, Z:2.51 [[ 9.94182506e-01 1.07658747e-01 -3.27708857e-03 7.15429593e+02] [-1.07657658e-01 9.94187895e-01 5.07447198e-04 -5.33310270e+01] [ 3.31267292e-03 -1.51691447e-04 9.99994502e-01 2.51192316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0907140569999 meters Centerline goodness [0,1] 0.9726585844787843 Centerline is valid? [True, True] Translation: X:715.46, Y:-53.34, Z:2.51 [[ 9.94143594e-01 1.08024297e-01 -3.04380149e-03 7.15458142e+02] [-1.08023360e-01 9.94148244e-01 4.71138818e-04 -5.33356725e+01] [ 3.07688434e-03 -1.39577974e-04 9.99995257e-01 2.51224854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.120714057 meters Centerline goodness [0,1] 0.9728554065292023 Centerline is valid? [True, True] Translation: X:715.49, Y:-53.34, Z:2.51 [[ 9.94269344e-01 1.06852698e-01 -3.31235224e-03 7.15486209e+02] [-1.06851580e-01 9.94274850e-01 5.13149044e-04 -5.33415505e+01] [ 3.34821989e-03 -1.56278293e-04 9.99994382e-01 2.51201595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.150714057 meters Centerline goodness [0,1] 0.9705281090289608 Centerline is valid? [True, True] Translation: X:715.51, Y:-53.35, Z:2.51 [[ 9.94388191e-01 1.05739996e-01 -3.34334624e-03 7.15513148e+02] [-1.05738856e-01 9.94393799e-01 5.16434346e-04 -5.33500014e+01] [ 3.37921053e-03 -1.60014611e-04 9.99994278e-01 2.51231753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1807140569999 meters Centerline goodness [0,1] 0.9708530704561943 Centerline is valid? [True, True] Translation: X:715.54, Y:-53.35, Z:2.51 [[ 9.94571068e-01 1.04005002e-01 -3.36888478e-03 7.15542181e+02] [-1.04003836e-01 9.94576760e-01 5.19928347e-04 -5.33538989e+01] [ 3.40468966e-03 -1.66728752e-04 9.99994190e-01 2.51262355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2107140569999 meters Centerline goodness [0,1] 0.9708333333333333 Centerline is valid? [True, True] Translation: X:715.57, Y:-53.36, Z:2.51 [[ 9.94673687e-01 1.03002515e-01 -3.83913177e-03 7.15568887e+02] [-1.03000993e-01 9.94681077e-01 5.92598475e-04 -5.33601264e+01] [ 3.87975085e-03 -1.94007725e-04 9.99992455e-01 2.51309437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.240714057 meters Centerline goodness [0,1] 0.9705226021720188 Centerline is valid? [True, True] Translation: X:715.60, Y:-53.37, Z:2.51 [[ 9.94764892e-01 1.02097678e-01 -4.34438963e-03 7.15596792e+02] [-1.02095723e-01 9.94774354e-01 6.70041168e-04 -5.33654885e+01] [ 4.39009703e-03 -2.22989831e-04 9.99990339e-01 2.51385414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.270714057 meters Centerline goodness [0,1] 0.9703249618191074 Centerline is valid? [True, True] Translation: X:715.63, Y:-53.37, Z:2.52 [[ 9.94982982e-01 9.99664270e-02 -3.94696332e-03 7.15625682e+02] [-9.99648022e-02 9.94990789e-01 6.07304491e-04 -5.33692623e+01] [ 3.98790220e-03 -2.09700226e-04 9.99992026e-01 2.51560333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3007140569999 meters Centerline goodness [0,1] 0.9711123338694658 Centerline is valid? [True, True] Translation: X:715.65, Y:-53.37, Z:2.52 [[ 9.95077130e-01 9.90379325e-02 -3.60464345e-03 7.15654514e+02] [-9.90365690e-02 9.95083640e-01 5.55231496e-04 -5.33717487e+01] [ 3.64191070e-03 -1.95506644e-04 9.99993349e-01 2.51690092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3307140569999 meters Centerline goodness [0,1] 0.9711123338694658 Centerline is valid? [True, True] Translation: X:715.68, Y:-53.38, Z:2.52 [[ 9.95087668e-01 9.89319884e-02 -3.60486296e-03 7.15681722e+02] [-9.89306295e-02 9.95094178e-01 5.53801709e-04 -5.33758331e+01] [ 3.64196685e-03 -1.94449890e-04 9.99993349e-01 2.51710598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3607140569999 meters Centerline goodness [0,1] 0.9698200316333946 Centerline is valid? [True, True] Translation: X:715.71, Y:-53.38, Z:2.52 [[ 9.95206997e-01 9.77575099e-02 -2.55005962e-03 7.15709676e+02] [-9.77568266e-02 9.95210254e-01 3.91537343e-04 -5.33812847e+01] [ 2.57612120e-03 -1.40374967e-04 9.99996672e-01 2.51925188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.390714057 meters Centerline goodness [0,1] 0.9687540182589688 Centerline is valid? [True, True] Translation: X:715.74, Y:-53.39, Z:2.52 [[ 9.95145366e-01 9.83893100e-02 -2.29018784e-03 7.15738431e+02] [-9.83887608e-02 9.95147993e-01 3.51523411e-04 -5.33853542e+01] [ 2.31366198e-03 -1.24488150e-04 9.99997316e-01 2.52016559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4207140569999 meters Centerline goodness [0,1] 0.9682950293960448 Centerline is valid? [True, True] Translation: X:715.77, Y:-53.39, Z:2.52 [[ 9.94998605e-01 9.98365430e-02 -3.23128150e-03 7.15766472e+02] [-9.98354588e-02 9.95003837e-01 4.95519066e-04 -5.33900688e+01] [ 3.26460840e-03 -1.70444308e-04 9.99994657e-01 2.52064180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4507140569999 meters Centerline goodness [0,1] 0.9698025798499692 Centerline is valid? [True, True] Translation: X:715.80, Y:-53.39, Z:2.52 [[ 9.94556996e-01 1.04128374e-01 -3.69649282e-03 7.15796188e+02] [-1.04126987e-01 9.94563849e-01 5.66385142e-04 -5.33915728e+01] [ 3.73537490e-03 -1.78397647e-04 9.99993008e-01 2.51957604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4807140569999 meters Centerline goodness [0,1] 0.9693499638159295 Centerline is valid? [True, True] Translation: X:715.83, Y:-53.40, Z:2.52 [[ 9.94389164e-01 1.05718365e-01 -3.71736460e-03 7.15825133e+02] [-1.05716970e-01 9.94396097e-01 5.70154219e-04 -5.33950931e+01] [ 3.75680862e-03 -1.73966654e-04 9.99992928e-01 2.51890209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.510714057 meters Centerline goodness [0,1] 0.9727938983339725 Centerline is valid? [True, True] Translation: X:715.86, Y:-53.40, Z:2.52 [[ 9.93937410e-01 1.09877797e-01 -3.91093978e-03 7.15855004e+02] [-1.09876292e-01 9.93945090e-01 5.98206560e-04 -5.33950682e+01] [ 3.95298902e-03 -1.64860316e-04 9.99992173e-01 2.51894506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.540714057 meters Centerline goodness [0,1] 0.9737612421517055 Centerline is valid? [True, True] Translation: X:715.89, Y:-53.40, Z:2.52 [[ 9.93585593e-01 1.13035417e-01 -3.26543915e-03 7.15885085e+02] [-1.13034385e-01 9.93590951e-01 4.99470357e-04 -5.33979583e+01] [ 3.30096863e-03 -1.27159643e-04 9.99994544e-01 2.52009475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5707140569999 meters Centerline goodness [0,1] 0.9729764153947397 Centerline is valid? [True, True] Translation: X:715.91, Y:-53.40, Z:2.52 [[ 9.93260653e-01 1.15863429e-01 -2.99023681e-03 7.15912268e+02] [-1.15862576e-01 9.93265148e-01 4.57406236e-04 -5.34038862e+01] [ 3.02309467e-03 -1.07867076e-04 9.99995425e-01 2.52121221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6007140569999 meters Centerline goodness [0,1] 0.9780114314963317 Centerline is valid? [True, True] Translation: X:715.94, Y:-53.40, Z:2.52 [[ 9.92865676e-01 1.19213191e-01 -2.44209689e-03 7.15942411e+02] [-1.19212632e-01 9.92868676e-01 3.73626987e-04 -5.34006067e+01] [ 2.46922278e-03 -7.98326132e-05 9.99996948e-01 2.52092717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.630714057 meters Centerline goodness [0,1] 0.979350278877677 Centerline is valid? [True, True] Translation: X:715.97, Y:-53.41, Z:2.52 [[ 9.92027563e-01 1.25994876e-01 -2.57005981e-03 7.15970751e+02] [-1.25994282e-01 9.92030890e-01 3.92427657e-04 -5.34065120e+01] [ 2.59902260e-03 -6.54862109e-05 9.99996620e-01 2.52176597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.660714057 meters Centerline goodness [0,1] 0.980625294042171 Centerline is valid? [True, True] Translation: X:716.00, Y:-53.41, Z:2.52 [[ 9.91216071e-01 1.32243396e-01 -1.54453061e-03 7.15999381e+02] [-1.32243189e-01 9.91217273e-01 2.35875595e-04 -5.34112913e+01] [ 1.56215841e-03 -2.95500273e-05 9.99998779e-01 2.52297447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6907140569999 meters Centerline goodness [0,1] 0.9797712908748863 Centerline is valid? [True, True] Translation: X:716.03, Y:-53.42, Z:2.52 [[ 9.90762120e-01 1.35604357e-01 -1.37079024e-03 7.16028293e+02] [-1.35604196e-01 9.90763069e-01 2.09865126e-04 -5.34153230e+01] [ 1.38658697e-03 -2.20415094e-05 9.99999038e-01 2.52297082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7207140569999 meters Centerline goodness [0,1] 0.9825957129145783 Centerline is valid? [True, True] Translation: X:716.06, Y:-53.42, Z:2.52 [[ 9.90400929e-01 1.38215291e-01 -1.59168613e-03 7.16056295e+02] [-1.38215077e-01 9.90402208e-01 2.44048865e-04 -5.34198257e+01] [ 1.61014074e-03 -2.17112024e-05 9.99998703e-01 2.52306258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.750714057 meters Centerline goodness [0,1] 0.9828085106382979 Centerline is valid? [True, True] Translation: X:716.09, Y:-53.43, Z:2.52 [[ 9.90084855e-01 1.40450938e-01 -2.34834416e-03 7.16085071e+02] [-1.40450483e-01 9.90087639e-01 3.58523805e-04 -5.34250821e+01] [ 2.37542153e-03 -2.51429186e-05 9.99997178e-01 2.52231380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.780714057 meters Centerline goodness [0,1] 0.9837186653116531 Centerline is valid? [True, True] Translation: X:716.11, Y:-53.43, Z:2.52 [[ 9.89417344e-01 1.45033186e-01 -4.32367111e-03 7.16112854e+02] [-1.45031697e-01 9.89426791e-01 6.57702983e-04 -5.34328069e+01] [ 4.37334479e-03 -2.36733807e-05 9.99990437e-01 2.52018198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8107140569999 meters Centerline goodness [0,1] 0.984241236849951 Centerline is valid? [True, True] Translation: X:716.14, Y:-53.44, Z:2.52 [[ 9.89163183e-01 1.46740905e-01 -4.82751106e-03 7.16140027e+02] [-1.46739075e-01 9.89174963e-01 7.33014978e-04 -5.34397623e+01] [ 4.88281636e-03 -1.66869196e-05 9.99988079e-01 2.52001865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8407140569999 meters Centerline goodness [0,1] 0.9844812517320032 Centerline is valid? [True, True] Translation: X:716.17, Y:-53.45, Z:2.52 [[ 9.88673798e-01 1.50000016e-01 -4.91087882e-03 7.16166569e+02] [-1.49998169e-01 9.88685994e-01 7.44255147e-04 -5.34503985e+01] [ 4.96695539e-03 7.97269192e-07 9.99987665e-01 2.51966057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.870714057 meters Centerline goodness [0,1] 0.9863252589268625 Centerline is valid? [True, True] Translation: X:716.19, Y:-53.46, Z:2.52 [[ 9.88435440e-01 1.51566845e-01 -4.78257553e-03 7.16193147e+02] [-1.51565120e-01 9.88447010e-01 7.23057700e-04 -5.34581698e+01] [ 4.83691406e-03 1.01757805e-05 9.99988302e-01 2.52016650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.900714057 meters Centerline goodness [0,1] 0.9859307359307359 Centerline is valid? [True, True] Translation: X:716.22, Y:-53.47, Z:2.52 [[ 9.88257707e-01 1.52736094e-01 -4.28838092e-03 7.16220156e+02] [-1.52734719e-01 9.88267011e-01 6.48393038e-04 -5.34662062e+01] [ 4.33709841e-03 1.42052365e-05 9.99990595e-01 2.52137961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9307140569999 meters Centerline goodness [0,1] 0.9870880342061258 Centerline is valid? [True, True] Translation: X:716.25, Y:-53.48, Z:2.52 [[ 9.87925382e-01 1.54894156e-01 -3.35264296e-03 7.16246536e+02] [-1.54893332e-01 9.87931070e-01 5.05621454e-04 -5.34800090e+01] [ 3.39049796e-03 1.97857722e-05 9.99994252e-01 2.52415285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9607140569999 meters Centerline goodness [0,1] 0.9867724867724867 Centerline is valid? [True, True] Translation: X:716.27, Y:-53.49, Z:2.53 [[ 9.87882808e-01 1.55181195e-01 -2.52091571e-03 7.16273417e+02] [-1.55180730e-01 9.87886024e-01 3.80118853e-04 -5.34899159e+01] [ 2.54936470e-03 1.56846601e-05 9.99996750e-01 2.52538886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.990714057 meters Centerline goodness [0,1] 0.9863708066042697 Centerline is valid? [True, True] Translation: X:716.30, Y:-53.51, Z:2.53 [[ 9.88080223e-01 1.53925746e-01 -2.08253525e-03 7.16299430e+02] [-1.53925424e-01 9.88082418e-01 3.14973435e-04 -5.35065842e+01] [ 2.10619899e-03 9.33609893e-06 9.99997782e-01 2.52780904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.020714057 meters Centerline goodness [0,1] 0.9871394759441174 Centerline is valid? [True, True] Translation: X:716.33, Y:-53.52, Z:2.53 [[ 9.88276864e-01 1.52663215e-01 -1.66834670e-03 7.16325678e+02] [-1.52663007e-01 9.88278272e-01 2.52264508e-04 -5.35173899e+01] [ 1.68730231e-03 5.38764671e-06 9.99998576e-01 2.52873128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0507140569999 meters Centerline goodness [0,1] 0.9871126953660543 Centerline is valid? [True, True] Translation: X:716.35, Y:-53.54, Z:2.53 [[ 9.88950886e-01 1.48217671e-01 -2.76889420e-03 7.16352174e+02] [-1.48217086e-01 9.88954762e-01 4.16393620e-04 -5.35367155e+01] [ 2.80002800e-03 -1.39540962e-06 9.99996080e-01 2.52993677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0807140569999 meters Centerline goodness [0,1] 0.9877938612155718 Centerline is valid? [True, True] Translation: X:716.38, Y:-53.55, Z:2.53 [[ 9.89344068e-01 1.45565361e-01 -3.00689379e-03 7.16377324e+02] [-1.45564663e-01 9.89348637e-01 4.50729440e-04 -5.35486464e+01] [ 3.04047686e-03 -8.22901720e-06 9.99995378e-01 2.53096801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1107140569999 meters Centerline goodness [0,1] 0.9868674597855228 Centerline is valid? [True, True] Translation: X:716.40, Y:-53.56, Z:2.53 [[ 9.89778587e-01 1.42570395e-01 -3.46867077e-03 7.16404537e+02] [-1.42569451e-01 9.89784665e-01 5.19173202e-04 -5.35606893e+01] [ 3.50725586e-03 -1.93400314e-05 9.99993849e-01 2.53073396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.140714057 meters Centerline goodness [0,1] 0.9880793039986615 Centerline is valid? [True, True] Translation: X:716.43, Y:-53.57, Z:2.53 [[ 9.90205838e-01 1.39572078e-01 -3.46884798e-03 7.16431893e+02] [-1.39571117e-01 9.90211914e-01 5.18952077e-04 -5.35727939e+01] [ 3.50732582e-03 -2.97183889e-05 9.99993849e-01 2.53192343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1707140569999 meters Centerline goodness [0,1] 0.9887773183697578 Centerline is valid? [True, True] Translation: X:716.46, Y:-53.59, Z:2.53 [[ 9.90789511e-01 1.35369473e-01 -3.35409109e-03 7.16458450e+02] [-1.35368551e-01 9.90795188e-01 5.01570677e-04 -5.35905336e+01] [ 3.39111467e-03 -4.29125158e-05 9.99994249e-01 2.53400435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2007140569999 meters Centerline goodness [0,1] 0.9896404503788038 Centerline is valid? [True, True] Translation: X:716.48, Y:-53.60, Z:2.54 [[ 9.90876759e-01 1.34728468e-01 -3.38934164e-03 7.16484656e+02] [-1.34727522e-01 9.90882555e-01 5.06832893e-04 -5.36010618e+01] [ 3.42672432e-03 -4.55713336e-05 9.99994128e-01 2.53520788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2307140569999 meters Centerline goodness [0,1] 0.990997186620819 Centerline is valid? [True, True] Translation: X:716.51, Y:-53.61, Z:2.54 [[ 9.90668865e-01 1.36249221e-01 -3.36892458e-03 7.16511330e+02] [-1.36248298e-01 9.90674592e-01 5.03094606e-04 -5.36145121e+01] [ 3.40605424e-03 -3.93899219e-05 9.99994199e-01 2.53763371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.260714057 meters Centerline goodness [0,1] 0.9925453939696818 Centerline is valid? [True, True] Translation: X:716.54, Y:-53.62, Z:2.54 [[ 9.90451846e-01 1.37822792e-01 -3.16515951e-03 7.16537741e+02] [-1.37821985e-01 9.90456903e-01 4.72544360e-04 -5.36232985e+01] [ 3.20008147e-03 -3.18038662e-05 9.99994879e-01 2.53916134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.290714057 meters Centerline goodness [0,1] 0.992108843537415 Centerline is valid? [True, True] Translation: X:716.57, Y:-53.63, Z:2.54 [[ 9.90137517e-01 1.40075806e-01 -2.54277091e-03 7.16565467e+02] [-1.40075293e-01 9.90140782e-01 3.79443647e-04 -5.36304399e+01] [ 2.57085206e-03 -1.95220088e-05 9.99996695e-01 2.53938844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3207140569999 meters Centerline goodness [0,1] 0.9939525019423388 Centerline is valid? [True, True] Translation: X:716.59, Y:-53.64, Z:2.54 [[ 9.89162069e-01 1.46809695e-01 -2.30553114e-03 7.16593631e+02] [-1.46809292e-01 9.89164756e-01 3.43839130e-04 -5.36404857e+01] [ 2.33102906e-03 -1.63923069e-06 9.99997283e-01 2.54122226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3507140569999 meters Centerline goodness [0,1] 0.9944097681945232 Centerline is valid? [True, True] Translation: X:716.62, Y:-53.65, Z:2.54 [[ 9.88590824e-01 1.50600125e-01 -2.79024469e-03 7.16621868e+02] [-1.50599551e-01 9.88594761e-01 4.15989821e-04 -5.36472738e+01] [ 2.82106941e-03 8.96587729e-06 9.99996021e-01 2.54100893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.380714057 meters Centerline goodness [0,1] 0.9953664877557866 Centerline is valid? [True, True] Translation: X:716.65, Y:-53.65, Z:2.54 [[ 9.87975047e-01 1.54577132e-01 -3.34922810e-03 7.16649232e+02] [-1.54576328e-01 9.87980723e-01 4.99041229e-04 -5.36536758e+01] [ 3.38611316e-03 2.46710991e-05 9.99994267e-01 2.54147579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.410714057 meters Centerline goodness [0,1] 0.9964809384164223 Centerline is valid? [True, True] Translation: X:716.68, Y:-53.66, Z:2.54 [[ 9.86928158e-01 1.61101157e-01 -4.38506998e-03 7.16676632e+02] [-1.61099847e-01 9.86937897e-01 6.52726276e-04 -5.36649835e+01] [ 4.43294670e-03 6.22401619e-05 9.99990173e-01 2.54136821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4407140569999 meters Centerline goodness [0,1] 0.9972566594069359 Centerline is valid? [True, True] Translation: X:716.70, Y:-53.67, Z:2.54 [[ 9.86587644e-01 1.63177928e-01 -4.21715961e-03 7.16704185e+02] [-1.63176737e-01 9.86596655e-01 6.27452988e-04 -5.36739851e+01] [ 4.26302204e-03 6.91049767e-05 9.99990911e-01 2.54146701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4707140569999 meters Centerline goodness [0,1] 0.9979027285501563 Centerline is valid? [True, True] Translation: X:716.73, Y:-53.69, Z:2.54 [[ 9.86184979e-01 1.65589041e-01 -4.41103724e-03 7.16730055e+02] [-1.65587762e-01 9.86194840e-01 6.56003465e-04 -5.36869527e+01] [ 4.45876915e-03 8.34730236e-05 9.99990056e-01 2.54295606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.500714057 meters Centerline goodness [0,1] 0.9983242563887725 Centerline is valid? [True, True] Translation: X:716.76, Y:-53.70, Z:2.54 [[ 9.86100904e-01 1.66091236e-01 -4.32525060e-03 7.16757399e+02] [-1.66090013e-01 9.86110386e-01 6.42815015e-04 -5.36986774e+01] [ 4.37194048e-03 8.45004618e-05 9.99990439e-01 2.54305870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.530714057 meters Centerline goodness [0,1] 0.9985604906849144 Centerline is valid? [True, True] Translation: X:716.78, Y:-53.71, Z:2.54 [[ 9.86088451e-01 1.66150116e-01 -4.86882944e-03 7.16783742e+02] [-1.66148569e-01 9.86100466e-01 7.23271049e-04 -5.37078362e+01] [ 4.92132655e-03 9.57398165e-05 9.99987886e-01 2.54362135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5607140569999 meters Centerline goodness [0,1] 0.9990667385623626 Centerline is valid? [True, True] Translation: X:716.81, Y:-53.72, Z:2.54 [[ 9.86243137e-01 1.65217695e-01 -5.25241272e-03 7.16810015e+02] [-1.65215885e-01 9.86257118e-01 7.79546736e-04 -5.37249006e+01] [ 5.30902435e-03 9.89593985e-05 9.99985902e-01 2.54420351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5907140569999 meters Centerline goodness [0,1] 0.9990847633905356 Centerline is valid? [True, True] Translation: X:716.84, Y:-53.74, Z:2.54 [[ 9.86431169e-01 1.64082704e-01 -5.51496494e-03 7.16837642e+02] [-1.64080694e-01 9.86446581e-01 8.18095542e-04 -5.37353706e+01] [ 5.57445364e-03 9.79043316e-05 9.99984458e-01 2.54421379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.620714057 meters Centerline goodness [0,1] 0.9996448492698519 Centerline is valid? [True, True] Translation: X:716.86, Y:-53.75, Z:2.54 [[ 9.86889320e-01 1.61308431e-01 -5.39074935e-03 7.16864747e+02] [-1.61306471e-01 9.86904040e-01 7.99359003e-04 -5.37521385e+01] [ 5.44909566e-03 8.06838898e-05 9.99985150e-01 2.54483700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.650714057 meters Centerline goodness [0,1] 0.9996678223680113 Centerline is valid? [True, True] Translation: X:716.89, Y:-53.76, Z:2.55 [[ 9.87195537e-01 1.59426490e-01 -5.30721752e-03 7.16891490e+02] [-1.59424566e-01 9.87209800e-01 7.86409545e-04 -5.37627539e+01] [ 5.36471166e-03 6.97608566e-05 9.99985607e-01 2.54549480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6807140569999 meters Centerline goodness [0,1] 0.9996885576064614 Centerline is valid? [True, True] Translation: X:716.92, Y:-53.77, Z:2.55 [[ 9.87517917e-01 1.57430662e-01 -4.89384277e-03 7.16919509e+02] [-1.57429003e-01 9.87530042e-01 7.24664587e-04 -5.37738361e+01] [ 4.94690118e-03 5.48135265e-05 9.99987763e-01 2.54609221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7107140569999 meters Centerline goodness [0,1] 0.9995633278576033 Centerline is valid? [True, True] Translation: X:716.95, Y:-53.78, Z:2.55 [[ 9.87935128e-01 1.54790541e-01 -4.90626225e-03 7.16947095e+02] [-1.54788843e-01 9.87947310e-01 7.26245114e-04 -5.37849006e+01] [ 4.95954447e-03 4.19515998e-05 9.99987701e-01 2.54647642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.740714057 meters Centerline goodness [0,1] 0.999230145024032 Centerline is valid? [True, True] Translation: X:716.97, Y:-53.80, Z:2.55 [[ 9.88728145e-01 1.49626884e-01 -5.33393385e-03 7.16974947e+02] [-1.49624804e-01 9.88742532e-01 7.89132395e-04 -5.38028549e+01] [ 5.39196268e-03 1.78513984e-05 9.99985463e-01 2.54547999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.770714057 meters Centerline goodness [0,1] 0.9991689865791332 Centerline is valid? [True, True] Translation: X:717.00, Y:-53.81, Z:2.54 [[ 9.89054959e-01 1.47430670e-01 -5.87247724e-03 7.17004864e+02] [-1.47428111e-01 9.89072392e-01 8.68754646e-04 -5.38131948e+01] [ 5.93638619e-03 6.52213512e-06 9.99982379e-01 2.54494816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8007140569999 meters Centerline goodness [0,1] 0.9991885312415472 Centerline is valid? [True, True] Translation: X:717.04, Y:-53.83, Z:2.54 [[ 9.89568244e-01 1.43927140e-01 -6.29828519e-03 7.17035153e+02] [-1.43924124e-01 9.89588287e-01 9.31839946e-04 -5.38285106e+01] [ 6.36682631e-03 -1.56440400e-05 9.99979731e-01 2.54428628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8307140569999 meters Centerline goodness [0,1] 0.999126564904546 Centerline is valid? [True, True] Translation: X:717.07, Y:-53.84, Z:2.54 [[ 9.89847504e-01 1.41983533e-01 -6.52657935e-03 7.17066061e+02] [-1.41980245e-01 9.89869019e-01 9.66749573e-04 -5.38385130e+01] [ 6.59772122e-03 -3.02893188e-05 9.99978234e-01 2.54418636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8607140569999 meters Centerline goodness [0,1] 0.9989361702127659 Centerline is valid? [True, True] Translation: X:717.10, Y:-53.85, Z:2.54 [[ 9.90135179e-01 1.39991516e-01 -5.89098257e-03 7.17097056e+02] [-1.39988794e-01 9.90152702e-01 8.73975419e-04 -5.38482449e+01] [ 5.95532146e-03 -4.06822647e-05 9.99982266e-01 2.54370777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.890714057 meters Centerline goodness [0,1] 0.9988111625578776 Centerline is valid? [True, True] Translation: X:717.13, Y:-53.86, Z:2.54 [[ 9.90916604e-01 1.34356354e-01 -5.71428985e-03 7.17127109e+02] [-1.34353691e-01 9.90933078e-01 8.49074629e-04 -5.38634531e+01] [ 5.77655740e-03 -7.36262140e-05 9.99983313e-01 2.54388279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9207140569999 meters Centerline goodness [0,1] 0.9985561228760358 Centerline is valid? [True, True] Translation: X:717.16, Y:-53.87, Z:2.54 [[ 9.91295855e-01 1.31540347e-01 -5.44653672e-03 7.17157740e+02] [-1.31537878e-01 9.91310814e-01 8.10565596e-04 -5.38735375e+01] [ 5.50583282e-03 -8.70844315e-05 9.99984839e-01 2.54392915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9507140569999 meters Centerline goodness [0,1] 0.9993507581469381 Centerline is valid? [True, True] Translation: X:717.19, Y:-53.89, Z:2.54 [[ 9.92302802e-01 1.23724404e-01 -5.23651816e-03 7.17187546e+02] [-1.23722004e-01 9.92316611e-01 7.80988621e-04 -5.38861044e+01] [ 5.29291130e-03 -1.27104674e-04 9.99985984e-01 2.54391111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9807140569999 meters Centerline goodness [0,1] 0.9990573942186846 Centerline is valid? [True, True] Translation: X:717.22, Y:-53.90, Z:2.54 [[ 9.92776661e-01 1.19873297e-01 -4.98940022e-03 7.17217230e+02] [-1.19871069e-01 9.92789189e-01 7.44301992e-04 -5.38954226e+01] [ 5.04264453e-03 -1.40840909e-04 9.99987276e-01 2.54415216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.010714057 meters Centerline goodness [0,1] 0.999203187250996 Centerline is valid? [True, True] Translation: X:717.25, Y:-53.90, Z:2.54 [[ 9.93210495e-01 1.16252562e-01 -4.27259060e-03 7.17248394e+02] [-1.16250895e-01 9.93219675e-01 6.37379994e-04 -5.39045418e+01] [ 4.31771810e-03 -1.36360018e-04 9.99990669e-01 2.54450610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.040714057 meters Centerline goodness [0,1] 0.9994151924643372 Centerline is valid? [True, True] Translation: X:717.28, Y:-53.92, Z:2.55 [[ 9.94079347e-01 1.08591117e-01 -3.77105723e-03 7.17276675e+02] [-1.08589761e-01 9.94086489e-01 5.62972656e-04 -5.39163874e+01] [ 3.80989087e-03 -1.50141287e-04 9.99992731e-01 2.54528902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0707140569999 meters Centerline goodness [0,1] 0.9996665277198833 Centerline is valid? [True, True] Translation: X:717.31, Y:-53.93, Z:2.55 [[ 9.94441791e-01 1.05207011e-01 -4.12432315e-03 7.17305653e+02] [-1.05205360e-01 9.94450327e-01 6.15767146e-04 -5.39278671e+01] [ 4.16621752e-03 -1.78443682e-04 9.99991305e-01 2.54606265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1007140569999 meters Centerline goodness [0,1] 0.9994134405899112 Centerline is valid? [True, True] Translation: X:717.34, Y:-53.94, Z:2.55 [[ 9.95086974e-01 9.89379303e-02 -3.63329005e-03 7.17335033e+02] [-9.89366072e-02 9.95093590e-01 5.42556595e-04 -5.39367793e+01] [ 3.66914307e-03 -1.80425610e-04 9.99993252e-01 2.54618291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.130714057 meters Centerline goodness [0,1] 0.9994967498427343 Centerline is valid? [True, True] Translation: X:717.37, Y:-53.94, Z:2.55 [[ 9.95344577e-01 9.63016398e-02 -3.89462573e-03 7.17366097e+02] [-9.63000995e-02 9.95352175e-01 5.81545275e-04 -5.39379380e+01] [ 3.93252796e-03 -2.03785089e-04 9.99992247e-01 2.54642539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.160714057 meters Centerline goodness [0,1] 0.9996634059114337 Centerline is valid? [True, True] Translation: X:717.40, Y:-53.94, Z:2.55 [[ 9.95532179e-01 9.43635736e-02 -3.34604396e-03 7.17397655e+02] [-9.43624269e-02 9.95537786e-01 4.99273646e-04 -5.39413244e+01] [ 3.37822644e-03 -1.81302152e-04 9.99994277e-01 2.54660350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1907140569999 meters Centerline goodness [0,1] 0.9996010666218742 Centerline is valid? [True, True] Translation: X:717.43, Y:-53.95, Z:2.55 [[ 9.95836957e-01 9.11104369e-02 -2.76456241e-03 7.17428583e+02] [-9.11096401e-02 9.95840782e-01 4.13056900e-04 -5.39457603e+01] [ 2.79069779e-03 -1.59459040e-04 9.99996093e-01 2.54712547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2207140569999 meters Centerline goodness [0,1] 0.9996010666218742 Centerline is valid? [True, True] Translation: X:717.46, Y:-53.95, Z:2.55 [[ 9.95811622e-01 9.13869264e-02 -2.76471524e-03 7.17460754e+02] [-9.13861335e-02 9.95815447e-01 4.12035871e-04 -5.39506284e+01] [ 2.79080084e-03 -1.57653473e-04 9.99996093e-01 2.54736760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.250714057 meters Centerline goodness [0,1] 0.9995572515865151 Centerline is valid? [True, True] Translation: X:717.49, Y:-53.96, Z:2.55 [[ 9.95885844e-01 9.05904412e-02 -2.18103914e-03 7.17492132e+02] [-9.05899451e-02 9.95888225e-01 3.25415101e-04 -5.39557921e+01] [ 2.20155069e-03 -1.26496077e-04 9.99997569e-01 2.54781110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.280714057 meters Centerline goodness [0,1] 0.9996202932180149 Centerline is valid? [True, True] Translation: X:717.52, Y:-53.96, Z:2.55 [[ 9.95968906e-01 8.96506345e-02 -2.94983931e-03 7.17523259e+02] [-8.96497185e-02 9.95973259e-01 4.41575763e-04 -5.39590589e+01] [ 2.97754862e-03 -1.75343466e-04 9.99995552e-01 2.54771438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3107140569999 meters Centerline goodness [0,1] 0.9996205173613307 Centerline is valid? [True, True] Translation: X:717.55, Y:-53.96, Z:2.55 [[ 9.95990995e-01 8.93854850e-02 -3.48884656e-03 7.17553406e+02] [-8.93841966e-02 9.95997084e-01 5.23787737e-04 -5.39648382e+01] [ 3.52170002e-03 -2.09840122e-04 9.99993777e-01 2.54790746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3407140569999 meters Centerline goodness [0,1] 0.9993878111080619 Centerline is valid? [True, True] Translation: X:717.59, Y:-53.97, Z:2.55 [[ 9.95997914e-01 8.92918568e-02 -3.88845900e-03 7.17585741e+02] [-8.92902551e-02 9.96005477e-01 5.83930642e-04 -5.39653883e+01] [ 3.92506671e-03 -2.34392205e-04 9.99992269e-01 2.54801288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.370714057 meters Centerline goodness [0,1] 0.9992191786603638 Centerline is valid? [True, True] Translation: X:717.62, Y:-53.96, Z:2.55 [[ 9.96113079e-01 8.79988585e-02 -3.86456447e-03 7.17618657e+02] [-8.79972608e-02 9.96120547e-01 5.81858346e-04 -5.39618905e+01] [ 3.90077494e-03 -2.39525621e-04 9.99992363e-01 2.54776090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.400714057 meters Centerline goodness [0,1] 0.9995582574307411 Centerline is valid? [True, True] Translation: X:717.65, Y:-53.97, Z:2.55 [[ 9.96211905e-01 8.68350347e-02 -4.63863825e-03 7.17649343e+02] [-8.68327189e-02 9.96222661e-01 6.98691866e-04 -5.39694917e+01] [ 4.68178747e-03 -2.93259584e-04 9.99988997e-01 2.54812612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4307140569999 meters Centerline goodness [0,1] 0.9996620337121372 Centerline is valid? [True, True] Translation: X:717.68, Y:-53.97, Z:2.55 [[ 9.96396834e-01 8.46853387e-02 -4.66293647e-03 7.17680791e+02] [-8.46829713e-02 9.96407698e-01 7.03173251e-04 -5.39710475e+01] [ 4.70573425e-03 -3.05768286e-04 9.99988881e-01 2.54843509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4607140569999 meters Centerline goodness [0,1] 0.9996200607902735 Centerline is valid? [True, True] Translation: X:717.71, Y:-53.97, Z:2.55 [[ 9.96402155e-01 8.46371068e-02 -4.39392189e-03 7.17711361e+02] [-8.46350056e-02 9.96411801e-01 6.62294462e-04 -5.39743708e+01] [ 4.43421031e-03 -2.88032025e-04 9.99990127e-01 2.54891047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.490714057 meters Centerline goodness [0,1] 0.9996208211329022 Centerline is valid? [True, True] Translation: X:717.75, Y:-53.97, Z:2.55 [[ 9.96384710e-01 8.48416623e-02 -4.40474974e-03 7.17745359e+02] [-8.48395464e-02 9.96394404e-01 6.65341280e-04 -5.39680766e+01] [ 4.44531666e-03 -2.89238908e-04 9.99990078e-01 2.54886278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.520714057 meters Centerline goodness [0,1] 0.9996000252615624 Centerline is valid? [True, True] Translation: X:717.78, Y:-53.97, Z:2.55 [[ 9.96263871e-01 8.62530573e-02 -4.32551691e-03 7.17776436e+02] [-8.62510306e-02 9.96273222e-01 6.53268966e-04 -5.39739120e+01] [ 4.36574311e-03 -2.77747978e-04 9.99990432e-01 2.55011514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5507140569999 meters Centerline goodness [0,1] 0.9998526781016521 Centerline is valid? [True, True] Translation: X:717.81, Y:-53.96, Z:2.55 [[ 9.95833147e-01 9.11338319e-02 -3.31166990e-03 7.17809159e+02] [-9.11326662e-02 9.95838634e-01 5.01538947e-04 -5.39620493e+01] [ 3.34359600e-03 -1.97647800e-04 9.99994391e-01 2.55296492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5807140569999 meters Centerline goodness [0,1] 0.9996846420687481 Centerline is valid? [True, True] Translation: X:717.84, Y:-53.95, Z:2.55 [[ 9.95015436e-01 9.96842670e-02 -2.70734141e-03 7.17840658e+02] [-9.96835193e-02 9.95019109e-01 4.10054106e-04 -5.39544723e+01] [ 2.73473238e-03 -1.38132846e-04 9.99996251e-01 2.55482255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6107140569999 meters Centerline goodness [0,1] 0.999663356337317 Centerline is valid? [True, True] Translation: X:717.87, Y:-53.95, Z:2.56 [[ 9.94471165e-01 1.04980926e-01 -2.47125826e-03 7.17871044e+02] [-1.04980319e-01 9.94474229e-01 3.74343176e-04 -5.39537103e+01] [ 2.49690155e-03 -1.12840012e-04 9.99996876e-01 2.55547966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.640714057 meters Centerline goodness [0,1] 0.9996632854918136 Centerline is valid? [True, True] Translation: X:717.90, Y:-53.95, Z:2.56 [[ 9.93884962e-01 1.10394253e-01 -2.40660120e-03 7.17901115e+02] [-1.10393693e-01 9.93887871e-01 3.64464512e-04 -5.39526144e+01] [ 2.43212653e-03 -9.65622032e-05 9.99997038e-01 2.55555944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6707140569999 meters Centerline goodness [0,1] 0.9994527007114891 Centerline is valid? [True, True] Translation: X:717.93, Y:-53.94, Z:2.55 [[ 9.92710157e-01 1.20491482e-01 -2.88899500e-03 7.17933935e+02] [-1.20490718e-01 9.92714357e-01 4.37593377e-04 -5.39431242e+01] [ 2.92067309e-03 -8.63063087e-05 9.99995731e-01 2.55453834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7007140569999 meters Centerline goodness [0,1] 0.9996008571068442 Centerline is valid? [True, True] Translation: X:717.96, Y:-53.94, Z:2.55 [[ 9.92083060e-01 1.25532645e-01 -3.57179889e-03 7.17964550e+02] [-1.25531510e-01 9.92089486e-01 5.40860609e-04 -5.39417456e+01] [ 3.61143979e-03 -8.82053375e-05 9.99993475e-01 2.55421682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7307140569999 meters Centerline goodness [0,1] 0.9994319018663076 Centerline is valid? [True, True] Translation: X:717.99, Y:-53.94, Z:2.55 [[ 9.91512774e-01 1.29954696e-01 -3.76783854e-03 7.17994938e+02] [-1.29953466e-01 9.91519930e-01 5.70674897e-04 -5.39401524e+01] [ 3.81004889e-03 -7.61877730e-05 9.99992739e-01 2.55420675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.760714057 meters Centerline goodness [0,1] 0.9995168574729545 Centerline is valid? [True, True] Translation: X:718.03, Y:-53.94, Z:2.55 [[ 9.90378068e-01 1.38358781e-01 -2.85131643e-03 7.18025045e+02] [-1.38358111e-01 9.90382172e-01 4.31819552e-04 -5.39353384e+01] [ 2.88363898e-03 -3.31618587e-05 9.99995842e-01 2.55488444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.790714057 meters Centerline goodness [0,1] 0.9995373193968328 Centerline is valid? [True, True] Translation: X:718.06, Y:-53.94, Z:2.56 [[ 9.89814518e-01 1.42349355e-01 -1.97018105e-03 7.18055203e+02] [-1.42349043e-01 9.89816478e-01 2.98386216e-04 -5.39359643e+01] [ 1.99259275e-03 -1.48936207e-05 9.99998015e-01 2.55567744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8207140569999 meters Centerline goodness [0,1] 0.9992628009351897 Centerline is valid? [True, True] Translation: X:718.08, Y:-53.93, Z:2.56 [[ 9.88911784e-01 1.48498099e-01 -1.34120037e-03 7.18083399e+02] [-1.48497960e-01 9.88912693e-01 2.03479783e-04 -5.39345850e+01] [ 1.35654643e-03 -2.05803715e-06 9.99999080e-01 2.55567306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8507140569999 meters Centerline goodness [0,1] 0.999163179916318 Centerline is valid? [True, True] Translation: X:718.11, Y:-53.94, Z:2.56 [[ 9.88569266e-01 1.50759356e-01 -1.55655452e-03 7.18112124e+02] [-1.50759172e-01 9.88570491e-01 2.35807394e-04 -5.39373226e+01] [ 1.57431404e-03 1.55292782e-06 9.99998761e-01 2.55538316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.880714057 meters Centerline goodness [0,1] 0.9994995203736915 Centerline is valid? [True, True] Translation: X:718.14, Y:-53.94, Z:2.56 [[ 9.88282352e-01 1.52621465e-01 -2.16366903e-03 7.18140397e+02] [-1.52621114e-01 9.88284720e-01 3.27424010e-04 -5.39415464e+01] [ 2.18829297e-03 6.63420633e-06 9.99997606e-01 2.55539759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.910714057 meters Centerline goodness [0,1] 0.9993543415325016 Centerline is valid? [True, True] Translation: X:718.17, Y:-53.95, Z:2.55 [[ 9.88095746e-01 1.53818966e-01 -2.55378424e-03 7.18167654e+02] [-1.53818481e-01 9.88099046e-01 3.86300895e-04 -5.39459585e+01] [ 2.58281218e-03 1.11169430e-05 9.99996664e-01 2.55487693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9407140569999 meters Centerline goodness [0,1] 0.9992656161480518 Centerline is valid? [True, True] Translation: X:718.20, Y:-53.95, Z:2.55 [[ 9.87756885e-01 1.55958164e-01 -3.65894615e-03 7.18195286e+02] [-1.55957186e-01 9.87763661e-01 5.52739523e-04 -5.39530127e+01] [ 3.70037829e-03 2.46666776e-05 9.99993153e-01 2.55369816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9707140569999 meters Centerline goodness [0,1] 0.9992677058269693 Centerline is valid? [True, True] Translation: X:718.22, Y:-53.96, Z:2.55 [[ 9.87568066e-01 1.57135948e-01 -4.19637524e-03 7.18223969e+02] [-1.57134675e-01 9.87576981e-01 6.33552059e-04 -5.39577834e+01] [ 4.24379739e-03 3.37202761e-05 9.99990994e-01 2.55326910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.000714057 meters Centerline goodness [0,1] 0.9989588755856325 Centerline is valid? [True, True] Translation: X:718.25, Y:-53.96, Z:2.55 [[ 9.87130921e-01 1.59863611e-01 -4.02132386e-03 7.18251914e+02] [-1.59862465e-01 9.87139111e-01 6.06862817e-04 -5.39636490e+01] [ 4.06662134e-03 4.38056943e-05 9.99991730e-01 2.55352474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.030714057 meters Centerline goodness [0,1] 0.9989963618115669 Centerline is valid? [True, True] Translation: X:718.28, Y:-53.97, Z:2.55 [[ 9.86969404e-01 1.60872873e-01 -3.36364150e-03 7.18281080e+02] [-1.60872078e-01 9.86975135e-01 5.07326413e-04 -5.39711085e+01] [ 3.40144558e-03 4.04003483e-05 9.99994214e-01 2.55381684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0607140569999 meters Centerline goodness [0,1] 0.9993108345167488 Centerline is valid? [True, True] Translation: X:718.31, Y:-53.98, Z:2.55 [[ 9.86822222e-01 1.61774534e-01 -3.30175308e-03 7.18309571e+02] [-1.61773773e-01 9.86827745e-01 4.98025279e-04 -5.39784474e+01] [ 3.33882935e-03 4.26746401e-05 9.99994425e-01 2.55452454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0907140569999 meters Centerline goodness [0,1] 0.99918410041841 Centerline is valid? [True, True] Translation: X:718.34, Y:-53.99, Z:2.55 [[ 9.86787275e-01 1.61995950e-01 -2.86111017e-03 7.18336670e+02] [-1.61995380e-01 9.86791422e-01 4.31338717e-04 -5.39896113e+01] [ 2.89319409e-03 3.78470717e-05 9.99995814e-01 2.55498466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.120714057 meters Centerline goodness [0,1] 0.9992479475234494 Centerline is valid? [True, True] Translation: X:718.37, Y:-54.00, Z:2.55 [[ 9.86910234e-01 1.61244655e-01 -2.88997946e-03 7.18365385e+02] [-1.61244072e-01 9.86914464e-01 4.35447123e-04 -5.39986722e+01] [ 2.92237605e-03 3.62448334e-05 9.99995729e-01 2.55461552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.150714057 meters Centerline goodness [0,1] 0.9991854976818011 Centerline is valid? [True, True] Translation: X:718.39, Y:-54.01, Z:2.56 [[ 9.87188467e-01 1.59533094e-01 -2.84994988e-03 7.18394253e+02] [-1.59532519e-01 9.87192581e-01 4.29234293e-04 -5.40074487e+01] [ 2.88192645e-03 3.09245398e-05 9.99995847e-01 2.55510651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1807140569999 meters Centerline goodness [0,1] 0.9990601111157525 Centerline is valid? [True, True] Translation: X:718.42, Y:-54.02, Z:2.56 [[ 9.87692575e-01 1.56385189e-01 -2.65522243e-03 7.18423870e+02] [-1.56384680e-01 9.87696144e-01 3.99610656e-04 -5.40227780e+01] [ 2.68504614e-03 2.05436326e-05 9.99996395e-01 2.55521332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2107140569999 meters Centerline goodness [0,1] 0.9990196078431373 Centerline is valid? [True, True] Translation: X:718.45, Y:-54.03, Z:2.56 [[ 9.87999915e-01 1.54438879e-01 -2.19119198e-03 7.18454350e+02] [-1.54438529e-01 9.88002344e-01 3.28777156e-04 -5.40320788e+01] [ 2.21567879e-03 1.35726646e-05 9.99997545e-01 2.55604511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.240714057 meters Centerline goodness [0,1] 0.9987904571237904 Centerline is valid? [True, True] Translation: X:718.48, Y:-54.05, Z:2.56 [[ 9.88745756e-01 1.49601913e-01 -1.04770579e-03 7.18483316e+02] [-1.49601831e-01 9.88746311e-01 1.57166417e-04 -5.40487914e+01] [ 1.05942763e-03 1.34107596e-06 9.99999439e-01 2.55662153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.270714057 meters Centerline goodness [0,1] 0.9982661012346195 Centerline is valid? [True, True] Translation: X:718.51, Y:-54.06, Z:2.56 [[ 9.89049504e-01 1.47582530e-01 -6.89275991e-04 7.18514477e+02] [-1.47582494e-01 9.89049744e-01 1.02162616e-04 -5.40603034e+01] [ 6.96805660e-04 6.81185039e-07 9.99999757e-01 2.55641690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3007140569999 meters Centerline goodness [0,1] 0.9982664633764281 Centerline is valid? [True, True] Translation: X:718.55, Y:-54.07, Z:2.56 [[ 9.89387708e-01 1.45299281e-01 -2.86709792e-04 7.18545448e+02] [-1.45299275e-01 9.89387750e-01 4.14920990e-05 -5.40716849e+01] [ 2.89695928e-04 6.06952174e-07 9.99999958e-01 2.55708566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3307140569999 meters Centerline goodness [0,1] 0.9981440934209155 Centerline is valid? [True, True] Translation: X:718.58, Y:-54.08, Z:2.56 [[ 9.89622726e-01 1.43689200e-01 5.22746030e-04 7.18576135e+02] [-1.43689177e-01 9.89622864e-01 -8.11788046e-05 -5.40822410e+01] [-5.28985941e-04 5.22344316e-06 9.99999860e-01 2.55725438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3607140569999 meters Centerline goodness [0,1] 0.9985791893021312 Centerline is valid? [True, True] Translation: X:718.61, Y:-54.10, Z:2.56 [[ 9.90138685e-01 1.40072798e-01 2.23509332e-03 7.18605968e+02] [-1.40072386e-01 9.90141207e-01 -3.40501924e-04 -5.40971465e+01] [-2.26075306e-03 2.40692723e-05 9.99997444e-01 2.55860390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.390714057 meters Centerline goodness [0,1] 0.9983302373150216 Centerline is valid? [True, True] Translation: X:718.64, Y:-54.11, Z:2.56 [[ 9.90249937e-01 1.39277159e-01 2.63330587e-03 7.18636741e+02] [-1.39276581e-01 9.90253438e-01 -4.02550385e-04 -5.41062795e+01] [-2.66370627e-03 3.18676541e-05 9.99996452e-01 2.55911251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4207140569999 meters Centerline goodness [0,1] 0.9978718521145862 Centerline is valid? [True, True] Translation: X:718.67, Y:-54.12, Z:2.56 [[ 9.90411807e-01 1.38100962e-01 3.54631112e-03 7.18666223e+02] [-1.38099909e-01 9.90418155e-01 -5.41095790e-04 -5.41195210e+01] [-3.58705677e-03 4.61624143e-05 9.99993565e-01 2.56007068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4507140569999 meters Centerline goodness [0,1] 0.9982488325550367 Centerline is valid? [True, True] Translation: X:718.70, Y:-54.13, Z:2.56 [[ 9.90400951e-01 1.38186333e-01 3.23944402e-03 7.18698073e+02] [-1.38185448e-01 9.90406248e-01 -4.96383241e-04 -5.41283721e+01] [-3.27695897e-03 4.39744119e-05 9.99994630e-01 2.56031631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4807140569999 meters Centerline goodness [0,1] 0.9979582482603442 Centerline is valid? [True, True] Translation: X:718.73, Y:-54.14, Z:2.56 [[ 9.90363400e-01 1.38460882e-01 2.98680688e-03 7.18729090e+02] [-1.38460128e-01 9.90367903e-01 -4.58486269e-04 -5.41368345e+01] [-3.02152008e-03 4.05143557e-05 9.99995434e-01 2.55989266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.510714057 meters Centerline goodness [0,1] 0.9982436698935747 Centerline is valid? [True, True] Translation: X:718.76, Y:-54.15, Z:2.56 [[ 9.90381675e-01 1.38334368e-01 2.78208102e-03 7.18761347e+02] [-1.38333711e-01 9.90385582e-01 -4.28092705e-04 -5.41473423e+01] [-2.81455287e-03 3.91195775e-05 9.99996038e-01 2.55917727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.540714057 meters Centerline goodness [0,1] 0.998076199238844 Centerline is valid? [True, True] Translation: X:718.79, Y:-54.15, Z:2.56 [[ 9.90327262e-01 1.38726856e-01 2.60251511e-03 7.18793307e+02] [-1.38726280e-01 9.90330681e-01 -4.01319167e-04 -5.41544884e+01] [-2.63302430e-03 3.64000720e-05 9.99996533e-01 2.55914428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5707140569999 meters Centerline goodness [0,1] 0.9981574925148133 Centerline is valid? [True, True] Translation: X:718.82, Y:-54.16, Z:2.56 [[ 9.90207828e-01 1.39581554e-01 2.33390546e-03 7.18823470e+02] [-1.39581093e-01 9.90210578e-01 -3.60242196e-04 -5.41626663e+01] [-2.36134104e-03 3.09455674e-05 9.99997212e-01 2.55891905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6007140569999 meters Centerline goodness [0,1] 0.9978653496013227 Centerline is valid? [True, True] Translation: X:718.86, Y:-54.17, Z:2.56 [[ 9.90168646e-01 1.39867672e-01 1.75685982e-03 7.18856123e+02] [-1.39867409e-01 9.90170204e-01 -2.72563620e-04 -5.41685363e+01] [-1.77771309e-03 2.41565200e-05 9.99998420e-01 2.55839865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.630714057 meters Centerline goodness [0,1] 0.998012427558215 Centerline is valid? [True, True] Translation: X:718.89, Y:-54.18, Z:2.56 [[ 9.90204929e-01 1.39615227e-01 1.33696292e-03 7.18886879e+02] [-1.39615073e-01 9.90205831e-01 -2.08145325e-04 -5.41794214e+01] [-1.35292874e-03 1.94463511e-05 9.99999085e-01 2.55924321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.660714057 meters Centerline goodness [0,1] 0.9983885482284495 Centerline is valid? [True, True] Translation: X:718.92, Y:-54.19, Z:2.56 [[ 9.90296945e-01 1.38960060e-01 1.43595266e-03 7.18918546e+02] [-1.38959881e-01 9.90297986e-01 -2.23656477e-04 -5.41850750e+01] [-1.45310035e-03 2.19465141e-05 9.99998944e-01 2.55813925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6907140569999 meters Centerline goodness [0,1] 0.9986213235294118 Centerline is valid? [True, True] Translation: X:718.95, Y:-54.19, Z:2.56 [[ 9.90345606e-01 1.38618847e-01 6.29753851e-04 7.18949355e+02] [-1.38618812e-01 9.90345806e-01 -9.94284427e-05 -5.41923382e+01] [-6.37456741e-04 1.11727908e-05 9.99999797e-01 2.55896134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7207140569999 meters Centerline goodness [0,1] 0.9988942899463835 Centerline is valid? [True, True] Translation: X:718.98, Y:-54.20, Z:2.56 [[ 9.90566137e-01 1.37035403e-01 1.63539684e-04 7.18979477e+02] [-1.37035401e-01 9.90566150e-01 -2.70212346e-05 -5.42019874e+01] [-1.65699740e-04 4.35559390e-06 9.99999986e-01 2.55986101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.750714057 meters Centerline goodness [0,1] 0.9992036881810562 Centerline is valid? [True, True] Translation: X:719.01, Y:-54.21, Z:2.56 [[ 9.90733561e-01 1.35819721e-01 -1.24427862e-04 7.19010780e+02] [-1.35819720e-01 9.90733568e-01 1.75983305e-05 -5.42078262e+01] [ 1.25665060e-04 -5.35499327e-07 9.99999992e-01 2.55996056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.780714057 meters Centerline goodness [0,1] 0.9991831605403707 Centerline is valid? [True, True] Translation: X:719.04, Y:-54.21, Z:2.56 [[ 9.90877738e-01 1.34763112e-01 -4.61337164e-04 7.19041232e+02] [-1.34763094e-01 9.90877845e-01 7.01157322e-05 -5.42145993e+01] [ 4.66577789e-04 -7.30489430e-06 9.99999891e-01 2.56024525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8107140569999 meters Centerline goodness [0,1] 0.9992256822367319 Centerline is valid? [True, True] Translation: X:719.07, Y:-54.23, Z:2.56 [[ 9.91172891e-01 1.32571384e-01 -1.06243485e-03 7.19070861e+02] [-1.32571285e-01 9.91173460e-01 1.63766599e-04 -5.42257418e+01] [ 1.07476799e-03 -2.14726600e-05 9.99999422e-01 2.56069841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8407140569999 meters Centerline goodness [0,1] 0.999162864677075 Centerline is valid? [True, True] Translation: X:719.10, Y:-54.23, Z:2.56 [[ 9.91284654e-01 1.31725162e-01 -1.79365661e-03 7.19103477e+02] [-1.31724876e-01 9.91286276e-01 2.77716234e-04 -5.42276397e+01] [ 1.81460939e-03 -3.90266479e-05 9.99998353e-01 2.55912709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.870714057 meters Centerline goodness [0,1] 0.9989096703849702 Centerline is valid? [True, True] Translation: X:719.13, Y:-54.24, Z:2.56 [[ 9.91481578e-01 1.30211676e-01 -3.03313376e-03 7.19133752e+02] [-1.30210842e-01 9.91486215e-01 4.71749546e-04 -5.42359991e+01] [ 3.06873761e-03 -7.27840828e-05 9.99995289e-01 2.55884435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.900714057 meters Centerline goodness [0,1] 0.998952287157136 Centerline is valid? [True, True] Translation: X:719.17, Y:-54.24, Z:2.56 [[ 9.91394062e-01 1.30871093e-01 -3.25116035e-03 7.19166037e+02] [-1.30870136e-01 9.91399390e-01 5.06442167e-04 -5.42368220e+01] [ 3.28947702e-03 -7.66039621e-05 9.99994587e-01 2.55834404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9307140569999 meters Centerline goodness [0,1] 0.9990157686428078 Centerline is valid? [True, True] Translation: X:719.20, Y:-54.24, Z:2.56 [[ 9.91252823e-01 1.31931862e-01 -3.43872757e-03 7.19197181e+02] [-1.31930794e-01 9.91258784e-01 5.36722468e-04 -5.42418910e+01] [ 3.47947970e-03 -7.83536037e-05 9.99993944e-01 2.55932162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9607140569999 meters Centerline goodness [0,1] 0.9985343690458742 Centerline is valid? [True, True] Translation: X:719.23, Y:-54.24, Z:2.56 [[ 9.91077048e-01 1.33258355e-01 -2.91464994e-03 7.19228958e+02] [-1.33257592e-01 9.91081332e-01 4.55262014e-04 -5.42448948e+01] [ 2.94932261e-03 -6.28005006e-05 9.99995649e-01 2.56007170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.990714057 meters Centerline goodness [0,1] 0.9991850040749797 Centerline is valid? [True, True] Translation: X:719.26, Y:-54.25, Z:2.56 [[ 9.90607335e-01 1.36710002e-01 -2.73566414e-03 7.19259758e+02] [-1.36709341e-01 9.90611111e-01 4.27976108e-04 -5.42490133e+01] [ 2.76848791e-03 -4.99654299e-05 9.99996166e-01 2.56228089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.020714057 meters Centerline goodness [0,1] 0.9991001736874046 Centerline is valid? [True, True] Translation: X:719.29, Y:-54.25, Z:2.56 [[ 9.90473540e-01 1.37681791e-01 -2.42706646e-03 7.19291597e+02] [-1.37681273e-01 9.90476513e-01 3.79994935e-04 -5.42524950e+01] [ 2.45627071e-03 -4.22133289e-05 9.99996982e-01 2.56276352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0507140569999 meters Centerline goodness [0,1] 0.998535197120616 Centerline is valid? [True, True] Translation: X:719.32, Y:-54.26, Z:2.56 [[ 9.90401524e-01 1.38203671e-01 -2.13713970e-03 7.19324695e+02] [-1.38203270e-01 9.90403829e-01 3.34711550e-04 -5.42566767e+01] [ 2.16288971e-03 -3.61391342e-05 9.99997660e-01 2.56339579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0807140569999 meters Centerline goodness [0,1] 0.9985904529484779 Centerline is valid? [True, True] Translation: X:719.36, Y:-54.26, Z:2.57 [[ 9.90473432e-01 1.37701502e-01 -8.22704550e-04 7.19356152e+02] [-1.37701443e-01 9.90473774e-01 1.28005625e-04 -5.42611198e+01] [ 8.32493847e-04 -1.34985677e-05 9.99999653e-01 2.56538297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1107140569999 meters Centerline goodness [0,1] 0.9985566967180538 Centerline is valid? [True, True] Translation: X:719.39, Y:-54.27, Z:2.57 [[ 9.90605113e-01 1.36753253e-01 -2.40334333e-04 7.19388251e+02] [-1.36753248e-01 9.90605142e-01 3.61420741e-05 -5.42662927e+01] [ 2.43018972e-04 -2.93602271e-06 9.99999970e-01 2.56643394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.140714057 meters Centerline goodness [0,1] 0.9985566967180538 Centerline is valid? [True, True] Translation: X:719.42, Y:-54.27, Z:2.57 [[ 9.90566466e-01 1.37032914e-01 -2.40365278e-04 7.19420328e+02] [-1.37032910e-01 9.90566495e-01 3.59481984e-05 -5.42714258e+01] [ 2.43023878e-04 -2.67112635e-06 9.99999970e-01 2.56667591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1707140569999 meters Centerline goodness [0,1] 0.9991434957905951 Centerline is valid? [True, True] Translation: X:719.45, Y:-54.28, Z:2.57 [[ 9.90724193e-01 1.35887467e-01 -4.12631964e-04 7.19452010e+02] [-1.35887452e-01 9.90724279e-01 6.36113131e-05 -5.42751425e+01] [ 4.17448485e-04 -6.94976053e-06 9.99999913e-01 2.56774504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2007140569999 meters Centerline goodness [0,1] 0.9988701274245182 Centerline is valid? [True, True] Translation: X:719.48, Y:-54.28, Z:2.57 [[ 9.90687168e-01 1.36156184e-01 -6.55302207e-04 7.19484385e+02] [-1.36156146e-01 9.90687384e-01 1.02049188e-04 -5.42796282e+01] [ 6.63094257e-04 -1.18753979e-05 9.99999780e-01 2.56771284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2307140569999 meters Centerline goodness [0,1] 0.9990163248221013 Centerline is valid? [True, True] Translation: X:719.52, Y:-54.28, Z:2.57 [[ 9.90663210e-01 1.36322284e-01 -1.62461008e-03 7.19517287e+02] [-1.36322047e-01 9.90664542e-01 2.56577883e-04 -5.42837777e+01] [ 1.64442089e-03 -3.27120978e-05 9.99998647e-01 2.56724281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.260714057 meters Centerline goodness [0,1] 0.9990155831099196 Centerline is valid? [True, True] Translation: X:719.55, Y:-54.29, Z:2.57 [[ 9.90624692e-01 1.36575040e-01 -3.15879769e-03 7.19549964e+02] [-1.36574134e-01 9.90629726e-01 5.01776744e-04 -5.42870069e+01] [ 3.19772907e-03 -6.56623724e-05 9.99994885e-01 2.56624306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.290714057 meters Centerline goodness [0,1] 0.9992039217329367 Centerline is valid? [True, True] Translation: X:719.58, Y:-54.29, Z:2.57 [[ 9.90535459e-01 1.37200218e-01 -3.95026774e-03 7.19580402e+02] [-1.37198798e-01 9.90543333e-01 6.29354134e-04 -5.42927011e+01] [ 3.99925889e-03 -8.14255991e-05 9.99992000e-01 2.56689802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3207140569999 meters Centerline goodness [0,1] 0.9989107438362764 Centerline is valid? [True, True] Translation: X:719.61, Y:-54.30, Z:2.57 [[ 9.90337332e-01 1.38594065e-01 -4.86353930e-03 7.19613030e+02] [-1.38591922e-01 9.90349270e-01 7.76605061e-04 -5.42956332e+01] [ 4.92423544e-03 -9.50537241e-05 9.99987871e-01 2.56731539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3507140569999 meters Centerline goodness [0,1] 0.9988637080992362 Centerline is valid? [True, True] Translation: X:719.65, Y:-54.30, Z:2.57 [[ 9.90054556e-01 1.40583489e-01 -5.31599145e-03 7.19645024e+02] [-1.40580954e-01 9.90068823e-01 8.49429893e-04 -5.42994210e+01] [ 5.38261322e-03 -9.36547872e-05 9.99985509e-01 2.56774293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.380714057 meters Centerline goodness [0,1] 0.9988004798080767 Centerline is valid? [True, True] Translation: X:719.68, Y:-54.30, Z:2.57 [[ 9.89812771e-01 1.42236419e-01 -6.28323319e-03 7.19676260e+02] [-1.42232898e-01 9.89832708e-01 1.00606020e-03 -5.43037339e+01] [ 6.36244813e-03 -1.02128766e-04 9.99979754e-01 2.56817711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.410714057 meters Centerline goodness [0,1] 0.9982413533204925 Centerline is valid? [True, True] Translation: X:719.71, Y:-54.31, Z:2.57 [[ 9.89365202e-01 1.45275118e-01 -7.18583276e-03 7.19708806e+02] [-1.45270584e-01 9.89391293e-01 1.15179969e-03 -5.43072368e+01] [ 7.27692820e-03 -9.56604105e-05 9.99973518e-01 2.56873068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4407140569999 meters Centerline goodness [0,1] 0.9988277897557197 Centerline is valid? [True, True] Translation: X:719.74, Y:-54.31, Z:2.57 [[ 9.89198935e-01 1.46392851e-01 -7.38913386e-03 7.19739685e+02] [-1.46388082e-01 9.89226529e-01 1.18508221e-03 -5.43136701e+01] [ 7.48301480e-03 -9.06009229e-05 9.99971998e-01 2.56894357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4707140569999 meters Centerline goodness [0,1] 0.9985964471258589 Centerline is valid? [True, True] Translation: X:719.77, Y:-54.32, Z:2.57 [[ 9.89109574e-01 1.47006586e-01 -7.16344484e-03 7.19772412e+02] [-1.47002108e-01 9.89135510e-01 1.15049395e-03 -5.43174006e+01] [ 7.25474785e-03 -8.49230900e-05 9.99973680e-01 2.56945032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.500714057 meters Centerline goodness [0,1] 0.9983478679130853 Centerline is valid? [True, True] Translation: X:719.80, Y:-54.32, Z:2.57 [[ 9.89015879e-01 1.47648461e-01 -6.89365657e-03 7.19804556e+02] [-1.47644317e-01 9.89039901e-01 1.10908007e-03 -5.43245743e+01] [ 6.98185538e-03 -7.90885865e-05 9.99975623e-01 2.57092810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.530714057 meters Centerline goodness [0,1] 0.9987457931812956 Centerline is valid? [True, True] Translation: X:719.84, Y:-54.33, Z:2.57 [[ 9.88940137e-01 1.48156102e-01 -6.86840755e-03 7.19837363e+02] [-1.48151987e-01 9.88963985e-01 1.10699167e-03 -5.43309098e+01] [ 6.95661527e-03 -7.71802688e-05 9.99975799e-01 2.57176634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5607140569999 meters Centerline goodness [0,1] 0.9985561228760358 Centerline is valid? [True, True] Translation: X:719.87, Y:-54.34, Z:2.57 [[ 9.88797988e-01 1.49132859e-01 -6.15870977e-03 7.19869835e+02] [-1.49129560e-01 9.88817165e-01 9.94157778e-04 -5.43367025e+01] [ 6.23809953e-03 -6.45755345e-05 9.99980541e-01 2.57288956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5907140569999 meters Centerline goodness [0,1] 0.9987446385605189 Centerline is valid? [True, True] Translation: X:719.90, Y:-54.34, Z:2.57 [[ 9.88724203e-01 1.49618262e-01 -6.23114154e-03 7.19902644e+02] [-1.49614882e-01 9.88743835e-01 1.00767156e-03 -5.43418862e+01] [ 6.31176885e-03 -6.40377476e-05 9.99980079e-01 2.57314174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.620714057 meters Centerline goodness [0,1] 0.9984075432163436 Centerline is valid? [True, True] Translation: X:719.93, Y:-54.35, Z:2.57 [[ 9.88724620e-01 1.49636659e-01 -5.70060090e-03 7.19934324e+02] [-1.49633822e-01 9.88741051e-01 9.23396400e-04 -5.43480165e+01] [ 5.77459208e-03 -5.99820568e-05 9.99983325e-01 2.57363121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.650714057 meters Centerline goodness [0,1] 0.9983800727915343 Centerline is valid? [True, True] Translation: X:719.97, Y:-54.35, Z:2.57 [[ 9.88713171e-01 1.49724363e-01 -5.37414212e-03 7.19966560e+02] [-1.49721836e-01 9.88727774e-01 8.71834492e-04 -5.43529894e+01] [ 5.44409845e-03 -5.73678206e-05 9.99985179e-01 2.57423097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6807140569999 meters Centerline goodness [0,1] 0.9987676755018067 Centerline is valid? [True, True] Translation: X:720.00, Y:-54.36, Z:2.58 [[ 9.89075699e-01 1.47300042e-01 -5.65324265e-03 7.19996670e+02] [-1.47297195e-01 9.89091852e-01 9.18957851e-04 -5.43615841e+01] [ 5.72693878e-03 -7.62120913e-05 9.99983598e-01 2.57537653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7107140569999 meters Centerline goodness [0,1] 0.998306077209419 Centerline is valid? [True, True] Translation: X:720.03, Y:-54.37, Z:2.58 [[ 9.89296683e-01 1.45796626e-01 -5.95114551e-03 7.20027886e+02] [-1.45793435e-01 9.89314579e-01 9.68848997e-04 -5.43695643e+01] [ 6.02880992e-03 -9.08411508e-05 9.99981822e-01 2.57629611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.740714057 meters Centerline goodness [0,1] 0.9988731688994616 Centerline is valid? [True, True] Translation: X:720.06, Y:-54.38, Z:2.58 [[ 9.90037077e-01 1.40690090e-01 -5.73454130e-03 7.20058337e+02] [-1.40687033e-01 9.90053678e-01 9.34960547e-04 -5.43801084e+01] [ 5.80904339e-03 -1.18870004e-04 9.99983120e-01 2.57769988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.770714057 meters Centerline goodness [0,1] 0.9989907697483232 Centerline is valid? [True, True] Translation: X:720.09, Y:-54.39, Z:2.58 [[ 9.90518797e-01 1.37284726e-01 -5.04145856e-03 7.20089848e+02] [-1.37282313e-01 9.90531619e-01 8.23277178e-04 -5.43861684e+01] [ 5.10674750e-03 -1.23368427e-04 9.99986953e-01 2.57798173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8007140569999 meters Centerline goodness [0,1] 0.9993722798794777 Centerline is valid? [True, True] Translation: X:720.12, Y:-54.39, Z:2.58 [[ 9.90977422e-01 1.33932393e-01 -5.08550308e-03 7.20121023e+02] [-1.33929892e-01 9.90990461e-01 8.30846040e-04 -5.43936727e+01] [ 5.15096224e-03 -1.42248789e-04 9.99986724e-01 2.57821668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8307140569999 meters Centerline goodness [0,1] 0.9996022691591133 Centerline is valid? [True, True] Translation: X:720.15, Y:-54.40, Z:2.58 [[ 9.91899534e-01 1.26900770e-01 -5.61332131e-03 7.20150003e+02] [-1.26897606e-01 9.91915397e-01 9.17668199e-04 -5.44039654e+01] [ 5.68439264e-03 -1.97917623e-04 9.99983824e-01 2.57783655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8607140569999 meters Centerline goodness [0,1] 0.9998538744154977 Centerline is valid? [True, True] Translation: X:720.18, Y:-54.41, Z:2.58 [[ 9.92277949e-01 1.23882513e-01 -6.13150836e-03 7.20180775e+02] [-1.23878682e-01 9.92296865e-01 1.00209990e-03 -5.44125961e+01] [ 6.20841917e-03 -2.34798461e-04 9.99980700e-01 2.57756533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.890714057 meters Centerline goodness [0,1] 0.9997906066126432 Centerline is valid? [True, True] Translation: X:720.21, Y:-54.42, Z:2.58 [[ 9.92805150e-01 1.19570445e-01 -6.39085497e-03 7.20209482e+02] [-1.19566183e-01 9.92825681e-01 1.04624341e-03 -5.44210932e+01] [ 6.47010473e-03 -2.74585710e-04 9.99979031e-01 2.57797917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9207140569999 meters Centerline goodness [0,1] 0.9996453160859586 Centerline is valid? [True, True] Translation: X:720.24, Y:-54.43, Z:2.58 [[ 9.92923979e-01 1.18588976e-01 -6.21499280e-03 7.20241356e+02] [-1.18584928e-01 9.92943392e-01 1.01717609e-03 -5.44264377e+01] [ 6.29176191e-03 -2.72974062e-04 9.99980169e-01 2.57877269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9507140569999 meters Centerline goodness [0,1] 0.9992883456128601 Centerline is valid? [True, True] Translation: X:720.27, Y:-54.43, Z:2.58 [[ 9.92895201e-01 1.18856392e-01 -5.68138910e-03 7.20274428e+02] [-1.18853007e-01 9.92911424e-01 9.31021556e-04 -5.44307658e+01] [ 5.75177400e-03 -2.49156657e-04 9.99983427e-01 2.57990550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9807140569999 meters Centerline goodness [0,1] 0.9995618701883958 Centerline is valid? [True, True] Translation: X:720.31, Y:-54.43, Z:2.58 [[ 9.92628098e-01 1.21081774e-01 -5.35375298e-03 7.20305197e+02] [-1.21078790e-01 9.92642510e-01 8.79222896e-04 -5.44341207e+01] [ 5.42082066e-03 -2.24515421e-04 9.99985282e-01 2.58100661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.010714057 meters Centerline goodness [0,1] 0.9994769436772952 Centerline is valid? [True, True] Translation: X:720.34, Y:-54.43, Z:2.58 [[ 9.92333365e-01 1.23492071e-01 -4.91937475e-03 7.20336971e+02] [-1.23489580e-01 9.92345540e-01 8.08037943e-04 -5.44340641e+01] [ 4.98150588e-03 -1.94351489e-04 9.99987573e-01 2.58149148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.040714057 meters Centerline goodness [0,1] 0.9991423491266604 Centerline is valid? [True, True] Translation: X:720.37, Y:-54.43, Z:2.58 [[ 9.91479894e-01 1.30225401e-01 -2.99424305e-03 7.20369011e+02] [-1.30224509e-01 9.91484410e-01 4.91868445e-04 -5.44317334e+01] [ 3.03279907e-03 -9.77538418e-05 9.99995396e-01 2.58288685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0707140569999 meters Centerline goodness [0,1] 0.9993723455446994 Centerline is valid? [True, True] Translation: X:720.40, Y:-54.43, Z:2.58 [[ 9.90947679e-01 1.34232158e-01 -2.10386755e-03 7.20399556e+02] [-1.34231727e-01 9.90949910e-01 3.45552412e-04 -5.44347673e+01] [ 2.13121160e-03 -6.00185873e-05 9.99997727e-01 2.58407209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1007140569999 meters Centerline goodness [0,1] 0.9988913525498891 Centerline is valid? [True, True] Translation: X:720.43, Y:-54.44, Z:2.58 [[ 9.90344915e-01 1.38619207e-01 -1.29018539e-03 7.20431589e+02] [-1.38619049e-01 9.90345755e-01 2.11737746e-04 -5.44352740e+01] [ 1.30708054e-03 -3.08491285e-05 9.99999145e-01 2.58439898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.130714057 meters Centerline goodness [0,1] 0.9989115190588826 Centerline is valid? [True, True] Translation: X:720.46, Y:-54.44, Z:2.59 [[ 9.89774091e-01 1.42642554e-01 -5.91544112e-04 7.20462750e+02] [-1.42642523e-01 9.89774268e-01 9.56690118e-05 -5.44373887e+01] [ 5.99141613e-04 -1.03113648e-05 9.99999820e-01 2.58503134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.160714057 meters Centerline goodness [0,1] 0.9989133841813812 Centerline is valid? [True, True] Translation: X:720.49, Y:-54.44, Z:2.59 [[ 9.88767606e-01 1.49461006e-01 -1.67235153e-04 7.20493978e+02] [-1.49461004e-01 9.88767621e-01 2.72768426e-05 -5.44373700e+01] [ 1.69433528e-04 -1.97532457e-06 9.99999986e-01 2.58515790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1907140569999 meters Centerline goodness [0,1] 0.9984544372271769 Centerline is valid? [True, True] Translation: X:720.53, Y:-54.44, Z:2.58 [[ 9.88252260e-01 1.52830992e-01 3.97112677e-04 7.20525201e+02] [-1.52830978e-01 9.88252340e-01 -6.64846453e-05 -5.44403405e+01] [-4.02608446e-04 5.01248230e-06 9.99999919e-01 2.58488610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2207140569999 meters Centerline goodness [0,1] 0.9987456620813647 Centerline is valid? [True, True] Translation: X:720.56, Y:-54.44, Z:2.58 [[ 9.87551095e-01 1.57297733e-01 5.08354482e-04 7.20557776e+02] [-1.57297710e-01 9.87551226e-01 -8.57611369e-05 -5.44415572e+01] [-5.15516124e-04 4.73050871e-06 9.99999867e-01 2.58334748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.250714057 meters Centerline goodness [0,1] 0.9983270598076118 Centerline is valid? [True, True] Translation: X:720.59, Y:-54.45, Z:2.58 [[ 9.87268655e-01 1.59060684e-01 5.48468575e-04 7.20590069e+02] [-1.59060657e-01 9.87268808e-01 -9.28265458e-05 -5.44463281e+01] [-5.56250970e-04 4.40496731e-06 9.99999845e-01 2.58311659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.280714057 meters Centerline goodness [0,1] 0.9982654852461758 Centerline is valid? [True, True] Translation: X:720.62, Y:-54.45, Z:2.58 [[ 9.87055257e-01 1.60379019e-01 6.99598452e-04 7.20622172e+02] [-1.60378976e-01 9.87055505e-01 -1.18044060e-04 -5.44520249e+01] [-7.09474293e-04 4.31512659e-06 9.99999748e-01 2.58282167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3107140569999 meters Centerline goodness [0,1] 0.998681622232453 Centerline is valid? [True, True] Translation: X:720.65, Y:-54.46, Z:2.58 [[ 9.86911586e-01 1.61260850e-01 6.78764933e-04 7.20652952e+02] [-1.61260809e-01 9.86911819e-01 -1.14628170e-04 -5.44594640e+01] [-6.88366170e-04 3.66968657e-06 9.99999763e-01 2.58267488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3407140569999 meters Centerline goodness [0,1] 0.9985568476533088 Centerline is valid? [True, True] Translation: X:720.68, Y:-54.47, Z:2.58 [[ 9.86845508e-01 1.61663137e-01 9.87139405e-04 7.20684706e+02] [-1.61663052e-01 9.86846001e-01 -1.66027893e-04 -5.44662701e+01] [-1.00099516e-03 4.25991146e-06 9.99999499e-01 2.58204647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.370714057 meters Centerline goodness [0,1] 0.9987873972946415 Centerline is valid? [True, True] Translation: X:720.72, Y:-54.47, Z:2.58 [[ 9.86817246e-01 1.61837167e-01 6.73925571e-04 7.20716750e+02] [-1.61837127e-01 9.86817476e-01 -1.14295082e-04 -5.44731705e+01] [-6.83538723e-04 3.72218036e-06 9.99999766e-01 2.58162454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.400714057 meters Centerline goodness [0,1] 0.9986768319576587 Centerline is valid? [True, True] Translation: X:720.75, Y:-54.48, Z:2.58 [[ 9.86506746e-01 1.63719553e-01 5.89189142e-04 7.20749150e+02] [-1.63719522e-01 9.86506922e-01 -1.00401792e-04 -5.44820432e+01] [-5.97676904e-04 2.58528050e-06 9.99999821e-01 2.58072321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4307140569999 meters Centerline goodness [0,1] 0.9983078112269413 Centerline is valid? [True, True] Translation: X:720.78, Y:-54.49, Z:2.58 [[ 9.86335060e-01 1.64751554e-01 -2.73640019e-04 7.20780023e+02] [-1.64751548e-01 9.86335098e-01 4.46324264e-05 -5.44888390e+01] [ 2.77254016e-04 1.06008969e-06 9.99999962e-01 2.58051206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4607140569999 meters Centerline goodness [0,1] 0.9986366305898146 Centerline is valid? [True, True] Translation: X:720.81, Y:-54.50, Z:2.58 [[ 9.85993131e-01 1.66785926e-01 3.10587125e-06 7.20811459e+02] [-1.66785926e-01 9.85993131e-01 -2.65432259e-06 -5.44979761e+01] [-3.50507135e-06 2.09912823e-06 1.00000000e+00 2.57966324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.490714057 meters Centerline goodness [0,1] 0.9983421820242168 Centerline is valid? [True, True] Translation: X:720.84, Y:-54.51, Z:2.58 [[ 9.85909182e-01 1.67281122e-01 3.32542835e-04 7.20842890e+02] [-1.67281112e-01 9.85909238e-01 -5.76840545e-05 -5.45051653e+01] [-3.37506507e-04 1.24310377e-06 9.99999943e-01 2.58055088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.520714057 meters Centerline goodness [0,1] 0.9980467109132152 Centerline is valid? [True, True] Translation: X:720.88, Y:-54.51, Z:2.58 [[ 9.85809006e-01 1.67870046e-01 5.00891140e-04 7.20875236e+02] [-1.67870024e-01 9.85809133e-01 -8.61639952e-05 -5.45133992e+01] [-5.08247414e-04 8.56634743e-07 9.99999871e-01 2.58093723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5507140569999 meters Centerline goodness [0,1] 0.9980353634577603 Centerline is valid? [True, True] Translation: X:720.91, Y:-54.52, Z:2.58 [[ 9.85839335e-01 1.67688645e-01 1.15051485e-03 7.20906197e+02] [-1.67688531e-01 9.85840006e-01 -1.95318450e-04 -5.45242514e+01] [-1.16697625e-03 -3.75534745e-07 9.99999319e-01 2.58201258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5807140569999 meters Centerline goodness [0,1] 0.9977736705032345 Centerline is valid? [True, True] Translation: X:720.94, Y:-54.53, Z:2.58 [[ 9.85922827e-01 1.67189755e-01 1.94054297e-03 7.20936883e+02] [-1.67189434e-01 9.85924736e-01 -3.27735010e-04 -5.45330174e+01] [-1.96802325e-03 -1.31685247e-06 9.99998063e-01 2.58249081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6107140569999 meters Centerline goodness [0,1] 0.9975203311828861 Centerline is valid? [True, True] Translation: X:720.97, Y:-54.54, Z:2.58 [[ 9.86047256e-01 1.66453483e-01 2.01161521e-03 7.20969142e+02] [-1.66453133e-01 9.86049308e-01 -3.41020762e-04 -5.45424699e+01] [-2.04031588e-03 1.42293216e-06 9.99997919e-01 2.58329471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.640714057 meters Centerline goodness [0,1] 0.9978980115188969 Centerline is valid? [True, True] Translation: X:721.00, Y:-54.55, Z:2.58 [[ 9.86245823e-01 1.65269159e-01 2.29796149e-03 7.21000730e+02] [-1.65268699e-01 9.86248501e-01 -3.90029411e-04 -5.45524777e+01] [-2.33082091e-03 4.88377091e-06 9.99997284e-01 2.58288572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6707140569999 meters Centerline goodness [0,1] 0.9979413494664314 Centerline is valid? [True, True] Translation: X:721.03, Y:-54.57, Z:2.58 [[ 9.86956108e-01 1.60971502e-01 2.41175057e-03 7.21030944e+02] [-1.60970981e-01 9.86959055e-01 -4.09590846e-04 -5.45659266e+01] [-2.44623152e-03 1.60263311e-05 9.99997008e-01 2.58314279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7007140569999 meters Centerline goodness [0,1] 0.9978571428571429 Centerline is valid? [True, True] Translation: X:721.06, Y:-54.57, Z:2.58 [[ 9.87369158e-01 1.58421323e-01 2.19788462e-03 7.21061066e+02] [-1.58420884e-01 9.87371604e-01 -3.73804345e-04 -5.45748952e+01] [-2.22934744e-03 2.08920573e-05 9.99997515e-01 2.58273330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7307140569999 meters Centerline goodness [0,1] 0.9983327080988704 Centerline is valid? [True, True] Translation: X:721.09, Y:-54.59, Z:2.58 [[ 9.88332805e-01 1.52300374e-01 1.69201987e-03 7.21090298e+02] [-1.52300105e-01 9.88334253e-01 -2.87588871e-04 -5.45896737e+01] [-1.71608108e-03 2.65387118e-05 9.99998527e-01 2.58257757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.760714057 meters Centerline goodness [0,1] 0.9973694179047939 Centerline is valid? [True, True] Translation: X:721.12, Y:-54.60, Z:2.58 [[ 9.88751939e-01 1.49538531e-01 2.79834089e-03 7.21121410e+02] [-1.49537781e-01 9.88755898e-01 -4.76662968e-04 -5.45981523e+01] [-2.83815554e-03 5.28437473e-05 9.99995971e-01 2.58169603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.790714057 meters Centerline goodness [0,1] 0.9982405429181852 Centerline is valid? [True, True] Translation: X:721.15, Y:-54.61, Z:2.58 [[ 9.89095681e-01 1.47253936e-01 2.45179133e-03 7.21150933e+02] [-1.47253354e-01 9.89098719e-01 -4.17306685e-04 -5.46083388e+01] [-2.48651372e-03 5.17217434e-05 9.99996907e-01 2.58198448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8207140569999 meters Centerline goodness [0,1] 0.9984649353380296 Centerline is valid? [True, True] Translation: X:721.18, Y:-54.62, Z:2.58 [[ 9.89573646e-01 1.44015855e-01 1.85277784e-03 7.21180546e+02] [-1.44015514e-01 9.89575379e-01 -3.16744142e-04 -5.46198609e+01] [-1.87907951e-03 4.66129036e-05 9.99998233e-01 2.58135527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8507140569999 meters Centerline goodness [0,1] 0.9985477047420598 Centerline is valid? [True, True] Translation: X:721.21, Y:-54.63, Z:2.58 [[ 9.89635118e-01 1.43600465e-01 1.11306833e-03 7.21212993e+02] [-1.43600340e-01 9.89635744e-01 -1.91683570e-04 -5.46267982e+01] [-1.12905806e-03 2.98598018e-05 9.99999362e-01 2.58064767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.880714057 meters Centerline goodness [0,1] 0.9983471074380166 Centerline is valid? [True, True] Translation: X:721.24, Y:-54.63, Z:2.58 [[ 9.89673302e-01 1.43341146e-01 -2.66257018e-04 7.21244906e+02] [-1.43341140e-01 9.89673338e-01 4.33229372e-05 -5.46330867e+01] [ 2.69717432e-04 -4.70996976e-06 9.99999964e-01 2.58006915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.910714057 meters Centerline goodness [0,1] 0.9983708252396767 Centerline is valid? [True, True] Translation: X:721.27, Y:-54.64, Z:2.58 [[ 9.89575215e-01 1.44002435e-01 -2.04763489e-03 7.21274718e+02] [-1.44002023e-01 9.89577332e-01 3.48127703e-04 -5.46424217e+01] [ 2.07642431e-03 -4.96349805e-05 9.99997843e-01 2.57916550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9407140569999 meters Centerline goodness [0,1] 0.9984837636355979 Centerline is valid? [True, True] Translation: X:721.31, Y:-54.65, Z:2.58 [[ 9.89442092e-01 1.44912823e-01 -2.14946582e-03 7.21306121e+02] [-1.44912370e-01 9.89444425e-01 3.66000117e-04 -5.46481486e+01] [ 2.17981508e-03 -5.06517355e-05 9.99997623e-01 2.57916187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9707140569999 meters Centerline goodness [0,1] 0.998294126318893 Centerline is valid? [True, True] Translation: X:721.34, Y:-54.65, Z:2.58 [[ 9.89308912e-01 1.45825429e-01 -1.67968045e-03 7.21337769e+02] [-1.45825154e-01 9.89310337e-01 2.85965443e-04 -5.46520616e+01] [ 1.70342627e-03 -3.79685001e-05 9.99998548e-01 2.57912337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.000714057 meters Centerline goodness [0,1] 0.9985681497546903 Centerline is valid? [True, True] Translation: X:721.37, Y:-54.66, Z:2.58 [[ 9.88941944e-01 1.48292100e-01 -1.81220749e-03 7.21368829e+02] [-1.48291782e-01 9.88943604e-01 3.09126028e-04 -5.46577763e+01] [ 1.83801196e-03 -3.69722167e-05 9.99998310e-01 2.57965926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.030714057 meters Centerline goodness [0,1] 0.9985681497546903 Centerline is valid? [True, True] Translation: X:721.40, Y:-54.66, Z:2.58 [[ 9.88901816e-01 1.48559464e-01 -1.81216705e-03 7.21400819e+02] [-1.48559147e-01 9.88903476e-01 3.09362952e-04 -5.46633416e+01] [ 1.83801709e-03 -3.67155940e-05 9.99998310e-01 2.57990122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0607140569999 meters Centerline goodness [0,1] 0.9986943520195426 Centerline is valid? [True, True] Translation: X:721.43, Y:-54.67, Z:2.58 [[ 9.88565044e-01 1.50774417e-01 -2.49559036e-03 7.21432860e+02] [-1.50773818e-01 9.88568193e-01 4.27673542e-04 -5.46683942e+01] [ 2.53154349e-03 -4.65134277e-05 9.99996795e-01 2.57975558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0907140569999 meters Centerline goodness [0,1] 0.9983393243782978 Centerline is valid? [True, True] Translation: X:721.47, Y:-54.67, Z:2.58 [[ 9.87900430e-01 1.55056110e-01 -3.21604603e-03 7.21465233e+02] [-1.55055133e-01 9.87905664e-01 5.52398404e-04 -5.46714099e+01] [ 3.26280284e-03 -4.70501748e-05 9.99994676e-01 2.57891327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.120714057 meters Centerline goodness [0,1] 0.99877861309411 Centerline is valid? [True, True] Translation: X:721.50, Y:-54.68, Z:2.58 [[ 9.87618696e-01 1.56851414e-01 -2.63540956e-03 7.21496579e+02] [-1.56850763e-01 9.87622212e-01 4.52993437e-04 -5.46761127e+01] [ 2.67384168e-03 -3.40187860e-05 9.99996425e-01 2.57939560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.150714057 meters Centerline goodness [0,1] 0.9984448227308073 Centerline is valid? [True, True] Translation: X:721.53, Y:-54.68, Z:2.58 [[ 9.87385643e-01 1.58314775e-01 -2.45434641e-03 7.21527498e+02] [-1.58314214e-01 9.87388693e-01 4.22368257e-04 -5.46829171e+01] [ 2.49026103e-03 -2.84824308e-05 9.99996899e-01 2.58033306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1807140569999 meters Centerline goodness [0,1] 0.9981091642505988 Centerline is valid? [True, True] Translation: X:721.56, Y:-54.69, Z:2.58 [[ 9.87196264e-01 1.59510191e-01 -1.87667026e-04 7.21560513e+02] [-1.59510188e-01 9.87196282e-01 3.03253230e-05 -5.46881903e+01] [ 1.90101389e-04 -2.24281881e-09 9.99999982e-01 2.58105395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2107140569999 meters Centerline goodness [0,1] 0.998592673500252 Centerline is valid? [True, True] Translation: X:721.59, Y:-54.70, Z:2.58 [[ 9.87152625e-01 1.59778588e-01 7.06126479e-04 7.21592483e+02] [-1.59778540e-01 9.87152877e-01 -1.24626775e-04 -5.46952442e+01] [-7.16967475e-04 1.02017908e-05 9.99999743e-01 2.58236548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.240714057 meters Centerline goodness [0,1] 0.9976062992125985 Centerline is valid? [True, True] Translation: X:721.62, Y:-54.70, Z:2.58 [[ 9.87153280e-01 1.59769565e-01 1.44508044e-03 7.21623560e+02] [-1.59769367e-01 9.87154337e-01 -2.52219075e-04 -5.47021351e+01] [-1.46681436e-03 1.80992999e-05 9.99998924e-01 2.58365132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.270714057 meters Centerline goodness [0,1] 0.9976922270009441 Centerline is valid? [True, True] Translation: X:721.66, Y:-54.71, Z:2.58 [[ 9.87099093e-01 1.60083521e-01 2.94044488e-03 7.21655005e+02] [-1.60082703e-01 9.87103472e-01 -5.13141132e-04 -5.47092001e+01] [-2.98466879e-03 3.58067818e-05 9.99995545e-01 2.58390810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3007140569999 meters Centerline goodness [0,1] 0.9978780621034498 Centerline is valid? [True, True] Translation: X:721.69, Y:-54.72, Z:2.58 [[ 9.87044538e-01 1.60421993e-01 2.80445160e-03 7.21687146e+02] [-1.60421246e-01 9.87048521e-01 -4.90649606e-04 -5.47151823e+01] [-2.84684080e-03 3.43993917e-05 9.99995947e-01 2.58381153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3307140569999 meters Centerline goodness [0,1] 0.9975660931598825 Centerline is valid? [True, True] Translation: X:721.72, Y:-54.72, Z:2.58 [[ 9.87008337e-01 1.60659497e-01 1.75185518e-03 7.21717259e+02] [-1.60659205e-01 9.87009891e-01 -3.07319642e-04 -5.47212991e+01] [-1.77847221e-03 2.18753890e-05 9.99998418e-01 2.58313434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3607140569999 meters Centerline goodness [0,1] 0.9973983466912845 Centerline is valid? [True, True] Translation: X:721.75, Y:-54.73, Z:2.58 [[ 9.86846515e-01 1.61650350e-01 1.76619263e-03 7.21749713e+02] [-1.61650053e-01 9.86848096e-01 -3.10751779e-04 -5.47272003e+01] [-1.79319697e-03 2.11591783e-05 9.99998392e-01 2.58281165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.390714057 meters Centerline goodness [0,1] 0.9978372249286074 Centerline is valid? [True, True] Translation: X:721.78, Y:-54.73, Z:2.58 [[ 9.86651798e-01 1.62841183e-01 9.89095835e-04 7.21781481e+02] [-1.62841090e-01 9.86652294e-01 -1.74972757e-04 -5.47331253e+01] [-1.00438645e-03 1.15717419e-05 9.99999496e-01 2.58257798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4207140569999 meters Centerline goodness [0,1] 0.997689949178882 Centerline is valid? [True, True] Translation: X:721.81, Y:-54.74, Z:2.58 [[ 9.86455120e-01 1.64031132e-01 2.88401909e-04 7.21813576e+02] [-1.64031124e-01 9.86455163e-01 -5.11678787e-05 -5.47391063e+01] [-2.92888677e-04 3.16792668e-06 9.99999957e-01 2.58244521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4507140569999 meters Centerline goodness [0,1] 0.9974347112998865 Centerline is valid? [True, True] Translation: X:721.84, Y:-54.75, Z:2.58 [[ 9.85818695e-01 1.67804169e-01 -1.80604532e-03 7.21844577e+02] [-1.67803874e-01 9.85820349e-01 3.14746346e-04 -5.47452443e+01] [ 1.83325198e-03 -7.22143072e-06 9.99998320e-01 2.58205366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4807140569999 meters Centerline goodness [0,1] 0.9973532747972944 Centerline is valid? [True, True] Translation: X:721.88, Y:-54.75, Z:2.58 [[ 9.85413118e-01 1.70152733e-01 -3.00569700e-03 7.21876136e+02] [-1.70151921e-01 9.85417702e-01 5.25850271e-04 -5.47492610e+01] [ 3.05134189e-03 -6.75463741e-06 9.99995345e-01 2.58045274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.510714057 meters Centerline goodness [0,1] 0.9969951039105676 Centerline is valid? [True, True] Translation: X:721.91, Y:-54.76, Z:2.58 [[ 9.85015411e-01 1.72411243e-01 -4.35919420e-03 7.21908604e+02] [-1.72409548e-01 9.85025057e-01 7.64496174e-04 -5.47552132e+01] [ 4.42572325e-03 -1.47381178e-06 9.99990206e-01 2.57946251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.540714057 meters Centerline goodness [0,1] 0.9968456912141986 Centerline is valid? [True, True] Translation: X:721.94, Y:-54.76, Z:2.58 [[ 9.85004150e-01 1.72468495e-01 -4.63057738e-03 7.21940627e+02] [-1.72466576e-01 9.85015034e-01 8.13566190e-04 -5.47623867e+01] [ 4.70150288e-03 -2.74624687e-06 9.99988948e-01 2.57978135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5707140569999 meters Centerline goodness [0,1] 0.9973952863084485 Centerline is valid? [True, True] Translation: X:721.97, Y:-54.77, Z:2.58 [[ 9.85092747e-01 1.71967563e-01 -4.40878563e-03 7.21972326e+02] [-1.71965813e-01 9.85102613e-01 7.75751565e-04 -5.47705648e+01] [ 4.47651035e-03 -6.02683571e-06 9.99989980e-01 2.58054008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6007140569999 meters Centerline goodness [0,1] 0.9970944921677615 Centerline is valid? [True, True] Translation: X:722.00, Y:-54.78, Z:2.58 [[ 9.85653239e-01 1.68739721e-01 -3.82088777e-03 7.22003239e+02] [-1.68738379e-01 9.85660645e-01 6.73274227e-04 -5.47821087e+01] [ 3.87970681e-03 -1.88845149e-05 9.99992474e-01 2.58146093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.630714057 meters Centerline goodness [0,1] 0.9975416036308623 Centerline is valid? [True, True] Translation: X:722.03, Y:-54.79, Z:2.58 [[ 9.85955276e-01 1.66966255e-01 -3.80322580e-03 7.22034577e+02] [-1.66964908e-01 9.85962610e-01 6.71135408e-04 -5.47902096e+01] [ 3.86189540e-03 -2.67042519e-05 9.99992542e-01 2.58211418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.660714057 meters Centerline goodness [0,1] 0.9971408148677627 Centerline is valid? [True, True] Translation: X:722.07, Y:-54.80, Z:2.58 [[ 9.86226047e-01 1.65362533e-01 -3.66293536e-03 7.22065655e+02] [-1.65361270e-01 9.86232849e-01 6.47250290e-04 -5.47975812e+01] [ 3.71953812e-03 -3.26274525e-05 9.99993082e-01 2.58256445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6907140569999 meters Centerline goodness [0,1] 0.9970607377548235 Centerline is valid? [True, True] Translation: X:722.10, Y:-54.81, Z:2.58 [[ 9.86851351e-01 1.61612743e-01 -2.39411830e-03 7.22095051e+02] [-1.61612189e-01 9.86854255e-01 4.24096008e-04 -5.48074542e+01] [ 2.43118515e-03 -3.16010190e-05 9.99997044e-01 2.58346287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7207140569999 meters Centerline goodness [0,1] 0.9975276567214214 Centerline is valid? [True, True] Translation: X:722.13, Y:-54.81, Z:2.58 [[ 9.87116164e-01 1.59996828e-01 -1.64145129e-03 7.22126126e+02] [-1.59996568e-01 9.87117528e-01 2.89492360e-04 -5.48143682e+01] [ 1.66662319e-03 -2.31360149e-05 9.99998611e-01 2.58408513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.750714057 meters Centerline goodness [0,1] 0.9979219579773724 Centerline is valid? [True, True] Translation: X:722.16, Y:-54.83, Z:2.59 [[ 9.87651428e-01 1.56666094e-01 -6.25453945e-04 7.22155238e+02] [-1.56666056e-01 9.87651626e-01 1.10169572e-04 -5.48260033e+01] [ 6.34990443e-04 -1.08217329e-05 9.99999798e-01 2.58584429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.780714057 meters Centerline goodness [0,1] 0.997058020047492 Centerline is valid? [True, True] Translation: X:722.19, Y:-54.83, Z:2.59 [[ 9.87940389e-01 1.54834179e-01 -4.05366171e-04 7.22187349e+02] [-1.54834163e-01 9.87940472e-01 7.02555208e-05 -5.48307636e+01] [ 4.11355602e-04 -6.64373468e-06 9.99999915e-01 2.58546294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8107140569999 meters Centerline goodness [0,1] 0.9977315689981097 Centerline is valid? [True, True] Translation: X:722.22, Y:-54.84, Z:2.59 [[ 9.88179072e-01 1.53303929e-01 1.62979455e-04 7.22218623e+02] [-1.53303926e-01 9.88179086e-01 -3.09118604e-05 -5.48374624e+01] [-1.65791798e-04 5.56106333e-06 9.99999986e-01 2.58602605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8407140569999 meters Centerline goodness [0,1] 0.9978392666093269 Centerline is valid? [True, True] Translation: X:722.25, Y:-54.85, Z:2.59 [[ 9.88702186e-01 1.49891779e-01 6.65292950e-04 7.22248391e+02] [-1.49891733e-01 9.88702409e-01 -1.18812154e-04 -5.48460843e+01] [-6.75585708e-04 1.77479228e-05 9.99999772e-01 2.58713969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.870714057 meters Centerline goodness [0,1] 0.9975237655551592 Centerline is valid? [True, True] Translation: X:722.28, Y:-54.85, Z:2.59 [[ 9.88888906e-01 1.48652729e-01 1.04748531e-03 7.22280192e+02] [-1.48652612e-01 9.88889461e-01 -1.88801440e-04 -5.48509711e+01] [-1.06391304e-03 3.09922207e-05 9.99999434e-01 2.58698215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.900714057 meters Centerline goodness [0,1] 0.998069781591591 Centerline is valid? [True, True] Translation: X:722.31, Y:-54.86, Z:2.59 [[ 9.88948581e-01 1.48257164e-01 7.19548914e-04 7.22310561e+02] [-1.48257108e-01 9.88948842e-01 -1.30307754e-04 -5.48594382e+01] [-7.30916124e-04 2.21894271e-05 9.99999733e-01 2.58797662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9307140569999 meters Centerline goodness [0,1] 0.9984439724961625 Centerline is valid? [True, True] Translation: X:722.34, Y:-54.86, Z:2.59 [[ 9.88909332e-01 1.48520461e-01 -7.67366418e-05 7.22343126e+02] [-1.48520460e-01 9.88909335e-01 1.16838324e-05 -5.48633893e+01] [ 7.76208697e-05 -1.57289580e-07 9.99999997e-01 2.58681836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9607140569999 meters Centerline goodness [0,1] 0.9984473027130237 Centerline is valid? [True, True] Translation: X:722.38, Y:-54.87, Z:2.59 [[ 9.88956689e-01 1.48204080e-01 -4.66624131e-04 7.22375162e+02] [-1.48204058e-01 9.88956799e-01 8.18391361e-05 -5.48686433e+01] [ 4.73600001e-04 -1.17797711e-05 9.99999888e-01 2.58639732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.990714057 meters Centerline goodness [0,1] 0.9976668908693459 Centerline is valid? [True, True] Translation: X:722.41, Y:-54.87, Z:2.58 [[ 9.89244808e-01 1.46265284e-01 -1.08471111e-03 7.22407068e+02] [-1.46265160e-01 9.89245402e-01 1.92807171e-04 -5.48728865e+01] [ 1.10124648e-03 -3.20780482e-05 9.99999393e-01 2.58468619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.020714057 meters Centerline goodness [0,1] 0.998235850047254 Centerline is valid? [True, True] Translation: X:722.44, Y:-54.88, Z:2.58 [[ 9.89432745e-01 1.44988961e-01 -1.02217939e-03 7.22438391e+02] [-1.44988850e-01 9.89433272e-01 1.81923406e-04 -5.48776125e+01] [ 1.03775518e-03 -3.17963604e-05 9.99999461e-01 2.58443511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0507140569999 meters Centerline goodness [0,1] 0.9977931440341327 Centerline is valid? [True, True] Translation: X:722.47, Y:-54.89, Z:2.58 [[ 9.89722567e-01 1.42997484e-01 -9.79718893e-04 7.22468979e+02] [-1.42997381e-01 9.89723051e-01 1.74540062e-04 -5.48851914e+01] [ 9.94609162e-04 -3.26490024e-05 9.99999505e-01 2.58484393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0807140569999 meters Centerline goodness [0,1] 0.9982335870799512 Centerline is valid? [True, True] Translation: X:722.50, Y:-54.89, Z:2.58 [[ 9.90063363e-01 1.40617654e-01 -1.10138126e-03 7.22500772e+02] [-1.40617521e-01 9.90063975e-01 1.97721884e-04 -5.48904045e+01] [ 1.11824110e-03 -4.08836909e-05 9.99999374e-01 2.58479992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1107140569999 meters Centerline goodness [0,1] 0.9987598267961492 Centerline is valid? [True, True] Translation: X:722.53, Y:-54.90, Z:2.58 [[ 9.90855339e-01 1.34921991e-01 -1.32388320e-03 7.22529754e+02] [-1.34921793e-01 9.90856222e-01 2.38344594e-04 -5.48976525e+01] [ 1.34393584e-03 -5.75443183e-05 9.99999095e-01 2.58463214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.140714057 meters Centerline goodness [0,1] 0.9986748280431628 Centerline is valid? [True, True] Translation: X:722.56, Y:-54.90, Z:2.58 [[ 9.91215329e-01 1.32247614e-01 -1.65556673e-03 7.22559193e+02] [-1.32247301e-01 9.91216708e-01 2.97711851e-04 -5.49048254e+01] [ 1.68039709e-03 -7.61523187e-05 9.99998585e-01 2.58479167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1707140569999 meters Centerline goodness [0,1] 0.9989464368494247 Centerline is valid? [True, True] Translation: X:722.59, Y:-54.91, Z:2.59 [[ 9.91768053e-01 1.28045610e-01 -6.70786360e-04 7.22589528e+02] [-1.28045557e-01 9.91768280e-01 1.20543150e-04 -5.49094827e+01] [ 6.80699655e-04 -3.36596318e-05 9.99999768e-01 2.58616037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2007140569999 meters Centerline goodness [0,1] 0.9989087322406666 Centerline is valid? [True, True] Translation: X:722.62, Y:-54.91, Z:2.59 [[ 9.91999227e-01 1.26243920e-01 8.18611126e-05 7.22621458e+02] [-1.26243919e-01 9.91999230e-01 -1.52745006e-05 -5.49126104e+01] [-8.31344735e-05 4.81782509e-06 9.99999997e-01 2.58673303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2307140569999 meters Centerline goodness [0,1] 0.999016654113315 Centerline is valid? [True, True] Translation: X:722.65, Y:-54.92, Z:2.59 [[ 9.92140600e-01 1.25126092e-01 7.01353374e-04 7.22652236e+02] [-1.25126033e-01 9.92140847e-01 -1.28209815e-04 -5.49192244e+01] [-7.11883724e-04 3.94445972e-05 9.99999746e-01 2.58810733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.260714057 meters Centerline goodness [0,1] 0.9989488068958268 Centerline is valid? [True, True] Translation: X:722.69, Y:-54.92, Z:2.59 [[ 9.92316912e-01 1.23707575e-01 1.89239742e-03 7.22685456e+02] [-1.23707147e-01 9.92318711e-01 -3.42028199e-04 -5.49173626e+01] [-1.92017285e-03 1.05297281e-04 9.99998151e-01 2.58792758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.290714057 meters Centerline goodness [0,1] 0.9992255201574078 Centerline is valid? [True, True] Translation: X:722.72, Y:-54.92, Z:2.59 [[ 9.92317184e-01 1.23711354e-01 1.45161044e-03 7.22718726e+02] [-1.23711099e-01 9.92318242e-01 -2.64497406e-04 -5.49202964e+01] [-1.47318086e-03 8.28849982e-05 9.99998911e-01 2.58754397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3207140569999 meters Centerline goodness [0,1] 0.9994148747204982 Centerline is valid? [True, True] Translation: X:722.75, Y:-54.92, Z:2.59 [[ 9.92417595e-01 1.22903734e-01 1.41028124e-03 7.22749099e+02] [-1.22903495e-01 9.92418594e-01 -2.55221138e-04 -5.49246575e+01] [-1.43095696e-03 7.99574538e-05 9.99998973e-01 2.58752555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3507140569999 meters Centerline goodness [0,1] 0.9991642813864572 Centerline is valid? [True, True] Translation: X:722.78, Y:-54.93, Z:2.59 [[ 9.92464097e-01 1.22530908e-01 1.09195020e-03 7.22780772e+02] [-1.22530763e-01 9.92464696e-01 -1.99491473e-04 -5.49280612e+01] [-1.10816590e-03 6.41906334e-05 9.99999384e-01 2.58733143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.380714057 meters Centerline goodness [0,1] 0.9988284273729576 Centerline is valid? [True, True] Translation: X:722.81, Y:-54.93, Z:2.59 [[ 9.92480863e-01 1.22394731e-01 1.12510490e-03 7.22813074e+02] [-1.22394576e-01 9.92481499e-01 -2.05794497e-04 -5.49300805e+01] [-1.14183396e-03 6.65403623e-05 9.99999346e-01 2.58721501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.410714057 meters Centerline goodness [0,1] 0.9994128378803447 Centerline is valid? [True, True] Translation: X:722.84, Y:-54.93, Z:2.59 [[ 9.92558010e-01 1.21770728e-01 -6.97814606e-04 7.22844625e+02] [-1.21770670e-01 9.92558254e-01 1.24974435e-04 -5.49323401e+01] [ 7.07839875e-04 -3.90710247e-05 9.99999749e-01 2.58695731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4407140569999 meters Centerline goodness [0,1] 0.9997903695784333 Centerline is valid? [True, True] Translation: X:722.88, Y:-54.93, Z:2.59 [[ 9.92584137e-01 1.21551418e-01 -1.40831819e-03 7.22876909e+02] [-1.21551180e-01 9.92585133e-01 2.54154881e-04 -5.49321742e+01] [ 1.42876858e-03 -8.10873666e-05 9.99998976e-01 2.58702404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4707140569999 meters Centerline goodness [0,1] 0.9995594621242316 Centerline is valid? [True, True] Translation: X:722.91, Y:-54.93, Z:2.59 [[ 9.92566236e-01 1.21691685e-01 -1.84412693e-03 7.22909514e+02] [-1.21691274e-01 9.92567943e-01 3.33738527e-04 -5.49326208e+01] [ 1.87103448e-03 -1.06843438e-04 9.99998244e-01 2.58844374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.500714057 meters Centerline goodness [0,1] 0.9997061478076528 Centerline is valid? [True, True] Translation: X:722.94, Y:-54.93, Z:2.59 [[ 9.92491592e-01 1.22304222e-01 -1.45482788e-03 7.22942158e+02] [-1.22303967e-01 9.92492655e-01 2.63384920e-04 -5.49344997e+01] [ 1.47611908e-03 -8.34760979e-05 9.99998907e-01 2.58928661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.530714057 meters Centerline goodness [0,1] 0.9997270627755617 Centerline is valid? [True, True] Translation: X:722.97, Y:-54.94, Z:2.59 [[ 9.92370958e-01 1.23282671e-01 -1.12434560e-03 7.22974222e+02] [-1.23282520e-01 9.92371593e-01 2.03422107e-04 -5.49363134e+01] [ 1.14084706e-03 -6.32580327e-05 9.99999347e-01 2.59024045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5607140569999 meters Centerline goodness [0,1] 0.9997692081742269 Centerline is valid? [True, True] Translation: X:723.01, Y:-54.94, Z:2.59 [[ 9.92176116e-01 1.24836338e-01 -1.56337679e-03 7.23006725e+02] [-1.24836044e-01 9.92177344e-01 2.85034719e-04 -5.49360444e+01] [ 1.58672972e-03 -8.76388665e-05 9.99998737e-01 2.59089108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5907140569999 meters Centerline goodness [0,1] 0.9997484856741632 Centerline is valid? [True, True] Translation: X:723.04, Y:-54.93, Z:2.59 [[ 9.91492136e-01 1.30144249e-01 -2.41216801e-03 7.23037985e+02] [-1.30143561e-01 9.91495063e-01 4.40470848e-04 -5.49306563e+01] [ 2.44897742e-03 -1.22795247e-04 9.99996994e-01 2.59158488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.620714057 meters Centerline goodness [0,1] 0.9996224277893148 Centerline is valid? [True, True] Translation: X:723.07, Y:-54.92, Z:2.59 [[ 9.90365319e-01 1.38447276e-01 -2.98113832e-03 7.23070844e+02] [-1.38446264e-01 9.90369798e-01 5.44173715e-04 -5.49211353e+01] [ 3.02776872e-03 -1.26203312e-04 9.99995408e-01 2.59166285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.650714057 meters Centerline goodness [0,1] 0.9995385131733512 Centerline is valid? [True, True] Translation: X:723.10, Y:-54.92, Z:2.59 [[ 9.89744403e-01 1.42825291e-01 -2.63674441e-03 7.23102796e+02] [-1.42824515e-01 9.89747911e-01 4.81283647e-04 -5.49181672e+01] [ 2.67845175e-03 -9.97560557e-05 9.99996408e-01 2.59212206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6807140569999 meters Centerline goodness [0,1] 0.9993715961457897 Centerline is valid? [True, True] Translation: X:723.14, Y:-54.92, Z:2.59 [[ 9.89142818e-01 1.46937624e-01 -2.41261524e-03 7.23135033e+02] [-1.46936987e-01 9.89145757e-01 4.40315360e-04 -5.49164349e+01] [ 2.45112702e-03 -8.10323621e-05 9.99996993e-01 2.59297452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7107140569999 meters Centerline goodness [0,1] 0.9994553491002786 Centerline is valid? [True, True] Translation: X:723.17, Y:-54.92, Z:2.59 [[ 9.88515555e-01 1.51103863e-01 -2.14960008e-03 7.23165520e+02] [-1.51103367e-01 9.88517890e-01 3.92456743e-04 -5.49173382e+01] [ 2.18421986e-03 -6.31377865e-05 9.99997613e-01 2.59409270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.740714057 meters Centerline goodness [0,1] 0.9988688256734677 Centerline is valid? [True, True] Translation: X:723.20, Y:-54.91, Z:2.59 [[ 9.87310152e-01 1.58782413e-01 -2.60934773e-03 7.23198683e+02] [-1.58781708e-01 9.87313599e-01 4.76469785e-04 -5.49083135e+01] [ 2.65189952e-03 -5.61067667e-05 9.99996482e-01 2.59384932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.770714057 meters Centerline goodness [0,1] 0.9990786112158144 Centerline is valid? [True, True] Translation: X:723.23, Y:-54.91, Z:2.59 [[ 9.86783900e-01 1.62009682e-01 -3.22445948e-03 7.23230809e+02] [-1.62008626e-01 9.86789167e-01 5.87910840e-04 -5.49092956e+01] [ 3.27710893e-03 -5.77507039e-05 9.99994629e-01 2.59469858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8007140569999 meters Centerline goodness [0,1] 0.9990162630554451 Centerline is valid? [True, True] Translation: X:723.26, Y:-54.91, Z:2.60 [[ 9.85884788e-01 1.67400789e-01 -2.85656324e-03 7.23262625e+02] [-1.67399981e-01 9.85888926e-01 5.21436996e-04 -5.49073822e+01] [ 2.90354303e-03 -3.58881715e-05 9.99995784e-01 2.59589010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8307140569999 meters Centerline goodness [0,1] 0.9984936608226286 Centerline is valid? [True, True] Translation: X:723.29, Y:-54.91, Z:2.60 [[ 9.85489084e-01 1.69727260e-01 -1.98076298e-03 7.23293572e+02] [-1.69726876e-01 9.85491074e-01 3.61537622e-04 -5.49100718e+01] [ 2.01338703e-03 -2.01026665e-05 9.99997973e-01 2.59655380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8607140569999 meters Centerline goodness [0,1] 0.9983897950648264 Centerline is valid? [True, True] Translation: X:723.33, Y:-54.91, Z:2.60 [[ 9.85161040e-01 1.71626157e-01 -1.47915777e-03 7.23325673e+02] [-1.71625945e-01 9.85162150e-01 2.69751569e-04 -5.49126117e+01] [ 1.50350667e-03 -1.18868863e-05 9.99998870e-01 2.59704424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.890714057 meters Centerline goodness [0,1] 0.9985388356607594 Centerline is valid? [True, True] Translation: X:723.36, Y:-54.91, Z:2.60 [[ 9.84601303e-01 1.74814856e-01 -1.99437534e-04 7.23357887e+02] [-1.74814852e-01 9.84601323e-01 3.48067720e-05 -5.49134043e+01] [ 2.02451201e-04 5.93849940e-07 9.99999980e-01 2.59743584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9207140569999 meters Centerline goodness [0,1] 0.9988089765556438 Centerline is valid? [True, True] Translation: X:723.39, Y:-54.92, Z:2.60 [[ 9.84187867e-01 1.77127655e-01 1.91760738e-04 7.23390769e+02] [-1.77127651e-01 9.84187885e-01 -3.74831123e-05 -5.49172872e+01] [-1.95367891e-04 2.92429525e-06 9.99999981e-01 2.59692235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9507140569999 meters Centerline goodness [0,1] 0.9988089765556438 Centerline is valid? [True, True] Translation: X:723.42, Y:-54.92, Z:2.60 [[ 9.84137262e-01 1.77408605e-01 1.91751381e-04 7.23422712e+02] [-1.77408601e-01 9.84137281e-01 -3.75321979e-05 -5.49232298e+01] [-1.95368218e-04 2.91849026e-06 9.99999981e-01 2.59716431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9807140569999 meters Centerline goodness [0,1] 0.9986424961363352 Centerline is valid? [True, True] Translation: X:723.45, Y:-54.93, Z:2.60 [[ 9.83678262e-01 1.79936313e-01 9.53944209e-06 7.23454719e+02] [-1.79936313e-01 9.83678262e-01 -3.77217808e-06 -5.49277317e+01] [-1.00624936e-05 1.99411754e-06 1.00000000e+00 2.59693226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.010714057 meters Centerline goodness [0,1] 0.998267585055312 Centerline is valid? [True, True] Translation: X:723.49, Y:-54.93, Z:2.60 [[ 9.82826190e-01 1.84533361e-01 -3.43878472e-04 7.23487559e+02] [-1.84533350e-01 9.82826251e-01 6.15070112e-05 -5.49316678e+01] [ 3.49322885e-04 3.00634512e-06 9.99999939e-01 2.59638368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.040714057 meters Centerline goodness [0,1] 0.9981647549530761 Centerline is valid? [True, True] Translation: X:723.52, Y:-54.94, Z:2.60 [[ 9.82412695e-01 1.86722421e-01 1.86676690e-04 7.23520150e+02] [-1.86722418e-01 9.82412712e-01 -3.67514768e-05 -5.49370100e+01] [-1.90255878e-04 1.24839453e-06 9.99999982e-01 2.59632158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0707140569999 meters Centerline goodness [0,1] 0.9982683079490924 Centerline is valid? [True, True] Translation: X:723.55, Y:-54.94, Z:2.60 [[ 9.82208892e-01 1.87790904e-01 5.18002063e-04 7.23551752e+02] [-1.87790879e-01 9.82209029e-01 -9.74348150e-05 -5.49423148e+01] [-5.27083675e-04 -1.57472094e-06 9.99999861e-01 2.59721411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1007140569999 meters Centerline goodness [0,1] 0.9977345667358882 Centerline is valid? [True, True] Translation: X:723.58, Y:-54.95, Z:2.60 [[ 9.82213392e-01 1.87763919e-01 1.25046209e-03 7.23584177e+02] [-1.87763773e-01 9.82214188e-01 -2.34520199e-04 -5.49510229e+01] [-1.27225604e-03 -4.44259952e-06 9.99999191e-01 2.59679801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.130714057 meters Centerline goodness [0,1] 0.998290562655048 Centerline is valid? [True, True] Translation: X:723.61, Y:-54.96, Z:2.60 [[ 9.82425874e-01 1.86651139e-01 8.68006149e-04 7.23614931e+02] [-1.86651068e-01 9.82426258e-01 -1.63393103e-04 -5.49597311e+01] [-8.83249542e-04 -1.49266237e-06 9.99999610e-01 2.59696642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.160714057 meters Centerline goodness [0,1] 0.9981029414830411 Centerline is valid? [True, True] Translation: X:723.65, Y:-54.97, Z:2.60 [[ 9.83298155e-01 1.81998058e-01 1.20255047e-03 7.23646141e+02] [-1.81997917e-01 9.83298890e-01 -2.26250390e-04 -5.49736103e+01] [-1.22364367e-03 3.60991087e-06 9.99999251e-01 2.59774899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1907140569999 meters Centerline goodness [0,1] 0.9984758643728078 Centerline is valid? [True, True] Translation: X:723.68, Y:-54.98, Z:2.60 [[ 9.83751420e-01 1.79524247e-01 2.04670134e-03 7.23676859e+02] [-1.79523837e-01 9.83753549e-01 -3.83823936e-04 -5.49834980e+01] [-2.08235541e-03 1.01556640e-05 9.99997832e-01 2.59872965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2207140569999 meters Centerline goodness [0,1] 0.9987681386366009 Centerline is valid? [True, True] Translation: X:723.71, Y:-54.99, Z:2.60 [[ 9.84199352e-01 1.77036509e-01 3.11609546e-03 7.23707459e+02] [-1.77035547e-01 9.84204285e-01 -5.84225204e-04 -5.49925873e+01] [-3.17030369e-03 2.33344041e-05 9.99994974e-01 2.59929774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.250714057 meters Centerline goodness [0,1] 0.9986217553824629 Centerline is valid? [True, True] Translation: X:723.74, Y:-55.00, Z:2.60 [[ 9.84571041e-01 1.74954306e-01 3.29489855e-03 7.23738609e+02] [-1.74953216e-01 9.84576553e-01 -6.18494417e-04 -5.50012904e+01] [-3.35228812e-03 3.24985945e-05 9.99994381e-01 2.59997041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.280714057 meters Centerline goodness [0,1] 0.9985372479364748 Centerline is valid? [True, True] Translation: X:723.77, Y:-55.01, Z:2.60 [[ 9.85168743e-01 1.71572488e-01 2.32992916e-03 7.23768782e+02] [-1.71571931e-01 9.85171498e-01 -4.38490903e-04 -5.50127754e+01] [-2.37061277e-03 3.22370878e-05 9.99997190e-01 2.59909814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3107140569999 meters Centerline goodness [0,1] 0.9985780603069717 Centerline is valid? [True, True] Translation: X:723.80, Y:-55.02, Z:2.60 [[ 9.85437327e-01 1.70032926e-01 1.44159561e-03 7.23798309e+02] [-1.70032710e-01 9.85438381e-01 -2.71908480e-04 -5.50217686e+01] [-1.46683704e-03 2.28303571e-05 9.99998924e-01 2.59844587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3407140569999 meters Centerline goodness [0,1] 0.9987242230309115 Centerline is valid? [True, True] Translation: X:723.83, Y:-55.03, Z:2.60 [[ 9.85814565e-01 1.67836254e-01 7.96765961e-04 7.23828919e+02] [-1.67836187e-01 9.85814887e-01 -1.51542414e-04 -5.50320933e+01] [-8.10898057e-04 1.56665583e-05 9.99999671e-01 2.59759133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.370714057 meters Centerline goodness [0,1] 0.998598619535662 Centerline is valid? [True, True] Translation: X:723.86, Y:-55.04, Z:2.60 [[ 9.85897536e-01 1.67348233e-01 7.85836752e-04 7.23859786e+02] [-1.67348167e-01 9.85897849e-01 -1.49689937e-04 -5.50398795e+01] [-7.99805109e-04 1.60705998e-05 9.99999680e-01 2.59810169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.400714057 meters Centerline goodness [0,1] 0.9987231281267661 Centerline is valid? [True, True] Translation: X:723.89, Y:-55.05, Z:2.60 [[ 9.85877159e-01 1.67464921e-01 1.31453835e-03 7.23891922e+02] [-1.67464737e-01 9.85878035e-01 -2.49803667e-04 -5.50479301e+01] [-1.33780784e-03 2.61369098e-05 9.99999105e-01 2.59864089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4307140569999 meters Centerline goodness [0,1] 0.9981202614925124 Centerline is valid? [True, True] Translation: X:723.92, Y:-55.06, Z:2.60 [[ 9.85805473e-01 1.67873280e-01 2.47610169e-03 7.23923563e+02] [-1.67872631e-01 9.85808582e-01 -4.69355429e-04 -5.50572197e+01] [-2.51975453e-03 4.70234451e-05 9.99996824e-01 2.60113140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4607140569999 meters Centerline goodness [0,1] 0.9984323725518884 Centerline is valid? [True, True] Translation: X:723.95, Y:-55.06, Z:2.60 [[ 9.85673646e-01 1.68634647e-01 3.13367127e-03 7.23954251e+02] [-1.68633610e-01 9.85678625e-01 -5.94128768e-04 -5.50648925e+01] [-3.18898349e-03 5.71747681e-05 9.99994914e-01 2.60221365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.490714057 meters Centerline goodness [0,1] 0.9985380727622071 Centerline is valid? [True, True] Translation: X:723.98, Y:-55.07, Z:2.60 [[ 9.85246583e-01 1.71118663e-01 2.75211312e-03 7.23985000e+02] [-1.71117871e-01 9.85250426e-01 -5.22345440e-04 -5.50712659e+01] [-2.80090367e-03 4.37033215e-05 9.99996077e-01 2.60221399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.520714057 meters Centerline goodness [0,1] 0.9982857381778651 Centerline is valid? [True, True] Translation: X:724.02, Y:-55.08, Z:2.60 [[ 9.85037980e-01 1.72312858e-01 2.90808275e-03 7.24016468e+02] [-1.72311977e-01 9.85042272e-01 -5.52700770e-04 -5.50766465e+01] [-2.95982189e-03 4.33337630e-05 9.99995619e-01 2.60183489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5507140569999 meters Centerline goodness [0,1] 0.9976396866840731 Centerline is valid? [True, True] Translation: X:724.05, Y:-55.08, Z:2.60 [[ 9.84870063e-01 1.73265284e-01 3.17806976e-03 7.24048603e+02] [-1.73264233e-01 9.84875190e-01 -6.05079269e-04 -5.50824648e+01] [-3.23484129e-03 4.52786366e-05 9.99994767e-01 2.60150759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5807140569999 meters Centerline goodness [0,1] 0.9978483841992021 Centerline is valid? [True, True] Translation: X:724.08, Y:-55.09, Z:2.60 [[ 9.84905411e-01 1.73049446e-01 3.90125308e-03 7.24078089e+02] [-1.73047861e-01 9.84913136e-01 -7.42781831e-04 -5.50920261e+01] [-3.97093339e-03 5.64663430e-05 9.99992114e-01 2.60195899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6107140569999 meters Centerline goodness [0,1] 0.9978702969056666 Centerline is valid? [True, True] Translation: X:724.11, Y:-55.10, Z:2.60 [[ 9.85035458e-01 1.72313534e-01 3.63219954e-03 7.24110001e+02] [-1.72312149e-01 9.85042153e-01 -6.93137102e-04 -5.50999589e+01] [-3.69730656e-03 5.68925124e-05 9.99993163e-01 2.60237305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.640714057 meters Centerline goodness [0,1] 0.9986361442749533 Centerline is valid? [True, True] Translation: X:724.14, Y:-55.11, Z:2.60 [[ 9.85415591e-01 1.70112078e-01 4.24199663e-03 7.24140658e+02] [-1.70110168e-01 9.85424718e-01 -8.09793456e-04 -5.51082716e+01] [-4.31792398e-03 7.63763388e-05 9.99990675e-01 2.60223816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6707140569999 meters Centerline goodness [0,1] 0.998727151322928 Centerline is valid? [True, True] Translation: X:724.17, Y:-55.12, Z:2.60 [[ 9.85544278e-01 1.69380365e-01 3.57330643e-03 7.24171829e+02] [-1.69378999e-01 9.85550753e-01 -6.83647022e-04 -5.51152225e+01] [-3.63747123e-03 6.85213418e-05 9.99993382e-01 2.60208335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7007140569999 meters Centerline goodness [0,1] 0.9989344587677329 Centerline is valid? [True, True] Translation: X:724.20, Y:-55.12, Z:2.60 [[ 9.85624703e-01 1.68911160e-01 3.60058428e-03 7.24201571e+02] [-1.68909770e-01 9.85631277e-01 -6.89021783e-04 -5.51228975e+01] [-3.66523196e-03 7.09430277e-05 9.99993280e-01 2.60271055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7307140569999 meters Centerline goodness [0,1] 0.9983261847473585 Centerline is valid? [True, True] Translation: X:724.23, Y:-55.13, Z:2.60 [[ 9.85670198e-01 1.68651372e-01 3.31301434e-03 7.24233829e+02] [-1.68650188e-01 9.85675763e-01 -6.35761625e-04 -5.51289710e+01] [-3.37278001e-03 6.79107967e-05 9.99994310e-01 2.60169125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.760714057 meters Centerline goodness [0,1] 0.9983042686373438 Centerline is valid? [True, True] Translation: X:724.27, Y:-55.14, Z:2.60 [[ 9.85623063e-01 1.68922765e-01 3.50381805e-03 7.24265695e+02] [-1.68921438e-01 9.85629289e-01 -6.73304710e-04 -5.51353093e+01] [-3.56720218e-03 7.17546664e-05 9.99993635e-01 2.60157647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.790714057 meters Centerline goodness [0,1] 0.9980672268907563 Centerline is valid? [True, True] Translation: X:724.30, Y:-55.14, Z:2.60 [[ 9.85563321e-01 1.69267749e-01 3.65654140e-03 7.24297279e+02] [-1.69266307e-01 9.85570101e-01 -7.02408332e-04 -5.51427680e+01] [-3.72267295e-03 7.33386276e-05 9.99993068e-01 2.60269742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8207140569999 meters Centerline goodness [0,1] 0.9985993226575239 Centerline is valid? [True, True] Translation: X:724.33, Y:-55.15, Z:2.60 [[ 9.85510208e-01 1.69577961e-01 3.59790624e-03 7.24330145e+02] [-1.69576561e-01 9.85516773e-01 -6.93006497e-04 -5.51486978e+01] [-3.66331558e-03 7.28444094e-05 9.99993287e-01 2.60224498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8507140569999 meters Centerline goodness [0,1] 0.9985374313115062 Centerline is valid? [True, True] Translation: X:724.36, Y:-55.15, Z:2.60 [[ 9.85508680e-01 1.69578891e-01 3.95488228e-03 7.24362138e+02] [-1.69577195e-01 9.85516612e-01 -7.62514112e-04 -5.51543154e+01] [-4.02690849e-03 8.08064306e-05 9.99991889e-01 2.60209173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.880714057 meters Centerline goodness [0,1] 0.9984935662726226 Centerline is valid? [True, True] Translation: X:724.39, Y:-55.16, Z:2.60 [[ 9.85605642e-01 1.69017836e-01 3.80646187e-03 7.24393873e+02] [-1.69016258e-01 9.85612989e-01 -7.34830160e-04 -5.51599839e+01] [-3.87589766e-03 8.08988115e-05 9.99992485e-01 2.60128214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.910714057 meters Centerline goodness [0,1] 0.9981194366668059 Centerline is valid? [True, True] Translation: X:724.42, Y:-55.17, Z:2.60 [[ 9.85634253e-01 1.68861040e-01 3.32704452e-03 7.24424438e+02] [-1.68859832e-01 9.85639865e-01 -6.42581504e-04 -5.51678547e+01] [-3.38777469e-03 7.15461612e-05 9.99994259e-01 2.60091081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9407140569999 meters Centerline goodness [0,1] 0.9982092660072879 Centerline is valid? [True, True] Translation: X:724.46, Y:-55.18, Z:2.60 [[ 9.85935477e-01 1.67122904e-01 1.08154147e-03 7.24455474e+02] [-1.67122773e-01 9.85936070e-01 -2.10591527e-04 -5.51750360e+01] [-1.10152541e-03 2.68794479e-05 9.99999393e-01 2.60026669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9707140569999 meters Centerline goodness [0,1] 0.9984572727083203 Centerline is valid? [True, True] Translation: X:724.49, Y:-55.18, Z:2.60 [[ 9.86062466e-01 1.66374324e-01 6.29684368e-04 7.24485353e+02] [-1.66374279e-01 9.86062667e-01 -1.23387239e-04 -5.51826327e+01] [-6.41436716e-04 1.69042421e-05 9.99999794e-01 2.60034110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.000714057 meters Centerline goodness [0,1] 0.9987073369055314 Centerline is valid? [True, True] Translation: X:724.52, Y:-55.19, Z:2.60 [[ 9.86167256e-01 1.65753225e-01 1.06412801e-04 7.24517481e+02] [-1.65753223e-01 9.86167262e-01 -2.24306005e-05 -5.51880031e+01] [-1.08658765e-04 4.48205902e-06 9.99999994e-01 2.59969347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.030714057 meters Centerline goodness [0,1] 0.9988708125967128 Centerline is valid? [True, True] Translation: X:724.55, Y:-55.20, Z:2.60 [[ 9.86449923e-01 1.64061380e-01 6.42684640e-04 7.24548568e+02] [-1.64061332e-01 9.86450132e-01 -1.26346018e-04 -5.51950650e+01] [-6.54704850e-04 1.91943218e-05 9.99999785e-01 2.60096023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0607140569999 meters Centerline goodness [0,1] 0.9989952273298166 Centerline is valid? [True, True] Translation: X:724.58, Y:-55.20, Z:2.60 [[ 9.86616404e-01 1.63051258e-01 1.53552553e-03 7.24579145e+02] [-1.63050989e-01 9.86617598e-01 -2.99523059e-04 -5.52023289e+01] [-1.56381412e-03 4.51454070e-05 9.99998776e-01 2.60183349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0907140569999 meters Centerline goodness [0,1] 0.9993927337451576 Centerline is valid? [True, True] Translation: X:724.61, Y:-55.21, Z:2.60 [[ 9.86808541e-01 1.61876476e-01 2.21571210e-03 7.24610753e+02] [-1.61875913e-01 9.86811026e-01 -4.32191466e-04 -5.52077149e+01] [-2.25645076e-03 6.78198116e-05 9.99997452e-01 2.60195942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.120714057 meters Centerline goodness [0,1] 0.9989065062875888 Centerline is valid? [True, True] Translation: X:724.64, Y:-55.22, Z:2.60 [[ 9.87266073e-01 1.59056018e-01 2.62383076e-03 7.24640075e+02] [-1.59055224e-01 9.87269556e-01 -5.09953736e-04 -5.52169558e+01] [-2.67153944e-03 8.61260331e-05 9.99996428e-01 2.60264429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.150714057 meters Centerline goodness [0,1] 0.9990591678862638 Centerline is valid? [True, True] Translation: X:724.67, Y:-55.22, Z:2.60 [[ 9.87496361e-01 1.57622770e-01 2.44941705e-03 7.24671696e+02] [-1.57622068e-01 9.87499395e-01 -4.78307257e-04 -5.52224646e+01] [-2.49418996e-03 8.62444964e-05 9.99996886e-01 2.60195281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1807140569999 meters Centerline goodness [0,1] 0.9994566920906907 Centerline is valid? [True, True] Translation: X:724.70, Y:-55.24, Z:2.60 [[ 9.87626527e-01 1.56804450e-01 2.49148600e-03 7.24700645e+02] [-1.56803720e-01 9.87629666e-01 -4.86931995e-04 -5.52361865e+01] [-2.53701859e-03 9.02326808e-05 9.99996778e-01 2.60466264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2107140569999 meters Centerline goodness [0,1] 0.9990818604845273 Centerline is valid? [True, True] Translation: X:724.73, Y:-55.24, Z:2.60 [[ 9.87768403e-01 1.55902159e-01 2.84580740e-03 7.24733402e+02] [-1.55901201e-01 9.87772497e-01 -5.56781576e-04 -5.52380735e+01] [-2.89781373e-03 1.06306457e-04 9.99995796e-01 2.60383939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.240714057 meters Centerline goodness [0,1] 0.9990788426914542 Centerline is valid? [True, True] Translation: X:724.77, Y:-55.24, Z:2.60 [[ 9.87731986e-01 1.56132285e-01 2.86942937e-03 7.24766531e+02] [-1.56131309e-01 9.87736148e-01 -5.62537431e-04 -5.52430792e+01] [-2.92206936e-03 1.07628451e-04 9.99995725e-01 2.60351001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.270714057 meters Centerline goodness [0,1] 0.9985567570959443 Centerline is valid? [True, True] Translation: X:724.80, Y:-55.25, Z:2.60 [[ 9.87588470e-01 1.57046842e-01 2.30299024e-03 7.24796732e+02] [-1.57046215e-01 9.87591151e-01 -4.52043015e-04 -5.52494920e+01] [-2.34540471e-03 8.47565704e-05 9.99997246e-01 2.60343733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3007140569999 meters Centerline goodness [0,1] 0.9985980037247065 Centerline is valid? [True, True] Translation: X:724.83, Y:-55.25, Z:2.60 [[ 9.87208111e-01 1.59433983e-01 9.74806051e-04 7.24827801e+02] [-1.59433872e-01 9.87208592e-01 -1.90905009e-04 -5.52527916e+01] [-9.92773654e-04 3.30458697e-05 9.99999507e-01 2.60307742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3307140569999 meters Centerline goodness [0,1] 0.9991434600037604 Centerline is valid? [True, True] Translation: X:724.86, Y:-55.26, Z:2.60 [[ 9.86832947e-01 1.61742404e-01 3.58669412e-04 7.24858251e+02] [-1.61742388e-01 9.86833013e-01 -7.19211807e-05 -5.52583503e+01] [-3.65579521e-04 1.29621434e-05 9.99999933e-01 2.60302101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3607140569999 meters Centerline goodness [0,1] 0.9987432449415609 Centerline is valid? [True, True] Translation: X:724.89, Y:-55.26, Z:2.60 [[ 9.86113227e-01 1.66074354e-01 1.07604676e-04 7.24890133e+02] [-1.66074353e-01 9.86113233e-01 -2.14648951e-05 -5.52620264e+01] [-1.09675164e-04 3.29643993e-06 9.99999994e-01 2.60386475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.390714057 meters Centerline goodness [0,1] 0.9991199396530048 Centerline is valid? [True, True] Translation: X:724.92, Y:-55.27, Z:2.61 [[ 9.85722336e-01 1.68375803e-01 1.03239478e-03 7.24921547e+02] [-1.68375681e-01 9.85722876e-01 -2.04261824e-04 -5.52667525e+01] [-1.05204790e-03 2.75152689e-05 9.99999446e-01 2.60524169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4207140569999 meters Centerline goodness [0,1] 0.9985965941224524 Centerline is valid? [True, True] Translation: X:724.95, Y:-55.27, Z:2.61 [[ 9.85434472e-01 1.70045322e-01 1.86806601e-03 7.24953533e+02] [-1.70044928e-01 9.85436242e-01 -3.68718163e-04 -5.52689682e+01] [-1.90355874e-03 4.56924388e-05 9.99998187e-01 2.60547937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4507140569999 meters Centerline goodness [0,1] 0.9986191601983389 Centerline is valid? [True, True] Translation: X:724.98, Y:-55.28, Z:2.61 [[ 9.85245370e-01 1.71133797e-01 2.18713859e-03 7.24983951e+02] [-1.71133260e-01 9.85247797e-01 -4.31746055e-04 -5.52751164e+01] [-2.22875982e-03 5.10836457e-05 9.99997515e-01 2.60665843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4807140569999 meters Centerline goodness [0,1] 0.9987663613933844 Centerline is valid? [True, True] Translation: X:725.02, Y:-55.28, Z:2.61 [[ 9.85095012e-01 1.71998273e-01 2.10026527e-03 7.25016185e+02] [-1.71997781e-01 9.85097250e-01 -4.13760957e-04 -5.52805829e+01] [-2.14013171e-03 4.63528888e-05 9.99997709e-01 2.60706537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.510714057 meters Centerline goodness [0,1] 0.9989962778637447 Centerline is valid? [True, True] Translation: X:725.05, Y:-55.29, Z:2.61 [[ 9.85186277e-01 1.71473437e-01 2.20437152e-03 7.25046054e+02] [-1.71472892e-01 9.85188742e-01 -4.35460335e-04 -5.52877048e+01] [-2.24639188e-03 5.10195879e-05 9.99997476e-01 2.60757000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.540714057 meters Centerline goodness [0,1] 0.9983066438098424 Centerline is valid? [True, True] Translation: X:725.08, Y:-55.29, Z:2.61 [[ 9.85658362e-01 1.68738992e-01 2.17839291e-03 7.25077490e+02] [-1.68738451e-01 9.85660768e-01 -4.31292073e-04 -5.52939873e+01] [-2.21993222e-03 5.75279939e-05 9.99997534e-01 2.60668202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5707140569999 meters Centerline goodness [0,1] 0.9991211918312688 Centerline is valid? [True, True] Translation: X:725.11, Y:-55.30, Z:2.61 [[ 9.86070129e-01 1.66313579e-01 2.34412553e-03 7.25107593e+02] [-1.66312945e-01 9.86072913e-01 -4.64375421e-04 -5.53033761e+01] [-2.38871062e-03 6.80483126e-05 9.99997145e-01 2.60811613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6007140569999 meters Centerline goodness [0,1] 0.999289223372008 Centerline is valid? [True, True] Translation: X:725.14, Y:-55.31, Z:2.61 [[ 9.87231889e-01 1.59274120e-01 2.22550219e-03 7.25137109e+02] [-1.59273534e-01 9.87234394e-01 -4.39354980e-04 -5.53107473e+01] [-2.26707018e-03 7.92816490e-05 9.99997427e-01 2.60772595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.630714057 meters Centerline goodness [0,1] 0.9989552207618531 Centerline is valid? [True, True] Translation: X:725.17, Y:-55.31, Z:2.61 [[ 9.87824718e-01 1.55561729e-01 1.69565904e-03 7.25168134e+02] [-1.55561382e-01 9.87826171e-01 -3.35025971e-04 -5.53146767e+01] [-1.72713359e-03 6.71678717e-05 9.99998506e-01 2.60728182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.660714057 meters Centerline goodness [0,1] 0.9991836051160746 Centerline is valid? [True, True] Translation: X:725.20, Y:-55.32, Z:2.61 [[ 9.88377897e-01 1.52005380e-01 1.86996902e-03 7.25198602e+02] [-1.52004953e-01 9.88379663e-01 -3.69502506e-04 -5.53219314e+01] [-1.90440572e-03 8.09635583e-05 9.99998183e-01 2.60686993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6907140569999 meters Centerline goodness [0,1] 0.9992701034367701 Centerline is valid? [True, True] Translation: X:725.23, Y:-55.33, Z:2.61 [[ 9.88949669e-01 1.48240728e-01 1.79950159e-03 7.25229201e+02] [-1.48240326e-01 9.88951303e-01 -3.55489400e-04 -5.53279023e+01] [-1.83231745e-03 8.48024218e-05 9.99998318e-01 2.60731675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7207140569999 meters Centerline goodness [0,1] 0.9992277508766071 Centerline is valid? [True, True] Translation: X:725.26, Y:-55.33, Z:2.61 [[ 9.89823333e-01 1.42280631e-01 2.44769585e-03 7.25259556e+02] [-1.42279869e-01 9.89826351e-01 -4.83406595e-04 -5.53328877e+01] [-2.49157325e-03 1.30229281e-04 9.99996888e-01 2.60846096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.750714057 meters Centerline goodness [0,1] 0.9992917994542689 Centerline is valid? [True, True] Translation: X:725.29, Y:-55.34, Z:2.61 [[ 9.90177725e-01 1.39792108e-01 2.49808078e-03 7.25288645e+02] [-1.39791307e-01 9.90180866e-01 -4.93321828e-04 -5.53390700e+01] [-2.54251429e-03 1.39266308e-04 9.99996758e-01 2.60950371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.780714057 meters Centerline goodness [0,1] 0.9992658934077228 Centerline is valid? [True, True] Translation: X:725.32, Y:-55.34, Z:2.61 [[ 9.90425716e-01 1.38012488e-01 3.07465469e-03 7.25319767e+02] [-1.38011258e-01 9.90430473e-01 -6.09538333e-04 -5.53443575e+01] [-3.12935560e-03 1.79365478e-04 9.99995087e-01 2.61052422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8107140569999 meters Centerline goodness [0,1] 0.9994990293694033 Centerline is valid? [True, True] Translation: X:725.35, Y:-55.35, Z:2.61 [[ 9.91000120e-01 1.33842614e-01 2.21733122e-03 7.25350980e+02] [-1.33841967e-01 9.91002591e-01 -4.38435344e-04 -5.53458175e+01] [-2.25606232e-03 1.37717507e-04 9.99997446e-01 2.61109880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8407140569999 meters Centerline goodness [0,1] 0.9994990293694033 Centerline is valid? [True, True] Translation: X:725.38, Y:-55.35, Z:2.61 [[ 9.90963523e-01 1.34113319e-01 2.21682458e-03 7.25382887e+02] [-1.34112666e-01 9.90965992e-01 -4.40995985e-04 -5.53521978e+01] [-2.25594121e-03 1.39706679e-04 9.99997446e-01 2.61134092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.870714057 meters Centerline goodness [0,1] 0.9996643661765015 Centerline is valid? [True, True] Translation: X:725.42, Y:-55.35, Z:2.61 [[ 9.91158743e-01 1.32665828e-01 2.03082916e-03 7.25415035e+02] [-1.32665277e-01 9.91160815e-01 -4.04284897e-04 -5.53523989e+01] [-2.06651308e-03 1.31289998e-04 9.99997856e-01 2.61039705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.900714057 meters Centerline goodness [0,1] 0.999454400470055 Centerline is valid? [True, True] Translation: X:725.44, Y:-55.35, Z:2.61 [[ 9.91580407e-01 1.29491437e-01 5.14310978e-04 7.25444932e+02] [-1.29491401e-01 9.91580540e-01 -1.02470443e-04 -5.53534784e+01] [-5.23249802e-04 3.50088348e-05 9.99999862e-01 2.60873676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9307140569999 meters Centerline goodness [0,1] 0.9994528734664675 Centerline is valid? [True, True] Translation: X:725.48, Y:-55.35, Z:2.61 [[ 9.91843888e-01 1.27458345e-01 -2.69076345e-04 7.25476741e+02] [-1.27458336e-01 9.91843924e-01 5.32284862e-05 -5.53518417e+01] [ 2.73666153e-04 -1.84983256e-05 9.99999962e-01 2.60788646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9607140569999 meters Centerline goodness [0,1] 0.9994106255788499 Centerline is valid? [True, True] Translation: X:725.51, Y:-55.36, Z:2.61 [[ 9.92080303e-01 1.25604002e-01 -5.54753154e-04 7.25507294e+02] [-1.25603960e-01 9.92080457e-01 1.09893751e-04 -5.53561059e+01] [ 5.64162857e-04 -3.93442325e-05 9.99999840e-01 2.60819350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.990714057 meters Centerline goodness [0,1] 0.9995583503333404 Centerline is valid? [True, True] Translation: X:725.54, Y:-55.35, Z:2.61 [[ 9.92495955e-01 1.22276499e-01 -4.86197968e-04 7.25539426e+02] [-1.22276467e-01 9.92496074e-01 9.63828696e-05 -5.53496012e+01] [ 4.94334934e-04 -3.62090386e-05 9.99999877e-01 2.60872753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.020714057 meters Centerline goodness [0,1] 0.9998744375850163 Centerline is valid? [True, True] Translation: X:725.57, Y:-55.36, Z:2.61 [[ 9.92618840e-01 1.21274987e-01 -4.64043385e-04 7.25569970e+02] [-1.21274958e-01 9.92618948e-01 9.04014518e-05 -5.53564786e+01] [ 4.71581692e-04 -3.34573421e-05 9.99999888e-01 2.60963877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0507140569999 meters Centerline goodness [0,1] 0.9998318621269441 Centerline is valid? [True, True] Translation: X:725.60, Y:-55.36, Z:2.61 [[ 9.92862822e-01 1.19261080e-01 4.60089401e-04 7.25601923e+02] [-1.19261050e-01 9.92862928e-01 -9.16568557e-05 -5.53550529e+01] [-4.67736805e-04 3.61319393e-05 9.99999890e-01 2.61018453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0807140569999 meters Centerline goodness [0,1] 0.9996857059045384 Centerline is valid? [True, True] Translation: X:725.63, Y:-55.36, Z:2.61 [[ 9.93004701e-01 1.18072536e-01 7.35089197e-04 7.25634259e+02] [-1.18072460e-01 9.93004971e-01 -1.46614039e-04 -5.53568888e+01] [-7.47258318e-04 5.87946405e-05 9.99999719e-01 2.61048900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1107140569999 meters Centerline goodness [0,1] 0.9998536054877029 Centerline is valid? [True, True] Translation: X:725.67, Y:-55.35, Z:2.61 [[ 9.93300385e-01 1.15557418e-01 9.10235842e-04 7.25666604e+02] [-1.15557300e-01 9.93300799e-01 -1.81015289e-04 -5.53530594e+01] [-9.25055648e-04 7.46181595e-05 9.99999569e-01 2.61043325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.140714057 meters Centerline goodness [0,1] 0.9995825070451936 Centerline is valid? [True, True] Translation: X:725.70, Y:-55.36, Z:2.61 [[ 9.93425917e-01 1.14474629e-01 7.12509069e-04 7.25697517e+02] [-1.14474555e-01 9.93426170e-01 -1.43560123e-04 -5.53581872e+01] [-7.24259148e-04 6.10521877e-05 9.99999736e-01 2.61058050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1707140569999 meters Centerline goodness [0,1] 0.9991443894905987 Centerline is valid? [True, True] Translation: X:725.73, Y:-55.36, Z:2.61 [[ 9.93547410e-01 1.13416365e-01 5.21346402e-04 7.25730473e+02] [-1.13416326e-01 9.93547546e-01 -1.04325614e-04 -5.53566203e+01] [-5.29814670e-04 4.45232503e-05 9.99999859e-01 2.60952566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2007140569999 meters Centerline goodness [0,1] 0.9979278732444482 Centerline is valid? [True, True] Translation: X:725.76, Y:-55.36, Z:2.61 [[ 9.93625817e-01 1.12728557e-01 9.19124863e-05 7.25761827e+02] [-1.12728556e-01 9.93625821e-01 -2.01165020e-05 -5.53602868e+01] [-9.35943239e-05 9.62711391e-06 9.99999996e-01 2.60878255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2307140569999 meters Centerline goodness [0,1] 0.9980386019822639 Centerline is valid? [True, True] Translation: X:725.80, Y:-55.35, Z:2.61 [[ 9.93614401e-01 1.12825842e-01 -8.66465081e-04 7.25796583e+02] [-1.12825736e-01 9.93614777e-01 1.70723315e-04 -5.53535454e+01] [ 8.80194510e-04 -7.18735848e-05 9.99999610e-01 2.60848303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.260714057 meters Centerline goodness [0,1] 0.9976008081488341 Centerline is valid? [True, True] Translation: X:725.83, Y:-55.35, Z:2.61 [[ 9.93533281e-01 1.13540430e-01 -4.37457184e-04 7.25830618e+02] [-1.13540403e-01 9.93533376e-01 8.54953009e-05 -5.53469873e+01] [ 4.44335486e-04 -3.52733619e-05 9.99999901e-01 2.60844798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.290714057 meters Centerline goodness [0,1] 0.9970900412418615 Centerline is valid? [True, True] Translation: X:725.86, Y:-55.35, Z:2.61 [[ 9.93425056e-01 1.14481801e-01 -7.58367933e-04 7.25862245e+02] [-1.14481719e-01 9.93425344e-01 1.49966158e-04 -5.53480435e+01] [ 7.70550320e-04 -6.21608737e-05 9.99999701e-01 2.60855237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3207140569999 meters Centerline goodness [0,1] 0.996783416726233 Centerline is valid? [True, True] Translation: X:725.89, Y:-55.35, Z:2.61 [[ 9.93348623e-01 1.15145221e-01 -3.03514663e-04 7.25894150e+02] [-1.15145208e-01 9.93348669e-01 6.04719422e-05 -5.53491460e+01] [ 3.08458941e-04 -2.51214615e-05 9.99999952e-01 2.60866448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3507140569999 meters Centerline goodness [0,1] 0.9963219067235545 Centerline is valid? [True, True] Translation: X:725.93, Y:-55.35, Z:2.61 [[ 9.93266265e-01 1.15853829e-01 1.27446464e-04 7.25925521e+02] [-1.15853826e-01 9.93266274e-01 -2.72873663e-05 -5.53505324e+01] [-1.29749620e-04 1.23384599e-05 9.99999992e-01 2.60890836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.380714057 meters Centerline goodness [0,1] 0.9963653935039287 Centerline is valid? [True, True] Translation: X:725.96, Y:-55.35, Z:2.61 [[ 9.93149461e-01 1.16848021e-01 8.28913323e-04 7.25957196e+02] [-1.16847923e-01 9.93149805e-01 -1.66090798e-04 -5.53463664e+01] [-8.42642486e-04 6.80961868e-05 9.99999643e-01 2.60922269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.410714057 meters Centerline goodness [0,1] 0.9959433327728267 Centerline is valid? [True, True] Translation: X:725.99, Y:-55.35, Z:2.61 [[ 9.93107108e-01 1.17204150e-01 1.20824543e-03 7.25987749e+02] [-1.17203941e-01 9.93107838e-01 -2.42902597e-04 -5.53493347e+01] [-1.22838720e-03 9.96171692e-05 9.99999241e-01 2.60946408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4407140569999 meters Centerline goodness [0,1] 0.9951479661194186 Centerline is valid? [True, True] Translation: X:726.02, Y:-55.34, Z:2.61 [[ 9.93045596e-01 1.17714907e-01 1.90941755e-03 7.26020175e+02] [-1.17714387e-01 9.93047419e-01 -3.82773919e-04 -5.53438392e+01] [-1.94120037e-03 1.55346038e-04 9.99998104e-01 2.60966334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4707140569999 meters Centerline goodness [0,1] 0.9948725492256288 Centerline is valid? [True, True] Translation: X:726.05, Y:-55.34, Z:2.61 [[ 9.93014084e-01 1.17979940e-01 1.93973194e-03 7.26050139e+02] [-1.17979405e-01 9.93015966e-01 -3.88514332e-04 -5.53432874e+01] [-1.97202168e-03 1.56951784e-04 9.99998043e-01 2.60958232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.500714057 meters Centerline goodness [0,1] 0.9931653851763872 Centerline is valid? [True, True] Translation: X:726.08, Y:-55.35, Z:2.61 [[ 9.92994739e-01 1.18146179e-01 1.71112650e-03 7.26079373e+02] [-1.18145762e-01 9.92996204e-01 -3.42960872e-04 -5.53500844e+01] [-1.73966164e-03 1.38395997e-04 9.99998477e-01 2.60975178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.530714057 meters Centerline goodness [0,1] 0.9927508904253091 Centerline is valid? [True, True] Translation: X:726.11, Y:-55.34, Z:2.61 [[ 9.93042568e-01 1.17748198e-01 1.34933818e-03 7.26111166e+02] [-1.17747939e-01 9.93043478e-01 -2.70139211e-04 -5.53447455e+01] [-1.37175989e-03 1.09377946e-04 9.99999053e-01 2.60829498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5607140569999 meters Centerline goodness [0,1] 0.9925156624479671 Centerline is valid? [True, True] Translation: X:726.14, Y:-55.34, Z:2.61 [[ 9.93096080e-01 1.17299415e-01 1.01162674e-03 7.26141867e+02] [-1.17299269e-01 9.93096592e-01 -2.02417534e-04 -5.53415203e+01] [-1.02838653e-03 8.23569814e-05 9.99999468e-01 2.60736601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5907140569999 meters Centerline goodness [0,1] 0.9920648284571669 Centerline is valid? [True, True] Translation: X:726.17, Y:-55.33, Z:2.61 [[ 9.93144138e-01 1.16888833e-01 1.31218462e-03 7.26172202e+02] [-1.16888589e-01 9.93144999e-01 -2.62082803e-04 -5.53341813e+01] [-1.33382415e-03 1.06906591e-04 9.99999105e-01 2.60598217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.620714057 meters Centerline goodness [0,1] 0.9909186683522967 Centerline is valid? [True, True] Translation: X:726.20, Y:-55.34, Z:2.61 [[ 9.93195875e-01 1.16451492e-01 1.00171941e-03 7.26198994e+02] [-1.16451350e-01 9.93196377e-01 -1.99691781e-04 -5.53418058e+01] [-1.01815850e-03 8.16814760e-05 9.99999478e-01 2.60652262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.650714057 meters Centerline goodness [0,1] 0.9895525206117439 Centerline is valid? [True, True] Translation: X:726.23, Y:-55.34, Z:2.61 [[ 9.93232686e-01 1.16137819e-01 9.15968868e-04 7.26227744e+02] [-1.16137700e-01 9.93233105e-01 -1.82731315e-04 -5.53442556e+01] [-9.30992620e-04 7.51161973e-05 9.99999564e-01 2.60605338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6807140569999 meters Centerline goodness [0,1] 0.9884222713398589 Centerline is valid? [True, True] Translation: X:726.26, Y:-55.34, Z:2.61 [[ 9.93202028e-01 1.16400821e-01 7.61743610e-04 7.26257428e+02] [-1.16400738e-01 9.93202318e-01 -1.51819522e-04 -5.53434117e+01] [-7.74237437e-04 6.21199391e-05 9.99999698e-01 2.60547087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7107140569999 meters Centerline goodness [0,1] 0.9877940804452314 Centerline is valid? [True, True] Translation: X:726.29, Y:-55.34, Z:2.60 [[ 9.93168036e-01 1.16688887e-01 9.77495173e-04 7.26287118e+02] [-1.16688751e-01 9.93168514e-01 -1.94881671e-04 -5.53406200e+01] [-9.93557954e-04 7.94875551e-05 9.99999503e-01 2.60454229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.740714057 meters Centerline goodness [0,1] 0.9864178352506507 Centerline is valid? [True, True] Translation: X:726.31, Y:-55.35, Z:2.60 [[ 9.93099747e-01 1.17269629e-01 8.52484546e-04 7.26314310e+02] [-1.17269526e-01 9.93100110e-01 -1.69829214e-04 -5.53494025e+01] [-8.66518306e-04 6.86868901e-05 9.99999622e-01 2.60496508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.770714057 meters Centerline goodness [0,1] 0.9858813612896428 Centerline is valid? [True, True] Translation: X:726.35, Y:-55.34, Z:2.60 [[ 9.92963770e-01 1.18415819e-01 8.02744359e-04 7.26345728e+02] [-1.18415728e-01 9.92964093e-01 -1.59974979e-04 -5.53408866e+01] [-8.16039892e-04 6.37917998e-05 9.99999665e-01 2.60325778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8007140569999 meters Centerline goodness [0,1] 0.9844142785319256 Centerline is valid? [True, True] Translation: X:726.37, Y:-55.35, Z:2.60 [[ 9.92936504e-01 1.18644900e-01 6.97221672e-04 7.26373545e+02] [-1.18644832e-01 9.92936748e-01 -1.38459777e-04 -5.53457761e+01] [-7.08724566e-04 5.47600185e-05 9.99999747e-01 2.60279690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8307140569999 meters Centerline goodness [0,1] 0.9838645040180549 Centerline is valid? [True, True] Translation: X:726.40, Y:-55.35, Z:2.60 [[ 9.92857767e-01 1.19304023e-01 6.44093283e-05 7.26402968e+02] [-1.19304022e-01 9.92857769e-01 -1.23111426e-05 -5.53450239e+01] [-6.54180708e-05 4.53892163e-06 9.99999998e-01 2.60144410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8607140569999 meters Centerline goodness [0,1] 0.9820061174981543 Centerline is valid? [True, True] Translation: X:726.43, Y:-55.35, Z:2.60 [[ 9.92725229e-01 1.20401369e-01 -3.60438941e-04 7.26430068e+02] [-1.20401351e-01 9.92725294e-01 7.25935715e-05 -5.53512430e+01] [ 3.66557219e-04 -2.86681346e-05 9.99999932e-01 2.60120733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.890714057 meters Centerline goodness [0,1] 0.9812944178493853 Centerline is valid? [True, True] Translation: X:726.46, Y:-55.35, Z:2.60 [[ 9.92597056e-01 1.21448930e-01 -1.11476426e-03 7.26459302e+02] [-1.21448756e-01 9.92597678e-01 2.22757498e-04 -5.53542497e+01] [ 1.13356608e-03 -8.57217039e-05 9.99999354e-01 2.60034022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9207140569999 meters Centerline goodness [0,1] 0.9806331707111027 Centerline is valid? [True, True] Translation: X:726.49, Y:-55.36, Z:2.60 [[ 9.92401808e-01 1.23029267e-01 -1.56568133e-03 7.26488981e+02] [-1.23028926e-01 9.92403036e-01 3.12513906e-04 -5.53570569e+01] [ 1.59223526e-03 -1.17515273e-04 9.99998725e-01 2.60005608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9507140569999 meters Centerline goodness [0,1] 0.9802177934746048 Centerline is valid? [True, True] Translation: X:726.52, Y:-55.35, Z:2.60 [[ 9.92197334e-01 1.24674636e-01 -8.28375903e-04 7.26520397e+02] [-1.24674541e-01 9.92197678e-01 1.65445760e-04 -5.53521805e+01] [ 8.42539537e-04 -6.08774564e-05 9.99999643e-01 2.59967443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9807140569999 meters Centerline goodness [0,1] 0.9797439126784215 Centerline is valid? [True, True] Translation: X:726.55, Y:-55.36, Z:2.60 [[ 9.92183825e-01 1.24783786e-01 -5.14544709e-04 7.26549005e+02] [-1.24783749e-01 9.92183957e-01 1.03093981e-04 -5.53561389e+01] [ 5.23387463e-04 -3.80813626e-05 9.99999862e-01 2.60043935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.010714057 meters Centerline goodness [0,1] 0.9782717910072846 Centerline is valid? [True, True] Translation: X:726.58, Y:-55.36, Z:2.60 [[ 9.92251455e-01 1.24245717e-01 2.26456191e-04 7.26578444e+02] [-1.24245710e-01 9.92251481e-01 -4.45882968e-05 -5.53580408e+01] [-2.30241395e-04 1.61065923e-05 9.99999973e-01 2.60119075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.040714057 meters Centerline goodness [0,1] 0.9779936225560124 Centerline is valid? [True, True] Translation: X:726.61, Y:-55.36, Z:2.60 [[ 9.92433736e-01 1.22781207e-01 2.32621380e-04 7.26607759e+02] [-1.22781200e-01 9.92433763e-01 -4.60736176e-05 -5.53622948e+01] [-2.36518285e-04 1.71634805e-05 9.99999972e-01 2.60083308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0707140569999 meters Centerline goodness [0,1] 0.9763766252923946 Centerline is valid? [True, True] Translation: X:726.64, Y:-55.37, Z:2.60 [[ 9.92933296e-01 1.18673740e-01 -1.17517653e-04 7.26637642e+02] [-1.18673738e-01 9.92933303e-01 2.34142837e-05 -5.53687013e+01] [ 1.19465852e-04 -9.30256262e-06 9.99999993e-01 2.60034943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1007140569999 meters Centerline goodness [0,1] 0.9767701915773483 Centerline is valid? [True, True] Translation: X:726.67, Y:-55.37, Z:2.60 [[ 9.93208017e-01 1.16349553e-01 -7.85105830e-04 7.26668348e+02] [-1.16349466e-01 9.93208325e-01 1.56405575e-04 -5.53711109e+01] [ 7.97971365e-04 -6.39966267e-05 9.99999680e-01 2.59974149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.130714057 meters Centerline goodness [0,1] 0.9731239239071096 Centerline is valid? [True, True] Translation: X:726.70, Y:-55.38, Z:2.60 [[ 9.93452736e-01 1.14236100e-01 -1.33203855e-03 7.26695839e+02] [-1.14235846e-01 9.93453623e-01 2.65584642e-04 -5.53827833e+01] [ 1.35365788e-03 -1.11679239e-04 9.99999078e-01 2.60079188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.160714057 meters Centerline goodness [0,1] 0.9721931184778508 Centerline is valid? [True, True] Translation: X:726.73, Y:-55.38, Z:2.60 [[ 9.93823001e-01 1.10969569e-01 -1.26384992e-03 7.26726187e+02] [-1.10969338e-01 9.93823799e-01 2.51764027e-04 -5.53848973e+01] [ 1.28398227e-03 -1.09960292e-04 9.99999170e-01 2.60069647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1907140569999 meters Centerline goodness [0,1] 0.9731012658227848 Centerline is valid? [True, True] Translation: X:726.76, Y:-55.38, Z:2.60 [[ 9.93958565e-01 1.09753766e-01 -6.94829759e-04 7.26756805e+02] [-1.09753695e-01 9.93958806e-01 1.38636905e-04 -5.53841427e+01] [ 7.05848079e-04 -6.15392055e-05 9.99999749e-01 2.60069126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2207140569999 meters Centerline goodness [0,1] 0.9721800067544748 Centerline is valid? [True, True] Translation: X:726.79, Y:-55.39, Z:2.60 [[ 9.94003999e-01 1.09343577e-01 1.78998275e-04 7.26785150e+02] [-1.09343572e-01 9.94004015e-01 -3.46672228e-05 -5.53869359e+01] [-1.81715642e-04 1.48870473e-05 9.99999983e-01 2.60275651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.250714057 meters Centerline goodness [0,1] 0.9730328543394315 Centerline is valid? [True, True] Translation: X:726.81, Y:-55.39, Z:2.60 [[ 9.93863258e-01 1.10607955e-01 1.30533317e-03 7.26813903e+02] [-1.10607709e-01 9.93864109e-01 -2.59130762e-04 -5.53884074e+01] [-1.32598571e-03 1.13160632e-04 9.99999114e-01 2.60349964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.280714057 meters Centerline goodness [0,1] 0.9741085959461458 Centerline is valid? [True, True] Translation: X:726.84, Y:-55.39, Z:2.60 [[ 9.93678936e-01 1.12251922e-01 1.29542925e-03 7.26844393e+02] [-1.12251681e-01 9.93679774e-01 -2.57378947e-04 -5.53881117e+01] [-1.31613313e-03 1.10337927e-04 9.99999128e-01 2.60419393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3107140569999 meters Centerline goodness [0,1] 0.972482657136851 Centerline is valid? [True, True] Translation: X:726.88, Y:-55.39, Z:2.60 [[ 9.93023587e-01 1.17908466e-01 1.32294407e-03 7.26875458e+02] [-1.17908220e-01 9.93024462e-01 -2.62943338e-04 -5.53852401e+01] [-1.34471907e-03 1.05122956e-04 9.99999090e-01 2.60434234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3407140569999 meters Centerline goodness [0,1] 0.9726831114756167 Centerline is valid? [True, True] Translation: X:726.91, Y:-55.39, Z:2.60 [[ 9.92561732e-01 1.21733094e-01 1.50388608e-03 7.26906305e+02] [-1.21732780e-01 9.92562865e-01 -2.99047553e-04 -5.53868294e+01] [-1.52910546e-03 1.13750924e-04 9.99998824e-01 2.60482409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.370714057 meters Centerline goodness [0,1] 0.9733106189664963 Centerline is valid? [True, True] Translation: X:726.94, Y:-55.38, Z:2.60 [[ 9.91399788e-01 1.30847742e-01 2.30862170e-03 7.26937185e+02] [-1.30847026e-01 9.91402464e-01 -4.59080200e-04 -5.53836660e+01] [-2.34884285e-03 1.53055729e-04 9.99997230e-01 2.60448143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.400714057 meters Centerline goodness [0,1] 0.9738913257917602 Centerline is valid? [True, True] Translation: X:726.97, Y:-55.38, Z:2.60 [[ 9.90667772e-01 1.36290419e-01 1.51257996e-03 7.26968556e+02] [-1.36290118e-01 9.90668922e-01 -3.00845248e-04 -5.53829443e+01] [-1.53946829e-03 9.18879897e-05 9.99998811e-01 2.60420764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4307140569999 meters Centerline goodness [0,1] 0.9731546452578124 Centerline is valid? [True, True] Translation: X:727.00, Y:-55.39, Z:2.60 [[ 9.90013524e-01 1.40962166e-01 1.69986447e-03 7.26998187e+02] [-1.40961793e-01 9.90014979e-01 -3.37850475e-04 -5.53865846e+01] [-1.73051542e-03 9.48605967e-05 9.99998498e-01 2.60369384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4607140569999 meters Centerline goodness [0,1] 0.9770848348666639 Centerline is valid? [True, True] Translation: X:727.03, Y:-55.38, Z:2.60 [[ 9.88666841e-01 1.50125016e-01 5.96903281e-04 7.27030472e+02] [-1.50124972e-01 9.88667021e-01 -1.18650225e-04 -5.53810921e+01] [-6.07950956e-04 2.76954544e-05 9.99999815e-01 2.60153520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.490714057 meters Centerline goodness [0,1] 0.9770827206654623 Centerline is valid? [True, True] Translation: X:727.06, Y:-55.38, Z:2.60 [[ 9.87971278e-01 1.54636687e-01 -4.98451820e-04 7.27060419e+02] [-1.54636656e-01 9.87971404e-01 9.93665420e-05 -5.53834653e+01] [ 5.07821857e-04 -2.10923669e-05 9.99999871e-01 2.60115287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.520714057 meters Centerline goodness [0,1] 0.9792438843587843 Centerline is valid? [True, True] Translation: X:727.09, Y:-55.38, Z:2.60 [[ 9.86813414e-01 1.61861911e-01 -8.61087327e-05 7.27091734e+02] [-1.61861910e-01 9.86813418e-01 1.71638429e-05 -5.53835114e+01] [ 8.77514253e-05 -2.99978646e-06 9.99999996e-01 2.60119186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5507140569999 meters Centerline goodness [0,1] 0.9801279606796323 Centerline is valid? [True, True] Translation: X:727.12, Y:-55.39, Z:2.60 [[ 9.86274101e-01 1.65116241e-01 -1.55983714e-04 7.27120700e+02] [-1.65116238e-01 9.86274113e-01 3.27103795e-05 -5.53872058e+01] [ 1.59243714e-04 -6.50595609e-06 9.99999987e-01 2.60169670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5807140569999 meters Centerline goodness [0,1] 0.9800380630154366 Centerline is valid? [True, True] Translation: X:727.15, Y:-55.39, Z:2.60 [[ 9.85682993e-01 1.68607687e-01 6.96672895e-04 7.27149838e+02] [-1.68607631e-01 9.85683239e-01 -1.37728760e-04 -5.53893234e+01] [-7.09920924e-04 1.82925295e-05 9.99999748e-01 2.60118256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6107140569999 meters Centerline goodness [0,1] 0.9814936510291904 Centerline is valid? [True, True] Translation: X:727.18, Y:-55.40, Z:2.60 [[ 9.84613952e-01 1.74741570e-01 8.65993093e-04 7.27177993e+02] [-1.74741487e-01 9.84614332e-01 -1.71429664e-04 -5.53954533e+01] [-8.82625099e-04 1.74671184e-05 9.99999610e-01 2.60162564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.640714057 meters Centerline goodness [0,1] 0.9818497575025944 Centerline is valid? [True, True] Translation: X:727.21, Y:-55.40, Z:2.60 [[ 9.84252146e-01 1.76767752e-01 9.35620767e-04 7.27205231e+02] [-1.76767656e-01 9.84252590e-01 -1.84917536e-04 -5.54009042e+01] [-9.53574620e-04 1.66179916e-05 9.99999545e-01 2.60189115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6707140569999 meters Centerline goodness [0,1] 0.9823880976602238 Centerline is valid? [True, True] Translation: X:727.23, Y:-55.41, Z:2.60 [[ 9.83934516e-01 1.78527420e-01 9.10079062e-04 7.27232815e+02] [-1.78527331e-01 9.83934937e-01 -1.78466562e-04 -5.54071411e+01] [-9.27319759e-04 1.31254245e-05 9.99999570e-01 2.60221957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7007140569999 meters Centerline goodness [0,1] 0.9807643847123058 Centerline is valid? [True, True] Translation: X:727.26, Y:-55.42, Z:2.60 [[ 9.83592995e-01 1.80395446e-01 1.51760979e-03 7.27259736e+02] [-1.80395199e-01 9.83594166e-01 -2.99474702e-04 -5.54163333e+01] [-1.54673601e-03 2.07916982e-05 9.99998804e-01 2.60254167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7307140569999 meters Centerline goodness [0,1] 0.9820097176845104 Centerline is valid? [True, True] Translation: X:727.29, Y:-55.42, Z:2.60 [[ 9.83560631e-01 1.80568824e-01 1.83961088e-03 7.27286601e+02] [-1.80568464e-01 9.83562351e-01 -3.61515956e-04 -5.54233139e+01] [-1.87465052e-03 2.33971507e-05 9.99998243e-01 2.60197608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.760714057 meters Centerline goodness [0,1] 0.9820097176845104 Centerline is valid? [True, True] Translation: X:727.31, Y:-55.43, Z:2.60 [[ 9.83611062e-01 1.80293912e-01 1.83971194e-03 7.27313537e+02] [-1.80293552e-01 9.83612782e-01 -3.61002827e-04 -5.54285659e+01] [-1.87465079e-03 2.33981726e-05 9.99998243e-01 2.60218059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.790714057 meters Centerline goodness [0,1] 0.9825319189481039 Centerline is valid? [True, True] Translation: X:727.34, Y:-55.44, Z:2.60 [[ 9.83791511e-01 1.79310591e-01 1.40530976e-03 7.27339273e+02] [-1.79310382e-01 9.83792514e-01 -2.74842377e-04 -5.54414292e+01] [-1.43181537e-03 1.84009692e-05 9.99998975e-01 2.60286437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8207140569999 meters Centerline goodness [0,1] 0.9834665313543913 Centerline is valid? [True, True] Translation: X:727.37, Y:-55.45, Z:2.60 [[ 9.83926825e-01 1.78566952e-01 1.35917777e-03 7.27366193e+02] [-1.78566754e-01 9.83927763e-01 -2.67086093e-04 -5.54512365e+01] [-1.38502549e-03 2.00892098e-05 9.99999041e-01 2.60313498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8507140569999 meters Centerline goodness [0,1] 0.9835466179159049 Centerline is valid? [True, True] Translation: X:727.39, Y:-55.46, Z:2.60 [[ 9.84065094e-01 1.77807594e-01 5.91372546e-04 7.27392605e+02] [-1.77807557e-01 9.84065272e-01 -1.14176555e-04 -5.54612235e+01] [-6.02250644e-04 7.20665425e-06 9.99999819e-01 2.60407408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.880714057 meters Centerline goodness [0,1] 0.9842476455931416 Centerline is valid? [True, True] Translation: X:727.42, Y:-55.48, Z:2.61 [[ 9.84431717e-01 1.75764361e-01 1.04100858e-03 7.27417923e+02] [-1.75764243e-01 9.84432267e-01 -2.04009188e-04 -5.54766513e+01] [-1.06065999e-03 1.78610295e-05 9.99999437e-01 2.60623550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.910714057 meters Centerline goodness [0,1] 0.9846826671173836 Centerline is valid? [True, True] Translation: X:727.44, Y:-55.49, Z:2.61 [[ 9.84671575e-01 1.74416586e-01 8.62136845e-04 7.27444716e+02] [-1.74416507e-01 9.84671953e-01 -1.67448550e-04 -5.54873791e+01] [-8.78127775e-04 1.45109305e-05 9.99999614e-01 2.60764143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9407140569999 meters Centerline goodness [0,1] 0.9859531069288192 Centerline is valid? [True, True] Translation: X:727.47, Y:-55.50, Z:2.61 [[ 9.85043444e-01 1.72305838e-01 3.33575460e-04 7.27470578e+02] [-1.72305826e-01 9.85043501e-01 -6.35709235e-05 -5.55049216e+01] [-3.39539980e-04 5.14312612e-06 9.99999942e-01 2.60804701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9707140569999 meters Centerline goodness [0,1] 0.9862304564697992 Centerline is valid? [True, True] Translation: X:727.50, Y:-55.52, Z:2.61 [[ 9.85263420e-01 1.71042301e-01 -7.23972324e-04 7.27497635e+02] [-1.71042242e-01 9.85263686e-01 1.43633930e-04 -5.55167431e+01] [ 7.37871118e-04 -1.76874082e-05 9.99999728e-01 2.60836923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.000714057 meters Centerline goodness [0,1] 0.987689253964567 Centerline is valid? [True, True] Translation: X:727.52, Y:-55.53, Z:2.61 [[ 9.85489668e-01 1.69731859e-01 -1.10021900e-03 7.27524974e+02] [-1.69731722e-01 9.85490282e-01 2.17068976e-04 -5.55272643e+01] [ 1.12109866e-03 -2.71771672e-05 9.99999371e-01 2.60899841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.030714057 meters Centerline goodness [0,1] 0.9888385871946258 Centerline is valid? [True, True] Translation: X:727.55, Y:-55.54, Z:2.61 [[ 9.85685194e-01 1.68578638e-01 -2.43748397e-03 7.27551752e+02] [-1.68577974e-01 9.85688206e-01 4.77122439e-04 -5.55423752e+01] [ 2.48303185e-03 -5.93864158e-05 9.99996916e-01 2.61036912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0607140569999 meters Centerline goodness [0,1] 0.9893794472245097 Centerline is valid? [True, True] Translation: X:727.58, Y:-55.55, Z:2.61 [[ 9.85784553e-01 1.68001853e-01 -2.04764475e-03 7.27579097e+02] [-1.68001383e-01 9.85786678e-01 4.00753207e-04 -5.55516011e+01] [ 2.08586820e-03 -5.10491697e-05 9.99997823e-01 2.61085691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0907140569999 meters Centerline goodness [0,1] 0.9918051781162442 Centerline is valid? [True, True] Translation: X:727.61, Y:-55.56, Z:2.61 [[ 9.85634923e-01 1.68873923e-01 -2.32296951e-03 7.27606118e+02] [-1.68873320e-01 9.85637659e-01 4.54409855e-04 -5.55636525e+01] [ 2.36634421e-03 -5.55946480e-05 9.99997199e-01 2.61188774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.120714057 meters Centerline goodness [0,1] 0.9921345722256014 Centerline is valid? [True, True] Translation: X:727.63, Y:-55.57, Z:2.61 [[ 9.85577370e-01 1.69212971e-01 -2.05368770e-03 7.27632130e+02] [-1.69212501e-01 9.85579509e-01 4.01989720e-04 -5.55748622e+01] [ 2.09209439e-03 -4.86823402e-05 9.99997810e-01 2.61311725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.150714057 meters Centerline goodness [0,1] 0.9925320352804127 Centerline is valid? [True, True] Translation: X:727.66, Y:-55.58, Z:2.61 [[ 9.85477160e-01 1.69791611e-01 -2.36123366e-03 7.27659227e+02] [-1.69790993e-01 9.85479988e-01 4.61356054e-04 -5.55843892e+01] [ 2.40528290e-03 -5.37396478e-05 9.99997106e-01 2.61420932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1807140569999 meters Centerline goodness [0,1] 0.993842287150487 Centerline is valid? [True, True] Translation: X:727.69, Y:-55.60, Z:2.62 [[ 9.85496505e-01 1.69691301e-01 -1.22546328e-03 7.27686267e+02] [-1.69691134e-01 9.85497266e-01 2.39614326e-04 -5.55968014e+01] [ 1.24835118e-03 -2.81888274e-05 9.99999220e-01 2.61663374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2107140569999 meters Centerline goodness [0,1] 0.9938825789209955 Centerline is valid? [True, True] Translation: X:727.71, Y:-55.61, Z:2.62 [[ 9.85554667e-01 1.69353742e-01 -1.14433464e-03 7.27713699e+02] [-1.69353596e-01 9.85555331e-01 2.23700863e-04 -5.56060954e+01] [ 1.16568968e-03 -2.66722433e-05 9.99999320e-01 2.61817414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.240714057 meters Centerline goodness [0,1] 0.9938695081010072 Centerline is valid? [True, True] Translation: X:727.74, Y:-55.62, Z:2.62 [[ 9.85742810e-01 1.68257838e-01 -6.42388372e-04 7.27741090e+02] [-1.68257792e-01 9.85743019e-01 1.25762894e-04 -5.56155260e+01] [ 6.54390446e-04 -1.58830197e-05 9.99999786e-01 2.61884646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.270714057 meters Centerline goodness [0,1] 0.9947260902192946 Centerline is valid? [True, True] Translation: X:727.77, Y:-55.63, Z:2.62 [[ 9.86270283e-01 1.65137468e-01 -7.38947249e-04 7.27766948e+02] [-1.65137406e-01 9.86270559e-01 1.44653873e-04 -5.56303832e+01] [ 7.52689691e-04 -2.06399845e-05 9.99999717e-01 2.61947517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3007140569999 meters Centerline goodness [0,1] 0.9952940196568383 Centerline is valid? [True, True] Translation: X:727.79, Y:-55.65, Z:2.62 [[ 9.86973302e-01 1.60874712e-01 -1.74034628e-03 7.27793933e+02] [-1.60874364e-01 9.86974834e-01 3.39311754e-04 -5.56457627e+01] [ 1.77226466e-03 -5.49145417e-05 9.99998428e-01 2.61962098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3307140569999 meters Centerline goodness [0,1] 0.9957459292944111 Centerline is valid? [True, True] Translation: X:727.82, Y:-55.66, Z:2.62 [[ 9.87467767e-01 1.57799830e-01 -2.57343198e-03 7.27820757e+02] [-1.57799058e-01 9.87471116e-01 5.01597866e-04 -5.56566946e+01] [ 2.62034180e-03 -8.92265835e-05 9.99996563e-01 2.61964705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3607140569999 meters Centerline goodness [0,1] 0.99541446943327 Centerline is valid? [True, True] Translation: X:727.85, Y:-55.67, Z:2.62 [[ 9.87979025e-01 1.54549980e-01 -3.42787542e-03 7.27848791e+02] [-1.54548592e-01 9.87984963e-01 6.67817129e-04 -5.56662643e+01] [ 3.48990050e-03 -1.30015997e-04 9.99993902e-01 2.61937764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.390714057 meters Centerline goodness [0,1] 0.9954939919893191 Centerline is valid? [True, True] Translation: X:727.88, Y:-55.68, Z:2.62 [[ 9.88553940e-01 1.50811355e-01 -4.12832853e-03 7.27876108e+02] [-1.50809311e-01 9.88562545e-01 8.03967132e-04 -5.56769812e+01] [ 4.20235833e-03 -1.72174497e-04 9.99991155e-01 2.61933200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4207140569999 meters Centerline goodness [0,1] 0.9957573097581875 Centerline is valid? [True, True] Translation: X:727.90, Y:-55.69, Z:2.62 [[ 9.89702550e-01 1.43040000e-01 -5.33104304e-03 7.27904956e+02] [-1.43036480e-01 9.89716873e-01 1.03767394e-03 -5.56899209e+01] [ 5.42465213e-03 -2.64454908e-04 9.99985251e-01 2.61886327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4507140569999 meters Centerline goodness [0,1] 0.9960618436406068 Centerline is valid? [True, True] Translation: X:727.93, Y:-55.71, Z:2.62 [[ 9.90851578e-01 1.34814588e-01 -6.17874121e-03 7.27931189e+02] [-1.34809701e-01 9.90870778e-01 1.20268224e-03 -5.57061245e+01] [ 6.28447322e-03 -3.58725341e-04 9.99980188e-01 2.61911473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4807140569999 meters Centerline goodness [0,1] 0.9962030334007886 Centerline is valid? [True, True] Translation: X:727.96, Y:-55.72, Z:2.62 [[ 9.91329551e-01 1.31260349e-01 -6.03671359e-03 7.27958578e+02] [-1.31255617e-01 9.91347861e-01 1.17509051e-03 -5.57166014e+01] [ 6.13872590e-03 -3.72549377e-04 9.99981088e-01 2.61963667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.510714057 meters Centerline goodness [0,1] 0.9960461970658621 Centerline is valid? [True, True] Translation: X:727.99, Y:-55.72, Z:2.62 [[ 9.91824563e-01 1.27465730e-01 -6.04353648e-03 7.27988129e+02] [-1.27460920e-01 9.91842896e-01 1.17617759e-03 -5.57242761e+01] [ 6.14416106e-03 -3.96247106e-04 9.99981046e-01 2.62041462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.540714057 meters Centerline goodness [0,1] 0.9962387161484454 Centerline is valid? [True, True] Translation: X:728.02, Y:-55.73, Z:2.62 [[ 9.92240296e-01 1.24173909e-01 -6.32736823e-03 7.28017175e+02] [-1.24168570e-01 9.92260374e-01 1.23130427e-03 -5.57322963e+01] [ 6.43129263e-03 -4.36089447e-04 9.99979224e-01 2.62099030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5707140569999 meters Centerline goodness [0,1] 0.9960683724744024 Centerline is valid? [True, True] Translation: X:728.05, Y:-55.74, Z:2.62 [[ 9.92958924e-01 1.18287690e-01 -6.37159456e-03 7.28046447e+02] [-1.18282156e-01 9.92979252e-01 1.23974407e-03 -5.57418850e+01] [ 6.47350766e-03 -4.77368990e-04 9.99978933e-01 2.62128123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6007140569999 meters Centerline goodness [0,1] 0.9958179888895824 Centerline is valid? [True, True] Translation: X:728.07, Y:-55.75, Z:2.62 [[ 9.93275200e-01 1.15583547e-01 -6.69484467e-03 7.28074533e+02] [-1.15577377e-01 9.93297626e-01 1.30265141e-03 -5.57503215e+01] [ 6.80053838e-03 -5.20118755e-04 9.99976741e-01 2.62082828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.630714057 meters Centerline goodness [0,1] 0.9957962103149706 Centerline is valid? [True, True] Translation: X:728.10, Y:-55.76, Z:2.62 [[ 9.93786851e-01 1.11100281e-01 -6.66505234e-03 7.28104374e+02] [-1.11094065e-01 9.93809049e-01 1.29687864e-03 -5.57580454e+01] [ 6.76787291e-03 -5.48373185e-04 9.99976947e-01 2.62132053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.660714057 meters Centerline goodness [0,1] 0.9958589534445978 Centerline is valid? [True, True] Translation: X:728.13, Y:-55.76, Z:2.62 [[ 9.94008215e-01 1.09130266e-01 -6.18500288e-03 7.28134581e+02] [-1.09124875e-01 9.94027320e-01 1.20347902e-03 -5.57617446e+01] [ 6.27939783e-03 -5.21330367e-04 9.99980148e-01 2.62164235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6907140569999 meters Centerline goodness [0,1] 0.9957741469843727 Centerline is valid? [True, True] Translation: X:728.16, Y:-55.77, Z:2.62 [[ 9.94200504e-01 1.07389555e-01 -5.73070968e-03 7.28162688e+02] [-1.07384898e-01 9.94216898e-01 1.11517037e-03 -5.57684107e+01] [ 5.81732605e-03 -4.93311269e-04 9.99982958e-01 2.62259236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7207140569999 meters Centerline goodness [0,1] 0.9948383306405926 Centerline is valid? [True, True] Translation: X:728.19, Y:-55.77, Z:2.62 [[ 9.94482540e-01 1.04793234e-01 -4.78069931e-03 7.28192844e+02] [-1.04789964e-01 9.94493941e-01 9.30009556e-04 -5.57715230e+01] [ 4.85183521e-03 -4.23908957e-04 9.99988140e-01 2.62325674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.750714057 meters Centerline goodness [0,1] 0.9947836695202238 Centerline is valid? [True, True] Translation: X:728.22, Y:-55.78, Z:2.62 [[ 9.94586466e-01 1.03806587e-01 -4.68550961e-03 7.28221069e+02] [-1.03803436e-01 9.94597414e-01 9.11503753e-04 -5.57770963e+01] [ 4.75481583e-03 -4.20197301e-04 9.99988608e-01 2.62347415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.780714057 meters Centerline goodness [0,1] 0.9940798589242977 Centerline is valid? [True, True] Translation: X:728.25, Y:-55.78, Z:2.62 [[ 9.94720579e-01 1.02529924e-01 -4.31107742e-03 7.28250023e+02] [-1.02527245e-01 9.94729843e-01 8.38454844e-04 -5.57817578e+01] [ 4.37432407e-03 -3.92025397e-04 9.99990356e-01 2.62367791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8107140569999 meters Centerline goodness [0,1] 0.9930644316396019 Centerline is valid? [True, True] Translation: X:728.28, Y:-55.78, Z:2.62 [[ 9.94870385e-01 1.01105538e-01 -3.25372983e-03 7.28278984e+02] [-1.01104005e-01 9.94875660e-01 6.32656514e-04 -5.57848803e+01] [ 3.30102169e-03 -3.00446111e-04 9.99994506e-01 2.62441895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8407140569999 meters Centerline goodness [0,1] 0.9923271518471284 Centerline is valid? [True, True] Translation: X:728.31, Y:-55.79, Z:2.62 [[ 9.94910050e-01 1.00723966e-01 -2.94547414e-03 7.28308116e+02] [-1.00722708e-01 9.94914372e-01 5.72670302e-04 -5.57879520e+01] [ 2.98817618e-03 -2.73079306e-04 9.99995498e-01 2.62487904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.870714057 meters Centerline goodness [0,1] 0.9920969331069325 Centerline is valid? [True, True] Translation: X:728.34, Y:-55.79, Z:2.63 [[ 9.94840793e-01 1.01422918e-01 -2.27775507e-03 7.28337828e+02] [-1.01422168e-01 9.94843379e-01 4.42781468e-04 -5.57878515e+01] [ 2.31091773e-03 -2.09482210e-04 9.99997308e-01 2.62545160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.900714057 meters Centerline goodness [0,1] 0.9913642762591137 Centerline is valid? [True, True] Translation: X:728.37, Y:-55.79, Z:2.62 [[ 9.94749584e-01 1.02302131e-01 -2.74591365e-03 7.28366341e+02] [-1.02301044e-01 9.94753342e-01 5.33714493e-04 -5.57908382e+01] [ 2.78610691e-03 -2.50002436e-04 9.99996088e-01 2.62459670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9307140569999 meters Centerline goodness [0,1] 0.9905766584664137 Centerline is valid? [True, True] Translation: X:728.40, Y:-55.79, Z:2.62 [[ 9.94698449e-01 1.02757093e-01 -3.99696737e-03 7.28395328e+02] [-1.02754796e-01 9.94706413e-01 7.76544045e-04 -5.57927983e+01] [ 4.05560449e-03 -3.61719591e-04 9.99991711e-01 2.62308608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9607140569999 meters Centerline goodness [0,1] 0.9899263932702419 Centerline is valid? [True, True] Translation: X:728.43, Y:-55.79, Z:2.62 [[ 9.94440539e-01 1.05131530e-01 -5.94773947e-03 7.28425939e+02] [-1.05126489e-01 9.94458188e-01 1.15482651e-03 -5.57898214e+01] [ 6.03618690e-03 -5.23141331e-04 9.99981645e-01 2.62022584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.990714057 meters Centerline goodness [0,1] 0.9893866935145565 Centerline is valid? [True, True] Translation: X:728.46, Y:-55.79, Z:2.62 [[ 9.94255599e-01 1.06855128e-01 -6.14698615e-03 7.28455023e+02] [-1.06849777e-01 9.94274460e-01 1.19331419e-03 -5.57903623e+01] [ 6.23930307e-03 -5.29655215e-04 9.99980395e-01 2.61975112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.020714057 meters Centerline goodness [0,1] 0.9874981552927287 Centerline is valid? [True, True] Translation: X:728.49, Y:-55.79, Z:2.62 [[ 9.94086172e-01 1.08378441e-01 -6.84076693e-03 7.28485687e+02] [-1.08371853e-01 9.94109541e-01 1.32759622e-03 -5.57903100e+01] [ 6.94435448e-03 -5.78398460e-04 9.99975720e-01 2.61942836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0507140569999 meters Centerline goodness [0,1] 0.9856741337360517 Centerline is valid? [True, True] Translation: X:728.52, Y:-55.78, Z:2.62 [[ 9.93613325e-01 1.12690460e-01 -5.78108921e-03 7.28517228e+02] [-1.12685828e-01 9.93630035e-01 1.12170005e-03 -5.57840913e+01] [ 5.87066877e-03 -4.63089290e-04 9.99982660e-01 2.61995624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0807140569999 meters Centerline goodness [0,1] 0.985283886066075 Centerline is valid? [True, True] Translation: X:728.55, Y:-55.78, Z:2.62 [[ 9.93347085e-01 1.15041325e-01 -5.20220614e-03 7.28547763e+02] [-1.15037608e-01 9.93360624e-01 1.00923791e-03 -5.57841880e+01] [ 5.28377081e-03 -4.04074180e-04 9.99985959e-01 2.62034839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1107140569999 meters Centerline goodness [0,1] 0.9828201040443028 Centerline is valid? [True, True] Translation: X:728.58, Y:-55.78, Z:2.62 [[ 9.92788005e-01 1.19781799e-01 -4.92921010e-03 7.28579765e+02] [-1.19778520e-01 9.92800177e-01 9.56223092e-04 -5.57766892e+01] [ 5.00825878e-03 -3.58913327e-04 9.99987394e-01 2.61986510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.140714057 meters Centerline goodness [0,1] 0.9837667122855037 Centerline is valid? [True, True] Translation: X:728.61, Y:-55.77, Z:2.62 [[ 9.92529234e-01 1.21899627e-01 -5.11868429e-03 7.28612155e+02] [-1.21896119e-01 9.92542367e-01 9.92853681e-04 -5.57657499e+01] [ 5.20153952e-03 -3.61488553e-04 9.99986407e-01 2.61956394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1707140569999 meters Centerline goodness [0,1] 0.9825816876875616 Centerline is valid? [True, True] Translation: X:728.64, Y:-55.77, Z:2.62 [[ 9.92274648e-01 1.23966528e-01 -4.82940322e-03 7.28640969e+02] [-1.23963431e-01 9.92286345e-01 9.36579568e-04 -5.57700969e+01] [ 4.90825539e-03 -3.30674769e-04 9.99987900e-01 2.61957642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2007140569999 meters Centerline goodness [0,1] 0.9828742565486986 Centerline is valid? [True, True] Translation: X:728.67, Y:-55.76, Z:2.62 [[ 9.92001404e-01 1.26148135e-01 -4.45666592e-03 7.28672955e+02] [-1.26145520e-01 9.92011371e-01 8.64101421e-04 -5.57621631e+01] [ 4.53006805e-03 -2.95001383e-04 9.99989696e-01 2.61948099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2307140569999 meters Centerline goodness [0,1] 0.9801662259161315 Centerline is valid? [True, True] Translation: X:728.70, Y:-55.76, Z:2.62 [[ 9.91430814e-01 1.30584189e-01 -3.56531120e-03 7.28702941e+02] [-1.30582545e-01 9.91437200e-01 6.91251302e-04 -5.57625629e+01] [ 3.62504864e-03 -2.19760432e-04 9.99993405e-01 2.61977592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.260714057 meters Centerline goodness [0,1] 0.9797809604043808 Centerline is valid? [True, True] Translation: X:728.73, Y:-55.76, Z:2.62 [[ 9.91183477e-01 1.32458348e-01 -3.17831865e-03 7.28733039e+02] [-1.32457050e-01 9.91188554e-01 6.16294678e-04 -5.57609449e+01] [ 3.23194645e-03 -1.89870387e-04 9.99994759e-01 2.61994136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.290714057 meters Centerline goodness [0,1] 0.9794347184138368 Centerline is valid? [True, True] Translation: X:728.77, Y:-55.75, Z:2.62 [[ 9.90755013e-01 1.35646093e-01 -2.15451887e-03 7.28765027e+02] [-1.35645505e-01 9.90757348e-01 4.17706202e-04 -5.57517019e+01] [ 2.19126562e-03 -1.21593714e-04 9.99997592e-01 2.61931328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3207140569999 meters Centerline goodness [0,1] 0.9787610619469027 Centerline is valid? [True, True] Translation: X:728.79, Y:-55.75, Z:2.62 [[ 9.90491307e-01 1.37565123e-01 -1.67580461e-03 7.28792810e+02] [-1.37564769e-01 9.90492720e-01 3.25213884e-04 -5.57540452e+01] [ 1.70461035e-03 -9.15898509e-05 9.99998543e-01 2.61939377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3507140569999 meters Centerline goodness [0,1] 0.977685499769305 Centerline is valid? [True, True] Translation: X:728.82, Y:-55.76, Z:2.62 [[ 9.90329039e-01 1.38727039e-01 -1.78973171e-03 7.28819740e+02] [-1.38726638e-01 9.90330652e-01 3.47099846e-04 -5.57592583e+01] [ 1.82057830e-03 -9.54595950e-05 9.99998338e-01 2.61962043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.380714057 meters Centerline goodness [0,1] 0.9746407261114379 Centerline is valid? [True, True] Translation: X:728.85, Y:-55.76, Z:2.62 [[ 9.90082386e-01 1.40468924e-01 -2.31299230e-03 7.28847956e+02] [-1.40468259e-01 9.90085081e-01 4.48050873e-04 -5.57627298e+01] [ 2.35299640e-03 -1.18705275e-04 9.99997225e-01 2.61924528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.410714057 meters Centerline goodness [0,1] 0.9717967012213036 Centerline is valid? [True, True] Translation: X:728.87, Y:-55.78, Z:2.62 [[ 9.89992542e-01 1.41089060e-01 -2.94007181e-03 7.28873937e+02] [-1.41087990e-01 9.89996897e-01 5.69225130e-04 -5.57759310e+01] [ 2.99097340e-03 -1.48719812e-04 9.99995516e-01 2.61972455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4407140569999 meters Centerline goodness [0,1] 0.971473215228362 Centerline is valid? [True, True] Translation: X:728.90, Y:-55.78, Z:2.62 [[ 9.89883425e-01 1.41835674e-01 -3.66690461e-03 7.28903239e+02] [-1.41834015e-01 9.89890200e-01 7.09895714e-04 -5.57789599e+01] [ 3.73052147e-03 -1.82622197e-04 9.99993025e-01 2.61922598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4707140569999 meters Centerline goodness [0,1] 0.9770180678231768 Centerline is valid? [True, True] Translation: X:728.94, Y:-55.76, Z:2.62 [[ 9.89594361e-01 1.43786970e-01 -5.32055364e-03 7.28935901e+02] [-1.43783514e-01 9.89608631e-01 1.02837859e-03 -5.57631591e+01] [ 5.41313325e-03 -2.52669756e-04 9.99985317e-01 2.61715400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.500714057 meters Centerline goodness [0,1] 0.9770008424599832 Centerline is valid? [True, True] Translation: X:728.96, Y:-55.77, Z:2.62 [[ 9.89407631e-01 1.45040601e-01 -5.98026453e-03 7.28964576e+02] [-1.45036268e-01 9.89425666e-01 1.15426596e-03 -5.57672442e+01] [ 6.08444265e-03 -2.74684295e-04 9.99981452e-01 2.61606718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.530714057 meters Centerline goodness [0,1] 0.97800629590766 Centerline is valid? [True, True] Translation: X:728.99, Y:-55.77, Z:2.62 [[ 9.88896333e-01 1.48467857e-01 -6.42943904e-03 7.28994365e+02] [-1.48462934e-01 9.88917197e-01 1.23898773e-03 -5.57708229e+01] [ 6.54213268e-03 -2.70697043e-04 9.99978563e-01 2.61624014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5607140569999 meters Centerline goodness [0,1] 0.9786275294266282 Centerline is valid? [True, True] Translation: X:729.02, Y:-55.77, Z:2.62 [[ 9.88599989e-01 1.50456958e-01 -5.72419113e-03 7.29023302e+02] [-1.50453090e-01 9.88616534e-01 1.10289627e-03 -5.57730710e+01] [ 5.82496841e-03 -2.29101002e-04 9.99983008e-01 2.61740987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5907140569999 meters Centerline goodness [0,1] 0.9792063693728031 Centerline is valid? [True, True] Translation: X:729.05, Y:-55.78, Z:2.62 [[ 9.88367906e-01 1.52000716e-01 -4.96641859e-03 7.29051955e+02] [-1.51997823e-01 9.88380365e-01 9.57033188e-04 -5.57770507e+01] [ 5.05418035e-03 -1.91016074e-04 9.99987209e-01 2.61844335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.620714057 meters Centerline goodness [0,1] 0.9794128779913361 Centerline is valid? [True, True] Translation: X:729.08, Y:-55.79, Z:2.62 [[ 9.87895736e-01 1.55048312e-01 -4.69418160e-03 7.29079233e+02] [-1.55045769e-01 9.87906875e-01 9.02966068e-04 -5.57851489e+01] [ 4.77741764e-03 -1.64223330e-04 9.99988575e-01 2.61954630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.650714057 meters Centerline goodness [0,1] 0.9794128779913361 Centerline is valid? [True, True] Translation: X:729.11, Y:-55.79, Z:2.62 [[ 9.87937754e-01 1.54780357e-01 -4.69414507e-03 7.29106217e+02] [-1.54777811e-01 9.87948892e-01 9.03156616e-04 -5.57902471e+01] [ 4.77736633e-03 -1.65713021e-04 9.99988575e-01 2.61975071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6807140569999 meters Centerline goodness [0,1] 0.9802287961768624 Centerline is valid? [True, True] Translation: X:729.13, Y:-55.79, Z:2.62 [[ 9.87845377e-01 1.55371473e-01 -4.60609757e-03 7.29134585e+02] [-1.55369034e-01 9.87856103e-01 8.84888703e-04 -5.57934408e+01] [ 4.68764806e-03 -1.58488284e-04 9.99989000e-01 2.61985785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7107140569999 meters Centerline goodness [0,1] 0.9809290229824301 Centerline is valid? [True, True] Translation: X:729.16, Y:-55.80, Z:2.62 [[ 9.87788439e-01 1.55728346e-01 -4.76264373e-03 7.29163552e+02] [-1.55725749e-01 9.87799907e-01 9.13650994e-04 -5.57979350e+01] [ 4.84682039e-03 -1.60827629e-04 9.99988241e-01 2.62012350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.740714057 meters Centerline goodness [0,1] 0.9800349598803783 Centerline is valid? [True, True] Translation: X:729.19, Y:-55.81, Z:2.62 [[ 9.87788498e-01 1.55721650e-01 -4.96498663e-03 7.29190405e+02] [-1.55718833e-01 9.87800962e-01 9.51320219e-04 -5.58059776e+01] [ 5.05255973e-03 -1.66561244e-04 9.99987222e-01 2.62130464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.770714057 meters Centerline goodness [0,1] 0.9810649142760858 Centerline is valid? [True, True] Translation: X:729.22, Y:-55.81, Z:2.62 [[ 9.87901940e-01 1.55019346e-01 -4.33114274e-03 7.29218038e+02] [-1.55017203e-01 9.87911424e-01 8.28264965e-04 -5.58123139e+01] [ 4.40718249e-03 -1.46842931e-04 9.99990278e-01 2.62255057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8007140569999 meters Centerline goodness [0,1] 0.9790371852944275 Centerline is valid? [True, True] Translation: X:729.24, Y:-55.82, Z:2.62 [[ 9.88099058e-01 1.53759047e-01 -4.29023028e-03 7.29243507e+02] [-1.53756934e-01 9.88108361e-01 8.20253851e-04 -5.58244370e+01] [ 4.36533386e-03 -1.50839406e-04 9.99990461e-01 2.62438553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8307140569999 meters Centerline goodness [0,1] 0.9795686480799579 Centerline is valid? [True, True] Translation: X:729.27, Y:-55.83, Z:2.63 [[ 9.88619784e-01 1.50374394e-01 -4.29704913e-03 7.29271774e+02] [-1.50372246e-01 9.88629109e-01 8.20527221e-04 -5.58318762e+01] [ 4.37157413e-03 -1.65032517e-04 9.99990431e-01 2.62663016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8607140569999 meters Centerline goodness [0,1] 0.9798224204679347 Centerline is valid? [True, True] Translation: X:729.30, Y:-55.84, Z:2.63 [[ 9.88970366e-01 1.48024923e-01 -5.12224430e-03 7.29299623e+02] [-1.48021838e-01 9.88983609e-01 9.78183391e-04 -5.58394371e+01] [ 5.21061118e-03 -2.09190368e-04 9.99986403e-01 2.62711269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.890714057 meters Centerline goodness [0,1] 0.9789274447949526 Centerline is valid? [True, True] Translation: X:729.33, Y:-55.85, Z:2.63 [[ 9.89576828e-01 1.43902765e-01 -5.44935829e-03 7.29327055e+02] [-1.43899222e-01 9.89591802e-01 1.03868648e-03 -5.58540674e+01] [ 5.54211015e-03 -2.43701648e-04 9.99984613e-01 2.62840280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9207140569999 meters Centerline goodness [0,1] 0.9794352556442991 Centerline is valid? [True, True] Translation: X:729.36, Y:-55.86, Z:2.63 [[ 9.89893507e-01 1.41699150e-01 -5.67404427e-03 7.29356369e+02] [-1.41695274e-01 9.89909733e-01 1.08143427e-03 -5.58603952e+01] [ 5.77002997e-03 -2.66519503e-04 9.99983318e-01 2.62886180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9507140569999 meters Centerline goodness [0,1] 0.9794733742744174 Centerline is valid? [True, True] Translation: X:729.39, Y:-55.87, Z:2.63 [[ 9.90173958e-01 1.39723235e-01 -5.74021769e-03 7.29385152e+02] [-1.39719236e-01 9.90190557e-01 1.09383439e-03 -5.58683923e+01] [ 5.83674343e-03 -2.81067500e-04 9.99982927e-01 2.62964567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9807140569999 meters Centerline goodness [0,1] 0.9799255880436382 Centerline is valid? [True, True] Translation: X:729.41, Y:-55.88, Z:2.63 [[ 9.90484230e-01 1.37496358e-01 -5.97841449e-03 7.29412613e+02] [-1.37491981e-01 9.90502225e-01 1.13901695e-03 -5.58773771e+01] [ 6.07824354e-03 -3.06194280e-04 9.99981480e-01 2.63001465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.010714057 meters Centerline goodness [0,1] 0.9789630750478112 Centerline is valid? [True, True] Translation: X:729.44, Y:-55.89, Z:2.63 [[ 9.91076068e-01 1.33104384e-01 -7.17293469e-03 7.29441086e+02] [-1.33097972e-01 9.91101944e-01 1.36612045e-03 -5.58871049e+01] [ 7.29094614e-03 -3.99226217e-04 9.99973341e-01 2.62979570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.040714057 meters Centerline goodness [0,1] 0.9795579646203622 Centerline is valid? [True, True] Translation: X:729.47, Y:-55.89, Z:2.63 [[ 9.91346119e-01 1.31024045e-01 -8.09771092e-03 7.29469322e+02] [-1.31015805e-01 9.91379080e-01 1.54205415e-03 -5.58946597e+01] [ 8.22994737e-03 -4.67781280e-04 9.99966024e-01 2.62925295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0707140569999 meters Centerline goodness [0,1] 0.979096654196521 Centerline is valid? [True, True] Translation: X:729.50, Y:-55.90, Z:2.63 [[ 9.91563694e-01 1.29312187e-01 -8.93298435e-03 7.29497948e+02] [-1.29302095e-01 9.91603790e-01 1.70061407e-03 -5.59025552e+01] [ 9.07789126e-03 -5.31213585e-04 9.99958654e-01 2.62947942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1007140569999 meters Centerline goodness [0,1] 0.9787795608108109 Centerline is valid? [True, True] Translation: X:729.53, Y:-55.91, Z:2.63 [[ 9.91975903e-01 1.26025017e-01 -1.00748396e-02 7.29525978e+02] [-1.26012015e-01 9.92026862e-01 1.91764266e-03 -5.59129439e+01] [ 1.02361825e-02 -6.32704469e-04 9.99947409e-01 2.62883266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.130714057 meters Centerline goodness [0,1] 0.9791495025033272 Centerline is valid? [True, True] Translation: X:729.55, Y:-55.92, Z:2.63 [[ 9.92134661e-01 1.24759065e-01 -1.01975167e-02 7.29554359e+02] [-1.24745681e-01 9.92186852e-01 1.94065078e-03 -5.59197528e+01] [ 1.03599558e-02 -6.53290731e-04 9.99946121e-01 2.62952480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.160714057 meters Centerline goodness [0,1] 0.9800776633462772 Centerline is valid? [True, True] Translation: X:729.58, Y:-55.92, Z:2.63 [[ 9.92442737e-01 1.22406388e-01 -8.60758867e-03 7.29584111e+02] [-1.22396769e-01 9.92479899e-01 1.63756014e-03 -5.59198430e+01] [ 8.74330655e-03 -5.71643623e-04 9.99961613e-01 2.63174726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1907140569999 meters Centerline goodness [0,1] 0.9785590150547541 Centerline is valid? [True, True] Translation: X:729.61, Y:-55.93, Z:2.63 [[ 9.92600337e-01 1.21144612e-01 -8.27972775e-03 7.29610693e+02] [-1.21135672e-01 9.92634711e-01 1.57469555e-03 -5.59289622e+01] [ 8.40951104e-03 -5.60072949e-04 9.99964483e-01 2.63204835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2207140569999 meters Centerline goodness [0,1] 0.9793279473495475 Centerline is valid? [True, True] Translation: X:729.64, Y:-55.93, Z:2.63 [[ 9.92800641e-01 1.19568416e-01 -7.09090000e-03 7.29640278e+02] [-1.19561823e-01 9.92825842e-01 1.34802154e-03 -5.59293982e+01] [ 7.20120956e-03 -4.90515715e-04 9.99973951e-01 2.63232990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.250714057 meters Centerline goodness [0,1] 0.9786258897079012 Centerline is valid? [True, True] Translation: X:729.67, Y:-55.94, Z:2.63 [[ 9.93141042e-01 1.16738014e-01 -6.56561974e-03 7.29668178e+02] [-1.16732303e-01 9.93162631e-01 1.24780360e-03 -5.59380361e+01] [ 6.66639430e-03 -4.72825052e-04 9.99977668e-01 2.63282313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.280714057 meters Centerline goodness [0,1] 0.9785859097820577 Centerline is valid? [True, True] Translation: X:729.70, Y:-55.94, Z:2.63 [[ 9.93257608e-01 1.15766631e-01 -6.11643935e-03 7.29696545e+02] [-1.15761657e-01 9.93276340e-01 1.16226804e-03 -5.59418686e+01] [ 6.20986635e-03 -4.46382419e-04 9.99980619e-01 2.63224508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3107140569999 meters Centerline goodness [0,1] 0.9764566646237082 Centerline is valid? [True, True] Translation: X:729.72, Y:-55.95, Z:2.63 [[ 9.93420772e-01 1.14333039e-01 -6.56702475e-03 7.29724150e+02] [-1.14327278e-01 9.93442357e-01 1.24734331e-03 -5.59517228e+01] [ 6.66657311e-03 -4.88346693e-04 9.99977659e-01 2.63183738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3407140569999 meters Centerline goodness [0,1] 0.9775219182423154 Centerline is valid? [True, True] Translation: X:729.75, Y:-55.95, Z:2.63 [[ 9.93550791e-01 1.13160353e-01 -7.18049060e-03 7.29752951e+02] [-1.13153438e-01 9.93576590e-01 1.36342922e-03 -5.59539632e+01] [ 7.28865349e-03 -5.42138982e-04 9.99973290e-01 2.63175590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.370714057 meters Centerline goodness [0,1] 0.975981019966827 Centerline is valid? [True, True] Translation: X:729.78, Y:-55.96, Z:2.63 [[ 9.93818727e-01 1.10806174e-01 -6.80663324e-03 7.29782819e+02] [-1.10799909e-01 9.93841894e-01 1.29194777e-03 -5.59570426e+01] [ 6.90787306e-03 -5.29787543e-04 9.99976000e-01 2.63117673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.400714057 meters Centerline goodness [0,1] 0.9755474914553357 Centerline is valid? [True, True] Translation: X:729.81, Y:-55.96, Z:2.63 [[ 9.94206744e-01 1.07293502e-01 -6.40740163e-03 7.29812725e+02] [-1.07287878e-01 9.94227254e-01 1.21604663e-03 -5.59610228e+01] [ 6.50088723e-03 -5.21565234e-04 9.99978733e-01 2.63138784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4307140569999 meters Centerline goodness [0,1] 0.9754993790650193 Centerline is valid? [True, True] Translation: X:729.84, Y:-55.96, Z:2.63 [[ 9.94342706e-01 1.06024276e-01 -6.43713264e-03 7.29842656e+02] [-1.06018574e-01 9.94363399e-01 1.22172171e-03 -5.59600962e+01] [ 6.53038125e-03 -5.32354454e-04 9.99978535e-01 2.63146760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4607140569999 meters Centerline goodness [0,1] 0.9762935129087417 Centerline is valid? [True, True] Translation: X:729.87, Y:-55.96, Z:2.63 [[ 9.94590050e-01 1.03699717e-01 -6.08287585e-03 7.29873220e+02] [-1.03694584e-01 9.94608517e-01 1.15409459e-03 -5.59621707e+01] [ 6.16975940e-03 -5.17089715e-04 9.99980833e-01 2.63149513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.490714057 meters Centerline goodness [0,1] 0.9735247545656075 Centerline is valid? [True, True] Translation: X:729.90, Y:-55.98, Z:2.63 [[ 9.94847397e-01 1.01224541e-01 -5.67878824e-03 7.29900454e+02] [-1.01220027e-01 9.94863481e-01 1.07745472e-03 -5.59754151e+01] [ 5.75868389e-03 -4.97095929e-04 9.99983295e-01 2.63137110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.520714057 meters Centerline goodness [0,1] 0.9718658183432328 Centerline is valid? [True, True] Translation: X:729.93, Y:-55.98, Z:2.63 [[ 9.95471674e-01 9.49021054e-02 -5.45306102e-03 7.29930503e+02] [-9.48978495e-02 9.95486478e-01 1.03454833e-03 -5.59776440e+01] [ 5.52662932e-03 -5.12379797e-04 9.99984597e-01 2.63154676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5507140569999 meters Centerline goodness [0,1] 0.9723376870001899 Centerline is valid? [True, True] Translation: X:729.96, Y:-55.98, Z:2.63 [[ 9.95764681e-01 9.18007707e-02 -5.03180943e-03 7.29961764e+02] [-9.17971085e-02 9.95777274e-01 9.54496311e-04 -5.59778957e+01] [ 5.09818498e-03 -4.88548158e-04 9.99986885e-01 2.63206769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5807140569999 meters Centerline goodness [0,1] 0.9699454706852094 Centerline is valid? [True, True] Translation: X:729.99, Y:-55.98, Z:2.63 [[ 9.96260181e-01 8.62940779e-02 -4.35708456e-03 7.29991965e+02] [-8.62912798e-02 9.96269608e-01 8.26511537e-04 -5.59797672e+01] [ 4.41215398e-03 -4.47442131e-04 9.99990166e-01 2.63236405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6107140569999 meters Centerline goodness [0,1] 0.9634092206227408 Centerline is valid? [True, True] Translation: X:730.02, Y:-55.99, Z:2.63 [[ 9.96420547e-01 8.43948601e-02 -4.85804356e-03 7.30019604e+02] [-8.43913592e-02 9.96432260e-01 9.21532586e-04 -5.59928362e+01] [ 4.91848394e-03 -5.08257104e-04 9.99987775e-01 2.63284486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.640714057 meters Centerline goodness [0,1] 0.8987641780937871 Centerline is valid? [True, False] Translation: X:730.02, Y:-55.99, Z:2.63 [[ 9.96494279e-01 8.34998708e-02 -5.18877537e-03 7.30020389e+02] [-8.35044529e-02 9.96507177e-01 -6.72415359e-04 -5.59891331e+01] [ 5.11450530e-03 1.10334391e-03 9.99986312e-01 2.63280857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6707140569999 meters Centerline goodness [0,1] 0.9653720660983054 Centerline is valid? [False, True] Translation: X:730.02, Y:-55.98, Z:2.63 [[ 9.96602925e-01 8.21372366e-02 -6.00705499e-03 7.30022353e+02] [-8.21605696e-02 9.96612065e-01 -3.74610027e-03 -5.59811711e+01] [ 5.67900915e-03 4.22691754e-03 9.99974941e-01 2.63283801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7007140569999 meters Centerline goodness [0,1] 0.9645260974474029 Centerline is valid? [True, True] Translation: X:730.05, Y:-55.99, Z:2.63 [[ 9.96609910e-01 8.21509540e-02 -4.46189942e-03 7.30050721e+02] [-8.21479870e-02 9.96619785e-01 8.44528908e-04 -5.59855590e+01] [ 4.51619609e-03 -4.75129823e-04 9.99989689e-01 2.63247055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7307140569999 meters Centerline goodness [0,1] 0.959599578503688 Centerline is valid? [True, True] Translation: X:730.08, Y:-55.99, Z:2.63 [[ 9.96436519e-01 8.42652355e-02 -3.69238147e-03 7.30079557e+02] [-8.42632191e-02 9.96443286e-01 6.98585558e-04 -5.59884157e+01] [ 3.73811520e-03 -3.84964212e-04 9.99992939e-01 2.63424641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.760714057 meters Centerline goodness [0,1] 0.9628618010120901 Centerline is valid? [True, True] Translation: X:730.11, Y:-55.98, Z:2.64 [[ 9.96325913e-01 8.55871292e-02 -3.08532931e-03 7.30110402e+02] [-8.55857279e-02 9.96330639e-01 5.83656972e-04 -5.59849034e+01] [ 3.12396165e-03 -3.17452410e-04 9.99995070e-01 2.63502250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.790714057 meters Centerline goodness [0,1] 0.9616074253770699 Centerline is valid? [True, True] Translation: X:730.14, Y:-55.99, Z:2.64 [[ 9.96123552e-01 8.79070177e-02 -3.19772409e-03 7.30140084e+02] [-8.79055247e-02 9.96128633e-01 6.04756342e-04 -5.59867759e+01] [ 3.23850685e-03 -3.21314421e-04 9.99994704e-01 2.63508793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8207140569999 meters Centerline goodness [0,1] 0.9617258472863435 Centerline is valid? [True, True] Translation: X:730.17, Y:-55.98, Z:2.63 [[ 9.95595352e-01 9.36927724e-02 -3.39999297e-03 7.30170326e+02] [-9.36911183e-02 9.95601105e-01 6.42907820e-04 -5.59828820e+01] [ 3.44527258e-03 -3.21526893e-04 9.99994013e-01 2.63468473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8507140569999 meters Centerline goodness [0,1] 0.9641732618500554 Centerline is valid? [True, True] Translation: X:730.20, Y:-55.98, Z:2.63 [[ 9.95241657e-01 9.73975446e-02 -2.78595460e-03 7.30201356e+02] [-9.73964486e-02 9.95245525e-01 5.26713223e-04 -5.59803348e+01] [ 2.82400942e-03 -2.52864857e-04 9.99995981e-01 2.63475276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.880714057 meters Centerline goodness [0,1] 0.9665770020968801 Centerline is valid? [True, True] Translation: X:730.23, Y:-55.97, Z:2.63 [[ 9.94386433e-01 1.05774847e-01 -2.70260584e-03 7.30232526e+02] [-1.05773846e-01 9.94390081e-01 5.10971861e-04 -5.59733345e+01] [ 2.74149241e-03 -2.22238472e-04 9.99996217e-01 2.63474858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.910714057 meters Centerline goodness [0,1] 0.968158567774936 Centerline is valid? [True, True] Translation: X:730.26, Y:-55.97, Z:2.64 [[ 9.93921957e-01 1.10058188e-01 -2.51775734e-03 7.30264214e+02] [-1.10057333e-01 9.93925126e-01 4.75902109e-04 -5.59709873e+01] [ 2.55483920e-03 -1.95911898e-04 9.99996717e-01 2.63526813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9407140569999 meters Centerline goodness [0,1] 0.9729418537708693 Centerline is valid? [True, True] Translation: X:730.30, Y:-55.96, Z:2.64 [[ 9.93384764e-01 1.14805990e-01 -2.50916048e-03 7.30296365e+02] [-1.14805156e-01 9.93387916e-01 4.74323271e-04 -5.59645237e+01] [ 2.54702485e-03 -1.83120949e-04 9.99996740e-01 2.63519989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9707140569999 meters Centerline goodness [0,1] 0.9709453970154359 Centerline is valid? [True, True] Translation: X:730.32, Y:-55.97, Z:2.64 [[ 9.92810024e-01 1.19671135e-01 -2.66014197e-03 7.30324636e+02] [-1.19670215e-01 9.92813571e-01 5.02965935e-04 -5.59698289e+01] [ 2.70121555e-03 -1.81009862e-04 9.99996335e-01 2.63580198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.000714057 meters Centerline goodness [0,1] 0.9751664490162917 Centerline is valid? [True, True] Translation: X:730.36, Y:-55.96, Z:2.64 [[ 9.91452326e-01 1.30431512e-01 -3.14746924e-03 7.30357271e+02] [-1.30430279e-01 9.91457305e-01 5.94835173e-04 -5.59607905e+01] [ 3.19816662e-03 -1.79225424e-04 9.99994870e-01 2.63561329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.030714057 meters Centerline goodness [0,1] 0.9758878624858006 Centerline is valid? [True, True] Translation: X:730.39, Y:-55.96, Z:2.64 [[ 9.90750871e-01 1.35653599e-01 -3.28819409e-03 7.30387075e+02] [-1.35652281e-01 9.90756313e-01 6.21389091e-04 -5.59604896e+01] [ 3.34209272e-03 -1.69590754e-04 9.99994401e-01 2.63503905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0607140569999 meters Centerline goodness [0,1] 0.981580077286389 Centerline is valid? [True, True] Translation: X:730.42, Y:-55.95, Z:2.63 [[ 9.89960119e-01 1.41299610e-01 -3.65834534e-03 7.30419468e+02] [-1.41298018e-01 9.89966864e-01 6.91191116e-04 -5.59520263e+01] [ 3.71930570e-03 -1.67334691e-04 9.99993069e-01 2.63424716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0907140569999 meters Centerline goodness [0,1] 0.9824802768761152 Centerline is valid? [True, True] Translation: X:730.45, Y:-55.95, Z:2.63 [[ 9.88355716e-01 1.52127780e-01 -3.18063010e-03 7.30451524e+02] [-1.52126633e-01 9.88360828e-01 6.00984747e-04 -5.59469828e+01] [ 3.23503668e-03 -1.10128161e-04 9.99994761e-01 2.63417163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.120714057 meters Centerline goodness [0,1] 0.9824344225556528 Centerline is valid? [True, True] Translation: X:730.48, Y:-55.95, Z:2.63 [[ 9.87554994e-01 1.57240134e-01 -3.26707612e-03 7.30480318e+02] [-1.57238951e-01 9.87560394e-01 6.17287139e-04 -5.59489734e+01] [ 3.32349730e-03 -9.58933730e-05 9.99994473e-01 2.63390512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.150714057 meters Centerline goodness [0,1] 0.9829375738691307 Centerline is valid? [True, True] Translation: X:730.51, Y:-55.95, Z:2.63 [[ 9.86164419e-01 1.65757326e-01 -2.06082412e-03 7.30509325e+02] [-1.65756874e-01 9.86166572e-01 3.89227706e-04 -5.59495893e+01] [ 2.09683320e-03 -4.22467511e-05 9.99997801e-01 2.63451559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1807140569999 meters Centerline goodness [0,1] 0.9844298481748681 Centerline is valid? [True, True] Translation: X:730.54, Y:-55.95, Z:2.63 [[ 9.85594207e-01 1.69118568e-01 -1.72279872e-03 7.30538619e+02] [-1.69118256e-01 9.85595713e-01 3.26472486e-04 -5.59511340e+01] [ 1.75319559e-03 -3.04126752e-05 9.99998463e-01 2.63453338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2107140569999 meters Centerline goodness [0,1] 0.9850209835359949 Centerline is valid? [True, True] Translation: X:730.57, Y:-55.96, Z:2.63 [[ 9.85073497e-01 1.72127659e-01 -1.50825956e-03 7.30565837e+02] [-1.72127424e-01 9.85074651e-01 2.85038909e-04 -5.59555856e+01] [ 1.53481134e-03 -2.11714424e-05 9.99998822e-01 2.63493839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.240714057 meters Centerline goodness [0,1] 0.9847471118473421 Centerline is valid? [True, True] Translation: X:730.59, Y:-55.96, Z:2.63 [[ 9.84657403e-01 1.74493936e-01 -1.29010336e-03 7.30594634e+02] [-1.74493765e-01 9.84658248e-01 2.44346603e-04 -5.59602102e+01] [ 1.31294792e-03 -1.54826978e-05 9.99999138e-01 2.63481668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.270714057 meters Centerline goodness [0,1] 0.9842124534235068 Centerline is valid? [True, True] Translation: X:730.62, Y:-55.97, Z:2.63 [[ 9.84120113e-01 1.77497172e-01 -1.53519406e-03 7.30622427e+02] [-1.77496935e-01 9.84121310e-01 2.90078267e-04 -5.59675790e+01] [ 1.56230526e-03 -1.29796160e-05 9.99998780e-01 2.63423324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3007140569999 meters Centerline goodness [0,1] 0.9853526337298087 Centerline is valid? [True, True] Translation: X:730.65, Y:-55.98, Z:2.63 [[ 9.83970545e-01 1.78323667e-01 -1.62370813e-03 7.30648946e+02] [-1.78323406e-01 9.83971885e-01 3.05533054e-04 -5.59753505e+01] [ 1.65216693e-03 -1.10903610e-05 9.99998635e-01 2.63400751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3307140569999 meters Centerline goodness [0,1] 0.9846282839575181 Centerline is valid? [True, True] Translation: X:730.68, Y:-55.99, Z:2.63 [[ 9.84099857e-01 1.77615186e-01 -5.63303393e-04 7.30675451e+02] [-1.77615154e-01 9.84100018e-01 1.07272451e-04 -5.59884686e+01] [ 5.73400096e-04 -5.51558512e-06 9.99999836e-01 2.63413783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3607140569999 meters Centerline goodness [0,1] 0.9845787577213452 Centerline is valid? [True, True] Translation: X:730.70, Y:-56.00, Z:2.63 [[ 9.84320405e-01 1.76389684e-01 1.43574455e-04 7.30701743e+02] [-1.76389682e-01 9.84320415e-01 -2.63436387e-05 -5.59983590e+01] [-1.45970013e-04 6.05528747e-07 9.99999989e-01 2.63420094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.390714057 meters Centerline goodness [0,1] 0.9825353680200329 Centerline is valid? [True, True] Translation: X:730.73, Y:-56.01, Z:2.63 [[ 9.84702206e-01 1.74242881e-01 9.91618742e-04 7.30728120e+02] [-1.74242784e-01 9.84702706e-01 -1.84039599e-04 -5.60134100e+01] [-1.00851725e-03 8.44178922e-06 9.99999491e-01 2.63474045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4207140569999 meters Centerline goodness [0,1] 0.9816947846193371 Centerline is valid? [True, True] Translation: X:730.75, Y:-56.02, Z:2.63 [[ 9.84878390e-01 1.73244654e-01 9.19733916e-04 7.30754549e+02] [-1.73244571e-01 9.84878820e-01 -1.70057022e-04 -5.60232971e+01] [-9.35287923e-04 8.14657819e-06 9.99999563e-01 2.63497081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4507140569999 meters Centerline goodness [0,1] 0.981091718001369 Centerline is valid? [True, True] Translation: X:730.78, Y:-56.03, Z:2.64 [[ 9.85031170e-01 1.72370797e-01 1.37893584e-03 7.30780495e+02] [-1.72370607e-01 9.85032136e-01 -2.56690030e-04 -5.60348231e+01] [-1.40254198e-03 1.51596723e-05 9.99999016e-01 2.63585548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4807140569999 meters Centerline goodness [0,1] 0.9812726884475763 Centerline is valid? [True, True] Translation: X:730.81, Y:-56.05, Z:2.64 [[ 9.85226516e-01 1.71248207e-01 1.66245463e-03 7.30807422e+02] [-1.71247928e-01 9.85227918e-01 -3.09794212e-04 -5.60450089e+01] [-1.69094842e-03 2.05255621e-05 9.99998570e-01 2.63543380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.510714057 meters Centerline goodness [0,1] 0.980172614882202 Centerline is valid? [True, True] Translation: X:730.83, Y:-56.06, Z:2.64 [[ 9.85408682e-01 1.70194262e-01 1.90854771e-03 7.30833936e+02] [-1.70193895e-01 9.85410530e-01 -3.54236369e-04 -5.60616391e+01] [-1.94099200e-03 2.42444251e-05 9.99998116e-01 2.63549535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.540714057 meters Centerline goodness [0,1] 0.9799693473540806 Centerline is valid? [True, True] Translation: X:730.86, Y:-56.07, Z:2.64 [[ 9.85569753e-01 1.69261048e-01 1.72028847e-03 7.30860024e+02] [-1.69260751e-01 9.85571254e-01 -3.18376715e-04 -5.60718353e+01] [-1.74935564e-03 2.26051424e-05 9.99998470e-01 2.63571067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5707140569999 meters Centerline goodness [0,1] 0.9799693473540806 Centerline is valid? [True, True] Translation: X:730.89, Y:-56.08, Z:2.64 [[ 9.85617856e-01 1.68980714e-01 1.72037884e-03 7.30887004e+02] [-1.68980416e-01 9.85619357e-01 -3.17889410e-04 -5.60767918e+01] [-1.74935587e-03 2.26071450e-05 9.99998470e-01 2.63588465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6007140569999 meters Centerline goodness [0,1] 0.9798712098596956 Centerline is valid? [True, True] Translation: X:730.91, Y:-56.09, Z:2.64 [[ 9.85794314e-01 1.67945918e-01 1.93345429e-03 7.30914349e+02] [-1.67945540e-01 9.85796210e-01 -3.57201133e-04 -5.60871646e+01] [-1.96598238e-03 2.74118208e-05 9.99998067e-01 2.63557550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.630714057 meters Centerline goodness [0,1] 0.9815371585856447 Centerline is valid? [True, True] Translation: X:730.94, Y:-56.10, Z:2.64 [[ 9.85961993e-01 1.66967602e-01 8.76993780e-04 7.30939412e+02] [-1.66967524e-01 9.85962382e-01 -1.62103279e-04 -5.61037700e+01] [-8.91748872e-04 1.33981916e-05 9.99999602e-01 2.63591898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.660714057 meters Centerline goodness [0,1] 0.9814854179066406 Centerline is valid? [True, True] Translation: X:730.97, Y:-56.11, Z:2.64 [[ 9.86187651e-01 1.65626603e-01 1.32085840e-03 7.30967072e+02] [-1.65626426e-01 9.86188536e-01 -2.43074066e-04 -5.61144439e+01] [-1.34287494e-03 2.09475864e-05 9.99999098e-01 2.63580997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6907140569999 meters Centerline goodness [0,1] 0.9819700412353782 Centerline is valid? [True, True] Translation: X:730.99, Y:-56.13, Z:2.64 [[ 9.86688060e-01 1.62618330e-01 1.39702455e-03 7.30991978e+02] [-1.62618128e-01 9.86689048e-01 -2.58087530e-04 -5.61321407e+01] [-1.42039859e-03 2.74703676e-05 9.99998991e-01 2.63740411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7207140569999 meters Centerline goodness [0,1] 0.981102429081026 Centerline is valid? [True, True] Translation: X:731.02, Y:-56.14, Z:2.64 [[ 9.87089207e-01 1.60153989e-01 2.36574183e-03 7.31019464e+02] [-1.60153404e-01 9.87092041e-01 -4.35818305e-04 -5.61432988e+01] [-2.40500298e-03 5.13099373e-05 9.99997107e-01 2.63764258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.750714057 meters Centerline goodness [0,1] 0.9813250987311991 Centerline is valid? [True, True] Translation: X:731.05, Y:-56.16, Z:2.64 [[ 9.87490453e-01 1.57670908e-01 1.57808925e-03 7.31046727e+02] [-1.57670646e-01 9.87491713e-01 -2.89798270e-04 -5.61551880e+01] [-1.60404282e-03 3.73546732e-05 9.99998713e-01 2.63870481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.780714057 meters Centerline goodness [0,1] 0.981624410564378 Centerline is valid? [True, True] Translation: X:731.07, Y:-56.17, Z:2.64 [[ 9.88384618e-01 1.51965214e-01 1.55589419e-03 7.31073801e+02] [-1.51964950e-01 9.88385841e-01 -2.86988669e-04 -5.61725879e+01] [-1.58143609e-03 4.72138020e-05 9.99998748e-01 2.63888761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8107140569999 meters Centerline goodness [0,1] 0.983039448519367 Centerline is valid? [True, True] Translation: X:731.10, Y:-56.18, Z:2.64 [[ 9.88836775e-01 1.48998550e-01 1.12430812e-03 7.31101628e+02] [-1.48998410e-01 9.88837414e-01 -2.07274627e-04 -5.61837124e+01] [-1.14264156e-03 3.74406507e-05 9.99999346e-01 2.63928142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8407140569999 meters Centerline goodness [0,1] 0.9819417843537558 Centerline is valid? [True, True] Translation: X:731.13, Y:-56.20, Z:2.64 [[ 9.89243933e-01 1.46270590e-01 1.16412068e-03 7.31128831e+02] [-1.46270439e-01 9.89244617e-01 -2.14444883e-04 -5.61961057e+01] [-1.18296710e-03 4.18618566e-05 9.99999299e-01 2.63984176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.870714057 meters Centerline goodness [0,1] 0.9815150493213051 Centerline is valid? [True, True] Translation: X:731.16, Y:-56.21, Z:2.64 [[ 9.90016111e-01 1.40951505e-01 8.79213263e-04 7.31157349e+02] [-1.40951416e-01 9.90016501e-01 -1.62221562e-04 -5.62101550e+01] [-8.93301011e-04 3.66756053e-05 9.99999600e-01 2.64065437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.900714057 meters Centerline goodness [0,1] 0.9822720240832881 Centerline is valid? [True, True] Translation: X:731.18, Y:-56.22, Z:2.64 [[ 9.90397813e-01 1.38245724e-01 5.41003732e-04 7.31184940e+02] [-1.38245691e-01 9.90397960e-01 -9.94520911e-05 -5.62199407e+01] [-5.49557819e-04 2.37056989e-05 9.99999849e-01 2.64117456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9307140569999 meters Centerline goodness [0,1] 0.9810908637044433 Centerline is valid? [True, True] Translation: X:731.21, Y:-56.23, Z:2.64 [[ 9.90736493e-01 1.35798354e-01 8.85549694e-05 7.31211904e+02] [-1.35798353e-01 9.90736497e-01 -1.59940421e-05 -5.62311660e+01] [-8.99066048e-05 3.82026213e-06 9.99999996e-01 2.64230260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9607140569999 meters Centerline goodness [0,1] 0.981381419117031 Centerline is valid? [True, True] Translation: X:731.24, Y:-56.24, Z:2.64 [[ 9.91438097e-01 1.30576631e-01 4.93995457e-04 7.31240809e+02] [-1.30576602e-01 9.91438219e-01 -9.10575995e-05 -5.62422028e+01] [-5.01655971e-04 2.57737250e-05 9.99999874e-01 2.64344472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.990714057 meters Centerline goodness [0,1] 0.9828130259171995 Centerline is valid? [True, True] Translation: X:731.27, Y:-56.25, Z:2.64 [[ 9.91766808e-01 1.28056057e-01 4.95175590e-04 7.31270102e+02] [-1.28056028e-01 9.91766931e-01 -9.09238266e-05 -5.62455588e+01] [-5.02742122e-04 2.67650141e-05 9.99999873e-01 2.64323040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.020714057 meters Centerline goodness [0,1] 0.9824863864768832 Centerline is valid? [True, True] Translation: X:731.30, Y:-56.25, Z:2.64 [[ 9.92033432e-01 1.25971584e-01 9.10650862e-04 7.31297745e+02] [-1.25971484e-01 9.92033849e-01 -1.67462814e-04 -5.62547651e+01] [-9.24492036e-04 5.14126702e-05 9.99999571e-01 2.64402876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0507140569999 meters Centerline goodness [0,1] 0.9806326257730236 Centerline is valid? [True, True] Translation: X:731.32, Y:-56.27, Z:2.64 [[ 9.92547336e-01 1.21858634e-01 5.09836563e-04 7.31324450e+02] [-1.21858602e-01 9.92547466e-01 -9.37052703e-05 -5.62691625e+01] [-5.17455785e-04 3.08789456e-05 9.99999866e-01 2.64498238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0807140569999 meters Centerline goodness [0,1] 0.9811210057621792 Centerline is valid? [True, True] Translation: X:731.35, Y:-56.27, Z:2.64 [[ 9.92819029e-01 1.19625417e-01 3.66680300e-04 7.31354091e+02] [-1.19625401e-01 9.92819097e-01 -6.70355757e-05 -5.62684481e+01] [-3.72066363e-04 2.26899174e-05 9.99999931e-01 2.64399525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1107140569999 meters Centerline goodness [0,1] 0.9798866915187128 Centerline is valid? [True, True] Translation: X:731.38, Y:-56.28, Z:2.64 [[ 9.93091619e-01 1.17341325e-01 -2.24658629e-04 7.31381541e+02] [-1.17341319e-01 9.93091644e-01 4.17073150e-05 -5.62784658e+01] [ 2.28000598e-04 -1.50574452e-05 9.99999974e-01 2.64417610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.140714057 meters Centerline goodness [0,1] 0.9806402631911932 Centerline is valid? [True, True] Translation: X:731.41, Y:-56.28, Z:2.64 [[ 9.93671593e-01 1.12307526e-01 -1.94564649e-03 7.31412779e+02] [-1.12307039e-01 9.93673488e-01 3.58210693e-04 -5.62784204e+01] [ 1.97356709e-03 -1.37433994e-04 9.99998043e-01 2.64195298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1707140569999 meters Centerline goodness [0,1] 0.9789467042443107 Centerline is valid? [True, True] Translation: X:731.44, Y:-56.29, Z:2.64 [[ 9.94011963e-01 1.09231004e-01 -2.96750461e-03 7.31440641e+02] [-1.09229856e-01 9.94016368e-01 5.46466367e-04 -5.62873217e+01] [ 3.00943922e-03 -2.19054004e-04 9.99995448e-01 2.64087933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2007140569999 meters Centerline goodness [0,1] 0.9767756717350552 Centerline is valid? [True, True] Translation: X:731.47, Y:-56.29, Z:2.64 [[ 9.94583906e-01 1.03869596e-01 -3.73647295e-03 7.31469185e+02] [-1.03867740e-01 9.94590880e-01 6.87864374e-04 -5.62936199e+01] [ 3.78771012e-03 -2.96039835e-04 9.99992783e-01 2.64011055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2307140569999 meters Centerline goodness [0,1] 0.9764626906375212 Centerline is valid? [True, True] Translation: X:731.50, Y:-56.30, Z:2.64 [[ 9.94807700e-01 1.01719045e-01 -3.29777538e-03 7.31499221e+02] [-1.01717588e-01 9.94813130e-01 6.06965384e-04 -5.62953012e+01] [ 3.34241019e-03 -2.68372080e-04 9.99994378e-01 2.64067309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.260714057 meters Centerline goodness [0,1] 0.9746214275183758 Centerline is valid? [True, True] Translation: X:731.53, Y:-56.30, Z:2.64 [[ 9.95026524e-01 9.95661679e-02 -2.96559395e-03 7.31529099e+02] [-9.95649804e-02 9.95030912e-01 5.45783110e-04 -5.62986099e+01] [ 3.00519918e-03 -2.47799368e-04 9.99995454e-01 2.64141229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.290714057 meters Centerline goodness [0,1] 0.9731620959125097 Centerline is valid? [True, True] Translation: X:731.56, Y:-56.30, Z:2.64 [[ 9.95338779e-01 9.63855971e-02 -3.24526056e-03 7.31559639e+02] [-9.63841586e-02 9.95344030e-01 5.97140728e-04 -5.62980484e+01] [ 3.28770649e-03 -2.81565614e-04 9.99994556e-01 2.64245836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3207140569999 meters Centerline goodness [0,1] 0.9730696402272249 Centerline is valid? [True, True] Translation: X:731.59, Y:-56.30, Z:2.64 [[ 9.95476832e-01 9.49417328e-02 -3.45593841e-03 7.31589815e+02] [-9.49400926e-02 9.95482785e-01 6.35976630e-04 -5.62996184e+01] [ 3.50070792e-03 -3.04992888e-04 9.99993826e-01 2.64230034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3507140569999 meters Centerline goodness [0,1] 0.972406970870517 Centerline is valid? [True, True] Translation: X:731.62, Y:-56.30, Z:2.64 [[ 9.95530886e-01 9.43496010e-02 -4.05056301e-03 7.31618392e+02] [-9.43473434e-02 9.95539062e-01 7.45291537e-04 -5.63018613e+01] [ 4.10281165e-03 -3.59800885e-04 9.99991519e-01 2.64277325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.380714057 meters Centerline goodness [0,1] 0.9706807600352334 Centerline is valid? [True, True] Translation: X:731.65, Y:-56.30, Z:2.64 [[ 9.95592380e-01 9.37084638e-02 -3.81282488e-03 7.31648362e+02] [-9.37064598e-02 9.95599622e-01 7.01294147e-04 -5.62960682e+01] [ 3.86176421e-03 -3.40916787e-04 9.99992485e-01 2.64203726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.410714057 meters Centerline goodness [0,1] 0.9698393963663955 Centerline is valid? [True, True] Translation: X:731.68, Y:-56.30, Z:2.64 [[ 9.95576138e-01 9.38784944e-02 -3.87072480e-03 7.31677704e+02] [-9.38764315e-02 9.95583602e-01 7.11641925e-04 -5.62972406e+01] [ 3.92043802e-03 -3.45123887e-04 9.99992255e-01 2.64221131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4407140569999 meters Centerline goodness [0,1] 0.9690888119953864 Centerline is valid? [True, True] Translation: X:731.71, Y:-56.29, Z:2.64 [[ 9.95433338e-01 9.53533219e-02 -4.49591664e-03 7.31709320e+02] [-9.53505560e-02 9.95443413e-01 8.26072341e-04 -5.62922254e+01] [ 4.55419934e-03 -3.93611797e-04 9.99989552e-01 2.64246344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4707140569999 meters Centerline goodness [0,1] 0.9675912285870617 Centerline is valid? [True, True] Translation: X:731.74, Y:-56.29, Z:2.64 [[ 9.95385857e-01 9.58282978e-02 -4.89219591e-03 7.31736991e+02] [-9.58250283e-02 9.95397788e-01 8.98936831e-04 -5.62940976e+01] [ 4.95582457e-03 -4.25994197e-04 9.99987629e-01 2.64282227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.500714057 meters Centerline goodness [0,1] 0.9680572008800136 Centerline is valid? [True, True] Translation: X:731.77, Y:-56.29, Z:2.64 [[ 9.95366428e-01 9.60307267e-02 -4.87573841e-03 7.31766806e+02] [-9.60274851e-02 9.95378280e-01 8.95175782e-04 -5.62931605e+01] [ 4.93916850e-03 -4.22823023e-04 9.99987713e-01 2.64235560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.530714057 meters Centerline goodness [0,1] 0.9655165132190219 Centerline is valid? [True, True] Translation: X:731.80, Y:-56.29, Z:2.64 [[ 9.95431414e-01 9.53167794e-02 -5.56887254e-03 7.31795117e+02] [-9.53125423e-02 9.95446872e-01 1.02196671e-03 -5.62914794e+01] [ 5.64092733e-03 -4.86514371e-04 9.99983971e-01 2.64160229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5607140569999 meters Centerline goodness [0,1] 0.9651438742212993 Centerline is valid? [True, True] Translation: X:731.83, Y:-56.29, Z:2.64 [[ 9.95532387e-01 9.42447554e-02 -5.76132603e-03 7.31825192e+02] [-9.42402059e-02 9.95548927e-01 1.05670788e-03 -5.62933471e+01] [ 5.83527113e-03 -5.09038369e-04 9.99982845e-01 2.64163435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5907140569999 meters Centerline goodness [0,1] 0.9675244838258362 Centerline is valid? [True, True] Translation: X:731.86, Y:-56.29, Z:2.64 [[ 9.95669232e-01 9.27964905e-02 -5.62059082e-03 7.31856107e+02] [-9.27921388e-02 9.95684969e-01 1.03069842e-03 -5.62883667e+01] [ 5.69198299e-03 -5.04688063e-04 9.99983673e-01 2.64190668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.620714057 meters Centerline goodness [0,1] 0.9640950178684045 Centerline is valid? [True, True] Translation: X:731.89, Y:-56.29, Z:2.64 [[ 9.95977627e-01 8.94209842e-02 -5.69684649e-03 7.31885289e+02] [-8.94164601e-02 9.95993778e-01 1.04445448e-03 -5.62929655e+01] [ 5.76741981e-03 -5.30861450e-04 9.99983227e-01 2.64274406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.650714057 meters Centerline goodness [0,1] 0.9639856197749367 Centerline is valid? [True, True] Translation: X:731.92, Y:-56.29, Z:2.64 [[ 9.96161329e-01 8.72870133e-02 -6.60180227e-03 7.31916042e+02] [-8.72808923e-02 9.96183006e-01 1.21021838e-03 -5.62934699e+01] [ 6.68223958e-03 -6.29361560e-04 9.99977476e-01 2.64267301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6807140569999 meters Centerline goodness [0,1] 0.9616531742650192 Centerline is valid? [True, True] Translation: X:731.95, Y:-56.29, Z:2.64 [[ 9.96498203e-01 8.31191774e-02 -9.08477932e-03 7.31946883e+02] [-8.31074162e-02 9.96539204e-01 1.66519884e-03 -5.62913657e+01] [ 9.19174870e-03 -9.04355113e-04 9.99957346e-01 2.64187845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7107140569999 meters Centerline goodness [0,1] 0.9586819190711968 Centerline is valid? [True, True] Translation: X:731.98, Y:-56.29, Z:2.64 [[ 9.96647619e-01 8.11578573e-02 -1.03404983e-02 7.31976882e+02] [-8.11425172e-02 9.96700707e-01 1.89518931e-03 -5.62939159e+01] [ 1.04601915e-02 -1.04978185e-03 9.99944740e-01 2.64102208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.740714057 meters Centerline goodness [0,1] 0.9159602861108146 Centerline is valid? [True, False] Translation: X:731.98, Y:-56.29, Z:2.64 [[ 9.96729352e-01 8.00815534e-02 -1.08417930e-02 7.31978025e+02] [-8.00851868e-02 9.96788018e-01 9.92983774e-05 -5.62896404e+01] [ 1.08149214e-02 7.69293414e-04 9.99941221e-01 2.64088980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.770714057 meters Centerline goodness [0,1] 0.9472255471956225 Centerline is valid? [False, False] Translation: X:731.98, Y:-56.29, Z:2.64 [[ 9.96794259e-01 7.92028940e-02 -1.13184161e-02 7.31979074e+02] [-7.92265110e-02 9.96855269e-01 -1.65298240e-03 -5.62851373e+01] [ 1.11519017e-02 2.54440199e-03 9.99934578e-01 2.64092239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8007140569999 meters Centerline goodness [0,1] 0.952059202059202 Centerline is valid? [False, True] Translation: X:731.98, Y:-56.27, Z:2.64 [[ 9.96935192e-01 7.72473818e-02 -1.23719480e-02 7.31981284e+02] [-7.73244236e-02 9.96988680e-01 -5.87407776e-03 -5.62741839e+01] [ 1.18809349e-02 6.81272858e-03 9.99906211e-01 2.64159625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8307140569999 meters Centerline goodness [0,1] 0.9488718246542341 Centerline is valid? [True, False] Translation: X:731.98, Y:-56.27, Z:2.64 [[ 9.96998130e-01 7.63119049e-02 -1.30852017e-02 7.31982297e+02] [-7.64215905e-02 9.97042715e-01 -8.09723570e-03 -5.62683000e+01] [ 1.24285895e-02 9.07292077e-03 9.99881599e-01 2.64251186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8607140569999 meters Centerline goodness [0,1] 0.9453674535019203 Centerline is valid? [False, False] Translation: X:731.98, Y:-56.26, Z:2.64 [[ 9.96870899e-01 7.79194214e-02 -1.33031430e-02 7.31983018e+02] [-7.80376279e-02 9.96913236e-01 -8.60983290e-03 -5.62582483e+01] [ 1.25912061e-02 9.62103759e-03 9.99874441e-01 2.64382388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.890714057 meters Centerline goodness [0,1] 0.9555397205847422 Centerline is valid? [False, True] Translation: X:731.98, Y:-56.25, Z:2.64 [[ 9.96896217e-01 7.74778468e-02 -1.39684125e-02 7.31984189e+02] [-7.76260858e-02 9.96928280e-01 -1.04016640e-02 -5.62526713e+01] [ 1.31196069e-02 1.14536927e-02 9.99848333e-01 2.64456744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9207140569999 meters Centerline goodness [0,1] 0.9256990564618394 Centerline is valid? [True, False] Translation: X:731.99, Y:-56.24, Z:2.65 [[ 9.96712688e-01 7.97643115e-02 -1.41941035e-02 7.31985327e+02] [-7.99096945e-02 9.96752071e-01 -9.98751008e-03 -5.62440872e+01] [ 1.33513552e-02 1.10889245e-02 9.99849377e-01 2.64524338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9507140569999 meters Centerline goodness [0,1] 0.9594092735367575 Centerline is valid? [False, True] Translation: X:731.98, Y:-56.24, Z:2.65 [[ 9.96485484e-01 8.26063174e-02 -1.38879738e-02 7.31984916e+02] [-8.27183954e-02 9.96543227e-01 -7.69833036e-03 -5.62408823e+01] [ 1.32040355e-02 8.82006537e-03 9.99873922e-01 2.64578754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9807140569999 meters Centerline goodness [0,1] 0.9443867168896394 Centerline is valid? [True, False] Translation: X:731.99, Y:-56.24, Z:2.65 [[ 9.96490034e-01 8.24572463e-02 -1.44365625e-02 7.31986378e+02] [-8.25909777e-02 9.96543563e-01 -8.92512624e-03 -5.62360932e+01] [ 1.36507221e-02 1.00861292e-02 9.99855954e-01 2.64584318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.010714057 meters Centerline goodness [0,1] 0.9634749994548507 Centerline is valid? [False, True] Translation: X:731.99, Y:-56.23, Z:2.65 [[ 9.96520921e-01 8.19917932e-02 -1.49465399e-02 7.31987169e+02] [-8.21544676e-02 9.96563080e-01 -1.06146156e-02 -5.62308718e+01] [ 1.40248585e-02 1.18056115e-02 9.99831951e-01 2.64665592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.040714057 meters Centerline goodness [0,1] 0.9680949039557933 Centerline is valid? [True, True] Translation: X:732.02, Y:-56.23, Z:2.64 [[ 9.96475045e-01 8.28198880e-02 -1.33548352e-02 7.32017430e+02] [-8.27948641e-02 9.96563681e-01 2.41683399e-03 -5.62278886e+01] [ 1.35091056e-02 -1.30260299e-03 9.99907899e-01 2.64403180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0707140569999 meters Centerline goodness [0,1] 0.9558059495363571 Centerline is valid? [True, True] Translation: X:732.04, Y:-56.23, Z:2.64 [[ 9.96433744e-01 8.31542780e-02 -1.43234259e-02 7.32044854e+02] [-8.31255562e-02 9.96535716e-01 2.59008114e-03 -5.62342158e+01] [ 1.44891818e-02 -1.39020150e-03 9.99894060e-01 2.64293722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1007140569999 meters Centerline goodness [0,1] 0.9674755571214657 Centerline is valid? [True, True] Translation: X:732.08, Y:-56.23, Z:2.64 [[ 9.96330863e-01 8.42364584e-02 -1.51337350e-02 7.32075509e+02] [-8.42045368e-02 9.96444737e-01 2.73539875e-03 -5.62253392e+01] [ 1.53103509e-02 -1.45103305e-03 9.99881737e-01 2.64309300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.130714057 meters Centerline goodness [0,1] 0.9683078414951294 Centerline is valid? [True, True] Translation: X:732.10, Y:-56.22, Z:2.64 [[ 9.96270535e-01 8.48444387e-02 -1.56985084e-02 7.32104639e+02] [-8.48102154e-02 9.96393092e-01 2.83428145e-03 -5.62243325e+01] [ 1.58823583e-02 -1.49231722e-03 9.99872754e-01 2.64329949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.160714057 meters Centerline goodness [0,1] 0.9739722695207979 Centerline is valid? [True, True] Translation: X:732.14, Y:-56.22, Z:2.64 [[ 9.96123523e-01 8.64271228e-02 -1.63792192e-02 7.32135408e+02] [-8.63901056e-02 9.96257002e-01 2.95556694e-03 -5.62207211e+01] [ 1.65733530e-02 -1.52910727e-03 9.99861483e-01 2.64406588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1907140569999 meters Centerline goodness [0,1] 0.9722296276548476 Centerline is valid? [True, True] Translation: X:732.17, Y:-56.22, Z:2.64 [[ 9.95768849e-01 9.02270439e-02 -1.74206643e-02 7.32165528e+02] [-9.01857563e-02 9.95920003e-01 3.14287870e-03 -5.62180302e+01] [ 1.76331607e-02 -1.55848492e-03 9.99843309e-01 2.64310739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2207140569999 meters Centerline goodness [0,1] 0.9724733864861254 Centerline is valid? [True, True] Translation: X:732.20, Y:-56.22, Z:2.64 [[ 9.95517687e-01 9.30269660e-02 -1.70445756e-02 7.32196054e+02] [-9.29878536e-02 9.95662495e-01 3.07477393e-03 -5.62171774e+01] [ 1.72566816e-02 -1.47605333e-03 9.99850003e-01 2.64333565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.250714057 meters Centerline goodness [0,1] 0.9665053631558995 Centerline is valid? [True, True] Translation: X:732.22, Y:-56.22, Z:2.64 [[ 9.95224585e-01 9.60978914e-02 -1.71236946e-02 7.32224359e+02] [-9.60588723e-02 9.95370862e-01 3.08868144e-03 -5.62238147e+01] [ 1.73412424e-02 -1.42904891e-03 9.99848608e-01 2.64270494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.280714057 meters Centerline goodness [0,1] 0.9724033223184781 Centerline is valid? [True, True] Translation: X:732.26, Y:-56.21, Z:2.64 [[ 9.94542924e-01 1.03071002e-01 -1.61474756e-02 7.32257120e+02] [-1.03037224e-01 9.94673237e-01 2.91223655e-03 -5.62147929e+01] [ 1.63616289e-02 -1.23255319e-03 9.99865380e-01 2.64459649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3107140569999 meters Centerline goodness [0,1] 0.9762213382201761 Centerline is valid? [True, True] Translation: X:732.29, Y:-56.20, Z:2.65 [[ 9.94156999e-01 1.06802569e-01 -1.56547723e-02 7.32289677e+02] [-1.06771284e-01 9.94279600e-01 2.82318504e-03 -5.62043332e+01] [ 1.58667442e-02 -1.13520902e-03 9.99873471e-01 2.64700466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3407140569999 meters Centerline goodness [0,1] 0.9768451845184518 Centerline is valid? [True, True] Translation: X:732.32, Y:-56.20, Z:2.65 [[ 9.93269419e-01 1.14946136e-01 -1.42565007e-02 7.32320380e+02] [-1.14921030e-01 9.93371304e-01 2.57070432e-03 -5.61988397e+01] [ 1.44574912e-02 -9.15030245e-04 9.99895066e-01 2.64823897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.370714057 meters Centerline goodness [0,1] 0.9777863060703885 Centerline is valid? [True, True] Translation: X:732.35, Y:-56.20, Z:2.65 [[ 9.92858019e-01 1.18541944e-01 -1.34447839e-02 7.32351074e+02] [-1.18519947e-01 9.92948713e-01 2.42408919e-03 -5.61982147e+01] [ 1.36373372e-02 -8.13301305e-04 9.99906676e-01 2.64900932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.400714057 meters Centerline goodness [0,1] 0.9786109542631282 Centerline is valid? [True, True] Translation: X:732.38, Y:-56.20, Z:2.65 [[ 9.92487106e-01 1.21672935e-01 -1.28468207e-02 7.32381290e+02] [-1.21653115e-01 9.92569975e-01 2.31606148e-03 -5.61994803e+01] [ 1.30331705e-02 -7.35805400e-04 9.99914794e-01 2.64941048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4307140569999 meters Centerline goodness [0,1] 0.9773796597900832 Centerline is valid? [True, True] Translation: X:732.41, Y:-56.20, Z:2.65 [[ 9.91945975e-01 1.26089669e-01 -1.20240851e-02 7.32410482e+02] [-1.26072634e-01 9.92018646e-01 2.16743606e-03 -5.62048429e+01] [ 1.22014079e-02 -6.34071396e-04 9.99925359e-01 2.64912262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4607140569999 meters Centerline goodness [0,1] 0.9773796597900832 Centerline is valid? [True, True] Translation: X:732.44, Y:-56.21, Z:2.65 [[ 9.91979205e-01 1.25827932e-01 -1.20244698e-02 7.32437494e+02] [-1.25810903e-01 9.92051878e-01 2.16530048e-03 -5.62096105e+01] [ 1.22013531e-02 -6.35123649e-04 9.99925359e-01 2.64924551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.490714057 meters Centerline goodness [0,1] 0.9795987759265556 Centerline is valid? [True, True] Translation: X:732.47, Y:-56.20, Z:2.65 [[ 9.91757122e-01 1.27545789e-01 -1.22426413e-02 7.32467806e+02] [-1.27528289e-01 9.91832487e-01 2.20278990e-03 -5.62045886e+01] [ 1.24236059e-02 -6.23349480e-04 9.99922630e-01 2.65009434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.520714057 meters Centerline goodness [0,1] 0.9800648629034087 Centerline is valid? [True, True] Translation: X:732.50, Y:-56.21, Z:2.65 [[ 9.91583781e-01 1.28852774e-01 -1.25923915e-02 7.32496227e+02] [-1.28834396e-01 9.91663540e-01 2.26331276e-03 -5.62081357e+01] [ 1.27790496e-02 -6.21931067e-04 9.99918151e-01 2.64956286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5507140569999 meters Centerline goodness [0,1] 0.9803930437142405 Centerline is valid? [True, True] Translation: X:732.53, Y:-56.21, Z:2.65 [[ 9.91073735e-01 1.32622056e-01 -1.35735667e-02 7.32525186e+02] [-1.32601076e-01 9.91166490e-01 2.43812980e-03 -5.62114763e+01] [ 1.37770142e-02 -6.16496862e-04 9.99904902e-01 2.64788930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5807140569999 meters Centerline goodness [0,1] 0.9825299697459111 Centerline is valid? [True, True] Translation: X:732.55, Y:-56.21, Z:2.65 [[ 9.90830720e-01 1.34317466e-01 -1.46048665e-02 7.32554741e+02] [-1.34293399e-01 9.90938149e-01 2.62073632e-03 -5.62119212e+01] [ 1.48245300e-02 -6.35368894e-04 9.99889909e-01 2.64812790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6107140569999 meters Centerline goodness [0,1] 0.9819086797427214 Centerline is valid? [True, True] Translation: X:732.58, Y:-56.22, Z:2.65 [[ 9.90505469e-01 1.36635485e-01 -1.51545611e-02 7.32582653e+02] [-1.36609872e-01 9.90621198e-01 2.71747736e-03 -5.62166214e+01] [ 1.53837333e-02 -6.21413521e-04 9.99881470e-01 2.64700265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.640714057 meters Centerline goodness [0,1] 0.9836663097705993 Centerline is valid? [True, True] Translation: X:732.61, Y:-56.22, Z:2.65 [[ 9.89813798e-01 1.41434924e-01 -1.62728766e-02 7.32612699e+02] [-1.41406048e-01 9.89947381e-01 2.91744492e-03 -5.62189813e+01] [ 1.65219202e-02 -5.86644068e-04 9.99863332e-01 2.64551407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6707140569999 meters Centerline goodness [0,1] 0.9831499155212566 Centerline is valid? [True, True] Translation: X:732.64, Y:-56.22, Z:2.65 [[ 9.89478221e-01 1.43790537e-01 -1.60352904e-02 7.32641643e+02] [-1.43762854e-01 9.89608000e-01 2.87201312e-03 -5.62234068e+01] [ 1.62816200e-02 -5.36515321e-04 9.99867302e-01 2.64512768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7007140569999 meters Centerline goodness [0,1] 0.9836677980000456 Centerline is valid? [True, True] Translation: X:732.67, Y:-56.23, Z:2.65 [[ 9.88706978e-01 1.49076017e-01 -1.53249236e-02 7.32670782e+02] [-1.49051387e-01 9.88825646e-01 2.74338720e-03 -5.62280599e+01] [ 1.55626507e-02 -4.28204955e-04 9.99878803e-01 2.64563620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7307140569999 meters Centerline goodness [0,1] 0.9841363770853723 Centerline is valid? [True, True] Translation: X:732.70, Y:-56.23, Z:2.65 [[ 9.88457958e-01 1.50778437e-01 -1.47217131e-02 7.32698758e+02] [-1.50755937e-01 9.88567507e-01 2.63265125e-03 -5.62335836e+01] [ 1.49503542e-02 -3.82879418e-04 9.99888164e-01 2.64586399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.760714057 meters Centerline goodness [0,1] 0.9848916436889 Centerline is valid? [True, True] Translation: X:732.73, Y:-56.24, Z:2.65 [[ 9.88338055e-01 1.51603983e-01 -1.42871148e-02 7.32727004e+02] [-1.51582931e-01 9.88441250e-01 2.55134722e-03 -5.62391726e+01] [ 1.45087680e-02 -3.55910811e-04 9.99894679e-01 2.64630375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.790714057 meters Centerline goodness [0,1] 0.9838053017280376 Centerline is valid? [True, True] Translation: X:732.75, Y:-56.25, Z:2.65 [[ 9.88315585e-01 1.51913600e-01 -1.24323363e-02 7.32754943e+02] [-1.51897723e-01 9.88393730e-01 2.21709040e-03 -5.62477940e+01] [ 1.26248495e-02 -3.02741418e-04 9.99920258e-01 2.64702194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8207140569999 meters Centerline goodness [0,1] 0.9836557103566437 Centerline is valid? [True, True] Translation: X:732.78, Y:-56.26, Z:2.65 [[ 9.88409799e-01 1.51378600e-01 -1.14275133e-02 7.32780537e+02] [-1.51365172e-01 9.88475816e-01 2.03596144e-03 -5.62567735e+01] [ 1.16040216e-02 -2.82636719e-04 9.99932631e-01 2.64717406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8507140569999 meters Centerline goodness [0,1] 0.9833213450818198 Centerline is valid? [True, True] Translation: X:732.81, Y:-56.27, Z:2.65 [[ 9.89050304e-01 1.47247115e-01 -9.88858252e-03 7.32807479e+02] [-1.47236862e-01 9.89099694e-01 1.76099688e-03 -5.62710283e+01] [ 1.00400957e-02 -2.85750638e-04 9.99949556e-01 2.64768791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.880714057 meters Centerline goodness [0,1] 0.9815280898876404 Centerline is valid? [True, True] Translation: X:732.84, Y:-56.28, Z:2.65 [[ 9.89498955e-01 1.44273706e-01 -8.77015569e-03 7.32835000e+02] [-1.44265528e-01 9.89537781e-01 1.56137457e-03 -5.62821141e+01] [ 8.90366569e-03 -2.79747368e-04 9.99960322e-01 2.64776464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.910714057 meters Centerline goodness [0,1] 0.9804322689673575 Centerline is valid? [True, True] Translation: X:732.86, Y:-56.29, Z:2.65 [[ 9.89916614e-01 1.41418035e-01 -8.12626983e-03 7.32861365e+02] [-1.41410922e-01 9.89949928e-01 1.44625371e-03 -5.62944658e+01] [ 8.24912658e-03 -2.82527268e-04 9.99965935e-01 2.64802711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9407140569999 meters Centerline goodness [0,1] 0.9795558531413905 Centerline is valid? [True, True] Translation: X:732.89, Y:-56.31, Z:2.65 [[ 9.90505337e-01 1.37263779e-01 -7.60480245e-03 7.32889493e+02] [-1.37257430e-01 9.90534486e-01 1.35303555e-03 -5.63050105e+01] [ 7.71854186e-03 -2.96373297e-04 9.99970168e-01 2.64837956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9707140569999 meters Centerline goodness [0,1] 0.9789005119074116 Centerline is valid? [True, True] Translation: X:732.92, Y:-56.32, Z:2.65 [[ 9.91478962e-01 1.30127545e-01 -6.02413753e-03 7.32916791e+02] [-1.30123431e-01 9.91497224e-01 1.07166899e-03 -5.63232281e+01] [ 6.11236929e-03 -2.78655814e-04 9.99981280e-01 2.64868719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.000714057 meters Centerline goodness [0,1] 0.9785407725321889 Centerline is valid? [True, True] Translation: X:732.94, Y:-56.34, Z:2.65 [[ 9.91953415e-01 1.26456255e-01 -6.10230618e-03 7.32943660e+02] [-1.26451964e-01 9.91972138e-01 1.08552662e-03 -5.63370173e+01] [ 6.19058934e-03 -3.05143235e-04 9.99980792e-01 2.64788684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.030714057 meters Centerline goodness [0,1] 0.9770147872270093 Centerline is valid? [True, True] Translation: X:732.97, Y:-56.35, Z:2.65 [[ 9.92828110e-01 1.19331551e-01 -7.23362024e-03 7.32971824e+02] [-1.19325333e-01 9.92854375e-01 1.28669217e-03 -5.63542799e+01] [ 7.33547447e-03 -4.14310012e-04 9.99973009e-01 2.64668660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0607140569999 meters Centerline goodness [0,1] 0.977235199577288 Centerline is valid? [True, True] Translation: X:733.00, Y:-56.37, Z:2.65 [[ 9.93198319e-01 1.16220951e-01 -7.05624757e-03 7.33000283e+02] [-1.16214956e-01 9.93223293e-01 1.25505106e-03 -5.63657387e+01] [ 7.15429267e-03 -4.26473098e-04 9.99974317e-01 2.64592540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0907140569999 meters Centerline goodness [0,1] 0.9777387100318646 Centerline is valid? [True, True] Translation: X:733.03, Y:-56.38, Z:2.65 [[ 9.93488921e-01 1.13737788e-01 -6.59391799e-03 7.33028202e+02] [-1.13732500e-01 9.93510716e-01 1.17262869e-03 -5.63758665e+01] [ 6.68450037e-03 -4.15050828e-04 9.99977572e-01 2.64585982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.120714057 meters Centerline goodness [0,1] 0.9768796213492704 Centerline is valid? [True, True] Translation: X:733.06, Y:-56.39, Z:2.65 [[ 9.93841477e-01 1.10684587e-01 -5.29538574e-03 7.33056818e+02] [-1.10681135e-01 9.93855523e-01 9.41498312e-04 -5.63881183e+01] [ 5.36705771e-03 -3.49600768e-04 9.99985536e-01 2.64680236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.150714057 meters Centerline goodness [0,1] 0.9769005079698722 Centerline is valid? [True, True] Translation: X:733.08, Y:-56.40, Z:2.65 [[ 9.93987797e-01 1.09398074e-01 -4.50786859e-03 7.33084099e+02] [-1.09395560e-01 9.93997972e-01 8.01403988e-04 -5.63960124e+01] [ 4.56848429e-03 -3.03444976e-04 9.99989518e-01 2.64699243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1807140569999 meters Centerline goodness [0,1] 0.977915638174709 Centerline is valid? [True, True] Translation: X:733.11, Y:-56.40, Z:2.65 [[ 9.94102422e-01 1.08341951e-01 -4.73238825e-03 7.33112594e+02] [-1.08339170e-01 9.94113634e-01 8.40814552e-04 -5.64004198e+01] [ 4.79562717e-03 -3.23152765e-04 9.99988449e-01 2.64714210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2107140569999 meters Centerline goodness [0,1] 0.9764040774452666 Centerline is valid? [True, True] Translation: X:733.14, Y:-56.41, Z:2.65 [[ 9.94204917e-01 1.07409217e-01 -4.45458165e-03 7.33138173e+02] [-1.07406749e-01 9.94214849e-01 7.90369261e-04 -5.64146758e+01] [ 4.51370417e-03 -3.07336873e-04 9.99989766e-01 2.64660069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.240714057 meters Centerline goodness [0,1] 0.9775888380204927 Centerline is valid? [True, True] Translation: X:733.17, Y:-56.42, Z:2.65 [[ 9.94282473e-01 1.06709799e-01 -3.92218678e-03 7.33166987e+02] [-1.06707881e-01 9.94290171e-01 6.95676080e-04 -5.64173337e+01] [ 3.97402722e-03 -2.73170292e-04 9.99992066e-01 2.64621986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.270714057 meters Centerline goodness [0,1] 0.9767456994728736 Centerline is valid? [True, True] Translation: X:733.19, Y:-56.43, Z:2.65 [[ 9.94441375e-01 1.05249746e-01 -2.97359012e-03 7.33193994e+02] [-1.05248639e-01 9.94445799e-01 5.26660459e-04 -5.64285127e+01] [ 3.01250508e-03 -2.10766637e-04 9.99995440e-01 2.64657997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3007140569999 meters Centerline goodness [0,1] 0.976079054480552 Centerline is valid? [True, True] Translation: X:733.22, Y:-56.44, Z:2.65 [[ 9.94545878e-01 1.04280813e-01 -2.00212862e-03 7.33221771e+02] [-1.04280308e-01 9.94547883e-01 3.55002539e-04 -5.64353154e+01] [ 2.02823273e-03 -1.44283722e-04 9.99997933e-01 2.64685505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3307140569999 meters Centerline goodness [0,1] 0.9756505859077766 Centerline is valid? [True, True] Translation: X:733.25, Y:-56.44, Z:2.65 [[ 9.94696849e-01 1.02832134e-01 -1.93165910e-03 7.33250211e+02] [-1.02831664e-01 9.94698714e-01 3.41547945e-04 -5.64430702e+01] [ 1.95654092e-03 -1.41100946e-04 9.99998076e-01 2.64685544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3607140569999 meters Centerline goodness [0,1] 0.975386687521724 Centerline is valid? [True, True] Translation: X:733.28, Y:-56.45, Z:2.65 [[ 9.94884922e-01 1.01002485e-01 -1.57809996e-03 7.33278923e+02] [-1.01002169e-01 9.94886166e-01 2.78938760e-04 -5.64506111e+01] [ 1.59820333e-03 -1.18120447e-04 9.99998716e-01 2.64665692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.390714057 meters Centerline goodness [0,1] 0.9736476512980811 Centerline is valid? [True, True] Translation: X:733.31, Y:-56.46, Z:2.65 [[ 9.95349185e-01 9.62972181e-02 -2.61628974e-03 7.33308397e+02] [-9.62963338e-02 9.95352602e-01 4.62175487e-04 -5.64604763e+01] [ 2.64863701e-03 -2.08086885e-04 9.99996471e-01 2.64647093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4207140569999 meters Centerline goodness [0,1] 0.9730613482318803 Centerline is valid? [True, True] Translation: X:733.34, Y:-56.47, Z:2.65 [[ 9.95602247e-01 9.36243536e-02 -3.26284145e-03 7.33337943e+02] [-9.36229640e-02 9.95607557e-01 5.76397235e-04 -5.64687710e+01] [ 3.30247442e-03 -2.68385494e-04 9.99994511e-01 2.64590812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4507140569999 meters Centerline goodness [0,1] 0.9719273106233309 Centerline is valid? [True, True] Translation: X:733.37, Y:-56.48, Z:2.64 [[ 9.96135158e-01 8.77510068e-02 -3.80883309e-03 7.33366467e+02] [-8.77490706e-02 9.96142383e-01 6.72857094e-04 -5.64792670e+01] [ 3.85318396e-03 -3.36035045e-04 9.99992520e-01 2.64463280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4807140569999 meters Centerline goodness [0,1] 0.9684023334995988 Centerline is valid? [True, True] Translation: X:733.39, Y:-56.49, Z:2.64 [[ 9.96410396e-01 8.45682871e-02 -3.81155153e-03 7.33394301e+02] [-8.45663252e-02 9.96417625e-01 6.73280269e-04 -5.64901871e+01] [ 3.85483528e-03 -3.48534553e-04 9.99992509e-01 2.64388222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.510714057 meters Centerline goodness [0,1] 0.9713678365363758 Centerline is valid? [True, True] Translation: X:733.42, Y:-56.49, Z:2.64 [[ 9.96612537e-01 8.21600398e-02 -3.63032420e-03 7.33424934e+02] [-8.21582442e-02 9.96619091e-01 6.41271175e-04 -5.64923949e+01] [ 3.67073727e-03 -3.40837830e-04 9.99993205e-01 2.64377663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.540714057 meters Centerline goodness [0,1] 0.9694402814882388 Centerline is valid? [True, True] Translation: X:733.45, Y:-56.50, Z:2.65 [[ 9.96834247e-01 7.94197054e-02 -3.74088387e-03 7.33454791e+02] [-7.94177795e-02 9.96841201e-01 6.60806347e-04 -5.64957283e+01] [ 3.78154821e-03 -3.61621707e-04 9.99992785e-01 2.64508796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5707140569999 meters Centerline goodness [0,1] 0.9712939439341628 Centerline is valid? [True, True] Translation: X:733.48, Y:-56.50, Z:2.65 [[ 9.96893457e-01 7.87123510e-02 -2.79301464e-03 7.33483642e+02] [-7.87112736e-02 9.96897333e-01 4.93766926e-04 -5.64988210e+01] [ 2.82321440e-03 -2.72391279e-04 9.99995978e-01 2.64629586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6007140569999 meters Centerline goodness [0,1] 0.9684760143587512 Centerline is valid? [True, True] Translation: X:733.51, Y:-56.51, Z:2.65 [[ 9.96897273e-01 7.86844397e-02 -2.14135175e-03 7.33510877e+02] [-7.86838076e-02 9.96899551e-01 3.77976591e-04 -5.65070205e+01] [ 2.16445347e-03 -2.08314124e-04 9.99997636e-01 2.64702651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.630714057 meters Centerline goodness [0,1] 0.966553436111837 Centerline is valid? [True, True] Translation: X:733.54, Y:-56.51, Z:2.65 [[ 9.96737031e-01 8.06980103e-02 -1.76696895e-03 7.33540516e+02] [-8.06975838e-02 9.96738583e-01 3.11457892e-04 -5.65102910e+01] [ 1.78634016e-03 -1.67851490e-04 9.99998390e-01 2.64701383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.660714057 meters Centerline goodness [0,1] 0.9703535771896935 Centerline is valid? [True, True] Translation: X:733.57, Y:-56.51, Z:2.65 [[ 9.96671621e-01 8.14991703e-02 -1.88810061e-03 7.33570078e+02] [-8.14986846e-02 9.96673394e-01 3.32911338e-04 -5.65089220e+01] [ 1.90895164e-03 -1.77925567e-04 9.99998162e-01 2.64703703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6907140569999 meters Centerline goodness [0,1] 0.9713520108056294 Centerline is valid? [True, True] Translation: X:733.60, Y:-56.51, Z:2.65 [[ 9.96483425e-01 8.37535830e-02 -2.47405953e-03 7.33600139e+02] [-8.37527568e-02 9.96486470e-01 4.35871980e-04 -5.65100215e+01] [ 2.50187269e-03 -2.27129897e-04 9.99996845e-01 2.64713236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7207140569999 meters Centerline goodness [0,1] 0.9710068989607894 Centerline is valid? [True, True] Translation: X:733.63, Y:-56.51, Z:2.65 [[ 9.96364631e-01 8.51623554e-02 -2.21260079e-03 7.33630239e+02] [-8.51616983e-02 9.96367068e-01 3.89702309e-04 -5.65132942e+01] [ 2.23775053e-03 -1.99856756e-04 9.99997476e-01 2.64783785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.750714057 meters Centerline goodness [0,1] 0.9730336099675445 Centerline is valid? [True, True] Translation: X:733.66, Y:-56.51, Z:2.65 [[ 9.96301739e-01 8.59042542e-02 -1.81766066e-03 7.33659943e+02] [-8.59038114e-02 9.96303384e-01 3.20414385e-04 -5.65135668e+01] [ 1.83846642e-03 -1.63085430e-04 9.99998297e-01 2.64792849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.780714057 meters Centerline goodness [0,1] 0.9710477841586304 Centerline is valid? [True, True] Translation: X:733.69, Y:-56.52, Z:2.65 [[ 9.96208297e-01 8.69899098e-02 -1.33612259e-03 7.33686953e+02] [-8.69896718e-02 9.96209186e-01 2.35389919e-04 -5.65189262e+01] [ 1.35153414e-03 -1.18268525e-04 9.99999080e-01 2.64812098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8107140569999 meters Centerline goodness [0,1] 0.9704492759963252 Centerline is valid? [True, True] Translation: X:733.72, Y:-56.52, Z:2.65 [[ 9.96254766e-01 8.64528442e-02 -1.53196276e-03 7.33715083e+02] [-8.64525309e-02 9.96255935e-01 2.69685142e-04 -5.65225088e+01] [ 1.54954204e-03 -1.36233051e-04 9.99998790e-01 2.64808917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8407140569999 meters Centerline goodness [0,1] 0.9689777854911489 Centerline is valid? [True, True] Translation: X:733.74, Y:-56.53, Z:2.65 [[ 9.96298996e-01 8.59219060e-02 -2.39497430e-03 7.33742675e+02] [-8.59211396e-02 9.96301852e-01 4.21255241e-04 -5.65278504e+01] [ 2.42231238e-03 -2.13917253e-04 9.99997043e-01 2.64831114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.870714057 meters Centerline goodness [0,1] 0.9697326529722186 Centerline is valid? [True, True] Translation: X:733.77, Y:-56.53, Z:2.65 [[ 9.96433654e-01 8.42974142e-02 -3.73086644e-03 7.33772537e+02] [-8.42955465e-02 9.96440581e-01 6.55342825e-04 -5.65253988e+01] [ 3.77283043e-03 -3.38510220e-04 9.99992826e-01 2.64722834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.900714057 meters Centerline goodness [0,1] 0.9736034376918354 Centerline is valid? [True, True] Translation: X:733.80, Y:-56.52, Z:2.65 [[ 9.96482036e-01 8.36956259e-02 -4.31210609e-03 7.33802004e+02] [-8.36931264e-02 9.96491288e-01 7.57187462e-04 -5.65240542e+01] [ 4.36034943e-03 -3.93630064e-04 9.99990416e-01 2.64644052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9307140569999 meters Centerline goodness [0,1] 0.9654990550696612 Centerline is valid? [True, True] Translation: X:733.83, Y:-56.53, Z:2.65 [[ 9.96544768e-01 8.28675576e-02 -5.61192548e-03 7.33828395e+02] [-8.28633203e-02 9.96560436e-01 9.83809702e-04 -5.65348605e+01] [ 5.67414881e-03 -5.15387632e-04 9.99983769e-01 2.64505466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9607140569999 meters Centerline goodness [0,1] 0.9696903044166814 Centerline is valid? [True, True] Translation: X:733.86, Y:-56.53, Z:2.64 [[ 9.96597636e-01 8.21882004e-02 -6.18486172e-03 7.33857942e+02] [-8.21830464e-02 9.96616663e-01 1.08334424e-03 -5.65320164e+01] [ 6.25297436e-03 -5.71367531e-04 9.99980287e-01 2.64463450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.990714057 meters Centerline goodness [0,1] 0.970398857268432 Centerline is valid? [True, True] Translation: X:733.89, Y:-56.53, Z:2.64 [[ 9.96666376e-01 8.13378852e-02 -6.34690112e-03 7.33887299e+02] [-8.13324511e-02 9.96686410e-01 1.11006888e-03 -5.65322298e+01] [ 6.41616075e-03 -5.90159306e-04 9.99979242e-01 2.64454158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.020714057 meters Centerline goodness [0,1] 0.9698692940113294 Centerline is valid? [True, True] Translation: X:733.92, Y:-56.53, Z:2.65 [[ 9.96773576e-01 8.00053277e-02 -6.44873621e-03 7.33916323e+02] [-7.99996986e-02 9.96794251e-01 1.12660262e-03 -5.65333692e+01] [ 6.51819740e-03 -6.07070772e-04 9.99978572e-01 2.64507178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0507140569999 meters Centerline goodness [0,1] 0.9693535585148603 Centerline is valid? [True, True] Translation: X:733.95, Y:-56.53, Z:2.65 [[ 9.96815817e-01 7.94874460e-02 -6.32236052e-03 7.33945145e+02] [-7.94820297e-02 9.96835688e-01 1.10378708e-03 -5.65328435e+01] [ 6.39009182e-03 -5.97758370e-04 9.99979404e-01 2.64534535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0807140569999 meters Centerline goodness [0,1] 0.9531768139010479 Centerline is valid? [True, True] Translation: X:733.97, Y:-56.54, Z:2.65 [[ 9.96891502e-01 7.85094378e-02 -6.60308057e-03 7.33971749e+02] [-7.85035177e-02 9.96913172e-01 1.15143052e-03 -5.65447950e+01] [ 6.67309616e-03 -6.29486250e-04 9.99977537e-01 2.64585130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1107140569999 meters Centerline goodness [0,1] 0.9688157050218003 Centerline is valid? [True, True] Translation: X:734.00, Y:-56.54, Z:2.65 [[ 9.96944355e-01 7.78409597e-02 -6.53737365e-03 7.34002528e+02] [-7.78351483e-02 9.96965592e-01 1.13909561e-03 -5.65351040e+01] [ 6.60620488e-03 -6.26777494e-04 9.99977982e-01 2.64653855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.140714057 meters Centerline goodness [0,1] 0.9640930397099142 Centerline is valid? [True, True] Translation: X:734.03, Y:-56.54, Z:2.65 [[ 9.96986125e-01 7.72835314e-02 -6.77659668e-03 7.34029603e+02] [-7.72772841e-02 9.97008942e-01 1.17932822e-03 -5.65391421e+01] [ 6.84747014e-03 -6.52096888e-04 9.99976343e-01 2.64708079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1707140569999 meters Centerline goodness [0,1] 0.9660757471544896 Centerline is valid? [True, True] Translation: X:734.06, Y:-56.54, Z:2.65 [[ 9.97051294e-01 7.64144404e-02 -7.03914687e-03 7.34059057e+02] [-7.64076865e-02 9.97075909e-01 1.22384118e-03 -5.65398303e+01] [ 7.11208290e-03 -6.82387501e-04 9.99974476e-01 2.64659352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2007140569999 meters Centerline goodness [0,1] 0.9652885941880647 Centerline is valid? [True, True] Translation: X:734.09, Y:-56.54, Z:2.65 [[ 9.97092086e-01 7.57891490e-02 -7.96101205e-03 7.34087918e+02] [-7.57805081e-02 9.97123565e-01 1.38193468e-03 -5.65431557e+01] [ 8.04284838e-03 -7.74626594e-04 9.99967356e-01 2.64654874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2307140569999 meters Centerline goodness [0,1] 0.9642745779322018 Centerline is valid? [True, True] Translation: X:734.12, Y:-56.55, Z:2.65 [[ 9.97148371e-01 7.49557826e-02 -8.76111177e-03 7.34116260e+02] [-7.49453001e-02 9.97186489e-01 1.51918539e-03 -5.65451453e+01] [ 8.85033402e-03 -8.58249088e-04 9.99960467e-01 2.64573246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.260714057 meters Centerline goodness [0,1] 0.9667695335211771 Centerline is valid? [True, True] Translation: X:734.15, Y:-56.54, Z:2.65 [[ 9.97237559e-01 7.36838729e-02 -9.37750716e-03 7.34146000e+02] [-7.36718145e-02 9.97281215e-01 1.62536040e-03 -5.65432204e+01] [ 9.47177458e-03 -9.30012468e-04 9.99954709e-01 2.64534429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.290714057 meters Centerline goodness [0,1] 0.9602050180174131 Centerline is valid? [True, True] Translation: X:734.17, Y:-56.55, Z:2.65 [[ 9.97292921e-01 7.29314012e-02 -9.37235749e-03 7.34172823e+02] [-7.29193299e-02 9.97336520e-01 1.62376445e-03 -5.65515944e+01] [ 9.46581783e-03 -9.35942766e-04 9.99954760e-01 2.64538272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3207140569999 meters Centerline goodness [0,1] 0.9633883704235463 Centerline is valid? [True, True] Translation: X:734.20, Y:-56.55, Z:2.65 [[ 9.97430908e-01 7.09826016e-02 -9.64648613e-03 7.34203709e+02] [-7.09697285e-02 9.97477071e-01 1.67074226e-03 -5.65503277e+01] [ 9.74074236e-03 -9.81841469e-04 9.99952076e-01 2.64551277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3507140569999 meters Centerline goodness [0,1] 0.9310375650852533 Centerline is valid? [True, False] Translation: X:734.21, Y:-56.55, Z:2.65 [[ 9.97632695e-01 6.79443232e-02 -1.06101584e-02 7.34205825e+02] [-6.79708730e-02 9.97684964e-01 -2.16166224e-03 -5.65467696e+01] [ 1.04387228e-02 2.87772665e-03 9.99941374e-01 2.64531284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.380714057 meters Centerline goodness [0,1] 0.9310375650852533 Centerline is valid? [False, False] Translation: X:734.21, Y:-56.55, Z:2.65 [[ 9.97632695e-01 6.79443232e-02 -1.06101584e-02 7.34205825e+02] [-6.79708730e-02 9.97684964e-01 -2.16166224e-03 -5.65467696e+01] [ 1.04387228e-02 2.87772665e-03 9.99941374e-01 2.64531284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.410714057 meters Centerline goodness [0,1] 0.9377648245712364 Centerline is valid? [False, False] Translation: X:734.21, Y:-56.55, Z:2.65 [[ 9.97664818e-01 6.74542699e-02 -1.07159493e-02 7.34205977e+02] [-6.74895950e-02 9.97715559e-01 -2.96940549e-03 -5.65450475e+01] [ 1.04911702e-02 3.68568647e-03 9.99938174e-01 2.64544888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4407140569999 meters Centerline goodness [0,1] 0.9153060765528719 Centerline is valid? [False, False] Translation: X:734.21, Y:-56.54, Z:2.65 [[ 9.97718757e-01 6.65961059e-02 -1.10562662e-02 7.34206551e+02] [-6.66500980e-02 9.97765859e-01 -4.58853557e-03 -5.65407640e+01] [ 1.07259864e-02 5.31496923e-03 9.99928350e-01 2.64584645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4707140569999 meters Centerline goodness [0,1] 0.9541525995948683 Centerline is valid? [False, True] Translation: X:734.21, Y:-56.54, Z:2.65 [[ 9.97744496e-01 6.61500549e-02 -1.14057277e-02 7.34207130e+02] [-6.62173717e-02 9.97789346e-01 -5.62859471e-03 -5.65381078e+01] [ 1.10081817e-02 6.37115671e-03 9.99919111e-01 2.64622702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.500714057 meters Centerline goodness [0,1] 0.9462503084550329 Centerline is valid? [True, False] Translation: X:734.21, Y:-56.54, Z:2.65 [[ 9.97751682e-01 6.59448401e-02 -1.19523619e-02 7.34208171e+02] [-6.60254776e-02 9.97796883e-01 -6.48201719e-03 -5.65356094e+01] [ 1.14985738e-02 7.25660396e-03 9.99907558e-01 2.64655307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.530714057 meters Centerline goodness [0,1] 0.9603233746584469 Centerline is valid? [False, True] Translation: X:734.21, Y:-56.53, Z:2.65 [[ 9.97787587e-01 6.53220293e-02 -1.23678546e-02 7.34208606e+02] [-6.54278658e-02 9.97822323e-01 -8.35499102e-03 -5.65303591e+01] [ 1.17951565e-02 9.14570867e-03 9.99888609e-01 2.64762663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5607140569999 meters Centerline goodness [0,1] 0.9383696463720899 Centerline is valid? [True, False] Translation: X:734.21, Y:-56.53, Z:2.65 [[ 9.97794006e-01 6.51286331e-02 -1.28601151e-02 7.34209370e+02] [-6.52487988e-02 9.97827018e-01 -9.15625899e-03 -5.65280613e+01] [ 1.22358357e-02 9.97516740e-03 9.99875382e-01 2.64816387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5907140569999 meters Centerline goodness [0,1] 0.9545403041221927 Centerline is valid? [False, True] Translation: X:734.21, Y:-56.52, Z:2.65 [[ 9.97806389e-01 6.48472507e-02 -1.33132792e-02 7.34210090e+02] [-6.49883618e-02 9.97831252e-01 -1.04549269e-02 -5.65239503e+01] [ 1.26064328e-02 1.12972011e-02 9.99856715e-01 2.64893371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.620714057 meters Centerline goodness [0,1] 0.9482782026336033 Centerline is valid? [True, False] Translation: X:734.21, Y:-56.52, Z:2.65 [[ 9.97812771e-01 6.46868289e-02 -1.36120908e-02 7.34210646e+02] [-6.48394972e-02 9.97834082e-01 -1.10898292e-02 -5.65219219e+01] [ 1.28652422e-02 1.19481744e-02 9.99845851e-01 2.64918509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.650714057 meters Centerline goodness [0,1] 0.9652957465159563 Centerline is valid? [False, True] Translation: X:734.21, Y:-56.52, Z:2.65 [[ 9.97818096e-01 6.45303304e-02 -1.39600559e-02 7.34211233e+02] [-6.46964381e-02 9.97835302e-01 -1.17932931e-02 -5.65196312e+01] [ 1.31688115e-02 1.26707272e-02 9.99833004e-01 2.64955522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6807140569999 meters Centerline goodness [0,1] 0.9656105100463679 Centerline is valid? [True, True] Translation: X:734.24, Y:-56.53, Z:2.65 [[ 9.97822073e-01 6.50242987e-02 -1.10883388e-02 7.34239240e+02] [-6.50077212e-02 9.97883047e-01 1.84935310e-03 -5.65271897e+01] [ 1.11851182e-02 -1.12449771e-03 9.99936812e-01 2.64528445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7107140569999 meters Centerline goodness [0,1] 0.9621448233500921 Centerline is valid? [True, True] Translation: X:734.27, Y:-56.53, Z:2.65 [[ 9.97839085e-01 6.48118031e-02 -1.07976915e-02 7.34266525e+02] [-6.47960951e-02 9.97896904e-01 1.79866044e-03 -5.65339955e+01] [ 1.08915574e-02 -1.09512544e-03 9.99940086e-01 2.64519837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.740714057 meters Centerline goodness [0,1] 0.9630558722919043 Centerline is valid? [True, True] Translation: X:734.30, Y:-56.54, Z:2.65 [[ 9.97893220e-01 6.39156523e-02 -1.11315040e-02 7.34296517e+02] [-6.38989124e-02 9.97954655e-01 1.85341604e-03 -5.65355754e+01] [ 1.12271985e-02 -1.13822031e-03 9.99936325e-01 2.64547449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.770714057 meters Centerline goodness [0,1] 0.9597427183358803 Centerline is valid? [True, True] Translation: X:734.32, Y:-56.54, Z:2.65 [[ 9.97920408e-01 6.34981513e-02 -1.10835267e-02 7.34323301e+02] [-6.34815364e-02 9.97981308e-01 1.84484856e-03 -5.65422259e+01] [ 1.11782970e-02 -1.13741273e-03 9.99936874e-01 2.64574212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8007140569999 meters Centerline goodness [0,1] 0.9553110877801616 Centerline is valid? [True, True] Translation: X:734.35, Y:-56.55, Z:2.65 [[ 9.97936748e-01 6.31651141e-02 -1.15072265e-02 7.34350811e+02] [-6.31471948e-02 9.98002388e-01 1.91431507e-03 -5.65480448e+01] [ 1.16051574e-02 -1.18371629e-03 9.99931957e-01 2.64619874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8307140569999 meters Centerline goodness [0,1] 0.9597063733449198 Centerline is valid? [True, True] Translation: X:734.38, Y:-56.55, Z:2.64 [[ 9.97967294e-01 6.22524213e-02 -1.36350863e-02 7.34379941e+02] [-6.22272090e-02 9.98059437e-01 2.26600370e-03 -5.65483916e+01] [ 1.37496907e-02 -1.41292422e-03 9.99904470e-01 2.64413300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8607140569999 meters Centerline goodness [0,1] 0.9596711400174048 Centerline is valid? [True, True] Translation: X:734.41, Y:-56.55, Z:2.64 [[ 9.98006568e-01 6.12903990e-02 -1.50458564e-02 7.34408829e+02] [-6.12596513e-02 9.98118742e-01 2.49647111e-03 -5.65519180e+01] [ 1.51705610e-02 -1.56979065e-03 9.99883688e-01 2.64373591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.890714057 meters Centerline goodness [0,1] 0.9234811616057761 Centerline is valid? [True, False] Translation: X:734.41, Y:-56.55, Z:2.64 [[ 9.98170311e-01 5.82844479e-02 -1.60920197e-02 7.34411305e+02] [-5.83146617e-02 9.98297250e-01 -1.41436226e-03 -5.65486624e+01] [ 1.59821837e-02 2.35017511e-03 9.99869515e-01 2.64345689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9207140569999 meters Centerline goodness [0,1] 0.9211352131387864 Centerline is valid? [False, False] Translation: X:734.41, Y:-56.55, Z:2.64 [[ 9.98183864e-01 5.80217818e-02 -1.62001971e-02 7.34411361e+02] [-5.80604830e-02 9.98311205e-01 -1.92851802e-03 -5.65476841e+01] [ 1.60609422e-02 2.86560683e-03 9.99866908e-01 2.64373373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9507140569999 meters Centerline goodness [0,1] 0.9217861727489456 Centerline is valid? [False, False] Translation: X:734.41, Y:-56.55, Z:2.64 [[ 9.98194503e-01 5.77747276e-02 -1.64260580e-02 7.34411639e+02] [-5.78245609e-02 9.98323440e-01 -2.57480817e-03 -5.65465079e+01] [ 1.62497599e-02 3.51998895e-03 9.99861768e-01 2.64412939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9807140569999 meters Centerline goodness [0,1] 0.9447046726836513 Centerline is valid? [False, False] Translation: X:734.41, Y:-56.54, Z:2.65 [[ 9.98190446e-01 5.77071370e-02 -1.69032679e-02 7.34412395e+02] [-5.77785192e-02 9.98322326e-01 -3.76510312e-03 -5.65429752e+01] [ 1.66576364e-02 4.73493575e-03 9.99850041e-01 2.64509801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.010714057 meters Centerline goodness [0,1] 0.9683112346898913 Centerline is valid? [False, True] Translation: X:734.41, Y:-56.54, Z:2.65 [[ 9.98213805e-01 5.72229991e-02 -1.71676247e-02 7.34412234e+02] [-5.73173386e-02 9.98343217e-01 -5.05402395e-03 -5.65400310e+01] [ 1.68499753e-02 6.02899903e-03 9.99839852e-01 2.64635994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.040714057 meters Centerline goodness [0,1] 0.961007591442374 Centerline is valid? [True, True] Translation: X:734.44, Y:-56.55, Z:2.64 [[ 9.98149706e-01 5.89368958e-02 -1.49534734e-02 7.34439487e+02] [-5.89079627e-02 9.98260609e-01 2.36840357e-03 -5.65506814e+01] [ 1.50670498e-02 -1.48314268e-03 9.99885386e-01 2.64433675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0707140569999 meters Centerline goodness [0,1] 0.9673082235933327 Centerline is valid? [True, True] Translation: X:734.47, Y:-56.55, Z:2.65 [[ 9.98004209e-01 6.15775729e-02 -1.39928940e-02 7.34470326e+02] [-6.15525027e-02 9.98101388e-01 2.21571034e-03 -5.65474745e+01] [ 1.41027650e-02 -1.34999060e-03 9.99899640e-01 2.64600702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1007140569999 meters Centerline goodness [0,1] 0.9670230699951504 Centerline is valid? [True, True] Translation: X:734.50, Y:-56.55, Z:2.65 [[ 9.97950304e-01 6.24394139e-02 -1.40182152e-02 7.34499234e+02] [-6.24143416e-02 9.98047857e-01 2.21939985e-03 -5.65503581e+01] [ 1.41294277e-02 -1.33991308e-03 9.99899277e-01 2.64607178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.130714057 meters Centerline goodness [0,1] 0.9681513962612509 Centerline is valid? [True, True] Translation: X:734.53, Y:-56.55, Z:2.65 [[ 9.97954587e-01 6.24643022e-02 -1.35960383e-02 7.34528441e+02] [-6.24407407e-02 9.98046355e-01 2.15103202e-03 -5.65520497e+01] [ 1.37038392e-02 -1.29768557e-03 9.99905256e-01 2.64582375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.160714057 meters Centerline goodness [0,1] 0.9694040378344626 Centerline is valid? [True, True] Translation: X:734.56, Y:-56.55, Z:2.65 [[ 9.97985903e-01 6.19346952e-02 -1.37197240e-02 7.34557468e+02] [-6.19107021e-02 9.98079340e-01 2.16708182e-03 -5.65536506e+01] [ 1.38275906e-02 -1.31331937e-03 9.99903532e-01 2.64595302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1907140569999 meters Centerline goodness [0,1] 0.9568345323741008 Centerline is valid? [True, True] Translation: X:734.58, Y:-56.57, Z:2.65 [[ 9.98013599e-01 6.14608986e-02 -1.38352486e-02 7.34582639e+02] [-6.14364967e-02 9.98108609e-01 2.18231058e-03 -5.65700003e+01] [ 1.39432075e-02 -1.32798643e-03 9.99901907e-01 2.64545667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2207140569999 meters Centerline goodness [0,1] 0.9630445877604046 Centerline is valid? [True, True] Translation: X:734.61, Y:-56.57, Z:2.64 [[ 9.98039256e-01 6.08011924e-02 -1.48612992e-02 7.34611926e+02] [-6.07729956e-02 9.98148866e-01 2.34204889e-03 -5.65689810e+01] [ 1.49761883e-02 -1.43429107e-03 9.99886822e-01 2.64422427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.250714057 meters Centerline goodness [0,1] 0.9683995922528033 Centerline is valid? [True, True] Translation: X:734.64, Y:-56.57, Z:2.64 [[ 9.98039983e-01 6.03725458e-02 -1.64726376e-02 7.34640803e+02] [-6.03379169e-02 9.98174644e-01 2.59162119e-03 -5.65677076e+01] [ 1.65990320e-02 -1.59261692e-03 9.99860958e-01 2.64341771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.280714057 meters Centerline goodness [0,1] 0.9410976004438485 Centerline is valid? [True, False] Translation: X:734.64, Y:-56.57, Z:2.64 [[ 9.98192701e-01 5.74501980e-02 -1.76297054e-02 7.34643649e+02] [-5.74806408e-02 9.98345870e-01 -1.22453606e-03 -5.65653976e+01] [ 1.75301938e-02 2.23568973e-03 9.99843835e-01 2.64286995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3107140569999 meters Centerline goodness [0,1] 0.9672427373395728 Centerline is valid? [False, True] Translation: X:734.64, Y:-56.56, Z:2.64 [[ 9.98198317e-01 5.72723819e-02 -1.78883694e-02 7.34643982e+02] [-5.73129228e-02 9.98354709e-01 -1.76153336e-03 -5.65644926e+01] [ 1.77580506e-02 2.78359436e-03 9.99838439e-01 2.64328229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3407140569999 meters Centerline goodness [0,1] 0.9682631009643046 Centerline is valid? [True, True] Translation: X:734.67, Y:-56.57, Z:2.64 [[ 9.98116353e-01 5.89070534e-02 -1.71378211e-02 7.34674150e+02] [-5.88704417e-02 9.98262158e-01 2.63345732e-03 -5.65682492e+01] [ 1.72631674e-02 -1.61958572e-03 9.99849669e-01 2.64312750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.370714057 meters Centerline goodness [0,1] 0.9695324283559578 Centerline is valid? [True, True] Translation: X:734.70, Y:-56.57, Z:2.64 [[ 9.98050351e-01 5.99916365e-02 -1.72192102e-02 7.34702895e+02] [-5.99548476e-02 9.98197585e-01 2.64529991e-03 -5.65699742e+01] [ 1.73468699e-02 -1.60776738e-03 9.99848239e-01 2.64370692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.400714057 meters Centerline goodness [0,1] 0.9718293504261595 Centerline is valid? [True, True] Translation: X:734.73, Y:-56.57, Z:2.64 [[ 9.97883035e-01 6.28948944e-02 -1.65433219e-02 7.34734064e+02] [-6.28613456e-02 9.98019036e-01 2.54069218e-03 -5.65662052e+01] [ 1.66703467e-02 -1.49537815e-03 9.99859922e-01 2.64452955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4307140569999 meters Centerline goodness [0,1] 0.9658669877732493 Centerline is valid? [True, True] Translation: X:734.76, Y:-56.58, Z:2.64 [[ 9.97786862e-01 6.45670188e-02 -1.58895460e-02 7.34760774e+02] [-6.45362856e-02 9.97912378e-01 2.43992887e-03 -5.65802922e+01] [ 1.60139136e-02 -1.40907669e-03 9.99870776e-01 2.64470034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4607140569999 meters Centerline goodness [0,1] 0.9693144570751099 Centerline is valid? [True, True] Translation: X:734.79, Y:-56.58, Z:2.65 [[ 9.97702777e-01 6.59565918e-02 -1.54563145e-02 7.34791025e+02] [-6.59276888e-02 9.97821582e-01 2.37266667e-03 -5.65781325e+01] [ 1.55791372e-02 -1.34821704e-03 9.99877729e-01 2.64561816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.490714057 meters Centerline goodness [0,1] 0.9733065307839746 Centerline is valid? [True, True] Translation: X:734.82, Y:-56.57, Z:2.65 [[ 9.97579053e-01 6.79459080e-02 -1.48117145e-02 7.34822502e+02] [-6.79195915e-02 9.97688209e-01 2.27316490e-03 -5.65729495e+01] [ 1.49319251e-02 -1.26165609e-03 9.99887717e-01 2.64679559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.520714057 meters Centerline goodness [0,1] 0.9668558615373835 Centerline is valid? [True, True] Translation: X:734.85, Y:-56.59, Z:2.65 [[ 9.97329850e-01 7.17754668e-02 -1.34704620e-02 7.34850496e+02] [-7.17540549e-02 9.97420214e-01 2.06680152e-03 -5.65857093e+01] [ 1.35840567e-02 -1.09472258e-03 9.99907133e-01 2.64704624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5507140569999 meters Centerline goodness [0,1] 0.9728954973431528 Centerline is valid? [True, True] Translation: X:734.88, Y:-56.58, Z:2.65 [[ 9.97045289e-01 7.57455346e-02 -1.27790902e-02 7.34882348e+02] [-7.57265922e-02 9.97126692e-01 1.96041158e-03 -5.65776641e+01] [ 1.28908644e-02 -9.86902179e-04 9.99916422e-01 2.64810787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5807140569999 meters Centerline goodness [0,1] 0.9728835823696371 Centerline is valid? [True, True] Translation: X:734.91, Y:-56.58, Z:2.65 [[ 9.96932445e-01 7.72032964e-02 -1.28588781e-02 7.34910344e+02] [-7.71842409e-02 9.97014896e-01 1.97237162e-03 -5.65819627e+01] [ 1.29727666e-02 -9.73818512e-04 9.99915376e-01 2.64805519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6107140569999 meters Centerline goodness [0,1] 0.9727342819093012 Centerline is valid? [True, True] Translation: X:734.94, Y:-56.58, Z:2.65 [[ 9.96810743e-01 7.85735660e-02 -1.39476903e-02 7.34938850e+02] [-7.85512950e-02 9.96907780e-01 2.13831239e-03 -5.65846542e+01] [ 1.40725759e-02 -1.03588362e-03 9.99900440e-01 2.64780194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.640714057 meters Centerline goodness [0,1] 0.9702842377260982 Centerline is valid? [True, True] Translation: X:734.97, Y:-56.60, Z:2.65 [[ 9.96707414e-01 7.98016612e-02 -1.43536296e-02 7.34965582e+02] [-7.97782168e-02 9.96810212e-01 2.19949274e-03 -5.65976780e+01] [ 1.44833677e-02 -1.04714374e-03 9.99894562e-01 2.64665367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6707140569999 meters Centerline goodness [0,1] 0.9741938516499012 Centerline is valid? [True, True] Translation: X:735.00, Y:-56.59, Z:2.64 [[ 9.96549884e-01 8.12736198e-02 -1.68204660e-02 7.34995373e+02] [-8.12416546e-02 9.96691104e-01 2.57616780e-03 -5.65916388e+01] [ 1.69741833e-02 -1.20075723e-03 9.99855207e-01 2.64476167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7007140569999 meters Centerline goodness [0,1] 0.9747491402459132 Centerline is valid? [True, True] Translation: X:735.02, Y:-56.60, Z:2.64 [[ 9.96429826e-01 8.25224545e-02 -1.78226538e-02 7.35024389e+02] [-8.24868094e-02 9.96588425e-01 2.72719500e-03 -5.65959672e+01] [ 1.79869053e-02 -1.24732459e-03 9.99837444e-01 2.64344971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7307140569999 meters Centerline goodness [0,1] 0.9752303064485806 Centerline is valid? [True, True] Translation: X:735.05, Y:-56.60, Z:2.64 [[ 9.96408569e-01 8.27371393e-02 -1.80147147e-02 7.35053073e+02] [-8.27008356e-02 9.96570618e-01 2.75224323e-03 -5.65975179e+01] [ 1.81806481e-02 -1.25252677e-03 9.99833934e-01 2.64413064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.760714057 meters Centerline goodness [0,1] 0.9734897360703813 Centerline is valid? [True, True] Translation: X:735.08, Y:-56.61, Z:2.64 [[ 9.96378110e-01 8.31639226e-02 -1.77320094e-02 7.35080052e+02] [-8.31288956e-02 9.96535133e-01 2.70464246e-03 -5.66078015e+01] [ 1.78954991e-02 -1.22080418e-03 9.99839117e-01 2.64468586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.790714057 meters Centerline goodness [0,1] 0.9726769520668943 Centerline is valid? [True, True] Translation: X:735.11, Y:-56.61, Z:2.65 [[ 9.96293112e-01 8.41698342e-02 -1.77615948e-02 7.35109066e+02] [-8.41349115e-02 9.96450699e-01 2.70569149e-03 -5.66111082e+01] [ 1.79262912e-02 -1.20129159e-03 9.99838589e-01 2.64534977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8207140569999 meters Centerline goodness [0,1] 0.9749570456845623 Centerline is valid? [True, True] Translation: X:735.14, Y:-56.61, Z:2.65 [[ 9.96024330e-01 8.74279839e-02 -1.70845310e-02 7.35139967e+02] [-8.73961715e-02 9.96170238e-01 2.60131427e-03 -5.66115433e+01] [ 1.72465290e-02 -1.09784970e-03 9.99850665e-01 2.64664520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8507140569999 meters Centerline goodness [0,1] 0.9778013432308236 Centerline is valid? [True, True] Translation: X:735.17, Y:-56.60, Z:2.65 [[ 9.95662463e-01 9.16183216e-02 -1.61970230e-02 7.35171526e+02] [-9.15902839e-02 9.95793723e-01 2.46600122e-03 -5.66047482e+01] [ 1.63548247e-02 -9.71814915e-04 9.99865779e-01 2.64842333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.880714057 meters Centerline goodness [0,1] 0.9768191659606514 Centerline is valid? [True, True] Translation: X:735.20, Y:-56.61, Z:2.65 [[ 9.95481184e-01 9.36294672e-02 -1.58346267e-02 7.35200154e+02] [-9.36029283e-02 9.95606690e-01 2.41053894e-03 -5.66091791e+01] [ 1.59907577e-02 -9.17478732e-04 9.99871719e-01 2.64860097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.910714057 meters Centerline goodness [0,1] 0.9768653358906965 Centerline is valid? [True, True] Translation: X:735.23, Y:-56.61, Z:2.65 [[ 9.95290438e-01 9.56413517e-02 -1.58011118e-02 7.35229451e+02] [-9.56151898e-02 9.95415468e-01 2.40468100e-03 -5.66095952e+01] [ 1.59586580e-02 -8.82529707e-04 9.99872263e-01 2.64991276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9407140569999 meters Centerline goodness [0,1] 0.9772791753357292 Centerline is valid? [True, True] Translation: X:735.26, Y:-56.61, Z:2.65 [[ 9.95140261e-01 9.72482431e-02 -1.54480125e-02 7.35257256e+02] [-9.72234490e-02 9.95259805e-01 2.34975915e-03 -5.66127499e+01] [ 1.56032958e-02 -8.36430883e-04 9.99877911e-01 2.65007596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9707140569999 meters Centerline goodness [0,1] 0.9783381523439352 Centerline is valid? [True, True] Translation: X:735.28, Y:-56.61, Z:2.65 [[ 9.94981517e-01 9.88603897e-02 -1.54403267e-02 7.35284838e+02] [-9.88358355e-02 9.95100984e-01 2.34720182e-03 -5.66148148e+01] [ 1.55967295e-02 -8.09364839e-04 9.99878036e-01 2.65088147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.000714057 meters Centerline goodness [0,1] 0.9772033236275832 Centerline is valid? [True, True] Translation: X:735.31, Y:-56.62, Z:2.65 [[ 9.94918782e-01 9.94489317e-02 -1.57012079e-02 7.35313128e+02] [-9.94236491e-02 9.95042337e-01 2.38462645e-03 -5.66187942e+01] [ 1.58605152e-02 -8.11438258e-04 9.99873885e-01 2.65121699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.030714057 meters Centerline goodness [0,1] 0.9778642435170467 Centerline is valid? [True, True] Translation: X:735.34, Y:-56.62, Z:2.65 [[ 9.94906798e-01 9.94996890e-02 -1.61330593e-02 7.35342002e+02] [-9.94730703e-02 9.95037248e-01 2.44609310e-03 -5.66228053e+01] [ 1.62963804e-02 -8.28829714e-04 9.99866862e-01 2.65001101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0607140569999 meters Centerline goodness [0,1] 0.9783700544894575 Centerline is valid? [True, True] Translation: X:735.37, Y:-56.63, Z:2.65 [[ 9.94902316e-01 9.96148432e-02 -1.56928515e-02 7.35370587e+02] [-9.95897331e-02 9.95025750e-01 2.37547216e-03 -5.66268046e+01] [ 1.58514237e-02 -8.00515859e-04 9.99874038e-01 2.64934917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0907140569999 meters Centerline goodness [0,1] 0.9773416761471369 Centerline is valid? [True, True] Translation: X:735.40, Y:-56.63, Z:2.65 [[ 9.94920897e-01 9.93665916e-02 -1.60838331e-02 7.35397581e+02] [-9.93402520e-02 9.95050555e-01 2.43036343e-03 -5.66315170e+01] [ 1.62457240e-02 -8.20247329e-04 9.99867693e-01 2.64944501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.120714057 meters Centerline goodness [0,1] 0.9791345218031191 Centerline is valid? [True, True] Translation: X:735.43, Y:-56.63, Z:2.65 [[ 9.94879631e-01 9.97920141e-02 -1.60022911e-02 7.35426783e+02] [-9.97660669e-02 9.95007993e-01 2.41364733e-03 -5.66331654e+01] [ 1.61632702e-02 -8.04802924e-04 9.99869042e-01 2.64984000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.150714057 meters Centerline goodness [0,1] 0.9780656140682613 Centerline is valid? [True, True] Translation: X:735.45, Y:-56.64, Z:2.65 [[ 9.94900114e-01 9.95816763e-02 -1.60391196e-02 7.35454278e+02] [-9.95556343e-02 9.95029064e-01 2.41598155e-03 -5.66402835e+01] [ 1.61999776e-02 -8.06875595e-04 9.99868446e-01 2.64999230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1807140569999 meters Centerline goodness [0,1] 0.9780976961144129 Centerline is valid? [True, True] Translation: X:735.48, Y:-56.64, Z:2.65 [[ 9.94992410e-01 9.87462571e-02 -1.54686813e-02 7.35483456e+02] [-9.87219678e-02 9.95112332e-01 2.32789996e-03 -5.66419799e+01] [ 1.56229469e-02 -7.89144131e-04 9.99877643e-01 2.65139375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2107140569999 meters Centerline goodness [0,1] 0.9771642002742187 Centerline is valid? [True, True] Translation: X:735.51, Y:-56.65, Z:2.65 [[ 9.95068341e-01 9.79688052e-02 -1.55277467e-02 7.35510715e+02] [-9.79442849e-02 9.95189164e-01 2.33364434e-03 -5.66487036e+01] [ 1.56816696e-02 -8.01281561e-04 9.99876714e-01 2.65160364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.240714057 meters Centerline goodness [0,1] 0.974504583048611 Centerline is valid? [True, True] Translation: X:735.54, Y:-56.66, Z:2.65 [[ 9.95318987e-01 9.53882992e-02 -1.55301871e-02 7.35537077e+02] [-9.53634783e-02 9.95439785e-01 2.33271336e-03 -5.66618117e+01] [ 1.56818797e-02 -8.40781236e-04 9.99876678e-01 2.65078746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.270714057 meters Centerline goodness [0,1] 0.974504583048611 Centerline is valid? [True, True] Translation: X:735.56, Y:-56.67, Z:2.65 [[ 9.95343555e-01 9.51315475e-02 -1.55304861e-02 7.35564206e+02] [-9.51067264e-02 9.95464353e-01 2.33072126e-03 -5.66657781e+01] [ 1.56817704e-02 -8.42814692e-04 9.99876678e-01 2.65108268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3007140569999 meters Centerline goodness [0,1] 0.9762579061644482 Centerline is valid? [True, True] Translation: X:735.59, Y:-56.66, Z:2.65 [[ 9.95516391e-01 9.32399106e-02 -1.59195907e-02 7.35594935e+02] [-9.32136382e-02 9.95643272e-01 2.38604675e-03 -5.66606339e+01] [ 1.60727081e-02 -8.91425688e-04 9.99870428e-01 2.65235170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3307140569999 meters Centerline goodness [0,1] 0.9761466156534883 Centerline is valid? [True, True] Translation: X:735.62, Y:-56.67, Z:2.65 [[ 9.95671130e-01 9.15106263e-02 -1.62728812e-02 7.35623510e+02] [-9.14829561e-02 9.95803657e-01 2.43829197e-03 -5.66670609e+01] [ 1.64277242e-02 -9.39045639e-04 9.99864615e-01 2.65188185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3607140569999 meters Centerline goodness [0,1] 0.9760005646925954 Centerline is valid? [True, True] Translation: X:735.65, Y:-56.67, Z:2.65 [[ 9.95981079e-01 8.80232857e-02 -1.65406295e-02 7.35651715e+02] [-8.79942295e-02 9.96117903e-01 2.47772240e-03 -5.66748031e+01] [ 1.66945144e-02 -1.01228467e-03 9.99860124e-01 2.65126440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.390714057 meters Centerline goodness [0,1] 0.9745549467347083 Centerline is valid? [True, True] Translation: X:735.68, Y:-56.68, Z:2.65 [[ 9.96109697e-01 8.65343206e-02 -1.66517945e-02 7.35680535e+02] [-8.65046719e-02 9.96248323e-01 2.49398382e-03 -5.66814540e+01] [ 1.68051375e-02 -1.04382345e-03 9.99858239e-01 2.65140056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4207140569999 meters Centerline goodness [0,1] 0.9753974974127387 Centerline is valid? [True, True] Translation: X:735.71, Y:-56.69, Z:2.65 [[ 9.96329104e-01 8.39339176e-02 -1.68349022e-02 7.35710634e+02] [-8.39032500e-02 9.96470717e-01 2.52102080e-03 -5.66879428e+01] [ 1.69870862e-02 -1.09926339e-03 9.99855105e-01 2.65178059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4507140569999 meters Centerline goodness [0,1] 0.9750170552118375 Centerline is valid? [True, True] Translation: X:735.74, Y:-56.69, Z:2.65 [[ 9.96423706e-01 8.27767991e-02 -1.69646406e-02 7.35739106e+02] [-8.27455176e-02 9.96567476e-01 2.53883303e-03 -5.66924096e+01] [ 1.71165655e-02 -1.12600545e-03 9.99852867e-01 2.65204332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4807140569999 meters Centerline goodness [0,1] 0.9761983393093037 Centerline is valid? [True, True] Translation: X:735.77, Y:-56.70, Z:2.65 [[ 9.96531189e-01 8.14133649e-02 -1.72468609e-02 7.35767593e+02] [-8.13809083e-02 9.96679742e-01 2.57660094e-03 -5.66957128e+01] [ 1.73993666e-02 -1.16409799e-03 9.99847942e-01 2.65225420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.510714057 meters Centerline goodness [0,1] 0.9757017275105465 Centerline is valid? [True, True] Translation: X:735.80, Y:-56.70, Z:2.65 [[ 9.96746789e-01 7.88228413e-02 -1.68166224e-02 7.35795821e+02] [-7.87916663e-02 9.96887946e-01 2.50942373e-03 -5.67042467e+01] [ 1.69620881e-02 -1.17625034e-03 9.99855442e-01 2.65213171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.540714057 meters Centerline goodness [0,1] 0.9748203980685431 Centerline is valid? [True, True] Translation: X:735.83, Y:-56.71, Z:2.65 [[ 9.96953374e-01 7.62393317e-02 -1.64782924e-02 7.35825946e+02] [-7.62090538e-02 9.97088830e-01 2.45855746e-03 -5.67097600e+01] [ 1.66177601e-02 -1.19527209e-03 9.99861201e-01 2.65339784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5707140569999 meters Centerline goodness [0,1] 0.9743222290090683 Centerline is valid? [True, True] Translation: X:735.85, Y:-56.72, Z:2.65 [[ 9.97032790e-01 7.51335999e-02 -1.67498470e-02 7.35853243e+02] [-7.51021698e-02 9.97172714e-01 2.49851553e-03 -5.67169995e+01] [ 1.68902129e-02 -1.23315205e-03 9.99856590e-01 2.65383955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6007140569999 meters Centerline goodness [0,1] 0.9734432018834609 Centerline is valid? [True, True] Translation: X:735.88, Y:-56.72, Z:2.65 [[ 9.97117204e-01 7.39050242e-02 -1.71851500e-02 7.35881878e+02] [-7.38717810e-02 9.97264456e-01 2.56209965e-03 -5.67236148e+01] [ 1.73274914e-02 -1.28521599e-03 9.99849042e-01 2.65383326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.630714057 meters Centerline goodness [0,1] 0.97390915298938 Centerline is valid? [True, True] Translation: X:735.91, Y:-56.73, Z:2.65 [[ 9.97145808e-01 7.34097228e-02 -1.76423016e-02 7.35909907e+02] [-7.33746518e-02 9.97300985e-01 2.62791322e-03 -5.67291253e+01] [ 1.77875992e-02 -1.32591491e-03 9.99840909e-01 2.65384108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.660714057 meters Centerline goodness [0,1] 0.9740672696438666 Centerline is valid? [True, True] Translation: X:735.94, Y:-56.74, Z:2.65 [[ 9.97215274e-01 7.23055429e-02 -1.82648947e-02 7.35937781e+02] [-7.22678543e-02 9.97381562e-01 2.71599005e-03 -5.67351174e+01] [ 1.84134503e-02 -1.38846201e-03 9.99829494e-01 2.65362570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6907140569999 meters Centerline goodness [0,1] 0.9730894194095211 Centerline is valid? [True, True] Translation: X:735.97, Y:-56.74, Z:2.65 [[ 9.97214429e-01 7.25248698e-02 -1.74220197e-02 7.35965088e+02] [-7.24906733e-02 9.97365735e-01 2.58723002e-03 -5.67404640e+01] [ 1.75637640e-02 -1.31708917e-03 9.99844878e-01 2.65407914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7207140569999 meters Centerline goodness [0,1] 0.9729736098020735 Centerline is valid? [True, True] Translation: X:735.99, Y:-56.74, Z:2.66 [[ 9.97175754e-01 7.31879042e-02 -1.68536853e-02 7.35992849e+02] [-7.31560289e-02 9.97317372e-01 2.50093499e-03 -5.67445956e+01] [ 1.69915113e-02 -1.26092305e-03 9.99854839e-01 2.65510658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.750714057 meters Centerline goodness [0,1] 0.9730423317794415 Centerline is valid? [True, True] Translation: X:736.02, Y:-56.75, Z:2.66 [[ 9.97141559e-01 7.36464661e-02 -1.68792712e-02 7.36021660e+02] [-7.36146008e-02 9.97283625e-01 2.50229658e-03 -5.67476199e+01] [ 1.70177060e-02 -1.25258311e-03 9.99854404e-01 2.65548155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.780714057 meters Centerline goodness [0,1] 0.9756005385360323 Centerline is valid? [True, True] Translation: X:736.05, Y:-56.74, Z:2.66 [[ 9.96984566e-01 7.57798619e-02 -1.67089226e-02 7.36052757e+02] [-7.57489792e-02 9.97123849e-01 2.47438664e-03 -5.67427845e+01] [ 1.68483739e-02 -1.20124146e-03 9.99857334e-01 2.65703570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8107140569999 meters Centerline goodness [0,1] 0.975363518146353 Centerline is valid? [True, True] Translation: X:736.08, Y:-56.75, Z:2.66 [[ 9.96914459e-01 7.68197262e-02 -1.61335604e-02 7.36079901e+02] [-7.67910805e-02 9.97044345e-01 2.38850494e-03 -5.67476710e+01] [ 1.62693594e-02 -1.14222158e-03 9.99866993e-01 2.65729433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8407140569999 meters Centerline goodness [0,1] 0.9719661424563224 Centerline is valid? [True, True] Translation: X:736.11, Y:-56.76, Z:2.66 [[ 9.96837032e-01 7.76691176e-02 -1.68356915e-02 7.36106364e+02] [-7.76380875e-02 9.96978499e-01 2.48992837e-03 -5.67582511e+01] [ 1.69782130e-02 -1.17496192e-03 9.99855169e-01 2.65568911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.870714057 meters Centerline goodness [0,1] 0.9723641870149536 Centerline is valid? [True, True] Translation: X:736.13, Y:-56.76, Z:2.66 [[ 9.96811706e-01 7.78045093e-02 -1.76884573e-02 7.36134567e+02] [-7.77703559e-02 9.96967879e-01 2.61161635e-03 -5.67625987e+01] [ 1.78380193e-02 -1.22765212e-03 9.99840136e-01 2.65544646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.900714057 meters Centerline goodness [0,1] 0.9764686366975521 Centerline is valid? [True, True] Translation: X:736.16, Y:-56.76, Z:2.66 [[ 9.96814295e-01 7.76568453e-02 -1.81845117e-02 7.36163467e+02] [-7.76208116e-02 9.96979351e-01 2.68011601e-03 -5.67589433e+01] [ 1.83377121e-02 -1.26008139e-03 9.99831056e-01 2.65575563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9307140569999 meters Centerline goodness [0,1] 0.976228847703465 Centerline is valid? [True, True] Translation: X:736.19, Y:-56.76, Z:2.66 [[ 9.96810999e-01 7.74184912e-02 -1.93444847e-02 7.36190586e+02] [-7.73777461e-02 9.96997783e-01 2.84710189e-03 -5.67636262e+01] [ 1.95068266e-02 -1.34118986e-03 9.99808824e-01 2.65509974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9607140569999 meters Centerline goodness [0,1] 0.9759892341108698 Centerline is valid? [True, True] Translation: X:736.22, Y:-56.77, Z:2.66 [[ 9.96826535e-01 7.72544568e-02 -1.91991895e-02 7.36217143e+02] [-7.72143290e-02 9.97010518e-01 2.82376494e-03 -5.67683236e+01] [ 1.93599423e-02 -1.33235129e-03 9.99811691e-01 2.65529298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.990714057 meters Centerline goodness [0,1] 0.9772571130747909 Centerline is valid? [True, True] Translation: X:736.25, Y:-56.77, Z:2.66 [[ 9.96798796e-01 7.77810353e-02 -1.85005633e-02 7.36246438e+02] [-7.77439253e-02 9.96969656e-01 2.71780474e-03 -5.67660165e+01] [ 1.86558939e-02 -1.27079808e-03 9.99825156e-01 2.65679403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.020714057 meters Centerline goodness [0,1] 0.9743996214361765 Centerline is valid? [True, True] Translation: X:736.27, Y:-56.78, Z:2.66 [[ 9.96775903e-01 7.81739592e-02 -1.80729491e-02 7.36272788e+02] [-7.81386689e-02 9.96938973e-01 2.65171958e-03 -5.67759219e+01] [ 1.82249227e-02 -1.23097399e-03 9.99833155e-01 2.65661561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0507140569999 meters Centerline goodness [0,1] 0.9784273285446744 Centerline is valid? [True, True] Translation: X:736.30, Y:-56.77, Z:2.66 [[ 9.96774795e-01 7.80851097e-02 -1.85127742e-02 7.36302171e+02] [-7.80481261e-02 9.96945901e-01 2.71300297e-03 -5.67702175e+01] [ 1.86680795e-02 -1.25936565e-03 9.99824943e-01 2.65764226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0807140569999 meters Centerline goodness [0,1] 0.9774056985206678 Centerline is valid? [True, True] Translation: X:736.33, Y:-56.77, Z:2.66 [[ 9.96773736e-01 7.80098701e-02 -1.88833018e-02 7.36330014e+02] [-7.79714825e-02 9.96951764e-01 2.76178635e-03 -5.67725770e+01] [ 1.90411876e-02 -1.28051706e-03 9.99817880e-01 2.65871060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1107140569999 meters Centerline goodness [0,1] 0.9766750677635646 Centerline is valid? [True, True] Translation: X:736.36, Y:-56.78, Z:2.66 [[ 9.96799624e-01 7.77524056e-02 -1.85761514e-02 7.36357228e+02] [-7.77153113e-02 9.96971904e-01 2.71158419e-03 -5.67764441e+01] [ 1.87307332e-02 -1.25925471e-03 9.99823771e-01 2.65932438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.140714057 meters Centerline goodness [0,1] 0.97673310947584 Centerline is valid? [True, True] Translation: X:736.39, Y:-56.78, Z:2.66 [[ 9.96931139e-01 7.59493817e-02 -1.89735633e-02 7.36386618e+02] [-7.59104232e-02 9.97110804e-01 2.76618693e-03 -5.67809775e+01] [ 1.91288352e-02 -1.31740666e-03 9.99816159e-01 2.65966750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1707140569999 meters Centerline goodness [0,1] 0.9768087732624383 Centerline is valid? [True, True] Translation: X:736.41, Y:-56.79, Z:2.66 [[ 9.97021969e-01 7.47203974e-02 -1.90802247e-02 7.36414571e+02] [-7.46807975e-02 9.97203613e-01 2.78059944e-03 -5.67851345e+01] [ 1.92346365e-02 -1.34739233e-03 9.99814089e-01 2.65971257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2007140569999 meters Centerline goodness [0,1] 0.975859615840645 Centerline is valid? [True, True] Translation: X:736.44, Y:-56.79, Z:2.66 [[ 9.97119702e-01 7.33487046e-02 -1.92942201e-02 7.36442940e+02] [-7.33080168e-02 9.97305393e-01 2.80865492e-03 -5.67902692e+01] [ 1.94482410e-02 -1.38614414e-03 9.99809904e-01 2.65957342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2307140569999 meters Centerline goodness [0,1] 0.9736717379970614 Centerline is valid? [True, True] Translation: X:736.47, Y:-56.80, Z:2.66 [[ 9.97169138e-01 7.26579194e-02 -1.93529589e-02 7.36469695e+02] [-7.26169245e-02 9.97355937e-01 2.81359568e-03 -5.67957949e+01] [ 1.95062185e-02 -1.40027843e-03 9.99808755e-01 2.65988887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.260714057 meters Centerline goodness [0,1] 0.9735952380952381 Centerline is valid? [True, True] Translation: X:736.50, Y:-56.80, Z:2.66 [[ 9.97172753e-01 7.25540490e-02 -1.95553142e-02 7.36497368e+02] [-7.25122104e-02 9.97363478e-01 2.84108054e-03 -5.68008115e+01] [ 1.97098881e-02 -1.41504905e-03 9.99804740e-01 2.65959382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.290714057 meters Centerline goodness [0,1] 0.9759233731045301 Centerline is valid? [True, True] Translation: X:736.53, Y:-56.80, Z:2.66 [[ 9.97129307e-01 7.30967206e-02 -1.97487680e-02 7.36526781e+02] [-7.30542203e-02 9.97323853e-01 2.86595051e-03 -5.67996641e+01] [ 1.99054089e-02 -1.41499240e-03 9.99800866e-01 2.65978369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3207140569999 meters Centerline goodness [0,1] 0.9765779503919559 Centerline is valid? [True, True] Translation: X:736.56, Y:-56.80, Z:2.66 [[ 9.97115053e-01 7.32751618e-02 -1.98071113e-02 7.36555736e+02] [-7.32325452e-02 9.97310764e-01 2.86939745e-03 -5.68020853e+01] [ 1.99641009e-02 -1.41059421e-03 9.99799702e-01 2.66000705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3507140569999 meters Centerline goodness [0,1] 0.9768358208955223 Centerline is valid? [True, True] Translation: X:736.58, Y:-56.81, Z:2.66 [[ 9.97086211e-01 7.36091396e-02 -2.00195642e-02 7.36584503e+02] [-7.35657737e-02 9.97286165e-01 2.89507094e-03 -5.68054565e+01] [ 2.01783380e-02 -1.41388059e-03 9.99795397e-01 2.66016616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.380714057 meters Centerline goodness [0,1] 0.9759301351836344 Centerline is valid? [True, True] Translation: X:736.61, Y:-56.81, Z:2.66 [[ 9.97018341e-01 7.43110128e-02 -2.07918317e-02 7.36613272e+02] [-7.42644998e-02 9.97234063e-01 3.00140818e-03 -5.68082044e+01] [ 2.09573605e-02 -1.44836402e-03 9.99779321e-01 2.66045568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.410714057 meters Centerline goodness [0,1] 0.9762656713561106 Centerline is valid? [True, True] Translation: X:736.64, Y:-56.81, Z:2.66 [[ 9.96987175e-01 7.48362836e-02 -2.03986143e-02 7.36641203e+02] [-7.47917272e-02 9.97194844e-01 2.93957887e-03 -5.68127731e+01] [ 2.05613801e-02 -1.40507484e-03 9.99787605e-01 2.66039244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4407140569999 meters Centerline goodness [0,1] 0.974438141739068 Centerline is valid? [True, True] Translation: X:736.67, Y:-56.82, Z:2.66 [[ 9.96888279e-01 7.61169569e-02 -2.04931055e-02 7.36668503e+02] [-7.60723290e-02 9.97097939e-01 2.94966012e-03 -5.68165553e+01] [ 2.06581525e-02 -1.38152333e-03 9.99785643e-01 2.65948800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4707140569999 meters Centerline goodness [0,1] 0.9759448526771823 Centerline is valid? [True, True] Translation: X:736.70, Y:-56.82, Z:2.66 [[ 9.96841063e-01 7.67584348e-02 -2.03969863e-02 7.36697695e+02] [-7.67144274e-02 9.97048794e-01 2.93246667e-03 -5.68162652e+01] [ 2.05618822e-02 -1.35846006e-03 9.99787659e-01 2.66032558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.500714057 meters Centerline goodness [0,1] 0.9745169487462243 Centerline is valid? [True, True] Translation: X:736.72, Y:-56.82, Z:2.66 [[ 9.96774243e-01 7.77179016e-02 -2.00259059e-02 7.36724371e+02] [-7.76757433e-02 9.96974528e-01 2.87567638e-03 -5.68235497e+01] [ 2.01888096e-02 -1.31087302e-03 9.99795326e-01 2.66003282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.530714057 meters Centerline goodness [0,1] 0.9752028421911758 Centerline is valid? [True, True] Translation: X:736.75, Y:-56.82, Z:2.66 [[ 9.96614930e-01 7.99586772e-02 -1.91126059e-02 7.36753380e+02] [-7.99207103e-02 9.96797449e-01 2.74334106e-03 -5.68249062e+01] [ 1.92707507e-02 -1.20656162e-03 9.99813574e-01 2.66145388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5607140569999 meters Centerline goodness [0,1] 0.9753734939759036 Centerline is valid? [True, True] Translation: X:736.78, Y:-56.83, Z:2.66 [[ 9.96553860e-01 8.08248286e-02 -1.86480968e-02 7.36781205e+02] [-8.07888554e-02 9.96727647e-01 2.67563668e-03 -5.68279873e+01] [ 1.88033315e-02 -1.15985766e-03 9.99822529e-01 2.66210340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5907140569999 meters Centerline goodness [0,1] 0.9749236650397903 Centerline is valid? [True, True] Translation: X:736.81, Y:-56.83, Z:2.66 [[ 9.96390543e-01 8.28430575e-02 -1.85179250e-02 7.36809678e+02] [-8.28079560e-02 9.96561985e-01 2.65567492e-03 -5.68305312e+01] [ 1.86742643e-02 -1.11265786e-03 9.99825002e-01 2.66299464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.620714057 meters Centerline goodness [0,1] 0.9762128778557815 Centerline is valid? [True, True] Translation: X:736.84, Y:-56.83, Z:2.66 [[ 9.96372034e-01 8.30046083e-02 -1.87884108e-02 7.36838826e+02] [-8.29685497e-02 9.96548530e-01 2.69196552e-03 -5.68306729e+01] [ 1.89470087e-02 -1.12335197e-03 9.99819858e-01 2.66351655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.650714057 meters Centerline goodness [0,1] 0.974785265741164 Centerline is valid? [True, True] Translation: X:736.87, Y:-56.84, Z:2.66 [[ 9.96384422e-01 8.27329483e-02 -1.93220762e-02 7.36865729e+02] [-8.26948340e-02 9.96571082e-01 2.76468245e-03 -5.68362810e+01] [ 1.94845527e-02 -1.15685064e-03 9.99809489e-01 2.66289519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6807140569999 meters Centerline goodness [0,1] 0.9773130180633415 Centerline is valid? [True, True] Translation: X:736.89, Y:-56.83, Z:2.66 [[ 9.96381563e-01 8.28410027e-02 -1.90039402e-02 7.36894817e+02] [-8.28042185e-02 9.96562134e-01 2.71574339e-03 -5.68339280e+01] [ 1.91635821e-02 -1.13231023e-03 9.99815721e-01 2.66417101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7107140569999 meters Centerline goodness [0,1] 0.9752759806633157 Centerline is valid? [True, True] Translation: X:736.92, Y:-56.84, Z:2.66 [[ 9.96367049e-01 8.30952618e-02 -1.86515515e-02 7.36921854e+02] [-8.30599598e-02 9.96540999e-01 2.66080849e-03 -5.68442896e+01] [ 1.88081364e-02 -1.10194478e-03 9.99822504e-01 2.66344645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.740714057 meters Centerline goodness [0,1] 0.9749729013609538 Centerline is valid? [True, True] Translation: X:736.95, Y:-56.85, Z:2.66 [[ 9.96305957e-01 8.39570878e-02 -1.80457208e-02 7.36950905e+02] [-8.39242584e-02 9.96468822e-01 2.57023586e-03 -5.68472358e+01] [ 1.81977877e-02 -1.04626756e-03 9.99833859e-01 2.66427479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.770714057 meters Centerline goodness [0,1] 0.9780111268996411 Centerline is valid? [True, True] Translation: X:736.98, Y:-56.84, Z:2.66 [[ 9.96077190e-01 8.65265944e-02 -1.85305277e-02 7.36982018e+02] [-8.64924671e-02 9.96249015e-01 2.63677626e-03 -5.68430111e+01] [ 1.86891712e-02 -1.02368163e-03 9.99824818e-01 2.66477923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8007140569999 meters Centerline goodness [0,1] 0.9788462926864486 Centerline is valid? [True, True] Translation: X:737.01, Y:-56.84, Z:2.67 [[ 9.95601159e-01 9.18663861e-02 -1.84092018e-02 7.37012773e+02] [-9.18336198e-02 9.95770920e-01 2.61920864e-03 -5.68448975e+01] [ 1.85719651e-02 -9.17103517e-04 9.99827106e-01 2.66574620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8307140569999 meters Centerline goodness [0,1] 0.9784293899561847 Centerline is valid? [True, True] Translation: X:737.04, Y:-56.85, Z:2.67 [[ 9.95485820e-01 9.32152886e-02 -1.78575463e-02 7.37040735e+02] [-9.31846875e-02 9.95645601e-01 2.53992972e-03 -5.68479073e+01] [ 1.80165477e-02 -8.64414149e-04 9.99837315e-01 2.66753132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8607140569999 meters Centerline goodness [0,1] 0.9798004145976956 Centerline is valid? [True, True] Translation: X:737.07, Y:-56.85, Z:2.67 [[ 9.95458223e-01 9.35816996e-02 -1.74754553e-02 7.37069903e+02] [-9.35524973e-02 9.95611252e-01 2.48293023e-03 -5.68492173e+01] [ 1.76311168e-02 -8.36780823e-04 9.99844210e-01 2.66826241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.890714057 meters Centerline goodness [0,1] 0.9798379316997877 Centerline is valid? [True, True] Translation: X:737.10, Y:-56.85, Z:2.67 [[ 9.95413978e-01 9.36270983e-02 -1.96208857e-02 7.37097562e+02] [-9.35904053e-02 9.95606898e-01 2.78210417e-03 -5.68539818e+01] [ 1.97951695e-02 -9.33018732e-04 9.99803621e-01 2.66613645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9207140569999 meters Centerline goodness [0,1] 0.9785900279679814 Centerline is valid? [True, True] Translation: X:737.12, Y:-56.86, Z:2.66 [[ 9.95408187e-01 9.35650102e-02 -2.02022100e-02 7.37123682e+02] [-9.35261874e-02 9.95612712e-01 2.86012475e-03 -5.68608774e+01] [ 2.03811846e-02 -9.57555914e-04 9.99791824e-01 2.66408572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9507140569999 meters Centerline goodness [0,1] 0.9790440027877244 Centerline is valid? [True, True] Translation: X:737.15, Y:-56.87, Z:2.66 [[ 9.95366988e-01 9.37464312e-02 -2.13580397e-02 7.37150869e+02] [-9.37031768e-02 9.95595600e-01 3.01926636e-03 -5.68659599e+01] [ 2.15470158e-02 -1.00396189e-03 9.99767332e-01 2.66272165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9807140569999 meters Centerline goodness [0,1] 0.976864989658987 Centerline is valid? [True, True] Translation: X:737.18, Y:-56.87, Z:2.66 [[ 9.95385113e-01 9.36009213e-02 -2.11505019e-02 7.37176627e+02] [-9.35585988e-02 9.95609303e-01 2.98392400e-03 -5.68749654e+01] [ 2.13369345e-02 -9.91342205e-04 9.99771850e-01 2.66237504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.010714057 meters Centerline goodness [0,1] 0.9794574854040028 Centerline is valid? [True, True] Translation: X:737.21, Y:-56.87, Z:2.67 [[ 9.95286287e-01 9.50106175e-02 -1.94471089e-02 7.37206805e+02] [-9.49751828e-02 9.95475870e-01 2.73974871e-03 -5.68701828e+01] [ 1.96194329e-02 -8.79841597e-04 9.99807133e-01 2.66736733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.040714057 meters Centerline goodness [0,1] 0.9741106852262793 Centerline is valid? [True, True] Translation: X:737.23, Y:-56.89, Z:2.67 [[ 9.95009914e-01 9.83042875e-02 -1.70744578e-02 7.37232521e+02] [-9.82774823e-02 9.95156147e-01 2.40398829e-03 -5.68940924e+01] [ 1.72280740e-02 -7.13957459e-04 9.99851331e-01 2.66570769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0707140569999 meters Centerline goodness [0,1] 0.9805529578207803 Centerline is valid? [True, True] Translation: X:737.26, Y:-56.88, Z:2.67 [[ 9.95123528e-01 9.69609570e-02 -1.81034985e-02 7.37263423e+02] [-9.69306461e-02 9.95287881e-01 2.54640610e-03 -5.68789100e+01] [ 1.82650946e-02 -7.79204812e-04 9.99832876e-01 2.66925172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1007140569999 meters Centerline goodness [0,1] 0.9802826395743554 Centerline is valid? [True, True] Translation: X:737.29, Y:-56.88, Z:2.67 [[ 9.94939527e-01 9.90829740e-02 -1.66704099e-02 7.37290503e+02] [-9.90576197e-02 9.95078943e-01 2.34185894e-03 -5.68837383e+01] [ 1.68204122e-02 -6.78676898e-04 9.99858297e-01 2.67057928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.130714057 meters Centerline goodness [0,1] 0.9812603608581794 Centerline is valid? [True, True] Translation: X:737.32, Y:-56.89, Z:2.67 [[ 9.94888661e-01 9.97069387e-02 -1.59712103e-02 7.37318606e+02] [-9.96837827e-02 9.95016643e-01 2.24143314e-03 -5.68878946e+01] [ 1.61151065e-02 -6.37905758e-04 9.99869940e-01 2.67115055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.160714057 meters Centerline goodness [0,1] 0.980465027634839 Centerline is valid? [True, True] Translation: X:737.35, Y:-56.89, Z:2.67 [[ 9.94820780e-01 1.00540821e-01 -1.49384873e-02 7.37346699e+02] [-1.00520710e-01 9.94932765e-01 2.09301063e-03 -5.68922081e+01] [ 1.50732235e-02 -5.80543128e-04 9.99886224e-01 2.67178886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1907140569999 meters Centerline goodness [0,1] 0.980465027634839 Centerline is valid? [True, True] Translation: X:737.37, Y:-56.90, Z:2.67 [[ 9.94848223e-01 1.00268834e-01 -1.49390084e-02 7.37373829e+02] [-1.00248748e-01 9.94960212e-01 2.08928548e-03 -5.68959202e+01] [ 1.50732092e-02 -5.80905058e-04 9.99886224e-01 2.67208455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2207140569999 meters Centerline goodness [0,1] 0.9800609448856683 Centerline is valid? [True, True] Translation: X:737.40, Y:-56.90, Z:2.67 [[ 9.94677593e-01 1.02150628e-01 -1.34808844e-02 7.37402200e+02] [-1.02134483e-01 9.94768819e-01 1.88248556e-03 -5.69016140e+01] [ 1.36026606e-02 -4.95603042e-04 9.99907357e-01 2.67247295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.250714057 meters Centerline goodness [0,1] 0.9824385826959278 Centerline is valid? [True, True] Translation: X:737.43, Y:-56.90, Z:2.67 [[ 9.94510213e-01 1.03840884e-01 -1.29037631e-02 7.37430674e+02] [-1.03826251e-01 9.94593820e-01 1.80062620e-03 -5.69037280e+01] [ 1.30209817e-02 -4.50991795e-04 9.99915122e-01 2.67327215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.280714057 meters Centerline goodness [0,1] 0.9819755039428585 Centerline is valid? [True, True] Translation: X:737.46, Y:-56.91, Z:2.67 [[ 9.94101250e-01 1.07720166e-01 -1.26122925e-02 7.37458706e+02] [-1.07706533e-01 9.94181178e-01 1.75724079e-03 -5.69100100e+01] [ 1.27281941e-02 -3.88448962e-04 9.99918918e-01 2.67391778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3107140569999 meters Centerline goodness [0,1] 0.9823561669964951 Centerline is valid? [True, True] Translation: X:737.49, Y:-56.91, Z:2.67 [[ 9.93864008e-01 1.09856838e-01 -1.28766480e-02 7.37487811e+02] [-1.09842820e-01 9.93947353e-01 1.79298902e-03 -5.69130681e+01] [ 1.29956823e-02 -3.67579912e-04 9.99915485e-01 2.67401845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3407140569999 meters Centerline goodness [0,1] 0.982285102841517 Centerline is valid? [True, True] Translation: X:737.52, Y:-56.92, Z:2.67 [[ 9.93719695e-01 1.11083064e-01 -1.34803686e-02 7.37516782e+02] [-1.11067857e-01 9.93811058e-01 1.87386694e-03 -5.69167558e+01] [ 1.36050943e-02 -3.64862832e-04 9.99907380e-01 2.67455065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.370714057 meters Centerline goodness [0,1] 0.9825871830248822 Centerline is valid? [True, True] Translation: X:737.54, Y:-56.92, Z:2.67 [[ 9.93530606e-01 1.12771968e-01 -1.33946749e-02 7.37543833e+02] [-1.12757144e-01 9.93620838e-01 1.85927588e-03 -5.69226978e+01] [ 1.35189023e-02 -3.36902216e-04 9.99908559e-01 2.67383599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.400714057 meters Centerline goodness [0,1] 0.9842420497219185 Centerline is valid? [True, True] Translation: X:737.57, Y:-56.93, Z:2.67 [[ 9.93289758e-01 1.14599647e-01 -1.55684746e-02 7.37572031e+02] [-1.14579880e-01 9.93411693e-01 2.15873071e-03 -5.69298103e+01] [ 1.57132945e-02 -3.60411158e-04 9.99876474e-01 2.67179252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4307140569999 meters Centerline goodness [0,1] 0.9840972205739242 Centerline is valid? [True, True] Translation: X:737.60, Y:-56.93, Z:2.67 [[ 9.93140253e-01 1.15735385e-01 -1.66661123e-02 7.37600837e+02] [-1.15712961e-01 9.93280016e-01 2.30678849e-03 -5.69349960e+01] [ 1.68210933e-02 -3.62479298e-04 9.99858450e-01 2.67094789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4607140569999 meters Centerline goodness [0,1] 0.9836988807832141 Centerline is valid? [True, True] Translation: X:737.63, Y:-56.94, Z:2.67 [[ 9.93032323e-01 1.16557156e-01 -1.73561246e-02 7.37629075e+02] [-1.16533037e-01 9.93183921e-01 2.39808051e-03 -5.69391795e+01] [ 1.75173373e-02 -3.58809550e-04 9.99846495e-01 2.67014419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.490714057 meters Centerline goodness [0,1] 0.9849802184264765 Centerline is valid? [True, True] Translation: X:737.66, Y:-56.95, Z:2.67 [[ 9.92839065e-01 1.18126546e-01 -1.77963575e-02 7.37656259e+02] [-1.18101500e-01 9.92998492e-01 2.45551010e-03 -5.69462889e+01] [ 1.79618171e-02 -3.36149827e-04 9.99838617e-01 2.66942783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.520714057 meters Centerline goodness [0,1] 0.9854223272297696 Centerline is valid? [True, True] Translation: X:737.68, Y:-56.95, Z:2.67 [[ 9.92526078e-01 1.20830083e-01 -1.70901901e-02 7.37684785e+02] [-1.20807430e-01 9.92673167e-01 2.35552300e-03 -5.69504675e+01] [ 1.72495911e-02 -2.73296059e-04 9.99851177e-01 2.67116140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5507140569999 meters Centerline goodness [0,1] 0.9855359246171967 Centerline is valid? [True, True] Translation: X:737.71, Y:-56.96, Z:2.67 [[ 9.92441470e-01 1.21721343e-01 -1.56154804e-02 7.37711736e+02] [-1.21702591e-01 9.92564285e-01 2.14912468e-03 -5.69554790e+01] [ 1.57609625e-02 -2.32436034e-04 9.99875761e-01 2.67213942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5807140569999 meters Centerline goodness [0,1] 0.9850669412976313 Centerline is valid? [True, True] Translation: X:737.74, Y:-56.97, Z:2.67 [[ 9.92437054e-01 1.21974943e-01 -1.38132688e-02 7.37738533e+02] [-1.21960316e-01 9.92533160e-01 1.89954706e-03 -5.69652309e+01] [ 1.39418245e-02 -2.00510263e-04 9.99902788e-01 2.67395154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6107140569999 meters Centerline goodness [0,1] 0.9851157791433979 Centerline is valid? [True, True] Translation: X:737.77, Y:-56.97, Z:2.67 [[ 9.92578162e-01 1.20859522e-01 -1.34747026e-02 7.37766781e+02] [-1.20845522e-01 9.92669599e-01 1.85137098e-03 -5.69721542e+01] [ 1.35996834e-02 -2.09272926e-04 9.99907498e-01 2.67460389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.640714057 meters Centerline goodness [0,1] 0.9855964200811076 Centerline is valid? [True, True] Translation: X:737.79, Y:-56.98, Z:2.67 [[ 9.92805882e-01 1.18976997e-01 -1.34519552e-02 7.37794605e+02] [-1.18962917e-01 9.92896984e-01 1.84492985e-03 -5.69793461e+01] [ 1.35759100e-02 -2.31373368e-04 9.99907816e-01 2.67462936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6707140569999 meters Centerline goodness [0,1] 0.9849316342665798 Centerline is valid? [True, True] Translation: X:737.82, Y:-56.99, Z:2.67 [[ 9.93456416e-01 1.13305803e-01 -1.43577013e-02 7.37821316e+02] [-1.13289215e-01 9.93560108e-01 1.96607524e-03 -5.69943230e+01] [ 1.44880070e-02 -3.26637349e-04 9.99894990e-01 2.67339782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7007140569999 meters Centerline goodness [0,1] 0.985313504637232 Centerline is valid? [True, True] Translation: X:737.85, Y:-57.00, Z:2.67 [[ 9.93846820e-01 1.09702133e-01 -1.52951314e-02 7.37848919e+02] [-1.09682909e-01 9.93964426e-01 2.09267271e-03 -5.70030389e+01] [ 1.54323872e-02 -4.02181607e-04 9.99880833e-01 2.67253813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7307140569999 meters Centerline goodness [0,1] 0.9842862072932245 Centerline is valid? [True, True] Translation: X:737.88, Y:-57.02, Z:2.67 [[ 9.94565834e-01 1.02590039e-01 -1.77224597e-02 7.37877809e+02] [-1.02563157e-01 9.94723547e-01 2.42155976e-03 -5.70156221e+01] [ 1.78773759e-02 -5.90729182e-04 9.99840012e-01 2.67162704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.760714057 meters Centerline goodness [0,1] 0.9824098100902473 Centerline is valid? [True, True] Translation: X:737.91, Y:-57.03, Z:2.67 [[ 9.94879660e-01 9.93933694e-02 -1.83144624e-02 7.37905016e+02] [-9.93641314e-02 9.95047994e-01 2.50182702e-03 -5.70263448e+01] [ 1.84724341e-02 -6.69216162e-04 9.99829146e-01 2.67123810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.790714057 meters Centerline goodness [0,1] 0.9811007505117125 Centerline is valid? [True, True] Translation: X:737.93, Y:-57.04, Z:2.67 [[ 9.95423524e-01 9.37974570e-02 -1.82768720e-02 7.37933983e+02] [-9.37674108e-02 9.95591002e-01 2.49592495e-03 -5.70391448e+01] [ 1.84304007e-02 -7.70727445e-04 9.99829849e-01 2.67124326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8207140569999 meters Centerline goodness [0,1] 0.9807250823957268 Centerline is valid? [True, True] Translation: X:737.96, Y:-57.05, Z:2.67 [[ 9.95642269e-01 9.14998258e-02 -1.80070505e-02 7.37962608e+02] [-9.14702945e-02 9.95804770e-01 2.45856032e-03 -5.70473403e+01] [ 1.81564646e-02 -8.00736366e-04 9.99834837e-01 2.67160169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8507140569999 meters Centerline goodness [0,1] 0.9805258033106135 Centerline is valid? [True, True] Translation: X:737.99, Y:-57.06, Z:2.67 [[ 9.95818323e-01 8.95825908e-02 -1.79116364e-02 7.37990026e+02] [-8.95530807e-02 9.95979051e-01 2.44450696e-03 -5.70550892e+01] [ 1.80585999e-02 -8.30242600e-04 9.99836585e-01 2.67202973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.880714057 meters Centerline goodness [0,1] 0.9790611586764472 Centerline is valid? [True, True] Translation: X:738.02, Y:-57.07, Z:2.67 [[ 9.96045535e-01 8.71716177e-02 -1.71581436e-02 7.38017224e+02] [-8.71442032e-02 9.96192958e-01 2.34041822e-03 -5.70656220e+01] [ 1.72968399e-02 -8.35930360e-04 9.99850049e-01 2.67356597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.910714057 meters Centerline goodness [0,1] 0.9787344986283978 Centerline is valid? [True, True] Translation: X:738.05, Y:-57.07, Z:2.67 [[ 9.96107447e-01 8.64905754e-02 -1.70098106e-02 7.38045644e+02] [-8.64635704e-02 9.96252316e-01 2.31805247e-03 -5.70710495e+01] [ 1.71465529e-02 -8.38300376e-04 9.99852636e-01 2.67423121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9407140569999 meters Centerline goodness [0,1] 0.9780560713800444 Centerline is valid? [True, True] Translation: X:738.07, Y:-57.08, Z:2.67 [[ 9.96179829e-01 8.54864531e-02 -1.78273333e-02 7.38073934e+02] [-8.54567108e-02 9.96338933e-01 2.42492481e-03 -5.70773652e+01] [ 1.79693645e-02 -8.92195919e-04 9.99838140e-01 2.67419596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9707140569999 meters Centerline goodness [0,1] 0.978193006490444 Centerline is valid? [True, True] Translation: X:738.10, Y:-57.08, Z:2.67 [[ 9.96226091e-01 8.50035818e-02 -1.75489905e-02 7.38100790e+02] [-8.49747431e-02 9.96380254e-01 2.38385599e-03 -5.70845220e+01] [ 1.76881039e-02 -8.83638568e-04 9.99843163e-01 2.67348860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.000714057 meters Centerline goodness [0,1] 0.9788554975706316 Centerline is valid? [True, True] Translation: X:738.13, Y:-57.09, Z:2.67 [[ 9.96259673e-01 8.46533442e-02 -1.73342177e-02 7.38128296e+02] [-8.46252032e-02 9.96410078e-01 2.35188296e-03 -5.70889834e+01] [ 1.74710840e-02 -8.76174458e-04 9.99846985e-01 2.67373267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.030714057 meters Centerline goodness [0,1] 0.9777303370786516 Centerline is valid? [True, True] Translation: X:738.16, Y:-57.10, Z:2.67 [[ 9.96326019e-01 8.37887257e-02 -1.77175932e-02 7.38155643e+02] [-8.37592552e-02 9.96483129e-01 2.40022892e-03 -5.70958002e+01] [ 1.78563948e-02 -9.07398119e-04 9.99840150e-01 2.67399963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0607140569999 meters Centerline goodness [0,1] 0.9782554700024838 Centerline is valid? [True, True] Translation: X:738.18, Y:-57.10, Z:2.67 [[ 9.96303269e-01 8.39504840e-02 -1.82239298e-02 7.38183761e+02] [-8.39193832e-02 9.96469496e-01 2.46602560e-03 -5.70994195e+01] [ 1.83666142e-02 -9.27568426e-04 9.99830889e-01 2.67418298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0907140569999 meters Centerline goodness [0,1] 0.9789630499063269 Centerline is valid? [True, True] Translation: X:738.21, Y:-57.10, Z:2.67 [[ 9.96256680e-01 8.44535268e-02 -1.84453027e-02 7.38212532e+02] [-8.44218368e-02 9.96426990e-01 2.49139887e-03 -5.71007561e+01] [ 1.85898048e-02 -9.24886436e-04 9.99826767e-01 2.67458134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.120714057 meters Centerline goodness [0,1] 0.9801877425760448 Centerline is valid? [True, True] Translation: X:738.24, Y:-57.10, Z:2.67 [[ 9.96107633e-01 8.58187516e-02 -2.01178108e-02 7.38241519e+02] [-8.57814383e-02 9.96310288e-01 2.71200969e-03 -5.71034461e+01] [ 2.02763231e-02 -9.75718809e-04 9.99793938e-01 2.67445112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.150714057 meters Centerline goodness [0,1] 0.9801063398368856 Centerline is valid? [True, True] Translation: X:738.27, Y:-57.11, Z:2.67 [[ 9.96047943e-01 8.64763107e-02 -2.02569414e-02 7.38269893e+02] [-8.64387198e-02 9.96253441e-01 2.72563977e-03 -5.71067627e+01] [ 2.04167509e-02 -9.63883804e-04 9.99791092e-01 2.67454365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1807140569999 meters Centerline goodness [0,1] 0.9792218282996006 Centerline is valid? [True, True] Translation: X:738.30, Y:-57.11, Z:2.68 [[ 9.95950327e-01 8.77362224e-02 -1.96291140e-02 7.38298415e+02] [-8.77012649e-02 9.96143332e-01 2.63636560e-03 -5.71104762e+01] [ 1.97847158e-02 -9.04191057e-04 9.99803854e-01 2.67573248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2107140569999 meters Centerline goodness [0,1] 0.9800707892779043 Centerline is valid? [True, True] Translation: X:738.33, Y:-57.11, Z:2.68 [[ 9.95913661e-01 8.83279246e-02 -1.88191004e-02 7.38326483e+02] [-8.82959845e-02 9.96091087e-01 2.52303414e-03 -5.71145670e+01] [ 1.89683925e-02 -8.51073168e-04 9.99819722e-01 2.67676116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.240714057 meters Centerline goodness [0,1] 0.979625340139879 Centerline is valid? [True, True] Translation: X:738.35, Y:-57.12, Z:2.68 [[ 9.95876271e-01 8.87461040e-02 -1.88303380e-02 7.38354953e+02] [-8.87142896e-02 9.96053927e-01 2.51984046e-03 -5.71184032e+01] [ 1.89796582e-02 -8.38929256e-04 9.99819518e-01 2.67755629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.270714057 meters Centerline goodness [0,1] 0.9796046157974774 Centerline is valid? [True, True] Translation: X:738.38, Y:-57.12, Z:2.68 [[ 9.95745325e-01 9.02283689e-02 -1.87106608e-02 7.38383875e+02] [-9.01973049e-02 9.95920780e-01 2.49926192e-03 -5.71211185e+01] [ 1.88598402e-02 -8.00977197e-04 9.99821817e-01 2.67946727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3007140569999 meters Centerline goodness [0,1] 0.981410717496853 Centerline is valid? [True, True] Translation: X:738.41, Y:-57.12, Z:2.68 [[ 9.95689030e-01 9.09115735e-02 -1.83967821e-02 7.38412827e+02] [-9.08817423e-02 9.95858671e-01 2.45287119e-03 -5.71227258e+01] [ 1.85435893e-02 -7.70365327e-04 9.99827756e-01 2.68160597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3307140569999 meters Centerline goodness [0,1] 0.9813320106416558 Centerline is valid? [True, True] Translation: X:738.44, Y:-57.13, Z:2.68 [[ 9.95765255e-01 9.04212647e-02 -1.65997670e-02 7.38440337e+02] [-9.03969790e-02 9.95903362e-01 2.20911210e-03 -5.71261309e+01] [ 1.67315145e-02 -6.99188287e-04 9.99859774e-01 2.68452839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3607140569999 meters Centerline goodness [0,1] 0.9817539596832253 Centerline is valid? [True, True] Translation: X:738.47, Y:-57.13, Z:2.69 [[ 9.95790934e-01 9.02858652e-02 -1.57759045e-02 7.38468248e+02] [-9.02639842e-02 9.95915671e-01 2.09502474e-03 -5.71310053e+01] [ 1.59006216e-02 -6.62210646e-04 9.99873358e-01 2.68562772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.390714057 meters Centerline goodness [0,1] 0.9815167469474627 Centerline is valid? [True, True] Translation: X:738.50, Y:-57.14, Z:2.69 [[ 9.95837291e-01 8.99325833e-02 -1.48397972e-02 7.38495818e+02] [-8.99132450e-02 9.95947660e-01 1.96657618e-03 -5.71362344e+01] [ 1.49565205e-02 -6.24095576e-04 9.99887950e-01 2.68630624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4207140569999 meters Centerline goodness [0,1] 0.9822828015179754 Centerline is valid? [True, True] Translation: X:738.52, Y:-57.14, Z:2.69 [[ 9.95681103e-01 9.15333724e-02 -1.55171476e-02 7.38523339e+02] [-9.15124795e-02 9.95801814e-01 2.05267723e-03 -5.71407376e+01] [ 1.56398922e-02 -6.23799274e-04 9.99877495e-01 2.68717928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4507140569999 meters Centerline goodness [0,1] 0.9829386873143063 Centerline is valid? [True, True] Translation: X:738.55, Y:-57.14, Z:2.69 [[ 9.95599233e-01 9.22884462e-02 -1.62791388e-02 7.38552419e+02] [-9.22655893e-02 9.95732109e-01 2.15117713e-03 -5.71436529e+01] [ 1.64081900e-02 -6.39705963e-04 9.99865172e-01 2.68717688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4807140569999 meters Centerline goodness [0,1] 0.9829235280848184 Centerline is valid? [True, True] Translation: X:738.58, Y:-57.15, Z:2.69 [[ 9.95509854e-01 9.29255521e-02 -1.80269795e-02 7.38580692e+02] [-9.28977105e-02 9.95672819e-01 2.37755929e-03 -5.71460269e+01] [ 1.81699095e-02 -6.92218579e-04 9.99834674e-01 2.68690839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.510714057 meters Centerline goodness [0,1] 0.983605454382345 Centerline is valid? [True, True] Translation: X:738.61, Y:-57.15, Z:2.69 [[ 9.95324881e-01 9.44857176e-02 -2.00207338e-02 7.38607671e+02] [-9.44517682e-02 9.95525947e-01 2.63669549e-03 -5.71511632e+01] [ 2.01802901e-02 -7.33374911e-04 9.99796088e-01 2.68522314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.540714057 meters Centerline goodness [0,1] 0.9831539119859466 Centerline is valid? [True, True] Translation: X:738.64, Y:-57.15, Z:2.69 [[ 9.95297706e-01 9.44394423e-02 -2.15329526e-02 7.38635873e+02] [-9.44002496e-02 9.95530298e-01 2.83166977e-03 -5.71541101e+01] [ 2.17041280e-02 -7.85638326e-04 9.99764129e-01 2.68516658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5707140569999 meters Centerline goodness [0,1] 0.9837114470453061 Centerline is valid? [True, True] Translation: X:738.66, Y:-57.16, Z:2.68 [[ 9.95221223e-01 9.50958541e-02 -2.21697253e-02 7.38663143e+02] [-9.50545658e-02 9.95467807e-01 2.91118322e-03 -5.71604022e+01] [ 2.23460893e-02 -7.89937710e-04 9.99749983e-01 2.68367049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6007140569999 meters Centerline goodness [0,1] 0.9831249295933311 Centerline is valid? [True, True] Translation: X:738.69, Y:-57.16, Z:2.68 [[ 9.95185663e-01 9.54884065e-02 -2.20785266e-02 7.38691864e+02] [-9.54476389e-02 9.95430241e-01 2.89538171e-03 -5.71643212e+01] [ 2.22541084e-02 -7.74099136e-04 9.99752047e-01 2.68434749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.630714057 meters Centerline goodness [0,1] 0.9840344082147361 Centerline is valid? [True, True] Translation: X:738.72, Y:-57.17, Z:2.68 [[ 9.95133122e-01 9.61994554e-02 -2.13479163e-02 7.38719991e+02] [-9.61616183e-02 9.95361811e-01 2.79430988e-03 -5.71678984e+01] [ 2.15177117e-02 -7.27860137e-04 9.99768202e-01 2.68476577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.660714057 meters Centerline goodness [0,1] 0.9846171070309001 Centerline is valid? [True, True] Translation: X:738.75, Y:-57.17, Z:2.69 [[ 9.94853129e-01 9.92543591e-02 -2.03917550e-02 7.38748436e+02] [-9.92205431e-02 9.95061896e-01 2.66592726e-03 -5.71713734e+01] [ 2.05556633e-02 -6.28925061e-04 9.99788512e-01 2.68677018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6907140569999 meters Centerline goodness [0,1] 0.9849176200858639 Centerline is valid? [True, True] Translation: X:738.78, Y:-57.17, Z:2.69 [[ 9.94766022e-01 1.00118514e-01 -2.04167943e-02 7.38777208e+02] [-1.00084863e-01 9.94975333e-01 2.66598375e-03 -5.71738112e+01] [ 2.05811210e-02 -6.08617989e-04 9.99788001e-01 2.68710174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7207140569999 meters Centerline goodness [0,1] 0.9858829338360715 Centerline is valid? [True, True] Translation: X:738.81, Y:-57.18, Z:2.69 [[ 9.94495183e-01 1.02968912e-01 -1.94096267e-02 7.38805380e+02] [-1.02939104e-01 9.94684439e-01 2.53128067e-03 -5.71798836e+01] [ 1.95670968e-02 -5.19336863e-04 9.99808411e-01 2.68670990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.750714057 meters Centerline goodness [0,1] 0.9849608893471098 Centerline is valid? [True, True] Translation: X:738.83, Y:-57.19, Z:2.69 [[ 9.94470028e-01 1.03396816e-01 -1.83973334e-02 7.38832716e+02] [-1.03370136e-01 9.94640068e-01 2.39785579e-03 -5.71873808e+01] [ 1.85466556e-02 -4.82860869e-04 9.99827879e-01 2.68680307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.780714057 meters Centerline goodness [0,1] 0.9859173849770514 Centerline is valid? [True, True] Translation: X:738.86, Y:-57.19, Z:2.69 [[ 9.94559585e-01 1.02693458e-01 -1.74724124e-02 7.38860050e+02] [-1.02669336e-01 9.94712941e-01 2.27444738e-03 -5.71913349e+01] [ 1.76136056e-02 -4.68192476e-04 9.99844759e-01 2.68832025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8107140569999 meters Centerline goodness [0,1] 0.9836252091466815 Centerline is valid? [True, True] Translation: X:738.89, Y:-57.20, Z:2.69 [[ 9.94912861e-01 9.94625215e-02 -1.59876938e-02 7.38887611e+02] [-9.94419745e-02 9.95041195e-01 2.07702854e-03 -5.72005215e+01] [ 1.61150004e-02 -4.76614563e-04 9.99870031e-01 2.69022571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8407140569999 meters Centerline goodness [0,1] 0.9833630686886708 Centerline is valid? [True, True] Translation: X:738.92, Y:-57.21, Z:2.69 [[ 9.95107998e-01 9.75893725e-02 -1.53748983e-02 7.38915835e+02] [-9.75702055e-02 9.95226648e-01 1.99365643e-03 -5.72080653e+01] [ 1.54960681e-02 -4.83771478e-04 9.99879812e-01 2.69120782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.870714057 meters Centerline goodness [0,1] 0.9825681969394544 Centerline is valid? [True, True] Translation: X:738.94, Y:-57.22, Z:2.69 [[ 9.95448890e-01 9.40303027e-02 -1.54858060e-02 7.38943222e+02] [-9.40104739e-02 9.95569189e-01 2.00508557e-03 -5.72197941e+01] [ 1.56057302e-02 -5.40132235e-04 9.99878077e-01 2.69046104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.900714057 meters Centerline goodness [0,1] 0.9826238629338514 Centerline is valid? [True, True] Translation: X:738.97, Y:-57.23, Z:2.69 [[ 9.95555836e-01 9.28033647e-02 -1.60035480e-02 7.38970913e+02] [-9.27820503e-02 9.95684289e-01 2.07082466e-03 -5.72265210e+01] [ 1.61266608e-02 -5.76779585e-04 9.99869791e-01 2.68990764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9307140569999 meters Centerline goodness [0,1] 0.9825625138304934 Centerline is valid? [True, True] Translation: X:739.00, Y:-57.23, Z:2.69 [[ 9.95603652e-01 9.19961066e-02 -1.76092164e-02 7.38998796e+02] [-9.19702328e-02 9.95759157e-01 2.27528201e-03 -5.72338488e+01] [ 1.77438555e-02 -6.45755349e-04 9.99842357e-01 2.68878970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9607140569999 meters Centerline goodness [0,1] 0.9829235880398671 Centerline is valid? [True, True] Translation: X:739.03, Y:-57.24, Z:2.69 [[ 9.95524258e-01 9.28028805e-02 -1.78627272e-02 7.39026749e+02] [-9.27764675e-02 9.95684298e-01 2.30350501e-03 -5.72390910e+01] [ 1.79994089e-02 -6.35954379e-04 9.99837795e-01 2.68866684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.990714057 meters Centerline goodness [0,1] 0.9839796707546128 Centerline is valid? [True, True] Translation: X:739.06, Y:-57.24, Z:2.69 [[ 9.95172635e-01 9.64714136e-02 -1.80192449e-02 7.39056248e+02] [-9.64451899e-02 9.95335591e-01 2.32072627e-03 -5.72435605e+01] [ 1.81590795e-02 -5.71653776e-04 9.99834947e-01 2.68937476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.020714057 meters Centerline goodness [0,1] 0.984463215020351 Centerline is valid? [True, True] Translation: X:739.08, Y:-57.25, Z:2.69 [[ 9.94900675e-01 9.92835019e-02 -1.77604514e-02 7.39084115e+02] [-9.92584894e-02 9.95059056e-01 2.28651404e-03 -5.72478769e+01] [ 1.78997111e-02 -5.11978790e-04 9.99839656e-01 2.68981843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0507140569999 meters Centerline goodness [0,1] 0.9840022948432224 Centerline is valid? [True, True] Translation: X:739.11, Y:-57.25, Z:2.69 [[ 9.94633516e-01 1.01976491e-01 -1.74632399e-02 7.39112885e+02] [-1.01952745e-01 9.94786705e-01 2.24701930e-03 -5.72515945e+01] [ 1.76013420e-02 -4.54535466e-04 9.99844981e-01 2.69075656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0807140569999 meters Centerline goodness [0,1] 0.9840022948432224 Centerline is valid? [True, True] Translation: X:739.14, Y:-57.26, Z:2.69 [[ 9.94662150e-01 1.01696762e-01 -1.74635818e-02 7.39140074e+02] [-1.01673020e-01 9.94815340e-01 2.24435906e-03 -5.72550204e+01] [ 1.76012831e-02 -4.56803905e-04 9.99844981e-01 2.69105158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1107140569999 meters Centerline goodness [0,1] 0.9853684373137952 Centerline is valid? [True, True] Translation: X:739.17, Y:-57.26, Z:2.69 [[ 9.94451913e-01 1.03943217e-01 -1.61617086e-02 7.39167045e+02] [-1.03923237e-01 9.94583160e-01 2.07351368e-03 -5.72602705e+01] [ 1.62896909e-02 -3.82432574e-04 9.99867241e-01 2.69123495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.140714057 meters Centerline goodness [0,1] 0.9849689958149828 Centerline is valid? [True, True] Translation: X:739.20, Y:-57.27, Z:2.69 [[ 9.94113372e-01 1.07398623e-01 -1.42877684e-02 7.39195639e+02] [-1.07383394e-01 9.94216000e-01 1.83103883e-03 -5.72664668e+01] [ 1.44017790e-02 -2.85991122e-04 9.99896248e-01 2.69263433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1707140569999 meters Centerline goodness [0,1] 0.9858207478731121 Centerline is valid? [True, True] Translation: X:739.22, Y:-57.27, Z:2.69 [[ 9.94110531e-01 1.07566909e-01 -1.31761700e-02 7.39223196e+02] [-1.07554011e-01 9.94197814e-01 1.68568735e-03 -5.72743967e+01] [ 1.32810436e-02 -2.58609617e-04 9.99911770e-01 2.69318101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2007140569999 meters Centerline goodness [0,1] 0.9855081952901634 Centerline is valid? [True, True] Translation: X:739.25, Y:-57.28, Z:2.69 [[ 9.94188971e-01 1.06873436e-01 -1.28979819e-02 7.39251445e+02] [-1.06861060e-01 9.94272599e-01 1.64689409e-03 -5.72809200e+01] [ 1.30001192e-02 -2.59031924e-04 9.99915461e-01 2.69314928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2307140569999 meters Centerline goodness [0,1] 0.9859235097090566 Centerline is valid? [True, True] Translation: X:739.28, Y:-57.29, Z:2.69 [[ 9.94285808e-01 1.06043721e-01 -1.22662486e-02 7.39279652e+02] [-1.06032502e-01 9.94361436e-01 1.56327023e-03 -5.72873287e+01] [ 1.23628595e-02 -2.53716378e-04 9.99923545e-01 2.69291694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.260714057 meters Centerline goodness [0,1] 0.9857592859955375 Centerline is valid? [True, True] Translation: X:739.31, Y:-57.29, Z:2.69 [[ 9.94411720e-01 1.04831002e-01 -1.24817015e-02 7.39306298e+02] [-1.04819327e-01 9.94490014e-01 1.58775860e-03 -5.72942786e+01] [ 1.25793739e-02 -2.70562209e-04 9.99920840e-01 2.69240293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.290714057 meters Centerline goodness [0,1] 0.9846570200135315 Centerline is valid? [True, True] Translation: X:739.33, Y:-57.31, Z:2.69 [[ 9.94635491e-01 1.02691582e-01 -1.24370392e-02 7.39332592e+02] [-1.02679839e-01 9.94713201e-01 1.58076624e-03 -5.73057087e+01] [ 1.25336185e-02 -2.95253021e-04 9.99921408e-01 2.69105041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3207140569999 meters Centerline goodness [0,1] 0.9847164412070759 Centerline is valid? [True, True] Translation: X:739.36, Y:-57.31, Z:2.69 [[ 9.94747390e-01 1.01604403e-01 -1.24167197e-02 7.39360756e+02] [-1.01592631e-01 9.94824834e-01 1.57679816e-03 -5.73127888e+01] [ 1.25126708e-02 -3.07068621e-04 9.99921666e-01 2.69102902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3507140569999 meters Centerline goodness [0,1] 0.9841634350830823 Centerline is valid? [True, True] Translation: X:739.39, Y:-57.32, Z:2.69 [[ 9.95032988e-01 9.89045894e-02 -1.12798694e-02 7.39387424e+02] [-9.88947293e-02 9.95096874e-01 1.42995910e-03 -5.73233495e+01] [ 1.13659923e-02 -3.07336847e-04 9.99935358e-01 2.69164455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.380714057 meters Centerline goodness [0,1] 0.9848210044478991 Centerline is valid? [True, True] Translation: X:739.42, Y:-57.33, Z:2.69 [[ 9.95183197e-01 9.74061192e-02 -1.10658096e-02 7.39415794e+02] [-9.73965486e-02 9.95244667e-01 1.40179994e-03 -5.73290350e+01] [ 1.11497319e-02 -3.17276080e-04 9.99937789e-01 2.69241786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.410714057 meters Centerline goodness [0,1] 0.9838124838124838 Centerline is valid? [True, True] Translation: X:739.44, Y:-57.34, Z:2.69 [[ 9.95333728e-01 9.59263080e-02 -1.04361443e-02 7.39442512e+02] [-9.59177406e-02 9.95388389e-01 1.31953279e-03 -5.73361409e+01] [ 1.05145947e-02 -3.12364117e-04 9.99944671e-01 2.69296924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4407140569999 meters Centerline goodness [0,1] 0.9836139798624437 Centerline is valid? [True, True] Translation: X:739.47, Y:-57.35, Z:2.69 [[ 9.95619793e-01 9.28454282e-02 -1.09978947e-02 7.39470801e+02] [-9.28357371e-02 9.95680468e-01 1.38953837e-03 -5.73455748e+01] [ 1.10794012e-02 -3.62454247e-04 9.99938556e-01 2.69206215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4707140569999 meters Centerline goodness [0,1] 0.9836221425176095 Centerline is valid? [True, True] Translation: X:739.50, Y:-57.35, Z:2.69 [[ 9.95812361e-01 9.07811856e-02 -1.07943573e-02 7.39498766e+02] [-9.07717374e-02 9.95870792e-01 1.36303517e-03 -5.73522249e+01] [ 1.08735231e-02 -3.77504710e-04 9.99940810e-01 2.69159380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.500714057 meters Centerline goodness [0,1] 0.9822738517801441 Centerline is valid? [True, True] Translation: X:739.53, Y:-57.37, Z:2.69 [[ 9.96207325e-01 8.63956363e-02 -1.03324310e-02 7.39526166e+02] [-8.63867704e-02 9.96260824e-01 1.30214239e-03 -5.73656738e+01] [ 1.04062956e-02 -4.04618450e-04 9.99945771e-01 2.69184682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.530714057 meters Centerline goodness [0,1] 0.9825002147212918 Centerline is valid? [True, True] Translation: X:739.55, Y:-57.37, Z:2.69 [[ 9.96409028e-01 8.40627710e-02 -1.01242368e-02 7.39554598e+02] [-8.40541429e-02 9.96460373e-01 1.27548762e-03 -5.73687054e+01] [ 1.01956218e-02 -4.19923337e-04 9.99947935e-01 2.69221731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5607140569999 meters Centerline goodness [0,1] 0.9817174395791561 Centerline is valid? [True, True] Translation: X:739.58, Y:-57.38, Z:2.69 [[ 9.96546692e-01 8.24668498e-02 -9.69068636e-03 7.39582444e+02] [-8.24588923e-02 9.96593722e-01 1.21853836e-03 -5.73750134e+01] [ 9.75816621e-03 -4.15247114e-04 9.99952302e-01 2.69278321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5907140569999 meters Centerline goodness [0,1] 0.9829187181480522 Centerline is valid? [True, True] Translation: X:739.61, Y:-57.38, Z:2.69 [[ 9.96597803e-01 8.17791235e-02 -1.02466126e-02 7.39610533e+02] [-8.17702185e-02 9.96650379e-01 1.28572294e-03 -5.73812650e+01] [ 1.03174356e-02 -4.43480906e-04 9.99946676e-01 2.69253274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.620714057 meters Centerline goodness [0,1] 0.9812520064205458 Centerline is valid? [True, True] Translation: X:739.64, Y:-57.39, Z:2.69 [[ 9.96567800e-01 8.20286896e-02 -1.11316341e-02 7.39639242e+02] [-8.20182291e-02 9.96629855e-01 1.39376504e-03 -5.73859621e+01] [ 1.12084476e-02 -4.75984444e-04 9.99937070e-01 2.69266126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.650714057 meters Centerline goodness [0,1] 0.9808388654194327 Centerline is valid? [True, True] Translation: X:739.67, Y:-57.39, Z:2.69 [[ 9.96548983e-01 8.22306075e-02 -1.13248193e-02 7.39667339e+02] [-8.22198263e-02 9.96613214e-01 1.41510038e-03 -5.73907574e+01] [ 1.14028292e-02 -4.79092170e-04 9.99934871e-01 2.69306026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6807140569999 meters Centerline goodness [0,1] 0.9820449091532396 Centerline is valid? [True, True] Translation: X:739.70, Y:-57.40, Z:2.69 [[ 9.96532460e-01 8.24549521e-02 -1.11462034e-02 7.39695323e+02] [-8.24445525e-02 9.96594684e-01 1.39008281e-03 -5.73956144e+01] [ 1.12228663e-02 -4.66318894e-04 9.99936913e-01 2.69418442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7107140569999 meters Centerline goodness [0,1] 0.981091405766481 Centerline is valid? [True, True] Translation: X:739.72, Y:-57.40, Z:2.70 [[ 9.96515404e-01 8.26714067e-02 -1.10674443e-02 7.39723140e+02] [-8.26611962e-02 9.96576755e-01 1.37763994e-03 -5.74002819e+01] [ 1.11434491e-02 -4.57991236e-04 9.99937805e-01 2.69566392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.740714057 meters Centerline goodness [0,1] 0.9831104252400549 Centerline is valid? [True, True] Translation: X:739.75, Y:-57.40, Z:2.70 [[ 9.96524922e-01 8.26061522e-02 -1.06912426e-02 7.39751343e+02] [-8.25966300e-02 9.96582173e-01 1.32991635e-03 -5.74023524e+01] [ 1.07645611e-02 -4.42234181e-04 9.99941963e-01 2.69762872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.770714057 meters Centerline goodness [0,1] 0.98276604911676 Centerline is valid? [True, True] Translation: X:739.78, Y:-57.41, Z:2.70 [[ 9.96553488e-01 8.22727742e-02 -1.05989160e-02 7.39778796e+02] [-8.22634286e-02 9.96609752e-01 1.31546087e-03 -5.74054695e+01] [ 1.06712097e-02 -4.39023952e-04 9.99942965e-01 2.69810642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8007140569999 meters Centerline goodness [0,1] 0.9816928248720639 Centerline is valid? [True, True] Translation: X:739.81, Y:-57.41, Z:2.70 [[ 9.96562105e-01 8.21332717e-02 -1.08672236e-02 7.39806082e+02] [-8.21234732e-02 9.96621254e-01 1.34559919e-03 -5.74088464e+01] [ 1.09410244e-02 -4.48519023e-04 9.99940045e-01 2.69838321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8307140569999 meters Centerline goodness [0,1] 0.9820948199797706 Centerline is valid? [True, True] Translation: X:739.83, Y:-57.41, Z:2.70 [[ 9.96538630e-01 8.23521522e-02 -1.13526382e-02 7.39834646e+02] [-8.23415109e-02 9.96603185e-01 1.40238284e-03 -5.74127930e+01] [ 1.14295646e-02 -4.62735291e-04 9.99934573e-01 2.69868937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8607140569999 meters Centerline goodness [0,1] 0.982289676491424 Centerline is valid? [True, True] Translation: X:739.86, Y:-57.41, Z:2.70 [[ 9.96399183e-01 8.39221463e-02 -1.20723404e-02 7.39863379e+02] [-8.39102662e-02 9.96472204e-01 1.48814509e-03 -5.74148424e+01] [ 1.21546400e-02 -4.69793256e-04 9.99926019e-01 2.69783664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.890714057 meters Centerline goodness [0,1] 0.9825600102966728 Centerline is valid? [True, True] Translation: X:739.89, Y:-57.42, Z:2.70 [[ 9.96287456e-01 8.51141797e-02 -1.29182438e-02 7.39891819e+02] [-8.51007201e-02 9.96371087e-01 1.58904851e-03 -5.74169768e+01] [ 1.30066152e-02 -4.83797248e-04 9.99915293e-01 2.69765964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9207140569999 meters Centerline goodness [0,1] 0.9833945152234939 Centerline is valid? [True, True] Translation: X:739.92, Y:-57.42, Z:2.70 [[ 9.95964939e-01 8.85400352e-02 -1.46459145e-02 7.39920702e+02] [-8.85231512e-02 9.96072496e-01 1.79838738e-03 -5.74181876e+01] [ 1.47476219e-02 -4.94628270e-04 9.99891126e-01 2.69757108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9507140569999 meters Centerline goodness [0,1] 0.9833908541846419 Centerline is valid? [True, True] Translation: X:739.95, Y:-57.42, Z:2.70 [[ 9.95813807e-01 9.01458821e-02 -1.51189505e-02 7.39949702e+02] [-9.01280996e-02 9.95928454e-01 1.85482520e-03 -5.74191613e+01] [ 1.52245979e-02 -4.84418266e-04 9.99883982e-01 2.69799386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9807140569999 meters Centerline goodness [0,1] 0.9857931272366662 Centerline is valid? [True, True] Translation: X:739.98, Y:-57.42, Z:2.70 [[ 9.95471445e-01 9.38993087e-02 -1.48162471e-02 7.39978956e+02] [-9.38826884e-02 9.95581612e-01 1.81487151e-03 -5.74182881e+01] [ 1.49211983e-02 -4.15663654e-04 9.99888586e-01 2.69859778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.010714057 meters Centerline goodness [0,1] 0.9855666544411124 Centerline is valid? [True, True] Translation: X:740.01, Y:-57.42, Z:2.70 [[ 9.95300012e-01 9.57173241e-02 -1.46996655e-02 7.40006451e+02] [-9.57011788e-02 9.95408482e-01 1.79948526e-03 -5.74210953e+01] [ 1.48044136e-02 -3.84252393e-04 9.99890335e-01 2.69936611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.040714057 meters Centerline goodness [0,1] 0.9854341736694678 Centerline is valid? [True, True] Translation: X:740.04, Y:-57.42, Z:2.70 [[ 9.95141773e-01 9.74354185e-02 -1.41135126e-02 7.40035380e+02] [-9.74207330e-02 9.95241791e-01 1.72596520e-03 -5.74232487e+01] [ 1.42145277e-02 -3.42631327e-04 9.99898910e-01 2.70024234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0707140569999 meters Centerline goodness [0,1] 0.9861167911491853 Centerline is valid? [True, True] Translation: X:740.06, Y:-57.42, Z:2.70 [[ 9.94943212e-01 9.95598874e-02 -1.32602048e-02 7.40064584e+02] [-9.95471505e-02 9.95031529e-01 1.61877589e-03 -5.74249342e+01] [ 1.33554870e-02 -2.90574479e-04 9.99910769e-01 2.70180495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1007140569999 meters Centerline goodness [0,1] 0.9859176094283322 Centerline is valid? [True, True] Translation: X:740.09, Y:-57.43, Z:2.70 [[ 9.94539490e-01 1.03598992e-01 -1.25877876e-02 7.40093448e+02] [-1.03587856e-01 9.94619123e-01 1.53522517e-03 -5.74274395e+01] [ 1.26791020e-02 -2.22900126e-04 9.99919592e-01 2.70318266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.130714057 meters Centerline goodness [0,1] 0.9860776381477019 Centerline is valid? [True, True] Translation: X:740.12, Y:-57.43, Z:2.70 [[ 9.94407125e-01 1.04858065e-01 -1.26197054e-02 7.40120834e+02] [-1.04846985e-01 9.94487176e-01 1.53818152e-03 -5.74317570e+01] [ 1.27114260e-02 -2.06440593e-04 9.99919185e-01 2.70320192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.160714057 meters Centerline goodness [0,1] 0.9864201221334927 Centerline is valid? [True, True] Translation: X:740.15, Y:-57.44, Z:2.70 [[ 9.94283165e-01 1.05920178e-01 -1.34871421e-02 7.40149427e+02] [-1.05907644e-01 9.94374615e-01 1.64219991e-03 -5.74378172e+01] [ 1.35852138e-02 -2.04420273e-04 9.99907696e-01 2.70248858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1907140569999 meters Centerline goodness [0,1] 0.9872718281696803 Centerline is valid? [True, True] Translation: X:740.18, Y:-57.44, Z:2.70 [[ 9.94344931e-01 1.05340229e-01 -1.34756715e-02 7.40176629e+02] [-1.05327711e-01 9.94436218e-01 1.63731136e-03 -5.74429125e+01] [ 1.35731706e-02 -2.08690618e-04 9.99907858e-01 2.70159472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2207140569999 meters Centerline goodness [0,1] 0.986349294928205 Centerline is valid? [True, True] Translation: X:740.20, Y:-57.45, Z:2.70 [[ 9.94443996e-01 1.04243731e-01 -1.46418372e-02 7.40203540e+02] [-1.04228892e-01 9.94551752e-01 1.77501641e-03 -5.74497209e+01] [ 1.47470992e-02 -2.39051938e-04 9.99891227e-01 2.70163742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.250714057 meters Centerline goodness [0,1] 0.9867570852792528 Centerline is valid? [True, True] Translation: X:740.23, Y:-57.46, Z:2.70 [[ 9.94759508e-01 1.01004050e-01 -1.58651516e-02 7.40230713e+02] [-1.00986248e-01 9.94885967e-01 1.92126476e-03 -5.74592174e+01] [ 1.59780722e-02 -3.09034255e-04 9.99872295e-01 2.70200514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.280714057 meters Centerline goodness [0,1] 0.9862271874466997 Centerline is valid? [True, True] Translation: X:740.26, Y:-57.46, Z:2.70 [[ 9.94988091e-01 9.86794702e-02 -1.61573813e-02 7.40258715e+02] [-9.86607383e-02 9.95119209e-01 1.95432105e-03 -5.74649088e+01] [ 1.62713718e-02 -3.50427003e-04 9.99867551e-01 2.70310987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3107140569999 meters Centerline goodness [0,1] 0.986883211366457 Centerline is valid? [True, True] Translation: X:740.29, Y:-57.47, Z:2.70 [[ 9.95207362e-01 9.65330630e-02 -1.56100677e-02 7.40286606e+02] [-9.65153618e-02 9.95329710e-01 1.88512429e-03 -5.74703403e+01] [ 1.57191409e-02 -3.69478246e-04 9.99876378e-01 2.70424058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3407140569999 meters Centerline goodness [0,1] 0.9860114548512786 Centerline is valid? [True, True] Translation: X:740.31, Y:-57.48, Z:2.71 [[ 9.95557574e-01 9.30188845e-02 -1.45809225e-02 7.40313136e+02] [-9.30030822e-02 9.95664266e-01 1.75958895e-03 -5.74816070e+01] [ 1.46813785e-02 -3.95701376e-04 9.99892144e-01 2.70527239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.370714057 meters Centerline goodness [0,1] 0.9859007498237594 Centerline is valid? [True, True] Translation: X:740.34, Y:-57.49, Z:2.71 [[ 9.95743994e-01 9.12042518e-02 -1.32545163e-02 7.40341245e+02] [-9.11910537e-02 9.95832134e-01 1.59799438e-03 -5.74863800e+01] [ 1.33450171e-02 -3.82500005e-04 9.99910878e-01 2.70628655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.400714057 meters Centerline goodness [0,1] 0.9852507374631269 Centerline is valid? [True, True] Translation: X:740.37, Y:-57.49, Z:2.71 [[ 9.95864098e-01 9.00769734e-02 -1.18675230e-02 7.40369785e+02] [-9.00663460e-02 9.95934744e-01 1.42802267e-03 -5.74921523e+01] [ 1.19479104e-02 -3.53252074e-04 9.99928559e-01 2.70800257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4307140569999 meters Centerline goodness [0,1] 0.9844147582697201 Centerline is valid? [True, True] Translation: X:740.40, Y:-57.50, Z:2.71 [[ 9.95887983e-01 9.01360720e-02 -9.08921609e-03 7.40395791e+02] [-9.01298580e-02 9.95929424e-01 1.09181576e-03 -5.74997191e+01] [ 9.15062972e-03 -2.68116437e-04 9.99958096e-01 2.71061186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4607140569999 meters Centerline goodness [0,1] 0.9845917780193082 Centerline is valid? [True, True] Translation: X:740.42, Y:-57.50, Z:2.71 [[ 9.95863746e-01 9.04440665e-02 -8.67580790e-03 7.40424073e+02] [-9.04384234e-02 9.95901505e-01 1.04137551e-03 -5.75034719e+01] [ 8.73443638e-03 -2.52441731e-04 9.99961822e-01 2.71129482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.490714057 meters Centerline goodness [0,1] 0.9857602694463985 Centerline is valid? [True, True] Translation: X:740.45, Y:-57.51, Z:2.71 [[ 9.95806002e-01 9.10016206e-02 -9.43985277e-03 7.40451947e+02] [-9.09949901e-02 9.95850709e-01 1.13042317e-03 -5.75095938e+01] [ 9.50355441e-03 -2.66702871e-04 9.99954805e-01 2.71031757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.520714057 meters Centerline goodness [0,1] 0.9852435862301578 Centerline is valid? [True, True] Translation: X:740.48, Y:-57.52, Z:2.71 [[ 9.95760745e-01 9.13873959e-02 -1.04347009e-02 7.40479481e+02] [-9.13793463e-02 9.95815375e-01 1.24661382e-03 -5.75172397e+01] [ 1.05049604e-02 -2.87812960e-04 9.99944780e-01 2.71043823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5507140569999 meters Centerline goodness [0,1] 0.9842117581973318 Centerline is valid? [True, True] Translation: X:740.51, Y:-57.52, Z:2.71 [[ 9.95876662e-01 9.00879879e-02 -1.06690500e-02 7.40507647e+02] [-9.00795276e-02 9.95933763e-01 1.27185635e-03 -5.75207281e+01] [ 1.07402461e-02 -3.05549076e-04 9.99942275e-01 2.71044229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5807140569999 meters Centerline goodness [0,1] 0.9849491207902243 Centerline is valid? [True, True] Translation: X:740.53, Y:-57.53, Z:2.71 [[ 9.96037954e-01 8.82934353e-02 -1.06143377e-02 7.40534308e+02] [-8.82849700e-02 9.96094456e-01 1.26438431e-03 -5.75292366e+01] [ 1.06845198e-02 -3.22288272e-04 9.99942867e-01 2.71139569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6107140569999 meters Centerline goodness [0,1] 0.9835312140942167 Centerline is valid? [True, True] Translation: X:740.56, Y:-57.54, Z:2.71 [[ 9.96149987e-01 8.70538082e-02 -1.03362821e-02 7.40561333e+02] [-8.70457232e-02 9.96203558e-01 1.23036404e-03 -5.75372862e+01] [ 1.04041489e-02 -3.25897965e-04 9.99945822e-01 2.71167024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.640714057 meters Centerline goodness [0,1] 0.9840940818139515 Centerline is valid? [True, True] Translation: X:740.59, Y:-57.54, Z:2.71 [[ 9.96238574e-01 8.60693136e-02 -1.00387456e-02 7.40589529e+02] [-8.60616451e-02 9.96289098e-01 1.19418889e-03 -5.75418357e+01] [ 1.01042758e-02 -3.25746077e-04 9.99948897e-01 2.71190426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6707140569999 meters Centerline goodness [0,1] 0.9826395529206774 Centerline is valid? [True, True] Translation: X:740.62, Y:-57.55, Z:2.71 [[ 9.96439013e-01 8.36122749e-02 -1.08757336e-02 7.40616987e+02] [-8.36031602e-02 9.96498292e-01 1.29083058e-03 -5.75508271e+01] [ 1.09455792e-02 -3.76988249e-04 9.99940024e-01 2.71152076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7007140569999 meters Centerline goodness [0,1] 0.9815383312514555 Centerline is valid? [True, True] Translation: X:740.65, Y:-57.56, Z:2.71 [[ 9.96532302e-01 8.24555342e-02 -1.11559833e-02 7.40645486e+02] [-8.24458894e-02 9.96594665e-01 1.32247454e-03 -5.75567546e+01] [ 1.12270388e-02 -3.98123640e-04 9.99936896e-01 2.71006767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7307140569999 meters Centerline goodness [0,1] 0.9823089665718048 Centerline is valid? [True, True] Translation: X:740.67, Y:-57.56, Z:2.71 [[ 9.96632180e-01 8.10519188e-02 -1.24452416e-02 7.40673891e+02] [-8.10398501e-02 9.96709775e-01 1.47183358e-03 -5.75632742e+01] [ 1.25235889e-02 -4.58316196e-04 9.99921472e-01 2.70905333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.760714057 meters Centerline goodness [0,1] 0.9814392017588365 Centerline is valid? [True, True] Translation: X:740.70, Y:-57.57, Z:2.71 [[ 9.96580116e-01 8.16003073e-02 -1.30178014e-02 7.40700867e+02] [-8.15871897e-02 9.96665024e-01 1.53645758e-03 -5.75700509e+01] [ 1.30997628e-02 -4.69117235e-04 9.99914084e-01 2.70858713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.790714057 meters Centerline goodness [0,1] 0.9817202928157984 Centerline is valid? [True, True] Translation: X:740.73, Y:-57.58, Z:2.71 [[ 9.96546751e-01 8.19128834e-02 -1.35960540e-02 7.40728324e+02] [-8.18986209e-02 9.96639376e-01 1.60343292e-03 -5.75755128e+01] [ 1.36817046e-02 -4.84397797e-04 9.99906284e-01 2.70804183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8207140569999 meters Centerline goodness [0,1] 0.9813171217352623 Centerline is valid? [True, True] Translation: X:740.76, Y:-57.58, Z:2.71 [[ 9.96498615e-01 8.23845878e-02 -1.42580067e-02 7.40756156e+02] [-8.23689695e-02 9.96600487e-01 1.68019765e-03 -5.75802419e+01] [ 1.43479588e-02 -4.99897317e-04 9.99896938e-01 2.70765366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8507140569999 meters Centerline goodness [0,1] 0.9809408465068843 Centerline is valid? [True, True] Translation: X:740.78, Y:-57.59, Z:2.71 [[ 9.96372396e-01 8.37297718e-02 -1.52109468e-02 7.40783489e+02] [-8.37121736e-02 9.96488366e-01 1.79110878e-03 -5.75850524e+01] [ 1.53075006e-02 -5.11269929e-04 9.99882703e-01 2.70742300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.880714057 meters Centerline goodness [0,1] 0.9817415432844041 Centerline is valid? [True, True] Translation: X:740.81, Y:-57.59, Z:2.71 [[ 9.96285291e-01 8.47818499e-02 -1.50882962e-02 7.40811991e+02] [-8.47646849e-02 9.96399417e-01 1.77469050e-03 -5.75885302e+01] [ 1.51844310e-02 -4.89143375e-04 9.99884590e-01 2.70832528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.910714057 meters Centerline goodness [0,1] 0.9825476980286928 Centerline is valid? [True, True] Translation: X:740.84, Y:-57.59, Z:2.71 [[ 9.96105767e-01 8.71771758e-02 -1.31697223e-02 7.40841435e+02] [-8.71643454e-02 9.96192745e-01 1.54619737e-03 -5.75887326e+01] [ 1.32543749e-02 -3.92245901e-04 9.99912080e-01 2.71149509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9407140569999 meters Centerline goodness [0,1] 0.9833474756045821 Centerline is valid? [True, True] Translation: X:740.87, Y:-57.59, Z:2.71 [[ 9.96018694e-01 8.83528079e-02 -1.18550559e-02 7.40870242e+02] [-8.83425250e-02 9.96089187e-01 1.38929069e-03 -5.75923340e+01] [ 1.19314407e-02 -3.36453926e-04 9.99928761e-01 2.71350481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9707140569999 meters Centerline goodness [0,1] 0.9826090644949206 Centerline is valid? [True, True] Translation: X:740.90, Y:-57.60, Z:2.71 [[ 9.95963126e-01 8.91504471e-02 -1.04713650e-02 7.40897305e+02] [-8.91424936e-02 9.96018130e-01 1.22476998e-03 -5.75968771e+01] [ 1.05388582e-02 -2.86382152e-04 9.99944424e-01 2.71496028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.000714057 meters Centerline goodness [0,1] 0.9826090644949206 Centerline is valid? [True, True] Translation: X:740.92, Y:-57.60, Z:2.72 [[ 9.95988244e-01 8.88693716e-02 -1.04715223e-02 7.40924568e+02] [-8.88614167e-02 9.96043248e-01 1.22342393e-03 -5.75999908e+01] [ 1.05388140e-02 -2.88001549e-04 9.99944424e-01 2.71525571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.030714057 meters Centerline goodness [0,1] 0.9828003053953173 Centerline is valid? [True, True] Translation: X:740.95, Y:-57.61, Z:2.72 [[ 9.95840965e-01 9.06872946e-02 -8.75143140e-03 7.40952959e+02] [-9.06818269e-02 9.95879393e-01 1.02039151e-03 -5.76055222e+01] [ 8.80790673e-03 -2.22551879e-04 9.99961185e-01 2.71591271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0607140569999 meters Centerline goodness [0,1] 0.9831542504908066 Centerline is valid? [True, True] Translation: X:740.98, Y:-57.61, Z:2.72 [[ 9.95800546e-01 9.11500582e-02 -8.54042774e-03 7.40980586e+02] [-9.11448889e-02 9.95837147e-01 9.93358662e-04 -5.76107843e+01] [ 8.59541989e-03 -2.10770760e-04 9.99963036e-01 2.71592145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0907140569999 meters Centerline goodness [0,1] 0.9820904348560687 Centerline is valid? [True, True] Translation: X:741.01, Y:-57.62, Z:2.72 [[ 9.95776277e-01 9.14208203e-02 -8.47586847e-03 7.41008999e+02] [-9.14157420e-02 9.95812327e-01 9.85457658e-04 -5.76158126e+01] [ 8.53046565e-03 -2.06467552e-04 9.99963594e-01 2.71507738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.120714057 meters Centerline goodness [0,1] 0.9838367554725946 Centerline is valid? [True, True] Translation: X:741.04, Y:-57.62, Z:2.72 [[ 9.95780965e-01 9.13869021e-02 -8.28883136e-03 7.41035126e+02] [-9.13820635e-02 9.95815442e-01 9.61401558e-04 -5.76237137e+01] [ 8.34200578e-03 -1.99894857e-04 9.99965185e-01 2.71515472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.150714057 meters Centerline goodness [0,1] 0.9831068907776765 Centerline is valid? [True, True] Translation: X:741.06, Y:-57.63, Z:2.71 [[ 9.95844944e-01 9.06783296e-02 -8.38379616e-03 7.41063331e+02] [-9.06733607e-02 9.95880212e-01 9.71670604e-04 -5.76269164e+01] [ 8.43736617e-03 -2.07446285e-04 9.99964383e-01 2.71465092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1807140569999 meters Centerline goodness [0,1] 0.9829318535334426 Centerline is valid? [True, True] Translation: X:741.09, Y:-57.63, Z:2.71 [[ 9.95931633e-01 8.95556938e-02 -9.99803560e-03 7.41090113e+02] [-8.95486029e-02 9.95981783e-01 1.15556025e-03 -5.76349004e+01] [ 1.00613483e-02 -2.55548884e-04 9.99949351e-01 2.71485381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2107140569999 meters Centerline goodness [0,1] 0.9821979135870254 Centerline is valid? [True, True] Translation: X:741.12, Y:-57.64, Z:2.71 [[ 9.96082326e-01 8.78974182e-02 -9.69756476e-03 7.41118337e+02] [-8.78906770e-02 9.96129497e-01 1.11996424e-03 -5.76405618e+01] [ 9.75847227e-03 -2.63251053e-04 9.99952350e-01 2.71465583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.240714057 meters Centerline goodness [0,1] 0.9822615004956655 Centerline is valid? [True, True] Translation: X:741.15, Y:-57.65, Z:2.72 [[ 9.96214690e-01 8.63553121e-02 -9.95247218e-03 7.41146289e+02] [-8.63481419e-02 9.96264362e-01 1.14871535e-03 -5.76453989e+01] [ 1.00144910e-02 -2.84989629e-04 9.99949813e-01 2.71559143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.270714057 meters Centerline goodness [0,1] 0.9814446091929676 Centerline is valid? [True, True] Translation: X:741.17, Y:-57.66, Z:2.72 [[ 9.96463546e-01 8.35873720e-02 -8.57624628e-03 7.41173246e+02] [-8.35819545e-02 9.96500416e-01 9.88805018e-04 -5.76558012e+01] [ 8.62888460e-03 -2.68488729e-04 9.99962734e-01 2.71738807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3007140569999 meters Centerline goodness [0,1] 0.9815657474232259 Centerline is valid? [True, True] Translation: X:741.20, Y:-57.66, Z:2.72 [[ 9.96668167e-01 8.11617938e-02 -8.08259510e-03 7.41201612e+02] [-8.11569082e-02 9.96700903e-01 9.31164662e-04 -5.76614922e+01] [ 8.13150483e-03 -2.72103748e-04 9.99966902e-01 2.71742353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3307140569999 meters Centerline goodness [0,1] 0.9803533449851545 Centerline is valid? [True, True] Translation: X:741.23, Y:-57.67, Z:2.72 [[ 9.96824488e-01 7.92211271e-02 -8.05934565e-03 7.41230121e+02] [-7.92162107e-02 9.96857026e-01 9.27928735e-04 -5.76663094e+01] [ 8.10752690e-03 -2.86551264e-04 9.99967092e-01 2.71790640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3607140569999 meters Centerline goodness [0,1] 0.979580608984532 Centerline is valid? [True, True] Translation: X:741.26, Y:-57.67, Z:2.72 [[ 9.97229527e-01 7.41233376e-02 -6.24504787e-03 7.41259850e+02] [-7.41202890e-02 9.97249049e-01 7.18529817e-04 -5.76732172e+01] [ 6.28112788e-03 -2.53654396e-04 9.99980241e-01 2.71784344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.390714057 meters Centerline goodness [0,1] 0.9788209561065893 Centerline is valid? [True, True] Translation: X:741.29, Y:-57.68, Z:2.72 [[ 9.97392816e-01 7.18972725e-02 -6.19298117e-03 7.41287519e+02] [-7.18942308e-02 9.97412007e-01 7.12670540e-04 -5.76803518e+01] [ 6.22819285e-03 -2.65572859e-04 9.99980569e-01 2.71862190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4207140569999 meters Centerline goodness [0,1] 0.9784968994052784 Centerline is valid? [True, True] Translation: X:741.32, Y:-57.69, Z:2.72 [[ 9.97765277e-01 6.65479207e-02 -5.98552031e-03 7.41317162e+02] [-6.65449874e-02 9.97783188e-01 6.88123043e-04 -5.76875380e+01] [ 6.01804470e-03 -2.88278905e-04 9.99981850e-01 2.71898745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4507140569999 meters Centerline goodness [0,1] 0.9780728649060114 Centerline is valid? [True, True] Translation: X:741.34, Y:-57.69, Z:2.72 [[ 9.97912341e-01 6.42802130e-02 -6.24608037e-03 7.41344691e+02] [-6.42769734e-02 9.97931839e-01 7.18231423e-04 -5.76944062e+01] [ 6.27933054e-03 -3.15252859e-04 9.99980235e-01 2.71955891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4807140569999 meters Centerline goodness [0,1] 0.9770637353345313 Centerline is valid? [True, True] Translation: X:741.37, Y:-57.70, Z:2.72 [[ 9.98087488e-01 6.15098467e-02 -6.15676711e-03 7.41374594e+02] [-6.15066501e-02 9.98106423e-01 7.07375382e-04 -5.76952751e+01] [ 6.18861935e-03 -3.27340398e-04 9.99980797e-01 2.71893793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.510714057 meters Centerline goodness [0,1] 0.9768543754455113 Centerline is valid? [True, True] Translation: X:741.40, Y:-57.70, Z:2.72 [[ 9.98440606e-01 5.53273083e-02 -7.43268826e-03 7.41403500e+02] [-5.53224818e-02 9.98468174e-01 8.53557837e-04 -5.77044183e+01] [ 7.46852773e-03 -4.41032044e-04 9.99972013e-01 2.71844784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.540714057 meters Centerline goodness [0,1] 0.9765860232034195 Centerline is valid? [True, True] Translation: X:741.43, Y:-57.71, Z:2.72 [[ 9.98619506e-01 5.19797338e-02 -7.56242583e-03 7.41433315e+02] [-5.19746427e-02 9.98648027e-01 8.68323733e-04 -5.77089012e+01] [ 7.59733688e-03 -4.74070637e-04 9.99971027e-01 2.71850775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5707140569999 meters Centerline goodness [0,1] 0.9751016473152534 Centerline is valid? [True, True] Translation: X:741.46, Y:-57.72, Z:2.72 [[ 9.98761760e-01 4.91729504e-02 -7.54774054e-03 7.41461880e+02] [-4.91677998e-02 9.98790156e-01 8.66557001e-04 -5.77174961e+01] [ 7.58122012e-03 -4.94378200e-04 9.99971140e-01 2.71945354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6007140569999 meters Centerline goodness [0,1] 0.9757555278663598 Centerline is valid? [True, True] Translation: X:741.49, Y:-57.72, Z:2.72 [[ 9.98917278e-01 4.61692371e-02 -5.71602750e-03 7.41492088e+02] [-4.61662353e-02 9.98933555e-01 6.56057352e-04 -5.77172509e+01] [ 5.74022134e-03 -3.91459554e-04 9.99983448e-01 2.72003603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.630714057 meters Centerline goodness [0,1] 0.9739168970392724 Centerline is valid? [True, True] Translation: X:741.52, Y:-57.72, Z:2.72 [[ 9.99132206e-01 4.14097344e-02 -4.47988551e-03 7.41522037e+02] [-4.14078437e-02 9.99142195e-01 5.14019927e-04 -5.77210041e+01] [ 4.49732807e-03 -3.28071465e-04 9.99989833e-01 2.72119352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.660714057 meters Centerline goodness [0,1] 0.9721871581250526 Centerline is valid? [True, True] Translation: X:741.55, Y:-57.73, Z:2.72 [[ 9.99205252e-01 3.96540042e-02 -4.05277239e-03 7.41550232e+02] [-3.96524403e-02 9.99213424e-01 4.65523086e-04 -5.77254060e+01] [ 4.06804443e-03 -3.04450797e-04 9.99991679e-01 2.72131157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6907140569999 meters Centerline goodness [0,1] 0.9692314194543649 Centerline is valid? [True, True] Translation: X:741.58, Y:-57.73, Z:2.72 [[ 9.99328521e-01 3.64074081e-02 -4.12415572e-03 7.41579110e+02] [-3.64057637e-02 9.99336978e-01 4.73123676e-04 -5.77304048e+01] [ 4.13864653e-03 -3.22662945e-04 9.99991384e-01 2.72042227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7207140569999 meters Centerline goodness [0,1] 0.9701154773486739 Centerline is valid? [True, True] Translation: X:741.61, Y:-57.73, Z:2.72 [[ 9.99378474e-01 3.49365402e-02 -4.70144726e-03 7.41608765e+02] [-3.49343880e-02 9.99389463e-01 5.39144051e-04 -5.77306529e+01] [ 4.71741268e-03 -3.74566777e-04 9.99988803e-01 2.71989757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.750714057 meters Centerline goodness [0,1] 0.9686197752241444 Centerline is valid? [True, True] Translation: X:741.64, Y:-57.73, Z:2.72 [[ 9.99499599e-01 3.11593460e-02 -5.44481382e-03 7.41639412e+02] [-3.11564060e-02 9.99514327e-01 6.23970823e-04 -5.77293417e+01] [ 5.46161194e-03 -4.54017757e-04 9.99984982e-01 2.71821812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.780714057 meters Centerline goodness [0,1] 0.9686014325860502 Centerline is valid? [True, True] Translation: X:741.67, Y:-57.73, Z:2.72 [[ 9.99564056e-01 2.90088460e-02 -5.49409923e-03 7.41669206e+02] [-2.90058201e-02 9.99579044e-01 6.29655420e-04 -5.77314136e+01] [ 5.51005204e-03 -4.70020072e-04 9.99984709e-01 2.71802478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8107140569999 meters Centerline goodness [0,1] 0.9668580320905096 Centerline is valid? [True, True] Translation: X:741.70, Y:-57.74, Z:2.72 [[ 9.99617450e-01 2.70931990e-02 -5.55989799e-03 7.41697782e+02] [-2.70900703e-02 9.99632794e-01 6.37276050e-04 -5.77352305e+01] [ 5.57512221e-03 -4.86414232e-04 9.99984341e-01 2.71824222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8407140569999 meters Centerline goodness [0,1] 0.9674540571404403 Centerline is valid? [True, True] Translation: X:741.73, Y:-57.73, Z:2.72 [[ 9.99660345e-01 2.55690299e-02 -5.04168538e-03 7.41727631e+02] [-2.55664391e-02 9.99672958e-01 5.77665388e-04 -5.77326037e+01] [ 5.05480688e-03 -4.48571239e-04 9.99987124e-01 2.71908911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.870714057 meters Centerline goodness [0,1] 0.905402573452366 Centerline is valid? [True, False] Translation: X:741.73, Y:-57.73, Z:2.72 [[ 9.99678623e-01 2.47904321e-02 -5.29954701e-03 7.41727989e+02] [-2.47958274e-02 9.99692080e-01 -9.54787056e-04 -5.77288393e+01] [ 5.27424559e-03 1.08588686e-03 9.99985501e-01 2.71948655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.900714057 meters Centerline goodness [0,1] 0.9643522833178005 Centerline is valid? [False, True] Translation: X:741.73, Y:-57.72, Z:2.72 [[ 9.99717843e-01 2.31541414e-02 -5.30292954e-03 7.41727301e+02] [-2.31774604e-02 9.99721776e-01 -4.37895678e-03 -5.77202370e+01] [ 5.20006316e-03 4.50062966e-03 9.99976352e-01 2.72093997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9307140569999 meters Centerline goodness [0,1] 0.961751756836847 Centerline is valid? [True, True] Translation: X:741.76, Y:-57.72, Z:2.72 [[ 9.99735059e-01 2.25255082e-02 -4.73419534e-03 7.41755030e+02] [-2.25231822e-02 9.99746173e-01 5.44060059e-04 -5.77246378e+01] [ 4.74524891e-03 -4.37286771e-04 9.99988646e-01 2.72065662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9607140569999 meters Centerline goodness [0,1] 0.9623280423280424 Centerline is valid? [True, True] Translation: X:741.78, Y:-57.72, Z:2.72 [[ 9.99735576e-01 2.25427114e-02 -4.53918028e-03 7.41784392e+02] [-2.25405756e-02 9.99745793e-01 5.21150906e-04 -5.77201386e+01] [ 4.54977454e-03 -4.18697366e-04 9.99989562e-01 2.72080568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.990714057 meters Centerline goodness [0,1] 0.9672958642629904 Centerline is valid? [True, True] Translation: X:741.81, Y:-57.71, Z:2.72 [[ 9.99740124e-01 2.22815259e-02 -4.81847852e-03 7.41814193e+02] [-2.22791179e-02 9.99751637e-01 5.52848644e-04 -5.77116650e+01] [ 4.82960009e-03 -4.45353521e-04 9.99988238e-01 2.71967849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.020714057 meters Centerline goodness [0,1] 0.9639012032932236 Centerline is valid? [True, True] Translation: X:741.84, Y:-57.72, Z:2.72 [[ 9.99732189e-01 2.24277924e-02 -5.70469204e-03 7.41841929e+02] [-2.24244229e-02 9.99748327e-01 6.53935171e-04 -5.77183823e+01] [ 5.71792264e-03 -5.25835614e-04 9.99983514e-01 2.71971539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0507140569999 meters Centerline goodness [0,1] 0.9689430445581336 Centerline is valid? [True, True] Translation: X:741.87, Y:-57.71, Z:2.72 [[ 9.99731136e-01 2.22665592e-02 -6.46968483e-03 7.41871721e+02] [-2.22622259e-02 9.99751891e-01 7.41031100e-04 -5.77074953e+01] [ 6.48457986e-03 -5.96802278e-04 9.99978797e-01 2.71910791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0807140569999 meters Centerline goodness [0,1] 0.9667668599974599 Centerline is valid? [True, True] Translation: X:741.90, Y:-57.71, Z:2.72 [[ 9.99716732e-01 2.25445401e-02 -7.62882575e-03 7.41898877e+02] [-2.25385277e-02 9.99745594e-01 8.73190698e-04 -5.77110249e+01] [ 7.64657061e-03 -7.01000851e-04 9.99970519e-01 2.71968202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1107140569999 meters Centerline goodness [0,1] 0.9685176901612457 Centerline is valid? [True, True] Translation: X:741.93, Y:-57.70, Z:2.72 [[ 9.99686532e-01 2.32232343e-02 -9.35514631e-03 7.41929154e+02] [-2.32142349e-02 9.99729941e-01 1.06943150e-03 -5.77039757e+01] [ 9.37745553e-03 -8.51923704e-04 9.99955668e-01 2.72027684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.140714057 meters Centerline goodness [0,1] 0.9679147809751516 Centerline is valid? [True, True] Translation: X:741.96, Y:-57.70, Z:2.72 [[ 9.99663378e-01 2.40047610e-02 -9.84392850e-03 7.41957344e+02] [-2.39948391e-02 9.99711450e-01 1.12481110e-03 -5.77037266e+01] [ 9.86808885e-03 -8.88228982e-04 9.99950915e-01 2.72061477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1707140569999 meters Centerline goodness [0,1] 0.9696154253628563 Centerline is valid? [True, True] Translation: X:741.99, Y:-57.70, Z:2.72 [[ 9.99632835e-01 2.48779593e-02 -1.07369933e-02 7.41986708e+02] [-2.48662169e-02 9.99690036e-01 1.22577965e-03 -5.77027690e+01] [ 1.07641601e-02 -9.58341184e-04 9.99941606e-01 2.72109357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2007140569999 meters Centerline goodness [0,1] 0.9718529934287977 Centerline is valid? [True, True] Translation: X:742.02, Y:-57.70, Z:2.72 [[ 9.99619053e-01 2.54583839e-02 -1.06592059e-02 7.42015611e+02] [-2.54468518e-02 9.99675437e-01 1.21614811e-03 -5.77002975e+01] [ 1.06867075e-02 -9.44441588e-04 9.99942450e-01 2.72172371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2307140569999 meters Centerline goodness [0,1] 0.9733364794714487 Centerline is valid? [True, True] Translation: X:742.04, Y:-57.69, Z:2.72 [[ 9.99598319e-01 2.57913655e-02 -1.17476256e-02 7.42044869e+02] [-2.57773916e-02 9.99666811e-01 1.33940096e-03 -5.76944002e+01] [ 1.17782564e-02 -1.03603980e-03 9.99930097e-01 2.72215309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.260714057 meters Centerline goodness [0,1] 0.9743001179877722 Centerline is valid? [True, True] Translation: X:742.07, Y:-57.69, Z:2.72 [[ 9.99601698e-01 2.51212653e-02 -1.28595534e-02 7.42073887e+02] [-2.51044789e-02 9.99683759e-01 1.46515367e-03 -5.76901325e+01] [ 1.28922932e-02 -1.14173771e-03 9.99916239e-01 2.72188508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.290714057 meters Centerline goodness [0,1] 0.9642166344294004 Centerline is valid? [True, True] Translation: X:742.10, Y:-57.70, Z:2.72 [[ 9.99608853e-01 2.43810870e-02 -1.37005214e-02 7.42100168e+02] [-2.43619837e-02 9.99701986e-01 1.55954136e-03 -5.77005222e+01] [ 1.37344618e-02 -1.22515947e-03 9.99904927e-01 2.72222457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3207140569999 meters Centerline goodness [0,1] 0.9726065839179708 Centerline is valid? [True, True] Translation: X:742.13, Y:-57.69, Z:2.72 [[ 9.99635826e-01 2.28611804e-02 -1.43381210e-02 7.42130868e+02] [-2.28401307e-02 9.99737801e-01 1.63014886e-03 -5.76890536e+01] [ 1.43716287e-02 -1.30207064e-03 9.99895875e-01 2.72297463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3507140569999 meters Centerline goodness [0,1] 0.9719513247605075 Centerline is valid? [True, True] Translation: X:742.16, Y:-57.69, Z:2.72 [[ 9.99652149e-01 2.19729272e-02 -1.45866842e-02 7.42160230e+02] [-2.19510599e-02 9.99757672e-01 1.65756683e-03 -5.76877175e+01] [ 1.46195710e-02 -1.33679706e-03 9.99892235e-01 2.72309355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.380714057 meters Centerline goodness [0,1] 0.9724577649584698 Centerline is valid? [True, True] Translation: X:742.19, Y:-57.68, Z:2.72 [[ 9.99667420e-01 2.09046730e-02 -1.51011322e-02 7.42190591e+02] [-2.08811301e-02 9.99780494e-01 1.71502914e-03 -5.76836163e+01] [ 1.51336696e-02 -1.39913005e-03 9.99884501e-01 2.72437589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.410714057 meters Centerline goodness [0,1] 0.9724163375146491 Centerline is valid? [True, True] Translation: X:742.22, Y:-57.68, Z:2.73 [[ 9.99683366e-01 2.03106328e-02 -1.48541669e-02 7.42219405e+02] [-2.02877982e-02 9.99792759e-01 1.68634445e-03 -5.76832146e+01] [ 1.48853392e-02 -1.38445215e-03 9.99888249e-01 2.72516697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4407140569999 meters Centerline goodness [0,1] 0.971562033693043 Centerline is valid? [True, True] Translation: X:742.25, Y:-57.68, Z:2.73 [[ 9.99688908e-01 1.98710451e-02 -1.50740888e-02 7.42248774e+02] [-1.98474963e-02 9.99801556e-01 1.71021165e-03 -5.76827693e+01] [ 1.51050811e-02 -1.41049670e-03 9.99884917e-01 2.72608481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4707140569999 meters Centerline goodness [0,1] 0.9720122175768473 Centerline is valid? [True, True] Translation: X:742.28, Y:-57.68, Z:2.73 [[ 9.99694648e-01 1.90808338e-02 -1.57013273e-02 7.42277361e+02] [-1.90552098e-02 9.99816849e-01 1.77996814e-03 -5.76809336e+01] [ 1.57324149e-02 -1.48023254e-03 9.99875142e-01 2.72698187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.500714057 meters Centerline goodness [0,1] 0.9697719332508734 Centerline is valid? [True, True] Translation: X:742.31, Y:-57.68, Z:2.73 [[ 9.99695587e-01 1.83841280e-02 -1.64547195e-02 7.42305975e+02] [-1.83559296e-02 9.99829780e-01 1.86310036e-03 -5.76787314e+01] [ 1.64861701e-02 -1.56049154e-03 9.99862876e-01 2.72690275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.530714057 meters Centerline goodness [0,1] 0.9724856650751085 Centerline is valid? [True, True] Translation: X:742.34, Y:-57.68, Z:2.73 [[ 9.99689793e-01 1.79502436e-02 -1.72657457e-02 7.42335096e+02] [-1.79191678e-02 9.99837532e-01 1.95288525e-03 -5.76764337e+01] [ 1.72979953e-02 -1.64289166e-03 9.99849029e-01 2.72708328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5607140569999 meters Centerline goodness [0,1] 0.9674827012350005 Centerline is valid? [True, True] Translation: X:742.36, Y:-57.68, Z:2.73 [[ 9.99684671e-01 1.70262313e-02 -1.84571162e-02 7.42363637e+02] [-1.69905859e-02 9.99853473e-01 2.08635985e-03 -5.76793315e+01] [ 1.84899346e-02 -1.77210474e-03 9.99827476e-01 2.72632042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5907140569999 meters Centerline goodness [0,1] 0.9640044747636491 Centerline is valid? [True, True] Translation: X:742.39, Y:-57.68, Z:2.73 [[ 9.99671462e-01 1.68766126e-02 -1.92911176e-02 7.42391251e+02] [-1.68376705e-02 9.99855861e-01 2.17931132e-03 -5.76805098e+01] [ 1.93251163e-02 -1.85377785e-03 9.99811534e-01 2.72604840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.620714057 meters Centerline goodness [0,1] 0.9436214804573485 Centerline is valid? [True, False] Translation: X:742.39, Y:-57.67, Z:2.73 [[ 9.99666901e-01 1.63467554e-02 -1.99717250e-02 7.42392857e+02] [-1.63483406e-02 9.99866353e-01 8.39051466e-05 -5.76730458e+01] [ 1.99704275e-02 2.42627365e-04 9.99800542e-01 2.72628479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.650714057 meters Centerline goodness [0,1] 0.9669216229284804 Centerline is valid? [False, True] Translation: X:742.39, Y:-57.67, Z:2.73 [[ 9.99667684e-01 1.58376752e-02 -2.03393408e-02 7.42393391e+02] [-1.58661152e-02 9.99873359e-01 -1.23765786e-03 -5.76694484e+01] [ 2.03171634e-02 1.55995289e-03 9.99792368e-01 2.72670438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6807140569999 meters Centerline goodness [0,1] 0.9472754570343549 Centerline is valid? [True, False] Translation: X:742.39, Y:-57.67, Z:2.73 [[ 9.99668707e-01 1.54088586e-02 -2.06165610e-02 7.42393707e+02] [-1.54606605e-02 9.99877702e-01 -2.35559797e-03 -5.76664726e+01] [ 2.05777426e-02 2.67356323e-03 9.99784681e-01 2.72716992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7107140569999 meters Centerline goodness [0,1] 0.9401459854014599 Centerline is valid? [False, False] Translation: X:742.40, Y:-57.66, Z:2.73 [[ 9.99666364e-01 1.49479928e-02 -2.10646370e-02 7.42395001e+02] [-1.50291346e-02 9.99880214e-01 -3.69900105e-03 -5.76615650e+01] [ 2.10068211e-02 4.01435019e-03 9.99771273e-01 2.72690814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.740714057 meters Centerline goodness [0,1] 0.9678535231128542 Centerline is valid? [False, True] Translation: X:742.40, Y:-57.66, Z:2.73 [[ 9.99658890e-01 1.48829272e-02 -2.14616423e-02 7.42395834e+02] [-1.49768783e-02 9.99878920e-01 -4.22355381e-03 -5.76595081e+01] [ 2.13961849e-02 4.54354152e-03 9.99760751e-01 2.72702146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.770714057 meters Centerline goodness [0,1] 0.9643348267754958 Centerline is valid? [True, True] Translation: X:742.42, Y:-57.66, Z:2.73 [[ 9.99678218e-01 1.42553194e-02 -2.09820529e-02 7.42424136e+02] [-1.42095693e-02 9.99896329e-01 2.32792411e-03 -5.76612035e+01] [ 2.10130630e-02 -2.02902909e-03 9.99777142e-01 2.72623260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8007140569999 meters Centerline goodness [0,1] 0.9652851812366737 Centerline is valid? [True, True] Translation: X:742.45, Y:-57.66, Z:2.73 [[ 9.99681756e-01 1.43819872e-02 -2.07254722e-02 7.42453300e+02] [-1.43374103e-02 9.99894574e-01 2.29782074e-03 -5.76617354e+01] [ 2.07563344e-02 -1.99993988e-03 9.99782564e-01 2.72669658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8307140569999 meters Centerline goodness [0,1] 0.9655831739961759 Centerline is valid? [True, True] Translation: X:742.48, Y:-57.66, Z:2.73 [[ 9.99664994e-01 1.42386177e-02 -2.16139207e-02 7.42481999e+02] [-1.41901369e-02 9.99896447e-01 2.39475762e-03 -5.76623108e+01] [ 2.16457806e-02 -2.08725087e-03 9.99763524e-01 2.72698404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8607140569999 meters Centerline goodness [0,1] 0.9666376753417631 Centerline is valid? [True, True] Translation: X:742.51, Y:-57.66, Z:2.73 [[ 9.99636894e-01 1.52670181e-02 -2.22035674e-02 7.42510850e+02] [-1.52161422e-02 9.99881205e-01 2.45849383e-03 -5.76616198e+01] [ 2.22384636e-02 -2.11974850e-03 9.99750448e-01 2.72692530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.890714057 meters Centerline goodness [0,1] 0.9666376753417631 Centerline is valid? [True, True] Translation: X:742.54, Y:-57.66, Z:2.73 [[ 9.99638490e-01 1.51618121e-02 -2.22037870e-02 7.42538281e+02] [-1.51109542e-02 9.99882805e-01 2.45650928e-03 -5.76645599e+01] [ 2.22384300e-02 -2.12010082e-03 9.99750448e-01 2.72720322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9207140569999 meters Centerline goodness [0,1] 0.9654027062573842 Centerline is valid? [True, True] Translation: X:742.57, Y:-57.67, Z:2.73 [[ 9.99606836e-01 1.57491954e-02 -2.31977541e-02 7.42566825e+02] [-1.56939395e-02 9.99873560e-01 2.56209379e-03 -5.76658575e+01] [ 2.32351719e-02 -2.19702232e-03 9.99727613e-01 2.72724037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9507140569999 meters Centerline goodness [0,1] 0.9683050582266032 Centerline is valid? [True, True] Translation: X:742.60, Y:-57.66, Z:2.73 [[ 9.99548334e-01 1.81339405e-02 -2.39643289e-02 7.42597022e+02] [-1.80757181e-02 9.99833125e-01 2.64395045e-03 -5.76632219e+01] [ 2.40082751e-02 -2.20958381e-03 9.99709318e-01 2.72718602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9807140569999 meters Centerline goodness [0,1] 0.969411659713081 Centerline is valid? [True, True] Translation: X:742.63, Y:-57.66, Z:2.73 [[ 9.99515302e-01 1.99569584e-02 -2.38930984e-02 7.42627178e+02] [-1.98996083e-02 9.99798509e-01 2.63566957e-03 -5.76639669e+01] [ 2.39408841e-02 -2.15892877e-03 9.99711045e-01 2.72728826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.010714057 meters Centerline goodness [0,1] 0.9696326895165792 Centerline is valid? [True, True] Translation: X:742.66, Y:-57.66, Z:2.73 [[ 9.99467764e-01 2.19494326e-02 -2.41331919e-02 7.42657166e+02] [-2.18915185e-02 9.99756810e-01 2.66138313e-03 -5.76649097e+01] [ 2.41857388e-02 -2.13165443e-03 9.99705210e-01 2.72773370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.040714057 meters Centerline goodness [0,1] 0.7458452662165269 Centerline is valid? [True, False] Translation: X:742.71, Y:-57.67, Z:2.73 [[ 9.99480126e-01 2.12115337e-02 -2.42806228e-02 7.42713320e+02] [-2.12930876e-02 9.99768454e-01 -3.10517349e-03 -5.76651515e+01] [ 2.42091353e-02 3.62056862e-03 9.99700360e-01 2.72970846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0707140569999 meters Centerline goodness [0,1] 0.9716068502682199 Centerline is valid? [False, True] Translation: X:742.64, Y:-57.66, Z:2.73 [[ 9.99321204e-01 2.68706925e-02 -2.52011408e-02 7.42641584e+02] [-2.69134842e-02 9.99636841e-01 -1.36030666e-03 -5.76561696e+01] [ 2.51554364e-02 2.03763379e-03 9.99681475e-01 2.72900506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1007140569999 meters Centerline goodness [0,1] 0.9734644396551724 Centerline is valid? [True, True] Translation: X:742.67, Y:-57.66, Z:2.73 [[ 9.99290841e-01 2.87277585e-02 -2.43419766e-02 7.42671180e+02] [-2.86713995e-02 9.99585348e-01 2.66122843e-03 -5.76581805e+01] [ 2.44083342e-02 -1.96142266e-03 9.99700148e-01 2.72868722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.130714057 meters Centerline goodness [0,1] 0.9758280304904099 Centerline is valid? [True, True] Translation: X:742.70, Y:-57.65, Z:2.73 [[ 9.99206710e-01 3.20386577e-02 -2.36532348e-02 7.42702731e+02] [-3.19863751e-02 9.99484961e-01 2.58552161e-03 -5.76515976e+01] [ 2.37238891e-02 -1.82688930e-03 9.99716880e-01 2.73135753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.160714057 meters Centerline goodness [0,1] 0.9785969887245966 Centerline is valid? [True, True] Translation: X:742.73, Y:-57.65, Z:2.73 [[ 9.99175420e-01 3.32911937e-02 -2.32417176e-02 7.42732147e+02] [-3.32411281e-02 9.99444140e-01 2.53726053e-03 -5.76505215e+01] [ 2.33132669e-02 -1.76258744e-03 9.99726655e-01 2.73244579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1907140569999 meters Centerline goodness [0,1] 0.9729644411373425 Centerline is valid? [True, True] Translation: X:742.76, Y:-57.66, Z:2.73 [[ 9.99160700e-01 3.39175948e-02 -2.29672156e-02 7.42758757e+02] [-3.38689486e-02 9.99423146e-01 2.50387063e-03 -5.76621396e+01] [ 2.30388921e-02 -1.72389369e-03 9.99733083e-01 2.73085025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2207140569999 meters Centerline goodness [0,1] 0.9735021743538902 Centerline is valid? [True, True] Translation: X:742.79, Y:-57.66, Z:2.73 [[ 9.99177349e-01 3.40716945e-02 -2.19941978e-02 7.42788037e+02] [-3.40272038e-02 9.99418040e-01 2.39403471e-03 -5.76623353e+01] [ 2.20629669e-02 -1.64366420e-03 9.99755232e-01 2.73219878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.250714057 meters Centerline goodness [0,1] 0.9780599679146802 Centerline is valid? [True, True] Translation: X:742.82, Y:-57.66, Z:2.73 [[ 9.99218926e-01 3.28746503e-02 -2.19270274e-02 7.42817729e+02] [-3.28302622e-02 9.99458105e-01 2.38136815e-03 -5.76569842e+01] [ 2.19934318e-02 -1.65963806e-03 9.99756738e-01 2.73344027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.280714057 meters Centerline goodness [0,1] 0.9756548814331807 Centerline is valid? [True, True] Translation: X:742.85, Y:-57.66, Z:2.73 [[ 9.99298581e-01 2.99218671e-02 -2.25172906e-02 7.42846584e+02] [-2.98743774e-02 9.99550677e-01 2.44255052e-03 -5.76632851e+01] [ 2.25802588e-02 -1.76814723e-03 9.99743470e-01 2.73227462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3107140569999 meters Centerline goodness [0,1] 0.9724408560925554 Centerline is valid? [True, True] Translation: X:742.87, Y:-57.67, Z:2.73 [[ 9.99337342e-01 2.81334014e-02 -2.30952027e-02 7.42873720e+02] [-2.80829977e-02 9.99602459e-01 2.50393621e-03 -5.76730086e+01] [ 2.31564657e-02 -1.85369443e-03 9.99730135e-01 2.73097303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3407140569999 meters Centerline goodness [0,1] 0.9551070006075745 Centerline is valid? [True, True] Translation: X:742.90, Y:-57.68, Z:2.73 [[ 9.99372380e-01 2.64223466e-02 -2.35946244e-02 7.42901019e+02] [-2.63693040e-02 9.99649001e-01 2.55644184e-03 -5.76839054e+01] [ 2.36538899e-02 -1.93266354e-03 9.99718339e-01 2.72931384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.370714057 meters Centerline goodness [0,1] 0.9736015368968245 Centerline is valid? [True, True] Translation: X:742.93, Y:-57.68, Z:2.73 [[ 9.99424788e-01 2.25947924e-02 -2.52897006e-02 7.42932129e+02] [-2.25326528e-02 9.99742354e-01 2.73942197e-03 -5.76772708e+01] [ 2.53450815e-02 -2.16800218e-03 9.99676411e-01 2.73043845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.400714057 meters Centerline goodness [0,1] 0.9750062089363527 Centerline is valid? [True, True] Translation: X:742.96, Y:-57.67, Z:2.73 [[ 9.99447982e-01 2.08578239e-02 -2.58588863e-02 7.42962282e+02] [-2.07922932e-02 9.99779895e-01 2.80048799e-03 -5.76748982e+01] [ 2.59116067e-02 -2.26127652e-03 9.99661680e-01 2.73135131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4307140569999 meters Centerline goodness [0,1] 0.9693656244352069 Centerline is valid? [True, True] Translation: X:742.99, Y:-57.69, Z:2.73 [[ 9.99469064e-01 1.95016439e-02 -2.61012501e-02 7.42989539e+02] [-1.94344606e-02 9.99807141e-01 2.82517596e-03 -5.76850846e+01] [ 2.61513118e-02 -2.31641225e-03 9.99655312e-01 2.73020185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4607140569999 meters Centerline goodness [0,1] 0.972102374121846 Centerline is valid? [True, True] Translation: X:743.02, Y:-57.68, Z:2.73 [[ 9.99524594e-01 1.72390959e-02 -2.55616788e-02 7.43020471e+02] [-1.71739462e-02 9.99848691e-01 2.76609175e-03 -5.76843388e+01] [ 2.56054960e-02 -2.32578184e-03 9.99669420e-01 2.73262509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.490714057 meters Centerline goodness [0,1] 0.9708058839454923 Centerline is valid? [True, True] Translation: X:743.05, Y:-57.69, Z:2.73 [[ 9.99566789e-01 1.61014005e-02 -2.46369618e-02 7.43049067e+02] [-1.60406318e-02 9.99867797e-01 2.66222264e-03 -5.76882700e+01] [ 2.46765702e-02 -2.26587690e-03 9.99692919e-01 2.73335420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.520714057 meters Centerline goodness [0,1] 0.9553416443111883 Centerline is valid? [True, True] Translation: X:743.08, Y:-57.70, Z:2.73 [[ 9.99599283e-01 1.55397609e-02 -2.36598674e-02 7.43076296e+02] [-1.54836467e-02 9.99876862e-01 2.55306893e-03 -5.76989110e+01] [ 2.36966280e-02 -2.18570484e-03 9.99716806e-01 2.73350319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5507140569999 meters Centerline goodness [0,1] 0.9574280681150911 Centerline is valid? [True, True] Translation: X:743.11, Y:-57.70, Z:2.74 [[ 9.99630318e-01 1.60688339e-02 -2.19321514e-02 7.43105343e+02] [-1.60208217e-02 9.99868866e-01 2.36309168e-03 -5.77010246e+01] [ 2.19672475e-02 -2.01084700e-03 9.99756669e-01 2.73576177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5807140569999 meters Centerline goodness [0,1] 0.969574954192775 Centerline is valid? [True, True] Translation: X:743.14, Y:-57.69, Z:2.74 [[ 9.99620840e-01 1.66688083e-02 -2.19163609e-02 7.43135233e+02] [-1.66210742e-02 9.99859079e-01 2.35838393e-03 -5.76948907e+01] [ 2.19525839e-02 -1.99321626e-03 9.99757026e-01 2.73756987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6107140569999 meters Centerline goodness [0,1] 0.9671570846536894 Centerline is valid? [True, True] Translation: X:743.16, Y:-57.70, Z:2.74 [[ 9.99608038e-01 1.84003950e-02 -2.10996576e-02 7.43163312e+02] [-1.83565623e-02 9.99828929e-01 2.26922970e-03 -5.76996251e+01] [ 2.11378028e-02 -1.88102307e-03 9.99774802e-01 2.73715340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.640714057 meters Centerline goodness [0,1] 0.9709987557968556 Centerline is valid? [True, True] Translation: X:743.19, Y:-57.70, Z:2.74 [[ 9.99589040e-01 1.89412359e-02 -2.15170005e-02 7.43192677e+02] [-1.88958056e-02 9.99818783e-01 2.31274248e-03 -5.76972820e+01] [ 2.15569075e-02 -1.90521097e-03 9.99765808e-01 2.73776950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6707140569999 meters Centerline goodness [0,1] 0.9699227685547981 Centerline is valid? [True, True] Translation: X:743.22, Y:-57.70, Z:2.74 [[ 9.99577118e-01 1.90933239e-02 -2.19323898e-02 7.43220336e+02] [-1.90462097e-02 9.99815831e-01 2.35506055e-03 -5.77016723e+01] [ 2.19733164e-02 -1.93633574e-03 9.99756682e-01 2.73728945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7007140569999 meters Centerline goodness [0,1] 0.9710125173220655 Centerline is valid? [True, True] Translation: X:743.25, Y:-57.70, Z:2.74 [[ 9.99544699e-01 1.97168921e-02 -2.28394049e-02 7.43249063e+02] [-1.96660125e-02 9.99803603e-01 2.45020525e-03 -5.77028983e+01] [ 2.28832298e-02 -1.99992965e-03 9.99736144e-01 2.73708008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7307140569999 meters Centerline goodness [0,1] 0.9706256242622355 Centerline is valid? [True, True] Translation: X:743.28, Y:-57.71, Z:2.74 [[ 9.99520481e-01 2.02796744e-02 -2.33996193e-02 7.43277573e+02] [-2.02264594e-02 9.99792277e-01 2.50864560e-03 -5.77054211e+01] [ 2.34456331e-02 -2.03415121e-03 9.99723044e-01 2.73684546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.760714057 meters Centerline goodness [0,1] 0.9703231080129879 Centerline is valid? [True, True] Translation: X:743.31, Y:-57.71, Z:2.74 [[ 9.99491901e-01 2.07065386e-02 -2.42317660e-02 7.43305917e+02] [-2.06496987e-02 9.99783408e-01 2.59358436e-03 -5.77078559e+01] [ 2.42802217e-02 -2.09188790e-03 9.99703003e-01 2.73585177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.790714057 meters Centerline goodness [0,1] 0.9763772366596185 Centerline is valid? [True, True] Translation: X:743.34, Y:-57.70, Z:2.74 [[ 9.99402481e-01 2.39881199e-02 -2.48847391e-02 7.43337412e+02] [-2.39292454e-02 9.99710113e-01 2.66102091e-03 -5.77021125e+01] [ 2.49413582e-02 -2.06395787e-03 9.99686785e-01 2.73629906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8207140569999 meters Centerline goodness [0,1] 0.9695846877770453 Centerline is valid? [True, True] Translation: X:743.37, Y:-57.71, Z:2.73 [[ 9.99343422e-01 2.62826738e-02 -2.49388488e-02 7.43365531e+02] [-2.62242671e-02 9.99652529e-01 2.66622083e-03 -5.77123143e+01] [ 2.50002587e-02 -2.01046722e-03 9.99685423e-01 2.73448462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8507140569999 meters Centerline goodness [0,1] 0.9729606596961207 Centerline is valid? [True, True] Translation: X:743.40, Y:-57.71, Z:2.74 [[ 9.99189780e-01 3.20640731e-02 -2.43244528e-02 7.43395238e+02] [-3.20102274e-02 9.99484160e-01 2.59989955e-03 -5.77085196e+01] [ 2.43952686e-02 -1.81916179e-03 9.99700736e-01 2.73584676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.880714057 meters Centerline goodness [0,1] 0.9778205480707542 Centerline is valid? [True, True] Translation: X:743.43, Y:-57.70, Z:2.74 [[ 9.99080343e-01 3.51539553e-02 -2.45492966e-02 7.43426475e+02] [-3.51000479e-02 9.99380360e-01 2.62348116e-03 -5.77007423e+01] [ 2.46263106e-02 -1.75938697e-03 9.99695178e-01 2.73819758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.910714057 meters Centerline goodness [0,1] 0.9749257821420416 Centerline is valid? [True, True] Translation: X:743.45, Y:-57.71, Z:2.74 [[ 9.98978710e-01 3.83857911e-02 -2.38341754e-02 7.43454836e+02] [-3.83359066e-02 9.99261664e-01 2.54655269e-03 -5.77084299e+01] [ 2.39143293e-02 -1.63024720e-03 9.99712682e-01 2.73751073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9407140569999 meters Centerline goodness [0,1] 0.9759840352325901 Centerline is valid? [True, True] Translation: X:743.48, Y:-57.71, Z:2.74 [[ 9.98753711e-01 4.44857501e-02 -2.26283552e-02 7.43484154e+02] [-4.44423614e-02 9.99009026e-01 2.41698922e-03 -5.77055023e+01] [ 2.27134526e-02 -1.40831942e-03 9.99741024e-01 2.73788977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9707140569999 meters Centerline goodness [0,1] 0.9812994156067377 Centerline is valid? [True, True] Translation: X:743.52, Y:-57.69, Z:2.74 [[ 9.98627468e-01 4.79017477e-02 -2.11802411e-02 7.43515301e+02] [-4.78645128e-02 9.98851277e-01 2.26176316e-03 -5.76944908e+01] [ 2.12642533e-02 -1.24487690e-03 9.99773115e-01 2.74154754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.000714057 meters Centerline goodness [0,1] 0.9804741658193918 Centerline is valid? [True, True] Translation: X:743.54, Y:-57.69, Z:2.74 [[ 9.98369166e-01 5.34712141e-02 -1.99959609e-02 7.43544452e+02] [-5.34391493e-02 9.98568826e-01 2.13485982e-03 -5.76934863e+01] [ 2.00814968e-02 -1.06281108e-03 9.99797782e-01 2.74312437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.030714057 meters Centerline goodness [0,1] 0.9811608255991134 Centerline is valid? [True, True] Translation: X:743.57, Y:-57.69, Z:2.74 [[ 9.98215655e-01 5.63524641e-02 -1.97460539e-02 7.43574220e+02] [-5.63217702e-02 9.98410445e-01 2.10756580e-03 -5.76929145e+01] [ 1.98334330e-02 -9.91672461e-04 9.99802806e-01 2.74358346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0607140569999 meters Centerline goodness [0,1] 0.9810628777044794 Centerline is valid? [True, True] Translation: X:743.60, Y:-57.69, Z:2.74 [[ 9.98057308e-01 5.92228909e-02 -1.93457562e-02 7.43603317e+02] [-5.91939799e-02 9.98244365e-01 2.06416866e-03 -5.76946281e+01] [ 1.94340381e-02 -9.15006309e-04 9.99810723e-01 2.74327892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0907140569999 meters Centerline goodness [0,1] 0.9825756522545067 Centerline is valid? [True, True] Translation: X:743.63, Y:-57.69, Z:2.74 [[ 9.97758084e-01 6.39972039e-02 -1.95745807e-02 7.43633884e+02] [-6.39685315e-02 9.97949732e-01 2.08806823e-03 -5.76908845e+01] [ 1.96680781e-02 -8.31229773e-04 9.99806219e-01 2.74248626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.120714057 meters Centerline goodness [0,1] 0.9833546140452699 Centerline is valid? [True, True] Translation: X:743.66, Y:-57.69, Z:2.74 [[ 9.97669011e-01 6.53196151e-02 -1.97456906e-02 7.43663218e+02] [-6.52907273e-02 9.97864064e-01 2.10483103e-03 -5.76917709e+01] [ 1.98410019e-02 -8.10714185e-04 9.99802819e-01 2.74195251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.150714057 meters Centerline goodness [0,1] 0.9840083555761866 Centerline is valid? [True, True] Translation: X:743.69, Y:-57.69, Z:2.74 [[ 9.97545217e-01 6.71994202e-02 -1.96920998e-02 7.43691103e+02] [-6.71710968e-02 9.97739268e-01 2.09698122e-03 -5.76931254e+01] [ 1.97884972e-02 -7.69093644e-04 9.99803893e-01 2.74204752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1807140569999 meters Centerline goodness [0,1] 0.9838421772492292 Centerline is valid? [True, True] Translation: X:743.72, Y:-57.69, Z:2.74 [[ 9.97316220e-01 7.04397785e-02 -1.99648228e-02 7.43721174e+02] [-7.04113380e-02 9.97515779e-01 2.12478706e-03 -5.76923644e+01] [ 2.00648953e-02 -7.13334717e-04 9.99798425e-01 2.74160551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2107140569999 meters Centerline goodness [0,1] 0.9833753031150905 Centerline is valid? [True, True] Translation: X:743.75, Y:-57.69, Z:2.74 [[ 9.97267582e-01 7.11115123e-02 -2.00130565e-02 7.43750310e+02] [-7.10831251e-02 9.97468127e-01 2.12714664e-03 -5.76943433e+01] [ 2.01136506e-02 -6.98743784e-04 9.99797456e-01 2.74110636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.240714057 meters Centerline goodness [0,1] 0.9827441665502306 Centerline is valid? [True, True] Translation: X:743.78, Y:-57.70, Z:2.74 [[ 9.97171154e-01 7.25756947e-02 -1.95565375e-02 7.43778119e+02] [-7.25489375e-02 9.97362695e-01 2.07515065e-03 -5.76985175e+01] [ 1.96555664e-02 -6.50474349e-04 9.99806599e-01 2.74055695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.270714057 meters Centerline goodness [0,1] 0.9829188937950267 Centerline is valid? [True, True] Translation: X:743.81, Y:-57.70, Z:2.74 [[ 9.97162256e-01 7.27667669e-02 -1.92985165e-02 7.43806777e+02] [-7.27408171e-02 9.97348783e-01 2.04415140e-03 -5.77004328e+01] [ 1.93960982e-02 -6.34560761e-04 9.99811677e-01 2.74122673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3007140569999 meters Centerline goodness [0,1] 0.9850777491109407 Centerline is valid? [True, True] Translation: X:743.84, Y:-57.70, Z:2.74 [[ 9.97167057e-01 7.28713359e-02 -1.86448324e-02 7.43835813e+02] [-7.28472184e-02 9.97341166e-01 1.97034545e-03 -5.77019079e+01] [ 1.87388406e-02 -6.06539390e-04 9.99824229e-01 2.74240230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3307140569999 meters Centerline goodness [0,1] 0.9841816320833721 Centerline is valid? [True, True] Translation: X:743.86, Y:-57.71, Z:2.74 [[ 9.97160921e-01 7.30650678e-02 -1.82097069e-02 7.43863741e+02] [-7.30421783e-02 9.97327005e-01 1.91982452e-03 -5.77057897e+01] [ 1.83013046e-02 -5.84297328e-04 9.99832346e-01 2.74255967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3607140569999 meters Centerline goodness [0,1] 0.9839680289969562 Centerline is valid? [True, True] Translation: X:743.89, Y:-57.71, Z:2.74 [[ 9.97170623e-01 7.32384119e-02 -1.69376470e-02 7.43891992e+02] [-7.32187034e-02 9.97314317e-01 1.78163010e-03 -5.77100894e+01] [ 1.70226416e-02 -5.36436640e-04 9.99854960e-01 2.74378813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.390714057 meters Centerline goodness [0,1] 0.9837234141357852 Centerline is valid? [True, True] Translation: X:743.92, Y:-57.71, Z:2.74 [[ 9.97202221e-01 7.29942033e-02 -1.61113713e-02 7.43919733e+02] [-7.29764063e-02 9.97332235e-01 1.69057113e-03 -5.77143628e+01] [ 1.61917918e-02 -5.10091308e-04 9.99868774e-01 2.74476004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4207140569999 meters Centerline goodness [0,1] 0.9830638061257587 Centerline is valid? [True, True] Translation: X:743.95, Y:-57.72, Z:2.75 [[ 9.97231651e-01 7.26743379e-02 -1.57313106e-02 7.43946945e+02] [-7.26574009e-02 9.97355600e-01 1.64626864e-03 -5.77184481e+01] [ 1.58093522e-02 -4.98715057e-04 9.99874900e-01 2.74541065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4507140569999 meters Centerline goodness [0,1] 0.982848689380981 Centerline is valid? [True, True] Translation: X:743.98, Y:-57.73, Z:2.75 [[ 9.97377702e-01 7.09442151e-02 -1.43051357e-02 7.43975376e+02] [-7.09300850e-02 9.97480172e-01 1.49335600e-03 -5.77255837e+01] [ 1.43750342e-02 -4.74775480e-04 9.99896561e-01 2.74594520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4807140569999 meters Centerline goodness [0,1] 0.9823916811091854 Centerline is valid? [True, True] Translation: X:744.00, Y:-57.73, Z:2.75 [[ 9.97501489e-01 6.92997195e-02 -1.37232889e-02 7.44003546e+02] [-6.92866060e-02 9.97595772e-01 1.42928380e-03 -5.77316444e+01] [ 1.37893439e-02 -4.74872611e-04 9.99904810e-01 2.74574568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.510714057 meters Centerline goodness [0,1] 0.9811654861558274 Centerline is valid? [True, True] Translation: X:744.03, Y:-57.74, Z:2.75 [[ 9.97708543e-01 6.62124363e-02 -1.39131995e-02 7.44032588e+02] [-6.61986934e-02 9.97805412e-01 1.44649524e-03 -5.77403315e+01] [ 1.39784417e-02 -5.22145033e-04 9.99902160e-01 2.74535726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.540714057 meters Centerline goodness [0,1] 0.9813399435378365 Centerline is valid? [True, True] Translation: X:744.06, Y:-57.75, Z:2.75 [[ 9.97814650e-01 6.45599102e-02 -1.40692160e-02 7.44061219e+02] [-6.45457141e-02 9.97913681e-01 1.46124821e-03 -5.77461725e+01] [ 1.41342012e-02 -5.49947279e-04 9.99899956e-01 2.74580725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5707140569999 meters Centerline goodness [0,1] 0.9817004569145639 Centerline is valid? [True, True] Translation: X:744.09, Y:-57.75, Z:2.75 [[ 9.97941071e-01 6.25556128e-02 -1.41567384e-02 7.44089644e+02] [-6.25410884e-02 9.98041312e-01 1.46680473e-03 -5.77518412e+01] [ 1.42207666e-02 -5.78406852e-04 9.99898712e-01 2.74654779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6007140569999 meters Centerline goodness [0,1] 0.9804898108379786 Centerline is valid? [True, True] Translation: X:744.12, Y:-57.76, Z:2.75 [[ 9.98144795e-01 5.92868990e-02 -1.38575307e-02 7.44117600e+02] [-5.92727029e-02 9.98240799e-01 1.43325912e-03 -5.77611737e+01] [ 1.39181260e-02 -6.09226833e-04 9.99902953e-01 2.74651177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.630714057 meters Centerline goodness [0,1] 0.9797758451459746 Centerline is valid? [True, True] Translation: X:744.15, Y:-57.77, Z:2.75 [[ 9.98256479e-01 5.72886678e-02 -1.42130657e-02 7.44147192e+02] [-5.72735415e-02 9.98357442e-01 1.46935176e-03 -5.77662220e+01] [ 1.42738971e-02 -6.52757308e-04 9.99897910e-01 2.74663304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.660714057 meters Centerline goodness [0,1] 0.9795119286104534 Centerline is valid? [True, True] Translation: X:744.18, Y:-57.78, Z:2.75 [[ 9.98493051e-01 5.29706376e-02 -1.43435716e-02 7.44175273e+02] [-5.29547949e-02 9.98595810e-01 1.48233679e-03 -5.77769683e+01] [ 1.44019508e-02 -7.20542091e-04 9.99896027e-01 2.74577915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6907140569999 meters Centerline goodness [0,1] 0.9784095816004181 Centerline is valid? [True, True] Translation: X:744.20, Y:-57.78, Z:2.75 [[ 9.98602121e-01 5.07824300e-02 -1.46611512e-02 7.44202939e+02] [-5.07656538e-02 9.98709445e-01 1.51440797e-03 -5.77836700e+01] [ 1.47191355e-02 -7.68008081e-04 9.99891373e-01 2.74564653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7207140569999 meters Centerline goodness [0,1] 0.9779320042639087 Centerline is valid? [True, True] Translation: X:744.23, Y:-57.79, Z:2.75 [[ 9.98703185e-01 4.87363564e-02 -1.47212941e-02 7.44231614e+02] [-4.87192358e-02 9.98811357e-01 1.51958725e-03 -5.77902383e+01] [ 1.47778549e-02 -8.00406425e-04 9.99890481e-01 2.74611641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.750714057 meters Centerline goodness [0,1] 0.9769683257918552 Centerline is valid? [True, True] Translation: X:744.26, Y:-57.80, Z:2.75 [[ 9.98863303e-01 4.56630814e-02 -1.36742144e-02 7.44261076e+02] [-4.56480300e-02 9.98956589e-01 1.41097743e-03 -5.77993719e+01] [ 1.37243761e-02 -7.85172626e-04 9.99905508e-01 2.74667479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.780714057 meters Centerline goodness [0,1] 0.9750016967174173 Centerline is valid? [True, True] Translation: X:744.29, Y:-57.80, Z:2.75 [[ 9.98913573e-01 4.47263003e-02 -1.30855340e-02 7.44289024e+02] [-4.47124429e-02 9.98998987e-01 1.34977988e-03 -5.78046406e+01] [ 1.31328059e-02 -7.63227249e-04 9.99913470e-01 2.74735815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8107140569999 meters Centerline goodness [0,1] 0.9750016967174173 Centerline is valid? [True, True] Translation: X:744.32, Y:-57.81, Z:2.75 [[ 9.98925533e-01 4.44583386e-02 -1.30857141e-02 7.44316324e+02] [-4.44444811e-02 9.99010946e-01 1.34803224e-03 -5.78073597e+01] [ 1.31327029e-02 -7.64996057e-04 9.99913470e-01 2.74762205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8407140569999 meters Centerline goodness [0,1] 0.9755512292298637 Centerline is valid? [True, True] Translation: X:744.34, Y:-57.81, Z:2.75 [[ 9.98970478e-01 4.34879933e-02 -1.29142841e-02 7.44344197e+02] [-4.34744525e-02 9.99053657e-01 1.32753297e-03 -5.78121845e+01] [ 1.29597945e-02 -7.64724820e-04 9.99915726e-01 2.74820812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.870714057 meters Centerline goodness [0,1] 0.9734491315136476 Centerline is valid? [True, True] Translation: X:744.37, Y:-57.82, Z:2.75 [[ 9.98973029e-01 4.35735812e-02 -1.24189116e-02 7.44371446e+02] [-4.35610786e-02 9.99049951e-01 1.27559898e-03 -5.78177871e+01] [ 1.24626955e-02 -7.33307789e-04 9.99922069e-01 2.74908166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.900714057 meters Centerline goodness [0,1] 0.9732580463015246 Centerline is valid? [True, True] Translation: X:744.40, Y:-57.82, Z:2.75 [[ 9.98982234e-01 4.33876252e-02 -1.23292783e-02 7.44399489e+02] [-4.33753072e-02 9.99058048e-01 1.26486255e-03 -5.78213211e+01] [ 1.23725441e-02 -7.28788985e-04 9.99923192e-01 2.74953949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9307140569999 meters Centerline goodness [0,1] 0.9739071653898153 Centerline is valid? [True, True] Translation: X:744.43, Y:-57.83, Z:2.75 [[ 9.98949848e-01 4.42578059e-02 -1.18510278e-02 7.44427421e+02] [-4.42465215e-02 9.99019907e-01 1.21282308e-03 -5.78266713e+01] [ 1.18930896e-02 -6.87182671e-04 9.99929039e-01 2.75045797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9607140569999 meters Centerline goodness [0,1] 0.9787688639992803 Centerline is valid? [True, True] Translation: X:744.46, Y:-57.82, Z:2.75 [[ 9.98928304e-01 4.48411099e-02 -1.14681192e-02 7.44457276e+02] [-4.48306110e-02 9.98993916e-01 1.17105610e-03 -5.78214104e+01] [ 1.15090927e-02 -6.55678291e-04 9.99933553e-01 2.75136384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.990714057 meters Centerline goodness [0,1] 0.9781951011810053 Centerline is valid? [True, True] Translation: X:744.49, Y:-57.82, Z:2.75 [[ 9.98881141e-01 4.59168248e-02 -1.13186414e-02 7.44485431e+02] [-4.59066964e-02 9.98945066e-01 1.15317071e-03 -5.78249493e+01] [ 1.13596509e-02 -6.32279037e-04 9.99935277e-01 2.75150080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.020714057 meters Centerline goodness [0,1] 0.9785256840879574 Centerline is valid? [True, True] Translation: X:744.52, Y:-57.83, Z:2.75 [[ 9.98747712e-01 4.85160748e-02 -1.22147090e-02 7.44515503e+02] [-4.85045055e-02 9.98822192e-01 1.24180333e-03 -5.78275804e+01] [ 1.22605699e-02 -6.47779815e-04 9.99924627e-01 2.75144045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0507140569999 meters Centerline goodness [0,1] 0.9797181703583648 Centerline is valid? [True, True] Translation: X:744.54, Y:-57.83, Z:2.75 [[ 9.98663958e-01 5.00360087e-02 -1.29111056e-02 7.44544569e+02] [-5.00232187e-02 9.98747194e-01 1.31186933e-03 -5.78289538e+01] [ 1.29605712e-02 -6.64261555e-04 9.99915788e-01 2.75176862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0807140569999 meters Centerline goodness [0,1] 0.9796439940815137 Centerline is valid? [True, True] Translation: X:744.57, Y:-57.83, Z:2.75 [[ 9.98544237e-01 5.23034222e-02 -1.31817653e-02 7.44572171e+02] [-5.22903010e-02 9.98631030e-01 1.33833837e-03 -5.78323751e+01] [ 1.32337196e-02 -6.47111587e-04 9.99912221e-01 2.75156818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1107140569999 meters Centerline goodness [0,1] 0.9810393573576269 Centerline is valid? [True, True] Translation: X:744.60, Y:-57.83, Z:2.75 [[ 9.98348134e-01 5.59381524e-02 -1.31120628e-02 7.44601984e+02] [-5.59254944e-02 9.98434059e-01 1.33034654e-03 -5.78341387e+01] [ 1.31659473e-02 -5.94850389e-04 9.99913148e-01 2.75150066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.140714057 meters Centerline goodness [0,1] 0.9810425474498515 Centerline is valid? [True, True] Translation: X:744.63, Y:-57.84, Z:2.75 [[ 9.98262152e-01 5.73590048e-02 -1.35137178e-02 7.44631244e+02] [-5.73456987e-02 9.98353441e-01 1.37040466e-03 -5.78366287e+01] [ 1.35700717e-02 -5.93069514e-04 9.99907746e-01 2.75199560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1707140569999 meters Centerline goodness [0,1] 0.9814432527038549 Centerline is valid? [True, True] Translation: X:744.66, Y:-57.84, Z:2.75 [[ 9.98039779e-01 6.10019157e-02 -1.39773103e-02 7.44659498e+02] [-6.09880589e-02 9.98137491e-01 1.41588874e-03 -5.78410672e+01] [ 1.40376493e-02 -5.60664260e-04 9.99901310e-01 2.75215111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2007140569999 meters Centerline goodness [0,1] 0.9810731926358329 Centerline is valid? [True, True] Translation: X:744.69, Y:-57.84, Z:2.75 [[ 9.97937817e-01 6.25556100e-02 -1.43843196e-02 7.44688357e+02] [-6.25411208e-02 9.98041327e-01 1.45536122e-03 -5.78434968e+01] [ 1.44471864e-02 -5.52748536e-04 9.99895481e-01 2.75242753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2307140569999 meters Centerline goodness [0,1] 0.9800809212573919 Centerline is valid? [True, True] Translation: X:744.72, Y:-57.85, Z:2.75 [[ 9.97829236e-01 6.42795575e-02 -1.43161950e-02 7.44715301e+02] [-6.42654233e-02 9.97931794e-01 1.44563273e-03 -5.78515475e+01] [ 1.43795108e-02 -5.22458276e-04 9.99896473e-01 2.75226330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.260714057 meters Centerline goodness [0,1] 0.9831949696793394 Centerline is valid? [True, True] Translation: X:744.74, Y:-57.85, Z:2.75 [[ 9.97634222e-01 6.72741470e-02 -1.41473831e-02 7.44744194e+02] [-6.72606614e-02 9.97734417e-01 1.42741503e-03 -5.78505514e+01] [ 1.42113591e-02 -4.72475743e-04 9.99898902e-01 2.75341714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.290714057 meters Centerline goodness [0,1] 0.9837018489123388 Centerline is valid? [True, True] Translation: X:744.77, Y:-57.85, Z:2.75 [[ 9.97593129e-01 6.79395370e-02 -1.38625086e-02 7.44772582e+02] [-6.79266773e-02 9.97689338e-01 1.39694928e-03 -5.78543273e+01] [ 1.39253851e-02 -4.51952858e-04 9.99902935e-01 2.75379963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3207140569999 meters Centerline goodness [0,1] 0.9834112669784012 Centerline is valid? [True, True] Translation: X:744.80, Y:-57.86, Z:2.75 [[ 9.97565376e-01 6.85446051e-02 -1.28436214e-02 7.44801378e+02] [-6.85336543e-02 9.97647969e-01 1.29133960e-03 -5.78598473e+01] [ 1.29019271e-02 -4.07975367e-04 9.99916683e-01 2.75471772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3507140569999 meters Centerline goodness [0,1] 0.9835490288115515 Centerline is valid? [True, True] Translation: X:744.83, Y:-57.86, Z:2.76 [[ 9.97575855e-01 6.84677106e-02 -1.24332797e-02 7.44829319e+02] [-6.84574791e-02 9.97653255e-01 1.24714902e-03 -5.78634536e+01] [ 1.24894914e-02 -3.92974764e-04 9.99921926e-01 2.75557998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.380714057 meters Centerline goodness [0,1] 0.9841601315175615 Centerline is valid? [True, True] Translation: X:744.86, Y:-57.87, Z:2.76 [[ 9.97602624e-01 6.82390266e-02 -1.15082820e-02 7.44857032e+02] [-6.82302814e-02 9.97668935e-01 1.15128618e-03 -5.78670334e+01] [ 1.15600180e-02 -3.63312795e-04 9.99933115e-01 2.75624447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.410714057 meters Centerline goodness [0,1] 0.9832591509998007 Centerline is valid? [True, True] Translation: X:744.88, Y:-57.87, Z:2.76 [[ 9.97761417e-01 6.59117886e-02 -1.13044574e-02 7.44884934e+02] [-6.59032367e-02 9.97825381e-01 1.12776308e-03 -5.78737858e+01] [ 1.13542074e-02 -3.80238161e-04 9.99935467e-01 2.75637074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4407140569999 meters Centerline goodness [0,1] 0.9828453186187255 Centerline is valid? [True, True] Translation: X:744.91, Y:-57.88, Z:2.76 [[ 9.97872106e-01 6.42696434e-02 -1.09851505e-02 7.44912252e+02] [-6.42614954e-02 9.97932495e-01 1.09345754e-03 -5.78809903e+01] [ 1.10327148e-02 -3.85208579e-04 9.99939064e-01 2.75652356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4707140569999 meters Centerline goodness [0,1] 0.9829795754905887 Centerline is valid? [True, True] Translation: X:744.94, Y:-57.89, Z:2.76 [[ 9.98033077e-01 6.15933487e-02 -1.16720615e-02 7.44941875e+02] [-6.15839785e-02 9.98101230e-01 1.16085742e-03 -5.78850841e+01] [ 1.17214000e-02 -4.39762122e-04 9.99931205e-01 2.75629290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.500714057 meters Centerline goodness [0,1] 0.9791458679977815 Centerline is valid? [True, True] Translation: X:744.97, Y:-57.90, Z:2.76 [[ 9.98371608e-01 5.57385567e-02 -1.21386412e-02 7.44969337e+02] [-5.57279956e-02 9.98445258e-01 1.20681434e-03 -5.79013380e+01] [ 1.21870348e-02 -5.28387032e-04 9.99925596e-01 2.75549920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.530714057 meters Centerline goodness [0,1] 0.9808917197452229 Centerline is valid? [True, True] Translation: X:745.00, Y:-57.90, Z:2.76 [[ 9.98529237e-01 5.27736823e-02 -1.24217812e-02 7.44998510e+02] [-5.27624000e-02 9.98606331e-01 1.23446581e-03 -5.79022040e+01] [ 1.24696167e-02 -5.77247219e-04 9.99922085e-01 2.75604971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5607140569999 meters Centerline goodness [0,1] 0.9812340125253595 Centerline is valid? [True, True] Translation: X:745.03, Y:-57.91, Z:2.76 [[ 9.98809311e-01 4.70630412e-02 -1.28464333e-02 7.45027651e+02] [-4.70505099e-02 9.98891696e-01 1.27612676e-03 -5.79130589e+01] [ 1.28922539e-02 -6.70176052e-04 9.99916667e-01 2.75539628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5907140569999 meters Centerline goodness [0,1] 0.9811838061335043 Centerline is valid? [True, True] Translation: X:745.06, Y:-57.92, Z:2.76 [[ 9.98934963e-01 4.41989854e-02 -1.32434769e-02 7.45057255e+02] [-4.41854186e-02 9.99022481e-01 1.31540767e-03 -5.79169747e+01] [ 1.32886708e-02 -7.28838144e-04 9.99911436e-01 2.75594787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.620714057 meters Centerline goodness [0,1] 0.9798639936412612 Centerline is valid? [True, True] Translation: X:745.09, Y:-57.93, Z:2.76 [[ 9.99042340e-01 4.16480192e-02 -1.34106449e-02 7.45085416e+02] [-4.16338874e-02 9.99132047e-01 1.33135392e-03 -5.79254054e+01] [ 1.34544533e-02 -7.71741652e-04 9.99909187e-01 2.75569777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.650714057 meters Centerline goodness [0,1] 0.9801077041433125 Centerline is valid? [True, True] Translation: X:745.11, Y:-57.93, Z:2.76 [[ 9.99172372e-01 3.85141412e-02 -1.30855330e-02 7.45114605e+02] [-3.85004291e-02 9.99257740e-01 1.29827338e-03 -5.79347211e+01] [ 1.31258220e-02 -7.93400254e-04 9.99913538e-01 2.75577895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6807140569999 meters Centerline goodness [0,1] 0.9793998021325712 Centerline is valid? [True, True] Translation: X:745.14, Y:-57.94, Z:2.76 [[ 9.99224130e-01 3.70619158e-02 -1.33249111e-02 7.45141706e+02] [-3.70475781e-02 9.99312629e-01 1.32132301e-03 -5.79408989e+01] [ 1.33647227e-02 -8.26642145e-04 9.99910346e-01 2.75594328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7107140569999 meters Centerline goodness [0,1] 0.9791689555912018 Centerline is valid? [True, True] Translation: X:745.17, Y:-57.95, Z:2.76 [[ 9.99300609e-01 3.44510051e-02 -1.45402923e-02 7.45171494e+02] [-3.44336786e-02 9.99405947e-01 1.44036735e-03 -5.79476323e+01] [ 1.45812767e-02 -9.38684223e-04 9.99893247e-01 2.75568018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.740714057 meters Centerline goodness [0,1] 0.9794428687641537 Centerline is valid? [True, True] Translation: X:745.20, Y:-57.95, Z:2.76 [[ 9.99337429e-01 3.31882759e-02 -1.49412729e-02 7.45201222e+02] [-3.31698454e-02 9.99448634e-01 1.47972595e-03 -5.79516521e+01] [ 1.49821443e-02 -9.83145811e-04 9.99887278e-01 2.75592704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.770714057 meters Centerline goodness [0,1] 0.9786875929002361 Centerline is valid? [True, True] Translation: X:745.23, Y:-57.96, Z:2.76 [[ 9.99372213e-01 3.22373934e-02 -1.46945709e-02 7.45228721e+02] [-3.22194791e-02 9.99479760e-01 1.45428589e-03 -5.79586058e+01] [ 1.47338086e-02 -9.79921488e-04 9.99890971e-01 2.75599083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8007140569999 meters Centerline goodness [0,1] 0.9793561394665907 Centerline is valid? [True, True] Translation: X:745.26, Y:-57.96, Z:2.76 [[ 9.99459537e-01 2.94961655e-02 -1.45124241e-02 7.45258775e+02] [-2.94784243e-02 9.99564387e-01 1.43492927e-03 -5.79630600e+01] [ 1.45484272e-02 -1.00635035e-03 9.99893660e-01 2.75728088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8307140569999 meters Centerline goodness [0,1] 0.9774147881955788 Centerline is valid? [True, True] Translation: X:745.29, Y:-57.97, Z:2.76 [[ 9.99495402e-01 2.85431798e-02 -1.39366155e-02 7.45285379e+02] [-2.85267351e-02 9.99592081e-01 1.37737396e-03 -5.79716250e+01] [ 1.39702452e-02 -9.79112799e-04 9.99901932e-01 2.75752148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8607140569999 meters Centerline goodness [0,1] 0.9776311765476866 Centerline is valid? [True, True] Translation: X:745.31, Y:-57.97, Z:2.76 [[ 9.99523069e-01 2.72519927e-02 -1.45246126e-02 7.45314523e+02] [-2.72340143e-02 9.99628057e-01 1.43418106e-03 -5.79743326e+01] [ 1.45582945e-02 -1.03793354e-03 9.99893484e-01 2.75835368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.890714057 meters Centerline goodness [0,1] 0.9777414432090691 Centerline is valid? [True, True] Translation: X:745.34, Y:-57.98, Z:2.76 [[ 9.99505508e-01 2.75908086e-02 -1.50826605e-02 7.45343242e+02] [-2.75714740e-02 9.99618727e-01 1.48838554e-03 -5.79775335e+01] [ 1.51179757e-02 -1.07179836e-03 9.99885142e-01 2.75842951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9207140569999 meters Centerline goodness [0,1] 0.976594027441485 Centerline is valid? [True, True] Translation: X:745.37, Y:-57.98, Z:2.76 [[ 9.99497594e-01 2.72376158e-02 -1.62071557e-02 7.45371889e+02] [-2.72152632e-02 9.99628319e-01 1.59818707e-03 -5.79809716e+01] [ 1.62446626e-02 -1.15630212e-03 9.99867378e-01 2.75825550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9507140569999 meters Centerline goodness [0,1] 0.9771499792272539 Centerline is valid? [True, True] Translation: X:745.40, Y:-57.98, Z:2.76 [[ 9.99481239e-01 2.72333069e-02 -1.71930446e-02 7.45400136e+02] [-2.72081720e-02 9.99628353e-01 1.69418843e-03 -5.79845685e+01] [ 1.72327932e-02 -1.22551824e-03 9.99850753e-01 2.75771653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9807140569999 meters Centerline goodness [0,1] 0.9756791663930299 Centerline is valid? [True, True] Translation: X:745.43, Y:-57.99, Z:2.76 [[ 9.99485528e-01 2.70113311e-02 -1.72935899e-02 7.45426725e+02] [-2.69859045e-02 9.99634365e-01 1.70200873e-03 -5.79893347e+01] [ 1.73332403e-02 -1.23444993e-03 9.99849006e-01 2.75782287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.010714057 meters Centerline goodness [0,1] 0.976777303100011 Centerline is valid? [True, True] Translation: X:745.45, Y:-57.99, Z:2.76 [[ 9.99500865e-01 2.65411549e-02 -1.71344318e-02 7.45454249e+02] [-2.65161718e-02 9.99646967e-01 1.68364701e-03 -5.79946993e+01] [ 1.71730687e-02 -1.22846710e-03 9.99851777e-01 2.75825969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.040714057 meters Centerline goodness [0,1] 0.9758170220202727 Centerline is valid? [True, True] Translation: X:745.48, Y:-58.00, Z:2.76 [[ 9.99523026e-01 2.58541538e-02 -1.68903229e-02 7.45482649e+02] [-2.58298081e-02 9.99664980e-01 1.65799724e-03 -5.79985440e+01] [ 1.69275304e-02 -1.22093262e-03 9.99855974e-01 2.75935041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0707140569999 meters Centerline goodness [0,1] 0.9740561386594211 Centerline is valid? [True, True] Translation: X:745.51, Y:-58.00, Z:2.76 [[ 9.99551071e-01 2.46928082e-02 -1.69682796e-02 7.45510511e+02] [-2.46680901e-02 9.99694311e-01 1.66452081e-03 -5.80026774e+01] [ 1.70041942e-02 -1.24519851e-03 9.99854643e-01 2.76070872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1007140569999 meters Centerline goodness [0,1] 0.974606588679411 Centerline is valid? [True, True] Translation: X:745.54, Y:-58.00, Z:2.76 [[ 9.99591103e-01 2.36896150e-02 -1.60133729e-02 7.45538758e+02] [-2.36674911e-02 9.99718653e-01 1.56971736e-03 -5.80042522e+01] [ 1.60460536e-02 -1.19007914e-03 9.99870546e-01 2.76322258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.130714057 meters Centerline goodness [0,1] 0.9748678699094279 Centerline is valid? [True, True] Translation: X:745.57, Y:-58.00, Z:2.76 [[ 9.99610472e-01 2.29931883e-02 -1.58182747e-02 7.45567244e+02] [-2.29715344e-02 9.99734919e-01 1.54928106e-03 -5.80040646e+01] [ 1.58497045e-02 -1.18530753e-03 9.99873683e-01 2.76390609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.160714057 meters Centerline goodness [0,1] 0.9770650263620386 Centerline is valid? [True, True] Translation: X:745.60, Y:-58.00, Z:2.76 [[ 9.99604854e-01 2.32288291e-02 -1.58289768e-02 7.45596676e+02] [-2.32071932e-02 9.99729476e-01 1.54919512e-03 -5.80041527e+01] [ 1.58606806e-02 -1.18123684e-03 9.99873514e-01 2.76491768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1907140569999 meters Centerline goodness [0,1] 0.9769018162674388 Centerline is valid? [True, True] Translation: X:745.63, Y:-58.01, Z:2.77 [[ 9.99597590e-01 2.34639182e-02 -1.59406088e-02 7.45625854e+02] [-2.34420208e-02 9.99723982e-01 1.55918275e-03 -5.80063492e+01] [ 1.59727935e-02 -1.18487524e-03 9.99871725e-01 2.76516686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2207140569999 meters Centerline goodness [0,1] 0.9773703119523309 Centerline is valid? [True, True] Translation: X:745.65, Y:-58.01, Z:2.77 [[ 9.99583770e-01 2.37108684e-02 -1.64341714e-02 7.45654334e+02] [-2.36876459e-02 9.99718118e-01 1.60631070e-03 -5.80089544e+01] [ 1.64676260e-02 -1.21635528e-03 9.99863660e-01 2.76565212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.250714057 meters Centerline goodness [0,1] 0.978529088913282 Centerline is valid? [True, True] Translation: X:745.68, Y:-58.01, Z:2.77 [[ 9.99566908e-01 2.42458278e-02 -1.66774295e-02 7.45683459e+02] [-2.42220059e-02 9.99705277e-01 1.62893777e-03 -5.80094203e+01] [ 1.67120092e-02 -1.22427150e-03 9.99859595e-01 2.76653458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.280714057 meters Centerline goodness [0,1] 0.9769820971867008 Centerline is valid? [True, True] Translation: X:745.71, Y:-58.01, Z:2.77 [[ 9.99568559e-01 2.40431876e-02 -1.68707166e-02 7.45710647e+02] [-2.40188156e-02 9.99710152e-01 1.64579870e-03 -5.80128207e+01] [ 1.69053969e-02 -1.23987401e-03 9.99856325e-01 2.76695340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3107140569999 meters Centerline goodness [0,1] 0.9790114502977957 Centerline is valid? [True, True] Translation: X:745.74, Y:-58.01, Z:2.77 [[ 9.99566436e-01 2.35395709e-02 -1.76869667e-02 7.45739974e+02] [-2.35127481e-02 9.99722052e-01 1.72298473e-03 -5.80065151e+01] [ 1.77226089e-02 -1.30636851e-03 9.99842089e-01 2.76731885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3407140569999 meters Centerline goodness [0,1] 0.9796890782135171 Centerline is valid? [True, True] Translation: X:745.77, Y:-58.01, Z:2.77 [[ 9.99549332e-01 2.37408548e-02 -1.83713142e-02 7.45768497e+02] [-2.37119742e-02 9.99717232e-01 1.78831116e-03 -5.80092703e+01] [ 1.84085754e-02 -1.35188510e-03 9.99829634e-01 2.76664599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.370714057 meters Centerline goodness [0,1] 0.9797473915431082 Centerline is valid? [True, True] Translation: X:745.80, Y:-58.01, Z:2.77 [[ 9.99549379e-01 2.35951371e-02 -1.85555553e-02 7.45797161e+02] [-2.35656741e-02 9.99720662e-01 1.80491335e-03 -5.80124968e+01] [ 1.85929592e-02 -1.36682585e-03 9.99826202e-01 2.76594517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.400714057 meters Centerline goodness [0,1] 0.9804284173216212 Centerline is valid? [True, True] Translation: X:745.83, Y:-58.01, Z:2.77 [[ 9.99517247e-01 2.40722057e-02 -1.96418388e-02 7.45826511e+02] [-2.40393115e-02 9.99709191e-01 1.90913007e-03 -5.80120713e+01] [ 1.96820838e-02 -1.43603215e-03 9.99805258e-01 2.76630433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4307140569999 meters Centerline goodness [0,1] 0.978680981595092 Centerline is valid? [True, True] Translation: X:745.85, Y:-58.02, Z:2.77 [[ 9.99499611e-01 2.46231893e-02 -1.98551053e-02 7.45854358e+02] [-2.45897133e-02 9.99695767e-01 1.92843248e-03 -5.80173965e+01] [ 1.98965489e-02 -1.43923617e-03 9.99801008e-01 2.76604770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4607140569999 meters Centerline goodness [0,1] 0.9806363596356115 Centerline is valid? [True, True] Translation: X:745.88, Y:-58.01, Z:2.77 [[ 9.99442468e-01 2.67038341e-02 -2.00414107e-02 7.45884874e+02] [-2.66701605e-02 9.99642395e-01 1.94565448e-03 -5.80125437e+01] [ 2.00862003e-02 -1.41006208e-03 9.99797258e-01 2.76773662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.490714057 meters Centerline goodness [0,1] 0.9811825012596114 Centerline is valid? [True, True] Translation: X:745.91, Y:-58.01, Z:2.77 [[ 9.99413595e-01 2.80516767e-02 -1.96359297e-02 7.45912891e+02] [-2.80196282e-02 9.99605557e-01 1.90541233e-03 -5.80148737e+01] [ 1.96816345e-02 -1.35410354e-03 9.99805381e-01 2.76851703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.520714057 meters Centerline goodness [0,1] 0.979181338028169 Centerline is valid? [True, True] Translation: X:745.94, Y:-58.01, Z:2.77 [[ 9.99341482e-01 3.09733260e-02 -1.89012095e-02 7.45942837e+02] [-3.09441700e-02 9.99519433e-01 1.83313906e-03 -5.80136760e+01] [ 1.89489046e-02 -1.24704966e-03 9.99819676e-01 2.76966252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5507140569999 meters Centerline goodness [0,1] 0.9797297297297297 Centerline is valid? [True, True] Translation: X:745.97, Y:-58.01, Z:2.77 [[ 9.99321313e-01 3.19203383e-02 -1.83849243e-02 7.45972171e+02] [-3.18929566e-02 9.99489704e-01 1.78071258e-03 -5.80137915e+01] [ 1.84323835e-02 -1.19315444e-03 9.99829397e-01 2.77038780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5807140569999 meters Centerline goodness [0,1] 0.979957271545933 Centerline is valid? [True, True] Translation: X:746.00, Y:-58.02, Z:2.77 [[ 9.99285701e-01 3.29334825e-02 -1.85330508e-02 7.45999554e+02] [-3.29058869e-02 9.99456848e-01 1.79206016e-03 -5.80157791e+01] [ 1.85820033e-02 -1.18093362e-03 9.99826642e-01 2.77094838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6107140569999 meters Centerline goodness [0,1] 0.9798536013622592 Centerline is valid? [True, True] Translation: X:746.03, Y:-58.01, Z:2.77 [[ 9.99215719e-01 3.46537689e-02 -1.91588936e-02 7.46028422e+02] [-3.46246223e-02 9.99398674e-01 1.85103998e-03 -5.80141385e+01] [ 1.92115183e-02 -1.18621879e-03 9.99814738e-01 2.77173526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.640714057 meters Centerline goodness [0,1] 0.9806187021806716 Centerline is valid? [True, True] Translation: X:746.06, Y:-58.02, Z:2.77 [[ 9.99193294e-01 3.52396250e-02 -1.92595703e-02 7.46057100e+02] [-3.52103384e-02 9.99378197e-01 1.85771908e-03 -5.80153983e+01] [ 1.93130599e-02 -1.17808446e-03 9.99812791e-01 2.77206986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6707140569999 meters Centerline goodness [0,1] 0.9805545712260808 Centerline is valid? [True, True] Translation: X:746.08, Y:-58.02, Z:2.77 [[ 9.99142272e-01 3.58146097e-02 -2.07854463e-02 7.46084550e+02] [-3.57806948e-02 9.99357662e-01 2.00139888e-03 -5.80195108e+01] [ 2.08437743e-02 -1.25596452e-03 9.99781956e-01 2.77080605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7007140569999 meters Centerline goodness [0,1] 0.9805545712260808 Centerline is valid? [True, True] Translation: X:746.11, Y:-58.02, Z:2.77 [[ 9.99145848e-01 3.57145905e-02 -2.07856334e-02 7.46111947e+02] [-3.56806943e-02 9.99361241e-01 1.99945398e-03 -5.80220477e+01] [ 2.08437661e-02 -1.25610031e-03 9.99781956e-01 2.77107068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7307140569999 meters Centerline goodness [0,1] 0.9810033238680138 Centerline is valid? [True, True] Translation: X:746.14, Y:-58.02, Z:2.77 [[ 9.99123022e-01 3.61501736e-02 -2.11270481e-02 7.46140720e+02] [-3.61152894e-02 9.99345567e-01 2.03050636e-03 -5.80191160e+01] [ 2.11866250e-02 -1.26571620e-03 9.99774737e-01 2.77213052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.760714057 meters Centerline goodness [0,1] 0.9818286703201615 Centerline is valid? [True, True] Translation: X:746.17, Y:-58.02, Z:2.77 [[ 9.99112189e-01 3.59721277e-02 -2.19280807e-02 7.46168674e+02] [-3.59345983e-02 9.99351931e-01 2.10324551e-03 -5.80176395e+01] [ 2.19895280e-02 -1.31340145e-03 9.99757338e-01 2.77353584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.790714057 meters Centerline goodness [0,1] 0.9817125883891561 Centerline is valid? [True, True] Translation: X:746.20, Y:-58.02, Z:2.77 [[ 9.99104552e-01 3.61615607e-02 -2.19644315e-02 7.46197718e+02] [-3.61240827e-02 9.99345104e-01 2.10081776e-03 -5.80175876e+01] [ 2.20260159e-02 -1.30549164e-03 9.99756546e-01 2.77470261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8207140569999 meters Centerline goodness [0,1] 0.9810379241516967 Centerline is valid? [True, True] Translation: X:746.23, Y:-58.02, Z:2.78 [[ 9.99068603e-01 3.69659445e-02 -2.22586215e-02 7.46225276e+02] [-3.69277472e-02 9.99315679e-01 2.12479871e-03 -5.80203114e+01] [ 2.23219347e-02 -1.30085892e-03 9.99749988e-01 2.77611939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8507140569999 meters Centerline goodness [0,1] 0.9821801537572769 Centerline is valid? [True, True] Translation: X:746.25, Y:-58.02, Z:2.78 [[ 9.99031758e-01 3.81810791e-02 -2.18575292e-02 7.46254751e+02] [-3.81446262e-02 9.99270059e-01 2.08240479e-03 -5.80191817e+01] [ 2.19210829e-02 -1.24664124e-03 9.99758927e-01 2.77872404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.880714057 meters Centerline goodness [0,1] 0.9827409812730751 Centerline is valid? [True, True] Translation: X:746.28, Y:-58.02, Z:2.78 [[ 9.99001388e-01 3.88306362e-02 -2.20999558e-02 7.46282722e+02] [-3.87936029e-02 9.99245034e-01 2.10214206e-03 -5.80212575e+01] [ 2.21648986e-02 -1.24270593e-03 9.99753556e-01 2.77912551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.910714057 meters Centerline goodness [0,1] 0.9831586909608667 Centerline is valid? [True, True] Translation: X:746.31, Y:-58.02, Z:2.78 [[ 9.98959060e-01 3.97084911e-02 -2.24506758e-02 7.46311522e+02] [-3.96705859e-02 9.99210539e-01 2.13141128e-03 -5.80211375e+01] [ 2.25175870e-02 -1.23856115e-03 9.99745680e-01 2.78005045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9407140569999 meters Centerline goodness [0,1] 0.9832769969756271 Centerline is valid? [True, True] Translation: X:746.34, Y:-58.02, Z:2.78 [[ 9.98943276e-01 3.99425038e-02 -2.27360450e-02 7.46340214e+02] [-3.99038195e-02 9.99201206e-01 2.15278260e-03 -5.80230808e+01] [ 2.28038711e-02 -1.24325267e-03 9.99739185e-01 2.78001609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9707140569999 meters Centerline goodness [0,1] 0.9822127356812522 Centerline is valid? [True, True] Translation: X:746.37, Y:-58.03, Z:2.78 [[ 9.98936038e-01 3.99269162e-02 -2.30788329e-02 7.46367443e+02] [-3.98871473e-02 9.99201811e-01 2.18113538e-03 -5.80254391e+01] [ 2.31474976e-02 -1.25826593e-03 9.99731269e-01 2.78047058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.000714057 meters Centerline goodness [0,1] 0.9815277529894699 Centerline is valid? [True, True] Translation: X:746.40, Y:-58.03, Z:2.78 [[ 9.98976936e-01 3.87495688e-02 -2.33141889e-02 7.46396112e+02] [-3.87087728e-02 9.99248116e-01 2.19876129e-03 -5.80255871e+01] [ 2.33818604e-02 -1.29404817e-03 9.99725769e-01 2.78172992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.030714057 meters Centerline goodness [0,1] 0.9821682675204554 Centerline is valid? [True, True] Translation: X:746.42, Y:-58.03, Z:2.78 [[ 9.99009224e-01 3.80830106e-02 -2.30272470e-02 7.46423684e+02] [-3.80431180e-02 9.99273746e-01 2.16816665e-03 -5.80309335e+01] [ 2.30930936e-02 -1.28999021e-03 9.99732487e-01 2.78188845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0607140569999 meters Centerline goodness [0,1] 0.9819065020722849 Centerline is valid? [True, True] Translation: X:746.45, Y:-58.03, Z:2.78 [[ 9.99053822e-01 3.67826879e-02 -2.32054860e-02 7.46452689e+02] [-3.67419255e-02 9.99322408e-01 2.18065289e-03 -5.80291597e+01] [ 2.32699725e-02 -1.32597536e-03 9.99728338e-01 2.78340765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0907140569999 meters Centerline goodness [0,1] 0.9817077241471394 Centerline is valid? [True, True] Translation: X:746.48, Y:-58.03, Z:2.78 [[ 9.99080213e-01 3.58564363e-02 -2.35168770e-02 7.46480092e+02] [-3.58144039e-02 9.99356023e-01 2.20621694e-03 -5.80338709e+01] [ 2.35808398e-02 -1.36194476e-03 9.99721006e-01 2.78303336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.120714057 meters Centerline goodness [0,1] 0.9808597497044192 Centerline is valid? [True, True] Translation: X:746.51, Y:-58.04, Z:2.78 [[ 9.99135872e-01 3.37830162e-02 -2.42119152e-02 7.46509680e+02] [-3.37378893e-02 9.99428137e-01 2.27001842e-03 -5.80358088e+01] [ 2.42747574e-02 -1.45119792e-03 9.99704271e-01 2.78291117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.150714057 meters Centerline goodness [0,1] 0.9800676276917601 Centerline is valid? [True, True] Translation: X:746.54, Y:-58.04, Z:2.78 [[ 9.99164816e-01 3.23851173e-02 -2.49173429e-02 7.46537517e+02] [-3.23369247e-02 9.99474298e-01 2.33471872e-03 -5.80417268e+01] [ 2.49798540e-02 -1.52701856e-03 9.99686789e-01 2.78216563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1807140569999 meters Centerline goodness [0,1] 0.9807320917223468 Centerline is valid? [True, True] Translation: X:746.57, Y:-58.04, Z:2.78 [[ 9.99225069e-01 3.01720390e-02 -2.52766530e-02 7.46567383e+02] [-3.01217724e-02 9.99543434e-01 2.36714122e-03 -5.80421893e+01] [ 2.53365340e-02 -1.60392926e-03 9.99677692e-01 2.78258948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2107140569999 meters Centerline goodness [0,1] 0.9819340179546011 Centerline is valid? [True, True] Translation: X:746.60, Y:-58.05, Z:2.78 [[ 9.99240796e-01 2.95248282e-02 -2.54188225e-02 7.46595098e+02] [-2.94738478e-02 9.99562723e-01 2.37802061e-03 -5.80461189e+01] [ 2.54779181e-02 -1.62702470e-03 9.99674061e-01 2.78260397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.240714057 meters Centerline goodness [0,1] 0.9796291343496478 Centerline is valid? [True, True] Translation: X:746.62, Y:-58.05, Z:2.78 [[ 9.99293916e-01 2.82778224e-02 -2.47393386e-02 7.46621989e+02] [-2.82292312e-02 9.99598804e-01 2.31123371e-03 -5.80536417e+01] [ 2.47947699e-02 -1.61122928e-03 9.99691264e-01 2.78167171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.270714057 meters Centerline goodness [0,1] 0.9802026500389711 Centerline is valid? [True, True] Translation: X:746.65, Y:-58.05, Z:2.78 [[ 9.99366063e-01 2.67902954e-02 -2.34467981e-02 7.46651237e+02] [-2.67463509e-02 9.99639862e-01 2.18587660e-03 -5.80522013e+01] [ 2.34969143e-02 -1.55737461e-03 9.99722696e-01 2.78400239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3007140569999 meters Centerline goodness [0,1] 0.9791129104012812 Centerline is valid? [True, True] Translation: X:746.68, Y:-58.06, Z:2.78 [[ 9.99401772e-01 2.58959627e-02 -2.29237443e-02 7.46679393e+02] [-2.58538511e-02 9.99663461e-01 2.13154870e-03 -5.80553180e+01] [ 2.29712281e-02 -1.53760647e-03 9.99734944e-01 2.78446886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3307140569999 meters Centerline goodness [0,1] 0.9801252200262918 Centerline is valid? [True, True] Translation: X:746.71, Y:-58.05, Z:2.79 [[ 9.99424992e-01 2.52797248e-02 -2.25969330e-02 7.46708207e+02] [-2.52387757e-02 9.99679255e-01 2.09556513e-03 -5.80537692e+01] [ 2.26426605e-02 -1.52404124e-03 9.99742460e-01 2.78585520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3607140569999 meters Centerline goodness [0,1] 0.9790669190513306 Centerline is valid? [True, True] Translation: X:746.74, Y:-58.06, Z:2.79 [[ 9.99471336e-01 2.37637337e-02 -2.21886099e-02 7.46736892e+02] [-2.37240034e-02 9.99716440e-01 2.05213226e-03 -5.80559852e+01] [ 2.22310844e-02 -1.52464472e-03 9.99751696e-01 2.78576867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.390714057 meters Centerline goodness [0,1] 0.9798491475497635 Centerline is valid? [True, True] Translation: X:746.77, Y:-58.06, Z:2.79 [[ 9.99483358e-01 2.27985177e-02 -2.26549184e-02 7.46765377e+02] [-2.27569839e-02 9.99738843e-01 2.08948315e-03 -5.80591560e+01] [ 2.26966391e-02 -1.57284602e-03 9.99741161e-01 2.78555486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4207140569999 meters Centerline goodness [0,1] 0.9756952193902603 Centerline is valid? [True, True] Translation: X:746.79, Y:-58.07, Z:2.78 [[ 9.99527533e-01 2.06824175e-02 -2.27364991e-02 7.46792716e+02] [-2.06401198e-02 9.99784778e-01 2.09346762e-03 -5.80707431e+01] [ 2.27749037e-02 -1.62319446e-03 9.99739301e-01 2.78378413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4507140569999 meters Centerline goodness [0,1] 0.9764362306886327 Centerline is valid? [True, True] Translation: X:746.82, Y:-58.07, Z:2.78 [[ 9.99558482e-01 1.93480475e-02 -2.25498351e-02 7.46822264e+02] [-1.93061375e-02 9.99811466e-01 2.07479444e-03 -5.80691289e+01] [ 2.25857270e-02 -1.63852816e-03 9.99743567e-01 2.78458064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4807140569999 meters Centerline goodness [0,1] 0.9775886651220816 Centerline is valid? [True, True] Translation: X:746.85, Y:-58.07, Z:2.78 [[ 9.99595554e-01 1.82076731e-02 -2.18451073e-02 7.46850978e+02] [-1.81681011e-02 9.99832929e-01 2.00860014e-03 -5.80714031e+01] [ 2.18780296e-02 -1.61090365e-03 9.99759349e-01 2.78485332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.510714057 meters Centerline goodness [0,1] 0.9764116434256324 Centerline is valid? [True, True] Translation: X:746.88, Y:-58.08, Z:2.79 [[ 9.99646979e-01 1.59766327e-02 -2.12288561e-02 7.46879017e+02] [-1.59387934e-02 9.99871067e-01 1.95046572e-03 -5.80757499e+01] [ 2.12572809e-02 -1.61141481e-03 9.99772740e-01 2.78536644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.540714057 meters Centerline goodness [0,1] 0.9762686133994151 Centerline is valid? [True, True] Translation: X:746.91, Y:-58.07, Z:2.79 [[ 9.99673144e-01 1.51649714e-02 -2.05822286e-02 7.46907467e+02] [-1.51292652e-02 9.99883761e-01 1.88941796e-03 -5.80747194e+01] [ 2.06084891e-02 -1.57740640e-03 9.99786378e-01 2.78635352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5707140569999 meters Centerline goodness [0,1] 0.9752714113389626 Centerline is valid? [True, True] Translation: X:746.93, Y:-58.08, Z:2.79 [[ 9.99694068e-01 1.41573742e-02 -2.02815162e-02 7.46934417e+02] [-1.41225384e-02 9.99898542e-01 1.85982195e-03 -5.80790155e+01] [ 2.03057887e-02 -1.57282648e-03 9.99792579e-01 2.78626866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6007140569999 meters Centerline goodness [0,1] 0.9756424880896464 Centerline is valid? [True, True] Translation: X:746.96, Y:-58.08, Z:2.79 [[ 9.99709605e-01 1.31231832e-02 -2.02110691e-02 7.46962668e+02] [-1.30884284e-02 9.99912630e-01 1.85092109e-03 -5.80811221e+01] [ 2.02335932e-02 -1.58585246e-03 9.99794022e-01 2.78593679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.630714057 meters Centerline goodness [0,1] 0.9756847027388109 Centerline is valid? [True, True] Translation: X:746.99, Y:-58.08, Z:2.79 [[ 9.99715057e-01 1.28232387e-02 -2.01337920e-02 7.46991081e+02] [-1.27887294e-02 9.99916525e-01 1.84182526e-03 -5.80838468e+01] [ 2.01557295e-02 -1.58381482e-03 9.99795598e-01 2.78564199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.660714057 meters Centerline goodness [0,1] 0.9764806020965864 Centerline is valid? [True, True] Translation: X:747.02, Y:-58.08, Z:2.79 [[ 9.99728480e-01 1.21815292e-02 -1.98639511e-02 7.47019994e+02] [-1.21478409e-02 9.99924564e-01 1.81573936e-03 -5.80843494e+01] [ 1.98845711e-02 -1.57394224e-03 9.99801043e-01 2.78573869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6907140569999 meters Centerline goodness [0,1] 0.9744733303451367 Centerline is valid? [True, True] Translation: X:747.05, Y:-58.09, Z:2.78 [[ 9.99739362e-01 1.10915001e-02 -1.99546068e-02 7.47048380e+02] [-1.10573125e-02 9.99937205e-01 1.82278842e-03 -5.80900187e+01] [ 1.99735712e-02 -1.60166901e-03 9.99799225e-01 2.78485376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7207140569999 meters Centerline goodness [0,1] 0.9741170670491216 Centerline is valid? [True, True] Translation: X:747.08, Y:-58.09, Z:2.78 [[ 9.99745434e-01 1.00754248e-02 -2.01879234e-02 7.47075999e+02] [-1.00402560e-02 9.99947898e-01 1.84267176e-03 -5.80935565e+01] [ 2.02054373e-02 -1.63951076e-03 9.99794505e-01 2.78456173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.750714057 meters Centerline goodness [0,1] 0.9708589645727628 Centerline is valid? [True, True] Translation: X:747.10, Y:-58.10, Z:2.78 [[ 9.99769322e-01 8.91785716e-03 -1.95390489e-02 7.47104579e+02] [-8.88472227e-03 9.99958942e-01 1.78198297e-03 -5.80979081e+01] [ 1.95541382e-02 -1.60797288e-03 9.99807507e-01 2.78352426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.780714057 meters Centerline goodness [0,1] 0.9713934242898681 Centerline is valid? [True, True] Translation: X:747.13, Y:-58.10, Z:2.78 [[ 9.99775418e-01 8.30897916e-03 -1.94954917e-02 7.47133079e+02] [-8.27590246e-03 9.99964176e-01 1.77670057e-03 -5.81004394e+01] [ 1.95095559e-02 -1.61495877e-03 9.99808366e-01 2.78346405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8107140569999 meters Centerline goodness [0,1] 0.9691105823194002 Centerline is valid? [True, True] Translation: X:747.16, Y:-58.11, Z:2.78 [[ 9.99794468e-01 7.70291209e-03 -1.87533386e-02 7.47160732e+02] [-7.67222661e-03 9.99969110e-01 1.70766576e-03 -5.81050601e+01] [ 1.87659133e-02 -1.56343492e-03 9.99822682e-01 2.78319919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8407140569999 meters Centerline goodness [0,1] 0.9685011105377695 Centerline is valid? [True, True] Translation: X:747.19, Y:-58.11, Z:2.78 [[ 9.99807900e-01 7.41699937e-03 -1.81425334e-02 7.47189678e+02] [-7.38825833e-03 9.99971344e-01 1.65069481e-03 -5.81069615e+01] [ 1.81542567e-02 -1.51633598e-03 9.99834048e-01 2.78362196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.870714057 meters Centerline goodness [0,1] 0.9725142921197175 Centerline is valid? [True, True] Translation: X:747.22, Y:-58.10, Z:2.79 [[ 9.99814758e-01 7.73271153e-03 -1.76253869e-02 7.47219094e+02] [-7.70565546e-03 9.99969027e-01 1.60245977e-03 -5.80983553e+01] [ 1.76372324e-02 -1.46634777e-03 9.99843377e-01 2.78523363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.900714057 meters Centerline goodness [0,1] 0.9741390952059419 Centerline is valid? [True, True] Translation: X:747.25, Y:-58.10, Z:2.79 [[ 9.99816158e-01 8.08122749e-03 -1.73880529e-02 7.47248026e+02] [-8.05496886e-03 9.99966311e-01 1.57966049e-03 -5.80951689e+01] [ 1.74002327e-02 -1.43930985e-03 9.99847569e-01 2.78655505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9307140569999 meters Centerline goodness [0,1] 0.9711220565413939 Centerline is valid? [True, True] Translation: X:747.28, Y:-58.10, Z:2.79 [[ 9.99818526e-01 8.34323608e-03 -1.71261445e-02 7.47275679e+02] [-8.31782393e-03 9.99964198e-01 1.55451874e-03 -5.81014460e+01] [ 1.71385011e-02 -1.41178438e-03 9.99852128e-01 2.78567829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9607140569999 meters Centerline goodness [0,1] 0.9711241750568732 Centerline is valid? [True, True] Translation: X:747.30, Y:-58.10, Z:2.79 [[ 9.99816522e-01 9.88958539e-03 -1.64048379e-02 7.47304255e+02] [-9.86649494e-03 9.99950218e-01 1.48787911e-03 -5.81044282e+01] [ 1.64187357e-02 -1.32574787e-03 9.99864325e-01 2.78501292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.990714057 meters Centerline goodness [0,1] 0.9712856405769792 Centerline is valid? [True, True] Translation: X:747.33, Y:-58.10, Z:2.79 [[ 9.99811628e-01 1.07357256e-02 -1.61694842e-02 7.47333477e+02] [-1.07134181e-02 9.99941536e-01 1.46559752e-03 -5.81045172e+01] [ 1.61842731e-02 -1.29209100e-03 9.99868191e-01 2.78516692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.020714057 meters Centerline goodness [0,1] 0.9745626904412594 Centerline is valid? [True, True] Translation: X:747.36, Y:-58.10, Z:2.79 [[ 9.99800604e-01 1.24197312e-02 -1.56365864e-02 7.47364293e+02] [-1.23990862e-02 9.99922125e-01 1.41655827e-03 -5.80963923e+01] [ 1.56529620e-02 -1.22239643e-03 9.99876738e-01 2.78653969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0507140569999 meters Centerline goodness [0,1] 0.9740277369290288 Centerline is valid? [True, True] Translation: X:747.39, Y:-58.10, Z:2.79 [[ 9.99788819e-01 1.37192010e-02 -1.53003572e-02 7.47393323e+02] [-1.36995944e-02 9.99905196e-01 1.38552675e-03 -5.80964861e+01] [ 1.53179149e-02 -1.17562547e-03 9.99881983e-01 2.78678540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0807140569999 meters Centerline goodness [0,1] 0.9705490735934644 Centerline is valid? [True, True] Translation: X:747.42, Y:-58.10, Z:2.79 [[ 9.99759603e-01 1.51634923e-02 -1.58368341e-02 7.47421164e+02] [-1.51426847e-02 9.99884316e-01 1.43296877e-03 -5.81044313e+01] [ 1.58567309e-02 -1.19281210e-03 9.99873563e-01 2.78615903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1107140569999 meters Centerline goodness [0,1] 0.9756716925518649 Centerline is valid? [True, True] Translation: X:747.45, Y:-58.10, Z:2.79 [[ 9.99738166e-01 1.64265546e-02 -1.59301094e-02 7.47451055e+02] [-1.64056785e-02 9.99864380e-01 1.44028667e-03 -5.80964365e+01] [ 1.59516080e-02 -1.17856530e-03 9.99872070e-01 2.78652120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.140714057 meters Centerline goodness [0,1] 0.9758866536487898 Centerline is valid? [True, True] Translation: X:747.48, Y:-58.10, Z:2.79 [[ 9.99678062e-01 1.96930200e-02 -1.59986412e-02 7.47480463e+02] [-1.96723931e-02 9.99805435e-01 1.44565563e-03 -5.80963411e+01] [ 1.60239977e-02 -1.13045866e-03 9.99870968e-01 2.78533223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1707140569999 meters Centerline goodness [0,1] 0.9787742831765697 Centerline is valid? [True, True] Translation: X:747.51, Y:-58.09, Z:2.79 [[ 9.99646005e-01 2.13687105e-02 -1.58506484e-02 7.47510766e+02] [-2.13486802e-02 9.99771066e-01 1.43183836e-03 -5.80916561e+01] [ 1.58776162e-02 -1.09294108e-03 9.99873345e-01 2.78585587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2007140569999 meters Centerline goodness [0,1] 0.9786257450160992 Centerline is valid? [True, True] Translation: X:747.54, Y:-58.09, Z:2.79 [[ 9.99562534e-01 2.51532545e-02 -1.55580903e-02 7.47540843e+02] [-2.51344206e-02 9.99683093e-01 1.40493753e-03 -5.80885444e+01] [ 1.55884986e-02 -1.01327933e-03 9.99877979e-01 2.78686585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2307140569999 meters Centerline goodness [0,1] 0.9799038681620508 Centerline is valid? [True, True] Translation: X:747.57, Y:-58.09, Z:2.79 [[ 9.99523854e-01 2.67782650e-02 -1.53293650e-02 7.47570085e+02] [-2.67601949e-02 9.99640926e-01 1.38273496e-03 -5.80879665e+01] [ 1.53608879e-02 -9.71859776e-04 9.99881542e-01 2.78751431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.260714057 meters Centerline goodness [0,1] 0.9795782718313087 Centerline is valid? [True, True] Translation: X:747.60, Y:-58.09, Z:2.79 [[ 9.99482327e-01 2.87186952e-02 -1.45022594e-02 7.47598916e+02] [-2.87027592e-02 9.99587138e-01 1.30585225e-03 -5.80898432e+01] [ 1.45337744e-02 -8.88921388e-04 9.99893984e-01 2.78796934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.290714057 meters Centerline goodness [0,1] 0.9800302641232576 Centerline is valid? [True, True] Translation: X:747.63, Y:-58.09, Z:2.79 [[ 9.99435217e-01 3.04232803e-02 -1.42713598e-02 7.47627804e+02] [-3.04080303e-02 9.99536744e-01 1.28439901e-03 -5.80897553e+01] [ 1.43038242e-02 -8.49709663e-04 9.99897334e-01 2.78836875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3207140569999 meters Centerline goodness [0,1] 0.9784524301252926 Centerline is valid? [True, True] Translation: X:747.66, Y:-58.09, Z:2.79 [[ 9.99359760e-01 3.33674286e-02 -1.29106468e-02 7.47656412e+02] [-3.33552032e-02 9.99442886e-01 1.16115835e-03 -5.80900633e+01] [ 1.29421990e-02 -7.29777686e-04 9.99915980e-01 2.78908670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3507140569999 meters Centerline goodness [0,1] 0.9809062608094085 Centerline is valid? [True, True] Translation: X:747.69, Y:-58.08, Z:2.79 [[ 9.99328855e-01 3.46386879e-02 -1.19163837e-02 7.47686348e+02] [-3.46283722e-02 9.99399684e-01 1.07098013e-03 -5.80844043e+01] [ 1.19463275e-02 -6.57616372e-04 9.99928424e-01 2.79006410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.380714057 meters Centerline goodness [0,1] 0.9786664203915774 Centerline is valid? [True, True] Translation: X:747.71, Y:-58.09, Z:2.79 [[ 9.99307030e-01 3.55623793e-02 -1.09899030e-02 7.47713385e+02] [-3.55536747e-02 9.99367281e-01 9.86473180e-04 -5.80898600e+01] [ 1.10180309e-02 -5.95058145e-04 9.99939123e-01 2.79017389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.410714057 meters Centerline goodness [0,1] 0.9779122961046163 Centerline is valid? [True, True] Translation: X:747.74, Y:-58.09, Z:2.79 [[ 9.99274614e-01 3.66664171e-02 -1.02869107e-02 7.47741359e+02] [-3.66588578e-02 9.99327412e-01 9.22509179e-04 -5.80918720e+01] [ 1.03138170e-02 -5.44733605e-04 9.99946663e-01 2.79081391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4407140569999 meters Centerline goodness [0,1] 0.980926870944651 Centerline is valid? [True, True] Translation: X:747.77, Y:-58.09, Z:2.79 [[ 9.99239921e-01 3.77386262e-02 -9.76612661e-03 7.47770873e+02] [-3.77318721e-02 9.99287516e-01 8.74983457e-04 -5.80851590e+01] [ 9.79218907e-03 -5.05824160e-04 9.99951927e-01 2.79087753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4707140569999 meters Centerline goodness [0,1] 0.9782965825215761 Centerline is valid? [True, True] Translation: X:747.80, Y:-58.09, Z:2.79 [[ 9.99216307e-01 3.83149137e-02 -9.93674678e-03 7.47797732e+02] [-3.83079747e-02 9.99265586e-01 8.87782932e-04 -5.80925543e+01] [ 9.96346442e-03 -5.06430538e-04 9.99950235e-01 2.79097121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.500714057 meters Centerline goodness [0,1] 0.977854478908476 Centerline is valid? [True, True] Translation: X:747.83, Y:-58.09, Z:2.79 [[ 9.99182419e-01 3.90328889e-02 -1.05322034e-02 7.47825750e+02] [-3.90251435e-02 9.99237787e-01 9.39996664e-04 -5.80947473e+01] [ 1.05608664e-02 -5.28207393e-04 9.99944093e-01 2.78920739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.530714057 meters Centerline goodness [0,1] 0.9791121506148253 Centerline is valid? [True, True] Translation: X:747.85, Y:-58.09, Z:2.79 [[ 9.99189648e-01 3.88339866e-02 -1.05814954e-02 7.47854558e+02] [-3.88261667e-02 9.99245535e-01 9.43521565e-04 -5.80928081e+01] [ 1.06101527e-02 -5.31918078e-04 9.99943569e-01 2.78834311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5607140569999 meters Centerline goodness [0,1] 0.9776225074862462 Centerline is valid? [True, True] Translation: X:747.88, Y:-58.10, Z:2.79 [[ 9.99200075e-01 3.84842885e-02 -1.08705673e-02 7.47881527e+02] [-3.84760234e-02 9.99259054e-01 9.68506791e-04 -5.80999932e+01] [ 1.08997851e-02 -5.49475857e-04 9.99940445e-01 2.78809144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5907140569999 meters Centerline goodness [0,1] 0.9791772826238013 Centerline is valid? [True, True] Translation: X:747.91, Y:-58.10, Z:2.79 [[ 9.99253199e-01 3.69948703e-02 -1.11545572e-02 7.47910368e+02] [-3.69860889e-02 9.99315288e-01 9.92585418e-04 -5.80980785e+01] [ 1.11836401e-02 -5.79280711e-04 9.99937293e-01 2.78764633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.620714057 meters Centerline goodness [0,1] 0.9791772826238013 Centerline is valid? [True, True] Translation: X:747.94, Y:-58.10, Z:2.79 [[ 9.99256983e-01 3.68924522e-02 -1.11547748e-02 7.47937758e+02] [-3.68836917e-02 9.99319075e-01 9.90133542e-04 -5.81004139e+01] [ 1.11837077e-02 -5.77968580e-04 9.99937293e-01 2.78791138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.650714057 meters Centerline goodness [0,1] 0.9811434675584042 Centerline is valid? [True, True] Translation: X:747.97, Y:-58.10, Z:2.79 [[ 9.99303898e-01 3.57347164e-02 -1.07121351e-02 7.47966467e+02] [-3.57265823e-02 9.99361151e-01 9.49790847e-04 -5.80980041e+01] [ 1.07392322e-02 -5.66421719e-04 9.99942172e-01 2.78815960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6807140569999 meters Centerline goodness [0,1] 0.9764424639093905 Centerline is valid? [True, True] Translation: X:747.99, Y:-58.11, Z:2.79 [[ 9.99333023e-01 3.49639943e-02 -1.05369725e-02 7.47993445e+02] [-3.49560913e-02 9.99388413e-01 9.33321242e-04 -5.81089170e+01] [ 1.05631608e-02 -5.64367367e-04 9.99944049e-01 2.78828900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7107140569999 meters Centerline goodness [0,1] 0.9817911557041992 Centerline is valid? [True, True] Translation: X:748.02, Y:-58.10, Z:2.79 [[ 9.99388085e-01 3.32673151e-02 -1.08047265e-02 7.48023140e+02] [-3.32589167e-02 9.99446312e-01 9.56090058e-04 -5.81028874e+01] [ 1.08305506e-02 -5.96151512e-04 9.99941170e-01 2.78805001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.740714057 meters Centerline goodness [0,1] 0.9745745098492021 Centerline is valid? [True, True] Translation: X:748.05, Y:-58.12, Z:2.79 [[ 9.99411343e-01 3.25552185e-02 -1.08224807e-02 7.48049601e+02] [-3.25467578e-02 9.99469756e-01 9.57020570e-04 -5.81210669e+01] [ 1.08478982e-02 -6.04220554e-04 9.99940977e-01 2.78794347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.770714057 meters Centerline goodness [0,1] 0.98027215615365 Centerline is valid? [True, True] Translation: X:748.08, Y:-58.11, Z:2.79 [[ 9.99450174e-01 3.13369185e-02 -1.08326956e-02 7.48079268e+02] [-3.13283834e-02 9.99508688e-01 9.56736226e-04 -5.81102084e+01] [ 1.08573546e-02 -6.16839346e-04 9.99940867e-01 2.78870426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8007140569999 meters Centerline goodness [0,1] 0.9791003460207612 Centerline is valid? [True, True] Translation: X:748.11, Y:-58.11, Z:2.79 [[ 9.99487262e-01 3.03970381e-02 -1.00614606e-02 7.48106464e+02] [-3.03896507e-02 9.99537735e-01 8.86338868e-04 -5.81137558e+01] [ 1.00837516e-02 -5.80120134e-04 9.99948989e-01 2.78970705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8307140569999 meters Centerline goodness [0,1] 0.9808746328715802 Centerline is valid? [True, True] Translation: X:748.14, Y:-58.11, Z:2.79 [[ 9.99510212e-01 2.97593994e-02 -9.68066164e-03 7.48135548e+02] [-2.97525391e-02 9.99556932e-01 8.51942888e-04 -5.81144807e+01] [ 9.70172576e-03 -5.63501353e-04 9.99952778e-01 2.78987104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8607140569999 meters Centerline goodness [0,1] 0.9798080029538007 Centerline is valid? [True, True] Translation: X:748.16, Y:-58.12, Z:2.79 [[ 9.99527194e-01 2.91013719e-02 -9.92466056e-03 7.48163271e+02] [-2.90941543e-02 9.99576296e-01 8.70867212e-04 -5.81200586e+01] [ 9.94579887e-03 -5.81705855e-04 9.99950370e-01 2.79011946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.890714057 meters Centerline goodness [0,1] 0.9789994249568718 Centerline is valid? [True, True] Translation: X:748.19, Y:-58.12, Z:2.79 [[ 9.99539089e-01 2.84914722e-02 -1.04807077e-02 7.48191614e+02] [-2.84834065e-02 9.99593844e-01 9.18068160e-04 -5.81229912e+01] [ 1.05026080e-02 -6.19118756e-04 9.99944654e-01 2.78981306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9207140569999 meters Centerline goodness [0,1] 0.9774037353008992 Centerline is valid? [True, True] Translation: X:748.22, Y:-58.13, Z:2.79 [[ 9.99585856e-01 2.61972349e-02 -1.19088406e-02 7.48219387e+02] [-2.61866932e-02 9.99656528e-01 1.04029717e-03 -5.81299009e+01] [ 1.19320032e-02 -7.28013181e-04 9.99928546e-01 2.78846089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9507140569999 meters Centerline goodness [0,1] 0.9761729191630565 Centerline is valid? [True, True] Translation: X:748.25, Y:-58.13, Z:2.79 [[ 9.99615765e-01 2.48867051e-02 -1.22055282e-02 7.48246801e+02] [-2.48755469e-02 9.99689988e-01 1.06518175e-03 -5.81344665e+01] [ 1.22282532e-02 -7.61153285e-04 9.99924942e-01 2.78775384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9807140569999 meters Centerline goodness [0,1] 0.9770569071879116 Centerline is valid? [True, True] Translation: X:748.27, Y:-58.14, Z:2.79 [[ 9.99645607e-01 2.35277546e-02 -1.24541245e-02 7.48274880e+02] [-2.35160511e-02 9.99722870e-01 1.08536059e-03 -5.81379388e+01] [ 1.24762092e-02 -7.92104117e-04 9.99921855e-01 2.78712590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.010714057 meters Centerline goodness [0,1] 0.9771479754713948 Centerline is valid? [True, True] Translation: X:748.30, Y:-58.14, Z:2.79 [[ 9.99667867e-01 2.22329339e-02 -1.30327321e-02 7.48304453e+02] [-2.22200208e-02 9.99752461e-01 1.13480345e-03 -5.81388627e+01] [ 1.30547360e-02 -8.44838964e-04 9.99914426e-01 2.78728106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.040714057 meters Centerline goodness [0,1] 0.976824708000554 Centerline is valid? [True, True] Translation: X:748.33, Y:-58.14, Z:2.79 [[ 9.99709705e-01 2.02297842e-02 -1.30867187e-02 7.48333746e+02] [-2.02165991e-02 9.99794975e-01 1.13903923e-03 -5.81432811e+01] [ 1.31070781e-02 -8.74139630e-04 9.99913716e-01 2.78775012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0707140569999 meters Centerline goodness [0,1] 0.9740364643434111 Centerline is valid? [True, True] Translation: X:748.36, Y:-58.15, Z:2.79 [[ 9.99725742e-01 1.93615372e-02 -1.31746452e-02 7.48360481e+02] [-1.93481088e-02 9.99812151e-01 1.14597147e-03 -5.81510271e+01] [ 1.31943581e-02 -8.90752709e-04 9.99912554e-01 2.78783485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1007140569999 meters Centerline goodness [0,1] 0.9777434383504774 Centerline is valid? [True, True] Translation: X:748.39, Y:-58.15, Z:2.79 [[ 9.99732654e-01 1.88935169e-02 -1.33287432e-02 7.48389828e+02] [-1.88797483e-02 9.99821091e-01 1.15808175e-03 -5.81450389e+01] [ 1.33482388e-02 -9.06128827e-04 9.99910498e-01 2.78890511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.130714057 meters Centerline goodness [0,1] 0.9783170923197709 Centerline is valid? [True, True] Translation: X:748.42, Y:-58.15, Z:2.79 [[ 9.99746324e-01 1.87166024e-02 -1.25290355e-02 7.48417906e+02] [-1.87044343e-02 9.99824465e-01 1.08767666e-03 -5.81484233e+01] [ 1.25471939e-02 -8.53052220e-04 9.99920917e-01 2.79006023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.160714057 meters Centerline goodness [0,1] 0.9739303574736062 Centerline is valid? [True, True] Translation: X:748.44, Y:-58.16, Z:2.79 [[ 9.99752797e-01 1.86226698e-02 -1.21466407e-02 7.48443491e+02] [-1.86112404e-02 9.99826241e-01 1.05332083e-03 -5.81598230e+01] [ 1.21641458e-02 -8.26996398e-04 9.99925672e-01 2.79043152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1907140569999 meters Centerline goodness [0,1] 0.9738187487104244 Centerline is valid? [True, True] Translation: X:748.47, Y:-58.16, Z:2.79 [[ 9.99747600e-01 1.93809778e-02 -1.13628075e-02 7.48472303e+02] [-1.93710388e-02 9.99811879e-01 9.84112878e-04 -5.81616748e+01] [ 1.13797430e-02 -7.63755104e-04 9.99934957e-01 2.79108539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2207140569999 meters Centerline goodness [0,1] 0.9777393310265282 Centerline is valid? [True, True] Translation: X:748.50, Y:-58.15, Z:2.79 [[ 9.99749708e-01 1.92121369e-02 -1.14636586e-02 7.48502239e+02] [-1.92020186e-02 9.99815132e-01 9.92065443e-04 -5.81544253e+01] [ 1.14805990e-02 -7.71691751e-04 9.99933798e-01 2.79139660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.250714057 meters Centerline goodness [0,1] 0.9779479608783909 Centerline is valid? [True, True] Translation: X:748.53, Y:-58.16, Z:2.79 [[ 9.99735172e-01 1.99033418e-02 -1.15517564e-02 7.48529918e+02] [-1.98931234e-02 9.99801613e-01 9.98816643e-04 -5.81569731e+01] [ 1.15693445e-02 -7.68751611e-04 9.99932777e-01 2.79178535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.280714057 meters Centerline goodness [0,1] 0.9774297133088456 Centerline is valid? [True, True] Translation: X:748.56, Y:-58.16, Z:2.79 [[ 9.99730966e-01 1.97774307e-02 -1.21181084e-02 7.48558366e+02] [-1.97661897e-02 9.99804082e-01 1.04670505e-03 -5.81582330e+01] [ 1.21364354e-02 -8.06894624e-04 9.99926025e-01 2.79203865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3107140569999 meters Centerline goodness [0,1] 0.9768469505178365 Centerline is valid? [True, True] Translation: X:748.59, Y:-58.16, Z:2.79 [[ 9.99731070e-01 1.97850777e-02 -1.20970599e-02 7.48585982e+02] [-1.97738873e-02 9.99803933e-01 1.04397630e-03 -5.81613890e+01] [ 1.21153432e-02 -8.04489648e-04 9.99926283e-01 2.79180397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3407140569999 meters Centerline goodness [0,1] 0.9777839424832975 Centerline is valid? [True, True] Translation: X:748.62, Y:-58.16, Z:2.79 [[ 9.99729468e-01 1.93142653e-02 -1.29595364e-02 7.48615106e+02] [-1.93013978e-02 9.99813086e-01 1.11724919e-03 -5.81620192e+01] [ 1.29786929e-02 -8.66809775e-04 9.99915398e-01 2.79183389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.370714057 meters Centerline goodness [0,1] 0.9756753000046333 Centerline is valid? [True, True] Translation: X:748.64, Y:-58.17, Z:2.79 [[ 9.99728048e-01 1.82885825e-02 -1.44692124e-02 7.48643001e+02] [-1.82724527e-02 9.99832268e-01 1.24619182e-03 -5.81661003e+01] [ 1.44895765e-02 -9.81464919e-04 9.99894539e-01 2.79010461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.400714057 meters Centerline goodness [0,1] 0.9742871690427699 Centerline is valid? [True, True] Translation: X:748.67, Y:-58.17, Z:2.79 [[ 9.99735442e-01 1.73277163e-02 -1.51260317e-02 7.48670236e+02] [-1.73100040e-02 9.99849324e-01 1.30112915e-03 -5.81719828e+01] [ 1.51462982e-02 -1.03895325e-03 9.99884748e-01 2.78968185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4307140569999 meters Centerline goodness [0,1] 0.975807572878528 Centerline is valid? [True, True] Translation: X:748.70, Y:-58.17, Z:2.79 [[ 9.99734345e-01 1.65151113e-02 -1.60776527e-02 7.48699364e+02] [-1.64950247e-02 9.99862994e-01 1.38116512e-03 -5.81694969e+01] [ 1.60982601e-02 -1.11559693e-03 9.99869792e-01 2.79007334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4607140569999 meters Centerline goodness [0,1] 0.9760037024181418 Centerline is valid? [True, True] Translation: X:748.73, Y:-58.17, Z:2.79 [[ 9.99750210e-01 1.50200733e-02 -1.65503511e-02 7.48729000e+02] [-1.49986002e-02 9.99886505e-01 1.42081104e-03 -5.81710409e+01] [ 1.65698134e-02 -1.17222403e-03 9.99862024e-01 2.79007252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.490714057 meters Centerline goodness [0,1] 0.9741645214406642 Centerline is valid? [True, True] Translation: X:748.76, Y:-58.18, Z:2.79 [[ 9.99769477e-01 1.40259040e-02 -1.62563038e-02 7.48756294e+02] [-1.40050716e-02 9.99900952e-01 1.39463436e-03 -5.81763162e+01] [ 1.62742547e-02 -1.16664216e-03 9.99866885e-01 2.79043995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.520714057 meters Centerline goodness [0,1] 0.9751195283850903 Centerline is valid? [True, True] Translation: X:748.78, Y:-58.18, Z:2.79 [[ 9.99781239e-01 1.34497161e-02 -1.60181004e-02 7.48784896e+02] [-1.34294372e-02 9.99908879e-01 1.37289681e-03 -5.81772339e+01] [ 1.60351059e-02 -1.15748240e-03 9.99870759e-01 2.79085680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5507140569999 meters Centerline goodness [0,1] 0.9733029993499861 Centerline is valid? [True, True] Translation: X:748.81, Y:-58.18, Z:2.79 [[ 9.99787921e-01 1.24268940e-02 -1.64221206e-02 7.48812623e+02] [-1.24054635e-02 9.99922060e-01 1.40620876e-03 -5.81829917e+01] [ 1.64383154e-02 -1.20218651e-03 9.99864159e-01 2.79140702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5807140569999 meters Centerline goodness [0,1] 0.9721184848414558 Centerline is valid? [True, True] Translation: X:748.84, Y:-58.19, Z:2.79 [[ 9.99824703e-01 1.05688367e-02 -1.54551967e-02 7.48841487e+02] [-1.05496522e-02 9.99943477e-01 1.32230006e-03 -5.81854272e+01] [ 1.54682983e-02 -1.15902131e-03 9.99879687e-01 2.79289582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6107140569999 meters Centerline goodness [0,1] 0.9721047986249826 Centerline is valid? [True, True] Translation: X:748.87, Y:-58.19, Z:2.79 [[ 9.99842933e-01 9.55874111e-03 -1.49244400e-02 7.48869663e+02] [-9.54075753e-03 9.99953672e-01 1.27571149e-03 -5.81869260e+01] [ 1.49359428e-02 -1.13312065e-03 9.99887811e-01 2.79362169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.640714057 meters Centerline goodness [0,1] 0.9689405001970193 Centerline is valid? [True, True] Translation: X:748.90, Y:-58.19, Z:2.79 [[ 9.99860145e-01 8.53471432e-03 -1.43822820e-02 7.48896832e+02] [-8.51793051e-03 9.99962968e-01 1.22783283e-03 -5.81936061e+01] [ 1.43922286e-02 -1.10515383e-03 9.99895816e-01 2.79416832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6707140569999 meters Centerline goodness [0,1] 0.9664617882407515 Centerline is valid? [True, True] Translation: X:748.92, Y:-58.20, Z:2.79 [[ 9.99877307e-01 7.76675244e-03 -1.36032576e-02 7.48924205e+02] [-7.75168036e-03 9.99969282e-01 1.16035269e-03 -5.81986816e+01] [ 1.36118519e-02 -1.05476222e-03 9.99906798e-01 2.79447881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7007140569999 meters Centerline goodness [0,1] 0.9703218033964275 Centerline is valid? [True, True] Translation: X:748.95, Y:-58.20, Z:2.79 [[ 9.99888268e-01 5.58078093e-03 -1.38674236e-02 7.48954825e+02] [-5.56492043e-03 9.99983817e-01 1.18204830e-03 -5.81969115e+01] [ 1.38737959e-02 -1.10474512e-03 9.99903144e-01 2.79479574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7307140569999 meters Centerline goodness [0,1] 0.9642674596905348 Centerline is valid? [True, True] Translation: X:748.98, Y:-58.21, Z:2.79 [[ 9.99889102e-01 4.71963389e-03 -1.41247600e-02 7.48981960e+02] [-4.70309964e-03 9.99988216e-01 1.20357396e-03 -5.82080766e+01] [ 1.41302740e-02 -1.13701033e-03 9.99899516e-01 2.79408528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.760714057 meters Centerline goodness [0,1] 0.9717169373549884 Centerline is valid? [True, True] Translation: X:749.01, Y:-58.20, Z:2.79 [[ 9.99874897e-01 3.99595738e-03 -1.53043172e-02 7.49011379e+02] [-3.97648230e-03 9.99991245e-01 1.30274059e-03 -5.81979315e+01] [ 1.53093889e-02 -1.24172027e-03 9.99882033e-01 2.79414969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.790714057 meters Centerline goodness [0,1] 0.97091919425793 Centerline is valid? [True, True] Translation: X:749.04, Y:-58.20, Z:2.79 [[ 9.99863163e-01 3.89251125e-03 -1.60780659e-02 7.49040331e+02] [-3.87102259e-03 9.99991573e-01 1.36742534e-03 -5.82008485e+01] [ 1.60832531e-02 -1.30499967e-03 9.99869804e-01 2.79383623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8207140569999 meters Centerline goodness [0,1] 0.9706634432098191 Centerline is valid? [True, True] Translation: X:749.07, Y:-58.20, Z:2.79 [[ 9.99852194e-01 3.66985635e-03 -1.67964856e-02 7.49067591e+02] [-3.64639541e-03 9.99992333e-01 1.42718925e-03 -5.82043953e+01] [ 1.68015944e-02 -1.36573167e-03 9.99857911e-01 2.79311407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8507140569999 meters Centerline goodness [0,1] 0.9716827727188255 Centerline is valid? [True, True] Translation: X:749.10, Y:-58.21, Z:2.79 [[ 9.99846033e-01 4.05189895e-03 -1.70731308e-02 7.49096483e+02] [-4.02773755e-03 9.99990838e-01 1.44931869e-03 -5.82054112e+01] [ 1.70788468e-02 -1.38032945e-03 9.99853193e-01 2.79289879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.880714057 meters Centerline goodness [0,1] 0.9715134081840957 Centerline is valid? [True, True] Translation: X:749.12, Y:-58.21, Z:2.79 [[ 9.99829460e-01 6.09212595e-03 -1.74337618e-02 7.49124966e+02] [-6.06726015e-03 9.99980501e-01 1.47883818e-03 -5.82078007e+01] [ 1.74424311e-02 -1.37281081e-03 9.99846927e-01 2.79241919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.910714057 meters Centerline goodness [0,1] 0.9718119868828058 Centerline is valid? [True, True] Translation: X:749.15, Y:-58.21, Z:2.79 [[ 9.99822945e-01 7.16159626e-03 -1.74008898e-02 7.49153602e+02] [-7.13700312e-03 9.99973443e-01 1.47501615e-03 -5.82099378e+01] [ 1.74109912e-02 -1.35056478e-03 9.99847505e-01 2.79248548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9407140569999 meters Centerline goodness [0,1] 0.9718656994047619 Centerline is valid? [True, True] Translation: X:749.18, Y:-58.21, Z:2.79 [[ 9.99811281e-01 8.74164661e-03 -1.73489291e-02 7.49183720e+02] [-8.71745026e-03 9.99960922e-01 1.46982519e-03 -5.82107923e+01] [ 1.73610998e-02 -1.31830938e-03 9.99848416e-01 2.79319779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9707140569999 meters Centerline goodness [0,1] 0.9716813746089555 Centerline is valid? [True, True] Translation: X:749.21, Y:-58.21, Z:2.79 [[ 9.99803731e-01 1.05059832e-02 -1.67965438e-02 7.49213631e+02] [-1.04835556e-02 9.99944034e-01 1.42274495e-03 -5.82121039e+01] [ 1.68105511e-02 -1.24637820e-03 9.99857916e-01 2.79378445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.000714057 meters Centerline goodness [0,1] 0.9726148615606734 Centerline is valid? [True, True] Translation: X:749.24, Y:-58.21, Z:2.79 [[ 9.99753966e-01 1.54654104e-02 -1.59005679e-02 7.49242894e+02] [-1.54459428e-02 9.99879798e-01 1.34641821e-03 -5.82105080e+01] [ 1.59194795e-02 -1.10048768e-03 9.99872671e-01 2.79496574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.030714057 meters Centerline goodness [0,1] 0.9735290690900618 Centerline is valid? [True, True] Translation: X:749.27, Y:-58.21, Z:2.80 [[ 9.99725951e-01 1.76881661e-02 -1.53346455e-02 7.49273044e+02] [-1.76703278e-02 9.99843025e-01 1.29799399e-03 -5.82107571e+01] [ 1.53551975e-02 -1.02667006e-03 9.99881575e-01 2.79599635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0607140569999 meters Centerline goodness [0,1] 0.977677527932308 Centerline is valid? [True, True] Translation: X:749.30, Y:-58.20, Z:2.80 [[ 9.99685978e-01 2.01079059e-02 -1.49538562e-02 7.49303464e+02] [-2.00912173e-02 9.99797350e-01 1.26541505e-03 -5.82020448e+01] [ 1.49762707e-02 -9.64576502e-04 9.99887384e-01 2.79735225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0907140569999 meters Centerline goodness [0,1] 0.9785165401555618 Centerline is valid? [True, True] Translation: X:749.33, Y:-58.20, Z:2.80 [[ 9.99581276e-01 2.49609452e-02 -1.46364225e-02 7.49334400e+02] [-2.49454809e-02 9.99688046e-01 1.23820705e-03 -5.81994821e+01] [ 1.46627634e-02 -8.72575987e-04 9.99892115e-01 2.79805611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.120714057 meters Centerline goodness [0,1] 0.9779871280664117 Centerline is valid? [True, True] Translation: X:749.36, Y:-58.20, Z:2.80 [[ 9.99515336e-01 2.73741278e-02 -1.48239761e-02 7.49364742e+02] [-2.73585308e-02 9.99624899e-01 1.25395764e-03 -5.81997034e+01] [ 1.48527416e-02 -8.47787690e-04 9.99889333e-01 2.79841801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.150714057 meters Centerline goodness [0,1] 0.978630471538606 Centerline is valid? [True, True] Translation: X:749.39, Y:-58.20, Z:2.80 [[ 9.99461015e-01 2.90573964e-02 -1.52756842e-02 7.49393937e+02] [-2.90410534e-02 9.99577386e-01 1.29065442e-03 -5.81996764e+01] [ 1.53067316e-02 -8.46336813e-04 9.99882487e-01 2.79849245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1807140569999 meters Centerline goodness [0,1] 0.9778299120234604 Centerline is valid? [True, True] Translation: X:749.42, Y:-58.20, Z:2.80 [[ 9.99404118e-01 3.08675910e-02 -1.54466833e-02 7.49421274e+02] [-3.08511388e-02 9.99523142e-01 1.30230791e-03 -5.82048632e+01] [ 1.54795165e-02 -8.24984120e-04 9.99879845e-01 2.79760930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2107140569999 meters Centerline goodness [0,1] 0.9793189057522953 Centerline is valid? [True, True] Translation: X:749.45, Y:-58.20, Z:2.80 [[ 9.99271962e-01 3.45195495e-02 -1.62464071e-02 7.49450961e+02] [-3.45018491e-02 9.99403697e-01 1.36860193e-03 -5.82041461e+01] [ 1.62839629e-02 -8.07074445e-04 9.99867082e-01 2.79745105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.240714057 meters Centerline goodness [0,1] 0.980186836717886 Centerline is valid? [True, True] Translation: X:749.48, Y:-58.20, Z:2.80 [[ 9.99226988e-01 3.57161302e-02 -1.64250927e-02 7.49480404e+02] [-3.56982314e-02 9.99361660e-01 1.38172090e-03 -5.82024352e+01] [ 1.64639577e-02 -7.94306054e-04 9.99864144e-01 2.79793273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.270714057 meters Centerline goodness [0,1] 0.9811449715996134 Centerline is valid? [True, True] Translation: X:749.51, Y:-58.20, Z:2.80 [[ 9.99160754e-01 3.75308898e-02 -1.64078962e-02 7.49509476e+02] [-3.75133173e-02 9.99295178e-01 1.37755445e-03 -5.82037448e+01] [ 1.64480324e-02 -7.60883730e-04 9.99864432e-01 2.79859546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3007140569999 meters Centerline goodness [0,1] 0.9817964015596373 Centerline is valid? [True, True] Translation: X:749.54, Y:-58.20, Z:2.80 [[ 9.99055580e-01 4.00547327e-02 -1.68394439e-02 7.49538759e+02] [-4.00366216e-02 9.99197216e-01 1.41140324e-03 -5.82042930e+01] [ 1.68824588e-02 -7.35875842e-04 9.99857210e-01 2.79950648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3307140569999 meters Centerline goodness [0,1] 0.9826924435443992 Centerline is valid? [True, True] Translation: X:749.57, Y:-58.21, Z:2.80 [[ 9.99027123e-01 4.09776225e-02 -1.62985214e-02 7.49566772e+02] [-4.09608412e-02 9.99159824e-01 1.36225922e-03 -5.82073095e+01] [ 1.63406499e-02 -6.93332762e-04 9.99866242e-01 2.79952148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3607140569999 meters Centerline goodness [0,1] 0.9819594912859162 Centerline is valid? [True, True] Translation: X:749.60, Y:-58.21, Z:2.80 [[ 9.98997668e-01 4.17553971e-02 -1.61290527e-02 7.49595218e+02] [-4.17391283e-02 9.99127639e-01 1.34412632e-03 -5.82092679e+01] [ 1.61711069e-02 -6.69566455e-04 9.99869015e-01 2.80025359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.390714057 meters Centerline goodness [0,1] 0.9825727505460695 Centerline is valid? [True, True] Translation: X:749.62, Y:-58.21, Z:2.80 [[ 9.98971173e-01 4.25222780e-02 -1.57623207e-02 7.49623751e+02] [-4.25068969e-02 9.99095315e-01 1.30971059e-03 -5.82120046e+01] [ 1.58037526e-02 -6.38355786e-04 9.99874909e-01 2.80095983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4207140569999 meters Centerline goodness [0,1] 0.9819095949628794 Centerline is valid? [True, True] Translation: X:749.65, Y:-58.22, Z:2.80 [[ 9.98959040e-01 4.28509852e-02 -1.56406241e-02 7.49651447e+02] [-4.28359263e-02 9.99081279e-01 1.29670738e-03 -5.82171881e+01] [ 1.56818199e-02 -6.25376943e-04 9.99876837e-01 2.80136943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4507140569999 meters Centerline goodness [0,1] 0.9831021615151728 Centerline is valid? [True, True] Translation: X:749.68, Y:-58.22, Z:2.80 [[ 9.98970232e-01 4.27626605e-02 -1.51601900e-02 7.49679757e+02] [-4.27485392e-02 9.99085076e-01 1.25445311e-03 -5.82171952e+01] [ 1.51999633e-02 -6.05085339e-04 9.99884291e-01 2.80327548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4807140569999 meters Centerline goodness [0,1] 0.9829278002857076 Centerline is valid? [True, True] Translation: X:749.71, Y:-58.22, Z:2.80 [[ 9.98997594e-01 4.21042061e-02 -1.52000767e-02 7.49707571e+02] [-4.20899879e-02 9.99113037e-01 1.25424056e-03 -5.82224959e+01] [ 1.52394035e-02 -6.13212260e-04 9.99883686e-01 2.80380568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.510714057 meters Centerline goodness [0,1] 0.9829278002857076 Centerline is valid? [True, True] Translation: X:749.73, Y:-58.22, Z:2.80 [[ 9.99009327e-01 4.18248249e-02 -1.52003105e-02 7.49734872e+02] [-4.18106176e-02 9.99124770e-01 1.25140072e-03 -5.82246703e+01] [ 1.52393464e-02 -6.14626623e-04 9.99883686e-01 2.80406937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.540714057 meters Centerline goodness [0,1] 0.9828583471887221 Centerline is valid? [True, True] Translation: X:749.76, Y:-58.23, Z:2.80 [[ 9.99039127e-01 4.12957021e-02 -1.46794916e-02 7.49763879e+02] [-4.12824519e-02 9.99146790e-01 1.20464182e-03 -5.82276784e+01] [ 1.47167134e-02 -5.97478905e-04 9.99891525e-01 2.80463306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5707140569999 meters Centerline goodness [0,1] 0.9820573324299698 Centerline is valid? [True, True] Translation: X:749.79, Y:-58.23, Z:2.80 [[ 9.99070063e-01 4.06123277e-02 -1.44791941e-02 7.49791353e+02] [-4.05994056e-02 9.99174801e-01 1.18540547e-03 -5.82331956e+01] [ 1.45153879e-02 -5.96456448e-04 9.99894468e-01 2.80465351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6007140569999 meters Centerline goodness [0,1] 0.9827212816989963 Centerline is valid? [True, True] Translation: X:749.82, Y:-58.24, Z:2.81 [[ 9.99135926e-01 3.89785323e-02 -1.44248344e-02 7.49820030e+02] [-3.89655670e-02 9.99239859e-01 1.17888260e-03 -5.82376054e+01] [ 1.44598206e-02 -6.15792107e-04 9.99895262e-01 2.80536320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.630714057 meters Centerline goodness [0,1] 0.9822584400465658 Centerline is valid? [True, True] Translation: X:749.85, Y:-58.24, Z:2.81 [[ 9.99191469e-01 3.73963962e-02 -1.47620191e-02 7.49848585e+02] [-3.73827014e-02 9.99300299e-01 1.20265034e-03 -5.82418225e+01] [ 1.47966649e-02 -6.49833812e-04 9.99890312e-01 2.80563578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.660714057 meters Centerline goodness [0,1] 0.9824858888295278 Centerline is valid? [True, True] Translation: X:749.88, Y:-58.25, Z:2.81 [[ 9.99239488e-01 3.61472760e-02 -1.46225897e-02 7.49877280e+02] [-3.61337589e-02 9.99346257e-01 1.18762889e-03 -5.82469847e+01] [ 1.46559598e-02 -6.58356550e-04 9.99892379e-01 2.80603419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6907140569999 meters Centerline goodness [0,1] 0.9803070063398435 Centerline is valid? [True, True] Translation: X:749.90, Y:-58.26, Z:2.80 [[ 9.99311444e-01 3.34041553e-02 -1.61493202e-02 7.49904695e+02] [-3.33873591e-02 9.99441630e-01 1.30862085e-03 -5.82615599e+01] [ 1.61840163e-02 -7.68536635e-04 9.99868735e-01 2.80448665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7207140569999 meters Centerline goodness [0,1] 0.9813384515770974 Centerline is valid? [True, True] Translation: X:749.93, Y:-58.27, Z:2.80 [[ 9.99350982e-01 3.20416775e-02 -1.64604455e-02 7.49932859e+02] [-3.20240784e-02 9.99486210e-01 1.33171806e-03 -5.82669535e+01] [ 1.64946587e-02 -8.03723154e-04 9.99863631e-01 2.80406279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.750714057 meters Centerline goodness [0,1] 0.9800425020789061 Centerline is valid? [True, True] Translation: X:749.96, Y:-58.27, Z:2.80 [[ 9.99382736e-01 3.08102372e-02 -1.68783010e-02 7.49961540e+02] [-3.07916248e-02 9.99524898e-01 1.36157213e-03 -5.82729058e+01] [ 1.69122324e-02 -8.41021372e-04 9.99856624e-01 2.80354059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.780714057 meters Centerline goodness [0,1] 0.9790203348455887 Centerline is valid? [True, True] Translation: X:749.99, Y:-58.28, Z:2.80 [[ 9.99404323e-01 2.97399368e-02 -1.75081483e-02 7.49989982e+02] [-2.97198173e-02 9.99557277e-01 1.40827567e-03 -5.82781357e+01] [ 1.75422790e-02 -8.87097820e-04 9.99845729e-01 2.80320430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8107140569999 meters Centerline goodness [0,1] 0.9824150058616647 Centerline is valid? [True, True] Translation: X:750.02, Y:-58.28, Z:2.80 [[ 9.99428448e-01 2.84378253e-02 -1.82775138e-02 7.50018708e+02] [-2.84157629e-02 9.99595116e-01 1.46570504e-03 -5.82766645e+01] [ 1.83117950e-02 -9.45497809e-04 9.99831878e-01 2.80469273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8407140569999 meters Centerline goodness [0,1] 0.9815997253690354 Centerline is valid? [True, True] Translation: X:750.05, Y:-58.28, Z:2.80 [[ 9.99440412e-01 2.80927064e-02 -1.81566173e-02 7.50046386e+02] [-2.80709348e-02 9.99604878e-01 1.45289697e-03 -5.82836827e+01] [ 1.81902590e-02 -9.42410726e-04 9.99834099e-01 2.80440868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.870714057 meters Centerline goodness [0,1] 0.9807502807250728 Centerline is valid? [True, True] Translation: X:750.07, Y:-58.29, Z:2.81 [[ 9.99433241e-01 2.79234349e-02 -1.88010127e-02 7.50074093e+02] [-2.79001251e-02 9.99609589e-01 1.50102254e-03 -5.82860969e+01] [ 1.88355863e-02 -9.75621214e-04 9.99822119e-01 2.80519621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.900714057 meters Centerline goodness [0,1] 0.9822850865146938 Centerline is valid? [True, True] Translation: X:750.10, Y:-58.29, Z:2.81 [[ 9.99439291e-01 2.79509411e-02 -1.84349625e-02 7.50102740e+02] [-2.79286237e-02 9.99608843e-01 1.46699699e-03 -5.82876125e+01] [ 1.84687555e-02 -9.51311299e-04 9.99828985e-01 2.80639709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9307140569999 meters Centerline goodness [0,1] 0.9816167212289096 Centerline is valid? [True, True] Translation: X:750.13, Y:-58.29, Z:2.81 [[ 9.99430491e-01 2.86207120e-02 -1.78758938e-02 7.50130946e+02] [-2.85999123e-02 9.99589933e-01 1.41817758e-03 -5.82928946e+01] [ 1.79091528e-02 -9.06120923e-04 9.99839208e-01 2.80702038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9607140569999 meters Centerline goodness [0,1] 0.9827013403597205 Centerline is valid? [True, True] Translation: X:750.16, Y:-58.30, Z:2.81 [[ 9.99429161e-01 2.86870083e-02 -1.78439623e-02 7.50159274e+02] [-2.86663714e-02 9.99588039e-01 1.41128002e-03 -5.82970162e+01] [ 1.78770967e-02 -8.98952754e-04 9.99839788e-01 2.80712975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.990714057 meters Centerline goodness [0,1] 0.9818982834185537 Centerline is valid? [True, True] Translation: X:750.19, Y:-58.30, Z:2.81 [[ 9.99434179e-01 2.86354780e-02 -1.76445806e-02 7.50187851e+02] [-2.86153680e-02 9.99589528e-01 1.39119880e-03 -5.82988238e+01] [ 1.76771757e-02 -8.85505466e-04 9.99843354e-01 2.80786475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.020714057 meters Centerline goodness [0,1] 0.9814388849666356 Centerline is valid? [True, True] Translation: X:750.22, Y:-58.30, Z:2.81 [[ 9.99441400e-01 2.82045831e-02 -1.79273337e-02 7.50216441e+02] [-2.81838349e-02 9.99601764e-01 1.40900138e-03 -5.83033840e+01] [ 1.79599347e-02 -9.02953300e-04 9.99838300e-01 2.80849740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0507140569999 meters Centerline goodness [0,1] 0.9810491000589382 Centerline is valid? [True, True] Translation: X:750.24, Y:-58.31, Z:2.81 [[ 9.99446987e-01 2.78704292e-02 -1.81372542e-02 7.50243354e+02] [-2.78491947e-02 9.99611124e-01 1.42234006e-03 -5.83097565e+01] [ 1.81698423e-02 -9.16445563e-04 9.99834495e-01 2.80838468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0807140569999 meters Centerline goodness [0,1] 0.9804967759513215 Centerline is valid? [True, True] Translation: X:750.27, Y:-58.31, Z:2.81 [[ 9.99453789e-01 2.70351519e-02 -1.90058735e-02 7.50271479e+02] [-2.70117164e-02 9.99634008e-01 1.48874943e-03 -5.83121567e+01] [ 1.90391661e-02 -9.74554995e-04 9.99818264e-01 2.80851685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1107140569999 meters Centerline goodness [0,1] 0.9813872096722877 Centerline is valid? [True, True] Translation: X:750.30, Y:-58.32, Z:2.81 [[ 9.99476461e-01 2.63004660e-02 -1.88438373e-02 7.50299764e+02] [-2.62773567e-02 9.99653605e-01 1.47295883e-03 -5.83172449e+01] [ 1.88760494e-02 -9.77021441e-04 9.99821354e-01 2.80839606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.140714057 meters Centerline goodness [0,1] 0.9804854831032841 Centerline is valid? [True, True] Translation: X:750.33, Y:-58.33, Z:2.81 [[ 9.99523382e-01 2.43767228e-02 -1.89416259e-02 7.50328026e+02] [-2.43530825e-02 9.99702327e-01 1.47776228e-03 -5.83252890e+01] [ 1.89720105e-02 -1.01577097e-03 9.99819499e-01 2.80863860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1707140569999 meters Centerline goodness [0,1] 0.9810619789778905 Centerline is valid? [True, True] Translation: X:750.36, Y:-58.33, Z:2.81 [[ 9.99542706e-01 2.36125465e-02 -1.88898616e-02 7.50356393e+02] [-2.35889510e-02 9.99720660e-01 1.47098108e-03 -5.83299196e+01] [ 1.89193185e-02 -1.02471639e-03 9.99820489e-01 2.80914296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2007140569999 meters Centerline goodness [0,1] 0.9804812955172569 Centerline is valid? [True, True] Translation: X:750.38, Y:-58.33, Z:2.81 [[ 9.99564489e-01 2.23547571e-02 -1.92638934e-02 7.50384995e+02] [-2.23300754e-02 9.99749534e-01 1.49541895e-03 -5.83342230e+01] [ 1.92924982e-02 -1.06460348e-03 9.99813316e-01 2.80884015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2307140569999 meters Centerline goodness [0,1] 0.9816766331941781 Centerline is valid? [True, True] Translation: X:750.41, Y:-58.34, Z:2.81 [[ 9.99587566e-01 2.10788093e-02 -1.95033798e-02 7.50413515e+02] [-2.10533622e-02 9.99777214e-01 1.50918623e-03 -5.83361078e+01] [ 1.95308465e-02 -1.09795207e-03 9.99808652e-01 2.81005727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.260714057 meters Centerline goodness [0,1] 0.9793730676355759 Centerline is valid? [True, True] Translation: X:750.44, Y:-58.35, Z:2.81 [[ 9.99603257e-01 2.03816513e-02 -1.94401030e-02 7.50440982e+02] [-2.03563013e-02 9.99791662e-01 1.50101942e-03 -5.83465288e+01] [ 1.94666461e-02 -1.10469531e-03 9.99809897e-01 2.80932580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.290714057 meters Centerline goodness [0,1] 0.9804534616941832 Centerline is valid? [True, True] Translation: X:750.47, Y:-58.34, Z:2.81 [[ 9.99612276e-01 2.02060266e-02 -1.91576054e-02 7.50469707e+02] [-2.01814052e-02 9.99795243e-01 1.47768399e-03 -5.83435874e+01] [ 1.91835409e-02 -1.09048366e-03 9.99815384e-01 2.81104416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3207140569999 meters Centerline goodness [0,1] 0.9793225900703482 Centerline is valid? [True, True] Translation: X:750.50, Y:-58.36, Z:2.81 [[ 9.99613525e-01 2.03315000e-02 -1.89586836e-02 7.50496912e+02] [-2.03074385e-02 9.99792715e-01 1.46082958e-03 -5.83575741e+01] [ 1.89844546e-02 -1.07526270e-03 9.99819201e-01 2.81043149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3507140569999 meters Centerline goodness [0,1] 0.9789812620186933 Centerline is valid? [True, True] Translation: X:750.53, Y:-58.36, Z:2.81 [[ 9.99608734e-01 2.08139249e-02 -1.86858081e-02 7.50525073e+02] [-2.07906621e-02 9.99782816e-01 1.43836913e-03 -5.83610831e+01] [ 1.87116880e-02 -1.04931602e-03 9.99824370e-01 2.81071933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.380714057 meters Centerline goodness [0,1] 0.9808166375330555 Centerline is valid? [True, True] Translation: X:750.55, Y:-58.36, Z:2.81 [[ 9.99595227e-01 2.15682633e-02 -1.85524404e-02 7.50554413e+02] [-2.15455091e-02 9.99766852e-01 1.42551116e-03 -5.83600268e+01] [ 1.85788608e-02 -1.02521238e-03 9.99826872e-01 2.81271898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.410714057 meters Centerline goodness [0,1] 0.9804071018651364 Centerline is valid? [True, True] Translation: X:750.58, Y:-58.36, Z:2.81 [[ 9.99577448e-01 2.24949271e-02 -1.84093542e-02 7.50583196e+02] [-2.24727291e-02 9.99746459e-01 1.41181089e-03 -5.83579313e+01] [ 1.84364453e-02 -9.97505892e-04 9.99829537e-01 2.81439977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4407140569999 meters Centerline goodness [0,1] 0.9805792621463612 Centerline is valid? [True, True] Translation: X:750.61, Y:-58.36, Z:2.82 [[ 9.99524494e-01 2.45409636e-02 -1.86688658e-02 7.50612377e+02] [-2.45185432e-02 9.99698354e-01 1.42892677e-03 -5.83588418e+01] [ 1.86983017e-02 -9.70513913e-04 9.99824700e-01 2.81526555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4707140569999 meters Centerline goodness [0,1] 0.9793738242407954 Centerline is valid? [True, True] Translation: X:750.64, Y:-58.37, Z:2.81 [[ 9.99506459e-01 2.53979360e-02 -1.84873683e-02 7.50639619e+02] [-2.53761509e-02 9.99676976e-01 1.41205223e-03 -5.83686300e+01] [ 1.85172596e-02 -9.42217077e-04 9.99828097e-01 2.81424229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.500714057 meters Centerline goodness [0,1] 0.980966882375333 Centerline is valid? [True, True] Translation: X:750.67, Y:-58.36, Z:2.82 [[ 9.99492531e-01 2.58443729e-02 -1.86211969e-02 7.50668872e+02] [-2.58224067e-02 9.99665539e-01 1.41915220e-03 -5.83642107e+01] [ 1.86516459e-02 -9.37587904e-04 9.99825603e-01 2.81573627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.530714057 meters Centerline goodness [0,1] 0.9797383428379738 Centerline is valid? [True, True] Translation: X:750.70, Y:-58.37, Z:2.81 [[ 9.99469197e-01 2.65178601e-02 -1.89242787e-02 7.50696313e+02] [-2.64953629e-02 9.99647901e-01 1.43857799e-03 -5.83740942e+01] [ 1.89557635e-02 -9.36408754e-04 9.99819885e-01 2.81471174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5607140569999 meters Centerline goodness [0,1] 0.9817774792925901 Centerline is valid? [True, True] Translation: X:750.73, Y:-58.37, Z:2.82 [[ 9.99454181e-01 2.66853221e-02 -1.94739160e-02 7.50725683e+02] [-2.66616045e-02 9.99643426e-01 1.47657652e-03 -5.83710004e+01] [ 1.95063750e-02 -9.56564727e-04 9.99809275e-01 2.81651686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5907140569999 meters Centerline goodness [0,1] 0.9821595825342313 Centerline is valid? [True, True] Translation: X:750.75, Y:-58.37, Z:2.82 [[ 9.99435784e-01 2.71589960e-02 -1.97611234e-02 7.50753588e+02] [-2.71347322e-02 9.99630667e-01 1.49500310e-03 -5.83740390e+01] [ 1.97944278e-02 -9.57946799e-04 9.99803612e-01 2.81649472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.620714057 meters Centerline goodness [0,1] 0.9818995413357199 Centerline is valid? [True, True] Translation: X:750.78, Y:-58.38, Z:2.82 [[ 9.99403920e-01 2.77221075e-02 -2.05740146e-02 7.50780873e+02] [-2.76959634e-02 9.99615184e-01 1.55464422e-03 -5.83771869e+01] [ 2.06091954e-02 -9.83900375e-04 9.99787124e-01 2.81678340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.650714057 meters Centerline goodness [0,1] 0.9822198396211664 Centerline is valid? [True, True] Translation: X:750.81, Y:-58.38, Z:2.82 [[ 9.99334380e-01 3.01992829e-02 -2.04646139e-02 7.50810554e+02] [-3.01739594e-02 9.99543468e-01 1.54515223e-03 -5.83797223e+01] [ 2.05019337e-02 -9.26625315e-04 9.99789384e-01 2.81763394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6807140569999 meters Centerline goodness [0,1] 0.9829220314735336 Centerline is valid? [True, True] Translation: X:750.84, Y:-58.38, Z:2.82 [[ 9.99317963e-01 3.09010124e-02 -2.02172314e-02 7.50839620e+02] [-3.08765016e-02 9.99522046e-01 1.52347260e-03 -5.83812696e+01] [ 2.02546454e-02 -8.98196151e-04 9.99794450e-01 2.81863225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7107140569999 meters Centerline goodness [0,1] 0.9828218404853442 Centerline is valid? [True, True] Translation: X:750.87, Y:-58.38, Z:2.82 [[ 9.99289181e-01 3.20191984e-02 -1.98973229e-02 7.50867757e+02] [-3.19957769e-02 9.99486887e-01 1.49443550e-03 -5.83845979e+01] [ 1.99349639e-02 -8.56742927e-04 9.99800912e-01 2.81887135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.740714057 meters Centerline goodness [0,1] 0.9827636249972092 Centerline is valid? [True, True] Translation: X:750.90, Y:-58.39, Z:2.82 [[ 9.99269566e-01 3.27165505e-02 -1.97474346e-02 7.50896313e+02] [-3.26937131e-02 9.99464324e-01 1.47829115e-03 -5.83872027e+01] [ 1.97852210e-02 -8.31594391e-04 9.99803908e-01 2.81953933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.770714057 meters Centerline goodness [0,1] 0.9823177001833058 Centerline is valid? [True, True] Translation: X:750.93, Y:-58.39, Z:2.82 [[ 9.99195132e-01 3.49319515e-02 -1.97191895e-02 7.50925113e+02] [-3.49096712e-02 9.99389386e-01 1.47308206e-03 -5.83885971e+01] [ 1.97586063e-02 -7.83506005e-04 9.99804473e-01 2.82101886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8007140569999 meters Centerline goodness [0,1] 0.9819116272860766 Centerline is valid? [True, True] Translation: X:750.95, Y:-58.39, Z:2.82 [[ 9.99173706e-01 3.57643947e-02 -1.93083768e-02 7.50953031e+02] [-3.57432258e-02 9.99359969e-01 1.44045969e-03 -5.83933356e+01] [ 1.93475360e-02 -7.49125778e-04 9.99812538e-01 2.82061975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8307140569999 meters Centerline goodness [0,1] 0.9825855175477566 Centerline is valid? [True, True] Translation: X:750.98, Y:-58.39, Z:2.82 [[ 9.99152879e-01 3.63331198e-02 -1.93242962e-02 7.50981607e+02] [-3.63120934e-02 9.99339464e-01 1.43797328e-03 -5.83928685e+01] [ 1.93637778e-02 -7.35049497e-04 9.99812234e-01 2.82134351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8607140569999 meters Centerline goodness [0,1] 0.9833184656556646 Centerline is valid? [True, True] Translation: X:751.01, Y:-58.40, Z:2.82 [[ 9.99154252e-01 3.64048120e-02 -1.91172918e-02 7.51010142e+02] [-3.63843371e-02 9.99336865e-01 1.41785514e-03 -5.83980099e+01] [ 1.91562312e-02 -7.21086003e-04 9.99816243e-01 2.82090762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.890714057 meters Centerline goodness [0,1] 0.9824663027737551 Centerline is valid? [True, True] Translation: X:751.04, Y:-58.40, Z:2.82 [[ 9.99169968e-01 3.61871970e-02 -1.87046094e-02 7.51037143e+02] [-3.61676229e-02 9.99344779e-01 1.38381856e-03 -5.84046598e+01] [ 1.87424303e-02 -7.06168685e-04 9.99824096e-01 2.81989779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9207140569999 meters Centerline goodness [0,1] 0.9830998443406715 Centerline is valid? [True, True] Translation: X:751.07, Y:-58.40, Z:2.82 [[ 9.99190283e-01 3.54662282e-02 -1.89980267e-02 7.51065721e+02] [-3.54459734e-02 9.99370611e-01 1.40193168e-03 -5.84028938e+01] [ 1.90357908e-02 -7.27392965e-04 9.99818538e-01 2.82134022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9507140569999 meters Centerline goodness [0,1] 0.983384190480433 Centerline is valid? [True, True] Translation: X:751.09, Y:-58.41, Z:2.82 [[ 9.99214019e-01 3.45703896e-02 -1.93966948e-02 7.51093335e+02] [-3.45491729e-02 9.99401979e-01 1.42796476e-03 -5.84078345e+01] [ 1.94344605e-02 -7.56702647e-04 9.99810847e-01 2.82147065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9807140569999 meters Centerline goodness [0,1] 0.9821852995401942 Centerline is valid? [True, True] Translation: X:751.12, Y:-58.41, Z:2.82 [[ 9.99288516e-01 3.24043383e-02 -1.92981943e-02 7.51121691e+02] [-3.23829600e-02 9.99474527e-01 1.41933529e-03 -5.84148695e+01] [ 1.93340462e-02 -7.93392800e-04 9.99812765e-01 2.82167851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.010714057 meters Centerline goodness [0,1] 0.9823367147179214 Centerline is valid? [True, True] Translation: X:751.15, Y:-58.42, Z:2.82 [[ 9.99321568e-01 3.12229931e-02 -1.95327603e-02 7.51150187e+02] [-3.12009258e-02 9.99512105e-01 1.43356229e-03 -5.84161881e+01] [ 1.95679904e-02 -8.23149512e-04 9.99808190e-01 2.82248991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.040714057 meters Centerline goodness [0,1] 0.9820849797984282 Centerline is valid? [True, True] Translation: X:751.18, Y:-58.42, Z:2.82 [[ 9.99360327e-01 3.00055784e-02 -1.94576874e-02 7.51177469e+02] [-2.99835228e-02 9.99549378e-01 1.42432506e-03 -5.84219199e+01] [ 1.94916571e-02 -8.40003946e-04 9.99809667e-01 2.82191982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0707140569999 meters Centerline goodness [0,1] 0.9820547429911712 Centerline is valid? [True, True] Translation: X:751.21, Y:-58.43, Z:2.82 [[ 9.99415143e-01 2.73332872e-02 -2.05490408e-02 7.51206159e+02] [-2.73081637e-02 9.99625934e-01 1.50227926e-03 -5.84286721e+01] [ 2.05824164e-02 -9.40244067e-04 9.99787718e-01 2.82133606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1007140569999 meters Centerline goodness [0,1] 0.9831283576788172 Centerline is valid? [True, True] Translation: X:751.23, Y:-58.43, Z:2.82 [[ 9.99454366e-01 2.59075962e-02 -2.04882169e-02 7.51233089e+02] [-2.58823672e-02 9.99663877e-01 1.49564507e-03 -5.84335868e+01] [ 2.05200789e-02 -9.64545444e-04 9.99788976e-01 2.82169690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.130714057 meters Centerline goodness [0,1] 0.9813912272928667 Centerline is valid? [True, True] Translation: X:751.26, Y:-58.44, Z:2.82 [[ 9.99498068e-01 2.45701162e-02 -1.99980410e-02 7.51261169e+02] [-2.45458696e-02 9.99697643e-01 1.45704528e-03 -5.84366599e+01] [ 2.00277942e-02 -9.65444637e-04 9.99798957e-01 2.82213603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.160714057 meters Centerline goodness [0,1] 0.9807045494777836 Centerline is valid? [True, True] Translation: X:751.29, Y:-58.45, Z:2.82 [[ 9.99571565e-01 2.24675706e-02 -1.87588542e-02 7.51289215e+02] [-2.24458982e-02 9.99747127e-01 1.36509052e-03 -5.84470364e+01] [ 1.87847808e-02 -9.43446339e-04 9.99823105e-01 2.82349901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1907140569999 meters Centerline goodness [0,1] 0.9808670648086707 Centerline is valid? [True, True] Translation: X:751.32, Y:-58.45, Z:2.82 [[ 9.99600752e-01 2.12389307e-02 -1.86345055e-02 7.51318455e+02] [-2.12173529e-02 9.99773969e-01 1.35491252e-03 -5.84469698e+01] [ 1.86590704e-02 -9.58996691e-04 9.99825444e-01 2.82455303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2207140569999 meters Centerline goodness [0,1] 0.9804120976299965 Centerline is valid? [True, True] Translation: X:751.35, Y:-58.46, Z:2.82 [[ 9.99609502e-01 2.06356572e-02 -1.88417808e-02 7.51345899e+02] [-2.06135175e-02 9.99786582e-01 1.36850989e-03 -5.84563967e+01] [ 1.88659998e-02 -9.79580106e-04 9.99821541e-01 2.82333119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.250714057 meters Centerline goodness [0,1] 0.9801869158878505 Centerline is valid? [True, True] Translation: X:751.37, Y:-58.46, Z:2.82 [[ 9.99615263e-01 1.95065179e-02 -1.97185742e-02 7.51374829e+02] [-1.94820807e-02 9.99809183e-01 1.43065406e-03 -5.84590426e+01] [ 1.97427187e-02 -1.04594478e-03 9.99804546e-01 2.82316165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.280714057 meters Centerline goodness [0,1] 0.9813578062804069 Centerline is valid? [True, True] Translation: X:751.40, Y:-58.46, Z:2.82 [[ 9.99630664e-01 1.84700542e-02 -1.99347121e-02 7.51403509e+02] [-1.84449001e-02 9.99828834e-01 1.44496667e-03 -5.84570386e+01] [ 1.99579886e-02 -1.07673922e-03 9.99800240e-01 2.82430361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3107140569999 meters Centerline goodness [0,1] 0.9811233173448862 Centerline is valid? [True, True] Translation: X:751.43, Y:-58.46, Z:2.82 [[ 9.99657780e-01 1.65412564e-02 -2.02659844e-02 7.51431816e+02] [-1.65148940e-02 9.99862543e-01 1.46750390e-03 -5.84626025e+01] [ 2.02874731e-02 -1.13231110e-03 9.99793547e-01 2.82410737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3407140569999 meters Centerline goodness [0,1] 0.9809854022658511 Centerline is valid? [True, True] Translation: X:751.46, Y:-58.47, Z:2.82 [[ 9.99673668e-01 1.55472229e-02 -2.02692429e-02 7.51458950e+02] [-1.55206815e-02 9.99878472e-01 1.46610746e-03 -5.84674987e+01] [ 2.02895735e-02 -1.15103656e-03 9.99793483e-01 2.82408243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.370714057 meters Centerline goodness [0,1] 0.9820340778670433 Centerline is valid? [True, True] Translation: X:751.49, Y:-58.47, Z:2.83 [[ 9.99686485e-01 1.43631106e-02 -2.05093167e-02 7.51487786e+02] [-1.43357215e-02 9.99896140e-01 1.48185435e-03 -5.84673210e+01] [ 2.05284707e-02 -1.18737391e-03 9.99788564e-01 2.82532955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.400714057 meters Centerline goodness [0,1] 0.9819517684178011 Centerline is valid? [True, True] Translation: X:751.52, Y:-58.47, Z:2.83 [[ 9.99704682e-01 1.22769941e-02 -2.09719918e-02 7.51516926e+02] [-1.22479252e-02 9.99923845e-01 1.51396966e-03 -5.84715802e+01] [ 2.09889816e-02 -1.25665917e-03 9.99778917e-01 2.82561156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4307140569999 meters Centerline goodness [0,1] 0.9819517684178011 Centerline is valid? [True, True] Translation: X:751.54, Y:-58.47, Z:2.83 [[ 9.99705991e-01 1.21697293e-02 -2.09721169e-02 7.51544372e+02] [-1.21406731e-02 9.99925156e-01 1.51223453e-03 -5.84734704e+01] [ 2.09889507e-02 -1.25717431e-03 9.99778917e-01 2.82587607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4607140569999 meters Centerline goodness [0,1] 0.9814553783807594 Centerline is valid? [True, True] Translation: X:751.57, Y:-58.48, Z:2.83 [[ 9.99712670e-01 1.09582602e-02 -2.13188680e-02 7.51571293e+02] [-1.09280218e-02 9.99939110e-01 1.53437254e-03 -5.84782964e+01] [ 2.13343839e-02 -1.30095862e-03 9.99771550e-01 2.82603402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.490714057 meters Centerline goodness [0,1] 0.9804007927769214 Centerline is valid? [True, True] Translation: X:751.60, Y:-58.48, Z:2.83 [[ 9.99742066e-01 9.77946578e-03 -2.04978761e-02 7.51598508e+02] [-9.75131388e-03 9.99951370e-01 1.47290921e-03 -5.84831040e+01] [ 2.05112835e-02 -1.27264808e-03 9.99788812e-01 2.82626092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.520714057 meters Centerline goodness [0,1] 0.9806567899063613 Centerline is valid? [True, True] Translation: X:751.63, Y:-58.49, Z:2.83 [[ 9.99747919e-01 9.40805674e-03 -2.03859255e-02 7.51626242e+02] [-9.38017991e-03 9.99954935e-01 1.46264739e-03 -5.84900196e+01] [ 2.03987675e-02 -1.27105504e-03 9.99791116e-01 2.82641320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5507140569999 meters Centerline goodness [0,1] 0.9812767827711241 Centerline is valid? [True, True] Translation: X:751.66, Y:-58.49, Z:2.83 [[ 9.99758679e-01 8.96315930e-03 -2.00560677e-02 7.51655584e+02] [-8.93612751e-03 9.99959039e-01 1.43702830e-03 -5.84862303e+01] [ 2.00681265e-02 -1.25745794e-03 9.99797824e-01 2.82830762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5807140569999 meters Centerline goodness [0,1] 0.9809992962702322 Centerline is valid? [True, True] Translation: X:751.68, Y:-58.49, Z:2.83 [[ 9.99774820e-01 8.55106685e-03 -1.94213592e-02 7.51684601e+02] [-8.52566817e-03 9.99962689e-01 1.39019361e-03 -5.84881737e+01] [ 1.94325223e-02 -1.22430050e-03 9.99810421e-01 2.82898598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6107140569999 meters Centerline goodness [0,1] 0.9817917931125478 Centerline is valid? [True, True] Translation: X:751.71, Y:-58.49, Z:2.83 [[ 9.99784304e-01 8.76463361e-03 -1.88288902e-02 7.51712913e+02] [-8.74082370e-03 9.99960892e-01 1.34646822e-03 -5.84914953e+01] [ 1.88399551e-02 -1.18159778e-03 9.99821814e-01 2.82978089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.640714057 meters Centerline goodness [0,1] 0.9816911005121217 Centerline is valid? [True, True] Translation: X:751.74, Y:-58.49, Z:2.83 [[ 9.99777689e-01 8.83522472e-03 -1.91444871e-02 7.51741645e+02] [-8.81064909e-03 9.99960250e-01 1.36765941e-03 -5.84909859e+01] [ 1.91558097e-02 -1.19868001e-03 9.99815792e-01 2.83155874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6707140569999 meters Centerline goodness [0,1] 0.9688589164552786 Centerline is valid? [True, True] Translation: X:751.77, Y:-58.52, Z:2.83 [[ 9.99771078e-01 1.06708808e-02 -1.85452120e-02 7.51768539e+02] [-1.06481541e-02 9.99942431e-01 1.32379275e-03 -5.85201050e+01] [ 1.85582704e-02 -1.12601743e-03 9.99827146e-01 2.82777016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7007140569999 meters Centerline goodness [0,1] 0.9809228331903096 Centerline is valid? [True, True] Translation: X:751.80, Y:-58.50, Z:2.83 [[ 9.99766173e-01 9.50211508e-03 -1.94244682e-02 7.51799195e+02] [-9.47698416e-03 9.99954133e-01 1.38542098e-03 -5.84959574e+01] [ 1.94367417e-02 -1.20101165e-03 9.99810367e-01 2.83157240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7307140569999 meters Centerline goodness [0,1] 0.9818061674008811 Centerline is valid? [True, True] Translation: X:751.83, Y:-58.50, Z:2.83 [[ 9.99760076e-01 1.00698910e-02 -1.94522148e-02 7.51828223e+02] [-1.00448222e-02 9.99948589e-01 1.38601198e-03 -5.84977210e+01] [ 1.94651717e-02 -1.19028541e-03 9.99809827e-01 2.83143147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.760714057 meters Centerline goodness [0,1] 0.9808128149272779 Centerline is valid? [True, True] Translation: X:751.86, Y:-58.50, Z:2.83 [[ 9.99723533e-01 1.18808717e-02 -2.02904639e-02 7.51856562e+02] [-1.18539969e-02 9.99928696e-01 1.44426669e-03 -5.84990064e+01] [ 2.03061763e-02 -1.20334430e-03 9.99793084e-01 2.83165349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.790714057 meters Centerline goodness [0,1] 0.9821188402601698 Centerline is valid? [True, True] Translation: X:751.89, Y:-58.50, Z:2.83 [[ 9.99702807e-01 1.33248315e-02 -2.04143752e-02 7.51885554e+02] [-1.32979572e-02 9.99910525e-01 1.45163098e-03 -5.84979209e+01] [ 2.04318914e-02 -1.17973008e-03 9.99790551e-01 2.83222954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8207140569999 meters Centerline goodness [0,1] 0.9816449304000351 Centerline is valid? [True, True] Translation: X:751.91, Y:-58.50, Z:2.83 [[ 9.99677885e-01 1.48170467e-02 -2.06053688e-02 7.51912975e+02] [-1.47900253e-02 9.99889551e-01 1.46315751e-03 -5.84999155e+01] [ 2.06247727e-02 -1.15793228e-03 9.99786616e-01 2.83239372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8507140569999 meters Centerline goodness [0,1] 0.982699191303195 Centerline is valid? [True, True] Translation: X:751.94, Y:-58.50, Z:2.83 [[ 9.99630870e-01 1.80732370e-02 -2.02850058e-02 7.51943507e+02] [-1.80477508e-02 9.99836091e-01 1.43878381e-03 -5.84965987e+01] [ 2.03076844e-02 -1.07215398e-03 9.99793203e-01 2.83329610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.880714057 meters Centerline goodness [0,1] 0.9819796003789131 Centerline is valid? [True, True] Translation: X:751.97, Y:-58.50, Z:2.83 [[ 9.99602963e-01 2.00575766e-02 -1.97891230e-02 7.51971232e+02] [-2.00337351e-02 9.99798321e-01 1.40230584e-03 -5.84978384e+01] [ 1.98132588e-02 -1.00529902e-03 9.99803193e-01 2.83331867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.910714057 meters Centerline goodness [0,1] 0.9812294593819617 Centerline is valid? [True, True] Translation: X:752.00, Y:-58.50, Z:2.83 [[ 9.99571275e-01 2.17581820e-02 -1.95920317e-02 7.52000059e+02] [-2.17351693e-02 9.99762801e-01 1.38679086e-03 -5.84987101e+01] [ 1.96175586e-02 -9.60360184e-04 9.99807096e-01 2.83332388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9407140569999 meters Centerline goodness [0,1] 0.9826323591229894 Centerline is valid? [True, True] Translation: X:752.03, Y:-58.50, Z:2.83 [[ 9.99482398e-01 2.61438418e-02 -1.87466274e-02 7.52029509e+02] [-2.61235604e-02 9.99657842e-01 1.32598386e-03 -5.84981297e+01] [ 1.87748794e-02 -8.35568878e-04 9.99823387e-01 2.83426454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9707140569999 meters Centerline goodness [0,1] 0.9827627798855239 Centerline is valid? [True, True] Translation: X:752.06, Y:-58.50, Z:2.83 [[ 9.99434977e-01 2.82049203e-02 -1.82813702e-02 7.52057963e+02] [-2.81859942e-02 9.99601861e-01 1.29215172e-03 -5.84982704e+01] [ 1.83105367e-02 -7.76143032e-04 9.99832047e-01 2.83499029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.000714057 meters Centerline goodness [0,1] 0.9842923829118825 Centerline is valid? [True, True] Translation: X:752.09, Y:-58.49, Z:2.84 [[ 9.99406307e-01 2.97999591e-02 -1.72915282e-02 7.52087072e+02] [-2.97832860e-02 9.99555634e-01 1.22101326e-03 -5.84949969e+01] [ 1.73202306e-02 -7.05289817e-04 9.99849745e-01 2.83669002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.030714057 meters Centerline goodness [0,1] 0.9843739610346433 Centerline is valid? [True, True] Translation: X:752.12, Y:-58.50, Z:2.84 [[ 9.99373886e-01 3.10704239e-02 -1.69252898e-02 7.52115532e+02] [-3.10546741e-02 9.99516976e-01 1.19264221e-03 -5.84960676e+01] [ 1.69541704e-02 -6.66286125e-04 9.99856046e-01 2.83719131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0607140569999 meters Centerline goodness [0,1] 0.9837281381447863 Centerline is valid? [True, True] Translation: X:752.14, Y:-58.50, Z:2.84 [[ 9.99334058e-01 3.28973321e-02 -1.57862632e-02 7.52142978e+02] [-3.28839027e-02 9.99458562e-01 1.10959417e-03 -5.84975535e+01] [ 1.58142186e-02 -5.89741303e-04 9.99874774e-01 2.83677152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0907140569999 meters Centerline goodness [0,1] 0.9839386709084482 Centerline is valid? [True, True] Translation: X:752.17, Y:-58.50, Z:2.84 [[ 9.99333918e-01 3.31084864e-02 -1.53475583e-02 7.52171532e+02] [-3.30958526e-02 9.99451602e-01 1.07650791e-03 -5.84996531e+01] [ 1.53747833e-02 -5.67850338e-04 9.99881640e-01 2.83676512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.120714057 meters Centerline goodness [0,1] 0.9830283744364889 Centerline is valid? [True, True] Translation: X:752.20, Y:-58.51, Z:2.84 [[ 9.99381510e-01 3.20731627e-02 -1.44190984e-02 7.52199388e+02] [-3.20619420e-02 9.99485375e-01 1.00873435e-03 -5.85062581e+01] [ 1.44440313e-02 -5.45806161e-04 9.99895531e-01 2.83668827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.150714057 meters Centerline goodness [0,1] 0.982610429311949 Centerline is valid? [True, True] Translation: X:752.23, Y:-58.51, Z:2.84 [[ 9.99422408e-01 3.09315194e-02 -1.40744838e-02 7.52228091e+02] [-3.09207315e-02 9.99521356e-01 9.83504823e-04 -5.85082188e+01] [ 1.40981684e-02 -5.47743425e-04 9.99900466e-01 2.83668098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1807140569999 meters Centerline goodness [0,1] 0.9832507301531109 Centerline is valid? [True, True] Translation: X:752.26, Y:-58.51, Z:2.84 [[ 9.99462651e-01 2.95707115e-02 -1.41415316e-02 7.52256931e+02] [-2.95597099e-02 9.99562530e-01 9.86395837e-04 -5.85070116e+01] [ 1.41645135e-02 -5.67846227e-04 9.99899517e-01 2.83714161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2107140569999 meters Centerline goodness [0,1] 0.9830594687838645 Centerline is valid? [True, True] Translation: X:752.28, Y:-58.51, Z:2.84 [[ 9.99510437e-01 2.77031870e-02 -1.45402752e-02 7.52284472e+02] [-2.76914014e-02 9.99616008e-01 1.01129188e-03 -5.85138982e+01] [ 1.45627079e-02 -6.08156189e-04 9.99893773e-01 2.83629040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.240714057 meters Centerline goodness [0,1] 0.9820965116790569 Centerline is valid? [True, True] Translation: X:752.31, Y:-58.52, Z:2.84 [[ 9.99560344e-01 2.59279456e-02 -1.43826307e-02 7.52312513e+02] [-2.59162488e-02 9.99663618e-01 9.99074313e-04 -5.85182130e+01] [ 1.44036966e-02 -6.25891229e-04 9.99896065e-01 2.83581744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.270714057 meters Centerline goodness [0,1] 0.9831607641407812 Centerline is valid? [True, True] Translation: X:752.34, Y:-58.52, Z:2.84 [[ 9.99641453e-01 2.22682058e-02 -1.48691909e-02 7.52342191e+02] [-2.22553143e-02 9.99751787e-01 1.03192201e-03 -5.85213815e+01] [ 1.48884792e-02 -7.00633502e-04 9.99888915e-01 2.83575503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3007140569999 meters Centerline goodness [0,1] 0.9826629220937175 Centerline is valid? [True, True] Translation: X:752.37, Y:-58.52, Z:2.84 [[ 9.99688421e-01 2.04325935e-02 -1.43377481e-02 7.52371125e+02] [-2.04204262e-02 9.99790987e-01 9.94520827e-04 -5.85236933e+01] [ 1.43550719e-02 -7.01428028e-04 9.99896715e-01 2.83648308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3307140569999 meters Centerline goodness [0,1] 0.9835477513784017 Centerline is valid? [True, True] Translation: X:752.40, Y:-58.53, Z:2.84 [[ 9.99719449e-01 1.88825046e-02 -1.42994347e-02 7.52398218e+02] [-1.88702610e-02 9.99821450e-01 9.90683606e-04 -5.85278713e+01] [ 1.43155881e-02 -7.20571604e-04 9.99897267e-01 2.83710741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3607140569999 meters Centerline goodness [0,1] 0.9827994598543378 Centerline is valid? [True, True] Translation: X:752.43, Y:-58.53, Z:2.84 [[ 9.99762487e-01 1.72153228e-02 -1.33642067e-02 7.52425199e+02] [-1.72045002e-02 9.99851564e-01 9.24377033e-04 -5.85324029e+01] [ 1.33781365e-02 -6.94232985e-04 9.99910268e-01 2.83761848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.390714057 meters Centerline goodness [0,1] 0.9834403365065308 Centerline is valid? [True, True] Translation: X:752.45, Y:-58.54, Z:2.84 [[ 9.99817824e-01 1.40739327e-02 -1.28935353e-02 7.52454893e+02] [-1.40636170e-02 9.99900706e-01 8.90394425e-04 -5.85357275e+01] [ 1.29047864e-02 -7.08902474e-04 9.99916478e-01 2.83863891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4207140569999 meters Centerline goodness [0,1] 0.9823183145967956 Centerline is valid? [True, True] Translation: X:752.48, Y:-58.54, Z:2.84 [[ 9.99837222e-01 1.25331679e-02 -1.29788289e-02 7.52484177e+02] [-1.25225896e-02 9.99921188e-01 8.95998142e-04 -5.85400938e+01] [ 1.29890357e-02 -7.33323745e-04 9.99915370e-01 2.83902861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4507140569999 meters Centerline goodness [0,1] 0.981357836980234 Centerline is valid? [True, True] Translation: X:752.51, Y:-58.54, Z:2.84 [[ 9.99867380e-01 9.72363255e-03 -1.30642101e-02 7.52513075e+02] [-9.71268228e-03 9.99952425e-01 9.01375312e-04 -5.85430963e+01] [ 1.30723532e-02 -7.74367249e-04 9.99914253e-01 2.83810418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4807140569999 meters Centerline goodness [0,1] 0.981996944130738 Centerline is valid? [True, True] Translation: X:752.54, Y:-58.55, Z:2.84 [[ 9.99885671e-01 8.45700845e-03 -1.25349236e-02 7.52540639e+02] [-8.44683767e-03 9.99963951e-01 8.64116866e-04 -5.85482428e+01] [ 1.25417796e-02 -7.58137608e-04 9.99921061e-01 2.83827920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.510714057 meters Centerline goodness [0,1] 0.9823716532649995 Centerline is valid? [True, True] Translation: X:752.57, Y:-58.55, Z:2.84 [[ 9.99895175e-01 6.65352374e-03 -1.28596277e-02 7.52569882e+02] [-6.64268392e-03 9.99977545e-01 8.85464312e-04 -5.85489141e+01] [ 1.28652304e-02 -7.99949051e-04 9.99916920e-01 2.83873173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.540714057 meters Centerline goodness [0,1] 0.9815792379900607 Centerline is valid? [True, True] Translation: X:752.60, Y:-58.55, Z:2.84 [[ 9.99907298e-01 2.64443465e-03 -1.33567718e-02 7.52599164e+02] [-2.63239129e-03 9.99996113e-01 9.19167460e-04 -5.85544494e+01] [ 1.33591506e-02 -8.83922001e-04 9.99910372e-01 2.83878752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5707140569999 meters Centerline goodness [0,1] 0.9817346555646355 Centerline is valid? [True, True] Translation: X:752.63, Y:-58.56, Z:2.84 [[ 9.99905454e-01 6.67893385e-04 -1.37345018e-02 7.52628377e+02] [-6.54977723e-04 9.99999339e-01 9.44857364e-04 -5.85568925e+01] [ 1.37351238e-02 -9.35772239e-04 9.99905231e-01 2.83914495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6007140569999 meters Centerline goodness [0,1] 0.9827418785310734 Centerline is valid? [True, True] Translation: X:752.66, Y:-58.56, Z:2.84 [[ 9.99897082e-01 -1.45104955e-03 -1.42730573e-02 7.52657794e+02] [ 1.46519718e-03 9.99998446e-01 9.80805495e-04 -5.85578460e+01] [ 1.42716119e-02 -1.00161740e-03 9.99897654e-01 2.83957601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.630714057 meters Centerline goodness [0,1] 0.9823233437789646 Centerline is valid? [True, True] Translation: X:752.69, Y:-58.56, Z:2.84 [[ 9.99881639e-01 -3.72888317e-03 -1.49265828e-02 7.52687995e+02] [ 3.74459729e-03 9.99992464e-01 1.02495072e-03 -5.85622932e+01] [ 1.49226484e-02 -1.08072345e-03 9.99888067e-01 2.83914202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.660714057 meters Centerline goodness [0,1] 0.9819553516279891 Centerline is valid? [True, True] Translation: X:752.72, Y:-58.57, Z:2.84 [[ 9.99852782e-01 -7.54150938e-03 -1.54123076e-02 7.52716820e+02] [ 7.55871157e-03 9.99970873e-01 1.05818495e-03 -5.85682903e+01] [ 1.54038784e-02 -1.17452635e-03 9.99880663e-01 2.83959026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6907140569999 meters Centerline goodness [0,1] 0.9811258423996828 Centerline is valid? [True, True] Translation: X:752.75, Y:-58.57, Z:2.84 [[ 9.99839575e-01 -8.89817919e-03 -1.55449861e-02 7.52745910e+02] [ 8.91583379e-03 9.99959684e-01 1.06677558e-03 -5.85689356e+01] [ 1.55348670e-02 -1.20520095e-03 9.99878600e-01 2.84008416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7207140569999 meters Centerline goodness [0,1] 0.9804029505669933 Centerline is valid? [True, True] Translation: X:752.78, Y:-58.57, Z:2.84 [[ 9.99818879e-01 -1.09492988e-02 -1.55666978e-02 7.52775104e+02] [ 1.09672366e-02 9.99939288e-01 1.06741955e-03 -5.85684839e+01] [ 1.55540653e-02 -1.23794987e-03 9.99878262e-01 2.84043150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.750714057 meters Centerline goodness [0,1] 0.9785998636373634 Centerline is valid? [True, True] Translation: X:752.80, Y:-58.57, Z:2.84 [[ 9.99811195e-01 -1.14026093e-02 -1.57339032e-02 7.52803686e+02] [ 1.14209572e-02 9.99934199e-01 1.07677280e-03 -5.85691625e+01] [ 1.57205899e-02 -1.25626574e-03 9.99875635e-01 2.84028661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.780714057 meters Centerline goodness [0,1] 0.979319163947438 Centerline is valid? [True, True] Translation: X:752.83, Y:-58.57, Z:2.84 [[ 9.99805123e-01 -1.20572087e-02 -1.56313772e-02 7.52832279e+02] [ 1.20753350e-02 9.99926523e-01 1.06574422e-03 -5.85701328e+01] [ 1.56173788e-02 -1.25429065e-03 9.99877255e-01 2.84095190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8107140569999 meters Centerline goodness [0,1] 0.978182779822377 Centerline is valid? [True, True] Translation: X:752.86, Y:-58.58, Z:2.84 [[ 9.99803468e-01 -1.23371261e-02 -1.55183858e-02 7.52859433e+02] [ 1.23549783e-02 9.99923118e-01 1.05504048e-03 -5.85752625e+01] [ 1.55041765e-02 -1.24656245e-03 9.99879026e-01 2.84152235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8407140569999 meters Centerline goodness [0,1] 0.9766525833993487 Centerline is valid? [True, True] Translation: X:752.89, Y:-58.58, Z:2.84 [[ 9.99798061e-01 -1.24890734e-02 -1.57435531e-02 7.52887261e+02] [ 1.25074436e-02 9.99921208e-01 1.06891228e-03 -5.85801397e+01] [ 1.57289629e-02 -1.26560803e-03 9.99875491e-01 2.84195828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.870714057 meters Centerline goodness [0,1] 0.9782709200184928 Centerline is valid? [True, True] Translation: X:752.92, Y:-58.57, Z:2.84 [[ 9.99813289e-01 -1.17175057e-02 -1.53651408e-02 7.52916930e+02] [ 1.17348881e-02 9.99930601e-01 1.04161540e-03 -5.85744618e+01] [ 1.53518693e-02 -1.22172913e-03 9.99881407e-01 2.84414587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.900714057 meters Centerline goodness [0,1] 0.977717164162689 Centerline is valid? [True, True] Translation: X:752.94, Y:-58.58, Z:2.84 [[ 9.99820375e-01 -1.05571729e-02 -1.57404861e-02 7.52944738e+02] [ 1.05752429e-02 9.99943513e-01 1.06520064e-03 -5.85776506e+01] [ 1.57283515e-02 -1.23146877e-03 9.99875543e-01 2.84364445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9307140569999 meters Centerline goodness [0,1] 0.977717164162689 Centerline is valid? [True, True] Translation: X:752.97, Y:-58.58, Z:2.84 [[ 9.99817413e-01 -1.08338253e-02 -1.57406587e-02 7.52972165e+02] [ 1.08518894e-02 9.99940552e-01 1.06264581e-03 -5.85794161e+01] [ 1.57282104e-02 -1.23326767e-03 9.99875543e-01 2.84390879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9607140569999 meters Centerline goodness [0,1] 0.9801835674001991 Centerline is valid? [True, True] Translation: X:753.00, Y:-58.57, Z:2.85 [[ 9.99822890e-01 -9.26102308e-03 -1.63835999e-02 7.53002397e+02] [ 9.28033388e-03 9.99956328e-01 1.10302993e-03 -5.85715751e+01] [ 1.63726692e-02 -1.25487985e-03 9.99865171e-01 2.84501583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.990714057 meters Centerline goodness [0,1] 0.9792639475955474 Centerline is valid? [True, True] Translation: X:753.03, Y:-58.57, Z:2.84 [[ 9.99817185e-01 -8.65814695e-03 -1.70479418e-02 7.53030126e+02] [ 8.67895101e-03 9.99961680e-01 1.14671956e-03 -5.85748388e+01] [ 1.70373600e-02 -1.29446817e-03 9.99854016e-01 2.84461630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.020714057 meters Centerline goodness [0,1] 0.9796979012318375 Centerline is valid? [True, True] Translation: X:753.06, Y:-58.57, Z:2.85 [[ 9.99807210e-01 -7.65885192e-03 -1.80799290e-02 7.53059553e+02] [ 7.68203637e-03 9.99969757e-01 1.21322729e-03 -5.85711883e+01] [ 1.80700903e-02 -1.35188406e-03 9.99835809e-01 2.84543405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0507140569999 meters Centerline goodness [0,1] 0.9795601322710225 Centerline is valid? [True, True] Translation: X:753.09, Y:-58.57, Z:2.85 [[ 9.99790308e-01 -4.36314083e-03 -2.00075551e-02 7.53090158e+02] [ 4.39082385e-03 9.99989463e-01 1.33990764e-03 -5.85675807e+01] [ 2.00014981e-02 -1.42747632e-03 9.99798931e-01 2.84572862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0807140569999 meters Centerline goodness [0,1] 0.9787822470020797 Centerline is valid? [True, True] Translation: X:753.12, Y:-58.57, Z:2.85 [[ 9.99785579e-01 -2.63290737e-03 -2.05393120e-02 7.53120002e+02] [ 2.66170683e-03 9.99995512e-01 1.37495118e-03 -5.85670544e+01] [ 2.05355997e-02 -1.42932599e-03 9.99788101e-01 2.84587701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1107140569999 meters Centerline goodness [0,1] 0.9798690489401842 Centerline is valid? [True, True] Translation: X:753.15, Y:-58.57, Z:2.85 [[ 9.99784358e-01 -9.06662706e-04 -2.07464595e-02 7.53150260e+02] [ 9.35656728e-04 9.99998599e-01 1.38787661e-03 -5.85666621e+01] [ 2.07451721e-02 -1.40698889e-03 9.99783806e-01 2.84616778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.140714057 meters Centerline goodness [0,1] 0.9792793394315729 Centerline is valid? [True, True] Translation: X:753.18, Y:-58.56, Z:2.85 [[ 9.99774033e-01 1.90896722e-03 -2.11716429e-02 7.53179302e+02] [-1.87942050e-03 9.99997232e-01 1.41538980e-03 -5.85642108e+01] [ 2.11742863e-02 -1.37527955e-03 9.99774854e-01 2.84729087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1707140569999 meters Centerline goodness [0,1] 0.979371797727779 Centerline is valid? [True, True] Translation: X:753.21, Y:-58.56, Z:2.85 [[ 9.99766783e-01 3.26887148e-03 -2.13469876e-02 7.53208496e+02] [-3.23920682e-03 9.99993740e-01 1.42407143e-03 -5.85640595e+01] [ 2.13515091e-02 -1.35459201e-03 9.99771113e-01 2.84777046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2007140569999 meters Centerline goodness [0,1] 0.9789553301299163 Centerline is valid? [True, True] Translation: X:753.24, Y:-58.56, Z:2.85 [[ 9.99762296e-01 4.11640470e-03 -2.14104501e-02 7.53237160e+02] [-4.08682232e-03 9.99990633e-01 1.42525145e-03 -5.85614192e+01] [ 2.14161165e-02 -1.33741195e-03 9.99769754e-01 2.84905860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2307140569999 meters Centerline goodness [0,1] 0.9790579419242607 Centerline is valid? [True, True] Translation: X:753.27, Y:-58.56, Z:2.85 [[ 9.99754372e-01 5.80073857e-03 -2.13903696e-02 7.53266295e+02] [-5.77162846e-03 9.99982332e-01 1.42238333e-03 -5.85597810e+01] [ 2.13982426e-02 -1.29857669e-03 9.99770188e-01 2.84999256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.260714057 meters Centerline goodness [0,1] 0.9793441891590453 Centerline is valid? [True, True] Translation: X:753.29, Y:-58.56, Z:2.85 [[ 9.99748845e-01 6.31761264e-03 -2.15019657e-02 7.53294850e+02] [-6.28835020e-03 9.99979208e-01 1.42826200e-03 -5.85604058e+01] [ 2.15105419e-02 -1.29269139e-03 9.99767786e-01 2.85036931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.290714057 meters Centerline goodness [0,1] 0.9792469215524727 Centerline is valid? [True, True] Translation: X:753.32, Y:-58.56, Z:2.85 [[ 9.99746917e-01 6.88763209e-03 -2.14164057e-02 7.53324096e+02] [-6.85876528e-03 9.99975469e-01 1.42104528e-03 -5.85603702e+01] [ 2.14256679e-02 -1.27379553e-03 9.99769633e-01 2.85091718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3207140569999 meters Centerline goodness [0,1] 0.9792469215524727 Centerline is valid? [True, True] Translation: X:753.35, Y:-58.56, Z:2.85 [[ 9.99747649e-01 6.78020247e-03 -2.14165354e-02 7.53351548e+02] [-6.75135288e-03 9.99976202e-01 1.41908802e-03 -5.85621011e+01] [ 2.14256474e-02 -1.27413932e-03 9.99769633e-01 2.85118172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3507140569999 meters Centerline goodness [0,1] 0.9792317999106744 Centerline is valid? [True, True] Translation: X:753.38, Y:-58.56, Z:2.85 [[ 9.99717642e-01 7.77783950e-03 -2.24531049e-02 7.53380659e+02] [-7.74642492e-03 9.99968892e-01 1.48575869e-03 -5.85602660e+01] [ 2.24639624e-02 -1.31140788e-03 9.99746793e-01 2.85167654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.380714057 meters Centerline goodness [0,1] 0.9790943886115898 Centerline is valid? [True, True] Translation: X:753.41, Y:-58.56, Z:2.85 [[ 9.99703425e-01 8.07788393e-03 -2.29741059e-02 7.53409181e+02] [-8.04511155e-03 9.99966485e-01 1.51856282e-03 -5.85607793e+01] [ 2.29856027e-02 -1.33328321e-03 9.99734907e-01 2.85185217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.410714057 meters Centerline goodness [0,1] 0.9790529048428968 Centerline is valid? [True, True] Translation: X:753.44, Y:-58.56, Z:2.85 [[ 9.99681204e-01 8.74558353e-03 -2.36855383e-02 7.53437596e+02] [-8.71097701e-03 9.99960836e-01 1.56386680e-03 -5.85610368e+01] [ 2.36982876e-02 -1.35704406e-03 9.99718235e-01 2.85182108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4407140569999 meters Centerline goodness [0,1] 0.9791377224039798 Centerline is valid? [True, True] Translation: X:753.47, Y:-58.56, Z:2.85 [[ 9.99669388e-01 1.03718296e-02 -2.35274413e-02 7.53465453e+02] [-1.03381778e-02 9.99945356e-01 1.55150772e-03 -5.85622999e+01] [ 2.35422476e-02 -1.30776390e-03 9.99721988e-01 2.85165739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4707140569999 meters Centerline goodness [0,1] 0.98017547384636 Centerline is valid? [True, True] Translation: X:753.49, Y:-58.56, Z:2.85 [[ 9.99673165e-01 1.11275024e-02 -2.30161146e-02 7.53494372e+02] [-1.10955385e-02 9.99937293e-01 1.51600592e-03 -5.85630601e+01] [ 2.30315407e-02 -1.26013425e-03 9.99733945e-01 2.85222680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.500714057 meters Centerline goodness [0,1] 0.9809267965077233 Centerline is valid? [True, True] Translation: X:753.52, Y:-58.56, Z:2.85 [[ 9.99666532e-01 1.16152060e-02 -2.30632082e-02 7.53523440e+02] [-1.15832785e-02 9.99931760e-01 1.51746504e-03 -5.85631949e+01] [ 2.30792600e-02 -1.24981145e-03 9.99732857e-01 2.85321435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.530714057 meters Centerline goodness [0,1] 0.9787747441798115 Centerline is valid? [True, True] Translation: X:753.55, Y:-58.57, Z:2.85 [[ 9.99668017e-01 1.19365713e-02 -2.28336164e-02 7.53551383e+02] [-1.19053969e-02 9.99928002e-01 1.50074030e-03 -5.85691116e+01] [ 2.28498861e-02 -1.22839881e-03 9.99738153e-01 2.85237282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5607140569999 meters Centerline goodness [0,1] 0.9803974221267454 Centerline is valid? [True, True] Translation: X:753.58, Y:-58.57, Z:2.85 [[ 9.99649018e-01 1.24623413e-02 -2.33780199e-02 7.53580020e+02] [-1.24298437e-02 9.99921568e-01 1.53489669e-03 -5.85693524e+01] [ 2.33953147e-02 -1.24377283e-03 9.99725518e-01 2.85261841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5907140569999 meters Centerline goodness [0,1] 0.9819520517194936 Centerline is valid? [True, True] Translation: X:753.61, Y:-58.56, Z:2.85 [[ 9.99646814e-01 1.27113856e-02 -2.33381079e-02 7.53608809e+02] [-1.26791048e-02 9.99918445e-01 1.53063719e-03 -5.85635822e+01] [ 2.33556611e-02 -1.23419028e-03 9.99726458e-01 2.85480273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.620714057 meters Centerline goodness [0,1] 0.9795350507135805 Centerline is valid? [True, True] Translation: X:753.64, Y:-58.57, Z:2.85 [[ 9.99647550e-01 1.23519893e-02 -2.34990158e-02 7.53635726e+02] [-1.23192085e-02 9.99922931e-01 1.53924285e-03 -5.85739774e+01] [ 2.35162174e-02 -1.24921107e-03 9.99722675e-01 2.85265460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.650714057 meters Centerline goodness [0,1] 0.980512361561696 Centerline is valid? [True, True] Translation: X:753.66, Y:-58.57, Z:2.85 [[ 9.99674675e-01 1.10457023e-02 -2.29899442e-02 7.53664596e+02] [-1.10140235e-02 9.99938213e-01 1.50411114e-03 -5.85709488e+01] [ 2.30051377e-02 -1.25041003e-03 9.99734565e-01 2.85388547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6807140569999 meters Centerline goodness [0,1] 0.9810289605124645 Centerline is valid? [True, True] Translation: X:753.69, Y:-58.57, Z:2.86 [[ 9.99672829e-01 1.01525273e-02 -2.34768372e-02 7.53692891e+02] [-1.01192921e-02 9.99947622e-01 1.53403030e-03 -5.85716994e+01] [ 2.34911818e-02 -1.29595944e-03 9.99723204e-01 2.85508129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7107140569999 meters Centerline goodness [0,1] 0.9812678826895566 Centerline is valid? [True, True] Translation: X:753.72, Y:-58.57, Z:2.86 [[ 9.99692883e-01 9.51611141e-03 -2.28819562e-02 7.53720528e+02] [-9.48441972e-03 9.99953907e-01 1.49313725e-03 -5.85743874e+01] [ 2.28951104e-02 -1.27565661e-03 9.99737059e-01 2.85506278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.740714057 meters Centerline goodness [0,1] 0.9804383426430671 Centerline is valid? [True, True] Translation: X:753.75, Y:-58.57, Z:2.86 [[ 9.99692987e-01 8.16878358e-03 -2.33923682e-02 7.53749626e+02] [-8.13533794e-03 9.99965745e-01 1.52457706e-03 -5.85745547e+01] [ 2.34040209e-02 -1.33380417e-03 9.99725199e-01 2.85557638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.770714057 meters Centerline goodness [0,1] 0.9802478525411596 Centerline is valid? [True, True] Translation: X:753.78, Y:-58.58, Z:2.85 [[ 9.99712308e-01 5.70001066e-03 -2.32982971e-02 7.53777501e+02] [-5.66620435e-03 9.99982797e-01 1.51677925e-03 -5.85825332e+01] [ 2.33065419e-02 -1.38432997e-03 9.99727407e-01 2.85387324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8007140569999 meters Centerline goodness [0,1] 0.9787882864702453 Centerline is valid? [True, True] Translation: X:753.81, Y:-58.59, Z:2.85 [[ 9.99717580e-01 3.99895244e-03 -2.34258062e-02 7.53805584e+02] [-3.96434820e-03 9.99990981e-01 1.52343889e-03 -5.85868387e+01] [ 2.34316871e-02 -1.43014059e-03 9.99724417e-01 2.85348182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8307140569999 meters Centerline goodness [0,1] 0.9814345044337187 Centerline is valid? [True, True] Translation: X:753.84, Y:-58.58, Z:2.86 [[ 9.99719072e-01 2.37474654e-03 -2.35825732e-02 7.53835209e+02] [-2.33926108e-03 9.99996090e-01 1.53220495e-03 -5.85820238e+01] [ 2.35861196e-02 -1.47660871e-03 9.99720718e-01 2.85555560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8607140569999 meters Centerline goodness [0,1] 0.98001163935894 Centerline is valid? [True, True] Translation: X:753.86, Y:-58.59, Z:2.86 [[ 9.99739529e-01 8.49345682e-04 -2.28068461e-02 7.53864114e+02] [-8.15794962e-04 9.99998572e-01 1.48034486e-03 -5.85855102e+01] [ 2.28080708e-02 -1.46135357e-03 9.99738794e-01 2.85513729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.890714057 meters Centerline goodness [0,1] 0.9793791325787291 Centerline is valid? [True, True] Translation: X:753.89, Y:-58.59, Z:2.86 [[ 9.99750771e-01 -2.18395096e-03 -2.22177117e-02 7.53893237e+02] [ 2.21651602e-03 9.99996505e-01 1.44120500e-03 -5.85911337e+01] [ 2.22144865e-02 -1.49009172e-03 9.99752117e-01 2.85573609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9207140569999 meters Centerline goodness [0,1] 0.979735170439295 Centerline is valid? [True, True] Translation: X:753.92, Y:-58.59, Z:2.86 [[ 9.99760131e-01 -3.33989098e-03 -2.16454623e-02 7.53922191e+02] [ 3.37104696e-03 9.99993334e-01 1.40304855e-03 -5.85919564e+01] [ 2.16406319e-02 -1.47567987e-03 9.99764725e-01 2.85644520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9507140569999 meters Centerline goodness [0,1] 0.9787048233239285 Centerline is valid? [True, True] Translation: X:753.95, Y:-58.60, Z:2.86 [[ 9.99755354e-01 -4.65762509e-03 -2.16226441e-02 7.53951652e+02] [ 4.68899789e-03 9.99988026e-01 1.40044996e-03 -5.85958718e+01] [ 2.16158624e-02 -1.50149588e-03 9.99765222e-01 2.85605283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9807140569999 meters Centerline goodness [0,1] 0.9784179097801534 Centerline is valid? [True, True] Translation: X:753.98, Y:-58.60, Z:2.86 [[ 9.99754938e-01 -5.00805343e-03 -2.15634658e-02 7.53979431e+02] [ 5.03925449e-03 9.99986333e-01 1.39284568e-03 -5.85979017e+01] [ 2.15561956e-02 -1.50116813e-03 9.99766511e-01 2.85617675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.010714057 meters Centerline goodness [0,1] 0.9778803487412759 Centerline is valid? [True, True] Translation: X:754.01, Y:-58.60, Z:2.86 [[ 9.99769988e-01 -4.92589213e-03 -2.08735892e-02 7.54007737e+02] [ 4.95499588e-03 9.99986822e-01 1.34279476e-03 -5.85993361e+01] [ 2.08666997e-02 -1.44591445e-03 9.99781221e-01 2.85640564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.040714057 meters Centerline goodness [0,1] 0.9776475307541451 Centerline is valid? [True, True] Translation: X:754.04, Y:-58.60, Z:2.86 [[ 9.99775977e-01 -4.52576177e-03 -2.06763821e-02 7.54035420e+02] [ 4.55416326e-03 9.99988750e-01 1.32673940e-03 -5.86017307e+01] [ 2.06701450e-02 -1.42060580e-03 9.99785340e-01 2.85660879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0707140569999 meters Centerline goodness [0,1] 0.9775278381466628 Centerline is valid? [True, True] Translation: X:754.06, Y:-58.60, Z:2.86 [[ 9.99778522e-01 -3.90239088e-03 -2.06804039e-02 7.54064468e+02] [ 3.93059570e-03 9.99991400e-01 1.32337099e-03 -5.86013079e+01] [ 2.06750617e-02 -1.40436419e-03 9.99785262e-01 2.85737646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1007140569999 meters Centerline goodness [0,1] 0.9776097767667983 Centerline is valid? [True, True] Translation: X:754.09, Y:-58.60, Z:2.86 [[ 9.99795454e-01 -5.52503740e-04 -2.02174310e-02 7.54094413e+02] [ 5.78723061e-04 9.99998999e-01 1.29103934e-03 -5.85992886e+01] [ 2.02166974e-02 -1.30247555e-03 9.99794773e-01 2.85807925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.130714057 meters Centerline goodness [0,1] 0.9787740082570454 Centerline is valid? [True, True] Translation: X:754.12, Y:-58.60, Z:2.86 [[ 9.99808075e-01 1.57180988e-03 -1.95280112e-02 7.54124163e+02] [-1.54776534e-03 9.99998026e-01 1.24633761e-03 -5.85978959e+01] [ 1.95299316e-02 -1.21587363e-03 9.99808533e-01 2.85845682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.160714057 meters Centerline goodness [0,1] 0.9780900642032955 Centerline is valid? [True, True] Translation: X:754.15, Y:-58.60, Z:2.86 [[ 9.99802677e-01 3.81168123e-03 -1.94956089e-02 7.54152762e+02] [-3.78815531e-03 9.99992052e-01 1.24351670e-03 -5.86020016e+01] [ 1.95001938e-02 -1.16941893e-03 9.99809169e-01 2.85794183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1907140569999 meters Centerline goodness [0,1] 0.9782784310205547 Centerline is valid? [True, True] Translation: X:754.18, Y:-58.60, Z:2.86 [[ 9.99785201e-01 6.22617805e-03 -1.97683267e-02 7.54182474e+02] [-6.20247456e-03 9.99979970e-01 1.26015093e-03 -5.85991309e+01] [ 1.97757767e-02 -1.13726770e-03 9.99803793e-01 2.85900376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2207140569999 meters Centerline goodness [0,1] 0.9793458006869766 Centerline is valid? [True, True] Translation: X:754.21, Y:-58.60, Z:2.86 [[ 9.99760100e-01 1.15110090e-02 -1.86343684e-02 7.54212810e+02] [-1.14908690e-02 9.99933273e-01 1.18751351e-03 -5.85965552e+01] [ 1.86467945e-02 -9.73103536e-04 9.99825660e-01 2.85948987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.250714057 meters Centerline goodness [0,1] 0.9777047852595109 Centerline is valid? [True, True] Translation: X:754.24, Y:-58.60, Z:2.86 [[ 9.99736573e-01 1.40364682e-02 -1.81593803e-02 7.54241658e+02] [-1.40177664e-02 9.99901077e-01 1.15675624e-03 -5.85974309e+01] [ 1.81738207e-02 -9.01897572e-04 9.99834436e-01 2.85928925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.280714057 meters Centerline goodness [0,1] 0.9797647482987065 Centerline is valid? [True, True] Translation: X:754.27, Y:-58.59, Z:2.86 [[ 9.99649967e-01 1.87022594e-02 -1.87127951e-02 7.54272382e+02] [-1.86832317e-02 9.99824744e-01 1.19115552e-03 -5.85946855e+01] [ 1.87317928e-02 -8.41123095e-04 9.99824191e-01 2.85892082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3107140569999 meters Centerline goodness [0,1] 0.9794158052383848 Centerline is valid? [True, True] Translation: X:754.30, Y:-58.60, Z:2.86 [[ 9.99605968e-01 2.02181941e-02 -1.94713430e-02 7.54301187e+02] [-2.01979340e-02 9.99795236e-01 1.23662586e-03 -5.85951910e+01] [ 1.94923583e-02 -8.42857689e-04 9.99809651e-01 2.85891083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3407140569999 meters Centerline goodness [0,1] 0.9790375295841316 Centerline is valid? [True, True] Translation: X:754.33, Y:-58.59, Z:2.86 [[ 9.99573370e-01 2.16644677e-02 -1.95889977e-02 7.54329967e+02] [-2.16443355e-02 9.99764966e-01 1.23918408e-03 -5.85944655e+01] [ 1.96112398e-02 -8.14664566e-04 9.99807349e-01 2.85861947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.370714057 meters Centerline goodness [0,1] 0.9797838496423817 Centerline is valid? [True, True] Translation: X:754.36, Y:-58.60, Z:2.86 [[ 9.99544205e-01 2.29128169e-02 -1.96566668e-02 7.54357654e+02] [-2.28928516e-02 9.99737155e-01 1.24015073e-03 -5.85960739e+01] [ 1.96799155e-02 -7.89588317e-04 9.99806020e-01 2.85840575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.400714057 meters Centerline goodness [0,1] 0.9783982664439529 Centerline is valid? [True, True] Translation: X:754.39, Y:-58.60, Z:2.86 [[ 9.99524867e-01 2.43249277e-02 -1.89298288e-02 7.54385263e+02] [-2.43066957e-02 9.99703837e-01 1.19265507e-03 -5.85982005e+01] [ 1.89532337e-02 -7.31966809e-04 9.99820103e-01 2.85810008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4307140569999 meters Centerline goodness [0,1] 0.9792955520433506 Centerline is valid? [True, True] Translation: X:754.41, Y:-58.60, Z:2.86 [[ 9.99544012e-01 2.40457844e-02 -1.82638684e-02 7.54413152e+02] [-2.40288265e-02 9.99710608e-01 1.14740832e-03 -5.85980518e+01] [ 1.82861733e-02 -7.08025791e-04 9.99832543e-01 2.85904705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4607140569999 meters Centerline goodness [0,1] 0.9803593626398464 Centerline is valid? [True, True] Translation: X:754.44, Y:-58.60, Z:2.86 [[ 9.99558917e-01 2.37629916e-02 -1.78127072e-02 7.54442205e+02] [-2.37468748e-02 9.99717381e-01 1.11579458e-03 -5.85984767e+01] [ 1.78341876e-02 -6.92306298e-04 9.99840719e-01 2.85972561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.490714057 meters Centerline goodness [0,1] 0.9802778719078279 Centerline is valid? [True, True] Translation: X:754.47, Y:-58.60, Z:2.86 [[ 9.99592487e-01 2.31761372e-02 -1.66651503e-02 7.54469919e+02] [-2.31619759e-02 9.99731182e-01 1.04229550e-03 -5.86013157e+01] [ 1.66848268e-02 -6.55872939e-04 9.99860583e-01 2.86035611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.520714057 meters Centerline goodness [0,1] 0.9805372620906602 Centerline is valid? [True, True] Translation: X:754.50, Y:-58.60, Z:2.86 [[ 9.99619439e-01 2.25424427e-02 -1.59001661e-02 7.54498272e+02] [-2.25294988e-02 9.99745686e-01 9.92753438e-04 -5.86024787e+01] [ 1.59185016e-02 -6.34152861e-04 9.99873092e-01 2.86090737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5507140569999 meters Centerline goodness [0,1] 0.9798084741169031 Centerline is valid? [True, True] Translation: X:754.53, Y:-58.60, Z:2.86 [[ 9.99639708e-01 2.18190047e-02 -1.56327990e-02 7.54526981e+02] [-2.18064215e-02 9.99761736e-01 9.74953076e-04 -5.86047963e+01] [ 1.56503468e-02 -6.33706404e-04 9.99877325e-01 2.86076043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5807140569999 meters Centerline goodness [0,1] 0.9794913310396006 Centerline is valid? [True, True] Translation: X:754.55, Y:-58.61, Z:2.86 [[ 9.99679285e-01 2.01432635e-02 -1.53484733e-02 7.54554914e+02] [-2.01309549e-02 9.99796895e-01 9.56037871e-04 -5.86096662e+01] [ 1.53646137e-02 -6.46751832e-04 9.99881748e-01 2.85937255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6107140569999 meters Centerline goodness [0,1] 0.9798515376458112 Centerline is valid? [True, True] Translation: X:754.58, Y:-58.61, Z:2.86 [[ 9.99718886e-01 1.84886164e-02 -1.48431699e-02 7.54582178e+02] [-1.84769420e-02 9.99828860e-01 9.23279825e-04 -5.86137646e+01] [ 1.48576998e-02 -6.48763889e-04 9.99889408e-01 2.85911451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.640714057 meters Centerline goodness [0,1] 0.9784917084632416 Centerline is valid? [True, True] Translation: X:754.61, Y:-58.62, Z:2.86 [[ 9.99748534e-01 1.68661306e-02 -1.47784362e-02 7.54611129e+02] [-1.68543986e-02 9.99857533e-01 9.18050501e-04 -5.86164082e+01] [ 1.47918147e-02 -6.68737988e-04 9.99890371e-01 2.85967941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6707140569999 meters Centerline goodness [0,1] 0.9790434036403053 Centerline is valid? [True, True] Translation: X:754.64, Y:-58.62, Z:2.86 [[ 9.99795497e-01 1.44622399e-02 -1.41353063e-02 7.54640069e+02] [-1.44512797e-02 9.99895190e-01 8.77216478e-04 -5.86200001e+01] [ 1.41465113e-02 -6.72763821e-04 9.99899707e-01 2.86013370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7007140569999 meters Centerline goodness [0,1] 0.9780306622411885 Centerline is valid? [True, True] Translation: X:754.67, Y:-58.62, Z:2.86 [[ 9.99811131e-01 1.38386238e-02 -1.36452915e-02 7.54667720e+02] [-1.38283639e-02 9.99904026e-01 8.45969226e-04 -5.86233710e+01] [ 1.36556890e-02 -6.57117392e-04 9.99906541e-01 2.86038418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7307140569999 meters Centerline goodness [0,1] 0.9789623215856051 Centerline is valid? [True, True] Translation: X:754.70, Y:-58.62, Z:2.86 [[ 9.99820977e-01 1.36499279e-02 -1.31031810e-02 7.54696331e+02] [-1.36404646e-02 9.99906635e-01 8.11316204e-04 -5.86245852e+01] [ 1.31130320e-02 -6.32437483e-04 9.99913820e-01 2.86114464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.760714057 meters Centerline goodness [0,1] 0.9803819875076104 Centerline is valid? [True, True] Translation: X:754.72, Y:-58.62, Z:2.86 [[ 9.99821721e-01 1.40361552e-02 -1.26298013e-02 7.54724783e+02] [-1.40274050e-02 9.99901306e-01 7.81144775e-04 -5.86243812e+01] [ 1.26395191e-02 -6.03842176e-04 9.99919936e-01 2.86095837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.790714057 meters Centerline goodness [0,1] 0.9801513990898031 Centerline is valid? [True, True] Translation: X:754.75, Y:-58.63, Z:2.86 [[ 9.99816300e-01 1.48793523e-02 -1.20818570e-02 7.54754061e+02] [-1.48714159e-02 9.99889136e-01 7.46468892e-04 -5.86267725e+01] [ 1.20916245e-02 -5.66657445e-04 9.99926733e-01 2.86116481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8207140569999 meters Centerline goodness [0,1] 0.9786082997092171 Centerline is valid? [True, True] Translation: X:754.78, Y:-58.63, Z:2.86 [[ 9.99802701e-01 1.59513122e-02 -1.18370315e-02 7.54781729e+02] [-1.59437774e-02 9.99872623e-01 7.30647440e-04 -5.86313843e+01] [ 1.18471785e-02 -5.41776289e-04 9.99929673e-01 2.86110899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8507140569999 meters Centerline goodness [0,1] 0.9809459306919517 Centerline is valid? [True, True] Translation: X:754.81, Y:-58.63, Z:2.86 [[ 9.99783723e-01 1.73468533e-02 -1.14714720e-02 7.54810663e+02] [-1.73398793e-02 9.99849403e-01 7.07131406e-04 -5.86267521e+01] [ 1.14820109e-02 -5.08064531e-04 9.99933950e-01 2.86140815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.880714057 meters Centerline goodness [0,1] 0.980382429872824 Centerline is valid? [True, True] Translation: X:754.84, Y:-58.63, Z:2.86 [[ 9.99723620e-01 2.07512586e-02 -1.10484350e-02 7.54839767e+02] [-2.07450049e-02 9.99784568e-01 6.80333600e-04 -5.86278861e+01] [ 1.10601726e-02 -4.50945730e-04 9.99938733e-01 2.86189709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.910714057 meters Centerline goodness [0,1] 0.9809794885696214 Centerline is valid? [True, True] Translation: X:754.87, Y:-58.63, Z:2.86 [[ 9.99696617e-01 2.21398676e-02 -1.07935653e-02 7.54869092e+02] [-2.21339844e-02 9.99754793e-01 6.64239121e-04 -5.86291477e+01] [ 1.08056248e-02 -4.25132996e-04 9.99941527e-01 2.86208585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9407140569999 meters Centerline goodness [0,1] 0.9820380900803322 Centerline is valid? [True, True] Translation: X:754.90, Y:-58.63, Z:2.86 [[ 9.99635383e-01 2.49970037e-02 -1.02103753e-02 7.54898320e+02] [-2.49918943e-02 9.99687457e-01 6.27724052e-04 -5.86279902e+01] [ 1.02228753e-02 -3.72318554e-04 9.99947676e-01 2.86217617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9707140569999 meters Centerline goodness [0,1] 0.9816822514342504 Centerline is valid? [True, True] Translation: X:754.93, Y:-58.63, Z:2.86 [[ 9.99601529e-01 2.64155187e-02 -9.95010382e-03 7.54926297e+02] [-2.64107587e-02 9.99650989e-01 6.09501365e-04 -5.86302672e+01] [ 9.96273143e-03 -3.46468705e-04 9.99950311e-01 2.86226070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.000714057 meters Centerline goodness [0,1] 0.9810971340816188 Centerline is valid? [True, True] Translation: X:754.96, Y:-58.63, Z:2.86 [[ 9.99569029e-01 2.75688257e-02 -1.00854142e-02 7.54955480e+02] [-2.75640031e-02 9.99619850e-01 6.16889422e-04 -5.86316195e+01] [ 1.00985871e-02 -3.38629174e-04 9.99948951e-01 2.86234812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.030714057 meters Centerline goodness [0,1] 0.9808925828891499 Centerline is valid? [True, True] Translation: X:754.98, Y:-58.63, Z:2.86 [[ 9.99508724e-01 2.96178570e-02 -1.02515248e-02 7.54983978e+02] [-2.96129894e-02 9.99561243e-01 6.26317812e-04 -5.86327558e+01] [ 1.02655771e-02 -3.22431821e-04 9.99947256e-01 2.86133763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0607140569999 meters Centerline goodness [0,1] 0.9824858374523213 Centerline is valid? [True, True] Translation: X:755.01, Y:-58.63, Z:2.86 [[ 9.99480729e-01 3.06326294e-02 -9.99573952e-03 7.55012969e+02] [-3.06280593e-02 9.99530665e-01 6.10006655e-04 -5.86330499e+01] [ 1.00097343e-02 -3.03539794e-04 9.99949855e-01 2.86110955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0907140569999 meters Centerline goodness [0,1] 0.9833119094332815 Centerline is valid? [True, True] Translation: X:755.04, Y:-58.64, Z:2.86 [[ 9.99455542e-01 3.14316858e-02 -1.00333590e-02 7.55040963e+02] [-3.14271288e-02 9.99505859e-01 6.11574332e-04 -5.86354660e+01] [ 1.00476239e-02 -2.95921690e-04 9.99949478e-01 2.86134392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.120714057 meters Centerline goodness [0,1] 0.9827951655091549 Centerline is valid? [True, True] Translation: X:755.07, Y:-58.64, Z:2.86 [[ 9.99417203e-01 3.30012131e-02 -8.72778499e-03 7.55070151e+02] [-3.29978301e-02 9.99455282e-01 5.31367390e-04 -5.86370095e+01] [ 8.74056658e-03 -2.43059744e-04 9.99961771e-01 2.86157033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.150714057 meters Centerline goodness [0,1] 0.9826318401227049 Centerline is valid? [True, True] Translation: X:755.10, Y:-58.64, Z:2.86 [[ 9.99404975e-01 3.34664490e-02 -8.34818909e-03 7.55097580e+02] [-3.34633793e-02 9.99439816e-01 5.07164852e-04 -5.86416125e+01] [ 8.36048558e-03 -2.27504459e-04 9.99965025e-01 2.86200866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1807140569999 meters Centerline goodness [0,1] 0.9831381101193821 Centerline is valid? [True, True] Translation: X:755.13, Y:-58.64, Z:2.86 [[ 9.99385950e-01 3.41826442e-02 -7.69868772e-03 7.55126703e+02] [-3.41800598e-02 9.99415582e-01 4.67057619e-04 -5.86423926e+01] [ 7.71015373e-03 -2.03629216e-04 9.99970256e-01 2.86199342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2107140569999 meters Centerline goodness [0,1] 0.9824202043848197 Centerline is valid? [True, True] Translation: X:755.15, Y:-58.65, Z:2.86 [[ 9.99388903e-01 3.42126505e-02 -7.16345261e-03 7.55153732e+02] [-3.42104149e-02 9.99414558e-01 4.34422630e-04 -5.86461093e+01] [ 7.17412158e-03 -1.89092470e-04 9.99974248e-01 2.86232958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.240714057 meters Centerline goodness [0,1] 0.9824202043848197 Centerline is valid? [True, True] Translation: X:755.18, Y:-58.65, Z:2.86 [[ 9.99392430e-01 3.41094604e-02 -7.16354866e-03 7.55181152e+02] [-3.41072335e-02 9.99418085e-01 4.32832330e-04 -5.86476728e+01] [ 7.17414376e-03 -1.88240527e-04 9.99974248e-01 2.86259416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.270714057 meters Centerline goodness [0,1] 0.9829998427990747 Centerline is valid? [True, True] Translation: X:755.21, Y:-58.65, Z:2.86 [[ 9.99351221e-01 3.53028592e-02 -7.13051800e-03 7.55209675e+02] [-3.53006890e-02 9.99376644e-01 4.30017612e-04 -5.86507227e+01] [ 7.14125400e-03 -1.78026428e-04 9.99974485e-01 2.86243101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3007140569999 meters Centerline goodness [0,1] 0.9836002965425831 Centerline is valid? [True, True] Translation: X:755.24, Y:-58.65, Z:2.86 [[ 9.99343660e-01 3.55951917e-02 -6.72540588e-03 7.55238126e+02] [-3.55932706e-02 9.99366277e-01 4.05159973e-04 -5.86527420e+01] [ 6.73556558e-03 -1.65514859e-04 9.99977302e-01 2.86250859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3307140569999 meters Centerline goodness [0,1] 0.9841529931988059 Centerline is valid? [True, True] Translation: X:755.27, Y:-58.65, Z:2.86 [[ 9.99305105e-01 3.67041056e-02 -6.48967511e-03 7.55266496e+02] [-3.67023430e-02 9.99326166e-01 3.90533131e-04 -5.86545968e+01] [ 6.49963631e-03 -1.52075469e-04 9.99978866e-01 2.86217231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3607140569999 meters Centerline goodness [0,1] 0.9834766405495813 Centerline is valid? [True, True] Translation: X:755.29, Y:-58.66, Z:2.86 [[ 9.99238532e-01 3.85182641e-02 -6.22094749e-03 7.55293862e+02] [-3.85166817e-02 9.99257887e-01 3.74009411e-04 -5.86611111e+01] [ 6.23073703e-03 -1.34114360e-04 9.99980580e-01 2.86313401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.390714057 meters Centerline goodness [0,1] 0.98360436920202 Centerline is valid? [True, True] Translation: X:755.32, Y:-58.66, Z:2.86 [[ 9.99215484e-01 3.91470116e-02 -5.99405974e-03 7.55322030e+02] [-3.91455573e-02 9.99233454e-01 3.59796229e-04 -5.86641382e+01] [ 6.00354996e-03 -1.24873154e-04 9.99981971e-01 2.86307910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4207140569999 meters Centerline goodness [0,1] 0.9846815372211771 Centerline is valid? [True, True] Translation: X:755.35, Y:-58.66, Z:2.86 [[ 9.99210326e-01 3.92558246e-02 -6.14036308e-03 7.55350613e+02] [-3.92543030e-02 9.99229185e-01 3.68181514e-04 -5.86644770e+01] [ 6.15008326e-03 -1.26855098e-04 9.99981080e-01 2.86201574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4507140569999 meters Centerline goodness [0,1] 0.9863319137550447 Centerline is valid? [True, True] Translation: X:755.38, Y:-58.67, Z:2.86 [[ 9.99215867e-01 3.91370482e-02 -5.99519441e-03 7.55378288e+02] [-3.91355932e-02 9.99233844e-01 3.59862307e-04 -5.86675766e+01] [ 6.00468510e-03 -1.24954637e-04 9.99981964e-01 2.86144581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4807140569999 meters Centerline goodness [0,1] 0.9853806382599394 Centerline is valid? [True, True] Translation: X:755.40, Y:-58.67, Z:2.86 [[ 9.99212877e-01 3.91992437e-02 -6.08644867e-03 7.55404774e+02] [-3.91977581e-02 9.99231407e-01 3.63233130e-04 -5.86715239e+01] [ 6.09600912e-03 -1.24372079e-04 9.99981411e-01 2.86201039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.510714057 meters Centerline goodness [0,1] 0.9847013762080791 Centerline is valid? [True, True] Translation: X:755.43, Y:-58.68, Z:2.86 [[ 9.99219191e-01 3.91161915e-02 -5.56167400e-03 7.55430989e+02] [-3.91149565e-02 9.99234663e-01 3.30701113e-04 -5.86777693e+01] [ 5.57035321e-03 -1.12898262e-04 9.99984479e-01 2.86206167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.540714057 meters Centerline goodness [0,1] 0.9853009851230848 Centerline is valid? [True, True] Translation: X:755.46, Y:-58.68, Z:2.86 [[ 9.99235789e-01 3.87049860e-02 -5.45552739e-03 7.55459196e+02] [-3.87037962e-02 9.99250675e-01 3.23531207e-04 -5.86813311e+01] [ 5.46396170e-03 -1.12134340e-04 9.99985066e-01 2.86071974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5707140569999 meters Centerline goodness [0,1] 0.9856198127024988 Centerline is valid? [True, True] Translation: X:755.49, Y:-58.68, Z:2.86 [[ 9.99262153e-01 3.79646187e-02 -5.81704411e-03 7.55487600e+02] [-3.79632560e-02 9.99279076e-01 3.44531329e-04 -5.86835452e+01] [ 5.82593047e-03 -1.23443182e-04 9.99983022e-01 2.86038569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6007140569999 meters Centerline goodness [0,1] 0.9850138966092273 Centerline is valid? [True, True] Translation: X:755.52, Y:-58.69, Z:2.86 [[ 9.99286399e-01 3.73180414e-02 -5.83571745e-03 7.55516071e+02] [-3.73166614e-02 9.99303431e-01 3.45213221e-04 -5.86873775e+01] [ 5.84453515e-03 -1.27197384e-04 9.99982912e-01 2.86065472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.630714057 meters Centerline goodness [0,1] 0.9848085568128973 Centerline is valid? [True, True] Translation: X:755.54, Y:-58.69, Z:2.86 [[ 9.99357359e-01 3.54756112e-02 -5.13316101e-03 7.55543096e+02] [-3.54745187e-02 9.99370535e-01 3.03743545e-04 -5.86934434e+01] [ 5.14070536e-03 -1.21451930e-04 9.99986779e-01 2.86096951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.660714057 meters Centerline goodness [0,1] 0.9848818758815233 Centerline is valid? [True, True] Translation: X:755.57, Y:-58.70, Z:2.86 [[ 9.99396005e-01 3.44641055e-02 -4.45551268e-03 7.55570640e+02] [-3.44632761e-02 9.99405930e-01 2.62801388e-04 -5.86982257e+01] [ 4.46192301e-03 -1.09091093e-04 9.99990040e-01 2.86135915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6907140569999 meters Centerline goodness [0,1] 0.9844255975327679 Centerline is valid? [True, True] Translation: X:755.60, Y:-58.70, Z:2.86 [[ 9.99432511e-01 3.34382148e-02 -4.06713831e-03 7.55599336e+02] [-3.34375168e-02 9.99440781e-01 2.39513394e-04 -5.87026496e+01] [ 4.07287279e-03 -1.03382467e-04 9.99991700e-01 2.86178440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7207140569999 meters Centerline goodness [0,1] 0.9842333377559594 Centerline is valid? [True, True] Translation: X:755.63, Y:-58.71, Z:2.86 [[ 9.99463230e-01 3.26026565e-02 -3.21220738e-03 7.55628340e+02] [-3.26022171e-02 9.99468389e-01 1.89092735e-04 -5.87060716e+01] [ 3.21666466e-03 -8.42661537e-05 9.99994823e-01 2.86180164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.750714057 meters Centerline goodness [0,1] 0.983410502293125 Centerline is valid? [True, True] Translation: X:755.66, Y:-58.71, Z:2.86 [[ 9.99501076e-01 3.14889561e-02 -2.45870304e-03 7.55655733e+02] [-3.14886950e-02 9.99504098e-01 1.44844222e-04 -5.87130578e+01] [ 2.46204476e-03 -6.73506061e-05 9.99996967e-01 2.86216604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.780714057 meters Centerline goodness [0,1] 0.9841189538745794 Centerline is valid? [True, True] Translation: X:755.68, Y:-58.72, Z:2.86 [[ 9.99515753e-01 3.10132208e-02 -2.53758636e-03 7.55684052e+02] [-3.10129421e-02 9.99518972e-01 1.49111730e-04 -5.87166287e+01] [ 2.54099014e-03 -7.03415044e-05 9.99996769e-01 2.86257393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8107140569999 meters Centerline goodness [0,1] 0.9836883642199213 Centerline is valid? [True, True] Translation: X:755.71, Y:-58.72, Z:2.86 [[ 9.99549828e-01 2.99366862e-02 -1.98406695e-03 7.55712598e+02] [-2.99365137e-02 9.99551795e-01 1.16593685e-04 -5.87224216e+01] [ 1.98666811e-03 -5.71451501e-05 9.99998025e-01 2.86256773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8407140569999 meters Centerline goodness [0,1] 0.9833688980795037 Centerline is valid? [True, True] Translation: X:755.74, Y:-58.73, Z:2.86 [[ 9.99573946e-01 2.90995854e-02 -2.26707762e-03 7.55739680e+02] [-2.90993576e-02 9.99576515e-01 1.33379334e-04 -5.87288342e+01] [ 2.26999883e-03 -6.73520048e-05 9.99997421e-01 2.86271056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.870714057 meters Centerline goodness [0,1] 0.9826822745407514 Centerline is valid? [True, True] Translation: X:755.77, Y:-58.73, Z:2.86 [[ 9.99598381e-01 2.81959136e-02 -2.84019651e-03 7.55767587e+02] [-2.81955546e-02 9.99602412e-01 1.66381107e-04 -5.87341477e+01] [ 2.84375855e-03 -8.62333691e-05 9.99995953e-01 2.86253866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.900714057 meters Centerline goodness [0,1] 0.9825167939432398 Centerline is valid? [True, True] Translation: X:755.80, Y:-58.74, Z:2.86 [[ 9.99624267e-01 2.72542360e-02 -2.92096466e-03 7.55796108e+02] [-2.72538543e-02 9.99628530e-01 1.70389470e-04 -5.87358922e+01] [ 2.92452344e-03 -9.07179034e-05 9.99995719e-01 2.86157913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9307140569999 meters Centerline goodness [0,1] 0.9833460823953666 Centerline is valid? [True, True] Translation: X:755.82, Y:-58.74, Z:2.86 [[ 9.99669869e-01 2.53931879e-02 -3.91654987e-03 7.55824355e+02] [-2.53924894e-02 9.99677533e-01 2.27965119e-04 -5.87431205e+01] [ 3.92107567e-03 -1.28438909e-04 9.99992304e-01 2.86107053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9607140569999 meters Centerline goodness [0,1] 0.9829605033205173 Centerline is valid? [True, True] Translation: X:755.85, Y:-58.75, Z:2.86 [[ 9.99697242e-01 2.43192037e-02 -3.74165927e-03 7.55853097e+02] [-2.43185595e-02 9.99704236e-01 2.17553863e-04 -5.87475658e+01] [ 3.74584336e-03 -1.26496233e-04 9.99992976e-01 2.86129750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.990714057 meters Centerline goodness [0,1] 0.982635408950281 Centerline is valid? [True, True] Translation: X:755.88, Y:-58.75, Z:2.86 [[ 9.99748842e-01 2.20792473e-02 -3.84183071e-03 7.55881265e+02] [-2.20785528e-02 9.99756214e-01 2.23092409e-04 -5.87545092e+01] [ 3.84581984e-03 -1.38214315e-04 9.99992595e-01 2.86204969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.020714057 meters Centerline goodness [0,1] 0.9825764315316684 Centerline is valid? [True, True] Translation: X:755.91, Y:-58.76, Z:2.86 [[ 9.99774575e-01 2.09992953e-02 -3.13495976e-03 7.55909016e+02] [-2.09988275e-02 9.99779484e-01 1.82057868e-04 -5.87588580e+01] [ 3.13809154e-03 -1.16186348e-04 9.99995069e-01 2.86239606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0507140569999 meters Centerline goodness [0,1] 0.9815869852479259 Centerline is valid? [True, True] Translation: X:755.94, Y:-58.76, Z:2.86 [[ 9.99800606e-01 1.96931518e-02 -3.30589419e-03 7.55937824e+02] [-1.96926259e-02 9.99806063e-01 1.91551443e-04 -5.87626606e+01] [ 3.30902530e-03 -1.26411511e-04 9.99994517e-01 2.86286424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0807140569999 meters Centerline goodness [0,1] 0.9811406943356826 Centerline is valid? [True, True] Translation: X:755.97, Y:-58.77, Z:2.86 [[ 9.99844484e-01 1.73737433e-02 -3.02652817e-03 7.55966016e+02] [-1.73732924e-02 9.99849058e-01 1.75204985e-04 -5.87695560e+01] [ 3.02911531e-03 -1.22596979e-04 9.99995405e-01 2.86300436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1107140569999 meters Centerline goodness [0,1] 0.9811267421886891 Centerline is valid? [True, True] Translation: X:755.99, Y:-58.77, Z:2.86 [[ 9.99864243e-01 1.61577999e-02 -3.22808660e-03 7.55994538e+02] [-1.61572814e-02 9.99869445e-01 1.86634318e-04 -5.87715382e+01] [ 3.23068075e-03 -1.34451877e-04 9.99994772e-01 2.86267749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.140714057 meters Centerline goodness [0,1] 0.9834197568521504 Centerline is valid? [True, True] Translation: X:756.02, Y:-58.77, Z:2.86 [[ 9.99887180e-01 1.46511012e-02 -3.31240456e-03 7.56023313e+02] [-1.46505478e-02 9.99892657e-01 1.91286781e-04 -5.87714470e+01] [ 3.31485156e-03 -1.42736658e-04 9.99994496e-01 2.86209758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1707140569999 meters Centerline goodness [0,1] 0.9834786200299993 Centerline is valid? [True, True] Translation: X:756.05, Y:-58.78, Z:2.86 [[ 9.99908039e-01 1.31074706e-02 -3.47962148e-03 7.56051219e+02] [-1.31068512e-02 9.99914081e-01 2.00759857e-04 -5.87767566e+01] [ 3.48195397e-03 -1.55134514e-04 9.99993926e-01 2.86217904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2007140569999 meters Centerline goodness [0,1] 0.980316070151098 Centerline is valid? [True, True] Translation: X:756.08, Y:-58.79, Z:2.86 [[ 9.99946876e-01 9.16744730e-03 -4.71200197e-03 7.56079799e+02] [-9.16627312e-03 9.99957952e-01 2.70724576e-04 -5.87887960e+01] [ 4.71428569e-03 -2.27518697e-04 9.99988862e-01 2.86260500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2307140569999 meters Centerline goodness [0,1] 0.9810530858869227 Centerline is valid? [True, True] Translation: X:756.11, Y:-58.79, Z:2.86 [[ 9.99962600e-01 6.98399284e-03 -5.10123424e-03 7.56109393e+02] [-6.98258799e-03 9.99975578e-01 2.93152692e-04 -5.87889410e+01] [ 5.10315703e-03 -2.57521911e-04 9.99986946e-01 2.86193741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.260714057 meters Centerline goodness [0,1] 0.9824257264827616 Centerline is valid? [True, True] Translation: X:756.14, Y:-58.79, Z:2.86 [[ 9.99973937e-01 5.06514183e-03 -5.14491417e-03 7.56139229e+02] [-5.06368842e-03 9.99987136e-01 2.95480669e-04 -5.87926224e+01] [ 5.14634463e-03 -2.69420725e-04 9.99986721e-01 2.86205386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.290714057 meters Centerline goodness [0,1] 0.9803989592367737 Centerline is valid? [True, True] Translation: X:756.17, Y:-58.80, Z:2.86 [[ 9.99985381e-01 3.48635307e-04 -5.39585775e-03 7.56167719e+02] [-3.46969583e-04 9.99999892e-01 3.09637253e-04 -5.88019692e+01] [ 5.39596512e-03 -3.07760528e-04 9.99985394e-01 2.86164219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3207140569999 meters Centerline goodness [0,1] 0.980416711648494 Centerline is valid? [True, True] Translation: X:756.20, Y:-58.81, Z:2.86 [[ 9.99981136e-01 -1.84327627e-03 -5.85924906e-03 7.56196580e+02] [ 1.84527755e-03 9.99998241e-01 3.36169801e-04 -5.88056255e+01] [ 5.85861910e-03 -3.46975400e-04 9.99982778e-01 2.86140318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3507140569999 meters Centerline goodness [0,1] 0.9794437726723095 Centerline is valid? [True, True] Translation: X:756.22, Y:-58.81, Z:2.86 [[ 9.99971667e-01 -3.75306467e-03 -6.52537595e-03 7.56224377e+02] [ 3.75558507e-03 9.99992878e-01 3.74035623e-04 -5.88128146e+01] [ 6.52392569e-03 -3.98531629e-04 9.99978640e-01 2.86176134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.380714057 meters Centerline goodness [0,1] 0.9780162938057675 Centerline is valid? [True, True] Translation: X:756.25, Y:-58.82, Z:2.86 [[ 9.99962837e-01 -5.60696131e-03 -6.54874787e-03 7.56252775e+02] [ 5.60953598e-03 9.99984196e-01 3.74852727e-04 -5.88205253e+01] [ 6.54654259e-03 -4.11574233e-04 9.99978486e-01 2.86227639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.410714057 meters Centerline goodness [0,1] 0.9793315554026153 Centerline is valid? [True, True] Translation: X:756.28, Y:-58.82, Z:2.86 [[ 9.99939349e-01 -8.53281899e-03 -6.96341452e-03 7.56282873e+02] [ 8.53579729e-03 9.99963490e-01 3.98098948e-04 -5.88173978e+01] [ 6.95976338e-03 -4.57513098e-04 9.99975676e-01 2.86293269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4407140569999 meters Centerline goodness [0,1] 0.9804247062628004 Centerline is valid? [True, True] Translation: X:756.31, Y:-58.82, Z:2.86 [[ 9.99926353e-01 -1.00323684e-02 -6.82942114e-03 7.56312399e+02] [ 1.00352679e-02 9.99949569e-01 3.90420615e-04 -5.88210360e+01] [ 6.82515989e-03 -4.58926932e-04 9.99976603e-01 2.86317386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4707140569999 meters Centerline goodness [0,1] 0.9807231516459795 Centerline is valid? [True, True] Translation: X:756.34, Y:-58.82, Z:2.86 [[ 9.99913759e-01 -1.11936727e-02 -6.86846489e-03 7.56343503e+02] [ 1.11966304e-02 9.99937239e-01 3.92316042e-04 -5.88167634e+01] [ 6.86364236e-03 -4.69185871e-04 9.99976335e-01 2.86274817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.500714057 meters Centerline goodness [0,1] 0.9805906990802712 Centerline is valid? [True, True] Translation: X:756.37, Y:-58.82, Z:2.86 [[ 9.99890059e-01 -1.35781693e-02 -5.95852972e-03 7.56372889e+02] [ 1.35804360e-02 9.99907724e-01 3.40119890e-04 -5.88224424e+01] [ 5.95336168e-03 -4.21001929e-04 9.99982190e-01 2.86354587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.530714057 meters Centerline goodness [0,1] 0.979562706805943 Centerline is valid? [True, True] Translation: X:756.40, Y:-58.83, Z:2.86 [[ 9.99873123e-01 -1.46622459e-02 -6.22551829e-03 7.56403230e+02] [ 1.46647447e-02 9.99892404e-01 3.55911302e-04 -5.88291854e+01] [ 6.21962999e-03 -4.47161781e-04 9.99980558e-01 2.86436138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5607140569999 meters Centerline goodness [0,1] 0.9809807862715857 Centerline is valid? [True, True] Translation: X:756.43, Y:-58.83, Z:2.86 [[ 9.99856723e-01 -1.57254000e-02 -6.26460729e-03 7.56434755e+02] [ 1.57279513e-02 9.99876244e-01 3.58200155e-04 -5.88269586e+01] [ 6.25819917e-03 -4.56678271e-04 9.99980313e-01 2.86441357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5907140569999 meters Centerline goodness [0,1] 0.9796306296576304 Centerline is valid? [True, True] Translation: X:756.46, Y:-58.83, Z:2.86 [[ 9.99815480e-01 -1.79492405e-02 -6.84333662e-03 7.56464470e+02] [ 1.79523394e-02 9.99838767e-01 3.91671615e-04 -5.88296403e+01] [ 6.83520304e-03 -5.14453245e-04 9.99976507e-01 2.86442783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.620714057 meters Centerline goodness [0,1] 0.9784428811876915 Centerline is valid? [True, True] Translation: X:756.49, Y:-58.83, Z:2.86 [[ 9.99792221e-01 -1.89499160e-02 -7.51107314e-03 7.56494235e+02] [ 1.89536770e-02 9.99820271e-01 4.29851625e-04 -5.88349746e+01] [ 7.50157753e-03 -5.72124764e-04 9.99971699e-01 2.86409221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.650714057 meters Centerline goodness [0,1] 0.979295753362551 Centerline is valid? [True, True] Translation: X:756.53, Y:-58.84, Z:2.86 [[ 9.99770996e-01 -1.99422575e-02 -7.76286857e-03 7.56525694e+02] [ 1.99463054e-02 9.99800954e-01 4.44374289e-04 -5.88361374e+01] [ 7.75246157e-03 -5.99113073e-04 9.99969770e-01 2.86351263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6807140569999 meters Centerline goodness [0,1] 0.9790286975717439 Centerline is valid? [True, True] Translation: X:756.56, Y:-58.84, Z:2.86 [[ 9.99728343e-01 -2.18469184e-02 -8.12104571e-03 7.56556962e+02] [ 2.18514135e-02 9.99761121e-01 4.65180525e-04 -5.88383556e+01] [ 8.10894301e-03 -6.42510483e-04 9.99966916e-01 2.86328011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7107140569999 meters Centerline goodness [0,1] 0.9775623029413035 Centerline is valid? [True, True] Translation: X:756.59, Y:-58.84, Z:2.86 [[ 9.99716108e-01 -2.22858089e-02 -8.42885570e-03 7.56587928e+02] [ 2.22906691e-02 9.99751415e-01 4.83101561e-04 -5.88405790e+01] [ 8.41599410e-03 -6.70849246e-04 9.99964360e-01 2.86365026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.740714057 meters Centerline goodness [0,1] 0.977835977576243 Centerline is valid? [True, True] Translation: X:756.62, Y:-58.84, Z:2.86 [[ 9.99697777e-01 -2.30696268e-02 -8.49390086e-03 7.56619609e+02] [ 2.30745944e-02 9.99733627e-01 4.87299940e-04 -5.88405246e+01] [ 8.48039649e-03 -6.83145984e-04 9.99963807e-01 2.86429860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.770714057 meters Centerline goodness [0,1] 0.9790930187165195 Centerline is valid? [True, True] Translation: X:756.65, Y:-58.84, Z:2.86 [[ 9.99684086e-01 -2.36309957e-02 -8.56184217e-03 7.56651552e+02] [ 2.36360660e-02 9.99720508e-01 4.91481160e-04 -5.88379745e+01] [ 8.54783501e-03 -6.93694160e-04 9.99963226e-01 2.86470225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8007140569999 meters Centerline goodness [0,1] 0.977232810772133 Centerline is valid? [True, True] Translation: X:756.68, Y:-58.84, Z:2.86 [[ 9.99679675e-01 -2.38669212e-02 -8.42129049e-03 7.56682148e+02] [ 2.38718385e-02 9.99714910e-01 4.83857294e-04 -5.88427281e+01] [ 8.40734148e-03 -6.84733989e-04 9.99964423e-01 2.86430314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8307140569999 meters Centerline goodness [0,1] 0.9764460927841759 Centerline is valid? [True, True] Translation: X:756.71, Y:-58.85, Z:2.86 [[ 9.99675215e-01 -2.39914071e-02 -8.59522341e-03 7.56713427e+02] [ 2.39965381e-02 9.99711919e-01 4.94321045e-04 -5.88459108e+01] [ 8.58088784e-03 -7.00416103e-04 9.99962938e-01 2.86413769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8607140569999 meters Centerline goodness [0,1] 0.9796322058951396 Centerline is valid? [True, True] Translation: X:756.75, Y:-58.84, Z:2.86 [[ 9.99665195e-01 -2.39660186e-02 -9.75333501e-03 7.56746420e+02] [ 2.39726300e-02 9.99712458e-01 5.61502800e-04 -5.88363916e+01] [ 9.73707353e-03 -7.95127897e-04 9.99952277e-01 2.86490021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.890714057 meters Centerline goodness [0,1] 0.9782060205324518 Centerline is valid? [True, True] Translation: X:756.78, Y:-58.84, Z:2.87 [[ 9.99671243e-01 -2.36904040e-02 -9.80663753e-03 7.56777239e+02] [ 2.36970816e-02 9.99719025e-01 5.65275090e-04 -5.88380237e+01] [ 9.79049051e-03 -7.97477942e-04 9.99951754e-01 2.86506522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9207140569999 meters Centerline goodness [0,1] 0.977007743844079 Centerline is valid? [True, True] Translation: X:756.81, Y:-58.84, Z:2.87 [[ 9.99679749e-01 -2.33673570e-02 -9.71425734e-03 7.56808858e+02] [ 2.33738992e-02 9.99726636e-01 5.60462192e-04 -5.88385647e+01] [ 9.69850529e-03 -7.87342775e-04 9.99952658e-01 2.86567152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9507140569999 meters Centerline goodness [0,1] 0.9769254146044977 Centerline is valid? [True, True] Translation: X:756.84, Y:-58.84, Z:2.87 [[ 9.99715210e-01 -2.22922733e-02 -8.51780947e-03 7.56840058e+02] [ 2.22972665e-02 9.99751264e-01 4.91690105e-04 -5.88364463e+01] [ 8.50472989e-03 -6.81473945e-04 9.99963602e-01 2.86656629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9807140569999 meters Centerline goodness [0,1] 0.9770057322203091 Centerline is valid? [True, True] Translation: X:756.87, Y:-58.84, Z:2.87 [[ 9.99729261e-01 -2.17006790e-02 -8.39555594e-03 7.56872135e+02] [ 2.17055113e-02 9.99764290e-01 4.84883363e-04 -5.88375370e+01] [ 8.38305473e-03 -6.66981921e-04 9.99964639e-01 2.86702744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.010714057 meters Centerline goodness [0,1] 0.9769277606227983 Centerline is valid? [True, True] Translation: X:756.90, Y:-58.84, Z:2.87 [[ 9.99743264e-01 -2.11443583e-02 -8.14378402e-03 7.56904652e+02] [ 2.11488912e-02 9.99776226e-01 4.70891807e-04 -5.88373512e+01] [ 8.13200495e-03 -6.43002915e-04 9.99966728e-01 2.86771134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.040714057 meters Centerline goodness [0,1] 0.9773238176302407 Centerline is valid? [True, True] Translation: X:756.94, Y:-58.84, Z:2.87 [[ 9.99751489e-01 -2.06689019e-02 -8.35206795e-03 7.56937158e+02] [ 2.06736582e-02 9.99786160e-01 4.83536316e-04 -5.88380839e+01] [ 8.34028778e-03 -6.56083950e-04 9.99965004e-01 2.86852602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0707140569999 meters Centerline goodness [0,1] 0.9778327279093177 Centerline is valid? [True, True] Translation: X:756.97, Y:-58.83, Z:2.87 [[ 9.99747193e-01 -2.05579613e-02 -9.10601551e-03 7.56970095e+02] [ 2.05636168e-02 9.99788407e-01 5.27875750e-04 -5.88325188e+01] [ 9.09323669e-03 -7.14994913e-04 9.99958400e-01 2.86928972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1007140569999 meters Centerline goodness [0,1] 0.9777719551072099 Centerline is valid? [True, True] Translation: X:757.00, Y:-58.83, Z:2.87 [[ 9.99752417e-01 -2.03033400e-02 -9.10384502e-03 7.57001854e+02] [ 2.03089885e-02 9.99793612e-01 5.28422334e-04 -5.88315829e+01] [ 9.09123736e-03 -7.13181389e-04 9.99958420e-01 2.86856405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.130714057 meters Centerline goodness [0,1] 0.9777719551072099 Centerline is valid? [True, True] Translation: X:757.03, Y:-58.83, Z:2.87 [[ 9.99753864e-01 -2.02319244e-02 -9.10382718e-03 7.57033585e+02] [ 2.02375727e-02 9.99795060e-01 5.28729553e-04 -5.88334871e+01] [ 9.09126422e-03 -7.12838779e-04 9.99958420e-01 2.86886939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.160714057 meters Centerline goodness [0,1] 0.9769213925990804 Centerline is valid? [True, True] Translation: X:757.06, Y:-58.84, Z:2.87 [[ 9.99747361e-01 -2.02788173e-02 -9.69454071e-03 7.57064110e+02] [ 2.02852318e-02 9.99794075e-01 5.63781705e-04 -5.88379479e+01] [ 9.68111153e-03 -7.60295277e-04 9.99952848e-01 2.86818920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1907140569999 meters Centerline goodness [0,1] 0.9770517649119733 Centerline is valid? [True, True] Translation: X:757.10, Y:-58.84, Z:2.87 [[ 9.99749686e-01 -1.99424892e-02 -1.01421623e-02 7.57095965e+02] [ 1.99495054e-02 9.99800814e-01 5.91079346e-04 -5.88366715e+01] [ 1.01283545e-02 -7.93262513e-04 9.99948392e-01 2.86759152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2207140569999 meters Centerline goodness [0,1] 0.9766383760608978 Centerline is valid? [True, True] Translation: X:757.13, Y:-58.84, Z:2.87 [[ 9.99749364e-01 -1.94423929e-02 -1.10996299e-02 7.57126261e+02] [ 1.94507711e-02 9.99810606e-01 6.47353518e-04 -5.88354391e+01] [ 1.10849416e-02 -8.63087628e-04 9.99938188e-01 2.86751505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.250714057 meters Centerline goodness [0,1] 0.9763131922359908 Centerline is valid? [True, True] Translation: X:757.16, Y:-58.84, Z:2.87 [[ 9.99751998e-01 -1.92816288e-02 -1.11427571e-02 7.57157245e+02] [ 1.92900702e-02 9.99813718e-01 6.50577821e-04 -5.88355859e+01] [ 1.11281372e-02 -8.65361043e-04 9.99937706e-01 2.86831457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.280714057 meters Centerline goodness [0,1] 0.9762997781536231 Centerline is valid? [True, True] Translation: X:757.19, Y:-58.83, Z:2.87 [[ 9.99756204e-01 -1.91889097e-02 -1.09232557e-02 7.57188434e+02] [ 1.91970204e-02 9.99815517e-01 6.38136690e-04 -5.88326139e+01] [ 1.09089954e-02 -8.47675077e-04 9.99940136e-01 2.86879518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3107140569999 meters Centerline goodness [0,1] 0.9751428571428571 Centerline is valid? [True, True] Translation: X:757.22, Y:-58.84, Z:2.87 [[ 9.99763251e-01 -1.88306013e-02 -1.09018421e-02 7.57218840e+02] [ 1.88386629e-02 9.99822334e-01 6.37247958e-04 -5.88367675e+01] [ 1.08879055e-02 -8.42473220e-04 9.99940370e-01 2.86939204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3407140569999 meters Centerline goodness [0,1] 0.974799516642865 Centerline is valid? [True, True] Translation: X:757.25, Y:-58.84, Z:2.87 [[ 9.99767092e-01 -1.88518750e-02 -1.05056431e-02 7.57249871e+02] [ 1.88593645e-02 9.99821958e-01 6.14282731e-04 -5.88363772e+01] [ 1.04921922e-02 -8.12269411e-04 9.99944626e-01 2.86996989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.370714057 meters Centerline goodness [0,1] 0.972631532853108 Centerline is valid? [True, True] Translation: X:757.28, Y:-58.84, Z:2.87 [[ 9.99777030e-01 -1.85379060e-02 -1.01112207e-02 7.57279694e+02] [ 1.85448312e-02 9.99827855e-01 5.91569652e-04 -5.88395941e+01] [ 1.00985137e-02 -7.78948632e-04 9.99948705e-01 2.87050174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.400714057 meters Centerline goodness [0,1] 0.9748738180776266 Centerline is valid? [True, True] Translation: X:757.31, Y:-58.83, Z:2.87 [[ 9.99765168e-01 -1.91900770e-02 -1.00672715e-02 7.57311103e+02] [ 1.91969812e-02 9.99815547e-01 5.89619833e-04 -5.88346796e+01] [ 1.00540997e-02 -7.82742593e-04 9.99949150e-01 2.87113658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4307140569999 meters Centerline goodness [0,1] 0.9752710923036234 Centerline is valid? [True, True] Translation: X:757.34, Y:-58.84, Z:2.87 [[ 9.99759345e-01 -1.96134957e-02 -9.82662592e-03 7.57342943e+02] [ 1.96200975e-02 9.99807342e-01 5.75871246e-04 -5.88354363e+01] [ 9.81343789e-03 -7.68532019e-04 9.99951552e-01 2.87151783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4607140569999 meters Centerline goodness [0,1] 0.9756000705965407 Centerline is valid? [True, True] Translation: X:757.37, Y:-58.83, Z:2.87 [[ 9.99710867e-01 -2.14896628e-02 -1.07878074e-02 7.57373732e+02] [ 2.14977364e-02 9.99768697e-01 6.32981234e-04 -5.88346648e+01] [ 1.07717096e-02 -8.64711658e-04 9.99941610e-01 2.87178932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.490714057 meters Centerline goodness [0,1] 0.975324159830643 Centerline is valid? [True, True] Translation: X:757.40, Y:-58.84, Z:2.87 [[ 9.99685125e-01 -2.24116614e-02 -1.12857405e-02 7.57404765e+02] [ 2.24205601e-02 9.99748408e-01 6.62577508e-04 -5.88361698e+01] [ 1.12680516e-02 -9.15401501e-04 9.99936094e-01 2.87151250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.520714057 meters Centerline goodness [0,1] 0.9748354027661172 Centerline is valid? [True, True] Translation: X:757.44, Y:-58.84, Z:2.87 [[ 9.99631921e-01 -2.42488687e-02 -1.21661210e-02 7.57435566e+02] [ 2.42593509e-02 9.99705443e-01 7.14732126e-04 -5.88375941e+01] [ 1.21452060e-02 -1.00961125e-03 9.99925735e-01 2.87103562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5507140569999 meters Centerline goodness [0,1] 0.9739420886145951 Centerline is valid? [True, True] Translation: X:757.47, Y:-58.84, Z:2.87 [[ 9.99605200e-01 -2.52493626e-02 -1.23253668e-02 7.57466682e+02] [ 2.52602030e-02 9.99680648e-01 7.24614556e-04 -5.88420897e+01] [ 1.23031346e-02 -1.03566974e-03 9.99923777e-01 2.87102421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5807140569999 meters Centerline goodness [0,1] 0.9740877842411423 Centerline is valid? [True, True] Translation: X:757.50, Y:-58.84, Z:2.87 [[ 9.99586057e-01 -2.59294442e-02 -1.24650947e-02 7.57498687e+02] [ 2.59405932e-02 9.99663217e-01 7.33546945e-04 -5.88418326e+01] [ 1.24418762e-02 -1.05659525e-03 9.99922039e-01 2.87121687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6107140569999 meters Centerline goodness [0,1] 0.9741701497158274 Centerline is valid? [True, True] Translation: X:757.53, Y:-58.84, Z:2.87 [[ 9.99553783e-01 -2.67570894e-02 -1.32775076e-02 7.57530782e+02] [ 2.67698248e-02 9.99641318e-01 7.82340096e-04 -5.88429706e+01] [ 1.32518120e-02 -1.13742755e-03 9.99911544e-01 2.87148791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.640714057 meters Centerline goodness [0,1] 0.9751577548987047 Centerline is valid? [True, True] Translation: X:757.56, Y:-58.84, Z:2.87 [[ 9.99515354e-01 -2.78920049e-02 -1.38236467e-02 7.57562450e+02] [ 2.79059292e-02 9.99610221e-01 8.15379450e-04 -5.88428802e+01] [ 1.37955159e-02 -1.20074599e-03 9.99904116e-01 2.87172860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6707140569999 meters Centerline goodness [0,1] 0.9743578368306641 Centerline is valid? [True, True] Translation: X:757.59, Y:-58.85, Z:2.87 [[ 9.99497606e-01 -2.84546827e-02 -1.39594377e-02 7.57593551e+02] [ 2.84689444e-02 9.99594338e-01 8.23965835e-04 -5.88461142e+01] [ 1.39303292e-02 -1.22096234e-03 9.99902223e-01 2.87179058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7007140569999 meters Centerline goodness [0,1] 0.9746916723866882 Centerline is valid? [True, True] Translation: X:757.63, Y:-58.85, Z:2.87 [[ 9.99492806e-01 -2.85029218e-02 -1.42025946e-02 7.57625936e+02] [ 2.85177016e-02 9.99592935e-01 8.39164283e-04 -5.88470066e+01] [ 1.41728946e-02 -1.24376402e-03 9.99898786e-01 2.87227776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7307140569999 meters Centerline goodness [0,1] 0.974588245683755 Centerline is valid? [True, True] Translation: X:757.66, Y:-58.85, Z:2.87 [[ 9.99500636e-01 -2.84017072e-02 -1.38499660e-02 7.57657380e+02] [ 2.84157648e-02 9.99595855e-01 8.19217587e-04 -5.88509634e+01] [ 1.38211014e-02 -1.21236587e-03 9.99903749e-01 2.87243552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.760714057 meters Centerline goodness [0,1] 0.9750782248468556 Centerline is valid? [True, True] Translation: X:757.69, Y:-58.85, Z:2.87 [[ 9.99497564e-01 -2.84292431e-02 -1.40141895e-02 7.57689338e+02] [ 2.84436503e-02 9.99595053e-01 8.29757055e-04 -5.88505301e+01] [ 1.39849251e-02 -1.22795486e-03 9.99901452e-01 2.87258865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.790714057 meters Centerline goodness [0,1] 0.9750782248468556 Centerline is valid? [True, True] Translation: X:757.72, Y:-58.85, Z:2.87 [[ 9.99499571e-01 -2.83586386e-02 -1.40141309e-02 7.57721092e+02] [ 2.83730526e-02 9.99597059e-01 8.30746357e-04 -5.88524749e+01] [ 1.39849252e-02 -1.22795430e-03 9.99901452e-01 2.87289413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8207140569999 meters Centerline goodness [0,1] 0.9752653314978462 Centerline is valid? [True, True] Translation: X:757.75, Y:-58.85, Z:2.87 [[ 9.99477370e-01 -2.89314629e-02 -1.44207557e-02 7.57753099e+02] [ 2.89467998e-02 9.99580587e-01 8.55895909e-04 -5.88518447e+01] [ 1.43899451e-02 -1.27288332e-03 9.99895649e-01 2.87359430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8507140569999 meters Centerline goodness [0,1] 0.9761513523115868 Centerline is valid? [True, True] Translation: X:757.79, Y:-58.85, Z:2.87 [[ 9.99484350e-01 -2.87661546e-02 -1.42668625e-02 7.57785699e+02] [ 2.87811637e-02 9.99585377e-01 8.47777542e-04 -5.88521295e+01] [ 1.42365598e-02 -1.25795729e-03 9.99897864e-01 2.87412002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.880714057 meters Centerline goodness [0,1] 0.9703022921049718 Centerline is valid? [True, True] Translation: X:757.82, Y:-58.86, Z:2.87 [[ 9.99494550e-01 -2.84490850e-02 -1.41878216e-02 7.57816546e+02] [ 2.84639097e-02 9.99594465e-01 8.44013872e-04 -5.88631369e+01] [ 1.41580565e-02 -1.24742814e-03 9.99898992e-01 2.87418617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.910714057 meters Centerline goodness [0,1] 0.9765684051398337 Centerline is valid? [True, True] Translation: X:757.85, Y:-58.85, Z:2.87 [[ 9.99500599e-01 -2.81890288e-02 -1.42804221e-02 7.57849873e+02] [ 2.82040347e-02 9.99601825e-01 8.50466321e-04 -5.88532109e+01] [ 1.42507622e-02 -1.25280712e-03 9.99897668e-01 2.87467357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9407140569999 meters Centerline goodness [0,1] 0.9750617888713233 Centerline is valid? [True, True] Translation: X:757.88, Y:-58.86, Z:2.87 [[ 9.99478716e-01 -2.84255245e-02 -1.53063661e-02 7.57880481e+02] [ 2.84428154e-02 9.99595004e-01 9.13106603e-04 -5.88627136e+01] [ 1.52742115e-02 -1.34798676e-03 9.99882434e-01 2.87416984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9707140569999 meters Centerline goodness [0,1] 0.9778114418107289 Centerline is valid? [True, True] Translation: X:757.91, Y:-58.86, Z:2.87 [[ 9.99466904e-01 -2.85467292e-02 -1.58426988e-02 7.57913030e+02] [ 2.85652921e-02 9.99591481e-01 9.46605341e-04 -5.88577723e+01] [ 1.58092042e-02 -1.39865203e-03 9.99874048e-01 2.87434589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.000714057 meters Centerline goodness [0,1] 0.9777025371438754 Centerline is valid? [True, True] Translation: X:757.94, Y:-58.86, Z:2.87 [[ 9.99438692e-01 -2.91945229e-02 -1.64310855e-02 7.57944334e+02] [ 2.92145930e-02 9.99572680e-01 9.82716065e-04 -5.88605151e+01] [ 1.63953742e-02 -1.46219193e-03 9.99864518e-01 2.87466554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.030714057 meters Centerline goodness [0,1] 0.9626677945726942 Centerline is valid? [True, True] Translation: X:757.97, Y:-58.87, Z:2.87 [[ 9.99352997e-01 -3.15773929e-02 -1.72178767e-02 7.57973270e+02] [ 3.15997939e-02 9.99500071e-01 1.03045841e-03 -5.88721579e+01] [ 1.71767298e-02 -1.57387305e-03 9.99851230e-01 2.87403309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0607140569999 meters Centerline goodness [0,1] 0.9760392287975036 Centerline is valid? [True, True] Translation: X:758.00, Y:-58.86, Z:2.88 [[ 9.99308368e-01 -3.29238177e-02 -1.72860816e-02 7.58004673e+02] [ 3.29466058e-02 9.99456577e-01 1.03509389e-03 -5.88634259e+01] [ 1.72426087e-02 -1.60389570e-03 9.99850049e-01 2.87521561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0907140569999 meters Centerline goodness [0,1] 0.9750846853271528 Centerline is valid? [True, True] Translation: X:758.04, Y:-58.87, Z:2.88 [[ 9.99274121e-01 -3.38708515e-02 -1.74354795e-02 7.58035983e+02] [ 3.38941884e-02 9.99424881e-01 1.04462852e-03 -5.88674773e+01] [ 1.73900696e-02 -1.63483168e-03 9.99847445e-01 2.87500089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.120714057 meters Centerline goodness [0,1] 0.9784823957009388 Centerline is valid? [True, True] Translation: X:758.07, Y:-58.86, Z:2.88 [[ 9.99251828e-01 -3.46652030e-02 -1.71495837e-02 7.58068294e+02] [ 3.46879147e-02 9.99397664e-01 1.02855274e-03 -5.88636620e+01] [ 1.71035989e-02 -1.62266650e-03 9.99852406e-01 2.87573664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.150714057 meters Centerline goodness [0,1] 0.9771318087872525 Centerline is valid? [True, True] Translation: X:758.10, Y:-58.87, Z:2.88 [[ 9.99190507e-01 -3.64055134e-02 -1.71163286e-02 7.58098096e+02] [ 3.64284019e-02 9.99335738e-01 1.02725755e-03 -5.88670568e+01] [ 1.70675611e-02 -1.64994649e-03 9.99852977e-01 2.87596225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1807140569999 meters Centerline goodness [0,1] 0.9741080167274668 Centerline is valid? [True, True] Translation: X:758.13, Y:-58.87, Z:2.88 [[ 9.99177066e-01 -3.68979469e-02 -1.68443827e-02 7.58128840e+02] [ 3.69201897e-02 9.99317706e-01 1.01132807e-03 -5.88714525e+01] [ 1.67955739e-02 -1.63239361e-03 9.99857612e-01 2.87672815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2107140569999 meters Centerline goodness [0,1] 0.9725904893916698 Centerline is valid? [True, True] Translation: X:758.16, Y:-58.87, Z:2.88 [[ 9.99164765e-01 -3.73227927e-02 -1.66367424e-02 7.58160447e+02] [ 3.73445635e-02 9.99301948e-01 9.99746089e-04 -5.88734188e+01] [ 1.65878158e-02 -1.62020295e-03 9.99861100e-01 2.87781853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.240714057 meters Centerline goodness [0,1] 0.9765727940683833 Centerline is valid? [True, True] Translation: X:758.19, Y:-58.87, Z:2.88 [[ 9.99171599e-01 -3.72173739e-02 -1.64615515e-02 7.58192761e+02] [ 3.72386908e-02 9.99305909e-01 9.90219431e-04 -5.88692168e+01] [ 1.64132723e-02 -1.60240576e-03 9.99864009e-01 2.87865571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.270714057 meters Centerline goodness [0,1] 0.975456557212151 Centerline is valid? [True, True] Translation: X:758.23, Y:-58.87, Z:2.88 [[ 9.99161052e-01 -3.75470133e-02 -1.63527981e-02 7.58225245e+02] [ 3.75681124e-02 9.99293584e-01 9.84856687e-04 -5.88722966e+01] [ 1.63042678e-02 -1.59837420e-03 9.99865799e-01 2.87858750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3007140569999 meters Centerline goodness [0,1] 0.9733997409210703 Centerline is valid? [True, True] Translation: X:758.26, Y:-58.88, Z:2.88 [[ 9.99152705e-01 -3.78040366e-02 -1.62704242e-02 7.58255771e+02] [ 3.78249743e-02 9.99283898e-01 9.80943440e-04 -5.88772890e+01] [ 1.62216893e-02 -1.59554067e-03 9.99867147e-01 2.87839604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3307140569999 meters Centerline goodness [0,1] 0.9742847601024157 Centerline is valid? [True, True] Translation: X:758.29, Y:-58.88, Z:2.88 [[ 9.99116112e-01 -3.87729654e-02 -1.62373661e-02 7.58288178e+02] [ 3.87939610e-02 9.99246750e-01 9.79945561e-04 -5.88772733e+01] [ 1.61871399e-02 -1.60899114e-03 9.99867685e-01 2.87899262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3607140569999 meters Centerline goodness [0,1] 0.9754816503509007 Centerline is valid? [True, True] Translation: X:758.32, Y:-58.88, Z:2.88 [[ 9.99074163e-01 -3.94459530e-02 -1.71707353e-02 7.58320745e+02] [ 3.94695525e-02 9.99220235e-01 1.03756255e-03 -5.88767474e+01] [ 1.71164185e-02 -1.71432318e-03 9.99852034e-01 2.87943896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.390714057 meters Centerline goodness [0,1] 0.9694612117147329 Centerline is valid? [True, True] Translation: X:758.35, Y:-58.88, Z:2.88 [[ 9.99052530e-01 -3.98816769e-02 -1.74211000e-02 7.58351501e+02] [ 3.99060615e-02 9.99202880e-01 1.05419981e-03 -5.88845881e+01] [ 1.73651701e-02 -1.74840848e-03 9.99847685e-01 2.87903179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4207140569999 meters Centerline goodness [0,1] 0.9732490054976981 Centerline is valid? [True, True] Translation: X:758.38, Y:-58.88, Z:2.88 [[ 9.99050027e-01 -3.97003750e-02 -1.79700842e-02 7.58383547e+02] [ 3.97263208e-02 9.99210005e-01 1.08902982e-03 -5.88843378e+01] [ 1.79126530e-02 -1.80188060e-03 9.99837932e-01 2.87893490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4507140569999 meters Centerline goodness [0,1] 0.9643479426350355 Centerline is valid? [True, True] Translation: X:758.41, Y:-58.89, Z:2.88 [[ 9.99040428e-01 -3.95625689e-02 -1.87890062e-02 7.58414367e+02] [ 3.95909324e-02 9.99215322e-01 1.13987021e-03 -5.88921817e+01] [ 1.87291667e-02 -1.88265070e-03 9.99822821e-01 2.87774095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4807140569999 meters Centerline goodness [0,1] 0.972513731969812 Centerline is valid? [True, True] Translation: X:758.45, Y:-58.89, Z:2.88 [[ 9.99050795e-01 -3.91288432e-02 -1.91426683e-02 7.58446429e+02] [ 3.91582290e-02 9.99232346e-01 1.16253189e-03 -5.88893406e+01] [ 1.90824848e-02 -1.91102140e-03 9.99816086e-01 2.87841963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.510714057 meters Centerline goodness [0,1] 0.9708664396519107 Centerline is valid? [True, True] Translation: X:758.48, Y:-58.89, Z:2.88 [[ 9.99101580e-01 -3.80707518e-02 -1.86185790e-02 7.58476886e+02] [ 3.80983867e-02 9.99273352e-01 1.13169273e-03 -5.88936279e+01] [ 1.85619655e-02 -1.84001381e-03 9.99826019e-01 2.87847170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.540714057 meters Centerline goodness [0,1] 0.9714553738943983 Centerline is valid? [True, True] Translation: X:758.51, Y:-58.89, Z:2.88 [[ 9.99144495e-01 -3.65430362e-02 -1.93619247e-02 7.58508761e+02] [ 3.65726549e-02 9.99330303e-01 1.17774728e-03 -5.88934319e+01] [ 1.93059197e-02 -1.88485671e-03 9.99811847e-01 2.87909338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5707140569999 meters Centerline goodness [0,1] 0.9726880476847115 Centerline is valid? [True, True] Translation: X:758.54, Y:-58.89, Z:2.88 [[ 9.99196931e-01 -3.50482730e-02 -1.94193769e-02 7.58540714e+02] [ 3.50778081e-02 9.99383885e-01 1.18227026e-03 -5.88933651e+01] [ 1.93659758e-02 -1.86250998e-03 9.99810727e-01 2.88006077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6007140569999 meters Centerline goodness [0,1] 0.9724490931345277 Centerline is valid? [True, True] Translation: X:758.57, Y:-58.90, Z:2.88 [[ 9.99263756e-01 -3.32787808e-02 -1.90910811e-02 7.58570828e+02] [ 3.33070150e-02 9.99444491e-01 1.16278136e-03 -5.88962498e+01] [ 1.90417799e-02 -1.79779219e-03 9.99817073e-01 2.88016309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.630714057 meters Centerline goodness [0,1] 0.9730863646507476 Centerline is valid? [True, True] Translation: X:758.60, Y:-58.90, Z:2.88 [[ 9.99307813e-01 -3.17983315e-02 -1.93070051e-02 7.58602889e+02] [ 3.18269440e-02 9.99492702e-01 1.17643965e-03 -5.88962945e+01] [ 1.92598019e-02 -1.79010831e-03 9.99812910e-01 2.88036643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.660714057 meters Centerline goodness [0,1] 0.9730403060770532 Centerline is valid? [True, True] Translation: X:758.63, Y:-58.90, Z:2.88 [[ 9.99422706e-01 -2.81224089e-02 -1.90626360e-02 7.58632204e+02] [ 2.81496445e-02 9.99603045e-01 1.16187291e-03 -5.88972457e+01] [ 1.90223944e-02 -1.69780859e-03 9.99817616e-01 2.88056495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6907140569999 meters Centerline goodness [0,1] 0.9722036019126782 Centerline is valid? [True, True] Translation: X:758.66, Y:-58.90, Z:2.88 [[ 9.99484025e-01 -2.61607834e-02 -1.86358958e-02 7.58662095e+02] [ 2.61864716e-02 9.99656430e-01 1.13569414e-03 -5.88999127e+01] [ 1.85997824e-02 -1.62311651e-03 9.99825692e-01 2.88127874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7207140569999 meters Centerline goodness [0,1] 0.9779222810663449 Centerline is valid? [True, True] Translation: X:758.69, Y:-58.89, Z:2.88 [[ 9.99521572e-01 -2.45694139e-02 -1.87875173e-02 7.58693664e+02] [ 2.45952439e-02 9.99696836e-01 1.14499045e-03 -5.88920045e+01] [ 1.87536899e-02 -1.60652623e-03 9.99822843e-01 2.88253460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.750714057 meters Centerline goodness [0,1] 0.9795708538220832 Centerline is valid? [True, True] Translation: X:758.72, Y:-58.89, Z:2.88 [[ 9.99572259e-01 -2.28331145e-02 -1.82742665e-02 7.58724676e+02] [ 2.28572665e-02 9.99738118e-01 1.11383849e-03 -5.88886647e+01] [ 1.82440484e-02 -1.53106184e-03 9.99832391e-01 2.88372487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.780714057 meters Centerline goodness [0,1] 0.9759443295760244 Centerline is valid? [True, True] Translation: X:758.75, Y:-58.90, Z:2.88 [[ 9.99662943e-01 -1.93414328e-02 -1.73179182e-02 7.58754079e+02] [ 1.93626031e-02 9.99811970e-01 1.05559830e-03 -5.88987720e+01] [ 1.72942451e-02 -1.39056248e-03 9.99849476e-01 2.88343507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8107140569999 meters Centerline goodness [0,1] 0.9788041053101294 Centerline is valid? [True, True] Translation: X:758.78, Y:-58.89, Z:2.88 [[ 9.99691114e-01 -1.80571468e-02 -1.70767670e-02 7.58784226e+02] [ 1.80775403e-02 9.99836046e-01 1.04060020e-03 -5.88892395e+01] [ 1.70551769e-02 -1.34898471e-03 9.99853640e-01 2.88457172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8407140569999 meters Centerline goodness [0,1] 0.9784080717488789 Centerline is valid? [True, True] Translation: X:758.81, Y:-58.89, Z:2.88 [[ 9.99708465e-01 -1.68959998e-02 -1.72484980e-02 7.58813574e+02] [ 1.69166254e-02 9.99856352e-01 1.05057825e-03 -5.88921279e+01] [ 1.72282697e-02 -1.34205835e-03 9.99850682e-01 2.88442336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.870714057 meters Centerline goodness [0,1] 0.9800523876687487 Centerline is valid? [True, True] Translation: X:758.84, Y:-58.89, Z:2.88 [[ 9.99716393e-01 -1.60663041e-02 -1.75785865e-02 7.58842689e+02] [ 1.60875634e-02 9.99870016e-01 1.06863857e-03 -5.88924799e+01] [ 1.75591325e-02 -1.35113213e-03 9.99844914e-01 2.88465310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.900714057 meters Centerline goodness [0,1] 0.9804336683529071 Centerline is valid? [True, True] Translation: X:758.87, Y:-58.89, Z:2.89 [[ 9.99747596e-01 -1.35376121e-02 -1.79298072e-02 7.58873022e+02] [ 1.35592815e-02 9.99907477e-01 1.08755094e-03 -5.88930021e+01] [ 1.79134255e-02 -1.33039175e-03 9.99838657e-01 2.88509290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9307140569999 meters Centerline goodness [0,1] 0.9799334836275976 Centerline is valid? [True, True] Translation: X:758.90, Y:-58.89, Z:2.89 [[ 9.99752978e-01 -1.22871919e-02 -1.85204831e-02 7.58901769e+02] [ 1.23100844e-02 9.99923598e-01 1.12255994e-03 -5.88931527e+01] [ 1.85052749e-02 -1.35027135e-03 9.99827851e-01 2.88561050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9607140569999 meters Centerline goodness [0,1] 0.9802663925267063 Centerline is valid? [True, True] Translation: X:758.93, Y:-58.89, Z:2.89 [[ 9.99779263e-01 -1.05790315e-02 -1.81523972e-02 7.58930936e+02] [ 1.06007251e-02 9.99943207e-01 1.09926911e-03 -5.88948506e+01] [ 1.81397371e-02 -1.29145503e-03 9.99834627e-01 2.88584400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.990714057 meters Centerline goodness [0,1] 0.9815432112575225 Centerline is valid? [True, True] Translation: X:758.96, Y:-58.89, Z:2.89 [[ 9.99804573e-01 -6.13489298e-03 -1.87930683e-02 7.58959972e+02] [ 6.15735358e-03 9.99980396e-01 1.13752346e-03 -5.88948748e+01] [ 1.87857213e-02 -1.25301672e-03 9.99822748e-01 2.88595140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.020714057 meters Centerline goodness [0,1] 0.9811460341658073 Centerline is valid? [True, True] Translation: X:758.99, Y:-58.90, Z:2.89 [[ 9.99809123e-01 -4.20190729e-03 -1.90803800e-02 7.58989388e+02] [ 4.22469945e-03 9.99990410e-01 1.15438297e-03 -5.88955421e+01] [ 1.90753464e-02 -1.23477149e-03 9.99817287e-01 2.88612651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0507140569999 meters Centerline goodness [0,1] 0.9811460341658073 Centerline is valid? [True, True] Translation: X:759.02, Y:-58.90, Z:2.89 [[ 9.99807912e-01 -4.48010540e-03 -1.90805595e-02 7.59016788e+02] [ 4.50289150e-03 9.99989199e-01 1.15140964e-03 -5.88971162e+01] [ 1.90751949e-02 -1.23710616e-03 9.99817287e-01 2.88639033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0807140569999 meters Centerline goodness [0,1] 0.9827002041869545 Centerline is valid? [True, True] Translation: X:759.05, Y:-58.90, Z:2.89 [[ 9.99813971e-01 -2.58704894e-03 -1.91136458e-02 7.59046389e+02] [ 2.60951209e-03 9.99995934e-01 1.15039369e-03 -5.88974421e+01] [ 1.91105919e-02 -1.20005697e-03 9.99816656e-01 2.88671948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1107140569999 meters Centerline goodness [0,1] 0.9823020774845592 Centerline is valid? [True, True] Translation: X:759.08, Y:-58.90, Z:2.89 [[ 9.99810344e-01 5.62761068e-04 -1.94668808e-02 7.59076290e+02] [-5.40064485e-04 9.99999168e-01 1.17114510e-03 -5.88961452e+01] [ 1.94675237e-02 -1.16040961e-03 9.99809816e-01 2.88695307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.140714057 meters Centerline goodness [0,1] 0.9821677222297085 Centerline is valid? [True, True] Translation: X:759.10, Y:-58.90, Z:2.89 [[ 9.99814374e-01 1.35683667e-03 -1.92191924e-02 7.59104510e+02] [-1.33490791e-03 9.99998443e-01 1.15376537e-03 -5.88977726e+01] [ 1.92207280e-02 -1.12789535e-03 9.99814629e-01 2.88721085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1707140569999 meters Centerline goodness [0,1] 0.9822043240567842 Centerline is valid? [True, True] Translation: X:759.13, Y:-58.90, Z:2.89 [[ 9.99810509e-01 1.66625302e-03 -1.93950739e-02 7.59133044e+02] [-1.64403725e-03 9.99997974e-01 1.16132160e-03 -5.88976450e+01] [ 1.93969697e-02 -1.12921532e-03 9.99811223e-01 2.88788472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2007140569999 meters Centerline goodness [0,1] 0.9811067034223089 Centerline is valid? [True, True] Translation: X:759.16, Y:-58.90, Z:2.89 [[ 9.99823629e-01 1.93264197e-03 -1.86808703e-02 7.59162223e+02] [-1.91212850e-03 9.99997549e-01 1.11589925e-03 -5.88997088e+01] [ 1.86829811e-02 -1.07998222e-03 9.99824875e-01 2.88834455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2307140569999 meters Centerline goodness [0,1] 0.9809262466542208 Centerline is valid? [True, True] Translation: X:759.19, Y:-58.90, Z:2.89 [[ 9.99846089e-01 1.56671943e-03 -1.74740645e-02 7.59190074e+02] [-1.54876199e-03 9.99998259e-01 1.04114743e-03 -5.89042967e+01] [ 1.74756653e-02 -1.01392401e-03 9.99846775e-01 2.88945489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.260714057 meters Centerline goodness [0,1] 0.9825593140445781 Centerline is valid? [True, True] Translation: X:759.22, Y:-58.90, Z:2.89 [[ 9.99850850e-01 1.05364523e-03 -1.72385235e-02 7.59219435e+02] [-1.03611594e-03 9.99998937e-01 1.02576729e-03 -5.88984073e+01] [ 1.72395860e-02 -1.00775318e-03 9.99850879e-01 2.89138281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.290714057 meters Centerline goodness [0,1] 0.9808845661402996 Centerline is valid? [True, True] Translation: X:759.25, Y:-58.91, Z:2.89 [[ 9.99856859e-01 -1.06247347e-04 -1.69189116e-02 7.59246243e+02] [ 1.23270909e-04 9.99999487e-01 1.00514571e-03 -5.89084797e+01] [ 1.69187961e-02 -1.00708744e-03 9.99856360e-01 2.89086338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3207140569999 meters Centerline goodness [0,1] 0.982277628032345 Centerline is valid? [True, True] Translation: X:759.28, Y:-58.90, Z:2.89 [[ 9.99859521e-01 -7.29954775e-04 -1.67452861e-02 7.59275613e+02] [ 7.46688994e-04 9.99999228e-01 9.93108668e-04 -5.89017701e+01] [ 1.67445483e-02 -1.00547268e-03 9.99859295e-01 2.89277464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3507140569999 meters Centerline goodness [0,1] 0.9829314791970394 Centerline is valid? [True, True] Translation: X:759.30, Y:-58.90, Z:2.89 [[ 9.99857627e-01 -3.25944616e-03 -1.65559948e-02 7.59304908e+02] [ 3.27612938e-03 9.99994153e-01 9.80662587e-04 -5.89038799e+01] [ 1.65527016e-02 -1.03476255e-03 9.99862459e-01 2.89258377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.380714057 meters Centerline goodness [0,1] 0.9828839914979304 Centerline is valid? [True, True] Translation: X:759.33, Y:-58.91, Z:2.89 [[ 9.99854383e-01 -4.80843873e-03 -1.63735346e-02 7.59332875e+02] [ 4.82494336e-03 9.99987891e-01 9.68652416e-04 -5.89093096e+01] [ 1.63686786e-02 -1.04751274e-03 9.99865475e-01 2.89207738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.410714057 meters Centerline goodness [0,1] 0.9824762161191887 Centerline is valid? [True, True] Translation: X:759.36, Y:-58.92, Z:2.89 [[ 9.99850793e-01 -6.49490158e-03 -1.60065189e-02 7.59361120e+02] [ 6.51087391e-03 9.99978357e-01 9.45953787e-04 -5.89181480e+01] [ 1.60000286e-02 -1.05002907e-03 9.99871440e-01 2.89135350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4407140569999 meters Centerline goodness [0,1] 0.9811286964697454 Centerline is valid? [True, True] Translation: X:759.39, Y:-58.92, Z:2.89 [[ 9.99809159e-01 -9.91401443e-03 -1.68332299e-02 7.59391107e+02] [ 9.93215112e-03 9.99950181e-01 9.94172985e-04 -5.89223604e+01] [ 1.68225350e-02 -1.16117344e-03 9.99857817e-01 2.89151283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4707140569999 meters Centerline goodness [0,1] 0.9830603671002673 Centerline is valid? [True, True] Translation: X:759.42, Y:-58.92, Z:2.89 [[ 9.99797176e-01 -1.15517457e-02 -1.64974202e-02 7.59421038e+02] [ 1.15693814e-02 9.99932598e-01 9.73959864e-04 -5.89199532e+01] [ 1.64850573e-02 -1.16462727e-03 9.99863434e-01 2.89241820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.500714057 meters Centerline goodness [0,1] 0.9814682023932236 Centerline is valid? [True, True] Translation: X:759.45, Y:-58.93, Z:2.89 [[ 9.99770995e-01 -1.34279303e-02 -1.66627808e-02 7.59448709e+02] [ 1.34461665e-02 9.99909113e-01 9.82871583e-04 -5.89260318e+01] [ 1.66480685e-02 -1.20669703e-03 9.99860683e-01 2.89234747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.530714057 meters Centerline goodness [0,1] 0.9812885154061625 Centerline is valid? [True, True] Translation: X:759.48, Y:-58.93, Z:2.89 [[ 9.99747978e-01 -1.53090342e-02 -1.64199540e-02 7.59478143e+02] [ 1.53269800e-02 9.99882067e-01 9.67632541e-04 -5.89275083e+01] [ 1.64032040e-02 -1.21905698e-03 9.99864715e-01 2.89270493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5607140569999 meters Centerline goodness [0,1] 0.981696947999642 Centerline is valid? [True, True] Translation: X:759.51, Y:-58.93, Z:2.89 [[ 9.99716564e-01 -1.74812727e-02 -1.61615740e-02 7.59506862e+02] [ 1.74989291e-02 9.99846429e-01 9.51717533e-04 -5.89318018e+01] [ 1.61424548e-02 -1.23425802e-03 9.99868940e-01 2.89246759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5907140569999 meters Centerline goodness [0,1] 0.9797023609712432 Centerline is valid? [True, True] Translation: X:759.54, Y:-58.94, Z:2.89 [[ 9.99705007e-01 -1.82012061e-02 -1.60815413e-02 7.59535421e+02] [ 1.82187715e-02 9.99833576e-01 9.46433502e-04 -5.89431667e+01] [ 1.60616387e-02 -1.23914024e-03 9.99870236e-01 2.89175690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.620714057 meters Centerline goodness [0,1] 0.9794005400941818 Centerline is valid? [True, True] Translation: X:759.57, Y:-58.95, Z:2.89 [[ 9.99687435e-01 -1.86569285e-02 -1.66418364e-02 7.59565384e+02] [ 1.86757987e-02 9.99825113e-01 9.79199920e-04 -5.89457950e+01] [ 1.66206571e-02 -1.28969344e-03 9.99861036e-01 2.89214461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.650714057 meters Centerline goodness [0,1] 0.9813853588688026 Centerline is valid? [True, True] Translation: X:759.60, Y:-58.94, Z:2.89 [[ 9.99701877e-01 -1.85995166e-02 -1.58181866e-02 7.59596396e+02] [ 1.86165554e-02 9.99826264e-01 9.30583074e-04 -5.89384970e+01] [ 1.57981301e-02 -1.22478579e-03 9.99874452e-01 2.89408395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6807140569999 meters Centerline goodness [0,1] 0.9819427704120351 Centerline is valid? [True, True] Translation: X:759.63, Y:-58.94, Z:2.89 [[ 9.99716426e-01 -1.82180623e-02 -1.53352647e-02 7.59626416e+02] [ 1.82340249e-02 9.99833340e-01 9.01726605e-04 -5.89404437e+01] [ 1.53162812e-02 -1.18109450e-03 9.99882001e-01 2.89479083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7107140569999 meters Centerline goodness [0,1] 0.9789572443372202 Centerline is valid? [True, True] Translation: X:759.66, Y:-58.95, Z:2.89 [[ 9.99732177e-01 -1.76676672e-02 -1.49474885e-02 7.59655389e+02] [ 1.76827593e-02 9.99843262e-01 8.78103883e-04 -5.89506778e+01] [ 1.49296316e-02 -1.14218155e-03 9.99887894e-01 2.89465556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.740714057 meters Centerline goodness [0,1] 0.9812806119025786 Centerline is valid? [True, True] Translation: X:759.69, Y:-58.95, Z:2.90 [[ 9.99757277e-01 -1.61010861e-02 -1.50380316e-02 7.59686034e+02] [ 1.61161814e-02 9.99869736e-01 8.83156783e-04 -5.89456594e+01] [ 1.50218529e-02 -1.12529807e-03 9.99886532e-01 2.89551436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.770714057 meters Centerline goodness [0,1] 0.9809387123539569 Centerline is valid? [True, True] Translation: X:759.72, Y:-58.94, Z:2.90 [[ 9.99765657e-01 -1.53711913e-02 -1.52433100e-02 7.59716069e+02] [ 1.53866116e-02 9.99881219e-01 8.94838785e-04 -5.89424756e+01] [ 1.52277446e-02 -1.12917197e-03 9.99883414e-01 2.89613309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8007140569999 meters Centerline goodness [0,1] 0.9810961542768831 Centerline is valid? [True, True] Translation: X:759.75, Y:-58.95, Z:2.90 [[ 9.99770260e-01 -1.48816669e-02 -1.54260489e-02 7.59745713e+02] [ 1.48973942e-02 9.99888618e-01 9.05112145e-04 -5.89471400e+01] [ 1.54108611e-02 -1.13471214e-03 9.99880602e-01 2.89604052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8307140569999 meters Centerline goodness [0,1] 0.9809974127932911 Centerline is valid? [True, True] Translation: X:759.78, Y:-58.95, Z:2.90 [[ 9.99783756e-01 -1.40877762e-02 -1.52962954e-02 7.59775130e+02] [ 1.41031419e-02 9.99900143e-01 8.97129849e-04 -5.89483250e+01] [ 1.52821294e-02 -1.11266168e-03 9.99882602e-01 2.89652293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8607140569999 meters Centerline goodness [0,1] 0.9797449195361364 Centerline is valid? [True, True] Translation: X:759.80, Y:-58.95, Z:2.90 [[ 9.99802650e-01 -1.30145206e-02 -1.50094174e-02 7.59803459e+02] [ 1.30291858e-02 9.99914730e-01 8.79694336e-04 -5.89527693e+01] [ 1.49966887e-02 -1.07508122e-03 9.99886965e-01 2.89700440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.890714057 meters Centerline goodness [0,1] 0.981055359456682 Centerline is valid? [True, True] Translation: X:759.83, Y:-58.95, Z:2.90 [[ 9.99813775e-01 -1.26377335e-02 -1.45843183e-02 7.59832050e+02] [ 1.26515152e-02 9.99919602e-01 8.53091791e-04 -5.89518129e+01] [ 1.45723646e-02 -1.03744665e-03 9.99893279e-01 2.89733959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9207140569999 meters Centerline goodness [0,1] 0.9809781393893334 Centerline is valid? [True, True] Translation: X:759.86, Y:-58.96, Z:2.90 [[ 9.99823203e-01 -1.21523471e-02 -1.43486650e-02 7.59860064e+02] [ 1.21655883e-02 9.99925647e-01 8.35894590e-04 -5.89555686e+01] [ 1.43374401e-02 -1.01030676e-03 9.99896703e-01 2.89733830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9507140569999 meters Centerline goodness [0,1] 0.9813411865206934 Centerline is valid? [True, True] Translation: X:759.89, Y:-58.95, Z:2.90 [[ 9.99824452e-01 -1.15895022e-02 -1.47224014e-02 7.59889132e+02] [ 1.16033277e-02 9.99932314e-01 8.54004177e-04 -5.89461663e+01] [ 1.47115074e-02 -1.02468311e-03 9.99891255e-01 2.89817177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9807140569999 meters Centerline goodness [0,1] 0.9802882672533788 Centerline is valid? [True, True] Translation: X:759.92, Y:-58.96, Z:2.90 [[ 9.99825515e-01 -1.15585877e-02 -1.46744137e-02 7.59916698e+02] [ 1.15722653e-02 9.99932680e-01 8.47497800e-04 -5.89578427e+01] [ 1.46636299e-02 -1.01716613e-03 9.99891966e-01 2.89774008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.010714057 meters Centerline goodness [0,1] 0.9817601151519241 Centerline is valid? [True, True] Translation: X:759.95, Y:-58.95, Z:2.90 [[ 9.99823385e-01 -1.16357262e-02 -1.47583413e-02 7.59946301e+02] [ 1.16495141e-02 9.99931782e-01 8.48618726e-04 -5.89506947e+01] [ 1.47474602e-02 -1.02039635e-03 9.99890730e-01 2.89862315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.040714057 meters Centerline goodness [0,1] 0.9819380089072833 Centerline is valid? [True, True] Translation: X:759.97, Y:-58.95, Z:2.90 [[ 9.99835380e-01 -1.09081575e-02 -1.44991192e-02 7.59974362e+02] [ 1.09213375e-02 9.99940016e-01 8.30148814e-04 -5.89521428e+01] [ 1.44891941e-02 -9.88361930e-04 9.99894538e-01 2.89954090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0707140569999 meters Centerline goodness [0,1] 0.9823339027240853 Centerline is valid? [True, True] Translation: X:760.00, Y:-58.95, Z:2.90 [[ 9.99855465e-01 -9.79918166e-03 -1.38933552e-02 7.60003233e+02] [ 9.81114084e-03 9.99951555e-01 7.92886013e-04 -5.89513000e+01] [ 1.38849126e-02 -9.29081079e-04 9.99903168e-01 2.89979567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1007140569999 meters Centerline goodness [0,1] 0.9821344299871907 Centerline is valid? [True, True] Translation: X:760.03, Y:-58.95, Z:2.90 [[ 9.99859402e-01 -8.96425988e-03 -1.41710534e-02 7.60031870e+02] [ 8.97659254e-03 9.99959384e-01 8.06902195e-04 -5.89528536e+01] [ 1.41632445e-02 -9.33996518e-04 9.99899260e-01 2.89981113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.130714057 meters Centerline goodness [0,1] 0.9821752468817878 Centerline is valid? [True, True] Translation: X:760.06, Y:-58.95, Z:2.90 [[ 9.99879654e-01 -6.20157211e-03 -1.42203032e-02 7.60062423e+02] [ 6.21367733e-03 9.99980369e-01 8.07238089e-04 -5.89512249e+01] [ 1.42150179e-02 -8.95501317e-04 9.99898561e-01 2.90020559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.160714057 meters Centerline goodness [0,1] 0.9816715707194358 Centerline is valid? [True, True] Translation: X:760.09, Y:-58.95, Z:2.90 [[ 9.99893334e-01 -4.78043492e-03 -1.38010515e-02 7.60091327e+02] [ 4.79169555e-03 9.99988213e-01 7.82974163e-04 -5.89518358e+01] [ 1.37971459e-02 -8.49021083e-04 9.99904454e-01 2.90040023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1907140569999 meters Centerline goodness [0,1] 0.9822377307519136 Centerline is valid? [True, True] Translation: X:760.12, Y:-58.95, Z:2.90 [[ 9.99902389e-01 -3.84994781e-03 -1.34309625e-02 7.60120123e+02] [ 3.86050724e-03 9.99992259e-01 7.60362939e-04 -5.89523812e+01] [ 1.34279311e-02 -8.12139047e-04 9.99909511e-01 2.90169366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2207140569999 meters Centerline goodness [0,1] 0.9837617189252231 Centerline is valid? [True, True] Translation: X:760.15, Y:-58.95, Z:2.90 [[ 9.99916970e-01 -2.01980375e-03 -1.27268662e-02 7.60148825e+02] [ 2.02910570e-03 9.99997684e-01 7.18020879e-04 -5.89501884e+01] [ 1.27253865e-02 -7.43785418e-04 9.99918752e-01 2.90312549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.250714057 meters Centerline goodness [0,1] 0.9813029637268529 Centerline is valid? [True, True] Translation: X:760.18, Y:-58.96, Z:2.90 [[ 9.99916798e-01 -1.39347855e-03 -1.28240371e-02 7.60176463e+02] [ 1.40285750e-03 9.99998755e-01 7.22390532e-04 -5.89595713e+01] [ 1.28230145e-02 -7.40320724e-04 9.99917508e-01 2.90319058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.280714057 meters Centerline goodness [0,1] 0.9831566654689184 Centerline is valid? [True, True] Translation: X:760.21, Y:-58.95, Z:2.90 [[ 9.99916884e-01 -4.69301328e-04 -1.28842713e-02 7.60205692e+02] [ 4.78665611e-04 9.99999624e-01 7.23725441e-04 -5.89542273e+01] [ 1.28839268e-02 -7.29832545e-04 9.99916732e-01 2.90385858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3107140569999 meters Centerline goodness [0,1] 0.9822865620644697 Centerline is valid? [True, True] Translation: X:760.23, Y:-58.96, Z:2.90 [[ 9.99916852e-01 2.56420705e-04 -1.28927572e-02 7.60234266e+02] [-2.47145415e-04 9.99999710e-01 7.21006820e-04 -5.89560438e+01] [ 1.28929383e-02 -7.17760484e-04 9.99916625e-01 2.90385148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3407140569999 meters Centerline goodness [0,1] 0.9809425354518282 Centerline is valid? [True, True] Translation: X:760.26, Y:-58.96, Z:2.90 [[ 9.99904175e-01 2.12428071e-03 -1.36794481e-02 7.60261504e+02] [-2.11405233e-03 9.99997475e-01 7.62135388e-04 -5.89618615e+01] [ 1.36810325e-02 -7.33143288e-04 9.99906142e-01 2.90287152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.370714057 meters Centerline goodness [0,1] 0.9834070548083615 Centerline is valid? [True, True] Translation: X:760.29, Y:-58.96, Z:2.90 [[ 9.99897175e-01 2.92436270e-03 -1.40387707e-02 7.60290713e+02] [-2.91369629e-03 9.99995451e-01 7.80175373e-04 -5.89561291e+01] [ 1.40409884e-02 -7.39190438e-04 9.99901147e-01 2.90378574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.400714057 meters Centerline goodness [0,1] 0.98371765337389 Centerline is valid? [True, True] Translation: X:760.32, Y:-58.96, Z:2.90 [[ 9.99893709e-01 3.91961507e-03 -1.40430594e-02 7.60319100e+02] [-3.90908961e-03 9.99992058e-01 7.76884338e-04 -5.89585169e+01] [ 1.40459930e-02 -7.21906184e-04 9.99901090e-01 2.90408987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4307140569999 meters Centerline goodness [0,1] 0.9831016808791603 Centerline is valid? [True, True] Translation: X:760.35, Y:-58.96, Z:2.90 [[ 9.99884957e-01 4.66727838e-03 -1.44322078e-02 7.60347542e+02] [-4.65627966e-03 9.99988843e-01 7.95603979e-04 -5.89607185e+01] [ 1.44357601e-02 -7.28312055e-04 9.99895534e-01 2.90379824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4607140569999 meters Centerline goodness [0,1] 0.9823476702508961 Centerline is valid? [True, True] Translation: X:760.38, Y:-58.96, Z:2.90 [[ 9.99875235e-01 4.23329079e-03 -1.52181812e-02 7.60376601e+02] [-4.22102825e-03 9.99990740e-01 8.37812407e-04 -5.89635010e+01] [ 1.52215870e-02 -7.73471505e-04 9.99883846e-01 2.90342378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.490714057 meters Centerline goodness [0,1] 0.9823849756840949 Centerline is valid? [True, True] Translation: X:760.41, Y:-58.97, Z:2.90 [[ 9.99877181e-01 4.07470511e-03 -1.51334266e-02 7.60405534e+02] [-4.06257688e-03 9.99991402e-01 8.32075620e-04 -5.89661954e+01] [ 1.51366869e-02 -7.70492716e-04 9.99885137e-01 2.90339942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.520714057 meters Centerline goodness [0,1] 0.9817533792114053 Centerline is valid? [True, True] Translation: X:760.43, Y:-58.97, Z:2.90 [[ 9.99886950e-01 3.35318744e-03 -1.46575382e-02 7.60433382e+02] [-3.34175179e-03 9.99994093e-01 8.04611619e-04 -5.89697663e+01] [ 1.46601497e-02 -7.55538803e-04 9.99892249e-01 2.90356345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5507140569999 meters Centerline goodness [0,1] 0.9815324077179333 Centerline is valid? [True, True] Translation: X:760.46, Y:-58.97, Z:2.90 [[ 9.99897318e-01 1.56469712e-03 -1.42445114e-02 7.60463045e+02] [-1.55373504e-03 9.99998488e-01 7.80599664e-04 -5.89741186e+01] [ 1.42457113e-02 -7.58387314e-04 9.99898237e-01 2.90420568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5807140569999 meters Centerline goodness [0,1] 0.9809823902744257 Centerline is valid? [True, True] Translation: X:760.49, Y:-58.98, Z:2.90 [[ 9.99898787e-01 1.15199596e-04 -1.42268375e-02 7.60490848e+02] [-1.04129038e-04 9.99999691e-01 7.78884349e-04 -5.89806669e+01] [ 1.42269228e-02 -7.77324089e-04 9.99898490e-01 2.90408855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6107140569999 meters Centerline goodness [0,1] 0.9811652995720399 Centerline is valid? [True, True] Translation: X:760.52, Y:-58.99, Z:2.90 [[ 9.99899008e-01 -1.38483107e-03 -1.41441012e-02 7.60519300e+02] [ 1.39590659e-03 9.99998727e-01 7.73206153e-04 -5.89853054e+01] [ 1.41430125e-02 -7.92871909e-04 9.99899668e-01 2.90430266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.640714057 meters Centerline goodness [0,1] 0.9801951459128765 Centerline is valid? [True, True] Translation: X:760.55, Y:-58.99, Z:2.90 [[ 9.99894715e-01 -4.87474453e-03 -1.36673073e-02 7.60549096e+02] [ 4.88540118e-03 9.99987788e-01 7.46439677e-04 -5.89933128e+01] [ 1.36635017e-02 -8.13131368e-04 9.99906319e-01 2.90454843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6707140569999 meters Centerline goodness [0,1] 0.9808966948604075 Centerline is valid? [True, True] Translation: X:760.58, Y:-58.99, Z:2.90 [[ 9.99879324e-01 -7.39599585e-03 -1.36614832e-02 7.60578049e+02] [ 7.40687269e-03 9.99972291e-01 7.45742522e-04 -5.89938632e+01] [ 1.36555891e-02 -8.46841396e-04 9.99906399e-01 2.90497832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7007140569999 meters Centerline goodness [0,1] 0.9794547961044159 Centerline is valid? [True, True] Translation: X:760.61, Y:-59.00, Z:2.90 [[ 9.99860499e-01 -9.38626222e-03 -1.38159454e-02 7.60606107e+02] [ 9.39756550e-03 9.99955558e-01 7.53438260e-04 -5.90036626e+01] [ 1.38082595e-02 -8.83169407e-04 9.99904271e-01 2.90483445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7307140569999 meters Centerline goodness [0,1] 0.97991745073673 Centerline is valid? [True, True] Translation: X:760.64, Y:-59.01, Z:2.90 [[ 9.99822530e-01 -1.26687108e-02 -1.39431741e-02 7.60636466e+02] [ 1.26805339e-02 9.99919310e-01 7.59867684e-04 -5.90088167e+01] [ 1.39324225e-02 -9.36539722e-04 9.99902500e-01 2.90469749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.760714057 meters Centerline goodness [0,1] 0.9802657895906485 Centerline is valid? [True, True] Translation: X:760.67, Y:-59.01, Z:2.90 [[ 9.99800097e-01 -1.43642328e-02 -1.39080659e-02 7.60665493e+02] [ 1.43761565e-02 9.99896371e-01 7.57726920e-04 -5.90109731e+01] [ 1.38957404e-02 -9.57519981e-04 9.99902991e-01 2.90439088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.790714057 meters Centerline goodness [0,1] 0.9788335110163469 Centerline is valid? [True, True] Translation: X:760.69, Y:-59.02, Z:2.90 [[ 9.99758054e-01 -1.61234101e-02 -1.49622894e-02 7.60693613e+02] [ 1.61373921e-02 9.99869452e-01 8.14214538e-04 -5.90209121e+01] [ 1.49472082e-02 -1.05546987e-03 9.99887727e-01 2.90360437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8207140569999 meters Centerline goodness [0,1] 0.9808532824529097 Centerline is valid? [True, True] Translation: X:760.72, Y:-59.02, Z:2.90 [[ 9.99745078e-01 -1.64258981e-02 -1.54909152e-02 7.60723194e+02] [ 1.64409070e-02 9.99864485e-01 8.42023143e-04 -5.90166073e+01] [ 1.54749850e-02 -1.09649319e-03 9.99879654e-01 2.90390992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8507140569999 meters Centerline goodness [0,1] 0.9798916049109612 Centerline is valid? [True, True] Translation: X:760.75, Y:-59.02, Z:2.90 [[ 9.99738587e-01 -1.70000593e-02 -1.52890456e-02 7.60751342e+02] [ 1.70147365e-02 9.99854894e-01 8.30406870e-04 -5.90229126e+01] [ 1.52727101e-02 -1.09032887e-03 9.99882771e-01 2.90361285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.880714057 meters Centerline goodness [0,1] 0.9802192933879721 Centerline is valid? [True, True] Translation: X:760.78, Y:-59.03, Z:2.90 [[ 9.99723232e-01 -1.76495580e-02 -1.55548147e-02 7.60781309e+02] [ 1.76648168e-02 9.99843609e-01 8.44109128e-04 -5.90256190e+01] [ 1.55374839e-02 -1.11864846e-03 9.99878660e-01 2.90402705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.910714057 meters Centerline goodness [0,1] 0.9818471972870536 Centerline is valid? [True, True] Translation: X:760.81, Y:-59.03, Z:2.90 [[ 9.99731695e-01 -1.72578058e-02 -1.54501295e-02 7.60811371e+02] [ 1.72728048e-02 9.99850463e-01 8.37877760e-04 -5.90260359e+01] [ 1.54333592e-02 -1.10452002e-03 9.99880289e-01 2.90479982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9407140569999 meters Centerline goodness [0,1] 0.9818471972870536 Centerline is valid? [True, True] Translation: X:760.84, Y:-59.03, Z:2.91 [[ 9.99731071e-01 -1.72938864e-02 -1.54501597e-02 7.60840557e+02] [ 1.73088812e-02 9.99849839e-01 8.37320520e-04 -5.90275881e+01] [ 1.54333592e-02 -1.10452032e-03 9.99880289e-01 2.90508077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9707140569999 meters Centerline goodness [0,1] 0.9808015943312666 Centerline is valid? [True, True] Translation: X:760.87, Y:-59.03, Z:2.91 [[ 9.99742169e-01 -1.68752000e-02 -1.51928966e-02 7.60870092e+02] [ 1.68896446e-02 9.99857021e-01 8.22936180e-04 -5.90334509e+01] [ 1.51768371e-02 -1.07932663e-03 9.99884243e-01 2.90539806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.000714057 meters Centerline goodness [0,1] 0.981925716681747 Centerline is valid? [True, True] Translation: X:760.90, Y:-59.03, Z:2.91 [[ 9.99756994e-01 -1.60345181e-02 -1.51277266e-02 7.60900332e+02] [ 1.60487392e-02 9.99870875e-01 8.19136122e-04 -5.90338314e+01] [ 1.51126388e-02 -1.06171801e-03 9.99885234e-01 2.90603108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.030714057 meters Centerline goodness [0,1] 0.9818073169112277 Centerline is valid? [True, True] Translation: X:760.93, Y:-59.04, Z:2.91 [[ 9.99786216e-01 -1.34186789e-02 -1.57309165e-02 7.60929189e+02] [ 1.34337284e-02 9.99909401e-01 8.51403544e-04 -5.90352980e+01] [ 1.57180665e-02 -1.06254639e-03 9.99875899e-01 2.90605262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0607140569999 meters Centerline goodness [0,1] 0.9803062488936095 Centerline is valid? [True, True] Translation: X:760.96, Y:-59.04, Z:2.91 [[ 9.99799550e-01 -1.17252130e-02 -1.62289558e-02 7.60958187e+02] [ 1.17409954e-02 9.99930687e-01 8.77549304e-04 -5.90361485e+01] [ 1.62175415e-02 -1.06791750e-03 9.99867917e-01 2.90609431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0907140569999 meters Centerline goodness [0,1] 0.9818755098890922 Centerline is valid? [True, True] Translation: X:760.99, Y:-59.04, Z:2.91 [[ 9.99826870e-01 -7.89223238e-03 -1.68505917e-02 7.60987225e+02] [ 7.90869079e-03 9.99968311e-01 9.10310483e-04 -5.90366592e+01] [ 1.68428733e-02 -1.04341900e-03 9.99857604e-01 2.90556762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.120714057 meters Centerline goodness [0,1] 0.9815088920799735 Centerline is valid? [True, True] Translation: X:761.02, Y:-59.04, Z:2.91 [[ 9.99829697e-01 -6.32839528e-03 -1.73357690e-02 7.61015843e+02] [ 6.34556804e-03 9.99979429e-01 9.35769141e-04 -5.90371105e+01] [ 1.73294905e-02 -1.04561508e-03 9.99849286e-01 2.90535231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.150714057 meters Centerline goodness [0,1] 0.9815371688851545 Centerline is valid? [True, True] Translation: X:761.04, Y:-59.04, Z:2.90 [[ 9.99830313e-01 -4.68739549e-03 -1.78149788e-02 7.61044816e+02] [ 4.70524928e-03 9.99988469e-01 9.60395004e-04 -5.90377518e+01] [ 1.78102716e-02 -1.04405595e-03 9.99840839e-01 2.90480695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1807140569999 meters Centerline goodness [0,1] 0.9824907030281566 Centerline is valid? [True, True] Translation: X:761.07, Y:-59.04, Z:2.90 [[ 9.99822989e-01 -1.84879739e-03 -1.87236035e-02 7.61073383e+02] [ 1.86800143e-03 9.99997747e-01 1.00822191e-03 -5.90375713e+01] [ 1.87216973e-02 -1.04301916e-03 9.99824190e-01 2.90468303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2107140569999 meters Centerline goodness [0,1] 0.9825056057545013 Centerline is valid? [True, True] Translation: X:761.10, Y:-59.04, Z:2.91 [[ 9.99832902e-01 -9.44302346e-04 -1.82558331e-02 7.61101516e+02] [ 9.62386420e-04 9.99999055e-01 9.81831614e-04 -5.90388364e+01] [ 1.82548887e-02 -9.99236718e-04 9.99832866e-01 2.90518497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.240714057 meters Centerline goodness [0,1] 0.9825739940139674 Centerline is valid? [True, True] Translation: X:761.13, Y:-59.04, Z:2.91 [[ 9.99837460e-01 -3.75301247e-04 -1.80253300e-02 7.61130394e+02] [ 3.92789573e-04 9.99999456e-01 9.66677831e-04 -5.90400676e+01] [ 1.80249574e-02 -9.73600869e-04 9.99837063e-01 2.90561446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.270714057 meters Centerline goodness [0,1] 0.9813053097345132 Centerline is valid? [True, True] Translation: X:761.16, Y:-59.04, Z:2.91 [[ 9.99852732e-01 4.41239651e-04 -1.71557736e-02 7.61158555e+02] [-4.25584514e-04 9.99999490e-01 9.16168970e-04 -5.90414963e+01] [ 1.71561691e-02 -9.08732816e-04 9.99852409e-01 2.90662423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3007140569999 meters Centerline goodness [0,1] 0.9816215498938429 Centerline is valid? [True, True] Translation: X:761.19, Y:-59.04, Z:2.91 [[ 9.99865557e-01 5.18894024e-04 -1.63889656e-02 7.61187280e+02] [-5.04659667e-04 9.99999492e-01 8.72656744e-04 -5.90431198e+01] [ 1.63894101e-02 -8.64268571e-04 9.99865311e-01 2.90713155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3307140569999 meters Centerline goodness [0,1] 0.981681488545386 Centerline is valid? [True, True] Translation: X:761.22, Y:-59.05, Z:2.91 [[ 9.99872275e-01 6.14257186e-04 -1.59704540e-02 7.61216370e+02] [-6.00769087e-04 9.99999459e-01 8.49349673e-04 -5.90452272e+01] [ 1.59709671e-02 -8.39646635e-04 9.99872103e-01 2.90739453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3607140569999 meters Centerline goodness [0,1] 0.9818688365099721 Centerline is valid? [True, True] Translation: X:761.25, Y:-59.05, Z:2.91 [[ 9.99871719e-01 2.83781609e-04 -1.60145293e-02 7.61245227e+02] [-2.70193272e-04 9.99999602e-01 8.50657846e-04 -5.90469510e+01] [ 1.60147644e-02 -8.46221704e-04 9.99871397e-01 2.90771568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.390714057 meters Centerline goodness [0,1] 0.9824627277747101 Centerline is valid? [True, True] Translation: X:761.27, Y:-59.04, Z:2.91 [[ 9.99871644e-01 -2.36452885e-04 -1.60199593e-02 7.61274147e+02] [ 2.50099849e-04 9.99999608e-01 8.49874513e-04 -5.90383349e+01] [ 1.60197520e-02 -8.53772016e-04 9.99871311e-01 2.90934466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4207140569999 meters Centerline goodness [0,1] 0.9839174800354925 Centerline is valid? [True, True] Translation: X:761.30, Y:-59.04, Z:2.91 [[ 9.99877268e-01 -1.22006993e-03 -1.56192270e-02 7.61302625e+02] [ 1.23314532e-03 9.99998897e-01 8.27530558e-04 -5.90405438e+01] [ 1.56182001e-02 -8.46689770e-04 9.99877670e-01 2.90930063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4507140569999 meters Centerline goodness [0,1] 0.9833178459223859 Centerline is valid? [True, True] Translation: X:761.33, Y:-59.04, Z:2.91 [[ 9.99874885e-01 -1.87899854e-03 -1.57061939e-02 7.61330596e+02] [ 1.89227850e-03 9.99997865e-01 8.30705303e-04 -5.90437460e+01] [ 1.57045995e-02 -8.60321862e-04 9.99876305e-01 2.90904351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4807140569999 meters Centerline goodness [0,1] 0.9847338407260301 Centerline is valid? [True, True] Translation: X:761.36, Y:-59.05, Z:2.91 [[ 9.99871953e-01 -3.78641200e-03 -1.55479852e-02 7.61359623e+02] [ 3.79963254e-03 9.99992444e-01 8.20853236e-04 -5.90461692e+01] [ 1.55447596e-02 -8.79824759e-04 9.99878786e-01 2.90863298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.510714057 meters Centerline goodness [0,1] 0.9830280291326418 Centerline is valid? [True, True] Translation: X:761.39, Y:-59.05, Z:2.91 [[ 9.99864781e-01 -4.46846700e-03 -1.58257229e-02 7.61386936e+02] [ 4.48223269e-03 9.99989607e-01 8.34467348e-04 -5.90523406e+01] [ 1.58218296e-02 -9.05289085e-04 9.99874417e-01 2.90865058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.540714057 meters Centerline goodness [0,1] 0.9831340829296475 Centerline is valid? [True, True] Translation: X:761.42, Y:-59.05, Z:2.91 [[ 9.99866434e-01 -5.36795028e-03 -1.54369742e-02 7.61415341e+02] [ 5.38113447e-03 9.99985191e-01 8.12655494e-04 -5.90499344e+01] [ 1.54323833e-02 -8.95615384e-04 9.99880513e-01 2.91011417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5707140569999 meters Centerline goodness [0,1] 0.9833900251800151 Centerline is valid? [True, True] Translation: X:761.44, Y:-59.05, Z:2.91 [[ 9.99861964e-01 -6.88145223e-03 -1.51228123e-02 7.61443360e+02] [ 6.89425966e-03 9.99975918e-01 7.94924620e-04 -5.90530241e+01] [ 1.51169779e-02 -8.99075486e-04 9.99885328e-01 2.91026003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6007140569999 meters Centerline goodness [0,1] 0.9845836017504498 Centerline is valid? [True, True] Translation: X:761.47, Y:-59.05, Z:2.91 [[ 9.99850727e-01 -7.93374767e-03 -1.53485937e-02 7.61472416e+02] [ 7.94703171e-03 9.99968098e-01 8.04690253e-04 -5.90509530e+01] [ 1.53417199e-02 -9.26545895e-04 9.99881880e-01 2.91055902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.630714057 meters Centerline goodness [0,1] 0.9834855860060902 Centerline is valid? [True, True] Translation: X:761.50, Y:-59.06, Z:2.91 [[ 9.99829872e-01 -9.41207240e-03 -1.58631807e-02 7.61500182e+02] [ 9.42640139e-03 9.99955227e-01 8.28755444e-04 -5.90613130e+01] [ 1.58546701e-02 -9.78147158e-04 9.99873828e-01 2.90997267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.660714057 meters Centerline goodness [0,1] 0.9835015786899097 Centerline is valid? [True, True] Translation: X:761.53, Y:-59.05, Z:2.91 [[ 9.99815935e-01 -1.02416349e-02 -1.62235667e-02 7.61529040e+02] [ 1.02566933e-02 9.99947041e-01 8.45249879e-04 -5.90549473e+01] [ 1.62140508e-02 -1.01149445e-03 9.99868032e-01 2.91061401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6907140569999 meters Centerline goodness [0,1] 0.9840161838916924 Centerline is valid? [True, True] Translation: X:761.56, Y:-59.06, Z:2.91 [[ 9.99797298e-01 -1.11822956e-02 -1.67427418e-02 7.61556963e+02] [ 1.11984132e-02 9.99936918e-01 8.69220641e-04 -5.90587346e+01] [ 1.67319657e-02 -1.05653659e-03 9.99859453e-01 2.91036191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7207140569999 meters Centerline goodness [0,1] 0.9832751373351423 Centerline is valid? [True, True] Translation: X:761.59, Y:-59.06, Z:2.91 [[ 9.99788679e-01 -1.18183294e-02 -1.68203783e-02 7.61585340e+02] [ 1.18346617e-02 9.99929588e-01 8.71771978e-04 -5.90592341e+01] [ 1.68088911e-02 -1.07065124e-03 9.99858147e-01 2.91066311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.750714057 meters Centerline goodness [0,1] 0.9830523454935148 Centerline is valid? [True, True] Translation: X:761.61, Y:-59.06, Z:2.91 [[ 9.99769766e-01 -1.30320040e-02 -1.70464740e-02 7.61612301e+02] [ 1.30489201e-02 9.99914471e-01 8.81499884e-04 -5.90648763e+01] [ 1.70335283e-02 -1.10373501e-03 9.99854310e-01 2.91080436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.780714057 meters Centerline goodness [0,1] 0.9824351297405189 Centerline is valid? [True, True] Translation: X:761.64, Y:-59.07, Z:2.91 [[ 9.99763570e-01 -1.33829070e-02 -1.71377447e-02 7.61640069e+02] [ 1.33999961e-02 9.99909826e-01 8.82710284e-04 -5.90669235e+01] [ 1.71243861e-02 -1.11214730e-03 9.99852748e-01 2.91098031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8107140569999 meters Centerline goodness [0,1] 0.9837456302464875 Centerline is valid? [True, True] Translation: X:761.67, Y:-59.07, Z:2.91 [[ 9.99762368e-01 -1.30671081e-02 -1.74487385e-02 7.61669291e+02] [ 1.30846962e-02 9.99913992e-01 8.94200379e-04 -5.90655473e+01] [ 1.74355532e-02 -1.12229933e-03 9.99847359e-01 2.91154151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8407140569999 meters Centerline goodness [0,1] 0.9829526462395544 Centerline is valid? [True, True] Translation: X:761.70, Y:-59.06, Z:2.91 [[ 9.99744368e-01 -1.28536543e-02 -1.86005932e-02 7.61698446e+02] [ 1.28735179e-02 9.99916683e-01 9.48555265e-04 -5.90625158e+01] [ 1.85868511e-02 -1.18776785e-03 9.99826544e-01 2.91214969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.870714057 meters Centerline goodness [0,1] 0.9834350091285567 Centerline is valid? [True, True] Translation: X:761.73, Y:-59.06, Z:2.91 [[ 9.99767906e-01 -9.86412358e-03 -1.91529159e-02 7.61728949e+02] [ 9.88458837e-03 9.99950672e-01 9.74118958e-04 -5.90585681e+01] [ 1.91423623e-02 -1.16321156e-03 9.99816092e-01 2.91249177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.900714057 meters Centerline goodness [0,1] 0.9832688114626441 Centerline is valid? [True, True] Translation: X:761.76, Y:-59.06, Z:2.91 [[ 9.99779846e-01 -8.27971766e-03 -1.92796802e-02 7.61757234e+02] [ 8.30014419e-03 9.99965073e-01 9.79705453e-04 -5.90597841e+01] [ 1.92708951e-02 -1.13951389e-03 9.99813650e-01 2.91240715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9307140569999 meters Centerline goodness [0,1] 0.9839944639149943 Centerline is valid? [True, True] Translation: X:761.79, Y:-59.06, Z:2.91 [[ 9.99825545e-01 -4.48999155e-03 -1.81306053e-02 7.61787650e+02] [ 4.50742009e-03 9.99989418e-01 9.20527327e-04 -5.90572270e+01] [ 1.81262803e-02 -1.00208899e-03 9.99835203e-01 2.91384281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9607140569999 meters Centerline goodness [0,1] 0.9840372242135494 Centerline is valid? [True, True] Translation: X:761.82, Y:-59.06, Z:2.92 [[ 9.99848464e-01 -2.39577494e-03 -1.72426639e-02 7.61817566e+02] [ 2.41122003e-03 9.99996710e-01 8.75014546e-04 -5.90567467e+01] [ 1.72405109e-02 -9.16457806e-04 9.99850951e-01 2.91522023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.990714057 meters Centerline goodness [0,1] 0.984538487170943 Centerline is valid? [True, True] Translation: X:761.85, Y:-59.06, Z:2.92 [[ 9.99858433e-01 -5.23479576e-04 -1.68178304e-02 7.61846590e+02] [ 5.37894469e-04 9.99999492e-01 8.52607637e-04 -5.90566097e+01] [ 1.68173755e-02 -8.61533154e-04 9.99858207e-01 2.91605262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.020714057 meters Centerline goodness [0,1] 0.9836269798896601 Centerline is valid? [True, True] Translation: X:761.88, Y:-59.06, Z:2.92 [[ 9.99865397e-01 2.48041200e-03 -1.62183978e-02 7.61875311e+02] [-2.46741702e-03 9.99996619e-01 8.21210637e-04 -5.90561426e+01] [ 1.62203799e-02 -7.81082549e-04 9.99868136e-01 2.91726469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0507140569999 meters Centerline goodness [0,1] 0.9836295291265376 Centerline is valid? [True, True] Translation: X:761.90, Y:-59.06, Z:2.92 [[ 9.99862871e-01 3.90787938e-03 -1.60924890e-02 7.61904585e+02] [-3.89529082e-03 9.99992082e-01 8.13533355e-04 -5.90560972e+01] [ 1.60955408e-02 -7.50736871e-04 9.99870177e-01 2.91771961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0807140569999 meters Centerline goodness [0,1] 0.9834982759392772 Centerline is valid? [True, True] Translation: X:761.93, Y:-59.05, Z:2.92 [[ 9.99853811e-01 6.94438068e-03 -1.56247173e-02 7.61934203e+02] [-6.93290463e-03 9.99975656e-01 7.88526631e-04 -5.90549689e+01] [ 1.56298128e-02 -6.80086682e-04 9.99877616e-01 2.91757513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1107140569999 meters Centerline goodness [0,1] 0.9838982673377578 Centerline is valid? [True, True] Translation: X:761.96, Y:-59.06, Z:2.92 [[ 9.99837526e-01 8.29182543e-03 -1.60052345e-02 7.61963301e+02] [-8.27996872e-03 9.99965395e-01 8.06926600e-04 -5.90557686e+01] [ 1.60113715e-02 -6.74272654e-04 9.99871582e-01 2.91745338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.140714057 meters Centerline goodness [0,1] 0.984192194337769 Centerline is valid? [True, True] Translation: X:761.99, Y:-59.06, Z:2.92 [[ 9.99819612e-01 9.09907953e-03 -1.66718209e-02 7.61991453e+02] [-9.08634876e-03 9.99958366e-01 8.39200499e-04 -5.90574726e+01] [ 1.66787628e-02 -6.87563138e-04 9.99860663e-01 2.91681634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1707140569999 meters Centerline goodness [0,1] 0.9837908845991138 Centerline is valid? [True, True] Translation: X:762.02, Y:-59.06, Z:2.92 [[ 9.99805021e-01 9.15974020e-03 -1.74933790e-02 7.62019870e+02] [-9.14576303e-03 9.99957790e-01 8.78833586e-04 -5.90586727e+01] [ 1.75006905e-02 -7.18671934e-04 9.99846593e-01 2.91630198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2007140569999 meters Centerline goodness [0,1] 0.9836402646164849 Centerline is valid? [True, True] Translation: X:762.05, Y:-59.06, Z:2.92 [[ 9.99798069e-01 9.00719939e-03 -1.79636394e-02 7.62048104e+02] [-8.99246529e-03 9.99959161e-01 9.00825934e-04 -5.90613405e+01] [ 1.79710197e-02 -7.39106625e-04 9.99838235e-01 2.91564497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2307140569999 meters Centerline goodness [0,1] 0.9836977154469729 Centerline is valid? [True, True] Translation: X:762.08, Y:-59.06, Z:2.92 [[ 9.99800311e-01 8.76065397e-03 -1.79607462e-02 7.62077080e+02] [-8.74590768e-03 9.99961349e-01 8.99413559e-04 -5.90638772e+01] [ 1.79679315e-02 -7.42150928e-04 9.99838288e-01 2.91552290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.260714057 meters Centerline goodness [0,1] 0.983566456892526 Centerline is valid? [True, True] Translation: X:762.10, Y:-59.07, Z:2.92 [[ 9.99806924e-01 8.60421334e-03 -1.76658317e-02 7.62103453e+02] [-8.58996214e-03 9.99962716e-01 8.82433158e-04 -5.90684606e+01] [ 1.76727657e-02 -7.30513956e-04 9.99843558e-01 2.91566784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.290714057 meters Centerline goodness [0,1] 0.9841563831923772 Centerline is valid? [True, True] Translation: X:762.13, Y:-59.07, Z:2.92 [[ 9.99823815e-01 8.01009419e-03 -1.69757750e-02 7.62132521e+02] [-7.99688824e-03 9.99967667e-01 8.45669239e-04 -5.90671179e+01] [ 1.69820000e-02 -7.09766869e-04 9.99855544e-01 2.91696192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3207140569999 meters Centerline goodness [0,1] 0.9834797342488965 Centerline is valid? [True, True] Translation: X:762.16, Y:-59.07, Z:2.92 [[ 9.99842418e-01 7.39198935e-03 -1.61399303e-02 7.62160142e+02] [-7.37999149e-03 9.99972445e-01 8.02799803e-04 -5.90706420e+01] [ 1.61454199e-02 -6.83560748e-04 9.99869421e-01 2.91772887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3507140569999 meters Centerline goodness [0,1] 0.98341950436798 Centerline is valid? [True, True] Translation: X:762.19, Y:-59.07, Z:2.92 [[ 9.99850977e-01 7.18310989e-03 -1.56980004e-02 7.62186630e+02] [-7.17175919e-03 9.99973979e-01 7.79242534e-04 -5.90743035e+01] [ 1.57031893e-02 -6.66544130e-04 9.99876475e-01 2.91836180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.380714057 meters Centerline goodness [0,1] 0.9837505293894746 Centerline is valid? [True, True] Translation: X:762.22, Y:-59.08, Z:2.92 [[ 9.99865763e-01 5.42192325e-03 -1.54615545e-02 7.62215415e+02] [-5.41072620e-03 9.99985069e-01 7.65926184e-04 -5.90751521e+01] [ 1.54654765e-02 -6.82165129e-04 9.99880170e-01 2.91977172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.410714057 meters Centerline goodness [0,1] 0.9845632194164362 Centerline is valid? [True, True] Translation: X:762.24, Y:-59.08, Z:2.92 [[ 9.99882125e-01 3.96859170e-03 -1.48319088e-02 7.62243919e+02] [-3.95814398e-03 9.99991897e-01 7.33697404e-04 -5.90764584e+01] [ 1.48347003e-02 -6.74904090e-04 9.99889732e-01 2.92022442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4407140569999 meters Centerline goodness [0,1] 0.9826630446785486 Centerline is valid? [True, True] Translation: X:762.27, Y:-59.08, Z:2.92 [[ 9.99890320e-01 2.24400666e-03 -1.46394227e-02 7.62271193e+02] [-2.23366065e-03 9.99997244e-01 7.23034548e-04 -5.90841388e+01] [ 1.46410049e-02 -6.90255743e-04 9.99892576e-01 2.92029442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4707140569999 meters Centerline goodness [0,1] 0.9835901984698969 Centerline is valid? [True, True] Translation: X:762.30, Y:-59.09, Z:2.92 [[ 9.99892635e-01 -1.76118319e-03 -1.45470683e-02 7.62301447e+02] [ 1.77180813e-03 9.99998173e-01 7.17527739e-04 -5.90879868e+01] [ 1.45457781e-02 -7.43225315e-04 9.99893928e-01 2.92115085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.500714057 meters Centerline goodness [0,1] 0.9840443213296399 Centerline is valid? [True, True] Translation: X:762.33, Y:-59.09, Z:2.92 [[ 9.99877470e-01 -4.62513838e-03 -1.49550239e-02 7.62331167e+02] [ 4.63668165e-03 9.99988979e-01 7.37285106e-04 -5.90908094e+01] [ 1.49514490e-02 -8.06536451e-04 9.99887896e-01 2.92119046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.530714057 meters Centerline goodness [0,1] 0.9835537281920214 Centerline is valid? [True, True] Translation: X:762.36, Y:-59.10, Z:2.92 [[ 9.99851057e-01 -7.60470030e-03 -1.54929784e-02 7.62360119e+02] [ 7.61743692e-03 9.99970696e-01 7.63243259e-04 -5.90956978e+01] [ 1.54867202e-02 -8.81146365e-04 9.99879685e-01 2.92148585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5607140569999 meters Centerline goodness [0,1] 0.9822971688730745 Centerline is valid? [True, True] Translation: X:762.39, Y:-59.10, Z:2.92 [[ 9.99776118e-01 -1.30173134e-02 -1.66812294e-02 7.62389343e+02] [ 1.30328232e-02 9.99914732e-01 8.21398844e-04 -5.91049739e+01] [ 1.66691146e-02 -1.03861846e-03 9.99860521e-01 2.92105150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5907140569999 meters Centerline goodness [0,1] 0.9819905422725063 Centerline is valid? [True, True] Translation: X:762.42, Y:-59.11, Z:2.92 [[ 9.99745003e-01 -1.52395743e-02 -1.66638618e-02 7.62418337e+02] [ 1.52553526e-02 9.99883294e-01 8.20146494e-04 -5.91051398e+01] [ 1.66494184e-02 -1.07415045e-03 9.99860812e-01 2.92153976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.620714057 meters Centerline goodness [0,1] 0.982989873867472 Centerline is valid? [True, True] Translation: X:762.45, Y:-59.11, Z:2.92 [[ 9.99705979e-01 -1.71937119e-02 -1.70976986e-02 7.62447877e+02] [ 1.72105936e-02 9.99851533e-01 8.40704996e-04 -5.91057408e+01] [ 1.70807053e-02 -1.13471935e-03 9.99853470e-01 2.92208750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.650714057 meters Centerline goodness [0,1] 0.9815819184025856 Centerline is valid? [True, True] Translation: X:762.48, Y:-59.11, Z:2.92 [[ 9.99682543e-01 -1.83190291e-02 -1.72981508e-02 7.62476337e+02] [ 1.83364604e-02 9.99831512e-01 8.49618491e-04 -5.91097942e+01] [ 1.72796721e-02 -1.16653563e-03 9.99850015e-01 2.92215944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6807140569999 meters Centerline goodness [0,1] 0.9809513274336283 Centerline is valid? [True, True] Translation: X:762.50, Y:-59.12, Z:2.92 [[ 9.99657597e-01 -1.92810717e-02 -1.76897759e-02 7.62504484e+02] [ 1.92994270e-02 9.99813372e-01 8.67480521e-04 -5.91166518e+01] [ 1.76697486e-02 -1.20858603e-03 9.99843147e-01 2.92198199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7107140569999 meters Centerline goodness [0,1] 0.9811304039688165 Centerline is valid? [True, True] Translation: X:762.53, Y:-59.12, Z:2.92 [[ 9.99654515e-01 -1.93617827e-02 -1.77755948e-02 7.62533893e+02] [ 1.93803111e-02 9.99811805e-01 8.70668177e-04 -5.91156903e+01] [ 1.77553918e-02 -1.21486393e-03 9.99841623e-01 2.92289129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.740714057 meters Centerline goodness [0,1] 0.9807773412354887 Centerline is valid? [True, True] Translation: X:762.56, Y:-59.11, Z:2.92 [[ 9.99655808e-01 -1.87112294e-02 -1.83890156e-02 7.62563501e+02] [ 1.87309375e-02 9.99824155e-01 9.00062196e-04 -5.91140543e+01] [ 1.83689407e-02 -1.24419590e-03 9.99830503e-01 2.92341592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.770714057 meters Centerline goodness [0,1] 0.9799960080725644 Centerline is valid? [True, True] Translation: X:762.59, Y:-59.11, Z:2.92 [[ 9.99657197e-01 -1.85768297e-02 -1.84496636e-02 7.62592556e+02] [ 1.85965987e-02 9.99826663e-01 9.00510215e-04 -5.91145178e+01] [ 1.84297370e-02 -1.24330251e-03 9.99829385e-01 2.92352822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8007140569999 meters Centerline goodness [0,1] 0.9802301301701541 Centerline is valid? [True, True] Translation: X:762.62, Y:-59.12, Z:2.92 [[ 9.99652639e-01 -1.85779165e-02 -1.86939113e-02 7.62621190e+02] [ 1.85981260e-02 9.99826628e-01 9.07785858e-04 -5.91155814e+01] [ 1.86738056e-02 -1.25514225e-03 9.99824841e-01 2.92346496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8307140569999 meters Centerline goodness [0,1] 0.9785633446508222 Centerline is valid? [True, True] Translation: X:762.65, Y:-59.12, Z:2.92 [[ 9.99621758e-01 -1.91635947e-02 -1.97255575e-02 7.62649537e+02] [ 1.91861505e-02 9.99815473e-01 9.54849669e-04 -5.91214095e+01] [ 1.97036193e-02 -1.33294602e-03 9.99804976e-01 2.92280314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8607140569999 meters Centerline goodness [0,1] 0.9785633446508222 Centerline is valid? [True, True] Translation: X:762.68, Y:-59.12, Z:2.92 [[ 9.99617172e-01 -1.94012072e-02 -1.97256980e-02 7.62677816e+02] [ 1.94237518e-02 9.99810888e-01 9.51940062e-04 -5.91227177e+01] [ 1.97034989e-02 -1.33472270e-03 9.99804976e-01 2.92307530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.890714057 meters Centerline goodness [0,1] 0.9793138579433457 Centerline is valid? [True, True] Translation: X:762.71, Y:-59.12, Z:2.92 [[ 9.99601533e-01 -1.95376922e-02 -2.03728802e-02 7.62706171e+02] [ 1.95616680e-02 9.99808174e-01 9.78209165e-04 -5.91216840e+01] [ 2.03498602e-02 -1.37634690e-03 9.99791973e-01 2.92331471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9207140569999 meters Centerline goodness [0,1] 0.9798939460892621 Centerline is valid? [True, True] Translation: X:762.73, Y:-59.12, Z:2.92 [[ 9.99576308e-01 -1.97104201e-02 -2.14173717e-02 7.62734493e+02] [ 1.97368441e-02 9.99804686e-01 1.02306558e-03 -5.91217688e+01] [ 2.13930235e-02 -1.44534344e-03 9.99770098e-01 2.92348928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9507140569999 meters Centerline goodness [0,1] 0.9796549117267754 Centerline is valid? [True, True] Translation: X:762.76, Y:-59.12, Z:2.92 [[ 9.99585137e-01 -1.85074725e-02 -2.20686923e-02 7.62763466e+02] [ 1.85351651e-02 9.99827657e-01 1.05093174e-03 -5.91220536e+01] [ 2.20454388e-02 -1.45954260e-03 9.99755904e-01 2.92340472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9807140569999 meters Centerline goodness [0,1] 0.9803469233840557 Centerline is valid? [True, True] Translation: X:762.79, Y:-59.12, Z:2.92 [[ 9.99604490e-01 -1.69628851e-02 -2.24304068e-02 7.62791661e+02] [ 1.69910715e-02 9.99855072e-01 1.06661537e-03 -5.91240730e+01] [ 2.24090632e-02 -1.44731016e-03 9.99747838e-01 2.92359618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.010714057 meters Centerline goodness [0,1] 0.9810015350047829 Centerline is valid? [True, True] Translation: X:762.82, Y:-59.12, Z:2.93 [[ 9.99626401e-01 -1.55463183e-02 -2.24804231e-02 7.62821031e+02] [ 1.55742383e-02 9.99878144e-01 1.06741528e-03 -5.91164626e+01] [ 2.24610894e-02 -1.41713196e-03 9.99746714e-01 2.92556611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.040714057 meters Centerline goodness [0,1] 0.9788388014581666 Centerline is valid? [True, True] Translation: X:762.85, Y:-59.12, Z:2.92 [[ 9.99648847e-01 -1.37423470e-02 -2.26568138e-02 7.62848793e+02] [ 1.37702037e-02 9.99904610e-01 1.07394130e-03 -5.91223840e+01] [ 2.26398940e-02 -1.38555313e-03 9.99742725e-01 2.92476836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0707140569999 meters Centerline goodness [0,1] 0.9792851610047583 Centerline is valid? [True, True] Translation: X:762.88, Y:-59.12, Z:2.93 [[ 9.99698491e-01 -8.92990084e-03 -2.28731992e-02 7.62878122e+02] [ 8.95701147e-03 9.99959299e-01 1.08307821e-03 -5.91201725e+01] [ 2.28625964e-02 -1.28762716e-03 9.99737787e-01 2.92551460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1007140569999 meters Centerline goodness [0,1] 0.9808268424206111 Centerline is valid? [True, True] Translation: X:762.91, Y:-59.11, Z:2.93 [[ 9.99712263e-01 -6.11856443e-03 -2.31938475e-02 7.62908695e+02] [ 6.14567640e-03 9.99980513e-01 1.09782845e-03 -5.91122526e+01] [ 2.31866784e-02 -1.24005445e-03 9.99730384e-01 2.92768706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.130714057 meters Centerline goodness [0,1] 0.9803825295154774 Centerline is valid? [True, True] Translation: X:762.94, Y:-59.11, Z:2.93 [[ 9.99721913e-01 -3.55753498e-03 -2.33118329e-02 7.62938409e+02] [ 3.58421398e-03 9.99992969e-01 1.10275708e-03 -5.91111758e+01] [ 2.33077458e-02 -1.18600501e-03 9.99727634e-01 2.92796138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.160714057 meters Centerline goodness [0,1] 0.9813098720496617 Centerline is valid? [True, True] Translation: X:762.97, Y:-59.11, Z:2.93 [[ 9.99725088e-01 1.89188382e-03 -2.33702799e-02 7.62967882e+02] [-1.86657092e-03 9.99997648e-01 1.10489028e-03 -5.91091339e+01] [ 2.33723152e-02 -1.06096425e-03 9.99726267e-01 2.92837914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1907140569999 meters Centerline goodness [0,1] 0.9837152391546162 Centerline is valid? [True, True] Translation: X:763.00, Y:-59.11, Z:2.93 [[ 9.99715867e-01 4.10661993e-03 -2.34802306e-02 7.62997389e+02] [-4.08172087e-03 9.99991056e-01 1.10825486e-03 -5.91067407e+01] [ 2.34845718e-02 -1.01210022e-03 9.99723687e-01 2.92982815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2207140569999 meters Centerline goodness [0,1] 0.9826298846463382 Centerline is valid? [True, True] Translation: X:763.03, Y:-59.11, Z:2.93 [[ 9.99708244e-01 6.22664627e-03 -2.33378672e-02 7.63025185e+02] [-6.20267928e-03 9.99980159e-01 1.09920593e-03 -5.91094630e+01] [ 2.33442485e-02 -9.54127928e-04 9.99727031e-01 2.92929668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.250714057 meters Centerline goodness [0,1] 0.9827744345764077 Centerline is valid? [True, True] Translation: X:763.05, Y:-59.11, Z:2.93 [[ 9.99694135e-01 7.56639376e-03 -2.35454205e-02 7.63053793e+02] [-7.54246777e-03 9.99970945e-01 1.10480599e-03 -5.91090579e+01] [ 2.35530958e-02 -9.26877496e-04 9.99722158e-01 2.93002684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.280714057 meters Centerline goodness [0,1] 0.9839507554560716 Centerline is valid? [True, True] Translation: X:763.08, Y:-59.11, Z:2.93 [[ 9.99671103e-01 9.16974627e-03 -2.39499666e-02 7.63082997e+02] [-9.14559138e-03 9.99957553e-01 1.11789812e-03 -5.91054598e+01] [ 2.39592008e-02 -8.98493840e-04 9.99712533e-01 2.93140003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3107140569999 meters Centerline goodness [0,1] 0.9841418743857768 Centerline is valid? [True, True] Translation: X:763.11, Y:-59.11, Z:2.93 [[ 9.99656831e-01 9.51799766e-03 -2.44054825e-02 7.63111566e+02] [-9.49310347e-03 9.99954295e-01 1.13568328e-03 -5.91066746e+01] [ 2.44151764e-02 -9.03609776e-04 9.99701497e-01 2.93126284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3407140569999 meters Centerline goodness [0,1] 0.9843984331281478 Centerline is valid? [True, True] Translation: X:763.14, Y:-59.11, Z:2.93 [[ 9.99642840e-01 8.98657684e-03 -2.51681116e-02 7.63139042e+02] [-8.96000308e-03 9.99959176e-01 1.16842459e-03 -5.91089493e+01] [ 2.51775842e-02 -9.42500922e-04 9.99682550e-01 2.93076387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.370714057 meters Centerline goodness [0,1] 0.9847275483813431 Centerline is valid? [True, True] Translation: X:763.17, Y:-59.11, Z:2.93 [[ 9.99634915e-01 8.45727069e-03 -2.56614733e-02 7.63167323e+02] [-8.42953967e-03 9.99963764e-01 1.18863252e-03 -5.91104002e+01] [ 2.56705960e-02 -9.71884157e-04 9.99669984e-01 2.93093558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.400714057 meters Centerline goodness [0,1] 0.9841262743695225 Centerline is valid? [True, True] Translation: X:763.20, Y:-59.11, Z:2.93 [[ 9.99637347e-01 6.47378524e-03 -2.61393377e-02 7.63195015e+02] [-6.44441378e-03 9.99978505e-01 1.20773498e-03 -5.91139022e+01] [ 2.61465945e-02 -1.03884428e-03 9.99657580e-01 2.93088925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4307140569999 meters Centerline goodness [0,1] 0.9839662447257383 Centerline is valid? [True, True] Translation: X:763.22, Y:-59.12, Z:2.93 [[ 9.99655355e-01 5.17011999e-03 -2.57379366e-02 7.63223932e+02] [-5.14134565e-03 9.99986082e-01 1.18402371e-03 -5.91165148e+01] [ 2.57436999e-02 -1.05128801e-03 9.99668023e-01 2.93139116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4607140569999 meters Centerline goodness [0,1] 0.9846315132048536 Centerline is valid? [True, True] Translation: X:763.25, Y:-59.12, Z:2.93 [[ 9.99679077e-01 2.75147437e-03 -2.51827895e-02 7.63252978e+02] [-2.72324848e-03 9.99995625e-01 1.15506690e-03 -5.91195345e+01] [ 2.51858574e-02 -1.08611722e-03 9.99682196e-01 2.93291119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.490714057 meters Centerline goodness [0,1] 0.9835761944078727 Centerline is valid? [True, True] Translation: X:763.28, Y:-59.12, Z:2.93 [[ 9.99679957e-01 1.31153638e-03 -2.52638669e-02 7.63282040e+02] [-1.28271559e-03 9.99998508e-01 1.15696270e-03 -5.91219071e+01] [ 2.52653466e-02 -1.12418606e-03 9.99680148e-01 2.93378160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.520714057 meters Centerline goodness [0,1] 0.9837606647212136 Centerline is valid? [True, True] Translation: X:763.31, Y:-59.13, Z:2.93 [[ 9.99695182e-01 -1.40182918e-04 -2.46885230e-02 7.63309956e+02] [ 1.68097623e-04 9.99999349e-01 1.12860364e-03 -5.91262642e+01] [ 2.46883487e-02 -1.13240970e-03 9.99694555e-01 2.93351916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5507140569999 meters Centerline goodness [0,1] 0.9839547270306258 Centerline is valid? [True, True] Translation: X:763.34, Y:-59.13, Z:2.93 [[ 9.99698910e-01 -1.11862884e-03 -2.45119933e-02 7.63337060e+02] [ 1.14638007e-03 9.99998718e-01 1.11812617e-03 -5.91305695e+01] [ 2.45107111e-02 -1.14588958e-03 9.99698911e-01 2.93357649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5807140569999 meters Centerline goodness [0,1] 0.9840549219355553 Centerline is valid? [True, True] Translation: X:763.37, Y:-59.13, Z:2.93 [[ 9.99705988e-01 -1.92476571e-03 -2.41708934e-02 7.63365898e+02] [ 1.95193669e-03 9.99997489e-01 1.10057681e-03 -5.91331270e+01] [ 2.41687143e-02 -1.14743328e-03 9.99707235e-01 2.93398596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6107140569999 meters Centerline goodness [0,1] 0.9830568773068884 Centerline is valid? [True, True] Translation: X:763.40, Y:-59.13, Z:2.94 [[ 9.99694413e-01 -4.40101016e-03 -2.43251233e-02 7.63395606e+02] [ 4.42923152e-03 9.99989579e-01 1.10641614e-03 -5.91337878e+01] [ 2.43200005e-02 -1.21381964e-03 9.99703488e-01 2.93523913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.640714057 meters Centerline goodness [0,1] 0.9833407275953859 Centerline is valid? [True, True] Translation: X:763.42, Y:-59.14, Z:2.93 [[ 9.99689316e-01 -5.78078470e-03 -2.42457101e-02 7.63423162e+02] [ 5.80918732e-03 9.99982520e-01 1.10117793e-03 -5.91374050e+01] [ 2.42389207e-02 -1.24168369e-03 9.99705423e-01 2.93492636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6707140569999 meters Centerline goodness [0,1] 0.9827345773291719 Centerline is valid? [True, True] Translation: X:763.45, Y:-59.14, Z:2.94 [[ 9.99679438e-01 -7.37740171e-03 -2.42197185e-02 7.63452145e+02] [ 7.40610197e-03 9.99971974e-01 1.09550832e-03 -5.91390833e+01] [ 2.42109577e-02 -1.27453085e-03 9.99706059e-01 2.93532912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7007140569999 meters Centerline goodness [0,1] 0.9826006109709124 Centerline is valid? [True, True] Translation: X:763.48, Y:-59.15, Z:2.93 [[ 9.99679204e-01 -8.75346066e-03 -2.37669038e-02 7.63479971e+02] [ 8.78139970e-03 9.99960869e-01 1.07142849e-03 -5.91466913e+01] [ 2.37565950e-02 -1.27979147e-03 9.99716953e-01 2.93393450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7307140569999 meters Centerline goodness [0,1] 0.9821694237815033 Centerline is valid? [True, True] Translation: X:763.51, Y:-59.15, Z:2.94 [[ 9.99648119e-01 -1.13880793e-02 -2.39572640e-02 7.63509265e+02] [ 1.14171835e-02 9.99934240e-01 1.07840095e-03 -5.91471927e+01] [ 2.39434077e-02 -1.35154596e-03 9.99712402e-01 2.93543430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.760714057 meters Centerline goodness [0,1] 0.9824036522394345 Centerline is valid? [True, True] Translation: X:763.54, Y:-59.15, Z:2.94 [[ 9.99636179e-01 -1.26545067e-02 -2.38196067e-02 7.63537823e+02] [ 1.26835401e-02 9.99918990e-01 1.06819537e-03 -5.91489844e+01] [ 2.38041596e-02 -1.36992367e-03 9.99715702e-01 2.93580541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.790714057 meters Centerline goodness [0,1] 0.9811705737541307 Centerline is valid? [True, True] Translation: X:763.57, Y:-59.15, Z:2.94 [[ 9.99610932e-01 -1.41757232e-02 -2.40215360e-02 7.63566675e+02] [ 1.42055467e-02 9.99898522e-01 1.07133555e-03 -5.91520934e+01] [ 2.40039114e-02 -1.41215778e-03 9.99710867e-01 2.93545257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8207140569999 meters Centerline goodness [0,1] 0.9807589761820121 Centerline is valid? [True, True] Translation: X:763.60, Y:-59.15, Z:2.94 [[ 9.99604195e-01 -1.48617639e-02 -2.38868465e-02 7.63595160e+02] [ 1.48913100e-02 9.99888557e-01 1.05950640e-03 -5.91540713e+01] [ 2.38684383e-02 -1.41479347e-03 9.99714107e-01 2.93582689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8507140569999 meters Centerline goodness [0,1] 0.9817385114996219 Centerline is valid? [True, True] Translation: X:763.62, Y:-59.16, Z:2.94 [[ 9.99607149e-01 -1.51958421e-02 -2.35506690e-02 7.63622988e+02] [ 1.52245089e-02 9.99883561e-01 1.03840658e-03 -5.91560960e+01] [ 2.35321474e-02 -1.39654601e-03 9.99722105e-01 2.93633145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.880714057 meters Centerline goodness [0,1] 0.980944563987666 Centerline is valid? [True, True] Translation: X:763.65, Y:-59.16, Z:2.94 [[ 9.99624313e-01 -1.51415510e-02 -2.28465658e-02 7.63651846e+02] [ 1.51683823e-02 9.99884452e-01 1.00156682e-03 -5.91581274e+01] [ 2.28287606e-02 -1.34773598e-03 9.99738481e-01 2.93657542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.910714057 meters Centerline goodness [0,1] 0.9805989034162801 Centerline is valid? [True, True] Translation: X:763.68, Y:-59.16, Z:2.94 [[ 9.99653141e-01 -1.43684489e-02 -2.20713607e-02 7.63680371e+02] [ 1.43931851e-02 9.99895950e-01 9.62281208e-04 -5.91576903e+01] [ 2.20552377e-02 -1.27962461e-03 9.99755935e-01 2.93767402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9407140569999 meters Centerline goodness [0,1] 0.9805771241684651 Centerline is valid? [True, True] Translation: X:763.71, Y:-59.16, Z:2.94 [[ 9.99650423e-01 -1.41786417e-02 -2.23158641e-02 7.63709625e+02] [ 1.42037644e-02 9.99898653e-01 9.67666976e-04 -5.91584910e+01] [ 2.22998822e-02 -1.28429798e-03 9.99750502e-01 2.93805261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9707140569999 meters Centerline goodness [0,1] 0.9810816826174048 Centerline is valid? [True, True] Translation: X:763.74, Y:-59.16, Z:2.94 [[ 9.99664607e-01 -1.36328125e-02 -2.20186339e-02 7.63737535e+02] [ 1.36570671e-02 9.99906285e-01 9.51543475e-04 -5.91606912e+01] [ 2.20035982e-02 -1.25193429e-03 9.99757108e-01 2.93742783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.000714057 meters Centerline goodness [0,1] 0.9802141060737576 Centerline is valid? [True, True] Translation: X:763.76, Y:-59.17, Z:2.94 [[ 9.99653407e-01 -1.36034230e-02 -2.25391516e-02 7.63764761e+02] [ 1.36287769e-02 9.99906652e-01 9.71646726e-04 -5.91652706e+01] [ 2.25238299e-02 -1.27849103e-03 9.99745489e-01 2.93701253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.030714057 meters Centerline goodness [0,1] 0.9812479219771695 Centerline is valid? [True, True] Translation: X:763.79, Y:-59.16, Z:2.94 [[ 9.99664636e-01 -1.35022829e-02 -2.20975890e-02 7.63794191e+02] [ 1.35265346e-02 9.99908063e-01 9.48371327e-04 -5.91588822e+01] [ 2.20827522e-02 -1.24695708e-03 9.99755369e-01 2.93891541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0607140569999 meters Centerline goodness [0,1] 0.982214712878771 Centerline is valid? [True, True] Translation: X:763.82, Y:-59.16, Z:2.94 [[ 9.99642812e-01 -1.39064925e-02 -2.28223251e-02 7.63822538e+02] [ 1.39323347e-02 9.99902466e-01 9.73700631e-04 -5.91603950e+01] [ 2.28065584e-02 -1.29132111e-03 9.99739063e-01 2.93886995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0907140569999 meters Centerline goodness [0,1] 0.9823479654527647 Centerline is valid? [True, True] Translation: X:763.85, Y:-59.16, Z:2.94 [[ 9.99644722e-01 -1.38692976e-02 -2.27611927e-02 7.63850942e+02] [ 1.38948624e-02 9.99902996e-01 9.65402222e-04 -5.91608413e+01] [ 2.27455953e-02 -1.28132288e-03 9.99740464e-01 2.93897183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.120714057 meters Centerline goodness [0,1] 0.982853330368064 Centerline is valid? [True, True] Translation: X:763.88, Y:-59.16, Z:2.94 [[ 9.99651151e-01 -1.34229973e-02 -2.27463978e-02 7.63879199e+02] [ 1.34482845e-02 9.99909108e-01 9.59091673e-04 -5.91623400e+01] [ 2.27314564e-02 -1.26465713e-03 9.99740807e-01 2.93964270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.150714057 meters Centerline goodness [0,1] 0.9830674627929774 Centerline is valid? [True, True] Translation: X:763.91, Y:-59.16, Z:2.94 [[ 9.99653456e-01 -1.30718953e-02 -2.28493460e-02 7.63907674e+02] [ 1.30971908e-02 9.99913769e-01 9.57748611e-04 -5.91632949e+01] [ 2.28348560e-02 -1.25667895e-03 9.99738461e-01 2.94043464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1807140569999 meters Centerline goodness [0,1] 0.9824826605015117 Centerline is valid? [True, True] Translation: X:763.94, Y:-59.16, Z:2.94 [[ 9.99683982e-01 -1.08574089e-02 -2.26727331e-02 7.63936373e+02] [ 1.08816779e-02 9.99940344e-01 9.47300351e-04 -5.91639391e+01] [ 2.26610953e-02 -1.19371837e-03 9.99742492e-01 2.94105351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2107140569999 meters Centerline goodness [0,1] 0.9835696952156199 Centerline is valid? [True, True] Translation: X:763.96, Y:-59.17, Z:2.94 [[ 9.99713455e-01 -9.88361916e-03 -2.18018976e-02 7.63964855e+02] [ 9.90575411e-03 9.99950525e-01 9.07512326e-04 -5.91653781e+01] [ 2.17918494e-02 -1.12321652e-03 9.99761898e-01 2.94105164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.240714057 meters Centerline goodness [0,1] 0.9833140517931832 Centerline is valid? [True, True] Translation: X:763.99, Y:-59.17, Z:2.94 [[ 9.99725130e-01 -8.90928740e-03 -2.16861351e-02 7.63993622e+02] [ 8.93084612e-03 9.99959716e-01 8.97476789e-04 -5.91665189e+01] [ 2.16772656e-02 -1.09090564e-03 9.99764425e-01 2.94133189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.270714057 meters Centerline goodness [0,1] 0.9831751125373267 Centerline is valid? [True, True] Translation: X:764.02, Y:-59.17, Z:2.94 [[ 9.99753259e-01 -6.88180466e-03 -2.11201817e-02 7.64022211e+02] [ 6.90173670e-03 9.99975803e-01 8.70996835e-04 -5.91666586e+01] [ 2.11136766e-02 -1.01654786e-03 9.99776565e-01 2.94178928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3007140569999 meters Centerline goodness [0,1] 0.9831538187644651 Centerline is valid? [True, True] Translation: X:764.05, Y:-59.17, Z:2.94 [[ 9.99766982e-01 -5.38383545e-03 -2.09044324e-02 7.64050809e+02] [ 5.40300581e-03 9.99985033e-01 8.60675906e-04 -5.91671600e+01] [ 2.08994858e-02 -9.73422123e-04 9.99781108e-01 2.94227706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3307140569999 meters Centerline goodness [0,1] 0.9828901991322728 Centerline is valid? [True, True] Translation: X:764.08, Y:-59.16, Z:2.94 [[ 9.99770974e-01 -4.39330006e-03 -2.09451170e-02 7.64080116e+02] [ 4.41226043e-03 9.99989897e-01 8.59113918e-04 -5.91647621e+01] [ 2.09411310e-02 -9.51332470e-04 9.99780258e-01 2.94333893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3607140569999 meters Centerline goodness [0,1] 0.984145010800098 Centerline is valid? [True, True] Translation: X:764.11, Y:-59.16, Z:2.94 [[ 9.99789679e-01 -2.10178094e-03 -2.04005038e-02 7.64109433e+02] [ 2.11919728e-03 9.99997408e-01 8.32139958e-04 -5.91620252e+01] [ 2.03987019e-02 -8.75197633e-04 9.99791542e-01 2.94426612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.390714057 meters Centerline goodness [0,1] 0.98326749811371 Centerline is valid? [True, True] Translation: X:764.14, Y:-59.17, Z:2.94 [[ 9.99795501e-01 -7.71448208e-04 -2.02079598e-02 7.64137070e+02] [ 7.88202409e-04 9.99999352e-01 8.21137498e-04 -5.91680265e+01] [ 2.02073132e-02 -8.36897538e-04 9.99795461e-01 2.94312594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4207140569999 meters Centerline goodness [0,1] 0.9826749209459761 Centerline is valid? [True, True] Translation: X:764.16, Y:-59.17, Z:2.94 [[ 9.99802233e-01 3.12341225e-04 -1.98845878e-02 7.64164671e+02] [-2.96366562e-04 9.99999631e-01 8.06310863e-04 -5.91700008e+01] [ 1.98848323e-02 -8.00258275e-04 9.99801957e-01 2.94286725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4507140569999 meters Centerline goodness [0,1] 0.9845293029269488 Centerline is valid? [True, True] Translation: X:764.19, Y:-59.17, Z:2.94 [[ 9.99807664e-01 1.08211611e-03 -1.95822530e-02 7.64194163e+02] [-1.06681205e-03 9.99999117e-01 7.91956905e-04 -5.91650427e+01] [ 1.95830927e-02 -7.70913999e-04 9.99807936e-01 2.94465613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4807140569999 meters Centerline goodness [0,1] 0.9829393398751115 Centerline is valid? [True, True] Translation: X:764.22, Y:-59.17, Z:2.94 [[ 9.99803215e-01 2.49759272e-03 -1.96797682e-02 7.64222156e+02] [-2.48248317e-03 9.99996605e-01 7.92163389e-04 -5.91715886e+01] [ 1.96816799e-02 -7.43152810e-04 9.99806021e-01 2.94305453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.510714057 meters Centerline goodness [0,1] 0.9843436817959111 Centerline is valid? [True, True] Translation: X:764.25, Y:-59.17, Z:2.94 [[ 9.99797813e-01 3.25369545e-03 -1.98430361e-02 7.64250964e+02] [-3.23854416e-03 9.99994439e-01 7.95643301e-04 -5.91655645e+01] [ 1.98455145e-02 -7.31219884e-04 9.99802791e-01 2.94449322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.540714057 meters Centerline goodness [0,1] 0.984361036639857 Centerline is valid? [True, True] Translation: X:764.28, Y:-59.17, Z:2.94 [[ 9.99791938e-01 4.26460946e-03 -1.99472714e-02 7.64278505e+02] [-4.24953108e-03 9.99990652e-01 7.98238602e-04 -5.91672736e+01] [ 1.99504891e-02 -7.13305969e-04 9.99800715e-01 2.94435025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5707140569999 meters Centerline goodness [0,1] 0.9847044880252241 Centerline is valid? [True, True] Translation: X:764.31, Y:-59.17, Z:2.94 [[ 9.99789667e-01 5.03533750e-03 -1.98813370e-02 7.64307588e+02] [-5.02054210e-03 9.99987082e-01 7.94028027e-04 -5.91663903e+01] [ 1.98850784e-02 -6.94045927e-04 9.99802031e-01 2.94439714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6007140569999 meters Centerline goodness [0,1] 0.9840625 Centerline is valid? [True, True] Translation: X:764.34, Y:-59.17, Z:2.94 [[ 9.99786799e-01 6.73810625e-03 -1.95180769e-02 7.64335771e+02] [-6.72423209e-03 9.99977091e-01 7.76378415e-04 -5.91687971e+01] [ 1.95228610e-02 -6.44968811e-04 9.99809203e-01 2.94344193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.630714057 meters Centerline goodness [0,1] 0.9851856802334648 Centerline is valid? [True, True] Translation: X:764.36, Y:-59.17, Z:2.94 [[ 9.99780523e-01 7.77457751e-03 -1.94540911e-02 7.64364546e+02] [-7.76105019e-03 9.99969586e-01 7.70749132e-04 -5.91681294e+01] [ 1.94594916e-02 -6.19595793e-04 9.99810454e-01 2.94448138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.660714057 meters Centerline goodness [0,1] 0.9853210599222485 Centerline is valid? [True, True] Translation: X:764.39, Y:-59.17, Z:2.94 [[ 9.99790521e-01 8.26061078e-03 -1.87263699e-02 7.64393028e+02] [-8.24818659e-03 9.99965709e-01 7.40599912e-04 -5.91684543e+01] [ 1.87318456e-02 -5.85986179e-04 9.99824372e-01 2.94499215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6907140569999 meters Centerline goodness [0,1] 0.9851661833593576 Centerline is valid? [True, True] Translation: X:764.42, Y:-59.17, Z:2.95 [[ 9.99801340e-01 8.92791553e-03 -1.78205878e-02 7.64421947e+02] [-8.91679251e-03 9.99959997e-01 7.03528051e-04 -5.91698871e+01] [ 1.78261560e-02 -5.44485804e-04 9.99840953e-01 2.94559716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7207140569999 meters Centerline goodness [0,1] 0.9827399020672235 Centerline is valid? [True, True] Translation: X:764.45, Y:-59.18, Z:2.94 [[ 9.99806988e-01 8.49580102e-03 -1.77146283e-02 7.64449879e+02] [-8.48476712e-03 9.99963760e-01 6.97935974e-04 -5.91777416e+01] [ 1.77199159e-02 -5.47496769e-04 9.99842840e-01 2.94425641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.750714057 meters Centerline goodness [0,1] 0.9827399020672235 Centerline is valid? [True, True] Translation: X:764.48, Y:-59.18, Z:2.94 [[ 9.99807810e-01 8.39836664e-03 -1.77146930e-02 7.64477336e+02] [-8.38734657e-03 9.99964583e-01 6.96291707e-04 -5.91787219e+01] [ 1.77199133e-02 -5.47578618e-04 9.99842840e-01 2.94452069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.780714057 meters Centerline goodness [0,1] 0.9839185502295765 Centerline is valid? [True, True] Translation: X:764.51, Y:-59.18, Z:2.95 [[ 9.99815129e-01 7.77757498e-03 -1.75845940e-02 7.64505849e+02] [-7.76664660e-03 9.99969601e-01 6.89682291e-04 -5.91757687e+01] [ 1.75894235e-02 -5.52981461e-04 9.99845141e-01 2.94596526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8107140569999 meters Centerline goodness [0,1] 0.9844290657439446 Centerline is valid? [True, True] Translation: X:764.53, Y:-59.18, Z:2.95 [[ 9.99826374e-01 6.70717544e-03 -1.73849344e-02 7.64534632e+02] [-6.69635357e-03 9.99977348e-01 6.80623820e-04 -5.91787130e+01] [ 1.73891057e-02 -5.64089978e-04 9.99848639e-01 2.94553761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8407140569999 meters Centerline goodness [0,1] 0.9848191860594341 Centerline is valid? [True, True] Translation: X:764.56, Y:-59.18, Z:2.95 [[ 9.99839273e-01 5.80584272e-03 -1.69623465e-02 7.64563549e+02] [-5.79543135e-03 9.99982987e-01 6.62884823e-04 -5.91810270e+01] [ 1.69659065e-02 -5.64474164e-04 9.99855909e-01 2.94572613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.870714057 meters Centerline goodness [0,1] 0.9841438099023895 Centerline is valid? [True, True] Translation: X:764.59, Y:-59.18, Z:2.95 [[ 9.99847035e-01 5.12022549e-03 -1.67239519e-02 7.64591400e+02] [-5.11003086e-03 9.99986731e-01 6.52259209e-04 -5.91841435e+01] [ 1.67270697e-02 -5.66699525e-04 9.99859932e-01 2.94611708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.900714057 meters Centerline goodness [0,1] 0.9835240072441362 Centerline is valid? [True, True] Translation: X:764.62, Y:-59.19, Z:2.95 [[ 9.99864190e-01 4.60660627e-03 -1.58234213e-02 7.64620441e+02] [-4.59743558e-03 9.99989242e-01 6.15891434e-04 -5.91861407e+01] [ 1.58260882e-02 -5.43060630e-04 9.99874612e-01 2.94684363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9307140569999 meters Centerline goodness [0,1] 0.9849660738835425 Centerline is valid? [True, True] Translation: X:764.65, Y:-59.19, Z:2.95 [[ 9.99880042e-01 4.11494958e-03 -1.49321475e-02 7.64649569e+02] [-4.10674354e-03 9.99991399e-01 5.80176800e-04 -5.91871871e+01] [ 1.49344065e-02 -5.18784703e-04 9.99888341e-01 2.94738132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9607140569999 meters Centerline goodness [0,1] 0.9834328688343287 Centerline is valid? [True, True] Translation: X:764.68, Y:-59.19, Z:2.95 [[ 9.99885697e-01 3.38305604e-03 -1.47359103e-02 7.64677012e+02] [-3.37500461e-03 9.99994142e-01 5.71215586e-04 -5.91905378e+01] [ 1.47377564e-02 -5.21416529e-04 9.99891257e-01 2.94756229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.990714057 meters Centerline goodness [0,1] 0.9831254423213022 Centerline is valid? [True, True] Translation: X:764.71, Y:-59.19, Z:2.95 [[ 9.99888003e-01 2.94603081e-03 -1.46732113e-02 7.64705451e+02] [-2.93802397e-03 9.99995523e-01 5.67203574e-04 -5.91925682e+01] [ 1.46748166e-02 -5.24029802e-04 9.99892182e-01 2.94772773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.020714057 meters Centerline goodness [0,1] 0.9836695909663448 Centerline is valid? [True, True] Translation: X:764.73, Y:-59.20, Z:2.95 [[ 9.99893906e-01 2.23861516e-03 -1.43932271e-02 7.64733261e+02] [-2.23085361e-03 9.99997357e-01 5.55282544e-04 -5.91952656e+01] [ 1.43944322e-02 -5.23114449e-04 9.99896258e-01 2.94762692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0507140569999 meters Centerline goodness [0,1] 0.982928068199386 Centerline is valid? [True, True] Translation: X:764.76, Y:-59.20, Z:2.95 [[ 9.99892886e-01 -1.89502235e-04 -1.46349260e-02 7.64763066e+02] [ 1.97771086e-04 9.99999822e-01 5.63562877e-04 -5.91996074e+01] [ 1.46348166e-02 -5.66396877e-04 9.99892745e-01 2.94713176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0807140569999 meters Centerline goodness [0,1] 0.9822383245703177 Centerline is valid? [True, True] Translation: X:764.79, Y:-59.20, Z:2.95 [[ 9.99889926e-01 -1.95040653e-03 -1.47082015e-02 7.64792002e+02] [ 1.95893827e-03 9.99997921e-01 5.65682028e-04 -5.92031678e+01] [ 1.47070677e-02 -5.94432220e-04 9.99891669e-01 2.94687037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1107140569999 meters Centerline goodness [0,1] 0.9830811706239646 Centerline is valid? [True, True] Translation: X:764.82, Y:-59.21, Z:2.95 [[ 9.99885155e-01 -3.54078252e-03 -1.47356439e-02 7.64820558e+02] [ 3.54950310e-03 9.99993540e-01 5.65690394e-04 -5.92052828e+01] [ 1.47335457e-02 -6.17929641e-04 9.99891264e-01 2.94699616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.140714057 meters Centerline goodness [0,1] 0.9815228202011272 Centerline is valid? [True, True] Translation: X:764.85, Y:-59.21, Z:2.95 [[ 9.99867432e-01 -7.26570537e-03 -1.45714657e-02 7.64849028e+02] [ 7.27461370e-03 9.99973384e-01 5.58443581e-04 -5.92140631e+01] [ 1.45670204e-02 -6.64371333e-04 9.99893675e-01 2.94648377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1707140569999 meters Centerline goodness [0,1] 0.9818053658751487 Centerline is valid? [True, True] Translation: X:764.88, Y:-59.22, Z:2.95 [[ 9.99847509e-01 -9.37668706e-03 -1.47321368e-02 7.64878817e+02] [ 9.38601140e-03 9.99955791e-01 5.63909602e-04 -5.92171728e+01] [ 1.47261979e-02 -7.02099614e-04 9.99891317e-01 2.94705568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2007140569999 meters Centerline goodness [0,1] 0.9828320497826423 Centerline is valid? [True, True] Translation: X:764.91, Y:-59.22, Z:2.95 [[ 9.99824452e-01 -1.19059260e-02 -1.44677222e-02 7.64908355e+02] [ 1.19151755e-02 9.99928859e-01 5.53288741e-04 -5.92183177e+01] [ 1.44601056e-02 -7.25577061e-04 9.99895184e-01 2.94762783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2307140569999 meters Centerline goodness [0,1] 0.9820050850429598 Centerline is valid? [True, True] Translation: X:764.94, Y:-59.22, Z:2.95 [[ 9.99800016e-01 -1.38632253e-02 -1.44131596e-02 7.64937420e+02] [ 1.38725994e-02 9.99903619e-01 5.50605668e-04 -5.92220048e+01] [ 1.44041373e-02 -7.50443545e-04 9.99895973e-01 2.94764414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.260714057 meters Centerline goodness [0,1] 0.9813788858110187 Centerline is valid? [True, True] Translation: X:764.97, Y:-59.23, Z:2.95 [[ 9.99761835e-01 -1.61903484e-02 -1.46337192e-02 7.64965362e+02] [ 1.62002474e-02 9.99868612e-01 5.58158288e-04 -5.92268663e+01] [ 1.46227597e-02 -7.95095227e-04 9.99892766e-01 2.94771029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.290714057 meters Centerline goodness [0,1] 0.9806465801627446 Centerline is valid? [True, True] Translation: X:765.00, Y:-59.23, Z:2.95 [[ 9.99694055e-01 -1.94656437e-02 -1.52605424e-02 7.64995725e+02] [ 1.94767786e-02 9.99810141e-01 5.81360955e-04 -5.92306779e+01] [ 1.52463285e-02 -8.78409297e-04 9.99883382e-01 2.94791217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3207140569999 meters Centerline goodness [0,1] 0.9813676821134122 Centerline is valid? [True, True] Translation: X:765.03, Y:-59.23, Z:2.95 [[ 9.99670074e-01 -2.08053581e-02 -1.50625378e-02 7.65026420e+02] [ 2.08163575e-02 9.99783151e-01 5.73817832e-04 -5.92340285e+01] [ 1.50473330e-02 -8.87175686e-04 9.99886389e-01 2.94829417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3507140569999 meters Centerline goodness [0,1] 0.9808055104637389 Centerline is valid? [True, True] Translation: X:765.06, Y:-59.24, Z:2.95 [[ 9.99615220e-01 -2.33010647e-02 -1.50489852e-02 7.65055699e+02] [ 2.33123246e-02 9.99728067e-01 5.73206622e-04 -5.92387098e+01] [ 1.50315365e-02 -9.23812892e-04 9.99886593e-01 2.94883469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.380714057 meters Centerline goodness [0,1] 0.9806904109589041 Centerline is valid? [True, True] Translation: X:765.09, Y:-59.24, Z:2.95 [[ 9.99599886e-01 -2.40256399e-02 -1.49277282e-02 7.65085736e+02] [ 2.40367985e-02 9.99710913e-01 5.68513938e-04 -5.92419510e+01] [ 1.49097539e-02 -9.27101262e-04 9.99888414e-01 2.94973130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.410714057 meters Centerline goodness [0,1] 0.9801166257453525 Centerline is valid? [True, True] Translation: X:765.12, Y:-59.24, Z:2.95 [[ 9.99585126e-01 -2.45735201e-02 -1.50239358e-02 7.65117134e+02] [ 2.45848899e-02 9.99697582e-01 5.72530329e-04 -5.92446041e+01] [ 1.50053232e-02 -9.41654609e-04 9.99886970e-01 2.95028800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4407140569999 meters Centerline goodness [0,1] 0.9797426951591801 Centerline is valid? [True, True] Translation: X:765.15, Y:-59.25, Z:2.95 [[ 9.99565527e-01 -2.53062365e-02 -1.51113308e-02 7.65147981e+02] [ 2.53178288e-02 9.99679286e-01 5.76285275e-04 -5.92471012e+01] [ 1.50919007e-02 -9.58620979e-04 9.99885651e-01 2.95073553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4707140569999 meters Centerline goodness [0,1] 0.9787602852441031 Centerline is valid? [True, True] Translation: X:765.18, Y:-59.25, Z:2.95 [[ 9.99556139e-01 -2.56938711e-02 -1.50781302e-02 7.65177784e+02] [ 2.57054603e-02 9.99669395e-01 5.75274511e-04 -5.92501865e+01] [ 1.50583643e-02 -9.62609446e-04 9.99886153e-01 2.95197089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.500714057 meters Centerline goodness [0,1] 0.9782489530115991 Centerline is valid? [True, True] Translation: X:765.21, Y:-59.25, Z:2.95 [[ 9.99562889e-01 -2.52368176e-02 -1.53991404e-02 7.65209130e+02] [ 2.52488571e-02 9.99681024e-01 5.87880991e-04 -5.92512691e+01] [ 1.53793922e-02 -9.76434716e-04 9.99881253e-01 2.95256284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.530714057 meters Centerline goodness [0,1] 0.977657413676371 Centerline is valid? [True, True] Translation: X:765.24, Y:-59.25, Z:2.95 [[ 9.99572337e-01 -2.47796757e-02 -1.55277563e-02 7.65240633e+02] [ 2.47918703e-02 9.99692458e-01 5.93310650e-04 -5.92523603e+01] [ 1.55082788e-02 -9.78019032e-04 9.99879261e-01 2.95262799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5607140569999 meters Centerline goodness [0,1] 0.978457551934648 Centerline is valid? [True, True] Translation: X:765.27, Y:-59.25, Z:2.95 [[ 9.99584891e-01 -2.40727750e-02 -1.58287007e-02 7.65272356e+02] [ 2.40853670e-02 9.99709722e-01 6.05339622e-04 -5.92533254e+01] [ 1.58095338e-02 -9.86328406e-04 9.99874535e-01 2.95275048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5907140569999 meters Centerline goodness [0,1] 0.9801339040720008 Centerline is valid? [True, True] Translation: X:765.30, Y:-59.25, Z:2.95 [[ 9.99594220e-01 -2.25880975e-02 -1.73543136e-02 7.65303393e+02] [ 2.26030173e-02 9.99744299e-01 6.64031146e-04 -5.92463683e+01] [ 1.73348768e-02 -1.05602155e-03 9.99849182e-01 2.95250330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.620714057 meters Centerline goodness [0,1] 0.9816735519029621 Centerline is valid? [True, True] Translation: X:765.33, Y:-59.24, Z:2.95 [[ 9.99600893e-01 -2.20415285e-02 -1.76698897e-02 7.65334152e+02] [ 2.20569110e-02 9.99756488e-01 6.76106091e-04 -5.92439743e+01] [ 1.76506844e-02 -1.06557944e-03 9.99843647e-01 2.95270984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.650714057 meters Centerline goodness [0,1] 0.981254521935498 Centerline is valid? [True, True] Translation: X:765.36, Y:-59.25, Z:2.95 [[ 9.99581252e-01 -2.18983954e-02 -1.89151169e-02 7.65363942e+02] [ 2.19159940e-02 9.99759554e-01 7.23587821e-04 -5.92455554e+01] [ 1.88947234e-02 -1.13782841e-03 9.99820831e-01 2.95227330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6807140569999 meters Centerline goodness [0,1] 0.9816604436635186 Centerline is valid? [True, True] Translation: X:765.39, Y:-59.24, Z:2.95 [[ 9.99572590e-01 -2.15687429e-02 -1.97339041e-02 7.65394085e+02] [ 2.15878239e-02 9.99766671e-01 7.54377646e-04 -5.92444229e+01] [ 1.97130287e-02 -1.18006727e-03 9.99804983e-01 2.95303372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7107140569999 meters Centerline goodness [0,1] 0.9825046040515654 Centerline is valid? [True, True] Translation: X:765.42, Y:-59.25, Z:2.95 [[ 9.99587421e-01 -2.09215203e-02 -1.96793599e-02 7.65422687e+02] [ 2.09403541e-02 9.99780444e-01 7.51431090e-04 -5.92454220e+01] [ 1.96593181e-02 -1.16321383e-03 9.99806060e-01 2.95389964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.740714057 meters Centerline goodness [0,1] 0.9821015275420459 Centerline is valid? [True, True] Translation: X:765.45, Y:-59.24, Z:2.96 [[ 9.99587797e-01 -2.04252942e-02 -2.01753424e-02 7.65452643e+02] [ 2.04449708e-02 9.99790684e-01 7.69474208e-04 -5.92400474e+01] [ 2.01554027e-02 -1.18164131e-03 9.99796161e-01 2.95525848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.770714057 meters Centerline goodness [0,1] 0.9816976477843362 Centerline is valid? [True, True] Translation: X:765.48, Y:-59.25, Z:2.95 [[ 9.99594133e-01 -1.97657029e-02 -2.05155327e-02 7.65481225e+02] [ 1.97858910e-02 9.99803935e-01 7.81509569e-04 -5.92461392e+01] [ 2.04960633e-02 -1.18711048e-03 9.99789229e-01 2.95443258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8007140569999 meters Centerline goodness [0,1] 0.9819362247151312 Centerline is valid? [True, True] Translation: X:765.51, Y:-59.24, Z:2.96 [[ 9.99615705e-01 -1.82303164e-02 -2.08829656e-02 7.65510368e+02] [ 1.82508727e-02 9.99833124e-01 7.94174499e-04 -5.92383831e+01] [ 2.08650027e-02 -1.17500165e-03 9.99781612e-01 2.95610842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8307140569999 meters Centerline goodness [0,1] 0.9815880575952018 Centerline is valid? [True, True] Translation: X:765.54, Y:-59.24, Z:2.96 [[ 9.99630875e-01 -1.74635756e-02 -2.08119591e-02 7.65537571e+02] [ 1.74837917e-02 9.99846835e-01 7.89796218e-04 -5.92443354e+01] [ 2.07949788e-02 -1.15337664e-03 9.99783096e-01 2.95529586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8607140569999 meters Centerline goodness [0,1] 0.9818823789032329 Centerline is valid? [True, True] Translation: X:765.57, Y:-59.24, Z:2.96 [[ 9.99636422e-01 -1.72374999e-02 -2.07338339e-02 7.65566737e+02] [ 1.72574409e-02 9.99850773e-01 7.83207128e-04 -5.92388298e+01] [ 2.07172394e-02 -1.14073528e-03 9.99784724e-01 2.95722504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.890714057 meters Centerline goodness [0,1] 0.9818882042253521 Centerline is valid? [True, True] Translation: X:765.60, Y:-59.24, Z:2.96 [[ 9.99650675e-01 -1.63594137e-02 -2.07580886e-02 7.65595655e+02] [ 1.63791054e-02 9.99865550e-01 7.78955098e-04 -5.92376821e+01] [ 2.07425544e-02 -1.11868191e-03 9.99784224e-01 2.95757861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9207140569999 meters Centerline goodness [0,1] 0.9824801110694845 Centerline is valid? [True, True] Translation: X:765.62, Y:-59.24, Z:2.96 [[ 9.99656395e-01 -1.57996880e-02 -2.09155999e-02 7.65624735e+02] [ 1.58194486e-02 9.99874561e-01 7.79651679e-04 -5.92373629e+01] [ 2.09006581e-02 -1.11025705e-03 9.99780941e-01 2.95773685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9507140569999 meters Centerline goodness [0,1] 0.9825415440444316 Centerline is valid? [True, True] Translation: X:765.65, Y:-59.24, Z:2.96 [[ 9.99653136e-01 -1.50041902e-02 -2.16444337e-02 7.65653303e+02] [ 1.50250484e-02 9.99886796e-01 8.01362581e-04 -5.92371754e+01] [ 2.16299597e-02 -1.12629328e-03 9.99765411e-01 2.95817038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9807140569999 meters Centerline goodness [0,1] 0.9826414098079335 Centerline is valid? [True, True] Translation: X:765.68, Y:-59.24, Z:2.96 [[ 9.99660744e-01 -1.39828207e-02 -2.19744978e-02 7.65681935e+02] [ 1.40039538e-02 9.99901613e-01 8.08116583e-04 -5.92373209e+01] [ 2.19610361e-02 -1.11557228e-03 9.99758205e-01 2.95796125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.010714057 meters Centerline goodness [0,1] 0.9818853401751747 Centerline is valid? [True, True] Translation: X:765.71, Y:-59.24, Z:2.96 [[ 9.99655634e-01 -1.25092769e-02 -2.30679605e-02 7.65710911e+02] [ 1.25320414e-02 9.99921116e-01 8.42539981e-04 -5.92359425e+01] [ 2.30556012e-02 -1.13133848e-03 9.99733544e-01 2.95835342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.040714057 meters Centerline goodness [0,1] 0.9825348749806557 Centerline is valid? [True, True] Translation: X:765.74, Y:-59.24, Z:2.96 [[ 9.99652565e-01 -1.19909520e-02 -2.34726668e-02 7.65739859e+02] [ 1.20142436e-02 9.99927464e-01 8.51509509e-04 -5.92353697e+01] [ 2.34607538e-02 -1.13322000e-03 9.99724116e-01 2.95871554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0707140569999 meters Centerline goodness [0,1] 0.9830189514700673 Centerline is valid? [True, True] Translation: X:765.77, Y:-59.23, Z:2.96 [[ 9.99656167e-01 -1.14268092e-02 -2.36003356e-02 7.65768355e+02] [ 1.14500593e-02 9.99934084e-01 8.50261234e-04 -5.92337484e+01] [ 2.35890642e-02 -1.12019413e-03 9.99721112e-01 2.95952086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1007140569999 meters Centerline goodness [0,1] 0.9823820521280106 Centerline is valid? [True, True] Translation: X:765.80, Y:-59.23, Z:2.96 [[ 9.99645770e-01 -1.04501300e-02 -2.44771171e-02 7.65796012e+02] [ 1.04747392e-02 9.99944753e-01 8.77391365e-04 -5.92344219e+01] [ 2.44665960e-02 -1.13347198e-03 9.99700005e-01 2.95933205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.130714057 meters Centerline goodness [0,1] 0.9823676467334793 Centerline is valid? [True, True] Translation: X:765.82, Y:-59.23, Z:2.96 [[ 9.99632188e-01 -1.07560100e-02 -2.48957282e-02 7.65824163e+02] [ 1.07814233e-02 9.99941486e-01 8.86784603e-04 -5.92349890e+01] [ 2.48847332e-02 -1.15486982e-03 9.99689660e-01 2.95971743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.160714057 meters Centerline goodness [0,1] 0.9813850415512465 Centerline is valid? [True, True] Translation: X:765.85, Y:-59.24, Z:2.96 [[ 9.99629504e-01 -1.13045398e-02 -2.47600905e-02 7.65851628e+02] [ 1.13297451e-02 9.99935431e-01 8.77928895e-04 -5.92379778e+01] [ 2.47485672e-02 -1.15812914e-03 9.99693036e-01 2.95884072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1907140569999 meters Centerline goodness [0,1] 0.9810664777005181 Centerline is valid? [True, True] Translation: X:765.88, Y:-59.24, Z:2.96 [[ 9.99651870e-01 -1.16346920e-02 -2.36806537e-02 7.65879964e+02] [ 1.16577395e-02 9.99931697e-01 8.35441383e-04 -5.92378155e+01] [ 2.36693162e-02 -1.11121343e-03 9.99719225e-01 2.96041269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2207140569999 meters Centerline goodness [0,1] 0.9812949958040723 Centerline is valid? [True, True] Translation: X:765.91, Y:-59.24, Z:2.96 [[ 9.99651475e-01 -1.21728643e-02 -2.34254185e-02 7.65908587e+02] [ 1.21954306e-02 9.99925296e-01 8.20701186e-04 -5.92362379e+01] [ 2.34136782e-02 -1.10609822e-03 9.99725250e-01 2.96194376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.250714057 meters Centerline goodness [0,1] 0.9799915893849185 Centerline is valid? [True, True] Translation: X:765.94, Y:-59.24, Z:2.96 [[ 9.99658136e-01 -1.28381383e-02 -2.27770411e-02 7.65935902e+02] [ 1.28595654e-02 9.99916997e-01 7.94506318e-04 -5.92430984e+01] [ 2.27649505e-02 -1.08713755e-03 9.99740254e-01 2.96047603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.280714057 meters Centerline goodness [0,1] 0.9803640058311613 Centerline is valid? [True, True] Translation: X:765.96, Y:-59.24, Z:2.96 [[ 9.99660183e-01 -1.34950944e-02 -2.23024944e-02 7.65964376e+02] [ 1.35157155e-02 9.99908359e-01 7.74126359e-04 -5.92433193e+01] [ 2.22900036e-02 -1.07529747e-03 9.99750969e-01 2.96120641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3107140569999 meters Centerline goodness [0,1] 0.98095174738336 Centerline is valid? [True, True] Translation: X:765.99, Y:-59.24, Z:2.96 [[ 9.99644200e-01 -1.48684653e-02 -2.21450072e-02 7.65992752e+02] [ 1.48890578e-02 9.99888859e-01 7.65293070e-04 -5.92399811e+01] [ 2.21311673e-02 -1.09473907e-03 9.99754476e-01 2.96218208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3407140569999 meters Centerline goodness [0,1] 0.9818016378525932 Centerline is valid? [True, True] Translation: X:766.02, Y:-59.24, Z:2.96 [[ 9.99604695e-01 -1.72613478e-02 -2.21923340e-02 7.66022346e+02] [ 1.72825876e-02 9.99850352e-01 7.65625414e-04 -5.92429958e+01] [ 2.21757972e-02 -1.14886371e-03 9.99753427e-01 2.96269435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.370714057 meters Centerline goodness [0,1] 0.9807922636738677 Centerline is valid? [True, True] Translation: X:766.05, Y:-59.25, Z:2.96 [[ 9.99571971e-01 -1.90036303e-02 -2.22426997e-02 7.66050687e+02] [ 1.90253193e-02 9.99818710e-01 7.63881224e-04 -5.92453942e+01] [ 2.22241508e-02 -1.18672872e-03 9.99752309e-01 2.96298280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.400714057 meters Centerline goodness [0,1] 0.981314218503806 Centerline is valid? [True, True] Translation: X:766.08, Y:-59.25, Z:2.96 [[ 9.99549451e-01 -2.06029628e-02 -2.18268832e-02 7.66078934e+02] [ 2.06241538e-02 9.99787021e-01 7.46182511e-04 -5.92481742e+01] [ 2.18068609e-02 -1.19600732e-03 9.99761487e-01 2.96319558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4307140569999 meters Centerline goodness [0,1] 0.9796551571295599 Centerline is valid? [True, True] Translation: X:766.11, Y:-59.25, Z:2.96 [[ 9.99474399e-01 -2.41284662e-02 -2.16504614e-02 7.66107770e+02] [ 2.41501130e-02 9.99708070e-01 7.38889569e-04 -5.92531828e+01] [ 2.16263127e-02 -1.26136230e-03 9.99765328e-01 2.96238239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4607140569999 meters Centerline goodness [0,1] 0.9793314281916661 Centerline is valid? [True, True] Translation: X:766.14, Y:-59.26, Z:2.96 [[ 9.99438171e-01 -2.57127781e-02 -2.14987481e-02 7.66137160e+02] [ 2.57344717e-02 9.99668545e-01 7.32964269e-04 -5.92560654e+01] [ 2.14727756e-02 -1.28581139e-03 9.99768607e-01 2.96198688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.490714057 meters Centerline goodness [0,1] 0.9790584020698349 Centerline is valid? [True, True] Translation: X:766.17, Y:-59.26, Z:2.96 [[ 9.99379861e-01 -2.73912736e-02 -2.21271580e-02 7.66167108e+02] [ 2.74146518e-02 9.99623864e-01 7.53828380e-04 -5.92591573e+01] [ 2.20981869e-02 -1.35996923e-03 9.99754880e-01 2.96191285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.520714057 meters Centerline goodness [0,1] 0.9791339366716084 Centerline is valid? [True, True] Translation: X:766.20, Y:-59.26, Z:2.96 [[ 9.99353835e-01 -2.88629803e-02 -2.14205500e-02 7.66196394e+02] [ 2.88852177e-02 9.99582469e-01 7.29391751e-04 -5.92630663e+01] [ 2.13905538e-02 -1.34765769e-03 9.99770288e-01 2.96178957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5507140569999 meters Centerline goodness [0,1] 0.9795868611197305 Centerline is valid? [True, True] Translation: X:766.23, Y:-59.26, Z:2.96 [[ 9.99351337e-01 -2.90165154e-02 -2.13294864e-02 7.66227197e+02] [ 2.90385954e-02 9.99578027e-01 7.26126663e-04 -5.92649178e+01] [ 2.12994163e-02 -1.34503398e-03 9.99772237e-01 2.96237100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5807140569999 meters Centerline goodness [0,1] 0.9808235501809516 Centerline is valid? [True, True] Translation: X:766.26, Y:-59.26, Z:2.96 [[ 9.99381905e-01 -2.87874639e-02 -2.01764459e-02 7.66257981e+02] [ 2.88071742e-02 9.99584751e-01 6.86873329e-04 -5.92604523e+01] [ 2.01482943e-02 -1.26767517e-03 9.99796199e-01 2.96382959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6107140569999 meters Centerline goodness [0,1] 0.9794177596596951 Centerline is valid? [True, True] Translation: X:766.29, Y:-59.26, Z:2.96 [[ 9.99412405e-01 -2.83399807e-02 -1.92792755e-02 7.66289095e+02] [ 2.83579004e-02 9.99597618e-01 6.56675723e-04 -5.92602277e+01] [ 1.92529077e-02 -1.20300964e-03 9.99813922e-01 2.96493660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.640714057 meters Centerline goodness [0,1] 0.979439459399579 Centerline is valid? [True, True] Translation: X:766.32, Y:-59.26, Z:2.97 [[ 9.99461452e-01 -2.72628050e-02 -1.82632263e-02 7.66319421e+02] [ 2.72787149e-02 9.99627673e-01 6.22545188e-04 -5.92615834e+01] [ 1.82394541e-02 -1.12040726e-03 9.99833020e-01 2.96589083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6707140569999 meters Centerline goodness [0,1] 0.979439459399579 Centerline is valid? [True, True] Translation: X:766.35, Y:-59.26, Z:2.97 [[ 9.99462409e-01 -2.72277141e-02 -1.82632101e-02 7.66350306e+02] [ 2.72436268e-02 9.99628629e-01 6.23018664e-04 -5.92626672e+01] [ 1.82394643e-02 -1.12023982e-03 9.99833020e-01 2.96618772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7007140569999 meters Centerline goodness [0,1] 0.9796573401806269 Centerline is valid? [True, True] Translation: X:766.38, Y:-59.26, Z:2.97 [[ 9.99552176e-01 -2.45611626e-02 -1.70937448e-02 7.66381194e+02] [ 2.45747215e-02 9.99697826e-01 5.83573388e-04 -5.92600087e+01] [ 1.70742463e-02 -1.00338607e-03 9.99853721e-01 2.96728016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7307140569999 meters Centerline goodness [0,1] 0.9800093083043372 Centerline is valid? [True, True] Translation: X:766.41, Y:-59.26, Z:2.97 [[ 9.99597065e-01 -2.27542120e-02 -1.69692024e-02 7.66411614e+02] [ 2.27673196e-02 9.99740623e-01 5.79622926e-04 -5.92612312e+01] [ 1.69516121e-02 -9.65732631e-04 9.99855845e-01 2.96766670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.760714057 meters Centerline goodness [0,1] 0.9813144187077468 Centerline is valid? [True, True] Translation: X:766.44, Y:-59.26, Z:2.97 [[ 9.99656062e-01 -1.99809078e-02 -1.69859094e-02 7.66441914e+02] [ 1.99936450e-02 9.99799939e-01 5.80365674e-04 -5.92610207e+01] [ 1.69709150e-02 -9.19776306e-04 9.99855561e-01 2.96755880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.790714057 meters Centerline goodness [0,1] 0.9805204889845363 Centerline is valid? [True, True] Translation: X:766.47, Y:-59.26, Z:2.97 [[ 9.99669041e-01 -1.89393238e-02 -1.74100929e-02 7.66472800e+02] [ 1.89525477e-02 9.99820207e-01 5.94858953e-04 -5.92614441e+01] [ 1.73956965e-02 -9.24627696e-04 9.99848256e-01 2.96718839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8207140569999 meters Centerline goodness [0,1] 0.9808706831582213 Centerline is valid? [True, True] Translation: X:766.50, Y:-59.26, Z:2.97 [[ 9.99688037e-01 -1.78120789e-02 -1.75088360e-02 7.66502462e+02] [ 1.78252760e-02 9.99840938e-01 5.97955887e-04 -5.92615653e+01] [ 1.74954002e-02 -9.09869181e-04 9.99846530e-01 2.96708365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8507140569999 meters Centerline goodness [0,1] 0.9801894727522246 Centerline is valid? [True, True] Translation: X:766.53, Y:-59.27, Z:2.97 [[ 9.99701433e-01 -1.69885190e-02 -1.75623271e-02 7.66531142e+02] [ 1.70016570e-02 9.99855282e-01 5.99030763e-04 -5.92665090e+01] [ 1.75496088e-02 -8.97440573e-04 9.99845591e-01 2.96627347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.880714057 meters Centerline goodness [0,1] 0.9824783477681546 Centerline is valid? [True, True] Translation: X:766.56, Y:-59.26, Z:2.97 [[ 9.99740725e-01 -1.46098719e-02 -1.74652086e-02 7.66561137e+02] [ 1.46224893e-02 9.99892909e-01 5.94941540e-04 -5.92614081e+01] [ 1.74546462e-02 -8.50172113e-04 9.99847295e-01 2.96724108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.910714057 meters Centerline goodness [0,1] 0.9823402982428929 Centerline is valid? [True, True] Translation: X:766.59, Y:-59.26, Z:2.97 [[ 9.99759258e-01 -1.32232436e-02 -1.75092172e-02 7.66590340e+02] [ 1.32356746e-02 9.99912228e-01 5.94271419e-04 -5.92613442e+01] [ 1.74998222e-02 -8.25874654e-04 9.99846525e-01 2.96749418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9407140569999 meters Centerline goodness [0,1] 0.9832808550268305 Centerline is valid? [True, True] Translation: X:766.62, Y:-59.26, Z:2.97 [[ 9.99783487e-01 -1.14043911e-02 -1.74045699e-02 7.66619099e+02] [ 1.14163508e-02 9.99934658e-01 5.87953616e-04 -5.92601816e+01] [ 1.73967274e-02 -7.86522992e-04 9.99848356e-01 2.96819523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9707140569999 meters Centerline goodness [0,1] 0.9828921383717576 Centerline is valid? [True, True] Translation: X:766.65, Y:-59.26, Z:2.97 [[ 9.99814799e-01 -9.03648729e-03 -1.69914686e-02 7.66647330e+02] [ 9.04752428e-03 9.99958906e-01 5.72800106e-04 -5.92624544e+01] [ 1.69855943e-02 -7.26424748e-04 9.99855471e-01 2.96849652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.000714057 meters Centerline goodness [0,1] 0.9834771230233538 Centerline is valid? [True, True] Translation: X:766.68, Y:-59.26, Z:2.97 [[ 9.99866781e-01 -3.79131759e-03 -1.58759656e-02 7.66677510e+02] [ 3.80028084e-03 9.99992636e-01 5.34448938e-04 -5.92593609e+01] [ 1.58738225e-02 -5.94710867e-04 9.99873826e-01 2.96944348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.030714057 meters Centerline goodness [0,1] 0.9840101409954187 Centerline is valid? [True, True] Translation: X:766.71, Y:-59.26, Z:2.97 [[ 9.99888647e-01 -1.16550328e-03 -1.48773700e-02 7.66706716e+02] [ 1.17306357e-03 9.99999187e-01 4.99457496e-04 -5.92584454e+01] [ 1.48767758e-02 -5.16853980e-04 9.99889201e-01 2.97020393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0607140569999 meters Centerline goodness [0,1] 0.9845685188891112 Centerline is valid? [True, True] Translation: X:766.73, Y:-59.26, Z:2.97 [[ 9.99904793e-01 1.37431527e-03 -1.37301278e-02 7.66734337e+02] [-1.36814842e-03 9.99998959e-01 4.58530643e-04 -5.92595192e+01] [ 1.37307437e-02 -4.39702135e-04 9.99905632e-01 2.97058713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0907140569999 meters Centerline goodness [0,1] 0.9842990073064025 Centerline is valid? [True, True] Translation: X:766.76, Y:-59.26, Z:2.97 [[ 9.99923061e-01 5.16508960e-03 -1.12780673e-02 7.66764304e+02] [-5.16117856e-03 9.99986610e-01 3.75859942e-04 -5.92592535e+01] [ 1.12798576e-02 -3.17622904e-04 9.99936330e-01 2.97207303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.120714057 meters Centerline goodness [0,1] 0.9845301672772212 Centerline is valid? [True, True] Translation: X:766.79, Y:-59.26, Z:2.97 [[ 9.99926280e-01 6.55573625e-03 -1.02203693e-02 7.66792092e+02] [-6.55260247e-03 9.99978474e-01 3.40077052e-04 -5.92609263e+01] [ 1.02223788e-02 -2.73081964e-04 9.99947713e-01 2.97322575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.150714057 meters Centerline goodness [0,1] 0.9850402251723145 Centerline is valid? [True, True] Translation: X:766.82, Y:-59.26, Z:2.97 [[ 9.99935106e-01 7.26987550e-03 -8.77115598e-03 7.66819854e+02] [-7.26760342e-03 9.99973548e-01 2.90884952e-04 -5.92633783e+01] [ 8.77303867e-03 -2.27120792e-04 9.99961490e-01 2.97390747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1807140569999 meters Centerline goodness [0,1] 0.9855592469545957 Centerline is valid? [True, True] Translation: X:766.85, Y:-59.26, Z:2.97 [[ 9.99938888e-01 7.45593171e-03 -8.16270448e-03 7.66849043e+02] [-7.45397811e-03 9.99972182e-01 2.69729133e-04 -5.92637203e+01] [ 8.16448849e-03 -2.08868028e-04 9.99966648e-01 2.97399753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2107140569999 meters Centerline goodness [0,1] 0.9850822248290211 Centerline is valid? [True, True] Translation: X:766.88, Y:-59.27, Z:2.97 [[ 9.99945410e-01 6.63728454e-03 -8.06996190e-03 7.66877226e+02] [-6.63535284e-03 9.99977950e-01 2.66119562e-04 -5.92681427e+01] [ 8.07155028e-03 -2.12557989e-04 9.99967402e-01 2.97323738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.240714057 meters Centerline goodness [0,1] 0.985198603808598 Centerline is valid? [True, True] Translation: X:766.91, Y:-59.27, Z:2.97 [[ 9.99945069e-01 5.53785588e-03 -8.89892046e-03 7.66905087e+02] [-5.53547134e-03 9.99984636e-01 2.92566499e-04 -5.92729647e+01] [ 8.90040393e-03 -2.43290709e-04 9.99960361e-01 2.97283674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.270714057 meters Centerline goodness [0,1] 0.9862029445472978 Centerline is valid? [True, True] Translation: X:766.93, Y:-59.28, Z:2.97 [[ 9.99943146e-01 4.50816048e-03 -9.66337565e-03 7.66933739e+02] [-4.50531089e-03 9.99989801e-01 3.16634602e-04 -5.92764601e+01] [ 9.66470453e-03 -2.73080089e-04 9.99953258e-01 2.97221675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3007140569999 meters Centerline goodness [0,1] 0.9857721786626729 Centerline is valid? [True, True] Translation: X:766.96, Y:-59.28, Z:2.97 [[ 9.99934103e-01 1.51373725e-03 -1.13797520e-02 7.66963326e+02] [-1.50960147e-03 9.99998791e-01 3.72014655e-04 -5.92836420e+01] [ 1.13803014e-02 -3.54811250e-04 9.99935179e-01 2.97110172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3307140569999 meters Centerline goodness [0,1] 0.9856346530944984 Centerline is valid? [True, True] Translation: X:766.99, Y:-59.29, Z:2.97 [[ 9.99938294e-01 3.73069754e-05 -1.11089043e-02 7.66990778e+02] [-3.32798433e-05 9.99999934e-01 3.62698526e-04 -5.92884490e+01] [ 1.11089171e-02 -3.62306442e-04 9.99938228e-01 2.97138276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3607140569999 meters Centerline goodness [0,1] 0.9856176528534839 Centerline is valid? [True, True] Translation: X:767.02, Y:-59.29, Z:2.97 [[ 9.99934338e-01 -1.34885459e-03 -1.13798146e-02 7.67019803e+02] [ 1.35315897e-03 9.99999016e-01 3.70556074e-04 -5.92908512e+01] [ 1.13793035e-02 -3.85930441e-04 9.99935179e-01 2.97160396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.390714057 meters Centerline goodness [0,1] 0.9852007992446699 Centerline is valid? [True, True] Translation: X:767.05, Y:-59.30, Z:2.97 [[ 9.99935289e-01 -3.99138659e-03 -1.06530048e-02 7.67048445e+02] [ 3.99530105e-03 9.99991959e-01 3.46194731e-04 -5.92989993e+01] [ 1.06515374e-02 -3.88734289e-04 9.99943195e-01 2.97199224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4207140569999 meters Centerline goodness [0,1] 0.9854019391127355 Centerline is valid? [True, True] Translation: X:767.08, Y:-59.30, Z:2.97 [[ 9.99930828e-01 -5.07451180e-03 -1.06107413e-02 7.67076196e+02] [ 5.07844985e-03 9.99987045e-01 3.44227033e-04 -5.93039008e+01] [ 1.06088570e-02 -3.98089339e-04 9.99943645e-01 2.97243906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4507140569999 meters Centerline goodness [0,1] 0.9853456584596513 Centerline is valid? [True, True] Translation: X:767.10, Y:-59.31, Z:2.97 [[ 9.99924069e-01 -6.69074101e-03 -1.03484301e-02 7.67104560e+02] [ 6.69456420e-03 9.99977535e-01 3.34850144e-04 -5.93081106e+01] [ 1.03459572e-02 -4.04102948e-04 9.99946397e-01 2.97297886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4807140569999 meters Centerline goodness [0,1] 0.984109984262983 Centerline is valid? [True, True] Translation: X:767.13, Y:-59.31, Z:2.97 [[ 9.99917358e-01 -8.38691748e-03 -9.74352522e-03 7.67132673e+02] [ 8.39038091e-03 9.99964751e-01 3.14636503e-04 -5.93120477e+01] [ 9.74054293e-03 -3.96362389e-04 9.99952481e-01 2.97340524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.510714057 meters Centerline goodness [0,1] 0.9849333041766892 Centerline is valid? [True, True] Translation: X:767.16, Y:-59.32, Z:2.97 [[ 9.99888229e-01 -1.21483908e-02 -8.71471993e-03 7.67162590e+02] [ 1.21512942e-02 9.99926131e-01 2.80293971e-04 -5.93181914e+01] [ 8.71067106e-03 -3.86157769e-04 9.99961987e-01 2.97473647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.540714057 meters Centerline goodness [0,1] 0.9866611720817248 Centerline is valid? [True, True] Translation: X:767.19, Y:-59.32, Z:2.98 [[ 9.99866975e-01 -1.38458539e-02 -8.62113705e-03 7.67192275e+02] [ 1.38487570e-02 9.99904063e-01 2.77134103e-04 -5.93238602e+01] [ 8.61647281e-03 -3.96489270e-04 9.99962799e-01 2.97587698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5707140569999 meters Centerline goodness [0,1] 0.985944695432026 Centerline is valid? [True, True] Translation: X:767.22, Y:-59.33, Z:2.98 [[ 9.99834072e-01 -1.60441547e-02 -8.62635748e-03 7.67222939e+02] [ 1.60471415e-02 9.99871198e-01 2.77134129e-04 -5.93251926e+01] [ 8.62080001e-03 -4.15516524e-04 9.99962754e-01 2.97643963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6007140569999 meters Centerline goodness [0,1] 0.9861098996947231 Centerline is valid? [True, True] Translation: X:767.25, Y:-59.33, Z:2.98 [[ 9.99777261e-01 -1.92105406e-02 -8.73981618e-03 7.67253844e+02] [ 1.92137269e-02 9.99815360e-01 2.80751691e-04 -5.93299698e+01] [ 8.73280907e-03 -4.48613598e-04 9.99961768e-01 2.97711646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.630714057 meters Centerline goodness [0,1] 0.9859562793938338 Centerline is valid? [True, True] Translation: X:767.28, Y:-59.33, Z:2.98 [[ 9.99744417e-01 -2.06382296e-02 -9.22843882e-03 7.67283802e+02] [ 2.06418458e-02 9.99786890e-01 2.96763630e-04 -5.93344171e+01] [ 9.22034748e-03 -4.87179794e-04 9.99957373e-01 2.97777258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.660714057 meters Centerline goodness [0,1] 0.9852088356030495 Centerline is valid? [True, True] Translation: X:767.31, Y:-59.34, Z:2.98 [[ 9.99694406e-01 -2.27799181e-02 -9.60049076e-03 7.67314828e+02] [ 2.27839319e-02 9.99740365e-01 3.08906868e-04 -5.93355187e+01] [ 9.59096127e-03 -5.27549396e-04 9.99953867e-01 2.97774557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6907140569999 meters Centerline goodness [0,1] 0.9839056493125692 Centerline is valid? [True, True] Translation: X:767.34, Y:-59.34, Z:2.98 [[ 9.99637447e-01 -2.48106800e-02 -1.04596534e-02 7.67344702e+02] [ 2.48155572e-02 9.99691990e-01 3.36741523e-04 -5.93407240e+01] [ 1.04480769e-02 -5.96181562e-04 9.99945240e-01 2.97795824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7207140569999 meters Centerline goodness [0,1] 0.984347485814909 Centerline is valid? [True, True] Translation: X:767.37, Y:-59.35, Z:2.98 [[ 9.99485773e-01 -2.97973893e-02 -1.18450846e-02 7.67373830e+02] [ 2.98039927e-02 9.99555690e-01 3.81312214e-04 -5.93486610e+01] [ 1.18284596e-02 -7.34146946e-04 9.99929772e-01 2.97695274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.750714057 meters Centerline goodness [0,1] 0.9835 Centerline is valid? [True, True] Translation: X:767.40, Y:-59.35, Z:2.98 [[ 9.99393017e-01 -3.24344779e-02 -1.27122754e-02 7.67404786e+02] [ 3.24422949e-02 9.99473526e-01 4.09134187e-04 -5.93537246e+01] [ 1.26923127e-02 -8.21301239e-04 9.99919112e-01 2.97696343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.780714057 meters Centerline goodness [0,1] 0.9822563215906635 Centerline is valid? [True, True] Translation: X:767.44, Y:-59.36, Z:2.98 [[ 9.99291234e-01 -3.52398295e-02 -1.32357229e-02 7.67435863e+02] [ 3.52485526e-02 9.99378486e-01 4.26284287e-04 -5.93581211e+01] [ 1.32124745e-02 -8.92522226e-04 9.99912313e-01 2.97651827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8107140569999 meters Centerline goodness [0,1] 0.9814264970416766 Centerline is valid? [True, True] Translation: X:767.47, Y:-59.36, Z:2.98 [[ 9.99206371e-01 -3.75866851e-02 -1.31859461e-02 7.67467161e+02] [ 3.75955521e-02 9.99292947e-01 4.25144816e-04 -5.93610350e+01] [ 1.31606431e-02 -9.20540332e-04 9.99912971e-01 2.97671044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8407140569999 meters Centerline goodness [0,1] 0.981880540995276 Centerline is valid? [True, True] Translation: X:767.50, Y:-59.37, Z:2.98 [[ 9.99067872e-01 -4.11474683e-02 -1.30488746e-02 7.67496265e+02] [ 4.11564593e-02 9.99152625e-01 4.21124129e-04 -5.93658871e+01] [ 1.30204891e-02 -9.57777063e-04 9.99914771e-01 2.97820081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.870714057 meters Centerline goodness [0,1] 0.9808676789587852 Centerline is valid? [True, True] Translation: X:767.53, Y:-59.37, Z:2.98 [[ 9.99024460e-01 -4.23309818e-02 -1.25783716e-02 7.67528184e+02] [ 4.23394342e-02 9.99103201e-01 4.06324856e-04 -5.93680093e+01] [ 1.25498913e-02 -9.38489609e-04 9.99920807e-01 2.97969002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.900714057 meters Centerline goodness [0,1] 0.9817594939451052 Centerline is valid? [True, True] Translation: X:767.56, Y:-59.37, Z:2.98 [[ 9.99006603e-01 -4.28825737e-02 -1.21199278e-02 7.67560516e+02] [ 4.28904713e-02 9.99079703e-01 3.92331131e-04 -5.93692539e+01] [ 1.20919497e-02 -9.11770805e-04 9.99926474e-01 2.98070166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9307140569999 meters Centerline goodness [0,1] 0.9786822547698727 Centerline is valid? [True, True] Translation: X:767.59, Y:-59.37, Z:2.98 [[ 9.98979329e-01 -4.33865584e-02 -1.25660640e-02 7.67591154e+02] [ 4.33950977e-02 9.99057906e-01 4.07563361e-04 -5.93727071e+01] [ 1.25365428e-02 -9.52452950e-04 9.99920961e-01 2.98110633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9607140569999 meters Centerline goodness [0,1] 0.9812398219520139 Centerline is valid? [True, True] Translation: X:767.62, Y:-59.36, Z:2.98 [[ 9.98964884e-01 -4.36122251e-02 -1.29280287e-02 7.67624121e+02] [ 4.36212898e-02 9.99048050e-01 4.19883620e-04 -5.93637253e+01] [ 1.28974098e-02 -9.83386278e-04 9.99916341e-01 2.98151437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.990714057 meters Centerline goodness [0,1] 0.9807633786897361 Centerline is valid? [True, True] Translation: X:767.66, Y:-59.36, Z:2.98 [[ 9.98941434e-01 -4.39810889e-02 -1.34786676e-02 7.67656157e+02] [ 4.39909892e-02 9.99031832e-01 4.38767419e-04 -5.93649137e+01] [ 1.34463205e-02 -1.03124288e-03 9.99909062e-01 2.98257741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.020714057 meters Centerline goodness [0,1] 0.9804914079641981 Centerline is valid? [True, True] Translation: X:767.69, Y:-59.37, Z:2.98 [[ 9.98903080e-01 -4.49226293e-02 -1.32134165e-02 7.67687445e+02] [ 4.49322369e-02 9.98989944e-01 4.31000504e-04 -5.93673035e+01] [ 1.31807085e-02 -1.02423609e-03 9.99912606e-01 2.98390130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0507140569999 meters Centerline goodness [0,1] 0.9798685380827385 Centerline is valid? [True, True] Translation: X:767.72, Y:-59.37, Z:2.98 [[ 9.98872489e-01 -4.56107667e-02 -1.31685085e-02 7.67719964e+02] [ 4.56203786e-02 9.98958756e-01 4.30298014e-04 -5.93669409e+01] [ 1.31351707e-02 -1.03056519e-03 9.99913199e-01 2.98466028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0807140569999 meters Centerline goodness [0,1] 0.979552854352073 Centerline is valid? [True, True] Translation: X:767.75, Y:-59.37, Z:2.99 [[ 9.98828860e-01 -4.65915261e-02 -1.30437108e-02 7.67751761e+02] [ 4.66010528e-02 9.98913489e-01 4.27214881e-04 -5.93667363e+01] [ 1.30096341e-02 -1.03456521e-03 9.99914836e-01 2.98532580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1107140569999 meters Centerline goodness [0,1] 0.9782693728541005 Centerline is valid? [True, True] Translation: X:767.78, Y:-59.37, Z:2.99 [[ 9.98780359e-01 -4.75459802e-02 -1.33106547e-02 7.67783128e+02] [ 4.75559999e-02 9.98868478e-01 4.37076528e-04 -5.93721899e+01] [ 1.32748122e-02 -1.06954495e-03 9.99911314e-01 2.98547468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.140714057 meters Centerline goodness [0,1] 0.9782958199356914 Centerline is valid? [True, True] Translation: X:767.81, Y:-59.37, Z:2.98 [[ 9.98657829e-01 -4.96440354e-02 -1.47651404e-02 7.67814607e+02] [ 4.96566035e-02 9.98766232e-01 4.85582637e-04 -5.93698721e+01] [ 1.47228174e-02 -1.21811762e-03 9.99890871e-01 2.98399883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1707140569999 meters Centerline goodness [0,1] 0.9781559728742827 Centerline is valid? [True, True] Translation: X:767.85, Y:-59.37, Z:2.98 [[ 9.98604537e-01 -5.04736373e-02 -1.55367657e-02 7.67846962e+02] [ 5.04876654e-02 9.98724554e-01 5.11741051e-04 -5.93668210e+01] [ 1.54911199e-02 -1.29544196e-03 9.99879166e-01 2.98390706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2007140569999 meters Centerline goodness [0,1] 0.9789143504400104 Centerline is valid? [True, True] Translation: X:767.88, Y:-59.36, Z:2.98 [[ 9.98553948e-01 -5.09857341e-02 -1.70431396e-02 7.67879711e+02] [ 5.10027109e-02 9.98698356e-01 5.62657017e-04 -5.93619374e+01] [ 1.69922681e-02 -1.43108971e-03 9.99854597e-01 2.98391997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2307140569999 meters Centerline goodness [0,1] 0.9794865094401254 Centerline is valid? [True, True] Translation: X:767.91, Y:-59.36, Z:2.98 [[ 9.98565572e-01 -5.05974030e-02 -1.75128821e-02 7.67911728e+02] [ 5.06152919e-02 9.98718057e-01 5.79455076e-04 -5.93613142e+01] [ 1.74611126e-02 -1.46504353e-03 9.99846470e-01 2.98467843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.260714057 meters Centerline goodness [0,1] 0.9799040976460331 Centerline is valid? [True, True] Translation: X:767.94, Y:-59.36, Z:2.99 [[ 9.98566827e-01 -5.04372566e-02 -1.78990283e-02 7.67944258e+02] [ 5.04559410e-02 9.98726111e-01 5.93538360e-04 -5.93602722e+01] [ 1.78462905e-02 -1.49580003e-03 9.99839623e-01 2.98545753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.290714057 meters Centerline goodness [0,1] 0.9800953853524684 Centerline is valid? [True, True] Translation: X:767.98, Y:-59.36, Z:2.99 [[ 9.98600072e-01 -4.99151285e-02 -1.75036103e-02 7.67975148e+02] [ 4.99329359e-02 9.98752404e-01 5.81526217e-04 -5.93605972e+01] [ 1.74527459e-02 -1.45471878e-03 9.99846631e-01 2.98629466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3207140569999 meters Centerline goodness [0,1] 0.9807969589723424 Centerline is valid? [True, True] Translation: X:768.01, Y:-59.36, Z:2.99 [[ 9.98634148e-01 -4.95704415e-02 -1.65108821e-02 7.68007301e+02] [ 4.95862553e-02 9.98769694e-01 5.49525929e-04 -5.93573163e+01] [ 1.64633284e-02 -1.36748817e-03 9.99863535e-01 2.98789321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3507140569999 meters Centerline goodness [0,1] 0.9799463198551073 Centerline is valid? [True, True] Translation: X:768.04, Y:-59.36, Z:2.99 [[ 9.98639170e-01 -4.96802945e-02 -1.58642897e-02 7.68039302e+02] [ 4.96949251e-02 9.98764304e-01 5.29116328e-04 -5.93567912e+01] [ 1.58183996e-02 -1.31677098e-03 9.99874014e-01 2.98914381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.380714057 meters Centerline goodness [0,1] 0.9791241256462615 Centerline is valid? [True, True] Translation: X:768.07, Y:-59.36, Z:2.99 [[ 9.98638497e-01 -5.00317419e-02 -1.47640387e-02 7.68071436e+02] [ 5.00444663e-02 9.98746869e-01 4.93429814e-04 -5.93567381e+01] [ 1.47208502e-02 -1.23161644e-03 9.99890884e-01 2.99062868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.410714057 meters Centerline goodness [0,1] 0.9766359206404456 Centerline is valid? [True, True] Translation: X:768.10, Y:-59.36, Z:2.99 [[ 9.98612850e-01 -5.09766476e-02 -1.31817105e-02 7.68102101e+02] [ 5.09868819e-02 9.98699226e-01 4.41287110e-04 -5.93566625e+01] [ 1.31420687e-02 -1.11276930e-03 9.99913020e-01 2.99172485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4407140569999 meters Centerline goodness [0,1] 0.9771057279288315 Centerline is valid? [True, True] Translation: X:768.13, Y:-59.36, Z:2.99 [[ 9.98578210e-01 -5.16574025e-02 -1.31556476e-02 7.68134030e+02] [ 5.16676627e-02 9.98664237e-01 4.41007040e-04 -5.93560566e+01] [ 1.31152935e-02 -1.12010158e-03 9.99913363e-01 2.99184879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4707140569999 meters Centerline goodness [0,1] 0.9772280686432907 Centerline is valid? [True, True] Translation: X:768.17, Y:-59.35, Z:2.99 [[ 9.98550041e-01 -5.21440232e-02 -1.33721963e-02 7.68165946e+02] [ 5.21546801e-02 9.98638917e-01 4.49226005e-04 -5.93536220e+01] [ 1.33305712e-02 -1.14599726e-03 9.99910487e-01 2.99190287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.500714057 meters Centerline goodness [0,1] 0.975395315268027 Centerline is valid? [True, True] Translation: X:768.20, Y:-59.36, Z:2.99 [[ 9.98492064e-01 -5.31488637e-02 -1.37403425e-02 7.68196547e+02] [ 5.31602217e-02 9.98585889e-01 4.62448678e-04 -5.93572565e+01] [ 1.36963336e-02 -1.19219099e-03 9.99905490e-01 2.99122646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.530714057 meters Centerline goodness [0,1] 0.9766090845317432 Centerline is valid? [True, True] Translation: X:768.23, Y:-59.35, Z:2.99 [[ 9.98410704e-01 -5.44389317e-02 -1.45762840e-02 7.68227702e+02] [ 5.44518569e-02 9.98516276e-01 4.91035924e-04 -5.93519799e+01] [ 1.45279254e-02 -1.28396125e-03 9.99893640e-01 2.99140168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5607140569999 meters Centerline goodness [0,1] 0.9766090845317432 Centerline is valid? [True, True] Translation: X:768.26, Y:-59.35, Z:2.99 [[ 9.98416534e-01 -5.43319172e-02 -1.45762603e-02 7.68260344e+02] [ 5.43448413e-02 9.98522106e-01 4.91739656e-04 -5.93531728e+01] [ 1.45280010e-02 -1.28310556e-03 9.99893640e-01 2.99171548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5907140569999 meters Centerline goodness [0,1] 0.9753995921857528 Centerline is valid? [True, True] Translation: X:768.29, Y:-59.35, Z:2.99 [[ 9.98372322e-01 -5.50336794e-02 -1.49666231e-02 7.68291312e+02] [ 5.50474034e-02 9.98483614e-01 5.06251835e-04 -5.93545869e+01] [ 1.49160670e-02 -1.32930156e-03 9.99887866e-01 2.99219600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.620714057 meters Centerline goodness [0,1] 0.9746267349708831 Centerline is valid? [True, True] Translation: X:768.32, Y:-59.35, Z:2.99 [[ 9.98337319e-01 -5.56048701e-02 -1.51886501e-02 7.68323905e+02] [ 5.56190837e-02 9.98451928e-01 5.14672030e-04 -5.93548973e+01] [ 1.51365187e-02 -1.35859510e-03 9.99884513e-01 2.99253119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.650714057 meters Centerline goodness [0,1] 0.9713991859599983 Centerline is valid? [True, True] Translation: X:768.36, Y:-59.35, Z:2.99 [[ 9.98252226e-01 -5.69983433e-02 -1.56102915e-02 7.68355556e+02] [ 5.70135401e-02 9.98373265e-01 5.29861591e-04 -5.93542751e+01] [ 1.55546964e-02 -1.41893349e-03 9.99878012e-01 2.99315416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6807140569999 meters Centerline goodness [0,1] 0.9690554459785229 Centerline is valid? [True, True] Translation: X:768.39, Y:-59.36, Z:2.99 [[ 9.98211060e-01 -5.76548400e-02 -1.58302941e-02 7.68388091e+02] [ 5.76705623e-02 9.98335523e-01 5.38101427e-04 -5.93551114e+01] [ 1.57729207e-02 -1.45008076e-03 9.99874548e-01 2.99328526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7107140569999 meters Centerline goodness [0,1] 0.9749247963463101 Centerline is valid? [True, True] Translation: X:768.42, Y:-59.35, Z:2.99 [[ 9.98182929e-01 -5.80530473e-02 -1.61457026e-02 7.68420567e+02] [ 5.80694726e-02 9.98312393e-01 5.49972210e-04 -5.93504838e+01] [ 1.60865274e-02 -1.48654531e-03 9.99869498e-01 2.99386372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.740714057 meters Centerline goodness [0,1] 0.9722411331942462 Centerline is valid? [True, True] Translation: X:768.45, Y:-59.35, Z:2.99 [[ 9.98171987e-01 -5.82129544e-02 -1.62461067e-02 7.68451328e+02] [ 5.82296226e-02 9.98303062e-01 5.54437946e-04 -5.93533069e+01] [ 1.61862626e-02 -1.49942909e-03 9.99867870e-01 2.99340184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.770714057 meters Centerline goodness [0,1] 0.9735081851786658 Centerline is valid? [True, True] Translation: X:768.48, Y:-59.35, Z:2.99 [[ 9.98178835e-01 -5.79910521e-02 -1.66147862e-02 7.68483894e+02] [ 5.80084720e-02 9.98315929e-01 5.68040752e-04 -5.93501921e+01] [ 1.65538644e-02 -1.53080462e-03 9.99861804e-01 2.99317352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8007140569999 meters Centerline goodness [0,1] 0.9752220561076422 Centerline is valid? [True, True] Translation: X:768.52, Y:-59.35, Z:2.99 [[ 9.98185506e-01 -5.79011529e-02 -1.65273427e-02 7.68517293e+02] [ 5.79184012e-02 9.98321160e-01 5.66481142e-04 -5.93463985e+01] [ 1.64667960e-02 -1.52269053e-03 9.99863254e-01 2.99380163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8307140569999 meters Centerline goodness [0,1] 0.9732262973336568 Centerline is valid? [True, True] Translation: X:768.55, Y:-59.35, Z:2.99 [[ 9.98241508e-01 -5.71327094e-02 -1.58033542e-02 7.68548377e+02] [ 5.71484137e-02 9.98365546e-01 5.43555302e-04 -5.93492703e+01] [ 1.57464696e-02 -1.44573609e-03 9.99874971e-01 2.99429104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8607140569999 meters Centerline goodness [0,1] 0.9752493779314293 Centerline is valid? [True, True] Translation: X:768.58, Y:-59.35, Z:3.00 [[ 9.98312627e-01 -5.62248835e-02 -1.45141857e-02 7.68580026e+02] [ 5.62380555e-02 9.98417263e-01 5.00658096e-04 -5.93461797e+01] [ 1.44630641e-02 -1.31606288e-03 9.99894538e-01 2.99590523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.890714057 meters Centerline goodness [0,1] 0.9742940217630732 Centerline is valid? [True, True] Translation: X:768.61, Y:-59.35, Z:3.00 [[ 9.98348446e-01 -5.57353022e-02 -1.39268234e-02 7.68611976e+02] [ 5.57473912e-02 9.98444789e-01 4.81037009e-04 -5.93472073e+01] [ 1.38783535e-02 -1.25662662e-03 9.99902901e-01 2.99685484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9207140569999 meters Centerline goodness [0,1] 0.9743380225701729 Centerline is valid? [True, True] Translation: X:768.64, Y:-59.35, Z:3.00 [[ 9.98356490e-01 -5.56044449e-02 -1.38731492e-02 7.68644095e+02] [ 5.56164420e-02 9.98452092e-01 4.80170166e-04 -5.93461603e+01] [ 1.38249753e-02 -1.25095620e-03 9.99903648e-01 2.99749220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9507140569999 meters Centerline goodness [0,1] 0.973754379779193 Centerline is valid? [True, True] Translation: X:768.68, Y:-59.35, Z:3.00 [[ 9.98366745e-01 -5.53883830e-02 -1.39989133e-02 7.68676445e+02] [ 5.54005916e-02 9.98464090e-01 4.85529820e-04 -5.93470992e+01] [ 1.39505195e-02 -1.26028490e-03 9.99901893e-01 2.99760299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9807140569999 meters Centerline goodness [0,1] 0.9692328124308291 Centerline is valid? [True, True] Translation: X:768.71, Y:-59.35, Z:3.00 [[ 9.98321962e-01 -5.58767155e-02 -1.52004227e-02 7.68707809e+02] [ 5.58911880e-02 9.98436726e-01 5.28637661e-04 -5.93511799e+01] [ 1.51471217e-02 -1.37732027e-03 9.99884327e-01 2.99614003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.010714057 meters Centerline goodness [0,1] 0.9707458588006024 Centerline is valid? [True, True] Translation: X:768.74, Y:-59.35, Z:3.00 [[ 9.98307892e-01 -5.59503587e-02 -1.58401317e-02 7.68740464e+02] [ 5.59661108e-02 9.98432516e-01 5.52562046e-04 -5.93515233e+01] [ 1.57843866e-02 -1.43813762e-03 9.99874385e-01 2.99534569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.040714057 meters Centerline goodness [0,1] 0.9700325588606613 Centerline is valid? [True, True] Translation: X:768.77, Y:-59.35, Z:2.99 [[ 9.98305808e-01 -5.57561220e-02 -1.66363527e-02 7.68772367e+02] [ 5.57734909e-02 9.98443278e-01 5.81537429e-04 -5.93529761e+01] [ 1.65780302e-02 -1.50841966e-03 9.99861437e-01 2.99451224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0707140569999 meters Centerline goodness [0,1] 0.9755524525123568 Centerline is valid? [True, True] Translation: X:768.81, Y:-59.35, Z:2.99 [[ 9.98298737e-01 -5.56892226e-02 -1.72726126e-02 7.68805027e+02] [ 5.57079572e-02 9.98446923e-01 6.05026842e-04 -5.93496789e+01] [ 1.72120934e-02 -1.56621950e-03 9.99850634e-01 2.99449796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1007140569999 meters Centerline goodness [0,1] 0.9592406972102718 Centerline is valid? [True, True] Translation: X:768.84, Y:-59.36, Z:2.99 [[ 9.98360466e-01 -5.43021949e-02 -1.81011467e-02 7.68835462e+02] [ 5.43225628e-02 9.98523238e-01 6.35076064e-04 -5.93572797e+01] [ 1.80399295e-02 -1.61733551e-03 9.99835959e-01 2.99316391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.130714057 meters Centerline goodness [0,1] 0.9761478831246273 Centerline is valid? [True, True] Translation: X:768.87, Y:-59.35, Z:2.99 [[ 9.98446045e-01 -5.27097080e-02 -1.80881530e-02 7.68867665e+02] [ 5.27298017e-02 9.98608614e-01 6.35420772e-04 -5.93465133e+01] [ 1.80294925e-02 -1.58821808e-03 9.99836194e-01 2.99436576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.160714057 meters Centerline goodness [0,1] 0.9757146975980838 Centerline is valid? [True, True] Translation: X:768.90, Y:-59.34, Z:2.99 [[ 9.98586306e-01 -5.03255976e-02 -1.71091929e-02 7.68898967e+02] [ 5.03432381e-02 9.98731794e-01 6.01653041e-04 -5.93449386e+01] [ 1.70572164e-02 -1.46213466e-03 9.99853446e-01 2.99469455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1907140569999 meters Centerline goodness [0,1] 0.9770064018784751 Centerline is valid? [True, True] Translation: X:768.93, Y:-59.34, Z:3.00 [[ 9.98678853e-01 -4.86802531e-02 -1.64554539e-02 7.68930487e+02] [ 4.86963560e-02 9.98813461e-01 5.79075741e-04 -5.93427239e+01] [ 1.64077393e-02 -1.37963134e-03 9.99864432e-01 2.99575003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2207140569999 meters Centerline goodness [0,1] 0.9697259330058459 Centerline is valid? [True, True] Translation: X:768.96, Y:-59.35, Z:3.00 [[ 9.98762623e-01 -4.71358824e-02 -1.58565710e-02 7.68960573e+02] [ 4.71506482e-02 9.98887634e-01 5.58448005e-04 -5.93521113e+01] [ 1.58126098e-02 -1.30540460e-03 9.99874121e-01 2.99596452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.250714057 meters Centerline goodness [0,1] 0.9763489527866525 Centerline is valid? [True, True] Translation: X:768.99, Y:-59.34, Z:3.00 [[ 9.98858031e-01 -4.53437568e-02 -1.50524754e-02 7.68992212e+02] [ 4.53568661e-02 9.98970707e-01 5.30488392e-04 -5.93417870e+01] [ 1.50129277e-02 -1.21261570e-03 9.99886564e-01 2.99768991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.280714057 meters Centerline goodness [0,1] 0.9762433392539964 Centerline is valid? [True, True] Translation: X:769.02, Y:-59.34, Z:3.00 [[ 9.99040588e-01 -4.17763763e-02 -1.31392080e-02 7.69021991e+02] [ 4.17860611e-02 9.99126474e-01 4.63300978e-04 -5.93396007e+01] [ 1.31083755e-02 -1.01189223e-03 9.99913570e-01 2.99968896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3107140569999 meters Centerline goodness [0,1] 0.9762777370560405 Centerline is valid? [True, True] Translation: X:769.05, Y:-59.34, Z:3.00 [[ 9.99124552e-01 -3.98945316e-02 -1.25919308e-02 7.69054085e+02] [ 3.99032777e-02 9.99203448e-01 4.44007362e-04 -5.93393175e+01] [ 1.25641872e-02 -9.46077969e-04 9.99920620e-01 3.00026119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3407140569999 meters Centerline goodness [0,1] 0.9764252799358875 Centerline is valid? [True, True] Translation: X:769.09, Y:-59.34, Z:3.00 [[ 9.99169859e-01 -3.86754214e-02 -1.27986230e-02 7.69085353e+02] [ 3.86843655e-02 9.99251378e-01 4.51920451e-04 -5.93396168e+01] [ 1.27715635e-02 -9.46651905e-04 9.99917992e-01 3.00058520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.370714057 meters Centerline goodness [0,1] 0.975877583749109 Centerline is valid? [True, True] Translation: X:769.12, Y:-59.34, Z:3.00 [[ 9.99226154e-01 -3.72256832e-02 -1.27020717e-02 7.69116796e+02] [ 3.72343819e-02 9.99306459e-01 4.48951266e-04 -5.93394671e+01] [ 1.26765498e-02 -9.21557637e-04 9.99919225e-01 3.00054028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.400714057 meters Centerline goodness [0,1] 0.9756315073685149 Centerline is valid? [True, True] Translation: X:769.15, Y:-59.34, Z:3.00 [[ 9.99257112e-01 -3.58568962e-02 -1.41247150e-02 7.69147483e+02] [ 3.58675243e-02 9.99356428e-01 4.99761536e-04 -5.93397282e+01] [ 1.40977048e-02 -1.00600883e-03 9.99900116e-01 2.99986278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4307140569999 meters Centerline goodness [0,1] 0.9757023538344722 Centerline is valid? [True, True] Translation: X:769.18, Y:-59.34, Z:3.00 [[ 9.99253173e-01 -3.55722347e-02 -1.50901360e-02 7.69178326e+02] [ 3.55843427e-02 9.99366534e-01 5.34553011e-04 -5.93407070e+01] [ 1.50615616e-02 -1.07112636e-03 9.99885995e-01 2.99920551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4607140569999 meters Centerline goodness [0,1] 0.9747140814867763 Centerline is valid? [True, True] Translation: X:769.21, Y:-59.34, Z:3.00 [[ 9.99282935e-01 -3.46531557e-02 -1.52569320e-02 7.69209966e+02] [ 3.46654396e-02 9.99398826e-01 5.41335440e-04 -5.93424404e+01] [ 1.52290010e-02 -1.06983552e-03 9.99883460e-01 2.99886546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.490714057 meters Centerline goodness [0,1] 0.9779803772232427 Centerline is valid? [True, True] Translation: X:769.24, Y:-59.34, Z:3.00 [[ 9.99292019e-01 -3.38990087e-02 -1.63192660e-02 7.69242617e+02] [ 3.39129819e-02 9.99424621e-01 5.80188645e-04 -5.93350215e+01] [ 1.62902084e-02 -1.13321285e-03 9.99866664e-01 2.99910846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.520714057 meters Centerline goodness [0,1] 0.9777329297006391 Centerline is valid? [True, True] Translation: X:769.27, Y:-59.33, Z:3.00 [[ 9.99308997e-01 -3.32961510e-02 -1.65195359e-02 7.69274774e+02] [ 3.33104067e-02 9.99444881e-01 5.88481877e-04 -5.93325651e+01] [ 1.64907714e-02 -1.13834769e-03 9.99863370e-01 2.99905195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5507140569999 meters Centerline goodness [0,1] 0.9786356401461654 Centerline is valid? [True, True] Translation: X:769.31, Y:-59.33, Z:3.00 [[ 9.99331396e-01 -3.24060607e-02 -1.69294971e-02 7.69307317e+02] [ 3.24209265e-02 9.99474121e-01 6.04307500e-04 -5.93323381e+01] [ 1.69010110e-02 -1.15277344e-03 9.99856503e-01 2.99903784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5807140569999 meters Centerline goodness [0,1] 0.9777962559273659 Centerline is valid? [True, True] Translation: X:769.34, Y:-59.33, Z:3.00 [[ 9.99341405e-01 -3.18427622e-02 -1.74009965e-02 7.69339571e+02] [ 3.18584044e-02 9.99492198e-01 6.22388183e-04 -5.93325783e+01] [ 1.73723417e-02 -1.17634626e-03 9.99848397e-01 2.99894607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6107140569999 meters Centerline goodness [0,1] 0.9783375654479675 Centerline is valid? [True, True] Translation: X:769.37, Y:-59.33, Z:3.00 [[ 9.99384871e-01 -3.04068027e-02 -1.74730027e-02 7.69371096e+02] [ 3.04223728e-02 9.99536937e-01 6.25918904e-04 -5.93318074e+01] [ 1.74458794e-02 -1.15710409e-03 9.99847140e-01 2.99932904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.640714057 meters Centerline goodness [0,1] 0.9789203432200527 Centerline is valid? [True, True] Translation: X:769.40, Y:-59.33, Z:3.00 [[ 9.99418803e-01 -2.96148654e-02 -1.68824259e-02 7.69402552e+02] [ 2.96293000e-02 9.99560773e-01 6.05468058e-04 -5.93326795e+01] [ 1.68570799e-02 -1.10533062e-03 9.99857298e-01 2.99981908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6707140569999 meters Centerline goodness [0,1] 0.9778362809954547 Centerline is valid? [True, True] Translation: X:769.43, Y:-59.33, Z:3.00 [[ 9.99443973e-01 -2.89925417e-02 -1.64674735e-02 7.69434447e+02] [ 2.90062051e-02 9.99579057e-01 5.91430703e-04 -5.93322302e+01] [ 1.64433945e-02 -1.06876076e-03 9.99864227e-01 3.00075593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7007140569999 meters Centerline goodness [0,1] 0.9785757732771633 Centerline is valid? [True, True] Translation: X:769.47, Y:-59.33, Z:3.00 [[ 9.99474789e-01 -2.81446771e-02 -1.60631052e-02 7.69465728e+02] [ 2.81575897e-02 9.99603329e-01 5.78220125e-04 -5.93341083e+01] [ 1.60404596e-02 -1.03021476e-03 9.99870813e-01 3.00117845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7307140569999 meters Centerline goodness [0,1] 0.9787286612758311 Centerline is valid? [True, True] Translation: X:769.50, Y:-59.33, Z:3.00 [[ 9.99526952e-01 -2.68745643e-02 -1.49542679e-02 7.69497625e+02] [ 2.68856348e-02 9.99638370e-01 5.39706618e-04 -5.93295305e+01] [ 1.49343556e-02 -9.41506296e-04 9.99888033e-01 3.00255286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.760714057 meters Centerline goodness [0,1] 0.9784537958615112 Centerline is valid? [True, True] Translation: X:769.53, Y:-59.33, Z:3.00 [[ 9.99546195e-01 -2.64045610e-02 -1.44983747e-02 7.69528615e+02] [ 2.64149277e-02 9.99650928e-01 5.23957603e-04 -5.93339179e+01] [ 1.44794788e-02 -9.06693348e-04 9.99894756e-01 3.00319957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.790714057 meters Centerline goodness [0,1] 0.9797326239375972 Centerline is valid? [True, True] Translation: X:769.56, Y:-59.33, Z:3.00 [[ 9.99558019e-01 -2.60413954e-02 -1.43392032e-02 7.69560744e+02] [ 2.60515103e-02 9.99660467e-01 5.19038362e-04 -5.93277471e+01] [ 1.43208181e-02 -8.92366857e-04 9.99897054e-01 3.00424237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8207140569999 meters Centerline goodness [0,1] 0.9789015254084303 Centerline is valid? [True, True] Translation: X:769.59, Y:-59.33, Z:3.00 [[ 9.99570402e-01 -2.53509364e-02 -1.47085635e-02 7.69592986e+02] [ 2.53615204e-02 9.99678203e-01 5.33470655e-04 -5.93280711e+01] [ 1.46903063e-02 -9.06273009e-04 9.99891681e-01 3.00362594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8507140569999 meters Centerline goodness [0,1] 0.9806543257198259 Centerline is valid? [True, True] Translation: X:769.62, Y:-59.33, Z:3.00 [[ 9.99571530e-01 -2.51632749e-02 -1.49521265e-02 7.69624813e+02] [ 2.51742074e-02 9.99682932e-01 5.43375030e-04 -5.93281896e+01] [ 1.49337126e-02 -9.19550145e-04 9.99888063e-01 3.00283574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.880714057 meters Centerline goodness [0,1] 0.9800740172406012 Centerline is valid? [True, True] Translation: X:769.66, Y:-59.33, Z:3.00 [[ 9.99567735e-01 -2.47544074e-02 -1.58607122e-02 7.69655863e+02] [ 2.47666746e-02 9.99693092e-01 5.77448880e-04 -5.93314256e+01] [ 1.58415501e-02 -9.70016368e-04 9.99874044e-01 3.00221657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.910714057 meters Centerline goodness [0,1] 0.9800951286039539 Centerline is valid? [True, True] Translation: X:769.69, Y:-59.33, Z:3.00 [[ 9.99557167e-01 -2.45496681e-02 -1.68161762e-02 7.69687833e+02] [ 2.45634467e-02 9.99698085e-01 6.13278353e-04 -5.93321597e+01] [ 1.67960433e-02 -1.02607002e-03 9.99858410e-01 3.00138259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9407140569999 meters Centerline goodness [0,1] 0.9809489413570494 Centerline is valid? [True, True] Translation: X:769.72, Y:-59.33, Z:3.00 [[ 9.99561084e-01 -2.40784078e-02 -1.72588920e-02 7.69719267e+02] [ 2.40928680e-02 9.99709526e-01 6.30378752e-04 -5.93327552e+01] [ 1.72387002e-02 -1.04591827e-03 9.99850856e-01 3.00119933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9707140569999 meters Centerline goodness [0,1] 0.9806193670800298 Centerline is valid? [True, True] Translation: X:769.75, Y:-59.33, Z:3.00 [[ 9.99554321e-01 -2.35780068e-02 -1.83094540e-02 7.69750353e+02] [ 2.35942098e-02 9.99721394e-01 6.69412291e-04 -5.93305231e+01] [ 1.82885694e-02 -1.10111105e-03 9.99832144e-01 3.00208638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.000714057 meters Centerline goodness [0,1] 0.9802864553964137 Centerline is valid? [True, True] Translation: X:769.78, Y:-59.34, Z:3.00 [[ 9.99567155e-01 -2.31980923e-02 -1.80928229e-02 7.69780436e+02] [ 2.32138681e-02 9.99730302e-01 6.62376140e-04 -5.93364851e+01] [ 1.80725774e-02 -1.08209384e-03 9.99836092e-01 3.00190149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.030714057 meters Centerline goodness [0,1] 0.9808122584582005 Centerline is valid? [True, True] Translation: X:769.81, Y:-59.33, Z:3.00 [[ 9.99570769e-01 -2.29343544e-02 -1.82289101e-02 7.69812295e+02] [ 2.29503415e-02 9.99736383e-01 6.68280364e-04 -5.93344223e+01] [ 1.82087781e-02 -1.08635323e-03 9.99833616e-01 3.00296090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0607140569999 meters Centerline goodness [0,1] 0.981340751798073 Centerline is valid? [True, True] Translation: X:769.84, Y:-59.34, Z:3.00 [[ 9.99572568e-01 -2.28102003e-02 -1.82859368e-02 7.69843342e+02] [ 2.28262784e-02 9.99739221e-01 6.71001729e-04 -5.93354332e+01] [ 1.82658625e-02 -1.08811481e-03 9.99832573e-01 3.00361005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0907140569999 meters Centerline goodness [0,1] 0.9819233550253073 Centerline is valid? [True, True] Translation: X:769.88, Y:-59.33, Z:3.01 [[ 9.99604983e-01 -2.22820964e-02 -1.71285271e-02 7.69875041e+02] [ 2.22961359e-02 9.99751212e-01 6.29102172e-04 -5.93337125e+01] [ 1.71102480e-02 -1.01075363e-03 9.99853098e-01 3.00563909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.120714057 meters Centerline goodness [0,1] 0.9811945647982215 Centerline is valid? [True, True] Translation: X:769.91, Y:-59.34, Z:3.01 [[ 9.99616689e-01 -2.23201907e-02 -1.63793524e-02 7.69906383e+02] [ 2.23330449e-02 9.99750405e-01 6.02261316e-04 -5.93385750e+01] [ 1.63618216e-02 -9.67831275e-04 9.99865668e-01 3.00608571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.150714057 meters Centerline goodness [0,1] 0.9819050638644805 Centerline is valid? [True, True] Translation: X:769.94, Y:-59.33, Z:3.01 [[ 9.99629275e-01 -2.19681900e-02 -1.60845004e-02 7.69937764e+02] [ 2.19805517e-02 9.99758223e-01 5.92144250e-04 -5.93328491e+01] [ 1.60676032e-02 -9.45470920e-04 9.99870461e-01 3.00757295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1807140569999 meters Centerline goodness [0,1] 0.9821003738529511 Centerline is valid? [True, True] Translation: X:769.97, Y:-59.33, Z:3.01 [[ 9.99603775e-01 -2.27276154e-02 -1.66056750e-02 7.69969343e+02] [ 2.27409057e-02 9.99741205e-01 6.11934462e-04 -5.93340074e+01] [ 1.65874697e-02 -9.89320087e-04 9.99861929e-01 3.00802933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2107140569999 meters Centerline goodness [0,1] 0.9824179807866594 Centerline is valid? [True, True] Translation: X:770.00, Y:-59.34, Z:3.01 [[ 9.99592057e-01 -2.30038539e-02 -1.69275440e-02 7.70001913e+02] [ 2.30177187e-02 9.99734862e-01 6.24668219e-04 -5.93352557e+01] [ 1.69086861e-02 -1.01404683e-03 9.99856524e-01 3.00772709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.240714057 meters Centerline goodness [0,1] 0.9804436991547508 Centerline is valid? [True, True] Translation: X:770.03, Y:-59.35, Z:3.01 [[ 9.99580136e-01 -2.32054567e-02 -1.73510377e-02 7.70032743e+02] [ 2.32200737e-02 9.99730172e-01 6.41413896e-04 -5.93465648e+01] [ 1.73314716e-02 -1.04403696e-03 9.99849254e-01 3.00642115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.270714057 meters Centerline goodness [0,1] 0.9804562478719782 Centerline is valid? [True, True] Translation: X:770.06, Y:-59.34, Z:3.01 [[ 9.99570654e-01 -2.36140474e-02 -1.73460487e-02 7.70064179e+02] [ 2.36287307e-02 9.99720596e-01 6.42007284e-04 -5.93438165e+01] [ 1.73260417e-02 -1.05159675e-03 9.99849340e-01 3.00679482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3007140569999 meters Centerline goodness [0,1] 0.9812204448265719 Centerline is valid? [True, True] Translation: X:770.10, Y:-59.34, Z:3.01 [[ 9.99566754e-01 -2.31369389e-02 -1.81930511e-02 7.70095509e+02] [ 2.31530247e-02 9.99731706e-01 6.74008653e-04 -5.93416453e+01] [ 1.81725755e-02 -1.09494080e-03 9.99834266e-01 3.00713743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3307140569999 meters Centerline goodness [0,1] 0.9813784052855462 Centerline is valid? [True, True] Translation: X:770.13, Y:-59.34, Z:3.01 [[ 9.99573508e-01 -2.27606953e-02 -1.82962428e-02 7.70126670e+02] [ 2.27769132e-02 9.99740342e-01 6.78486269e-04 -5.93430561e+01] [ 1.82760493e-02 -1.09492884e-03 9.99832380e-01 3.00664631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3607140569999 meters Centerline goodness [0,1] 0.9817640826815138 Centerline is valid? [True, True] Translation: X:770.16, Y:-59.35, Z:3.01 [[ 9.99594031e-01 -2.18248303e-02 -1.83152895e-02 7.70158404e+02] [ 2.18409402e-02 9.99761227e-01 6.79997479e-04 -5.93452859e+01] [ 1.82960755e-02 -1.07974457e-03 9.99832030e-01 3.00647200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.390714057 meters Centerline goodness [0,1] 0.9816190583719092 Centerline is valid? [True, True] Translation: X:770.19, Y:-59.35, Z:3.01 [[ 9.99635197e-01 -1.94271845e-02 -1.87632178e-02 7.70189413e+02] [ 1.94436841e-02 9.99810711e-01 6.97310773e-04 -5.93466858e+01] [ 1.87461193e-02 -1.06188247e-03 9.99823712e-01 3.00684212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4207140569999 meters Centerline goodness [0,1] 0.9819522344852543 Centerline is valid? [True, True] Translation: X:770.22, Y:-59.35, Z:3.01 [[ 9.99681019e-01 -1.74025345e-02 -1.83033608e-02 7.70218742e+02] [ 1.74178970e-02 9.99848066e-01 6.80233412e-04 -5.93480523e+01] [ 1.82887421e-02 -9.98822483e-04 9.99832248e-01 3.00764650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4507140569999 meters Centerline goodness [0,1] 0.9827578414534937 Centerline is valid? [True, True] Translation: X:770.25, Y:-59.35, Z:3.01 [[ 9.99716527e-01 -1.54501075e-02 -1.81151580e-02 7.70248199e+02] [ 1.54648277e-02 9.99880186e-01 6.72777473e-04 -5.93488034e+01] [ 1.81025930e-02 -9.52734556e-04 9.99835681e-01 3.00848496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4807140569999 meters Centerline goodness [0,1] 0.9827578414534937 Centerline is valid? [True, True] Translation: X:770.28, Y:-59.35, Z:3.01 [[ 9.99715992e-01 -1.54847140e-02 -1.81151813e-02 7.70277372e+02] [ 1.54994285e-02 9.99879651e-01 6.72150088e-04 -5.93498552e+01] [ 1.81025931e-02 -9.52734149e-04 9.99835681e-01 3.00876558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.510714057 meters Centerline goodness [0,1] 0.982831264222788 Centerline is valid? [True, True] Translation: X:770.31, Y:-59.35, Z:3.01 [[ 9.99757327e-01 -1.31237032e-02 -1.76933928e-02 7.70305979e+02] [ 1.31373585e-02 9.99913486e-01 6.55757355e-04 -5.93511289e+01] [ 1.76832561e-02 -8.88042665e-04 9.99843245e-01 3.00899565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.540714057 meters Centerline goodness [0,1] 0.9823288103502682 Centerline is valid? [True, True] Translation: X:770.34, Y:-59.35, Z:3.01 [[ 9.99808097e-01 -8.27371318e-03 -1.77571217e-02 7.70336791e+02] [ 8.28669381e-03 9.99965449e-01 6.57552994e-04 -5.93485994e+01] [ 1.77510677e-02 -8.04574638e-04 9.99842114e-01 3.00963719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5707140569999 meters Centerline goodness [0,1] 0.9839284104228654 Centerline is valid? [True, True] Translation: X:770.37, Y:-59.35, Z:3.01 [[ 9.99815461e-01 -5.74195083e-03 -1.83323416e-02 7.70366208e+02] [ 5.75534053e-03 9.99983208e-01 6.77710967e-04 -5.93486118e+01] [ 1.83281424e-02 -7.83094771e-04 9.99831719e-01 3.01034858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6007140569999 meters Centerline goodness [0,1] 0.9825040019840823 Centerline is valid? [True, True] Translation: X:770.39, Y:-59.35, Z:3.01 [[ 9.99818034e-01 -3.27663325e-03 -1.87926299e-02 7.70394351e+02] [ 3.29023460e-03 9.99994347e-01 6.92886655e-04 -5.93538541e+01] [ 1.87902533e-02 -7.54592734e-04 9.99823163e-01 3.00960689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.630714057 meters Centerline goodness [0,1] 0.983144671140333 Centerline is valid? [True, True] Translation: X:770.42, Y:-59.35, Z:3.01 [[ 9.99809487e-01 -7.30814601e-04 -1.95052719e-02 7.70423692e+02] [ 7.44947702e-04 9.99999465e-01 7.17322445e-04 -5.93517397e+01] [ 1.95047372e-02 -7.31716194e-04 9.99809497e-01 3.00999679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.660714057 meters Centerline goodness [0,1] 0.984430274216444 Centerline is valid? [True, True] Translation: X:770.45, Y:-59.35, Z:3.01 [[ 9.99800061e-01 4.44255046e-03 -1.94961902e-02 7.70453602e+02] [-4.42943761e-03 9.99989934e-01 7.15716432e-04 -5.93527060e+01] [ 1.94991735e-02 -6.29216175e-04 9.99809675e-01 3.00990875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6907140569999 meters Centerline goodness [0,1] 0.9849644429393837 Centerline is valid? [True, True] Translation: X:770.48, Y:-59.35, Z:3.01 [[ 9.99785591e-01 6.23002165e-03 -1.97473556e-02 7.70482823e+02] [-6.21696612e-03 9.99980414e-01 7.22449865e-04 -5.93524797e+01] [ 1.97514697e-02 -5.99526325e-04 9.99804741e-01 3.01046546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7207140569999 meters Centerline goodness [0,1] 0.9850217680629808 Centerline is valid? [True, True] Translation: X:770.51, Y:-59.35, Z:3.01 [[ 9.99744718e-01 9.77646450e-03 -2.03695702e-02 7.70511576e+02] [-9.76337024e-03 9.99952062e-01 7.42185899e-04 -5.93543867e+01] [ 2.03758497e-02 -5.43120777e-04 9.99792243e-01 3.01033428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.750714057 meters Centerline goodness [0,1] 0.9852858333896662 Centerline is valid? [True, True] Translation: X:770.54, Y:-59.36, Z:3.01 [[ 9.99732520e-01 1.08467844e-02 -2.04263280e-02 7.70540641e+02] [-1.08339103e-02 9.99941037e-01 7.40827790e-04 -5.93555048e+01] [ 2.04331592e-02 -5.19332628e-04 9.99791086e-01 3.01048280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.780714057 meters Centerline goodness [0,1] 0.9859966680174704 Centerline is valid? [True, True] Translation: X:770.57, Y:-59.36, Z:3.01 [[ 9.99717507e-01 1.15761623e-02 -2.07580927e-02 7.70568122e+02] [-1.15630958e-02 9.99932864e-01 7.49386161e-04 -5.93591836e+01] [ 2.07653741e-02 -5.09146650e-04 9.99784247e-01 3.01078893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8107140569999 meters Centerline goodness [0,1] 0.9850739548391454 Centerline is valid? [True, True] Translation: X:770.60, Y:-59.36, Z:3.01 [[ 9.99722998e-01 1.15106756e-02 -2.05288076e-02 7.70595987e+02] [-1.14979237e-02 9.99933624e-01 7.39099427e-04 -5.93621378e+01] [ 2.05359525e-02 -5.02856031e-04 9.99788989e-01 3.01093100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8407140569999 meters Centerline goodness [0,1] 0.9833832804043476 Centerline is valid? [True, True] Translation: X:770.62, Y:-59.37, Z:3.01 [[ 9.99753246e-01 9.97670104e-03 -1.98472346e-02 7.70623431e+02] [-9.96452608e-03 9.99950099e-01 7.12235243e-04 -5.93695903e+01] [ 1.98533500e-02 -5.14291210e-04 9.99802771e-01 3.01194760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.870714057 meters Centerline goodness [0,1] 0.9841702812681662 Centerline is valid? [True, True] Translation: X:770.65, Y:-59.37, Z:3.01 [[ 9.99776449e-01 7.88272947e-03 -1.96192189e-02 7.70651597e+02] [-7.87047970e-03 9.99968781e-01 7.01513001e-04 -5.93746553e+01] [ 1.96241362e-02 -5.46943514e-04 9.99807278e-01 3.01192506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.900714057 meters Centerline goodness [0,1] 0.9830250710084315 Centerline is valid? [True, True] Translation: X:770.68, Y:-59.38, Z:3.01 [[ 9.99792085e-01 5.25894443e-03 -1.97009994e-02 7.70679797e+02] [-5.24612517e-03 9.99985992e-01 7.02316734e-04 -5.93806150e+01] [ 1.97044169e-02 -5.98816803e-04 9.99805670e-01 3.01192927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9307140569999 meters Centerline goodness [0,1] 0.9820829165277315 Centerline is valid? [True, True] Translation: X:770.71, Y:-59.39, Z:3.01 [[ 9.99794616e-01 2.91729218e-03 -2.00553115e-02 7.70708330e+02] [-2.90356844e-03 9.99995530e-01 7.13379450e-04 -5.93863731e+01] [ 2.00573030e-02 -6.55000964e-04 9.99798618e-01 3.01153452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9607140569999 meters Centerline goodness [0,1] 0.9823305103533898 Centerline is valid? [True, True] Translation: X:770.74, Y:-59.40, Z:3.01 [[ 9.99775166e-01 -3.10813282e-03 -2.09751550e-02 7.70738271e+02] [ 3.12445009e-03 9.99994841e-01 7.45206358e-04 -5.93980422e+01] [ 2.09727306e-02 -8.10574635e-04 9.99779720e-01 3.01074194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.990714057 meters Centerline goodness [0,1] 0.9816489361702128 Centerline is valid? [True, True] Translation: X:770.77, Y:-59.41, Z:3.01 [[ 9.99748428e-01 -6.68227567e-03 -2.14109413e-02 7.70766142e+02] [ 6.70007344e-03 9.99977266e-01 7.59617837e-04 -5.94120132e+01] [ 2.14053786e-02 -9.02881617e-04 9.99770471e-01 3.00871928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.020714057 meters Centerline goodness [0,1] 0.9819849690539346 Centerline is valid? [True, True] Translation: X:770.80, Y:-59.41, Z:3.01 [[ 9.99718902e-01 -9.63803200e-03 -2.16616293e-02 7.70795785e+02] [ 9.65691631e-03 9.99953076e-01 7.67348610e-04 -5.94100769e+01] [ 2.16532171e-02 -9.76317451e-04 9.99765065e-01 3.01116297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0507140569999 meters Centerline goodness [0,1] 0.9808768451200705 Centerline is valid? [True, True] Translation: X:770.82, Y:-59.43, Z:3.01 [[ 9.99628451e-01 -1.56675743e-02 -2.23044339e-02 7.70824251e+02] [ 1.56890999e-02 9.99876606e-01 7.90404759e-04 -5.94256214e+01] [ 2.22892980e-02 -1.14004758e-03 9.99750913e-01 3.01045327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0807140569999 meters Centerline goodness [0,1] 0.9813110856740337 Centerline is valid? [True, True] Translation: X:770.85, Y:-59.43, Z:3.01 [[ 9.99577414e-01 -1.83008153e-02 -2.25848261e-02 7.70853899e+02] [ 1.83235566e-02 9.99831789e-01 8.00381877e-04 -5.94294384e+01] [ 2.25663794e-02 -1.21387799e-03 9.99744610e-01 3.01134945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1107140569999 meters Centerline goodness [0,1] 0.9820616972225271 Centerline is valid? [True, True] Translation: X:770.88, Y:-59.43, Z:3.01 [[ 9.99540419e-01 -2.03837638e-02 -2.24377591e-02 7.70883784e+02] [ 2.04067155e-02 9.99791446e-01 7.94389538e-04 -5.94302555e+01] [ 2.24168869e-02 -1.25190542e-03 9.99747926e-01 3.01315090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.140714057 meters Centerline goodness [0,1] 0.9813332163460484 Centerline is valid? [True, True] Translation: X:770.91, Y:-59.44, Z:3.01 [[ 9.99509864e-01 -2.22142864e-02 -2.20580649e-02 7.70913146e+02] [ 2.22368949e-02 9.99752425e-01 7.80171351e-04 -5.94355555e+01] [ 2.20352729e-02 -1.27029183e-03 9.99756387e-01 3.01387958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1707140569999 meters Centerline goodness [0,1] 0.9804746564985866 Centerline is valid? [True, True] Translation: X:770.94, Y:-59.45, Z:3.01 [[ 9.99460085e-01 -2.50632268e-02 -2.12455321e-02 7.70940621e+02] [ 2.50848169e-02 9.99685045e-01 7.50286233e-04 -5.94496454e+01] [ 2.12200361e-02 -1.28282143e-03 9.99774007e-01 3.01377644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2007140569999 meters Centerline goodness [0,1] 0.9797037490168662 Centerline is valid? [True, True] Translation: X:770.97, Y:-59.45, Z:3.01 [[ 9.99445716e-01 -2.59577468e-02 -2.08436171e-02 7.70970207e+02] [ 2.59786997e-02 9.99662226e-01 7.35056023e-04 -5.94535254e+01] [ 2.08174962e-02 -1.27613866e-03 9.99782478e-01 3.01434713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2307140569999 meters Centerline goodness [0,1] 0.9814102003324293 Centerline is valid? [True, True] Translation: X:771.00, Y:-59.45, Z:3.02 [[ 9.99438150e-01 -2.66478168e-02 -2.03292341e-02 7.70999806e+02] [ 2.66678765e-02 9.99644092e-01 7.16235967e-04 -5.94526426e+01] [ 2.03029127e-02 -1.25797106e-03 9.99793083e-01 3.01558529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.260714057 meters Centerline goodness [0,1] 0.9811841500010953 Centerline is valid? [True, True] Translation: X:771.03, Y:-59.46, Z:3.02 [[ 9.99413300e-01 -2.74769734e-02 -2.04467842e-02 7.71029820e+02] [ 2.74974280e-02 9.99621615e-01 7.19857840e-04 -5.94550394e+01] [ 2.04192679e-02 -1.28166948e-03 9.99790684e-01 3.01578748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.290714057 meters Centerline goodness [0,1] 0.979223381318466 Centerline is valid? [True, True] Translation: X:771.06, Y:-59.47, Z:3.01 [[ 9.99375800e-01 -2.82422716e-02 -2.12222788e-02 7.71058889e+02] [ 2.82644716e-02 9.99600201e-01 7.46788912e-04 -5.94693159e+01] [ 2.11927031e-02 -1.34615926e-03 9.99774503e-01 3.01315933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3207140569999 meters Centerline goodness [0,1] 0.9808369948231609 Centerline is valid? [True, True] Translation: X:771.09, Y:-59.46, Z:3.02 [[ 9.99360574e-01 -2.82493571e-02 -2.19184348e-02 7.71089220e+02] [ 2.82730264e-02 9.99599941e-01 7.70686841e-04 -5.94603879e+01] [ 2.18878947e-02 -1.38989453e-03 9.99759465e-01 3.01503637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3507140569999 meters Centerline goodness [0,1] 0.9811923812837016 Centerline is valid? [True, True] Translation: X:771.12, Y:-59.46, Z:3.01 [[ 9.99345597e-01 -2.76249143e-02 -2.33504017e-02 7.71118812e+02] [ 2.76515948e-02 9.99617285e-01 8.20443000e-04 -5.94642935e+01] [ 2.33188005e-02 -1.46558195e-03 9.99727006e-01 3.01388380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.380714057 meters Centerline goodness [0,1] 0.981516556723924 Centerline is valid? [True, True] Translation: X:771.15, Y:-59.47, Z:3.01 [[ 9.99354931e-01 -2.72715568e-02 -2.33663121e-02 7.71147521e+02] [ 2.72980959e-02 9.99627003e-01 8.17510044e-04 -5.94653161e+01] [ 2.33353017e-02 -1.45483852e-03 9.99726636e-01 3.01416505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.410714057 meters Centerline goodness [0,1] 0.9816693516784952 Centerline is valid? [True, True] Translation: X:771.18, Y:-59.47, Z:3.01 [[ 9.99358123e-01 -2.71836251e-02 -2.33322242e-02 7.71176565e+02] [ 2.72099323e-02 9.99629413e-01 8.10709361e-04 -5.94672783e+01] [ 2.33015395e-02 -1.44505722e-03 9.99727438e-01 3.01460336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4407140569999 meters Centerline goodness [0,1] 0.9809926542712034 Centerline is valid? [True, True] Translation: X:771.21, Y:-59.47, Z:3.01 [[ 9.99389185e-01 -2.64980818e-02 -2.27839626e-02 7.71205621e+02] [ 2.65228661e-02 9.99647898e-01 7.86244739e-04 -5.94674863e+01] [ 2.27551064e-02 -1.39006048e-03 9.99740103e-01 3.01476119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4707140569999 meters Centerline goodness [0,1] 0.9809826363201184 Centerline is valid? [True, True] Translation: X:771.23, Y:-59.47, Z:3.02 [[ 9.99412729e-01 -2.57253080e-02 -2.26363757e-02 7.71234217e+02] [ 2.57494525e-02 9.99668127e-01 7.75748227e-04 -5.94686120e+01] [ 2.26089070e-02 -1.35816693e-03 9.99743463e-01 3.01563215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.500714057 meters Centerline goodness [0,1] 0.9815198204284438 Centerline is valid? [True, True] Translation: X:771.26, Y:-59.47, Z:3.02 [[ 9.99470402e-01 -2.47321631e-02 -2.11479380e-02 7.71263211e+02] [ 2.47529524e-02 9.99693338e-01 7.21800992e-04 -5.94672250e+01] [ 2.11236011e-02 -1.24489263e-03 9.99776097e-01 3.01669382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.530714057 meters Centerline goodness [0,1] 0.9824213212361781 Centerline is valid? [True, True] Translation: X:771.29, Y:-59.46, Z:3.02 [[ 9.99485053e-01 -2.45981298e-02 -2.06048658e-02 7.71293126e+02] [ 2.46178150e-02 9.99696689e-01 7.02224774e-04 -5.94637362e+01] [ 2.05813427e-02 -1.20910994e-03 9.99787451e-01 3.01807110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5607140569999 meters Centerline goodness [0,1] 0.9811526547707342 Centerline is valid? [True, True] Translation: X:771.32, Y:-59.47, Z:3.02 [[ 9.99504122e-01 -2.43666274e-02 -1.99443846e-02 7.71321977e+02] [ 2.43850107e-02 9.99702411e-01 6.79014138e-04 -5.94721527e+01] [ 1.99219041e-02 -1.16502146e-03 9.99800860e-01 3.01724774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5907140569999 meters Centerline goodness [0,1] 0.9815822245526643 Centerline is valid? [True, True] Translation: X:771.35, Y:-59.47, Z:3.02 [[ 9.99510393e-01 -2.44915769e-02 -1.94714446e-02 7.71352232e+02] [ 2.45091088e-02 9.99699387e-01 6.62227663e-04 -5.94666988e+01] [ 1.94493723e-02 -1.13913119e-03 9.99810194e-01 3.01894497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.620714057 meters Centerline goodness [0,1] 0.9820154091276164 Centerline is valid? [True, True] Translation: X:771.38, Y:-59.47, Z:3.02 [[ 9.99540686e-01 -2.42732953e-02 -1.81445267e-02 7.71381829e+02] [ 2.42884715e-02 9.99704801e-01 6.16471310e-04 -5.94669024e+01] [ 1.81242067e-02 -1.05689098e-03 9.99835184e-01 3.01966823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.650714057 meters Centerline goodness [0,1] 0.9830115661280802 Centerline is valid? [True, True] Translation: X:771.41, Y:-59.47, Z:3.02 [[ 9.99554352e-01 -2.39748931e-02 -1.77848994e-02 7.71412476e+02] [ 2.39894204e-02 9.99712030e-01 6.03912720e-04 -5.94671030e+01] [ 1.77652992e-02 -1.03029302e-03 9.99841654e-01 3.02041431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6807140569999 meters Centerline goodness [0,1] 0.9819758804509306 Centerline is valid? [True, True] Translation: X:771.44, Y:-59.47, Z:3.02 [[ 9.99591642e-01 -2.28878976e-02 -1.71082554e-02 7.71442058e+02] [ 2.29011794e-02 9.99737565e-01 5.80800797e-04 -5.94687982e+01] [ 1.70904722e-02 -9.72362847e-04 9.99853474e-01 3.02075410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7107140569999 meters Centerline goodness [0,1] 0.9820995874173197 Centerline is valid? [True, True] Translation: X:771.47, Y:-59.47, Z:3.02 [[ 9.99604807e-01 -2.24930279e-02 -1.68610046e-02 7.71472053e+02] [ 2.25058696e-02 9.99746547e-01 5.72236184e-04 -5.94703979e+01] [ 1.68438598e-02 -9.51481611e-04 9.99857679e-01 3.02078788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.740714057 meters Centerline goodness [0,1] 0.981331646784289 Centerline is valid? [True, True] Translation: X:771.50, Y:-59.47, Z:3.02 [[ 9.99628512e-01 -2.18466563e-02 -1.62960906e-02 7.71502651e+02] [ 2.18585661e-02 9.99760920e-01 5.53063884e-04 -5.94715031e+01] [ 1.62801119e-02 -9.09067601e-04 9.99867057e-01 3.02114567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.770714057 meters Centerline goodness [0,1] 0.9819263974884451 Centerline is valid? [True, True] Translation: X:771.53, Y:-59.47, Z:3.02 [[ 9.99652526e-01 -2.12625858e-02 -1.55797616e-02 7.71533007e+02] [ 2.12734008e-02 9.99773556e-01 5.28752796e-04 -5.94720797e+01] [ 1.55649910e-02 -8.60003580e-04 9.99878488e-01 3.02192918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8007140569999 meters Centerline goodness [0,1] 0.9819811958726904 Centerline is valid? [True, True] Translation: X:771.56, Y:-59.48, Z:3.02 [[ 9.99699941e-01 -1.99923856e-02 -1.41539026e-02 7.71562584e+02] [ 2.00011833e-02 9.99799841e-01 4.80280409e-04 -5.94753108e+01] [ 1.41414676e-02 -7.63231097e-04 9.99899713e-01 3.02178888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8307140569999 meters Centerline goodness [0,1] 0.9821171230184724 Centerline is valid? [True, True] Translation: X:771.59, Y:-59.48, Z:3.02 [[ 9.99715883e-01 -1.91745789e-02 -1.41593739e-02 7.71592931e+02] [ 1.91832992e-02 9.99815868e-01 4.80295187e-04 -5.94757683e+01] [ 1.41475573e-02 -7.51782235e-04 9.99899636e-01 3.02236323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8607140569999 meters Centerline goodness [0,1] 0.9820828423028239 Centerline is valid? [True, True] Translation: X:771.62, Y:-59.48, Z:3.02 [[ 9.99742569e-01 -1.83391217e-02 -1.33593333e-02 7.71622322e+02] [ 1.83468105e-02 9.99831580e-01 4.53205647e-04 -5.94778312e+01] [ 1.33487719e-02 -6.98190134e-04 9.99910657e-01 3.02229909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.890714057 meters Centerline goodness [0,1] 0.9833165697293043 Centerline is valid? [True, True] Translation: X:771.65, Y:-59.48, Z:3.02 [[ 9.99760576e-01 -1.75845329e-02 -1.30220617e-02 7.71652439e+02] [ 1.75917762e-02 9.99845155e-01 4.41884450e-04 -5.94764468e+01] [ 1.30122750e-02 -6.70859847e-04 9.99915112e-01 3.02348792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9207140569999 meters Centerline goodness [0,1] 0.9822529177776806 Centerline is valid? [True, True] Translation: X:771.68, Y:-59.48, Z:3.02 [[ 9.99795945e-01 -1.66351144e-02 -1.14604324e-02 7.71682351e+02] [ 1.66406622e-02 9.99861459e-01 3.88892863e-04 -5.94810901e+01] [ 1.14523754e-02 -5.79522692e-04 9.99934251e-01 3.02358386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9507140569999 meters Centerline goodness [0,1] 0.9838773188659433 Centerline is valid? [True, True] Translation: X:771.71, Y:-59.48, Z:3.02 [[ 9.99807302e-01 -1.63301193e-02 -1.08943477e-02 7.71712688e+02] [ 1.63351145e-02 9.99866505e-01 3.69683614e-04 -5.94797509e+01] [ 1.08868564e-02 -5.47572794e-04 9.99940586e-01 3.02412904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9807140569999 meters Centerline goodness [0,1] 0.9838389132761144 Centerline is valid? [True, True] Translation: X:771.74, Y:-59.48, Z:3.02 [[ 9.99812683e-01 -1.62495047e-02 -1.05144232e-02 7.71743223e+02] [ 1.62541531e-02 9.99867829e-01 3.56791436e-04 -5.94813071e+01] [ 1.05072358e-02 -5.27627647e-04 9.99944658e-01 3.02413922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.010714057 meters Centerline goodness [0,1] 0.9833300475345557 Centerline is valid? [True, True] Translation: X:771.77, Y:-59.48, Z:3.02 [[ 9.99812374e-01 -1.69239369e-02 -9.42326229e-03 7.71773297e+02] [ 1.69277004e-02 9.99856665e-01 3.19764502e-04 -5.94844417e+01] [ 9.41649993e-03 -4.79218667e-04 9.99955549e-01 3.02390622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.040714057 meters Centerline goodness [0,1] 0.983194925783038 Centerline is valid? [True, True] Translation: X:771.80, Y:-59.49, Z:3.02 [[ 9.99796895e-01 -1.76794441e-02 -9.67503886e-03 7.71804007e+02] [ 1.76834468e-02 9.99843582e-01 3.28311795e-04 -5.94873602e+01] [ 9.66772114e-03 -4.99333147e-04 9.99953142e-01 3.02343875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0707140569999 meters Centerline goodness [0,1] 0.9840538238056751 Centerline is valid? [True, True] Translation: X:771.84, Y:-59.49, Z:3.02 [[ 9.99781849e-01 -1.86967909e-02 -9.31046780e-03 7.71835599e+02] [ 1.87005458e-02 9.99825079e-01 3.16393567e-04 -5.94866920e+01] [ 9.30292366e-03 -4.90435374e-04 9.99956607e-01 3.02285656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1007140569999 meters Centerline goodness [0,1] 0.9826895721632564 Centerline is valid? [True, True] Translation: X:771.87, Y:-59.49, Z:3.02 [[ 9.99766200e-01 -1.94769786e-02 -9.39111576e-03 7.71866621e+02] [ 1.94808363e-02 9.99810179e-01 3.19468591e-04 -5.94929374e+01] [ 9.38311085e-03 -5.02340688e-04 9.99955851e-01 3.02272592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.130714057 meters Centerline goodness [0,1] 0.9835555847511441 Centerline is valid? [True, True] Translation: X:771.90, Y:-59.49, Z:3.02 [[ 9.99741595e-01 -2.09641015e-02 -8.78919003e-03 7.71898034e+02] [ 2.09675417e-02 9.99780112e-01 2.99441405e-04 -5.94919539e+01] [ 8.78097987e-03 -4.83651736e-04 9.99961329e-01 3.02164207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.160714057 meters Centerline goodness [0,1] 0.983791479575074 Centerline is valid? [True, True] Translation: X:771.93, Y:-59.49, Z:3.02 [[ 9.99732946e-01 -2.14714047e-02 -8.54485159e-03 7.71930311e+02] [ 2.14746770e-02 9.99769350e-01 2.91374324e-04 -5.94919709e+01] [ 8.53662451e-03 -4.74794439e-04 9.99963450e-01 3.02135797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1907140569999 meters Centerline goodness [0,1] 0.9825884198827606 Centerline is valid? [True, True] Translation: X:771.96, Y:-59.50, Z:3.02 [[ 9.99724363e-01 -2.17360240e-02 -8.87379183e-03 7.71961774e+02] [ 2.17395695e-02 9.99763622e-01 3.03283415e-04 -5.94975392e+01] [ 8.86510208e-03 -4.96112233e-04 9.99960581e-01 3.02152314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2207140569999 meters Centerline goodness [0,1] 0.983150119107459 Centerline is valid? [True, True] Translation: X:771.99, Y:-59.50, Z:3.02 [[ 9.99719661e-01 -2.21642505e-02 -8.32733615e-03 7.71993469e+02] [ 2.21673912e-02 9.99754233e-01 2.85030648e-04 -5.94980664e+01] [ 8.31897207e-03 -4.69546061e-04 9.99965287e-01 3.02135423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.250714057 meters Centerline goodness [0,1] 0.9815954938433324 Centerline is valid? [True, True] Translation: X:772.03, Y:-59.50, Z:3.02 [[ 9.99706844e-01 -2.30309620e-02 -7.47001869e-03 7.72025525e+02] [ 2.30335158e-02 9.99734661e-01 2.55998385e-04 -5.95005128e+01] [ 7.46214071e-03 -4.27984130e-04 9.99972066e-01 3.02167840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.280714057 meters Centerline goodness [0,1] 0.9830838585434174 Centerline is valid? [True, True] Translation: X:772.06, Y:-59.50, Z:3.02 [[ 9.99710160e-01 -2.31541861e-02 -6.59397477e-03 7.72057699e+02] [ 2.31561812e-02 9.99731834e-01 2.26361894e-04 -5.95006876e+01] [ 6.58696527e-03 -3.78987560e-04 9.99978234e-01 3.02165346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3107140569999 meters Centerline goodness [0,1] 0.9804901573940111 Centerline is valid? [True, True] Translation: X:772.09, Y:-59.51, Z:3.02 [[ 9.99699260e-01 -2.37525443e-02 -6.09965443e-03 7.72088831e+02] [ 2.37542653e-02 9.99717806e-01 2.09845874e-04 -5.95062522e+01] [ 6.09294877e-03 -3.54675574e-04 9.99981375e-01 3.02157643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3407140569999 meters Centerline goodness [0,1] 0.9800744471206482 Centerline is valid? [True, True] Translation: X:772.12, Y:-59.51, Z:3.02 [[ 9.99691683e-01 -2.41948818e-02 -5.58097523e-03 7.72121299e+02] [ 2.41963305e-02 9.99707207e-01 1.92190819e-04 -5.95070527e+01] [ 5.57469113e-03 -3.27170684e-04 9.99984408e-01 3.02136063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.370714057 meters Centerline goodness [0,1] 0.9800744471206482 Centerline is valid? [True, True] Translation: X:772.15, Y:-59.51, Z:3.02 [[ 9.99693385e-01 -2.41244303e-02 -5.58096166e-03 7.72153022e+02] [ 2.41258801e-02 9.99708910e-01 1.92583841e-04 -5.95082104e+01] [ 5.57469112e-03 -3.27170404e-04 9.99984408e-01 3.02166546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.400714057 meters Centerline goodness [0,1] 0.9807877672625307 Centerline is valid? [True, True] Translation: X:772.18, Y:-59.51, Z:3.02 [[ 9.99670296e-01 -2.51945617e-02 -4.95313909e-03 7.72184828e+02] [ 2.51957175e-02 9.99682523e-01 1.71067991e-04 -5.95075678e+01] [ 4.94725660e-03 -2.95809482e-04 9.99987718e-01 3.02101375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4307140569999 meters Centerline goodness [0,1] 0.9795842450765865 Centerline is valid? [True, True] Translation: X:772.22, Y:-59.51, Z:3.02 [[ 9.99657506e-01 -2.57508169e-02 -4.66534366e-03 7.72216309e+02] [ 2.57518512e-02 9.99668353e-01 1.61744133e-04 -5.95118358e+01] [ 4.65963137e-03 -2.81829972e-04 9.99989104e-01 3.02149701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4607140569999 meters Centerline goodness [0,1] 0.9812278475473679 Centerline is valid? [True, True] Translation: X:772.25, Y:-59.51, Z:3.02 [[ 9.99639654e-01 -2.64271993e-02 -4.70800917e-03 7.72248078e+02] [ 2.64282612e-02 9.99650699e-01 1.63477654e-04 -5.95091574e+01] [ 4.70204440e-03 -2.87843242e-04 9.99988904e-01 3.02083995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.490714057 meters Centerline goodness [0,1] 0.9809715448043569 Centerline is valid? [True, True] Translation: X:772.28, Y:-59.51, Z:3.02 [[ 9.99633852e-01 -2.66962686e-02 -4.41266215e-03 7.72280615e+02] [ 2.66972046e-02 9.99643554e-01 1.53333903e-04 -5.95095150e+01] [ 4.40699584e-03 -2.71083504e-04 9.99990252e-01 3.02013396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.520714057 meters Centerline goodness [0,1] 0.979416847124702 Centerline is valid? [True, True] Translation: X:772.31, Y:-59.51, Z:3.02 [[ 9.99636098e-01 -2.65216133e-02 -4.92709780e-03 7.72311602e+02] [ 2.65227791e-02 9.99648195e-01 1.71408566e-04 -5.95122150e+01] [ 4.92081839e-03 -3.02026517e-04 9.99987847e-01 3.02030433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5507140569999 meters Centerline goodness [0,1] 0.979212708693464 Centerline is valid? [True, True] Translation: X:772.34, Y:-59.51, Z:3.02 [[ 9.99622298e-01 -2.69218588e-02 -5.52038453e-03 7.72343679e+02] [ 2.69233341e-02 9.99637483e-01 1.93090915e-04 -5.95138429e+01] [ 5.51318492e-03 -3.41645141e-04 9.99984744e-01 3.01957022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5807140569999 meters Centerline goodness [0,1] 0.9786550027337343 Centerline is valid? [True, True] Translation: X:772.38, Y:-59.52, Z:3.02 [[ 9.99622490e-01 -2.69030192e-02 -5.57716692e-03 7.72375295e+02] [ 2.69045273e-02 9.99637989e-01 1.95553401e-04 -5.95159921e+01] [ 5.56988695e-03 -3.45530617e-04 9.99984428e-01 3.01946806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6107140569999 meters Centerline goodness [0,1] 0.9811424065881116 Centerline is valid? [True, True] Translation: X:772.41, Y:-59.51, Z:3.02 [[ 9.99620760e-01 -2.68690597e-02 -6.03245811e-03 7.72407406e+02] [ 2.68708253e-02 9.99638892e-01 2.11812461e-04 -5.95148543e+01] [ 6.02458854e-03 -3.73829261e-04 9.99981782e-01 3.01979266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.640714057 meters Centerline goodness [0,1] 0.9789625297339763 Centerline is valid? [True, True] Translation: X:772.44, Y:-59.52, Z:3.02 [[ 9.99627169e-01 -2.66136685e-02 -6.10212599e-03 7.72438047e+02] [ 2.66154735e-02 9.99645722e-01 2.14765876e-04 -5.95171781e+01] [ 6.09424844e-03 -3.77096777e-04 9.99981359e-01 3.02040467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6707140569999 meters Centerline goodness [0,1] 0.9780058971278803 Centerline is valid? [True, True] Translation: X:772.47, Y:-59.52, Z:3.02 [[ 9.99633662e-01 -2.64113996e-02 -5.91438814e-03 7.72469643e+02] [ 2.64130931e-02 9.99651092e-01 2.08395904e-04 -5.95200213e+01] [ 5.90682054e-03 -3.64536845e-04 9.99982488e-01 3.02150664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7007140569999 meters Centerline goodness [0,1] 0.9788225513575007 Centerline is valid? [True, True] Translation: X:772.50, Y:-59.52, Z:3.02 [[ 9.99642401e-01 -2.60551717e-02 -6.01656037e-03 7.72501695e+02] [ 2.60569204e-02 9.99660438e-01 2.12430985e-04 -5.95210451e+01] [ 6.00898245e-03 -3.69128054e-04 9.99981878e-01 3.02209056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7307140569999 meters Centerline goodness [0,1] 0.9773671550404548 Centerline is valid? [True, True] Translation: X:772.53, Y:-59.52, Z:3.02 [[ 9.99630773e-01 -2.65293315e-02 -5.87465866e-03 7.72534129e+02] [ 2.65310091e-02 9.99647969e-01 2.07811717e-04 -5.95229225e+01] [ 5.86707749e-03 -3.63595610e-04 9.99982722e-01 3.02189350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.760714057 meters Centerline goodness [0,1] 0.9785450815199599 Centerline is valid? [True, True] Translation: X:772.57, Y:-59.52, Z:3.02 [[ 9.99626282e-01 -2.64895606e-02 -6.75281202e-03 7.72566548e+02] [ 2.64917801e-02 9.99649003e-01 2.39434356e-04 -5.95216710e+01] [ 6.74409929e-03 -4.18238886e-04 9.99977171e-01 3.02154825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.790714057 meters Centerline goodness [0,1] 0.9779756837578854 Centerline is valid? [True, True] Translation: X:772.60, Y:-59.52, Z:3.02 [[ 9.99625729e-01 -2.64080519e-02 -7.14261103e-03 7.72597472e+02] [ 2.64105372e-02 9.99651149e-01 2.53842118e-04 -5.95240515e+01] [ 7.13341584e-03 -4.42387306e-04 9.99974459e-01 3.02153009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8207140569999 meters Centerline goodness [0,1] 0.9782860135739694 Centerline is valid? [True, True] Translation: X:772.63, Y:-59.52, Z:3.02 [[ 9.99627134e-01 -2.63342550e-02 -7.21801632e-03 7.72629820e+02] [ 2.63367936e-02 9.99653093e-01 2.56861843e-04 -5.95231322e+01] [ 7.20874807e-03 -4.46865474e-04 9.99973917e-01 3.02135391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8507140569999 meters Centerline goodness [0,1] 0.9773004531195538 Centerline is valid? [True, True] Translation: X:772.66, Y:-59.53, Z:3.02 [[ 9.99637230e-01 -2.60543056e-02 -6.82508835e-03 7.72660485e+02] [ 2.60565722e-02 9.99660440e-01 2.43376437e-04 -5.95265891e+01] [ 6.81642982e-03 -4.21126554e-04 9.99976679e-01 3.02237275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.880714057 meters Centerline goodness [0,1] 0.9786140511346313 Centerline is valid? [True, True] Translation: X:772.69, Y:-59.52, Z:3.02 [[ 9.99641194e-01 -2.60402976e-02 -6.27586177e-03 7.72692857e+02] [ 2.60422152e-02 9.99660819e-01 2.24016771e-04 -5.95244547e+01] [ 6.26789965e-03 -3.87373735e-04 9.99980281e-01 3.02268185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.910714057 meters Centerline goodness [0,1] 0.9768614718614719 Centerline is valid? [True, True] Translation: X:772.72, Y:-59.53, Z:3.02 [[ 9.99640321e-01 -2.60241498e-02 -6.47864005e-03 7.72724376e+02] [ 2.60261966e-02 9.99661234e-01 2.31804855e-04 -5.95291148e+01] [ 6.47041279e-03 -4.00335839e-04 9.99978987e-01 3.02338833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9407140569999 meters Centerline goodness [0,1] 0.9782490602116425 Centerline is valid? [True, True] Translation: X:772.76, Y:-59.53, Z:3.02 [[ 9.99626267e-01 -2.64826166e-02 -6.78215238e-03 7.72756430e+02] [ 2.64848725e-02 9.99649185e-01 2.43005758e-04 -5.95280909e+01] [ 6.77333767e-03 -4.22539380e-04 9.99976971e-01 3.02410223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9707140569999 meters Centerline goodness [0,1] 0.9764616222101252 Centerline is valid? [True, True] Translation: X:772.79, Y:-59.53, Z:3.02 [[ 9.99620577e-01 -2.66334081e-02 -7.02590616e-03 7.72787447e+02] [ 2.66358368e-02 9.99645171e-01 2.52315772e-04 -5.95347708e+01] [ 7.01669314e-03 -4.39360928e-04 9.99975286e-01 3.02456459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.000714057 meters Centerline goodness [0,1] 0.9781913852710313 Centerline is valid? [True, True] Translation: X:772.82, Y:-59.54, Z:3.02 [[ 9.99618265e-01 -2.67366677e-02 -6.96235823e-03 7.72819352e+02] [ 2.67390574e-02 9.99642416e-01 2.50360852e-04 -5.95361742e+01] [ 6.95317479e-03 -4.36432177e-04 9.99975731e-01 3.02477677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.030714057 meters Centerline goodness [0,1] 0.9764237665736595 Centerline is valid? [True, True] Translation: X:772.85, Y:-59.54, Z:3.02 [[ 9.99617304e-01 -2.66947437e-02 -7.25513008e-03 7.72850269e+02] [ 2.66973417e-02 9.99643528e-01 2.61457700e-04 -5.95392048e+01] [ 7.24556428e-03 -4.55050328e-04 9.99973647e-01 3.02487856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0607140569999 meters Centerline goodness [0,1] 0.977658371040724 Centerline is valid? [True, True] Translation: X:772.88, Y:-59.54, Z:3.03 [[ 9.99610809e-01 -2.69638524e-02 -7.15411195e-03 7.72882740e+02] [ 2.69663877e-02 9.99636308e-01 2.58137404e-04 -5.95419713e+01] [ 7.14454968e-03 -4.50957495e-04 9.99974376e-01 3.02547619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0907140569999 meters Centerline goodness [0,1] 0.9785585232591044 Centerline is valid? [True, True] Translation: X:772.91, Y:-59.54, Z:3.03 [[ 9.99598147e-01 -2.73196288e-02 -7.56193656e-03 7.72914814e+02] [ 2.73224756e-02 9.99626634e-01 2.73391536e-04 -5.95351598e+01] [ 7.55164423e-03 -4.79892500e-04 9.99971371e-01 3.02548445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.120714057 meters Centerline goodness [0,1] 0.9802650188211232 Centerline is valid? [True, True] Translation: X:772.95, Y:-59.54, Z:3.03 [[ 9.99599802e-01 -2.70929492e-02 -8.13681365e-03 7.72947139e+02] [ 2.70962430e-02 9.99632786e-01 2.94813662e-04 -5.95367967e+01] [ 8.12583833e-03 -5.15172759e-04 9.99966852e-01 3.02614476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.150714057 meters Centerline goodness [0,1] 0.978475921295793 Centerline is valid? [True, True] Translation: X:772.98, Y:-59.54, Z:3.03 [[ 9.99588596e-01 -2.74008740e-02 -8.47530473e-03 7.72979050e+02] [ 2.74044639e-02 9.99624380e-01 3.07711262e-04 -5.95367333e+01] [ 8.46368967e-03 -5.39845851e-04 9.99964037e-01 3.02573244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1807140569999 meters Centerline goodness [0,1] 0.9783677269872891 Centerline is valid? [True, True] Translation: X:773.01, Y:-59.54, Z:3.03 [[ 9.99573151e-01 -2.75200169e-02 -9.80637170e-03 7.73009871e+02] [ 2.75248366e-02 9.99621056e-01 3.56845158e-04 -5.95394103e+01] [ 9.79283525e-03 -6.26611618e-04 9.99951853e-01 3.02520718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2107140569999 meters Centerline goodness [0,1] 0.9798996066841956 Centerline is valid? [True, True] Translation: X:773.04, Y:-59.54, Z:3.02 [[ 9.99568082e-01 -2.76929692e-02 -9.83613369e-03 7.73042231e+02] [ 2.76978319e-02 9.99616277e-01 3.58459477e-04 -5.95396860e+01] [ 9.82243254e-03 -6.30744229e-04 9.99951560e-01 3.02499989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.240714057 meters Centerline goodness [0,1] 0.979548950367209 Centerline is valid? [True, True] Translation: X:773.07, Y:-59.54, Z:3.03 [[ 9.99533030e-01 -2.87930527e-02 -1.02314528e-02 7.73074422e+02] [ 2.87983791e-02 9.99585171e-01 3.73620739e-04 -5.95412636e+01] [ 1.02164508e-02 -6.68095525e-04 9.99947588e-01 3.02567217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.270714057 meters Centerline goodness [0,1] 0.9803423810453687 Centerline is valid? [True, True] Translation: X:773.11, Y:-59.54, Z:3.03 [[ 9.99510150e-01 -2.94565044e-02 -1.05723841e-02 7.73106505e+02] [ 2.94622369e-02 9.99565819e-01 3.86842885e-04 -5.95423361e+01] [ 1.05563987e-02 -6.98139474e-04 9.99944036e-01 3.02628818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3007140569999 meters Centerline goodness [0,1] 0.9795887413057138 Centerline is valid? [True, True] Translation: X:773.14, Y:-59.54, Z:3.03 [[ 9.99491097e-01 -3.00495648e-02 -1.07037844e-02 7.73139091e+02] [ 3.00554828e-02 9.99548155e-01 3.92416779e-04 -5.95432669e+01] [ 1.06871560e-02 -7.13924485e-04 9.99942636e-01 3.02702164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3307140569999 meters Centerline goodness [0,1] 0.9787641844357807 Centerline is valid? [True, True] Translation: X:773.17, Y:-59.54, Z:3.03 [[ 9.99456287e-01 -3.09303844e-02 -1.14211501e-02 7.73171297e+02] [ 3.09371892e-02 9.99521243e-01 4.19570827e-04 -5.95444977e+01] [ 1.14027047e-02 -7.72680983e-04 9.99934689e-01 3.02686253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3607140569999 meters Centerline goodness [0,1] 0.9785044492309031 Centerline is valid? [True, True] Translation: X:773.20, Y:-59.54, Z:3.03 [[ 9.99386479e-01 -3.28279038e-02 -1.22063193e-02 7.73202227e+02] [ 3.28358268e-02 9.99460658e-01 4.49187436e-04 -5.95448740e+01] [ 1.21849901e-02 -8.49716437e-04 9.99925399e-01 3.02600262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.390714057 meters Centerline goodness [0,1] 0.9774272267735751 Centerline is valid? [True, True] Translation: X:773.23, Y:-59.55, Z:3.03 [[ 9.99356955e-01 -3.35735914e-02 -1.25892929e-02 7.73232975e+02] [ 3.35820824e-02 9.99435855e-01 4.63615256e-04 -5.95497308e+01] [ 1.25666255e-02 -8.86091803e-04 9.99920644e-01 3.02613329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4207140569999 meters Centerline goodness [0,1] 0.9767335667224771 Centerline is valid? [True, True] Translation: X:773.27, Y:-59.55, Z:3.03 [[ 9.99329874e-01 -3.44217263e-02 -1.24477757e-02 7.73265399e+02] [ 3.44301017e-02 9.99407003e-01 4.59103949e-04 -5.95512541e+01] [ 1.24245910e-02 -8.87374474e-04 9.99922418e-01 3.02701034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4507140569999 meters Centerline goodness [0,1] 0.9774900659359853 Centerline is valid? [True, True] Translation: X:773.30, Y:-59.55, Z:3.03 [[ 9.99308087e-01 -3.48242611e-02 -1.30621053e-02 7.73296354e+02] [ 3.48335292e-02 9.99393012e-01 4.82635142e-04 -5.95535046e+01] [ 1.30373694e-02 -9.37300428e-04 9.99914571e-01 3.02773277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4807140569999 meters Centerline goodness [0,1] 0.9777889293740318 Centerline is valid? [True, True] Translation: X:773.33, Y:-59.55, Z:3.03 [[ 9.99293940e-01 -3.53298146e-02 -1.27838024e-02 7.73328834e+02] [ 3.53387422e-02 9.99375280e-01 4.73060043e-04 -5.95500229e+01] [ 1.27591030e-02 -9.24489531e-04 9.99918172e-01 3.02846464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.510714057 meters Centerline goodness [0,1] 0.9757679998258257 Centerline is valid? [True, True] Translation: X:773.36, Y:-59.56, Z:3.03 [[ 9.99275356e-01 -3.58372656e-02 -1.28239106e-02 7.73359550e+02] [ 3.58463017e-02 9.99357202e-01 4.75392707e-04 -5.95570747e+01] [ 1.27986306e-02 -9.34737984e-04 9.99917657e-01 3.02883290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.540714057 meters Centerline goodness [0,1] 0.9768193128737941 Centerline is valid? [True, True] Translation: X:773.39, Y:-59.56, Z:3.03 [[ 9.99194816e-01 -3.76103728e-02 -1.39707001e-02 7.73391046e+02] [ 3.76212795e-02 9.99291935e-01 5.18602450e-04 -5.95564927e+01] [ 1.39413031e-02 -1.04378049e-03 9.99902271e-01 3.02913196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5707140569999 meters Centerline goodness [0,1] 0.9772394980905619 Centerline is valid? [True, True] Translation: X:773.42, Y:-59.55, Z:3.03 [[ 9.99171521e-01 -3.81606274e-02 -1.41434514e-02 7.73422773e+02] [ 3.81718684e-02 9.99271050e-01 5.25584102e-04 -5.95542404e+01] [ 1.41130849e-02 -1.06503063e-03 9.99899838e-01 3.02903821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6007140569999 meters Centerline goodness [0,1] 0.9775472316260784 Centerline is valid? [True, True] Translation: X:773.45, Y:-59.56, Z:3.03 [[ 9.99121885e-01 -3.90843940e-02 -1.50953182e-02 7.73454749e+02] [ 3.90973178e-02 9.99235250e-01 5.61875738e-04 -5.95563610e+01] [ 1.50618135e-02 -1.15156880e-03 9.99885901e-01 3.02923260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.630714057 meters Centerline goodness [0,1] 0.9762981409878323 Centerline is valid? [True, True] Translation: X:773.49, Y:-59.56, Z:3.03 [[ 9.99070256e-01 -4.01087903e-02 -1.58085117e-02 7.73485970e+02] [ 4.01231079e-02 9.99194570e-01 5.89441099e-04 -5.95591514e+01] [ 1.57721373e-02 -1.22317969e-03 9.99874864e-01 3.02875372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.660714057 meters Centerline goodness [0,1] 0.9756666593986438 Centerline is valid? [True, True] Translation: X:773.52, Y:-59.56, Z:3.03 [[ 9.99051262e-01 -4.03648144e-02 -1.63480024e-02 7.73518149e+02] [ 4.03801760e-02 9.99184202e-01 6.10530039e-04 -5.95610663e+01] [ 1.63100218e-02 -1.27008602e-03 9.99866176e-01 3.02931447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6907140569999 meters Centerline goodness [0,1] 0.979691325638335 Centerline is valid? [True, True] Translation: X:773.55, Y:-59.55, Z:3.03 [[ 9.99046135e-01 -4.05035585e-02 -1.63181729e-02 7.73550859e+02] [ 4.05189011e-02 9.99178586e-01 6.10561984e-04 -5.95512054e+01] [ 1.62800390e-02 -1.27117402e-03 9.99866663e-01 3.03079637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7207140569999 meters Centerline goodness [0,1] 0.9742703031884814 Centerline is valid? [True, True] Translation: X:773.58, Y:-59.56, Z:3.03 [[ 9.99048834e-01 -4.03415449e-02 -1.65525372e-02 7.73582004e+02] [ 4.03573274e-02 9.99185119e-01 6.20426631e-04 -5.95644458e+01] [ 1.65140199e-02 -1.28785267e-03 9.99862805e-01 3.03040538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.750714057 meters Centerline goodness [0,1] 0.9728042605203422 Centerline is valid? [True, True] Translation: X:773.61, Y:-59.57, Z:3.03 [[ 9.99031684e-01 -4.06181445e-02 -1.69074236e-02 7.73613868e+02] [ 4.06346678e-02 9.99173869e-01 6.34750049e-04 -5.95663544e+01] [ 1.68676735e-02 -1.32116295e-03 9.99856858e-01 3.03018812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.780714057 meters Centerline goodness [0,1] 0.9772657718707647 Centerline is valid? [True, True] Translation: X:773.65, Y:-59.56, Z:3.03 [[ 9.99021458e-01 -4.06908779e-02 -1.73314448e-02 7.73645982e+02] [ 4.07082720e-02 9.99170862e-01 6.51862657e-04 -5.95593487e+01] [ 1.72905497e-02 -1.35675795e-03 9.99849587e-01 3.03115354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8107140569999 meters Centerline goodness [0,1] 0.9774414744933613 Centerline is valid? [True, True] Translation: X:773.68, Y:-59.56, Z:3.03 [[ 9.99023507e-01 -4.05598335e-02 -1.75195026e-02 7.73677946e+02] [ 4.05776089e-02 9.99176172e-01 6.60176529e-04 -5.95583742e+01] [ 1.74782929e-02 -1.37043140e-03 9.99846304e-01 3.03149660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8407140569999 meters Centerline goodness [0,1] 0.9773129630843879 Centerline is valid? [True, True] Translation: X:773.71, Y:-59.56, Z:3.03 [[ 9.99057058e-01 -3.94555290e-02 -1.81178278e-02 7.73709959e+02] [ 3.94743799e-02 9.99220349e-01 6.83879703e-04 -5.95576886e+01] [ 1.80767194e-02 -1.39842486e-03 9.99835625e-01 3.03187644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.870714057 meters Centerline goodness [0,1] 0.9784986138700312 Centerline is valid? [True, True] Translation: X:773.74, Y:-59.56, Z:3.03 [[ 9.99099978e-01 -3.84676582e-02 -1.78738125e-02 7.73740938e+02] [ 3.84858616e-02 9.99258916e-01 6.75463168e-04 -5.95586230e+01] [ 1.78345831e-02 -1.36274431e-03 9.99840022e-01 3.03252320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.900714057 meters Centerline goodness [0,1] 0.9789130957323602 Centerline is valid? [True, True] Translation: X:773.77, Y:-59.56, Z:3.03 [[ 9.99140392e-01 -3.74801732e-02 -1.77119873e-02 7.73772432e+02] [ 3.74979053e-02 9.99296482e-01 6.69971701e-04 -5.95557128e+01] [ 1.76744160e-02 -1.33355821e-03 9.99842906e-01 3.03309410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9307140569999 meters Centerline goodness [0,1] 0.9791903222988907 Centerline is valid? [True, True] Translation: X:773.80, Y:-59.55, Z:3.03 [[ 9.99223403e-01 -3.51727689e-02 -1.77614087e-02 7.73803001e+02] [ 3.51902436e-02 9.99380406e-01 6.72184508e-04 -5.95540930e+01] [ 1.77267613e-02 -1.29669079e-03 9.99842028e-01 3.03378263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9607140569999 meters Centerline goodness [0,1] 0.9796472779055756 Centerline is valid? [True, True] Translation: X:773.83, Y:-59.55, Z:3.03 [[ 9.99259840e-01 -3.39533354e-02 -1.80815662e-02 7.73834275e+02] [ 3.39712528e-02 9.99422576e-01 6.84604884e-04 -5.95535691e+01] [ 1.80478809e-02 -1.29835162e-03 9.99836281e-01 3.03438952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.990714057 meters Centerline goodness [0,1] 0.9799176558188428 Centerline is valid? [True, True] Translation: X:773.87, Y:-59.55, Z:3.03 [[ 9.99294995e-01 -3.27942280e-02 -1.82770800e-02 7.73866133e+02] [ 3.28123570e-02 9.99461290e-01 6.92818578e-04 -5.95534817e+01] [ 1.82445135e-02 -1.29204421e-03 9.99832720e-01 3.03492991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.020714057 meters Centerline goodness [0,1] 0.980075237303705 Centerline is valid? [True, True] Translation: X:773.90, Y:-59.55, Z:3.04 [[ 9.99383868e-01 -3.00351426e-02 -1.81596843e-02 7.73896347e+02] [ 3.00525953e-02 9.99548081e-01 6.88877950e-04 -5.95522992e+01] [ 1.81307871e-02 -1.23419915e-03 9.99834862e-01 3.03515482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0507140569999 meters Centerline goodness [0,1] 0.9801516650181339 Centerline is valid? [True, True] Translation: X:773.93, Y:-59.55, Z:3.04 [[ 9.99415088e-01 -2.90037781e-02 -1.81180050e-02 7.73927801e+02] [ 2.90209876e-02 9.99578566e-01 6.87600904e-04 -5.95495534e+01] [ 1.80904265e-02 -1.21300112e-03 9.99835619e-01 3.03567736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0807140569999 meters Centerline goodness [0,1] 0.9798077557574291 Centerline is valid? [True, True] Translation: X:773.96, Y:-59.55, Z:3.04 [[ 9.99456894e-01 -2.77004073e-02 -1.78494726e-02 7.73958784e+02] [ 2.77169121e-02 9.99615583e-01 6.77893965e-04 -5.95493863e+01] [ 1.78238330e-02 -1.17225806e-03 9.99840456e-01 3.03584646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1107140569999 meters Centerline goodness [0,1] 0.980442999033137 Centerline is valid? [True, True] Translation: X:773.99, Y:-59.55, Z:3.04 [[ 9.99517057e-01 -2.51862839e-02 -1.82017280e-02 7.73989353e+02] [ 2.52030347e-02 9.99682114e-01 6.91446003e-04 -5.95467494e+01] [ 1.81785270e-02 -1.14985086e-03 9.99834096e-01 3.03577644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.140714057 meters Centerline goodness [0,1] 0.981465564738292 Centerline is valid? [True, True] Translation: X:774.02, Y:-59.55, Z:3.04 [[ 9.99551350e-01 -2.36766959e-02 -1.83443103e-02 7.74020459e+02] [ 2.36934598e-02 9.99719028e-01 6.97015270e-04 -5.95468003e+01] [ 1.83226531e-02 -1.13134273e-03 9.99831486e-01 3.03629653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1707140569999 meters Centerline goodness [0,1] 0.9803146126993947 Centerline is valid? [True, True] Translation: X:774.05, Y:-59.55, Z:3.04 [[ 9.99572365e-01 -2.26269297e-02 -1.85231856e-02 7.74050835e+02] [ 2.26438457e-02 9.99743347e-01 7.03981351e-04 -5.95451125e+01] [ 1.85025027e-02 -1.12311646e-03 9.99828183e-01 3.03654401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2007140569999 meters Centerline goodness [0,1] 0.9810883061219982 Centerline is valid? [True, True] Translation: X:774.08, Y:-59.54, Z:3.04 [[ 9.99637620e-01 -1.98306972e-02 -1.82036314e-02 7.74080270e+02] [ 1.98465697e-02 9.99802798e-01 6.91686022e-04 -5.95442022e+01] [ 1.81863250e-02 -1.05271501e-03 9.99834061e-01 3.03717050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2307140569999 meters Centerline goodness [0,1] 0.9818173784327154 Centerline is valid? [True, True] Translation: X:774.11, Y:-59.54, Z:3.04 [[ 9.99668616e-01 -1.85760543e-02 -1.78209922e-02 7.74109689e+02] [ 1.85910466e-02 9.99826943e-01 6.75960806e-04 -5.95437619e+01] [ 1.78053515e-02 -1.00704770e-03 9.99840965e-01 3.03756876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.260714057 meters Centerline goodness [0,1] 0.9812631346090034 Centerline is valid? [True, True] Translation: X:774.14, Y:-59.54, Z:3.04 [[ 9.99696337e-01 -1.73240624e-02 -1.75245913e-02 7.74139703e+02] [ 1.73383429e-02 9.99849460e-01 6.63264517e-04 -5.95411520e+01] [ 1.75104627e-02 -9.66910481e-04 9.99846213e-01 3.03859441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.290714057 meters Centerline goodness [0,1] 0.9812631346090034 Centerline is valid? [True, True] Translation: X:774.17, Y:-59.54, Z:3.04 [[ 9.99692017e-01 -1.75714669e-02 -1.75246780e-02 7.74167967e+02] [ 1.75857450e-02 9.99845140e-01 6.60964579e-04 -5.95421769e+01] [ 1.75103500e-02 -9.68945533e-04 9.99846213e-01 3.03886627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3207140569999 meters Centerline goodness [0,1] 0.9813100629625539 Centerline is valid? [True, True] Translation: X:774.20, Y:-59.54, Z:3.04 [[ 9.99741367e-01 -1.51736323e-02 -1.69399026e-02 7.74196966e+02] [ 1.51865868e-02 9.99884475e-01 6.36351783e-04 -5.95431388e+01] [ 1.69282899e-02 -8.93446504e-04 9.99856307e-01 3.03881142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3507140569999 meters Centerline goodness [0,1] 0.9824526464861038 Centerline is valid? [True, True] Translation: X:774.23, Y:-59.54, Z:3.04 [[ 9.99749806e-01 -1.45395111e-02 -1.69978919e-02 7.74225873e+02] [ 1.45524258e-02 9.99893905e-01 6.36331674e-04 -5.95385510e+01] [ 1.69868365e-02 -8.83533027e-04 9.99855323e-01 3.03953337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.380714057 meters Centerline goodness [0,1] 0.9812530397488615 Centerline is valid? [True, True] Translation: X:774.25, Y:-59.54, Z:3.04 [[ 9.99755374e-01 -1.40603415e-02 -1.70733690e-02 7.74254122e+02] [ 1.40732282e-02 9.99900766e-01 6.34869289e-04 -5.95400445e+01] [ 1.70627482e-02 -8.74991402e-04 9.99854038e-01 3.03917651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.410714057 meters Centerline goodness [0,1] 0.9824635303507294 Centerline is valid? [True, True] Translation: X:774.28, Y:-59.54, Z:3.04 [[ 9.99749584e-01 -1.38068822e-02 -1.76107771e-02 7.74282919e+02] [ 1.38204753e-02 9.99904281e-01 6.50386007e-04 -5.95399001e+01] [ 1.76001116e-02 -8.93612450e-04 9.99844707e-01 3.03921532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4407140569999 meters Centerline goodness [0,1] 0.9813270646677903 Centerline is valid? [True, True] Translation: X:774.31, Y:-59.54, Z:3.04 [[ 9.99757654e-01 -1.29349641e-02 -1.78134718e-02 7.74311963e+02] [ 1.29486544e-02 9.99915949e-01 6.53406455e-04 -5.95396131e+01] [ 1.78035228e-02 -8.83908594e-04 9.99841114e-01 3.03897713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4707140569999 meters Centerline goodness [0,1] 0.9824110014417212 Centerline is valid? [True, True] Translation: X:774.34, Y:-59.54, Z:3.04 [[ 9.99760534e-01 -1.26409821e-02 -1.78628383e-02 7.74340950e+02] [ 1.26546216e-02 9.99919715e-01 6.50741148e-04 -5.95386361e+01] [ 1.78531782e-02 -8.76632778e-04 9.99840235e-01 3.03972633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.500714057 meters Centerline goodness [0,1] 0.9805978092154862 Centerline is valid? [True, True] Translation: X:774.37, Y:-59.54, Z:3.04 [[ 9.99767033e-01 -1.21333976e-02 -1.78510411e-02 7.74369319e+02] [ 1.21468582e-02 9.99926016e-01 6.45813287e-04 -5.95381282e+01] [ 1.78418845e-02 -8.62496898e-04 9.99840449e-01 3.04008068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.530714057 meters Centerline goodness [0,1] 0.9808298202795651 Centerline is valid? [True, True] Translation: X:774.40, Y:-59.54, Z:3.04 [[ 9.99770746e-01 -1.16788682e-02 -1.79460351e-02 7.74396592e+02] [ 1.16923424e-02 9.99931434e-01 6.46072239e-04 -5.95408824e+01] [ 1.79372592e-02 -8.55755311e-04 9.99838748e-01 3.04003771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5607140569999 meters Centerline goodness [0,1] 0.980821614439154 Centerline is valid? [True, True] Translation: X:774.42, Y:-59.54, Z:3.04 [[ 9.99776183e-01 -1.08655141e-02 -1.81528204e-02 7.74424190e+02] [ 1.08791377e-02 9.99940608e-01 6.51911451e-04 -5.95417333e+01] [ 1.81446589e-02 -8.49252575e-04 9.99835011e-01 3.04070969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5907140569999 meters Centerline goodness [0,1] 0.9808585970347422 Centerline is valid? [True, True] Translation: X:774.45, Y:-59.54, Z:3.04 [[ 9.99775750e-01 -9.90320984e-03 -1.87183223e-02 7.74453107e+02] [ 9.91746887e-03 9.99950597e-01 6.69092761e-04 -5.95381261e+01] [ 1.87107713e-02 -8.54581096e-04 9.99824573e-01 3.04068181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.620714057 meters Centerline goodness [0,1] 0.9808749224359543 Centerline is valid? [True, True] Translation: X:774.48, Y:-59.54, Z:3.04 [[ 9.99788032e-01 -9.32935134e-03 -1.83535793e-02 7.74480406e+02] [ 9.34290632e-03 9.99956141e-01 6.52938523e-04 -5.95404433e+01] [ 1.83466829e-02 -8.24275894e-04 9.99831346e-01 3.04070723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.650714057 meters Centerline goodness [0,1] 0.9814432532019267 Centerline is valid? [True, True] Translation: X:774.51, Y:-59.54, Z:3.04 [[ 9.99801246e-01 -8.36026983e-03 -1.80990022e-02 7.74508822e+02] [ 8.37323987e-03 9.99964738e-01 6.40953732e-04 -5.95396861e+01] [ 1.80930055e-02 -7.92373627e-04 9.99835994e-01 3.04167389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6807140569999 meters Centerline goodness [0,1] 0.9819482590590946 Centerline is valid? [True, True] Translation: X:774.54, Y:-59.54, Z:3.04 [[ 9.99842334e-01 -6.23274280e-03 -1.66270870e-02 7.74537201e+02] [ 6.24335081e-03 9.99980338e-01 5.86163450e-04 -5.95406172e+01] [ 1.66231067e-02 -6.89879770e-04 9.99861589e-01 3.04290357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7107140569999 meters Centerline goodness [0,1] 0.9819281110889642 Centerline is valid? [True, True] Translation: X:774.57, Y:-59.54, Z:3.04 [[ 9.99849453e-01 -5.48670175e-03 -1.64610832e-02 7.74565812e+02] [ 5.49695992e-03 9.99984725e-01 5.77995740e-04 -5.95410217e+01] [ 1.64576604e-02 -6.68394639e-04 9.99864340e-01 3.04380112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.740714057 meters Centerline goodness [0,1] 0.9835402829916258 Centerline is valid? [True, True] Translation: X:774.60, Y:-59.54, Z:3.05 [[ 9.99858219e-01 -4.62141116e-03 -1.61920846e-02 7.74595176e+02] [ 4.63116153e-03 9.99989117e-01 5.64723919e-04 -5.95374492e+01] [ 1.61892985e-02 -6.39632011e-04 9.99868740e-01 3.04539963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.770714057 meters Centerline goodness [0,1] 0.9822127829030332 Centerline is valid? [True, True] Translation: X:774.62, Y:-59.54, Z:3.04 [[ 9.99866459e-01 -3.64602077e-03 -1.59302050e-02 7.74623196e+02] [ 3.65529021e-03 9.99993167e-01 5.52800323e-04 -5.95433275e+01] [ 1.59280806e-02 -6.10956024e-04 9.99872953e-01 3.04443575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8007140569999 meters Centerline goodness [0,1] 0.9804247583577193 Centerline is valid? [True, True] Translation: X:774.65, Y:-59.55, Z:3.04 [[ 9.99869459e-01 -3.49484806e-03 -1.57749907e-02 7.74651877e+02] [ 3.50388261e-03 9.99993713e-01 5.45110996e-04 -5.95458401e+01] [ 1.57729865e-02 -6.00313553e-04 9.99875419e-01 3.04430354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8307140569999 meters Centerline goodness [0,1] 0.9808811854988092 Centerline is valid? [True, True] Translation: X:774.68, Y:-59.55, Z:3.04 [[ 9.99863212e-01 -3.89593851e-03 -1.60741719e-02 7.74679982e+02] [ 3.90532073e-03 9.99992222e-01 5.52334783e-04 -5.95513099e+01] [ 1.60718950e-02 -6.15034027e-04 9.99870650e-01 3.04282514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8607140569999 meters Centerline goodness [0,1] 0.9817174148247919 Centerline is valid? [True, True] Translation: X:774.71, Y:-59.55, Z:3.04 [[ 9.99858551e-01 -3.75297734e-03 -1.63949012e-02 7.74707407e+02] [ 3.76268923e-03 9.99992763e-01 5.61566487e-04 -5.95549539e+01] [ 1.63926750e-02 -6.23175973e-04 9.99865437e-01 3.04229187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.890714057 meters Centerline goodness [0,1] 0.9829171270718232 Centerline is valid? [True, True] Translation: X:774.74, Y:-59.55, Z:3.04 [[ 9.99858947e-01 -3.68397359e-03 -1.63863912e-02 7.74736529e+02] [ 3.69362571e-03 9.99993022e-01 5.58806827e-04 -5.95513466e+01] [ 1.63842182e-02 -6.19253202e-04 9.99865578e-01 3.04315896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9207140569999 meters Centerline goodness [0,1] 0.9843063679505574 Centerline is valid? [True, True] Translation: X:774.77, Y:-59.55, Z:3.04 [[ 9.99856141e-01 -3.05655690e-03 -1.66839715e-02 7.74765500e+02] [ 3.06640579e-03 9.99995139e-01 5.64770205e-04 -5.95536144e+01] [ 1.66821641e-02 -6.15848784e-04 9.99860653e-01 3.04386393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9507140569999 meters Centerline goodness [0,1] 0.9849009955630118 Centerline is valid? [True, True] Translation: X:774.79, Y:-59.56, Z:3.04 [[ 9.99862465e-01 -2.52347390e-03 -1.63915842e-02 7.74794383e+02] [ 2.53284275e-03 9.99996641e-01 5.50830004e-04 -5.95551714e+01] [ 1.63901391e-02 -5.92271551e-04 9.99865497e-01 3.04440594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9807140569999 meters Centerline goodness [0,1] 0.9846326836581709 Centerline is valid? [True, True] Translation: X:774.82, Y:-59.56, Z:3.04 [[ 9.99866388e-01 -2.11279766e-03 -1.62093084e-02 7.74822791e+02] [ 2.12184035e-03 9.99997603e-01 5.40692781e-04 -5.95573443e+01] [ 1.62081272e-02 -5.75014103e-04 9.99868474e-01 3.04425550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.010714057 meters Centerline goodness [0,1] 0.9833300257987696 Centerline is valid? [True, True] Translation: X:774.85, Y:-59.56, Z:3.04 [[ 9.99860607e-01 -1.61359379e-03 -1.66181311e-02 7.74850219e+02] [ 1.62297302e-03 9.99998531e-01 5.50926786e-04 -5.95604382e+01] [ 1.66172177e-02 -5.77820769e-04 9.99861758e-01 3.04417500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.040714057 meters Centerline goodness [0,1] 0.9839452066861938 Centerline is valid? [True, True] Translation: X:774.88, Y:-59.57, Z:3.04 [[ 9.99860980e-01 -7.14338251e-04 -1.66586653e-02 7.74878096e+02] [ 7.23606503e-04 9.99999587e-01 5.50341265e-04 -5.95673669e+01] [ 1.66582653e-02 -5.62319075e-04 9.99861083e-01 3.04320458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0707140569999 meters Centerline goodness [0,1] 0.9841290805432653 Centerline is valid? [True, True] Translation: X:774.91, Y:-59.57, Z:3.04 [[ 9.99859508e-01 -8.50183314e-04 -1.67404031e-02 7.74905685e+02] [ 8.59514699e-04 9.99999479e-01 5.50230050e-04 -5.95680869e+01] [ 1.67399265e-02 -5.64541370e-04 9.99859718e-01 3.04376412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1007140569999 meters Centerline goodness [0,1] 0.9841657320050142 Centerline is valid? [True, True] Translation: X:774.93, Y:-59.57, Z:3.04 [[ 9.99858791e-01 -1.29089784e-03 -1.67550211e-02 7.74932858e+02] [ 1.30024780e-03 9.99999005e-01 5.47158041e-04 -5.95714809e+01] [ 1.67542981e-02 -5.68866457e-04 9.99859475e-01 3.04390917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.130714057 meters Centerline goodness [0,1] 0.9834857556418185 Centerline is valid? [True, True] Translation: X:774.96, Y:-59.58, Z:3.05 [[ 9.99867184e-01 -2.60618322e-03 -1.60879600e-02 7.74960091e+02] [ 2.61494233e-03 9.99996444e-01 5.23439266e-04 -5.95766448e+01] [ 1.60865386e-02 -5.65438832e-04 9.99870443e-01 3.04501291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.160714057 meters Centerline goodness [0,1] 0.9833454177927186 Centerline is valid? [True, True] Translation: X:774.99, Y:-59.58, Z:3.05 [[ 9.99878047e-01 -3.45653605e-03 -1.52297150e-02 7.74988752e+02] [ 3.46446160e-03 9.99993877e-01 4.94048032e-04 -5.95798754e+01] [ 1.52279140e-02 -5.46750544e-04 9.99883899e-01 3.04565034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1907140569999 meters Centerline goodness [0,1] 0.9830806030415414 Centerline is valid? [True, True] Translation: X:775.02, Y:-59.58, Z:3.05 [[ 9.99881927e-01 -4.87660212e-03 -1.45722585e-02 7.75017641e+02] [ 4.88399463e-03 9.99987962e-01 4.71755777e-04 -5.95813033e+01] [ 1.45697825e-02 -5.42870908e-04 9.99893708e-01 3.04621869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2207140569999 meters Centerline goodness [0,1] 0.9831371092811428 Centerline is valid? [True, True] Translation: X:775.05, Y:-59.59, Z:3.05 [[ 9.99878986e-01 -7.36498099e-03 -1.37029176e-02 7.75046763e+02] [ 7.37173942e-03 9.99972730e-01 4.42766148e-04 -5.95870938e+01] [ 1.36992830e-02 -5.43726905e-04 9.99906013e-01 3.04683307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.250714057 meters Centerline goodness [0,1] 0.9831142413438614 Centerline is valid? [True, True] Translation: X:775.08, Y:-59.59, Z:3.05 [[ 9.99872174e-01 -8.80234880e-03 -1.33474561e-02 7.75075196e+02] [ 8.80886965e-03 9.99961109e-01 4.29833532e-04 -5.95888433e+01] [ 1.33431535e-02 -5.47354589e-04 9.99910826e-01 3.04756438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.280714057 meters Centerline goodness [0,1] 0.9816233440275868 Centerline is valid? [True, True] Translation: X:775.10, Y:-59.60, Z:3.05 [[ 9.99857283e-01 -1.07629030e-02 -1.30220707e-02 7.75102539e+02] [ 1.07692386e-02 9.99941923e-01 4.16504570e-04 -5.96009496e+01] [ 1.30168317e-02 -5.56682914e-04 9.99915122e-01 3.04714226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3107140569999 meters Centerline goodness [0,1] 0.9822827343937509 Centerline is valid? [True, True] Translation: X:775.13, Y:-59.60, Z:3.05 [[ 9.99807709e-01 -1.47231838e-02 -1.29527498e-02 7.75132888e+02] [ 1.47297659e-02 9.99891426e-01 4.12910895e-04 -5.96009570e+01] [ 1.29452641e-02 -6.03622469e-04 9.99916024e-01 3.04760026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3407140569999 meters Centerline goodness [0,1] 0.9818280621671558 Centerline is valid? [True, True] Translation: X:775.16, Y:-59.61, Z:3.05 [[ 9.99772391e-01 -1.66345039e-02 -1.33588531e-02 7.75162179e+02] [ 1.66416714e-02 9.99861427e-01 4.25545781e-04 -5.96058352e+01] [ 1.33499231e-02 -6.47762566e-04 9.99910676e-01 3.04767740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.370714057 meters Centerline goodness [0,1] 0.982496675894239 Centerline is valid? [True, True] Translation: X:775.19, Y:-59.61, Z:3.05 [[ 9.99732034e-01 -1.85900009e-02 -1.37938882e-02 7.75192174e+02] [ 1.85978227e-02 9.99826949e-01 4.38975471e-04 -5.96091961e+01] [ 1.37833406e-02 -6.95394127e-04 9.99904763e-01 3.04759957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.400714057 meters Centerline goodness [0,1] 0.9827985874910635 Centerline is valid? [True, True] Translation: X:775.22, Y:-59.62, Z:3.05 [[ 9.99664445e-01 -2.18561896e-02 -1.39033933e-02 7.75221388e+02] [ 2.18644476e-02 9.99760847e-01 4.42209742e-04 -5.96174255e+01] [ 1.38904033e-02 -7.46051372e-04 9.99903245e-01 3.04773536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4307140569999 meters Centerline goodness [0,1] 0.9816302601294133 Centerline is valid? [True, True] Translation: X:775.25, Y:-59.62, Z:3.05 [[ 9.99635154e-01 -2.32255423e-02 -1.37888807e-02 7.75251270e+02] [ 2.32337973e-02 9.99729963e-01 4.38759347e-04 -5.96213328e+01] [ 1.37749668e-02 -7.58967327e-04 9.99904833e-01 3.04822378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4607140569999 meters Centerline goodness [0,1] 0.9817242576836256 Centerline is valid? [True, True] Translation: X:775.28, Y:-59.62, Z:3.05 [[ 9.99621796e-01 -2.40638243e-02 -1.33115499e-02 7.75282966e+02] [ 2.40716041e-02 9.99710147e-01 4.24502820e-04 -5.96229373e+01] [ 1.32974764e-02 -7.44772631e-04 9.99911307e-01 3.04931437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.490714057 meters Centerline goodness [0,1] 0.9821776603577461 Centerline is valid? [True, True] Translation: X:775.31, Y:-59.63, Z:3.05 [[ 9.99585051e-01 -2.54620871e-02 -1.34687667e-02 7.75312659e+02] [ 2.54701873e-02 9.99675490e-01 4.30186749e-04 -5.96286351e+01] [ 1.34534424e-02 -7.73060253e-04 9.99909200e-01 3.04932460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.520714057 meters Centerline goodness [0,1] 0.9819747862878854 Centerline is valid? [True, True] Translation: X:775.34, Y:-59.63, Z:3.05 [[ 9.99580808e-01 -2.56208160e-02 -1.34826359e-02 7.75343080e+02] [ 2.56289592e-02 9.99671431e-01 4.31509148e-04 -5.96338249e+01] [ 1.34671503e-02 -7.76874187e-04 9.99909012e-01 3.04914782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5507140569999 meters Centerline goodness [0,1] 0.9828620764083748 Centerline is valid? [True, True] Translation: X:775.37, Y:-59.63, Z:3.05 [[ 9.99589923e-01 -2.52089279e-02 -1.35828945e-02 7.75374617e+02] [ 2.52171588e-02 9.99681902e-01 4.35022979e-04 -5.96345486e+01] [ 1.35676074e-02 -7.77366596e-04 9.99907654e-01 3.04894660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5807140569999 meters Centerline goodness [0,1] 0.9828629249284161 Centerline is valid? [True, True] Translation: X:775.41, Y:-59.63, Z:3.05 [[ 9.99603559e-01 -2.46454027e-02 -1.36135482e-02 7.75405955e+02] [ 2.46536252e-02 9.99695958e-01 4.36476605e-04 -5.96347621e+01] [ 1.35986520e-02 -7.71926883e-04 9.99907236e-01 3.04919030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6107140569999 meters Centerline goodness [0,1] 0.9824342091083476 Centerline is valid? [True, True] Translation: X:775.44, Y:-59.64, Z:3.05 [[ 9.99619755e-01 -2.43001447e-02 -1.30325962e-02 7.75436192e+02] [ 2.43076560e-02 9.99704438e-01 4.18230613e-04 -5.96391901e+01] [ 1.30185812e-02 -7.34863447e-04 9.99914985e-01 3.04935375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.640714057 meters Centerline goodness [0,1] 0.9834010547246477 Centerline is valid? [True, True] Translation: X:775.47, Y:-59.64, Z:3.05 [[ 9.99636867e-01 -2.35592526e-02 -1.30803598e-02 7.75467927e+02] [ 2.35667596e-02 9.99722177e-01 4.20055170e-04 -5.96353501e+01] [ 1.30668296e-02 -7.28164329e-04 9.99914360e-01 3.05005917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6707140569999 meters Centerline goodness [0,1] 0.9836118389965205 Centerline is valid? [True, True] Translation: X:775.50, Y:-59.64, Z:3.05 [[ 9.99640096e-01 -2.30989429e-02 -1.36424889e-02 7.75498905e+02] [ 2.31070732e-02 9.99732900e-01 4.38609690e-04 -5.96371575e+01] [ 1.36287136e-02 -7.53689823e-04 9.99906841e-01 3.05044034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7007140569999 meters Centerline goodness [0,1] 0.9834250580445438 Centerline is valid? [True, True] Translation: X:775.53, Y:-59.64, Z:3.05 [[ 9.99639055e-01 -2.29696093e-02 -1.39339937e-02 7.75529224e+02] [ 2.29780842e-02 9.99735868e-01 4.48407513e-04 -5.96396904e+01] [ 1.39200136e-02 -7.68422144e-04 9.99902817e-01 3.05064422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7307140569999 meters Centerline goodness [0,1] 0.9842847288091748 Centerline is valid? [True, True] Translation: X:775.56, Y:-59.64, Z:3.05 [[ 9.99627978e-01 -2.30663031e-02 -1.45551059e-02 7.75559424e+02] [ 2.30755633e-02 9.99733614e-01 4.68572602e-04 -5.96413315e+01] [ 1.45404203e-02 -8.04265549e-04 9.99893959e-01 3.05128789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.760714057 meters Centerline goodness [0,1] 0.9844991364421416 Centerline is valid? [True, True] Translation: X:775.59, Y:-59.64, Z:3.05 [[ 9.99624828e-01 -2.33246051e-02 -1.43584579e-02 7.75590394e+02] [ 2.33336433e-02 9.99727627e-01 4.62241912e-04 -5.96416417e+01] [ 1.43437654e-02 -7.97103627e-04 9.99896805e-01 3.05166941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.790714057 meters Centerline goodness [0,1] 0.9829769790070984 Centerline is valid? [True, True] Translation: X:775.62, Y:-59.65, Z:3.05 [[ 9.99609184e-01 -2.38668520e-02 -1.45551702e-02 7.75620835e+02] [ 2.38761982e-02 9.99714813e-01 4.68662496e-04 -5.96468435e+01] [ 1.45398338e-02 -8.16001464e-04 9.99893958e-01 3.05231544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8207140569999 meters Centerline goodness [0,1] 0.9834089101889063 Centerline is valid? [True, True] Translation: X:775.65, Y:-59.65, Z:3.05 [[ 9.99610892e-01 -2.37595754e-02 -1.46132846e-02 7.75650919e+02] [ 2.37689887e-02 9.99717367e-01 4.70790807e-04 -5.96524307e+01] [ 1.45979686e-02 -8.17950616e-04 9.99893109e-01 3.05252715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8507140569999 meters Centerline goodness [0,1] 0.9833781892561094 Centerline is valid? [True, True] Translation: X:775.68, Y:-59.65, Z:3.05 [[ 9.99610313e-01 -2.36292132e-02 -1.48621021e-02 7.75681508e+02] [ 2.36389380e-02 9.99720447e-01 4.78974697e-04 -5.96499639e+01] [ 1.48466296e-02 -8.30112357e-04 9.99889438e-01 3.05343094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.880714057 meters Centerline goodness [0,1] 0.9846562216755147 Centerline is valid? [True, True] Translation: X:775.71, Y:-59.65, Z:3.05 [[ 9.99594797e-01 -2.35747328e-02 -1.59522475e-02 7.75711901e+02] [ 2.35859298e-02 9.99721681e-01 5.14107821e-04 -5.96476830e+01] [ 1.59356878e-02 -8.90148094e-04 9.99872623e-01 3.05343220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.910714057 meters Centerline goodness [0,1] 0.9844827586206897 Centerline is valid? [True, True] Translation: X:775.74, Y:-59.65, Z:3.05 [[ 9.99582726e-01 -2.34988678e-02 -1.67981123e-02 7.75742313e+02] [ 2.35112732e-02 9.99723425e-01 5.41368286e-04 -5.96493452e+01] [ 1.67807448e-02 -9.36087395e-04 9.99858755e-01 3.05356006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9407140569999 meters Centerline goodness [0,1] 0.9845250685256729 Centerline is valid? [True, True] Translation: X:775.77, Y:-59.65, Z:3.05 [[ 9.99597281e-01 -2.26198813e-02 -1.71352388e-02 7.75772401e+02] [ 2.26326516e-02 9.99743697e-01 5.51686188e-04 -5.96482190e+01] [ 1.71183679e-02 -9.39279903e-04 9.99853029e-01 3.05384001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9707140569999 meters Centerline goodness [0,1] 0.9854499070350672 Centerline is valid? [True, True] Translation: X:775.80, Y:-59.65, Z:3.06 [[ 9.99613344e-01 -2.20943438e-02 -1.68820074e-02 7.75802496e+02] [ 2.21066509e-02 9.99755471e-01 5.42715545e-04 -5.96483366e+01] [ 1.68658883e-02 -9.15710344e-04 9.99857341e-01 3.05519112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.000714057 meters Centerline goodness [0,1] 0.9840036267081148 Centerline is valid? [True, True] Translation: X:775.83, Y:-59.65, Z:3.06 [[ 9.99634557e-01 -2.16883232e-02 -1.61359535e-02 7.75831933e+02] [ 2.16995119e-02 9.99764403e-01 5.18625107e-04 -5.96504518e+01] [ 1.61209038e-02 -8.68577896e-04 9.99869673e-01 3.05610115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.030714057 meters Centerline goodness [0,1] 0.9844911147011308 Centerline is valid? [True, True] Translation: X:775.86, Y:-59.65, Z:3.06 [[ 9.99657948e-01 -2.14029426e-02 -1.50299790e-02 7.75861255e+02] [ 2.14126161e-02 9.99770607e-01 4.82960397e-04 -5.96490830e+01] [ 1.50161944e-02 -8.04626369e-04 9.99886927e-01 3.05739314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0607140569999 meters Centerline goodness [0,1] 0.9846687942038985 Centerline is valid? [True, True] Translation: X:775.89, Y:-59.65, Z:3.06 [[ 9.99649819e-01 -2.17513064e-02 -1.50705140e-02 7.75891800e+02] [ 2.17610663e-02 9.99763083e-01 4.83913304e-04 -5.96499598e+01] [ 1.50564178e-02 -8.11694301e-04 9.99886316e-01 3.05788905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0907140569999 meters Centerline goodness [0,1] 0.9841096008074041 Centerline is valid? [True, True] Translation: X:775.92, Y:-59.65, Z:3.06 [[ 9.99647911e-01 -2.20029100e-02 -1.48298885e-02 7.75921165e+02] [ 2.20123868e-02 9.99757585e-01 4.76091899e-04 -5.96545868e+01] [ 1.48158181e-02 -8.02365516e-04 9.99889918e-01 3.05769290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.120714057 meters Centerline goodness [0,1] 0.9825150732127477 Centerline is valid? [True, True] Translation: X:775.95, Y:-59.66, Z:3.06 [[ 9.99608287e-01 -2.31563570e-02 -1.57179955e-02 7.75950184e+02] [ 2.31671406e-02 9.99731479e-01 5.04310722e-04 -5.96624478e+01] [ 1.57020968e-02 -8.68254189e-04 9.99876337e-01 3.05738779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.150714057 meters Centerline goodness [0,1] 0.9828687321998791 Centerline is valid? [True, True] Translation: X:775.98, Y:-59.66, Z:3.06 [[ 9.99597440e-01 -2.36457148e-02 -1.56792452e-02 7.75979587e+02] [ 2.36564995e-02 9.99720019e-01 5.02696171e-04 -5.96647646e+01] [ 1.56629687e-02 -8.73409861e-04 9.99876947e-01 3.05801304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1807140569999 meters Centerline goodness [0,1] 0.9828687321998791 Centerline is valid? [True, True] Translation: X:776.01, Y:-59.67, Z:3.06 [[ 9.99597439e-01 -2.36457178e-02 -1.56792554e-02 7.76009617e+02] [ 2.36564975e-02 9.99720020e-01 5.02376354e-04 -5.96657267e+01] [ 1.56629865e-02 -8.73090384e-04 9.99876947e-01 3.05830182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2107140569999 meters Centerline goodness [0,1] 0.9833193970969748 Centerline is valid? [True, True] Translation: X:776.04, Y:-59.66, Z:3.06 [[ 9.99587354e-01 -2.39838690e-02 -1.58081077e-02 7.76040251e+02] [ 2.39948688e-02 9.99711953e-01 5.06504887e-04 -5.96649911e+01] [ 1.57914063e-02 -8.85609349e-04 9.99874916e-01 3.05851300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.240714057 meters Centerline goodness [0,1] 0.984460301766754 Centerline is valid? [True, True] Translation: X:776.07, Y:-59.66, Z:3.06 [[ 9.99590790e-01 -2.39568912e-02 -1.56307259e-02 7.76071015e+02] [ 2.39676422e-02 9.99712609e-01 5.00821426e-04 -5.96634660e+01] [ 1.56142356e-02 -8.75248130e-04 9.99877707e-01 3.05935073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.270714057 meters Centerline goodness [0,1] 0.9843303312340133 Centerline is valid? [True, True] Translation: X:776.10, Y:-59.66, Z:3.06 [[ 9.99587341e-01 -2.40645455e-02 -1.56858234e-02 7.76101466e+02] [ 2.40753857e-02 9.99710020e-01 5.02586798e-04 -5.96643985e+01] [ 1.56691803e-02 -8.80021650e-04 9.99876844e-01 3.05935909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3007140569999 meters Centerline goodness [0,1] 0.9848214093482894 Centerline is valid? [True, True] Translation: X:776.13, Y:-59.67, Z:3.06 [[ 9.99584357e-01 -2.40307988e-02 -1.59258884e-02 7.76131944e+02] [ 2.40419691e-02 9.99710820e-01 5.10278679e-04 -5.96654087e+01] [ 1.59090206e-02 -8.92956303e-04 9.99873045e-01 3.05926742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3307140569999 meters Centerline goodness [0,1] 0.9838664632967411 Centerline is valid? [True, True] Translation: X:776.16, Y:-59.67, Z:3.06 [[ 9.99570784e-01 -2.42413150e-02 -1.64501075e-02 7.76161839e+02] [ 2.42532593e-02 9.99705708e-01 5.26954509e-04 -5.96679420e+01] [ 1.64324923e-02 -9.25697054e-04 9.99864549e-01 3.05957972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3607140569999 meters Centerline goodness [0,1] 0.984220695577501 Centerline is valid? [True, True] Translation: X:776.19, Y:-59.67, Z:3.06 [[ 9.99560682e-01 -2.48013761e-02 -1.62276189e-02 7.76192247e+02] [ 2.48130703e-02 9.99691973e-01 5.19660586e-04 -5.96697542e+01] [ 1.62097321e-02 -9.22089338e-04 9.99868188e-01 3.05997789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.390714057 meters Centerline goodness [0,1] 0.9842445114076626 Centerline is valid? [True, True] Translation: X:776.22, Y:-59.67, Z:3.06 [[ 9.99563200e-01 -2.50871361e-02 -1.56219526e-02 7.76222372e+02] [ 2.50980084e-02 9.99684870e-01 5.00265204e-04 -5.96694662e+01] [ 1.56044795e-02 -8.92126586e-04 9.99877845e-01 3.06020571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4207140569999 meters Centerline goodness [0,1] 0.9828341855368883 Centerline is valid? [True, True] Translation: X:776.25, Y:-59.68, Z:3.06 [[ 9.99562877e-01 -2.52727726e-02 -1.53408617e-02 7.76251338e+02] [ 2.52832773e-02 9.99680206e-01 4.91162906e-04 -5.96752908e+01] [ 1.53235427e-02 -8.78815467e-04 9.99882201e-01 3.06015838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4507140569999 meters Centerline goodness [0,1] 0.9823010757324251 Centerline is valid? [True, True] Translation: X:776.28, Y:-59.67, Z:3.06 [[ 9.99543320e-01 -2.65715869e-02 -1.43910594e-02 7.76282305e+02] [ 2.65809628e-02 9.99646558e-01 4.60595066e-04 -5.96724249e+01] [ 1.43737342e-02 -8.42912935e-04 9.99896337e-01 3.06107208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4807140569999 meters Centerline goodness [0,1] 0.9820530920447497 Centerline is valid? [True, True] Translation: X:776.31, Y:-59.67, Z:3.06 [[ 9.99534114e-01 -2.68249249e-02 -1.45594849e-02 7.76313197e+02] [ 2.68345509e-02 9.99639780e-01 4.66161456e-04 -5.96734304e+01] [ 1.45417356e-02 -8.56641517e-04 9.99893896e-01 3.06143321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.510714057 meters Centerline goodness [0,1] 0.9833920591268477 Centerline is valid? [True, True] Translation: X:776.34, Y:-59.68, Z:3.06 [[ 9.99506135e-01 -2.77738831e-02 -1.47002684e-02 7.76344171e+02] [ 2.77838062e-02 9.99613844e-01 4.71193145e-04 -5.96753846e+01] [ 1.46815049e-02 -8.79389847e-04 9.99891834e-01 3.06163835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.540714057 meters Centerline goodness [0,1] 0.9831869618432072 Centerline is valid? [True, True] Translation: X:776.38, Y:-59.68, Z:3.06 [[ 9.99500398e-01 -2.80882035e-02 -1.44916542e-02 7.76375639e+02] [ 2.80978872e-02 9.99605068e-01 4.65014227e-04 -5.96764893e+01] [ 1.44728695e-02 -8.71966768e-04 9.99894882e-01 3.06157926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5707140569999 meters Centerline goodness [0,1] 0.9838004351478856 Centerline is valid? [True, True] Translation: X:776.41, Y:-59.68, Z:3.06 [[ 9.99493061e-01 -2.82587887e-02 -1.46649591e-02 7.76406590e+02] [ 2.82687314e-02 9.99600249e-01 4.71099861e-04 -5.96774803e+01] [ 1.46457841e-02 -8.85420834e-04 9.99892353e-01 3.06217249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6007140569999 meters Centerline goodness [0,1] 0.9822324145912812 Centerline is valid? [True, True] Translation: X:776.44, Y:-59.68, Z:3.06 [[ 9.99495693e-01 -2.83540285e-02 -1.42971549e-02 7.76438259e+02] [ 2.83634955e-02 9.99597569e-01 4.59785358e-04 -5.96779032e+01] [ 1.42783645e-02 -8.65070773e-04 9.99897685e-01 3.06300881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.630714057 meters Centerline goodness [0,1] 0.9822138208063927 Centerline is valid? [True, True] Translation: X:776.47, Y:-59.68, Z:3.06 [[ 9.99506223e-01 -2.80780059e-02 -1.41044744e-02 7.76469685e+02] [ 2.80871991e-02 9.99605374e-01 4.54088223e-04 -5.96788810e+01] [ 1.40861586e-02 -8.50019187e-04 9.99900424e-01 3.06343592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.660714057 meters Centerline goodness [0,1] 0.981812325531458 Centerline is valid? [True, True] Translation: X:776.50, Y:-59.68, Z:3.06 [[ 9.99517746e-01 -2.77941769e-02 -1.38476958e-02 7.76501355e+02] [ 2.78030179e-02 9.99613322e-01 4.46309128e-04 -5.96801518e+01] [ 1.38299364e-02 -8.31101628e-04 9.99904016e-01 3.06411491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6907140569999 meters Centerline goodness [0,1] 0.9821386351423965 Centerline is valid? [True, True] Translation: X:776.53, Y:-59.68, Z:3.06 [[ 9.99532712e-01 -2.76778745e-02 -1.29727756e-02 7.76532453e+02] [ 2.76856295e-02 9.99616592e-01 4.18550757e-04 -5.96815565e+01] [ 1.29562172e-02 -7.77514633e-04 9.99915762e-01 3.06466018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7207140569999 meters Centerline goodness [0,1] 0.9807384654764191 Centerline is valid? [True, True] Translation: X:776.56, Y:-59.69, Z:3.06 [[ 9.99550202e-01 -2.71547616e-02 -1.27284438e-02 7.76563029e+02] [ 2.71621918e-02 9.99630955e-01 4.11204395e-04 -5.96850601e+01] [ 1.27125803e-02 -7.56751867e-04 9.99918906e-01 3.06453489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.750714057 meters Centerline goodness [0,1] 0.9801053876760942 Centerline is valid? [True, True] Translation: X:776.59, Y:-59.69, Z:3.06 [[ 9.99556482e-01 -2.70181514e-02 -1.25243108e-02 7.76594777e+02] [ 2.70253433e-02 9.99634667e-01 4.05320224e-04 -5.96868737e+01] [ 1.25087842e-02 -7.43614257e-04 9.99921486e-01 3.06465180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.780714057 meters Centerline goodness [0,1] 0.9797786612227356 Centerline is valid? [True, True] Translation: X:776.62, Y:-59.69, Z:3.06 [[ 9.99560252e-01 -2.69939417e-02 -1.22731572e-02 7.76624675e+02] [ 2.70008509e-02 9.99635332e-01 3.97569100e-04 -5.96904218e+01] [ 1.22579497e-02 -7.28779958e-04 9.99924603e-01 3.06452763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8107140569999 meters Centerline goodness [0,1] 0.9800163659072312 Centerline is valid? [True, True] Translation: X:776.66, Y:-59.69, Z:3.06 [[ 9.99563580e-01 -2.67020124e-02 -1.26353303e-02 7.76656020e+02] [ 2.67093157e-02 9.99643159e-01 4.09578111e-04 -5.96909732e+01] [ 1.26198849e-02 -7.46880387e-04 9.99920087e-01 3.06488805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8407140569999 meters Centerline goodness [0,1] 0.9791846047873256 Centerline is valid? [True, True] Translation: X:776.69, Y:-59.69, Z:3.06 [[ 9.99558408e-01 -2.68569569e-02 -1.27158239e-02 7.76687077e+02] [ 2.68643716e-02 9.99639002e-01 4.12629082e-04 -5.96924501e+01] [ 1.27001515e-02 -7.54049486e-04 9.99919066e-01 3.06446356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.870714057 meters Centerline goodness [0,1] 0.9796256454388984 Centerline is valid? [True, True] Translation: X:776.72, Y:-59.69, Z:3.06 [[ 9.99560741e-01 -2.68347398e-02 -1.25785923e-02 7.76718425e+02] [ 2.68419990e-02 9.99639605e-01 4.08610911e-04 -5.96890332e+01] [ 1.25630941e-02 -7.46065987e-04 9.99920803e-01 3.06387685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.900714057 meters Centerline goodness [0,1] 0.9800008611039353 Centerline is valid? [True, True] Translation: X:776.75, Y:-59.69, Z:3.06 [[ 9.99558255e-01 -2.70720239e-02 -1.22638042e-02 7.76748798e+02] [ 2.70789468e-02 9.99633219e-01 3.98770918e-04 -5.96920950e+01] [ 1.22485105e-02 -7.30685665e-04 9.99924717e-01 3.06425431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9307140569999 meters Centerline goodness [0,1] 0.9782324304617298 Centerline is valid? [True, True] Translation: X:776.78, Y:-59.70, Z:3.06 [[ 9.99526159e-01 -2.83930207e-02 -1.18867064e-02 7.76778684e+02] [ 2.83996199e-02 9.99596575e-01 3.86716484e-04 -5.96995824e+01] [ 1.18709309e-02 -7.24111185e-04 9.99929276e-01 3.06384861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9607140569999 meters Centerline goodness [0,1] 0.9789810958026274 Centerline is valid? [True, True] Translation: X:776.81, Y:-59.70, Z:3.06 [[ 9.99509653e-01 -2.90059006e-02 -1.17945504e-02 7.76809644e+02] [ 2.90124432e-02 9.99578977e-01 3.83964609e-04 -5.96998618e+01] [ 1.17784474e-02 -7.25965058e-04 9.99930368e-01 3.06413289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.990714057 meters Centerline goodness [0,1] 0.9794337836674984 Centerline is valid? [True, True] Translation: X:776.84, Y:-59.70, Z:3.06 [[ 9.99481752e-01 -3.01085742e-02 -1.13886230e-02 7.76841422e+02] [ 3.01147504e-02 9.99546379e-01 3.71172089e-04 -5.97012692e+01] [ 1.13722814e-02 -7.13945268e-04 9.99935079e-01 3.06473070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.020714057 meters Centerline goodness [0,1] 0.9791680103192518 Centerline is valid? [True, True] Translation: X:776.87, Y:-59.71, Z:3.07 [[ 9.99459507e-01 -3.11590880e-02 -1.04787537e-02 7.76872627e+02] [ 3.11643796e-02 9.99514214e-01 3.42036913e-04 -5.97058292e+01] [ 1.04630057e-02 -6.68415901e-04 9.99945038e-01 3.06569928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0507140569999 meters Centerline goodness [0,1] 0.9785611788139041 Centerline is valid? [True, True] Translation: X:776.90, Y:-59.71, Z:3.07 [[ 9.99461466e-01 -3.12528189e-02 -1.00019404e-02 7.76904767e+02] [ 3.12576497e-02 9.99511307e-01 3.26986704e-04 -5.97071006e+01] [ 9.98683325e-03 -6.39447759e-04 9.99949926e-01 3.06620483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0807140569999 meters Centerline goodness [0,1] 0.9788331363489846 Centerline is valid? [True, True] Translation: X:776.94, Y:-59.71, Z:3.07 [[ 9.99462580e-01 -3.13716136e-02 -9.50648784e-03 7.76936900e+02] [ 3.13759890e-02 9.99507604e-01 3.11422687e-04 -5.97086358e+01] [ 9.49203705e-03 -6.09530780e-04 9.99954764e-01 3.06673726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1107140569999 meters Centerline goodness [0,1] 0.9795386504124577 Centerline is valid? [True, True] Translation: X:776.97, Y:-59.71, Z:3.07 [[ 9.99430247e-01 -3.23934513e-02 -9.47865536e-03 7.76969322e+02] [ 3.23978532e-02 9.99475003e-01 3.11175277e-04 -5.97059752e+01] [ 9.46359906e-03 -6.18086069e-04 9.99955028e-01 3.06666670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.140714057 meters Centerline goodness [0,1] 0.979628558575927 Centerline is valid? [True, True] Translation: X:777.00, Y:-59.71, Z:3.07 [[ 9.99412158e-01 -3.28471107e-02 -9.81861244e-03 7.77000371e+02] [ 3.28518631e-02 9.99460180e-01 3.23076875e-04 -5.97103088e+01] [ 9.80270001e-03 -6.45446669e-04 9.99951744e-01 3.06674710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1707140569999 meters Centerline goodness [0,1] 0.977638120655145 Centerline is valid? [True, True] Translation: X:777.03, Y:-59.72, Z:3.07 [[ 9.99346705e-01 -3.46603108e-02 -1.02384603e-02 7.77030665e+02] [ 3.46655787e-02 9.99398911e-01 3.37450589e-04 -5.97166601e+01] [ 1.02206100e-02 -6.92152287e-04 9.99947529e-01 3.06673375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2007140569999 meters Centerline goodness [0,1] 0.9763567053582901 Centerline is valid? [True, True] Translation: X:777.06, Y:-59.72, Z:3.07 [[ 9.99317282e-01 -3.54571146e-02 -1.03808951e-02 7.77061514e+02] [ 3.54625751e-02 9.99370946e-01 3.42357594e-04 -5.97241863e+01] [ 1.03622259e-02 -7.10257132e-04 9.99946058e-01 3.06624935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2307140569999 meters Centerline goodness [0,1] 0.9800081599347206 Centerline is valid? [True, True] Translation: X:777.09, Y:-59.71, Z:3.07 [[ 9.99279335e-01 -3.64473939e-02 -1.06018350e-02 7.77093497e+02] [ 3.64531507e-02 9.99335302e-01 3.50204060e-04 -5.97140473e+01] [ 1.05820239e-02 -7.36421968e-04 9.99943738e-01 3.06650569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.260714057 meters Centerline goodness [0,1] 0.9793529298256899 Centerline is valid? [True, True] Translation: X:777.12, Y:-59.72, Z:3.07 [[ 9.99193126e-01 -3.83995665e-02 -1.17715523e-02 7.77123318e+02] [ 3.84068054e-02 9.99262111e-01 3.89422765e-04 -5.97175531e+01] [ 1.17479125e-02 -8.41216269e-04 9.99930637e-01 3.06607702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.290714057 meters Centerline goodness [0,1] 0.9776410079838171 Centerline is valid? [True, True] Translation: X:777.15, Y:-59.72, Z:3.07 [[ 9.99159271e-01 -3.92274756e-02 -1.19145251e-02 7.77153946e+02] [ 3.92349534e-02 9.99229935e-01 3.94438676e-04 -5.97242522e+01] [ 1.18898773e-02 -8.61572898e-04 9.99928942e-01 3.06598578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3207140569999 meters Centerline goodness [0,1] 0.9787766093870223 Centerline is valid? [True, True] Translation: X:777.19, Y:-59.72, Z:3.07 [[ 9.99156540e-01 -3.93718651e-02 -1.16646502e-02 7.77186714e+02] [ 3.93790575e-02 9.99224269e-01 3.87477465e-04 -5.97199765e+01] [ 1.16403459e-02 -8.46493575e-04 9.99931891e-01 3.06630814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3507140569999 meters Centerline goodness [0,1] 0.9791509616834306 Centerline is valid? [True, True] Translation: X:777.22, Y:-59.72, Z:3.07 [[ 9.99160460e-01 -3.92831259e-02 -1.16280004e-02 7.77219203e+02] [ 3.92902769e-02 9.99227764e-01 3.87090464e-04 -5.97175142e+01] [ 1.16038148e-02 -8.43632843e-04 9.99932318e-01 3.06742804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.380714057 meters Centerline goodness [0,1] 0.9790844345289171 Centerline is valid? [True, True] Translation: X:777.25, Y:-59.72, Z:3.07 [[ 9.99202804e-01 -3.82417845e-02 -1.14595754e-02 7.77250217e+02] [ 3.82486724e-02 9.99268179e-01 3.82423409e-04 -5.97187448e+01] [ 1.14365645e-02 -8.20432087e-04 9.99934264e-01 3.06796746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.410714057 meters Centerline goodness [0,1] 0.9774384193951944 Centerline is valid? [True, True] Translation: X:777.28, Y:-59.72, Z:3.07 [[ 9.99305489e-01 -3.55892033e-02 -1.10429774e-02 7.77280477e+02] [ 3.55954524e-02 9.99366213e-01 3.69793854e-04 -5.97196505e+01] [ 1.10228178e-02 -7.62616804e-04 9.99938956e-01 3.06875291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4407140569999 meters Centerline goodness [0,1] 0.9793430263866452 Centerline is valid? [True, True] Translation: X:777.31, Y:-59.72, Z:3.07 [[ 9.99365907e-01 -3.38519431e-02 -1.10376311e-02 7.77311918e+02] [ 3.38580812e-02 9.99426582e-01 3.69665483e-04 -5.97156799e+01] [ 1.10187880e-02 -7.43144090e-04 9.99939015e-01 3.06915373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4707140569999 meters Centerline goodness [0,1] 0.9790358191678635 Centerline is valid? [True, True] Translation: X:777.34, Y:-59.71, Z:3.07 [[ 9.99429043e-01 -3.20499457e-02 -1.06953178e-02 7.77343803e+02] [ 3.20556103e-02 9.99486023e-01 3.58586898e-04 -5.97147790e+01] [ 1.06783279e-02 -7.01227099e-04 9.99942739e-01 3.06989481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.500714057 meters Centerline goodness [0,1] 0.9789760185165342 Centerline is valid? [True, True] Translation: X:777.37, Y:-59.71, Z:3.07 [[ 9.99540050e-01 -2.85784079e-02 -1.01470252e-02 7.77373702e+02] [ 2.85833333e-02 9.99591355e-01 3.40682810e-04 -5.97134461e+01] [ 1.01331425e-02 -6.30561917e-04 9.99948460e-01 3.07157142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.530714057 meters Centerline goodness [0,1] 0.9797579522330513 Centerline is valid? [True, True] Translation: X:777.41, Y:-59.71, Z:3.07 [[ 9.99583993e-01 -2.69966529e-02 -1.01499912e-02 7.77405196e+02] [ 2.70015001e-02 9.99635335e-01 3.40801930e-04 -5.97069033e+01] [ 1.01370893e-02 -6.14725142e-04 9.99948429e-01 3.07219012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5607140569999 meters Centerline goodness [0,1] 0.9807654860555183 Centerline is valid? [True, True] Translation: X:777.44, Y:-59.70, Z:3.07 [[ 9.99611568e-01 -2.59758742e-02 -1.00978306e-02 7.77437190e+02] [ 2.59806235e-02 9.99662389e-01 3.39415349e-04 -5.97039729e+01] [ 1.00856049e-02 -6.01631444e-04 9.99948958e-01 3.07284983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5907140569999 meters Centerline goodness [0,1] 0.980241987385764 Centerline is valid? [True, True] Translation: X:777.47, Y:-59.71, Z:3.07 [[ 9.99638466e-01 -2.46737622e-02 -1.06837674e-02 7.77467460e+02] [ 2.46790100e-02 9.99695362e-01 3.59614322e-04 -5.97062574e+01] [ 1.06716397e-02 -6.23149111e-04 9.99942862e-01 3.07238913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.620714057 meters Centerline goodness [0,1] 0.9829204326245746 Centerline is valid? [True, True] Translation: X:777.50, Y:-59.70, Z:3.07 [[ 9.99646027e-01 -2.45187239e-02 -1.03272560e-02 7.77498427e+02] [ 2.45236210e-02 9.99699190e-01 3.47806948e-04 -5.97048527e+01] [ 1.03156217e-02 -6.00945546e-04 9.99946612e-01 3.07241847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.650714057 meters Centerline goodness [0,1] 0.9825539918282639 Centerline is valid? [True, True] Translation: X:777.53, Y:-59.70, Z:3.07 [[ 9.99645096e-01 -2.43261462e-02 -1.08591676e-02 7.77531146e+02] [ 2.43315544e-02 9.99703877e-01 3.66175568e-04 -5.97029226e+01] [ 1.08470443e-02 -6.30266037e-04 9.99940970e-01 3.07270824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6807140569999 meters Centerline goodness [0,1] 0.9824732440746999 Centerline is valid? [True, True] Translation: X:777.56, Y:-59.70, Z:3.07 [[ 9.99642362e-01 -2.42193618e-02 -1.13389157e-02 7.77562313e+02] [ 2.42252622e-02 9.99706452e-01 3.83289857e-04 -5.97040535e+01] [ 1.13263041e-02 -6.57840984e-04 9.99935639e-01 3.07285113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7107140569999 meters Centerline goodness [0,1] 0.982885244481033 Centerline is valid? [True, True] Translation: X:777.59, Y:-59.71, Z:3.07 [[ 9.99652845e-01 -2.37951813e-02 -1.13127837e-02 7.77592862e+02] [ 2.38010405e-02 9.99716642e-01 3.83558007e-04 -5.97052467e+01] [ 1.13004513e-02 -6.52680875e-04 9.99935935e-01 3.07334491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.740714057 meters Centerline goodness [0,1] 0.9833553672438828 Centerline is valid? [True, True] Translation: X:777.62, Y:-59.71, Z:3.07 [[ 9.99669592e-01 -2.26898991e-02 -1.20779121e-02 7.77624630e+02] [ 2.26965012e-02 9.99742317e-01 4.09815876e-04 -5.97052965e+01] [ 1.20655011e-02 -6.83806816e-04 9.99926975e-01 3.07390563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.770714057 meters Centerline goodness [0,1] 0.9838716660893662 Centerline is valid? [True, True] Translation: X:777.66, Y:-59.70, Z:3.07 [[ 9.99693976e-01 -2.18837929e-02 -1.15348929e-02 7.77656330e+02] [ 2.18897676e-02 9.99760314e-01 3.91951775e-04 -5.97030950e+01] [ 1.15235507e-02 -6.44327953e-04 9.99933394e-01 3.07438580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8007140569999 meters Centerline goodness [0,1] 0.9840050214276438 Centerline is valid? [True, True] Translation: X:777.69, Y:-59.70, Z:3.08 [[ 9.99738905e-01 -2.00840946e-02 -1.08972681e-02 7.77686987e+02] [ 2.00893245e-02 9.99798120e-01 3.70662095e-04 -5.97044391e+01] [ 1.08876237e-02 -5.89484072e-04 9.99940554e-01 3.07545407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8307140569999 meters Centerline goodness [0,1] 0.9826171663599956 Centerline is valid? [True, True] Translation: X:777.72, Y:-59.71, Z:3.08 [[ 9.99758745e-01 -1.90872736e-02 -1.08686882e-02 7.77717201e+02] [ 1.90924221e-02 9.99817655e-01 3.70128881e-04 -5.97061549e+01] [ 1.08596416e-02 -5.77549168e-04 9.99940866e-01 3.07604243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8607140569999 meters Centerline goodness [0,1] 0.9837875278685686 Centerline is valid? [True, True] Translation: X:777.75, Y:-59.71, Z:3.08 [[ 9.99787502e-01 -1.77318953e-02 -1.05133927e-02 7.77748889e+02] [ 1.77366453e-02 9.99842629e-01 3.58731787e-04 -5.97060707e+01] [ 1.05053772e-02 -5.45127875e-04 9.99944668e-01 3.07669494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.890714057 meters Centerline goodness [0,1] 0.9833174658127055 Centerline is valid? [True, True] Translation: X:777.78, Y:-59.71, Z:3.08 [[ 9.99820579e-01 -1.59913653e-02 -1.01531183e-02 7.77780387e+02] [ 1.59957093e-02 9.99872000e-01 3.46784231e-04 -5.97056745e+01] [ 1.01462731e-02 -5.09128339e-04 9.99948396e-01 3.07696740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9207140569999 meters Centerline goodness [0,1] 0.9825210374889134 Centerline is valid? [True, True] Translation: X:777.81, Y:-59.71, Z:3.08 [[ 9.99834826e-01 -1.51358475e-02 -1.00611383e-02 7.77810452e+02] [ 1.51400736e-02 9.99885323e-01 3.44008442e-04 -5.97081296e+01] [ 1.00547776e-02 -4.96277995e-04 9.99949326e-01 3.07718449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9507140569999 meters Centerline goodness [0,1] 0.982930729009118 Centerline is valid? [True, True] Translation: X:777.84, Y:-59.71, Z:3.08 [[ 9.99844037e-01 -1.44239569e-02 -1.01906926e-02 7.77841113e+02] [ 1.44282621e-02 9.99895846e-01 3.49067137e-04 -5.97086797e+01] [ 1.01845963e-02 -4.96046679e-04 9.99948013e-01 3.07756151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9807140569999 meters Centerline goodness [0,1] 0.9831905573657295 Centerline is valid? [True, True] Translation: X:777.87, Y:-59.71, Z:3.08 [[ 9.99850075e-01 -1.41653486e-02 -9.95839426e-03 7.77871974e+02] [ 1.41694469e-02 9.99899550e-01 3.41110100e-04 -5.97106297e+01] [ 9.95256200e-03 -4.82163898e-04 9.99950356e-01 3.07744566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.010714057 meters Centerline goodness [0,1] 0.9829678472475784 Centerline is valid? [True, True] Translation: X:777.90, Y:-59.71, Z:3.08 [[ 9.99840627e-01 -1.44957096e-02 -1.04208724e-02 7.77902715e+02] [ 1.45002154e-02 9.99894803e-01 3.56951607e-04 -5.97117212e+01] [ 1.04146019e-02 -5.07999613e-04 9.99945638e-01 3.07777533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.040714057 meters Centerline goodness [0,1] 0.9833847614526465 Centerline is valid? [True, True] Translation: X:777.93, Y:-59.71, Z:3.08 [[ 9.99810605e-01 -1.58107181e-02 -1.13479304e-02 7.77933489e+02] [ 1.58161458e-02 9.99874841e-01 3.88706610e-04 -5.97134085e+01] [ 1.13403644e-02 -5.68113512e-04 9.99935535e-01 3.07738967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0707140569999 meters Centerline goodness [0,1] 0.9837247452944223 Centerline is valid? [True, True] Translation: X:777.96, Y:-59.71, Z:3.08 [[ 9.99794100e-01 -1.67303855e-02 -1.14826634e-02 7.77964280e+02] [ 1.67360034e-02 9.99859866e-01 3.93321691e-04 -5.97147573e+01] [ 1.14744739e-02 -5.85414600e-04 9.99933995e-01 3.07772635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1007140569999 meters Centerline goodness [0,1] 0.9837247452944223 Centerline is valid? [True, True] Translation: X:777.99, Y:-59.72, Z:3.08 [[ 9.99794100e-01 -1.67303855e-02 -1.14826634e-02 7.77994300e+02] [ 1.67360034e-02 9.99859866e-01 3.93321691e-04 -5.97157856e+01] [ 1.14744739e-02 -5.85414600e-04 9.99933995e-01 3.07801497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.130714057 meters Centerline goodness [0,1] 0.98337722896248 Centerline is valid? [True, True] Translation: X:778.02, Y:-59.72, Z:3.08 [[ 9.99777456e-01 -1.77777911e-02 -1.13573081e-02 7.78024175e+02] [ 1.77833541e-02 9.99841788e-01 3.89012285e-04 -5.97176858e+01] [ 1.13485954e-02 -5.90896743e-04 9.99935428e-01 3.07851788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.160714057 meters Centerline goodness [0,1] 0.9832750658207087 Centerline is valid? [True, True] Translation: X:778.05, Y:-59.71, Z:3.08 [[ 9.99758691e-01 -1.88627392e-02 -1.12585909e-02 7.78054766e+02] [ 1.88682737e-02 9.99821904e-01 3.85546682e-04 -5.97149960e+01] [ 1.12493133e-02 -5.97883820e-04 9.99936546e-01 3.07931551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1907140569999 meters Centerline goodness [0,1] 0.9834997735263034 Centerline is valid? [True, True] Translation: X:778.08, Y:-59.72, Z:3.08 [[ 9.99720326e-01 -2.12641912e-02 -1.03491013e-02 7.78084467e+02] [ 2.12689958e-02 9.99773727e-01 3.54401516e-04 -5.97193894e+01] [ 1.03392235e-02 -5.74417392e-04 9.99946384e-01 3.08018258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2207140569999 meters Centerline goodness [0,1] 0.9821497949492769 Centerline is valid? [True, True] Translation: X:778.11, Y:-59.72, Z:3.08 [[ 9.99694014e-01 -2.27647974e-02 -9.67688533e-03 7.78114402e+02] [ 2.27690681e-02 9.99740696e-01 3.31383013e-04 -5.97246712e+01] [ 9.66683221e-03 -5.51615276e-04 9.99953123e-01 3.08064982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.250714057 meters Centerline goodness [0,1] 0.9826537216828479 Centerline is valid? [True, True] Translation: X:778.15, Y:-59.72, Z:3.08 [[ 9.99619400e-01 -2.58204289e-02 -9.71392246e-03 7.78145551e+02] [ 2.58248778e-02 9.99666427e-01 3.32823399e-04 -5.97227971e+01] [ 9.70208852e-03 -5.83557587e-04 9.99952763e-01 3.08090606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.280714057 meters Centerline goodness [0,1] 0.9811777417612102 Centerline is valid? [True, True] Translation: X:778.18, Y:-59.73, Z:3.08 [[ 9.99572152e-01 -2.74864473e-02 -1.00003844e-02 7.78175609e+02] [ 2.74912474e-02 9.99621985e-01 3.42823154e-04 -5.97273068e+01] [ 9.98718112e-03 -6.17599520e-04 9.99949936e-01 3.08102196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3107140569999 meters Centerline goodness [0,1] 0.9811552377670572 Centerline is valid? [True, True] Translation: X:778.21, Y:-59.73, Z:3.08 [[ 9.99540227e-01 -2.85009789e-02 -1.03454643e-02 7.78208055e+02] [ 2.85061726e-02 9.99593553e-01 3.54882723e-04 -5.97286058e+01] [ 1.03311449e-02 -6.49629147e-04 9.99946421e-01 3.08120462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3407140569999 meters Centerline goodness [0,1] 0.9819264115947031 Centerline is valid? [True, True] Translation: X:778.24, Y:-59.73, Z:3.08 [[ 9.99476204e-01 -3.06499839e-02 -1.03872853e-02 7.78239474e+02] [ 3.06553426e-02 9.99529951e-01 3.57028798e-04 -5.97297479e+01] [ 1.03714599e-02 -6.75267577e-04 9.99945987e-01 3.08060516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.370714057 meters Centerline goodness [0,1] 0.9812477072139143 Centerline is valid? [True, True] Translation: X:778.27, Y:-59.73, Z:3.08 [[ 9.99444567e-01 -3.15451081e-02 -1.07453619e-02 7.78271809e+02] [ 3.15508988e-02 9.99502078e-01 3.69773906e-04 -5.97322688e+01] [ 1.07283469e-02 -7.08594347e-04 9.99942199e-01 3.08070330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.400714057 meters Centerline goodness [0,1] 0.9813168991242296 Centerline is valid? [True, True] Translation: X:778.30, Y:-59.73, Z:3.08 [[ 9.99421319e-01 -3.22371289e-02 -1.08533510e-02 7.78304207e+02] [ 3.22430858e-02 9.99479986e-01 3.74271072e-04 -5.97347027e+01] [ 1.08356417e-02 -7.24000015e-04 9.99941031e-01 3.08109905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4307140569999 meters Centerline goodness [0,1] 0.9811369620580999 Centerline is valid? [True, True] Translation: X:778.34, Y:-59.74, Z:3.08 [[ 9.99411100e-01 -3.24504713e-02 -1.11543778e-02 7.78336481e+02] [ 3.24567854e-02 9.99473065e-01 3.85463085e-04 -5.97355903e+01] [ 1.11359917e-02 -7.47271333e-04 9.99937714e-01 3.08100290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4607140569999 meters Centerline goodness [0,1] 0.9809566845264992 Centerline is valid? [True, True] Translation: X:778.37, Y:-59.74, Z:3.08 [[ 9.99415146e-01 -3.20840973e-02 -1.18311764e-02 7.78368490e+02] [ 3.20911858e-02 9.99484861e-01 4.09731689e-04 -5.97368023e+01] [ 1.18119359e-02 -7.89168537e-04 9.99929925e-01 3.08106093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4907140569999 meters Centerline goodness [0,1] 0.981027172031845 Centerline is valid? [True, True] Translation: X:778.40, Y:-59.74, Z:3.08 [[ 9.99456190e-01 -3.04808520e-02 -1.25793980e-02 7.78399216e+02] [ 3.04887494e-02 9.99535015e-01 4.36468450e-04 -5.97377808e+01] [ 1.25602449e-02 -8.19761210e-04 9.99920781e-01 3.08054971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.520714057 meters Centerline goodness [0,1] 0.9806970741969766 Centerline is valid? [True, True] Translation: X:778.43, Y:-59.74, Z:3.08 [[ 9.99487687e-01 -2.94711172e-02 -1.24826900e-02 7.78430960e+02] [ 2.94788210e-02 9.99565311e-01 4.33572453e-04 -5.97379938e+01] [ 1.24644861e-02 -8.01325313e-04 9.99921994e-01 3.08125233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5507140569999 meters Centerline goodness [0,1] 0.9819767063569523 Centerline is valid? [True, True] Translation: X:778.46, Y:-59.73, Z:3.08 [[ 9.99561279e-01 -2.70209307e-02 -1.21292875e-02 7.78461939e+02] [ 2.70280302e-02 9.99634587e-01 4.21746511e-04 -5.97332154e+01] [ 1.21134593e-02 -7.49392231e-04 9.99926349e-01 3.08245054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5807140569999 meters Centerline goodness [0,1] 0.9806022818297937 Centerline is valid? [True, True] Translation: X:778.49, Y:-59.74, Z:3.08 [[ 9.99604200e-01 -2.54952899e-02 -1.18926145e-02 7.78491871e+02] [ 2.55020098e-02 9.99674685e-01 4.13724077e-04 -5.97355795e+01] [ 1.18781976e-02 -7.16845895e-04 9.99929195e-01 3.08291129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6107140569999 meters Centerline goodness [0,1] 0.9819431197433451 Centerline is valid? [True, True] Translation: X:778.52, Y:-59.73, Z:3.08 [[ 9.99679474e-01 -2.26418280e-02 -1.13268075e-02 7.78522883e+02] [ 2.26477434e-02 9.99743429e-01 3.94231859e-04 -5.97281537e+01] [ 1.13149752e-02 -6.50632127e-04 9.99935772e-01 3.08453730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.640714057 meters Centerline goodness [0,1] 0.9814678661015483 Centerline is valid? [True, True] Translation: X:778.55, Y:-59.73, Z:3.09 [[ 9.99716213e-01 -2.12198217e-02 -1.08264595e-02 7.78552875e+02] [ 2.12251448e-02 9.99774650e-01 3.77002582e-04 -5.97323121e+01] [ 1.08160198e-02 -6.06688765e-04 9.99941321e-01 3.08540649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6707140569999 meters Centerline goodness [0,1] 0.9817854587245485 Centerline is valid? [True, True] Translation: X:778.59, Y:-59.73, Z:3.09 [[ 9.99732710e-01 -2.03963173e-02 -1.08857514e-02 7.78585043e+02] [ 2.04016527e-02 9.99791793e-01 3.79296262e-04 -5.97251651e+01] [ 1.08757486e-02 -6.01282199e-04 9.99940677e-01 3.08655920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7007140569999 meters Centerline goodness [0,1] 0.9817684594348223 Centerline is valid? [True, True] Translation: X:778.62, Y:-59.73, Z:3.09 [[ 9.99746988e-01 -1.98010204e-02 -1.06714604e-02 7.78615016e+02] [ 1.98061188e-02 9.99803770e-01 3.72275713e-04 -5.97270777e+01] [ 1.06619949e-02 -5.83541735e-04 9.99942989e-01 3.08674326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7307140569999 meters Centerline goodness [0,1] 0.9816756768492586 Centerline is valid? [True, True] Translation: X:778.65, Y:-59.73, Z:3.09 [[ 9.99730381e-01 -1.99432989e-02 -1.18924631e-02 7.78645977e+02] [ 1.99496445e-02 9.99800900e-01 4.15183135e-04 -5.97284131e+01] [ 1.18818152e-02 -6.52321605e-04 9.99929196e-01 3.08651485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.760714057 meters Centerline goodness [0,1] 0.9817340740580619 Centerline is valid? [True, True] Translation: X:778.68, Y:-59.73, Z:3.09 [[ 9.99667460e-01 -2.23245478e-02 -1.29067366e-02 7.78677232e+02] [ 2.23322286e-02 9.99750503e-01 4.51260001e-04 -5.97276963e+01] [ 1.28934422e-02 -7.39346130e-04 9.99916603e-01 3.08528976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.790714057 meters Centerline goodness [0,1] 0.9811361759464511 Centerline is valid? [True, True] Translation: X:778.71, Y:-59.73, Z:3.08 [[ 9.99625510e-01 -2.40980463e-02 -1.29662933e-02 7.78707679e+02] [ 2.41059530e-02 9.99709306e-01 4.53822211e-04 -5.97317089e+01] [ 1.29515879e-02 -7.66217116e-04 9.99915831e-01 3.08469310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8207140569999 meters Centerline goodness [0,1] 0.9814092563702548 Centerline is valid? [True, True] Translation: X:778.74, Y:-59.73, Z:3.08 [[ 9.99578318e-01 -2.57796744e-02 -1.33639321e-02 7.78739130e+02] [ 2.57882304e-02 9.99667319e-01 4.68275318e-04 -5.97337099e+01] [ 1.33474142e-02 -8.12710015e-04 9.99910589e-01 3.08497575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8507140569999 meters Centerline goodness [0,1] 0.9818845301707285 Centerline is valid? [True, True] Translation: X:778.77, Y:-59.73, Z:3.09 [[ 9.99518962e-01 -2.80526413e-02 -1.32247150e-02 7.78769931e+02] [ 2.80612240e-02 9.99606099e-01 4.63839908e-04 -5.97322584e+01] [ 1.32064939e-02 -8.34718474e-04 9.99912442e-01 3.08569531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.880714057 meters Centerline goodness [0,1] 0.9817210837096214 Centerline is valid? [True, True] Translation: X:778.80, Y:-59.74, Z:3.09 [[ 9.99439400e-01 -3.08867967e-02 -1.29186880e-02 7.78799783e+02] [ 3.08952262e-02 9.99522526e-01 4.53394941e-04 -5.97356205e+01] [ 1.28985157e-02 -8.52266553e-04 9.99916447e-01 3.08655355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.910714057 meters Centerline goodness [0,1] 0.9813507738133782 Centerline is valid? [True, True] Translation: X:778.83, Y:-59.74, Z:3.09 [[ 9.99435132e-01 -3.11159558e-02 -1.26970046e-02 7.78832166e+02] [ 3.11241197e-02 9.99515428e-01 4.45836977e-04 -5.97360399e+01] [ 1.26769793e-02 -8.40768228e-04 9.99919290e-01 3.08703116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9407140569999 meters Centerline goodness [0,1] 0.9808385835324788 Centerline is valid? [True, True] Translation: X:778.86, Y:-59.74, Z:3.09 [[ 9.99444442e-01 -3.05184324e-02 -1.33952560e-02 7.78863891e+02] [ 3.05274789e-02 9.99533817e-01 4.71352539e-04 -5.97364306e+01] [ 1.33746264e-02 -8.80014070e-04 9.99910168e-01 3.08769687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9707140569999 meters Centerline goodness [0,1] 0.9816641019527949 Centerline is valid? [True, True] Translation: X:778.90, Y:-59.73, Z:3.09 [[ 9.99492989e-01 -2.92526817e-02 -1.25715906e-02 7.78895484e+02] [ 2.92605595e-02 9.99571720e-01 4.43118345e-04 -5.97338690e+01] [ 1.25532441e-02 -8.10745455e-04 9.99920876e-01 3.08771996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.000714057 meters Centerline goodness [0,1] 0.9809805028442399 Centerline is valid? [True, True] Translation: X:778.93, Y:-59.74, Z:3.09 [[ 9.99521347e-01 -2.80048816e-02 -1.31454506e-02 7.78926505e+02] [ 2.80133949e-02 9.99607440e-01 4.63899734e-04 -5.97365541e+01] [ 1.31272988e-02 -8.31926385e-04 9.99913487e-01 3.08790692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.030714057 meters Centerline goodness [0,1] 0.9818244989251048 Centerline is valid? [True, True] Translation: X:778.96, Y:-59.73, Z:3.09 [[ 9.99583284e-01 -2.58495673e-02 -1.28475177e-02 7.78957883e+02] [ 2.58575297e-02 9.99665535e-01 4.54005545e-04 -5.97332080e+01] [ 1.28314848e-02 -7.86021423e-04 9.99917364e-01 3.08867582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0607140569999 meters Centerline goodness [0,1] 0.9813515750947671 Centerline is valid? [True, True] Translation: X:778.99, Y:-59.73, Z:3.09 [[ 9.99594934e-01 -2.54487622e-02 -1.27407815e-02 7.78988582e+02] [ 2.54565667e-02 9.99675827e-01 4.50737881e-04 -5.97343666e+01] [ 1.27251805e-02 -7.74891856e-04 9.99918731e-01 3.08942897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0907140569999 meters Centerline goodness [0,1] 0.981834457762931 Centerline is valid? [True, True] Translation: X:779.02, Y:-59.73, Z:3.09 [[ 9.99614351e-01 -2.47668555e-02 -1.25599126e-02 7.79020355e+02] [ 2.47743939e-02 9.99692969e-01 4.44941884e-04 -5.97340398e+01] [ 1.25450365e-02 -7.55934516e-04 9.99921022e-01 3.09008534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.120714057 meters Centerline goodness [0,1] 0.9822865993324753 Centerline is valid? [True, True] Translation: X:779.05, Y:-59.74, Z:3.09 [[ 9.99632084e-01 -2.45476245e-02 -1.15373286e-02 7.79051702e+02] [ 2.45539751e-02 9.99698422e-01 4.09091369e-04 -5.97350939e+01] [ 1.15238070e-02 -6.92228137e-04 9.99933359e-01 3.09015915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.150714057 meters Centerline goodness [0,1] 0.9822703552479312 Centerline is valid? [True, True] Translation: X:779.08, Y:-59.74, Z:3.09 [[ 9.99640090e-01 -2.42634153e-02 -1.14445329e-02 7.79082786e+02] [ 2.42696501e-02 9.99705366e-01 4.06194645e-04 -5.97368418e+01] [ 1.14313053e-02 -6.83803261e-04 9.99934427e-01 3.09076012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1807140569999 meters Centerline goodness [0,1] 0.9825489044106447 Centerline is valid? [True, True] Translation: X:779.11, Y:-59.74, Z:3.09 [[ 9.99644052e-01 -2.39609639e-02 -1.17320786e-02 7.79113933e+02] [ 2.39675004e-02 9.99712651e-01 4.16848758e-04 -5.97378859e+01] [ 1.17187193e-02 -6.97888980e-04 9.99931090e-01 3.09054337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2107140569999 meters Centerline goodness [0,1] 0.982099978170705 Centerline is valid? [True, True] Translation: X:779.15, Y:-59.73, Z:3.09 [[ 9.99635838e-01 -2.40608845e-02 -1.22174093e-02 7.79146150e+02] [ 2.40679891e-02 9.99710229e-01 4.34794971e-04 -5.97337682e+01] [ 1.22034075e-02 -7.28685110e-04 9.99925270e-01 3.09052882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2407140569999 meters Centerline goodness [0,1] 0.980916949338002 Centerline is valid? [True, True] Translation: X:779.18, Y:-59.74, Z:3.09 [[ 9.99597973e-01 -2.41865484e-02 -1.47953497e-02 7.79176511e+02] [ 2.41969983e-02 9.99707071e-01 5.27667117e-04 -5.97421773e+01] [ 1.47782533e-02 -8.85458032e-04 9.99890404e-01 3.08865074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.270714057 meters Centerline goodness [0,1] 0.9814754062506834 Centerline is valid? [True, True] Translation: X:779.21, Y:-59.74, Z:3.09 [[ 9.99585796e-01 -2.43519387e-02 -1.53368541e-02 7.79208275e+02] [ 2.43631986e-02 9.99703023e-01 5.47736751e-04 -5.97436199e+01] [ 1.53189610e-02 -9.21164700e-04 9.99882234e-01 3.08781368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3007140569999 meters Centerline goodness [0,1] 0.981474636341893 Centerline is valid? [True, True] Translation: X:779.24, Y:-59.74, Z:3.09 [[ 9.99573691e-01 -2.49579018e-02 -1.51505607e-02 7.79239577e+02] [ 2.49689668e-02 9.99688080e-01 5.41590198e-04 -5.97395379e+01] [ 1.51323180e-02 -9.19653160e-04 9.99885077e-01 3.08834512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3307140569999 meters Centerline goodness [0,1] 0.9813102412915298 Centerline is valid? [True, True] Translation: X:779.27, Y:-59.74, Z:3.09 [[ 9.99574218e-01 -2.51257995e-02 -1.48349888e-02 7.79270820e+02] [ 2.51364343e-02 9.99683889e-01 5.30815724e-04 -5.97409743e+01] [ 1.48169621e-02 -9.03488433e-04 9.99889815e-01 3.08975836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3607140569999 meters Centerline goodness [0,1] 0.9832422903654051 Centerline is valid? [True, True] Translation: X:779.30, Y:-59.74, Z:3.09 [[ 9.99577273e-01 -2.54504686e-02 -1.40551781e-02 7.79302576e+02] [ 2.54600532e-02 9.99675714e-01 5.03384879e-04 -5.97388431e+01] [ 1.40378088e-02 -8.61017665e-04 9.99901094e-01 3.09131586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.390714057 meters Centerline goodness [0,1] 0.9828968814517005 Centerline is valid? [True, True] Translation: X:779.33, Y:-59.74, Z:3.09 [[ 9.99583221e-01 -2.55353987e-02 -1.34657848e-02 7.79334665e+02] [ 2.55442120e-02 9.99673577e-01 4.82878716e-04 -5.97390057e+01] [ 1.34490588e-02 -8.26650325e-04 9.99909216e-01 3.09209658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4207140569999 meters Centerline goodness [0,1] 0.9829288448155881 Centerline is valid? [True, True] Translation: X:779.37, Y:-59.74, Z:3.09 [[ 9.99595339e-01 -2.52412081e-02 -1.31164086e-02 7.79365565e+02] [ 2.52495552e-02 9.99681068e-01 4.71145817e-04 -5.97395194e+01] [ 1.31003330e-02 -8.02138645e-04 9.99913865e-01 3.09268012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4507140569999 meters Centerline goodness [0,1] 0.9821763602251408 Centerline is valid? [True, True] Translation: X:779.40, Y:-59.74, Z:3.09 [[ 9.99585862e-01 -2.53627721e-02 -1.35953836e-02 7.79396914e+02] [ 2.53717588e-02 9.99677966e-01 4.88918833e-04 -5.97414811e+01] [ 1.35786051e-02 -8.33655148e-04 9.99907459e-01 3.09223599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4807140569999 meters Centerline goodness [0,1] 0.9815545623024092 Centerline is valid? [True, True] Translation: X:779.43, Y:-59.74, Z:3.09 [[ 9.99579961e-01 -2.56513583e-02 -1.34874126e-02 7.79428477e+02] [ 2.56602377e-02 9.99670604e-01 4.85681336e-04 -5.97420100e+01] [ 1.34705116e-02 -8.31567545e-04 9.99908923e-01 3.09211130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.510714057 meters Centerline goodness [0,1] 0.9820718871467878 Centerline is valid? [True, True] Translation: X:779.46, Y:-59.74, Z:3.09 [[ 9.99553158e-01 -2.65719105e-02 -1.36900354e-02 7.79459793e+02] [ 2.65811514e-02 9.99646537e-01 4.93465795e-04 -5.97440740e+01] [ 1.36720841e-02 -8.57142198e-04 9.99906165e-01 3.09214424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.540714057 meters Centerline goodness [0,1] 0.9816273538589103 Centerline is valid? [True, True] Translation: X:779.49, Y:-59.75, Z:3.09 [[ 9.99523889e-01 -2.73914020e-02 -1.42023596e-02 7.79490663e+02] [ 2.74014414e-02 9.99624379e-01 5.12739929e-04 -5.97467193e+01] [ 1.41829802e-02 -9.01660932e-04 9.99899010e-01 3.09252846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5707140569999 meters Centerline goodness [0,1] 0.9815380586592178 Centerline is valid? [True, True] Translation: X:779.52, Y:-59.75, Z:3.09 [[ 9.99487380e-01 -2.91115383e-02 -1.33227253e-02 7.79521637e+02] [ 2.91205374e-02 9.99575791e-01 4.81942826e-04 -5.97493175e+01] [ 1.33030436e-02 -8.69660694e-04 9.99911132e-01 3.09368320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6007140569999 meters Centerline goodness [0,1] 0.9803057730474799 Centerline is valid? [True, True] Translation: X:779.55, Y:-59.75, Z:3.09 [[ 9.99481002e-01 -2.98625900e-02 -1.20810615e-02 7.79552193e+02] [ 2.98700499e-02 9.99553695e-01 4.37476453e-04 -5.97525802e+01] [ 1.20626055e-02 -7.98111313e-04 9.99926926e-01 3.09468266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.630714057 meters Centerline goodness [0,1] 0.9812798638535553 Centerline is valid? [True, True] Translation: X:779.58, Y:-59.75, Z:3.10 [[ 9.99455426e-01 -3.09003093e-02 -1.15767672e-02 7.79584463e+02] [ 3.09072431e-02 9.99522169e-01 4.20468575e-04 -5.97474299e+01] [ 1.15582429e-02 -7.78045558e-04 9.99932899e-01 3.09568976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.660714057 meters Centerline goodness [0,1] 0.9808611396023831 Centerline is valid? [True, True] Translation: X:779.62, Y:-59.75, Z:3.10 [[ 9.99463300e-01 -3.08260553e-02 -1.10845175e-02 7.79617097e+02] [ 3.08324160e-02 9.99524487e-01 4.03368235e-04 -5.97491262e+01] [ 1.10668124e-02 -7.44914203e-04 9.99938483e-01 3.09551592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6907140569999 meters Centerline goodness [0,1] 0.9804435131831675 Centerline is valid? [True, True] Translation: X:779.65, Y:-59.75, Z:3.10 [[ 9.99478215e-01 -3.02212198e-02 -1.14006992e-02 7.79648222e+02] [ 3.02279186e-02 9.99542946e-01 4.15689529e-04 -5.97525768e+01] [ 1.13829258e-02 -7.60092037e-04 9.99934924e-01 3.09554049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7207140569999 meters Centerline goodness [0,1] 0.9810678021618081 Centerline is valid? [True, True] Translation: X:779.68, Y:-59.75, Z:3.09 [[ 9.99529762e-01 -2.83280949e-02 -1.17377377e-02 7.79680243e+02] [ 2.83350734e-02 9.99598389e-01 4.28629320e-04 -5.97514935e+01] [ 1.17208814e-02 -7.61017420e-04 9.99931019e-01 3.09489696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.750714057 meters Centerline goodness [0,1] 0.9818364187435947 Centerline is valid? [True, True] Translation: X:779.71, Y:-59.75, Z:3.09 [[ 9.99555034e-01 -2.74754969e-02 -1.16116443e-02 7.79712221e+02] [ 2.74822762e-02 9.99622201e-01 4.24647158e-04 -5.97509072e+01] [ 1.15955901e-02 -7.43572621e-04 9.99932492e-01 3.09469782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.780714057 meters Centerline goodness [0,1] 0.9818574796960964 Centerline is valid? [True, True] Translation: X:779.74, Y:-59.75, Z:3.09 [[ 9.99612200e-01 -2.52082921e-02 -1.18318425e-02 7.79742409e+02] [ 2.52151796e-02 9.99681953e-01 4.33274707e-04 -5.97525332e+01] [ 1.18171573e-02 -7.31448716e-04 9.99929907e-01 3.09384871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8107140569999 meters Centerline goodness [0,1] 0.9819878756160321 Centerline is valid? [True, True] Translation: X:779.77, Y:-59.75, Z:3.09 [[ 9.99639273e-01 -2.39630797e-02 -1.21282657e-02 7.79774168e+02] [ 2.39702292e-02 9.99712574e-01 4.44444526e-04 -5.97532916e+01] [ 1.21141295e-02 -7.35001511e-04 9.99926351e-01 3.09433467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8407140569999 meters Centerline goodness [0,1] 0.9811929885381232 Centerline is valid? [True, True] Translation: X:779.80, Y:-59.76, Z:3.09 [[ 9.99670677e-01 -2.27710638e-02 -1.18328110e-02 7.79804382e+02] [ 2.27777923e-02 9.99740458e-01 4.34158866e-04 -5.97557496e+01] [ 1.18198536e-02 -7.03541199e-04 9.99929896e-01 3.09441535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.870714057 meters Centerline goodness [0,1] 0.982280246725224 Centerline is valid? [True, True] Translation: X:779.84, Y:-59.75, Z:3.10 [[ 9.99724519e-01 -2.05000340e-02 -1.14295300e-02 7.79835827e+02] [ 2.05061663e-02 9.99789638e-01 4.19590905e-04 -5.97532964e+01] [ 1.14185241e-02 -6.53851160e-04 9.99934593e-01 3.09526079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.900714057 meters Centerline goodness [0,1] 0.9820147014048975 Centerline is valid? [True, True] Translation: X:779.87, Y:-59.76, Z:3.10 [[ 9.99742457e-01 -1.97497982e-02 -1.11787427e-02 7.79866031e+02] [ 1.97556216e-02 9.99804754e-01 4.10746615e-04 -5.97552027e+01] [ 1.11684479e-02 -6.31483842e-04 9.99937432e-01 3.09547668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9307140569999 meters Centerline goodness [0,1] 0.9826047200209005 Centerline is valid? [True, True] Translation: X:779.90, Y:-59.76, Z:3.09 [[ 9.99749382e-01 -1.92215444e-02 -1.14763023e-02 7.79896673e+02] [ 1.92276498e-02 9.99815043e-01 4.21885413e-04 -5.97584354e+01] [ 1.14660704e-02 -6.42442002e-04 9.99934056e-01 3.09422425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9607140569999 meters Centerline goodness [0,1] 0.9836137399228881 Centerline is valid? [True, True] Translation: X:779.93, Y:-59.76, Z:3.09 [[ 9.99739162e-01 -1.95738848e-02 -1.17673877e-02 7.79927587e+02] [ 1.95803310e-02 9.99808193e-01 4.32830476e-04 -5.97598717e+01] [ 1.17566585e-02 -6.63126924e-04 9.99930668e-01 3.09403573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9907140569999 meters Centerline goodness [0,1] 0.9836137399228881 Centerline is valid? [True, True] Translation: X:779.96, Y:-59.76, Z:3.09 [[ 9.99739831e-01 -1.95397027e-02 -1.17673729e-02 7.79958458e+02] [ 1.95461513e-02 9.99808862e-01 4.33232818e-04 -5.97610399e+01] [ 1.17566585e-02 -6.63126955e-04 9.99930668e-01 3.09433247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.020714057 meters Centerline goodness [0,1] 0.9835806003817457 Centerline is valid? [True, True] Translation: X:779.99, Y:-59.76, Z:3.09 [[ 9.99725550e-01 -2.01640859e-02 -1.19261629e-02 7.79989997e+02] [ 2.01707589e-02 9.99796453e-01 4.39491327e-04 -5.97627918e+01] [ 1.19148734e-02 -6.79930465e-04 9.99928784e-01 3.09437340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0507140569999 meters Centerline goodness [0,1] 0.982755237742266 Centerline is valid? [True, True] Translation: X:780.02, Y:-59.77, Z:3.10 [[ 9.99691506e-01 -2.18902399e-02 -1.17350018e-02 7.80020780e+02] [ 2.18968240e-02 9.99760142e-01 4.32852715e-04 -5.97657169e+01] [ 1.17227119e-02 -6.89678452e-04 9.99931049e-01 3.09561053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0807140569999 meters Centerline goodness [0,1] 0.9824745881528216 Centerline is valid? [True, True] Translation: X:780.05, Y:-59.77, Z:3.10 [[ 9.99686779e-01 -2.25165390e-02 -1.09247326e-02 7.80051680e+02] [ 2.25222867e-02 9.99746260e-01 4.03360860e-04 -5.97676081e+01] [ 1.09128782e-02 -6.49284479e-04 9.99940242e-01 3.09709445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1107140569999 meters Centerline goodness [0,1] 0.9826858754344927 Centerline is valid? [True, True] Translation: X:780.08, Y:-59.76, Z:3.10 [[ 9.99691275e-01 -2.31010125e-02 -9.14867703e-03 7.80082739e+02] [ 2.31050699e-02 9.99732985e-01 3.38042567e-04 -5.97649718e+01] [ 9.13842507e-03 -5.49319028e-04 9.99958093e-01 3.09886497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.140714057 meters Centerline goodness [0,1] 0.9822871280625315 Centerline is valid? [True, True] Translation: X:780.12, Y:-59.77, Z:3.10 [[ 9.99681549e-01 -2.33690947e-02 -9.52291162e-03 7.80115289e+02] [ 2.33735063e-02 9.99726740e-01 3.52218653e-04 -5.97672016e+01] [ 9.51207836e-03 -5.74690323e-04 9.99954594e-01 3.09952572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1707140569999 meters Centerline goodness [0,1] 0.9808605147411052 Centerline is valid? [True, True] Translation: X:780.15, Y:-59.78, Z:3.10 [[ 9.99676669e-01 -2.30677519e-02 -1.06975338e-02 7.80145976e+02] [ 2.30733106e-02 9.99733697e-01 3.96481508e-04 -5.97757696e+01] [ 1.06855391e-02 -6.43180834e-04 9.99942701e-01 3.09906239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2007140569999 meters Centerline goodness [0,1] 0.9829902302861131 Centerline is valid? [True, True] Translation: X:780.18, Y:-59.77, Z:3.10 [[ 9.99670847e-01 -2.29874992e-02 -1.13918151e-02 7.80178716e+02] [ 2.29938053e-02 9.99735518e-01 4.22877358e-04 -5.97700350e+01] [ 1.13790813e-02 -6.84679346e-04 9.99935022e-01 3.09879706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2307140569999 meters Centerline goodness [0,1] 0.9826073673184358 Centerline is valid? [True, True] Translation: X:780.21, Y:-59.77, Z:3.10 [[ 9.99679985e-01 -2.23675563e-02 -1.18161063e-02 7.80209603e+02] [ 2.23743075e-02 9.99749567e-01 4.39450692e-04 -5.97734666e+01] [ 1.18033177e-02 -7.03687257e-04 9.99930091e-01 3.09871009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.260714057 meters Centerline goodness [0,1] 0.9825167939432398 Centerline is valid? [True, True] Translation: X:780.24, Y:-59.78, Z:3.10 [[ 9.99702445e-01 -2.09155132e-02 -1.25523745e-02 7.80239952e+02] [ 2.09230253e-02 9.99780980e-01 4.67423411e-04 -5.97761487e+01] [ 1.25398488e-02 -7.29917976e-04 9.99921107e-01 3.09877007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.290714057 meters Centerline goodness [0,1] 0.9824657175299153 Centerline is valid? [True, True] Translation: X:780.27, Y:-59.78, Z:3.10 [[ 9.99725705e-01 -1.98149924e-02 -1.24852240e-02 7.80271152e+02] [ 1.98223421e-02 9.99803410e-01 4.65185216e-04 -5.97771295e+01] [ 1.24735519e-02 -7.12544000e-04 9.99921948e-01 3.09948414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3207140569999 meters Centerline goodness [0,1] 0.9815661182205973 Centerline is valid? [True, True] Translation: X:780.30, Y:-59.78, Z:3.10 [[ 9.99761894e-01 -1.81056358e-02 -1.21795768e-02 7.80300561e+02] [ 1.81125069e-02 9.99835852e-01 4.54071274e-04 -5.97781252e+01] [ 1.21693563e-02 -6.74565824e-04 9.99925723e-01 3.10012359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3507140569999 meters Centerline goodness [0,1] 0.9823912043627763 Centerline is valid? [True, True] Translation: X:780.33, Y:-59.77, Z:3.10 [[ 9.99820505e-01 -1.49157211e-02 -1.16824478e-02 7.80331067e+02] [ 1.49218237e-02 9.99888569e-01 4.35382740e-04 -5.97742494e+01] [ 1.16746519e-02 -6.09628017e-04 9.99931663e-01 3.10141237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.380714057 meters Centerline goodness [0,1] 0.9822970071425442 Centerline is valid? [True, True] Translation: X:780.36, Y:-59.78, Z:3.10 [[ 9.99846171e-01 -1.33237013e-02 -1.14067025e-02 7.80361053e+02] [ 1.33294159e-02 9.99911069e-01 4.25106234e-04 -5.97754237e+01] [ 1.14000241e-02 -5.77085521e-04 9.99934851e-01 3.10178611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.410714057 meters Centerline goodness [0,1] 0.9826583298838806 Centerline is valid? [True, True] Translation: X:780.39, Y:-59.77, Z:3.10 [[ 9.99862710e-01 -1.15058481e-02 -1.19237534e-02 7.80390960e+02] [ 1.15119627e-02 9.99933636e-01 4.44295022e-04 -5.97746172e+01] [ 1.19178501e-02 -5.81499829e-04 9.99928811e-01 3.10123343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4407140569999 meters Centerline goodness [0,1] 0.9827019925552879 Centerline is valid? [True, True] Translation: X:780.42, Y:-59.77, Z:3.10 [[ 9.99851770e-01 -1.17540909e-02 -1.25809496e-02 7.80420643e+02] [ 1.17609119e-02 9.99930728e-01 4.68324572e-04 -5.97738313e+01] [ 1.25745733e-02 -6.16218592e-04 9.99920747e-01 3.10106854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4707140569999 meters Centerline goodness [0,1] 0.9831180205824392 Centerline is valid? [True, True] Translation: X:780.45, Y:-59.78, Z:3.10 [[ 9.99832449e-01 -1.29950668e-02 -1.28919265e-02 7.80449387e+02] [ 1.30023254e-02 9.99915351e-01 4.79374800e-04 -5.97771245e+01] [ 1.28846058e-02 -6.46919504e-04 9.99916781e-01 3.10051470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.500714057 meters Centerline goodness [0,1] 0.9820819112627986 Centerline is valid? [True, True] Translation: X:780.48, Y:-59.78, Z:3.10 [[ 9.99764635e-01 -1.63988049e-02 -1.42040192e-02 7.80478134e+02] [ 1.64079500e-02 9.99865241e-01 5.27533083e-04 -5.97831147e+01] [ 1.41934542e-02 -7.60467756e-04 9.99898979e-01 3.09979293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.530714057 meters Centerline goodness [0,1] 0.9822323362727292 Centerline is valid? [True, True] Translation: X:780.51, Y:-59.79, Z:3.10 [[ 9.99732799e-01 -1.84843093e-02 -1.38802492e-02 7.80507465e+02] [ 1.84932385e-02 9.99828853e-01 5.15219506e-04 -5.97869457e+01] [ 1.38683502e-02 -7.71772599e-04 9.99903532e-01 3.10007577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5607140569999 meters Centerline goodness [0,1] 0.9825963533136806 Centerline is valid? [True, True] Translation: X:780.54, Y:-59.79, Z:3.10 [[ 9.99678638e-01 -2.21490193e-02 -1.23305152e-02 7.80537975e+02] [ 2.21563400e-02 9.99754414e-01 4.57398203e-04 -5.97884658e+01] [ 1.23173560e-02 -7.30450299e-04 9.99923872e-01 3.10142228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5907140569999 meters Centerline goodness [0,1] 0.9822885311695677 Centerline is valid? [True, True] Translation: X:780.57, Y:-59.79, Z:3.10 [[ 9.99644299e-01 -2.37630973e-02 -1.21074359e-02 7.80568385e+02] [ 2.37702739e-02 9.99717346e-01 4.49167937e-04 -5.97931647e+01] [ 1.20933400e-02 -7.36805235e-04 9.99926601e-01 3.10216446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.620714057 meters Centerline goodness [0,1] 0.9824752604734295 Centerline is valid? [True, True] Translation: X:780.60, Y:-59.79, Z:3.10 [[ 9.99613975e-01 -2.52257175e-02 -1.16432290e-02 7.80599993e+02] [ 2.52324560e-02 9.99681517e-01 4.32185457e-04 -5.97941278e+01] [ 1.16286187e-02 -7.25805887e-04 9.99932122e-01 3.10292190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.650714057 meters Centerline goodness [0,1] 0.9819725896483569 Centerline is valid? [True, True] Translation: X:780.63, Y:-59.80, Z:3.10 [[ 9.99554207e-01 -2.73663673e-02 -1.19360858e-02 7.80630204e+02] [ 2.73736057e-02 9.99625174e-01 4.43453444e-04 -5.98014866e+01] [ 1.19194761e-02 -7.69989461e-04 9.99928664e-01 3.10326174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6807140569999 meters Centerline goodness [0,1] 0.9818003273322422 Centerline is valid? [True, True] Translation: X:780.66, Y:-59.80, Z:3.10 [[ 9.99519874e-01 -2.83847773e-02 -1.24227643e-02 7.80661789e+02] [ 2.83927022e-02 9.99596739e-01 4.61995476e-04 -5.98026089e+01] [ 1.24046410e-02 -8.14489506e-04 9.99922728e-01 3.10340330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7107140569999 meters Centerline goodness [0,1] 0.9823991275899673 Centerline is valid? [True, True] Translation: X:780.69, Y:-59.81, Z:3.10 [[ 9.99464882e-01 -3.00330723e-02 -1.29600883e-02 7.80691514e+02] [ 3.00418523e-02 9.99548525e-01 4.83274687e-04 -5.98073257e+01] [ 1.29397229e-02 -8.72361137e-04 9.99915898e-01 3.10305191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7407140569999 meters Centerline goodness [0,1] 0.9813855264303754 Centerline is valid? [True, True] Translation: X:780.72, Y:-59.81, Z:3.10 [[ 9.99430320e-01 -3.10059902e-02 -1.33290906e-02 7.80723129e+02] [ 3.10153777e-02 9.99518783e-01 4.98104805e-04 -5.98081381e+01] [ 1.33072321e-02 -9.11227823e-04 9.99911040e-01 3.10353853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.770714057 meters Centerline goodness [0,1] 0.9810809639389737 Centerline is valid? [True, True] Translation: X:780.76, Y:-59.81, Z:3.10 [[ 9.99410193e-01 -3.17573043e-02 -1.30667249e-02 7.80755091e+02] [ 3.17663996e-02 9.99495201e-01 4.89050633e-04 -5.98103328e+01] [ 1.30445979e-02 -9.03844990e-04 9.99914507e-01 3.10353470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8007140569999 meters Centerline goodness [0,1] 0.980568565515739 Centerline is valid? [True, True] Translation: X:780.79, Y:-59.81, Z:3.10 [[ 9.99359398e-01 -3.33189217e-02 -1.30630405e-02 7.80786075e+02] [ 3.33281550e-02 9.99444343e-01 4.89717304e-04 -5.98138058e+01] [ 1.30394651e-02 -9.24770631e-04 9.99914555e-01 3.10355443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8307140569999 meters Centerline goodness [0,1] 0.9806983300802429 Centerline is valid? [True, True] Translation: X:780.82, Y:-59.82, Z:3.10 [[ 9.99345412e-01 -3.36461826e-02 -1.32921607e-02 7.80817922e+02] [ 3.36557796e-02 9.99433359e-01 4.98910374e-04 -5.98163549e+01] [ 1.32678424e-02 -9.45941826e-04 9.99911531e-01 3.10340807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8607140569999 meters Centerline goodness [0,1] 0.9822599978206386 Centerline is valid? [True, True] Translation: X:780.85, Y:-59.82, Z:3.10 [[ 9.99290243e-01 -3.48934845e-02 -1.41934585e-02 7.80849654e+02] [ 3.49045661e-02 9.99390507e-01 5.33707503e-04 -5.98164048e+01] [ 1.41661848e-02 -1.02874521e-03 9.99899125e-01 3.10301698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.890714057 meters Centerline goodness [0,1] 0.9803908766431618 Centerline is valid? [True, True] Translation: X:780.88, Y:-59.82, Z:3.10 [[ 9.99265690e-01 -3.55858606e-02 -1.42030839e-02 7.80880725e+02] [ 3.55970376e-02 9.99366082e-01 5.34829430e-04 -5.98187034e+01] [ 1.41750479e-02 -1.04002441e-03 9.99898988e-01 3.10277296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9207140569999 meters Centerline goodness [0,1] 0.9814548778895129 Centerline is valid? [True, True] Translation: X:780.91, Y:-59.82, Z:3.10 [[ 9.99256426e-01 -3.58636526e-02 -1.41560697e-02 7.80912763e+02] [ 3.58747952e-02 9.99356150e-01 5.33895893e-04 -5.98174904e+01] [ 1.41278078e-02 -1.04134500e-03 9.99899655e-01 3.10352168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9507140569999 meters Centerline goodness [0,1] 0.9812228024369016 Centerline is valid? [True, True] Translation: X:780.94, Y:-59.82, Z:3.10 [[ 9.99180488e-01 -3.79108554e-02 -1.41816471e-02 7.80944181e+02] [ 3.79222555e-02 9.99280549e-01 5.35719987e-04 -5.98166028e+01] [ 1.41511345e-02 -1.07308100e-03 9.99899292e-01 3.10329502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9807140569999 meters Centerline goodness [0,1] 0.9780456963460364 Centerline is valid? [True, True] Translation: X:780.97, Y:-59.83, Z:3.10 [[ 9.99147450e-01 -3.87702356e-02 -1.41859546e-02 7.80974244e+02] [ 3.87817361e-02 9.99247562e-01 5.36399679e-04 -5.98323273e+01] [ 1.41544842e-02 -1.08609832e-03 9.99899230e-01 3.10265819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.010714057 meters Centerline goodness [0,1] 0.9804430863254393 Centerline is valid? [True, True] Translation: X:781.01, Y:-59.82, Z:3.10 [[ 9.99098549e-01 -4.02443689e-02 -1.35085476e-02 7.81006730e+02] [ 4.02549393e-02 9.99189311e-01 5.11402259e-04 -5.98184427e+01] [ 1.34770153e-02 -1.05472702e-03 9.99908625e-01 3.10369308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.040714057 meters Centerline goodness [0,1] 0.9795549161925936 Centerline is valid? [True, True] Translation: X:781.04, Y:-59.82, Z:3.10 [[ 9.99076456e-01 -4.08355432e-02 -1.33676626e-02 7.81038051e+02] [ 4.08459588e-02 9.99165327e-01 5.06962921e-04 -5.98248798e+01] [ 1.33358029e-02 -1.05250971e-03 9.99910520e-01 3.10394196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0707140569999 meters Centerline goodness [0,1] 0.9818825534890836 Centerline is valid? [True, True] Translation: X:781.07, Y:-59.82, Z:3.10 [[ 9.99066475e-01 -4.12046659e-02 -1.29751611e-02 7.81070008e+02] [ 4.12145210e-02 9.99150199e-01 4.92948836e-04 -5.98178239e+01] [ 1.29438230e-02 -1.02725371e-03 9.99915698e-01 3.10477632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1007140569999 meters Centerline goodness [0,1] 0.9793823439479317 Centerline is valid? [True, True] Translation: X:781.10, Y:-59.82, Z:3.11 [[ 9.99053968e-01 -4.17141888e-02 -1.22920502e-02 7.81101415e+02] [ 4.17230857e-02 9.99129103e-01 4.68126297e-04 -5.98225508e+01] [ 1.22618176e-02 -9.80545698e-04 9.99924340e-01 3.10562930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.130714057 meters Centerline goodness [0,1] 0.9792003849350422 Centerline is valid? [True, True] Translation: X:781.13, Y:-59.82, Z:3.11 [[ 9.99065878e-01 -4.14933304e-02 -1.20695706e-02 7.81133844e+02] [ 4.15019004e-02 9.99138319e-01 4.60344330e-04 -5.98233738e+01] [ 1.20400693e-02 -9.60824432e-04 9.99927054e-01 3.10627370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.160714057 meters Centerline goodness [0,1] 0.9802123235197548 Centerline is valid? [True, True] Translation: X:781.17, Y:-59.82, Z:3.11 [[ 9.99077267e-01 -4.11948131e-02 -1.21491160e-02 7.81166506e+02] [ 4.12034849e-02 9.99150668e-01 4.64241120e-04 -5.98193571e+01] [ 1.21196730e-02 -9.64398667e-04 9.99926089e-01 3.10601821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1907140569999 meters Centerline goodness [0,1] 0.9803646563814867 Centerline is valid? [True, True] Translation: X:781.20, Y:-59.82, Z:3.11 [[ 9.99100946e-01 -4.06208310e-02 -1.21345343e-02 7.81198391e+02] [ 4.06294505e-02 9.99174175e-01 4.64552484e-04 -5.98192664e+01] [ 1.21056428e-02 -9.57154289e-04 9.99926266e-01 3.10630146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2207140569999 meters Centerline goodness [0,1] 0.9807591164095372 Centerline is valid? [True, True] Translation: X:781.23, Y:-59.82, Z:3.11 [[ 9.99118216e-01 -4.02260100e-02 -1.20274251e-02 7.81230898e+02] [ 4.02344598e-02 9.99190160e-01 4.61306112e-04 -5.98193805e+01] [ 1.19991283e-02 -9.44816292e-04 9.99927561e-01 3.10669117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.250714057 meters Centerline goodness [0,1] 0.9811890283914432 Centerline is valid? [True, True] Translation: X:781.26, Y:-59.82, Z:3.11 [[ 9.99157696e-01 -3.93232274e-02 -1.17295556e-02 7.81262414e+02] [ 3.93312132e-02 9.99226127e-01 4.50841173e-04 -5.98191393e+01] [ 1.17027499e-02 -9.11799080e-04 9.99931105e-01 3.10691516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.280714057 meters Centerline goodness [0,1] 0.9811428445985995 Centerline is valid? [True, True] Translation: X:781.29, Y:-59.82, Z:3.11 [[ 9.99180249e-01 -3.86840006e-02 -1.19322534e-02 7.81294389e+02] [ 3.86922374e-02 9.99251069e-01 4.60129981e-04 -5.98184151e+01] [ 1.19055173e-02 -9.21438371e-04 9.99928702e-01 3.10702307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3107140569999 meters Centerline goodness [0,1] 0.9825151755080496 Centerline is valid? [True, True] Translation: X:781.33, Y:-59.81, Z:3.11 [[ 9.99290664e-01 -3.57609700e-02 -1.18034878e-02 7.81325663e+02] [ 3.57688355e-02 9.99359986e-01 4.55871933e-04 -5.98100334e+01] [ 1.17796310e-02 -8.77745582e-04 9.99930232e-01 3.10710878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3407140569999 meters Centerline goodness [0,1] 0.9831113068369481 Centerline is valid? [True, True] Translation: X:781.36, Y:-59.81, Z:3.11 [[ 9.99355532e-01 -3.37018585e-02 -1.23574208e-02 7.81357567e+02] [ 3.37103272e-02 9.99431531e-01 4.77599045e-04 -5.98067232e+01] [ 1.23343000e-02 -8.93863946e-04 9.99923530e-01 3.10721204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.370714057 meters Centerline goodness [0,1] 0.9823684210526316 Centerline is valid? [True, True] Translation: X:781.39, Y:-59.81, Z:3.11 [[ 9.99506643e-01 -2.85676958e-02 -1.30521341e-02 7.81387261e+02] [ 2.85767142e-02 9.99591475e-01 5.04941436e-04 -5.98071377e+01] [ 1.30323770e-02 -8.77679427e-04 9.99914690e-01 3.10697202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.400714057 meters Centerline goodness [0,1] 0.9823759358643079 Centerline is valid? [True, True] Translation: X:781.42, Y:-59.80, Z:3.11 [[ 9.99578540e-01 -2.59184374e-02 -1.30757837e-02 7.81418448e+02] [ 2.59272613e-02 9.99663704e-01 5.05736940e-04 -5.97975551e+01] [ 1.30582785e-02 -8.44543054e-04 9.99914380e-01 3.10765171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4307140569999 meters Centerline goodness [0,1] 0.9827956038123881 Centerline is valid? [True, True] Translation: X:781.45, Y:-59.79, Z:3.11 [[ 9.99655150e-01 -2.29263529e-02 -1.28048450e-02 7.81448997e+02] [ 2.29345726e-02 9.99736845e-01 4.95427578e-04 -5.97949092e+01] [ 1.27901169e-02 -7.88930376e-04 9.99917892e-01 3.10775360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4607140569999 meters Centerline goodness [0,1] 0.9831336487024184 Centerline is valid? [True, True] Translation: X:781.48, Y:-59.79, Z:3.11 [[ 9.99765445e-01 -1.74388268e-02 -1.28430162e-02 7.81478469e+02] [ 1.74466435e-02 9.99847672e-01 4.96845593e-04 -5.97910664e+01] [ 1.28323954e-02 -7.20796580e-04 9.99917402e-01 3.10809546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4907140569999 meters Centerline goodness [0,1] 0.9826897470039947 Centerline is valid? [True, True] Translation: X:781.51, Y:-59.79, Z:3.11 [[ 9.99797901e-01 -1.55844472e-02 -1.26997194e-02 7.81508926e+02] [ 1.55919398e-02 9.99878318e-01 4.91184143e-04 -5.97905918e+01] [ 1.26905192e-02 -6.89098136e-04 9.99919235e-01 3.10798326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.520714057 meters Centerline goodness [0,1] 0.9820859167404783 Centerline is valid? [True, True] Translation: X:781.54, Y:-59.79, Z:3.11 [[ 9.99852769e-01 -1.19036083e-02 -1.23590082e-02 7.81539090e+02] [ 1.19104248e-02 9.99928954e-01 4.78084247e-04 -5.97869974e+01] [ 1.23524392e-02 -6.25214896e-04 9.99923510e-01 3.10845276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5507140569999 meters Centerline goodness [0,1] 0.9826898355423556 Centerline is valid? [True, True] Translation: X:781.57, Y:-59.78, Z:3.11 [[ 9.99872681e-01 -1.05933475e-02 -1.19332837e-02 7.81568756e+02] [ 1.05996049e-02 9.99943716e-01 4.61241284e-04 -5.97839373e+01] [ 1.19277260e-02 -5.87670651e-04 9.99928689e-01 3.10906891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5807140569999 meters Centerline goodness [0,1] 0.9829361381085518 Centerline is valid? [True, True] Translation: X:781.60, Y:-59.79, Z:3.11 [[ 9.99886237e-01 -9.95070247e-03 -1.13356534e-02 7.81597685e+02] [ 9.95630283e-03 9.99950339e-01 4.37722291e-04 -5.97851906e+01] [ 1.13307348e-02 -5.50533692e-04 9.99935654e-01 3.10946351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6107140569999 meters Centerline goodness [0,1] 0.9822712345788586 Centerline is valid? [True, True] Translation: X:781.63, Y:-59.78, Z:3.11 [[ 9.99903584e-01 -9.75327328e-03 -9.88410089e-03 7.81627026e+02] [ 9.75751700e-03 9.99952322e-01 3.81214369e-04 -5.97846609e+01] [ 9.87991155e-03 -4.77621896e-04 9.99951078e-01 3.11021289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.640714057 meters Centerline goodness [0,1] 0.9815513719918302 Centerline is valid? [True, True] Translation: X:781.66, Y:-59.79, Z:3.11 [[ 9.99901612e-01 -1.03786783e-02 -9.43655934e-03 7.81655831e+02] [ 1.03825712e-02 9.99946034e-01 3.63633166e-04 -5.97904875e+01] [ 9.43227605e-03 -4.61573138e-04 9.99955409e-01 3.11030908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6707140569999 meters Centerline goodness [0,1] 0.9812982518413347 Centerline is valid? [True, True] Translation: X:781.69, Y:-59.79, Z:3.11 [[ 9.99873253e-01 -1.29696575e-02 -9.23392088e-03 7.81686211e+02] [ 1.29734921e-02 9.99915778e-01 3.55493838e-04 -5.97915953e+01] [ 9.22853255e-03 -4.75244981e-04 9.99957303e-01 3.10967129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7007140569999 meters Centerline goodness [0,1] 0.9808390123019737 Centerline is valid? [True, True] Translation: X:781.72, Y:-59.80, Z:3.11 [[ 9.99837239e-01 -1.53512562e-02 -9.47811971e-03 7.81716636e+02] [ 1.53554030e-02 9.99882032e-01 3.64893029e-04 -5.97969149e+01] [ 9.47140003e-03 -5.10373986e-04 9.99955015e-01 3.10963256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7307140569999 meters Centerline goodness [0,1] 0.9806510105700765 Centerline is valid? [True, True] Translation: X:781.75, Y:-59.80, Z:3.11 [[ 9.99793460e-01 -1.78200868e-02 -9.77143742e-03 7.81748152e+02] [ 1.78246135e-02 9.99841058e-01 3.76363714e-04 -5.98001945e+01] [ 9.76317749e-03 -5.50458076e-04 9.99952188e-01 3.10934356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.760714057 meters Centerline goodness [0,1] 0.9799960124941849 Centerline is valid? [True, True] Translation: X:781.78, Y:-59.81, Z:3.11 [[ 9.99700158e-01 -2.22310315e-02 -1.02652380e-02 7.81778638e+02] [ 2.22362627e-02 9.99752665e-01 3.95734574e-04 -5.98050859e+01] [ 1.02539014e-02 -6.23876444e-04 9.99947233e-01 3.10912343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.790714057 meters Centerline goodness [0,1] 0.9799606290504523 Centerline is valid? [True, True] Translation: X:781.81, Y:-59.81, Z:3.11 [[ 9.99660946e-01 -2.36911606e-02 -1.08037562e-02 7.81809510e+02] [ 2.36970415e-02 9.99719099e-01 4.16635971e-04 -5.98103245e+01] [ 1.07908508e-02 -6.72511768e-04 9.99941551e-01 3.10898408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8207140569999 meters Centerline goodness [0,1] 0.9791974913322881 Centerline is valid? [True, True] Translation: X:781.84, Y:-59.82, Z:3.11 [[ 9.99592157e-01 -2.62631768e-02 -1.12145121e-02 7.81839958e+02] [ 2.62696846e-02 9.99654798e-01 4.33366300e-04 -5.98153767e+01] [ 1.11992592e-02 -7.27791250e-04 9.99937021e-01 3.10868488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8507140569999 meters Centerline goodness [0,1] 0.9797511212734148 Centerline is valid? [True, True] Translation: X:781.87, Y:-59.81, Z:3.11 [[ 9.99567632e-01 -2.70400327e-02 -1.15492848e-02 7.81871751e+02] [ 2.70469897e-02 9.99634064e-01 4.46576901e-04 -5.98141783e+01] [ 1.15329830e-02 -7.58757201e-04 9.99933205e-01 3.10901992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.880714057 meters Centerline goodness [0,1] 0.9796997950142168 Centerline is valid? [True, True] Translation: X:781.90, Y:-59.82, Z:3.11 [[ 9.99560896e-01 -2.72113999e-02 -1.17284102e-02 7.81904063e+02] [ 2.72185940e-02 9.99629402e-01 4.54177162e-04 -5.98151211e+01] [ 1.17117049e-02 -7.73208567e-04 9.99931117e-01 3.10899411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.910714057 meters Centerline goodness [0,1] 0.9796997950142168 Centerline is valid? [True, True] Translation: X:781.94, Y:-59.82, Z:3.11 [[ 9.99562841e-01 -2.71398574e-02 -1.17283776e-02 7.81935799e+02] [ 2.71470564e-02 9.99631347e-01 4.55017490e-04 -5.98164120e+01] [ 1.17117048e-02 -7.73209504e-04 9.99931117e-01 3.10929908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9407140569999 meters Centerline goodness [0,1] 0.9801160267481511 Centerline is valid? [True, True] Translation: X:781.97, Y:-59.82, Z:3.11 [[ 9.99581311e-01 -2.61303690e-02 -1.24260158e-02 7.81966973e+02] [ 2.61383832e-02 9.99658217e-01 4.82963277e-04 -5.98200125e+01] [ 1.24091488e-02 -8.07557029e-04 9.99922677e-01 3.10930358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9707140569999 meters Centerline goodness [0,1] 0.9807481231066426 Centerline is valid? [True, True] Translation: X:782.00, Y:-59.82, Z:3.11 [[ 9.99634785e-01 -2.38381538e-02 -1.27294442e-02 7.81998576e+02] [ 2.38463880e-02 9.99715512e-01 4.95448306e-04 -5.98207594e+01] [ 1.27140123e-02 -7.98818627e-04 9.99918855e-01 3.10862238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.000714057 meters Centerline goodness [0,1] 0.9813842692663991 Centerline is valid? [True, True] Translation: X:782.03, Y:-59.82, Z:3.11 [[ 9.99680499e-01 -2.18840479e-02 -1.26486736e-02 7.82028748e+02] [ 2.18920292e-02 9.99760219e-01 4.92865624e-04 -5.98238773e+01] [ 1.26348548e-02 -7.69613284e-04 9.99919881e-01 3.10920480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.030714057 meters Centerline goodness [0,1] 0.9825954266000265 Centerline is valid? [True, True] Translation: X:782.06, Y:-59.82, Z:3.11 [[ 9.99715970e-01 -2.00345853e-02 -1.29071847e-02 7.82060072e+02] [ 2.00427463e-02 9.99798997e-01 5.03229542e-04 -5.98219836e+01] [ 1.28945083e-02 -7.61782038e-04 9.99916572e-01 3.10953224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0607140569999 meters Centerline goodness [0,1] 0.9815453299739203 Centerline is valid? [True, True] Translation: X:782.09, Y:-59.83, Z:3.11 [[ 9.99755015e-01 -1.76154441e-02 -1.34017444e-02 7.82089948e+02] [ 1.76240307e-02 9.99844548e-01 5.22864385e-04 -5.98253994e+01] [ 1.33904506e-02 -7.58929045e-04 9.99910056e-01 3.10999448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0907140569999 meters Centerline goodness [0,1] 0.9820799577315956 Centerline is valid? [True, True] Translation: X:782.12, Y:-59.82, Z:3.11 [[ 9.99830726e-01 -1.28718813e-02 -1.31466318e-02 7.82120856e+02] [ 1.28797350e-02 9.99916921e-01 5.12898524e-04 -5.98218012e+01] [ 1.31389376e-02 -6.82136837e-04 9.99913448e-01 3.11054911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.120714057 meters Centerline goodness [0,1] 0.9829943240795954 Centerline is valid? [True, True] Translation: X:782.15, Y:-59.82, Z:3.11 [[ 9.99877763e-01 -8.80964849e-03 -1.29170087e-02 7.82149599e+02] [ 8.81689017e-03 9.99961004e-01 5.03791081e-04 -5.98233463e+01] [ 1.29120667e-02 -6.17617346e-04 9.99916445e-01 3.11111765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.150714057 meters Centerline goodness [0,1] 0.983024998342285 Centerline is valid? [True, True] Translation: X:782.18, Y:-59.82, Z:3.11 [[ 9.99891586e-01 -7.12830620e-03 -1.28842222e-02 7.82179130e+02] [ 7.13536217e-03 9.99974417e-01 5.01757890e-04 -5.98190842e+01] [ 1.28803159e-02 -5.93637084e-04 9.99916869e-01 3.11154418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1807140569999 meters Centerline goodness [0,1] 0.9840344484928785 Centerline is valid? [True, True] Translation: X:782.21, Y:-59.82, Z:3.11 [[ 9.99893957e-01 -5.94853146e-03 -1.32924440e-02 7.82208177e+02] [ 5.95590849e-03 9.99982131e-01 5.15461670e-04 -5.98210570e+01] [ 1.32891402e-02 -5.94575589e-04 9.99911519e-01 3.11139102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2107140569999 meters Centerline goodness [0,1] 0.9845010802945456 Centerline is valid? [True, True] Translation: X:782.24, Y:-59.82, Z:3.11 [[ 9.99888701e-01 -5.26344966e-03 -1.39600137e-02 7.82237162e+02] [ 5.27146946e-03 9.99985961e-01 5.37748783e-04 -5.98224890e+01] [ 1.39569873e-02 -6.11278718e-04 9.99902410e-01 3.11113792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2407140569999 meters Centerline goodness [0,1] 0.9838424472834977 Centerline is valid? [True, True] Translation: X:782.26, Y:-59.83, Z:3.11 [[ 9.99884203e-01 -5.23196573e-03 -1.42900907e-02 7.82263433e+02] [ 5.24032288e-03 9.99986120e-01 5.47439402e-04 -5.98302581e+01] [ 1.42870282e-02 -6.22260700e-04 9.99897742e-01 3.11026207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.270714057 meters Centerline goodness [0,1] 0.983536384590056 Centerline is valid? [True, True] Translation: X:782.29, Y:-59.83, Z:3.11 [[ 9.99873021e-01 -5.60886501e-03 -1.49158321e-02 7.82292390e+02] [ 5.61797522e-03 9.99984057e-01 5.68943535e-04 -5.98323678e+01] [ 1.49124032e-02 -6.52668067e-04 9.99888591e-01 3.11009791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3007140569999 meters Centerline goodness [0,1] 0.9843305157687978 Centerline is valid? [True, True] Translation: X:782.32, Y:-59.83, Z:3.11 [[ 9.99853643e-01 -7.08710297e-03 -1.55713215e-02 7.82321251e+02] [ 7.09716778e-03 9.99974640e-01 5.91203317e-04 -5.98313127e+01] [ 1.55667367e-02 -7.01629071e-04 9.99878585e-01 3.11013305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3307140569999 meters Centerline goodness [0,1] 0.9838819473418389 Centerline is valid? [True, True] Translation: X:782.35, Y:-59.84, Z:3.11 [[ 9.99846567e-01 -8.05551835e-03 -1.55547607e-02 7.82349149e+02] [ 8.06566014e-03 9.99967298e-01 5.89380958e-04 -5.98352976e+01] [ 1.55495043e-02 -7.14749941e-04 9.99878844e-01 3.10991738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3607140569999 meters Centerline goodness [0,1] 0.9848117983711204 Centerline is valid? [True, True] Translation: X:782.38, Y:-59.84, Z:3.11 [[ 9.99827472e-01 -9.26160843e-03 -1.61011882e-02 7.82377603e+02] [ 9.27259161e-03 9.99956824e-01 6.07612385e-04 -5.98364149e+01] [ 1.60948655e-02 -7.56807298e-04 9.99870183e-01 3.11060273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.390714057 meters Centerline goodness [0,1] 0.9836433681893231 Centerline is valid? [True, True] Translation: X:782.41, Y:-59.85, Z:3.11 [[ 9.99802820e-01 -1.18650801e-02 -1.59229561e-02 7.82405987e+02] [ 1.18761060e-02 9.99929298e-01 5.98067467e-04 -5.98464571e+01] [ 1.59147342e-02 -7.87052254e-04 9.99873043e-01 3.11035223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4207140569999 meters Centerline goodness [0,1] 0.9849902062196008 Centerline is valid? [True, True] Translation: X:782.44, Y:-59.84, Z:3.11 [[ 9.99768089e-01 -1.44010370e-02 -1.60118084e-02 7.82435475e+02] [ 1.44124936e-02 9.99895954e-01 6.00339157e-04 -5.98444867e+01] [ 1.60014969e-02 -8.30970018e-04 9.99871623e-01 3.11207030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4507140569999 meters Centerline goodness [0,1] 0.9828537642885298 Centerline is valid? [True, True] Translation: X:782.46, Y:-59.85, Z:3.11 [[ 9.99761901e-01 -1.51705994e-02 -1.56842000e-02 7.82462717e+02] [ 1.51816700e-02 9.99884579e-01 5.87015310e-04 -5.98489949e+01] [ 1.56734844e-02 -8.24987891e-04 9.99876823e-01 3.11238726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4807140569999 meters Centerline goodness [0,1] 0.9827563569521642 Centerline is valid? [True, True] Translation: X:782.49, Y:-59.85, Z:3.11 [[ 9.99756945e-01 -1.59745888e-02 -1.51942045e-02 7.82491536e+02] [ 1.59850541e-02 9.99872070e-01 5.67563682e-04 -5.98534921e+01] [ 1.51831941e-02 -8.10305913e-04 9.99884400e-01 3.11305419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.510714057 meters Centerline goodness [0,1] 0.9829333567323301 Centerline is valid? [True, True] Translation: X:782.52, Y:-59.86, Z:3.12 [[ 9.99755971e-01 -1.71202778e-02 -1.39604694e-02 7.82521005e+02] [ 1.71292153e-02 9.99853149e-01 5.20870624e-04 -5.98557519e+01] [ 1.39495018e-02 -7.59875402e-04 9.99902412e-01 3.11519394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.540714057 meters Centerline goodness [0,1] 0.9821709148044693 Centerline is valid? [True, True] Translation: X:782.55, Y:-59.86, Z:3.12 [[ 9.99755027e-01 -1.77735478e-02 -1.31903809e-02 7.82550494e+02] [ 1.77815773e-02 9.99841774e-01 4.91699928e-04 -5.98582493e+01] [ 1.31795546e-02 -7.26125252e-04 9.99912882e-01 3.11582072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5707140569999 meters Centerline goodness [0,1] 0.9822914164683276 Centerline is valid? [True, True] Translation: X:782.58, Y:-59.86, Z:3.12 [[ 9.99734204e-01 -1.91441453e-02 -1.28461332e-02 7.82580913e+02] [ 1.91518697e-02 9.99816472e-01 4.78543590e-04 -5.98625765e+01] [ 1.28346143e-02 -7.24443865e-04 9.99917371e-01 3.11653757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6007140569999 meters Centerline goodness [0,1] 0.9829287460705554 Centerline is valid? [True, True] Translation: X:782.61, Y:-59.87, Z:3.12 [[ 9.99706943e-01 -2.00458387e-02 -1.35717693e-02 7.82610941e+02] [ 2.00545459e-02 9.99798759e-01 5.05759076e-04 -5.98665806e+01] [ 1.35588998e-02 -7.77786529e-04 9.99907771e-01 3.11660628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.630714057 meters Centerline goodness [0,1] 0.9819258676457733 Centerline is valid? [True, True] Translation: X:782.64, Y:-59.87, Z:3.12 [[ 9.99671709e-01 -2.14298423e-02 -1.40440556e-02 7.82641807e+02] [ 2.14393097e-02 9.99770014e-01 5.23896111e-04 -5.98695632e+01] [ 1.40295986e-02 -8.24818978e-04 9.99901240e-01 3.11641535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.660714057 meters Centerline goodness [0,1] 0.9820275693596231 Centerline is valid? [True, True] Translation: X:782.67, Y:-59.88, Z:3.12 [[ 9.99584396e-01 -2.41662157e-02 -1.57171786e-02 7.82671187e+02] [ 2.41784184e-02 9.99707487e-01 5.86811018e-04 -5.98765083e+01] [ 1.56984001e-02 -9.66583657e-04 9.99876305e-01 3.11522400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6907140569999 meters Centerline goodness [0,1] 0.9828927244920254 Centerline is valid? [True, True] Translation: X:782.70, Y:-59.88, Z:3.11 [[ 9.99531848e-01 -2.60129147e-02 -1.61063094e-02 7.82701734e+02] [ 2.60259762e-02 9.99661086e-01 6.01848906e-04 -5.98806881e+01] [ 1.60851948e-02 -1.02074957e-03 9.99870104e-01 3.11476037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7207140569999 meters Centerline goodness [0,1] 0.9830139846451641 Centerline is valid? [True, True] Translation: X:782.73, Y:-59.88, Z:3.12 [[ 9.99440965e-01 -2.89999120e-02 -1.66361824e-02 7.82732407e+02] [ 2.90142608e-02 9.99578804e-01 6.21747897e-04 -5.98818105e+01] [ 1.66111446e-02 -1.10408685e-03 9.99861416e-01 3.11575088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.750714057 meters Centerline goodness [0,1] 0.9814618529494473 Centerline is valid? [True, True] Translation: X:782.76, Y:-59.88, Z:3.12 [[ 9.99397012e-01 -3.04516717e-02 -1.66825464e-02 7.82763227e+02] [ 3.04663063e-02 9.99535600e-01 6.23740660e-04 -5.98846920e+01] [ 1.66558051e-02 -1.13162012e-03 9.99860642e-01 3.11638684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.780714057 meters Centerline goodness [0,1] 0.9814774508096813 Centerline is valid? [True, True] Translation: X:782.79, Y:-59.89, Z:3.12 [[ 9.99366588e-01 -3.13589255e-02 -1.68238069e-02 7.82793638e+02] [ 3.13739420e-02 9.99507519e-01 6.29318225e-04 -5.98886022e+01] [ 1.67957868e-02 -1.15674875e-03 9.99858272e-01 3.11657595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8107140569999 meters Centerline goodness [0,1] 0.9810975210935967 Centerline is valid? [True, True] Translation: X:782.82, Y:-59.89, Z:3.12 [[ 9.99356197e-01 -3.17603320e-02 -1.66874871e-02 7.82824051e+02] [ 3.17751707e-02 9.99494847e-01 6.24753492e-04 -5.98931063e+01] [ 1.66592150e-02 -1.15459902e-03 9.99860559e-01 3.11642793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8407140569999 meters Centerline goodness [0,1] 0.9809951999304968 Centerline is valid? [True, True] Translation: X:782.86, Y:-59.89, Z:3.12 [[ 9.99368744e-01 -3.11061336e-02 -1.71616312e-02 7.82855347e+02] [ 3.11217450e-02 9.99515394e-01 6.43281933e-04 -5.98923037e+01] [ 1.71333045e-02 -1.17697577e-03 9.99852521e-01 3.11718051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.870714057 meters Centerline goodness [0,1] 0.9807388148629618 Centerline is valid? [True, True] Translation: X:782.88, Y:-59.90, Z:3.12 [[ 9.99434536e-01 -2.87881900e-02 -1.73737696e-02 7.82884971e+02] [ 2.88038469e-02 9.99584871e-01 6.51572822e-04 -5.98981667e+01] [ 1.73477996e-02 -1.15163578e-03 9.99848852e-01 3.11647900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.900714057 meters Centerline goodness [0,1] 0.9821759713768353 Centerline is valid? [True, True] Translation: X:782.92, Y:-59.90, Z:3.12 [[ 9.99454936e-01 -2.77766750e-02 -1.78405895e-02 7.82915632e+02] [ 2.77930244e-02 9.99613475e-01 6.69080084e-04 -5.98964153e+01] [ 1.78151088e-02 -1.16455933e-03 9.99840620e-01 3.11695203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9307140569999 meters Centerline goodness [0,1] 0.9811830298806516 Centerline is valid? [True, True] Translation: X:782.95, Y:-59.89, Z:3.12 [[ 9.99472439e-01 -2.71927666e-02 -1.77594440e-02 7.82946560e+02] [ 2.72088758e-02 9.99629548e-01 6.66036866e-04 -5.98913773e+01] [ 1.77347536e-02 -1.14890000e-03 9.99842067e-01 3.11818436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9607140569999 meters Centerline goodness [0,1] 0.9816380506416926 Centerline is valid? [True, True] Translation: X:782.98, Y:-59.89, Z:3.12 [[ 9.99515175e-01 -2.60924852e-02 -1.69881216e-02 7.82976330e+02] [ 2.61070670e-02 9.99658949e-01 6.37109768e-04 -5.98947492e+01] [ 1.69657040e-02 -1.08031091e-03 9.99855488e-01 3.11931915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9907140569999 meters Centerline goodness [0,1] 0.9815921587377481 Centerline is valid? [True, True] Translation: X:783.01, Y:-59.90, Z:3.12 [[ 9.99529051e-01 -2.57865383e-02 -1.66352283e-02 7.83006823e+02] [ 2.58004783e-02 9.99666918e-01 6.23875122e-04 -5.98964374e+01] [ 1.66135998e-02 -1.05277816e-03 9.99861430e-01 3.11957978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.020714057 meters Centerline goodness [0,1] 0.981937710217097 Centerline is valid? [True, True] Translation: X:783.04, Y:-59.89, Z:3.12 [[ 9.99521011e-01 -2.58020470e-02 -1.70880721e-02 7.83037460e+02] [ 2.58167586e-02 9.99666487e-01 6.40858236e-04 -5.98948930e+01] [ 1.70658375e-02 -1.08170990e-03 9.99853783e-01 3.12026612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0507140569999 meters Centerline goodness [0,1] 0.9815563086548488 Centerline is valid? [True, True] Translation: X:783.07, Y:-59.90, Z:3.12 [[ 9.99516066e-01 -2.63117273e-02 -1.65929626e-02 7.83067887e+02] [ 2.63256707e-02 9.99653226e-01 6.22415871e-04 -5.99005509e+01] [ 1.65708317e-02 -1.05893553e-03 9.99862134e-01 3.12030965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0807140569999 meters Centerline goodness [0,1] 0.9805203294548307 Centerline is valid? [True, True] Translation: X:783.10, Y:-59.90, Z:3.12 [[ 9.99508387e-01 -2.65329117e-02 -1.67029493e-02 7.83098378e+02] [ 2.65470742e-02 9.99647368e-01 6.26715534e-04 -5.99025922e+01] [ 1.66804307e-02 -1.06982187e-03 9.99860300e-01 3.12059318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1107140569999 meters Centerline goodness [0,1] 0.9821405264302806 Centerline is valid? [True, True] Translation: X:783.13, Y:-59.90, Z:3.12 [[ 9.99483023e-01 -2.74204891e-02 -1.67870061e-02 7.83128635e+02] [ 2.74349192e-02 9.99623393e-01 6.29869451e-04 -5.99041453e+01] [ 1.67634127e-02 -1.09009398e-03 9.99858890e-01 3.12100094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.140714057 meters Centerline goodness [0,1] 0.9819415539368713 Centerline is valid? [True, True] Translation: X:783.16, Y:-59.91, Z:3.12 [[ 9.99482831e-01 -2.73198547e-02 -1.69615780e-02 7.83159935e+02] [ 2.73345766e-02 9.99626138e-01 6.36683062e-04 -5.99061981e+01] [ 1.69378427e-02 -1.09999134e-03 9.99855939e-01 3.12065939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1707140569999 meters Centerline goodness [0,1] 0.9819792435624647 Centerline is valid? [True, True] Translation: X:783.19, Y:-59.91, Z:3.12 [[ 9.99473803e-01 -2.76072672e-02 -1.70280810e-02 7.83189837e+02] [ 2.76221592e-02 9.99618231e-01 6.39938889e-04 -5.99099118e+01] [ 1.70039132e-02 -1.10995452e-03 9.99854807e-01 3.12066241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2007140569999 meters Centerline goodness [0,1] 0.9815458853193062 Centerline is valid? [True, True] Translation: X:783.22, Y:-59.91, Z:3.12 [[ 9.99443909e-01 -2.81905654e-02 -1.78091124e-02 7.83219898e+02] [ 2.82069573e-02 9.99601880e-01 6.69851574e-04 -5.99132437e+01] [ 1.77831387e-02 -1.17181995e-03 9.99841181e-01 3.12030640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2307140569999 meters Centerline goodness [0,1] 0.9823306963400852 Centerline is valid? [True, True] Translation: X:783.25, Y:-59.92, Z:3.12 [[ 9.99438021e-01 -2.84498959e-02 -1.77269928e-02 7.83250117e+02] [ 2.84661775e-02 9.99594534e-01 6.66762823e-04 -5.99157723e+01] [ 1.77008358e-02 -1.17100784e-03 9.99842642e-01 3.12038471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.260714057 meters Centerline goodness [0,1] 0.980559537773144 Centerline is valid? [True, True] Translation: X:783.28, Y:-59.92, Z:3.12 [[ 9.99410505e-01 -2.94243968e-02 -1.76875100e-02 7.83280780e+02] [ 2.94407579e-02 9.99566306e-01 6.65277763e-04 -5.99189405e+01] [ 1.76602637e-02 -1.18561929e-03 9.99843342e-01 3.12081939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.290714057 meters Centerline goodness [0,1] 0.981638418079096 Centerline is valid? [True, True] Translation: X:783.31, Y:-59.92, Z:3.12 [[ 9.99402707e-01 -2.98567103e-02 -1.74013110e-02 7.83311499e+02] [ 2.98726185e-02 9.99553499e-01 6.54925862e-04 -5.99218646e+01] [ 1.73739874e-02 -1.17435741e-03 9.99848371e-01 3.12133206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3207140569999 meters Centerline goodness [0,1] 0.9805197622456505 Centerline is valid? [True, True] Translation: X:783.34, Y:-59.92, Z:3.12 [[ 9.99401509e-01 -3.00486468e-02 -1.71377360e-02 7.83342717e+02] [ 3.00641178e-02 9.99547764e-01 6.45769264e-04 -5.99243784e+01] [ 1.71105812e-02 -1.16061369e-03 9.99852930e-01 3.12176230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3507140569999 meters Centerline goodness [0,1] 0.9809234771298504 Centerline is valid? [True, True] Translation: X:783.37, Y:-59.93, Z:3.12 [[ 9.99403062e-01 -3.02291781e-02 -1.67246992e-02 7.83374029e+02] [ 3.02439471e-02 9.99542348e-01 6.30782265e-04 -5.99258559e+01] [ 1.66979771e-02 -1.13622665e-03 9.99859933e-01 3.12199340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.380714057 meters Centerline goodness [0,1] 0.98179564139371 Centerline is valid? [True, True] Translation: X:783.41, Y:-59.93, Z:3.12 [[ 9.99413858e-01 -2.98801394e-02 -1.67068020e-02 7.83405780e+02] [ 2.98948379e-02 9.99552850e-01 6.30693441e-04 -5.99269071e+01] [ 1.66804864e-02 -1.12977090e-03 9.99860233e-01 3.12216391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.410714057 meters Centerline goodness [0,1] 0.9817957487337114 Centerline is valid? [True, True] Translation: X:783.44, Y:-59.93, Z:3.12 [[ 9.99448767e-01 -2.88168885e-02 -1.64848404e-02 7.83437416e+02] [ 2.88310646e-02 9.99584104e-01 6.22895198e-04 -5.99251833e+01] [ 1.64600345e-02 -1.09782734e-03 9.99863922e-01 3.12336549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4407140569999 meters Centerline goodness [0,1] 0.9810179886410262 Centerline is valid? [True, True] Translation: X:783.47, Y:-59.93, Z:3.12 [[ 9.99482448e-01 -2.79548340e-02 -1.59173943e-02 7.83468130e+02] [ 2.79679510e-02 9.99608639e-01 6.02012901e-04 -5.99308612e+01] [ 1.58943357e-02 -1.04687823e-03 9.99873129e-01 3.12323244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4707140569999 meters Centerline goodness [0,1] 0.9822301007393316 Centerline is valid? [True, True] Translation: X:783.50, Y:-59.93, Z:3.12 [[ 9.99516603e-01 -2.67213716e-02 -1.58911194e-02 7.83499364e+02] [ 2.67342972e-02 9.99642394e-01 6.01472675e-04 -5.99283472e+01] [ 1.58693645e-02 -1.02601984e-03 9.99873547e-01 3.12401167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.500714057 meters Centerline goodness [0,1] 0.9815917586716508 Centerline is valid? [True, True] Translation: X:783.53, Y:-59.93, Z:3.12 [[ 9.99565989e-01 -2.44238365e-02 -1.64714677e-02 7.83528649e+02] [ 2.44374198e-02 9.99701167e-01 6.23855019e-04 -5.99293609e+01] [ 1.64513086e-02 -1.02610443e-03 9.99864142e-01 3.12343427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.530714057 meters Centerline goodness [0,1] 0.9828279534833171 Centerline is valid? [True, True] Translation: X:783.56, Y:-59.93, Z:3.12 [[ 9.99587954e-01 -2.35158050e-02 -1.64599233e-02 7.83559022e+02] [ 2.35292521e-02 9.99722954e-01 6.23753317e-04 -5.99265473e+01] [ 1.64406951e-02 -1.01078599e-03 9.99864332e-01 3.12410731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5607140569999 meters Centerline goodness [0,1] 0.9829660408553963 Centerline is valid? [True, True] Translation: X:783.59, Y:-59.93, Z:3.12 [[ 9.99640405e-01 -2.15517640e-02 -1.59556125e-02 7.83588541e+02] [ 2.15641485e-02 9.99767284e-01 6.04528433e-04 -5.99272286e+01] [ 1.59388707e-02 -9.48380245e-04 9.99872518e-01 3.12419097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5907140569999 meters Centerline goodness [0,1] 0.9821955879798506 Centerline is valid? [True, True] Translation: X:783.62, Y:-59.93, Z:3.12 [[ 9.99661823e-01 -2.06390044e-02 -1.58199473e-02 7.83618320e+02] [ 2.06510591e-02 9.99786565e-01 5.98996323e-04 -5.99278312e+01] [ 1.58042081e-02 -9.25492425e-04 9.99874677e-01 3.12459057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.620714057 meters Centerline goodness [0,1] 0.982040620850295 Centerline is valid? [True, True] Translation: X:783.65, Y:-59.93, Z:3.12 [[ 9.99678319e-01 -2.01748797e-02 -1.53698485e-02 7.83647828e+02] [ 2.01861952e-02 9.99796069e-01 5.81416605e-04 -5.99283090e+01] [ 1.53549841e-02 -8.91488336e-04 9.99881708e-01 3.12490974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.650714057 meters Centerline goodness [0,1] 0.9823934511434511 Centerline is valid? [True, True] Translation: X:783.68, Y:-59.93, Z:3.12 [[ 9.99688257e-01 -2.00278162e-02 -1.49089309e-02 7.83676771e+02] [ 2.00384405e-02 9.99799051e-01 5.63555468e-04 -5.99311985e+01] [ 1.48946482e-02 -8.62131508e-04 9.99888697e-01 3.12466962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6807140569999 meters Centerline goodness [0,1] 0.9814522579389957 Centerline is valid? [True, True] Translation: X:783.71, Y:-59.93, Z:3.12 [[ 9.99674943e-01 -2.04191873e-02 -1.52664766e-02 7.83706418e+02] [ 2.04303687e-02 9.99791112e-01 5.76798581e-04 -5.99334823e+01] [ 1.52515098e-02 -8.88510832e-04 9.99883294e-01 3.12452623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7107140569999 meters Centerline goodness [0,1] 0.9828916762679072 Centerline is valid? [True, True] Translation: X:783.74, Y:-59.93, Z:3.12 [[ 9.99646958e-01 -2.12970846e-02 -1.58868897e-02 7.83736485e+02] [ 2.13092975e-02 9.99772751e-01 5.99838430e-04 -5.99305248e+01] [ 1.58705046e-02 -9.38165121e-04 9.99873615e-01 3.12465606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7407140569999 meters Centerline goodness [0,1] 0.9816633353610845 Centerline is valid? [True, True] Translation: X:783.77, Y:-59.93, Z:3.12 [[ 9.99635578e-01 -2.17938006e-02 -1.59292801e-02 7.83765305e+02] [ 2.18061324e-02 9.99762037e-01 6.00863880e-04 -5.99344663e+01] [ 1.59123944e-02 -9.48000903e-04 9.99872940e-01 3.12474468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.770714057 meters Centerline goodness [0,1] 0.9829559024686801 Centerline is valid? [True, True] Translation: X:783.79, Y:-59.93, Z:3.13 [[ 9.99627391e-01 -2.22910388e-02 -1.57539994e-02 7.83794735e+02] [ 2.23031534e-02 9.99751077e-01 5.93688102e-04 -5.99327894e+01] [ 1.57368440e-02 -9.44830754e-04 9.99875722e-01 3.12550856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8007140569999 meters Centerline goodness [0,1] 0.9829559024686801 Centerline is valid? [True, True] Translation: X:783.82, Y:-59.93, Z:3.13 [[ 9.99627391e-01 -2.22910421e-02 -1.57540126e-02 7.83824767e+02] [ 2.23031512e-02 9.99751078e-01 5.93340007e-04 -5.99339203e+01] [ 1.57368649e-02 -9.44483048e-04 9.99875722e-01 3.12579743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8307140569999 meters Centerline goodness [0,1] 0.9835 Centerline is valid? [True, True] Translation: X:783.85, Y:-59.94, Z:3.13 [[ 9.99619194e-01 -2.28429553e-02 -1.54811561e-02 7.83854142e+02] [ 2.28547128e-02 9.99738627e-01 5.82957559e-04 -5.99381279e+01] [ 1.54637933e-02 -9.36552941e-04 9.99879990e-01 3.12625676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8607140569999 meters Centerline goodness [0,1] 0.9835022901426184 Centerline is valid? [True, True] Translation: X:783.88, Y:-59.94, Z:3.13 [[ 9.99626686e-01 -2.27860993e-02 -1.50758994e-02 7.83884881e+02] [ 2.27972403e-02 9.99739948e-01 5.67528816e-04 -5.99353325e+01] [ 1.50590471e-02 -9.11005850e-04 9.99886191e-01 3.12692594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.890714057 meters Centerline goodness [0,1] 0.9833991580226553 Centerline is valid? [True, True] Translation: X:783.91, Y:-59.94, Z:3.13 [[ 9.99655952e-01 -2.14225668e-02 -1.51344473e-02 7.83914164e+02] [ 2.14336373e-02 9.99770111e-01 5.69631966e-04 -5.99382659e+01] [ 1.51187651e-02 -8.93822239e-04 9.99885305e-01 3.12701674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9207140569999 meters Centerline goodness [0,1] 0.983883912109841 Centerline is valid? [True, True] Translation: X:783.94, Y:-59.94, Z:3.13 [[ 9.99674160e-01 -2.05311311e-02 -1.51672547e-02 7.83944746e+02] [ 2.05421448e-02 9.99788825e-01 5.70691356e-04 -5.99365369e+01] [ 1.51523348e-02 -8.82073344e-04 9.99884808e-01 3.12772401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9507140569999 meters Centerline goodness [0,1] 0.9834126297577854 Centerline is valid? [True, True] Translation: X:783.97, Y:-59.94, Z:3.13 [[ 9.99702373e-01 -1.95641711e-02 -1.45742495e-02 7.83974056e+02] [ 1.95742365e-02 9.99808256e-01 5.48288300e-04 -5.99395189e+01] [ 1.45607281e-02 -8.33404921e-04 9.99893640e-01 3.12786988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9807140569999 meters Centerline goodness [0,1] 0.9830990160828471 Centerline is valid? [True, True] Translation: X:784.00, Y:-59.94, Z:3.13 [[ 9.99740573e-01 -1.80016628e-02 -1.39544880e-02 7.84003212e+02] [ 1.80107352e-02 9.99837656e-01 5.24728757e-04 -5.99429889e+01] [ 1.39427766e-02 -7.75923215e-04 9.99902494e-01 3.12818493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.010714057 meters Centerline goodness [0,1] 0.9832246642773868 Centerline is valid? [True, True] Translation: X:784.03, Y:-59.94, Z:3.13 [[ 9.99760200e-01 -1.70719681e-02 -1.37145918e-02 7.84032592e+02] [ 1.70806407e-02 9.99853982e-01 5.15470857e-04 -5.99443595e+01] [ 1.37037891e-02 -7.49601263e-04 9.99905818e-01 3.12832456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.040714057 meters Centerline goodness [0,1] 0.9836552426784592 Centerline is valid? [True, True] Translation: X:784.06, Y:-59.94, Z:3.13 [[ 9.99795320e-01 -1.55681686e-02 -1.29208882e-02 7.84062055e+02] [ 1.55757377e-02 9.99878573e-01 4.85370740e-04 -5.99448332e+01] [ 1.29117629e-02 -6.86523759e-04 9.99916404e-01 3.12856436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0707140569999 meters Centerline goodness [0,1] 0.9835133845286129 Centerline is valid? [True, True] Translation: X:784.09, Y:-59.94, Z:3.13 [[ 9.99809391e-01 -1.49248771e-02 -1.25868799e-02 7.84091486e+02] [ 1.49320037e-02 9.99888400e-01 4.72398994e-04 -5.99431172e+01] [ 1.25784247e-02 -6.60256287e-04 9.99920671e-01 3.12910146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1007140569999 meters Centerline goodness [0,1] 0.9833416480489339 Centerline is valid? [True, True] Translation: X:784.12, Y:-59.94, Z:3.13 [[ 9.99829146e-01 -1.39259563e-02 -1.21550889e-02 7.84121097e+02] [ 1.39325236e-02 9.99902834e-01 4.55778331e-04 -5.99438596e+01] [ 1.21475607e-02 -6.25051522e-04 9.99926020e-01 3.12939934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.130714057 meters Centerline goodness [0,1] 0.9833780625054108 Centerline is valid? [True, True] Translation: X:784.15, Y:-59.95, Z:3.13 [[ 9.99850581e-01 -1.29218460e-02 -1.14822068e-02 7.84149986e+02] [ 1.29276354e-02 9.99916342e-01 4.30129552e-04 -5.99458563e+01] [ 1.14756882e-02 -5.78503066e-04 9.99933985e-01 3.12955370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.160714057 meters Centerline goodness [0,1] 0.9837799105398011 Centerline is valid? [True, True] Translation: X:784.18, Y:-59.95, Z:3.13 [[ 9.99854376e-01 -1.25675312e-02 -1.15448264e-02 7.84179465e+02] [ 1.25733538e-02 9.99920859e-01 4.31902127e-04 -5.99461717e+01] [ 1.15384848e-02 -5.76996419e-04 9.99933263e-01 3.12985296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1907140569999 meters Centerline goodness [0,1] 0.9837199749205457 Centerline is valid? [True, True] Translation: X:784.21, Y:-59.95, Z:3.13 [[ 9.99861432e-01 -1.22397055e-02 -1.12830109e-02 7.84209282e+02] [ 1.22452418e-02 9.99924935e-01 4.21723480e-04 -5.99487055e+01] [ 1.12770022e-02 -5.59828240e-04 9.99936256e-01 3.12998284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2207140569999 meters Centerline goodness [0,1] 0.9843241836867439 Centerline is valid? [True, True] Translation: X:784.24, Y:-59.95, Z:3.13 [[ 9.99863510e-01 -1.23551754e-02 -1.09686181e-02 7.84239144e+02] [ 1.23604104e-02 9.99923523e-01 4.09602520e-04 -5.99488844e+01] [ 1.09627186e-02 -5.45123235e-04 9.99939759e-01 3.12985821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.250714057 meters Centerline goodness [0,1] 0.9843503106127838 Centerline is valid? [True, True] Translation: X:784.27, Y:-59.95, Z:3.13 [[ 9.99861202e-01 -1.26541922e-02 -1.08373384e-02 7.84268126e+02] [ 1.26593156e-02 9.99919786e-01 4.04282758e-04 -5.99523176e+01] [ 1.08313532e-02 -5.41419932e-04 9.99941193e-01 3.12996236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.280714057 meters Centerline goodness [0,1] 0.9843031827248288 Centerline is valid? [True, True] Translation: X:784.30, Y:-59.95, Z:3.13 [[ 9.99849314e-01 -1.34299609e-02 -1.09993217e-02 7.84297561e+02] [ 1.34352776e-02 9.99909659e-01 4.09619234e-04 -5.99539465e+01] [ 1.09928268e-02 -5.57336451e-04 9.99939422e-01 3.13009519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3107140569999 meters Centerline goodness [0,1] 0.9847781777180277 Centerline is valid? [True, True] Translation: X:784.33, Y:-59.96, Z:3.13 [[ 9.99843705e-01 -1.39772901e-02 -1.08259053e-02 7.84327002e+02] [ 1.39824685e-02 9.99902159e-01 4.02784120e-04 -5.99550250e+01] [ 1.08192162e-02 -5.54094046e-04 9.99941317e-01 3.13047553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3407140569999 meters Centerline goodness [0,1] 0.9849885524212709 Centerline is valid? [True, True] Translation: X:784.36, Y:-59.96, Z:3.13 [[ 9.99850964e-01 -1.37338684e-02 -1.04608738e-02 7.84356691e+02] [ 1.37386865e-02 9.99905544e-01 3.88858273e-04 -5.99582503e+01] [ 1.04545451e-02 -5.32518985e-04 9.99945208e-01 3.13100004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.370714057 meters Centerline goodness [0,1] 0.984125609095831 Centerline is valid? [True, True] Translation: X:784.39, Y:-59.96, Z:3.13 [[ 9.99854728e-01 -1.41576145e-02 -9.49132866e-03 7.84386182e+02] [ 1.41615984e-02 9.99899657e-01 3.52668108e-04 -5.99606275e+01] [ 9.48538333e-03 -4.87029260e-04 9.99954894e-01 3.13121901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.400714057 meters Centerline goodness [0,1] 0.9847258881052313 Centerline is valid? [True, True] Translation: X:784.42, Y:-59.96, Z:3.13 [[ 9.99862410e-01 -1.40207061e-02 -8.86457097e-03 7.84416865e+02] [ 1.40241731e-02 9.99901602e-01 3.29067041e-04 -5.99614852e+01] [ 8.85908496e-03 -4.53340042e-04 9.99960655e-01 3.13144377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4307140569999 meters Centerline goodness [0,1] 0.9842686890574215 Centerline is valid? [True, True] Translation: X:784.45, Y:-59.96, Z:3.13 [[ 9.99863974e-01 -1.41731624e-02 -8.43528480e-03 7.84447714e+02] [ 1.41763071e-02 9.99899462e-01 3.13131252e-04 -5.99625717e+01] [ 8.42999868e-03 -4.32669846e-04 9.99964373e-01 3.13247653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4607140569999 meters Centerline goodness [0,1] 0.9833142906417747 Centerline is valid? [True, True] Translation: X:784.48, Y:-59.97, Z:3.13 [[ 9.99866795e-01 -1.40301777e-02 -8.33939587e-03 7.84477480e+02] [ 1.40332462e-02 9.99901481e-01 3.09549468e-04 -5.99691827e+01] [ 8.33423125e-03 -4.26537031e-04 9.99965179e-01 3.13286079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4907140569999 meters Centerline goodness [0,1] 0.9837097611630322 Centerline is valid? [True, True] Translation: X:784.51, Y:-59.97, Z:3.13 [[ 9.99865046e-01 -1.42601585e-02 -8.15706400e-03 7.84507787e+02] [ 1.42631032e-02 9.99898231e-01 3.02946932e-04 -5.99665416e+01] [ 8.15191379e-03 -4.19251094e-04 9.99966685e-01 3.13314729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.520714057 meters Centerline goodness [0,1] 0.9854488761855268 Centerline is valid? [True, True] Translation: X:784.54, Y:-59.97, Z:3.13 [[ 9.99875261e-01 -1.40543582e-02 -7.20675365e-03 7.84538345e+02] [ 1.40566511e-02 9.99901165e-01 2.67611368e-04 -5.99699912e+01] [ 7.20228027e-03 -3.68880808e-04 9.99973995e-01 3.13392895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5507140569999 meters Centerline goodness [0,1] 0.9840536866409166 Centerline is valid? [True, True] Translation: X:784.57, Y:-59.97, Z:3.13 [[ 9.99877930e-01 -1.38265647e-02 -7.27671011e-03 7.84568921e+02] [ 1.38288973e-02 9.99904340e-01 2.70338217e-04 -5.99726358e+01] [ 7.27227617e-03 -3.70934093e-04 9.99973488e-01 3.13427858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5807140569999 meters Centerline goodness [0,1] 0.9840557509331377 Centerline is valid? [True, True] Translation: X:784.60, Y:-59.98, Z:3.13 [[ 9.99887852e-01 -1.32897517e-02 -6.90406577e-03 7.84599332e+02] [ 1.32918395e-02 9.99911627e-01 2.56604905e-04 -5.99757449e+01] [ 6.90004542e-03 -3.48343861e-04 9.99976134e-01 3.13413370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6107140569999 meters Centerline goodness [0,1] 0.9840013836641155 Centerline is valid? [True, True] Translation: X:784.63, Y:-59.98, Z:3.13 [[ 9.99890289e-01 -1.29305553e-02 -7.22575184e-03 7.84630644e+02] [ 1.29328335e-02 9.99916331e-01 2.68651836e-04 -5.99776022e+01] [ 7.22167346e-03 -3.62071808e-04 9.99973858e-01 3.13407229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.640714057 meters Centerline goodness [0,1] 0.9837463133194119 Centerline is valid? [True, True] Translation: X:784.66, Y:-59.98, Z:3.13 [[ 9.99893573e-01 -1.22835287e-02 -7.87132187e-03 7.84660764e+02] [ 1.22862147e-02 9.99924479e-01 2.92979826e-04 -5.99796434e+01] [ 7.86712859e-03 -3.89657396e-04 9.99968978e-01 3.13374502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6707140569999 meters Centerline goodness [0,1] 0.9842616315370207 Centerline is valid? [True, True] Translation: X:784.69, Y:-59.98, Z:3.13 [[ 9.99901928e-01 -1.12518713e-02 -8.33842241e-03 7.84690485e+02] [ 1.12548515e-02 9.99936614e-01 3.10558253e-04 -5.99814745e+01] [ 8.33439951e-03 -4.04375502e-04 9.99965187e-01 3.13341588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7007140569999 meters Centerline goodness [0,1] 0.9860194342848486 Centerline is valid? [True, True] Translation: X:784.72, Y:-59.98, Z:3.13 [[ 9.99909070e-01 -1.06380933e-02 -8.28744671e-03 7.84720860e+02] [ 1.06410147e-02 9.99943335e-01 3.08500578e-04 -5.99789819e+01] [ 8.28369525e-03 -3.96659369e-04 9.99965611e-01 3.13350287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7307140569999 meters Centerline goodness [0,1] 0.9848242466168015 Centerline is valid? [True, True] Translation: X:784.75, Y:-59.98, Z:3.13 [[ 9.99928587e-01 -9.00378730e-03 -7.85823146e-03 7.84750945e+02] [ 9.00636386e-03 9.99959399e-01 2.92553026e-04 -5.99800232e+01] [ 7.85527833e-03 -3.63306226e-04 9.99969081e-01 3.13328408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.760714057 meters Centerline goodness [0,1] 0.9863244904141603 Centerline is valid? [True, True] Translation: X:784.78, Y:-59.98, Z:3.13 [[ 9.99936307e-01 -8.19441136e-03 -7.76105849e-03 7.84780793e+02] [ 8.19689951e-03 9.99966363e-01 2.88839710e-04 -5.99757854e+01] [ 7.75843056e-03 -3.52437930e-04 9.99969841e-01 3.13330405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.790714057 meters Centerline goodness [0,1] 0.9842008837159176 Centerline is valid? [True, True] Translation: X:784.81, Y:-59.99, Z:3.13 [[ 9.99950707e-01 -6.80296167e-03 -7.23204416e-03 7.84809229e+02] [ 6.80508442e-03 9.99976809e-01 2.68952805e-04 -5.99865218e+01] [ 7.23004676e-03 -3.18154218e-04 9.99973812e-01 3.13396789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8207140569999 meters Centerline goodness [0,1] 0.9863832182365293 Centerline is valid? [True, True] Translation: X:784.84, Y:-59.98, Z:3.13 [[ 9.99964245e-01 -4.80353087e-03 -6.95958051e-03 7.84839007e+02] [ 4.80544551e-03 9.99988420e-01 2.58412025e-04 -5.99769227e+01] [ 6.95825863e-03 -2.91846670e-04 9.99975748e-01 3.13391740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8507140569999 meters Centerline goodness [0,1] 0.9832299613165345 Centerline is valid? [True, True] Translation: X:784.87, Y:-59.99, Z:3.13 [[ 9.99966440e-01 -4.38209973e-03 -6.92212166e-03 7.84867017e+02] [ 4.38398259e-03 9.99990357e-01 2.56856081e-04 -5.99890331e+01] [ 6.92092934e-03 -2.87193922e-04 9.99976009e-01 3.13498016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.880714057 meters Centerline goodness [0,1] 0.9867954702627939 Centerline is valid? [True, True] Translation: X:784.90, Y:-59.98, Z:3.13 [[ 9.99971095e-01 -3.51226667e-03 -6.74342968e-03 7.84896364e+02] [ 3.51403424e-03 9.99993794e-01 2.50286660e-04 -5.99829813e+01] [ 6.74250876e-03 -2.73976068e-04 9.99977231e-01 3.13447990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.910714057 meters Centerline goodness [0,1] 0.9859634015069968 Centerline is valid? [True, True] Translation: X:784.93, Y:-59.98, Z:3.13 [[ 9.99965685e-01 -3.97298750e-03 -7.26937233e-03 7.84925517e+02] [ 3.97503934e-03 9.99992064e-01 2.67832116e-04 -5.99843478e+01] [ 7.26825054e-03 -2.96718966e-04 9.99973542e-01 3.13438864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9407140569999 meters Centerline goodness [0,1] 0.986738947322952 Centerline is valid? [True, True] Translation: X:784.95, Y:-59.99, Z:3.13 [[ 9.99962169e-01 -4.84476067e-03 -7.22424520e-03 7.84954479e+02] [ 4.84679707e-03 9.99988219e-01 2.64402476e-04 -5.99853219e+01] [ 7.22287912e-03 -2.99406924e-04 9.99973870e-01 3.13404318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9707140569999 meters Centerline goodness [0,1] 0.9862121048656813 Centerline is valid? [True, True] Translation: X:784.98, Y:-59.99, Z:3.13 [[ 9.99947857e-01 -7.18105601e-03 -7.26060540e-03 7.84982332e+02] [ 7.18315702e-03 9.99974166e-01 2.63335821e-04 -5.99935543e+01] [ 7.25852680e-03 -3.15476159e-04 9.99973607e-01 3.13427260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.000714057 meters Centerline goodness [0,1] 0.9858195767423817 Centerline is valid? [True, True] Translation: X:785.01, Y:-59.99, Z:3.13 [[ 9.99921324e-01 -9.50585287e-03 -8.18441080e-03 7.85012275e+02] [ 9.50859883e-03 9.99954748e-01 2.96663525e-04 -5.99949854e+01] [ 8.18122040e-03 -3.74462463e-04 9.99966463e-01 3.13430296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.030714057 meters Centerline goodness [0,1] 0.9852109799875325 Centerline is valid? [True, True] Translation: X:785.04, Y:-60.00, Z:3.13 [[ 9.99856880e-01 -1.47432520e-02 -8.29801099e-03 7.85042306e+02] [ 1.47462518e-02 9.99891223e-01 3.00444296e-04 -6.00020159e+01] [ 8.29267883e-03 -4.22765855e-04 9.99965526e-01 3.13460909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0607140569999 meters Centerline goodness [0,1] 0.9848214477672909 Centerline is valid? [True, True] Translation: X:785.07, Y:-60.01, Z:3.14 [[ 9.99812896e-01 -1.73842679e-02 -8.48289052e-03 7.85072777e+02] [ 1.73874971e-02 9.99848779e-01 3.07062317e-04 -6.00064409e+01] [ 8.47626967e-03 -4.54501099e-04 9.99963972e-01 3.13522496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0907140569999 meters Centerline goodness [0,1] 0.9840634879669656 Centerline is valid? [True, True] Translation: X:785.10, Y:-60.01, Z:3.14 [[ 9.99772744e-01 -1.94285950e-02 -8.77444216e-03 7.85103647e+02] [ 1.94321282e-02 9.99811128e-01 3.17586801e-04 -6.00102090e+01] [ 8.76661465e-03 -4.88020712e-04 9.99961453e-01 3.13577529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.120714057 meters Centerline goodness [0,1] 0.9840842573009464 Centerline is valid? [True, True] Translation: X:785.13, Y:-60.02, Z:3.14 [[ 9.99716816e-01 -2.18611339e-02 -9.40102296e-03 7.85133592e+02] [ 2.18653003e-02 9.99760868e-01 3.40623291e-04 -6.00165744e+01] [ 9.39132846e-03 -5.46083022e-04 9.99955751e-01 3.13571284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.150714057 meters Centerline goodness [0,1] 0.9825736114687956 Centerline is valid? [True, True] Translation: X:785.17, Y:-60.02, Z:3.14 [[ 9.99692045e-01 -2.28629775e-02 -9.64880268e-03 7.85165140e+02] [ 2.28674147e-02 9.99738445e-01 3.49775417e-04 -6.00192890e+01] [ 9.63828209e-03 -5.70310874e-04 9.99953388e-01 3.13603673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1807140569999 meters Centerline goodness [0,1] 0.9826743288446693 Centerline is valid? [True, True] Translation: X:785.20, Y:-60.02, Z:3.14 [[ 9.99687879e-01 -2.29692142e-02 -9.82652541e-03 7.85196433e+02] [ 2.29738249e-02 9.99736003e-01 3.56567260e-04 -6.00220183e+01] [ 9.81574117e-03 -5.82208842e-04 9.99951655e-01 3.13662640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2107140569999 meters Centerline goodness [0,1] 0.98179127525415 Centerline is valid? [True, True] Translation: X:785.23, Y:-60.03, Z:3.14 [[ 9.99694697e-01 -2.28450177e-02 -9.41367130e-03 7.85226828e+02] [ 2.28492466e-02 9.99738863e-01 3.41903569e-04 -6.00260024e+01] [ 9.40340225e-03 -5.56894481e-04 9.99955632e-01 3.13697034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2407140569999 meters Centerline goodness [0,1] 0.982467058672046 Centerline is valid? [True, True] Translation: X:785.26, Y:-60.02, Z:3.14 [[ 9.99713873e-01 -2.20746923e-02 -9.21308303e-03 7.85258266e+02] [ 2.20787116e-02 9.99756179e-01 3.34766813e-04 -6.00236144e+01] [ 9.20344682e-03 -5.38084030e-04 9.99957503e-01 3.13779443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.270714057 meters Centerline goodness [0,1] 0.9847321696616202 Centerline is valid? [True, True] Translation: X:785.29, Y:-60.02, Z:3.14 [[ 9.99730652e-01 -2.12366747e-02 -9.36090387e-03 7.85289713e+02] [ 2.12407906e-02 9.99774331e-01 3.40476758e-04 -6.00208556e+01] [ 9.35156081e-03 -5.39218050e-04 9.99956128e-01 3.13837229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3007140569999 meters Centerline goodness [0,1] 0.9818904027676931 Centerline is valid? [True, True] Translation: X:785.32, Y:-60.03, Z:3.14 [[ 9.99768506e-01 -1.92317587e-02 -9.64748529e-03 7.85319677e+02] [ 1.92360410e-02 9.99814909e-01 3.51270487e-04 -6.00279869e+01] [ 9.63894407e-03 -5.36768592e-04 9.99953400e-01 3.13853781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3307140569999 meters Centerline goodness [0,1] 0.983746627264551 Centerline is valid? [True, True] Translation: X:785.35, Y:-60.03, Z:3.14 [[ 9.99795496e-01 -1.72641400e-02 -1.05316086e-02 7.85350179e+02] [ 1.72691441e-02 9.99850803e-01 3.84397755e-04 -6.00262627e+01] [ 1.05234010e-02 -5.66191011e-04 9.99944467e-01 3.13877904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3607140569999 meters Centerline goodness [0,1] 0.9836497100177628 Centerline is valid? [True, True] Translation: X:785.38, Y:-60.03, Z:3.14 [[ 9.99805879e-01 -1.65309746e-02 -1.07206195e-02 7.85379822e+02] [ 1.65361177e-02 9.99863192e-01 3.91276856e-04 -6.00285050e+01] [ 1.07126846e-02 -5.68478327e-04 9.99942456e-01 3.13853247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.390714057 meters Centerline goodness [0,1] 0.9840022272668866 Centerline is valid? [True, True] Translation: X:785.41, Y:-60.03, Z:3.14 [[ 9.99810765e-01 -1.59799534e-02 -1.10939680e-02 7.85410558e+02] [ 1.59854253e-02 9.99872143e-01 4.04728301e-04 -6.00288985e+01] [ 1.10860820e-02 -5.81993509e-04 9.99938378e-01 3.13852372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4207140569999 meters Centerline goodness [0,1] 0.9838314551690348 Centerline is valid? [True, True] Translation: X:785.44, Y:-60.03, Z:3.14 [[ 9.99822796e-01 -1.49445753e-02 -1.14470829e-02 7.85440520e+02] [ 1.49503327e-02 9.99888150e-01 4.17545603e-04 -6.00298017e+01] [ 1.14395625e-02 -5.88609310e-04 9.99934393e-01 3.13825859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4507140569999 meters Centerline goodness [0,1] 0.9835242328404137 Centerline is valid? [True, True] Translation: X:785.47, Y:-60.03, Z:3.14 [[ 9.99830405e-01 -1.32665638e-02 -1.27734200e-02 7.85470196e+02] [ 1.32735900e-02 9.99911794e-01 4.65437036e-04 -6.00311434e+01] [ 1.27661186e-02 -6.34907240e-04 9.99918308e-01 3.13770245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4807140569999 meters Centerline goodness [0,1] 0.9839222803458951 Centerline is valid? [True, True] Translation: X:785.50, Y:-60.03, Z:3.14 [[ 9.99847083e-01 -1.21822095e-02 -1.25460550e-02 7.85498614e+02] [ 1.21888894e-02 9.99925609e-01 4.56106325e-04 -6.00324799e+01] [ 1.25395653e-02 -6.08959056e-04 9.99921191e-01 3.13761929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.510714057 meters Centerline goodness [0,1] 0.9844511934297202 Centerline is valid? [True, True] Translation: X:785.53, Y:-60.03, Z:3.14 [[ 9.99889092e-01 -8.68662676e-03 -1.20973487e-02 7.85528262e+02] [ 8.69255382e-03 9.99962123e-01 4.37452150e-04 -6.00278172e+01] [ 1.20930905e-02 -5.42560488e-04 9.99926729e-01 3.13911947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.540714057 meters Centerline goodness [0,1] 0.9841673432759284 Centerline is valid? [True, True] Translation: X:785.56, Y:-60.03, Z:3.14 [[ 9.99909323e-01 -6.58041010e-03 -1.17492488e-02 7.85555915e+02] [ 6.58584962e-03 9.99978223e-01 4.24335856e-04 -6.00301542e+01] [ 1.17462006e-02 -5.01676164e-04 9.99930885e-01 3.13933088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5707140569999 meters Centerline goodness [0,1] 0.9862281339549207 Centerline is valid? [True, True] Translation: X:785.59, Y:-60.03, Z:3.14 [[ 9.99918611e-01 -4.44264727e-03 -1.19597014e-02 7.85585390e+02] [ 4.44811373e-03 9.99990014e-01 4.30512273e-04 -6.00273509e+01] [ 1.19576694e-02 -4.83675347e-04 9.99928388e-01 3.13991106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6007140569999 meters Centerline goodness [0,1] 0.9853903743315509 Centerline is valid? [True, True] Translation: X:785.61, Y:-60.03, Z:3.14 [[ 9.99932395e-01 -1.02263043e-03 -1.15827000e-02 7.85613910e+02] [ 1.02750220e-03 9.99999386e-01 4.14664530e-04 -6.00287726e+01] [ 1.15822688e-02 -4.26537746e-04 9.99932832e-01 3.14001093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.630714057 meters Centerline goodness [0,1] 0.9853092122145239 Centerline is valid? [True, True] Translation: X:785.64, Y:-60.03, Z:3.14 [[ 9.99928502e-01 2.62072846e-04 -1.19549843e-02 7.85642508e+02] [-2.56987752e-04 9.99999876e-01 4.26887656e-04 -6.00289769e+01] [ 1.19550946e-02 -4.23784849e-04 9.99928445e-01 3.14062238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.660714057 meters Centerline goodness [0,1] 0.9859567373461012 Centerline is valid? [True, True] Translation: X:785.67, Y:-60.03, Z:3.14 [[ 9.99930014e-01 6.43451969e-04 -1.18132195e-02 7.85670856e+02] [-6.38547151e-04 9.99999708e-01 4.18964530e-04 -6.00298289e+01] [ 1.18134857e-02 -4.11391911e-04 9.99930134e-01 3.14090246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6907140569999 meters Centerline goodness [0,1] 0.9857560185086466 Centerline is valid? [True, True] Translation: X:785.70, Y:-60.03, Z:3.14 [[ 9.99935266e-01 7.70251899e-04 -1.13521497e-02 7.85699627e+02] [-7.65757681e-04 9.99999627e-01 4.00232719e-04 -6.00303002e+01] [ 1.13524538e-02 -3.91513815e-04 9.99935482e-01 3.14151972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7207140569999 meters Centerline goodness [0,1] 0.9857560185086466 Centerline is valid? [True, True] Translation: X:785.73, Y:-60.03, Z:3.14 [[ 9.99935343e-01 6.61688490e-04 -1.13521809e-02 7.85727096e+02] [-6.57197318e-04 9.99999704e-01 3.99347777e-04 -6.00311810e+01] [ 1.13524417e-02 -3.91861333e-04 9.99935482e-01 3.14178397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.750714057 meters Centerline goodness [0,1] 0.9849371316724465 Centerline is valid? [True, True] Translation: X:785.75, Y:-60.04, Z:3.14 [[ 9.99939158e-01 -7.22234014e-05 -1.10306081e-02 7.85754386e+02] [ 7.64957137e-05 9.99999922e-01 3.86892888e-04 -6.00357735e+01] [ 1.10305793e-02 -3.87713143e-04 9.99939086e-01 3.14197711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.780714057 meters Centerline goodness [0,1] 0.9836926478717524 Centerline is valid? [True, True] Translation: X:785.78, Y:-60.04, Z:3.14 [[ 9.99945450e-01 -2.62179966e-03 -1.01105579e-02 7.85783074e+02] [ 2.62551084e-03 9.99996491e-01 3.53804930e-04 -6.00423628e+01] [ 1.01095948e-02 -3.80331009e-04 9.99948824e-01 3.14257173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8107140569999 meters Centerline goodness [0,1] 0.9836563156665888 Centerline is valid? [True, True] Translation: X:785.81, Y:-60.04, Z:3.14 [[ 9.99938767e-01 -4.48787540e-03 -1.01154414e-02 7.85811890e+02] [ 4.49168006e-03 9.99989850e-01 3.53437105e-04 -6.00442738e+01] [ 1.01137525e-02 -3.98850789e-04 9.99948775e-01 3.14338547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8407140569999 meters Centerline goodness [0,1] 0.9835985155483513 Centerline is valid? [True, True] Translation: X:785.84, Y:-60.05, Z:3.14 [[ 9.99927376e-01 -6.59266973e-03 -1.00885486e-02 7.85841242e+02] [ 6.59655423e-03 9.99978181e-01 3.51812201e-04 -6.00459678e+01] [ 1.00860091e-02 -4.18336309e-04 9.99949047e-01 3.14338651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.870714057 meters Centerline goodness [0,1] 0.9828336148648649 Centerline is valid? [True, True] Translation: X:785.87, Y:-60.05, Z:3.14 [[ 9.99914001e-01 -8.55675992e-03 -9.93846976e-03 7.85868523e+02] [ 8.56062287e-03 9.99963297e-01 3.46209558e-04 -6.00523276e+01] [ 9.93514256e-03 -4.31259276e-04 9.99950552e-01 3.14352187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.900714057 meters Centerline goodness [0,1] 0.9820008904153151 Centerline is valid? [True, True] Translation: X:785.90, Y:-60.06, Z:3.14 [[ 9.99872951e-01 -1.25753088e-02 -9.79511175e-03 7.85898903e+02] [ 1.25792453e-02 9.99920820e-01 3.40373133e-04 -6.00588461e+01] [ 9.79005588e-03 -4.63545002e-04 9.99951969e-01 3.14384757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9307140569999 meters Centerline goodness [0,1] 0.9828426676884433 Centerline is valid? [True, True] Translation: X:785.93, Y:-60.06, Z:3.14 [[ 9.99842430e-01 -1.46106205e-02 -1.00819202e-02 7.85928496e+02] [ 1.46148939e-02 9.99893135e-01 3.50322050e-04 -6.00566038e+01] [ 1.00757243e-02 -4.97613044e-04 9.99949115e-01 3.14438292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9607140569999 meters Centerline goodness [0,1] 0.9809736394557823 Centerline is valid? [True, True] Translation: X:785.96, Y:-60.07, Z:3.14 [[ 9.99786419e-01 -1.81617024e-02 -9.86250500e-03 7.85957163e+02] [ 1.81659607e-02 9.99834927e-01 3.42346254e-04 -6.00651898e+01] [ 9.85465937e-03 -5.21435014e-04 9.99951306e-01 3.14446844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9907140569999 meters Centerline goodness [0,1] 0.9816261298448382 Centerline is valid? [True, True] Translation: X:785.99, Y:-60.07, Z:3.14 [[ 9.99766939e-01 -1.92257571e-02 -9.82027982e-03 7.85988011e+02] [ 1.92300268e-02 9.99815028e-01 3.40534585e-04 -6.00661399e+01] [ 9.81191631e-03 -5.29299464e-04 9.99951722e-01 3.14465749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.020714057 meters Centerline goodness [0,1] 0.9814232273422887 Centerline is valid? [True, True] Translation: X:786.02, Y:-60.07, Z:3.15 [[ 9.99723703e-01 -2.11385261e-02 -1.02801170e-02 7.86018526e+02] [ 2.11433059e-02 9.99776392e-01 3.56480208e-04 -6.00696000e+01] [ 1.02702829e-02 -5.73737372e-04 9.99947095e-01 3.14521189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0507140569999 meters Centerline goodness [0,1] 0.9821755611397419 Centerline is valid? [True, True] Translation: X:786.05, Y:-60.07, Z:3.15 [[ 9.99707607e-01 -2.20399742e-02 -9.94690831e-03 7.86049428e+02] [ 2.20444938e-02 9.99756931e-01 3.44942683e-04 -6.00704961e+01] [ 9.93688800e-03 -5.64116382e-04 9.99950469e-01 3.14533298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0807140569999 meters Centerline goodness [0,1] 0.9824222071076347 Centerline is valid? [True, True] Translation: X:786.08, Y:-60.07, Z:3.15 [[ 9.99693714e-01 -2.28084663e-02 -9.60479460e-03 7.86080836e+02] [ 2.28127200e-02 9.99739700e-01 3.33537634e-04 -6.00708183e+01] [ 9.59468699e-03 -5.52546966e-04 9.99953817e-01 3.14556063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1107140569999 meters Centerline goodness [0,1] 0.9800140476342507 Centerline is valid? [True, True] Translation: X:786.11, Y:-60.07, Z:3.15 [[ 9.99642178e-01 -2.47183658e-02 -1.02234116e-02 7.86111049e+02] [ 2.47232886e-02 9.99694270e-01 3.55402404e-04 -6.00743275e+01] [ 1.02115010e-02 -6.08031588e-04 9.99947676e-01 3.14591053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.140714057 meters Centerline goodness [0,1] 0.9811044972143962 Centerline is valid? [True, True] Translation: X:786.14, Y:-60.07, Z:3.15 [[ 9.99612716e-01 -2.57695875e-02 -1.05045615e-02 7.86142762e+02] [ 2.57748448e-02 9.99667707e-01 3.65386571e-04 -6.00743560e+01] [ 1.04916550e-02 -6.35998505e-04 9.99944759e-01 3.14647303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1707140569999 meters Centerline goodness [0,1] 0.980477638602386 Centerline is valid? [True, True] Translation: X:786.17, Y:-60.08, Z:3.15 [[ 9.99561530e-01 -2.76265470e-02 -1.06546125e-02 7.86172568e+02] [ 2.76320645e-02 9.99618093e-01 3.70957649e-04 -6.00767437e+01] [ 1.06402951e-02 -6.65203934e-04 9.99943169e-01 3.14665050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2007140569999 meters Centerline goodness [0,1] 0.980036992155112 Centerline is valid? [True, True] Translation: X:786.20, Y:-60.08, Z:3.15 [[ 9.99436724e-01 -3.15906087e-02 -1.13255316e-02 7.86201888e+02] [ 3.15970961e-02 9.99500609e-01 3.94291791e-04 -6.00802686e+01] [ 1.13074199e-02 -7.51923608e-04 9.99935786e-01 3.14643853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2307140569999 meters Centerline goodness [0,1] 0.9783560828336948 Centerline is valid? [True, True] Translation: X:786.23, Y:-60.08, Z:3.15 [[ 9.99367146e-01 -3.35235982e-02 -1.18943831e-02 7.86232586e+02] [ 3.35308891e-02 9.99437596e-01 4.14022692e-04 -6.00825743e+01] [ 1.18738141e-02 -8.12589916e-04 9.99929174e-01 3.14622216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.260714057 meters Centerline goodness [0,1] 0.9785559290303365 Centerline is valid? [True, True] Translation: X:786.26, Y:-60.09, Z:3.15 [[ 9.99220596e-01 -3.72188554e-02 -1.31513140e-02 7.86261822e+02] [ 3.72280924e-02 9.99306689e-01 4.58174342e-04 -6.00854676e+01] [ 1.31251433e-02 -9.47415571e-04 9.99913413e-01 3.14583475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.290714057 meters Centerline goodness [0,1] 0.9802864328033758 Centerline is valid? [True, True] Translation: X:786.29, Y:-60.08, Z:3.15 [[ 9.99171818e-01 -3.83429268e-02 -1.36197929e-02 7.86292863e+02] [ 3.83529425e-02 9.99264142e-01 4.74853486e-04 -6.00814854e+01] [ 1.35915634e-02 -9.96819354e-04 9.99907134e-01 3.14678813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3207140569999 meters Centerline goodness [0,1] 0.9783850351402424 Centerline is valid? [True, True] Translation: X:786.32, Y:-60.09, Z:3.15 [[ 9.99129536e-01 -3.92642052e-02 -1.40887294e-02 7.86323193e+02] [ 3.92750212e-02 9.99228318e-01 4.91739052e-04 -6.00886103e+01] [ 1.40585497e-02 -1.04464616e-03 9.99900628e-01 3.14680024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3507140569999 meters Centerline goodness [0,1] 0.9784151264074782 Centerline is valid? [True, True] Translation: X:786.35, Y:-60.09, Z:3.15 [[ 9.99096211e-01 -4.00335075e-02 -1.42856200e-02 7.86354116e+02] [ 4.00447098e-02 9.99197764e-01 4.98869028e-04 -6.00859387e+01] [ 1.42541881e-02 -1.07048166e-03 9.99897831e-01 3.14712672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.380714057 meters Centerline goodness [0,1] 0.9796793955047066 Centerline is valid? [True, True] Translation: X:786.39, Y:-60.08, Z:3.15 [[ 9.99099045e-01 -3.99033149e-02 -1.44507087e-02 7.86386429e+02] [ 3.99147716e-02 9.99202960e-01 5.05153782e-04 -6.00805923e+01] [ 1.44190336e-02 -1.08149540e-03 9.99895455e-01 3.14851806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.410714057 meters Centerline goodness [0,1] 0.9787220420010244 Centerline is valid? [True, True] Translation: X:786.42, Y:-60.08, Z:3.15 [[ 9.99109185e-01 -3.95627317e-02 -1.46842356e-02 7.86417854e+02] [ 3.95745394e-02 9.99216489e-01 5.14291094e-04 -6.00835976e+01] [ 1.46523836e-02 -1.09495482e-03 9.99892049e-01 3.14872234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4407140569999 meters Centerline goodness [0,1] 0.9795839835816748 Centerline is valid? [True, True] Translation: X:786.45, Y:-60.08, Z:3.15 [[ 9.99151694e-01 -3.87086858e-02 -1.40545261e-02 7.86449564e+02] [ 3.87194276e-02 9.99250000e-01 4.92888202e-04 -6.00757491e+01] [ 1.40249061e-02 -1.03665329e-03 9.99901109e-01 3.14974346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4707140569999 meters Centerline goodness [0,1] 0.9795346648988494 Centerline is valid? [True, True] Translation: X:786.48, Y:-60.08, Z:3.15 [[ 9.99145817e-01 -3.89258208e-02 -1.38714555e-02 7.86481681e+02] [ 3.89363142e-02 9.99241575e-01 4.87111998e-04 -6.00755003e+01] [ 1.38419738e-02 -1.02679926e-03 9.99903668e-01 3.15025235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.500714057 meters Centerline goodness [0,1] 0.9785554983702178 Centerline is valid? [True, True] Translation: X:786.51, Y:-60.07, Z:3.15 [[ 9.99091048e-01 -4.02707443e-02 -1.39765509e-02 7.86513230e+02] [ 4.02815400e-02 9.99188248e-01 4.91647426e-04 -6.00735811e+01] [ 1.39454064e-02 -1.05419754e-03 9.99902202e-01 3.15055795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.530714057 meters Centerline goodness [0,1] 0.9782590142948581 Centerline is valid? [True, True] Translation: X:786.54, Y:-60.07, Z:3.15 [[ 9.99029252e-01 -4.16103603e-02 -1.44613886e-02 7.86544554e+02] [ 4.16220651e-02 9.99133297e-01 5.09225886e-04 -6.00738537e+01] [ 1.44276658e-02 -1.11064441e-03 9.99895299e-01 3.15068781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5607140569999 meters Centerline goodness [0,1] 0.9789932194661403 Centerline is valid? [True, True] Translation: X:786.58, Y:-60.07, Z:3.15 [[ 9.98964474e-01 -4.29665333e-02 -1.49618641e-02 7.86575511e+02] [ 4.29792230e-02 9.99075827e-01 5.27481452e-04 -6.00718208e+01] [ 1.49253727e-02 -1.16998452e-03 9.99887926e-01 3.15093644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5907140569999 meters Centerline goodness [0,1] 0.9766806767510827 Centerline is valid? [True, True] Translation: X:786.61, Y:-60.08, Z:3.15 [[ 9.98782507e-01 -4.66061262e-02 -1.61669982e-02 7.86605318e+02] [ 4.66214264e-02 9.98912467e-01 5.70584741e-04 -6.00763574e+01] [ 1.61228233e-02 -1.32361857e-03 9.99869143e-01 3.14987747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.620714057 meters Centerline goodness [0,1] 0.977589287636434 Centerline is valid? [True, True] Translation: X:786.64, Y:-60.07, Z:3.15 [[ 9.98694110e-01 -4.81673926e-02 -1.70287282e-02 7.86636309e+02] [ 4.81845972e-02 9.98838267e-01 6.01242528e-04 -6.00721755e+01] [ 1.69799850e-02 -1.42097978e-03 9.99854820e-01 3.14986198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.650714057 meters Centerline goodness [0,1] 0.9772795861176978 Centerline is valid? [True, True] Translation: X:786.67, Y:-60.07, Z:3.15 [[ 9.98529277e-01 -5.08502911e-02 -1.88024102e-02 7.86666373e+02] [ 5.08717403e-02 9.98704974e-01 6.63928678e-04 -6.00714898e+01] [ 1.87442997e-02 -1.61946355e-03 9.99822999e-01 3.14970913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6807140569999 meters Centerline goodness [0,1] 0.9734515173627506 Centerline is valid? [True, True] Translation: X:786.70, Y:-60.08, Z:3.15 [[ 9.98484712e-01 -5.16160127e-02 -1.90805211e-02 7.86697206e+02] [ 5.16382470e-02 9.98665628e-01 6.74116928e-04 -6.00775817e+01] [ 1.90202654e-02 -1.65838011e-03 9.99817723e-01 3.14913062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7107140569999 meters Centerline goodness [0,1] 0.9766008520576978 Centerline is valid? [True, True] Translation: X:786.73, Y:-60.07, Z:3.15 [[ 9.98456028e-01 -5.20283547e-02 -1.94578922e-02 7.86729876e+02] [ 5.20515790e-02 9.98644160e-01 6.88678398e-04 -6.00691606e+01] [ 1.93956796e-02 -1.70042911e-03 9.99810440e-01 3.15084811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7407140569999 meters Centerline goodness [0,1] 0.9764718591336286 Centerline is valid? [True, True] Translation: X:786.76, Y:-60.07, Z:3.15 [[ 9.98442970e-01 -5.20909647e-02 -1.99541097e-02 7.86762390e+02] [ 5.21154304e-02 9.98640817e-01 7.07704547e-04 -6.00656507e+01] [ 1.98901234e-02 -1.74651964e-03 9.99800646e-01 3.15147938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.770714057 meters Centerline goodness [0,1] 0.976979103442296 Centerline is valid? [True, True] Translation: X:786.80, Y:-60.06, Z:3.15 [[ 9.98480189e-01 -5.13995435e-02 -1.98846364e-02 7.86795219e+02] [ 5.14237356e-02 9.98676674e-01 7.06881091e-04 -6.00603626e+01] [ 1.98219892e-02 -1.72834905e-03 9.99802031e-01 3.15253392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8007140569999 meters Centerline goodness [0,1] 0.976039449102837 Centerline is valid? [True, True] Translation: X:786.83, Y:-60.06, Z:3.15 [[ 9.98537954e-01 -5.06543420e-02 -1.88703972e-02 7.86826123e+02] [ 5.06760218e-02 9.98714919e-01 6.72167145e-04 -6.00581534e+01] [ 1.88120990e-02 -1.62746107e-03 9.99821712e-01 3.15353234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8307140569999 meters Centerline goodness [0,1] 0.9767826086956521 Centerline is valid? [True, True] Translation: X:786.86, Y:-60.06, Z:3.15 [[ 9.98579380e-01 -5.00351833e-02 -1.83221797e-02 7.86856926e+02] [ 5.00555359e-02 9.98746222e-01 6.53617613e-04 -6.00578145e+01] [ 1.82665039e-02 -1.56981559e-03 9.99831921e-01 3.15427768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8607140569999 meters Centerline goodness [0,1] 0.9772008980143421 Centerline is valid? [True, True] Translation: X:786.89, Y:-60.06, Z:3.15 [[ 9.98623838e-01 -4.91130795e-02 -1.83938860e-02 7.86888806e+02] [ 4.91334546e-02 9.98792006e-01 6.57164231e-04 -6.00556953e+01] [ 1.83393909e-02 -1.56001503e-03 9.99830602e-01 3.15475150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.890714057 meters Centerline goodness [0,1] 0.9774006369704638 Centerline is valid? [True, True] Translation: X:786.92, Y:-60.05, Z:3.16 [[ 9.98677787e-01 -4.80561480e-02 -1.82560647e-02 7.86920641e+02] [ 4.80760612e-02 9.98843464e-01 6.53213519e-04 -6.00530119e+01] [ 1.82035600e-02 -1.53002952e-03 9.99833131e-01 3.15552062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9207140569999 meters Centerline goodness [0,1] 0.9765126260975663 Centerline is valid? [True, True] Translation: X:786.95, Y:-60.05, Z:3.16 [[ 9.98765202e-01 -4.63638152e-02 -1.78456843e-02 7.86950913e+02] [ 4.63825863e-02 9.98923544e-01 6.39179799e-04 -6.00510819e+01] [ 1.77968394e-02 -1.46611953e-03 9.99840549e-01 3.15646107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9507140569999 meters Centerline goodness [0,1] 0.9776761287780964 Centerline is valid? [True, True] Translation: X:786.98, Y:-60.05, Z:3.16 [[ 9.98800267e-01 -4.57635974e-02 -1.74275539e-02 7.86983233e+02] [ 4.57814210e-02 9.98951286e-01 6.24929041e-04 -6.00456963e+01] [ 1.73806784e-02 -1.42203748e-03 9.99847933e-01 3.15700589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9807140569999 meters Centerline goodness [0,1] 0.9781004261301235 Centerline is valid? [True, True] Translation: X:787.02, Y:-60.04, Z:3.16 [[ 9.98844378e-01 -4.43589578e-02 -1.84984229e-02 7.87015135e+02] [ 4.43788224e-02 9.99014554e-01 6.64532597e-04 -6.00410994e+01] [ 1.84507157e-02 -1.48470287e-03 9.99828669e-01 3.15645591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.010714057 meters Centerline goodness [0,1] 0.9776640196014088 Centerline is valid? [True, True] Translation: X:787.05, Y:-60.04, Z:3.16 [[ 9.98850223e-01 -4.38734833e-02 -1.93222290e-02 7.87046297e+02] [ 4.38950870e-02 9.99035904e-01 6.95181481e-04 -6.00425060e+01] [ 1.92731005e-02 -1.54253310e-03 9.99813067e-01 3.15566887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.040714057 meters Centerline goodness [0,1] 0.9790160620509327 Centerline is valid? [True, True] Translation: X:787.08, Y:-60.03, Z:3.16 [[ 9.98835670e-01 -4.37108460e-02 -2.04123973e-02 7.87079067e+02] [ 4.37349503e-02 9.99042898e-01 7.35733967e-04 -6.00345028e+01] [ 2.03607010e-02 -1.62761251e-03 9.99791375e-01 3.15644407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0707140569999 meters Centerline goodness [0,1] 0.9788330653509835 Centerline is valid? [True, True] Translation: X:787.11, Y:-60.03, Z:3.16 [[ 9.98859317e-01 -4.28401254e-02 -2.10900059e-02 7.87110008e+02] [ 4.28657120e-02 9.99080552e-01 7.62430465e-04 -6.00344636e+01] [ 2.10379521e-02 -1.66559889e-03 9.99777290e-01 3.15506181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1007140569999 meters Centerline goodness [0,1] 0.9799876982557885 Centerline is valid? [True, True] Translation: X:787.14, Y:-60.03, Z:3.16 [[ 9.98886484e-01 -4.22735846e-02 -2.09460149e-02 7.87142654e+02] [ 4.22987432e-02 9.99104719e-01 7.59336559e-04 -6.00307369e+01] [ 2.08951624e-02 -1.64448113e-03 9.99780320e-01 3.15544023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.130714057 meters Centerline goodness [0,1] 0.9805848831558952 Centerline is valid? [True, True] Translation: X:787.17, Y:-60.03, Z:3.16 [[ 9.98954500e-01 -4.08359701e-02 -2.05506580e-02 7.87174583e+02] [ 4.08599117e-02 9.99164606e-01 7.46287411e-04 -6.00280744e+01] [ 2.05030147e-02 -1.58520524e-03 9.99788534e-01 3.15552041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.160714057 meters Centerline goodness [0,1] 0.9783673379746557 Centerline is valid? [True, True] Translation: X:787.20, Y:-60.03, Z:3.16 [[ 9.98989081e-01 -3.99278780e-02 -2.06538039e-02 7.87204690e+02] [ 3.99518826e-02 9.99201323e-01 7.50757304e-04 -6.00328928e+01] [ 2.06073320e-02 -1.57515670e-03 9.99786406e-01 3.15508227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1907140569999 meters Centerline goodness [0,1] 0.9805405405405405 Centerline is valid? [True, True] Translation: X:787.24, Y:-60.03, Z:3.16 [[ 9.99005869e-01 -3.90878166e-02 -2.14340037e-02 7.87236290e+02] [ 3.91134902e-02 9.99234470e-01 7.79718589e-04 -6.00264940e+01] [ 2.13871179e-02 -1.61730214e-03 9.99769961e-01 3.15592761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2207140569999 meters Centerline goodness [0,1] 0.9791009202657074 Centerline is valid? [True, True] Translation: X:787.27, Y:-60.03, Z:3.16 [[ 9.99082911e-01 -3.72136587e-02 -2.11773562e-02 7.87266813e+02] [ 3.72383139e-02 9.99306116e-01 7.70929177e-04 -6.00259460e+01] [ 2.11339725e-02 -1.55883120e-03 9.99775437e-01 3.15547006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.250714057 meters Centerline goodness [0,1] 0.9807188817395163 Centerline is valid? [True, True] Translation: X:787.30, Y:-60.02, Z:3.16 [[ 9.99108681e-01 -3.69678836e-02 -2.03769464e-02 7.87298884e+02] [ 3.69906710e-02 9.99315335e-01 7.42380222e-04 -6.00209127e+01] [ 2.03355508e-02 -1.49547545e-03 9.99792093e-01 3.15667190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.280714057 meters Centerline goodness [0,1] 0.980197800248359 Centerline is valid? [True, True] Translation: X:787.33, Y:-60.02, Z:3.16 [[ 9.99110246e-01 -3.70837746e-02 -2.00875407e-02 7.87331009e+02] [ 3.71059651e-02 9.99311068e-01 7.32968624e-04 -6.00188974e+01] [ 2.00465205e-02 -1.47768405e-03 9.99797956e-01 3.15767658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3107140569999 meters Centerline goodness [0,1] 0.9796857288911609 Centerline is valid? [True, True] Translation: X:787.36, Y:-60.02, Z:3.16 [[ 9.99107436e-01 -3.72629544e-02 -1.98948054e-02 7.87361872e+02] [ 3.72847937e-02 9.99304415e-01 7.27820298e-04 -6.00241642e+01] [ 1.98538461e-02 -1.46894439e-03 9.99801814e-01 3.15752020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3407140569999 meters Centerline goodness [0,1] 0.9791113471410869 Centerline is valid? [True, True] Translation: X:787.39, Y:-60.02, Z:3.16 [[ 9.99068405e-01 -3.82834089e-02 -1.99173929e-02 7.87393316e+02] [ 3.83055290e-02 9.99265807e-01 7.30126707e-04 -6.00210499e+01] [ 1.98748179e-02 -1.49239279e-03 9.99801362e-01 3.15833153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.370714057 meters Centerline goodness [0,1] 0.9796398676702414 Centerline is valid? [True, True] Translation: X:787.43, Y:-60.02, Z:3.16 [[ 9.99041065e-01 -3.90391905e-02 -1.98215223e-02 7.87425206e+02] [ 3.90612670e-02 9.99236553e-01 7.27676020e-04 -6.00214910e+01] [ 1.97779817e-02 -1.50123200e-03 9.99803270e-01 3.15863569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.400714057 meters Centerline goodness [0,1] 0.9790718835304822 Centerline is valid? [True, True] Translation: X:787.46, Y:-60.02, Z:3.16 [[ 9.99031212e-01 -3.95317939e-02 -1.93358405e-02 7.87457096e+02] [ 3.95529194e-02 9.99217224e-01 7.11198180e-04 -6.00229550e+01] [ 1.92925900e-02 -1.47529812e-03 9.99812792e-01 3.15885088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4307140569999 meters Centerline goodness [0,1] 0.98059289593163 Centerline is valid? [True, True] Translation: X:787.49, Y:-60.02, Z:3.16 [[ 9.99000102e-01 -4.00349749e-02 -1.98996576e-02 7.87489439e+02] [ 4.00574785e-02 9.99197108e-01 7.33376627e-04 -6.00198721e+01] [ 1.98543196e-02 -1.52977343e-03 9.99801713e-01 3.15861887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4607140569999 meters Centerline goodness [0,1] 0.9790019817853882 Centerline is valid? [True, True] Translation: X:787.52, Y:-60.03, Z:3.16 [[ 9.99007968e-01 -3.97052323e-02 -2.01636953e-02 7.87520626e+02] [ 3.97282960e-02 9.99210242e-01 7.44377423e-04 -6.00262316e+01] [ 2.01182151e-02 -1.54470823e-03 9.99796415e-01 3.15786653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4907140569999 meters Centerline goodness [0,1] 0.9798721761129111 Centerline is valid? [True, True] Translation: X:787.55, Y:-60.02, Z:3.16 [[ 9.99060865e-01 -3.82989347e-02 -2.02627460e-02 7.87552073e+02] [ 3.83219562e-02 9.99265163e-01 7.48936197e-04 -6.00193380e+01] [ 2.02191727e-02 -1.52474091e-03 9.99794409e-01 3.15923627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.520714057 meters Centerline goodness [0,1] 0.9811760527425692 Centerline is valid? [True, True] Translation: X:787.58, Y:-60.02, Z:3.16 [[ 9.99149081e-01 -3.64749575e-02 -1.92533293e-02 7.87583864e+02] [ 3.64954214e-02 9.99333566e-01 7.12470718e-04 -6.00189674e+01] [ 1.92145109e-02 -1.41452283e-03 9.99814384e-01 3.15974694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5507140569999 meters Centerline goodness [0,1] 0.9803546824303302 Centerline is valid? [True, True] Translation: X:787.61, Y:-60.02, Z:3.16 [[ 9.99233613e-01 -3.45610407e-02 -1.83771847e-02 7.87614191e+02] [ 3.45793741e-02 9.99401723e-01 6.80695289e-04 -6.00190031e+01] [ 1.83426645e-02 -1.31564516e-03 9.99830894e-01 3.16075138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5807140569999 meters Centerline goodness [0,1] 0.9808786452174301 Centerline is valid? [True, True] Translation: X:787.65, Y:-60.02, Z:3.16 [[ 9.99378602e-01 -3.06655340e-02 -1.73791389e-02 7.87645300e+02] [ 3.06813471e-02 9.99529009e-01 6.43929881e-04 -6.00151757e+01] [ 1.73512070e-02 -1.17674514e-03 9.99848764e-01 3.16223441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6107140569999 meters Centerline goodness [0,1] 0.9808786452174301 Centerline is valid? [True, True] Translation: X:787.68, Y:-60.02, Z:3.16 [[ 9.99380743e-01 -3.05956865e-02 -1.73791169e-02 7.87677043e+02] [ 3.06114993e-02 9.99531150e-01 6.44523283e-04 -6.00164143e+01] [ 1.73512491e-02 -1.17612498e-03 9.99848764e-01 3.16253963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.640714057 meters Centerline goodness [0,1] 0.9812127148072299 Centerline is valid? [True, True] Translation: X:787.71, Y:-60.02, Z:3.16 [[ 9.99443212e-01 -2.88744917e-02 -1.67191618e-02 7.87708899e+02] [ 2.88889035e-02 9.99582436e-01 6.21067044e-04 -6.00156857e+01] [ 1.66942475e-02 -1.10371949e-03 9.99860032e-01 3.16300082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6707140569999 meters Centerline goodness [0,1] 0.981125348189415 Centerline is valid? [True, True] Translation: X:787.74, Y:-60.01, Z:3.16 [[ 9.99520102e-01 -2.64836661e-02 -1.60680284e-02 7.87738793e+02] [ 2.64966772e-02 9.99648723e-01 5.97362282e-04 -6.00144861e+01] [ 1.60465638e-02 -1.02282497e-03 9.99870722e-01 3.16247552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7007140569999 meters Centerline goodness [0,1] 0.9813197150920575 Centerline is valid? [True, True] Translation: X:787.77, Y:-60.02, Z:3.16 [[ 9.99517866e-01 -2.60784415e-02 -1.68508315e-02 7.87769654e+02] [ 2.60927003e-02 9.99659331e-01 6.26836845e-04 -6.00151124e+01] [ 1.68287440e-02 -1.06621832e-03 9.99857818e-01 3.16146389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7307140569999 meters Centerline goodness [0,1] 0.9836791271686639 Centerline is valid? [True, True] Translation: X:787.80, Y:-60.01, Z:3.16 [[ 9.99498404e-01 -2.65775775e-02 -1.72212931e-02 7.87801271e+02] [ 2.65925574e-02 9.99646150e-01 6.41393063e-04 -6.00092698e+01] [ 1.71981527e-02 -1.09902957e-03 9.99851497e-01 3.16182815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.760714057 meters Centerline goodness [0,1] 0.9826168141199484 Centerline is valid? [True, True] Translation: X:787.83, Y:-60.02, Z:3.16 [[ 9.99472481e-01 -2.70717086e-02 -1.79410626e-02 7.87830995e+02] [ 2.70880553e-02 9.99632828e-01 6.68704005e-04 -6.00165833e+01] [ 1.79163722e-02 -1.15433975e-03 9.99838823e-01 3.16072028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.790714057 meters Centerline goodness [0,1] 0.9816715213981627 Centerline is valid? [True, True] Translation: X:787.86, Y:-60.02, Z:3.16 [[ 9.99447773e-01 -2.76838171e-02 -1.83781405e-02 7.87861637e+02] [ 2.77010841e-02 9.99616016e-01 6.85586903e-04 -6.00187841e+01] [ 1.83521039e-02 -1.19430272e-03 9.99830873e-01 3.16027302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8207140569999 meters Centerline goodness [0,1] 0.9809037116729424 Centerline is valid? [True, True] Translation: X:787.89, Y:-60.02, Z:3.16 [[ 9.99389838e-01 -2.91969383e-02 -1.91700649e-02 7.87892334e+02] [ 2.92160150e-02 9.99572865e-01 7.15766083e-04 -6.00202395e+01] [ 1.91409785e-02 -1.27540225e-03 9.99815981e-01 3.15915899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8507140569999 meters Centerline goodness [0,1] 0.9813794795174274 Centerline is valid? [True, True] Translation: X:787.92, Y:-60.02, Z:3.16 [[ 9.99389514e-01 -2.90970317e-02 -1.93380745e-02 7.87922633e+02] [ 2.91164393e-02 9.99575765e-01 7.22740409e-04 -6.00228443e+01] [ 1.93088410e-02 -1.28535506e-03 9.99812741e-01 3.15890061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.880714057 meters Centerline goodness [0,1] 0.9838546922300706 Centerline is valid? [True, True] Translation: X:787.95, Y:-60.01, Z:3.16 [[ 9.99369887e-01 -2.97722692e-02 -1.93246331e-02 7.87954421e+02] [ 2.97917925e-02 9.99555864e-01 7.23118264e-04 -6.00119480e+01] [ 1.92945215e-02 -1.29837808e-03 9.99813000e-01 3.16102038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.910714057 meters Centerline goodness [0,1] 0.9829228833363293 Centerline is valid? [True, True] Translation: X:787.99, Y:-60.01, Z:3.16 [[ 9.99406771e-01 -2.91963162e-02 -1.82669479e-02 7.87985426e+02] [ 2.92136762e-02 9.99572955e-01 6.84174304e-04 -6.00111886e+01] [ 1.82391718e-02 -1.21741313e-03 9.99832911e-01 3.16266040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9407140569999 meters Centerline goodness [0,1] 0.9822701394181199 Centerline is valid? [True, True] Translation: X:788.02, Y:-60.01, Z:3.16 [[ 9.99435268e-01 -2.88480483e-02 -1.72317938e-02 7.88016505e+02] [ 2.88634573e-02 9.99583155e-01 6.46132993e-04 -6.00134523e+01] [ 1.72059712e-02 -1.14313725e-03 9.99851313e-01 3.16342806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9707140569999 meters Centerline goodness [0,1] 0.9828758668671589 Centerline is valid? [True, True] Translation: X:788.05, Y:-60.01, Z:3.16 [[ 9.99478667e-01 -2.82776934e-02 -1.55809377e-02 7.88047840e+02] [ 2.82902324e-02 9.99599580e-01 5.84904948e-04 -6.00115099e+01] [ 1.55581590e-02 -1.02538837e-03 9.99878439e-01 3.16493823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.000714057 meters Centerline goodness [0,1] 0.9824913245301726 Centerline is valid? [True, True] Translation: X:788.08, Y:-60.01, Z:3.17 [[ 9.99481583e-01 -2.84520566e-02 -1.50680332e-02 7.88080310e+02] [ 2.84638141e-02 9.99594663e-01 5.66364148e-04 -6.00122999e+01] [ 1.50458114e-02 -9.94964232e-04 9.99886310e-01 3.16547541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.030714057 meters Centerline goodness [0,1] 0.9828071201926323 Centerline is valid? [True, True] Translation: X:788.11, Y:-60.01, Z:3.17 [[ 9.99482076e-01 -2.87035214e-02 -1.45494796e-02 7.88111476e+02] [ 2.87145232e-02 9.99587503e-01 5.47788937e-04 -6.00149058e+01] [ 1.45277545e-02 -9.65286594e-04 9.99894001e-01 3.16598385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0607140569999 meters Centerline goodness [0,1] 0.9817319791479417 Centerline is valid? [True, True] Translation: X:788.14, Y:-60.02, Z:3.17 [[ 9.99459492e-01 -2.97264622e-02 -1.40378836e-02 7.88142767e+02] [ 2.97368144e-02 9.99557623e-01 5.29245139e-04 -6.00165498e+01] [ 1.40159410e-02 -9.46401016e-04 9.99901324e-01 3.16721763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0907140569999 meters Centerline goodness [0,1] 0.9829455613282132 Centerline is valid? [True, True] Translation: X:788.18, Y:-60.01, Z:3.17 [[ 9.99426845e-01 -3.06953692e-02 -1.42750106e-02 7.88175243e+02] [ 3.07061845e-02 9.99528309e-01 5.39025270e-04 -6.00120022e+01] [ 1.42517316e-02 -9.77047434e-04 9.99897962e-01 3.16842845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.120714057 meters Centerline goodness [0,1] 0.9814564158094207 Centerline is valid? [True, True] Translation: X:788.20, Y:-60.02, Z:3.17 [[ 9.99347880e-01 -3.30088834e-02 -1.46365119e-02 7.88204663e+02] [ 3.30205106e-02 9.99454521e-01 5.53378630e-04 -6.00189720e+01] [ 1.46102615e-02 -1.03632286e-03 9.99892727e-01 3.16762787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.150714057 meters Centerline goodness [0,1] 0.981055145071184 Centerline is valid? [True, True] Translation: X:788.24, Y:-60.02, Z:3.17 [[ 9.99304980e-01 -3.41808766e-02 -1.48736468e-02 7.88237225e+02] [ 3.41930183e-02 9.99415089e-01 5.62711247e-04 -6.00185180e+01] [ 1.48457131e-02 -1.07089503e-03 9.99889223e-01 3.16729741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1807140569999 meters Centerline goodness [0,1] 0.9814054249221466 Centerline is valid? [True, True] Translation: X:788.27, Y:-60.02, Z:3.17 [[ 9.99267344e-01 -3.52552795e-02 -1.48943259e-02 7.88269071e+02] [ 3.52675891e-02 9.99377746e-01 5.64530646e-04 -6.00207144e+01] [ 1.48651552e-02 -1.08940401e-03 9.99888914e-01 3.16721256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2107140569999 meters Centerline goodness [0,1] 0.9795313762456235 Centerline is valid? [True, True] Translation: X:788.30, Y:-60.03, Z:3.17 [[ 9.99177800e-01 -3.73927695e-02 -1.56685760e-02 7.88298684e+02] [ 3.74066718e-02 9.99299948e-01 5.95042112e-04 -6.00255147e+01] [ 1.56353569e-02 -1.18066215e-03 9.99877063e-01 3.16645107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2407140569999 meters Centerline goodness [0,1] 0.9826967762311909 Centerline is valid? [True, True] Translation: X:788.33, Y:-60.02, Z:3.17 [[ 9.99134490e-01 -3.83681928e-02 -1.60671363e-02 7.88331061e+02] [ 3.83829565e-02 9.99262916e-01 6.11398474e-04 -6.00185119e+01] [ 1.60318352e-02 -1.22757350e-03 9.99870728e-01 3.16707304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.270714057 meters Centerline goodness [0,1] 0.9806222584000361 Centerline is valid? [True, True] Translation: X:788.36, Y:-60.03, Z:3.17 [[ 9.99064205e-01 -4.00687675e-02 -1.62852302e-02 7.88360814e+02] [ 4.00841708e-02 9.99196114e-01 6.20401760e-04 -6.00261980e+01] [ 1.62472800e-02 -1.27260114e-03 9.99867194e-01 3.16647849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3007140569999 meters Centerline goodness [0,1] 0.9778420256138053 Centerline is valid? [True, True] Translation: X:788.39, Y:-60.03, Z:3.17 [[ 9.99045178e-01 -4.06514963e-02 -1.60059099e-02 7.88391256e+02] [ 4.06664623e-02 9.99172591e-01 6.10531171e-04 -6.00321886e+01] [ 1.59678474e-02 -1.26085195e-03 9.99871711e-01 3.16638406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3307140569999 meters Centerline goodness [0,1] 0.9818928926216924 Centerline is valid? [True, True] Translation: X:788.42, Y:-60.02, Z:3.17 [[ 9.99059406e-01 -4.05217453e-02 -1.54366662e-02 7.88423564e+02] [ 4.05356737e-02 9.99177917e-01 5.90353147e-04 -6.00237892e+01] [ 1.54000538e-02 -1.21553353e-03 9.99880673e-01 3.16795748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3607140569999 meters Centerline goodness [0,1] 0.976703276876931 Centerline is valid? [True, True] Translation: X:788.45, Y:-60.04, Z:3.17 [[ 9.99060715e-01 -4.08049085e-02 -1.45824170e-02 7.88454534e+02] [ 4.08173812e-02 9.99166467e-01 5.58605991e-04 -6.00377942e+01] [ 1.45474682e-02 -1.15329738e-03 9.99893515e-01 3.16871919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.390714057 meters Centerline goodness [0,1] 0.9771629733267139 Centerline is valid? [True, True] Translation: X:788.49, Y:-60.04, Z:3.17 [[ 9.99064824e-01 -4.07660869e-02 -1.44084886e-02 7.88486430e+02] [ 4.07782717e-02 9.99168067e-01 5.52771631e-04 -6.00372982e+01] [ 1.43739674e-02 -1.13980795e-03 9.99896040e-01 3.16972215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4207140569999 meters Centerline goodness [0,1] 0.9817307258028093 Centerline is valid? [True, True] Translation: X:788.52, Y:-60.03, Z:3.17 [[ 9.99091890e-01 -4.02071637e-02 -1.40989446e-02 7.88519523e+02] [ 4.02187897e-02 9.99190750e-01 5.41923619e-04 -6.00259470e+01] [ 1.40657459e-02 -1.10847398e-03 9.99900458e-01 3.17103514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4507140569999 meters Centerline goodness [0,1] 0.9819823888010838 Centerline is valid? [True, True] Translation: X:788.55, Y:-60.03, Z:3.17 [[ 9.99142209e-01 -3.89505507e-02 -1.40606183e-02 7.88551212e+02] [ 3.89620053e-02 9.99240546e-01 5.41548932e-04 -6.00262679e+01] [ 1.40288463e-02 -1.08891428e-03 9.99900998e-01 3.17138639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4807140569999 meters Centerline goodness [0,1] 0.813528259358345 Centerline is valid? [True, False] Translation: X:788.60, Y:-60.03, Z:3.17 [[ 9.99130241e-01 -3.94405836e-02 -1.35352304e-02 7.88601775e+02] [ 3.94287303e-02 9.99221733e-01 -1.14157323e-03 -6.00262984e+01] [ 1.35697207e-02 6.06903382e-04 9.99907743e-01 3.17207954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.510714057 meters Centerline goodness [0,1] 0.9821815718157182 Centerline is valid? [False, True] Translation: X:788.54, Y:-60.03, Z:3.17 [[ 9.99383245e-01 -3.29988537e-02 -1.20085111e-02 7.88535354e+02] [ 3.30047872e-02 9.99455150e-01 2.96216099e-04 -6.00268311e+01] [ 1.19921934e-02 -6.92371759e-04 9.99927851e-01 3.16805582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.540714057 meters Centerline goodness [0,1] 0.9819004524886877 Centerline is valid? [True, True] Translation: X:788.57, Y:-60.03, Z:3.17 [[ 9.99399140e-01 -3.23033797e-02 -1.25638857e-02 7.88566363e+02] [ 3.23124652e-02 9.99477680e-01 5.20776177e-04 -6.00285610e+01] [ 1.25405005e-02 -9.26433384e-04 9.99920936e-01 3.16806138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5707140569999 meters Centerline goodness [0,1] 0.9817799103707392 Centerline is valid? [True, True] Translation: X:788.60, Y:-60.03, Z:3.17 [[ 9.99433177e-01 -3.11931782e-02 -1.26613814e-02 7.88598749e+02] [ 3.12023264e-02 9.99512951e-01 5.25587331e-04 -6.00294902e+01] [ 1.26388199e-02 -9.20353971e-04 9.99919703e-01 3.16823169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6007140569999 meters Centerline goodness [0,1] 0.9830062989985046 Centerline is valid? [True, True] Translation: X:788.63, Y:-60.03, Z:3.17 [[ 9.99482162e-01 -2.93871102e-02 -1.31074252e-02 7.88629947e+02] [ 2.93967694e-02 9.99567673e-01 5.44821658e-04 -6.00294826e+01] [ 1.30857478e-02 -9.29855486e-04 9.99913946e-01 3.16819797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.630714057 meters Centerline goodness [0,1] 0.9829106321252918 Centerline is valid? [True, True] Translation: X:788.66, Y:-60.03, Z:3.17 [[ 9.99517339e-01 -2.81189295e-02 -1.32065901e-02 7.88660436e+02] [ 2.81286299e-02 9.99604161e-01 5.49296553e-04 -6.00319568e+01] [ 1.31859168e-02 -9.20514714e-04 9.99912638e-01 3.16801569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.660714057 meters Centerline goodness [0,1] 0.9378986590320612 Centerline is valid? [True, False] Translation: X:788.72, Y:-60.03, Z:3.17 [[ 9.99559934e-01 -2.73831952e-02 -1.14060835e-02 7.88718408e+02] [ 2.73429463e-02 9.99619375e-01 -3.66987881e-03 -6.00299729e+01] [ 1.15022351e-02 3.35638790e-03 9.99928214e-01 3.16822690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6907140569999 meters Centerline goodness [0,1] 0.9839983704139601 Centerline is valid? [False, True] Translation: X:788.63, Y:-60.03, Z:3.17 [[ 9.99764175e-01 -2.01203673e-02 -8.17096642e-03 7.88634068e+02] [ 2.00707562e-02 9.99779899e-01 -6.10891893e-03 -6.00284662e+01] [ 8.29208168e-03 5.94348082e-03 9.99947957e-01 3.16575386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7207140569999 meters Centerline goodness [0,1] 0.9850482132728304 Centerline is valid? [True, True] Translation: X:788.67, Y:-60.02, Z:3.16 [[ 9.99812561e-01 -1.78167961e-02 -7.57664877e-03 7.88665790e+02] [ 1.78198243e-02 9.99841159e-01 3.32348651e-04 -6.00230975e+01] [ 7.56952390e-03 -4.67300906e-04 9.99971242e-01 3.16452629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.750714057 meters Centerline goodness [0,1] 0.9840258478501548 Centerline is valid? [True, True] Translation: X:788.69, Y:-60.03, Z:3.17 [[ 9.99890975e-01 -1.26648657e-02 -7.59203269e-03 7.88694966e+02] [ 1.26677582e-02 9.99919705e-01 3.33017749e-04 -6.00278996e+01] [ 7.58720546e-03 -4.29155476e-04 9.99971125e-01 3.16504966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.780714057 meters Centerline goodness [0,1] 0.9840603269213402 Centerline is valid? [True, True] Translation: X:788.73, Y:-60.03, Z:3.17 [[ 9.99920470e-01 -1.02332762e-02 -7.37119914e-03 7.88725560e+02] [ 1.02359367e-02 9.99947559e-01 3.23290715e-04 -6.00273984e+01] [ 7.36750426e-03 -3.98716132e-04 9.99972780e-01 3.16516114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8107140569999 meters Centerline goodness [0,1] 0.9855098796275267 Centerline is valid? [True, True] Translation: X:788.76, Y:-60.03, Z:3.17 [[ 9.99949210e-01 -7.09170846e-03 -7.16140113e-03 7.88755019e+02] [ 7.09413873e-03 9.99974787e-01 3.14010721e-04 -6.00272945e+01] [ 7.15899370e-03 -3.64798745e-04 9.99974308e-01 3.16564531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8407140569999 meters Centerline goodness [0,1] 0.9872384794976993 Centerline is valid? [True, True] Translation: X:788.79, Y:-60.02, Z:3.17 [[ 9.99958241e-01 -5.94590487e-03 -6.93995936e-03 7.88785862e+02] [ 5.94815938e-03 9.99982263e-01 3.04263366e-04 -6.00202379e+01] [ 6.93802715e-03 -3.45530644e-04 9.99975872e-01 3.16588935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.870714057 meters Centerline goodness [0,1] 0.9849532330215535 Centerline is valid? [True, True] Translation: X:788.81, Y:-60.03, Z:3.17 [[ 9.99960491e-01 -5.41940544e-03 -7.04608563e-03 7.88814610e+02] [ 5.42171581e-03 9.99985255e-01 3.08833546e-04 -6.00303295e+01] [ 7.04430804e-03 -3.47023218e-04 9.99975128e-01 3.16518189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.900714057 meters Centerline goodness [0,1] 0.9868671747414263 Centerline is valid? [True, True] Translation: X:788.85, Y:-60.02, Z:3.17 [[ 9.99960878e-01 -4.87878414e-03 -7.37829501e-03 7.88845034e+02] [ 4.88130185e-03 9.99988034e-01 3.23262506e-04 -6.00239682e+01] [ 7.37662960e-03 -3.59265544e-04 9.99972728e-01 3.16556617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9307140569999 meters Centerline goodness [0,1] 0.9854400612102527 Centerline is valid? [True, True] Translation: X:788.87, Y:-60.03, Z:3.16 [[ 9.99958765e-01 -4.93383771e-03 -7.62406581e-03 7.88873348e+02] [ 4.93652512e-03 9.99987760e-01 3.33711839e-04 -6.00279286e+01] [ 7.62232601e-03 -3.71334470e-04 9.99970881e-01 3.16498710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9607140569999 meters Centerline goodness [0,1] 0.9870562633177676 Centerline is valid? [True, True] Translation: X:788.90, Y:-60.03, Z:3.16 [[ 9.99945095e-01 -6.08390180e-03 -8.53191209e-03 7.88902666e+02] [ 6.08730511e-03 9.99981403e-01 3.72979132e-04 -6.00272119e+01] [ 8.52948425e-03 -4.24895006e-04 9.99963533e-01 3.16490475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9907140569999 meters Centerline goodness [0,1] 0.9857330198064574 Centerline is valid? [True, True] Translation: X:788.93, Y:-60.03, Z:3.16 [[ 9.99936082e-01 -7.27611691e-03 -8.65389052e-03 7.88931398e+02] [ 7.27965875e-03 9.99973432e-01 3.77847635e-04 -6.00323012e+01] [ 8.65091134e-03 -4.40820854e-04 9.99962483e-01 3.16474285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.020714057 meters Centerline goodness [0,1] 0.9867666320401066 Centerline is valid? [True, True] Translation: X:788.96, Y:-60.03, Z:3.16 [[ 9.99919625e-01 -8.89393449e-03 -9.03562102e-03 7.88961088e+02] [ 8.89785826e-03 9.99960336e-01 3.94147701e-04 -6.00343218e+01] [ 9.03175710e-03 -4.74513696e-04 9.99959100e-01 3.16488003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0507140569999 meters Centerline goodness [0,1] 0.9865685455653627 Centerline is valid? [True, True] Translation: X:788.99, Y:-60.04, Z:3.17 [[ 9.99894259e-01 -1.18318655e-02 -8.45439805e-03 7.88991429e+02] [ 1.18354047e-02 9.99929891e-01 3.68715586e-04 -6.00391882e+01] [ 8.44944272e-03 -4.68737820e-04 9.99964193e-01 3.16550233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0807140569999 meters Centerline goodness [0,1] 0.9862687372182394 Centerline is valid? [True, True] Translation: X:789.02, Y:-60.04, Z:3.17 [[ 9.99884184e-01 -1.28957930e-02 -8.08184334e-03 7.89021499e+02] [ 1.28990627e-02 9.99916741e-01 3.52568364e-04 -6.00435201e+01] [ 8.07662381e-03 -4.56775735e-04 9.99967279e-01 3.16557468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1107140569999 meters Centerline goodness [0,1] 0.985314323039845 Centerline is valid? [True, True] Translation: X:789.05, Y:-60.04, Z:3.17 [[ 9.99868462e-01 -1.39308176e-02 -8.30602467e-03 7.89053265e+02] [ 1.39343097e-02 9.99902847e-01 3.62708548e-04 -6.00448454e+01] [ 8.30016489e-03 -4.78399558e-04 9.99965439e-01 3.16595707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.140714057 meters Centerline goodness [0,1] 0.9744778109326392 Centerline is valid? [True, True] Translation: X:789.08, Y:-60.08, Z:3.16 [[ 9.99900260e-01 -1.21732437e-02 -7.16116282e-03 7.89082867e+02] [ 1.21757966e-02 9.99925823e-01 3.12993577e-04 -6.00762147e+01] [ 7.15682148e-03 -4.00155220e-04 9.99974310e-01 3.16355423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1707140569999 meters Centerline goodness [0,1] 0.9851630043227666 Centerline is valid? [True, True] Translation: X:789.11, Y:-60.05, Z:3.17 [[ 9.99857284e-01 -1.46006441e-02 -8.49901525e-03 7.89114880e+02] [ 1.46043291e-02 9.99893282e-01 3.71673300e-04 -6.00526008e+01] [ 8.49268158e-03 -4.95742672e-04 9.99963814e-01 3.16539537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2007140569999 meters Centerline goodness [0,1] 0.9852051714446318 Centerline is valid? [True, True] Translation: X:789.15, Y:-60.05, Z:3.17 [[ 9.99874663e-01 -1.31596081e-02 -8.80243155e-03 7.89146442e+02] [ 1.31635077e-02 9.99913283e-01 3.85221918e-04 -6.00489297e+01] [ 8.79659887e-03 -5.01044511e-04 9.99961184e-01 3.16615592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2307140569999 meters Centerline goodness [0,1] 0.9844588676533339 Centerline is valid? [True, True] Translation: X:789.18, Y:-60.05, Z:3.17 [[ 9.99882144e-01 -1.23834423e-02 -9.07460423e-03 7.89177681e+02] [ 1.23875591e-02 9.99923192e-01 3.97589735e-04 -6.00538073e+01] [ 9.06898370e-03 -5.09955073e-04 9.99958746e-01 3.16584729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.260714057 meters Centerline goodness [0,1] 0.9859079077282111 Centerline is valid? [True, True] Translation: X:789.21, Y:-60.05, Z:3.17 [[ 9.99897528e-01 -1.11700257e-02 -8.95339929e-03 7.89209120e+02] [ 1.11739880e-02 9.99937492e-01 3.92644688e-04 -6.00536417e+01] [ 8.94845378e-03 -4.92649629e-04 9.99959840e-01 3.16611359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.290714057 meters Centerline goodness [0,1] 0.9846098541867937 Centerline is valid? [True, True] Translation: X:789.24, Y:-60.06, Z:3.17 [[ 9.99910542e-01 -9.67012177e-03 -9.24099429e-03 7.89239428e+02] [ 9.67428450e-03 9.99953121e-01 4.05868041e-04 -6.00573234e+01] [ 9.23663628e-03 -4.95231741e-04 9.99957219e-01 3.16595280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3207140569999 meters Centerline goodness [0,1] 0.9854919487052799 Centerline is valid? [True, True] Translation: X:789.27, Y:-60.06, Z:3.17 [[ 9.99920479e-01 -8.71445118e-03 -9.11558381e-03 7.89269572e+02] [ 8.71846263e-03 9.99961913e-01 4.00418963e-04 -6.00596497e+01] [ 9.11174720e-03 -4.79860998e-04 9.99958372e-01 3.16615407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3507140569999 meters Centerline goodness [0,1] 0.9857717638067837 Centerline is valid? [True, True] Translation: X:789.30, Y:-60.06, Z:3.17 [[ 9.99937000e-01 -7.25489444e-03 -8.56523827e-03 7.89298738e+02] [ 7.25838146e-03 9.99973587e-01 3.76096587e-04 -6.00630888e+01] [ 8.56228350e-03 -4.38242659e-04 9.99963247e-01 3.16590927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.380714057 meters Centerline goodness [0,1] 0.9851480699231564 Centerline is valid? [True, True] Translation: X:789.33, Y:-60.06, Z:3.17 [[ 9.99940028e-01 -6.57583972e-03 -8.75783066e-03 7.89328079e+02] [ 6.57945698e-03 9.99978281e-01 3.84283635e-04 -6.00631544e+01] [ 8.75511346e-03 -4.41882359e-04 9.99961576e-01 3.16575100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.410714057 meters Centerline goodness [0,1] 0.9854476360791327 Centerline is valid? [True, True] Translation: X:789.36, Y:-60.07, Z:3.17 [[ 9.99946299e-01 -5.97243852e-03 -8.46931610e-03 7.89357188e+02] [ 5.97579726e-03 9.99982076e-01 3.71327103e-04 -6.00659193e+01] [ 8.46694656e-03 -4.21918079e-04 9.99964066e-01 3.16522062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4407140569999 meters Centerline goodness [0,1] 0.9862657674814599 Centerline is valid? [True, True] Translation: X:789.39, Y:-60.07, Z:3.16 [[ 9.99942780e-01 -5.69958705e-03 -9.05269389e-03 7.89387173e+02] [ 5.70341034e-03 9.99983657e-01 3.96577098e-04 -6.00680766e+01] [ 9.05028561e-03 -4.48185634e-04 9.99958945e-01 3.16461626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4707140569999 meters Centerline goodness [0,1] 0.9862583078857553 Centerline is valid? [True, True] Translation: X:789.42, Y:-60.07, Z:3.16 [[ 9.99940086e-01 -6.35330252e-03 -8.91405069e-03 7.89415810e+02] [ 6.35702014e-03 9.99979718e-01 3.88779079e-04 -6.00696569e+01] [ 8.91139987e-03 -4.45422585e-04 9.99960193e-01 3.16483082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.500714057 meters Centerline goodness [0,1] 0.9847644503842299 Centerline is valid? [True, True] Translation: X:789.44, Y:-60.08, Z:3.16 [[ 9.99924685e-01 -7.87213145e-03 -9.41566617e-03 7.89444539e+02] [ 7.87633815e-03 9.99968897e-01 4.09778263e-04 -6.00760611e+01] [ 9.41214748e-03 -4.83908371e-04 9.99955588e-01 3.16445279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.530714057 meters Centerline goodness [0,1] 0.9847644503842299 Centerline is valid? [True, True] Translation: X:789.47, Y:-60.08, Z:3.16 [[ 9.99924409e-01 -7.90707370e-03 -9.41568053e-03 7.89473705e+02] [ 7.91127884e-03 9.99968622e-01 4.09447963e-04 -6.00772994e+01] [ 9.41214755e-03 -4.83907086e-04 9.99955588e-01 3.16452208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5607140569999 meters Centerline goodness [0,1] 0.9849085331721189 Centerline is valid? [True, True] Translation: X:789.50, Y:-60.08, Z:3.16 [[ 9.99913782e-01 -9.36903865e-03 -9.20050891e-03 7.89502550e+02] [ 9.37311609e-03 9.99955991e-01 4.00155508e-04 -6.00829965e+01] [ 9.19635493e-03 -4.86358446e-04 9.99957594e-01 3.16396138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5907140569999 meters Centerline goodness [0,1] 0.9841724686023865 Centerline is valid? [True, True] Translation: X:789.53, Y:-60.08, Z:3.16 [[ 9.99894778e-01 -1.10944415e-02 -9.34592658e-03 7.89533113e+02] [ 1.10987245e-02 9.99938325e-01 4.06531420e-04 -6.00844116e+01] [ 9.34083993e-03 -5.10216508e-04 9.99956243e-01 3.16449579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.620714057 meters Centerline goodness [0,1] 0.9848697551084075 Centerline is valid? [True, True] Translation: X:789.56, Y:-60.09, Z:3.16 [[ 9.99833369e-01 -1.57931585e-02 -9.15475683e-03 7.89562731e+02] [ 1.57974655e-02 9.99875133e-01 3.98338338e-04 -6.00943214e+01] [ 9.14732268e-03 -5.42893917e-04 9.99958015e-01 3.16387463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.650714057 meters Centerline goodness [0,1] 0.9821237517831669 Centerline is valid? [True, True] Translation: X:789.59, Y:-60.10, Z:3.16 [[ 9.99777989e-01 -1.87182406e-02 -9.67472140e-03 7.89592187e+02] [ 1.87231877e-02 9.99824617e-01 4.21008053e-04 -6.01022306e+01] [ 9.66514409e-03 -6.02056209e-04 9.99953110e-01 3.16372767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6807140569999 meters Centerline goodness [0,1] 0.9831764470258362 Centerline is valid? [True, True] Translation: X:789.62, Y:-60.10, Z:3.16 [[ 9.99665556e-01 -2.39945877e-02 -9.64552744e-03 7.89622755e+02] [ 2.39997497e-02 9.99711876e-01 4.19758189e-04 -6.01019527e+01] [ 9.63267641e-03 -6.51108047e-04 9.99953393e-01 3.16477615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7107140569999 meters Centerline goodness [0,1] 0.9833732907121293 Centerline is valid? [True, True] Translation: X:789.65, Y:-60.11, Z:3.17 [[ 9.99615649e-01 -2.60530621e-02 -9.47588053e-03 7.89654120e+02] [ 2.60581385e-02 9.99660344e-01 4.12633155e-04 -6.01063870e+01] [ 9.46191164e-03 -6.59398367e-04 9.99955018e-01 3.16505429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7407140569999 meters Centerline goodness [0,1] 0.9835828532022335 Centerline is valid? [True, True] Translation: X:789.69, Y:-60.11, Z:3.17 [[ 9.99568296e-01 -2.77421002e-02 -9.67456227e-03 7.89685480e+02] [ 2.77474739e-02 9.99614876e-01 4.21636220e-04 -6.01062331e+01] [ 9.65913929e-03 -6.89898862e-04 9.99953111e-01 3.16530176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.770714057 meters Centerline goodness [0,1] 0.9826690928457306 Centerline is valid? [True, True] Translation: X:789.72, Y:-60.11, Z:3.17 [[ 9.99478710e-01 -3.08700356e-02 -9.45243137e-03 7.89716102e+02] [ 3.08753065e-02 9.99523159e-01 4.12165168e-04 -6.01117568e+01] [ 9.43520051e-03 -7.03797026e-04 9.99955240e-01 3.16553459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8007140569999 meters Centerline goodness [0,1] 0.9823210532138511 Centerline is valid? [True, True] Translation: X:789.75, Y:-60.12, Z:3.17 [[ 9.99445917e-01 -3.20138357e-02 -9.10899796e-03 7.89746574e+02] [ 3.20187803e-02 9.99487188e-01 3.97475682e-04 -6.01208841e+01] [ 9.09160204e-03 -6.88914451e-04 9.99958433e-01 3.16535309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8307140569999 meters Centerline goodness [0,1] 0.9827735476280329 Centerline is valid? [True, True] Translation: X:789.78, Y:-60.12, Z:3.17 [[ 9.99370228e-01 -3.42146618e-02 -9.40769540e-03 7.89777944e+02] [ 3.42200362e-02 9.99414239e-01 4.10852769e-04 -6.01201263e+01] [ 9.38812754e-03 -7.32525703e-04 9.99955662e-01 3.16570965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8607140569999 meters Centerline goodness [0,1] 0.9815330240777557 Centerline is valid? [True, True] Translation: X:789.81, Y:-60.13, Z:3.17 [[ 9.99338393e-01 -3.50326182e-02 -9.77199222e-03 7.89808666e+02] [ 3.50384605e-02 9.99385873e-01 4.27252260e-04 -6.01261775e+01] [ 9.75102322e-03 -7.69365150e-04 9.99952162e-01 3.16546308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.890714057 meters Centerline goodness [0,1] 0.9810421286031042 Centerline is valid? [True, True] Translation: X:789.84, Y:-60.13, Z:3.17 [[ 9.99308733e-01 -3.56796542e-02 -1.04412062e-02 7.89839366e+02] [ 3.56863710e-02 9.99362934e-01 4.57636971e-04 -6.01301221e+01] [ 1.04182261e-02 -8.29929380e-04 9.99945384e-01 3.16521320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9207140569999 meters Centerline goodness [0,1] 0.9816471211820049 Centerline is valid? [True, True] Translation: X:789.87, Y:-60.13, Z:3.17 [[ 9.99238531e-01 -3.73808537e-02 -1.11816409e-02 7.89870307e+02] [ 3.73886680e-02 9.99300679e-01 4.90555514e-04 -6.01319138e+01] [ 1.11554839e-02 -9.08248630e-04 9.99937363e-01 3.16512235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9507140569999 meters Centerline goodness [0,1] 0.981301388029352 Centerline is valid? [True, True] Translation: X:789.90, Y:-60.13, Z:3.17 [[ 9.99235743e-01 -3.75090799e-02 -1.09999858e-02 7.89902683e+02] [ 3.75166572e-02 9.99295886e-01 4.83235513e-04 -6.01333951e+01] [ 1.09741148e-02 -8.95548893e-04 9.99939382e-01 3.16518776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9807140569999 meters Centerline goodness [0,1] 0.981511040170258 Centerline is valid? [True, True] Translation: X:789.93, Y:-60.14, Z:3.17 [[ 9.99213963e-01 -3.79024205e-02 -1.16130120e-02 7.89933999e+02] [ 3.79109000e-02 9.99280993e-01 5.10828555e-04 -6.01359748e+01] [ 1.15853005e-02 -9.50686759e-04 9.99932436e-01 3.16561353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.010714057 meters Centerline goodness [0,1] 0.9833551275515858 Centerline is valid? [True, True] Translation: X:789.97, Y:-60.13, Z:3.17 [[ 9.99224857e-01 -3.77132995e-02 -1.12868315e-02 7.89966291e+02] [ 3.77213059e-02 9.99288175e-01 4.97242568e-04 -6.01323180e+01] [ 1.12600446e-02 -9.22611158e-04 9.99936178e-01 3.16680486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.040714057 meters Centerline goodness [0,1] 0.9836560667969444 Centerline is valid? [True, True] Translation: X:790.00, Y:-60.13, Z:3.17 [[ 9.99231925e-01 -3.75497967e-02 -1.12059675e-02 7.89998768e+02] [ 3.75576878e-02 9.99294339e-01 4.94499316e-04 -6.01299095e+01] [ 1.11794915e-02 -9.14989731e-04 9.99937089e-01 3.16737167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0707140569999 meters Centerline goodness [0,1] 0.9819515447877306 Centerline is valid? [True, True] Translation: X:790.03, Y:-60.14, Z:3.17 [[ 9.99263580e-01 -3.66290734e-02 -1.14283996e-02 7.90029637e+02] [ 3.66372288e-02 9.99328504e-01 5.04990286e-04 -6.01370370e+01] [ 1.14022281e-02 -9.23323292e-04 9.99934566e-01 3.16706297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1007140569999 meters Centerline goodness [0,1] 0.982935077648734 Centerline is valid? [True, True] Translation: X:790.06, Y:-60.13, Z:3.17 [[ 9.99264398e-01 -3.65042071e-02 -1.17518815e-02 7.90062812e+02] [ 3.65128354e-02 9.99333049e-01 5.20416325e-04 -6.01347129e+01] [ 1.17250462e-02 -9.49128020e-04 9.99930809e-01 3.16743260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.130714057 meters Centerline goodness [0,1] 0.9842150833647848 Centerline is valid? [True, True] Translation: X:790.09, Y:-60.13, Z:3.17 [[ 9.99271196e-01 -3.60407619e-02 -1.25753849e-02 7.90094790e+02] [ 3.60506181e-02 9.99349809e-01 5.57891792e-04 -6.01308763e+01] [ 1.25471017e-02 -1.01083560e-03 9.99920771e-01 3.16690671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.160714057 meters Centerline goodness [0,1] 0.984516129032258 Centerline is valid? [True, True] Translation: X:790.13, Y:-60.13, Z:3.17 [[ 9.99258080e-01 -3.61335013e-02 -1.33289393e-02 7.90126688e+02] [ 3.61445953e-02 9.99346395e-01 5.92295940e-04 -6.01315076e+01] [ 1.32988257e-02 -1.07362562e-03 9.99910990e-01 3.16694799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1907140569999 meters Centerline goodness [0,1] 0.9835488185465894 Centerline is valid? [True, True] Translation: X:790.16, Y:-60.13, Z:3.17 [[ 9.99231923e-01 -3.65115913e-02 -1.42291087e-02 7.90157488e+02] [ 3.65242843e-02 9.99332565e-01 6.33118180e-04 -6.01338060e+01] [ 1.41964956e-02 -1.15233991e-03 9.99898561e-01 3.16698131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2207140569999 meters Centerline goodness [0,1] 0.9819130048823791 Centerline is valid? [True, True] Translation: X:790.19, Y:-60.14, Z:3.17 [[ 9.99184341e-01 -3.74562835e-02 -1.50890609e-02 7.90188706e+02] [ 3.74706847e-02 9.99297501e-01 6.72727277e-04 -6.01409910e+01] [ 1.50532629e-02 -1.23757600e-03 9.99885927e-01 3.16590070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.250714057 meters Centerline goodness [0,1] 0.9835243233602354 Centerline is valid? [True, True] Translation: X:790.22, Y:-60.14, Z:3.17 [[ 9.99152197e-01 -3.79787641e-02 -1.58902565e-02 7.90220682e+02] [ 3.79948162e-02 9.99277684e-01 7.09406413e-04 -6.01356088e+01] [ 1.58518364e-02 -1.31255235e-03 9.99873490e-01 3.16705785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.280714057 meters Centerline goodness [0,1] 0.9838220199044941 Centerline is valid? [True, True] Translation: X:790.25, Y:-60.13, Z:3.17 [[ 9.99138829e-01 -3.83232182e-02 -1.59037967e-02 7.90253258e+02] [ 3.83393583e-02 9.99264524e-01 7.11103466e-04 -6.01341092e+01] [ 1.58648480e-02 -1.32023244e-03 9.99873274e-01 3.16870198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3107140569999 meters Centerline goodness [0,1] 0.9840585858134809 Centerline is valid? [True, True] Translation: X:790.29, Y:-60.13, Z:3.17 [[ 9.99130403e-01 -3.85720424e-02 -1.58314623e-02 7.90285451e+02] [ 3.85880849e-02 9.99254951e-01 7.08998957e-04 -6.01343690e+01] [ 1.57923195e-02 -1.31928822e-03 9.99874423e-01 3.16929855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3407140569999 meters Centerline goodness [0,1] 0.9838320139541125 Centerline is valid? [True, True] Translation: X:790.32, Y:-60.13, Z:3.17 [[ 9.99148099e-01 -3.81630179e-02 -1.57054196e-02 7.90317871e+02] [ 3.81787734e-02 9.99270677e-01 7.04477523e-04 -6.01330374e+01] [ 1.56670803e-02 -1.30349103e-03 9.99876414e-01 3.17101371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.370714057 meters Centerline goodness [0,1] 0.9827825541823393 Centerline is valid? [True, True] Translation: X:790.35, Y:-60.14, Z:3.17 [[ 9.99168770e-01 -3.75168387e-02 -1.59453867e-02 7.90349538e+02] [ 3.75330158e-02 9.99295131e-01 7.16380285e-04 -6.01350797e+01] [ 1.59072710e-02 -1.31426326e-03 9.99872608e-01 3.17137785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.400714057 meters Centerline goodness [0,1] 0.9828539451594852 Centerline is valid? [True, True] Translation: X:790.38, Y:-60.13, Z:3.17 [[ 9.99205058e-01 -3.65559878e-02 -1.59032244e-02 7.90382316e+02] [ 3.65719802e-02 9.99330765e-01 7.15846225e-04 -6.01340976e+01] [ 1.58664129e-02 -1.29688958e-03 9.99873279e-01 3.17222539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4307140569999 meters Centerline goodness [0,1] 0.9825465462774181 Centerline is valid? [True, True] Translation: X:790.41, Y:-60.13, Z:3.17 [[ 9.99288839e-01 -3.39888347e-02 -1.63271575e-02 7.90412008e+02] [ 3.40053542e-02 9.99421380e-01 7.35142854e-04 -6.01322524e+01] [ 1.62927237e-02 -1.28983082e-03 9.99866433e-01 3.17292396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4607140569999 meters Centerline goodness [0,1] 0.9836014087982592 Centerline is valid? [True, True] Translation: X:790.44, Y:-60.13, Z:3.17 [[ 9.99322112e-01 -3.28629316e-02 -1.65935187e-02 7.90443396e+02] [ 3.28798485e-02 9.99459032e-01 7.47629320e-04 -6.01322578e+01] [ 1.65599728e-02 -1.29271489e-03 9.99862039e-01 3.17309143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4907140569999 meters Centerline goodness [0,1] 0.9850447532946521 Centerline is valid? [True, True] Translation: X:790.47, Y:-60.12, Z:3.17 [[ 9.99392536e-01 -3.01884861e-02 -1.74130505e-02 7.90474895e+02] [ 3.02067181e-02 9.99543365e-01 7.84908172e-04 -6.01236756e+01] [ 1.73814039e-02 -1.31042248e-03 9.99848073e-01 3.17389016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.520714057 meters Centerline goodness [0,1] 0.9846299255125234 Centerline is valid? [True, True] Translation: X:790.51, Y:-60.12, Z:3.17 [[ 9.99405248e-01 -2.92870062e-02 -1.82050017e-02 7.90506853e+02] [ 2.93068021e-02 9.99570126e-01 8.21496673e-04 -6.01236986e+01] [ 1.81731166e-02 -1.35453847e-03 9.99833938e-01 3.17374426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5507140569999 meters Centerline goodness [0,1] 0.9855402148697042 Centerline is valid? [True, True] Translation: X:790.54, Y:-60.12, Z:3.17 [[ 9.99421284e-01 -2.84007020e-02 -1.87215662e-02 7.90538895e+02] [ 2.84215018e-02 9.99595670e-01 8.45822910e-04 -6.01216229e+01] [ 1.86899745e-02 -1.37742845e-03 9.99824378e-01 3.17377689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5807140569999 meters Centerline goodness [0,1] 0.9850421600287047 Centerline is valid? [True, True] Translation: X:790.57, Y:-60.12, Z:3.17 [[ 9.99445946e-01 -2.69246161e-02 -1.95669786e-02 7.90570586e+02] [ 2.69470707e-02 9.99636470e-01 8.84772685e-04 -6.01201723e+01] [ 1.95360433e-02 -1.41155523e-03 9.99808157e-01 3.17310405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6107140569999 meters Centerline goodness [0,1] 0.9859699064660431 Centerline is valid? [True, True] Translation: X:790.60, Y:-60.12, Z:3.17 [[ 9.99436068e-01 -2.65522164e-02 -2.05554320e-02 7.90602485e+02] [ 2.65769345e-02 9.99646338e-01 9.30215665e-04 -6.01186179e+01] [ 2.05234630e-02 -1.47599145e-03 9.99788282e-01 3.17368713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.640714057 meters Centerline goodness [0,1] 0.9855980526944488 Centerline is valid? [True, True] Translation: X:790.63, Y:-60.12, Z:3.17 [[ 9.99447655e-01 -2.54852023e-02 -2.13281443e-02 7.90632932e+02] [ 2.55115816e-02 9.99674060e-01 9.65612961e-04 -6.01199411e+01] [ 2.12965838e-02 -1.50919430e-03 9.99772063e-01 3.17287589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6707140569999 meters Centerline goodness [0,1] 0.9855566337929633 Centerline is valid? [True, True] Translation: X:790.66, Y:-60.12, Z:3.17 [[ 9.99458152e-01 -2.34677119e-02 -2.30796150e-02 7.90663407e+02] [ 2.34980688e-02 9.99723336e-01 1.04495525e-03 -6.01172217e+01] [ 2.30487070e-02 -1.58671542e-03 9.99733084e-01 3.17266365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7007140569999 meters Centerline goodness [0,1] 0.9871068612344784 Centerline is valid? [True, True] Translation: X:790.69, Y:-60.12, Z:3.17 [[ 9.99483766e-01 -2.19087935e-02 -2.34990566e-02 7.90693576e+02] [ 2.19398048e-02 9.99758729e-01 1.06264765e-03 -6.01165988e+01] [ 2.34701056e-02 -1.57766379e-03 9.99723294e-01 3.17300672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7307140569999 meters Centerline goodness [0,1] 0.987014752872391 Centerline is valid? [True, True] Translation: X:790.72, Y:-60.11, Z:3.17 [[ 9.99539828e-01 -1.87873808e-02 -2.38152479e-02 7.90722502e+02] [ 1.88183290e-02 9.99822341e-01 1.07604492e-03 -6.01136111e+01] [ 2.37908008e-02 -1.52371293e-03 9.99715798e-01 3.17370505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.760714057 meters Centerline goodness [0,1] 0.9875971105356413 Centerline is valid? [True, True] Translation: X:790.75, Y:-60.11, Z:3.18 [[ 9.99576913e-01 -1.73794623e-02 -2.33227076e-02 7.90751702e+02] [ 1.74086473e-02 9.99847908e-01 1.04888828e-03 -6.01118968e+01] [ 2.33009312e-02 -1.45446130e-03 9.99727438e-01 3.17503723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.790714057 meters Centerline goodness [0,1] 0.9872295946191602 Centerline is valid? [True, True] Translation: X:790.78, Y:-60.11, Z:3.18 [[ 9.99622325e-01 -1.55266496e-02 -2.26744399e-02 7.90781538e+02] [ 1.55537310e-02 9.99878515e-01 1.01847959e-03 -6.01096652e+01] [ 2.26558717e-02 -1.37076708e-03 9.99742383e-01 3.17626360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8207140569999 meters Centerline goodness [0,1] 0.9882168996850287 Centerline is valid? [True, True] Translation: X:790.81, Y:-60.11, Z:3.18 [[ 9.99713104e-01 -1.14629141e-02 -2.10312187e-02 7.90810691e+02] [ 1.14853055e-02 9.99933596e-01 9.44194357e-04 -6.01067806e+01] [ 2.10189990e-02 -1.18547344e-03 9.99778374e-01 3.17803223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8507140569999 meters Centerline goodness [0,1] 0.9880288769076122 Centerline is valid? [True, True] Translation: X:790.84, Y:-60.11, Z:3.18 [[ 9.99729621e-01 -1.02089067e-02 -2.08917090e-02 7.90839617e+02] [ 1.02307011e-02 9.99947226e-01 9.36593502e-04 -6.01064678e+01] [ 2.08810449e-02 -1.15007710e-03 9.99781306e-01 3.17791373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.880714057 meters Centerline goodness [0,1] 0.9869966346924292 Centerline is valid? [True, True] Translation: X:790.87, Y:-60.10, Z:3.18 [[ 9.99754623e-01 -8.06753470e-03 -2.06302624e-02 7.90868581e+02] [ 8.08830954e-03 9.99966862e-01 9.23764245e-04 -6.01049789e+01] [ 2.06221262e-02 -1.09040152e-03 9.99786747e-01 3.17802192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.910714057 meters Centerline goodness [0,1] 0.9874174917491749 Centerline is valid? [True, True] Translation: X:790.90, Y:-60.11, Z:3.18 [[ 9.99758539e-01 -7.11544050e-03 -2.07902514e-02 7.90896560e+02] [ 7.13629846e-03 9.99974105e-01 9.29237050e-04 -6.01052329e+01] [ 2.07831011e-02 -1.07737811e-03 9.99783428e-01 3.17778441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9407140569999 meters Centerline goodness [0,1] 0.9874997127691353 Centerline is valid? [True, True] Translation: X:790.93, Y:-60.11, Z:3.18 [[ 9.99752962e-01 -6.98509315e-03 -2.11003337e-02 7.90925291e+02] [ 7.00645087e-03 9.99975014e-01 9.38439076e-04 -6.01050448e+01] [ 2.10932514e-02 -1.08604570e-03 9.99776923e-01 3.17773386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9707140569999 meters Centerline goodness [0,1] 0.9870186664211568 Centerline is valid? [True, True] Translation: X:790.95, Y:-60.11, Z:3.18 [[ 9.99720876e-01 -7.10468850e-03 -2.25320495e-02 7.90953179e+02] [ 7.12902218e-03 9.99974088e-01 9.99815305e-04 -6.01052734e+01] [ 2.25243623e-02 -1.16016771e-03 9.99745621e-01 3.17702560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.000714057 meters Centerline goodness [0,1] 0.9871576524741081 Centerline is valid? [True, True] Translation: X:790.98, Y:-60.11, Z:3.18 [[ 9.99718839e-01 -7.28188655e-03 -2.25658442e-02 7.90981228e+02] [ 7.30629582e-03 9.99972809e-01 9.99432248e-04 -6.01071850e+01] [ 2.25579528e-02 -1.16402398e-03 9.99744859e-01 3.17645896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.030714057 meters Centerline goodness [0,1] 0.9868690824483402 Centerline is valid? [True, True] Translation: X:791.01, Y:-60.11, Z:3.18 [[ 9.99692214e-01 -9.52696372e-03 -2.29066540e-02 7.91009452e+02] [ 9.55266814e-03 9.99953859e-01 1.01297282e-03 -6.01085000e+01] [ 2.28959465e-02 -1.23148070e-03 9.99737095e-01 3.17659589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0607140569999 meters Centerline goodness [0,1] 0.9869279544201434 Centerline is valid? [True, True] Translation: X:791.04, Y:-60.11, Z:3.18 [[ 9.99677836e-01 -1.09999556e-02 -2.28741035e-02 7.91037901e+02] [ 1.10258596e-02 9.99938707e-01 1.00664220e-03 -6.01097902e+01] [ 2.28616285e-02 -1.25852455e-03 9.99737847e-01 3.17681276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0907140569999 meters Centerline goodness [0,1] 0.9863964400175232 Centerline is valid? [True, True] Translation: X:791.07, Y:-60.11, Z:3.18 [[ 9.99643214e-01 -1.30265069e-02 -2.33185350e-02 7.91066712e+02] [ 1.30539400e-02 9.99914269e-01 1.02461441e-03 -6.01127760e+01] [ 2.33031887e-02 -1.32864760e-03 9.99727561e-01 3.17658284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.120714057 meters Centerline goodness [0,1] 0.9861696007363939 Centerline is valid? [True, True] Translation: X:791.10, Y:-60.12, Z:3.18 [[ 9.99602015e-01 -1.63704635e-02 -2.29743437e-02 7.91096665e+02] [ 1.63979623e-02 9.99865035e-01 1.00904068e-03 -6.01154677e+01] [ 2.29547245e-02 -1.38537152e-03 9.99735546e-01 3.17719219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.150714057 meters Centerline goodness [0,1] 0.9859974248137588 Centerline is valid? [True, True] Translation: X:791.13, Y:-60.12, Z:3.18 [[ 9.99579347e-01 -1.77899372e-02 -2.29051719e-02 7.91125685e+02] [ 1.78176180e-02 9.99840749e-01 1.00496430e-03 -6.01173818e+01] [ 2.28836459e-02 -1.41265716e-03 9.99737137e-01 3.17745401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1807140569999 meters Centerline goodness [0,1] 0.98643778013955 Centerline is valid? [True, True] Translation: X:791.16, Y:-60.11, Z:3.18 [[ 9.99555798e-01 -2.01818409e-02 -2.19294423e-02 7.91155965e+02] [ 2.02077687e-02 9.99795340e-01 9.61353953e-04 -6.01089938e+01] [ 2.19055523e-02 -1.40407202e-03 9.99759059e-01 3.18172164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2107140569999 meters Centerline goodness [0,1] 0.9864999190919809 Centerline is valid? [True, True] Translation: X:791.19, Y:-60.11, Z:3.18 [[ 9.99543975e-01 -2.07934325e-02 -2.18969183e-02 7.91185578e+02] [ 2.08194202e-02 9.99782792e-01 9.59500839e-04 -6.01099488e+01] [ 2.18722108e-02 -1.41494443e-03 9.99759773e-01 3.18298668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2407140569999 meters Centerline goodness [0,1] 0.9856468191499212 Centerline is valid? [True, True] Translation: X:791.22, Y:-60.11, Z:3.18 [[ 9.99524475e-01 -2.26813262e-02 -2.08897564e-02 7.91215242e+02] [ 2.27053807e-02 9.99741781e-01 9.15007804e-04 -6.01131468e+01] [ 2.08636087e-02 -1.38888257e-03 9.99781367e-01 3.18393568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.270714057 meters Centerline goodness [0,1] 0.9866722199083715 Centerline is valid? [True, True] Translation: X:791.25, Y:-60.11, Z:3.19 [[ 9.99521106e-01 -2.34820535e-02 -2.01532243e-02 7.91246357e+02] [ 2.35046151e-02 9.99723338e-01 8.83330974e-04 -6.01133314e+01] [ 2.01269062e-02 -1.35660173e-03 9.99796513e-01 3.18508642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3007140569999 meters Centerline goodness [0,1] 0.9857705677867903 Centerline is valid? [True, True] Translation: X:791.28, Y:-60.12, Z:3.19 [[ 9.99495700e-01 -2.44089750e-02 -2.03112507e-02 7.91277940e+02] [ 2.44320969e-02 9.99701095e-01 8.90972239e-04 -6.01153879e+01] [ 2.02834318e-02 -1.38676937e-03 9.99793308e-01 3.18532566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3307140569999 meters Centerline goodness [0,1] 0.9868125766374384 Centerline is valid? [True, True] Translation: X:791.31, Y:-60.11, Z:3.19 [[ 9.99452371e-01 -2.56775132e-02 -2.08715725e-02 7.91309244e+02] [ 2.57022198e-02 9.99669223e-01 9.16313062e-04 -6.01110316e+01] [ 2.08411400e-02 -1.45225701e-03 9.99781745e-01 3.18697758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3607140569999 meters Centerline goodness [0,1] 0.9857225500404952 Centerline is valid? [True, True] Translation: X:791.34, Y:-60.12, Z:3.18 [[ 9.99430723e-01 -2.60777984e-02 -2.14051239e-02 7.91339342e+02] [ 2.61039000e-02 9.99658792e-01 9.40857256e-04 -6.01207522e+01] [ 2.13732848e-02 -1.49907886e-03 9.99770441e-01 3.18432071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.390714057 meters Centerline goodness [0,1] 0.9864338388757479 Centerline is valid? [True, True] Translation: X:791.37, Y:-60.12, Z:3.19 [[ 9.99395153e-01 -2.65941569e-02 -2.24071327e-02 7.91371199e+02] [ 2.66229081e-02 9.99645062e-01 9.85746799e-04 -6.01152033e+01] [ 2.23729644e-02 -1.58169361e-03 9.99748443e-01 3.18552816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4207140569999 meters Centerline goodness [0,1] 0.9864338388757479 Centerline is valid? [True, True] Translation: X:791.40, Y:-60.12, Z:3.19 [[ 9.99396093e-01 -2.65588101e-02 -2.24070978e-02 7.91402100e+02] [ 2.65875702e-02 9.99646001e-01 9.86539361e-04 -6.01165935e+01] [ 2.23729644e-02 -1.58169387e-03 9.99748443e-01 3.18560152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4507140569999 meters Centerline goodness [0,1] 0.9864109639867357 Centerline is valid? [True, True] Translation: X:791.43, Y:-60.12, Z:3.19 [[ 9.99385641e-01 -2.65702662e-02 -2.28552223e-02 7.91433248e+02] [ 2.66002099e-02 9.99645645e-01 1.00707754e-03 -6.01182392e+01] [ 2.28203651e-02 -1.61441255e-03 9.99738278e-01 3.18581022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4807140569999 meters Centerline goodness [0,1] 0.9864202975927946 Centerline is valid? [True, True] Translation: X:791.46, Y:-60.12, Z:3.19 [[ 9.99398807e-01 -2.59272466e-02 -2.30174369e-02 7.91464744e+02] [ 2.59574660e-02 9.99662533e-01 1.01504026e-03 -6.01182279e+01] [ 2.29833520e-02 -1.61190436e-03 9.99734548e-01 3.18591068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.510714057 meters Centerline goodness [0,1] 0.9868815853743633 Centerline is valid? [True, True] Translation: X:791.50, Y:-60.12, Z:3.19 [[ 9.99410430e-01 -2.51008135e-02 -2.34252204e-02 7.91496358e+02] [ 2.51319069e-02 9.99683609e-01 1.03384567e-03 -6.01194371e+01] [ 2.33918585e-02 -1.62195660e-03 9.99725057e-01 3.18539142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.540714057 meters Centerline goodness [0,1] 0.9871384872080089 Centerline is valid? [True, True] Translation: X:791.53, Y:-60.12, Z:3.19 [[ 9.99447021e-01 -2.38862412e-02 -2.31322029e-02 7.91525465e+02] [ 2.39162312e-02 9.99713445e-01 1.02063290e-03 -6.01213885e+01] [ 2.31011951e-02 -1.57330362e-03 9.99731894e-01 3.18534733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5707140569999 meters Centerline goodness [0,1] 0.9856247524521796 Centerline is valid? [True, True] Translation: X:791.55, Y:-60.12, Z:3.19 [[ 9.99518526e-01 -2.17158366e-02 -2.21616365e-02 7.91554916e+02] [ 2.17428226e-02 9.99763119e-01 9.77431049e-04 -6.01233253e+01] [ 2.21351611e-02 -1.45881697e-03 9.99753923e-01 3.18547591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6007140569999 meters Centerline goodness [0,1] 0.9859469001881489 Centerline is valid? [True, True] Translation: X:791.59, Y:-60.12, Z:3.19 [[ 9.99569070e-01 -1.95982024e-02 -2.18537339e-02 7.91585632e+02] [ 1.96239388e-02 9.99806967e-01 9.63811077e-04 -6.01206858e+01] [ 2.18306265e-02 -1.39225208e-03 9.99760714e-01 3.18678202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.630714057 meters Centerline goodness [0,1] 0.9862414154347573 Centerline is valid? [True, True] Translation: X:791.61, Y:-60.12, Z:3.19 [[ 9.99627737e-01 -1.74303295e-02 -2.09897615e-02 7.91614426e+02] [ 1.74535880e-02 9.99847246e-01 9.25392619e-04 -6.01220409e+01] [ 2.09704254e-02 -1.29139478e-03 9.99779262e-01 3.18668348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.660714057 meters Centerline goodness [0,1] 0.9871270705324393 Centerline is valid? [True, True] Translation: X:791.65, Y:-60.11, Z:3.19 [[ 9.99710803e-01 -1.24184334e-02 -2.05935207e-02 7.91645329e+02] [ 1.24397601e-02 9.99922211e-01 9.07822522e-04 -6.01106995e+01] [ 2.05806450e-02 -1.16373844e-03 9.99787519e-01 3.18927381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6907140569999 meters Centerline goodness [0,1] 0.987337031575498 Centerline is valid? [True, True] Translation: X:791.67, Y:-60.11, Z:3.19 [[ 9.99744163e-01 -1.03581030e-02 -2.01076793e-02 7.91673722e+02] [ 1.03780004e-02 9.99945755e-01 8.85447165e-04 -6.01116103e+01] [ 2.00974170e-02 -1.09389814e-03 9.99797428e-01 3.18927280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7207140569999 meters Centerline goodness [0,1] 0.9878117382336395 Centerline is valid? [True, True] Translation: X:791.70, Y:-60.11, Z:3.19 [[ 9.99788149e-01 -5.82006166e-03 -1.97429698e-02 7.91703509e+02] [ 5.83835129e-03 9.99982579e-01 8.68874541e-04 -6.01099393e+01] [ 1.97375690e-02 -9.83956862e-04 9.99804711e-01 3.18982674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.750714057 meters Centerline goodness [0,1] 0.9876966424043203 Centerline is valid? [True, True] Translation: X:791.73, Y:-60.11, Z:3.19 [[ 9.99792770e-01 -3.86608123e-03 -1.99867462e-02 7.91731003e+02] [ 3.88440430e-03 9.99992070e-01 8.78020141e-04 -6.01104556e+01] [ 1.99831932e-02 -9.55474792e-04 9.99799860e-01 3.18988486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.780714057 meters Centerline goodness [0,1] 0.9877461912251462 Centerline is valid? [True, True] Translation: X:791.76, Y:-60.11, Z:3.19 [[ 9.99804638e-01 -5.11489509e-04 -1.97591704e-02 7.91761530e+02] [ 5.28733840e-04 9.99999484e-01 8.67511154e-04 -6.01080415e+01] [ 1.97587164e-02 -8.77789017e-04 9.99804392e-01 3.18991243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8107140569999 meters Centerline goodness [0,1] 0.9885033149950627 Centerline is valid? [True, True] Translation: X:791.79, Y:-60.11, Z:3.19 [[ 9.99795382e-01 5.89408599e-04 -2.02199524e-02 7.91790138e+02] [-5.71665650e-04 9.99999447e-01 8.83265967e-04 -6.01089410e+01] [ 2.02204618e-02 -8.71526183e-04 9.99795166e-01 3.18974140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8407140569999 meters Centerline goodness [0,1] 0.9887674773822113 Centerline is valid? [True, True] Translation: X:791.82, Y:-60.11, Z:3.19 [[ 9.99788475e-01 1.76112317e-03 -2.04915576e-02 7.91817840e+02] [-1.74319071e-03 9.99998082e-01 8.92944238e-04 -6.01124055e+01] [ 2.04930909e-02 -8.57034665e-04 9.99789627e-01 3.18806157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.870714057 meters Centerline goodness [0,1] 0.9887719793799873 Centerline is valid? [True, True] Translation: X:791.85, Y:-60.11, Z:3.19 [[ 9.99756703e-01 2.92539536e-03 -2.18626711e-02 7.91846385e+02] [-2.90537011e-03 9.99995330e-01 9.47663647e-04 -6.01120286e+01] [ 2.18653413e-02 -8.83913933e-04 9.99760534e-01 3.18773503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.900714057 meters Centerline goodness [0,1] 0.9888672287854945 Centerline is valid? [True, True] Translation: X:791.88, Y:-60.11, Z:3.19 [[ 9.99744001e-01 3.32953141e-03 -2.23796016e-02 7.91875085e+02] [-3.30869375e-03 9.99994058e-01 9.68064283e-04 -6.01134838e+01] [ 2.23826918e-02 -8.93769212e-04 9.99749077e-01 3.18713653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9307140569999 meters Centerline goodness [0,1] 0.9881827792787502 Centerline is valid? [True, True] Translation: X:791.90, Y:-60.12, Z:3.19 [[ 9.99730236e-01 4.21945053e-03 -2.28397057e-02 7.91902841e+02] [-4.19802361e-03 9.99990702e-01 9.86009425e-04 -6.01166597e+01] [ 2.28436538e-02 -8.89861811e-04 9.99738654e-01 3.18627678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9607140569999 meters Centerline goodness [0,1] 0.9894053395213651 Centerline is valid? [True, True] Translation: X:791.93, Y:-60.12, Z:3.19 [[ 9.99738626e-01 4.61199253e-03 -2.23921892e-02 7.91931538e+02] [-4.59153146e-03 9.99988993e-01 9.65087264e-04 -6.01181578e+01] [ 2.23963938e-02 -8.62020573e-04 9.99748798e-01 3.18653679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9907140569999 meters Centerline goodness [0,1] 0.9885815901539613 Centerline is valid? [True, True] Translation: X:791.96, Y:-60.12, Z:3.19 [[ 9.99743708e-01 5.23775962e-03 -2.20246334e-02 7.91960137e+02] [-5.21815024e-03 9.99985936e-01 9.47715707e-04 -6.01197366e+01] [ 2.20292875e-02 -8.32544969e-04 9.99756979e-01 3.18675959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.020714057 meters Centerline goodness [0,1] 0.9893086910749795 Centerline is valid? [True, True] Translation: X:791.99, Y:-60.12, Z:3.19 [[ 9.99759497e-01 5.86548958e-03 -2.11316158e-02 7.91988643e+02] [-5.84760987e-03 9.99982491e-01 9.07804971e-04 -6.01217436e+01] [ 2.11365705e-02 -7.84017196e-04 9.99776290e-01 3.18679321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0507140569999 meters Centerline goodness [0,1] 0.9894367842953962 Centerline is valid? [True, True] Translation: X:792.02, Y:-60.12, Z:3.19 [[ 9.99758492e-01 5.93132501e-03 -2.11607611e-02 7.92017068e+02] [-5.91344224e-03 9.99982104e-01 9.07565297e-04 -6.01245729e+01] [ 2.11657655e-02 -7.82213174e-04 9.99775674e-01 3.18636932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0807140569999 meters Centerline goodness [0,1] 0.9888984972070957 Centerline is valid? [True, True] Translation: X:792.04, Y:-60.13, Z:3.19 [[ 9.99771369e-01 5.79447364e-03 -2.05823840e-02 7.92044871e+02] [-5.77756245e-03 9.99982922e-01 8.81004018e-04 -6.01297907e+01] [ 2.05871374e-02 -7.61886584e-04 9.99787772e-01 3.18560835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1107140569999 meters Centerline goodness [0,1] 0.9889569694569346 Centerline is valid? [True, True] Translation: X:792.07, Y:-60.14, Z:3.18 [[ 9.99775880e-01 5.75377782e-03 -2.03735964e-02 7.92072056e+02] [-5.73723515e-03 9.99983163e-01 8.70323724e-04 -6.01351096e+01] [ 2.03782610e-02 -7.53240554e-04 9.99792058e-01 3.18378243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.140714057 meters Centerline goodness [0,1] 0.9892045322351737 Centerline is valid? [True, True] Translation: X:792.10, Y:-60.13, Z:3.19 [[ 9.99778589e-01 5.71989883e-03 -2.02498389e-02 7.92101449e+02] [-5.70357965e-03 9.99983362e-01 8.63554805e-04 -6.01324017e+01] [ 2.02544414e-02 -7.47867035e-04 9.99794578e-01 3.18588848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1707140569999 meters Centerline goodness [0,1] 0.9880664933135216 Centerline is valid? [True, True] Translation: X:792.13, Y:-60.14, Z:3.18 [[ 9.99783542e-01 4.74768359e-03 -2.02565843e-02 7.92129162e+02] [-4.73118994e-03 9.99988436e-01 8.62082894e-04 -6.01386790e+01] [ 2.02604429e-02 -7.66058542e-04 9.99794443e-01 3.18434325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2007140569999 meters Centerline goodness [0,1] 0.9882810701293917 Centerline is valid? [True, True] Translation: X:792.16, Y:-60.14, Z:3.18 [[ 9.99795520e-01 4.80602286e-03 -1.96422869e-02 7.92156856e+02] [-4.79055949e-03 9.99988177e-01 8.34226759e-04 -6.01432169e+01] [ 1.96460640e-02 -7.39958632e-04 9.99806724e-01 3.18348549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2307140569999 meters Centerline goodness [0,1] 0.9885541193608806 Centerline is valid? [True, True] Translation: X:792.19, Y:-60.15, Z:3.18 [[ 9.99816308e-01 3.50393666e-03 -1.88433740e-02 7.92185523e+02] [-3.48950089e-03 9.99993593e-01 7.98918415e-04 -6.01458246e+01] [ 1.88460526e-02 -7.33017690e-04 9.99822129e-01 3.18468548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.260714057 meters Centerline goodness [0,1] 0.9881703287816825 Centerline is valid? [True, True] Translation: X:792.21, Y:-60.15, Z:3.18 [[ 9.99825597e-01 2.97673228e-03 -1.84367967e-02 7.92213612e+02] [-2.96285270e-03 9.99995306e-01 7.80089152e-04 -6.01503911e+01] [ 1.84390323e-02 -7.25327589e-04 9.99829723e-01 3.18391741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.290714057 meters Centerline goodness [0,1] 0.9883873341458367 Centerline is valid? [True, True] Translation: X:792.24, Y:-60.15, Z:3.18 [[ 9.99833402e-01 2.06191739e-03 -1.81360414e-02 7.92241925e+02] [-2.04836087e-03 9.99997609e-01 7.66034993e-04 -6.01530517e+01] [ 1.81375776e-02 -7.28758215e-04 9.99835235e-01 3.18415146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3207140569999 meters Centerline goodness [0,1] 0.9869087060555862 Centerline is valid? [True, True] Translation: X:792.27, Y:-60.16, Z:3.18 [[ 9.99841342e-01 3.77122600e-04 -1.78086752e-02 7.92269033e+02] [-3.63824407e-04 9.99999653e-01 7.49959561e-04 -6.01600621e+01] [ 1.78089518e-02 -7.43361343e-04 9.99841132e-01 3.18250057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3507140569999 meters Centerline goodness [0,1] 0.987408256880734 Centerline is valid? [True, True] Translation: X:792.30, Y:-60.16, Z:3.18 [[ 9.99838662e-01 -6.07672441e-04 -1.79521977e-02 7.92297212e+02] [ 6.21314180e-04 9.99999522e-01 7.54324775e-04 -6.01640483e+01] [ 1.79517308e-02 -7.65357029e-04 9.99838562e-01 3.18199940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.380714057 meters Centerline goodness [0,1] 0.9858668557184348 Centerline is valid? [True, True] Translation: X:792.33, Y:-60.17, Z:3.18 [[ 9.99838581e-01 -3.09614101e-03 -1.76981809e-02 7.92326307e+02] [ 3.10977068e-03 9.99994889e-01 7.42648381e-04 -6.01707603e+01] [ 1.76957911e-02 -7.97565788e-04 9.99843099e-01 3.18078245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.410714057 meters Centerline goodness [0,1] 0.9864473293937803 Centerline is valid? [True, True] Translation: X:792.35, Y:-60.17, Z:3.18 [[ 9.99839717e-01 -4.17261928e-03 -1.74106360e-02 7.92354634e+02] [ 4.18595181e-03 9.99990973e-01 7.29396451e-04 -6.01729542e+01] [ 1.74074353e-02 -8.02159624e-04 9.99848157e-01 3.18112564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4407140569999 meters Centerline goodness [0,1] 0.9851008487724742 Centerline is valid? [True, True] Translation: X:792.38, Y:-60.18, Z:3.18 [[ 9.99829271e-01 -5.87589727e-03 -1.75186659e-02 7.92382444e+02] [ 5.88963038e-03 9.99982388e-01 7.32422170e-04 -6.01806913e+01] [ 1.75140537e-02 -8.35475590e-04 9.99846268e-01 3.18037561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4707140569999 meters Centerline goodness [0,1] 0.9847489601563743 Centerline is valid? [True, True] Translation: X:792.41, Y:-60.19, Z:3.18 [[ 9.99818752e-01 -6.41010526e-03 -1.79268941e-02 7.92410288e+02] [ 6.42454432e-03 9.99979083e-01 7.47965473e-04 -6.01851728e+01] [ 1.79217245e-02 -8.63002032e-04 9.99839021e-01 3.17988196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.500714057 meters Centerline goodness [0,1] 0.9855804221251819 Centerline is valid? [True, True] Translation: X:792.44, Y:-60.18, Z:3.18 [[ 9.99821901e-01 -6.57824203e-03 -1.76888018e-02 7.92438152e+02] [ 6.59224583e-03 9.99978002e-01 7.33482805e-04 -6.01808242e+01] [ 1.76835877e-02 -8.49961103e-04 9.99843272e-01 3.18215840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.530714057 meters Centerline goodness [0,1] 0.9852967953386744 Centerline is valid? [True, True] Translation: X:792.47, Y:-60.19, Z:3.18 [[ 9.99845581e-01 -5.53580557e-03 -1.66784121e-02 7.92465567e+02] [ 5.54807883e-03 9.99984371e-01 6.89696667e-04 -6.01872772e+01] [ 1.66743334e-02 -7.82123309e-04 9.99860668e-01 3.18184156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5607140569999 meters Centerline goodness [0,1] 0.9846164302868277 Centerline is valid? [True, True] Translation: X:792.49, Y:-60.19, Z:3.18 [[ 9.99861188e-01 -4.83487499e-03 -1.59445343e-02 7.92493184e+02] [ 4.84598166e-03 9.99988042e-01 6.58019012e-04 -6.01910909e+01] [ 1.59411622e-02 -7.35194592e-04 9.99872661e-01 3.18189444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5907140569999 meters Centerline goodness [0,1] 0.9868537565560929 Centerline is valid? [True, True] Translation: X:792.52, Y:-60.18, Z:3.19 [[ 9.99880928e-01 -2.68451519e-03 -1.51961383e-02 7.92522578e+02] [ 2.69430793e-03 9.99996176e-01 6.23986604e-04 -6.01844314e+01] [ 1.51944051e-02 -6.64855381e-04 9.99884337e-01 3.18521002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.620714057 meters Centerline goodness [0,1] 0.9863936322198789 Centerline is valid? [True, True] Translation: X:792.55, Y:-60.19, Z:3.19 [[ 9.99890535e-01 -1.48875904e-03 -1.47207600e-02 7.92550487e+02] [ 1.49779549e-03 9.99998697e-01 6.02852164e-04 -6.01855567e+01] [ 1.47198433e-02 -6.24834861e-04 9.99891462e-01 3.18542497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.650714057 meters Centerline goodness [0,1] 0.9867800241606455 Centerline is valid? [True, True] Translation: X:792.58, Y:-60.19, Z:3.19 [[ 9.99896638e-01 -2.45749860e-04 -1.43754607e-02 7.92579336e+02] [ 2.54193323e-04 9.99999796e-01 5.85528323e-04 -6.01856836e+01] [ 1.43753138e-02 -5.89121947e-04 9.99896496e-01 3.18621502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6807140569999 meters Centerline goodness [0,1] 0.987612228662348 Centerline is valid? [True, True] Translation: X:792.61, Y:-60.19, Z:3.19 [[ 9.99901918e-01 2.99223591e-03 -1.36821272e-02 7.92607739e+02] [-2.98490582e-03 9.99995391e-01 5.56131835e-04 -6.01869577e+01] [ 1.36837282e-02 -5.15237428e-04 9.99906241e-01 3.18668078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7107140569999 meters Centerline goodness [0,1] 0.9874839030341369 Centerline is valid? [True, True] Translation: X:792.64, Y:-60.19, Z:3.19 [[ 9.99898731e-01 4.89090863e-03 -1.33644191e-02 7.92635849e+02] [-4.88409865e-03 9.99987926e-01 5.42150707e-04 -6.01877460e+01] [ 1.33669094e-02 -4.76822662e-04 9.99910545e-01 3.18696653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7407140569999 meters Centerline goodness [0,1] 0.9884170762789004 Centerline is valid? [True, True] Translation: X:792.67, Y:-60.19, Z:3.19 [[ 9.99888482e-01 8.03669997e-03 -1.25870831e-02 7.92665030e+02] [-8.03094003e-03 9.99967622e-01 5.08085855e-04 -6.01861431e+01] [ 1.25907588e-02 -4.06943086e-04 9.99920650e-01 3.18794486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.770714057 meters Centerline goodness [0,1] 0.9886474803776589 Centerline is valid? [True, True] Translation: X:792.69, Y:-60.19, Z:3.19 [[ 9.99869671e-01 9.33392662e-03 -1.31726396e-02 7.92694360e+02] [-9.32774579e-03 9.99956355e-01 5.30578517e-04 -6.01865779e+01] [ 1.31770170e-02 -4.07638334e-04 9.99913096e-01 3.18773668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8007140569999 meters Centerline goodness [0,1] 0.9884797831488593 Centerline is valid? [True, True] Translation: X:792.72, Y:-60.19, Z:3.19 [[ 9.99854535e-01 1.07461636e-02 -1.32449353e-02 7.92722645e+02] [-1.07400503e-02 9.99942182e-01 5.32596700e-04 -6.01890822e+01] [ 1.32498929e-02 -3.90267954e-04 9.99912140e-01 3.18684483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8307140569999 meters Centerline goodness [0,1] 0.989285226807407 Centerline is valid? [True, True] Translation: X:792.75, Y:-60.19, Z:3.19 [[ 9.99812040e-01 1.33949254e-02 -1.40164534e-02 7.92751775e+02] [-1.33883532e-02 9.99910214e-01 5.62623141e-04 -6.01888862e+01] [ 1.40227312e-02 -3.74860161e-04 9.99901606e-01 3.18625752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8607140569999 meters Centerline goodness [0,1] 0.9894351797155451 Centerline is valid? [True, True] Translation: X:792.78, Y:-60.19, Z:3.19 [[ 9.99796966e-01 1.45370307e-02 -1.39535779e-02 7.92780158e+02] [-1.45306422e-02 9.99894268e-01 5.59119210e-04 -6.01897248e+01] [ 1.39602305e-02 -3.56251242e-04 9.99902488e-01 3.18603484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.890714057 meters Centerline goodness [0,1] 0.9892069130405082 Centerline is valid? [True, True] Translation: X:792.81, Y:-60.19, Z:3.19 [[ 9.99773179e-01 1.57856710e-02 -1.42969781e-02 7.92808867e+02] [-1.57791062e-02 9.99875339e-01 5.71867326e-04 -6.01908383e+01] [ 1.43042232e-02 -3.46144078e-04 9.99897629e-01 3.18682518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9207140569999 meters Centerline goodness [0,1] 0.9885800863842971 Centerline is valid? [True, True] Translation: X:792.84, Y:-60.19, Z:3.19 [[ 9.99763809e-01 1.61763593e-02 -1.45138417e-02 7.92836988e+02] [-1.61696529e-02 9.99869095e-01 5.79310178e-04 -6.01944921e+01] [ 1.45213129e-02 -3.44489568e-04 9.99894501e-01 3.18579169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9507140569999 meters Centerline goodness [0,1] 0.989584745379784 Centerline is valid? [True, True] Translation: X:792.87, Y:-60.20, Z:3.19 [[ 9.99763088e-01 1.66539588e-02 -1.40147952e-02 7.92865511e+02] [-1.66477663e-02 9.99861260e-01 5.58410149e-04 -6.01962705e+01] [ 1.40221506e-02 -3.24962818e-04 9.99901632e-01 3.18658153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9807140569999 meters Centerline goodness [0,1] 0.9910560246980841 Centerline is valid? [True, True] Translation: X:792.89, Y:-60.20, Z:3.19 [[ 9.99762920e-01 1.73267153e-02 -1.31867063e-02 7.92894361e+02] [-1.73213034e-02 9.99849837e-01 5.24513060e-04 -6.01974322e+01] [ 1.31938143e-02 -2.95977767e-04 9.99912914e-01 3.18805484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.010714057 meters Centerline goodness [0,1] 0.9900213180931646 Centerline is valid? [True, True] Translation: X:792.92, Y:-60.20, Z:3.19 [[ 9.99767278e-01 1.70986800e-02 -1.31539054e-02 7.92921168e+02] [-1.70932946e-02 9.99853763e-01 5.21740069e-04 -6.02011190e+01] [ 1.31609028e-02 -2.96775070e-04 9.99913348e-01 3.18757011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.040714057 meters Centerline goodness [0,1] 0.9899547511312217 Centerline is valid? [True, True] Translation: X:792.95, Y:-60.20, Z:3.19 [[ 9.99763094e-01 1.71584790e-02 -1.33918580e-02 7.92948916e+02] [-1.71529218e-02 9.99852737e-01 5.29727096e-04 -6.02007010e+01] [ 1.33989752e-02 -2.99892108e-04 9.99910185e-01 3.18985827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0707140569999 meters Centerline goodness [0,1] 0.9908433625711113 Centerline is valid? [True, True] Translation: X:792.98, Y:-60.20, Z:3.19 [[ 9.99758858e-01 1.70549255e-02 -1.38331325e-02 7.92977317e+02] [-1.70490008e-02 9.99854506e-01 5.46114588e-04 -6.02022865e+01] [ 1.38404338e-02 -3.10141810e-04 9.99904169e-01 3.19025169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1007140569999 meters Centerline goodness [0,1] 0.9904006866332384 Centerline is valid? [True, True] Translation: X:793.01, Y:-60.21, Z:3.19 [[ 9.99756998e-01 1.67080627e-02 -1.43800393e-02 7.93005043e+02] [-1.67016421e-02 9.99860357e-01 5.66478825e-04 -6.02054896e+01] [ 1.43874960e-02 -3.26170901e-04 9.99896441e-01 3.18970740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.130714057 meters Centerline goodness [0,1] 0.9897452114203108 Centerline is valid? [True, True] Translation: X:793.03, Y:-60.21, Z:3.19 [[ 9.99759820e-01 1.50307035e-02 -1.59493136e-02 7.93033452e+02] [-1.50226104e-02 9.99886958e-01 6.27119448e-04 -6.02098275e+01] [ 1.59569367e-02 -3.87368504e-04 9.99872605e-01 3.18916379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.160714057 meters Centerline goodness [0,1] 0.9901553468208093 Centerline is valid? [True, True] Translation: X:793.06, Y:-60.21, Z:3.19 [[ 9.99781262e-01 1.41059114e-02 -1.54418794e-02 7.93061115e+02] [-1.40982349e-02 9.99900431e-01 6.05874882e-04 -6.02135773e+01] [ 1.54488883e-02 -3.88039110e-04 9.99880584e-01 3.18888451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1907140569999 meters Centerline goodness [0,1] 0.989464935531695 Centerline is valid? [True, True] Translation: X:793.09, Y:-60.22, Z:3.19 [[ 9.99824358e-01 1.13763360e-02 -1.48940107e-02 7.93088625e+02] [-1.13689109e-02 9.99935202e-01 5.83107824e-04 -6.02192771e+01] [ 1.48996792e-02 -4.13676726e-04 9.99888908e-01 3.18997104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2207140569999 meters Centerline goodness [0,1] 0.98865043799401 Centerline is valid? [True, True] Translation: X:793.12, Y:-60.22, Z:3.19 [[ 9.99836016e-01 1.03595954e-02 -1.48532585e-02 7.93116415e+02] [-1.03521175e-02 9.99946247e-01 5.80252834e-04 -6.02233087e+01] [ 1.48584713e-02 -4.26395006e-04 9.99889516e-01 3.19002433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.250714057 meters Centerline goodness [0,1] 0.9893626591103315 Centerline is valid? [True, True] Translation: X:793.15, Y:-60.22, Z:3.19 [[ 9.99851936e-01 9.10388673e-03 -1.46022457e-02 7.93145481e+02] [-9.09654089e-03 9.99958463e-01 5.69403081e-04 -6.02249849e+01] [ 1.46068230e-02 -4.36488848e-04 9.99893219e-01 3.19054644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.280714057 meters Centerline goodness [0,1] 0.9883869521354108 Centerline is valid? [True, True] Translation: X:793.17, Y:-60.23, Z:3.19 [[ 9.99864376e-01 6.66928627e-03 -1.50582559e-02 7.93173700e+02] [-6.66121752e-03 9.99977642e-01 5.85928585e-04 -6.02302504e+01] [ 1.50618269e-02 -4.85542801e-04 9.99886446e-01 3.18987634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3107140569999 meters Centerline goodness [0,1] 0.9884712004306477 Centerline is valid? [True, True] Translation: X:793.20, Y:-60.23, Z:3.19 [[ 9.99870275e-01 6.02389028e-03 -1.49380960e-02 7.93202655e+02] [-6.01589378e-03 9.99981736e-01 5.80187271e-04 -6.02328872e+01] [ 1.49413181e-02 -4.90246007e-04 9.99888252e-01 3.18990648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3407140569999 meters Centerline goodness [0,1] 0.9884712004306477 Centerline is valid? [True, True] Translation: X:793.23, Y:-60.23, Z:3.19 [[ 9.99870889e-01 5.92088363e-03 -1.49381525e-02 7.93230113e+02] [-5.91289740e-03 9.99982351e-01 5.78729913e-04 -6.02338607e+01] [ 1.49413154e-02 -4.90327430e-04 9.99888252e-01 3.18997172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.370714057 meters Centerline goodness [0,1] 0.9889093027424269 Centerline is valid? [True, True] Translation: X:793.26, Y:-60.23, Z:3.19 [[ 9.99875489e-01 5.08930028e-03 -1.49367253e-02 7.93258450e+02] [-5.08123997e-03 9.99986924e-01 5.77531625e-04 -6.02349509e+01] [ 1.49394692e-02 -5.01562631e-04 9.99888274e-01 3.19085611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.400714057 meters Centerline goodness [0,1] 0.9879560908404071 Centerline is valid? [True, True] Translation: X:793.29, Y:-60.24, Z:3.19 [[ 9.99878769e-01 4.68477237e-03 -1.48492718e-02 7.93285724e+02] [-4.67678058e-03 9.99988900e-01 5.72874036e-04 -6.02383914e+01] [ 1.48517908e-02 -5.03357800e-04 9.99889579e-01 3.19034121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4307140569999 meters Centerline goodness [0,1] 0.987946418588009 Centerline is valid? [True, True] Translation: X:793.31, Y:-60.24, Z:3.19 [[ 9.99878561e-01 4.11280344e-03 -1.50315449e-02 7.93314911e+02] [-4.10456634e-03 9.99991409e-01 5.78797527e-04 -6.02393020e+01] [ 1.50337963e-02 -5.17029265e-04 9.99886852e-01 3.19067671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4607140569999 meters Centerline goodness [0,1] 0.9875924440880335 Centerline is valid? [True, True] Translation: X:793.34, Y:-60.25, Z:3.19 [[ 9.99886814e-01 2.55032101e-03 -1.48274889e-02 7.93342847e+02] [-2.54215314e-03 9.99996606e-01 5.69681986e-04 -6.02468726e+01] [ 1.48288915e-02 -5.31923759e-04 9.99889904e-01 3.18961023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4907140569999 meters Centerline goodness [0,1] 0.9873753117206983 Centerline is valid? [True, True] Translation: X:793.37, Y:-60.25, Z:3.19 [[ 9.99886173e-01 1.32677693e-03 -1.50293336e-02 7.93371275e+02] [-1.31826684e-03 9.99998965e-01 5.76124358e-04 -6.02459978e+01] [ 1.50300825e-02 -5.56246108e-04 9.99886887e-01 3.19049222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.520714057 meters Centerline goodness [0,1] 0.9881016042780749 Centerline is valid? [True, True] Translation: X:793.40, Y:-60.25, Z:3.19 [[ 9.99891078e-01 -1.85568407e-05 -1.47591301e-02 7.93400439e+02] [ 2.68940267e-05 9.99999840e-01 5.64685014e-04 -6.02469924e+01] [ 1.47591173e-02 -5.65020440e-04 9.99890919e-01 3.19074926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5507140569999 meters Centerline goodness [0,1] 0.9875244618395304 Centerline is valid? [True, True] Translation: X:793.43, Y:-60.25, Z:3.19 [[ 9.99884844e-01 -2.25920589e-03 -1.50064979e-02 7.93429680e+02] [ 2.26806759e-03 9.99997263e-01 5.73531500e-04 -6.02508974e+01] [ 1.50051611e-02 -6.07501206e-04 9.99887232e-01 3.19027372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5807140569999 meters Centerline goodness [0,1] 0.9858596156829716 Centerline is valid? [True, True] Translation: X:793.46, Y:-60.25, Z:3.19 [[ 9.99880176e-01 -3.64151373e-03 -1.50457013e-02 7.93457521e+02] [ 3.65056001e-03 9.99993172e-01 5.73833201e-04 -6.02537214e+01] [ 1.50435089e-02 -6.28689678e-04 9.99886642e-01 3.18925735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6107140569999 meters Centerline goodness [0,1] 0.9875874671301867 Centerline is valid? [True, True] Translation: X:793.49, Y:-60.25, Z:3.19 [[ 9.99861833e-01 -5.79050339e-03 -1.55815280e-02 7.93486576e+02] [ 5.80045142e-03 9.99983001e-01 5.93333352e-04 -6.02541474e+01] [ 1.55778274e-02 -6.83631269e-04 9.99878425e-01 3.18972907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.640714057 meters Centerline goodness [0,1] 0.9857916703667525 Centerline is valid? [True, True] Translation: X:793.51, Y:-60.26, Z:3.19 [[ 9.99854180e-01 -6.58846372e-03 -1.57547060e-02 7.93514541e+02] [ 6.59871191e-03 9.99978049e-01 5.98588353e-04 -6.02586817e+01] [ 1.57504164e-02 -7.02461833e-04 9.99875708e-01 3.18861032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6707140569999 meters Centerline goodness [0,1] 0.9866014887234752 Centerline is valid? [True, True] Translation: X:793.54, Y:-60.26, Z:3.19 [[ 9.99847410e-01 -7.10689176e-03 -1.59577226e-02 7.93542978e+02] [ 7.11741424e-03 9.99974489e-01 6.02701216e-04 -6.02590514e+01] [ 1.59530322e-02 -7.16186972e-04 9.99872486e-01 3.18907667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7007140569999 meters Centerline goodness [0,1] 0.986739694436437 Centerline is valid? [True, True] Translation: X:793.57, Y:-60.26, Z:3.19 [[ 9.99846813e-01 -8.07181440e-03 -1.55305040e-02 7.93571381e+02] [ 8.08183730e-03 9.99967172e-01 5.82714664e-04 -6.02608435e+01] [ 1.55252906e-02 -7.08140406e-04 9.99879225e-01 3.18927343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7307140569999 meters Centerline goodness [0,1] 0.9855597271899229 Centerline is valid? [True, True] Translation: X:793.60, Y:-60.27, Z:3.19 [[ 9.99851603e-01 -8.49287469e-03 -1.49881000e-02 7.93597905e+02] [ 8.50221125e-03 9.99963699e-01 5.59320895e-04 -6.02665171e+01] [ 1.49828057e-02 -6.86669886e-04 9.99887516e-01 3.18832452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.760714057 meters Centerline goodness [0,1] 0.9851619505250044 Centerline is valid? [True, True] Translation: X:793.62, Y:-60.27, Z:3.19 [[ 9.99867412e-01 -8.93648756e-03 -1.36124426e-02 7.93624997e+02] [ 8.94420608e-03 9.99959872e-01 5.06244757e-04 -6.02699167e+01] [ 1.36073723e-02 -6.27930126e-04 9.99907218e-01 3.18895577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.790714057 meters Centerline goodness [0,1] 0.9863202004301266 Centerline is valid? [True, True] Translation: X:793.65, Y:-60.27, Z:3.19 [[ 9.99871553e-01 -9.17352461e-03 -1.31424322e-02 7.93653640e+02] [ 9.18070096e-03 9.99957738e-01 4.85816224e-04 -6.02652176e+01] [ 1.31374201e-02 -6.06410563e-04 9.99913516e-01 3.19085975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8207140569999 meters Centerline goodness [0,1] 0.9847445548082491 Centerline is valid? [True, True] Translation: X:793.68, Y:-60.27, Z:3.19 [[ 9.99864597e-01 -9.34807477e-03 -1.35425608e-02 7.93681285e+02] [ 9.35568919e-03 9.99956110e-01 4.99013460e-04 -6.02725186e+01] [ 1.35373016e-02 -6.25645883e-04 9.99908171e-01 3.18972084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8507140569999 meters Centerline goodness [0,1] 0.9862068965517241 Centerline is valid? [True, True] Translation: X:793.71, Y:-60.27, Z:3.19 [[ 9.99862273e-01 -9.84953446e-03 -1.33574732e-02 7.93710605e+02] [ 9.85694815e-03 9.99951299e-01 4.89298581e-04 -6.02686182e+01] [ 1.33520033e-02 -6.20895112e-04 9.99910665e-01 3.19063064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.880714057 meters Centerline goodness [0,1] 0.9851772718167857 Centerline is valid? [True, True] Translation: X:793.74, Y:-60.28, Z:3.19 [[ 9.99851711e-01 -1.00874500e-02 -1.39570265e-02 7.93739359e+02] [ 1.00955505e-02 9.99948909e-01 5.10052677e-04 -6.02769090e+01] [ 1.39511682e-02 -6.50880907e-04 9.99902466e-01 3.18893130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.910714057 meters Centerline goodness [0,1] 0.9874115920110316 Centerline is valid? [True, True] Translation: X:793.77, Y:-60.27, Z:3.19 [[ 9.99850852e-01 -1.04687360e-02 -1.37360378e-02 7.93767966e+02] [ 1.04765773e-02 9.99944995e-01 4.99017706e-04 -6.02692224e+01] [ 1.37300582e-02 -6.42849940e-04 9.99905532e-01 3.19108794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9407140569999 meters Centerline goodness [0,1] 0.9854437975021112 Centerline is valid? [True, True] Translation: X:793.80, Y:-60.28, Z:3.19 [[ 9.99827756e-01 -1.21316093e-02 -1.40457089e-02 7.93796273e+02] [ 1.21399513e-02 9.99926179e-01 5.08806930e-04 -6.02766711e+01] [ 1.40384994e-02 -6.79233513e-04 9.99901225e-01 3.18938994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9707140569999 meters Centerline goodness [0,1] 0.9857445962073995 Centerline is valid? [True, True] Translation: X:793.83, Y:-60.28, Z:3.19 [[ 9.99832245e-01 -1.22441463e-02 -1.36221232e-02 7.93825714e+02] [ 1.22519956e-02 9.99924820e-01 4.92909884e-04 -6.02770389e+01] [ 1.36150638e-02 -6.59725389e-04 9.99907093e-01 3.18959436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.000714057 meters Centerline goodness [0,1] 0.9865102117918972 Centerline is valid? [True, True] Translation: X:793.86, Y:-60.28, Z:3.19 [[ 9.99825451e-01 -1.26832352e-02 -1.37187281e-02 7.93855498e+02] [ 1.26912308e-02 9.99919340e-01 4.95921880e-04 -6.02753278e+01] [ 1.37113316e-02 -6.69942861e-04 9.99905771e-01 3.19047477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.030714057 meters Centerline goodness [0,1] 0.986447456120862 Centerline is valid? [True, True] Translation: X:793.89, Y:-60.27, Z:3.19 [[ 9.99834312e-01 -1.20177028e-02 -1.36720022e-02 7.93885494e+02] [ 1.20255752e-02 9.99927568e-01 4.93738988e-04 -6.02740957e+01] [ 1.36650783e-02 -6.58070872e-04 9.99906412e-01 3.19074067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0607140569999 meters Centerline goodness [0,1] 0.9859771545402017 Centerline is valid? [True, True] Translation: X:793.91, Y:-60.28, Z:3.19 [[ 9.99844792e-01 -1.11962333e-02 -1.36028339e-02 7.93914477e+02] [ 1.12039410e-02 9.99937114e-01 4.90549736e-04 -6.02761250e+01] [ 1.35964861e-02 -6.42878946e-04 9.99907357e-01 3.19061398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0907140569999 meters Centerline goodness [0,1] 0.9858097754879972 Centerline is valid? [True, True] Translation: X:793.94, Y:-60.28, Z:3.19 [[ 9.99879698e-01 -7.63506163e-03 -1.35016430e-02 7.93943056e+02] [ 7.64232143e-03 9.99970679e-01 4.86184150e-04 -6.02783872e+01] [ 1.34975351e-02 -5.89309557e-04 9.99908730e-01 3.19046506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.120714057 meters Centerline goodness [0,1] 0.9868152357276037 Centerline is valid? [True, True] Translation: X:793.97, Y:-60.28, Z:3.19 [[ 9.99895869e-01 -6.54544532e-03 -1.28611287e-02 7.93972461e+02] [ 6.55191020e-03 9.99978430e-01 4.60598133e-04 -6.02762163e+01] [ 1.28578364e-02 -5.44815130e-04 9.99917186e-01 3.19093959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.150714057 meters Centerline goodness [0,1] 0.9870447323392814 Centerline is valid? [True, True] Translation: X:794.00, Y:-60.28, Z:3.19 [[ 9.99915826e-01 -2.84479506e-03 -1.26589049e-02 7.94002580e+02] [ 2.85075310e-03 9.99995834e-01 4.52640732e-04 -6.02753129e+01] [ 1.26575645e-02 -4.88690044e-04 9.99919770e-01 3.19189753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1807140569999 meters Centerline goodness [0,1] 0.9874402578637324 Centerline is valid? [True, True] Translation: X:794.03, Y:-60.28, Z:3.19 [[ 9.99929914e-01 -1.28928588e-03 -1.17687890e-02 7.94031875e+02] [ 1.29430212e-03 9.99999075e-01 4.18625459e-04 -6.02756900e+01] [ 1.17682384e-02 -4.33828488e-04 9.99930658e-01 3.19258936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2107140569999 meters Centerline goodness [0,1] 0.9870291400142146 Centerline is valid? [True, True] Translation: X:794.06, Y:-60.28, Z:3.19 [[ 9.99937213e-01 2.38810134e-04 -1.12032236e-02 7.94060509e+02] [-2.34390224e-04 9.99999894e-01 3.95832617e-04 -6.02765306e+01] [ 1.12033169e-02 -3.93181838e-04 9.99937164e-01 3.19309595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2407140569999 meters Centerline goodness [0,1] 0.9872419597767343 Centerline is valid? [True, True] Translation: X:794.09, Y:-60.28, Z:3.19 [[ 9.99939243e-01 2.85034959e-03 -1.06482902e-02 7.94089414e+02] [-2.84651660e-03 9.99995878e-01 3.75101900e-04 -6.02777521e+01] [ 1.06493154e-02 -3.44768575e-04 9.99943235e-01 3.19298126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.270714057 meters Centerline goodness [0,1] 0.9871056362991847 Centerline is valid? [True, True] Translation: X:794.12, Y:-60.28, Z:3.19 [[ 9.99928646e-01 3.72307190e-03 -1.13508482e-02 7.94117195e+02] [-3.71878331e-03 9.99993006e-01 3.98904114e-04 -6.02794476e+01] [ 1.13522540e-02 -3.56664305e-04 9.99935497e-01 3.19241940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3007140569999 meters Centerline goodness [0,1] 0.9878235751583158 Centerline is valid? [True, True] Translation: X:794.15, Y:-60.28, Z:3.19 [[ 9.99924968e-01 4.02024396e-03 -1.15713412e-02 7.94146453e+02] [-4.01581685e-03 9.99991854e-01 4.05801667e-04 -6.02800793e+01] [ 1.15728784e-02 -3.59302832e-04 9.99932967e-01 3.19272791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3307140569999 meters Centerline goodness [0,1] 0.9869273792613636 Centerline is valid? [True, True] Translation: X:794.18, Y:-60.28, Z:3.19 [[ 9.99923521e-01 4.13670187e-03 -1.16550134e-02 7.94175477e+02] [-4.13222793e-03 9.99991379e-01 4.07918701e-04 -6.02820591e+01] [ 1.16566004e-02 -3.59726332e-04 9.99931995e-01 3.19223333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3607140569999 meters Centerline goodness [0,1] 0.9869481254578145 Centerline is valid? [True, True] Translation: X:794.20, Y:-60.29, Z:3.19 [[ 9.99921870e-01 3.27419682e-03 -1.20637567e-02 7.94204015e+02] [-3.26935113e-03 9.99994567e-01 4.21371895e-04 -6.02858537e+01] [ 1.20650708e-02 -3.81898316e-04 9.99927141e-01 3.19190207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.390714057 meters Centerline goodness [0,1] 0.9868569532027879 Centerline is valid? [True, True] Translation: X:794.23, Y:-60.29, Z:3.19 [[ 9.99923686e-01 2.35782750e-03 -1.21269100e-02 7.94232867e+02] [-2.35287402e-03 9.99997143e-01 4.22721274e-04 -6.02882116e+01] [ 1.21278720e-02 -3.94155923e-04 9.99926377e-01 3.19139904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4207140569999 meters Centerline goodness [0,1] 0.9859634386259644 Centerline is valid? [True, True] Translation: X:794.26, Y:-60.30, Z:3.19 [[ 9.99920643e-01 3.61503262e-04 -1.25927656e-02 7.94259968e+02] [-3.56019462e-04 9.99999841e-01 4.37711205e-04 -6.02959060e+01] [ 1.25929218e-02 -4.33193200e-04 9.99920612e-01 3.19066092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4507140569999 meters Centerline goodness [0,1] 0.9865590215143649 Centerline is valid? [True, True] Translation: X:794.29, Y:-60.30, Z:3.19 [[ 9.99926499e-01 -3.55876664e-04 -1.21189715e-02 7.94288759e+02] [ 3.60997054e-04 9.99999847e-01 4.20325353e-04 -6.02968523e+01] [ 1.21188200e-02 -4.24669372e-04 9.99926474e-01 3.19075198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4807140569999 meters Centerline goodness [0,1] 0.9866134438955539 Centerline is valid? [True, True] Translation: X:794.32, Y:-60.30, Z:3.19 [[ 9.99927699e-01 -1.08061967e-03 -1.19762257e-02 7.94317308e+02] [ 1.08566192e-03 9.99999325e-01 4.14528900e-04 -6.02979516e+01] [ 1.19757697e-02 -4.27501062e-04 9.99928197e-01 3.19165243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.510714057 meters Centerline goodness [0,1] 0.9835195099918479 Centerline is valid? [True, True] Translation: X:794.34, Y:-60.31, Z:3.19 [[ 9.99951075e-01 -2.22781460e-03 -9.63765085e-03 7.94344764e+02] [ 2.23112559e-03 9.99997456e-01 3.32808501e-04 -6.03071769e+01] [ 9.63688489e-03 -3.54295028e-04 9.99953501e-01 3.19222846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.540714057 meters Centerline goodness [0,1] 0.9836460362983559 Centerline is valid? [True, True] Translation: X:794.37, Y:-60.31, Z:3.19 [[ 9.99958631e-01 -2.84521149e-03 -8.63948204e-03 7.94372816e+02] [ 2.84787924e-03 9.99995901e-01 2.96500045e-04 -6.03104569e+01] [ 8.63860302e-03 -3.21091981e-04 9.99962635e-01 3.19259463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5707140569999 meters Centerline goodness [0,1] 0.9858070194740896 Centerline is valid? [True, True] Translation: X:794.40, Y:-60.31, Z:3.19 [[ 9.99959464e-01 -3.75120853e-03 -8.18529967e-03 7.94402188e+02] [ 3.75362516e-03 9.99992916e-01 2.79897349e-04 -6.03064288e+01] [ 8.18419173e-03 -3.10610550e-04 9.99966461e-01 3.19381047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6007140569999 meters Centerline goodness [0,1] 0.9830286636708695 Centerline is valid? [True, True] Translation: X:794.43, Y:-60.32, Z:3.19 [[ 9.99950664e-01 -5.41796545e-03 -8.32559664e-03 7.94430394e+02] [ 5.42051917e-03 9.99985268e-01 2.84196755e-04 -6.03200943e+01] [ 8.32393422e-03 -3.29311790e-04 9.99965301e-01 3.19174330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.630714057 meters Centerline goodness [0,1] 0.9834902561856799 Centerline is valid? [True, True] Translation: X:794.46, Y:-60.32, Z:3.19 [[ 9.99946586e-01 -6.46201386e-03 -8.06644957e-03 7.94458766e+02] [ 6.46443302e-03 9.99979068e-01 2.73867029e-04 -6.03202686e+01] [ 8.06451099e-03 -3.25997423e-04 9.99967428e-01 3.19225405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.660714057 meters Centerline goodness [0,1] 0.9839550042510519 Centerline is valid? [True, True] Translation: X:794.49, Y:-60.32, Z:3.19 [[ 9.99929871e-01 -8.96546337e-03 -7.73774659e-03 7.94488177e+02] [ 8.96775855e-03 9.99959755e-01 2.61975454e-04 -6.03232795e+01] [ 7.73508645e-03 -3.31347326e-04 9.99970029e-01 3.19177156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6907140569999 meters Centerline goodness [0,1] 0.9847753434831044 Centerline is valid? [True, True] Translation: X:794.52, Y:-60.32, Z:3.19 [[ 9.99920279e-01 -1.01381009e-02 -7.52695762e-03 7.94518656e+02] [ 1.01403053e-02 9.99948553e-01 2.54757649e-04 -6.03246569e+01] [ 7.52398763e-03 -3.31062988e-04 9.99971640e-01 3.19166698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7207140569999 meters Centerline goodness [0,1] 0.9842702029580758 Centerline is valid? [True, True] Translation: X:794.55, Y:-60.33, Z:3.19 [[ 9.99912138e-01 -1.08571700e-02 -7.60517232e-03 7.94548664e+02] [ 1.08594419e-02 9.99941001e-01 2.57498923e-04 -6.03303256e+01] [ 7.60192791e-03 -3.40064225e-04 9.99971047e-01 3.19096753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.750714057 meters Centerline goodness [0,1] 0.9837302625839658 Centerline is valid? [True, True] Translation: X:794.58, Y:-60.34, Z:3.19 [[ 9.99902611e-01 -1.16126746e-02 -7.74039773e-03 7.94578807e+02] [ 1.16150517e-02 9.99932509e-01 2.62214908e-04 -6.03366007e+01] [ 7.73683030e-03 -3.52094491e-04 9.99970008e-01 3.18986073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.780714057 meters Centerline goodness [0,1] 0.9846445373758494 Centerline is valid? [True, True] Translation: X:794.61, Y:-60.34, Z:3.19 [[ 9.99910539e-01 -1.12205917e-02 -7.28094849e-03 7.94609078e+02] [ 1.12226848e-02 9.99936993e-01 2.46689632e-04 -6.03351580e+01] [ 7.27772173e-03 -3.28379353e-04 9.99973463e-01 3.19016374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8107140569999 meters Centerline goodness [0,1] 0.9836029781009148 Centerline is valid? [True, True] Translation: X:794.64, Y:-60.34, Z:3.19 [[ 9.99924746e-01 -1.02023362e-02 -6.81277724e-03 7.94639505e+02] [ 1.02041458e-02 9.99947910e-01 2.30907610e-04 -6.03410891e+01] [ 6.81006656e-03 -3.00408806e-04 9.99976766e-01 3.18989560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8407140569999 meters Centerline goodness [0,1] 0.9833604512420002 Centerline is valid? [True, True] Translation: X:794.67, Y:-60.35, Z:3.19 [[ 9.99937654e-01 -8.95706651e-03 -6.66782047e-03 7.94669673e+02] [ 8.95877304e-03 9.99959844e-01 2.26111437e-04 -6.03450550e+01] [ 6.66552742e-03 -2.85832830e-04 9.99977744e-01 3.18984605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.870714057 meters Centerline goodness [0,1] 0.9843695576454197 Centerline is valid? [True, True] Translation: X:794.70, Y:-60.34, Z:3.19 [[ 9.99943170e-01 -8.28431691e-03 -6.71014216e-03 7.94700653e+02] [ 8.28603034e-03 9.99965644e-01 2.27588206e-04 -6.03439378e+01] [ 6.70802621e-03 -2.83175714e-04 9.99977461e-01 3.19008112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.900714057 meters Centerline goodness [0,1] 0.9849736876440656 Centerline is valid? [True, True] Translation: X:794.73, Y:-60.35, Z:3.19 [[ 9.99954622e-01 -6.92157128e-03 -6.54564399e-03 7.94731431e+02] [ 6.92317258e-03 9.99976010e-01 2.22008914e-04 -6.03450949e+01] [ 6.54395031e-03 -2.67315462e-04 9.99978552e-01 3.19013727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9307140569999 meters Centerline goodness [0,1] 0.9847955753172107 Centerline is valid? [True, True] Translation: X:794.76, Y:-60.35, Z:3.19 [[ 9.99958105e-01 -6.36929681e-03 -6.57418648e-03 7.94760733e+02] [ 6.37089970e-03 9.99979681e-01 2.22902562e-04 -6.03482084e+01] [ 6.57263316e-03 -2.64776707e-04 9.99978365e-01 3.18978501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9607140569999 meters Centerline goodness [0,1] 0.9842543659337553 Centerline is valid? [True, True] Translation: X:794.79, Y:-60.35, Z:3.19 [[ 9.99959745e-01 -6.22985240e-03 -6.45735750e-03 7.94789928e+02] [ 6.23139519e-03 9.99980561e-01 2.18828859e-04 -6.03536404e+01] [ 6.45586871e-03 -2.59058396e-04 9.99979127e-01 3.18900213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9907140569999 meters Centerline goodness [0,1] 0.9854638548988979 Centerline is valid? [True, True] Translation: X:794.82, Y:-60.35, Z:3.19 [[ 9.99957555e-01 -6.64748791e-03 -6.37959146e-03 7.94819449e+02] [ 6.64900108e-03 9.99977872e-01 2.16007943e-04 -6.03518801e+01] [ 6.37801439e-03 -2.58416685e-04 9.99979627e-01 3.18944751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.020714057 meters Centerline goodness [0,1] 0.9846574510101778 Centerline is valid? [True, True] Translation: X:794.85, Y:-60.36, Z:3.19 [[ 9.99954666e-01 -7.36494037e-03 -6.03524768e-03 7.94848420e+02] [ 7.36630675e-03 9.99972848e-01 2.04202148e-04 -6.03607424e+01] [ 6.03357987e-03 -2.48650376e-04 9.99981767e-01 3.18916173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0507140569999 meters Centerline goodness [0,1] 0.9849985847721483 Centerline is valid? [True, True] Translation: X:794.88, Y:-60.36, Z:3.19 [[ 9.99936293e-01 -9.51680656e-03 -6.06960191e-03 7.94879003e+02] [ 9.51822785e-03 9.99954680e-01 2.05321816e-04 -6.03576873e+01] [ 6.06737282e-03 -2.63080590e-04 9.99981559e-01 3.18977407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0807140569999 meters Centerline goodness [0,1] 0.9849022124567625 Centerline is valid? [True, True] Translation: X:794.91, Y:-60.36, Z:3.19 [[ 9.99924207e-01 -1.05602783e-02 -6.32942701e-03 7.94909056e+02] [ 1.05618447e-02 9.99944199e-01 2.14111151e-04 -6.03603715e+01] [ 6.32681275e-03 -2.80945348e-04 9.99979946e-01 3.18968586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1107140569999 meters Centerline goodness [0,1] 0.9839347826086956 Centerline is valid? [True, True] Translation: X:794.94, Y:-60.37, Z:3.19 [[ 9.99912767e-01 -1.15983244e-02 -6.31963711e-03 7.94938760e+02] [ 1.15999089e-02 9.99932696e-01 2.14131331e-04 -6.03675031e+01] [ 6.31672821e-03 -2.87419866e-04 9.99980008e-01 3.18929210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.140714057 meters Centerline goodness [0,1] 0.9845852810088053 Centerline is valid? [True, True] Translation: X:794.97, Y:-60.36, Z:3.19 [[ 9.99902123e-01 -1.27001050e-02 -5.86948997e-03 7.94969689e+02] [ 1.27014923e-02 9.99919313e-01 1.99138709e-04 -6.03638609e+01] [ 5.86648729e-03 -2.73670500e-04 9.99982755e-01 3.18983154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1707140569999 meters Centerline goodness [0,1] 0.984391281695033 Centerline is valid? [True, True] Translation: X:795.00, Y:-60.37, Z:3.19 [[ 9.99865076e-01 -1.51743448e-02 -6.29040563e-03 7.95000005e+02] [ 1.51759878e-02 9.99884815e-01 2.13537032e-04 -6.03698452e+01] [ 6.28644078e-03 -3.08971340e-04 9.99980192e-01 3.18987598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2007140569999 meters Centerline goodness [0,1] 0.9835795318973558 Centerline is valid? [True, True] Translation: X:795.03, Y:-60.37, Z:3.19 [[ 9.99840836e-01 -1.67008602e-02 -6.27566349e-03 7.95032513e+02] [ 1.67025276e-02 9.99860480e-01 2.13363696e-04 -6.03703049e+01] [ 6.27122455e-03 -3.18149178e-04 9.99980285e-01 3.18979315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2307140569999 meters Centerline goodness [0,1] 0.9835795318973558 Centerline is valid? [True, True] Translation: X:795.06, Y:-60.37, Z:3.19 [[ 9.99842049e-01 -1.66280800e-02 -6.27564794e-03 7.95064225e+02] [ 1.66297488e-02 9.99861693e-01 2.13820282e-04 -6.03714418e+01] [ 6.27122456e-03 -3.18148958e-04 9.99980285e-01 3.18986839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.260714057 meters Centerline goodness [0,1] 0.984305078150334 Centerline is valid? [True, True] Translation: X:795.09, Y:-60.38, Z:3.19 [[ 9.99785366e-01 -1.97839081e-02 -6.14975022e-03 7.95094252e+02] [ 1.97855729e-02 9.99804224e-01 2.09983403e-04 -6.03757738e+01] [ 6.14439196e-03 -3.31614664e-04 9.99981068e-01 3.18969942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.290714057 meters Centerline goodness [0,1] 0.9833592669432918 Centerline is valid? [True, True] Translation: X:795.13, Y:-60.38, Z:3.19 [[ 9.99749373e-01 -2.15003247e-02 -6.23924118e-03 7.95125074e+02] [ 2.15020741e-02 9.99768781e-01 2.13427314e-04 -6.03793141e+01] [ 6.23320979e-03 -3.47530449e-04 9.99980513e-01 3.18963064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3207140569999 meters Centerline goodness [0,1] 0.9808958445763627 Centerline is valid? [True, True] Translation: X:795.16, Y:-60.39, Z:3.19 [[ 9.99715935e-01 -2.29974093e-02 -6.25840693e-03 7.95155263e+02] [ 2.29992024e-02 9.99735460e-01 2.14690755e-04 -6.03914329e+01] [ 6.25181400e-03 -3.58568137e-04 9.99980393e-01 3.18890362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3507140569999 meters Centerline goodness [0,1] 0.9824238221143426 Centerline is valid? [True, True] Translation: X:795.19, Y:-60.39, Z:3.19 [[ 9.99613222e-01 -2.67527510e-02 -7.59581222e-03 7.95186539e+02] [ 2.67555035e-02 9.99641973e-01 2.60966587e-04 -6.03863093e+01] [ 7.58611114e-03 -4.64095432e-04 9.99971117e-01 3.18862833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.380714057 meters Centerline goodness [0,1] 0.9826812615151187 Centerline is valid? [True, True] Translation: X:795.22, Y:-60.39, Z:3.19 [[ 9.99568326e-01 -2.81253338e-02 -8.49281764e-03 7.95218934e+02] [ 2.81288280e-02 9.99604264e-01 2.92237001e-04 -6.03877805e+01] [ 8.48123746e-03 -5.31003857e-04 9.99963893e-01 3.18840602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.410714057 meters Centerline goodness [0,1] 0.982413531388919 Centerline is valid? [True, True] Translation: X:795.25, Y:-60.39, Z:3.19 [[ 9.99500500e-01 -2.99665922e-02 -1.00376188e-02 7.95249445e+02] [ 2.99715690e-02 9.99550692e-01 3.45724409e-04 -6.03915346e+01] [ 1.00227486e-02 -6.46394904e-04 9.99949562e-01 3.18722156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4407140569999 meters Centerline goodness [0,1] 0.9819539783275051 Centerline is valid? [True, True] Translation: X:795.28, Y:-60.39, Z:3.19 [[ 9.99472146e-01 -3.07992187e-02 -1.03362499e-02 7.95281665e+02] [ 3.08045465e-02 9.99525364e-01 3.56604521e-04 -6.03922735e+01] [ 1.03203608e-02 -6.74819776e-04 9.99946516e-01 3.18678793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4707140569999 meters Centerline goodness [0,1] 0.9815182229890015 Centerline is valid? [True, True] Translation: X:795.31, Y:-60.39, Z:3.19 [[ 9.99455155e-01 -3.13222402e-02 -1.04072040e-02 7.95313414e+02] [ 3.13276771e-02 9.99509103e-01 3.59771938e-04 -6.03939300e+01] [ 1.03908263e-02 -6.85609445e-04 9.99945779e-01 3.18638343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.500714057 meters Centerline goodness [0,1] 0.981964580258703 Centerline is valid? [True, True] Translation: X:795.35, Y:-60.39, Z:3.19 [[ 9.99414667e-01 -3.26749226e-02 -1.01327527e-02 7.95345437e+02] [ 3.26801551e-02 9.99465799e-01 3.51205662e-04 -6.03898817e+01] [ 1.01158641e-02 -6.82140020e-04 9.99948601e-01 3.18782160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.530714057 meters Centerline goodness [0,1] 0.9799368703247286 Centerline is valid? [True, True] Translation: X:795.38, Y:-60.39, Z:3.19 [[ 9.99411196e-01 -3.28048250e-02 -1.00550928e-02 7.95376969e+02] [ 3.28099946e-02 9.99461546e-01 3.49564468e-04 -6.03937170e+01] [ 1.00382111e-02 -6.79266182e-04 9.99949385e-01 3.18775980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5607140569999 meters Centerline goodness [0,1] 0.9812069189751593 Centerline is valid? [True, True] Translation: X:795.41, Y:-60.39, Z:3.19 [[ 9.99399205e-01 -3.30695919e-02 -1.03745041e-02 7.95408738e+02] [ 3.30751210e-02 9.99452803e-01 3.61782443e-04 -6.03913383e+01] [ 1.03568633e-02 -7.04703066e-04 9.99946118e-01 3.18868069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5907140569999 meters Centerline goodness [0,1] 0.9793531370259869 Centerline is valid? [True, True] Translation: X:795.44, Y:-60.40, Z:3.19 [[ 9.99413240e-01 -3.27423958e-02 -1.00553930e-02 7.95439754e+02] [ 3.27475800e-02 9.99463592e-01 3.51309139e-04 -6.03961260e+01] [ 1.00384965e-02 -6.80392793e-04 9.99949382e-01 3.18853817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.620714057 meters Centerline goodness [0,1] 0.9788113695090439 Centerline is valid? [True, True] Translation: X:795.47, Y:-60.40, Z:3.19 [[ 9.99460885e-01 -3.11804266e-02 -1.02819971e-02 7.95470550e+02] [ 3.11857690e-02 9.99513541e-01 3.59628088e-04 -6.04013187e+01] [ 1.02657820e-02 -6.80086193e-04 9.99947074e-01 3.18825927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.650714057 meters Centerline goodness [0,1] 0.9806054564760439 Centerline is valid? [True, True] Translation: X:795.50, Y:-60.39, Z:3.19 [[ 9.99475262e-01 -3.06637951e-02 -1.04371085e-02 7.95503315e+02] [ 3.06692786e-02 9.99529520e-01 3.65701653e-04 -6.03931504e+01] [ 1.04209842e-02 -6.85608343e-04 9.99945465e-01 3.18931050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6807140569999 meters Centerline goodness [0,1] 0.9813794001475759 Centerline is valid? [True, True] Translation: X:795.54, Y:-60.39, Z:3.19 [[ 9.99494494e-01 -2.99566194e-02 -1.06469540e-02 7.95535789e+02] [ 2.99622937e-02 9.99550960e-01 3.73812547e-04 -6.03916757e+01] [ 1.06309750e-02 -6.92630746e-04 9.99943250e-01 3.18999275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7107140569999 meters Centerline goodness [0,1] 0.980008644910309 Centerline is valid? [True, True] Translation: X:795.57, Y:-60.39, Z:3.19 [[ 9.99537928e-01 -2.82684631e-02 -1.11724512e-02 7.95566123e+02] [ 2.82746101e-02 9.99600116e-01 3.92594335e-04 -6.03918838e+01] [ 1.11568854e-02 -7.08309629e-04 9.99937509e-01 3.19004707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7407140569999 meters Centerline goodness [0,1] 0.9780394030888199 Centerline is valid? [True, True] Translation: X:795.60, Y:-60.40, Z:3.19 [[ 9.99562143e-01 -2.73208496e-02 -1.13619542e-02 7.95596671e+02] [ 2.73271517e-02 9.99626464e-01 3.99765306e-04 -6.04034032e+01] [ 1.13467881e-02 -7.10080112e-04 9.99935371e-01 3.18871620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.770714057 meters Centerline goodness [0,1] 0.9803533783930628 Centerline is valid? [True, True] Translation: X:795.63, Y:-60.40, Z:3.19 [[ 9.99573914e-01 -2.65344266e-02 -1.21619821e-02 7.95629428e+02] [ 2.65415993e-02 9.99647618e-01 4.28709362e-04 -6.03960424e+01] [ 1.21463209e-02 -7.51325151e-04 9.99925948e-01 3.18991940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8007140569999 meters Centerline goodness [0,1] 0.9813289282065772 Centerline is valid? [True, True] Translation: X:795.66, Y:-60.39, Z:3.19 [[ 9.99603622e-01 -2.48974113e-02 -1.31422238e-02 7.95661599e+02] [ 2.49056558e-02 9.99689698e-01 4.64016037e-04 -6.03885037e+01] [ 1.31265930e-02 -7.91147815e-04 9.99913530e-01 3.19109804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8307140569999 meters Centerline goodness [0,1] 0.9815384615384616 Centerline is valid? [True, True] Translation: X:795.69, Y:-60.39, Z:3.19 [[ 9.99617567e-01 -2.40947894e-02 -1.35706116e-02 7.95693437e+02] [ 2.41035151e-02 9.99709353e-01 4.79771826e-04 -6.03885746e+01] [ 1.35551073e-02 -8.06687786e-04 9.99907800e-01 3.19077934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8607140569999 meters Centerline goodness [0,1] 0.9811546320045211 Centerline is valid? [True, True] Translation: X:795.72, Y:-60.39, Z:3.19 [[ 9.99622360e-01 -2.35969038e-02 -1.40827514e-02 7.95723426e+02] [ 2.36062558e-02 9.99721209e-01 4.98194925e-04 -6.03898026e+01] [ 1.40670694e-02 -8.30447818e-04 9.99900709e-01 3.19100777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.890714057 meters Centerline goodness [0,1] 0.9820377555914025 Centerline is valid? [True, True] Translation: X:795.76, Y:-60.39, Z:3.19 [[ 9.99641792e-01 -2.25216342e-02 -1.44590454e-02 7.95755043e+02] [ 2.25313874e-02 9.99746005e-01 5.11979400e-04 -6.03883299e+01] [ 1.44438423e-02 -8.37578358e-04 9.99895331e-01 3.19215170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9207140569999 meters Centerline goodness [0,1] 0.9818031790150265 Centerline is valid? [True, True] Translation: X:795.79, Y:-60.39, Z:3.19 [[ 9.99654133e-01 -2.22469371e-02 -1.40245425e-02 7.95785480e+02] [ 2.22560977e-02 9.99752179e-01 4.97427812e-04 -6.03896902e+01] [ 1.40100007e-02 -8.09387355e-04 9.99901528e-01 3.19231785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9507140569999 meters Centerline goodness [0,1] 0.9813944379161771 Centerline is valid? [True, True] Translation: X:795.82, Y:-60.39, Z:3.19 [[ 9.99668106e-01 -2.18007392e-02 -1.37261097e-02 7.95816020e+02] [ 2.18094769e-02 9.99762026e-01 4.87190629e-04 -6.03914944e+01] [ 1.37122221e-02 -7.86388205e-04 9.99905674e-01 3.19299650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9807140569999 meters Centerline goodness [0,1] 0.9818463485413803 Centerline is valid? [True, True] Translation: X:795.85, Y:-60.39, Z:3.19 [[ 9.99665635e-01 -2.21053389e-02 -1.34153513e-02 7.95846787e+02] [ 2.21137158e-02 9.99755348e-01 4.76391968e-04 -6.03934021e+01] [ 1.34015385e-02 -7.72895947e-04 9.99909897e-01 3.19347047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.010714057 meters Centerline goodness [0,1] 0.9805888483585201 Centerline is valid? [True, True] Translation: X:795.88, Y:-60.39, Z:3.19 [[ 9.99667364e-01 -2.21610826e-02 -1.31927437e-02 7.95878002e+02] [ 2.21691941e-02 9.99754123e-01 4.68899186e-04 -6.03945354e+01] [ 1.31791086e-02 -7.61215709e-04 9.99912862e-01 3.19400721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.040714057 meters Centerline goodness [0,1] 0.9810702823082466 Centerline is valid? [True, True] Translation: X:795.91, Y:-60.40, Z:3.19 [[ 9.99650291e-01 -2.28507487e-02 -1.33093461e-02 7.95909477e+02] [ 2.28590712e-02 9.99738585e-01 4.73504115e-04 -6.03950129e+01] [ 1.32950469e-02 -7.77577817e-04 9.99911315e-01 3.19436986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0707140569999 meters Centerline goodness [0,1] 0.9811263251844918 Centerline is valid? [True, True] Translation: X:795.94, Y:-60.40, Z:3.19 [[ 9.99640348e-01 -2.37123854e-02 -1.25258978e-02 7.95940801e+02] [ 2.37198296e-02 9.99718546e-01 4.46057694e-04 -6.03968541e+01] [ 1.25117953e-02 -7.43009430e-04 9.99921448e-01 3.19484888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1007140569999 meters Centerline goodness [0,1] 0.9797479944192535 Centerline is valid? [True, True] Translation: X:795.97, Y:-60.40, Z:3.20 [[ 9.99627930e-01 -2.43613102e-02 -1.22690047e-02 7.95972431e+02] [ 2.43685060e-02 9.99702948e-01 4.37327561e-04 -6.03983890e+01] [ 1.22547063e-02 -7.36142159e-04 9.99924637e-01 3.19526569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.130714057 meters Centerline goodness [0,1] 0.9813173861801039 Centerline is valid? [True, True] Translation: X:796.00, Y:-60.39, Z:3.20 [[ 9.99611161e-01 -2.53659543e-02 -1.15799678e-02 7.96004378e+02] [ 2.53724364e-02 9.99677983e-01 4.13180805e-04 -6.03911181e+01] [ 1.15657581e-02 -7.06832139e-04 9.99932865e-01 3.19730608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.160714057 meters Centerline goodness [0,1] 0.9791779987380606 Centerline is valid? [True, True] Translation: X:796.03, Y:-60.40, Z:3.20 [[ 9.99603905e-01 -2.56317494e-02 -1.16209866e-02 7.96034931e+02] [ 2.56383023e-02 9.99671198e-01 4.15238643e-04 -6.04020416e+01] [ 1.16065223e-02 -7.13016535e-04 9.99932388e-01 3.19570526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1907140569999 meters Centerline goodness [0,1] 0.9799663557118825 Centerline is valid? [True, True] Translation: X:796.07, Y:-60.40, Z:3.20 [[ 9.99595417e-01 -2.58524621e-02 -1.18597308e-02 7.96067501e+02] [ 2.58593121e-02 9.99665502e-01 4.24575267e-04 -6.03971014e+01] [ 1.18447875e-02 -7.31087972e-04 9.99929581e-01 3.19623607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2207140569999 meters Centerline goodness [0,1] 0.9807511839549552 Centerline is valid? [True, True] Translation: X:796.10, Y:-60.40, Z:3.20 [[ 9.99599428e-01 -2.55024872e-02 -1.22721737e-02 7.96099572e+02] [ 2.55098066e-02 9.99674475e-01 4.40229745e-04 -6.03958058e+01] [ 1.22569519e-02 -7.53114180e-04 9.99924597e-01 3.19633714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.250714057 meters Centerline goodness [0,1] 0.9816205361040775 Centerline is valid? [True, True] Translation: X:796.13, Y:-60.40, Z:3.20 [[ 9.99606352e-01 -2.50453307e-02 -1.26440743e-02 7.96132173e+02] [ 2.50530755e-02 9.99686019e-01 4.54483595e-04 -6.03958479e+01] [ 1.26287216e-02 -7.71077636e-04 9.99919957e-01 3.19627638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.280714057 meters Centerline goodness [0,1] 0.9812649945474373 Centerline is valid? [True, True] Translation: X:796.16, Y:-60.40, Z:3.20 [[ 9.99619529e-01 -2.47454726e-02 -1.21843985e-02 7.96163720e+02] [ 2.47526486e-02 9.99693510e-01 4.38475354e-04 -6.03960225e+01] [ 1.21698138e-02 -7.39904660e-04 9.99925671e-01 3.19617034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3107140569999 meters Centerline goodness [0,1] 0.9810501984386585 Centerline is valid? [True, True] Translation: X:796.19, Y:-60.40, Z:3.20 [[ 9.99637383e-01 -2.42251610e-02 -1.17577041e-02 7.96194539e+02] [ 2.42318141e-02 9.99706277e-01 4.23702721e-04 -6.03988687e+01] [ 1.17439863e-02 -7.08459579e-04 9.99930786e-01 3.19630880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3407140569999 meters Centerline goodness [0,1] 0.9801995328224944 Centerline is valid? [True, True] Translation: X:796.23, Y:-60.40, Z:3.20 [[ 9.99644735e-01 -2.40345831e-02 -1.15213843e-02 7.96225928e+02] [ 2.40409640e-02 9.99710888e-01 4.15630580e-04 -6.03980709e+01] [ 1.15080638e-02 -6.92468106e-04 9.99933540e-01 3.19655836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.370714057 meters Centerline goodness [0,1] 0.9810544738569241 Centerline is valid? [True, True] Translation: X:796.26, Y:-60.40, Z:3.20 [[ 9.99646336e-01 -2.38149053e-02 -1.18343692e-02 7.96258211e+02] [ 2.38216311e-02 9.99716133e-01 4.27667893e-04 -6.03990571e+01] [ 1.18208249e-02 -7.09430619e-04 9.99929880e-01 3.19665209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.400714057 meters Centerline goodness [0,1] 0.980297291972241 Centerline is valid? [True, True] Translation: X:796.29, Y:-60.40, Z:3.20 [[ 9.99655686e-01 -2.33638357e-02 -1.19432238e-02 7.96289307e+02] [ 2.33706616e-02 9.99726775e-01 4.32267422e-04 -6.04005527e+01] [ 1.19298612e-02 -7.11239629e-04 9.99928584e-01 3.19592790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4307140569999 meters Centerline goodness [0,1] 0.9795177031817585 Centerline is valid? [True, True] Translation: X:796.32, Y:-60.40, Z:3.20 [[ 9.99669678e-01 -2.29787467e-02 -1.15113493e-02 7.96320960e+02] [ 2.29850674e-02 9.99735721e-01 4.17069250e-04 -6.04010823e+01] [ 1.14987234e-02 -6.81520623e-04 9.99933655e-01 3.19594070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4607140569999 meters Centerline goodness [0,1] 0.9787038656638097 Centerline is valid? [True, True] Translation: X:796.35, Y:-60.40, Z:3.20 [[ 9.99688322e-01 -2.21717036e-02 -1.14749621e-02 7.96351783e+02] [ 2.21779359e-02 9.99753953e-01 4.16142086e-04 -6.04028268e+01] [ 1.14629121e-02 -6.70503357e-04 9.99934074e-01 3.19601666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4907140569999 meters Centerline goodness [0,1] 0.9809684783563087 Centerline is valid? [True, True] Translation: X:796.38, Y:-60.40, Z:3.20 [[ 9.99689072e-01 -2.17157194e-02 -1.22550786e-02 7.96383319e+02] [ 2.17227991e-02 9.99763933e-01 4.44864853e-04 -6.03988993e+01] [ 1.22425250e-02 -7.10941142e-04 9.99924805e-01 3.19644215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.520714057 meters Centerline goodness [0,1] 0.9804179261400973 Centerline is valid? [True, True] Translation: X:796.42, Y:-60.40, Z:3.20 [[ 9.99691808e-01 -2.14595552e-02 -1.24810630e-02 7.96415227e+02] [ 2.14668887e-02 9.99769457e-01 4.53886416e-04 -6.03959986e+01] [ 1.24684454e-02 -7.21676123e-04 9.99922005e-01 3.19648427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5507140569999 meters Centerline goodness [0,1] 0.9802019228663411 Centerline is valid? [True, True] Translation: X:796.45, Y:-60.41, Z:3.19 [[ 9.99683149e-01 -2.09730940e-02 -1.39187519e-02 7.96446280e+02] [ 2.09821893e-02 9.99779721e-01 5.07736508e-04 -6.04064588e+01] [ 1.39050371e-02 -7.99621519e-04 9.99903001e-01 3.19389383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5807140569999 meters Centerline goodness [0,1] 0.9830653663679494 Centerline is valid? [True, True] Translation: X:796.48, Y:-60.40, Z:3.20 [[ 9.99687759e-01 -2.06624343e-02 -1.40516427e-02 7.96478303e+02] [ 2.06716835e-02 9.99786186e-01 5.13291861e-04 -6.03971075e+01] [ 1.40380324e-02 -8.03602702e-04 9.99901139e-01 3.19549622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6107140569999 meters Centerline goodness [0,1] 0.9821212853346218 Centerline is valid? [True, True] Translation: X:796.51, Y:-60.40, Z:3.20 [[ 9.99696917e-01 -1.99889709e-02 -1.43706635e-02 7.96508181e+02] [ 1.99985889e-02 9.99799870e-01 5.25874156e-04 -6.03992519e+01] [ 1.43572759e-02 -8.13107765e-04 9.99896598e-01 3.19546347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.640714057 meters Centerline goodness [0,1] 0.9811130587204206 Centerline is valid? [True, True] Translation: X:796.54, Y:-60.40, Z:3.20 [[ 9.99708193e-01 -1.95299876e-02 -1.42164947e-02 7.96538319e+02] [ 1.95393594e-02 9.99808953e-01 5.20604272e-04 -6.04018571e+01] [ 1.42036113e-02 -7.98233554e-04 9.99898805e-01 3.19548068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6707140569999 meters Centerline goodness [0,1] 0.9824853679387975 Centerline is valid? [True, True] Translation: X:796.57, Y:-60.40, Z:3.20 [[ 9.99725776e-01 -1.85719577e-02 -1.42637773e-02 7.96568469e+02] [ 1.85812952e-02 9.99827216e-01 5.22377380e-04 -6.04008993e+01] [ 1.42516112e-02 -7.87273589e-04 9.99898131e-01 3.19602596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7007140569999 meters Centerline goodness [0,1] 0.9833479982402111 Centerline is valid? [True, True] Translation: X:796.60, Y:-60.40, Z:3.20 [[ 9.99760292e-01 -1.65721952e-02 -1.43080779e-02 7.96598807e+02] [ 1.65813867e-02 9.99862382e-01 5.23999785e-04 -6.03969227e+01] [ 1.42974250e-02 -7.61121950e-04 9.99897497e-01 3.19700445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7307140569999 meters Centerline goodness [0,1] 0.9821903652074493 Centerline is valid? [True, True] Translation: X:796.63, Y:-60.40, Z:3.20 [[ 9.99779470e-01 -1.55759328e-02 -1.40854921e-02 7.96629606e+02] [ 1.55847419e-02 9.99878417e-01 5.15848103e-04 -6.03976101e+01] [ 1.40757447e-02 -7.35253103e-04 9.99900661e-01 3.19706379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.760714057 meters Centerline goodness [0,1] 0.9845010802945456 Centerline is valid? [True, True] Translation: X:796.66, Y:-60.40, Z:3.20 [[ 9.99823075e-01 -1.31674107e-02 -1.34327471e-02 7.96659136e+02] [ 1.31752001e-02 9.99913082e-01 4.91546798e-04 -6.03954106e+01] [ 1.34251072e-02 -6.68438962e-04 9.99909656e-01 3.19779091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.790714057 meters Centerline goodness [0,1] 0.9841801436566342 Centerline is valid? [True, True] Translation: X:796.69, Y:-60.40, Z:3.20 [[ 9.99841812e-01 -1.20104309e-02 -1.31186939e-02 7.96688994e+02] [ 1.20177549e-02 9.99927669e-01 4.79589828e-04 -6.03959238e+01] [ 1.31119849e-02 -6.37171211e-04 9.99913831e-01 3.19763358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8207140569999 meters Centerline goodness [0,1] 0.9840619909303042 Centerline is valid? [True, True] Translation: X:796.72, Y:-60.40, Z:3.20 [[ 9.99848718e-01 -1.09945530e-02 -1.34781376e-02 7.96717999e+02] [ 1.10021853e-02 9.99939353e-01 4.92252441e-04 -6.03978958e+01] [ 1.34719081e-02 -6.40466940e-04 9.99909045e-01 3.19739821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8507140569999 meters Centerline goodness [0,1] 0.9845401691331924 Centerline is valid? [True, True] Translation: X:796.75, Y:-60.40, Z:3.20 [[ 9.99857615e-01 -9.86542736e-03 -1.36902719e-02 7.96747130e+02] [ 9.87315641e-03 9.99951136e-01 4.97092059e-04 -6.03963500e+01] [ 1.36846989e-02 -6.32187476e-04 9.99906160e-01 3.19680034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.880714057 meters Centerline goodness [0,1] 0.9841521046268821 Centerline is valid? [True, True] Translation: X:796.77, Y:-60.40, Z:3.20 [[ 9.99855367e-01 -9.85386189e-03 -1.38617258e-02 7.96774369e+02] [ 9.86175517e-03 9.99951246e-01 5.01189689e-04 -6.04002059e+01] [ 1.38561113e-02 -6.37818146e-04 9.99903796e-01 3.19602223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.910714057 meters Centerline goodness [0,1] 0.9835034312862925 Centerline is valid? [True, True] Translation: X:796.80, Y:-60.40, Z:3.20 [[ 9.99847039e-01 -1.03889680e-02 -1.40700897e-02 7.96802256e+02] [ 1.03971347e-02 9.99945820e-01 5.07406178e-04 -6.04027621e+01] [ 1.40640560e-02 -6.53617183e-04 9.99900883e-01 3.19560044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9407140569999 meters Centerline goodness [0,1] 0.9850966732070813 Centerline is valid? [True, True] Translation: X:796.83, Y:-60.40, Z:3.20 [[ 9.99833229e-01 -1.12309890e-02 -1.44006510e-02 7.96831082e+02] [ 1.12395842e-02 9.99936701e-01 5.16062614e-04 -6.03991526e+01] [ 1.43939435e-02 -6.77833879e-04 9.99896172e-01 3.19663125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9707140569999 meters Centerline goodness [0,1] 0.9847239060950072 Centerline is valid? [True, True] Translation: X:796.86, Y:-60.40, Z:3.20 [[ 9.99814589e-01 -1.23285757e-02 -1.47916728e-02 7.96858845e+02] [ 1.23377382e-02 9.99923748e-01 5.28338423e-04 -6.04029777e+01] [ 1.47840312e-02 -7.10736250e-04 9.99890458e-01 3.19590370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.000714057 meters Centerline goodness [0,1] 0.9829626854157942 Centerline is valid? [True, True] Translation: X:796.89, Y:-60.41, Z:3.19 [[ 9.99767136e-01 -1.47114046e-02 -1.57876069e-02 7.96887050e+02] [ 1.47221242e-02 9.99891465e-01 5.62975452e-04 -6.04134890e+01] [ 1.57776112e-02 -7.95271464e-04 9.99875209e-01 3.19331896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.030714057 meters Centerline goodness [0,1] 0.9837358956276445 Centerline is valid? [True, True] Translation: X:796.92, Y:-60.41, Z:3.19 [[ 9.99741175e-01 -1.62456404e-02 -1.59267845e-02 7.96916280e+02] [ 1.62566885e-02 9.99867692e-01 5.64454169e-04 -6.04096611e+01] [ 1.59155074e-02 -8.23224850e-04 9.99873001e-01 3.19440368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0607140569999 meters Centerline goodness [0,1] 0.9834320825104236 Centerline is valid? [True, True] Translation: X:796.95, Y:-60.41, Z:3.19 [[ 9.99722560e-01 -1.73466284e-02 -1.59341652e-02 7.96945946e+02] [ 1.73578092e-02 9.99849183e-01 5.63641953e-04 -6.04104859e+01] [ 1.59219848e-02 -8.40067775e-04 9.99872884e-01 3.19475028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0907140569999 meters Centerline goodness [0,1] 0.9821746097951837 Centerline is valid? [True, True] Translation: X:796.97, Y:-60.41, Z:3.19 [[ 9.99714318e-01 -1.82074490e-02 -1.54845261e-02 7.96974572e+02] [ 1.82180984e-02 9.99833887e-01 5.46952810e-04 -6.04145756e+01] [ 1.54719953e-02 -8.28895175e-04 9.99879958e-01 3.19483804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.120714057 meters Centerline goodness [0,1] 0.9832720709616358 Centerline is valid? [True, True] Translation: X:797.00, Y:-60.41, Z:3.20 [[ 9.99731408e-01 -1.76667024e-02 -1.49999689e-02 7.97004849e+02] [ 1.76766331e-02 9.99843616e-01 5.29714191e-04 -6.04127704e+01] [ 1.49882649e-02 -7.94720862e-04 9.99887354e-01 3.19579814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.150714057 meters Centerline goodness [0,1] 0.9832720709616358 Centerline is valid? [True, True] Translation: X:797.03, Y:-60.41, Z:3.20 [[ 9.99731408e-01 -1.76667024e-02 -1.49999689e-02 7.97034875e+02] [ 1.76766331e-02 9.99843616e-01 5.29714191e-04 -6.04138308e+01] [ 1.49882649e-02 -7.94720862e-04 9.99887354e-01 3.19586942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1807140569999 meters Centerline goodness [0,1] 0.9847223755381389 Centerline is valid? [True, True] Translation: X:797.07, Y:-60.41, Z:3.20 [[ 9.99771471e-01 -1.60181395e-02 -1.41571612e-02 7.97065135e+02] [ 1.60268107e-02 9.99871438e-01 4.99244364e-04 -6.04130185e+01] [ 1.41473441e-02 -7.26024414e-04 9.99899658e-01 3.19660441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2107140569999 meters Centerline goodness [0,1] 0.9831377814955863 Centerline is valid? [True, True] Translation: X:797.09, Y:-60.42, Z:3.20 [[ 9.99797451e-01 -1.50782482e-02 -1.33305526e-02 7.97094456e+02] [ 1.50858485e-02 9.99886092e-01 4.69765147e-04 -6.04172929e+01] [ 1.33219509e-02 -6.70772693e-04 9.99911034e-01 3.19633541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2407140569999 meters Centerline goodness [0,1] 0.9832536933935382 Centerline is valid? [True, True] Translation: X:797.12, Y:-60.42, Z:3.20 [[ 9.99814817e-01 -1.41601367e-02 -1.30315536e-02 7.97124493e+02] [ 1.41673167e-02 9.99899533e-01 4.58817443e-04 -6.04174414e+01] [ 1.30237474e-02 -6.43354625e-04 9.99914980e-01 3.19651508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.270714057 meters Centerline goodness [0,1] 0.9845514877159056 Centerline is valid? [True, True] Translation: X:797.15, Y:-60.42, Z:3.20 [[ 9.99838174e-01 -1.26902900e-02 -1.27507877e-02 7.97154087e+02] [ 1.26970390e-02 9.99919289e-01 4.48482626e-04 -6.04155331e+01] [ 1.27440672e-02 -6.10307298e-04 9.99918605e-01 3.19716306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3007140569999 meters Centerline goodness [0,1] 0.9844995376282532 Centerline is valid? [True, True] Translation: X:797.18, Y:-60.42, Z:3.20 [[ 9.99849497e-01 -1.23262374e-02 -1.22084957e-02 7.97183729e+02] [ 1.23323921e-02 9.99923861e-01 4.28977607e-04 -6.04162365e+01] [ 1.22022785e-02 -5.79473001e-04 9.99925382e-01 3.19693125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3307140569999 meters Centerline goodness [0,1] 0.9845632861289472 Centerline is valid? [True, True] Translation: X:797.21, Y:-60.42, Z:3.20 [[ 9.99853442e-01 -1.19001219e-02 -1.23077987e-02 7.97213310e+02] [ 1.19063396e-02 9.99929024e-01 4.32026638e-04 -6.04169126e+01] [ 1.23017839e-02 -5.78504151e-04 9.99924163e-01 3.19744768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3607140569999 meters Centerline goodness [0,1] 0.9847487840841568 Centerline is valid? [True, True] Translation: X:797.24, Y:-60.42, Z:3.20 [[ 9.99862912e-01 -1.17592496e-02 -1.16566386e-02 7.97242860e+02] [ 1.17648123e-02 9.99930709e-01 4.08753368e-04 -6.04170822e+01] [ 1.16510242e-02 -5.45835498e-04 9.99931976e-01 3.19793097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.390714057 meters Centerline goodness [0,1] 0.9843231968382918 Centerline is valid? [True, True] Translation: X:797.27, Y:-60.42, Z:3.20 [[ 9.99866299e-01 -1.16274040e-02 -1.14972544e-02 7.97271801e+02] [ 1.16328041e-02 9.99932255e-01 4.02916062e-04 -6.04205322e+01] [ 1.14917907e-02 -5.36607500e-04 9.99933823e-01 3.19752273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4207140569999 meters Centerline goodness [0,1] 0.985741946840345 Centerline is valid? [True, True] Translation: X:797.30, Y:-60.42, Z:3.20 [[ 9.99867135e-01 -1.13915858e-02 -1.16595213e-02 7.97301224e+02] [ 1.13971190e-02 9.99934967e-01 4.08227410e-04 -6.04201237e+01] [ 1.16541127e-02 -5.41058123e-04 9.99931942e-01 3.19772826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4507140569999 meters Centerline goodness [0,1] 0.9858539264140582 Centerline is valid? [True, True] Translation: X:797.33, Y:-60.42, Z:3.20 [[ 9.99883532e-01 -1.05699586e-02 -1.10090518e-02 7.97331110e+02] [ 1.05748376e-02 9.99944011e-01 3.85063079e-04 -6.04215279e+01] [ 1.10043653e-02 -5.01437167e-04 9.99939324e-01 3.19759980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4807140569999 meters Centerline goodness [0,1] 0.9865413748435682 Centerline is valid? [True, True] Translation: X:797.36, Y:-60.42, Z:3.20 [[ 9.99894965e-01 -1.00472838e-02 -1.04456570e-02 7.97360393e+02] [ 1.00516439e-02 9.99949414e-01 3.64986404e-04 -6.04224897e+01] [ 1.04414614e-02 -4.69944091e-04 9.99945376e-01 3.19784610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.510714057 meters Centerline goodness [0,1] 0.9857111501316944 Centerline is valid? [True, True] Translation: X:797.39, Y:-60.42, Z:3.20 [[ 9.99904253e-01 -9.45000605e-03 -1.01084939e-02 7.97389714e+02] [ 9.45405508e-03 9.99955247e-01 3.52846232e-04 -6.04239498e+01] [ 1.01047071e-02 -4.48378706e-04 9.99948846e-01 3.19805315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.540714057 meters Centerline goodness [0,1] 0.9858809622835628 Centerline is valid? [True, True] Translation: X:797.42, Y:-60.42, Z:3.20 [[ 9.99919412e-01 -8.69707161e-03 -9.24822092e-03 7.97419401e+02] [ 8.70042562e-03 9.99962099e-01 3.22493603e-04 -6.04242097e+01] [ 9.24506565e-03 -4.02931072e-04 9.99957182e-01 3.19841841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5707140569999 meters Centerline goodness [0,1] 0.9848713078787085 Centerline is valid? [True, True] Translation: X:797.45, Y:-60.43, Z:3.20 [[ 9.99924378e-01 -8.36255196e-03 -9.01694870e-03 7.97448480e+02] [ 8.36572493e-03 9.99964957e-01 3.14228044e-04 -6.04265124e+01] [ 9.01400498e-03 -3.89637594e-04 9.99959297e-01 3.19845118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6007140569999 meters Centerline goodness [0,1] 0.9849467548972347 Centerline is valid? [True, True] Translation: X:797.48, Y:-60.43, Z:3.20 [[ 9.99924026e-01 -8.74814589e-03 -8.68401744e-03 7.97478173e+02] [ 8.75110108e-03 9.99961663e-01 3.02361437e-04 -6.04278800e+01] [ 8.68103942e-03 -3.78333180e-04 9.99962247e-01 3.19819422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.630714057 meters Centerline goodness [0,1] 0.9849907417492648 Centerline is valid? [True, True] Translation: X:797.51, Y:-60.43, Z:3.20 [[ 9.99922906e-01 -8.71431398e-03 -8.84544468e-03 7.97507789e+02] [ 8.71737597e-03 9.99961956e-01 3.07668035e-04 -6.04295113e+01] [ 8.84242705e-03 -3.84753383e-04 9.99960831e-01 3.19785772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.660714057 meters Centerline goodness [0,1] 0.984608628828631 Centerline is valid? [True, True] Translation: X:797.54, Y:-60.43, Z:3.20 [[ 9.99924288e-01 -8.86911731e-03 -8.52975879e-03 7.97537565e+02] [ 8.87196963e-03 9.99960599e-01 2.96614150e-04 -6.04319796e+01] [ 8.52679200e-03 -3.72267454e-04 9.99963577e-01 3.19778169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6907140569999 meters Centerline goodness [0,1] 0.9864226552716567 Centerline is valid? [True, True] Translation: X:797.57, Y:-60.43, Z:3.20 [[ 9.99926334e-01 -8.92780432e-03 -8.22315920e-03 7.97567226e+02] [ 8.93045556e-03 9.99960082e-01 2.85748146e-04 -6.04322049e+01] [ 8.22027984e-03 -3.59163654e-04 9.99966148e-01 3.19813264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7207140569999 meters Centerline goodness [0,1] 0.9855507805648132 Centerline is valid? [True, True] Translation: X:797.60, Y:-60.43, Z:3.20 [[ 9.99930944e-01 -8.77958620e-03 -7.81195835e-03 7.97597486e+02] [ 8.78197377e-03 9.99961401e-01 2.71379596e-04 -6.04331346e+01] [ 7.80927422e-03 -3.39965269e-04 9.99969449e-01 3.19882103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.750714057 meters Centerline goodness [0,1] 0.9857965115006675 Centerline is valid? [True, True] Translation: X:797.63, Y:-60.43, Z:3.20 [[ 9.99939751e-01 -8.56520217e-03 -6.86532176e-03 7.97627565e+02] [ 8.56704110e-03 9.99963274e-01 2.38494390e-04 -6.04348421e+01] [ 6.86302687e-03 -2.97295515e-04 9.99976405e-01 3.19904780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.780714057 meters Centerline goodness [0,1] 0.9858070460229018 Centerline is valid? [True, True] Translation: X:797.66, Y:-60.44, Z:3.20 [[ 9.99941267e-01 -8.73602515e-03 -6.41431783e-03 7.97657322e+02] [ 8.73763346e-03 9.99961801e-01 2.22755940e-04 -6.04370461e+01] [ 6.41212681e-03 -2.78788815e-04 9.99979403e-01 3.19919830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8107140569999 meters Centerline goodness [0,1] 0.9857389706686498 Centerline is valid? [True, True] Translation: X:797.69, Y:-60.44, Z:3.20 [[ 9.99938370e-01 -8.88594717e-03 -6.65549537e-03 7.97687961e+02] [ 8.88768221e-03 9.99960477e-01 2.31162673e-04 -6.04390203e+01] [ 6.65317822e-03 -2.90300354e-04 9.99977825e-01 3.19905010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8407140569999 meters Centerline goodness [0,1] 0.9858449286776931 Centerline is valid? [True, True] Translation: X:797.72, Y:-60.44, Z:3.20 [[ 9.99930652e-01 -8.85135029e-03 -7.76820692e-03 7.97718310e+02] [ 8.85371406e-03 9.99960769e-01 2.69950944e-04 -6.04417969e+01] [ 7.76551273e-03 -3.38709706e-04 9.99969791e-01 3.19831711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.870714057 meters Centerline goodness [0,1] 0.985804866276136 Centerline is valid? [True, True] Translation: X:797.75, Y:-60.44, Z:3.20 [[ 9.99926682e-01 -9.05846778e-03 -8.03586529e-03 7.97749246e+02] [ 9.06100427e-03 9.99958909e-01 2.79294477e-04 -6.04433093e+01] [ 8.03300511e-03 -3.52087009e-04 9.99967673e-01 3.19746926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.900714057 meters Centerline goodness [0,1] 0.9854260580331743 Centerline is valid? [True, True] Translation: X:797.78, Y:-60.44, Z:3.20 [[ 9.99925078e-01 -9.19517541e-03 -8.08006677e-03 7.97780131e+02] [ 9.19774434e-03 9.99957660e-01 2.80830743e-04 -6.04438141e+01] [ 8.07714238e-03 -3.55128091e-04 9.99967316e-01 3.19786237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9307140569999 meters Centerline goodness [0,1] 0.9862591077172177 Centerline is valid? [True, True] Translation: X:797.81, Y:-60.44, Z:3.20 [[ 9.99921404e-01 -9.62824633e-03 -8.03012038e-03 7.97811007e+02] [ 9.63079753e-03 9.99953584e-01 2.79094807e-04 -6.04418549e+01] [ 8.02706046e-03 -3.56409335e-04 9.99967719e-01 3.19893408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9607140569999 meters Centerline goodness [0,1] 0.9854483999824415 Centerline is valid? [True, True] Translation: X:797.84, Y:-60.44, Z:3.20 [[ 9.99915186e-01 -1.02952106e-02 -7.97678294e-03 7.97841445e+02] [ 1.02977492e-02 9.99946938e-01 2.77241011e-04 -6.04432596e+01] [ 7.97350542e-03 -3.59360407e-04 9.99968147e-01 3.19923526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9907140569999 meters Centerline goodness [0,1] 0.9857327860576396 Centerline is valid? [True, True] Translation: X:797.87, Y:-60.45, Z:3.20 [[ 9.99902485e-01 -1.18027692e-02 -7.46426356e-03 7.97871195e+02] [ 1.18050373e-02 9.99930284e-01 2.59882297e-04 -6.04477049e+01] [ 7.46067586e-03 -3.47972865e-04 9.99972108e-01 3.19873794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.020714057 meters Centerline goodness [0,1] 0.9853410930731195 Centerline is valid? [True, True] Translation: X:797.90, Y:-60.45, Z:3.20 [[ 9.99890148e-01 -1.27554213e-02 -7.54919447e-03 7.97902858e+02] [ 1.27577714e-02 9.99918582e-01 2.63233733e-04 -6.04503367e+01] [ 7.54522217e-03 -3.59515714e-04 9.99971470e-01 3.19896316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0507140569999 meters Centerline goodness [0,1] 0.9859851064297168 Centerline is valid? [True, True] Translation: X:797.93, Y:-60.45, Z:3.20 [[ 9.99878759e-01 -1.39029935e-02 -7.01246059e-03 7.97933668e+02] [ 1.39050506e-02 9.99903290e-01 2.44678240e-04 -6.04502045e+01] [ 7.00838066e-03 -3.42157194e-04 9.99975382e-01 3.19936294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0807140569999 meters Centerline goodness [0,1] 0.9844364780974032 Centerline is valid? [True, True] Translation: X:797.96, Y:-60.45, Z:3.20 [[ 9.99849812e-01 -1.59628858e-02 -6.74829355e-03 7.97963987e+02] [ 1.59648384e-02 9.99872526e-01 2.35579720e-04 -6.04534692e+01] [ 6.74367279e-03 -3.43279755e-04 9.99977202e-01 3.19982351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1107140569999 meters Centerline goodness [0,1] 0.9856526100039248 Centerline is valid? [True, True] Translation: X:798.00, Y:-60.46, Z:3.20 [[ 9.99836174e-01 -1.67052706e-02 -6.96837307e-03 7.97995870e+02] [ 1.67073733e-02 9.99860392e-01 2.43632180e-04 -6.04556322e+01] [ 6.96333029e-03 -3.60015477e-04 9.99975691e-01 3.20008331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.140714057 meters Centerline goodness [0,1] 0.9854964507930943 Centerline is valid? [True, True] Translation: X:798.03, Y:-60.46, Z:3.20 [[ 9.99803391e-01 -1.83102498e-02 -7.61019161e-03 7.98027044e+02] [ 1.83128068e-02 9.99832271e-01 2.66439834e-04 -6.04585187e+01] [ 7.60403658e-03 -4.05751418e-04 9.99971007e-01 3.20013070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1707140569999 meters Centerline goodness [0,1] 0.9862357214757758 Centerline is valid? [True, True] Translation: X:798.06, Y:-60.46, Z:3.20 [[ 9.99790625e-01 -1.89526836e-02 -7.71372460e-03 7.98059231e+02] [ 1.89553333e-02 9.99820295e-01 2.70537673e-04 -6.04572387e+01] [ 7.70721099e-03 -4.16697250e-04 9.99970212e-01 3.20051424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2007140569999 meters Centerline goodness [0,1] 0.9845621564806096 Centerline is valid? [True, True] Translation: X:798.09, Y:-60.46, Z:3.20 [[ 9.99784620e-01 -1.92262031e-02 -7.81454125e-03 7.98091610e+02] [ 1.92289353e-02 9.99815069e-01 2.74641630e-04 -6.04592794e+01] [ 7.80781578e-03 -4.24847786e-04 9.99969428e-01 3.20080492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2307140569999 meters Centerline goodness [0,1] 0.9848441771459814 Centerline is valid? [True, True] Translation: X:798.12, Y:-60.47, Z:3.20 [[ 9.99810442e-01 -1.79370714e-02 -7.57235912e-03 7.98121658e+02] [ 1.79396041e-02 9.99839037e-01 2.66668949e-04 -6.04651467e+01] [ 7.56635699e-03 -4.02463524e-04 9.99971294e-01 3.20022210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.260714057 meters Centerline goodness [0,1] 0.9865072063784115 Centerline is valid? [True, True] Translation: X:798.15, Y:-60.46, Z:3.20 [[ 9.99832415e-01 -1.68035194e-02 -7.26520488e-03 7.98152958e+02] [ 1.68058235e-02 9.99858739e-01 2.56193749e-04 -6.04584785e+01] [ 7.25987363e-03 -3.78248565e-04 9.99973575e-01 3.20101172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.290714057 meters Centerline goodness [0,1] 0.9860959054083643 Centerline is valid? [True, True] Translation: X:798.18, Y:-60.46, Z:3.20 [[ 9.99852699e-01 -1.53778600e-02 -7.62250639e-03 7.98183701e+02] [ 1.53803571e-02 9.99881679e-01 2.69073555e-04 -6.04598434e+01] [ 7.61746672e-03 -3.86270790e-04 9.99970912e-01 3.20086376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3207140569999 meters Centerline goodness [0,1] 0.9861341964832473 Centerline is valid? [True, True] Translation: X:798.21, Y:-60.46, Z:3.20 [[ 9.99897558e-01 -1.19646330e-02 -7.85621364e-03 7.98214313e+02] [ 1.19671811e-02 9.99928352e-01 2.77411563e-04 -6.04582878e+01] [ 7.85233163e-03 -3.71399876e-04 9.99969101e-01 3.20039554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3507140569999 meters Centerline goodness [0,1] 0.9863302249040043 Centerline is valid? [True, True] Translation: X:798.25, Y:-60.46, Z:3.20 [[ 9.99914156e-01 -1.03070783e-02 -8.08981817e-03 7.98245777e+02] [ 1.03097277e-02 9.99946812e-01 2.85863986e-04 -6.04581618e+01] [ 8.08644147e-03 -3.69243269e-04 9.99967236e-01 3.20029317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.380714057 meters Centerline goodness [0,1] 0.9878690826130829 Centerline is valid? [True, True] Translation: X:798.28, Y:-60.46, Z:3.20 [[ 9.99938167e-01 -7.14237789e-03 -8.52347217e-03 7.98275903e+02] [ 7.14520406e-03 9.99974427e-01 3.01168772e-04 -6.04565884e+01] [ 8.52110314e-03 -3.62052098e-04 9.99963629e-01 3.20003994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.410714057 meters Centerline goodness [0,1] 0.9876397107166338 Centerline is valid? [True, True] Translation: X:798.31, Y:-60.45, Z:3.20 [[ 9.99945404e-01 -5.83951861e-03 -8.66538077e-03 7.98305506e+02] [ 5.84238852e-03 9.99982886e-01 3.05915385e-04 -6.04545296e+01] [ 8.66344607e-03 -3.56525205e-04 9.99962408e-01 3.20039030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4407140569999 meters Centerline goodness [0,1] 0.9874997263512774 Centerline is valid? [True, True] Translation: X:798.33, Y:-60.46, Z:3.20 [[ 9.99952101e-01 -4.79723705e-03 -8.53128449e-03 7.98333986e+02] [ 4.79997743e-03 9.99988435e-01 3.00769930e-04 -6.04566155e+01] [ 8.52974296e-03 -3.41705496e-04 9.99963563e-01 3.20029119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4707140569999 meters Centerline goodness [0,1] 0.98728701914632 Centerline is valid? [True, True] Translation: X:798.36, Y:-60.46, Z:3.20 [[ 9.99954423e-01 -3.69916157e-03 -8.80159742e-03 7.98362895e+02] [ 3.70202100e-03 9.99993100e-01 3.08605588e-04 -6.04556213e+01] [ 8.80039510e-03 -3.41175221e-04 9.99961218e-01 3.20072698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.500714057 meters Centerline goodness [0,1] 0.987340939008337 Centerline is valid? [True, True] Translation: X:798.39, Y:-60.46, Z:3.20 [[ 9.99954083e-01 -3.37874301e-03 -8.96750659e-03 7.98391548e+02] [ 3.38167879e-03 9.99994233e-01 3.12237626e-04 -6.04564238e+01] [ 8.96639991e-03 -3.42548515e-04 9.99959742e-01 3.20092944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.530714057 meters Centerline goodness [0,1] 0.9883265916285614 Centerline is valid? [True, True] Translation: X:798.42, Y:-60.45, Z:3.20 [[ 9.99953047e-01 -2.86212013e-03 -9.25810947e-03 7.98420951e+02] [ 2.86520653e-03 9.99995844e-01 3.20126702e-04 -6.04532101e+01] [ 9.25715475e-03 -3.46638067e-04 9.99957092e-01 3.20139021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5607140569999 meters Centerline goodness [0,1] 0.9882924043403769 Centerline is valid? [True, True] Translation: X:798.45, Y:-60.46, Z:3.20 [[ 9.99949335e-01 -2.38809855e-03 -9.77875322e-03 7.98448350e+02] [ 2.39150686e-03 9.99997084e-01 3.36863451e-04 -6.04559899e+01] [ 9.77792024e-03 -3.60232339e-04 9.99952130e-01 3.20109531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5907140569999 meters Centerline goodness [0,1] 0.9874321622393601 Centerline is valid? [True, True] Translation: X:798.48, Y:-60.46, Z:3.20 [[ 9.99947930e-01 -2.47220455e-03 -9.90081976e-03 7.98475551e+02] [ 2.47569125e-03 9.99996878e-01 3.39922202e-04 -6.04594708e+01] [ 9.89994849e-03 -3.64415875e-04 9.99950928e-01 3.20086421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.620714057 meters Centerline goodness [0,1] 0.9879866080220574 Centerline is valid? [True, True] Translation: X:798.50, Y:-60.46, Z:3.20 [[ 9.99952345e-01 -1.52828233e-03 -9.64218528e-03 7.98504627e+02] [ 1.53152546e-03 9.99998773e-01 3.28973644e-04 -6.04590288e+01] [ 9.64167068e-03 -3.43725219e-04 9.99953459e-01 3.20167168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.650714057 meters Centerline goodness [0,1] 0.9876054737026188 Centerline is valid? [True, True] Translation: X:798.53, Y:-60.46, Z:3.20 [[ 9.99952330e-01 -7.37209628e-04 -9.73623645e-03 7.98532730e+02] [ 7.40466948e-04 9.99999671e-01 3.30955888e-04 -6.04625209e+01] [ 9.73598926e-03 -3.38149473e-04 9.99952547e-01 3.20165266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6807140569999 meters Centerline goodness [0,1] 0.9872477486360349 Centerline is valid? [True, True] Translation: X:798.56, Y:-60.46, Z:3.20 [[ 9.99952602e-01 -3.97034938e-04 -9.72808155e-03 7.98561879e+02] [ 4.00251434e-04 9.99999866e-01 3.28695697e-04 -6.04621561e+01] [ 9.72794974e-03 -3.32573796e-04 9.99952627e-01 3.20197570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7107140569999 meters Centerline goodness [0,1] 0.9882912151407452 Centerline is valid? [True, True] Translation: X:798.59, Y:-60.47, Z:3.20 [[ 9.99949922e-01 2.15795211e-03 -9.77228452e-03 7.98589878e+02] [-2.15484000e-03 9.99997624e-01 3.28981078e-04 -6.04653813e+01] [ 9.77297122e-03 -3.07906894e-04 9.99952196e-01 3.20162993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7407140569999 meters Centerline goodness [0,1] 0.9881071880591804 Centerline is valid? [True, True] Translation: X:798.62, Y:-60.47, Z:3.20 [[ 9.99947709e-01 3.43628116e-03 -9.63177166e-03 7.98618907e+02] [-3.43333516e-03 9.99994054e-01 3.22381513e-04 -6.04666303e+01] [ 9.63282219e-03 -2.89295555e-04 9.99953561e-01 3.20130411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.770714057 meters Centerline goodness [0,1] 0.9880827658459926 Centerline is valid? [True, True] Translation: X:798.65, Y:-60.47, Z:3.20 [[ 9.99930876e-01 5.69506362e-03 -1.02863634e-02 7.98647949e+02] [-5.69184855e-03 9.99983743e-01 3.41804643e-04 -6.04651008e+01] [ 1.02881428e-02 -2.83232593e-04 9.99947036e-01 3.20195357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8007140569999 meters Centerline goodness [0,1] 0.9886932466848161 Centerline is valid? [True, True] Translation: X:798.68, Y:-60.46, Z:3.20 [[ 9.99925224e-01 6.82120887e-03 -1.01497701e-02 7.98676766e+02] [-6.81814790e-03 9.99976700e-01 3.36152544e-04 -6.04648271e+01] [ 1.01518266e-02 -2.66924774e-04 9.99948433e-01 3.20283822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8307140569999 meters Centerline goodness [0,1] 0.9879183173192673 Centerline is valid? [True, True] Translation: X:798.70, Y:-60.47, Z:3.20 [[ 9.99915508e-01 8.05106284e-03 -1.02057454e-02 7.98704245e+02] [-8.04804077e-03 9.99967557e-01 3.37150265e-04 -6.04666702e+01] [ 1.02081287e-02 -2.54985524e-04 9.99947863e-01 3.20242848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8607140569999 meters Centerline goodness [0,1] 0.9883318739054291 Centerline is valid? [True, True] Translation: X:798.73, Y:-60.47, Z:3.20 [[ 9.99897263e-01 1.02605098e-02 -1.00092647e-02 7.98733432e+02] [-1.02577197e-02 9.99947334e-01 3.30054293e-04 -6.04682516e+01] [ 1.00121241e-02 -2.27348153e-04 9.99949852e-01 3.20293898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.890714057 meters Centerline goodness [0,1] 0.9885953988333224 Centerline is valid? [True, True] Translation: X:798.76, Y:-60.47, Z:3.20 [[ 9.99890374e-01 1.07333624e-02 -1.01997240e-02 7.98762303e+02] [-1.07304966e-02 9.99942370e-01 3.35657101e-04 -6.04696428e+01] [ 1.02027389e-02 -2.26172201e-04 9.99947925e-01 3.20308370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9207140569999 meters Centerline goodness [0,1] 0.9885416894447967 Centerline is valid? [True, True] Translation: X:798.79, Y:-60.47, Z:3.20 [[ 9.99885326e-01 1.13770302e-02 -9.99491388e-03 7.98790714e+02] [-1.13743175e-02 9.99935256e-01 3.28212505e-04 -6.04730750e+01] [ 9.99800085e-03 -2.14489544e-04 9.99949996e-01 3.20381797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9507140569999 meters Centerline goodness [0,1] 0.988722790453711 Centerline is valid? [True, True] Translation: X:798.82, Y:-60.48, Z:3.20 [[ 9.99889150e-01 1.09266423e-02 -1.01141936e-02 7.98819750e+02] [-1.09238487e-02 9.99940278e-01 3.31412968e-04 -6.04759530e+01] [ 1.01172108e-02 -2.20890311e-04 9.99948795e-01 3.20369719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9807140569999 meters Centerline goodness [0,1] 0.9876519139533372 Centerline is valid? [True, True] Translation: X:798.85, Y:-60.48, Z:3.20 [[ 9.99892060e-01 1.03213601e-02 -1.04565090e-02 7.98848243e+02] [-1.03183489e-02 9.99946706e-01 3.41877145e-04 -6.04779420e+01] [ 1.04594803e-02 -2.33946335e-04 9.99945271e-01 3.20387031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.010714057 meters Centerline goodness [0,1] 0.9879557291666666 Centerline is valid? [True, True] Translation: X:798.88, Y:-60.48, Z:3.20 [[ 9.99908755e-01 8.93899740e-03 -1.01280168e-02 7.98875968e+02] [-8.93611280e-03 9.99960018e-01 3.30032844e-04 -6.04843047e+01] [ 1.01305620e-02 -2.39497630e-04 9.99948656e-01 3.20424520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.040714057 meters Centerline goodness [0,1] 0.9879557291666666 Centerline is valid? [True, True] Translation: X:798.90, Y:-60.49, Z:3.20 [[ 9.99909686e-01 8.83410910e-03 -1.01280525e-02 7.98903428e+02] [-8.83123026e-03 9.99960950e-01 3.28932304e-04 -6.04851094e+01] [ 1.01305629e-02 -2.39459433e-04 9.99948656e-01 3.20431046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0707140569999 meters Centerline goodness [0,1] 0.9872138360670021 Centerline is valid? [True, True] Translation: X:798.93, Y:-60.49, Z:3.21 [[ 9.99914366e-01 7.97654726e-03 -1.03747810e-02 7.98932508e+02] [-7.97348897e-03 9.99968155e-01 3.36111245e-04 -6.04867419e+01] [ 1.03771316e-02 -2.53359261e-04 9.99946124e-01 3.20523411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1007140569999 meters Centerline goodness [0,1] 0.9869776355044533 Centerline is valid? [True, True] Translation: X:798.96, Y:-60.49, Z:3.21 [[ 9.99918507e-01 7.06012425e-03 -1.06364779e-02 7.98960218e+02] [-7.05686767e-03 9.99975041e-01 3.43671447e-04 -6.04905555e+01] [ 1.06386388e-02 -2.68583223e-04 9.99943372e-01 3.20535196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.130714057 meters Centerline goodness [0,1] 0.9873486276293841 Centerline is valid? [True, True] Translation: X:798.99, Y:-60.50, Z:3.21 [[ 9.99926891e-01 5.00589239e-03 -1.10069860e-02 7.98989167e+02] [-5.00228980e-03 9.99987426e-01 3.54806809e-04 -6.04958072e+01] [ 1.10086237e-02 -2.99720736e-04 9.99939358e-01 3.20574365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.160714057 meters Centerline goodness [0,1] 0.9861057257334884 Centerline is valid? [True, True] Translation: X:799.02, Y:-60.50, Z:3.21 [[ 9.99934354e-01 3.85364307e-03 -1.07905936e-02 7.99017312e+02] [-3.85012354e-03 9.99992528e-01 3.46921052e-04 -6.04995715e+01] [ 1.07918499e-02 -3.05353159e-04 9.99941720e-01 3.20560564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1907140569999 meters Centerline goodness [0,1] 0.98562525785508 Centerline is valid? [True, True] Translation: X:799.05, Y:-60.51, Z:3.21 [[ 9.99929469e-01 4.85355038e-04 -1.18668139e-02 7.99046496e+02] [-4.80870056e-04 9.99999812e-01 3.80793583e-04 -6.05057587e+01] [ 1.18669965e-02 -3.75060330e-04 9.99929514e-01 3.20556964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2207140569999 meters Centerline goodness [0,1] 0.9855799373040752 Centerline is valid? [True, True] Translation: X:799.08, Y:-60.51, Z:3.21 [[ 9.99921180e-01 -1.14646948e-03 -1.25027615e-02 7.99075113e+02] [ 1.15156508e-03 9.99999257e-01 4.00366572e-04 -6.05093611e+01] [ 1.25022932e-02 -4.14732758e-04 9.99921757e-01 3.20601150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.250714057 meters Centerline goodness [0,1] 0.9850471738942266 Centerline is valid? [True, True] Translation: X:799.10, Y:-60.51, Z:3.21 [[ 9.99915065e-01 -3.44911024e-03 -1.25684955e-02 7.99103470e+02] [ 3.45442808e-03 9.99993953e-01 4.01423636e-04 -6.05128892e+01] [ 1.25670349e-02 -4.44806505e-04 9.99920933e-01 3.20605814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.280714057 meters Centerline goodness [0,1] 0.9856543188506145 Centerline is valid? [True, True] Translation: X:799.13, Y:-60.52, Z:3.21 [[ 9.99884687e-01 -7.67709980e-03 -1.31024941e-02 7.99133770e+02] [ 7.68323882e-03 9.99970396e-01 4.18265034e-04 -6.05182462e+01] [ 1.30988951e-02 -5.18886394e-04 9.99914071e-01 3.20631212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3107140569999 meters Centerline goodness [0,1] 0.9848242119847592 Centerline is valid? [True, True] Translation: X:799.16, Y:-60.52, Z:3.21 [[ 9.99862781e-01 -1.01206253e-02 -1.31146063e-02 7.99163238e+02] [ 1.01269806e-02 9.99948633e-01 4.18273013e-04 -6.05227646e+01] [ 1.31096995e-02 -5.51026982e-04 9.99913912e-01 3.20648459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3407140569999 meters Centerline goodness [0,1] 0.9837730386119574 Centerline is valid? [True, True] Translation: X:799.19, Y:-60.53, Z:3.21 [[ 9.99801937e-01 -1.51420090e-02 -1.29153681e-02 7.99192380e+02] [ 1.51485878e-02 9.99885169e-01 4.11696149e-04 -6.05330523e+01] [ 1.29076511e-02 -6.07264195e-04 9.99916508e-01 3.20635915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.370714057 meters Centerline goodness [0,1] 0.9834746217405301 Centerline is valid? [True, True] Translation: X:799.22, Y:-60.53, Z:3.21 [[ 9.99768273e-01 -1.73480322e-02 -1.27454116e-02 7.99222190e+02] [ 1.73546129e-02 9.99849315e-01 4.05887593e-04 -6.05345511e+01] [ 1.27364497e-02 -6.26985222e-04 9.99918692e-01 3.20677167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.400714057 meters Centerline goodness [0,1] 0.9830851774440302 Centerline is valid? [True, True] Translation: X:799.25, Y:-60.54, Z:3.21 [[ 9.99733302e-01 -1.93220657e-02 -1.26483928e-02 7.99252144e+02] [ 1.93287009e-02 9.99813102e-01 4.02537839e-04 -6.05382978e+01] [ 1.26382509e-02 -6.46907483e-04 9.99919925e-01 3.20663129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4307140569999 meters Centerline goodness [0,1] 0.9824561403508771 Centerline is valid? [True, True] Translation: X:799.28, Y:-60.55, Z:3.21 [[ 9.99669597e-01 -2.25447061e-02 -1.23464020e-02 7.99281580e+02] [ 2.25512727e-02 9.99745611e-01 3.92886721e-04 -6.05452233e+01] [ 1.23344037e-02 -6.71183990e-04 9.99923703e-01 3.20619858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4607140569999 meters Centerline goodness [0,1] 0.9829795495728708 Centerline is valid? [True, True] Translation: X:799.31, Y:-60.55, Z:3.21 [[ 9.99648551e-01 -2.35713468e-02 -1.21311916e-02 7.99311510e+02] [ 2.35777639e-02 9.99721931e-01 3.86204780e-04 -6.05490355e+01] [ 1.21187149e-02 -6.72095420e-04 9.99926340e-01 3.20587068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4907140569999 meters Centerline goodness [0,1] 0.9834835482340765 Centerline is valid? [True, True] Translation: X:799.34, Y:-60.55, Z:3.21 [[ 9.99614588e-01 -2.47890545e-02 -1.24970961e-02 7.99342391e+02] [ 2.47959621e-02 9.99692454e-01 3.98068434e-04 -6.05510478e+01] [ 1.24833849e-02 -7.07792535e-04 9.99921829e-01 3.20564994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.520714057 meters Centerline goodness [0,1] 0.9822321409411815 Centerline is valid? [True, True] Translation: X:799.37, Y:-60.55, Z:3.21 [[ 9.99572922e-01 -2.63269929e-02 -1.26832042e-02 7.99372572e+02] [ 2.63342338e-02 9.99653112e-01 4.04212860e-04 -6.05548975e+01] [ 1.26681629e-02 -7.38042695e-04 9.99919483e-01 3.20525369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5507140569999 meters Centerline goodness [0,1] 0.9820508953004805 Centerline is valid? [True, True] Translation: X:799.40, Y:-60.56, Z:3.21 [[ 9.99564389e-01 -2.64868484e-02 -1.30184082e-02 7.99403849e+02] [ 2.64944960e-02 9.99648873e-01 4.15296952e-04 -6.05574169e+01] [ 1.30028372e-02 -7.60032207e-04 9.99915171e-01 3.20558705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5807140569999 meters Centerline goodness [0,1] 0.9832003269590656 Centerline is valid? [True, True] Translation: X:799.43, Y:-60.55, Z:3.21 [[ 9.99551787e-01 -2.65867722e-02 -1.37611537e-02 7.99434969e+02] [ 2.65953335e-02 9.99646185e-01 4.39478195e-04 -6.05541497e+01] [ 1.37446005e-02 -8.05263688e-04 9.99905214e-01 3.20531139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6107140569999 meters Centerline goodness [0,1] 0.9820948199797706 Centerline is valid? [True, True] Translation: X:799.47, Y:-60.56, Z:3.20 [[ 9.99573335e-01 -2.56080149e-02 -1.40490866e-02 7.99465291e+02] [ 2.56168545e-02 9.99671733e-01 4.49563191e-04 -6.05623481e+01] [ 1.40329624e-02 -8.09264785e-04 9.99901206e-01 3.20355196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.640714057 meters Centerline goodness [0,1] 0.9823692764729942 Centerline is valid? [True, True] Translation: X:799.50, Y:-60.56, Z:3.20 [[ 9.99582758e-01 -2.50361140e-02 -1.44049583e-02 7.99495502e+02] [ 2.50453503e-02 9.99686210e-01 4.61118272e-04 -6.05635558e+01] [ 1.43888936e-02 -8.21703101e-04 9.99896137e-01 3.20285022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6707140569999 meters Centerline goodness [0,1] 0.9835039210239535 Centerline is valid? [True, True] Translation: X:799.53, Y:-60.56, Z:3.20 [[ 9.99617720e-01 -2.35240100e-02 -1.45270445e-02 7.99526006e+02] [ 2.35332444e-02 9.99722947e-01 4.65026380e-04 -6.05578138e+01] [ 1.45120804e-02 -8.06717097e-04 9.99894369e-01 3.20404168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7007140569999 meters Centerline goodness [0,1] 0.9826217872889558 Centerline is valid? [True, True] Translation: X:799.56, Y:-60.56, Z:3.20 [[ 9.99666900e-01 -2.14296037e-02 -1.43826971e-02 7.99555197e+02] [ 2.14384363e-02 9.99770064e-01 4.60198860e-04 -6.05643243e+01] [ 1.43695281e-02 -7.68388102e-04 9.99896458e-01 3.20202480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7307140569999 meters Centerline goodness [0,1] 0.982682490791996 Centerline is valid? [True, True] Translation: X:799.59, Y:-60.56, Z:3.20 [[ 9.99683991e-01 -2.05010649e-02 -1.45473347e-02 7.99585739e+02] [ 2.05100023e-02 9.99789539e-01 4.65425431e-04 -6.05575819e+01] [ 1.45347313e-02 -7.63644220e-04 9.99894074e-01 3.20373267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.760714057 meters Centerline goodness [0,1] 0.9850287164705629 Centerline is valid? [True, True] Translation: X:799.62, Y:-60.55, Z:3.20 [[ 9.99735148e-01 -1.77293981e-02 -1.46731740e-02 7.99615362e+02] [ 1.77381867e-02 9.99842556e-01 4.69013602e-04 -6.05533701e+01] [ 1.46625485e-02 -7.29164883e-04 9.99892233e-01 3.20478765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.790714057 meters Centerline goodness [0,1] 0.984104882071935 Centerline is valid? [True, True] Translation: X:799.65, Y:-60.55, Z:3.21 [[ 9.99763858e-01 -1.62717371e-02 -1.44034175e-02 7.99645105e+02] [ 1.62800471e-02 9.99867365e-01 4.59875597e-04 -6.05520497e+01] [ 1.43940241e-02 -6.94255315e-04 9.99896160e-01 3.20542085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8207140569999 meters Centerline goodness [0,1] 0.9840263800265513 Centerline is valid? [True, True] Translation: X:799.67, Y:-60.55, Z:3.21 [[ 9.99786590e-01 -1.51318612e-02 -1.40642144e-02 7.99673385e+02] [ 1.51396619e-02 9.99885288e-01 4.48336611e-04 -6.05539780e+01] [ 1.40558169e-02 -6.61168382e-04 9.99900994e-01 3.20527426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8507140569999 meters Centerline goodness [0,1] 0.9838473781563213 Centerline is valid? [True, True] Translation: X:799.70, Y:-60.56, Z:3.21 [[ 9.99832313e-01 -1.28868782e-02 -1.30105429e-02 7.99701728e+02] [ 1.28933553e-02 9.99916792e-01 4.14076155e-04 -6.05559176e+01] [ 1.30041242e-02 -5.81756272e-04 9.99915274e-01 3.20547712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.880714057 meters Centerline goodness [0,1] 0.9849408621841136 Centerline is valid? [True, True] Translation: X:799.73, Y:-60.55, Z:3.21 [[ 9.99846016e-01 -1.22340330e-02 -1.25806862e-02 7.99730238e+02] [ 1.22400040e-02 9.99925009e-01 3.97722369e-04 -6.05512647e+01] [ 1.25748770e-02 -5.51648775e-04 9.99920781e-01 3.20683894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.910714057 meters Centerline goodness [0,1] 0.9856220404649161 Centerline is valid? [True, True] Translation: X:799.76, Y:-60.55, Z:3.21 [[ 9.99854756e-01 -1.18668919e-02 -1.22329202e-02 7.99759398e+02] [ 1.18724718e-02 9.99929446e-01 3.83609248e-04 -6.05492527e+01] [ 1.22275049e-02 -5.28788531e-04 9.99925101e-01 3.20765303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9407140569999 meters Centerline goodness [0,1] 0.9867431949114428 Centerline is valid? [True, True] Translation: X:799.79, Y:-60.55, Z:3.21 [[ 9.99864096e-01 -1.17162587e-02 -1.15982347e-02 7.99787590e+02] [ 1.17212303e-02 9.99931239e-01 3.60768026e-04 -6.05507545e+01] [ 1.15932103e-02 -4.96664576e-04 9.99932673e-01 3.20752767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9707140569999 meters Centerline goodness [0,1] 0.9845561506528145 Centerline is valid? [True, True] Translation: X:799.82, Y:-60.55, Z:3.21 [[ 9.99859930e-01 -1.25820544e-02 -1.10368611e-02 7.99817210e+02] [ 1.25865991e-02 9.99920727e-01 3.42413817e-04 -6.05515445e+01] [ 1.10316779e-02 -4.81282402e-04 9.99939033e-01 3.20740571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.000714057 meters Centerline goodness [0,1] 0.984946789147984 Centerline is valid? [True, True] Translation: X:799.85, Y:-60.55, Z:3.21 [[ 9.99847140e-01 -1.36703736e-02 -1.09003041e-02 7.99846633e+02] [ 1.36748668e-02 9.99906438e-01 3.37780230e-04 -6.05522531e+01] [ 1.08946667e-02 -4.86788803e-04 9.99940533e-01 3.20807214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.030714057 meters Centerline goodness [0,1] 0.9854031758244107 Centerline is valid? [True, True] Translation: X:799.88, Y:-60.56, Z:3.21 [[ 9.99840418e-01 -1.43407746e-02 -1.06527402e-02 7.99876182e+02] [ 1.43451015e-02 9.99897049e-01 3.29873938e-04 -6.05571722e+01] [ 1.06469129e-02 -4.82635936e-04 9.99943204e-01 3.20743639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0607140569999 meters Centerline goodness [0,1] 0.9852868526752153 Centerline is valid? [True, True] Translation: X:799.91, Y:-60.56, Z:3.21 [[ 9.99822585e-01 -1.56376520e-02 -1.05006120e-02 7.99906423e+02] [ 1.56419271e-02 9.99877605e-01 3.25120763e-04 -6.05557704e+01] [ 1.04942426e-02 -4.89312889e-04 9.99944814e-01 3.20742436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0907140569999 meters Centerline goodness [0,1] 0.985246677276442 Centerline is valid? [True, True] Translation: X:799.94, Y:-60.56, Z:3.21 [[ 9.99761747e-01 -1.89133015e-02 -1.08966592e-02 7.99936396e+02] [ 1.89180976e-02 9.99820980e-01 3.37230203e-04 -6.05583973e+01] [ 1.08883304e-02 -5.43293920e-04 9.99940573e-01 3.20676099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.120714057 meters Centerline goodness [0,1] 0.985290959845394 Centerline is valid? [True, True] Translation: X:799.97, Y:-60.56, Z:3.21 [[ 9.99737010e-01 -2.03314546e-02 -1.06086162e-02 7.99967247e+02] [ 2.03360813e-02 9.99793147e-01 3.28422623e-04 -6.05602524e+01] [ 1.05997445e-02 -5.44073933e-04 9.99943673e-01 3.20671673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.150714057 meters Centerline goodness [0,1] 0.9846894890762085 Centerline is valid? [True, True] Translation: X:800.00, Y:-60.56, Z:3.21 [[ 9.99643065e-01 -2.45157958e-02 -1.06168995e-02 7.99997585e+02] [ 2.45206669e-02 9.99699269e-01 3.28865742e-04 -6.05639578e+01] [ 1.06056443e-02 -5.89081815e-04 9.99943585e-01 3.20619325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1807140569999 meters Centerline goodness [0,1] 0.9846756489173949 Centerline is valid? [True, True] Translation: X:800.03, Y:-60.57, Z:3.21 [[ 9.99596138e-01 -2.64203784e-02 -1.04653490e-02 8.00028701e+02] [ 2.64252190e-02 9.99650740e-01 3.24501358e-04 -6.05655502e+01] [ 1.04531204e-02 -6.00919443e-04 9.99945184e-01 3.20636320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2107140569999 meters Centerline goodness [0,1] 0.9841573928579116 Centerline is valid? [True, True] Translation: X:800.06, Y:-60.57, Z:3.21 [[ 9.99540480e-01 -2.85052124e-02 -1.03093467e-02 8.00060067e+02] [ 2.85100241e-02 9.99593455e-01 3.20034504e-04 -6.05663466e+01] [ 1.02960328e-02 -6.13807164e-04 9.99946806e-01 3.20659356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2407140569999 meters Centerline goodness [0,1] 0.9841532284039424 Centerline is valid? [True, True] Translation: X:800.09, Y:-60.57, Z:3.21 [[ 9.99454702e-01 -3.18323741e-02 -8.77485714e-03 8.00090437e+02] [ 3.18359893e-02 9.99493069e-01 2.72586976e-04 -6.05714318e+01] [ 8.76173181e-03 -5.51794592e-04 9.99961463e-01 3.20694321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.270714057 meters Centerline goodness [0,1] 0.9830778504994833 Centerline is valid? [True, True] Translation: X:800.12, Y:-60.57, Z:3.21 [[ 9.99406298e-01 -3.35715035e-02 -7.74639300e-03 8.00122946e+02] [ 3.35743762e-02 9.99436193e-01 2.41063790e-04 -6.05713995e+01] [ 7.73393265e-03 -5.01000983e-04 9.99969967e-01 3.20703306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3007140569999 meters Centerline goodness [0,1] 0.9821478502140107 Centerline is valid? [True, True] Translation: X:800.15, Y:-60.58, Z:3.21 [[ 9.99375693e-01 -3.47438221e-02 -6.41023523e-03 8.00153989e+02] [ 3.47458156e-02 9.99396162e-01 1.99842208e-04 -6.05750272e+01] [ 6.39942120e-03 -4.22446296e-04 9.99979434e-01 3.20743466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3307140569999 meters Centerline goodness [0,1] 0.9836773469211504 Centerline is valid? [True, True] Translation: X:800.19, Y:-60.58, Z:3.21 [[ 9.99304615e-01 -3.68643149e-02 -5.59541294e-03 8.00185410e+02] [ 3.68658681e-02 9.99320208e-01 1.74666030e-04 -6.05765374e+01] [ 5.58517028e-03 -3.80824326e-04 9.99984330e-01 3.20754205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3607140569999 meters Centerline goodness [0,1] 0.9823625569990536 Centerline is valid? [True, True] Translation: X:800.22, Y:-60.58, Z:3.21 [[ 9.99276868e-01 -3.76475749e-02 -5.32928184e-03 8.00217172e+02] [ 3.76489962e-02 9.99291011e-01 1.66597883e-04 -6.05780159e+01] [ 5.31923143e-03 -3.67119523e-04 9.99985785e-01 3.20688781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.390714057 meters Centerline goodness [0,1] 0.9825325627533856 Centerline is valid? [True, True] Translation: X:800.25, Y:-60.58, Z:3.21 [[ 9.99208488e-01 -3.94677778e-02 -4.96913117e-03 8.00246773e+02] [ 3.94690365e-02 9.99220782e-01 1.55458017e-04 -6.05814960e+01] [ 4.95912355e-03 -3.51461790e-04 9.99987642e-01 3.20599408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4207140569999 meters Centerline goodness [0,1] 0.9818475800366497 Centerline is valid? [True, True] Translation: X:800.28, Y:-60.58, Z:3.21 [[ 9.99169342e-01 -4.04266320e-02 -5.12970823e-03 8.00279048e+02] [ 4.04279869e-02 9.99182442e-01 1.60675523e-04 -6.05835895e+01] [ 5.11901883e-03 -3.67925834e-04 9.99986830e-01 3.20515777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4507140569999 meters Centerline goodness [0,1] 0.981414158797083 Centerline is valid? [True, True] Translation: X:800.31, Y:-60.59, Z:3.21 [[ 9.99172290e-01 -4.03598187e-02 -5.08127992e-03 8.00312398e+02] [ 4.03611496e-02 9.99185144e-01 1.59610286e-04 -6.05850127e+01] [ 5.07069757e-03 -3.64564474e-04 9.99987077e-01 3.20506818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4807140569999 meters Centerline goodness [0,1] 0.9808534979601529 Centerline is valid? [True, True] Translation: X:800.35, Y:-60.59, Z:3.20 [[ 9.99173488e-01 -4.04751306e-02 -3.75557395e-03 8.00345062e+02] [ 4.04758595e-02 9.99180510e-01 1.18250666e-04 -6.05856595e+01] [ 3.74771008e-03 -2.70163014e-04 9.99992941e-01 3.20481051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.510714057 meters Centerline goodness [0,1] 0.9823206796429723 Centerline is valid? [True, True] Translation: X:800.38, Y:-60.58, Z:3.20 [[ 9.99207193e-01 -3.97025430e-02 -2.94854373e-03 8.00377277e+02] [ 3.97029894e-02 9.99211521e-01 9.30123043e-05 -6.05837465e+01] [ 2.94252605e-03 -2.10004564e-04 9.99995649e-01 3.20487591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.540714057 meters Centerline goodness [0,1] 0.9797103326210365 Centerline is valid? [True, True] Translation: X:800.41, Y:-60.59, Z:3.21 [[ 9.99279997e-01 -3.79011031e-02 -1.73041356e-03 8.00407790e+02] [ 3.79012543e-02 9.99281488e-01 5.46630886e-05 -6.05866379e+01] [ 1.72709844e-03 -1.20208575e-04 9.99998501e-01 3.20532772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5707140569999 meters Centerline goodness [0,1] 0.9812977509953729 Centerline is valid? [True, True] Translation: X:800.44, Y:-60.58, Z:3.20 [[ 9.99343080e-01 -3.62012569e-02 -1.69604868e-03 8.00439534e+02] [ 3.62013999e-02 9.99344513e-01 5.36363942e-05 -6.05825719e+01] [ 1.69299524e-03 -1.15000496e-04 9.99998560e-01 3.20492954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6007140569999 meters Centerline goodness [0,1] 0.9825987332742483 Centerline is valid? [True, True] Translation: X:800.47, Y:-60.58, Z:3.20 [[ 9.99385674e-01 -3.50330159e-02 -9.80615110e-04 8.00471848e+02] [ 3.50330630e-02 9.99386153e-01 3.09590161e-05 -6.05790608e+01] [ 9.78928575e-04 -6.52939481e-05 9.99999519e-01 3.20494200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.630714057 meters Centerline goodness [0,1] 0.9816254264369305 Centerline is valid? [True, True] Translation: X:800.50, Y:-60.58, Z:3.21 [[ 9.99472075e-01 -3.24895116e-02 -6.16664450e-05 8.00502053e+02] [ 3.24895118e-02 9.99472076e-01 1.95772706e-06 -6.05779765e+01] [ 6.15702843e-05 -3.96020622e-06 9.99999998e-01 3.20518789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.660714057 meters Centerline goodness [0,1] 0.9809892510327227 Centerline is valid? [True, True] Translation: X:800.53, Y:-60.58, Z:3.21 [[ 9.99521535e-01 -3.09199757e-02 8.09676157e-04 8.00532489e+02] [ 3.09200067e-02 9.99521862e-01 -2.57613530e-05 -6.05818549e+01] [-8.08492480e-04 5.07842193e-05 9.99999672e-01 3.20551359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6907140569999 meters Centerline goodness [0,1] 0.9808041112454655 Centerline is valid? [True, True] Translation: X:800.56, Y:-60.58, Z:3.21 [[ 9.99555126e-01 -2.97843782e-02 1.56206325e-03 8.00564825e+02] [ 2.97844924e-02 9.99556342e-01 -4.98924152e-05 -6.05819364e+01] [-1.55988422e-03 9.63954805e-05 9.99998779e-01 3.20526939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7207140569999 meters Centerline goodness [0,1] 0.9816793562900156 Centerline is valid? [True, True] Translation: X:800.60, Y:-60.58, Z:3.20 [[ 9.99584131e-01 -2.87470778e-02 2.27376997e-03 8.00596939e+02] [ 2.87473174e-02 9.99586708e-01 -7.27173518e-05 -6.05786067e+01] [-2.27073983e-03 1.38051898e-04 9.99997412e-01 3.20475416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.750714057 meters Centerline goodness [0,1] 0.9825285072563925 Centerline is valid? [True, True] Translation: X:800.63, Y:-60.58, Z:3.20 [[ 9.99595891e-01 -2.83009280e-02 2.66677035e-03 8.00628774e+02] [ 2.83012563e-02 9.99599436e-01 -8.54536253e-05 -6.05775580e+01] [-2.66328372e-03 1.60892044e-04 9.99996441e-01 3.20410872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.780714057 meters Centerline goodness [0,1] 0.9824568974818203 Centerline is valid? [True, True] Translation: X:800.66, Y:-60.58, Z:3.20 [[ 9.99597330e-01 -2.82427817e-02 2.74286191e-03 8.00662295e+02] [ 2.82431298e-02 9.99601079e-01 -8.82767710e-05 -6.05777415e+01] [-2.73927454e-03 1.65708230e-04 9.99996234e-01 3.20355641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8107140569999 meters Centerline goodness [0,1] 0.9802172645400946 Centerline is valid? [True, True] Translation: X:800.69, Y:-60.58, Z:3.20 [[ 9.99593748e-01 -2.83495068e-02 2.94012460e-03 8.00693110e+02] [ 2.83499074e-02 9.99598056e-01 -9.46350592e-05 -6.05802650e+01] [-2.93625998e-03 1.77948874e-04 9.99995673e-01 3.20339171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8407140569999 meters Centerline goodness [0,1] 0.980958350444161 Centerline is valid? [True, True] Translation: X:800.72, Y:-60.58, Z:3.20 [[ 9.99588890e-01 -2.85163394e-02 2.97808149e-03 8.00724878e+02] [ 2.85167519e-02 9.99593310e-01 -9.61125713e-05 -6.05812165e+01] [-2.97412955e-03 1.80998269e-04 9.99995561e-01 3.20289816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.870714057 meters Centerline goodness [0,1] 0.9804278464206942 Centerline is valid? [True, True] Translation: X:800.76, Y:-60.59, Z:3.20 [[ 9.99593040e-01 -2.83892523e-02 2.79358899e-03 8.00755624e+02] [ 2.83896151e-02 9.99596930e-01 -9.02757900e-05 -6.05869615e+01] [-2.78990012e-03 1.69547967e-04 9.99996094e-01 3.20289839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.900714057 meters Centerline goodness [0,1] 0.980041517104182 Centerline is valid? [True, True] Translation: X:800.79, Y:-60.59, Z:3.20 [[ 9.99579817e-01 -2.88009131e-02 3.27050236e-03 8.00788307e+02] [ 2.88014133e-02 9.99585148e-01 -1.05937550e-04 -6.05857232e+01] [-3.26609449e-03 2.00088127e-04 9.99994646e-01 3.20245689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9307140569999 meters Centerline goodness [0,1] 0.9801560709885216 Centerline is valid? [True, True] Translation: X:800.82, Y:-60.59, Z:3.20 [[ 9.99580427e-01 -2.87204603e-02 3.75556779e-03 8.00819828e+02] [ 2.87211206e-02 9.99587456e-01 -1.21997548e-04 -6.05869968e+01] [-3.75051463e-03 2.29810477e-04 9.99992940e-01 3.20277079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9607140569999 meters Centerline goodness [0,1] 0.9801560709885216 Centerline is valid? [True, True] Translation: X:800.85, Y:-60.59, Z:3.20 [[ 9.99583442e-01 -2.86153361e-02 3.75555364e-03 8.00852404e+02] [ 2.86159973e-02 9.99590471e-01 -1.22432831e-04 -6.05881464e+01] [-3.75051218e-03 2.29850744e-04 9.99992940e-01 3.20284806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9907140569999 meters Centerline goodness [0,1] 0.9791720737087983 Centerline is valid? [True, True] Translation: X:800.88, Y:-60.59, Z:3.20 [[ 9.99578586e-01 -2.87684846e-02 3.87617776e-03 8.00884708e+02] [ 2.87691908e-02 9.99586073e-01 -1.26542666e-04 -6.05892300e+01] [-3.87093286e-03 2.38003837e-04 9.99992480e-01 3.20314643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.020714057 meters Centerline goodness [0,1] 0.9792436920282804 Centerline is valid? [True, True] Translation: X:800.92, Y:-60.59, Z:3.20 [[ 9.99580861e-01 -2.86687254e-02 4.02581081e-03 8.00918054e+02] [ 2.86694885e-02 9.99588937e-01 -1.31938930e-04 -6.05874589e+01] [-4.02037343e-03 2.47301566e-04 9.99991888e-01 3.20285434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0507140569999 meters Centerline goodness [0,1] 0.9801726756041477 Centerline is valid? [True, True] Translation: X:800.95, Y:-60.59, Z:3.20 [[ 9.99588111e-01 -2.83126197e-02 4.69082158e-03 8.00949911e+02] [ 2.83136527e-02 9.99599076e-01 -1.53944051e-04 -6.05854095e+01] [-4.68458236e-03 2.86694936e-04 9.99988986e-01 3.20305890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0807140569999 meters Centerline goodness [0,1] 0.9801361720523074 Centerline is valid? [True, True] Translation: X:800.98, Y:-60.59, Z:3.20 [[ 9.99600366e-01 -2.78271238e-02 4.97588818e-03 8.00980653e+02] [ 2.78282845e-02 9.99612705e-01 -1.64157815e-04 -6.05871912e+01] [-4.96939301e-03 3.02562644e-04 9.99987607e-01 3.20365584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1107140569999 meters Centerline goodness [0,1] 0.9801849118847122 Centerline is valid? [True, True] Translation: X:801.01, Y:-60.58, Z:3.20 [[ 9.99606284e-01 -2.75522147e-02 5.30595332e-03 8.01013156e+02] [ 2.75535316e-02 9.99620314e-01 -1.75248399e-04 -6.05830191e+01] [-5.29911025e-03 3.21377153e-04 9.99985908e-01 3.20343288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.140714057 meters Centerline goodness [0,1] 0.9811177097609258 Centerline is valid? [True, True] Translation: X:801.04, Y:-60.58, Z:3.20 [[ 9.99650189e-01 -2.56395943e-02 6.48933418e-03 8.01044587e+02] [ 2.56415248e-02 9.99671179e-01 -2.14446648e-04 -6.05813554e+01] [-6.48170203e-03 3.80768055e-04 9.99978921e-01 3.20388685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1707140569999 meters Centerline goodness [0,1] 0.9808240646017892 Centerline is valid? [True, True] Translation: X:801.08, Y:-60.58, Z:3.20 [[ 9.99660896e-01 -2.53462429e-02 5.97161467e-03 8.01076704e+02] [ 2.53478756e-02 9.99678671e-01 -1.97871625e-04 -6.05800143e+01] [-5.96468052e-03 3.49172272e-04 9.99982150e-01 3.20376088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2007140569999 meters Centerline goodness [0,1] 0.9798294094608121 Centerline is valid? [True, True] Translation: X:801.11, Y:-60.58, Z:3.20 [[ 9.99680588e-01 -2.48235927e-02 4.74463892e-03 8.01108242e+02] [ 2.48246218e-02 9.99691809e-01 -1.58115991e-04 -6.05837215e+01] [-4.73925165e-03 2.75849354e-04 9.99988732e-01 3.20376092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2307140569999 meters Centerline goodness [0,1] 0.9822026891780167 Centerline is valid? [True, True] Translation: X:801.14, Y:-60.58, Z:3.20 [[ 9.99689474e-01 -2.45654421e-02 4.18260398e-03 8.01140692e+02] [ 2.45662403e-02 9.99698195e-01 -1.39570229e-04 -6.05776512e+01] [-4.17791304e-03 2.42277743e-04 9.99991243e-01 3.20256529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.260714057 meters Centerline goodness [0,1] 0.98150763814946 Centerline is valid? [True, True] Translation: X:801.17, Y:-60.58, Z:3.20 [[ 9.99705773e-01 -2.39951962e-02 3.54928508e-03 8.01171334e+02] [ 2.39957681e-02 9.99712053e-01 -1.18615882e-04 -6.05835121e+01] [-3.54541686e-03 2.03748804e-04 9.99993694e-01 3.20263497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.290714057 meters Centerline goodness [0,1] 0.9817995776457014 Centerline is valid? [True, True] Translation: X:801.20, Y:-60.58, Z:3.20 [[ 9.99725307e-01 -2.33622083e-02 1.87560870e-03 8.01203119e+02] [ 2.33623673e-02 9.99727061e-01 -6.29115792e-05 -6.05833251e+01] [-1.87362702e-03 1.06712957e-04 9.99998239e-01 3.20117522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3207140569999 meters Centerline goodness [0,1] 0.9825895580929138 Centerline is valid? [True, True] Translation: X:801.24, Y:-60.58, Z:3.20 [[ 9.99744857e-01 -2.25793992e-02 6.26249748e-04 8.01235372e+02] [ 2.25794168e-02 9.99745052e-01 -2.11680050e-05 -6.05801750e+01] [-6.25612127e-04 3.53029583e-05 9.99999804e-01 3.20037605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3507140569999 meters Centerline goodness [0,1] 0.981318178849043 Centerline is valid? [True, True] Translation: X:801.27, Y:-60.58, Z:3.20 [[ 9.99793885e-01 -2.02965960e-02 -4.86053998e-04 8.01266200e+02] [ 2.02966063e-02 9.99794003e-01 1.62271098e-05 -6.05834521e+01] [ 4.85624517e-04 -2.60890118e-05 9.99999882e-01 3.19983801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.380714057 meters Centerline goodness [0,1] 0.9837336244541485 Centerline is valid? [True, True] Translation: X:801.30, Y:-60.58, Z:3.20 [[ 9.99824472e-01 -1.87047050e-02 -1.07698391e-03 8.01298932e+02] [ 1.87047547e-02 9.99825050e-01 3.60507211e-05 -6.05764699e+01] [ 1.07612118e-03 -5.61891131e-05 9.99999419e-01 3.20025951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.410714057 meters Centerline goodness [0,1] 0.9842588353282317 Centerline is valid? [True, True] Translation: X:801.33, Y:-60.58, Z:3.20 [[ 9.99856579e-01 -1.69249506e-02 -6.06279922e-04 8.01329306e+02] [ 1.69249660e-02 9.99856762e-01 2.03603865e-05 -6.05763445e+01] [ 6.05848482e-04 -3.06187335e-05 9.99999816e-01 3.20114007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4407140569999 meters Centerline goodness [0,1] 0.9842191422023355 Centerline is valid? [True, True] Translation: X:801.36, Y:-60.58, Z:3.20 [[ 9.99895798e-01 -1.44220383e-02 -6.30260536e-04 8.01359374e+02] [ 1.44220546e-02 9.99895997e-01 2.11788123e-05 -6.05762012e+01] [ 6.29889546e-04 -3.02662573e-05 9.99999801e-01 3.20189590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4707140569999 meters Centerline goodness [0,1] 0.9831908956134996 Centerline is valid? [True, True] Translation: X:801.39, Y:-60.58, Z:3.20 [[ 9.99936988e-01 -1.12251667e-02 1.28918800e-04 8.01389796e+02] [ 1.12251674e-02 9.99936996e-01 -4.38561109e-06 -6.05752923e+01] [-1.28861448e-04 5.83246985e-06 9.99999992e-01 3.20275838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.500714057 meters Centerline goodness [0,1] 0.9843117519637661 Centerline is valid? [True, True] Translation: X:801.42, Y:-60.57, Z:3.20 [[ 9.99950752e-01 -9.91667896e-03 -3.91763246e-04 8.01422585e+02] [ 9.91668482e-03 9.99950828e-01 1.30208890e-05 -6.05718959e+01] [ 3.91614859e-04 -1.69052404e-05 9.99999923e-01 3.20333780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.530714057 meters Centerline goodness [0,1] 0.9850791916985254 Centerline is valid? [True, True] Translation: X:801.46, Y:-60.57, Z:3.20 [[ 9.99950747e-01 -9.91632236e-03 -4.11739301e-04 8.01455078e+02] [ 9.91632886e-03 9.99950832e-01 1.37670150e-05 -6.05723003e+01] [ 4.11582539e-04 -1.78492793e-05 9.99999915e-01 3.20375796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5607140569999 meters Centerline goodness [0,1] 0.9853509442200633 Centerline is valid? [True, True] Translation: X:801.49, Y:-60.57, Z:3.20 [[ 9.99947836e-01 -1.01723289e-02 -9.21228739e-04 8.01486903e+02] [ 1.01723618e-02 9.99948260e-01 3.10787985e-05 -6.05720873e+01] [ 9.20864931e-04 -4.04482494e-05 9.99999575e-01 3.20413683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5907140569999 meters Centerline goodness [0,1] 0.9849850505226861 Centerline is valid? [True, True] Translation: X:801.52, Y:-60.57, Z:3.20 [[ 9.99942322e-01 -1.07128071e-02 -7.66608212e-04 8.01517619e+02] [ 1.07128301e-02 9.99942616e-01 2.58224661e-05 -6.05742809e+01] [ 7.66287590e-04 -3.40335202e-05 9.99999706e-01 3.20459624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.620714057 meters Centerline goodness [0,1] 0.9847201606565965 Centerline is valid? [True, True] Translation: X:801.55, Y:-60.57, Z:3.20 [[ 9.99927704e-01 -1.19868270e-02 -9.50128931e-04 8.01549803e+02] [ 1.19868631e-02 9.99928154e-01 3.22374189e-05 -6.05745176e+01] [ 9.49674244e-04 -4.36241537e-05 9.99999548e-01 3.20481251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.650714057 meters Centerline goodness [0,1] 0.9840948210122666 Centerline is valid? [True, True] Translation: X:801.58, Y:-60.58, Z:3.21 [[ 9.99914579e-01 -1.30399242e-02 -8.91619040e-04 8.01581148e+02] [ 1.30399565e-02 9.99914976e-01 3.03338120e-05 -6.05774860e+01] [ 8.91147680e-04 -4.19578943e-05 9.99999602e-01 3.20536113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6807140569999 meters Centerline goodness [0,1] 0.9847734560764381 Centerline is valid? [True, True] Translation: X:801.61, Y:-60.58, Z:3.21 [[ 9.99896285e-01 -1.43477196e-02 -1.24978910e-03 8.01612950e+02] [ 1.43477841e-02 9.99897064e-01 4.26382421e-05 -6.05777344e+01] [ 1.24904869e-03 -6.05655242e-05 9.99999218e-01 3.20563434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7107140569999 meters Centerline goodness [0,1] 0.9836974313087885 Centerline is valid? [True, True] Translation: X:801.64, Y:-60.58, Z:3.21 [[ 9.99834473e-01 -1.80616524e-02 -2.19147921e-03 8.01642465e+02] [ 1.80618601e-02 9.99836868e-01 7.49913652e-05 -6.05824826e+01] [ 2.18976724e-03 -1.14561143e-04 9.99997596e-01 3.20542897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7407140569999 meters Centerline goodness [0,1] 0.9832590261386485 Centerline is valid? [True, True] Translation: X:801.67, Y:-60.59, Z:3.20 [[ 9.99751272e-01 -2.18251131e-02 -4.58892184e-03 8.01672995e+02] [ 2.18260633e-02 9.99761771e-01 1.57069911e-04 -6.05858814e+01] [ 4.58440056e-03 -2.57188942e-04 9.99989459e-01 3.20426855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.770714057 meters Centerline goodness [0,1] 0.9835918919508629 Centerline is valid? [True, True] Translation: X:801.70, Y:-60.59, Z:3.20 [[ 9.99711196e-01 -2.33944146e-02 -5.49775358e-03 8.01704838e+02] [ 2.33958032e-02 9.99726263e-01 1.88394960e-04 -6.05874373e+01] [ 5.49184125e-03 -3.16964912e-04 9.99984869e-01 3.20366776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8007140569999 meters Centerline goodness [0,1] 0.9833772684690966 Centerline is valid? [True, True] Translation: X:801.74, Y:-60.59, Z:3.20 [[ 9.99673052e-01 -2.49022891e-02 -5.80219949e-03 8.01736518e+02] [ 2.49038629e-02 9.99689831e-01 1.99144520e-04 -6.05897126e+01] [ 5.79544067e-03 -3.43576591e-04 9.99983147e-01 3.20343389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8307140569999 meters Centerline goodness [0,1] 0.9817291228678559 Centerline is valid? [True, True] Translation: X:801.77, Y:-60.59, Z:3.20 [[ 9.99629887e-01 -2.65447026e-02 -5.95551151e-03 8.01767353e+02] [ 2.65463932e-02 9.99647561e-01 2.04977801e-04 -6.05927667e+01] [ 5.94797149e-03 -3.62999286e-04 9.99982245e-01 3.20428899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8607140569999 meters Centerline goodness [0,1] 0.9822520083828152 Centerline is valid? [True, True] Translation: X:801.80, Y:-60.59, Z:3.20 [[ 9.99612539e-01 -2.71263365e-02 -6.23975384e-03 8.01799952e+02] [ 2.71282071e-02 9.99631939e-01 2.15338321e-04 -6.05933692e+01] [ 6.23161589e-03 -3.84528220e-04 9.99980509e-01 3.20495912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.890714057 meters Centerline goodness [0,1] 0.9816934135377533 Centerline is valid? [True, True] Translation: X:801.83, Y:-60.60, Z:3.21 [[ 9.99624085e-01 -2.68746320e-02 -5.42605430e-03 8.01831329e+02] [ 2.68760445e-02 9.99638756e-01 1.87561544e-04 -6.05951756e+01] [ 5.41905352e-03 -3.33321913e-04 9.99985261e-01 3.20545046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9207140569999 meters Centerline goodness [0,1] 0.9820466394712157 Centerline is valid? [True, True] Translation: X:801.86, Y:-60.60, Z:3.21 [[ 9.99630175e-01 -2.66379653e-02 -5.47097154e-03 8.01863944e+02] [ 2.66393996e-02 9.99645090e-01 1.89452778e-04 -6.05964046e+01] [ 5.46398320e-03 -3.35126110e-04 9.99985016e-01 3.20599642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9507140569999 meters Centerline goodness [0,1] 0.9827563569521642 Centerline is valid? [True, True] Translation: X:801.90, Y:-60.59, Z:3.21 [[ 9.99632703e-01 -2.64756224e-02 -5.78794617e-03 8.01896077e+02] [ 2.64772275e-02 9.99649397e-01 2.00842052e-04 -6.05948023e+01] [ 5.78059947e-03 -3.54017050e-04 9.99983230e-01 3.20610963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9807140569999 meters Centerline goodness [0,1] 0.9832499836212356 Centerline is valid? [True, True] Translation: X:801.93, Y:-60.59, Z:3.21 [[ 9.99629921e-01 -2.63274633e-02 -6.84733627e-03 8.01928586e+02] [ 2.63297097e-02 9.99653285e-01 2.38119316e-04 -6.05934927e+01] [ 6.83869312e-03 -4.18319570e-04 9.99976528e-01 3.20593799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.010714057 meters Centerline goodness [0,1] 0.9843924435785741 Centerline is valid? [True, True] Translation: X:801.96, Y:-60.59, Z:3.20 [[ 9.99616651e-01 -2.62931439e-02 -8.67302487e-03 8.01959953e+02] [ 2.62967515e-02 9.99654135e-01 3.02157398e-04 -6.05945330e+01] [ 8.66208051e-03 -5.30113946e-04 9.99962343e-01 3.20455642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.040714057 meters Centerline goodness [0,1] 0.9836222251183805 Centerline is valid? [True, True] Translation: X:801.99, Y:-60.59, Z:3.20 [[ 9.99626387e-01 -2.58042025e-02 -9.01273187e-03 8.01992371e+02] [ 2.58080838e-02 9.99666866e-01 3.14591693e-04 -6.05948732e+01] [ 9.00161164e-03 -5.47075497e-04 9.99959335e-01 3.20462444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0707140569999 meters Centerline goodness [0,1] 0.9844227912260771 Centerline is valid? [True, True] Translation: X:802.03, Y:-60.59, Z:3.21 [[ 9.99644034e-01 -2.49364230e-02 -9.48580473e-03 8.02025131e+02] [ 2.49406914e-02 9.99688877e-01 3.31925606e-04 -6.05915875e+01] [ 9.47457644e-03 -5.68389979e-04 9.99954954e-01 3.20558045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1007140569999 meters Centerline goodness [0,1] 0.9853709737377272 Centerline is valid? [True, True] Translation: X:802.06, Y:-60.59, Z:3.21 [[ 9.99710947e-01 -2.20757828e-02 -9.52271836e-03 8.02055122e+02] [ 2.20799572e-02 9.99756152e-01 3.33433113e-04 -6.05939380e+01] [ 9.51303547e-03 -5.43597946e-04 9.99954602e-01 3.20598764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.130714057 meters Centerline goodness [0,1] 0.9843238286537705 Centerline is valid? [True, True] Translation: X:802.09, Y:-60.60, Z:3.21 [[ 9.99758611e-01 -1.99929925e-02 -9.11046370e-03 8.02085588e+02] [ 1.99967281e-02 9.99799995e-01 3.19115631e-04 -6.05960316e+01] [ 9.10226148e-03 -5.01218066e-04 9.99958448e-01 3.20685515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.160714057 meters Centerline goodness [0,1] 0.9859553023663453 Centerline is valid? [True, True] Translation: X:802.12, Y:-60.59, Z:3.21 [[ 9.99827896e-01 -1.60591487e-02 -9.28883803e-03 8.02116941e+02] [ 1.60628642e-02 9.99870931e-01 3.25529392e-04 -6.05872820e+01] [ 9.28241140e-03 -4.74678711e-04 9.99956805e-01 3.20933205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1907140569999 meters Centerline goodness [0,1] 0.9863392171910975 Centerline is valid? [True, True] Translation: X:802.15, Y:-60.59, Z:3.21 [[ 9.99849891e-01 -1.44351018e-02 -9.58242639e-03 8.02148173e+02] [ 1.44389844e-02 9.99895696e-01 3.36120245e-04 -6.05868592e+01] [ 9.57657497e-03 -4.74430295e-04 9.99954031e-01 3.20958970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2207140569999 meters Centerline goodness [0,1] 0.9872863738812665 Centerline is valid? [True, True] Translation: X:802.18, Y:-60.59, Z:3.21 [[ 9.99872254e-01 -1.25103749e-02 -9.94815807e-03 8.02179510e+02] [ 1.25144681e-02 9.99921630e-01 3.49308313e-04 -6.05866123e+01] [ 9.94300845e-03 -4.73759597e-04 9.99950455e-01 3.20984859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.250714057 meters Centerline goodness [0,1] 0.9871343237861847 Centerline is valid? [True, True] Translation: X:802.21, Y:-60.59, Z:3.21 [[ 9.99896072e-01 -9.13705201e-03 -1.11516263e-02 8.02208866e+02] [ 9.14199078e-03 9.99958134e-01 3.91978068e-04 -6.05862626e+01] [ 1.11475779e-02 -4.93885395e-04 9.99937742e-01 3.20929650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.280714057 meters Centerline goodness [0,1] 0.9877899074926564 Centerline is valid? [True, True] Translation: X:802.24, Y:-60.59, Z:3.21 [[ 9.99892268e-01 -8.26290514e-03 -1.21316442e-02 8.02238569e+02] [ 8.26868293e-03 9.99965723e-01 4.26175461e-04 -6.05863031e+01] [ 1.21277069e-02 -5.26442267e-04 9.99926318e-01 3.20922227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3107140569999 meters Centerline goodness [0,1] 0.9883634128134194 Centerline is valid? [True, True] Translation: X:802.27, Y:-60.59, Z:3.21 [[ 9.99895962e-01 -6.45330142e-03 -1.29004283e-02 8.02266656e+02] [ 6.45967142e-03 9.99979034e-01 4.52174950e-04 -6.05870319e+01] [ 1.28972398e-02 -5.35460434e-04 9.99916684e-01 3.20904080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3407140569999 meters Centerline goodness [0,1] 0.9879774467431606 Centerline is valid? [True, True] Translation: X:802.29, Y:-60.59, Z:3.21 [[ 9.99895283e-01 -5.96177684e-03 -1.31863572e-02 8.02295000e+02] [ 5.96835235e-03 9.99982084e-01 4.59363910e-04 -6.05880870e+01] [ 1.31833823e-02 -5.38016633e-04 9.99912951e-01 3.20939726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.370714057 meters Centerline goodness [0,1] 0.9875972709636637 Centerline is valid? [True, True] Translation: X:802.32, Y:-60.59, Z:3.21 [[ 9.99904135e-01 -4.97236016e-03 -1.29227469e-02 8.02322614e+02] [ 4.97857391e-03 9.99987506e-01 4.48712590e-04 -6.05899284e+01] [ 1.29203543e-02 -5.13006424e-04 9.99916397e-01 3.20910300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.400714057 meters Centerline goodness [0,1] 0.9880019266979025 Centerline is valid? [True, True] Translation: X:802.35, Y:-60.59, Z:3.21 [[ 9.99897888e-01 -4.12499050e-03 -1.36820089e-02 8.02350454e+02] [ 4.13186065e-03 9.99991352e-01 4.73900522e-04 -6.05924382e+01] [ 1.36799358e-02 -5.30384286e-04 9.99906285e-01 3.20865276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4307140569999 meters Centerline goodness [0,1] 0.9875567845151096 Centerline is valid? [True, True] Translation: X:802.38, Y:-60.59, Z:3.21 [[ 9.99895458e-01 -3.97602298e-03 -1.39019338e-02 8.02379474e+02] [ 3.98306074e-03 9.99991953e-01 4.78592051e-04 -6.05947407e+01] [ 1.38999190e-02 -5.33914265e-04 9.99903249e-01 3.20860890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4607140569999 meters Centerline goodness [0,1] 0.9886946233732089 Centerline is valid? [True, True] Translation: X:802.41, Y:-60.60, Z:3.21 [[ 9.99891010e-01 -3.66022305e-03 -1.43028165e-02 8.02407498e+02] [ 3.66761783e-03 9.99993154e-01 4.90819679e-04 -6.05984554e+01] [ 1.43009220e-02 -5.43223449e-04 9.99897589e-01 3.20871305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4907140569999 meters Centerline goodness [0,1] 0.9879265091863517 Centerline is valid? [True, True] Translation: X:802.44, Y:-60.60, Z:3.21 [[ 9.99882025e-01 -3.79246417e-03 -1.48846824e-02 8.02435746e+02] [ 3.80046903e-03 9.99992648e-01 5.09542982e-04 -6.06008146e+01] [ 1.48826405e-02 -5.66051643e-04 9.99889087e-01 3.20864311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.520714057 meters Centerline goodness [0,1] 0.9879041077912419 Centerline is valid? [True, True] Translation: X:802.46, Y:-60.60, Z:3.21 [[ 9.99875770e-01 -4.40412234e-03 -1.51343723e-02 8.02463798e+02] [ 4.41244909e-03 9.99990132e-01 5.16839993e-04 -6.06034934e+01] [ 1.51319468e-02 -5.83555433e-04 9.99885335e-01 3.20881402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5507140569999 meters Centerline goodness [0,1] 0.9867103863108293 Centerline is valid? [True, True] Translation: X:802.49, Y:-60.61, Z:3.21 [[ 9.99883529e-01 -4.91112804e-03 -1.44502558e-02 8.02491391e+02] [ 4.91872349e-03 9.99987783e-01 4.90133589e-04 -6.06073010e+01] [ 1.44476721e-02 -5.61153315e-04 9.99895469e-01 3.21059193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5807140569999 meters Centerline goodness [0,1] 0.9873390041765979 Centerline is valid? [True, True] Translation: X:802.52, Y:-60.60, Z:3.21 [[ 9.99880119e-01 -5.53025541e-03 -1.44624828e-02 8.02519781e+02] [ 5.53787641e-03 9.99984547e-01 4.86954652e-04 -6.06045753e+01] [ 1.44595664e-02 -5.66987718e-04 9.99895294e-01 3.21294330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6107140569999 meters Centerline goodness [0,1] 0.9863528695916727 Centerline is valid? [True, True] Translation: X:802.55, Y:-60.61, Z:3.21 [[ 9.99883981e-01 -7.25203214e-03 -1.33952331e-02 8.02548137e+02] [ 7.25870648e-03 9.99973554e-01 4.49710772e-04 -6.06096643e+01] [ 1.33916176e-02 -5.46890663e-04 9.99910179e-01 3.21414279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.640714057 meters Centerline goodness [0,1] 0.9869326596393414 Centerline is valid? [True, True] Translation: X:802.58, Y:-60.61, Z:3.21 [[ 9.99879648e-01 -8.40185995e-03 -1.30421852e-02 8.02575652e+02] [ 8.40827057e-03 9.99964554e-01 4.36773381e-04 -6.06132189e+01] [ 1.30380532e-02 -5.46383037e-04 9.99914852e-01 3.21408308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6707140569999 meters Centerline goodness [0,1] 0.9868865314657895 Centerline is valid? [True, True] Translation: X:802.60, Y:-60.61, Z:3.22 [[ 9.99878559e-01 -9.22494829e-03 -1.25605188e-02 8.02603991e+02] [ 9.23092475e-03 9.99957307e-01 4.17920309e-04 -6.06143734e+01] [ 1.25561273e-02 -5.33814760e-04 9.99921026e-01 3.21523181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7007140569999 meters Centerline goodness [0,1] 0.9847386410641586 Centerline is valid? [True, True] Translation: X:802.63, Y:-60.62, Z:3.21 [[ 9.99875138e-01 -1.04129455e-02 -1.18860861e-02 8.02631809e+02] [ 1.04183646e-02 9.99945650e-01 3.94089049e-04 -6.06237199e+01] [ 1.18813365e-02 -5.17873421e-04 9.99929280e-01 3.21433315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7307140569999 meters Centerline goodness [0,1] 0.9849064810787299 Centerline is valid? [True, True] Translation: X:802.66, Y:-60.62, Z:3.21 [[ 9.99860355e-01 -1.13642209e-02 -1.22525225e-02 8.02660952e+02] [ 1.13700190e-02 9.99935278e-01 4.03658545e-04 -6.06239555e+01] [ 1.22471423e-02 -5.42913591e-04 9.99924854e-01 3.21439048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.760714057 meters Centerline goodness [0,1] 0.9855639620836595 Centerline is valid? [True, True] Translation: X:802.69, Y:-60.62, Z:3.21 [[ 9.99827138e-01 -1.24986540e-02 -1.37650637e-02 8.02690423e+02] [ 1.25060651e-02 9.99921694e-01 4.52446985e-04 -6.06243848e+01] [ 1.37583308e-02 -6.24515557e-04 9.99905155e-01 3.21386886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.790714057 meters Centerline goodness [0,1] 0.9854077998783983 Centerline is valid? [True, True] Translation: X:802.72, Y:-60.63, Z:3.21 [[ 9.99808758e-01 -1.31319707e-02 -1.44913345e-02 8.02718880e+02] [ 1.31402404e-02 9.99913550e-01 4.75589431e-04 -6.06325532e+01] [ 1.44838363e-02 -6.65918098e-04 9.99894882e-01 3.21206079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8207140569999 meters Centerline goodness [0,1] 0.9845369767946216 Centerline is valid? [True, True] Translation: X:802.75, Y:-60.63, Z:3.21 [[ 9.99785558e-01 -1.46573392e-02 -1.46287231e-02 8.02748083e+02] [ 1.46659182e-02 9.99892335e-01 4.79334467e-04 -6.06313659e+01] [ 1.46201223e-02 -6.93775333e-04 9.99892880e-01 3.21191068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8507140569999 meters Centerline goodness [0,1] 0.9845369767946216 Centerline is valid? [True, True] Translation: X:802.78, Y:-60.63, Z:3.21 [[ 9.99781967e-01 -1.49001713e-02 -1.46288242e-02 8.02776353e+02] [ 1.49087309e-02 9.99888745e-01 4.76234395e-04 -6.06322415e+01] [ 1.46201007e-02 -6.94227765e-04 9.99892880e-01 3.21197781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.880714057 meters Centerline goodness [0,1] 0.984503526858383 Centerline is valid? [True, True] Translation: X:802.81, Y:-60.64, Z:3.21 [[ 9.99734379e-01 -1.74854383e-02 -1.50143815e-02 8.02805275e+02] [ 1.74947362e-02 9.99846836e-01 4.88133295e-04 -6.06371170e+01] [ 1.50035466e-02 -7.50676279e-04 9.99887159e-01 3.21196285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.910714057 meters Centerline goodness [0,1] 0.9849063150589868 Centerline is valid? [True, True] Translation: X:802.83, Y:-60.64, Z:3.21 [[ 9.99714120e-01 -1.88892476e-02 -1.46585969e-02 8.02834813e+02] [ 1.88982541e-02 9.99821299e-01 4.76128377e-04 -6.06385079e+01] [ 1.46469836e-02 -7.53014149e-04 9.99892444e-01 3.21207054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9407140569999 meters Centerline goodness [0,1] 0.9850859180806225 Centerline is valid? [True, True] Translation: X:802.87, Y:-60.64, Z:3.21 [[ 9.99676328e-01 -2.06364104e-02 -1.48787945e-02 8.02865167e+02] [ 2.06458813e-02 9.99786734e-01 4.83197062e-04 -6.06391243e+01] [ 1.48656499e-02 -7.90226489e-04 9.99889188e-01 3.21316792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9707140569999 meters Centerline goodness [0,1] 0.9846327487411008 Centerline is valid? [True, True] Translation: X:802.89, Y:-60.64, Z:3.21 [[ 9.99660344e-01 -2.14879845e-02 -1.47466132e-02 8.02894573e+02] [ 2.14973770e-02 9.99768790e-01 4.78686659e-04 -6.06419991e+01] [ 1.47329176e-02 -7.95537573e-04 9.99891148e-01 3.21298095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.000714057 meters Centerline goodness [0,1] 0.984515570934256 Centerline is valid? [True, True] Translation: X:802.92, Y:-60.64, Z:3.21 [[ 9.99619605e-01 -2.32547083e-02 -1.48278005e-02 8.02924589e+02] [ 2.32643944e-02 9.99729232e-01 4.81062116e-04 -6.06441327e+01] [ 1.48125987e-02 -8.25838922e-04 9.99889946e-01 3.21322952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.030714057 meters Centerline goodness [0,1] 0.9846884556160402 Centerline is valid? [True, True] Translation: X:802.96, Y:-60.65, Z:3.21 [[ 9.99598643e-01 -2.43093476e-02 -1.45467386e-02 8.02955360e+02] [ 2.43187838e-02 9.99704143e-01 4.72116066e-04 -6.06455510e+01] [ 1.45309580e-02 -8.25685570e-04 9.99894079e-01 3.21349021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0607140569999 meters Centerline goodness [0,1] 0.984198255763751 Centerline is valid? [True, True] Translation: X:802.99, Y:-60.65, Z:3.21 [[ 9.99591337e-01 -2.49770756e-02 -1.39034320e-02 8.02986737e+02] [ 2.49857660e-02 9.99687705e-01 4.51677753e-04 -6.06482129e+01] [ 1.38878084e-02 -7.98881067e-04 9.99903241e-01 3.21358507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0907140569999 meters Centerline goodness [0,1] 0.984326968870416 Centerline is valid? [True, True] Translation: X:803.02, Y:-60.65, Z:3.21 [[ 9.99552013e-01 -2.64889277e-02 -1.39323392e-02 8.03016755e+02] [ 2.64978046e-02 9.99648769e-01 4.52898835e-04 -6.06511438e+01] [ 1.39154490e-02 -8.21872345e-04 9.99902838e-01 3.21411475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.120714057 meters Centerline goodness [0,1] 0.9826130261562446 Centerline is valid? [True, True] Translation: X:803.05, Y:-60.65, Z:3.21 [[ 9.99538930e-01 -2.71973393e-02 -1.34993301e-02 8.03048286e+02] [ 2.72057430e-02 9.99629759e-01 4.39243977e-04 -6.06524723e+01] [ 1.34823859e-02 -8.06300760e-04 9.99908783e-01 3.21424025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.150714057 meters Centerline goodness [0,1] 0.9831030518621348 Centerline is valid? [True, True] Translation: X:803.08, Y:-60.65, Z:3.22 [[ 9.99539186e-01 -2.74420774e-02 -1.29748729e-02 8.03080052e+02] [ 2.74498670e-02 9.99623092e-01 4.22623757e-04 -6.06517199e+01] [ 1.29583849e-02 -7.78587543e-04 9.99915733e-01 3.21540555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1807140569999 meters Centerline goodness [0,1] 0.9834911281062461 Centerline is valid? [True, True] Translation: X:803.11, Y:-60.65, Z:3.22 [[ 9.99544652e-01 -2.73517248e-02 -1.27425310e-02 8.03111796e+02] [ 2.73592363e-02 9.99625580e-01 4.15499461e-04 -6.06510316e+01] [ 1.27263953e-02 -7.63936179e-04 9.99918724e-01 3.21548660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2107140569999 meters Centerline goodness [0,1] 0.9833289975719737 Centerline is valid? [True, True] Translation: X:803.14, Y:-60.65, Z:3.22 [[ 9.99545449e-01 -2.72820748e-02 -1.28290101e-02 8.03142786e+02] [ 2.72896886e-02 9.99627479e-01 4.18767507e-04 -6.06523478e+01] [ 1.28128062e-02 -7.68676847e-04 9.99917617e-01 3.21528418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2407140569999 meters Centerline goodness [0,1] 0.9832444617852343 Centerline is valid? [True, True] Translation: X:803.17, Y:-60.65, Z:3.21 [[ 9.99563748e-01 -2.62580797e-02 -1.35213316e-02 8.03173605e+02] [ 2.62664505e-02 9.99654880e-01 4.41839379e-04 -6.06541623e+01] [ 1.35050632e-02 -7.96804012e-04 9.99908485e-01 3.21468089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.270714057 meters Centerline goodness [0,1] 0.9829222833860691 Centerline is valid? [True, True] Translation: X:803.20, Y:-60.65, Z:3.21 [[ 9.99582544e-01 -2.54706659e-02 -1.36375333e-02 8.03204829e+02] [ 2.54791146e-02 9.99675255e-01 4.46103545e-04 -6.06545647e+01] [ 1.36217420e-02 -7.93389590e-04 9.99906905e-01 3.21418611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3007140569999 meters Centerline goodness [0,1] 0.9827862463190715 Centerline is valid? [True, True] Translation: X:803.24, Y:-60.65, Z:3.21 [[ 9.99624695e-01 -2.35730263e-02 -1.39564038e-02 8.03235522e+02] [ 2.35816971e-02 9.99721809e-01 4.57012208e-04 -6.06548324e+01] [ 1.39417481e-02 -7.85956376e-04 9.99902500e-01 3.21384529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3307140569999 meters Centerline goodness [0,1] 0.9823610990725492 Centerline is valid? [True, True] Translation: X:803.27, Y:-60.66, Z:3.21 [[ 9.99648381e-01 -2.26758633e-02 -1.37448342e-02 8.03265712e+02] [ 2.26841924e-02 9.99742579e-01 4.50354631e-04 -6.06558039e+01] [ 1.37310838e-02 -7.61986741e-04 9.99905434e-01 3.21387858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3607140569999 meters Centerline goodness [0,1] 0.9826502171423633 Centerline is valid? [True, True] Translation: X:803.30, Y:-60.66, Z:3.21 [[ 9.99675996e-01 -2.14353279e-02 -1.37269578e-02 8.03297051e+02] [ 2.14435244e-02 9.99769960e-01 4.50186927e-04 -6.06558834e+01] [ 1.37141501e-02 -7.44395420e-04 9.99905680e-01 3.21441922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.390714057 meters Centerline goodness [0,1] 0.9817144339255609 Centerline is valid? [True, True] Translation: X:803.33, Y:-60.65, Z:3.21 [[ 9.99705539e-01 -1.96360427e-02 -1.42569880e-02 8.03328023e+02] [ 1.96447060e-02 9.99806915e-01 4.67849034e-04 -6.06545249e+01] [ 1.42450485e-02 -7.47785609e-04 9.99898255e-01 3.21372103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4207140569999 meters Centerline goodness [0,1] 0.977854530678586 Centerline is valid? [True, True] Translation: X:803.36, Y:-60.67, Z:3.21 [[ 9.99769625e-01 -1.66929806e-02 -1.34922582e-02 8.03356623e+02] [ 1.67004676e-02 9.99860440e-01 4.42425392e-04 -6.06707252e+01] [ 1.34829898e-02 -6.67650489e-04 9.99908877e-01 3.21015767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4507140569999 meters Centerline goodness [0,1] 0.9819067501739736 Centerline is valid? [True, True] Translation: X:803.39, Y:-60.66, Z:3.21 [[ 9.99735380e-01 -1.77140668e-02 -1.46758775e-02 8.03386741e+02] [ 1.77230278e-02 9.99842819e-01 4.80751961e-04 -6.06562814e+01] [ 1.46650546e-02 -7.40725729e-04 9.99892188e-01 3.21271245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4807140569999 meters Centerline goodness [0,1] 0.9824260329321806 Centerline is valid? [True, True] Translation: X:803.42, Y:-60.66, Z:3.21 [[ 9.99747129e-01 -1.74880396e-02 -1.41366918e-02 8.03416187e+02] [ 1.74963251e-02 9.99846821e-01 4.62627836e-04 -6.06560372e+01] [ 1.41264359e-02 -7.09851007e-04 9.99899965e-01 3.21286156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.510714057 meters Centerline goodness [0,1] 0.9815391940440635 Centerline is valid? [True, True] Translation: X:803.45, Y:-60.66, Z:3.21 [[ 9.99752731e-01 -1.72122046e-02 -1.40789193e-02 8.03446046e+02] [ 1.72203914e-02 9.99851612e-01 4.60468404e-04 -6.06581918e+01] [ 1.40689045e-02 -7.02799047e-04 9.99900781e-01 3.21296596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.540714057 meters Centerline goodness [0,1] 0.9815625270820695 Centerline is valid? [True, True] Translation: X:803.48, Y:-60.66, Z:3.21 [[ 9.99763738e-01 -1.72263927e-02 -1.32559223e-02 8.03475934e+02] [ 1.72336464e-02 9.99851396e-01 4.33164440e-04 -6.06592711e+01] [ 1.32464906e-02 -6.61509978e-04 9.99912043e-01 3.21406346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5707140569999 meters Centerline goodness [0,1] 0.9822112872321895 Centerline is valid? [True, True] Translation: X:803.51, Y:-60.66, Z:3.22 [[ 9.99773279e-01 -1.71010391e-02 -1.26864463e-02 8.03505044e+02] [ 1.71076698e-02 9.99853567e-01 4.14317766e-04 -6.06613038e+01] [ 1.26775033e-02 -6.31259366e-04 9.99919438e-01 3.21501570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6007140569999 meters Centerline goodness [0,1] 0.9816016373454102 Centerline is valid? [True, True] Translation: X:803.54, Y:-60.66, Z:3.22 [[ 9.99808817e-01 -1.61822378e-02 -1.09756159e-02 8.03535878e+02] [ 1.61871450e-02 9.99868915e-01 3.58412177e-04 -6.06602973e+01] [ 1.09683772e-02 -5.36007540e-04 9.99939702e-01 3.21701335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.630714057 meters Centerline goodness [0,1] 0.981022437920303 Centerline is valid? [True, True] Translation: X:803.57, Y:-60.66, Z:3.22 [[ 9.99819035e-01 -1.59443525e-02 -1.03766306e-02 8.03565757e+02] [ 1.59487273e-02 9.99872753e-01 3.38980072e-04 -6.06630973e+01] [ 1.03699054e-02 -5.04412780e-04 9.99946104e-01 3.21708242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.660714057 meters Centerline goodness [0,1] 0.9826356521927637 Centerline is valid? [True, True] Translation: X:803.60, Y:-60.65, Z:3.22 [[ 9.99816624e-01 -1.62113059e-02 -1.01937586e-02 8.03597730e+02] [ 1.62155449e-02 9.99868464e-01 3.33318318e-04 -6.06543445e+01] [ 1.01870142e-02 -4.98554545e-04 9.99947987e-01 3.21861870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6907140569999 meters Centerline goodness [0,1] 0.9825236006999201 Centerline is valid? [True, True] Translation: X:803.63, Y:-60.66, Z:3.22 [[ 9.99800422e-01 -1.71382719e-02 -1.02662278e-02 8.03629169e+02] [ 1.71426237e-02 9.99852998e-01 3.36050108e-04 -6.06565357e+01] [ 1.02589593e-02 -5.11973120e-04 9.99947244e-01 3.21842067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7207140569999 meters Centerline goodness [0,1] 0.9824725048265689 Centerline is valid? [True, True] Translation: X:803.66, Y:-60.66, Z:3.22 [[ 9.99756151e-01 -1.93488517e-02 -1.06423441e-02 8.03659820e+02] [ 1.93536557e-02 9.99812640e-01 3.48594840e-04 -6.06595723e+01] [ 1.06336053e-02 -5.54478100e-04 9.99943308e-01 3.21722918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.750714057 meters Centerline goodness [0,1] 0.9818094990014761 Centerline is valid? [True, True] Translation: X:803.69, Y:-60.66, Z:3.22 [[ 9.99711148e-01 -2.09559805e-02 -1.17672122e-02 8.03691322e+02] [ 2.09619693e-02 9.99780199e-01 3.85818679e-04 -6.06624221e+01] [ 1.17565406e-02 -6.32371175e-04 9.99930690e-01 3.21653995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.780714057 meters Centerline goodness [0,1] 0.9815872326566062 Centerline is valid? [True, True] Translation: X:803.72, Y:-60.66, Z:3.22 [[ 9.99672496e-01 -2.24002830e-02 -1.23744627e-02 8.03722268e+02] [ 2.24070195e-02 9.99748849e-01 4.05995475e-04 -6.06636588e+01] [ 1.23622604e-02 -6.83137337e-04 9.99923351e-01 3.21594286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8107140569999 meters Centerline goodness [0,1] 0.9811402652082384 Centerline is valid? [True, True] Translation: X:803.75, Y:-60.67, Z:3.21 [[ 9.99631685e-01 -2.38241786e-02 -1.29962806e-02 8.03751981e+02] [ 2.38317297e-02 9.99715893e-01 4.26441206e-04 -6.06692056e+01] [ 1.29824286e-02 -7.36007987e-04 9.99915454e-01 3.21476501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8407140569999 meters Centerline goodness [0,1] 0.9815176363399714 Centerline is valid? [True, True] Translation: X:803.78, Y:-60.67, Z:3.21 [[ 9.99577723e-01 -2.57355148e-02 -1.34929028e-02 8.03783049e+02] [ 2.57438329e-02 9.99668474e-01 4.43123345e-04 -6.06709755e+01] [ 1.34770255e-02 -7.90295258e-04 9.99908868e-01 3.21472249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.870714057 meters Centerline goodness [0,1] 0.9810303384655363 Centerline is valid? [True, True] Translation: X:803.81, Y:-60.67, Z:3.22 [[ 9.99569572e-01 -2.64221700e-02 -1.27491253e-02 8.03813652e+02] [ 2.64296552e-02 9.99650588e-01 4.18953813e-04 -6.06736609e+01] [ 1.27336010e-02 -7.55728470e-04 9.99918639e-01 3.21508692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.900714057 meters Centerline goodness [0,1] 0.9813771347764604 Centerline is valid? [True, True] Translation: X:803.84, Y:-60.67, Z:3.22 [[ 9.99587784e-01 -2.61138873e-02 -1.19300718e-02 8.03844971e+02] [ 2.61204240e-02 9.99658726e-01 3.92406047e-04 -6.06739158e+01] [ 1.19157531e-02 -7.03862825e-04 9.99928757e-01 3.21591380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9307140569999 meters Centerline goodness [0,1] 0.9824151074151074 Centerline is valid? [True, True] Translation: X:803.88, Y:-60.67, Z:3.22 [[ 9.99608275e-01 -2.55648714e-02 -1.13900748e-02 8.03877042e+02] [ 2.55708025e-02 9.99672943e-01 3.75373268e-04 -6.06691101e+01] [ 1.13767532e-02 -6.66479578e-04 9.99935061e-01 3.21668232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9607140569999 meters Centerline goodness [0,1] 0.9811746334692462 Centerline is valid? [True, True] Translation: X:803.91, Y:-60.68, Z:3.22 [[ 9.99624693e-01 -2.51294485e-02 -1.09079538e-02 8.03908240e+02] [ 2.51348691e-02 9.99684004e-01 3.60107229e-04 -6.06757918e+01] [ 1.08954577e-02 -6.34142070e-04 9.99940442e-01 3.21610714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9907140569999 meters Centerline goodness [0,1] 0.9811111352904054 Centerline is valid? [True, True] Translation: X:803.94, Y:-60.67, Z:3.22 [[ 9.99665475e-01 -2.37546545e-02 -1.02300875e-02 8.03939649e+02] [ 2.37593544e-02 9.99717650e-01 3.38114538e-04 -6.06748149e+01] [ 1.02191672e-02 -5.81061703e-04 9.99947614e-01 3.21672388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.020714057 meters Centerline goodness [0,1] 0.9818858722866909 Centerline is valid? [True, True] Translation: X:803.97, Y:-60.68, Z:3.22 [[ 9.99678832e-01 -2.32101146e-02 -1.01746048e-02 8.03971575e+02] [ 2.32147417e-02 9.99730445e-01 3.36884221e-04 -6.06754501e+01] [ 1.01640431e-02 -5.72976847e-04 9.99948181e-01 3.21694362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0507140569999 meters Centerline goodness [0,1] 0.9824083358765314 Centerline is valid? [True, True] Translation: X:804.00, Y:-60.67, Z:3.22 [[ 9.99747671e-01 -2.10488635e-02 -7.84472526e-03 8.04003787e+02] [ 2.10515510e-02 9.99778358e-01 2.60159995e-04 -6.06711159e+01] [ 7.83751046e-03 -4.25237983e-04 9.99969196e-01 3.21898698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0807140569999 meters Centerline goodness [0,1] 0.9830876918394852 Centerline is valid? [True, True] Translation: X:804.04, Y:-60.67, Z:3.22 [[ 9.99766323e-01 -2.01883587e-02 -7.72844692e-03 8.04036117e+02] [ 2.01909453e-02 9.99796109e-01 2.56800325e-04 -6.06714956e+01] [ 7.72168678e-03 -4.12784965e-04 9.99970102e-01 3.21938372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1107140569999 meters Centerline goodness [0,1] 0.9832033462594223 Centerline is valid? [True, True] Translation: X:804.07, Y:-60.67, Z:3.22 [[ 9.99795631e-01 -1.85569285e-02 -8.02098134e-03 8.04067831e+02] [ 1.85596652e-02 9.99827719e-01 2.66892239e-04 -6.06682582e+01] [ 8.01464677e-03 -4.15704423e-04 9.99967796e-01 3.21839103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.140714057 meters Centerline goodness [0,1] 0.9832000699086818 Centerline is valid? [True, True] Translation: X:804.10, Y:-60.67, Z:3.22 [[ 9.99804352e-01 -1.76410530e-02 -8.94713873e-03 8.04098572e+02] [ 1.76444299e-02 9.99844280e-01 2.98628213e-04 -6.06716421e+01] [ 8.94047737e-03 -4.56436949e-04 9.99959929e-01 3.21704820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1707140569999 meters Centerline goodness [0,1] 0.9847102828269572 Centerline is valid? [True, True] Translation: X:804.13, Y:-60.67, Z:3.22 [[ 9.99815238e-01 -1.56654111e-02 -1.11393785e-02 8.04130120e+02] [ 1.56705309e-02 9.99877140e-01 3.72477326e-04 -6.06689369e+01] [ 1.11321749e-02 -5.46968482e-04 9.99937886e-01 3.21539004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2007140569999 meters Centerline goodness [0,1] 0.9846043447061126 Centerline is valid? [True, True] Translation: X:804.16, Y:-60.67, Z:3.22 [[ 9.99822687e-01 -1.46192154e-02 -1.18690136e-02 8.04160383e+02] [ 1.46249554e-02 9.99892971e-01 3.96963745e-04 -6.06679735e+01] [ 1.18619400e-02 -5.70477153e-04 9.99929482e-01 3.21515999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2307140569999 meters Centerline goodness [0,1] 0.9842173237309284 Centerline is valid? [True, True] Translation: X:804.19, Y:-60.67, Z:3.21 [[ 9.99839555e-01 -1.32821014e-02 -1.20187059e-02 8.04190232e+02] [ 1.32878909e-02 9.99911631e-01 4.01970259e-04 -6.06708868e+01] [ 1.20123048e-02 -5.61609017e-04 9.99927692e-01 3.21416026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.260714057 meters Centerline goodness [0,1] 0.9855405346283415 Centerline is valid? [True, True] Translation: X:804.22, Y:-60.67, Z:3.21 [[ 9.99860104e-01 -1.19349330e-02 -1.17187469e-02 8.04220206e+02] [ 1.19403408e-02 9.99928635e-01 3.91610134e-04 -6.06681440e+01] [ 1.17132368e-02 -5.31481181e-04 9.99931256e-01 3.21481028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.290714057 meters Centerline goodness [0,1] 0.9852291128714604 Centerline is valid? [True, True] Translation: X:804.25, Y:-60.67, Z:3.22 [[ 9.99899555e-01 -9.47017669e-03 -1.05449045e-02 8.04250236e+02] [ 9.47441623e-03 9.99955055e-01 3.52162936e-04 -6.06650968e+01] [ 1.05410955e-02 -4.52034377e-04 9.99944339e-01 3.21588209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3207140569999 meters Centerline goodness [0,1] 0.9845837165506066 Centerline is valid? [True, True] Translation: X:804.28, Y:-60.67, Z:3.22 [[ 9.99913063e-01 -8.47843266e-03 -1.00986731e-02 8.04278674e+02] [ 8.48226593e-03 9.99963968e-01 3.36810526e-04 -6.06690900e+01] [ 1.00954536e-02 -4.22440875e-04 9.99948950e-01 3.21576880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3507140569999 meters Centerline goodness [0,1] 0.9853201003380958 Centerline is valid? [True, True] Translation: X:804.31, Y:-60.66, Z:3.22 [[ 9.99928926e-01 -7.68362884e-03 -9.11622871e-03 8.04308448e+02] [ 7.68671634e-03 9.99970411e-01 3.03692281e-04 -6.06646157e+01] [ 9.11362551e-03 -3.73744561e-04 9.99958400e-01 3.21713635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.380714057 meters Centerline goodness [0,1] 0.9861263555340914 Centerline is valid? [True, True] Translation: X:804.34, Y:-60.66, Z:3.22 [[ 9.99928296e-01 -8.25402161e-03 -8.67609848e-03 8.04338180e+02] [ 8.25683696e-03 9.99965870e-01 2.88725305e-04 -6.06646229e+01] [ 8.67341922e-03 -3.60341732e-04 9.99962320e-01 3.21742342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.410714057 meters Centerline goodness [0,1] 0.9858190173979647 Centerline is valid? [True, True] Translation: X:804.37, Y:-60.67, Z:3.22 [[ 9.99923602e-01 -9.03701946e-03 -8.43343647e-03 8.04368070e+02] [ 9.03970637e-03 9.99959102e-01 2.80536395e-04 -6.06666856e+01] [ 8.43055634e-03 -3.56750752e-04 9.99964399e-01 3.21758752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4407140569999 meters Centerline goodness [0,1] 0.9853797979357147 Centerline is valid? [True, True] Translation: X:804.40, Y:-60.67, Z:3.22 [[ 9.99873876e-01 -1.37083004e-02 -8.01958123e-03 8.04398315e+02] [ 1.37108793e-02 9.99905966e-01 2.66675370e-04 -6.06707636e+01] [ 8.01517145e-03 -3.76597246e-04 9.99967807e-01 3.21717760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4707140569999 meters Centerline goodness [0,1] 0.98580829129195 Centerline is valid? [True, True] Translation: X:804.43, Y:-60.67, Z:3.22 [[ 9.99829323e-01 -1.65832942e-02 -8.14366004e-03 8.04428948e+02] [ 1.65860491e-02 9.99862405e-01 2.70867760e-04 -6.06741185e+01] [ 8.13804763e-03 -4.05892674e-04 9.99966803e-01 3.21676229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.500714057 meters Centerline goodness [0,1] 0.9842229818564291 Centerline is valid? [True, True] Translation: X:804.46, Y:-60.68, Z:3.22 [[ 9.99694562e-01 -2.31222850e-02 -8.72603028e-03 8.04458386e+02] [ 2.31256963e-02 9.99732523e-01 2.90223653e-04 -6.06811593e+01] [ 8.71698564e-03 -4.91930534e-04 9.99961885e-01 3.21636247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.530714057 meters Centerline goodness [0,1] 0.9838723814532386 Centerline is valid? [True, True] Translation: X:804.49, Y:-60.68, Z:3.22 [[ 9.99615054e-01 -2.63417611e-02 -8.70948179e-03 8.04489882e+02] [ 2.63452830e-02 9.99652861e-01 2.89875206e-04 -6.06821626e+01] [ 8.69882256e-03 -5.19217383e-04 9.99962030e-01 3.21643048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5607140569999 meters Centerline goodness [0,1] 0.9833026960784313 Centerline is valid? [True, True] Translation: X:804.52, Y:-60.69, Z:3.22 [[ 9.99481614e-01 -3.12691649e-02 -7.66434131e-03 8.04519555e+02] [ 3.12720365e-02 9.99510878e-01 2.55087790e-04 -6.06877960e+01] [ 7.65261612e-03 -4.94635117e-04 9.99970596e-01 3.21729245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5907140569999 meters Centerline goodness [0,1] 0.9819440526053083 Centerline is valid? [True, True] Translation: X:804.55, Y:-60.70, Z:3.22 [[ 9.99448185e-01 -3.25428911e-02 -6.65474249e-03 8.04550376e+02] [ 3.25450854e-02 9.99470244e-01 2.21680697e-04 -6.06978889e+01] [ 6.64400297e-03 -4.38137533e-04 9.99977832e-01 3.21753882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.620714057 meters Centerline goodness [0,1] 0.9834851563011993 Centerline is valid? [True, True] Translation: X:804.58, Y:-60.69, Z:3.22 [[ 9.99419412e-01 -3.34925812e-02 -6.25179696e-03 8.04582935e+02] [ 3.34945387e-02 9.99438879e-01 2.08646435e-04 -6.06915927e+01] [ 6.24130083e-03 -4.17926353e-04 9.99980436e-01 3.21821783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.650714057 meters Centerline goodness [0,1] 0.984007340892705 Centerline is valid? [True, True] Translation: X:804.62, Y:-60.69, Z:3.22 [[ 9.99424088e-01 -3.33513399e-02 -6.25950513e-03 8.04615929e+02] [ 3.33533032e-02 9.99443602e-01 2.09502746e-04 -6.06856818e+01] [ 6.24903516e-03 -4.18157264e-04 9.99980387e-01 3.21800460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6807140569999 meters Centerline goodness [0,1] 0.9836251940272404 Centerline is valid? [True, True] Translation: X:804.65, Y:-60.69, Z:3.22 [[ 9.99438728e-01 -3.27050255e-02 -7.25333719e-03 8.04646790e+02] [ 3.27076519e-02 9.99464932e-01 2.43743472e-04 -6.06884519e+01] [ 7.24148452e-03 -4.80846294e-04 9.99973664e-01 3.21748602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7107140569999 meters Centerline goodness [0,1] 0.9843083185608299 Centerline is valid? [True, True] Translation: X:804.68, Y:-60.69, Z:3.22 [[ 9.99490153e-01 -3.07726499e-02 -8.51344241e-03 8.04678401e+02] [ 3.07762035e-02 9.99526259e-01 2.86692368e-04 -6.06860482e+01] [ 8.50058696e-03 -5.48557635e-04 9.99963719e-01 3.21652163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7407140569999 meters Centerline goodness [0,1] 0.9843990331795209 Centerline is valid? [True, True] Translation: X:804.71, Y:-60.68, Z:3.22 [[ 9.99560208e-01 -2.83975065e-02 -8.54240562e-03 8.04709807e+02] [ 2.84010006e-02 9.99596569e-01 2.87973862e-04 -6.06838002e+01] [ 8.53078160e-03 -5.30460080e-04 9.99963472e-01 3.21685989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.770714057 meters Centerline goodness [0,1] 0.9843990331795209 Centerline is valid? [True, True] Translation: X:804.74, Y:-60.68, Z:3.22 [[ 9.99562225e-01 -2.83264256e-02 -8.54238795e-03 8.04741541e+02] [ 2.83299216e-02 9.99598586e-01 2.88497352e-04 -6.06849308e+01] [ 8.53078681e-03 -5.30376236e-04 9.99963472e-01 3.21693519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8007140569999 meters Centerline goodness [0,1] 0.9852106658486887 Centerline is valid? [True, True] Translation: X:804.77, Y:-60.68, Z:3.22 [[ 9.99586137e-01 -2.75296806e-02 -8.34688480e-03 8.04773820e+02] [ 2.75329956e-02 9.99620855e-01 2.82486654e-04 -6.06841057e+01] [ 8.33594336e-03 -5.12184486e-04 9.99965124e-01 3.21712328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8307140569999 meters Centerline goodness [0,1] 0.9854073862763599 Centerline is valid? [True, True] Translation: X:804.81, Y:-60.69, Z:3.22 [[ 9.99602518e-01 -2.68336235e-02 -8.64657645e-03 8.04805239e+02] [ 2.68371630e-02 9.99639775e-01 2.93561790e-04 -6.06859316e+01] [ 8.63558442e-03 -5.25494686e-04 9.99962575e-01 3.21701656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8607140569999 meters Centerline goodness [0,1] 0.985887938803772 Centerline is valid? [True, True] Translation: X:804.84, Y:-60.68, Z:3.22 [[ 9.99612090e-01 -2.62528193e-02 -9.29838655e-03 8.04837434e+02] [ 2.62568949e-02 9.99655178e-01 3.16494323e-04 -6.06819261e+01] [ 9.28687139e-03 -5.60518310e-04 9.99956719e-01 3.21728923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.890714057 meters Centerline goodness [0,1] 0.9856167241265729 Centerline is valid? [True, True] Translation: X:804.87, Y:-60.68, Z:3.22 [[ 9.99606256e-01 -2.62496187e-02 -9.91418040e-03 8.04869267e+02] [ 2.62542591e-02 9.99655240e-01 3.38176124e-04 -6.06815341e+01] [ 9.90188539e-03 -5.98332430e-04 9.99950796e-01 3.21730157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9207140569999 meters Centerline goodness [0,1] 0.9854587852255978 Centerline is valid? [True, True] Translation: X:804.90, Y:-60.68, Z:3.22 [[ 9.99604894e-01 -2.58726338e-02 -1.09846742e-02 8.04901089e+02] [ 2.58783167e-02 9.99665030e-01 3.75499670e-04 -6.06792474e+01] [ 1.09712795e-02 -6.59616186e-04 9.99939596e-01 3.21667076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9507140569999 meters Centerline goodness [0,1] 0.9860582737768004 Centerline is valid? [True, True] Translation: X:804.93, Y:-60.68, Z:3.22 [[ 9.99603712e-01 -2.56296103e-02 -1.16422130e-02 8.04933344e+02] [ 2.56359875e-02 9.99671265e-01 3.98832316e-04 -6.06774856e+01] [ 1.16281639e-02 -6.97133891e-04 9.99932148e-01 3.21658435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9807140569999 meters Centerline goodness [0,1] 0.9861080582054776 Centerline is valid? [True, True] Translation: X:804.97, Y:-60.68, Z:3.22 [[ 9.99615852e-01 -2.50081593e-02 -1.19473819e-02 8.04965977e+02] [ 2.50148414e-02 9.99686996e-01 4.10167070e-04 -6.06764015e+01] [ 1.19333848e-02 -7.08871368e-04 9.99928543e-01 3.21671394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.010714057 meters Centerline goodness [0,1] 0.985603739059503 Centerline is valid? [True, True] Translation: X:805.00, Y:-60.68, Z:3.22 [[ 9.99674195e-01 -2.27928718e-02 -1.14886300e-02 8.04996509e+02] [ 2.27989087e-02 9.99739993e-01 3.94753147e-04 -6.06764410e+01] [ 1.14766453e-02 -6.56552762e-04 9.99933926e-01 3.21754303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.040714057 meters Centerline goodness [0,1] 0.9855082039422971 Centerline is valid? [True, True] Translation: X:805.03, Y:-60.67, Z:3.22 [[ 9.99721015e-01 -2.10322118e-02 -1.07488786e-02 8.05028572e+02] [ 2.10374000e-02 9.99778621e-01 3.69828304e-04 -6.06744277e+01] [ 1.07387208e-02 -5.95853587e-04 9.99942161e-01 3.21942801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0707140569999 meters Centerline goodness [0,1] 0.9863878041785249 Centerline is valid? [True, True] Translation: X:805.06, Y:-60.67, Z:3.22 [[ 9.99804594e-01 -1.74932750e-02 -9.20647683e-03 8.05058850e+02] [ 1.74969325e-02 9.99846867e-01 3.16869734e-04 -6.06742287e+01] [ 9.19952393e-03 -4.77892919e-04 9.99957569e-01 3.22124678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1007140569999 meters Centerline goodness [0,1] 0.9867256637168141 Centerline is valid? [True, True] Translation: X:805.09, Y:-60.67, Z:3.22 [[ 9.99832455e-01 -1.58281153e-02 -9.19415952e-03 8.05090811e+02] [ 1.58316961e-02 9.99874621e-01 3.16807416e-04 -6.06712918e+01] [ 9.18799230e-03 -4.62313476e-04 9.99957683e-01 3.22220800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.130714057 meters Centerline goodness [0,1] 0.9874008810572688 Centerline is valid? [True, True] Translation: X:805.12, Y:-60.67, Z:3.22 [[ 9.99847293e-01 -1.45106414e-02 -9.73814753e-03 8.05121922e+02] [ 1.45145999e-02 9.99894601e-01 3.35943561e-04 -6.06707966e+01] [ 9.73224639e-03 -4.77237576e-04 9.99952527e-01 3.22199740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.160714057 meters Centerline goodness [0,1] 0.986637855000882 Centerline is valid? [True, True] Translation: X:805.15, Y:-60.67, Z:3.22 [[ 9.99855266e-01 -1.24303680e-02 -1.16160624e-02 8.05153484e+02] [ 1.24358655e-02 9.99922591e-01 4.01157355e-04 -6.06682020e+01] [ 1.16101766e-02 -5.45555083e-04 9.99932451e-01 3.22041767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1907140569999 meters Centerline goodness [0,1] 0.9873789192648 Centerline is valid? [True, True] Translation: X:805.18, Y:-60.67, Z:3.22 [[ 9.99851598e-01 -1.19910582e-02 -1.23691799e-02 8.05183976e+02] [ 1.19972593e-02 9.99927939e-01 4.27256385e-04 -6.06681059e+01] [ 1.23631653e-02 -5.75589238e-04 9.99923407e-01 3.21991486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2207140569999 meters Centerline goodness [0,1] 0.9884358554813603 Centerline is valid? [True, True] Translation: X:805.21, Y:-60.67, Z:3.22 [[ 9.99848998e-01 -1.16409140e-02 -1.29023248e-02 8.05214162e+02] [ 1.16476273e-02 9.99932065e-01 4.45286284e-04 -6.06656455e+01] [ 1.28962647e-02 -5.95500515e-04 9.99916662e-01 3.22075132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.250714057 meters Centerline goodness [0,1] 0.987581482709093 Centerline is valid? [True, True] Translation: X:805.24, Y:-60.67, Z:3.22 [[ 9.99845215e-01 -1.17830399e-02 -1.30654396e-02 8.05242958e+02] [ 1.17899273e-02 9.99930395e-01 4.50244600e-04 -6.06689594e+01] [ 1.30592249e-02 -6.04215492e-04 9.99914542e-01 3.22049917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.280714057 meters Centerline goodness [0,1] 0.987848557428201 Centerline is valid? [True, True] Translation: X:805.27, Y:-60.67, Z:3.22 [[ 9.99843653e-01 -1.16664813e-02 -1.32876973e-02 8.05271467e+02] [ 1.16735853e-02 9.99931757e-01 4.57195213e-04 -6.06731464e+01] [ 1.32814567e-02 -6.12238801e-04 9.99911610e-01 3.21949830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3107140569999 meters Centerline goodness [0,1] 0.9889524735411741 Centerline is valid? [True, True] Translation: X:805.30, Y:-60.67, Z:3.22 [[ 9.99843745e-01 -1.08609356e-02 -1.39472368e-02 8.05301292e+02] [ 1.08686766e-02 9.99940819e-01 4.79342876e-04 -6.06697786e+01] [ 1.39412053e-02 -6.30855983e-04 9.99902618e-01 3.21996585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3407140569999 meters Centerline goodness [0,1] 0.9889806554191326 Centerline is valid? [True, True] Translation: X:805.33, Y:-60.67, Z:3.22 [[ 9.99849005e-01 -1.00746459e-02 -1.41586828e-02 8.05330020e+02] [ 1.00825021e-02 9.99949053e-01 4.83592987e-04 -6.06704424e+01] [ 1.41530894e-02 -6.26274917e-04 9.99899644e-01 3.21997685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.370714057 meters Centerline goodness [0,1] 0.988118417559076 Centerline is valid? [True, True] Translation: X:805.36, Y:-60.67, Z:3.22 [[ 9.99853752e-01 -8.68134349e-03 -1.47346463e-02 8.05357965e+02] [ 8.68967583e-03 9.99962118e-01 5.01562958e-04 -6.06738785e+01] [ 1.47297339e-02 -6.29528904e-04 9.99891313e-01 3.21857576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.400714057 meters Centerline goodness [0,1] 0.9898483908147886 Centerline is valid? [True, True] Translation: X:805.39, Y:-60.67, Z:3.22 [[ 9.99873288e-01 -4.88139392e-03 -1.51519050e-02 8.05387581e+02] [ 4.88975929e-03 9.99987912e-01 5.15102479e-04 -6.06683412e+01] [ 1.51492075e-02 -5.89126378e-04 9.99885071e-01 3.22032658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4307140569999 meters Centerline goodness [0,1] 0.9895510493225892 Centerline is valid? [True, True] Translation: X:805.42, Y:-60.67, Z:3.22 [[ 9.99889511e-01 -1.52282115e-03 -1.47867380e-02 8.05418039e+02] [ 1.53041694e-03 9.99998703e-01 5.02387598e-04 -6.06658396e+01] [ 1.47859538e-02 -5.24961964e-04 9.99890544e-01 3.22216412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4607140569999 meters Centerline goodness [0,1] 0.9900756975618343 Centerline is valid? [True, True] Translation: X:805.45, Y:-60.67, Z:3.22 [[ 9.99902359e-01 4.57491753e-04 -1.39665130e-02 8.05446491e+02] [-4.50920285e-04 9.99999786e-01 4.73661433e-04 -6.06658178e+01] [ 1.39667268e-02 -4.67317400e-04 9.99902351e-01 3.22327193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4907140569999 meters Centerline goodness [0,1] 0.9897584498318882 Centerline is valid? [True, True] Translation: X:805.47, Y:-60.67, Z:3.22 [[ 9.99904616e-01 1.47275296e-03 -1.37327865e-02 8.05474824e+02] [-1.46653644e-03 9.99998818e-01 4.62736946e-04 -6.06658562e+01] [ 1.37334517e-02 -4.42553177e-04 9.99905594e-01 3.22419350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.520714057 meters Centerline goodness [0,1] 0.9901858703117038 Centerline is valid? [True, True] Translation: X:805.50, Y:-60.67, Z:3.22 [[ 9.99915471e-01 2.96849980e-03 -1.26585708e-02 8.05503864e+02] [-2.96337680e-03 9.99995520e-01 4.23443457e-04 -6.06676379e+01] [ 1.26597711e-02 -3.85895548e-04 9.99919787e-01 3.22489880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5507140569999 meters Centerline goodness [0,1] 0.9901193633952254 Centerline is valid? [True, True] Translation: X:805.53, Y:-60.67, Z:3.22 [[ 9.99918865e-01 3.26067076e-03 -1.23138393e-02 8.05532189e+02] [-3.25586080e-03 9.99994615e-01 4.10641484e-04 -6.06698920e+01] [ 1.23151120e-02 -3.70516020e-04 9.99924097e-01 3.22472407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5807140569999 meters Centerline goodness [0,1] 0.9899246558695508 Centerline is valid? [True, True] Translation: X:805.56, Y:-60.67, Z:3.22 [[ 9.99925633e-01 2.61306970e-03 -1.19121701e-02 8.05561087e+02] [-2.60853236e-03 9.99996519e-01 3.96420603e-04 -6.06740022e+01] [ 1.19131645e-02 -3.65317841e-04 9.99928969e-01 3.22430813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6107140569999 meters Centerline goodness [0,1] 0.9901033842891226 Centerline is valid? [True, True] Translation: X:805.59, Y:-60.68, Z:3.22 [[ 9.99926682e-01 1.49882534e-03 -1.20160117e-02 8.05589513e+02] [-1.49413833e-03 9.99998804e-01 3.99031167e-04 -6.06762873e+01] [ 1.20165954e-02 -3.81048327e-04 9.99927726e-01 3.22429456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.640714057 meters Centerline goodness [0,1] 0.9903897136797455 Centerline is valid? [True, True] Translation: X:805.62, Y:-60.68, Z:3.22 [[ 9.99925511e-01 2.15795386e-04 -1.22035312e-02 8.05617530e+02] [-2.10878022e-04 9.99999896e-01 4.04231277e-04 -6.06802223e+01] [ 1.22036171e-02 -4.01627709e-04 9.99925452e-01 3.22409046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6707140569999 meters Centerline goodness [0,1] 0.9886253630203291 Centerline is valid? [True, True] Translation: X:805.65, Y:-60.69, Z:3.22 [[ 9.99921330e-01 -2.70640324e-03 -1.22478045e-02 8.05645558e+02] [ 2.71156439e-03 9.99996242e-01 4.04807878e-04 -6.06880853e+01] [ 1.22466629e-02 -4.37986742e-04 9.99924911e-01 3.22294439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7007140569999 meters Centerline goodness [0,1] 0.9892919964819701 Centerline is valid? [True, True] Translation: X:805.67, Y:-60.69, Z:3.22 [[ 9.99917640e-01 -4.44467239e-03 -1.20398703e-02 8.05673210e+02] [ 4.44977376e-03 9.99990021e-01 3.96950980e-04 -6.06928103e+01] [ 1.20379859e-02 -4.50492986e-04 9.99927439e-01 3.22212468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7307140569999 meters Centerline goodness [0,1] 0.9892423543875826 Centerline is valid? [True, True] Translation: X:805.70, Y:-60.70, Z:3.22 [[ 9.99905770e-01 -7.39476671e-03 -1.15658708e-02 8.05702450e+02] [ 7.39966337e-03 9.99972550e-01 3.80635218e-04 -6.06953359e+01] [ 1.15627386e-02 -4.66182901e-04 9.99933041e-01 3.22359491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.760714057 meters Centerline goodness [0,1] 0.9885826771653543 Centerline is valid? [True, True] Translation: X:805.73, Y:-60.70, Z:3.22 [[ 9.99898903e-01 -8.79400527e-03 -1.11736271e-02 8.05730912e+02] [ 8.79863663e-03 9.99961224e-01 3.65399423e-04 -6.06986470e+01] [ 1.11699805e-02 -4.63675166e-04 9.99937506e-01 3.22366714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.790714057 meters Centerline goodness [0,1] 0.9886216648762414 Centerline is valid? [True, True] Translation: X:805.76, Y:-60.70, Z:3.22 [[ 9.99891207e-01 -9.82584634e-03 -1.10012457e-02 8.05760195e+02] [ 9.83038840e-03 9.99951616e-01 3.58868260e-04 -6.07014570e+01] [ 1.09971872e-02 -4.66975736e-04 9.99939420e-01 3.22395403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8207140569999 meters Centerline goodness [0,1] 0.9882656858881738 Centerline is valid? [True, True] Translation: X:805.79, Y:-60.71, Z:3.22 [[ 9.99882303e-01 -1.07313339e-02 -1.09644293e-02 8.05788936e+02] [ 1.07358940e-02 9.99942305e-01 3.57123596e-04 -6.07059669e+01] [ 1.09599643e-02 -4.74794514e-04 9.99939825e-01 3.22314521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8507140569999 meters Centerline goodness [0,1] 0.9876942580490043 Centerline is valid? [True, True] Translation: X:805.82, Y:-60.71, Z:3.22 [[ 9.99860722e-01 -1.24222594e-02 -1.11455660e-02 8.05818292e+02] [ 1.24270714e-02 9.99922715e-01 3.62581325e-04 -6.07096826e+01] [ 1.11402006e-02 -5.01037570e-04 9.99937821e-01 3.22303459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.880714057 meters Centerline goodness [0,1] 0.9877176142065535 Centerline is valid? [True, True] Translation: X:805.85, Y:-60.71, Z:3.22 [[ 9.99846812e-01 -1.32524398e-02 -1.14334944e-02 8.05848209e+02] [ 1.32575549e-02 9.99912046e-01 3.71700436e-04 -6.07129036e+01] [ 1.14275628e-02 -5.23223675e-04 9.99934566e-01 3.22307843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.910714057 meters Centerline goodness [0,1] 0.9871373477079499 Centerline is valid? [True, True] Translation: X:805.88, Y:-60.72, Z:3.22 [[ 9.99826833e-01 -1.48628138e-02 -1.11982881e-02 8.05877019e+02] [ 1.48678175e-02 9.99889402e-01 3.63701862e-04 -6.07195796e+01] [ 1.11916439e-02 -5.30132984e-04 9.99937231e-01 3.22283944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9407140569999 meters Centerline goodness [0,1] 0.9865024501225061 Centerline is valid? [True, True] Translation: X:805.91, Y:-60.72, Z:3.22 [[ 9.99819205e-01 -1.54336494e-02 -1.11067106e-02 8.05907536e+02] [ 1.54386058e-02 9.99880753e-01 3.60644755e-04 -6.07221663e+01] [ 1.10998201e-02 -5.32051680e-04 9.99938254e-01 3.22289881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9707140569999 meters Centerline goodness [0,1] 0.9866334687459049 Centerline is valid? [True, True] Translation: X:805.94, Y:-60.72, Z:3.22 [[ 9.99823718e-01 -1.56268229e-02 -1.04084548e-02 8.05937937e+02] [ 1.56311861e-02 9.99877768e-01 3.37971768e-04 -6.07203789e+01] [ 1.04019011e-02 -5.00608682e-04 9.99945773e-01 3.22472181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.000714057 meters Centerline goodness [0,1] 0.9855457934552748 Centerline is valid? [True, True] Translation: X:805.97, Y:-60.73, Z:3.22 [[ 9.99836271e-01 -1.53141922e-02 -9.63876595e-03 8.05967924e+02] [ 1.53179207e-02 9.99882625e-01 3.13108998e-04 -6.07264779e+01] [ 9.63283958e-03 -4.60703586e-04 9.99953497e-01 3.22469663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.030714057 meters Centerline goodness [0,1] 0.9867082125814395 Centerline is valid? [True, True] Translation: X:806.00, Y:-60.72, Z:3.23 [[ 9.99856257e-01 -1.43908949e-02 -8.96483661e-03 8.05998993e+02] [ 1.43940856e-02 9.99896357e-01 2.91494403e-04 -6.07234525e+01] [ 8.95971261e-03 -4.20493128e-04 9.99959773e-01 3.22609541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0607140569999 meters Centerline goodness [0,1] 0.9861436886456433 Centerline is valid? [True, True] Translation: X:806.03, Y:-60.73, Z:3.23 [[ 9.99850752e-01 -1.44661836e-02 -9.44470626e-03 8.06029639e+02] [ 1.44697331e-02 9.99895261e-01 3.07596550e-04 -6.07287442e+01] [ 9.43926728e-03 -4.44213022e-04 9.99955350e-01 3.22518897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0907140569999 meters Centerline goodness [0,1] 0.9863409965852491 Centerline is valid? [True, True] Translation: X:806.06, Y:-60.73, Z:3.22 [[ 9.99847031e-01 -1.44121189e-02 -9.90984081e-03 8.06061130e+02] [ 1.44160281e-02 9.99896031e-01 3.23153222e-04 -6.07294257e+01] [ 9.90415318e-03 -4.65964333e-04 9.99950844e-01 3.22463418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.120714057 meters Centerline goodness [0,1] 0.9861441445373017 Centerline is valid? [True, True] Translation: X:806.09, Y:-60.73, Z:3.22 [[ 9.99817731e-01 -1.51231653e-02 -1.16531082e-02 8.06091539e+02] [ 1.51286203e-02 9.99885484e-01 3.80097755e-04 -6.07306075e+01] [ 1.16460255e-02 -5.56323925e-04 9.99932028e-01 3.22332865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.150714057 meters Centerline goodness [0,1] 0.9860789875627318 Centerline is valid? [True, True] Translation: X:806.12, Y:-60.73, Z:3.22 [[ 9.99817687e-01 -1.50473819e-02 -1.17545037e-02 8.06122339e+02] [ 1.50529269e-02 9.99886625e-01 3.83405045e-04 -6.07324764e+01] [ 1.17474018e-02 -5.60274832e-04 9.99930840e-01 3.22289129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1807140569999 meters Centerline goodness [0,1] 0.9863918960045216 Centerline is valid? [True, True] Translation: X:806.15, Y:-60.73, Z:3.22 [[ 9.99840784e-01 -1.37219332e-02 -1.14067741e-02 8.06151621e+02] [ 1.37270671e-02 9.99905710e-01 3.71903143e-04 -6.07346171e+01] [ 1.14005953e-02 -5.28425484e-04 9.99934871e-01 3.22279796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2107140569999 meters Centerline goodness [0,1] 0.9861952204206551 Centerline is valid? [True, True] Translation: X:806.18, Y:-60.74, Z:3.22 [[ 9.99855915e-01 -1.26831231e-02 -1.12822088e-02 8.06182433e+02] [ 1.26880790e-02 9.99919435e-01 3.67800388e-04 -6.07351250e+01] [ 1.12766350e-02 -5.10896950e-04 9.99936286e-01 3.22293025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2407140569999 meters Centerline goodness [0,1] 0.9867520808820325 Centerline is valid? [True, True] Translation: X:806.21, Y:-60.74, Z:3.22 [[ 9.99872061e-01 -1.15853255e-02 -1.10291815e-02 8.06212346e+02] [ 1.15899916e-02 9.99932769e-01 3.59244568e-04 -6.07351404e+01] [ 1.10242780e-02 -4.87026727e-04 9.99939112e-01 3.22386740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.270714057 meters Centerline goodness [0,1] 0.9867545333536998 Centerline is valid? [True, True] Translation: X:806.24, Y:-60.74, Z:3.22 [[ 9.99899410e-01 -9.22292272e-03 -1.07752913e-02 8.06241746e+02] [ 9.22723706e-03 9.99957367e-01 3.50744708e-04 -6.07354928e+01] [ 1.07715970e-02 -4.50135594e-04 9.99941883e-01 3.22408048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3007140569999 meters Centerline goodness [0,1] 0.9863693768235857 Centerline is valid? [True, True] Translation: X:806.27, Y:-60.74, Z:3.22 [[ 9.99907451e-01 -8.01449095e-03 -1.09934846e-02 8.06269988e+02] [ 8.01890349e-03 9.99967784e-01 3.57356778e-04 -6.07362216e+01] [ 1.09902664e-02 -4.45479397e-04 9.99939506e-01 3.22416485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3307140569999 meters Centerline goodness [0,1] 0.9875699327339618 Centerline is valid? [True, True] Translation: X:806.30, Y:-60.74, Z:3.22 [[ 9.99926863e-01 -6.12555340e-03 -1.04281541e-02 8.06298708e+02] [ 6.12941415e-03 9.99981158e-01 3.38303212e-04 -6.07356134e+01] [ 1.04258854e-02 -4.02196945e-04 9.99945568e-01 3.22417660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3607140569999 meters Centerline goodness [0,1] 0.9875635459166976 Centerline is valid? [True, True] Translation: X:806.33, Y:-60.73, Z:3.22 [[ 9.99929076e-01 -6.03804260e-03 -1.02657027e-02 8.06327760e+02] [ 6.04175685e-03 9.99981694e-01 3.30837949e-04 -6.07325801e+01] [ 1.02635171e-02 -3.92837364e-04 9.99947252e-01 3.22487782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.390714057 meters Centerline goodness [0,1] 0.9873431533006001 Centerline is valid? [True, True] Translation: X:806.36, Y:-60.74, Z:3.22 [[ 9.99941559e-01 -5.43223511e-03 -9.34719157e-03 8.06355597e+02] [ 5.43527685e-03 9.99985184e-01 3.00045668e-04 -6.07378790e+01] [ 9.34542316e-03 -3.50832707e-04 9.99956269e-01 3.22410045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4207140569999 meters Centerline goodness [0,1] 0.9872968916537967 Centerline is valid? [True, True] Translation: X:806.38, Y:-60.74, Z:3.22 [[ 9.99952226e-01 -4.96486992e-03 -8.41990621e-03 8.06384128e+02] [ 4.96730716e-03 9.99987627e-01 2.68573727e-04 -6.07371895e+01] [ 8.41846860e-03 -3.10385156e-04 9.99964516e-01 3.22459307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4507140569999 meters Centerline goodness [0,1] 0.9871412719479559 Centerline is valid? [True, True] Translation: X:806.41, Y:-60.74, Z:3.22 [[ 9.99954435e-01 -4.97391166e-03 -8.14794448e-03 8.06412704e+02] [ 4.97617795e-03 9.99987585e-01 2.57892589e-04 -6.07391863e+01] [ 8.14656059e-03 -2.98426459e-04 9.99966772e-01 3.22454222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4807140569999 meters Centerline goodness [0,1] 0.9874494279375299 Centerline is valid? [True, True] Translation: X:806.44, Y:-60.74, Z:3.22 [[ 9.99961873e-01 -4.65997829e-03 -7.38488125e-03 8.06441732e+02] [ 4.66181818e-03 9.99989107e-01 2.31948767e-04 -6.07399141e+01] [ 7.38371993e-03 -2.66366897e-04 9.99972704e-01 3.22490273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.510714057 meters Centerline goodness [0,1] 0.9874514425385186 Centerline is valid? [True, True] Translation: X:806.47, Y:-60.74, Z:3.23 [[ 9.99977062e-01 -3.35138352e-03 -5.88588283e-03 8.06471694e+02] [ 3.35252609e-03 9.99994363e-01 1.84264848e-04 -6.07407959e+01] [ 5.88523211e-03 -2.03993197e-04 9.99982661e-01 3.22562037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.540714057 meters Centerline goodness [0,1] 0.9873412215068732 Centerline is valid? [True, True] Translation: X:806.50, Y:-60.74, Z:3.23 [[ 9.99984701e-01 -2.34221703e-03 -5.01115004e-03 8.06501442e+02] [ 2.34303173e-03 9.99997243e-01 1.56711396e-04 -6.07422918e+01] [ 5.01076917e-03 -1.68450282e-04 9.99987432e-01 3.22583497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5707140569999 meters Centerline goodness [0,1] 0.9874902097293534 Centerline is valid? [True, True] Translation: X:806.53, Y:-60.75, Z:3.23 [[ 9.99991648e-01 5.34078098e-05 -4.08662735e-03 8.06529766e+02] [-5.28866455e-05 9.99999990e-01 1.27637145e-04 -6.07450988e+01] [ 4.08663413e-03 -1.27419951e-04 9.99991642e-01 3.22597207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6007140569999 meters Centerline goodness [0,1] 0.9875947772056747 Centerline is valid? [True, True] Translation: X:806.56, Y:-60.75, Z:3.23 [[ 9.99989508e-01 6.22759673e-04 -4.53818877e-03 8.06558963e+02] [-6.22125946e-04 9.99999797e-01 1.41053449e-04 -6.07451792e+01] [ 4.53827569e-03 -1.38228644e-04 9.99989692e-01 3.22579344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.630714057 meters Centerline goodness [0,1] 0.9869127589730211 Centerline is valid? [True, True] Translation: X:806.59, Y:-60.75, Z:3.23 [[ 9.99987792e-01 1.06736175e-03 -4.82457860e-03 8.06587136e+02] [-1.06665437e-03 9.99999420e-01 1.49188905e-04 -6.07474356e+01] [ 4.82473504e-03 -1.44040925e-04 9.99988351e-01 3.22543179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.660714057 meters Centerline goodness [0,1] 0.9869127589730211 Centerline is valid? [True, True] Translation: X:806.62, Y:-60.75, Z:3.23 [[ 9.99987865e-01 9.96930252e-04 -4.82458785e-03 8.06615446e+02] [-9.96223505e-04 9.99999493e-01 1.48889499e-04 -6.07482509e+01] [ 4.82473383e-03 -1.44081324e-04 9.99988351e-01 3.22549902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6907140569999 meters Centerline goodness [0,1] 0.9868278050689041 Centerline is valid? [True, True] Translation: X:806.64, Y:-60.75, Z:3.22 [[ 9.99983359e-01 1.30586428e-03 -5.61933544e-03 8.06644478e+02] [-1.30491276e-03 9.99999134e-01 1.72992590e-04 -6.07509229e+01] [ 5.61955647e-03 -1.65656968e-04 9.99984196e-01 3.22407053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7207140569999 meters Centerline goodness [0,1] 0.9870823957071144 Centerline is valid? [True, True] Translation: X:806.67, Y:-60.75, Z:3.22 [[ 9.99982194e-01 5.25442307e-04 -5.94433980e-03 8.06672945e+02] [-5.24366294e-04 9.99999846e-01 1.82571793e-04 -6.07539190e+01] [ 5.94443481e-03 -1.79451531e-04 9.99982316e-01 3.22332515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.750714057 meters Centerline goodness [0,1] 0.9855946544018744 Centerline is valid? [True, True] Translation: X:806.70, Y:-60.76, Z:3.22 [[ 9.99978164e-01 -2.57717335e-03 -6.08519513e-03 8.06701086e+02] [ 2.57835614e-03 9.99996659e-01 1.86535214e-04 -6.07616264e+01] [ 6.08469406e-03 -2.02220941e-04 9.99981468e-01 3.22264663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.780714057 meters Centerline goodness [0,1] 0.9850153104436771 Centerline is valid? [True, True] Translation: X:806.73, Y:-60.77, Z:3.22 [[ 9.99974604e-01 -4.59029938e-03 -5.45157828e-03 8.06730780e+02] [ 4.59127739e-03 9.99989446e-01 1.66899338e-04 -6.07652370e+01] [ 5.45075462e-03 -1.91924807e-04 9.99985126e-01 3.22303766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8107140569999 meters Centerline goodness [0,1] 0.9859252823631625 Centerline is valid? [True, True] Translation: X:806.76, Y:-60.76, Z:3.22 [[ 9.99964343e-01 -6.67028662e-03 -5.17884600e-03 8.06760696e+02] [ 6.67119617e-03 9.99977735e-01 1.58374203e-04 -6.07631722e+01] [ 5.17767429e-03 -1.92917653e-04 9.99986577e-01 3.22362200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8407140569999 meters Centerline goodness [0,1] 0.9850791651282497 Centerline is valid? [True, True] Translation: X:806.79, Y:-60.77, Z:3.22 [[ 9.99920912e-01 -1.13612258e-02 -5.39366006e-03 8.06790019e+02] [ 1.13622797e-02 9.99935434e-01 1.64801336e-04 -6.07684394e+01] [ 5.39143946e-03 -2.26072577e-04 9.99985441e-01 3.22390907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.870714057 meters Centerline goodness [0,1] 0.9844514703971589 Centerline is valid? [True, True] Translation: X:806.82, Y:-60.77, Z:3.22 [[ 9.99861409e-01 -1.57925103e-02 -5.26873014e-03 8.06821124e+02] [ 1.57935774e-02 9.99875261e-01 1.60994047e-04 -6.07728905e+01] [ 5.26553042e-03 -2.44183832e-04 9.99986107e-01 3.22385599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.900714057 meters Centerline goodness [0,1] 0.9849876521814479 Centerline is valid? [True, True] Translation: X:806.85, Y:-60.77, Z:3.22 [[ 9.99822152e-01 -1.80944165e-02 -5.31566611e-03 8.06852359e+02] [ 1.80955360e-02 9.99836249e-01 1.62577002e-04 -6.07731871e+01] [ 5.31185393e-03 -2.58737916e-04 9.99985859e-01 3.22442040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9307140569999 meters Centerline goodness [0,1] 0.9844847649010904 Centerline is valid? [True, True] Translation: X:806.88, Y:-60.78, Z:3.22 [[ 9.99705582e-01 -2.36581624e-02 -5.38888488e-03 8.06882002e+02] [ 2.36593937e-02 9.99720064e-01 1.64857985e-04 -6.07793257e+01] [ 5.38347610e-03 -2.92307197e-04 9.99985466e-01 3.22443298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9607140569999 meters Centerline goodness [0,1] 0.9828928586876595 Centerline is valid? [True, True] Translation: X:806.91, Y:-60.78, Z:3.22 [[ 9.99642864e-01 -2.63892376e-02 -4.21342606e-03 8.06912630e+02] [ 2.63900145e-02 9.99651715e-01 1.28903037e-04 -6.07814853e+01] [ 4.20855693e-03 -2.40049376e-04 9.99991115e-01 3.22482426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9907140569999 meters Centerline goodness [0,1] 0.9819702963875738 Centerline is valid? [True, True] Translation: X:806.94, Y:-60.79, Z:3.23 [[ 9.99578890e-01 -2.87871737e-02 -3.65262375e-03 8.06942734e+02] [ 2.87877739e-02 9.99585540e-01 1.11843910e-04 -6.07859552e+01] [ 3.64789022e-03 -2.16947719e-04 9.99993323e-01 3.22580824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.020714057 meters Centerline goodness [0,1] 0.9817655446571317 Centerline is valid? [True, True] Translation: X:806.97, Y:-60.79, Z:3.23 [[ 9.99470329e-01 -3.24159956e-02 -2.87494969e-03 8.06973851e+02] [ 3.24163827e-02 9.99474447e-01 8.81289354e-05 -6.07888574e+01] [ 2.87058197e-03 -1.81277725e-04 9.99995863e-01 3.22662319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0507140569999 meters Centerline goodness [0,1] 0.9826367115704803 Centerline is valid? [True, True] Translation: X:807.01, Y:-60.79, Z:3.23 [[ 9.99446078e-01 -3.32002549e-02 -2.29782566e-03 8.07005911e+02] [ 3.32005043e-02 9.99448709e-01 7.04646685e-05 -6.07862800e+01] [ 2.29421945e-03 -1.46714607e-04 9.99997358e-01 3.22703067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0807140569999 meters Centerline goodness [0,1] 0.9818224943936519 Centerline is valid? [True, True] Translation: X:807.04, Y:-60.79, Z:3.23 [[ 9.99414721e-01 -3.41162217e-02 -2.50995098e-03 8.07036792e+02] [ 3.41165226e-02 9.99417859e-01 7.71750716e-05 -6.07911065e+01] [ 2.50585691e-03 -1.62760702e-04 9.99996847e-01 3.22748146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1107140569999 meters Centerline goodness [0,1] 0.9808465562713476 Centerline is valid? [True, True] Translation: X:807.07, Y:-60.79, Z:3.23 [[ 9.99402219e-01 -3.44900890e-02 -2.37444130e-03 8.07069310e+02] [ 3.44903600e-02 9.99405028e-01 7.32685586e-05 -6.07924206e+01] [ 2.37050153e-03 -1.55120095e-04 9.99997178e-01 3.22689878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.140714057 meters Centerline goodness [0,1] 0.9825168024549954 Centerline is valid? [True, True] Translation: X:807.10, Y:-60.79, Z:3.22 [[ 9.99374360e-01 -3.51592055e-02 -3.83660702e-03 8.07101878e+02] [ 3.51599193e-02 9.99381692e-01 1.18760459e-04 -6.07921814e+01] [ 3.83005929e-03 -2.53580951e-04 9.99992633e-01 3.22491949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1707140569999 meters Centerline goodness [0,1] 0.9815171101839641 Centerline is valid? [True, True] Translation: X:807.13, Y:-60.79, Z:3.22 [[ 9.99367024e-01 -3.52359878e-02 -4.89661322e-03 8.07133948e+02] [ 3.52371535e-02 9.99378967e-01 1.51967176e-04 -6.07927307e+01] [ 4.88821755e-03 -3.24413697e-04 9.99988000e-01 3.22360241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2007140569999 meters Centerline goodness [0,1] 0.982696185788321 Centerline is valid? [True, True] Translation: X:807.17, Y:-60.79, Z:3.22 [[ 9.99330698e-01 -3.57517723e-02 -7.74382987e-03 8.07166230e+02] [ 3.57547083e-02 9.99360567e-01 2.40992980e-04 -6.07881971e+01] [ 7.73026229e-03 -5.17710061e-04 9.99969987e-01 3.22231532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2307140569999 meters Centerline goodness [0,1] 0.9810351554033552 Centerline is valid? [True, True] Translation: X:807.20, Y:-60.80, Z:3.22 [[ 9.99327851e-01 -3.54997664e-02 -9.14396857e-03 8.07197029e+02] [ 3.55038550e-02 9.99369499e-01 2.85143174e-04 -6.07994316e+01] [ 9.12808077e-03 -6.09597649e-04 9.99958152e-01 3.22078968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.260714057 meters Centerline goodness [0,1] 0.9836975372875477 Centerline is valid? [True, True] Translation: X:807.23, Y:-60.79, Z:3.22 [[ 9.99337168e-01 -3.51106833e-02 -9.61584753e-03 8.07230023e+02] [ 3.51151932e-02 9.99383226e-01 3.00521395e-04 -6.07887873e+01] [ 9.59936522e-03 -6.37984543e-04 9.99953722e-01 3.22219152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.290714057 meters Centerline goodness [0,1] 0.9824576639166305 Centerline is valid? [True, True] Translation: X:807.26, Y:-60.79, Z:3.22 [[ 9.99354417e-01 -3.46623838e-02 -9.44822830e-03 8.07262335e+02] [ 3.46667243e-02 9.99398885e-01 2.95966467e-04 -6.07865130e+01] [ 9.43228992e-03 -6.23314522e-04 9.99955321e-01 3.22321871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3207140569999 meters Centerline goodness [0,1] 0.9831972907259465 Centerline is valid? [True, True] Translation: X:807.29, Y:-60.79, Z:3.22 [[ 9.99383191e-01 -3.39659492e-02 -8.91922187e-03 8.07294409e+02] [ 3.39697953e-02 9.99422821e-01 2.80032477e-04 -6.07863899e+01] [ 8.90456231e-03 -5.82843892e-04 9.99960184e-01 3.22390214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3507140569999 meters Centerline goodness [0,1] 0.9820321507037045 Centerline is valid? [True, True] Translation: X:807.32, Y:-60.79, Z:3.22 [[ 9.99446485e-01 -3.22329678e-02 -8.23157206e-03 8.07324661e+02] [ 3.22361916e-02 9.99480245e-01 2.59232449e-04 -6.07884011e+01] [ 8.21893783e-03 -5.24443495e-04 9.99966086e-01 3.22487376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.380714057 meters Centerline goodness [0,1] 0.9839090928805326 Centerline is valid? [True, True] Translation: X:807.36, Y:-60.78, Z:3.23 [[ 9.99498545e-01 -3.06543395e-02 -7.93532396e-03 8.07356389e+02] [ 3.06572895e-02 9.99529923e-01 2.50352628e-04 -6.07830967e+01] [ 7.92391936e-03 -4.93502612e-04 9.99968483e-01 3.22588637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.410714057 meters Centerline goodness [0,1] 0.9824549975028771 Centerline is valid? [True, True] Translation: X:807.39, Y:-60.78, Z:3.23 [[ 9.99545310e-01 -2.91466296e-02 -7.72316920e-03 8.07387296e+02] [ 2.91493812e-02 9.99575037e-01 2.43937578e-04 -6.07836448e+01] [ 7.71277717e-03 -4.68952265e-04 9.99970146e-01 3.22589325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4407140569999 meters Centerline goodness [0,1] 0.9826388132528808 Centerline is valid? [True, True] Translation: X:807.42, Y:-60.78, Z:3.23 [[ 9.99629517e-01 -2.59710794e-02 -8.14437579e-03 8.07417127e+02] [ 2.59740351e-02 9.99662585e-01 2.57332015e-04 -6.07823181e+01] [ 8.13494456e-03 -4.68778980e-04 9.99966801e-01 3.22528637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4707140569999 meters Centerline goodness [0,1] 0.9835307462426106 Centerline is valid? [True, True] Translation: X:807.45, Y:-60.78, Z:3.23 [[ 9.99671654e-01 -2.42225137e-02 -8.35792609e-03 8.07447516e+02] [ 2.42255704e-02 9.99706483e-01 2.64663941e-04 -6.07821825e+01] [ 8.34906207e-03 -4.67052567e-04 9.99965037e-01 3.22563596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.500714057 meters Centerline goodness [0,1] 0.9833391486392185 Centerline is valid? [True, True] Translation: X:807.48, Y:-60.78, Z:3.23 [[ 9.99695324e-01 -2.33052550e-02 -8.13164387e-03 8.07479438e+02] [ 2.33081233e-02 9.99728295e-01 2.58134886e-04 -6.07789787e+01] [ 8.12341857e-03 -4.47589597e-04 9.99966904e-01 3.22645400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.530714057 meters Centerline goodness [0,1] 0.9833195056984411 Centerline is valid? [True, True] Translation: X:807.51, Y:-60.78, Z:3.23 [[ 9.99734072e-01 -2.19204311e-02 -7.16099032e-03 8.07511094e+02] [ 2.19226224e-02 9.99759645e-01 2.27643553e-04 -6.07786019e+01] [ 7.15427909e-03 -3.84570703e-04 9.99974334e-01 3.22757881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5607140569999 meters Centerline goodness [0,1] 0.98327109131014 Centerline is valid? [True, True] Translation: X:807.54, Y:-60.78, Z:3.23 [[ 9.99738175e-01 -2.18754897e-02 -6.71146919e-03 8.07542689e+02] [ 2.18774156e-02 9.99760638e-01 2.13665438e-04 -6.07811701e+01] [ 6.70518868e-03 -3.60439095e-04 9.99977455e-01 3.22777469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5907140569999 meters Centerline goodness [0,1] 0.9831058987661856 Centerline is valid? [True, True] Translation: X:807.57, Y:-60.78, Z:3.23 [[ 9.99754737e-01 -2.11059925e-02 -6.70840283e-03 8.07573912e+02] [ 2.11079017e-02 9.99777181e-01 2.13923005e-04 -6.07826827e+01] [ 6.70239301e-03 -3.55470846e-04 9.99977476e-01 3.22842755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.620714057 meters Centerline goodness [0,1] 0.9831546373779637 Centerline is valid? [True, True] Translation: X:807.61, Y:-60.78, Z:3.23 [[ 9.99750102e-01 -2.10944739e-02 -7.39981841e-03 8.07606073e+02] [ 2.10968003e-02 9.99777410e-01 2.36460077e-04 -6.07833461e+01] [ 7.39318328e-03 -3.92513478e-04 9.99972593e-01 3.22899852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.650714057 meters Centerline goodness [0,1] 0.9835979644877367 Centerline is valid? [True, True] Translation: X:807.64, Y:-60.78, Z:3.23 [[ 9.99751346e-01 -2.08909924e-02 -7.79820966e-03 8.07638406e+02] [ 2.08935742e-02 9.99781674e-01 2.49743025e-04 -6.07838863e+01] [ 7.79128973e-03 -4.12613397e-04 9.99969562e-01 3.22842481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6807140569999 meters Centerline goodness [0,1] 0.9827281648675171 Centerline is valid? [True, True] Translation: X:807.67, Y:-60.78, Z:3.23 [[ 9.99782137e-01 -1.88953002e-02 -8.86827441e-03 8.07668428e+02] [ 1.88985672e-02 9.99821366e-01 2.84732322e-04 -6.07849144e+01] [ 8.86131013e-03 -4.52267969e-04 9.99960636e-01 3.22800134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7107140569999 meters Centerline goodness [0,1] 0.9830652914954986 Centerline is valid? [True, True] Translation: X:807.70, Y:-60.79, Z:3.23 [[ 9.99780125e-01 -1.85226642e-02 -9.82916388e-03 8.07700007e+02] [ 1.85266655e-02 9.99828317e-01 3.16179897e-04 -6.07861659e+01] [ 9.82161988e-03 -4.98212008e-04 9.99951643e-01 3.22748450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7407140569999 meters Centerline goodness [0,1] 0.9840992104284683 Centerline is valid? [True, True] Translation: X:807.73, Y:-60.79, Z:3.23 [[ 9.99779497e-01 -1.81709698e-02 -1.05248604e-02 8.07731239e+02] [ 1.81755424e-02 9.99834754e-01 3.38963415e-04 -6.07870646e+01] [ 1.05169619e-02 -5.30183719e-04 9.99944555e-01 3.22674603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.770714057 meters Centerline goodness [0,1] 0.9836901790796445 Centerline is valid? [True, True] Translation: X:807.76, Y:-60.79, Z:3.23 [[ 9.99765290e-01 -1.80774674e-02 -1.19402958e-02 8.07762146e+02] [ 1.80833510e-02 9.99836409e-01 3.84963129e-04 -6.07870165e+01] [ 1.19313833e-02 -6.00793335e-04 9.99928638e-01 3.22586524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8007140569999 meters Centerline goodness [0,1] 0.9840814539084738 Centerline is valid? [True, True] Translation: X:807.79, Y:-60.78, Z:3.23 [[ 9.99741803e-01 -1.88588489e-02 -1.26756258e-02 8.07793472e+02] [ 1.88655479e-02 9.99821946e-01 4.09115944e-04 -6.07845813e+01] [ 1.26656534e-02 -6.48142936e-04 9.99919577e-01 3.22606175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8307140569999 meters Centerline goodness [0,1] 0.9838308457711443 Centerline is valid? [True, True] Translation: X:807.82, Y:-60.79, Z:3.23 [[ 9.99689345e-01 -2.11417817e-02 -1.31999778e-02 8.07823837e+02] [ 2.11492460e-02 9.99776239e-01 4.26126127e-04 -6.07854200e+01] [ 1.31880151e-02 -7.05163326e-04 9.99912786e-01 3.22608893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8607140569999 meters Centerline goodness [0,1] 0.9835832330086461 Centerline is valid? [True, True] Translation: X:807.85, Y:-60.79, Z:3.23 [[ 9.99654980e-01 -2.25329765e-02 -1.34976389e-02 8.07854834e+02] [ 2.25409104e-02 9.99745826e-01 4.35933636e-04 -6.07859102e+01] [ 1.34843853e-02 -7.40032299e-04 9.99908808e-01 3.22614030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.890714057 meters Centerline goodness [0,1] 0.9846281860383639 Centerline is valid? [True, True] Translation: X:807.89, Y:-60.79, Z:3.23 [[ 9.99605665e-01 -2.45400643e-02 -1.36491987e-02 8.07885896e+02] [ 2.45483673e-02 9.99698546e-01 4.41077822e-04 -6.07851327e+01] [ 1.36342600e-02 -7.75969431e-04 9.99906748e-01 3.22730528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9207140569999 meters Centerline goodness [0,1] 0.9827942938037678 Centerline is valid? [True, True] Translation: X:807.92, Y:-60.79, Z:3.23 [[ 9.99533009e-01 -2.75321331e-02 -1.32568930e-02 8.07916131e+02] [ 2.75402310e-02 9.99620604e-01 4.28640308e-04 -6.07917572e+01] [ 1.32400620e-02 -7.93538032e-04 9.99912032e-01 3.22730764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9507140569999 meters Centerline goodness [0,1] 0.9834382101031288 Centerline is valid? [True, True] Translation: X:807.95, Y:-60.79, Z:3.23 [[ 9.99494927e-01 -2.89669421e-02 -1.30693300e-02 8.07948574e+02] [ 2.89749450e-02 9.99580048e-01 4.23372689e-04 -6.07938687e+01] [ 1.30515777e-02 -8.01841975e-04 9.99914503e-01 3.22802755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9807140569999 meters Centerline goodness [0,1] 0.9821252977296069 Centerline is valid? [True, True] Translation: X:807.98, Y:-60.79, Z:3.23 [[ 9.99430265e-01 -3.14542063e-02 -1.22383937e-02 8.07979585e+02] [ 3.14614136e-02 9.99504888e-01 3.96787075e-04 -6.07945120e+01] [ 1.22198537e-02 -7.81598177e-04 9.99925029e-01 3.23026235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.010714057 meters Centerline goodness [0,1] 0.9813340892736431 Centerline is valid? [True, True] Translation: X:808.01, Y:-60.80, Z:3.23 [[ 9.99398690e-01 -3.25628966e-02 -1.19128598e-02 8.08011282e+02] [ 3.25698106e-02 9.99469388e-01 3.86782374e-04 -6.07967501e+01] [ 1.18939439e-02 -7.74549386e-04 9.99928965e-01 3.23070405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.040714057 meters Centerline goodness [0,1] 0.9817765168048886 Centerline is valid? [True, True] Translation: X:808.04, Y:-60.80, Z:3.23 [[ 9.99374934e-01 -3.33372355e-02 -1.17630905e-02 8.08042207e+02] [ 3.33440374e-02 9.99443860e-01 3.82541241e-04 -6.07992923e+01] [ 1.17437957e-02 -7.74531056e-04 9.99930739e-01 3.23133519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0707140569999 meters Centerline goodness [0,1] 0.9818682278923453 Centerline is valid? [True, True] Translation: X:808.07, Y:-60.80, Z:3.23 [[ 9.99346117e-01 -3.40573524e-02 -1.21423178e-02 8.08074267e+02] [ 3.40646628e-02 9.99419553e-01 3.95686914e-04 -6.08001444e+01] [ 1.21217938e-02 -8.09052144e-04 9.99926201e-01 3.23174667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1007140569999 meters Centerline goodness [0,1] 0.9813585960010478 Centerline is valid? [True, True] Translation: X:808.11, Y:-60.80, Z:3.23 [[ 9.99361652e-01 -3.34414888e-02 -1.25680498e-02 8.08105920e+02] [ 3.34492834e-02 9.99440332e-01 4.10439805e-04 -6.08014097e+01] [ 1.25472902e-02 -8.30570061e-04 9.99920935e-01 3.23144155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.130714057 meters Centerline goodness [0,1] 0.9818348144276007 Centerline is valid? [True, True] Translation: X:808.14, Y:-60.80, Z:3.23 [[ 9.99390697e-01 -3.24048458e-02 -1.29676594e-02 8.08137300e+02] [ 3.24130664e-02 9.99474468e-01 4.24206071e-04 -6.08024448e+01] [ 1.29470982e-02 -8.44269207e-04 9.99915826e-01 3.23134674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.160714057 meters Centerline goodness [0,1] 0.9821280676518025 Centerline is valid? [True, True] Translation: X:808.17, Y:-60.80, Z:3.23 [[ 9.99428717e-01 -3.07646656e-02 -1.39919580e-02 8.08169176e+02] [ 3.07740866e-02 9.99526260e-01 4.58460691e-04 -6.07966870e+01] [ 1.39712250e-02 -8.88788507e-04 9.99902003e-01 3.23176424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1907140569999 meters Centerline goodness [0,1] 0.983526327288617 Centerline is valid? [True, True] Translation: X:808.20, Y:-60.79, Z:3.23 [[ 9.99447580e-01 -2.99365767e-02 -1.44338682e-02 8.08201649e+02] [ 2.99465308e-02 9.99551390e-01 4.73941186e-04 -6.07936847e+01] [ 1.44132048e-02 -9.05923648e-04 9.99895714e-01 3.23203513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2207140569999 meters Centerline goodness [0,1] 0.9830445679415931 Centerline is valid? [True, True] Translation: X:808.23, Y:-60.79, Z:3.23 [[ 9.99458231e-01 -2.83863276e-02 -1.66571388e-02 8.08232426e+02] [ 2.83993821e-02 9.99596506e-01 5.47650493e-04 -6.07949270e+01] [ 1.66348720e-02 -1.02040624e-03 9.99861110e-01 3.23127951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.250714057 meters Centerline goodness [0,1] 0.9843303911953798 Centerline is valid? [True, True] Translation: X:808.26, Y:-60.79, Z:3.23 [[ 9.99464694e-01 -2.78311737e-02 -1.71974462e-02 8.08264261e+02] [ 2.78450177e-02 9.99612092e-01 5.66032026e-04 -6.07922787e+01] [ 1.71750218e-02 -1.04459222e-03 9.99851953e-01 3.23136341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.280714057 meters Centerline goodness [0,1] 0.9845051284299114 Centerline is valid? [True, True] Translation: X:808.29, Y:-60.79, Z:3.23 [[ 9.99441850e-01 -2.76077755e-02 -1.88095353e-02 8.08294935e+02] [ 2.76243050e-02 9.99618184e-01 6.19476372e-04 -6.07932973e+01] [ 1.87852511e-02 -1.13873095e-03 9.99822893e-01 3.23053790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3107140569999 meters Centerline goodness [0,1] 0.984354828121923 Centerline is valid? [True, True] Translation: X:808.33, Y:-60.79, Z:3.23 [[ 9.99465161e-01 -2.59806149e-02 -1.98594911e-02 8.08326347e+02] [ 2.59987351e-02 9.99661761e-01 6.54731958e-04 -6.07904715e+01] [ 1.98357635e-02 -1.17070343e-03 9.99802566e-01 3.23096652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3407140569999 meters Centerline goodness [0,1] 0.9851234229292375 Centerline is valid? [True, True] Translation: X:808.36, Y:-60.79, Z:3.23 [[ 9.99475925e-01 -2.52302989e-02 -2.02807006e-02 8.08356258e+02] [ 2.52490503e-02 9.99680968e-01 6.69024564e-04 -6.07941315e+01] [ 2.02573507e-02 -1.18074238e-03 9.99794102e-01 3.23040490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.370714057 meters Centerline goodness [0,1] 0.9849808967546441 Centerline is valid? [True, True] Translation: X:808.39, Y:-60.79, Z:3.23 [[ 9.99548496e-01 -2.21232163e-02 -2.03314289e-02 8.08386398e+02] [ 2.21414059e-02 9.99754625e-01 6.69957285e-04 -6.07890648e+01] [ 2.03116185e-02 -1.11982122e-03 9.99793071e-01 3.23219890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.400714057 meters Centerline goodness [0,1] 0.9855541608861289 Centerline is valid? [True, True] Translation: X:808.42, Y:-60.79, Z:3.23 [[ 9.99591083e-01 -2.01409057e-02 -2.02980554e-02 8.08416733e+02] [ 2.01586196e-02 9.99796571e-01 6.68438769e-04 -6.07880104e+01] [ 2.02804632e-02 -1.07734621e-03 9.99793750e-01 3.23300976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4307140569999 meters Centerline goodness [0,1] 0.9868446973842618 Centerline is valid? [True, True] Translation: X:808.45, Y:-60.78, Z:3.23 [[ 9.99671233e-01 -1.72195795e-02 -1.89976737e-02 8.08446617e+02] [ 1.72345579e-02 9.99851279e-01 6.24979786e-04 -6.07839278e+01] [ 1.89840864e-02 -9.52190822e-04 9.99819333e-01 3.23479136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4607140569999 meters Centerline goodness [0,1] 0.986078530243571 Centerline is valid? [True, True] Translation: X:808.47, Y:-60.79, Z:3.23 [[ 9.99681045e-01 -1.65334254e-02 -1.90906604e-02 8.08474739e+02] [ 1.65484073e-02 9.99862869e-01 6.27060808e-04 -6.07876036e+01] [ 1.90776751e-02 -9.42780828e-04 9.99817560e-01 3.23436976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4907140569999 meters Centerline goodness [0,1] 0.9866669595396037 Centerline is valid? [True, True] Translation: X:808.50, Y:-60.79, Z:3.24 [[ 9.99691163e-01 -1.66168880e-02 -1.84785853e-02 8.08503629e+02] [ 1.66308622e-02 9.99861516e-01 6.02816535e-04 -6.07856404e+01] [ 1.84660094e-02 -9.09945169e-04 9.99829075e-01 3.23606642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.520714057 meters Centerline goodness [0,1] 0.9872904568861619 Centerline is valid? [True, True] Translation: X:808.53, Y:-60.79, Z:3.24 [[ 9.99688516e-01 -1.81885961e-02 -1.70893398e-02 8.08532243e+02] [ 1.82007048e-02 9.99834200e-01 5.53274241e-04 -6.07874745e+01] [ 1.70764431e-02 -8.64139933e-04 9.99853813e-01 3.23804086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5507140569999 meters Centerline goodness [0,1] 0.9863064721090224 Centerline is valid? [True, True] Translation: X:808.56, Y:-60.79, Z:3.24 [[ 9.99675694e-01 -1.93692013e-02 -1.65330511e-02 8.08562259e+02] [ 1.93806776e-02 9.99812034e-01 5.34189125e-04 -6.07895006e+01] [ 1.65195966e-02 -8.54437617e-04 9.99863177e-01 3.23845563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5807140569999 meters Centerline goodness [0,1] 0.9863064721090224 Centerline is valid? [True, True] Translation: X:808.59, Y:-60.79, Z:3.24 [[ 9.99675693e-01 -1.93692015e-02 -1.65330538e-02 8.08592286e+02] [ 1.93806764e-02 9.99812034e-01 5.34105112e-04 -6.07904706e+01] [ 1.65196010e-02 -8.54353664e-04 9.99863177e-01 3.23852693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6107140569999 meters Centerline goodness [0,1] 0.9865137052281285 Centerline is valid? [True, True] Translation: X:808.62, Y:-60.79, Z:3.24 [[ 9.99659394e-01 -2.11868172e-02 -1.52385861e-02 8.08623054e+02] [ 2.11967760e-02 9.99775202e-01 4.92286955e-04 -6.07929571e+01] [ 1.52247305e-02 -8.15128174e-04 9.99883765e-01 3.23939835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.640714057 meters Centerline goodness [0,1] 0.985910892382736 Centerline is valid? [True, True] Translation: X:808.65, Y:-60.80, Z:3.24 [[ 9.99651570e-01 -2.17884528e-02 -1.48997399e-02 8.08653402e+02] [ 2.17980434e-02 9.99762278e-01 4.81561719e-04 -6.07965000e+01] [ 1.48857054e-02 -8.06179107e-04 9.99888877e-01 3.23904342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6707140569999 meters Centerline goodness [0,1] 0.98646932609362 Centerline is valid? [True, True] Translation: X:808.69, Y:-60.80, Z:3.24 [[ 9.99633955e-01 -2.23779972e-02 -1.52046341e-02 8.08685041e+02] [ 2.23880600e-02 9.99749235e-01 4.91910500e-04 -6.07974749e+01] [ 1.51898134e-02 -8.32132699e-04 9.99884282e-01 3.23903331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7007140569999 meters Centerline goodness [0,1] 0.9858431826622681 Centerline is valid? [True, True] Translation: X:808.72, Y:-60.80, Z:3.24 [[ 9.99633630e-01 -2.21265340e-02 -1.55891581e-02 8.08716525e+02] [ 2.21371064e-02 9.99754816e-01 5.05932087e-04 -6.08007987e+01] [ 1.55741414e-02 -8.50845580e-04 9.99878354e-01 3.23774368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7307140569999 meters Centerline goodness [0,1] 0.9857786569952742 Centerline is valid? [True, True] Translation: X:808.75, Y:-60.80, Z:3.24 [[ 9.99633478e-01 -2.18069770e-02 -1.60426159e-02 8.08747776e+02] [ 2.18181444e-02 9.99761820e-01 5.21398184e-04 -6.08016488e+01] [ 1.60274248e-02 -8.71227192e-04 9.99871173e-01 3.23720828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.760714057 meters Centerline goodness [0,1] 0.9856374217634787 Centerline is valid? [True, True] Translation: X:808.78, Y:-60.80, Z:3.24 [[ 9.99639827e-01 -2.09920877e-02 -1.67197261e-02 8.08778594e+02] [ 2.10041139e-02 9.99779241e-01 5.43983587e-04 -6.08036580e+01] [ 1.67046157e-02 -8.94970690e-04 9.99860068e-01 3.23633172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.790714057 meters Centerline goodness [0,1] 0.9855698589881356 Centerline is valid? [True, True] Translation: X:808.81, Y:-60.80, Z:3.24 [[ 9.99647449e-01 -2.04810246e-02 -1.68969053e-02 8.08808775e+02] [ 2.04932357e-02 9.99789840e-01 5.49830546e-04 -6.08047791e+01] [ 1.68820931e-02 -8.95908965e-04 9.99857086e-01 3.23582112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8207140569999 meters Centerline goodness [0,1] 0.9860866502289538 Centerline is valid? [True, True] Translation: X:808.84, Y:-60.80, Z:3.24 [[ 9.99650468e-01 -2.01987013e-02 -1.70573778e-02 8.08839533e+02] [ 2.02111044e-02 9.99795581e-01 5.55052370e-04 -6.08029590e+01] [ 1.70426796e-02 -8.99606806e-04 9.99854358e-01 3.23649344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8507140569999 meters Centerline goodness [0,1] 0.919888505654929 Centerline is valid? [True, False] Translation: X:808.89, Y:-60.80, Z:3.24 [[ 9.99621450e-01 -2.13422863e-02 -1.73627165e-02 8.08888553e+02] [ 2.13272789e-02 9.99771997e-01 -1.04907228e-03 -6.08027998e+01] [ 1.73811474e-02 6.78375659e-04 9.99848706e-01 3.23771782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.880714057 meters Centerline goodness [0,1] 0.9857856404163091 Centerline is valid? [False, True] Translation: X:808.80, Y:-60.80, Z:3.23 [[ 9.99799827e-01 -1.49571246e-02 -1.32887374e-02 8.08798084e+02] [ 1.49509449e-02 9.99888069e-01 -5.64266305e-04 -6.08031328e+01] [ 1.32956898e-02 3.65474173e-04 9.99911542e-01 3.23364556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.910714057 meters Centerline goodness [0,1] 0.9864546913824571 Centerline is valid? [True, True] Translation: X:808.83, Y:-60.80, Z:3.23 [[ 9.99859700e-01 -1.17568502e-02 -1.19313623e-02 8.08828842e+02] [ 1.17626653e-02 9.99930730e-01 4.17320692e-04 -6.07987879e+01] [ 1.19256294e-02 -5.57606763e-04 9.99928732e-01 3.23471889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9407140569999 meters Centerline goodness [0,1] 0.986111416327876 Centerline is valid? [True, True] Translation: X:808.86, Y:-60.80, Z:3.23 [[ 9.99878432e-01 -1.07390130e-02 -1.13046183e-02 8.08857729e+02] [ 1.07441640e-02 9.99942202e-01 3.95019713e-04 -6.08038007e+01] [ 1.12997228e-02 -5.16430363e-04 9.99936023e-01 3.23331142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9707140569999 meters Centerline goodness [0,1] 0.9858594299788881 Centerline is valid? [True, True] Translation: X:808.89, Y:-60.81, Z:3.23 [[ 9.99897117e-01 -9.72873207e-03 -1.05407767e-02 8.08887110e+02] [ 9.73315258e-03 9.99952564e-01 3.68153386e-04 -6.08053006e+01] [ 1.05366950e-02 -4.70710497e-04 9.99944377e-01 3.23292130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.000714057 meters Centerline goodness [0,1] 0.9871704590466969 Centerline is valid? [True, True] Translation: X:808.92, Y:-60.80, Z:3.23 [[ 9.99914680e-01 -8.96549279e-03 -9.50014334e-03 8.08917006e+02] [ 8.96904615e-03 9.99959722e-01 3.31492870e-04 -6.08031365e+01] [ 9.49678870e-03 -4.16671811e-04 9.99954818e-01 3.23359201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.030714057 meters Centerline goodness [0,1] 0.9862784765590641 Centerline is valid? [True, True] Translation: X:808.95, Y:-60.80, Z:3.23 [[ 9.99928007e-01 -8.59928599e-03 -8.36855908e-03 8.08946577e+02] [ 8.60202808e-03 9.99962959e-01 2.91726717e-04 -6.08049572e+01] [ 8.36574046e-03 -3.63692295e-04 9.99964940e-01 3.23369589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0607140569999 meters Centerline goodness [0,1] 0.9868899102648282 Centerline is valid? [True, True] Translation: X:808.98, Y:-60.80, Z:3.23 [[ 9.99931464e-01 -9.30600551e-03 -7.10396893e-03 8.08976828e+02] [ 9.30799922e-03 9.99956649e-01 2.47636376e-04 -6.08030460e+01] [ 7.10135646e-03 -3.13743141e-04 9.99974736e-01 3.23483919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0907140569999 meters Centerline goodness [0,1] 0.9866959868059373 Centerline is valid? [True, True] Translation: X:809.01, Y:-60.81, Z:3.23 [[ 9.99929410e-01 -9.78450751e-03 -6.74079836e-03 8.09006978e+02] [ 9.78631421e-03 9.99952085e-01 2.35091362e-04 -6.08076490e+01] [ 6.73817512e-03 -3.01042338e-04 9.99977253e-01 3.23474335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.120714057 meters Centerline goodness [0,1] 0.9863966474318187 Centerline is valid? [True, True] Translation: X:809.04, Y:-60.81, Z:3.23 [[ 9.99920148e-01 -1.07156671e-02 -6.69868689e-03 8.09038066e+02] [ 1.07174737e-02 9.99942539e-01 2.33857074e-04 -6.08069130e+01] [ 6.69579604e-03 -3.05631400e-04 9.99977536e-01 3.23475491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.150714057 meters Centerline goodness [0,1] 0.986797882389122 Centerline is valid? [True, True] Translation: X:809.07, Y:-60.81, Z:3.23 [[ 9.99893508e-01 -1.30321981e-02 -6.56774952e-03 8.09068762e+02] [ 1.30339864e-02 9.99915028e-01 2.29558283e-04 -6.08114595e+01] [ 6.56419980e-03 -3.15137795e-04 9.99978406e-01 3.23368603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1807140569999 meters Centerline goodness [0,1] 0.9867018353665238 Centerline is valid? [True, True] Translation: X:809.10, Y:-60.82, Z:3.23 [[ 9.99868552e-01 -1.46334456e-02 -6.98147471e-03 8.09100163e+02] [ 1.46355079e-02 9.99892865e-01 2.44390261e-04 -6.08151730e+01] [ 6.97715048e-03 -3.46535564e-04 9.99975599e-01 3.23261105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2107140569999 meters Centerline goodness [0,1] 0.9846891636235646 Centerline is valid? [True, True] Translation: X:809.13, Y:-60.82, Z:3.23 [[ 9.99831304e-01 -1.63798431e-02 -8.31051300e-03 8.09130561e+02] [ 1.63828339e-02 9.99865750e-01 2.91925538e-04 -6.08214254e+01] [ 8.30461562e-03 -4.28026045e-04 9.99965424e-01 3.23057955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2407140569999 meters Centerline goodness [0,1] 0.9844372537366 Centerline is valid? [True, True] Translation: X:809.16, Y:-60.82, Z:3.23 [[ 9.99818058e-01 -1.69675650e-02 -8.71512975e-03 8.09161404e+02] [ 1.69708804e-02 9.99855937e-01 3.06611825e-04 -6.08243740e+01] [ 8.70867177e-03 -4.54459464e-04 9.99961976e-01 3.22990706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.270714057 meters Centerline goodness [0,1] 0.9844605138800361 Centerline is valid? [True, True] Translation: X:809.19, Y:-60.83, Z:3.23 [[ 9.99804428e-01 -1.75328576e-02 -9.14897817e-03 8.09193184e+02] [ 1.75365408e-02 9.99846171e-01 3.22505364e-04 -6.08264018e+01] [ 9.14191635e-03 -4.82883720e-04 9.99958095e-01 3.22914393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3007140569999 meters Centerline goodness [0,1] 0.9852486005926901 Centerline is valid? [True, True] Translation: X:809.22, Y:-60.82, Z:3.23 [[ 9.99815324e-01 -1.68426450e-02 -9.25440980e-03 8.09224889e+02] [ 1.68463872e-02 9.99858036e-01 3.26562215e-04 -6.08242107e+01] [ 9.24759583e-03 -4.82405278e-04 9.99957124e-01 3.23025324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3307140569999 meters Centerline goodness [0,1] 0.9838007736943907 Centerline is valid? [True, True] Translation: X:809.25, Y:-60.83, Z:3.23 [[ 9.99835011e-01 -1.57750088e-02 -9.00560046e-03 8.09254639e+02] [ 1.57785150e-02 9.99875461e-01 3.18404923e-04 -6.08309658e+01] [ 8.99945607e-03 -4.60447391e-04 9.99959398e-01 3.22959335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3607140569999 meters Centerline goodness [0,1] 0.984816616274484 Centerline is valid? [True, True] Translation: X:809.29, Y:-60.83, Z:3.23 [[ 9.99885577e-01 -1.30181297e-02 -7.70466759e-03 8.09285033e+02] [ 1.30206144e-02 9.99915191e-01 2.72423202e-04 -6.08272897e+01] [ 7.70046772e-03 -3.72711536e-04 9.99970281e-01 3.23134199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.390714057 meters Centerline goodness [0,1] 0.9847455764369711 Centerline is valid? [True, True] Translation: X:809.32, Y:-60.83, Z:3.23 [[ 9.99916211e-01 -1.11645158e-02 -6.55170242e-03 8.09316077e+02] [ 1.11662736e-02 9.99937628e-01 2.31767710e-04 -6.08272450e+01] [ 6.54870620e-03 -3.04906392e-04 9.99978511e-01 3.23232485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4207140569999 meters Centerline goodness [0,1] 0.9862896315338475 Centerline is valid? [True, True] Translation: X:809.35, Y:-60.83, Z:3.23 [[ 9.99938732e-01 -9.36626156e-03 -5.89961436e-03 8.09347241e+02] [ 9.36765682e-03 9.99956101e-01 2.08910792e-04 -6.08251199e+01] [ 5.89739866e-03 -2.64163555e-04 9.99982575e-01 3.23337263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4507140569999 meters Centerline goodness [0,1] 0.9864464117039738 Centerline is valid? [True, True] Translation: X:809.38, Y:-60.83, Z:3.23 [[ 9.99964513e-01 -6.38619060e-03 -5.49451535e-03 8.09377885e+02] [ 6.38735596e-03 9.99979582e-01 1.94574093e-04 -6.08251621e+01] [ 5.49316057e-03 -2.29662613e-04 9.99984886e-01 3.23366593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4807140569999 meters Centerline goodness [0,1] 0.9866795621400625 Centerline is valid? [True, True] Translation: X:809.41, Y:-60.83, Z:3.23 [[ 9.99970706e-01 -5.30400610e-03 -5.51855562e-03 8.09408539e+02] [ 5.30516523e-03 9.99985908e-01 1.95425417e-04 -6.08261547e+01] [ 5.51744132e-03 -2.24696542e-04 9.99984754e-01 3.23368157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.510714057 meters Centerline goodness [0,1] 0.9859102462967833 Centerline is valid? [True, True] Translation: X:809.44, Y:-60.83, Z:3.23 [[ 9.99973107e-01 -4.48150717e-03 -5.80525974e-03 8.09438332e+02] [ 4.48277546e-03 9.99989931e-01 2.05479197e-04 -6.08278868e+01] [ 5.80428043e-03 -2.31497347e-04 9.99983128e-01 3.23308163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.540714057 meters Centerline goodness [0,1] 0.9868735869350485 Centerline is valid? [True, True] Translation: X:809.47, Y:-60.83, Z:3.23 [[ 9.99973767e-01 -4.06669254e-03 -5.99391131e-03 8.09467836e+02] [ 4.06803590e-03 9.99991703e-01 2.11945257e-04 -6.08283234e+01] [ 5.99299966e-03 -2.36323143e-04 9.99982014e-01 3.23337149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5707140569999 meters Centerline goodness [0,1] 0.9863339664243457 Centerline is valid? [True, True] Translation: X:809.50, Y:-60.83, Z:3.23 [[ 9.99972994e-01 -3.25320576e-03 -6.58998353e-03 8.09496503e+02] [ 3.25480965e-03 9.99994676e-01 2.32673014e-04 -6.08342714e+01] [ 6.58919152e-03 -2.54115873e-04 9.99978259e-01 3.23194603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6007140569999 meters Centerline goodness [0,1] 0.9871944121071012 Centerline is valid? [True, True] Translation: X:809.53, Y:-60.83, Z:3.23 [[ 9.99974136e-01 -3.10236582e-03 -6.48869651e-03 8.09525960e+02] [ 3.10391606e-03 9.99995157e-01 2.28857900e-04 -6.08307229e+01] [ 6.48795508e-03 -2.48992350e-04 9.99978922e-01 3.23241123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.630714057 meters Centerline goodness [0,1] 0.9862575342465754 Centerline is valid? [True, True] Translation: X:809.55, Y:-60.83, Z:3.23 [[ 9.99982524e-01 -1.25454660e-03 -5.77729761e-03 8.09554826e+02] [ 1.25574298e-03 9.99999191e-01 2.03460517e-04 -6.08323757e+01] [ 5.77703768e-03 -2.10711763e-04 9.99983291e-01 3.23258409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.660714057 meters Centerline goodness [0,1] 0.9866508844611035 Centerline is valid? [True, True] Translation: X:809.58, Y:-60.83, Z:3.23 [[ 9.99984093e-01 -4.74618740e-04 -5.62043792e-03 8.09583051e+02] [ 4.75737052e-04 9.99999867e-01 1.97637142e-04 -6.08339452e+01] [ 5.62034337e-03 -2.00307849e-04 9.99984186e-01 3.23278430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6907140569999 meters Centerline goodness [0,1] 0.9866712977032953 Centerline is valid? [True, True] Translation: X:809.61, Y:-60.83, Z:3.23 [[ 9.99982611e-01 1.02363846e-04 -5.89641647e-03 8.09612248e+02] [-1.01150847e-04 9.99999974e-01 2.06015818e-04 -6.08347127e+01] [ 5.89643740e-03 -2.05415808e-04 9.99982595e-01 3.23251729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7207140569999 meters Centerline goodness [0,1] 0.9865858462077115 Centerline is valid? [True, True] Translation: X:809.64, Y:-60.84, Z:3.23 [[ 9.99979208e-01 4.94888480e-04 -6.42953899e-03 8.09641460e+02] [-4.93464027e-04 9.99999853e-01 2.23132739e-04 -6.08368105e+01] [ 6.42964848e-03 -2.19955353e-04 9.99979305e-01 3.23152061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.750714057 meters Centerline goodness [0,1] 0.9864503983889327 Centerline is valid? [True, True] Translation: X:809.67, Y:-60.84, Z:3.23 [[ 9.99975561e-01 4.03968089e-04 -6.97961020e-03 8.09669377e+02] [-4.02291879e-04 9.99999890e-01 2.41560495e-04 -6.08395219e+01] [ 6.97970701e-03 -2.38746751e-04 9.99975613e-01 3.23085959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.780714057 meters Centerline goodness [0,1] 0.9866497694845631 Centerline is valid? [True, True] Translation: X:809.70, Y:-60.84, Z:3.23 [[ 9.99977077e-01 5.05997888e-04 -6.75198036e-03 8.09698532e+02] [-5.04434844e-04 9.99999846e-01 2.33195143e-04 -6.08421269e+01] [ 6.75209732e-03 -2.29783863e-04 9.99977178e-01 3.23085908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8107140569999 meters Centerline goodness [0,1] 0.986641969928089 Centerline is valid? [True, True] Translation: X:809.73, Y:-60.85, Z:3.23 [[ 9.99982487e-01 9.04347506e-04 -5.84879261e-03 8.09726240e+02] [-9.03184471e-04 9.99999572e-01 2.01488655e-04 -6.08450313e+01] [ 5.84897232e-03 -1.96202588e-04 9.99982875e-01 3.23096263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8407140569999 meters Centerline goodness [0,1] 0.9858979947689626 Centerline is valid? [True, True] Translation: X:809.76, Y:-60.85, Z:3.23 [[ 9.99984689e-01 1.00170634e-03 -5.44236307e-03 8.09755422e+02] [-1.00070286e-03 9.99999482e-01 1.87102923e-04 -6.08472117e+01] [ 5.44254767e-03 -1.81653870e-04 9.99985173e-01 3.23102343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.870714057 meters Centerline goodness [0,1] 0.98597907713678 Centerline is valid? [True, True] Translation: X:809.78, Y:-60.85, Z:3.23 [[ 9.99989192e-01 1.06600787e-03 -4.52546012e-03 8.09783795e+02] [-1.06531615e-03 9.99999420e-01 1.55259362e-04 -6.08490963e+01] [ 4.52562300e-03 -1.50436638e-04 9.99989748e-01 3.23166392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.900714057 meters Centerline goodness [0,1] 0.9866689901542215 Centerline is valid? [True, True] Translation: X:809.81, Y:-60.85, Z:3.23 [[ 9.99990622e-01 7.42459944e-04 -4.26659038e-03 8.09812108e+02] [-7.41843467e-04 9.99999714e-01 1.46070340e-04 -6.08511431e+01] [ 4.26669761e-03 -1.42903828e-04 9.99990887e-01 3.23169382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9307140569999 meters Centerline goodness [0,1] 0.9855690747230264 Centerline is valid? [True, True] Translation: X:809.84, Y:-60.86, Z:3.23 [[ 9.99988169e-01 -4.66837922e-04 -4.84193752e-03 8.09840107e+02] [ 4.67644338e-04 9.99999877e-01 1.65417380e-04 -6.08573143e+01] [ 4.84185970e-03 -1.67679727e-04 9.99988264e-01 3.23064852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9607140569999 meters Centerline goodness [0,1] 0.9858095921072647 Centerline is valid? [True, True] Translation: X:809.87, Y:-60.86, Z:3.23 [[ 9.99984589e-01 -1.73452871e-03 -5.27376908e-03 8.09868624e+02] [ 1.73550099e-03 9.99998478e-01 1.79789722e-04 -6.08587746e+01] [ 5.27344920e-03 -1.88939583e-04 9.99986077e-01 3.22995902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9907140569999 meters Centerline goodness [0,1] 0.9860592970744159 Centerline is valid? [True, True] Translation: X:809.90, Y:-60.86, Z:3.23 [[ 9.99978012e-01 -2.86317953e-03 -5.98144387e-03 8.09898178e+02] [ 2.86444907e-03 9.99995877e-01 2.03690390e-04 -6.08622826e+01] [ 5.98083600e-03 -2.20819453e-04 9.99982090e-01 3.22961534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.020714057 meters Centerline goodness [0,1] 0.9851165219661858 Centerline is valid? [True, True] Translation: X:809.93, Y:-60.87, Z:3.23 [[ 9.99967320e-01 -5.86196843e-03 -5.56746373e-03 8.09926646e+02] [ 5.86311320e-03 9.99982794e-01 1.89319152e-04 -6.08676655e+01] [ 5.56625815e-03 -2.21955635e-04 9.99984484e-01 3.23001055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0507140569999 meters Centerline goodness [0,1] 0.9847341486685749 Centerline is valid? [True, True] Translation: X:809.96, Y:-60.87, Z:3.23 [[ 9.99963659e-01 -6.77435197e-03 -5.17579747e-03 8.09956879e+02] [ 6.77535349e-03 9.99977032e-01 1.75989510e-04 -6.08689560e+01] [ 5.17448637e-03 -2.11050972e-04 9.99986590e-01 3.23035336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0807140569999 meters Centerline goodness [0,1] 0.9845679682243397 Centerline is valid? [True, True] Translation: X:809.99, Y:-60.87, Z:3.23 [[ 9.99962242e-01 -7.29313927e-03 -4.72484651e-03 8.09986109e+02] [ 7.29397927e-03 9.99973386e-01 1.60576136e-04 -6.08729988e+01] [ 4.72354966e-03 -1.95033005e-04 9.99988825e-01 3.23065075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1107140569999 meters Centerline goodness [0,1] 0.9849633778543732 Centerline is valid? [True, True] Translation: X:810.02, Y:-60.87, Z:3.23 [[ 9.99971457e-01 -6.56895726e-03 -3.73294299e-03 8.10016696e+02] [ 6.56947654e-03 9.99978413e-01 1.26862422e-04 -6.08724312e+01] [ 3.73202905e-03 -1.51382283e-04 9.99993024e-01 3.23227429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.140714057 meters Centerline goodness [0,1] 0.9854518767942325 Centerline is valid? [True, True] Translation: X:810.05, Y:-60.87, Z:3.23 [[ 9.99980262e-01 -5.51808599e-03 -3.00435605e-03 8.10047036e+02] [ 5.51841761e-03 9.99984768e-01 1.02101716e-04 -6.08727740e+01] [ 3.00374688e-03 -1.18678992e-04 9.99995482e-01 3.23278071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1707140569999 meters Centerline goodness [0,1] 0.985278198744317 Centerline is valid? [True, True] Translation: X:810.08, Y:-60.87, Z:3.23 [[ 9.99983519e-01 -4.94483560e-03 -2.91730711e-03 8.10077269e+02] [ 4.94514598e-03 9.99987768e-01 9.91911512e-05 -6.08741823e+01] [ 2.91678094e-03 -1.13616026e-04 9.99995740e-01 3.23265449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2007140569999 meters Centerline goodness [0,1] 0.9861669476505425 Centerline is valid? [True, True] Translation: X:810.11, Y:-60.88, Z:3.23 [[ 9.99988913e-01 -3.94169180e-03 -2.57629627e-03 8.10107880e+02] [ 3.94193094e-03 9.99992227e-01 8.77537572e-05 -6.08760950e+01] [ 2.57593034e-03 -9.79083662e-05 9.99996677e-01 3.23243314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2307140569999 meters Centerline goodness [0,1] 0.9854275382716584 Centerline is valid? [True, True] Translation: X:810.14, Y:-60.88, Z:3.23 [[ 9.99987529e-01 -3.88086627e-03 -3.14348974e-03 8.10138641e+02] [ 3.88122206e-03 9.99992462e-01 1.07092872e-04 -6.08759714e+01] [ 3.14305043e-03 -1.19292118e-04 9.99995053e-01 3.23182965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.260714057 meters Centerline goodness [0,1] 0.9844687762170069 Centerline is valid? [True, True] Translation: X:810.17, Y:-60.88, Z:3.23 [[ 9.99984470e-01 -4.32148986e-03 -3.51917561e-03 8.10168005e+02] [ 4.32193831e-03 9.99990653e-01 1.19833676e-04 -6.08809672e+01] [ 3.51862486e-03 -1.35041475e-04 9.99993801e-01 3.22987034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.290714057 meters Centerline goodness [0,1] 0.9854303775545549 Centerline is valid? [True, True] Translation: X:810.20, Y:-60.88, Z:3.23 [[ 9.99966755e-01 -7.18609747e-03 -3.85332724e-03 8.10198463e+02] [ 7.18665634e-03 9.99974167e-01 1.31207394e-04 -6.08825780e+01] [ 3.85228483e-03 -1.58895571e-04 9.99992567e-01 3.22876067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3207140569999 meters Centerline goodness [0,1] 0.9849488911988912 Centerline is valid? [True, True] Translation: X:810.23, Y:-60.89, Z:3.23 [[ 9.99947736e-01 -9.67356894e-03 -3.30870722e-03 8.10229193e+02] [ 9.67399518e-03 9.99953199e-01 1.12841919e-04 -6.08854475e+01] [ 3.30746078e-03 -1.44844439e-04 9.99994520e-01 3.22834008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3507140569999 meters Centerline goodness [0,1] 0.9846916681101681 Centerline is valid? [True, True] Translation: X:810.26, Y:-60.89, Z:3.23 [[ 9.99925459e-01 -1.18535975e-02 -2.92738991e-03 8.10260557e+02] [ 1.18539408e-02 9.99929735e-01 9.99480130e-05 -6.08878791e+01] [ 2.92599947e-03 -1.34641669e-04 9.99995710e-01 3.22820495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.380714057 meters Centerline goodness [0,1] 0.9833171468652206 Centerline is valid? [True, True] Translation: X:810.29, Y:-60.89, Z:3.23 [[ 9.99898681e-01 -1.39837745e-02 -2.66099928e-03 8.10291494e+02] [ 1.39840661e-02 9.99902214e-01 9.09933273e-05 -6.08932004e+01] [ 2.65946664e-03 -1.28195698e-04 9.99996455e-01 3.22823011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.410714057 meters Centerline goodness [0,1] 0.9833167868088228 Centerline is valid? [True, True] Translation: X:810.32, Y:-60.90, Z:3.23 [[ 9.99837360e-01 -1.79192196e-02 -2.03832360e-03 8.10322494e+02] [ 1.79193989e-02 9.99839432e-01 6.97428540e-05 -6.08985484e+01] [ 2.03674657e-03 -1.06257045e-04 9.99997920e-01 3.22787508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4407140569999 meters Centerline goodness [0,1] 0.9826949251409683 Centerline is valid? [True, True] Translation: X:810.35, Y:-60.90, Z:3.23 [[ 9.99812875e-01 -1.92673067e-02 -1.72813519e-03 8.10354576e+02] [ 1.92674378e-02 9.99814364e-01 5.92384064e-05 -6.09021975e+01] [ 1.72667302e-03 -9.25240588e-05 9.99998505e-01 3.22691758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4707140569999 meters Centerline goodness [0,1] 0.9826949251409683 Centerline is valid? [True, True] Translation: X:810.39, Y:-60.90, Z:3.23 [[ 9.99814235e-01 -1.91965870e-02 -1.72813100e-03 8.10386290e+02] [ 1.91967182e-02 9.99815724e-01 5.93606403e-05 -6.09033456e+01] [ 1.72667302e-03 -9.25240570e-05 9.99998505e-01 3.22692525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.500714057 meters Centerline goodness [0,1] 0.9825713236723322 Centerline is valid? [True, True] Translation: X:810.42, Y:-60.91, Z:3.23 [[ 9.99765972e-01 -2.15625758e-02 -1.74819284e-03 8.10417631e+02] [ 2.15627138e-02 9.99767496e-01 6.01203502e-05 -6.09068797e+01] [ 1.74649002e-03 -9.78020622e-05 9.99998470e-01 3.22619110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.530714057 meters Centerline goodness [0,1] 0.9823445718720358 Centerline is valid? [True, True] Translation: X:810.45, Y:-60.91, Z:3.23 [[ 9.99758037e-01 -2.19890368e-02 -5.91325346e-04 8.10449148e+02] [ 2.19890527e-02 9.99758211e-01 2.03570670e-05 -6.09104805e+01] [ 5.90734738e-04 -3.33548256e-05 9.99999825e-01 3.22646930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5607140569999 meters Centerline goodness [0,1] 0.9826313410670856 Centerline is valid? [True, True] Translation: X:810.48, Y:-60.91, Z:3.23 [[ 9.99757572e-01 -2.20176487e-02 -1.43172278e-04 8.10481451e+02] [ 2.20176496e-02 9.99757582e-01 4.92494678e-06 -6.09089140e+01] [ 1.43029135e-04 -8.07606988e-06 9.99999990e-01 3.22687504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5907140569999 meters Centerline goodness [0,1] 0.9814197544138836 Centerline is valid? [True, True] Translation: X:810.51, Y:-60.91, Z:3.23 [[ 9.99778577e-01 -2.09309736e-02 2.16609106e-03 8.10513130e+02] [ 2.09311850e-02 9.99780916e-01 -7.49417996e-05 -6.09105861e+01] [-2.16404790e-03 1.20264058e-04 9.99997651e-01 3.22794294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.620714057 meters Centerline goodness [0,1] 0.9825318093594997 Centerline is valid? [True, True] Translation: X:810.55, Y:-60.91, Z:3.23 [[ 9.99788865e-01 -2.02223637e-02 3.64447984e-03 8.10545332e+02] [ 2.02229582e-02 9.99795487e-01 -1.26340484e-04 -6.09088152e+01] [-3.64117960e-03 2.00015972e-04 9.99993351e-01 3.22868651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.650714057 meters Centerline goodness [0,1] 0.9821806100875868 Centerline is valid? [True, True] Translation: X:810.58, Y:-60.91, Z:3.23 [[ 9.99806967e-01 -1.90166848e-02 4.93898176e-03 8.10578081e+02] [ 1.90177645e-02 9.99819131e-01 -1.71731290e-04 -6.09093296e+01] [-4.93482269e-03 2.65626533e-04 9.99987788e-01 3.22916701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6807140569999 meters Centerline goodness [0,1] 0.9812374646854579 Centerline is valid? [True, True] Translation: X:810.61, Y:-60.91, Z:3.23 [[ 9.99835909e-01 -1.72772177e-02 5.44543226e-03 8.10608323e+02] [ 1.72785049e-02 9.99850698e-01 -1.89413905e-04 -6.09112604e+01] [-5.44134670e-03 2.83471751e-04 9.99985156e-01 3.22861950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7107140569999 meters Centerline goodness [0,1] 0.9810482486263736 Centerline is valid? [True, True] Translation: X:810.64, Y:-60.91, Z:3.23 [[ 9.99859953e-01 -1.60070444e-02 4.88358324e-03 8.10641111e+02] [ 1.60080667e-02 9.99871848e-01 -1.70317493e-04 -6.09106228e+01] [-4.88023112e-03 2.48470367e-04 9.99988061e-01 3.22732321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7407140569999 meters Centerline goodness [0,1] 0.9814087061668681 Centerline is valid? [True, True] Translation: X:810.67, Y:-60.91, Z:3.23 [[ 9.99873134e-01 -1.54301722e-02 3.95282165e-03 8.10672553e+02] [ 1.54308383e-02 9.99880928e-01 -1.38059690e-04 -6.09124023e+01] [-3.95022069e-03 1.99037527e-04 9.99992178e-01 3.22634658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.770714057 meters Centerline goodness [0,1] 0.9818366377262321 Centerline is valid? [True, True] Translation: X:810.70, Y:-60.91, Z:3.22 [[ 9.99890322e-01 -1.45081194e-02 2.97628675e-03 8.10704722e+02] [ 1.45084936e-02 9.99894741e-01 -1.04166171e-04 -6.09128324e+01] [-2.97446222e-03 1.47336184e-04 9.99995565e-01 3.22416750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8007140569999 meters Centerline goodness [0,1] 0.9816174882274161 Centerline is valid? [True, True] Translation: X:810.74, Y:-60.91, Z:3.22 [[ 9.99888463e-01 -1.47148123e-02 2.55644054e-03 8.10736808e+02] [ 1.47150895e-02 9.99891723e-01 -8.96511480e-05 -6.09138650e+01] [-2.55484453e-03 1.27259400e-04 9.99996728e-01 3.22298723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8307140569999 meters Centerline goodness [0,1] 0.9824375702065151 Centerline is valid? [True, True] Translation: X:810.77, Y:-60.91, Z:3.22 [[ 9.99881016e-01 -1.53368236e-02 1.65371541e-03 8.10768952e+02] [ 1.53369407e-02 9.99882381e-01 -5.81152109e-05 -6.09141133e+01] [-1.65262960e-03 8.34712312e-05 9.99998631e-01 3.22175695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8607140569999 meters Centerline goodness [0,1] 0.9814176822703587 Centerline is valid? [True, True] Translation: X:810.80, Y:-60.92, Z:3.22 [[ 9.99878413e-01 -1.55306902e-02 1.39889655e-03 8.10799893e+02] [ 1.55307744e-02 9.99879389e-01 -4.93169800e-05 -6.09171643e+01] [-1.39796190e-03 7.10369303e-05 9.99999020e-01 3.22143622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.890714057 meters Centerline goodness [0,1] 0.9823969551489987 Centerline is valid? [True, True] Translation: X:810.83, Y:-60.92, Z:3.22 [[ 9.99863543e-01 -1.63927205e-02 2.04326854e-03 8.10832206e+02] [ 1.63929021e-02 9.99865625e-01 -7.21574619e-05 -6.09160786e+01] [-2.04181112e-03 1.05642717e-04 9.99997910e-01 3.22157873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9207140569999 meters Centerline goodness [0,1] 0.9811341118570164 Centerline is valid? [True, True] Translation: X:810.86, Y:-60.92, Z:3.22 [[ 9.99866368e-01 -1.62361776e-02 1.90574382e-03 8.10863012e+02] [ 1.62363358e-02 9.99868180e-01 -6.75339360e-05 -6.09220957e+01] [-1.90439611e-03 9.84672079e-05 9.99998182e-01 3.22196743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9507140569999 meters Centerline goodness [0,1] 0.9835906083798158 Centerline is valid? [True, True] Translation: X:810.90, Y:-60.92, Z:3.22 [[ 9.99862137e-01 -1.64517319e-02 2.24657511e-03 8.10895033e+02] [ 1.64519526e-02 9.99864654e-01 -7.97578477e-05 -6.09153585e+01] [-2.24495889e-03 1.16707399e-04 9.99997473e-01 3.22140706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9807140569999 meters Centerline goodness [0,1] 0.983580244235733 Centerline is valid? [True, True] Translation: X:810.93, Y:-60.92, Z:3.22 [[ 9.99859906e-01 -1.66187377e-02 1.99668652e-03 8.10926325e+02] [ 1.66189125e-02 9.99861894e-01 -7.09907304e-05 -6.09172227e+01] [-1.99523099e-03 1.04163544e-04 9.99998004e-01 3.22121317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.010714057 meters Centerline goodness [0,1] 0.982455759418087 Centerline is valid? [True, True] Translation: X:810.96, Y:-60.92, Z:3.22 [[ 9.99853463e-01 -1.70617077e-02 1.39696205e-03 8.10957417e+02] [ 1.70617939e-02 9.99854436e-01 -4.97450148e-05 -6.09187885e+01] [-1.39590996e-03 7.35724037e-05 9.99999023e-01 3.22150049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.040714057 meters Centerline goodness [0,1] 0.9818217104411955 Centerline is valid? [True, True] Translation: X:810.99, Y:-60.92, Z:3.22 [[ 9.99835504e-01 -1.79834538e-02 2.35795773e-03 8.10989348e+02] [ 1.79837021e-02 9.99838277e-01 -8.41249265e-05 -6.09201259e+01] [-2.35606353e-03 1.26515898e-04 9.99997216e-01 3.22174382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0707140569999 meters Centerline goodness [0,1] 0.9821622561161083 Centerline is valid? [True, True] Translation: X:811.02, Y:-60.92, Z:3.22 [[ 9.99823513e-01 -1.85479663e-02 2.98600222e-03 8.11021015e+02] [ 1.85483679e-02 9.99827959e-01 -1.06855510e-04 -6.09219821e+01] [-2.98350655e-03 1.62222119e-04 9.99995536e-01 3.22236026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1007140569999 meters Centerline goodness [0,1] 0.9831920015615173 Centerline is valid? [True, True] Translation: X:811.05, Y:-60.92, Z:3.22 [[ 9.99809815e-01 -1.90405031e-02 4.21816110e-03 8.11052813e+02] [ 1.90413097e-02 9.99818686e-01 -1.51153095e-04 -6.09194940e+01] [-4.21451826e-03 2.31443660e-04 9.99991092e-01 3.22278149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.130714057 meters Centerline goodness [0,1] 0.9808181640242709 Centerline is valid? [True, True] Translation: X:811.08, Y:-60.93, Z:3.22 [[ 9.99781584e-01 -2.01625995e-02 5.50041684e-03 8.11083801e+02] [ 2.01639897e-02 9.99796667e-01 -1.97391523e-04 -6.09260905e+01] [-5.49531849e-03 3.08258758e-04 9.99984853e-01 3.22388792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.160714057 meters Centerline goodness [0,1] 0.9815934902745747 Centerline is valid? [True, True] Translation: X:811.12, Y:-60.93, Z:3.22 [[ 9.99772550e-01 -2.05657908e-02 5.64772716e-03 8.11115699e+02] [ 2.05672650e-02 9.99788451e-01 -2.03064028e-04 -6.09279785e+01] [-5.64235621e-03 3.19176142e-04 9.99984031e-01 3.22407749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1907140569999 meters Centerline goodness [0,1] 0.9809979849630577 Centerline is valid? [True, True] Translation: X:811.15, Y:-60.93, Z:3.22 [[ 9.99770190e-01 -2.07941319e-02 5.21264177e-03 8.11148302e+02] [ 2.07953926e-02 9.99783735e-01 -1.87772990e-04 -6.09299613e+01] [-5.20760988e-03 2.96128770e-04 9.99986396e-01 3.22332767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2207140569999 meters Centerline goodness [0,1] 0.9821854275930822 Centerline is valid? [True, True] Translation: X:811.18, Y:-60.93, Z:3.22 [[ 9.99757310e-01 -2.15764523e-02 4.44729562e-03 8.11180309e+02] [ 2.15773791e-02 9.99767168e-01 -1.60523048e-04 -6.09258553e+01] [-4.44279663e-03 2.56445074e-04 9.99990098e-01 3.22098197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.250714057 meters Centerline goodness [0,1] 0.9803001672422406 Centerline is valid? [True, True] Translation: X:811.21, Y:-60.94, Z:3.22 [[ 9.99750484e-01 -2.20090390e-02 3.81721978e-03 8.11210651e+02] [ 2.20097255e-02 9.99757747e-01 -1.37910036e-04 -6.09357877e+01] [-3.81325978e-03 2.21891584e-04 9.99992705e-01 3.22058939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.280714057 meters Centerline goodness [0,1] 0.9828144350055402 Centerline is valid? [True, True] Translation: X:811.24, Y:-60.93, Z:3.22 [[ 9.99765251e-01 -2.15612143e-02 2.13486567e-03 8.11243361e+02] [ 2.15614284e-02 9.99767522e-01 -7.72972107e-05 -6.09255181e+01] [-2.13270274e-03 1.23309818e-04 9.99997718e-01 3.21846064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3107140569999 meters Centerline goodness [0,1] 0.9823289336575199 Centerline is valid? [True, True] Translation: X:811.27, Y:-60.93, Z:3.22 [[ 9.99773192e-01 -2.12662808e-02 1.14474384e-03 8.11274011e+02] [ 2.12663422e-02 9.99773845e-01 -4.15133170e-05 -6.09305335e+01] [-1.14360211e-03 6.58484156e-05 9.99999344e-01 3.21812897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3407140569999 meters Centerline goodness [0,1] 0.984217858853237 Centerline is valid? [True, True] Translation: X:811.31, Y:-60.93, Z:3.22 [[ 9.99780754e-01 -2.09117509e-02 1.06921958e-03 8.11306689e+02] [ 2.09118044e-02 9.99781324e-01 -3.88566479e-05 -6.09271957e+01] [-1.06817321e-03 6.12074395e-05 9.99999428e-01 3.21767749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.370714057 meters Centerline goodness [0,1] 0.9824004176909522 Centerline is valid? [True, True] Translation: X:811.34, Y:-60.94, Z:3.22 [[ 9.99810496e-01 -1.94451336e-02 9.26660025e-04 8.11337836e+02] [ 1.94451732e-02 9.99810924e-01 -3.37232596e-05 -6.09352315e+01] [-9.25829063e-04 5.17359336e-05 9.99999570e-01 3.21801479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.400714057 meters Centerline goodness [0,1] 0.9843892483390507 Centerline is valid? [True, True] Translation: X:811.37, Y:-60.93, Z:3.22 [[ 9.99832477e-01 -1.82759799e-02 1.00370634e-03 8.11370321e+02] [ 1.82760259e-02 9.99832979e-01 -3.66032982e-05 -6.09260631e+01] [-1.00286973e-03 5.49409292e-05 9.99999496e-01 3.21800508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4307140569999 meters Centerline goodness [0,1] 0.9838306021631739 Centerline is valid? [True, True] Translation: X:811.40, Y:-60.93, Z:3.22 [[ 9.99852907e-01 -1.71258842e-02 9.31513642e-04 8.11401260e+02] [ 1.71259233e-02 9.99853340e-01 -3.40176226e-05 -6.09267095e+01] [-9.30794445e-04 4.99656501e-05 9.99999566e-01 3.21837582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4607140569999 meters Centerline goodness [0,1] 0.9849617505394155 Centerline is valid? [True, True] Translation: X:811.43, Y:-60.92, Z:3.22 [[ 9.99896956e-01 -1.43177335e-02 1.03914297e-03 8.11432808e+02] [ 1.43177807e-02 9.99897495e-01 -3.79798995e-05 -6.09235753e+01] [-1.03849266e-03 5.28542070e-05 9.99999459e-01 3.21875079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4907140569999 meters Centerline goodness [0,1] 0.9857831220698038 Centerline is valid? [True, True] Translation: X:811.46, Y:-60.92, Z:3.22 [[ 9.99929876e-01 -1.17220168e-02 1.68473974e-03 8.11463936e+02] [ 1.17221372e-02 9.99931291e-01 -6.16313714e-05 -6.09220689e+01] [-1.68390154e-03 8.13758000e-05 9.99998579e-01 3.21923904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.520714057 meters Centerline goodness [0,1] 0.9853540526992568 Centerline is valid? [True, True] Translation: X:811.50, Y:-60.92, Z:3.22 [[ 9.99933060e-01 -1.13133413e-02 2.42585810e-03 8.11495841e+02] [ 1.13135903e-02 9.99935995e-01 -8.89260943e-05 -6.09206073e+01] [-2.42469678e-03 1.16365306e-04 9.99997054e-01 3.21957169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5507140569999 meters Centerline goodness [0,1] 0.9848821504814186 Centerline is valid? [True, True] Translation: X:811.53, Y:-60.92, Z:3.22 [[ 9.99938282e-01 -1.06332151e-02 3.21971858e-03 8.11528110e+02] [ 1.06336509e-02 9.99943454e-01 -1.18256227e-04 -6.09211651e+01] [-3.21827907e-03 1.52486292e-04 9.99994810e-01 3.22001101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5807140569999 meters Centerline goodness [0,1] 0.9855312472762138 Centerline is valid? [True, True] Translation: X:811.56, Y:-60.92, Z:3.22 [[ 9.99940785e-01 -1.02913229e-02 3.53781629e-03 8.11558974e+02] [ 1.02918476e-02 9.99947029e-01 -1.30125377e-04 -6.09230872e+01] [-3.53628973e-03 1.66528337e-04 9.99993733e-01 3.22035623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6107140569999 meters Centerline goodness [0,1] 0.9852219969920879 Centerline is valid? [True, True] Translation: X:811.59, Y:-60.92, Z:3.22 [[ 9.99938555e-01 -1.05503935e-02 3.40221638e-03 8.11590964e+02] [ 1.05508810e-02 9.99944330e-01 -1.25384578e-04 -6.09237959e+01] [-3.40070412e-03 1.61273254e-04 9.99994205e-01 3.22074423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.640714057 meters Centerline goodness [0,1] 0.9851882462970616 Centerline is valid? [True, True] Translation: X:811.62, Y:-60.92, Z:3.22 [[ 9.99935431e-01 -1.06828479e-02 3.87442994e-03 8.11623620e+02] [ 1.06834823e-02 9.99942920e-01 -1.43068287e-04 -6.09227955e+01] [-3.87268041e-03 1.84451453e-04 9.99992484e-01 3.22064529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6707140569999 meters Centerline goodness [0,1] 0.985747496034936 Centerline is valid? [True, True] Translation: X:811.66, Y:-60.93, Z:3.22 [[ 9.99923754e-01 -1.17874947e-02 3.67984570e-03 8.11655058e+02] [ 1.17880752e-02 9.99930509e-01 -1.36079470e-04 -6.09252842e+01] [-3.67798595e-03 1.79447392e-04 9.99993220e-01 3.22042105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7007140569999 meters Centerline goodness [0,1] 0.9856430143134136 Centerline is valid? [True, True] Translation: X:811.69, Y:-60.92, Z:3.22 [[ 9.99919793e-01 -1.22120357e-02 3.35754124e-03 8.11687437e+02] [ 1.22125222e-02 9.99925417e-01 -1.24416965e-04 -6.09235308e+01] [-3.35577144e-03 1.65411033e-04 9.99994356e-01 3.21995974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7307140569999 meters Centerline goodness [0,1] 0.9849988007762248 Centerline is valid? [True, True] Translation: X:811.72, Y:-60.93, Z:3.22 [[ 9.99911608e-01 -1.29875298e-02 2.84609508e-03 8.11718379e+02] [ 1.29878829e-02 9.99915648e-01 -1.05620999e-04 -6.09285808e+01] [-2.84448325e-03 1.42576413e-04 9.99995944e-01 3.21963801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.760714057 meters Centerline goodness [0,1] 0.9848217206411515 Centerline is valid? [True, True] Translation: X:811.75, Y:-60.93, Z:3.22 [[ 9.99901705e-01 -1.39824670e-02 1.03462597e-03 8.11750712e+02] [ 1.39825143e-02 9.99902239e-01 -3.84823911e-05 -6.09295713e+01] [-1.03398675e-03 5.29452809e-05 9.99999464e-01 3.21838836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.790714057 meters Centerline goodness [0,1] 0.9862691251471165 Centerline is valid? [True, True] Translation: X:811.78, Y:-60.93, Z:3.22 [[ 9.99903011e-01 -1.39241827e-02 2.93992323e-04 8.11781994e+02] [ 1.39241865e-02 9.99903054e-01 -1.09585719e-05 -6.09319642e+01] [-2.93811232e-04 1.50511130e-05 9.99999957e-01 3.21793903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8207140569999 meters Centerline goodness [0,1] 0.9850703917930809 Centerline is valid? [True, True] Translation: X:811.81, Y:-60.93, Z:3.22 [[ 9.99912302e-01 -1.32417418e-02 -2.13473129e-04 8.11813775e+02] [ 1.32417438e-02 9.99912324e-01 7.94586529e-06 -6.09327433e+01] [ 2.13349195e-04 -1.07719249e-05 9.99999977e-01 3.21793838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8507140569999 meters Centerline goodness [0,1] 0.98477578084104 Centerline is valid? [True, True] Translation: X:811.84, Y:-60.93, Z:3.22 [[ 9.99921361e-01 -1.25407553e-02 2.31195385e-05 8.11844842e+02] [ 1.25407553e-02 9.99921362e-01 -8.95377419e-07 -6.09349964e+01] [-2.31064917e-05 1.18524348e-06 1.00000000e+00 3.21823526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.880714057 meters Centerline goodness [0,1] 0.9852543997212058 Centerline is valid? [True, True] Translation: X:811.88, Y:-60.93, Z:3.22 [[ 9.99930815e-01 -1.17573744e-02 3.58314932e-04 8.11877116e+02] [ 1.17573800e-02 9.99930880e-01 -1.34542842e-05 -6.09308485e+01] [-3.58131978e-04 1.76661982e-05 9.99999936e-01 3.21833168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.910714057 meters Centerline goodness [0,1] 0.9856215415450307 Centerline is valid? [True, True] Translation: X:811.91, Y:-60.93, Z:3.22 [[ 9.99959163e-01 -9.02881868e-03 3.92039788e-04 8.11907523e+02] [ 9.02882514e-03 9.99959239e-01 -1.47129099e-05 -6.09329401e+01] [-3.91890968e-04 1.82519678e-05 9.99999923e-01 3.21844214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9407140569999 meters Centerline goodness [0,1] 0.9860929462028075 Centerline is valid? [True, True] Translation: X:811.94, Y:-60.93, Z:3.22 [[ 9.99973893e-01 -7.22435610e-03 1.48633169e-04 8.11939218e+02] [ 7.22435701e-03 9.99973904e-01 -5.59055141e-06 -6.09311780e+01] [-1.48588902e-04 6.66418453e-06 9.99999989e-01 3.21797544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9707140569999 meters Centerline goodness [0,1] 0.9863609666963955 Centerline is valid? [True, True] Translation: X:811.97, Y:-60.93, Z:3.22 [[ 9.99992314e-01 -3.91891250e-03 -1.21233405e-04 8.11969919e+02] [ 3.91891308e-03 9.99992321e-01 4.54847981e-06 -6.09311619e+01] [ 1.21214649e-04 -5.02354803e-06 9.99999993e-01 3.21809659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.000714057 meters Centerline goodness [0,1] 0.9868028484940874 Centerline is valid? [True, True] Translation: X:812.00, Y:-60.93, Z:3.22 [[ 9.99996784e-01 -2.48781977e-03 -4.93698015e-04 8.12001765e+02] [ 2.48782924e-03 9.99996905e-01 1.85675195e-05 -6.09286004e+01] [ 4.93650295e-04 -1.97956961e-05 9.99999878e-01 3.21806166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.030714057 meters Centerline goodness [0,1] 0.9866253572753256 Centerline is valid? [True, True] Translation: X:812.03, Y:-60.93, Z:3.22 [[ 9.99999269e-01 -1.18488978e-03 -2.39672095e-04 8.12032367e+02] [ 1.18489198e-03 9.99999298e-01 9.01816214e-06 -6.09322865e+01] [ 2.39661241e-04 -9.30214109e-06 9.99999971e-01 3.21785807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0607140569999 meters Centerline goodness [0,1] 0.986344331917674 Centerline is valid? [True, True] Translation: X:812.06, Y:-60.93, Z:3.22 [[ 9.99999091e-01 1.34482624e-03 -9.37846087e-05 8.12063393e+02] [-1.34482592e-03 9.99999096e-01 3.52792573e-06 -6.09330980e+01] [ 9.37892683e-05 -3.40179855e-06 9.99999996e-01 3.21781418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0907140569999 meters Centerline goodness [0,1] 0.9866672438422579 Centerline is valid? [True, True] Translation: X:812.09, Y:-60.94, Z:3.22 [[ 9.99996481e-01 2.65300039e-03 1.06679722e-05 8.12093025e+02] [-2.65300038e-03 9.99996481e-01 -3.97296148e-07 -6.09367138e+01] [-1.06689886e-05 3.68992614e-07 1.00000000e+00 3.21827404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.120714057 meters Centerline goodness [0,1] 0.9863278702777899 Centerline is valid? [True, True] Translation: X:812.12, Y:-60.94, Z:3.22 [[ 9.99993999e-01 3.46419287e-03 3.28574871e-05 8.12122977e+02] [-3.46419283e-03 9.99994000e-01 -1.22738018e-06 -6.09375963e+01] [-3.28615419e-05 1.11354815e-06 9.99999999e-01 3.21826935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.150714057 meters Centerline goodness [0,1] 0.9875029884158136 Centerline is valid? [True, True] Translation: X:812.15, Y:-60.94, Z:3.22 [[ 9.99987383e-01 4.99880803e-03 -4.96049626e-04 8.12153000e+02] [-4.99879939e-03 9.99987506e-01 1.86474999e-05 -6.09354099e+01] [ 4.96136643e-04 -1.61676121e-05 9.99999877e-01 3.21824668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1807140569999 meters Centerline goodness [0,1] 0.9878348141550627 Centerline is valid? [True, True] Translation: X:812.18, Y:-60.94, Z:3.22 [[ 9.99982119e-01 5.88778004e-03 -1.04688539e-03 8.12181624e+02] [-5.88774213e-03 9.99982666e-01 3.92915169e-05 -6.09387892e+01] [ 1.04709858e-03 -3.31270231e-05 9.99999451e-01 3.21772902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2107140569999 meters Centerline goodness [0,1] 0.9875415824147152 Centerline is valid? [True, True] Translation: X:812.21, Y:-60.94, Z:3.22 [[ 9.99979841e-01 6.20150558e-03 -1.36358666e-03 8.12210357e+02] [-6.20144168e-03 9.99980770e-01 5.10802793e-05 -6.09406647e+01] [ 1.36387722e-03 -4.26230464e-05 9.99999069e-01 3.21741847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2407140569999 meters Centerline goodness [0,1] 0.9865234375 Centerline is valid? [True, True] Translation: X:812.24, Y:-60.95, Z:3.22 [[ 9.99983831e-01 5.64497831e-03 -6.86779946e-04 8.12237652e+02] [-5.64496201e-03 9.99984067e-01 2.56786951e-05 -6.09455834e+01] [ 6.86913959e-04 -2.18014333e-05 9.99999764e-01 3.21699444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.270714057 meters Centerline goodness [0,1] 0.9870379987881935 Centerline is valid? [True, True] Translation: X:812.27, Y:-60.95, Z:3.22 [[ 9.99988250e-01 4.80139007e-03 -6.68595134e-04 8.12266854e+02] [-4.80137446e-03 9.99988473e-01 2.49470339e-05 -6.09476713e+01] [ 6.68707207e-04 -2.17365652e-05 9.99999776e-01 3.21739027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3007140569999 meters Centerline goodness [0,1] 0.9873132224414999 Centerline is valid? [True, True] Translation: X:812.30, Y:-60.95, Z:3.22 [[ 9.99993657e-01 3.30013115e-03 -1.33981538e-03 8.12295432e+02] [-3.30006725e-03 9.99994554e-01 4.98980817e-05 -6.09514652e+01] [ 1.33997275e-03 -4.54762843e-05 9.99999101e-01 3.21704393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3307140569999 meters Centerline goodness [0,1] 0.9856227264853629 Centerline is valid? [True, True] Translation: X:812.32, Y:-60.96, Z:3.22 [[ 9.99997460e-01 2.72510061e-04 -2.23731765e-03 8.12323633e+02] [-2.72324603e-04 9.99999959e-01 8.31973253e-05 -6.09582444e+01] [ 2.23734023e-03 -8.25878374e-05 9.99997494e-01 3.21610317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3607140569999 meters Centerline goodness [0,1] 0.986536425129125 Centerline is valid? [True, True] Translation: X:812.35, Y:-60.96, Z:3.22 [[ 9.99996731e-01 -9.48011579e-04 -2.37467081e-03 8.12353441e+02] [ 9.48223729e-04 9.99999547e-01 8.82143778e-05 -6.09603053e+01] [ 2.37458610e-03 -9.04658086e-05 9.99997177e-01 3.21591659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.390714057 meters Centerline goodness [0,1] 0.986536425129125 Centerline is valid? [True, True] Translation: X:812.38, Y:-60.96, Z:3.22 [[ 9.99996696e-01 -9.84180262e-04 -2.37467399e-03 8.12382597e+02] [ 9.84392310e-04 9.99999512e-01 8.81284973e-05 -6.09613596e+01] [ 2.37458610e-03 -9.04658169e-05 9.99997177e-01 3.21592365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4207140569999 meters Centerline goodness [0,1] 0.9857241737324797 Centerline is valid? [True, True] Translation: X:812.41, Y:-60.97, Z:3.22 [[ 9.99995234e-01 -1.93859988e-03 -2.40304786e-03 8.12411852e+02] [ 1.93881966e-03 9.99998117e-01 8.91338082e-05 -6.09664139e+01] [ 2.40287054e-03 -9.37924598e-05 9.99997109e-01 3.21599916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4507140569999 meters Centerline goodness [0,1] 0.9851773539311297 Centerline is valid? [True, True] Translation: X:812.44, Y:-60.97, Z:3.22 [[ 9.99993517e-01 -2.97937089e-03 -2.02219568e-03 8.12442110e+02] [ 2.97952864e-03 9.99995558e-01 7.50035928e-05 -6.09699325e+01] [ 2.02196323e-03 -8.10282965e-05 9.99997953e-01 3.21568603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4807140569999 meters Centerline goodness [0,1] 0.9846551724137931 Centerline is valid? [True, True] Translation: X:812.47, Y:-60.98, Z:3.22 [[ 9.99994065e-01 -3.00818886e-03 -1.67945585e-03 8.12472423e+02] [ 3.00829776e-03 9.99995473e-01 6.23174319e-05 -6.09752136e+01] [ 1.67926078e-03 -6.73693653e-05 9.99998588e-01 3.21531639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.510714057 meters Centerline goodness [0,1] 0.9865129807174405 Centerline is valid? [True, True] Translation: X:812.50, Y:-60.98, Z:3.22 [[ 9.99995352e-01 -2.45696122e-03 -1.80517415e-03 8.12502677e+02] [ 2.45708614e-03 9.99996979e-01 6.69870182e-05 -6.09762597e+01] [ 1.80500411e-03 -7.14221752e-05 9.99998368e-01 3.21530899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.540714057 meters Centerline goodness [0,1] 0.986617691283241 Centerline is valid? [True, True] Translation: X:812.53, Y:-60.98, Z:3.22 [[ 9.99998472e-01 -2.12562005e-04 -1.73545139e-03 8.12532163e+02] [ 2.12674040e-04 9.99999975e-01 6.43726812e-05 -6.09804152e+01] [ 1.73543766e-03 -6.47416683e-05 9.99998492e-01 3.21538574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5707140569999 meters Centerline goodness [0,1] 0.9859615177899602 Centerline is valid? [True, True] Translation: X:812.56, Y:-60.98, Z:3.22 [[ 9.99997853e-01 1.28273441e-03 -1.62717595e-03 8.12561718e+02] [-1.28263798e-03 9.99999176e-01 6.03026012e-05 -6.09816230e+01] [ 1.62725196e-03 -5.82153940e-05 9.99998674e-01 3.21509080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6007140569999 meters Centerline goodness [0,1] 0.9860565425350188 Centerline is valid? [True, True] Translation: X:812.59, Y:-60.98, Z:3.21 [[ 9.99981528e-01 5.75733759e-03 -1.94827530e-03 8.12590831e+02] [-5.75720797e-03 9.99983425e-01 7.21313288e-05 -6.09842001e+01] [ 1.94865829e-03 -6.09133704e-05 9.99998100e-01 3.21492674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.630714057 meters Centerline goodness [0,1] 0.9868415403769373 Centerline is valid? [True, True] Translation: X:812.62, Y:-60.99, Z:3.21 [[ 9.99970121e-01 7.48137922e-03 -1.94589561e-03 8.12619544e+02] [-7.48125343e-03 9.99972012e-01 7.19154019e-05 -6.09862713e+01] [ 1.94637918e-03 -5.73555149e-05 9.99998104e-01 3.21463391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.660714057 meters Centerline goodness [0,1] 0.9869943126944951 Centerline is valid? [True, True] Translation: X:812.65, Y:-60.99, Z:3.21 [[ 9.99958659e-01 8.81948735e-03 -2.21271319e-03 8.12648695e+02] [-8.81932832e-03 9.99961106e-01 8.16174619e-05 -6.09871690e+01] [ 2.21334695e-03 -6.20994437e-05 9.99997549e-01 3.21434206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6907140569999 meters Centerline goodness [0,1] 0.9871244635193133 Centerline is valid? [True, True] Translation: X:812.68, Y:-60.99, Z:3.21 [[ 9.99944237e-01 1.04026255e-02 -1.81898917e-03 8.12676606e+02] [-1.04025209e-02 9.99945890e-01 6.69422252e-05 -6.09911830e+01] [ 1.81958712e-03 -4.80164194e-05 9.99998343e-01 3.21460420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7207140569999 meters Centerline goodness [0,1] 0.9865623660522932 Centerline is valid? [True, True] Translation: X:812.71, Y:-60.99, Z:3.21 [[ 9.99940312e-01 1.08050551e-02 -1.61945003e-03 8.12705002e+02] [-1.08049729e-02 9.99941623e-01 5.94817068e-05 -6.09925780e+01] [ 1.61999819e-03 -4.19800427e-05 9.99998687e-01 3.21481851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.750714057 meters Centerline goodness [0,1] 0.9867356980873733 Centerline is valid? [True, True] Translation: X:812.73, Y:-61.00, Z:3.22 [[ 9.99939795e-01 1.09712242e-02 -1.97410548e-04 8.12733285e+02] [-1.09712230e-02 9.99939814e-01 7.25186226e-06 -6.09969547e+01] [ 1.97478228e-04 -5.08559052e-06 9.99999980e-01 3.21540903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.780714057 meters Centerline goodness [0,1] 0.9869064656001025 Centerline is valid? [True, True] Translation: X:812.76, Y:-61.00, Z:3.22 [[ 9.99940625e-01 1.08936747e-02 -2.72573550e-04 8.12761672e+02] [-1.08936724e-02 9.99940662e-01 9.98693497e-06 -6.10002434e+01] [ 2.72666170e-04 -7.01701504e-06 9.99999963e-01 3.21522130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8107140569999 meters Centerline goodness [0,1] 0.9862702174236467 Centerline is valid? [True, True] Translation: X:812.79, Y:-61.00, Z:3.21 [[ 9.99941474e-01 1.07590197e-02 -1.13650970e-03 8.12790575e+02] [-1.07589795e-02 9.99942120e-01 4.15060784e-05 -6.10031521e+01] [ 1.13689048e-03 -2.92759647e-05 9.99999353e-01 3.21447831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8407140569999 meters Centerline goodness [0,1] 0.986970058858654 Centerline is valid? [True, True] Translation: X:812.82, Y:-61.01, Z:3.21 [[ 9.99949983e-01 9.58869201e-03 -2.84395870e-03 8.12818525e+02] [-9.58843614e-03 9.99954025e-01 1.03591595e-04 -6.10099546e+01] [ 2.84482125e-03 -7.63172972e-05 9.99995951e-01 3.21268891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.870714057 meters Centerline goodness [0,1] 0.9867038250436114 Centerline is valid? [True, True] Translation: X:812.85, Y:-61.01, Z:3.21 [[ 9.99956279e-01 8.78770059e-03 -3.19630769e-03 8.12846708e+02] [-8.78737421e-03 9.99961384e-01 1.16142555e-04 -6.10133985e+01] [ 3.19720489e-03 -8.80503257e-05 9.99994885e-01 3.21186403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.900714057 meters Centerline goodness [0,1] 0.9859163905174612 Centerline is valid? [True, True] Translation: X:812.87, Y:-61.02, Z:3.21 [[ 9.99973384e-01 6.76680561e-03 -2.72795104e-03 8.12873820e+02] [-6.76656111e-03 9.99977102e-01 9.88461320e-05 -6.10204462e+01] [ 2.72855745e-03 -8.03846537e-05 9.99996274e-01 3.21171122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9307140569999 meters Centerline goodness [0,1] 0.9859455309347608 Centerline is valid? [True, True] Translation: X:812.90, Y:-61.02, Z:3.21 [[ 9.99981463e-01 5.60926912e-03 -2.36858431e-03 8.12902058e+02] [-5.60908204e-03 9.99984265e-01 8.56193081e-05 -6.10245344e+01] [ 2.36902731e-03 -7.23321372e-05 9.99997191e-01 3.21232847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9607140569999 meters Centerline goodness [0,1] 0.985652035285365 Centerline is valid? [True, True] Translation: X:812.93, Y:-61.03, Z:3.21 [[ 9.99989827e-01 3.88421828e-03 -2.29337281e-03 8.12931520e+02] [-3.88403857e-03 9.99992454e-01 8.28097656e-05 -6.10287472e+01] [ 2.29367715e-03 -7.39013747e-05 9.99997367e-01 3.21256292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9907140569999 meters Centerline goodness [0,1] 0.984468746010808 Centerline is valid? [True, True] Translation: X:812.96, Y:-61.04, Z:3.21 [[ 9.99996639e-01 -4.96510028e-04 -2.54475428e-03 8.12960760e+02] [ 4.96745340e-04 9.99999872e-01 9.18381053e-05 -6.10377756e+01] [ 2.54470836e-03 -9.31018914e-05 9.99996758e-01 3.21204330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.020714057 meters Centerline goodness [0,1] 0.9842755283931754 Centerline is valid? [True, True] Translation: X:812.99, Y:-61.04, Z:3.21 [[ 9.99993276e-01 -2.52590045e-03 -2.65869036e-03 8.12990676e+02] [ 2.52616434e-03 9.99996805e-01 9.59032642e-05 -6.10398337e+01] [ 2.65843963e-03 -1.02618908e-04 9.99996461e-01 3.21208783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0507140569999 meters Centerline goodness [0,1] 0.9817380619465277 Centerline is valid? [True, True] Translation: X:813.02, Y:-61.05, Z:3.21 [[ 9.99977654e-01 -6.34648682e-03 -2.10085100e-03 8.13019633e+02] [ 6.34666006e-03 9.99979857e-01 7.58027020e-05 -6.10502480e+01] [ 2.10032760e-03 -8.91343952e-05 9.99997790e-01 3.21261270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0807140569999 meters Centerline goodness [0,1] 0.9820229953204734 Centerline is valid? [True, True] Translation: X:813.05, Y:-61.05, Z:3.21 [[ 9.99971080e-01 -7.47026578e-03 -1.42644202e-03 8.13050274e+02] [ 7.47034682e-03 9.99972095e-01 5.14909773e-05 -6.10542182e+01] [ 1.42601756e-03 -6.21455048e-05 9.99998981e-01 3.21358390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1107140569999 meters Centerline goodness [0,1] 0.9811257019803235 Centerline is valid? [True, True] Translation: X:813.08, Y:-61.06, Z:3.22 [[ 9.99957267e-01 -9.23756040e-03 3.64147577e-04 8.13081422e+02] [ 9.23756580e-03 9.99957333e-01 -1.31664495e-05 -6.10588572e+01] [-3.64010414e-04 1.65297241e-05 9.99999934e-01 3.21512573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.140714057 meters Centerline goodness [0,1] 0.9825424771440087 Centerline is valid? [True, True] Translation: X:813.11, Y:-61.06, Z:3.22 [[ 9.99954583e-01 -9.52255614e-03 3.91746030e-04 8.13113870e+02] [ 9.52256243e-03 9.99954659e-01 -1.41986107e-05 -6.10619554e+01] [-3.91593061e-04 1.79283918e-05 9.99999923e-01 3.21559137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1707140569999 meters Centerline goodness [0,1] 0.98165469155223 Centerline is valid? [True, True] Translation: X:813.15, Y:-61.06, Z:3.22 [[ 9.99949473e-01 -1.00384610e-02 5.30597941e-04 8.13146102e+02] [ 1.00384726e-02 9.99949613e-01 -1.92613790e-05 -6.10646908e+01] [-5.30377852e-04 2.45867987e-05 9.99999859e-01 3.21556078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2007140569999 meters Centerline goodness [0,1] 0.9805434275783138 Centerline is valid? [True, True] Translation: X:813.18, Y:-61.07, Z:3.21 [[ 9.99941593e-01 -1.08057097e-02 2.18491037e-04 8.13177217e+02] [ 1.08057117e-02 9.99941617e-01 -7.97249854e-06 -6.10705713e+01] [-2.18392132e-04 1.03329840e-05 9.99999976e-01 3.21476597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2307140569999 meters Centerline goodness [0,1] 0.9810095694795137 Centerline is valid? [True, True] Translation: X:813.21, Y:-61.07, Z:3.21 [[ 9.99936036e-01 -1.13064336e-02 2.96365108e-04 8.13209297e+02] [ 1.13064373e-02 9.99936080e-01 -1.08183503e-05 -6.10672378e+01] [-2.96223848e-04 1.41684918e-05 9.99999956e-01 3.21454678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.260714057 meters Centerline goodness [0,1] 0.9817521331418434 Centerline is valid? [True, True] Translation: X:813.24, Y:-61.07, Z:3.21 [[ 9.99932877e-01 -1.15784846e-02 4.23371915e-04 8.13241764e+02] [ 1.15784922e-02 9.99932967e-01 -1.54772984e-05 -6.10698827e+01] [-4.23164331e-04 2.03782679e-05 9.99999910e-01 3.21483688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.290714057 meters Centerline goodness [0,1] 0.9817950619900392 Centerline is valid? [True, True] Translation: X:813.27, Y:-61.07, Z:3.21 [[ 9.99919210e-01 -1.26726651e-02 9.88106466e-04 8.13273819e+02] [ 1.26727071e-02 9.99919697e-01 -3.61698322e-05 -6.10731944e+01] [-9.87568750e-04 4.86888938e-05 9.99999511e-01 3.21475006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3207140569999 meters Centerline goodness [0,1] 0.9811257233035244 Centerline is valid? [True, True] Translation: X:813.31, Y:-61.07, Z:3.21 [[ 9.99916692e-01 -1.28942147e-02 5.90706739e-04 8.13305463e+02] [ 1.28942297e-02 9.99916866e-01 -2.16571642e-05 -6.10748390e+01] [-5.90378378e-04 2.92720684e-05 9.99999825e-01 3.21433972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3507140569999 meters Centerline goodness [0,1] 0.9817580519453163 Centerline is valid? [True, True] Translation: X:813.34, Y:-61.08, Z:3.21 [[ 9.99913419e-01 -1.31416520e-02 6.71271881e-04 8.13337551e+02] [ 1.31416716e-02 9.99913644e-01 -2.46613760e-05 -6.10765299e+01] [-6.70889822e-04 3.34808754e-05 9.99999774e-01 3.21448880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.380714057 meters Centerline goodness [0,1] 0.9802867004044297 Centerline is valid? [True, True] Translation: X:813.37, Y:-61.08, Z:3.21 [[ 9.99907570e-01 -1.35901127e-02 -4.00558088e-04 8.13369724e+02] [ 1.35901197e-02 9.99907650e-01 1.47168877e-05 -6.10783003e+01] [ 4.00321092e-04 -2.01591597e-05 9.99999920e-01 3.21357777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.410714057 meters Centerline goodness [0,1] 0.9800702407650319 Centerline is valid? [True, True] Translation: X:813.40, Y:-61.08, Z:3.21 [[ 9.99912176e-01 -1.32367784e-02 -6.54890321e-04 8.13401950e+02] [ 1.32367970e-02 9.99912389e-01 2.41189468e-05 -6.10799138e+01] [ 6.54513688e-04 -3.27854788e-05 9.99999785e-01 3.21304487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4407140569999 meters Centerline goodness [0,1] 0.9805208509201419 Centerline is valid? [True, True] Translation: X:813.43, Y:-61.08, Z:3.21 [[ 9.99916811e-01 -1.28660160e-02 -9.14313007e-04 8.13434700e+02] [ 1.28660523e-02 9.99917228e-01 3.37644549e-05 -6.10792334e+01] [ 9.13802914e-04 -4.55252451e-05 9.99999581e-01 3.21283027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4707140569999 meters Centerline goodness [0,1] 0.9811759237741111 Centerline is valid? [True, True] Translation: X:813.47, Y:-61.08, Z:3.21 [[ 9.99940452e-01 -1.07463443e-02 -1.89948330e-03 8.13465611e+02] [ 1.07464971e-02 9.99942252e-01 7.02556514e-05 -6.10811831e+01] [ 1.89861862e-03 -9.06642597e-05 9.99998194e-01 3.21254269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.500714057 meters Centerline goodness [0,1] 0.980806752629793 Centerline is valid? [True, True] Translation: X:813.50, Y:-61.08, Z:3.21 [[ 9.99950614e-01 -9.74753856e-03 -1.93771864e-03 8.13496599e+02] [ 9.74769583e-03 9.99952488e-01 7.17384859e-05 -6.10822885e+01] [ 1.93692730e-03 -9.06232349e-05 9.99998120e-01 3.21279033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.530714057 meters Centerline goodness [0,1] 0.9803660495392679 Centerline is valid? [True, True] Translation: X:813.53, Y:-61.08, Z:3.21 [[ 9.99976679e-01 -6.70033132e-03 -1.32186288e-03 8.13527863e+02] [ 6.70040189e-03 9.99977551e-01 4.89630981e-05 -6.10814355e+01] [ 1.32150513e-03 -5.78189687e-05 9.99999125e-01 3.21349104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5607140569999 meters Centerline goodness [0,1] 0.980818549839978 Centerline is valid? [True, True] Translation: X:813.56, Y:-61.08, Z:3.21 [[ 9.99983764e-01 -5.60120420e-03 -1.04818677e-03 8.13558834e+02] [ 5.60124801e-03 9.99984312e-01 3.88575704e-05 -6.10827019e+01] [ 1.04795268e-03 -4.47280935e-05 9.99999450e-01 3.21377782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5907140569999 meters Centerline goodness [0,1] 0.9807977304484058 Centerline is valid? [True, True] Translation: X:813.59, Y:-61.08, Z:3.21 [[ 9.99989970e-01 -4.39390116e-03 -8.68025680e-04 8.13589862e+02] [ 4.39393076e-03 9.99990346e-01 3.21969902e-05 -6.10821617e+01] [ 8.67875830e-04 -3.60107120e-05 9.99999623e-01 3.21372187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.620714057 meters Centerline goodness [0,1] 0.9806656773372906 Centerline is valid? [True, True] Translation: X:813.62, Y:-61.08, Z:3.21 [[ 9.99996138e-01 -2.61782300e-03 -9.33027524e-04 8.13619970e+02] [ 2.61785645e-03 9.99996573e-01 3.46249402e-05 -6.10839767e+01] [ 9.32933684e-04 -3.70673386e-05 9.99999564e-01 3.21370969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.650714057 meters Centerline goodness [0,1] 0.9806257748639391 Centerline is valid? [True, True] Translation: X:813.65, Y:-61.08, Z:3.21 [[ 9.99998413e-01 -1.68785719e-03 -5.70672189e-04 8.13650514e+02] [ 1.68786955e-03 9.99998575e-01 2.11804393e-05 -6.10837755e+01] [ 5.70635626e-04 -2.21436259e-05 9.99999837e-01 3.21405773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6807140569999 meters Centerline goodness [0,1] 0.9821040413633007 Centerline is valid? [True, True] Translation: X:813.68, Y:-61.08, Z:3.21 [[ 9.99999874e-01 -3.10745846e-04 -3.93812608e-04 8.13681455e+02] [ 3.10751627e-04 9.99999952e-01 1.46191110e-05 -6.10841481e+01] [ 3.93808046e-04 -1.47414870e-05 9.99999922e-01 3.21410560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7107140569999 meters Centerline goodness [0,1] 0.9811796087729697 Centerline is valid? [True, True] Translation: X:813.71, Y:-61.09, Z:3.21 [[ 9.99999883e-01 4.79853247e-04 5.93077071e-05 8.13710607e+02] [-4.79853118e-04 9.99999885e-01 -2.19679925e-06 -6.10871080e+01] [-5.93087544e-05 2.16834001e-06 9.99999998e-01 3.21453560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7407140569999 meters Centerline goodness [0,1] 0.9807107663277073 Centerline is valid? [True, True] Translation: X:813.74, Y:-61.09, Z:3.21 [[ 9.99998750e-01 1.43634133e-03 6.60771818e-04 8.13739814e+02] [-1.43632545e-03 9.99998968e-01 -2.45084642e-05 -6.10925155e+01] [-6.60806339e-04 2.35593502e-05 9.99999781e-01 3.21464824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.770714057 meters Centerline goodness [0,1] 0.9807961041710777 Centerline is valid? [True, True] Translation: X:813.77, Y:-61.09, Z:3.21 [[ 9.99995622e-01 2.31910438e-03 1.83803039e-03 8.13770407e+02] [-2.31898297e-03 9.99997309e-01 -6.81857527e-05 -6.10922564e+01] [-1.83818357e-03 6.39230930e-05 9.99998308e-01 3.21488583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8007140569999 meters Centerline goodness [0,1] 0.9801274047110115 Centerline is valid? [True, True] Translation: X:813.80, Y:-61.10, Z:3.22 [[ 9.99993091e-01 3.14845744e-03 1.97595535e-03 8.13800335e+02] [-3.14831866e-03 9.99995041e-01 -7.33417031e-05 -6.10979799e+01] [-1.97617646e-03 6.71202593e-05 9.99998045e-01 3.21510639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8307140569999 meters Centerline goodness [0,1] 0.9816449666560813 Centerline is valid? [True, True] Translation: X:813.83, Y:-61.10, Z:3.21 [[ 9.99991414e-01 3.41675078e-03 2.34486717e-03 8.13831164e+02] [-3.41655609e-03 9.99994160e-01 -8.70295510e-05 -6.10965673e+01] [-2.34515084e-03 7.90174335e-05 9.99997247e-01 3.21474051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8607140569999 meters Centerline goodness [0,1] 0.9810707578027729 Centerline is valid? [True, True] Translation: X:813.86, Y:-61.10, Z:3.21 [[ 9.99990290e-01 4.03333362e-03 1.77543406e-03 8.13861687e+02] [-4.03322298e-03 9.99991864e-01 -6.58950883e-05 -6.11004788e+01] [-1.77568540e-03 5.87337270e-05 9.99998422e-01 3.21396816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.890714057 meters Centerline goodness [0,1] 0.9807291776239665 Centerline is valid? [True, True] Translation: X:813.89, Y:-61.10, Z:3.21 [[ 9.99990642e-01 4.04747938e-03 1.52783807e-03 8.13892509e+02] [-4.04739746e-03 9.99991808e-01 -5.67055834e-05 -6.11029693e+01] [-1.52805507e-03 5.05212848e-05 9.99998831e-01 3.21379068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9207140569999 meters Centerline goodness [0,1] 0.9818050877973353 Centerline is valid? [True, True] Translation: X:813.92, Y:-61.11, Z:3.21 [[ 9.99991531e-01 3.65269086e-03 1.89609008e-03 8.13921691e+02] [-3.65256406e-03 9.99993327e-01 -7.03355209e-05 -6.11085107e+01] [-1.89633434e-03 6.34093348e-05 9.99998200e-01 3.21391937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9507140569999 meters Centerline goodness [0,1] 0.9808020208399116 Centerline is valid? [True, True] Translation: X:813.95, Y:-61.11, Z:3.21 [[ 9.99993701e-01 3.11805820e-03 1.69591099e-03 8.13952039e+02] [-3.11795593e-03 9.99995137e-01 -6.29471921e-05 -6.11121299e+01] [-1.69609901e-03 5.76590198e-05 9.99998560e-01 3.21382692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9807140569999 meters Centerline goodness [0,1] 0.981379324921269 Centerline is valid? [True, True] Translation: X:813.98, Y:-61.11, Z:3.21 [[ 9.99996139e-01 2.26044727e-03 1.61658132e-03 8.13982327e+02] [-2.26035323e-03 9.99997444e-01 -5.99987270e-05 -6.11128560e+01] [-1.61671281e-03 5.63444505e-05 9.99998692e-01 3.21314451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.010714057 meters Centerline goodness [0,1] 0.9816994569007418 Centerline is valid? [True, True] Translation: X:814.01, Y:-61.12, Z:3.21 [[ 9.99998177e-01 1.14088301e-03 1.53139833e-03 8.14012281e+02] [-1.14079726e-03 9.99999348e-01 -5.68689068e-05 -6.11197489e+01] [-1.53146221e-03 5.51217881e-05 9.99998826e-01 3.21367783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.040714057 meters Centerline goodness [0,1] 0.9796661544614478 Centerline is valid? [True, True] Translation: X:814.04, Y:-61.13, Z:3.21 [[ 9.99997865e-01 5.83885151e-04 1.98214842e-03 8.14042061e+02] [-5.83740329e-04 9.99999827e-01 -7.36410721e-05 -6.11250106e+01] [-1.98219108e-03 7.24838549e-05 9.99998033e-01 3.21385067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0707140569999 meters Centerline goodness [0,1] 0.9804442756787545 Centerline is valid? [True, True] Translation: X:814.07, Y:-61.13, Z:3.21 [[ 9.99995525e-01 5.78968573e-05 2.99109021e-03 8.14072976e+02] [-5.75644085e-05 9.99999992e-01 -1.11232361e-04 -6.11282620e+01] [-2.99109662e-03 1.11059683e-04 9.99995520e-01 3.21482626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1007140569999 meters Centerline goodness [0,1] 0.9794773364830947 Centerline is valid? [True, True] Translation: X:814.10, Y:-61.13, Z:3.21 [[ 9.99993999e-01 -2.22839914e-06 3.46424874e-03 8.14104455e+02] [ 2.67757684e-06 9.99999992e-01 -1.29656296e-04 -6.11319590e+01] [-3.46424842e-03 1.29664793e-04 9.99993991e-01 3.21484871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.130714057 meters Centerline goodness [0,1] 0.9790300346714567 Centerline is valid? [True, True] Translation: X:814.14, Y:-61.14, Z:3.21 [[ 9.99995775e-01 2.26320993e-04 2.89813409e-03 8.14135198e+02] [-2.26006672e-04 9.99999969e-01 -1.08783294e-04 -6.11359563e+01] [-2.89815862e-03 1.08127836e-04 9.99995794e-01 3.21471140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.160714057 meters Centerline goodness [0,1] 0.9801013941698352 Centerline is valid? [True, True] Translation: X:814.17, Y:-61.14, Z:3.21 [[ 9.99995369e-01 -3.65809604e-04 3.02120977e-03 8.14166349e+02] [ 3.66154136e-04 9.99999927e-01 -1.13485411e-04 -6.11400437e+01] [-3.02116804e-03 1.14591113e-04 9.99995430e-01 3.21480948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1907140569999 meters Centerline goodness [0,1] 0.9802432250462885 Centerline is valid? [True, True] Translation: X:814.20, Y:-61.14, Z:3.21 [[ 9.99995582e-01 -7.91430342e-05 2.97155133e-03 8.14197166e+02] [ 7.94753783e-05 9.99999991e-01 -1.11724040e-04 -6.11433164e+01] [-2.97154246e-03 1.11959711e-04 9.99995579e-01 3.21354896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2207140569999 meters Centerline goodness [0,1] 0.9795494152476536 Centerline is valid? [True, True] Translation: X:814.23, Y:-61.15, Z:3.21 [[ 9.99996120e-01 1.03860292e-03 2.58477251e-03 8.14228195e+02] [-1.03835483e-03 9.99999456e-01 -9.73220038e-05 -6.11472229e+01] [-2.58487219e-03 9.46377152e-05 9.99996655e-01 3.21362571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.250714057 meters Centerline goodness [0,1] 0.980597577840171 Centerline is valid? [True, True] Translation: X:814.26, Y:-61.15, Z:3.21 [[ 9.99983330e-01 4.97835040e-03 2.92506840e-03 8.14259068e+02] [-4.97804940e-03 9.99987603e-01 -1.10177002e-04 -6.11462750e+01] [-2.92558064e-03 9.56140300e-05 9.99995716e-01 3.21389880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.280714057 meters Centerline goodness [0,1] 0.980597577840171 Centerline is valid? [True, True] Translation: X:814.29, Y:-61.15, Z:3.21 [[ 9.99983330e-01 4.97835040e-03 2.92506856e-03 8.14289063e+02] [-4.97804941e-03 9.99987603e-01 -1.10172704e-04 -6.11474048e+01] [-2.92558078e-03 9.56097317e-05 9.99995716e-01 3.21390605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3107140569999 meters Centerline goodness [0,1] 0.982700705408129 Centerline is valid? [True, True] Translation: X:814.32, Y:-61.15, Z:3.21 [[ 9.99967538e-01 7.59224819e-03 2.69845049e-03 8.14319944e+02] [-7.59200140e-03 9.99971175e-01 -1.01690451e-04 -6.11477368e+01] [-2.69914476e-03 8.12005101e-05 9.99996354e-01 3.21441523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3407140569999 meters Centerline goodness [0,1] 0.9820648618994366 Centerline is valid? [True, True] Translation: X:814.35, Y:-61.15, Z:3.21 [[ 9.99947578e-01 9.70942579e-03 3.25074956e-03 8.14350690e+02] [-9.70907883e-03 9.99952858e-01 -1.22498430e-04 -6.11494461e+01] [-3.25178570e-03 9.09302244e-05 9.99994709e-01 3.21433442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.370714057 meters Centerline goodness [0,1] 0.9834095990304854 Centerline is valid? [True, True] Translation: X:814.38, Y:-61.15, Z:3.21 [[ 9.99884348e-01 1.50195690e-02 2.38830984e-03 8.14380700e+02] [-1.50193969e-02 9.99887198e-01 -8.99989985e-05 -6.11533522e+01] [-2.38939218e-03 5.41176165e-05 9.99997144e-01 3.21473836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.400714057 meters Centerline goodness [0,1] 0.9839998313552712 Centerline is valid? [True, True] Translation: X:814.41, Y:-61.15, Z:3.21 [[ 9.99859457e-01 1.65667885e-02 2.57051187e-03 8.14409702e+02] [-1.65665948e-02 9.99862760e-01 -9.66636425e-05 -6.11537194e+01] [-2.57176049e-03 5.40654287e-05 9.99996692e-01 3.21452184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4307140569999 meters Centerline goodness [0,1] 0.9846060275581469 Centerline is valid? [True, True] Translation: X:814.44, Y:-61.16, Z:3.21 [[ 9.99813422e-01 1.91323743e-02 2.65943096e-03 8.14438394e+02] [-1.91321764e-02 9.99816958e-01 -9.98186987e-05 -6.11576893e+01] [-2.66085394e-03 4.89193725e-05 9.99996459e-01 3.21475265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4607140569999 meters Centerline goodness [0,1] 0.9846522076885931 Centerline is valid? [True, True] Translation: X:814.47, Y:-61.16, Z:3.21 [[ 9.99807644e-01 1.93334189e-02 3.30071857e-03 8.14466391e+02] [-1.93331162e-02 9.99813090e-01 -1.23597468e-04 -6.11606118e+01] [-3.30249120e-03 5.97605173e-05 9.99994545e-01 3.21465197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4907140569999 meters Centerline goodness [0,1] 0.9849728209541 Centerline is valid? [True, True] Translation: X:814.49, Y:-61.16, Z:3.21 [[ 9.99803128e-01 1.94996988e-02 3.66975459e-03 8.14494794e+02] [-1.94993267e-02 9.99809861e-01 -1.37158018e-04 -6.11630001e+01] [-3.67173137e-03 6.55732721e-05 9.99993257e-01 3.21475567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.520714057 meters Centerline goodness [0,1] 0.9849721358351944 Centerline is valid? [True, True] Translation: X:814.52, Y:-61.17, Z:3.22 [[ 9.99815779e-01 1.88507474e-02 3.61351815e-03 8.14522705e+02] [-1.88503833e-02 9.99822307e-01 -1.34797452e-04 -6.11699742e+01] [-3.61541709e-03 6.66564171e-05 9.99993462e-01 3.21544691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5507140569999 meters Centerline goodness [0,1] 0.9861638403779633 Centerline is valid? [True, True] Translation: X:814.55, Y:-61.17, Z:3.22 [[ 9.99841075e-01 1.73847680e-02 3.94900850e-03 8.14551757e+02] [-1.73843226e-02 9.99848870e-01 -1.47100260e-04 -6.11727641e+01] [-3.95096899e-03 7.84260440e-05 9.99992192e-01 3.21539150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5807140569999 meters Centerline goodness [0,1] 0.9856392220896397 Centerline is valid? [True, True] Translation: X:814.58, Y:-61.18, Z:3.22 [[ 9.99903436e-01 1.34646701e-02 3.43813120e-03 8.14580329e+02] [-1.34643097e-02 9.99909344e-01 -1.27947506e-04 -6.11830323e+01] [-3.43954229e-03 8.16430871e-05 9.99994081e-01 3.21567419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6107140569999 meters Centerline goodness [0,1] 0.9843763072032126 Centerline is valid? [True, True] Translation: X:814.61, Y:-61.19, Z:3.22 [[ 9.99935961e-01 1.07066112e-02 3.66626966e-03 8.14610065e+02] [-1.07061828e-02 9.99942678e-01 -1.36455088e-04 -6.11886246e+01] [-3.66752048e-03 9.71945964e-05 9.99993270e-01 3.21622188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.640714057 meters Centerline goodness [0,1] 0.9852664576802508 Centerline is valid? [True, True] Translation: X:814.64, Y:-61.19, Z:3.22 [[ 9.99965148e-01 7.53471486e-03 3.59603217e-03 8.14640075e+02] [-7.53428223e-03 9.99971608e-01 -1.33840419e-04 -6.11942755e+01] [-3.59693852e-03 1.06742233e-04 9.99993525e-01 3.21681093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6707140569999 meters Centerline goodness [0,1] 0.9850245072478883 Centerline is valid? [True, True] Translation: X:814.67, Y:-61.21, Z:3.22 [[ 9.99993641e-01 -4.47198362e-04 3.53797649e-03 8.14669374e+02] [ 4.47666844e-04 9.99999891e-01 -1.31624271e-04 -6.12071075e+01] [-3.53791725e-03 1.33207269e-04 9.99993733e-01 3.21719250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7007140569999 meters Centerline goodness [0,1] 0.9840893845379842 Centerline is valid? [True, True] Translation: X:814.70, Y:-61.21, Z:3.22 [[ 9.99983660e-01 -4.46727759e-03 3.56681816e-03 8.14699985e+02] [ 4.46777952e-03 9.99990011e-01 -1.32765737e-04 -6.12135604e+01] [-3.56618943e-03 1.48699325e-04 9.99993630e-01 3.21725128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7307140569999 meters Centerline goodness [0,1] 0.9843949377680159 Centerline is valid? [True, True] Translation: X:814.73, Y:-61.22, Z:3.22 [[ 9.99925171e-01 -1.18342709e-02 3.09889823e-03 8.14729720e+02] [ 1.18346849e-02 9.99929961e-01 -1.15296105e-04 -6.12214478e+01] [-3.09731674e-03 1.51961961e-04 9.99995192e-01 3.21714247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.760714057 meters Centerline goodness [0,1] 0.984375 Centerline is valid? [True, True] Translation: X:814.76, Y:-61.23, Z:3.22 [[ 9.99882240e-01 -1.50315141e-02 3.09188992e-03 8.14761146e+02] [ 1.50319418e-02 9.99887007e-01 -1.15157400e-04 -6.12250984e+01] [-3.08980957e-03 1.61620949e-04 9.99995213e-01 3.21685770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.790714057 meters Centerline goodness [0,1] 0.9838895041477735 Centerline is valid? [True, True] Translation: X:814.79, Y:-61.23, Z:3.22 [[ 9.99831374e-01 -1.81423266e-02 2.84245640e-03 8.14791971e+02] [ 1.81427008e-02 9.99835402e-01 -1.05914262e-04 -6.12296064e+01] [-2.84006701e-03 1.57466238e-04 9.99995955e-01 3.21652021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8207140569999 meters Centerline goodness [0,1] 0.9833100660512991 Centerline is valid? [True, True] Translation: X:814.82, Y:-61.23, Z:3.22 [[ 9.99780078e-01 -2.08010144e-02 2.66708617e-03 8.14821655e+02] [ 2.08013539e-02 9.99783623e-01 -9.96133566e-05 -6.12349216e+01] [-2.66443701e-03 1.55070453e-04 9.99996438e-01 3.21645175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8507140569999 meters Centerline goodness [0,1] 0.9852032451973601 Centerline is valid? [True, True] Translation: X:814.85, Y:-61.24, Z:3.22 [[ 9.99669929e-01 -2.55949809e-02 2.22026127e-03 8.14852268e+02] [ 2.55952279e-02 9.99672385e-01 -8.29162263e-05 -6.12365895e+01] [-2.21741164e-03 1.39716951e-04 9.99997532e-01 3.21616120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.880714057 meters Centerline goodness [0,1] 0.983317925876124 Centerline is valid? [True, True] Translation: X:814.88, Y:-61.24, Z:3.22 [[ 9.99551103e-01 -2.99548818e-02 5.45798203e-04 8.14881238e+02] [ 2.99548974e-02 9.99551251e-01 -2.04287428e-05 -6.12410677e+01] [-5.44941336e-04 3.67689015e-05 9.99999851e-01 3.21524957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.910714057 meters Centerline goodness [0,1] 0.9835303521097135 Centerline is valid? [True, True] Translation: X:814.91, Y:-61.24, Z:3.22 [[ 9.99484631e-01 -3.20956461e-02 5.84867005e-04 8.14912258e+02] [ 3.20956643e-02 9.99484801e-01 -2.18906584e-05 -6.12438160e+01] [-5.83863088e-04 4.06510717e-05 9.99999829e-01 3.21605968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9407140569999 meters Centerline goodness [0,1] 0.9833953380835277 Centerline is valid? [True, True] Translation: X:814.94, Y:-61.24, Z:3.22 [[ 9.99410058e-01 -3.43322629e-02 9.11426296e-04 8.14943390e+02] [ 3.43323083e-02 9.99410472e-01 -3.41560063e-05 -6.12432444e+01] [-9.09716332e-04 6.54272248e-05 9.99999584e-01 3.21634590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9707140569999 meters Centerline goodness [0,1] 0.9832402234636871 Centerline is valid? [True, True] Translation: X:814.97, Y:-61.24, Z:3.22 [[ 9.99334228e-01 -3.64377546e-02 1.84142994e-03 8.14974190e+02] [ 3.64379433e-02 9.99335915e-01 -6.90252910e-05 -6.12439590e+01] [-1.83769194e-03 1.36077255e-04 9.99998302e-01 3.21710771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.000714057 meters Centerline goodness [0,1] 0.9816017998696356 Centerline is valid? [True, True] Translation: X:815.00, Y:-61.25, Z:3.22 [[ 9.99162655e-01 -4.07478529e-02 3.68810190e-03 8.15003210e+02] [ 4.07486399e-02 9.99169420e-01 -1.38457603e-04 -6.12484897e+01] [-3.67939679e-03 2.88626803e-04 9.99993189e-01 3.21921526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.030714057 meters Centerline goodness [0,1] 0.9819530026109661 Centerline is valid? [True, True] Translation: X:815.03, Y:-61.25, Z:3.22 [[ 9.99071816e-01 -4.28424981e-02 4.47513801e-03 8.15034255e+02] [ 4.28436780e-02 9.99081774e-01 -1.68074398e-04 -6.12458254e+01] [-4.46382810e-03 3.59649766e-04 9.99989972e-01 3.21955339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0607140569999 meters Centerline goodness [0,1] 0.9805248009411962 Centerline is valid? [True, True] Translation: X:815.07, Y:-61.24, Z:3.22 [[ 9.98884348e-01 -4.69478517e-02 5.09504612e-03 8.15065131e+02] [ 4.69494342e-02 9.98897249e-01 -1.91369147e-04 -6.12427567e+01] [-5.08044318e-03 4.30365178e-04 9.99987002e-01 3.21967705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0907140569999 meters Centerline goodness [0,1] 0.9784555237935093 Centerline is valid? [True, True] Translation: X:815.10, Y:-61.25, Z:3.22 [[ 9.98795054e-01 -4.88452192e-02 4.75236643e-03 8.15095243e+02] [ 4.88466177e-02 9.98806276e-01 -1.78589400e-04 -6.12471628e+01] [-4.73797018e-03 4.10511236e-04 9.99988691e-01 3.21905441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.120714057 meters Centerline goodness [0,1] 0.9783786044371955 Centerline is valid? [True, True] Translation: X:815.13, Y:-61.25, Z:3.22 [[ 9.98732286e-01 -5.01417943e-02 4.42963551e-03 8.15127337e+02] [ 5.01430234e-02 9.98742033e-01 -1.66794115e-04 -6.12452257e+01] [-4.41569982e-03 3.88697985e-04 9.99990175e-01 3.21822439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.150714057 meters Centerline goodness [0,1] 0.9765821722343462 Centerline is valid? [True, True] Translation: X:815.16, Y:-61.24, Z:3.22 [[ 9.98534724e-01 -5.39983259e-02 3.54763258e-03 8.15157602e+02] [ 5.39991382e-02 9.98540973e-01 -1.33510635e-04 -6.12418740e+01] [-3.53524714e-03 3.24884107e-04 9.99993698e-01 3.21725500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1807140569999 meters Centerline goodness [0,1] 0.9729328030144442 Centerline is valid? [True, True] Translation: X:815.19, Y:-61.25, Z:3.22 [[ 9.98420706e-01 -5.60979346e-02 3.01930753e-03 8.15187074e+02] [ 5.60985325e-02 9.98425231e-01 -1.13630967e-04 -6.12489278e+01] [-3.00817835e-03 2.82830231e-04 9.99995435e-01 3.21668046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2107140569999 meters Centerline goodness [0,1] 0.9717688575209528 Centerline is valid? [True, True] Translation: X:815.22, Y:-61.24, Z:3.22 [[ 9.98214334e-01 -5.96934565e-02 2.19867205e-03 8.15218636e+02] [ 5.96937823e-02 9.98216733e-01 -8.28085205e-05 -6.12433266e+01] [-2.18980811e-03 2.13907703e-04 9.99997579e-01 3.21641664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2407140569999 meters Centerline goodness [0,1] 0.9721860426032519 Centerline is valid? [True, True] Translation: X:815.25, Y:-61.24, Z:3.22 [[ 9.98107537e-01 -6.14524080e-02 2.22415334e-03 8.15250152e+02] [ 6.14527460e-02 9.98109990e-01 -8.38512526e-05 -6.12362405e+01] [-2.21479681e-03 2.20372898e-04 9.99997523e-01 3.21651993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.270714057 meters Centerline goodness [0,1] 0.9718824864455933 Centerline is valid? [True, True] Translation: X:815.28, Y:-61.23, Z:3.22 [[ 9.98022418e-01 -6.28251774e-02 2.06175382e-03 8.15281142e+02] [ 6.28254708e-02 9.98024526e-01 -7.77631692e-05 -6.12304128e+01] [-2.05279540e-03 2.07140041e-04 9.99997872e-01 3.21681682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3007140569999 meters Centerline goodness [0,1] 0.970720625972824 Centerline is valid? [True, True] Translation: X:815.31, Y:-61.23, Z:3.22 [[ 9.97869995e-01 -6.52016972e-02 2.05231594e-03 8.15311330e+02] [ 6.52019927e-02 9.97872083e-01 -7.73744349e-05 -6.12261134e+01] [-2.04290384e-03 2.11024716e-04 9.99997891e-01 3.21736004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3307140569999 meters Centerline goodness [0,1] 0.9674111739121299 Centerline is valid? [True, True] Translation: X:815.34, Y:-61.23, Z:3.22 [[ 9.97821320e-01 -6.59442975e-02 1.99083139e-03 8.15341866e+02] [ 6.59445777e-02 9.97823284e-01 -7.53429842e-05 -6.12290448e+01] [-1.98152947e-03 2.06463371e-04 9.99998015e-01 3.21719480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3607140569999 meters Centerline goodness [0,1] 0.9694116160020224 Centerline is valid? [True, True] Translation: X:815.37, Y:-61.22, Z:3.22 [[ 9.97701461e-01 -6.77520491e-02 1.20606088e-03 8.15373513e+02] [ 6.77521532e-02 9.97702182e-01 -4.56512176e-05 -6.12158032e+01] [-1.20019661e-03 1.27259508e-04 9.99999272e-01 3.21622214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.390714057 meters Centerline goodness [0,1] 0.9664729171931598 Centerline is valid? [True, True] Translation: X:815.40, Y:-61.22, Z:3.22 [[ 9.97666676e-01 -6.82707486e-02 5.55911754e-04 8.15404842e+02] [ 6.82707708e-02 9.97666829e-01 -2.10836633e-05 -6.12162352e+01] [-5.53175319e-04 5.89869922e-05 9.99999845e-01 3.21612302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4207140569999 meters Centerline goodness [0,1] 0.968924353117039 Centerline is valid? [True, True] Translation: X:815.44, Y:-61.21, Z:3.22 [[ 9.97639828e-01 -6.86632570e-02 -3.61955627e-04 8.15437594e+02] [ 6.86632665e-02 9.97639893e-01 1.37279064e-05 -6.12073053e+01] [ 3.60158770e-04 -3.85485619e-05 9.99999934e-01 3.21552617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4507140569999 meters Centerline goodness [0,1] 0.890911378601686 Centerline is valid? [True, False] Translation: X:815.44, Y:-61.20, Z:3.22 [[ 9.97802804e-01 -6.62522846e-02 -4.46023692e-04 8.15437194e+02] [ 6.62527505e-02 9.97802237e-01 1.12654953e-03 -6.11992533e+01] [ 3.70406957e-04 -1.15362458e-03 9.99999266e-01 3.21556787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4807140569999 meters Centerline goodness [0,1] 0.9680438448566611 Centerline is valid? [False, True] Translation: X:815.44, Y:-61.20, Z:3.22 [[ 9.98002513e-01 -6.31735154e-02 -3.00070899e-04 8.15436194e+02] [ 6.31742088e-02 9.97994660e-01 3.95952561e-03 -6.11965319e+01] [ 4.93320024e-05 -3.97057326e-03 9.99992116e-01 3.21589540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.510714057 meters Centerline goodness [0,1] 0.968068930562595 Centerline is valid? [True, True] Translation: X:815.47, Y:-61.19, Z:3.22 [[ 9.98061556e-01 -6.22277434e-02 9.16095062e-04 8.15467985e+02] [ 6.22278056e-02 9.98061971e-01 -3.94703783e-05 -6.11872365e+01] [-9.11863491e-04 9.64004526e-05 9.99999580e-01 3.21947417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.540714057 meters Centerline goodness [0,1] 0.9680812784421632 Centerline is valid? [True, True] Translation: X:815.50, Y:-61.18, Z:3.22 [[ 9.98082640e-01 -6.18856441e-02 1.10006659e-03 8.15499883e+02] [ 6.18857336e-02 9.98083240e-01 -4.74881284e-05 -6.11844126e+01] [-1.09501920e-03 1.15475505e-04 9.99999394e-01 3.22001813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5707140569999 meters Centerline goodness [0,1] 0.9700372944566876 Centerline is valid? [True, True] Translation: X:815.53, Y:-61.18, Z:3.22 [[ 9.98139990e-01 -6.09629794e-02 2.73713622e-04 8.15531331e+02] [ 6.09629849e-02 9.98140027e-01 -1.18329856e-05 -6.11768302e+01] [-2.72483148e-04 2.84973756e-05 9.99999962e-01 3.22088519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6007140569999 meters Centerline goodness [0,1] 0.9700367373808159 Centerline is valid? [True, True] Translation: X:815.56, Y:-61.18, Z:3.22 [[ 9.98165946e-01 -6.05327962e-02 -7.23925629e-04 8.15562486e+02] [ 6.05328346e-02 9.98166206e-01 3.12756806e-05 -6.11759181e+01] [ 7.20704894e-04 -7.50395897e-05 9.99999737e-01 3.22063262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.630714057 meters Centerline goodness [0,1] 0.970047405454816 Centerline is valid? [True, True] Translation: X:815.59, Y:-61.17, Z:3.22 [[ 9.98189048e-01 -6.01372204e-02 -1.46291405e-03 8.15594708e+02] [ 6.01373771e-02 9.98190108e-01 6.33215733e-05 -6.11735119e+01] [ 1.45645835e-03 -1.51182715e-04 9.99998928e-01 3.21951569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.660714057 meters Centerline goodness [0,1] 0.9733983642869314 Centerline is valid? [True, True] Translation: X:815.63, Y:-61.17, Z:3.22 [[ 9.98252508e-01 -5.89658409e-02 -3.86772961e-03 8.15626893e+02] [ 5.89669285e-02 9.98259923e-01 1.67674483e-04 -6.11664803e+01] [ 3.85111240e-03 -3.95449608e-04 9.99992506e-01 3.21811630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6907140569999 meters Centerline goodness [0,1] 0.9718676627534685 Centerline is valid? [True, True] Translation: X:815.66, Y:-61.16, Z:3.22 [[ 9.98268405e-01 -5.85925570e-02 -5.20615190e-03 8.15659299e+02] [ 5.85945245e-02 9.98281839e-01 2.26068442e-04 -6.11649922e+01] [ 5.18396096e-03 -5.30728978e-04 9.99986422e-01 3.21738349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7207140569999 meters Centerline goodness [0,1] 0.9758541849184812 Centerline is valid? [True, True] Translation: X:815.69, Y:-61.16, Z:3.22 [[ 9.98297045e-01 -5.80225092e-02 -6.03316023e-03 8.15691598e+02] [ 5.80251438e-02 9.98315087e-01 2.62421519e-04 -6.11582886e+01] [ 6.00776853e-03 -6.12049617e-04 9.99981766e-01 3.21763635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.750714057 meters Centerline goodness [0,1] 0.9669728314519936 Centerline is valid? [True, True] Translation: X:815.72, Y:-61.16, Z:3.22 [[ 9.98354571e-01 -5.68806040e-02 -7.26268721e-03 8.15722320e+02] [ 5.68843941e-02 9.98380722e-01 3.16183944e-04 -6.11593310e+01] [ 7.23294216e-03 -7.28797247e-04 9.99973576e-01 3.21770407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.780714057 meters Centerline goodness [0,1] 0.9691918759105321 Centerline is valid? [True, True] Translation: X:815.75, Y:-61.15, Z:3.22 [[ 9.98359015e-01 -5.66478949e-02 -8.38407597e-03 8.15754797e+02] [ 5.66529424e-02 9.98393865e-01 3.65579507e-04 -6.11548169e+01] [ 8.34990070e-03 -8.39962170e-04 9.99964786e-01 3.21795689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8107140569999 meters Centerline goodness [0,1] 0.9786816692533196 Centerline is valid? [True, True] Translation: X:815.79, Y:-61.14, Z:3.22 [[ 9.98386442e-01 -5.60369725e-02 -9.18527759e-03 8.15787770e+02] [ 5.60430114e-02 9.98428275e-01 4.01185593e-04 -6.11417090e+01] [ 9.14835963e-03 -9.15308874e-04 9.99957734e-01 3.21883762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8407140569999 meters Centerline goodness [0,1] 0.9789496387361156 Centerline is valid? [True, True] Translation: X:815.82, Y:-61.14, Z:3.22 [[ 9.98390282e-01 -5.58215016e-02 -1.00401655e-02 8.15821601e+02] [ 5.58287190e-02 9.98440264e-01 4.39811672e-04 -6.11361118e+01] [ 9.99995450e-03 -9.99633276e-04 9.99949500e-01 3.21959390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.870714057 meters Centerline goodness [0,1] 0.9523491810688074 Centerline is valid? [True, True] Translation: X:815.85, Y:-61.15, Z:3.22 [[ 9.98402595e-01 -5.56450123e-02 -9.79242170e-03 8.15853432e+02] [ 5.56518862e-02 9.98450140e-01 4.30661521e-04 -6.11493617e+01] [ 9.75328065e-03 -9.74940317e-04 9.99951960e-01 3.21856948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.900714057 meters Centerline goodness [0,1] 0.9769194230935314 Centerline is valid? [True, True] Translation: X:815.89, Y:-61.14, Z:3.22 [[ 9.98411226e-01 -5.55210201e-02 -9.61459323e-03 8.15887411e+02] [ 5.55276510e-02 9.98457060e-01 4.23901327e-04 -6.11394735e+01] [ 9.57622306e-03 -9.57103621e-04 9.99953689e-01 3.22011121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9307140569999 meters Centerline goodness [0,1] 0.9409738022492362 Centerline is valid? [True, False] Translation: X:815.89, Y:-61.14, Z:3.22 [[ 9.98569190e-01 -5.26569945e-02 -9.31739369e-03 8.15886029e+02] [ 5.26872225e-02 9.98606470e-01 3.02893080e-03 -6.11361153e+01] [ 9.14491523e-03 -3.51550457e-03 9.99952005e-01 3.22061792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9607140569999 meters Centerline goodness [0,1] 0.9757264735178208 Centerline is valid? [False, True] Translation: X:815.89, Y:-61.13, Z:3.22 [[ 9.98719599e-01 -4.97604048e-02 -9.11402698e-03 8.15885028e+02] [ 4.98126602e-02 9.98742885e-01 5.59904531e-03 -6.11328868e+01] [ 8.82395884e-03 -6.04587021e-03 9.99942791e-01 3.22101398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9907140569999 meters Centerline goodness [0,1] 0.9757775703774445 Centerline is valid? [True, True] Translation: X:815.92, Y:-61.13, Z:3.22 [[ 9.98717049e-01 -4.97449603e-02 -9.47069605e-03 8.15917086e+02] [ 4.97516216e-02 9.98761511e-01 4.68920567e-04 -6.11291427e+01] [ 9.43564026e-03 -9.39501451e-04 9.99955042e-01 3.22309580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.020714057 meters Centerline goodness [0,1] 0.9788769010789029 Centerline is valid? [True, True] Translation: X:815.95, Y:-61.13, Z:3.22 [[ 9.98734243e-01 -4.94997702e-02 -8.92657133e-03 8.15949569e+02] [ 4.95056839e-02 9.98773744e-01 4.42613940e-04 -6.11259153e+01] [ 8.89371578e-03 -8.83969717e-04 9.99960059e-01 3.22367118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0507140569999 meters Centerline goodness [0,1] 0.9774221641628565 Centerline is valid? [True, True] Translation: X:815.98, Y:-61.13, Z:3.22 [[ 9.98712138e-01 -4.98470438e-02 -9.45181729e-03 8.15982155e+02] [ 4.98536958e-02 9.98756421e-01 4.69341145e-04 -6.11271780e+01] [ 9.41666794e-03 -9.39944722e-04 9.99955220e-01 3.22362213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0807140569999 meters Centerline goodness [0,1] 0.9718129820608372 Centerline is valid? [True, True] Translation: X:816.01, Y:-61.13, Z:3.22 [[ 9.98642047e-01 -5.09679703e-02 -1.07855240e-02 8.16012571e+02] [ 5.09767001e-02 9.98699699e-01 5.35860812e-04 -6.11280428e+01] [ 1.07441878e-02 -1.08494356e-03 9.99941691e-01 3.22304772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1107140569999 meters Centerline goodness [0,1] 0.9742018492672715 Centerline is valid? [True, True] Translation: X:816.04, Y:-61.13, Z:3.22 [[ 9.98605435e-01 -5.15469060e-02 -1.14061977e-02 8.16044402e+02] [ 5.15567132e-02 9.98669907e-01 5.67252054e-04 -6.11262875e+01] [ 1.13617863e-02 -1.15452705e-03 9.99934786e-01 3.22284157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.140714057 meters Centerline goodness [0,1] 0.9785320378151261 Centerline is valid? [True, True] Translation: X:816.08, Y:-61.12, Z:3.22 [[ 9.98563792e-01 -5.18274190e-02 -1.35746865e-02 8.16076382e+02] [ 5.18413459e-02 9.98655105e-01 6.75844460e-04 -6.11205175e+01] [ 1.35214027e-02 -1.37860382e-03 9.99907631e-01 3.22209454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1707140569999 meters Centerline goodness [0,1] 0.9743151809761545 Centerline is valid? [True, True] Translation: X:816.11, Y:-61.12, Z:3.22 [[ 9.98565745e-01 -5.16157798e-02 -1.42219668e-02 8.16107710e+02] [ 5.16310562e-02 9.98665976e-01 7.08837467e-04 -6.11219693e+01] [ 1.41664071e-02 -1.44211598e-03 9.99898611e-01 3.22102789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2007140569999 meters Centerline goodness [0,1] 0.9743151809761545 Centerline is valid? [True, True] Translation: X:816.14, Y:-61.12, Z:3.22 [[ 9.98569400e-01 -5.15450238e-02 -1.42219179e-02 8.16139523e+02] [ 5.15603070e-02 9.98669631e-01 7.09817358e-04 -6.11236190e+01] [ 1.41664099e-02 -1.44208835e-03 9.99898611e-01 3.22107868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2307140569999 meters Centerline goodness [0,1] 0.9809417040358744 Centerline is valid? [True, True] Translation: X:816.17, Y:-61.12, Z:3.22 [[ 9.98618291e-01 -5.04309848e-02 -1.47724454e-02 8.16171071e+02] [ 5.04473624e-02 9.98726449e-01 7.37891299e-04 -6.11153801e+01] [ 1.47164194e-02 -1.48210266e-03 9.99890609e-01 3.22165533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.260714057 meters Centerline goodness [0,1] 0.9774467523323358 Centerline is valid? [True, True] Translation: X:816.20, Y:-61.12, Z:3.22 [[ 9.98677803e-01 -4.93722867e-02 -1.43185942e-02 8.16201746e+02] [ 4.93875729e-02 9.98779433e-01 7.15735808e-04 -6.11170299e+01] [ 1.42657799e-02 -1.42195008e-03 9.99897228e-01 3.22108021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.290714057 meters Centerline goodness [0,1] 0.9780470170672392 Centerline is valid? [True, True] Translation: X:816.23, Y:-61.12, Z:3.22 [[ 9.98763182e-01 -4.77384229e-02 -1.38977824e-02 8.16232355e+02] [ 4.77526679e-02 9.98858949e-01 6.94756615e-04 -6.11160063e+01] [ 1.38487578e-02 -1.35755352e-03 9.99903180e-01 3.22123765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3207140569999 meters Centerline goodness [0,1] 0.9808281363626347 Centerline is valid? [True, True] Translation: X:816.26, Y:-61.11, Z:3.22 [[ 9.98830233e-01 -4.62876361e-02 -1.39864114e-02 8.16264015e+02] [ 4.63019286e-02 9.98927246e-01 6.99630039e-04 -6.11125945e+01] [ 1.39390232e-02 -1.34640946e-03 9.99901941e-01 3.22153581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3507140569999 meters Centerline goodness [0,1] 0.984016050090392 Centerline is valid? [True, True] Translation: X:816.30, Y:-61.10, Z:3.22 [[ 9.98931189e-01 -4.40546983e-02 -1.39879522e-02 8.16295002e+02] [ 4.40687778e-02 9.99028254e-01 6.99764037e-04 -6.11028374e+01] [ 1.39435316e-02 -1.31544808e-03 9.99901919e-01 3.22268310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.380714057 meters Centerline goodness [0,1] 0.9736720044174489 Centerline is valid? [True, True] Translation: X:816.33, Y:-61.11, Z:3.22 [[ 9.98967713e-01 -4.32408657e-02 -1.39188732e-02 8.16325813e+02] [ 4.32547374e-02 9.99063833e-01 6.96976770e-04 -6.11107202e+01] [ 1.38757049e-02 -1.29831449e-03 9.99902885e-01 3.22173945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.410714057 meters Centerline goodness [0,1] 0.9831376024817194 Centerline is valid? [True, True] Translation: X:816.36, Y:-61.10, Z:3.22 [[ 9.98994530e-01 -4.26272149e-02 -1.38870257e-02 8.16359045e+02] [ 4.26409830e-02 9.99090217e-01 6.96717252e-04 -6.11014045e+01] [ 1.38446924e-02 -1.28817315e-03 9.99903328e-01 3.22324575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4407140569999 meters Centerline goodness [0,1] 0.9843253924202393 Centerline is valid? [True, True] Translation: X:816.39, Y:-61.10, Z:3.22 [[ 9.98990152e-01 -4.27636276e-02 -1.37821762e-02 8.16390933e+02] [ 4.27772127e-02 9.99084396e-01 6.92281925e-04 -6.10983242e+01] [ 1.37399527e-02 -1.28114591e-03 9.99904782e-01 3.22366255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4707140569999 meters Centerline goodness [0,1] 0.9831078093216592 Centerline is valid? [True, True] Translation: X:816.42, Y:-61.10, Z:3.22 [[ 9.98963226e-01 -4.34279666e-02 -1.36559226e-02 8.16423289e+02] [ 4.34413784e-02 9.99055742e-01 6.86896076e-04 -6.10996457e+01] [ 1.36131974e-02 -1.27941602e-03 9.99906518e-01 3.22344816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.500714057 meters Centerline goodness [0,1] 0.9828433006644888 Centerline is valid? [True, True] Translation: X:816.45, Y:-61.10, Z:3.22 [[ 9.98897176e-01 -4.47486030e-02 -1.42124511e-02 8.16454496e+02] [ 4.47632710e-02 9.98997366e-01 7.15461138e-04 -6.10993237e+01] [ 1.41661854e-02 -1.35086791e-03 9.99898742e-01 3.22290676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.530714057 meters Centerline goodness [0,1] 0.9825204335465529 Centerline is valid? [True, True] Translation: X:816.49, Y:-61.10, Z:3.22 [[ 9.98836069e-01 -4.60394835e-02 -1.43830842e-02 8.16485226e+02] [ 4.60546425e-02 9.98938659e-01 7.24336899e-04 -6.10999829e+01] [ 1.43344707e-02 -1.38590162e-03 9.99896296e-01 3.22234843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5607140569999 meters Centerline goodness [0,1] 0.9826814771943103 Centerline is valid? [True, True] Translation: X:816.52, Y:-61.10, Z:3.22 [[ 9.98766385e-01 -4.73528246e-02 -1.49472050e-02 8.16516912e+02] [ 4.73693495e-02 9.98877158e-01 7.53257408e-04 -6.10975734e+01] [ 1.48947528e-02 -1.46036756e-03 9.99888001e-01 3.22190878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5907140569999 meters Centerline goodness [0,1] 0.9828623437742802 Centerline is valid? [True, True] Translation: X:816.55, Y:-61.10, Z:3.22 [[ 9.98736989e-01 -4.78493224e-02 -1.53254625e-02 8.16549332e+02] [ 4.78667683e-02 9.98853430e-01 7.73369539e-04 -6.10988543e+01] [ 1.52708855e-02 -1.50597312e-03 9.99882259e-01 3.22138079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.620714057 meters Centerline goodness [0,1] 0.9778808419550482 Centerline is valid? [True, True] Translation: X:816.58, Y:-61.10, Z:3.22 [[ 9.98712986e-01 -4.81467474e-02 -1.59456261e-02 8.16580638e+02] [ 4.81656858e-02 9.98839035e-01 8.05556570e-04 -6.11026663e+01] [ 1.58883288e-02 -1.57255182e-03 9.99872536e-01 3.22070400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.650714057 meters Centerline goodness [0,1] 0.9819246265832647 Centerline is valid? [True, True] Translation: X:816.61, Y:-61.10, Z:3.22 [[ 9.98729430e-01 -4.78307785e-02 -1.58663699e-02 8.16612756e+02] [ 4.78495072e-02 9.98854234e-01 8.02664260e-04 -6.10974133e+01] [ 1.58097987e-02 -1.56084240e-03 9.99873799e-01 3.22197721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6807140569999 meters Centerline goodness [0,1] 0.982929281644509 Centerline is valid? [True, True] Translation: X:816.65, Y:-61.10, Z:3.22 [[ 9.98755340e-01 -4.73273056e-02 -1.57447294e-02 8.16645044e+02] [ 4.73457039e-02 9.98878245e-01 7.97640483e-04 -6.10966834e+01] [ 1.56893175e-02 -1.54209299e-03 9.99875726e-01 3.22291146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7107140569999 meters Centerline goodness [0,1] 0.9659121350120546 Centerline is valid? [True, True] Translation: X:816.68, Y:-61.10, Z:3.22 [[ 9.98812270e-01 -4.63024168e-02 -1.51702387e-02 8.16675376e+02] [ 4.63193850e-02 9.98926385e-01 7.68890740e-04 -6.11018397e+01] [ 1.51183502e-02 -1.47065363e-03 9.99884630e-01 3.22274015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7407140569999 meters Centerline goodness [0,1] 0.6797629269722927 Centerline is valid? [True, False] Translation: X:816.73, Y:-61.10, Z:3.22 [[ 9.98789073e-01 -4.72251267e-02 -1.37904171e-02 8.16728056e+02] [ 4.72037536e-02 9.98883528e-01 -1.87143719e-03 -6.11010672e+01] [ 1.38633994e-02 1.21821157e-03 9.99903156e-01 3.22300501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.770714057 meters Centerline goodness [0,1] 0.9823707935374453 Centerline is valid? [False, True] Translation: X:816.66, Y:-61.10, Z:3.22 [[ 9.99025131e-01 -4.23458526e-02 -1.24746592e-02 8.16656940e+02] [ 4.23387672e-02 9.99102966e-01 -8.31640748e-04 -6.10994134e+01] [ 1.24986855e-02 3.02668314e-04 9.99921843e-01 3.22085458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8007140569999 meters Centerline goodness [0,1] 0.9806458822214773 Centerline is valid? [True, True] Translation: X:816.69, Y:-61.10, Z:3.22 [[ 9.99061594e-01 -4.14320024e-02 -1.26222024e-02 8.16686954e+02] [ 4.14438288e-02 9.99140606e-01 6.76718866e-04 -6.10994979e+01] [ 1.25833172e-02 -1.19919623e-03 9.99920108e-01 3.22018704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8307140569999 meters Centerline goodness [0,1] 0.9793846844823715 Centerline is valid? [True, True] Translation: X:816.72, Y:-61.10, Z:3.22 [[ 9.99076975e-01 -4.08903981e-02 -1.31595072e-02 8.16719021e+02] [ 4.09032186e-02 9.99162863e-01 7.06466010e-04 -6.11000729e+01] [ 1.31196033e-02 -1.24408013e-03 9.99913160e-01 3.21981376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8607140569999 meters Centerline goodness [0,1] 0.9843353185751208 Centerline is valid? [True, True] Translation: X:816.75, Y:-61.10, Z:3.22 [[ 9.99139436e-01 -3.90808180e-02 -1.38952224e-02 8.16751129e+02] [ 3.90949490e-02 9.99235221e-01 7.46695839e-04 -6.10953165e+01] [ 1.38554141e-02 -1.28928627e-03 9.99903178e-01 3.21907913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.890714057 meters Centerline goodness [0,1] 0.9860191814129406 Centerline is valid? [True, True] Translation: X:816.78, Y:-61.09, Z:3.22 [[ 9.99173040e-01 -3.79721259e-02 -1.45379958e-02 8.16782499e+02] [ 3.79874858e-02 9.99277909e-01 7.81751506e-04 -6.10931451e+01] [ 1.44978132e-02 -1.33336694e-03 9.99894012e-01 3.21923801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9207140569999 meters Centerline goodness [0,1] 0.9693200476843834 Centerline is valid? [True, True] Translation: X:816.81, Y:-61.10, Z:3.22 [[ 9.99206440e-01 -3.65058121e-02 -1.59315802e-02 8.16812426e+02] [ 3.65240779e-02 9.99332406e-01 8.56964183e-04 -6.10987253e+01] [ 1.58896602e-02 -1.43817041e-03 9.99872717e-01 3.21704458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9507140569999 meters Centerline goodness [0,1] 0.9877925178495011 Centerline is valid? [True, True] Translation: X:816.85, Y:-61.09, Z:3.22 [[ 9.99241454e-01 -3.54943394e-02 -1.60209036e-02 8.16845475e+02] [ 3.55127001e-02 9.99368853e-01 8.62924384e-04 -6.10876821e+01] [ 1.59801631e-02 -1.43121536e-03 9.99871285e-01 3.21897300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9807140569999 meters Centerline goodness [0,1] 0.9650047290906634 Centerline is valid? [True, True] Translation: X:816.88, Y:-61.10, Z:3.22 [[ 9.99274818e-01 -3.45382509e-02 -1.60295989e-02 8.16875998e+02] [ 3.45565460e-02 9.99402369e-01 8.65677442e-04 -6.10994428e+01] [ 1.59901201e-02 -1.41897724e-03 9.99871143e-01 3.21701072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.010714057 meters Centerline goodness [0,1] 0.9872500789818116 Centerline is valid? [True, True] Translation: X:816.91, Y:-61.09, Z:3.22 [[ 9.99332821e-01 -3.29874171e-02 -1.56761889e-02 8.16908080e+02] [ 3.30047332e-02 9.99454836e-01 8.47118138e-04 -6.10853932e+01] [ 1.56396986e-02 -1.36394139e-03 9.99876762e-01 3.22002833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.040714057 meters Centerline goodness [0,1] 0.9890635990288839 Centerline is valid? [True, True] Translation: X:816.94, Y:-61.09, Z:3.22 [[ 9.99371739e-01 -3.19308560e-02 -1.53801361e-02 8.16939791e+02] [ 3.19474127e-02 9.99489205e-01 8.31953147e-04 -6.10854825e+01] [ 1.53457150e-02 -1.32278602e-03 9.99881373e-01 3.22015779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0707140569999 meters Centerline goodness [0,1] 0.9876705498390825 Centerline is valid? [True, True] Translation: X:816.97, Y:-61.08, Z:3.22 [[ 9.99423757e-01 -3.01191746e-02 -1.56521072e-02 8.16971228e+02] [ 3.01361105e-02 9.99545445e-01 8.47229214e-04 -6.10808764e+01] [ 1.56194747e-02 -1.31843464e-03 9.99877139e-01 3.22089235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1007140569999 meters Centerline goodness [0,1] 0.988646942621648 Centerline is valid? [True, True] Translation: X:817.00, Y:-61.08, Z:3.22 [[ 9.99466896e-01 -2.89524242e-02 -1.50891121e-02 8.17001329e+02] [ 2.89680538e-02 9.99580003e-01 8.18244246e-04 -6.10834087e+01] [ 1.50590845e-02 -1.25491025e-03 9.99885818e-01 3.22097584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.130714057 meters Centerline goodness [0,1] 0.9851058032876214 Centerline is valid? [True, True] Translation: X:817.03, Y:-61.09, Z:3.22 [[ 9.99495888e-01 -2.78689763e-02 -1.52081947e-02 8.17031294e+02] [ 2.78847328e-02 9.99610805e-01 8.24940830e-04 -6.10901682e+01] [ 1.51792855e-02 -1.24860141e-03 9.99884008e-01 3.22075085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.160714057 meters Centerline goodness [0,1] 0.987749060685415 Centerline is valid? [True, True] Translation: X:817.06, Y:-61.08, Z:3.22 [[ 9.99538572e-01 -2.68344090e-02 -1.42322844e-02 8.17063408e+02] [ 2.68481147e-02 9.99639226e-01 7.72773270e-04 -6.10839192e+01] [ 1.42064128e-02 -1.15452669e-03 9.99898417e-01 3.22302447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1907140569999 meters Centerline goodness [0,1] 0.9882994433715778 Centerline is valid? [True, True] Translation: X:817.09, Y:-61.08, Z:3.22 [[ 9.99588670e-01 -2.52113847e-02 -1.36703145e-02 8.17094871e+02] [ 2.52238849e-02 9.99681551e-01 7.42736090e-04 -6.10824566e+01] [ 1.36472358e-02 -1.08724902e-03 9.99906281e-01 3.22393741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2207140569999 meters Centerline goodness [0,1] 0.9882256485003075 Centerline is valid? [True, True] Translation: X:817.13, Y:-61.09, Z:3.22 [[ 9.99598789e-01 -2.46435811e-02 -1.39625943e-02 8.17125965e+02] [ 2.46565768e-02 9.99695692e-01 7.59350263e-04 -6.10869628e+01] [ 1.39396323e-02 -1.10331538e-03 9.99902230e-01 3.22336722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.250714057 meters Centerline goodness [0,1] 0.988650895140665 Centerline is valid? [True, True] Translation: X:817.16, Y:-61.08, Z:3.22 [[ 9.99603253e-01 -2.41279557e-02 -1.45319914e-02 8.17158696e+02] [ 2.41419942e-02 9.99708226e-01 7.91367979e-04 -6.10798468e+01] [ 1.45086573e-02 -1.14188526e-03 9.99894092e-01 3.22345363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.280714057 meters Centerline goodness [0,1] 0.9880251813329683 Centerline is valid? [True, True] Translation: X:817.19, Y:-61.09, Z:3.22 [[ 9.99597374e-01 -2.39286221e-02 -1.52483201e-02 8.17189583e+02] [ 2.39440683e-02 9.99712954e-01 8.31188096e-04 -6.10890291e+01] [ 1.52240540e-02 -1.19596026e-03 9.99883392e-01 3.22156114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3107140569999 meters Centerline goodness [0,1] 0.9888845687624362 Centerline is valid? [True, True] Translation: X:817.22, Y:-61.08, Z:3.22 [[ 9.99582394e-01 -2.40032623e-02 -1.60897830e-02 8.17222216e+02] [ 2.40204885e-02 9.99711081e-01 8.78206337e-04 -6.10839166e+01] [ 1.60640546e-02 -1.26432404e-03 9.99870165e-01 3.22250803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3407140569999 meters Centerline goodness [0,1] 0.9891941391941392 Centerline is valid? [True, True] Translation: X:817.25, Y:-61.09, Z:3.22 [[ 9.99584015e-01 -2.33627417e-02 -1.69109390e-02 8.17253610e+02] [ 2.33816953e-02 9.99726184e-01 9.23917066e-04 -6.10859125e+01] [ 1.68847232e-02 -1.31893915e-03 9.99856573e-01 3.22151108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.370714057 meters Centerline goodness [0,1] 0.9887488542621449 Centerline is valid? [True, True] Translation: X:817.29, Y:-61.08, Z:3.22 [[ 9.99597074e-01 -2.23782733e-02 -1.74614617e-02 8.17285647e+02] [ 2.23983482e-02 9.99748669e-01 9.54925132e-04 -6.10842305e+01] [ 1.74357035e-02 -1.34564827e-03 9.99847081e-01 3.22200067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.400714057 meters Centerline goodness [0,1] 0.9890799203314943 Centerline is valid? [True, True] Translation: X:817.32, Y:-61.09, Z:3.22 [[ 9.99608509e-01 -2.20269843e-02 -1.72522609e-02 8.17315775e+02] [ 2.20465484e-02 9.99756499e-01 9.44611449e-04 -6.10881776e+01] [ 1.72272530e-02 -1.32459445e-03 9.99850722e-01 3.22201233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4307140569999 meters Centerline goodness [0,1] 0.9891540626501614 Centerline is valid? [True, True] Translation: X:817.35, Y:-61.09, Z:3.22 [[ 9.99631652e-01 -2.15966591e-02 -1.64360914e-02 8.17346876e+02] [ 2.16143671e-02 9.99765977e-01 9.00488561e-04 -6.10862842e+01] [ 1.64127974e-02 -1.25541258e-03 9.99864513e-01 3.22344198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4607140569999 meters Centerline goodness [0,1] 0.9881301558203484 Centerline is valid? [True, True] Translation: X:817.38, Y:-61.09, Z:3.22 [[ 9.99655659e-01 -2.11106731e-02 -1.55853379e-02 8.17377193e+02] [ 2.11265405e-02 9.99776445e-01 8.54142475e-04 -6.10887994e+01] [ 1.55638222e-02 -1.18311263e-03 9.99878176e-01 3.22395385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4907140569999 meters Centerline goodness [0,1] 0.9882285452042221 Centerline is valid? [True, True] Translation: X:817.41, Y:-61.09, Z:3.23 [[ 9.99691411e-01 -2.02667103e-02 -1.43646746e-02 8.17408453e+02] [ 2.02801100e-02 9.99794027e-01 7.87755458e-04 -6.10892100e+01] [ 1.43457507e-02 -1.07882955e-03 9.99896512e-01 3.22554285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.520714057 meters Centerline goodness [0,1] 0.9880597699042032 Centerline is valid? [True, True] Translation: X:817.44, Y:-61.09, Z:3.23 [[ 9.99714197e-01 -1.95282039e-02 -1.37903094e-02 8.17438644e+02] [ 1.95404979e-02 9.99808779e-01 7.57305994e-04 -6.10919502e+01] [ 1.37728836e-02 -1.02655907e-03 9.99904622e-01 3.22568165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5507140569999 meters Centerline goodness [0,1] 0.9871997435369009 Centerline is valid? [True, True] Translation: X:817.47, Y:-61.09, Z:3.23 [[ 9.99740522e-01 -1.80719318e-02 -1.38670299e-02 8.17469934e+02] [ 1.80842301e-02 9.99836177e-01 7.61984209e-04 -6.10915859e+01] [ 1.38509876e-02 -1.01256105e-03 9.99903558e-01 3.22550191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5807140569999 meters Centerline goodness [0,1] 0.9877334435945145 Centerline is valid? [True, True] Translation: X:817.50, Y:-61.09, Z:3.22 [[ 9.99751750e-01 -1.74342270e-02 -1.38739443e-02 8.17501342e+02] [ 1.74464831e-02 9.99847508e-01 7.62840581e-04 -6.10930800e+01] [ 1.38585291e-02 -1.00470274e-03 9.99903461e-01 3.22499496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6107140569999 meters Centerline goodness [0,1] 0.9889850150308649 Centerline is valid? [True, True] Translation: X:817.53, Y:-61.09, Z:3.23 [[ 9.99750434e-01 -1.71412533e-02 -1.43264584e-02 8.17532574e+02] [ 1.71542994e-02 9.99852543e-01 7.88233616e-04 -6.10896340e+01] [ 1.43108345e-02 -1.03379726e-03 9.99897060e-01 3.22581140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.640714057 meters Centerline goodness [0,1] 0.9876707611066468 Centerline is valid? [True, True] Translation: X:817.56, Y:-61.10, Z:3.22 [[ 9.99755872e-01 -1.67833577e-02 -1.43706285e-02 8.17562505e+02] [ 1.67964512e-02 9.99858617e-01 7.90912839e-04 -6.10986455e+01] [ 1.43553226e-02 -1.03209532e-03 9.99896424e-01 3.22395711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6707140569999 meters Centerline goodness [0,1] 0.9879258597383554 Centerline is valid? [True, True] Translation: X:817.59, Y:-61.10, Z:3.22 [[ 9.99758365e-01 -1.62463874e-02 -1.48076396e-02 8.17593780e+02] [ 1.62602384e-02 9.99867461e-01 8.15475076e-04 -6.11004455e+01] [ 1.47924285e-02 -1.05605378e-03 9.99890028e-01 3.22368444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7007140569999 meters Centerline goodness [0,1] 0.9878001327565291 Centerline is valid? [True, True] Translation: X:817.62, Y:-61.10, Z:3.22 [[ 9.99754029e-01 -1.58951075e-02 -1.54669510e-02 8.17624657e+02] [ 1.59101775e-02 9.99873062e-01 8.51770487e-04 -6.10974135e+01] [ 1.54514487e-02 -1.09764291e-03 9.99880017e-01 3.22358319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7307140569999 meters Centerline goodness [0,1] 0.987170969737234 Centerline is valid? [True, True] Translation: X:817.65, Y:-61.10, Z:3.22 [[ 9.99765745e-01 -1.51340422e-02 -1.54730544e-02 8.17654057e+02] [ 1.51490291e-02 9.99884884e-01 8.51829167e-04 -6.11014001e+01] [ 1.54583816e-02 -1.08603137e-03 9.99879922e-01 3.22286254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.760714057 meters Centerline goodness [0,1] 0.9884219455716807 Centerline is valid? [True, True] Translation: X:817.68, Y:-61.10, Z:3.22 [[ 9.99790699e-01 -1.27582363e-02 -1.59933152e-02 8.17684670e+02] [ 1.27739458e-02 9.99918022e-01 8.80477740e-04 -6.11020467e+01] [ 1.59807708e-02 -1.08459120e-03 9.99871711e-01 3.22249528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.790714057 meters Centerline goodness [0,1] 0.9877691250572607 Centerline is valid? [True, True] Translation: X:817.71, Y:-61.10, Z:3.22 [[ 9.99826000e-01 -1.08573370e-02 -1.51686741e-02 8.17714235e+02] [ 1.08712420e-02 9.99940558e-01 8.34535162e-04 -6.11023937e+01] [ 1.51587116e-02 -9.99292280e-04 9.99884601e-01 3.22316862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8207140569999 meters Centerline goodness [0,1] 0.9861875917767988 Centerline is valid? [True, True] Translation: X:817.74, Y:-61.11, Z:3.22 [[ 9.99853640e-01 -8.57262325e-03 -1.48056826e-02 8.17742114e+02] [ 8.58560972e-03 9.99962812e-01 8.13787669e-04 -6.11141861e+01] [ 1.47981557e-02 -9.40784375e-04 9.99890059e-01 3.22123818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8507140569999 meters Centerline goodness [0,1] 0.9878185606667735 Centerline is valid? [True, True] Translation: X:817.77, Y:-61.10, Z:3.23 [[ 9.99900688e-01 -2.45497810e-03 -1.38775570e-02 8.17772371e+02] [ 2.46579482e-03 9.99996669e-01 7.62383459e-04 -6.11021952e+01] [ 1.38756391e-02 -7.96526954e-04 9.99903411e-01 3.22539303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.880714057 meters Centerline goodness [0,1] 0.9894217530977513 Centerline is valid? [True, True] Translation: X:817.80, Y:-61.10, Z:3.23 [[ 9.99914816e-01 7.63164761e-04 -1.30298765e-02 8.17802500e+02] [-7.53908515e-04 9.99999460e-01 7.15283469e-04 -6.10962522e+01] [ 1.30304154e-02 -7.05399204e-04 9.99914852e-01 3.22753746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.910714057 meters Centerline goodness [0,1] 0.9887952609464331 Centerline is valid? [True, True] Translation: X:817.83, Y:-61.10, Z:3.23 [[ 9.99888002e-01 8.11705431e-03 -1.25736473e-02 8.17831204e+02] [-8.10902230e-03 9.99966884e-01 6.89648184e-04 -6.11015711e+01] [ 1.25788288e-02 -5.87610958e-04 9.99920711e-01 3.22614259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9407140569999 meters Centerline goodness [0,1] 0.9901187583107891 Centerline is valid? [True, True] Translation: X:817.86, Y:-61.10, Z:3.23 [[ 9.99857754e-01 1.17525933e-02 -1.20974141e-02 8.17861243e+02] [-1.17454290e-02 9.99930800e-01 6.63097821e-04 -6.10970497e+01] [ 1.21043701e-02 -5.20914180e-04 9.99926604e-01 3.22735034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9707140569999 meters Centerline goodness [0,1] 0.9895412299330912 Centerline is valid? [True, True] Translation: X:817.89, Y:-61.10, Z:3.23 [[ 9.99800212e-01 1.55559497e-02 -1.25518729e-02 8.17890744e+02] [-1.55485418e-02 9.99878878e-01 6.87561612e-04 -6.10978843e+01] [ 1.25610482e-02 -4.92260925e-04 9.99920986e-01 3.22715985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.000714057 meters Centerline goodness [0,1] 0.9903623835359293 Centerline is valid? [True, True] Translation: X:817.92, Y:-61.10, Z:3.23 [[ 9.99687273e-01 2.15991693e-02 -1.26028258e-02 8.17919824e+02] [-2.15921862e-02 9.99766624e-01 6.89910307e-04 -6.11013029e+01] [ 1.26147861e-02 -4.17571993e-04 9.99920343e-01 3.22561625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.030714057 meters Centerline goodness [0,1] 0.9901053595968851 Centerline is valid? [True, True] Translation: X:817.95, Y:-61.10, Z:3.23 [[ 9.99622444e-01 2.43627527e-02 -1.27053627e-02 8.17948514e+02] [-2.43558903e-02 9.99703110e-01 6.94591608e-04 -6.10984995e+01] [ 1.27185127e-02 -3.84878942e-04 9.99919042e-01 3.22744455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0607140569999 meters Centerline goodness [0,1] 0.9914956680346557 Centerline is valid? [True, True] Translation: X:817.98, Y:-61.10, Z:3.23 [[ 9.99500257e-01 2.88425874e-02 -1.29360491e-02 8.17977436e+02] [-2.88358542e-02 9.99583910e-01 7.06754879e-04 -6.11028373e+01] [ 1.29510512e-02 -3.33379658e-04 9.99916076e-01 3.22647629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0907140569999 meters Centerline goodness [0,1] 0.9914956680346557 Centerline is valid? [True, True] Translation: X:818.00, Y:-61.10, Z:3.23 [[ 9.99508139e-01 2.85680415e-02 -1.29362477e-02 8.18004784e+02] [-2.85613325e-02 9.99591795e-01 7.03109949e-04 -6.11042528e+01] [ 1.29510536e-02 -3.33287644e-04 9.99916076e-01 3.22646574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.120714057 meters Centerline goodness [0,1] 0.9905606472699015 Centerline is valid? [True, True] Translation: X:818.03, Y:-61.11, Z:3.23 [[ 9.99476484e-01 2.96056810e-02 -1.30484061e-02 8.18033083e+02] [-2.95989857e-02 9.99561605e-01 7.05976790e-04 -6.11053390e+01] [ 1.30635867e-02 -3.19387614e-04 9.99914617e-01 3.22707817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.150714057 meters Centerline goodness [0,1] 0.9907855122707783 Centerline is valid? [True, True] Translation: X:818.06, Y:-61.11, Z:3.23 [[ 9.99446234e-01 3.06116757e-02 -1.30441433e-02 8.18062211e+02] [-3.06051096e-02 9.99531307e-01 7.02741039e-04 -6.11084886e+01] [ 1.30595417e-02 -3.03134449e-04 9.99914675e-01 3.22706726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1807140569999 meters Centerline goodness [0,1] 0.9910344513721385 Centerline is valid? [True, True] Translation: X:818.09, Y:-61.11, Z:3.23 [[ 9.99443355e-01 3.10237886e-02 -1.22680045e-02 8.18090743e+02] [-3.10180494e-02 9.99518608e-01 6.57863066e-04 -6.11144402e+01] [ 1.22825082e-02 -2.76967302e-04 9.99924529e-01 3.22703842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2107140569999 meters Centerline goodness [0,1] 0.9915223501677396 Centerline is valid? [True, True] Translation: X:818.12, Y:-61.12, Z:3.23 [[ 9.99453414e-01 3.08449948e-02 -1.18936870e-02 8.18118471e+02] [-3.08396281e-02 9.99524144e-01 6.34408514e-04 -6.11187263e+01] [ 1.19075957e-02 -2.67264870e-04 9.99929066e-01 3.22679787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2407140569999 meters Centerline goodness [0,1] 0.9920692468050394 Centerline is valid? [True, True] Translation: X:818.15, Y:-61.13, Z:3.23 [[ 9.99479898e-01 3.00706795e-02 -1.16484665e-02 8.18147204e+02] [-3.00655130e-02 9.99547739e-01 6.18432825e-04 -6.11258342e+01] [ 1.16617950e-02 -2.67894057e-04 9.99931963e-01 3.22689446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.270714057 meters Centerline goodness [0,1] 0.9905995073780308 Centerline is valid? [True, True] Translation: X:818.18, Y:-61.13, Z:3.23 [[ 9.99486220e-01 2.99439970e-02 -1.14303181e-02 8.18175114e+02] [-2.99390273e-02 9.99551543e-01 6.05688459e-04 -6.11304421e+01] [ 1.14433288e-02 -2.63164664e-04 9.99934488e-01 3.22646650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3007140569999 meters Centerline goodness [0,1] 0.9913358538122243 Centerline is valid? [True, True] Translation: X:818.20, Y:-61.14, Z:3.23 [[ 9.99501945e-01 2.93901802e-02 -1.14925529e-02 8.18203768e+02] [-2.93851289e-02 9.99567979e-01 6.08177081e-04 -6.11375465e+01] [ 1.15054623e-02 -2.70164027e-04 9.99933773e-01 3.22654303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3307140569999 meters Centerline goodness [0,1] 0.9903874162540053 Centerline is valid? [True, True] Translation: X:818.23, Y:-61.14, Z:3.23 [[ 9.99523019e-01 2.87309082e-02 -1.13256479e-02 8.18230968e+02] [-2.87259718e-02 9.99587145e-01 5.98331885e-04 -6.11427149e+01] [ 1.13381627e-02 -2.72706250e-04 9.99935684e-01 3.22622237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3607140569999 meters Centerline goodness [0,1] 0.9908318425760286 Centerline is valid? [True, True] Translation: X:818.26, Y:-61.15, Z:3.23 [[ 9.99559112e-01 2.76784567e-02 -1.07463898e-02 8.18259524e+02] [-2.76739597e-02 9.99616842e-01 5.66977090e-04 -6.11512898e+01] [ 1.07579653e-02 -2.69331958e-04 9.99942095e-01 3.22654122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.390714057 meters Centerline goodness [0,1] 0.9903431317760143 Centerline is valid? [True, True] Translation: X:818.29, Y:-61.16, Z:3.23 [[ 9.99577443e-01 2.72412504e-02 -1.01415180e-02 8.18286776e+02] [-2.72372340e-02 9.99628855e-01 5.33971236e-04 -6.11563343e+01] [ 1.01523001e-02 -2.57518705e-04 9.99948431e-01 3.22677126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4207140569999 meters Centerline goodness [0,1] 0.9910397860247409 Centerline is valid? [True, True] Translation: X:818.31, Y:-61.16, Z:3.23 [[ 9.99600776e-01 2.67784521e-02 -9.01124600e-03 8.18314049e+02] [-2.67752710e-02 9.99641366e-01 4.73501545e-04 -6.11618303e+01] [ 9.02069390e-03 -2.32033959e-04 9.99959286e-01 3.22712672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4507140569999 meters Centerline goodness [0,1] 0.9907140000888612 Centerline is valid? [True, True] Translation: X:818.34, Y:-61.17, Z:3.23 [[ 9.99620097e-01 2.62062582e-02 -8.53774041e-03 8.18341487e+02] [-2.62033880e-02 9.99656532e-01 4.47878126e-04 -6.11720307e+01] [ 8.54654518e-03 -2.23990251e-04 9.99963453e-01 3.22641880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4807140569999 meters Centerline goodness [0,1] 0.9916591075023784 Centerline is valid? [True, True] Translation: X:818.37, Y:-61.18, Z:3.23 [[ 9.99615804e-01 2.63770986e-02 -8.51427841e-03 8.18369941e+02] [-2.63742554e-02 9.99652039e-01 4.46054713e-04 -6.11762392e+01] [ 8.52308141e-03 -2.21325587e-04 9.99963653e-01 3.22622038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.510714057 meters Centerline goodness [0,1] 0.9907247913078044 Centerline is valid? [True, True] Translation: X:818.40, Y:-61.18, Z:3.23 [[ 9.99592532e-01 2.68709829e-02 -9.62908451e-03 8.18396389e+02] [-2.68673876e-02 9.99638880e-01 5.02570985e-04 -6.11845154e+01] [ 9.63911183e-03 -2.43657859e-04 9.99953513e-01 3.22539735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.540714057 meters Centerline goodness [0,1] 0.9904409974996128 Centerline is valid? [True, True] Translation: X:818.43, Y:-61.19, Z:3.23 [[ 9.99577997e-01 2.72793050e-02 -9.98335460e-03 8.18425464e+02] [-2.72754671e-02 9.99627820e-01 5.20406924e-04 -6.11884913e+01] [ 9.99383533e-03 -2.47886651e-04 9.99950030e-01 3.22522131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5707140569999 meters Centerline goodness [0,1] 0.9909653819880567 Centerline is valid? [True, True] Translation: X:818.45, Y:-61.19, Z:3.22 [[ 9.99560559e-01 2.80226653e-02 -9.66537338e-03 8.18453087e+02] [-2.80191152e-02 9.99607261e-01 5.02550231e-04 -6.11935711e+01] [ 9.67566021e-03 -2.31514179e-04 9.99953163e-01 3.22456418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6007140569999 meters Centerline goodness [0,1] 0.9902876271858345 Centerline is valid? [True, True] Translation: X:818.48, Y:-61.20, Z:3.22 [[ 9.99550859e-01 2.85168347e-02 -9.21252132e-03 8.18480424e+02] [-2.85136376e-02 9.99593289e-01 4.78223254e-04 -6.12029248e+01] [ 9.22241190e-03 -2.15325970e-04 9.99957449e-01 3.22375348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.630714057 meters Centerline goodness [0,1] 0.9902398459383753 Centerline is valid? [True, True] Translation: X:818.51, Y:-61.21, Z:3.22 [[ 9.99546107e-01 2.88667128e-02 -8.61931436e-03 8.18509282e+02] [-2.88639324e-02 9.99583250e-01 4.46825330e-04 -6.12066873e+01] [ 8.62862064e-03 -1.97835213e-04 9.99962753e-01 3.22449485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.660714057 meters Centerline goodness [0,1] 0.9898577449947313 Centerline is valid? [True, True] Translation: X:818.54, Y:-61.21, Z:3.22 [[ 9.99565509e-01 2.84871599e-02 -7.56797016e-03 8.18536815e+02] [-2.84850118e-02 9.99594143e-01 3.91497009e-04 -6.12144233e+01] [ 7.57605129e-03 -1.75753188e-04 9.99971286e-01 3.22499718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6907140569999 meters Centerline goodness [0,1] 0.9899751015594287 Centerline is valid? [True, True] Translation: X:818.56, Y:-61.22, Z:3.22 [[ 9.99589309e-01 2.76880270e-02 -7.38827784e-03 8.18563870e+02] [-2.76859638e-02 9.99616597e-01 3.81415576e-04 -6.12203257e+01] [ 7.39600580e-03 -1.76707340e-04 9.99972634e-01 3.22483416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7207140569999 meters Centerline goodness [0,1] 0.9899506269934898 Centerline is valid? [True, True] Translation: X:818.59, Y:-61.23, Z:3.23 [[ 9.99619548e-01 2.67591889e-02 -6.68622991e-03 8.18592223e+02] [-2.67574814e-02 9.99641895e-01 3.44715318e-04 -6.12256838e+01] [ 6.69305984e-03 -1.65677498e-04 9.99977587e-01 3.22529322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.750714057 meters Centerline goodness [0,1] 0.9890303623898139 Centerline is valid? [True, True] Translation: X:818.62, Y:-61.24, Z:3.22 [[ 9.99715191e-01 2.32490241e-02 -5.38697816e-03 8.18620102e+02] [-2.32478686e-02 9.99729693e-01 2.77010642e-04 -6.12354537e+01] [ 5.39196225e-03 -1.51695986e-04 9.99985452e-01 3.22480101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.780714057 meters Centerline goodness [0,1] 0.9880797006873749 Centerline is valid? [True, True] Translation: X:818.65, Y:-61.24, Z:3.22 [[ 9.99753757e-01 2.17402567e-02 -4.44826822e-03 8.18648771e+02] [-2.17394553e-02 9.99763644e-01 2.28437606e-04 -6.12413746e+01] [ 4.45218313e-03 -1.31678427e-04 9.99990080e-01 3.22471821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8107140569999 meters Centerline goodness [0,1] 0.9875289583649078 Centerline is valid? [True, True] Translation: X:818.68, Y:-61.25, Z:3.22 [[ 9.99823996e-01 1.84740413e-02 -3.26901566e-03 8.18676981e+02] [-1.84735916e-02 9.99829335e-01 1.67704683e-04 -6.12534312e+01] [ 3.27155593e-03 -1.07284706e-04 9.99994643e-01 3.22427935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8407140569999 meters Centerline goodness [0,1] 0.987350011933951 Centerline is valid? [True, True] Translation: X:818.71, Y:-61.26, Z:3.22 [[ 9.99853260e-01 1.69421292e-02 -2.53444004e-03 8.18706023e+02] [-1.69418545e-02 9.99856468e-01 1.29823891e-04 -6.12556729e+01] [ 2.53627576e-03 -8.68667266e-05 9.99996780e-01 3.22442227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.870714057 meters Centerline goodness [0,1] 0.9857495560272015 Centerline is valid? [True, True] Translation: X:818.73, Y:-61.26, Z:3.22 [[ 9.99883797e-01 1.51304357e-02 -1.86061120e-03 8.18733432e+02] [-1.51302849e-02 9.99885526e-01 9.51260728e-05 -6.12646694e+01] [ 1.86183750e-03 -6.69634415e-05 9.99998265e-01 3.22398349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.900714057 meters Centerline goodness [0,1] 0.9854161265232045 Centerline is valid? [True, True] Translation: X:818.76, Y:-61.27, Z:3.22 [[ 9.99895421e-01 1.43884888e-02 -1.45565707e-03 8.18762131e+02] [-1.43883958e-02 9.99896479e-01 7.43183734e-05 -6.12691051e+01] [ 1.45657570e-03 -5.33660312e-05 9.99998938e-01 3.22357063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9307140569999 meters Centerline goodness [0,1] 0.9851581403387487 Centerline is valid? [True, True] Translation: X:818.79, Y:-61.27, Z:3.22 [[ 9.99903382e-01 1.38379046e-02 -1.31874501e-03 8.18789746e+02] [-1.38378280e-02 9.99904250e-01 6.71874277e-05 -6.12740067e+01] [ 1.31954847e-03 -4.89323695e-05 9.99999128e-01 3.22296366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9607140569999 meters Centerline goodness [0,1] 0.9854597936367748 Centerline is valid? [True, True] Translation: X:818.82, Y:-61.28, Z:3.22 [[ 9.99923580e-01 1.22197677e-02 -1.87364165e-03 8.18818544e+02] [-1.22196104e-02 9.99925333e-01 9.53485146e-05 -6.12802933e+01] [ 1.87466688e-03 -7.24460572e-05 9.99998240e-01 3.22142159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9907140569999 meters Centerline goodness [0,1] 0.985227712553219 Centerline is valid? [True, True] Translation: X:818.85, Y:-61.29, Z:3.22 [[ 9.99948115e-01 1.00128670e-02 -1.87336515e-03 8.18846653e+02] [-1.00127061e-02 9.99949867e-01 9.52409237e-05 -6.12888592e+01] [ 1.87422487e-03 -7.64785275e-05 9.99998241e-01 3.22091768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.020714057 meters Centerline goodness [0,1] 0.9863240868366644 Centerline is valid? [True, True] Translation: X:818.87, Y:-61.29, Z:3.22 [[ 9.99959080e-01 8.87972723e-03 -1.72885017e-03 8.18874746e+02] [-8.87958881e-03 9.99960572e-01 8.77256191e-05 -6.12930919e+01] [ 1.72956099e-03 -7.23705507e-05 9.99998502e-01 3.22107336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0507140569999 meters Centerline goodness [0,1] 0.9855486364612411 Centerline is valid? [True, True] Translation: X:818.90, Y:-61.30, Z:3.22 [[ 9.99970617e-01 7.58583281e-03 -1.10474341e-03 8.18903329e+02] [-7.58577560e-03 9.99971226e-01 5.59723633e-05 -6.12961228e+01] [ 1.10513622e-03 -4.75903830e-05 9.99999388e-01 3.22067870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0807140569999 meters Centerline goodness [0,1] 0.983811831299985 Centerline is valid? [True, True] Translation: X:818.93, Y:-61.30, Z:3.22 [[ 9.99983454e-01 5.74148949e-03 -3.56466662e-04 8.18931037e+02] [-5.74148341e-03 9.99983517e-01 1.80587716e-05 -6.13045114e+01] [ 3.56564470e-04 -1.60118254e-05 9.99999936e-01 3.22096397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1107140569999 meters Centerline goodness [0,1] 0.9837148825510509 Centerline is valid? [True, True] Translation: X:818.96, Y:-61.31, Z:3.22 [[ 9.99986939e-01 5.09576290e-03 -3.93528620e-04 8.18959693e+02] [-5.09575547e-03 9.99987016e-01 1.98872167e-05 -6.13066101e+01] [ 3.93624851e-04 -1.78816313e-05 9.99999922e-01 3.22110803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.140714057 meters Centerline goodness [0,1] 0.982713989260424 Centerline is valid? [True, True] Translation: X:818.99, Y:-61.31, Z:3.22 [[ 9.99991710e-01 4.06896777e-03 -1.55446316e-04 8.18988240e+02] [-4.06896660e-03 9.99991722e-01 7.84127751e-06 -6.13149251e+01] [ 1.55476935e-04 -7.20870663e-06 9.99999988e-01 3.22022314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1707140569999 meters Centerline goodness [0,1] 0.984258686517501 Centerline is valid? [True, True] Translation: X:819.02, Y:-61.32, Z:3.22 [[ 9.99992238e-01 3.89706227e-03 -5.79766179e-04 8.19018179e+02] [-3.89704595e-03 9.99992406e-01 2.92780705e-05 -6.13158201e+01] [ 5.79875875e-04 -2.70184678e-05 9.99999832e-01 3.21999909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2007140569999 meters Centerline goodness [0,1] 0.9845893709466835 Centerline is valid? [True, True] Translation: X:819.05, Y:-61.32, Z:3.22 [[ 9.99992818e-01 3.66393795e-03 -9.68809705e-04 8.19047984e+02] [-3.66389229e-03 9.99993287e-01 4.88983877e-05 -6.13165203e+01] [ 9.68982361e-04 -4.53484221e-05 9.99999530e-01 3.21954994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2307140569999 meters Centerline goodness [0,1] 0.9831788901491643 Centerline is valid? [True, True] Translation: X:819.08, Y:-61.32, Z:3.22 [[ 9.99995203e-01 2.81674266e-03 -1.28840650e-03 8.19077592e+02] [-2.81666126e-03 9.99996031e-01 6.49871077e-05 -6.13206305e+01] [ 1.28858444e-03 -6.13577913e-05 9.99999168e-01 3.21864714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.260714057 meters Centerline goodness [0,1] 0.9833336889951132 Centerline is valid? [True, True] Translation: X:819.11, Y:-61.33, Z:3.22 [[ 9.99995421e-01 2.75743189e-03 -1.24645394e-03 8.19106124e+02] [-2.75735572e-03 9.99996197e-01 6.28250238e-05 -6.13254431e+01] [ 1.24662243e-03 -5.93878193e-05 9.99999221e-01 3.21873605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.290714057 meters Centerline goodness [0,1] 0.9834503829751119 Centerline is valid? [True, True] Translation: X:819.13, Y:-61.33, Z:3.22 [[ 9.99998123e-01 1.43231503e-03 -1.30470500e-03 8.19134268e+02] [-1.43223054e-03 9.99998972e-01 6.56861973e-05 -6.13322456e+01] [ 1.30479774e-03 -6.38174356e-05 9.99999147e-01 3.21914720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3207140569999 meters Centerline goodness [0,1] 0.982205951215359 Centerline is valid? [True, True] Translation: X:819.16, Y:-61.33, Z:3.22 [[ 9.99998938e-01 1.88583795e-04 -1.44526521e-03 8.19163553e+02] [-1.88478890e-04 9.99999980e-01 7.27209186e-05 -6.13347895e+01] [ 1.44527890e-03 -7.24484393e-05 9.99998953e-01 3.21922574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3507140569999 meters Centerline goodness [0,1] 0.9820513365799715 Centerline is valid? [True, True] Translation: X:819.19, Y:-61.34, Z:3.22 [[ 9.99999151e-01 -1.03878433e-03 -7.86664311e-04 8.19193406e+02] [ 1.03881576e-03 9.99999460e-01 3.95487340e-05 -6.13387209e+01] [ 7.86622804e-04 -4.03658997e-05 9.99999690e-01 3.21883551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.380714057 meters Centerline goodness [0,1] 0.9809633320557046 Centerline is valid? [True, True] Translation: X:819.22, Y:-61.34, Z:3.22 [[ 9.99994050e-01 -3.35600412e-03 -7.97817019e-04 8.19223693e+02] [ 3.35603719e-03 9.99994368e-01 4.01230667e-05 -6.13424999e+01] [ 7.97677873e-04 -4.28003315e-05 9.99999681e-01 3.21967879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.410714057 meters Centerline goodness [0,1] 0.9811220363512536 Centerline is valid? [True, True] Translation: X:819.25, Y:-61.34, Z:3.22 [[ 9.99991811e-01 -4.01018567e-03 -5.44355693e-04 8.19254002e+02] [ 4.01020117e-03 9.99991959e-01 2.73762269e-05 -6.13434203e+01] [ 5.44241532e-04 -2.95589786e-05 9.99999851e-01 3.21987195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4407140569999 meters Centerline goodness [0,1] 0.9799350277087713 Centerline is valid? [True, True] Translation: X:819.28, Y:-61.35, Z:3.22 [[ 9.99991597e-01 -4.07740663e-03 -4.26192809e-04 8.19284036e+02] [ 4.07741614e-03 9.99991687e-01 2.14482283e-05 -6.13487028e+01] [ 4.26101813e-04 -2.31858135e-05 9.99999909e-01 3.21990792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4707140569999 meters Centerline goodness [0,1] 0.979868049810136 Centerline is valid? [True, True] Translation: X:819.31, Y:-61.35, Z:3.22 [[ 9.99995587e-01 -2.86026447e-03 -8.02505464e-04 8.19313981e+02] [ 2.86029781e-03 9.99995909e-01 4.03938885e-05 -6.13510972e+01] [ 8.02386644e-04 -4.26891149e-05 9.99999677e-01 3.21920425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.500714057 meters Centerline goodness [0,1] 0.9814893617021276 Centerline is valid? [True, True] Translation: X:819.34, Y:-61.35, Z:3.22 [[ 9.99997553e-01 -2.09186789e-03 -7.20178272e-04 8.19344627e+02] [ 2.09189453e-03 9.99997811e-01 3.62439692e-05 -6.13524006e+01] [ 7.20100878e-04 -3.77504175e-05 9.99999740e-01 3.21891079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.530714057 meters Centerline goodness [0,1] 0.9821918099326349 Centerline is valid? [True, True] Translation: X:819.38, Y:-61.35, Z:3.22 [[ 9.99998155e-01 -1.28371776e-03 -1.42908161e-03 8.19375896e+02] [ 1.28382183e-03 9.99999173e-01 7.19062499e-05 -6.13462947e+01] [ 1.42898812e-03 -7.37408034e-05 9.99998976e-01 3.21866083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5607140569999 meters Centerline goodness [0,1] 0.9817800914169629 Centerline is valid? [True, True] Translation: X:819.41, Y:-61.35, Z:3.22 [[ 9.99998312e-01 -1.06279046e-03 -1.49895021e-03 8.19405428e+02] [ 1.06290472e-03 9.99999432e-01 7.54293039e-05 -6.13503692e+01] [ 1.49886920e-03 -7.70224179e-05 9.99998874e-01 3.21837973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5907140569999 meters Centerline goodness [0,1] 0.981064559415536 Centerline is valid? [True, True] Translation: X:819.44, Y:-61.35, Z:3.22 [[ 9.99997269e-01 -1.62661666e-03 -1.67818234e-03 8.19435928e+02] [ 1.62676067e-03 9.99998673e-01 8.44475262e-05 -6.13526231e+01] [ 1.67804275e-03 -8.71772966e-05 9.99998588e-01 3.21877650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.620714057 meters Centerline goodness [0,1] 0.9816157652277768 Centerline is valid? [True, True] Translation: X:819.47, Y:-61.35, Z:3.22 [[ 9.99993204e-01 -3.34990461e-03 -1.53975920e-03 8.19466826e+02] [ 3.35002787e-03 9.99994386e-01 7.74819586e-05 -6.13526953e+01] [ 1.53949099e-03 -8.26396682e-05 9.99998812e-01 3.21896877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.650714057 meters Centerline goodness [0,1] 0.9808252995381898 Centerline is valid? [True, True] Translation: X:819.50, Y:-61.35, Z:3.22 [[ 9.99989104e-01 -4.50296237e-03 -1.23066337e-03 8.19496974e+02] [ 4.50304198e-03 9.99989859e-01 6.19280004e-05 -6.13535550e+01] [ 1.23037203e-03 -6.74690545e-05 9.99999241e-01 3.21863905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6807140569999 meters Centerline goodness [0,1] 0.9804567880231371 Centerline is valid? [True, True] Translation: X:819.53, Y:-61.36, Z:3.22 [[ 9.99981903e-01 -5.97264459e-03 -7.21334172e-04 8.19527664e+02] [ 5.97267234e-03 9.99982163e-01 3.63182279e-05 -6.13559804e+01] [ 7.21104390e-04 -4.06258633e-05 9.99999739e-01 3.21904366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7107140569999 meters Centerline goodness [0,1] 0.9807104010876955 Centerline is valid? [True, True] Translation: X:819.56, Y:-61.36, Z:3.22 [[ 9.99980528e-01 -6.22616376e-03 -4.21950914e-04 8.19558816e+02] [ 6.22617331e-03 9.99980617e-01 2.13300965e-05 -6.13593719e+01] [ 4.21809930e-04 -2.39568207e-05 9.99999911e-01 3.21887669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7407140569999 meters Centerline goodness [0,1] 0.9810925716239024 Centerline is valid? [True, True] Translation: X:819.59, Y:-61.36, Z:3.22 [[ 9.99982012e-01 -5.99029652e-03 -3.01813388e-04 8.19590183e+02] [ 5.99030139e-03 9.99982058e-01 1.52514759e-05 -6.13574073e+01] [ 3.01716612e-04 -1.70591548e-05 9.99999954e-01 3.21873321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.770714057 meters Centerline goodness [0,1] 0.9817681091351593 Centerline is valid? [True, True] Translation: X:819.62, Y:-61.36, Z:3.22 [[ 9.99990000e-01 -4.42286300e-03 -6.61787050e-04 8.19622019e+02] [ 4.42288611e-03 9.99990218e-01 3.34656511e-05 -6.13555618e+01] [ 6.61632562e-04 -3.63923252e-05 9.99999780e-01 3.21843760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8007140569999 meters Centerline goodness [0,1] 0.9817743346778496 Centerline is valid? [True, True] Translation: X:819.65, Y:-61.36, Z:3.22 [[ 9.99999164e-01 -9.08700131e-04 -9.20175226e-04 8.19651791e+02] [ 9.08743307e-04 9.99999586e-01 4.65041724e-05 -6.13558717e+01] [ 9.20132587e-04 -4.73403365e-05 9.99999576e-01 3.21841406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8307140569999 meters Centerline goodness [0,1] 0.9817956762063299 Centerline is valid? [True, True] Translation: X:819.68, Y:-61.36, Z:3.22 [[ 9.99998711e-01 1.22621887e-03 -1.03671506e-03 8.19682243e+02] [-1.22616521e-03 9.99999247e-01 5.23939079e-05 -6.13554017e+01] [ 1.03677853e-03 -5.11226564e-05 9.99999461e-01 3.21879147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8607140569999 meters Centerline goodness [0,1] 0.9821542248440351 Centerline is valid? [True, True] Translation: X:819.71, Y:-61.35, Z:3.22 [[ 9.99994460e-01 3.18568017e-03 -9.65560798e-04 8.19711887e+02] [-3.18563458e-03 9.99994925e-01 4.87508942e-05 -6.13548061e+01] [ 9.65711202e-04 -4.56747003e-05 9.99999533e-01 3.21852587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.890714057 meters Centerline goodness [0,1] 0.9832404611000043 Centerline is valid? [True, True] Translation: X:819.74, Y:-61.35, Z:3.22 [[ 9.99984837e-01 5.42207609e-03 -9.62374773e-04 8.19742129e+02] [-5.42203184e-03 9.99985299e-01 4.85796262e-05 -6.13526360e+01] [ 9.62624028e-04 -4.33608629e-05 9.99999536e-01 3.21914400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9207140569999 meters Centerline goodness [0,1] 0.9840419880580523 Centerline is valid? [True, True] Translation: X:819.77, Y:-61.35, Z:3.22 [[ 9.99956346e-01 9.33489276e-03 -4.07664468e-04 8.19772286e+02] [-9.33488515e-03 9.99956429e-01 2.05672730e-05 -6.13484601e+01] [ 4.07838699e-04 -1.67608742e-05 9.99999917e-01 3.21921204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9507140569999 meters Centerline goodness [0,1] 0.9834753090373407 Centerline is valid? [True, True] Translation: X:819.80, Y:-61.34, Z:3.22 [[ 9.99926286e-01 1.21401335e-02 2.01555489e-04 8.19801531e+02] [-1.21401317e-02 9.99926306e-01 -1.01852507e-05 -6.13446300e+01] [-2.01664285e-04 7.73758977e-06 9.99999980e-01 3.21952444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9807140569999 meters Centerline goodness [0,1] 0.9842311061729451 Centerline is valid? [True, True] Translation: X:819.83, Y:-61.35, Z:3.22 [[ 9.99916407e-01 1.29293335e-02 1.05677502e-04 8.19829322e+02] [-1.29293330e-02 9.99916413e-01 -5.35064536e-06 -6.13452818e+01] [-1.05737849e-04 3.98385847e-06 9.99999994e-01 3.21929303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.010714057 meters Centerline goodness [0,1] 0.9842311061729451 Centerline is valid? [True, True] Translation: X:819.86, Y:-61.35, Z:3.22 [[ 9.99917320e-01 1.28585269e-02 1.05678229e-04 8.19857621e+02] [-1.28585264e-02 9.99917326e-01 -5.33621473e-06 -6.13466461e+01] [-1.05738108e-04 3.97690724e-06 9.99999994e-01 3.21928211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.040714057 meters Centerline goodness [0,1] 0.9847504819019062 Centerline is valid? [True, True] Translation: X:819.89, Y:-61.35, Z:3.22 [[ 9.99912583e-01 1.32215719e-02 -1.28410797e-04 8.19886679e+02] [-1.32215712e-02 9.99912591e-01 6.41335864e-06 -6.13450572e+01] [ 1.28484368e-04 -4.71500552e-06 9.99999992e-01 3.21935039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0707140569999 meters Centerline goodness [0,1] 0.9839522859410869 Centerline is valid? [True, True] Translation: X:819.92, Y:-61.35, Z:3.22 [[ 9.99924334e-01 1.22879202e-02 -5.76786042e-04 8.19915245e+02] [-1.22879056e-02 9.99924500e-01 2.88634613e-05 -6.13453697e+01] [ 5.77097166e-04 -2.17737849e-05 9.99999833e-01 3.21922197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1007140569999 meters Centerline goodness [0,1] 0.9842083807153432 Centerline is valid? [True, True] Translation: X:819.94, Y:-61.35, Z:3.22 [[ 9.99937358e-01 1.11925712e-02 -7.94422051e-05 8.19943334e+02] [-1.11925709e-02 9.99937361e-01 3.93737993e-06 -6.13480418e+01] [ 7.94812983e-05 -3.04797077e-06 9.99999997e-01 3.21906728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.130714057 meters Centerline goodness [0,1] 0.9835925300019253 Centerline is valid? [True, True] Translation: X:819.97, Y:-61.35, Z:3.22 [[ 9.99974867e-01 7.08968910e-03 3.58444534e-05 8.19972681e+02] [-7.08968904e-03 9.99974868e-01 -1.79840980e-06 -6.13518509e+01] [-3.58563027e-05 1.54423858e-06 9.99999999e-01 3.21961462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.160714057 meters Centerline goodness [0,1] 0.9835720574655872 Centerline is valid? [True, True] Translation: X:820.00, Y:-61.36, Z:3.22 [[ 9.99990011e-01 4.44958574e-03 4.23525066e-04 8.20000789e+02] [-4.44957717e-03 9.99990100e-01 -2.11660856e-05 -6.13553177e+01] [-4.23615054e-04 1.92813668e-05 9.99999910e-01 3.22003910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1907140569999 meters Centerline goodness [0,1] 0.9844018563080096 Centerline is valid? [True, True] Translation: X:820.03, Y:-61.36, Z:3.22 [[ 9.99998417e-01 1.77853989e-03 -5.67946932e-05 8.20030728e+02] [-1.77853973e-03 9.99998418e-01 2.83262529e-06 -6.13588312e+01] [ 5.67996413e-05 -2.73160919e-06 9.99999998e-01 3.22102697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2207140569999 meters Centerline goodness [0,1] 0.9829235411183155 Centerline is valid? [True, True] Translation: X:820.06, Y:-61.36, Z:3.22 [[ 9.99999181e-01 -1.24163019e-03 3.09568300e-04 8.20060642e+02] [ 1.24163503e-03 9.99999229e-01 -1.54510794e-05 -6.13619736e+01] [-3.09548877e-04 1.58354376e-05 9.99999952e-01 3.22094919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.250714057 meters Centerline goodness [0,1] 0.9839921033432042 Centerline is valid? [True, True] Translation: X:820.09, Y:-61.36, Z:3.22 [[ 9.99978870e-01 -6.42347315e-03 9.99162421e-04 8.20091724e+02] [ 6.42352616e-03 9.99979368e-01 -4.98502967e-05 -6.13622866e+01] [-9.98821594e-04 5.62673894e-05 9.99999500e-01 3.22173459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.280714057 meters Centerline goodness [0,1] 0.9819176676783653 Centerline is valid? [True, True] Translation: X:820.12, Y:-61.37, Z:3.22 [[ 9.99961073e-01 -8.72940709e-03 1.28428530e-03 8.20121526e+02] [ 8.72949656e-03 9.99961895e-01 -6.40772950e-05 -6.13684014e+01] [-1.28367701e-03 7.52859648e-05 9.99999173e-01 3.22165977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3107140569999 meters Centerline goodness [0,1] 0.9820978423413801 Centerline is valid? [True, True] Translation: X:820.15, Y:-61.37, Z:3.22 [[ 9.99929212e-01 -1.18384976e-02 1.19226681e-03 8.20151998e+02] [ 1.18385769e-02 9.99929920e-01 -5.95005142e-05 -6.13711472e+01] [-1.19147886e-03 7.36110445e-05 9.99999287e-01 3.22167602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3407140569999 meters Centerline goodness [0,1] 0.983117493695773 Centerline is valid? [True, True] Translation: X:820.18, Y:-61.37, Z:3.22 [[ 9.99917950e-01 -1.27563107e-02 1.17071761e-03 8.20183929e+02] [ 1.27563879e-02 9.99918632e-01 -5.84879135e-05 -6.13728902e+01] [-1.16987626e-03 7.34172425e-05 9.99999313e-01 3.22134959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.370714057 meters Centerline goodness [0,1] 0.9824501180004291 Centerline is valid? [True, True] Translation: X:820.22, Y:-61.38, Z:3.22 [[ 9.99912324e-01 -1.32104844e-02 9.09895626e-04 8.20215116e+02] [ 1.32105312e-02 9.99912736e-01 -4.55068025e-05 -6.13761551e+01] [-9.09215058e-04 5.75230173e-05 9.99999585e-01 3.22164425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.400714057 meters Centerline goodness [0,1] 0.9827841579907696 Centerline is valid? [True, True] Translation: X:820.25, Y:-61.37, Z:3.22 [[ 9.99917273e-01 -1.28139149e-02 1.11815304e-03 8.20247647e+02] [ 1.28139855e-02 9.99917896e-01 -5.60007422e-05 -6.13727103e+01] [-1.11734365e-03 7.03241062e-05 9.99999373e-01 3.22225279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4307140569999 meters Centerline goodness [0,1] 0.9825547835382149 Centerline is valid? [True, True] Translation: X:820.28, Y:-61.38, Z:3.22 [[ 9.99926377e-01 -1.21037286e-02 8.60242063e-04 8.20278521e+02] [ 1.21037701e-02 9.99926746e-01 -4.31308517e-05 -6.13779957e+01] [-8.59657003e-04 5.35398485e-05 9.99999629e-01 3.22243037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4607140569999 meters Centerline goodness [0,1] 0.9823567289117836 Centerline is valid? [True, True] Translation: X:820.31, Y:-61.38, Z:3.22 [[ 9.99940135e-01 -1.08540114e-02 1.38469865e-03 8.20310245e+02] [ 1.08541180e-02 9.99941090e-01 -6.94946878e-05 -6.13766271e+01] [-1.38386278e-03 8.45202100e-05 9.99999039e-01 3.22245828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4907140569999 meters Centerline goodness [0,1] 0.9818570360081206 Centerline is valid? [True, True] Translation: X:820.34, Y:-61.38, Z:3.22 [[ 9.99968549e-01 -7.90229319e-03 6.74157400e-04 8.20339541e+02] [ 7.90231779e-03 9.99968776e-01 -3.38359037e-05 -6.13787136e+01] [-6.73868968e-04 3.91622455e-05 9.99999772e-01 3.22184470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.520714057 meters Centerline goodness [0,1] 0.9822231741272222 Centerline is valid? [True, True] Translation: X:820.37, Y:-61.37, Z:3.22 [[ 9.99980981e-01 -6.13756353e-03 6.06802013e-04 8.20371750e+02] [ 6.13758314e-03 9.99981164e-01 -3.04612551e-05 -6.13720277e+01] [-6.06603625e-04 3.41849735e-05 9.99999815e-01 3.22153713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5507140569999 meters Centerline goodness [0,1] 0.9832535371535307 Centerline is valid? [True, True] Translation: X:820.40, Y:-61.37, Z:3.22 [[ 9.99996841e-01 -2.47981783e-03 4.10143326e-04 8.20401649e+02] [ 2.47982649e-03 9.99996925e-01 -2.06029975e-05 -6.13732188e+01] [-4.10090973e-04 2.16200167e-05 9.99999916e-01 3.22200394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5807140569999 meters Centerline goodness [0,1] 0.9825268529039727 Centerline is valid? [True, True] Translation: X:820.43, Y:-61.37, Z:3.22 [[ 9.99999537e-01 -5.27665603e-04 8.05326112e-04 8.20433036e+02] [ 5.27698365e-04 9.99999860e-01 -4.04692866e-05 -6.13700293e+01] [-8.05304645e-04 4.08942371e-05 9.99999675e-01 3.22178776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6107140569999 meters Centerline goodness [0,1] 0.9830172413793103 Centerline is valid? [True, True] Translation: X:820.46, Y:-61.37, Z:3.22 [[ 9.99999247e-01 1.07276467e-03 5.95468366e-04 8.20464034e+02] [-1.07274704e-03 9.99999424e-01 -2.99331193e-05 -6.13702998e+01] [-5.95500134e-04 2.92943099e-05 9.99999822e-01 3.22186536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.640714057 meters Centerline goodness [0,1] 0.9842724671356957 Centerline is valid? [True, True] Translation: X:820.49, Y:-61.37, Z:3.22 [[ 9.99996689e-01 2.35355584e-03 1.04079863e-03 8.20494680e+02] [-2.35350266e-03 9.99997229e-01 -5.23177890e-05 -6.13653511e+01] [-1.04091888e-03 4.98680934e-05 9.99999457e-01 3.22151367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6707140569999 meters Centerline goodness [0,1] 0.9841420118343195 Centerline is valid? [True, True] Translation: X:820.52, Y:-61.37, Z:3.22 [[ 9.99988061e-01 4.75682109e-03 1.11793279e-03 8.20524566e+02] [-4.75676124e-03 9.99988685e-01 -5.61950890e-05 -6.13660213e+01] [-1.11818745e-03 5.08766787e-05 9.99999374e-01 3.22146064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7007140569999 meters Centerline goodness [0,1] 0.9836663733339057 Centerline is valid? [True, True] Translation: X:820.55, Y:-61.37, Z:3.22 [[ 9.99985987e-01 5.08724693e-03 1.46467558e-03 8.20553623e+02] [-5.08714460e-03 9.99987058e-01 -7.35858501e-05 -6.13683649e+01] [-1.46503097e-03 6.61338025e-05 9.99998925e-01 3.22140204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7307140569999 meters Centerline goodness [0,1] 0.9841866660937197 Centerline is valid? [True, True] Translation: X:820.58, Y:-61.37, Z:3.22 [[ 9.99982120e-01 5.84516511e-03 1.26249522e-03 8.20582874e+02] [-5.84508972e-03 9.99982915e-01 -6.34007110e-05 -6.13698399e+01] [-1.26284424e-03 5.60201795e-05 9.99999201e-01 3.22141080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.760714057 meters Centerline goodness [0,1] 0.9839931153184165 Centerline is valid? [True, True] Translation: X:820.61, Y:-61.37, Z:3.22 [[ 9.99980748e-01 6.05395076e-03 1.36145820e-03 8.20612628e+02] [-6.05386333e-03 9.99981673e-01 -6.83287475e-05 -6.13714556e+01] [-1.36184691e-03 6.00853501e-05 9.99999071e-01 3.22087088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.790714057 meters Centerline goodness [0,1] 0.9839416682703616 Centerline is valid? [True, True] Translation: X:820.64, Y:-61.37, Z:3.22 [[ 9.99981942e-01 5.83337360e-03 1.44466533e-03 8.20641138e+02] [-5.83327501e-03 9.99982984e-01 -7.24444317e-05 -6.13747485e+01] [-1.44506335e-03 6.40159933e-05 9.99998954e-01 3.22035674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8207140569999 meters Centerline goodness [0,1] 0.984358595273296 Centerline is valid? [True, True] Translation: X:820.67, Y:-61.38, Z:3.22 [[ 9.99981927e-01 5.76532403e-03 1.70488909e-03 8.20670625e+02] [-5.76518674e-03 9.99983378e-01 -8.54273994e-05 -6.13755705e+01] [-1.70535326e-03 7.55968516e-05 9.99998543e-01 3.22027475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8507140569999 meters Centerline goodness [0,1] 0.9845558193758155 Centerline is valid? [True, True] Translation: X:820.70, Y:-61.38, Z:3.22 [[ 9.99981423e-01 5.75154880e-03 2.01811249e-03 8.20699761e+02] [-5.75135650e-03 9.99983456e-01 -1.01077537e-04 -6.13785875e+01] [-2.01866045e-03 8.94687747e-05 9.99997959e-01 3.21972712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.880714057 meters Centerline goodness [0,1] 0.9840249408729306 Centerline is valid? [True, True] Translation: X:820.73, Y:-61.38, Z:3.22 [[ 9.99979436e-01 6.14332682e-03 1.84034086e-03 8.20729493e+02] [-6.14316767e-03 9.99981126e-01 -9.21170396e-05 -6.13820436e+01] [-1.84087203e-03 8.08096229e-05 9.99998302e-01 3.21832926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.910714057 meters Centerline goodness [0,1] 0.9845550747611499 Centerline is valid? [True, True] Translation: X:820.76, Y:-61.38, Z:3.22 [[ 9.99975627e-01 6.84163954e-03 1.39198683e-03 8.20759150e+02] [-6.84154923e-03 9.99976594e-01 -6.96290091e-05 -6.13818461e+01] [-1.39243062e-03 6.01039656e-05 9.99999029e-01 3.21775075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9407140569999 meters Centerline goodness [0,1] 0.9846480869154464 Centerline is valid? [True, True] Translation: X:820.79, Y:-61.38, Z:3.22 [[ 9.99968973e-01 7.75372854e-03 1.39019379e-03 8.20787971e+02] [-7.75363944e-03 9.99969938e-01 -6.94724024e-05 -6.13842913e+01] [-1.39069067e-03 5.86911855e-05 9.99999031e-01 3.21674634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9707140569999 meters Centerline goodness [0,1] 0.9846809787033466 Centerline is valid? [True, True] Translation: X:820.82, Y:-61.39, Z:3.22 [[ 9.99961289e-01 8.65360395e-03 1.59239247e-03 8.20817228e+02] [-8.65348832e-03 9.99962555e-01 -7.94894684e-05 -6.13851710e+01] [-1.59302072e-03 6.57066416e-05 9.99998729e-01 3.21698065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.000714057 meters Centerline goodness [0,1] 0.9839611283109735 Centerline is valid? [True, True] Translation: X:820.85, Y:-61.39, Z:3.22 [[ 9.99955108e-01 9.19094120e-03 2.30415315e-03 8.20846168e+02] [-9.19070091e-03 9.99957758e-01 -1.14852603e-04 -6.13858067e+01] [-2.30511142e-03 9.36706642e-05 9.99997339e-01 3.21708020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.030714057 meters Centerline goodness [0,1] 0.9835766423357665 Centerline is valid? [True, True] Translation: X:820.87, Y:-61.39, Z:3.22 [[ 9.99932376e-01 1.12207994e-02 3.05559428e-03 8.20874445e+02] [-1.12203869e-02 9.99937038e-01 -1.52130469e-04 -6.13904479e+01] [-3.05710892e-03 1.17835231e-04 9.99995320e-01 3.21761944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0607140569999 meters Centerline goodness [0,1] 0.9843605464128213 Centerline is valid? [True, True] Translation: X:820.90, Y:-61.39, Z:3.22 [[ 9.99916383e-01 1.24197138e-02 3.60247981e-03 8.20903435e+02] [-1.24191490e-02 9.99922863e-01 -1.79115994e-04 -6.13919746e+01] [-3.60442650e-03 1.34361283e-04 9.99993495e-01 3.21763917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0907140569999 meters Centerline goodness [0,1] 0.9851527634740816 Centerline is valid? [True, True] Translation: X:820.93, Y:-61.39, Z:3.22 [[ 9.99908610e-01 1.30834422e-02 3.40524580e-03 8.20932361e+02] [-1.30829422e-02 9.99914400e-01 -1.69070374e-04 -6.13902680e+01] [-3.40716634e-03 1.24504289e-04 9.99994188e-01 3.21763518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.120714057 meters Centerline goodness [0,1] 0.9835168372931556 Centerline is valid? [True, True] Translation: X:820.96, Y:-61.40, Z:3.22 [[ 9.99906130e-01 1.31971530e-02 3.68329503e-03 8.20960166e+02] [-1.31965699e-02 9.99912905e-01 -1.82555491e-04 -6.13957447e+01] [-3.68538344e-03 1.33931494e-04 9.99993200e-01 3.21798876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.150714057 meters Centerline goodness [0,1] 0.9847599749951499 Centerline is valid? [True, True] Translation: X:820.99, Y:-61.40, Z:3.22 [[ 9.99912126e-01 1.26808774e-02 3.86476007e-03 8.20989165e+02] [-1.26802327e-02 9.99919584e-01 -1.91267134e-04 -6.13956386e+01] [-3.86687472e-03 1.42244269e-04 9.99992513e-01 3.21706293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1807140569999 meters Centerline goodness [0,1] 0.9846229733207514 Centerline is valid? [True, True] Translation: X:821.02, Y:-61.40, Z:3.22 [[ 9.99942492e-01 1.02936120e-02 3.00918838e-03 8.21017238e+02] [-1.02932109e-02 9.99947012e-01 -1.48765336e-04 -6.14021992e+01] [-3.01056027e-03 1.17782570e-04 9.99995461e-01 3.21633972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2107140569999 meters Centerline goodness [0,1] 0.9833921128566848 Centerline is valid? [True, True] Translation: X:821.05, Y:-61.41, Z:3.22 [[ 9.99963538e-01 8.13732889e-03 2.58968324e-03 8.21045358e+02] [-8.13702492e-03 9.99966886e-01 -1.27894914e-04 -6.14091085e+01] [-2.59063821e-03 1.06817934e-04 9.99996639e-01 3.21627437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2407140569999 meters Centerline goodness [0,1] 0.9837033538025508 Centerline is valid? [True, True] Translation: X:821.08, Y:-61.41, Z:3.22 [[ 9.99981744e-01 5.48721510e-03 2.53041944e-03 8.21075449e+02] [-5.48691646e-03 9.99984939e-01 -1.24946114e-04 -6.14099036e+01] [-2.53106693e-03 1.11059633e-04 9.99996791e-01 3.21591735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.270714057 meters Centerline goodness [0,1] 0.9819470618468391 Centerline is valid? [True, True] Translation: X:821.11, Y:-61.42, Z:3.22 [[ 9.99998603e-01 -6.32484291e-04 1.54728220e-03 8.21105171e+02] [ 6.32603233e-04 9.99999797e-01 -7.63839431e-05 -6.14175804e+01] [-1.54723358e-03 7.73626522e-05 9.99998800e-01 3.21598612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3007140569999 meters Centerline goodness [0,1] 0.9825266804970378 Centerline is valid? [True, True] Translation: X:821.14, Y:-61.42, Z:3.22 [[ 9.99992576e-01 -3.66492615e-03 1.19037842e-03 8.21135258e+02] [ 3.66499870e-03 9.99993282e-01 -5.87743567e-05 -6.14231717e+01] [-1.19015501e-03 6.31366557e-05 9.99999290e-01 3.21604051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3307140569999 meters Centerline goodness [0,1] 0.9819831331459239 Centerline is valid? [True, True] Translation: X:821.17, Y:-61.43, Z:3.22 [[ 9.99975719e-01 -6.94820568e-03 5.32836480e-04 8.21165816e+02] [ 6.94822069e-03 9.99975860e-01 -2.63180738e-05 -6.14268537e+01] [-5.32640755e-04 3.00197002e-05 9.99999858e-01 3.21589613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3607140569999 meters Centerline goodness [0,1] 0.9821409543294334 Centerline is valid? [True, True] Translation: X:821.20, Y:-61.43, Z:3.22 [[ 9.99908768e-01 -1.35039098e-02 -3.17230245e-04 8.21196467e+02] [ 1.35039154e-02 9.99908818e-01 1.56866656e-05 -6.14285229e+01] [ 3.16989488e-04 -1.99690848e-05 9.99999950e-01 3.21603398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.390714057 meters Centerline goodness [0,1] 0.9814609141392567 Centerline is valid? [True, True] Translation: X:821.23, Y:-61.43, Z:3.22 [[ 9.99860570e-01 -1.66985400e-02 -1.01296984e-05 8.21227279e+02] [ 1.66985400e-02 9.99860570e-01 5.07863891e-07 -6.14319042e+01] [ 1.01198054e-05 -6.76944252e-07 1.00000000e+00 3.21636604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4207140569999 meters Centerline goodness [0,1] 0.9806141007809992 Centerline is valid? [True, True] Translation: X:821.26, Y:-61.44, Z:3.22 [[ 9.99765404e-01 -2.16464931e-02 7.52225378e-04 8.21257574e+02] [ 2.16465272e-02 9.99765686e-01 -3.72011661e-05 -6.14353389e+01] [-7.51243846e-04 5.34755060e-05 9.99999716e-01 3.21751059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4507140569999 meters Centerline goodness [0,1] 0.9794149512459371 Centerline is valid? [True, True] Translation: X:821.29, Y:-61.44, Z:3.22 [[ 9.99739891e-01 -2.27858850e-02 9.76929969e-04 8.21288626e+02] [ 2.27859431e-02 9.99740366e-01 -4.83749672e-05 -6.14409112e+01] [-9.75574057e-04 7.06226551e-05 9.99999522e-01 3.21812699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4807140569999 meters Centerline goodness [0,1] 0.9806992767578209 Centerline is valid? [True, True] Translation: X:821.32, Y:-61.44, Z:3.22 [[ 9.99705483e-01 -2.42603675e-02 6.18027737e-04 8.21320666e+02] [ 2.42603910e-02 9.99705673e-01 -3.06403855e-05 -6.14362887e+01] [-6.17102487e-04 4.56249559e-05 9.99999809e-01 3.21862511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.510714057 meters Centerline goodness [0,1] 0.9802669637692027 Centerline is valid? [True, True] Translation: X:821.35, Y:-61.44, Z:3.22 [[ 9.99669884e-01 -2.56803343e-02 -8.02426131e-04 8.21352856e+02] [ 2.56803746e-02 9.99670204e-01 3.98961942e-05 -6.14353604e+01] [ 8.01136946e-04 -6.04896274e-05 9.99999677e-01 3.21864459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.540714057 meters Centerline goodness [0,1] 0.9811518998198816 Centerline is valid? [True, True] Translation: X:821.38, Y:-61.44, Z:3.22 [[ 9.99650399e-01 -2.64197400e-02 -1.03752331e-03 8.21384678e+02] [ 2.64198077e-02 9.99650935e-01 5.16265896e-05 -6.14358280e+01] [ 1.03579719e-03 -7.90197073e-05 9.99999460e-01 3.21843830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5707140569999 meters Centerline goodness [0,1] 0.9808056057088814 Centerline is valid? [True, True] Translation: X:821.42, Y:-61.44, Z:3.22 [[ 9.99601386e-01 -2.81851025e-02 -1.63361365e-03 8.21416005e+02] [ 2.81852728e-02 9.99602713e-01 8.13275412e-05 -6.14351690e+01] [ 1.63067241e-03 -1.27338969e-04 9.99998662e-01 3.21873766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6007140569999 meters Centerline goodness [0,1] 0.9799100901249704 Centerline is valid? [True, True] Translation: X:821.45, Y:-61.44, Z:3.22 [[ 9.99578613e-01 -2.89511974e-02 -2.10335343e-03 8.21447416e+02] [ 2.89514819e-02 9.99580812e-01 1.04941553e-04 -6.14386872e+01] [ 2.09943354e-03 -1.65792531e-04 9.99997782e-01 3.21883198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.630714057 meters Centerline goodness [0,1] 0.9798129635601419 Centerline is valid? [True, True] Translation: X:821.48, Y:-61.44, Z:3.22 [[ 9.99539564e-01 -3.02316598e-02 -2.58989217e-03 8.21479372e+02] [ 3.02320958e-02 9.99542897e-01 1.29331017e-04 -6.14361991e+01] [ 2.58479843e-03 -2.07569337e-04 9.99996638e-01 3.21851300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.660714057 meters Centerline goodness [0,1] 0.9797493389513511 Centerline is valid? [True, True] Translation: X:821.51, Y:-61.44, Z:3.22 [[ 9.99477495e-01 -3.20486395e-02 -4.19776237e-03 8.21509422e+02] [ 3.20498021e-02 9.99486251e-01 2.09969988e-04 -6.14383706e+01] [ 4.18887652e-03 -3.44397731e-04 9.99991167e-01 3.21863559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6907140569999 meters Centerline goodness [0,1] 0.9813853280189594 Centerline is valid? [True, True] Translation: X:821.54, Y:-61.43, Z:3.22 [[ 9.99456131e-01 -3.26193484e-02 -4.83946442e-03 8.21542074e+02] [ 3.26209020e-02 9.99467767e-01 2.42413598e-04 -6.14316387e+01] [ 4.82898132e-03 -4.00149451e-04 9.99988260e-01 3.21870943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7207140569999 meters Centerline goodness [0,1] 0.9815882060912171 Centerline is valid? [True, True] Translation: X:821.57, Y:-61.43, Z:3.22 [[ 9.99469240e-01 -3.21604455e-02 -5.19071124e-03 8.21573240e+02] [ 3.21622280e-02 9.99482628e-01 2.60282109e-04 -6.14287932e+01] [ 5.17965492e-03 -4.27088800e-04 9.99986494e-01 3.21929362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.750714057 meters Centerline goodness [0,1] 0.980871828236825 Centerline is valid? [True, True] Translation: X:821.60, Y:-61.43, Z:3.22 [[ 9.99503537e-01 -3.10800567e-02 -5.16815933e-03 8.21604566e+02] [ 3.10818134e-02 9.99516810e-01 2.59932357e-04 -6.14281872e+01] [ 5.15758341e-03 -4.20439075e-04 9.99986611e-01 3.21959828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.780714057 meters Centerline goodness [0,1] 0.980628544218865 Centerline is valid? [True, True] Translation: X:821.64, Y:-61.43, Z:3.22 [[ 9.99542936e-01 -2.98132140e-02 -5.00911862e-03 8.21635868e+02] [ 2.98148492e-02 9.99555407e-01 2.52074124e-04 -6.14259256e+01] [ 4.99937646e-03 -4.01305026e-04 9.99987423e-01 3.21957750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8107140569999 meters Centerline goodness [0,1] 0.9808442402704343 Centerline is valid? [True, True] Translation: X:821.67, Y:-61.42, Z:3.22 [[ 9.99650058e-01 -2.58192051e-02 -5.75585157e-03 8.21666190e+02] [ 2.58212985e-02 9.99666533e-01 2.89666495e-04 -6.14195687e+01] [ 5.74645322e-03 -4.38188690e-04 9.99983393e-01 3.21999921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8407140569999 meters Centerline goodness [0,1] 0.982337696278067 Centerline is valid? [True, True] Translation: X:821.70, Y:-61.42, Z:3.22 [[ 9.99713987e-01 -2.30891652e-02 -6.23181647e-03 8.21697636e+02] [ 2.30915671e-02 9.99733305e-01 3.13735313e-04 -6.14152690e+01] [ 6.22291059e-03 -4.57547989e-04 9.99980533e-01 3.22038270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.870714057 meters Centerline goodness [0,1] 0.984279819217921 Centerline is valid? [True, True] Translation: X:821.73, Y:-61.41, Z:3.22 [[ 9.99819515e-01 -1.79138425e-02 -6.32706545e-03 8.21728566e+02] [ 1.79162152e-02 9.99839441e-01 3.18515089e-04 -6.14078234e+01] [ 6.32034375e-03 -4.31814668e-04 9.99979933e-01 3.22099953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.900714057 meters Centerline goodness [0,1] 0.984279819217921 Centerline is valid? [True, True] Translation: X:821.76, Y:-61.41, Z:3.22 [[ 9.99820776e-01 -1.78433483e-02 -6.32704159e-03 8.21760289e+02] [ 1.78457225e-02 9.99840702e-01 3.18988786e-04 -6.14094819e+01] [ 6.32034187e-03 -4.31842244e-04 9.99979933e-01 3.22098730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9307140569999 meters Centerline goodness [0,1] 0.9836266258607498 Centerline is valid? [True, True] Translation: X:821.79, Y:-61.41, Z:3.22 [[ 9.99861624e-01 -1.53704973e-02 -6.36241138e-03 8.21790213e+02] [ 1.53728481e-02 9.99881779e-01 3.20744677e-04 -6.14086836e+01] [ 6.35672921e-03 -4.18508677e-04 9.99979708e-01 3.22090966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9607140569999 meters Centerline goodness [0,1] 0.9842629525490966 Centerline is valid? [True, True] Translation: X:821.82, Y:-61.40, Z:3.22 [[ 9.99905939e-01 -1.23493513e-02 -5.96718000e-03 8.21821687e+02] [ 1.23513662e-02 9.99923674e-01 3.00931767e-04 -6.14041377e+01] [ 5.96300824e-03 -3.74606286e-04 9.99982151e-01 3.22129858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9907140569999 meters Centerline goodness [0,1] 0.9852132576836294 Centerline is valid? [True, True] Translation: X:821.85, Y:-61.40, Z:3.22 [[ 9.99954073e-01 -7.52269533e-03 -5.93808012e-03 8.21853048e+02] [ 7.52460651e-03 9.99971645e-01 2.99575966e-04 -6.13974665e+01] [ 5.93565813e-03 -3.44243924e-04 9.99982325e-01 3.22204943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.020714057 meters Centerline goodness [0,1] 0.9858100118249902 Centerline is valid? [True, True] Translation: X:821.88, Y:-61.39, Z:3.22 [[ 9.99968241e-01 -4.85383868e-03 -6.32119435e-03 8.21883712e+02] [ 4.85595123e-03 9.99988159e-01 3.18896396e-04 -6.13924472e+01] [ 6.31957163e-03 -3.49581679e-04 9.99979970e-01 3.22257013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0507140569999 meters Centerline goodness [0,1] 0.9878287663695389 Centerline is valid? [True, True] Translation: X:821.91, Y:-61.38, Z:3.22 [[ 9.99979491e-01 1.07366183e-03 -6.31387524e-03 8.21914508e+02] [-1.07167213e-03 9.99999375e-01 3.18506610e-04 -6.13841024e+01] [ 6.31421326e-03 -3.11733673e-04 9.99980017e-01 3.22252856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0807140569999 meters Centerline goodness [0,1] 0.9872474220003957 Centerline is valid? [True, True] Translation: X:821.94, Y:-61.39, Z:3.22 [[ 9.99970660e-01 4.48455811e-03 -6.21024818e-03 8.21942985e+02] [-4.48270100e-03 9.99989904e-01 3.12926110e-04 -6.13879322e+01] [ 6.21158882e-03 -2.85078243e-04 9.99980667e-01 3.22135436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1107140569999 meters Centerline goodness [0,1] 0.987243605278812 Centerline is valid? [True, True] Translation: X:821.97, Y:-61.38, Z:3.22 [[ 9.99951272e-01 7.77561605e-03 -6.08227219e-03 8.21972785e+02] [-7.77389665e-03 9.99969736e-01 3.06281086e-04 -6.13847722e+01] [ 6.08446964e-03 -2.58983206e-04 9.99981456e-01 3.22130470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.140714057 meters Centerline goodness [0,1] 0.9878826671375284 Centerline is valid? [True, True] Translation: X:822.00, Y:-61.38, Z:3.22 [[ 9.99875570e-01 1.46697696e-02 -5.80017029e-03 8.22002405e+02] [-1.46683224e-02 9.99892372e-01 2.91967000e-04 -6.13789966e+01] [ 5.80382912e-03 -2.06851902e-04 9.99983136e-01 3.22123549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1707140569999 meters Centerline goodness [0,1] 0.9887072939411985 Centerline is valid? [True, True] Translation: X:822.03, Y:-61.37, Z:3.22 [[ 9.99829838e-01 1.77141421e-02 -5.14830161e-03 8.22031281e+02] [-1.77130442e-02 9.99843078e-01 2.58771472e-04 -6.13730863e+01] [ 5.15207764e-03 -1.67535345e-04 9.99986714e-01 3.22207520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2007140569999 meters Centerline goodness [0,1] 0.988830255057168 Centerline is valid? [True, True] Translation: X:822.06, Y:-61.38, Z:3.22 [[ 9.99777821e-01 2.05818789e-02 -4.54906806e-03 8.22059044e+02] [-2.05810539e-02 9.99788162e-01 2.28112724e-04 -6.13767682e+01] [ 4.55279938e-03 -1.34437428e-04 9.99989627e-01 3.22099807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2307140569999 meters Centerline goodness [0,1] 0.9909593280282936 Centerline is valid? [True, True] Translation: X:822.09, Y:-61.37, Z:3.22 [[ 9.99678114e-01 2.49492741e-02 -4.60462740e-03 8.22089288e+02] [-2.49484756e-02 9.99688712e-01 2.30763110e-04 -6.13684917e+01] [ 4.60895140e-03 -1.15810396e-04 9.99989372e-01 3.22143300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.260714057 meters Centerline goodness [0,1] 0.9910230614455967 Centerline is valid? [True, True] Translation: X:822.12, Y:-61.37, Z:3.22 [[ 9.99629590e-01 2.67702248e-02 -4.90281578e-03 8.22116840e+02] [-2.67693448e-02 9.99641607e-01 2.45039133e-04 -6.13697667e+01] [ 4.90761840e-03 -1.13703202e-04 9.99987951e-01 3.22080625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.290714057 meters Centerline goodness [0,1] 0.9915370337634789 Centerline is valid? [True, True] Translation: X:822.15, Y:-61.37, Z:3.22 [[ 9.99551983e-01 2.94895085e-02 -5.11875065e-03 8.22145331e+02] [-2.94885866e-02 9.99565084e-01 2.55488162e-04 -6.13700835e+01] [ 5.12405865e-03 -1.04428977e-04 9.99986866e-01 3.22001263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3207140569999 meters Centerline goodness [0,1] 0.991826636329497 Centerline is valid? [True, True] Translation: X:822.17, Y:-61.37, Z:3.22 [[ 9.99522393e-01 3.04958519e-02 -4.99898528e-03 8.22174337e+02] [-3.04949871e-02 9.99534889e-01 2.49153157e-04 -6.13719039e+01] [ 5.00425834e-03 -9.65901683e-05 9.99987474e-01 3.21995665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3507140569999 meters Centerline goodness [0,1] 0.991585473870682 Centerline is valid? [True, True] Translation: X:822.20, Y:-61.37, Z:3.22 [[ 9.99501600e-01 3.11874065e-02 -4.88845058e-03 8.22203090e+02] [-3.11865895e-02 9.99513550e-01 2.43294897e-04 -6.13741153e+01] [ 4.89366033e-03 -9.07195374e-05 9.99988022e-01 3.21977738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.380714057 meters Centerline goodness [0,1] 0.9913333775507948 Centerline is valid? [True, True] Translation: X:822.23, Y:-61.38, Z:3.22 [[ 9.99495558e-01 3.13749965e-02 -4.92337009e-03 8.22230709e+02] [-3.13741722e-02 9.99507680e-01 2.44591107e-04 -6.13788213e+01] [ 4.92862026e-03 -9.00010641e-05 9.99987850e-01 3.21902869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.410714057 meters Centerline goodness [0,1] 0.9915862464942694 Centerline is valid? [True, True] Translation: X:822.26, Y:-61.38, Z:3.22 [[ 9.99515711e-01 3.07710015e-02 -4.63568662e-03 8.22259335e+02] [-3.07702657e-02 9.99526457e-01 2.29974117e-04 -6.13821763e+01] [ 4.64056796e-03 -8.72214337e-05 9.99989229e-01 3.21893544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4407140569999 meters Centerline goodness [0,1] 0.9911299907558216 Centerline is valid? [True, True] Translation: X:822.29, Y:-61.39, Z:3.22 [[ 9.99535761e-01 3.01108300e-02 -4.64752730e-03 8.22288289e+02] [-3.01100849e-02 9.99546562e-01 2.30226031e-04 -6.13859912e+01] [ 4.65235224e-03 -9.01817095e-05 9.99989174e-01 3.21864151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4707140569999 meters Centerline goodness [0,1] 0.9908089045624863 Centerline is valid? [True, True] Translation: X:822.32, Y:-61.39, Z:3.22 [[ 9.99577812e-01 2.87633531e-02 -4.10687356e-03 8.22315701e+02] [-2.87627614e-02 9.99586246e-01 2.03066214e-04 -6.13916910e+01] [ 4.11101518e-03 -8.48554574e-05 9.99991546e-01 3.21829683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.500714057 meters Centerline goodness [0,1] 0.9902691329885158 Centerline is valid? [True, True] Translation: X:822.34, Y:-61.40, Z:3.22 [[ 9.99656344e-01 2.59054798e-02 -4.01249311e-03 8.22344514e+02] [-2.59048932e-02 9.99664392e-01 1.98119054e-04 -6.13990707e+01] [ 4.01627885e-03 -9.41077637e-05 9.99991930e-01 3.21728062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.530714057 meters Centerline goodness [0,1] 0.9896304758557054 Centerline is valid? [True, True] Translation: X:822.37, Y:-61.40, Z:3.22 [[ 9.99699072e-01 2.41541975e-02 -4.28248341e-03 8.22373435e+02] [-2.41535144e-02 9.99708239e-01 2.11145466e-04 -6.14040875e+01] [ 4.28633400e-03 -1.07644902e-04 9.99990808e-01 3.21676318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5607140569999 meters Centerline goodness [0,1] 0.9889146913201595 Centerline is valid? [True, True] Translation: X:822.40, Y:-61.41, Z:3.22 [[ 9.99781972e-01 2.04158741e-02 -4.38192076e-03 8.22402266e+02] [-2.04151245e-02 9.99791566e-01 2.15739128e-04 -6.14132043e+01] [ 4.38541193e-03 -1.26234633e-04 9.99990376e-01 3.21629855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5907140569999 meters Centerline goodness [0,1] 0.9877593768410028 Centerline is valid? [True, True] Translation: X:822.43, Y:-61.42, Z:3.22 [[ 9.99824316e-01 1.82817736e-02 -4.13683218e-03 8.22429638e+02] [-1.82810893e-02 9.99832866e-01 2.03171475e-04 -6.14190378e+01] [ 4.13985511e-03 -1.27509983e-04 9.99991423e-01 3.21627966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.620714057 meters Centerline goodness [0,1] 0.9875076439241722 Centerline is valid? [True, True] Translation: X:822.46, Y:-61.43, Z:3.22 [[ 9.99863632e-01 1.61046594e-02 -3.65486658e-03 8.22456651e+02] [-1.61041121e-02 9.99870304e-01 1.79114684e-04 -6.14250131e+01] [ 3.65727714e-03 -1.20231877e-04 9.99993305e-01 3.21613409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.650714057 meters Centerline goodness [0,1] 0.9861801377626646 Centerline is valid? [True, True] Translation: X:822.49, Y:-61.44, Z:3.22 [[ 9.99931552e-01 1.14091116e-02 -2.59288798e-03 8.22485274e+02] [-1.14088206e-02 9.99934909e-01 1.26995344e-04 -6.14354974e+01] [ 2.59416811e-03 -9.74048576e-05 9.99996630e-01 3.21658471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6807140569999 meters Centerline goodness [0,1] 0.9857086922474549 Centerline is valid? [True, True] Translation: X:822.51, Y:-61.44, Z:3.22 [[ 9.99957965e-01 8.84468445e-03 -2.41637494e-03 8.22514041e+02] [-8.84442456e-03 9.99960880e-01 1.18217251e-04 -6.14412627e+01] [ 2.41732601e-03 -9.68408359e-05 9.99997074e-01 3.21669791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7107140569999 meters Centerline goodness [0,1] 0.9860487318015144 Centerline is valid? [True, True] Translation: X:822.54, Y:-61.44, Z:3.22 [[ 9.99976673e-01 6.47189107e-03 -2.18367207e-03 8.22543578e+02] [-6.47167334e-03 9.99979053e-01 1.06758391e-04 -6.14434711e+01] [ 2.18431726e-03 -9.26238882e-05 9.99997610e-01 3.21678626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7407140569999 meters Centerline goodness [0,1] 0.9850365437010768 Centerline is valid? [True, True] Translation: X:822.57, Y:-61.45, Z:3.22 [[ 9.99997327e-01 1.25785154e-03 -1.94025800e-03 8.22573224e+02] [-1.25766991e-03 9.99999205e-01 9.48285775e-05 -6.14526037e+01] [ 1.94037573e-03 -9.23881199e-05 9.99998113e-01 3.21573971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.770714057 meters Centerline goodness [0,1] 0.98366346299872 Centerline is valid? [True, True] Translation: X:822.60, Y:-61.46, Z:3.22 [[ 9.99997549e-01 -1.25096014e-03 -1.82654294e-03 8.22601934e+02] [ 1.25112514e-03 9.99999213e-01 8.91983695e-05 -6.14627648e+01] [ 1.82642992e-03 -9.14833847e-05 9.99998328e-01 3.21520207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8007140569999 meters Centerline goodness [0,1] 0.9848497984307946 Centerline is valid? [True, True] Translation: X:822.63, Y:-61.46, Z:3.22 [[ 9.99991815e-01 -3.55681018e-03 -1.92823622e-03 8.22632682e+02] [ 3.55699837e-03 9.99993669e-01 9.41790164e-05 -6.14613231e+01] [ 1.92788904e-03 -1.01036979e-04 9.99998137e-01 3.21522142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8307140569999 meters Centerline goodness [0,1] 0.9831176139561058 Centerline is valid? [True, True] Translation: X:822.66, Y:-61.47, Z:3.21 [[ 9.99955916e-01 -9.11909329e-03 -2.23775707e-03 8.22662090e+02] [ 9.11936055e-03 9.99958412e-01 1.09256985e-04 -6.14720696e+01] [ 2.23666769e-03 -1.29659082e-04 9.99997490e-01 3.21456555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8607140569999 meters Centerline goodness [0,1] 0.9820374757699764 Centerline is valid? [True, True] Translation: X:822.69, Y:-61.48, Z:3.21 [[ 9.99930368e-01 -1.15190993e-02 -2.56301893e-03 8.22692155e+02] [ 1.15194579e-02 9.99933641e-01 1.25196285e-04 -6.14824257e+01] [ 2.56140670e-03 -1.54712156e-04 9.99996708e-01 3.21403994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.890714057 meters Centerline goodness [0,1] 0.9828123321516812 Centerline is valid? [True, True] Translation: X:822.72, Y:-61.48, Z:3.21 [[ 9.99890724e-01 -1.44750313e-02 -3.00238384e-03 8.22723502e+02] [ 1.44755370e-02 9.99895213e-01 1.46768793e-04 -6.14819346e+01] [ 2.99994475e-03 -1.90213873e-04 9.99995482e-01 3.21360960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9207140569999 meters Centerline goodness [0,1] 0.9834417122432281 Centerline is valid? [True, True] Translation: X:822.75, Y:-61.48, Z:3.21 [[ 9.99853141e-01 -1.67290992e-02 -3.71923751e-03 8.22754406e+02] [ 1.67298910e-02 9.99860029e-01 1.81868373e-04 -6.14831750e+01] [ 3.71567443e-03 -2.44064102e-04 9.99993067e-01 3.21389299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9507140569999 meters Centerline goodness [0,1] 0.983023792575336 Centerline is valid? [True, True] Translation: X:822.79, Y:-61.49, Z:3.21 [[ 9.99804350e-01 -1.94127349e-02 -3.79559447e-03 8.22785056e+02] [ 1.94135790e-02 9.99811521e-01 1.85669884e-04 -6.14868267e+01] [ 3.79127472e-03 -2.59319631e-04 9.99992779e-01 3.21321375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9807140569999 meters Centerline goodness [0,1] 0.9824247390666782 Centerline is valid? [True, True] Translation: X:822.81, Y:-61.49, Z:3.21 [[ 9.99719738e-01 -2.33116834e-02 -4.12448430e-03 8.22814536e+02] [ 2.33127128e-02 9.99728201e-01 2.01685470e-04 -6.14925537e+01] [ 4.11866165e-03 -2.97781864e-04 9.99991474e-01 3.21224761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.010714057 meters Centerline goodness [0,1] 0.9815837143103597 Centerline is valid? [True, True] Translation: X:822.85, Y:-61.50, Z:3.21 [[ 9.99680911e-01 -2.49079160e-02 -4.20382918e-03 8.22845390e+02] [ 2.49089998e-02 9.99689702e-01 2.05652265e-04 -6.14955520e+01] [ 4.19740237e-03 -3.10299824e-04 9.99991143e-01 3.21200145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.040714057 meters Centerline goodness [0,1] 0.9826668103912903 Centerline is valid? [True, True] Translation: X:822.88, Y:-61.50, Z:3.21 [[ 9.99647769e-01 -2.60715978e-02 -4.96083856e-03 8.22876763e+02] [ 2.60731227e-02 9.99660009e-01 2.42960168e-04 -6.14997322e+01] [ 4.95281756e-03 -3.72219142e-04 9.99987665e-01 3.21200678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0707140569999 meters Centerline goodness [0,1] 0.9817532383698412 Centerline is valid? [True, True] Translation: X:822.91, Y:-61.50, Z:3.21 [[ 9.99601607e-01 -2.78822240e-02 -4.38277632e-03 8.22908095e+02] [ 2.78834322e-02 9.99611158e-01 2.14796763e-04 -6.15006415e+01] [ 4.37508311e-03 -3.36918036e-04 9.99990373e-01 3.21178081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1007140569999 meters Centerline goodness [0,1] 0.9802241550910901 Centerline is valid? [True, True] Translation: X:822.94, Y:-61.50, Z:3.21 [[ 9.99595309e-01 -2.81459428e-02 -4.12606707e-03 8.22939781e+02] [ 2.81470167e-02 9.99603774e-01 2.02437335e-04 -6.15022907e+01] [ 4.11873442e-03 -3.18491889e-04 9.99991467e-01 3.21217772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.130714057 meters Centerline goodness [0,1] 0.9822118601990372 Centerline is valid? [True, True] Translation: X:822.97, Y:-61.50, Z:3.21 [[ 9.99586685e-01 -2.84961823e-02 -3.79829924e-03 8.22972231e+02] [ 2.84970960e-02 9.99593858e-01 1.86635826e-04 -6.14978827e+01] [ 3.79143818e-03 -2.94799185e-04 9.99992769e-01 3.21336038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.160714057 meters Centerline goodness [0,1] 0.9817945383615084 Centerline is valid? [True, True] Translation: X:823.00, Y:-61.49, Z:3.21 [[ 9.99555406e-01 -2.97273522e-02 -2.29678190e-03 8.23004439e+02] [ 2.97276899e-02 9.99558028e-01 1.13034506e-04 -6.14940452e+01] [ 2.29240657e-03 -1.81262272e-04 9.99997356e-01 3.21485378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1907140569999 meters Centerline goodness [0,1] 0.9805675909878683 Centerline is valid? [True, True] Translation: X:823.04, Y:-61.50, Z:3.22 [[ 9.99533239e-01 -3.05207763e-02 -1.33623416e-03 8.23036415e+02] [ 3.05208915e-02 9.99534127e-01 6.58700925e-05 -6.14955631e+01] [ 1.33360124e-03 -1.06622405e-04 9.99999105e-01 3.21514479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2207140569999 meters Centerline goodness [0,1] 0.9812171951589814 Centerline is valid? [True, True] Translation: X:823.07, Y:-61.50, Z:3.22 [[ 9.99499673e-01 -3.16197369e-02 -7.72375405e-04 8.23068603e+02] [ 3.16197758e-02 9.99499969e-01 3.81424437e-05 -6.14956871e+01] [ 7.70783139e-04 -6.25456971e-05 9.99999701e-01 3.21529665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.250714057 meters Centerline goodness [0,1] 0.9804814573845153 Centerline is valid? [True, True] Translation: X:823.10, Y:-61.50, Z:3.22 [[ 9.99471223e-01 -3.25059551e-02 -7.98539913e-04 8.23100586e+02] [ 3.25059969e-02 9.99471540e-01 3.94912326e-05 -6.14966867e+01] [ 7.96834216e-04 -6.54276865e-05 9.99999680e-01 3.21583971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.280714057 meters Centerline goodness [0,1] 0.9774831558356879 Centerline is valid? [True, True] Translation: X:823.13, Y:-61.51, Z:3.22 [[ 9.99443124e-01 -3.33570710e-02 -8.64738415e-04 8.23131244e+02] [ 3.33571204e-02 9.99443495e-01 4.28021885e-05 -6.15059651e+01] [ 8.62829429e-04 -7.16235364e-05 9.99999625e-01 3.21532963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3107140569999 meters Centerline goodness [0,1] 0.9790085824848132 Centerline is valid? [True, True] Translation: X:823.16, Y:-61.50, Z:3.21 [[ 9.99363160e-01 -3.56109608e-02 -2.26596132e-03 8.23163083e+02] [ 3.56113061e-02 9.99365710e-01 1.12197264e-04 -6.14996136e+01] [ 2.26052859e-03 -1.92819655e-04 9.99997426e-01 3.21498314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3407140569999 meters Centerline goodness [0,1] 0.9800670235452844 Centerline is valid? [True, True] Translation: X:823.19, Y:-61.50, Z:3.21 [[ 9.99329542e-01 -3.65261809e-02 -2.51069731e-03 8.23194976e+02] [ 3.65266080e-02 9.99332673e-01 1.24456862e-04 -6.14956231e+01] [ 2.50447592e-03 -2.16080675e-04 9.99996840e-01 3.21448876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.370714057 meters Centerline goodness [0,1] 0.9800489569568702 Centerline is valid? [True, True] Translation: X:823.23, Y:-61.50, Z:3.21 [[ 9.99287163e-01 -3.75831283e-02 -3.55998292e-03 8.23226768e+02] [ 3.75839944e-02 9.99293456e-01 1.76653268e-04 -6.14965693e+01] [ 3.55082845e-03 -3.10325721e-04 9.99993648e-01 3.21399803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.400714057 meters Centerline goodness [0,1] 0.9785154549412277 Centerline is valid? [True, True] Translation: X:823.26, Y:-61.50, Z:3.21 [[ 9.99210492e-01 -3.94990410e-02 -4.26827383e-03 8.23257264e+02] [ 3.95003035e-02 9.99219536e-01 2.11857611e-04 -6.14984120e+01] [ 4.25657443e-03 -3.80288459e-04 9.99990868e-01 3.21288956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4307140569999 meters Centerline goodness [0,1] 0.9800266602565504 Centerline is valid? [True, True] Translation: X:823.29, Y:-61.50, Z:3.21 [[ 9.99176594e-01 -4.03389439e-02 -4.34771441e-03 8.23289037e+02] [ 4.03402628e-02 9.99185977e-01 2.16048983e-04 -6.14952258e+01] [ 4.33546008e-03 -3.91259029e-04 9.99990525e-01 3.21239877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4607140569999 meters Centerline goodness [0,1] 0.9810331264749584 Centerline is valid? [True, True] Translation: X:823.32, Y:-61.49, Z:3.21 [[ 9.99141364e-01 -4.10372421e-02 -5.69908002e-03 8.23321180e+02] [ 4.10395219e-02 9.99157484e-01 2.83611274e-04 -6.14927899e+01] [ 5.68263983e-03 -5.17255274e-04 9.99983720e-01 3.21117409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4907140569999 meters Centerline goodness [0,1] 0.9793163699901715 Centerline is valid? [True, True] Translation: X:823.35, Y:-61.50, Z:3.21 [[ 9.99148256e-01 -4.07727301e-02 -6.35195108e-03 8.23353333e+02] [ 4.07755642e-02 9.99168280e-01 3.17255575e-04 -6.14967039e+01] [ 6.33373266e-03 -5.75989743e-04 9.99979776e-01 3.21017141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.520714057 meters Centerline goodness [0,1] 0.9808676258363581 Centerline is valid? [True, True] Translation: X:823.39, Y:-61.49, Z:3.21 [[ 9.99171522e-01 -3.99713966e-02 -7.65220771e-03 8.23386155e+02] [ 3.99754902e-02 9.99200587e-01 3.82684456e-04 -6.14908287e+01] [ 7.63079400e-03 -6.88268164e-04 9.99970648e-01 3.20904771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5507140569999 meters Centerline goodness [0,1] 0.9818337768589589 Centerline is valid? [True, True] Translation: X:823.42, Y:-61.49, Z:3.21 [[ 9.99192155e-01 -3.94593152e-02 -7.61573904e-03 8.23418341e+02] [ 3.94633591e-02 9.99220945e-01 3.81405816e-04 -6.14876806e+01] [ 7.59475595e-03 -6.81640344e-04 9.99970927e-01 3.20951931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5807140569999 meters Centerline goodness [0,1] 0.981920556019883 Centerline is valid? [True, True] Translation: X:823.45, Y:-61.49, Z:3.21 [[ 9.99224625e-01 -3.86534902e-02 -7.48711855e-03 8.23450547e+02] [ 3.86573803e-02 9.99252454e-01 3.75502830e-04 -6.14860462e+01] [ 7.46700708e-03 -6.64644064e-04 9.99971901e-01 3.20974893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6107140569999 meters Centerline goodness [0,1] 0.9747592454157689 Centerline is valid? [True, True] Translation: X:823.48, Y:-61.50, Z:3.21 [[ 9.99273962e-01 -3.75590665e-02 -6.39258448e-03 8.23480120e+02] [ 3.75618808e-02 9.99294252e-01 3.20705346e-04 -6.14960686e+01] [ 6.37602753e-03 -5.60589998e-04 9.99979516e-01 3.20999962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.640714057 meters Centerline goodness [0,1] 0.9829491562810191 Centerline is valid? [True, True] Translation: X:823.51, Y:-61.48, Z:3.21 [[ 9.99359409e-01 -3.55746159e-02 -3.90100295e-03 8.23512231e+02] [ 3.55756492e-02 9.99366967e-01 1.95790962e-04 -6.14800037e+01] [ 3.89156830e-03 -3.34446253e-04 9.99992372e-01 3.21315276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6707140569999 meters Centerline goodness [0,1] 0.9838855654400566 Centerline is valid? [True, True] Translation: X:823.54, Y:-61.47, Z:3.21 [[ 9.99409700e-01 -3.42343954e-02 -2.87362102e-03 8.23543693e+02] [ 3.42349509e-02 9.99413802e-01 1.44341212e-04 -6.14748424e+01] [ 2.86699507e-03 -2.42634282e-04 9.99995861e-01 3.21395718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7007140569999 meters Centerline goodness [0,1] 0.9841063111189599 Centerline is valid? [True, True] Translation: X:823.57, Y:-61.48, Z:3.21 [[ 9.99455995e-01 -3.28854124e-02 -2.50273380e-03 8.23573741e+02] [ 3.28858297e-02 9.99459107e-01 1.25752447e-04 -6.14750708e+01] [ 2.49724466e-03 -2.07988515e-04 9.99996860e-01 3.21442466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7307140569999 meters Centerline goodness [0,1] 0.9839578092590141 Centerline is valid? [True, True] Translation: X:823.60, Y:-61.47, Z:3.21 [[ 9.99538566e-01 -3.02789180e-02 -2.41724712e-03 8.23604950e+02] [ 3.02792998e-02 9.99541469e-01 1.21516389e-04 -6.14710273e+01] [ 2.41245936e-03 -1.94652867e-04 9.99997071e-01 3.21358163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.760714057 meters Centerline goodness [0,1] 0.9854979409290174 Centerline is valid? [True, True] Translation: X:823.64, Y:-61.47, Z:3.21 [[ 9.99571951e-01 -2.91043376e-02 -2.97520555e-03 8.23636363e+02] [ 2.91049113e-02 9.99576351e-01 1.49676981e-04 -6.14698257e+01] [ 2.96958886e-03 -2.36206005e-04 9.99995563e-01 3.21305636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.790714057 meters Centerline goodness [0,1] 0.9852690339587533 Centerline is valid? [True, True] Translation: X:823.67, Y:-61.47, Z:3.21 [[ 9.99605840e-01 -2.78304018e-02 -3.69226460e-03 8.23667787e+02] [ 2.78312771e-02 9.99612618e-01 1.85881977e-04 -6.14693502e+01] [ 3.68566111e-03 -2.88569149e-04 9.99993166e-01 3.21215532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8207140569999 meters Centerline goodness [0,1] 0.9852690339587533 Centerline is valid? [True, True] Translation: X:823.70, Y:-61.47, Z:3.21 [[ 9.99608867e-01 -2.77214958e-02 -3.69224292e-03 8.23700382e+02] [ 2.77223719e-02 9.99615644e-01 1.86312165e-04 -6.14710806e+01] [ 3.68565893e-03 -2.88597024e-04 9.99993166e-01 3.21214275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8507140569999 meters Centerline goodness [0,1] 0.9840273310113805 Centerline is valid? [True, True] Translation: X:823.73, Y:-61.47, Z:3.21 [[ 9.99642721e-01 -2.64151697e-02 -4.08285074e-03 8.23731011e+02] [ 2.64162307e-02 9.99651009e-01 2.06137318e-04 -6.14732955e+01] [ 4.07598071e-03 -3.13917197e-04 9.99991644e-01 3.21119853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.880714057 meters Centerline goodness [0,1] 0.9851848566169132 Centerline is valid? [True, True] Translation: X:823.76, Y:-61.47, Z:3.21 [[ 9.99707517e-01 -2.35634224e-02 -5.44474853e-03 8.23761589e+02] [ 2.35652671e-02 9.99722263e-01 2.74879070e-04 -6.14698663e+01] [ 5.43675923e-03 -4.03105626e-04 9.99985139e-01 3.21043791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.910714057 meters Centerline goodness [0,1] 0.9854696304183859 Centerline is valid? [True, True] Translation: X:823.79, Y:-61.47, Z:3.21 [[ 9.99737065e-01 -2.22186500e-02 -5.66850234e-03 8.23791725e+02] [ 2.22206285e-02 9.99753050e-01 2.86281534e-04 -6.14712364e+01] [ 5.66074172e-03 -4.12163946e-04 9.99983893e-01 3.21013027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9407140569999 meters Centerline goodness [0,1] 0.9858973218257853 Centerline is valid? [True, True] Translation: X:823.82, Y:-61.47, Z:3.21 [[ 9.99768470e-01 -2.07615961e-02 -5.65355695e-03 8.23823637e+02] [ 2.07635428e-02 9.99784374e-01 2.85840887e-04 -6.14688071e+01] [ 5.64640338e-03 -4.03162578e-04 9.99983978e-01 3.21026565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9707140569999 meters Centerline goodness [0,1] 0.9855405704178642 Centerline is valid? [True, True] Translation: X:823.85, Y:-61.47, Z:3.21 [[ 9.99800034e-01 -1.92751187e-02 -5.32562734e-03 8.23854847e+02] [ 1.92768261e-02 9.99814148e-01 2.69445723e-04 -6.14672824e+01] [ 5.31944396e-03 -3.72053034e-04 9.99985782e-01 3.21062129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.000714057 meters Centerline goodness [0,1] 0.9846365614315528 Centerline is valid? [True, True] Translation: X:823.89, Y:-61.47, Z:3.21 [[ 9.99842395e-01 -1.71047288e-02 -4.75540075e-03 8.23885693e+02] [ 1.71060665e-02 9.99853652e-01 2.40765634e-04 -6.14700477e+01] [ 4.75058657e-03 -3.22073890e-04 9.99988664e-01 3.21060258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.030714057 meters Centerline goodness [0,1] 0.9865898679001912 Centerline is valid? [True, True] Translation: X:823.92, Y:-61.46, Z:3.21 [[ 9.99858348e-01 -1.62412807e-02 -4.41633254e-03 8.23918704e+02] [ 1.62424278e-02 9.99868058e-01 2.24016534e-04 -6.14641139e+01] [ 4.41211152e-03 -2.95716764e-04 9.99990223e-01 3.21089829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0607140569999 meters Centerline goodness [0,1] 0.9869551667334491 Centerline is valid? [True, True] Translation: X:823.95, Y:-61.47, Z:3.21 [[ 9.99872950e-01 -1.53219966e-02 -4.39554236e-03 8.23950122e+02] [ 1.53231251e-02 9.99882569e-01 2.23183480e-04 -6.14667609e+01] [ 4.39160657e-03 -2.90508570e-04 9.99990315e-01 3.21051532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0907140569999 meters Centerline goodness [0,1] 0.9848474704871572 Centerline is valid? [True, True] Translation: X:823.98, Y:-61.47, Z:3.21 [[ 9.99886225e-01 -1.42850980e-02 -4.84487102e-03 8.23981002e+02] [ 1.42864602e-02 9.99897913e-01 2.46664051e-04 -6.14740214e+01] [ 4.84085280e-03 -3.15852044e-04 9.99988233e-01 3.20880414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.120714057 meters Centerline goodness [0,1] 0.9857962793398396 Centerline is valid? [True, True] Translation: X:824.01, Y:-61.47, Z:3.21 [[ 9.99879087e-01 -1.45262043e-02 -5.54980700e-03 8.24013486e+02] [ 1.45279975e-02 9.99894423e-01 2.82915519e-04 -6.14668740e+01] [ 5.54511138e-03 -3.63508893e-04 9.99984560e-01 3.20888781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.150714057 meters Centerline goodness [0,1] 0.9860331462175889 Centerline is valid? [True, True] Translation: X:824.04, Y:-61.47, Z:3.21 [[ 9.99873130e-01 -1.50133917e-02 -5.32176104e-03 8.24044853e+02] [ 1.50150488e-02 9.99887231e-01 2.71564601e-04 -6.14716416e+01] [ 5.31708381e-03 -3.51436649e-04 9.99985802e-01 3.20821881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1807140569999 meters Centerline goodness [0,1] 0.9865619000848252 Centerline is valid? [True, True] Translation: X:824.08, Y:-61.47, Z:3.21 [[ 9.99854795e-01 -1.58804864e-02 -6.18057813e-03 8.24077236e+02] [ 1.58827407e-02 9.99873811e-01 3.15826346e-04 -6.14705784e+01] [ 6.17478274e-03 -4.13945006e-04 9.99980850e-01 3.20848883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2107140569999 meters Centerline goodness [0,1] 0.986921260193396 Centerline is valid? [True, True] Translation: X:824.11, Y:-61.47, Z:3.21 [[ 9.99816744e-01 -1.80413031e-02 -6.40228806e-03 8.24107791e+02] [ 1.80437668e-02 9.99837144e-01 3.27245613e-04 -6.14733778e+01] [ 6.39534147e-03 -4.42707036e-04 9.99979452e-01 3.20803028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2407140569999 meters Centerline goodness [0,1] 0.9861495844875346 Centerline is valid? [True, True] Translation: X:824.14, Y:-61.48, Z:3.21 [[ 9.99795869e-01 -1.90578500e-02 -6.70966455e-03 8.24138373e+02] [ 1.90605843e-02 9.99818271e-01 3.43809531e-04 -6.14776876e+01] [ 6.70189294e-03 -4.71629476e-04 9.99977431e-01 3.20742694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.270714057 meters Centerline goodness [0,1] 0.987683350128765 Centerline is valid? [True, True] Translation: X:824.17, Y:-61.48, Z:3.21 [[ 9.99773558e-01 -2.01683690e-02 -6.78738775e-03 8.24170928e+02] [ 2.01711956e-02 9.99796480e-01 3.48246788e-04 -6.14772328e+01] [ 6.77898282e-03 -4.85077657e-04 9.99976905e-01 3.20702859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3007140569999 meters Centerline goodness [0,1] 0.987520687033144 Centerline is valid? [True, True] Translation: X:824.20, Y:-61.48, Z:3.21 [[ 9.99749788e-01 -2.12372982e-02 -7.02420938e-03 8.24202652e+02] [ 2.12403544e-02 9.99774333e-01 3.60770147e-04 -6.14752256e+01] [ 7.01496246e-03 -5.09876574e-04 9.99975265e-01 3.20696485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3307140569999 meters Centerline goodness [0,1] 0.9851463033281215 Centerline is valid? [True, True] Translation: X:824.23, Y:-61.49, Z:3.21 [[ 9.99718302e-01 -2.24681450e-02 -7.64844725e-03 8.24232761e+02] [ 2.24718118e-02 9.99747399e-01 3.93808867e-04 -6.14857441e+01] [ 7.63766710e-03 -5.65572399e-04 9.99970673e-01 3.20590842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3607140569999 meters Centerline goodness [0,1] 0.9849635854341736 Centerline is valid? [True, True] Translation: X:824.26, Y:-61.49, Z:3.21 [[ 9.99718804e-01 -2.24647123e-02 -7.59269239e-03 8.24264678e+02] [ 2.24683294e-02 9.99747479e-01 3.91419829e-04 -6.14873573e+01] [ 7.58198194e-03 -5.61904878e-04 9.99971098e-01 3.20585776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.390714057 meters Centerline goodness [0,1] 0.984270317506554 Centerline is valid? [True, True] Translation: X:824.30, Y:-61.49, Z:3.21 [[ 9.99743769e-01 -2.15968456e-02 -6.78029473e-03 8.24296311e+02] [ 2.15997132e-02 9.99766638e-01 3.49987985e-04 -6.14878156e+01] [ 6.77115383e-03 -4.96350728e-04 9.99976952e-01 3.20643346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4207140569999 meters Centerline goodness [0,1] 0.986466805583563 Centerline is valid? [True, True] Translation: X:824.33, Y:-61.48, Z:3.21 [[ 9.99757159e-01 -2.09802995e-02 -6.74165781e-03 8.24328715e+02] [ 2.09831238e-02 9.99779769e-01 3.48470855e-04 -6.14775780e+01] [ 6.73286207e-03 -4.89847272e-04 9.99977214e-01 3.20814657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4507140569999 meters Centerline goodness [0,1] 0.9879017776979709 Centerline is valid? [True, True] Translation: X:824.36, Y:-61.47, Z:3.21 [[ 9.99784921e-01 -1.97947624e-02 -6.18699183e-03 8.24360297e+02] [ 1.97971199e-02 9.99803967e-01 3.20013563e-04 -6.14745599e+01] [ 6.17944438e-03 -4.42429354e-04 9.99980809e-01 3.20880470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4807140569999 meters Centerline goodness [0,1] 0.9872485632183908 Centerline is valid? [True, True] Translation: X:824.39, Y:-61.47, Z:3.21 [[ 9.99805335e-01 -1.88246100e-02 -5.90984844e-03 8.24392573e+02] [ 1.88267466e-02 9.99822714e-01 3.06116278e-04 -6.14748359e+01] [ 5.90303819e-03 -4.17319907e-04 9.99982490e-01 3.20902526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.510714057 meters Centerline goodness [0,1] 0.9874859834043508 Centerline is valid? [True, True] Translation: X:824.43, Y:-61.47, Z:3.21 [[ 9.99828007e-01 -1.77777473e-02 -5.28274365e-03 8.24425233e+02] [ 1.77794426e-02 9.99841896e-01 2.74119038e-04 -6.14739624e+01] [ 5.27703521e-03 -3.67996129e-04 9.99986009e-01 3.20947618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.540714057 meters Centerline goodness [0,1] 0.9874154475381469 Centerline is valid? [True, True] Translation: X:824.46, Y:-61.47, Z:3.21 [[ 9.99860584e-01 -1.55861819e-02 -5.99025472e-03 8.24457071e+02] [ 1.55883244e-02 9.99878446e-01 3.11137558e-04 -6.14708176e+01] [ 5.98467713e-03 -4.04472214e-04 9.99982010e-01 3.20973941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5707140569999 meters Centerline goodness [0,1] 0.9869000539277368 Centerline is valid? [True, True] Translation: X:824.49, Y:-61.48, Z:3.21 [[ 9.99873349e-01 -1.46074880e-02 -6.31729300e-03 8.24487514e+02] [ 1.46098535e-02 9.99893216e-01 3.28462040e-04 -6.14785165e+01] [ 6.31182041e-03 -4.20715166e-04 9.99979992e-01 3.20833495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6007140569999 meters Centerline goodness [0,1] 0.9882445670532598 Centerline is valid? [True, True] Translation: X:824.52, Y:-61.47, Z:3.21 [[ 9.99878473e-01 -1.37670005e-02 -7.31494844e-03 8.24519741e+02] [ 1.37701524e-02 9.99905114e-01 3.80694996e-04 -6.14706847e+01] [ 7.30901333e-03 -4.81376686e-04 9.99973173e-01 3.20840586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.630714057 meters Centerline goodness [0,1] 0.9565913351165779 Centerline is valid? [True, True] Translation: X:824.55, Y:-61.50, Z:3.20 [[ 9.99925002e-01 -9.97333692e-03 -7.10795545e-03 8.24547634e+02] [ 9.97621711e-03 9.99950168e-01 3.69865702e-04 -6.15015274e+01] [ 7.10391245e-03 -4.40748469e-04 9.99974670e-01 3.20247723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.660714057 meters Centerline goodness [0,1] 0.9889936397672425 Centerline is valid? [True, True] Translation: X:824.58, Y:-61.47, Z:3.20 [[ 9.99884828e-01 -1.10802247e-02 -1.03711233e-02 8.24580636e+02] [ 1.10864199e-02 9.99938398e-01 5.40046397e-04 -6.14709459e+01] [ 1.03645006e-02 -6.54962826e-04 9.99946073e-01 3.20486444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6907140569999 meters Centerline goodness [0,1] 0.9888409496487384 Centerline is valid? [True, True] Translation: X:824.61, Y:-61.47, Z:3.20 [[ 9.99883468e-01 -1.00634080e-02 -1.14794456e-02 8.24610737e+02] [ 1.00709216e-02 9.99949109e-01 5.96908363e-04 -6.14710993e+01] [ 1.14728544e-02 -7.12447401e-04 9.99933931e-01 3.20401223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7207140569999 meters Centerline goodness [0,1] 0.9890723981900452 Centerline is valid? [True, True] Translation: X:824.64, Y:-61.47, Z:3.20 [[ 9.99901344e-01 -7.27690481e-03 -1.20144921e-02 8.24639984e+02] [ 7.28493000e-03 9.99973270e-01 6.24330058e-04 -6.14687546e+01] [ 1.20096277e-02 -7.11793198e-04 9.99927628e-01 3.20437458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.750714057 meters Centerline goodness [0,1] 0.9893361709835174 Centerline is valid? [True, True] Translation: X:824.67, Y:-61.46, Z:3.21 [[ 9.99905038e-01 -6.12003747e-03 -1.23474611e-02 8.24669055e+02] [ 6.12838806e-03 9.99981017e-01 6.38576684e-04 -6.14644119e+01] [ 1.23433186e-02 -7.14186077e-04 9.99923563e-01 3.20578098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.780714057 meters Centerline goodness [0,1] 0.9888971971087395 Centerline is valid? [True, True] Translation: X:824.70, Y:-61.47, Z:3.20 [[ 9.99920809e-01 -4.42959746e-03 -1.17794029e-02 8.24696752e+02] [ 4.43706886e-03 9.99989971e-01 6.08217747e-04 -6.14695205e+01] [ 1.17765906e-02 -6.60435604e-04 9.99930435e-01 3.20457101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8107140569999 meters Centerline goodness [0,1] 0.9898049344117447 Centerline is valid? [True, True] Translation: X:824.73, Y:-61.46, Z:3.21 [[ 9.99927835e-01 -2.96704922e-03 -1.16413964e-02 8.24725783e+02] [ 2.97423817e-03 9.99995397e-01 6.00268427e-04 -6.14612902e+01] [ 1.16395618e-02 -6.34849394e-04 9.99932056e-01 3.20628931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8407140569999 meters Centerline goodness [0,1] 0.9889314795073602 Centerline is valid? [True, True] Translation: X:824.75, Y:-61.47, Z:3.20 [[ 9.99926099e-01 6.26550751e-05 -1.21570136e-02 8.24754878e+02] [-5.50434771e-05 9.99999802e-01 6.26441134e-04 -6.14658906e+01] [ 1.21570504e-02 -6.25725675e-04 9.99925905e-01 3.20458143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.870714057 meters Centerline goodness [0,1] 0.989447886173327 Centerline is valid? [True, True] Translation: X:824.78, Y:-61.46, Z:3.21 [[ 9.99927047e-01 9.61455406e-04 -1.20405851e-02 8.24784281e+02] [-9.54086268e-04 9.99999354e-01 6.17753997e-04 -6.14630824e+01] [ 1.20411713e-02 -6.06221174e-04 9.99927319e-01 3.20518737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.900714057 meters Centerline goodness [0,1] 0.9891765027571435 Centerline is valid? [True, True] Translation: X:824.81, Y:-61.46, Z:3.21 [[ 9.99922259e-01 1.50250831e-03 -1.23781305e-02 8.24812063e+02] [-1.49477990e-03 9.99998682e-01 6.33587888e-04 -6.14629648e+01] [ 1.23790661e-02 -6.15036052e-04 9.99923187e-01 3.20559170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9307140569999 meters Centerline goodness [0,1] 0.9890245293782088 Centerline is valid? [True, True] Translation: X:824.84, Y:-61.46, Z:3.21 [[ 9.99936930e-01 1.03827166e-03 -1.11828904e-02 8.24841615e+02] [-1.03194349e-03 9.99999304e-01 5.71634981e-04 -6.14558353e+01] [ 1.11834761e-02 -5.60058817e-04 9.99937306e-01 3.20849497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9607140569999 meters Centerline goodness [0,1] 0.9898393894521016 Centerline is valid? [True, True] Translation: X:824.87, Y:-61.46, Z:3.21 [[ 9.99944698e-01 5.26953361e-05 -1.05165619e-02 8.24869476e+02] [-4.70542854e-05 9.99999855e-01 5.36643559e-04 -6.14576048e+01] [ 1.05165886e-02 -5.36119032e-04 9.99944555e-01 3.20881317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9907140569999 meters Centerline goodness [0,1] 0.9890132433726152 Centerline is valid? [True, True] Translation: X:824.90, Y:-61.46, Z:3.21 [[ 9.99946757e-01 -3.77549253e-03 -9.60353596e-03 8.24900004e+02] [ 3.78037291e-03 9.99992734e-01 4.90084096e-04 -6.14595510e+01] [ 9.60161587e-03 -5.26362950e-04 9.99953765e-01 3.20971719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.020714057 meters Centerline goodness [0,1] 0.9870845334430577 Centerline is valid? [True, True] Translation: X:824.93, Y:-61.46, Z:3.21 [[ 9.99934045e-01 -6.52063407e-03 -9.45448290e-03 8.24927979e+02] [ 6.52548267e-03 9.99978593e-01 4.82078260e-04 -6.14643804e+01] [ 9.45113704e-03 -5.43741529e-04 9.99955189e-01 3.20968306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0507140569999 meters Centerline goodness [0,1] 0.9741221536497127 Centerline is valid? [True, True] Translation: X:824.96, Y:-61.49, Z:3.21 [[ 9.99954033e-01 -7.09574720e-03 -6.44836218e-03 8.24955034e+02] [ 7.09801235e-03 9.99974755e-01 3.28457981e-04 -6.14938811e+01] [ 6.44586874e-03 -3.74213438e-04 9.99979155e-01 3.20718973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0807140569999 meters Centerline goodness [0,1] 0.9875371598445003 Centerline is valid? [True, True] Translation: X:824.99, Y:-61.47, Z:3.21 [[ 9.99882490e-01 -1.24154060e-02 -8.99239385e-03 8.24986562e+02] [ 1.24200245e-02 9.99922764e-01 4.57932141e-04 -6.14681509e+01] [ 8.98601390e-03 -5.69564081e-04 9.99959463e-01 3.20987658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1107140569999 meters Centerline goodness [0,1] 0.9873730441943454 Centerline is valid? [True, True] Translation: X:825.02, Y:-61.47, Z:3.21 [[ 9.99802579e-01 -1.77442124e-02 -8.94121881e-03 8.25016443e+02] [ 1.77489913e-02 9.99842371e-01 4.55409759e-04 -6.14744661e+01] [ 8.93172852e-03 -6.14017467e-04 9.99959923e-01 3.20865025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.140714057 meters Centerline goodness [0,1] 0.9855611313868613 Centerline is valid? [True, True] Translation: X:825.05, Y:-61.48, Z:3.21 [[ 9.99764573e-01 -1.94804915e-02 -9.55560343e-03 8.25045652e+02] [ 1.94860287e-02 9.99810011e-01 4.86699229e-04 -6.14837009e+01] [ 9.54430683e-03 -6.72785409e-04 9.99954226e-01 3.20746425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1707140569999 meters Centerline goodness [0,1] 0.98616478766951 Centerline is valid? [True, True] Translation: X:825.08, Y:-61.48, Z:3.21 [[ 9.99726741e-01 -2.12481264e-02 -9.74480385e-03 8.25077415e+02] [ 2.12539720e-02 9.99773985e-01 4.96694758e-04 -6.14783537e+01] [ 9.73204755e-03 -7.03674820e-04 9.99952395e-01 3.20805975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2007140569999 meters Centerline goodness [0,1] 0.9857018667642753 Centerline is valid? [True, True] Translation: X:825.11, Y:-61.49, Z:3.21 [[ 9.99699200e-01 -2.25298805e-02 -9.69090176e-03 8.25107550e+02] [ 2.25357249e-02 9.99745916e-01 4.94291342e-04 -6.14870623e+01] [ 9.67730313e-03 -7.12534155e-04 9.99952920e-01 3.20641916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2307140569999 meters Centerline goodness [0,1] 0.9850671064083184 Centerline is valid? [True, True] Translation: X:825.14, Y:-61.49, Z:3.21 [[ 9.99707091e-01 -2.22877217e-02 -9.43340828e-03 8.25138434e+02] [ 2.22932534e-02 9.99751359e-01 4.81641296e-04 -6.14898203e+01] [ 9.42032806e-03 -6.91801581e-04 9.99955388e-01 3.20655377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.260714057 meters Centerline goodness [0,1] 0.9855702483100803 Centerline is valid? [True, True] Translation: X:825.17, Y:-61.49, Z:3.21 [[ 9.99738437e-01 -2.14003899e-02 -8.06732916e-03 8.25169884e+02] [ 2.14044089e-02 9.99770814e-01 4.12161227e-04 -6.14909849e+01] [ 8.05665983e-03 -5.84729833e-04 9.99967374e-01 3.20711779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.290714057 meters Centerline goodness [0,1] 0.9869919070915825 Centerline is valid? [True, True] Translation: X:825.20, Y:-61.48, Z:3.21 [[ 9.99807880e-01 -1.88476783e-02 -5.38214823e-03 8.25200962e+02] [ 1.88494303e-02 9.99822296e-01 2.74966238e-04 -6.14810344e+01] [ 5.37600932e-03 -3.76363839e-04 9.99985478e-01 3.20955908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3207140569999 meters Centerline goodness [0,1] 0.9864458517472322 Centerline is valid? [True, True] Translation: X:825.23, Y:-61.49, Z:3.21 [[ 9.99846012e-01 -1.70509390e-02 -4.14944419e-03 8.25231713e+02] [ 1.70519656e-02 9.99854582e-01 2.12152648e-04 -6.14861375e+01] [ 4.14522339e-03 -2.82876159e-04 9.99991369e-01 3.20964385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3507140569999 meters Centerline goodness [0,1] 0.9851723429979241 Centerline is valid? [True, True] Translation: X:825.26, Y:-61.49, Z:3.21 [[ 9.99885889e-01 -1.46369004e-02 -3.73764083e-03 8.25261193e+02] [ 1.46377165e-02 9.99892845e-01 1.91085487e-04 -6.14910053e+01] [ 3.73444343e-03 -2.45774209e-04 9.99992997e-01 3.20944382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.380714057 meters Centerline goodness [0,1] 0.98671187057726 Centerline is valid? [True, True] Translation: X:825.29, Y:-61.49, Z:3.21 [[ 9.99924831e-01 -1.17844396e-02 -3.38525542e-03 8.25291830e+02] [ 1.17850928e-02 9.99930538e-01 1.73069915e-04 -6.14850680e+01] [ 3.38298074e-03 -2.12952454e-04 9.99994255e-01 3.20933001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.410714057 meters Centerline goodness [0,1] 0.9874971532680483 Centerline is valid? [True, True] Translation: X:825.32, Y:-61.48, Z:3.21 [[ 9.99974272e-01 -6.08322353e-03 -3.80138836e-03 8.25322953e+02] [ 6.08400640e-03 9.99981473e-01 1.94415484e-04 -6.14833273e+01] [ 3.80013526e-03 -2.17538153e-04 9.99992756e-01 3.20853496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4407140569999 meters Centerline goodness [0,1] 0.9891935115375828 Centerline is valid? [True, True] Translation: X:825.35, Y:-61.48, Z:3.21 [[ 9.99986856e-01 -3.62525200e-03 -3.62567234e-03 8.25353397e+02] [ 3.62594805e-03 9.99993409e-01 1.85422574e-04 -6.14816658e+01] [ 3.62497624e-03 -1.98566636e-04 9.99993410e-01 3.20832013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4707140569999 meters Centerline goodness [0,1] 0.987036994773718 Centerline is valid? [True, True] Translation: X:825.38, Y:-61.49, Z:3.21 [[ 9.99990705e-01 -1.04268618e-03 -4.18358698e-03 8.25382485e+02] [ 1.04359004e-03 9.99999433e-01 2.13873829e-04 -6.14886280e+01] [ 4.18336160e-03 -2.18237791e-04 9.99991226e-01 3.20724474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.500714057 meters Centerline goodness [0,1] 0.9883712976263767 Centerline is valid? [True, True] Translation: X:825.41, Y:-61.49, Z:3.21 [[ 9.99986226e-01 2.86695551e-03 -4.39642861e-03 8.25412542e+02] [-2.86599535e-03 9.99995868e-01 2.24680351e-04 -6.14869421e+01] [ 4.39705460e-03 -2.12077113e-04 9.99990310e-01 3.20600663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.530714057 meters Centerline goodness [0,1] 0.9892036246604734 Centerline is valid? [True, True] Translation: X:825.44, Y:-61.48, Z:3.21 [[ 9.99981513e-01 4.18770713e-03 -4.40864629e-03 8.25441477e+02] [-4.18675966e-03 9.99991210e-01 2.24120375e-04 -6.14842812e+01] [ 4.40954609e-03 -2.05658289e-04 9.99990257e-01 3.20540642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5607140569999 meters Centerline goodness [0,1] 0.9888148283418554 Centerline is valid? [True, True] Translation: X:825.47, Y:-61.49, Z:3.20 [[ 9.99978361e-01 4.96385955e-03 -4.31711926e-03 8.25470590e+02] [-4.96295927e-03 9.99987660e-01 2.19226188e-04 -6.14860720e+01] [ 4.31815419e-03 -1.97795758e-04 9.99990657e-01 3.20491246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5907140569999 meters Centerline goodness [0,1] 0.9894256023752427 Centerline is valid? [True, True] Translation: X:825.50, Y:-61.49, Z:3.20 [[ 9.99975057e-01 5.76156471e-03 -4.08542267e-03 8.25499542e+02] [-5.76076632e-03 9.99983385e-01 2.07166457e-04 -6.14876342e+01] [ 4.08654839e-03 -1.83626124e-04 9.99991633e-01 3.20471350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.620714057 meters Centerline goodness [0,1] 0.9890202510307752 Centerline is valid? [True, True] Translation: X:825.53, Y:-61.49, Z:3.20 [[ 9.99976398e-01 5.79914103e-03 -3.68414869e-03 8.25526749e+02] [-5.79849327e-03 9.99983171e-01 1.86481949e-04 -6.14903538e+01] [ 3.68516813e-03 -1.65115036e-04 9.99993196e-01 3.20462993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.650714057 meters Centerline goodness [0,1] 0.9885033873947855 Centerline is valid? [True, True] Translation: X:825.56, Y:-61.49, Z:3.20 [[ 9.99981298e-01 5.09187938e-03 -3.38760822e-03 8.25555685e+02] [-5.09132845e-03 9.99987024e-01 1.71235470e-04 -6.14925641e+01] [ 3.38843617e-03 -1.53984842e-04 9.99994247e-01 3.20462689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6807140569999 meters Centerline goodness [0,1] 0.9881234612929698 Centerline is valid? [True, True] Translation: X:825.59, Y:-61.50, Z:3.20 [[ 9.99992227e-01 2.87938601e-03 -2.69351288e-03 8.25585468e+02] [-2.87902994e-03 9.99995846e-01 1.36062620e-04 -6.14968317e+01] [ 2.69389347e-03 -1.28306859e-04 9.99996363e-01 3.20460957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7107140569999 meters Centerline goodness [0,1] 0.9881234612929698 Centerline is valid? [True, True] Translation: X:825.61, Y:-61.50, Z:3.20 [[ 9.99992429e-01 2.80838887e-03 -2.69352322e-03 8.25613769e+02] [-2.80803309e-03 9.99996048e-01 1.35857753e-04 -6.14982022e+01] [ 2.69389412e-03 -1.28293222e-04 9.99996363e-01 3.20459865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7407140569999 meters Centerline goodness [0,1] 0.988637139929409 Centerline is valid? [True, True] Translation: X:825.64, Y:-61.50, Z:3.20 [[ 9.99997240e-01 1.08983710e-03 -2.08120545e-03 8.25643192e+02] [-1.08962112e-03 9.99999401e-01 1.04907083e-04 -6.15024518e+01] [ 2.08131853e-03 -1.02639068e-04 9.99997829e-01 3.20465747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.770714057 meters Centerline goodness [0,1] 0.9878654038794281 Centerline is valid? [True, True] Translation: X:825.67, Y:-61.51, Z:3.20 [[ 9.99998198e-01 -3.86736849e-04 -1.85866209e-03 8.25671623e+02] [ 3.86911454e-04 9.99999921e-01 9.35828966e-05 -6.15073910e+01] [ 1.85862576e-03 -9.43018657e-05 9.99998268e-01 3.20472683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8007140569999 meters Centerline goodness [0,1] 0.9876473126092782 Centerline is valid? [True, True] Translation: X:825.70, Y:-61.51, Z:3.20 [[ 9.99988047e-01 -4.56709059e-03 -1.74595502e-03 8.25701637e+02] [ 4.56725099e-03 9.99989566e-01 8.78890550e-05 -6.15103152e+01] [ 1.74553541e-03 -9.58622193e-05 9.99998472e-01 3.20460041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8307140569999 meters Centerline goodness [0,1] 0.9866772044710399 Centerline is valid? [True, True] Translation: X:825.73, Y:-61.52, Z:3.20 [[ 9.99977669e-01 -6.40596343e-03 -1.90422235e-03 8.25731947e+02] [ 6.40615810e-03 9.99979476e-01 9.61487992e-05 -6.15182686e+01] [ 1.90356734e-03 -1.08345401e-04 9.99998182e-01 3.20399437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8607140569999 meters Centerline goodness [0,1] 0.9860992011553911 Centerline is valid? [True, True] Translation: X:825.76, Y:-61.52, Z:3.20 [[ 9.99961750e-01 -8.50055538e-03 -2.05873498e-03 8.25762845e+02] [ 8.50078749e-03 9.99963862e-01 1.04021472e-04 -6.15227030e+01] [ 2.05777634e-03 -1.21518361e-04 9.99997875e-01 3.20325253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.890714057 meters Centerline goodness [0,1] 0.9853996366939146 Centerline is valid? [True, True] Translation: X:825.79, Y:-61.53, Z:3.20 [[ 9.99921043e-01 -1.22136620e-02 -2.95534782e-03 8.25792601e+02] [ 1.22141565e-02 9.99925393e-01 1.49312627e-04 -6.15294623e+01] [ 2.95330368e-03 -1.85397919e-04 9.99995622e-01 3.20208319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9207140569999 meters Centerline goodness [0,1] 0.9858963003338557 Centerline is valid? [True, True] Translation: X:825.82, Y:-61.53, Z:3.20 [[ 9.99900403e-01 -1.36244656e-02 -3.68214725e-03 8.25824745e+02] [ 1.36252437e-02 9.99907155e-01 1.86315647e-04 -6.15299148e+01] [ 3.67926693e-03 -2.36467244e-04 9.99993204e-01 3.20179367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9507140569999 meters Centerline goodness [0,1] 0.9852176664707744 Centerline is valid? [True, True] Translation: X:825.86, Y:-61.53, Z:3.20 [[ 9.99887487e-01 -1.44205882e-02 -4.13038086e-03 8.25856356e+02] [ 1.44215749e-02 9.99895982e-01 2.09204292e-04 -6.15320401e+01] [ 4.12693438e-03 -2.68747351e-04 9.99991448e-01 3.20185171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9807140569999 meters Centerline goodness [0,1] 0.9855409710141654 Centerline is valid? [True, True] Translation: X:825.89, Y:-61.53, Z:3.20 [[ 9.99880183e-01 -1.48217334e-02 -4.46493167e-03 8.25888001e+02] [ 1.48228914e-02 9.99890109e-01 2.26383115e-04 -6.15341627e+01] [ 4.46108562e-03 -2.92539188e-04 9.99990007e-01 3.20195753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.010714057 meters Centerline goodness [0,1] 0.9858569807037457 Centerline is valid? [True, True] Translation: X:825.92, Y:-61.53, Z:3.20 [[ 9.99878975e-01 -1.48846296e-02 -4.52581507e-03 8.25919937e+02] [ 1.48858216e-02 9.99889174e-01 2.29798770e-04 -6.15344008e+01] [ 4.52189303e-03 -2.97141434e-04 9.99989732e-01 3.20198671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.040714057 meters Centerline goodness [0,1] 0.9859062379625224 Centerline is valid? [True, True] Translation: X:825.95, Y:-61.53, Z:3.20 [[ 9.99896245e-01 -1.35271687e-02 -4.95122801e-03 8.25951170e+02] [ 1.35285795e-02 9.99908453e-01 2.51560133e-04 -6.15344781e+01] [ 4.94737184e-03 -3.18517115e-04 9.99987711e-01 3.20171740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0707140569999 meters Centerline goodness [0,1] 0.9860048009420717 Centerline is valid? [True, True] Translation: X:825.98, Y:-61.54, Z:3.20 [[ 9.99907545e-01 -1.26167852e-02 -5.07122200e-03 8.25981853e+02] [ 1.26182550e-02 9.99920353e-01 2.57932425e-04 -6.15380926e+01] [ 5.06756381e-03 -3.21898550e-04 9.99987108e-01 3.20139421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1007140569999 meters Centerline goodness [0,1] 0.9852784393784734 Centerline is valid? [True, True] Translation: X:826.01, Y:-61.54, Z:3.20 [[ 9.99927101e-01 -1.06520932e-02 -5.68562303e-03 8.26012293e+02] [ 1.06539095e-02 9.99943204e-01 2.89264968e-04 -6.15400144e+01] [ 5.68221883e-03 -3.49817994e-04 9.99983795e-01 3.20027249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.130714057 meters Centerline goodness [0,1] 0.9857269081764426 Centerline is valid? [True, True] Translation: X:826.04, Y:-61.54, Z:3.20 [[ 9.99934310e-01 -9.63756728e-03 -6.20422152e-03 8.26044079e+02] [ 9.63971196e-03 9.99953487e-01 3.15867909e-04 -6.15392180e+01] [ 6.20088874e-03 -3.75654068e-04 9.99980704e-01 3.20008647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.160714057 meters Centerline goodness [0,1] 0.9847259047748544 Centerline is valid? [True, True] Translation: X:826.07, Y:-61.55, Z:3.20 [[ 9.99943548e-01 -8.62675139e-03 -6.20327414e-03 8.26073991e+02] [ 8.62887876e-03 9.99962721e-01 3.16259667e-04 -6.15471613e+01] [ 6.20031459e-03 -3.69769114e-04 9.99980709e-01 3.19973730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1907140569999 meters Centerline goodness [0,1] 0.9856369361817812 Centerline is valid? [True, True] Translation: X:826.11, Y:-61.54, Z:3.20 [[ 9.99944094e-01 -8.04064339e-03 -6.86714132e-03 8.26105550e+02] [ 8.04323818e-03 9.99967591e-01 3.50321695e-04 -6.15409711e+01] [ 6.86410196e-03 -4.05536163e-04 9.99976360e-01 3.20066756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2207140569999 meters Centerline goodness [0,1] 0.9874146806050024 Centerline is valid? [True, True] Translation: X:826.14, Y:-61.54, Z:3.20 [[ 9.99941394e-01 -7.17775709e-03 -8.10483240e-03 8.26136205e+02] [ 7.18134317e-03 9.99974128e-01 4.13446139e-04 -6.15382270e+01] [ 8.10165510e-03 -4.71625491e-04 9.99967070e-01 3.20059667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.250714057 meters Centerline goodness [0,1] 0.9867439745338791 Centerline is valid? [True, True] Translation: X:826.17, Y:-61.54, Z:3.20 [[ 9.99930619e-01 -7.74587749e-03 -8.87462823e-03 8.26165729e+02] [ 7.75019663e-03 9.99969864e-01 4.52396854e-04 -6.15402985e+01] [ 8.87085658e-03 -5.21145580e-04 9.99960517e-01 3.19963837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.280714057 meters Centerline goodness [0,1] 0.9875559188863909 Centerline is valid? [True, True] Translation: X:826.20, Y:-61.54, Z:3.20 [[ 9.99920928e-01 -8.29549235e-03 -9.45109390e-03 8.26195091e+02] [ 8.30041220e-03 9.99965435e-01 4.81452160e-04 -6.15397804e+01] [ 9.44677334e-03 -5.59862066e-04 9.99955222e-01 3.19989700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3107140569999 meters Centerline goodness [0,1] 0.9864520242269684 Centerline is valid? [True, True] Translation: X:826.22, Y:-61.54, Z:3.20 [[ 9.99909045e-01 -9.51246473e-03 -9.56110361e-03 8.26224722e+02] [ 9.51755370e-03 9.99954589e-01 4.86896762e-04 -6.15442635e+01] [ 9.55603784e-03 -5.77850793e-04 9.99954173e-01 3.19936139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3407140569999 meters Centerline goodness [0,1] 0.9865840603147848 Centerline is valid? [True, True] Translation: X:826.26, Y:-61.55, Z:3.20 [[ 9.99887804e-01 -1.15768918e-02 -9.50550896e-03 8.26255375e+02] [ 1.15820148e-02 9.99932809e-01 4.84072273e-04 -6.15453329e+01] [ 9.49926623e-03 -5.94110908e-04 9.99954704e-01 3.20020309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.370714057 meters Centerline goodness [0,1] 0.9868514003144726 Centerline is valid? [True, True] Translation: X:826.29, Y:-61.55, Z:3.20 [[ 9.99866665e-01 -1.29267036e-02 -9.97760127e-03 8.26286181e+02] [ 1.29324150e-02 9.99916244e-01 5.08113784e-04 -6.15470239e+01] [ 9.97019735e-03 -6.37080514e-04 9.99950093e-01 3.20042278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.400714057 meters Centerline goodness [0,1] 0.9861079480756092 Centerline is valid? [True, True] Translation: X:826.32, Y:-61.55, Z:3.20 [[ 9.99846312e-01 -1.43048024e-02 -1.01353220e-02 8.26316599e+02] [ 1.43107682e-02 9.99897462e-01 5.16327614e-04 -6.15505748e+01] [ 1.01268967e-02 -6.61292504e-04 9.99948503e-01 3.20009818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4307140569999 meters Centerline goodness [0,1] 0.9861472454242549 Centerline is valid? [True, True] Translation: X:826.35, Y:-61.55, Z:3.20 [[ 9.99800862e-01 -1.70950878e-02 -1.02953370e-02 8.26347386e+02] [ 1.71013926e-02 9.99853623e-01 5.24659558e-04 -6.15504153e+01] [ 1.02848609e-02 -7.00619679e-04 9.99946864e-01 3.20178811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4607140569999 meters Centerline goodness [0,1] 0.9871929504154872 Centerline is valid? [True, True] Translation: X:826.38, Y:-61.55, Z:3.20 [[ 9.99775113e-01 -1.83818749e-02 -1.05749678e-02 8.26378462e+02] [ 1.83886025e-02 9.99830770e-01 5.39289797e-04 -6.15511877e+01] [ 1.05632650e-02 -7.33627396e-04 9.99943938e-01 3.20264892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4907140569999 meters Centerline goodness [0,1] 0.9856823674251061 Centerline is valid? [True, True] Translation: X:826.41, Y:-61.56, Z:3.20 [[ 9.99755140e-01 -1.95270863e-02 -1.04092583e-02 8.26409514e+02] [ 1.95336722e-02 9.99809058e-01 5.31394772e-04 -6.15589407e+01] [ 1.03968942e-02 -7.34595695e-04 9.99945681e-01 3.20222507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.520714057 meters Centerline goodness [0,1] 0.9861066824579784 Centerline is valid? [True, True] Translation: X:826.44, Y:-61.56, Z:3.20 [[ 9.99733334e-01 -2.05561308e-02 -1.05217003e-02 8.26442010e+02] [ 2.05629243e-02 9.99788416e-01 5.37881296e-04 -6.15564992e+01] [ 1.05084174e-02 -7.54094789e-04 9.99944501e-01 3.20347782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5507140569999 meters Centerline goodness [0,1] 0.9859758739424896 Centerline is valid? [True, True] Translation: X:826.47, Y:-61.56, Z:3.20 [[ 9.99680441e-01 -2.24252374e-02 -1.16672808e-02 8.26473456e+02] [ 2.24337221e-02 9.99748154e-01 5.96840796e-04 -6.15565286e+01] [ 1.16509582e-02 -8.58390606e-04 9.99931757e-01 3.20390969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5807140569999 meters Centerline goodness [0,1] 0.9862042231039357 Centerline is valid? [True, True] Translation: X:826.51, Y:-61.56, Z:3.20 [[ 9.99658602e-01 -2.30808180e-02 -1.22455867e-02 8.26505190e+02] [ 2.30902217e-02 9.99733189e-01 6.27081849e-04 -6.15583758e+01] [ 1.22278459e-02 -9.09621078e-04 9.99924823e-01 3.20342839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6107140569999 meters Centerline goodness [0,1] 0.9859074635714774 Centerline is valid? [True, True] Translation: X:826.54, Y:-61.56, Z:3.20 [[ 9.99643139e-01 -2.34527350e-02 -1.27892287e-02 8.26536033e+02] [ 2.34630311e-02 9.99724490e-01 6.55594205e-04 -6.15626967e+01] [ 1.27703297e-02 -9.55434321e-04 9.99918000e-01 3.20271766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.640714057 meters Centerline goodness [0,1] 0.9860232489094937 Centerline is valid? [True, True] Translation: X:826.57, Y:-61.56, Z:3.20 [[ 9.99630124e-01 -2.35629956e-02 -1.35793910e-02 8.26567987e+02] [ 2.35746264e-02 9.99721837e-01 6.97048465e-04 -6.15634531e+01] [ 1.35591892e-02 -1.01691971e-03 9.99907553e-01 3.20320905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6707140569999 meters Centerline goodness [0,1] 0.9852703839247153 Centerline is valid? [True, True] Translation: X:826.60, Y:-61.57, Z:3.20 [[ 9.99643707e-01 -2.28342722e-02 -1.38222367e-02 8.26598841e+02] [ 2.28462599e-02 9.99738738e-01 7.09974009e-04 -6.15652982e+01] [ 1.38024137e-02 -1.02550746e-03 9.99904216e-01 3.20366654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7007140569999 meters Centerline goodness [0,1] 0.9857670726700424 Centerline is valid? [True, True] Translation: X:826.63, Y:-61.57, Z:3.20 [[ 9.99669863e-01 -2.17038597e-02 -1.37516466e-02 8.26629936e+02] [ 2.17156253e-02 9.99763938e-01 7.06819317e-04 -6.15659579e+01] [ 1.37330596e-02 -1.00521157e-03 9.99905192e-01 3.20428801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7307140569999 meters Centerline goodness [0,1] 0.9850282292166678 Centerline is valid? [True, True] Translation: X:826.66, Y:-61.57, Z:3.20 [[ 9.99739640e-01 -1.85051690e-02 -1.33495444e-02 8.26659669e+02] [ 1.85159712e-02 9.99828329e-01 6.86035436e-04 -6.15655726e+01] [ 1.33345575e-02 -9.33036600e-04 9.99910656e-01 3.20483384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.760714057 meters Centerline goodness [0,1] 0.9875002851212336 Centerline is valid? [True, True] Translation: X:826.69, Y:-61.56, Z:3.21 [[ 9.99784797e-01 -1.63712183e-02 -1.27413626e-02 8.26691365e+02] [ 1.63808918e-02 9.99865610e-01 6.55226629e-04 -6.15562131e+01] [ 1.27289234e-02 -8.63800505e-04 9.99918611e-01 3.20708028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.790714057 meters Centerline goodness [0,1] 0.9864357930371929 Centerline is valid? [True, True] Translation: X:826.72, Y:-61.56, Z:3.21 [[ 9.99808773e-01 -1.44159497e-02 -1.32135127e-02 8.26721377e+02] [ 1.44261866e-02 9.99895706e-01 6.79739167e-04 -6.15642767e+01] [ 1.32023355e-02 -8.70229783e-04 9.99912467e-01 3.20559633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8207140569999 meters Centerline goodness [0,1] 0.9879173436463077 Centerline is valid? [True, True] Translation: X:826.75, Y:-61.55, Z:3.21 [[ 9.99867626e-01 -9.82496732e-03 -1.29692280e-02 8.26752503e+02] [ 9.83444411e-03 9.99951418e-01 6.67138424e-04 -6.15538160e+01] [ 1.29620433e-02 -7.94595260e-04 9.99915673e-01 3.20776923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8507140569999 meters Centerline goodness [0,1] 0.9880837801915762 Centerline is valid? [True, True] Translation: X:826.78, Y:-61.55, Z:3.21 [[ 9.99884416e-01 -7.90323511e-03 -1.29881823e-02 8.26782338e+02] [ 7.91257192e-03 9.99968472e-01 6.67638467e-04 -6.15540567e+01] [ 1.29824963e-02 -7.70331225e-04 9.99915427e-01 3.20770906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.880714057 meters Centerline goodness [0,1] 0.9878485781228465 Centerline is valid? [True, True] Translation: X:826.81, Y:-61.56, Z:3.21 [[ 9.99889921e-01 -6.05089172e-03 -1.35474121e-02 8.26810405e+02] [ 6.06086739e-03 9.99981391e-01 6.95417115e-04 -6.15553838e+01] [ 1.35429521e-02 -7.77449633e-04 9.99907988e-01 3.20743728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.910714057 meters Centerline goodness [0,1] 0.9872116349047142 Centerline is valid? [True, True] Translation: X:826.84, Y:-61.56, Z:3.21 [[ 9.99902101e-01 -4.09859960e-03 -1.33787333e-02 8.26839261e+02] [ 4.10814494e-03 9.99991326e-01 6.86066976e-04 -6.15563733e+01] [ 1.33758054e-02 -7.40961586e-04 9.99910265e-01 3.20666625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9407140569999 meters Centerline goodness [0,1] 0.9884459320052268 Centerline is valid? [True, True] Translation: X:826.87, Y:-61.56, Z:3.20 [[ 9.99886744e-01 -1.35285530e-03 -1.49889553e-02 8.26868349e+02] [ 1.36452171e-03 9.99998774e-01 7.68133791e-04 -6.15581444e+01] [ 1.49878977e-02 -7.88499550e-04 9.99887364e-01 3.20481905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9707140569999 meters Centerline goodness [0,1] 0.9893012600229095 Centerline is valid? [True, True] Translation: X:826.90, Y:-61.55, Z:3.21 [[ 9.99880296e-01 -5.65101144e-05 -1.54722517e-02 8.26897088e+02] [ 6.87248265e-05 9.99999686e-01 7.88928686e-04 -6.15525491e+01] [ 1.54722022e-02 -7.89897576e-04 9.99879986e-01 3.20616289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.000714057 meters Centerline goodness [0,1] 0.9890983212330806 Centerline is valid? [True, True] Translation: X:826.93, Y:-61.55, Z:3.21 [[ 9.99873500e-01 1.13290905e-03 -1.58650627e-02 8.26925809e+02] [-1.12027825e-03 9.99999048e-01 8.05003938e-04 -6.15533237e+01] [ 1.58659596e-02 -7.87128820e-04 9.99873818e-01 3.20609749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.030714057 meters Centerline goodness [0,1] 0.9900962861072903 Centerline is valid? [True, True] Translation: X:826.96, Y:-61.55, Z:3.21 [[ 9.99858396e-01 4.30030703e-03 -1.62694411e-02 8.26955298e+02] [-4.28745046e-03 9.99990469e-01 8.25025064e-04 -6.15522475e+01] [ 1.62728338e-02 -7.55153815e-04 9.99867304e-01 3.20628960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0607140569999 meters Centerline goodness [0,1] 0.9902136046938027 Centerline is valid? [True, True] Translation: X:826.98, Y:-61.55, Z:3.21 [[ 9.99845876e-01 5.63505508e-03 -1.66273754e-02 8.26984359e+02] [-5.62188119e-03 9.99983845e-01 8.38937070e-04 -6.15531640e+01] [ 1.66318343e-02 -7.45330640e-04 9.99861404e-01 3.20626847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0907140569999 meters Centerline goodness [0,1] 0.990092213349198 Centerline is valid? [True, True] Translation: X:827.01, Y:-61.55, Z:3.21 [[ 9.99836927e-01 6.98057683e-03 -1.66550841e-02 8.27012682e+02] [-6.96756373e-03 9.99975374e-01 8.39228859e-04 -6.15542813e+01] [ 1.66605322e-02 -7.23046643e-04 9.99860942e-01 3.20613346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.120714057 meters Centerline goodness [0,1] 0.9913496397595337 Centerline is valid? [True, True] Translation: X:827.04, Y:-61.55, Z:3.21 [[ 9.99817619e-01 9.53055987e-03 -1.65498177e-02 8.27042002e+02] [-9.51812277e-03 9.99954357e-01 8.30101214e-04 -6.15549696e+01] [ 1.65569736e-02 -6.72426623e-04 9.99862698e-01 3.20614793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.150714057 meters Centerline goodness [0,1] 0.9907286288009179 Centerline is valid? [True, True] Translation: X:827.07, Y:-61.56, Z:3.21 [[ 9.99815700e-01 1.01295423e-02 -1.63082547e-02 8.27070084e+02] [-1.01175675e-02 9.99948483e-01 8.16621845e-04 -6.15568868e+01] [ 1.63156866e-02 -6.51471474e-04 9.99866678e-01 3.20592284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1807140569999 meters Centerline goodness [0,1] 0.9906447766669724 Centerline is valid? [True, True] Translation: X:827.10, Y:-61.56, Z:3.20 [[ 9.99818559e-01 1.07529765e-02 -1.57232899e-02 8.27097978e+02] [-1.07419438e-02 9.99941995e-01 7.85967064e-04 -6.15614674e+01] [ 1.57308294e-02 -6.16925761e-04 9.99876073e-01 3.20493563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2107140569999 meters Centerline goodness [0,1] 0.9900708569332018 Centerline is valid? [True, True] Translation: X:827.13, Y:-61.56, Z:3.21 [[ 9.99825310e-01 1.05932383e-02 -1.53991441e-02 8.27125612e+02] [-1.05826602e-02 9.99943707e-01 7.68253439e-04 -6.15634483e+01] [ 1.54064156e-02 -6.05155323e-04 9.99881131e-01 3.20515144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2407140569999 meters Centerline goodness [0,1] 0.9901012785848494 Centerline is valid? [True, True] Translation: X:827.15, Y:-61.56, Z:3.21 [[ 9.99851236e-01 9.39972244e-03 -1.44620552e-02 8.27154365e+02] [-9.39028208e-03 9.99955651e-01 7.20535260e-04 -6.15637216e+01] [ 1.44681867e-02 -5.84625292e-04 9.99895159e-01 3.20762958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.270714057 meters Centerline goodness [0,1] 0.9908094976164283 Centerline is valid? [True, True] Translation: X:827.18, Y:-61.56, Z:3.21 [[ 9.99873544e-01 7.75366830e-03 -1.38843875e-02 8.27183174e+02] [-7.74482237e-03 9.99969770e-01 6.90769693e-04 -6.15627457e+01] [ 1.38893238e-02 -5.83150226e-04 9.99903369e-01 3.20938717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3007140569999 meters Centerline goodness [0,1] 0.9907386285870706 Centerline is valid? [True, True] Translation: X:827.21, Y:-61.57, Z:3.21 [[ 9.99902144e-01 3.42889264e-03 -1.35626063e-02 8.27211598e+02] [-3.42005644e-03 9.99993924e-01 6.74652320e-04 -6.15693068e+01] [ 1.35648372e-02 -6.28201422e-04 9.99907796e-01 3.20968632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3307140569999 meters Centerline goodness [0,1] 0.9900388393877084 Centerline is valid? [True, True] Translation: X:827.24, Y:-61.57, Z:3.21 [[ 9.99906443e-01 7.70116545e-04 -1.36569669e-02 8.27241346e+02] [-7.60916238e-04 9.99999480e-01 6.78854671e-04 -6.15725548e+01] [ 1.36574826e-02 -6.68399351e-04 9.99906509e-01 3.20986538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3607140569999 meters Centerline goodness [0,1] 0.9896299680219278 Centerline is valid? [True, True] Translation: X:827.27, Y:-61.58, Z:3.21 [[ 9.99897717e-01 -2.08427011e-03 -1.41495781e-02 8.27269508e+02] [ 2.09442062e-03 9.99997560e-01 7.02591479e-04 -6.15812353e+01] [ 1.41480792e-02 -7.32154784e-04 9.99899643e-01 3.20793182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.390714057 meters Centerline goodness [0,1] 0.991170431211499 Centerline is valid? [True, True] Translation: X:827.30, Y:-61.58, Z:3.21 [[ 9.99880705e-01 -5.10317526e-03 -1.45785198e-02 8.27299968e+02] [ 5.11427085e-03 9.99986660e-01 7.23911227e-04 -6.15800691e+01] [ 1.45746311e-02 -7.98383367e-04 9.99893466e-01 3.20913593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4207140569999 meters Centerline goodness [0,1] 0.989729606907521 Centerline is valid? [True, True] Translation: X:827.33, Y:-61.59, Z:3.21 [[ 9.99823226e-01 -1.05540231e-02 -1.55605306e-02 8.27328727e+02] [ 1.05673175e-02 9.99943866e-01 7.72396030e-04 -6.15910662e+01] [ 1.55515052e-02 -9.36692558e-04 9.99878629e-01 3.20742591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4507140569999 meters Centerline goodness [0,1] 0.9894626879229687 Centerline is valid? [True, True] Translation: X:827.36, Y:-61.60, Z:3.21 [[ 9.99780866e-01 -1.30261294e-02 -1.63871925e-02 8.27357289e+02] [ 1.30411957e-02 9.99914630e-01 8.12865016e-04 -6.15963182e+01] [ 1.63752050e-02 -1.02639547e-03 9.99865391e-01 3.20664887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4807140569999 meters Centerline goodness [0,1] 0.9895108077360637 Centerline is valid? [True, True] Translation: X:827.39, Y:-61.60, Z:3.21 [[ 9.99746765e-01 -1.54642172e-02 -1.63482003e-02 8.27386851e+02] [ 1.54795272e-02 9.99879857e-01 8.10367149e-04 -6.15981977e+01] [ 1.63337044e-02 -1.06322435e-03 9.99866031e-01 3.20683648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.510714057 meters Centerline goodness [0,1] 0.9897903372835004 Centerline is valid? [True, True] Translation: X:827.42, Y:-61.60, Z:3.21 [[ 9.99701208e-01 -1.78924356e-02 -1.66539812e-02 8.27417057e+02] [ 1.79086545e-02 9.99839287e-01 8.25236019e-04 -6.15989803e+01] [ 1.66365392e-02 -1.12323984e-03 9.99860972e-01 3.20760070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.540714057 meters Centerline goodness [0,1] 0.9898221726359889 Centerline is valid? [True, True] Translation: X:827.45, Y:-61.60, Z:3.21 [[ 9.99660284e-01 -1.99267619e-02 -1.68000383e-02 8.27447412e+02] [ 1.99435526e-02 9.99800761e-01 8.32480297e-04 -6.16019663e+01] [ 1.67801025e-02 -1.16724994e-03 9.99858523e-01 3.20771116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5707140569999 meters Centerline goodness [0,1] 0.9896968315477548 Centerline is valid? [True, True] Translation: X:827.48, Y:-61.61, Z:3.21 [[ 9.99594335e-01 -2.37673090e-02 -1.56933524e-02 8.27476792e+02] [ 2.37824273e-02 9.99716856e-01 7.77412752e-04 -6.16082431e+01] [ 1.56704319e-02 -1.15032339e-03 9.99876550e-01 3.20786590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6007140569999 meters Centerline goodness [0,1] 0.9882914629987496 Centerline is valid? [True, True] Translation: X:827.51, Y:-61.61, Z:3.21 [[ 9.99566689e-01 -2.49972088e-02 -1.55426487e-02 8.27508465e+02] [ 2.50122104e-02 9.99686848e-01 7.71517276e-04 -6.16117589e+01] [ 1.55184957e-02 -1.15993897e-03 9.99878908e-01 3.20800688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.630714057 meters Centerline goodness [0,1] 0.9882914629987496 Centerline is valid? [True, True] Translation: X:827.54, Y:-61.61, Z:3.21 [[ 9.99568466e-01 -2.49260919e-02 -1.55425943e-02 8.27540212e+02] [ 2.49411018e-02 9.99688624e-01 7.72612636e-04 -6.16133975e+01] [ 1.55184965e-02 -1.15992865e-03 9.99878908e-01 3.20799465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.660714057 meters Centerline goodness [0,1] 0.9882914629987496 Centerline is valid? [True, True] Translation: X:827.57, Y:-61.62, Z:3.21 [[ 9.99527798e-01 -2.67366476e-02 -1.51437673e-02 8.27570451e+02] [ 2.67511128e-02 9.99641841e-01 7.53399606e-04 -6.16173295e+01] [ 1.51182000e-02 -1.15815648e-03 9.99885043e-01 3.20806224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6907140569999 meters Centerline goodness [0,1] 0.9880546075085325 Centerline is valid? [True, True] Translation: X:827.60, Y:-61.62, Z:3.21 [[ 9.99520669e-01 -2.70717880e-02 -1.50183629e-02 8.27601895e+02] [ 2.70860760e-02 9.99632825e-01 7.48741410e-04 -6.16203575e+01] [ 1.49925788e-02 -1.15517103e-03 9.99886938e-01 3.20740693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7207140569999 meters Centerline goodness [0,1] 0.9888661202185792 Centerline is valid? [True, True] Translation: X:827.63, Y:-61.62, Z:3.21 [[ 9.99512832e-01 -2.74172040e-02 -1.49129043e-02 8.27634065e+02] [ 2.74313460e-02 9.99623413e-01 7.44539149e-04 -6.16185581e+01] [ 1.48868751e-02 -1.15325747e-03 9.99888519e-01 3.20813224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.750714057 meters Centerline goodness [0,1] 0.9875215536800073 Centerline is valid? [True, True] Translation: X:827.67, Y:-61.63, Z:3.21 [[ 9.99501237e-01 -2.77701468e-02 -1.50364878e-02 8.27665250e+02] [ 2.77845758e-02 9.99613652e-01 7.51504836e-04 -6.16266217e+01] [ 1.50098091e-02 -1.16891245e-03 9.99886663e-01 3.20664603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.780714057 meters Centerline goodness [0,1] 0.9884572646665306 Centerline is valid? [True, True] Translation: X:827.70, Y:-61.62, Z:3.21 [[ 9.99468323e-01 -2.86857298e-02 -1.54984138e-02 8.27697168e+02] [ 2.87011812e-02 9.99587735e-01 7.75421007e-04 -6.16235780e+01] [ 1.54697809e-02 -1.21983152e-03 9.99879592e-01 3.20707009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8107140569999 meters Centerline goodness [0,1] 0.9873478211400615 Centerline is valid? [True, True] Translation: X:827.73, Y:-61.63, Z:3.21 [[ 9.99444564e-01 -2.93311824e-02 -1.58191233e-02 8.27727515e+02] [ 2.93473691e-02 9.99568959e-01 7.92018664e-04 -6.16312384e+01] [ 1.57890738e-02 -1.25582840e-03 9.99874556e-01 3.20555980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8407140569999 meters Centerline goodness [0,1] 0.988051428831039 Centerline is valid? [True, True] Translation: X:827.76, Y:-61.63, Z:3.21 [[ 9.99437104e-01 -2.93934228e-02 -1.61710336e-02 8.27759445e+02] [ 2.94103644e-02 9.99567093e-01 8.10783179e-04 -6.16289588e+01] [ 1.61402013e-02 -1.28592278e-03 9.99868912e-01 3.20562054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.870714057 meters Centerline goodness [0,1] 0.9881584041172318 Centerline is valid? [True, True] Translation: X:827.79, Y:-61.63, Z:3.21 [[ 9.99423795e-01 -2.97754225e-02 -1.62942535e-02 8.27791932e+02] [ 2.97926926e-02 9.99555764e-01 8.18120946e-04 -6.16281704e+01] [ 1.62626551e-02 -1.30309922e-03 9.99866905e-01 3.20611873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.900714057 meters Centerline goodness [0,1] 0.988277337703724 Centerline is valid? [True, True] Translation: X:827.82, Y:-61.63, Z:3.21 [[ 9.99438881e-01 -2.95396152e-02 -1.57903155e-02 8.27823311e+02] [ 2.95558173e-02 9.99562816e-01 7.93652323e-04 -6.16304030e+01] [ 1.57599680e-02 -1.25990267e-03 9.99875010e-01 3.20652895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9307140569999 meters Centerline goodness [0,1] 0.9882229663545866 Centerline is valid? [True, True] Translation: X:827.85, Y:-61.63, Z:3.21 [[ 9.99446109e-01 -2.94485522e-02 -1.55002265e-02 8.27854850e+02] [ 2.94641826e-02 9.99565532e-01 7.80946915e-04 -6.16327844e+01] [ 1.54704944e-02 -1.23721586e-03 9.99879559e-01 3.20643059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9607140569999 meters Centerline goodness [0,1] 0.9872434451809836 Centerline is valid? [True, True] Translation: X:827.89, Y:-61.63, Z:3.21 [[ 9.99469422e-01 -2.89429295e-02 -1.49392635e-02 8.27886780e+02] [ 2.89574080e-02 9.99580362e-01 7.53706532e-04 -6.16329027e+01] [ 1.49111799e-02 -1.18590898e-03 9.99888119e-01 3.20704608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9907140569999 meters Centerline goodness [0,1] 0.9871867946467249 Centerline is valid? [True, True] Translation: X:827.92, Y:-61.63, Z:3.21 [[ 9.99488647e-01 -2.86334112e-02 -1.42327677e-02 8.27919214e+02] [ 2.86465354e-02 9.99589345e-01 7.19055070e-04 -6.16333382e+01] [ 1.42063340e-02 -1.12640686e-03 9.99898450e-01 3.20737541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.020714057 meters Centerline goodness [0,1] 0.9878328377182031 Centerline is valid? [True, True] Translation: X:827.95, Y:-61.64, Z:3.21 [[ 9.99510887e-01 -2.82038587e-02 -1.35103326e-02 8.27950783e+02] [ 2.82156578e-02 9.99601625e-01 6.83488234e-04 -6.16365986e+01] [ 1.34856734e-02 -1.06435685e-03 9.99908498e-01 3.20726211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0507140569999 meters Centerline goodness [0,1] 0.9857025584895335 Centerline is valid? [True, True] Translation: X:827.98, Y:-61.64, Z:3.21 [[ 9.99530906e-01 -2.79981962e-02 -1.24124594e-02 8.27981620e+02] [ 2.80081474e-02 9.99607497e-01 6.28577656e-04 -6.16402030e+01] [ 1.23899885e-02 -9.75932788e-04 9.99922765e-01 3.20799342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0807140569999 meters Centerline goodness [0,1] 0.9856059221348931 Centerline is valid? [True, True] Translation: X:828.01, Y:-61.64, Z:3.21 [[ 9.99545310e-01 -2.76194075e-02 -1.20971393e-02 8.28014069e+02] [ 2.76288419e-02 9.99618062e-01 6.13433627e-04 -6.16402447e+01] [ 1.20755763e-02 -9.47384655e-04 9.99926639e-01 3.20871134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1107140569999 meters Centerline goodness [0,1] 0.9858409904466586 Centerline is valid? [True, True] Translation: X:828.05, Y:-61.64, Z:3.21 [[ 9.99565180e-01 -2.71209960e-02 -1.15716153e-02 8.28046105e+02] [ 2.71296042e-02 9.99631752e-01 5.87559497e-04 -6.16423816e+01] [ 1.15514188e-02 -9.01237356e-04 9.99932874e-01 3.20873723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.140714057 meters Centerline goodness [0,1] 0.9858254776197759 Centerline is valid? [True, True] Translation: X:828.08, Y:-61.64, Z:3.21 [[ 9.99597287e-01 -2.61411597e-02 -1.10410240e-02 8.28076283e+02] [ 2.61489390e-02 9.99657901e-01 5.60782954e-04 -6.16437695e+01] [ 1.10225874e-02 -8.49268182e-04 9.99938889e-01 3.20954230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1707140569999 meters Centerline goodness [0,1] 0.9883720930232558 Centerline is valid? [True, True] Translation: X:828.11, Y:-61.63, Z:3.21 [[ 9.99620089e-01 -2.53046632e-02 -1.09248654e-02 8.28109224e+02] [ 2.53122388e-02 9.99679440e-01 5.55689429e-04 -6.16332728e+01] [ 1.09073018e-02 -8.32011119e-04 9.99940167e-01 3.21130906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2007140569999 meters Centerline goodness [0,1] 0.9876064181863831 Centerline is valid? [True, True] Translation: X:828.14, Y:-61.63, Z:3.21 [[ 9.99643902e-01 -2.42038500e-02 -1.12357673e-02 8.28141372e+02] [ 2.42118030e-02 9.99706688e-01 5.72321065e-04 -6.16320325e+01] [ 1.12186193e-02 -8.44155447e-04 9.99936713e-01 3.21206504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2307140569999 meters Centerline goodness [0,1] 0.98825384492333 Centerline is valid? [True, True] Translation: X:828.17, Y:-61.63, Z:3.21 [[ 9.99689431e-01 -2.18480031e-02 -1.19877220e-02 8.28171374e+02] [ 2.18568875e-02 9.99760923e-01 6.10593821e-04 -6.16327043e+01] [ 1.19715157e-02 -8.72418480e-04 9.99927958e-01 3.21080742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.260714057 meters Centerline goodness [0,1] 0.9888710785436227 Centerline is valid? [True, True] Translation: X:828.20, Y:-61.63, Z:3.21 [[ 9.99720010e-01 -2.00664115e-02 -1.25395710e-02 8.28202493e+02] [ 2.00759992e-02 9.99798253e-01 6.39167151e-04 -6.16334550e+01] [ 1.25242154e-02 -8.90732607e-04 9.99921172e-01 3.21041641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.290714057 meters Centerline goodness [0,1] 0.9890412215140538 Centerline is valid? [True, True] Translation: X:828.23, Y:-61.63, Z:3.21 [[ 9.99750244e-01 -1.81707783e-02 -1.30105094e-02 8.28234306e+02] [ 1.81809491e-02 9.99834492e-01 6.63879785e-04 -6.16337752e+01] [ 1.29962928e-02 -9.00257386e-04 9.99915139e-01 3.20962434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3207140569999 meters Centerline goodness [0,1] 0.9889806534039058 Centerline is valid? [True, True] Translation: X:828.27, Y:-61.64, Z:3.21 [[ 9.99772633e-01 -1.60779848e-02 -1.40064675e-02 8.28265152e+02] [ 1.60895750e-02 9.99870299e-01 7.15192316e-04 -6.16359255e+01] [ 1.39931520e-02 -9.40387813e-04 9.99901649e-01 3.20908190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3507140569999 meters Centerline goodness [0,1] 0.9904956495787323 Centerline is valid? [True, True] Translation: X:828.30, Y:-61.63, Z:3.21 [[ 9.99840835e-01 -1.11753013e-02 -1.39074685e-02 8.28295532e+02] [ 1.11862558e-02 9.99937180e-01 7.10125338e-04 -6.16322341e+01] [ 1.38986589e-02 -8.65584811e-04 9.99903034e-01 3.20978483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.380714057 meters Centerline goodness [0,1] 0.9895230217810863 Centerline is valid? [True, True] Translation: X:828.33, Y:-61.63, Z:3.21 [[ 9.99870712e-01 -8.35747966e-03 -1.37372415e-02 8.28326085e+02] [ 8.36789915e-03 9.99964743e-01 7.01180198e-04 -6.16304469e+01] [ 1.37308970e-02 -8.16041395e-04 9.99905394e-01 3.21063368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.410714057 meters Centerline goodness [0,1] 0.9895043865692894 Centerline is valid? [True, True] Translation: X:828.35, Y:-61.63, Z:3.21 [[ 9.99902385e-01 -5.27595055e-03 -1.29377242e-02 8.28354549e+02] [ 5.28492621e-03 9.99985817e-01 6.59667792e-04 -6.16314731e+01] [ 1.29340603e-02 -7.27978316e-04 9.99916087e-01 3.21090438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4407140569999 meters Centerline goodness [0,1] 0.9903907898357949 Centerline is valid? [True, True] Translation: X:828.38, Y:-61.63, Z:3.21 [[ 9.99934582e-01 1.09863849e-03 -1.13853040e-02 8.28383745e+02] [-1.09210551e-03 9.99999235e-01 5.80009706e-04 -6.16295318e+01] [ 1.13859325e-02 -5.67537809e-04 9.99935017e-01 3.21261647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4707140569999 meters Centerline goodness [0,1] 0.9901756475141411 Centerline is valid? [True, True] Translation: X:828.41, Y:-61.63, Z:3.21 [[ 9.99935171e-01 3.84996529e-03 -1.07159782e-02 8.28412263e+02] [-3.84434150e-03 9.99992462e-01 5.45353311e-04 -6.16300522e+01] [ 1.07179970e-02 -5.04122077e-04 9.99942434e-01 3.21311194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.500714057 meters Centerline goodness [0,1] 0.9902939417636506 Centerline is valid? [True, True] Translation: X:828.44, Y:-61.63, Z:3.21 [[ 9.99932842e-01 6.16657970e-03 -9.81248115e-03 8.28442008e+02] [-6.16197888e-03 9.99980890e-01 4.99037947e-04 -6.16299875e+01] [ 9.81537100e-03 -4.38540131e-04 9.99951732e-01 3.21377653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.530714057 meters Centerline goodness [0,1] 0.9907369098515147 Centerline is valid? [True, True] Translation: X:828.47, Y:-61.63, Z:3.21 [[ 9.99911357e-01 9.37204141e-03 -9.45738955e-03 8.28472426e+02] [-9.36791220e-03 9.99956005e-01 4.80818429e-04 -6.16289951e+01] [ 9.46147972e-03 -3.92179813e-04 9.99955162e-01 3.21406186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5607140569999 meters Centerline goodness [0,1] 0.9905200184077313 Centerline is valid? [True, True] Translation: X:828.50, Y:-61.63, Z:3.21 [[ 9.99906738e-01 1.01061349e-02 -9.18590705e-03 8.28500133e+02] [-1.01022779e-02 9.99948862e-01 4.66186188e-04 -6.16318984e+01] [ 9.19014864e-03 -3.73344125e-04 9.99957700e-01 3.21329466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5907140569999 meters Centerline goodness [0,1] 0.9905638717972266 Centerline is valid? [True, True] Translation: X:828.53, Y:-61.63, Z:3.21 [[ 9.99907135e-01 9.81318739e-03 -9.45634325e-03 8.28529281e+02] [-9.80909297e-03 9.99951775e-01 4.79265904e-04 -6.16346504e+01] [ 9.46059034e-03 -3.86463247e-04 9.99955173e-01 3.21271649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.620714057 meters Centerline goodness [0,1] 0.9900273847558193 Centerline is valid? [True, True] Translation: X:828.56, Y:-61.64, Z:3.21 [[ 9.99924490e-01 7.34552964e-03 -9.85181903e-03 8.28558284e+02] [-7.34097319e-03 9.99972930e-01 4.98581113e-04 -6.16377655e+01] [ 9.85521468e-03 -4.26221526e-04 9.99951345e-01 3.21239826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.650714057 meters Centerline goodness [0,1] 0.9913751577015713 Centerline is valid? [True, True] Translation: X:828.59, Y:-61.64, Z:3.21 [[ 9.99935069e-01 4.80719756e-03 -1.03319373e-02 8.28588102e+02] [-4.80205460e-03 9.99988334e-01 5.22523499e-04 -6.16404832e+01] [ 1.03343286e-02 -4.72875044e-04 9.99946488e-01 3.21227467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6807140569999 meters Centerline goodness [0,1] 0.9903310803070225 Centerline is valid? [True, True] Translation: X:828.62, Y:-61.65, Z:3.21 [[ 9.99945445e-01 1.94877377e-03 -1.02620185e-02 8.28616482e+02] [-1.94355570e-03 9.99997977e-01 5.18432030e-04 -6.16464646e+01] [ 1.02630081e-02 -4.98458943e-04 9.99947210e-01 3.21118227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7107140569999 meters Centerline goodness [0,1] 0.9896545437972838 Centerline is valid? [True, True] Translation: X:828.64, Y:-61.66, Z:3.21 [[ 9.99936353e-01 -5.05309108e-03 -1.00874064e-02 8.28644949e+02] [ 5.05848499e-03 9.99987076e-01 5.09274039e-04 -6.16603828e+01] [ 1.00847026e-02 -5.60268618e-04 9.99948991e-01 3.20927596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7407140569999 meters Centerline goodness [0,1] 0.9898884081074926 Centerline is valid? [True, True] Translation: X:828.68, Y:-61.66, Z:3.21 [[ 9.99908579e-01 -8.94049051e-03 -1.01439952e-02 8.28675517e+02] [ 8.94614461e-03 9.99959851e-01 5.12144169e-04 -6.16601162e+01] [ 1.01390091e-02 -6.02846996e-04 9.99948417e-01 3.20995836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.770714057 meters Centerline goodness [0,1] 0.9887389949268603 Centerline is valid? [True, True] Translation: X:828.70, Y:-61.67, Z:3.21 [[ 9.99866130e-01 -1.28156489e-02 -1.01726076e-02 8.28704666e+02] [ 1.28215365e-02 9.99917669e-01 5.13758647e-04 -6.16693708e+01] [ 1.01651859e-02 -6.44118329e-04 9.99948126e-01 3.20887195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8007140569999 meters Centerline goodness [0,1] 0.9869569169241956 Centerline is valid? [True, True] Translation: X:828.73, Y:-61.68, Z:3.21 [[ 9.99812149e-01 -1.65549055e-02 -1.00797969e-02 8.28733950e+02] [ 1.65608775e-02 9.99862730e-01 5.09295861e-04 -6.16809960e+01] [ 1.00699819e-02 -6.76130472e-04 9.99949068e-01 3.20781455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8307140569999 meters Centerline goodness [0,1] 0.9876045231027216 Centerline is valid? [True, True] Translation: X:828.76, Y:-61.68, Z:3.21 [[ 9.99692306e-01 -2.31974975e-02 -8.78464341e-03 8.28764503e+02] [ 2.32022878e-02 9.99730692e-01 4.43771842e-04 -6.16810208e+01] [ 8.77198324e-03 -6.47459121e-04 9.99961316e-01 3.20930203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8607140569999 meters Centerline goodness [0,1] 0.9874105606376234 Centerline is valid? [True, True] Translation: X:828.80, Y:-61.68, Z:3.21 [[ 9.99633022e-01 -2.59079523e-02 -7.91195951e-03 8.28795531e+02] [ 2.59119238e-02 9.99664150e-01 3.99836999e-04 -6.16845660e+01] [ 7.89894332e-03 -6.04704360e-04 9.99968620e-01 3.20974510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.890714057 meters Centerline goodness [0,1] 0.9846602204952105 Centerline is valid? [True, True] Translation: X:828.83, Y:-61.69, Z:3.21 [[ 9.99579608e-01 -2.81652708e-02 -6.87930515e-03 8.28825383e+02] [ 2.81683271e-02 9.99603133e-01 3.47772991e-04 -6.16927523e+01] [ 6.86677987e-03 -5.41405308e-04 9.99976277e-01 3.20970229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9207140569999 meters Centerline goodness [0,1] 0.9836402202364835 Centerline is valid? [True, True] Translation: X:828.85, Y:-61.70, Z:3.21 [[ 9.99512987e-01 -3.06695474e-02 -5.75913283e-03 8.28854752e+02] [ 3.06717306e-02 9.99529469e-01 2.91138683e-04 -6.16996077e+01] [ 5.74749389e-03 -4.67639465e-04 9.99983374e-01 3.21023689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9507140569999 meters Centerline goodness [0,1] 0.9843333784820986 Centerline is valid? [True, True] Translation: X:828.89, Y:-61.70, Z:3.21 [[ 9.99494517e-01 -3.12680650e-02 -5.74621587e-03 8.28886511e+02] [ 3.12702501e-02 9.99510924e-01 2.90806000e-04 -6.17000594e+01] [ 5.73431260e-03 -4.70344610e-04 9.99983448e-01 3.21047038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9807140569999 meters Centerline goodness [0,1] 0.9837937883712532 Centerline is valid? [True, True] Translation: X:828.92, Y:-61.70, Z:3.21 [[ 9.99478138e-01 -3.17975056e-02 -5.68944213e-03 8.28918125e+02] [ 3.17996580e-02 9.99494221e-01 2.88228544e-04 -6.17035060e+01] [ 5.67739958e-03 -4.69000443e-04 9.99983773e-01 3.21004149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.010714057 meters Centerline goodness [0,1] 0.9834526543293259 Centerline is valid? [True, True] Translation: X:828.95, Y:-61.71, Z:3.21 [[ 9.99455895e-01 -3.21740603e-02 -7.26243536e-03 8.28949173e+02] [ 3.21775800e-02 9.99482100e-01 3.68285901e-04 -6.17082716e+01] [ 7.24682489e-03 -6.01773110e-04 9.99973560e-01 3.20760198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.040714057 meters Centerline goodness [0,1] 0.986630955864149 Centerline is valid? [True, True] Translation: X:828.98, Y:-61.70, Z:3.21 [[ 9.99446691e-01 -3.22000342e-02 -8.33482298e-03 8.28981960e+02] [ 3.22046761e-02 9.99481205e-01 4.23283764e-04 -6.17005910e+01] [ 8.31686917e-03 -6.91469832e-04 9.99965175e-01 3.20707467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0707140569999 meters Centerline goodness [0,1] 0.9819339220872372 Centerline is valid? [True, True] Translation: X:829.01, Y:-61.71, Z:3.20 [[ 9.99458841e-01 -3.15729221e-02 -9.22903226e-03 8.29012480e+02] [ 3.15785988e-02 9.99501161e-01 4.69985020e-04 -6.17145348e+01] [ 9.20958966e-03 -7.61170590e-04 9.99957301e-01 3.20459313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1007140569999 meters Centerline goodness [0,1] 0.9822971027532842 Centerline is valid? [True, True] Translation: X:829.04, Y:-61.72, Z:3.20 [[ 9.99470232e-01 -3.08070357e-02 -1.04967499e-02 8.29044733e+02] [ 3.08143443e-02 9.99524982e-01 5.35216334e-04 -6.17158242e+01] [ 1.04752753e-02 -8.58383259e-04 9.99944764e-01 3.20369621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.130714057 meters Centerline goodness [0,1] 0.9842294068542292 Centerline is valid? [True, True] Translation: X:829.08, Y:-61.71, Z:3.20 [[ 9.99522173e-01 -2.86450942e-02 -1.16140109e-02 8.29075920e+02] [ 2.86538986e-02 9.99589217e-01 5.92359980e-04 -6.17115375e+01] [ 1.15922718e-02 -9.24863625e-04 9.99932380e-01 3.20362358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.160714057 meters Centerline goodness [0,1] 0.9866717958001449 Centerline is valid? [True, True] Translation: X:829.11, Y:-61.70, Z:3.21 [[ 9.99545557e-01 -2.76991189e-02 -1.18927596e-02 8.29108792e+02] [ 2.77082949e-02 9.99615867e-01 6.07455837e-04 -6.17038172e+01] [ 1.18713652e-02 -9.36707872e-04 9.99929094e-01 3.20514994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1907140569999 meters Centerline goodness [0,1] 0.9865917738720783 Centerline is valid? [True, True] Translation: X:829.14, Y:-61.71, Z:3.21 [[ 9.99577823e-01 -2.65921505e-02 -1.17061341e-02 8.29139330e+02] [ 2.66009676e-02 9.99645953e-01 5.98111463e-04 -6.17065720e+01] [ 1.16860845e-02 -9.09253449e-04 9.99931302e-01 3.20501349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2207140569999 meters Centerline goodness [0,1] 0.9862447486109229 Centerline is valid? [True, True] Translation: X:829.17, Y:-61.70, Z:3.21 [[ 9.99633883e-01 -2.47933243e-02 -1.08347297e-02 8.29170930e+02] [ 2.48007767e-02 9.99692260e-01 5.53987385e-04 -6.17042250e+01] [ 1.08176602e-02 -8.22494272e-04 9.99941149e-01 3.20542751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.250714057 meters Centerline goodness [0,1] 0.9867193675889329 Centerline is valid? [True, True] Translation: X:829.20, Y:-61.71, Z:3.21 [[ 9.99649083e-01 -2.44230024e-02 -1.02580911e-02 8.29202489e+02] [ 2.44296709e-02 9.99701413e-01 5.25250091e-04 -6.17067455e+01] [ 1.02422000e-02 -7.75667562e-04 9.99947246e-01 3.20544566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.280714057 meters Centerline goodness [0,1] 0.9859478448858262 Centerline is valid? [True, True] Translation: X:829.23, Y:-61.71, Z:3.21 [[ 9.99655090e-01 -2.43049184e-02 -9.94845137e-03 8.29234940e+02] [ 2.43111915e-02 9.99704309e-01 5.10099274e-04 -6.17097932e+01] [ 9.93311178e-03 -7.51782042e-04 9.99950383e-01 3.20553345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3107140569999 meters Centerline goodness [0,1] 0.9865600505974566 Centerline is valid? [True, True] Translation: X:829.27, Y:-61.71, Z:3.21 [[ 9.99648376e-01 -2.46007801e-02 -9.89578038e-03 8.29267071e+02] [ 2.46070083e-02 9.99697073e-01 5.08101851e-04 -6.17106990e+01] [ 9.88028298e-03 -7.51428740e-04 9.99950906e-01 3.20548251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3407140569999 meters Centerline goodness [0,1] 0.9860048305907316 Centerline is valid? [True, True] Translation: X:829.30, Y:-61.71, Z:3.21 [[ 9.99638826e-01 -2.49887260e-02 -9.88847448e-03 8.29298084e+02] [ 2.49949690e-02 9.99687448e-01 5.08240207e-04 -6.17134273e+01] [ 9.87268354e-03 -7.55218757e-04 9.99950979e-01 3.20545579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.370714057 meters Centerline goodness [0,1] 0.9859714015066083 Centerline is valid? [True, True] Translation: X:829.33, Y:-61.71, Z:3.21 [[ 9.99622878e-01 -2.54347056e-02 -1.03526833e-02 8.29330177e+02] [ 2.54415798e-02 9.99676169e-01 5.32828624e-04 -6.17148609e+01] [ 1.03357784e-02 -7.96016301e-04 9.99946268e-01 3.20531749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.400714057 meters Centerline goodness [0,1] 0.9865658162113344 Centerline is valid? [True, True] Translation: X:829.36, Y:-61.72, Z:3.21 [[ 9.99616323e-01 -2.56235855e-02 -1.05185167e-02 8.29361607e+02] [ 2.56307040e-02 9.99671332e-01 5.42495266e-04 -6.17183671e+01] [ 1.05011590e-02 -8.11884112e-04 9.99944532e-01 3.20531131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4307140569999 meters Centerline goodness [0,1] 0.985757104545557 Centerline is valid? [True, True] Translation: X:829.39, Y:-61.72, Z:3.21 [[ 9.99599842e-01 -2.62091059e-02 -1.06413711e-02 8.29393432e+02] [ 2.62164323e-02 9.99656139e-01 5.49558551e-04 -6.17195950e+01] [ 1.06233085e-02 -8.28317425e-04 9.99943228e-01 3.20543222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4607140569999 meters Centerline goodness [0,1] 0.9845697729263527 Centerline is valid? [True, True] Translation: X:829.42, Y:-61.72, Z:3.21 [[ 9.99599643e-01 -2.64558984e-02 -1.00319444e-02 8.29424685e+02] [ 2.64624272e-02 9.99649674e-01 5.18603353e-04 -6.17242103e+01] [ 1.00147099e-02 -7.83865326e-04 9.99949544e-01 3.20537416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4907140569999 meters Centerline goodness [0,1] 0.9842067318523859 Centerline is valid? [True, True] Translation: X:829.46, Y:-61.73, Z:3.21 [[ 9.99582076e-01 -2.73586359e-02 -9.33698010e-03 8.29455913e+02] [ 2.73643385e-02 9.99625409e-01 4.83525509e-04 -6.17288180e+01] [ 9.32025396e-03 -7.38823716e-04 9.99956293e-01 3.20548164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.520714057 meters Centerline goodness [0,1] 0.9842067318523859 Centerline is valid? [True, True] Translation: X:829.49, Y:-61.73, Z:3.21 [[ 9.99583917e-01 -2.72913024e-02 -9.33694794e-03 8.29487662e+02] [ 2.72970078e-02 9.99627250e-01 4.84146127e-04 -6.17305283e+01] [ 9.32025462e-03 -7.38815423e-04 9.99956293e-01 3.20546941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5507140569999 meters Centerline goodness [0,1] 0.9836035995399084 Centerline is valid? [True, True] Translation: X:829.52, Y:-61.73, Z:3.21 [[ 9.99589492e-01 -2.71971332e-02 -9.00908876e-03 8.29520269e+02] [ 2.72024481e-02 9.99629835e-01 4.67911058e-04 -6.17333747e+01] [ 8.99302808e-03 -7.12788246e-04 9.99959308e-01 3.20572762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5807140569999 meters Centerline goodness [0,1] 0.9859104289791241 Centerline is valid? [True, True] Translation: X:829.55, Y:-61.73, Z:3.21 [[ 9.99582419e-01 -2.74966254e-02 -8.88391989e-03 8.29552049e+02] [ 2.75018094e-02 9.99621647e-01 4.61862215e-04 -6.17320911e+01] [ 8.86785898e-03 -7.05993222e-04 9.99960431e-01 3.20610658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6107140569999 meters Centerline goodness [0,1] 0.9860347779079196 Centerline is valid? [True, True] Translation: X:829.58, Y:-61.73, Z:3.21 [[ 9.99577443e-01 -2.76814092e-02 -8.86989489e-03 8.29584396e+02] [ 2.76865896e-02 9.99616546e-01 4.61757206e-04 -6.17344693e+01] [ 8.85371161e-03 -7.07139227e-04 9.99960555e-01 3.20569581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.640714057 meters Centerline goodness [0,1] 0.9853521126760564 Centerline is valid? [True, True] Translation: X:829.62, Y:-61.74, Z:3.21 [[ 9.99597511e-01 -2.70465135e-02 -8.56164044e-03 8.29615740e+02] [ 2.70513206e-02 9.99633947e-01 4.46148350e-04 -6.17376837e+01] [ 8.54643966e-03 -6.77572460e-04 9.99963249e-01 3.20549851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6707140569999 meters Centerline goodness [0,1] 0.9867054237364519 Centerline is valid? [True, True] Translation: X:829.65, Y:-61.73, Z:3.21 [[ 9.99633703e-01 -2.59576320e-02 -7.65901056e-03 8.29647129e+02] [ 2.59614493e-02 9.99662865e-01 3.99387079e-04 -6.17314850e+01] [ 7.64606129e-03 -5.98079799e-04 9.99970590e-01 3.20748408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7007140569999 meters Centerline goodness [0,1] 0.9856784257474562 Centerline is valid? [True, True] Translation: X:829.68, Y:-61.74, Z:3.21 [[ 9.99652299e-01 -2.53783934e-02 -7.15672791e-03 8.29677774e+02] [ 2.53817145e-02 9.99677763e-01 3.73589137e-04 -6.17369855e+01] [ 7.14494066e-03 -5.55109264e-04 9.99974321e-01 3.20769724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7307140569999 meters Centerline goodness [0,1] 0.9866489851880156 Centerline is valid? [True, True] Translation: X:829.71, Y:-61.74, Z:3.21 [[ 9.99681507e-01 -2.44911828e-02 -6.08825171e-03 8.29710301e+02] [ 2.44935726e-02 9.99699937e-01 3.18257557e-04 -6.17379124e+01] [ 6.07863034e-03 -4.67279229e-04 9.99981416e-01 3.20834263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.760714057 meters Centerline goodness [0,1] 0.9868149609830478 Centerline is valid? [True, True] Translation: X:829.74, Y:-61.74, Z:3.21 [[ 9.99703166e-01 -2.37765007e-02 -5.31573180e-03 8.29742088e+02] [ 2.37783145e-02 9.99717217e-01 2.78257318e-04 -6.17398988e+01] [ 5.30761262e-03 -4.04573864e-04 9.99985833e-01 3.20879538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.790714057 meters Centerline goodness [0,1] 0.9867268562188384 Centerline is valid? [True, True] Translation: X:829.77, Y:-61.74, Z:3.21 [[ 9.99716797e-01 -2.31712029e-02 -5.42413862e-03 8.29774515e+02] [ 2.31730846e-02 9.99731428e-01 2.84321767e-04 -6.17421012e+01] [ 5.41609377e-03 -4.09935269e-04 9.99985249e-01 3.20848181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8207140569999 meters Centerline goodness [0,1] 0.9872557158563127 Centerline is valid? [True, True] Translation: X:829.81, Y:-61.74, Z:3.21 [[ 9.99716702e-01 -2.30542666e-02 -5.91746698e-03 8.29806523e+02] [ 2.30565066e-02 9.99734115e-01 3.10605356e-04 -6.17438230e+01] [ 5.90873284e-03 -4.46953479e-04 9.99982443e-01 3.20802975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8507140569999 meters Centerline goodness [0,1] 0.9873070788309033 Centerline is valid? [True, True] Translation: X:829.84, Y:-61.75, Z:3.21 [[ 9.99711923e-01 -2.31455622e-02 -6.35243797e-03 8.29837067e+02] [ 2.31481477e-02 9.99731990e-01 3.33768169e-04 -6.17511353e+01] [ 6.34301020e-03 -4.80719191e-04 9.99979767e-01 3.20679762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.880714057 meters Centerline goodness [0,1] 0.9857755042516434 Centerline is valid? [True, True] Translation: X:829.87, Y:-61.76, Z:3.21 [[ 9.99697374e-01 -2.33270912e-02 -7.81069852e-03 8.29867899e+02] [ 2.33310086e-02 9.99727711e-01 4.10787794e-04 -6.17581462e+01] [ 7.79898927e-03 -5.92894954e-04 9.99969412e-01 3.20551849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.910714057 meters Centerline goodness [0,1] 0.9874063912564374 Centerline is valid? [True, True] Translation: X:829.90, Y:-61.75, Z:3.21 [[ 9.99696433e-01 -2.33864942e-02 -7.75334206e-03 8.29900321e+02] [ 2.33903604e-02 9.99726325e-01 4.08336794e-04 -6.17534686e+01] [ 7.74167059e-03 -5.89566301e-04 9.99969859e-01 3.20604111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9407140569999 meters Centerline goodness [0,1] 0.9866139610097925 Centerline is valid? [True, True] Translation: X:829.93, Y:-61.76, Z:3.21 [[ 9.99696829e-01 -2.35325705e-02 -7.24351279e-03 8.29931477e+02] [ 2.35359516e-02 9.99722918e-01 3.81869808e-04 -6.17614907e+01] [ 7.23251937e-03 -5.52237002e-04 9.99973693e-01 3.20644636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9707140569999 meters Centerline goodness [0,1] 0.9859571986181525 Centerline is valid? [True, True] Translation: X:829.96, Y:-61.76, Z:3.21 [[ 9.99699158e-01 -2.35006276e-02 -7.02241550e-03 8.29963372e+02] [ 2.35038081e-02 9.99723679e-01 3.70707583e-04 -6.17647547e+01] [ 7.01176320e-03 -5.35649565e-04 9.99975274e-01 3.20701367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.000714057 meters Centerline goodness [0,1] 0.98587646375257 Centerline is valid? [True, True] Translation: X:829.99, Y:-61.77, Z:3.21 [[ 9.99699912e-01 -2.34804821e-02 -6.98226109e-03 8.29994734e+02] [ 2.34836283e-02 9.99724153e-01 3.68942260e-04 -6.17701627e+01] [ 6.97167212e-03 -5.32800370e-04 9.99975556e-01 3.20707006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.030714057 meters Centerline goodness [0,1] 0.988647813528582 Centerline is valid? [True, True] Translation: X:830.03, Y:-61.76, Z:3.21 [[ 9.99711114e-01 -2.29912575e-02 -7.00651972e-03 8.30027489e+02] [ 2.29944173e-02 9.99735525e-01 3.70741621e-04 -6.17629346e+01] [ 6.99614286e-03 -5.31745357e-04 9.99975385e-01 3.20833961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0607140569999 meters Centerline goodness [0,1] 0.9877368008070844 Centerline is valid? [True, True] Translation: X:830.06, Y:-61.77, Z:3.21 [[ 9.99707787e-01 -2.30269401e-02 -7.35535247e-03 8.30058036e+02] [ 2.30304262e-02 9.99734689e-01 3.89589602e-04 -6.17684956e+01] [ 7.34442995e-03 -5.58872660e-04 9.99972873e-01 3.20798053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0907140569999 meters Centerline goodness [0,1] 0.9862986142154672 Centerline is valid? [True, True] Translation: X:830.09, Y:-61.78, Z:3.21 [[ 9.99707633e-01 -2.29364529e-02 -7.65297752e-03 8.30088599e+02] [ 2.29402311e-02 9.99736756e-01 4.06253558e-04 -6.17772860e+01] [ 7.64164490e-03 -5.81695856e-04 9.99970633e-01 3.20730521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.120714057 meters Centerline goodness [0,1] 0.9882450777667895 Centerline is valid? [True, True] Translation: X:830.12, Y:-61.77, Z:3.21 [[ 9.99695349e-01 -2.30301730e-02 -8.87805509e-03 8.30120668e+02] [ 2.30352668e-02 9.99734542e-01 4.71903308e-04 -6.17726023e+01] [ 8.86483033e-03 -6.76267910e-04 9.99960478e-01 3.20796010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.150714057 meters Centerline goodness [0,1] 0.9874099508516798 Centerline is valid? [True, True] Translation: X:830.15, Y:-61.78, Z:3.21 [[ 9.99682538e-01 -2.34160419e-02 -9.30121971e-03 8.30151914e+02] [ 2.34216583e-02 9.99725553e-01 4.95347398e-04 -6.17799305e+01] [ 9.28706794e-03 -7.13040134e-04 9.99956620e-01 3.20752624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1807140569999 meters Centerline goodness [0,1] 0.9884387883133178 Centerline is valid? [True, True] Translation: X:830.18, Y:-61.78, Z:3.21 [[ 9.99675951e-01 -2.35370496e-02 -9.69536393e-03 8.30183946e+02] [ 2.35431643e-02 9.99722688e-01 5.17021247e-04 -6.17777957e+01] [ 9.68050613e-03 -7.45113252e-04 9.99952865e-01 3.20815980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2107140569999 meters Centerline goodness [0,1] 0.9879774802054595 Centerline is valid? [True, True] Translation: X:830.22, Y:-61.78, Z:3.21 [[ 9.99656307e-01 -2.41443521e-02 -1.02136010e-02 8.30216191e+02] [ 2.41511770e-02 9.99708169e-01 5.45384490e-04 -6.17806433e+01] [ 1.01974524e-02 -7.91867531e-04 9.99947691e-01 3.20798624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2407140569999 meters Centerline goodness [0,1] 0.9884596423609555 Centerline is valid? [True, True] Translation: X:830.25, Y:-61.78, Z:3.21 [[ 9.99615424e-01 -2.50728178e-02 -1.18472436e-02 8.30248014e+02] [ 2.50820754e-02 9.99685195e-01 6.33459602e-04 -6.17834911e+01] [ 1.18276314e-02 -9.30369447e-04 9.99929618e-01 3.20708718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.270714057 meters Centerline goodness [0,1] 0.987199570335228 Centerline is valid? [True, True] Translation: X:830.28, Y:-61.79, Z:3.21 [[ 9.99596986e-01 -2.54891873e-02 -1.24966813e-02 8.30278687e+02] [ 2.54995284e-02 9.99674610e-01 6.68841932e-04 -6.17891472e+01] [ 1.24755668e-02 -9.87231859e-04 9.99921690e-01 3.20598129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3007140569999 meters Centerline goodness [0,1] 0.9868129407813724 Centerline is valid? [True, True] Translation: X:830.31, Y:-61.79, Z:3.20 [[ 9.99570515e-01 -2.59831086e-02 -1.35522892e-02 8.30309247e+02] [ 2.59953220e-02 9.99661801e-01 7.25802543e-04 -6.17938735e+01] [ 1.35288472e-02 -1.07778694e-03 9.99907900e-01 3.20487043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3307140569999 meters Centerline goodness [0,1] 0.9881043057484654 Centerline is valid? [True, True] Translation: X:830.34, Y:-61.79, Z:3.21 [[ 9.99562912e-01 -2.61046221e-02 -1.38756338e-02 8.30341482e+02] [ 2.61174508e-02 9.99658604e-01 7.44120936e-04 -6.17915735e+01] [ 1.38514718e-02 -1.10619187e-03 9.99903452e-01 3.20590029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3607140569999 meters Centerline goodness [0,1] 0.986596372084711 Centerline is valid? [True, True] Translation: X:830.37, Y:-61.80, Z:3.21 [[ 9.99555950e-01 -2.61577147e-02 -1.42715652e-02 8.30372197e+02] [ 2.61713022e-02 9.99657179e-01 7.66103674e-04 -6.17950249e+01] [ 1.42466331e-02 -1.13926893e-03 9.99897863e-01 3.20555587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.390714057 meters Centerline goodness [0,1] 0.9878778372806919 Centerline is valid? [True, True] Translation: X:830.40, Y:-61.80, Z:3.21 [[ 9.99551220e-01 -2.63114338e-02 -1.43201286e-02 8.30404249e+02] [ 2.63251440e-02 9.99653137e-01 7.69722893e-04 -6.17953067e+01] [ 1.42949089e-02 -1.14635690e-03 9.99897165e-01 3.20707942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4207140569999 meters Centerline goodness [0,1] 0.9876760563380281 Centerline is valid? [True, True] Translation: X:830.44, Y:-61.80, Z:3.21 [[ 9.99546960e-01 -2.64243582e-02 -1.44092708e-02 8.30435262e+02] [ 2.64382621e-02 9.99650147e-01 7.75262101e-04 -6.17984347e+01] [ 1.43837439e-02 -1.15586695e-03 9.99895881e-01 3.20721883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4507140569999 meters Centerline goodness [0,1] 0.9847466333162115 Centerline is valid? [True, True] Translation: X:830.47, Y:-61.81, Z:3.21 [[ 9.99532683e-01 -2.70263694e-02 -1.42825132e-02 8.30466545e+02] [ 2.70401013e-02 9.99634054e-01 7.69182285e-04 -6.18051823e+01] [ 1.42564984e-02 -1.15502344e-03 9.99897704e-01 3.20624549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4807140569999 meters Centerline goodness [0,1] 0.9883389769694795 Centerline is valid? [True, True] Translation: X:830.50, Y:-61.80, Z:3.21 [[ 9.99502018e-01 -2.84041174e-02 -1.37448681e-02 8.30498658e+02] [ 2.84169744e-02 9.99595882e-01 7.40964652e-04 -6.17969488e+01] [ 1.37182671e-02 -1.13118323e-03 9.99905260e-01 3.20813800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.510714057 meters Centerline goodness [0,1] 0.9872036215319797 Centerline is valid? [True, True] Translation: X:830.53, Y:-61.80, Z:3.21 [[ 9.99484549e-01 -2.91849638e-02 -1.33743859e-02 8.30530379e+02] [ 2.91972160e-02 9.99573410e-01 7.21715853e-04 -6.17996524e+01] [ 1.33476173e-02 -1.11183868e-03 9.99910298e-01 3.20811508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.540714057 meters Centerline goodness [0,1] 0.9855439508718454 Centerline is valid? [True, True] Translation: X:830.56, Y:-61.81, Z:3.21 [[ 9.99459444e-01 -3.01098793e-02 -1.31990475e-02 8.30561050e+02] [ 3.01219018e-02 9.99545978e-01 7.12961237e-04 -6.18086131e+01] [ 1.31715877e-02 -1.11015625e-03 9.99912635e-01 3.20674018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5707140569999 meters Centerline goodness [0,1] 0.9850926942993566 Centerline is valid? [True, True] Translation: X:830.59, Y:-61.81, Z:3.21 [[ 9.99422073e-01 -3.12022695e-02 -1.34884453e-02 8.30592626e+02] [ 3.12149402e-02 9.99512429e-01 7.29814625e-04 -6.18107995e+01] [ 1.34590969e-02 -1.15043386e-03 9.99908760e-01 3.20650678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6007140569999 meters Centerline goodness [0,1] 0.9826842743565557 Centerline is valid? [True, True] Translation: X:830.62, Y:-61.81, Z:3.21 [[ 9.99333763e-01 -3.34163484e-02 -1.46757304e-02 8.30622538e+02] [ 3.34315845e-02 9.99440693e-01 7.94015194e-04 -6.18146251e+01] [ 1.46409891e-02 -1.28411911e-03 9.99891990e-01 3.20545169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.630714057 meters Centerline goodness [0,1] 0.9814885367876112 Centerline is valid? [True, True] Translation: X:830.65, Y:-61.82, Z:3.20 [[ 9.99298297e-01 -3.41971796e-02 -1.52796013e-02 8.30654980e+02] [ 3.42138024e-02 9.99414194e-01 8.27753602e-04 -6.18170726e+01] [ 1.52423436e-02 -1.34994603e-03 9.99882917e-01 3.20485914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.660714057 meters Centerline goodness [0,1] 0.9873875086963352 Centerline is valid? [True, True] Translation: X:830.69, Y:-61.81, Z:3.21 [[ 9.99226390e-01 -3.59021257e-02 -1.60517512e-02 8.30686495e+02] [ 3.59206936e-02 9.99354265e-01 8.69847886e-04 -6.18121613e+01] [ 1.60101567e-02 -1.44576500e-03 9.99870784e-01 3.20615839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6907140569999 meters Centerline goodness [0,1] 0.9853231155328493 Centerline is valid? [True, True] Translation: X:830.72, Y:-61.82, Z:3.21 [[ 9.99202780e-01 -3.65648230e-02 -1.60255444e-02 8.30717871e+02] [ 3.65834286e-02 9.99330224e-01 8.69291285e-04 -6.18163922e+01] [ 1.59830254e-02 -1.45486763e-03 9.99871205e-01 3.20577490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7207140569999 meters Centerline goodness [0,1] 0.9850097470254767 Centerline is valid? [True, True] Translation: X:830.75, Y:-61.82, Z:3.21 [[ 9.99189689e-01 -3.69545204e-02 -1.59476664e-02 8.30750186e+02] [ 3.69730128e-02 9.99315889e-01 8.66194692e-04 -6.18181836e+01] [ 1.59047467e-02 -1.45512608e-03 9.99872453e-01 3.20588648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.750714057 meters Centerline goodness [0,1] 0.9867845363369158 Centerline is valid? [True, True] Translation: X:830.78, Y:-61.81, Z:3.21 [[ 9.99183263e-01 -3.71997935e-02 -1.57791593e-02 8.30782808e+02] [ 3.72179454e-02 9.99306804e-01 8.58181452e-04 -6.18148493e+01] [ 1.57362971e-02 -1.44474843e-03 9.99875133e-01 3.20696147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.780714057 meters Centerline goodness [0,1] 0.9858068566559788 Centerline is valid? [True, True] Translation: X:830.81, Y:-61.82, Z:3.21 [[ 9.99194946e-01 -3.69086923e-02 -1.57228425e-02 8.30813938e+02] [ 3.69266923e-02 9.99317611e-01 8.55957262e-04 -6.18183666e+01] [ 1.56805212e-02 -1.43586074e-03 9.99876022e-01 3.20671777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8107140569999 meters Centerline goodness [0,1] 0.987055307099355 Centerline is valid? [True, True] Translation: X:830.85, Y:-61.82, Z:3.21 [[ 9.99222763e-01 -3.63437441e-02 -1.52644405e-02 8.30846745e+02] [ 3.63606653e-02 9.99338386e-01 8.32381076e-04 -6.18181364e+01] [ 1.52240894e-02 -1.38675933e-03 9.99883145e-01 3.20729354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8407140569999 meters Centerline goodness [0,1] 0.9862668854375042 Centerline is valid? [True, True] Translation: X:830.88, Y:-61.82, Z:3.21 [[ 9.99255711e-01 -3.55170071e-02 -1.50521268e-02 8.30878081e+02] [ 3.55333796e-02 9.99368152e-01 8.21591202e-04 -6.18195062e+01] [ 1.50134357e-02 -1.35583264e-03 9.99886373e-01 3.20757443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.870714057 meters Centerline goodness [0,1] 0.9852366185789403 Centerline is valid? [True, True] Translation: X:830.91, Y:-61.82, Z:3.21 [[ 9.99277299e-01 -3.48892455e-02 -1.50871123e-02 8.30910740e+02] [ 3.49056434e-02 9.99390272e-01 8.24838039e-04 -6.18219687e+01] [ 1.50491353e-02 -1.35086729e-03 9.99885843e-01 3.20721412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.900714057 meters Centerline goodness [0,1] 0.9881516587677726 Centerline is valid? [True, True] Translation: X:830.94, Y:-61.82, Z:3.21 [[ 9.99264073e-01 -3.49011999e-02 -1.59128234e-02 8.30942782e+02] [ 3.49194617e-02 9.99389750e-01 8.71125595e-04 -6.18181356e+01] [ 1.58727092e-02 -1.42615174e-03 9.99873004e-01 3.20765093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9307140569999 meters Centerline goodness [0,1] 0.9833821871476889 Centerline is valid? [True, True] Translation: X:830.97, Y:-61.83, Z:3.21 [[ 9.99261352e-01 -3.47938256e-02 -1.63137797e-02 8.30973544e+02] [ 3.48130348e-02 9.99393442e-01 8.94898230e-04 -6.18264560e+01] [ 1.62727475e-02 -1.46216940e-03 9.99866521e-01 3.20618017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9607140569999 meters Centerline goodness [0,1] 0.9860240746584915 Centerline is valid? [True, True] Translation: X:831.01, Y:-61.82, Z:3.21 [[ 9.99242418e-01 -3.49243358e-02 -1.71720722e-02 8.31005787e+02] [ 3.49456595e-02 9.99388769e-01 9.43182935e-04 -6.18228370e+01] [ 1.71286360e-02 -1.54255778e-03 9.99852104e-01 3.20641130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9907140569999 meters Centerline goodness [0,1] 0.9585280373831776 Centerline is valid? [True, True] Translation: X:831.04, Y:-61.84, Z:3.20 [[ 9.99232527e-01 -3.52207073e-02 -1.71422828e-02 8.31035878e+02] [ 3.52420105e-02 9.99378363e-01 9.42140000e-04 -6.18353744e+01] [ 1.70984437e-02 -1.54554545e-03 9.99852616e-01 3.20414425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.020714057 meters Centerline goodness [0,1] 0.9830946653777848 Centerline is valid? [True, True] Translation: X:831.07, Y:-61.83, Z:3.21 [[ 9.99224540e-01 -3.51884157e-02 -1.76661733e-02 8.31068385e+02] [ 3.52110638e-02 9.99379425e-01 9.72501818e-04 -6.18298712e+01] [ 1.76209893e-02 -1.59379244e-03 9.99843468e-01 3.20519146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0507140569999 meters Centerline goodness [0,1] 0.982664418212479 Centerline is valid? [True, True] Translation: X:831.10, Y:-61.83, Z:3.21 [[ 9.99228283e-01 -3.47236587e-02 -1.83604577e-02 8.31099481e+02] [ 3.47480619e-02 9.99395592e-01 1.01167527e-03 -6.18304671e+01] [ 1.83142314e-02 -1.64888486e-03 9.99830921e-01 3.20513078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0807140569999 meters Centerline goodness [0,1] 0.9833205087584302 Centerline is valid? [True, True] Translation: X:831.13, Y:-61.83, Z:3.21 [[ 9.99227712e-01 -3.46473006e-02 -1.85349484e-02 8.31131259e+02] [ 3.46721809e-02 9.99398216e-01 1.02258366e-03 -6.18312701e+01] [ 1.84883646e-02 -1.66444101e-03 9.99827690e-01 3.20502746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1107140569999 meters Centerline goodness [0,1] 0.9834362908152875 Centerline is valid? [True, True] Translation: X:831.16, Y:-61.83, Z:3.21 [[ 9.99243978e-01 -3.44693360e-02 -1.79815743e-02 8.31163929e+02] [ 3.44927520e-02 9.99404454e-01 9.93621269e-04 -6.18325264e+01] [ 1.79366160e-02 -1.61310405e-03 9.99837825e-01 3.20528917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.140714057 meters Centerline goodness [0,1] 0.9876478972015474 Centerline is valid? [True, True] Translation: X:831.20, Y:-61.83, Z:3.21 [[ 9.99256237e-01 -3.42112916e-02 -1.77921223e-02 8.31196613e+02] [ 3.42341987e-02 9.99413353e-01 9.84420124e-04 -6.18294834e+01] [ 1.77480063e-02 -1.59278700e-03 9.99841223e-01 3.20646733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1707140569999 meters Centerline goodness [0,1] 0.9868569877392209 Centerline is valid? [True, True] Translation: X:831.23, Y:-61.83, Z:3.21 [[ 9.99265360e-01 -3.43996772e-02 -1.68938654e-02 8.31229130e+02] [ 3.44203764e-02 9.99407005e-01 9.35927941e-04 -6.18306318e+01] [ 1.68516518e-02 -1.51673358e-03 9.99856850e-01 3.20707314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2007140569999 meters Centerline goodness [0,1] 0.9878208604483008 Centerline is valid? [True, True] Translation: X:831.26, Y:-61.83, Z:3.21 [[ 9.99257275e-01 -3.52193877e-02 -1.56362447e-02 8.31261295e+02] [ 3.52372365e-02 9.99378599e-01 8.67383590e-04 -6.18311093e+01] [ 1.55959796e-02 -1.41771742e-03 9.99877370e-01 3.20785899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2307140569999 meters Centerline goodness [0,1] 0.9856011194114063 Centerline is valid? [True, True] Translation: X:831.29, Y:-61.84, Z:3.21 [[ 9.99236508e-01 -3.58808903e-02 -1.54584395e-02 8.31292231e+02] [ 3.58984266e-02 9.99355075e-01 8.58344407e-04 -6.18354287e+01] [ 1.54176718e-02 -1.41262272e-03 9.99880143e-01 3.20765544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.260714057 meters Centerline goodness [0,1] 0.9615349988746342 Centerline is valid? [True, True] Translation: X:831.32, Y:-61.85, Z:3.21 [[ 9.99237119e-01 -3.61485442e-02 -1.47805161e-02 8.31322436e+02] [ 3.61646166e-02 9.99345509e-01 8.21483849e-04 -6.18475134e+01] [ 1.47411469e-02 -1.35538885e-03 9.99890425e-01 3.20625041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.290714057 meters Centerline goodness [0,1] 0.9549024461597317 Centerline is valid? [True, True] Translation: X:831.35, Y:-61.85, Z:3.21 [[ 9.99212483e-01 -3.69100508e-02 -1.45623213e-02 8.31354420e+02] [ 3.69257465e-02 9.99317684e-01 8.10337812e-04 -6.18498989e+01] [ 1.45224756e-02 -1.34742424e-03 9.99893635e-01 3.20644033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3207140569999 meters Centerline goodness [0,1] 0.980762315713772 Centerline is valid? [True, True] Translation: X:831.39, Y:-61.85, Z:3.21 [[ 9.99163029e-01 -3.82959458e-02 -1.43757766e-02 8.31385532e+02] [ 3.83113874e-02 9.99265529e-01 8.00188289e-04 -6.18458541e+01] [ 1.43345741e-02 -1.35027450e-03 9.99896343e-01 3.20789165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3507140569999 meters Centerline goodness [0,1] 0.9723710875928845 Centerline is valid? [True, True] Translation: X:831.42, Y:-61.85, Z:3.21 [[ 9.99125942e-01 -3.91904108e-02 -1.45418174e-02 8.31416042e+02] [ 3.92063125e-02 9.99230809e-01 8.09941769e-04 -6.18515348e+01] [ 1.44988900e-02 -1.37936487e-03 9.99893934e-01 3.20723469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.380714057 meters Centerline goodness [0,1] 0.9851419295199874 Centerline is valid? [True, True] Translation: X:831.45, Y:-61.84, Z:3.21 [[ 9.99081725e-01 -4.02890595e-02 -1.45773587e-02 8.31448535e+02] [ 4.03051706e-02 9.99187086e-01 8.12998424e-04 -6.18447949e+01] [ 1.45327536e-02 -1.39979480e-03 9.99893414e-01 3.20876437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.410714057 meters Centerline goodness [0,1] 0.9848197771462083 Centerline is valid? [True, True] Translation: X:831.48, Y:-61.85, Z:3.21 [[ 9.99038912e-01 -4.13290413e-02 -1.46001103e-02 8.31480576e+02] [ 4.13453281e-02 9.99144584e-01 8.15326860e-04 -6.18477360e+01] [ 1.45539244e-02 -1.41818961e-03 9.99893080e-01 3.20897888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4407140569999 meters Centerline goodness [0,1] 0.9848197771462083 Centerline is valid? [True, True] Translation: X:831.51, Y:-61.85, Z:3.21 [[ 9.99043406e-01 -4.12202783e-02 -1.46000207e-02 8.31513223e+02] [ 4.12365769e-02 9.99149077e-01 8.16930196e-04 -6.18496501e+01] [ 1.45539231e-02 -1.41820360e-03 9.99893080e-01 3.20896629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4707140569999 meters Centerline goodness [0,1] 0.9813730110639826 Centerline is valid? [True, True] Translation: X:831.54, Y:-61.86, Z:3.21 [[ 9.98991707e-01 -4.26376006e-02 -1.40571592e-02 8.31542721e+02] [ 4.26528479e-02 9.99089644e-01 7.86514480e-04 -6.18573758e+01] [ 1.40108271e-02 -1.38529932e-03 9.99900884e-01 3.20851825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.500714057 meters Centerline goodness [0,1] 0.9803903910664835 Centerline is valid? [True, True] Translation: X:831.57, Y:-61.86, Z:3.21 [[ 9.98979166e-01 -4.30344242e-02 -1.37355293e-02 8.31574368e+02] [ 4.30490292e-02 9.99072665e-01 7.69274371e-04 -6.18602263e+01] [ 1.36896865e-02 -1.35979027e-03 9.99905367e-01 3.20824776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.530714057 meters Centerline goodness [0,1] 0.9827796334747675 Centerline is valid? [True, True] Translation: X:831.61, Y:-61.86, Z:3.21 [[ 9.99008284e-01 -4.22299182e-02 -1.41096687e-02 8.31606410e+02] [ 4.22452647e-02 9.99106957e-01 7.91250201e-04 -6.18613833e+01] [ 1.40636538e-02 -1.38653220e-03 9.99900141e-01 3.20808501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5607140569999 meters Centerline goodness [0,1] 0.9824356235241201 Centerline is valid? [True, True] Translation: X:831.64, Y:-61.86, Z:3.21 [[ 9.99054027e-01 -4.11319104e-02 -1.41144001e-02 8.31636965e+02] [ 4.11471656e-02 9.99152783e-01 7.92007867e-04 -6.18638169e+01] [ 1.40698653e-02 -1.37202620e-03 9.99900073e-01 3.20782247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5907140569999 meters Centerline goodness [0,1] 0.9812365494978479 Centerline is valid? [True, True] Translation: X:831.67, Y:-61.87, Z:3.21 [[ 9.99114841e-01 -3.96634124e-02 -1.40124202e-02 8.31668142e+02] [ 3.96783117e-02 9.99212196e-01 7.86783892e-04 -6.18651787e+01] [ 1.39701746e-02 -1.34207664e-03 9.99901512e-01 3.20792914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.620714057 meters Centerline goodness [0,1] 0.9829213888200438 Centerline is valid? [True, True] Translation: X:831.70, Y:-61.87, Z:3.21 [[ 9.99186758e-01 -3.78508486e-02 -1.38973636e-02 8.31699364e+02] [ 3.78653338e-02 9.99282546e-01 7.80561248e-04 -6.18662911e+01] [ 1.38578480e-02 -1.30615477e-03 9.99903122e-01 3.20876585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.650714057 meters Centerline goodness [0,1] 0.9810887478049439 Centerline is valid? [True, True] Translation: X:831.73, Y:-61.87, Z:3.21 [[ 9.99259335e-01 -3.60079901e-02 -1.35722195e-02 8.31730568e+02] [ 3.60216400e-02 9.99350719e-01 7.62536114e-04 -6.18679126e+01] [ 1.35359500e-02 -1.25086494e-03 9.99907602e-01 3.20922496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6807140569999 meters Centerline goodness [0,1] 0.9800470799237754 Centerline is valid? [True, True] Translation: X:831.76, Y:-61.87, Z:3.21 [[ 9.99431894e-01 -3.14693977e-02 -1.20650698e-02 8.31759881e+02] [ 3.14798532e-02 9.99504157e-01 6.77614596e-04 -6.18705927e+01] [ 1.20377633e-02 -1.05703626e-03 9.99926985e-01 3.21018313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7107140569999 meters Centerline goodness [0,1] 0.9839374619838248 Centerline is valid? [True, True] Translation: X:831.79, Y:-61.87, Z:3.21 [[ 9.99498054e-01 -2.94676572e-02 -1.16317226e-02 8.31790359e+02] [ 2.94772406e-02 9.99565238e-01 6.53283475e-04 -6.18686238e+01] [ 1.16074149e-02 -9.95826649e-04 9.99932136e-01 3.21099767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7407140569999 meters Centerline goodness [0,1] 0.9850550839804949 Centerline is valid? [True, True] Translation: X:831.82, Y:-61.86, Z:3.21 [[ 9.99568978e-01 -2.72310854e-02 -1.09693288e-02 8.31821673e+02] [ 2.72394767e-02 9.99628747e-01 6.16283264e-04 -6.18636999e+01] [ 1.09484744e-02 -9.14816410e-04 9.99939645e-01 3.21203499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.770714057 meters Centerline goodness [0,1] 0.9863517415628947 Centerline is valid? [True, True] Translation: X:831.85, Y:-61.87, Z:3.21 [[ 9.99677638e-01 -2.31679836e-02 -1.03858339e-02 8.31851141e+02] [ 2.31752860e-02 9.99731247e-01 5.83295650e-04 -6.18659944e+01] [ 1.03695289e-02 -8.23802289e-04 9.99945896e-01 3.21184369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8007140569999 meters Centerline goodness [0,1] 0.9876373316488821 Centerline is valid? [True, True] Translation: X:831.88, Y:-61.86, Z:3.21 [[ 9.99717565e-01 -2.14136841e-02 -1.03074453e-02 8.31883272e+02] [ 2.14207902e-02 9.99770381e-01 5.79492214e-04 -6.18606293e+01] [ 1.02926695e-02 -8.00122169e-04 9.99946709e-01 3.21241764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8307140569999 meters Centerline goodness [0,1] 0.9850763117493001 Centerline is valid? [True, True] Translation: X:831.91, Y:-61.87, Z:3.21 [[ 9.99777248e-01 -1.81316766e-02 -1.08026281e-02 8.31912834e+02] [ 1.81392911e-02 9.99835285e-01 6.07303755e-04 -6.18737013e+01] [ 1.07898373e-02 -8.03120492e-04 9.99941465e-01 3.20939105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8607140569999 meters Centerline goodness [0,1] 0.9877833582190851 Centerline is valid? [True, True] Translation: X:831.94, Y:-61.87, Z:3.21 [[ 9.99797288e-01 -1.65476903e-02 -1.14698523e-02 8.31944715e+02] [ 1.65561757e-02 9.99862729e-01 6.45237332e-04 -6.18657888e+01] [ 1.14576006e-02 -8.35003424e-04 9.99934011e-01 3.21033625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.890714057 meters Centerline goodness [0,1] 0.98779521318751 Centerline is valid? [True, True] Translation: X:831.98, Y:-61.86, Z:3.21 [[ 9.99820762e-01 -1.50572956e-02 -1.14770481e-02 8.31976296e+02] [ 1.50656988e-02 9.99886297e-01 6.46058937e-04 -6.18640662e+01] [ 1.14660152e-02 -8.18852888e-04 9.99933928e-01 3.21018169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9207140569999 meters Centerline goodness [0,1] 0.9879518072289156 Centerline is valid? [True, True] Translation: X:832.01, Y:-61.87, Z:3.21 [[ 9.99846835e-01 -1.30923647e-02 -1.16145039e-02 8.32007276e+02] [ 1.31008408e-02 9.99913966e-01 6.53998396e-04 -6.18650549e+01] [ 1.16049423e-02 -8.06057993e-04 9.99932336e-01 3.21036329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9507140569999 meters Centerline goodness [0,1] 0.9872108289193716 Centerline is valid? [True, True] Translation: X:832.04, Y:-61.87, Z:3.21 [[ 9.99873994e-01 -1.11034651e-02 -1.13450339e-02 8.32036230e+02] [ 1.11114293e-02 9.99938062e-01 6.39203275e-04 -6.18714650e+01] [ 1.13372339e-02 -7.65182273e-04 9.99935439e-01 3.20922182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9807140569999 meters Centerline goodness [0,1] 0.9882949580022188 Centerline is valid? [True, True] Translation: X:832.07, Y:-61.87, Z:3.21 [[ 9.99922444e-01 -6.86597032e-03 -1.03906028e-02 8.32067128e+02] [ 6.87242245e-03 9.99976213e-01 5.85380057e-04 -6.18655872e+01] [ 1.03863365e-02 -6.56743270e-04 9.99945845e-01 3.21105015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.010714057 meters Centerline goodness [0,1] 0.9891055695227741 Centerline is valid? [True, True] Translation: X:832.10, Y:-61.87, Z:3.21 [[ 9.99945738e-01 -3.21634102e-03 -9.90834777e-03 8.32095627e+02] [ 3.22202664e-03 9.99994654e-01 5.57912537e-04 -6.18726475e+01] [ 9.90650036e-03 -5.89807225e-04 9.99950755e-01 3.21022472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.040714057 meters Centerline goodness [0,1] 0.9884017996427845 Centerline is valid? [True, True] Translation: X:832.13, Y:-61.87, Z:3.21 [[ 9.99953045e-01 -2.14493177e-03 -9.45025803e-03 8.32125105e+02] [ 2.15003456e-03 9.99997548e-01 5.29836375e-04 -6.18663262e+01] [ 9.44909840e-03 -5.50129878e-04 9.99955205e-01 3.21160762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0707140569999 meters Centerline goodness [0,1] 0.9888668081839121 Centerline is valid? [True, True] Translation: X:832.15, Y:-61.87, Z:3.21 [[ 9.99955239e-01 -1.65610191e-03 -9.31541316e-03 8.32154358e+02] [ 1.66101858e-03 9.99998485e-01 5.20086984e-04 -6.18669485e+01] [ 9.31453773e-03 -5.35536779e-04 9.99956475e-01 3.21199133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1007140569999 meters Centerline goodness [0,1] 0.9888385307447745 Centerline is valid? [True, True] Translation: X:832.18, Y:-61.87, Z:3.21 [[ 9.99958560e-01 -1.08176009e-03 -9.03928536e-03 8.32182009e+02] [ 1.08635936e-03 9.99999283e-01 5.03914225e-04 -6.18698831e+01] [ 9.03873377e-03 -5.13713254e-04 9.99959018e-01 3.21217756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.130714057 meters Centerline goodness [0,1] 0.9882554496066365 Centerline is valid? [True, True] Translation: X:832.21, Y:-61.87, Z:3.21 [[ 9.99959420e-01 -1.04485369e-03 -8.94803363e-03 8.32210582e+02] [ 1.04933841e-03 9.99999326e-01 4.96516833e-04 -6.18714681e+01] [ 8.94750882e-03 -5.05886200e-04 9.99959842e-01 3.21237077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.160714057 meters Centerline goodness [0,1] 0.9884637916272363 Centerline is valid? [True, True] Translation: X:832.24, Y:-61.87, Z:3.21 [[ 9.99961512e-01 -1.26655003e-03 -8.68155353e-03 8.32237901e+02] [ 1.27077088e-03 9.99999077e-01 4.80687087e-04 -6.18744250e+01] [ 8.68093670e-03 -4.91700852e-04 9.99962199e-01 3.21243166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1907140569999 meters Centerline goodness [0,1] 0.9893049337493782 Centerline is valid? [True, True] Translation: X:832.27, Y:-61.88, Z:3.21 [[ 9.99964085e-01 -1.73980901e-03 -8.29464567e-03 8.32266080e+02] [ 1.74367215e-03 9.99998375e-01 4.58530792e-04 -6.18767771e+01] [ 8.29383443e-03 -4.72977467e-04 9.99965494e-01 3.21247450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2207140569999 meters Centerline goodness [0,1] 0.9886861478704666 Centerline is valid? [True, True] Translation: X:832.29, Y:-61.88, Z:3.21 [[ 9.99960846e-01 -2.25136796e-03 -8.55792141e-03 8.32294811e+02] [ 2.25549371e-03 9.99997345e-01 4.72477202e-04 -6.18791395e+01] [ 8.55683496e-03 -4.91761041e-04 9.99963269e-01 3.21225902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.250714057 meters Centerline goodness [0,1] 0.9882711176271569 Centerline is valid? [True, True] Translation: X:832.32, Y:-61.88, Z:3.21 [[ 9.99954885e-01 -3.22106659e-03 -8.93598742e-03 8.32322089e+02] [ 3.22559635e-03 9.99994676e-01 4.92546505e-04 -6.18832899e+01] [ 8.93435332e-03 -5.21348172e-04 9.99959952e-01 3.21153481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.280714057 meters Centerline goodness [0,1] 0.9881644799134316 Centerline is valid? [True, True] Translation: X:832.35, Y:-61.88, Z:3.21 [[ 9.99946937e-01 -4.34518317e-03 -9.34042623e-03 8.32351096e+02] [ 4.35017494e-03 9.99990406e-01 5.14175585e-04 -6.18842208e+01] [ 9.33810243e-03 -5.54780789e-04 9.99956245e-01 3.21134277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3107140569999 meters Centerline goodness [0,1] 0.988497954940908 Centerline is valid? [True, True] Translation: X:832.38, Y:-61.89, Z:3.21 [[ 9.99941939e-01 -5.36207438e-03 -9.34702509e-03 8.32379240e+02] [ 5.36710524e-03 9.99985465e-01 5.13229832e-04 -6.18864634e+01] [ 9.34413726e-03 -5.63366501e-04 9.99956184e-01 3.21107873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3407140569999 meters Centerline goodness [0,1] 0.9877137713771377 Centerline is valid? [True, True] Translation: X:832.41, Y:-61.89, Z:3.21 [[ 9.99933846e-01 -6.71484488e-03 -9.33881669e-03 8.32408158e+02] [ 6.71990330e-03 9.99977291e-01 5.10381682e-04 -6.18891665e+01] [ 9.33517748e-03 -5.73103863e-04 9.99956262e-01 3.21093012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.370714057 meters Centerline goodness [0,1] 0.987536277531553 Centerline is valid? [True, True] Translation: X:832.44, Y:-61.89, Z:3.21 [[ 9.99924578e-01 -8.23832234e-03 -9.10868775e-03 8.32437236e+02] [ 8.24319367e-03 9.99965901e-01 4.97386680e-04 -6.18919353e+01] [ 9.10427952e-03 -5.72433843e-04 9.99958391e-01 3.21115309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.400714057 meters Centerline goodness [0,1] 0.9874884880612772 Centerline is valid? [True, True] Translation: X:832.47, Y:-61.90, Z:3.21 [[ 9.99896681e-01 -1.13979913e-02 -8.75861757e-03 8.32466143e+02] [ 1.14026167e-02 9.99934874e-01 4.78341370e-04 -6.18975592e+01] [ 8.75259502e-03 -5.78163107e-04 9.99961528e-01 3.21145268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4307140569999 meters Centerline goodness [0,1] 0.9874857027517998 Centerline is valid? [True, True] Translation: X:832.50, Y:-61.90, Z:3.21 [[ 9.99877205e-01 -1.28903603e-02 -8.91138480e-03 8.32496345e+02] [ 1.28952075e-02 9.99916735e-01 4.86682405e-04 -6.19011974e+01] [ 8.90436928e-03 -6.01536799e-04 9.99960174e-01 3.21167362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4607140569999 meters Centerline goodness [0,1] 0.9859000224164985 Centerline is valid? [True, True] Translation: X:832.53, Y:-61.90, Z:3.21 [[ 9.99857965e-01 -1.44650610e-02 -8.64938441e-03 8.32527676e+02] [ 1.44696887e-02 9.99895197e-01 4.72695020e-04 -6.19027549e+01] [ 8.64164036e-03 -5.97781781e-04 9.99962482e-01 3.21185018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4907140569999 meters Centerline goodness [0,1] 0.9857822020846818 Centerline is valid? [True, True] Translation: X:832.56, Y:-61.91, Z:3.21 [[ 9.99820159e-01 -1.70561151e-02 -8.29086045e-03 8.32557467e+02] [ 1.70604556e-02 9.99854357e-01 4.53088317e-04 -6.19114305e+01] [ 8.28192502e-03 -5.94452690e-04 9.99965528e-01 3.21154493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.520714057 meters Centerline goodness [0,1] 0.9864777273641626 Centerline is valid? [True, True] Translation: X:832.59, Y:-61.91, Z:3.21 [[ 9.99798533e-01 -1.83758652e-02 -8.07590166e-03 8.32589738e+02] [ 1.83800314e-02 9.99830975e-01 4.41947465e-04 -6.19091964e+01] [ 8.06641547e-03 -5.90293753e-04 9.99967292e-01 3.21142534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5507140569999 meters Centerline goodness [0,1] 0.9863130306220739 Centerline is valid? [True, True] Translation: X:832.62, Y:-61.91, Z:3.21 [[ 9.99768897e-01 -1.99206791e-02 -8.08196985e-03 8.32621194e+02] [ 1.99249039e-02 9.99801381e-01 4.42556591e-04 -6.19113795e+01] [ 8.07154859e-03 -6.03486787e-04 9.99967242e-01 3.21126616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5807140569999 meters Centerline goodness [0,1] 0.9853273390145161 Centerline is valid? [True, True] Translation: X:832.65, Y:-61.92, Z:3.21 [[ 9.99732451e-01 -2.15484427e-02 -8.40781343e-03 8.32651186e+02] [ 2.15530734e-02 9.99767599e-01 4.60541770e-04 -6.19189847e+01] [ 8.39593549e-03 -6.41632773e-04 9.99964548e-01 3.21047901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6107140569999 meters Centerline goodness [0,1] 0.9856076400564934 Centerline is valid? [True, True] Translation: X:832.68, Y:-61.92, Z:3.21 [[ 9.99655763e-01 -2.44692637e-02 -9.46628524e-03 8.32682005e+02] [ 2.44752645e-02 9.99700301e-01 5.18563191e-04 -6.19188439e+01] [ 9.45075935e-03 -7.50074518e-04 9.99955059e-01 3.21010654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.640714057 meters Centerline goodness [0,1] 0.9856992592261039 Centerline is valid? [True, True] Translation: X:832.71, Y:-61.92, Z:3.21 [[ 9.99615258e-01 -2.59504338e-02 -9.79337683e-03 8.32711887e+02] [ 2.59569358e-02 9.99662918e-01 5.37373036e-04 -6.19224703e+01] [ 9.77613059e-03 -7.91372339e-04 9.99951899e-01 3.20959975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6707140569999 meters Centerline goodness [0,1] 0.9841686287700415 Centerline is valid? [True, True] Translation: X:832.74, Y:-61.93, Z:3.21 [[ 9.99578572e-01 -2.70896705e-02 -1.04320770e-02 8.32742945e+02] [ 2.70971155e-02 9.99632642e-01 5.72954358e-04 -6.19260324e+01] [ 1.04127236e-02 -8.55392096e-04 9.99945420e-01 3.20963054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7007140569999 meters Centerline goodness [0,1] 0.9844961240310077 Centerline is valid? [True, True] Translation: X:832.77, Y:-61.93, Z:3.21 [[ 9.99543816e-01 -2.83733691e-02 -1.03494434e-02 8.32773589e+02] [ 2.83807706e-02 9.99597023e-01 5.68969524e-04 -6.19293694e+01] [ 1.03291292e-02 -8.62435149e-04 9.99946281e-01 3.20938804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7307140569999 meters Centerline goodness [0,1] 0.9837045327364298 Centerline is valid? [True, True] Translation: X:832.80, Y:-61.93, Z:3.21 [[ 9.99501045e-01 -3.00661817e-02 -9.67917185e-03 8.32803432e+02] [ 3.00727422e-02 9.99547571e-01 5.32929379e-04 -6.19333452e+01] [ 9.65876956e-03 -8.23742711e-04 9.99953014e-01 3.20958139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.760714057 meters Centerline goodness [0,1] 0.9819005539731311 Centerline is valid? [True, True] Translation: X:832.84, Y:-61.94, Z:3.21 [[ 9.99487182e-01 -3.06151298e-02 -9.38548817e-03 8.32835834e+02] [ 3.06213282e-02 9.99530923e-01 5.17399373e-04 -6.19368941e+01] [ 9.36524541e-03 -8.04530154e-04 9.99955821e-01 3.20980687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.790714057 meters Centerline goodness [0,1] 0.9811697191149767 Centerline is valid? [True, True] Translation: X:832.87, Y:-61.94, Z:3.21 [[ 9.99486154e-01 -3.07956766e-02 -8.89129467e-03 8.32866760e+02] [ 3.08012504e-02 9.99525409e-01 4.90606476e-04 -6.19395859e+01] [ 8.87196638e-03 -7.64217373e-04 9.99960351e-01 3.20972621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8207140569999 meters Centerline goodness [0,1] 0.9798600900057924 Centerline is valid? [True, True] Translation: X:832.90, Y:-61.94, Z:3.21 [[ 9.99512298e-01 -3.00913852e-02 -8.34717685e-03 8.32898340e+02] [ 3.00962781e-02 9.99546898e-01 4.61154413e-04 -6.19411550e+01] [ 8.32951795e-03 -7.12148462e-04 9.99965055e-01 3.21051602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8507140569999 meters Centerline goodness [0,1] 0.9792446486607643 Centerline is valid? [True, True] Translation: X:832.93, Y:-61.94, Z:3.21 [[ 9.99531773e-01 -2.94836440e-02 -8.18221778e-03 8.32930372e+02] [ 2.94883296e-02 9.99565022e-01 4.52590601e-04 -6.19419214e+01] [ 8.16531468e-03 -6.93658621e-04 9.99966423e-01 3.21058818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.880714057 meters Centerline goodness [0,1] 0.9860712363179616 Centerline is valid? [True, True] Translation: X:832.96, Y:-61.93, Z:3.21 [[ 9.99556984e-01 -2.87090453e-02 -7.85021904e-03 8.32963831e+02] [ 2.87133415e-02 9.99587592e-01 4.35092116e-04 -6.19310409e+01] [ 7.83449047e-03 -6.60305384e-04 9.99969092e-01 3.21181207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.910714057 meters Centerline goodness [0,1] 0.9783203300152453 Centerline is valid? [True, True] Translation: X:832.99, Y:-61.94, Z:3.21 [[ 9.99607688e-01 -2.68950318e-02 -7.81836396e-03 8.32993317e+02] [ 2.68992390e-02 9.99638056e-01 4.33434411e-04 -6.19436133e+01] [ 7.80387692e-03 -6.43572410e-04 9.99969342e-01 3.21090904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9407140569999 meters Centerline goodness [0,1] 0.9776954177897574 Centerline is valid? [True, True] Translation: X:833.03, Y:-61.94, Z:3.21 [[ 9.99638695e-01 -2.56992878e-02 -7.87569407e-03 8.33025266e+02] [ 2.57035232e-02 9.99669514e-01 4.37012076e-04 -6.19447708e+01] [ 7.86186036e-03 -6.39287266e-04 9.99968891e-01 3.21084492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9707140569999 meters Centerline goodness [0,1] 0.986556057642589 Centerline is valid? [True, True] Translation: X:833.06, Y:-61.93, Z:3.21 [[ 9.99674199e-01 -2.43568357e-02 -7.63152913e-03 8.33058079e+02] [ 2.43607777e-02 9.99703142e-01 4.23993688e-04 -6.19300792e+01] [ 7.61893651e-03 -6.09765536e-04 9.99970790e-01 3.21266715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.000714057 meters Centerline goodness [0,1] 0.7686038716165255 Centerline is valid? [True, False] Translation: X:833.11, Y:-61.93, Z:3.21 [[ 9.99639438e-01 -2.54696284e-02 -8.50250323e-03 8.33108044e+02] [ 2.54570246e-02 9.99674657e-01 -1.58731984e-03 -6.19294462e+01] [ 8.54016544e-03 1.37029908e-03 9.99962593e-01 3.21468274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.030714057 meters Centerline goodness [0,1] 0.987135583292029 Centerline is valid? [False, True] Translation: X:833.04, Y:-61.93, Z:3.21 [[ 9.99814622e-01 -1.80357441e-02 -6.74044920e-03 8.33040437e+02] [ 1.80434077e-02 9.99836623e-01 1.07787637e-03 -6.19291122e+01] [ 6.71990766e-03 -1.19929723e-03 9.99976702e-01 3.21124468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0607140569999 meters Centerline goodness [0,1] 0.9868403262878003 Centerline is valid? [True, True] Translation: X:833.07, Y:-61.93, Z:3.21 [[ 9.99835293e-01 -1.66860419e-02 -7.13886911e-03 8.33071080e+02] [ 1.66894609e-02 9.99860633e-01 4.19615635e-04 -6.19303805e+01] [ 7.13087246e-03 -5.38690398e-04 9.99974430e-01 3.21072437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0907140569999 meters Centerline goodness [0,1] 0.9876120545970539 Centerline is valid? [True, True] Translation: X:833.10, Y:-61.93, Z:3.21 [[ 9.99847811e-01 -1.57781260e-02 -7.44354724e-03 8.33102553e+02] [ 1.57818200e-02 9.99875363e-01 4.37787409e-04 -6.19295547e+01] [ 7.43571204e-03 -5.55193505e-04 9.99972201e-01 3.20987923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.120714057 meters Centerline goodness [0,1] 0.9860895401445067 Centerline is valid? [True, True] Translation: X:833.13, Y:-61.93, Z:3.21 [[ 9.99862995e-01 -1.46725569e-02 -7.66205706e-03 8.33132951e+02] [ 1.46764395e-02 9.99892194e-01 4.50747841e-04 -6.19323387e+01] [ 7.65461742e-03 -5.63137804e-04 9.99970544e-01 3.20887949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.150714057 meters Centerline goodness [0,1] 0.9865369895087577 Centerline is valid? [True, True] Translation: X:833.16, Y:-61.93, Z:3.21 [[ 9.99890972e-01 -1.24210636e-02 -7.98507694e-03 8.33164296e+02] [ 1.24252114e-02 9.99922694e-01 4.70044612e-04 -6.19306444e+01] [ 7.97862119e-03 -5.69209633e-04 9.99968008e-01 3.20836779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1807140569999 meters Centerline goodness [0,1] 0.988284066330209 Centerline is valid? [True, True] Translation: X:833.20, Y:-61.93, Z:3.21 [[ 9.99907479e-01 -1.11424461e-02 -7.80253419e-03 8.33195613e+02] [ 1.11463700e-02 9.99937772e-01 4.59588943e-04 -6.19289847e+01] [ 7.79692771e-03 -5.46516354e-04 9.99969454e-01 3.20911776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2107140569999 meters Centerline goodness [0,1] 0.988089867364432 Centerline is valid? [True, True] Translation: X:833.23, Y:-61.93, Z:3.21 [[ 9.99916909e-01 -1.01813973e-02 -7.90654697e-03 8.33225508e+02] [ 1.01854016e-02 9.99948019e-01 4.66343443e-04 -6.19325146e+01] [ 7.90138795e-03 -5.46836050e-04 9.99968634e-01 3.20893331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2407140569999 meters Centerline goodness [0,1] 0.9881059853751015 Centerline is valid? [True, True] Translation: X:833.26, Y:-61.93, Z:3.21 [[ 9.99939224e-01 -7.74261524e-03 -7.84859534e-03 8.33256448e+02] [ 7.74648672e-03 9.99969888e-01 4.62989766e-04 -6.19303409e+01] [ 7.84477425e-03 -5.23760667e-04 9.99969092e-01 3.20984361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.270714057 meters Centerline goodness [0,1] 0.9883289604632226 Centerline is valid? [True, True] Translation: X:833.29, Y:-61.93, Z:3.21 [[ 9.99949275e-01 -6.62735812e-03 -7.58449881e-03 8.33287089e+02] [ 6.63094131e-03 9.99977915e-01 4.47386515e-04 -6.19320655e+01] [ 7.58136631e-03 -4.97656188e-04 9.99971137e-01 3.21028267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3007140569999 meters Centerline goodness [0,1] 0.9879169117979816 Centerline is valid? [True, True] Translation: X:833.32, Y:-61.94, Z:3.21 [[ 9.99954875e-01 -6.15565130e-03 -7.23579287e-03 8.33316695e+02] [ 6.15889917e-03 9.99980943e-01 4.26664837e-04 -6.19364639e+01] [ 7.23302858e-03 -4.71210102e-04 9.99973730e-01 3.21012610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3307140569999 meters Centerline goodness [0,1] 0.9879169117979816 Centerline is valid? [True, True] Translation: X:833.35, Y:-61.94, Z:3.21 [[ 9.99954662e-01 -6.19004299e-03 -7.23580892e-03 8.33345861e+02] [ 6.19328980e-03 9.99980730e-01 4.26392571e-04 -6.19381520e+01] [ 7.23303011e-03 -4.71186701e-04 9.99973730e-01 3.21008525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3607140569999 meters Centerline goodness [0,1] 0.9873789921288338 Centerline is valid? [True, True] Translation: X:833.38, Y:-61.94, Z:3.21 [[ 9.99957343e-01 -6.10307745e-03 -6.93279490e-03 8.33375795e+02] [ 6.10605425e-03 9.99981275e-01 4.08294461e-04 -6.19388436e+01] [ 6.93017322e-03 -4.50609066e-04 9.99975885e-01 3.21040502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.390714057 meters Centerline goodness [0,1] 0.9872520605017662 Centerline is valid? [True, True] Translation: X:833.41, Y:-61.94, Z:3.21 [[ 9.99953547e-01 -6.48909120e-03 -7.12716187e-03 8.33405366e+02] [ 6.49224710e-03 9.99978837e-01 4.19752498e-04 -6.19426793e+01] [ 7.12428723e-03 -4.66004295e-04 9.99974513e-01 3.20991139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4207140569999 meters Centerline goodness [0,1] 0.9876448225923244 Centerline is valid? [True, True] Translation: X:833.44, Y:-61.94, Z:3.21 [[ 9.99949196e-01 -7.11692796e-03 -7.13827604e-03 8.33435939e+02] [ 7.12010968e-03 9.99974563e-01 4.20413378e-04 -6.19448929e+01] [ 7.13510242e-03 -4.71217327e-04 9.99974434e-01 3.21017693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4507140569999 meters Centerline goodness [0,1] 0.987783398067022 Centerline is valid? [True, True] Translation: X:833.47, Y:-61.95, Z:3.21 [[ 9.99940622e-01 -8.17077894e-03 -7.21039914e-03 8.33466291e+02] [ 8.17405256e-03 9.99966502e-01 4.24661114e-04 -6.19455625e+01] [ 7.20668779e-03 -4.83574080e-04 9.99973915e-01 3.21036344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4807140569999 meters Centerline goodness [0,1] 0.9871873231465761 Centerline is valid? [True, True] Translation: X:833.50, Y:-61.95, Z:3.21 [[ 9.99929948e-01 -9.28306249e-03 -7.34323572e-03 8.33496161e+02] [ 9.28649050e-03 9.99956786e-01 4.32866012e-04 -6.19535223e+01] [ 7.33890006e-03 -5.01028578e-04 9.99972944e-01 3.20994897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.510714057 meters Centerline goodness [0,1] 0.9886966134963788 Centerline is valid? [True, True] Translation: X:833.53, Y:-61.95, Z:3.21 [[ 9.99911630e-01 -1.16958018e-02 -6.31986166e-03 8.33527563e+02] [ 1.16983894e-02 9.99931502e-01 3.72627146e-04 -6.19457741e+01] [ 6.31507059e-03 -4.46526420e-04 9.99979960e-01 3.21202875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.540714057 meters Centerline goodness [0,1] 0.9879077742182918 Centerline is valid? [True, True] Translation: X:833.56, Y:-61.95, Z:3.21 [[ 9.99897720e-01 -1.30426661e-02 -5.86843409e-03 8.33557965e+02] [ 1.30449223e-02 9.99914851e-01 3.46349589e-04 -6.19507274e+01] [ 5.86341708e-03 -4.22867431e-04 9.99982721e-01 3.21227878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5707140569999 meters Centerline goodness [0,1] 0.9869883437245867 Centerline is valid? [True, True] Translation: X:833.59, Y:-61.95, Z:3.21 [[ 9.99867950e-01 -1.55296257e-02 -4.78680691e-03 8.33588720e+02] [ 1.55311555e-02 9.99879344e-01 2.82565997e-04 -6.19527942e+01] [ 4.78184121e-03 -3.56873326e-04 9.99988503e-01 3.21297350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6007140569999 meters Centerline goodness [0,1] 0.9872728094764446 Centerline is valid? [True, True] Translation: X:833.62, Y:-61.95, Z:3.21 [[ 9.99846802e-01 -1.67836142e-02 -4.96815229e-03 8.33620391e+02] [ 1.67852803e-02 9.99859074e-01 2.93861666e-04 -6.19541487e+01] [ 4.96252009e-03 -3.77208476e-04 9.99987615e-01 3.21331117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.630714057 meters Centerline goodness [0,1] 0.9867174815082086 Centerline is valid? [True, True] Translation: X:833.65, Y:-61.96, Z:3.21 [[ 9.99828749e-01 -1.77822979e-02 -5.12478190e-03 8.33651620e+02] [ 1.77840864e-02 9.99841805e-01 3.03632461e-04 -6.19583025e+01] [ 5.11857190e-03 -3.94720028e-04 9.99986822e-01 3.21288187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.660714057 meters Centerline goodness [0,1] 0.9864020996425178 Centerline is valid? [True, True] Translation: X:833.68, Y:-61.96, Z:3.21 [[ 9.99783297e-01 -2.00877346e-02 -5.46273155e-03 8.33682185e+02] [ 2.00898009e-02 9.99798127e-01 3.23628563e-04 -6.19617590e+01] [ 5.45512780e-03 -4.33303621e-04 9.99985027e-01 3.21245737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6907140569999 meters Centerline goodness [0,1] 0.9859980609230908 Centerline is valid? [True, True] Translation: X:833.71, Y:-61.97, Z:3.21 [[ 9.99763381e-01 -2.08629989e-02 -6.15766264e-03 8.33712499e+02] [ 2.08656444e-02 9.99782222e-01 3.65695375e-04 -6.19685796e+01] [ 6.14869214e-03 -4.94092444e-04 9.99980975e-01 3.21144818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7207140569999 meters Centerline goodness [0,1] 0.9846205885669185 Centerline is valid? [True, True] Translation: X:833.75, Y:-61.97, Z:3.21 [[ 9.99745738e-01 -2.16599740e-02 -6.26929837e-03 8.33745062e+02] [ 2.16627342e-02 9.99765266e-01 3.72682002e-04 -6.19694475e+01] [ 6.25975447e-03 -5.08397387e-04 9.99980278e-01 3.21049932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.750714057 meters Centerline goodness [0,1] 0.9848197343453511 Centerline is valid? [True, True] Translation: X:833.78, Y:-61.97, Z:3.21 [[ 9.99706663e-01 -2.32448668e-02 -6.80172222e-03 8.33775401e+02] [ 2.32481523e-02 9.99729643e-01 4.04367654e-04 -6.19743395e+01] [ 6.79048385e-03 -5.62376513e-04 9.99976786e-01 3.20920306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.780714057 meters Centerline goodness [0,1] 0.9841054204591767 Centerline is valid? [True, True] Translation: X:833.81, Y:-61.98, Z:3.21 [[ 9.99688493e-01 -2.39085487e-02 -7.16234857e-03 8.33807609e+02] [ 2.39122128e-02 9.99713971e-01 4.26367052e-04 -6.19774682e+01] [ 7.15010612e-03 -5.97501839e-04 9.99974259e-01 3.20818741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8107140569999 meters Centerline goodness [0,1] 0.9866998416647818 Centerline is valid? [True, True] Translation: X:833.84, Y:-61.97, Z:3.21 [[ 9.99669339e-01 -2.47295303e-02 -7.04725780e-03 8.33840023e+02] [ 2.47331014e-02 9.99694002e-01 4.20033839e-04 -6.19715234e+01] [ 7.03471411e-03 -5.94195492e-04 9.99975080e-01 3.20843399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8407140569999 meters Centerline goodness [0,1] 0.982525149768283 Centerline is valid? [True, True] Translation: X:833.87, Y:-61.98, Z:3.21 [[ 9.99627698e-01 -2.60218002e-02 -8.20556710e-03 8.33869790e+02] [ 2.60266855e-02 9.99661129e-01 4.89127123e-04 -6.19827751e+01] [ 8.19005850e-03 -7.02508734e-04 9.99966214e-01 3.20656058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.870714057 meters Centerline goodness [0,1] 0.9834878986654603 Centerline is valid? [True, True] Translation: X:833.90, Y:-61.98, Z:3.21 [[ 9.99610074e-01 -2.66483328e-02 -8.34061050e-03 8.33902298e+02] [ 2.66534073e-02 9.99644611e-01 4.97827186e-04 -6.19821682e+01] [ 8.32438007e-03 -7.19938759e-04 9.99965093e-01 3.20622665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.900714057 meters Centerline goodness [0,1] 0.9747902949400198 Centerline is valid? [True, True] Translation: X:833.93, Y:-61.99, Z:3.20 [[ 9.99602078e-01 -2.67282128e-02 -9.01601101e-03 8.33932692e+02] [ 2.67341561e-02 9.99642433e-01 5.39289837e-04 -6.19892974e+01] [ 8.99837293e-03 -7.80110687e-04 9.99959210e-01 3.20473113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9307140569999 meters Centerline goodness [0,1] 0.9857644792020854 Centerline is valid? [True, True] Translation: X:833.97, Y:-61.98, Z:3.21 [[ 9.99593543e-01 -2.67953928e-02 -9.73428040e-03 8.33965282e+02] [ 2.68023299e-02 9.99640583e-01 5.82867437e-04 -6.19808381e+01] [ 9.71516357e-03 -8.43531921e-04 9.99952451e-01 3.20547232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9607140569999 meters Centerline goodness [0,1] 0.9499105950521718 Centerline is valid? [True, False] Translation: X:833.97, Y:-61.98, Z:3.20 [[ 9.99602756e-01 -2.63006467e-02 -1.01295018e-02 8.33966873e+02] [ 2.63133164e-02 9.99653118e-01 1.11951959e-03 -6.19805135e+01] [ 1.00965440e-02 -1.38561566e-03 9.99948069e-01 3.20428498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9907140569999 meters Centerline goodness [0,1] 0.9866941699156768 Centerline is valid? [False, True] Translation: X:833.97, Y:-61.98, Z:3.20 [[ 9.99604780e-01 -2.61073889e-02 -1.04253389e-02 8.33967642e+02] [ 2.61210589e-02 9.99658094e-01 1.17720703e-03 -6.19800616e+01] [ 1.03910406e-02 -1.44906267e-03 9.99944962e-01 3.20409034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.020714057 meters Centerline goodness [0,1] 0.939861532196027 Centerline is valid? [True, False] Translation: X:833.97, Y:-61.98, Z:3.20 [[ 9.99683485e-01 -2.29666689e-02 -1.02694251e-02 8.33966927e+02] [ 2.30186879e-02 9.99722650e-01 4.97623164e-03 -6.19814835e+01] [ 1.01522894e-02 -5.21104528e-03 9.99934886e-01 3.20395624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0507140569999 meters Centerline goodness [0,1] 0.9869104602890134 Centerline is valid? [False, True] Translation: X:833.97, Y:-61.98, Z:3.20 [[ 9.99758475e-01 -1.96209471e-02 -9.90000040e-03 8.33965737e+02] [ 1.97061362e-02 9.99768982e-01 8.58205794e-03 -6.19816362e+01] [ 9.72932521e-03 -8.77507592e-03 9.99914165e-01 3.20421123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0807140569999 meters Centerline goodness [0,1] 0.9856371392267199 Centerline is valid? [True, True] Translation: X:834.00, Y:-61.98, Z:3.21 [[ 9.99777447e-01 -1.86876380e-02 -9.78916911e-03 8.33996302e+02] [ 1.86946820e-02 9.99825042e-01 6.28551196e-04 -6.19839570e+01] [ 9.77571028e-03 -8.11416714e-04 9.99951887e-01 3.20654269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1107140569999 meters Centerline goodness [0,1] 0.9874310865077024 Centerline is valid? [True, True] Translation: X:834.03, Y:-61.98, Z:3.21 [[ 9.99801182e-01 -1.73815312e-02 -9.77135706e-03 8.34028290e+02] [ 1.73884913e-02 9.99848612e-01 6.27779072e-04 -6.19788910e+01] [ 9.75896603e-03 -7.97563415e-04 9.99952062e-01 3.20771968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.140714057 meters Centerline goodness [0,1] 0.987560548518409 Centerline is valid? [True, True] Translation: X:834.06, Y:-61.98, Z:3.21 [[ 9.99842457e-01 -1.49625729e-02 -9.54895067e-03 8.34058099e+02] [ 1.49691098e-02 9.99887768e-01 6.13455908e-04 -6.19802970e+01] [ 9.53870010e-03 -7.56298554e-04 9.99954220e-01 3.20769470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1707140569999 meters Centerline goodness [0,1] 0.9874337725852466 Centerline is valid? [True, True] Translation: X:834.09, Y:-61.98, Z:3.21 [[ 9.99862068e-01 -1.33417233e-02 -9.89158437e-03 8.34089172e+02] [ 1.33486627e-02 9.99910700e-01 6.35854909e-04 -6.19815130e+01] [ 9.88221766e-03 -7.67806627e-04 9.99950875e-01 3.20746797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2007140569999 meters Centerline goodness [0,1] 0.9873592955700798 Centerline is valid? [True, True] Translation: X:834.12, Y:-61.98, Z:3.21 [[ 9.99895753e-01 -1.05686351e-02 -9.83809254e-03 8.34119722e+02] [ 1.05753659e-02 9.99943879e-01 6.32381986e-04 -6.19803283e+01] [ 9.83085701e-03 -7.36357490e-04 9.99951405e-01 3.20746078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2307140569999 meters Centerline goodness [0,1] 0.9872589766301015 Centerline is valid? [True, True] Translation: X:834.15, Y:-61.98, Z:3.21 [[ 9.99904799e-01 -9.36437279e-03 -1.01341793e-02 8.34149996e+02] [ 9.37145331e-03 9.99955875e-01 6.51414121e-04 -6.19809406e+01] [ 1.01276320e-02 -7.46324093e-04 9.99948436e-01 3.20726899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.260714057 meters Centerline goodness [0,1] 0.9882645155409716 Centerline is valid? [True, True] Translation: X:834.18, Y:-61.98, Z:3.21 [[ 9.99911471e-01 -8.07615780e-03 -1.05747569e-02 8.34179265e+02] [ 8.08379832e-03 9.99967094e-01 6.79980364e-04 -6.19828248e+01] [ 1.05689173e-02 -7.65404368e-04 9.99943854e-01 3.20714478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.290714057 meters Centerline goodness [0,1] 0.9885279857965539 Centerline is valid? [True, True] Translation: X:834.21, Y:-61.98, Z:3.21 [[ 9.99929095e-01 -6.42374511e-03 -1.00269797e-02 8.34208898e+02] [ 6.43052789e-03 9.99979116e-01 6.44359037e-04 -6.19825311e+01] [ 1.00226311e-02 -7.08792121e-04 9.99949521e-01 3.20716342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3207140569999 meters Centerline goodness [0,1] 0.9879589781155572 Centerline is valid? [True, True] Translation: X:834.24, Y:-61.98, Z:3.21 [[ 9.99940945e-01 -3.07107106e-03 -1.04247580e-02 8.34238546e+02] [ 3.07821904e-03 9.99995038e-01 6.69696920e-04 -6.19834100e+01] [ 1.04226496e-02 -7.01747059e-04 9.99945436e-01 3.20639169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3507140569999 meters Centerline goodness [0,1] 0.9878506383562897 Centerline is valid? [True, True] Translation: X:834.27, Y:-61.98, Z:3.21 [[ 9.99947640e-01 -1.17721867e-03 -1.01651579e-02 8.34268624e+02] [ 1.18391595e-03 9.99999086e-01 6.52854934e-04 -6.19843094e+01] [ 1.01643801e-02 -6.64855443e-04 9.99948120e-01 3.20614200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.380714057 meters Centerline goodness [0,1] 0.9880122856880902 Centerline is valid? [True, True] Translation: X:834.30, Y:-61.98, Z:3.21 [[ 9.99943906e-01 3.88608370e-04 -1.05846076e-02 8.34298048e+02] [-3.81461125e-04 9.99999698e-01 6.77259374e-04 -6.19825940e+01] [ 1.05848676e-02 -6.73183767e-04 9.99943752e-01 3.20612473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.410714057 meters Centerline goodness [0,1] 0.9878988905410042 Centerline is valid? [True, True] Translation: X:834.33, Y:-61.98, Z:3.21 [[ 9.99938387e-01 3.97893454e-03 -1.03629747e-02 8.34327177e+02] [-3.97227599e-03 9.99991891e-01 6.63035599e-04 -6.19821641e+01] [ 1.03655288e-02 -6.21830152e-04 9.99946083e-01 3.20584005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4407140569999 meters Centerline goodness [0,1] 0.9890691677506218 Centerline is valid? [True, True] Translation: X:834.36, Y:-61.98, Z:3.21 [[ 9.99934693e-01 5.35799315e-03 -1.00946627e-02 8.34356651e+02] [-5.35175047e-03 9.99985471e-01 6.45325242e-04 -6.19800868e+01] [ 1.00979737e-02 -5.91258982e-04 9.99948839e-01 3.20657225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4707140569999 meters Centerline goodness [0,1] 0.9880412371134021 Centerline is valid? [True, True] Translation: X:834.38, Y:-61.98, Z:3.21 [[ 9.99926416e-01 6.64117731e-03 -1.01516924e-02 8.34383934e+02] [-6.63493883e-03 9.99977779e-01 6.48082271e-04 -6.19845698e+01] [ 1.01557709e-02 -5.80678724e-04 9.99948260e-01 3.20571709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.500714057 meters Centerline goodness [0,1] 0.9888743904951584 Centerline is valid? [True, True] Translation: X:834.41, Y:-61.98, Z:3.21 [[ 9.99912801e-01 7.76739181e-03 -1.06798041e-02 8.34413445e+02] [-7.76055935e-03 9.99969654e-01 6.81049052e-04 -6.19757682e+01] [ 1.06847700e-02 -5.98108412e-04 9.99942737e-01 3.20762143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.530714057 meters Centerline goodness [0,1] 0.9892856321706941 Centerline is valid? [True, True] Translation: X:834.44, Y:-61.98, Z:3.21 [[ 9.99899073e-01 9.28057195e-03 -1.07570555e-02 8.34442350e+02] [-9.27373592e-03 9.99956763e-01 6.85200507e-04 -6.19754739e+01] [ 1.07629494e-02 -5.85373260e-04 9.99941906e-01 3.20898754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5607140569999 meters Centerline goodness [0,1] 0.9891257068290561 Centerline is valid? [True, True] Translation: X:834.47, Y:-61.98, Z:3.21 [[ 9.99894826e-01 1.02272688e-02 -1.02829848e-02 8.34470471e+02] [-1.02210796e-02 9.99947549e-01 6.54265289e-04 -6.19791439e+01] [ 1.02891368e-02 -5.49093271e-04 9.99946915e-01 3.20899232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5907140569999 meters Centerline goodness [0,1] 0.9891048089908215 Centerline is valid? [True, True] Translation: X:834.50, Y:-61.98, Z:3.21 [[ 9.99891365e-01 1.10404556e-02 -9.76562146e-03 8.34498486e+02] [-1.10349206e-02 9.99938921e-01 6.20483618e-04 -6.19816162e+01] [ 9.77187540e-03 -5.12653354e-04 9.99952123e-01 3.21027821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.620714057 meters Centerline goodness [0,1] 0.988682868835593 Centerline is valid? [True, True] Translation: X:834.53, Y:-61.98, Z:3.21 [[ 9.99885514e-01 1.15109822e-02 -9.82118061e-03 8.34527737e+02] [-1.15054133e-02 9.99933616e-01 6.23342576e-04 -6.19818640e+01] [ 9.82770393e-03 -5.10274470e-04 9.99951577e-01 3.21106031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.650714057 meters Centerline goodness [0,1] 0.9890935752909907 Centerline is valid? [True, True] Translation: X:834.56, Y:-61.98, Z:3.21 [[ 9.99886357e-01 1.16548913e-02 -9.56229534e-03 8.34556988e+02] [-1.16496254e-02 9.99931957e-01 6.06220532e-04 -6.19820216e+01] [ 9.56871013e-03 -4.94754481e-04 9.99954096e-01 3.21162437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6807140569999 meters Centerline goodness [0,1] 0.9893490311054103 Centerline is valid? [True, True] Translation: X:834.58, Y:-61.99, Z:3.21 [[ 9.99880804e-01 1.28152803e-02 -8.61086151e-03 8.34584515e+02] [-1.28110599e-02 9.99917786e-01 5.45108802e-04 -6.19858168e+01] [ 8.61713931e-03 -4.34729564e-04 9.99962777e-01 3.21183378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7107140569999 meters Centerline goodness [0,1] 0.9885244399651839 Centerline is valid? [True, True] Translation: X:834.61, Y:-61.99, Z:3.21 [[ 9.99875284e-01 1.34468777e-02 -8.28237590e-03 8.34612976e+02] [-1.34429996e-02 9.99909502e-01 5.23738503e-04 -6.19881574e+01] [ 8.28866901e-03 -4.12333209e-04 9.99965563e-01 3.21204243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7407140569999 meters Centerline goodness [0,1] 0.989226449978316 Centerline is valid? [True, True] Translation: X:834.64, Y:-61.99, Z:3.21 [[ 9.99863876e-01 1.43020436e-02 -8.22680458e-03 8.34642043e+02] [-1.42982555e-02 9.99897640e-01 5.19091622e-04 -6.19907091e+01] [ 8.23338656e-03 -4.01392008e-04 9.99966025e-01 3.21210524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.770714057 meters Centerline goodness [0,1] 0.9890559312739902 Centerline is valid? [True, True] Translation: X:834.67, Y:-61.99, Z:3.21 [[ 9.99850634e-01 1.52080382e-02 -8.21124036e-03 8.34671066e+02] [-1.52042992e-02 9.99884274e-01 5.17579132e-04 -6.19927054e+01] [ 8.21816147e-03 -3.92655668e-04 9.99966153e-01 3.21197260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8007140569999 meters Centerline goodness [0,1] 0.9896195353941832 Centerline is valid? [True, True] Translation: X:834.70, Y:-62.00, Z:3.21 [[ 9.99836972e-01 1.60158398e-02 -8.33794338e-03 8.34700233e+02] [-1.60120162e-02 9.99871662e-01 5.25139392e-04 -6.19954030e+01] [ 8.34528385e-03 -3.91546496e-04 9.99965101e-01 3.21187266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8307140569999 meters Centerline goodness [0,1] 0.9901098901098901 Centerline is valid? [True, True] Translation: X:834.73, Y:-62.00, Z:3.21 [[ 9.99810239e-01 1.77225010e-02 -8.08701187e-03 8.34729410e+02] [-1.77189633e-02 9.99842877e-01 5.08899768e-04 -6.19977988e+01] [ 8.09476019e-03 -3.65509732e-04 9.99967170e-01 3.21247068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8607140569999 meters Centerline goodness [0,1] 0.9890907431075406 Centerline is valid? [True, True] Translation: X:834.76, Y:-62.00, Z:3.21 [[ 9.99793160e-01 1.87631385e-02 -7.84737071e-03 8.34757459e+02] [-1.87598438e-02 9.99823897e-01 4.93245802e-04 -6.20015364e+01] [ 7.85524360e-03 -3.45928330e-04 9.99969087e-01 3.21243634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.890714057 meters Centerline goodness [0,1] 0.9893604876823672 Centerline is valid? [True, True] Translation: X:834.78, Y:-62.01, Z:3.21 [[ 9.99777245e-01 1.98506472e-02 -7.17021330e-03 8.34784673e+02] [-1.98479291e-02 9.99802909e-01 4.50038163e-04 -6.20075119e+01] [ 7.17773367e-03 -3.07624029e-04 9.99974192e-01 3.21233937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9207140569999 meters Centerline goodness [0,1] 0.9890425313802765 Centerline is valid? [True, True] Translation: X:834.81, Y:-62.01, Z:3.21 [[ 9.99731669e-01 2.21843241e-02 -6.66683277e-03 8.34813523e+02] [-2.21820292e-02 9.99753861e-01 4.17987496e-04 -6.20074175e+01] [ 6.67446458e-03 -2.69991458e-04 9.99977689e-01 3.21237862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9507140569999 meters Centerline goodness [0,1] 0.989461225047231 Centerline is valid? [True, True] Translation: X:834.84, Y:-62.01, Z:3.21 [[ 9.99704266e-01 2.33108761e-02 -6.92705491e-03 8.34842061e+02] [-2.33084289e-02 9.99728228e-01 4.33820441e-04 -6.20095687e+01] [ 6.93528507e-03 -2.72233379e-04 9.99975914e-01 3.21195364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9807140569999 meters Centerline goodness [0,1] 0.9902226062438891 Centerline is valid? [True, True] Translation: X:834.87, Y:-62.01, Z:3.21 [[ 9.99667516e-01 2.46664531e-02 -7.51153280e-03 8.34869174e+02] [-2.46636210e-02 9.99695696e-01 4.69447823e-04 -6.20144353e+01] [ 7.52082663e-03 -2.84030141e-04 9.99971678e-01 3.21056540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.010714057 meters Centerline goodness [0,1] 0.9906297618776866 Centerline is valid? [True, True] Translation: X:834.90, Y:-62.01, Z:3.21 [[ 9.99608773e-01 2.65188794e-02 -8.89102309e-03 8.34897781e+02] [-2.65149898e-02 9.99648262e-01 5.55085106e-04 -6.20126197e+01] [ 8.90261601e-03 -3.19122556e-04 9.99960320e-01 3.21030420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.040714057 meters Centerline goodness [0,1] 0.9908578186118439 Centerline is valid? [True, True] Translation: X:834.93, Y:-62.02, Z:3.21 [[ 9.99584249e-01 2.73331767e-02 -9.17753215e-03 8.34925035e+02] [-2.73290744e-02 9.99626327e-01 5.72128506e-04 -6.20165909e+01] [ 9.18974084e-03 -3.21077184e-04 9.99957722e-01 3.20963894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0707140569999 meters Centerline goodness [0,1] 0.9911211778029445 Centerline is valid? [True, True] Translation: X:834.95, Y:-62.02, Z:3.21 [[ 9.99554933e-01 2.83142652e-02 -9.39356572e-03 8.34953484e+02] [-2.83100168e-02 9.99599020e-01 5.84947110e-04 -6.20209855e+01] [ 9.40636143e-03 -3.18754765e-04 9.99955708e-01 3.20991973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1007140569999 meters Centerline goodness [0,1] 0.9908765733949108 Centerline is valid? [True, True] Translation: X:834.98, Y:-62.02, Z:3.21 [[ 9.99559999e-01 2.81482648e-02 -9.35330277e-03 8.34981147e+02] [-2.81440552e-02 9.99603709e-01 5.81410468e-04 -6.20243438e+01] [ 9.36596183e-03 -3.17914777e-04 9.99956088e-01 3.20982917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.130714057 meters Centerline goodness [0,1] 0.9903706724669205 Centerline is valid? [True, True] Translation: X:835.01, Y:-62.03, Z:3.21 [[ 9.99554637e-01 2.82735928e-02 -9.54627093e-03 8.35009512e+02] [-2.82692196e-02 9.99600170e-01 5.92750304e-04 -6.20269055e+01] [ 9.55921322e-03 -3.22620685e-04 9.99954258e-01 3.21018415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.160714057 meters Centerline goodness [0,1] 0.9907960199004975 Centerline is valid? [True, True] Translation: X:835.04, Y:-62.03, Z:3.21 [[ 9.99563692e-01 2.79733741e-02 -9.48236076e-03 8.35038259e+02] [-2.79690523e-02 9.99608617e-01 5.88098457e-04 -6.20310406e+01] [ 9.49510062e-03 -3.22629221e-04 9.99954868e-01 3.21011559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1907140569999 meters Centerline goodness [0,1] 0.9903672622270349 Centerline is valid? [True, True] Translation: X:835.07, Y:-62.04, Z:3.21 [[ 9.99588891e-01 2.73516848e-02 -8.59845377e-03 8.35066687e+02] [-2.73481136e-02 9.99625828e-01 5.32653156e-04 -6.20374738e+01] [ 8.60980544e-03 -2.97282687e-04 9.99962891e-01 3.20967350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2207140569999 meters Centerline goodness [0,1] 0.989876443001443 Centerline is valid? [True, True] Translation: X:835.09, Y:-62.04, Z:3.21 [[ 9.99605520e-01 2.68606114e-02 -8.20442547e-03 8.35094049e+02] [-2.68573497e-02 9.99639148e-01 5.07492886e-04 -6.20423137e+01] [ 8.21509645e-03 -2.86943566e-04 9.99966214e-01 3.20953145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.250714057 meters Centerline goodness [0,1] 0.989876443001443 Centerline is valid? [True, True] Translation: X:835.12, Y:-62.04, Z:3.21 [[ 9.99608371e-01 2.67542825e-02 -8.20448046e-03 8.35121475e+02] [-2.67510245e-02 9.99641999e-01 5.06603182e-04 -6.20439222e+01] [ 8.21509705e-03 -2.86926524e-04 9.99966214e-01 3.20950475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.280714057 meters Centerline goodness [0,1] 0.9898057924702388 Centerline is valid? [True, True] Translation: X:835.15, Y:-62.05, Z:3.21 [[ 9.99639936e-01 2.57109243e-02 -7.67768112e-03 8.35149794e+02] [-2.57080445e-02 9.99669381e-01 4.73555929e-04 -6.20482475e+01] [ 7.68731830e-03 -2.76007251e-04 9.99970414e-01 3.20967826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3107140569999 meters Centerline goodness [0,1] 0.9897478463747308 Centerline is valid? [True, True] Translation: X:835.18, Y:-62.05, Z:3.21 [[ 9.99655361e-01 2.53282006e-02 -6.90234456e-03 8.35176865e+02] [-2.53258683e-02 9.99679158e-01 4.25100238e-04 -6.20532457e+01] [ 6.91089702e-03 -2.50145862e-04 9.99976088e-01 3.20984326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3407140569999 meters Centerline goodness [0,1] 0.9897451972594151 Centerline is valid? [True, True] Translation: X:835.21, Y:-62.06, Z:3.21 [[ 9.99676140e-01 2.45830986e-02 -6.57930052e-03 8.35205657e+02] [-2.45809664e-02 9.99697760e-01 4.04751934e-04 -6.20573378e+01] [ 6.58726205e-03 -2.42895286e-04 9.99978274e-01 3.21017238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.370714057 meters Centerline goodness [0,1] 0.9898098281525844 Centerline is valid? [True, True] Translation: X:835.23, Y:-62.06, Z:3.21 [[ 9.99710759e-01 2.33733164e-02 -5.66440683e-03 8.35233842e+02] [-2.33717190e-02 9.99726783e-01 3.48051689e-04 -6.20635466e+01] [ 5.67099434e-03 -2.15564094e-04 9.99983897e-01 3.21081283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.400714057 meters Centerline goodness [0,1] 0.989663735821196 Centerline is valid? [True, True] Translation: X:835.26, Y:-62.07, Z:3.21 [[ 9.99729811e-01 2.25408137e-02 -5.67604715e-03 8.35261146e+02] [-2.25391992e-02 9.99745899e-01 3.48245906e-04 -6.20702685e+01] [ 5.68245461e-03 -2.20218256e-04 9.99983830e-01 3.21039886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4307140569999 meters Centerline goodness [0,1] 0.9890344536132921 Centerline is valid? [True, True] Translation: X:835.29, Y:-62.08, Z:3.21 [[ 9.99772666e-01 2.04536041e-02 -6.02222996e-03 8.35289515e+02] [-2.04517505e-02 9.99790773e-01 3.69214467e-04 -6.20810101e+01] [ 6.02852171e-03 -2.45965387e-04 9.99981798e-01 3.20874495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4607140569999 meters Centerline goodness [0,1] 0.989568208725177 Centerline is valid? [True, True] Translation: X:835.32, Y:-62.08, Z:3.21 [[ 9.99795835e-01 1.91445030e-02 -6.46352300e-03 8.35318040e+02] [-1.91423436e-02 9.99816690e-01 3.95803417e-04 -6.20834459e+01] [ 6.46991564e-03 -2.71995630e-04 9.99979033e-01 3.20866758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4907140569999 meters Centerline goodness [0,1] 0.9879705601138461 Centerline is valid? [True, True] Translation: X:835.35, Y:-62.09, Z:3.21 [[ 9.99827023e-01 1.73051685e-02 -6.81582927e-03 8.35345603e+02] [-1.73027287e-02 9.99850210e-01 4.16773657e-04 -6.20908207e+01] [ 6.82202067e-03 -2.98769120e-04 9.99976685e-01 3.20763200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.520714057 meters Centerline goodness [0,1] 0.9880878161738511 Centerline is valid? [True, True] Translation: X:835.37, Y:-62.09, Z:3.21 [[ 9.99846577e-01 1.58253819e-02 -7.50862315e-03 8.35374490e+02] [-1.58223829e-02 9.99874713e-01 4.58639337e-04 -6.20939733e+01] [ 7.51494056e-03 -3.39764661e-04 9.99971705e-01 3.20760652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5507140569999 meters Centerline goodness [0,1] 0.9885269184678886 Centerline is valid? [True, True] Translation: X:835.40, Y:-62.10, Z:3.21 [[ 9.99874982e-01 1.32745533e-02 -8.59110948e-03 8.35403342e+02] [-1.32705370e-02 9.99911805e-01 5.24324187e-04 -6.20993841e+01] [ 8.59731196e-03 -4.10250000e-04 9.99962958e-01 3.20700958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5807140569999 meters Centerline goodness [0,1] 0.9883467508784415 Centerline is valid? [True, True] Translation: X:835.43, Y:-62.11, Z:3.21 [[ 9.99892782e-01 1.18166210e-02 -8.64825763e-03 8.35430194e+02] [-1.18125064e-02 9.99930091e-01 5.26702812e-04 -6.21101617e+01] [ 8.65387688e-03 -4.24488741e-04 9.99962464e-01 3.20544067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6107140569999 meters Centerline goodness [0,1] 0.9882018352700691 Centerline is valid? [True, True] Translation: X:835.46, Y:-62.11, Z:3.21 [[ 9.99908141e-01 1.05476541e-02 -8.51215471e-03 8.35458859e+02] [-1.05436265e-02 9.99944280e-01 5.17897814e-04 -6.21148092e+01] [ 8.51714302e-03 -4.28101261e-04 9.99963637e-01 3.20559963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.640714057 meters Centerline goodness [0,1] 0.9881224100870876 Centerline is valid? [True, True] Translation: X:835.49, Y:-62.11, Z:3.21 [[ 9.99919886e-01 9.88376988e-03 -7.90777950e-03 8.35487568e+02] [-9.88027771e-03 9.99951073e-01 4.80557103e-04 -6.21126562e+01] [ 7.91214232e-03 -4.02387546e-04 9.99968618e-01 3.20695455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6707140569999 meters Centerline goodness [0,1] 0.9870020592989527 Centerline is valid? [True, True] Translation: X:835.51, Y:-62.12, Z:3.21 [[ 9.99930365e-01 8.37502911e-03 -8.31411636e-03 8.35514513e+02] [-8.37112435e-03 9.99964834e-01 5.04343366e-04 -6.21211112e+01] [ 8.31804788e-03 -4.34709744e-04 9.99965310e-01 3.20655061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7007140569999 meters Centerline goodness [0,1] 0.9878736916642694 Centerline is valid? [True, True] Translation: X:835.54, Y:-62.12, Z:3.21 [[ 9.99934868e-01 7.50287397e-03 -8.60033239e-03 8.35543602e+02] [-7.49866850e-03 9.99971749e-01 5.21132125e-04 -6.21207397e+01] [ 8.60399941e-03 -4.56607141e-04 9.99962881e-01 3.20720964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7307140569999 meters Centerline goodness [0,1] 0.9880073596240385 Centerline is valid? [True, True] Translation: X:835.57, Y:-62.12, Z:3.21 [[ 9.99939981e-01 6.46302075e-03 -8.84667712e-03 8.35571709e+02] [-6.45853736e-03 9.99979000e-01 5.35263832e-04 -6.21246762e+01] [ 8.84995076e-03 -4.78095111e-04 9.99960724e-01 3.20687975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.760714057 meters Centerline goodness [0,1] 0.9877219326914584 Centerline is valid? [True, True] Translation: X:835.60, Y:-62.13, Z:3.21 [[ 9.99949781e-01 3.46256158e-03 -9.40457674e-03 8.35601008e+02] [-3.45736370e-03 9.99993861e-01 5.68898318e-04 -6.21322379e+01] [ 9.40648886e-03 -5.36354706e-04 9.99955614e-01 3.20623920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.790714057 meters Centerline goodness [0,1] 0.9867122080211547 Centerline is valid? [True, True] Translation: X:835.63, Y:-62.14, Z:3.21 [[ 9.99949002e-01 1.50844233e-03 -9.98593619e-03 8.35630194e+02] [-1.50248838e-03 9.99998689e-01 6.03708540e-04 -6.21371538e+01] [ 9.98683376e-03 -5.88673999e-04 9.99949957e-01 3.20591334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8207140569999 meters Centerline goodness [0,1] 0.9860116679925749 Centerline is valid? [True, True] Translation: X:835.66, Y:-62.14, Z:3.21 [[ 9.99948264e-01 -5.57226166e-04 -1.01566839e-02 8.35659763e+02] [ 5.63488098e-04 9.99999653e-01 6.13681888e-04 -6.21419884e+01] [ 1.01563384e-02 -6.19373309e-04 9.99948231e-01 3.20578903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8507140569999 meters Centerline goodness [0,1] 0.9862650708828335 Centerline is valid? [True, True] Translation: X:835.69, Y:-62.15, Z:3.21 [[ 9.99947564e-01 -2.54917052e-03 -9.91824171e-03 8.35689338e+02] [ 2.55523607e-03 9.99996556e-01 5.98931166e-04 -6.21462592e+01] [ 9.91668077e-03 -6.24243209e-04 9.99950634e-01 3.20606527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.880714057 meters Centerline goodness [0,1] 0.9851685591057125 Centerline is valid? [True, True] Translation: X:835.72, Y:-62.15, Z:3.21 [[ 9.99927222e-01 -6.93156169e-03 -9.87437816e-03 8.35718678e+02] [ 6.93778481e-03 9.99975756e-01 5.96114131e-04 -6.21536594e+01] [ 9.87000676e-03 -6.64577058e-04 9.99951069e-01 3.20632092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.910714057 meters Centerline goodness [0,1] 0.9862914387398669 Centerline is valid? [True, True] Translation: X:835.75, Y:-62.15, Z:3.21 [[ 9.99912051e-01 -8.82724520e-03 -9.89793870e-03 8.35748519e+02] [ 8.83358690e-03 9.99960805e-01 5.97173037e-04 -6.21541333e+01] [ 9.89227935e-03 -6.84554818e-04 9.99950836e-01 3.20649015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9407140569999 meters Centerline goodness [0,1] 0.9849803758195014 Centerline is valid? [True, True] Translation: X:835.78, Y:-62.16, Z:3.21 [[ 9.99890698e-01 -1.03850380e-02 -1.05234718e-02 8.35776496e+02] [ 1.03922865e-02 9.99945798e-01 6.34348134e-04 -6.21618876e+01] [ 1.05163137e-02 -7.43641733e-04 9.99944426e-01 3.20561290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9707140569999 meters Centerline goodness [0,1] 0.9858820424858161 Centerline is valid? [True, True] Translation: X:835.81, Y:-62.16, Z:3.21 [[ 9.99877263e-01 -1.16469418e-02 -1.04789170e-02 8.35806385e+02] [ 1.16541943e-02 9.99931888e-01 6.31308128e-04 -6.21596396e+01] [ 1.04708505e-02 -7.53353979e-04 9.99944895e-01 3.20611716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.000714057 meters Centerline goodness [0,1] 0.9852931477939721 Centerline is valid? [True, True] Translation: X:835.84, Y:-62.16, Z:3.21 [[ 9.99847559e-01 -1.37349183e-02 -1.07801324e-02 8.35836339e+02] [ 1.37427127e-02 9.99905354e-01 6.49281993e-04 -6.21631799e+01] [ 1.07701942e-02 -7.97331277e-04 9.99941682e-01 3.20590251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.030714057 meters Centerline goodness [0,1] 0.9849769382824511 Centerline is valid? [True, True] Translation: X:835.87, Y:-62.17, Z:3.21 [[ 9.99836611e-01 -1.44662681e-02 -1.08387814e-02 8.35866717e+02] [ 1.44741904e-02 9.99895030e-01 6.52831664e-04 -6.21666229e+01] [ 1.08281997e-02 -8.09607585e-04 9.99941046e-01 3.20567085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0607140569999 meters Centerline goodness [0,1] 0.9850756124942217 Centerline is valid? [True, True] Translation: X:835.90, Y:-62.17, Z:3.21 [[ 9.99823324e-01 -1.53118270e-02 -1.09026721e-02 8.35896859e+02] [ 1.53198907e-02 9.99882428e-01 6.56465681e-04 -6.21654164e+01] [ 1.08913386e-02 -8.23377444e-04 9.99940349e-01 3.20613385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0907140569999 meters Centerline goodness [0,1] 0.9845587911361734 Centerline is valid? [True, True] Translation: X:835.93, Y:-62.17, Z:3.21 [[ 9.99783804e-01 -1.74295520e-02 -1.13382825e-02 8.35926308e+02] [ 1.74384085e-02 9.99847706e-01 6.82712591e-04 -6.21701961e+01] [ 1.13246564e-02 -8.80286593e-04 9.99935487e-01 3.20549132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.120714057 meters Centerline goodness [0,1] 0.9850065045311225 Centerline is valid? [True, True] Translation: X:835.96, Y:-62.17, Z:3.21 [[ 9.99762712e-01 -1.85549886e-02 -1.14119351e-02 8.35957120e+02] [ 1.85640334e-02 9.99827437e-01 6.87147436e-04 -6.21719727e+01] [ 1.13972158e-02 -8.98835928e-04 9.99934646e-01 3.20539087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.150714057 meters Centerline goodness [0,1] 0.9842672366304563 Centerline is valid? [True, True] Translation: X:835.99, Y:-62.18, Z:3.21 [[ 9.99735829e-01 -1.96279462e-02 -1.19589483e-02 8.35987951e+02] [ 1.96379580e-02 9.99806897e-01 7.20312966e-04 -6.21753415e+01] [ 1.19425008e-02 -9.54972005e-04 9.99928230e-01 3.20519152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1807140569999 meters Centerline goodness [0,1] 0.984172820456299 Centerline is valid? [True, True] Translation: X:836.02, Y:-62.18, Z:3.20 [[ 9.99697283e-01 -2.15689293e-02 -1.18374001e-02 8.36019199e+02] [ 2.15788788e-02 9.99766894e-01 7.13425923e-04 -6.21785001e+01] [ 1.18192529e-02 -9.68647779e-04 9.99929681e-01 3.20466987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2107140569999 meters Centerline goodness [0,1] 0.9841717116125481 Centerline is valid? [True, True] Translation: X:836.05, Y:-62.18, Z:3.20 [[ 9.99677463e-01 -2.25602634e-02 -1.16620620e-02 8.36050322e+02] [ 2.25699921e-02 9.99745018e-01 7.03267707e-04 -6.21820773e+01] [ 1.16432225e-02 -9.66253525e-04 9.99931749e-01 3.20439435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2407140569999 meters Centerline goodness [0,1] 0.9832980786180152 Centerline is valid? [True, True] Translation: X:836.08, Y:-62.19, Z:3.20 [[ 9.99651361e-01 -2.35330030e-02 -1.19730963e-02 8.36081882e+02] [ 2.35433319e-02 9.99722556e-01 7.22441329e-04 -6.21850964e+01] [ 1.19527733e-02 -1.00407604e-03 9.99928059e-01 3.20456260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.270714057 meters Centerline goodness [0,1] 0.9832489544353951 Centerline is valid? [True, True] Translation: X:836.11, Y:-62.19, Z:3.20 [[ 9.99632423e-01 -2.45261043e-02 -1.15537354e-02 8.36112428e+02] [ 2.45358053e-02 9.99698708e-01 6.98626099e-04 -6.21878778e+01] [ 1.15331197e-02 -9.81849502e-04 9.99933009e-01 3.20494474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3007140569999 meters Centerline goodness [0,1] 0.9852860073680263 Centerline is valid? [True, True] Translation: X:836.14, Y:-62.18, Z:3.21 [[ 9.99635664e-01 -2.44228930e-02 -1.14918154e-02 8.36144659e+02] [ 2.44324925e-02 9.99701240e-01 6.95664071e-04 -6.21838000e+01] [ 1.14713919e-02 -9.76184309e-04 9.99933725e-01 3.20633451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3307140569999 meters Centerline goodness [0,1] 0.9841189427312775 Centerline is valid? [True, True] Translation: X:836.18, Y:-62.19, Z:3.21 [[ 9.99640847e-01 -2.41345730e-02 -1.16490401e-02 8.36175493e+02] [ 2.41444246e-02 9.99708232e-01 7.05790684e-04 -6.21882004e+01] [ 1.16286073e-02 -9.86796566e-04 9.99931899e-01 3.20595920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3607140569999 meters Centerline goodness [0,1] 0.984784186107874 Centerline is valid? [True, True] Translation: X:836.21, Y:-62.19, Z:3.21 [[ 9.99670592e-01 -2.30182262e-02 -1.13520579e-02 8.36205843e+02] [ 2.30275122e-02 9.99734595e-01 6.87961471e-04 -6.21902967e+01] [ 1.13332093e-02 -9.49144503e-04 9.99935327e-01 3.20570203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.390714057 meters Centerline goodness [0,1] 0.9844361398109475 Centerline is valid? [True, True] Translation: X:836.24, Y:-62.19, Z:3.21 [[ 9.99689479e-01 -2.21343681e-02 -1.14461567e-02 8.36237253e+02] [ 2.21437560e-02 9.99754556e-01 6.94078475e-04 -6.21919124e+01] [ 1.14279843e-02 -9.47323851e-04 9.99934250e-01 3.20572849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4207140569999 meters Centerline goodness [0,1] 0.9837814014984575 Centerline is valid? [True, True] Translation: X:836.27, Y:-62.19, Z:3.21 [[ 9.99696333e-01 -2.15974981e-02 -1.18654673e-02 8.36268470e+02] [ 2.16075537e-02 9.99766270e-01 7.19913417e-04 -6.21940995e+01] [ 1.18471456e-02 -9.76078524e-04 9.99929344e-01 3.20544920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4507140569999 meters Centerline goodness [0,1] 0.9863104146491769 Centerline is valid? [True, True] Translation: X:836.30, Y:-62.19, Z:3.21 [[ 9.99739997e-01 -1.97341519e-02 -1.14237356e-02 8.36299511e+02] [ 1.97433521e-02 9.99804841e-01 6.93134747e-04 -6.21899691e+01] [ 1.14078278e-02 -9.18497365e-04 9.99934507e-01 3.20671655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4807140569999 meters Centerline goodness [0,1] 0.9843462649969349 Centerline is valid? [True, True] Translation: X:836.33, Y:-62.20, Z:3.21 [[ 9.99759027e-01 -1.88212014e-02 -1.12982303e-02 8.36329494e+02] [ 1.88301532e-02 9.99822461e-01 6.86463472e-04 -6.21969507e+01] [ 1.12833044e-02 -8.99045461e-04 9.99935937e-01 3.20574810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.510714057 meters Centerline goodness [0,1] 0.9861818980667838 Centerline is valid? [True, True] Translation: X:836.36, Y:-62.19, Z:3.21 [[ 9.99772097e-01 -1.77456445e-02 -1.18678853e-02 8.36360602e+02] [ 1.77554483e-02 9.99842099e-01 7.21219331e-04 -6.21944442e+01] [ 1.18532128e-02 -9.31774586e-04 9.99929314e-01 3.20626549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.540714057 meters Centerline goodness [0,1] 0.9859452325965028 Centerline is valid? [True, True] Translation: X:836.39, Y:-62.20, Z:3.21 [[ 9.99789222e-01 -1.65411942e-02 -1.21614731e-02 8.36390467e+02] [ 1.65514031e-02 9.99862743e-01 7.39270620e-04 -6.21977342e+01] [ 1.21475754e-02 -9.40404241e-04 9.99925773e-01 3.20549017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5707140569999 meters Centerline goodness [0,1] 0.9870378943191588 Centerline is valid? [True, True] Translation: X:836.42, Y:-62.19, Z:3.21 [[ 9.99818770e-01 -1.40876316e-02 -1.28049320e-02 8.36421936e+02] [ 1.40987523e-02 9.99900305e-01 7.78615355e-04 -6.21893434e+01] [ 1.27926866e-02 -9.59007811e-04 9.99917710e-01 3.20659725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6007140569999 meters Centerline goodness [0,1] 0.9873345101500441 Centerline is valid? [True, True] Translation: X:836.45, Y:-62.19, Z:3.21 [[ 9.99838358e-01 -1.28365143e-02 -1.25889165e-02 8.36451389e+02] [ 1.28471580e-02 9.99917179e-01 7.64974861e-04 -6.21896654e+01] [ 1.25780543e-02 -9.26583009e-04 9.99920464e-01 3.20649702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.630714057 meters Centerline goodness [0,1] 0.9848698099929627 Centerline is valid? [True, True] Translation: X:836.48, Y:-62.20, Z:3.20 [[ 9.99854960e-01 -1.13226310e-02 -1.27223329e-02 8.36479660e+02] [ 1.13333738e-02 9.99935477e-01 7.72628110e-04 -6.22012301e+01] [ 1.27127639e-02 -9.16703003e-04 9.99918769e-01 3.20433580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.660714057 meters Centerline goodness [0,1] 0.9874090407938259 Centerline is valid? [True, True] Translation: X:836.51, Y:-62.19, Z:3.21 [[ 9.99883775e-01 -8.98277251e-03 -1.23185315e-02 8.36510118e+02] [ 8.99265988e-03 9.99959286e-01 7.47484934e-04 -6.21909380e+01] [ 1.23113154e-02 -8.58174421e-04 9.99923845e-01 3.20664948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6907140569999 meters Centerline goodness [0,1] 0.9875872086625438 Centerline is valid? [True, True] Translation: X:836.54, Y:-62.19, Z:3.21 [[ 9.99896159e-01 -7.81905423e-03 -1.21051322e-02 8.36538771e+02] [ 7.82850660e-03 9.99969088e-01 7.33668498e-04 -6.21908488e+01] [ 1.20990214e-02 -8.28357421e-04 9.99926461e-01 3.20723052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7207140569999 meters Centerline goodness [0,1] 0.9876996593071103 Centerline is valid? [True, True] Translation: X:836.57, Y:-62.19, Z:3.21 [[ 9.99907984e-01 -7.20103586e-03 -1.14964216e-02 8.36568054e+02] [ 7.20948915e-03 9.99973770e-01 6.94023412e-04 -6.21921250e+01] [ 1.14911224e-02 -7.76842878e-04 9.99933673e-01 3.20709564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.750714057 meters Centerline goodness [0,1] 0.9887000642545366 Centerline is valid? [True, True] Translation: X:836.60, Y:-62.19, Z:3.21 [[ 9.99912220e-01 -6.74945865e-03 -1.14016075e-02 8.36597219e+02] [ 6.75771070e-03 9.99976932e-01 6.85391066e-04 -6.21871167e+01] [ 1.13967185e-02 -7.62379668e-04 9.99934765e-01 3.20781441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.780714057 meters Centerline goodness [0,1] 0.9872849498031931 Centerline is valid? [True, True] Translation: X:836.62, Y:-62.20, Z:3.21 [[ 9.99914715e-01 -6.89766115e-03 -1.10898741e-02 8.36624504e+02] [ 6.90546244e-03 9.99975936e-01 6.65322207e-04 -6.21956788e+01] [ 1.10850180e-02 -7.41846174e-04 9.99938284e-01 3.20617321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8107140569999 meters Centerline goodness [0,1] 0.9855635512780893 Centerline is valid? [True, True] Translation: X:836.65, Y:-62.20, Z:3.20 [[ 9.99913888e-01 -7.42032263e-03 -1.08237972e-02 8.36652164e+02] [ 7.42777515e-03 9.99972203e-01 6.48492996e-04 -6.22038400e+01] [ 1.08186843e-02 -7.28833885e-04 9.99941211e-01 3.20474319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8407140569999 meters Centerline goodness [0,1] 0.9869805481874447 Centerline is valid? [True, True] Translation: X:836.68, Y:-62.20, Z:3.21 [[ 9.99907237e-01 -8.36086270e-03 -1.07523568e-02 8.36681647e+02] [ 8.36826585e-03 9.99964778e-01 6.43706625e-04 -6.22003428e+01] [ 1.07465961e-02 -7.33625493e-04 9.99941985e-01 3.20547662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.870714057 meters Centerline goodness [0,1] 0.9869554679064848 Centerline is valid? [True, True] Translation: X:836.71, Y:-62.20, Z:3.21 [[ 9.99891975e-01 -9.65047110e-03 -1.10863502e-02 8.36711210e+02] [ 9.65841384e-03 9.99953137e-01 6.63125020e-04 -6.21971818e+01] [ 1.10794312e-02 -7.70129944e-04 9.99938325e-01 3.20604893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.900714057 meters Centerline goodness [0,1] 0.9866409676990562 Centerline is valid? [True, True] Translation: X:836.74, Y:-62.20, Z:3.21 [[ 9.99863223e-01 -1.25602781e-02 -1.07598281e-02 8.36741143e+02] [ 1.25679258e-02 9.99920813e-01 6.43439881e-04 -6.22000899e+01] [ 1.07508943e-02 -7.78580595e-04 9.99941904e-01 3.20616726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9307140569999 meters Centerline goodness [0,1] 0.9870829086719546 Centerline is valid? [True, True] Translation: X:836.77, Y:-62.20, Z:3.21 [[ 9.99847625e-01 -1.36290207e-02 -1.09076388e-02 8.36772169e+02] [ 1.36369434e-02 9.99906800e-01 6.52296007e-04 -6.21965464e+01] [ 1.08977320e-02 -8.00943466e-04 9.99940297e-01 3.20752066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9607140569999 meters Centerline goodness [0,1] 0.986027634234514 Centerline is valid? [True, True] Translation: X:836.80, Y:-62.20, Z:3.21 [[ 9.99842172e-01 -1.45263871e-02 -1.02281914e-02 8.36801114e+02] [ 1.45333982e-02 9.99894198e-01 6.11463393e-04 -6.22039084e+01] [ 1.02182269e-02 -7.60017264e-04 9.99947504e-01 3.20734119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9907140569999 meters Centerline goodness [0,1] 0.9863865508894268 Centerline is valid? [True, True] Translation: X:836.83, Y:-62.20, Z:3.21 [[ 9.99841949e-01 -1.47559756e-02 -9.91654606e-03 8.36832431e+02] [ 1.47625811e-02 9.99890851e-01 5.93233543e-04 -6.22019594e+01] [ 9.90670994e-03 -7.39533597e-04 9.99950654e-01 3.20815138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.020714057 meters Centerline goodness [0,1] 0.9863539540250288 Centerline is valid? [True, True] Translation: X:836.86, Y:-62.20, Z:3.21 [[ 9.99846183e-01 -1.45520232e-02 -9.79027863e-03 8.36862211e+02] [ 1.45584533e-02 9.99893848e-01 5.85834775e-04 -6.22045590e+01] [ 9.78071429e-03 -7.28275977e-04 9.99951902e-01 3.20816177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0507140569999 meters Centerline goodness [0,1] 0.986032900279342 Centerline is valid? [True, True] Translation: X:836.89, Y:-62.20, Z:3.21 [[ 9.99858151e-01 -1.41080047e-02 -9.20008456e-03 8.36894020e+02] [ 1.41136673e-02 9.99900245e-01 5.50859531e-04 -6.22043801e+01] [ 9.19139529e-03 -6.80628325e-04 9.99957527e-01 3.20849992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0807140569999 meters Centerline goodness [0,1] 0.9866376631448105 Centerline is valid? [True, True] Translation: X:836.93, Y:-62.20, Z:3.21 [[ 9.99866447e-01 -1.30541108e-02 -9.83246799e-03 8.36925678e+02] [ 1.30605314e-02 9.99914534e-01 5.89071939e-04 -6.22012863e+01] [ 9.82393784e-03 -7.17410524e-04 9.99951487e-01 3.20848556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1107140569999 meters Centerline goodness [0,1] 0.9866660740477354 Centerline is valid? [True, True] Translation: X:836.96, Y:-62.20, Z:3.21 [[ 9.99873841e-01 -1.24572932e-02 -9.85483492e-03 8.36956159e+02] [ 1.24637139e-02 9.99922151e-01 5.90377393e-04 -6.22005492e+01] [ 9.84671323e-03 -7.13130755e-04 9.99951266e-01 3.20870948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.140714057 meters Centerline goodness [0,1] 0.9866660740477354 Centerline is valid? [True, True] Translation: X:836.99, Y:-62.20, Z:3.21 [[ 9.99873841e-01 -1.24572932e-02 -9.85483492e-03 8.36986186e+02] [ 1.24637139e-02 9.99922151e-01 5.90377393e-04 -6.22023480e+01] [ 9.84671323e-03 -7.13130755e-04 9.99951266e-01 3.20868028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1707140569999 meters Centerline goodness [0,1] 0.9877959319773257 Centerline is valid? [True, True] Translation: X:837.02, Y:-62.20, Z:3.21 [[ 9.99889126e-01 -1.11833678e-02 -9.83201785e-03 8.37016754e+02] [ 1.11897058e-02 9.99937219e-01 5.89857550e-04 -6.22025216e+01] [ 9.82480400e-03 -6.99809538e-04 9.99951491e-01 3.20893173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2007140569999 meters Centerline goodness [0,1] 0.9866163577849295 Centerline is valid? [True, True] Translation: X:837.05, Y:-62.21, Z:3.21 [[ 9.99888091e-01 -1.09759022e-02 -1.01653845e-02 8.37046091e+02] [ 1.09826639e-02 9.99939503e-01 6.09584003e-04 -6.22081134e+01] [ 1.01580788e-02 -7.21158787e-04 9.99948145e-01 3.20827552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2307140569999 meters Centerline goodness [0,1] 0.9882276872310539 Centerline is valid? [True, True] Translation: X:837.08, Y:-62.20, Z:3.21 [[ 9.99896186e-01 -1.06949485e-02 -9.65584055e-03 8.37077008e+02] [ 1.07010364e-02 9.99942575e-01 5.79044465e-04 -6.22016889e+01] [ 9.64909320e-03 -6.82311853e-04 9.99953214e-01 3.20924561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.260714057 meters Centerline goodness [0,1] 0.9871902841186118 Centerline is valid? [True, True] Translation: X:837.11, Y:-62.21, Z:3.21 [[ 9.99907616e-01 -9.81590769e-03 -9.40254574e-03 8.37106270e+02] [ 9.82163998e-03 9.99951608e-01 5.63671783e-04 -6.22053780e+01] [ 9.39655778e-03 -6.55968128e-04 9.99955636e-01 3.20857450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.290714057 meters Centerline goodness [0,1] 0.987444526214848 Centerline is valid? [True, True] Translation: X:837.14, Y:-62.20, Z:3.21 [[ 9.99908974e-01 -1.00145142e-02 -9.04178236e-03 8.37136968e+02] [ 1.00198233e-02 9.99949653e-01 5.42060876e-04 -6.22043386e+01] [ 9.03589866e-03 -6.32608595e-04 9.99958975e-01 3.20856850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3207140569999 meters Centerline goodness [0,1] 0.9883785649086092 Centerline is valid? [True, True] Translation: X:837.17, Y:-62.21, Z:3.21 [[ 9.99916614e-01 -9.52600761e-03 -8.71897931e-03 8.37166638e+02] [ 9.53092676e-03 9.99954443e-01 5.22810601e-04 -6.22062373e+01] [ 8.71360181e-03 -6.05866959e-04 9.99961852e-01 3.20855386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3507140569999 meters Centerline goodness [0,1] 0.9886842986273854 Centerline is valid? [True, True] Translation: X:837.20, Y:-62.21, Z:3.21 [[ 9.99918335e-01 -9.30273982e-03 -8.76250907e-03 8.37197262e+02] [ 9.30769958e-03 9.99956544e-01 5.25410498e-04 -6.22057781e+01] [ 8.75724054e-03 -6.06926392e-04 9.99961470e-01 3.20851984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.380714057 meters Centerline goodness [0,1] 0.9892172434621149 Centerline is valid? [True, True] Translation: X:837.23, Y:-62.20, Z:3.21 [[ 9.99919655e-01 -8.68688525e-03 -9.23151509e-03 8.37228352e+02] [ 8.69236406e-03 9.99962067e-01 5.53532658e-04 -6.22020634e+01] [ 9.22635644e-03 -6.33731874e-04 9.99957235e-01 3.20934422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.410714057 meters Centerline goodness [0,1] 0.987559294728363 Centerline is valid? [True, True] Translation: X:837.26, Y:-62.21, Z:3.21 [[ 9.99919730e-01 -8.59823716e-03 -9.30614622e-03 8.37257493e+02] [ 8.60379943e-03 9.99962831e-01 5.57827926e-04 -6.22084172e+01] [ 9.30100398e-03 -6.37851365e-04 9.99956541e-01 3.20865853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4407140569999 meters Centerline goodness [0,1] 0.9880246222719642 Centerline is valid? [True, True] Translation: X:837.29, Y:-62.21, Z:3.21 [[ 9.99919273e-01 -8.67998460e-03 -9.27933565e-03 8.37287242e+02] [ 8.68551533e-03 9.99962126e-01 5.55893076e-04 -6.22094567e+01] [ 9.27415906e-03 -6.36444013e-04 9.99956792e-01 3.20853448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4707140569999 meters Centerline goodness [0,1] 0.9887144808437269 Centerline is valid? [True, True] Translation: X:837.32, Y:-62.20, Z:3.21 [[ 9.99921827e-01 -8.78267455e-03 -8.89965151e-03 8.37317659e+02] [ 8.78776312e-03 9.99961245e-01 5.32827013e-04 -6.22022963e+01] [ 8.89462695e-03 -6.10993390e-04 9.99960255e-01 3.21025764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.500714057 meters Centerline goodness [0,1] 0.9887876821162411 Centerline is valid? [True, True] Translation: X:837.35, Y:-62.20, Z:3.21 [[ 9.99924975e-01 -8.97542835e-03 -8.33583233e-03 8.37348344e+02] [ 8.97989950e-03 9.99959555e-01 4.99103197e-04 -6.22028188e+01] [ 8.33101552e-03 -5.73920688e-04 9.99965132e-01 3.21071698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.530714057 meters Centerline goodness [0,1] 0.9877311561712284 Centerline is valid? [True, True] Translation: X:837.38, Y:-62.21, Z:3.21 [[ 9.99921060e-01 -9.09483476e-03 -8.66935656e-03 8.37377799e+02] [ 9.09967385e-03 9.99958462e-01 5.18901379e-04 -6.22117995e+01] [ 8.66427713e-03 -5.97748734e-04 9.99962286e-01 3.20971587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5607140569999 meters Centerline goodness [0,1] 0.9873187592584279 Centerline is valid? [True, True] Translation: X:837.41, Y:-62.21, Z:3.21 [[ 9.99908802e-01 -1.03239835e-02 -8.70654878e-03 8.37408711e+02] [ 1.03289107e-02 9.99946520e-01 5.21144811e-04 -6.22068882e+01] [ 8.70070286e-03 -6.11026448e-04 9.99961961e-01 3.21022488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5907140569999 meters Centerline goodness [0,1] 0.9883261494252874 Centerline is valid? [True, True] Translation: X:837.44, Y:-62.21, Z:3.21 [[ 9.99899874e-01 -1.09358068e-02 -8.98052627e-03 8.37439504e+02] [ 1.09410736e-02 9.99940000e-01 5.37544184e-04 -6.22089760e+01] [ 8.97410896e-03 -6.35746961e-04 9.99959530e-01 3.20995415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.620714057 meters Centerline goodness [0,1] 0.9872642884369605 Centerline is valid? [True, True] Translation: X:837.47, Y:-62.21, Z:3.21 [[ 9.99891373e-01 -1.16319540e-02 -9.05205493e-03 8.37470068e+02] [ 1.16373334e-02 9.99932137e-01 5.41825650e-04 -6.22114580e+01] [ 9.04513814e-03 -6.47108574e-04 9.99958883e-01 3.20938349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.650714057 meters Centerline goodness [0,1] 0.9873111240640272 Centerline is valid? [True, True] Translation: X:837.50, Y:-62.21, Z:3.21 [[ 9.99878714e-01 -1.22475547e-02 -9.62057372e-03 8.37500591e+02] [ 1.22536594e-02 9.99924755e-01 5.75855278e-04 -6.22130828e+01] [ 9.61279701e-03 -6.93672669e-04 9.99953555e-01 3.20933721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6807140569999 meters Centerline goodness [0,1] 0.9875908805313706 Centerline is valid? [True, True] Translation: X:837.53, Y:-62.21, Z:3.21 [[ 9.99872957e-01 -1.29512632e-02 -9.29168108e-03 8.37530850e+02] [ 1.29569878e-02 9.99915900e-01 5.56168868e-04 -6.22125381e+01] [ 9.28369656e-03 -6.76490409e-04 9.99956677e-01 3.20989823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7107140569999 meters Centerline goodness [0,1] 0.986347434259197 Centerline is valid? [True, True] Translation: X:837.56, Y:-62.22, Z:3.21 [[ 9.99871869e-01 -1.30941166e-02 -9.20813532e-03 8.37560957e+02] [ 1.30997464e-02 9.99914043e-01 5.51344037e-04 -6.22169274e+01] [ 9.20012445e-03 -6.71897630e-04 9.99957452e-01 3.20965399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7407140569999 meters Centerline goodness [0,1] 0.9871446840015256 Centerline is valid? [True, True] Translation: X:837.59, Y:-62.21, Z:3.21 [[ 9.99883796e-01 -1.27267924e-02 -8.39186252e-03 8.37592298e+02] [ 1.27314580e-02 9.99918825e-01 5.02781978e-04 -6.22133846e+01] [ 8.38478251e-03 -6.09564198e-04 9.99964661e-01 3.21088927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.770714057 meters Centerline goodness [0,1] 0.986600451871239 Centerline is valid? [True, True] Translation: X:837.62, Y:-62.22, Z:3.21 [[ 9.99888066e-01 -1.26672830e-02 -7.96211357e-03 8.37623322e+02] [ 1.26714892e-02 9.99919599e-01 4.78049160e-04 -6.22155380e+01] [ 7.95541782e-03 -5.78887486e-04 9.99968188e-01 3.21129500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8007140569999 meters Centerline goodness [0,1] 0.985456752382665 Centerline is valid? [True, True] Translation: X:837.65, Y:-62.22, Z:3.21 [[ 9.99898589e-01 -1.24143746e-02 -6.97816376e-03 8.37654832e+02] [ 1.24176053e-02 9.99922810e-01 4.19827950e-04 -6.22172211e+01] [ 6.97241322e-03 -5.06437458e-04 9.99975564e-01 3.21178437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8307140569999 meters Centerline goodness [0,1] 0.9863445141841578 Centerline is valid? [True, True] Translation: X:837.69, Y:-62.22, Z:3.21 [[ 9.99900138e-01 -1.23048439e-02 -6.95019712e-03 8.37686031e+02] [ 1.23080481e-02 9.99924166e-01 4.18435281e-04 -6.22208214e+01] [ 6.94452128e-03 -5.03936856e-04 9.99975760e-01 3.21168320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8607140569999 meters Centerline goodness [0,1] 0.9873671410556657 Centerline is valid? [True, True] Translation: X:837.72, Y:-62.21, Z:3.21 [[ 9.99902081e-01 -1.22916879e-02 -6.68897308e-03 8.37718827e+02] [ 1.22946588e-02 9.99924337e-01 4.03204909e-04 -6.22145480e+01] [ 6.68351090e-03 -4.85404070e-04 9.99977547e-01 3.21253998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.890714057 meters Centerline goodness [0,1] 0.9870407933288258 Centerline is valid? [True, True] Translation: X:837.75, Y:-62.21, Z:3.21 [[ 9.99889471e-01 -1.30532724e-02 -7.11741901e-03 8.37751207e+02] [ 1.30566589e-02 9.99914666e-01 4.29546225e-04 -6.22123146e+01] [ 7.11120467e-03 -5.22428461e-04 9.99974579e-01 3.21225827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9207140569999 meters Centerline goodness [0,1] 0.9873069552474355 Centerline is valid? [True, True] Translation: X:837.78, Y:-62.22, Z:3.21 [[ 9.99882300e-01 -1.35721637e-02 -7.15420048e-03 8.37782539e+02] [ 1.35756012e-02 9.99907754e-01 4.32134794e-04 -6.22159691e+01] [ 7.14767553e-03 -5.29206504e-04 9.99974315e-01 3.21199115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9507140569999 meters Centerline goodness [0,1] 0.985715892475537 Centerline is valid? [True, True] Translation: X:837.81, Y:-62.22, Z:3.21 [[ 9.99864191e-01 -1.46894131e-02 -7.47127489e-03 8.37813607e+02] [ 1.46931960e-02 9.99891947e-01 4.51681864e-04 -6.22210853e+01] [ 7.46383265e-03 -5.61397428e-04 9.99971988e-01 3.21133865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9807140569999 meters Centerline goodness [0,1] 0.987752808988764 Centerline is valid? [True, True] Translation: X:837.84, Y:-62.22, Z:3.21 [[ 9.99824423e-01 -1.71360295e-02 -7.58155189e-03 8.37844467e+02] [ 1.71399956e-02 9.99852994e-01 4.58452118e-04 -6.22170588e+01] [ 7.57258131e-03 -5.88319390e-04 9.99971155e-01 3.21160108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.010714057 meters Centerline goodness [0,1] 0.9877861561385289 Centerline is valid? [True, True] Translation: X:837.88, Y:-62.22, Z:3.21 [[ 9.99791466e-01 -1.87195758e-02 -8.16101977e-03 8.37875142e+02] [ 1.87242250e-02 9.99824564e-01 4.93639974e-04 -6.22197200e+01] [ 8.15034731e-03 -6.46345804e-04 9.99966576e-01 3.21131599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.040714057 meters Centerline goodness [0,1] 0.9864626649792081 Centerline is valid? [True, True] Translation: X:837.90, Y:-62.22, Z:3.21 [[ 9.99757505e-01 -2.03727973e-02 -8.35949340e-03 8.37904953e+02] [ 2.03777326e-02 9.99792225e-01 5.05627027e-04 -6.22241729e+01] [ 8.34745547e-03 -6.75851936e-04 9.99964931e-01 3.21073036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0707140569999 meters Centerline goodness [0,1] 0.9851796711105095 Centerline is valid? [True, True] Translation: X:837.93, Y:-62.23, Z:3.21 [[ 9.99719964e-01 -2.19695270e-02 -8.79392676e-03 8.37934334e+02] [ 2.19750575e-02 9.99758377e-01 5.32748916e-04 -6.22296924e+01] [ 8.78009770e-03 -7.25846773e-04 9.99961191e-01 3.20960710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1007140569999 meters Centerline goodness [0,1] 0.9860092519462936 Centerline is valid? [True, True] Translation: X:837.96, Y:-62.23, Z:3.21 [[ 9.99642345e-01 -2.48760637e-02 -9.81650721e-03 8.37964659e+02] [ 2.48830939e-02 9.99690191e-01 5.94650697e-04 -6.22278774e+01] [ 9.79867340e-03 -8.38703087e-04 9.99951640e-01 3.20902416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.130714057 meters Centerline goodness [0,1] 0.987089784679276 Centerline is valid? [True, True] Translation: X:838.00, Y:-62.23, Z:3.21 [[ 9.99603628e-01 -2.59966476e-02 -1.08056246e-02 8.37996629e+02] [ 2.60052379e-02 9.99661592e-01 6.55219396e-04 -6.22271141e+01] [ 1.07849344e-02 -9.35962524e-04 9.99941403e-01 3.20922983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.160714057 meters Centerline goodness [0,1] 0.9626743975357854 Centerline is valid? [True, True] Translation: X:838.03, Y:-62.25, Z:3.21 [[ 9.99579174e-01 -2.68378571e-02 -1.10093214e-02 8.38026918e+02] [ 2.68468317e-02 9.99639336e-01 6.68179135e-04 -6.22476743e+01] [ 1.09874182e-02 -9.63463347e-04 9.99939172e-01 3.20617662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1907140569999 meters Centerline goodness [0,1] 0.9857698746663047 Centerline is valid? [True, True] Translation: X:838.06, Y:-62.23, Z:3.21 [[ 9.99556902e-01 -2.73712578e-02 -1.16967317e-02 8.38060429e+02] [ 2.73814345e-02 9.99624806e-01 7.10764515e-04 -6.22316517e+01] [ 1.16728886e-02 -1.03072287e-03 9.99931338e-01 3.20894737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2207140569999 meters Centerline goodness [0,1] 0.985748918141242 Centerline is valid? [True, True] Translation: X:838.09, Y:-62.23, Z:3.21 [[ 9.99570798e-01 -2.70417543e-02 -1.12677859e-02 8.38091324e+02] [ 2.70511940e-02 9.99633814e-01 6.86169277e-04 -6.22347671e+01] [ 1.12451046e-02 -9.90681833e-04 9.99936281e-01 3.20865923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.250714057 meters Centerline goodness [0,1] 0.9860972512020321 Centerline is valid? [True, True] Translation: X:838.12, Y:-62.23, Z:3.21 [[ 9.99595265e-01 -2.63131103e-02 -1.08132665e-02 8.38124006e+02] [ 2.63217716e-02 9.99653305e-01 6.59432518e-04 -6.22346050e+01] [ 1.07921659e-02 -9.43789954e-04 9.99941317e-01 3.20946082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.280714057 meters Centerline goodness [0,1] 0.985499705922273 Centerline is valid? [True, True] Translation: X:838.16, Y:-62.24, Z:3.21 [[ 9.99616754e-01 -2.57417117e-02 -1.01838241e-02 8.38156155e+02] [ 2.57493718e-02 9.99668237e-01 6.21759845e-04 -6.22363188e+01] [ 1.01644403e-02 -8.83748631e-04 9.99947950e-01 3.20993402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3107140569999 meters Centerline goodness [0,1] 0.9849760159290434 Centerline is valid? [True, True] Translation: X:838.19, Y:-62.24, Z:3.21 [[ 9.99651651e-01 -2.46053331e-02 -9.54750761e-03 8.38186323e+02] [ 2.46120155e-02 9.99696908e-01 5.83033615e-04 -6.22380885e+01] [ 9.53026810e-03 -8.17813921e-04 9.99954252e-01 3.21010065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3407140569999 meters Centerline goodness [0,1] 0.9840872156013001 Centerline is valid? [True, True] Translation: X:838.22, Y:-62.24, Z:3.21 [[ 9.99676823e-01 -2.38511366e-02 -8.79615878e-03 8.38218516e+02] [ 2.38567855e-02 9.99715242e-01 5.37824276e-04 -6.22381986e+01] [ 8.78082628e-03 -7.47498537e-04 9.99961168e-01 3.21069681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.370714057 meters Centerline goodness [0,1] 0.9846269301616901 Centerline is valid? [True, True] Translation: X:838.25, Y:-62.24, Z:3.21 [[ 9.99700399e-01 -2.29883235e-02 -8.40527597e-03 8.38251066e+02] [ 2.29934562e-02 9.99735483e-01 5.14518756e-04 -6.22390658e+01] [ 8.39122471e-03 -7.07630951e-04 9.99964543e-01 3.21072738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.400714057 meters Centerline goodness [0,1] 0.9847975276098714 Centerline is valid? [True, True] Translation: X:838.28, Y:-62.24, Z:3.21 [[ 9.99739125e-01 -2.14272408e-02 -7.90919262e-03 8.38282653e+02] [ 2.14317389e-02 9.99770197e-01 4.84398815e-04 -6.22388561e+01] [ 7.89699573e-03 -6.53780199e-04 9.99968605e-01 3.21105919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4307140569999 meters Centerline goodness [0,1] 0.9866106887552479 Centerline is valid? [True, True] Translation: X:838.32, Y:-62.23, Z:3.21 [[ 9.99748147e-01 -2.10642452e-02 -7.74204914e-03 8.38315377e+02] [ 2.10685490e-02 9.99777921e-01 4.74760298e-04 -6.22343748e+01] [ 7.73032932e-03 -6.37754470e-04 9.99969917e-01 3.21174904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4607140569999 meters Centerline goodness [0,1] 0.9817954261008078 Centerline is valid? [True, True] Translation: X:838.35, Y:-62.25, Z:3.21 [[ 9.99747734e-01 -2.09617030e-02 -8.06696264e-03 8.38345480e+02] [ 2.09663805e-02 9.99780058e-01 4.95692268e-04 -6.22472200e+01] [ 8.05479782e-03 -6.64702230e-04 9.99967339e-01 3.21038918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4907140569999 meters Centerline goodness [0,1] 0.9858697380676527 Centerline is valid? [True, True] Translation: X:838.38, Y:-62.24, Z:3.21 [[ 9.99748856e-01 -2.07483477e-02 -8.46940003e-03 8.38378514e+02] [ 2.07535007e-02 9.99784487e-01 5.20982875e-04 -6.22376896e+01] [ 8.45676523e-03 -6.96621733e-04 9.99963998e-01 3.21146407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.520714057 meters Centerline goodness [0,1] 0.9818632805388676 Centerline is valid? [True, True] Translation: X:838.41, Y:-62.25, Z:3.21 [[ 9.99734209e-01 -2.12730212e-02 -8.88645059e-03 8.38409030e+02] [ 2.12787188e-02 9.99773433e-01 5.47094523e-04 -6.22503067e+01] [ 8.87279886e-03 -7.36041394e-04 9.99960365e-01 3.21001799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5507140569999 meters Centerline goodness [0,1] 0.9853443175094443 Centerline is valid? [True, True] Translation: X:838.44, Y:-62.24, Z:3.21 [[ 9.99729216e-01 -2.14450654e-02 -9.03351902e-03 8.38441983e+02] [ 2.14509662e-02 9.99769746e-01 5.56809391e-04 -6.22441535e+01] [ 9.01949820e-03 -7.50436327e-04 9.99959042e-01 3.21039368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5807140569999 meters Centerline goodness [0,1] 0.9859075023827895 Centerline is valid? [True, True] Translation: X:838.47, Y:-62.25, Z:3.21 [[ 9.99723373e-01 -2.15244962e-02 -9.48013164e-03 8.38474398e+02] [ 2.15310048e-02 9.99768010e-01 5.85017197e-04 -6.22451902e+01] [ 9.46534014e-03 -7.88972125e-04 9.99954891e-01 3.21008615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6107140569999 meters Centerline goodness [0,1] 0.9856056119892498 Centerline is valid? [True, True] Translation: X:838.51, Y:-62.25, Z:3.21 [[ 9.99718075e-01 -2.15605386e-02 -9.94557947e-03 8.38506180e+02] [ 2.15677109e-02 9.99767201e-01 6.14445094e-04 -6.22479980e+01] [ 9.93001638e-03 -8.28775249e-04 9.99950353e-01 3.20924111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.640714057 meters Centerline goodness [0,1] 0.9864494935669312 Centerline is valid? [True, True] Translation: X:838.54, Y:-62.25, Z:3.21 [[ 9.99723168e-01 -2.10286011e-02 -1.05538807e-02 8.38537645e+02] [ 2.10366538e-02 9.99778492e-01 6.52565253e-04 -6.22505377e+01] [ 1.05378204e-02 -8.74402936e-04 9.99944093e-01 3.20863273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6707140569999 meters Centerline goodness [0,1] 0.9849274834361695 Centerline is valid? [True, True] Translation: X:838.57, Y:-62.25, Z:3.21 [[ 9.99721842e-01 -2.08268800e-02 -1.10670205e-02 8.38569406e+02] [ 2.08357314e-02 9.99782678e-01 6.85088042e-04 -6.22524320e+01] [ 1.10503472e-02 -9.15486947e-04 9.99938524e-01 3.20859803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7007140569999 meters Centerline goodness [0,1] 0.9845841599963513 Centerline is valid? [True, True] Translation: X:838.60, Y:-62.25, Z:3.21 [[ 9.99720372e-01 -2.06911337e-02 -1.14479288e-02 8.38601831e+02] [ 2.07006052e-02 9.99785468e-01 7.09470269e-04 -6.22541499e+01] [ 1.14307931e-02 -9.46250935e-04 9.99934219e-01 3.20835909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7307140569999 meters Centerline goodness [0,1] 0.9852702733563223 Centerline is valid? [True, True] Translation: X:838.63, Y:-62.26, Z:3.21 [[ 9.99719272e-01 -2.05133855e-02 -1.18565974e-02 8.38633717e+02] [ 2.05235427e-02 9.99789099e-01 7.35623262e-04 -6.22559522e+01] [ 1.18390067e-02 -9.78756135e-04 9.99929437e-01 3.20831564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.760714057 meters Centerline goodness [0,1] 0.9865087350224092 Centerline is valid? [True, True] Translation: X:838.67, Y:-62.25, Z:3.21 [[ 9.99703631e-01 -2.11105343e-02 -1.21241318e-02 8.38666116e+02] [ 2.11212094e-02 9.99776639e-01 7.53100714e-04 -6.22518180e+01] [ 1.21055254e-02 -1.00895384e-03 9.99926216e-01 3.20953478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.790714057 meters Centerline goodness [0,1] 0.985987813505557 Centerline is valid? [True, True] Translation: X:838.70, Y:-62.25, Z:3.21 [[ 9.99696815e-01 -2.13643433e-02 -1.22410645e-02 8.38697913e+02] [ 2.13752550e-02 9.99771233e-01 7.61245695e-04 -6.22548303e+01] [ 1.22220007e-02 -1.02267077e-03 9.99924786e-01 3.20929401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8207140569999 meters Centerline goodness [0,1] 0.9856313961988304 Centerline is valid? [True, True] Translation: X:838.73, Y:-62.26, Z:3.21 [[ 9.99674585e-01 -2.21990941e-02 -1.25668158e-02 8.38729290e+02] [ 2.22106680e-02 9.99753007e-01 7.82158848e-04 -6.22584983e+01] [ 1.25463486e-02 -1.06102169e-03 9.99920729e-01 3.20940044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8507140569999 meters Centerline goodness [0,1] 0.986941831796183 Centerline is valid? [True, True] Translation: X:838.76, Y:-62.26, Z:3.21 [[ 9.99643812e-01 -2.37198967e-02 -1.22317578e-02 8.38760589e+02] [ 2.37309798e-02 9.99718090e-01 7.61727823e-04 -6.22609203e+01] [ 1.22102415e-02 -1.05172810e-03 9.99924899e-01 3.20981316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.880714057 meters Centerline goodness [0,1] 0.9867390957021889 Centerline is valid? [True, True] Translation: X:838.79, Y:-62.26, Z:3.21 [[ 9.99629963e-01 -2.42803839e-02 -1.22637739e-02 8.38792540e+02] [ 2.42915783e-02 9.99704624e-01 7.64653805e-04 -6.22608535e+01] [ 1.22415854e-02 -1.06227728e-03 9.99924505e-01 3.21025170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.910714057 meters Centerline goodness [0,1] 0.985750113999088 Centerline is valid? [True, True] Translation: X:838.82, Y:-62.27, Z:3.21 [[ 9.99618337e-01 -2.48668167e-02 -1.20341780e-02 8.38823606e+02] [ 2.48776457e-02 9.99690221e-01 7.50974395e-04 -6.22653223e+01] [ 1.20117757e-02 -1.05006979e-03 9.99927305e-01 3.20981055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9407140569999 meters Centerline goodness [0,1] 0.9853701889114236 Centerline is valid? [True, True] Translation: X:838.86, Y:-62.27, Z:3.21 [[ 9.99612767e-01 -2.52510578e-02 -1.16918982e-02 8.38855731e+02] [ 2.52613157e-02 9.99680615e-01 7.30481883e-04 -6.22666093e+01] [ 1.16697185e-02 -1.02555175e-03 9.99931381e-01 3.20963023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9707140569999 meters Centerline goodness [0,1] 0.9859519912711402 Centerline is valid? [True, True] Translation: X:838.89, Y:-62.27, Z:3.21 [[ 9.99602688e-01 -2.58413987e-02 -1.12555561e-02 8.38888047e+02] [ 2.58509516e-02 9.99665560e-01 7.04041373e-04 -6.22693669e+01] [ 1.12335984e-02 -9.94728485e-04 9.99936406e-01 3.20941970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.000714057 meters Centerline goodness [0,1] 0.9834883193467907 Centerline is valid? [True, True] Translation: X:838.92, Y:-62.28, Z:3.21 [[ 9.99599702e-01 -2.61125023e-02 -1.08890954e-02 8.38919017e+02] [ 2.61214729e-02 9.99658543e-01 6.82380975e-04 -6.22794032e+01] [ 1.08675585e-02 -9.66547029e-04 9.99940479e-01 3.20828452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.030714057 meters Centerline goodness [0,1] 0.985243963439589 Centerline is valid? [True, True] Translation: X:838.95, Y:-62.28, Z:3.21 [[ 9.99584507e-01 -2.69072159e-02 -1.03350946e-02 8.38950810e+02] [ 2.69153442e-02 9.99637506e-01 6.48168578e-04 -6.22790641e+01] [ 1.03139078e-02 -9.26071897e-04 9.99946381e-01 3.20851548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0607140569999 meters Centerline goodness [0,1] 0.985243963439589 Centerline is valid? [True, True] Translation: X:838.98, Y:-62.28, Z:3.21 [[ 9.99586427e-01 -2.68358336e-02 -1.03350472e-02 8.38982571e+02] [ 2.68439659e-02 9.99639425e-01 6.48923860e-04 -6.22811179e+01] [ 1.03139062e-02 -9.26089137e-04 9.99946381e-01 3.20848460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0907140569999 meters Centerline goodness [0,1] 0.9851745902011534 Centerline is valid? [True, True] Translation: X:839.01, Y:-62.28, Z:3.21 [[ 9.99574954e-01 -2.72591670e-02 -1.03367491e-02 8.39014687e+02] [ 2.72673320e-02 9.99627966e-01 6.49765840e-04 -6.22848768e+01] [ 1.03151914e-02 -9.31345230e-04 9.99946363e-01 3.20804896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.120714057 meters Centerline goodness [0,1] 0.9818838932581716 Centerline is valid? [True, True] Translation: X:839.05, Y:-62.29, Z:3.21 [[ 9.99567203e-01 -2.76243714e-02 -1.01144081e-02 8.39045169e+02] [ 2.76322127e-02 9.99617955e-01 6.36308130e-04 -6.22932338e+01] [ 1.00929663e-02 -9.15516213e-04 9.99948646e-01 3.20709651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.150714057 meters Centerline goodness [0,1] 0.9853751445479899 Centerline is valid? [True, True] Translation: X:839.08, Y:-62.29, Z:3.21 [[ 9.99552824e-01 -2.80148073e-02 -1.04557789e-02 8.39077780e+02] [ 2.80232160e-02 9.99607056e-01 6.58547556e-04 -6.22906720e+01] [ 1.04332213e-02 -9.51257620e-04 9.99945120e-01 3.20647639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1807140569999 meters Centerline goodness [0,1] 0.9857240281882246 Centerline is valid? [True, True] Translation: X:839.11, Y:-62.29, Z:3.21 [[ 9.99551843e-01 -2.79952005e-02 -1.06010296e-02 8.39109591e+02] [ 2.80038514e-02 9.99607592e-01 6.68455304e-04 -6.22924270e+01] [ 1.05781561e-02 -9.65025388e-04 9.99943584e-01 3.20606969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2107140569999 meters Centerline goodness [0,1] 0.9842058683368508 Centerline is valid? [True, True] Translation: X:839.14, Y:-62.30, Z:3.20 [[ 9.99551438e-01 -2.78013691e-02 -1.11358317e-02 8.39140893e+02] [ 2.78109118e-02 9.99612955e-01 7.02964978e-04 -6.22997716e+01] [ 1.11119782e-02 -1.01234729e-03 9.99937748e-01 3.20484910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2407140569999 meters Centerline goodness [0,1] 0.9857016809574444 Centerline is valid? [True, True] Translation: X:839.17, Y:-62.30, Z:3.20 [[ 9.99576765e-01 -2.68555179e-02 -1.11835783e-02 8.39173637e+02] [ 2.68650927e-02 9.99638818e-01 7.06781141e-04 -6.22970536e+01] [ 1.11605580e-02 -1.00692987e-03 9.99937212e-01 3.20446170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.270714057 meters Centerline goodness [0,1] 0.9848299319727891 Centerline is valid? [True, True] Translation: X:839.20, Y:-62.30, Z:3.20 [[ 9.99586556e-01 -2.65147226e-02 -1.11214157e-02 8.39204485e+02] [ 2.65241768e-02 9.99647925e-01 7.03430055e-04 -6.23030542e+01] [ 1.10988489e-02 -9.98125623e-04 9.99937908e-01 3.20391560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3007140569999 meters Centerline goodness [0,1] 0.9857469805805443 Centerline is valid? [True, True] Translation: X:839.24, Y:-62.30, Z:3.20 [[ 9.99604742e-01 -2.59625385e-02 -1.07845025e-02 8.39237120e+02] [ 2.59714073e-02 9.99662453e-01 6.83109030e-04 -6.23037707e+01] [ 1.07631270e-02 -9.62927733e-04 9.99941612e-01 3.20433513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3307140569999 meters Centerline goodness [0,1] 0.9852660733745006 Centerline is valid? [True, True] Translation: X:839.27, Y:-62.31, Z:3.20 [[ 9.99628217e-01 -2.54379468e-02 -9.81519078e-03 8.39269287e+02] [ 2.54452745e-02 9.99676023e-01 6.22393521e-04 -6.23079042e+01] [ 9.79617847e-03 -8.71912350e-04 9.99951636e-01 3.20397365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3607140569999 meters Centerline goodness [0,1] 0.9851989317883493 Centerline is valid? [True, True] Translation: X:839.30, Y:-62.31, Z:3.20 [[ 9.99634923e-01 -2.53319221e-02 -9.39754182e-03 8.39300555e+02] [ 2.53386393e-02 9.99678747e-01 5.96389973e-04 -6.23117750e+01] [ 9.37941513e-03 -8.34293168e-04 9.99955664e-01 3.20375179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.390714057 meters Centerline goodness [0,1] 0.9850641562379778 Centerline is valid? [True, True] Translation: X:839.33, Y:-62.31, Z:3.20 [[ 9.99646824e-01 -2.50777247e-02 -8.79399444e-03 8.39332559e+02] [ 2.50836027e-02 9.99685201e-01 5.58735240e-04 -6.23109205e+01] [ 8.77721429e-03 -7.79122970e-04 9.99961176e-01 3.20404302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4207140569999 meters Centerline goodness [0,1] 0.9846994287786744 Centerline is valid? [True, True] Translation: X:839.36, Y:-62.32, Z:3.20 [[ 9.99655652e-01 -2.49140081e-02 -8.23833803e-03 8.39363724e+02] [ 2.49191647e-02 9.99689332e-01 5.23855064e-04 -6.23157836e+01] [ 8.22272731e-03 -7.28967177e-04 9.99965927e-01 3.20375627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4507140569999 meters Centerline goodness [0,1] 0.9859327217125382 Centerline is valid? [True, True] Translation: X:839.40, Y:-62.32, Z:3.20 [[ 9.99656908e-01 -2.51093846e-02 -7.45559643e-03 8.39396318e+02] [ 2.51136173e-02 9.99684491e-01 4.74638334e-04 -6.23166548e+01] [ 7.44132625e-03 -6.61712485e-04 9.99972094e-01 3.20365974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4807140569999 meters Centerline goodness [0,1] 0.983948017840567 Centerline is valid? [True, True] Translation: X:839.43, Y:-62.32, Z:3.20 [[ 9.99645464e-01 -2.55782513e-02 -7.39586899e-03 8.39426641e+02] [ 2.55824310e-02 9.99672605e-01 4.71065156e-04 -6.23232711e+01] [ 7.38139859e-03 -6.60102455e-04 9.99972539e-01 3.20329360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.510714057 meters Centerline goodness [0,1] 0.9813960848139609 Centerline is valid? [True, True] Translation: X:839.46, Y:-62.33, Z:3.20 [[ 9.99628878e-01 -2.63340066e-02 -6.97320122e-03 8.39457241e+02] [ 2.63377431e-02 9.99653003e-01 4.44525539e-04 -6.23310267e+01] [ 6.95907540e-03 -6.28018948e-04 9.99975588e-01 3.20229842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.540714057 meters Centerline goodness [0,1] 0.9730126136696978 Centerline is valid? [True, True] Translation: X:839.49, Y:-62.34, Z:3.20 [[ 9.99584188e-01 -2.81152562e-02 -6.40177570e-03 8.39486625e+02] [ 2.81184448e-02 9.99604515e-01 4.08609514e-04 -6.23406467e+01] [ 6.38775573e-03 -5.88447586e-04 9.99979425e-01 3.20095873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5707140569999 meters Centerline goodness [0,1] 0.9790986283474853 Centerline is valid? [True, True] Translation: X:839.52, Y:-62.34, Z:3.20 [[ 9.99559918e-01 -2.90171345e-02 -6.16243713e-03 8.39518461e+02] [ 2.90201104e-02 9.99578750e-01 3.94021882e-04 -6.23412239e+01] [ 6.14840782e-03 -5.72683086e-04 9.99980934e-01 3.20094997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6007140569999 meters Centerline goodness [0,1] 0.9782383885616653 Centerline is valid? [True, True] Translation: X:839.55, Y:-62.35, Z:3.20 [[ 9.99538311e-01 -2.98761322e-02 -5.52998296e-03 8.39550061e+02] [ 2.98785449e-02 9.99553474e-01 3.54179094e-04 -6.23450329e+01] [ 5.51693218e-03 -5.19243418e-04 9.99984647e-01 3.20045121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.630714057 meters Centerline goodness [0,1] 0.9737856418347797 Centerline is valid? [True, True] Translation: X:839.58, Y:-62.35, Z:3.20 [[ 9.99509778e-01 -3.08002925e-02 -5.61655626e-03 8.39581830e+02] [ 3.08027978e-02 9.99525416e-01 3.60067554e-04 -6.23493981e+01] [ 5.60280055e-03 -5.32896688e-04 9.99984162e-01 3.20034973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.660714057 meters Centerline goodness [0,1] 0.9779370464400459 Centerline is valid? [True, True] Translation: X:839.61, Y:-62.35, Z:3.20 [[ 9.99493733e-01 -3.14696761e-02 -4.68382001e-03 8.39614194e+02] [ 3.14714272e-02 9.99504607e-01 3.00605889e-04 -6.23513851e+01] [ 4.67203971e-03 -4.47860202e-04 9.99988986e-01 3.20084033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6907140569999 meters Centerline goodness [0,1] 0.9778711105089645 Centerline is valid? [True, True] Translation: X:839.65, Y:-62.35, Z:3.20 [[ 9.99500275e-01 -3.13821325e-02 -3.78965877e-03 8.39645796e+02] [ 3.13832792e-02 9.99507394e-01 2.43492298e-04 -6.23543852e+01] [ 3.78015066e-03 -3.62302538e-04 9.99992790e-01 3.20076847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7207140569999 meters Centerline goodness [0,1] 0.984263297513601 Centerline is valid? [True, True] Translation: X:839.68, Y:-62.35, Z:3.20 [[ 9.99524198e-01 -3.07768322e-02 -2.04082181e-03 8.39678659e+02] [ 3.07771639e-02 9.99526262e-01 1.31306802e-04 -6.23501356e+01] [ 2.03581379e-03 -1.94055033e-04 9.99997909e-01 3.20154666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.750714057 meters Centerline goodness [0,1] 0.9828374512939481 Centerline is valid? [True, True] Translation: X:839.71, Y:-62.35, Z:3.20 [[ 9.99549567e-01 -2.99760263e-02 -1.44927438e-03 8.39711144e+02] [ 2.99761929e-02 9.99550609e-01 9.34139184e-05 -6.23529490e+01] [ 1.44582291e-03 -1.36815570e-04 9.99998945e-01 3.20179856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.780714057 meters Centerline goodness [0,1] 0.9815440018005852 Centerline is valid? [True, True] Translation: X:839.74, Y:-62.36, Z:3.20 [[ 9.99571290e-01 -2.92597459e-02 -1.05087830e-03 8.39742002e+02] [ 2.92598332e-02 9.99571837e-01 6.77803696e-05 -6.23571849e+01] [ 1.04844512e-03 -9.84998352e-05 9.99999446e-01 3.20236330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8107140569999 meters Centerline goodness [0,1] 0.9788450285817167 Centerline is valid? [True, True] Translation: X:839.77, Y:-62.36, Z:3.20 [[ 9.99591618e-01 -2.85648824e-02 -8.02577567e-04 8.39772911e+02] [ 2.85649332e-02 9.99591938e-01 5.18509370e-05 -6.23644595e+01] [ 8.00768950e-04 -7.47553367e-05 9.99999677e-01 3.20210682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8407140569999 meters Centerline goodness [0,1] 0.9823993526198664 Centerline is valid? [True, True] Translation: X:839.80, Y:-62.36, Z:3.20 [[ 9.99635863e-01 -2.69533810e-02 -1.28743629e-03 8.39804964e+02] [ 2.69535103e-02 9.99636685e-01 8.31870428e-05 -6.23615578e+01] [ 1.28472638e-03 -1.17857679e-04 9.99999168e-01 3.20099714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.870714057 meters Centerline goodness [0,1] 0.9823917497917183 Centerline is valid? [True, True] Translation: X:839.84, Y:-62.36, Z:3.20 [[ 9.99660938e-01 -2.60058092e-02 -1.30646418e-03 8.39837030e+02] [ 2.60059417e-02 9.99661785e-01 8.45256818e-05 -6.23633279e+01] [ 1.30382416e-03 -1.18472854e-04 9.99999143e-01 3.20030181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.900714057 meters Centerline goodness [0,1] 0.9804503835684236 Centerline is valid? [True, True] Translation: X:839.87, Y:-62.37, Z:3.20 [[ 9.99677369e-01 -2.53431330e-02 -1.69783554e-03 8.39867904e+02] [ 2.53433559e-02 9.99678800e-01 1.09898994e-04 -6.23695935e+01] [ 1.69450501e-03 -1.52892387e-04 9.99998553e-01 3.19942224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9307140569999 meters Centerline goodness [0,1] 0.9814339724547664 Centerline is valid? [True, True] Translation: X:839.90, Y:-62.37, Z:3.20 [[ 9.99696171e-01 -2.46060142e-02 -1.45259433e-03 8.39900392e+02] [ 2.46061768e-02 9.99697218e-01 9.41514834e-05 -6.23701217e+01] [ 1.44983781e-03 -1.29865670e-04 9.99998941e-01 3.19859853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9607140569999 meters Centerline goodness [0,1] 0.9819174266588796 Centerline is valid? [True, True] Translation: X:839.93, Y:-62.37, Z:3.20 [[ 9.99736338e-01 -2.28887619e-02 -1.83304123e-03 8.39931695e+02] [ 2.28890180e-02 9.99738005e-01 1.18824178e-04 -6.23723489e+01] [ 1.82984125e-03 -1.60749362e-04 9.99998313e-01 3.19763250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9907140569999 meters Centerline goodness [0,1] 0.9814415385998023 Centerline is valid? [True, True] Translation: X:839.96, Y:-62.38, Z:3.20 [[ 9.99761800e-01 -2.17421401e-02 -1.90331608e-03 8.39962079e+02] [ 2.17424143e-02 9.99763598e-01 1.23445202e-04 -6.23788533e+01] [ 1.90018217e-03 -1.64798484e-04 9.99998181e-01 3.19709560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.020714057 meters Centerline goodness [0,1] 0.9812096828572071 Centerline is valid? [True, True] Translation: X:839.99, Y:-62.38, Z:3.20 [[ 9.99780573e-01 -2.08213870e-02 -2.29692592e-03 8.39994646e+02] [ 2.08217843e-02 9.99783192e-01 1.49212505e-04 -6.23820493e+01] [ 2.29332112e-03 -1.97005860e-04 9.99997351e-01 3.19694416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0507140569999 meters Centerline goodness [0,1] 0.9798161425906363 Centerline is valid? [True, True] Translation: X:840.02, Y:-62.39, Z:3.20 [[ 9.99826520e-01 -1.85508026e-02 -1.67233581e-03 8.40024127e+02] [ 1.85510099e-02 9.99827909e-01 1.08577552e-04 -6.23872504e+01] [ 1.67003381e-03 -1.39582234e-04 9.99998596e-01 3.19708969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0807140569999 meters Centerline goodness [0,1] 0.982947542967262 Centerline is valid? [True, True] Translation: X:840.06, Y:-62.38, Z:3.20 [[ 9.99843321e-01 -1.76228572e-02 -1.66380083e-03 8.40056754e+02] [ 1.76230615e-02 9.99844696e-01 1.08210205e-04 -6.23824013e+01] [ 1.66163546e-03 -1.37514515e-04 9.99998610e-01 3.19763599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1107140569999 meters Centerline goodness [0,1] 0.9845846609522955 Centerline is valid? [True, True] Translation: X:840.09, Y:-62.38, Z:3.20 [[ 9.99857365e-01 -1.68472796e-02 -1.19110414e-03 8.40089009e+02] [ 1.68473838e-02 9.99858070e-01 7.75711047e-05 -6.23841697e+01] [ 1.18962822e-03 -9.76270289e-05 9.99999288e-01 3.19780690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.140714057 meters Centerline goodness [0,1] 0.9853378998500213 Centerline is valid? [True, True] Translation: X:840.12, Y:-62.39, Z:3.20 [[ 9.99868330e-01 -1.62000446e-02 -9.38866951e-04 8.40121144e+02] [ 1.62001092e-02 9.99868768e-01 6.12274395e-05 -6.23863900e+01] [ 9.37751855e-04 -7.64291247e-05 9.99999557e-01 3.19774605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1707140569999 meters Centerline goodness [0,1] 0.9840936038837558 Centerline is valid? [True, True] Translation: X:840.15, Y:-62.39, Z:3.20 [[ 9.99869640e-01 -1.61286336e-02 -7.55142542e-04 8.40151660e+02] [ 1.61286755e-02 9.99869923e-01 4.93980923e-05 -6.23914774e+01] [ 7.54247592e-04 -6.15711018e-05 9.99999714e-01 3.19700620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2007140569999 meters Centerline goodness [0,1] 0.9815727830451757 Centerline is valid? [True, True] Translation: X:840.18, Y:-62.40, Z:3.20 [[ 9.99871604e-01 -1.59813286e-02 -1.17180844e-03 8.40181765e+02] [ 1.59814293e-02 9.99872286e-01 7.65871600e-05 -6.24018001e+01] [ 1.17043481e-03 -9.53045002e-05 9.99999310e-01 3.19658127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2307140569999 meters Centerline goodness [0,1] 0.9843732534483915 Centerline is valid? [True, True] Translation: X:840.21, Y:-62.40, Z:3.20 [[ 9.99871480e-01 -1.58795452e-02 -2.20512141e-03 8.40213947e+02] [ 1.58799017e-02 9.99873896e-01 1.44248935e-04 -6.24008334e+01] [ 2.20255273e-03 -1.79247507e-04 9.99997558e-01 3.19573865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.260714057 meters Centerline goodness [0,1] 0.9862212197681949 Centerline is valid? [True, True] Translation: X:840.25, Y:-62.40, Z:3.20 [[ 9.99877097e-01 -1.55273551e-02 -2.16620846e-03 8.40246525e+02] [ 1.55276986e-02 9.99879428e-01 1.41864982e-04 -6.23986955e+01] [ 2.16374449e-03 -1.75483779e-04 9.99997644e-01 3.19546582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.290714057 meters Centerline goodness [0,1] 0.9863464422409741 Centerline is valid? [True, True] Translation: X:840.28, Y:-62.40, Z:3.20 [[ 9.99882345e-01 -1.49808273e-02 -3.29706283e-03 8.40278615e+02] [ 1.49816209e-02 9.99887746e-01 2.16128640e-04 -6.24013867e+01] [ 3.29345493e-03 -2.65498557e-04 9.99994541e-01 3.19548255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3207140569999 meters Centerline goodness [0,1] 0.9851053361363331 Centerline is valid? [True, True] Translation: X:840.31, Y:-62.41, Z:3.20 [[ 9.99890520e-01 -1.43196619e-02 -3.72764438e-03 8.40309293e+02] [ 1.43206724e-02 9.99897424e-01 2.44530166e-04 -6.24055784e+01] [ 3.72376042e-03 -2.97885769e-04 9.99993022e-01 3.19512263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3507140569999 meters Centerline goodness [0,1] 0.9844508799287146 Centerline is valid? [True, True] Translation: X:840.34, Y:-62.41, Z:3.19 [[ 9.99913932e-01 -1.25877038e-02 -3.69849726e-03 8.40339432e+02] [ 1.25886869e-02 9.99920730e-01 2.42650405e-04 -6.24103763e+01] [ 3.69514966e-03 -2.89188745e-04 9.99993131e-01 3.19487876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.380714057 meters Centerline goodness [0,1] 0.9853536927391711 Centerline is valid? [True, True] Translation: X:840.37, Y:-62.41, Z:3.19 [[ 9.99929135e-01 -1.12947583e-02 -3.76223293e-03 8.40370268e+02] [ 1.12957670e-02 9.99936170e-01 2.46982056e-04 -6.24137180e+01] [ 3.75920318e-03 -2.89461860e-04 9.99992892e-01 3.19492678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.410714057 meters Centerline goodness [0,1] 0.985277058980994 Centerline is valid? [True, True] Translation: X:840.40, Y:-62.42, Z:3.20 [[ 9.99941002e-01 -1.00887882e-02 -4.02612586e-03 8.40401565e+02] [ 1.00899343e-02 9.99949060e-01 2.64445190e-04 -6.24154561e+01] [ 4.02325284e-03 -3.05052933e-04 9.99991860e-01 3.19501560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4407140569999 meters Centerline goodness [0,1] 0.9860211463550361 Centerline is valid? [True, True] Translation: X:840.43, Y:-62.42, Z:3.20 [[ 9.99961362e-01 -7.46769011e-03 -4.63766258e-03 8.40432015e+02] [ 7.46918255e-03 9.99972059e-01 3.04573019e-04 -6.24157052e+01] [ 4.63525855e-03 -3.39200799e-04 9.99989200e-01 3.19519433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4707140569999 meters Centerline goodness [0,1] 0.9868103123406707 Centerline is valid? [True, True] Translation: X:840.46, Y:-62.41, Z:3.20 [[ 9.99969837e-01 -6.18130818e-03 -4.70273852e-03 8.40463263e+02] [ 6.18282913e-03 9.99980838e-01 3.08948456e-04 -6.24148399e+01] [ 4.70073870e-03 -3.38015366e-04 9.99988894e-01 3.19551922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.500714057 meters Centerline goodness [0,1] 0.9851107264900368 Centerline is valid? [True, True] Translation: X:840.49, Y:-62.42, Z:3.19 [[ 9.99974116e-01 -5.05718442e-03 -5.11785691e-03 8.40492894e+02] [ 5.05897155e-03 9.99987147e-01 3.36309428e-04 -6.24233137e+01] [ 5.11609035e-03 -3.62191816e-04 9.99986847e-01 3.19487809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.530714057 meters Centerline goodness [0,1] 0.987239802938174 Centerline is valid? [True, True] Translation: X:840.52, Y:-62.42, Z:3.20 [[ 9.99976869e-01 -4.34362993e-03 -5.23390406e-03 8.40523387e+02] [ 4.34548862e-03 9.99990499e-01 3.43805416e-04 -6.24176517e+01] [ 5.23236097e-03 -3.66541334e-04 9.99986244e-01 3.19531771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5607140569999 meters Centerline goodness [0,1] 0.984599361815281 Centerline is valid? [True, True] Translation: X:840.55, Y:-62.43, Z:3.19 [[ 9.99980754e-01 -2.90544686e-03 -5.48184057e-03 8.40551873e+02] [ 2.90746378e-03 9.99995709e-01 3.59994582e-04 -6.24298935e+01] [ 5.48077110e-03 -3.75925906e-04 9.99984910e-01 3.19483534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5907140569999 meters Centerline goodness [0,1] 0.9849190507873142 Centerline is valid? [True, True] Translation: X:840.58, Y:-62.43, Z:3.19 [[ 9.99981178e-01 -1.97276374e-03 -5.80962845e-03 8.40581851e+02] [ 1.97501216e-03 9.99997977e-01 3.81305011e-04 -6.24280451e+01] [ 5.80886447e-03 -3.92771921e-04 9.99983051e-01 3.19499503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.620714057 meters Centerline goodness [0,1] 0.9860446482227514 Centerline is valid? [True, True] Translation: X:840.61, Y:-62.43, Z:3.20 [[ 9.99978549e-01 -1.76219058e-03 -6.30844574e-03 8.40610442e+02] [ 1.76482634e-03 9.99998358e-01 4.12272702e-04 -6.24269015e+01] [ 6.30770888e-03 -4.23397170e-04 9.99980017e-01 3.19522001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.650714057 meters Centerline goodness [0,1] 0.9853306151391598 Centerline is valid? [True, True] Translation: X:840.64, Y:-62.43, Z:3.19 [[ 9.99978092e-01 -9.72305686e-04 -6.54748037e-03 8.40638775e+02] [ 9.75126726e-04 9.99999433e-01 4.27680345e-04 -6.24332768e+01] [ 6.54706082e-03 -4.34055598e-04 9.99978474e-01 3.19436750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6807140569999 meters Centerline goodness [0,1] 0.9873066595654972 Centerline is valid? [True, True] Translation: X:840.67, Y:-62.43, Z:3.19 [[ 9.99967168e-01 1.04723352e-03 -8.03529193e-03 8.40668688e+02] [-1.04305163e-03 9.99999318e-01 5.24613934e-04 -6.24280388e+01] [ 8.03583585e-03 -5.16215485e-04 9.99967579e-01 3.19421777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7107140569999 meters Centerline goodness [0,1] 0.9870997824059683 Centerline is valid? [True, True] Translation: X:840.70, Y:-62.43, Z:3.19 [[ 9.99959024e-01 2.15830095e-03 -8.79156595e-03 8.40696581e+02] [-2.15334486e-03 9.99997517e-01 5.73158944e-04 -6.24308334e+01] [ 8.79278117e-03 -5.54204185e-04 9.99961189e-01 3.19380613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7407140569999 meters Centerline goodness [0,1] 0.9876447190062443 Centerline is valid? [True, True] Translation: X:840.73, Y:-62.43, Z:3.19 [[ 9.99949617e-01 3.50882388e-03 -9.40483921e-03 8.40725403e+02] [-3.50321778e-03 9.99993676e-01 6.12494456e-04 -6.24308947e+01] [ 9.40692887e-03 -5.79516397e-04 9.99955586e-01 3.19403637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.770714057 meters Centerline goodness [0,1] 0.9881190762248031 Centerline is valid? [True, True] Translation: X:840.75, Y:-62.43, Z:3.19 [[ 9.99930944e-01 6.83504857e-03 -9.55977540e-03 8.40753942e+02] [-6.82941235e-03 9.99976486e-01 6.22097589e-04 -6.24324524e+01] [ 9.56380267e-03 -5.56766981e-04 9.99954111e-01 3.19395595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8007140569999 meters Centerline goodness [0,1] 0.9879906594017569 Centerline is valid? [True, True] Translation: X:840.78, Y:-62.43, Z:3.19 [[ 9.99913595e-01 8.91367158e-03 -9.66174298e-03 8.40784236e+02] [-8.90801248e-03 9.99960125e-01 6.28599982e-04 -6.24334353e+01] [ 9.66696085e-03 -5.42478740e-04 9.99953127e-01 3.19432866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8307140569999 meters Centerline goodness [0,1] 0.989010009139749 Centerline is valid? [True, True] Translation: X:840.81, Y:-62.43, Z:3.20 [[ 9.99893811e-01 1.13562307e-02 -9.13246342e-03 8.40814431e+02] [-1.13512806e-02 9.99935396e-01 5.93692023e-04 -6.24311228e+01] [ 9.13861553e-03 -4.89963825e-04 9.99958122e-01 3.19545741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8607140569999 meters Centerline goodness [0,1] 0.989827490261547 Centerline is valid? [True, True] Translation: X:840.84, Y:-62.43, Z:3.20 [[ 9.99848470e-01 1.56227354e-02 -7.67894943e-03 8.40844944e+02] [-1.56193622e-02 9.99877886e-01 4.99063798e-04 -6.24293248e+01] [ 7.68580846e-03 -3.79047883e-04 9.99970392e-01 3.19658696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.890714057 meters Centerline goodness [0,1] 0.9900994504638797 Centerline is valid? [True, True] Translation: X:840.87, Y:-62.43, Z:3.20 [[ 9.99818747e-01 1.77581072e-02 -6.86463719e-03 8.40873271e+02] [-1.77554654e-02 9.99842260e-01 4.45603024e-04 -6.24316866e+01] [ 6.87146743e-03 -3.23637430e-04 9.99976339e-01 3.19708085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9207140569999 meters Centerline goodness [0,1] 0.9897897897897898 Centerline is valid? [True, True] Translation: X:840.90, Y:-62.43, Z:3.20 [[ 9.99787442e-01 1.96182375e-02 -6.34005810e-03 8.40902194e+02] [-1.96160241e-02 9.99807503e-01 4.11102476e-04 -6.24321930e+01] [ 6.34690276e-03 -2.86648360e-04 9.99979817e-01 3.19775644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9507140569999 meters Centerline goodness [0,1] 0.9897897897897898 Centerline is valid? [True, True] Translation: X:840.93, Y:-62.43, Z:3.20 [[ 9.99789487e-01 1.95136981e-02 -6.34010324e-03 8.40929629e+02] [-1.95114871e-02 9.99809549e-01 4.10405860e-04 -6.24338805e+01] [ 6.34690429e-03 -2.86614622e-04 9.99979817e-01 3.19772973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9807140569999 meters Centerline goodness [0,1] 0.9901269707144604 Centerline is valid? [True, True] Translation: X:840.96, Y:-62.43, Z:3.20 [[ 9.99764807e-01 2.09599739e-02 -5.56859617e-03 8.40958199e+02] [-2.09582927e-02 9.99780286e-01 3.60095169e-04 -6.24341691e+01] [ 5.57492026e-03 -2.43302209e-04 9.99984430e-01 3.19815285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.010714057 meters Centerline goodness [0,1] 0.9911892322677764 Centerline is valid? [True, True] Translation: X:840.99, Y:-62.43, Z:3.20 [[ 9.99731623e-01 2.23516543e-02 -6.08983249e-03 8.40986841e+02] [-2.23496720e-02 9.99750137e-01 3.93374705e-04 -6.24347755e+01] [ 6.09710345e-03 -2.57163373e-04 9.99981379e-01 3.19818230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.040714057 meters Centerline goodness [0,1] 0.9913505581002356 Centerline is valid? [True, True] Translation: X:841.02, Y:-62.44, Z:3.20 [[ 9.99741601e-01 2.17891893e-02 -6.47782913e-03 8.41015933e+02] [-2.17869375e-02 9.99762549e-01 4.17984462e-04 -6.24380540e+01] [ 6.48539851e-03 -2.76744397e-04 9.99978931e-01 3.19738666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0707140569999 meters Centerline goodness [0,1] 0.9901784325489412 Centerline is valid? [True, True] Translation: X:841.04, Y:-62.44, Z:3.20 [[ 9.99769875e-01 2.02575874e-02 -7.05890313e-03 8.41043633e+02] [-2.02548799e-02 9.99794745e-01 4.54849734e-04 -6.24426670e+01] [ 7.06666841e-03 -3.11767826e-04 9.99974982e-01 3.19659644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1007140569999 meters Centerline goodness [0,1] 0.9889688780595858 Centerline is valid? [True, True] Translation: X:841.07, Y:-62.45, Z:3.20 [[ 9.99837201e-01 1.61774904e-02 -7.99121847e-03 8.41073004e+02] [-1.61738908e-02 9.99869062e-01 5.14863427e-04 -6.24487355e+01] [ 7.99850131e-03 -3.85530513e-04 9.99967937e-01 3.19589246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.130714057 meters Centerline goodness [0,1] 0.9897106538068359 Centerline is valid? [True, True] Translation: X:841.10, Y:-62.45, Z:3.20 [[ 9.99876191e-01 1.33240166e-02 -8.37093064e-03 8.41102737e+02] [-1.33199697e-02 9.99911140e-01 5.39015235e-04 -6.24526776e+01] [ 8.37736865e-03 -4.27447958e-04 9.99964818e-01 3.19599562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.160714057 meters Centerline goodness [0,1] 0.9892180304640453 Centerline is valid? [True, True] Translation: X:841.13, Y:-62.46, Z:3.20 [[ 9.99907740e-01 1.05305618e-02 -8.58013816e-03 8.41130742e+02] [-1.05262130e-02 9.99944446e-01 5.51850703e-04 -6.24578865e+01] [ 8.58547279e-03 -4.61483428e-04 9.99963038e-01 3.19556571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1907140569999 meters Centerline goodness [0,1] 0.9891799417894199 Centerline is valid? [True, True] Translation: X:841.16, Y:-62.46, Z:3.20 [[ 9.99933081e-01 7.62246460e-03 -8.70237592e-03 8.41159744e+02] [-7.61788493e-03 9.99970827e-01 5.59281084e-04 -6.24625906e+01] [ 8.70638515e-03 -4.92949959e-04 9.99961977e-01 3.19540928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2207140569999 meters Centerline goodness [0,1] 0.9885861479359581 Centerline is valid? [True, True] Translation: X:841.19, Y:-62.47, Z:3.20 [[ 9.99959239e-01 2.34665404e-03 -8.71853022e-03 8.41189736e+02] [-2.34185712e-03 9.99997101e-01 5.60366554e-04 -6.24683244e+01] [ 8.71981993e-03 -5.39926161e-04 9.99961836e-01 3.19545003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.250714057 meters Centerline goodness [0,1] 0.9874620649934652 Centerline is valid? [True, True] Translation: X:841.22, Y:-62.48, Z:3.19 [[ 9.99968188e-01 -3.55974546e-04 -7.96839328e-03 8.41218083e+02] [ 3.60061962e-04 9.99999804e-01 5.11524997e-04 -6.24771888e+01] [ 7.96820963e-03 -5.14377840e-04 9.99968121e-01 3.19479296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.280714057 meters Centerline goodness [0,1] 0.9881894988277967 Centerline is valid? [True, True] Translation: X:841.25, Y:-62.48, Z:3.20 [[ 9.99965164e-01 -2.78830128e-03 -7.86735750e-03 8.41247832e+02] [ 2.79235868e-03 9.99995974e-01 5.04788614e-04 -6.24761625e+01] [ 7.86591832e-03 -5.26739514e-04 9.99968924e-01 3.19577510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3107140569999 meters Centerline goodness [0,1] 0.9876632961029234 Centerline is valid? [True, True] Translation: X:841.28, Y:-62.48, Z:3.20 [[ 9.99960498e-01 -5.13150723e-03 -7.25739812e-03 8.41276169e+02] [ 5.13501833e-03 9.99986707e-01 4.65244435e-04 -6.24829842e+01] [ 7.25491424e-03 -5.02492929e-04 9.99973557e-01 3.19550667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3407140569999 meters Centerline goodness [0,1] 0.9880150970048779 Centerline is valid? [True, True] Translation: X:841.31, Y:-62.49, Z:3.20 [[ 9.99935283e-01 -8.91127617e-03 -7.07243530e-03 8.41306333e+02] [ 8.91470460e-03 9.99960160e-01 4.53383180e-04 -6.24855315e+01] [ 7.06811331e-03 -5.16402510e-04 9.99974887e-01 3.19659851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.370714057 meters Centerline goodness [0,1] 0.9851451274693742 Centerline is valid? [True, True] Translation: X:841.33, Y:-62.50, Z:3.20 [[ 9.99918288e-01 -1.08612553e-02 -6.74166795e-03 8.41334795e+02] [ 1.08644138e-02 9.99940887e-01 4.32048436e-04 -6.24999966e+01] [ 6.73657684e-03 -5.05257402e-04 9.99977181e-01 3.19549884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.400714057 meters Centerline goodness [0,1] 0.98705801806577 Centerline is valid? [True, True] Translation: X:841.37, Y:-62.49, Z:3.20 [[ 9.99900388e-01 -1.23960688e-02 -6.74919577e-03 8.41365989e+02] [ 1.23992700e-02 9.99923032e-01 4.32684455e-04 -6.24941586e+01] [ 6.74331272e-03 -5.16326455e-04 9.99977130e-01 3.19655722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4307140569999 meters Centerline goodness [0,1] 0.9874895194386832 Centerline is valid? [True, True] Translation: X:841.40, Y:-62.50, Z:3.20 [[ 9.99866244e-01 -1.49545467e-02 -6.62234091e-03 8.41396864e+02] [ 1.49576853e-02 9.99888037e-01 4.24668470e-04 -6.24998971e+01] [ 6.61524873e-03 -5.23666560e-04 9.99977982e-01 3.19612132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4607140569999 meters Centerline goodness [0,1] 0.9859375689875933 Centerline is valid? [True, True] Translation: X:841.43, Y:-62.50, Z:3.20 [[ 9.99846589e-01 -1.59964215e-02 -7.13539498e-03 8.41427987e+02] [ 1.60000935e-02 9.99871885e-01 4.57833567e-04 -6.25041461e+01] [ 7.12715714e-03 -5.71930317e-04 9.99974438e-01 3.19554667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4907140569999 meters Centerline goodness [0,1] 0.9871074745687749 Centerline is valid? [True, True] Translation: X:841.46, Y:-62.50, Z:3.20 [[ 9.99828214e-01 -1.69382158e-02 -7.52597299e-03 8.41459877e+02] [ 1.69423305e-02 9.99856352e-01 4.83311546e-04 -6.25048382e+01] [ 7.51670546e-03 -6.10736041e-04 9.99971563e-01 3.19532656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.520714057 meters Centerline goodness [0,1] 0.9864739424479512 Centerline is valid? [True, True] Translation: X:841.49, Y:-62.51, Z:3.19 [[ 9.99815607e-01 -1.75512136e-02 -7.79140014e-03 8.41490251e+02] [ 1.75556442e-02 9.99845762e-01 5.00612684e-04 -6.25095175e+01] [ 7.78141205e-03 -6.37303423e-04 9.99969521e-01 3.19463064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5507140569999 meters Centerline goodness [0,1] 0.9864542887398517 Centerline is valid? [True, True] Translation: X:841.52, Y:-62.51, Z:3.19 [[ 9.99797157e-01 -1.81262063e-02 -8.77986415e-03 8.41521900e+02] [ 1.81318586e-02 9.99835445e-01 5.64597741e-04 -6.25099973e+01] [ 8.76818536e-03 -7.23678471e-04 9.99961297e-01 3.19404557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5807140569999 meters Centerline goodness [0,1] 0.9856712081526644 Centerline is valid? [True, True] Translation: X:841.55, Y:-62.51, Z:3.19 [[ 9.99792750e-01 -1.83187768e-02 -8.88143165e-03 8.41554364e+02] [ 1.83245737e-02 9.99831927e-01 5.71763511e-04 -6.25123177e+01] [ 8.86946491e-03 -7.34393462e-04 9.99960396e-01 3.19357371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6107140569999 meters Centerline goodness [0,1] 0.9871280767441345 Centerline is valid? [True, True] Translation: X:841.59, Y:-62.51, Z:3.19 [[ 9.99796762e-01 -1.82548202e-02 -8.55547296e-03 8.41586840e+02] [ 1.82602022e-02 9.99833117e-01 5.51383939e-04 -6.25122830e+01] [ 8.54397978e-03 -7.07496544e-04 9.99963249e-01 3.19380286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.640714057 meters Centerline goodness [0,1] 0.987670658814707 Centerline is valid? [True, True] Translation: X:841.62, Y:-62.51, Z:3.19 [[ 9.99811062e-01 -1.75241876e-02 -8.41085108e-03 8.41618856e+02] [ 1.75293659e-02 9.99846202e-01 5.42336607e-04 -6.25081789e+01] [ 8.40005350e-03 -6.89671025e-04 9.99964481e-01 3.19464254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6707140569999 meters Centerline goodness [0,1] 0.9871466431095406 Centerline is valid? [True, True] Translation: X:841.65, Y:-62.51, Z:3.20 [[ 9.99831966e-01 -1.68125167e-02 -7.30616284e-03 8.41650381e+02] [ 1.68164071e-02 9.99858483e-01 4.71372844e-04 -6.25087560e+01] [ 7.29720393e-03 -5.94157046e-04 9.99973199e-01 3.19531382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7007140569999 meters Centerline goodness [0,1] 0.9863268698060942 Centerline is valid? [True, True] Translation: X:841.68, Y:-62.51, Z:3.20 [[ 9.99836608e-01 -1.66615423e-02 -7.01077836e-03 8.41683008e+02] [ 1.66651246e-02 9.99861025e-01 4.52853605e-04 -6.25104567e+01] [ 7.00225879e-03 -5.69615107e-04 9.99975322e-01 3.19564079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7307140569999 meters Centerline goodness [0,1] 0.9884712781554045 Centerline is valid? [True, True] Translation: X:841.72, Y:-62.51, Z:3.20 [[ 9.99845671e-01 -1.63181491e-02 -6.50780864e-03 8.41715262e+02] [ 1.63212317e-02 9.99866711e-01 4.20850254e-04 -6.25052087e+01] [ 6.50007372e-03 -5.27000758e-04 9.99978735e-01 3.19666127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.760714057 meters Centerline goodness [0,1] 0.9873673460325918 Centerline is valid? [True, True] Translation: X:841.75, Y:-62.51, Z:3.20 [[ 9.99847467e-01 -1.62372243e-02 -6.43387113e-03 8.41745810e+02] [ 1.62402377e-02 9.99868032e-01 4.16403896e-04 -6.25091178e+01] [ 6.42626082e-03 -5.20827978e-04 9.99979216e-01 3.19675650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.790714057 meters Centerline goodness [0,1] 0.9873111111111111 Centerline is valid? [True, True] Translation: X:841.78, Y:-62.51, Z:3.20 [[ 9.99840894e-01 -1.65620383e-02 -6.62458748e-03 8.41778278e+02] [ 1.65652434e-02 9.99862695e-01 4.29241520e-04 -6.25093946e+01] [ 6.61656878e-03 -5.38911129e-04 9.99977965e-01 3.19634573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8207140569999 meters Centerline goodness [0,1] 0.9860589216231239 Centerline is valid? [True, True] Translation: X:841.81, Y:-62.52, Z:3.20 [[ 9.99828444e-01 -1.71414076e-02 -7.01813926e-03 8.41808956e+02] [ 1.71450240e-02 9.99852910e-01 4.55447256e-04 -6.25165223e+01] [ 7.00929995e-03 -5.75695288e-04 9.99975269e-01 3.19540267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8507140569999 meters Centerline goodness [0,1] 0.9852184946906792 Centerline is valid? [True, True] Translation: X:841.84, Y:-62.52, Z:3.19 [[ 9.99778455e-01 -1.95535845e-02 -7.79088023e-03 8.41839786e+02] [ 1.95581143e-02 9.99808594e-01 5.05642127e-04 -6.25184304e+01] [ 7.77950189e-03 -6.57905030e-04 9.99969523e-01 3.19438741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.880714057 meters Centerline goodness [0,1] 0.9860846020684451 Centerline is valid? [True, True] Translation: X:841.87, Y:-62.52, Z:3.19 [[ 9.99753975e-01 -2.04920941e-02 -8.48903952e-03 8.41871930e+02] [ 2.04975111e-02 9.99789752e-01 5.51603957e-04 -6.25183173e+01] [ 8.47595120e-03 -7.25472430e-04 9.99963815e-01 3.19443606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.910714057 meters Centerline goodness [0,1] 0.9869479029779272 Centerline is valid? [True, True] Translation: X:841.90, Y:-62.52, Z:3.19 [[ 9.99720017e-01 -2.19988313e-02 -8.71432457e-03 8.41903130e+02] [ 2.20045990e-02 9.99757709e-01 5.66518507e-04 -6.25185021e+01] [ 8.69975042e-03 -7.58115108e-04 9.99961869e-01 3.19430847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9407140569999 meters Centerline goodness [0,1] 0.9869800924280128 Centerline is valid? [True, True] Translation: X:841.93, Y:-62.52, Z:3.19 [[ 9.99666278e-01 -2.43561486e-02 -8.60870950e-03 8.41934420e+02] [ 2.43618666e-02 9.99703049e-01 5.59960185e-04 -6.25218998e+01] [ 8.59251466e-03 -7.69497547e-04 9.99962788e-01 3.19429199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9707140569999 meters Centerline goodness [0,1] 0.9864178838617741 Centerline is valid? [True, True] Translation: X:841.97, Y:-62.53, Z:3.19 [[ 9.99648098e-01 -2.50770029e-02 -8.65006718e-03 8.41966521e+02] [ 2.50828084e-02 9.99685218e-01 5.63300881e-04 -6.25260074e+01] [ 8.63321840e-03 -7.80070632e-04 9.99962429e-01 3.19415977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.000714057 meters Centerline goodness [0,1] 0.9858777102824458 Centerline is valid? [True, True] Translation: X:842.00, Y:-62.53, Z:3.19 [[ 9.99651257e-01 -2.49725979e-02 -8.58687227e-03 8.41998470e+02] [ 2.49783202e-02 9.99687836e-01 5.59794899e-04 -6.25281057e+01] [ 8.57021223e-03 -7.74085319e-04 9.99962975e-01 3.19413618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.030714057 meters Centerline goodness [0,1] 0.9852951020863551 Centerline is valid? [True, True] Translation: X:842.03, Y:-62.53, Z:3.19 [[ 9.99664205e-01 -2.45280004e-02 -8.35787584e-03 8.42030872e+02] [ 2.45334111e-02 9.99698862e-01 5.45452626e-04 -6.25295051e+01] [ 8.34198011e-03 -7.50316670e-04 9.99964924e-01 3.19444881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0607140569999 meters Centerline goodness [0,1] 0.985323638310211 Centerline is valid? [True, True] Translation: X:842.06, Y:-62.53, Z:3.19 [[ 9.99692255e-01 -2.34132923e-02 -8.19834871e-03 8.42060854e+02] [ 2.34184620e-02 9.99725607e-01 5.35133784e-04 -6.25322778e+01] [ 8.18356990e-03 -7.26961817e-04 9.99966250e-01 3.19452440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0907140569999 meters Centerline goodness [0,1] 0.9883025270113402 Centerline is valid? [True, True] Translation: X:842.09, Y:-62.53, Z:3.20 [[ 9.99722408e-01 -2.21745729e-02 -7.96212762e-03 8.42092471e+02] [ 2.21794124e-02 9.99753871e-01 5.20021857e-04 -6.25256478e+01] [ 7.94863665e-03 -6.96472816e-04 9.99968167e-01 3.19569560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.120714057 meters Centerline goodness [0,1] 0.9874805079082201 Centerline is valid? [True, True] Translation: X:842.12, Y:-62.53, Z:3.20 [[ 9.99808853e-01 -1.82244948e-02 -7.07985079e-03 8.42121941e+02] [ 1.82282216e-02 9.99833745e-01 4.62218777e-04 -6.25257292e+01] [ 7.07025002e-03 -5.91183515e-04 9.99974831e-01 3.19672860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.150714057 meters Centerline goodness [0,1] 0.98787689702048 Centerline is valid? [True, True] Translation: X:842.15, Y:-62.53, Z:3.20 [[ 9.99852265e-01 -1.59862098e-02 -6.31578969e-03 8.42153019e+02] [ 1.59891321e-02 9.99872081e-01 4.12480538e-04 -6.25263565e+01] [ 6.30838778e-03 -5.13403596e-04 9.99979970e-01 3.19707749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1807140569999 meters Centerline goodness [0,1] 0.9882426572488712 Centerline is valid? [True, True] Translation: X:842.18, Y:-62.52, Z:3.20 [[ 9.99889633e-01 -1.34379863e-02 -6.33582847e-03 8.42183797e+02] [ 1.34408762e-02 9.99909582e-01 4.13772093e-04 -6.25237400e+01] [ 6.32969533e-03 -4.98885513e-04 9.99979843e-01 3.19757349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2107140569999 meters Centerline goodness [0,1] 0.9884082619106228 Centerline is valid? [True, True] Translation: X:842.21, Y:-62.52, Z:3.20 [[ 9.99947562e-01 -8.04837879e-03 -6.33219274e-03 8.42214351e+02] [ 8.05115793e-03 9.99967503e-01 4.13522433e-04 -6.25208946e+01] [ 6.32865878e-03 -4.64482233e-04 9.99979866e-01 3.19790055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2407140569999 meters Centerline goodness [0,1] 0.9894779260320588 Centerline is valid? [True, True] Translation: X:842.25, Y:-62.52, Z:3.20 [[ 9.99961616e-01 -5.47381858e-03 -6.84126122e-03 8.42245517e+02] [ 5.47700358e-03 9.99984901e-01 4.46909073e-04 -6.25188130e+01] [ 6.83871162e-03 -4.84361531e-04 9.99976498e-01 3.19796575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.270714057 meters Centerline goodness [0,1] 0.9892545483096664 Centerline is valid? [True, True] Translation: X:842.28, Y:-62.52, Z:3.20 [[ 9.99972524e-01 -2.90849750e-03 -6.81855433e-03 8.42275718e+02] [ 2.91159931e-03 9.99995662e-01 4.45024272e-04 -6.25193406e+01] [ 6.81723040e-03 -4.64864942e-04 9.99976654e-01 3.19780831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3007140569999 meters Centerline goodness [0,1] 0.9900201838977349 Centerline is valid? [True, True] Translation: X:842.30, Y:-62.52, Z:3.20 [[ 9.99973315e-01 1.41504914e-03 -7.16701000e-03 8.42304942e+02] [-1.41173363e-03 9.99998894e-01 4.67645141e-04 -6.25177145e+01] [ 7.16766382e-03 -4.57514753e-04 9.99974207e-01 3.19762476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3307140569999 meters Centerline goodness [0,1] 0.9890368576809255 Centerline is valid? [True, True] Translation: X:842.33, Y:-62.52, Z:3.20 [[ 9.99970945e-01 3.29376292e-03 -6.87467044e-03 8.42334567e+02] [-3.29075836e-03 9.99994485e-01 4.48312966e-04 -6.25181558e+01] [ 6.87610916e-03 -4.25677060e-04 9.99976269e-01 3.19724155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3607140569999 meters Centerline goodness [0,1] 0.9898663796968882 Centerline is valid? [True, True] Translation: X:842.36, Y:-62.52, Z:3.20 [[ 9.99964110e-01 4.95340723e-03 -6.87328240e-03 8.42363669e+02] [-4.95044650e-03 9.99987646e-01 4.47705943e-04 -6.25184793e+01] [ 6.87541516e-03 -4.13664058e-04 9.99976278e-01 3.19744301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.390714057 meters Centerline goodness [0,1] 0.9896328875325374 Centerline is valid? [True, True] Translation: X:842.39, Y:-62.52, Z:3.20 [[ 9.99960949e-01 6.30257810e-03 -6.19495541e-03 8.42391575e+02] [-6.30020144e-03 9.99980072e-01 4.03084387e-04 -6.25231503e+01] [ 6.19737243e-03 -3.64039180e-04 9.99980730e-01 3.19677454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4207140569999 meters Centerline goodness [0,1] 0.9888295724731955 Centerline is valid? [True, True] Translation: X:842.42, Y:-62.52, Z:3.20 [[ 9.99953437e-01 8.29943798e-03 -4.92381520e-03 8.42421800e+02] [-8.29796096e-03 9.99965520e-01 3.20327168e-04 -6.25200854e+01] [ 4.92630396e-03 -2.79454626e-04 9.99987827e-01 3.19764362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4507140569999 meters Centerline goodness [0,1] 0.9885150110820069 Centerline is valid? [True, True] Translation: X:842.45, Y:-62.52, Z:3.20 [[ 9.99949164e-01 8.90919970e-03 -4.72176808e-03 8.42450588e+02] [-8.90784997e-03 9.99960277e-01 3.06805621e-04 -6.25214913e+01] [ 4.72431391e-03 -2.64729223e-04 9.99988805e-01 3.19796298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4807140569999 meters Centerline goodness [0,1] 0.9894011182718434 Centerline is valid? [True, True] Translation: X:842.48, Y:-62.52, Z:3.20 [[ 9.99953406e-01 8.69401386e-03 -4.19513520e-03 8.42477824e+02] [-8.69294815e-03 9.99962179e-01 2.72203707e-04 -6.25237631e+01] [ 4.19734307e-03 -2.35722931e-04 9.99991163e-01 3.19806118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.510714057 meters Centerline goodness [0,1] 0.9883754852898274 Centerline is valid? [True, True] Translation: X:842.51, Y:-62.53, Z:3.20 [[ 9.99955451e-01 8.57205345e-03 -3.95167658e-03 8.42506480e+02] [-8.57110791e-03 9.99963235e-01 2.56150027e-04 -6.25256516e+01] [ 3.95372703e-03 -2.22268370e-04 9.99992159e-01 3.19811930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.540714057 meters Centerline goodness [0,1] 0.9890720171981369 Centerline is valid? [True, True] Translation: X:842.54, Y:-62.53, Z:3.20 [[ 9.99959943e-01 7.92818707e-03 -4.15404585e-03 8.42535490e+02] [-7.92713781e-03 9.99968544e-01 2.68990427e-04 -6.25280250e+01] [ 4.15604779e-03 -2.36049958e-04 9.99991336e-01 3.19824924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5707140569999 meters Centerline goodness [0,1] 0.9884670615688387 Centerline is valid? [True, True] Translation: X:842.56, Y:-62.53, Z:3.20 [[ 9.99973112e-01 5.65026752e-03 -4.67437976e-03 8.42563495e+02] [-5.64891556e-03 9.99983999e-01 3.02378733e-04 -6.25319429e+01] [ 4.67601348e-03 -2.75965426e-04 9.99989029e-01 3.19739914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6007140569999 meters Centerline goodness [0,1] 0.987754827423804 Centerline is valid? [True, True] Translation: X:842.59, Y:-62.54, Z:3.20 [[ 9.99979206e-01 4.20140022e-03 -4.89238835e-03 8.42591488e+02] [-4.19990351e-03 9.99991130e-01 3.16160111e-04 -6.25355564e+01] [ 4.89367327e-03 -2.95605978e-04 9.99987982e-01 3.19694256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.630714057 meters Centerline goodness [0,1] 0.9884261860350136 Centerline is valid? [True, True] Translation: X:842.62, Y:-62.53, Z:3.20 [[ 9.99985884e-01 -4.24520913e-04 -5.29646278e-03 8.42622608e+02] [ 4.26340045e-04 9.99999851e-01 3.42337280e-04 -6.25329391e+01] [ 5.29631666e-03 -3.44590542e-04 9.99985915e-01 3.19708483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.660714057 meters Centerline goodness [0,1] 0.9868415133384317 Centerline is valid? [True, True] Translation: X:842.65, Y:-62.55, Z:3.20 [[ 9.99980384e-01 -2.93537412e-03 -5.53318207e-03 8.42650963e+02] [ 2.93739787e-03 9.99995622e-01 3.57657101e-04 -6.25469772e+01] [ 5.53210798e-03 -3.73903243e-04 9.99984628e-01 3.19591913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6907140569999 meters Centerline goodness [0,1] 0.9883848936218014 Centerline is valid? [True, True] Translation: X:842.68, Y:-62.54, Z:3.20 [[ 9.99967871e-01 -5.66707892e-03 -5.66939512e-03 8.42681484e+02] [ 5.66924689e-03 9.99983863e-01 3.66401432e-04 -6.25392321e+01] [ 5.66722721e-03 -3.98530861e-04 9.99983862e-01 3.19671310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7207140569999 meters Centerline goodness [0,1] 0.9892511724973633 Centerline is valid? [True, True] Translation: X:842.71, Y:-62.54, Z:3.20 [[ 9.99950065e-01 -8.09325782e-03 -5.86231174e-03 8.42712205e+02] [ 8.09561738e-03 9.99967158e-01 3.78877907e-04 -6.25398147e+01] [ 5.85905286e-03 -4.26318021e-04 9.99982745e-01 3.19678945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.750714057 meters Centerline goodness [0,1] 0.9877428931270241 Centerline is valid? [True, True] Translation: X:842.74, Y:-62.54, Z:3.20 [[ 9.99907293e-01 -1.24799874e-02 -5.44563370e-03 8.42741073e+02] [ 1.24820901e-02 9.99922034e-01 3.52308500e-04 -6.25447558e+01] [ 5.44081232e-03 -4.20248729e-04 9.99985110e-01 3.19657289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.780714057 meters Centerline goodness [0,1] 0.9878506142064721 Centerline is valid? [True, True] Translation: X:842.77, Y:-62.55, Z:3.20 [[ 9.99888233e-01 -1.40321945e-02 -5.15933365e-03 8.42771153e+02] [ 1.40341027e-02 9.99901461e-01 3.33842887e-04 -6.25485977e+01] [ 5.15414071e-03 -4.06212193e-04 9.99986635e-01 3.19664449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8107140569999 meters Centerline goodness [0,1] 0.988045481101973 Centerline is valid? [True, True] Translation: X:842.80, Y:-62.55, Z:3.20 [[ 9.99869143e-01 -1.53704224e-02 -5.04450184e-03 8.42803051e+02] [ 1.53722650e-02 9.99881786e-01 3.26709341e-04 -6.25493844e+01] [ 5.03888385e-03 -4.04212008e-04 9.99987223e-01 3.19711627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8407140569999 meters Centerline goodness [0,1] 0.98717058863041 Centerline is valid? [True, True] Translation: X:842.83, Y:-62.55, Z:3.20 [[ 9.99857040e-01 -1.63364610e-02 -4.36116165e-03 8.42833914e+02] [ 1.63378484e-02 9.99866488e-01 2.82692918e-04 -6.25533121e+01] [ 4.35596118e-03 -3.53904502e-04 9.99990450e-01 3.19737411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.870714057 meters Centerline goodness [0,1] 0.98717058863041 Centerline is valid? [True, True] Translation: X:842.87, Y:-62.56, Z:3.20 [[ 9.99858185e-01 -1.62662484e-02 -4.36114071e-03 8.42865644e+02] [ 1.62676366e-02 9.99867633e-01 2.83015776e-04 -6.25554311e+01] [ 4.35595984e-03 -3.53921092e-04 9.99990450e-01 3.19734326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.900714057 meters Centerline goodness [0,1] 0.9875171498616765 Centerline is valid? [True, True] Translation: X:842.90, Y:-62.55, Z:3.20 [[ 9.99839771e-01 -1.75286543e-02 -3.63028557e-03 8.42897523e+02] [ 1.75296258e-02 9.99846316e-01 2.35949675e-04 -6.25519555e+01] [ 3.62559178e-03 -2.99549417e-04 9.99993383e-01 3.19881713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9307140569999 meters Centerline goodness [0,1] 0.9851991812313021 Centerline is valid? [True, True] Translation: X:842.93, Y:-62.56, Z:3.20 [[ 9.99839391e-01 -1.76554515e-02 -3.07866149e-03 8.42928649e+02] [ 1.76561512e-02 9.99844098e-01 2.00241598e-04 -6.25593317e+01] [ 3.07464616e-03 -2.54566750e-04 9.99995241e-01 3.19895598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9607140569999 meters Centerline goodness [0,1] 0.9879254803901691 Centerline is valid? [True, True] Translation: X:842.96, Y:-62.56, Z:3.20 [[ 9.99840177e-01 -1.76571952e-02 -2.80062630e-03 8.42960931e+02] [ 1.76577748e-02 9.99844073e-01 1.82379936e-04 -6.25563142e+01] [ 2.79696928e-03 -2.31803616e-04 9.99996062e-01 3.19932645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9907140569999 meters Centerline goodness [0,1] 0.9865481948037341 Centerline is valid? [True, True] Translation: X:842.99, Y:-62.56, Z:3.20 [[ 9.99844428e-01 -1.73667150e-02 -3.08506521e-03 8.42992432e+02] [ 1.73674174e-02 9.99849155e-01 2.01042807e-04 -6.25587355e+01] [ 3.08110839e-03 -2.54591146e-04 9.99995221e-01 3.19844068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.020714057 meters Centerline goodness [0,1] 0.9874069058903182 Centerline is valid? [True, True] Translation: X:843.02, Y:-62.56, Z:3.20 [[ 9.99839615e-01 -1.74412546e-02 -4.06774014e-03 8.43024848e+02] [ 1.74424777e-02 9.99847833e-01 2.65376250e-04 -6.25557081e+01] [ 4.06249267e-03 -3.36285154e-04 9.99991691e-01 3.19765440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0507140569999 meters Centerline goodness [0,1] 0.9880941622989337 Centerline is valid? [True, True] Translation: X:843.06, Y:-62.56, Z:3.20 [[ 9.99835046e-01 -1.75009906e-02 -4.85750509e-03 8.43056861e+02] [ 1.75027369e-02 9.99846765e-01 3.17235225e-04 -6.25576734e+01] [ 4.85120882e-03 -4.02202530e-04 9.99988152e-01 3.19681371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0807140569999 meters Centerline goodness [0,1] 0.9874116459104678 Centerline is valid? [True, True] Translation: X:843.09, Y:-62.56, Z:3.20 [[ 9.99832277e-01 -1.74284413e-02 -5.62736091e-03 8.43087614e+02] [ 1.74307879e-02 9.99848004e-01 3.68211873e-04 -6.25637597e+01] [ 5.62008822e-03 -4.66239450e-04 9.99984098e-01 3.19530729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1107140569999 meters Centerline goodness [0,1] 0.9885934140545434 Centerline is valid? [True, True] Translation: X:843.12, Y:-62.56, Z:3.19 [[ 9.99824155e-01 -1.73102239e-02 -7.21217713e-03 8.43119911e+02] [ 1.73140785e-02 9.99849989e-01 4.72351837e-04 -6.25581426e+01] [ 7.20291871e-03 -5.97140977e-04 9.99973880e-01 3.19427977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.140714057 meters Centerline goodness [0,1] 0.9886160865538816 Centerline is valid? [True, True] Translation: X:843.15, Y:-62.56, Z:3.19 [[ 9.99832245e-01 -1.65861285e-02 -7.77063156e-03 8.43151948e+02] [ 1.65905857e-02 9.99862237e-01 5.09477300e-04 -6.25601857e+01] [ 7.76111080e-03 -6.38311161e-04 9.99969678e-01 3.19335520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1707140569999 meters Centerline goodness [0,1] 0.9872742945286271 Centerline is valid? [True, True] Translation: X:843.18, Y:-62.56, Z:3.19 [[ 9.99833897e-01 -1.60615315e-02 -8.61424726e-03 8.43183735e+02] [ 1.60669949e-02 9.99870758e-01 5.65396047e-04 -6.25608825e+01] [ 8.60405280e-03 -7.03707200e-04 9.99962737e-01 3.19293164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2007140569999 meters Centerline goodness [0,1] 0.9869112901405908 Centerline is valid? [True, True] Translation: X:843.21, Y:-62.56, Z:3.19 [[ 9.99850596e-01 -1.46344676e-02 -9.19882820e-03 8.43214621e+02] [ 1.46406403e-02 9.99892638e-01 6.04051164e-04 -6.25610016e+01] [ 9.18900062e-03 -7.38637651e-04 9.99957507e-01 3.19230682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2307140569999 meters Centerline goodness [0,1] 0.9884575264184317 Centerline is valid? [True, True] Translation: X:843.25, Y:-62.56, Z:3.19 [[ 9.99862744e-01 -1.39183577e-02 -8.98739213e-03 8.43246183e+02] [ 1.39242241e-02 9.99902879e-01 5.90492853e-04 -6.25569909e+01] [ 8.97830057e-03 -7.15554267e-04 9.99959438e-01 3.19267751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.260714057 meters Centerline goodness [0,1] 0.9881290792076957 Centerline is valid? [True, True] Translation: X:843.28, Y:-62.56, Z:3.19 [[ 9.99882624e-01 -1.27865105e-02 -8.44062652e-03 8.43277454e+02] [ 1.27916474e-02 9.99918030e-01 5.54877312e-04 -6.25569186e+01] [ 8.43283970e-03 -6.62781701e-04 9.99964223e-01 3.19268128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.290714057 meters Centerline goodness [0,1] 0.9883100902379 Centerline is valid? [True, True] Translation: X:843.31, Y:-62.56, Z:3.19 [[ 9.99911121e-01 -1.08506172e-02 -7.74693492e-03 8.43307732e+02] [ 1.08548864e-02 9.99940954e-01 5.09242580e-04 -6.25567213e+01] [ 7.74095190e-03 -5.93289417e-04 9.99969862e-01 3.19324658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3207140569999 meters Centerline goodness [0,1] 0.9874500855675984 Centerline is valid? [True, True] Translation: X:843.34, Y:-62.56, Z:3.19 [[ 9.99922920e-01 -9.98826560e-03 -7.37487703e-03 8.43337779e+02] [ 9.99211229e-03 9.99949960e-01 4.84931670e-04 -6.25584754e+01] [ 7.36966436e-03 -5.58584891e-04 9.99972688e-01 3.19366580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3507140569999 meters Centerline goodness [0,1] 0.9872986864648772 Centerline is valid? [True, True] Translation: X:843.37, Y:-62.55, Z:3.19 [[ 9.99933902e-01 -9.22935993e-03 -6.85645877e-03 8.43369348e+02] [ 9.23266890e-03 9.99957276e-01 4.51110264e-04 -6.25539251e+01] [ 6.85200237e-03 -5.14383860e-04 9.99976392e-01 3.19472449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.380714057 meters Centerline goodness [0,1] 0.98696216068625 Centerline is valid? [True, True] Translation: X:843.40, Y:-62.56, Z:3.20 [[ 9.99951070e-01 -8.44157364e-03 -5.15731639e-03 8.43399568e+02] [ 8.44343578e-03 9.99964296e-01 3.39401089e-04 -6.25566584e+01] [ 5.15426718e-03 -3.82929952e-04 9.99986643e-01 3.19534442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.410714057 meters Centerline goodness [0,1] 0.9872803118375162 Centerline is valid? [True, True] Translation: X:843.43, Y:-62.56, Z:3.20 [[ 9.99955593e-01 -8.42740407e-03 -4.21800565e-03 8.43430942e+02] [ 8.42865026e-03 9.99964440e-01 2.77754987e-04 -6.25579483e+01] [ 4.21551490e-03 -3.13294747e-04 9.99991066e-01 3.19603286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4407140569999 meters Centerline goodness [0,1] 0.987243735763098 Centerline is valid? [True, True] Translation: X:843.46, Y:-62.56, Z:3.20 [[ 9.99951933e-01 -8.95849555e-03 -3.98459098e-03 8.43462660e+02] [ 8.95961274e-03 9.99959827e-01 2.62615788e-04 -6.25597649e+01] [ 3.98207827e-03 -2.98303557e-04 9.99992027e-01 3.19590809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4707140569999 meters Centerline goodness [0,1] 0.9871143458756751 Centerline is valid? [True, True] Translation: X:843.49, Y:-62.56, Z:3.20 [[ 9.99929797e-01 -1.08142932e-02 -4.84270548e-03 8.43493920e+02] [ 1.08159658e-02 9.99941455e-01 3.19314895e-04 -6.25623254e+01] [ 4.83896880e-03 -3.71671015e-04 9.99988223e-01 3.19515657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.500714057 meters Centerline goodness [0,1] 0.988427143608627 Centerline is valid? [True, True] Translation: X:843.53, Y:-62.56, Z:3.19 [[ 9.99911323e-01 -1.20114103e-02 -5.75080691e-03 8.43525357e+02] [ 1.20137897e-02 9.99927760e-01 3.79389558e-04 -6.25648232e+01] [ 5.74583447e-03 -4.48444900e-04 9.99983392e-01 3.19440066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.530714057 meters Centerline goodness [0,1] 0.9859896524884392 Centerline is valid? [True, True] Translation: X:843.56, Y:-62.58, Z:3.19 [[ 9.99894335e-01 -1.29924679e-02 -6.52024796e-03 8.43555705e+02] [ 1.29955497e-02 9.99915462e-01 4.30507567e-04 -6.25766771e+01] [ 6.51410339e-03 -5.15196285e-04 9.99978650e-01 3.19271734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5607140569999 meters Centerline goodness [0,1] 0.9883362625824564 Centerline is valid? [True, True] Translation: X:843.59, Y:-62.57, Z:3.19 [[ 9.99858066e-01 -1.50661317e-02 -7.54053167e-03 8.43587165e+02] [ 1.50703142e-02 9.99886312e-01 4.98153692e-04 -6.25688977e+01] [ 7.53216916e-03 -6.11721169e-04 9.99971446e-01 3.19245613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5907140569999 meters Centerline goodness [0,1] 0.9885427365057629 Centerline is valid? [True, True] Translation: X:843.62, Y:-62.57, Z:3.19 [[ 9.99846107e-01 -1.58003187e-02 -7.62319386e-03 8.43618950e+02] [ 1.58046190e-02 9.99874972e-01 5.04191677e-04 -6.25718688e+01] [ 7.61427436e-03 -6.24595760e-04 9.99970816e-01 3.19204033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.620714057 meters Centerline goodness [0,1] 0.9875471266994174 Centerline is valid? [True, True] Translation: X:843.65, Y:-62.58, Z:3.19 [[ 9.99833077e-01 -1.63919617e-02 -8.06975578e-03 8.43649997e+02] [ 1.63968030e-02 9.99865421e-01 5.34136248e-04 -6.25760875e+01] [ 8.05991422e-03 -6.66365285e-04 9.99967296e-01 3.19134569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.650714057 meters Centerline goodness [0,1] 0.9874459765383824 Centerline is valid? [True, True] Translation: X:843.68, Y:-62.58, Z:3.19 [[ 9.99829329e-01 -1.67375862e-02 -7.82092165e-03 8.43681014e+02] [ 1.67421473e-02 9.99859706e-01 5.18078097e-04 -6.25800940e+01] [ 7.81115304e-03 -6.48928698e-04 9.99969282e-01 3.19105177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6807140569999 meters Centerline goodness [0,1] 0.9868198638585591 Centerline is valid? [True, True] Translation: X:843.71, Y:-62.58, Z:3.19 [[ 9.99826467e-01 -1.70705176e-02 -7.45876464e-03 8.43713062e+02] [ 1.70746793e-02 9.99854095e-01 4.94626349e-04 -6.25825600e+01] [ 7.44923284e-03 -6.21896529e-04 9.99972061e-01 3.19149997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7107140569999 meters Centerline goodness [0,1] 0.9870022883295194 Centerline is valid? [True, True] Translation: X:843.75, Y:-62.58, Z:3.19 [[ 9.99826401e-01 -1.71074125e-02 -7.38276770e-03 8.43745505e+02] [ 1.71114946e-02 9.99853468e-01 4.90102144e-04 -6.25845219e+01] [ 7.37330151e-03 -6.16347253e-04 9.99972627e-01 3.19148782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7407140569999 meters Centerline goodness [0,1] 0.9865143328143603 Centerline is valid? [True, True] Translation: X:843.78, Y:-62.59, Z:3.19 [[ 9.99836997e-01 -1.64536251e-02 -7.43355153e-03 8.43777229e+02] [ 1.64577494e-02 9.99864440e-01 4.93986337e-04 -6.25871380e+01] [ 7.42441597e-03 -6.16245345e-04 9.99972249e-01 3.19114921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.770714057 meters Centerline goodness [0,1] 0.9874206631074858 Centerline is valid? [True, True] Translation: X:843.81, Y:-62.58, Z:3.19 [[ 9.99866249e-01 -1.49230304e-02 -6.69235745e-03 8.43809013e+02] [ 1.49263406e-02 9.99888497e-01 4.44941814e-04 -6.25838156e+01] [ 6.68497135e-03 -5.44774709e-04 9.99977507e-01 3.19175843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8007140569999 meters Centerline goodness [0,1] 0.9865529606472968 Centerline is valid? [True, True] Translation: X:843.84, Y:-62.59, Z:3.19 [[ 9.99880632e-01 -1.39934658e-02 -6.55016396e-03 8.43839695e+02] [ 1.39966193e-02 9.99901948e-01 4.35847220e-04 -6.25873826e+01] [ 6.54342268e-03 -5.27475346e-04 9.99978452e-01 3.19174645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8307140569999 meters Centerline goodness [0,1] 0.9870612525808672 Centerline is valid? [True, True] Translation: X:843.87, Y:-62.59, Z:3.19 [[ 9.99894729e-01 -1.30827779e-02 -6.27475199e-03 8.43870914e+02] [ 1.30856553e-02 9.99914292e-01 4.17723064e-04 -6.25887886e+01] [ 6.26874922e-03 -4.99788332e-04 9.99980226e-01 3.19131055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8607140569999 meters Centerline goodness [0,1] 0.9871001862539953 Centerline is valid? [True, True] Translation: X:843.90, Y:-62.59, Z:3.19 [[ 9.99907980e-01 -1.21204364e-02 -6.09314186e-03 8.43902130e+02] [ 1.21231331e-02 9.99926430e-01 4.05843621e-04 -6.25904548e+01] [ 6.08777458e-03 -4.79674246e-04 9.99981354e-01 3.19137587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.890714057 meters Centerline goodness [0,1] 0.9864961236743426 Centerline is valid? [True, True] Translation: X:843.93, Y:-62.59, Z:3.19 [[ 9.99925070e-01 -1.07487863e-02 -5.85820215e-03 8.43932640e+02] [ 1.07512562e-02 9.99942127e-01 3.90280703e-04 -6.25925805e+01] [ 5.85366808e-03 -4.53234492e-04 9.99982764e-01 3.19174999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9207140569999 meters Centerline goodness [0,1] 0.9864529187175123 Centerline is valid? [True, True] Translation: X:843.96, Y:-62.59, Z:3.19 [[ 9.99934076e-01 -1.01056973e-02 -5.45142241e-03 8.43964518e+02] [ 1.01078282e-02 9.99948849e-01 3.63491361e-04 -6.25945175e+01] [ 5.44747023e-03 -4.18569440e-04 9.99985075e-01 3.19160575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9507140569999 meters Centerline goodness [0,1] 0.9848143205558879 Centerline is valid? [True, True] Translation: X:844.00, Y:-62.60, Z:3.19 [[ 9.99937887e-01 -9.75312192e-03 -5.39432328e-03 8.43995115e+02] [ 9.75520486e-03 9.99952352e-01 3.59957978e-04 -6.25998304e+01] [ 5.39055554e-03 -4.12558349e-04 9.99985386e-01 3.19159513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9807140569999 meters Centerline goodness [0,1] 0.9884909308535126 Centerline is valid? [True, True] Translation: X:844.03, Y:-62.59, Z:3.19 [[ 9.99941057e-01 -9.22114584e-03 -5.73171326e-03 8.44027519e+02] [ 9.22349121e-03 9.99957389e-01 3.82892108e-04 -6.25936365e+01] [ 5.72793832e-03 -4.35735946e-04 9.99983500e-01 3.19221947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.010714057 meters Centerline goodness [0,1] 0.9875074633720663 Centerline is valid? [True, True] Translation: X:844.06, Y:-62.60, Z:3.19 [[ 9.99941729e-01 -8.94090567e-03 -6.04965706e-03 8.44058807e+02] [ 8.94351771e-03 9.99959924e-01 4.04850562e-04 -6.25987566e+01] [ 6.04579488e-03 -4.58932186e-04 9.99981619e-01 3.19139583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.040714057 meters Centerline goodness [0,1] 0.9876599949445044 Centerline is valid? [True, True] Translation: X:844.09, Y:-62.60, Z:3.19 [[ 9.99939350e-01 -8.73322972e-03 -6.71029180e-03 8.44090391e+02] [ 8.73643968e-03 9.99961736e-01 4.49200609e-04 -6.26023110e+01] [ 6.70611206e-03 -5.07797424e-04 9.99977385e-01 3.19107228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0707140569999 meters Centerline goodness [0,1] 0.9897494828774994 Centerline is valid? [True, True] Translation: X:844.12, Y:-62.59, Z:3.19 [[ 9.99941888e-01 -8.16691502e-03 -7.03726174e-03 8.44122711e+02] [ 8.17043331e-03 9.99966510e-01 4.71345876e-04 -6.25943797e+01] [ 7.03317662e-03 -5.28815963e-04 9.99975127e-01 3.19144479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1007140569999 meters Centerline goodness [0,1] 0.9901151697662123 Centerline is valid? [True, True] Translation: X:844.15, Y:-62.60, Z:3.19 [[ 9.99942361e-01 -7.83304607e-03 -7.34290226e-03 8.44153268e+02] [ 7.83686739e-03 9.99969170e-01 4.91780425e-04 -6.25976976e+01] [ 7.33882374e-03 -5.49297431e-04 9.99972920e-01 3.19103540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.130714057 meters Centerline goodness [0,1] 0.9894091159713287 Centerline is valid? [True, True] Translation: X:844.18, Y:-62.60, Z:3.19 [[ 9.99949578e-01 -6.58461415e-03 -7.58186268e-03 8.44182363e+02] [ 6.58865397e-03 9.99978166e-01 5.07972290e-04 -6.26041938e+01] [ 7.57835233e-03 -5.57900947e-04 9.99971128e-01 3.19057863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.160714057 meters Centerline goodness [0,1] 0.9888085478745452 Centerline is valid? [True, True] Translation: X:844.21, Y:-62.61, Z:3.19 [[ 9.99950447e-01 -6.22770463e-03 -7.76659764e-03 8.44211396e+02] [ 6.23193050e-03 9.99980446e-01 5.20025910e-04 -6.26074136e+01] [ 7.76320720e-03 -5.68401038e-04 9.99969704e-01 3.19050899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1907140569999 meters Centerline goodness [0,1] 0.9889895182052225 Centerline is valid? [True, True] Translation: X:844.24, Y:-62.61, Z:3.19 [[ 9.99956342e-01 -5.49423360e-03 -7.55825306e-03 8.44241099e+02] [ 5.49821295e-03 9.99984757e-01 5.05812640e-04 -6.26088286e+01] [ 7.55535879e-03 -5.47347442e-04 9.99971308e-01 3.19070501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2207140569999 meters Centerline goodness [0,1] 0.9900282609195138 Centerline is valid? [True, True] Translation: X:844.27, Y:-62.60, Z:3.19 [[ 9.99958827e-01 -5.03391921e-03 -7.55012379e-03 8.44271635e+02] [ 5.03787225e-03 9.99987183e-01 5.04645315e-04 -6.26043191e+01] [ 7.54748668e-03 -5.42661096e-04 9.99971370e-01 3.19137890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.250714057 meters Centerline goodness [0,1] 0.989289482133847 Centerline is valid? [True, True] Translation: X:844.30, Y:-62.61, Z:3.19 [[ 9.99959827e-01 -4.80920148e-03 -7.56408077e-03 8.44300981e+02] [ 4.81316099e-03 9.99988289e-01 5.05345565e-04 -6.26070188e+01] [ 7.56156188e-03 -5.41732402e-04 9.99971264e-01 3.19138864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.280714057 meters Centerline goodness [0,1] 0.9896196150320806 Centerline is valid? [True, True] Translation: X:844.33, Y:-62.61, Z:3.19 [[ 9.99960697e-01 -4.76453558e-03 -7.47682699e-03 8.44329614e+02] [ 4.76839990e-03 9.99988507e-01 4.99097995e-04 -6.26132358e+01] [ 7.47436309e-03 -5.34730880e-04 9.99971924e-01 3.19095483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3107140569999 meters Centerline goodness [0,1] 0.9883086515978177 Centerline is valid? [True, True] Translation: X:844.36, Y:-62.62, Z:3.19 [[ 9.99957591e-01 -5.11995389e-03 -7.65517280e-03 8.44357512e+02] [ 5.12401107e-03 9.99986742e-01 5.10472801e-04 -6.26211722e+01] [ 7.65245771e-03 -5.49676343e-04 9.99970568e-01 3.19033991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3407140569999 meters Centerline goodness [0,1] 0.9899823082048572 Centerline is valid? [True, True] Translation: X:844.39, Y:-62.62, Z:3.19 [[ 9.99950910e-01 -6.06044756e-03 -7.83889114e-03 8.44387847e+02] [ 6.06472862e-03 9.99981473e-01 5.22475942e-04 -6.26173667e+01] [ 7.83557947e-03 -5.69991041e-04 9.99969139e-01 3.19148426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.370714057 meters Centerline goodness [0,1] 0.9894187133702766 Centerline is valid? [True, True] Translation: X:844.42, Y:-62.62, Z:3.19 [[ 9.99945761e-01 -6.80053048e-03 -7.88845230e-03 8.44416626e+02] [ 6.80489110e-03 9.99976708e-01 5.26075736e-04 -6.26228964e+01] [ 7.88469096e-03 -5.79727261e-04 9.99968747e-01 3.19070318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.400714057 meters Centerline goodness [0,1] 0.989772571271679 Centerline is valid? [True, True] Translation: X:844.45, Y:-62.63, Z:3.19 [[ 9.99937204e-01 -7.62705338e-03 -8.21074100e-03 8.44445950e+02] [ 7.63180245e-03 9.99970728e-01 5.47219696e-04 -6.26271733e+01] [ 8.20632698e-03 -6.09848086e-04 9.99966142e-01 3.19035975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4307140569999 meters Centerline goodness [0,1] 0.9893488148842312 Centerline is valid? [True, True] Translation: X:844.48, Y:-62.63, Z:3.19 [[ 9.99922969e-01 -9.13880670e-03 -8.39866768e-03 8.44475575e+02] [ 9.14382761e-03 9.99958038e-01 5.59616787e-04 -6.26325737e+01] [ 8.39320102e-03 -6.36369649e-04 9.99964574e-01 3.19034385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4607140569999 meters Centerline goodness [0,1] 0.989461170930206 Centerline is valid? [True, True] Translation: X:844.51, Y:-62.64, Z:3.19 [[ 9.99920936e-01 -9.81742109e-03 -7.85750236e-03 8.44505581e+02] [ 9.82183674e-03 9.99951628e-01 5.23573749e-04 -6.26365740e+01] [ 7.85198213e-03 -6.00707458e-04 9.99968992e-01 3.19063575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4907140569999 meters Centerline goodness [0,1] 0.9888221099121249 Centerline is valid? [True, True] Translation: X:844.54, Y:-62.64, Z:3.19 [[ 9.99922709e-01 -1.04974379e-02 -6.66187199e-03 8.44535664e+02] [ 1.05006278e-02 9.99944768e-01 4.44034669e-04 -6.26421975e+01] [ 6.65684281e-03 -5.13954188e-04 9.99977711e-01 3.19105876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.520714057 meters Centerline goodness [0,1] 0.9882925276773739 Centerline is valid? [True, True] Translation: X:844.57, Y:-62.64, Z:3.19 [[ 9.99923108e-01 -1.06415442e-02 -6.36675309e-03 8.44567701e+02] [ 1.06444623e-02 9.99943256e-01 4.24609735e-04 -6.26385307e+01] [ 6.36187331e-03 -4.92347749e-04 9.99979642e-01 3.19170601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5507140569999 meters Centerline goodness [0,1] 0.9892183288409704 Centerline is valid? [True, True] Translation: X:844.60, Y:-62.64, Z:3.19 [[ 9.99926258e-01 -1.04663925e-02 -6.15898963e-03 8.44599024e+02] [ 1.04691213e-02 9.99945113e-01 4.10976364e-04 -6.26407191e+01] [ 6.15435014e-03 -4.75425267e-04 9.99980949e-01 3.19193134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5807140569999 meters Centerline goodness [0,1] 0.9891329111040233 Centerline is valid? [True, True] Translation: X:844.63, Y:-62.64, Z:3.19 [[ 9.99930625e-01 -1.01247640e-02 -6.01953974e-03 8.44630413e+02] [ 1.01273657e-02 9.99948636e-01 4.01892100e-04 -6.26406451e+01] [ 6.01516149e-03 -4.62826299e-04 9.99981802e-01 3.19212971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6107140569999 meters Centerline goodness [0,1] 0.9885637632721733 Centerline is valid? [True, True] Translation: X:844.66, Y:-62.65, Z:3.19 [[ 9.99941179e-01 -8.79926003e-03 -6.34119671e-03 8.44660387e+02] [ 8.80212428e-03 9.99961171e-01 4.23922624e-04 -6.26481762e+01] [ 6.33722028e-03 -4.79713690e-04 9.99979805e-01 3.19138879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.640714057 meters Centerline goodness [0,1] 0.9878404891180362 Centerline is valid? [True, True] Translation: X:844.69, Y:-62.65, Z:3.19 [[ 9.99944353e-01 -8.30494031e-03 -6.50534387e-03 8.44691904e+02] [ 8.30794556e-03 9.99965394e-01 4.35079001e-04 -6.26508067e+01] [ 6.50150544e-03 -4.89100833e-04 9.99978745e-01 3.19135827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6707140569999 meters Centerline goodness [0,1] 0.9881174595948099 Centerline is valid? [True, True] Translation: X:844.72, Y:-62.65, Z:3.19 [[ 9.99946900e-01 -7.68906481e-03 -6.86112836e-03 8.44722730e+02] [ 7.69239312e-03 9.99970308e-01 4.58837967e-04 -6.26523749e+01] [ 6.85739661e-03 -5.11592099e-04 9.99976357e-01 3.19120390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7007140569999 meters Centerline goodness [0,1] 0.9883985441310282 Centerline is valid? [True, True] Translation: X:844.75, Y:-62.65, Z:3.19 [[ 9.99956795e-01 -6.62183116e-03 -6.52373933e-03 8.44753522e+02] [ 6.62481754e-03 9.99977960e-01 4.36268468e-04 -6.26539335e+01] [ 6.52070666e-03 -4.79468202e-04 9.99978625e-01 3.19089233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7307140569999 meters Centerline goodness [0,1] 0.9888126865501606 Centerline is valid? [True, True] Translation: X:844.78, Y:-62.65, Z:3.19 [[ 9.99959328e-01 -6.19658672e-03 -6.55325859e-03 8.44784435e+02] [ 6.19959112e-03 9.99980686e-01 4.38243397e-04 -6.26549153e+01] [ 6.55041641e-03 -4.78853096e-04 9.99978431e-01 3.19098449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.760714057 meters Centerline goodness [0,1] 0.9888126865501606 Centerline is valid? [True, True] Translation: X:844.81, Y:-62.66, Z:3.19 [[ 9.99959328e-01 -6.19658672e-03 -6.55325859e-03 8.44814449e+02] [ 6.19959112e-03 9.99980686e-01 4.38243397e-04 -6.26569224e+01] [ 6.55041641e-03 -4.78853096e-04 9.99978431e-01 3.19095529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.790714057 meters Centerline goodness [0,1] 0.9884694109620196 Centerline is valid? [True, True] Translation: X:844.85, Y:-62.66, Z:3.19 [[ 9.99965266e-01 -5.05975256e-03 -6.62304695e-03 8.44845155e+02] [ 5.06279648e-03 9.99987086e-01 4.42910432e-04 -6.26585893e+01] [ 6.62072040e-03 -4.76426187e-04 9.99977969e-01 3.19073686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8207140569999 meters Centerline goodness [0,1] 0.9878966083150985 Centerline is valid? [True, True] Translation: X:844.87, Y:-62.66, Z:3.19 [[ 9.99967098e-01 -4.24541343e-03 -6.91222853e-03 8.44874017e+02] [ 4.24870767e-03 9.99990867e-01 4.61967555e-04 -6.26641223e+01] [ 6.91020416e-03 -4.91320393e-04 9.99976004e-01 3.19081914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8507140569999 meters Centerline goodness [0,1] 0.9865147587210624 Centerline is valid? [True, True] Translation: X:844.90, Y:-62.67, Z:3.19 [[ 9.99967164e-01 -3.69719580e-03 -7.21119434e-03 8.44902299e+02] [ 3.70076417e-03 9.99993036e-01 4.81556725e-04 -6.26707362e+01] [ 7.20936371e-03 -5.08227843e-04 9.99973883e-01 3.18993972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.880714057 meters Centerline goodness [0,1] 0.9874698136419556 Centerline is valid? [True, True] Translation: X:844.93, Y:-62.67, Z:3.19 [[ 9.99969439e-01 -3.34669732e-03 -7.06544853e-03 8.44932002e+02] [ 3.35011252e-03 9.99994277e-01 4.71586627e-04 -6.26656312e+01] [ 7.06382983e-03 -4.95242263e-04 9.99974928e-01 3.19049809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.910714057 meters Centerline goodness [0,1] 0.9880385500444282 Centerline is valid? [True, True] Translation: X:844.96, Y:-62.67, Z:3.19 [[ 9.99967857e-01 -2.04503946e-03 -7.75254903e-03 8.44960992e+02] [ 2.04911019e-03 9.99997767e-01 5.17176440e-04 -6.26703866e+01] [ 7.75147407e-03 -5.33045644e-04 9.99969815e-01 3.18937184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9407140569999 meters Centerline goodness [0,1] 0.9889111070714416 Centerline is valid? [True, True] Translation: X:844.99, Y:-62.67, Z:3.19 [[ 9.99964214e-01 -1.37909093e-03 -8.34681171e-03 8.44990272e+02] [ 1.38376714e-03 9.99998889e-01 5.54489977e-04 -6.26682624e+01] [ 8.34603775e-03 -5.66020178e-04 9.99965011e-01 3.18949917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9707140569999 meters Centerline goodness [0,1] 0.9881990532061882 Centerline is valid? [True, True] Translation: X:845.02, Y:-62.68, Z:3.19 [[ 9.99956940e-01 3.54683803e-04 -9.27316515e-03 8.45017402e+02] [-3.48992211e-04 9.99999750e-01 6.15381136e-04 -6.26758591e+01] [ 9.27338109e-03 -6.12118375e-04 9.99956814e-01 3.18801746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.000714057 meters Centerline goodness [0,1] 0.9884698153811303 Centerline is valid? [True, True] Translation: X:845.05, Y:-62.67, Z:3.19 [[ 9.99959082e-01 1.00515662e-03 -8.99021332e-03 8.45046611e+02] [-9.99854772e-04 9.99999324e-01 5.94210581e-04 -6.26738196e+01] [ 8.99080452e-03 -5.85197360e-04 9.99959411e-01 3.18873020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.030714057 meters Centerline goodness [0,1] 0.988580120782818 Centerline is valid? [True, True] Translation: X:845.08, Y:-62.67, Z:3.19 [[ 9.99959096e-01 1.30305781e-03 -8.95028869e-03 8.45075222e+02] [-1.29781911e-03 9.99998983e-01 5.91093973e-04 -6.26738525e+01] [ 8.95104982e-03 -5.79453940e-04 9.99959771e-01 3.18905800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0607140569999 meters Centerline goodness [0,1] 0.988099016185338 Centerline is valid? [True, True] Translation: X:845.10, Y:-62.68, Z:3.19 [[ 9.99959681e-01 1.88903202e-03 -8.77879428e-03 8.45102605e+02] [-1.88402175e-03 9.99998058e-01 5.78958857e-04 -6.26788922e+01] [ 8.77987090e-03 -5.62396075e-04 9.99961298e-01 3.18885594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0907140569999 meters Centerline goodness [0,1] 0.9877940675076713 Centerline is valid? [True, True] Translation: X:845.13, Y:-62.68, Z:3.19 [[ 9.99961468e-01 2.76438994e-03 -8.33188407e-03 8.45131810e+02] [-2.75991615e-03 9.99996041e-01 5.48398568e-04 -6.26800558e+01] [ 8.33336707e-03 -5.25382135e-04 9.99965139e-01 3.18919234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.120714057 meters Centerline goodness [0,1] 0.9884913969219594 Centerline is valid? [True, True] Translation: X:845.16, Y:-62.68, Z:3.19 [[ 9.99960780e-01 3.17824348e-03 -8.26665240e-03 8.45158955e+02] [-3.17385930e-03 9.99994816e-01 5.43409682e-04 -6.26843053e+01] [ 8.26833663e-03 -5.17151178e-04 9.99965683e-01 3.18903862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.150714057 meters Centerline goodness [0,1] 0.9889937820541914 Centerline is valid? [True, True] Translation: X:845.19, Y:-62.68, Z:3.19 [[ 9.99958282e-01 4.05729818e-03 -8.18365566e-03 8.45187799e+02] [-4.05303554e-03 9.99991642e-01 5.37389822e-04 -6.26832897e+01] [ 8.18576761e-03 -5.04198756e-04 9.99966369e-01 3.18965592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1807140569999 meters Centerline goodness [0,1] 0.9878331665605385 Centerline is valid? [True, True] Translation: X:845.22, Y:-62.69, Z:3.19 [[ 9.99959565e-01 4.15646961e-03 -7.97448794e-03 8.45216168e+02] [-4.15242972e-03 9.99991242e-01 5.23093113e-04 -6.26863131e+01] [ 7.97659232e-03 -4.89958461e-04 9.99968066e-01 3.18980967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2107140569999 meters Centerline goodness [0,1] 0.9883301169258712 Centerline is valid? [True, True] Translation: X:845.25, Y:-62.69, Z:3.19 [[ 9.99961053e-01 4.65362198e-03 -7.49907125e-03 8.45245051e+02] [-4.65006737e-03 9.99989068e-01 4.91372558e-04 -6.26879755e+01] [ 7.50127593e-03 -4.56482234e-04 9.99971761e-01 3.18985959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2407140569999 meters Centerline goodness [0,1] 0.9883123060544973 Centerline is valid? [True, True] Translation: X:845.27, Y:-62.69, Z:3.19 [[ 9.99966075e-01 4.50296506e-03 -6.89729006e-03 8.45273259e+02] [-4.49995893e-03 9.99989773e-01 4.51298334e-04 -6.26908553e+01] [ 6.89925171e-03 -4.20245502e-04 9.99976112e-01 3.18949144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.270714057 meters Centerline goodness [0,1] 0.9883502187167109 Centerline is valid? [True, True] Translation: X:845.30, Y:-62.69, Z:3.19 [[ 9.99966531e-01 4.48400215e-03 -6.84328652e-03 8.45301630e+02] [-4.48104577e-03 9.99989860e-01 4.47282979e-04 -6.26923639e+01] [ 6.84522275e-03 -4.16602929e-04 9.99976484e-01 3.18999647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3007140569999 meters Centerline goodness [0,1] 0.9872056159420289 Centerline is valid? [True, True] Translation: X:845.33, Y:-62.70, Z:3.19 [[ 9.99969037e-01 4.10896965e-03 -6.71133078e-03 8.45330477e+02] [-4.10612100e-03 9.99991474e-01 4.38177211e-04 -6.26958925e+01] [ 6.71307401e-03 -4.10606108e-04 9.99977383e-01 3.18931513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3307140569999 meters Centerline goodness [0,1] 0.9887574498826079 Centerline is valid? [True, True] Translation: X:845.36, Y:-62.70, Z:3.19 [[ 9.99969476e-01 3.53651571e-03 -6.96709265e-03 8.45358678e+02] [-3.53343540e-03 9.99993654e-01 4.54381608e-04 -6.26997019e+01] [ 6.96865537e-03 -4.29749967e-04 9.99975626e-01 3.18876226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3607140569999 meters Centerline goodness [0,1] 0.9877362964970526 Centerline is valid? [True, True] Translation: X:845.39, Y:-62.71, Z:3.19 [[ 9.99967541e-01 3.20730710e-03 -7.39120699e-03 8.45386060e+02] [-3.20383631e-03 9.99994752e-01 4.81375425e-04 -6.27052602e+01] [ 7.39271212e-03 -4.57679583e-04 9.99972569e-01 3.18788542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.390714057 meters Centerline goodness [0,1] 0.9879095252111305 Centerline is valid? [True, True] Translation: X:845.41, Y:-62.70, Z:3.19 [[ 9.99958918e-01 2.47947474e-03 -8.71863063e-03 8.45414686e+02] [-2.47462290e-03 9.99996777e-01 5.67235525e-04 -6.27049175e+01] [ 8.72000898e-03 -5.45636899e-04 9.99961831e-01 3.18748605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4207140569999 meters Centerline goodness [0,1] 0.9890099990991803 Centerline is valid? [True, True] Translation: X:845.44, Y:-62.71, Z:3.19 [[ 9.99954628e-01 2.82350836e-03 -9.09777627e-03 8.45441883e+02] [-2.81824701e-03 9.99995854e-01 5.91080762e-04 -6.27086366e+01] [ 9.09940747e-03 -5.65414163e-04 9.99958440e-01 3.18671376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4507140569999 meters Centerline goodness [0,1] 0.9891800316241247 Centerline is valid? [True, True] Translation: X:845.47, Y:-62.71, Z:3.19 [[ 9.99947596e-01 2.72605438e-03 -9.86783805e-03 8.45470426e+02] [-2.71986667e-03 9.99996096e-01 6.40423794e-04 -6.27080743e+01] [ 9.86954535e-03 -6.13551029e-04 9.99951107e-01 3.18639541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4807140569999 meters Centerline goodness [0,1] 0.989596290851521 Centerline is valid? [True, True] Translation: X:845.50, Y:-62.71, Z:3.19 [[ 9.99936046e-01 3.36876905e-03 -1.07961109e-02 8.45499032e+02] [-3.36140794e-03 9.99994106e-01 6.99902631e-04 -6.27105509e+01] [ 1.07984051e-02 -6.63567736e-04 9.99941475e-01 3.18534710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.510714057 meters Centerline goodness [0,1] 0.9895882845567099 Centerline is valid? [True, True] Translation: X:845.53, Y:-62.71, Z:3.19 [[ 9.99930695e-01 3.72210697e-03 -1.11691666e-02 8.45527605e+02] [-3.71425917e-03 9.99992841e-01 7.23292281e-04 -6.27125137e+01] [ 1.11717788e-02 -6.81756974e-04 9.99937361e-01 3.18512420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.540714057 meters Centerline goodness [0,1] 0.9893942484193351 Centerline is valid? [True, True] Translation: X:845.56, Y:-62.71, Z:3.19 [[ 9.99928836e-01 4.10032918e-03 -1.12031398e-02 8.45555975e+02] [-4.09246618e-03 9.99991363e-01 7.24691481e-04 -6.27137579e+01] [ 1.12060145e-02 -6.78791439e-04 9.99936980e-01 3.18519014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5707140569999 meters Centerline goodness [0,1] 0.9891445052574206 Centerline is valid? [True, True] Translation: X:845.58, Y:-62.72, Z:3.19 [[ 9.99929489e-01 4.53171682e-03 -1.09763979e-02 8.45583844e+02] [-4.52420567e-03 9.99989514e-01 7.09034235e-04 -6.27156186e+01] [ 1.09794960e-02 -6.59324758e-04 9.99939506e-01 3.18511362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6007140569999 meters Centerline goodness [0,1] 0.9901207713049193 Centerline is valid? [True, True] Translation: X:845.61, Y:-62.72, Z:3.18 [[ 9.99932332e-01 4.13813290e-03 -1.08723110e-02 8.45611380e+02] [-4.13075074e-03 9.99991222e-01 7.01355792e-04 -6.27202303e+01] [ 1.08751179e-02 -6.56397526e-04 9.99940649e-01 3.18487358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.630714057 meters Centerline goodness [0,1] 0.9887653200181571 Centerline is valid? [True, True] Translation: X:845.64, Y:-62.72, Z:3.19 [[ 9.99944561e-01 2.96867044e-03 -1.01025815e-02 8.45639741e+02] [-2.96224605e-03 9.99995401e-01 6.50820143e-04 -6.27214793e+01] [ 1.01044671e-02 -6.20857730e-04 9.99948756e-01 3.18534257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.660714057 meters Centerline goodness [0,1] 0.9893810541634454 Centerline is valid? [True, True] Translation: X:845.67, Y:-62.72, Z:3.19 [[ 9.99955443e-01 1.90670092e-03 -9.24538601e-03 8.45667127e+02] [-1.90128453e-03 9.99998016e-01 5.94601763e-04 -6.27248560e+01] [ 9.24650139e-03 -5.76997160e-04 9.99957084e-01 3.18533628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6907140569999 meters Centerline goodness [0,1] 0.9885624985844677 Centerline is valid? [True, True] Translation: X:845.69, Y:-62.73, Z:3.19 [[ 9.99960749e-01 7.22009647e-04 -8.83056314e-03 8.45694723e+02] [-7.17028934e-04 9.99999582e-01 5.67184139e-04 -6.27285948e+01] [ 8.83096896e-03 -5.60830107e-04 9.99960849e-01 3.18588525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7207140569999 meters Centerline goodness [0,1] 0.9872654762983776 Centerline is valid? [True, True] Translation: X:845.72, Y:-62.73, Z:3.19 [[ 9.99968913e-01 -4.59819330e-04 -7.87158367e-03 8.45723780e+02] [ 4.63809251e-04 9.99999765e-01 5.05058578e-04 -6.27313377e+01] [ 7.87134958e-03 -5.08693790e-04 9.99968891e-01 3.18650936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.750714057 meters Centerline goodness [0,1] 0.9881538636105753 Centerline is valid? [True, True] Translation: X:845.75, Y:-62.73, Z:3.19 [[ 9.99968062e-01 -3.30916079e-03 -7.27489292e-03 8.45753863e+02] [ 3.31264300e-03 9.99994404e-01 4.66664809e-04 -6.27283701e+01] [ 7.27330794e-03 -4.90749028e-04 9.99973429e-01 3.18855462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.780714057 meters Centerline goodness [0,1] 0.9881087202718006 Centerline is valid? [True, True] Translation: X:845.78, Y:-62.74, Z:3.19 [[ 9.99964506e-01 -4.33153824e-03 -7.22665757e-03 8.45781737e+02] [ 4.33499838e-03 9.99990497e-01 4.63206091e-04 -6.27356699e+01] [ 7.22458250e-03 -4.94517199e-04 9.99973780e-01 3.18808982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8107140569999 meters Centerline goodness [0,1] 0.9860839019117746 Centerline is valid? [True, True] Translation: X:845.81, Y:-62.74, Z:3.19 [[ 9.99954035e-01 -6.82090003e-03 -6.73815087e-03 8.45810604e+02] [ 6.82396290e-03 9.99976623e-01 4.31670055e-04 -6.27433647e+01] [ 6.73504897e-03 -4.77631105e-04 9.99977205e-01 3.18733003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8407140569999 meters Centerline goodness [0,1] 0.9887248686832095 Centerline is valid? [True, True] Translation: X:845.84, Y:-62.74, Z:3.19 [[ 9.99944534e-01 -7.95960882e-03 -6.89739782e-03 8.45841672e+02] [ 7.96284536e-03 9.99968198e-01 4.41906293e-04 -6.27402422e+01] [ 6.89366107e-03 -4.96804694e-04 9.99976115e-01 3.18746183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.870714057 meters Centerline goodness [0,1] 0.988319449474828 Centerline is valid? [True, True] Translation: X:845.87, Y:-62.74, Z:3.19 [[ 9.99936220e-01 -8.98684046e-03 -6.84046190e-03 8.45872517e+02] [ 8.99004866e-03 9.99959493e-01 4.38398599e-04 -6.27426062e+01] [ 6.83624500e-03 -4.99866724e-04 9.99976508e-01 3.18682222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.900714057 meters Centerline goodness [0,1] 0.9875268817204301 Centerline is valid? [True, True] Translation: X:845.90, Y:-62.75, Z:3.19 [[ 9.99914463e-01 -1.02733601e-02 -8.09470387e-03 8.45902112e+02] [ 1.02778944e-02 9.99947046e-01 5.18761190e-04 -6.27469078e+01] [ 8.08894581e-03 -6.01913328e-04 9.99967103e-01 3.18508029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9307140569999 meters Centerline goodness [0,1] 0.9873111372478061 Centerline is valid? [True, True] Translation: X:845.93, Y:-62.75, Z:3.18 [[ 9.99909240e-01 -1.01123699e-02 -8.90231306e-03 8.45932468e+02] [ 1.01178494e-02 9.99948650e-01 5.70692133e-04 -6.27498166e+01] [ 8.89608488e-03 -6.60712600e-04 9.99960211e-01 3.18418678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9607140569999 meters Centerline goodness [0,1] 0.987869222096956 Centerline is valid? [True, True] Translation: X:845.96, Y:-62.75, Z:3.18 [[ 9.99901325e-01 -1.00856416e-02 -9.77857094e-03 8.45962195e+02] [ 1.00922496e-02 9.99948876e-01 6.26658818e-04 -6.27528930e+01] [ 9.77175076e-03 -7.25284762e-04 9.99951992e-01 3.18309405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9907140569999 meters Centerline goodness [0,1] 0.988176515802324 Centerline is valid? [True, True] Translation: X:845.99, Y:-62.75, Z:3.18 [[ 9.99897949e-01 -9.71986228e-03 -1.04697164e-02 8.45992397e+02] [ 9.72741776e-03 9.99952462e-01 6.70968951e-04 -6.27536751e+01] [ 1.04626970e-02 -7.72743783e-04 9.99944966e-01 3.18198352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.020714057 meters Centerline goodness [0,1] 0.9885590250299591 Centerline is valid? [True, True] Translation: X:846.02, Y:-62.75, Z:3.18 [[ 9.99904659e-01 -9.05727697e-03 -1.04229727e-02 8.46022493e+02] [ 9.06472726e-03 9.99958692e-01 6.67774812e-04 -6.27546488e+01] [ 1.04164939e-02 -7.62192551e-04 9.99945456e-01 3.18188732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0507140569999 meters Centerline goodness [0,1] 0.9876448051506427 Centerline is valid? [True, True] Translation: X:846.05, Y:-62.76, Z:3.18 [[ 9.99911722e-01 -8.59102105e-03 -1.01362176e-02 8.46050970e+02] [ 8.59803752e-03 9.99962826e-01 6.48842662e-04 -6.27568428e+01] [ 1.01302665e-02 -7.35936962e-04 9.99948417e-01 3.18182724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0807140569999 meters Centerline goodness [0,1] 0.9880801592327875 Centerline is valid? [True, True] Translation: X:846.08, Y:-62.76, Z:3.18 [[ 9.99937503e-01 -7.18249307e-03 -8.56745908e-03 8.46080967e+02] [ 7.18745321e-03 9.99974020e-01 5.48301640e-04 -6.27577993e+01] [ 8.56329832e-03 -6.09845584e-04 9.99963148e-01 3.18279076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1107140569999 meters Centerline goodness [0,1] 0.9871676117750717 Centerline is valid? [True, True] Translation: X:846.11, Y:-62.76, Z:3.18 [[ 9.99945577e-01 -6.75369672e-03 -7.95172444e-03 8.46110410e+02] [ 6.75795492e-03 9.99977035e-01 5.08758875e-04 -6.27602369e+01] [ 7.94810583e-03 -5.62468582e-04 9.99968255e-01 3.18311215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.140714057 meters Centerline goodness [0,1] 0.9869482461705792 Centerline is valid? [True, True] Translation: X:846.14, Y:-62.76, Z:3.18 [[ 9.99956409e-01 -6.20114393e-03 -6.98040800e-03 8.46140269e+02] [ 6.20441017e-03 9.99980653e-01 4.46357724e-04 -6.27615081e+01] [ 6.97750502e-03 -4.89647581e-04 9.99975537e-01 3.18335115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1707140569999 meters Centerline goodness [0,1] 0.9873325766174801 Centerline is valid? [True, True] Translation: X:846.17, Y:-62.76, Z:3.18 [[ 9.99968921e-01 -5.41756604e-03 -5.72769737e-03 8.46169638e+02] [ 5.41975120e-03 9.99985246e-01 3.66054337e-04 -6.27630557e+01] [ 5.72562974e-03 -3.97085655e-04 9.99983530e-01 3.18339335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2007140569999 meters Centerline goodness [0,1] 0.9862203385989167 Centerline is valid? [True, True] Translation: X:846.20, Y:-62.77, Z:3.18 [[ 9.99970498e-01 -5.18541810e-03 -5.66692565e-03 8.46199967e+02] [ 5.18755361e-03 9.99986479e-01 3.62202878e-04 -6.27652370e+01] [ 5.66497085e-03 -3.91589673e-04 9.99983877e-01 3.18344005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2307140569999 meters Centerline goodness [0,1] 0.9862920891578781 Centerline is valid? [True, True] Translation: X:846.23, Y:-62.77, Z:3.18 [[ 9.99967410e-01 -5.54271780e-03 -5.86999734e-03 8.46229673e+02] [ 5.54501456e-03 9.99984556e-01 3.75067963e-04 -6.27689819e+01] [ 5.86782778e-03 -4.07604960e-04 9.99982701e-01 3.18255231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.260714057 meters Centerline goodness [0,1] 0.9884573601303639 Centerline is valid? [True, True] Translation: X:846.26, Y:-62.76, Z:3.18 [[ 9.99966022e-01 -5.72722764e-03 -5.92913113e-03 8.46260663e+02] [ 5.72957423e-03 9.99983514e-01 3.78862714e-04 -6.27597919e+01] [ 5.92686355e-03 -4.12821238e-04 9.99982351e-01 3.18325173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.290714057 meters Centerline goodness [0,1] 0.9897898988065527 Centerline is valid? [True, True] Translation: X:846.29, Y:-62.76, Z:3.18 [[ 9.99964270e-01 -5.71826479e-03 -6.22568983e-03 8.46289667e+02] [ 5.72085102e-03 9.99983557e-01 3.97683454e-04 -6.27633228e+01] [ 6.22331340e-03 -4.33285489e-04 9.99980541e-01 3.18277462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3207140569999 meters Centerline goodness [0,1] 0.9888443871201321 Centerline is valid? [True, True] Translation: X:846.32, Y:-62.77, Z:3.18 [[ 9.99952118e-01 -6.52948129e-03 -7.28882899e-03 8.46319704e+02] [ 6.53304784e-03 9.99978551e-01 4.65614782e-04 -6.27664231e+01] [ 7.28563243e-03 -5.13210756e-04 9.99973328e-01 3.18148572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3507140569999 meters Centerline goodness [0,1] 0.9890122338015406 Centerline is valid? [True, True] Translation: X:846.35, Y:-62.77, Z:3.18 [[ 9.99942620e-01 -7.12175528e-03 -8.00236360e-03 8.46349759e+02] [ 7.12607059e-03 9.99974479e-01 5.10871044e-04 -6.27673777e+01] [ 7.99852107e-03 -5.67867138e-04 9.99967850e-01 3.18123827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.380714057 meters Centerline goodness [0,1] 0.9879788101059495 Centerline is valid? [True, True] Translation: X:846.38, Y:-62.77, Z:3.18 [[ 9.99929191e-01 -7.00504079e-03 -9.61987058e-03 8.46378746e+02] [ 7.01127021e-03 9.99975232e-01 6.13985033e-04 -6.27733109e+01] [ 9.61533133e-03 -6.81389069e-04 9.99953539e-01 3.17945308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.410714057 meters Centerline goodness [0,1] 0.9878302569670648 Centerline is valid? [True, True] Translation: X:846.41, Y:-62.78, Z:3.18 [[ 9.99927753e-01 -7.21583908e-03 -9.61359442e-03 8.46407750e+02] [ 7.22206490e-03 9.99973733e-01 6.13047009e-04 -6.27761781e+01] [ 9.60891825e-03 -6.82432721e-04 9.99953600e-01 3.17895838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4407140569999 meters Centerline goodness [0,1] 0.9889523981655107 Centerline is valid? [True, True] Translation: X:846.44, Y:-62.78, Z:3.18 [[ 9.99926844e-01 -7.00641119e-03 -9.85988338e-03 8.46437712e+02] [ 7.01294669e-03 9.99975212e-01 6.28418530e-04 -6.27753707e+01] [ 9.85523601e-03 -6.97519393e-04 9.99951193e-01 3.17909716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4707140569999 meters Centerline goodness [0,1] 0.9880253050158156 Centerline is valid? [True, True] Translation: X:846.47, Y:-62.78, Z:3.18 [[ 9.99941717e-01 -5.93336147e-03 -9.01988723e-03 8.46466862e+02] [ 5.93878445e-03 9.99982200e-01 5.74559935e-04 -6.27772349e+01] [ 9.01631760e-03 -6.28093614e-04 9.99959155e-01 3.17972256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.500714057 meters Centerline goodness [0,1] 0.9886747151690864 Centerline is valid? [True, True] Translation: X:846.50, Y:-62.78, Z:3.18 [[ 9.99944123e-01 -5.59510437e-03 -8.96910053e-03 8.46495455e+02] [ 5.60044854e-03 9.99984154e-01 5.70836998e-04 -6.27796615e+01] [ 8.96576451e-03 -6.21036088e-04 9.99959614e-01 3.18012260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.530714057 meters Centerline goodness [0,1] 0.9884414024431702 Centerline is valid? [True, True] Translation: X:846.52, Y:-62.78, Z:3.18 [[ 9.99956976e-01 -5.27365089e-03 -7.63119908e-03 8.46524221e+02] [ 5.27749442e-03 9.99985957e-01 4.83611700e-04 -6.27799543e+01] [ 7.62854151e-03 -5.23864504e-04 9.99970765e-01 3.18077816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5607140569999 meters Centerline goodness [0,1] 0.9869627215318802 Centerline is valid? [True, True] Translation: X:846.55, Y:-62.78, Z:3.18 [[ 9.99965295e-01 -4.77828418e-03 -6.82469819e-03 8.46553081e+02] [ 4.78134634e-03 9.99988476e-01 4.32442718e-04 -6.27844836e+01] [ 6.82255320e-03 -4.65058956e-04 9.99976618e-01 3.18048560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5907140569999 meters Centerline goodness [0,1] 0.9885109565138571 Centerline is valid? [True, True] Translation: X:846.58, Y:-62.78, Z:3.18 [[ 9.99971251e-01 -4.42405169e-03 -6.15825922e-03 8.46583061e+02] [ 4.42653691e-03 9.99990127e-01 3.89988409e-04 -6.27801740e+01] [ 6.15647309e-03 -4.17236959e-04 9.99980962e-01 3.18130104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.620714057 meters Centerline goodness [0,1] 0.9883032981978919 Centerline is valid? [True, True] Translation: X:846.61, Y:-62.78, Z:3.18 [[ 9.99973111e-01 -4.06124755e-03 -6.10603468e-03 8.46613168e+02] [ 4.06368096e-03 9.99991669e-01 3.86171426e-04 -6.27811367e+01] [ 6.10441547e-03 -4.10974019e-04 9.99981283e-01 3.18134133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.650714057 meters Centerline goodness [0,1] 0.9869468826350557 Centerline is valid? [True, True] Translation: X:846.64, Y:-62.79, Z:3.18 [[ 9.99973761e-01 -3.95315598e-03 -6.07045847e-03 8.46641805e+02] [ 3.95555807e-03 9.99992103e-01 3.83746321e-04 -6.27898879e+01] [ 6.06889352e-03 -4.07748303e-04 9.99981501e-01 3.18046289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6807140569999 meters Centerline goodness [0,1] 0.9869468826350557 Centerline is valid? [True, True] Translation: X:846.67, Y:-62.79, Z:3.18 [[ 9.99973627e-01 -3.98670039e-03 -6.07047123e-03 8.46670968e+02] [ 3.98910188e-03 9.99991970e-01 3.83544353e-04 -6.27916988e+01] [ 6.06889341e-03 -4.07749966e-04 9.99981501e-01 3.18043451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7107140569999 meters Centerline goodness [0,1] 0.988049431895342 Centerline is valid? [True, True] Translation: X:846.70, Y:-62.79, Z:3.18 [[ 9.99970190e-01 -4.26371703e-03 -6.43743916e-03 8.46700356e+02] [ 4.26642049e-03 9.99990816e-01 4.06284706e-04 -6.27887564e+01] [ 6.43564776e-03 -4.33737417e-04 9.99979197e-01 3.18041967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7407140569999 meters Centerline goodness [0,1] 0.9883251722887196 Centerline is valid? [True, True] Translation: X:846.73, Y:-62.79, Z:3.18 [[ 9.99968328e-01 -4.97519074e-03 -6.21207218e-03 8.46730323e+02] [ 4.97772067e-03 9.99987534e-01 3.91866188e-04 -6.27887433e+01] [ 6.21004513e-03 -4.22775737e-04 9.99980628e-01 3.18033332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.770714057 meters Centerline goodness [0,1] 0.9869572097018467 Centerline is valid? [True, True] Translation: X:846.76, Y:-62.79, Z:3.18 [[ 9.99963466e-01 -5.55401014e-03 -6.49767025e-03 8.46759281e+02] [ 5.55678959e-03 9.99984477e-01 4.09786302e-04 -6.27943613e+01] [ 6.49529342e-03 -4.45877517e-04 9.99978806e-01 3.17948427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8007140569999 meters Centerline goodness [0,1] 0.9862232779097387 Centerline is valid? [True, True] Translation: X:846.79, Y:-62.80, Z:3.18 [[ 9.99946200e-01 -7.67423363e-03 -6.97882147e-03 8.46787920e+02] [ 7.67749235e-03 9.99970431e-01 4.40273362e-04 -6.28002577e+01] [ 6.97523635e-03 -4.93829523e-04 9.99975551e-01 3.17797092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8307140569999 meters Centerline goodness [0,1] 0.9860350368928523 Centerline is valid? [True, True] Translation: X:846.82, Y:-62.80, Z:3.18 [[ 9.99941655e-01 -8.48919000e-03 -6.67989099e-03 8.46818054e+02] [ 8.49219352e-03 9.99963852e-01 4.21400238e-04 -6.28031228e+01] [ 6.67607218e-03 -4.78102579e-04 9.99977600e-01 3.17780151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8607140569999 meters Centerline goodness [0,1] 0.9866805129131299 Centerline is valid? [True, True] Translation: X:846.85, Y:-62.80, Z:3.18 [[ 9.99929928e-01 -9.54115371e-03 -7.00747716e-03 8.46848532e+02] [ 9.54448475e-03 9.99954353e-01 4.42065978e-04 -6.28032296e+01] [ 7.00293947e-03 -5.08917761e-04 9.99975350e-01 3.17832399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.890714057 meters Centerline goodness [0,1] 0.9840079508492953 Centerline is valid? [True, True] Translation: X:846.88, Y:-62.81, Z:3.18 [[ 9.99909302e-01 -1.15850036e-02 -6.86849561e-03 8.46877583e+02] [ 1.15882518e-02 9.99932760e-01 4.33298342e-04 -6.28136403e+01] [ 6.86301401e-03 -5.12852899e-04 9.99976318e-01 3.17772376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9207140569999 meters Centerline goodness [0,1] 0.9871919621642415 Centerline is valid? [True, True] Translation: X:846.91, Y:-62.81, Z:3.18 [[ 9.99898525e-01 -1.25534732e-02 -6.73418922e-03 8.46909171e+02] [ 1.25566192e-02 9.99921072e-01 4.25100834e-04 -6.28060756e+01] [ 6.72832121e-03 -5.09616347e-04 9.99977235e-01 3.17897492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9507140569999 meters Centerline goodness [0,1] 0.9871661854926019 Centerline is valid? [True, True] Translation: X:846.94, Y:-62.81, Z:3.18 [[ 9.99886999e-01 -1.37535375e-02 -6.06874731e-03 8.46938996e+02] [ 1.37561151e-02 9.99905307e-01 3.83187948e-04 -6.28111959e+01] [ 6.06290245e-03 -4.66627034e-04 9.99981512e-01 3.17950938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9807140569999 meters Centerline goodness [0,1] 0.9864154349543044 Centerline is valid? [True, True] Translation: X:846.97, Y:-62.81, Z:3.18 [[ 9.99886230e-01 -1.39978189e-02 -5.62036275e-03 8.46971541e+02] [ 1.40000361e-02 9.99901932e-01 3.55335232e-04 -6.28120028e+01] [ 5.61483765e-03 -4.33980087e-04 9.99984143e-01 3.18019794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.010714057 meters Centerline goodness [0,1] 0.9869517123055738 Centerline is valid? [True, True] Translation: X:847.00, Y:-62.82, Z:3.18 [[ 9.99882041e-01 -1.42639550e-02 -5.69589550e-03 8.47002325e+02] [ 1.42662381e-02 9.99898167e-01 3.60397899e-04 -6.28170734e+01] [ 5.69017477e-03 -4.41614388e-04 9.99983713e-01 3.18004359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.040714057 meters Centerline goodness [0,1] 0.9858119233979202 Centerline is valid? [True, True] Translation: X:847.03, Y:-62.82, Z:3.18 [[ 9.99886594e-01 -1.41153786e-02 -5.24938107e-03 8.47034176e+02] [ 1.41173177e-02 9.99900290e-01 3.32537455e-04 -6.28196051e+01] [ 5.24416376e-03 -4.06606923e-04 9.99986167e-01 3.18028515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0707140569999 meters Centerline goodness [0,1] 0.9874320268959137 Centerline is valid? [True, True] Translation: X:847.07, Y:-62.82, Z:3.18 [[ 9.99883043e-01 -1.41451966e-02 -5.81499717e-03 8.47066389e+02] [ 1.41475791e-02 9.99899850e-01 3.68781841e-04 -6.28195227e+01] [ 5.80919831e-03 -4.51006842e-04 9.99983025e-01 3.18007160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1007140569999 meters Centerline goodness [0,1] 0.9868429960957775 Centerline is valid? [True, True] Translation: X:847.10, Y:-62.83, Z:3.18 [[ 9.99885002e-01 -1.36592034e-02 -6.58851868e-03 8.47097321e+02] [ 1.36622572e-02 9.99906579e-01 4.18707341e-04 -6.28257569e+01] [ 6.58218397e-03 -5.08673227e-04 9.99978208e-01 3.17869585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.130714057 meters Centerline goodness [0,1] 0.9868163072138463 Centerline is valid? [True, True] Translation: X:847.13, Y:-62.83, Z:3.18 [[ 9.99882274e-01 -1.37558241e-02 -6.79822797e-03 8.47129778e+02] [ 1.37590805e-02 9.99905246e-01 4.32461623e-04 -6.28267006e+01] [ 6.79163495e-03 -5.25948076e-04 9.99976798e-01 3.17832048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.160714057 meters Centerline goodness [0,1] 0.985467081249155 Centerline is valid? [True, True] Translation: X:847.16, Y:-62.83, Z:3.18 [[ 9.99876903e-01 -1.38603526e-02 -7.35316267e-03 8.47161009e+02] [ 1.38641678e-02 9.99903778e-01 4.68129676e-04 -6.28341273e+01] [ 7.34596670e-03 -5.70017531e-04 9.99972856e-01 3.17754808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1907140569999 meters Centerline goodness [0,1] 0.9851074821986119 Centerline is valid? [True, True] Translation: X:847.19, Y:-62.84, Z:3.18 [[ 9.99873533e-01 -1.38791306e-02 -7.76451252e-03 8.47192073e+02] [ 1.38833923e-02 9.99903498e-01 4.95237667e-04 -6.28394073e+01] [ 7.75688976e-03 -6.02972809e-04 9.99969733e-01 3.17669943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2207140569999 meters Centerline goodness [0,1] 0.9881306977164004 Centerline is valid? [True, True] Translation: X:847.22, Y:-62.83, Z:3.18 [[ 9.99862568e-01 -1.42699438e-02 -8.43887201e-03 8.47224327e+02] [ 1.42749965e-02 9.99897962e-01 5.38810212e-04 -6.28335954e+01] [ 8.43032214e-03 -6.59201031e-04 9.99964247e-01 3.17701569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.250714057 meters Centerline goodness [0,1] 0.9875470083545387 Centerline is valid? [True, True] Translation: X:847.26, Y:-62.84, Z:3.18 [[ 9.99855312e-01 -1.45519142e-02 -8.80887934e-03 8.47255696e+02] [ 1.45574330e-02 9.99893877e-01 5.62713214e-04 -6.28364179e+01] [ 8.79975595e-03 -6.90866467e-04 9.99961043e-01 3.17693107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.280714057 meters Centerline goodness [0,1] 0.9888300867019479 Centerline is valid? [True, True] Translation: X:847.29, Y:-62.84, Z:3.18 [[ 9.99856708e-01 -1.47814431e-02 -8.25054358e-03 8.47287480e+02] [ 1.47862947e-02 9.99890538e-01 5.27349142e-04 -6.28378274e+01] [ 8.24184548e-03 -6.49268546e-04 9.99965825e-01 3.17724769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3107140569999 meters Centerline goodness [0,1] 0.9868825947305766 Centerline is valid? [True, True] Translation: X:847.32, Y:-62.84, Z:3.18 [[ 9.99849380e-01 -1.55592073e-02 -7.68950848e-03 8.47318079e+02] [ 1.55634510e-02 9.99878761e-01 4.92339058e-04 -6.28442217e+01] [ 7.68091580e-03 -6.11940190e-04 9.99970314e-01 3.17767145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3407140569999 meters Centerline goodness [0,1] 0.9863960900020271 Centerline is valid? [True, True] Translation: X:847.35, Y:-62.85, Z:3.18 [[ 9.99848734e-01 -1.57662303e-02 -7.34403333e-03 8.47349008e+02] [ 1.57701093e-02 9.99875533e-01 4.70572523e-04 -6.28489186e+01] [ 7.33570009e-03 -5.86317551e-04 9.99972922e-01 3.17795283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.370714057 meters Centerline goodness [0,1] 0.9856458253650415 Centerline is valid? [True, True] Translation: X:847.38, Y:-62.85, Z:3.18 [[ 9.99853608e-01 -1.60324093e-02 -5.97699897e-03 8.47379723e+02] [ 1.60349852e-02 9.99871358e-01 3.83303820e-04 -6.28534597e+01] [ 5.97008479e-03 -4.79088798e-04 9.99982064e-01 3.17882132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.400714057 meters Centerline goodness [0,1] 0.9861089258018836 Centerline is valid? [True, True] Translation: X:847.41, Y:-62.85, Z:3.18 [[ 9.99853165e-01 -1.62338129e-02 -5.48734252e-03 8.47411614e+02] [ 1.62359893e-02 9.99868126e-01 3.52319606e-04 -6.28524712e+01] [ 5.48089939e-03 -4.41360308e-04 9.99984882e-01 3.17945497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4307140569999 meters Centerline goodness [0,1] 0.9856663685152057 Centerline is valid? [True, True] Translation: X:847.44, Y:-62.86, Z:3.18 [[ 9.99857468e-01 -1.61518947e-02 -4.91537257e-03 8.47442744e+02] [ 1.61536433e-02 9.99869471e-01 3.16239202e-04 -6.28571371e+01] [ 4.90962311e-03 -3.95595303e-04 9.99987869e-01 3.17977103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4607140569999 meters Centerline goodness [0,1] 0.9864686246835584 Centerline is valid? [True, True] Translation: X:847.48, Y:-62.86, Z:3.18 [[ 9.99855202e-01 -1.63963593e-02 -4.55346419e-03 8.47475232e+02] [ 1.63978637e-02 9.99865503e-01 2.93246217e-04 -6.28585636e+01] [ 4.54804359e-03 -3.67870841e-04 9.99989590e-01 3.18005363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4907140569999 meters Centerline goodness [0,1] 0.9864361940633127 Centerline is valid? [True, True] Translation: X:847.51, Y:-62.86, Z:3.18 [[ 9.99855205e-01 -1.63945612e-02 -4.55939800e-03 8.47506902e+02] [ 1.63960710e-02 9.99865532e-01 2.93954678e-04 -6.28620979e+01] [ 4.55396565e-03 -3.68668328e-04 9.99989563e-01 3.17974971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.520714057 meters Centerline goodness [0,1] 0.9858505350826132 Centerline is valid? [True, True] Translation: X:847.54, Y:-62.87, Z:3.18 [[ 9.99836658e-01 -1.71699812e-02 -5.64350564e-03 8.47539240e+02] [ 1.71723088e-02 9.99852479e-01 3.64233807e-04 -6.28666590e+01] [ 5.63641922e-03 -4.61086334e-04 9.99984009e-01 3.17869599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5507140569999 meters Centerline goodness [0,1] 0.9859205372132065 Centerline is valid? [True, True] Translation: X:847.57, Y:-62.87, Z:3.18 [[ 9.99823163e-01 -1.77864821e-02 -6.10600771e-03 8.47570772e+02] [ 1.77892219e-02 9.99841681e-01 3.94687481e-04 -6.28700927e+01] [ 6.09802092e-03 -5.03238812e-04 9.99981280e-01 3.17799519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5807140569999 meters Centerline goodness [0,1] 0.9860463029432879 Centerline is valid? [True, True] Translation: X:847.60, Y:-62.87, Z:3.18 [[ 9.99803536e-01 -1.85320821e-02 -7.03212716e-03 8.47602399e+02] [ 1.85357366e-02 9.99828095e-01 4.54867505e-04 -6.28745287e+01] [ 7.02248866e-03 -5.85123798e-04 9.99975171e-01 3.17708887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6107140569999 meters Centerline goodness [0,1] 0.9844641012976516 Centerline is valid? [True, True] Translation: X:847.63, Y:-62.88, Z:3.18 [[ 9.99769429e-01 -1.98597449e-02 -8.16574787e-03 8.47631999e+02] [ 1.98647162e-02 9.99802538e-01 5.28135337e-04 -6.28808588e+01] [ 8.15364681e-03 -6.90223829e-04 9.99966520e-01 3.17508309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.640714057 meters Centerline goodness [0,1] 0.9865052990838872 Centerline is valid? [True, True] Translation: X:847.66, Y:-62.88, Z:3.18 [[ 9.99754833e-01 -2.02055462e-02 -9.05596480e-03 8.47664115e+02] [ 2.02116811e-02 9.99795551e-01 5.86428918e-04 -6.28793228e+01] [ 9.04226420e-03 -7.69321418e-04 9.99958822e-01 3.17502412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6707140569999 meters Centerline goodness [0,1] 0.9854890720171982 Centerline is valid? [True, True] Translation: X:847.70, Y:-62.88, Z:3.17 [[ 9.99762140e-01 -1.98970783e-02 -8.93136935e-03 8.47695669e+02] [ 1.99030390e-02 9.99801747e-01 5.78993201e-04 -6.28829411e+01] [ 8.91807841e-03 -7.56616874e-04 9.99959947e-01 3.17467810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7007140569999 meters Centerline goodness [0,1] 0.9849500953235393 Centerline is valid? [True, True] Translation: X:847.73, Y:-62.89, Z:3.17 [[ 9.99772464e-01 -1.93228928e-02 -9.03585645e-03 8.47726207e+02] [ 1.93289746e-02 9.99813006e-01 5.86224917e-04 -6.28882598e+01] [ 9.02283924e-03 -7.60745369e-04 9.99959004e-01 3.17483136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7307140569999 meters Centerline goodness [0,1] 0.9861468567464137 Centerline is valid? [True, True] Translation: X:847.76, Y:-62.89, Z:3.18 [[ 9.99826091e-01 -1.69674408e-02 -7.73915377e-03 8.47757408e+02] [ 1.69718330e-02 9.99855842e-01 5.02205495e-04 -6.28866247e+01] [ 7.72951696e-03 -6.33465782e-04 9.99969926e-01 3.17632749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.760714057 meters Centerline goodness [0,1] 0.9859401671008894 Centerline is valid? [True, True] Translation: X:847.79, Y:-62.89, Z:3.18 [[ 9.99856813e-01 -1.56214284e-02 -6.50579801e-03 8.47788058e+02] [ 1.56245055e-02 9.99877841e-01 4.22416615e-04 -6.28885969e+01] [ 6.49840451e-03 -5.24006007e-04 9.99978748e-01 3.17655435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.790714057 meters Centerline goodness [0,1] 0.9851965972268739 Centerline is valid? [True, True] Translation: X:847.82, Y:-62.89, Z:3.18 [[ 9.99910727e-01 -1.23707090e-02 -5.05011984e-03 8.47817263e+02] [ 1.23725213e-02 9.99923404e-01 3.27784665e-04 -6.28913619e+01] [ 5.04567809e-03 -3.90238118e-04 9.99987194e-01 3.17792447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8207140569999 meters Centerline goodness [0,1] 0.9842822918299263 Centerline is valid? [True, True] Translation: X:847.85, Y:-62.89, Z:3.18 [[ 9.99928821e-01 -1.10997815e-02 -4.37588169e-03 8.47849063e+02] [ 1.11011314e-02 9.99938340e-01 2.84305826e-04 -6.28924275e+01] [ 4.37245614e-03 -3.32862827e-04 9.99990385e-01 3.17862966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8507140569999 meters Centerline goodness [0,1] 0.9848756040809021 Centerline is valid? [True, True] Translation: X:847.88, Y:-62.89, Z:3.18 [[ 9.99943866e-01 -9.89515401e-03 -3.78812688e-03 8.47880884e+02] [ 9.89615775e-03 9.99951001e-01 2.46317522e-04 -6.28935488e+01] [ 3.78550392e-03 -2.83791597e-04 9.99992795e-01 3.17863068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.880714057 meters Centerline goodness [0,1] 0.9859859186510606 Centerline is valid? [True, True] Translation: X:847.91, Y:-62.89, Z:3.18 [[ 9.99960049e-01 -7.84397740e-03 -4.28634543e-03 8.47912630e+02] [ 7.84524435e-03 9.99969187e-01 2.78844009e-04 -6.28886120e+01] [ 4.28402611e-03 -3.12460296e-04 9.99990775e-01 3.17812573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.910714057 meters Centerline goodness [0,1] 0.9870353784146888 Centerline is valid? [True, True] Translation: X:847.94, Y:-62.89, Z:3.18 [[ 9.99964543e-01 -6.91392903e-03 -4.80727551e-03 8.47943944e+02] [ 6.91551274e-03 9.99976039e-01 3.12896656e-04 -6.28907759e+01] [ 4.80499697e-03 -3.46130336e-04 9.99988396e-01 3.17758902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9407140569999 meters Centerline goodness [0,1] 0.9867939359910163 Centerline is valid? [True, True] Translation: X:847.97, Y:-62.89, Z:3.18 [[ 9.99964308e-01 -5.92244562e-03 -6.02557185e-03 8.47974689e+02] [ 5.92491562e-03 9.99982371e-01 3.92150735e-04 -6.28899439e+01] [ 6.02314314e-03 -4.27837743e-04 9.99981769e-01 3.17635188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9707140569999 meters Centerline goodness [0,1] 0.9873792948573995 Centerline is valid? [True, True] Translation: X:848.00, Y:-62.89, Z:3.18 [[ 9.99963733e-01 -5.24819009e-03 -6.70744755e-03 8.48004052e+02] [ 5.25123475e-03 9.99986117e-01 4.36391726e-04 -6.28949408e+01] [ 6.70506417e-03 -4.71598281e-04 9.99977410e-01 3.17578005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.000714057 meters Centerline goodness [0,1] 0.9873628350422738 Centerline is valid? [True, True] Translation: X:848.03, Y:-62.90, Z:3.18 [[ 9.99963387e-01 -4.76612703e-03 -7.10699378e-03 8.48034271e+02] [ 4.76953224e-03 9.99988519e-01 4.62262429e-04 -6.28956972e+01] [ 7.10470898e-03 -4.96142540e-04 9.99974638e-01 3.17542761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.030714057 meters Centerline goodness [0,1] 0.9886882407178357 Centerline is valid? [True, True] Translation: X:848.06, Y:-62.89, Z:3.18 [[ 9.99965341e-01 -3.71464363e-03 -7.45104761e-03 8.48063007e+02] [ 3.71834280e-03 9.99992970e-01 4.82671419e-04 -6.28947664e+01] [ 7.44920228e-03 -5.10360240e-04 9.99972124e-01 3.17543456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0607140569999 meters Centerline goodness [0,1] 0.9893426071348441 Centerline is valid? [True, True] Translation: X:848.09, Y:-62.90, Z:3.18 [[ 9.99972110e-01 -1.65982352e-03 -7.28177303e-03 8.48091726e+02] [ 1.66330064e-03 9.99998506e-01 4.71480504e-04 -6.28960319e+01] [ 7.28097957e-03 -4.83579132e-04 9.99973376e-01 3.17535593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0907140569999 meters Centerline goodness [0,1] 0.9894862175094916 Centerline is valid? [True, True] Translation: X:848.12, Y:-62.90, Z:3.18 [[ 9.99974604e-01 -9.13911957e-04 -7.06803369e-03 8.48120449e+02] [ 9.17155451e-04 9.99999476e-01 4.55668597e-04 -6.28961586e+01] [ 7.06761354e-03 -4.62139510e-04 9.99974917e-01 3.17553486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.120714057 meters Centerline goodness [0,1] 0.9886269133083095 Centerline is valid? [True, True] Translation: X:848.15, Y:-62.90, Z:3.18 [[ 9.99972647e-01 -8.43749161e-04 -7.34797467e-03 8.48148940e+02] [ 8.47239264e-04 9.99999530e-01 4.71874917e-04 -6.28974604e+01] [ 7.34757307e-03 -4.78087502e-04 9.99972892e-01 3.17549554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.150714057 meters Centerline goodness [0,1] 0.9886641127315904 Centerline is valid? [True, True] Translation: X:848.18, Y:-62.90, Z:3.17 [[ 9.99975568e-01 -4.73679960e-04 -6.97415287e-03 8.48176927e+02] [ 4.76802770e-04 9.99999787e-01 4.46113308e-04 -6.29023323e+01] [ 6.97394007e-03 -4.49427704e-04 9.99975581e-01 3.17497590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1807140569999 meters Centerline goodness [0,1] 0.9896338179859989 Centerline is valid? [True, True] Translation: X:848.21, Y:-62.90, Z:3.18 [[ 9.99969886e-01 -1.86100616e-04 -7.75843928e-03 8.48205356e+02] [ 1.89941903e-04 9.99999860e-01 4.94376852e-04 -6.29016999e+01] [ 7.75834619e-03 -4.95835617e-04 9.99969781e-01 3.17521833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2107140569999 meters Centerline goodness [0,1] 0.9900832736389685 Centerline is valid? [True, True] Translation: X:848.23, Y:-62.90, Z:3.18 [[ 9.99969579e-01 -7.75813359e-04 -7.76139268e-03 8.48234303e+02] [ 7.79672266e-04 9.99999574e-01 4.94179298e-04 -6.29023819e+01] [ 7.76100598e-03 -5.00215607e-04 9.99969758e-01 3.17546134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2407140569999 meters Centerline goodness [0,1] 0.9894355908202027 Centerline is valid? [True, True] Translation: X:848.26, Y:-62.91, Z:3.18 [[ 9.99972741e-01 -1.88161927e-03 -7.13976237e-03 8.48262287e+02] [ 1.88490814e-03 9.99998121e-01 4.53939270e-04 -6.29064453e+01] [ 7.13889481e-03 -4.67384693e-04 9.99974409e-01 3.17666815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.270714057 meters Centerline goodness [0,1] 0.9898116495743683 Centerline is valid? [True, True] Translation: X:848.29, Y:-62.91, Z:3.18 [[ 9.99975524e-01 -2.69148140e-03 -6.45805339e-03 8.48290733e+02] [ 2.69418611e-03 9.99996287e-01 4.10148757e-04 -6.29090650e+01] [ 6.45692550e-03 -4.27537916e-04 9.99979062e-01 3.17725142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3007140569999 meters Centerline goodness [0,1] 0.988456020801578 Centerline is valid? [True, True] Translation: X:848.32, Y:-62.91, Z:3.18 [[ 9.99977749e-01 -3.41883501e-03 -5.72825473e-03 8.48319412e+02] [ 3.42097246e-03 9.99994082e-01 3.63385580e-04 -6.29113994e+01] [ 5.72697848e-03 -3.82973696e-04 9.99983527e-01 3.17788274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3307140569999 meters Centerline goodness [0,1] 0.9881239935587761 Centerline is valid? [True, True] Translation: X:848.35, Y:-62.92, Z:3.18 [[ 9.99979880e-01 -4.65175625e-03 -4.31294955e-03 8.48347705e+02] [ 4.65297840e-03 9.99989137e-01 2.73375895e-04 -6.29165685e+01] [ 4.31163102e-03 -2.93438456e-04 9.99990662e-01 3.17870107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3607140569999 meters Centerline goodness [0,1] 0.9886663978855889 Centerline is valid? [True, True] Translation: X:848.38, Y:-62.92, Z:3.18 [[ 9.99975930e-01 -5.44458008e-03 -4.30071160e-03 8.48377613e+02] [ 5.44580263e-03 9.99985134e-01 2.72607904e-04 -6.29192261e+01] [ 4.29916343e-03 -2.96022168e-04 9.99990715e-01 3.17839775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.390714057 meters Centerline goodness [0,1] 0.9893402606709365 Centerline is valid? [True, True] Translation: X:848.41, Y:-62.92, Z:3.18 [[ 9.99972382e-01 -5.61122236e-03 -4.87338109e-03 8.48407769e+02] [ 5.61279419e-03 9.99984200e-01 3.08916521e-04 -6.29198216e+01] [ 4.87157069e-03 -3.36261275e-04 9.99988077e-01 3.17797366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4207140569999 meters Centerline goodness [0,1] 0.988583763574862 Centerline is valid? [True, True] Translation: X:848.44, Y:-62.93, Z:3.18 [[ 9.99965013e-01 -6.23672480e-03 -5.57462456e-03 8.48436917e+02] [ 6.23879056e-03 9.99980476e-01 3.53252530e-04 -6.29255511e+01] [ 5.57231258e-03 -3.88019086e-04 9.99984399e-01 3.17688123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4507140569999 meters Centerline goodness [0,1] 0.9889171349567389 Centerline is valid? [True, True] Translation: X:848.47, Y:-62.93, Z:3.18 [[ 9.99941334e-01 -8.00332976e-03 -7.29899348e-03 8.48466935e+02] [ 8.00691714e-03 9.99967837e-01 4.62399463e-04 -6.29255598e+01] [ 7.29505799e-03 -5.20814772e-04 9.99973255e-01 3.17534362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4807140569999 meters Centerline goodness [0,1] 0.9895632266463168 Centerline is valid? [True, True] Translation: X:848.50, Y:-62.93, Z:3.17 [[ 9.99922899e-01 -9.51444841e-03 -7.97945079e-03 8.48497515e+02] [ 9.51878387e-03 9.99954568e-01 5.05525779e-04 -6.29252389e+01] [ 7.97427846e-03 -5.81441469e-04 9.99968036e-01 3.17473110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.510714057 meters Centerline goodness [0,1] 0.9895689386172157 Centerline is valid? [True, True] Translation: X:848.53, Y:-62.93, Z:3.17 [[ 9.99877844e-01 -1.22674619e-02 -9.68535453e-03 8.48527183e+02] [ 1.22739818e-02 9.99924483e-01 6.14023998e-04 -6.29304938e+01] [ 9.67709061e-03 -7.32826857e-04 9.99952907e-01 3.17259377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.540714057 meters Centerline goodness [0,1] 0.9894412572270465 Centerline is valid? [True, True] Translation: X:848.56, Y:-62.93, Z:3.17 [[ 9.99842933e-01 -1.40059239e-02 -1.08601820e-02 8.48557033e+02] [ 1.40142209e-02 9.99901559e-01 6.88253025e-04 -6.29336812e+01] [ 1.08494733e-02 -8.40341913e-04 9.99940790e-01 3.17208106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5707140569999 meters Centerline goodness [0,1] 0.9894412572270465 Centerline is valid? [True, True] Translation: X:848.59, Y:-62.94, Z:3.17 [[ 9.99842933e-01 -1.40059239e-02 -1.08601810e-02 8.48587064e+02] [ 1.40142211e-02 9.99901559e-01 6.88270035e-04 -6.29355844e+01] [ 1.08494720e-02 -8.40358907e-04 9.99940790e-01 3.17205184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6007140569999 meters Centerline goodness [0,1] 0.9889072036352297 Centerline is valid? [True, True] Translation: X:848.62, Y:-62.94, Z:3.17 [[ 9.99811768e-01 -1.56215372e-02 -1.15063471e-02 8.48616868e+02] [ 1.56309575e-02 9.99877563e-01 7.29221173e-04 -6.29397866e+01] [ 1.14935467e-02 -9.08939133e-04 9.99933534e-01 3.17142701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.630714057 meters Centerline goodness [0,1] 0.9893652823584842 Centerline is valid? [True, True] Translation: X:848.65, Y:-62.94, Z:3.17 [[ 9.99736892e-01 -1.90677000e-02 -1.27502723e-02 8.48647991e+02] [ 1.90795463e-02 9.99817642e-01 8.08099221e-04 -6.29380662e+01] [ 1.27325386e-02 -1.05115602e-03 9.99918385e-01 3.17193083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.660714057 meters Centerline goodness [0,1] 0.988178820573787 Centerline is valid? [True, True] Translation: X:848.68, Y:-62.95, Z:3.17 [[ 9.99665153e-01 -2.24729149e-02 -1.28276687e-02 8.48677289e+02] [ 2.24851812e-02 9.99746846e-01 8.12800212e-04 -6.29472106e+01] [ 1.28061553e-02 -1.10096050e-03 9.99917392e-01 3.17064915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6907140569999 meters Centerline goodness [0,1] 0.9887940115197562 Centerline is valid? [True, True] Translation: X:848.71, Y:-62.94, Z:3.17 [[ 9.99628569e-01 -2.40857258e-02 -1.27515239e-02 8.48708265e+02] [ 2.40979805e-02 9.99709275e-01 8.08234417e-04 -6.29443382e+01] [ 1.27283498e-02 -1.11522019e-03 9.99918369e-01 3.17160897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7207140569999 meters Centerline goodness [0,1] 0.9882516791338141 Centerline is valid? [True, True] Translation: X:848.74, Y:-62.95, Z:3.17 [[ 9.99590354e-01 -2.56447236e-02 -1.27071650e-02 8.48738415e+02] [ 2.56570209e-02 9.99670480e-01 8.05648364e-04 -6.29504615e+01] [ 1.26823171e-02 -1.13134633e-03 9.99918936e-01 3.17107091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.750714057 meters Centerline goodness [0,1] 0.9884837715648125 Centerline is valid? [True, True] Translation: X:848.77, Y:-62.95, Z:3.17 [[ 9.99504076e-01 -2.86594156e-02 -1.30475772e-02 8.48769161e+02] [ 2.86726358e-02 9.99588513e-01 8.27257071e-04 -6.29512848e+01] [ 1.30184995e-02 -1.20095524e-03 9.99914535e-01 3.17175075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.780714057 meters Centerline goodness [0,1] 0.9873286669217438 Centerline is valid? [True, True] Translation: X:848.80, Y:-62.95, Z:3.17 [[ 9.99467529e-01 -2.99659938e-02 -1.29111616e-02 8.48798875e+02] [ 2.99790470e-02 9.99550192e-01 8.18604898e-04 -6.29542340e+01] [ 1.28808237e-02 -1.20523333e-03 9.99916312e-01 3.17173891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8107140569999 meters Centerline goodness [0,1] 0.9866490446002554 Centerline is valid? [True, True] Translation: X:848.83, Y:-62.96, Z:3.17 [[ 9.99414186e-01 -3.17260578e-02 -1.28351623e-02 8.48829992e+02] [ 3.17391047e-02 9.99495856e-01 8.14029750e-04 -6.29552133e+01] [ 1.28028656e-02 -1.22092944e-03 9.99917295e-01 3.17342885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8407140569999 meters Centerline goodness [0,1] 0.983458512160229 Centerline is valid? [True, True] Translation: X:848.86, Y:-62.96, Z:3.17 [[ 9.99395864e-01 -3.24433245e-02 -1.24634737e-02 8.48860685e+02] [ 3.24557022e-02 9.99472861e-01 7.92091845e-04 -6.29590423e+01] [ 1.24312056e-02 -1.19612410e-03 9.99922014e-01 3.17339446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.870714057 meters Centerline goodness [0,1] 0.9860589571200503 Centerline is valid? [True, True] Translation: X:848.89, Y:-62.96, Z:3.17 [[ 9.99381613e-01 -3.28450897e-02 -1.25535144e-02 8.48892841e+02] [ 3.28576889e-02 9.99459721e-01 7.98657551e-04 -6.29573310e+01] [ 1.25205000e-02 -1.21064314e-03 9.99920883e-01 3.17399202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.900714057 meters Centerline goodness [0,1] 0.9839127593898565 Centerline is valid? [True, True] Translation: X:848.92, Y:-62.96, Z:3.17 [[ 9.99358557e-01 -3.35218998e-02 -1.25998543e-02 8.48923906e+02] [ 3.35346537e-02 9.99437233e-01 8.02257864e-04 -6.29615150e+01] [ 1.25658703e-02 -1.22427501e-03 9.99920297e-01 3.17321927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9307140569999 meters Centerline goodness [0,1] 0.9888626392170098 Centerline is valid? [True, True] Translation: X:848.96, Y:-62.96, Z:3.17 [[ 9.99364831e-01 -3.32331062e-02 -1.28645262e-02 8.48956055e+02] [ 3.32463902e-02 9.99446850e-01 8.20072705e-04 -6.29560357e+01] [ 1.28301566e-02 -1.24725088e-03 9.99916912e-01 3.17417879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9607140569999 meters Centerline goodness [0,1] 0.9813400996991063 Centerline is valid? [True, True] Translation: X:848.99, Y:-62.96, Z:3.17 [[ 9.99359283e-01 -3.29108439e-02 -1.40677070e-02 8.48987056e+02] [ 3.29267080e-02 9.99457366e-01 8.97512942e-04 -6.29642285e+01] [ 1.40305355e-02 -1.36014117e-03 9.99900642e-01 3.17216427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9907140569999 meters Centerline goodness [0,1] 0.9514447222034548 Centerline is valid? [True, True] Translation: X:849.02, Y:-62.97, Z:3.17 [[ 9.99365099e-01 -3.25532047e-02 -1.44806019e-02 8.49018061e+02] [ 3.25699874e-02 9.99469030e-01 9.24604156e-04 -6.29700803e+01] [ 1.44428143e-02 -1.39565015e-03 9.99894723e-01 3.17043129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.020714057 meters Centerline goodness [0,1] 0.9868727264511172 Centerline is valid? [True, True] Translation: X:849.05, Y:-62.96, Z:3.17 [[ 9.99380989e-01 -3.15700521e-02 -1.55232104e-02 8.49050822e+02] [ 3.15892388e-02 9.99500443e-01 9.92297436e-04 -6.29612619e+01] [ 1.54841288e-02 -1.48204959e-03 9.99879015e-01 3.17126720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0507140569999 meters Centerline goodness [0,1] 0.9675747839073178 Centerline is valid? [True, True] Translation: X:849.08, Y:-62.97, Z:3.17 [[ 9.99401699e-01 -3.08539311e-02 -1.56294043e-02 8.49081124e+02] [ 3.08733024e-02 9.99522806e-01 9.99599984e-04 -6.29686938e+01] [ 1.55911045e-02 -1.48153325e-03 9.99877354e-01 3.16984052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0807140569999 meters Centerline goodness [0,1] 0.9650543698957722 Centerline is valid? [True, True] Translation: X:849.11, Y:-62.97, Z:3.17 [[ 9.99425742e-01 -2.99900638e-02 -1.57728408e-02 8.49112551e+02] [ 3.00096943e-02 9.99549098e-01 1.00931138e-03 -6.29700844e+01] [ 1.57354594e-02 -1.48206990e-03 9.99875092e-01 3.16944291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1107140569999 meters Centerline goodness [0,1] 0.9893016614157166 Centerline is valid? [True, True] Translation: X:849.14, Y:-62.96, Z:3.17 [[ 9.99486169e-01 -2.79343131e-02 -1.57185166e-02 8.49143907e+02] [ 2.79535560e-02 9.99608717e-01 1.00580217e-03 -6.29565733e+01] [ 1.56842698e-02 -1.44467379e-03 9.99875951e-01 3.17217407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.140714057 meters Centerline goodness [0,1] 0.9861597164209434 Centerline is valid? [True, True] Translation: X:849.17, Y:-62.96, Z:3.17 [[ 9.99521970e-01 -2.68058078e-02 -1.54039284e-02 8.49174281e+02] [ 2.68241643e-02 9.99639681e-01 9.86264560e-04 -6.29643073e+01] [ 1.53719405e-02 -1.39899060e-03 9.99880866e-01 3.17121067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1707140569999 meters Centerline goodness [0,1] 0.9896251901291744 Centerline is valid? [True, True] Translation: X:849.21, Y:-62.95, Z:3.17 [[ 9.99607020e-01 -2.39976962e-02 -1.44884815e-02 8.49205967e+02] [ 2.40136435e-02 9.99711200e-01 9.27693416e-04 -6.29546487e+01] [ 1.44620347e-02 -1.27525008e-03 9.99894606e-01 3.17368913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2007140569999 meters Centerline goodness [0,1] 0.9890891732775668 Centerline is valid? [True, True] Translation: X:849.24, Y:-62.96, Z:3.17 [[ 9.99646934e-01 -2.25869200e-02 -1.39942046e-02 8.49237116e+02] [ 2.26016678e-02 9.99744148e-01 8.96576612e-04 -6.29550459e+01] [ 1.39703732e-02 -1.21255242e-03 9.99901674e-01 3.17376471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2307140569999 meters Centerline goodness [0,1] 0.9893341217138178 Centerline is valid? [True, True] Translation: X:849.27, Y:-62.95, Z:3.17 [[ 9.99684176e-01 -2.10644074e-02 -1.37054334e-02 8.49268952e+02] [ 2.10784211e-02 9.99777439e-01 8.78827393e-04 -6.29545036e+01] [ 1.36838711e-02 -1.16743874e-03 9.99905690e-01 3.17422882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.260714057 meters Centerline goodness [0,1] 0.9894436844505244 Centerline is valid? [True, True] Translation: X:849.30, Y:-62.95, Z:3.17 [[ 9.99729027e-01 -1.88313904e-02 -1.36839866e-02 8.49299109e+02] [ 1.88451519e-02 9.99822029e-01 8.77400390e-04 -6.29538820e+01] [ 1.36650286e-02 -1.13503944e-03 9.99905985e-01 3.17418255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.290714057 meters Centerline goodness [0,1] 0.9897415979346113 Centerline is valid? [True, True] Translation: X:849.33, Y:-62.95, Z:3.18 [[ 9.99735227e-01 -1.84767583e-02 -1.37143996e-02 8.49330376e+02] [ 1.84905550e-02 9.99828648e-01 8.79875955e-04 -6.29501808e+01] [ 1.36957924e-02 -1.13322985e-03 9.99905566e-01 3.17520499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3207140569999 meters Centerline goodness [0,1] 0.9890506777607607 Centerline is valid? [True, True] Translation: X:849.36, Y:-62.95, Z:3.18 [[ 9.99742741e-01 -1.81196159e-02 -1.36429654e-02 8.49361593e+02] [ 1.81332605e-02 9.99835194e-01 8.77077342e-04 -6.29502866e+01] [ 1.36248247e-02 -1.12424315e-03 9.99906546e-01 3.17539236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3507140569999 meters Centerline goodness [0,1] 0.9893514701841165 Centerline is valid? [True, True] Translation: X:849.39, Y:-62.95, Z:3.18 [[ 9.99728804e-01 -1.86983574e-02 -1.38812916e-02 8.49392661e+02] [ 1.87125440e-02 9.99824506e-01 8.92799648e-04 -6.29527411e+01] [ 1.38621617e-02 -1.15231180e-03 9.99903252e-01 3.17513659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.380714057 meters Centerline goodness [0,1] 0.9887823080973421 Centerline is valid? [True, True] Translation: X:849.42, Y:-62.95, Z:3.17 [[ 9.99716375e-01 -1.90561903e-02 -1.42839288e-02 8.49424334e+02] [ 1.90712553e-02 9.99817705e-01 9.19200638e-04 -6.29535971e+01] [ 1.42638084e-02 -1.19135238e-03 9.99897557e-01 3.17440330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.410714057 meters Centerline goodness [0,1] 0.9885112713125072 Centerline is valid? [True, True] Translation: X:849.46, Y:-62.96, Z:3.17 [[ 9.99671415e-01 -2.05372968e-02 -1.53388953e-02 8.49455274e+02] [ 2.05548465e-02 9.99788239e-01 9.87339843e-04 -6.29551896e+01] [ 1.53153698e-02 -1.30230406e-03 9.99881865e-01 3.17344328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4407140569999 meters Centerline goodness [0,1] 0.9860993427531087 Centerline is valid? [True, True] Translation: X:849.49, Y:-62.96, Z:3.17 [[ 9.99666149e-01 -2.04133244e-02 -1.58394048e-02 8.49485712e+02] [ 2.04320365e-02 9.99790723e-01 1.02042345e-03 -6.29615408e+01] [ 1.58152597e-02 -1.34371408e-03 9.99874028e-01 3.17127322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4707140569999 meters Centerline goodness [0,1] 0.9838147638697845 Centerline is valid? [True, True] Translation: X:849.52, Y:-62.96, Z:3.17 [[ 9.99670103e-01 -2.02369406e-02 -1.58161605e-02 8.49516923e+02] [ 2.02555841e-02 9.99794315e-01 1.01944337e-03 -6.29640316e+01] [ 1.57922769e-02 -1.33947263e-03 9.99874397e-01 3.17101296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.500714057 meters Centerline goodness [0,1] 0.9859180813673014 Centerline is valid? [True, True] Translation: X:849.55, Y:-62.96, Z:3.17 [[ 9.99683280e-01 -1.96760592e-02 -1.56905182e-02 8.49548025e+02] [ 1.96943429e-02 9.99805536e-01 1.01159593e-03 -6.29642493e+01] [ 1.56675627e-02 -1.32028999e-03 9.99876385e-01 3.17130058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.530714057 meters Centerline goodness [0,1] 0.9895641780066201 Centerline is valid? [True, True] Translation: X:849.58, Y:-62.96, Z:3.17 [[ 9.99717989e-01 -1.83492068e-02 -1.50747951e-02 8.49579499e+02] [ 1.83659379e-02 9.99830859e-01 9.72166473e-04 -6.29577623e+01] [ 1.50544068e-02 -1.24875506e-03 9.99885896e-01 3.17344899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5607140569999 meters Centerline goodness [0,1] 0.9848265730092051 Centerline is valid? [True, True] Translation: X:849.61, Y:-62.97, Z:3.17 [[ 9.99740305e-01 -1.75915506e-02 -1.44865605e-02 8.49609010e+02] [ 1.76069392e-02 9.99844548e-01 9.35408124e-04 -6.29674893e+01] [ 1.44678533e-02 -1.19022919e-03 9.99894627e-01 3.17192977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5907140569999 meters Centerline goodness [0,1] 0.9881200357085632 Centerline is valid? [True, True] Translation: X:849.64, Y:-62.96, Z:3.17 [[ 9.99771454e-01 -1.61153596e-02 -1.40475630e-02 8.49640553e+02] [ 1.61296842e-02 9.99869497e-01 9.07017376e-04 -6.29628476e+01] [ 1.40311128e-02 -1.13339284e-03 9.99900917e-01 3.17334988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.620714057 meters Centerline goodness [0,1] 0.9892223549958636 Centerline is valid? [True, True] Translation: X:849.67, Y:-62.96, Z:3.17 [[ 9.99787148e-01 -1.56839474e-02 -1.34042123e-02 8.49671800e+02] [ 1.56969513e-02 9.99876421e-01 8.65476036e-04 -6.29563250e+01] [ 1.33889817e-02 -1.07569708e-03 9.99909785e-01 3.17477440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.650714057 meters Centerline goodness [0,1] 0.9890150128158184 Centerline is valid? [True, True] Translation: X:849.70, Y:-62.96, Z:3.17 [[ 9.99804038e-01 -1.46710179e-02 -1.32908527e-02 8.49701552e+02] [ 1.46837138e-02 9.99891820e-01 8.58156695e-04 -6.29623657e+01] [ 1.32768249e-02 -1.05314761e-03 9.99911304e-01 3.17410089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6807140569999 meters Centerline goodness [0,1] 0.9895151626878054 Centerline is valid? [True, True] Translation: X:849.73, Y:-62.96, Z:3.17 [[ 9.99816297e-01 -1.38245961e-02 -1.32760518e-02 8.49731799e+02] [ 1.38371896e-02 9.99903894e-01 8.57201034e-04 -6.29631723e+01] [ 1.32629254e-02 -1.04074681e-03 9.99911502e-01 3.17343147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7107140569999 meters Centerline goodness [0,1] 0.990242555345883 Centerline is valid? [True, True] Translation: X:849.76, Y:-62.96, Z:3.17 [[ 9.99812613e-01 -1.39482891e-02 -1.34232698e-02 8.49762529e+02] [ 1.39611746e-02 9.99902162e-01 8.66706529e-04 -6.29632382e+01] [ 1.34098674e-02 -1.05394873e-03 9.99909528e-01 3.17351015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7407140569999 meters Centerline goodness [0,1] 0.9899052755306644 Centerline is valid? [True, True] Translation: X:849.79, Y:-62.97, Z:3.17 [[ 9.99799018e-01 -1.49748455e-02 -1.33295792e-02 8.49792269e+02] [ 1.49876391e-02 9.99887309e-01 8.60402895e-04 -6.29679574e+01] [ 1.33151927e-02 -1.06000889e-03 9.99910787e-01 3.17314780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.770714057 meters Centerline goodness [0,1] 0.9893944971013159 Centerline is valid? [True, True] Translation: X:849.82, Y:-62.97, Z:3.17 [[ 9.99786788e-01 -1.59317146e-02 -1.31361509e-02 8.49821931e+02] [ 1.59442217e-02 9.99872523e-01 8.47934387e-04 -6.29734484e+01] [ 1.31209673e-02 -1.05719930e-03 9.99913358e-01 3.17278635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8007140569999 meters Centerline goodness [0,1] 0.9897712906562464 Centerline is valid? [True, True] Translation: X:849.85, Y:-62.97, Z:3.17 [[ 9.99771691e-01 -1.69513885e-02 -1.30083493e-02 8.49852964e+02] [ 1.69637425e-02 9.99855753e-01 8.39937795e-04 -6.29733181e+01] [ 1.29922348e-02 -1.06041632e-03 9.99915035e-01 3.17361961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8307140569999 meters Centerline goodness [0,1] 0.9891247109462646 Centerline is valid? [True, True] Translation: X:849.88, Y:-62.98, Z:3.17 [[ 9.99744440e-01 -1.90685557e-02 -1.21426848e-02 8.49882835e+02] [ 1.90794796e-02 9.99817662e-01 7.84418185e-04 -6.29814471e+01] [ 1.21255130e-02 -1.01589383e-03 9.99925967e-01 3.17404437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8607140569999 meters Centerline goodness [0,1] 0.9870639501722526 Centerline is valid? [True, True] Translation: X:849.91, Y:-62.99, Z:3.17 [[ 9.99701138e-01 -2.16209832e-02 -1.14091307e-02 8.49912552e+02] [ 2.16307943e-02 9.99765755e-01 7.37220881e-04 -6.29916833e+01] [ 1.13905187e-02 -9.83789113e-04 9.99934642e-01 3.17417188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.890714057 meters Centerline goodness [0,1] 0.9866223779405743 Centerline is valid? [True, True] Translation: X:849.94, Y:-63.00, Z:3.17 [[ 9.99685858e-01 -2.22780447e-02 -1.14836770e-02 8.49944950e+02] [ 2.22880373e-02 9.99751315e-01 7.42895959e-04 -6.29955306e+01] [ 1.14642709e-02 -9.98611204e-04 9.99933784e-01 3.17437000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9207140569999 meters Centerline goodness [0,1] 0.9860990839068411 Centerline is valid? [True, True] Translation: X:849.98, Y:-63.00, Z:3.17 [[ 9.99673045e-01 -2.30333936e-02 -1.11024849e-02 8.49976577e+02] [ 2.30427931e-02 9.99734221e-01 7.19421196e-04 -6.29986073e+01] [ 1.10829633e-02 -9.75018240e-04 9.99938107e-01 3.17435142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9507140569999 meters Centerline goodness [0,1] 0.9859132601064432 Centerline is valid? [True, True] Translation: X:850.01, Y:-63.01, Z:3.17 [[ 9.99660303e-01 -2.38868332e-02 -1.04257775e-02 8.50007102e+02] [ 2.38951731e-02 9.99714241e-01 6.76079056e-04 -6.30074321e+01] [ 1.04066489e-02 -9.24975154e-04 9.99945422e-01 3.17406561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9807140569999 meters Centerline goodness [0,1] 0.9856795399268066 Centerline is valid? [True, True] Translation: X:850.04, Y:-63.01, Z:3.17 [[ 9.99643956e-01 -2.45164429e-02 -1.05311655e-02 8.50039371e+02] [ 2.45249949e-02 9.99698983e-01 6.83675020e-04 -6.30101671e+01] [ 1.05112341e-02 -9.41708381e-04 9.99944312e-01 3.17439649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.010714057 meters Centerline goodness [0,1] 0.9855522794284418 Centerline is valid? [True, True] Translation: X:850.07, Y:-63.01, Z:3.17 [[ 9.99632864e-01 -2.52003112e-02 -9.95392426e-03 8.50071767e+02] [ 2.52079921e-02 9.99682019e-01 6.46920851e-04 -6.30140996e+01] [ 9.93445649e-03 -8.97601787e-04 9.99950249e-01 3.17424137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.040714057 meters Centerline goodness [0,1] 0.9843644544431946 Centerline is valid? [True, True] Translation: X:850.10, Y:-63.02, Z:3.17 [[ 9.99620683e-01 -2.54181903e-02 -1.06021234e-02 8.50102834e+02] [ 2.54269289e-02 9.99676445e-01 6.90237368e-04 -6.30214846e+01] [ 1.05811485e-02 -9.59554989e-04 9.99943558e-01 3.17357592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0707140569999 meters Centerline goodness [0,1] 0.9861070323265638 Centerline is valid? [True, True] Translation: X:850.13, Y:-63.02, Z:3.17 [[ 9.99597839e-01 -2.60569402e-02 -1.11891519e-02 8.50134633e+02] [ 2.60667193e-02 9.99659940e-01 7.29008589e-04 -6.30211274e+01] [ 1.11663512e-02 -1.02037989e-03 9.99937134e-01 3.17368647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1007140569999 meters Centerline goodness [0,1] 0.985629201822858 Centerline is valid? [True, True] Translation: X:850.17, Y:-63.03, Z:3.17 [[ 9.99588068e-01 -2.64036607e-02 -1.12490528e-02 8.50165368e+02] [ 2.64135734e-02 9.99650832e-01 7.33523657e-04 -6.30280714e+01] [ 1.12257573e-02 -1.03034918e-03 9.99936458e-01 3.17282218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.130714057 meters Centerline goodness [0,1] 0.9851571987586021 Centerline is valid? [True, True] Translation: X:850.20, Y:-63.04, Z:3.17 [[ 9.99564153e-01 -2.70977166e-02 -1.17140402e-02 8.50196713e+02] [ 2.71085205e-02 9.99632204e-01 7.64473378e-04 -6.30364055e+01] [ 1.16890164e-02 -1.08169048e-03 9.99931096e-01 3.17199404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.160714057 meters Centerline goodness [0,1] 0.9844400909725506 Centerline is valid? [True, True] Translation: X:850.23, Y:-63.04, Z:3.17 [[ 9.99570688e-01 -2.70701640e-02 -1.12091804e-02 8.50227510e+02] [ 2.70800698e-02 9.99632999e-01 7.32861896e-04 -6.30447166e+01] [ 1.11852279e-02 -1.03609266e-03 9.99936907e-01 3.17197043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1907140569999 meters Centerline goodness [0,1] 0.9854922512877032 Centerline is valid? [True, True] Translation: X:850.26, Y:-63.05, Z:3.17 [[ 9.99587539e-01 -2.65141876e-02 -1.10340012e-02 8.50259804e+02] [ 2.65237607e-02 9.99647922e-01 7.22150714e-04 -6.30465395e+01] [ 1.10109691e-02 -1.01451606e-03 9.99938863e-01 3.17236201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2207140569999 meters Centerline goodness [0,1] 0.9845361983322469 Centerline is valid? [True, True] Translation: X:850.29, Y:-63.05, Z:3.17 [[ 9.99605216e-01 -2.60475020e-02 -1.05327737e-02 8.50290606e+02] [ 2.60562051e-02 9.99660241e-01 6.89887397e-04 -6.30520672e+01] [ 1.05112252e-02 -9.64059151e-04 9.99944291e-01 3.17220558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.250714057 meters Centerline goodness [0,1] 0.982871785650063 Centerline is valid? [True, True] Translation: X:850.32, Y:-63.06, Z:3.17 [[ 9.99646356e-01 -2.49798970e-02 -9.11957782e-03 8.50320609e+02] [ 2.49863784e-02 9.99687613e-01 5.97457716e-04 -6.30618995e+01] [ 9.10180455e-03 -8.25111652e-04 9.99958237e-01 3.17172274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.280714057 meters Centerline goodness [0,1] 0.9845652662323073 Centerline is valid? [True, True] Translation: X:850.35, Y:-63.06, Z:3.17 [[ 9.99667859e-01 -2.43172515e-02 -8.53476048e-03 8.50352481e+02] [ 2.43229099e-02 9.99703998e-01 5.59791276e-04 -6.30636319e+01] [ 8.51862158e-03 -7.67195556e-04 9.99963422e-01 3.17215279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3107140569999 meters Centerline goodness [0,1] 0.9817970392235789 Centerline is valid? [True, True] Translation: X:850.38, Y:-63.08, Z:3.17 [[ 9.99691458e-01 -2.34284947e-02 -8.25192615e-03 8.50383291e+02] [ 2.34337575e-02 9.99725245e-01 5.41651854e-04 -6.30752682e+01] [ 8.23696880e-03 -7.34858368e-04 9.99965806e-01 3.17120829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3407140569999 meters Centerline goodness [0,1] 0.9790678951605689 Centerline is valid? [True, True] Translation: X:850.42, Y:-63.08, Z:3.17 [[ 9.99688688e-01 -2.33937564e-02 -8.67520664e-03 8.50415552e+02] [ 2.33995769e-02 9.99726030e-01 5.70032392e-04 -6.30809807e+01] [ 8.65949469e-03 -7.72851099e-04 9.99962207e-01 3.17066530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.370714057 meters Centerline goodness [0,1] 0.9865959541711421 Centerline is valid? [True, True] Translation: X:850.45, Y:-63.07, Z:3.17 [[ 9.99684274e-01 -2.33563790e-02 -9.26453894e-03 8.50448099e+02] [ 2.33630218e-02 9.99726862e-01 6.09425960e-04 -6.30743492e+01] [ 9.24777445e-03 -8.25681174e-04 9.99956898e-01 3.17125673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.400714057 meters Centerline goodness [0,1] 0.9863459908080853 Centerline is valid? [True, True] Translation: X:850.48, Y:-63.09, Z:3.17 [[ 9.99651111e-01 -2.43034996e-02 -1.03439384e-02 8.50478795e+02] [ 2.43118415e-02 9.99704191e-01 6.81459600e-04 -6.30854675e+01] [ 1.03243168e-02 -9.32702038e-04 9.99946268e-01 3.16901423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4307140569999 meters Centerline goodness [0,1] 0.9873299130046843 Centerline is valid? [True, True] Translation: X:850.51, Y:-63.09, Z:3.17 [[ 9.99639101e-01 -2.46176226e-02 -1.07536218e-02 8.50510952e+02] [ 2.46266646e-02 9.99696466e-01 7.09203512e-04 -6.30857219e+01] [ 1.07328988e-02 -9.73773399e-04 9.99941927e-01 3.16912806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4607140569999 meters Centerline goodness [0,1] 0.9861175999466062 Centerline is valid? [True, True] Translation: X:850.54, Y:-63.10, Z:3.17 [[ 9.99606164e-01 -2.57844487e-02 -1.10760653e-02 8.50540709e+02] [ 2.57941184e-02 9.99667009e-01 7.31038362e-04 -6.30973504e+01] [ 1.10535276e-02 -1.01644779e-03 9.99938391e-01 3.16824076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4907140569999 meters Centerline goodness [0,1] 0.9861175999466062 Centerline is valid? [True, True] Translation: X:850.57, Y:-63.10, Z:3.17 [[ 9.99607997e-01 -2.57132959e-02 -1.10760120e-02 8.50572465e+02] [ 2.57229701e-02 9.99668842e-01 7.31844236e-04 -6.30995092e+01] [ 1.10535260e-02 -1.01646528e-03 9.99938391e-01 3.16820988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.520714057 meters Centerline goodness [0,1] 0.9872455781708293 Centerline is valid? [True, True] Translation: X:850.60, Y:-63.10, Z:3.17 [[ 9.99598080e-01 -2.61474061e-02 -1.09540608e-02 8.50604347e+02] [ 2.61569079e-02 9.99657587e-01 7.25032628e-04 -6.30986274e+01] [ 1.09313523e-02 -1.01126558e-03 9.99939740e-01 3.16872099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5507140569999 meters Centerline goodness [0,1] 0.9864642603129445 Centerline is valid? [True, True] Translation: X:850.63, Y:-63.11, Z:3.17 [[ 9.99584423e-01 -2.68196094e-02 -1.05683542e-02 8.50634856e+02] [ 2.68285027e-02 9.99639805e-01 7.00610948e-04 -6.31082446e+01] [ 1.05457574e-02 -9.83852909e-04 9.99943908e-01 3.16827864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5807140569999 meters Centerline goodness [0,1] 0.9863372221975779 Centerline is valid? [True, True] Translation: X:850.67, Y:-63.11, Z:3.17 [[ 9.99584069e-01 -2.69160955e-02 -1.03543489e-02 8.50666916e+02] [ 2.69246449e-02 9.99637230e-01 6.87148281e-04 -6.31119370e+01] [ 1.03320973e-02 -9.65649641e-04 9.99946156e-01 3.16855140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6107140569999 meters Centerline goodness [0,1] 0.9854066245080264 Centerline is valid? [True, True] Translation: X:850.70, Y:-63.12, Z:3.17 [[ 9.99606585e-01 -2.63852845e-02 -9.51275047e-03 8.50697667e+02] [ 2.63924815e-02 9.99651458e-01 6.31800217e-04 -6.31201573e+01] [ 9.49276464e-03 -8.82616748e-04 9.99954553e-01 3.16811592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.640714057 meters Centerline goodness [0,1] 0.9850984566258648 Centerline is valid? [True, True] Translation: X:850.73, Y:-63.13, Z:3.17 [[ 9.99627578e-01 -2.58346939e-02 -8.79059151e-03 8.50728979e+02] [ 2.58408242e-02 9.99665899e-01 5.84480752e-04 -6.31257551e+01] [ 8.77255469e-03 -8.11419208e-04 9.99961191e-01 3.16845201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6707140569999 meters Centerline goodness [0,1] 0.9845359682743647 Centerline is valid? [True, True] Translation: X:850.76, Y:-63.13, Z:3.17 [[ 9.99654736e-01 -2.50369049e-02 -7.97253753e-03 8.50760355e+02] [ 2.50419242e-02 9.99686261e-01 5.30347631e-04 -6.31269096e+01] [ 7.95675797e-03 -7.29812202e-04 9.99968078e-01 3.16902117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7007140569999 meters Centerline goodness [0,1] 0.9851674747072237 Centerline is valid? [True, True] Translation: X:850.79, Y:-63.13, Z:3.17 [[ 9.99710584e-01 -2.29741634e-02 -7.13699018e-03 8.50791447e+02] [ 2.29781344e-02 9.99735855e-01 4.74878495e-04 -6.31305982e+01] [ 7.12419505e-03 -6.38735777e-04 9.99974419e-01 3.16981012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7307140569999 meters Centerline goodness [0,1] 0.985434643479796 Centerline is valid? [True, True] Translation: X:850.82, Y:-63.13, Z:3.17 [[ 9.99751822e-01 -2.10999628e-02 -7.14747065e-03 8.50822438e+02] [ 2.11038988e-02 9.99777175e-01 4.75703883e-04 -6.31314617e+01] [ 7.13584068e-03 -6.26425321e-04 9.99974343e-01 3.17013376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.760714057 meters Centerline goodness [0,1] 0.9856542882404952 Centerline is valid? [True, True] Translation: X:850.85, Y:-63.14, Z:3.17 [[ 9.99818511e-01 -1.73960317e-02 -7.76675371e-03 8.50851688e+02] [ 1.74005670e-02 9.99848465e-01 5.16746043e-04 -6.31376701e+01] [ 7.75658744e-03 -6.51798178e-04 9.99969705e-01 3.16904014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.790714057 meters Centerline goodness [0,1] 0.9868633478558949 Centerline is valid? [True, True] Translation: X:850.88, Y:-63.14, Z:3.17 [[ 9.99845991e-01 -1.55770117e-02 -8.08398113e-03 8.50882916e+02] [ 1.55818675e-02 9.99878451e-01 5.38030372e-04 -6.31361549e+01] [ 8.07461762e-03 -6.63911033e-04 9.99967179e-01 3.16845733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8207140569999 meters Centerline goodness [0,1] 0.9870738228340368 Centerline is valid? [True, True] Translation: X:850.91, Y:-63.14, Z:3.17 [[ 9.99896214e-01 -1.09909505e-02 -9.31451858e-03 8.50912825e+02] [ 1.09971992e-02 9.99939337e-01 6.19901114e-04 -6.31379424e+01] [ 9.30714023e-03 -7.22270393e-04 9.99956427e-01 3.16811757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8507140569999 meters Centerline goodness [0,1] 0.9874729353541603 Centerline is valid? [True, True] Translation: X:850.94, Y:-63.14, Z:3.17 [[ 9.99916651e-01 -8.72159961e-03 -9.51970366e-03 8.50942496e+02] [ 8.72802094e-03 9.99961710e-01 6.33192988e-04 -6.31388574e+01] [ 9.51381670e-03 -7.16228385e-04 9.99954486e-01 3.16837990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.880714057 meters Centerline goodness [0,1] 0.9884018345387193 Centerline is valid? [True, True] Translation: X:850.97, Y:-63.13, Z:3.17 [[ 9.99938413e-01 -6.27729109e-03 -9.15237155e-03 8.50972474e+02] [ 6.28312151e-03 9.99980076e-01 6.08424642e-04 -6.31326095e+01] [ 9.14836994e-03 -6.65892634e-04 9.99957931e-01 3.16983272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.910714057 meters Centerline goodness [0,1] 0.9879613705516602 Centerline is valid? [True, True] Translation: X:851.00, Y:-63.13, Z:3.17 [[ 9.99965121e-01 -4.73974086e-04 -8.33859276e-03 8.51001510e+02] [ 4.78610859e-04 9.99999732e-01 5.54075101e-04 -6.31340348e+01] [ 8.33832791e-03 -5.58046717e-04 9.99965080e-01 3.17043684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9407140569999 meters Centerline goodness [0,1] 0.9886594298826229 Centerline is valid? [True, True] Translation: X:851.03, Y:-63.13, Z:3.17 [[ 9.99965637e-01 2.39140771e-03 -7.93757279e-03 8.51031497e+02] [-2.38729713e-03 9.99997011e-01 5.27298448e-04 -6.31333763e+01] [ 7.93881005e-03 -5.08330983e-04 9.99968358e-01 3.17075919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9707140569999 meters Centerline goodness [0,1] 0.9896100450968255 Centerline is valid? [True, True] Translation: X:851.06, Y:-63.13, Z:3.17 [[ 9.99940759e-01 7.74689257e-03 -7.64621344e-03 8.51060952e+02] [-7.74323543e-03 9.99969892e-01 5.07782751e-04 -6.31331652e+01] [ 7.64991696e-03 -4.48546238e-04 9.99970638e-01 3.17109747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.000714057 meters Centerline goodness [0,1] 0.9897107529255906 Centerline is valid? [True, True] Translation: X:851.09, Y:-63.13, Z:3.17 [[ 9.99918559e-01 1.04172317e-02 -7.37267612e-03 8.51091048e+02] [-1.04139048e-02 9.99945654e-01 4.89491104e-04 -6.31331295e+01] [ 7.37737458e-03 -4.12672892e-04 9.99972702e-01 3.17113878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.030714057 meters Centerline goodness [0,1] 0.9890924377184831 Centerline is valid? [True, True] Translation: X:851.12, Y:-63.13, Z:3.17 [[ 9.99892828e-01 1.26493466e-02 -7.37066810e-03 8.51120228e+02] [-1.26460840e-02 9.99919915e-01 4.89086936e-04 -6.31340414e+01] [ 7.37626445e-03 -3.95824432e-04 9.99972717e-01 3.17126665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0607140569999 meters Centerline goodness [0,1] 0.9894832396050126 Centerline is valid? [True, True] Translation: X:851.15, Y:-63.13, Z:3.17 [[ 9.99844971e-01 1.60585703e-02 -7.22189774e-03 8.51150112e+02] [-1.60555286e-02 9.99870987e-01 4.78962050e-04 -6.31307884e+01] [ 7.22865747e-03 -3.62936411e-04 9.99973807e-01 3.17205942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0907140569999 meters Centerline goodness [0,1] 0.9890987086502742 Centerline is valid? [True, True] Translation: X:851.18, Y:-63.13, Z:3.17 [[ 9.99830127e-01 1.71513010e-02 -6.74902704e-03 8.51177444e+02] [-1.71486737e-02 9.99852851e-01 4.46964977e-04 -6.31328979e+01] [ 6.75569996e-03 -3.31152188e-04 9.99977125e-01 3.17222860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.120714057 meters Centerline goodness [0,1] 0.989369965158341 Centerline is valid? [True, True] Translation: X:851.21, Y:-63.13, Z:3.17 [[ 9.99817520e-01 1.79095858e-02 -6.64634805e-03 8.51206187e+02] [-1.79070576e-02 9.99839559e-01 4.39707989e-04 -6.31310617e+01] [ 6.65315669e-03 -3.20611214e-04 9.99977816e-01 3.17375424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.150714057 meters Centerline goodness [0,1] 0.9892734711931881 Centerline is valid? [True, True] Translation: X:851.23, Y:-63.13, Z:3.17 [[ 9.99820155e-01 1.79220881e-02 -6.20133170e-03 8.51233576e+02] [-1.79198925e-02 9.99839342e-01 4.09441053e-04 -6.31336378e+01] [ 6.20767344e-03 -2.98240219e-04 9.99980688e-01 3.17375992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1807140569999 meters Centerline goodness [0,1] 0.9884867332759876 Centerline is valid? [True, True] Translation: X:851.26, Y:-63.14, Z:3.17 [[ 9.99815332e-01 1.82164884e-02 -6.12055669e-03 8.51261489e+02] [-1.82143582e-02 9.99834023e-01 4.03610970e-04 -6.31395549e+01] [ 6.12689320e-03 -2.92054424e-04 9.99981188e-01 3.17314678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2107140569999 meters Centerline goodness [0,1] 0.9895853931843649 Centerline is valid? [True, True] Translation: X:851.29, Y:-63.14, Z:3.17 [[ 9.99812516e-01 1.80802760e-02 -6.93078616e-03 8.51288789e+02] [-1.80775450e-02 9.99836484e-01 4.56480564e-04 -6.31426214e+01] [ 6.93790616e-03 -3.31103383e-04 9.99975878e-01 3.17228080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2407140569999 meters Centerline goodness [0,1] 0.9894169373191047 Centerline is valid? [True, True] Translation: X:851.32, Y:-63.14, Z:3.17 [[ 9.99822063e-01 1.74565858e-02 -7.14910476e-03 8.51318104e+02] [-1.74536676e-02 9.99847562e-01 4.70381598e-04 -6.31398618e+01] [ 7.15622623e-03 -3.45519802e-04 9.99974334e-01 3.17284376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.270714057 meters Centerline goodness [0,1] 0.9901884957903343 Centerline is valid? [True, True] Translation: X:851.35, Y:-63.14, Z:3.17 [[ 9.99840558e-01 1.62185271e-02 -7.47120404e-03 8.51346830e+02] [-1.62153096e-02 9.99868403e-01 4.91027423e-04 -6.31370072e+01] [ 7.47818459e-03 -3.69801246e-04 9.99971970e-01 3.17414075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3007140569999 meters Centerline goodness [0,1] 0.9898833716204276 Centerline is valid? [True, True] Translation: X:851.37, Y:-63.14, Z:3.17 [[ 9.99849718e-01 1.55302234e-02 -7.70407391e-03 8.51374483e+02] [-1.55267874e-02 9.99879324e-01 5.05618669e-04 -6.31431388e+01] [ 7.71099659e-03 -3.85923166e-04 9.99970195e-01 3.17327583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3307140569999 meters Centerline goodness [0,1] 0.9891299544872079 Centerline is valid? [True, True] Translation: X:851.40, Y:-63.15, Z:3.17 [[ 9.99862309e-01 1.42063687e-02 -8.57567723e-03 8.51402101e+02] [-1.42020689e-02 9.99898988e-01 5.62091548e-04 -6.31468386e+01] [ 8.58279626e-03 -4.40221794e-04 9.99963070e-01 3.17293549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3607140569999 meters Centerline goodness [0,1] 0.9894200886067579 Centerline is valid? [True, True] Translation: X:851.43, Y:-63.15, Z:3.17 [[ 9.99869386e-01 1.37498881e-02 -8.49423759e-03 8.51430384e+02] [-1.37456579e-02 9.99905369e-01 5.56185049e-04 -6.31491484e+01] [ 8.50108125e-03 -4.39353519e-04 9.99963769e-01 3.17310818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.390714057 meters Centerline goodness [0,1] 0.9904463517419412 Centerline is valid? [True, True] Translation: X:851.46, Y:-63.15, Z:3.17 [[ 9.99875858e-01 1.32489016e-02 -8.52851302e-03 8.51459122e+02] [-1.32446244e-02 9.99912131e-01 5.57805031e-04 -6.31455770e+01] [ 8.53515393e-03 -4.44778832e-04 9.99963476e-01 3.17452330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4207140569999 meters Centerline goodness [0,1] 0.9885995994453859 Centerline is valid? [True, True] Translation: X:851.49, Y:-63.15, Z:3.17 [[ 9.99898302e-01 1.22455606e-02 -7.30971704e-03 8.51486499e+02] [-1.22423988e-02 9.99924945e-01 4.77142060e-04 -6.31548092e+01] [ 7.31501128e-03 -3.87605064e-04 9.99973170e-01 3.17460305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4507140569999 meters Centerline goodness [0,1] 0.9894954744654143 Centerline is valid? [True, True] Translation: X:851.52, Y:-63.15, Z:3.18 [[ 9.99907874e-01 1.18070724e-02 -6.69606438e-03 8.51515707e+02] [-1.18044123e-02 9.99930230e-01 4.36652364e-04 -6.31530499e+01] [ 6.70075278e-03 -3.57569032e-04 9.99977486e-01 3.17573837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4807140569999 meters Centerline goodness [0,1] 0.9885773168753151 Centerline is valid? [True, True] Translation: X:851.54, Y:-63.16, Z:3.18 [[ 9.99924799e-01 1.04883666e-02 -6.35535892e-03 8.51544239e+02] [-1.04859466e-02 9.99944935e-01 4.13982534e-04 -6.31563359e+01] [ 6.35935096e-03 -3.47309448e-04 9.99979719e-01 3.17591470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.510714057 meters Centerline goodness [0,1] 0.9891868034867042 Centerline is valid? [True, True] Translation: X:851.57, Y:-63.16, Z:3.18 [[ 9.99935019e-01 9.29600229e-03 -6.59859620e-03 8.51571886e+02] [-9.29337154e-03 9.99956724e-01 4.29235049e-04 -6.31603678e+01] [ 6.60230081e-03 -3.67883951e-04 9.99978137e-01 3.17538965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.540714057 meters Centerline goodness [0,1] 0.9886717456111295 Centerline is valid? [True, True] Translation: X:851.60, Y:-63.16, Z:3.17 [[ 9.99945256e-01 7.72169745e-03 -7.06114881e-03 8.51601004e+02] [-7.71864813e-03 9.99970105e-01 4.58994134e-04 -6.31625747e+01] [ 7.06448193e-03 -4.04466484e-04 9.99974964e-01 3.17442328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5707140569999 meters Centerline goodness [0,1] 0.9890068568900686 Centerline is valid? [True, True] Translation: X:851.63, Y:-63.16, Z:3.17 [[ 9.99944485e-01 7.23614624e-03 -7.65930330e-03 8.51629272e+02] [-7.23254957e-03 9.99973721e-01 4.97176801e-04 -6.31643845e+01] [ 7.66269966e-03 -4.41752910e-04 9.99970544e-01 3.17387124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6007140569999 meters Centerline goodness [0,1] 0.9888578160438641 Centerline is valid? [True, True] Translation: X:851.66, Y:-63.17, Z:3.17 [[ 9.99942640e-01 6.96731657e-03 -8.13475240e-03 8.51656813e+02] [-6.96325743e-03 9.99975617e-01 5.27203320e-04 -6.31691562e+01] [ 8.13822725e-03 -4.70528704e-04 9.99966773e-01 3.17280116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.630714057 meters Centerline goodness [0,1] 0.9885166618819424 Centerline is valid? [True, True] Translation: X:851.69, Y:-63.17, Z:3.17 [[ 9.99932768e-01 7.36322527e-03 -8.95780685e-03 8.51686141e+02] [-7.35832421e-03 9.99972759e-01 5.79961779e-04 -6.31672212e+01] [ 8.96183322e-03 -5.14008340e-04 9.99959710e-01 3.17299575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.660714057 meters Centerline goodness [0,1] 0.9886225291630697 Centerline is valid? [True, True] Translation: X:851.71, Y:-63.17, Z:3.17 [[ 9.99929146e-01 7.38246646e-03 -9.33823040e-03 8.51712879e+02] [-7.37715209e-03 9.99972606e-01 6.03415442e-04 -6.31709325e+01] [ 9.34242928e-03 -5.34483142e-04 9.99956216e-01 3.17265804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6907140569999 meters Centerline goodness [0,1] 0.988666297731046 Centerline is valid? [True, True] Translation: X:851.74, Y:-63.17, Z:3.17 [[ 9.99929016e-01 7.74464904e-03 -9.05450592e-03 8.51742229e+02] [-7.73967285e-03 9.99969877e-01 5.84493844e-04 -6.31681214e+01] [ 9.05875987e-03 -5.14373441e-04 9.99958836e-01 3.17331836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7207140569999 meters Centerline goodness [0,1] 0.9885579972060226 Centerline is valid? [True, True] Translation: X:851.77, Y:-63.17, Z:3.17 [[ 9.99929556e-01 7.78331004e-03 -8.96119943e-03 8.51771484e+02] [-7.77844305e-03 9.99969580e-01 5.77842723e-04 -6.31691966e+01] [ 8.96542436e-03 -5.08097838e-04 9.99959681e-01 3.17354726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.750714057 meters Centerline goodness [0,1] 0.988634353440651 Centerline is valid? [True, True] Translation: X:851.80, Y:-63.17, Z:3.17 [[ 9.99929273e-01 8.21037597e-03 -8.60455823e-03 8.51799172e+02] [-8.20591104e-03 9.99966177e-01 5.54079545e-04 -6.31730125e+01] [ 8.60881640e-03 -4.83432118e-04 9.99962827e-01 3.17328177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.780714057 meters Centerline goodness [0,1] 0.9885381102292378 Centerline is valid? [True, True] Translation: X:851.83, Y:-63.17, Z:3.17 [[ 9.99926254e-01 8.42080276e-03 -8.75080544e-03 8.51827661e+02] [-8.41619789e-03 9.99964425e-01 5.62914565e-04 -6.31728937e+01] [ 8.75523432e-03 -4.89224542e-04 9.99961553e-01 3.17327852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8107140569999 meters Centerline goodness [0,1] 0.988102095980857 Centerline is valid? [True, True] Translation: X:851.86, Y:-63.17, Z:3.17 [[ 9.99923355e-01 8.82532674e-03 -8.68313011e-03 8.51856672e+02] [-8.82081321e-03 9.99960940e-01 5.57964069e-04 -6.31741243e+01] [ 8.68771516e-03 -4.81329036e-04 9.99962145e-01 3.17319268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8407140569999 meters Centerline goodness [0,1] 0.988449064818517 Centerline is valid? [True, True] Translation: X:851.88, Y:-63.18, Z:3.17 [[ 9.99911766e-01 9.44999531e-03 -9.33585773e-03 8.51884231e+02] [-9.44481236e-03 9.99955217e-01 5.99099867e-04 -6.31758111e+01] [ 9.34110113e-03 -5.10871581e-04 9.99956240e-01 3.17247257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.870714057 meters Centerline goodness [0,1] 0.9889100829525795 Centerline is valid? [True, True] Translation: X:851.91, Y:-63.18, Z:3.17 [[ 9.99905798e-01 1.00586440e-02 -9.33911600e-03 8.51913502e+02] [-1.00534880e-02 9.99949283e-01 5.98867508e-04 -6.31762510e+01] [ 9.34466615e-03 -5.04920402e-04 9.99956210e-01 3.17244960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.900714057 meters Centerline goodness [0,1] 0.9887825140496235 Centerline is valid? [True, True] Translation: X:851.94, Y:-63.17, Z:3.17 [[ 9.99890484e-01 1.11550114e-02 -9.72548791e-03 8.51942817e+02] [-1.11494787e-02 9.99937649e-01 6.22924752e-04 -6.31698171e+01] [ 9.73183024e-03 -5.14422411e-04 9.99952512e-01 3.17401130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9307140569999 meters Centerline goodness [0,1] 0.9892456462569981 Centerline is valid? [True, True] Translation: X:851.97, Y:-63.18, Z:3.17 [[ 9.99890670e-01 1.14582351e-02 -9.34645364e-03 8.51969936e+02] [-1.14531465e-02 9.99934232e-01 5.97792597e-04 -6.31757360e+01] [ 9.35268859e-03 -4.90680938e-04 9.99956142e-01 3.17371051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9607140569999 meters Centerline goodness [0,1] 0.9897517801291009 Centerline is valid? [True, True] Translation: X:852.00, Y:-63.17, Z:3.18 [[ 9.99890024e-01 1.15329085e-02 -9.32377764e-03 8.51999096e+02] [-1.15278538e-02 9.99933375e-01 5.95695801e-04 -6.31722598e+01] [ 9.33002654e-03 -4.88147143e-04 9.99956355e-01 3.17517522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9907140569999 meters Centerline goodness [0,1] 0.9890855849860243 Centerline is valid? [True, True] Translation: X:852.03, Y:-63.17, Z:3.18 [[ 9.99906297e-01 1.10749827e-02 -8.04625952e-03 8.52027106e+02] [-1.10712094e-02 9.99938581e-01 5.13338588e-04 -6.31746692e+01] [ 8.05145053e-03 -4.24208662e-04 9.99967497e-01 3.17581889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.020714057 meters Centerline goodness [0,1] 0.9889719750593561 Centerline is valid? [True, True] Translation: X:852.06, Y:-63.18, Z:3.18 [[ 9.99912720e-01 1.07213070e-02 -7.72050136e-03 8.52056326e+02] [-1.07178266e-02 9.99942441e-01 4.92026374e-04 -6.31760075e+01] [ 7.72533214e-03 -4.09236435e-04 9.99970075e-01 3.17637358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0507140569999 meters Centerline goodness [0,1] 0.989214859526874 Centerline is valid? [True, True] Translation: X:852.08, Y:-63.18, Z:3.18 [[ 9.99927266e-01 9.53749078e-03 -7.38234046e-03 8.52084300e+02] [-9.53428138e-03 9.99954437e-01 4.69811926e-04 -6.31790235e+01] [ 7.38648493e-03 -3.99392443e-04 9.99972640e-01 3.17661777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0807140569999 meters Centerline goodness [0,1] 0.9893924568582103 Centerline is valid? [True, True] Translation: X:852.11, Y:-63.18, Z:3.18 [[ 9.99930526e-01 9.40819817e-03 -7.10128717e-03 8.52112381e+02] [-9.40523094e-03 9.99955668e-01 4.51123332e-04 -6.31755263e+01] [ 7.10521662e-03 -3.84302745e-04 9.99974684e-01 3.17762235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1107140569999 meters Centerline goodness [0,1] 0.9890200079854488 Centerline is valid? [True, True] Translation: X:852.14, Y:-63.18, Z:3.18 [[ 9.99931216e-01 9.67329771e-03 -6.63251291e-03 8.52140281e+02] [-9.67071903e-03 9.99953149e-01 4.20754615e-04 -6.31792773e+01] [ 6.63627226e-03 -3.56584505e-04 9.99977916e-01 3.17722096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.140714057 meters Centerline goodness [0,1] 0.9892219007443073 Centerline is valid? [True, True] Translation: X:852.17, Y:-63.18, Z:3.18 [[ 9.99909794e-01 1.14564663e-02 -7.01089939e-03 8.52168960e+02] [-1.14536321e-02 9.99934306e-01 4.44279775e-04 -6.31790780e+01] [ 7.01552870e-03 -3.63939436e-04 9.99975325e-01 3.17663037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1707140569999 meters Centerline goodness [0,1] 0.989052715725896 Centerline is valid? [True, True] Translation: X:852.20, Y:-63.18, Z:3.18 [[ 9.99892140e-01 1.26322269e-02 -7.49236770e-03 8.52196793e+02] [-1.26290280e-02 9.99920138e-01 4.74113228e-04 -6.31813399e+01] [ 7.49775846e-03 -3.79440769e-04 9.99971819e-01 3.17593833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2007140569999 meters Centerline goodness [0,1] 0.9898058682740892 Centerline is valid? [True, True] Translation: X:852.23, Y:-63.18, Z:3.18 [[ 9.99833843e-01 1.63449196e-02 -8.07027508e-03 8.52226734e+02] [-1.63413294e-02 9.99866341e-01 5.10617390e-04 -6.31806781e+01] [ 8.07754242e-03 -3.78653524e-04 9.99967304e-01 3.17547131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2307140569999 meters Centerline goodness [0,1] 0.9895978268071292 Centerline is valid? [True, True] Translation: X:852.26, Y:-63.18, Z:3.18 [[ 9.99800475e-01 1.81595538e-02 -8.32106566e-03 8.52255895e+02] [-1.81558049e-02 9.99835032e-01 5.25851147e-04 -6.31809001e+01] [ 8.32924217e-03 -3.74670582e-04 9.99965241e-01 3.17578089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.260714057 meters Centerline goodness [0,1] 0.9899800487696742 Centerline is valid? [True, True] Translation: X:852.29, Y:-63.18, Z:3.18 [[ 9.99724198e-01 2.18220055e-02 -8.67914150e-03 8.52285615e+02] [-2.18180672e-02 9.99761807e-01 5.48210040e-04 -6.31795596e+01] [ 8.68903723e-03 -3.58696750e-04 9.99962185e-01 3.17607424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.290714057 meters Centerline goodness [0,1] 0.9897866293656609 Centerline is valid? [True, True] Translation: X:852.31, Y:-63.18, Z:3.18 [[ 9.99693076e-01 2.31118757e-02 -8.92156821e-03 8.52314838e+02] [-2.31077698e-02 9.99732821e-01 5.63036692e-04 -6.31807942e+01] [ 8.93219739e-03 -3.56706338e-04 9.99960044e-01 3.17568633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3207140569999 meters Centerline goodness [0,1] 0.9905083690844022 Centerline is valid? [True, True] Translation: X:852.34, Y:-63.18, Z:3.18 [[ 9.99664496e-01 2.41766690e-02 -9.29433456e-03 8.52343835e+02] [-2.41722651e-02 9.99707636e-01 5.85884379e-04 -6.31810931e+01] [ 9.30578197e-03 -3.61022693e-04 9.99956635e-01 3.17537013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3507140569999 meters Centerline goodness [0,1] 0.9906195946245621 Centerline is valid? [True, True] Translation: X:852.37, Y:-63.19, Z:3.17 [[ 9.99617686e-01 2.56759161e-02 -1.02581422e-02 8.52371692e+02] [-2.56706377e-02 9.99670246e-01 6.45922722e-04 -6.31873866e+01] [ 1.02713442e-02 -3.82342724e-04 9.99947175e-01 3.17361290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.380714057 meters Centerline goodness [0,1] 0.9906195946245621 Centerline is valid? [True, True] Translation: X:852.40, Y:-63.19, Z:3.17 [[ 9.99620268e-01 2.55751477e-02 -1.02582091e-02 8.52399125e+02] [-2.55698748e-02 9.99672829e-01 6.44859191e-04 -6.31890176e+01] [ 1.02713453e-02 -3.82313194e-04 9.99947175e-01 3.17358621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.410714057 meters Centerline goodness [0,1] 0.9903221500400463 Centerline is valid? [True, True] Translation: X:852.43, Y:-63.19, Z:3.17 [[ 9.99616255e-01 2.55504582e-02 -1.07012637e-02 8.52426790e+02] [-2.55447302e-02 9.99673455e-01 6.71627526e-04 -6.31911560e+01] [ 1.07149296e-02 -3.98008899e-04 9.99942514e-01 3.17328988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4407140569999 meters Centerline goodness [0,1] 0.990633204289592 Centerline is valid? [True, True] Translation: X:852.46, Y:-63.19, Z:3.17 [[ 9.99638054e-01 2.46878176e-02 -1.06897933e-02 8.52455844e+02] [-2.46820604e-02 9.99695127e-01 6.70175995e-04 -6.31912389e+01] [ 1.07030795e-02 -4.06087303e-04 9.99942638e-01 3.17459983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4707140569999 meters Centerline goodness [0,1] 0.9892669051798849 Centerline is valid? [True, True] Translation: X:852.48, Y:-63.19, Z:3.17 [[ 9.99652890e-01 2.42406241e-02 -1.03195146e-02 8.52483690e+02] [-2.42352447e-02 9.99706075e-01 6.46031381e-04 -6.31946654e+01] [ 1.03321416e-02 -3.95711175e-04 9.99946544e-01 3.17486507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.500714057 meters Centerline goodness [0,1] 0.9888891348133064 Centerline is valid? [True, True] Translation: X:852.51, Y:-63.20, Z:3.17 [[ 9.99670786e-01 2.37074198e-02 -9.81207993e-03 8.52511306e+02] [-2.37025439e-02 9.99718867e-01 6.12935468e-04 -6.32022956e+01] [ 9.82385255e-03 -3.80162426e-04 9.99951673e-01 3.17387941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.530714057 meters Centerline goodness [0,1] 0.9894832597457345 Centerline is valid? [True, True] Translation: X:852.54, Y:-63.20, Z:3.18 [[ 9.99703366e-01 2.22152989e-02 -9.98299504e-03 8.52540459e+02] [-2.22101838e-02 9.99753129e-01 6.22963950e-04 -6.32003209e+01] [ 9.99436986e-03 -4.01055003e-04 9.99949975e-01 3.17637674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5607140569999 meters Centerline goodness [0,1] 0.9890382443474988 Centerline is valid? [True, True] Translation: X:852.57, Y:-63.20, Z:3.18 [[ 9.99736989e-01 2.07947067e-02 -9.67124968e-03 8.52568866e+02] [-2.07898464e-02 9.99783686e-01 6.02820473e-04 -6.32035143e+01] [ 9.68169313e-03 -4.01598129e-04 9.99953051e-01 3.17645737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5907140569999 meters Centerline goodness [0,1] 0.9892106254292488 Centerline is valid? [True, True] Translation: X:852.60, Y:-63.21, Z:3.18 [[ 9.99814044e-01 1.67166730e-02 -9.61411432e-03 8.52598378e+02] [-1.67116830e-02 9.99860171e-01 5.99136791e-04 -6.32085256e+01] [ 9.62278556e-03 -4.38357347e-04 9.99953604e-01 3.17691770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.620714057 meters Centerline goodness [0,1] 0.9886945534348607 Centerline is valid? [True, True] Translation: X:852.63, Y:-63.21, Z:3.18 [[ 9.99852068e-01 1.41959603e-02 -9.71167057e-03 8.52626880e+02] [-1.41907552e-02 9.99899123e-01 6.04660417e-04 -6.32134656e+01] [ 9.71927463e-03 -4.66755028e-04 9.99952658e-01 3.17691120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.650714057 meters Centerline goodness [0,1] 0.9878920689731501 Centerline is valid? [True, True] Translation: X:852.65, Y:-63.22, Z:3.18 [[ 9.99887004e-01 1.14234196e-02 -9.77164096e-03 8.52654602e+02] [-1.14180249e-02 9.99934628e-01 6.07683424e-04 -6.32226247e+01] [ 9.77794399e-03 -4.96041918e-04 9.99952072e-01 3.17569867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6807140569999 meters Centerline goodness [0,1] 0.9882009164766564 Centerline is valid? [True, True] Translation: X:852.69, Y:-63.22, Z:3.18 [[ 9.99929095e-01 7.09479567e-03 -9.56397262e-03 8.52685100e+02] [-7.08942980e-03 9.99974693e-01 5.94836221e-04 -6.32248454e+01] [ 9.56795082e-03 -5.26990931e-04 9.99954087e-01 3.17661528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7107140569999 meters Centerline goodness [0,1] 0.9876040375420577 Centerline is valid? [True, True] Translation: X:852.71, Y:-63.23, Z:3.18 [[ 9.99945056e-01 5.43583727e-03 -8.96303951e-03 8.52712534e+02] [-5.43106592e-03 9.99985097e-01 5.56590285e-04 -6.32303035e+01] [ 8.96593146e-03 -5.07880845e-04 9.99959676e-01 3.17617507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7407140569999 meters Centerline goodness [0,1] 0.9875559098357026 Centerline is valid? [True, True] Translation: X:852.74, Y:-63.23, Z:3.18 [[ 9.99946374e-01 3.22066582e-03 -9.84256371e-03 8.52741879e+02] [-3.21481005e-03 9.99994646e-01 6.10706533e-04 -6.32289266e+01] [ 9.84447790e-03 -5.79031811e-04 9.99951374e-01 3.17749507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.770714057 meters Centerline goodness [0,1] 0.9873272651136138 Centerline is valid? [True, True] Translation: X:852.77, Y:-63.23, Z:3.18 [[ 9.99950166e-01 2.57038775e-03 -9.64664317e-03 8.52769771e+02] [-2.56474144e-03 9.99996532e-01 5.97639061e-04 -6.32347717e+01] [ 9.64814588e-03 -5.72868133e-04 9.99953291e-01 3.17634660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8007140569999 meters Centerline goodness [0,1] 0.9875807910352282 Centerline is valid? [True, True] Translation: X:852.80, Y:-63.24, Z:3.18 [[ 9.99951479e-01 2.10951570e-03 -9.62232707e-03 8.52798269e+02] [-2.10388294e-03 9.99997610e-01 5.95469150e-04 -6.32373614e+01] [ 9.62356022e-03 -5.75196008e-04 9.99953527e-01 3.17601912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8307140569999 meters Centerline goodness [0,1] 0.9866947239210013 Centerline is valid? [True, True] Translation: X:852.83, Y:-63.24, Z:3.18 [[ 9.99955762e-01 1.71448173e-03 -9.24854255e-03 8.52825489e+02] [-1.70926898e-03 9.99998376e-01 5.71504177e-04 -6.32438935e+01] [ 9.24950736e-03 -5.55670648e-04 9.99957068e-01 3.17549421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8607140569999 meters Centerline goodness [0,1] 0.9865619276683069 Centerline is valid? [True, True] Translation: X:852.85, Y:-63.24, Z:3.18 [[ 9.99953588e-01 1.07437250e-03 -9.57433310e-03 8.52854180e+02] [-1.06876296e-03 9.99999254e-01 5.90990222e-04 -6.32437496e+01] [ 9.57496091e-03 -5.80730100e-04 9.99953990e-01 3.17599940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.890714057 meters Centerline goodness [0,1] 0.9875110521662246 Centerline is valid? [True, True] Translation: X:852.88, Y:-63.24, Z:3.18 [[ 9.99958466e-01 1.31901628e-03 -9.01810074e-03 8.52882989e+02] [-1.31405544e-03 9.99998982e-01 5.56001823e-04 -6.32421307e+01] [ 9.01882494e-03 -5.44128446e-04 9.99959182e-01 3.17699560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9207140569999 meters Centerline goodness [0,1] 0.9869229245096097 Centerline is valid? [True, True] Translation: X:852.91, Y:-63.25, Z:3.18 [[ 9.99963477e-01 2.24564895e-03 -8.24631442e-03 8.52910165e+02] [-2.24153856e-03 9.99997359e-01 5.07660458e-04 -6.32480370e+01] [ 8.24743266e-03 -4.89157485e-04 9.99965870e-01 3.17687155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9507140569999 meters Centerline goodness [0,1] 0.9882529257487933 Centerline is valid? [True, True] Translation: X:852.94, Y:-63.24, Z:3.18 [[ 9.99963419e-01 2.87633852e-03 -8.05522826e-03 8.52939947e+02] [-2.87244012e-03 9.99995752e-01 4.95486329e-04 -6.32421879e+01] [ 8.05661923e-03 -4.72330043e-04 9.99967433e-01 3.17796460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9807140569999 meters Centerline goodness [0,1] 0.9877396836617478 Centerline is valid? [True, True] Translation: X:852.97, Y:-63.25, Z:3.18 [[ 9.99953522e-01 4.32212290e-03 -8.61820901e-03 8.52968214e+02] [-4.31771954e-03 9.99990538e-01 5.29477564e-04 -6.32452845e+01] [ 8.62041593e-03 -4.92241946e-04 9.99962722e-01 3.17681674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.010714057 meters Centerline goodness [0,1] 0.9887548783983419 Centerline is valid? [True, True] Translation: X:853.00, Y:-63.25, Z:3.18 [[ 9.99947194e-01 4.98399286e-03 -8.98718328e-03 8.52997097e+02] [-4.97923670e-03 9.99987451e-01 5.51512518e-04 -6.32468939e+01] [ 8.98981923e-03 -5.06734082e-04 9.99959462e-01 3.17635282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.040714057 meters Centerline goodness [0,1] 0.9883468299427217 Centerline is valid? [True, True] Translation: X:853.03, Y:-63.25, Z:3.18 [[ 9.99935377e-01 6.07428148e-03 -9.60960813e-03 8.53025751e+02] [-6.06890039e-03 9.99981411e-01 5.89031341e-04 -6.32477682e+01] [ 9.61300743e-03 -5.30673521e-04 9.99953653e-01 3.17583150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0707140569999 meters Centerline goodness [0,1] 0.9881734848651381 Centerline is valid? [True, True] Translation: X:853.05, Y:-63.25, Z:3.17 [[ 9.99903963e-01 8.29098509e-03 -1.11051293e-02 8.53053389e+02] [-8.28394589e-03 9.99965457e-01 6.79718616e-04 -6.32489483e+01] [ 1.11103812e-02 -5.87659048e-04 9.99938105e-01 3.17479495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1007140569999 meters Centerline goodness [0,1] 0.9893967902600996 Centerline is valid? [True, True] Translation: X:853.08, Y:-63.25, Z:3.18 [[ 9.99891744e-01 9.48867693e-03 -1.12456512e-02 8.53082742e+02] [-9.48154031e-03 9.99954813e-01 6.87756949e-04 -6.32485570e+01] [ 1.12516689e-02 -5.81056400e-04 9.99936529e-01 3.17533899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.130714057 meters Centerline goodness [0,1] 0.9890569040986869 Centerline is valid? [True, True] Translation: X:853.11, Y:-63.25, Z:3.18 [[ 9.99866961e-01 1.26602865e-02 -1.02848569e-02 8.53112446e+02] [-1.26544883e-02 9.99919731e-01 6.28644608e-04 -6.32474456e+01] [ 1.02919902e-02 -4.98411372e-04 9.99946912e-01 3.17645151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.160714057 meters Centerline goodness [0,1] 0.9897087078465582 Centerline is valid? [True, True] Translation: X:853.14, Y:-63.25, Z:3.18 [[ 9.99849139e-01 1.45217714e-02 -9.52982653e-03 8.53141155e+02] [-1.45168844e-02 9.99894455e-01 5.81786998e-04 -6.32482613e+01] [ 9.53726929e-03 -4.43355839e-04 9.99954421e-01 3.17717609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1907140569999 meters Centerline goodness [0,1] 0.9894911138094712 Centerline is valid? [True, True] Translation: X:853.17, Y:-63.25, Z:3.18 [[ 9.99827349e-01 1.65396211e-02 -8.46836812e-03 8.53168798e+02] [-1.65358409e-02 9.99863140e-01 5.16222315e-04 -6.32508911e+01] [ 8.47574726e-03 -3.76101601e-04 9.99964009e-01 3.17733810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2207140569999 meters Centerline goodness [0,1] 0.9894952883278529 Centerline is valid? [True, True] Translation: X:853.20, Y:-63.25, Z:3.18 [[ 9.99766905e-01 1.97847007e-02 -8.64295642e-03 8.53199311e+02] [-1.97808871e-02 9.99804200e-01 5.26505841e-04 -6.32492777e+01] [ 8.65168089e-03 -3.55417770e-04 9.99962510e-01 3.17790804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.250714057 meters Centerline goodness [0,1] 0.9894590294351631 Centerline is valid? [True, True] Translation: X:853.23, Y:-63.25, Z:3.18 [[ 9.99755628e-01 2.04094710e-02 -8.49337497e-03 8.53228091e+02] [-2.04058161e-02 9.99791646e-01 5.16769927e-04 -6.32490668e+01] [ 8.50215235e-03 -3.43329395e-04 9.99963797e-01 3.17803052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.280714057 meters Centerline goodness [0,1] 0.9901384159554238 Centerline is valid? [True, True] Translation: X:853.26, Y:-63.25, Z:3.18 [[ 9.99762923e-01 2.03283264e-02 -7.80114766e-03 8.53257119e+02] [-2.03252449e-02 9.99793308e-01 4.74091623e-04 -6.32504002e+01] [ 7.80917272e-03 -3.15418990e-04 9.99969458e-01 3.17840321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3107140569999 meters Centerline goodness [0,1] 0.9899891715100219 Centerline is valid? [True, True] Translation: X:853.29, Y:-63.25, Z:3.18 [[ 9.99777476e-01 1.95101568e-02 -8.02203850e-03 8.53285722e+02] [-1.95068767e-02 9.99809604e-01 4.86944261e-04 -6.32521993e+01] [ 8.03001150e-03 -3.30350988e-04 9.99967704e-01 3.17848764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3407140569999 meters Centerline goodness [0,1] 0.9905012260045506 Centerline is valid? [True, True] Translation: X:853.31, Y:-63.25, Z:3.18 [[ 9.99801094e-01 1.84034873e-02 -7.68659285e-03 8.53314508e+02] [-1.84004474e-02 9.99830589e-01 4.66017410e-04 -6.32530072e+01] [ 7.69386700e-03 -3.24487969e-04 9.99970349e-01 3.17858796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.370714057 meters Centerline goodness [0,1] 0.9899783674009978 Centerline is valid? [True, True] Translation: X:853.34, Y:-63.26, Z:3.18 [[ 9.99838448e-01 1.63619632e-02 -7.44072291e-03 8.53341642e+02] [-1.63590633e-02 9.99866080e-01 4.50422012e-04 -6.32615327e+01] [ 7.44709624e-03 -3.28625988e-04 9.99972216e-01 3.17780303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.400714057 meters Centerline goodness [0,1] 0.9895985159666092 Centerline is valid? [True, True] Translation: X:853.37, Y:-63.26, Z:3.18 [[ 9.99852735e-01 1.52463678e-02 -7.87759103e-03 8.53370631e+02] [-1.52430872e-02 9.99883704e-01 4.76330293e-04 -6.32609228e+01] [ 7.88393721e-03 -3.56181339e-04 9.99968858e-01 3.17824574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4307140569999 meters Centerline goodness [0,1] 0.9901492008677558 Centerline is valid? [True, True] Translation: X:853.40, Y:-63.26, Z:3.18 [[ 9.99877365e-01 1.29225939e-02 -8.84656289e-03 8.53400270e+02] [-1.29183682e-02 9.99916411e-01 5.34647436e-04 -6.32643816e+01] [ 8.85273245e-03 -4.20298713e-04 9.99960725e-01 3.17724315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4607140569999 meters Centerline goodness [0,1] 0.9901899995571106 Centerline is valid? [True, True] Translation: X:853.43, Y:-63.27, Z:3.18 [[ 9.99881743e-01 1.22920803e-02 -9.24149508e-03 8.53428569e+02] [-1.22874484e-02 9.99924351e-01 5.57821954e-04 -6.32670288e+01] [ 9.24765276e-03 -4.44201593e-04 9.99957141e-01 3.17697993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4907140569999 meters Centerline goodness [0,1] 0.9900791463656606 Centerline is valid? [True, True] Translation: X:853.46, Y:-63.27, Z:3.18 [[ 9.99888593e-01 1.06052874e-02 -1.05037474e-02 8.53457046e+02] [-1.05992164e-02 9.99943626e-01 6.33480828e-04 -6.32726667e+01] [ 1.05098735e-02 -5.22078762e-04 9.99944633e-01 3.17569732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.520714057 meters Centerline goodness [0,1] 0.9898047004303211 Centerline is valid? [True, True] Translation: X:853.49, Y:-63.28, Z:3.18 [[ 9.99894558e-01 1.00186703e-02 -1.05118891e-02 8.53485195e+02] [-1.00125674e-02 9.99949673e-01 6.33031691e-04 -6.32757179e+01] [ 1.05177022e-02 -5.27713944e-04 9.99944548e-01 3.17514799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5507140569999 meters Centerline goodness [0,1] 0.989539795218824 Centerline is valid? [True, True] Translation: X:853.51, Y:-63.28, Z:3.18 [[ 9.99897441e-01 9.52256562e-03 -1.06971162e-02 8.53513488e+02] [-9.51622745e-03 9.99954513e-01 6.43257359e-04 -6.32772540e+01] [ 1.07027551e-02 -5.41395197e-04 9.99942577e-01 3.17539560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5807140569999 meters Centerline goodness [0,1] 0.9894053767712886 Centerline is valid? [True, True] Translation: X:853.54, Y:-63.28, Z:3.18 [[ 9.99901574e-01 9.91203883e-03 -9.92940649e-03 8.53540773e+02] [-9.90660551e-03 9.99950751e-01 5.96231746e-04 -6.32798232e+01] [ 9.93482734e-03 -4.97806349e-04 9.99950524e-01 3.17601178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6107140569999 meters Centerline goodness [0,1] 0.9897706685519863 Centerline is valid? [True, True] Translation: X:853.57, Y:-63.28, Z:3.18 [[ 9.99905176e-01 1.02684606e-02 -9.17596172e-03 8.53569750e+02] [-1.02638415e-02 9.99947174e-01 5.50346407e-04 -6.32780369e+01] [ 9.18112820e-03 -4.56113605e-04 9.99957749e-01 3.17690961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.640714057 meters Centerline goodness [0,1] 0.9889023985851664 Centerline is valid? [True, True] Translation: X:853.60, Y:-63.28, Z:3.18 [[ 9.99897691e-01 1.12107761e-02 -8.88406913e-03 8.53597360e+02] [-1.12064904e-02 9.99937064e-01 5.32038328e-04 -6.32800804e+01] [ 8.88947456e-03 -4.32424660e-04 9.99960394e-01 3.17698375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6707140569999 meters Centerline goodness [0,1] 0.9888653701988799 Centerline is valid? [True, True] Translation: X:853.62, Y:-63.28, Z:3.18 [[ 9.99896812e-01 1.11239832e-02 -9.08963937e-03 8.53624857e+02] [-1.11195020e-02 9.99938029e-01 5.43390746e-04 -6.32819231e+01] [ 9.09512075e-03 -4.42262412e-04 9.99958541e-01 3.17666948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7007140569999 meters Centerline goodness [0,1] 0.9898090016800778 Centerline is valid? [True, True] Translation: X:853.65, Y:-63.28, Z:3.18 [[ 9.99902391e-01 1.05573943e-02 -9.15145384e-03 8.53652867e+02] [-1.05528353e-02 9.99944168e-01 5.46316449e-04 -6.32848761e+01] [ 9.15671057e-03 -4.49689339e-04 9.99957975e-01 3.17622035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7307140569999 meters Centerline goodness [0,1] 0.9893760353395914 Centerline is valid? [True, True] Translation: X:853.68, Y:-63.29, Z:3.18 [[ 9.99919870e-01 8.59968302e-03 -9.28973887e-03 8.53680887e+02] [-8.59490632e-03 9.99962910e-01 5.53992467e-04 -6.32897017e+01] [ 9.29415847e-03 -4.74103640e-04 9.99956696e-01 3.17581224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.760714057 meters Centerline goodness [0,1] 0.9886449156669175 Centerline is valid? [True, True] Translation: X:853.71, Y:-63.29, Z:3.18 [[ 9.99932587e-01 6.80371719e-03 -9.40910458e-03 8.53710520e+02] [-6.79874038e-03 9.99976731e-01 5.60820468e-04 -6.32894072e+01] [ 9.41270130e-03 -4.96812602e-04 9.99955576e-01 3.17683076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.790714057 meters Centerline goodness [0,1] 0.9888542426855967 Centerline is valid? [True, True] Translation: X:853.74, Y:-63.30, Z:3.18 [[ 9.99949122e-01 3.35164986e-03 -9.51417264e-03 8.53739237e+02] [-3.34640855e-03 9.99994240e-01 5.66761042e-04 -6.32950136e+01] [ 9.51601743e-03 -5.34893898e-04 9.99954579e-01 3.17566423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8207140569999 meters Centerline goodness [0,1] 0.9889759596227918 Centerline is valid? [True, True] Translation: X:853.77, Y:-63.29, Z:3.18 [[ 9.99953178e-01 1.36316328e-03 -9.58042036e-03 8.53769025e+02] [-1.35776102e-03 9.99998916e-01 5.70367194e-04 -6.32914101e+01] [ 9.58118748e-03 -5.57332566e-04 9.99953944e-01 3.17696871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8507140569999 meters Centerline goodness [0,1] 0.9881094461388852 Centerline is valid? [True, True] Translation: X:853.80, Y:-63.30, Z:3.18 [[ 9.99954420e-01 -3.86248702e-04 -9.53981134e-03 8.53797189e+02] [ 3.91679634e-04 9.99999762e-01 5.67429627e-04 -6.33009408e+01] [ 9.53958990e-03 -5.71140314e-04 9.99954334e-01 3.17565219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.880714057 meters Centerline goodness [0,1] 0.9876944149876281 Centerline is valid? [True, True] Translation: X:853.83, Y:-63.31, Z:3.17 [[ 9.99948719e-01 -3.33128244e-03 -9.56355819e-03 8.53826288e+02] [ 3.33687391e-03 9.99994271e-01 5.68766756e-04 -6.33060177e+01] [ 9.56160868e-03 -6.00649977e-04 9.99954106e-01 3.17455018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.910714057 meters Centerline goodness [0,1] 0.9883035753843428 Centerline is valid? [True, True] Translation: X:853.86, Y:-63.30, Z:3.18 [[ 9.99942061e-01 -4.56477547e-03 -9.74873143e-03 8.53855868e+02] [ 4.57063661e-03 9.99989387e-01 5.79026252e-04 -6.32969781e+01] [ 9.74598485e-03 -6.23550612e-04 9.99952312e-01 3.17634340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9407140569999 meters Centerline goodness [0,1] 0.9883561340594147 Centerline is valid? [True, True] Translation: X:853.88, Y:-63.30, Z:3.18 [[ 9.99939210e-01 -5.31697475e-03 -9.65954536e-03 8.53883882e+02] [ 5.32275568e-03 9.99985670e-01 5.72858090e-04 -6.32999770e+01] [ 9.65636107e-03 -6.24238666e-04 9.99953181e-01 3.17607529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9707140569999 meters Centerline goodness [0,1] 0.9880685724423943 Centerline is valid? [True, True] Translation: X:853.91, Y:-63.30, Z:3.18 [[ 9.99937637e-01 -5.37885437e-03 -9.78725475e-03 8.53912925e+02] [ 5.38476674e-03 9.99985335e-01 5.77837447e-04 -6.32972782e+01] [ 9.78400312e-03 -6.30503496e-04 9.99951937e-01 3.17680026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.000714057 meters Centerline goodness [0,1] 0.9882410365637203 Centerline is valid? [True, True] Translation: X:853.94, Y:-63.30, Z:3.18 [[ 9.99947146e-01 -4.78667259e-03 -9.09905099e-03 8.53940690e+02] [ 4.79175224e-03 9.99988376e-01 5.36542336e-04 -6.32985503e+01] [ 9.09637696e-03 -5.80114375e-04 9.99958459e-01 3.17715778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.030714057 meters Centerline goodness [0,1] 0.9888113437465381 Centerline is valid? [True, True] Translation: X:853.97, Y:-63.30, Z:3.18 [[ 9.99952721e-01 -4.30015268e-03 -8.72149124e-03 8.53969625e+02] [ 4.30478093e-03 9.99990603e-01 5.11968013e-04 -6.32981256e+01] [ 8.71920774e-03 -5.49487917e-04 9.99961836e-01 3.17782482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0607140569999 meters Centerline goodness [0,1] 0.9883372874215649 Centerline is valid? [True, True] Translation: X:854.00, Y:-63.30, Z:3.18 [[ 9.99969560e-01 -2.78331809e-03 -7.28925215e-03 8.53998664e+02] [ 2.78650808e-03 9.99996026e-01 4.27509901e-04 -6.32953658e+01] [ 7.28803328e-03 -4.47808447e-04 9.99973342e-01 3.17943190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0907140569999 meters Centerline goodness [0,1] 0.9896393792520788 Centerline is valid? [True, True] Translation: X:854.03, Y:-63.29, Z:3.18 [[ 9.99978821e-01 -1.40165273e-03 -6.35551532e-03 8.54027605e+02] [ 1.40404695e-03 9.99998945e-01 3.72270642e-04 -6.32901767e+01] [ 6.35498683e-03 -3.81186199e-04 9.99979734e-01 3.18040301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.120714057 meters Centerline goodness [0,1] 0.9883824644338403 Centerline is valid? [True, True] Translation: X:854.06, Y:-63.30, Z:3.18 [[ 9.99974929e-01 -9.57870925e-04 -7.01602887e-03 8.54055639e+02] [ 9.60764105e-04 9.99999455e-01 4.09008398e-04 -6.32950570e+01] [ 7.01563327e-03 -4.15738892e-04 9.99975304e-01 3.17948215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.150714057 meters Centerline goodness [0,1] 0.9895107231142686 Centerline is valid? [True, True] Translation: X:854.08, Y:-63.30, Z:3.18 [[ 9.99974799e-01 -2.91721833e-04 -7.09340755e-03 8.54084035e+02] [ 2.94650229e-04 9.99999872e-01 4.11791849e-04 -6.32950756e+01] [ 7.09328651e-03 -4.13871546e-04 9.99974757e-01 3.17931866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1807140569999 meters Centerline goodness [0,1] 0.9898175174349948 Centerline is valid? [True, True] Translation: X:854.11, Y:-63.29, Z:3.18 [[ 9.99968857e-01 1.09285008e-03 -7.81599269e-03 8.54112871e+02] [-1.08933963e-03 9.99999304e-01 4.53379217e-04 -6.32914867e+01] [ 7.81648273e-03 -4.44850827e-04 9.99969352e-01 3.17925695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2107140569999 meters Centerline goodness [0,1] 0.9902908297332205 Centerline is valid? [True, True] Translation: X:854.14, Y:-63.29, Z:3.18 [[ 9.99964483e-01 2.25868030e-03 -8.11980688e-03 8.54142331e+02] [-2.25494651e-03 9.99997348e-01 4.68962448e-04 -6.32903714e+01] [ 8.12084458e-03 -4.50636061e-04 9.99966924e-01 3.17973543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2407140569999 meters Centerline goodness [0,1] 0.9895631230347227 Centerline is valid? [True, True] Translation: X:854.17, Y:-63.29, Z:3.18 [[ 9.99954006e-01 5.74990174e-03 -7.67618306e-03 8.54172057e+02] [-5.74666812e-03 9.99983390e-01 4.43243980e-04 -6.32865353e+01] [ 7.67860416e-03 -3.99111117e-04 9.99970439e-01 3.18050436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.270714057 meters Centerline goodness [0,1] 0.9895942656811737 Centerline is valid? [True, True] Translation: X:854.20, Y:-63.29, Z:3.18 [[ 9.99942400e-01 7.71600055e-03 -7.46050092e-03 8.54199733e+02] [-7.71300601e-03 9.99970162e-01 4.30075639e-04 -6.32875298e+01] [ 7.46359678e-03 -3.72507979e-04 9.99972078e-01 3.18077370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3007140569999 meters Centerline goodness [0,1] 0.9895942656811737 Centerline is valid? [True, True] Translation: X:854.23, Y:-63.29, Z:3.18 [[ 9.99943205e-01 7.61092788e-03 -7.46054700e-03 8.54227187e+02] [-7.60793638e-03 9.99970967e-01 4.29275598e-04 -6.32890214e+01] [ 7.46359759e-03 -3.72491850e-04 9.99972078e-01 3.18074699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3307140569999 meters Centerline goodness [0,1] 0.989738785161391 Centerline is valid? [True, True] Translation: X:854.26, Y:-63.29, Z:3.18 [[ 9.99927498e-01 9.60766532e-03 -7.25889686e-03 8.54256635e+02] [-9.60488827e-03 9.99953785e-01 4.17336558e-04 -6.32878839e+01] [ 7.26257102e-03 -3.47585406e-04 9.99973567e-01 3.18087318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3607140569999 meters Centerline goodness [0,1] 0.9898854578337464 Centerline is valid? [True, True] Translation: X:854.29, Y:-63.28, Z:3.18 [[ 9.99888181e-01 1.35067187e-02 -6.41828551e-03 8.54287121e+02] [-1.35046295e-02 9.99908740e-01 3.68742751e-04 -6.32838242e+01] [ 6.42268028e-03 -2.82024950e-04 9.99979335e-01 3.18144487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.390714057 meters Centerline goodness [0,1] 0.9909534526170369 Centerline is valid? [True, True] Translation: X:854.32, Y:-63.28, Z:3.18 [[ 9.99861315e-01 1.54859266e-02 -6.12670613e-03 8.54315969e+02] [-1.54840628e-02 9.99880053e-01 3.51519948e-04 -6.32831070e+01] [ 6.13141486e-03 -2.56604895e-04 9.99981170e-01 3.18201250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4207140569999 meters Centerline goodness [0,1] 0.9908058771148709 Centerline is valid? [True, True] Translation: X:854.35, Y:-63.28, Z:3.18 [[ 9.99819716e-01 1.82024844e-02 -5.40419009e-03 8.54345505e+02] [-1.82010754e-02 9.99834299e-01 3.09789221e-04 -6.32817629e+01] [ 5.40893355e-03 -2.11371300e-04 9.99985349e-01 3.18258721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4507140569999 meters Centerline goodness [0,1] 0.9896352223736234 Centerline is valid? [True, True] Translation: X:854.37, Y:-63.29, Z:3.18 [[ 9.99804960e-01 1.88684651e-02 -5.83290388e-03 8.54373103e+02] [-1.88668382e-02 9.99821950e-01 3.33815901e-04 -6.32852317e+01] [ 5.83816392e-03 -2.23702340e-04 9.99982933e-01 3.18216898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4807140569999 meters Centerline goodness [0,1] 0.9904459311301546 Centerline is valid? [True, True] Translation: X:854.40, Y:-63.28, Z:3.18 [[ 9.99807297e-01 1.87579465e-02 -5.78861409e-03 8.54401095e+02] [-1.87563461e-02 9.99824030e-01 3.30647518e-04 -6.32845449e+01] [ 5.79379773e-03 -2.22010552e-04 9.99983191e-01 3.18216758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.510714057 meters Centerline goodness [0,1] 0.9906667561941852 Centerline is valid? [True, True] Translation: X:854.43, Y:-63.29, Z:3.18 [[ 9.99820119e-01 1.80532930e-02 -5.81446915e-03 8.54430188e+02] [-1.80516686e-02 9.99837000e-01 3.31741675e-04 -6.32858956e+01] [ 5.81951042e-03 -2.26721131e-04 9.99983041e-01 3.18207708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.540714057 meters Centerline goodness [0,1] 0.9897043353700844 Centerline is valid? [True, True] Translation: X:854.46, Y:-63.29, Z:3.18 [[ 9.99833666e-01 1.73367352e-02 -5.66370939e-03 8.54457933e+02] [-1.73351854e-02 9.99849682e-01 3.22618266e-04 -6.32889962e+01] [ 5.66845118e-03 -2.24383151e-04 9.99983909e-01 3.18203887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5707140569999 meters Centerline goodness [0,1] 0.9900167879127029 Centerline is valid? [True, True] Translation: X:854.49, Y:-63.29, Z:3.18 [[ 9.99867187e-01 1.53514515e-02 -5.47181508e-03 8.54486841e+02] [-1.53499773e-02 9.99882134e-01 3.11306732e-04 -6.32902931e+01] [ 5.47594915e-03 -2.27273150e-04 9.99984981e-01 3.18265539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6007140569999 meters Centerline goodness [0,1] 0.9909017749362901 Centerline is valid? [True, True] Translation: X:854.51, Y:-63.29, Z:3.18 [[ 9.99887249e-01 1.39677876e-02 -5.51269615e-03 8.54514821e+02] [-1.39662731e-02 9.99902418e-01 3.13123891e-04 -6.32934868e+01] [ 5.51653186e-03 -2.36096766e-04 9.99984756e-01 3.18290268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.630714057 meters Centerline goodness [0,1] 0.988866781426751 Centerline is valid? [True, True] Translation: X:854.54, Y:-63.30, Z:3.18 [[ 9.99906159e-01 1.25138804e-02 -5.57466013e-03 8.54543286e+02] [-1.25123113e-02 9.99921668e-01 3.16266144e-04 -6.32964547e+01] [ 5.57818118e-03 -2.46484582e-04 9.99984411e-01 3.18279692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.660714057 meters Centerline goodness [0,1] 0.9896265560165975 Centerline is valid? [True, True] Translation: X:854.57, Y:-63.30, Z:3.18 [[ 9.99937793e-01 8.93788170e-03 -6.67260106e-03 8.54572478e+02] [-8.93555449e-03 9.99960006e-01 3.78503152e-04 -6.33025000e+01] [ 6.67571720e-03 -3.18856216e-04 9.99977666e-01 3.18207593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6907140569999 meters Centerline goodness [0,1] 0.9894158628081458 Centerline is valid? [True, True] Translation: X:854.60, Y:-63.31, Z:3.18 [[ 9.99952450e-01 6.79112563e-03 -6.99850842e-03 8.54601486e+02] [-6.78851589e-03 9.99976879e-01 3.96587253e-04 -6.33059953e+01] [ 7.00103988e-03 -3.49058909e-04 9.99975431e-01 3.18150412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7207140569999 meters Centerline goodness [0,1] 0.9892728372113856 Centerline is valid? [True, True] Translation: X:854.63, Y:-63.31, Z:3.18 [[ 9.99967903e-01 3.86669441e-03 -7.01717024e-03 8.54629226e+02] [-3.86400247e-03 9.99992456e-01 3.97138057e-04 -6.33116669e+01] [ 7.01865291e-03 -3.70010947e-04 9.99975300e-01 3.18191469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.750714057 meters Centerline goodness [0,1] 0.9893086403185041 Centerline is valid? [True, True] Translation: X:854.66, Y:-63.31, Z:3.18 [[ 9.99975814e-01 2.88413930e-03 -6.32872541e-03 8.54657845e+02] [-2.88193297e-03 9.99995783e-01 3.57713352e-04 -6.33104561e+01] [ 6.32973041e-03 -3.39465738e-04 9.99979909e-01 3.18313778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.780714057 meters Centerline goodness [0,1] 0.9885876362336966 Centerline is valid? [True, True] Translation: X:854.69, Y:-63.32, Z:3.18 [[ 9.99979900e-01 2.45022269e-03 -5.84776990e-03 8.54685113e+02] [-2.44833474e-03 9.99996948e-01 3.29986755e-04 -6.33162622e+01] [ 5.84856060e-03 -3.15662824e-04 9.99982847e-01 3.18342451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8107140569999 meters Centerline goodness [0,1] 0.9899205660503304 Centerline is valid? [True, True] Translation: X:854.71, Y:-63.31, Z:3.18 [[ 9.99980826e-01 2.67074572e-03 -5.58705538e-03 8.54714305e+02] [-2.66902795e-03 9.99996389e-01 3.14889262e-04 -6.33147372e+01] [ 5.58787619e-03 -2.99971217e-04 9.99984343e-01 3.18412795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8407140569999 meters Centerline goodness [0,1] 0.9906155736789185 Centerline is valid? [True, True] Translation: X:854.74, Y:-63.32, Z:3.18 [[ 9.99978962e-01 3.00423569e-03 -5.74891242e-03 8.54742743e+02] [-3.00242480e-03 9.99995440e-01 3.23601628e-04 -6.33161228e+01] [ 5.74985838e-03 -3.06334143e-04 9.99983423e-01 3.18393675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.870714057 meters Centerline goodness [0,1] 0.9891825582692093 Centerline is valid? [True, True] Translation: X:854.77, Y:-63.32, Z:3.18 [[ 9.99965630e-01 4.34420711e-03 -7.06167865e-03 8.54770679e+02] [-4.34152155e-03 9.99990497e-01 3.95585617e-04 -6.33199538e+01] [ 7.06333005e-03 -3.64913591e-04 9.99974988e-01 3.18259124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.900714057 meters Centerline goodness [0,1] 0.9898032200357781 Centerline is valid? [True, True] Translation: X:854.80, Y:-63.32, Z:3.18 [[ 9.99957258e-01 5.35001486e-03 -7.54051719e-03 8.54799718e+02] [-5.34698389e-03 9.99985616e-01 4.22061127e-04 -6.33185409e+01] [ 7.54266675e-03 -3.81724063e-04 9.99971481e-01 3.18251245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9307140569999 meters Centerline goodness [0,1] 0.9894462627746977 Centerline is valid? [True, True] Translation: X:854.83, Y:-63.32, Z:3.18 [[ 9.99936092e-01 7.00625728e-03 -8.87262693e-03 8.54828424e+02] [-7.00213123e-03 9.99975362e-01 4.96009943e-04 -6.33191565e+01] [ 8.87588350e-03 -4.33850946e-04 9.99960514e-01 3.18134173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9607140569999 meters Centerline goodness [0,1] 0.989422712159418 Centerline is valid? [True, True] Translation: X:854.86, Y:-63.32, Z:3.18 [[ 9.99928279e-01 7.36158580e-03 -9.44692418e-03 8.54857617e+02] [-7.35693047e-03 9.99972798e-01 5.27445327e-04 -6.33192346e+01] [ 9.45055004e-03 -4.57907134e-04 9.99955238e-01 3.18103007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9907140569999 meters Centerline goodness [0,1] 0.9896338330242845 Centerline is valid? [True, True] Translation: X:854.89, Y:-63.32, Z:3.18 [[ 9.99921760e-01 7.25150400e-03 -1.01926646e-02 8.54885907e+02] [-7.24608836e-03 9.99973585e-01 5.68156842e-04 -6.33199821e+01] [ 1.01965154e-02 -4.94255440e-04 9.99947892e-01 3.18087165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.020714057 meters Centerline goodness [0,1] 0.9898974130240856 Centerline is valid? [True, True] Translation: X:854.91, Y:-63.32, Z:3.18 [[ 9.99918614e-01 7.20038128e-03 -1.05318884e-02 8.54913007e+02] [-7.19461047e-03 9.99973947e-01 5.85722493e-04 -6.33230303e+01] [ 1.05358314e-02 -5.09901989e-04 9.99944367e-01 3.18037842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0507140569999 meters Centerline goodness [0,1] 0.9899852461215183 Centerline is valid? [True, True] Translation: X:854.94, Y:-63.32, Z:3.18 [[ 9.99921348e-01 6.75053947e-03 -1.05701729e-02 8.54941909e+02] [-6.74470897e-03 9.99977082e-01 5.87149929e-04 -6.33218227e+01] [ 1.05738942e-02 -5.15811009e-04 9.99943962e-01 3.18129565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0807140569999 meters Centerline goodness [0,1] 0.98980162368886 Centerline is valid? [True, True] Translation: X:854.97, Y:-63.32, Z:3.18 [[ 9.99922813e-01 6.83447374e-03 -1.03758648e-02 8.54969784e+02] [-6.82886987e-03 9.99976517e-01 5.75420757e-04 -6.33238585e+01] [ 1.03795539e-02 -5.04520912e-04 9.99946004e-01 3.18168308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1107140569999 meters Centerline goodness [0,1] 0.9891812146545366 Centerline is valid? [True, True] Translation: X:855.00, Y:-63.32, Z:3.18 [[ 9.99922454e-01 6.61168230e-03 -1.05533178e-02 8.54998230e+02] [-6.60588046e-03 9.99978010e-01 5.84528156e-04 -6.33224607e+01] [ 1.05569505e-02 -5.14768872e-04 9.99944141e-01 3.18259485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.140714057 meters Centerline goodness [0,1] 0.9893626530794672 Centerline is valid? [True, True] Translation: X:855.03, Y:-63.33, Z:3.18 [[ 9.99925403e-01 6.26546383e-03 -1.04849025e-02 8.55025430e+02] [-6.25972787e-03 9.99980240e-01 5.79796728e-04 -6.33258437e+01] [ 1.04883280e-02 -5.14120840e-04 9.99944864e-01 3.18222989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1707140569999 meters Centerline goodness [0,1] 0.9897660492034054 Centerline is valid? [True, True] Translation: X:855.05, Y:-63.32, Z:3.18 [[ 9.99933017e-01 5.74702139e-03 -1.00465358e-02 8.55053842e+02] [-5.74173795e-03 9.99983362e-01 5.54661058e-04 -6.33245229e+01] [ 1.00495563e-02 -4.96939330e-04 9.99949378e-01 3.18291338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2007140569999 meters Centerline goodness [0,1] 0.9901316522242766 Centerline is valid? [True, True] Translation: X:855.08, Y:-63.33, Z:3.18 [[ 9.99938275e-01 4.68913844e-03 -1.00726144e-02 8.55082462e+02] [-4.68378099e-03 9.99988877e-01 5.55405636e-04 -6.33263535e+01] [ 1.00751067e-02 -5.08193434e-04 9.99949116e-01 3.18308797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2307140569999 meters Centerline goodness [0,1] 0.9895893838523748 Centerline is valid? [True, True] Translation: X:855.11, Y:-63.33, Z:3.18 [[ 9.99940105e-01 3.18235681e-03 -1.04717765e-02 8.55110678e+02] [-3.17649387e-03 9.99994789e-01 5.76464992e-04 -6.33268982e+01] [ 1.04735565e-02 -5.43166931e-04 9.99945003e-01 3.18323326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.260714057 meters Centerline goodness [0,1] 0.9897698782234957 Centerline is valid? [True, True] Translation: X:855.14, Y:-63.33, Z:3.18 [[ 9.99940139e-01 1.30947562e-04 -1.09407858e-02 8.55140087e+02] [-1.24366845e-04 9.99999811e-01 6.02163094e-04 -6.33302951e+01] [ 1.09408625e-02 -6.00766377e-04 9.99939967e-01 3.18300613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.290714057 meters Centerline goodness [0,1] 0.9890663858579974 Centerline is valid? [True, True] Translation: X:855.17, Y:-63.33, Z:3.18 [[ 9.99936123e-01 -1.84518668e-03 -1.11510545e-02 8.55169710e+02] [ 1.85214069e-03 9.99998097e-01 6.13324239e-04 -6.33315328e+01] [ 1.11499016e-02 -6.33938383e-04 9.99937637e-01 3.18315041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3207140569999 meters Centerline goodness [0,1] 0.9899870367886997 Centerline is valid? [True, True] Translation: X:855.20, Y:-63.33, Z:3.18 [[ 9.99932649e-01 -3.36307976e-03 -1.11079617e-02 8.55199669e+02] [ 3.37006908e-03 9.99994135e-01 6.10559379e-04 -6.33330510e+01] [ 1.11058432e-02 -6.47952856e-04 9.99938118e-01 3.18321681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3507140569999 meters Centerline goodness [0,1] 0.9887196967998026 Centerline is valid? [True, True] Translation: X:855.23, Y:-63.34, Z:3.18 [[ 9.99917502e-01 -6.66445881e-03 -1.09806629e-02 8.55228337e+02] [ 6.67148293e-03 9.99977563e-01 6.03174977e-04 -6.33387063e+01] [ 1.09763967e-02 -6.76382521e-04 9.99939529e-01 3.18208419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.380714057 meters Centerline goodness [0,1] 0.9879663865546219 Centerline is valid? [True, True] Translation: X:855.26, Y:-63.34, Z:3.18 [[ 9.99905489e-01 -8.12405285e-03 -1.10910960e-02 8.55256845e+02] [ 8.13130192e-03 9.99966755e-01 6.08655316e-04 -6.33411096e+01] [ 1.10857825e-02 -6.98782841e-04 9.99938307e-01 3.18180594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.410714057 meters Centerline goodness [0,1] 0.9888031234573441 Centerline is valid? [True, True] Translation: X:855.29, Y:-63.34, Z:3.18 [[ 9.99896490e-01 -9.36131459e-03 -1.09258751e-02 8.55286180e+02] [ 9.36841646e-03 9.99955936e-01 5.99004123e-04 -6.33383377e+01] [ 1.09197862e-02 -7.01300268e-04 9.99940131e-01 3.18258798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4407140569999 meters Centerline goodness [0,1] 0.9877097984586695 Centerline is valid? [True, True] Translation: X:855.32, Y:-63.34, Z:3.18 [[ 9.99870848e-01 -1.18414740e-02 -1.08658602e-02 8.55315062e+02] [ 1.18486435e-02 9.99929625e-01 5.95678919e-04 -6.33400456e+01] [ 1.08580418e-02 -7.24347688e-04 9.99940787e-01 3.18282993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4707140569999 meters Centerline goodness [0,1] 0.98706440799982 Centerline is valid? [True, True] Translation: X:855.34, Y:-63.34, Z:3.18 [[ 9.99857777e-01 -1.28078535e-02 -1.09719586e-02 8.55344514e+02] [ 1.28152194e-02 9.99917701e-01 6.01294492e-04 -6.33419845e+01] [ 1.09633543e-02 -7.41817031e-04 9.99939625e-01 3.18284216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.500714057 meters Centerline goodness [0,1] 0.9872934626436781 Centerline is valid? [True, True] Translation: X:855.38, Y:-63.34, Z:3.18 [[ 9.99854542e-01 -1.35668095e-02 -1.03361904e-02 8.55375107e+02] [ 1.35733870e-02 9.99907717e-01 5.66468496e-04 -6.33403311e+01] [ 1.03275514e-02 -7.06683212e-04 9.99946420e-01 3.18387277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.530714057 meters Centerline goodness [0,1] 0.9875859605251407 Centerline is valid? [True, True] Translation: X:855.41, Y:-63.34, Z:3.18 [[ 9.99867733e-01 -1.34203146e-02 -9.18759820e-03 8.55406795e+02] [ 1.34255085e-02 9.99909747e-01 5.03873530e-04 -6.33403239e+01] [ 9.18000685e-03 -6.27155062e-04 9.99957666e-01 3.18451078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5607140569999 meters Centerline goodness [0,1] 0.98658607828158 Centerline is valid? [True, True] Translation: X:855.44, Y:-63.34, Z:3.18 [[ 9.99843949e-01 -1.45668572e-02 -9.99424199e-03 8.55436625e+02] [ 1.45730598e-02 9.99893657e-01 5.48075494e-04 -6.33426993e+01] [ 9.98519544e-03 -6.93636652e-04 9.99949906e-01 3.18379339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5907140569999 meters Centerline goodness [0,1] 0.9866588542840402 Centerline is valid? [True, True] Translation: X:855.47, Y:-63.34, Z:3.18 [[ 9.99832402e-01 -1.51985798e-02 -1.02064321e-02 8.55468352e+02] [ 1.52050853e-02 9.99884239e-01 5.60091896e-04 -6.33439063e+01] [ 1.01967380e-02 -7.15187697e-04 9.99947756e-01 3.18327249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.620714057 meters Centerline goodness [0,1] 0.9861758414949904 Centerline is valid? [True, True] Translation: X:855.50, Y:-63.35, Z:3.18 [[ 9.99820289e-01 -1.59015113e-02 -1.03214273e-02 8.55499818e+02] [ 1.59082051e-02 9.99873296e-01 5.66750448e-04 -6.33455479e+01] [ 1.03111073e-02 -7.30843978e-04 9.99946572e-01 3.18253742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.650714057 meters Centerline goodness [0,1] 0.9865114393802918 Centerline is valid? [True, True] Translation: X:855.53, Y:-63.35, Z:3.18 [[ 9.99781056e-01 -1.74320577e-02 -1.15742386e-02 8.55530997e+02] [ 1.74405816e-02 9.99847699e-01 6.35925991e-04 -6.33463256e+01] [ 1.15613903e-02 -8.37648211e-04 9.99932814e-01 3.18078526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6807140569999 meters Centerline goodness [0,1] 0.9846487757455179 Centerline is valid? [True, True] Translation: X:855.56, Y:-63.35, Z:3.18 [[ 9.99752504e-01 -1.80353548e-02 -1.30252240e-02 8.55561582e+02] [ 1.80462067e-02 9.99836898e-01 7.16080546e-04 -6.33494167e+01] [ 1.30101848e-02 -9.50959203e-04 9.99914912e-01 3.17951647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7107140569999 meters Centerline goodness [0,1] 0.9870071178397921 Centerline is valid? [True, True] Translation: X:855.59, Y:-63.34, Z:3.18 [[ 9.99732351e-01 -1.82380811e-02 -1.42337048e-02 8.55593922e+02] [ 1.82510680e-02 9.99833129e-01 7.83027860e-04 -6.33369034e+01] [ 1.42170487e-02 -1.04259860e-03 9.99898389e-01 3.18097283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7407140569999 meters Centerline goodness [0,1] 0.9868909617822859 Centerline is valid? [True, True] Translation: X:855.62, Y:-63.34, Z:3.18 [[ 9.99734841e-01 -1.82370510e-02 -1.40590734e-02 8.55624852e+02] [ 1.82497280e-02 9.99833160e-01 7.73920350e-04 -6.33377485e+01] [ 1.40426137e-02 -1.03028940e-03 9.99900867e-01 3.18063916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.770714057 meters Centerline goodness [0,1] 0.9848120232473665 Centerline is valid? [True, True] Translation: X:855.65, Y:-63.35, Z:3.18 [[ 9.99739946e-01 -1.78881680e-02 -1.41440305e-02 8.55654705e+02] [ 1.79009673e-02 9.99839462e-01 7.78828568e-04 -6.33499971e+01] [ 1.41278281e-02 -1.03181786e-03 9.99899665e-01 3.17833067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8007140569999 meters Centerline goodness [0,1] 0.9882782387883735 Centerline is valid? [True, True] Translation: X:855.69, Y:-63.34, Z:3.18 [[ 9.99761307e-01 -1.71630533e-02 -1.35188273e-02 8.55686431e+02] [ 1.71746867e-02 9.99852227e-01 7.44896329e-04 -6.33389039e+01] [ 1.35040448e-02 -9.76900150e-04 9.99908339e-01 3.18090183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8307140569999 meters Centerline goodness [0,1] 0.9877455438341215 Centerline is valid? [True, True] Translation: X:855.72, Y:-63.33, Z:3.18 [[ 9.99810206e-01 -1.50558679e-02 -1.23641895e-02 8.55718178e+02] [ 1.50654411e-02 9.99886278e-01 6.81488379e-04 -6.33308438e+01] [ 1.23525230e-02 -8.67631004e-04 9.99923328e-01 3.18319699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8607140569999 meters Centerline goodness [0,1] 0.9877899323680269 Centerline is valid? [True, True] Translation: X:855.75, Y:-63.33, Z:3.18 [[ 9.99860648e-01 -1.24003229e-02 -1.11765847e-02 8.55747708e+02] [ 1.24079775e-02 9.99922828e-01 6.15793462e-04 -6.33286087e+01] [ 1.11680862e-02 -7.54386462e-04 9.99937350e-01 3.18449075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.890714057 meters Centerline goodness [0,1] 0.9871943855811516 Centerline is valid? [True, True] Translation: X:855.78, Y:-63.33, Z:3.19 [[ 9.99889621e-01 -1.06974545e-02 -1.03106404e-02 8.55777535e+02] [ 1.07038789e-02 9.99942550e-01 5.68098981e-04 -6.33290894e+01] [ 1.03039708e-02 -6.78400121e-04 9.99946683e-01 3.18514592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9207140569999 meters Centerline goodness [0,1] 0.9874035872392862 Centerline is valid? [True, True] Translation: X:855.81, Y:-63.33, Z:3.19 [[ 9.99908490e-01 -9.24023956e-03 -9.88077943e-03 8.55807966e+02] [ 9.24606856e-03 9.99957106e-01 5.44414365e-04 -6.33292083e+01] [ 9.87532509e-03 -6.35722909e-04 9.99951036e-01 3.18553471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9507140569999 meters Centerline goodness [0,1] 0.9871461187214612 Centerline is valid? [True, True] Translation: X:855.84, Y:-63.33, Z:3.19 [[ 9.99922628e-01 -8.12935873e-03 -9.41553280e-03 8.55838828e+02] [ 8.13460265e-03 9.99966779e-01 5.18780056e-04 -6.33258367e+01] [ 9.41100266e-03 -5.95331535e-04 9.99955538e-01 3.18637445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9807140569999 meters Centerline goodness [0,1] 0.9868460183469449 Centerline is valid? [True, True] Translation: X:855.87, Y:-63.33, Z:3.19 [[ 9.99944001e-01 -6.26568408e-03 -8.52851931e-03 8.55868118e+02] [ 6.26991604e-03 9.99980234e-01 4.69566772e-04 -6.33251546e+01] [ 8.52540858e-03 -5.23013576e-04 9.99963521e-01 3.18698286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.010714057 meters Centerline goodness [0,1] 0.988094147815734 Centerline is valid? [True, True] Translation: X:855.90, Y:-63.32, Z:3.19 [[ 9.99948363e-01 -4.67361658e-03 -9.02381547e-03 8.55898051e+02] [ 4.67828688e-03 9.99988933e-01 4.96513050e-04 -6.33229849e+01] [ 9.02139509e-03 -5.38703409e-04 9.99959161e-01 3.18641673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.040714057 meters Centerline goodness [0,1] 0.9881734258025996 Centerline is valid? [True, True] Translation: X:855.93, Y:-63.33, Z:3.19 [[ 9.99947865e-01 -3.35382361e-03 -9.64460692e-03 8.55926773e+02] [ 3.35909231e-03 9.99994218e-01 5.30138197e-04 -6.33257788e+01] [ 9.64277316e-03 -5.62507683e-04 9.99953349e-01 3.18544452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0707140569999 meters Centerline goodness [0,1] 0.9892778592375366 Centerline is valid? [True, True] Translation: X:855.96, Y:-63.32, Z:3.19 [[ 9.99940350e-01 -1.67732708e-03 -1.07927497e-02 8.55955730e+02] [ 1.68381922e-03 9.99998407e-01 5.92469864e-04 -6.33242152e+01] [ 1.07917388e-02 -6.10607562e-04 9.99941581e-01 3.18518823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1007140569999 meters Centerline goodness [0,1] 0.9890162696505801 Centerline is valid? [True, True] Translation: X:855.98, Y:-63.33, Z:3.18 [[ 9.99930565e-01 3.11057004e-04 -1.17799960e-02 8.55983942e+02] [-3.03469994e-04 9.99999745e-01 6.45840841e-04 -6.33253977e+01] [ 1.17801939e-02 -6.42221122e-04 9.99930405e-01 3.18422569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.130714057 meters Centerline goodness [0,1] 0.9902305588120359 Centerline is valid? [True, True] Translation: X:856.01, Y:-63.32, Z:3.18 [[ 9.99898426e-01 5.29637924e-03 -1.32319728e-02 8.56014389e+02] [-5.28724174e-03 9.99985759e-01 7.25448865e-04 -6.33209557e+01] [ 1.32356266e-02 -6.55414540e-04 9.99912190e-01 3.18320575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.160714057 meters Centerline goodness [0,1] 0.9892502947499826 Centerline is valid? [True, True] Translation: X:856.04, Y:-63.32, Z:3.18 [[ 9.99872593e-01 7.55229350e-03 -1.40627574e-02 8.56043425e+02] [-7.54221007e-03 9.99971261e-01 7.69928003e-04 -6.33189343e+01] [ 1.40681680e-02 -6.63765637e-04 9.99900818e-01 3.18327321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1907140569999 meters Centerline goodness [0,1] 0.9892502947499826 Centerline is valid? [True, True] Translation: X:856.07, Y:-63.32, Z:3.18 [[ 9.99873395e-01 7.44521499e-03 -1.40628417e-02 8.56070873e+02] [-7.43514262e-03 9.99972064e-01 7.68387418e-04 -6.33203484e+01] [ 1.40681696e-02 -6.63730902e-04 9.99900818e-01 3.18324651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2207140569999 meters Centerline goodness [0,1] 0.9899400092293493 Centerline is valid? [True, True] Translation: X:856.10, Y:-63.32, Z:3.18 [[ 9.99809218e-01 1.34236636e-02 -1.41891758e-02 8.56100527e+02] [-1.34140134e-02 9.99909728e-01 7.75064718e-04 -6.33171727e+01] [ 1.41982991e-02 -5.84583055e-04 9.99899028e-01 3.18359505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.250714057 meters Centerline goodness [0,1] 0.9899193548387096 Centerline is valid? [True, True] Translation: X:856.13, Y:-63.32, Z:3.18 [[ 9.99771830e-01 1.63528449e-02 -1.37431041e-02 8.56130042e+02] [-1.63440751e-02 9.99866145e-01 7.50199332e-04 -6.33166891e+01] [ 1.37535325e-02 -5.25409833e-04 9.99905278e-01 3.18389099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.280714057 meters Centerline goodness [0,1] 0.9903013991043875 Centerline is valid? [True, True] Translation: X:856.16, Y:-63.32, Z:3.18 [[ 9.99739141e-01 1.90689567e-02 -1.25708190e-02 8.56158648e+02] [-1.90618423e-02 9.99818072e-01 6.85525552e-04 -6.33171587e+01] [ 1.25816043e-02 -4.45723757e-04 9.99920749e-01 3.18443318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3107140569999 meters Centerline goodness [0,1] 0.9906109800656769 Centerline is valid? [True, True] Translation: X:856.19, Y:-63.32, Z:3.19 [[ 9.99666687e-01 2.35706360e-02 -1.05328327e-02 8.56188839e+02] [-2.35658958e-02 9.99722121e-01 5.73948056e-04 -6.33151102e+01] [ 1.05434342e-02 -3.25541113e-04 9.99944363e-01 3.18609132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3407140569999 meters Centerline goodness [0,1] 0.9904212777829443 Centerline is valid? [True, True] Translation: X:856.22, Y:-63.31, Z:3.19 [[ 9.99646616e-01 2.48627910e-02 -9.40663585e-03 8.56218013e+02] [-2.48590895e-02 9.99690835e-01 5.10229792e-04 -6.33145994e+01] [ 9.41641338e-03 -2.76209082e-04 9.99955626e-01 3.18734165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.370714057 meters Centerline goodness [0,1] 0.9908493992735401 Centerline is valid? [True, True] Translation: X:856.25, Y:-63.31, Z:3.19 [[ 9.99627600e-01 2.59146870e-02 -8.54924748e-03 8.56247001e+02] [-2.59116721e-02 9.99664129e-01 4.63244570e-04 -6.33148812e+01] [ 8.55838087e-03 -2.41546761e-04 9.99963347e-01 3.18860110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.400714057 meters Centerline goodness [0,1] 0.9903340010248288 Centerline is valid? [True, True] Translation: X:856.27, Y:-63.32, Z:3.19 [[ 9.99641982e-01 2.53877946e-02 -8.44790181e-03 8.56274415e+02] [-2.53848420e-02 9.99677649e-01 4.56563083e-04 -6.33193686e+01] [ 8.45676975e-03 -2.41950973e-04 9.99964212e-01 3.18755997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4307140569999 meters Centerline goodness [0,1] 0.9898683112306408 Centerline is valid? [True, True] Translation: X:856.30, Y:-63.32, Z:3.19 [[ 9.99718363e-01 2.22682963e-02 -8.20473085e-03 8.56304001e+02] [-2.22654080e-02 9.99751997e-01 4.43215739e-04 -6.33218130e+01] [ 8.21256571e-03 -2.60409233e-04 9.99966242e-01 3.18747520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4607140569999 meters Centerline goodness [0,1] 0.9903463283637374 Centerline is valid? [True, True] Translation: X:856.33, Y:-63.33, Z:3.19 [[ 9.99776122e-01 1.92946207e-02 -8.68467809e-03 8.56331961e+02] [-1.92912782e-02 9.99813796e-01 4.68487140e-04 -6.33272570e+01] [ 8.69210025e-03 -3.00843714e-04 9.99962178e-01 3.18658809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4907140569999 meters Centerline goodness [0,1] 0.9904766307614072 Centerline is valid? [True, True] Translation: X:856.36, Y:-63.33, Z:3.19 [[ 9.99827417e-01 1.61669876e-02 -9.15229471e-03 8.56360103e+02] [-1.61631508e-02 9.99869246e-01 4.93028527e-04 -6.33325663e+01] [ 9.15906880e-03 -3.45013519e-04 9.99957995e-01 3.18546946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.520714057 meters Centerline goodness [0,1] 0.9894083441019014 Centerline is valid? [True, True] Translation: X:856.39, Y:-63.34, Z:3.18 [[ 9.99898279e-01 9.30153355e-03 -1.08126609e-02 8.56389810e+02] [-9.29577726e-03 9.99956624e-01 5.82502141e-04 -6.33398604e+01] [ 1.08176100e-02 -4.81930801e-04 9.99941372e-01 3.18389032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5507140569999 meters Centerline goodness [0,1] 0.989190687361419 Centerline is valid? [True, True] Translation: X:856.42, Y:-63.34, Z:3.18 [[ 9.99915056e-01 5.99304777e-03 -1.15742509e-02 8.56419222e+02] [-5.98623586e-03 9.99981888e-01 6.23095138e-04 -6.33441586e+01] [ 1.15777755e-02 -5.53756014e-04 9.99932822e-01 3.18332179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5807140569999 meters Centerline goodness [0,1] 0.9899080254134269 Centerline is valid? [True, True] Translation: X:856.45, Y:-63.36, Z:3.18 [[ 9.99931271e-01 2.32407038e-04 -1.17217365e-02 8.56447655e+02] [-2.25028049e-04 9.99999776e-01 6.30828295e-04 -6.33564777e+01] [ 1.17218805e-02 -6.28147219e-04 9.99931099e-01 3.18176417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6107140569999 meters Centerline goodness [0,1] 0.9897125497687049 Centerline is valid? [True, True] Translation: X:856.48, Y:-63.36, Z:3.18 [[ 9.99928209e-01 -2.39636944e-03 -1.17402626e-02 8.56477431e+02] [ 2.40394732e-03 9.99996911e-01 6.31391257e-04 -6.33553283e+01] [ 1.17387133e-02 -6.59568902e-04 9.99930881e-01 3.18300292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.640714057 meters Centerline goodness [0,1] 0.9897849339227228 Centerline is valid? [True, True] Translation: X:856.51, Y:-63.36, Z:3.18 [[ 9.99908487e-01 -6.65736722e-03 -1.17770123e-02 8.56507440e+02] [ 6.66528545e-03 9.99977586e-01 6.33224127e-04 -6.33588217e+01] [ 1.17725327e-02 -7.11663327e-04 9.99930448e-01 3.18407798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6707140569999 meters Centerline goodness [0,1] 0.9903890370642877 Centerline is valid? [True, True] Translation: X:856.54, Y:-63.36, Z:3.18 [[ 9.99897236e-01 -8.62107262e-03 -1.14540574e-02 8.56535285e+02] [ 8.62868080e-03 9.99962583e-01 6.14981671e-04 -6.33640858e+01] [ 1.14483271e-02 -7.13751879e-04 9.99934211e-01 3.18403991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7007140569999 meters Centerline goodness [0,1] 0.9894698287702591 Centerline is valid? [True, True] Translation: X:856.56, Y:-63.37, Z:3.18 [[ 9.99877697e-01 -1.05872930e-02 -1.15109139e-02 8.56563904e+02] [ 1.05950999e-02 9.99943680e-01 6.17443728e-04 -6.33694504e+01] [ 1.15037285e-02 -7.39327495e-04 9.99933557e-01 3.18395130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7307140569999 meters Centerline goodness [0,1] 0.9895360044058928 Centerline is valid? [True, True] Translation: X:856.59, Y:-63.37, Z:3.18 [[ 9.99837155e-01 -1.38941475e-02 -1.15159179e-02 8.56594289e+02] [ 1.39021775e-02 9.99903169e-01 6.17539882e-04 -6.33713493e+01] [ 1.15062226e-02 -7.77535654e-04 9.99933499e-01 3.18494230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.760714057 meters Centerline goodness [0,1] 0.9894450041212566 Centerline is valid? [True, True] Translation: X:856.63, Y:-63.37, Z:3.19 [[ 9.99822603e-01 -1.51684188e-02 -1.11661093e-02 8.56625638e+02] [ 1.51760525e-02 9.99884658e-01 5.99232106e-04 -6.33746112e+01] [ 1.11557319e-02 -7.68583264e-04 9.99937478e-01 3.18503349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.790714057 meters Centerline goodness [0,1] 0.9895593498529647 Centerline is valid? [True, True] Translation: X:856.66, Y:-63.38, Z:3.19 [[ 9.99784977e-01 -1.75778314e-02 -1.10009243e-02 8.56656533e+02] [ 1.75853880e-02 9.99845191e-01 5.90547774e-04 -6.33791672e+01] [ 1.09888407e-02 -7.83876315e-04 9.99939314e-01 3.18539361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8207140569999 meters Centerline goodness [0,1] 0.9887460908074052 Centerline is valid? [True, True] Translation: X:856.69, Y:-63.38, Z:3.18 [[ 9.99767110e-01 -1.85275282e-02 -1.10660256e-02 8.56687413e+02] [ 1.85352448e-02 9.99828030e-01 5.95164665e-04 -6.33849395e+01] [ 1.10530956e-02 -8.00137549e-04 9.99938593e-01 3.18467607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8507140569999 meters Centerline goodness [0,1] 0.9895502977480664 Centerline is valid? [True, True] Translation: X:856.72, Y:-63.39, Z:3.18 [[ 9.99749007e-01 -1.92819953e-02 -1.14073583e-02 8.56719655e+02] [ 1.92902532e-02 9.99813737e-01 6.14315535e-04 -6.33853447e+01] [ 1.13933883e-02 -8.34212177e-04 9.99934745e-01 3.18494498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.880714057 meters Centerline goodness [0,1] 0.9895973537127866 Centerline is valid? [True, True] Translation: X:856.75, Y:-63.39, Z:3.18 [[ 9.99700303e-01 -2.10680062e-02 -1.24676960e-02 8.56750617e+02] [ 2.10780149e-02 9.99777608e-01 6.71901846e-04 -6.33891602e+01] [ 1.24507676e-02 -9.34494761e-04 9.99922050e-01 3.18457991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.910714057 meters Centerline goodness [0,1] 0.9893096781530764 Centerline is valid? [True, True] Translation: X:856.78, Y:-63.39, Z:3.18 [[ 9.99674596e-01 -2.18646722e-02 -1.31391902e-02 8.56782357e+02] [ 2.18758660e-02 9.99760443e-01 7.08801695e-04 -6.33920104e+01] [ 1.31205449e-02 -9.96002211e-04 9.99913426e-01 3.18441667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9407140569999 meters Centerline goodness [0,1] 0.9898335152838428 Centerline is valid? [True, True] Translation: X:856.81, Y:-63.39, Z:3.18 [[ 9.99637131e-01 -2.31104184e-02 -1.38389198e-02 8.56813595e+02] [ 2.31229615e-02 9.99732349e-01 7.47028667e-04 -6.33931269e+01] [ 1.38179516e-02 -1.06675440e-03 9.99903959e-01 3.18405859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9707140569999 meters Centerline goodness [0,1] 0.9886877314131249 Centerline is valid? [True, True] Translation: X:856.84, Y:-63.40, Z:3.18 [[ 9.99625134e-01 -2.33375851e-02 -1.43160142e-02 8.56844313e+02] [ 2.33510426e-02 9.99727028e-01 7.73570966e-04 -6.34002099e+01] [ 1.42940530e-02 -1.10757484e-03 9.99897221e-01 3.18265596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.000714057 meters Centerline goodness [0,1] 0.9894820717131474 Centerline is valid? [True, True] Translation: X:856.88, Y:-63.40, Z:3.18 [[ 9.99612257e-01 -2.35150605e-02 -1.49123115e-02 8.56876267e+02] [ 2.35296980e-02 9.99722813e-01 8.06856577e-04 -6.34013168e+01] [ 1.48892047e-02 -1.15742591e-03 9.99888480e-01 3.18229015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.030714057 meters Centerline goodness [0,1] 0.9884056653102052 Centerline is valid? [True, True] Translation: X:856.91, Y:-63.40, Z:3.18 [[ 9.99627847e-01 -2.31130004e-02 -1.44898711e-02 8.56908733e+02] [ 2.31267930e-02 9.99732232e-01 7.85016732e-04 -6.34034325e+01] [ 1.44678470e-02 -1.11982883e-03 9.99894708e-01 3.18210783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0607140569999 meters Centerline goodness [0,1] 0.9890628204251829 Centerline is valid? [True, True] Translation: X:856.94, Y:-63.40, Z:3.18 [[ 9.99644580e-01 -2.26505760e-02 -1.40593553e-02 8.56940659e+02] [ 2.26635297e-02 9.99742858e-01 7.62698620e-04 -6.34018981e+01] [ 1.40384645e-02 -1.08106216e-03 9.99900871e-01 3.18342187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0907140569999 meters Centerline goodness [0,1] 0.9889695012395097 Centerline is valid? [True, True] Translation: X:856.97, Y:-63.40, Z:3.18 [[ 9.99693792e-01 -2.13305319e-02 -1.25431271e-02 8.56972419e+02] [ 2.13407471e-02 9.99772028e-01 6.81106442e-04 -6.34018952e+01] [ 1.25257392e-02 -9.48577585e-04 9.99921100e-01 3.18469574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.120714057 meters Centerline goodness [0,1] 0.9885185775793335 Centerline is valid? [True, True] Translation: X:857.00, Y:-63.40, Z:3.19 [[ 9.99714732e-01 -2.05693963e-02 -1.21389633e-02 8.57003578e+02] [ 2.05789130e-02 9.99788014e-01 6.59575014e-04 -6.34024374e+01] [ 1.21228229e-02 -9.09193527e-04 9.99926103e-01 3.18549877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.150714057 meters Centerline goodness [0,1] 0.9896284476863461 Centerline is valid? [True, True] Translation: X:857.03, Y:-63.40, Z:3.19 [[ 9.99770079e-01 -1.88114408e-02 -1.02916691e-02 8.57034985e+02] [ 1.88181924e-02 9.99822766e-01 5.59580704e-04 -6.33996253e+01] [ 1.02793185e-02 -7.53122654e-04 9.99946883e-01 3.18770766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1807140569999 meters Centerline goodness [0,1] 0.9894214951562785 Centerline is valid? [True, True] Translation: X:857.07, Y:-63.40, Z:3.19 [[ 9.99784388e-01 -1.84400234e-02 -9.54692330e-03 8.57067326e+02] [ 1.84458234e-02 9.99829726e-01 5.19816754e-04 -6.34002258e+01] [ 9.53571227e-03 -6.95805536e-04 9.99954292e-01 3.18812674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2107140569999 meters Centerline goodness [0,1] 0.9903311137462374 Centerline is valid? [True, True] Translation: X:857.10, Y:-63.40, Z:3.19 [[ 9.99796614e-01 -1.81858282e-02 -8.71815833e-03 8.57099800e+02] [ 1.81906608e-02 9.99834423e-01 4.75327633e-04 -6.34033003e+01] [ 8.70807058e-03 -6.33820019e-04 9.99961883e-01 3.18793802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2407140569999 meters Centerline goodness [0,1] 0.9890435973522027 Centerline is valid? [True, True] Translation: X:857.13, Y:-63.40, Z:3.19 [[ 9.99780240e-01 -1.90281883e-02 -8.79773271e-03 8.57131918e+02] [ 1.90331475e-02 9.99818738e-01 4.80310508e-04 -6.34044496e+01] [ 8.78699858e-03 -6.47653499e-04 9.99961184e-01 3.18698739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.270714057 meters Centerline goodness [0,1] 0.9892585206671501 Centerline is valid? [True, True] Translation: X:857.16, Y:-63.41, Z:3.19 [[ 9.99765993e-01 -1.94271821e-02 -9.51543334e-03 8.57163108e+02] [ 1.94330062e-02 9.99811026e-01 5.19986658e-04 -6.34096505e+01] [ 9.50353330e-03 -7.04778453e-04 9.99954592e-01 3.18583505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3007140569999 meters Centerline goodness [0,1] 0.9890114900601861 Centerline is valid? [True, True] Translation: X:857.19, Y:-63.41, Z:3.18 [[ 9.99717899e-01 -2.11142860e-02 -1.08770543e-02 8.57193814e+02] [ 2.11219973e-02 9.99776729e-01 5.94546862e-04 -6.34106711e+01] [ 1.08620723e-02 -8.24124250e-04 9.99940666e-01 3.18424422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3307140569999 meters Centerline goodness [0,1] 0.9881547415268743 Centerline is valid? [True, True] Translation: X:857.22, Y:-63.42, Z:3.18 [[ 9.99701389e-01 -2.16284821e-02 -1.13728009e-02 8.57224427e+02] [ 2.16369528e-02 9.99765700e-01 6.22289812e-04 -6.34169319e+01] [ 1.13566770e-02 -8.68176746e-04 9.99935134e-01 3.18297332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3607140569999 meters Centerline goodness [0,1] 0.9877018378920039 Centerline is valid? [True, True] Translation: X:857.26, Y:-63.42, Z:3.18 [[ 9.99666747e-01 -2.28815820e-02 -1.19510940e-02 8.57256816e+02] [ 2.28910353e-02 9.99737751e-01 6.54785013e-04 -6.34153835e+01] [ 1.19329774e-02 -9.28139719e-04 9.99928369e-01 3.18313414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.390714057 meters Centerline goodness [0,1] 0.9888041870519968 Centerline is valid? [True, True] Translation: X:857.29, Y:-63.42, Z:3.18 [[ 9.99653373e-01 -2.34587263e-02 -1.19507904e-02 8.57289053e+02] [ 2.34682302e-02 9.99724368e-01 6.55618554e-04 -6.34186512e+01] [ 1.19321164e-02 -9.35855199e-04 9.99928372e-01 3.18206813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4207140569999 meters Centerline goodness [0,1] 0.9897903372835004 Centerline is valid? [True, True] Translation: X:857.32, Y:-63.42, Z:3.18 [[ 9.99643774e-01 -2.38312787e-02 -1.20164891e-02 8.57321171e+02] [ 2.38409246e-02 9.99715547e-01 6.60091664e-04 -6.34184727e+01] [ 1.19973402e-02 -9.46340733e-04 9.99927582e-01 3.18265395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4507140569999 meters Centerline goodness [0,1] 0.9888392857142857 Centerline is valid? [True, True] Translation: X:857.35, Y:-63.42, Z:3.18 [[ 9.99646932e-01 -2.42283864e-02 -1.09085344e-02 8.57352122e+02] [ 2.42363652e-02 9.99706076e-01 5.99805866e-04 -6.34224081e+01] [ 1.08907958e-02 -8.63977317e-04 9.99940320e-01 3.18234263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4807140569999 meters Centerline goodness [0,1] 0.988654965441979 Centerline is valid? [True, True] Translation: X:857.38, Y:-63.43, Z:3.18 [[ 9.99647919e-01 -2.43395652e-02 -1.05652192e-02 8.57382894e+02] [ 2.43470618e-02 9.99703397e-01 5.81494312e-04 -6.34256741e+01] [ 1.05479322e-02 -8.38521623e-04 9.99944017e-01 3.18249227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.510714057 meters Centerline goodness [0,1] 0.9886154056330972 Centerline is valid? [True, True] Translation: X:857.41, Y:-63.43, Z:3.18 [[ 9.99651750e-01 -2.44040900e-02 -1.00408388e-02 8.57414672e+02] [ 2.44108714e-02 9.99701857e-01 5.53360098e-04 -6.34276874e+01] [ 1.00243410e-02 -7.98273015e-04 9.99949436e-01 3.18292833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.540714057 meters Centerline goodness [0,1] 0.9879984514130855 Centerline is valid? [True, True] Translation: X:857.45, Y:-63.43, Z:3.18 [[ 9.99664531e-01 -2.42577923e-02 -9.07661262e-03 8.57446333e+02] [ 2.42633336e-02 9.99705477e-01 5.00862077e-04 -6.34309589e+01] [ 9.06178953e-03 -7.20922933e-04 9.99958681e-01 3.18256232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5707140569999 meters Centerline goodness [0,1] 0.9879625196634977 Centerline is valid? [True, True] Translation: X:857.48, Y:-63.43, Z:3.18 [[ 9.99666831e-01 -2.40804216e-02 -9.29306217e-03 8.57478655e+02] [ 2.40862287e-02 9.99709753e-01 5.13460755e-04 -6.34315861e+01] [ 9.27800053e-03 -7.37124507e-04 9.99956687e-01 3.18318656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6007140569999 meters Centerline goodness [0,1] 0.9884900595969246 Centerline is valid? [True, True] Translation: X:857.51, Y:-63.43, Z:3.18 [[ 9.99678663e-01 -2.39609370e-02 -8.27309806e-03 8.57511014e+02] [ 2.39655402e-02 9.99712680e-01 4.57709477e-04 -6.34300229e+01] [ 8.25975389e-03 -6.55831662e-04 9.99965673e-01 3.18405616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.630714057 meters Centerline goodness [0,1] 0.9881399531061485 Centerline is valid? [True, True] Translation: X:857.54, Y:-63.43, Z:3.18 [[ 9.99683478e-01 -2.38909097e-02 -7.88473848e-03 8.57542725e+02] [ 2.38950931e-02 9.99714376e-01 4.36788826e-04 -6.34333594e+01] [ 7.87205113e-03 -6.25057133e-04 9.99968820e-01 3.18394683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.660714057 meters Centerline goodness [0,1] 0.9879929826160261 Centerline is valid? [True, True] Translation: X:857.57, Y:-63.44, Z:3.18 [[ 9.99682986e-01 -2.41234867e-02 -7.21001658e-03 8.57574588e+02] [ 2.41269946e-02 9.99708822e-01 3.99930805e-04 -6.34364416e+01] [ 7.19826945e-03 -5.73760052e-04 9.99973928e-01 3.18369748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6907140569999 meters Centerline goodness [0,1] 0.9883403169976316 Centerline is valid? [True, True] Translation: X:857.61, Y:-63.44, Z:3.18 [[ 9.99680681e-01 -2.43164107e-02 -6.87378524e-03 8.57606798e+02] [ 2.43196068e-02 9.99704162e-01 3.81768577e-04 -6.34403792e+01] [ 6.86246847e-03 -5.48814425e-04 9.99976302e-01 3.18326841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7207140569999 meters Centerline goodness [0,1] 0.9863032398980707 Centerline is valid? [True, True] Translation: X:857.64, Y:-63.45, Z:3.18 [[ 9.99667503e-01 -2.47163886e-02 -7.34734092e-03 8.57637544e+02] [ 2.47200538e-02 9.99694329e-01 4.08434215e-04 -6.34504527e+01] [ 7.33500003e-03 -5.89925075e-04 9.99972925e-01 3.18164209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.750714057 meters Centerline goodness [0,1] 0.9881171472065071 Centerline is valid? [True, True] Translation: X:857.67, Y:-63.45, Z:3.18 [[ 9.99654650e-01 -2.49782327e-02 -8.16510050e-03 8.57669982e+02] [ 2.49827727e-02 9.99687779e-01 4.54483515e-04 -6.34459401e+01] [ 8.15119899e-03 -6.58313408e-04 9.99966562e-01 3.18057218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.780714057 meters Centerline goodness [0,1] 0.9882642481143039 Centerline is valid? [True, True] Translation: X:857.70, Y:-63.45, Z:3.18 [[ 9.99647130e-01 -2.50631268e-02 -8.80081703e-03 8.57701100e+02] [ 2.50684084e-02 9.99685618e-01 4.90309582e-04 -6.34501532e+01] [ 8.78576152e-03 -7.10759043e-04 9.99961152e-01 3.17928284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8107140569999 meters Centerline goodness [0,1] 0.9885383567862006 Centerline is valid? [True, True] Translation: X:857.73, Y:-63.45, Z:3.18 [[ 9.99658303e-01 -2.41902175e-02 -9.90510248e-03 8.57733132e+02] [ 2.41968723e-02 9.99707060e-01 5.52548455e-04 -6.34496167e+01] [ 9.88883461e-03 -7.92032150e-04 9.99950791e-01 3.17909168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8407140569999 meters Centerline goodness [0,1] 0.9883683729433272 Centerline is valid? [True, True] Translation: X:857.77, Y:-63.45, Z:3.18 [[ 9.99664073e-01 -2.39085942e-02 -1.00059711e-02 8.57765645e+02] [ 2.39153783e-02 9.99713830e-01 5.58888458e-04 -6.34504301e+01] [ 9.98974543e-03 -7.97997297e-04 9.99949783e-01 3.17936133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.870714057 meters Centerline goodness [0,1] 0.9876697966997903 Centerline is valid? [True, True] Translation: X:857.80, Y:-63.45, Z:3.18 [[ 9.99674424e-01 -2.33504357e-02 -1.02860438e-02 8.57797792e+02] [ 2.33575830e-02 9.99727009e-01 5.75258098e-04 -6.34529346e+01] [ 1.02698033e-02 -8.15327930e-04 9.99946932e-01 3.17937316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.900714057 meters Centerline goodness [0,1] 0.9889630739882818 Centerline is valid? [True, True] Translation: X:857.83, Y:-63.45, Z:3.18 [[ 9.99712617e-01 -2.21095431e-02 -9.26556840e-03 8.57829374e+02] [ 2.21152925e-02 9.99755293e-01 5.18493819e-04 -6.34528002e+01] [ 9.25183739e-03 -7.23255568e-04 9.99956939e-01 3.17959595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9307140569999 meters Centerline goodness [0,1] 0.9888904065929063 Centerline is valid? [True, True] Translation: X:857.86, Y:-63.46, Z:3.18 [[ 9.99730251e-01 -2.14684173e-02 -8.86184748e-03 8.57861908e+02] [ 2.14736602e-02 9.99769291e-01 4.96891234e-04 -6.34555052e+01] [ 8.84913551e-03 -6.87053500e-04 9.99960610e-01 3.17945813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9607140569999 meters Centerline goodness [0,1] 0.989052842839875 Centerline is valid? [True, True] Translation: X:857.89, Y:-63.46, Z:3.18 [[ 9.99762860e-01 -2.00068418e-02 -8.59947530e-03 8.57893105e+02] [ 2.00117272e-02 9.99799629e-01 4.82425586e-04 -6.34561635e+01] [ 8.58810040e-03 -6.54401537e-04 9.99962907e-01 3.17950266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9907140569999 meters Centerline goodness [0,1] 0.9884246575342466 Centerline is valid? [True, True] Translation: X:857.92, Y:-63.46, Z:3.18 [[ 9.99775559e-01 -1.94565777e-02 -8.38290056e-03 8.57924938e+02] [ 1.94612062e-02 9.99810502e-01 4.70908501e-04 -6.34578746e+01] [ 8.37214975e-03 -6.33944167e-04 9.99964752e-01 3.17934209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.020714057 meters Centerline goodness [0,1] 0.9874622494737806 Centerline is valid? [True, True] Translation: X:857.96, Y:-63.46, Z:3.18 [[ 9.99779541e-01 -1.91796870e-02 -8.54450360e-03 8.57957587e+02] [ 1.91844922e-02 9.99815845e-01 4.80759483e-04 -6.34602372e+01] [ 8.53370927e-03 -6.44575458e-04 9.99963379e-01 3.17913814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0507140569999 meters Centerline goodness [0,1] 0.9873460934477344 Centerline is valid? [True, True] Translation: X:857.99, Y:-63.46, Z:3.18 [[ 9.99778955e-01 -1.91578647e-02 -8.66126227e-03 8.57989299e+02] [ 1.91628064e-02 9.99816258e-01 4.87922660e-04 -6.34625264e+01] [ 8.65032327e-03 -6.53788899e-04 9.99962372e-01 3.17871992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0807140569999 meters Centerline goodness [0,1] 0.9871794871794872 Centerline is valid? [True, True] Translation: X:858.02, Y:-63.47, Z:3.18 [[ 9.99747229e-01 -2.09100489e-02 -8.26118684e-03 8.58019366e+02] [ 2.09146062e-02 9.99781157e-01 4.65643686e-04 -6.34702417e+01] [ 8.24964231e-03 -6.38305455e-04 9.99965767e-01 3.17789681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1107140569999 meters Centerline goodness [0,1] 0.9871794871794872 Centerline is valid? [True, True] Translation: X:858.05, Y:-63.47, Z:3.18 [[ 9.99748697e-01 -2.08397845e-02 -8.26115217e-03 8.58051105e+02] [ 2.08443445e-02 9.99782624e-01 4.66258460e-04 -6.34720959e+01] [ 8.24963967e-03 -6.38339589e-04 9.99965767e-01 3.17786596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.140714057 meters Centerline goodness [0,1] 0.9870387695958743 Centerline is valid? [True, True] Translation: X:858.08, Y:-63.47, Z:3.18 [[ 9.99730055e-01 -2.17341840e-02 -8.21238108e-03 8.58083334e+02] [ 2.17387253e-02 9.99763578e-01 4.64108642e-04 -6.34686834e+01] [ 8.20035247e-03 -6.42510055e-04 9.99966170e-01 3.17856906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1707140569999 meters Centerline goodness [0,1] 0.9864359108127112 Centerline is valid? [True, True] Translation: X:858.11, Y:-63.48, Z:3.18 [[ 9.99674656e-01 -2.40851807e-02 -8.39557020e-03 8.58112936e+02] [ 2.40900086e-02 9.99709681e-01 4.74388885e-04 -6.34803862e+01] [ 8.38170706e-03 -6.76483904e-04 9.99964644e-01 3.17737023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2007140569999 meters Centerline goodness [0,1] 0.9856630009997274 Centerline is valid? [True, True] Translation: X:858.14, Y:-63.48, Z:3.18 [[ 9.99649282e-01 -2.51875218e-02 -8.17933166e-03 8.58143901e+02] [ 2.51921447e-02 9.99682521e-01 4.62638105e-04 -6.34848494e+01] [ 8.16508219e-03 -6.68530757e-04 9.99966442e-01 3.17703319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2307140569999 meters Centerline goodness [0,1] 0.9860116001364722 Centerline is valid? [True, True] Translation: X:858.18, Y:-63.49, Z:3.18 [[ 9.99632848e-01 -2.59473720e-02 -7.80400496e-03 8.58175779e+02] [ 2.59516076e-02 9.99663103e-01 4.41955029e-04 -6.34896050e+01] [ 7.78990824e-03 -6.44319239e-04 9.99969451e-01 3.17675041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.260714057 meters Centerline goodness [0,1] 0.9829979651820031 Centerline is valid? [True, True] Translation: X:858.21, Y:-63.50, Z:3.18 [[ 9.99593154e-01 -2.73540869e-02 -8.07961021e-03 8.58205644e+02] [ 2.73586733e-02 9.99625577e-01 4.57646901e-04 -6.34951724e+01] [ 8.06406650e-03 -6.78508125e-04 9.99967255e-01 3.17641225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.290714057 meters Centerline goodness [0,1] 0.9868391298448735 Centerline is valid? [True, True] Translation: X:858.24, Y:-63.49, Z:3.18 [[ 9.99586348e-01 -2.76344578e-02 -7.96677743e-03 8.58238467e+02] [ 2.76389306e-02 9.99617870e-01 4.51858191e-04 -6.34928834e+01] [ 7.95124622e-03 -6.71864487e-04 9.99968163e-01 3.17655318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3207140569999 meters Centerline goodness [0,1] 0.9795136764339294 Centerline is valid? [True, True] Translation: X:858.27, Y:-63.50, Z:3.18 [[ 9.99557053e-01 -2.86292997e-02 -8.12780503e-03 8.58268839e+02] [ 2.86339911e-02 9.99589857e-01 4.61391822e-04 -6.35042520e+01] [ 8.11126214e-03 -6.93918946e-04 9.99966862e-01 3.17612157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3507140569999 meters Centerline goodness [0,1] 0.9849130119608553 Centerline is valid? [True, True] Translation: X:858.30, Y:-63.50, Z:3.18 [[ 9.99552751e-01 -2.88640781e-02 -7.82067826e-03 8.58300755e+02] [ 2.88684319e-02 9.99583121e-01 4.44362384e-04 -6.35009413e+01] [ 7.80459188e-03 -6.69934361e-04 9.99969319e-01 3.17741275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.380714057 meters Centerline goodness [0,1] 0.9864831321223062 Centerline is valid? [True, True] Translation: X:858.33, Y:-63.50, Z:3.18 [[ 9.99543508e-01 -2.93133022e-02 -7.31474328e-03 8.58333351e+02] [ 2.93171267e-02 9.99570074e-01 4.16146121e-04 -6.35015411e+01] [ 7.29939986e-03 -6.30403409e-04 9.99973160e-01 3.17808846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.410714057 meters Centerline goodness [0,1] 0.9845482104882132 Centerline is valid? [True, True] Translation: X:858.36, Y:-63.51, Z:3.18 [[ 9.99535117e-01 -2.95693546e-02 -7.42991807e-03 8.58364583e+02] [ 2.95733102e-02 9.99562524e-01 4.23066599e-04 -6.35092551e+01] [ 7.41415786e-03 -6.42597194e-04 9.99972308e-01 3.17799167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4407140569999 meters Centerline goodness [0,1] 0.985164611841214 Centerline is valid? [True, True] Translation: X:858.40, Y:-63.51, Z:3.18 [[ 9.99534608e-01 -2.93397035e-02 -8.35154305e-03 8.58396367e+02] [ 2.93446982e-02 9.99569238e-01 4.76127337e-04 -6.35115748e+01] [ 8.33397609e-03 -7.20979262e-04 9.99965012e-01 3.17718365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4707140569999 meters Centerline goodness [0,1] 0.9807123337172798 Centerline is valid? [True, True] Translation: X:858.43, Y:-63.52, Z:3.17 [[ 9.99520077e-01 -2.90973273e-02 -1.06283304e-02 8.58427733e+02] [ 2.91054163e-02 9.99576163e-01 6.07168659e-04 -6.35175688e+01] [ 1.06061587e-02 -9.16219245e-04 9.99943333e-01 3.17452360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.500714057 meters Centerline goodness [0,1] 0.9834425118590467 Centerline is valid? [True, True] Translation: X:858.46, Y:-63.52, Z:3.17 [[ 9.99526815e-01 -2.85556086e-02 -1.14334231e-02 8.58459812e+02] [ 2.85649427e-02 9.99591725e-01 6.53880571e-04 -6.35183939e+01] [ 1.14100832e-02 -9.80166240e-04 9.99934422e-01 3.17378942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.530714057 meters Centerline goodness [0,1] 0.9877490242086502 Centerline is valid? [True, True] Translation: X:858.49, Y:-63.51, Z:3.17 [[ 9.99546531e-01 -2.77236461e-02 -1.17529190e-02 8.58492420e+02] [ 2.77334619e-02 9.99615127e-01 6.72996737e-04 -6.35105607e+01] [ 1.17297377e-02 -9.98640686e-04 9.99930706e-01 3.17481306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5607140569999 meters Centerline goodness [0,1] 0.988328168472483 Centerline is valid? [True, True] Translation: X:858.52, Y:-63.51, Z:3.18 [[ 9.99611132e-01 -2.50312270e-02 -1.22891345e-02 8.58523482e+02] [ 2.50417591e-02 9.99686158e-01 7.03871082e-04 -6.35075513e+01] [ 1.22676589e-02 -1.01133891e-03 9.99924238e-01 3.17601164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5907140569999 meters Centerline goodness [0,1] 0.9870338159886151 Centerline is valid? [True, True] Translation: X:858.55, Y:-63.52, Z:3.18 [[ 9.99707007e-01 -2.14376425e-02 -1.12395765e-02 8.58552409e+02] [ 2.14462241e-02 9.99769796e-01 6.43530908e-04 -6.35158269e+01] [ 1.12231933e-02 -8.84388835e-04 9.99936627e-01 3.17564016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.620714057 meters Centerline goodness [0,1] 0.9881326431429281 Centerline is valid? [True, True] Translation: X:858.58, Y:-63.51, Z:3.18 [[ 9.99751526e-01 -1.94164160e-02 -1.09494159e-02 8.58584523e+02] [ 1.94244476e-02 9.99811131e-01 6.27637087e-04 -6.35098192e+01] [ 1.09351614e-02 -8.40167490e-04 9.99939856e-01 3.17733741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.650714057 meters Centerline goodness [0,1] 0.9882839888720512 Centerline is valid? [True, True] Translation: X:858.62, Y:-63.51, Z:3.18 [[ 9.99798165e-01 -1.72531106e-02 -1.02936991e-02 8.58615314e+02] [ 1.72600944e-02 9.99850859e-01 5.89996645e-04 -6.35078965e+01] [ 1.02819846e-02 -7.67547780e-04 9.99946844e-01 3.17818070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6807140569999 meters Centerline goodness [0,1] 0.9877565799895897 Centerline is valid? [True, True] Translation: X:858.64, Y:-63.51, Z:3.18 [[ 9.99864579e-01 -1.38044494e-02 -8.95886265e-03 8.58644935e+02] [ 1.38096004e-02 9.99904511e-01 5.13351719e-04 -6.35099349e+01] [ 8.95092064e-03 -6.37000514e-04 9.99959737e-01 3.17848532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7107140569999 meters Centerline goodness [0,1] 0.989216439842655 Centerline is valid? [True, True] Translation: X:858.68, Y:-63.51, Z:3.18 [[ 9.99887381e-01 -1.24500589e-02 -8.37981074e-03 8.58676107e+02] [ 1.24545212e-02 9.99922324e-01 4.80525831e-04 -6.35079251e+01] [ 8.37317726e-03 -5.84838245e-04 9.99964773e-01 3.17899968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7407140569999 meters Centerline goodness [0,1] 0.9878978442328138 Centerline is valid? [True, True] Translation: X:858.71, Y:-63.51, Z:3.18 [[ 9.99897515e-01 -1.14515711e-02 -8.59188282e-03 8.58706175e+02] [ 1.14562266e-02 9.99934254e-01 4.92822439e-04 -6.35134063e+01] [ 8.58567434e-03 -5.91202488e-04 9.99962968e-01 3.17807494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.770714057 meters Centerline goodness [0,1] 0.9881999231412618 Centerline is valid? [True, True] Translation: X:858.74, Y:-63.52, Z:3.18 [[ 9.99894615e-01 -1.15475321e-02 -8.79850099e-03 8.58737775e+02] [ 1.15524207e-02 9.99933141e-01 5.04997273e-04 -6.35168569e+01] [ 8.79208126e-03 -6.06588039e-04 9.99961165e-01 3.17746209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8007140569999 meters Centerline goodness [0,1] 0.9891718739425658 Centerline is valid? [True, True] Translation: X:858.77, Y:-63.52, Z:3.18 [[ 9.99880454e-01 -1.21847229e-02 -9.51891633e-03 8.58769343e+02] [ 1.21904769e-02 9.99925544e-01 5.46687839e-04 -6.35159529e+01] [ 9.51154635e-03 -6.62662615e-04 9.99954545e-01 3.17728988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8307140569999 meters Centerline goodness [0,1] 0.9885781359337261 Centerline is valid? [True, True] Translation: X:858.80, Y:-63.52, Z:3.18 [[ 9.99830419e-01 -1.49137496e-02 -1.08033789e-02 8.58798482e+02] [ 1.49213247e-02 9.99888478e-01 6.20910889e-04 -6.35249621e+01] [ 1.07929140e-02 -7.82006318e-04 9.99941449e-01 3.17548790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8607140569999 meters Centerline goodness [0,1] 0.9888731220577966 Centerline is valid? [True, True] Translation: X:858.83, Y:-63.53, Z:3.17 [[ 9.99776901e-01 -1.79202863e-02 -1.11809017e-02 8.58828854e+02] [ 1.79285881e-02 9.99839063e-01 6.42705178e-04 -6.35304320e+01] [ 1.11675848e-02 -8.43019572e-04 9.99937285e-01 3.17478535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.890714057 meters Centerline goodness [0,1] 0.9880981843543997 Centerline is valid? [True, True] Translation: X:858.86, Y:-63.53, Z:3.17 [[ 9.99743364e-01 -1.94613553e-02 -1.15958045e-02 8.58859919e+02] [ 1.94703928e-02 9.99810211e-01 6.66985856e-04 -6.35347245e+01] [ 1.15806233e-02 -8.92589552e-04 9.99932544e-01 3.17469498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9207140569999 meters Centerline goodness [0,1] 0.9885734770237269 Centerline is valid? [True, True] Translation: X:858.89, Y:-63.54, Z:3.17 [[ 9.99732003e-01 -2.03859460e-02 -1.09697738e-02 8.58891295e+02] [ 2.03940959e-02 9.99791819e-01 6.31576876e-04 -6.35392643e+01] [ 1.09546148e-02 -8.55126233e-04 9.99939631e-01 3.17438872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9507140569999 meters Centerline goodness [0,1] 0.9869122309923767 Centerline is valid? [True, True] Translation: X:858.92, Y:-63.54, Z:3.17 [[ 9.99711075e-01 -2.13410463e-02 -1.10601514e-02 8.58922933e+02] [ 2.13494004e-02 9.99771872e-01 6.37807187e-04 -6.35424586e+01] [ 1.10440168e-02 -8.73750510e-04 9.99938631e-01 3.17442270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9807140569999 meters Centerline goodness [0,1] 0.9870628663836669 Centerline is valid? [True, True] Translation: X:858.95, Y:-63.55, Z:3.17 [[ 9.99704400e-01 -2.17950555e-02 -1.07744468e-02 8.58954231e+02] [ 2.18030154e-02 9.99762093e-01 6.21857287e-04 -6.35477796e+01] [ 1.07583301e-02 -8.56588895e-04 9.99941761e-01 3.17479123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.010714057 meters Centerline goodness [0,1] 0.9854009687836384 Centerline is valid? [True, True] Translation: X:858.99, Y:-63.55, Z:3.18 [[ 9.99720911e-01 -2.12485519e-02 -1.03247208e-02 8.58985261e+02] [ 2.12558377e-02 9.99773891e-01 5.96434419e-04 -6.35524605e+01] [ 1.03097130e-02 -8.15728550e-04 9.99946521e-01 3.17504378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.040714057 meters Centerline goodness [0,1] 0.985950154369323 Centerline is valid? [True, True] Translation: X:859.02, Y:-63.56, Z:3.17 [[ 9.99735187e-01 -2.06713370e-02 -1.01119645e-02 8.59015899e+02] [ 2.06783088e-02 9.99786010e-01 5.85380171e-04 -6.35561872e+01] [ 1.00977000e-02 -7.94323479e-04 9.99948701e-01 3.17497320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0707140569999 meters Centerline goodness [0,1] 0.9850296709224959 Centerline is valid? [True, True] Translation: X:859.05, Y:-63.56, Z:3.18 [[ 9.99746975e-01 -2.02186491e-02 -9.85857442e-03 8.59047631e+02] [ 2.02252600e-02 9.99795285e-01 5.71329639e-04 -6.35584729e+01] [ 9.84500471e-03 -7.70577310e-04 9.99951240e-01 3.17507976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1007140569999 meters Centerline goodness [0,1] 0.9860624044600306 Centerline is valid? [True, True] Translation: X:859.08, Y:-63.56, Z:3.18 [[ 9.99769673e-01 -1.90959457e-02 -9.79519621e-03 8.59079005e+02] [ 1.91024213e-02 9.99817371e-01 5.67954999e-04 -6.35606785e+01] [ 9.78256169e-03 -7.54936148e-04 9.99951865e-01 3.17561212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.130714057 meters Centerline goodness [0,1] 0.9869868076242525 Centerline is valid? [True, True] Translation: X:859.11, Y:-63.55, Z:3.18 [[ 9.99779616e-01 -1.87141312e-02 -9.51315476e-03 8.59111796e+02] [ 1.87202288e-02 9.99824609e-01 5.52315823e-04 -6.35546558e+01] [ 9.50115012e-03 -7.30282536e-04 9.99954596e-01 3.17701817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.160714057 meters Centerline goodness [0,1] 0.9878692927484333 Centerline is valid? [True, True] Translation: X:859.14, Y:-63.56, Z:3.18 [[ 9.99795295e-01 -1.82100673e-02 -8.81822641e-03 8.59143597e+02] [ 1.82152911e-02 9.99833957e-01 5.12431782e-04 -6.35554597e+01] [ 8.80743078e-03 -6.72953446e-04 9.99960987e-01 3.17744477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1907140569999 meters Centerline goodness [0,1] 0.9858372176407314 Centerline is valid? [True, True] Translation: X:859.17, Y:-63.56, Z:3.18 [[ 9.99800612e-01 -1.78062575e-02 -9.03730497e-03 8.59174138e+02] [ 1.78117321e-02 9.99841220e-01 5.25644949e-04 -6.35639408e+01] [ 9.02651026e-03 -6.86510197e-04 9.99959025e-01 3.17640614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2207140569999 meters Centerline goodness [0,1] 0.9884628359383785 Centerline is valid? [True, True] Translation: X:859.21, Y:-63.56, Z:3.18 [[ 9.99797512e-01 -1.73944179e-02 -1.01177621e-02 8.59206233e+02] [ 1.74012663e-02 9.99848413e-01 5.89230959e-04 -6.35587500e+01] [ 1.01059790e-02 -7.65173520e-04 9.99948641e-01 3.17671391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.250714057 meters Centerline goodness [0,1] 0.9869488060740841 Centerline is valid? [True, True] Translation: X:859.24, Y:-63.56, Z:3.18 [[ 9.99804333e-01 -1.70906606e-02 -9.96015292e-03 8.59237451e+02] [ 1.70972876e-02 9.99853662e-01 5.80570890e-04 -6.35634904e+01] [ 9.94877303e-03 -7.50748890e-04 9.99950228e-01 3.17614815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.280714057 meters Centerline goodness [0,1] 0.9871426002517533 Centerline is valid? [True, True] Translation: X:859.27, Y:-63.57, Z:3.18 [[ 9.99809589e-01 -1.67645838e-02 -9.98668118e-03 8.59269950e+02] [ 1.67712371e-02 9.99859183e-01 5.82837637e-04 -6.35659174e+01] [ 9.97550386e-03 -7.50215657e-04 9.99949962e-01 3.17636642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3107140569999 meters Centerline goodness [0,1] 0.9866684621599785 Centerline is valid? [True, True] Translation: X:859.30, Y:-63.57, Z:3.18 [[ 9.99818574e-01 -1.66290292e-02 -9.28945290e-03 8.59301787e+02] [ 1.66347845e-02 9.99861485e-01 5.42625883e-04 -6.35674551e+01] [ 9.27914283e-03 -6.97055484e-04 9.99956705e-01 3.17658665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3407140569999 meters Centerline goodness [0,1] 0.9868043087971274 Centerline is valid? [True, True] Translation: X:859.33, Y:-63.57, Z:3.18 [[ 9.99823666e-01 -1.65712793e-02 -8.83346686e-03 8.59333914e+02] [ 1.65764869e-02 9.99862467e-01 5.16632804e-04 -6.35703855e+01] [ 8.82369070e-03 -6.62969551e-04 9.99960851e-01 3.17671836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.370714057 meters Centerline goodness [0,1] 0.9843662382522487 Centerline is valid? [True, True] Translation: X:859.36, Y:-63.58, Z:3.18 [[ 9.99818924e-01 -1.69787539e-02 -8.59311297e-03 8.59364981e+02] [ 1.69837007e-02 9.99855640e-01 5.03011434e-04 -6.35783642e+01] [ 8.58333196e-03 -6.48863208e-04 9.99962952e-01 3.17578112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.400714057 meters Centerline goodness [0,1] 0.9857699020002685 Centerline is valid? [True, True] Translation: X:859.40, Y:-63.58, Z:3.18 [[ 9.99813821e-01 -1.71508555e-02 -8.84151829e-03 8.59396658e+02] [ 1.71561030e-02 9.99852689e-01 5.18005860e-04 -6.35793579e+01] [ 8.83133159e-03 -6.69595417e-04 9.99960779e-01 3.17587141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4307140569999 meters Centerline goodness [0,1] 0.98723012702545 Centerline is valid? [True, True] Translation: X:859.43, Y:-63.57, Z:3.18 [[ 9.99807665e-01 -1.74898296e-02 -8.87344253e-03 8.59428814e+02] [ 1.74951380e-02 9.99846813e-01 5.20956486e-04 -6.35730524e+01] [ 8.86297179e-03 -6.76098389e-04 9.99960495e-01 3.17637581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4607140569999 meters Centerline goodness [0,1] 0.9863272465593236 Centerline is valid? [True, True] Translation: X:859.46, Y:-63.58, Z:3.18 [[ 9.99814416e-01 -1.71973024e-02 -8.68252247e-03 8.59460130e+02] [ 1.72023774e-02 9.99851898e-01 5.10164133e-04 -6.35777771e+01] [ 8.67246313e-03 -6.59429483e-04 9.99962176e-01 3.17592164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4907140569999 meters Centerline goodness [0,1] 0.9857097919381657 Centerline is valid? [True, True] Translation: X:859.49, Y:-63.58, Z:3.18 [[ 9.99827308e-01 -1.65811820e-02 -8.39157026e-03 8.59492012e+02] [ 1.65859048e-02 9.99862323e-01 4.93520996e-04 -6.35780711e+01] [ 8.38223177e-03 -6.32617555e-04 9.99964668e-01 3.17587844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.520714057 meters Centerline goodness [0,1] 0.9862429587737607 Centerline is valid? [True, True] Translation: X:859.52, Y:-63.58, Z:3.18 [[ 9.99840758e-01 -1.58973907e-02 -8.10746516e-03 8.59523014e+02] [ 1.59017790e-02 9.99873445e-01 4.77087689e-04 -6.35793750e+01] [ 8.09885467e-03 -6.05934836e-04 9.99967020e-01 3.17586157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5507140569999 meters Centerline goodness [0,1] 0.9863556536227316 Centerline is valid? [True, True] Translation: X:859.55, Y:-63.58, Z:3.18 [[ 9.99852692e-01 -1.49009624e-02 -8.51794095e-03 8.59553401e+02] [ 1.49057715e-02 9.99888777e-01 5.01374681e-04 -6.35817368e+01] [ 8.50952260e-03 -6.28267305e-04 9.99963596e-01 3.17539232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5807140569999 meters Centerline goodness [0,1] 0.9847208178856308 Centerline is valid? [True, True] Translation: X:859.58, Y:-63.59, Z:3.17 [[ 9.99858027e-01 -1.44620570e-02 -8.64718505e-03 8.59584430e+02] [ 1.44670011e-02 9.99895218e-01 5.09475592e-04 -6.35853501e+01] [ 8.63891091e-03 -6.34502096e-04 9.99962483e-01 3.17461428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6107140569999 meters Centerline goodness [0,1] 0.985909804801436 Centerline is valid? [True, True] Translation: X:859.62, Y:-63.59, Z:3.17 [[ 9.99861095e-01 -1.42831828e-02 -8.58959259e-03 8.59615851e+02] [ 1.42880571e-02 9.99897792e-01 5.06366153e-04 -6.35867026e+01] [ 8.58148214e-03 -6.29024406e-04 9.99962981e-01 3.17461476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.640714057 meters Centerline goodness [0,1] 0.9855199550309163 Centerline is valid? [True, True] Translation: X:859.65, Y:-63.59, Z:3.17 [[ 9.99848754e-01 -1.46182322e-02 -9.42208033e-03 8.59647514e+02] [ 1.46241150e-02 9.99892907e-01 5.55767148e-04 -6.35894877e+01] [ 9.41294696e-03 -6.93472677e-04 9.99955457e-01 3.17366773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6707140569999 meters Centerline goodness [0,1] 0.9855922679253765 Centerline is valid? [True, True] Translation: X:859.68, Y:-63.59, Z:3.17 [[ 9.99839524e-01 -1.49482772e-02 -9.87295843e-03 8.59679158e+02] [ 1.49547559e-02 9.99888002e-01 5.82702114e-04 -6.35925885e+01] [ 9.86314228e-03 -7.30256288e-04 9.99951091e-01 3.17261252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7007140569999 meters Centerline goodness [0,1] 0.9863038304369303 Centerline is valid? [True, True] Translation: X:859.71, Y:-63.60, Z:3.17 [[ 9.99821846e-01 -1.60090695e-02 -9.99927954e-03 8.59710305e+02] [ 1.60157713e-02 9.99871565e-01 5.90502929e-04 -6.35954133e+01] [ 9.98854188e-03 -7.50543903e-04 9.99949832e-01 3.17187156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7307140569999 meters Centerline goodness [0,1] 0.9854385219316886 Centerline is valid? [True, True] Translation: X:859.74, Y:-63.60, Z:3.17 [[ 9.99812403e-01 -1.64626339e-02 -1.02049160e-02 8.59740823e+02] [ 1.64696413e-02 9.99864184e-01 6.02999428e-04 -6.35994625e+01] [ 1.01936031e-02 -7.70957613e-04 9.99947747e-01 3.17168655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.760714057 meters Centerline goodness [0,1] 0.9847532222571518 Centerline is valid? [True, True] Translation: X:859.77, Y:-63.60, Z:3.17 [[ 9.99811573e-01 -1.68600114e-02 -9.62070308e-03 8.59771906e+02] [ 1.68662626e-02 9.99857593e-01 5.68986835e-04 -6.36038780e+01] [ 9.60973990e-03 -7.31144926e-04 9.99953558e-01 3.17176431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.790714057 meters Centerline goodness [0,1] 0.9852544506383744 Centerline is valid? [True, True] Translation: X:859.80, Y:-63.61, Z:3.17 [[ 9.99813743e-01 -1.69768231e-02 -9.17971119e-03 8.59803822e+02] [ 1.69825250e-02 9.99855639e-01 5.43539420e-04 -6.36061483e+01] [ 9.16915842e-03 -6.99332857e-04 9.99957718e-01 3.17238210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8207140569999 meters Centerline goodness [0,1] 0.9867831490779727 Centerline is valid? [True, True] Translation: X:859.84, Y:-63.60, Z:3.17 [[ 9.99832111e-01 -1.61591658e-02 -8.63897599e-03 8.59835398e+02] [ 1.61641878e-02 9.99869220e-01 5.11801406e-04 -6.35988721e+01] [ 8.62957590e-03 -6.51357510e-04 9.99962552e-01 3.17382173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8507140569999 meters Centerline goodness [0,1] 0.9871991001124859 Centerline is valid? [True, True] Translation: X:859.87, Y:-63.60, Z:3.17 [[ 9.99840731e-01 -1.56016231e-02 -8.66619084e-03 8.59866426e+02] [ 1.56066586e-02 9.99878077e-01 5.13726253e-04 -6.35981475e+01] [ 8.65711927e-03 -6.48894714e-04 9.99962316e-01 3.17419013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.880714057 meters Centerline goodness [0,1] 0.9873156275958063 Centerline is valid? [True, True] Translation: X:859.90, Y:-63.60, Z:3.17 [[ 9.99859575e-01 -1.44496824e-02 -8.48740910e-03 8.59897062e+02] [ 1.44544736e-02 9.99895402e-01 5.03434690e-04 -6.36027447e+01] [ 8.47924686e-03 -6.26045026e-04 9.99963855e-01 3.17377287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.910714057 meters Centerline goodness [0,1] 0.9879452919041932 Centerline is valid? [True, True] Translation: X:859.93, Y:-63.60, Z:3.17 [[ 9.99879646e-01 -1.24430276e-02 -9.26634224e-03 8.59928521e+02] [ 1.24486560e-02 9.99922361e-01 5.49971640e-04 -6.35976096e+01] [ 9.25877950e-03 -6.65258956e-04 9.99956915e-01 3.17409091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9407140569999 meters Centerline goodness [0,1] 0.987436562535243 Centerline is valid? [True, True] Translation: X:859.96, Y:-63.60, Z:3.17 [[ 9.99890648e-01 -1.12557981e-02 -9.59166163e-03 8.59959086e+02] [ 1.12617817e-02 9.99936422e-01 5.70050827e-04 -6.36006006e+01] [ 9.58463543e-03 -6.78007690e-04 9.99953836e-01 3.17381293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9707140569999 meters Centerline goodness [0,1] 0.9883069977426636 Centerline is valid? [True, True] Translation: X:859.99, Y:-63.60, Z:3.17 [[ 9.99919988e-01 -8.35856951e-03 -9.49480669e-03 8.59990472e+02] [ 8.36430402e-03 9.99964859e-01 5.64413438e-04 -6.35975665e+01] [ 9.48975534e-03 -6.43785728e-04 9.99954764e-01 3.17456240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.000714057 meters Centerline goodness [0,1] 0.9883069977426636 Centerline is valid? [True, True] Translation: X:860.02, Y:-63.60, Z:3.17 [[ 9.99919690e-01 -8.39417690e-03 -9.49482988e-03 8.60019643e+02] [ 8.39990932e-03 9.99964561e-01 5.64023100e-04 -6.35992701e+01] [ 9.48975889e-03 -6.43733513e-04 9.99954764e-01 3.17453404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.030714057 meters Centerline goodness [0,1] 0.9872303943687393 Centerline is valid? [True, True] Translation: X:860.05, Y:-63.60, Z:3.17 [[ 9.99928291e-01 -7.15427337e-03 -9.60360279e-03 8.60049178e+02] [ 7.16008333e-03 9.99974203e-01 5.70731038e-04 -6.36011526e+01] [ 9.59927188e-03 -6.39452708e-04 9.99953721e-01 3.17464918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0607140569999 meters Centerline goodness [0,1] 0.9880201765447667 Centerline is valid? [True, True] Translation: X:860.08, Y:-63.60, Z:3.17 [[ 9.99942796e-01 -5.39604877e-03 -9.23516252e-03 8.60079613e+02] [ 5.40134176e-03 9.99985262e-01 5.48288455e-04 -6.35998888e+01] [ 9.23206782e-03 -5.98139359e-04 9.99957205e-01 3.17475706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0907140569999 meters Centerline goodness [0,1] 0.9887752556747319 Centerline is valid? [True, True] Translation: X:860.11, Y:-63.60, Z:3.18 [[ 9.99953726e-01 -1.80377318e-03 -9.44946220e-03 8.60109598e+02] [ 1.80915189e-03 9.99998206e-01 5.60691061e-04 -6.35951389e+01] [ 9.44843389e-03 -5.77760628e-04 9.99955196e-01 3.17500529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.120714057 meters Centerline goodness [0,1] 0.9888893927713029 Centerline is valid? [True, True] Translation: X:860.14, Y:-63.59, Z:3.17 [[ 9.99951540e-01 2.92454490e-06 -9.84468296e-03 8.60139000e+02] [ 2.81353529e-06 9.99999830e-01 5.82846942e-04 -6.35947152e+01] [ 9.84468299e-03 -5.82846396e-04 9.99951370e-01 3.17458012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.150714057 meters Centerline goodness [0,1] 0.9883554971568383 Centerline is valid? [True, True] Translation: X:860.17, Y:-63.59, Z:3.18 [[ 9.99942486e-01 3.68501477e-03 -1.00720272e-02 8.60168842e+02] [-3.67919750e-03 9.99993054e-01 5.96034319e-04 -6.35922414e+01] [ 1.00741536e-02 -5.58943061e-04 9.99949098e-01 3.17518022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1807140569999 meters Centerline goodness [0,1] 0.9890971734252102 Centerline is valid? [True, True] Translation: X:860.20, Y:-63.59, Z:3.18 [[ 9.99937289e-01 5.26829318e-03 -9.88249862e-03 8.60197244e+02] [-5.26277716e-03 9.99985981e-01 5.84083879e-04 -6.35928038e+01] [ 9.88543720e-03 -5.32037863e-04 9.99950996e-01 3.17522796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2107140569999 meters Centerline goodness [0,1] 0.9893901004433988 Centerline is valid? [True, True] Translation: X:860.23, Y:-63.59, Z:3.18 [[ 9.99933611e-01 6.54185300e-03 -9.48571096e-03 8.60226190e+02] [-6.53683464e-03 9.99978478e-01 5.59951289e-04 -6.35915933e+01] [ 9.48916993e-03 -4.97907590e-04 9.99954853e-01 3.17598208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2407140569999 meters Centerline goodness [0,1] 0.9900544959128066 Centerline is valid? [True, True] Translation: X:860.25, Y:-63.59, Z:3.18 [[ 9.99934103e-01 7.54879422e-03 -8.64901312e-03 8.60254833e+02] [-7.54466512e-03 9.99971409e-01 5.09935556e-04 -6.35910782e+01] [ 8.65261523e-03 -4.44648045e-04 9.99962467e-01 3.17680440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.270714057 meters Centerline goodness [0,1] 0.9896637891867333 Centerline is valid? [True, True] Translation: X:860.28, Y:-63.59, Z:3.18 [[ 9.99940628e-01 7.64247921e-03 -7.76744415e-03 8.60283384e+02] [-7.63915614e-03 9.99970717e-01 4.57399882e-04 -6.35921897e+01] [ 7.77071236e-03 -3.98036007e-04 9.99969728e-01 3.17785235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3007140569999 meters Centerline goodness [0,1] 0.9882451721242653 Centerline is valid? [True, True] Translation: X:860.31, Y:-63.60, Z:3.18 [[ 9.99944205e-01 7.41989960e-03 -7.51880562e-03 8.60310736e+02] [-7.41678473e-03 9.99972398e-01 4.42075578e-04 -6.35982987e+01] [ 7.52187824e-03 -3.86285550e-04 9.99971636e-01 3.17729151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3307140569999 meters Centerline goodness [0,1] 0.9891052176681981 Centerline is valid? [True, True] Translation: X:860.34, Y:-63.60, Z:3.18 [[ 9.99946619e-01 7.32484999e-03 -7.28732040e-03 8.60338785e+02] [-7.32192726e-03 9.99973103e-01 4.27668979e-04 -6.35953257e+01] [ 7.29025700e-03 -3.74288920e-04 9.99973356e-01 3.17783723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3607140569999 meters Centerline goodness [0,1] 0.9888891413510259 Centerline is valid? [True, True] Translation: X:860.37, Y:-63.60, Z:3.18 [[ 9.99946947e-01 7.11242300e-03 -7.45093068e-03 8.60367568e+02] [-7.10936531e-03 9.99974633e-01 4.36782812e-04 -6.35978978e+01] [ 7.45384826e-03 -3.83788251e-04 9.99972146e-01 3.17719983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.390714057 meters Centerline goodness [0,1] 0.9874596755872598 Centerline is valid? [True, True] Translation: X:860.39, Y:-63.61, Z:3.18 [[ 9.99943205e-01 6.80682527e-03 -8.20080538e-03 8.60394645e+02] [-6.80311684e-03 9.99976743e-01 4.80015134e-04 -6.36058016e+01] [ 8.20388204e-03 -4.24196834e-04 9.99966258e-01 3.17558586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4207140569999 meters Centerline goodness [0,1] 0.9891781289075822 Centerline is valid? [True, True] Translation: X:860.42, Y:-63.60, Z:3.18 [[ 9.99931189e-01 6.05277594e-03 -1.00489011e-02 8.60424027e+02] [-6.04717663e-03 9.99981543e-01 5.87497874e-04 -6.35993003e+01] [ 1.00522717e-02 -5.26689967e-04 9.99949336e-01 3.17557860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4507140569999 meters Centerline goodness [0,1] 0.9879167802307622 Centerline is valid? [True, True] Translation: X:860.45, Y:-63.60, Z:3.18 [[ 9.99926662e-01 5.43698813e-03 -1.08217417e-02 8.60452229e+02] [-5.43046908e-03 9.99985055e-01 6.31696784e-04 -6.36009819e+01] [ 1.08250145e-02 -5.72883323e-04 9.99941244e-01 3.17511422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4807140569999 meters Centerline goodness [0,1] 0.8566526955950033 Centerline is valid? [True, False] Translation: X:860.50, Y:-63.60, Z:3.18 [[ 9.99926338e-01 2.83267291e-03 -1.18023386e-02 8.60500867e+02] [-2.85398318e-03 9.99994327e-01 -1.78914635e-03 -6.36012937e+01] [ 1.17972035e-02 1.82269823e-03 9.99928749e-01 3.17701079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.510714057 meters Centerline goodness [0,1] 0.9889735136978516 Centerline is valid? [False, True] Translation: X:860.44, Y:-63.60, Z:3.17 [[ 9.99934449e-01 2.24092748e-03 -1.12283852e-02 8.60443541e+02] [-2.22568839e-03 9.99996585e-01 1.36950537e-03 -6.36003727e+01] [ 1.12314158e-02 -1.34442471e-03 9.99936022e-01 3.17458473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.540714057 meters Centerline goodness [0,1] 0.9888449654671029 Centerline is valid? [True, True] Translation: X:860.47, Y:-63.60, Z:3.17 [[ 9.99932428e-01 2.35555992e-03 -1.13837881e-02 8.60471990e+02] [-2.34842784e-03 9.99997038e-01 6.39838839e-04 -6.36020563e+01] [ 1.13852615e-02 -6.13061599e-04 9.99934998e-01 3.17438900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5707140569999 meters Centerline goodness [0,1] 0.9885742785246311 Centerline is valid? [True, True] Translation: X:860.50, Y:-63.60, Z:3.17 [[ 9.99930486e-01 3.16774541e-03 -1.13573352e-02 8.60500288e+02] [-3.16070779e-03 9.99994802e-01 6.37549500e-04 -6.36034341e+01] [ 1.13592958e-02 -6.01607963e-04 9.99935300e-01 3.17491912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6007140569999 meters Centerline goodness [0,1] 0.9883186000360815 Centerline is valid? [True, True] Translation: X:860.53, Y:-63.61, Z:3.17 [[ 9.99935346e-01 4.23297087e-03 -1.05539811e-02 8.60528251e+02] [-4.22696076e-03 9.99990891e-01 5.91705273e-04 -6.36092239e+01] [ 1.05563896e-02 -5.47055752e-04 9.99944130e-01 3.17449569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.630714057 meters Centerline goodness [0,1] 0.9887069708376797 Centerline is valid? [True, True] Translation: X:860.56, Y:-63.60, Z:3.18 [[ 9.99934513e-01 6.56958294e-03 -9.37073579e-03 8.60558618e+02] [-6.56494813e-03 9.99978313e-01 5.25279887e-04 -6.36024916e+01] [ 9.37398343e-03 -4.63727093e-04 9.99955956e-01 3.17767675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.660714057 meters Centerline goodness [0,1] 0.9889729191196449 Centerline is valid? [True, True] Translation: X:860.59, Y:-63.60, Z:3.18 [[ 9.99929381e-01 7.93175800e-03 -8.84982128e-03 8.60586932e+02] [-7.92768388e-03 9.99968453e-01 4.95348503e-04 -6.36045895e+01] [ 8.85347108e-03 -4.25154937e-04 9.99960717e-01 3.17760659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6907140569999 meters Centerline goodness [0,1] 0.9901887306670301 Centerline is valid? [True, True] Translation: X:860.62, Y:-63.60, Z:3.18 [[ 9.99918351e-01 9.11164767e-03 -8.95929406e-03 8.60615875e+02] [-9.10752523e-03 9.99958400e-01 5.00822391e-04 -6.36031843e+01] [ 8.96348467e-03 -4.19184503e-04 9.99959739e-01 3.17821930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7207140569999 meters Centerline goodness [0,1] 0.9900763531730747 Centerline is valid? [True, True] Translation: X:860.64, Y:-63.61, Z:3.18 [[ 9.99886845e-01 1.15379105e-02 -9.65263460e-03 8.60643807e+02] [-1.15332468e-02 9.99933345e-01 5.38687118e-04 -6.36060656e+01] [ 9.65820652e-03 -4.27299946e-04 9.99953267e-01 3.17769315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.750714057 meters Centerline goodness [0,1] 0.9886103233125354 Centerline is valid? [True, True] Translation: X:860.67, Y:-63.61, Z:3.18 [[ 9.99878330e-01 1.22633359e-02 -9.64033176e-03 8.60671373e+02] [-1.22587258e-02 9.99924715e-01 5.37156611e-04 -6.36121238e+01] [ 9.64619332e-03 -4.18913071e-04 9.99953387e-01 3.17597600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.780714057 meters Centerline goodness [0,1] 0.9885229540918163 Centerline is valid? [True, True] Translation: X:860.70, Y:-63.61, Z:3.18 [[ 9.99866049e-01 1.37230632e-02 -8.91975057e-03 8.60698979e+02] [-1.37191811e-02 9.99905764e-01 4.96263207e-04 -6.36143429e+01] [ 8.92572026e-03 -3.73825059e-04 9.99960095e-01 3.17591283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8107140569999 meters Centerline goodness [0,1] 0.9897229264759145 Centerline is valid? [True, True] Translation: X:860.73, Y:-63.61, Z:3.18 [[ 9.99861085e-01 1.40123141e-02 -9.02586469e-03 8.60728156e+02] [-1.40083566e-02 9.99901752e-01 5.01535876e-04 -6.36092309e+01] [ 9.03200560e-03 -3.75028673e-04 9.99959140e-01 3.17817940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8407140569999 meters Centerline goodness [0,1] 0.9897922148625352 Centerline is valid? [True, True] Translation: X:860.76, Y:-63.61, Z:3.18 [[ 9.99863252e-01 1.37736760e-02 -9.15220877e-03 8.60757330e+02] [-1.37696029e-02 9.99905066e-01 5.07900593e-04 -6.36119816e+01] [ 9.15833557e-03 -3.81808858e-04 9.99957989e-01 3.17799195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.870714057 meters Centerline goodness [0,1] 0.9896312059948835 Centerline is valid? [True, True] Translation: X:860.79, Y:-63.62, Z:3.18 [[ 9.99861795e-01 1.31220628e-02 -1.02079160e-02 8.60785072e+02] [-1.31169762e-02 9.99913809e-01 5.65088511e-04 -6.36169651e+01] [ 1.02144513e-02 -4.31113422e-04 9.99947738e-01 3.17653237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.900714057 meters Centerline goodness [0,1] 0.9911100052027959 Centerline is valid? [True, True] Translation: X:860.81, Y:-63.62, Z:3.18 [[ 9.99864749e-01 1.27172943e-02 -1.04285291e-02 8.60813591e+02] [-1.27119700e-02 9.99919033e-01 5.76681266e-04 -6.36199200e+01] [ 1.04350186e-02 -4.44036120e-04 9.99945455e-01 3.17604763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9307140569999 meters Centerline goodness [0,1] 0.9900264007040188 Centerline is valid? [True, True] Translation: X:860.84, Y:-63.62, Z:3.18 [[ 9.99865762e-01 1.17890537e-02 -1.13787715e-02 8.60842278e+02] [-1.17826638e-02 9.99930385e-01 6.28442658e-04 -6.36225771e+01] [ 1.13853881e-02 -4.94286057e-04 9.99935062e-01 3.17540756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9607140569999 meters Centerline goodness [0,1] 0.9896783539690803 Centerline is valid? [True, True] Translation: X:860.87, Y:-63.62, Z:3.18 [[ 9.99869941e-01 1.09626668e-02 -1.18287817e-02 8.60870859e+02] [-1.09557135e-02 9.99939771e-01 6.52469705e-04 -6.36246364e+01] [ 1.18352221e-02 -5.22792102e-04 9.99929825e-01 3.17533255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9907140569999 meters Centerline goodness [0,1] 0.9901113323678494 Centerline is valid? [True, True] Translation: X:860.90, Y:-63.63, Z:3.18 [[ 9.99881539e-01 9.89295488e-03 -1.17914054e-02 8.60899386e+02] [-9.88598114e-03 9.99950922e-01 6.49567144e-04 -6.36260903e+01] [ 1.17972528e-02 -5.32920585e-04 9.99930268e-01 3.17553107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.020714057 meters Centerline goodness [0,1] 0.9893866859362298 Centerline is valid? [True, True] Translation: X:860.93, Y:-63.63, Z:3.18 [[ 9.99907266e-01 7.06505224e-03 -1.16423504e-02 8.60928285e+02] [-7.05807303e-03 9.99974886e-01 6.40446966e-04 -6.36290148e+01] [ 1.16465828e-02 -5.58215015e-04 9.99932020e-01 3.17602159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0507140569999 meters Centerline goodness [0,1] 0.9892146266774745 Centerline is valid? [True, True] Translation: X:860.96, Y:-63.63, Z:3.18 [[ 9.99916286e-01 5.06105246e-03 -1.19082294e-02 8.60957690e+02] [-5.05361326e-03 9.99987016e-01 6.54718809e-04 -6.36324823e+01] [ 1.19113883e-02 -5.94484414e-04 9.99928880e-01 3.17593114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0807140569999 meters Centerline goodness [0,1] 0.9893799323562571 Centerline is valid? [True, True] Translation: X:860.99, Y:-63.64, Z:3.18 [[ 9.99933275e-01 6.47493494e-04 -1.15337369e-02 8.60987358e+02] [-6.40224122e-04 9.99999594e-01 6.33951420e-04 -6.36377227e+01] [ 1.15341427e-02 -6.26524942e-04 9.99933283e-01 3.17636878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1107140569999 meters Centerline goodness [0,1] 0.9892679187428134 Centerline is valid? [True, True] Translation: X:861.02, Y:-63.64, Z:3.18 [[ 9.99933970e-01 -2.15925586e-03 -1.12869052e-02 8.61015673e+02] [ 2.16638802e-03 9.99997461e-01 6.19709228e-04 -6.36430185e+01] [ 1.12855384e-02 -6.44120125e-04 9.99936109e-01 3.17614627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.140714057 meters Centerline goodness [0,1] 0.9890052828825575 Centerline is valid? [True, True] Translation: X:861.05, Y:-63.64, Z:3.18 [[ 9.99922569e-01 -5.27014485e-03 -1.12730609e-02 8.61046150e+02] [ 5.27745765e-03 9.99985883e-01 6.19048013e-04 -6.36441743e+01] [ 1.12696393e-02 -6.78493181e-04 9.99936265e-01 3.17685010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1707140569999 meters Centerline goodness [0,1] 0.9880751110209418 Centerline is valid? [True, True] Translation: X:861.07, Y:-63.65, Z:3.18 [[ 9.99874573e-01 -1.14850462e-02 -1.09056258e-02 8.61074622e+02] [ 1.14922611e-02 9.99933782e-01 5.99140267e-04 -6.36533115e+01] [ 1.08980225e-02 -7.24395418e-04 9.99940352e-01 3.17620694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2007140569999 meters Centerline goodness [0,1] 0.9876144318793754 Centerline is valid? [True, True] Translation: X:861.10, Y:-63.66, Z:3.18 [[ 9.99785926e-01 -1.73619464e-02 -1.12545911e-02 8.61103618e+02] [ 1.73700007e-02 9.99848939e-01 6.18282722e-04 -6.36616354e+01] [ 1.12421564e-02 -8.13642619e-04 9.99936474e-01 3.17621192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2307140569999 meters Centerline goodness [0,1] 0.9881999955218199 Centerline is valid? [True, True] Translation: X:861.13, Y:-63.67, Z:3.18 [[ 9.99748171e-01 -1.96231978e-02 -1.08868777e-02 8.61133710e+02] [ 1.96308721e-02 9.99807117e-01 5.98487329e-04 -6.36676192e+01] [ 1.08730336e-02 -8.12055517e-04 9.99940557e-01 3.17594638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.260714057 meters Centerline goodness [0,1] 0.9876670322537323 Centerline is valid? [True, True] Translation: X:861.16, Y:-63.67, Z:3.18 [[ 9.99715424e-01 -2.12175060e-02 -1.09035770e-02 8.61164722e+02] [ 2.12253024e-02 9.99774538e-01 5.99795763e-04 -6.36710148e+01] [ 1.08883925e-02 -8.31056795e-04 9.99940374e-01 3.17597777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.290714057 meters Centerline goodness [0,1] 0.9872264002693905 Centerline is valid? [True, True] Translation: X:861.20, Y:-63.67, Z:3.18 [[ 9.99691594e-01 -2.25833256e-02 -1.03300825e-02 8.61196499e+02] [ 2.25904020e-02 9.99744642e-01 5.68843858e-04 -6.36717945e+01] [ 1.03145982e-02 -8.02029139e-04 9.99946481e-01 3.17645675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3207140569999 meters Centerline goodness [0,1] 0.9868488969680648 Centerline is valid? [True, True] Translation: X:861.23, Y:-63.68, Z:3.18 [[ 9.99669888e-01 -2.35379429e-02 -1.02995671e-02 8.61227706e+02] [ 2.35450336e-02 9.99722616e-01 5.67715986e-04 -6.36765127e+01] [ 1.02833473e-02 -8.10032230e-04 9.99946797e-01 3.17695083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3507140569999 meters Centerline goodness [0,1] 0.9870138593466627 Centerline is valid? [True, True] Translation: X:861.26, Y:-63.68, Z:3.18 [[ 9.99685882e-01 -2.28980070e-02 -1.01891612e-02 8.61259844e+02] [ 2.29049211e-02 9.99737490e-01 5.62383663e-04 -6.36779316e+01] [ 1.01736089e-02 -7.95588940e-04 9.99947931e-01 3.17710971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.380714057 meters Centerline goodness [0,1] 0.9874225096792963 Centerline is valid? [True, True] Translation: X:861.29, Y:-63.68, Z:3.18 [[ 9.99708760e-01 -2.20200164e-02 -9.87492009e-03 8.61292354e+02] [ 2.20264751e-02 9.99757239e-01 5.45750330e-04 -6.36767947e+01] [ 9.86050541e-03 -7.63101067e-04 9.99951093e-01 3.17780990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.410714057 meters Centerline goodness [0,1] 0.9871547704447633 Centerline is valid? [True, True] Translation: X:861.32, Y:-63.68, Z:3.18 [[ 9.99733213e-01 -2.11407830e-02 -9.30426225e-03 8.61324819e+02] [ 2.11464851e-02 9.99776256e-01 5.14878216e-04 -6.36782932e+01] [ 9.29129555e-03 -7.11493296e-04 9.99956582e-01 3.17801841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4407140569999 meters Centerline goodness [0,1] 0.987930102684201 Centerline is valid? [True, True] Translation: X:861.36, Y:-63.68, Z:3.18 [[ 9.99772522e-01 -1.92120941e-02 -9.26277129e-03 8.61356875e+02] [ 1.92176674e-02 9.99815192e-01 5.13055516e-04 -6.36751489e+01] [ 9.25120259e-03 -6.90947665e-04 9.99956968e-01 3.17873180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4707140569999 meters Centerline goodness [0,1] 0.9874935214187529 Centerline is valid? [True, True] Translation: X:861.39, Y:-63.68, Z:3.18 [[ 9.99786054e-01 -1.82693912e-02 -9.69923137e-03 8.61388122e+02] [ 1.82754631e-02 9.99832845e-01 5.37747775e-04 -6.36785418e+01] [ 9.68778577e-03 -7.14890671e-04 9.99952817e-01 3.17816421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.500714057 meters Centerline goodness [0,1] 0.9881457533508453 Centerline is valid? [True, True] Translation: X:861.42, Y:-63.68, Z:3.18 [[ 9.99808851e-01 -1.66363442e-02 -1.02710373e-02 8.61420030e+02] [ 1.66430730e-02 9.99861332e-01 5.69996350e-04 -6.36784129e+01] [ 1.02601304e-02 -7.40829020e-04 9.99947089e-01 3.17745062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.530714057 meters Centerline goodness [0,1] 0.9873500202219926 Centerline is valid? [True, True] Translation: X:861.45, Y:-63.68, Z:3.18 [[ 9.99825125e-01 -1.60301168e-02 -9.63093185e-03 8.61450167e+02] [ 1.60360061e-02 9.99871272e-01 5.34584081e-04 -6.36811769e+01] [ 9.62112263e-03 -6.88932278e-04 9.99953479e-01 3.17705618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5607140569999 meters Centerline goodness [0,1] 0.9864788985468185 Centerline is valid? [True, True] Translation: X:861.48, Y:-63.68, Z:3.18 [[ 9.99836302e-01 -1.51681839e-02 -9.86381697e-03 8.61480693e+02] [ 1.51743215e-02 9.99884713e-01 5.47682438e-04 -6.36849684e+01] [ 9.85437246e-03 -6.97269513e-04 9.99951201e-01 3.17662763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5907140569999 meters Centerline goodness [0,1] 0.9879730126136697 Centerline is valid? [True, True] Translation: X:861.51, Y:-63.68, Z:3.18 [[ 9.99855113e-01 -1.26846001e-02 -1.13514005e-02 8.61512034e+02] [ 1.26925697e-02 9.99919247e-01 6.30309968e-04 -6.36819916e+01] [ 1.13424886e-02 -7.74297086e-04 9.99935372e-01 3.17612517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.620714057 meters Centerline goodness [0,1] 0.9884756771385399 Centerline is valid? [True, True] Translation: X:861.54, Y:-63.68, Z:3.18 [[ 9.99865700e-01 -1.09988932e-02 -1.21493277e-02 8.61542773e+02] [ 1.10078986e-02 9.99939184e-01 6.74606483e-04 -6.36790270e+01] [ 1.21411689e-02 -8.08254452e-04 9.99925967e-01 3.17643013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.650714057 meters Centerline goodness [0,1] 0.9885626801152738 Centerline is valid? [True, True] Translation: X:861.57, Y:-63.68, Z:3.17 [[ 9.99886681e-01 -7.01994099e-03 -1.33171062e-02 8.61571612e+02] [ 7.03040478e-03 9.99975013e-01 7.39087941e-04 -6.36826514e+01] [ 1.33115851e-02 -8.32628835e-04 9.99911050e-01 3.17488803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6807140569999 meters Centerline goodness [0,1] 0.9880700490703642 Centerline is valid? [True, True] Translation: X:861.60, Y:-63.68, Z:3.18 [[ 9.99906916e-01 -4.81952341e-03 -1.27644690e-02 8.61601452e+02] [ 4.82895211e-03 9.99988090e-01 7.07949398e-04 -6.36799592e+01] [ 1.27609050e-02 -7.69522508e-04 9.99918280e-01 3.17574925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7107140569999 meters Centerline goodness [0,1] 0.9882154123479044 Centerline is valid? [True, True] Translation: X:861.63, Y:-63.68, Z:3.18 [[ 9.99921924e-01 -3.12229556e-03 -1.20994980e-02 8.61630706e+02] [ 3.13060566e-03 9.99994877e-01 6.67934562e-04 -6.36781407e+01] [ 1.20973505e-02 -7.05761169e-04 9.99926575e-01 3.17692012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7407140569999 meters Centerline goodness [0,1] 0.9881903987716208 Centerline is valid? [True, True] Translation: X:861.66, Y:-63.68, Z:3.18 [[ 9.99945830e-01 1.13729055e-03 -1.03461832e-02 8.61659896e+02] [-1.13144069e-03 9.99999197e-01 5.71247482e-04 -6.36821353e+01] [ 1.03468246e-02 -5.59510445e-04 9.99946314e-01 3.17700546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.770714057 meters Centerline goodness [0,1] 0.9894784375705576 Centerline is valid? [True, True] Translation: X:861.69, Y:-63.67, Z:3.18 [[ 9.99943909e-01 4.43973127e-03 -9.61600590e-03 8.61690313e+02] [-4.43483190e-03 9.99990025e-01 5.30764803e-04 -6.36740795e+01] [ 9.61826644e-03 -4.88089662e-04 9.99953624e-01 3.17944739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8007140569999 meters Centerline goodness [0,1] 0.9892429378531074 Centerline is valid? [True, True] Translation: X:861.72, Y:-63.68, Z:3.18 [[ 9.99942175e-01 5.73531243e-03 -9.09685326e-03 8.61718113e+02] [-5.73098978e-03 9.99983452e-01 5.01177225e-04 -6.36781212e+01] [ 9.09957714e-03 -4.49014272e-04 9.99958497e-01 3.17903197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8307140569999 meters Centerline goodness [0,1] 0.9889209801886367 Centerline is valid? [True, True] Translation: X:861.75, Y:-63.68, Z:3.18 [[ 9.99943601e-01 6.51907856e-03 -8.38430532e-03 8.61747112e+02] [-6.51543863e-03 9.99978668e-01 4.61377153e-04 -6.36791603e+01] [ 8.38713422e-03 -4.06723705e-04 9.99964745e-01 3.17919581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8607140569999 meters Centerline goodness [0,1] 0.9891664226671771 Centerline is valid? [True, True] Translation: X:861.78, Y:-63.68, Z:3.18 [[ 9.99940492e-01 7.25112079e-03 -8.15071673e-03 8.61776232e+02] [-7.24770964e-03 9.99973635e-01 4.47969420e-04 -6.36804248e+01] [ 8.15375011e-03 -3.88868734e-04 9.99966682e-01 3.17921207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.890714057 meters Centerline goodness [0,1] 0.9896003262642741 Centerline is valid? [True, True] Translation: X:861.80, Y:-63.68, Z:3.18 [[ 9.99944933e-01 6.82420447e-03 -7.97255395e-03 8.61804744e+02] [-6.82093160e-03 9.99976641e-01 4.37636221e-04 -6.36823681e+01] [ 7.97535424e-03 -3.83231876e-04 9.99968123e-01 3.17879066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9207140569999 meters Centerline goodness [0,1] 0.9896003262642741 Centerline is valid? [True, True] Translation: X:861.83, Y:-63.68, Z:3.18 [[ 9.99945616e-01 6.72330609e-03 -7.97260145e-03 8.61832198e+02] [-6.72003691e-03 9.99977325e-01 4.36770154e-04 -6.36837792e+01] [ 7.97535721e-03 -3.83170224e-04 9.99968123e-01 3.17874005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9507140569999 meters Centerline goodness [0,1] 0.9886599801210807 Centerline is valid? [True, True] Translation: X:861.86, Y:-63.69, Z:3.18 [[ 9.99951671e-01 4.89532556e-03 -8.52595217e-03 8.61860114e+02] [-4.89152475e-03 9.99987928e-01 4.66589255e-04 -6.36881136e+01] [ 8.52813335e-03 -4.24861799e-04 9.99963545e-01 3.17745200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9807140569999 meters Centerline goodness [0,1] 0.990199406984903 Centerline is valid? [True, True] Translation: X:861.89, Y:-63.68, Z:3.18 [[ 9.99954228e-01 3.36510844e-03 -8.95639520e-03 8.61889423e+02] [-3.36085873e-03 9.99994232e-01 4.89497862e-04 -6.36830829e+01] [ 8.95799076e-03 -4.59374278e-04 9.99959771e-01 3.17865324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.010714057 meters Centerline goodness [0,1] 0.9890231507622812 Centerline is valid? [True, True] Translation: X:861.92, Y:-63.69, Z:3.18 [[ 9.99959440e-01 2.27114866e-03 -8.71554222e-03 8.61916817e+02] [-2.26709012e-03 9.99997317e-01 4.75518620e-04 -6.36868145e+01] [ 8.71659881e-03 -4.55740413e-04 9.99961906e-01 3.17843757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.040714057 meters Centerline goodness [0,1] 0.9888452332565596 Centerline is valid? [True, True] Translation: X:861.95, Y:-63.69, Z:3.18 [[ 9.99961532e-01 -1.18315324e-03 -8.69106499e-03 8.61945837e+02] [ 1.18731941e-03 9.99999183e-01 4.74218104e-04 -6.36934401e+01] [ 8.69049682e-03 -4.84518932e-04 9.99962120e-01 3.17763052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0707140569999 meters Centerline goodness [0,1] 0.9896113889957676 Centerline is valid? [True, True] Translation: X:861.98, Y:-63.69, Z:3.18 [[ 9.99960568e-01 -2.77423654e-03 -8.43601688e-03 8.61975065e+02] [ 2.77821377e-03 9.99996035e-01 4.59776083e-04 -6.36927547e+01] [ 8.43470791e-03 -4.83195012e-04 9.99964310e-01 3.17802150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1007140569999 meters Centerline goodness [0,1] 0.98858329008822 Centerline is valid? [True, True] Translation: X:862.00, Y:-63.70, Z:3.18 [[ 9.99953157e-01 -5.62162650e-03 -7.87918518e-03 8.62004001e+02] [ 5.62518210e-03 9.99984086e-01 4.29176014e-04 -6.37006090e+01] [ 7.87664713e-03 -4.73477761e-04 9.99968867e-01 3.17743428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.130714057 meters Centerline goodness [0,1] 0.9887549659955559 Centerline is valid? [True, True] Translation: X:862.03, Y:-63.70, Z:3.18 [[ 9.99949055e-01 -6.89817799e-03 -7.36905943e-03 8.62033253e+02] [ 6.90132075e-03 9.99976105e-01 4.01136530e-04 -6.37033070e+01] [ 7.36611624e-03 -4.51972336e-04 9.99972768e-01 3.17768828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.160714057 meters Centerline goodness [0,1] 0.9894786751258721 Centerline is valid? [True, True] Translation: X:862.06, Y:-63.70, Z:3.18 [[ 9.99930644e-01 -9.67244632e-03 -6.71943225e-03 8.62063455e+02] [ 9.67512113e-03 9.99953128e-01 3.65678210e-04 -6.37006889e+01] [ 6.71558030e-03 -4.30664169e-04 9.99977357e-01 3.17877465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1907140569999 meters Centerline goodness [0,1] 0.9893532855625127 Centerline is valid? [True, True] Translation: X:862.09, Y:-63.70, Z:3.18 [[ 9.99917452e-01 -1.10165407e-02 -6.61241609e-03 8.62094202e+02] [ 1.10191626e-02 9.99939222e-01 3.60211502e-04 -6.37034476e+01] [ 6.60804591e-03 -4.33045055e-04 9.99978073e-01 3.17870255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2207140569999 meters Centerline goodness [0,1] 0.9891664973931884 Centerline is valid? [True, True] Translation: X:862.12, Y:-63.71, Z:3.18 [[ 9.99898643e-01 -1.24147906e-02 -6.96965300e-03 8.62124773e+02] [ 1.24177389e-02 9.99922825e-01 3.79912970e-04 -6.37082610e+01] [ 6.96439858e-03 -4.66421795e-04 9.99975640e-01 3.17863323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.250714057 meters Centerline goodness [0,1] 0.9886097076867557 Centerline is valid? [True, True] Translation: X:862.16, Y:-63.71, Z:3.18 [[ 9.99856769e-01 -1.53207134e-02 -7.19141577e-03 8.62155633e+02] [ 1.53239279e-02 9.99882505e-01 3.92093837e-04 -6.37084594e+01] [ 7.18456366e-03 -5.02238414e-04 9.99974065e-01 3.17856130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.280714057 meters Centerline goodness [0,1] 0.9896010330999796 Centerline is valid? [True, True] Translation: X:862.19, Y:-63.71, Z:3.18 [[ 9.99835595e-01 -1.66363753e-02 -7.21205591e-03 8.62187780e+02] [ 1.66396467e-02 9.99861474e-01 3.93835321e-04 -6.37104586e+01] [ 7.20450486e-03 -5.13776635e-04 9.99973915e-01 3.17817260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3107140569999 meters Centerline goodness [0,1] 0.9890189344299336 Centerline is valid? [True, True] Translation: X:862.22, Y:-63.72, Z:3.18 [[ 9.99782491e-01 -1.92680624e-02 -7.98200176e-03 8.62217858e+02] [ 1.92721548e-02 9.99814180e-01 4.36107231e-04 -6.37158418e+01] [ 7.97211560e-03 -5.89842748e-04 9.99968048e-01 3.17729398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3407140569999 meters Centerline goodness [0,1] 0.9891785649737936 Centerline is valid? [True, True] Translation: X:862.25, Y:-63.72, Z:3.18 [[ 9.99753126e-01 -2.05398688e-02 -8.47353217e-03 8.62250261e+02] [ 2.05445319e-02 9.99788831e-01 4.63625703e-04 -6.37154525e+01] [ 8.46222001e-03 -6.37595998e-04 9.99963992e-01 3.17749493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.370714057 meters Centerline goodness [0,1] 0.9886058527560299 Centerline is valid? [True, True] Translation: X:862.28, Y:-63.72, Z:3.18 [[ 9.99709975e-01 -2.21934986e-02 -9.34961885e-03 8.62281648e+02] [ 2.21992501e-02 9.99753435e-01 5.11814255e-04 -6.37179987e+01] [ 9.33595462e-03 -7.19220344e-04 9.99956160e-01 3.17683992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.400714057 meters Centerline goodness [0,1] 0.9881509621690071 Centerline is valid? [True, True] Translation: X:862.31, Y:-63.72, Z:3.18 [[ 9.99705924e-01 -2.23293741e-02 -9.45858592e-03 8.62312123e+02] [ 2.23352697e-02 9.99750402e-01 5.18116401e-04 -6.37225025e+01] [ 9.44465587e-03 -7.29224103e-04 9.99955132e-01 3.17623002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4307140569999 meters Centerline goodness [0,1] 0.9895070821529746 Centerline is valid? [True, True] Translation: X:862.34, Y:-63.72, Z:3.18 [[ 9.99711594e-01 -2.21098983e-02 -9.37450655e-03 8.62343923e+02] [ 2.21156867e-02 9.99755286e-01 5.14236772e-04 -6.37227847e+01] [ 9.36084275e-03 -7.21412113e-04 9.99955926e-01 3.17656940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4607140569999 meters Centerline goodness [0,1] 0.9895471169910146 Centerline is valid? [True, True] Translation: X:862.38, Y:-63.72, Z:3.18 [[ 9.99738054e-01 -2.11406594e-02 -8.76905435e-03 8.62376852e+02] [ 2.11456944e-02 9.99776289e-01 4.81848324e-04 -6.37197064e+01] [ 8.75690603e-03 -6.67149849e-04 9.99961435e-01 3.17730511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4907140569999 meters Centerline goodness [0,1] 0.9886273890380667 Centerline is valid? [True, True] Translation: X:862.41, Y:-63.72, Z:3.18 [[ 9.99755628e-01 -2.03613852e-02 -8.60805582e-03 8.62408524e+02] [ 2.03662133e-02 9.99792475e-01 4.73580080e-04 -6.37218976e+01] [ 8.59662669e-03 -6.48777851e-04 9.99962838e-01 3.17749873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.520714057 meters Centerline goodness [0,1] 0.9880121464829587 Centerline is valid? [True, True] Translation: X:862.44, Y:-63.72, Z:3.18 [[ 9.99775303e-01 -1.94238320e-02 -8.48871967e-03 8.62440844e+02] [ 1.94284986e-02 9.99811140e-01 4.67611858e-04 -6.37208955e+01] [ 8.47803367e-03 -6.32429865e-04 9.99963861e-01 3.17834545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5507140569999 meters Centerline goodness [0,1] 0.9875969343793932 Centerline is valid? [True, True] Translation: X:862.47, Y:-63.72, Z:3.18 [[ 9.99784385e-01 -1.91713505e-02 -7.97761035e-03 8.62471887e+02] [ 1.91754672e-02 9.99816037e-01 4.39849647e-04 -6.37228893e+01] [ 7.96771025e-03 -5.92729214e-04 9.99968082e-01 3.17861221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5807140569999 meters Centerline goodness [0,1] 0.9878993881713121 Centerline is valid? [True, True] Translation: X:862.50, Y:-63.72, Z:3.18 [[ 9.99780369e-01 -1.93683740e-02 -8.00496216e-03 8.62503976e+02] [ 1.93725298e-02 9.99812237e-01 4.41941578e-04 -6.37246203e+01] [ 7.99489944e-03 -5.96920882e-04 9.99967862e-01 3.17844930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6107140569999 meters Centerline goodness [0,1] 0.9891983695652173 Centerline is valid? [True, True] Translation: X:862.54, Y:-63.72, Z:3.18 [[ 9.99761824e-01 -2.05793582e-02 -7.26540039e-03 8.62535974e+02] [ 2.05828162e-02 9.99788071e-01 4.01493131e-04 -6.37189563e+01] [ 7.25559817e-03 -5.50939906e-04 9.99973526e-01 3.17948797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.640714057 meters Centerline goodness [0,1] 0.9876663568141112 Centerline is valid? [True, True] Translation: X:862.57, Y:-63.73, Z:3.18 [[ 9.99739296e-01 -2.14906180e-02 -7.71320267e-03 8.62566232e+02] [ 2.14945442e-02 9.99768875e-01 4.26479034e-04 -6.37295977e+01] [ 7.70225465e-03 -5.92159625e-04 9.99970162e-01 3.17844916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6707140569999 meters Centerline goodness [0,1] 0.9873000090391395 Centerline is valid? [True, True] Translation: X:862.60, Y:-63.73, Z:3.18 [[ 9.99696770e-01 -2.31219614e-02 -8.47016912e-03 8.62595753e+02] [ 2.31267537e-02 9.99732431e-01 4.68260142e-04 -6.37322609e+01] [ 8.45707567e-03 -6.64005666e-04 9.99964018e-01 3.17739200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7007140569999 meters Centerline goodness [0,1] 0.9872915011914217 Centerline is valid? [True, True] Translation: X:862.63, Y:-63.74, Z:3.18 [[ 9.99678852e-01 -2.37308651e-02 -8.89034475e-03 8.62626995e+02] [ 2.37361734e-02 9.99718136e-01 4.92031109e-04 -6.37354595e+01] [ 8.87616256e-03 -7.02895858e-04 9.99960359e-01 3.17667278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7307140569999 meters Centerline goodness [0,1] 0.9860950698643477 Centerline is valid? [True, True] Translation: X:862.66, Y:-63.74, Z:3.18 [[ 9.99668201e-01 -2.40268624e-02 -9.28424596e-03 8.62659378e+02] [ 2.40326702e-02 9.99711041e-01 5.14481272e-04 -6.37378205e+01] [ 9.26920183e-03 -7.37435789e-04 9.99956768e-01 3.17632106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.760714057 meters Centerline goodness [0,1] 0.9880358241607985 Centerline is valid? [True, True] Translation: X:862.69, Y:-63.73, Z:3.18 [[ 9.99665050e-01 -2.43623588e-02 -8.73292290e-03 8.62692141e+02] [ 2.43675155e-02 9.99702951e-01 4.84561185e-04 -6.37309407e+01] [ 8.71852374e-03 -6.97198515e-04 9.99961750e-01 3.17743807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.790714057 meters Centerline goodness [0,1] 0.9889115184430867 Centerline is valid? [True, True] Translation: X:862.72, Y:-63.73, Z:3.18 [[ 9.99667902e-01 -2.43656742e-02 -8.39044839e-03 8.62723645e+02] [ 2.43704379e-02 9.99702888e-01 4.65971813e-04 -6.37346608e+01] [ 8.37660177e-03 -6.70295966e-04 9.99964691e-01 3.17737485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8207140569999 meters Centerline goodness [0,1] 0.9882344909198489 Centerline is valid? [True, True] Translation: X:862.76, Y:-63.73, Z:3.18 [[ 9.99665657e-01 -2.44652852e-02 -8.36803390e-03 8.62756442e+02] [ 2.44700322e-02 9.99700456e-01 4.65352696e-04 -6.37318232e+01] [ 8.35414232e-03 -6.69963168e-04 9.99964879e-01 3.17748173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8507140569999 meters Centerline goodness [0,1] 0.9885453508271534 Centerline is valid? [True, True] Translation: X:862.79, Y:-63.74, Z:3.18 [[ 9.99661572e-01 -2.44066575e-02 -9.00311205e-03 8.62787167e+02] [ 2.44121540e-02 9.99701853e-01 5.01101686e-04 -6.37387255e+01] [ 8.98819759e-03 -7.20717457e-04 9.99959346e-01 3.17672571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.880714057 meters Centerline goodness [0,1] 0.9889775232381082 Centerline is valid? [True, True] Translation: X:862.82, Y:-63.73, Z:3.18 [[ 9.99661504e-01 -2.43654554e-02 -9.12155390e-03 8.62820045e+02] [ 2.43711020e-02 9.99702851e-01 5.08386109e-04 -6.37320557e+01] [ 9.10645639e-03 -7.30516343e-04 9.99958269e-01 3.17753511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.910714057 meters Centerline goodness [0,1] 0.9890215232921735 Centerline is valid? [True, True] Translation: X:862.85, Y:-63.74, Z:3.18 [[ 9.99661352e-01 -2.44561318e-02 -8.89267852e-03 8.62850676e+02] [ 2.44615061e-02 9.99700650e-01 4.96073971e-04 -6.37351707e+01] [ 8.87788444e-03 -7.13434286e-04 9.99960336e-01 3.17703551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9407140569999 meters Centerline goodness [0,1] 0.9882883703973752 Centerline is valid? [True, True] Translation: X:862.88, Y:-63.74, Z:3.18 [[ 9.99655627e-01 -2.45462626e-02 -9.27948740e-03 8.62881664e+02] [ 2.45521230e-02 9.99698417e-01 5.18135748e-04 -6.37377178e+01] [ 9.26397057e-03 -7.45788432e-04 9.99956810e-01 3.17673119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9707140569999 meters Centerline goodness [0,1] 0.9877971040888808 Centerline is valid? [True, True] Translation: X:862.91, Y:-63.74, Z:3.18 [[ 9.99648203e-01 -2.46418036e-02 -9.81084438e-03 8.62913856e+02] [ 2.46483659e-02 9.99696032e-01 5.48513640e-04 -6.37399782e+01] [ 9.79434584e-03 -7.90141956e-04 9.99951722e-01 3.17576872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.000714057 meters Centerline goodness [0,1] 0.9876864733968428 Centerline is valid? [True, True] Translation: X:862.95, Y:-63.74, Z:3.18 [[ 9.99645589e-01 -2.45300366e-02 -1.03428520e-02 8.62946192e+02] [ 2.45373313e-02 9.99698747e-01 5.78965676e-04 -6.37427625e+01] [ 1.03255342e-02 -8.32546471e-04 9.99946344e-01 3.17507253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.030714057 meters Centerline goodness [0,1] 0.9872595496398943 Centerline is valid? [True, True] Translation: X:862.98, Y:-63.74, Z:3.17 [[ 9.99642547e-01 -2.44279620e-02 -1.08651806e-02 8.62978174e+02] [ 2.44360142e-02 9.99701211e-01 6.08945087e-04 -6.37448883e+01] [ 1.08470590e-02 -8.74229126e-04 9.99940787e-01 3.17422218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0607140569999 meters Centerline goodness [0,1] 0.9863026186840486 Centerline is valid? [True, True] Translation: X:863.01, Y:-63.75, Z:3.17 [[ 9.99636909e-01 -2.38792997e-02 -1.24831490e-02 8.63009595e+02] [ 2.38898936e-02 9.99714351e-01 7.00213065e-04 -6.37475206e+01] [ 1.24628626e-02 -9.98179926e-04 9.99921837e-01 3.17249572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0907140569999 meters Centerline goodness [0,1] 0.9864325618515563 Centerline is valid? [True, True] Translation: X:863.04, Y:-63.75, Z:3.17 [[ 9.99635494e-01 -2.38386150e-02 -1.26727659e-02 8.63041657e+02] [ 2.38495412e-02 9.99715306e-01 7.11738008e-04 -6.37492981e+01] [ 1.26521912e-02 -1.01371823e-03 9.99919444e-01 3.17235896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.120714057 meters Centerline goodness [0,1] 0.9854818123803446 Centerline is valid? [True, True] Translation: X:863.07, Y:-63.75, Z:3.17 [[ 9.99656046e-01 -2.32950632e-02 -1.20469485e-02 8.63074118e+02] [ 2.33049075e-02 9.99728174e-01 6.77410508e-04 -6.37512704e+01] [ 1.20278936e-02 -9.57930532e-04 9.99927203e-01 3.17220611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.150714057 meters Centerline goodness [0,1] 0.9840968810693477 Centerline is valid? [True, True] Translation: X:863.10, Y:-63.75, Z:3.17 [[ 9.99690549e-01 -2.23236932e-02 -1.09754152e-02 8.63104111e+02] [ 2.23318071e-02 9.99750424e-01 6.17258213e-04 -6.37537260e+01] [ 1.09588965e-02 -8.62168057e-04 9.99939578e-01 3.17312216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1807140569999 meters Centerline goodness [0,1] 0.9866240584341475 Centerline is valid? [True, True] Translation: X:863.14, Y:-63.75, Z:3.17 [[ 9.99711607e-01 -2.16111268e-02 -1.04719295e-02 8.63136459e+02] [ 2.16184826e-02 9.99766119e-01 5.89736169e-04 -6.37541682e+01] [ 1.04567355e-02 -8.15953320e-04 9.99944994e-01 3.17361342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2107140569999 meters Centerline goodness [0,1] 0.9879770470898989 Centerline is valid? [True, True] Translation: X:863.17, Y:-63.75, Z:3.18 [[ 9.99743541e-01 -2.05536469e-02 -9.50791452e-03 8.63168629e+02] [ 2.05596687e-02 9.99788484e-01 5.36031638e-04 -6.37467844e+01] [ 9.49488604e-03 -7.31373741e-04 9.99954655e-01 3.17568157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2407140569999 meters Centerline goodness [0,1] 0.9882785724078051 Centerline is valid? [True, True] Translation: X:863.20, Y:-63.75, Z:3.18 [[ 9.99741276e-01 -2.07439574e-02 -9.33110164e-03 8.63200803e+02] [ 2.07497719e-02 9.99784562e-01 5.26741568e-04 -6.37471049e+01] [ 9.31816466e-03 -7.20223518e-04 9.99956326e-01 3.17593814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.270714057 meters Centerline goodness [0,1] 0.988011396011396 Centerline is valid? [True, True] Translation: X:863.23, Y:-63.75, Z:3.18 [[ 9.99742016e-01 -2.09042007e-02 -8.88346625e-03 8.63232655e+02] [ 2.09094826e-02 9.99781247e-01 5.02102556e-04 -6.37495738e+01] [ 8.87102691e-03 -6.87721705e-04 9.99960415e-01 3.17578569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3007140569999 meters Centerline goodness [0,1] 0.9872633156245743 Centerline is valid? [True, True] Translation: X:863.26, Y:-63.75, Z:3.18 [[ 9.99718244e-01 -2.20170094e-02 -8.87042268e-03 8.63264830e+02] [ 2.20223248e-02 9.99757353e-01 5.01983664e-04 -6.37536080e+01] [ 8.85721812e-03 -6.97189556e-04 9.99960531e-01 3.17550709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3307140569999 meters Centerline goodness [0,1] 0.9877289377289378 Centerline is valid? [True, True] Translation: X:863.30, Y:-63.76, Z:3.18 [[ 9.99691471e-01 -2.30852398e-02 -9.16704476e-03 8.63296867e+02] [ 2.30909671e-02 9.99733233e-01 5.19405616e-04 -6.37564564e+01] [ 9.15260870e-03 -7.30921293e-04 9.99957847e-01 3.17515275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3607140569999 meters Centerline goodness [0,1] 0.9862451242044755 Centerline is valid? [True, True] Translation: X:863.33, Y:-63.76, Z:3.17 [[ 9.99629169e-01 -2.53159540e-02 -1.00312658e-02 8.63326048e+02] [ 2.53229223e-02 9.99679162e-01 5.68232142e-04 -6.37647907e+01] [ 1.00136620e-02 -8.22042387e-04 9.99949524e-01 3.17326650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.390714057 meters Centerline goodness [0,1] 0.9853258523953388 Centerline is valid? [True, True] Translation: X:863.36, Y:-63.77, Z:3.17 [[ 9.99592800e-01 -2.64951907e-02 -1.05942989e-02 8.63357700e+02] [ 2.65030356e-02 9.99648552e-01 6.00754894e-04 -6.37679817e+01] [ 1.05746585e-02 -8.81291348e-04 9.99943698e-01 3.17228776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4207140569999 meters Centerline goodness [0,1] 0.9842933127244624 Centerline is valid? [True, True] Translation: X:863.39, Y:-63.77, Z:3.17 [[ 9.99555735e-01 -2.79295275e-02 -1.04054491e-02 8.63389064e+02] [ 2.79371758e-02 9.99609507e-01 5.90367637e-04 -6.37718832e+01] [ 1.03848971e-02 -8.80804217e-04 9.99945688e-01 3.17165913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4507140569999 meters Centerline goodness [0,1] 0.9875558174853232 Centerline is valid? [True, True] Translation: X:863.42, Y:-63.77, Z:3.17 [[ 9.99495068e-01 -2.99280800e-02 -1.06733212e-02 8.63420713e+02] [ 2.99362443e-02 9.99551627e-01 6.05941766e-04 -6.37694897e+01] [ 1.06504009e-02 -9.25154957e-04 9.99942855e-01 3.17268359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4807140569999 meters Centerline goodness [0,1] 0.9777337162131364 Centerline is valid? [True, True] Translation: X:863.45, Y:-63.78, Z:3.17 [[ 9.99468540e-01 -3.07008330e-02 -1.09588662e-02 8.63451563e+02] [ 3.07094927e-02 9.99528158e-01 6.22760313e-04 -6.37789274e+01] [ 1.09345761e-02 -9.58970563e-04 9.99939756e-01 3.17149169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.510714057 meters Centerline goodness [0,1] 0.9854884271915436 Centerline is valid? [True, True] Translation: X:863.48, Y:-63.78, Z:3.17 [[ 9.99458395e-01 -3.14399325e-02 -9.71835784e-03 8.63483548e+02] [ 3.14467843e-02 9.99505275e-01 5.52986851e-04 -6.37775685e+01] [ 9.69616405e-03 -8.58298453e-04 9.99952623e-01 3.17259920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.540714057 meters Centerline goodness [0,1] 0.9871780272837004 Centerline is valid? [True, True] Translation: X:863.52, Y:-63.77, Z:3.17 [[ 9.99452053e-01 -3.17160565e-02 -9.47019237e-03 8.63515595e+02] [ 3.17225816e-02 9.99496567e-01 5.39555328e-04 -6.37743442e+01] [ 9.44831219e-03 -8.39678631e-04 9.99955011e-01 3.17339599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5707140569999 meters Centerline goodness [0,1] 0.9827992566740698 Centerline is valid? [True, True] Translation: X:863.55, Y:-63.78, Z:3.17 [[ 9.99422384e-01 -3.28854866e-02 -8.56989892e-03 8.63546594e+02] [ 3.28908763e-02 9.99458829e-01 4.88700085e-04 -6.37837314e+01] [ 8.54919000e-03 -7.70289289e-04 9.99963158e-01 3.17318296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6007140569999 meters Centerline goodness [0,1] 0.9828795191694746 Centerline is valid? [True, True] Translation: X:863.58, Y:-63.79, Z:3.17 [[ 9.99399217e-01 -3.36532723e-02 -8.28628119e-03 8.63578506e+02] [ 3.36583424e-02 9.99433285e-01 4.73145949e-04 -6.37861403e+01] [ 8.26566232e-03 -7.51764180e-04 9.99965556e-01 3.17346233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.630714057 meters Centerline goodness [0,1] 0.9851298583363604 Centerline is valid? [True, True] Translation: X:863.61, Y:-63.78, Z:3.17 [[ 9.99380049e-01 -3.43669898e-02 -7.64384761e-03 8.63610383e+02] [ 3.43713280e-02 9.99409036e-01 4.36858750e-04 -6.37844946e+01] [ 7.62431685e-03 -6.99317112e-04 9.99970690e-01 3.17388760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.660714057 meters Centerline goodness [0,1] 0.9829970528224893 Centerline is valid? [True, True] Translation: X:863.64, Y:-63.79, Z:3.17 [[ 9.99317553e-01 -3.63193816e-02 -6.73283987e-03 8.63639612e+02] [ 3.63227906e-02 9.99340036e-01 3.84705214e-04 -6.37918856e+01] [ 6.71442418e-03 -6.28998206e-04 9.99977260e-01 3.17355482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6907140569999 meters Centerline goodness [0,1] 0.9792153040640087 Centerline is valid? [True, True] Translation: X:863.67, Y:-63.80, Z:3.17 [[ 9.99296426e-01 -3.69974325e-02 -6.15165677e-03 8.63670111e+02] [ 3.70002971e-02 9.99315192e-01 3.52485648e-04 -6.37988924e+01] [ 6.13440300e-03 -5.79850776e-04 9.99981016e-01 3.17343810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7207140569999 meters Centerline goodness [0,1] 0.9843346765065423 Centerline is valid? [True, True] Translation: X:863.70, Y:-63.80, Z:3.17 [[ 9.99251237e-01 -3.81690853e-02 -6.33136492e-03 8.63702169e+02] [ 3.81721453e-02 9.99271112e-01 3.63133177e-04 -6.37978670e+01] [ 6.31288960e-03 -6.04543058e-04 9.99979891e-01 3.17359680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.750714057 meters Centerline goodness [0,1] 0.984500158392542 Centerline is valid? [True, True] Translation: X:863.73, Y:-63.80, Z:3.17 [[ 9.99237525e-01 -3.84944951e-02 -6.52246480e-03 8.63734578e+02] [ 3.84977525e-02 9.99258617e-01 3.74562115e-04 -6.38018993e+01] [ 6.50321058e-03 -6.25376756e-04 9.99978658e-01 3.17285357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.780714057 meters Centerline goodness [0,1] 0.9824355443175148 Centerline is valid? [True, True] Translation: X:863.77, Y:-63.81, Z:3.17 [[ 9.99202536e-01 -3.92370577e-02 -7.39905306e-03 8.63765785e+02] [ 3.92412723e-02 9.99229674e-01 4.25248798e-04 -6.38087145e+01] [ 7.37666787e-03 -7.15257934e-04 9.99972536e-01 3.17144674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8107140569999 meters Centerline goodness [0,1] 0.9824355443175148 Centerline is valid? [True, True] Translation: X:863.80, Y:-63.81, Z:3.17 [[ 9.99206745e-01 -3.91297277e-02 -7.39900168e-03 8.63798425e+02] [ 3.91339460e-02 9.99233883e-01 4.26142138e-04 -6.38106855e+01] [ 7.37665835e-03 -7.15356230e-04 9.99972536e-01 3.17138663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8407140569999 meters Centerline goodness [0,1] 0.9835033399530602 Centerline is valid? [True, True] Translation: X:863.83, Y:-63.81, Z:3.17 [[ 9.99198839e-01 -3.92448799e-02 -7.84349629e-03 8.63830898e+02] [ 3.92496276e-02 9.99229334e-01 4.52230134e-04 -6.38131750e+01] [ 7.81970385e-03 -7.59722133e-04 9.99969137e-01 3.17086393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.870714057 meters Centerline goodness [0,1] 0.9825286110923004 Centerline is valid? [True, True] Translation: X:863.86, Y:-63.82, Z:3.17 [[ 9.99196737e-01 -3.92389533e-02 -8.13542309e-03 8.63863170e+02] [ 3.92440654e-02 9.99229545e-01 4.69639116e-04 -6.38174145e+01] [ 8.11072696e-03 -7.88528949e-04 9.99966797e-01 3.17026467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.900714057 meters Centerline goodness [0,1] 0.9829077151736252 Centerline is valid? [True, True] Translation: X:863.90, Y:-63.82, Z:3.17 [[ 9.99205589e-01 -3.88116989e-02 -9.04665467e-03 8.63895031e+02] [ 3.88180088e-02 9.99246160e-01 5.22873660e-04 -6.38210657e+01] [ 9.01954133e-03 -8.73631404e-04 9.99958941e-01 3.16899293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9307140569999 meters Centerline goodness [0,1] 0.981317467829536 Centerline is valid? [True, True] Translation: X:863.93, Y:-63.83, Z:3.17 [[ 9.99218959e-01 -3.84729036e-02 -9.01705406e-03 8.63926904e+02] [ 3.84791643e-02 9.99259266e-01 5.21798791e-04 -6.38253269e+01] [ 8.99029971e-03 -8.68359949e-04 9.99959209e-01 3.16833933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9607140569999 meters Centerline goodness [0,1] 0.9792117604617605 Centerline is valid? [True, True] Translation: X:863.96, Y:-63.83, Z:3.17 [[ 9.99262382e-01 -3.73310500e-02 -9.00471706e-03 8.63956959e+02] [ 3.73372567e-02 9.99302585e-01 5.22091978e-04 -6.38301467e+01] [ 8.97894679e-03 -8.57918306e-04 9.99959320e-01 3.16814219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9907140569999 meters Centerline goodness [0,1] 0.978558424920774 Centerline is valid? [True, True] Translation: X:863.99, Y:-63.83, Z:3.17 [[ 9.99300322e-01 -3.63888444e-02 -8.64393635e-03 8.63988113e+02] [ 3.63945337e-02 9.99337374e-01 5.01747138e-04 -6.38331617e+01] [ 8.61995065e-03 -8.15988109e-04 9.99962515e-01 3.16856814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.020714057 meters Centerline goodness [0,1] 0.9843444227005871 Centerline is valid? [True, True] Translation: X:864.02, Y:-63.83, Z:3.17 [[ 9.99352261e-01 -3.51038568e-02 -7.92319489e-03 8.64019458e+02] [ 3.51085986e-02 9.99383397e-01 4.60143612e-04 -6.38306640e+01] [ 7.90215661e-03 -7.38017828e-04 9.99968505e-01 3.16947399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0507140569999 meters Centerline goodness [0,1] 0.9796119992814801 Centerline is valid? [True, True] Translation: X:864.05, Y:-63.84, Z:3.17 [[ 9.99445532e-01 -3.26003382e-02 -6.77104636e-03 8.64048652e+02] [ 3.26037436e-02 9.99468279e-01 3.93140319e-04 -6.38389783e+01] [ 6.75462955e-03 -6.13683795e-04 9.99976999e-01 3.17019433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0807140569999 meters Centerline goodness [0,1] 0.9860194961615525 Centerline is valid? [True, True] Translation: X:864.08, Y:-63.83, Z:3.17 [[ 9.99503472e-01 -3.09625770e-02 -5.84199257e-03 8.64080516e+02] [ 3.09650859e-02 9.99520409e-01 3.39481083e-04 -6.38339461e+01] [ 5.82867959e-03 -5.20210323e-04 9.99982878e-01 3.17159261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1107140569999 meters Centerline goodness [0,1] 0.9824270408391984 Centerline is valid? [True, True] Translation: X:864.11, Y:-63.84, Z:3.17 [[ 9.99594211e-01 -2.79944813e-02 -5.26528074e-03 8.64109237e+02] [ 2.79964776e-02 9.99607975e-01 3.05809362e-04 -6.38428334e+01] [ 5.25465565e-03 -4.53094582e-04 9.99986092e-01 3.17123327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.140714057 meters Centerline goodness [0,1] 0.9847078344320374 Centerline is valid? [True, True] Translation: X:864.14, Y:-63.84, Z:3.17 [[ 9.99633917e-01 -2.66503694e-02 -4.66803983e-03 8.64140985e+02] [ 2.66519257e-02 9.99644737e-01 2.71483616e-04 -6.38416387e+01] [ 4.65914631e-03 -3.95796481e-04 9.99989068e-01 3.17125365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1707140569999 meters Centerline goodness [0,1] 0.9818496304782443 Centerline is valid? [True, True] Translation: X:864.17, Y:-63.85, Z:3.17 [[ 9.99668562e-01 -2.53338155e-02 -4.57862578e-03 8.64170813e+02] [ 2.53353016e-02 9.99678974e-01 2.66850342e-04 -6.38492090e+01] [ 4.57039559e-03 -3.82762763e-04 9.99989482e-01 3.17064416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2007140569999 meters Centerline goodness [0,1] 0.9868068577551568 Centerline is valid? [True, True] Translation: X:864.20, Y:-63.84, Z:3.17 [[ 9.99703820e-01 -2.37569911e-02 -5.27996862e-03 8.64203128e+02] [ 2.37589463e-02 9.99717669e-01 3.07893624e-04 -6.38401226e+01] [ 5.27116329e-03 -4.33248922e-04 9.99986013e-01 3.17050469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2307140569999 meters Centerline goodness [0,1] 0.9856303802008608 Centerline is valid? [True, True] Translation: X:864.23, Y:-63.85, Z:3.17 [[ 9.99710799e-01 -2.33980594e-02 -5.55416347e-03 8.64233413e+02] [ 2.34002191e-02 9.99726125e-01 3.24176020e-04 -6.38487158e+01] [ 5.54505723e-03 -4.54050910e-04 9.99984523e-01 3.16906707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.260714057 meters Centerline goodness [0,1] 0.9864783182968054 Centerline is valid? [True, True] Translation: X:864.27, Y:-63.85, Z:3.17 [[ 9.99708475e-01 -2.34596566e-02 -5.71039497e-03 8.64265864e+02] [ 2.34619430e-02 9.99724675e-01 3.33727927e-04 -6.38500767e+01] [ 5.70099361e-03 -4.67607599e-04 9.99983640e-01 3.16887671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.290714057 meters Centerline goodness [0,1] 0.9855932962896576 Centerline is valid? [True, True] Translation: X:864.30, Y:-63.85, Z:3.17 [[ 9.99705069e-01 -2.35595218e-02 -5.89277728e-03 8.64297812e+02] [ 2.35619608e-02 9.99722319e-01 3.44804155e-04 -6.38532396e+01] [ 5.88301755e-03 -4.83547849e-04 9.99982578e-01 3.16863505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3207140569999 meters Centerline goodness [0,1] 0.9854525139664805 Centerline is valid? [True, True] Translation: X:864.33, Y:-63.86, Z:3.17 [[ 9.99690913e-01 -2.40917984e-02 -6.13700273e-03 8.64328413e+02] [ 2.40944554e-02 9.99709622e-01 3.59384731e-04 -6.38600138e+01] [ 6.12656245e-03 -5.07141389e-04 9.99981104e-01 3.16783466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3507140569999 meters Centerline goodness [0,1] 0.9859628796149819 Centerline is valid? [True, True] Translation: X:864.36, Y:-63.86, Z:3.17 [[ 9.99691353e-01 -2.41354426e-02 -5.88896059e-03 8.64360868e+02] [ 2.41378926e-02 9.99708579e-01 3.45306664e-04 -6.38644906e+01] [ 5.87891030e-03 -4.87347185e-04 9.99982600e-01 3.16713165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.380714057 meters Centerline goodness [0,1] 0.9854043920728441 Centerline is valid? [True, True] Translation: X:864.39, Y:-63.87, Z:3.17 [[ 9.99673120e-01 -2.48202079e-02 -6.13265273e-03 8.64391573e+02] [ 2.48228816e-02 9.99691800e-01 3.60232882e-04 -6.38693247e+01] [ 6.12182159e-03 -5.12345242e-04 9.99981130e-01 3.16668657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.410714057 meters Centerline goodness [0,1] 0.9861650377114295 Centerline is valid? [True, True] Translation: X:864.42, Y:-63.87, Z:3.17 [[ 9.99658218e-01 -2.55214788e-02 -5.66573550e-03 8.64423170e+02] [ 2.55237733e-02 9.99674160e-01 3.33038278e-04 -6.38723218e+01] [ 5.65538975e-03 -4.77535400e-04 9.99983894e-01 3.16677759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4407140569999 meters Centerline goodness [0,1] 0.9857088796384925 Centerline is valid? [True, True] Translation: X:864.46, Y:-63.88, Z:3.17 [[ 9.99652331e-01 -2.57692832e-02 -5.58216278e-03 8.64455058e+02] [ 2.57715168e-02 9.99667805e-01 3.28551110e-04 -6.38760192e+01] [ 5.57184188e-03 -4.72297685e-04 9.99984366e-01 3.16704036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4707140569999 meters Centerline goodness [0,1] 0.985537053008691 Centerline is valid? [True, True] Translation: X:864.49, Y:-63.88, Z:3.17 [[ 9.99652637e-01 -2.58849831e-02 -4.95716560e-03 8.64487334e+02] [ 2.58867477e-02 9.99664839e-01 2.92126074e-04 -6.38812600e+01] [ 4.94794247e-03 -4.20349495e-04 9.99987671e-01 3.16738152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.500714057 meters Centerline goodness [0,1] 0.9837741720382307 Centerline is valid? [True, True] Translation: X:864.52, Y:-63.89, Z:3.17 [[ 9.99649891e-01 -2.60197405e-02 -4.80306153e-03 8.64518502e+02] [ 2.60213997e-02 9.99661346e-01 2.83266227e-04 -6.38872650e+01] [ 4.79406444e-03 -4.08149436e-04 9.99988425e-01 3.16745502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.530714057 meters Centerline goodness [0,1] 0.9848124346801272 Centerline is valid? [True, True] Translation: X:864.55, Y:-63.89, Z:3.17 [[ 9.99648458e-01 -2.61298813e-02 -4.49329372e-03 8.64550221e+02] [ 2.61313360e-02 9.99658483e-01 2.65345240e-04 -6.38889314e+01] [ 4.48482575e-03 -3.82667728e-04 9.99989870e-01 3.16767715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5607140569999 meters Centerline goodness [0,1] 0.9859685678185889 Centerline is valid? [True, True] Translation: X:864.58, Y:-63.89, Z:3.17 [[ 9.99654538e-01 -2.59769733e-02 -4.00010421e-03 8.64582232e+02] [ 2.59781262e-02 9.99662484e-01 2.36524847e-04 -6.38877586e+01] [ 3.99260991e-03 -3.40358348e-04 9.99991972e-01 3.16857757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5907140569999 meters Centerline goodness [0,1] 0.985041922861934 Centerline is valid? [True, True] Translation: X:864.61, Y:-63.89, Z:3.17 [[ 9.99651849e-01 -2.60351952e-02 -4.28353200e-03 8.64612829e+02] [ 2.60365186e-02 9.99660960e-01 2.53469186e-04 -6.38921181e+01] [ 4.27548059e-03 -3.64909202e-04 9.99990794e-01 3.16802430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.620714057 meters Centerline goodness [0,1] 0.9850736293358879 Centerline is valid? [True, True] Translation: X:864.64, Y:-63.90, Z:3.17 [[ 9.99654844e-01 -2.58409456e-02 -4.73695093e-03 8.64643478e+02] [ 2.58425629e-02 9.99665986e-01 2.80538135e-04 -6.38981217e+01] [ 4.72811935e-03 -4.02856258e-04 9.99988741e-01 3.16712791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.650714057 meters Centerline goodness [0,1] 0.9848919105067875 Centerline is valid? [True, True] Translation: X:864.68, Y:-63.90, Z:3.17 [[ 9.99663188e-01 -2.53522454e-02 -5.54736677e-03 8.64676033e+02] [ 2.53544590e-02 9.99678470e-01 3.29064234e-04 -6.39010547e+01] [ 5.53724061e-03 -4.69603885e-04 9.99984559e-01 3.16685462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6807140569999 meters Centerline goodness [0,1] 0.9847987217611291 Centerline is valid? [True, True] Translation: X:864.71, Y:-63.90, Z:3.17 [[ 9.99691367e-01 -2.41663371e-02 -5.75833803e-03 8.64705864e+02] [ 2.41687026e-02 9.99707836e-01 3.41543865e-04 -6.39047161e+01] [ 5.74840178e-03 -4.80610012e-04 9.99983362e-01 3.16613149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7107140569999 meters Centerline goodness [0,1] 0.9859320567155568 Centerline is valid? [True, True] Translation: X:864.74, Y:-63.91, Z:3.17 [[ 9.99751542e-01 -2.13998655e-02 -6.23701966e-03 8.64736914e+02] [ 2.14025878e-02 9.99770870e-01 3.70040510e-04 -6.39052186e+01] [ 6.22767175e-03 -5.03436931e-04 9.99980481e-01 3.16625398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7407140569999 meters Centerline goodness [0,1] 0.9869314513435893 Centerline is valid? [True, True] Translation: X:864.77, Y:-63.90, Z:3.17 [[ 9.99793935e-01 -1.93203870e-02 -6.22985824e-03 8.64768112e+02] [ 1.93230635e-02 9.99813224e-01 3.69726944e-04 -6.39016915e+01] [ 6.22155138e-03 -4.90030702e-04 9.99980526e-01 3.16682089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.770714057 meters Centerline goodness [0,1] 0.98764360138926 Centerline is valid? [True, True] Translation: X:864.80, Y:-63.90, Z:3.17 [[ 9.99878517e-01 -1.42444366e-02 -6.32832762e-03 8.64799514e+02] [ 1.42470976e-02 9.99898434e-01 3.75610000e-04 -6.38980770e+01] [ 6.32233453e-03 -4.65724671e-04 9.99979905e-01 3.16772215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8007140569999 meters Centerline goodness [0,1] 0.9862804202313933 Centerline is valid? [True, True] Translation: X:864.83, Y:-63.91, Z:3.17 [[ 9.99907841e-01 -1.17206249e-02 -6.85107563e-03 8.64828429e+02] [ 1.17236836e-02 9.99931193e-01 4.06465080e-04 -6.39052535e+01] [ 6.84584021e-03 -4.86747463e-04 9.99976448e-01 3.16716896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8307140569999 meters Centerline goodness [0,1] 0.9880740477038091 Centerline is valid? [True, True] Translation: X:864.86, Y:-63.90, Z:3.17 [[ 9.99937962e-01 -8.63831294e-03 -7.03225891e-03 8.64860191e+02] [ 8.64146105e-03 9.99962575e-01 4.17405183e-04 -6.38987187e+01] [ 7.02839005e-03 -4.78148279e-04 9.99975186e-01 3.16798433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8607140569999 meters Centerline goodness [0,1] 0.987879872090163 Centerline is valid? [True, True] Translation: X:864.89, Y:-63.90, Z:3.17 [[ 9.99969836e-01 -2.59114159e-03 -7.32207513e-03 8.64890436e+02] [ 2.59439267e-03 9.99996540e-01 4.34548347e-04 -6.38972455e+01] [ 7.32092382e-03 -4.53531578e-04 9.99973099e-01 3.16773910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.890714057 meters Centerline goodness [0,1] 0.9883083912346339 Centerline is valid? [True, True] Translation: X:864.92, Y:-63.90, Z:3.17 [[ 9.99971517e-01 9.64603903e-04 -7.48561786e-03 8.64919254e+02] [-9.61307597e-04 9.99999439e-01 4.43937516e-04 -6.38972126e+01] [ 7.48604189e-03 -4.36728890e-04 9.99971884e-01 3.16777499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9207140569999 meters Centerline goodness [0,1] 0.9884457530335474 Centerline is valid? [True, True] Translation: X:864.95, Y:-63.89, Z:3.17 [[ 9.99945103e-01 7.73024573e-03 -7.07351934e-03 8.64949155e+02] [-7.72747248e-03 9.99970055e-01 4.19307483e-04 -6.38926512e+01] [ 7.07654887e-03 -3.64624038e-04 9.99974894e-01 3.16855748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9507140569999 meters Centerline goodness [0,1] 0.9888103782627109 Centerline is valid? [True, True] Translation: X:864.98, Y:-63.89, Z:3.17 [[ 9.99922251e-01 1.03933662e-02 -6.88978753e-03 8.64977600e+02] [-1.03908010e-02 9.99945931e-01 4.08013369e-04 -6.38941487e+01] [ 6.89365564e-03 -3.36391235e-04 9.99976182e-01 3.16853159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9807140569999 meters Centerline goodness [0,1] 0.9888692188537287 Centerline is valid? [True, True] Translation: X:865.01, Y:-63.90, Z:3.17 [[ 9.99895576e-01 1.31529866e-02 -5.98638261e-03 8.65006910e+02] [-1.31511004e-02 9.99913458e-01 3.54332088e-04 -6.38954868e+01] [ 5.99052506e-03 -2.75567568e-04 9.99982019e-01 3.16903104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.010714057 meters Centerline goodness [0,1] 0.9895223627183772 Centerline is valid? [True, True] Translation: X:865.04, Y:-63.89, Z:3.17 [[ 9.99847681e-01 1.61505295e-02 -6.61627654e-03 8.65036916e+02] [-1.61482925e-02 9.99869531e-01 3.91388706e-04 -6.38914653e+01] [ 6.62173446e-03 -2.84487521e-04 9.99978036e-01 3.16993495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.040714057 meters Centerline goodness [0,1] 0.9899322879543835 Centerline is valid? [True, True] Translation: X:865.07, Y:-63.89, Z:3.17 [[ 9.99830301e-01 1.70230891e-02 -7.04162072e-03 8.65065463e+02] [-1.70205808e-02 9.99855053e-01 4.15994017e-04 -6.38921896e+01] [ 7.04768156e-03 -2.96070949e-04 9.99975121e-01 3.16996012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0707140569999 meters Centerline goodness [0,1] 0.9900062460961899 Centerline is valid? [True, True] Translation: X:865.09, Y:-63.89, Z:3.17 [[ 9.99821819e-01 1.73647380e-02 -7.40238888e-03 8.65094771e+02] [-1.73619781e-02 9.99849174e-01 4.36949703e-04 -6.38932789e+01] [ 7.40885993e-03 -3.08351734e-04 9.99972506e-01 3.16991773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1007140569999 meters Centerline goodness [0,1] 0.9902811137799128 Centerline is valid? [True, True] Translation: X:865.12, Y:-63.90, Z:3.17 [[ 9.99827681e-01 1.66141149e-02 -8.28129648e-03 8.65123233e+02] [-1.66106400e-02 9.99861915e-01 4.88219739e-04 -6.38968121e+01] [ 8.28826430e-03 -3.50577974e-04 9.99965590e-01 3.16956089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.130714057 meters Centerline goodness [0,1] 0.9895837960289611 Centerline is valid? [True, True] Translation: X:865.15, Y:-63.90, Z:3.17 [[ 9.99844756e-01 1.56039878e-02 -8.18414877e-03 8.65150989e+02] [-1.56005663e-02 9.99878188e-01 4.81737073e-04 -6.39019397e+01] [ 8.19066886e-03 -3.53984931e-04 9.99966393e-01 3.16895844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.160714057 meters Centerline goodness [0,1] 0.990457548323954 Centerline is valid? [True, True] Translation: X:865.18, Y:-63.91, Z:3.17 [[ 9.99884680e-01 1.29447590e-02 -7.94101166e-03 8.65180348e+02] [-1.29414556e-02 9.99916147e-01 4.67236969e-04 -6.39064367e+01] [ 7.94639405e-03 -3.64414838e-04 9.99968361e-01 3.16963264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1907140569999 meters Centerline goodness [0,1] 0.9898722931704609 Centerline is valid? [True, True] Translation: X:865.21, Y:-63.91, Z:3.17 [[ 9.99908987e-01 1.11497045e-02 -7.59616010e-03 8.65208077e+02] [-1.11466359e-02 9.99937775e-01 4.46180507e-04 -6.39123209e+01] [ 7.60066221e-03 -3.61468268e-04 9.99971049e-01 3.16973402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2207140569999 meters Centerline goodness [0,1] 0.9894827738907094 Centerline is valid? [True, True] Translation: X:865.24, Y:-63.91, Z:3.17 [[ 9.99929504e-01 9.58185514e-03 -7.01243041e-03 8.65236847e+02] [-9.57920497e-03 9.99954034e-01 4.11415351e-04 -6.39139938e+01] [ 7.01605020e-03 -3.44212840e-04 9.99975328e-01 3.17091911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.250714057 meters Centerline goodness [0,1] 0.9897414215140861 Centerline is valid? [True, True] Translation: X:865.27, Y:-63.92, Z:3.17 [[ 9.99951234e-01 7.21875189e-03 -6.73936789e-03 8.65265106e+02] [-7.21625277e-03 9.99973884e-01 3.95067656e-04 -6.39211406e+01] [ 6.74204378e-03 -3.46415408e-04 9.99977212e-01 3.17173177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.280714057 meters Centerline goodness [0,1] 0.9888616864068462 Centerline is valid? [True, True] Translation: X:865.29, Y:-63.92, Z:3.17 [[ 9.99957407e-01 6.58438774e-03 -6.46753835e-03 8.65294094e+02] [-6.58207613e-03 9.99978266e-01 3.78638129e-04 -6.39225466e+01] [ 6.46989089e-03 -3.36052173e-04 9.99979014e-01 3.17206369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3107140569999 meters Centerline goodness [0,1] 0.9895994689090507 Centerline is valid? [True, True] Translation: X:865.32, Y:-63.93, Z:3.17 [[ 9.99956318e-01 5.57859158e-03 -7.49942403e-03 8.65321361e+02] [-5.57546156e-03 9.99984361e-01 4.38210652e-04 -6.39292357e+01] [ 7.50175134e-03 -3.96378760e-04 9.99971783e-01 3.17097320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3407140569999 meters Centerline goodness [0,1] 0.9899733356839067 Centerline is valid? [True, True] Translation: X:865.35, Y:-63.93, Z:3.17 [[ 9.99955326e-01 5.06823425e-03 -7.97861348e-03 8.65349748e+02] [-5.06467901e-03 9.99987066e-01 4.65738021e-04 -6.39321942e+01] [ 7.98087076e-03 -4.25308099e-04 9.99968062e-01 3.17083549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.370714057 meters Centerline goodness [0,1] 0.9894964473277726 Centerline is valid? [True, True] Translation: X:865.38, Y:-63.94, Z:3.17 [[ 9.99956872e-01 3.30277985e-03 -8.68018340e-03 8.65377480e+02] [-3.29851063e-03 9.99994432e-01 5.06105344e-04 -6.39381275e+01] [ 8.68180662e-03 -4.77451839e-04 9.99962198e-01 3.16977331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.400714057 meters Centerline goodness [0,1] 0.9894473695854166 Centerline is valid? [True, True] Translation: X:865.41, Y:-63.94, Z:3.17 [[ 9.99956017e-01 2.01426137e-03 -9.16008535e-03 8.65405848e+02] [-2.00945875e-03 9.99997839e-01 5.33471895e-04 -6.39419442e+01] [ 9.16114010e-03 -5.15041618e-04 9.99957903e-01 3.16926298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4307140569999 meters Centerline goodness [0,1] 0.9893418305680695 Centerline is valid? [True, True] Translation: X:865.43, Y:-63.94, Z:3.17 [[ 9.99953334e-01 1.03928627e-03 -9.60471331e-03 8.65433954e+02] [-1.03396939e-03 9.99999309e-01 5.58519181e-04 -6.39445689e+01] [ 9.60528714e-03 -5.48562138e-04 9.99953718e-01 3.16888883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4607140569999 meters Centerline goodness [0,1] 0.9895033338467971 Centerline is valid? [True, True] Translation: X:865.46, Y:-63.95, Z:3.17 [[ 9.99949036e-01 -1.63682580e-03 -9.96221398e-03 8.65462597e+02] [ 1.64267586e-03 9.99998483e-01 5.79070020e-04 -6.39515762e+01] [ 9.96125103e-03 -5.95405196e-04 9.99950208e-01 3.16800281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4907140569999 meters Centerline goodness [0,1] 0.9890119569286328 Centerline is valid? [True, True] Translation: X:865.49, Y:-63.96, Z:3.17 [[ 9.99941921e-01 -3.04090529e-03 -1.03396172e-02 8.65491953e+02] [ 3.04727823e-03 9.99995177e-01 6.00663225e-04 -6.39552581e+01] [ 1.03377408e-02 -6.32136029e-04 9.99946364e-01 3.16772052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.520714057 meters Centerline goodness [0,1] 0.989419388969713 Centerline is valid? [True, True] Translation: X:865.52, Y:-63.96, Z:3.17 [[ 9.99933399e-01 -5.57158112e-03 -1.01071568e-02 8.65520886e+02] [ 5.57779404e-03 9.99984272e-01 5.86620421e-04 -6.39592269e+01] [ 1.01037294e-02 -6.42956991e-04 9.99948749e-01 3.16779583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5507140569999 meters Centerline goodness [0,1] 0.9890615371071397 Centerline is valid? [True, True] Translation: X:865.55, Y:-63.96, Z:3.17 [[ 9.99924859e-01 -6.76426880e-03 -1.02235729e-02 8.65548485e+02] [ 6.77067837e-03 9.99976903e-01 5.92459438e-04 -6.39635515e+01] [ 1.02193293e-02 -6.61635444e-04 9.99947562e-01 3.16774578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5807140569999 meters Centerline goodness [0,1] 0.9889955719233636 Centerline is valid? [True, True] Translation: X:865.58, Y:-63.96, Z:3.17 [[ 9.99922717e-01 -7.70873813e-03 -9.75374189e-03 8.65577891e+02] [ 7.71461038e-03 9.99970083e-01 5.64569735e-04 -6.39608970e+01] [ 9.74909796e-03 -6.39772422e-04 9.99952272e-01 3.16897827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6107140569999 meters Centerline goodness [0,1] 0.9891582194799471 Centerline is valid? [True, True] Translation: X:865.61, Y:-63.96, Z:3.17 [[ 9.99910906e-01 -9.62931767e-03 -9.24427582e-03 8.65607121e+02] [ 9.63467002e-03 9.99953443e-01 5.34631101e-04 -6.39648857e+01] [ 9.23869730e-03 -6.23649015e-04 9.99957128e-01 3.16943428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.640714057 meters Centerline goodness [0,1] 0.9892874497504086 Centerline is valid? [True, True] Translation: X:865.64, Y:-63.96, Z:3.17 [[ 9.99906611e-01 -1.03217085e-02 -8.95725169e-03 8.65637092e+02] [ 1.03267587e-02 9.99946544e-01 5.17739384e-04 -6.39627196e+01] [ 8.95142891e-03 -6.10190409e-04 9.99959749e-01 3.17047416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6707140569999 meters Centerline goodness [0,1] 0.9896327340906584 Centerline is valid? [True, True] Translation: X:865.67, Y:-63.97, Z:3.17 [[ 9.99902986e-01 -1.15293748e-02 -7.81616338e-03 8.65666454e+02] [ 1.15332561e-02 9.99933388e-01 4.51669783e-04 -6.39662635e+01] [ 7.81043526e-03 -5.41771779e-04 9.99969351e-01 3.17115238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7007140569999 meters Centerline goodness [0,1] 0.9896914058179405 Centerline is valid? [True, True] Translation: X:865.70, Y:-63.97, Z:3.17 [[ 9.99890745e-01 -1.27029790e-02 -7.55853337e-03 8.65696864e+02] [ 1.27066422e-02 9.99919172e-01 4.36813552e-04 -6.39697361e+01] [ 7.55237359e-03 -5.32809407e-04 9.99971338e-01 3.17135803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7307140569999 meters Centerline goodness [0,1] 0.9896914058179405 Centerline is valid? [True, True] Translation: X:865.73, Y:-63.97, Z:3.17 [[ 9.99891188e-01 -1.26680939e-02 -7.55851442e-03 8.65727735e+02] [ 1.26717586e-02 9.99919614e-01 4.37141317e-04 -6.39715515e+01] [ 7.55236908e-03 -5.32873421e-04 9.99971338e-01 3.17130115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.760714057 meters Centerline goodness [0,1] 0.9887235398852571 Centerline is valid? [True, True] Translation: X:865.76, Y:-63.97, Z:3.17 [[ 9.99867389e-01 -1.44379137e-02 -7.53327630e-03 8.65758809e+02] [ 1.44416059e-02 9.99895620e-01 4.35945032e-04 -6.39735001e+01] [ 7.52619583e-03 -5.44679829e-04 9.99971529e-01 3.17165933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.790714057 meters Centerline goodness [0,1] 0.9880022014309301 Centerline is valid? [True, True] Translation: X:865.79, Y:-63.98, Z:3.17 [[ 9.99851584e-01 -1.51489120e-02 -8.20494627e-03 8.65789773e+02] [ 1.51533194e-02 9.99885069e-01 4.75268709e-04 -6.39768434e+01] [ 8.19680346e-03 -5.99530343e-04 9.99966226e-01 3.17128301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8207140569999 meters Centerline goodness [0,1] 0.9879706192821957 Centerline is valid? [True, True] Translation: X:865.82, Y:-63.98, Z:3.17 [[ 9.99839115e-01 -1.58803880e-02 -8.34006256e-03 8.65820889e+02] [ 1.58849693e-02 9.99873709e-01 4.83352072e-04 -6.39771118e+01] [ 8.33133346e-03 -6.15755946e-04 9.99965104e-01 3.17137501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8507140569999 meters Centerline goodness [0,1] 0.9885262508809021 Centerline is valid? [True, True] Translation: X:865.85, Y:-63.98, Z:3.17 [[ 9.99817261e-01 -1.66308290e-02 -9.42661172e-03 8.65852034e+02] [ 1.66367180e-02 9.99861451e-01 5.46641673e-04 -6.39785519e+01] [ 9.41621457e-03 -7.03369661e-04 9.99955419e-01 3.17074995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.880714057 meters Centerline goodness [0,1] 0.9880600960479359 Centerline is valid? [True, True] Translation: X:865.88, Y:-63.98, Z:3.17 [[ 9.99811075e-01 -1.66959671e-02 -9.95287687e-03 8.65883126e+02] [ 1.67025386e-02 9.99860336e-01 5.77498883e-04 -6.39800087e+01] [ 9.94184491e-03 -7.43628089e-04 9.99950302e-01 3.17024294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.910714057 meters Centerline goodness [0,1] 0.9876227247655819 Centerline is valid? [True, True] Translation: X:865.91, Y:-63.98, Z:3.17 [[ 9.99820718e-01 -1.57713490e-02 -1.04783677e-02 8.65914598e+02] [ 1.57785860e-02 9.99875325e-01 6.08348144e-04 -6.39784631e+01] [ 1.04674668e-02 -7.73572904e-04 9.99944915e-01 3.17058092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9407140569999 meters Centerline goodness [0,1] 0.987543344302847 Centerline is valid? [True, True] Translation: X:865.95, Y:-63.98, Z:3.17 [[ 9.99832163e-01 -1.51344006e-02 -1.03245091e-02 8.65945390e+02] [ 1.51413965e-02 9.99885183e-01 5.99769280e-04 -6.39800627e+01] [ 1.03142465e-02 -7.55996102e-04 9.99946521e-01 3.17081189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9707140569999 meters Centerline goodness [0,1] 0.9883641190133835 Centerline is valid? [True, True] Translation: X:865.98, Y:-63.98, Z:3.17 [[ 9.99848377e-01 -1.41912575e-02 -1.00911867e-02 8.65976716e+02] [ 1.41978965e-02 9.99899033e-01 5.86560947e-04 -6.39795190e+01] [ 1.00818438e-02 -7.29745635e-04 9.99948911e-01 3.17166763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.000714057 meters Centerline goodness [0,1] 0.9892665869959723 Centerline is valid? [True, True] Translation: X:866.01, Y:-63.97, Z:3.17 [[ 9.99885073e-01 -1.13657019e-02 -1.00330102e-02 8.66007770e+02] [ 1.13721245e-02 9.99935165e-01 5.83324670e-04 -6.39733404e+01] [ 1.00257298e-02 -6.97354271e-04 9.99949498e-01 3.17326390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.030714057 meters Centerline goodness [0,1] 0.9888140699065255 Centerline is valid? [True, True] Translation: X:866.04, Y:-63.98, Z:3.17 [[ 9.99897992e-01 -9.84677038e-03 -1.03462916e-02 8.66037439e+02] [ 9.85351905e-03 9.99951272e-01 6.01505898e-04 -6.39782006e+01] [ 1.03398645e-02 -7.03391921e-04 9.99946295e-01 3.17234922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0607140569999 meters Centerline goodness [0,1] 0.9898222222222223 Centerline is valid? [True, True] Translation: X:866.07, Y:-63.97, Z:3.17 [[ 9.99929123e-01 -6.37396972e-03 -1.00559232e-02 8.66068651e+02] [ 6.38016938e-03 9.99979476e-01 5.84557959e-04 -6.39695793e+01] [ 1.00519909e-02 -6.48675021e-04 9.99949267e-01 3.17389236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0907140569999 meters Centerline goodness [0,1] 0.989991103202847 Centerline is valid? [True, True] Translation: X:866.10, Y:-63.97, Z:3.17 [[ 9.99935104e-01 -5.02979370e-03 -1.02220272e-02 8.66097717e+02] [ 5.03612140e-03 9.99987143e-01 5.93379976e-04 -6.39692247e+01] [ 1.02189112e-02 -6.44820838e-04 9.99947578e-01 3.17434220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.120714057 meters Centerline goodness [0,1] 0.9900719008080493 Centerline is valid? [True, True] Translation: X:866.13, Y:-63.97, Z:3.17 [[ 9.99943048e-01 -2.42436264e-03 -1.03933851e-02 8.66128150e+02] [ 2.43076322e-03 9.99996864e-01 6.03243612e-04 -6.39663039e+01] [ 1.03918900e-02 -6.28473115e-04 9.99945805e-01 3.17488775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.150714057 meters Centerline goodness [0,1] 0.9902279405217701 Centerline is valid? [True, True] Translation: X:866.16, Y:-63.97, Z:3.18 [[ 9.99949008e-01 -1.24232880e-03 -1.00219184e-02 8.66157032e+02] [ 1.24821289e-03 9.99999052e-01 5.80888256e-04 -6.39663754e+01] [ 1.00211872e-02 -5.93368123e-04 9.99949611e-01 3.17506688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1807140569999 meters Centerline goodness [0,1] 0.9908839038341228 Centerline is valid? [True, True] Translation: X:866.19, Y:-63.97, Z:3.18 [[ 9.99948031e-01 -5.62746058e-04 -1.01792940e-02 8.66185690e+02] [ 5.68752826e-04 9.99999666e-01 5.87211460e-04 -6.39662778e+01] [ 1.01789601e-02 -5.92970446e-04 9.99948017e-01 3.17532317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2107140569999 meters Centerline goodness [0,1] 0.9908708493690146 Centerline is valid? [True, True] Translation: X:866.21, Y:-63.96, Z:3.18 [[ 9.99950194e-01 1.35898448e-03 -9.88749578e-03 8.66214906e+02] [-1.35341469e-03 9.99998922e-01 5.69985126e-04 -6.39623455e+01] [ 9.88825972e-03 -5.56574855e-04 9.99950955e-01 3.17631405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2407140569999 meters Centerline goodness [0,1] 0.9903874032606999 Centerline is valid? [True, True] Translation: X:866.24, Y:-63.97, Z:3.18 [[ 9.99952403e-01 1.89175427e-03 -9.57151105e-03 8.66243093e+02] [-1.88658511e-03 9.99998070e-01 5.49056495e-04 -6.39651324e+01] [ 9.57253125e-03 -5.30972891e-04 9.99954041e-01 3.17584369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.270714057 meters Centerline goodness [0,1] 0.9909821428571428 Centerline is valid? [True, True] Translation: X:866.27, Y:-63.96, Z:3.18 [[ 9.99945361e-01 2.58093004e-03 -1.01298037e-02 8.66271884e+02] [-2.57517933e-03 9.99996516e-01 5.80703671e-04 -6.39628929e+01] [ 1.01312671e-02 -5.54585881e-04 9.99948524e-01 3.17651858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3007140569999 meters Centerline goodness [0,1] 0.9904615453188028 Centerline is valid? [True, True] Translation: X:866.30, Y:-63.97, Z:3.18 [[ 9.99943985e-01 2.43886962e-03 -1.02994996e-02 8.66299555e+02] [-2.43292686e-03 9.99996867e-01 5.89485126e-04 -6.39654128e+01] [ 1.03009050e-02 -5.64394176e-04 9.99946785e-01 3.17602567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3307140569999 meters Centerline goodness [0,1] 0.989858916352776 Centerline is valid? [True, True] Translation: X:866.33, Y:-63.97, Z:3.18 [[ 9.99940331e-01 2.19824771e-03 -1.07005510e-02 8.66327820e+02] [-2.19182943e-03 9.99997411e-01 6.11498685e-04 -6.39665991e+01] [ 1.07018676e-02 -5.88008415e-04 9.99942560e-01 3.17599607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3607140569999 meters Centerline goodness [0,1] 0.990273935932899 Centerline is valid? [True, True] Translation: X:866.35, Y:-63.97, Z:3.17 [[ 9.99934988e-01 1.17682685e-03 -1.13417045e-02 8.66354628e+02] [-1.16956465e-03 9.99999107e-01 6.46920818e-04 -6.39748324e+01] [ 1.13424556e-02 -6.33613904e-04 9.99935472e-01 3.17381791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.390714057 meters Centerline goodness [0,1] 0.9905719252886372 Centerline is valid? [True, True] Translation: X:866.38, Y:-63.97, Z:3.17 [[ 9.99938187e-01 5.11329872e-04 -1.11068160e-02 8.66383265e+02] [-5.04332241e-04 9.99999673e-01 6.32822041e-04 -6.39736411e+01] [ 1.11071359e-02 -6.27181399e-04 9.99938117e-01 3.17445840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4207140569999 meters Centerline goodness [0,1] 0.9911236005174182 Centerline is valid? [True, True] Translation: X:866.41, Y:-63.97, Z:3.18 [[ 9.99939607e-01 -1.15934840e-03 -1.09287927e-02 8.66413304e+02] [ 1.16621930e-03 9.99999126e-01 6.22345377e-04 -6.39713655e+01] [ 1.09280617e-02 -6.35053160e-04 9.99940085e-01 3.17536963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4507140569999 meters Centerline goodness [0,1] 0.9903216433089698 Centerline is valid? [True, True] Translation: X:866.44, Y:-63.97, Z:3.18 [[ 9.99937327e-01 -2.45807615e-03 -1.09224815e-02 8.66441021e+02] [ 2.46500221e-03 9.99996769e-01 6.20693958e-04 -6.39739644e+01] [ 1.09209205e-02 -6.47578998e-04 9.99940155e-01 3.17526049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4807140569999 meters Centerline goodness [0,1] 0.9900657053797681 Centerline is valid? [True, True] Translation: X:866.47, Y:-63.98, Z:3.18 [[ 9.99935223e-01 -3.34615040e-03 -1.08790215e-02 8.66469383e+02] [ 3.35306612e-03 9.99994188e-01 6.17515297e-04 -6.39762764e+01] [ 1.08768919e-02 -6.53953375e-04 9.99940631e-01 3.17545677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.510714057 meters Centerline goodness [0,1] 0.9899382881674269 Centerline is valid? [True, True] Translation: X:866.50, Y:-63.98, Z:3.18 [[ 9.99925806e-01 -5.31250689e-03 -1.09617436e-02 8.66497852e+02] [ 5.31963991e-03 9.99985657e-01 6.21664363e-04 -6.39785617e+01] [ 1.09582838e-02 -6.79930768e-04 9.99939725e-01 3.17532656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.540714057 meters Centerline goodness [0,1] 0.9896371902299875 Centerline is valid? [True, True] Translation: X:866.53, Y:-63.98, Z:3.18 [[ 9.99915634e-01 -6.26201863e-03 -1.13803018e-02 8.66526618e+02] [ 6.26973198e-03 9.99980139e-01 6.42229863e-04 -6.39795683e+01] [ 1.13760541e-02 -7.13527123e-04 9.99935036e-01 3.17551476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5707140569999 meters Centerline goodness [0,1] 0.9899790206668749 Centerline is valid? [True, True] Translation: X:866.55, Y:-63.98, Z:3.18 [[ 9.99904165e-01 -7.57904063e-03 -1.15852869e-02 8.66554451e+02] [ 7.58711424e-03 9.99971004e-01 6.53091756e-04 -6.39836346e+01] [ 1.15800012e-02 -7.40928062e-04 9.99932675e-01 3.17511679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6007140569999 meters Centerline goodness [0,1] 0.989896962397966 Centerline is valid? [True, True] Translation: X:866.58, Y:-63.99, Z:3.17 [[ 9.99899749e-01 -7.82203476e-03 -1.18029048e-02 8.66583525e+02] [ 7.83039470e-03 9.99969123e-01 6.62248633e-04 -6.39856407e+01] [ 1.17973602e-02 -7.54603645e-04 9.99930124e-01 3.17468878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.630714057 meters Centerline goodness [0,1] 0.9907025719150462 Centerline is valid? [True, True] Translation: X:866.61, Y:-63.98, Z:3.18 [[ 9.99895596e-01 -7.68205865e-03 -1.22386036e-02 8.66613015e+02] [ 7.69099879e-03 9.99970190e-01 6.83587885e-04 -6.39800340e+01] [ 1.22329874e-02 -7.77643602e-04 9.99924872e-01 3.17614066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.660714057 meters Centerline goodness [0,1] 0.9904576740859927 Centerline is valid? [True, True] Translation: X:866.64, Y:-63.98, Z:3.18 [[ 9.99910111e-01 -5.33181082e-03 -1.23020702e-02 8.66642122e+02] [ 5.34066626e-03 9.99985502e-01 6.87094076e-04 -6.39795840e+01] [ 1.22982284e-02 -7.52733565e-04 9.99924091e-01 3.17611545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6907140569999 meters Centerline goodness [0,1] 0.9905266215340617 Centerline is valid? [True, True] Translation: X:866.67, Y:-63.99, Z:3.18 [[ 9.99921009e-01 -3.36608040e-03 -1.21096868e-02 8.66671141e+02] [ 3.37451220e-03 9.99994078e-01 6.75919905e-04 -6.39857169e+01] [ 1.21073399e-02 -7.16730799e-04 9.99926447e-01 3.17517778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7207140569999 meters Centerline goodness [0,1] 0.9912918895928007 Centerline is valid? [True, True] Translation: X:866.70, Y:-63.98, Z:3.18 [[ 9.99934607e-01 1.67804448e-03 -1.13122304e-02 8.66701955e+02] [-1.67100806e-03 9.99998405e-01 6.31441328e-04 -6.39757761e+01] [ 1.13132719e-02 -6.12497208e-04 9.99935815e-01 3.17821764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.750714057 meters Centerline goodness [0,1] 0.9901103081019399 Centerline is valid? [True, True] Translation: X:866.73, Y:-63.97, Z:3.18 [[ 9.99937444e-01 4.27595502e-03 -1.03356269e-02 8.66731797e+02] [-4.27022389e-03 9.99990716e-01 5.76506378e-04 -6.39746251e+01] [ 1.03379961e-02 -5.32334873e-04 9.99946420e-01 3.17912357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.780714057 meters Centerline goodness [0,1] 0.9902490417161687 Centerline is valid? [True, True] Translation: X:866.76, Y:-63.97, Z:3.18 [[ 9.99930774e-01 6.87097226e-03 -9.55180609e-03 8.66761622e+02] [-6.86619887e-03 9.99976286e-01 5.32440264e-04 -6.39713771e+01] [ 9.55523796e-03 -4.66818805e-04 9.99954239e-01 3.18044691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8107140569999 meters Centerline goodness [0,1] 0.9905291100512913 Centerline is valid? [True, True] Translation: X:866.79, Y:-63.97, Z:3.18 [[ 9.99894553e-01 1.17773259e-02 -8.49576756e-03 8.66791787e+02] [-1.17737264e-02 9.99930575e-01 4.73575864e-04 -6.39682029e+01] [ 8.50075520e-03 -3.73499084e-04 9.99963798e-01 3.18131998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8407140569999 meters Centerline goodness [0,1] 0.9905700717934868 Centerline is valid? [True, True] Translation: X:866.82, Y:-63.97, Z:3.18 [[ 9.99876579e-01 1.32435420e-02 -8.45195333e-03 8.66820528e+02] [-1.32400379e-02 9.99912236e-01 4.70409117e-04 -6.39676860e+01] [ 8.45744144e-03 -3.58446876e-04 9.99964171e-01 3.18168433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.870714057 meters Centerline goodness [0,1] 0.9905146316851665 Centerline is valid? [True, True] Translation: X:866.85, Y:-63.97, Z:3.18 [[ 9.99855825e-01 1.50082864e-02 -7.94229897e-03 8.66849261e+02] [-1.50052523e-02 9.99887317e-01 4.41472300e-04 -6.39673938e+01] [ 7.94802976e-03 -3.22232450e-04 9.99968362e-01 3.18136962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.900714057 meters Centerline goodness [0,1] 0.9902644122672902 Centerline is valid? [True, True] Translation: X:866.88, Y:-63.97, Z:3.18 [[ 9.99849655e-01 1.52514778e-02 -8.24977737e-03 8.66877992e+02] [-1.52482172e-02 9.99883634e-01 4.57989180e-04 -6.39690347e+01] [ 8.25580239e-03 -3.32125926e-04 9.99965865e-01 3.18067526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9307140569999 meters Centerline goodness [0,1] 0.9897092526850312 Centerline is valid? [True, True] Translation: X:866.91, Y:-63.97, Z:3.18 [[ 9.99844998e-01 1.52178134e-02 -8.85422000e-03 8.66905886e+02] [-1.52140632e-02 9.99884139e-01 4.90750541e-04 -6.39748104e+01] [ 8.86066229e-03 -3.55965811e-04 9.99960680e-01 3.17887079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9607140569999 meters Centerline goodness [0,1] 0.9899532500224759 Centerline is valid? [True, True] Translation: X:866.93, Y:-63.97, Z:3.18 [[ 9.99847390e-01 1.38348999e-02 -1.06673076e-02 8.66934650e+02] [-1.38293854e-02 9.99904195e-01 5.90545526e-04 -6.39724463e+01] [ 1.06744557e-02 -4.42933094e-04 9.99942928e-01 3.17824891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9907140569999 meters Centerline goodness [0,1] 0.9907473948975926 Centerline is valid? [True, True] Translation: X:866.96, Y:-63.98, Z:3.18 [[ 9.99856424e-01 1.29665942e-02 -1.09086570e-02 8.66962641e+02] [-1.29607866e-02 9.99915824e-01 6.02917397e-04 -6.39765296e+01] [ 1.09155565e-02 -4.61446057e-04 9.99940317e-01 3.17732215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.020714057 meters Centerline goodness [0,1] 0.9900024657595661 Centerline is valid? [True, True] Translation: X:866.99, Y:-63.98, Z:3.18 [[ 9.99872122e-01 1.00888980e-02 -1.24078029e-02 8.66991913e+02] [-1.00811702e-02 9.99948949e-01 6.85205000e-04 -6.39794675e+01] [ 1.24140825e-02 -5.60032204e-04 9.99922785e-01 3.17666307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0507140569999 meters Centerline goodness [0,1] 0.9900177213486171 Centerline is valid? [True, True] Translation: X:867.02, Y:-63.98, Z:3.18 [[ 9.99880260e-01 8.83305309e-03 -1.27059846e-02 8.67020411e+02] [-8.82485999e-03 9.99960815e-01 7.00744892e-04 -6.39817524e+01] [ 1.27116764e-02 -5.88532450e-04 9.99919030e-01 3.17644193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0807140569999 meters Centerline goodness [0,1] 0.9895398428731762 Centerline is valid? [True, True] Translation: X:867.05, Y:-63.98, Z:3.18 [[ 9.99888015e-01 7.87982429e-03 -1.27226182e-02 8.67048610e+02] [-7.87155485e-03 9.99968774e-01 6.99924987e-04 -6.39841292e+01] [ 1.27277363e-02 -5.99699819e-04 9.99918819e-01 3.17598985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1107140569999 meters Centerline goodness [0,1] 0.9899544812431329 Centerline is valid? [True, True] Translation: X:867.08, Y:-63.99, Z:3.18 [[ 9.99901997e-01 6.75464442e-03 -1.22626320e-02 8.67076911e+02] [-6.74689027e-03 9.99977013e-01 6.73599512e-04 -6.39861181e+01] [ 1.22669001e-02 -5.90798864e-04 9.99924584e-01 3.17641888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.140714057 meters Centerline goodness [0,1] 0.9890547040050344 Centerline is valid? [True, True] Translation: X:867.10, Y:-63.99, Z:3.18 [[ 9.99907470e-01 6.22048046e-03 -1.20978350e-02 8.67104150e+02] [-6.21290719e-03 9.99980480e-01 6.63484395e-04 -6.39902230e+01] [ 1.21017260e-02 -5.88260276e-04 9.99926598e-01 3.17629565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1707140569999 meters Centerline goodness [0,1] 0.9894137173103665 Centerline is valid? [True, True] Translation: X:867.13, Y:-63.99, Z:3.18 [[ 9.99926584e-01 6.15447718e-03 -1.04378969e-02 8.67133566e+02] [-6.14884153e-03 9.99980932e-01 5.71927408e-04 -6.39887672e+01] [ 1.04412178e-02 -5.07704445e-04 9.99945360e-01 3.17786464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2007140569999 meters Centerline goodness [0,1] 0.9884967261637815 Centerline is valid? [True, True] Translation: X:867.16, Y:-64.00, Z:3.18 [[ 9.99926189e-01 6.09862038e-03 -1.05082518e-02 8.67159777e+02] [-6.09292054e-03 9.99981273e-01 5.74344640e-04 -6.39950149e+01] [ 1.05115578e-02 -5.10276303e-04 9.99944622e-01 3.17691024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2307140569999 meters Centerline goodness [0,1] 0.9882286995515696 Centerline is valid? [True, True] Translation: X:867.19, Y:-64.00, Z:3.18 [[ 9.99929932e-01 6.30821962e-03 -1.00168725e-02 8.67189008e+02] [-6.30305675e-03 9.99979986e-01 5.46903850e-04 -6.39962471e+01] [ 1.00201220e-02 -4.83728614e-04 9.99949680e-01 3.17724738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.260714057 meters Centerline goodness [0,1] 0.9886631496239757 Centerline is valid? [True, True] Translation: X:867.22, Y:-64.00, Z:3.18 [[ 9.99929550e-01 7.13531126e-03 -9.48590496e-03 8.67217315e+02] [-7.13072447e-03 9.99974442e-01 5.17271379e-04 -6.39980390e+01] [ 9.48935341e-03 -4.49593563e-04 9.99954874e-01 3.17717953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.290714057 meters Centerline goodness [0,1] 0.988352221622594 Centerline is valid? [True, True] Translation: X:867.25, Y:-64.00, Z:3.18 [[ 9.99925644e-01 7.32837910e-03 -9.74686300e-03 8.67246053e+02] [-7.32355209e-03 9.99973042e-01 5.30837406e-04 -6.39974334e+01] [ 9.75049042e-03 -4.59416276e-04 9.99952357e-01 3.17684071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3207140569999 meters Centerline goodness [0,1] 0.9882566912160948 Centerline is valid? [True, True] Translation: X:867.27, Y:-64.00, Z:3.18 [[ 9.99923985e-01 7.26739321e-03 -9.96034370e-03 8.67272974e+02] [-7.26236205e-03 9.99973482e-01 5.41195288e-04 -6.40028441e+01] [ 9.96401266e-03 -4.68818527e-04 9.99950248e-01 3.17557301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3507140569999 meters Centerline goodness [0,1] 0.9887542283653308 Centerline is valid? [True, True] Translation: X:867.30, Y:-64.00, Z:3.18 [[ 9.99925257e-01 7.15260851e-03 -9.91570181e-03 8.67301124e+02] [-7.14762652e-03 9.99974311e-01 5.37781497e-04 -6.40003210e+01] [ 9.91929363e-03 -4.66867568e-04 9.99950694e-01 3.17627923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.380714057 meters Centerline goodness [0,1] 0.9889298064400234 Centerline is valid? [True, True] Translation: X:867.33, Y:-64.00, Z:3.18 [[ 9.99914466e-01 7.79495358e-03 -1.05023366e-02 8.67329565e+02] [-7.78940669e-03 9.99969500e-01 5.68959107e-04 -6.40018853e+01] [ 1.05064513e-02 -4.87103470e-04 9.99944687e-01 3.17610549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.410714057 meters Centerline goodness [0,1] 0.9887635409424271 Centerline is valid? [True, True] Translation: X:867.36, Y:-64.00, Z:3.18 [[ 9.99906740e-01 8.85256691e-03 -1.03991667e-02 8.67358624e+02] [-8.84719290e-03 9.99960705e-01 5.62663079e-04 -6.40026624e+01] [ 1.04037391e-02 -4.70607171e-04 9.99945769e-01 3.17675085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4407140569999 meters Centerline goodness [0,1] 0.9895391384380542 Centerline is valid? [True, True] Translation: X:867.39, Y:-64.00, Z:3.18 [[ 9.99876075e-01 1.26491690e-02 -9.37194832e-03 8.67387881e+02] [-1.26449733e-02 9.99919921e-01 5.06818921e-04 -6.40022597e+01] [ 9.37760866e-03 -3.88248077e-04 9.99955954e-01 3.17722218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4707140569999 meters Centerline goodness [0,1] 0.9889066043879544 Centerline is valid? [True, True] Translation: X:867.42, Y:-64.00, Z:3.18 [[ 9.99836708e-01 1.56303662e-02 -9.06912911e-03 8.67417923e+02] [-1.56265607e-02 9.99877778e-01 4.90321478e-04 -6.40022886e+01] [ 9.07568456e-03 -3.48522116e-04 9.99958754e-01 3.17724751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.500714057 meters Centerline goodness [0,1] 0.989310119302677 Centerline is valid? [True, True] Translation: X:867.45, Y:-64.00, Z:3.18 [[ 9.99783429e-01 1.88296638e-02 -8.86219694e-03 8.67447870e+02] [-1.88261584e-02 9.99822658e-01 4.78799741e-04 -6.39997829e+01] [ 8.86964094e-03 -3.11854923e-04 9.99960615e-01 3.17810625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.530714057 meters Centerline goodness [0,1] 0.9897370253093489 Centerline is valid? [True, True] Translation: X:867.48, Y:-64.00, Z:3.18 [[ 9.99589165e-01 2.74485166e-02 -8.25111656e-03 8.67477870e+02] [-2.74457726e-02 9.99623194e-01 4.45639414e-04 -6.39961934e+01] [ 8.26023963e-03 -2.18998062e-04 9.99965860e-01 3.17834523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5607140569999 meters Centerline goodness [0,1] 0.9915750585691115 Centerline is valid? [True, True] Translation: X:867.51, Y:-63.99, Z:3.18 [[ 9.99463519e-01 3.18215525e-02 -7.74997836e-03 8.67506732e+02] [-3.18192679e-02 9.99493552e-01 4.17937380e-04 -6.39923130e+01] [ 7.75935281e-03 -1.71114527e-04 9.99969881e-01 3.17991705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5907140569999 meters Centerline goodness [0,1] 0.9923638253168561 Centerline is valid? [True, True] Translation: X:867.54, Y:-63.99, Z:3.18 [[ 9.99166226e-01 4.01974410e-02 -7.14272536e-03 8.67536850e+02] [-4.01957146e-02 9.99191751e-01 3.85148969e-04 -6.39897863e+01] [ 7.15243427e-03 -9.77208913e-05 9.99974416e-01 3.17976497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.620714057 meters Centerline goodness [0,1] 0.9923638253168561 Centerline is valid? [True, True] Translation: X:867.56, Y:-63.99, Z:3.18 [[ 9.99170480e-01 4.00915564e-02 -7.14277488e-03 8.67564272e+02] [-4.00898338e-02 9.99196006e-01 3.84229875e-04 -6.39911778e+01] [ 7.15243650e-03 -9.75584906e-05 9.99974416e-01 3.17971446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.650714057 meters Centerline goodness [0,1] 0.9927134091319256 Centerline is valid? [True, True] Translation: X:867.59, Y:-63.99, Z:3.18 [[ 9.99043312e-01 4.32308383e-02 -6.59958997e-03 8.67593415e+02] [-4.32294480e-02 9.99065108e-01 3.53241754e-04 -6.39921158e+01] [ 6.60869101e-03 -6.76071799e-05 9.99978160e-01 3.17995365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6807140569999 meters Centerline goodness [0,1] 0.992712587144372 Centerline is valid? [True, True] Translation: X:867.62, Y:-63.99, Z:3.18 [[ 9.98911787e-01 4.61981736e-02 -6.40087231e-03 8.67622497e+02] [-4.61969371e-02 9.98932293e-01 3.40971371e-04 -6.39939644e+01] [ 6.40979031e-03 -4.48996259e-05 9.99979456e-01 3.17934238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7107140569999 meters Centerline goodness [0,1] 0.9934001576754139 Centerline is valid? [True, True] Translation: X:867.65, Y:-64.00, Z:3.18 [[ 9.98718649e-01 5.02183427e-02 -6.25924172e-03 8.67650997e+02] [-5.02172492e-02 9.98738263e-01 3.31840425e-04 -6.39980642e+01] [ 6.26800868e-03 -1.70933201e-05 9.99980356e-01 3.17812381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7407140569999 meters Centerline goodness [0,1] 0.9937095614665709 Centerline is valid? [True, True] Translation: X:867.68, Y:-64.00, Z:3.18 [[ 9.98658401e-01 5.13631265e-02 -6.57477873e-03 8.67679139e+02] [-5.13619574e-02 9.98680043e-01 3.46657370e-04 -6.40016109e+01] [ 6.58390572e-03 -8.49878950e-06 9.99978326e-01 3.17737849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.770714057 meters Centerline goodness [0,1] 0.9942718512029113 Centerline is valid? [True, True] Translation: X:867.71, Y:-64.01, Z:3.18 [[ 9.98540259e-01 5.36420501e-02 -6.31524512e-03 8.67705792e+02] [-5.36410238e-02 9.98560229e-01 3.31899242e-04 -6.40079271e+01] [ 6.32395637e-03 7.34145883e-06 9.99980004e-01 3.17553495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8007140569999 meters Centerline goodness [0,1] 0.9937948028673835 Centerline is valid? [True, True] Translation: X:867.73, Y:-64.01, Z:3.18 [[ 9.98497894e-01 5.45068763e-02 -5.56385902e-03 8.67732999e+02] [-5.45061030e-02 9.98513395e-01 2.90641737e-04 -6.40122737e+01] [ 5.57142973e-03 1.30591103e-05 9.99984479e-01 3.17629209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8307140569999 meters Centerline goodness [0,1] 0.9934854149410105 Centerline is valid? [True, True] Translation: X:867.76, Y:-64.02, Z:3.18 [[ 9.98458603e-01 5.52885908e-02 -4.85686244e-03 8.67760512e+02] [-5.52880178e-02 9.98470416e-01 2.52277019e-04 -6.40172623e+01] [ 4.86338150e-03 1.66381370e-05 9.99988174e-01 3.17660080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8607140569999 meters Centerline goodness [0,1] 0.9938019753416717 Centerline is valid? [True, True] Translation: X:867.79, Y:-64.03, Z:3.18 [[ 9.98414578e-01 5.62196020e-02 -2.77268206e-03 8.67787910e+02] [-5.62194217e-02 9.98418427e-01 1.42989100e-04 -6.40270503e+01] [ 2.77633565e-03 1.31161801e-05 9.99996146e-01 3.17669254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.890714057 meters Centerline goodness [0,1] 0.9942406048476762 Centerline is valid? [True, True] Translation: X:867.81, Y:-64.04, Z:3.18 [[ 9.98428312e-01 5.60292382e-02 -1.27679437e-03 8.67814770e+02] [-5.60291999e-02 9.98429128e-01 6.58113399e-05 -6.40378474e+01] [ 1.27847605e-03 5.82986176e-06 9.99999183e-01 3.17610065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9207140569999 meters Centerline goodness [0,1] 0.9936743979580512 Centerline is valid? [True, True] Translation: X:867.84, Y:-64.04, Z:3.18 [[ 9.98477956e-01 5.51499716e-02 -5.01588978e-04 8.67842838e+02] [-5.51499659e-02 9.98478082e-01 2.52505722e-05 -6.40444256e+01] [ 5.02218169e-04 2.45047530e-06 9.99999874e-01 3.17568011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9507140569999 meters Centerline goodness [0,1] 0.9942939290058609 Centerline is valid? [True, True] Translation: X:867.87, Y:-64.05, Z:3.18 [[ 9.98535244e-01 5.41021908e-02 -5.64443738e-04 8.67870534e+02] [-5.41021832e-02 9.98535404e-01 2.87503242e-05 -6.40511615e+01] [ 5.65172512e-04 1.82942656e-06 9.99999840e-01 3.17522592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9807140569999 meters Centerline goodness [0,1] 0.9932346351535386 Centerline is valid? [True, True] Translation: X:867.90, Y:-64.06, Z:3.17 [[ 9.98749868e-01 4.99870062e-02 8.96915552e-06 8.67898934e+02] [-4.99870062e-02 9.98749868e-01 -5.88859420e-07 -6.40646843e+01] [-8.98737821e-06 1.39782035e-07 1.00000000e+00 3.17358651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.010714057 meters Centerline goodness [0,1] 0.993452602535748 Centerline is valid? [True, True] Translation: X:867.93, Y:-64.07, Z:3.17 [[ 9.98877601e-01 4.73645070e-02 3.75671632e-04 8.67926779e+02] [-4.73645031e-02 9.98877672e-01 -1.93662236e-05 -6.40728056e+01] [-3.76167276e-04 1.55098678e-06 9.99999929e-01 3.17307576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.040714057 meters Centerline goodness [0,1] 0.9920951198797936 Centerline is valid? [True, True] Translation: X:867.96, Y:-64.09, Z:3.17 [[ 9.99159243e-01 4.09948302e-02 4.79743392e-04 8.67955042e+02] [-4.09948231e-02 9.99159359e-01 -2.46218683e-05 -6.40888009e+01] [-4.80349469e-04 4.93417185e-06 9.99999885e-01 3.17129801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0707140569999 meters Centerline goodness [0,1] 0.9909229098805646 Centerline is valid? [True, True] Translation: X:867.98, Y:-64.10, Z:3.17 [[ 9.99301841e-01 3.73456708e-02 1.06328865e-03 8.67983137e+02] [-3.73456341e-02 9.99302407e-01 -5.43372896e-05 -6.40977158e+01] [-1.06457617e-03 1.45901648e-05 9.99999433e-01 3.17043475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1007140569999 meters Centerline goodness [0,1] 0.9908314412368905 Centerline is valid? [True, True] Translation: X:868.01, Y:-64.11, Z:3.17 [[ 9.99439500e-01 3.34585697e-02 1.10007341e-03 8.68011383e+02] [-3.34585282e-02 9.99440105e-01 -5.61352964e-05 -6.41059779e+01] [-1.10133569e-03 1.92969955e-05 9.99999393e-01 3.16968340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.130714057 meters Centerline goodness [0,1] 0.9886888572292017 Centerline is valid? [True, True] Translation: X:868.04, Y:-64.12, Z:3.17 [[ 9.99667622e-01 2.57422956e-02 1.40730243e-03 8.68039796e+02] [-2.57422202e-02 9.99668612e-01 -7.16484918e-05 -6.41220327e+01] [-1.40868046e-03 3.53975882e-05 9.99999007e-01 3.16907279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.160714057 meters Centerline goodness [0,1] 0.9876402806686265 Centerline is valid? [True, True] Translation: X:868.07, Y:-64.14, Z:3.17 [[ 9.99826972e-01 1.83638299e-02 2.96569470e-03 8.68069758e+02] [-1.83634628e-02 9.99831366e-01 -1.50971126e-04 -6.41363015e+01] [-2.96796699e-03 9.64845794e-05 9.99995591e-01 3.16902399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1907140569999 meters Centerline goodness [0,1] 0.9871583940514091 Centerline is valid? [True, True] Translation: X:868.10, Y:-64.14, Z:3.17 [[ 9.99879995e-01 1.50542764e-02 3.65562026e-03 8.68097384e+02] [-1.50536969e-02 9.99886669e-01 -1.85964848e-04 -6.41445167e+01] [-3.65800554e-03 1.30911932e-04 9.99993301e-01 3.16915660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2207140569999 meters Centerline goodness [0,1] 0.9863511894574705 Centerline is valid? [True, True] Translation: X:868.13, Y:-64.15, Z:3.17 [[ 9.99921980e-01 1.18152160e-02 4.05396529e-03 8.68125133e+02] [-1.18144780e-02 9.99930185e-01 -2.05933021e-04 -6.41525615e+01] [-4.05611541e-03 1.58021470e-04 9.99991761e-01 3.16915857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.250714057 meters Centerline goodness [0,1] 0.9857989679730479 Centerline is valid? [True, True] Translation: X:868.15, Y:-64.16, Z:3.17 [[ 9.99970291e-01 6.21717710e-03 4.55674575e-03 8.68154830e+02] [-6.21618759e-03 9.99980653e-01 -2.31282492e-04 -6.41614025e+01] [-4.55809552e-03 2.02950035e-04 9.99989591e-01 3.16757143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.280714057 meters Centerline goodness [0,1] 0.9839518768864516 Centerline is valid? [True, True] Translation: X:868.18, Y:-64.17, Z:3.17 [[ 9.99983332e-01 3.65265234e-03 4.47138572e-03 8.68184196e+02] [-3.65167412e-03 9.99993307e-01 -2.26918100e-04 -6.41694153e+01] [-4.47218465e-03 2.10586274e-04 9.99989978e-01 3.16730672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3107140569999 meters Centerline goodness [0,1] 0.9840156028068092 Centerline is valid? [True, True] Translation: X:868.21, Y:-64.18, Z:3.17 [[ 9.99985627e-01 -1.16690364e-04 5.36017145e-03 8.68214164e+02] [ 1.18150473e-04 9.99999956e-01 -2.72083778e-04 -6.41798912e+01] [-5.36013947e-03 2.72713174e-04 9.99985597e-01 3.16696671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3407140569999 meters Centerline goodness [0,1] 0.9846659597030752 Centerline is valid? [True, True] Translation: X:868.25, Y:-64.18, Z:3.17 [[ 9.99982621e-01 -1.77647060e-03 5.62149339e-03 8.68246253e+02] [ 1.77810441e-03 9.99998378e-01 -2.85651686e-04 -6.41807354e+01] [-5.62097682e-03 2.95642323e-04 9.99984158e-01 3.16655109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.370714057 meters Centerline goodness [0,1] 0.9834421641791045 Centerline is valid? [True, True] Translation: X:868.28, Y:-64.19, Z:3.17 [[ 9.99973542e-01 -4.17596327e-03 5.95616010e-03 8.68276328e+02] [ 4.17784111e-03 9.99991227e-01 -3.02869059e-04 -6.41882268e+01] [-5.95484308e-03 3.27744937e-04 9.99982216e-01 3.16573746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.400714057 meters Centerline goodness [0,1] 0.9838155438656032 Centerline is valid? [True, True] Translation: X:868.31, Y:-64.19, Z:3.17 [[ 9.99966457e-01 -5.16071078e-03 6.36011411e-03 8.68308684e+02] [ 5.16287411e-03 9.99986620e-01 -3.23767549e-04 -6.41900966e+01] [-6.35835814e-03 3.56593158e-04 9.99979722e-01 3.16544763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4307140569999 meters Centerline goodness [0,1] 0.9833492619730275 Centerline is valid? [True, True] Translation: X:868.34, Y:-64.19, Z:3.17 [[ 9.99961698e-01 -6.00262106e-03 6.36955567e-03 8.68340011e+02] [ 6.00481187e-03 9.99981918e-01 -3.24881812e-04 -6.41947271e+01] [-6.36749036e-03 3.63117352e-04 9.99979661e-01 3.16532241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4607140569999 meters Centerline goodness [0,1] 0.9821663344501463 Centerline is valid? [True, True] Translation: X:868.37, Y:-64.20, Z:3.17 [[ 9.99948114e-01 -7.78109412e-03 6.57450760e-03 8.68372044e+02] [ 7.78347006e-03 9.99969652e-01 -3.35876782e-04 -6.41995921e+01] [-6.57169458e-03 3.87031838e-04 9.99978331e-01 3.16512875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4907140569999 meters Centerline goodness [0,1] 0.9821281797298151 Centerline is valid? [True, True] Translation: X:868.40, Y:-64.20, Z:3.16 [[ 9.99938760e-01 -8.81041354e-03 6.69721789e-03 8.68404557e+02] [ 8.81290516e-03 9.99961107e-01 -3.42617232e-04 -6.42017325e+01] [-6.69393882e-03 4.01618196e-04 9.99977515e-01 3.16466229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.520714057 meters Centerline goodness [0,1] 0.9820690237110792 Centerline is valid? [True, True] Translation: X:868.44, Y:-64.20, Z:3.16 [[ 9.99914891e-01 -1.07157215e-02 7.44199236e-03 8.68435841e+02] [ 1.07188532e-02 9.99942479e-01 -3.81059199e-04 -6.42035791e+01] [-7.43748097e-03 4.60796391e-04 9.99972235e-01 3.16397702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5507140569999 meters Centerline goodness [0,1] 0.9819689866570501 Centerline is valid? [True, True] Translation: X:868.47, Y:-64.20, Z:3.16 [[ 9.99893582e-01 -1.22469608e-02 7.92698471e-03 8.68467529e+02] [ 1.22505651e-02 9.99924876e-01 -4.06287983e-04 -6.42047179e+01] [-7.92141341e-03 5.03354789e-04 9.99968498e-01 3.16348564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5807140569999 meters Centerline goodness [0,1] 0.9818436050083684 Centerline is valid? [True, True] Translation: X:868.50, Y:-64.21, Z:3.16 [[ 9.99873057e-01 -1.35221225e-02 8.42742469e-03 8.68499362e+02] [ 1.35262462e-02 9.99908423e-01 -4.32510666e-04 -6.42073381e+01] [-8.42080447e-03 5.46447183e-04 9.99964395e-01 3.16344075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6107140569999 meters Centerline goodness [0,1] 0.9810303261007486 Centerline is valid? [True, True] Translation: X:868.53, Y:-64.21, Z:3.16 [[ 9.99831159e-01 -1.61475472e-02 8.76981952e-03 8.68528895e+02] [ 1.61521145e-02 9.99869445e-01 -4.50218908e-04 -6.42102146e+01] [-8.76140465e-03 5.91794022e-04 9.99961443e-01 3.16303664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.640714057 meters Centerline goodness [0,1] 0.9811040654889402 Centerline is valid? [True, True] Translation: X:868.56, Y:-64.21, Z:3.16 [[ 9.99812772e-01 -1.72964766e-02 8.67481559e-03 8.68560735e+02] [ 1.73009917e-02 9.99850227e-01 -4.45702429e-04 -6.42111331e+01] [-8.66580725e-03 5.95701893e-04 9.99962274e-01 3.16275685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6707140569999 meters Centerline goodness [0,1] 0.9825191927354698 Centerline is valid? [True, True] Translation: X:868.59, Y:-64.21, Z:3.16 [[ 9.99760069e-01 -2.00478744e-02 8.82537330e-03 8.68592144e+02] [ 2.00526573e-02 9.99798822e-01 -4.53785596e-04 -6.42094673e+01] [-8.81450039e-03 6.30648905e-04 9.99960953e-01 3.16180262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7007140569999 meters Centerline goodness [0,1] 0.9819469252360296 Centerline is valid? [True, True] Translation: X:868.62, Y:-64.21, Z:3.16 [[ 9.99722077e-01 -2.19530479e-02 8.59256669e-03 8.68622902e+02] [ 2.19576551e-02 9.99758804e-01 -4.42207674e-04 -6.42110417e+01] [-8.58078638e-03 6.30757390e-04 9.99962985e-01 3.16135837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7307140569999 meters Centerline goodness [0,1] 0.9812251493695647 Centerline is valid? [True, True] Translation: X:868.65, Y:-64.21, Z:3.16 [[ 9.99630769e-01 -2.59834828e-02 7.94881169e-03 8.68651956e+02] [ 2.59875521e-02 9.99662183e-01 -4.09070985e-04 -6.42140976e+01] [-7.93549735e-03 6.15490102e-04 9.99968324e-01 3.16035085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.760714057 meters Centerline goodness [0,1] 0.9807675942472981 Centerline is valid? [True, True] Translation: X:868.68, Y:-64.22, Z:3.16 [[ 9.99568171e-01 -2.83569534e-02 7.70426449e-03 8.68683433e+02] [ 2.83608476e-02 9.99597672e-01 -3.96666357e-04 -6.42150352e+01] [-7.68991659e-03 6.14994537e-04 9.99970243e-01 3.15947519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.790714057 meters Centerline goodness [0,1] 0.981785882453662 Centerline is valid? [True, True] Translation: X:868.71, Y:-64.22, Z:3.16 [[ 9.99490551e-01 -3.10208190e-02 7.50646274e-03 8.68714269e+02] [ 3.10245917e-02 9.99518547e-01 -3.86644670e-04 -6.42165863e+01] [-7.49085470e-03 6.19332636e-04 9.99971751e-01 3.15878364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8207140569999 meters Centerline goodness [0,1] 0.9787801236937513 Centerline is valid? [True, True] Translation: X:868.74, Y:-64.22, Z:3.16 [[ 9.99322981e-01 -3.61183418e-02 7.00326746e-03 8.68743382e+02] [ 3.61217516e-02 9.99347331e-01 -3.60970810e-04 -6.42223441e+01] [-6.98565898e-03 6.13696713e-04 9.99975412e-01 3.15768605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8507140569999 meters Centerline goodness [0,1] 0.9821672646506066 Centerline is valid? [True, True] Translation: X:868.77, Y:-64.22, Z:3.16 [[ 9.99230532e-01 -3.85886600e-02 7.01848685e-03 8.68774816e+02] [ 3.85921463e-02 9.99254980e-01 -3.61925317e-04 -6.42153154e+01] [-6.99929173e-03 6.32505298e-04 9.99975305e-01 3.15712626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.880714057 meters Centerline goodness [0,1] 0.9813783054043629 Centerline is valid? [True, True] Translation: X:868.81, Y:-64.21, Z:3.16 [[ 9.99095486e-01 -4.18737700e-02 7.40256687e-03 8.68805634e+02] [ 4.18777381e-02 9.99122670e-01 -3.81782812e-04 -6.42136060e+01] [-7.38008569e-03 6.91440241e-04 9.99972528e-01 3.15728170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.910714057 meters Centerline goodness [0,1] 0.9809632141477443 Centerline is valid? [True, True] Translation: X:868.84, Y:-64.22, Z:3.16 [[ 9.99073004e-01 -4.24298295e-02 7.26931116e-03 8.68837095e+02] [ 4.24336758e-02 9.99099215e-01 -3.75623577e-04 -6.42151239e+01] [-7.24682543e-03 6.83738968e-04 9.99973508e-01 3.15760726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9407140569999 meters Centerline goodness [0,1] 0.9808620652663649 Centerline is valid? [True, True] Translation: X:868.87, Y:-64.21, Z:3.16 [[ 9.99108722e-01 -4.14540979e-02 7.95732405e-03 8.68870134e+02] [ 4.14586847e-02 9.99140134e-01 -4.12263426e-04 -6.42103563e+01] [-7.93339181e-03 7.41796174e-04 9.99968255e-01 3.15822508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9707140569999 meters Centerline goodness [0,1] 0.9804385719511932 Centerline is valid? [True, True] Translation: X:868.90, Y:-64.21, Z:3.16 [[ 9.99144119e-01 -4.05015975e-02 8.40534114e-03 8.68902305e+02] [ 4.05066880e-02 9.99179172e-01 -4.36206689e-04 -6.42085630e+01] [-8.38077473e-03 7.76305880e-04 9.99964579e-01 3.15822935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.000714057 meters Centerline goodness [0,1] 0.980185397264418 Centerline is valid? [True, True] Translation: X:868.93, Y:-64.21, Z:3.16 [[ 9.99189115e-01 -3.93222035e-02 8.65311452e-03 8.68933631e+02] [ 3.93275580e-02 9.99226271e-01 -4.49443490e-04 -6.42071817e+01] [-8.62874625e-03 7.89384906e-04 9.99962460e-01 3.15804621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.030714057 meters Centerline goodness [0,1] 0.9818772328678143 Centerline is valid? [True, True] Translation: X:868.97, Y:-64.20, Z:3.16 [[ 9.99262993e-01 -3.74374296e-02 8.47992722e-03 8.68965373e+02] [ 3.74425061e-02 9.99298686e-01 -4.40631455e-04 -6.41983678e+01] [-8.45748402e-03 7.57816433e-04 9.99963948e-01 3.15718283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0607140569999 meters Centerline goodness [0,1] 0.9800817604592502 Centerline is valid? [True, True] Translation: X:869.00, Y:-64.20, Z:3.16 [[ 9.99295187e-01 -3.66364414e-02 8.17923980e-03 8.68996624e+02] [ 3.66411453e-02 9.99328397e-01 -4.25946472e-04 -6.42014623e+01] [-8.15814144e-03 7.25342973e-04 9.99966459e-01 3.15727004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0907140569999 meters Centerline goodness [0,1] 0.9816262109502558 Centerline is valid? [True, True] Translation: X:869.03, Y:-64.20, Z:3.16 [[ 9.99336942e-01 -3.58100385e-02 6.58152794e-03 8.69028837e+02] [ 3.58130699e-02 9.99358447e-01 -3.43284018e-04 -6.41965267e+01] [-6.56501253e-03 5.78761121e-04 9.99978283e-01 3.15528450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.120714057 meters Centerline goodness [0,1] 0.9805501709755406 Centerline is valid? [True, True] Translation: X:869.06, Y:-64.20, Z:3.15 [[ 9.99345158e-01 -3.57465059e-02 5.60739198e-03 8.69059779e+02] [ 3.57487071e-02 9.99360768e-01 -2.92777597e-04 -6.41963544e+01] [-5.59334178e-03 4.93042887e-04 9.99984236e-01 3.15440403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.150714057 meters Centerline goodness [0,1] 0.9833519284198552 Centerline is valid? [True, True] Translation: X:869.09, Y:-64.19, Z:3.15 [[ 9.99336896e-01 -3.60503078e-02 5.11307721e-03 8.69092624e+02] [ 3.60521436e-02 9.99349874e-01 -2.67287906e-04 -6.41894312e+01] [-5.10011726e-03 4.51448060e-04 9.99986892e-01 3.15305249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1807140569999 meters Centerline goodness [0,1] 0.9767431674842326 Centerline is valid? [True, True] Translation: X:869.12, Y:-64.19, Z:3.15 [[ 9.99310019e-01 -3.69250219e-02 4.00352403e-03 8.69123904e+02] [ 3.69261552e-02 9.99317975e-01 -2.09503295e-04 -6.41946420e+01] [-3.99305761e-03 3.57193492e-04 9.99991964e-01 3.15148776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2107140569999 meters Centerline goodness [0,1] 0.976542402441683 Centerline is valid? [True, True] Translation: X:869.16, Y:-64.19, Z:3.15 [[ 9.99291055e-01 -3.74681039e-02 3.67817489e-03 8.69156177e+02] [ 3.74690650e-02 9.99297769e-01 -1.92692460e-04 -6.41934068e+01] [-3.66837214e-03 3.30373626e-04 9.99993217e-01 3.15097727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2407140569999 meters Centerline goodness [0,1] 0.9843479404607931 Centerline is valid? [True, True] Translation: X:869.19, Y:-64.18, Z:3.15 [[ 9.99250073e-01 -3.85817476e-02 3.27739572e-03 8.69188516e+02] [ 3.85825175e-02 9.99255403e-01 -1.71977064e-04 -6.41791148e+01] [-3.26832020e-03 2.98298271e-04 9.99994615e-01 3.15144670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.270714057 meters Centerline goodness [0,1] 0.9825249564776659 Centerline is valid? [True, True] Translation: X:869.22, Y:-64.18, Z:3.15 [[ 9.99234627e-01 -3.89545076e-02 3.56455778e-03 8.69220067e+02] [ 3.89554222e-02 9.99240932e-01 -1.87507855e-04 -6.41815191e+01] [-3.55454777e-03 3.26223195e-04 9.99993629e-01 3.15211646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3007140569999 meters Centerline goodness [0,1] 0.9847595170548261 Centerline is valid? [True, True] Translation: X:869.25, Y:-64.18, Z:3.15 [[ 9.99211410e-01 -3.95155600e-02 3.88316692e-03 8.69252857e+02] [ 3.95166513e-02 9.99218891e-01 -2.04677594e-04 -6.41778443e+01] [-3.87204579e-03 3.57965940e-04 9.99992440e-01 3.15217572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3307140569999 meters Centerline goodness [0,1] 0.9837434094903339 Centerline is valid? [True, True] Translation: X:869.28, Y:-64.18, Z:3.15 [[ 9.99144685e-01 -4.11322223e-02 4.24713971e-03 8.69284293e+02] [ 4.11335432e-02 9.99153633e-01 -2.24092433e-04 -6.41760562e+01] [-4.23432765e-03 3.98600668e-04 9.99990956e-01 3.15243239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3607140569999 meters Centerline goodness [0,1] 0.9829722387861923 Centerline is valid? [True, True] Translation: X:869.31, Y:-64.18, Z:3.15 [[ 9.99040004e-01 -4.35876315e-02 4.38041533e-03 8.69314384e+02] [ 4.35890604e-02 9.99049518e-01 -2.31208607e-04 -6.41768467e+01] [-4.36617399e-03 4.21924836e-04 9.99990379e-01 3.15202403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.390714057 meters Centerline goodness [0,1] 0.9823802163833075 Centerline is valid? [True, True] Translation: X:869.35, Y:-64.18, Z:3.15 [[ 9.98977851e-01 -4.49770239e-02 4.50793255e-03 8.69345392e+02] [ 4.49785514e-02 9.98987924e-01 -2.37999325e-04 -6.41757437e+01] [-4.49266569e-03 4.40516330e-04 9.99989811e-01 3.15165637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4207140569999 meters Centerline goodness [0,1] 0.981893258551019 Centerline is valid? [True, True] Translation: X:869.38, Y:-64.18, Z:3.15 [[ 9.98933868e-01 -4.59523166e-02 4.41726236e-03 8.69377400e+02] [ 4.59537938e-02 9.98943539e-01 -2.33429121e-04 -6.41766709e+01] [-4.40186908e-03 4.36170218e-04 9.99990217e-01 3.15171052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4507140569999 meters Centerline goodness [0,1] 0.9817494862900197 Centerline is valid? [True, True] Translation: X:869.41, Y:-64.18, Z:3.15 [[ 9.98837303e-01 -4.80369286e-02 4.06136675e-03 8.69408496e+02] [ 4.80381950e-02 9.98845476e-01 -2.14782432e-04 -6.41753621e+01] [-4.04636032e-03 4.09633432e-04 9.99991730e-01 3.15130895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4807140569999 meters Centerline goodness [0,1] 0.9759619637328616 Centerline is valid? [True, True] Translation: X:869.44, Y:-64.18, Z:3.15 [[ 9.98774215e-01 -4.93884867e-02 3.29315390e-03 8.69438340e+02] [ 4.93893266e-02 9.98779587e-01 -1.74182645e-04 -6.41772289e+01] [-3.28053228e-03 3.36615788e-04 9.99994562e-01 3.15069046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.510714057 meters Centerline goodness [0,1] 0.982236871211786 Centerline is valid? [True, True] Translation: X:869.47, Y:-64.17, Z:3.15 [[ 9.98771093e-01 -4.94549991e-02 3.24139429e-03 8.69470794e+02] [ 4.94558135e-02 9.98776298e-01 -1.71546958e-04 -6.41723468e+01] [-3.22894393e-03 3.31641935e-04 9.99994732e-01 3.15051307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.540714057 meters Centerline goodness [0,1] 0.982236871211786 Centerline is valid? [True, True] Translation: X:869.50, Y:-64.17, Z:3.15 [[ 9.98776463e-01 -4.93464266e-02 3.24137914e-03 8.69503455e+02] [ 4.93472414e-02 9.98781668e-01 -1.71832661e-04 -6.41741687e+01] [-3.22895074e-03 3.31575537e-04 9.99994732e-01 3.15045294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5707140569999 meters Centerline goodness [0,1] 0.9790566623774238 Centerline is valid? [True, True] Translation: X:869.53, Y:-64.18, Z:3.15 [[ 9.98741730e-01 -5.00450762e-02 3.23205467e-03 8.69534303e+02] [ 5.00458908e-02 9.98746905e-01 -1.71613319e-04 -6.41769037e+01] [-3.21941620e-03 3.33148439e-04 9.99994762e-01 3.15064943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6007140569999 meters Centerline goodness [0,1] 0.9768894578845135 Centerline is valid? [True, True] Translation: X:869.57, Y:-64.18, Z:3.15 [[ 9.98745654e-01 -4.99500622e-02 3.47987926e-03 8.69565857e+02] [ 4.99510076e-02 9.98751652e-01 -1.85256893e-04 -6.41789699e+01] [-3.46628157e-03 3.58847992e-04 9.99993928e-01 3.15106736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.630714057 meters Centerline goodness [0,1] 0.9816149564214588 Centerline is valid? [True, True] Translation: X:869.60, Y:-64.18, Z:3.15 [[ 9.98734986e-01 -5.01219055e-02 4.02757993e-03 8.69597864e+02] [ 5.01231765e-02 9.98743020e-01 -2.15201498e-04 -6.41755559e+01] [-4.01173103e-03 4.16804365e-04 9.99991866e-01 3.15092302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.660714057 meters Centerline goodness [0,1] 0.9809481612760301 Centerline is valid? [True, True] Translation: X:869.63, Y:-64.17, Z:3.15 [[ 9.98755508e-01 -4.97402222e-02 3.65308740e-03 8.69629851e+02] [ 4.97412667e-02 9.98762118e-01 -1.95549342e-04 -6.41743962e+01] [-3.63883864e-03 3.77015176e-04 9.99993308e-01 3.15012860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6907140569999 meters Centerline goodness [0,1] 0.9657897657897658 Centerline is valid? [True, True] Translation: X:869.66, Y:-64.18, Z:3.15 [[ 9.98786541e-01 -4.91441122e-02 3.20970122e-03 8.69660743e+02] [ 4.91449168e-02 9.98791644e-01 -1.72250443e-04 -6.41827501e+01] [-3.19735767e-03 3.29781924e-04 9.99994834e-01 3.14976729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7207140569999 meters Centerline goodness [0,1] 0.9780246531081949 Centerline is valid? [True, True] Translation: X:869.69, Y:-64.18, Z:3.15 [[ 9.98820334e-01 -4.84539525e-02 3.18654848e-03 8.69692993e+02] [ 4.84547437e-02 9.98825364e-01 -1.71528098e-04 -6.41785402e+01] [-3.17449423e-03 3.25729142e-04 9.99994908e-01 3.14924652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.750714057 meters Centerline goodness [0,1] 0.9799853062314936 Centerline is valid? [True, True] Translation: X:869.72, Y:-64.18, Z:3.15 [[ 9.98910796e-01 -4.65492463e-02 3.22330208e-03 8.69724124e+02] [ 4.65500466e-02 9.98915944e-01 -1.73664159e-04 -6.41763557e+01] [-3.21172391e-03 3.23519866e-04 9.99994790e-01 3.14954731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.780714057 meters Centerline goodness [0,1] 0.9784005316792203 Centerline is valid? [True, True] Translation: X:869.76, Y:-64.18, Z:3.15 [[ 9.98966806e-01 -4.53430259e-02 3.05458617e-03 8.69755008e+02] [ 4.53437392e-02 9.98971430e-01 -1.64648108e-04 -6.41783806e+01] [-3.04397867e-03 3.02984353e-04 9.99995321e-01 3.14940248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8107140569999 meters Centerline goodness [0,1] 0.980097625915243 Centerline is valid? [True, True] Translation: X:869.79, Y:-64.18, Z:3.15 [[ 9.99039479e-01 -4.37306324e-02 2.78400242e-03 8.69786546e+02] [ 4.37312190e-02 9.99043321e-01 -1.50155163e-04 -6.41780200e+01] [-2.77477264e-03 2.71758756e-04 9.99996113e-01 3.14878783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8407140569999 meters Centerline goodness [0,1] 0.9806112681699798 Centerline is valid? [True, True] Translation: X:869.82, Y:-64.18, Z:3.15 [[ 9.99202103e-01 -3.98726907e-02 2.30774857e-03 8.69816100e+02] [ 3.98730837e-02 9.99204745e-01 -1.24512632e-04 -6.41779178e+01] [-2.30094867e-03 2.16430336e-04 9.99997329e-01 3.14830159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.870714057 meters Centerline goodness [0,1] 0.9810509908706302 Centerline is valid? [True, True] Translation: X:869.85, Y:-64.18, Z:3.15 [[ 9.99283180e-01 -3.78249827e-02 1.54806620e-03 8.69846666e+02] [ 3.78251571e-02 9.99284369e-01 -8.35018284e-05 -6.41778327e+01] [-1.54379990e-03 1.41997820e-04 9.99998798e-01 3.14762326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.900714057 meters Centerline goodness [0,1] 0.9847599582342879 Centerline is valid? [True, True] Translation: X:869.88, Y:-64.17, Z:3.15 [[ 9.99374055e-01 -3.53731081e-02 4.92134811e-04 8.69878222e+02] [ 3.53731254e-02 9.99374175e-01 -2.65220307e-05 -6.41734423e+01] [-4.90888654e-04 4.39137758e-05 9.99999879e-01 3.14688389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9307140569999 meters Centerline goodness [0,1] 0.9810748080699875 Centerline is valid? [True, True] Translation: X:869.91, Y:-64.18, Z:3.15 [[ 9.99473688e-01 -3.24397595e-02 -9.21918180e-05 8.69907511e+02] [ 3.24397601e-02 9.99473692e-01 4.94807616e-06 -6.41773234e+01] [ 9.19827824e-05 -7.93615239e-06 9.99999996e-01 3.14593029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9607140569999 meters Centerline goodness [0,1] 0.9877831679202457 Centerline is valid? [True, True] Translation: X:869.94, Y:-64.17, Z:3.14 [[ 9.99648615e-01 -2.64720139e-02 -1.37101126e-03 8.69938506e+02] [ 2.64721401e-02 9.99649549e-01 7.39810461e-05 -6.41708206e+01] [ 1.36857236e-03 -1.10248652e-04 9.99999057e-01 3.14470650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9907140569999 meters Centerline goodness [0,1] 0.9857926666071907 Centerline is valid? [True, True] Translation: X:869.97, Y:-64.17, Z:3.14 [[ 9.99720137e-01 -2.36016652e-02 -1.61544757e-03 8.69967766e+02] [ 2.36018365e-02 9.99721434e-01 8.70940908e-05 -6.41733361e+01] [ 1.61294199e-03 -1.25197246e-04 9.99998691e-01 3.14440578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.020714057 meters Centerline goodness [0,1] 0.987146529562982 Centerline is valid? [True, True] Translation: X:870.00, Y:-64.17, Z:3.14 [[ 9.99829934e-01 -1.83467925e-02 -1.87062847e-03 8.69998506e+02] [ 1.83470132e-02 9.99831674e-01 1.00883325e-04 -6.41665790e+01] [ 1.86846271e-03 -1.35186614e-04 9.99998245e-01 3.14494036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0507140569999 meters Centerline goodness [0,1] 0.9879668977857302 Centerline is valid? [True, True] Translation: X:870.03, Y:-64.17, Z:3.15 [[ 9.99870179e-01 -1.59651765e-02 -2.17680870e-03 8.70029792e+02] [ 1.59654699e-02 9.99872537e-01 1.17465732e-04 -6.41665380e+01] [ 2.17465588e-03 -1.52204257e-04 9.99997624e-01 3.14511779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0807140569999 meters Centerline goodness [0,1] 0.987525195968645 Centerline is valid? [True, True] Translation: X:870.06, Y:-64.17, Z:3.15 [[ 9.99896268e-01 -1.42812593e-02 -1.87040288e-03 8.70059921e+02] [ 1.42814731e-02 9.99898009e-01 1.00967029e-04 -6.41696134e+01] [ 1.86877018e-03 -1.27668664e-04 9.99998246e-01 3.14557072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1107140569999 meters Centerline goodness [0,1] 0.9889449489853123 Centerline is valid? [True, True] Translation: X:870.09, Y:-64.16, Z:3.15 [[ 9.99929623e-01 -1.18512932e-02 -5.44773394e-04 8.70091777e+02] [ 1.18513110e-02 9.99929770e-01 2.94426629e-05 -6.41553309e+01] [ 5.44386201e-04 -3.58968698e-05 9.99999851e-01 3.14719128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.140714057 meters Centerline goodness [0,1] 0.9889511429852085 Centerline is valid? [True, True] Translation: X:870.12, Y:-64.16, Z:3.15 [[ 9.99941232e-01 -1.08411529e-02 -4.10814076e-05 8.70124569e+02] [ 1.08411530e-02 9.99941233e-01 2.38452097e-06 -6.41561793e+01] [ 4.10531425e-05 -2.82975067e-06 9.99999999e-01 3.14776662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1707140569999 meters Centerline goodness [0,1] 0.9890661408854633 Centerline is valid? [True, True] Translation: X:870.16, Y:-64.16, Z:3.15 [[ 9.99950950e-01 -9.88491216e-03 6.21676166e-04 8.70156654e+02] [ 9.88493491e-03 9.99951142e-01 -3.35286518e-05 -6.41560995e+01] [-6.21314365e-04 3.96722357e-05 9.99999806e-01 3.14818722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2007140569999 meters Centerline goodness [0,1] 0.9901100868164324 Centerline is valid? [True, True] Translation: X:870.19, Y:-64.16, Z:3.15 [[ 9.99956380e-01 -9.30346166e-03 8.27193259e-04 8.70188736e+02] [ 9.30350182e-03 9.99956720e-01 -4.47153620e-05 -6.41563676e+01] [-8.26741451e-04 5.24092055e-05 9.99999657e-01 3.14852316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2307140569999 meters Centerline goodness [0,1] 0.9887544419954118 Centerline is valid? [True, True] Translation: X:870.22, Y:-64.16, Z:3.15 [[ 9.99942613e-01 -1.06753640e-02 8.98652403e-04 8.70219494e+02] [ 1.06754120e-02 9.99943015e-01 -4.86040093e-05 -6.41593590e+01] [-8.98082328e-04 5.81947047e-05 9.99999595e-01 3.14853211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.260714057 meters Centerline goodness [0,1] 0.9883692266320059 Centerline is valid? [True, True] Translation: X:870.25, Y:-64.16, Z:3.15 [[ 9.99931301e-01 -1.16905184e-02 8.51129846e-04 8.70250243e+02] [ 1.16905619e-02 9.99931662e-01 -4.61517626e-05 -6.41633557e+01] [-8.50532144e-04 5.60987782e-05 9.99999637e-01 3.14847150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.290714057 meters Centerline goodness [0,1] 0.9889701744513224 Centerline is valid? [True, True] Translation: X:870.28, Y:-64.16, Z:3.15 [[ 9.99909126e-01 -1.34530734e-02 8.68998731e-04 8.70281552e+02] [ 1.34531196e-02 9.99909502e-01 -4.72735707e-05 -6.41648066e+01] [-8.68284113e-04 5.89600186e-05 9.99999621e-01 3.14904150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3207140569999 meters Centerline goodness [0,1] 0.9876426709804978 Centerline is valid? [True, True] Translation: X:870.31, Y:-64.17, Z:3.15 [[ 9.99838946e-01 -1.79418322e-02 4.16588889e-04 8.70311131e+02] [ 1.79418432e-02 9.99839032e-01 -2.26850242e-05 -6.41702537e+01] [-4.16114821e-04 3.01557432e-05 9.99999913e-01 3.14887268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3507140569999 meters Centerline goodness [0,1] 0.9869614256711031 Centerline is valid? [True, True] Translation: X:870.34, Y:-64.17, Z:3.15 [[ 9.99785853e-01 -2.06940527e-02 6.83192304e-05 8.70342230e+02] [ 2.06940530e-02 9.99785855e-01 -3.69185825e-06 -6.41747155e+01] [-6.82282007e-05 5.10486942e-06 9.99999998e-01 3.14828710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.380714057 meters Centerline goodness [0,1] 0.9860497611106103 Centerline is valid? [True, True] Translation: X:870.37, Y:-64.18, Z:3.15 [[ 9.99669797e-01 -2.56951772e-02 -2.32559102e-04 8.70372765e+02] [ 2.56951808e-02 9.99669824e-01 1.27472416e-05 -6.41795983e+01] [ 2.32154774e-04 -1.87186806e-05 9.99999973e-01 3.14707648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.410714057 meters Centerline goodness [0,1] 0.9848600737874561 Centerline is valid? [True, True] Translation: X:870.40, Y:-64.18, Z:3.15 [[ 9.99606052e-01 -2.80586647e-02 -6.72924354e-04 8.70402458e+02] [ 2.80586957e-02 9.99606277e-01 3.66957687e-05 -6.41844822e+01] [ 6.71629774e-04 -5.55626921e-05 9.99999773e-01 3.14632795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4407140569999 meters Centerline goodness [0,1] 0.9853063425374643 Centerline is valid? [True, True] Translation: X:870.43, Y:-64.18, Z:3.15 [[ 9.99544696e-01 -3.01489983e-02 -1.19902439e-03 8.70433192e+02] [ 3.01490983e-02 9.99545410e-01 6.54368468e-05 -6.41846441e+01] [ 1.19650647e-03 -1.01556557e-04 9.99999279e-01 3.14548611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4707140569999 meters Centerline goodness [0,1] 0.9873069552474355 Centerline is valid? [True, True] Translation: X:870.46, Y:-64.18, Z:3.14 [[ 9.99463931e-01 -3.26543113e-02 -2.35515414e-03 8.70464249e+02] [ 3.26547043e-02 9.99466685e-01 1.28617767e-04 -6.41792816e+01] [ 2.34969817e-03 -2.05455681e-04 9.99997218e-01 3.14446363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.500714057 meters Centerline goodness [0,1] 0.9856665613290596 Centerline is valid? [True, True] Translation: X:870.49, Y:-64.18, Z:3.14 [[ 9.99400644e-01 -3.44664802e-02 -3.22703212e-03 8.70493829e+02] [ 3.44672272e-02 9.99405813e-01 1.76143968e-04 -6.41838308e+01] [ 3.21904360e-03 -2.87265244e-04 9.99994778e-01 3.14419993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.530714057 meters Centerline goodness [0,1] 0.9866232827187275 Centerline is valid? [True, True] Translation: X:870.53, Y:-64.18, Z:3.14 [[ 9.99388415e-01 -3.48109314e-02 -3.31584625e-03 8.70526161e+02] [ 3.48117232e-02 9.99393872e-01 1.81360816e-04 -6.41817445e+01] [ 3.30752308e-03 -2.96680221e-04 9.99994486e-01 3.14441718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5607140569999 meters Centerline goodness [0,1] 0.9857605614792819 Centerline is valid? [True, True] Translation: X:870.56, Y:-64.19, Z:3.14 [[ 9.99377778e-01 -3.51551047e-02 -2.85942734e-03 8.70556922e+02] [ 3.51556953e-02 9.99381835e-01 1.56534106e-04 -6.41863399e+01] [ 2.85215677e-03 -2.56961864e-04 9.99995900e-01 3.14463277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5907140569999 meters Centerline goodness [0,1] 0.9858156028368794 Centerline is valid? [True, True] Translation: X:870.59, Y:-64.19, Z:3.14 [[ 9.99386957e-01 -3.49432398e-02 -2.16347153e-03 8.70589114e+02] [ 3.49435778e-02 9.99389280e-01 1.18645640e-04 -6.41854540e+01] [ 2.15800439e-03 -1.94172341e-04 9.99997653e-01 3.14441801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.620714057 meters Centerline goodness [0,1] 0.9870390859620205 Centerline is valid? [True, True] Translation: X:870.62, Y:-64.18, Z:3.14 [[ 9.99403168e-01 -3.44280723e-02 -2.83107789e-03 8.70621357e+02] [ 3.44286496e-02 9.99407146e-01 1.55422138e-04 -6.41839287e+01] [ 2.82404859e-03 -2.52799566e-04 9.99995980e-01 3.14409675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.650714057 meters Centerline goodness [0,1] 0.9858578087523193 Centerline is valid? [True, True] Translation: X:870.65, Y:-64.19, Z:3.14 [[ 9.99455778e-01 -3.27584613e-02 -3.87693584e-03 8.70651884e+02] [ 3.27595316e-02 9.99463240e-01 2.12861444e-04 -6.41892469e+01] [ 3.86788184e-03 -3.39752202e-04 9.99992462e-01 3.14244681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6807140569999 meters Centerline goodness [0,1] 0.9872254492648393 Centerline is valid? [True, True] Translation: X:870.68, Y:-64.19, Z:3.14 [[ 9.99485244e-01 -3.17432436e-02 -4.64899754e-03 8.70684851e+02] [ 3.17447740e-02 9.99495975e-01 2.55750703e-04 -6.41850310e+01] [ 4.63853597e-03 -4.03200430e-04 9.99989161e-01 3.14261502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7107140569999 meters Centerline goodness [0,1] 0.9866808375921488 Centerline is valid? [True, True] Translation: X:870.71, Y:-64.19, Z:3.14 [[ 9.99528153e-01 -3.03080882e-02 -4.98901382e-03 8.70714950e+02] [ 3.03098327e-02 9.99540514e-01 2.74402288e-04 -6.41863852e+01] [ 4.97840483e-03 -4.25488986e-04 9.99987517e-01 3.14185380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7407140569999 meters Centerline goodness [0,1] 0.9846907532149418 Centerline is valid? [True, True] Translation: X:870.74, Y:-64.19, Z:3.14 [[ 9.99610324e-01 -2.73414005e-02 -5.62558573e-03 8.70744363e+02] [ 2.73435713e-02 9.99626047e-01 3.09315551e-04 -6.41905627e+01] [ 5.61502490e-03 -4.63018622e-04 9.99984128e-01 3.14037393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.770714057 meters Centerline goodness [0,1] 0.9874419874419874 Centerline is valid? [True, True] Translation: X:870.78, Y:-64.18, Z:3.14 [[ 9.99651993e-01 -2.57441248e-02 -5.75615743e-03 8.70776405e+02] [ 2.57463729e-02 9.99668457e-01 3.16786366e-04 -6.41791488e+01] [ 5.74609363e-03 -4.64876298e-04 9.99983383e-01 3.14175001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8007140569999 meters Centerline goodness [0,1] 0.9879062564055845 Centerline is valid? [True, True] Translation: X:870.81, Y:-64.18, Z:3.14 [[ 9.99732120e-01 -2.26002490e-02 -4.99160211e-03 8.70806892e+02] [ 2.26019007e-02 9.99744507e-01 2.74734549e-04 -6.41762098e+01] [ 4.98411772e-03 -3.87480649e-04 9.99987504e-01 3.14254881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8307140569999 meters Centerline goodness [0,1] 0.9876444707866961 Centerline is valid? [True, True] Translation: X:870.84, Y:-64.18, Z:3.14 [[ 9.99758988e-01 -2.14195949e-02 -4.81319752e-03 8.70837460e+02] [ 2.14211175e-02 9.99770506e-01 2.65012703e-04 -6.41764532e+01] [ 4.80641645e-03 -3.68052901e-04 9.99988381e-01 3.14268471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8607140569999 meters Centerline goodness [0,1] 0.9882205227713732 Centerline is valid? [True, True] Translation: X:870.87, Y:-64.18, Z:3.14 [[ 9.99781181e-01 -2.04343259e-02 -4.47532470e-03 8.70870211e+02] [ 2.04356349e-02 9.99791140e-01 2.46945847e-04 -6.41758562e+01] [ 4.46934381e-03 -3.38347912e-04 9.99989955e-01 3.14257342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.890714057 meters Centerline goodness [0,1] 0.9870462178154485 Centerline is valid? [True, True] Translation: X:870.90, Y:-64.18, Z:3.14 [[ 9.99809857e-01 -1.90364122e-02 -4.22679844e-03 8.70900259e+02] [ 1.90375672e-02 9.99818742e-01 2.33185993e-04 -6.41774723e+01] [ 4.22159327e-03 -3.13609614e-04 9.99991040e-01 3.14195722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9207140569999 meters Centerline goodness [0,1] 0.9885404515199341 Centerline is valid? [True, True] Translation: X:870.93, Y:-64.18, Z:3.14 [[ 9.99814515e-01 -1.86573496e-02 -4.77909860e-03 8.70932380e+02] [ 1.86588239e-02 9.99825874e-01 2.64090772e-04 -6.41771823e+01] [ 4.77333920e-03 -3.53214146e-04 9.99988545e-01 3.14166841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9507140569999 meters Centerline goodness [0,1] 0.9877244620895795 Centerline is valid? [True, True] Translation: X:870.96, Y:-64.18, Z:3.14 [[ 9.99820107e-01 -1.82811361e-02 -5.05499891e-03 8.70963091e+02] [ 1.82827819e-02 9.99832817e-01 2.79563800e-04 -6.41794672e+01] [ 5.04904305e-03 -3.71932952e-04 9.99987184e-01 3.14080048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9807140569999 meters Centerline goodness [0,1] 0.9869674759505268 Centerline is valid? [True, True] Translation: X:870.99, Y:-64.18, Z:3.14 [[ 9.99809755e-01 -1.87886088e-02 -5.23859455e-03 8.70994553e+02] [ 1.87903854e-02 9.99823403e-01 2.90115267e-04 -6.41834477e+01] [ 5.23221857e-03 -3.88495284e-04 9.99986236e-01 3.14005244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.010714057 meters Centerline goodness [0,1] 0.988366512010605 Centerline is valid? [True, True] Translation: X:871.03, Y:-64.18, Z:3.14 [[ 9.99805535e-01 -1.88412650e-02 -5.82227653e-03 8.71026882e+02] [ 1.88434628e-02 9.99822394e-01 3.22853526e-04 -6.41788317e+01] [ 5.81515949e-03 -4.32502593e-04 9.99982998e-01 3.14002067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.040714057 meters Centerline goodness [0,1] 0.9870469290905339 Centerline is valid? [True, True] Translation: X:871.06, Y:-64.19, Z:3.14 [[ 9.99793069e-01 -1.93571439e-02 -6.25464641e-03 8.71057109e+02] [ 1.93596912e-02 9.99812523e-01 3.46973166e-04 -6.41882501e+01] [ 6.24675740e-03 -4.67989389e-04 9.99980379e-01 3.13765396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0707140569999 meters Centerline goodness [0,1] 0.9886243750286684 Centerline is valid? [True, True] Translation: X:871.09, Y:-64.18, Z:3.14 [[ 9.99782446e-01 -1.98277150e-02 -6.47478587e-03 8.71089747e+02] [ 1.98304580e-02 9.99803292e-01 3.59715941e-04 -6.41825258e+01] [ 6.46637988e-03 -4.88035653e-04 9.99978974e-01 3.13797752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1007140569999 meters Centerline goodness [0,1] 0.988524552388414 Centerline is valid? [True, True] Translation: X:871.12, Y:-64.18, Z:3.14 [[ 9.99757988e-01 -2.08645768e-02 -6.97389328e-03 8.71121731e+02] [ 2.08677876e-02 9.99782169e-01 3.87943138e-04 -6.41824862e+01] [ 6.96427988e-03 -5.33378974e-04 9.99975607e-01 3.13688420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.130714057 meters Centerline goodness [0,1] 0.987819118488838 Centerline is valid? [True, True] Translation: X:871.15, Y:-64.19, Z:3.14 [[ 9.99729825e-01 -2.20565947e-02 -7.33371862e-03 8.71152187e+02] [ 2.20601847e-02 9.99756561e-01 4.08973705e-04 -6.41867889e+01] [ 7.32291273e-03 -5.70646397e-04 9.99973024e-01 3.13603834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.160714057 meters Centerline goodness [0,1] 0.9867360029322826 Centerline is valid? [True, True] Translation: X:871.18, Y:-64.19, Z:3.13 [[ 9.99679654e-01 -2.42222359e-02 -7.33983740e-03 8.71182133e+02] [ 2.42258910e-02 9.99706426e-01 4.09471132e-04 -6.41947357e+01] [ 7.32776430e-03 -5.87154060e-04 9.99972979e-01 3.13425826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1907140569999 meters Centerline goodness [0,1] 0.9868352123903883 Centerline is valid? [True, True] Translation: X:871.21, Y:-64.20, Z:3.13 [[ 9.99509423e-01 -3.04748127e-02 -7.22495072e-03 8.71212815e+02] [ 3.04785172e-02 9.99535341e-01 4.03173685e-04 -6.42021921e+01] [ 7.20930694e-03 -6.23181683e-04 9.99973818e-01 3.13163925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2207140569999 meters Centerline goodness [0,1] 0.9854413102820746 Centerline is valid? [True, True] Translation: X:871.24, Y:-64.22, Z:3.13 [[ 9.99330346e-01 -3.59724664e-02 -6.69635835e-03 8.71241148e+02] [ 3.59757724e-02 9.99352592e-01 3.73868636e-04 -6.42191688e+01] [ 6.67857410e-03 -6.14524938e-04 9.99977509e-01 3.13024661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.250714057 meters Centerline goodness [0,1] 0.9865534002634807 Centerline is valid? [True, True] Translation: X:871.27, Y:-64.22, Z:3.13 [[ 9.99278979e-01 -3.73626847e-02 -6.74920107e-03 8.71272105e+02] [ 3.73660752e-02 9.99301573e-01 3.76922467e-04 -6.42227404e+01] [ 6.73040442e-03 -6.28841853e-04 9.99977153e-01 3.13015750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.280714057 meters Centerline goodness [0,1] 0.9850786638416805 Centerline is valid? [True, True] Translation: X:871.30, Y:-64.23, Z:3.13 [[ 9.99249442e-01 -3.82681337e-02 -6.00847985e-03 8.71302639e+02] [ 3.82708394e-02 9.99267347e-01 3.35942871e-04 -6.42317707e+01] [ 5.99122181e-03 -5.65640294e-04 9.99981892e-01 3.13178580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3107140569999 meters Centerline goodness [0,1] 0.9842677862044059 Centerline is valid? [True, True] Translation: X:871.33, Y:-64.24, Z:3.14 [[ 9.99185726e-01 -4.03059207e-02 -1.82168334e-03 8.71333270e+02] [ 4.03061728e-02 9.99187371e-01 1.01888744e-04 -6.42355469e+01] [ 1.81609627e-03 -1.75230862e-04 9.99998336e-01 3.13932501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3407140569999 meters Centerline goodness [0,1] 0.9816872890888639 Centerline is valid? [True, True] Translation: X:871.36, Y:-64.25, Z:3.14 [[ 9.99202064e-01 -3.99071658e-02 -1.62873926e-03 8.71363824e+02] [ 3.99073671e-02 9.99203380e-01 9.12529938e-05 -6.42460153e+01] [ 1.62380012e-03 -1.56178875e-04 9.99998669e-01 3.13919375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.370714057 meters Centerline goodness [0,1] 0.9797197475041411 Centerline is valid? [True, True] Translation: X:871.39, Y:-64.26, Z:3.13 [[ 9.99279364e-01 -3.77840259e-02 -3.62214963e-03 8.71392392e+02] [ 3.77850064e-02 9.99285871e-01 2.02624815e-04 -6.42640017e+01] [ 3.61190697e-03 -3.39341743e-04 9.99993419e-01 3.13433380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.400714057 meters Centerline goodness [0,1] 0.9857809326101029 Centerline is valid? [True, True] Translation: X:871.42, Y:-64.26, Z:3.13 [[ 9.99318623e-01 -3.65542611e-02 -5.10643586e-03 8.71424063e+02] [ 3.65561955e-02 9.99331558e-01 2.85950243e-04 -6.42617445e+01] [ 5.09256980e-03 -4.72427270e-04 9.99986921e-01 3.13190915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4307140569999 meters Centerline goodness [0,1] 0.9857809326101029 Centerline is valid? [True, True] Translation: X:871.46, Y:-64.26, Z:3.13 [[ 9.99322528e-01 -3.64473589e-02 -5.10639791e-03 8.71456690e+02] [ 3.64492952e-02 9.99335463e-01 2.86627291e-04 -6.42636642e+01] [ 5.09255771e-03 -4.72557714e-04 9.99986921e-01 3.13184906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4607140569999 meters Centerline goodness [0,1] 0.9858059324496502 Centerline is valid? [True, True] Translation: X:871.49, Y:-64.27, Z:3.13 [[ 9.99356472e-01 -3.52501349e-02 -6.63857607e-03 8.71488150e+02] [ 3.52533828e-02 9.99378337e-01 3.72827755e-04 -6.42695938e+01] [ 6.62130688e-03 -6.06620093e-04 9.99977895e-01 3.12963483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4907140569999 meters Centerline goodness [0,1] 0.9862162947076827 Centerline is valid? [True, True] Translation: X:871.52, Y:-64.28, Z:3.13 [[ 9.99461634e-01 -3.18065890e-02 -8.04873790e-03 8.71517705e+02] [ 3.18112502e-02 9.99493792e-01 4.51734466e-04 -6.42768761e+01] [ 8.03029544e-03 -7.07531683e-04 9.99967506e-01 3.12977965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.520714057 meters Centerline goodness [0,1] 0.9863157190933607 Centerline is valid? [True, True] Translation: X:871.55, Y:-64.28, Z:3.13 [[ 9.99522813e-01 -2.97325458e-02 -8.37384837e-03 8.71548500e+02] [ 2.97375207e-02 9.99557632e-01 4.70192734e-04 -6.42781423e+01] [ 8.35616402e-03 -7.18985854e-04 9.99964828e-01 3.13091631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5507140569999 meters Centerline goodness [0,1] 0.9864870861808822 Centerline is valid? [True, True] Translation: X:871.58, Y:-64.28, Z:3.13 [[ 9.99655937e-01 -2.51017298e-02 -7.60994754e-03 8.71578885e+02] [ 2.51057049e-02 9.99684711e-01 4.27255873e-04 -6.42820257e+01] [ 7.59682334e-03 -6.18161967e-04 9.99970953e-01 3.13199557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5807140569999 meters Centerline goodness [0,1] 0.9873010234664654 Centerline is valid? [True, True] Translation: X:871.61, Y:-64.28, Z:3.13 [[ 9.99707796e-01 -2.31529536e-02 -6.94721504e-03 8.71610014e+02] [ 2.31562218e-02 9.99731783e-01 3.90358899e-04 -6.42826034e+01] [ 6.93631371e-03 -5.51116087e-04 9.99975792e-01 3.13251304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6107140569999 meters Centerline goodness [0,1] 0.9848551846119832 Centerline is valid? [True, True] Translation: X:871.64, Y:-64.29, Z:3.13 [[ 9.99788538e-01 -2.02650401e-02 -3.49404707e-03 8.71639305e+02] [ 2.02658490e-02 9.99794607e-01 1.96240720e-04 -6.42931249e+01] [ 3.48935259e-03 -2.67009053e-04 9.99993877e-01 3.13434296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.640714057 meters Centerline goodness [0,1] 0.9853739612188366 Centerline is valid? [True, True] Translation: X:871.67, Y:-64.30, Z:3.14 [[ 9.99816984e-01 -1.90195940e-02 -2.06225489e-03 8.71670936e+02] [ 1.90198736e-02 9.99819099e-01 1.16037043e-04 -6.42959017e+01] [ 2.05967485e-03 -1.55239633e-04 9.99997867e-01 3.13616052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6707140569999 meters Centerline goodness [0,1] 0.9863377693142313 Centerline is valid? [True, True] Translation: X:871.70, Y:-64.29, Z:3.14 [[ 9.99831280e-01 -1.83639870e-02 -4.18855206e-04 8.71703463e+02] [ 1.83639985e-02 9.99831367e-01 2.37082112e-05 -6.42936542e+01] [ 4.18349196e-04 -3.13960675e-05 9.99999912e-01 3.13780138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7007140569999 meters Centerline goodness [0,1] 0.9859142510746169 Centerline is valid? [True, True] Translation: X:871.74, Y:-64.30, Z:3.14 [[ 9.99851046e-01 -1.72109858e-02 1.29138274e-03 8.71735148e+02] [ 1.72110939e-02 9.99851876e-01 -7.26574434e-05 -6.42964314e+01] [-1.28994095e-03 9.48727303e-05 9.99999164e-01 3.13932466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7307140569999 meters Centerline goodness [0,1] 0.985340939241178 Centerline is valid? [True, True] Translation: X:871.77, Y:-64.30, Z:3.14 [[ 9.99845690e-01 -1.74664380e-02 1.87621950e-03 8.71765636e+02] [ 1.74666670e-02 9.99847441e-01 -1.05745857e-04 -6.43039475e+01] [-1.87408626e-03 1.38500840e-04 9.99998234e-01 3.13896226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.760714057 meters Centerline goodness [0,1] 0.9840940220032696 Centerline is valid? [True, True] Translation: X:871.80, Y:-64.31, Z:3.14 [[ 9.99821390e-01 -1.87575454e-02 2.31135160e-03 8.71796627e+02] [ 1.87578968e-02 9.99824047e-01 -1.30415624e-04 -6.43129129e+01] [-2.30849864e-03 1.73748425e-04 9.99997320e-01 3.13841984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.790714057 meters Centerline goodness [0,1] 0.9846923043037752 Centerline is valid? [True, True] Translation: X:871.83, Y:-64.32, Z:3.14 [[ 9.99735923e-01 -2.27118373e-02 3.50087666e-03 8.71826538e+02] [ 2.27126679e-02 9.99742015e-01 -1.97653595e-04 -6.43165475e+01] [-3.49548440e-03 2.77115648e-04 9.99993852e-01 3.13724131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8207140569999 meters Centerline goodness [0,1] 0.9812944585931325 Centerline is valid? [True, True] Translation: X:871.86, Y:-64.33, Z:3.14 [[ 9.99669060e-01 -2.54816229e-02 3.52960320e-03 8.71855372e+02] [ 2.54824846e-02 9.99675249e-01 -1.99347173e-04 -6.43317724e+01] [-3.52337727e-03 2.89224260e-04 9.99993751e-01 3.13694003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8507140569999 meters Centerline goodness [0,1] 0.9822939209128467 Centerline is valid? [True, True] Translation: X:871.89, Y:-64.33, Z:3.14 [[ 9.99507052e-01 -3.12538133e-02 2.97514257e-03 8.71885975e+02] [ 3.12544511e-02 9.99511446e-01 -1.68123700e-04 -6.43340611e+01] [-2.96843454e-03 2.61027272e-04 9.99995560e-01 3.13616454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.880714057 meters Centerline goodness [0,1] 0.9816521777117645 Centerline is valid? [True, True] Translation: X:871.91, Y:-64.34, Z:3.14 [[ 9.99419498e-01 -3.40012770e-02 2.14000287e-03 8.71914937e+02] [ 3.40016132e-02 9.99421771e-01 -1.20938489e-04 -6.43420584e+01] [-2.13465340e-03 1.93631834e-04 9.99997703e-01 3.13539718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.910714057 meters Centerline goodness [0,1] 0.9809301207977457 Centerline is valid? [True, True] Translation: X:871.95, Y:-64.35, Z:3.13 [[ 9.99327107e-01 -3.66419664e-02 1.64288932e-03 8.71945293e+02] [ 3.66421682e-02 9.99328446e-01 -9.28774705e-05 -6.43472901e+01] [-1.63838282e-03 1.53014001e-04 9.99998646e-01 3.13432543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9407140569999 meters Centerline goodness [0,1] 0.9808274690080394 Centerline is valid? [True, True] Translation: X:871.98, Y:-64.35, Z:3.13 [[ 9.99130869e-01 -4.16775073e-02 7.01422856e-04 8.71975154e+02] [ 4.16775453e-02 9.99131113e-01 -3.96563505e-05 -6.43539139e+01] [-6.99160621e-04 6.88554667e-05 9.99999753e-01 3.13301579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9707140569999 meters Centerline goodness [0,1] 0.9801768831960964 Centerline is valid? [True, True] Translation: X:872.01, Y:-64.35, Z:3.13 [[ 9.99039760e-01 -4.37993505e-02 1.08418966e-03 8.72005765e+02] [ 4.37994426e-02 9.99040342e-01 -6.12843018e-05 -6.43549963e+01] [-1.08046499e-03 1.08712357e-04 9.99999410e-01 3.13251495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.000714057 meters Centerline goodness [0,1] 0.9757321630311984 Centerline is valid? [True, True] Translation: X:872.03, Y:-64.37, Z:3.13 [[ 9.98906781e-01 -4.67126792e-02 1.77983612e-03 8.72034161e+02] [ 4.67129320e-02 9.98908350e-01 -1.00661503e-04 -6.43683944e+01] [-1.77319099e-03 1.83692822e-04 9.99998411e-01 3.13346001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.030714057 meters Centerline goodness [0,1] 0.9768867821965167 Centerline is valid? [True, True] Translation: X:872.07, Y:-64.37, Z:3.13 [[ 9.98856872e-01 -4.77284310e-02 2.63558071e-03 8.72066585e+02] [ 4.77289887e-02 9.98860311e-01 -1.49074594e-04 -6.43688083e+01] [-2.62546188e-03 2.74697785e-04 9.99996516e-01 3.13395247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0607140569999 meters Centerline goodness [0,1] 0.966535732112242 Centerline is valid? [True, True] Translation: X:872.10, Y:-64.38, Z:3.13 [[ 9.98810772e-01 -4.86691853e-02 2.89012954e-03 8.72097352e+02] [ 4.86698606e-02 9.98814907e-01 -1.63735841e-04 -6.43786504e+01] [-2.87873558e-03 3.04203323e-04 9.99995810e-01 3.13413750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0907140569999 meters Centerline goodness [0,1] 0.9752035448453495 Centerline is valid? [True, True] Translation: X:872.13, Y:-64.38, Z:3.13 [[ 9.98723907e-01 -5.04078693e-02 3.09909330e-03 8.72128833e+02] [ 5.04086548e-02 9.98728660e-01 -1.75845363e-04 -6.43760829e+01] [-3.08628931e-03 3.31842093e-04 9.99995182e-01 3.13321267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.120714057 meters Centerline goodness [0,1] 0.9739457602053022 Centerline is valid? [True, True] Translation: X:872.16, Y:-64.38, Z:3.13 [[ 9.98663161e-01 -5.16245207e-02 2.60748030e-03 8.72159500e+02] [ 5.16250811e-02 9.98666525e-01 -1.48019116e-04 -6.43802120e+01] [-2.59636188e-03 2.82432620e-04 9.99996590e-01 3.13296361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.150714057 meters Centerline goodness [0,1] 0.9745871499749788 Centerline is valid? [True, True] Translation: X:872.19, Y:-64.38, Z:3.13 [[ 9.98523108e-01 -5.43235726e-02 7.42762082e-04 8.72189881e+02] [ 5.43236188e-02 9.98523381e-01 -4.21699989e-05 -6.43802820e+01] [-7.39374480e-04 8.24572426e-05 9.99999723e-01 3.13111746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1807140569999 meters Centerline goodness [0,1] 0.9744187566731309 Centerline is valid? [True, True] Translation: X:872.22, Y:-64.38, Z:3.13 [[ 9.98476575e-01 -5.51702610e-02 -8.78136684e-04 8.72221420e+02] [ 5.51703261e-02 9.98476956e-01 5.00100708e-05 -6.43819734e+01] [ 8.74040175e-04 -9.83809714e-05 9.99999613e-01 3.13023971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2107140569999 meters Centerline goodness [0,1] 0.9727540019601437 Centerline is valid? [True, True] Translation: X:872.25, Y:-64.38, Z:3.13 [[ 9.98409464e-01 -5.62452371e-02 -3.87491785e-03 8.72252053e+02] [ 5.62465104e-02 9.98416888e-01 2.20341039e-04 -6.43830833e+01] [ 3.85639029e-03 -4.37941186e-04 9.99992468e-01 3.12820115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2407140569999 meters Centerline goodness [0,1] 0.9600253114839948 Centerline is valid? [True, True] Translation: X:872.28, Y:-64.39, Z:3.13 [[ 9.98399966e-01 -5.63236034e-02 -5.01601267e-03 8.72283367e+02] [ 5.63257398e-02 9.98412405e-01 2.85551858e-04 -6.43868696e+01] [ 4.99196596e-03 -5.67625589e-04 9.99987379e-01 3.12795286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.270714057 meters Centerline goodness [0,1] 0.9082926616698623 Centerline is valid? [True, False] Translation: X:872.28, Y:-64.39, Z:3.13 [[ 9.98589697e-01 -5.28465314e-02 -5.08544733e-03 8.72283300e+02] [ 5.28696325e-02 9.98591190e-01 4.52065364e-03 -6.43878173e+01] [ 4.83938204e-03 -4.78314388e-03 9.99976851e-01 3.12730799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3007140569999 meters Centerline goodness [0,1] 0.9614450980820959 Centerline is valid? [False, True] Translation: X:872.28, Y:-64.39, Z:3.13 [[ 9.98761891e-01 -4.94504216e-02 -5.41667170e-03 8.72283344e+02] [ 4.94906294e-02 9.98745983e-01 7.55901241e-03 -6.43851895e+01] [ 5.03608275e-03 -7.81772803e-03 9.99956760e-01 3.12749530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3307140569999 meters Centerline goodness [0,1] 0.9284351354315166 Centerline is valid? [True, False] Translation: X:872.28, Y:-64.38, Z:3.13 [[ 9.98922997e-01 -4.60594667e-02 -5.60099847e-03 8.72283227e+02] [ 4.61186766e-02 9.98875989e-01 1.09464944e-02 -6.43840514e+01] [ 5.09051319e-03 -1.11930157e-02 9.99924399e-01 3.12750650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3607140569999 meters Centerline goodness [0,1] 0.9792775623754134 Centerline is valid? [False, True] Translation: X:872.28, Y:-64.38, Z:3.13 [[ 9.99079312e-01 -4.24486643e-02 -6.21604872e-03 8.72283987e+02] [ 4.25251443e-02 9.99014206e-01 1.27369190e-02 -6.43774011e+01] [ 5.66925577e-03 -1.29895306e-02 9.99899561e-01 3.12810411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.390714057 meters Centerline goodness [0,1] 0.9810228298439116 Centerline is valid? [True, True] Translation: X:872.32, Y:-64.37, Z:3.13 [[ 9.99201828e-01 -3.92073674e-02 -7.64787234e-03 8.72315096e+02] [ 3.92121124e-02 9.99230798e-01 4.71420848e-04 -6.43674819e+01] [ 7.62350641e-03 -7.70933803e-04 9.99970643e-01 3.13183536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4207140569999 meters Centerline goodness [0,1] 0.9811670677588148 Centerline is valid? [True, True] Translation: X:872.34, Y:-64.36, Z:3.13 [[ 9.99300616e-01 -3.63146539e-02 -8.91768721e-03 8.72344618e+02] [ 3.63209896e-02 9.99340024e-01 5.49483961e-04 -6.43641274e+01] [ 8.89184743e-03 -8.72998885e-04 9.99960086e-01 3.13195709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4507140569999 meters Centerline goodness [0,1] 0.9830866807610994 Centerline is valid? [True, True] Translation: X:872.37, Y:-64.35, Z:3.13 [[ 9.99502998e-01 -2.99361892e-02 -9.87836929e-03 8.72374924e+02] [ 2.99436528e-02 9.99551403e-01 6.08491307e-04 -6.43533652e+01] [ 9.85572197e-03 -9.03983346e-04 9.99951023e-01 3.13273606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4807140569999 meters Centerline goodness [0,1] 0.9842418608768785 Centerline is valid? [True, True] Translation: X:872.40, Y:-64.35, Z:3.13 [[ 9.99566188e-01 -2.73548631e-02 -1.09154460e-02 8.72404842e+02] [ 2.73638247e-02 9.99625314e-01 6.72474942e-04 -6.43499716e+01] [ 1.08929606e-02 -9.70871564e-04 9.99940199e-01 3.13243758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.510714057 meters Centerline goodness [0,1] 0.9865289127385273 Centerline is valid? [True, True] Translation: X:872.44, Y:-64.34, Z:3.13 [[ 9.99652347e-01 -2.27751059e-02 -1.32845596e-02 8.72436612e+02] [ 2.27879804e-02 9.99739985e-01 8.18550084e-04 -6.43370941e+01] [ 1.32624629e-02 -1.12099380e-03 9.99911421e-01 3.13178941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.540714057 meters Centerline goodness [0,1] 0.9855731883253801 Centerline is valid? [True, True] Translation: X:872.47, Y:-64.34, Z:3.13 [[ 9.99677646e-01 -2.08056742e-02 -1.45508474e-02 8.72466934e+02] [ 2.08209177e-02 9.99782819e-01 8.96884916e-04 -6.43382893e+01] [ 1.45290270e-02 -1.19955780e-03 9.99893729e-01 3.12958246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5707140569999 meters Centerline goodness [0,1] 0.985157243934558 Centerline is valid? [True, True] Translation: X:872.50, Y:-64.34, Z:3.13 [[ 9.99686156e-01 -1.95373698e-02 -1.56805940e-02 8.72497591e+02] [ 1.95549161e-02 9.99808317e-01 9.66423794e-04 -6.43350986e+01] [ 1.56587069e-02 -1.27275319e-03 9.99876585e-01 3.12880124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6007140569999 meters Centerline goodness [0,1] 0.983697358389021 Centerline is valid? [True, True] Translation: X:872.53, Y:-64.33, Z:3.13 [[ 9.99670209e-01 -1.89572496e-02 -1.73232950e-02 8.72528873e+02] [ 1.89785789e-02 9.99819320e-01 1.06766648e-03 -6.43288662e+01] [ 1.72999251e-02 -1.39608589e-03 9.99849370e-01 3.12809969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.630714057 meters Centerline goodness [0,1] 0.9865070826609288 Centerline is valid? [True, True] Translation: X:872.56, Y:-64.32, Z:3.13 [[ 9.99652505e-01 -1.96244451e-02 -1.75997095e-02 8.72559289e+02] [ 1.96465490e-02 9.99806400e-01 1.08389301e-03 -6.43176609e+01] [ 1.75750314e-02 -1.42928991e-03 9.99844526e-01 3.13052084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.660714057 meters Centerline goodness [0,1] 0.9842345893110516 Centerline is valid? [True, True] Translation: X:872.59, Y:-64.32, Z:3.13 [[ 9.99564427e-01 -2.29865706e-02 -1.85087463e-02 8.72588944e+02] [ 2.30115924e-02 9.99734548e-01 1.14002431e-03 -6.43202324e+01] [ 1.84776279e-02 -1.56544347e-03 9.99828049e-01 3.12947746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6907140569999 meters Centerline goodness [0,1] 0.9853262707088921 Centerline is valid? [True, True] Translation: X:872.62, Y:-64.32, Z:3.13 [[ 9.99514410e-01 -2.53437910e-02 -1.81283567e-02 8.72619493e+02] [ 2.53681722e-02 9.99677553e-01 1.11619024e-03 -6.43165589e+01] [ 1.80942228e-02 -1.57553151e-03 9.99835045e-01 3.13100055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7207140569999 meters Centerline goodness [0,1] 0.980759665385485 Centerline is valid? [True, True] Translation: X:872.65, Y:-64.32, Z:3.13 [[ 9.99366584e-01 -3.06786898e-02 -1.80346496e-02 8.72648720e+02] [ 3.07036734e-02 9.99527915e-01 1.10999618e-03 -6.43187955e+01] [ 1.79920825e-02 -1.66302308e-03 9.99836746e-01 3.13144357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.750714057 meters Centerline goodness [0,1] 0.8769835887698358 Centerline is valid? [True, False] Translation: X:872.65, Y:-64.32, Z:3.13 [[ 9.99346496e-01 -3.13210639e-02 -1.80435971e-02 8.72648427e+02] [ 3.13344600e-02 9.99508849e-01 4.60123755e-04 -6.43172103e+01] [ 1.80203234e-02 -1.02520943e-03 9.99837095e-01 3.13186023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.780714057 meters Centerline goodness [0,1] 0.9716563530421428 Centerline is valid? [False, True] Translation: X:872.65, Y:-64.32, Z:3.13 [[ 9.99324907e-01 -3.19160696e-02 -1.81960291e-02 8.72648437e+02] [ 3.19176483e-02 9.99490481e-01 -2.03720138e-04 -6.43156694e+01] [ 1.81932598e-02 -3.77191847e-04 9.99834418e-01 3.13223584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8107140569999 meters Centerline goodness [0,1] 0.9660481998331718 Centerline is valid? [True, True] Translation: X:872.68, Y:-64.32, Z:3.13 [[ 9.99183046e-01 -3.62718333e-02 -1.78211795e-02 8.72678959e+02] [ 3.62985353e-02 9.99340298e-01 1.17705071e-03 -6.43155136e+01] [ 1.77667290e-02 -1.82297183e-03 9.99840497e-01 3.13341901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8407140569999 meters Centerline goodness [0,1] 0.9726434124339883 Centerline is valid? [True, True] Translation: X:872.71, Y:-64.31, Z:3.14 [[ 9.99120789e-01 -3.80556835e-02 -1.75901614e-02 8.72710560e+02] [ 3.80819853e-02 9.99273942e-01 1.16260404e-03 -6.43142538e+01] [ 1.75331462e-02 -1.83145013e-03 9.99844605e-01 3.13500496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.870714057 meters Centerline goodness [0,1] 0.9414256268545154 Centerline is valid? [True, False] Translation: X:872.71, Y:-64.31, Z:3.14 [[ 9.99095342e-01 -3.88112346e-02 -1.73834982e-02 8.72709520e+02] [ 3.88201602e-02 9.99246198e-01 1.76179263e-04 -6.43124149e+01] [ 1.73635568e-02 -8.50850067e-04 9.99848880e-01 3.13610127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.900714057 meters Centerline goodness [0,1] 0.9035598558836192 Centerline is valid? [False, False] Translation: X:872.71, Y:-64.31, Z:3.14 [[ 9.99217255e-01 -3.55986214e-02 -1.72515370e-02 8.72708890e+02] [ 3.56735545e-02 9.99355268e-01 4.05537095e-03 -6.43137751e+01] [ 1.70960488e-02 -4.66762028e-03 9.99842957e-01 3.13576815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9307140569999 meters Centerline goodness [0,1] 0.9504574211460561 Centerline is valid? [False, True] Translation: X:872.71, Y:-64.31, Z:3.14 [[ 9.99217128e-01 -3.54759731e-02 -1.75096193e-02 8.72709464e+02] [ 3.55496293e-02 9.99360250e-01 3.91334274e-03 -6.43129359e+01] [ 1.73595879e-02 -4.53273957e-03 9.99839037e-01 3.13579445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9607140569999 meters Centerline goodness [0,1] 0.9361750419901039 Centerline is valid? [True, False] Translation: X:872.71, Y:-64.31, Z:3.14 [[ 9.99337443e-01 -3.19196557e-02 -1.74874489e-02 8.72708998e+02] [ 3.20574532e-02 9.99456698e-01 7.65689688e-03 -6.43134112e+01] [ 1.72335424e-02 -8.21242682e-03 9.99817764e-01 3.13584747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9907140569999 meters Centerline goodness [0,1] 0.9588165734297539 Centerline is valid? [False, True] Translation: X:872.71, Y:-64.31, Z:3.14 [[ 9.99338595e-01 -3.17403126e-02 -1.77461363e-02 8.72709580e+02] [ 3.18770879e-02 9.99463820e-01 7.47825769e-03 -6.43124812e+01] [ 1.74992590e-02 -8.03900668e-03 9.99814558e-01 3.13591499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.020714057 meters Centerline goodness [0,1] 0.8986409966024915 Centerline is valid? [True, False] Translation: X:872.71, Y:-64.31, Z:3.14 [[ 9.99353966e-01 -3.10690808e-02 -1.80655317e-02 8.72710280e+02] [ 3.12054748e-02 9.99486203e-01 7.31765553e-03 -6.43109295e+01] [ 1.78288969e-02 -7.87667157e-03 9.99810026e-01 3.13639228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0507140569999 meters Centerline goodness [0,1] 0.9694876092964255 Centerline is valid? [False, True] Translation: X:872.71, Y:-64.31, Z:3.14 [[ 9.99359723e-01 -3.07546026e-02 -1.82838399e-02 8.72710858e+02] [ 3.08954859e-02 9.99494681e-01 7.47340329e-03 -6.43107103e+01] [ 1.80447592e-02 -8.03350636e-03 9.99804906e-01 3.13633512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0807140569999 meters Centerline goodness [0,1] 0.9574598282075109 Centerline is valid? [True, True] Translation: X:872.74, Y:-64.31, Z:3.14 [[ 9.99419588e-01 -2.82599258e-02 -1.90227233e-02 8.72740754e+02] [ 2.82888805e-02 9.99599002e-01 1.25469196e-03 -6.43129711e+01] [ 1.89796377e-02 -1.79209527e-03 9.99818264e-01 3.13736083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1107140569999 meters Centerline goodness [0,1] 0.9634981851179674 Centerline is valid? [True, True] Translation: X:872.77, Y:-64.31, Z:3.14 [[ 9.99453849e-01 -2.67314636e-02 -1.94276087e-02 8.72771934e+02] [ 2.67613856e-02 9.99641028e-01 1.28178931e-03 -6.43144484e+01] [ 1.93863707e-02 -1.80099899e-03 9.99810445e-01 3.13719209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.140714057 meters Centerline goodness [0,1] 0.9822952461142844 Centerline is valid? [True, True] Translation: X:872.80, Y:-64.31, Z:3.14 [[ 9.99481325e-01 -2.53830480e-02 -1.98187422e-02 8.72803538e+02] [ 2.54139397e-02 9.99676157e-01 1.30836937e-03 -6.43099844e+01] [ 1.97791136e-02 -1.81136307e-03 9.99802733e-01 3.13867830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1707140569999 meters Centerline goodness [0,1] 0.981679389312977 Centerline is valid? [True, True] Translation: X:872.83, Y:-64.31, Z:3.14 [[ 9.99489164e-01 -2.40439814e-02 -2.10546538e-02 8.72833568e+02] [ 2.40785588e-02 9.99709103e-01 1.39026512e-03 -6.43137665e+01] [ 2.10151016e-02 -1.89652064e-03 9.99777360e-01 3.13839167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2007140569999 meters Centerline goodness [0,1] 0.9827938903536685 Centerline is valid? [True, True] Translation: X:872.86, Y:-64.32, Z:3.14 [[ 9.99498734e-01 -2.35972888e-02 -2.11056741e-02 8.72863850e+02] [ 2.36319340e-02 9.99719756e-01 1.39357704e-03 -6.43159854e+01] [ 2.10668747e-02 -1.89164639e-03 9.99776279e-01 3.13863329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2307140569999 meters Centerline goodness [0,1] 0.9726696832579186 Centerline is valid? [True, True] Translation: X:872.89, Y:-64.32, Z:3.14 [[ 9.99526900e-01 -2.24231827e-02 -2.10517625e-02 8.72893082e+02] [ 2.24573839e-02 9.99746835e-01 1.38959298e-03 -6.43243809e+01] [ 2.10152738e-02 -1.86170307e-03 9.99777421e-01 3.13802914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.260714057 meters Centerline goodness [0,1] 0.9804552145849847 Centerline is valid? [True, True] Translation: X:872.92, Y:-64.32, Z:3.14 [[ 9.99546727e-01 -2.17979448e-02 -2.07651014e-02 8.72922549e+02] [ 2.18310708e-02 9.99760735e-01 1.36989344e-03 -6.43247885e+01] [ 2.07302722e-02 -1.82259690e-03 9.99783444e-01 3.13896935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.290714057 meters Centerline goodness [0,1] 0.9812749365252086 Centerline is valid? [True, True] Translation: X:872.95, Y:-64.33, Z:3.14 [[ 9.99582933e-01 -1.99088695e-02 -2.09188371e-02 8.72952119e+02] [ 1.99420623e-02 9.99800186e-01 1.37931362e-03 -6.43284217e+01] [ 2.08871967e-02 -1.79590311e-03 9.99780226e-01 3.13944344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3207140569999 meters Centerline goodness [0,1] 0.9785065316638792 Centerline is valid? [True, True] Translation: X:872.98, Y:-64.33, Z:3.14 [[ 9.99620704e-01 -1.83086776e-02 -2.05728124e-02 8.72981159e+02] [ 1.83404301e-02 9.99830881e-01 1.35579090e-03 -6.43327540e+01] [ 2.05445104e-02 -1.73259088e-03 9.99787438e-01 3.13944711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3507140569999 meters Centerline goodness [0,1] 0.9785065316638792 Centerline is valid? [True, True] Translation: X:873.01, Y:-64.33, Z:3.14 [[ 9.99616314e-01 -1.85464009e-02 -2.05731774e-02 8.73009442e+02] [ 1.85780901e-02 9.99826501e-01 1.35024302e-03 -6.43345541e+01] [ 2.05445658e-02 -1.73193529e-03 9.99787438e-01 3.13935549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.380714057 meters Centerline goodness [0,1] 0.9774666276478401 Centerline is valid? [True, True] Translation: X:873.04, Y:-64.34, Z:3.14 [[ 9.99657826e-01 -1.67382010e-02 -2.01013418e-02 8.73037772e+02] [ 1.67680813e-02 9.99858536e-01 1.31884476e-03 -6.43378607e+01] [ 2.00764231e-02 -1.65545442e-03 9.99797078e-01 3.13928037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.410714057 meters Centerline goodness [0,1] 0.9857051807338614 Centerline is valid? [True, True] Translation: X:873.07, Y:-64.33, Z:3.14 [[ 9.99711890e-01 -1.23119987e-02 -2.06046328e-02 8.73067998e+02] [ 1.23424512e-02 9.99922916e-01 1.35142375e-03 -6.43316706e+01] [ 2.05864057e-02 -1.60534606e-03 9.99786789e-01 3.14182410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4407140569999 meters Centerline goodness [0,1] 0.9862131519274376 Centerline is valid? [True, True] Translation: X:873.10, Y:-64.33, Z:3.14 [[ 9.99735566e-01 -9.93089198e-03 -2.07406694e-02 8.73097884e+02] [ 9.96123149e-03 9.99949461e-01 1.36000072e-03 -6.43316387e+01] [ 2.07261151e-02 -1.56624370e-03 9.99783964e-01 3.14266004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4707140569999 meters Centerline goodness [0,1] 0.9875476550339507 Centerline is valid? [True, True] Translation: X:873.13, Y:-64.33, Z:3.14 [[ 9.99788468e-01 -3.69259646e-03 -2.02332256e-02 8.73127707e+02] [ 3.72019243e-03 9.99992200e-01 1.32642398e-03 -6.43336988e+01] [ 2.02281698e-02 -1.40141489e-03 9.99794407e-01 3.14249005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.500714057 meters Centerline goodness [0,1] 0.9877849793772379 Centerline is valid? [True, True] Translation: X:873.16, Y:-64.34, Z:3.14 [[ 9.99776641e-01 -4.76745373e-06 -2.11345035e-02 8.73156345e+02] [ 3.40358731e-05 9.99999041e-01 1.38450481e-03 -6.43371950e+01] [ 2.11344766e-02 -1.38491490e-03 9.99775683e-01 3.14140534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.530714057 meters Centerline goodness [0,1] 0.987644839970185 Centerline is valid? [True, True] Translation: X:873.19, Y:-64.33, Z:3.14 [[ 9.99778072e-01 3.56583237e-03 -2.07627485e-02 8.73186935e+02] [-3.53835100e-03 9.99992815e-01 1.36017695e-03 -6.43339808e+01] [ 2.07674495e-02 -1.28640919e-03 9.99783506e-01 3.14290054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5607140569999 meters Centerline goodness [0,1] 0.9883989145183175 Centerline is valid? [True, True] Translation: X:873.22, Y:-64.34, Z:3.14 [[ 9.99726228e-01 1.20365297e-02 -2.00646894e-02 8.73215771e+02] [-1.20125830e-02 9.99926984e-01 1.31358074e-03 -6.43360004e+01] [ 2.00790353e-02 -1.07219237e-03 9.99797821e-01 3.14257022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5907140569999 meters Centerline goodness [0,1] 0.9889756649688738 Centerline is valid? [True, True] Translation: X:873.25, Y:-64.33, Z:3.14 [[ 9.99679457e-01 1.62938071e-02 -1.93776850e-02 8.73246368e+02] [-1.62722698e-02 9.99866793e-01 1.26861284e-03 -6.43335050e+01] [ 1.93957743e-02 -9.52887279e-04 9.99811430e-01 3.14411246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.620714057 meters Centerline goodness [0,1] 0.9898302027194624 Centerline is valid? [True, True] Translation: X:873.28, Y:-64.33, Z:3.15 [[ 9.99520535e-01 2.45110330e-02 -1.89184916e-02 8.73276304e+02] [-2.44919847e-02 9.99699260e-01 1.23793773e-03 -6.43293816e+01] [ 1.89431452e-02 -7.73992772e-04 9.99820263e-01 3.14546163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.650714057 meters Centerline goodness [0,1] 0.9905176890253539 Centerline is valid? [True, True] Translation: X:873.31, Y:-64.33, Z:3.15 [[ 9.99419013e-01 2.82871287e-02 -1.90124901e-02 8.73306577e+02] [-2.82685784e-02 9.99599590e-01 1.24379208e-03 -6.43300413e+01] [ 1.90400606e-02 -7.05613389e-04 9.99818473e-01 3.14548666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6807140569999 meters Centerline goodness [0,1] 0.990996073475651 Centerline is valid? [True, True] Translation: X:873.34, Y:-64.33, Z:3.15 [[ 9.99311781e-01 3.15539219e-02 -1.95016636e-02 8.73335237e+02] [-3.15350560e-02 9.99501834e-01 1.27424349e-03 -6.43298602e+01] [ 1.95321560e-02 -6.58380476e-04 9.99809012e-01 3.14542605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7107140569999 meters Centerline goodness [0,1] 0.9915585893060296 Centerline is valid? [True, True] Translation: X:873.36, Y:-64.33, Z:3.15 [[ 9.99129338e-01 3.67190369e-02 -1.98060001e-02 8.73364925e+02] [-3.67006026e-02 9.99325469e-01 1.29354477e-03 -6.43304431e+01] [ 1.98401381e-02 -5.65526396e-04 9.99803005e-01 3.14511163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7407140569999 meters Centerline goodness [0,1] 0.9911562471727133 Centerline is valid? [True, True] Translation: X:873.39, Y:-64.33, Z:3.14 [[ 9.99079652e-01 3.80604714e-02 -1.97800140e-02 8.73392417e+02] [-3.80423859e-02 9.99275294e-01 1.28994327e-03 -6.43333799e+01] [ 1.98147751e-02 -5.36277148e-04 9.99803524e-01 3.14405876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.770714057 meters Centerline goodness [0,1] 0.9922108504664433 Centerline is valid? [True, True] Translation: X:873.42, Y:-64.34, Z:3.14 [[ 9.99039164e-01 3.96021653e-02 -1.87728065e-02 8.73420341e+02] [-3.95862407e-02 9.99215414e-01 1.21926927e-03 -6.43377666e+01] [ 1.88063633e-02 -4.74952920e-04 9.99823032e-01 3.14331606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8007140569999 meters Centerline goodness [0,1] 0.9920640319252658 Centerline is valid? [True, True] Translation: X:873.45, Y:-64.34, Z:3.15 [[ 9.99049723e-01 3.94790837e-02 -1.84676129e-02 8.73448736e+02] [-3.94637517e-02 9.99220289e-01 1.19404662e-03 -6.43380594e+01] [ 1.85003533e-02 -4.64110652e-04 9.99828746e-01 3.14612813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8307140569999 meters Centerline goodness [0,1] 0.991098459174913 Centerline is valid? [True, True] Translation: X:873.48, Y:-64.34, Z:3.14 [[ 9.99081857e-01 3.89504637e-02 -1.78410957e-02 8.73475648e+02] [-3.89361009e-02 9.99241039e-01 1.15182588e-03 -6.43441736e+01] [ 1.78724192e-02 -4.56105634e-04 9.99840172e-01 3.14424627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8607140569999 meters Centerline goodness [0,1] 0.9914813810556761 Centerline is valid? [True, True] Translation: X:873.50, Y:-64.35, Z:3.15 [[ 9.99140903e-01 3.77466293e-02 -1.71069374e-02 8.73504124e+02] [-3.77333264e-02 9.99287239e-01 1.09985138e-03 -6.43463366e+01] [ 1.71362599e-02 -4.53404850e-04 9.99853061e-01 3.14634943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.890714057 meters Centerline goodness [0,1] 0.991803647827066 Centerline is valid? [True, True] Translation: X:873.53, Y:-64.35, Z:3.15 [[ 9.99254404e-01 3.52581008e-02 -1.57321942e-02 8.73531951e+02] [-3.52465567e-02 9.99378136e-01 1.01054720e-03 -6.43537977e+01] [ 1.57580409e-02 -4.55288067e-04 9.99875731e-01 3.14695312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9207140569999 meters Centerline goodness [0,1] 0.991382792513801 Centerline is valid? [True, True] Translation: X:873.56, Y:-64.36, Z:3.15 [[ 9.99395045e-01 3.16425366e-02 -1.44324086e-02 8.73560003e+02] [-3.16325033e-02 9.99499141e-01 9.22996162e-04 -6.43614925e+01] [ 1.44543860e-02 -4.65904577e-04 9.99895421e-01 3.14704105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9507140569999 meters Centerline goodness [0,1] 0.9911399485401051 Centerline is valid? [True, True] Translation: X:873.59, Y:-64.37, Z:3.15 [[ 9.99443727e-01 3.01906082e-02 -1.41691201e-02 8.73588028e+02] [-3.01808025e-02 9.99544046e-01 9.05410718e-04 -6.43664829e+01] [ 1.41899946e-02 -4.77271646e-04 9.99899203e-01 3.14680577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9807140569999 meters Centerline goodness [0,1] 0.9901200824446635 Centerline is valid? [True, True] Translation: X:873.61, Y:-64.37, Z:3.15 [[ 9.99497796e-01 2.84768158e-02 -1.39006332e-02 8.73614949e+02] [-2.84672336e-02 9.99594333e-01 8.86750989e-04 -6.43718858e+01] [ 1.39202460e-02 -4.90593085e-04 9.99902988e-01 3.14590177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.010714057 meters Centerline goodness [0,1] 0.9901103336921421 Centerline is valid? [True, True] Translation: X:873.64, Y:-64.38, Z:3.14 [[ 9.99533261e-01 2.69191377e-02 -1.44436657e-02 8.73642553e+02] [-2.69086466e-02 9.99637473e-01 9.20228851e-04 -6.43784602e+01] [ 1.44632012e-02 -5.31139850e-04 9.99895261e-01 3.14463664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.040714057 meters Centerline goodness [0,1] 0.9907873258648062 Centerline is valid? [True, True] Translation: X:873.67, Y:-64.38, Z:3.14 [[ 9.99584686e-01 2.42462711e-02 -1.55747584e-02 8.73671645e+02] [-2.42337590e-02 9.99705828e-01 9.91614815e-04 -6.43825706e+01] [ 1.55942197e-02 -6.13768042e-04 9.99878214e-01 3.14443708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0707140569999 meters Centerline goodness [0,1] 0.9900750532093648 Centerline is valid? [True, True] Translation: X:873.70, Y:-64.39, Z:3.14 [[ 9.99612594e-01 2.30260914e-02 -1.56352759e-02 8.73698570e+02] [-2.30133606e-02 9.99734664e-01 9.93692674e-04 -6.43884946e+01] [ 1.56540082e-02 -6.33487468e-04 9.99877268e-01 3.14291272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1007140569999 meters Centerline goodness [0,1] 0.9904755516801932 Centerline is valid? [True, True] Translation: X:873.73, Y:-64.39, Z:3.14 [[ 9.99669207e-01 2.05613266e-02 -1.54502087e-02 8.73727451e+02] [-2.05486119e-02 9.99788373e-01 9.81266949e-04 -6.43919394e+01] [ 1.54671152e-02 -6.63462010e-04 9.99880157e-01 3.14382569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.130714057 meters Centerline goodness [0,1] 0.9902048684269512 Centerline is valid? [True, True] Translation: X:873.76, Y:-64.40, Z:3.14 [[ 9.99698643e-01 1.97432422e-02 -1.45886337e-02 8.73755939e+02] [-1.97318353e-02 9.99804880e-01 9.25445786e-04 -6.43955947e+01] [ 1.46040585e-02 -6.37306379e-04 9.99893152e-01 3.14377895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.160714057 meters Centerline goodness [0,1] 0.9895772887559702 Centerline is valid? [True, True] Translation: X:873.78, Y:-64.40, Z:3.14 [[ 9.99729776e-01 1.84811516e-02 -1.41003978e-02 8.73783270e+02] [-1.84703886e-02 9.99829009e-01 8.93171159e-04 -6.44036756e+01] [ 1.41144936e-02 -6.32489977e-04 9.99900186e-01 3.14260791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1907140569999 meters Centerline goodness [0,1] 0.9900219249183408 Centerline is valid? [True, True] Translation: X:873.81, Y:-64.41, Z:3.14 [[ 9.99733460e-01 1.84700395e-02 -1.38515571e-02 8.73812497e+02] [-1.84596642e-02 9.99829222e-01 8.76528097e-04 -6.44050065e+01] [ 1.38653810e-02 -6.20599376e-04 9.99903678e-01 3.14315759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2207140569999 meters Centerline goodness [0,1] 0.9901496623061907 Centerline is valid? [True, True] Translation: X:873.84, Y:-64.41, Z:3.14 [[ 9.99746725e-01 1.83208375e-02 -1.30703298e-02 8.73841392e+02] [-1.83115989e-02 9.99831987e-01 8.26174590e-04 -6.44060010e+01] [ 1.30832700e-02 -5.86626704e-04 9.99914238e-01 3.14391972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.250714057 meters Centerline goodness [0,1] 0.9898041320096592 Centerline is valid? [True, True] Translation: X:873.87, Y:-64.41, Z:3.14 [[ 9.99760045e-01 1.80446219e-02 -1.24195125e-02 8.73868829e+02] [-1.80362766e-02 9.99837026e-01 7.83641077e-04 -6.44085902e+01] [ 1.24316290e-02 -5.59451275e-04 9.99922568e-01 3.14400217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.280714057 meters Centerline goodness [0,1] 0.9897066047425535 Centerline is valid? [True, True] Translation: X:873.90, Y:-64.41, Z:3.14 [[ 9.99778326e-01 1.76130269e-02 -1.15360592e-02 8.73896487e+02] [-1.76058122e-02 9.99844742e-01 7.26668178e-04 -6.44095982e+01] [ 1.15470669e-02 -5.23405403e-04 9.99933193e-01 3.14469247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3107140569999 meters Centerline goodness [0,1] 0.9897244278374592 Centerline is valid? [True, True] Translation: X:873.93, Y:-64.41, Z:3.15 [[ 9.99811328e-01 1.64985970e-02 -1.02520896e-02 8.73925329e+02] [-1.64928473e-02 9.99863776e-01 6.45129957e-04 -6.44108971e+01] [ 1.02613367e-02 -4.75922091e-04 9.99947238e-01 3.14611164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3407140569999 meters Centerline goodness [0,1] 0.9893699997771488 Centerline is valid? [True, True] Translation: X:873.95, Y:-64.41, Z:3.15 [[ 9.99833787e-01 1.55740729e-02 -9.47875103e-03 8.73953146e+02] [-1.55691251e-02 9.99878616e-01 5.95557428e-04 -6.44146537e+01] [ 9.48687572e-03 -4.47882578e-04 9.99954898e-01 3.14617401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.370714057 meters Centerline goodness [0,1] 0.9895133760235615 Centerline is valid? [True, True] Translation: X:873.98, Y:-64.42, Z:3.15 [[ 9.99864362e-01 1.33720460e-02 -9.61487786e-03 8.73982973e+02] [-1.33668550e-02 9.99910477e-01 6.03953466e-04 -6.44175324e+01] [ 9.62209320e-03 -4.75350868e-04 9.99953594e-01 3.14618177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.400714057 meters Centerline goodness [0,1] 0.9889096739711384 Centerline is valid? [True, True] Translation: X:874.01, Y:-64.42, Z:3.15 [[ 9.99876647e-01 1.24448422e-02 -9.58209775e-03 8.74011882e+02] [-1.24396515e-02 9.99922444e-01 6.01118257e-04 -6.44198228e+01] [ 9.58883542e-03 -4.81846151e-04 9.99953910e-01 3.14605682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4307140569999 meters Centerline goodness [0,1] 0.9888420585625555 Centerline is valid? [True, True] Translation: X:874.04, Y:-64.42, Z:3.15 [[ 9.99888803e-01 1.11387730e-02 -9.91509682e-03 8.74040209e+02] [-1.11331602e-02 9.99937832e-01 6.21106285e-04 -6.44224885e+01] [ 9.92139877e-03 -5.10650858e-04 9.99950651e-01 3.14591018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4607140569999 meters Centerline goodness [0,1] 0.9888118745681874 Centerline is valid? [True, True] Translation: X:874.07, Y:-64.43, Z:3.15 [[ 9.99913093e-01 8.76958145e-03 -9.84382923e-03 8.74069352e+02] [-8.76393844e-03 9.99961406e-01 6.16244993e-04 -6.44259964e+01] [ 9.84885353e-03 -5.29920724e-04 9.99951358e-01 3.14551759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4907140569999 meters Centerline goodness [0,1] 0.9879118432769368 Centerline is valid? [True, True] Translation: X:874.10, Y:-64.43, Z:3.15 [[ 9.99922485e-01 7.27696911e-03 -1.01029150e-02 8.74097504e+02] [-7.27095601e-03 9.99973367e-01 6.31787963e-04 -6.44290904e+01] [ 1.01072434e-02 -5.58281140e-04 9.99948765e-01 3.14519251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.520714057 meters Centerline goodness [0,1] 0.9878268610214754 Centerline is valid? [True, True] Translation: X:874.13, Y:-64.43, Z:3.14 [[ 9.99933141e-01 5.01816167e-03 -1.04178417e-02 8.74126101e+02] [-5.01165062e-03 9.99987230e-01 6.51002358e-04 -6.44331797e+01] [ 1.04209755e-02 -5.98748250e-04 9.99945521e-01 3.14418188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5507140569999 meters Centerline goodness [0,1] 0.9884814187683807 Centerline is valid? [True, True] Translation: X:874.16, Y:-64.43, Z:3.14 [[ 9.99935344e-01 4.33702077e-03 -1.05118147e-02 8.74155225e+02] [-4.33036237e-03 9.99990409e-01 6.56098542e-04 -6.44318114e+01] [ 1.05145594e-02 -6.10536155e-04 9.99944534e-01 3.14425198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5807140569999 meters Centerline goodness [0,1] 0.9884165592067233 Centerline is valid? [True, True] Translation: X:874.18, Y:-64.43, Z:3.14 [[ 9.99936687e-01 3.93237155e-03 -1.05431539e-02 8.74183749e+02] [-3.92565881e-03 9.99992079e-01 6.57310941e-04 -6.44302500e+01] [ 1.05456552e-02 -6.15880500e-04 9.99944203e-01 3.14445249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6107140569999 meters Centerline goodness [0,1] 0.9867588051716452 Centerline is valid? [True, True] Translation: X:874.21, Y:-64.44, Z:3.14 [[ 9.99933988e-01 4.14530834e-03 -1.07161462e-02 8.74210815e+02] [-4.13840003e-03 9.99991215e-01 6.66758093e-04 -6.44371158e+01] [ 1.07188160e-02 -6.22366379e-04 9.99942358e-01 3.14219281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.640714057 meters Centerline goodness [0,1] 0.9883687247933332 Centerline is valid? [True, True] Translation: X:874.24, Y:-64.43, Z:3.14 [[ 9.99933568e-01 4.61665174e-03 -1.05615827e-02 8.74240294e+02] [-4.60997398e-03 9.99989158e-01 6.56526144e-04 -6.44282224e+01] [ 1.05644992e-02 -6.07793908e-04 9.99944009e-01 3.14440301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6707140569999 meters Centerline goodness [0,1] 0.9869120471702327 Centerline is valid? [True, True] Translation: X:874.27, Y:-64.44, Z:3.14 [[ 9.99939303e-01 4.63614935e-03 -9.99477151e-03 8.74267873e+02] [-4.63018213e-03 9.99989088e-01 6.20091511e-04 -6.44357481e+01] [ 9.99753729e-03 -5.73776261e-04 9.99949859e-01 3.14296263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7007140569999 meters Centerline goodness [0,1] 0.9882505360972123 Centerline is valid? [True, True] Translation: X:874.30, Y:-64.43, Z:3.15 [[ 9.99948297e-01 4.14074130e-03 -9.28749842e-03 8.74297451e+02] [-4.13557272e-03 9.99991283e-01 5.75645542e-04 -6.44258140e+01] [ 9.28980106e-03 -5.37206654e-04 9.99956705e-01 3.14570429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7307140569999 meters Centerline goodness [0,1] 0.9879520770350465 Centerline is valid? [True, True] Translation: X:874.33, Y:-64.43, Z:3.15 [[ 9.99962845e-01 1.90077264e-03 -8.40808157e-03 8.74325762e+02] [-1.89646132e-03 9.99998066e-01 5.20701695e-04 -6.44276727e+01] [ 8.40905504e-03 -5.04736747e-04 9.99964516e-01 3.14547428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.760714057 meters Centerline goodness [0,1] 0.9868623902406327 Centerline is valid? [True, True] Translation: X:874.35, Y:-64.43, Z:3.15 [[ 9.99968533e-01 4.61319011e-04 -7.91963651e-03 8.74353702e+02] [-4.57453908e-04 9.99999775e-01 4.89844915e-04 -6.44300319e+01] [ 7.91986070e-03 -4.86206633e-04 9.99968519e-01 3.14510667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.790714057 meters Centerline goodness [0,1] 0.9871849445502409 Centerline is valid? [True, True] Translation: X:874.38, Y:-64.43, Z:3.15 [[ 9.99966992e-01 -1.19014428e-03 -8.03730394e-03 8.74383157e+02] [ 1.19417689e-03 9.99999163e-01 4.96956612e-04 -6.44304225e+01] [ 8.03670577e-03 -5.06538171e-04 9.99967577e-01 3.14520696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8207140569999 meters Centerline goodness [0,1] 0.9861008692543184 Centerline is valid? [True, True] Translation: X:874.41, Y:-64.43, Z:3.15 [[ 9.99964754e-01 -2.67414304e-03 -7.95868688e-03 8.74411208e+02] [ 2.67814267e-03 9.99996293e-01 4.91934755e-04 -6.44326848e+01] [ 7.95734187e-03 -5.13231915e-04 9.99968208e-01 3.14501563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8507140569999 meters Centerline goodness [0,1] 0.9863185472133277 Centerline is valid? [True, True] Translation: X:874.44, Y:-64.44, Z:3.14 [[ 9.99951688e-01 -6.36496324e-03 -7.49056550e-03 8.74439910e+02] [ 6.36860938e-03 9.99979613e-01 4.63012631e-04 -6.44351017e+01] [ 7.48746573e-03 -5.10694748e-04 9.99971838e-01 3.14455015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.880714057 meters Centerline goodness [0,1] 0.9859287685989362 Centerline is valid? [True, True] Translation: X:874.47, Y:-64.44, Z:3.14 [[ 9.99934172e-01 -8.48546541e-03 -7.72324563e-03 8.74469369e+02] [ 8.48940325e-03 9.99963850e-01 4.77227290e-04 -6.44390314e+01] [ 7.71891694e-03 -5.42761621e-04 9.99970061e-01 3.14376617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.910714057 meters Centerline goodness [0,1] 0.9853562123798401 Centerline is valid? [True, True] Translation: X:874.50, Y:-64.44, Z:3.14 [[ 9.99891887e-01 -1.20703271e-02 -8.39769077e-03 8.74500136e+02] [ 1.20751088e-02 9.99926959e-01 5.18929927e-04 -6.44399075e+01] [ 8.39081374e-03 -6.20276854e-04 9.99964604e-01 3.14316809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9407140569999 meters Centerline goodness [0,1] 0.9841894581479079 Centerline is valid? [True, True] Translation: X:874.53, Y:-64.44, Z:3.14 [[ 9.99876459e-01 -1.34296744e-02 -8.16770837e-03 8.74530071e+02] [ 1.34342444e-02 9.99909629e-01 5.04921110e-04 -6.44436523e+01] [ 8.16018932e-03 -6.14585722e-04 9.99966516e-01 3.14271793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9707140569999 meters Centerline goodness [0,1] 0.9835559660306805 Centerline is valid? [True, True] Translation: X:874.56, Y:-64.44, Z:3.14 [[ 9.99856040e-01 -1.48478653e-02 -8.21223058e-03 8.74561500e+02] [ 1.48525356e-02 9.99889566e-01 5.08004463e-04 -6.44435201e+01] [ 8.20378089e-03 -6.29903778e-04 9.99966150e-01 3.14302113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.000714057 meters Centerline goodness [0,1] 0.9823754789272031 Centerline is valid? [True, True] Translation: X:874.59, Y:-64.44, Z:3.14 [[ 9.99823157e-01 -1.71087635e-02 -7.80675071e-03 8.74591275e+02] [ 1.71130568e-02 9.99853444e-01 4.83469068e-04 -6.44438588e+01] [ 7.79733502e-03 -6.16980938e-04 9.99969410e-01 3.14351011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.030714057 meters Centerline goodness [0,1] 0.979029021128825 Centerline is valid? [True, True] Translation: X:874.62, Y:-64.45, Z:3.14 [[ 9.99818563e-01 -1.75855093e-02 -7.32054012e-03 8.74622470e+02] [ 1.75892996e-02 9.99845193e-01 4.53707626e-04 -6.44463560e+01] [ 7.31142817e-03 -5.82388481e-04 9.99973102e-01 3.14317527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0607140569999 meters Centerline goodness [0,1] 0.9806361127448763 Centerline is valid? [True, True] Translation: X:874.65, Y:-64.44, Z:3.14 [[ 9.99804196e-01 -1.85689470e-02 -6.83845012e-03 8.74654448e+02] [ 1.85722798e-02 9.99827430e-01 4.24183169e-04 -6.44431635e+01] [ 6.82939338e-03 -5.51105721e-04 9.99976528e-01 3.14355252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0907140569999 meters Centerline goodness [0,1] 0.975912093899698 Centerline is valid? [True, True] Translation: X:874.69, Y:-64.45, Z:3.14 [[ 9.99806563e-01 -1.86120105e-02 -6.35840592e-03 8.74685622e+02] [ 1.86148947e-02 9.99826650e-01 3.94731792e-04 -6.44452371e+01] [ 6.34995694e-03 -5.13016494e-04 9.99979707e-01 3.14329330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.120714057 meters Centerline goodness [0,1] 0.9750651705769012 Centerline is valid? [True, True] Translation: X:874.72, Y:-64.45, Z:3.14 [[ 9.99802996e-01 -1.87828483e-02 -6.41675388e-03 8.74717827e+02] [ 1.87857922e-02 9.99823452e-01 3.98824412e-04 -6.44451946e+01] [ 6.40812996e-03 -5.19289647e-04 9.99979333e-01 3.14318728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.150714057 meters Centerline goodness [0,1] 0.9654120272331899 Centerline is valid? [True, True] Translation: X:874.75, Y:-64.45, Z:3.14 [[ 9.99787538e-01 -1.96505145e-02 -6.22378680e-03 8.74749267e+02] [ 1.96533024e-02 9.99806780e-01 3.87087025e-04 -6.44451102e+01] [ 6.21497779e-03 -5.09322748e-04 9.99980557e-01 3.14270564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1807140569999 meters Centerline goodness [0,1] 0.9590902882119929 Centerline is valid? [True, True] Translation: X:874.78, Y:-64.45, Z:3.14 [[ 9.99784624e-01 -1.98541661e-02 -6.04295449e-03 8.74780338e+02] [ 1.98567998e-02 9.99802764e-01 3.76138086e-04 -6.44462916e+01] [ 6.03429469e-03 -4.96050812e-04 9.99981670e-01 3.14256232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2107140569999 meters Centerline goodness [0,1] 0.9515491928670914 Centerline is valid? [True, True] Translation: X:874.81, Y:-64.45, Z:3.14 [[ 9.99749821e-01 -2.14947176e-02 -6.18639984e-03 8.74811391e+02] [ 2.14975090e-02 9.99768828e-01 3.85056972e-04 -6.44453784e+01] [ 6.17669302e-03 -5.17952825e-04 9.99980790e-01 3.14258959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2407140569999 meters Centerline goodness [0,1] 0.9515491928670914 Centerline is valid? [True, True] Translation: X:874.84, Y:-64.45, Z:3.14 [[ 9.99751194e-01 -2.14308030e-02 -6.18636558e-03 8.74843132e+02] [ 2.14335966e-02 9.99770200e-01 3.85607160e-04 -6.44474248e+01] [ 6.17668008e-03 -5.18107282e-04 9.99980790e-01 3.14248683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.270714057 meters Centerline goodness [0,1] 0.9444013329072899 Centerline is valid? [True, False] Translation: X:874.84, Y:-64.45, Z:3.14 [[ 9.99746903e-01 -2.15787582e-02 -6.36295256e-03 8.74843635e+02] [ 2.15793073e-02 9.99767139e-01 1.76490896e-05 -6.44459879e+01] [ 6.36109003e-03 -1.54952732e-04 9.99979756e-01 3.14226276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3007140569999 meters Centerline goodness [0,1] 0.9246393405083582 Centerline is valid? [False, False] Translation: X:874.84, Y:-64.45, Z:3.14 [[ 9.99805926e-01 -1.87400000e-02 -6.07634466e-03 8.74842692e+02] [ 1.87626246e-02 9.99817165e-01 3.68800790e-03 -6.44467331e+01] [ 6.00612042e-03 -3.80130033e-03 9.99974738e-01 3.14194193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3307140569999 meters Centerline goodness [0,1] 0.9151151565301338 Centerline is valid? [False, False] Translation: X:874.85, Y:-64.44, Z:3.14 [[ 9.99817902e-01 -1.78451729e-02 -6.76109519e-03 8.74845419e+02] [ 1.78717410e-02 9.99832721e-01 3.88972681e-03 -6.44437451e+01] [ 6.69055136e-03 -4.00985105e-03 9.99969578e-01 3.14014243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3607140569999 meters Centerline goodness [0,1] 0.9343042145770445 Centerline is valid? [False, False] Translation: X:874.85, Y:-64.44, Z:3.14 [[ 9.99876394e-01 -1.42209259e-02 -6.70541068e-03 8.74845359e+02] [ 1.42744229e-02 9.99866120e-01 7.99899411e-03 -6.44442387e+01] [ 6.59075985e-03 -8.09372125e-03 9.99945525e-01 3.13940143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.390714057 meters Centerline goodness [0,1] 0.9867572707453963 Centerline is valid? [False, True] Translation: X:874.84, Y:-64.44, Z:3.14 [[ 9.99921253e-01 -1.06338497e-02 -6.66400309e-03 8.74844939e+02] [ 1.07064883e-02 9.99882608e-01 1.09609397e-02 -6.44414198e+01] [ 6.54666380e-03 -1.10314246e-02 9.99917721e-01 3.13978048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4207140569999 meters Centerline goodness [0,1] 0.9541174020685347 Centerline is valid? [True, True] Translation: X:874.87, Y:-64.46, Z:3.14 [[ 9.99942190e-01 -8.23171204e-03 -6.91773508e-03 8.74874222e+02] [ 8.23516000e-03 9.99965980e-01 4.70085098e-04 -6.44565777e+01] [ 6.91363013e-03 -5.27026578e-04 9.99975962e-01 3.14156159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4507140569999 meters Centerline goodness [0,1] 0.9602872249543996 Centerline is valid? [True, True] Translation: X:874.91, Y:-64.46, Z:3.14 [[ 9.99957674e-01 -6.27141940e-03 -6.73195221e-03 8.74905251e+02] [ 6.27464159e-03 9.99980210e-01 4.57628445e-04 -6.44557974e+01] [ 6.72894900e-03 -4.99849663e-04 9.99977235e-01 3.14174620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4807140569999 meters Centerline goodness [0,1] 0.987205136556088 Centerline is valid? [True, True] Translation: X:874.94, Y:-64.43, Z:3.14 [[ 9.99973165e-01 -3.26495122e-03 -6.55822171e-03 8.74937169e+02] [ 3.26794360e-03 9.99994561e-01 4.45615193e-04 -6.44307037e+01] [ 6.55673112e-03 -4.67035134e-04 9.99978395e-01 3.14459897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.510714057 meters Centerline goodness [0,1] 0.9872391952309985 Centerline is valid? [True, True] Translation: X:874.97, Y:-64.43, Z:3.14 [[ 9.99977668e-01 -2.06574026e-03 -6.35581560e-03 8.74966417e+02] [ 2.06851129e-03 9.99997768e-01 4.29441342e-04 -6.44304797e+01] [ 6.35491430e-03 -4.42578828e-04 9.99979709e-01 3.14397327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.540714057 meters Centerline goodness [0,1] 0.9868854742119679 Centerline is valid? [True, True] Translation: X:874.99, Y:-64.44, Z:3.14 [[ 9.99975168e-01 1.28010670e-03 -6.92998840e-03 8.74994728e+02] [-1.27688615e-03 9.99999075e-01 4.69132276e-04 -6.44358667e+01] [ 6.93058252e-03 -4.60271820e-04 9.99975877e-01 3.14211650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5707140569999 meters Centerline goodness [0,1] 0.9871127401769664 Centerline is valid? [True, True] Translation: X:875.02, Y:-64.43, Z:3.14 [[ 9.99970288e-01 2.77617655e-03 -7.19132076e-03 8.75024348e+02] [-2.77276529e-03 9.99996039e-01 4.84285006e-04 -6.44295800e+01] [ 7.19263673e-03 -4.64330772e-04 9.99974025e-01 3.14298661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6007140569999 meters Centerline goodness [0,1] 0.9871926708422922 Centerline is valid? [True, True] Translation: X:875.05, Y:-64.43, Z:3.14 [[ 9.99965101e-01 4.30460358e-03 -7.16011638e-03 8.75052022e+02] [-4.30126121e-03 9.99990633e-01 4.82137924e-04 -6.44303478e+01] [ 7.16212473e-03 -4.51323567e-04 9.99974250e-01 3.14295212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.630714057 meters Centerline goodness [0,1] 0.9873993699684984 Centerline is valid? [True, True] Translation: X:875.08, Y:-64.43, Z:3.14 [[ 9.99950512e-01 7.41260004e-03 -6.63527288e-03 8.75080804e+02] [-7.40979813e-03 9.99972447e-01 4.46760036e-04 -6.44314002e+01] [ 6.63840171e-03 -3.97571894e-04 9.99977887e-01 3.14305445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.660714057 meters Centerline goodness [0,1] 0.9874877215959587 Centerline is valid? [True, True] Translation: X:875.11, Y:-64.43, Z:3.14 [[ 9.99940243e-01 8.91810396e-03 -6.32277839e-03 8.75110252e+02] [-8.91559235e-03 9.99960165e-01 4.25308361e-04 -6.44272914e+01] [ 6.32631947e-03 -3.68911631e-04 9.99979921e-01 3.14371477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6907140569999 meters Centerline goodness [0,1] 0.9877724739577209 Centerline is valid? [True, True] Translation: X:875.14, Y:-64.43, Z:3.14 [[ 9.99912897e-01 1.12448563e-02 -6.91020047e-03 8.75140607e+02] [-1.12419167e-02 9.99936700e-01 4.64095709e-04 -6.44260037e+01] [ 6.91498174e-03 -3.86371387e-04 9.99976017e-01 3.14321381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7207140569999 meters Centerline goodness [0,1] 0.9879328559690105 Centerline is valid? [True, True] Translation: X:875.17, Y:-64.43, Z:3.14 [[ 9.99884805e-01 1.32030756e-02 -7.48699678e-03 8.75168126e+02] [-1.31996843e-02 9.99912754e-01 5.02197702e-04 -6.44263290e+01] [ 7.49297413e-03 -4.03313858e-04 9.99971846e-01 3.14172229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.750714057 meters Centerline goodness [0,1] 0.9882915567282322 Centerline is valid? [True, True] Translation: X:875.20, Y:-64.43, Z:3.14 [[ 9.99863927e-01 1.45240839e-02 -7.82170358e-03 8.75196875e+02] [-1.45204264e-02 9.99894436e-01 5.24196612e-04 -6.44265711e+01] [ 7.82849137e-03 -4.10550812e-04 9.99969273e-01 3.14102383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.780714057 meters Centerline goodness [0,1] 0.9878045903804873 Centerline is valid? [True, True] Translation: X:875.22, Y:-64.43, Z:3.14 [[ 9.99841393e-01 1.63420384e-02 -7.08007700e-03 8.75224768e+02] [-1.63390921e-02 9.99866396e-01 4.73785323e-04 -6.44282711e+01] [ 7.08687369e-03 -3.58028146e-04 9.99974824e-01 3.14109946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8107140569999 meters Centerline goodness [0,1] 0.9877726994298638 Centerline is valid? [True, True] Translation: X:875.25, Y:-64.43, Z:3.14 [[ 9.99835558e-01 1.67750694e-02 -6.88861633e-03 8.75253503e+02] [-1.67722933e-02 9.99859229e-01 4.60569924e-04 -6.44296741e+01] [ 6.89537271e-03 -3.44956294e-04 9.99976167e-01 3.14138035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8407140569999 meters Centerline goodness [0,1] 0.9878766394895427 Centerline is valid? [True, True] Translation: X:875.28, Y:-64.43, Z:3.14 [[ 9.99834867e-01 1.68133985e-02 -6.89556797e-03 8.75281421e+02] [-1.68106222e-02 9.99858586e-01 4.60385346e-04 -6.44318575e+01] [ 6.90233348e-03 -3.44390533e-04 9.99976119e-01 3.14185831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.870714057 meters Centerline goodness [0,1] 0.9879304643582597 Centerline is valid? [True, True] Translation: X:875.31, Y:-64.43, Z:3.14 [[ 9.99844558e-01 1.61899653e-02 -6.98171423e-03 8.75308628e+02] [-1.61871093e-02 9.99868872e-01 4.65380757e-04 -6.44346441e+01] [ 6.98833323e-03 -3.52294646e-04 9.99975519e-01 3.14173515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.900714057 meters Centerline goodness [0,1] 0.9877132460658758 Centerline is valid? [True, True] Translation: X:875.34, Y:-64.44, Z:3.14 [[ 9.99859162e-01 1.55105717e-02 -6.40920266e-03 8.75337226e+02] [-1.55081530e-02 9.99879650e-01 4.26900274e-04 -6.44382989e+01] [ 6.41505278e-03 -3.27445254e-04 9.99979370e-01 3.14144387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9307140569999 meters Centerline goodness [0,1] 0.9880378250591016 Centerline is valid? [True, True] Translation: X:875.37, Y:-64.44, Z:3.14 [[ 9.99889178e-01 1.36320858e-02 -5.98320007e-03 8.75366398e+02] [-1.36299449e-02 9.99907029e-01 3.98447260e-04 -6.44440664e+01] [ 5.98807547e-03 -3.16852416e-04 9.99982021e-01 3.14194016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9607140569999 meters Centerline goodness [0,1] 0.9864101783078328 Centerline is valid? [True, True] Translation: X:875.39, Y:-64.45, Z:3.14 [[ 9.99906331e-01 1.24463156e-02 -5.69379229e-03 8.75394828e+02] [-1.24443606e-02 9.99922494e-01 3.78655358e-04 -6.44466812e+01] [ 5.69806385e-03 -3.07764285e-04 9.99983719e-01 3.14225370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9907140569999 meters Centerline goodness [0,1] 0.9881117728760094 Centerline is valid? [True, True] Translation: X:875.42, Y:-64.44, Z:3.14 [[ 9.99942206e-01 9.39658907e-03 -5.22386535e-03 8.75424431e+02] [-9.39490327e-03 9.99955807e-01 3.47157681e-04 -6.44431250e+01] [ 5.22689658e-03 -2.98059908e-04 9.99986295e-01 3.14485555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.020714057 meters Centerline goodness [0,1] 0.9870290735720295 Centerline is valid? [True, True] Translation: X:875.45, Y:-64.45, Z:3.14 [[ 9.99956707e-01 7.82276819e-03 -5.03877425e-03 8.75452618e+02] [-7.82118122e-03 9.99969358e-01 3.34579702e-04 -6.44513771e+01] [ 5.04123720e-03 -2.95156050e-04 9.99987249e-01 3.14423956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0507140569999 meters Centerline goodness [0,1] 0.9876238200675912 Centerline is valid? [True, True] Translation: X:875.48, Y:-64.46, Z:3.14 [[ 9.99967447e-01 6.51453157e-03 -4.76078033e-03 8.75480803e+02] [-6.51310274e-03 9.99978740e-01 3.15566203e-04 -6.44555755e+01] [ 4.76273488e-03 -2.84548479e-04 9.99988618e-01 3.14380709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0807140569999 meters Centerline goodness [0,1] 0.9878482306745046 Centerline is valid? [True, True] Translation: X:875.51, Y:-64.46, Z:3.14 [[ 9.99978297e-01 3.47615455e-03 -5.59663156e-03 8.75509236e+02] [-3.47413208e-03 9.99993896e-01 3.71054093e-04 -6.44636209e+01] [ 5.59788724e-03 -3.51602603e-04 9.99984270e-01 3.14260581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1107140569999 meters Centerline goodness [0,1] 0.9880492009504729 Centerline is valid? [True, True] Translation: X:875.54, Y:-64.46, Z:3.14 [[ 9.99977674e-01 1.90816966e-03 -6.40392504e-03 8.75538472e+02] [-1.90549276e-03 9.99998095e-01 4.24084739e-04 -6.44646928e+01] [ 6.40472206e-03 -4.11872638e-04 9.99979405e-01 3.14260326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.140714057 meters Centerline goodness [0,1] 0.9877006219571851 Centerline is valid? [True, True] Translation: X:875.57, Y:-64.47, Z:3.14 [[ 9.99967507e-01 -9.36976502e-04 -8.00673619e-03 8.75567896e+02] [ 9.41252794e-04 9.99999416e-01 5.30335151e-04 -6.44697421e+01] [ 8.00623461e-03 -5.37854281e-04 9.99967805e-01 3.14217879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1707140569999 meters Centerline goodness [0,1] 0.988908307118723 Centerline is valid? [True, True] Translation: X:875.60, Y:-64.47, Z:3.14 [[ 9.99959557e-01 -2.17569196e-03 -8.72646942e-03 8.75597903e+02] [ 2.18081526e-03 9.99997455e-01 5.77627226e-04 -6.44697399e+01] [ 8.72519047e-03 -5.96634683e-04 9.99961757e-01 3.14220033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2007140569999 meters Centerline goodness [0,1] 0.9883293811317245 Centerline is valid? [True, True] Translation: X:875.63, Y:-64.47, Z:3.14 [[ 9.99953128e-01 -3.26748609e-03 -9.11399215e-03 8.75626861e+02] [ 3.27311249e-03 9.99994462e-01 6.02489616e-04 -6.44732922e+01] [ 9.11197305e-03 -6.32292497e-04 9.99958285e-01 3.14199857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2307140569999 meters Centerline goodness [0,1] 0.9864290989660266 Centerline is valid? [True, True] Translation: X:875.65, Y:-64.49, Z:3.14 [[ 9.99956178e-01 -3.99996504e-03 -8.46419580e-03 8.75653896e+02] [ 4.00483675e-03 9.99991825e-01 5.58696484e-04 -6.44880654e+01] [ 8.46189183e-03 -5.92569723e-04 9.99964022e-01 3.14071199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.260714057 meters Centerline goodness [0,1] 0.9883386655538554 Centerline is valid? [True, True] Translation: X:875.68, Y:-64.48, Z:3.14 [[ 9.99965188e-01 -4.41106196e-03 -7.08276938e-03 8.75683314e+02] [ 4.41446579e-03 9.99990148e-01 4.65017093e-04 -6.44802774e+01] [ 7.08064838e-03 -4.96267548e-04 9.99974809e-01 3.14409131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.290714057 meters Centerline goodness [0,1] 0.9879333549914141 Centerline is valid? [True, True] Translation: X:875.71, Y:-64.48, Z:3.14 [[ 9.99970707e-01 -4.33362943e-03 -6.30914654e-03 8.75711760e+02] [ 4.33633104e-03 9.99990512e-01 4.14587806e-04 -6.44828616e+01] [ 6.30729001e-03 -4.41934209e-04 9.99980011e-01 3.14471034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3207140569999 meters Centerline goodness [0,1] 0.9878136035266692 Centerline is valid? [True, True] Translation: X:875.74, Y:-64.48, Z:3.15 [[ 9.99975521e-01 -4.05011714e-03 -5.70565728e-03 8.75741284e+02] [ 4.05232118e-03 9.99991719e-01 3.74782680e-04 -6.44842847e+01] [ 5.70409211e-03 -3.97894661e-04 9.99983652e-01 3.14545912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3507140569999 meters Centerline goodness [0,1] 0.987554175261316 Centerline is valid? [True, True] Translation: X:875.77, Y:-64.49, Z:3.15 [[ 9.99977697e-01 -4.05293337e-03 -5.30844673e-03 8.75770620e+02] [ 4.05484109e-03 9.99991718e-01 3.48661293e-04 -6.44878881e+01] [ 5.30698967e-03 -3.70178425e-04 9.99985849e-01 3.14543090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.380714057 meters Centerline goodness [0,1] 0.9866833125260092 Centerline is valid? [True, True] Translation: X:875.80, Y:-64.49, Z:3.15 [[ 9.99982021e-01 -4.38601663e-03 -4.08911980e-03 8.75799532e+02] [ 4.38715102e-03 9.99990340e-01 2.68489059e-04 -6.44912755e+01] [ 4.08790270e-03 -2.86423817e-04 9.99991603e-01 3.14575197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.410714057 meters Centerline goodness [0,1] 0.9863297909126536 Centerline is valid? [True, True] Translation: X:875.83, Y:-64.50, Z:3.15 [[ 9.99981144e-01 -4.78793701e-03 -3.84546030e-03 8.75829611e+02] [ 4.78894397e-03 9.99988501e-01 2.52693303e-04 -6.44963923e+01] [ 3.84420621e-03 -2.71104233e-04 9.99992574e-01 3.14509567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4407140569999 meters Centerline goodness [0,1] 0.9867967720304298 Centerline is valid? [True, True] Translation: X:875.86, Y:-64.49, Z:3.15 [[ 9.99977176e-01 -5.35334870e-03 -4.12186840e-03 8.75860570e+02] [ 5.35451010e-03 9.99985628e-01 2.70781376e-04 -6.44929688e+01] [ 4.12035957e-03 -2.92845781e-04 9.99991468e-01 3.14524745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4707140569999 meters Centerline goodness [0,1] 0.9865027271886845 Centerline is valid? [True, True] Translation: X:875.89, Y:-64.50, Z:3.14 [[ 9.99969422e-01 -6.27083611e-03 -4.67235324e-03 8.75890694e+02] [ 6.27233913e-03 9.99980282e-01 3.07099640e-04 -6.45023551e+01] [ 4.67033533e-03 -3.36396833e-04 9.99989037e-01 3.14393344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.500714057 meters Centerline goodness [0,1] 0.9870192975149243 Centerline is valid? [True, True] Translation: X:875.92, Y:-64.50, Z:3.14 [[ 9.99941290e-01 -8.61072163e-03 -6.57808625e-03 8.75922080e+02] [ 8.61375176e-03 9.99962807e-01 4.32446174e-04 -6.44983779e+01] [ 6.57411792e-03 -4.89082787e-04 9.99978271e-01 3.14263354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.530714057 meters Centerline goodness [0,1] 0.9849469327352186 Centerline is valid? [True, True] Translation: X:875.95, Y:-64.51, Z:3.14 [[ 9.99918903e-01 -9.93756897e-03 -7.96446918e-03 8.75951720e+02] [ 9.94205552e-03 9.99950439e-01 5.23925398e-04 -6.45111645e+01] [ 7.95886791e-03 -6.03066103e-04 9.99968146e-01 3.13982216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5607140569999 meters Centerline goodness [0,1] 0.9878443335182104 Centerline is valid? [True, True] Translation: X:875.98, Y:-64.50, Z:3.14 [[ 9.99887396e-01 -1.17200558e-02 -9.37201575e-03 8.75983615e+02] [ 1.17263492e-02 9.99931054e-01 6.16830988e-04 -6.45034521e+01] [ 9.36414029e-03 -7.26661060e-04 9.99955891e-01 3.14043367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5907140569999 meters Centerline goodness [0,1] 0.9868780374913214 Centerline is valid? [True, True] Translation: X:876.02, Y:-64.51, Z:3.14 [[ 9.99871247e-01 -1.26353851e-02 -9.89128112e-03 8.76015218e+02] [ 1.26424431e-02 9.99919869e-01 6.51350332e-04 -6.45063642e+01] [ 9.88225846e-03 -7.76316427e-04 9.99950868e-01 3.14027719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.620714057 meters Centerline goodness [0,1] 0.9866827525404853 Centerline is valid? [True, True] Translation: X:876.05, Y:-64.51, Z:3.14 [[ 9.99874082e-01 -1.26555514e-02 -9.57377362e-03 8.76045898e+02] [ 1.26621700e-02 9.99919632e-01 6.31031870e-04 -6.45099859e+01] [ 9.56501814e-03 -7.52177162e-04 9.99953971e-01 3.14031635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.650714057 meters Centerline goodness [0,1] 0.9864302809210679 Centerline is valid? [True, True] Translation: X:876.08, Y:-64.51, Z:3.14 [[ 9.99888938e-01 -1.19675962e-02 -8.88195705e-03 8.76076716e+02] [ 1.19732680e-02 9.99928146e-01 5.85678814e-04 -6.45126212e+01] [ 8.87430968e-03 -6.91959820e-04 9.99960383e-01 3.14133804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6807140569999 meters Centerline goodness [0,1] 0.9866985468220437 Centerline is valid? [True, True] Translation: X:876.11, Y:-64.51, Z:3.14 [[ 9.99909279e-01 -1.11739898e-02 -7.52164697e-03 8.76108472e+02] [ 1.11780386e-02 9.99937401e-01 4.96469661e-04 -6.45139213e+01] [ 7.51562857e-03 -5.80501882e-04 9.99971589e-01 3.14244585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7107140569999 meters Centerline goodness [0,1] 0.9858761663215209 Centerline is valid? [True, True] Translation: X:876.14, Y:-64.51, Z:3.14 [[ 9.99935676e-01 -9.64790341e-03 -5.96334024e-03 8.76139938e+02] [ 9.65042244e-03 9.99953356e-01 3.93787831e-04 -6.45138306e+01] [ 5.95926286e-03 -4.51311253e-04 9.99982142e-01 3.14409220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7407140569999 meters Centerline goodness [0,1] 0.9866567655999814 Centerline is valid? [True, True] Translation: X:876.17, Y:-64.51, Z:3.14 [[ 9.99945126e-01 -8.98757492e-03 -5.38221764e-03 8.76171874e+02] [ 8.98961936e-03 9.99959529e-01 3.55779667e-04 -6.45132115e+01] [ 5.37880222e-03 -4.04144232e-04 9.99985452e-01 3.14485532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.770714057 meters Centerline goodness [0,1] 0.9853529247651818 Centerline is valid? [True, True] Translation: X:876.20, Y:-64.51, Z:3.14 [[ 9.99948886e-01 -8.74612882e-03 -5.07244267e-03 8.76203129e+02] [ 8.74794302e-03 9.99961680e-01 3.35581132e-04 -6.45140749e+01] [ 5.06931325e-03 -3.79937419e-04 9.99987079e-01 3.14493850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8007140569999 meters Centerline goodness [0,1] 0.9859454159176336 Centerline is valid? [True, True] Translation: X:876.23, Y:-64.52, Z:3.15 [[ 9.99946228e-01 -8.93557503e-03 -5.26269854e-03 8.76234515e+02] [ 8.93753190e-03 9.99959999e-01 3.48437538e-04 -6.45156878e+01] [ 5.25937454e-03 -3.95454338e-04 9.99986091e-01 3.14509186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8307140569999 meters Centerline goodness [0,1] 0.9853321226513935 Centerline is valid? [True, True] Translation: X:876.27, Y:-64.52, Z:3.14 [[ 9.99935791e-01 -9.59243663e-03 -6.03320468e-03 8.76266085e+02] [ 9.59502202e-03 9.99953887e-01 3.99728281e-04 -6.45191655e+01] [ 6.02909210e-03 -4.57591347e-04 9.99981720e-01 3.14397059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8607140569999 meters Centerline goodness [0,1] 0.9846848524345964 Centerline is valid? [True, True] Translation: X:876.30, Y:-64.52, Z:3.14 [[ 9.99907698e-01 -1.15746464e-02 -7.11505209e-03 8.76296771e+02] [ 1.15782928e-02 9.99932858e-01 4.71519859e-04 -6.45244889e+01] [ 7.10911670e-03 -5.53856493e-04 9.99974577e-01 3.14185910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.890714057 meters Centerline goodness [0,1] 0.9842554684758451 Centerline is valid? [True, True] Translation: X:876.33, Y:-64.53, Z:3.14 [[ 9.99890609e-01 -1.24904031e-02 -7.92214399e-03 8.76328098e+02] [ 1.24949544e-02 9.99921797e-01 5.25267364e-04 -6.45281575e+01] [ 7.91496366e-03 -6.24196732e-04 9.99968481e-01 3.14063567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9207140569999 meters Centerline goodness [0,1] 0.9848927078712028 Centerline is valid? [True, True] Translation: X:876.36, Y:-64.53, Z:3.14 [[ 9.99869713e-01 -1.36257182e-02 -8.65429260e-03 8.76359194e+02] [ 1.36311925e-02 9.99906926e-01 5.73879057e-04 -6.45282458e+01] [ 8.64566760e-03 -6.91772617e-04 9.99962386e-01 3.14031472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9507140569999 meters Centerline goodness [0,1] 0.98364562403626 Centerline is valid? [True, True] Translation: X:876.39, Y:-64.54, Z:3.14 [[ 9.99819586e-01 -1.60048767e-02 -1.02293014e-02 8.76388806e+02] [ 1.60126477e-02 9.99871559e-01 6.78229864e-04 -6.45372100e+01] [ 1.02171325e-02 -8.41905701e-04 9.99947449e-01 3.13774775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9807140569999 meters Centerline goodness [0,1] 0.9818634755075433 Centerline is valid? [True, True] Translation: X:876.42, Y:-64.54, Z:3.14 [[ 9.99795338e-01 -1.72079730e-02 -1.06380529e-02 8.76420173e+02] [ 1.72164505e-02 9.99851537e-01 7.05827280e-04 -6.45402779e+01] [ 1.06243277e-02 -8.88832336e-04 9.99943165e-01 3.13710922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.010714057 meters Centerline goodness [0,1] 0.9801232128327327 Centerline is valid? [True, True] Translation: X:876.45, Y:-64.54, Z:3.14 [[ 9.99773245e-01 -1.83102696e-02 -1.08716102e-02 8.76450186e+02] [ 1.83191893e-02 9.99831929e-01 7.21431457e-04 -6.45441596e+01] [ 1.08565734e-02 -9.20426955e-04 9.99940642e-01 3.13664209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.040714057 meters Centerline goodness [0,1] 0.9668442727843831 Centerline is valid? [True, True] Translation: X:876.48, Y:-64.55, Z:3.14 [[ 9.99716869e-01 -2.08913690e-02 -1.13900189e-02 8.76479075e+02] [ 2.09013228e-02 9.99781258e-01 7.55555984e-04 -6.45491267e+01] [ 1.13717429e-02 -9.93408524e-04 9.99934846e-01 3.13678450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0707140569999 meters Centerline goodness [0,1] 0.9775186957127595 Centerline is valid? [True, True] Translation: X:876.51, Y:-64.55, Z:3.14 [[ 9.99702422e-01 -2.17702990e-02 -1.10055120e-02 8.76511724e+02] [ 2.17796566e-02 9.99762528e-01 7.31119930e-04 -6.45484964e+01] [ 1.09869818e-02 -9.70598639e-04 9.99939170e-01 3.13755891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1007140569999 meters Centerline goodness [0,1] 0.9835387119274588 Centerline is valid? [True, True] Translation: X:876.54, Y:-64.54, Z:3.14 [[ 9.99666908e-01 -2.39173410e-02 -9.69711438e-03 8.76543415e+02] [ 2.39247061e-02 9.99713556e-01 6.44203378e-04 -6.45408624e+01] [ 9.67892906e-03 -8.75989410e-04 9.99952774e-01 3.14060014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.130714057 meters Centerline goodness [0,1] 0.983399209486166 Centerline is valid? [True, True] Translation: X:876.58, Y:-64.54, Z:3.14 [[ 9.99639240e-01 -2.51802349e-02 -9.34592284e-03 8.76575527e+02] [ 2.51871390e-02 9.99682560e-01 6.21752690e-04 -6.45442651e+01] [ 9.32730019e-03 -8.56925444e-04 9.99956133e-01 3.14115017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.160714057 meters Centerline goodness [0,1] 0.983399209486166 Centerline is valid? [True, True] Translation: X:876.61, Y:-64.55, Z:3.14 [[ 9.99641027e-01 -2.51092065e-02 -9.34587844e-03 8.76607289e+02] [ 2.51161138e-02 9.99684347e-01 6.22419766e-04 -6.45464393e+01] [ 9.32729992e-03 -8.56928480e-04 9.99956133e-01 3.14101888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1907140569999 meters Centerline goodness [0,1] 0.9803757050295996 Centerline is valid? [True, True] Translation: X:876.64, Y:-64.56, Z:3.14 [[ 9.99555690e-01 -2.84344918e-02 -8.93882543e-03 8.76636583e+02] [ 2.84409380e-02 9.99595298e-01 5.94836721e-04 -6.45552299e+01] [ 8.91829399e-03 -8.48801009e-04 9.99959871e-01 3.14085175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2207140569999 meters Centerline goodness [0,1] 0.9799103513946629 Centerline is valid? [True, True] Translation: X:876.67, Y:-64.56, Z:3.14 [[ 9.99510728e-01 -2.99999732e-02 -8.84907480e-03 8.76667970e+02] [ 3.00063559e-02 9.99549534e-01 5.89380659e-04 -6.45573774e+01] [ 8.82740719e-03 -8.54620780e-04 9.99960672e-01 3.14079059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.250714057 meters Centerline goodness [0,1] 0.9771327647509934 Centerline is valid? [True, True] Translation: X:876.70, Y:-64.56, Z:3.14 [[ 9.99437899e-01 -3.20781413e-02 -9.74057250e-03 8.76698553e+02] [ 3.20859735e-02 9.99484902e-01 6.48835974e-04 -6.45620567e+01] [ 9.71474170e-03 -9.61007014e-04 9.99952349e-01 3.13977402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.280714057 meters Centerline goodness [0,1] 0.9733168651394747 Centerline is valid? [True, True] Translation: X:876.73, Y:-64.57, Z:3.14 [[ 9.99318901e-01 -3.50014596e-02 -1.16889646e-02 8.76728828e+02] [ 3.50129357e-02 9.99386556e-01 7.78530856e-04 -6.45655204e+01] [ 1.16545444e-02 -1.18726557e-03 9.99931379e-01 3.13877935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3107140569999 meters Centerline goodness [0,1] 0.9619499488324496 Centerline is valid? [True, True] Translation: X:876.76, Y:-64.57, Z:3.14 [[ 9.99259247e-01 -3.63882989e-02 -1.25239722e-02 8.76758817e+02] [ 3.64015848e-02 9.99336894e-01 8.34439609e-04 -6.45701975e+01] [ 1.24853036e-02 -1.28971393e-03 9.99921224e-01 3.13765542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3407140569999 meters Centerline goodness [0,1] 0.921923390383048 Centerline is valid? [True, False] Translation: X:876.76, Y:-64.57, Z:3.14 [[ 9.99255407e-01 -3.63959465e-02 -1.28049230e-02 8.76759758e+02] [ 3.64126403e-02 9.99336264e-01 1.07291259e-03 -6.45701249e+01] [ 1.27573743e-02 -1.53837476e-03 9.99917438e-01 3.13693548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.370714057 meters Centerline goodness [0,1] 0.9069816248484284 Centerline is valid? [False, False] Translation: X:876.76, Y:-64.57, Z:3.14 [[ 9.99360458e-01 -3.33983508e-02 -1.27759299e-02 8.76759185e+02] [ 3.34642875e-02 9.99427494e-01 4.98246440e-03 -6.45718381e+01] [ 1.26022095e-02 -5.40681529e-03 9.99905971e-01 3.13656700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.400714057 meters Centerline goodness [0,1] 0.8913487019535189 Centerline is valid? [False, False] Translation: X:876.76, Y:-64.57, Z:3.14 [[ 9.99356393e-01 -3.34617198e-02 -1.29271898e-02 8.76759616e+02] [ 3.35251803e-02 9.99426709e-01 4.72389600e-03 -6.45708458e+01] [ 1.27617091e-02 -5.15424204e-03 9.99905282e-01 3.13647201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4307140569999 meters Centerline goodness [0,1] 0.86498345730577 Centerline is valid? [False, False] Translation: X:876.76, Y:-64.57, Z:3.14 [[ 9.99461235e-01 -3.01911890e-02 -1.28737228e-02 8.76758862e+02] [ 3.02985781e-02 9.99507011e-01 8.22987830e-03 -6.45704450e+01] [ 1.26189064e-02 -8.61549982e-03 9.99883261e-01 3.13666283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4607140569999 meters Centerline goodness [0,1] 0.9428350261546762 Centerline is valid? [False, False] Translation: X:876.76, Y:-64.57, Z:3.14 [[ 9.99469307e-01 -2.97462449e-02 -1.32764959e-02 8.76759737e+02] [ 2.98477178e-02 9.99526234e-01 7.51144482e-03 -6.45669986e+01] [ 1.30467687e-02 -7.90373165e-03 9.99883650e-01 3.13715806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4907140569999 meters Centerline goodness [0,1] 0.958127731566333 Centerline is valid? [False, True] Translation: X:876.76, Y:-64.56, Z:3.14 [[ 9.99465636e-01 -2.96863370e-02 -1.36807569e-02 8.76760241e+02] [ 2.97815802e-02 9.99533222e-01 6.81146542e-03 -6.45647578e+01] [ 1.34721636e-02 -7.21526018e-03 9.99883214e-01 3.13789668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.520714057 meters Centerline goodness [0,1] 0.9714043634823131 Centerline is valid? [True, True] Translation: X:876.79, Y:-64.56, Z:3.14 [[ 9.99519807e-01 -2.78375606e-02 -1.36097644e-02 8.76792014e+02] [ 2.78530346e-02 9.99611579e-01 9.48718759e-04 -6.45590514e+01] [ 1.35780681e-02 -1.32733643e-03 9.99906933e-01 3.14074722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5507140569999 meters Centerline goodness [0,1] 0.9712423222648436 Centerline is valid? [True, True] Translation: X:876.82, Y:-64.56, Z:3.14 [[ 9.99612856e-01 -2.42532331e-02 -1.36352407e-02 8.76821404e+02] [ 2.42684281e-02 9.99705027e-01 9.50018794e-04 -6.45577069e+01] [ 1.36081776e-02 -1.28055686e-03 9.99906584e-01 3.14012347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5807140569999 meters Centerline goodness [0,1] 0.9769600530416045 Centerline is valid? [True, True] Translation: X:876.85, Y:-64.56, Z:3.14 [[ 9.99659191e-01 -2.21225676e-02 -1.38598167e-02 8.76852750e+02] [ 2.21380721e-02 9.99754456e-01 9.66224438e-04 -6.45560039e+01] [ 1.38350381e-02 -1.27272476e-03 9.99903481e-01 3.14021752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6107140569999 meters Centerline goodness [0,1] 0.9659173998160248 Centerline is valid? [True, True] Translation: X:876.88, Y:-64.56, Z:3.14 [[ 9.99726101e-01 -1.95360326e-02 -1.28866540e-02 8.76881840e+02] [ 1.95492182e-02 9.99808492e-01 8.98014094e-04 -6.45606237e+01] [ 1.28666425e-02 -1.14969214e-03 9.99916560e-01 3.13864751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.640714057 meters Centerline goodness [0,1] 0.9791879499180347 Centerline is valid? [True, True] Translation: X:876.91, Y:-64.56, Z:3.14 [[ 9.99762027e-01 -1.75484923e-02 -1.29591697e-02 8.76913251e+02] [ 1.75616666e-02 9.99845374e-01 9.03501099e-04 -6.45556808e+01] [ 1.29413108e-02 -1.13087071e-03 9.99915618e-01 3.13967936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6707140569999 meters Centerline goodness [0,1] 0.9705479128256039 Centerline is valid? [True, True] Translation: X:876.94, Y:-64.56, Z:3.14 [[ 9.99790324e-01 -1.62592661e-02 -1.24476272e-02 8.76943522e+02] [ 1.62713283e-02 9.99867236e-01 8.68373670e-04 -6.45612997e+01] [ 1.24318554e-02 -1.07073102e-03 9.99922148e-01 3.13827089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7007140569999 meters Centerline goodness [0,1] 0.9768720379146919 Centerline is valid? [True, True] Translation: X:876.97, Y:-64.56, Z:3.14 [[ 9.99844717e-01 -1.21239092e-02 -1.27887611e-02 8.76973946e+02] [ 1.21363027e-02 9.99925955e-01 8.91930171e-04 -6.45578821e+01] [ 1.27770005e-02 -1.04699995e-03 9.99917823e-01 3.13739577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7307140569999 meters Centerline goodness [0,1] 0.9788601628338809 Centerline is valid? [True, True] Translation: X:877.00, Y:-64.56, Z:3.14 [[ 9.99884188e-01 -7.50291572e-03 -1.32407201e-02 8.77003780e+02] [ 7.51579335e-03 9.99971330e-01 9.23085806e-04 -6.45559590e+01] [ 1.32334146e-02 -1.02249342e-03 9.99911912e-01 3.13580947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.760714057 meters Centerline goodness [0,1] 0.9814184768385239 Centerline is valid? [True, True] Translation: X:877.03, Y:-64.55, Z:3.14 [[ 9.99900703e-01 -4.90435726e-03 -1.32110606e-02 8.77034030e+02] [ 4.91694895e-03 9.99987488e-01 9.20804963e-04 -6.45510079e+01] [ 1.32063793e-02 -9.85671640e-04 9.99912306e-01 3.13643030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.790714057 meters Centerline goodness [0,1] 0.9823662575956154 Centerline is valid? [True, True] Translation: X:877.06, Y:-64.55, Z:3.14 [[ 9.99903421e-01 -2.37929729e-03 -1.36926457e-02 8.77063468e+02] [ 2.39258059e-03 9.99996683e-01 9.53805900e-04 -6.45518333e+01] [ 1.36903309e-02 -9.86474540e-04 9.99905796e-01 3.13565786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8207140569999 meters Centerline goodness [0,1] 0.9825363924427608 Centerline is valid? [True, True] Translation: X:877.09, Y:-64.55, Z:3.14 [[ 9.99909069e-01 -3.02572440e-04 -1.34819555e-02 8.77093958e+02] [ 3.15253360e-04 9.99999510e-01 9.38469282e-04 -6.45495520e+01] [ 1.34816649e-02 -9.42634177e-04 9.99908674e-01 3.13590486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8507140569999 meters Centerline goodness [0,1] 0.9835489076763735 Centerline is valid? [True, True] Translation: X:877.12, Y:-64.55, Z:3.14 [[ 9.99904122e-01 4.05803042e-03 -1.32392695e-02 8.77124230e+02] [-4.04617956e-03 9.99991389e-01 9.21792691e-04 -6.45486798e+01] [ 1.32428961e-02 -8.68135850e-04 9.99911932e-01 3.13618615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.880714057 meters Centerline goodness [0,1] 0.9827528546175529 Centerline is valid? [True, True] Translation: X:877.15, Y:-64.55, Z:3.14 [[ 9.99909022e-01 6.70912869e-03 -1.17019238e-02 8.77152957e+02] [-6.70005819e-03 9.99977223e-01 8.14160249e-04 -6.45514404e+01] [ 1.17071195e-02 -7.35682609e-04 9.99931199e-01 3.13634808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.910714057 meters Centerline goodness [0,1] 0.9802804139443941 Centerline is valid? [True, True] Translation: X:877.18, Y:-64.56, Z:3.13 [[ 9.99905243e-01 8.31084114e-03 -1.09742677e-02 8.77181089e+02] [-8.30296703e-03 9.99965239e-01 7.62873296e-04 -6.45623228e+01] [ 1.09802263e-02 -6.71682026e-04 9.99939490e-01 3.13380554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9407140569999 meters Centerline goodness [0,1] 0.9827421130738666 Centerline is valid? [True, True] Translation: X:877.21, Y:-64.55, Z:3.14 [[ 9.99895495e-01 1.08238025e-02 -9.58352518e-03 8.77212140e+02] [-1.08179127e-02 9.99941263e-01 6.66205260e-04 -6.45545839e+01] [ 9.59017314e-03 -5.62461900e-04 9.99953855e-01 3.13685420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9707140569999 meters Centerline goodness [0,1] 0.983960547735325 Centerline is valid? [True, True] Translation: X:877.24, Y:-64.56, Z:3.14 [[ 9.99880369e-01 1.23896773e-02 -9.25976202e-03 8.77239671e+02] [-1.23842566e-02 9.99923106e-01 6.42519396e-04 -6.45569063e+01] [ 9.26701060e-03 -5.27767262e-04 9.99956921e-01 3.13685781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.000714057 meters Centerline goodness [0,1] 0.9852242744063324 Centerline is valid? [True, True] Translation: X:877.27, Y:-64.55, Z:3.14 [[ 9.99842662e-01 1.61523665e-02 -7.33156068e-03 8.77269890e+02] [-1.61490665e-02 9.99869466e-01 5.09088364e-04 -6.45544595e+01] [ 7.33882664e-03 -3.90610404e-04 9.99972994e-01 3.13865640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.030714057 meters Centerline goodness [0,1] 0.9860196973336536 Centerline is valid? [True, True] Translation: X:877.30, Y:-64.55, Z:3.14 [[ 9.99770566e-01 2.01574046e-02 -7.24529697e-03 8.77300411e+02] [-2.01542897e-02 9.99796755e-01 5.02693616e-04 -6.45521147e+01] [ 7.25395740e-03 -3.56554468e-04 9.99973626e-01 3.13830695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0607140569999 meters Centerline goodness [0,1] 0.9870327074646292 Centerline is valid? [True, True] Translation: X:877.33, Y:-64.55, Z:3.14 [[ 9.99731774e-01 2.19842896e-02 -7.28499402e-03 8.77329405e+02] [-2.19811940e-02 9.99758257e-01 5.04725077e-04 -6.45495390e+01] [ 7.29432895e-03 -3.44456830e-04 9.99973337e-01 3.13908587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0907140569999 meters Centerline goodness [0,1] 0.9860171618423883 Centerline is valid? [True, True] Translation: X:877.36, Y:-64.56, Z:3.14 [[ 9.99736714e-01 2.20698026e-02 -6.27903355e-03 8.77357233e+02] [-2.20675090e-02 9.99756389e-01 4.34336799e-04 -6.45562193e+01] [ 6.28708963e-03 -2.95659814e-04 9.99980192e-01 3.13714455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.120714057 meters Centerline goodness [0,1] 0.987827130852341 Centerline is valid? [True, True] Translation: X:877.39, Y:-64.55, Z:3.14 [[ 9.99690694e-01 2.41199396e-02 -6.06170350e-03 8.77386919e+02] [-2.41178403e-02 9.99709035e-01 4.19187855e-04 -6.45538532e+01] [ 6.07005054e-03 -2.72863001e-04 9.99981540e-01 3.13775469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.150714057 meters Centerline goodness [0,1] 0.9875707841443516 Centerline is valid? [True, True] Translation: X:877.41, Y:-64.56, Z:3.14 [[ 9.99685283e-01 2.42835168e-02 -6.29645559e-03 8.77414342e+02] [-2.42812596e-02 9.99705072e-01 4.34696196e-04 -6.45619702e+01] [ 6.30515454e-03 -2.81673517e-04 9.99980083e-01 3.13576357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1807140569999 meters Centerline goodness [0,1] 0.9864922813036021 Centerline is valid? [True, True] Translation: X:877.44, Y:-64.57, Z:3.13 [[ 9.99697725e-01 2.37073313e-02 -6.51317573e-03 8.77441826e+02] [-2.37049069e-02 9.99718898e-01 4.49194496e-04 -6.45661512e+01] [ 6.52199407e-03 -2.94664492e-04 9.99978688e-01 3.13450427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2107140569999 meters Centerline goodness [0,1] 0.9870978512317855 Centerline is valid? [True, True] Translation: X:877.47, Y:-64.57, Z:3.13 [[ 9.99698642e-01 2.35654846e-02 -6.87702221e-03 8.77470945e+02] [-2.35627805e-02 9.99722247e-01 4.73982888e-04 -6.45691177e+01] [ 6.88628173e-03 -3.11798285e-04 9.99976241e-01 3.13368200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2407140569999 meters Centerline goodness [0,1] 0.9886698445397274 Centerline is valid? [True, True] Translation: X:877.50, Y:-64.56, Z:3.14 [[ 9.99670841e-01 2.45440208e-02 -7.46993781e-03 8.77500076e+02] [-2.45408614e-02 9.99698695e-01 5.14336908e-04 -6.45634299e+01] [ 7.48031098e-03 -3.30848901e-04 9.99971967e-01 3.13524021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.270714057 meters Centerline goodness [0,1] 0.9877947030918496 Centerline is valid? [True, True] Translation: X:877.53, Y:-64.57, Z:3.13 [[ 9.99653470e-01 2.52072598e-02 -7.58505442e-03 8.77527747e+02] [-2.52040250e-02 9.99682192e-01 5.21764360e-04 -6.45734843e+01] [ 7.59579607e-03 -3.30409652e-04 9.99971097e-01 3.13174662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3007140569999 meters Centerline goodness [0,1] 0.9905806605460832 Centerline is valid? [True, True] Translation: X:877.56, Y:-64.56, Z:3.13 [[ 9.99604660e-01 2.69229974e-02 -8.10402461e-03 8.77557034e+02] [-2.69193656e-02 9.99637453e-01 5.56908439e-04 -6.45631234e+01] [ 8.11608017e-03 -3.38533069e-04 9.99967007e-01 3.13491797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3307140569999 meters Centerline goodness [0,1] 0.9896178906417814 Centerline is valid? [True, True] Translation: X:877.58, Y:-64.57, Z:3.13 [[ 9.99569616e-01 2.82039231e-02 -8.06984480e-03 8.77584556e+02] [-2.82003747e-02 9.99602137e-01 5.53172979e-04 -6.45667071e+01] [ 8.08223576e-03 -3.25362254e-04 9.99967285e-01 3.13386361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3607140569999 meters Centerline goodness [0,1] 0.9901447195311566 Centerline is valid? [True, True] Translation: X:877.61, Y:-64.57, Z:3.13 [[ 9.99548439e-01 2.89573768e-02 -8.02425260e-03 8.77613624e+02] [-2.89539133e-02 9.99580598e-01 5.47493802e-04 -6.45678562e+01] [ 8.03674120e-03 -3.14913061e-04 9.99967655e-01 3.13368265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.390714057 meters Centerline goodness [0,1] 0.9898249898249898 Centerline is valid? [True, True] Translation: X:877.64, Y:-64.57, Z:3.13 [[ 9.99497508e-01 3.06718578e-02 -7.99809229e-03 8.77642897e+02] [-3.06684847e-02 9.99529463e-01 5.44072200e-04 -6.45680818e+01] [ 8.01101660e-03 -2.98509437e-04 9.99967867e-01 3.13384877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4207140569999 meters Centerline goodness [0,1] 0.989574386868976 Centerline is valid? [True, True] Translation: X:877.67, Y:-64.57, Z:3.13 [[ 9.99493511e-01 3.08456757e-02 -7.82726729e-03 8.77671494e+02] [-3.08424658e-02 9.99524117e-01 5.30500629e-04 -6.45700389e+01] [ 7.83990608e-03 -2.88819712e-04 9.99969226e-01 3.13363735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4507140569999 meters Centerline goodness [0,1] 0.9903297019724528 Centerline is valid? [True, True] Translation: X:877.70, Y:-64.57, Z:3.13 [[ 9.99420708e-01 3.30716877e-02 -8.03198316e-03 8.77700498e+02] [-3.30683753e-02 9.99452943e-01 5.44891093e-04 -6.45697152e+01] [ 8.04560968e-03 -2.78970808e-04 9.99967595e-01 3.13434075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4807140569999 meters Centerline goodness [0,1] 0.9907589178836486 Centerline is valid? [True, True] Translation: X:877.73, Y:-64.57, Z:3.13 [[ 9.99421973e-01 3.30369272e-02 -8.01760313e-03 8.77727852e+02] [-3.30336537e-02 9.99454094e-01 5.40412777e-04 -6.45717009e+01] [ 8.03107985e-03 -2.75249678e-04 9.99967712e-01 3.13472845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.510714057 meters Centerline goodness [0,1] 0.9896292393178769 Centerline is valid? [True, True] Translation: X:877.75, Y:-64.58, Z:3.13 [[ 9.99428143e-01 3.29269571e-02 -7.69426316e-03 8.77754587e+02] [-3.29239463e-02 9.99457726e-01 5.17676535e-04 -6.45757741e+01] [ 7.70713628e-03 -2.64054990e-04 9.99970265e-01 3.13389728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.540714057 meters Centerline goodness [0,1] 0.9894048584928172 Centerline is valid? [True, True] Translation: X:877.78, Y:-64.58, Z:3.13 [[ 9.99449490e-01 3.24200170e-02 -7.04701310e-03 8.77782862e+02] [-3.24174777e-02 9.99474303e-01 4.74300260e-04 -6.45789983e+01] [ 7.05868533e-03 -2.45592762e-04 9.99975057e-01 3.13446780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5707140569999 meters Centerline goodness [0,1] 0.9896087874546274 Centerline is valid? [True, True] Translation: X:877.81, Y:-64.58, Z:3.14 [[ 9.99476419e-01 3.16313751e-02 -6.80759574e-03 8.77811920e+02] [-3.16289904e-02 9.99499574e-01 4.57703356e-04 -6.45812108e+01] [ 6.81866682e-03 -2.42146331e-04 9.99976723e-01 3.13506464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6007140569999 meters Centerline goodness [0,1] 0.9894661921708185 Centerline is valid? [True, True] Translation: X:877.84, Y:-64.59, Z:3.13 [[ 9.99510882e-01 3.05543988e-02 -6.66516982e-03 8.77839556e+02] [-3.05520934e-02 9.99533076e-01 4.47460494e-04 -6.45876152e+01] [ 6.67572958e-03 -2.43606743e-04 9.99977687e-01 3.13408581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.630714057 meters Centerline goodness [0,1] 0.9890613556358825 Centerline is valid? [True, True] Translation: X:877.87, Y:-64.59, Z:3.13 [[ 9.99540531e-01 2.95237073e-02 -6.86130018e-03 8.77868322e+02] [-2.95212422e-02 9.99564047e-01 4.60300048e-04 -6.45906516e+01] [ 6.87189874e-03 -2.57534450e-04 9.99976355e-01 3.13369677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.660714057 meters Centerline goodness [0,1] 0.9891327610396404 Centerline is valid? [True, True] Translation: X:877.90, Y:-64.60, Z:3.13 [[ 9.99558966e-01 2.86063385e-02 -7.97191865e-03 8.77895237e+02] [-2.86029890e-02 9.99590708e-01 5.33886463e-04 -6.45962427e+01] [ 7.98392834e-03 -3.05630299e-04 9.99968081e-01 3.13181923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6907140569999 meters Centerline goodness [0,1] 0.9893058295111575 Centerline is valid? [True, True] Translation: X:877.92, Y:-64.60, Z:3.13 [[ 9.99583009e-01 2.76776414e-02 -8.23139275e-03 8.77923550e+02] [-2.76740413e-02 9.99616849e-01 5.50963204e-04 -6.46005799e+01] [ 8.24348825e-03 -3.22937554e-04 9.99965970e-01 3.13062692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7207140569999 meters Centerline goodness [0,1] 0.989312687027977 Centerline is valid? [True, True] Translation: X:877.95, Y:-64.60, Z:3.13 [[ 9.99612109e-01 2.65347503e-02 -8.45806018e-03 8.77952711e+02] [-2.65309345e-02 9.99647834e-01 5.63047953e-04 -6.46008994e+01] [ 8.47002188e-03 -3.38429311e-04 9.99964071e-01 3.13137234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.750714057 meters Centerline goodness [0,1] 0.9887375712737383 Centerline is valid? [True, True] Translation: X:877.98, Y:-64.61, Z:3.13 [[ 9.99672109e-01 2.40726702e-02 -8.72815299e-03 8.77980737e+02] [-2.40685063e-02 9.99710142e-01 5.81802574e-04 -6.46097847e+01] [ 8.73962860e-03 -3.71538201e-04 9.99961740e-01 3.12968259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.780714057 meters Centerline goodness [0,1] 0.9893659663766475 Centerline is valid? [True, True] Translation: X:878.01, Y:-64.61, Z:3.13 [[ 9.99678907e-01 2.37113919e-02 -8.93599402e-03 8.78009777e+02] [-2.37070195e-02 9.99718772e-01 5.94926709e-04 -6.46066397e+01] [ 8.94758751e-03 -3.82889898e-04 9.99959896e-01 3.13204771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8107140569999 meters Centerline goodness [0,1] 0.9886467594004363 Centerline is valid? [True, True] Translation: X:878.04, Y:-64.61, Z:3.13 [[ 9.99723969e-01 2.20335712e-02 -8.15517448e-03 8.78036810e+02] [-2.20298807e-02 9.99757166e-01 5.42101033e-04 -6.46137826e+01] [ 8.16513854e-03 -3.62293876e-04 9.99966599e-01 3.13127559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8407140569999 meters Centerline goodness [0,1] 0.9893531633616619 Centerline is valid? [True, True] Translation: X:878.07, Y:-64.61, Z:3.13 [[ 9.99719959e-01 2.20423049e-02 -8.61052569e-03 8.78066087e+02] [-2.20381950e-02 9.99756966e-01 5.71911795e-04 -6.46137522e+01] [ 8.62103929e-03 -3.81991191e-04 9.99962765e-01 3.13234608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.870714057 meters Centerline goodness [0,1] 0.9894697166010978 Centerline is valid? [True, True] Translation: X:878.09, Y:-64.62, Z:3.13 [[ 9.99730434e-01 2.16325042e-02 -8.43167784e-03 8.78093627e+02] [-2.16285558e-02 9.99765919e-01 5.59199803e-04 -6.46186489e+01] [ 8.44180103e-03 -3.76684047e-04 9.99964296e-01 3.13189374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.900714057 meters Centerline goodness [0,1] 0.9888705493987268 Centerline is valid? [True, True] Translation: X:878.12, Y:-64.62, Z:3.13 [[ 9.99713120e-01 2.23352080e-02 -8.64964074e-03 8.78122976e+02] [-2.23310833e-02 9.99750466e-01 5.73167128e-04 -6.46170389e+01] [ 8.66028417e-03 -3.79846850e-04 9.99962427e-01 3.13240342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9307140569999 meters Centerline goodness [0,1] 0.9893787764350453 Centerline is valid? [True, True] Translation: X:878.15, Y:-64.62, Z:3.13 [[ 9.99675253e-01 2.40009727e-02 -8.56393180e-03 8.78150824e+02] [-2.39970016e-02 9.99711870e-01 5.66175060e-04 -6.46193823e+01] [ 8.57505303e-03 -3.60482511e-04 9.99963169e-01 3.13119616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9607140569999 meters Centerline goodness [0,1] 0.9892987357355936 Centerline is valid? [True, True] Translation: X:878.18, Y:-64.62, Z:3.13 [[ 9.99631677e-01 2.56967873e-02 -8.72840678e-03 8.78178667e+02] [-2.56927362e-02 9.99669721e-01 5.75957283e-04 -6.46205184e+01] [ 8.74032423e-03 -3.51488491e-04 9.99961741e-01 3.13092736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9907140569999 meters Centerline goodness [0,1] 0.9886799602140861 Centerline is valid? [True, True] Translation: X:878.21, Y:-64.62, Z:3.13 [[ 9.99606998e-01 2.66474442e-02 -8.70417812e-03 8.78207350e+02] [-2.66434536e-02 9.99644835e-01 5.74126360e-04 -6.46197450e+01] [ 8.71638570e-03 -3.41991361e-04 9.99961953e-01 3.13128565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.020714057 meters Centerline goodness [0,1] 0.9888775824123813 Centerline is valid? [True, True] Translation: X:878.24, Y:-64.62, Z:3.13 [[ 9.99553804e-01 2.86733608e-02 -8.36841927e-03 8.78236086e+02] [-2.86697481e-02 9.99588786e-01 5.51369064e-04 -6.46171207e+01] [ 8.38078766e-03 -3.11202573e-04 9.99964832e-01 3.13227860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0507140569999 meters Centerline goodness [0,1] 0.9888775824123813 Centerline is valid? [True, True] Translation: X:878.26, Y:-64.62, Z:3.13 [[ 9.99561699e-01 2.83967364e-02 -8.36865709e-03 8.78263413e+02] [-2.83931442e-02 9.99596683e-01 5.47753863e-04 -6.46188416e+01] [ 8.38083629e-03 -3.09901294e-04 9.99964832e-01 3.13210685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0807140569999 meters Centerline goodness [0,1] 0.988864882831976 Centerline is valid? [True, True] Translation: X:878.29, Y:-64.62, Z:3.13 [[ 9.99526206e-01 2.96498163e-02 -8.26143355e-03 8.78290736e+02] [-2.96463594e-02 9.99560304e-01 5.40614001e-04 -6.46215292e+01] [ 8.27383014e-03 -2.95436433e-04 9.99965728e-01 3.13116241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1107140569999 meters Centerline goodness [0,1] 0.9887274016306274 Centerline is valid? [True, True] Translation: X:878.32, Y:-64.62, Z:3.13 [[ 9.99462074e-01 3.19402422e-02 -7.44201704e-03 8.78318773e+02] [-3.19375037e-02 9.99489749e-01 4.86564433e-04 -6.46226405e+01] [ 7.45376074e-03 -2.48623250e-04 9.99972189e-01 3.13131969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.140714057 meters Centerline goodness [0,1] 0.9887263359410082 Centerline is valid? [True, True] Translation: X:878.35, Y:-64.62, Z:3.13 [[ 9.99441098e-01 3.26624209e-02 -7.11748606e-03 8.78347731e+02] [-3.26599370e-02 9.99466414e-01 4.64964970e-04 -6.46236650e+01] [ 7.12887515e-03 -2.32248454e-04 9.99974562e-01 3.13185971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1707140569999 meters Centerline goodness [0,1] 0.9889770513612391 Centerline is valid? [True, True] Translation: X:878.38, Y:-64.63, Z:3.13 [[ 9.99418469e-01 3.34875393e-02 -6.42714549e-03 8.78375105e+02] [-3.34855352e-02 9.99439114e-01 4.19201963e-04 -6.46264089e+01] [ 6.43757864e-03 -2.03741777e-04 9.99979258e-01 3.13148578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2007140569999 meters Centerline goodness [0,1] 0.9886277482941622 Centerline is valid? [True, True] Translation: X:878.40, Y:-64.63, Z:3.13 [[ 9.99421856e-01 3.33805430e-02 -6.45696955e-03 8.78403420e+02] [-3.33785228e-02 9.99442693e-01 4.20426734e-04 -6.46274224e+01] [ 6.46740511e-03 -2.04659562e-04 9.99979065e-01 3.13156610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2307140569999 meters Centerline goodness [0,1] 0.9893627102582326 Centerline is valid? [True, True] Translation: X:878.43, Y:-64.63, Z:3.13 [[ 9.99429321e-01 3.30697289e-02 -6.88666447e-03 8.78431489e+02] [-3.30674441e-02 9.99453023e-01 4.45405850e-04 -6.46250490e+01] [ 6.89762707e-03 -2.17427274e-04 9.99976187e-01 3.13321374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.260714057 meters Centerline goodness [0,1] 0.9885885743987147 Centerline is valid? [True, True] Translation: X:878.46, Y:-64.63, Z:3.13 [[ 9.99428188e-01 3.29531569e-02 -7.57534023e-03 8.78459197e+02] [-3.29503834e-02 9.99456868e-01 4.90669409e-04 -6.46275065e+01] [ 7.58739493e-03 -2.40778474e-04 9.99971186e-01 3.13253015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.290714057 meters Centerline goodness [0,1] 0.9891940354850887 Centerline is valid? [True, True] Translation: X:878.49, Y:-64.63, Z:3.13 [[ 9.99439752e-01 3.25157441e-02 -7.93149395e-03 8.78486715e+02] [-3.25126950e-02 9.99471191e-01 5.13094026e-04 -6.46302367e+01] [ 7.94398334e-03 -2.54932322e-04 9.99968414e-01 3.13173333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3207140569999 meters Centerline goodness [0,1] 0.9887208287123339 Centerline is valid? [True, True] Translation: X:878.51, Y:-64.63, Z:3.13 [[ 9.99453567e-01 3.19078702e-02 -8.62877481e-03 8.78514723e+02] [-3.19042500e-02 9.99490775e-01 5.56905487e-04 -6.46336033e+01] [ 8.64215049e-03 -2.81306586e-04 9.99962616e-01 3.13018430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3507140569999 meters Centerline goodness [0,1] 0.988313344036264 Centerline is valid? [True, True] Translation: X:878.54, Y:-64.64, Z:3.13 [[ 9.99462635e-01 3.15805426e-02 -8.78125901e-03 8.78543067e+02] [-3.15767825e-02 9.99501169e-01 5.66542888e-04 -6.46360488e+01] [ 8.79477037e-03 -2.88954542e-04 9.99961284e-01 3.12972766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.380714057 meters Centerline goodness [0,1] 0.9885419379276059 Centerline is valid? [True, True] Translation: X:878.57, Y:-64.64, Z:3.13 [[ 9.99476050e-01 3.09264653e-02 -9.54875698e-03 8.78571899e+02] [-3.09220213e-02 9.99521612e-01 6.12725533e-04 -6.46367146e+01] [ 9.56313840e-03 -3.17137629e-04 9.99954222e-01 3.12992721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.410714057 meters Centerline goodness [0,1] 0.9883961775643741 Centerline is valid? [True, True] Translation: X:878.60, Y:-64.64, Z:3.13 [[ 9.99485334e-01 3.06353682e-02 -9.51535845e-03 8.78599937e+02] [-3.06309406e-02 9.99530576e-01 6.10730105e-04 -6.46399086e+01] [ 9.52960165e-03 -3.18951404e-04 9.99954541e-01 3.12913458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4407140569999 meters Centerline goodness [0,1] 0.9888290586179207 Centerline is valid? [True, True] Translation: X:878.63, Y:-64.64, Z:3.13 [[ 9.99488499e-01 3.04561797e-02 -9.75507135e-03 8.78627890e+02] [-3.04515547e-02 9.99536050e-01 6.22331477e-04 -6.46408356e+01] [ 9.76949933e-03 -3.24956066e-04 9.99952225e-01 3.12950358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4707140569999 meters Centerline goodness [0,1] 0.9868690434168725 Centerline is valid? [True, True] Translation: X:878.66, Y:-64.65, Z:3.13 [[ 9.99484917e-01 3.07299262e-02 -9.25048839e-03 8.78655586e+02] [-3.07257978e-02 9.99527678e-01 5.88102741e-04 -6.46493451e+01] [ 9.26419154e-03 -3.03571184e-04 9.99957040e-01 3.12621360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.500714057 meters Centerline goodness [0,1] 0.9882366780378778 Centerline is valid? [True, True] Translation: X:878.68, Y:-64.64, Z:3.13 [[ 9.99475388e-01 3.11855963e-02 -8.74116411e-03 8.78684597e+02] [-3.11819463e-02 9.99513572e-01 5.53573928e-04 -6.46432702e+01] [ 8.75417569e-03 -2.80717006e-04 9.99961642e-01 3.13029753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.530714057 meters Centerline goodness [0,1] 0.9886487253464503 Centerline is valid? [True, True] Translation: X:878.71, Y:-64.64, Z:3.13 [[ 9.99439680e-01 3.26655988e-02 -7.29968998e-03 8.78712064e+02] [-3.26630960e-02 9.99466312e-01 4.61847095e-04 -6.46433811e+01] [ 7.31088074e-03 -2.23157838e-04 9.99973250e-01 3.13092592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5607140569999 meters Centerline goodness [0,1] 0.9890677986198392 Centerline is valid? [True, True] Translation: X:878.74, Y:-64.64, Z:3.13 [[ 9.99358800e-01 3.52652494e-02 -6.19279734e-03 8.78741212e+02] [-3.52634993e-02 9.99377973e-01 3.91596348e-04 -6.46381549e+01] [ 6.20275500e-03 -1.72965551e-04 9.99980748e-01 3.13401119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5907140569999 meters Centerline goodness [0,1] 0.989310009718173 Centerline is valid? [True, True] Translation: X:878.77, Y:-64.64, Z:3.13 [[ 9.99291532e-01 3.72073226e-02 -5.66123204e-03 8.78768689e+02] [-3.72058976e-02 9.99307557e-01 3.56866043e-04 -6.46400762e+01] [ 5.67058999e-03 -1.45981995e-04 9.99983911e-01 3.13292978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.620714057 meters Centerline goodness [0,1] 0.9902850508257707 Centerline is valid? [True, True] Translation: X:878.80, Y:-64.64, Z:3.13 [[ 9.99220266e-01 3.90659674e-02 -5.71923174e-03 8.78797184e+02] [-3.90645549e-02 9.99236625e-01 3.58516389e-04 -6.46383618e+01] [ 5.72887161e-03 -1.34817599e-04 9.99983581e-01 3.13321994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.650714057 meters Centerline goodness [0,1] 0.9907277191142468 Centerline is valid? [True, True] Translation: X:878.83, Y:-64.63, Z:3.13 [[ 9.99089993e-01 4.23525397e-02 -5.04469310e-03 8.78826607e+02] [-4.23514801e-02 9.99102723e-01 3.16729960e-04 -6.46337788e+01] [ 5.05358094e-03 -1.02791514e-04 9.99987225e-01 3.13427204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6807140569999 meters Centerline goodness [0,1] 0.9907188135390503 Centerline is valid? [True, True] Translation: X:878.85, Y:-64.63, Z:3.13 [[ 9.99035911e-01 4.36117392e-02 -5.02646008e-03 8.78854255e+02] [-4.36107084e-02 9.99048551e-01 3.14562074e-04 -6.46348717e+01] [ 5.03539626e-03 -9.50513229e-05 9.99987318e-01 3.13340351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7107140569999 meters Centerline goodness [0,1] 0.9915042117930205 Centerline is valid? [True, True] Translation: X:878.88, Y:-64.63, Z:3.13 [[ 9.98957590e-01 4.53692225e-02 -5.03662250e-03 8.78883096e+02] [-4.53682195e-02 9.98970283e-01 3.13263386e-04 -6.46334558e+01] [ 5.04564872e-03 -8.44342420e-05 9.99987267e-01 3.13279715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7407140569999 meters Centerline goodness [0,1] 0.9919942645477356 Centerline is valid? [True, True] Translation: X:878.91, Y:-64.63, Z:3.13 [[ 9.98937733e-01 4.57308290e-02 -5.66533743e-03 8.78909652e+02] [-4.57295690e-02 9.98953794e-01 3.51823630e-04 -6.46343806e+01] [ 5.67549950e-03 -9.23764612e-05 9.99983890e-01 3.13196113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.770714057 meters Centerline goodness [0,1] 0.9919930750919714 Centerline is valid? [True, True] Translation: X:878.94, Y:-64.64, Z:3.13 [[ 9.98917595e-01 4.59638828e-02 -7.13864070e-03 8.78936933e+02] [-4.59618855e-02 9.98943096e-01 4.43677587e-04 -6.46376572e+01] [ 7.15148898e-03 -1.15091962e-04 9.99974421e-01 3.12797369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8007140569999 meters Centerline goodness [0,1] 0.9904546111941378 Centerline is valid? [True, True] Translation: X:878.96, Y:-64.64, Z:3.13 [[ 9.98934426e-01 4.55588356e-02 -7.37594065e-03 8.78964909e+02] [-4.55566959e-02 9.98961650e-01 4.57924948e-04 -6.46407715e+01] [ 7.38914437e-03 -1.21413510e-04 9.99972693e-01 3.12700968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8307140569999 meters Centerline goodness [0,1] 0.9912667946257198 Centerline is valid? [True, True] Translation: X:878.99, Y:-64.64, Z:3.13 [[ 9.98960136e-01 4.49623985e-02 -7.55182676e-03 8.78993432e+02] [-4.49601573e-02 9.98988672e-01 4.66366290e-04 -6.46434421e+01] [ 7.56515833e-03 -1.26350014e-04 9.99971376e-01 3.12645723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8607140569999 meters Centerline goodness [0,1] 0.9919765542423369 Centerline is valid? [True, True] Translation: X:879.02, Y:-64.64, Z:3.13 [[ 9.98976184e-01 4.46758238e-02 -7.11717103e-03 8.79021091e+02] [-4.46738433e-02 9.99001530e-01 4.37085095e-04 -6.46415346e+01] [ 7.12959188e-03 -1.18686217e-04 9.99974577e-01 3.13096233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.890714057 meters Centerline goodness [0,1] 0.9923014001828417 Centerline is valid? [True, True] Translation: X:879.05, Y:-64.64, Z:3.13 [[ 9.98973673e-01 4.48283843e-02 -6.48208434e-03 8.79049865e+02] [-4.48267543e-02 9.98994697e-01 3.96606811e-04 -6.46431406e+01] [ 6.49334713e-03 -1.05628960e-04 9.99978912e-01 3.13180631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9207140569999 meters Centerline goodness [0,1] 0.9929407796463162 Centerline is valid? [True, True] Translation: X:879.08, Y:-64.64, Z:3.13 [[ 9.98928248e-01 4.59533126e-02 -5.53610014e-03 8.79078157e+02] [-4.59521494e-02 9.98943585e-01 3.37193397e-04 -6.46437605e+01] [ 5.54574687e-03 -8.24363086e-05 9.99984619e-01 3.13323473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9507140569999 meters Centerline goodness [0,1] 0.9927152476576167 Centerline is valid? [True, True] Translation: X:879.11, Y:-64.65, Z:3.13 [[ 9.98902641e-01 4.65635238e-02 -5.03511021e-03 8.79106118e+02] [-4.65625674e-02 9.98915328e-01 3.07084049e-04 -6.46452856e+01] [ 5.04394768e-03 -7.22994093e-05 9.99987277e-01 3.13316888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9807140569999 meters Centerline goodness [0,1] 0.9929062717185515 Centerline is valid? [True, True] Translation: X:879.13, Y:-64.65, Z:3.13 [[ 9.98905940e-01 4.65464847e-02 -4.51090122e-03 8.79133747e+02] [-4.65457277e-02 9.98916123e-01 2.72706364e-04 -6.46473310e+01] [ 4.51870548e-03 -6.24448268e-05 9.99989789e-01 3.13286834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.010714057 meters Centerline goodness [0,1] 0.9934932899552664 Centerline is valid? [True, True] Translation: X:879.16, Y:-64.65, Z:3.13 [[ 9.98933894e-01 4.59624492e-02 -4.30439557e-03 8.79161192e+02] [-4.59617514e-02 9.98943166e-01 2.60943974e-04 -6.46506219e+01] [ 4.31184016e-03 -6.28282213e-05 9.99990702e-01 3.13275176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.040714057 meters Centerline goodness [0,1] 0.9932012012012013 Centerline is valid? [True, True] Translation: X:879.19, Y:-64.65, Z:3.13 [[ 9.98967389e-01 4.52309664e-02 -4.27974843e-03 8.79188550e+02] [-4.52302795e-02 9.98976554e-01 2.57190633e-04 -6.46533070e+01] [ 4.28700132e-03 -6.33508376e-05 9.99990809e-01 3.13253193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0707140569999 meters Centerline goodness [0,1] 0.9927665096606748 Centerline is valid? [True, True] Translation: X:879.22, Y:-64.66, Z:3.13 [[ 9.99034933e-01 4.36580492e-02 -4.81424133e-03 8.79217303e+02] [-4.36571657e-02 9.99046530e-01 2.88508013e-04 -6.46556849e+01] [ 4.82224679e-03 -7.80534515e-05 9.99988370e-01 3.13252378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1007140569999 meters Centerline goodness [0,1] 0.9925169089077566 Centerline is valid? [True, True] Translation: X:879.25, Y:-64.66, Z:3.13 [[ 9.99085146e-01 4.24691119e-02 -5.02454045e-03 8.79245783e+02] [-4.24681406e-02 9.99097777e-01 2.99880276e-04 -6.46571224e+01] [ 5.03274284e-03 -8.62230393e-05 9.99987332e-01 3.13269450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.130714057 meters Centerline goodness [0,1] 0.9924632133030267 Centerline is valid? [True, True] Translation: X:879.27, Y:-64.66, Z:3.13 [[ 9.99122183e-01 4.15257093e-02 -5.52083808e-03 8.79273568e+02] [-4.15245186e-02 9.99137431e-01 3.30172307e-04 -6.46609591e+01] [ 5.52978662e-03 -1.00632333e-04 9.99984706e-01 3.13131799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.160714057 meters Centerline goodness [0,1] 0.9928682541581907 Centerline is valid? [True, True] Translation: X:879.30, Y:-64.66, Z:3.13 [[ 9.99195069e-01 3.97369292e-02 -5.49465436e-03 8.79302184e+02] [-3.97357354e-02 9.99210171e-01 3.26301223e-04 -6.46639820e+01] [ 5.50328073e-03 -1.07704441e-04 9.99984851e-01 3.13144818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1907140569999 meters Centerline goodness [0,1] 0.9927694112576915 Centerline is valid? [True, True] Translation: X:879.33, Y:-64.67, Z:3.13 [[ 9.99236317e-01 3.86490540e-02 -5.74755241e-03 8.79330391e+02] [-3.86477373e-02 9.99252839e-01 3.40013300e-04 -6.46663712e+01] [ 5.75639926e-03 -1.17623742e-04 9.99983425e-01 3.13089847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2207140569999 meters Centerline goodness [0,1] 0.991747722894718 Centerline is valid? [True, True] Translation: X:879.36, Y:-64.67, Z:3.13 [[ 9.99266661e-01 3.78408285e-02 -5.84905041e-03 8.79357803e+02] [-3.78394482e-02 9.99283772e-01 3.46520473e-04 -6.46732328e+01] [ 5.85797378e-03 -1.24941516e-04 9.99982834e-01 3.12815493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.250714057 meters Centerline goodness [0,1] 0.991449521125415 Centerline is valid? [True, True] Translation: X:879.39, Y:-64.67, Z:3.13 [[ 9.99286647e-01 3.73269696e-02 -5.73535285e-03 8.79386955e+02] [-3.73256355e-02 9.99303098e-01 3.39498485e-04 -6.46712687e+01] [ 5.74402832e-03 -1.25180613e-04 9.99983495e-01 3.13035129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.280714057 meters Centerline goodness [0,1] 0.9921863867382321 Centerline is valid? [True, True] Translation: X:879.42, Y:-64.67, Z:3.13 [[ 9.99313250e-01 3.67011807e-02 -5.10417237e-03 8.79415932e+02] [-3.67001179e-02 9.99326278e-01 3.01742000e-04 -6.46728166e+01] [ 5.11180786e-03 -1.14211050e-04 9.99986928e-01 3.13109929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3107140569999 meters Centerline goodness [0,1] 0.9918483412322275 Centerline is valid? [True, True] Translation: X:879.44, Y:-64.67, Z:3.13 [[ 9.99319509e-01 3.66105870e-02 -4.49268242e-03 8.79444348e+02] [-3.66097644e-02 9.99329603e-01 2.65238263e-04 -6.46744419e+01] [ 4.49938106e-03 -1.00581726e-04 9.99989873e-01 3.13140012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3407140569999 meters Centerline goodness [0,1] 0.9921310384176493 Centerline is valid? [True, True] Translation: X:879.47, Y:-64.68, Z:3.13 [[ 9.99336306e-01 3.61938992e-02 -4.11687624e-03 8.79473094e+02] [-3.61932062e-02 9.99344782e-01 2.42728461e-04 -6.46754758e+01] [ 4.12296407e-03 -9.35644128e-05 9.99991496e-01 3.13179843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.370714057 meters Centerline goodness [0,1] 0.9925962957672714 Centerline is valid? [True, True] Translation: X:879.50, Y:-64.68, Z:3.13 [[ 9.99360325e-01 3.56208026e-02 -3.17804595e-03 8.79501359e+02] [-3.56203889e-02 9.99365375e-01 1.86709343e-04 -6.46753752e+01] [ 3.18267982e-03 -7.33866771e-05 9.99994933e-01 3.13302160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.400714057 meters Centerline goodness [0,1] 0.9926238900028646 Centerline is valid? [True, True] Translation: X:879.53, Y:-64.68, Z:3.13 [[ 9.99383057e-01 3.50027484e-02 -2.88315779e-03 8.79530067e+02] [-3.50024054e-02 9.99387214e-01 1.69341217e-04 -6.46775060e+01] [ 2.88731844e-03 -6.83192854e-05 9.99995829e-01 3.13352640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4307140569999 meters Centerline goodness [0,1] 0.9922300106926458 Centerline is valid? [True, True] Translation: X:879.56, Y:-64.68, Z:3.13 [[ 9.99416155e-01 3.40427410e-02 -2.90518677e-03 8.79558352e+02] [-3.40423898e-02 9.99420375e-01 1.70268227e-04 -6.46790858e+01] [ 2.90929925e-03 -7.12693166e-05 9.99995765e-01 3.13341795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4607140569999 meters Centerline goodness [0,1] 0.9925490382784231 Centerline is valid? [True, True] Translation: X:879.59, Y:-64.68, Z:3.13 [[ 9.99440648e-01 3.32754647e-02 -3.33680235e-03 8.79586444e+02] [-3.32749978e-02 9.99446215e-01 1.95360071e-04 -6.46815625e+01] [ 3.34145517e-03 -8.42187055e-05 9.99994414e-01 3.13272649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4907140569999 meters Centerline goodness [0,1] 0.9921398628048781 Centerline is valid? [True, True] Translation: X:879.62, Y:-64.68, Z:3.13 [[ 9.99460553e-01 3.24995106e-02 -4.73129309e-03 8.79615256e+02] [-3.24985722e-02 9.99471744e-01 2.75101312e-04 -6.46820132e+01] [ 4.73773441e-03 -1.21192639e-04 9.99988770e-01 3.13191782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.520714057 meters Centerline goodness [0,1] 0.9912018552609558 Centerline is valid? [True, True] Translation: X:879.64, Y:-64.68, Z:3.13 [[ 9.99490906e-01 3.14805682e-02 -5.18672265e-03 8.79644305e+02] [-3.14794326e-02 9.99504355e-01 3.00466811e-04 -6.46837623e+01] [ 5.19361074e-03 -1.37038759e-04 9.99986504e-01 3.13073600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5507140569999 meters Centerline goodness [0,1] 0.9919167762764558 Centerline is valid? [True, True] Translation: X:879.67, Y:-64.69, Z:3.13 [[ 9.99513370e-01 3.06606600e-02 -5.73990072e-03 8.79673316e+02] [-3.06592630e-02 9.99529839e-01 3.31235998e-04 -6.46854407e+01] [ 5.74735796e-03 -1.55093683e-04 9.99983472e-01 3.13060349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5807140569999 meters Centerline goodness [0,1] 0.991626025930772 Centerline is valid? [True, True] Translation: X:879.70, Y:-64.69, Z:3.13 [[ 9.99573080e-01 2.85761570e-02 -6.08781026e-03 8.79701869e+02] [-2.85745422e-02 9.99591602e-01 3.52085239e-04 -6.46896785e+01] [ 6.09538526e-03 -1.77978535e-04 9.99981407e-01 3.13034739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6107140569999 meters Centerline goodness [0,1] 0.991811278535552 Centerline is valid? [True, True] Translation: X:879.73, Y:-64.69, Z:3.13 [[ 9.99622009e-01 2.67701942e-02 -6.26068197e-03 8.79730773e+02] [-2.67684676e-02 9.99641596e-01 3.59424557e-04 -6.46926760e+01] [ 6.26805998e-03 -1.91699835e-04 9.99980337e-01 3.13024411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.640714057 meters Centerline goodness [0,1] 0.9915282471086574 Centerline is valid? [True, True] Translation: X:879.76, Y:-64.70, Z:3.13 [[ 9.99688572e-01 2.42397758e-02 -5.93237255e-03 8.79759210e+02] [-2.42381775e-02 9.99706154e-01 3.41180241e-04 -6.46968358e+01] [ 5.93889948e-03 -1.97284089e-04 9.99982345e-01 3.13144811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6707140569999 meters Centerline goodness [0,1] 0.9918173886386682 Centerline is valid? [True, True] Translation: X:879.79, Y:-64.70, Z:3.13 [[ 9.99710593e-01 2.34584127e-02 -5.33223756e-03 8.79787215e+02] [-2.34571137e-02 9.99724797e-01 3.06042455e-04 -6.47003075e+01] [ 5.33794938e-03 -1.80874982e-04 9.99985737e-01 3.13155725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7007140569999 meters Centerline goodness [0,1] 0.9923877730086083 Centerline is valid? [True, True] Translation: X:879.81, Y:-64.70, Z:3.13 [[ 9.99730980e-01 2.26756400e-02 -4.87687939e-03 8.79814969e+02] [-2.26745463e-02 9.99742860e-01 2.79439114e-04 -6.47036670e+01] [ 4.88196181e-03 -1.68782912e-04 9.99988069e-01 3.13179083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7307140569999 meters Centerline goodness [0,1] 0.9915760998528783 Centerline is valid? [True, True] Translation: X:879.84, Y:-64.70, Z:3.13 [[ 9.99724305e-01 2.31192688e-02 -4.10033517e-03 8.79844083e+02] [-2.31185006e-02 9.99732704e-01 2.34663757e-04 -6.47026724e+01] [ 4.10466442e-03 -1.39805460e-04 9.99991566e-01 3.13308152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.760714057 meters Centerline goodness [0,1] 0.9918430439952438 Centerline is valid? [True, True] Translation: X:879.87, Y:-64.70, Z:3.13 [[ 9.99696135e-01 2.43773687e-02 -3.65806717e-03 8.79872416e+02] [-2.43767668e-02 9.99702821e-01 2.09047031e-04 -6.47040455e+01] [ 3.66207608e-03 -1.19811658e-04 9.99993287e-01 3.13283939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.790714057 meters Centerline goodness [0,1] 0.9925109711887045 Centerline is valid? [True, True] Translation: X:879.90, Y:-64.70, Z:3.13 [[ 9.99593929e-01 2.83214991e-02 -3.14170666e-03 8.79902894e+02] [-2.83210749e-02 9.99598862e-01 1.79429943e-04 -6.47013555e+01] [ 3.14552813e-03 -9.03805723e-05 9.99995049e-01 3.13330934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8207140569999 meters Centerline goodness [0,1] 0.9928590256643742 Centerline is valid? [True, True] Translation: X:879.93, Y:-64.70, Z:3.13 [[ 9.99527699e-01 3.05945754e-02 -2.88979440e-03 8.79931764e+02] [-3.05942270e-02 9.99531874e-01 1.64687761e-04 -6.47001469e+01] [ 2.89348017e-03 -7.61989527e-05 9.99995811e-01 3.13331572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8507140569999 meters Centerline goodness [0,1] 0.9929159486884932 Centerline is valid? [True, True] Translation: X:879.96, Y:-64.70, Z:3.13 [[ 9.99446202e-01 3.31828027e-02 -2.48803159e-03 8.79960092e+02] [-3.31825531e-02 9.99449297e-01 1.41557070e-04 -6.46999322e+01] [ 2.49135869e-03 -5.89194361e-05 9.99996895e-01 3.13332657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.880714057 meters Centerline goodness [0,1] 0.9934906427990235 Centerline is valid? [True, True] Translation: X:879.99, Y:-64.70, Z:3.13 [[ 9.99376046e-01 3.52408794e-02 -2.36627864e-03 8.79989378e+02] [-3.52406631e-02 9.99378846e-01 1.33072795e-04 -6.46989125e+01] [ 2.36949842e-03 -4.96005356e-05 9.99997192e-01 3.13379764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.910714057 meters Centerline goodness [0,1] 0.9929089947598673 Centerline is valid? [True, True] Translation: X:880.02, Y:-64.70, Z:3.13 [[ 9.99323243e-01 3.67508568e-02 -1.55907981e-03 8.80018639e+02] [-3.67507648e-02 9.99324459e-01 8.75948647e-05 -6.46997635e+01] [ 1.56124577e-03 -3.02382088e-05 9.99998781e-01 3.13375908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9407140569999 meters Centerline goodness [0,1] 0.9929321826093228 Centerline is valid? [True, True] Translation: X:880.05, Y:-64.70, Z:3.13 [[ 9.99320054e-01 3.68321738e-02 -1.67955844e-03 8.80046208e+02] [-3.68320695e-02 9.99321465e-01 9.29904586e-05 -6.47012150e+01] [ 1.68184384e-03 -3.10656169e-05 9.99998585e-01 3.13366463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9707140569999 meters Centerline goodness [0,1] 0.9929321826093228 Centerline is valid? [True, True] Translation: X:880.07, Y:-64.70, Z:3.13 [[ 9.99330431e-01 3.65495394e-02 -1.67958449e-03 8.80073523e+02] [-3.65494355e-02 9.99331842e-01 9.25230870e-05 -6.47026891e+01] [ 1.68184394e-03 -3.10732712e-05 9.99998585e-01 3.13349239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.000714057 meters Centerline goodness [0,1] 0.99344490599563 Centerline is valid? [True, True] Translation: X:880.10, Y:-64.70, Z:3.13 [[ 9.99324087e-01 3.66692363e-02 -2.59552473e-03 8.80101504e+02] [-3.66689880e-02 9.99327456e-01 1.43197293e-04 -6.47048244e+01] [ 2.59903006e-03 -4.79252387e-05 9.99996621e-01 3.13265575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.030714057 meters Centerline goodness [0,1] 0.992879405418365 Centerline is valid? [True, True] Translation: X:880.13, Y:-64.71, Z:3.13 [[ 9.99320387e-01 3.67628403e-02 -2.69386889e-03 8.80128674e+02] [-3.67625712e-02 9.99324017e-01 1.49368514e-04 -6.47073552e+01] [ 2.69753909e-03 -5.02334547e-05 9.99996360e-01 3.13180999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0607140569999 meters Centerline goodness [0,1] 0.9930823180218781 Centerline is valid? [True, True] Translation: X:880.16, Y:-64.71, Z:3.13 [[ 9.99314793e-01 3.68976602e-02 -2.91663993e-03 8.80156035e+02] [-3.68973504e-02 9.99319048e-01 1.59988035e-04 -6.47093838e+01] [ 2.92055702e-03 -5.22621244e-05 9.99995734e-01 3.13129822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0907140569999 meters Centerline goodness [0,1] 0.9930620573760653 Centerline is valid? [True, True] Translation: X:880.18, Y:-64.71, Z:3.13 [[ 9.99278735e-01 3.79031783e-02 -2.31472501e-03 8.80184583e+02] [-3.79029875e-02 9.99281416e-01 1.26239872e-04 -6.47102502e+01] [ 2.31784657e-03 -3.84138269e-05 9.99997313e-01 3.13155383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.120714057 meters Centerline goodness [0,1] 0.9928538774331706 Centerline is valid? [True, True] Translation: X:880.21, Y:-64.71, Z:3.13 [[ 9.99262513e-01 3.83090341e-02 -2.61697484e-03 8.80212117e+02] [-3.83087936e-02 9.99265939e-01 1.41962933e-04 -6.47110829e+01] [ 2.62049228e-03 -4.16050886e-05 9.99996566e-01 3.13157464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.150714057 meters Centerline goodness [0,1] 0.9934356064249302 Centerline is valid? [True, True] Translation: X:880.24, Y:-64.71, Z:3.13 [[ 9.99230222e-01 3.91467132e-02 -2.54904870e-03 8.80240975e+02] [-3.91464890e-02 9.99233473e-01 1.37825340e-04 -6.47113353e+01] [ 2.55249020e-03 -3.79329379e-05 9.99996742e-01 3.13082887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1807140569999 meters Centerline goodness [0,1] 0.9929790815099784 Centerline is valid? [True, True] Translation: X:880.27, Y:-64.71, Z:3.13 [[ 9.99254884e-01 3.85155581e-02 -2.49566381e-03 8.80268548e+02] [-3.85153394e-02 9.99258000e-01 1.35687986e-04 -6.47136846e+01] [ 2.49903812e-03 -3.94655448e-05 9.99996877e-01 3.13073295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2107140569999 meters Centerline goodness [0,1] 0.9928605769230769 Centerline is valid? [True, True] Translation: X:880.30, Y:-64.72, Z:3.13 [[ 9.99285425e-01 3.77596450e-02 -1.68806212e-03 8.80297495e+02] [-3.77595441e-02 9.99286850e-01 9.15954723e-05 -6.47155815e+01] [ 1.69031689e-03 -2.77895645e-05 9.99998571e-01 3.13109677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2407140569999 meters Centerline goodness [0,1] 0.9922478759660155 Centerline is valid? [True, True] Translation: X:880.33, Y:-64.72, Z:3.13 [[ 9.99358781e-01 3.57984046e-02 -7.07324169e-04 8.80326154e+02] [-3.57983875e-02 9.99359032e-01 3.68728609e-05 -6.47183078e+01] [ 7.08190786e-04 -1.15281526e-05 9.99999749e-01 3.13192363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.270714057 meters Centerline goodness [0,1] 0.9921659096916828 Centerline is valid? [True, True] Translation: X:880.35, Y:-64.72, Z:3.13 [[ 9.99388611e-01 3.49627397e-02 1.01701651e-04 8.80354533e+02] [-3.49627393e-02 9.99388617e-01 -5.95531881e-06 -6.47199649e+01] [-1.01847686e-04 2.39590949e-06 9.99999995e-01 3.13246593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3007140569999 meters Centerline goodness [0,1] 0.991728205620025 Centerline is valid? [True, True] Translation: X:880.38, Y:-64.72, Z:3.13 [[ 9.99433231e-01 3.36493917e-02 9.67418853e-04 8.80383597e+02] [-3.36493563e-02 9.99433699e-01 -5.28176766e-05 -6.47223241e+01] [-9.68648285e-04 2.02347195e-05 9.99999531e-01 3.13276585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3307140569999 meters Centerline goodness [0,1] 0.99227660744602 Centerline is valid? [True, True] Translation: X:880.41, Y:-64.72, Z:3.13 [[ 9.99450479e-01 3.31354965e-02 8.82232476e-04 8.80411428e+02] [-3.31354666e-02 9.99450868e-01 -4.84747277e-05 -6.47249004e+01] [-8.83354249e-04 1.92149051e-05 9.99999610e-01 3.13225182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3607140569999 meters Centerline goodness [0,1] 0.9912828986756711 Centerline is valid? [True, True] Translation: X:880.44, Y:-64.73, Z:3.13 [[ 9.99467191e-01 3.26320461e-02 6.95642931e-04 8.80439818e+02] [-3.26320276e-02 9.99467433e-01 -3.79572566e-05 -6.47272471e+01] [-6.96511077e-04 1.52367933e-05 9.99999757e-01 3.13148571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.390714057 meters Centerline goodness [0,1] 0.9920566561393435 Centerline is valid? [True, True] Translation: X:880.47, Y:-64.73, Z:3.13 [[ 9.99476896e-01 3.23363917e-02 5.39635142e-04 8.80468830e+02] [-3.23363805e-02 9.99477042e-01 -2.95036476e-05 -6.47293028e+01] [-5.40306978e-04 1.20383669e-05 9.99999854e-01 3.13134920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4207140569999 meters Centerline goodness [0,1] 0.9914072169856232 Centerline is valid? [True, True] Translation: X:880.50, Y:-64.73, Z:3.13 [[ 9.99486583e-01 3.20226254e-02 1.05959651e-03 8.80496694e+02] [-3.20225814e-02 9.99487144e-01 -5.84400670e-05 -6.47312247e+01] [-1.06092449e-03 2.44790474e-05 9.99999437e-01 3.13083918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4507140569999 meters Centerline goodness [0,1] 0.9911074025509596 Centerline is valid? [True, True] Translation: X:880.52, Y:-64.73, Z:3.13 [[ 9.99502389e-01 3.15268452e-02 1.01639789e-03 8.80524809e+02] [-3.15268056e-02 9.99502905e-01 -5.49354996e-05 -6.47336207e+01] [-1.01762458e-03 2.28643844e-05 9.99999482e-01 3.13121544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4807140569999 meters Centerline goodness [0,1] 0.991605856822626 Centerline is valid? [True, True] Translation: X:880.55, Y:-64.73, Z:3.13 [[ 9.99518740e-01 3.09932860e-02 1.30587118e-03 8.80553429e+02] [-3.09932207e-02 9.99519592e-01 -7.02250658e-05 -6.47345545e+01] [-1.30742034e-03 2.97181155e-05 9.99999145e-01 3.13133730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.510714057 meters Centerline goodness [0,1] 0.9915610805641883 Centerline is valid? [True, True] Translation: X:880.58, Y:-64.74, Z:3.13 [[ 9.99551454e-01 2.98916789e-02 1.83794813e-03 8.80581770e+02] [-2.98915483e-02 9.99553143e-01 -9.85309761e-05 -6.47372695e+01] [-1.84007208e-03 4.35476654e-05 9.99998306e-01 3.13110063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.540714057 meters Centerline goodness [0,1] 0.9913200208698951 Centerline is valid? [True, True] Translation: X:880.61, Y:-64.74, Z:3.13 [[ 9.99573220e-01 2.91671787e-02 1.62867251e-03 8.80609518e+02] [-2.91670751e-02 9.99574547e-01 -8.73258749e-05 -6.47417897e+01] [-1.63052664e-03 3.97849925e-05 9.99998670e-01 3.13031473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5707140569999 meters Centerline goodness [0,1] 0.9918294425917104 Centerline is valid? [True, True] Translation: X:880.64, Y:-64.74, Z:3.13 [[ 9.99579910e-01 2.89452804e-02 1.47452125e-03 8.80638490e+02] [-2.89451955e-02 9.99580997e-01 -7.88951327e-05 -6.47424337e+01] [-1.47618707e-03 3.61816837e-05 9.99998910e-01 3.13017141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6007140569999 meters Centerline goodness [0,1] 0.9920493227641696 Centerline is valid? [True, True] Translation: X:880.67, Y:-64.74, Z:3.13 [[ 9.99594864e-01 2.84224182e-02 1.50783182e-03 8.80667152e+02] [-2.84223290e-02 9.99596001e-01 -8.05705061e-05 -6.47431796e+01] [-1.50951266e-03 3.76817721e-05 9.99998860e-01 3.12936583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.630714057 meters Centerline goodness [0,1] 0.991848084418671 Centerline is valid? [True, True] Translation: X:880.69, Y:-64.75, Z:3.13 [[ 9.99599177e-01 2.82752238e-02 1.41309023e-03 8.80694706e+02] [-2.82751452e-02 9.99600175e-01 -7.56049740e-05 -6.47451975e+01] [-1.41466299e-03 3.56193385e-05 9.99998999e-01 3.12936802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.660714057 meters Centerline goodness [0,1] 0.9915260272021648 Centerline is valid? [True, True] Translation: X:880.72, Y:-64.75, Z:3.13 [[ 9.99630843e-01 2.70632910e-02 2.39914647e-03 8.80722738e+02] [-2.70630628e-02 9.99633720e-01 -1.27573331e-04 -6.47482417e+01] [-2.40172026e-03 6.25979847e-05 9.99997114e-01 3.12922294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6907140569999 meters Centerline goodness [0,1] 0.9910512948325382 Centerline is valid? [True, True] Translation: X:880.75, Y:-64.75, Z:3.13 [[ 9.99643096e-01 2.65698242e-02 2.77924552e-03 8.80751092e+02] [-2.65695171e-02 9.99646957e-01 -1.47396431e-04 -6.47496634e+01] [-2.78218063e-03 7.35006132e-05 9.99996127e-01 3.12944526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7207140569999 meters Centerline goodness [0,1] 0.9912074332834295 Centerline is valid? [True, True] Translation: X:880.78, Y:-64.75, Z:3.13 [[ 9.99659341e-01 2.59355810e-02 2.92349070e-03 8.80779569e+02] [-2.59352391e-02 9.99663613e-01 -1.54814421e-04 -6.47518981e+01] [-2.92652248e-03 7.89402524e-05 9.99995715e-01 3.12970698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.750714057 meters Centerline goodness [0,1] 0.9915007457562915 Centerline is valid? [True, True] Translation: X:880.81, Y:-64.76, Z:3.13 [[ 9.99685408e-01 2.48423272e-02 3.45585180e-03 8.80806799e+02] [-2.48418434e-02 9.99691377e-01 -1.82839678e-04 -6.47551609e+01] [-3.45932741e-03 9.69324293e-05 9.99994012e-01 3.12969330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.780714057 meters Centerline goodness [0,1] 0.9903445664521014 Centerline is valid? [True, True] Translation: X:880.84, Y:-64.76, Z:3.13 [[ 9.99702716e-01 2.42053661e-02 2.92914740e-03 8.80835537e+02] [-2.42050171e-02 9.99707004e-01 -1.54530993e-04 -6.47559247e+01] [-2.93202965e-03 8.35849907e-05 9.99995698e-01 3.12909002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8107140569999 meters Centerline goodness [0,1] 0.9907569796653553 Centerline is valid? [True, True] Translation: X:880.86, Y:-64.76, Z:3.13 [[ 9.99740545e-01 2.27040126e-02 1.83585637e-03 8.80864593e+02] [-2.27038729e-02 9.99742229e-01 -9.68876636e-05 -6.47591958e+01] [-1.83758288e-03 5.51814759e-05 9.99998310e-01 3.12735267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8407140569999 meters Centerline goodness [0,1] 0.9906122159426801 Centerline is valid? [True, True] Translation: X:880.89, Y:-64.76, Z:3.13 [[ 9.99759949e-01 2.18525628e-02 1.58426788e-03 8.80891707e+02] [-2.18524574e-02 9.99761203e-01 -8.38190823e-05 -6.47628864e+01] [-1.58572122e-03 4.91788150e-05 9.99998742e-01 3.12607565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.870714057 meters Centerline goodness [0,1] 0.9906429146728574 Centerline is valid? [True, True] Translation: X:880.92, Y:-64.76, Z:3.12 [[ 9.99789287e-01 2.04829648e-02 1.35237989e-03 8.80920142e+02] [-2.04828872e-02 9.99790201e-01 -7.12196243e-05 -6.47647429e+01] [-1.35355495e-03 4.35039726e-05 9.99999083e-01 3.12499122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.900714057 meters Centerline goodness [0,1] 0.9902970062714471 Centerline is valid? [True, True] Translation: X:880.95, Y:-64.77, Z:3.12 [[ 9.99841530e-01 1.77973046e-02 4.14152162e-04 8.80949747e+02] [-1.77972971e-02 9.99841615e-01 -2.18805811e-05 -6.47689518e+01] [-4.14475982e-04 1.45063246e-05 9.99999914e-01 3.12331991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9307140569999 meters Centerline goodness [0,1] 0.9905584286188737 Centerline is valid? [True, True] Translation: X:880.98, Y:-64.77, Z:3.12 [[ 9.99867876e-01 1.62551457e-02 -1.90088905e-05 8.80978459e+02] [-1.62551457e-02 9.99867876e-01 5.54902198e-07 -6.47718089e+01] [ 1.90153990e-05 -2.45836598e-07 1.00000000e+00 3.12270808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9607140569999 meters Centerline goodness [0,1] 0.9903705451970733 Centerline is valid? [True, True] Translation: X:881.01, Y:-64.78, Z:3.12 [[ 9.99913426e-01 1.30957408e-02 -1.28164878e-03 8.81006408e+02] [-1.30956664e-02 9.99914246e-01 6.64193115e-05 -6.47778145e+01] [ 1.28240868e-03 -4.96295164e-05 9.99999176e-01 3.12054955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9907140569999 meters Centerline goodness [0,1] 0.989992936190252 Centerline is valid? [True, True] Translation: X:881.04, Y:-64.78, Z:3.12 [[ 9.99929409e-01 1.18060306e-02 -1.33968311e-03 8.81035332e+02] [-1.18059482e-02 9.99930305e-01 6.93609157e-05 -6.47803350e+01] [ 1.34040862e-03 -5.35397900e-05 9.99999100e-01 3.11985709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.020714057 meters Centerline goodness [0,1] 0.9888857426022937 Centerline is valid? [True, True] Translation: X:881.06, Y:-64.78, Z:3.12 [[ 9.99943533e-01 1.04867880e-02 -1.71968542e-03 8.81064324e+02] [-1.04866503e-02 9.99945010e-01 8.90424604e-05 -6.47830785e+01] [ 1.72052462e-03 -7.10036928e-05 9.99998517e-01 3.11910674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0507140569999 meters Centerline goodness [0,1] 0.9884034010392064 Centerline is valid? [True, True] Translation: X:881.09, Y:-64.79, Z:3.12 [[ 9.99942802e-01 1.05671058e-02 -1.65191420e-03 8.81092399e+02] [-1.05669793e-02 9.99944164e-01 8.52741764e-05 -6.47853410e+01] [ 1.65272307e-03 -6.78135557e-05 9.99998632e-01 3.11852517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0807140569999 meters Centerline goodness [0,1] 0.988684849484925 Centerline is valid? [True, True] Translation: X:881.12, Y:-64.79, Z:3.12 [[ 9.99920317e-01 1.26125541e-02 -5.32407053e-04 8.81119965e+02] [-1.26125415e-02 9.99920458e-01 2.70878344e-05 -6.47856609e+01] [ 5.32706351e-04 -2.03706699e-05 9.99999858e-01 3.11904723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1107140569999 meters Centerline goodness [0,1] 0.989959602164001 Centerline is valid? [True, True] Translation: X:881.15, Y:-64.79, Z:3.12 [[ 9.99902190e-01 1.39858473e-02 8.57187013e-05 8.81147551e+02] [-1.39858469e-02 9.99902193e-01 -4.95456353e-06 -6.47865831e+01] [-8.57796112e-05 3.75523029e-06 9.99999996e-01 3.11950634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.140714057 meters Centerline goodness [0,1] 0.9889605938113136 Centerline is valid? [True, True] Translation: X:881.18, Y:-64.79, Z:3.12 [[ 9.99885965e-01 1.50729096e-02 9.29599668e-04 8.81176123e+02] [-1.50728711e-02 9.99886397e-01 -4.84830273e-05 -6.47867313e+01] [-9.30224843e-04 3.44657626e-05 9.99999567e-01 3.11991430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1707140569999 meters Centerline goodness [0,1] 0.9892936662087262 Centerline is valid? [True, True] Translation: X:881.21, Y:-64.78, Z:3.12 [[ 9.99853841e-01 1.69578806e-02 2.17417908e-03 8.81205006e+02] [-1.69576755e-02 9.99856202e-01 -1.12709974e-04 -6.47835118e+01] [-2.17577776e-03 7.58244775e-05 9.99997630e-01 3.12016393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2007140569999 meters Centerline goodness [0,1] 0.9893170997465476 Centerline is valid? [True, True] Translation: X:881.23, Y:-64.79, Z:3.12 [[ 9.99843753e-01 1.75588414e-02 2.03881630e-03 8.81232496e+02] [-1.75586624e-02 9.99845829e-01 -1.05696937e-04 -6.47868748e+01] [-2.04035789e-03 6.98815349e-05 9.99997916e-01 3.11911067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2307140569999 meters Centerline goodness [0,1] 0.9901541803414162 Centerline is valid? [True, True] Translation: X:881.26, Y:-64.79, Z:3.12 [[ 9.99817183e-01 1.90682373e-02 1.41510920e-03 8.81261677e+02] [-1.90681528e-02 9.99818184e-01 -7.31854160e-05 -6.47880174e+01] [-1.41624743e-03 4.61885180e-05 9.99998996e-01 3.11685124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.260714057 meters Centerline goodness [0,1] 0.9879472604193693 Centerline is valid? [True, True] Translation: X:881.29, Y:-64.79, Z:3.11 [[ 9.99807056e-01 1.96209245e-02 9.33131709e-04 8.81288846e+02] [-1.96208878e-02 9.99807491e-01 -4.84998779e-05 -6.47942257e+01] [-9.33903685e-04 3.01816476e-05 9.99999563e-01 3.11484122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.290714057 meters Centerline goodness [0,1] 0.9888149511539006 Centerline is valid? [True, True] Translation: X:881.32, Y:-64.80, Z:3.11 [[ 9.99785934e-01 2.06830411e-02 5.45780222e-04 8.81317526e+02] [-2.06830287e-02 9.99786083e-01 -2.84174537e-05 -6.47955652e+01] [-5.46251229e-04 1.71229825e-05 9.99999851e-01 3.11399483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3207140569999 meters Centerline goodness [0,1] 0.9898067781377858 Centerline is valid? [True, True] Translation: X:881.35, Y:-64.79, Z:3.11 [[ 9.99705163e-01 2.42773785e-02 -4.43690773e-04 8.81346666e+02] [-2.42773710e-02 9.99705261e-01 2.23174017e-05 -6.47896336e+01] [ 4.44101808e-04 -1.15391761e-05 9.99999901e-01 3.11396767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3507140569999 meters Centerline goodness [0,1] 0.9903224272398706 Centerline is valid? [True, True] Translation: X:881.38, Y:-64.78, Z:3.11 [[ 9.99514859e-01 3.11056615e-02 -1.57652524e-03 8.81376007e+02] [-3.11055731e-02 9.99516101e-01 8.05647652e-05 -6.47839838e+01] [ 1.57826839e-03 -3.14869586e-05 9.99998754e-01 3.11267858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.380714057 meters Centerline goodness [0,1] 0.9907047691684343 Centerline is valid? [True, True] Translation: X:881.40, Y:-64.78, Z:3.11 [[ 9.99373681e-01 3.53446642e-02 -1.73233197e-03 8.81403589e+02] [-3.53445646e-02 9.99375182e-01 8.80898352e-05 -6.47830188e+01] [ 1.73436308e-03 -2.68061438e-05 9.99998496e-01 3.11079703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.410714057 meters Centerline goodness [0,1] 0.990358225340684 Centerline is valid? [True, True] Translation: X:881.43, Y:-64.78, Z:3.11 [[ 9.99292838e-01 3.75998964e-02 -2.68076264e-04 8.81432531e+02] [-3.75998945e-02 9.99292874e-01 1.21069419e-05 -6.47793520e+01] [ 2.68341920e-04 -2.01874108e-06 9.99999964e-01 3.11156906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4407140569999 meters Centerline goodness [0,1] 0.9903345902343563 Centerline is valid? [True, True] Translation: X:881.46, Y:-64.78, Z:3.11 [[ 9.99144943e-01 4.12239591e-02 3.15709531e-03 8.81460305e+02] [-4.12236562e-02 9.99149931e-01 -1.60991679e-04 -6.47807352e+01] [-3.16104827e-03 3.07070102e-05 9.99995003e-01 3.11185485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4707140569999 meters Centerline goodness [0,1] 0.9905637783206399 Centerline is valid? [True, True] Translation: X:881.49, Y:-64.78, Z:3.11 [[ 9.99083955e-01 4.25801664e-02 4.26386332e-03 8.81489008e+02] [-4.25796287e-02 9.99093053e-01 -2.16831813e-04 -6.47809692e+01] [-4.26922896e-03 3.50794680e-05 9.99990886e-01 3.11242091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.500714057 meters Centerline goodness [0,1] 0.9911035441945231 Centerline is valid? [True, True] Translation: X:881.52, Y:-64.78, Z:3.11 [[ 9.98848640e-01 4.77731069e-02 4.37307372e-03 8.81517996e+02] [-4.77725911e-02 9.98858213e-01 -2.22398460e-04 -6.47752973e+01] [-4.37870526e-03 1.32293375e-05 9.99990413e-01 3.11251435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.530714057 meters Centerline goodness [0,1] 0.9907993930489656 Centerline is valid? [True, True] Translation: X:881.55, Y:-64.78, Z:3.11 [[ 9.98767996e-01 4.93125853e-02 5.54613699e-03 8.81546111e+02] [-4.93117889e-02 9.98783394e-01 -2.80333798e-04 -6.47756844e+01] [-5.55321351e-03 6.49848845e-06 9.99984581e-01 3.11254090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5607140569999 meters Centerline goodness [0,1] 0.9911968850516336 Centerline is valid? [True, True] Translation: X:881.57, Y:-64.78, Z:3.11 [[ 9.98680305e-01 5.09793039e-02 6.22565779e-03 8.81572742e+02] [-5.09783448e-02 9.98699710e-01 -3.12749348e-04 -6.47750866e+01] [-6.23350638e-03 -5.03711486e-06 9.99980571e-01 3.11235795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5907140569999 meters Centerline goodness [0,1] 0.9911602209944751 Centerline is valid? [True, True] Translation: X:881.60, Y:-64.77, Z:3.11 [[ 9.98575295e-01 5.28969724e-02 7.02068153e-03 8.81600402e+02] [-5.28958075e-02 9.98599975e-01 -3.51637889e-04 -6.47748853e+01] [-7.02945298e-03 -2.02277094e-05 9.99975293e-01 3.11115471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.620714057 meters Centerline goodness [0,1] 0.9922463820462809 Centerline is valid? [True, True] Translation: X:881.63, Y:-64.77, Z:3.11 [[ 9.98491051e-01 5.44262217e-02 7.30809066e-03 8.81627851e+02] [-5.44250156e-02 9.98517794e-01 -3.63966147e-04 -6.47749543e+01] [-7.31706787e-03 -3.43260074e-05 9.99973229e-01 3.11057706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.650714057 meters Centerline goodness [0,1] 0.9928960169532342 Centerline is valid? [True, True] Translation: X:881.66, Y:-64.77, Z:3.11 [[ 9.98283971e-01 5.80459482e-02 7.73185714e-03 8.81655229e+02] [-5.80447218e-02 9.98313910e-01 -3.83112658e-04 -6.47731534e+01] [-7.74105867e-03 -6.63382715e-05 9.99970035e-01 3.11008358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6807140569999 meters Centerline goodness [0,1] 0.9931157327171192 Centerline is valid? [True, True] Translation: X:881.68, Y:-64.77, Z:3.11 [[ 9.98238319e-01 5.87328245e-02 8.40910373e-03 8.81683519e+02] [-5.87314085e-02 9.98273735e-01 -4.15454544e-04 -6.47744425e+01] [-8.41898820e-03 -7.91558605e-05 9.99964557e-01 3.10954269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7107140569999 meters Centerline goodness [0,1] 0.9932191896931684 Centerline is valid? [True, True] Translation: X:881.71, Y:-64.77, Z:3.11 [[ 9.98156562e-01 6.01928678e-02 7.76513537e-03 8.81712166e+02] [-6.01917182e-02 9.98186762e-01 -3.81868576e-04 -6.47747510e+01] [-7.77404109e-03 -8.62322154e-05 9.99969778e-01 3.10786187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7407140569999 meters Centerline goodness [0,1] 0.9932637251599865 Centerline is valid? [True, True] Translation: X:881.74, Y:-64.78, Z:3.11 [[ 9.98158744e-01 6.02389786e-02 7.09834549e-03 8.81738749e+02] [-6.02380301e-02 9.98183981e-01 -3.47535973e-04 -6.47753711e+01] [-7.10638997e-03 -8.06942792e-05 9.99974746e-01 3.10694378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.770714057 meters Centerline goodness [0,1] 0.9940585009140768 Centerline is valid? [True, True] Translation: X:881.77, Y:-64.78, Z:3.11 [[ 9.98091046e-01 6.13701560e-02 6.92587918e-03 8.81767272e+02] [-6.13692894e-02 9.98115072e-01 -3.37787911e-04 -6.47760431e+01] [-6.93355449e-03 -8.78931940e-05 9.99975959e-01 3.10620279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8007140569999 meters Centerline goodness [0,1] 0.9950235535692716 Centerline is valid? [True, True] Translation: X:881.80, Y:-64.77, Z:3.11 [[ 9.97860172e-01 6.49996252e-02 7.08000226e-03 8.81795015e+02] [-6.49988223e-02 9.97885281e-01 -3.43696870e-04 -6.47720836e+01] [-7.08737022e-03 -1.17230391e-04 9.99974877e-01 3.10541080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8307140569999 meters Centerline goodness [0,1] 0.9943612206868179 Centerline is valid? [True, True] Translation: X:881.82, Y:-64.78, Z:3.11 [[ 9.97729693e-01 6.69052924e-02 7.69041599e-03 8.81823244e+02] [-6.69044108e-02 9.97759320e-01 -3.72136993e-04 -6.47753207e+01] [-7.69808217e-03 -1.43230623e-04 9.99970359e-01 3.10521442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8607140569999 meters Centerline goodness [0,1] 0.9943612206868179 Centerline is valid? [True, True] Translation: X:881.85, Y:-64.78, Z:3.11 [[ 9.97747912e-01 6.66330276e-02 7.69050677e-03 8.81850570e+02] [-6.66321524e-02 9.97777540e-01 -3.70252338e-04 -6.47765648e+01] [-7.69808596e-03 -1.43016522e-04 9.99970359e-01 3.10504229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.890714057 meters Centerline goodness [0,1] 0.9957162564437668 Centerline is valid? [True, True] Translation: X:881.88, Y:-64.77, Z:3.11 [[ 9.97487487e-01 7.02428139e-02 9.20108169e-03 8.81879661e+02] [-7.02417348e-02 9.97529902e-01 -4.40780203e-04 -6.47745558e+01] [-9.20931575e-03 -2.06627202e-04 9.99957572e-01 3.10658472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9207140569999 meters Centerline goodness [0,1] 0.9961064875650947 Centerline is valid? [True, True] Translation: X:881.91, Y:-64.78, Z:3.11 [[ 9.97354930e-01 7.19528076e-02 1.02925420e-02 8.81908070e+02] [-7.19515618e-02 9.97408006e-01 -4.91753323e-04 -6.47750267e+01] [-1.03012469e-02 -2.50111873e-04 9.99946909e-01 3.10703468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9507140569999 meters Centerline goodness [0,1] 0.9963560392576037 Centerline is valid? [True, True] Translation: X:881.94, Y:-64.78, Z:3.11 [[ 9.97298325e-01 7.26376825e-02 1.09461222e-02 8.81936919e+02] [-7.26363446e-02 9.97358356e-01 -5.20262387e-04 -6.47766918e+01] [-1.09549971e-02 -2.76229496e-04 9.99939954e-01 3.10733807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9807140569999 meters Centerline goodness [0,1] 0.9970098145602739 Centerline is valid? [True, True] Translation: X:881.97, Y:-64.78, Z:3.11 [[ 9.97275780e-01 7.29147358e-02 1.11561956e-02 8.81965085e+02] [-7.29133853e-02 9.97338137e-01 -5.28279728e-04 -6.47774864e+01] [-1.11650187e-02 -2.86595406e-04 9.99937628e-01 3.10668661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.010714057 meters Centerline goodness [0,1] 0.9968467266597133 Centerline is valid? [True, True] Translation: X:881.99, Y:-64.78, Z:3.11 [[ 9.97183658e-01 7.42423867e-02 1.06216730e-02 8.81993465e+02] [-7.42412542e-02 9.97240184e-01 -5.01420979e-04 -6.47783690e+01] [-1.06295858e-02 -2.88557517e-04 9.99943463e-01 3.10560816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.040714057 meters Centerline goodness [0,1] 0.9971481741063876 Centerline is valid? [True, True] Translation: X:882.02, Y:-64.78, Z:3.11 [[ 9.97171978e-01 7.44247136e-02 1.04407113e-02 8.82021832e+02] [-7.44236550e-02 9.97226594e-01 -4.90430886e-04 -6.47791303e+01] [-1.04482551e-02 -2.87991959e-04 9.99945374e-01 3.10528307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0707140569999 meters Centerline goodness [0,1] 0.9963918021745406 Centerline is valid? [True, True] Translation: X:882.05, Y:-64.78, Z:3.10 [[ 9.97173192e-01 7.44723834e-02 9.97447811e-03 8.82049545e+02] [-7.44714436e-02 9.97223038e-01 -4.66122417e-04 -6.47795582e+01] [-9.98149260e-03 -2.78009006e-04 9.99950145e-01 3.10462849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1007140569999 meters Centerline goodness [0,1] 0.9970294160266628 Centerline is valid? [True, True] Translation: X:882.08, Y:-64.78, Z:3.10 [[ 9.97089637e-01 7.55965616e-02 9.86990541e-03 8.82078265e+02] [-7.55957212e-02 9.97138444e-01 -4.58728131e-04 -6.47800964e+01] [-9.87634039e-03 -2.88729552e-04 9.99951186e-01 3.10392304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.130714057 meters Centerline goodness [0,1] 0.9977066434916957 Centerline is valid? [True, True] Translation: X:882.11, Y:-64.78, Z:3.10 [[ 9.96989600e-01 7.70018655e-02 9.08016276e-03 8.82106120e+02] [-7.70012267e-02 9.97030909e-01 -4.20441699e-04 -6.47801615e+01] [-9.08557773e-03 -2.80007670e-04 9.99958686e-01 3.10274699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.160714057 meters Centerline goodness [0,1] 0.9974679270762998 Centerline is valid? [True, True] Translation: X:882.13, Y:-64.78, Z:3.10 [[ 9.96981748e-01 7.71226112e-02 8.91610305e-03 8.82134862e+02] [-7.71220104e-02 9.97021578e-01 -4.11703801e-04 -6.47831043e+01] [-8.92129880e-03 -2.77166617e-04 9.99960166e-01 3.10131301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1907140569999 meters Centerline goodness [0,1] 0.9974861010394005 Centerline is valid? [True, True] Translation: X:882.16, Y:-64.78, Z:3.10 [[ 9.97006466e-01 7.68721950e-02 8.29288087e-03 8.82162419e+02] [-7.68716827e-02 9.97040922e-01 -3.80984427e-04 -6.47848787e+01] [-8.29762870e-03 -2.57643770e-04 9.99965541e-01 3.09983756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2207140569999 meters Centerline goodness [0,1] 0.9976762199845082 Centerline is valid? [True, True] Translation: X:882.19, Y:-64.79, Z:3.10 [[ 9.97037828e-01 7.65079563e-02 7.88046010e-03 8.82190404e+02] [-7.65074986e-02 9.97068941e-01 -3.59970329e-04 -6.47859751e+01] [-7.88490260e-03 -2.44010256e-04 9.99968884e-01 3.09969836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.250714057 meters Centerline goodness [0,1] 0.997915959870111 Centerline is valid? [True, True] Translation: X:882.22, Y:-64.79, Z:3.10 [[ 9.97129868e-01 7.53283406e-02 7.59391122e-03 8.82218934e+02] [-7.53278962e-02 9.97158758e-01 -3.44927435e-04 -6.47877435e+01] [-7.59831789e-03 -2.28095908e-04 9.99971106e-01 3.09931319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.280714057 meters Centerline goodness [0,1] 0.9971746637366883 Centerline is valid? [True, True] Translation: X:882.25, Y:-64.79, Z:3.10 [[ 9.97330570e-01 7.26052104e-02 7.76000988e-03 8.82246611e+02] [-7.26046767e-02 9.97360736e-01 -3.50831781e-04 -6.47897993e+01] [-7.76500138e-03 -2.13517749e-04 9.99969829e-01 3.09873442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3107140569999 meters Centerline goodness [0,1] 0.9966183574879227 Centerline is valid? [True, True] Translation: X:882.28, Y:-64.79, Z:3.10 [[ 9.97546963e-01 6.95849830e-02 7.61492631e-03 8.82275487e+02] [-6.95843858e-02 9.97576010e-01 -3.43667218e-04 -6.47935372e+01] [-7.62038188e-03 -1.87055780e-04 9.99970947e-01 3.09918209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3407140569999 meters Centerline goodness [0,1] 0.9974714636613207 Centerline is valid? [True, True] Translation: X:882.30, Y:-64.79, Z:3.10 [[ 9.97646261e-01 6.81739450e-02 7.36558298e-03 8.82303122e+02] [-6.81733515e-02 9.97673436e-01 -3.31916041e-04 -6.47939274e+01] [-7.37107450e-03 -1.71001680e-04 9.99972819e-01 3.09885176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.370714057 meters Centerline goodness [0,1] 0.9973482474326214 Centerline is valid? [True, True] Translation: X:882.33, Y:-64.80, Z:3.10 [[ 9.97724876e-01 6.70228306e-02 7.28088264e-03 8.82331842e+02] [-6.70222256e-02 9.97751429e-01 -3.27334380e-04 -6.47976534e+01] [-7.28644994e-03 -1.61391305e-04 9.99973440e-01 3.09785256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.400714057 meters Centerline goodness [0,1] 0.9959808428196674 Centerline is valid? [True, True] Translation: X:882.36, Y:-64.80, Z:3.10 [[ 9.97939751e-01 6.37228703e-02 7.45980092e-03 8.82359595e+02] [-6.37221555e-02 9.97967622e-01 -3.33708154e-04 -6.48001021e+01] [-7.46590463e-03 -1.42333962e-04 9.99972120e-01 3.09697727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4307140569999 meters Centerline goodness [0,1] 0.9963508030634048 Centerline is valid? [True, True] Translation: X:882.39, Y:-64.80, Z:3.10 [[ 9.98093859e-01 6.12239162e-02 7.76410936e-03 8.82387409e+02] [-6.12230717e-02 9.98124048e-01 -3.46630102e-04 -6.48018572e+01] [-7.77076632e-03 -1.29373248e-04 9.99969799e-01 3.09706533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4607140569999 meters Centerline goodness [0,1] 0.995189416716777 Centerline is valid? [True, True] Translation: X:882.42, Y:-64.81, Z:3.10 [[ 9.98322568e-01 5.75171284e-02 6.62039307e-03 8.82416161e+02] [-5.75164364e-02 9.98344516e-01 -2.95031225e-04 -6.48057794e+01] [-6.62640246e-03 -8.62450870e-05 9.99978041e-01 3.09575192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4907140569999 meters Centerline goodness [0,1] 0.9957537664331638 Centerline is valid? [True, True] Translation: X:882.44, Y:-64.81, Z:3.09 [[ 9.98479578e-01 5.47822286e-02 6.11875310e-03 8.82443930e+02] [-5.47815944e-02 9.98498324e-01 -2.71321495e-04 -6.48077105e+01] [-6.12442831e-03 -6.42860790e-05 9.99981243e-01 3.09468018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.520714057 meters Centerline goodness [0,1] 0.9954193347243206 Centerline is valid? [True, True] Translation: X:882.47, Y:-64.81, Z:3.09 [[ 9.98627552e-01 5.20964148e-02 5.38291257e-03 8.82472066e+02] [-5.20958864e-02 9.98642059e-01 -2.38431854e-04 -6.48093537e+01] [-5.38802434e-03 -4.23229826e-05 9.99985484e-01 3.09386410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5507140569999 meters Centerline goodness [0,1] 0.9945212062958068 Centerline is valid? [True, True] Translation: X:882.50, Y:-64.82, Z:3.09 [[ 9.98889140e-01 4.69420367e-02 4.11470669e-03 8.82500880e+02] [-4.69416866e-02 9.98897615e-01 -1.81669967e-04 -6.48158229e+01] [-4.11869866e-03 -1.16831149e-05 9.99991518e-01 3.09218719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5807140569999 meters Centerline goodness [0,1] 0.9943277009238428 Centerline is valid? [True, True] Translation: X:882.53, Y:-64.82, Z:3.09 [[ 9.99024499e-01 4.39783123e-02 3.99475943e-03 8.82527704e+02] [-4.39779633e-02 9.99032486e-01 -1.75200065e-04 -6.48186366e+01] [-3.99859944e-03 -6.52226368e-07 9.99992006e-01 3.09075360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6107140569999 meters Centerline goodness [0,1] 0.994045056679581 Centerline is valid? [True, True] Translation: X:882.56, Y:-64.82, Z:3.09 [[ 9.99197838e-01 3.99048470e-02 3.35900632e-03 8.82556399e+02] [-3.99045787e-02 9.99203484e-01 -1.46892300e-04 -6.48225476e+01] [-3.36219253e-03 1.27347365e-05 9.99994348e-01 3.09069130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.640714057 meters Centerline goodness [0,1] 0.9930178618397456 Centerline is valid? [True, True] Translation: X:882.58, Y:-64.82, Z:3.09 [[ 9.99255448e-01 3.84425905e-02 3.27376487e-03 8.82584833e+02] [-3.84423284e-02 9.99260810e-01 -1.42961223e-04 -6.48242048e+01] [-3.27684074e-03 1.70036366e-05 9.99994631e-01 3.09050630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6707140569999 meters Centerline goodness [0,1] 0.9925188826279823 Centerline is valid? [True, True] Translation: X:882.61, Y:-64.83, Z:3.09 [[ 9.99297152e-01 3.74035370e-02 2.48524797e-03 8.82612703e+02] [-3.74033824e-02 9.99300243e-01 -1.08685701e-04 -6.48262434e+01] [-2.48757413e-03 1.56526312e-05 9.99996906e-01 3.09016798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7007140569999 meters Centerline goodness [0,1] 0.9925339204096771 Centerline is valid? [True, True] Translation: X:882.64, Y:-64.83, Z:3.09 [[ 9.99356719e-01 3.57937255e-02 2.22662022e-03 8.82640753e+02] [-3.57935979e-02 9.99359199e-01 -9.71655497e-05 -6.48289936e+01] [-2.22867131e-03 1.74042963e-05 9.99997516e-01 3.08959918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7307140569999 meters Centerline goodness [0,1] 0.9928069548648327 Centerline is valid? [True, True] Translation: X:882.67, Y:-64.83, Z:3.09 [[ 9.99375477e-01 3.52971316e-02 1.66367013e-03 8.82668027e+02] [-3.52970592e-02 9.99376862e-01 -7.28498318e-05 -6.48305863e+01] [-1.66520483e-03 1.40816722e-05 9.99998613e-01 3.08933560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.760714057 meters Centerline goodness [0,1] 0.9927251043530113 Centerline is valid? [True, True] Translation: X:882.70, Y:-64.83, Z:3.09 [[ 9.99303817e-01 3.73061818e-02 3.59425072e-04 8.82696380e+02] [-3.73061785e-02 9.99303882e-01 -1.58856405e-05 -6.48303666e+01] [-3.59767502e-04 2.46580528e-06 9.99999935e-01 3.08894039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.790714057 meters Centerline goodness [0,1] 0.9935050980204876 Centerline is valid? [True, True] Translation: X:882.72, Y:-64.83, Z:3.09 [[ 9.99221245e-01 3.94575913e-02 3.23099628e-05 8.82724087e+02] [-3.94575912e-02 9.99221246e-01 -3.10761913e-06 -6.48299515e+01] [-3.24074205e-05 1.83032575e-06 9.99999999e-01 3.08929446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8207140569999 meters Centerline goodness [0,1] 0.9938286370377458 Centerline is valid? [True, True] Translation: X:882.75, Y:-64.83, Z:3.09 [[ 9.99110801e-01 4.21595169e-02 4.27985547e-04 8.82751998e+02] [-4.21595122e-02 9.99110892e-01 -1.98977853e-05 -6.48295123e+01] [-4.28443903e-04 1.83643033e-06 9.99999908e-01 3.08961519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8507140569999 meters Centerline goodness [0,1] 0.9944247702909648 Centerline is valid? [True, True] Translation: X:882.78, Y:-64.83, Z:3.09 [[ 9.98804850e-01 4.88629221e-02 1.13426082e-03 8.82780687e+02] [-4.88628975e-02 9.98805494e-01 -4.94336226e-05 -6.48269989e+01] [-1.13532141e-03 -6.04872809e-06 9.99999356e-01 3.09116111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.880714057 meters Centerline goodness [0,1] 0.9955929199300616 Centerline is valid? [True, True] Translation: X:882.81, Y:-64.83, Z:3.09 [[ 9.98622336e-01 5.24632623e-02 1.01835997e-03 8.82808949e+02] [-5.24632453e-02 9.98622855e-01 -4.34717613e-05 -6.48252885e+01] [-1.01923822e-03 -1.00145973e-05 9.99999481e-01 3.09165303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.910714057 meters Centerline goodness [0,1] 0.9965777192772526 Centerline is valid? [True, True] Translation: X:882.84, Y:-64.82, Z:3.09 [[ 9.98216862e-01 5.96647492e-02 1.79274839e-03 8.82837392e+02] [-5.96647092e-02 9.98218471e-01 -7.58813075e-05 -6.48223059e+01] [-1.79408200e-03 -3.12178108e-05 9.99998390e-01 3.09219526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9407140569999 meters Centerline goodness [0,1] 0.9971168400567021 Centerline is valid? [True, True] Translation: X:882.87, Y:-64.82, Z:3.09 [[ 9.97971117e-01 6.36484966e-02 1.58690443e-03 8.82865931e+02] [-6.36484691e-02 9.97972378e-01 -6.79079579e-05 -6.48227100e+01] [-1.58800903e-03 -3.32338571e-05 9.99998739e-01 3.09203407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9707140569999 meters Centerline goodness [0,1] 0.9979122171294186 Centerline is valid? [True, True] Translation: X:882.89, Y:-64.82, Z:3.09 [[ 9.97566771e-01 6.97169139e-02 2.99546998e-04 8.82894890e+02] [-6.97169133e-02 9.97566816e-01 -1.25632315e-05 -6.48209598e+01] [-2.99694015e-04 -8.35082981e-06 9.99999955e-01 3.09116064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.000714057 meters Centerline goodness [0,1] 0.9978348729792148 Centerline is valid? [True, True] Translation: X:882.92, Y:-64.82, Z:3.09 [[ 9.97328312e-01 7.30474164e-02 -5.58877811e-04 8.82924083e+02] [-7.30474150e-02 9.97328469e-01 2.30435067e-05 -6.48207617e+01] [ 5.59068020e-04 1.78426377e-05 9.99999844e-01 3.09079080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.030714057 meters Centerline goodness [0,1] 0.9982697298856099 Centerline is valid? [True, True] Translation: X:882.95, Y:-64.82, Z:3.09 [[ 9.97114819e-01 7.59035085e-02 -8.33608174e-04 8.82952583e+02] [-7.59035062e-02 9.97115167e-01 3.44874337e-05 -6.48196479e+01] [ 8.33821071e-04 2.88858519e-05 9.99999652e-01 3.09018568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0607140569999 meters Centerline goodness [0,1] 0.9986078774932194 Centerline is valid? [True, True] Translation: X:882.98, Y:-64.82, Z:3.09 [[ 9.96689706e-01 8.12777023e-02 -1.88829695e-03 8.82982606e+02] [-8.12776988e-02 9.96691492e-01 7.86972524e-05 -6.48192040e+01] [ 1.88844583e-03 7.50396890e-05 9.99998214e-01 3.08969709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0907140569999 meters Centerline goodness [0,1] 0.9987088444157521 Centerline is valid? [True, True] Translation: X:883.01, Y:-64.82, Z:3.09 [[ 9.96481820e-01 8.37875999e-02 -1.90288843e-03 8.83011991e+02] [-8.37876015e-02 9.96483633e-01 7.90061330e-05 -6.48188749e+01] [ 1.90281691e-03 8.07102820e-05 9.99998186e-01 3.08922502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.120714057 meters Centerline goodness [0,1] 0.9990379296245521 Centerline is valid? [True, True] Translation: X:883.04, Y:-64.82, Z:3.09 [[ 9.95948296e-01 8.98879714e-02 -2.67275557e-03 8.83042702e+02] [-8.98879955e-02 9.95951874e-01 1.11367440e-04 -6.48173794e+01] [ 2.67194651e-03 1.29332428e-04 9.99996422e-01 3.08924104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.150714057 meters Centerline goodness [0,1] 0.9995935931149892 Centerline is valid? [True, True] Translation: X:883.07, Y:-64.82, Z:3.09 [[ 9.95771943e-01 9.18339514e-02 -2.18234348e-03 8.83070930e+02] [-9.18339732e-02 9.95774328e-01 9.03982782e-05 -6.48165747e+01] [ 2.18142324e-03 1.10397203e-04 9.99997615e-01 3.08920022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1807140569999 meters Centerline goodness [0,1] 0.9992114695340502 Centerline is valid? [True, True] Translation: X:883.10, Y:-64.82, Z:3.09 [[ 9.95634377e-01 9.32931612e-02 -2.92792004e-03 8.83100753e+02] [-9.32932061e-02 9.95638671e-01 1.21537210e-04 -6.48171403e+01] [ 2.92648901e-03 1.52148423e-04 9.99995706e-01 3.08912759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2107140569999 meters Centerline goodness [0,1] 0.9993062864797627 Centerline is valid? [True, True] Translation: X:883.13, Y:-64.82, Z:3.09 [[ 9.95499290e-01 9.47173618e-02 -3.12815745e-03 8.83129034e+02] [-9.47174213e-02 9.95504191e-01 1.29460630e-04 -6.48167643e+01] [ 3.12635602e-03 1.67413042e-04 9.99995099e-01 3.08907352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2407140569999 meters Centerline goodness [0,1] 0.9993767976989454 Centerline is valid? [True, True] Translation: X:883.16, Y:-64.82, Z:3.09 [[ 9.95322814e-01 9.65224153e-02 -3.98982476e-03 8.83157081e+02] [-9.65225271e-02 9.95330786e-01 1.64980751e-04 -6.48164465e+01] [ 3.98711976e-03 2.20898863e-04 9.99992027e-01 3.08874824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.270714057 meters Centerline goodness [0,1] 0.9994967528577249 Centerline is valid? [True, True] Translation: X:883.19, Y:-64.82, Z:3.09 [[ 9.95292004e-01 9.68427994e-02 -3.91146951e-03 8.83185345e+02] [-9.68429124e-02 9.95299666e-01 1.60929043e-04 -6.48175605e+01] [ 3.90866912e-03 2.18626710e-04 9.99992337e-01 3.08892635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3007140569999 meters Centerline goodness [0,1] 0.9993327773144287 Centerline is valid? [True, True] Translation: X:883.21, Y:-64.82, Z:3.09 [[ 9.95237419e-01 9.74506733e-02 -2.41796246e-03 8.83213623e+02] [-9.74507220e-02 9.95240346e-01 9.79414164e-05 -6.48235196e+01] [ 2.41599826e-03 1.38157225e-04 9.99997072e-01 3.09102215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3307140569999 meters Centerline goodness [0,1] 0.9989703558258705 Centerline is valid? [True, True] Translation: X:883.24, Y:-64.83, Z:3.09 [[ 9.95207405e-01 9.77690599e-02 -1.85270710e-03 8.83242629e+02] [-9.77690905e-02 9.95209123e-01 7.42792554e-05 -6.48255734e+01] [ 1.85109323e-03 1.07214224e-04 9.99998281e-01 3.09137356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3607140569999 meters Centerline goodness [0,1] 0.9991884860491205 Centerline is valid? [True, True] Translation: X:883.27, Y:-64.83, Z:3.09 [[ 9.95197112e-01 9.78857171e-02 -1.04639616e-03 8.83271212e+02] [-9.78857278e-02 9.95197660e-01 4.10754557e-05 -6.48282022e+01] [ 1.04539171e-03 6.15490752e-05 9.99999452e-01 3.09189774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.390714057 meters Centerline goodness [0,1] 0.9990950226244344 Centerline is valid? [True, True] Translation: X:883.30, Y:-64.83, Z:3.09 [[ 9.95205879e-01 9.78016846e-02 -2.99189522e-04 8.83297777e+02] [-9.78016856e-02 9.95205923e-01 1.14058861e-05 -6.48297292e+01] [ 2.98870699e-04 1.79100346e-05 9.99999955e-01 3.09210342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4207140569999 meters Centerline goodness [0,1] 0.9991678158733178 Centerline is valid? [True, True] Translation: X:883.33, Y:-64.83, Z:3.09 [[ 9.95257226e-01 9.72782295e-02 -2.19071065e-05 8.83326238e+02] [-9.72782296e-02 9.95257226e-01 -5.53552607e-07 -6.48339545e+01] [ 2.17493574e-05 2.68201177e-06 1.00000000e+00 3.09183019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4507140569999 meters Centerline goodness [0,1] 0.9986496730787454 Centerline is valid? [True, True] Translation: X:883.35, Y:-64.84, Z:3.09 [[ 9.95338680e-01 9.64412355e-02 9.20819987e-06 8.83354810e+02] [-9.64412355e-02 9.95338680e-01 -1.80105913e-06 -6.48368725e+01] [-9.33897388e-06 9.04613647e-07 1.00000000e+00 3.09150304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4807140569999 meters Centerline goodness [0,1] 0.9989198835352682 Centerline is valid? [True, True] Translation: X:883.38, Y:-64.84, Z:3.09 [[ 9.95594396e-01 9.37642835e-02 2.41720754e-04 8.83383839e+02] [-9.37642839e-02 9.95594425e-01 -9.88019248e-06 -6.48418889e+01] [-2.41582244e-04 -1.28281091e-05 9.99999971e-01 3.09102031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.510714057 meters Centerline goodness [0,1] 0.9985586011342155 Centerline is valid? [True, True] Translation: X:883.41, Y:-64.85, Z:3.09 [[ 9.95807499e-01 9.14735937e-02 8.04623523e-05 8.83412722e+02] [-9.14735937e-02 9.95807502e-01 -4.51259098e-06 -6.48468943e+01] [-8.05377970e-05 -2.86650859e-06 9.99999997e-01 3.09056002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.540714057 meters Centerline goodness [0,1] 0.9982369120101554 Centerline is valid? [True, True] Translation: X:883.44, Y:-64.86, Z:3.09 [[ 9.96227288e-01 8.67806913e-02 -5.49941095e-04 8.83442838e+02] [-8.67806925e-02 9.96227439e-01 2.17800834e-05 -6.48580960e+01] [ 5.49756500e-04 2.60263557e-05 9.99999849e-01 3.08956097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5707140569999 meters Centerline goodness [0,1] 0.9984981109051229 Centerline is valid? [True, True] Translation: X:883.47, Y:-64.86, Z:3.09 [[ 9.96437660e-01 8.43283876e-02 -8.44540792e-04 8.83470405e+02] [-8.43283898e-02 9.96438017e-01 3.30437398e-05 -6.48594766e+01] [ 8.44319077e-04 3.82927384e-05 9.99999643e-01 3.08833203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6007140569999 meters Centerline goodness [0,1] 0.998177570093458 Centerline is valid? [True, True] Translation: X:883.50, Y:-64.86, Z:3.09 [[ 9.96657280e-01 8.16845202e-02 -1.38043982e-03 8.83499777e+02] [-8.16845228e-02 9.96658234e-01 5.46011589e-05 -6.48646150e+01] [ 1.38028679e-03 5.83419258e-05 9.99999046e-01 3.08729741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.630714057 meters Centerline goodness [0,1] 0.9967533984210772 Centerline is valid? [True, True] Translation: X:883.53, Y:-64.88, Z:3.09 [[ 9.97195090e-01 7.48122015e-02 -2.25551483e-03 8.83529393e+02] [-7.48121903e-02 9.97197637e-01 8.94709714e-05 -6.48817369e+01] [ 2.25588758e-03 7.95199912e-05 9.99997452e-01 3.08782814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.660714057 meters Centerline goodness [0,1] 0.9957168462953049 Centerline is valid? [True, True] Translation: X:883.56, Y:-64.89, Z:3.09 [[ 9.97475733e-01 7.09797208e-02 -2.01042047e-03 8.83558988e+02] [-7.09797043e-02 9.97477757e-01 7.96442193e-05 -6.48896030e+01] [ 2.01100283e-03 6.32558748e-05 9.99997976e-01 3.08752220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6907140569999 meters Centerline goodness [0,1] 0.995439421085697 Centerline is valid? [True, True] Translation: X:883.59, Y:-64.90, Z:3.09 [[ 9.97736715e-01 6.72109879e-02 -2.03243438e-03 8.83587343e+02] [-6.72109642e-02 9.97738783e-01 8.00469727e-05 -6.48953684e+01] [ 2.03321864e-03 5.67360706e-05 9.99997931e-01 3.08706214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7207140569999 meters Centerline goodness [0,1] 0.9947703343746385 Centerline is valid? [True, True] Translation: X:883.62, Y:-64.91, Z:3.09 [[ 9.98237394e-01 5.93203638e-02 -1.78867402e-03 8.83617254e+02] [-5.93203326e-02 9.98238996e-01 7.05302516e-05 -6.49056978e+01] [ 1.78970804e-03 3.56988031e-05 9.99998398e-01 3.08652828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.750714057 meters Centerline goodness [0,1] 0.9947140021236324 Centerline is valid? [True, True] Translation: X:883.65, Y:-64.91, Z:3.09 [[ 9.98470528e-01 5.52631675e-02 -1.60847886e-03 8.83645732e+02] [-5.52631398e-02 9.98471823e-01 6.16897519e-05 -6.49114291e+01] [ 1.60942999e-03 2.72941931e-05 9.99998704e-01 3.08676845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.780714057 meters Centerline goodness [0,1] 0.9947140021236324 Centerline is valid? [True, True] Translation: X:883.67, Y:-64.91, Z:3.09 [[ 9.98486097e-01 5.49811550e-02 -1.60850514e-03 8.83673080e+02] [-5.49811280e-02 9.98487392e-01 6.10132780e-05 -6.49124442e+01] [ 1.60942669e-03 2.75165175e-05 9.99998704e-01 3.08659632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8107140569999 meters Centerline goodness [0,1] 0.9937916868609938 Centerline is valid? [True, True] Translation: X:883.70, Y:-64.92, Z:3.09 [[ 9.98690598e-01 5.11403736e-02 -1.32336505e-03 8.83701112e+02] [-5.11403525e-02 9.98691475e-01 4.97937588e-05 -6.49177758e+01] [ 1.32417986e-03 1.79487963e-05 9.99999123e-01 3.08684326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8407140569999 meters Centerline goodness [0,1] 0.9935278781502996 Centerline is valid? [True, True] Translation: X:883.73, Y:-64.93, Z:3.09 [[ 9.99023004e-01 4.41931295e-02 6.29365351e-05 8.83728370e+02] [-4.41931294e-02 9.99023006e-01 -2.97844705e-06 -6.49267951e+01] [-6.30066734e-05 1.94174672e-07 9.99999998e-01 3.08687695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.870714057 meters Centerline goodness [0,1] 0.9934927049797931 Centerline is valid? [True, True] Translation: X:883.76, Y:-64.93, Z:3.09 [[ 9.99150132e-01 4.12177946e-02 3.28384295e-04 8.83757167e+02] [-4.12177925e-02 9.99150186e-01 -1.31208438e-05 -6.49318552e+01] [-3.28646041e-04 -4.25582932e-07 9.99999946e-01 3.08715096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.900714057 meters Centerline goodness [0,1] 0.9935969009912271 Centerline is valid? [True, True] Translation: X:883.79, Y:-64.94, Z:3.09 [[ 9.99327779e-01 3.66581405e-02 4.12156111e-04 8.83785063e+02] [-3.66581368e-02 9.99327864e-01 -1.65342896e-05 -6.49385683e+01] [-4.12485203e-04 1.41429981e-06 9.99999915e-01 3.08615025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9307140569999 meters Centerline goodness [0,1] 0.9936846887778282 Centerline is valid? [True, True] Translation: X:883.81, Y:-64.94, Z:3.09 [[ 9.99357820e-01 3.58320477e-02 1.09391865e-04 8.83814233e+02] [-3.58320474e-02 9.99357826e-01 -4.64242206e-06 -6.49409421e+01] [-1.09487964e-04 7.19706302e-07 9.99999994e-01 3.08556941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9607140569999 meters Centerline goodness [0,1] 0.9934716345935126 Centerline is valid? [True, True] Translation: X:883.84, Y:-64.94, Z:3.08 [[ 9.99390808e-01 3.48997992e-02 -1.29015819e-04 8.83842965e+02] [-3.48997989e-02 9.99390816e-01 4.50762884e-06 -6.49422842e+01] [ 1.29094540e-04 -2.25668856e-09 9.99999992e-01 3.08499301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9907140569999 meters Centerline goodness [0,1] 0.9934409802090688 Centerline is valid? [True, True] Translation: X:883.87, Y:-64.94, Z:3.08 [[ 9.99393254e-01 3.48257970e-02 -5.35779693e-04 8.83870497e+02] [-3.48257913e-02 9.99393398e-01 1.98303984e-05 -6.49428567e+01] [ 5.36145297e-04 -1.15941460e-06 9.99999856e-01 3.08492211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.020714057 meters Centerline goodness [0,1] 0.9934627124049018 Centerline is valid? [True, True] Translation: X:883.90, Y:-64.94, Z:3.08 [[ 9.99377554e-01 3.52697883e-02 -7.39041173e-04 8.83897353e+02] [-3.52697777e-02 9.99377827e-01 2.74120476e-05 -6.49427288e+01] [ 7.39548179e-04 -1.32916718e-06 9.99999727e-01 3.08406304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0507140569999 meters Centerline goodness [0,1] 0.9932140091997996 Centerline is valid? [True, True] Translation: X:883.93, Y:-64.94, Z:3.08 [[ 9.99372285e-01 3.54191325e-02 -7.21793855e-04 8.83925477e+02] [-3.54191224e-02 9.99372546e-01 2.68133438e-05 -6.49429603e+01] [ 7.22290667e-04 -1.23120780e-06 9.99999739e-01 3.08360654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0807140569999 meters Centerline goodness [0,1] 0.994064468998265 Centerline is valid? [True, True] Translation: X:883.95, Y:-64.94, Z:3.08 [[ 9.99364408e-01 3.56218575e-02 -1.36500503e-03 8.83953807e+02] [-3.56218206e-02 9.99365340e-01 5.14034502e-05 -6.49433974e+01] [ 1.36596981e-03 -2.74681421e-06 9.99999067e-01 3.08268326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1107140569999 meters Centerline goodness [0,1] 0.9931649331352155 Centerline is valid? [True, True] Translation: X:883.98, Y:-64.94, Z:3.08 [[ 9.99374192e-01 3.53480171e-02 -1.31952795e-03 8.83982126e+02] [-3.53479828e-02 9.99375064e-01 4.93232330e-05 -6.49446318e+01] [ 1.32044681e-03 -2.64971487e-06 9.99999128e-01 3.08186665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.140714057 meters Centerline goodness [0,1] 0.9936773869576134 Centerline is valid? [True, True] Translation: X:884.01, Y:-64.95, Z:3.08 [[ 9.99390589e-01 3.48861536e-02 -1.18606726e-03 8.84010175e+02] [-3.48861257e-02 9.99391293e-01 4.41461287e-05 -6.49458517e+01] [ 1.18688538e-03 -2.74193409e-06 9.99999296e-01 3.08159975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1707140569999 meters Centerline goodness [0,1] 0.9932360108406022 Centerline is valid? [True, True] Translation: X:884.04, Y:-64.95, Z:3.08 [[ 9.99418622e-01 3.40940721e-02 -1.11089371e-04 8.84038042e+02] [-3.40940719e-02 9.99418628e-01 3.64685543e-06 -6.49475738e+01] [ 1.11149123e-04 1.42753787e-07 9.99999994e-01 3.08192700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2007140569999 meters Centerline goodness [0,1] 0.9931655086000684 Centerline is valid? [True, True] Translation: X:884.07, Y:-64.95, Z:3.08 [[ 9.99428579e-01 3.38011117e-02 -1.00447032e-05 8.84065582e+02] [-3.38011117e-02 9.99428579e-01 -2.63913510e-07 -6.49487627e+01] [ 1.00300429e-05 6.03284840e-07 1.00000000e+00 3.08166830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2307140569999 meters Centerline goodness [0,1] 0.9927200529450695 Centerline is valid? [True, True] Translation: X:884.09, Y:-64.95, Z:3.08 [[ 9.99439553e-01 3.34718814e-02 4.62357356e-04 8.84093779e+02] [-3.34718767e-02 9.99439660e-01 -1.79666431e-05 -6.49501921e+01] [-4.62699656e-04 2.48060533e-06 9.99999893e-01 3.08165478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.260714057 meters Centerline goodness [0,1] 0.9930784068988994 Centerline is valid? [True, True] Translation: X:884.12, Y:-64.95, Z:3.08 [[ 9.99427783e-01 3.38092267e-02 1.02091901e-03 8.84121135e+02] [-3.38092048e-02 9.99428305e-01 -3.87052972e-05 -6.49520097e+01] [-1.02164395e-03 4.16668961e-06 9.99999478e-01 3.08091222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.290714057 meters Centerline goodness [0,1] 0.9928940422748088 Centerline is valid? [True, True] Translation: X:884.15, Y:-64.95, Z:3.08 [[ 9.99403974e-01 3.45051985e-02 1.04269563e-03 8.84149228e+02] [-3.45051761e-02 9.99404518e-01 -3.95143440e-05 -6.49531600e+01] [-1.04343817e-03 3.51239631e-06 9.99999456e-01 3.08031197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3207140569999 meters Centerline goodness [0,1] 0.9923658918955763 Centerline is valid? [True, True] Translation: X:884.18, Y:-64.95, Z:3.08 [[ 9.99384312e-01 3.50710462e-02 1.00957569e-03 8.84177676e+02] [-3.50710256e-02 9.99384822e-01 -3.80917763e-05 -6.49539095e+01] [-1.01029054e-03 2.66146891e-06 9.99999490e-01 3.07977520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3507140569999 meters Centerline goodness [0,1] 0.9921147116302322 Centerline is valid? [True, True] Translation: X:884.20, Y:-64.95, Z:3.08 [[ 9.99349966e-01 3.60386139e-02 9.29603539e-04 8.84204900e+02] [-3.60385967e-02 9.99350398e-01 -3.52115708e-05 -6.49542164e+01] [-9.30268643e-04 1.68707503e-06 9.99999567e-01 3.07896301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.380714057 meters Centerline goodness [0,1] 0.9934101392960211 Centerline is valid? [True, True] Translation: X:884.23, Y:-64.95, Z:3.08 [[ 9.99226178e-01 3.93287400e-02 5.43509863e-04 8.84233721e+02] [-3.93287346e-02 9.99226326e-01 -2.05366091e-05 -6.49520237e+01] [-5.43897042e-04 -8.54837754e-07 9.99999852e-01 3.07806555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.410714057 meters Centerline goodness [0,1] 0.9930987514188422 Centerline is valid? [True, True] Translation: X:884.26, Y:-64.95, Z:3.08 [[ 9.99134034e-01 4.16064352e-02 2.94296383e-04 8.84262503e+02] [-4.16064337e-02 9.99134077e-01 -1.13118153e-05 -6.49513713e+01] [-2.94512190e-04 -9.42603319e-07 9.99999957e-01 3.07789262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4407140569999 meters Centerline goodness [0,1] 0.992957264957265 Centerline is valid? [True, True] Translation: X:884.29, Y:-64.95, Z:3.08 [[ 9.98951847e-01 4.57734391e-02 -2.53170183e-05 8.84291231e+02] [-4.57734392e-02 9.98951847e-01 -6.31560525e-07 -6.49484108e+01] [ 2.52615735e-05 1.78974555e-06 1.00000000e+00 3.07739526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4707140569999 meters Centerline goodness [0,1] 0.9939497716894977 Centerline is valid? [True, True] Translation: X:884.32, Y:-64.94, Z:3.08 [[ 9.98852630e-01 4.78894362e-02 1.57784202e-04 8.84319552e+02] [-4.78894358e-02 9.98852643e-01 -6.33085531e-06 -6.49447175e+01] [-1.57906348e-04 -1.23260492e-06 9.99999988e-01 3.07626331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.500714057 meters Centerline goodness [0,1] 0.9936579893307691 Centerline is valid? [True, True] Translation: X:884.35, Y:-64.94, Z:3.08 [[ 9.98747891e-01 5.00261562e-02 1.82730631e-04 8.84348198e+02] [-5.00261555e-02 9.98747908e-01 -8.06663417e-06 -6.49423114e+01] [-1.82905378e-04 -1.08477708e-06 9.99999983e-01 3.07587076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.530714057 meters Centerline goodness [0,1] 0.9945981978668628 Centerline is valid? [True, True] Translation: X:884.38, Y:-64.94, Z:3.08 [[ 9.98583764e-01 5.31822610e-02 1.45362313e-03 8.84376805e+02] [-5.31822385e-02 9.98584822e-01 -5.40909120e-05 -6.49399374e+01] [-1.45444267e-03 -2.32926256e-05 9.99998942e-01 3.07732653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5607140569999 meters Centerline goodness [0,1] 0.9949196570193789 Centerline is valid? [True, True] Translation: X:884.40, Y:-64.94, Z:3.08 [[ 9.98542774e-01 5.39370384e-02 1.76746692e-03 8.84404349e+02] [-5.39370091e-02 9.98544338e-01 -6.42871147e-05 -6.49382868e+01] [-1.76836154e-03 -3.11384454e-05 9.99998436e-01 3.07749331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5907140569999 meters Centerline goodness [0,1] 0.9941480206540447 Centerline is valid? [True, True] Translation: X:884.43, Y:-64.94, Z:3.08 [[ 9.98544215e-01 5.38857145e-02 2.40424337e-03 8.84432238e+02] [-5.38856593e-02 9.98547109e-01 -8.77810216e-05 -6.49371842e+01] [-2.40548041e-03 -4.19010080e-05 9.99997106e-01 3.07731569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.620714057 meters Centerline goodness [0,1] 0.9939480735470757 Centerline is valid? [True, True] Translation: X:884.46, Y:-64.93, Z:3.08 [[ 9.98623686e-01 5.23574034e-02 3.07185160e-03 8.84460129e+02] [-5.23573121e-02 9.98628409e-01 -1.10203170e-04 -6.49341314e+01] [-3.07340823e-03 -5.07823973e-05 9.99995276e-01 3.07748195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.650714057 meters Centerline goodness [0,1] 0.9937994539817685 Centerline is valid? [True, True] Translation: X:884.49, Y:-64.93, Z:3.08 [[ 9.98707577e-01 5.07181551e-02 3.29308604e-03 8.84489168e+02] [-5.07180407e-02 9.98713005e-01 -1.18308004e-04 -6.49345992e+01] [-3.29484822e-03 -4.88637712e-05 9.99994571e-01 3.07750634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6807140569999 meters Centerline goodness [0,1] 0.9935326842837274 Centerline is valid? [True, True] Translation: X:884.52, Y:-64.93, Z:3.08 [[ 9.98805161e-01 4.87397672e-02 3.56161218e-03 8.84517187e+02] [-4.87396259e-02 9.98811510e-01 -1.26492691e-04 -6.49334876e+01] [-3.56354447e-03 -4.72500927e-05 9.99993649e-01 3.07724570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7107140569999 meters Centerline goodness [0,1] 0.9936050973187918 Centerline is valid? [True, True] Translation: X:884.55, Y:-64.93, Z:3.08 [[ 9.98923143e-01 4.62528134e-02 3.63752070e-03 8.84546094e+02] [-4.62526510e-02 9.98929765e-01 -1.28805113e-04 -6.49333570e+01] [-3.63958530e-03 -3.95785668e-05 9.99993376e-01 3.07732941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7407140569999 meters Centerline goodness [0,1] 0.9925184700271206 Centerline is valid? [True, True] Translation: X:884.58, Y:-64.93, Z:3.08 [[ 9.99173137e-01 4.04204386e-02 4.38520026e-03 8.84575355e+02] [-4.04201468e-02 9.99182760e-01 -1.55182682e-04 -6.49323044e+01] [-4.38788905e-03 -2.21960707e-05 9.99990373e-01 3.07754214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.770714057 meters Centerline goodness [0,1] 0.9929570895522388 Centerline is valid? [True, True] Translation: X:884.60, Y:-64.93, Z:3.08 [[ 9.99270523e-01 3.79025225e-02 4.67128378e-03 8.84602894e+02] [-3.79021705e-02 9.99281441e-01 -1.63903101e-04 -6.49318586e+01] [-4.67413953e-03 -1.32682565e-05 9.99989076e-01 3.07774772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8007140569999 meters Centerline goodness [0,1] 0.9920420070011668 Centerline is valid? [True, True] Translation: X:884.63, Y:-64.93, Z:3.08 [[ 9.99361148e-01 3.54700895e-02 4.37829794e-03 8.84631760e+02] [-3.54697585e-02 9.99370738e-01 -1.53237724e-04 -6.49313851e+01] [-4.38097821e-03 -2.15734323e-06 9.99990403e-01 3.07774442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8307140569999 meters Centerline goodness [0,1] 0.9922217276198955 Centerline is valid? [True, True] Translation: X:884.66, Y:-64.93, Z:3.08 [[ 9.99477742e-01 3.19913317e-02 4.56055983e-03 8.84659414e+02] [-3.19909379e-02 9.99488146e-01 -1.59302828e-04 -6.49278171e+01] [-4.56332180e-03 1.33230447e-05 9.99989588e-01 3.07760896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8607140569999 meters Centerline goodness [0,1] 0.9912396382818387 Centerline is valid? [True, True] Translation: X:884.69, Y:-64.93, Z:3.08 [[ 9.99517472e-01 3.07809800e-02 4.16598261e-03 8.84688665e+02] [-3.07806423e-02 9.99526153e-01 -1.45164885e-04 -6.49255864e+01] [-4.16847689e-03 1.68632181e-05 9.99991312e-01 3.07735659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.890714057 meters Centerline goodness [0,1] 0.9912334593572779 Centerline is valid? [True, True] Translation: X:884.72, Y:-64.92, Z:3.08 [[ 9.99547009e-01 2.98012555e-02 4.20266957e-03 8.84717589e+02] [-2.98009045e-02 9.99555844e-01 -1.46142474e-04 -6.49231206e+01] [-4.20515816e-03 2.08329182e-05 9.99991158e-01 3.07698937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9207140569999 meters Centerline goodness [0,1] 0.9916118147470475 Centerline is valid? [True, True] Translation: X:884.75, Y:-64.92, Z:3.08 [[ 9.99568593e-01 2.91463958e-02 3.62146204e-03 8.84746040e+02] [-2.91461314e-02 9.99575153e-01 -1.25779691e-04 -6.49163607e+01] [-3.62358950e-03 2.01738202e-05 9.99993435e-01 3.07693388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9507140569999 meters Centerline goodness [0,1] 0.9916008494595433 Centerline is valid? [True, True] Translation: X:884.77, Y:-64.91, Z:3.08 [[ 9.99569182e-01 2.90742188e-02 4.01745911e-03 8.84773809e+02] [-2.90738944e-02 9.99577255e-01 -1.39151528e-04 -6.49129667e+01] [-4.01980647e-03 2.22883967e-05 9.99991920e-01 3.07723703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9807140569999 meters Centerline goodness [0,1] 0.991660658495554 Centerline is valid? [True, True] Translation: X:884.80, Y:-64.91, Z:3.08 [[ 9.99580728e-01 2.86852373e-02 3.94027730e-03 8.84800672e+02] [-2.86849236e-02 9.99588494e-01 -1.36112327e-04 -6.49095099e+01] [-3.94256026e-03 2.30287059e-05 9.99992228e-01 3.07718015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.010714057 meters Centerline goodness [0,1] 0.9919434834151888 Centerline is valid? [True, True] Translation: X:884.83, Y:-64.90, Z:3.08 [[ 9.99632537e-01 2.67470695e-02 4.40292011e-03 8.84829435e+02] [-2.67466622e-02 9.99642233e-01 -1.51367428e-04 -6.49038401e+01] [-4.40539352e-03 3.35483887e-05 9.99990296e-01 3.07633171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.040714057 meters Centerline goodness [0,1] 0.9912888202504766 Centerline is valid? [True, True] Translation: X:884.86, Y:-64.91, Z:3.08 [[ 9.99746110e-01 2.16890027e-02 6.10753541e-03 8.84858252e+02] [-2.16881282e-02 9.99764763e-01 -2.09379418e-04 -6.49081330e+01] [-6.11063993e-03 7.68652473e-05 9.99981327e-01 3.07708493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0707140569999 meters Centerline goodness [0,1] 0.9912726922056945 Centerline is valid? [True, True] Translation: X:884.89, Y:-64.91, Z:3.08 [[ 9.99835332e-01 1.71330770e-02 5.98048039e-03 8.84886553e+02] [-1.71321594e-02 9.99853213e-01 -2.04630901e-04 -6.49100643e+01] [-5.98310848e-03 1.02138662e-04 9.99982096e-01 3.07708148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1007140569999 meters Centerline goodness [0,1] 0.9894741889850625 Centerline is valid? [True, True] Translation: X:884.92, Y:-64.92, Z:3.08 [[ 9.99947287e-01 8.82387032e-03 5.24999668e-03 8.84916947e+02] [-8.82305202e-03 9.99961060e-01 -1.79005762e-04 -6.49175385e+01] [-5.25137177e-03 1.32675332e-04 9.99986203e-01 3.07540689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.130714057 meters Centerline goodness [0,1] 0.9893805734010931 Centerline is valid? [True, True] Translation: X:884.95, Y:-64.92, Z:3.07 [[ 9.99967774e-01 7.18540021e-03 3.58064745e-03 8.84945726e+02] [-7.18500830e-03 9.99974180e-01 -1.22305428e-04 -6.49214641e+01] [-3.58143381e-03 9.65745047e-05 9.99993582e-01 3.07370968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.160714057 meters Centerline goodness [0,1] 0.9889306798705009 Centerline is valid? [True, True] Translation: X:884.97, Y:-64.93, Z:3.07 [[ 9.99980376e-01 5.89422752e-03 2.12284973e-03 8.84974123e+02] [-5.89408682e-03 9.99982627e-01 -7.25277089e-05 -6.49264466e+01] [-2.12324034e-03 6.00140250e-05 9.99997744e-01 3.07200791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1907140569999 meters Centerline goodness [0,1] 0.9886341883614089 Centerline is valid? [True, True] Translation: X:885.00, Y:-64.93, Z:3.07 [[ 9.99988926e-01 4.61724883e-03 9.10698080e-04 8.85002772e+02] [-4.61722220e-03 9.99989340e-01 -3.13377773e-05 -6.49279262e+01] [-9.10833067e-04 2.71325349e-05 9.99999585e-01 3.07083568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2207140569999 meters Centerline goodness [0,1] 0.9901018505235978 Centerline is valid? [True, True] Translation: X:885.03, Y:-64.93, Z:3.07 [[ 9.99994255e-01 3.38957593e-03 -3.55787442e-05 8.85031211e+02] [-3.38957590e-03 9.99994255e-01 7.59469481e-07 -6.49277353e+01] [ 3.55811141e-05 -6.38868264e-07 9.99999999e-01 3.06998299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.250714057 meters Centerline goodness [0,1] 0.9887839292120053 Centerline is valid? [True, True] Translation: X:885.06, Y:-64.93, Z:3.07 [[ 9.99995315e-01 3.05839975e-03 1.25811002e-04 8.85059913e+02] [-3.05839919e-03 9.99995323e-01 -4.69682653e-06 -6.49288601e+01] [-1.25824779e-04 4.31202425e-06 9.99999992e-01 3.06981901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.280714057 meters Centerline goodness [0,1] 0.9884906829338036 Centerline is valid? [True, True] Translation: X:885.09, Y:-64.93, Z:3.07 [[ 9.99992511e-01 3.76417551e-03 8.98905106e-04 8.85089193e+02] [-3.76414946e-03 9.99992915e-01 -3.06696775e-05 -6.49295976e+01] [-8.99014183e-04 2.72858346e-05 9.99999596e-01 3.07035499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3107140569999 meters Centerline goodness [0,1] 0.9898437314178341 Centerline is valid? [True, True] Translation: X:885.12, Y:-64.93, Z:3.07 [[ 9.99987666e-01 4.72725492e-03 1.52366659e-03 8.85118357e+02] [-4.72718179e-03 9.99988825e-01 -5.15889137e-05 -6.49299054e+01] [-1.52389343e-03 4.43856284e-05 9.99998838e-01 3.07107583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3407140569999 meters Centerline goodness [0,1] 0.9892893776388922 Centerline is valid? [True, True] Translation: X:885.15, Y:-64.93, Z:3.07 [[ 9.99983189e-01 5.44913829e-03 1.98206926e-03 8.85147683e+02] [-5.44901610e-03 9.99985152e-01 -6.70456843e-05 -6.49301385e+01] [-1.98240518e-03 5.62442298e-05 9.99998033e-01 3.07123135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.370714057 meters Centerline goodness [0,1] 0.9901621337663268 Centerline is valid? [True, True] Translation: X:885.18, Y:-64.93, Z:3.07 [[ 9.99977930e-01 6.21985431e-03 2.33528149e-03 8.85176683e+02] [-6.21968703e-03 9.99980654e-01 -7.88853941e-05 -6.49295563e+01] [-2.33572697e-03 6.43589331e-05 9.99997270e-01 3.07149644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.400714057 meters Centerline goodness [0,1] 0.9903070626809947 Centerline is valid? [True, True] Translation: X:885.21, Y:-64.93, Z:3.07 [[ 9.99967177e-01 7.65214376e-03 2.66263935e-03 8.85205934e+02] [-7.65193203e-03 9.99970720e-01 -8.96979374e-05 -6.49287870e+01] [-2.66324777e-03 6.93206579e-05 9.99996451e-01 3.07205998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4307140569999 meters Centerline goodness [0,1] 0.9899343335090831 Centerline is valid? [True, True] Translation: X:885.23, Y:-64.93, Z:3.07 [[ 9.99966356e-01 7.76015163e-03 2.65834750e-03 8.85234333e+02] [-7.75994145e-03 9.99969887e-01 -8.93693757e-05 -6.49292964e+01] [-2.65896097e-03 6.87377481e-05 9.99996463e-01 3.07204238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4607140569999 meters Centerline goodness [0,1] 0.9901310273792129 Centerline is valid? [True, True] Translation: X:885.26, Y:-64.93, Z:3.07 [[ 9.99965104e-01 7.73966626e-03 3.14464189e-03 8.85262095e+02] [-7.73937283e-03 9.99970045e-01 -1.05470198e-04 -6.49323443e+01] [-3.14536400e-03 8.11289611e-05 9.99995050e-01 3.07195823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4907140569999 meters Centerline goodness [0,1] 0.9893614477993736 Centerline is valid? [True, True] Translation: X:885.29, Y:-64.94, Z:3.07 [[ 9.99974194e-01 6.19333637e-03 3.64062681e-03 8.85290489e+02] [-6.19293447e-03 9.99980816e-01 -1.21655919e-04 -6.49353976e+01] [-3.64131043e-03 9.91066165e-05 9.99993365e-01 3.07209226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.520714057 meters Centerline goodness [0,1] 0.9890658199441354 Centerline is valid? [True, True] Translation: X:885.32, Y:-64.94, Z:3.07 [[ 9.99977147e-01 5.30834266e-03 4.18661887e-03 8.85320306e+02] [-5.30780515e-03 9.99985904e-01 -1.39488853e-04 -6.49375493e+01] [-4.18730031e-03 1.17263908e-04 9.99991226e-01 3.07260813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5507140569999 meters Centerline goodness [0,1] 0.988524044858392 Centerline is valid? [True, True] Translation: X:885.35, Y:-64.94, Z:3.07 [[ 9.99982116e-01 3.01561903e-03 5.16462743e-03 8.85349776e+02] [-3.01477185e-03 9.99995441e-01 -1.71811576e-04 -6.49421204e+01] [-5.16512200e-03 1.56238330e-04 9.99986648e-01 3.07269888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5807140569999 meters Centerline goodness [0,1] 0.9894466017104605 Centerline is valid? [True, True] Translation: X:885.38, Y:-64.94, Z:3.07 [[ 9.99989080e-01 1.25278757e-03 4.50219178e-03 8.85380520e+02] [-1.25212599e-03 9.99999205e-01 -1.49762737e-04 -6.49406570e+01] [-4.50237582e-03 1.44123791e-04 9.99989854e-01 3.07255511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6107140569999 meters Centerline goodness [0,1] 0.9884522168892268 Centerline is valid? [True, True] Translation: X:885.41, Y:-64.94, Z:3.07 [[ 9.99990522e-01 -5.89145638e-04 4.31378857e-03 8.85411767e+02] [ 5.89768600e-04 9.99999816e-01 -1.43141058e-04 -6.49448086e+01] [-4.31370344e-03 1.45683838e-04 9.99990685e-01 3.07197098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.640714057 meters Centerline goodness [0,1] 0.9882258179147616 Centerline is valid? [True, True] Translation: X:885.44, Y:-64.95, Z:3.07 [[ 9.99990983e-01 -1.77052353e-03 3.85983592e-03 8.85442813e+02] [ 1.77103409e-03 9.99998423e-01 -1.28861678e-04 -6.49483583e+01] [-3.85960168e-03 1.35696417e-04 9.99992543e-01 3.07138894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6707140569999 meters Centerline goodness [0,1] 0.9882258179147616 Centerline is valid? [True, True] Translation: X:885.47, Y:-64.95, Z:3.07 [[ 9.99991104e-01 -1.70103961e-03 3.85979306e-03 8.85474515e+02] [ 1.70155455e-03 9.99998544e-01 -1.30131417e-04 -6.49494899e+01] [-3.85956608e-03 1.36697908e-04 9.99992543e-01 3.07119083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7007140569999 meters Centerline goodness [0,1] 0.9887837613525883 Centerline is valid? [True, True] Translation: X:885.51, Y:-64.95, Z:3.07 [[ 9.99992142e-01 -3.34330517e-03 2.13025426e-03 8.85506734e+02] [ 3.34346410e-03 9.99994408e-01 -7.10490878e-05 -6.49509645e+01] [-2.13000481e-03 7.81709581e-05 9.99997728e-01 3.07010434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7307140569999 meters Centerline goodness [0,1] 0.9878433886554123 Centerline is valid? [True, True] Translation: X:885.54, Y:-64.96, Z:3.07 [[ 9.99992186e-01 -3.72973248e-03 1.31024650e-03 8.85537566e+02] [ 3.72979383e-03 9.99993043e-01 -4.43814073e-05 -6.49557399e+01] [-1.31007186e-03 4.92680098e-05 9.99999141e-01 3.06863077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.760714057 meters Centerline goodness [0,1] 0.9880188275566966 Centerline is valid? [True, True] Translation: X:885.57, Y:-64.95, Z:3.07 [[ 9.99992985e-01 -3.72078124e-03 4.30351620e-04 8.85569844e+02] [ 3.72078773e-03 9.99993078e-01 -1.42793092e-05 -6.49542207e+01] [-4.30295511e-04 1.58804561e-05 9.99999907e-01 3.06828954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.790714057 meters Centerline goodness [0,1] 0.9877892336199934 Centerline is valid? [True, True] Translation: X:885.60, Y:-64.95, Z:3.07 [[ 9.99995416e-01 -2.94594030e-03 -6.99898432e-04 8.85601968e+02] [ 2.94595812e-03 9.99995660e-01 2.44222621e-05 -6.49538358e+01] [ 6.99823448e-04 -2.64840216e-05 9.99999755e-01 3.06746173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8207140569999 meters Centerline goodness [0,1] 0.987254179249994 Centerline is valid? [True, True] Translation: X:885.63, Y:-64.96, Z:3.07 [[ 9.99996545e-01 -2.58259829e-03 -4.89188648e-04 8.85633438e+02] [ 2.58260697e-03 9.99996665e-01 1.71153364e-05 -6.49590185e+01] [ 4.89142815e-04 -1.83786593e-05 9.99999880e-01 3.06660995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8507140569999 meters Centerline goodness [0,1] 0.9883787252245829 Centerline is valid? [True, True] Translation: X:885.66, Y:-64.95, Z:3.07 [[ 9.99998470e-01 -1.73340308e-03 -2.34730023e-04 8.85664892e+02] [ 1.73340507e-03 9.99998498e-01 8.28310532e-06 -6.49548115e+01] [ 2.34715312e-04 -8.68997486e-06 9.99999972e-01 3.06769544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.880714057 meters Centerline goodness [0,1] 0.988547804599886 Centerline is valid? [True, True] Translation: X:885.70, Y:-64.96, Z:3.07 [[ 9.99999670e-01 -1.08792960e-04 8.05562673e-04 8.85695167e+02] [ 1.08815211e-04 9.99999994e-01 -2.75783371e-05 -6.49556606e+01] [-8.05559667e-04 2.76659854e-05 9.99999675e-01 3.06843122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.910714057 meters Centerline goodness [0,1] 0.9886154800830569 Centerline is valid? [True, True] Translation: X:885.73, Y:-64.96, Z:3.07 [[ 9.99999341e-01 5.76587495e-04 9.93128057e-04 8.85725772e+02] [-5.76553880e-04 9.99999833e-01 -3.41338171e-05 -6.49551975e+01] [-9.93147573e-04 3.35612027e-05 9.99999506e-01 3.06892784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9407140569999 meters Centerline goodness [0,1] 0.9886009376264249 Centerline is valid? [True, True] Translation: X:885.76, Y:-64.96, Z:3.07 [[ 9.99998125e-01 1.20418714e-03 1.51670438e-03 8.85755576e+02] [-1.20410946e-03 9.99999274e-01 -5.21291385e-05 -6.49618636e+01] [-1.51676605e-03 5.03027626e-05 9.99998848e-01 3.06799786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9707140569999 meters Centerline goodness [0,1] 0.9884361364774326 Centerline is valid? [True, True] Translation: X:885.79, Y:-64.96, Z:3.07 [[ 9.99997222e-01 2.07832186e-03 1.11194965e-03 8.85786447e+02] [-2.07828065e-03 9.99997840e-01 -3.82177162e-05 -6.49554790e+01] [-1.11202668e-03 3.59066665e-05 9.99999381e-01 3.06864715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.000714057 meters Centerline goodness [0,1] 0.9888358778625954 Centerline is valid? [True, True] Translation: X:885.82, Y:-64.96, Z:3.07 [[ 9.99997413e-01 2.17398908e-03 6.69360374e-04 8.85815579e+02] [-2.17397410e-03 9.99997637e-01 -2.31041094e-05 -6.49595850e+01] [-6.69409021e-04 2.16488775e-05 9.99999776e-01 3.06760286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.030714057 meters Centerline goodness [0,1] 0.9894114280263283 Centerline is valid? [True, True] Translation: X:885.85, Y:-64.96, Z:3.07 [[ 9.99997689e-01 2.14443709e-03 1.52177275e-04 8.85845141e+02] [-2.14443628e-03 9.99997701e-01 -5.43541643e-06 -6.49600861e+01] [-1.52188581e-04 5.10906940e-06 9.99999988e-01 3.06745318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0607140569999 meters Centerline goodness [0,1] 0.9877491445935922 Centerline is valid? [True, True] Translation: X:885.87, Y:-64.96, Z:3.07 [[ 9.99997054e-01 2.13012980e-03 -1.16373508e-03 8.85874755e+02] [-2.13008491e-03 9.99997731e-01 3.98121319e-05 -6.49622350e+01] [ 1.16381724e-03 -3.73331601e-05 9.99999322e-01 3.06597577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0907140569999 meters Centerline goodness [0,1] 0.9870457684431109 Centerline is valid? [True, True] Translation: X:885.90, Y:-64.96, Z:3.07 [[ 9.99997024e-01 2.18226568e-03 -1.09087014e-03 8.85904827e+02] [-2.18222643e-03 9.99997618e-01 3.71731936e-05 -6.49639231e+01] [ 1.09094867e-03 -3.47925573e-05 9.99999404e-01 3.06568745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.120714057 meters Centerline goodness [0,1] 0.987339060901021 Centerline is valid? [True, True] Translation: X:885.93, Y:-64.96, Z:3.07 [[ 9.99997140e-01 1.89789667e-03 -1.45556230e-03 8.85934317e+02] [-1.89782646e-03 9.99998198e-01 4.96157922e-05 -6.49642208e+01] [ 1.45565384e-03 -4.68532456e-05 9.99998939e-01 3.06529167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.150714057 meters Centerline goodness [0,1] 0.9881453974148396 Centerline is valid? [True, True] Translation: X:885.96, Y:-64.97, Z:3.06 [[ 9.99998927e-01 8.85915283e-04 -1.16654541e-03 8.85963905e+02] [-8.85869602e-04 9.99999607e-01 3.96759730e-05 -6.49654680e+01] [ 1.16658010e-03 -3.86425233e-05 9.99999319e-01 3.06432421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1807140569999 meters Centerline goodness [0,1] 0.9866240671419375 Centerline is valid? [True, True] Translation: X:885.99, Y:-64.97, Z:3.06 [[ 9.99998560e-01 7.36882700e-04 -1.52865079e-03 8.85992962e+02] [-7.36803851e-04 9.99999727e-01 5.21432933e-05 -6.49714304e+01] [ 1.52868879e-03 -5.10169025e-05 9.99998830e-01 3.06288961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2107140569999 meters Centerline goodness [0,1] 0.9872531033332539 Centerline is valid? [True, True] Translation: X:886.02, Y:-64.97, Z:3.06 [[ 9.99997494e-01 -3.32281659e-04 -2.21406062e-03 8.86022760e+02] [ 3.32449397e-04 9.99999942e-01 7.53924626e-05 -6.49712313e+01] [ 2.21403544e-03 -7.61283368e-05 9.99997546e-01 3.06297035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2407140569999 meters Centerline goodness [0,1] 0.9874240800285816 Centerline is valid? [True, True] Translation: X:886.05, Y:-64.97, Z:3.06 [[ 9.99995657e-01 -1.34170400e-03 -2.62419438e-03 8.86052378e+02] [ 1.34194295e-03 9.99999096e-01 8.92991508e-05 -6.49712062e+01] [ 2.62407220e-03 -9.28202821e-05 9.99996553e-01 3.06246609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.270714057 meters Centerline goodness [0,1] 0.9872784448256147 Centerline is valid? [True, True] Translation: X:886.08, Y:-64.97, Z:3.06 [[ 9.99985825e-01 -3.19902562e-03 -4.25640951e-03 8.86082442e+02] [ 3.19967181e-03 9.99994871e-01 1.45013665e-04 -6.49744905e+01] [ 4.25592378e-03 -1.58630722e-04 9.99990931e-01 3.06149592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3007140569999 meters Centerline goodness [0,1] 0.9874245233680407 Centerline is valid? [True, True] Translation: X:886.11, Y:-64.98, Z:3.06 [[ 9.99978875e-01 -4.47135664e-03 -4.71772620e-03 8.86111542e+02] [ 4.47216429e-03 9.99989987e-01 1.60661144e-04 -6.49769324e+01] [ 4.71696059e-03 -1.81756196e-04 9.99988859e-01 3.06094131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3307140569999 meters Centerline goodness [0,1] 0.9871292536391917 Centerline is valid? [True, True] Translation: X:886.14, Y:-64.98, Z:3.06 [[ 9.99972657e-01 -5.57357071e-03 -4.86014041e-03 8.86140631e+02] [ 5.57444106e-03 9.99984449e-01 1.65550944e-04 -6.49808271e+01] [ 4.85914212e-03 -1.92638983e-04 9.99988176e-01 3.06035608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3607140569999 meters Centerline goodness [0,1] 0.9870330716155127 Centerline is valid? [True, True] Translation: X:886.17, Y:-64.98, Z:3.06 [[ 9.99958118e-01 -7.17115870e-03 -5.68661848e-03 8.86170856e+02] [ 7.17237629e-03 9.99974259e-01 1.93750821e-04 -6.49805710e+01] [ 5.68508268e-03 -2.34529274e-04 9.99983812e-01 3.06133421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.390714057 meters Centerline goodness [0,1] 0.9877516141283706 Centerline is valid? [True, True] Translation: X:886.20, Y:-64.98, Z:3.06 [[ 9.99955671e-01 -7.67625219e-03 -5.45257368e-03 8.86201477e+02] [ 7.67738255e-03 9.99970511e-01 1.86406994e-04 -6.49829945e+01] [ 5.45098198e-03 -2.28260225e-04 9.99985117e-01 3.06083925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4207140569999 meters Centerline goodness [0,1] 0.9862334148251881 Centerline is valid? [True, True] Translation: X:886.23, Y:-64.99, Z:3.06 [[ 9.99952183e-01 -7.82313726e-03 -5.86767709e-03 8.86232312e+02] [ 7.82445035e-03 9.99969368e-01 2.00861420e-04 -6.49888593e+01] [ 5.86592599e-03 -2.46763164e-04 9.99982765e-01 3.05950947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4507140569999 meters Centerline goodness [0,1] 0.9855364552459989 Centerline is valid? [True, True] Translation: X:886.26, Y:-64.99, Z:3.06 [[ 9.99952341e-01 -8.02793851e-03 -5.55581543e-03 8.86263869e+02] [ 8.02911933e-03 9.99967748e-01 1.90264786e-04 -6.49907966e+01] [ 5.55410881e-03 -2.34864024e-04 9.99984548e-01 3.05922508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4807140569999 meters Centerline goodness [0,1] 0.9866695130339904 Centerline is valid? [True, True] Translation: X:886.30, Y:-64.99, Z:3.06 [[ 9.99958218e-01 -7.48751036e-03 -5.24405059e-03 8.86295316e+02] [ 7.48855590e-03 9.99971944e-01 1.79769075e-04 -6.49922578e+01] [ 5.24255744e-03 -2.19031929e-04 9.99986234e-01 3.06017985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.510714057 meters Centerline goodness [0,1] 0.9853582259287339 Centerline is valid? [True, True] Translation: X:886.33, Y:-64.99, Z:3.06 [[ 9.99958119e-01 -7.37756991e-03 -5.41591173e-03 8.86326458e+02] [ 7.37868542e-03 9.99972760e-01 1.86016777e-04 -6.49942733e+01] [ 5.41439185e-03 -2.25971295e-04 9.99985317e-01 3.05998592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.540714057 meters Centerline goodness [0,1] 0.9874617809485435 Centerline is valid? [True, True] Translation: X:886.36, Y:-64.99, Z:3.06 [[ 9.99960250e-01 -6.87581717e-03 -5.67633234e-03 8.86358351e+02] [ 6.87703501e-03 9.99976334e-01 1.95056072e-04 -6.49883367e+01] [ 5.67485683e-03 -2.34084654e-04 9.99983870e-01 3.06247042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5707140569999 meters Centerline goodness [0,1] 0.9872419996212839 Centerline is valid? [True, True] Translation: X:886.39, Y:-64.99, Z:3.06 [[ 9.99963629e-01 -6.15955806e-03 -5.89920121e-03 8.86389295e+02] [ 6.16086216e-03 9.99981001e-01 2.02916860e-04 -6.49878557e+01] [ 5.89783925e-03 -2.39253645e-04 9.99982579e-01 3.06272325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6007140569999 meters Centerline goodness [0,1] 0.986844288524901 Centerline is valid? [True, True] Translation: X:886.42, Y:-64.99, Z:3.06 [[ 9.99966999e-01 -4.05907261e-03 -7.03732010e-03 8.86419890e+02] [ 4.06087631e-03 9.99991725e-01 2.42034567e-04 -6.49901267e+01] [ 7.03627943e-03 -2.70604266e-04 9.99975208e-01 3.06131654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.630714057 meters Centerline goodness [0,1] 0.9865271233395686 Centerline is valid? [True, True] Translation: X:886.45, Y:-64.99, Z:3.06 [[ 9.99969788e-01 -3.70965603e-03 -6.83085838e-03 8.86449601e+02] [ 3.71134345e-03 9.99993085e-01 2.34369856e-04 -6.49906340e+01] [ 6.82994172e-03 -2.59714437e-04 9.99976642e-01 3.06139080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.660714057 meters Centerline goodness [0,1] 0.9871537535126456 Centerline is valid? [True, True] Translation: X:886.48, Y:-64.99, Z:3.06 [[ 9.99972880e-01 -2.47549347e-03 -6.93629020e-03 8.86478734e+02] [ 2.47720210e-03 9.99996903e-01 2.37751748e-04 -6.49920929e+01] [ 6.93568016e-03 -2.54927893e-04 9.99975915e-01 3.06062237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6907140569999 meters Centerline goodness [0,1] 0.9855566605104892 Centerline is valid? [True, True] Translation: X:886.51, Y:-65.00, Z:3.06 [[ 9.99970542e-01 -2.72018173e-04 -7.67081542e-03 8.86506973e+02] [ 2.74039431e-04 9.99999928e-01 2.62449856e-04 -6.49960050e+01] [ 7.67074348e-03 -2.64544231e-04 9.99970544e-01 3.05868194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7207140569999 meters Centerline goodness [0,1] 0.9870326908944361 Centerline is valid? [True, True] Translation: X:886.54, Y:-64.99, Z:3.06 [[ 9.99966244e-01 1.23851318e-03 -8.12266191e-03 8.86535899e+02] [-1.23632231e-03 9.99999198e-01 2.74737823e-04 -6.49907741e+01] [ 8.12299566e-03 -2.64686320e-04 9.99966973e-01 3.06065553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.750714057 meters Centerline goodness [0,1] 0.9866289839927801 Centerline is valid? [True, True] Translation: X:886.56, Y:-64.99, Z:3.06 [[ 9.99956426e-01 3.48354487e-03 -8.66085723e-03 8.86563425e+02] [-3.48113520e-03 9.99993898e-01 2.93284226e-04 -6.49894701e+01] [ 8.66182605e-03 -2.63121831e-04 9.99962451e-01 3.05971517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.780714057 meters Centerline goodness [0,1] 0.9880143922605857 Centerline is valid? [True, True] Translation: X:886.59, Y:-64.98, Z:3.06 [[ 9.99917440e-01 9.13636283e-03 -9.03553031e-03 8.86593484e+02] [-9.13396807e-03 9.99958238e-01 3.06269296e-04 -6.49839147e+01] [ 9.03795115e-03 -2.23713765e-04 9.99959132e-01 3.05968234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8107140569999 meters Centerline goodness [0,1] 0.9880692080996293 Centerline is valid? [True, True] Translation: X:886.62, Y:-64.98, Z:3.06 [[ 9.99898029e-01 1.16864481e-02 -8.20722429e-03 8.86620977e+02] [-1.16845676e-02 9.99931695e-01 2.77042483e-04 -6.49832808e+01] [ 8.20990134e-03 -1.81116366e-04 9.99966282e-01 3.05855499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8407140569999 meters Centerline goodness [0,1] 0.98878612162745 Centerline is valid? [True, True] Translation: X:886.65, Y:-64.98, Z:3.06 [[ 9.99862567e-01 1.46258417e-02 -7.80582501e-03 8.86649507e+02] [-1.46242338e-02 9.99893026e-01 2.63023188e-04 -6.49802662e+01] [ 7.80883692e-03 -1.48832830e-04 9.99969499e-01 3.05920202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.870714057 meters Centerline goodness [0,1] 0.9901279532275842 Centerline is valid? [True, True] Translation: X:886.68, Y:-64.98, Z:3.06 [[ 9.99833440e-01 1.73235802e-02 -5.74325021e-03 8.86677793e+02] [-1.73227572e-02 9.99849931e-01 1.93012446e-04 -6.49789502e+01] [ 5.74573199e-03 -9.34913694e-05 9.99983489e-01 3.05999937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.900714057 meters Centerline goodness [0,1] 0.9896506183215272 Centerline is valid? [True, True] Translation: X:886.71, Y:-64.98, Z:3.06 [[ 9.99815289e-01 1.86568125e-02 -4.61646633e-03 8.86706410e+02] [-1.86562968e-02 9.99825944e-01 1.54731094e-04 -6.49770875e+01] [ 4.61854959e-03 -6.85763476e-05 9.99989332e-01 3.06126373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9307140569999 meters Centerline goodness [0,1] 0.9901303940638283 Centerline is valid? [True, True] Translation: X:886.73, Y:-64.98, Z:3.06 [[ 9.99781486e-01 2.04364691e-02 -4.39659847e-03 8.86734050e+02] [-2.04360208e-02 9.99791152e-01 1.46849725e-04 -6.49759434e+01] [ 4.39868134e-03 -5.69686578e-05 9.99990324e-01 3.06140999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9607140569999 meters Centerline goodness [0,1] 0.9915129240515511 Centerline is valid? [True, True] Translation: X:886.76, Y:-64.97, Z:3.06 [[ 9.99709075e-01 2.37155331e-02 -4.39762178e-03 8.86762133e+02] [-2.37151197e-02 9.99718746e-01 1.46122344e-04 -6.49707223e+01] [ 4.39985030e-03 -4.17897065e-05 9.99990320e-01 3.06071049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9907140569999 meters Centerline goodness [0,1] 0.9919555501872207 Centerline is valid? [True, True] Translation: X:886.79, Y:-64.97, Z:3.06 [[ 9.99747810e-01 2.22166234e-02 -3.27677080e-03 8.86791144e+02] [-2.22163861e-02 9.99753180e-01 1.08813060e-04 -6.49733300e+01] [ 3.27837949e-03 -3.59876136e-05 9.99994625e-01 3.06077925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.020714057 meters Centerline goodness [0,1] 0.9914030427432987 Centerline is valid? [True, True] Translation: X:886.82, Y:-64.97, Z:3.06 [[ 9.99774341e-01 2.10329460e-02 -2.98034117e-03 8.86819672e+02] [-2.10327452e-02 9.99778782e-01 9.87170710e-05 -6.49749212e+01] [ 2.98175817e-03 -3.60100384e-05 9.99995554e-01 3.06145944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0507140569999 meters Centerline goodness [0,1] 0.9915674003914272 Centerline is valid? [True, True] Translation: X:886.85, Y:-64.98, Z:3.06 [[ 9.99803544e-01 1.95981470e-02 -2.96422338e-03 8.86848695e+02] [-1.95979426e-02 9.99807937e-01 9.79717287e-05 -6.49753136e+01] [ 2.96557413e-03 -3.98598018e-05 9.99995602e-01 3.06134146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0807140569999 meters Centerline goodness [0,1] 0.991548074839269 Centerline is valid? [True, True] Translation: X:886.88, Y:-64.98, Z:3.06 [[ 9.99843849e-01 1.74086890e-02 -3.03560521e-03 8.86876433e+02] [-1.74084657e-02 9.99848456e-01 9.99764271e-05 -6.49782371e+01] [ 3.03688564e-03 -4.71155865e-05 9.99995388e-01 3.06042146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1107140569999 meters Centerline goodness [0,1] 0.9911800853073716 Centerline is valid? [True, True] Translation: X:886.91, Y:-64.98, Z:3.06 [[ 9.99871854e-01 1.57918452e-02 -2.62537494e-03 8.86905603e+02] [-1.57916730e-02 9.99875300e-01 8.63373928e-05 -6.49800765e+01] [ 2.62641098e-03 -4.48672666e-05 9.99996550e-01 3.06041234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.140714057 meters Centerline goodness [0,1] 0.991024249004705 Centerline is valid? [True, True] Translation: X:886.93, Y:-64.98, Z:3.06 [[ 9.99891873e-01 1.44828275e-02 -2.54764186e-03 8.86934326e+02] [-1.44826615e-02 9.99895117e-01 8.35932814e-05 -6.49803707e+01] [ 2.54858532e-03 -4.66876079e-05 9.99996751e-01 3.06044375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1707140569999 meters Centerline goodness [0,1] 0.9904477755588171 Centerline is valid? [True, True] Translation: X:886.96, Y:-64.98, Z:3.06 [[ 9.99932822e-01 1.12182385e-02 -2.91597077e-03 8.86962472e+02] [-1.12180080e-02 9.99937072e-01 9.53921738e-05 -6.49828983e+01] [ 2.91685740e-03 -6.26743823e-05 9.99995744e-01 3.05917983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2007140569999 meters Centerline goodness [0,1] 0.9900588305919078 Centerline is valid? [True, True] Translation: X:886.99, Y:-64.99, Z:3.06 [[ 9.99951834e-01 9.43685978e-03 -2.69739716e-03 8.86990191e+02] [-9.43665717e-03 9.99955470e-01 8.78320754e-05 -6.49859967e+01] [ 2.69810590e-03 -6.23734326e-05 9.99996358e-01 3.05797235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2307140569999 meters Centerline goodness [0,1] 0.9907767689868857 Centerline is valid? [True, True] Translation: X:887.02, Y:-64.99, Z:3.06 [[ 9.99962241e-01 8.09420873e-03 -3.16239848e-03 8.87018422e+02] [-8.09392375e-03 9.99967238e-01 1.02902795e-04 -6.49868325e+01] [ 3.16312779e-03 -7.73026969e-05 9.99994994e-01 3.05730013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.260714057 meters Centerline goodness [0,1] 0.9894259818731118 Centerline is valid? [True, True] Translation: X:887.05, Y:-64.99, Z:3.06 [[ 9.99983840e-01 4.33007105e-03 -3.68384612e-03 8.87046421e+02] [-4.32965805e-03 9.99990620e-01 1.20080448e-04 -6.49929371e+01] [ 3.68433152e-03 -1.04128714e-04 9.99993207e-01 3.05607129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.290714057 meters Centerline goodness [0,1] 0.9894110019929406 Centerline is valid? [True, True] Translation: X:887.07, Y:-64.99, Z:3.06 [[ 9.99987989e-01 2.97613490e-03 -3.89419108e-03 8.87074818e+02] [-2.97566470e-03 9.99995565e-01 1.26531449e-04 -6.49947788e+01] [ 3.89455038e-03 -1.14942122e-04 9.99992410e-01 3.05606728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3207140569999 meters Centerline goodness [0,1] 0.9886090127016658 Centerline is valid? [True, True] Translation: X:887.10, Y:-65.00, Z:3.06 [[ 9.99990730e-01 1.21409315e-03 -4.13117543e-03 8.87102486e+02] [-1.21355135e-03 9.99999255e-01 1.33652980e-04 -6.49985619e+01] [ 4.13133462e-03 -1.28638347e-04 9.99991458e-01 3.05545391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3507140569999 meters Centerline goodness [0,1] 0.9895300530701439 Centerline is valid? [True, True] Translation: X:887.13, Y:-65.00, Z:3.06 [[ 9.99987973e-01 1.03282766e-03 -4.79456899e-03 8.87131167e+02] [-1.03209595e-03 9.99999455e-01 1.55084529e-04 -6.49971647e+01] [ 4.79472656e-03 -1.50134209e-04 9.99988494e-01 3.05598401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.380714057 meters Centerline goodness [0,1] 0.9890860459006997 Centerline is valid? [True, True] Translation: X:887.16, Y:-65.00, Z:3.06 [[ 9.99989507e-01 -1.15311993e-03 -4.43362557e-03 8.87159709e+02] [ 1.15376562e-03 9.99999324e-01 1.43080215e-04 -6.50004876e+01] [ 4.43345759e-03 -1.48194078e-04 9.99990161e-01 3.05609284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.410714057 meters Centerline goodness [0,1] 0.9898477157360406 Centerline is valid? [True, True] Translation: X:887.19, Y:-65.00, Z:3.06 [[ 9.99988133e-01 -7.02951179e-04 -4.82079232e-03 8.87189863e+02] [ 7.03709684e-04 9.99999740e-01 1.55645988e-04 -6.49985212e+01] [ 4.82068166e-03 -1.59036579e-04 9.99988368e-01 3.05646513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4407140569999 meters Centerline goodness [0,1] 0.9895472877836909 Centerline is valid? [True, True] Translation: X:887.22, Y:-65.00, Z:3.06 [[ 9.99989299e-01 3.30570691e-04 -4.61443104e-03 8.87218555e+02] [-3.29888371e-04 9.99999935e-01 1.48626994e-04 -6.50002311e+01] [ 4.61447987e-03 -1.47103157e-04 9.99989342e-01 3.05634094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4707140569999 meters Centerline goodness [0,1] 0.9905033011195101 Centerline is valid? [True, True] Translation: X:887.25, Y:-65.00, Z:3.06 [[ 9.99989836e-01 1.59552558e-03 -4.21677604e-03 8.87246895e+02] [-1.59497638e-03 9.99998719e-01 1.33601717e-04 -6.49996695e+01] [ 4.21698380e-03 -1.26874701e-04 9.99991100e-01 3.05628710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.500714057 meters Centerline goodness [0,1] 0.9905289960259858 Centerline is valid? [True, True] Translation: X:887.27, Y:-65.00, Z:3.06 [[ 9.99987309e-01 2.26695697e-03 -4.49920080e-03 8.87274535e+02] [-2.26633749e-03 9.99997422e-01 1.42781096e-04 -6.50003210e+01] [ 4.49951288e-03 -1.32582577e-04 9.99989868e-01 3.05621504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.530714057 meters Centerline goodness [0,1] 0.9901407102517469 Centerline is valid? [True, True] Translation: X:887.30, Y:-65.00, Z:3.06 [[ 9.99982422e-01 3.83981025e-03 -4.51795251e-03 8.87303383e+02] [-3.83920939e-03 9.99992620e-01 1.41660722e-04 -6.49994142e+01] [ 4.51846312e-03 -1.24312866e-04 9.99989784e-01 3.05607110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5607140569999 meters Centerline goodness [0,1] 0.990390131956397 Centerline is valid? [True, True] Translation: X:887.33, Y:-65.00, Z:3.06 [[ 9.99976095e-01 5.07659878e-03 -4.69449406e-03 8.87332611e+02] [-5.07596000e-03 9.99987106e-01 1.47975043e-04 -6.49978592e+01] [ 4.69518474e-03 -1.24142441e-04 9.99988970e-01 3.05614842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5907140569999 meters Centerline goodness [0,1] 0.990390131956397 Centerline is valid? [True, True] Translation: X:887.36, Y:-65.00, Z:3.06 [[ 9.99976436e-01 5.00887848e-03 -4.69450412e-03 8.87360908e+02] [-5.00824045e-03 9.99987448e-01 1.47655904e-04 -6.49986905e+01] [ 4.69518479e-03 -1.24141219e-04 9.99988970e-01 3.05597084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.620714057 meters Centerline goodness [0,1] 0.9913110084496254 Centerline is valid? [True, True] Translation: X:887.39, Y:-65.00, Z:3.06 [[ 9.99964566e-01 6.96356513e-03 -4.73029360e-03 8.87388678e+02] [-6.96294362e-03 9.99975747e-01 1.47844542e-04 -6.49985978e+01] [ 4.73120841e-03 -1.14902535e-04 9.99988801e-01 3.05587844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.650714057 meters Centerline goodness [0,1] 0.9916207804644481 Centerline is valid? [True, True] Translation: X:887.42, Y:-65.00, Z:3.06 [[ 9.99964396e-01 7.14881107e-03 -4.48334014e-03 8.87417215e+02] [-7.14825454e-03 9.99974441e-01 1.40144402e-04 -6.49992939e+01] [ 4.48422742e-03 -1.08091356e-04 9.99989940e-01 3.05582039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6807140569999 meters Centerline goodness [0,1] 0.9916022841787034 Centerline is valid? [True, True] Translation: X:887.45, Y:-65.00, Z:3.06 [[ 9.99954852e-01 8.34421911e-03 -4.54621299e-03 8.87446116e+02] [-8.34366054e-03 9.99965181e-01 1.41817383e-04 -6.49995192e+01] [ 4.54723805e-03 -1.03878922e-04 9.99989656e-01 3.05564578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7107140569999 meters Centerline goodness [0,1] 0.99097108827202 Centerline is valid? [True, True] Translation: X:887.47, Y:-65.00, Z:3.06 [[ 9.99946518e-01 9.59573809e-03 -3.85772349e-03 8.87473723e+02] [-9.59534705e-03 9.99953956e-01 1.19859915e-04 -6.49999240e+01] [ 3.85869601e-03 -8.28373094e-05 9.99992552e-01 3.05587462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7407140569999 meters Centerline goodness [0,1] 0.9915704027474243 Centerline is valid? [True, True] Translation: X:887.50, Y:-65.00, Z:3.06 [[ 9.99943777e-01 1.01215641e-02 -3.16170470e-03 8.87502081e+02] [-1.01213046e-02 9.99948773e-01 9.80442124e-05 -6.49997096e+01] [ 3.16253510e-03 -6.60381236e-05 9.99994997e-01 3.05620371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.770714057 meters Centerline goodness [0,1] 0.990975205818112 Centerline is valid? [True, True] Translation: X:887.53, Y:-65.00, Z:3.06 [[ 9.99942600e-01 1.01885955e-02 -3.31493819e-03 8.87529748e+02] [-1.01883125e-02 9.99948093e-01 1.02250525e-04 -6.49983167e+01] [ 3.31580790e-03 -6.84710293e-05 9.99994500e-01 3.05732386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8007140569999 meters Centerline goodness [0,1] 0.9914988922069164 Centerline is valid? [True, True] Translation: X:887.56, Y:-65.00, Z:3.06 [[ 9.99930520e-01 1.14023401e-02 -2.99017166e-03 8.87557558e+02] [-1.14021159e-02 9.99934990e-01 9.20293674e-05 -6.49983246e+01] [ 2.99102662e-03 -5.79286894e-05 9.99995525e-01 3.05763901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8307140569999 meters Centerline goodness [0,1] 0.9913003663003663 Centerline is valid? [True, True] Translation: X:887.58, Y:-65.00, Z:3.06 [[ 9.99929431e-01 1.14919942e-02 -3.01105142e-03 8.87584139e+02] [-1.14917689e-02 9.99933963e-01 9.21259459e-05 -6.50007322e+01] [ 3.01191129e-03 -5.75171377e-05 9.99995463e-01 3.05656123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8607140569999 meters Centerline goodness [0,1] 0.9910503208375548 Centerline is valid? [True, True] Translation: X:887.61, Y:-65.00, Z:3.06 [[ 9.99928033e-01 1.16452365e-02 -2.88413368e-03 8.87612957e+02] [-1.16450302e-02 9.99932190e-01 8.83195518e-05 -6.49988237e+01] [ 2.88496661e-03 -5.47273719e-05 9.99995837e-01 3.05756118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.890714057 meters Centerline goodness [0,1] 0.9920827235431011 Centerline is valid? [True, True] Translation: X:887.64, Y:-65.00, Z:3.06 [[ 9.99927381e-01 1.17854742e-02 -2.51689460e-03 8.87640513e+02] [-1.17853185e-02 9.99930548e-01 7.67059818e-05 -6.50023857e+01] [ 2.51762381e-03 -4.70380071e-05 9.99996830e-01 3.05655411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9207140569999 meters Centerline goodness [0,1] 0.9921396537589815 Centerline is valid? [True, True] Translation: X:887.67, Y:-65.00, Z:3.06 [[ 9.99915112e-01 1.26866706e-02 -2.96937289e-03 8.87669596e+02] [-1.26864579e-02 9.99919520e-01 9.04834539e-05 -6.49998433e+01] [ 2.97028185e-03 -5.28049488e-05 9.99995587e-01 3.05772451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9507140569999 meters Centerline goodness [0,1] 0.9920596727622714 Centerline is valid? [True, True] Translation: X:887.70, Y:-65.00, Z:3.06 [[ 9.99912272e-01 1.29846289e-02 -2.61682639e-03 8.87697586e+02] [-1.29844656e-02 9.99915695e-01 7.93630980e-05 -6.50023831e+01] [ 2.61763627e-03 -4.53780433e-05 9.99996573e-01 3.05635260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9807140569999 meters Centerline goodness [0,1] 0.9930239830651175 Centerline is valid? [True, True] Translation: X:887.73, Y:-65.00, Z:3.06 [[ 9.99887358e-01 1.49546070e-02 -1.27718001e-03 8.87726818e+02] [-1.49545698e-02 9.99888173e-01 3.86099143e-05 -6.50023714e+01] [ 1.27761458e-03 -1.95058876e-05 9.99999184e-01 3.05794186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.010714057 meters Centerline goodness [0,1] 0.9923678778860462 Centerline is valid? [True, True] Translation: X:887.75, Y:-65.00, Z:3.06 [[ 9.99858318e-01 1.67625534e-02 -1.53661461e-03 8.87754870e+02] [-1.67625022e-02 9.99859498e-01 4.61779235e-05 -6.50023578e+01] [ 1.53717277e-03 -2.04138751e-05 9.99998818e-01 3.05778667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.040714057 meters Centerline goodness [0,1] 0.992703708148326 Centerline is valid? [True, True] Translation: X:887.78, Y:-65.00, Z:3.06 [[ 9.99822597e-01 1.88142905e-02 -8.92730645e-04 8.87783660e+02] [-1.88142742e-02 9.99822996e-01 2.66665361e-05 -6.50015132e+01] [ 8.93074339e-04 -9.86572628e-06 9.99999601e-01 3.05843900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0707140569999 meters Centerline goodness [0,1] 0.9940504865593988 Centerline is valid? [True, True] Translation: X:887.81, Y:-65.00, Z:3.06 [[ 9.99685447e-01 2.50707538e-02 -6.81334295e-04 8.87812377e+02] [-2.50707466e-02 9.99685679e-01 1.90497734e-05 -6.49968764e+01] [ 6.81597730e-04 -1.96222177e-06 9.99999768e-01 3.05998759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1007140569999 meters Centerline goodness [0,1] 0.9952947421760008 Centerline is valid? [True, True] Translation: X:887.84, Y:-64.99, Z:3.06 [[ 9.99588795e-01 2.86681679e-02 -6.13744150e-04 8.87841168e+02] [-2.86681622e-02 9.99588984e-01 1.80008368e-05 -6.49948454e+01] [ 6.14007942e-04 -3.98517899e-07 9.99999811e-01 3.06042032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.130714057 meters Centerline goodness [0,1] 0.995582271147161 Centerline is valid? [True, True] Translation: X:887.87, Y:-64.99, Z:3.06 [[ 9.99468980e-01 3.25842634e-02 -1.51857918e-04 8.87868234e+02] [-3.25842632e-02 9.99468992e-01 3.79687761e-06 -6.49933143e+01] [ 1.51900999e-04 1.15331699e-06 9.99999988e-01 3.05995768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.160714057 meters Centerline goodness [0,1] 0.9957562751669761 Centerline is valid? [True, True] Translation: X:887.90, Y:-64.99, Z:3.06 [[ 9.99349268e-01 3.60699161e-02 4.01024045e-05 8.87896782e+02] [-3.60699161e-02 9.99349269e-01 -1.63303944e-06 -6.49931983e+01] [-4.01352122e-05 1.85486410e-07 9.99999999e-01 3.06058767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1907140569999 meters Centerline goodness [0,1] 0.9965966690803766 Centerline is valid? [True, True] Translation: X:887.92, Y:-64.99, Z:3.06 [[ 9.99028378e-01 4.40554404e-02 1.19097372e-03 8.87924988e+02] [-4.40554288e-02 9.99029088e-01 -3.59778012e-05 -6.49910874e+01] [-1.19140241e-03 -1.65260135e-05 9.99999290e-01 3.06036611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2207140569999 meters Centerline goodness [0,1] 0.9971851317214002 Centerline is valid? [True, True] Translation: X:887.95, Y:-64.99, Z:3.06 [[ 9.98827568e-01 4.83666413e-02 2.03893161e-03 8.87952897e+02] [-4.83666175e-02 9.98829648e-01 -6.10279427e-05 -6.49889133e+01] [-2.03949706e-03 -3.76598338e-05 9.99997920e-01 3.06018131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.250714057 meters Centerline goodness [0,1] 0.9980192758279185 Centerline is valid? [True, True] Translation: X:887.98, Y:-64.99, Z:3.06 [[ 9.98613283e-01 5.25835792e-02 2.54510608e-03 8.87982241e+02] [-5.25835571e-02 9.98616525e-01 -7.56393210e-05 -6.49896250e+01] [-2.54556238e-03 -5.82963003e-05 9.99996758e-01 3.06062126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.280714057 meters Centerline goodness [0,1] 0.9983617615881276 Centerline is valid? [True, True] Translation: X:888.01, Y:-64.99, Z:3.06 [[ 9.98145148e-01 6.08508253e-02 1.85481250e-03 8.88010989e+02] [-6.08508279e-02 9.98146870e-01 -5.51163136e-05 -6.49864123e+01] [-1.85472916e-03 -5.78527950e-05 9.99998278e-01 3.06055354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3107140569999 meters Centerline goodness [0,1] 0.9992283206327771 Centerline is valid? [True, True] Translation: X:888.04, Y:-64.99, Z:3.06 [[ 9.97894910e-01 6.48363943e-02 1.41064614e-03 8.88040627e+02] [-6.48363998e-02 9.97895906e-01 -4.19203386e-05 -6.49854600e+01] [-1.41039597e-03 -4.96291245e-05 9.99999004e-01 3.06068840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3407140569999 meters Centerline goodness [0,1] 0.9989158193996048 Centerline is valid? [True, True] Translation: X:888.07, Y:-64.98, Z:3.06 [[ 9.97577187e-01 6.95600151e-02 1.07715750e-03 8.88069900e+02] [-6.95600210e-02 9.97577768e-01 -3.20223877e-05 -6.49810371e+01] [-1.07677585e-03 -4.29822945e-05 9.99999419e-01 3.05988545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.370714057 meters Centerline goodness [0,1] 0.9993486913520685 Centerline is valid? [True, True] Translation: X:888.10, Y:-64.98, Z:3.06 [[ 9.97021090e-01 7.71277754e-02 5.03327840e-04 8.88100019e+02] [-7.71277777e-02 9.97021216e-01 -1.49057094e-05 -6.49803951e+01] [-5.02978180e-04 -2.39592512e-05 9.99999873e-01 3.05967579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.400714057 meters Centerline goodness [0,1] 0.9993740520499795 Centerline is valid? [True, True] Translation: X:888.13, Y:-64.98, Z:3.06 [[ 9.96723213e-01 8.08868257e-02 3.97557767e-04 8.88130599e+02] [-8.08868275e-02 9.96723292e-01 -1.17379842e-05 -6.49796444e+01] [-3.97204534e-04 -2.04576651e-05 9.99999921e-01 3.05964754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4307140569999 meters Centerline goodness [0,1] 0.9991578846061306 Centerline is valid? [True, True] Translation: X:888.16, Y:-64.98, Z:3.06 [[ 9.96447629e-01 8.42147451e-02 -1.70542784e-05 8.88160882e+02] [-8.42147451e-02 9.96447629e-01 3.97113558e-07 -6.49812166e+01] [ 1.70271380e-05 1.04051884e-06 1.00000000e+00 3.05958351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4607140569999 meters Centerline goodness [0,1] 0.9994457430657638 Centerline is valid? [True, True] Translation: X:888.19, Y:-64.98, Z:3.06 [[ 9.96282344e-01 8.61450842e-02 7.17671078e-04 8.88189936e+02] [-8.61450909e-02 9.96282602e-01 -2.15751880e-05 -6.49815494e+01] [-7.16861805e-04 -4.03288614e-05 9.99999742e-01 3.05937007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4907140569999 meters Centerline goodness [0,1] 0.9994953378833029 Centerline is valid? [True, True] Translation: X:888.22, Y:-64.98, Z:3.06 [[ 9.96072875e-01 8.85352265e-02 5.84967954e-04 8.88218606e+02] [-8.85352315e-02 9.96073046e-01 -1.75036834e-05 -6.49765065e+01] [-5.84220505e-04 -3.43553290e-05 9.99999829e-01 3.05925976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.520714057 meters Centerline goodness [0,1] 0.9994242671400471 Centerline is valid? [True, True] Translation: X:888.25, Y:-64.98, Z:3.06 [[ 9.96181781e-01 8.72939133e-02 1.27767748e-03 8.88247510e+02] [-8.72939353e-02 9.96182597e-01 -3.86712281e-05 -6.49791157e+01] [-1.27617583e-03 -7.30099225e-05 9.99999183e-01 3.05975443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5507140569999 meters Centerline goodness [0,1] 0.9994955197347876 Centerline is valid? [True, True] Translation: X:888.28, Y:-64.98, Z:3.06 [[ 9.96291770e-01 8.60203335e-02 1.79178432e-03 8.88275279e+02] [-8.60203776e-02 9.96293376e-01 -5.26072063e-05 -6.49799868e+01] [-1.78966814e-03 -1.01717837e-04 9.99998393e-01 3.05987917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5807140569999 meters Centerline goodness [0,1] 0.9994753285158952 Centerline is valid? [True, True] Translation: X:888.30, Y:-64.98, Z:3.06 [[ 9.96454320e-01 8.41257057e-02 1.28589288e-03 8.88304160e+02] [-8.41257269e-02 9.96455147e-01 -3.77201138e-05 -6.49845063e+01] [-1.28450781e-03 -7.05903031e-05 9.99999173e-01 3.05991395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6107140569999 meters Centerline goodness [0,1] 0.9990196781675155 Centerline is valid? [True, True] Translation: X:888.33, Y:-64.99, Z:3.06 [[ 9.96838633e-01 7.94471601e-02 9.43124603e-04 8.88333875e+02] [-7.94471696e-02 9.96839078e-01 -2.74117703e-05 -6.49911295e+01] [-9.42321247e-04 -4.76034687e-05 9.99999555e-01 3.05873593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.640714057 meters Centerline goodness [0,1] 0.9990138778651658 Centerline is valid? [True, True] Translation: X:888.36, Y:-64.99, Z:3.06 [[ 9.97061381e-01 7.66043458e-02 6.14429402e-04 8.88363969e+02] [-7.66043493e-02 9.97061569e-01 -1.79169734e-05 -6.49933602e+01] [-6.13996461e-04 -2.92036422e-05 9.99999811e-01 3.05836336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6707140569999 meters Centerline goodness [0,1] 0.9989448188205953 Centerline is valid? [True, True] Translation: X:888.39, Y:-65.00, Z:3.06 [[ 9.97298665e-01 7.34512962e-02 5.28107240e-04 8.88393449e+02] [-7.34512982e-02 9.97298805e-01 -1.55021830e-05 -6.49964146e+01] [-5.27819374e-04 -2.33298559e-05 9.99999860e-01 3.05759511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7007140569999 meters Centerline goodness [0,1] 0.9987755102040816 Centerline is valid? [True, True] Translation: X:888.42, Y:-65.00, Z:3.06 [[ 9.97817351e-01 6.60328239e-02 4.47134043e-04 8.88423989e+02] [-6.60328247e-02 9.97817451e-01 -1.29126788e-05 -6.50013405e+01] [-4.47010811e-04 -1.66410289e-05 9.99999900e-01 3.05722487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7307140569999 meters Centerline goodness [0,1] 0.9984897880909004 Centerline is valid? [True, True] Translation: X:888.45, Y:-65.00, Z:3.06 [[ 9.98073659e-01 6.20392983e-02 3.11940326e-04 8.88452766e+02] [-6.20392984e-02 9.98073707e-01 -9.33403051e-06 -6.50023259e+01] [-3.11918514e-04 -1.00365090e-05 9.99999951e-01 3.05694225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.760714057 meters Centerline goodness [0,1] 0.9979760499241018 Centerline is valid? [True, True] Translation: X:888.48, Y:-65.00, Z:3.06 [[ 9.98312820e-01 5.80638057e-02 3.29586831e-04 8.88482169e+02] [-5.80638056e-02 9.98312874e-01 -9.72619801e-06 -6.50033361e+01] [-3.29595517e-04 -9.42727753e-06 9.99999946e-01 3.05693462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.790714057 meters Centerline goodness [0,1] 0.9976162384724664 Centerline is valid? [True, True] Translation: X:888.51, Y:-65.01, Z:3.06 [[ 9.98767042e-01 4.96419104e-02 -2.77636264e-04 8.88512017e+02] [-4.96419101e-02 9.98767080e-01 7.90388803e-06 -6.50081084e+01] [ 2.77686325e-04 5.88825161e-06 9.99999961e-01 3.05705326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8207140569999 meters Centerline goodness [0,1] 0.996562252085487 Centerline is valid? [True, True] Translation: X:888.54, Y:-65.01, Z:3.06 [[ 9.99019550e-01 4.42711977e-02 -3.79088361e-06 8.88539564e+02] [-4.42711977e-02 9.99019550e-01 -4.33550553e-07 -6.50112069e+01] [ 3.76797303e-06 6.00952436e-07 1.00000000e+00 3.05593311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8507140569999 meters Centerline goodness [0,1] 0.9944655661966408 Centerline is valid? [True, True] Translation: X:888.57, Y:-65.02, Z:3.05 [[ 9.99400262e-01 3.46256412e-02 -4.25876237e-04 8.88568132e+02] [-3.46256393e-02 9.99400353e-01 1.17954420e-05 -6.50162138e+01] [ 4.26029287e-04 2.95786920e-06 9.99999909e-01 3.05415274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.880714057 meters Centerline goodness [0,1] 0.9946724262059036 Centerline is valid? [True, True] Translation: X:888.60, Y:-65.02, Z:3.05 [[ 9.99539188e-01 3.03459399e-02 -7.31790981e-04 8.88597274e+02] [-3.03459330e-02 9.99539456e-01 2.05275388e-05 -6.50186160e+01] [ 7.32076886e-04 1.68880060e-06 9.99999732e-01 3.05360498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.910714057 meters Centerline goodness [0,1] 0.9940530430195195 Centerline is valid? [True, True] Translation: X:888.62, Y:-65.02, Z:3.05 [[ 9.99676881e-01 2.54152842e-02 -4.43262862e-04 8.88624009e+02] [-2.54152815e-02 9.99676979e-01 1.18953929e-05 -6.50216847e+01] [ 4.43422004e-04 -6.25898896e-07 9.99999902e-01 3.05367343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9407140569999 meters Centerline goodness [0,1] 0.9927002058302619 Centerline is valid? [True, True] Translation: X:888.65, Y:-65.02, Z:3.05 [[ 9.99777614e-01 2.10881146e-02 -1.17621651e-04 8.88653093e+02] [-2.10881144e-02 9.99777621e-01 2.92380535e-06 -6.50242640e+01] [ 1.17657152e-04 -4.42736307e-07 9.99999993e-01 3.05397384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9707140569999 meters Centerline goodness [0,1] 0.9928895251729898 Centerline is valid? [True, True] Translation: X:888.68, Y:-65.03, Z:3.05 [[ 9.99900129e-01 1.41326654e-02 -2.59535387e-05 8.88681633e+02] [-1.41326654e-02 9.99900129e-01 3.04264627e-07 -6.50269684e+01] [ 2.59552468e-05 6.25584394e-08 1.00000000e+00 3.05493561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.000714057 meters Centerline goodness [0,1] 0.992025671112814 Centerline is valid? [True, True] Translation: X:888.71, Y:-65.03, Z:3.05 [[ 9.99937568e-01 1.11737119e-02 -9.20488931e-05 8.88709905e+02] [-1.11737117e-02 9.99937572e-01 2.05680322e-06 -6.50288428e+01] [ 9.20661288e-05 -1.02814702e-06 9.99999996e-01 3.05441578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.030714057 meters Centerline goodness [0,1] 0.9913710679797304 Centerline is valid? [True, True] Translation: X:888.74, Y:-65.03, Z:3.05 [[ 9.99959314e-01 9.01938949e-03 1.45866890e-04 8.88737465e+02] [-9.01938889e-03 9.99959324e-01 -4.73372152e-06 -6.50317993e+01] [-1.45903652e-04 3.41789872e-06 9.99999989e-01 3.05380793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0607140569999 meters Centerline goodness [0,1] 0.9915798010638551 Centerline is valid? [True, True] Translation: X:888.77, Y:-65.03, Z:3.05 [[ 9.99975499e-01 6.99870899e-03 1.39857385e-04 8.88766555e+02] [-6.99870845e-03 9.99975509e-01 -4.35964852e-06 -6.50339960e+01] [-1.39884472e-04 3.38072064e-06 9.99999990e-01 3.05313776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0907140569999 meters Centerline goodness [0,1] 0.9918623520427644 Centerline is valid? [True, True] Translation: X:888.80, Y:-65.04, Z:3.05 [[ 9.99987371e-01 4.97765988e-03 -6.93848601e-04 8.88795442e+02] [-4.97764787e-03 9.99987611e-01 1.90373281e-05 -6.50359503e+01] [ 6.93934766e-04 -1.55833537e-05 9.99999759e-01 3.05244551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.120714057 meters Centerline goodness [0,1] 0.9914975707344955 Centerline is valid? [True, True] Translation: X:888.82, Y:-65.04, Z:3.05 [[ 9.99989787e-01 4.42340568e-03 -9.26876183e-04 8.88823924e+02] [-4.42338393e-03 9.99990216e-01 2.55146183e-05 -6.50376994e+01] [ 9.26979976e-04 -2.14144285e-05 9.99999570e-01 3.05207580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.150714057 meters Centerline goodness [0,1] 0.9916674602418817 Centerline is valid? [True, True] Translation: X:888.85, Y:-65.04, Z:3.05 [[ 9.99987731e-01 4.56976248e-03 -1.91161031e-03 8.88851981e+02] [-4.56967000e-03 9.99989558e-01 5.27479530e-05 -6.50393432e+01] [ 1.91183140e-03 -4.40118775e-05 9.99998171e-01 3.05048160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1807140569999 meters Centerline goodness [0,1] 0.9912852469975886 Centerline is valid? [True, True] Translation: X:888.88, Y:-65.04, Z:3.05 [[ 9.99984928e-01 5.04473522e-03 -2.16668120e-03 8.88879401e+02] [-5.04461762e-03 9.99987274e-01 5.97401787e-05 -6.50402377e+01] [ 2.16695500e-03 -4.88092002e-05 9.99997651e-01 3.04984602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2107140569999 meters Centerline goodness [0,1] 0.9914338208976592 Centerline is valid? [True, True] Translation: X:888.91, Y:-65.04, Z:3.05 [[ 9.99976831e-01 6.43138955e-03 -2.23036368e-03 8.88908342e+02] [-6.43126851e-03 9.99979317e-01 6.14353461e-05 -6.50377706e+01] [ 2.23071266e-03 -4.70898550e-05 9.99997511e-01 3.05086937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2407140569999 meters Centerline goodness [0,1] 0.9920539945431047 Centerline is valid? [True, True] Translation: X:888.94, Y:-65.04, Z:3.05 [[ 9.99954510e-01 9.38461269e-03 -1.70487233e-03 8.88937378e+02] [-9.38454906e-03 9.99955963e-01 4.53206213e-05 -6.50360383e+01] [ 1.70522257e-03 -2.93191016e-05 9.99998546e-01 3.05205929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.270714057 meters Centerline goodness [0,1] 0.9921738922955787 Centerline is valid? [True, True] Translation: X:888.97, Y:-65.04, Z:3.05 [[ 9.99945078e-01 1.03790705e-02 -1.45476467e-03 8.88965438e+02] [-1.03790242e-02 9.99946136e-01 3.93178712e-05 -6.50379442e+01] [ 1.45509440e-03 -2.42166740e-05 9.99998941e-01 3.05181498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3007140569999 meters Centerline goodness [0,1] 0.9918091508262489 Centerline is valid? [True, True] Translation: X:888.99, Y:-65.04, Z:3.05 [[ 9.99930145e-01 1.17936376e-02 -7.84242264e-04 8.88994436e+02] [-1.17936247e-02 9.99930453e-01 2.10010497e-05 -6.50357753e+01] [ 7.84435401e-04 -1.17505237e-05 9.99999692e-01 3.05302124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3307140569999 meters Centerline goodness [0,1] 0.9920743241625363 Centerline is valid? [True, True] Translation: X:889.02, Y:-65.04, Z:3.05 [[ 9.99905360e-01 1.36925296e-02 -1.33652902e-03 8.89023480e+02] [-1.36924937e-02 9.99906253e-01 3.60008991e-05 -6.50354159e+01] [ 1.33689666e-03 -1.76970769e-05 9.99999106e-01 3.05301335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3607140569999 meters Centerline goodness [0,1] 0.9927588184685976 Centerline is valid? [True, True] Translation: X:889.05, Y:-65.04, Z:3.05 [[ 9.99897249e-01 1.42823808e-02 -1.22708472e-03 8.89052651e+02] [-1.42823512e-02 9.99898001e-01 3.29204025e-05 -6.50355106e+01] [ 1.22742974e-03 -1.53913649e-05 9.99999247e-01 3.05300164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.390714057 meters Centerline goodness [0,1] 0.9927916277510358 Centerline is valid? [True, True] Translation: X:889.08, Y:-65.04, Z:3.05 [[ 9.99884179e-01 1.51642775e-02 -1.29350586e-03 8.89080914e+02] [-1.51642454e-02 9.99885016e-01 3.46399891e-05 -6.50363352e+01] [ 1.29388241e-03 -1.50209369e-05 9.99999163e-01 3.05216701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4207140569999 meters Centerline goodness [0,1] 0.9927361928124032 Centerline is valid? [True, True] Translation: X:889.11, Y:-65.04, Z:3.05 [[ 9.99872198e-01 1.59016273e-02 -1.65104836e-03 8.89108537e+02] [-1.59015762e-02 9.99873561e-01 4.40867426e-05 -6.50373078e+01] [ 1.65154065e-03 -1.78268370e-05 9.99998636e-01 3.05161008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4507140569999 meters Centerline goodness [0,1] 0.9924792283449527 Centerline is valid? [True, True] Translation: X:889.14, Y:-65.04, Z:3.05 [[ 9.99854912e-01 1.69852358e-02 -1.28716162e-03 8.89136351e+02] [-1.69852060e-02 9.99855740e-01 3.41461089e-05 -6.50377898e+01] [ 1.28755591e-03 -1.22784495e-05 9.99999171e-01 3.05101949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4807140569999 meters Centerline goodness [0,1] 0.9924792283449527 Centerline is valid? [True, True] Translation: X:889.16, Y:-65.04, Z:3.05 [[ 9.99856661e-01 1.68819599e-02 -1.28716800e-03 8.89163790e+02] [-1.68819303e-02 9.99857489e-01 3.39077075e-05 -6.50384369e+01] [ 1.28755699e-03 -1.21729668e-05 9.99999171e-01 3.05084725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.510714057 meters Centerline goodness [0,1] 0.9929210312335581 Centerline is valid? [True, True] Translation: X:889.19, Y:-65.04, Z:3.05 [[ 9.99835426e-01 1.80918960e-02 -1.34342716e-03 8.89192606e+02] [-1.80918645e-02 9.99836328e-01 3.55355426e-05 -6.50381961e+01] [ 1.34385018e-03 -1.12245922e-05 9.99999097e-01 3.05108581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.540714057 meters Centerline goodness [0,1] 0.9930248668275088 Centerline is valid? [True, True] Translation: X:889.22, Y:-65.04, Z:3.05 [[ 9.99812588e-01 1.93343206e-02 -9.86207071e-04 8.89220767e+02] [-1.93343046e-02 9.99813075e-01 2.57832682e-05 -6.50384672e+01] [ 9.86521225e-04 -6.71080828e-06 9.99999513e-01 3.05128563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5707140569999 meters Centerline goodness [0,1] 0.9931298623578695 Centerline is valid? [True, True] Translation: X:889.25, Y:-65.04, Z:3.05 [[ 9.99755051e-01 2.21289717e-02 3.82728321e-04 8.89250036e+02] [-2.21289693e-02 9.99755124e-01 -1.06291813e-05 -6.50371662e+01] [-3.82869813e-04 2.15719448e-06 9.99999927e-01 3.05238342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6007140569999 meters Centerline goodness [0,1] 0.9940788685125255 Centerline is valid? [True, True] Translation: X:889.28, Y:-65.04, Z:3.05 [[ 9.99716296e-01 2.38178383e-02 1.97632125e-04 8.89277479e+02] [-2.38178376e-02 9.99716315e-01 -5.79033043e-06 -6.50368887e+01] [-1.97713973e-04 1.08151782e-06 9.99999980e-01 3.05214186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.630714057 meters Centerline goodness [0,1] 0.9938432791126656 Centerline is valid? [True, True] Translation: X:889.31, Y:-65.04, Z:3.05 [[ 9.99676522e-01 2.54274712e-02 5.43792238e-04 8.89306341e+02] [-2.54274669e-02 9.99676670e-01 -1.48201682e-05 -6.50369526e+01] [-5.43993252e-04 9.88115072e-07 9.99999852e-01 3.05199926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.660714057 meters Centerline goodness [0,1] 0.9943331261058773 Centerline is valid? [True, True] Translation: X:889.33, Y:-65.04, Z:3.05 [[ 9.99608049e-01 2.79873852e-02 6.73563146e-04 8.89334275e+02] [-2.79873791e-02 9.99608276e-01 -1.84142399e-05 -6.50366857e+01] [-6.73814662e-04 -4.44244720e-07 9.99999773e-01 3.05218566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6907140569999 meters Centerline goodness [0,1] 0.9941803376841097 Centerline is valid? [True, True] Translation: X:889.36, Y:-65.04, Z:3.05 [[ 9.99586480e-01 2.87394364e-02 9.56199947e-04 8.89361711e+02] [-2.87394249e-02 9.99586937e-01 -2.57669007e-05 -6.50374706e+01] [-9.56545502e-04 -1.72439098e-06 9.99999543e-01 3.05231023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7207140569999 meters Centerline goodness [0,1] 0.994150371272354 Centerline is valid? [True, True] Translation: X:889.39, Y:-65.04, Z:3.05 [[ 9.99557211e-01 2.97390676e-02 9.84964494e-04 8.89389585e+02] [-2.97390561e-02 9.99557696e-01 -2.63211656e-05 -6.50377564e+01] [-9.85311608e-04 -2.98240352e-06 9.99999515e-01 3.05231336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.750714057 meters Centerline goodness [0,1] 0.9938165496824715 Centerline is valid? [True, True] Translation: X:889.42, Y:-65.04, Z:3.05 [[ 9.99495007e-01 3.17385156e-02 1.54811140e-03 8.89418585e+02] [-3.17384904e-02 9.99496206e-01 -4.08372807e-05 -6.50386040e+01] [-1.54862758e-03 -8.31806057e-06 9.99998801e-01 3.05267855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.780714057 meters Centerline goodness [0,1] 0.994850176052121 Centerline is valid? [True, True] Translation: X:889.45, Y:-65.04, Z:3.05 [[ 9.99415565e-01 3.41700950e-02 9.66141553e-04 8.89446894e+02] [-3.41700861e-02 9.99416032e-01 -2.56816236e-05 -6.50371305e+01] [-9.66454900e-04 -7.34652575e-06 9.99999533e-01 3.05321606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8107140569999 meters Centerline goodness [0,1] 0.9950655136896064 Centerline is valid? [True, True] Translation: X:889.48, Y:-65.04, Z:3.05 [[ 9.99314367e-01 3.70155176e-02 8.04367876e-04 8.89475810e+02] [-3.70155117e-02 9.99314691e-01 -2.22670934e-05 -6.50352696e+01] [-8.04640863e-04 -7.52226217e-06 9.99999676e-01 3.05341972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8407140569999 meters Centerline goodness [0,1] 0.9963821070033783 Centerline is valid? [True, True] Translation: X:889.50, Y:-65.03, Z:3.05 [[ 9.99052114e-01 4.35195920e-02 9.58741814e-04 8.89504063e+02] [-4.35195880e-02 9.99052574e-01 -2.50667122e-05 -6.50314477e+01] [-9.58924370e-04 -1.66810969e-05 9.99999540e-01 3.05335232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.870714057 meters Centerline goodness [0,1] 0.9960982382229031 Centerline is valid? [True, True] Translation: X:889.53, Y:-65.03, Z:3.05 [[ 9.98939852e-01 4.59897129e-02 2.02959613e-03 8.89532549e+02] [-4.59896997e-02 9.98941913e-01 -5.31739892e-05 -6.50313929e+01] [-2.02989410e-03 -4.02228998e-05 9.99997939e-01 3.05278666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.900714057 meters Centerline goodness [0,1] 0.9967202911040889 Centerline is valid? [True, True] Translation: X:889.56, Y:-65.03, Z:3.05 [[ 9.98870784e-01 4.74385436e-02 2.59652078e-03 8.89561635e+02] [-4.74385297e-02 9.98874157e-01 -6.69594318e-05 -6.50318578e+01] [-2.59677396e-03 -5.62913082e-05 9.99996627e-01 3.05271011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9307140569999 meters Centerline goodness [0,1] 0.9970332089195139 Centerline is valid? [True, True] Translation: X:889.59, Y:-65.03, Z:3.05 [[ 9.98702239e-01 5.08693656e-02 2.47908478e-03 8.89590858e+02] [-5.08693667e-02 9.98705314e-01 -6.26680758e-05 -6.50302532e+01] [-2.47906303e-03 -6.35227252e-05 9.99996925e-01 3.05208462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9607140569999 meters Centerline goodness [0,1] 0.9967869560004795 Centerline is valid? [True, True] Translation: X:889.62, Y:-65.03, Z:3.05 [[ 9.98715699e-01 5.05929887e-02 2.70212493e-03 8.89618333e+02] [-5.05929872e-02 9.98719352e-01 -6.89342355e-05 -6.50313740e+01] [-2.70215205e-03 -6.78628688e-05 9.99996347e-01 3.05163337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9907140569999 meters Centerline goodness [0,1] 0.9971018658235731 Centerline is valid? [True, True] Translation: X:889.65, Y:-65.03, Z:3.05 [[ 9.98730817e-01 5.03029314e-02 2.52411207e-03 8.89646192e+02] [-5.03029307e-02 9.98734004e-01 -6.38206634e-05 -6.50324538e+01] [-2.52412692e-03 -6.32305711e-05 9.99996812e-01 3.05129485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.020714057 meters Centerline goodness [0,1] 0.9969577923633401 Centerline is valid? [True, True] Translation: X:889.68, Y:-65.03, Z:3.05 [[ 9.98901690e-01 4.68486429e-02 7.86613255e-04 8.89675262e+02] [-4.68486412e-02 9.98901999e-01 -2.05748907e-05 -6.50345909e+01] [-7.86713458e-04 -1.62994690e-05 9.99999690e-01 3.04990687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0507140569999 meters Centerline goodness [0,1] 0.9966022205206738 Centerline is valid? [True, True] Translation: X:889.70, Y:-65.04, Z:3.05 [[ 9.98994304e-01 4.48312039e-02 -7.37313953e-04 8.89703695e+02] [-4.48312041e-02 9.98994576e-01 1.62744587e-05 -6.50362479e+01] [ 7.37302243e-04 1.67965808e-05 9.99999728e-01 3.04829711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0807140569999 meters Centerline goodness [0,1] 0.9965593864239123 Centerline is valid? [True, True] Translation: X:889.73, Y:-65.04, Z:3.05 [[ 9.99088549e-01 4.26533980e-02 -1.66089292e-03 8.89731241e+02] [-4.26533920e-02 9.99089929e-01 3.90674972e-05 -6.50382299e+01] [ 1.66104775e-03 3.18108275e-05 9.99998620e-01 3.04624404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1107140569999 meters Centerline goodness [0,1] 0.996337259408216 Centerline is valid? [True, True] Translation: X:889.76, Y:-65.04, Z:3.05 [[ 9.99192397e-01 4.00655170e-02 -3.05107643e-03 8.89760127e+02] [-4.00654870e-02 9.99197053e-01 7.09781862e-05 -6.50405530e+01] [ 3.05147035e-03 5.13219988e-05 9.99995343e-01 3.04526783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.140714057 meters Centerline goodness [0,1] 0.9952459842973421 Centerline is valid? [True, True] Translation: X:889.79, Y:-65.04, Z:3.05 [[ 9.99352675e-01 3.57929952e-02 -3.61831432e-03 8.89788392e+02] [-3.57929273e-02 9.99359224e-01 8.35519831e-05 -6.50432078e+01] [ 3.61898636e-03 4.60121633e-05 9.99993450e-01 3.04508561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1707140569999 meters Centerline goodness [0,1] 0.9943563880883766 Centerline is valid? [True, True] Translation: X:889.82, Y:-65.04, Z:3.05 [[ 9.99414652e-01 3.40609889e-02 -3.19414168e-03 8.89816492e+02] [-3.40609254e-02 9.99419756e-01 7.42914814e-05 -6.50444006e+01] [ 3.19481873e-03 3.45474265e-05 9.99994896e-01 3.04514204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2007140569999 meters Centerline goodness [0,1] 0.9949505878958378 Centerline is valid? [True, True] Translation: X:889.84, Y:-65.04, Z:3.04 [[ 9.99482757e-01 3.20465935e-02 -2.68970155e-03 8.89844293e+02] [-3.20465420e-02 9.99486376e-01 6.22466852e-05 -6.50446401e+01] [ 2.69031484e-03 2.39811450e-05 9.99996381e-01 3.04468363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2307140569999 meters Centerline goodness [0,1] 0.9945209429745512 Centerline is valid? [True, True] Translation: X:889.87, Y:-65.05, Z:3.05 [[ 9.99606986e-01 2.79572552e-02 -2.06518610e-03 8.89873089e+02] [-2.79572164e-02 9.99609119e-01 4.76304807e-05 -6.50463040e+01] [ 2.06571048e-03 1.01250936e-05 9.99997866e-01 3.04645555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.260714057 meters Centerline goodness [0,1] 0.99317759938285 Centerline is valid? [True, True] Translation: X:889.90, Y:-65.05, Z:3.05 [[ 9.99720346e-01 2.36257080e-02 -1.02763084e-03 8.89902279e+02] [-2.36256963e-02 9.99720874e-01 2.35366880e-05 -6.50500121e+01] [ 1.02790007e-03 7.48388261e-07 9.99999472e-01 3.04665407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.290714057 meters Centerline goodness [0,1] 0.9927506661225666 Centerline is valid? [True, True] Translation: X:889.93, Y:-65.05, Z:3.05 [[ 9.99802473e-01 1.98474989e-02 -1.04485744e-03 8.89930119e+02] [-1.98474850e-02 9.99803019e-01 2.36337263e-05 -6.50529137e+01] [ 1.04512070e-03 -2.89126557e-06 9.99999454e-01 3.04627638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3207140569999 meters Centerline goodness [0,1] 0.9919709608404048 Centerline is valid? [True, True] Translation: X:889.96, Y:-65.06, Z:3.05 [[ 9.99917947e-01 1.26520459e-02 -2.00608712e-03 8.89958229e+02] [-1.26519802e-02 9.99919959e-01 4.54366260e-05 -6.50566938e+01] [ 2.00650141e-03 -2.00519233e-05 9.99997987e-01 3.04524149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3507140569999 meters Centerline goodness [0,1] 0.9912124422187981 Centerline is valid? [True, True] Translation: X:889.99, Y:-65.06, Z:3.04 [[ 9.99954981e-01 9.21835174e-03 -2.24913461e-03 8.89986909e+02] [-9.21825995e-03 9.99957510e-01 5.11723914e-05 -6.50588626e+01] [ 2.24951077e-03 -3.04369801e-05 9.99997469e-01 3.04447065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.380714057 meters Centerline goodness [0,1] 0.9909886096025377 Centerline is valid? [True, True] Translation: X:890.02, Y:-65.06, Z:3.04 [[ 9.99973973e-01 6.64007239e-03 -2.82198206e-03 8.90015553e+02] [-6.63991787e-03 9.99977953e-01 6.41203981e-05 -6.50603711e+01] [ 2.82234561e-03 -4.53810002e-05 9.99996016e-01 3.04354342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.410714057 meters Centerline goodness [0,1] 0.9899800562270226 Centerline is valid? [True, True] Translation: X:890.04, Y:-65.06, Z:3.04 [[ 9.99989650e-01 2.65937940e-03 -3.69156239e-03 8.90044977e+02] [-2.65908702e-03 9.99996461e-01 8.41069878e-05 -6.50621596e+01] [ 3.69177300e-03 -7.42899317e-05 9.99993183e-01 3.04207267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4407140569999 meters Centerline goodness [0,1] 0.9895775797891501 Centerline is valid? [True, True] Translation: X:890.07, Y:-65.06, Z:3.04 [[ 9.99994681e-01 4.92189348e-04 -3.22417500e-03 8.90073245e+02] [-4.91957089e-04 9.99999876e-01 7.28292734e-05 -6.50640031e+01] [ 3.22421045e-03 -7.12427303e-05 9.99994800e-01 3.04181340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4707140569999 meters Centerline goodness [0,1] 0.9896244583533943 Centerline is valid? [True, True] Translation: X:890.10, Y:-65.07, Z:3.04 [[ 9.99991082e-01 -2.41636730e-03 -3.46373092e-03 8.90101814e+02] [ 2.41665307e-03 9.99997077e-01 7.83206398e-05 -6.50660793e+01] [ 3.46353154e-03 -8.66905773e-05 9.99993998e-01 3.04159048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.500714057 meters Centerline goodness [0,1] 0.9887624226965372 Centerline is valid? [True, True] Translation: X:890.13, Y:-65.07, Z:3.04 [[ 9.99982077e-01 -4.76018179e-03 -3.63127086e-03 8.90132167e+02] [ 4.76051254e-03 9.99988665e-01 8.24469468e-05 -6.50687461e+01] [ 3.63083724e-03 -9.97321796e-05 9.99993404e-01 3.04132012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.530714057 meters Centerline goodness [0,1] 0.9880869627747549 Centerline is valid? [True, True] Translation: X:890.16, Y:-65.07, Z:3.04 [[ 9.99973807e-01 -6.23268798e-03 -3.67963867e-03 8.90163792e+02] [ 6.23303885e-03 9.99980571e-01 8.38934644e-05 -6.50679339e+01] [ 3.67904429e-03 -1.06826598e-04 9.99993227e-01 3.04186484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5607140569999 meters Centerline goodness [0,1] 0.9884917508296922 Centerline is valid? [True, True] Translation: X:890.19, Y:-65.07, Z:3.04 [[ 9.99962010e-01 -7.61331608e-03 -4.24449664e-03 8.90194489e+02] [ 7.61379585e-03 9.99971010e-01 9.68871983e-05 -6.50708106e+01] [ 4.24363596e-03 -1.29200248e-04 9.99990987e-01 3.04085814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5907140569999 meters Centerline goodness [0,1] 0.988494175176183 Centerline is valid? [True, True] Translation: X:890.23, Y:-65.07, Z:3.04 [[ 9.99948121e-01 -8.80471401e-03 -5.12167228e-03 8.90227051e+02] [ 8.80543095e-03 9.99961225e-01 1.17447825e-04 -6.50723615e+01] [ 5.12043959e-03 -1.62540263e-04 9.99986877e-01 3.04049736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.620714057 meters Centerline goodness [0,1] 0.9882440440488472 Centerline is valid? [True, True] Translation: X:890.26, Y:-65.07, Z:3.04 [[ 9.99936381e-01 -9.67126656e-03 -5.80525764e-03 8.90258700e+02] [ 9.67220303e-03 9.99953214e-01 1.33260305e-04 -6.50736940e+01] [ 5.80369724e-03 -1.89401457e-04 9.99983140e-01 3.03999963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.650714057 meters Centerline goodness [0,1] 0.9879987493686717 Centerline is valid? [True, True] Translation: X:890.29, Y:-65.07, Z:3.04 [[ 9.99935466e-01 -9.75337648e-03 -5.82550148e-03 8.90291357e+02] [ 9.75432399e-03 9.99952416e-01 1.34257144e-04 -6.50732842e+01] [ 5.82391482e-03 -1.91072308e-04 9.99983023e-01 3.04000215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6807140569999 meters Centerline goodness [0,1] 0.987742152574148 Centerline is valid? [True, True] Translation: X:890.32, Y:-65.07, Z:3.04 [[ 9.99943993e-01 -9.20172484e-03 -5.22867888e-03 8.90324097e+02] [ 9.20248388e-03 9.99957649e-01 1.21127327e-04 -6.50740332e+01] [ 5.22734286e-03 -1.69237376e-04 9.99986323e-01 3.04004932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7107140569999 meters Centerline goodness [0,1] 0.9879902195800172 Centerline is valid? [True, True] Translation: X:890.36, Y:-65.08, Z:3.04 [[ 9.99949661e-01 -8.65982948e-03 -5.06776222e-03 8.90355416e+02] [ 8.66053585e-03 9.99962490e-01 1.17457263e-04 -6.50754498e+01] [ 5.06655496e-03 -1.61340887e-04 9.99987152e-01 3.03945908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7407140569999 meters Centerline goodness [0,1] 0.9878054635364156 Centerline is valid? [True, True] Translation: X:890.39, Y:-65.07, Z:3.04 [[ 9.99953653e-01 -8.16707858e-03 -5.09815467e-03 8.90388032e+02] [ 8.16778949e-03 9.99966636e-01 1.18640789e-04 -6.50749573e+01] [ 5.09701562e-03 -1.60275944e-04 9.99986997e-01 3.03947754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.770714057 meters Centerline goodness [0,1] 0.9883877159309021 Centerline is valid? [True, True] Translation: X:890.42, Y:-65.08, Z:3.04 [[ 9.99957232e-01 -7.62012173e-03 -5.24100069e-03 8.90419729e+02] [ 7.62086739e-03 9.99970953e-01 1.22318572e-04 -6.50757842e+01] [ 5.23991637e-03 -1.62254312e-04 9.99986258e-01 3.03913038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8007140569999 meters Centerline goodness [0,1] 0.988412820266769 Centerline is valid? [True, True] Translation: X:890.45, Y:-65.08, Z:3.04 [[ 9.99957781e-01 -7.39512409e-03 -5.45413646e-03 8.90451571e+02] [ 7.39592830e-03 9.99972642e-01 1.27295776e-04 -6.50765256e+01] [ 5.45304587e-03 -1.67628804e-04 9.99985118e-01 3.03914820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8307140569999 meters Centerline goodness [0,1] 0.9877020632671198 Centerline is valid? [True, True] Translation: X:890.48, Y:-65.08, Z:3.04 [[ 9.99957412e-01 -7.64997898e-03 -5.16246921e-03 8.90482342e+02] [ 7.65070478e-03 9.99970726e-01 1.20856564e-04 -6.50807114e+01] [ 5.16139353e-03 -1.60347945e-04 9.99986667e-01 3.03820637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8607140569999 meters Centerline goodness [0,1] 0.9879980796927509 Centerline is valid? [True, True] Translation: X:890.51, Y:-65.08, Z:3.04 [[ 9.99955416e-01 -7.63883206e-03 -5.55108506e-03 8.90513696e+02] [ 7.63967138e-03 9.99970809e-01 1.30008743e-04 -6.50789191e+01] [ 5.54992990e-03 -1.72411413e-04 9.99984584e-01 3.03900541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.890714057 meters Centerline goodness [0,1] 0.9887171115805646 Centerline is valid? [True, True] Translation: X:890.54, Y:-65.08, Z:3.04 [[ 9.99953862e-01 -7.64983659e-03 -5.80972938e-03 8.90544850e+02] [ 7.65075727e-03 9.99970723e-01 1.36262992e-04 -6.50789174e+01] [ 5.80851690e-03 -1.80705534e-04 9.99983114e-01 3.03921947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9207140569999 meters Centerline goodness [0,1] 0.9867237584920103 Centerline is valid? [True, True] Translation: X:890.58, Y:-65.09, Z:3.04 [[ 9.99957103e-01 -7.34799748e-03 -5.63906639e-03 8.90576115e+02] [ 7.34886239e-03 9.99972988e-01 1.32671991e-04 -6.50881550e+01] [ 5.63793919e-03 -1.74107023e-04 9.99984092e-01 3.03510755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9507140569999 meters Centerline goodness [0,1] 0.9888010381870178 Centerline is valid? [True, True] Translation: X:890.61, Y:-65.08, Z:3.04 [[ 9.99953897e-01 -7.49147054e-03 -6.00679712e-03 8.90607317e+02] [ 7.49245499e-03 9.99971921e-01 1.41403619e-04 -6.50815565e+01] [ 6.00556914e-03 -1.86402757e-04 9.99981949e-01 3.03768363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9807140569999 meters Centerline goodness [0,1] 0.9888811340280619 Centerline is valid? [True, True] Translation: X:890.64, Y:-65.08, Z:3.04 [[ 9.99954398e-01 -7.36353991e-03 -6.08119148e-03 8.90637700e+02] [ 7.36454954e-03 9.99972871e-01 1.43648332e-04 -6.50827841e+01] [ 6.07996874e-03 -1.88427017e-04 9.99981499e-01 3.03674020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.010714057 meters Centerline goodness [0,1] 0.989193463363205 Centerline is valid? [True, True] Translation: X:890.67, Y:-65.08, Z:3.04 [[ 9.99944018e-01 -8.29318439e-03 -6.57146343e-03 8.90669394e+02] [ 8.29438382e-03 9.99965589e-01 1.55287301e-04 -6.50843217e+01] [ 6.56994947e-03 -2.09784847e-04 9.99978396e-01 3.03655942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.040714057 meters Centerline goodness [0,1] 0.988188504755744 Centerline is valid? [True, True] Translation: X:890.70, Y:-65.09, Z:3.04 [[ 9.99938342e-01 -9.27915180e-03 -6.09997104e-03 8.90701047e+02] [ 9.28020632e-03 9.99956928e-01 1.44591203e-04 -6.50863888e+01] [ 6.09836662e-03 -2.01191277e-04 9.99981385e-01 3.03613407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0707140569999 meters Centerline goodness [0,1] 0.987977724132986 Centerline is valid? [True, True] Translation: X:890.73, Y:-65.09, Z:3.04 [[ 9.99926710e-01 -1.01163872e-02 -6.65077082e-03 8.90733385e+02] [ 1.01176630e-02 9.99948803e-01 1.58209322e-04 -6.50866025e+01] [ 6.64882981e-03 -2.25487985e-04 9.99977871e-01 3.03641257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1007140569999 meters Centerline goodness [0,1] 0.9885801658026137 Centerline is valid? [True, True] Translation: X:890.76, Y:-65.09, Z:3.04 [[ 9.99913808e-01 -1.09459449e-02 -7.25006656e-03 8.90764192e+02] [ 1.09474845e-02 9.99940060e-01 1.72699988e-04 -6.50905718e+01] [ 7.24774162e-03 -2.52055094e-04 9.99973703e-01 3.03501489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.130714057 meters Centerline goodness [0,1] 0.9886485840602223 Centerline is valid? [True, True] Translation: X:890.80, Y:-65.09, Z:3.04 [[ 9.99913860e-01 -1.10020693e-02 -7.15736436e-03 8.90796617e+02] [ 1.10035756e-02 9.99939444e-01 1.71100859e-04 -6.50913980e+01] [ 7.15504848e-03 -2.49842720e-04 9.99974371e-01 3.03530474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.160714057 meters Centerline goodness [0,1] 0.9882954328301166 Centerline is valid? [True, True] Translation: X:890.83, Y:-65.09, Z:3.04 [[ 9.99910617e-01 -1.14472535e-02 -6.90778464e-03 8.90829180e+02] [ 1.14486705e-02 9.99934448e-01 1.65623939e-04 -6.50931633e+01] [ 6.90543588e-03 -2.44694085e-04 9.99976127e-01 3.03533811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1907140569999 meters Centerline goodness [0,1] 0.9874976094855613 Centerline is valid? [True, True] Translation: X:890.86, Y:-65.10, Z:3.03 [[ 9.99906661e-01 -1.17543895e-02 -6.96439186e-03 8.90860425e+02] [ 1.17558440e-02 9.99930884e-01 1.67953489e-04 -6.50954911e+01] [ 6.96193631e-03 -2.49810117e-04 9.99975734e-01 3.03497521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2207140569999 meters Centerline goodness [0,1] 0.9877696295057689 Centerline is valid? [True, True] Translation: X:890.89, Y:-65.10, Z:3.04 [[ 9.99907211e-01 -1.18185422e-02 -6.77431882e-03 8.90892191e+02] [ 1.18199216e-02 9.99930129e-01 1.63610638e-04 -6.50969570e+01] [ 6.77191185e-03 -2.43667374e-04 9.99977041e-01 3.03501933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.250714057 meters Centerline goodness [0,1] 0.9876979264278335 Centerline is valid? [True, True] Translation: X:890.92, Y:-65.10, Z:3.04 [[ 9.99903019e-01 -1.19165005e-02 -7.20765887e-03 8.90924905e+02] [ 1.19180680e-02 9.99928962e-01 1.74564952e-04 -6.50960937e+01] [ 7.20506665e-03 -2.60449391e-04 9.99974009e-01 3.03548704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.280714057 meters Centerline goodness [0,1] 0.9874473000976586 Centerline is valid? [True, True] Translation: X:890.96, Y:-65.10, Z:3.03 [[ 9.99895463e-01 -1.22904034e-02 -7.61635796e-03 8.90955727e+02] [ 1.22921665e-02 9.99924431e-01 1.84722295e-04 -6.50999470e+01] [ 7.61351210e-03 -2.78324525e-04 9.99970978e-01 3.03442806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3107140569999 meters Centerline goodness [0,1] 0.9864706304925648 Centerline is valid? [True, True] Translation: X:890.99, Y:-65.10, Z:3.03 [[ 9.99891712e-01 -1.22835150e-02 -8.10426087e-03 8.90988233e+02] [ 1.22855162e-02 9.99924511e-01 1.97194802e-04 -6.51003475e+01] [ 8.10122684e-03 -2.96738477e-04 9.99967140e-01 3.03387265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3407140569999 meters Centerline goodness [0,1] 0.9863323033040171 Centerline is valid? [True, True] Translation: X:891.02, Y:-65.10, Z:3.03 [[ 9.99887095e-01 -1.25057238e-02 -8.33095767e-03 8.91019411e+02] [ 1.25078488e-02 9.99921753e-01 2.03014391e-04 -6.51034144e+01] [ 8.32776696e-03 -3.07193829e-04 9.99965276e-01 3.03253242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.370714057 meters Centerline goodness [0,1] 0.9862157779261662 Centerline is valid? [True, True] Translation: X:891.05, Y:-65.11, Z:3.03 [[ 9.99871677e-01 -1.30104047e-02 -9.34658274e-03 8.91050008e+02] [ 1.30131030e-02 9.99915300e-01 2.27929108e-04 -6.51069501e+01] [ 9.34282564e-03 -3.49527904e-04 9.99956294e-01 3.03142916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.400714057 meters Centerline goodness [0,1] 0.9862157779261662 Centerline is valid? [True, True] Translation: X:891.08, Y:-65.11, Z:3.03 [[ 9.99872532e-01 -1.29445508e-02 -9.34656278e-03 8.91081723e+02] [ 1.29472538e-02 9.99916155e-01 2.28746972e-04 -6.51077896e+01] [ 9.34281809e-03 -3.49730135e-04 9.99956294e-01 3.03123047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4307140569999 meters Centerline goodness [0,1] 0.9868136053126413 Centerline is valid? [True, True] Translation: X:891.11, Y:-65.11, Z:3.03 [[ 9.99859719e-01 -1.34541233e-02 -9.97646108e-03 8.91113476e+02] [ 1.34572320e-02 9.99909417e-01 2.44528934e-04 -6.51085726e+01] [ 9.97226747e-03 -3.78750182e-04 9.99950204e-01 3.03140327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4607140569999 meters Centerline goodness [0,1] 0.9870102011631233 Centerline is valid? [True, True] Translation: X:891.15, Y:-65.11, Z:3.03 [[ 9.99858288e-01 -1.34286078e-02 -1.01526266e-02 8.91145748e+02] [ 1.34318336e-02 9.99909758e-01 2.49605382e-04 -6.51099713e+01] [ 1.01483586e-02 -3.85938401e-04 9.99948430e-01 3.03131536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4907140569999 meters Centerline goodness [0,1] 0.9871559633027522 Centerline is valid? [True, True] Translation: X:891.18, Y:-65.11, Z:3.03 [[ 9.99856898e-01 -1.33557183e-02 -1.03831011e-02 8.91178130e+02] [ 1.33590952e-02 9.99910731e-01 2.55940551e-04 -6.51111971e+01] [ 1.03787559e-02 -3.94612762e-04 9.99946061e-01 3.03094103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.520714057 meters Centerline goodness [0,1] 0.9870049209306769 Centerline is valid? [True, True] Translation: X:891.21, Y:-65.11, Z:3.03 [[ 9.99860467e-01 -1.28136864e-02 -1.07171235e-02 8.91209002e+02] [ 1.28172574e-02 9.99917821e-01 2.64581044e-04 -6.51133884e+01] [ 1.07128525e-02 -4.01908257e-04 9.99942535e-01 3.03063168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5507140569999 meters Centerline goodness [0,1] 0.9873059294987162 Centerline is valid? [True, True] Translation: X:891.24, Y:-65.11, Z:3.03 [[ 9.99863475e-01 -1.25446523e-02 -1.07546637e-02 8.91240173e+02] [ 1.25482353e-02 9.99921232e-01 2.65746355e-04 -6.51140133e+01] [ 1.07504828e-02 -4.00662125e-04 9.99942132e-01 3.03074625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5807140569999 meters Centerline goodness [0,1] 0.9878217679927408 Centerline is valid? [True, True] Translation: X:891.27, Y:-65.12, Z:3.03 [[ 9.99860218e-01 -1.27284064e-02 -1.08412583e-02 8.91270531e+02] [ 1.27320654e-02 9.99918908e-01 2.68556469e-04 -6.51158752e+01] [ 1.08369608e-02 -4.06550539e-04 9.99941196e-01 3.03092242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6107140569999 meters Centerline goodness [0,1] 0.9871142030648593 Centerline is valid? [True, True] Translation: X:891.30, Y:-65.12, Z:3.03 [[ 9.99862247e-01 -1.18975145e-02 -1.15731049e-02 8.91301098e+02] [ 1.19016280e-02 9.99929132e-01 2.86625910e-04 -6.51160978e+01] [ 1.15688746e-02 -4.24325215e-04 9.99932988e-01 3.03073259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.640714057 meters Centerline goodness [0,1] 0.9885365561804476 Centerline is valid? [True, True] Translation: X:891.33, Y:-65.11, Z:3.03 [[ 9.99857937e-01 -1.17922817e-02 -1.20436236e-02 8.91331341e+02] [ 1.17967277e-02 9.99930372e-01 2.98176173e-04 -6.51131240e+01] [ 1.20392689e-02 -4.40209161e-04 9.99927428e-01 3.03277061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6707140569999 meters Centerline goodness [0,1] 0.9887932473354157 Centerline is valid? [True, True] Translation: X:891.36, Y:-65.11, Z:3.03 [[ 9.99856629e-01 -1.17455489e-02 -1.21968385e-02 8.91361877e+02] [ 1.17501052e-02 9.99930920e-01 3.01969469e-04 -6.51114696e+01] [ 1.21924492e-02 -4.45240312e-04 9.99925570e-01 3.03378546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7007140569999 meters Centerline goodness [0,1] 0.9900350573884646 Centerline is valid? [True, True] Translation: X:891.39, Y:-65.11, Z:3.03 [[ 9.99854615e-01 -1.00994732e-02 -1.37386014e-02 8.91392423e+02] [ 1.01050991e-02 9.99948884e-01 3.40140453e-04 -6.51102187e+01] [ 1.37344639e-02 -4.78920930e-04 9.99905563e-01 3.03381520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7307140569999 meters Centerline goodness [0,1] 0.9894202690411221 Centerline is valid? [True, True] Translation: X:891.42, Y:-65.11, Z:3.03 [[ 9.99856238e-01 -9.13387036e-03 -1.42855101e-02 8.91422285e+02] [ 9.13984444e-03 9.99958168e-01 3.52958502e-04 -6.51096521e+01] [ 1.42816887e-02 -4.83475100e-04 9.99897895e-01 3.03362357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.760714057 meters Centerline goodness [0,1] 0.9898380286729801 Centerline is valid? [True, True] Translation: X:891.45, Y:-65.11, Z:3.03 [[ 9.99865418e-01 -7.03239332e-03 -1.48219918e-02 8.91450344e+02] [ 7.03852116e-03 9.99975164e-01 3.61303526e-04 -6.51101424e+01] [ 1.48190829e-02 -4.65579805e-04 9.99890083e-01 3.03229421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.790714057 meters Centerline goodness [0,1] 0.9895356911951342 Centerline is valid? [True, True] Translation: X:891.48, Y:-65.11, Z:3.03 [[ 9.99871824e-01 -6.11292116e-03 -1.47975792e-02 8.91479666e+02] [ 6.11888048e-03 9.99981216e-01 3.57480580e-04 -6.51075841e+01] [ 1.47951160e-02 -4.47979379e-04 9.99890446e-01 3.03359128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8207140569999 meters Centerline goodness [0,1] 0.9895850791294563 Centerline is valid? [True, True] Translation: X:891.51, Y:-65.11, Z:3.03 [[ 9.99881675e-01 -5.02247956e-03 -1.45399711e-02 8.91507431e+02] [ 5.02811218e-03 9.99987297e-01 3.50858048e-04 -6.51085676e+01] [ 1.45380242e-02 -4.23925138e-04 9.99894227e-01 3.03317575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8507140569999 meters Centerline goodness [0,1] 0.9902607527526567 Centerline is valid? [True, True] Translation: X:891.54, Y:-65.11, Z:3.04 [[ 9.99897589e-01 -2.93233564e-03 -1.40076323e-02 8.91536842e+02] [ 2.93730108e-03 9.99995630e-01 3.33920889e-04 -6.51051302e+01] [ 1.40065919e-02 -3.75031325e-04 9.99901833e-01 3.03607929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.880714057 meters Centerline goodness [0,1] 0.9910485012839281 Centerline is valid? [True, True] Translation: X:891.57, Y:-65.10, Z:3.04 [[ 9.99912957e-01 -2.28025467e-03 -1.29953192e-02 8.91566040e+02] [ 2.28443369e-03 9.99997344e-01 3.06743960e-04 -6.51042277e+01] [ 1.29945852e-02 -3.36404205e-04 9.99915510e-01 3.03719754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.910714057 meters Centerline goodness [0,1] 0.9910869146270957 Centerline is valid? [True, True] Translation: X:891.59, Y:-65.10, Z:3.04 [[ 9.99911814e-01 -1.66394689e-03 -1.31755786e-02 8.91594648e+02] [ 1.66814566e-03 9.99998561e-01 3.07695045e-04 -6.51029862e+01] [ 1.31750477e-02 -3.29646695e-04 9.99913151e-01 3.03782272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9407140569999 meters Centerline goodness [0,1] 0.9912259557441064 Centerline is valid? [True, True] Translation: X:891.62, Y:-65.10, Z:3.04 [[ 9.99914741e-01 -1.12355832e-03 -1.30095505e-02 8.91623054e+02] [ 1.12756518e-03 9.99999319e-01 3.00663170e-04 -6.51022687e+01] [ 1.30092039e-02 -3.15306652e-04 9.99915327e-01 3.03832262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9707140569999 meters Centerline goodness [0,1] 0.9912418648537488 Centerline is valid? [True, True] Translation: X:891.65, Y:-65.10, Z:3.04 [[ 9.99914930e-01 -2.65639044e-04 -1.30407874e-02 8.91651427e+02] [ 2.69550361e-04 9.99999919e-01 2.98172770e-04 -6.51008808e+01] [ 1.30407071e-02 -3.01662554e-04 9.99914921e-01 3.03862342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.000714057 meters Centerline goodness [0,1] 0.9914833043813935 Centerline is valid? [True, True] Translation: X:891.68, Y:-65.10, Z:3.04 [[ 9.99912331e-01 -4.82352026e-04 -1.32324188e-02 8.91680523e+02] [ 4.86400661e-04 9.99999836e-01 3.02746754e-04 -6.51011562e+01] [ 1.32322706e-02 -3.09156470e-04 9.99912402e-01 3.03785823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.030714057 meters Centerline goodness [0,1] 0.9909193824216586 Centerline is valid? [True, True] Translation: X:891.71, Y:-65.10, Z:3.04 [[ 9.99909943e-01 -5.84670654e-04 -1.34075922e-02 8.91708793e+02] [ 5.88819328e-04 9.99999780e-01 3.05481744e-04 -6.51021156e+01] [ 1.34074106e-02 -3.13348882e-04 9.99910068e-01 3.03718938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0607140569999 meters Centerline goodness [0,1] 0.9914272641895634 Centerline is valid? [True, True] Translation: X:891.74, Y:-65.10, Z:3.04 [[ 9.99909530e-01 -1.38249166e-03 -1.33798601e-02 8.91736615e+02] [ 1.38667111e-03 9.99998993e-01 3.03096594e-04 -6.51030763e+01] [ 1.33794276e-02 -3.21622638e-04 9.99910440e-01 3.03712781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0907140569999 meters Centerline goodness [0,1] 0.9904578313253012 Centerline is valid? [True, True] Translation: X:891.76, Y:-65.10, Z:3.04 [[ 9.99914801e-01 -2.19115409e-03 -1.28681239e-02 8.91764190e+02] [ 2.19507490e-03 9.99997549e-01 2.90575982e-04 -6.51041105e+01] [ 1.28674557e-02 -3.18797722e-04 9.99917160e-01 3.03729308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.120714057 meters Centerline goodness [0,1] 0.9899869709984076 Centerline is valid? [True, True] Translation: X:891.79, Y:-65.10, Z:3.04 [[ 9.99910878e-01 -2.80801165e-03 -1.30518772e-02 8.91792586e+02] [ 2.81204440e-03 9.99996004e-01 2.90636736e-04 -6.51047852e+01] [ 1.30510089e-02 -3.27313292e-04 9.99914778e-01 3.03778284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.150714057 meters Centerline goodness [0,1] 0.9907084225982716 Centerline is valid? [True, True] Translation: X:891.82, Y:-65.11, Z:3.04 [[ 9.99911502e-01 -4.08534065e-03 -1.26608593e-02 8.91820919e+02] [ 4.08923967e-03 9.99991599e-01 2.82086050e-04 -6.51062456e+01] [ 1.26596005e-02 -3.33834374e-04 9.99919808e-01 3.03814250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1807140569999 meters Centerline goodness [0,1] 0.99052474628445 Centerline is valid? [True, True] Translation: X:891.85, Y:-65.11, Z:3.04 [[ 9.99912421e-01 -4.80087547e-03 -1.23329338e-02 8.91848301e+02] [ 4.80461512e-03 9.99988420e-01 2.73613645e-04 -6.51082178e+01] [ 1.23314774e-02 -3.32844683e-04 9.99923909e-01 3.03761073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2107140569999 meters Centerline goodness [0,1] 0.9908988305357443 Centerline is valid? [True, True] Translation: X:891.88, Y:-65.11, Z:3.04 [[ 9.99903806e-01 -6.11278714e-03 -1.24504325e-02 8.91877355e+02] [ 6.11669038e-03 9.99981255e-01 2.75447398e-04 -6.51082217e+01] [ 1.24485154e-02 -3.51576342e-04 9.99922452e-01 3.03880522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2407140569999 meters Centerline goodness [0,1] 0.9905326299053263 Centerline is valid? [True, True] Translation: X:891.91, Y:-65.11, Z:3.04 [[ 9.99897227e-01 -7.47047308e-03 -1.22363372e-02 8.91906452e+02] [ 7.47429412e-03 9.99972032e-01 2.66568598e-04 -6.51096411e+01] [ 1.22340036e-02 -3.57999185e-04 9.99925098e-01 3.03951482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.270714057 meters Centerline goodness [0,1] 0.9894792594554253 Centerline is valid? [True, True] Translation: X:891.94, Y:-65.11, Z:3.04 [[ 9.99899132e-01 -8.03714877e-03 -1.17102205e-02 8.91935186e+02] [ 8.04069023e-03 9.99967641e-01 2.55374651e-04 -6.51129616e+01] [ 1.17077891e-02 -3.49507148e-04 9.99931400e-01 3.03816052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3007140569999 meters Centerline goodness [0,1] 0.9892063035187451 Centerline is valid? [True, True] Translation: X:891.96, Y:-65.11, Z:3.04 [[ 9.99902741e-01 -8.34118922e-03 -1.11773836e-02 8.91963816e+02] [ 8.34442945e-03 9.99965155e-01 2.43286849e-04 -6.51146663e+01] [ 1.11749649e-02 -3.36532076e-04 9.99937502e-01 3.03774837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3307140569999 meters Centerline goodness [0,1] 0.9900626485201988 Centerline is valid? [True, True] Translation: X:891.99, Y:-65.11, Z:3.04 [[ 9.99915620e-01 -7.46490732e-03 -1.06314648e-02 8.91993648e+02] [ 7.46778636e-03 9.99972089e-01 2.31131020e-04 -6.51124661e+01] [ 1.06294427e-02 -3.10505025e-04 9.99943458e-01 3.03927852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3607140569999 meters Centerline goodness [0,1] 0.9891733230680396 Centerline is valid? [True, True] Translation: X:892.02, Y:-65.11, Z:3.04 [[ 9.99926369e-01 -6.61248981e-03 -1.01749995e-02 8.92023800e+02] [ 6.61508209e-03 9.99978096e-01 2.21134686e-04 -6.51128011e+01] [ 1.01733144e-02 -2.88426861e-04 9.99948209e-01 3.03890883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.390714057 meters Centerline goodness [0,1] 0.9896748045932645 Centerline is valid? [True, True] Translation: X:892.05, Y:-65.11, Z:3.04 [[ 9.99931266e-01 -5.57023182e-03 -1.03168039e-02 8.92053296e+02] [ 5.57283658e-03 9.99984447e-01 2.23746795e-04 -6.51104847e+01] [ 1.03153972e-02 -2.81225278e-04 9.99946755e-01 3.03981185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4207140569999 meters Centerline goodness [0,1] 0.9912976399971073 Centerline is valid? [True, True] Translation: X:892.08, Y:-65.11, Z:3.04 [[ 9.99934888e-01 -4.97316499e-03 -1.02707226e-02 8.92081985e+02] [ 4.97567576e-03 9.99987597e-01 2.18920750e-04 -6.51102566e+01] [ 1.02695065e-02 -2.70010281e-04 9.99947231e-01 3.03982115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4507140569999 meters Centerline goodness [0,1] 0.9906715967036419 Centerline is valid? [True, True] Translation: X:892.11, Y:-65.11, Z:3.04 [[ 9.99947205e-01 -3.38904454e-03 -9.70061354e-03 8.92110839e+02] [ 3.39118598e-03 9.99994229e-01 2.04312495e-04 -6.51089630e+01] [ 9.69986514e-03 -2.37198293e-04 9.99952927e-01 3.03951666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4807140569999 meters Centerline goodness [0,1] 0.9917085670083156 Centerline is valid? [True, True] Translation: X:892.14, Y:-65.11, Z:3.04 [[ 9.99949673e-01 -3.28731092e-03 -9.47871271e-03 8.92139718e+02] [ 3.28932889e-03 9.99994571e-01 1.97312766e-04 -6.51092309e+01] [ 9.47801262e-03 -2.28481439e-04 9.99955057e-01 3.03952779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.510714057 meters Centerline goodness [0,1] 0.9906607293296426 Centerline is valid? [True, True] Translation: X:892.17, Y:-65.11, Z:3.04 [[ 9.99948654e-01 -3.35476779e-03 -9.56218805e-03 8.92168347e+02] [ 3.35680279e-03 9.99994347e-01 1.96775678e-04 -6.51102718e+01] [ 9.56147385e-03 -2.28863954e-04 9.99954262e-01 3.03912723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.540714057 meters Centerline goodness [0,1] 0.9914923358719753 Centerline is valid? [True, True] Translation: X:892.20, Y:-65.11, Z:3.04 [[ 9.99946775e-01 -3.49857308e-03 -9.70601591e-03 8.92196949e+02] [ 3.50065429e-03 9.99993853e-01 1.97443804e-04 -6.51119117e+01] [ 9.70526548e-03 -2.31410701e-04 9.99952876e-01 3.03828960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5707140569999 meters Centerline goodness [0,1] 0.9910186146454526 Centerline is valid? [True, True] Translation: X:892.23, Y:-65.11, Z:3.04 [[ 9.99948150e-01 -3.65340772e-03 -9.50525788e-03 8.92225748e+02] [ 3.65538781e-03 9.99993301e-01 1.90949505e-04 -6.51118092e+01] [ 9.50449659e-03 -2.25685008e-04 9.99954806e-01 3.03858622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6007140569999 meters Centerline goodness [0,1] 0.9919576209968697 Centerline is valid? [True, True] Translation: X:892.25, Y:-65.11, Z:3.04 [[ 9.99947653e-01 -3.27968481e-03 -9.69205241e-03 8.92253795e+02] [ 3.28172769e-03 9.99994596e-01 1.94883050e-04 -6.51148652e+01] [ 9.69136088e-03 -2.26679525e-04 9.99953012e-01 3.03731254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.630714057 meters Centerline goodness [0,1] 0.9923511244088409 Centerline is valid? [True, True] Translation: X:892.28, Y:-65.11, Z:3.04 [[ 9.99953870e-01 -2.81089780e-03 -9.18457258e-03 8.92282962e+02] [ 2.81268219e-03 9.99996028e-01 1.81369013e-04 -6.51131041e+01] [ 9.18402629e-03 -2.07193930e-04 9.99957804e-01 3.03898317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.660714057 meters Centerline goodness [0,1] 0.9910291252795883 Centerline is valid? [True, True] Translation: X:892.31, Y:-65.12, Z:3.04 [[ 9.99957596e-01 -2.68356780e-03 -8.80932199e-03 8.92311097e+02] [ 2.68519996e-03 9.99996380e-01 1.73453851e-04 -6.51164374e+01] [ 8.80882462e-03 -1.97101287e-04 9.99961182e-01 3.03735700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6907140569999 meters Centerline goodness [0,1] 0.9916911516786282 Centerline is valid? [True, True] Translation: X:892.34, Y:-65.11, Z:3.04 [[ 9.99961417e-01 -2.01141417e-03 -8.55092675e-03 8.92339954e+02] [ 2.01290367e-03 9.99997960e-01 1.65589766e-04 -6.51149443e+01] [ 8.55057624e-03 -1.82795569e-04 9.99963426e-01 3.03920860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7207140569999 meters Centerline goodness [0,1] 0.9924165824064712 Centerline is valid? [True, True] Translation: X:892.37, Y:-65.11, Z:3.04 [[ 9.99962903e-01 -1.63257453e-03 -8.45737885e-03 8.92368446e+02] [ 1.63400018e-03 9.99998652e-01 1.61661328e-04 -6.51148887e+01] [ 8.45710352e-03 -1.75474689e-04 9.99964223e-01 3.03972775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.750714057 meters Centerline goodness [0,1] 0.9921286377969815 Centerline is valid? [True, True] Translation: X:892.40, Y:-65.12, Z:3.04 [[ 9.99966432e-01 -1.49368382e-03 -8.05630660e-03 8.92396231e+02] [ 1.49497473e-03 9.99998871e-01 1.54215309e-04 -6.51157302e+01] [ 8.05606715e-03 -1.66254107e-04 9.99967536e-01 3.03969893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.780714057 meters Centerline goodness [0,1] 0.9918415479399307 Centerline is valid? [True, True] Translation: X:892.42, Y:-65.12, Z:3.04 [[ 9.99968613e-01 -1.10301553e-03 -7.84579966e-03 8.92424205e+02] [ 1.10422246e-03 9.99999379e-01 1.49502096e-04 -6.51186071e+01] [ 7.84562988e-03 -1.58160912e-04 9.99969210e-01 3.03861804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8107140569999 meters Centerline goodness [0,1] 0.9924609843937575 Centerline is valid? [True, True] Translation: X:892.45, Y:-65.12, Z:3.04 [[ 9.99968469e-01 -3.12500177e-04 -7.93496195e-03 8.92453118e+02] [ 3.13687551e-04 9.99999940e-01 1.48394150e-04 -6.51176188e+01] [ 7.93491510e-03 -1.50878570e-04 9.99968507e-01 3.03976612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8407140569999 meters Centerline goodness [0,1] 0.9929445193604315 Centerline is valid? [True, True] Translation: X:892.48, Y:-65.12, Z:3.04 [[ 9.99964585e-01 8.24203255e-04 -8.37553516e-03 8.92481564e+02] [-8.22936044e-04 9.99999649e-01 1.54744295e-04 -6.51172937e+01] [ 8.37565976e-03 -1.47846285e-04 9.99964913e-01 3.03975390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.870714057 meters Centerline goodness [0,1] 0.9928388870135506 Centerline is valid? [True, True] Translation: X:892.51, Y:-65.12, Z:3.04 [[ 9.99959887e-01 2.32053879e-03 -8.65093113e-03 8.92509043e+02] [-2.31924040e-03 9.99997298e-01 1.60115432e-04 -6.51166377e+01] [ 8.65127930e-03 -1.40045420e-04 9.99962567e-01 3.03941205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.900714057 meters Centerline goodness [0,1] 0.993307885581755 Centerline is valid? [True, True] Translation: X:892.54, Y:-65.11, Z:3.04 [[ 9.99941474e-01 5.88547068e-03 -9.07802592e-03 8.92537102e+02] [-5.88419432e-03 9.99982674e-01 1.67301542e-04 -6.51143242e+01] [ 9.07885329e-03 -1.13874882e-04 9.99958780e-01 3.03906895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9307140569999 meters Centerline goodness [0,1] 0.9946324951644101 Centerline is valid? [True, True] Translation: X:892.57, Y:-65.11, Z:3.04 [[ 9.99925457e-01 7.94871178e-03 -9.26814775e-03 8.92566337e+02] [-7.94749565e-03 9.99968404e-01 1.68039145e-04 -6.51131559e+01] [ 9.26919061e-03 -9.43680551e-05 9.99957036e-01 3.03889970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9607140569999 meters Centerline goodness [0,1] 0.9958317177200465 Centerline is valid? [True, True] Translation: X:892.59, Y:-65.11, Z:3.04 [[ 9.99904145e-01 1.04315478e-02 -9.10407966e-03 8.92594779e+02] [-1.04304749e-02 9.99945587e-01 1.65325970e-04 -6.51107818e+01] [ 9.10530889e-03 -7.03502487e-05 9.99958543e-01 3.04024809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9907140569999 meters Centerline goodness [0,1] 0.9960151618233064 Centerline is valid? [True, True] Translation: X:892.62, Y:-65.11, Z:3.04 [[ 9.99816133e-01 1.70233168e-02 -8.82652557e-03 8.92623087e+02] [-1.70225929e-02 9.99855093e-01 1.57134995e-04 -6.51062239e+01] [ 8.82792151e-03 -6.85575125e-06 9.99961033e-01 3.04097656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.020714057 meters Centerline goodness [0,1] 0.9962754692178485 Centerline is valid? [True, True] Translation: X:892.65, Y:-65.10, Z:3.04 [[ 9.99741860e-01 2.10427384e-02 -8.56835717e-03 8.92649740e+02] [-2.10422064e-02 9.99778577e-01 1.52247368e-04 -6.51035529e+01] [ 8.56966363e-03 2.80890727e-05 9.99963279e-01 3.04115064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0507140569999 meters Centerline goodness [0,1] 0.998641600970285 Centerline is valid? [True, True] Translation: X:892.68, Y:-65.10, Z:3.04 [[ 9.99520171e-01 3.00172452e-02 -7.64153135e-03 8.92677699e+02] [-3.00170925e-02 9.99549376e-01 1.34703892e-04 -6.50950250e+01] [ 7.64213133e-03 9.47372963e-05 9.99970794e-01 3.04037742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0807140569999 meters Centerline goodness [0,1] 0.9982972098567223 Centerline is valid? [True, True] Translation: X:892.71, Y:-65.10, Z:3.04 [[ 9.99408020e-01 3.36607475e-02 -7.11083879e-03 8.92706019e+02] [-3.36607102e-02 9.99433310e-01 1.24963482e-04 -6.50953716e+01] [ 7.11101551e-03 1.14466377e-04 9.99974710e-01 3.04206353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1107140569999 meters Centerline goodness [0,1] 0.9984205666520872 Centerline is valid? [True, True] Translation: X:892.73, Y:-65.10, Z:3.04 [[ 9.99280706e-01 3.73539141e-02 -6.53880041e-03 8.92734626e+02] [-3.73539786e-02 9.99302090e-01 1.12296293e-04 -6.50958996e+01] [ 6.53843162e-03 1.32034692e-04 9.99978616e-01 3.04368605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.140714057 meters Centerline goodness [0,1] 0.9992735725701003 Centerline is valid? [True, True] Translation: X:892.76, Y:-65.09, Z:3.04 [[ 9.99141077e-01 4.09198463e-02 -6.53260393e-03 8.92762171e+02] [-4.09199855e-02 9.99162420e-01 1.12399847e-04 -6.50910884e+01] [ 6.53173174e-03 1.55010754e-04 9.99978656e-01 3.04161736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1707140569999 meters Centerline goodness [0,1] 0.9994652666374993 Centerline is valid? [True, True] Translation: X:892.79, Y:-65.09, Z:3.04 [[ 9.98889306e-01 4.65250630e-02 -7.45468581e-03 8.92792515e+02] [-4.65253966e-02 9.98917099e-01 1.28761586e-04 -6.50925775e+01] [ 7.45260377e-03 2.18213643e-04 9.99972205e-01 3.04341117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2007140569999 meters Centerline goodness [0,1] 0.9992713848545198 Centerline is valid? [True, True] Translation: X:892.82, Y:-65.09, Z:3.04 [[ 9.98723378e-01 4.99035268e-02 -7.82643685e-03 8.92822322e+02] [-4.99040009e-02 9.98754010e-01 1.34823445e-04 -6.50909300e+01] [ 7.82341336e-03 2.55919185e-04 9.99969364e-01 3.04327669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2307140569999 meters Centerline goodness [0,1] 0.9996597151329542 Centerline is valid? [True, True] Translation: X:892.85, Y:-65.09, Z:3.04 [[ 9.98556776e-01 5.30522591e-02 -8.35605852e-03 8.92851812e+02] [-5.30529119e-02 9.98591692e-01 1.43685467e-04 -6.50893687e+01] [ 8.35191346e-03 2.99835140e-04 9.99965077e-01 3.04309846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.260714057 meters Centerline goodness [0,1] 0.9993155205710514 Centerline is valid? [True, True] Translation: X:892.88, Y:-65.09, Z:3.04 [[ 9.98268340e-01 5.83098850e-02 -7.76392012e-03 8.92882394e+02] [-5.83106057e-02 9.98298480e-01 1.33696335e-04 -6.50922614e+01] [ 7.75850548e-03 3.19254067e-04 9.99969851e-01 3.04457369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.290714057 meters Centerline goodness [0,1] 0.9993155205710514 Centerline is valid? [True, True] Translation: X:892.91, Y:-65.09, Z:3.04 [[ 9.98284490e-01 5.80327218e-02 -7.76398665e-03 8.92909759e+02] [-5.80334644e-02 9.98314630e-01 1.29801513e-04 -6.50926689e+01] [ 7.75843420e-03 3.20992206e-04 9.99969851e-01 3.04440220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3207140569999 meters Centerline goodness [0,1] 0.9994148767584172 Centerline is valid? [True, True] Translation: X:892.94, Y:-65.09, Z:3.04 [[ 9.98181496e-01 5.98002431e-02 -7.59158995e-03 8.92938562e+02] [-5.98010166e-02 9.98210310e-01 1.25269964e-04 -6.50932486e+01] [ 7.58549453e-03 3.28942637e-04 9.99971176e-01 3.04418111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3507140569999 meters Centerline goodness [0,1] 0.9988569204951723 Centerline is valid? [True, True] Translation: X:892.97, Y:-65.09, Z:3.04 [[ 9.98129440e-01 6.07089511e-02 -7.21413289e-03 8.92967220e+02] [-6.07096864e-02 9.98155459e-01 1.17223859e-04 -6.50942536e+01] [ 7.20794266e-03 3.20963160e-04 9.99973971e-01 3.04410839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.380714057 meters Centerline goodness [0,1] 0.9993184362981354 Centerline is valid? [True, True] Translation: X:893.00, Y:-65.10, Z:3.04 [[ 9.98156908e-01 6.03105905e-02 -6.73937634e-03 8.92995476e+02] [-6.03112349e-02 9.98179615e-01 1.07769485e-04 -6.50962864e+01] [ 6.73360772e-03 2.98889253e-04 9.99977284e-01 3.04492340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.410714057 meters Centerline goodness [0,1] 0.9994650065658285 Centerline is valid? [True, True] Translation: X:893.02, Y:-65.10, Z:3.04 [[ 9.98241615e-01 5.88588593e-02 -7.02232823e-03 8.93022850e+02] [-5.88595237e-02 9.98266269e-01 1.12198128e-04 -6.50963634e+01] [ 7.01675725e-03 3.01330054e-04 9.99975337e-01 3.04476520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4407140569999 meters Centerline goodness [0,1] 0.9990296679038401 Centerline is valid? [True, True] Translation: X:893.05, Y:-65.10, Z:3.04 [[ 9.98342065e-01 5.71248886e-02 -7.06171959e-03 8.93052036e+02] [-5.71255227e-02 9.98366998e-01 1.12032823e-04 -6.50977846e+01] [ 7.05658765e-03 2.91557343e-04 9.99975059e-01 3.04439623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4707140569999 meters Centerline goodness [0,1] 0.9988110259147821 Centerline is valid? [True, True] Translation: X:893.08, Y:-65.10, Z:3.04 [[ 9.98492204e-01 5.44086117e-02 -7.28160673e-03 8.93081080e+02] [-5.44092302e-02 9.98518714e-01 1.13285650e-04 -6.51007239e+01] [ 7.27698431e-03 2.83071778e-04 9.99973482e-01 3.04412588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.500714057 meters Centerline goodness [0,1] 0.9985758080478915 Centerline is valid? [True, True] Translation: X:893.11, Y:-65.11, Z:3.04 [[ 9.98859300e-01 4.72291874e-02 -7.03575770e-03 8.93109967e+02] [-4.72295795e-02 9.98884055e-01 1.10502622e-04 -6.51063869e+01] [ 7.03312513e-03 2.21919306e-04 9.99975243e-01 3.04280785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.530714057 meters Centerline goodness [0,1] 0.9982208544707042 Centerline is valid? [True, True] Translation: X:893.14, Y:-65.11, Z:3.04 [[ 9.99049971e-01 4.30344890e-02 -6.86929892e-03 8.93139818e+02] [-4.30347643e-02 9.99073570e-01 1.07798497e-04 -6.51115438e+01] [ 6.86757404e-03 1.87922574e-04 9.99976400e-01 3.04339206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5607140569999 meters Centerline goodness [0,1] 0.9980326767591948 Centerline is valid? [True, True] Translation: X:893.17, Y:-65.11, Z:3.04 [[ 9.99242727e-01 3.84590509e-02 -5.90534031e-03 8.93168930e+02] [-3.84591764e-02 9.99260168e-01 9.23450050e-05 -6.51125410e+01] [ 5.90452285e-03 1.34839450e-04 9.99982559e-01 3.04208401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5907140569999 meters Centerline goodness [0,1] 0.9963331336129418 Centerline is valid? [True, True] Translation: X:893.20, Y:-65.12, Z:3.04 [[ 9.99548657e-01 2.97242634e-02 -4.35325089e-03 8.93198955e+02] [-2.97242488e-02 9.99558135e-01 6.80523294e-05 -6.51201058e+01] [ 4.35335015e-03 6.13754983e-05 9.99990522e-01 3.04317318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.620714057 meters Centerline goodness [0,1] 0.9957110339043967 Centerline is valid? [True, True] Translation: X:893.23, Y:-65.12, Z:3.04 [[ 9.99669088e-01 2.53793351e-02 -4.19557932e-03 8.93227559e+02] [-2.53792859e-02 9.99677892e-01 6.49763894e-05 -6.51226044e+01] [ 4.19587695e-03 4.15259190e-05 9.99991196e-01 3.04354681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.650714057 meters Centerline goodness [0,1] 0.9950619651461035 Centerline is valid? [True, True] Translation: X:893.26, Y:-65.13, Z:3.04 [[ 9.99765336e-01 2.12411435e-02 -4.25287891e-03 8.93256743e+02] [-2.12410568e-02 9.99774381e-01 6.55659123e-05 -6.51252337e+01] [ 4.25331208e-03 2.47851162e-05 9.99990954e-01 3.04384673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6807140569999 meters Centerline goodness [0,1] 0.9946968611150925 Centerline is valid? [True, True] Translation: X:893.29, Y:-65.13, Z:3.04 [[ 9.99896076e-01 1.37832925e-02 -4.22590946e-03 8.93285327e+02] [-1.37831415e-02 9.99905006e-01 6.48457236e-05 -6.51290582e+01] [ 4.22640181e-03 -6.59267648e-06 9.99991069e-01 3.04248458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7107140569999 meters Centerline goodness [0,1] 0.9934375972983978 Centerline is valid? [True, True] Translation: X:893.31, Y:-65.13, Z:3.04 [[ 9.99935705e-01 1.04041097e-02 -4.51007173e-03 8.93313180e+02] [-1.04039072e-02 9.99945876e-01 6.83556834e-05 -6.51312935e+01] [ 4.51053880e-03 -2.14289209e-05 9.99989827e-01 3.04113751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7407140569999 meters Centerline goodness [0,1] 0.9928124552270882 Centerline is valid? [True, True] Translation: X:893.34, Y:-65.13, Z:3.04 [[ 9.99961660e-01 7.49174963e-03 -4.53354631e-03 8.93341609e+02] [-7.49151506e-03 9.99971936e-01 6.87214724e-05 -6.51322805e+01] [ 4.53393393e-03 -3.47557072e-05 9.99989721e-01 3.04106198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.770714057 meters Centerline goodness [0,1] 0.9929670119369424 Centerline is valid? [True, True] Translation: X:893.37, Y:-65.13, Z:3.04 [[ 9.99984546e-01 3.15338335e-03 -4.57858459e-03 8.93369786e+02] [-3.15310090e-03 9.99995027e-01 6.89065575e-05 -6.51330560e+01] [ 4.57877911e-03 -5.44687535e-05 9.99989516e-01 3.04025414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8007140569999 meters Centerline goodness [0,1] 0.9928157147289782 Centerline is valid? [True, True] Translation: X:893.40, Y:-65.13, Z:3.04 [[ 9.99988218e-01 1.72256230e-03 -4.53838115e-03 8.93398400e+02] [-1.72227098e-03 9.99998515e-01 6.80961188e-05 -6.51327563e+01] [ 4.53849171e-03 -6.02789943e-05 9.99989699e-01 3.03971754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8307140569999 meters Centerline goodness [0,1] 0.9926638057107238 Centerline is valid? [True, True] Translation: X:893.43, Y:-65.13, Z:3.04 [[ 9.99989473e-01 7.46855706e-04 -4.52720267e-03 8.93426205e+02] [-7.46558062e-04 9.99999719e-01 6.74352192e-05 -6.51326610e+01] [ 4.52725177e-03 -6.40546897e-05 9.99989750e-01 3.03900823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8607140569999 meters Centerline goodness [0,1] 0.9927386390959365 Centerline is valid? [True, True] Translation: X:893.45, Y:-65.13, Z:3.04 [[ 9.99990614e-01 3.53148838e-04 -4.31833580e-03 8.93454981e+02] [-3.52875306e-04 9.99999936e-01 6.41039614e-05 -6.51303121e+01] [ 4.31835816e-03 -6.25795256e-05 9.99990674e-01 3.03900339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.890714057 meters Centerline goodness [0,1] 0.9929840634568556 Centerline is valid? [True, True] Translation: X:893.48, Y:-65.13, Z:3.04 [[ 9.99992358e-01 2.83290854e-04 -3.89907711e-03 8.93484081e+02] [-2.83067842e-04 9.99999958e-01 5.77476997e-05 -6.51292875e+01] [ 3.89909331e-03 -5.66435551e-05 9.99992397e-01 3.03886475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9207140569999 meters Centerline goodness [0,1] 0.9926161864774866 Centerline is valid? [True, True] Translation: X:893.51, Y:-65.13, Z:3.04 [[ 9.99993766e-01 5.87586709e-04 -3.48167850e-03 8.93512270e+02] [-5.87411889e-04 9.99999826e-01 5.12336204e-05 -6.51283898e+01] [ 3.48170800e-03 -4.91881216e-05 9.99993938e-01 3.03806416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9507140569999 meters Centerline goodness [0,1] 0.9927418769506205 Centerline is valid? [True, True] Translation: X:893.54, Y:-65.13, Z:3.04 [[ 9.99993783e-01 1.36797565e-03 -3.25009884e-03 8.93541105e+02] [-1.36783352e-03 9.99999063e-01 4.59518589e-05 -6.51262761e+01] [ 3.25015866e-03 -4.15059790e-05 9.99994717e-01 3.03834346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9807140569999 meters Centerline goodness [0,1] 0.992574376778051 Centerline is valid? [True, True] Translation: X:893.57, Y:-65.13, Z:3.04 [[ 9.99998258e-01 8.22409847e-04 -1.67572199e-03 8.93570271e+02] [-8.22370935e-04 9.99999662e-01 2.39100253e-05 -6.51264007e+01] [ 1.67574109e-03 -2.25319186e-05 9.99998596e-01 3.03814047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.010714057 meters Centerline goodness [0,1] 0.992713937610075 Centerline is valid? [True, True] Translation: X:893.60, Y:-65.13, Z:3.04 [[ 9.99998642e-01 7.12437568e-04 -1.48606736e-03 8.93600236e+02] [-7.12406687e-04 9.99999746e-01 2.13095070e-05 -6.51259604e+01] [ 1.48608216e-03 -2.02507938e-05 9.99998896e-01 3.03858015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.040714057 meters Centerline goodness [0,1] 0.9928725023556983 Centerline is valid? [True, True] Translation: X:893.63, Y:-65.13, Z:3.04 [[ 9.99997071e-01 1.64673930e-03 -1.77393423e-03 8.93630069e+02] [-1.64669680e-03 9.99998644e-01 2.54197350e-05 -6.51258743e+01] [ 1.77397368e-03 -2.24985287e-05 9.99998426e-01 3.03824885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0707140569999 meters Centerline goodness [0,1] 0.9923656745264785 Centerline is valid? [True, True] Translation: X:893.66, Y:-65.13, Z:3.04 [[ 9.99994879e-01 2.69246025e-03 -1.73001288e-03 8.93659687e+02] [-2.69242151e-03 9.99996375e-01 2.47254735e-05 -6.51257278e+01] [ 1.73007318e-03 -2.00674230e-05 9.99998503e-01 3.03806746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1007140569999 meters Centerline goodness [0,1] 0.9929869378705355 Centerline is valid? [True, True] Translation: X:893.69, Y:-65.13, Z:3.04 [[ 9.99986935e-01 5.03003015e-03 -9.09901549e-04 8.93688063e+02] [-5.03002190e-03 9.99987349e-01 1.13635393e-05 -6.51257734e+01] [ 9.09947197e-04 -6.78656609e-06 9.99999586e-01 3.03836446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.130714057 meters Centerline goodness [0,1] 0.9939645598957076 Centerline is valid? [True, True] Translation: X:893.72, Y:-65.12, Z:3.04 [[ 9.99972449e-01 7.26853145e-03 -1.50673579e-03 8.93716339e+02] [-7.26851039e-03 9.99973584e-01 1.94527055e-05 -6.51244829e+01] [ 1.50683738e-03 -8.50044475e-06 9.99998865e-01 3.03827945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.160714057 meters Centerline goodness [0,1] 0.9939477237654321 Centerline is valid? [True, True] Translation: X:893.74, Y:-65.12, Z:3.04 [[ 9.99958269e-01 9.08974063e-03 -9.15246021e-04 8.93744723e+02] [-9.08973323e-03 9.99958687e-01 1.22460744e-05 -6.51248502e+01] [ 9.15319524e-04 -3.92622123e-06 9.99999581e-01 3.03795878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1907140569999 meters Centerline goodness [0,1] 0.9942111837048424 Centerline is valid? [True, True] Translation: X:893.77, Y:-65.12, Z:3.04 [[ 9.99925120e-01 1.22041336e-02 -9.02161276e-04 8.93772784e+02] [-1.22041278e-02 9.99925527e-01 1.18811474e-05 -6.51241496e+01] [ 9.02239089e-04 -8.70166159e-07 9.99999593e-01 3.03759790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2207140569999 meters Centerline goodness [0,1] 0.9956394998674987 Centerline is valid? [True, True] Translation: X:893.80, Y:-65.12, Z:3.04 [[ 9.99828243e-01 1.85332323e-02 -6.71004279e-05 8.93800213e+02] [-1.85332324e-02 9.99828245e-01 -8.37443340e-07 -6.51213129e+01] [ 6.70733825e-05 2.08088733e-06 9.99999998e-01 3.03857784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.250714057 meters Centerline goodness [0,1] 0.9962829765151698 Centerline is valid? [True, True] Translation: X:893.83, Y:-65.12, Z:3.04 [[ 9.99760353e-01 2.18835708e-02 5.88247006e-04 8.93829357e+02] [-2.18835697e-02 9.99760526e-01 -8.32975997e-06 -6.51199494e+01] [-5.88288421e-04 -4.54518057e-06 9.99999827e-01 3.03889516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.280714057 meters Centerline goodness [0,1] 0.9969613659383592 Centerline is valid? [True, True] Translation: X:893.86, Y:-65.12, Z:3.04 [[ 9.99667579e-01 2.57592997e-02 1.09044694e-03 8.93857098e+02] [-2.57592985e-02 9.99668174e-01 -1.50826550e-05 -6.51183053e+01] [-1.09047362e-03 -1.30115071e-05 9.99999405e-01 3.03921020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3107140569999 meters Centerline goodness [0,1] 0.9971819451804037 Centerline is valid? [True, True] Translation: X:893.89, Y:-65.12, Z:3.04 [[ 9.99439147e-01 3.34500557e-02 1.57643396e-03 8.93886213e+02] [-3.34500638e-02 9.99440390e-01 -2.12731184e-05 -6.51163283e+01] [-1.57626336e-03 -3.14706293e-05 9.99998757e-01 3.04047951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3407140569999 meters Centerline goodness [0,1] 0.9981419815645963 Centerline is valid? [True, True] Translation: X:893.91, Y:-65.11, Z:3.04 [[ 9.99316020e-01 3.69177836e-02 2.13765110e-03 8.93914181e+02] [-3.69178065e-02 9.99318305e-01 -2.87582193e-05 -6.51138267e+01] [-2.13725556e-03 -5.01788403e-05 9.99997715e-01 3.04042333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.370714057 meters Centerline goodness [0,1] 0.9979996625936906 Centerline is valid? [True, True] Translation: X:893.94, Y:-65.12, Z:3.04 [[ 9.99197142e-01 3.99737158e-02 2.67840209e-03 8.93943150e+02] [-3.99737622e-02 9.99200729e-01 -3.62339815e-05 -6.51152111e+01] [-2.67770973e-03 -7.08609174e-05 9.99996412e-01 3.04096305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.400714057 meters Centerline goodness [0,1] 0.9981424297983209 Centerline is valid? [True, True] Translation: X:893.97, Y:-65.11, Z:3.04 [[ 9.98975332e-01 4.51124935e-02 3.62604528e-03 8.93971855e+02] [-4.51126193e-02 9.98981906e-01 -4.71229305e-05 -6.51143556e+01] [-3.62447946e-03 -1.16505755e-04 9.99993425e-01 3.04046177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4307140569999 meters Centerline goodness [0,1] 0.9982886205317328 Centerline is valid? [True, True] Translation: X:894.00, Y:-65.11, Z:3.04 [[ 9.98924503e-01 4.62128569e-02 3.76955100e-03 8.94000432e+02] [-4.62129997e-02 9.98931607e-01 -4.92480885e-05 -6.51145109e+01] [-3.76779953e-03 -1.25007137e-04 9.99992894e-01 3.04029382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4607140569999 meters Centerline goodness [0,1] 0.9981183509034328 Centerline is valid? [True, True] Translation: X:894.03, Y:-65.12, Z:3.04 [[ 9.98884263e-01 4.70231220e-02 4.36519015e-03 8.94029269e+02] [-4.70233268e-02 9.98893790e-01 -5.57578300e-05 -6.51168151e+01] [-4.36298324e-03 -1.49570144e-04 9.99990471e-01 3.04026336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4907140569999 meters Centerline goodness [0,1] 0.9982216668268769 Centerline is valid? [True, True] Translation: X:894.06, Y:-65.12, Z:3.04 [[ 9.98907820e-01 4.64599589e-02 4.96380687e-03 8.94058083e+02] [-4.64602239e-02 9.98920139e-01 -6.19831710e-05 -6.51193345e+01] [-4.96132638e-03 -1.68704104e-04 9.99987678e-01 3.03968072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.520714057 meters Centerline goodness [0,1] 0.9982965451055662 Centerline is valid? [True, True] Translation: X:894.09, Y:-65.12, Z:3.04 [[ 9.98973461e-01 4.50290538e-02 4.94054633e-03 8.94085680e+02] [-4.50293058e-02 9.98985665e-01 -6.02716188e-05 -6.51204363e+01] [-4.93824894e-03 -1.62259624e-04 9.99987794e-01 3.03915571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5507140569999 meters Centerline goodness [0,1] 0.9978708643333891 Centerline is valid? [True, True] Translation: X:894.11, Y:-65.12, Z:3.04 [[ 9.99171749e-01 4.03429037e-02 5.31668301e-03 8.94114220e+02] [-4.03431321e-02 9.99185882e-01 -6.43206856e-05 -6.51221655e+01] [-5.31494949e-03 -1.50224233e-04 9.99985864e-01 3.03858954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5807140569999 meters Centerline goodness [0,1] 0.997350139654802 Centerline is valid? [True, True] Translation: X:894.14, Y:-65.13, Z:3.04 [[ 9.99285423e-01 3.74027504e-02 5.44764056e-03 8.94143510e+02] [-3.74029478e-02 9.99300263e-01 -6.56716976e-05 -6.51267308e+01] [-5.44628495e-03 -1.38133046e-04 9.99985159e-01 3.03814418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6107140569999 meters Centerline goodness [0,1] 0.9962755162946162 Centerline is valid? [True, True] Translation: X:894.17, Y:-65.13, Z:3.04 [[ 9.99408801e-01 3.38941871e-02 5.76477213e-03 8.94172000e+02] [-3.38943542e-02 9.99425419e-01 -6.87274610e-05 -6.51306796e+01] [-5.76378927e-03 -1.26706399e-04 9.99983381e-01 3.03777395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.640714057 meters Centerline goodness [0,1] 0.9957041818958561 Centerline is valid? [True, True] Translation: X:894.20, Y:-65.14, Z:3.04 [[ 9.99627416e-01 2.66355049e-02 5.96477284e-03 8.94200402e+02] [-2.66355572e-02 9.99645208e-01 -7.06677939e-05 -6.51356353e+01] [-5.96453886e-03 -8.82335843e-05 9.99982208e-01 3.03694460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6707140569999 meters Centerline goodness [0,1] 0.9952804458674256 Centerline is valid? [True, True] Translation: X:894.23, Y:-65.14, Z:3.04 [[ 9.99721992e-01 2.28194080e-02 5.93405402e-03 8.94228794e+02] [-2.28193944e-02 9.99739601e-01 -6.99978501e-05 -6.51383080e+01] [-5.93410611e-03 -6.54331292e-05 9.99982391e-01 3.03651195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7007140569999 meters Centerline goodness [0,1] 0.9946468331043631 Centerline is valid? [True, True] Translation: X:894.26, Y:-65.14, Z:3.04 [[ 9.99791762e-01 1.95031732e-02 6.00488935e-03 8.94257933e+02] [-1.95031021e-02 9.99809794e-01 -7.04084912e-05 -6.51406247e+01] [-6.00512038e-03 -4.67201407e-05 9.99981968e-01 3.03567120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7307140569999 meters Centerline goodness [0,1] 0.9937071074066158 Centerline is valid? [True, True] Translation: X:894.29, Y:-65.14, Z:3.04 [[ 9.99854683e-01 1.58566850e-02 6.25932623e-03 8.94286439e+02] [-1.58565391e-02 9.99874275e-01 -7.29381522e-05 -6.51429711e+01] [-6.25969583e-03 -2.63236980e-05 9.99980408e-01 3.03523325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.760714057 meters Centerline goodness [0,1] 0.9926856980542537 Centerline is valid? [True, True] Translation: X:894.31, Y:-65.15, Z:3.03 [[ 9.99917434e-01 1.07410201e-02 7.05382070e-03 8.94314160e+02] [-1.07407115e-02 9.99942314e-01 -8.16345629e-05 -6.51461114e+01] [-7.05429062e-03 5.86476969e-06 9.99975118e-01 3.03442834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.790714057 meters Centerline goodness [0,1] 0.9930024991074616 Centerline is valid? [True, True] Translation: X:894.34, Y:-65.15, Z:3.03 [[ 9.99936550e-01 8.49385477e-03 7.39940611e-03 8.94342594e+02] [-8.49345845e-03 9.99963926e-01 -8.49836482e-05 -6.51469685e+01] [-7.39986103e-03 2.21317077e-05 9.99972620e-01 3.03413904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8207140569999 meters Centerline goodness [0,1] 0.9920300823006338 Centerline is valid? [True, True] Translation: X:894.37, Y:-65.15, Z:3.03 [[ 9.99954720e-01 5.50110053e-03 7.76500315e-03 8.94371595e+02] [-5.50057804e-03 9.99984868e-01 -8.86425206e-05 -6.51476766e+01] [-7.76537328e-03 4.59265011e-05 9.99969848e-01 3.03379617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8507140569999 meters Centerline goodness [0,1] 0.9921173844911915 Centerline is valid? [True, True] Translation: X:894.40, Y:-65.15, Z:3.03 [[ 9.99959676e-01 4.42989325e-03 7.81171606e-03 8.94402997e+02] [-4.42933391e-03 9.99990187e-01 -8.89009749e-05 -6.51471099e+01] [-7.81203322e-03 5.42966912e-05 9.99969484e-01 3.03288109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.880714057 meters Centerline goodness [0,1] 0.9926095456062557 Centerline is valid? [True, True] Translation: X:894.43, Y:-65.15, Z:3.03 [[ 9.99966198e-01 3.32991229e-03 7.51756034e-03 8.94433935e+02] [-3.32936127e-03 9.99994454e-01 -8.58119560e-05 -6.51469079e+01] [-7.51780439e-03 6.07803812e-05 9.99971739e-01 3.03232037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.910714057 meters Centerline goodness [0,1] 0.9915761259752071 Centerline is valid? [True, True] Translation: X:894.47, Y:-65.15, Z:3.03 [[ 9.99969047e-01 2.65358681e-03 7.40702213e-03 8.94465497e+02] [-2.65302970e-03 9.99996477e-01 -8.50380365e-05 -6.51470029e+01] [-7.40722169e-03 6.53843546e-05 9.99972564e-01 3.03110278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9407140569999 meters Centerline goodness [0,1] 0.9917311920466495 Centerline is valid? [True, True] Translation: X:894.50, Y:-65.15, Z:3.03 [[ 9.99980219e-01 5.52261466e-04 6.26556645e-03 8.94498004e+02] [-5.51813869e-04 9.99999845e-01 -7.31660122e-05 -6.51461700e+01] [-6.26560588e-03 6.97071384e-05 9.99980368e-01 3.02865442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9707140569999 meters Centerline goodness [0,1] 0.9922021210230817 Centerline is valid? [True, True] Translation: X:894.53, Y:-65.15, Z:3.03 [[ 9.99985347e-01 -1.51857034e-04 5.41135611e-03 8.94530568e+02] [ 1.52207288e-04 9.99999986e-01 -6.43140291e-05 -6.51458556e+01] [-5.41134627e-03 6.51367346e-05 9.99985356e-01 3.02749365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.000714057 meters Centerline goodness [0,1] 0.9920072966421045 Centerline is valid? [True, True] Translation: X:894.56, Y:-65.15, Z:3.03 [[ 9.99981887e-01 -2.17590698e-03 5.61170829e-03 8.94562661e+02] [ 2.17632365e-03 9.99997629e-01 -6.81449687e-05 -6.51467942e+01] [-5.61154671e-03 8.03566279e-05 9.99984252e-01 3.02597764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.030714057 meters Centerline goodness [0,1] 0.9907134115614427 Centerline is valid? [True, True] Translation: X:894.59, Y:-65.15, Z:3.03 [[ 9.99961785e-01 -6.76857194e-03 5.53313514e-03 8.94594373e+02] [ 6.76905538e-03 9.99977087e-01 -6.86483754e-05 -6.51499375e+01] [-5.53254371e-03 1.06099850e-04 9.99984690e-01 3.02511010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0607140569999 meters Centerline goodness [0,1] 0.9903209616901274 Centerline is valid? [True, True] Translation: X:894.63, Y:-65.15, Z:3.02 [[ 9.99947976e-01 -8.89815957e-03 4.98682491e-03 8.94625424e+02] [ 8.89858156e-03 9.99960405e-01 -6.24388684e-05 -6.51541158e+01] [-4.98607186e-03 1.06811288e-04 9.99987564e-01 3.02455713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0907140569999 meters Centerline goodness [0,1] 0.9897641938106854 Centerline is valid? [True, True] Translation: X:894.66, Y:-65.16, Z:3.02 [[ 9.99935035e-01 -1.05226023e-02 4.38194806e-03 8.94657555e+02] [ 1.05229463e-02 9.99944631e-01 -5.54512743e-05 -6.51553851e+01] [-4.38112194e-03 1.01558676e-04 9.99990398e-01 3.02358960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.120714057 meters Centerline goodness [0,1] 0.9904993793564404 Centerline is valid? [True, True] Translation: X:894.69, Y:-65.16, Z:3.02 [[ 9.99931261e-01 -1.10665376e-02 3.87365836e-03 8.94688288e+02] [ 1.10668115e-02 9.99938760e-01 -4.92822385e-05 -6.51565876e+01] [-3.87287575e-03 9.21478979e-05 9.99992496e-01 3.02348146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.150714057 meters Centerline goodness [0,1] 0.9905022613663413 Centerline is valid? [True, True] Translation: X:894.72, Y:-65.16, Z:3.02 [[ 9.99938310e-01 -1.04764151e-02 3.69056272e-03 8.94720626e+02] [ 1.04766602e-02 9.99945117e-01 -4.70839177e-05 -6.51556731e+01] [-3.68986690e-03 8.57457847e-05 9.99993189e-01 3.02342358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1807140569999 meters Centerline goodness [0,1] 0.9902931100114198 Centerline is valid? [True, True] Translation: X:894.75, Y:-65.16, Z:3.02 [[ 9.99940139e-01 -1.00867528e-02 4.23987258e-03 8.94752892e+02] [ 1.00870743e-02 9.99949123e-01 -5.44580527e-05 -6.51561263e+01] [-4.23910756e-03 9.72227024e-05 9.99991010e-01 3.02312905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2107140569999 meters Centerline goodness [0,1] 0.9902931100114198 Centerline is valid? [True, True] Translation: X:894.79, Y:-65.16, Z:3.02 [[ 9.99941197e-01 -9.98130775e-03 4.23986966e-03 8.94785452e+02] [ 9.98162930e-03 9.99950181e-01 -5.46842143e-05 -6.51566384e+01] [-4.23911261e-03 9.70018059e-05 9.99991010e-01 3.02292522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2407140569999 meters Centerline goodness [0,1] 0.99121778458446 Centerline is valid? [True, True] Translation: X:894.82, Y:-65.16, Z:3.02 [[ 9.99951831e-01 -8.11586559e-03 5.51985596e-03 8.94817555e+02] [ 8.11638664e-03 9.99967059e-01 -7.20011190e-05 -6.51556788e+01] [-5.51908977e-03 1.16798936e-04 9.99984763e-01 3.02319807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.270714057 meters Centerline goodness [0,1] 0.9909641426664123 Centerline is valid? [True, True] Translation: X:894.85, Y:-65.16, Z:3.02 [[ 9.99961971e-01 -6.49812394e-03 5.81642976e-03 8.94848625e+02] [ 6.49867768e-03 9.99978880e-01 -7.63081674e-05 -6.51554906e+01] [-5.81581106e-03 1.14104368e-04 9.99983082e-01 3.02325639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3007140569999 meters Centerline goodness [0,1] 0.9912083173629743 Centerline is valid? [True, True] Translation: X:894.88, Y:-65.15, Z:3.02 [[ 9.99963212e-01 -5.43211365e-03 6.63834572e-03 8.94880908e+02] [ 5.43281410e-03 9.99985238e-01 -8.74887724e-05 -6.51546084e+01] [-6.63777248e-03 1.23550452e-04 9.99977962e-01 3.02281242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3307140569999 meters Centerline goodness [0,1] 0.9915733026907977 Centerline is valid? [True, True] Translation: X:894.91, Y:-65.15, Z:3.02 [[ 9.99968919e-01 -3.62730972e-03 7.00024386e-03 8.94913258e+02] [ 3.62804807e-03 9.99993414e-01 -9.27794890e-05 -6.51539749e+01] [-6.99986122e-03 1.18173827e-04 9.99975494e-01 3.02303263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3607140569999 meters Centerline goodness [0,1] 0.9909799980859413 Centerline is valid? [True, True] Translation: X:894.94, Y:-65.15, Z:3.02 [[ 9.99968982e-01 -3.11922213e-03 7.23227072e-03 8.94944866e+02] [ 3.12000066e-03 9.99995128e-01 -9.63663989e-05 -6.51543732e+01] [-7.23193490e-03 1.18928099e-04 9.99973842e-01 3.02272861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.390714057 meters Centerline goodness [0,1] 0.9914828824970856 Centerline is valid? [True, True] Translation: X:894.98, Y:-65.16, Z:3.02 [[ 9.99973733e-01 -2.48655460e-03 6.80814115e-03 8.94976086e+02] [ 2.48723216e-03 9.99996903e-01 -9.10561901e-05 -6.51553027e+01] [-6.80789365e-03 1.07987226e-04 9.99976820e-01 3.02243992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4207140569999 meters Centerline goodness [0,1] 0.9913848804652164 Centerline is valid? [True, True] Translation: X:895.01, Y:-65.16, Z:3.02 [[ 9.99973633e-01 -2.36257057e-03 6.86673559e-03 8.95007814e+02] [ 2.36325987e-03 9.99997203e-01 -9.22700436e-05 -6.51565161e+01] [-6.86649839e-03 1.08495491e-04 9.99976419e-01 3.02172801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4507140569999 meters Centerline goodness [0,1] 0.9917531194721997 Centerline is valid? [True, True] Translation: X:895.04, Y:-65.16, Z:3.02 [[ 9.99982642e-01 -1.66734222e-03 5.65115005e-03 8.95039787e+02] [ 1.66780251e-03 9.99998606e-01 -7.67398116e-05 -6.51569250e+01] [-5.65101422e-03 8.61634818e-05 9.99984029e-01 3.02001744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4807140569999 meters Centerline goodness [0,1] 0.9907272770613335 Centerline is valid? [True, True] Translation: X:895.07, Y:-65.16, Z:3.02 [[ 9.99985136e-01 -1.16221378e-03 5.32694073e-03 8.95071048e+02] [ 1.16261755e-03 9.99999322e-01 -7.27000510e-05 -6.51580396e+01] [-5.32685262e-03 7.88921652e-05 9.99985809e-01 3.01909058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.510714057 meters Centerline goodness [0,1] 0.9917960668679999 Centerline is valid? [True, True] Translation: X:895.10, Y:-65.16, Z:3.02 [[ 9.99987448e-01 -2.69170055e-04 5.00309504e-03 8.95103671e+02] [ 2.69516123e-04 9.99999961e-01 -6.84968128e-05 -6.51579822e+01] [-5.00307641e-03 6.98443678e-05 9.99987482e-01 3.01843207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.540714057 meters Centerline goodness [0,1] 0.9921910447761194 Centerline is valid? [True, True] Translation: X:895.14, Y:-65.16, Z:3.02 [[ 9.99985711e-01 1.90339456e-03 4.99538795e-03 8.95135573e+02] [-1.90307492e-03 9.99998187e-01 -6.87392453e-05 -6.51576708e+01] [-4.99550973e-03 5.92316656e-05 9.99987521e-01 3.01759734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5707140569999 meters Centerline goodness [0,1] 0.9923341639966774 Centerline is valid? [True, True] Translation: X:895.17, Y:-65.16, Z:3.02 [[ 9.99965397e-01 6.09383452e-03 5.66309780e-03 8.95166916e+02] [-6.09348820e-03 9.99981431e-01 -7.84051860e-05 -6.51564990e+01] [-5.66347043e-03 4.38944533e-05 9.99983961e-01 3.01841962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6007140569999 meters Centerline goodness [0,1] 0.9922613520013335 Centerline is valid? [True, True] Translation: X:895.20, Y:-65.16, Z:3.02 [[ 9.99941463e-01 9.06589130e-03 5.90587706e-03 8.95196685e+02] [-9.06556435e-03 9.99958904e-01 -8.21283386e-05 -6.51551990e+01] [-5.90637892e-03 2.85834225e-05 9.99982557e-01 3.01845782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.630714057 meters Centerline goodness [0,1] 0.9929594215308502 Centerline is valid? [True, True] Translation: X:895.23, Y:-65.15, Z:3.02 [[ 9.99909272e-01 1.16557087e-02 6.75223263e-03 8.95225457e+02] [-1.16553423e-02 9.99932070e-01 -9.36195147e-05 -6.51545893e+01] [-6.75286516e-03 1.49114384e-05 9.99977199e-01 3.01863039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.660714057 meters Centerline goodness [0,1] 0.9941418866243457 Centerline is valid? [True, True] Translation: X:895.25, Y:-65.15, Z:3.02 [[ 9.99817147e-01 1.76284843e-02 7.41012547e-03 8.95253776e+02] [-1.76282104e-02 9.99844606e-01 -1.02280911e-04 -6.51507915e+01] [-7.41077703e-03 -2.83650418e-05 9.99972539e-01 3.01959161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6907140569999 meters Centerline goodness [0,1] 0.9944035626681909 Centerline is valid? [True, True] Translation: X:895.28, Y:-65.15, Z:3.02 [[ 9.99715662e-01 2.23510343e-02 8.30822151e-03 8.95282536e+02] [-2.23508593e-02 9.99750182e-01 -1.13928952e-04 -6.51498497e+01] [-8.30869240e-03 -7.17993322e-05 9.99965480e-01 3.01940272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7207140569999 meters Centerline goodness [0,1] 0.994879611326776 Centerline is valid? [True, True] Translation: X:895.31, Y:-65.15, Z:3.02 [[ 9.99597407e-01 2.68759481e-02 9.09437544e-03 8.95311525e+02] [-2.68759317e-02 9.99638769e-01 -1.24044432e-04 -6.51491749e+01] [-9.09442408e-03 -1.20425320e-04 9.99958638e-01 3.01956011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.750714057 meters Centerline goodness [0,1] 0.9956973825743994 Centerline is valid? [True, True] Translation: X:895.34, Y:-65.15, Z:3.02 [[ 9.99471940e-01 3.12331091e-02 8.96290108e-03 8.95340106e+02] [-3.12332738e-02 9.99512115e-01 -1.21632118e-04 -6.51470183e+01] [-8.96232717e-03 -1.58372855e-04 9.99959825e-01 3.01953383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.780714057 meters Centerline goodness [0,1] 0.9957176008995431 Centerline is valid? [True, True] Translation: X:895.37, Y:-65.15, Z:3.02 [[ 9.99210543e-01 3.87003684e-02 8.97616614e-03 8.95369789e+02] [-3.87008394e-02 9.99250835e-01 -1.21280033e-04 -6.51461993e+01] [-8.97413509e-03 -2.26200876e-04 9.99959706e-01 3.01914774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8107140569999 meters Centerline goodness [0,1] 0.9962971810797898 Centerline is valid? [True, True] Translation: X:895.40, Y:-65.15, Z:3.02 [[ 9.99082815e-01 4.17673437e-02 9.43487168e-03 8.95397824e+02] [-4.17680050e-02 9.99127328e-01 -1.27024738e-04 -6.51452411e+01] [-9.43194362e-03 -2.67167535e-04 9.99955483e-01 3.01907772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8407140569999 meters Centerline goodness [0,1] 0.9970579089626139 Centerline is valid? [True, True] Translation: X:895.43, Y:-65.15, Z:3.02 [[ 9.98996418e-01 4.39713376e-02 8.52518291e-03 8.95426331e+02] [-4.39719658e-02 9.99032759e-01 -1.13826838e-04 -6.51454666e+01] [-8.52194212e-03 -2.61156448e-04 9.99963653e-01 3.01855340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.870714057 meters Centerline goodness [0,1] 0.9967659248257192 Centerline is valid? [True, True] Translation: X:895.45, Y:-65.15, Z:3.02 [[ 9.98922236e-01 4.57878620e-02 7.60519535e-03 8.95454649e+02] [-4.57884261e-02 9.98951155e-01 -1.00010445e-04 -6.51459199e+01] [-7.60179794e-03 -2.48327268e-04 9.99971075e-01 3.01760435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.900714057 meters Centerline goodness [0,1] 0.997277741958593 Centerline is valid? [True, True] Translation: X:895.48, Y:-65.14, Z:3.02 [[ 9.98815416e-01 4.82703046e-02 6.14355836e-03 8.95483377e+02] [-4.82707236e-02 9.98834286e-01 -8.01372782e-05 -6.51447721e+01] [-6.14026498e-03 -2.16511659e-04 9.99981125e-01 3.01596794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9307140569999 meters Centerline goodness [0,1] 0.9971322053340981 Centerline is valid? [True, True] Translation: X:895.51, Y:-65.15, Z:3.02 [[ 9.98815984e-01 4.82608803e-02 6.12509225e-03 8.95512415e+02] [-4.82612985e-02 9.98834741e-01 -7.96086396e-05 -6.51490441e+01] [-6.12179691e-03 -2.16090523e-04 9.99981238e-01 3.01538717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9607140569999 meters Centerline goodness [0,1] 0.9976152433644146 Centerline is valid? [True, True] Translation: X:895.54, Y:-65.15, Z:3.01 [[ 9.98868843e-01 4.72135208e-02 5.64964718e-03 8.95540805e+02] [-4.72138669e-02 9.98884801e-01 -7.21755444e-05 -6.51507795e+01] [-5.64675436e-03 -1.94647787e-04 9.99984038e-01 3.01482613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9907140569999 meters Centerline goodness [0,1] 0.9958280987033921 Centerline is valid? [True, True] Translation: X:895.57, Y:-65.16, Z:3.01 [[ 9.99034537e-01 4.34833446e-02 6.26048025e-03 8.95569628e+02] [-4.34837069e-02 9.99054133e-01 -7.82939839e-05 -6.51553687e+01] [-6.25796315e-03 -1.94010494e-04 9.99980400e-01 3.01426462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.020714057 meters Centerline goodness [0,1] 0.9958334319736749 Centerline is valid? [True, True] Translation: X:895.60, Y:-65.16, Z:3.01 [[ 9.99177099e-01 4.00439346e-02 6.45047983e-03 8.95598360e+02] [-4.00442491e-02 9.99197904e-01 -8.04351383e-05 -6.51586858e+01] [-6.44852686e-03 -1.77935673e-04 9.99979192e-01 3.01397814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0507140569999 meters Centerline goodness [0,1] 0.9951647309789049 Centerline is valid? [True, True] Translation: X:895.63, Y:-65.16, Z:3.01 [[ 9.99457499e-01 3.22597766e-02 6.63438370e-03 8.95627054e+02] [-3.22599409e-02 9.99479509e-01 -8.22767566e-05 -6.51637212e+01] [-6.63358479e-03 -1.31792705e-04 9.99977989e-01 3.01404140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0807140569999 meters Centerline goodness [0,1] 0.9945571499257794 Centerline is valid? [True, True] Translation: X:895.66, Y:-65.17, Z:3.01 [[ 9.99593274e-01 2.77370778e-02 6.62874247e-03 8.95655658e+02] [-2.77371439e-02 9.99615248e-01 -8.19706281e-05 -6.51669777e+01] [-6.62846568e-03 -1.01925096e-04 9.99978026e-01 3.01378029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1107140569999 meters Centerline goodness [0,1] 0.9937999060591827 Centerline is valid? [True, True] Translation: X:895.69, Y:-65.17, Z:3.01 [[ 9.99705930e-01 2.32918643e-02 6.74852152e-03 8.95685015e+02] [-2.32918346e-02 9.99728705e-01 -8.29969257e-05 -6.51703492e+01] [-6.74862383e-03 -7.42129284e-05 9.99977225e-01 3.01322718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.140714057 meters Centerline goodness [0,1] 0.9930355258529722 Centerline is valid? [True, True] Translation: X:895.71, Y:-65.17, Z:3.01 [[ 9.99801289e-01 1.86945795e-02 6.92059918e-03 8.95714260e+02] [-1.86944410e-02 9.99825240e-01 -8.47117389e-05 -6.51739606e+01] [-6.92097338e-03 -4.46818270e-05 9.99976049e-01 3.01253318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1707140569999 meters Centerline goodness [0,1] 0.992236607561685 Centerline is valid? [True, True] Translation: X:895.74, Y:-65.18, Z:3.01 [[ 9.99921453e-01 9.86550950e-03 7.73042443e-03 8.95741864e+02] [-9.86508019e-03 9.99951335e-01 -9.36653471e-05 -6.51797338e+01] [-7.73097228e-03 1.73967330e-05 9.99970115e-01 3.01240933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2007140569999 meters Centerline goodness [0,1] 0.9918158447133187 Centerline is valid? [True, True] Translation: X:895.77, Y:-65.18, Z:3.01 [[ 9.99946979e-01 6.40445606e-03 8.06364733e-03 8.95771077e+02] [-6.40388138e-03 9.99979490e-01 -9.70852443e-05 -6.51818952e+01] [-8.06410372e-03 4.54414557e-05 9.99967484e-01 3.01197472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2307140569999 meters Centerline goodness [0,1] 0.9910508219113561 Centerline is valid? [True, True] Translation: X:895.80, Y:-65.19, Z:3.01 [[ 9.99969517e-01 1.17326882e-03 7.71933964e-03 8.95801161e+02] [-1.17258775e-03 9.99999308e-01 -9.27543114e-05 -6.51850321e+01] [-7.71944313e-03 8.36998809e-05 9.99970201e-01 3.01166101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.260714057 meters Centerline goodness [0,1] 0.9909663419581575 Centerline is valid? [True, True] Translation: X:895.83, Y:-65.18, Z:3.01 [[ 9.99973239e-01 -9.01714619e-05 7.31527042e-03 8.95833904e+02] [ 9.08195552e-05 9.99999992e-01 -8.82624359e-05 -6.51840071e+01] [-7.31526240e-03 8.89244435e-05 9.99973239e-01 3.01105885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.290714057 meters Centerline goodness [0,1] 0.9909140126638891 Centerline is valid? [True, True] Translation: X:895.87, Y:-65.18, Z:3.01 [[ 9.99974715e-01 -9.84605153e-04 7.04269305e-03 8.95865661e+02] [ 9.85239270e-04 9.99999511e-01 -8.65701916e-05 -6.51837811e+01] [-7.04260437e-03 9.35067404e-05 9.99975196e-01 3.00996156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3207140569999 meters Centerline goodness [0,1] 0.9898101191178205 Centerline is valid? [True, True] Translation: X:895.90, Y:-65.18, Z:3.01 [[ 9.99977525e-01 -1.07394835e-03 6.61788516e-03 8.95897522e+02] [ 1.07451572e-03 9.99999419e-01 -8.21785113e-05 -6.51843930e+01] [-6.61779306e-03 8.92876860e-05 9.99978098e-01 3.00800854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3507140569999 meters Centerline goodness [0,1] 0.9905615856536102 Centerline is valid? [True, True] Translation: X:895.93, Y:-65.18, Z:3.01 [[ 9.99979494e-01 -5.68335251e-04 6.37877196e-03 8.95929518e+02] [ 5.68855510e-04 9.99999835e-01 -7.97469337e-05 -6.51819533e+01] [-6.37872559e-03 8.33738979e-05 9.99979652e-01 3.00729284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.380714057 meters Centerline goodness [0,1] 0.9903167334478153 Centerline is valid? [True, True] Translation: X:895.96, Y:-65.18, Z:3.01 [[ 9.99981479e-01 1.32174848e-03 5.94087193e-03 8.95961381e+02] [-1.32132833e-03 9.99999124e-01 -7.46463044e-05 -6.51763753e+01] [-5.94096539e-03 6.67950795e-05 9.99982350e-01 3.00640088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.410714057 meters Centerline goodness [0,1] 0.9916604936796578 Centerline is valid? [True, True] Translation: X:895.99, Y:-65.17, Z:3.01 [[ 9.99982253e-01 2.62054439e-03 5.35031439e-03 8.95993492e+02] [-2.62022041e-03 9.99996565e-01 -6.75604394e-05 -6.51740116e+01] [-5.35047305e-03 5.35402375e-05 9.99985685e-01 3.00604058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4407140569999 meters Centerline goodness [0,1] 0.9917102654148451 Centerline is valid? [True, True] Translation: X:896.02, Y:-65.17, Z:3.00 [[ 9.99983374e-01 2.45589760e-03 5.21733745e-03 8.96024573e+02] [-2.45558524e-03 9.99996983e-01 -6.62742357e-05 -6.51736148e+01] [-5.21748447e-03 5.34615170e-05 9.99986387e-01 3.00490564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4707140569999 meters Centerline goodness [0,1] 0.9911984884360575 Centerline is valid? [True, True] Translation: X:896.06, Y:-65.18, Z:3.00 [[ 9.99983500e-01 4.76352749e-04 5.72480496e-03 8.96055509e+02] [-4.75943270e-04 9.99999884e-01 -7.28891619e-05 -6.51765096e+01] [-5.72483902e-03 7.01632768e-05 9.99983611e-01 3.00470735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.500714057 meters Centerline goodness [0,1] 0.990485501716902 Centerline is valid? [True, True] Translation: X:896.09, Y:-65.18, Z:3.00 [[ 9.99995835e-01 -1.60791694e-03 2.39678545e-03 8.96086357e+02] [ 1.60799345e-03 9.99998707e-01 -2.99939795e-05 -6.51794183e+01] [-2.39673413e-03 3.38478698e-05 9.99997127e-01 3.00176508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.530714057 meters Centerline goodness [0,1] 0.9902616588271445 Centerline is valid? [True, True] Translation: X:896.12, Y:-65.20, Z:2.99 [[ 9.99856160e-01 -1.69602989e-02 -8.43933614e-05 8.96116454e+02] [ 1.69602990e-02 9.99856164e-01 1.16769486e-06 -6.51969329e+01] [ 8.43614181e-05 -2.59886354e-06 9.99999996e-01 2.99305637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5607140569999 meters Centerline goodness [0,1] 0.9902037339390928 Centerline is valid? [True, True] Translation: X:896.15, Y:-65.19, Z:2.99 [[ 9.99888518e-01 -1.45961702e-02 3.14694470e-03 8.96149198e+02] [ 1.45963715e-02 9.99893466e-01 -4.09972238e-05 -6.51931210e+01] [-3.14601104e-03 8.69266272e-05 9.99995048e-01 2.99339614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5907140569999 meters Centerline goodness [0,1] 0.9895476960101928 Centerline is valid? [True, True] Translation: X:896.18, Y:-65.19, Z:2.99 [[ 9.99892017e-01 -1.43229299e-02 3.28757272e-03 8.96181697e+02] [ 1.43231493e-02 9.99897418e-01 -4.31898195e-05 -6.51933761e+01] [-3.28661687e-03 9.02735506e-05 9.99994595e-01 2.99331709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.620714057 meters Centerline goodness [0,1] 0.989608540925267 Centerline is valid? [True, True] Translation: X:896.21, Y:-65.19, Z:2.99 [[ 9.99887336e-01 -1.46755548e-02 3.15334319e-03 8.96213745e+02] [ 1.46757590e-02 9.99892304e-01 -4.16289535e-05 -6.51942439e+01] [-3.15239266e-03 8.79019681e-05 9.99995027e-01 2.99315266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.650714057 meters Centerline goodness [0,1] 0.990098775374849 Centerline is valid? [True, True] Translation: X:896.25, Y:-65.19, Z:2.99 [[ 9.99871877e-01 -1.57482100e-02 2.86781557e-03 8.96245748e+02] [ 1.57483837e-02 9.99875986e-01 -3.80167667e-05 -6.51945110e+01] [-2.86686123e-03 8.31753560e-05 9.99995887e-01 2.99303130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6807140569999 meters Centerline goodness [0,1] 0.9898271323895568 Centerline is valid? [True, True] Translation: X:896.28, Y:-65.20, Z:2.99 [[ 9.99869150e-01 -1.59239243e-02 2.84805511e-03 8.96277927e+02] [ 1.59240969e-02 9.99873203e-01 -3.79561573e-05 -6.51952924e+01] [-2.84708957e-03 8.33038963e-05 9.99995944e-01 2.99288625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7107140569999 meters Centerline goodness [0,1] 0.9901535852256667 Centerline is valid? [True, True] Translation: X:896.31, Y:-65.20, Z:2.99 [[ 9.99876897e-01 -1.54141874e-02 2.93149493e-03 8.96309147e+02] [ 1.54143690e-02 9.99881191e-01 -3.93516796e-05 -6.51964764e+01] [-2.93054007e-03 8.45339799e-05 9.99995702e-01 2.99248312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7407140569999 meters Centerline goodness [0,1] 0.98991835285765 Centerline is valid? [True, True] Translation: X:896.34, Y:-65.20, Z:2.99 [[ 9.99887244e-01 -1.48129400e-02 2.46498092e-03 8.96340952e+02] [ 1.48130666e-02 9.99890280e-01 -3.31025761e-05 -6.51963041e+01] [-2.46422012e-03 6.96127702e-05 9.99996961e-01 2.99181110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.770714057 meters Centerline goodness [0,1] 0.990006615006615 Centerline is valid? [True, True] Translation: X:896.37, Y:-65.20, Z:2.99 [[ 9.99891027e-01 -1.45779476e-02 2.32736521e-03 8.96372865e+02] [ 1.45780601e-02 9.99893734e-01 -3.13938008e-05 -6.51969061e+01] [-2.32666023e-03 6.53188497e-05 9.99997291e-01 2.99120653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8007140569999 meters Centerline goodness [0,1] 0.9900648967551623 Centerline is valid? [True, True] Translation: X:896.40, Y:-65.20, Z:2.99 [[ 9.99887302e-01 -1.48239594e-02 2.37361033e-03 8.96404738e+02] [ 1.48240775e-02 9.99890117e-01 -3.21925775e-05 -6.51978059e+01] [-2.37287228e-03 6.73755330e-05 9.99997182e-01 2.99099586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8307140569999 meters Centerline goodness [0,1] 0.9892566646292726 Centerline is valid? [True, True] Translation: X:896.44, Y:-65.20, Z:2.99 [[ 9.99878794e-01 -1.53843566e-02 2.39145883e-03 8.96435513e+02] [ 1.53844787e-02 9.99881651e-01 -3.26757978e-05 -6.52016479e+01] [-2.39067311e-03 6.94631848e-05 9.99997140e-01 2.99097572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8607140569999 meters Centerline goodness [0,1] 0.9900139615229891 Centerline is valid? [True, True] Translation: X:896.47, Y:-65.20, Z:2.99 [[ 9.99876242e-01 -1.55902573e-02 2.10831101e-03 8.96467591e+02] [ 1.55903526e-02 9.99878463e-01 -2.88050912e-05 -6.51992498e+01] [-2.10760570e-03 6.16708385e-05 9.99997777e-01 2.99115549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.890714057 meters Centerline goodness [0,1] 0.9903992034894746 Centerline is valid? [True, True] Translation: X:896.50, Y:-65.20, Z:2.99 [[ 9.99878728e-01 -1.54015111e-02 2.30709360e-03 8.96499468e+02] [ 1.54016252e-02 9.99881387e-01 -3.17218613e-05 -6.51993705e+01] [-2.30633138e-03 6.72510053e-05 9.99997338e-01 2.99115759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9207140569999 meters Centerline goodness [0,1] 0.9899870725114585 Centerline is valid? [True, True] Translation: X:896.53, Y:-65.20, Z:2.99 [[ 9.99882728e-01 -1.51911735e-02 1.93853837e-03 8.96532377e+02] [ 1.51912536e-02 9.99884606e-01 -2.65705629e-05 -6.52001586e+01] [-1.93791103e-03 5.60162749e-05 9.99998121e-01 2.99086430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9507140569999 meters Centerline goodness [0,1] 0.9903568896242023 Centerline is valid? [True, True] Translation: X:896.56, Y:-65.20, Z:2.99 [[ 9.99873874e-01 -1.57369357e-02 2.14144608e-03 8.96564963e+02] [ 1.57370355e-02 9.99876165e-01 -2.97911287e-05 -6.52012209e+01] [-2.14071207e-03 6.34873843e-05 9.99997707e-01 2.99041748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9807140569999 meters Centerline goodness [0,1] 0.9894679541796838 Centerline is valid? [True, True] Translation: X:896.60, Y:-65.20, Z:2.99 [[ 9.99871570e-01 -1.58633564e-02 2.27979718e-03 8.96597062e+02] [ 1.58634703e-02 9.99874167e-01 -3.19039938e-05 -6.52019895e+01] [-2.27900421e-03 6.80653914e-05 9.99997401e-01 2.99027872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.010714057 meters Centerline goodness [0,1] 0.9885890407735924 Centerline is valid? [True, True] Translation: X:896.63, Y:-65.21, Z:2.99 [[ 9.99873985e-01 -1.56910943e-02 2.40901237e-03 8.96629009e+02] [ 1.56912205e-02 9.99876885e-01 -3.35103385e-05 -6.52079190e+01] [-2.40818997e-03 7.13064600e-05 9.99997098e-01 2.98939947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.040714057 meters Centerline goodness [0,1] 0.9901784871092644 Centerline is valid? [True, True] Translation: X:896.66, Y:-65.20, Z:2.99 [[ 9.99871251e-01 -1.58258116e-02 2.65032564e-03 8.96661625e+02] [ 1.58259674e-02 9.99874761e-01 -3.78049407e-05 -6.52025098e+01] [-2.64939542e-03 7.97440404e-05 9.99996487e-01 2.99029926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0707140569999 meters Centerline goodness [0,1] 0.9898456731679606 Centerline is valid? [True, True] Translation: X:896.69, Y:-65.20, Z:2.99 [[ 9.99872443e-01 -1.57351896e-02 2.73905618e-03 8.96693365e+02] [ 1.57353560e-02 9.99876191e-01 -3.92166702e-05 -6.52038548e+01] [-2.73809998e-03 8.23116919e-05 9.99996248e-01 2.99030954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1007140569999 meters Centerline goodness [0,1] 0.9898456731679606 Centerline is valid? [True, True] Translation: X:896.73, Y:-65.20, Z:2.99 [[ 9.99874087e-01 -1.56303692e-02 2.73905357e-03 8.96725928e+02] [ 1.56305358e-02 9.99877835e-01 -3.93979635e-05 -6.52044182e+01] [-2.73810315e-03 8.22058775e-05 9.99996248e-01 2.99010572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.130714057 meters Centerline goodness [0,1] 0.9893586833144155 Centerline is valid? [True, True] Translation: X:896.76, Y:-65.20, Z:2.99 [[ 9.99881200e-01 -1.51432460e-02 2.87524785e-03 8.96758559e+02] [ 1.51434287e-02 9.99885331e-01 -4.18054413e-05 -6.52032659e+01] [-2.87428508e-03 8.53415858e-05 9.99995866e-01 2.99017022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.160714057 meters Centerline goodness [0,1] 0.9896816944740268 Centerline is valid? [True, True] Translation: X:896.79, Y:-65.20, Z:2.99 [[ 9.99885181e-01 -1.49399292e-02 2.53455860e-03 8.96790216e+02] [ 1.49400710e-02 9.99888390e-01 -3.70472993e-05 -6.52042965e+01] [-2.53372224e-03 7.49095312e-05 9.99996787e-01 2.98973093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1907140569999 meters Centerline goodness [0,1] 0.9896999763760926 Centerline is valid? [True, True] Translation: X:896.82, Y:-65.21, Z:2.99 [[ 9.99887751e-01 -1.47423983e-02 2.67350343e-03 8.96821658e+02] [ 1.47425559e-02 9.99891322e-01 -3.92389042e-05 -6.52053690e+01] [-2.67263440e-03 7.86487735e-05 9.99996425e-01 2.98951513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2207140569999 meters Centerline goodness [0,1] 0.9898987509462528 Centerline is valid? [True, True] Translation: X:896.85, Y:-65.21, Z:2.99 [[ 9.99886252e-01 -1.49437310e-02 2.04151084e-03 8.96853386e+02] [ 1.49438232e-02 9.99888334e-01 -2.99176807e-05 -6.52058932e+01] [-2.04083579e-03 6.04222548e-05 9.99997916e-01 2.98854739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.250714057 meters Centerline goodness [0,1] 0.9897185634416753 Centerline is valid? [True, True] Translation: X:896.89, Y:-65.21, Z:2.99 [[ 9.99889400e-01 -1.47702760e-02 1.73954337e-03 8.96886737e+02] [ 1.47703425e-02 9.99890912e-01 -2.53892166e-05 -6.52063987e+01] [-1.73897860e-03 5.10800599e-05 9.99998487e-01 2.98790885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.280714057 meters Centerline goodness [0,1] 0.9897684945070488 Centerline is valid? [True, True] Translation: X:896.92, Y:-65.21, Z:2.99 [[ 9.99887583e-01 -1.48876646e-02 1.78281929e-03 8.96918811e+02] [ 1.48877353e-02 9.99889171e-01 -2.63878986e-05 -6.52074638e+01] [-1.78222885e-03 5.29270739e-05 9.99998410e-01 2.98768394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3107140569999 meters Centerline goodness [0,1] 0.990237791329835 Centerline is valid? [True, True] Translation: X:896.95, Y:-65.21, Z:2.99 [[ 9.99873743e-01 -1.57951359e-02 1.73551442e-03 8.96951234e+02] [ 1.57952045e-02 9.99875248e-01 -2.57907255e-05 -6.52076142e+01] [-1.73489054e-03 5.32002744e-05 9.99998494e-01 2.98778798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3407140569999 meters Centerline goodness [0,1] 0.9893478825669005 Centerline is valid? [True, True] Translation: X:896.98, Y:-65.21, Z:2.99 [[ 9.99830018e-01 -1.84090531e-02 1.02057631e-03 8.96982244e+02] [ 1.84090782e-02 9.99830538e-01 -1.51504523e-05 -6.52111734e+01] [-1.02012445e-03 3.39357461e-05 9.99999479e-01 2.98656582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.370714057 meters Centerline goodness [0,1] 0.9890120188365391 Centerline is valid? [True, True] Translation: X:897.01, Y:-65.22, Z:2.99 [[ 9.99821603e-01 -1.88878429e-02 1.05961678e-04 8.97012873e+02] [ 1.88878432e-02 9.99821609e-01 -1.39131286e-06 -6.52159766e+01] [-1.05916497e-04 3.39245222e-06 9.99999994e-01 2.98505195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.400714057 meters Centerline goodness [0,1] 0.9893706884415036 Centerline is valid? [True, True] Translation: X:897.04, Y:-65.22, Z:2.98 [[ 9.99806122e-01 -1.96609812e-02 -1.07892968e-03 8.97043469e+02] [ 1.96610106e-02 9.99806704e-01 1.66502634e-05 -6.52179657e+01] [ 1.07839377e-03 -3.78598832e-05 9.99999418e-01 2.98358067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4307140569999 meters Centerline goodness [0,1] 0.9894374498986184 Centerline is valid? [True, True] Translation: X:897.08, Y:-65.21, Z:2.98 [[ 9.99806458e-01 -1.96339163e-02 -1.24735615e-03 8.97076953e+02] [ 1.96339562e-02 9.99807235e-01 1.97997939e-05 -6.52148828e+01] [ 1.24672695e-03 -4.42864979e-05 9.99999222e-01 2.98379352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4607140569999 meters Centerline goodness [0,1] 0.9886417304241051 Centerline is valid? [True, True] Translation: X:897.11, Y:-65.21, Z:2.98 [[ 9.99806200e-01 -1.96519277e-02 -1.16771559e-03 8.97110379e+02] [ 1.96519630e-02 9.99806881e-01 1.87075813e-05 -6.52144786e+01] [ 1.16712245e-03 -4.16518594e-05 9.99999318e-01 2.98427520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4907140569999 meters Centerline goodness [0,1] 0.989229826546003 Centerline is valid? [True, True] Translation: X:897.14, Y:-65.22, Z:2.99 [[ 9.99809668e-01 -1.94998964e-02 -6.17922987e-04 8.97141196e+02] [ 1.94999063e-02 9.99809859e-01 9.90948300e-06 -6.52150599e+01] [ 6.17612260e-04 -2.19570372e-05 9.99999809e-01 2.98502226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.520714057 meters Centerline goodness [0,1] 0.9893350950875371 Centerline is valid? [True, True] Translation: X:897.17, Y:-65.22, Z:2.98 [[ 9.99810228e-01 -1.94697914e-02 -6.60039006e-04 8.97174360e+02] [ 1.94698029e-02 9.99810445e-01 1.09582072e-05 -6.52157091e+01] [ 6.59700539e-04 -2.38069570e-05 9.99999782e-01 2.98497297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5507140569999 meters Centerline goodness [0,1] 0.9895363054928518 Centerline is valid? [True, True] Translation: X:897.21, Y:-65.22, Z:2.99 [[ 9.99814254e-01 -1.92696993e-02 -3.70318494e-04 8.97206280e+02] [ 1.92697029e-02 9.99814322e-01 6.24198789e-06 -6.52160269e+01] [ 3.70129453e-04 -1.33767558e-05 9.99999931e-01 2.98521731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5807140569999 meters Centerline goodness [0,1] 0.9898824755947303 Centerline is valid? [True, True] Translation: X:897.24, Y:-65.21, Z:2.99 [[ 9.99816511e-01 -1.91533589e-02 -3.04811347e-04 8.97239113e+02] [ 1.91533615e-02 9.99816558e-01 5.48483286e-06 -6.52146953e+01] [ 3.04650379e-04 -1.13219884e-05 9.99999954e-01 2.98536876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6107140569999 meters Centerline goodness [0,1] 0.9896150487384644 Centerline is valid? [True, True] Translation: X:897.27, Y:-65.22, Z:2.98 [[ 9.99829587e-01 -1.84606481e-02 4.79541344e-05 8.97270535e+02] [ 1.84606481e-02 9.99829588e-01 1.23694879e-07 -6.52161940e+01] [-4.79482459e-05 7.61590600e-07 9.99999999e-01 2.98458251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.640714057 meters Centerline goodness [0,1] 0.9893222461080532 Centerline is valid? [True, True] Translation: X:897.30, Y:-65.22, Z:2.98 [[ 9.99851784e-01 -1.72072326e-02 5.67393580e-04 8.97301362e+02] [ 1.72072404e-02 9.99851944e-01 -8.74011358e-06 -6.52167276e+01] [-5.67159181e-04 1.85020959e-05 9.99999839e-01 2.98453422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6707140569999 meters Centerline goodness [0,1] 0.9886481394253415 Centerline is valid? [True, True] Translation: X:897.33, Y:-65.22, Z:2.99 [[ 9.99861786e-01 -1.65611039e-02 1.46221991e-03 8.97333973e+02] [ 1.65611553e-02 9.99862854e-01 -2.30296482e-05 -6.52158114e+01] [-1.46163798e-03 4.72425161e-05 9.99998931e-01 2.98504801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7007140569999 meters Centerline goodness [0,1] 0.9893677346186561 Centerline is valid? [True, True] Translation: X:897.37, Y:-65.22, Z:2.99 [[ 9.99867823e-01 -1.60262585e-02 2.73793664e-03 8.97366563e+02] [ 1.60264382e-02 9.99871567e-01 -4.36936792e-05 -6.52156300e+01] [-2.73688475e-03 8.75672763e-05 9.99996251e-01 2.98580911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7307140569999 meters Centerline goodness [0,1] 0.9897209985315712 Centerline is valid? [True, True] Translation: X:897.40, Y:-65.22, Z:2.99 [[ 9.99865865e-01 -1.57602153e-02 4.45741398e-03 8.97398312e+02] [ 1.57606915e-02 9.99875790e-01 -7.17198856e-05 -6.52155471e+01] [-4.45573001e-03 1.41962192e-04 9.99990063e-01 2.98805976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.760714057 meters Centerline goodness [0,1] 0.9892648554065877 Centerline is valid? [True, True] Translation: X:897.43, Y:-65.22, Z:2.99 [[ 9.99854000e-01 -1.61065336e-02 5.70590254e-03 8.97430679e+02] [ 1.61073225e-02 9.99870264e-01 -9.23260520e-05 -6.52156161e+01] [-5.70367523e-03 1.84219385e-04 9.99983717e-01 2.98822294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.790714057 meters Centerline goodness [0,1] 0.9888739281411665 Centerline is valid? [True, True] Translation: X:897.46, Y:-65.22, Z:2.99 [[ 9.99844826e-01 -1.65070883e-02 6.15150029e-03 8.97462026e+02] [ 1.65080156e-02 9.99863728e-01 -9.99933773e-05 -6.52171914e+01] [-6.14901142e-03 2.01526924e-04 9.99981074e-01 2.98804163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8207140569999 meters Centerline goodness [0,1] 0.9888726484039795 Centerline is valid? [True, True] Translation: X:897.49, Y:-65.22, Z:2.99 [[ 9.99843916e-01 -1.65918756e-02 6.07075305e-03 8.97492991e+02] [ 1.65927852e-02 9.99862325e-01 -9.94931474e-05 -6.52187179e+01] [-6.06826648e-03 2.00208319e-04 9.99981568e-01 2.98706091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8507140569999 meters Centerline goodness [0,1] 0.9891588081743997 Centerline is valid? [True, True] Translation: X:897.52, Y:-65.22, Z:2.99 [[ 9.99842641e-01 -1.68432597e-02 5.56757471e-03 8.97524001e+02] [ 1.68440301e-02 9.99858125e-01 -9.15065888e-05 -6.52209004e+01] [-5.56524354e-03 1.85272585e-04 9.99984497e-01 2.98616320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.880714057 meters Centerline goodness [0,1] 0.9878173070086037 Centerline is valid? [True, True] Translation: X:897.56, Y:-65.22, Z:2.99 [[ 9.99822061e-01 -1.76902896e-02 6.54974752e-03 8.97556019e+02] [ 1.76913765e-02 9.99843490e-01 -1.08044553e-04 -6.52216978e+01] [-6.54681108e-03 2.23899377e-04 9.99978544e-01 2.98591126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.910714057 meters Centerline goodness [0,1] 0.9878962672277252 Centerline is valid? [True, True] Translation: X:897.59, Y:-65.22, Z:2.99 [[ 9.99813043e-01 -1.79495268e-02 7.18980820e-03 8.97588425e+02] [ 1.79508471e-02 9.99838863e-01 -1.19132489e-04 -6.52213949e+01] [-7.18651128e-03 2.48173364e-04 9.99974146e-01 2.98615248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9407140569999 meters Centerline goodness [0,1] 0.9881259924632048 Centerline is valid? [True, True] Translation: X:897.62, Y:-65.22, Z:2.99 [[ 9.99807066e-01 -1.79294651e-02 8.02277484e-03 8.97620791e+02] [ 1.79311134e-02 9.99839216e-01 -1.33565366e-04 -6.52232662e+01] [-8.01909015e-03 2.77396883e-04 9.99967808e-01 2.98636828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9707140569999 meters Centerline goodness [0,1] 0.9875564808024414 Centerline is valid? [True, True] Translation: X:897.65, Y:-65.22, Z:2.99 [[ 9.99796064e-01 -1.77163697e-02 9.69334824e-03 8.97653256e+02] [ 1.77187805e-02 9.99842997e-01 -1.62885726e-04 -6.52243201e+01] [-9.68894061e-03 3.34606818e-04 9.99953005e-01 2.98651699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.000714057 meters Centerline goodness [0,1] 0.9875550946331345 Centerline is valid? [True, True] Translation: X:897.69, Y:-65.23, Z:2.99 [[ 9.99792935e-01 -1.75933700e-02 1.02254544e-02 8.97685877e+02] [ 1.75960674e-02 9.99845162e-01 -1.73879549e-04 -6.52254391e+01] [-1.02208120e-02 3.53771331e-04 9.99947704e-01 2.98608350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.030714057 meters Centerline goodness [0,1] 0.9865980359599601 Centerline is valid? [True, True] Translation: X:897.72, Y:-65.23, Z:2.99 [[ 9.99758318e-01 -1.82265463e-02 1.22922409e-02 8.97717927e+02] [ 1.82305076e-02 9.99833788e-01 -2.10278994e-04 -6.52274221e+01] [-1.22863651e-02 4.34321965e-04 9.99924425e-01 2.98668983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0607140569999 meters Centerline goodness [0,1] 0.9883082457635142 Centerline is valid? [True, True] Translation: X:897.75, Y:-65.22, Z:2.99 [[ 9.99737210e-01 -1.85711782e-02 1.34395619e-02 8.97750520e+02] [ 1.85759593e-02 9.99827425e-01 -2.30998350e-04 -6.52232168e+01] [-1.34329526e-02 4.80590401e-04 9.99909658e-01 2.98621434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0907140569999 meters Centerline goodness [0,1] 0.9870826052047419 Centerline is valid? [True, True] Translation: X:897.78, Y:-65.23, Z:2.99 [[ 9.99714487e-01 -1.84853423e-02 1.51405825e-02 8.97782021e+02] [ 1.84914399e-02 9.99828984e-01 -2.62827285e-04 -6.52254845e+01] [-1.51331348e-02 5.42723416e-04 9.99885340e-01 2.98681197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.120714057 meters Centerline goodness [0,1] 0.9871005917159763 Centerline is valid? [True, True] Translation: X:897.81, Y:-65.23, Z:2.99 [[ 9.99645105e-01 -1.99559792e-02 1.76471867e-02 8.97814043e+02] [ 1.99645404e-02 9.99800641e-01 -3.09074336e-04 -6.52270555e+01] [-1.76375007e-02 6.61282621e-04 9.99844229e-01 2.98678274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.150714057 meters Centerline goodness [0,1] 0.9862204259141081 Centerline is valid? [True, True] Translation: X:897.85, Y:-65.23, Z:2.99 [[ 9.99596070e-01 -2.16200452e-02 1.84464060e-02 8.97845822e+02] [ 2.16297458e-02 9.99765996e-01 -3.26506343e-04 -6.52296713e+01] [-1.84350304e-02 7.25365530e-04 9.99829797e-01 2.98610685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1807140569999 meters Centerline goodness [0,1] 0.9864598025387871 Centerline is valid? [True, True] Translation: X:897.88, Y:-65.23, Z:2.99 [[ 9.99570596e-01 -2.22101483e-02 1.91137079e-02 8.97877901e+02] [ 2.22207630e-02 9.99753029e-01 -3.43120852e-04 -6.52301343e+01] [-1.91013666e-02 7.67694688e-04 9.99817258e-01 2.98506283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2107140569999 meters Centerline goodness [0,1] 0.9865104302015167 Centerline is valid? [True, True] Translation: X:897.91, Y:-65.23, Z:2.98 [[ 9.99493429e-01 -2.50029485e-02 1.96910794e-02 8.97908613e+02] [ 2.50147976e-02 9.99687018e-01 -3.55635343e-04 -6.52322838e+01] [-1.96760245e-02 8.48023554e-04 9.99806049e-01 2.98235086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2407140569999 meters Centerline goodness [0,1] 0.9842591723749649 Centerline is valid? [True, True] Translation: X:897.94, Y:-65.24, Z:2.98 [[ 9.99462939e-01 -2.60847560e-02 1.98347696e-02 8.97939640e+02] [ 2.60970611e-02 9.99659348e-01 -3.61747562e-04 -6.52390725e+01] [-1.98185767e-02 8.79182475e-04 9.99803206e-01 2.98237690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.270714057 meters Centerline goodness [0,1] 0.9861550819827056 Centerline is valid? [True, True] Translation: X:897.97, Y:-65.24, Z:2.98 [[ 9.99389323e-01 -2.82444902e-02 2.05725529e-02 8.97971473e+02] [ 2.82582392e-02 9.99600585e-01 -3.77864772e-04 -6.52364948e+01] [-2.05536633e-02 9.58978138e-04 9.99788291e-01 2.97893167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3007140569999 meters Centerline goodness [0,1] 0.9809546258102534 Centerline is valid? [True, True] Translation: X:898.00, Y:-65.25, Z:2.98 [[ 9.99363935e-01 -2.86192063e-02 2.12759747e-02 8.98002231e+02] [ 2.86340920e-02 9.99589882e-01 -3.95271723e-04 -6.52457509e+01] [-2.12559367e-02 1.00423852e-03 9.99773563e-01 2.98068961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3307140569999 meters Centerline goodness [0,1] 0.9842658992262691 Centerline is valid? [True, True] Translation: X:898.03, Y:-65.24, Z:2.98 [[ 9.99329529e-01 -2.88848879e-02 2.24979235e-02 8.98034794e+02] [ 2.89017382e-02 9.99582168e-01 -4.24111215e-04 -6.52392767e+01] [-2.24762728e-02 1.07405596e-03 9.99746800e-01 2.97754555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3607140569999 meters Centerline goodness [0,1] 0.9835218017422508 Centerline is valid? [True, True] Translation: X:898.07, Y:-65.24, Z:2.98 [[ 9.99308527e-01 -2.80584712e-02 2.43965110e-02 8.98067300e+02] [ 2.80782128e-02 9.99605620e-01 -4.66950840e-04 -6.52395562e+01] [-2.43737876e-02 1.15163838e-03 9.99702252e-01 2.97665783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.390714057 meters Centerline goodness [0,1] 0.9813303045360972 Centerline is valid? [True, True] Translation: X:898.10, Y:-65.24, Z:2.98 [[ 9.99312583e-01 -2.72051115e-02 2.51841776e-02 8.98099121e+02] [ 2.72260509e-02 9.99629183e-01 -4.88872691e-04 -6.52401754e+01] [-2.51615391e-02 1.17420233e-03 9.99682709e-01 2.97620449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4207140569999 meters Centerline goodness [0,1] 0.9813386944181646 Centerline is valid? [True, True] Translation: X:898.13, Y:-65.24, Z:2.97 [[ 9.99289742e-01 -2.63661085e-02 2.69228584e-02 8.98132639e+02] [ 2.63899570e-02 9.99651584e-01 -5.30819475e-04 -6.52379809e+01] [-2.68994824e-02 1.24093553e-03 9.99637373e-01 2.97465869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4507140569999 meters Centerline goodness [0,1] 0.9785027700175197 Centerline is valid? [True, True] Translation: X:898.16, Y:-65.24, Z:2.97 [[ 9.99242229e-01 -2.64073826e-02 2.85940114e-02 8.98163319e+02] [ 2.64344470e-02 9.99650387e-01 -5.68844791e-04 -6.52410893e+01] [-2.85689929e-02 1.32428062e-03 9.99590946e-01 2.97489367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4807140569999 meters Centerline goodness [0,1] 0.9795202427230492 Centerline is valid? [True, True] Translation: X:898.20, Y:-65.23, Z:2.97 [[ 9.99194199e-01 -2.53810411e-02 3.10926788e-02 8.98195414e+02] [ 2.54127831e-02 9.99676847e-01 -6.26071860e-04 -6.52325566e+01] [-3.10667408e-02 1.41571887e-03 9.99516310e-01 2.96986316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.510714057 meters Centerline goodness [0,1] 0.9790585838485775 Centerline is valid? [True, True] Translation: X:898.23, Y:-65.23, Z:2.97 [[ 9.99176535e-01 -2.48819942e-02 3.20489949e-02 8.98227546e+02] [ 2.49157202e-02 9.99689342e-01 -6.53331244e-04 -6.52330579e+01] [-3.20227825e-02 1.45131704e-03 9.99486085e-01 2.96925411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.540714057 meters Centerline goodness [0,1] 0.977726756296156 Centerline is valid? [True, True] Translation: X:898.26, Y:-65.23, Z:2.97 [[ 9.99132461e-01 -2.50268784e-02 3.32863373e-02 8.98259876e+02] [ 2.50636150e-02 9.99685622e-01 -6.86792752e-04 -6.52327161e+01] [-3.32586846e-02 1.52047288e-03 9.99445620e-01 2.96805152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5707140569999 meters Centerline goodness [0,1] 0.9671955658110712 Centerline is valid? [True, True] Translation: X:898.29, Y:-65.24, Z:2.97 [[ 9.99155074e-01 -2.32547798e-02 3.38873540e-02 8.98290752e+02] [ 2.32921044e-02 9.99728452e-01 -7.07028511e-04 -6.52412093e+01] [-3.38617101e-02 1.49573891e-03 9.99425409e-01 2.97280446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6007140569999 meters Centerline goodness [0,1] 0.9738531019729023 Centerline is valid? [True, True] Translation: X:898.32, Y:-65.23, Z:2.97 [[ 9.99208900e-01 -2.15667011e-02 3.34133474e-02 8.98323439e+02] [ 2.16023112e-02 9.99766394e-01 -7.05066418e-04 -6.52311016e+01] [-3.33903359e-02 1.42631417e-03 9.99441370e-01 2.96573648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.630714057 meters Centerline goodness [0,1] 0.9733346031141374 Centerline is valid? [True, True] Translation: X:898.36, Y:-65.23, Z:2.96 [[ 9.99201623e-01 -1.92403292e-02 3.50132374e-02 8.98355550e+02] [ 1.92783107e-02 9.99813877e-01 -7.47465354e-04 -6.52279060e+01] [-3.49923391e-02 1.42186466e-03 9.99386569e-01 2.96313344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.660714057 meters Centerline goodness [0,1] 0.9696041414357294 Centerline is valid? [True, True] Translation: X:898.39, Y:-65.23, Z:2.96 [[ 9.99215583e-01 -1.77710853e-02 3.53893596e-02 8.98386361e+02] [ 1.78092557e-02 9.99841111e-01 -7.63623724e-04 -6.52311635e+01] [-3.53701662e-02 1.39328288e-03 9.99373309e-01 2.96328186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6907140569999 meters Centerline goodness [0,1] 0.9672493756689261 Centerline is valid? [True, True] Translation: X:898.42, Y:-65.23, Z:2.96 [[ 9.99237836e-01 -1.52913928e-02 3.59154520e-02 8.98417642e+02] [ 1.53293920e-02 9.99882191e-01 -7.82869328e-04 -6.52337702e+01] [-3.58992497e-02 1.33283469e-03 9.99354525e-01 2.96222731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7207140569999 meters Centerline goodness [0,1] 0.9686273577052066 Centerline is valid? [True, True] Translation: X:898.45, Y:-65.23, Z:2.96 [[ 9.99278203e-01 -1.30031030e-02 3.56930346e-02 8.98448913e+02] [ 1.30392600e-02 9.99914681e-01 -7.80394669e-04 -6.52296070e+01] [-3.56798418e-02 1.24524214e-03 9.99362496e-01 2.95841569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.750714057 meters Centerline goodness [0,1] 0.9697613872501015 Centerline is valid? [True, True] Translation: X:898.48, Y:-65.23, Z:2.96 [[ 9.99258620e-01 -1.16976146e-02 3.66793587e-02 8.98481699e+02] [ 1.17352473e-02 9.99930811e-01 -8.10858062e-04 -6.52270031e+01] [-3.66673358e-02 1.24069825e-03 9.99326757e-01 2.95579763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.780714057 meters Centerline goodness [0,1] 0.9648174490279754 Centerline is valid? [True, True] Translation: X:898.51, Y:-65.23, Z:2.96 [[ 9.99226901e-01 -1.04254465e-02 3.79066056e-02 8.98513422e+02] [ 1.04651160e-02 9.99944879e-01 -8.48232722e-04 -6.52302354e+01] [-3.78956730e-02 1.24427398e-03 9.99280926e-01 2.95793903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 14167.98 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%| | 0/30693 [00:00